diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..8c5c68ca7cc1f4384b39ba863fd7ee9dedfa9812 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,79 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +001_bottle_15/Object.usd filter=lfs diff=lfs merge=lfs -text +001_bottle_22/Object.usd filter=lfs diff=lfs merge=lfs -text +002_bowl_2/Object.usd filter=lfs diff=lfs merge=lfs -text +005_french-fries_0/Object.usd filter=lfs diff=lfs merge=lfs -text +006_hamburg_4/Object.usd filter=lfs diff=lfs merge=lfs -text +012_plant-pot_0/Object.usd filter=lfs diff=lfs merge=lfs -text +018_microphone_5/Object.usd filter=lfs diff=lfs merge=lfs -text +021_cup_2/Object.usd filter=lfs diff=lfs merge=lfs -text +023_tissue-box_0/Object.usd filter=lfs diff=lfs merge=lfs -text +024_scanner_2/Object.usd filter=lfs diff=lfs merge=lfs -text +030_drill_0/Object.usd filter=lfs diff=lfs merge=lfs -text +033_fork_0/Object.usd filter=lfs diff=lfs merge=lfs -text +039_mug_0/Object.usd filter=lfs diff=lfs merge=lfs -text +039_mug_5/Object.usd filter=lfs diff=lfs merge=lfs -text +041_shoe_2/Object.usd filter=lfs diff=lfs merge=lfs -text +043_book_0/Object.usd filter=lfs diff=lfs merge=lfs -text +046_alarm-clock_4/Object.usd filter=lfs diff=lfs merge=lfs -text +048_stapler_4/Object.usd filter=lfs diff=lfs merge=lfs -text +049_shampoo_6/Object.usd filter=lfs diff=lfs merge=lfs -text +051_candlestick_4/Object.usd filter=lfs diff=lfs merge=lfs -text +053_teanet_1/Object.usd filter=lfs diff=lfs merge=lfs -text +055_small-speaker_2/Object.usd filter=lfs diff=lfs merge=lfs -text +058_markpen_0/Object.usd filter=lfs diff=lfs merge=lfs -text +059_pencup_3/Object.usd filter=lfs diff=lfs merge=lfs -text +062_plasticbox_3/Object.usd filter=lfs diff=lfs merge=lfs -text +063_tabletrashbin_10/Object.usd filter=lfs diff=lfs merge=lfs -text +065_soy-sauce_2/Object.usd filter=lfs diff=lfs merge=lfs -text +068_boxdrink_2/Object.usd filter=lfs diff=lfs merge=lfs -text +071_can_2/Object.usd filter=lfs diff=lfs merge=lfs -text +072_electronicscale_6/Object.usd filter=lfs diff=lfs merge=lfs -text +075_bread_0/Object.usd filter=lfs diff=lfs merge=lfs -text +076_breadbasket_2/Object.usd filter=lfs diff=lfs merge=lfs -text +078_phonestand_0/Object.usd filter=lfs diff=lfs merge=lfs -text +079_remotecontrol_1/Object.usd filter=lfs diff=lfs merge=lfs -text +080_pillbottle_3/Object.usd filter=lfs diff=lfs merge=lfs -text +082_smallshovel_2/Object.usd filter=lfs diff=lfs merge=lfs -text +084_woodenmallet_2/Object.usd filter=lfs diff=lfs merge=lfs -text +086_woodenblock_0/Object.usd filter=lfs diff=lfs merge=lfs -text +087_waterer_3/Object.usd filter=lfs diff=lfs merge=lfs -text +088_wineglass_3/Object.usd filter=lfs diff=lfs merge=lfs -text +090_trophy_4/Object.usd filter=lfs diff=lfs merge=lfs -text +092_notebook_1/Object.usd filter=lfs diff=lfs merge=lfs -text +094_rest_0/Object.usd filter=lfs diff=lfs merge=lfs -text +095_glue_5/Object.usd filter=lfs diff=lfs merge=lfs -text +099_fan_4/Object.usd filter=lfs diff=lfs merge=lfs -text +100_seal_6/Object.usd filter=lfs diff=lfs merge=lfs -text +102_roller_1/Object.usd filter=lfs diff=lfs merge=lfs -text +106_skillet_1/Object.usd filter=lfs diff=lfs merge=lfs -text +109_hydrating-oil_1/Object.usd filter=lfs diff=lfs merge=lfs -text +111_callbell_1/Object.usd filter=lfs diff=lfs merge=lfs -text +112_tea-box_4/Object.usd filter=lfs diff=lfs merge=lfs -text +113_coffee-box_6/Object.usd filter=lfs diff=lfs merge=lfs -text +115_perfume_3/Object.usd filter=lfs diff=lfs merge=lfs -text +120_plant_0/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_bottle_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_bridge_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_cap_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_coin_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_darts_board_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_game_machine_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_garage_00006/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_garage_00014/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_iron_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_magic_potion_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_monitor_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_pen_00002/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_plate_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_pokeball_00006/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_sandwich_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_sound_card_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_tissue_00001/Object.usd filter=lfs diff=lfs merge=lfs -text +clutter_toy_car_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +geometry_factory_bolt_00003/Object.usd filter=lfs diff=lfs merge=lfs -text +geometry_mousemat_00000/Object.usd filter=lfs diff=lfs merge=lfs -text +geometry_vase_00002/Object.usd filter=lfs diff=lfs merge=lfs -text +rigid_action_camera_00002/Object.usd filter=lfs diff=lfs merge=lfs -text diff --git a/001_bottle_15/Annotation/dex1_1_grasp_pose.json b/001_bottle_15/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..06b25dac070cf08222de6ade017fad067ce0c0db --- /dev/null +++ b/001_bottle_15/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,68 @@ +{ + "type": "001_bottle_15", + "bottom_center": [ + 0.0, + 0.1253398060798645, + -0.03935956209897995 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.1472979187965393, + 0.08641953021287918, + -0.009846104308962822 + ], + "orientation": [ + 0.3886290490627289, + 0.640344500541687, + -0.49180868268013, + 0.44390371441841125 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.141296848654747, + 0.08578240871429443, + -0.009007475338876247 + ], + "orientation": [ + 0.3897190988063812, + 0.6356098651885986, + -0.5006129741668701, + 0.43989288806915283 + ], + "joints": [ + -0.018884051591157913 + ] + }, + "final_grasp": { + "position": [ + 0.141296848654747, + 0.08578240871429443, + -0.009007475338876247 + ], + "orientation": [ + 0.3897190988063812, + 0.6356098651885986, + -0.5006129741668701, + 0.43989288806915283 + ], + "joints": [ + -0.017768103629350662 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2035, + "num_passed": 1 + } +} \ No newline at end of file diff --git a/001_bottle_15/Annotation/piper_grasp_pose.json b/001_bottle_15/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..3ce045dc674c9492bb87c5c76e0509c939fe79c1 --- /dev/null +++ b/001_bottle_15/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "001_bottle_15", + "bottom_center": [ + 0.0, + 0.1253398060798645, + -0.03935956209897995 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2047, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/001_bottle_15/Object.usd b/001_bottle_15/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..6ee11835d240fdb9f33e4d2bf32112e7d3353897 --- /dev/null +++ b/001_bottle_15/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1418619ebee8e46a56bda2d624c77b43cdfad3e74c719503a9742b265ad0f2a +size 152139 diff --git a/001_bottle_22/Annotation/dex1_1_grasp_pose.json b/001_bottle_22/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..eeb4e75fbee8b901afbc33dd4480c0ab2718e10c --- /dev/null +++ b/001_bottle_22/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,1518 @@ +{ + "type": "001_bottle_22", + "bottom_center": [ + 1.5616416931152344e-05, + 0.10445385426282883, + -0.028147589415311813 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.12259797006845474, + 0.14736796915531158, + 0.0033545063342899084 + ], + "orientation": [ + 0.4668542742729187, + 0.5160197019577026, + 0.4777686297893524, + -0.5361975431442261 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.1212209090590477, + 0.14575648307800293, + 0.003286748891696334 + ], + "orientation": [ + 0.45590806007385254, + 0.5220587253570557, + 0.4708852767944336, + -0.5457743406295776 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + -0.1212209090590477, + 0.14575648307800293, + 0.003286748891696334 + ], + "orientation": [ + 0.45590806007385254, + 0.5220587253570557, + 0.4708852767944336, + -0.5457743406295776 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13320115208625793, + 0.06518671661615372, + 0.010444947518408298 + ], + "orientation": [ + 0.5866791009902954, + -0.4543973505496979, + -0.464253693819046, + -0.48352769017219543 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.12735572457313538, + 0.06611065566539764, + 0.010028290562331676 + ], + "orientation": [ + 0.5866248607635498, + -0.45346808433532715, + -0.46611735224723816, + -0.48267221450805664 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.12735572457313538, + 0.06611065566539764, + 0.010028290562331676 + ], + "orientation": [ + 0.5866248607635498, + -0.45346808433532715, + -0.46611735224723816, + -0.48267221450805664 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057096727192401886, + 0.07200192660093307, + -0.11399678885936737 + ], + "orientation": [ + 0.7552236318588257, + 0.6153795123100281, + 0.14239773154258728, + -0.17512337863445282 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.05491473153233528, + 0.07374770194292068, + -0.10931240767240524 + ], + "orientation": [ + 0.7596359848976135, + 0.6093537211418152, + 0.1438029408454895, + -0.17595981061458588 + ], + "joints": [ + -0.002859570784494281 + ] + }, + "final_grasp": { + "position": [ + -0.05491473153233528, + 0.07374770194292068, + -0.10931240767240524 + ], + "orientation": [ + 0.7596359848976135, + 0.6093537211418152, + 0.1438029408454895, + -0.17595981061458588 + ], + "joints": [ + 0.002534134779125452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09594890475273132, + 0.0944247618317604, + -0.08981814235448837 + ], + "orientation": [ + 0.24366416037082672, + -0.3166925609111786, + -0.6779510378837585, + -0.6170217394828796 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.09183037281036377, + 0.09511616080999374, + -0.0859624445438385 + ], + "orientation": [ + 0.24419213831424713, + -0.31694141030311584, + -0.6798642873764038, + -0.6145753860473633 + ], + "joints": [ + -0.0035057878121733665 + ] + }, + "final_grasp": { + "position": [ + -0.09183037281036377, + 0.09511616080999374, + -0.0859624445438385 + ], + "orientation": [ + 0.24419213831424713, + -0.31694141030311584, + -0.6798642873764038, + -0.6145753860473633 + ], + "joints": [ + 0.00241931714117527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.125503808259964, + 0.08851202577352524, + 0.019565332680940628 + ], + "orientation": [ + 0.5299312472343445, + 0.389285683631897, + -0.5470626950263977, + 0.5180268883705139 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.12204702198505402, + 0.08972897380590439, + 0.019020631909370422 + ], + "orientation": [ + 0.5312196016311646, + 0.3880246579647064, + -0.552592396736145, + 0.5117462873458862 + ], + "joints": [ + -0.0035868948325514793 + ] + }, + "final_grasp": { + "position": [ + 0.12204702198505402, + 0.08972897380590439, + 0.019020631909370422 + ], + "orientation": [ + 0.5312196016311646, + 0.3880246579647064, + -0.552592396736145, + 0.5117462873458862 + ], + "joints": [ + 0.0028164703398942947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12552575767040253, + 0.0884331688284874, + 0.019549652934074402 + ], + "orientation": [ + 0.5296632051467896, + 0.3896193206310272, + -0.5469672083854675, + 0.5181511640548706 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.12204939872026443, + 0.08968348801136017, + 0.018864251673221588 + ], + "orientation": [ + 0.5318666100502014, + 0.3885408341884613, + -0.5515649914741516, + 0.511790931224823 + ], + "joints": [ + -0.0035868948325514793 + ] + }, + "final_grasp": { + "position": [ + 0.12204939872026443, + 0.08968348801136017, + 0.018864251673221588 + ], + "orientation": [ + 0.5318666100502014, + 0.3885408341884613, + -0.5515649914741516, + 0.511790931224823 + ], + "joints": [ + 0.0028164703398942947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12549613416194916, + 0.08846011757850647, + 0.0195500236004591 + ], + "orientation": [ + 0.5298529863357544, + 0.3894210755825043, + -0.5469609498977661, + 0.5181126594543457 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.12204445898532867, + 0.0897064283490181, + 0.018872274085879326 + ], + "orientation": [ + 0.5319992899894714, + 0.3883626163005829, + -0.5515958666801453, + 0.5117549896240234 + ], + "joints": [ + -0.0035868948325514793 + ] + }, + "final_grasp": { + "position": [ + 0.12204445898532867, + 0.0897064283490181, + 0.018872274085879326 + ], + "orientation": [ + 0.5319992899894714, + 0.3883626163005829, + -0.5515958666801453, + 0.5117549896240234 + ], + "joints": [ + 0.0028164703398942947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12133660912513733, + 0.1005316972732544, + -0.014473156072199345 + ], + "orientation": [ + 0.49187004566192627, + 0.5609728097915649, + -0.49527841806411743, + 0.4450536072254181 + ], + "joints": [ + -0.007862383499741554 + ] + }, + "fine_grasp": { + "position": [ + 0.12015504390001297, + 0.10004812479019165, + -0.01411579642444849 + ], + "orientation": [ + 0.49380770325660706, + 0.5594146251678467, + -0.5011974573135376, + 0.4381897449493408 + ], + "joints": [ + -0.0035049074795097113 + ] + }, + "final_grasp": { + "position": [ + 0.12015504390001297, + 0.10004812479019165, + -0.01411579642444849 + ], + "orientation": [ + 0.49380770325660706, + 0.5594146251678467, + -0.5011974573135376, + 0.4381897449493408 + ], + "joints": [ + 0.0008525685407221317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12129827588796616, + 0.09910102188587189, + -0.014956764876842499 + ], + "orientation": [ + 0.4947936534881592, + 0.5598638653755188, + -0.4958355128765106, + 0.4425819516181946 + ], + "joints": [ + -0.00783139280974865 + ] + }, + "fine_grasp": { + "position": [ + 0.12029287219047546, + 0.09868832677602768, + -0.014744340442121029 + ], + "orientation": [ + 0.4952145218849182, + 0.559939444065094, + -0.5026978850364685, + 0.434194952249527 + ], + "joints": [ + -0.0034739167895168066 + ] + }, + "final_grasp": { + "position": [ + 0.12029287219047546, + 0.09868832677602768, + -0.014744340442121029 + ], + "orientation": [ + 0.4952145218849182, + 0.559939444065094, + -0.5026978850364685, + 0.434194952249527 + ], + "joints": [ + 0.0008835592307150364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12020911276340485, + 0.10317658632993698, + -0.019852379336953163 + ], + "orientation": [ + 0.41514816880226135, + -0.49994850158691406, + -0.5546375513076782, + -0.5196929574012756 + ], + "joints": [ + -0.007849467918276787 + ] + }, + "fine_grasp": { + "position": [ + -0.11864135414361954, + 0.10305299609899521, + -0.01919567957520485 + ], + "orientation": [ + 0.4100915491580963, + -0.5058848261833191, + -0.5616071224212646, + -0.5103948712348938 + ], + "joints": [ + -0.003996821586042643 + ] + }, + "final_grasp": { + "position": [ + -0.11864135414361954, + 0.10305299609899521, + -0.01919567957520485 + ], + "orientation": [ + 0.4100915491580963, + -0.5058848261833191, + -0.5616071224212646, + -0.5103948712348938 + ], + "joints": [ + -0.00014417525380849838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12154696136713028, + 0.09386711567640305, + -0.00145947455894202 + ], + "orientation": [ + 0.47728782892227173, + -0.5142771601676941, + -0.5446654558181763, + -0.4594070613384247 + ], + "joints": [ + -0.007882945239543915 + ] + }, + "fine_grasp": { + "position": [ + -0.11982454359531403, + 0.09383733570575714, + -0.0014060024404898286 + ], + "orientation": [ + 0.47280147671699524, + -0.5167575478553772, + -0.5526115298271179, + -0.4517088830471039 + ], + "joints": [ + -0.004003729205578566 + ] + }, + "final_grasp": { + "position": [ + -0.11982454359531403, + 0.09383733570575714, + -0.0014060024404898286 + ], + "orientation": [ + 0.47280147671699524, + -0.5167575478553772, + -0.5526115298271179, + -0.4517088830471039 + ], + "joints": [ + -0.0001245131716132164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12142035365104675, + 0.06705458462238312, + 0.02494453825056553 + ], + "orientation": [ + 0.5285011529922485, + -0.5663207173347473, + 0.4083109498023987, + 0.48295921087265015 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.11767347157001495, + 0.0661500096321106, + 0.02472614496946335 + ], + "orientation": [ + 0.5299167633056641, + -0.5670680403709412, + 0.39859628677368164, + 0.488613486289978 + ], + "joints": [ + -0.0023267725482583046 + ] + }, + "final_grasp": { + "position": [ + 0.11767347157001495, + 0.0661500096321106, + 0.02472614496946335 + ], + "orientation": [ + 0.5299167633056641, + -0.5670680403709412, + 0.39859628677368164, + 0.488613486289978 + ], + "joints": [ + 0.003040363546460867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12142438441514969, + 0.0670638233423233, + 0.024963688105344772 + ], + "orientation": [ + 0.5284718871116638, + -0.5664176940917969, + 0.4083045721054077, + 0.4828829765319824 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.11761362850666046, + 0.06616004556417465, + 0.024765070527791977 + ], + "orientation": [ + 0.5300736427307129, + -0.5670735836029053, + 0.39831745624542236, + 0.4886641800403595 + ], + "joints": [ + -0.0023267725482583046 + ] + }, + "final_grasp": { + "position": [ + 0.11761362850666046, + 0.06616004556417465, + 0.024765070527791977 + ], + "orientation": [ + 0.5300736427307129, + -0.5670735836029053, + 0.39831745624542236, + 0.4886641800403595 + ], + "joints": [ + 0.003040363546460867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11954627931118011, + 0.02543487958610058, + 0.026972763240337372 + ], + "orientation": [ + 0.4948100447654724, + 0.3853312134742737, + 0.5672616362571716, + -0.5337575078010559 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.11829345673322678, + 0.02677387185394764, + 0.02699444256722927 + ], + "orientation": [ + 0.49593785405158997, + 0.38252514600753784, + 0.5581815242767334, + -0.5442000031471252 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.11829345673322678, + 0.02677387185394764, + 0.02699444256722927 + ], + "orientation": [ + 0.49593785405158997, + 0.38252514600753784, + 0.5581815242767334, + -0.5442000031471252 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11857021600008011, + 0.07887344807386398, + -0.030265167355537415 + ], + "orientation": [ + 0.4649646580219269, + -0.3866373896598816, + -0.4664088189601898, + -0.6455867886543274 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.11834518611431122, + 0.0786166861653328, + -0.029597071930766106 + ], + "orientation": [ + 0.48030200600624084, + -0.3674086630344391, + -0.44623863697052, + -0.6596908569335938 + ], + "joints": [ + -0.006719281896948814 + ] + }, + "final_grasp": { + "position": [ + -0.11834518611431122, + 0.0786166861653328, + -0.029597071930766106 + ], + "orientation": [ + 0.48030200600624084, + -0.3674086630344391, + -0.44623863697052, + -0.6596908569335938 + ], + "joints": [ + -0.00347774475812912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11988484114408493, + 0.061407193541526794, + -0.014841468073427677 + ], + "orientation": [ + 0.4733671545982361, + -0.4490344822406769, + 0.44516628980636597, + 0.6132850050926208 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.11806674301624298, + 0.059690266847610474, + -0.014358701184391975 + ], + "orientation": [ + 0.4838460087776184, + -0.4398065507411957, + 0.43346190452575684, + 0.6201403737068176 + ], + "joints": [ + -0.004483135417103767 + ] + }, + "final_grasp": { + "position": [ + 0.11806674301624298, + 0.059690266847610474, + -0.014358701184391975 + ], + "orientation": [ + 0.4838460087776184, + -0.4398065507411957, + 0.43346190452575684, + 0.6201403737068176 + ], + "joints": [ + 0.00040573999285697937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12273149192333221, + 0.036041926592588425, + -0.00943935476243496 + ], + "orientation": [ + 0.5573472380638123, + -0.3997061550617218, + 0.4783516228199005, + 0.5484330058097839 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.12264491617679596, + 0.0361747071146965, + -0.009808661416172981 + ], + "orientation": [ + 0.5685290694236755, + -0.38845357298851013, + 0.45942410826683044, + 0.5610775351524353 + ], + "joints": [ + -0.005548805929720402 + ] + }, + "final_grasp": { + "position": [ + 0.12264491617679596, + 0.0361747071146965, + -0.009808661416172981 + ], + "orientation": [ + 0.5685290694236755, + -0.38845357298851013, + 0.45942410826683044, + 0.5610775351524353 + ], + "joints": [ + -0.0016961600631475449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012073099613189697, + -0.09493109583854675, + -0.019433870911598206 + ], + "orientation": [ + 0.6571289300918579, + 0.02191246673464775, + -0.7495431900024414, + -0.07672304660081863 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.010571048595011234, + -0.094603531062603, + -0.020761540159583092 + ], + "orientation": [ + 0.6676308512687683, + 0.027948878705501556, + -0.739678144454956, + -0.0797756239771843 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.010571048595011234, + -0.094603531062603, + -0.020761540159583092 + ], + "orientation": [ + 0.6676308512687683, + 0.027948878705501556, + -0.739678144454956, + -0.0797756239771843 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12623251974582672, + 0.028961867094039917, + 0.0011984143638983369 + ], + "orientation": [ + 0.6437577605247498, + -0.3462092876434326, + 0.40484675765037537, + 0.5493759512901306 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.12490513175725937, + 0.031258922070264816, + 2.3916587451822124e-05 + ], + "orientation": [ + 0.6505682468414307, + -0.3301120698451996, + 0.3822638988494873, + 0.5671520233154297 + ], + "joints": [ + -0.011323463171720505 + ] + }, + "final_grasp": { + "position": [ + 0.12490513175725937, + 0.031258922070264816, + 2.3916587451822124e-05 + ], + "orientation": [ + 0.6505682468414307, + -0.3301120698451996, + 0.3822638988494873, + 0.5671520233154297 + ], + "joints": [ + -0.007975641638040543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1263057142496109, + 0.028865676373243332, + 0.001217289362102747 + ], + "orientation": [ + 0.6438316702842712, + -0.3463057279586792, + 0.4050295054912567, + 0.5490940809249878 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.12490351498126984, + 0.03118017315864563, + 2.9631559300469235e-05 + ], + "orientation": [ + 0.6506260633468628, + -0.33016201853752136, + 0.3824189007282257, + 0.5669521689414978 + ], + "joints": [ + -0.011323463171720505 + ] + }, + "final_grasp": { + "position": [ + 0.12490351498126984, + 0.03118017315864563, + 2.9631559300469235e-05 + ], + "orientation": [ + 0.6506260633468628, + -0.33016201853752136, + 0.3824189007282257, + 0.5669521689414978 + ], + "joints": [ + -0.007975641638040543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08608712255954742, + 0.08954740315675735, + -0.09953020513057709 + ], + "orientation": [ + 0.697432279586792, + 0.6193820834159851, + 0.3013276755809784, + -0.19787807762622833 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.08246506750583649, + 0.09071347862482071, + -0.09517806768417358 + ], + "orientation": [ + 0.700589120388031, + 0.6152564287185669, + 0.3018261194229126, + -0.198835551738739 + ], + "joints": [ + -0.0031380755826830864 + ] + }, + "final_grasp": { + "position": [ + -0.08246506750583649, + 0.09071347862482071, + -0.09517806768417358 + ], + "orientation": [ + 0.700589120388031, + 0.6152564287185669, + 0.3018261194229126, + -0.198835551738739 + ], + "joints": [ + 0.003743549808859825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021431272849440575, + 0.08589177578687668, + -0.12061820924282074 + ], + "orientation": [ + 0.7272968292236328, + 0.664741039276123, + 0.16809985041618347, + 0.030017875134944916 + ], + "joints": [ + -0.011108994483947754 + ] + }, + "fine_grasp": { + "position": [ + -0.020417414605617523, + 0.08662959188222885, + -0.11960947513580322 + ], + "orientation": [ + 0.7215691208839417, + 0.6634246110916138, + 0.1900995671749115, + 0.055388499051332474 + ], + "joints": [ + -0.008372286334633827 + ] + }, + "final_grasp": { + "position": [ + -0.020417414605617523, + 0.08662959188222885, + -0.11960947513580322 + ], + "orientation": [ + 0.7215691208839417, + 0.6634246110916138, + 0.1900995671749115, + 0.055388499051332474 + ], + "joints": [ + -0.0056355781853199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12395916134119034, + 0.12683606147766113, + 0.00729509349912405 + ], + "orientation": [ + 0.5086145997047424, + 0.4490163326263428, + -0.4304081201553345, + 0.595352292060852 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.1247253343462944, + 0.1269216239452362, + 0.007428260520100594 + ], + "orientation": [ + 0.519076406955719, + 0.4388899803161621, + -0.42012086510658264, + 0.6011936068534851 + ], + "joints": [ + -0.006834099069237709 + ] + }, + "final_grasp": { + "position": [ + 0.1247253343462944, + 0.1269216239452362, + 0.007428260520100594 + ], + "orientation": [ + 0.519076406955719, + 0.4388899803161621, + -0.42012086510658264, + 0.6011936068534851 + ], + "joints": [ + -0.0025297626852989197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12395864725112915, + 0.12682214379310608, + 0.007269204594194889 + ], + "orientation": [ + 0.5086626410484314, + 0.44906046986579895, + -0.4303148090839386, + 0.5953454375267029 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.1247260570526123, + 0.1269092559814453, + 0.007403586991131306 + ], + "orientation": [ + 0.5191163420677185, + 0.4389314353466034, + -0.42002999782562256, + 0.6011922359466553 + ], + "joints": [ + -0.006834099069237709 + ] + }, + "final_grasp": { + "position": [ + 0.1247260570526123, + 0.1269092559814453, + 0.007403586991131306 + ], + "orientation": [ + 0.5191163420677185, + 0.4389314353466034, + -0.42002999782562256, + 0.6011922359466553 + ], + "joints": [ + -0.0025297626852989197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12112770229578018, + 0.10307058691978455, + -0.020884888246655464 + ], + "orientation": [ + 0.44205811619758606, + -0.4626404643058777, + -0.46420109272003174, + -0.612426221370697 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.11888988316059113, + 0.10259201377630234, + -0.02086268737912178 + ], + "orientation": [ + 0.4420168399810791, + -0.46126213669776917, + -0.4620903432369232, + -0.6150861978530884 + ], + "joints": [ + -0.0034146690741181374 + ] + }, + "final_grasp": { + "position": [ + -0.11888988316059113, + 0.10259201377630234, + -0.02086268737912178 + ], + "orientation": [ + 0.4420168399810791, + -0.46126213669776917, + -0.4620903432369232, + -0.6150861978530884 + ], + "joints": [ + 0.0013944972306489944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11987005919218063, + 0.09578324854373932, + 0.020154796540737152 + ], + "orientation": [ + 0.5261033177375793, + -0.5539738535881042, + -0.41587188839912415, + -0.4933345913887024 + ], + "joints": [ + -0.00732357706874609 + ] + }, + "fine_grasp": { + "position": [ + -0.11943627148866653, + 0.09567106515169144, + 0.020503351464867592 + ], + "orientation": [ + 0.5261777639389038, + -0.5556166768074036, + -0.41623127460479736, + -0.4910993278026581 + ], + "joints": [ + -0.002514410763978958 + ] + }, + "final_grasp": { + "position": [ + -0.11943627148866653, + 0.09567106515169144, + 0.020503351464867592 + ], + "orientation": [ + 0.5261777639389038, + -0.5556166768074036, + -0.41623127460479736, + -0.4910993278026581 + ], + "joints": [ + 0.0022947555407881737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12633872032165527, + 0.05689422786235809, + 0.01046890951693058 + ], + "orientation": [ + 0.49482059478759766, + 0.45785531401634216, + -0.5499749183654785, + 0.49299973249435425 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.12368473410606384, + 0.05602624639868736, + 0.010315027087926865 + ], + "orientation": [ + 0.4872317612171173, + 0.4652634263038635, + -0.5418402552604675, + 0.502537727355957 + ], + "joints": [ + -0.0017659319564700127 + ] + }, + "final_grasp": { + "position": [ + 0.12368473410606384, + 0.05602624639868736, + 0.010315027087926865 + ], + "orientation": [ + 0.4872317612171173, + 0.4652634263038635, + -0.5418402552604675, + 0.502537727355957 + ], + "joints": [ + 0.004132603760808706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12115796655416489, + 0.02579391747713089, + -0.022590920329093933 + ], + "orientation": [ + 0.4867700934410095, + -0.4095626175403595, + 0.617958664894104, + 0.46199607849121094 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + 0.11667542904615402, + 0.026967233046889305, + -0.022453157231211662 + ], + "orientation": [ + 0.49103400111198425, + -0.4070853888988495, + 0.6141666769981384, + 0.4647217392921448 + ], + "joints": [ + -0.0024373214691877365 + ] + }, + "final_grasp": { + "position": [ + 0.11667542904615402, + 0.026967233046889305, + -0.022453157231211662 + ], + "orientation": [ + 0.49103400111198425, + -0.4070853888988495, + 0.6141666769981384, + 0.4647217392921448 + ], + "joints": [ + 0.003408074378967285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11794336140155792, + 0.028631392866373062, + -0.03142647072672844 + ], + "orientation": [ + 0.5429353713989258, + 0.5738540887832642, + -0.47828996181488037, + 0.38360294699668884 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.11799364537000656, + 0.02863619290292263, + -0.030847586691379547 + ], + "orientation": [ + 0.5297207832336426, + 0.5845432877540588, + -0.48647716641426086, + 0.37555956840515137 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + 0.11799364537000656, + 0.02863619290292263, + -0.030847586691379547 + ], + "orientation": [ + 0.5297207832336426, + 0.5845432877540588, + -0.48647716641426086, + 0.37555956840515137 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1179477721452713, + 0.028626084327697754, + -0.03143105283379555 + ], + "orientation": [ + 0.5426731705665588, + 0.5741366147994995, + -0.4783228933811188, + 0.38351041078567505 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.11799465119838715, + 0.02862599492073059, + -0.03087969869375229 + ], + "orientation": [ + 0.529451310634613, + 0.5849487781524658, + -0.486468642950058, + 0.37531915307044983 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + 0.11799465119838715, + 0.02862599492073059, + -0.03087969869375229 + ], + "orientation": [ + 0.529451310634613, + 0.5849487781524658, + -0.486468642950058, + 0.37531915307044983 + ], + "joints": [ + 0.0023424793034791946 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2033, + "num_passed": 30 + } +} \ No newline at end of file diff --git a/001_bottle_22/Annotation/piper_grasp_pose.json b/001_bottle_22/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..6bdf367b3224bea11d506449eab98cdaa0354a33 --- /dev/null +++ b/001_bottle_22/Annotation/piper_grasp_pose.json @@ -0,0 +1,2268 @@ +{ + "type": "001_bottle_22", + "bottom_center": [ + 1.5616416931152344e-05, + 0.10445385426282883, + -0.028147589415311813 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.12052828818559647, + 0.10412095487117767, + -0.06677085906267166 + ], + "orientation": [ + 0.5622047781944275, + -0.3241316080093384, + 0.3952396512031555, + -0.650115430355072 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + -0.1172395870089531, + 0.10401517152786255, + -0.06479808688163757 + ], + "orientation": [ + 0.5620346069335938, + -0.32677769660949707, + 0.3940417170524597, + -0.6496649384498596 + ], + "joints": [ + 0.019445186480879784 + ] + }, + "final_grasp": { + "position": [ + -0.1172395870089531, + 0.10401517152786255, + -0.06479808688163757 + ], + "orientation": [ + 0.5620346069335938, + -0.32677769660949707, + 0.3940417170524597, + -0.6496649384498596 + ], + "joints": [ + 0.010605430230498314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12065837532281876, + 0.10419709980487823, + -0.06685668230056763 + ], + "orientation": [ + 0.5623342990875244, + -0.32426688075065613, + 0.3950011134147644, + -0.6500809192657471 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + -0.11734312027692795, + 0.10407871752977371, + -0.06482060253620148 + ], + "orientation": [ + 0.562035858631134, + -0.32671138644218445, + 0.39393216371536255, + -0.6497635841369629 + ], + "joints": [ + 0.019445186480879784 + ] + }, + "final_grasp": { + "position": [ + -0.11734312027692795, + 0.10407871752977371, + -0.06482060253620148 + ], + "orientation": [ + 0.562035858631134, + -0.32671138644218445, + 0.39393216371536255, + -0.6497635841369629 + ], + "joints": [ + 0.010605430230498314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08733300119638443, + 0.09578794240951538, + 0.1058746725320816 + ], + "orientation": [ + 0.2643202245235443, + 0.6895791292190552, + -0.6398130655288696, + -0.21273137629032135 + ], + "joints": [ + 0.028447028249502182 + ] + }, + "fine_grasp": { + "position": [ + 0.0848689004778862, + 0.09554953873157501, + 0.10290896892547607 + ], + "orientation": [ + 0.2613656222820282, + 0.6907053589820862, + -0.6387031078338623, + -0.21603818237781525 + ], + "joints": [ + 0.020004328340291977 + ] + }, + "final_grasp": { + "position": [ + 0.0848689004778862, + 0.09554953873157501, + 0.10290896892547607 + ], + "orientation": [ + 0.2613656222820282, + 0.6907053589820862, + -0.6387031078338623, + -0.21603818237781525 + ], + "joints": [ + 0.011561628431081772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12077285349369049, + 0.10416065156459808, + -0.06700975447893143 + ], + "orientation": [ + 0.5624262094497681, + -0.32379329204559326, + 0.3951573371887207, + -0.6501426100730896 + ], + "joints": [ + 0.0278449896723032 + ] + }, + "fine_grasp": { + "position": [ + -0.1175076812505722, + 0.10403941571712494, + -0.06509671360254288 + ], + "orientation": [ + 0.5622584819793701, + -0.3262341022491455, + 0.3940931260585785, + -0.6497131586074829 + ], + "joints": [ + 0.019423188641667366 + ] + }, + "final_grasp": { + "position": [ + -0.1175076812505722, + 0.10403941571712494, + -0.06509671360254288 + ], + "orientation": [ + 0.5622584819793701, + -0.3262341022491455, + 0.3940931260585785, + -0.6497131586074829 + ], + "joints": [ + 0.011001387611031532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13226191699504852, + 0.028138281777501106, + -0.011993825435638428 + ], + "orientation": [ + 0.557687520980835, + -0.5109195709228516, + 0.4431745707988739, + -0.48118823766708374 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.12835538387298584, + 0.028207072988152504, + -0.011616203002631664 + ], + "orientation": [ + 0.5561857223510742, + -0.508945882320404, + 0.44527584314346313, + -0.48307451605796814 + ], + "joints": [ + 0.022198429331183434 + ] + }, + "final_grasp": { + "position": [ + -0.12835538387298584, + 0.028207072988152504, + -0.011616203002631664 + ], + "orientation": [ + 0.5561857223510742, + -0.508945882320404, + 0.44527584314346313, + -0.48307451605796814 + ], + "joints": [ + 0.013379571959376335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13232125341892242, + 0.027970753610134125, + -0.012099795043468475 + ], + "orientation": [ + 0.5569647550582886, + -0.5107330679893494, + 0.44299718737602234, + -0.4823850691318512 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.128425732254982, + 0.028050966560840607, + -0.011722620576620102 + ], + "orientation": [ + 0.5555525422096252, + -0.5088613629341125, + 0.44496390223503113, + -0.4841783344745636 + ], + "joints": [ + 0.022198429331183434 + ] + }, + "final_grasp": { + "position": [ + -0.128425732254982, + 0.028050966560840607, + -0.011722620576620102 + ], + "orientation": [ + 0.5555525422096252, + -0.5088613629341125, + 0.44496390223503113, + -0.4841783344745636 + ], + "joints": [ + 0.013379571959376335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12068748474121094, + 0.10420455783605576, + -0.06689421832561493 + ], + "orientation": [ + 0.562473714351654, + -0.324165403842926, + 0.39504751563072205, + -0.6499828100204468 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + -0.1174001395702362, + 0.10407993197441101, + -0.06495185941457748 + ], + "orientation": [ + 0.5621578693389893, + -0.3267735242843628, + 0.3941265344619751, + -0.6495090126991272 + ], + "joints": [ + 0.019445186480879784 + ] + }, + "final_grasp": { + "position": [ + -0.1174001395702362, + 0.10407993197441101, + -0.06495185941457748 + ], + "orientation": [ + 0.5621578693389893, + -0.3267735242843628, + 0.3941265344619751, + -0.6495090126991272 + ], + "joints": [ + 0.010605430230498314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08667583763599396, + 0.09585385769605637, + 0.10515764355659485 + ], + "orientation": [ + 0.26230838894844055, + 0.6881749629974365, + -0.6415753364562988, + -0.21445420384407043 + ], + "joints": [ + 0.028910137712955475 + ] + }, + "fine_grasp": { + "position": [ + 0.08424267172813416, + 0.09561839699745178, + 0.10219521075487137 + ], + "orientation": [ + 0.25936055183410645, + 0.6894642114639282, + -0.6403072476387024, + -0.21766430139541626 + ], + "joints": [ + 0.020070381462574005 + ] + }, + "final_grasp": { + "position": [ + 0.08424267172813416, + 0.09561839699745178, + 0.10219521075487137 + ], + "orientation": [ + 0.25936055183410645, + 0.6894642114639282, + -0.6403072476387024, + -0.21766430139541626 + ], + "joints": [ + 0.011230625212192535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.078890860080719, + 0.08302033692598343, + -0.10291479527950287 + ], + "orientation": [ + 0.6616453528404236, + 0.18690118193626404, + -0.26800116896629333, + -0.6748842000961304 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.07647541165351868, + 0.08336327224969864, + -0.09985815733671188 + ], + "orientation": [ + 0.6619393229484558, + 0.18674521148204803, + -0.26777827739715576, + -0.6747276186943054 + ], + "joints": [ + 0.022010929882526398 + ] + }, + "final_grasp": { + "position": [ + 0.07647541165351868, + 0.08336327224969864, + -0.09985815733671188 + ], + "orientation": [ + 0.6619393229484558, + 0.18674521148204803, + -0.26777827739715576, + -0.6747276186943054 + ], + "joints": [ + 0.01321297138929367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06863635033369064, + 0.0922836884856224, + -0.12335572391748428 + ], + "orientation": [ + 0.7200671434402466, + -0.1491362452507019, + -0.2077161967754364, + 0.6450701355934143 + ], + "joints": [ + 0.02754397504031658 + ] + }, + "fine_grasp": { + "position": [ + 0.06676563620567322, + 0.09237073361873627, + -0.1200522780418396 + ], + "orientation": [ + 0.7213658094406128, + -0.14867553114891052, + -0.20581188797950745, + 0.6443355679512024 + ], + "joints": [ + 0.018704218789935112 + ] + }, + "final_grasp": { + "position": [ + 0.06676563620567322, + 0.09237073361873627, + -0.1200522780418396 + ], + "orientation": [ + 0.7213658094406128, + -0.14867553114891052, + -0.20581188797950745, + 0.6443355679512024 + ], + "joints": [ + 0.009864462539553642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08051171898841858, + 0.07208752632141113, + -0.09889926761388779 + ], + "orientation": [ + 0.7057772874832153, + -0.30339357256889343, + -0.17411726713180542, + 0.6160470247268677 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + 0.07802693545818329, + 0.07251472771167755, + -0.09589483588933945 + ], + "orientation": [ + 0.7060261368751526, + -0.30226191878318787, + -0.17508500814437866, + 0.6160439252853394 + ], + "joints": [ + 0.022056084126234055 + ] + }, + "final_grasp": { + "position": [ + 0.07802693545818329, + 0.07251472771167755, + -0.09589483588933945 + ], + "orientation": [ + 0.7060261368751526, + -0.30226191878318787, + -0.17508500814437866, + 0.6160439252853394 + ], + "joints": [ + 0.012840170413255692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1034344732761383, + 0.0775826945900917, + -0.09096114337444305 + ], + "orientation": [ + 0.681757390499115, + 0.24044814705848694, + 0.33878424763679504, + 0.6021767854690552 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.10056506097316742, + 0.07769960910081863, + -0.08858364075422287 + ], + "orientation": [ + 0.6832205057144165, + 0.23998013138771057, + 0.3381989896297455, + 0.601033091545105 + ], + "joints": [ + 0.020536907017230988 + ] + }, + "final_grasp": { + "position": [ + -0.10056506097316742, + 0.07769960910081863, + -0.08858364075422287 + ], + "orientation": [ + 0.6832205057144165, + 0.23998013138771057, + 0.3381989896297455, + 0.601033091545105 + ], + "joints": [ + 0.012094207108020782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10352838039398193, + 0.07767205685377121, + -0.09109114855527878 + ], + "orientation": [ + 0.6816466450691223, + 0.23997488617897034, + 0.3390412926673889, + 0.6023461222648621 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.10057748109102249, + 0.07780938595533371, + -0.08862755447626114 + ], + "orientation": [ + 0.6831303834915161, + 0.23945243656635284, + 0.33849036693573, + 0.6011818647384644 + ], + "joints": [ + 0.02037140540778637 + ] + }, + "final_grasp": { + "position": [ + -0.10057748109102249, + 0.07780938595533371, + -0.08862755447626114 + ], + "orientation": [ + 0.6831303834915161, + 0.23945243656635284, + 0.33849036693573, + 0.6011818647384644 + ], + "joints": [ + 0.0115316491574049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10338149964809418, + 0.07770425826311111, + -0.09086354076862335 + ], + "orientation": [ + 0.681705117225647, + 0.23999206721782684, + 0.3393082320690155, + 0.6021228432655334 + ], + "joints": [ + 0.029002763330936432 + ] + }, + "fine_grasp": { + "position": [ + -0.10047026723623276, + 0.07783691585063934, + -0.0884305089712143 + ], + "orientation": [ + 0.6831952333450317, + 0.23941242694854736, + 0.3386616110801697, + 0.6010277271270752 + ], + "joints": [ + 0.020560063421726227 + ] + }, + "final_grasp": { + "position": [ + -0.10047026723623276, + 0.07783691585063934, + -0.0884305089712143 + ], + "orientation": [ + 0.6831952333450317, + 0.23941242694854736, + 0.3386616110801697, + 0.6010277271270752 + ], + "joints": [ + 0.012117363512516022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05623740702867508, + 0.08793162554502487, + -0.12179681658744812 + ], + "orientation": [ + 0.736900269985199, + -0.19063207507133484, + -0.11906938999891281, + 0.6375420689582825 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.05457054823637009, + 0.0882868841290474, + -0.11824332177639008 + ], + "orientation": [ + 0.7375196814537048, + -0.19019483029842377, + -0.11968185752630234, + 0.6368412375450134 + ], + "joints": [ + 0.02173531986773014 + ] + }, + "final_grasp": { + "position": [ + 0.05457054823637009, + 0.0882868841290474, + -0.11824332177639008 + ], + "orientation": [ + 0.7375196814537048, + -0.19019483029842377, + -0.11968185752630234, + 0.6368412375450134 + ], + "joints": [ + 0.012916462495923042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05634423345327377, + 0.08787007629871368, + -0.1219356432557106 + ], + "orientation": [ + 0.7366089820861816, + -0.19069932401180267, + -0.1191532090306282, + 0.6378427743911743 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.054713066667318344, + 0.08819650858640671, + -0.11846636980772018 + ], + "orientation": [ + 0.7370966076850891, + -0.19018705189228058, + -0.11994946748018265, + 0.6372829675674438 + ], + "joints": [ + 0.02173531986773014 + ] + }, + "final_grasp": { + "position": [ + 0.054713066667318344, + 0.08819650858640671, + -0.11846636980772018 + ], + "orientation": [ + 0.7370966076850891, + -0.19018705189228058, + -0.11994946748018265, + 0.6372829675674438 + ], + "joints": [ + 0.012916462495923042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13188691437244415, + 0.1881372034549713, + -0.021375034004449844 + ], + "orientation": [ + 0.6068719625473022, + 0.4602028727531433, + -0.4722854197025299, + -0.44369596242904663 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.12856195867061615, + 0.1868448555469513, + -0.02078958787024021 + ], + "orientation": [ + 0.6095001697540283, + 0.4638374447822571, + -0.46750542521476746, + -0.4413648545742035 + ], + "joints": [ + 0.023058593273162842 + ] + }, + "final_grasp": { + "position": [ + 0.12856195867061615, + 0.1868448555469513, + -0.02078958787024021 + ], + "orientation": [ + 0.6095001697540283, + 0.4638374447822571, + -0.46750542521476746, + -0.4413648545742035 + ], + "joints": [ + 0.014636792242527008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12980294227600098, + 0.10952605307102203, + 0.01798972673714161 + ], + "orientation": [ + 0.4348427355289459, + -0.5584255456924438, + 0.5074267387390137, + -0.4915189743041992 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.12594987452030182, + 0.1096768006682396, + 0.01746874861419201 + ], + "orientation": [ + 0.43450093269348145, + -0.5617199540138245, + 0.504006028175354, + -0.4915866255760193 + ], + "joints": [ + 0.022727586328983307 + ] + }, + "final_grasp": { + "position": [ + -0.12594987452030182, + 0.1096768006682396, + 0.01746874861419201 + ], + "orientation": [ + 0.43450093269348145, + -0.5617199540138245, + 0.504006028175354, + -0.4915866255760193 + ], + "joints": [ + 0.013511672616004944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05483074113726616, + 0.13067962229251862, + -0.12717995047569275 + ], + "orientation": [ + 0.6163613200187683, + 0.2079003006219864, + -0.06992048025131226, + -0.7562984228134155 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + 0.053516533225774765, + 0.13063126802444458, + -0.12369357794523239 + ], + "orientation": [ + 0.6155470609664917, + 0.20686505734920502, + -0.07108073681592941, + -0.7571369409561157 + ], + "joints": [ + 0.021228155121207237 + ] + }, + "final_grasp": { + "position": [ + 0.053516533225774765, + 0.13063126802444458, + -0.12369357794523239 + ], + "orientation": [ + 0.6155470609664917, + 0.20686505734920502, + -0.07108073681592941, + -0.7571369409561157 + ], + "joints": [ + 0.012388398870825768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13110274076461792, + 0.09910546988248825, + -0.020786866545677185 + ], + "orientation": [ + 0.5503963828086853, + 0.3942369222640991, + -0.5173501372337341, + -0.5234404802322388 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.1273050159215927, + 0.09944062680006027, + -0.020187407732009888 + ], + "orientation": [ + 0.5514550805091858, + 0.3932218849658966, + -0.5183281302452087, + -0.5221203565597534 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + 0.1273050159215927, + 0.09944062680006027, + -0.020187407732009888 + ], + "orientation": [ + 0.5514550805091858, + 0.3932218849658966, + -0.5183281302452087, + -0.5221203565597534 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13072165846824646, + 0.09932946413755417, + -0.020825494080781937 + ], + "orientation": [ + 0.5507909655570984, + 0.39282310009002686, + -0.5180649757385254, + -0.5233813524246216 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.12690170109272003, + 0.09971366822719574, + -0.020191509276628494 + ], + "orientation": [ + 0.5519307255744934, + 0.39146795868873596, + -0.5191556811332703, + -0.5221137404441833 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + 0.12690170109272003, + 0.09971366822719574, + -0.020191509276628494 + ], + "orientation": [ + 0.5519307255744934, + 0.39146795868873596, + -0.5191556811332703, + -0.5221137404441833 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1306646168231964, + 0.09941559284925461, + -0.02082107774913311 + ], + "orientation": [ + 0.5507848262786865, + 0.39251065254211426, + -0.5182889699935913, + -0.5234003067016602 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.12684549391269684, + 0.09979312121868134, + -0.020197972655296326 + ], + "orientation": [ + 0.5519140958786011, + 0.39113283157348633, + -0.5194709300994873, + -0.5220689177513123 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + 0.12684549391269684, + 0.09979312121868134, + -0.020197972655296326 + ], + "orientation": [ + 0.5519140958786011, + 0.39113283157348633, + -0.5194709300994873, + -0.5220689177513123 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1365511566400528, + 0.07458782196044922, + 0.009093345142900944 + ], + "orientation": [ + 0.5159856081008911, + 0.555630624294281, + 0.47557249665260315, + 0.4459419548511505 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + -0.13269351422786713, + 0.07419342547655106, + 0.008897360414266586 + ], + "orientation": [ + 0.5151883363723755, + 0.555395245552063, + 0.47621139883995056, + 0.4464748799800873 + ], + "joints": [ + 0.02030193619430065 + ] + }, + "final_grasp": { + "position": [ + -0.13269351422786713, + 0.07419342547655106, + 0.008897360414266586 + ], + "orientation": [ + 0.5151883363723755, + 0.555395245552063, + 0.47621139883995056, + 0.4464748799800873 + ], + "joints": [ + 0.011462179943919182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13655167818069458, + 0.07468724250793457, + 0.009084869176149368 + ], + "orientation": [ + 0.5156468152999878, + 0.5553904175758362, + 0.47584691643714905, + 0.4463401138782501 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + -0.13269828259944916, + 0.0742914080619812, + 0.008883584290742874 + ], + "orientation": [ + 0.5148890018463135, + 0.5551841855049133, + 0.4764327108860016, + 0.4468463063240051 + ], + "joints": [ + 0.02030193619430065 + ] + }, + "final_grasp": { + "position": [ + -0.13269828259944916, + 0.0742914080619812, + 0.008883584290742874 + ], + "orientation": [ + 0.5148890018463135, + 0.5551841855049133, + 0.4764327108860016, + 0.4468463063240051 + ], + "joints": [ + 0.011462179943919182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10772912949323654, + 0.12706269323825836, + -0.0738082155585289 + ], + "orientation": [ + 0.5340349674224854, + -0.330486923456192, + -0.3304658830165863, + 0.7045406103134155 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.10452131181955338, + 0.1272648125886917, + -0.0716412365436554 + ], + "orientation": [ + 0.5328692197799683, + -0.3345286548137665, + -0.32706981897354126, + 0.7051002979278564 + ], + "joints": [ + 0.02342340722680092 + ] + }, + "final_grasp": { + "position": [ + 0.10452131181955338, + 0.1272648125886917, + -0.0716412365436554 + ], + "orientation": [ + 0.5328692197799683, + -0.3345286548137665, + -0.32706981897354126, + 0.7051002979278564 + ], + "joints": [ + 0.014625448733568192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10735771805047989, + 0.12718565762043, + -0.07353048771619797 + ], + "orientation": [ + 0.5340815186500549, + -0.33111241459846497, + -0.3298375606536865, + 0.704505980014801 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.10415341705083847, + 0.12737661600112915, + -0.07137713581323624 + ], + "orientation": [ + 0.5327690839767456, + -0.335063636302948, + -0.32626873254776, + 0.705292820930481 + ], + "joints": [ + 0.023842457681894302 + ] + }, + "final_grasp": { + "position": [ + 0.10415341705083847, + 0.12737661600112915, + -0.07137713581323624 + ], + "orientation": [ + 0.5327690839767456, + -0.335063636302948, + -0.32626873254776, + 0.705292820930481 + ], + "joints": [ + 0.015023600310087204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10733982920646667, + 0.12720637023448944, + -0.07348724454641342 + ], + "orientation": [ + 0.5339449644088745, + -0.33131617307662964, + -0.3297367990016937, + 0.7045608758926392 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.10414113104343414, + 0.12741582095623016, + -0.07133986055850983 + ], + "orientation": [ + 0.5325402021408081, + -0.33554166555404663, + -0.3261564373970032, + 0.7052906155586243 + ], + "joints": [ + 0.023842457681894302 + ] + }, + "final_grasp": { + "position": [ + 0.10414113104343414, + 0.12741582095623016, + -0.07133986055850983 + ], + "orientation": [ + 0.5325402021408081, + -0.33554166555404663, + -0.3261564373970032, + 0.7052906155586243 + ], + "joints": [ + 0.015023600310087204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10736996680498123, + 0.12724702060222626, + -0.07351033389568329 + ], + "orientation": [ + 0.5340529680252075, + -0.33148807287216187, + -0.32951709628105164, + 0.7045009732246399 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.10417387634515762, + 0.1274535357952118, + -0.07136257737874985 + ], + "orientation": [ + 0.5326492786407471, + -0.33569225668907166, + -0.32599061727523804, + 0.705213189125061 + ], + "joints": [ + 0.023842457681894302 + ] + }, + "final_grasp": { + "position": [ + 0.10417387634515762, + 0.1274535357952118, + -0.07136257737874985 + ], + "orientation": [ + 0.5326492786407471, + -0.33569225668907166, + -0.32599061727523804, + 0.705213189125061 + ], + "joints": [ + 0.015023600310087204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13673700392246246, + 0.0656885951757431, + -0.014023276045918465 + ], + "orientation": [ + 0.5585968494415283, + 0.4548130929470062, + 0.49489331245422363, + 0.4859991669654846 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.13295026123523712, + 0.0655398890376091, + -0.013652322813868523 + ], + "orientation": [ + 0.5596808791160583, + 0.45403140783309937, + 0.4953387379646301, + 0.4850281774997711 + ], + "joints": [ + 0.020743047818541527 + ] + }, + "final_grasp": { + "position": [ + -0.13295026123523712, + 0.0655398890376091, + -0.013652322813868523 + ], + "orientation": [ + 0.5596808791160583, + 0.45403140783309937, + 0.4953387379646301, + 0.4850281774997711 + ], + "joints": [ + 0.012321246787905693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13805270195007324, + 0.09382634609937668, + -0.03055381216108799 + ], + "orientation": [ + 0.5279048085212708, + 0.39543572068214417, + 0.48839235305786133, + 0.5713317394256592 + ], + "joints": [ + 0.027752364054322243 + ] + }, + "fine_grasp": { + "position": [ + -0.1344580501317978, + 0.0942448079586029, + -0.029704822227358818 + ], + "orientation": [ + 0.5281785130500793, + 0.39577847719192505, + 0.48856794834136963, + 0.570690929889679 + ], + "joints": [ + 0.019288765266537666 + ] + }, + "final_grasp": { + "position": [ + -0.1344580501317978, + 0.0942448079586029, + -0.029704822227358818 + ], + "orientation": [ + 0.5281785130500793, + 0.39577847719192505, + 0.48856794834136963, + 0.570690929889679 + ], + "joints": [ + 0.01082516647875309 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1387956589460373, + 0.05675439536571503, + 0.011751598678529263 + ], + "orientation": [ + 0.4951121509075165, + 0.5612533092498779, + -0.4785536527633667, + -0.45917871594429016 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.13503621518611908, + 0.056389085948467255, + 0.011401881463825703 + ], + "orientation": [ + 0.49460336565971375, + 0.5614383220672607, + -0.47839945554733276, + -0.4596613943576813 + ], + "joints": [ + 0.020698992535471916 + ] + }, + "final_grasp": { + "position": [ + 0.13503621518611908, + 0.056389085948467255, + 0.011401881463825703 + ], + "orientation": [ + 0.49460336565971375, + 0.5614383220672607, + -0.47839945554733276, + -0.4596613943576813 + ], + "joints": [ + 0.012256292626261711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1388038694858551, + 0.0567893423140049, + 0.011781430803239346 + ], + "orientation": [ + 0.49495935440063477, + 0.5612180829048157, + -0.47869905829429626, + -0.4592350423336029 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.1350354105234146, + 0.056410714983940125, + 0.011447840370237827 + ], + "orientation": [ + 0.4944200813770294, + 0.5614308714866638, + -0.4785665273666382, + -0.45969358086586 + ], + "joints": [ + 0.020698992535471916 + ] + }, + "final_grasp": { + "position": [ + 0.1350354105234146, + 0.056410714983940125, + 0.011447840370237827 + ], + "orientation": [ + 0.4944200813770294, + 0.5614308714866638, + -0.4785665273666382, + -0.45969358086586 + ], + "joints": [ + 0.012256292626261711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13494287431240082, + 0.036286260932683945, + -0.0005053278291597962 + ], + "orientation": [ + 0.5063980221748352, + 0.39794695377349854, + -0.5895145535469055, + -0.48751601576805115 + ], + "joints": [ + 0.030380524694919586 + ] + }, + "fine_grasp": { + "position": [ + 0.13112959265708923, + 0.03625394031405449, + -0.00041168383904732764 + ], + "orientation": [ + 0.512495219707489, + 0.3978610932826996, + -0.5873649716377258, + -0.48379501700401306 + ], + "joints": [ + 0.02158256620168686 + ] + }, + "final_grasp": { + "position": [ + 0.13112959265708923, + 0.03625394031405449, + -0.00041168383904732764 + ], + "orientation": [ + 0.512495219707489, + 0.3978610932826996, + -0.5873649716377258, + -0.48379501700401306 + ], + "joints": [ + 0.012784607708454132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13485603034496307, + 0.03624404966831207, + -0.0006577082094736397 + ], + "orientation": [ + 0.5078989863395691, + 0.3966941237449646, + -0.5881736874580383, + -0.48859408497810364 + ], + "joints": [ + 0.03032263182103634 + ] + }, + "fine_grasp": { + "position": [ + 0.13099536299705505, + 0.036246392875909805, + -0.0006752240587957203 + ], + "orientation": [ + 0.5130879878997803, + 0.39685001969337463, + -0.5870918035507202, + -0.4843284785747528 + ], + "joints": [ + 0.02150377444922924 + ] + }, + "final_grasp": { + "position": [ + 0.13099536299705505, + 0.036246392875909805, + -0.0006752240587957203 + ], + "orientation": [ + 0.5130879878997803, + 0.39685001969337463, + -0.5870918035507202, + -0.4843284785747528 + ], + "joints": [ + 0.012684917077422142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04198705777525902, + -0.09679257124662399, + 0.007172534707933664 + ], + "orientation": [ + 0.6787224411964417, + -0.7264586091041565, + 0.07267770171165466, + -0.0794464573264122 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.040290556848049164, + -0.09414772689342499, + 0.007196466438472271 + ], + "orientation": [ + 0.6777748465538025, + -0.7251683473587036, + 0.08370698988437653, + -0.08800636231899261 + ], + "joints": [ + 0.022286539897322655 + ] + }, + "final_grasp": { + "position": [ + -0.040290556848049164, + -0.09414772689342499, + 0.007196466438472271 + ], + "orientation": [ + 0.6777748465538025, + -0.7251683473587036, + 0.08370698988437653, + -0.08800636231899261 + ], + "joints": [ + 0.013509480282664299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13246861100196838, + 0.0555211640894413, + 0.018242619931697845 + ], + "orientation": [ + 0.39731988310813904, + -0.6083268523216248, + 0.44979915022850037, + -0.519380509853363 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.12865634262561798, + 0.05543461814522743, + 0.01777390018105507 + ], + "orientation": [ + 0.39232197403907776, + -0.6108556985855103, + 0.44613033533096313, + -0.5233608484268188 + ], + "joints": [ + 0.022706687450408936 + ] + }, + "final_grasp": { + "position": [ + -0.12865634262561798, + 0.05543461814522743, + 0.01777390018105507 + ], + "orientation": [ + 0.39232197403907776, + -0.6108556985855103, + 0.44613033533096313, + -0.5233608484268188 + ], + "joints": [ + 0.013469874858856201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04213084280490875, + -0.09643439948558807, + 0.0068839918822050095 + ], + "orientation": [ + 0.6796998977661133, + -0.7254096865653992, + 0.07413466274738312, + -0.07932719588279724 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.04038465768098831, + -0.09386952966451645, + 0.006874843034893274 + ], + "orientation": [ + 0.6788305044174194, + -0.724091112613678, + 0.08459735661745071, + -0.08788806200027466 + ], + "joints": [ + 0.022286539897322655 + ] + }, + "final_grasp": { + "position": [ + -0.04038465768098831, + -0.09386952966451645, + 0.006874843034893274 + ], + "orientation": [ + 0.6788305044174194, + -0.724091112613678, + 0.08459735661745071, + -0.08788806200027466 + ], + "joints": [ + 0.013509480282664299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13178768754005432, + 0.036681413650512695, + 0.004572957754135132 + ], + "orientation": [ + 0.48321637511253357, + 0.553067684173584, + 0.4611276090145111, + 0.49797523021698 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.12789824604988098, + 0.036223962903022766, + 0.004436142276972532 + ], + "orientation": [ + 0.4828454554080963, + 0.5561619400978088, + 0.45761868357658386, + 0.49812567234039307 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + -0.12789824604988098, + 0.036223962903022766, + 0.004436142276972532 + ], + "orientation": [ + 0.4828454554080963, + 0.5561619400978088, + 0.45761868357658386, + 0.49812567234039307 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1113533079624176, + -0.0556003600358963, + -0.014038057997822762 + ], + "orientation": [ + 0.6925343871116638, + -0.5674929618835449, + 0.3483511805534363, + -0.2774873673915863 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.10802975296974182, + -0.05402010306715965, + -0.01370920892804861 + ], + "orientation": [ + 0.6889185905456543, + -0.5659189224243164, + 0.35374540090560913, + -0.28282707929611206 + ], + "joints": [ + 0.024491965770721436 + ] + }, + "final_grasp": { + "position": [ + -0.10802975296974182, + -0.05402010306715965, + -0.01370920892804861 + ], + "orientation": [ + 0.6889185905456543, + -0.5659189224243164, + 0.35374540090560913, + -0.28282707929611206 + ], + "joints": [ + 0.016091063618659973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11133894324302673, + -0.055746182799339294, + -0.013946397230029106 + ], + "orientation": [ + 0.6926414966583252, + -0.5671712160110474, + 0.3492736220359802, + -0.27671724557876587 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.10801924020051956, + -0.054129187017679214, + -0.013611885719001293 + ], + "orientation": [ + 0.6889954209327698, + -0.565739095211029, + 0.3545458912849426, + -0.2819960117340088 + ], + "joints": [ + 0.024512864649295807 + ] + }, + "final_grasp": { + "position": [ + -0.10801924020051956, + -0.054129187017679214, + -0.013611885719001293 + ], + "orientation": [ + 0.6889954209327698, + -0.565739095211029, + 0.3545458912849426, + -0.2819960117340088 + ], + "joints": [ + 0.016132861375808716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13498002290725708, + 0.15160004794597626, + 0.00458146259188652 + ], + "orientation": [ + 0.5504480004310608, + 0.4472540318965912, + 0.560414731502533, + 0.42767533659935 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.13110437989234924, + 0.1516755372285843, + 0.004527844488620758 + ], + "orientation": [ + 0.5507123470306396, + 0.4444431960582733, + 0.5633914470672607, + 0.4263521432876587 + ], + "joints": [ + 0.02676234394311905 + ] + }, + "final_grasp": { + "position": [ + -0.13110437989234924, + 0.1516755372285843, + 0.004527844488620758 + ], + "orientation": [ + 0.5507123470306396, + 0.4444431960582733, + 0.5633914470672607, + 0.4263521432876587 + ], + "joints": [ + 0.018779397010803223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1166231706738472, + -0.01918034255504608, + 0.006792188622057438 + ], + "orientation": [ + 0.39417049288749695, + 0.3542291820049286, + -0.637060821056366, + -0.559736430644989 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.11298072338104248, + -0.018940871581435204, + 0.007195427082479 + ], + "orientation": [ + 0.4026526212692261, + 0.3578963875770569, + -0.6360853910446167, + -0.5524278283119202 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + 0.11298072338104248, + -0.018940871581435204, + 0.007195427082479 + ], + "orientation": [ + 0.4026526212692261, + 0.3578963875770569, + -0.6360853910446167, + -0.5524278283119202 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014432585798203945, + -0.09817498177289963, + 0.016156239435076714 + ], + "orientation": [ + 0.009437973611056805, + -0.004948414862155914, + -0.7562688589096069, + -0.6541741490364075 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.013356008566915989, + -0.09571763128042221, + 0.01544029451906681 + ], + "orientation": [ + 6.5454210016469005e-06, + -0.014092708937823772, + -0.7553168535232544, + -0.6552082300186157 + ], + "joints": [ + 0.02363070845603943 + ] + }, + "final_grasp": { + "position": [ + -0.013356008566915989, + -0.09571763128042221, + 0.01544029451906681 + ], + "orientation": [ + 6.5454210016469005e-06, + -0.014092708937823772, + -0.7553168535232544, + -0.6552082300186157 + ], + "joints": [ + 0.015271604061126709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014299299567937851, + -0.09791494160890579, + 0.016315750777721405 + ], + "orientation": [ + 0.010806012898683548, + -0.003631389234215021, + -0.7569298148155212, + -0.6533966660499573 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.013127519749104977, + -0.09541548788547516, + 0.015560484491288662 + ], + "orientation": [ + 0.0017001578817144036, + -0.013284841552376747, + -0.7559797167778015, + -0.6544580459594727 + ], + "joints": [ + 0.02363070845603943 + ] + }, + "final_grasp": { + "position": [ + -0.013127519749104977, + -0.09541548788547516, + 0.015560484491288662 + ], + "orientation": [ + 0.0017001578817144036, + -0.013284841552376747, + -0.7559797167778015, + -0.6544580459594727 + ], + "joints": [ + 0.015271604061126709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14166255295276642, + 0.12270018458366394, + -0.002077842364087701 + ], + "orientation": [ + 0.5864595174789429, + 0.48308247327804565, + 0.5047281384468079, + 0.40981218218803406 + ], + "joints": [ + 0.028377577662467957 + ] + }, + "fine_grasp": { + "position": [ + -0.13794134557247162, + 0.12274351716041565, + -0.0020314110442996025 + ], + "orientation": [ + 0.5835669636726379, + 0.4807439148426056, + 0.5106076598167419, + 0.4094078540802002 + ], + "joints": [ + 0.01911986619234085 + ] + }, + "final_grasp": { + "position": [ + -0.13794134557247162, + 0.12274351716041565, + -0.0020314110442996025 + ], + "orientation": [ + 0.5835669636726379, + 0.4807439148426056, + 0.5106076598167419, + 0.4094078540802002 + ], + "joints": [ + 0.009862154722213745 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 45 + } +} \ No newline at end of file diff --git a/001_bottle_22/Object.usd b/001_bottle_22/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..1951e04c240f9d85d9a081d34a543c86506ca60a --- /dev/null +++ b/001_bottle_22/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c8b6b1e2ea3f3110073a346d11c19f1c249e11071148bca28407eb2ebe46a47 +size 760172 diff --git a/002_bowl_2/Annotation/dex1_1_grasp_pose.json b/002_bowl_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e38568ff9b8944707ece6dd1c963258b2f150925 --- /dev/null +++ b/002_bowl_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,418 @@ +{ + "type": "002_bowl_2", + "bottom_center": [ + 0.0, + 0.02449999935925007, + -0.059938907623291016 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0035851290449500084, + 0.029819846153259277, + -0.15970619022846222 + ], + "orientation": [ + 0.5351866483688354, + 0.48386064171791077, + -0.43254733085632324, + -0.5407004356384277 + ], + "joints": [ + -0.00788449589163065 + ] + }, + "fine_grasp": { + "position": [ + 0.004219097550958395, + 0.03030598722398281, + -0.1552688032388687 + ], + "orientation": [ + 0.537541389465332, + 0.4877084195613861, + -0.4290196895599365, + -0.5377098321914673 + ], + "joints": [ + -0.0025704996660351753 + ] + }, + "final_grasp": { + "position": [ + 0.004219097550958395, + 0.03030598722398281, + -0.1552688032388687 + ], + "orientation": [ + 0.537541389465332, + 0.4877084195613861, + -0.4290196895599365, + -0.5377098321914673 + ], + "joints": [ + 0.002743496559560299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0646621510386467, + -0.08981740474700928, + -0.05385122075676918 + ], + "orientation": [ + 0.957980215549469, + 0.047701068222522736, + 0.2587434649467468, + -0.1142379492521286 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.06517717242240906, + -0.08855225145816803, + -0.05040839686989784 + ], + "orientation": [ + 0.9569302201271057, + 0.05881408601999283, + 0.2537161111831665, + -0.1282721310853958 + ], + "joints": [ + -0.015817830339074135 + ] + }, + "final_grasp": { + "position": [ + -0.06517717242240906, + -0.08855225145816803, + -0.05040839686989784 + ], + "orientation": [ + 0.9569302201271057, + 0.05881408601999283, + 0.2537161111831665, + -0.1282721310853958 + ], + "joints": [ + -0.013107681646943092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02770157717168331, + -0.11910268664360046, + -0.06539547443389893 + ], + "orientation": [ + 0.2427891343832016, + 0.005818352103233337, + 0.9676787257194519, + 0.06795231997966766 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + 0.02708503045141697, + -0.12280160933732986, + -0.06372033804655075 + ], + "orientation": [ + 0.23952966928482056, + -2.396336458332371e-05, + 0.9672080278396606, + 0.08446437865495682 + ], + "joints": [ + -0.013053309172391891 + ] + }, + "final_grasp": { + "position": [ + 0.02708503045141697, + -0.12280160933732986, + -0.06372033804655075 + ], + "orientation": [ + 0.23952966928482056, + -2.396336458332371e-05, + 0.9672080278396606, + 0.08446437865495682 + ], + "joints": [ + -0.010316599160432816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04155908524990082, + -0.11748083680868149, + -0.05085430294275284 + ], + "orientation": [ + 0.9686194062232971, + 0.025230281054973602, + -0.24228085577487946, + 0.049393732100725174 + ], + "joints": [ + -0.01573113724589348 + ] + }, + "fine_grasp": { + "position": [ + 0.040065839886665344, + -0.12137314677238464, + -0.04937012866139412 + ], + "orientation": [ + 0.9673125147819519, + 0.0428648516535759, + -0.24531219899654388, + 0.047864917665719986 + ], + "joints": [ + -0.012489598244428635 + ] + }, + "final_grasp": { + "position": [ + 0.040065839886665344, + -0.12137314677238464, + -0.04937012866139412 + ], + "orientation": [ + 0.9673125147819519, + 0.0428648516535759, + -0.24531219899654388, + 0.047864917665719986 + ], + "joints": [ + -0.009248059242963791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041569992899894714, + -0.11760435253381729, + -0.050648126751184464 + ], + "orientation": [ + 0.9683643579483032, + 0.026536500081419945, + -0.2430780977010727, + 0.04979373887181282 + ], + "joints": [ + -0.01629050448536873 + ] + }, + "fine_grasp": { + "position": [ + 0.040022049099206924, + -0.12155570089817047, + -0.04932233318686485 + ], + "orientation": [ + 0.9670631885528564, + 0.042656876146793365, + -0.24643057584762573, + 0.04734081029891968 + ], + "joints": [ + -0.01201273500919342 + ] + }, + "final_grasp": { + "position": [ + 0.040022049099206924, + -0.12155570089817047, + -0.04932233318686485 + ], + "orientation": [ + 0.9670631885528564, + 0.042656876146793365, + -0.24643057584762573, + 0.04734081029891968 + ], + "joints": [ + -0.007734965533018112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04149806872010231, + -0.11757498234510422, + -0.05064253509044647 + ], + "orientation": [ + 0.9684451222419739, + 0.026363393291831017, + -0.2428046464920044, + 0.04964693263173103 + ], + "joints": [ + -0.01629050448536873 + ] + }, + "fine_grasp": { + "position": [ + 0.04000861197710037, + -0.12156654894351959, + -0.04929066821932793 + ], + "orientation": [ + 0.9671657681465149, + 0.0424911193549633, + -0.24603454768657684, + 0.04745528846979141 + ], + "joints": [ + -0.01201273500919342 + ] + }, + "final_grasp": { + "position": [ + 0.04000861197710037, + -0.12156654894351959, + -0.04929066821932793 + ], + "orientation": [ + 0.9671657681465149, + 0.0424911193549633, + -0.24603454768657684, + 0.04745528846979141 + ], + "joints": [ + -0.007734965533018112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030014920979738235, + -0.12274054437875748, + -0.05930275470018387 + ], + "orientation": [ + 0.1963474005460739, + -0.02362881414592266, + 0.9791036248207092, + 0.04738730192184448 + ], + "joints": [ + -0.015760578215122223 + ] + }, + "fine_grasp": { + "position": [ + 0.02804468758404255, + -0.12435835599899292, + -0.057936325669288635 + ], + "orientation": [ + 0.20270033180713654, + -0.019944429397583008, + 0.9771673083305359, + 0.060487981885671616 + ], + "joints": [ + -0.011987639591097832 + ] + }, + "final_grasp": { + "position": [ + 0.02804468758404255, + -0.12435835599899292, + -0.057936325669288635 + ], + "orientation": [ + 0.20270033180713654, + -0.019944429397583008, + 0.9771673083305359, + 0.060487981885671616 + ], + "joints": [ + -0.00821470096707344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0033638877794146538, + 0.029561815783381462, + -0.15962180495262146 + ], + "orientation": [ + 0.5342212915420532, + 0.4833744466304779, + -0.4347664415836334, + -0.5403099060058594 + ], + "joints": [ + -0.007882945239543915 + ] + }, + "fine_grasp": { + "position": [ + 0.003911830484867096, + 0.029963698238134384, + -0.15508294105529785 + ], + "orientation": [ + 0.5360727310180664, + 0.48749104142189026, + -0.4317909777164459, + -0.5371545553207397 + ], + "joints": [ + -0.0025689490139484406 + ] + }, + "final_grasp": { + "position": [ + 0.003911830484867096, + 0.029963698238134384, + -0.15508294105529785 + ], + "orientation": [ + 0.5360727310180664, + 0.48749104142189026, + -0.4317909777164459, + -0.5371545553207397 + ], + "joints": [ + 0.0027450472116470337 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2029, + "num_passed": 8 + } +} \ No newline at end of file diff --git a/002_bowl_2/Annotation/piper_grasp_pose.json b/002_bowl_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..3f7576615153a13c037225d6f77f5fef79536307 --- /dev/null +++ b/002_bowl_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,4718 @@ +{ + "type": "002_bowl_2", + "bottom_center": [ + 0.0, + 0.02449999935925007, + -0.059938907623291016 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.006519160233438015, + 0.15047237277030945, + 0.005766200367361307 + ], + "orientation": [ + 0.213214710354805, + 0.2606852650642395, + 0.6752864122390747, + -0.6561789512634277 + ], + "joints": [ + 0.018733514472842216 + ] + }, + "fine_grasp": { + "position": [ + 0.006551968865096569, + 0.14651592075824738, + 0.005745268892496824 + ], + "orientation": [ + 0.21217186748981476, + 0.2577723264694214, + 0.6757020950317383, + -0.6572390198707581 + ], + "joints": [ + 0.02713441662490368 + ] + }, + "final_grasp": { + "position": [ + 0.006551968865096569, + 0.14651592075824738, + 0.005745268892496824 + ], + "orientation": [ + 0.21217186748981476, + 0.2577723264694214, + 0.6757020950317383, + -0.6572390198707581 + ], + "joints": [ + 0.03553532063961029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012894613901153207, + 0.1502435803413391, + -0.009423213079571724 + ], + "orientation": [ + 0.3487362861633301, + 0.31575798988342285, + -0.6009196639060974, + 0.6462007164955139 + ], + "joints": [ + 0.01877996139228344 + ] + }, + "fine_grasp": { + "position": [ + 0.0014497945085167885, + 0.14630359411239624, + -0.009300487115979195 + ], + "orientation": [ + 0.3490181863307953, + 0.31656038761138916, + -0.601253867149353, + 0.6453445553779602 + ], + "joints": [ + 0.027180863544344902 + ] + }, + "final_grasp": { + "position": [ + 0.0014497945085167885, + 0.14630359411239624, + -0.009300487115979195 + ], + "orientation": [ + 0.3490181863307953, + 0.31656038761138916, + -0.601253867149353, + 0.6453445553779602 + ], + "joints": [ + 0.035581767559051514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0013979075010865927, + 0.15052230656147003, + -0.010068192146718502 + ], + "orientation": [ + 0.34804216027259827, + 0.3167138993740082, + -0.6003736257553101, + 0.6466144919395447 + ], + "joints": [ + 0.01884116418659687 + ] + }, + "fine_grasp": { + "position": [ + 0.0016627784352749586, + 0.14664287865161896, + -0.010061767883598804 + ], + "orientation": [ + 0.347927987575531, + 0.31792041659355164, + -0.6010308265686035, + 0.6454724073410034 + ], + "joints": [ + 0.027242066338658333 + ] + }, + "final_grasp": { + "position": [ + 0.0016627784352749586, + 0.14664287865161896, + -0.010061767883598804 + ], + "orientation": [ + 0.347927987575531, + 0.31792041659355164, + -0.6010308265686035, + 0.6454724073410034 + ], + "joints": [ + 0.035642966628074646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014199973084032536, + 0.15102577209472656, + -0.0025331079959869385 + ], + "orientation": [ + 0.4148831069469452, + 0.34277984499931335, + -0.6146879196166992, + 0.5766565203666687 + ], + "joints": [ + 0.019210193306207657 + ] + }, + "fine_grasp": { + "position": [ + 0.013806222938001156, + 0.14727544784545898, + -0.00287056271918118 + ], + "orientation": [ + 0.4127349853515625, + 0.3438253700733185, + -0.6145427227020264, + 0.5777294039726257 + ], + "joints": [ + 0.02761109545826912 + ] + }, + "final_grasp": { + "position": [ + 0.013806222938001156, + 0.14727544784545898, + -0.00287056271918118 + ], + "orientation": [ + 0.4127349853515625, + 0.3438253700733185, + -0.6145427227020264, + 0.5777294039726257 + ], + "joints": [ + 0.03601199761033058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025708654895424843, + 0.14962822198867798, + -0.014188890345394611 + ], + "orientation": [ + 0.588191032409668, + 0.6018443703651428, + 0.286839097738266, + -0.45775315165519714 + ], + "joints": [ + 0.019507985562086105 + ] + }, + "fine_grasp": { + "position": [ + 0.025193005800247192, + 0.14583386480808258, + -0.014612622559070587 + ], + "orientation": [ + 0.5896086096763611, + 0.6034044027328491, + 0.2884705066680908, + -0.45282408595085144 + ], + "joints": [ + 0.02792978659272194 + ] + }, + "final_grasp": { + "position": [ + 0.025193005800247192, + 0.14583386480808258, + -0.014612622559070587 + ], + "orientation": [ + 0.5896086096763611, + 0.6034044027328491, + 0.2884705066680908, + -0.45282408595085144 + ], + "joints": [ + 0.03635158762335777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025775492191314697, + 0.14949141442775726, + -0.014213395304977894 + ], + "orientation": [ + 0.587147057056427, + 0.6018527150154114, + 0.28828665614128113, + -0.45817309617996216 + ], + "joints": [ + 0.019542180001735687 + ] + }, + "fine_grasp": { + "position": [ + 0.025250300765037537, + 0.14558309316635132, + -0.014686302281916142 + ], + "orientation": [ + 0.5883281826972961, + 0.6034947037696838, + 0.29026928544044495, + -0.453219473361969 + ], + "joints": [ + 0.02794308215379715 + ] + }, + "final_grasp": { + "position": [ + 0.025250300765037537, + 0.14558309316635132, + -0.014686302281916142 + ], + "orientation": [ + 0.5883281826972961, + 0.6034947037696838, + 0.29026928544044495, + -0.453219473361969 + ], + "joints": [ + 0.03634398430585861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011114155873656273, + 0.14888451993465424, + -0.015472971834242344 + ], + "orientation": [ + 0.46267613768577576, + 0.36226633191108704, + -0.5567664504051208, + 0.5871158242225647 + ], + "joints": [ + 0.018557846546173096 + ] + }, + "fine_grasp": { + "position": [ + 0.010926910676062107, + 0.14500515162944794, + -0.015665428712964058 + ], + "orientation": [ + 0.4608386754989624, + 0.3638545274734497, + -0.5572686195373535, + 0.5871025323867798 + ], + "joints": [ + 0.026958748698234558 + ] + }, + "final_grasp": { + "position": [ + 0.010926910676062107, + 0.14500515162944794, + -0.015665428712964058 + ], + "orientation": [ + 0.4608386754989624, + 0.3638545274734497, + -0.5572686195373535, + 0.5871025323867798 + ], + "joints": [ + 0.03535965085029602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013833039440214634, + 0.14916035532951355, + 0.015583587810397148 + ], + "orientation": [ + 0.6554242968559265, + 0.7360064387321472, + 0.1593323051929474, + -0.0576791986823082 + ], + "joints": [ + 0.018652306869626045 + ] + }, + "fine_grasp": { + "position": [ + -0.01378153171390295, + 0.1453811675310135, + 0.015121306292712688 + ], + "orientation": [ + 0.6569406986236572, + 0.7343347668647766, + 0.15971969068050385, + -0.060588058084249496 + ], + "joints": [ + 0.02707410790026188 + ] + }, + "final_grasp": { + "position": [ + -0.01378153171390295, + 0.1453811675310135, + 0.015121306292712688 + ], + "orientation": [ + 0.6569406986236572, + 0.7343347668647766, + 0.15971969068050385, + -0.060588058084249496 + ], + "joints": [ + 0.035495907068252563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012913767248392105, + 0.1569000631570816, + 0.07065459340810776 + ], + "orientation": [ + 0.07818962633609772, + 0.093612901866436, + -0.7456632852554321, + 0.6550645232200623 + ], + "joints": [ + 0.01056966558098793 + ] + }, + "fine_grasp": { + "position": [ + 0.012890947982668877, + 0.15263456106185913, + 0.0702296644449234 + ], + "orientation": [ + 0.07826219499111176, + 0.09370898455381393, + -0.7446029186248779, + 0.6562469601631165 + ], + "joints": [ + 0.00344353006221354 + ] + }, + "final_grasp": { + "position": [ + 0.012890947982668877, + 0.15263456106185913, + 0.0702296644449234 + ], + "orientation": [ + 0.07826219499111176, + 0.09370898455381393, + -0.7446029186248779, + 0.6562469601631165 + ], + "joints": [ + -0.00368260545656085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07186736166477203, + 0.1526353806257248, + -0.014669862575829029 + ], + "orientation": [ + 0.6077263951301575, + 0.6180022954940796, + -0.4242873787879944, + 0.26214879751205444 + ], + "joints": [ + 0.010930673219263554 + ] + }, + "fine_grasp": { + "position": [ + 0.0715954378247261, + 0.14840200543403625, + -0.014711701311171055 + ], + "orientation": [ + 0.6089903712272644, + 0.621057391166687, + -0.4205334186553955, + 0.258012056350708 + ], + "joints": [ + 0.0033865824807435274 + ] + }, + "final_grasp": { + "position": [ + 0.0715954378247261, + 0.14840200543403625, + -0.014711701311171055 + ], + "orientation": [ + 0.6089903712272644, + 0.621057391166687, + -0.4205334186553955, + 0.258012056350708 + ], + "joints": [ + -0.004157508257776499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05122670158743858, + 0.15798427164554596, + -0.05406642705202103 + ], + "orientation": [ + 0.40593335032463074, + 0.3507693111896515, + -0.5310652852058411, + 0.6558571457862854 + ], + "joints": [ + 0.00998676661401987 + ] + }, + "fine_grasp": { + "position": [ + -0.05083828046917915, + 0.1536601334810257, + -0.053721845149993896 + ], + "orientation": [ + 0.40675950050354004, + 0.3544519245624542, + -0.5317370295524597, + 0.6528139710426331 + ], + "joints": [ + 0.003675643587484956 + ] + }, + "final_grasp": { + "position": [ + -0.05083828046917915, + 0.1536601334810257, + -0.053721845149993896 + ], + "orientation": [ + 0.40675950050354004, + 0.3544519245624542, + -0.5317370295524597, + 0.6528139710426331 + ], + "joints": [ + -0.002635479439049959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012923046946525574, + 0.15513356029987335, + 0.06949512660503387 + ], + "orientation": [ + 0.07637681066989899, + 0.10129640251398087, + -0.7442768812179565, + 0.6557114124298096 + ], + "joints": [ + 0.01033592689782381 + ] + }, + "fine_grasp": { + "position": [ + 0.012909882701933384, + 0.15087644755840302, + 0.06898169219493866 + ], + "orientation": [ + 0.07536688446998596, + 0.10130274295806885, + -0.7429543137550354, + 0.6573253870010376 + ], + "joints": [ + 0.0036068488843739033 + ] + }, + "final_grasp": { + "position": [ + 0.012909882701933384, + 0.15087644755840302, + 0.06898169219493866 + ], + "orientation": [ + 0.07536688446998596, + 0.10130274295806885, + -0.7429543137550354, + 0.6573253870010376 + ], + "joints": [ + -0.003122229129076004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054971493780612946, + 0.14990639686584473, + 0.0030302300583571196 + ], + "orientation": [ + 0.5880436301231384, + 0.5288897156715393, + 0.3965519964694977, + -0.4660758972167969 + ], + "joints": [ + 0.014617291279137135 + ] + }, + "fine_grasp": { + "position": [ + 0.05473267659544945, + 0.14566120505332947, + 0.003303803503513336 + ], + "orientation": [ + 0.5835549831390381, + 0.5337775945663452, + 0.39370405673980713, + -0.4685533046722412 + ], + "joints": [ + 0.006676142103970051 + ] + }, + "final_grasp": { + "position": [ + 0.05473267659544945, + 0.14566120505332947, + 0.003303803503513336 + ], + "orientation": [ + 0.5835549831390381, + 0.5337775945663452, + 0.39370405673980713, + -0.4685533046722412 + ], + "joints": [ + -0.001265007071197033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0001811088586691767, + 0.1564052700996399, + 0.07262418419122696 + ], + "orientation": [ + 0.6562966704368591, + 0.7521101236343384, + 0.05997218191623688, + 0.0028818058781325817 + ], + "joints": [ + 0.010954954661428928 + ] + }, + "fine_grasp": { + "position": [ + 6.288244912866503e-05, + 0.15218791365623474, + 0.0721484050154686 + ], + "orientation": [ + 0.6571916937828064, + 0.75135338306427, + 0.059515755623579025, + 0.005009138491004705 + ], + "joints": [ + 0.003410863922908902 + ] + }, + "final_grasp": { + "position": [ + 6.288244912866503e-05, + 0.15218791365623474, + 0.0721484050154686 + ], + "orientation": [ + 0.6571916937828064, + 0.75135338306427, + 0.059515755623579025, + 0.005009138491004705 + ], + "joints": [ + -0.004133226815611124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005788378766737878, + 0.15791000425815582, + 0.07334381341934204 + ], + "orientation": [ + 0.6562548875808716, + 0.7518692016601562, + 0.06341975927352905, + 0.0005033124471083283 + ], + "joints": [ + 0.011357217095792294 + ] + }, + "fine_grasp": { + "position": [ + -0.0003509671660140157, + 0.1537383794784546, + 0.07281303405761719 + ], + "orientation": [ + 0.6563273668289185, + 0.7518173456192017, + 0.06326303631067276, + 0.0016855024732649326 + ], + "joints": [ + 0.0033951711375266314 + ] + }, + "final_grasp": { + "position": [ + -0.0003509671660140157, + 0.1537383794784546, + 0.07281303405761719 + ], + "orientation": [ + 0.6563273668289185, + 0.7518173456192017, + 0.06326303631067276, + 0.0016855024732649326 + ], + "joints": [ + -0.004566874820739031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09162172675132751, + 0.14924214780330658, + -0.01586339995265007 + ], + "orientation": [ + 0.5348909497261047, + 0.20639817416667938, + -0.547494649887085, + 0.6095415353775024 + ], + "joints": [ + 0.011566823348402977 + ] + }, + "fine_grasp": { + "position": [ + 0.09052612632513046, + 0.14525549113750458, + -0.015666449442505836 + ], + "orientation": [ + 0.5302898287773132, + 0.20726656913757324, + -0.5509300827980042, + 0.6101714372634888 + ], + "joints": [ + 0.003604777157306671 + ] + }, + "final_grasp": { + "position": [ + 0.09052612632513046, + 0.14525549113750458, + -0.015666449442505836 + ], + "orientation": [ + 0.5302898287773132, + 0.20726656913757324, + -0.5509300827980042, + 0.6101714372634888 + ], + "joints": [ + -0.004357269033789635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017398441210389137, + 0.15260672569274902, + -0.07384338974952698 + ], + "orientation": [ + 0.7196907997131348, + 0.6425400376319885, + 0.020534520968794823, + -0.2622324228286743 + ], + "joints": [ + 0.010267142206430435 + ] + }, + "fine_grasp": { + "position": [ + 0.01710597053170204, + 0.14826810359954834, + -0.07334181666374207 + ], + "orientation": [ + 0.7174504399299622, + 0.6442291140556335, + 0.026377379894256592, + -0.26370057463645935 + ], + "joints": [ + 0.0035589616745710373 + ] + }, + "final_grasp": { + "position": [ + 0.01710597053170204, + 0.14826810359954834, + -0.07334181666374207 + ], + "orientation": [ + 0.7174504399299622, + 0.6442291140556335, + 0.026377379894256592, + -0.26370057463645935 + ], + "joints": [ + -0.0031492188572883606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08931256830692291, + 0.14004579186439514, + -0.03230694681406021 + ], + "orientation": [ + 0.6681146025657654, + 0.6400412917137146, + 0.37862542271614075, + -0.024756236001849174 + ], + "joints": [ + 0.012082979083061218 + ] + }, + "fine_grasp": { + "position": [ + -0.08864733576774597, + 0.13612711429595947, + -0.03160984069108963 + ], + "orientation": [ + 0.6677973866462708, + 0.6455428004264832, + 0.37031668424606323, + -0.013667711056768894 + ], + "joints": [ + 0.0033059201668947935 + ] + }, + "final_grasp": { + "position": [ + -0.08864733576774597, + 0.13612711429595947, + -0.03160984069108963 + ], + "orientation": [ + 0.6677973866462708, + 0.6455428004264832, + 0.37031668424606323, + -0.013667711056768894 + ], + "joints": [ + -0.005471138749271631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08920136094093323, + 0.1389971226453781, + -0.03296129032969475 + ], + "orientation": [ + 0.666033148765564, + 0.6432575583457947, + 0.3773682713508606, + -0.014594323001801968 + ], + "joints": [ + 0.010982071049511433 + ] + }, + "fine_grasp": { + "position": [ + -0.08945392072200775, + 0.1352490484714508, + -0.031773101538419724 + ], + "orientation": [ + 0.6654840111732483, + 0.6473361253738403, + 0.3715894818305969, + -0.0028622662648558617 + ], + "joints": [ + 0.0034379803109914064 + ] + }, + "final_grasp": { + "position": [ + -0.08945392072200775, + 0.1352490484714508, + -0.031773101538419724 + ], + "orientation": [ + 0.6654840111732483, + 0.6473361253738403, + 0.3715894818305969, + -0.0028622662648558617 + ], + "joints": [ + -0.00410611042752862 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04725277051329613, + 0.1474108099937439, + 0.05648419260978699 + ], + "orientation": [ + 0.6783298254013062, + 0.7156173586845398, + -0.01440649013966322, + -0.16599053144454956 + ], + "joints": [ + 0.01141377817839384 + ] + }, + "fine_grasp": { + "position": [ + 0.04846889153122902, + 0.14413569867610931, + 0.05608728900551796 + ], + "orientation": [ + 0.6804325580596924, + 0.7150813937187195, + -0.027640612795948982, + -0.15781688690185547 + ], + "joints": [ + 0.0034517322201281786 + ] + }, + "final_grasp": { + "position": [ + 0.04846889153122902, + 0.14413569867610931, + 0.05608728900551796 + ], + "orientation": [ + 0.6804325580596924, + 0.7150813937187195, + -0.027640612795948982, + -0.15781688690185547 + ], + "joints": [ + -0.004510313738137484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016981832683086395, + 0.15073342621326447, + -0.07415933907032013 + ], + "orientation": [ + 0.7210643291473389, + 0.6442086100578308, + 0.01802697964012623, + -0.254433810710907 + ], + "joints": [ + 0.011620700359344482 + ] + }, + "fine_grasp": { + "position": [ + 0.016569282859563828, + 0.14659525454044342, + -0.07379144430160522 + ], + "orientation": [ + 0.720227062702179, + 0.644426167011261, + 0.022018758580088615, + -0.2559357285499573 + ], + "joints": [ + 0.0036586541682481766 + ] + }, + "final_grasp": { + "position": [ + 0.016569282859563828, + 0.14659525454044342, + -0.07379144430160522 + ], + "orientation": [ + 0.720227062702179, + 0.644426167011261, + 0.022018758580088615, + -0.2559357285499573 + ], + "joints": [ + -0.004303392022848129 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06862733513116837, + 0.15174758434295654, + -0.06462715566158295 + ], + "orientation": [ + 0.018832795321941376, + -0.2453392744064331, + 0.627491295337677, + -0.7387208938598633 + ], + "joints": [ + 0.010188832879066467 + ] + }, + "fine_grasp": { + "position": [ + -0.0676591768860817, + 0.14753080904483795, + -0.06405963748693466 + ], + "orientation": [ + 0.01944137178361416, + -0.24222791194915771, + 0.6275915503501892, + -0.7396461963653564 + ], + "joints": [ + 0.00345975486561656 + ] + }, + "final_grasp": { + "position": [ + -0.0676591768860817, + 0.14753080904483795, + -0.06405963748693466 + ], + "orientation": [ + 0.01944137178361416, + -0.24222791194915771, + 0.6275915503501892, + -0.7396461963653564 + ], + "joints": [ + -0.0032693231478333473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07910460978746414, + 0.1562986522912979, + 0.000873055134434253 + ], + "orientation": [ + 0.3836466670036316, + 0.5445725321769714, + 0.511919379234314, + -0.5423967838287354 + ], + "joints": [ + 0.009950521402060986 + ] + }, + "fine_grasp": { + "position": [ + 0.07823741436004639, + 0.1520330160856247, + 0.0006918489234521985 + ], + "orientation": [ + 0.38447681069374084, + 0.5448728799819946, + 0.5118011236190796, + -0.5416185855865479 + ], + "joints": [ + 0.0036393986083567142 + ] + }, + "final_grasp": { + "position": [ + 0.07823741436004639, + 0.1520330160856247, + 0.0006918489234521985 + ], + "orientation": [ + 0.38447681069374084, + 0.5448728799819946, + 0.5118011236190796, + -0.5416185855865479 + ], + "joints": [ + -0.002671724185347557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07870346307754517, + 0.15538807213306427, + 0.00044731120578944683 + ], + "orientation": [ + 0.3832509517669678, + 0.5440822243690491, + 0.5127132534980774, + -0.5424189567565918 + ], + "joints": [ + 0.00991074275225401 + ] + }, + "fine_grasp": { + "position": [ + 0.07781940698623657, + 0.1510957032442093, + 0.00024403826682828367 + ], + "orientation": [ + 0.3842765986919403, + 0.5448745489120483, + 0.5125661492347717, + -0.5410351753234863 + ], + "joints": [ + 0.003599619958549738 + ] + }, + "final_grasp": { + "position": [ + 0.07781940698623657, + 0.1510957032442093, + 0.00024403826682828367 + ], + "orientation": [ + 0.3842765986919403, + 0.5448745489120483, + 0.5125661492347717, + -0.5410351753234863 + ], + "joints": [ + -0.0027115028351545334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004896530415862799, + 0.1554189771413803, + 0.07839483767747879 + ], + "orientation": [ + 0.04551650583744049, + 0.01181460078805685, + 0.7691109776496887, + -0.6373829245567322 + ], + "joints": [ + 0.01102401316165924 + ] + }, + "fine_grasp": { + "position": [ + -0.0047356802970170975, + 0.15124940872192383, + 0.077613964676857 + ], + "orientation": [ + 0.04782263562083244, + 0.013060981407761574, + 0.7683993577957153, + -0.6380477547645569 + ], + "joints": [ + 0.003479922190308571 + ] + }, + "final_grasp": { + "position": [ + -0.0047356802970170975, + 0.15124940872192383, + 0.077613964676857 + ], + "orientation": [ + 0.04782263562083244, + 0.013060981407761574, + 0.7683993577957153, + -0.6380477547645569 + ], + "joints": [ + -0.004064168781042099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09513155370950699, + 0.1546308547258377, + -0.02283407561480999 + ], + "orientation": [ + 0.6010453104972839, + 0.24958263337612152, + -0.5118350982666016, + 0.560783326625824 + ], + "joints": [ + 0.01081259548664093 + ] + }, + "fine_grasp": { + "position": [ + 0.09385000169277191, + 0.1506463885307312, + -0.02237454056739807 + ], + "orientation": [ + 0.5979666113853455, + 0.2523953318595886, + -0.5156571865081787, + 0.5593122243881226 + ], + "joints": [ + 0.0036655620206147432 + ] + }, + "final_grasp": { + "position": [ + 0.09385000169277191, + 0.1506463885307312, + -0.02237454056739807 + ], + "orientation": [ + 0.5979666113853455, + 0.2523953318595886, + -0.5156571865081787, + 0.5593122243881226 + ], + "joints": [ + -0.0034814714454114437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08545820415019989, + 0.13788847625255585, + -0.0450262613594532 + ], + "orientation": [ + 0.01775336265563965, + -0.34109410643577576, + -0.6304259300231934, + 0.697067379951477 + ], + "joints": [ + 0.0118669169023633 + ] + }, + "fine_grasp": { + "position": [ + 0.0856863483786583, + 0.1343701183795929, + -0.04355823993682861 + ], + "orientation": [ + 0.02945377305150032, + -0.3344578146934509, + -0.6357869505882263, + 0.6950146555900574 + ], + "joints": [ + 0.0034869154915213585 + ] + }, + "final_grasp": { + "position": [ + 0.0856863483786583, + 0.1343701183795929, + -0.04355823993682861 + ], + "orientation": [ + 0.02945377305150032, + -0.3344578146934509, + -0.6357869505882263, + 0.6950146555900574 + ], + "joints": [ + -0.004893085919320583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09483183175325394, + 0.1540045589208603, + -0.022861041128635406 + ], + "orientation": [ + 0.6042336821556091, + 0.2519003748893738, + -0.5115777850151062, + 0.5565393567085266 + ], + "joints": [ + 0.011966207064688206 + ] + }, + "fine_grasp": { + "position": [ + 0.09382005780935287, + 0.15005670487880707, + -0.022376649081707 + ], + "orientation": [ + 0.6009117364883423, + 0.2559518814086914, + -0.5137300491333008, + 0.5563050508499146 + ], + "joints": [ + 0.003586205653846264 + ] + }, + "final_grasp": { + "position": [ + 0.09382005780935287, + 0.15005670487880707, + -0.022376649081707 + ], + "orientation": [ + 0.6009117364883423, + 0.2559518814086914, + -0.5137300491333008, + 0.5563050508499146 + ], + "joints": [ + -0.004793795756995678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01968461647629738, + 0.15587010979652405, + 0.09404910355806351 + ], + "orientation": [ + 0.11145162582397461, + 0.29664599895477295, + 0.7827937602996826, + -0.5355498194694519 + ], + "joints": [ + 0.009759409353137016 + ] + }, + "fine_grasp": { + "position": [ + -0.01960500329732895, + 0.1517779380083084, + 0.09244324266910553 + ], + "orientation": [ + 0.11683093011379242, + 0.29440945386886597, + 0.7836138606071472, + -0.5344371199607849 + ], + "joints": [ + 0.003448286559432745 + ] + }, + "final_grasp": { + "position": [ + -0.01960500329732895, + 0.1517779380083084, + 0.09244324266910553 + ], + "orientation": [ + 0.11683093011379242, + 0.29440945386886597, + 0.7836138606071472, + -0.5344371199607849 + ], + "joints": [ + -0.0028628362342715263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0769597589969635, + 0.14647479355335236, + 0.0350201390683651 + ], + "orientation": [ + 0.6060401201248169, + 0.6722881197929382, + 0.17115113139152527, + -0.3891674876213074 + ], + "joints": [ + 0.01144720520824194 + ] + }, + "fine_grasp": { + "position": [ + 0.07637631148099899, + 0.14245614409446716, + 0.03442410007119179 + ], + "orientation": [ + 0.608021080493927, + 0.6717899441719055, + 0.16693055629730225, + -0.3887709975242615 + ], + "joints": [ + 0.0034851590171456337 + ] + }, + "final_grasp": { + "position": [ + 0.07637631148099899, + 0.14245614409446716, + 0.03442410007119179 + ], + "orientation": [ + 0.608021080493927, + 0.6717899441719055, + 0.16693055629730225, + -0.3887709975242615 + ], + "joints": [ + -0.004476887173950672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07667947560548782, + 0.14525742828845978, + 0.03508101776242256 + ], + "orientation": [ + 0.6070396304130554, + 0.6719464659690857, + 0.1681913584470749, + -0.38949012756347656 + ], + "joints": [ + 0.011662768200039864 + ] + }, + "fine_grasp": { + "position": [ + 0.07658752799034119, + 0.14151278138160706, + 0.03407717123627663 + ], + "orientation": [ + 0.6091940999031067, + 0.6711294054985046, + 0.16308850049972534, + -0.38970503211021423 + ], + "joints": [ + 0.0036798242945224047 + ] + }, + "final_grasp": { + "position": [ + 0.07658752799034119, + 0.14151278138160706, + 0.03407717123627663 + ], + "orientation": [ + 0.6091940999031067, + 0.6711294054985046, + 0.16308850049972534, + -0.38970503211021423 + ], + "joints": [ + -0.004303119610995054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023241333663463593, + 0.15451206266880035, + -0.08201634138822556 + ], + "orientation": [ + 0.027577707543969154, + -0.07904137670993805, + -0.623735249042511, + 0.7771397829055786 + ], + "joints": [ + 0.010123052634298801 + ] + }, + "fine_grasp": { + "position": [ + 0.022972168400883675, + 0.1502990573644638, + -0.08094945549964905 + ], + "orientation": [ + 0.027391307055950165, + -0.07665425539016724, + -0.6233978867530823, + 0.7776559591293335 + ], + "joints": [ + 0.003414872335270047 + ] + }, + "final_grasp": { + "position": [ + 0.022972168400883675, + 0.1502990573644638, + -0.08094945549964905 + ], + "orientation": [ + 0.027391307055950165, + -0.07665425539016724, + -0.6233978867530823, + 0.7776559591293335 + ], + "joints": [ + -0.003293307963758707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05760052055120468, + 0.13907551765441895, + -0.06082932651042938 + ], + "orientation": [ + 0.4495266377925873, + 0.32548362016677856, + -0.4402354061603546, + 0.7058180570602417 + ], + "joints": [ + 0.014602349139750004 + ] + }, + "fine_grasp": { + "position": [ + -0.056802064180374146, + 0.1351291686296463, + -0.0598163865506649 + ], + "orientation": [ + 0.44809508323669434, + 0.3311499357223511, + -0.43844640254974365, + 0.7052057981491089 + ], + "joints": [ + 0.006243244744837284 + ] + }, + "final_grasp": { + "position": [ + -0.056802064180374146, + 0.1351291686296463, + -0.0598163865506649 + ], + "orientation": [ + 0.44809508323669434, + 0.3311499357223511, + -0.43844640254974365, + 0.7052057981491089 + ], + "joints": [ + -0.0021158596500754356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03729921206831932, + 0.14024798572063446, + -0.05960948392748833 + ], + "orientation": [ + 0.7386912703514099, + 0.6426821947097778, + -0.1913525015115738, + 0.0684020072221756 + ], + "joints": [ + 0.01567353680729866 + ] + }, + "fine_grasp": { + "position": [ + 0.03735315427184105, + 0.13644881546497345, + -0.060012757778167725 + ], + "orientation": [ + 0.7468163371086121, + 0.6336486339569092, + -0.19103281199932098, + 0.06527909636497498 + ], + "joints": [ + 0.0073144324123859406 + ] + }, + "final_grasp": { + "position": [ + 0.03735315427184105, + 0.13644881546497345, + -0.060012757778167725 + ], + "orientation": [ + 0.7468163371086121, + 0.6336486339569092, + -0.19103281199932098, + 0.06527909636497498 + ], + "joints": [ + -0.0010446719825267792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0558643639087677, + 0.14318694174289703, + -0.06853748112916946 + ], + "orientation": [ + 0.3317168653011322, + 0.30209240317344666, + 0.5101634860038757, + -0.7337828278541565 + ], + "joints": [ + 0.011477777734398842 + ] + }, + "fine_grasp": { + "position": [ + 0.054759781807661057, + 0.1409735232591629, + -0.0687543973326683 + ], + "orientation": [ + 0.34128278493881226, + 0.30621960759162903, + 0.5062645077705383, + -0.7303778529167175 + ], + "joints": [ + 0.003515731543302536 + ] + }, + "final_grasp": { + "position": [ + 0.054759781807661057, + 0.1409735232591629, + -0.0687543973326683 + ], + "orientation": [ + 0.34128278493881226, + 0.30621960759162903, + 0.5062645077705383, + -0.7303778529167175 + ], + "joints": [ + -0.00444631464779377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026343289762735367, + 0.15361696481704712, + -0.013700473122298717 + ], + "orientation": [ + 0.47621026635169983, + 0.5359576940536499, + -0.3998676538467407, + 0.5710331201553345 + ], + "joints": [ + 0.021147381514310837 + ] + }, + "fine_grasp": { + "position": [ + -0.025491852313280106, + 0.1498868763446808, + -0.01389571838080883 + ], + "orientation": [ + 0.4798150062561035, + 0.5354220867156982, + -0.402195006608963, + 0.5668684840202332 + ], + "joints": [ + 0.02956918254494667 + ] + }, + "final_grasp": { + "position": [ + -0.025491852313280106, + 0.1498868763446808, + -0.01389571838080883 + ], + "orientation": [ + 0.4798150062561035, + 0.5354220867156982, + -0.402195006608963, + 0.5668684840202332 + ], + "joints": [ + 0.037990983575582504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02056409791111946, + 0.16118983924388885, + -0.013775493949651718 + ], + "orientation": [ + 0.01748862862586975, + -0.08291418850421906, + 0.6576977968215942, + -0.7485005259513855 + ], + "joints": [ + 0.022042671218514442 + ] + }, + "fine_grasp": { + "position": [ + -0.02102048322558403, + 0.15749207139015198, + -0.012968281283974648 + ], + "orientation": [ + 0.01855573058128357, + -0.07915175706148148, + 0.6601619124412537, + -0.7467108964920044 + ], + "joints": [ + 0.03004651516675949 + ] + }, + "final_grasp": { + "position": [ + -0.02102048322558403, + 0.15749207139015198, + -0.012968281283974648 + ], + "orientation": [ + 0.01855573058128357, + -0.07915175706148148, + 0.6601619124412537, + -0.7467108964920044 + ], + "joints": [ + 0.03805036097764969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04527880623936653, + 0.13662753999233246, + 0.0695011168718338 + ], + "orientation": [ + 0.23706062138080597, + 0.24819748103618622, + -0.7610198259353638, + 0.5504988431930542 + ], + "joints": [ + 0.01400182954967022 + ] + }, + "fine_grasp": { + "position": [ + 0.04503887519240379, + 0.13307775557041168, + 0.06899799406528473 + ], + "orientation": [ + 0.24157017469406128, + 0.2479417324066162, + -0.7642265558242798, + 0.5441750884056091 + ], + "joints": [ + 0.0056427251547575 + ] + }, + "final_grasp": { + "position": [ + 0.04503887519240379, + 0.13307775557041168, + 0.06899799406528473 + ], + "orientation": [ + 0.24157017469406128, + 0.2479417324066162, + -0.7642265558242798, + 0.5441750884056091 + ], + "joints": [ + -0.00271637924015522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045797914266586304, + 0.13842982053756714, + 0.06973373144865036 + ], + "orientation": [ + 0.2374834567308426, + 0.25802838802337646, + -0.7586687207221985, + 0.5490398406982422 + ], + "joints": [ + 0.013325175270438194 + ] + }, + "fine_grasp": { + "position": [ + 0.04578663781285286, + 0.13495175540447235, + 0.06932678073644638 + ], + "orientation": [ + 0.24372263252735138, + 0.2585177719593048, + -0.7619593739509583, + 0.5414663553237915 + ], + "joints": [ + 0.0049660708755254745 + ] + }, + "final_grasp": { + "position": [ + 0.04578663781285286, + 0.13495175540447235, + 0.06932678073644638 + ], + "orientation": [ + 0.24372263252735138, + 0.2585177719593048, + -0.7619593739509583, + 0.5414663553237915 + ], + "joints": [ + -0.003393033519387245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0538986474275589, + 0.13631786406040192, + -0.06886129081249237 + ], + "orientation": [ + 0.7630956172943115, + 0.5583587288856506, + 0.2698279321193695, + -0.18197104334831238 + ], + "joints": [ + 0.013871349394321442 + ] + }, + "fine_grasp": { + "position": [ + -0.052868928760290146, + 0.1332954317331314, + -0.06778082251548767 + ], + "orientation": [ + 0.7645794153213501, + 0.5557116270065308, + 0.2708422839641571, + -0.18233878910541534 + ], + "joints": [ + 0.005094289779663086 + ] + }, + "final_grasp": { + "position": [ + -0.052868928760290146, + 0.1332954317331314, + -0.06778082251548767 + ], + "orientation": [ + 0.7645794153213501, + 0.5557116270065308, + 0.2708422839641571, + -0.18233878910541534 + ], + "joints": [ + -0.0036827698349952698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08636493235826492, + 0.13556917011737823, + -0.006839874666184187 + ], + "orientation": [ + 0.6017099022865295, + 0.5855683088302612, + 0.5073018074035645, + -0.19416411221027374 + ], + "joints": [ + 0.013562824577093124 + ] + }, + "fine_grasp": { + "position": [ + -0.08501782268285751, + 0.13199052214622498, + -0.0067613134160637856 + ], + "orientation": [ + 0.6080629229545593, + 0.5847499966621399, + 0.5015685558319092, + -0.19171856343746185 + ], + "joints": [ + 0.005203720182180405 + ] + }, + "final_grasp": { + "position": [ + -0.08501782268285751, + 0.13199052214622498, + -0.0067613134160637856 + ], + "orientation": [ + 0.6080629229545593, + 0.5847499966621399, + 0.5015685558319092, + -0.19171856343746185 + ], + "joints": [ + -0.003155384212732315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05388406291604042, + 0.136244535446167, + -0.06910721957683563 + ], + "orientation": [ + 0.7638255953788757, + 0.5569242238998413, + 0.2691555321216583, + -0.18428604304790497 + ], + "joints": [ + 0.013839852064847946 + ] + }, + "fine_grasp": { + "position": [ + -0.05293029546737671, + 0.13326172530651093, + -0.06810454279184341 + ], + "orientation": [ + 0.764711856842041, + 0.5551050901412964, + 0.2700195014476776, + -0.18483422696590424 + ], + "joints": [ + 0.0050627924501895905 + ] + }, + "final_grasp": { + "position": [ + -0.05293029546737671, + 0.13326172530651093, + -0.06810454279184341 + ], + "orientation": [ + 0.764711856842041, + 0.5551050901412964, + 0.2700195014476776, + -0.18483422696590424 + ], + "joints": [ + -0.0037142671644687653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04946005344390869, + 0.14646287262439728, + -0.029225097969174385 + ], + "orientation": [ + 0.14139725267887115, + 0.3095523416996002, + -0.6943368911743164, + 0.6340979933738708 + ], + "joints": [ + 0.01502133160829544 + ] + }, + "fine_grasp": { + "position": [ + -0.04869862645864487, + 0.14240190386772156, + -0.029153721407055855 + ], + "orientation": [ + 0.14108820259571075, + 0.30898648500442505, + -0.6888921856880188, + 0.6403506994247437 + ], + "joints": [ + 0.006662227213382721 + ] + }, + "final_grasp": { + "position": [ + -0.04869862645864487, + 0.14240190386772156, + -0.029153721407055855 + ], + "orientation": [ + 0.14108820259571075, + 0.30898648500442505, + -0.6888921856880188, + 0.6403506994247437 + ], + "joints": [ + -0.0016968771815299988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10595948249101639, + 0.132487490773201, + -0.033827975392341614 + ], + "orientation": [ + 0.685600996017456, + 0.5585893988609314, + -0.46347030997276306, + 0.05589679628610611 + ], + "joints": [ + 0.012205193750560284 + ] + }, + "fine_grasp": { + "position": [ + 0.10541503876447678, + 0.12993334233760834, + -0.033271774649620056 + ], + "orientation": [ + 0.6885039806365967, + 0.5582200288772583, + -0.4602883756160736, + 0.049871429800987244 + ], + "joints": [ + 0.003428134834393859 + ] + }, + "final_grasp": { + "position": [ + 0.10541503876447678, + 0.12993334233760834, + -0.033271774649620056 + ], + "orientation": [ + 0.6885039806365967, + 0.5582200288772583, + -0.4602883756160736, + 0.049871429800987244 + ], + "joints": [ + -0.005348924081772566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10644423216581345, + 0.1346464902162552, + -0.03418547660112381 + ], + "orientation": [ + 0.6839656829833984, + 0.5605694055557251, + -0.46408459544181824, + 0.050778698176145554 + ], + "joints": [ + 0.011806224472820759 + ] + }, + "fine_grasp": { + "position": [ + 0.10532680153846741, + 0.13140280544757843, + -0.03346438705921173 + ], + "orientation": [ + 0.6869423985481262, + 0.560639500617981, + -0.4601019620895386, + 0.04582314193248749 + ], + "joints": [ + 0.0034262232948094606 + ] + }, + "final_grasp": { + "position": [ + 0.10532680153846741, + 0.13140280544757843, + -0.03346438705921173 + ], + "orientation": [ + 0.6869423985481262, + 0.560639500617981, + -0.4601019620895386, + 0.04582314193248749 + ], + "joints": [ + -0.0049537778832018375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0034796844702214003, + 0.14386886358261108, + -0.08084756135940552 + ], + "orientation": [ + 0.7274628281593323, + 0.5996140837669373, + 0.11042793095111847, + -0.3147481679916382 + ], + "joints": [ + 0.012034289538860321 + ] + }, + "fine_grasp": { + "position": [ + 0.004784430842846632, + 0.14098110795021057, + -0.08086086064577103 + ], + "orientation": [ + 0.7209749817848206, + 0.5973069667816162, + 0.12134955823421478, + -0.32968753576278687 + ], + "joints": [ + 0.0036751856096088886 + ] + }, + "final_grasp": { + "position": [ + 0.004784430842846632, + 0.14098110795021057, + -0.08086086064577103 + ], + "orientation": [ + 0.7209749817848206, + 0.5973069667816162, + 0.12134955823421478, + -0.32968753576278687 + ], + "joints": [ + -0.004683918319642544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10588827729225159, + 0.13437047600746155, + -0.03359959274530411 + ], + "orientation": [ + 0.6833310723304749, + 0.5650234222412109, + -0.4596078395843506, + 0.05067267268896103 + ], + "joints": [ + 0.011662134900689125 + ] + }, + "fine_grasp": { + "position": [ + 0.10469262301921844, + 0.13172177970409393, + -0.03266898915171623 + ], + "orientation": [ + 0.6865121722221375, + 0.5650092959403992, + -0.45513153076171875, + 0.04817504063248634 + ], + "joints": [ + 0.003679190995171666 + ] + }, + "final_grasp": { + "position": [ + 0.10469262301921844, + 0.13172177970409393, + -0.03266898915171623 + ], + "orientation": [ + 0.6865121722221375, + 0.5650092959403992, + -0.45513153076171875, + 0.04817504063248634 + ], + "joints": [ + -0.004303752910345793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07384883612394333, + 0.14672940969467163, + -0.0558125339448452 + ], + "orientation": [ + 0.7315587997436523, + 0.5031334757804871, + -0.3494337797164917, + 0.29929015040397644 + ], + "joints": [ + 0.01167316548526287 + ] + }, + "fine_grasp": { + "position": [ + 0.07273537665605545, + 0.14282751083374023, + -0.05501047521829605 + ], + "orientation": [ + 0.7346716523170471, + 0.504871666431427, + -0.3440820574760437, + 0.2949065566062927 + ], + "joints": [ + 0.0032931643072515726 + ] + }, + "final_grasp": { + "position": [ + 0.07273537665605545, + 0.14282751083374023, + -0.05501047521829605 + ], + "orientation": [ + 0.7346716523170471, + 0.504871666431427, + -0.3440820574760437, + 0.2949065566062927 + ], + "joints": [ + -0.005086836870759726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032266709953546524, + 0.13031813502311707, + -0.08978738635778427 + ], + "orientation": [ + 0.8188837170600891, + 0.5289116501808167, + 0.15176518261432648, + -0.16324622929096222 + ], + "joints": [ + 0.015980374068021774 + ] + }, + "fine_grasp": { + "position": [ + -0.031578484922647476, + 0.12770402431488037, + -0.08827231824398041 + ], + "orientation": [ + 0.8184747695922852, + 0.5289050936698914, + 0.15333975851535797, + -0.1638457030057907 + ], + "joints": [ + 0.006785359233617783 + ] + }, + "final_grasp": { + "position": [ + -0.031578484922647476, + 0.12770402431488037, + -0.08827231824398041 + ], + "orientation": [ + 0.8184747695922852, + 0.5289050936698914, + 0.15333975851535797, + -0.1638457030057907 + ], + "joints": [ + -0.002409655600786209 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10066293179988861, + 0.1385718286037445, + 0.035068441182374954 + ], + "orientation": [ + 0.40091273188591003, + 0.009841613471508026, + 0.6889466047286987, + -0.6037588715553284 + ], + "joints": [ + 0.012483948841691017 + ] + }, + "fine_grasp": { + "position": [ + -0.09978091716766357, + 0.13541747629642487, + 0.034564439207315445 + ], + "orientation": [ + 0.39069709181785583, + 0.005897821858525276, + 0.6927011013031006, + -0.6062064170837402 + ], + "joints": [ + 0.003309832187369466 + ] + }, + "final_grasp": { + "position": [ + -0.09978091716766357, + 0.13541747629642487, + 0.034564439207315445 + ], + "orientation": [ + 0.39069709181785583, + 0.005897821858525276, + 0.6927011013031006, + -0.6062064170837402 + ], + "joints": [ + -0.0058642844669520855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10149629414081573, + 0.13941249251365662, + 0.03466402739286423 + ], + "orientation": [ + 0.3950992524623871, + 0.006205548997968435, + 0.6855923533439636, + -0.6114092469215393 + ], + "joints": [ + 0.010884695686399937 + ] + }, + "fine_grasp": { + "position": [ + -0.10009370744228363, + 0.13570672273635864, + 0.033661726862192154 + ], + "orientation": [ + 0.38237953186035156, + -0.0015220568748191, + 0.6908217072486877, + -0.6136357188224792 + ], + "joints": [ + 0.0033406049478799105 + ] + }, + "final_grasp": { + "position": [ + -0.10009370744228363, + 0.13570672273635864, + 0.033661726862192154 + ], + "orientation": [ + 0.38237953186035156, + -0.0015220568748191, + 0.6908217072486877, + -0.6136357188224792 + ], + "joints": [ + -0.004203485790640116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028516625985503197, + 0.14347133040428162, + -0.08435805141925812 + ], + "orientation": [ + 0.5349717140197754, + 0.22682836651802063, + 0.4550672173500061, + -0.6747355461120605 + ], + "joints": [ + 0.010218638926744461 + ] + }, + "fine_grasp": { + "position": [ + 0.02783050760626793, + 0.13922254741191864, + -0.08390390127897263 + ], + "orientation": [ + 0.5422748923301697, + 0.23597611486911774, + 0.45231831073760986, + -0.6675786972045898 + ], + "joints": [ + 0.003510458394885063 + ] + }, + "final_grasp": { + "position": [ + 0.02783050760626793, + 0.13922254741191864, + -0.08390390127897263 + ], + "orientation": [ + 0.5422748923301697, + 0.23597611486911774, + 0.45231831073760986, + -0.6675786972045898 + ], + "joints": [ + -0.0031977221369743347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10235811769962311, + 0.13811051845550537, + 0.036733824759721756 + ], + "orientation": [ + 0.40695157647132874, + 0.011673279106616974, + 0.6898303627967834, + -0.5986554026603699 + ], + "joints": [ + 0.011373373679816723 + ] + }, + "fine_grasp": { + "position": [ + -0.10107655078172684, + 0.13429033756256104, + 0.03561212867498398 + ], + "orientation": [ + 0.3963892161846161, + 0.0006753579946234822, + 0.693342387676239, + -0.601790189743042 + ], + "joints": [ + 0.00343222520314157 + ] + }, + "final_grasp": { + "position": [ + -0.10107655078172684, + 0.13429033756256104, + 0.03561212867498398 + ], + "orientation": [ + 0.3963892161846161, + 0.0006753579946234822, + 0.693342387676239, + -0.601790189743042 + ], + "joints": [ + -0.004508923273533583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10188950598239899, + 0.13796120882034302, + 0.036979541182518005 + ], + "orientation": [ + 0.40354281663894653, + 0.009104237891733646, + 0.6902554035186768, + -0.6005147695541382 + ], + "joints": [ + 0.011456328444182873 + ] + }, + "fine_grasp": { + "position": [ + -0.10065963864326477, + 0.13417579233646393, + 0.03586503118276596 + ], + "orientation": [ + 0.3926762044429779, + -0.0025396940764039755, + 0.6935299038887024, + -0.6039993762969971 + ], + "joints": [ + 0.003494282253086567 + ] + }, + "final_grasp": { + "position": [ + -0.10065963864326477, + 0.13417579233646393, + 0.03586503118276596 + ], + "orientation": [ + 0.3926762044429779, + -0.0025396940764039755, + 0.6935299038887024, + -0.6039993762969971 + ], + "joints": [ + -0.004467763938009739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08229329437017441, + 0.14145678281784058, + -0.038851890712976456 + ], + "orientation": [ + 0.684814453125, + 0.5262864828109741, + -0.43064048886299133, + 0.2619168758392334 + ], + "joints": [ + 0.011240849271416664 + ] + }, + "fine_grasp": { + "position": [ + 0.08075649291276932, + 0.13981395959854126, + -0.03728654608130455 + ], + "orientation": [ + 0.6808837056159973, + 0.5274710655212402, + -0.4337609112262726, + 0.2646191120147705 + ], + "joints": [ + 0.003675860585644841 + ] + }, + "final_grasp": { + "position": [ + 0.08075649291276932, + 0.13981395959854126, + -0.03728654608130455 + ], + "orientation": [ + 0.6808837056159973, + 0.5274710655212402, + -0.4337609112262726, + 0.2646191120147705 + ], + "joints": [ + -0.0038891281001269817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0842500701546669, + 0.14242301881313324, + -0.03973615914583206 + ], + "orientation": [ + 0.6891651153564453, + 0.5190040469169617, + -0.4305652976036072, + 0.2651411294937134 + ], + "joints": [ + 0.011566432192921638 + ] + }, + "fine_grasp": { + "position": [ + 0.08325055986642838, + 0.1399577558040619, + -0.038810357451438904 + ], + "orientation": [ + 0.6881958842277527, + 0.5183287858963013, + -0.43302369117736816, + 0.2649758756160736 + ], + "joints": [ + 0.0036043860018253326 + ] + }, + "final_grasp": { + "position": [ + 0.08325055986642838, + 0.1399577558040619, + -0.038810357451438904 + ], + "orientation": [ + 0.6881958842277527, + 0.5183287858963013, + -0.43302369117736816, + 0.2649758756160736 + ], + "joints": [ + -0.004357660189270973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04382499307394028, + 0.13395941257476807, + -0.08030608296394348 + ], + "orientation": [ + 0.7961611151695251, + 0.5738227963447571, + 0.1850309520959854, + -0.051172997802495956 + ], + "joints": [ + 0.01386549137532711 + ] + }, + "fine_grasp": { + "position": [ + -0.0431906133890152, + 0.131242036819458, + -0.07876282185316086 + ], + "orientation": [ + 0.7962194681167603, + 0.5744429230690002, + 0.18294169008731842, + -0.05081683024764061 + ], + "joints": [ + 0.005088431760668755 + ] + }, + "final_grasp": { + "position": [ + -0.0431906133890152, + 0.131242036819458, + -0.07876282185316086 + ], + "orientation": [ + 0.7962194681167603, + 0.5744429230690002, + 0.18294169008731842, + -0.05081683024764061 + ], + "joints": [ + -0.003688627853989601 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017121918499469757, + 0.1496037244796753, + -0.049091488122940063 + ], + "orientation": [ + 0.12348928302526474, + -0.031213069334626198, + 0.7253707051277161, + -0.6764711737632751 + ], + "joints": [ + 0.013552399352192879 + ] + }, + "fine_grasp": { + "position": [ + -0.016943378373980522, + 0.14537422358989716, + -0.048781074583530426 + ], + "orientation": [ + 0.12291572988033295, + -0.02748715691268444, + 0.7203153371810913, + -0.6821157932281494 + ], + "joints": [ + 0.006029205396771431 + ] + }, + "final_grasp": { + "position": [ + -0.016943378373980522, + 0.14537422358989716, + -0.048781074583530426 + ], + "orientation": [ + 0.12291572988033295, + -0.02748715691268444, + 0.7203153371810913, + -0.6821157932281494 + ], + "joints": [ + -0.0014939885586500168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007517763413488865, + 0.12601430714130402, + -0.09951972961425781 + ], + "orientation": [ + 0.8376234173774719, + 0.5125128030776978, + 0.0429808609187603, + -0.18403883278369904 + ], + "joints": [ + 0.01619063690304756 + ] + }, + "fine_grasp": { + "position": [ + -0.0073017943650484085, + 0.12352417409420013, + -0.09779022634029388 + ], + "orientation": [ + 0.8365035653114319, + 0.5136533379554749, + 0.04652402177453041, + -0.18508854508399963 + ], + "joints": [ + 0.007413577288389206 + ] + }, + "final_grasp": { + "position": [ + -0.0073017943650484085, + 0.12352417409420013, + -0.09779022634029388 + ], + "orientation": [ + 0.8365035653114319, + 0.5136533379554749, + 0.04652402177453041, + -0.18508854508399963 + ], + "joints": [ + -0.0013634823262691498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042437292635440826, + 0.12275026738643646, + -0.0913374200463295 + ], + "orientation": [ + 0.8315959572792053, + 0.5229777693748474, + -0.18012931942939758, + 0.049957096576690674 + ], + "joints": [ + 0.016771867871284485 + ] + }, + "fine_grasp": { + "position": [ + 0.041788820177316666, + 0.12077265977859497, + -0.0896935686469078 + ], + "orientation": [ + 0.8315728306770325, + 0.52350914478302, + -0.1786978542804718, + 0.04991938918828964 + ], + "joints": [ + 0.00799480825662613 + ] + }, + "final_grasp": { + "position": [ + 0.041788820177316666, + 0.12077265977859497, + -0.0896935686469078 + ], + "orientation": [ + 0.8315728306770325, + 0.52350914478302, + -0.1786978542804718, + 0.04991938918828964 + ], + "joints": [ + -0.0007822513580322266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10061667859554291, + 0.14597006142139435, + -0.027722641825675964 + ], + "orientation": [ + 0.01694563217461109, + -0.37321189045906067, + -0.6488410234451294, + 0.6628959774971008 + ], + "joints": [ + 0.012049825862050056 + ] + }, + "fine_grasp": { + "position": [ + 0.09913135319948196, + 0.14208926260471344, + -0.027433179318904877 + ], + "orientation": [ + 0.017138909548521042, + -0.36683204770088196, + -0.6485643982887268, + 0.6667119264602661 + ], + "joints": [ + 0.003690721932798624 + ] + }, + "final_grasp": { + "position": [ + 0.09913135319948196, + 0.14208926260471344, + -0.027433179318904877 + ], + "orientation": [ + 0.017138909548521042, + -0.36683204770088196, + -0.6485643982887268, + 0.6667119264602661 + ], + "joints": [ + -0.004668381996452808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10028083622455597, + 0.14579643309116364, + -0.02793111279606819 + ], + "orientation": [ + 0.015059713274240494, + -0.3765394687652588, + -0.6482396721839905, + 0.6616469025611877 + ], + "joints": [ + 0.011841350235044956 + ] + }, + "fine_grasp": { + "position": [ + 0.09878497570753098, + 0.14191849529743195, + -0.027663256973028183 + ], + "orientation": [ + 0.015226882882416248, + -0.3703070878982544, + -0.6479142904281616, + 0.6654682159423828 + ], + "joints": [ + 0.0034822465386241674 + ] + }, + "final_grasp": { + "position": [ + 0.09878497570753098, + 0.14191849529743195, + -0.027663256973028183 + ], + "orientation": [ + 0.015226882882416248, + -0.3703070878982544, + -0.6479142904281616, + 0.6654682159423828 + ], + "joints": [ + -0.004876857157796621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032930925488471985, + 0.13605302572250366, + 0.08194071054458618 + ], + "orientation": [ + 0.14444667100906372, + 0.07690390944480896, + -0.7973547577857971, + 0.5809012651443481 + ], + "joints": [ + 0.01333518885076046 + ] + }, + "fine_grasp": { + "position": [ + 0.032703131437301636, + 0.1328504979610443, + 0.08159241080284119 + ], + "orientation": [ + 0.1437309980392456, + 0.07496114075183868, + -0.8024112582206726, + 0.5743330717086792 + ], + "joints": [ + 0.0053731417283415794 + ] + }, + "final_grasp": { + "position": [ + 0.032703131437301636, + 0.1328504979610443, + 0.08159241080284119 + ], + "orientation": [ + 0.1437309980392456, + 0.07496114075183868, + -0.8024112582206726, + 0.5743330717086792 + ], + "joints": [ + -0.002588905394077301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0432840920984745, + 0.13301149010658264, + -0.07923019677400589 + ], + "orientation": [ + 0.7940810322761536, + 0.5762559771537781, + 0.1850697547197342, + -0.05579959973692894 + ], + "joints": [ + 0.013889862224459648 + ] + }, + "fine_grasp": { + "position": [ + -0.04263516888022423, + 0.130191370844841, + -0.0777200385928154 + ], + "orientation": [ + 0.7943333387374878, + 0.5765197277069092, + 0.18314452469348907, + -0.05583564192056656 + ], + "joints": [ + 0.005112802609801292 + ] + }, + "final_grasp": { + "position": [ + -0.04263516888022423, + 0.130191370844841, + -0.0777200385928154 + ], + "orientation": [ + 0.7943333387374878, + 0.5765197277069092, + 0.18314452469348907, + -0.05583564192056656 + ], + "joints": [ + -0.0036642570048570633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042078133672475815, + 0.1237337589263916, + -0.09197857975959778 + ], + "orientation": [ + 0.8307626843452454, + 0.5257288813591003, + -0.17774291336536407, + 0.04301292076706886 + ], + "joints": [ + 0.016135524958372116 + ] + }, + "fine_grasp": { + "position": [ + 0.0413491390645504, + 0.12166258692741394, + -0.09020514786243439 + ], + "orientation": [ + 0.8310047388076782, + 0.5259206891059875, + -0.17593789100646973, + 0.043411772698163986 + ], + "joints": [ + 0.007379363290965557 + ] + }, + "final_grasp": { + "position": [ + 0.0413491390645504, + 0.12166258692741394, + -0.09020514786243439 + ], + "orientation": [ + 0.8310047388076782, + 0.5259206891059875, + -0.17593789100646973, + 0.043411772698163986 + ], + "joints": [ + -0.001376798376441002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05525363236665726, + 0.14960525929927826, + 0.0023385530803352594 + ], + "orientation": [ + 0.5850891470909119, + 0.5268392562866211, + 0.39938968420028687, + -0.46967950463294983 + ], + "joints": [ + 0.014074302278459072 + ] + }, + "fine_grasp": { + "position": [ + 0.054870400577783585, + 0.14548629522323608, + 0.0025258883833885193 + ], + "orientation": [ + 0.5801090002059937, + 0.5325524210929871, + 0.39655670523643494, + -0.47180965542793274 + ], + "joints": [ + 0.005715197883546352 + ] + }, + "final_grasp": { + "position": [ + 0.054870400577783585, + 0.14548629522323608, + 0.0025258883833885193 + ], + "orientation": [ + 0.5801090002059937, + 0.5325524210929871, + 0.39655670523643494, + -0.47180965542793274 + ], + "joints": [ + -0.0026439065113663673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022712817415595055, + 0.12589475512504578, + -0.09488790482282639 + ], + "orientation": [ + 0.8364722728729248, + 0.5300655364990234, + -0.09941088408231735, + 0.09727318584918976 + ], + "joints": [ + 0.016640491783618927 + ] + }, + "fine_grasp": { + "position": [ + 0.022196127101778984, + 0.12365400046110153, + -0.09317592531442642 + ], + "orientation": [ + 0.8368667960166931, + 0.5293653607368469, + -0.10014504194259644, + 0.09694003313779831 + ], + "joints": [ + 0.007466374896466732 + ] + }, + "final_grasp": { + "position": [ + 0.022196127101778984, + 0.12365400046110153, + -0.09317592531442642 + ], + "orientation": [ + 0.8368667960166931, + 0.5293653607368469, + -0.10014504194259644, + 0.09694003313779831 + ], + "joints": [ + -0.001707741990685463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032436225563287735, + 0.13442979753017426, + 0.08196770399808884 + ], + "orientation": [ + 0.14373548328876495, + 0.06949707865715027, + -0.7995056509971619, + 0.5790517330169678 + ], + "joints": [ + 0.013952864333987236 + ] + }, + "fine_grasp": { + "position": [ + 0.032222989946603775, + 0.13154669106006622, + 0.08150329440832138 + ], + "orientation": [ + 0.14305053651332855, + 0.06770866364240646, + -0.8039166927337646, + 0.5732975602149963 + ], + "joints": [ + 0.005614657886326313 + ] + }, + "final_grasp": { + "position": [ + 0.032222989946603775, + 0.13154669106006622, + 0.08150329440832138 + ], + "orientation": [ + 0.14305053651332855, + 0.06770866364240646, + -0.8039166927337646, + 0.5732975602149963 + ], + "joints": [ + -0.00272354856133461 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09482380002737045, + 0.14753998816013336, + -0.05081725865602493 + ], + "orientation": [ + 0.7313916087150574, + 0.578379213809967, + 0.357422411441803, + -0.05284702777862549 + ], + "joints": [ + 0.01144436001777649 + ] + }, + "fine_grasp": { + "position": [ + -0.09323500841856003, + 0.14377470314502716, + -0.04980316385626793 + ], + "orientation": [ + 0.7351011037826538, + 0.5763546824455261, + 0.35323894023895264, + -0.051613178104162216 + ], + "joints": [ + 0.0034823138266801834 + ] + }, + "final_grasp": { + "position": [ + -0.09323500841856003, + 0.14377470314502716, + -0.04980316385626793 + ], + "orientation": [ + 0.7351011037826538, + 0.5763546824455261, + 0.35323894023895264, + -0.051613178104162216 + ], + "joints": [ + -0.0044797323644161224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09073695540428162, + 0.14684922993183136, + -0.01666012406349182 + ], + "orientation": [ + 0.5363666415214539, + 0.21690666675567627, + -0.5483828783035278, + 0.6037702560424805 + ], + "joints": [ + 0.011857348494231701 + ] + }, + "fine_grasp": { + "position": [ + 0.08965490013360977, + 0.14285169541835785, + -0.016707424074411392 + ], + "orientation": [ + 0.5292310118675232, + 0.21320579946041107, + -0.5523688197135925, + 0.607738733291626 + ], + "joints": [ + 0.003477347083389759 + ] + }, + "final_grasp": { + "position": [ + 0.08965490013360977, + 0.14285169541835785, + -0.016707424074411392 + ], + "orientation": [ + 0.5292310118675232, + 0.21320579946041107, + -0.5523688197135925, + 0.607738733291626 + ], + "joints": [ + -0.004902654327452183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05460275337100029, + 0.14888571202754974, + -0.08007754385471344 + ], + "orientation": [ + 0.1090981513261795, + 0.24980513751506805, + -0.5646764636039734, + 0.778996467590332 + ], + "joints": [ + 0.010781222954392433 + ] + }, + "fine_grasp": { + "position": [ + -0.053735971450805664, + 0.14496999979019165, + -0.0786919966340065 + ], + "orientation": [ + 0.11158348619937897, + 0.25345444679260254, + -0.5616214275360107, + 0.7796737551689148 + ], + "joints": [ + 0.00363418972119689 + ] + }, + "final_grasp": { + "position": [ + -0.053735971450805664, + 0.14496999979019165, + -0.0786919966340065 + ], + "orientation": [ + 0.11158348619937897, + 0.25345444679260254, + -0.5616214275360107, + 0.7796737551689148 + ], + "joints": [ + -0.0035128435119986534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10845320671796799, + 0.14353802800178528, + 0.012496457435190678 + ], + "orientation": [ + 0.5962164402008057, + 0.5686991214752197, + -0.54085373878479, + 0.16906940937042236 + ], + "joints": [ + 0.01247825101017952 + ] + }, + "fine_grasp": { + "position": [ + 0.10665474086999893, + 0.13988609611988068, + 0.012375797145068645 + ], + "orientation": [ + 0.6018545031547546, + 0.5704120397567749, + -0.5341085195541382, + 0.16471007466316223 + ], + "joints": [ + 0.0037011916283518076 + ] + }, + "final_grasp": { + "position": [ + 0.10665474086999893, + 0.13988609611988068, + 0.012375797145068645 + ], + "orientation": [ + 0.6018545031547546, + 0.5704120397567749, + -0.5341085195541382, + 0.16471007466316223 + ], + "joints": [ + -0.0050758677534759045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05483675375580788, + 0.14811965823173523, + -0.08108855038881302 + ], + "orientation": [ + 0.10722624510526657, + 0.2500125467777252, + -0.5624821782112122, + 0.7807753682136536 + ], + "joints": [ + 0.010600389912724495 + ] + }, + "fine_grasp": { + "position": [ + -0.0540337972342968, + 0.1440945267677307, + -0.07983902096748352 + ], + "orientation": [ + 0.11010415852069855, + 0.25372013449668884, + -0.5591181516647339, + 0.7815946340560913 + ], + "joints": [ + 0.0034533566795289516 + ] + }, + "final_grasp": { + "position": [ + -0.0540337972342968, + 0.1440945267677307, + -0.07983902096748352 + ], + "orientation": [ + 0.11010415852069855, + 0.25372013449668884, + -0.5591181516647339, + 0.7815946340560913 + ], + "joints": [ + -0.0036936765536665916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013442309573292732, + 0.1347430944442749, + -0.09191740304231644 + ], + "orientation": [ + 0.026653891429305077, + -0.04573380947113037, + -0.5734714865684509, + 0.8175135850906372 + ], + "joints": [ + 0.012689580209553242 + ] + }, + "fine_grasp": { + "position": [ + 0.013260465115308762, + 0.1318591684103012, + -0.09004548192024231 + ], + "orientation": [ + 0.026770005002617836, + -0.04412676393985748, + -0.5732707381248474, + 0.8177387714385986 + ], + "joints": [ + 0.004330475814640522 + ] + }, + "final_grasp": { + "position": [ + 0.013260465115308762, + 0.1318591684103012, + -0.09004548192024231 + ], + "orientation": [ + 0.026770005002617836, + -0.04412676393985748, + -0.5732707381248474, + 0.8177387714385986 + ], + "joints": [ + -0.004028628580272198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09711670130491257, + 0.13440640270709991, + 0.022016193717718124 + ], + "orientation": [ + 0.5260391235351562, + 0.35341545939445496, + -0.6487579941749573, + 0.4212995171546936 + ], + "joints": [ + 0.012703721411526203 + ] + }, + "fine_grasp": { + "position": [ + 0.09631120413541794, + 0.13322485983371735, + 0.021866606548428535 + ], + "orientation": [ + 0.5267093777656555, + 0.35465362668037415, + -0.6480548977851868, + 0.4205031991004944 + ], + "joints": [ + 0.0035087070427834988 + ] + }, + "final_grasp": { + "position": [ + 0.09631120413541794, + 0.13322485983371735, + 0.021866606548428535 + ], + "orientation": [ + 0.5267093777656555, + 0.35465362668037415, + -0.6480548977851868, + 0.4205031991004944 + ], + "joints": [ + -0.005686307325959206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013864843174815178, + 0.1370011568069458, + -0.09421394765377045 + ], + "orientation": [ + 0.026533685624599457, + -0.04992489516735077, + -0.5705378651618958, + 0.8193228840827942 + ], + "joints": [ + 0.011818801052868366 + ] + }, + "fine_grasp": { + "position": [ + 0.014077652245759964, + 0.13482992351055145, + -0.09280858933925629 + ], + "orientation": [ + 0.02872222289443016, + -0.04980472847819328, + -0.5707706809043884, + 0.819094181060791 + ], + "joints": [ + 0.003438799874857068 + ] + }, + "final_grasp": { + "position": [ + 0.014077652245759964, + 0.13482992351055145, + -0.09280858933925629 + ], + "orientation": [ + 0.02872222289443016, + -0.04980472847819328, + -0.5707706809043884, + 0.819094181060791 + ], + "joints": [ + -0.00494120130315423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09122010320425034, + 0.13914620876312256, + -0.008670649491250515 + ], + "orientation": [ + 0.39211350679397583, + 0.546120822429657, + 0.43064746260643005, + -0.6021144986152649 + ], + "joints": [ + 0.011975960806012154 + ] + }, + "fine_grasp": { + "position": [ + 0.09036620706319809, + 0.13796934485435486, + -0.008492952212691307 + ], + "orientation": [ + 0.39194682240486145, + 0.5459134578704834, + 0.4308980107307434, + -0.6022317409515381 + ], + "joints": [ + 0.003595959395170212 + ] + }, + "final_grasp": { + "position": [ + 0.09036620706319809, + 0.13796934485435486, + -0.008492952212691307 + ], + "orientation": [ + 0.39194682240486145, + 0.5459134578704834, + 0.4308980107307434, + -0.6022317409515381 + ], + "joints": [ + -0.00478404201567173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08249733597040176, + 0.14448170363903046, + -0.05615561455488205 + ], + "orientation": [ + 0.7284377217292786, + 0.4817737638950348, + 0.3930967450141907, + -0.2876583933830261 + ], + "joints": [ + 0.011488892138004303 + ] + }, + "fine_grasp": { + "position": [ + -0.08108358830213547, + 0.1412225216627121, + -0.05529959127306938 + ], + "orientation": [ + 0.7295048832893372, + 0.47990596294403076, + 0.3939596116542816, + -0.2868950664997101 + ], + "joints": [ + 0.0035059484653174877 + ] + }, + "final_grasp": { + "position": [ + -0.08108358830213547, + 0.1412225216627121, + -0.05529959127306938 + ], + "orientation": [ + 0.7295048832893372, + 0.47990596294403076, + 0.3939596116542816, + -0.2868950664997101 + ], + "joints": [ + -0.0044769952073693275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08417642116546631, + 0.14335352182388306, + -0.05682773515582085 + ], + "orientation": [ + 0.7327696681022644, + 0.4756176173686981, + 0.39467424154281616, + -0.2847256064414978 + ], + "joints": [ + 0.01183492224663496 + ] + }, + "fine_grasp": { + "position": [ + -0.08280283957719803, + 0.13979943096637726, + -0.0559731051325798 + ], + "orientation": [ + 0.7341917157173157, + 0.4733705222606659, + 0.3953293263912201, + -0.2838969826698303 + ], + "joints": [ + 0.003454921068623662 + ] + }, + "final_grasp": { + "position": [ + -0.08280283957719803, + 0.13979943096637726, + -0.0559731051325798 + ], + "orientation": [ + 0.7341917157173157, + 0.4733705222606659, + 0.3953293263912201, + -0.2838969826698303 + ], + "joints": [ + -0.004925080109387636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08436115831136703, + 0.14382179081439972, + -0.05761607736349106 + ], + "orientation": [ + 0.7337753176689148, + 0.47697457671165466, + 0.3949318528175354, + -0.27945995330810547 + ], + "joints": [ + 0.01187190692871809 + ] + }, + "fine_grasp": { + "position": [ + -0.08307608962059021, + 0.1402830183506012, + -0.05683039873838425 + ], + "orientation": [ + 0.7349392175674438, + 0.4745768904685974, + 0.39627233147621155, + -0.2785842716693878 + ], + "joints": [ + 0.0034919055178761482 + ] + }, + "final_grasp": { + "position": [ + -0.08307608962059021, + 0.1402830183506012, + -0.05683039873838425 + ], + "orientation": [ + 0.7349392175674438, + 0.4745768904685974, + 0.39627233147621155, + -0.2785842716693878 + ], + "joints": [ + -0.004888095892965794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05283622071146965, + 0.15005318820476532, + -0.08110146224498749 + ], + "orientation": [ + 0.08963999897241592, + 0.2537305951118469, + -0.5664603114128113, + 0.778914749622345 + ], + "joints": [ + 0.011462672613561153 + ] + }, + "fine_grasp": { + "position": [ + -0.05178311839699745, + 0.1461951732635498, + -0.07989969104528427 + ], + "orientation": [ + 0.0904092863202095, + 0.2563152015209198, + -0.5648350119590759, + 0.7791599631309509 + ], + "joints": [ + 0.0035006264224648476 + ] + }, + "final_grasp": { + "position": [ + -0.05178311839699745, + 0.1461951732635498, + -0.07989969104528427 + ], + "orientation": [ + 0.0904092863202095, + 0.2563152015209198, + -0.5648350119590759, + 0.7791599631309509 + ], + "joints": [ + -0.004461419768631458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09473304450511932, + 0.13894709944725037, + 0.05224244296550751 + ], + "orientation": [ + 0.17763544619083405, + 0.5973408222198486, + 0.6336501240730286, + -0.4583853483200073 + ], + "joints": [ + 0.011298644356429577 + ] + }, + "fine_grasp": { + "position": [ + 0.0930730327963829, + 0.13513880968093872, + 0.051533572375774384 + ], + "orientation": [ + 0.17088863253593445, + 0.5864282250404358, + 0.6391586661338806, + -0.46730637550354004 + ], + "joints": [ + 0.003357495879754424 + ] + }, + "final_grasp": { + "position": [ + 0.0930730327963829, + 0.13513880968093872, + 0.051533572375774384 + ], + "orientation": [ + 0.17088863253593445, + 0.5864282250404358, + 0.6391586661338806, + -0.46730637550354004 + ], + "joints": [ + -0.004583652596920729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07855905592441559, + 0.14347967505455017, + 0.07245711982250214 + ], + "orientation": [ + 0.45331287384033203, + 0.7647845149040222, + -0.2969093322753906, + 0.3485066294670105 + ], + "joints": [ + 0.011527249589562416 + ] + }, + "fine_grasp": { + "position": [ + -0.07729010283946991, + 0.1397039294242859, + 0.07145901024341583 + ], + "orientation": [ + 0.4491595923900604, + 0.7644667029380798, + -0.2994690537452698, + 0.35237011313438416 + ], + "joints": [ + 0.003544305916875601 + ] + }, + "final_grasp": { + "position": [ + -0.07729010283946991, + 0.1397039294242859, + 0.07145901024341583 + ], + "orientation": [ + 0.4491595923900604, + 0.7644667029380798, + -0.2994690537452698, + 0.35237011313438416 + ], + "joints": [ + -0.0044386377558112144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09062584489583969, + 0.14181719720363617, + -0.01063879206776619 + ], + "orientation": [ + 0.3419940173625946, + 0.5199747085571289, + 0.4809931218624115, + -0.6175047755241394 + ], + "joints": [ + 0.010907351039350033 + ] + }, + "fine_grasp": { + "position": [ + 0.09019805490970612, + 0.13955573737621307, + -0.010079840198159218 + ], + "orientation": [ + 0.3341829776763916, + 0.5173135995864868, + 0.48483893275260925, + -0.6209987998008728 + ], + "joints": [ + 0.0033632603008300066 + ] + }, + "final_grasp": { + "position": [ + 0.09019805490970612, + 0.13955573737621307, + -0.010079840198159218 + ], + "orientation": [ + 0.3341829776763916, + 0.5173135995864868, + 0.48483893275260925, + -0.6209987998008728 + ], + "joints": [ + -0.00418083043769002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05420283228158951, + 0.14510750770568848, + 0.07930061966180801 + ], + "orientation": [ + 0.19254015386104584, + -0.016404232010245323, + 0.7803556323051453, + -0.5947304368019104 + ], + "joints": [ + 0.010854908265173435 + ] + }, + "fine_grasp": { + "position": [ + -0.05397678166627884, + 0.14128263294696808, + 0.07774558663368225 + ], + "orientation": [ + 0.1850186288356781, + -0.026021333411335945, + 0.7813428640365601, + -0.595478355884552 + ], + "joints": [ + 0.003310817526653409 + ] + }, + "final_grasp": { + "position": [ + -0.05397678166627884, + 0.14128263294696808, + 0.07774558663368225 + ], + "orientation": [ + 0.1850186288356781, + -0.026021333411335945, + 0.7813428640365601, + -0.595478355884552 + ], + "joints": [ + -0.004233273211866617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06830409914255142, + 0.14102678000926971, + -0.08035312592983246 + ], + "orientation": [ + 0.2629855275154114, + -0.15423087775707245, + 0.6182548403739929, + -0.7244393229484558 + ], + "joints": [ + 0.010480082593858242 + ] + }, + "fine_grasp": { + "position": [ + -0.06727112084627151, + 0.13699404895305634, + -0.0790650025010109 + ], + "orientation": [ + 0.2664332091808319, + -0.14717809855937958, + 0.6158290505409241, + -0.7267093062400818 + ], + "joints": [ + 0.0033748445566743612 + ] + }, + "final_grasp": { + "position": [ + -0.06727112084627151, + 0.13699404895305634, + -0.0790650025010109 + ], + "orientation": [ + 0.2664332091808319, + -0.14717809855937958, + 0.6158290505409241, + -0.7267093062400818 + ], + "joints": [ + -0.0037303934805095196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08377408236265182, + 0.14449787139892578, + 0.03835281729698181 + ], + "orientation": [ + 0.27500081062316895, + 0.5770665407180786, + 0.5908865332603455, + -0.4921603500843048 + ], + "joints": [ + 0.011499876156449318 + ] + }, + "fine_grasp": { + "position": [ + 0.08232302218675613, + 0.14065460860729218, + 0.03860625997185707 + ], + "orientation": [ + 0.266584187746048, + 0.5628771185874939, + 0.6026550531387329, + -0.49890798330307007 + ], + "joints": [ + 0.003537829965353012 + ] + }, + "final_grasp": { + "position": [ + 0.08232302218675613, + 0.14065460860729218, + 0.03860625997185707 + ], + "orientation": [ + 0.266584187746048, + 0.5628771185874939, + 0.6026550531387329, + -0.49890798330307007 + ], + "joints": [ + -0.004424216225743294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0846579298377037, + 0.14856620132923126, + 0.04229984059929848 + ], + "orientation": [ + 0.47910264134407043, + 0.5766550898551941, + 0.5940308570861816, + -0.2916451394557953 + ], + "joints": [ + 0.010887612588703632 + ] + }, + "fine_grasp": { + "position": [ + -0.08338401466608047, + 0.14454370737075806, + 0.04162277281284332 + ], + "orientation": [ + 0.4855177104473114, + 0.5795111060142517, + 0.5879517197608948, + -0.28766679763793945 + ], + "joints": [ + 0.003343521850183606 + ] + }, + "final_grasp": { + "position": [ + -0.08338401466608047, + 0.14454370737075806, + 0.04162277281284332 + ], + "orientation": [ + 0.4855177104473114, + 0.5795111060142517, + 0.5879517197608948, + -0.28766679763793945 + ], + "joints": [ + -0.00420056888833642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09051164984703064, + 0.13432937860488892, + -0.0568062886595726 + ], + "orientation": [ + 0.6711490154266357, + 0.27607986330986023, + -0.4406611919403076, + 0.528352677822113 + ], + "joints": [ + 0.012025047093629837 + ] + }, + "fine_grasp": { + "position": [ + 0.08893677592277527, + 0.13155844807624817, + -0.057409707456827164 + ], + "orientation": [ + 0.6656128764152527, + 0.2699137032032013, + -0.44345900416374207, + 0.5361438989639282 + ], + "joints": [ + 0.003645045682787895 + ] + }, + "final_grasp": { + "position": [ + 0.08893677592277527, + 0.13155844807624817, + -0.057409707456827164 + ], + "orientation": [ + 0.6656128764152527, + 0.2699137032032013, + -0.44345900416374207, + 0.5361438989639282 + ], + "joints": [ + -0.004734955728054047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09135045856237411, + 0.1427364945411682, + -0.008416795171797276 + ], + "orientation": [ + 0.3929738998413086, + 0.5424327850341797, + 0.43276506662368774, + -0.6033676862716675 + ], + "joints": [ + 0.011492823250591755 + ] + }, + "fine_grasp": { + "position": [ + 0.0892418771982193, + 0.14083239436149597, + -0.008244930766522884 + ], + "orientation": [ + 0.3925081193447113, + 0.5394634008407593, + 0.4356200695037842, + -0.6042779684066772 + ], + "joints": [ + 0.0035098795779049397 + ] + }, + "final_grasp": { + "position": [ + 0.0892418771982193, + 0.14083239436149597, + -0.008244930766522884 + ], + "orientation": [ + 0.3925081193447113, + 0.5394634008407593, + 0.4356200695037842, + -0.6042779684066772 + ], + "joints": [ + -0.004473064094781876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08217126876115799, + 0.13909105956554413, + -0.07611893862485886 + ], + "orientation": [ + 0.034611307084560394, + -0.3050435185432434, + 0.5560086965560913, + -0.7724020481109619 + ], + "joints": [ + 0.010705236345529556 + ] + }, + "fine_grasp": { + "position": [ + -0.08097172528505325, + 0.13582633435726166, + -0.07438137382268906 + ], + "orientation": [ + 0.03611813485622406, + -0.30028021335601807, + 0.5540607571601868, + -0.7755926251411438 + ], + "joints": [ + 0.003558203112334013 + ] + }, + "final_grasp": { + "position": [ + -0.08097172528505325, + 0.13582633435726166, + -0.07438137382268906 + ], + "orientation": [ + 0.03611813485622406, + -0.30028021335601807, + 0.5540607571601868, + -0.7755926251411438 + ], + "joints": [ + -0.0035888301208615303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05759396776556969, + 0.13825185596942902, + -0.09354116022586823 + ], + "orientation": [ + 0.8259753584861755, + 0.5174763798713684, + -0.2116156965494156, + 0.07212145626544952 + ], + "joints": [ + 0.012627528049051762 + ] + }, + "fine_grasp": { + "position": [ + 0.05690575763583183, + 0.13540852069854736, + -0.09220028668642044 + ], + "orientation": [ + 0.8263980150222778, + 0.5178307890892029, + -0.20970341563224792, + 0.07030060887336731 + ], + "joints": [ + 0.003432513913139701 + ] + }, + "final_grasp": { + "position": [ + 0.05690575763583183, + 0.13540852069854736, + -0.09220028668642044 + ], + "orientation": [ + 0.8263980150222778, + 0.5178307890892029, + -0.20970341563224792, + 0.07030060887336731 + ], + "joints": [ + -0.00576250022277236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09913928806781769, + 0.14284969866275787, + -0.013330577872693539 + ], + "orientation": [ + 0.6444489359855652, + 0.4017510414123535, + 0.5258234143257141, + -0.38313376903533936 + ], + "joints": [ + 0.012012474238872528 + ] + }, + "fine_grasp": { + "position": [ + -0.09742421656847, + 0.13953186571598053, + -0.013192900456488132 + ], + "orientation": [ + 0.6492005586624146, + 0.40309226512908936, + 0.5220907330513, + -0.3787830173969269 + ], + "joints": [ + 0.0036324728280305862 + ] + }, + "final_grasp": { + "position": [ + -0.09742421656847, + 0.13953186571598053, + -0.013192900456488132 + ], + "orientation": [ + 0.6492005586624146, + 0.40309226512908936, + 0.5220907330513, + -0.3787830173969269 + ], + "joints": [ + -0.004747528582811356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09952479600906372, + 0.14357243478298187, + 0.03686562180519104 + ], + "orientation": [ + 0.5071264505386353, + 0.43078672885894775, + -0.6594060659408569, + 0.34989890456199646 + ], + "joints": [ + 0.011326686479151249 + ] + }, + "fine_grasp": { + "position": [ + 0.09797238558530807, + 0.13978026807308197, + 0.03643641620874405 + ], + "orientation": [ + 0.5133423209190369, + 0.43545565009117126, + -0.655245840549469, + 0.34279847145080566 + ], + "joints": [ + 0.0033646405208855867 + ] + }, + "final_grasp": { + "position": [ + 0.09797238558530807, + 0.13978026807308197, + 0.03643641620874405 + ], + "orientation": [ + 0.5133423209190369, + 0.43545565009117126, + -0.655245840549469, + 0.34279847145080566 + ], + "joints": [ + -0.0045974054373800755 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 94 + } +} \ No newline at end of file diff --git a/002_bowl_2/Object.usd b/002_bowl_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..042e88d1b3d1f521c279e761348ef16aeccb2026 --- /dev/null +++ b/002_bowl_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca15b8166747461018cdf14314e1df5317aad471c3980b43dfbfdd8721e6e6ef +size 160379 diff --git a/005_french-fries_0/Annotation/dex1_1_grasp_pose.json b/005_french-fries_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..84df6e00b17a491528807a07ac10fc7f6c12c84c --- /dev/null +++ b/005_french-fries_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,11318 @@ +{ + "type": "005_french-fries_0", + "bottom_center": [ + -1.6376376152038574e-05, + 0.04748792573809624, + -0.015457349829375744 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.00044304868788458407, + -0.009718428365886211, + 0.11553838849067688 + ], + "orientation": [ + 0.7886456251144409, + -0.6148407459259033, + -0.0022988521959632635, + 0.0019524081144481897 + ], + "joints": [ + -0.015525061637163162 + ] + }, + "fine_grasp": { + "position": [ + 0.0027429095935076475, + -0.010924047790467739, + 0.11830224841833115 + ], + "orientation": [ + 0.7852215766906738, + -0.6190139651298523, + -0.0025253877975046635, + 0.015570176765322685 + ], + "joints": [ + -0.009148266166448593 + ] + }, + "final_grasp": { + "position": [ + 0.0027429095935076475, + -0.010924047790467739, + 0.11830224841833115 + ], + "orientation": [ + 0.7852215766906738, + -0.6190139651298523, + -0.0025253877975046635, + 0.015570176765322685 + ], + "joints": [ + -0.002771470695734024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010120365768671036, + 0.057482313364744186, + 0.13030032813549042 + ], + "orientation": [ + 0.596217691898346, + -0.8016888499259949, + -0.016230562701821327, + -0.03944650664925575 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.009623849764466286, + 0.05516141653060913, + 0.12494548410177231 + ], + "orientation": [ + 0.5836784839630127, + -0.8108088970184326, + -0.01672840677201748, + -0.040354058146476746 + ], + "joints": [ + -0.010736565105617046 + ] + }, + "final_grasp": { + "position": [ + -0.009623849764466286, + 0.05516141653060913, + 0.12494548410177231 + ], + "orientation": [ + 0.5836784839630127, + -0.8108088970184326, + -0.01672840677201748, + -0.040354058146476746 + ], + "joints": [ + -0.0038283634930849075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13251850008964539, + 0.013774667866528034, + -0.00018727272981777787 + ], + "orientation": [ + 0.5122220516204834, + 0.48789677023887634, + -0.5170349478721619, + 0.48193371295928955 + ], + "joints": [ + -0.002216328401118517 + ] + }, + "fine_grasp": { + "position": [ + 0.13478772342205048, + 0.01247488521039486, + -0.00014633400132879615 + ], + "orientation": [ + 0.5123875737190247, + 0.48772838711738586, + -0.5125364065170288, + 0.486709862947464 + ], + "joints": [ + 0.003655637614428997 + ] + }, + "final_grasp": { + "position": [ + 0.13478772342205048, + 0.01247488521039486, + -0.00014633400132879615 + ], + "orientation": [ + 0.5123875737190247, + 0.48772838711738586, + -0.5125364065170288, + 0.486709862947464 + ], + "joints": [ + 0.009527603164315224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13242532312870026, + 0.01372942328453064, + -0.00016029055404942483 + ], + "orientation": [ + 0.5120373368263245, + 0.4879724085330963, + -0.5169699788093567, + 0.48212313652038574 + ], + "joints": [ + -0.002216328401118517 + ] + }, + "fine_grasp": { + "position": [ + 0.1340741515159607, + 0.012417054735124111, + -0.00010144342377316207 + ], + "orientation": [ + 0.5117726922035217, + 0.488557368516922, + -0.5117257237434387, + 0.48737791180610657 + ], + "joints": [ + 0.003655637614428997 + ] + }, + "final_grasp": { + "position": [ + 0.1340741515159607, + 0.012417054735124111, + -0.00010144342377316207 + ], + "orientation": [ + 0.5117726922035217, + 0.488557368516922, + -0.5117257237434387, + 0.48737791180610657 + ], + "joints": [ + 0.009527603164315224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05602449178695679, + -0.010818853043019772, + -0.11408428847789764 + ], + "orientation": [ + 0.17909446358680725, + -0.14344440400600433, + 0.739240288734436, + 0.6331451535224915 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.05385388433933258, + -0.01124684326350689, + -0.10899446159601212 + ], + "orientation": [ + 0.17915049195289612, + -0.14288634061813354, + 0.7283238172531128, + 0.6457810401916504 + ], + "joints": [ + -0.007792530115693808 + ] + }, + "final_grasp": { + "position": [ + 0.05385388433933258, + -0.01124684326350689, + -0.10899446159601212 + ], + "orientation": [ + 0.17915049195289612, + -0.14288634061813354, + 0.7283238172531128, + 0.6457810401916504 + ], + "joints": [ + -0.0008843345567584038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05620548129081726, + -0.011561842635273933, + -0.11405579745769501 + ], + "orientation": [ + 0.17955802381038666, + -0.14411407709121704, + 0.7354251742362976, + 0.6372911334037781 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.0541062168776989, + -0.012104233726859093, + -0.10904058068990707 + ], + "orientation": [ + 0.18000374734401703, + -0.1434975564479828, + 0.7244766354560852, + 0.6497236490249634 + ], + "joints": [ + -0.0072877006605267525 + ] + }, + "final_grasp": { + "position": [ + 0.0541062168776989, + -0.012104233726859093, + -0.10904058068990707 + ], + "orientation": [ + 0.18000374734401703, + -0.1434975564479828, + 0.7244766354560852, + 0.6497236490249634 + ], + "joints": [ + 0.00012532435357570648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005598361603915691, + 0.019632505252957344, + -0.12829557061195374 + ], + "orientation": [ + 0.6780192255973816, + 0.7348862886428833, + 0.008494572713971138, + 0.012646814808249474 + ], + "joints": [ + -0.015348415821790695 + ] + }, + "fine_grasp": { + "position": [ + 2.7959969884250313e-05, + 0.017115380614995956, + -0.12469339370727539 + ], + "orientation": [ + 0.6634640693664551, + 0.7480698227882385, + 0.012495908886194229, + 0.007132290862500668 + ], + "joints": [ + -0.00793539173901081 + ] + }, + "final_grasp": { + "position": [ + 2.7959969884250313e-05, + 0.017115380614995956, + -0.12469339370727539 + ], + "orientation": [ + 0.6634640693664551, + 0.7480698227882385, + 0.012495908886194229, + 0.007132290862500668 + ], + "joints": [ + -0.0005223676562309265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022830002009868622, + 0.048837609589099884, + 0.11617185175418854 + ], + "orientation": [ + 0.6952670216560364, + -0.7121836543083191, + 0.06182768568396568, + 0.074669748544693 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.022610628977417946, + 0.046864621341228485, + 0.11796955019235611 + ], + "orientation": [ + 0.6886004209518433, + -0.7190141677856445, + 0.061308473348617554, + 0.07133940607309341 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.022610628977417946, + 0.046864621341228485, + 0.11796955019235611 + ], + "orientation": [ + 0.6886004209518433, + -0.7190141677856445, + 0.061308473348617554, + 0.07133940607309341 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022869808599352837, + 0.0488741360604763, + 0.11620179563760757 + ], + "orientation": [ + 0.6952100992202759, + -0.712222158908844, + 0.061857130378484726, + 0.07480822503566742 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.022646574303507805, + 0.04688951000571251, + 0.11795874685049057 + ], + "orientation": [ + 0.6885596513748169, + -0.7190338373184204, + 0.06147737056016922, + 0.07138869166374207 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.022646574303507805, + 0.04688951000571251, + 0.11795874685049057 + ], + "orientation": [ + 0.6885596513748169, + -0.7190338373184204, + 0.06147737056016922, + 0.07138869166374207 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022403985261917114, + 0.07609810680150986, + 0.11363454908132553 + ], + "orientation": [ + 0.03364843875169754, + 0.11275627464056015, + 0.6550600528717041, + -0.7463579177856445 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.02081320807337761, + 0.07669412344694138, + 0.1162794679403305 + ], + "orientation": [ + 0.026587622240185738, + 0.10728993266820908, + 0.6596492528915405, + -0.7434009313583374 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + -0.02081320807337761, + 0.07669412344694138, + 0.1162794679403305 + ], + "orientation": [ + 0.026587622240185738, + 0.10728993266820908, + 0.6596492528915405, + -0.7434009313583374 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13250946998596191, + 0.013727026991546154, + -0.00017981030396185815 + ], + "orientation": [ + 0.5122606158256531, + 0.4878252446651459, + -0.5171233415603638, + 0.4818704128265381 + ], + "joints": [ + -0.002216328401118517 + ] + }, + "fine_grasp": { + "position": [ + 0.13543915748596191, + 0.012541467323899269, + -5.752846482209861e-05 + ], + "orientation": [ + 0.5141711831092834, + 0.485929936170578, + -0.51463782787323, + 0.48440495133399963 + ], + "joints": [ + 0.003655637614428997 + ] + }, + "final_grasp": { + "position": [ + 0.13543915748596191, + 0.012541467323899269, + -5.752846482209861e-05 + ], + "orientation": [ + 0.5141711831092834, + 0.485929936170578, + -0.51463782787323, + 0.48440495133399963 + ], + "joints": [ + 0.009527603164315224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02855321578681469, + 0.014733292162418365, + 0.11348976939916611 + ], + "orientation": [ + 0.07979671657085419, + 0.09496080875396729, + 0.6726251840591431, + -0.7295136451721191 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.028704961761832237, + 0.013799442909657955, + 0.11460234969854355 + ], + "orientation": [ + 0.06944960355758667, + 0.0958019495010376, + 0.667636513710022, + -0.7350240349769592 + ], + "joints": [ + -0.007677712943404913 + ] + }, + "final_grasp": { + "position": [ + -0.028704961761832237, + 0.013799442909657955, + 0.11460234969854355 + ], + "orientation": [ + 0.06944960355758667, + 0.0958019495010376, + 0.667636513710022, + -0.7350240349769592 + ], + "joints": [ + -0.001832316629588604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00891909096390009, + -0.05631342530250549, + -0.09971816092729568 + ], + "orientation": [ + 0.12414304167032242, + 0.014713192358613014, + -0.8650507926940918, + -0.485859215259552 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.008309450000524521, + -0.057711511850357056, + -0.10131906718015671 + ], + "orientation": [ + 0.10703472793102264, + 0.008986592292785645, + -0.8609135150909424, + -0.49728327989578247 + ], + "joints": [ + -0.007765960413962603 + ] + }, + "final_grasp": { + "position": [ + -0.008309450000524521, + -0.057711511850357056, + -0.10131906718015671 + ], + "orientation": [ + 0.10703472793102264, + 0.008986592292785645, + -0.8609135150909424, + -0.49728327989578247 + ], + "joints": [ + -0.0008311951532959938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03561237081885338, + 0.112824946641922, + 0.10721931606531143 + ], + "orientation": [ + 0.5641846656799316, + -0.8118225932121277, + -0.14156483113765717, + -0.05098268389701843 + ], + "joints": [ + -0.0161727461963892 + ] + }, + "fine_grasp": { + "position": [ + -0.03464965522289276, + 0.11360658705234528, + 0.10914494842290878 + ], + "orientation": [ + 0.5661579966545105, + -0.8112736940383911, + -0.1400061845779419, + -0.04121082276105881 + ], + "joints": [ + -0.009689666330814362 + ] + }, + "final_grasp": { + "position": [ + -0.03464965522289276, + 0.11360658705234528, + 0.10914494842290878 + ], + "orientation": [ + 0.5661579966545105, + -0.8112736940383911, + -0.1400061845779419, + -0.04121082276105881 + ], + "joints": [ + -0.003206586465239525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005903047975152731, + -0.09949784725904465, + 0.010410984046757221 + ], + "orientation": [ + 0.286805123090744, + 0.024264110252261162, + 0.9548557996749878, + -0.07351569086313248 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.006035026628524065, + -0.0994933471083641, + 0.010932604782283306 + ], + "orientation": [ + 0.2811592221260071, + 0.022116748616099358, + 0.9566362500190735, + -0.07285133004188538 + ], + "joints": [ + -0.008741909638047218 + ] + }, + "final_grasp": { + "position": [ + -0.006035026628524065, + -0.0994933471083641, + 0.010932604782283306 + ], + "orientation": [ + 0.2811592221260071, + 0.022116748616099358, + 0.9566362500190735, + -0.07285133004188538 + ], + "joints": [ + -0.0034013427793979645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035978857427835464, + 0.010204180143773556, + -0.11736063659191132 + ], + "orientation": [ + 0.6720354557037354, + 0.7210887670516968, + 0.15878108143806458, + -0.056461334228515625 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.033998869359493256, + 0.010374337434768677, + -0.1164635419845581 + ], + "orientation": [ + 0.6782144904136658, + 0.7176691293716431, + 0.14493928849697113, + -0.06299901008605957 + ], + "joints": [ + -0.00826939195394516 + ] + }, + "final_grasp": { + "position": [ + -0.033998869359493256, + 0.010374337434768677, + -0.1164635419845581 + ], + "orientation": [ + 0.6782144904136658, + 0.7176691293716431, + 0.14493928849697113, + -0.06299901008605957 + ], + "joints": [ + -0.0023974254727363586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13098002970218658, + 0.014800047501921654, + -0.0004902996006421745 + ], + "orientation": [ + 0.5105536580085754, + 0.490263968706131, + -0.5207399725914001, + 0.47729042172431946 + ], + "joints": [ + -0.002216328401118517 + ] + }, + "fine_grasp": { + "position": [ + 0.13066403567790985, + 0.01494731567800045, + -0.0005374251632019877 + ], + "orientation": [ + 0.5141698718070984, + 0.4871229827404022, + -0.5157387256622314, + 0.48203131556510925 + ], + "joints": [ + 0.003655637614428997 + ] + }, + "final_grasp": { + "position": [ + 0.13066403567790985, + 0.01494731567800045, + -0.0005374251632019877 + ], + "orientation": [ + 0.5141698718070984, + 0.4871229827404022, + -0.5157387256622314, + 0.48203131556510925 + ], + "joints": [ + 0.009527603164315224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019182929769158363, + -0.10891035199165344, + -0.02336370386183262 + ], + "orientation": [ + 0.24492619931697845, + -0.032443057745695114, + -0.9667024612426758, + -0.06666984409093857 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.019221918657422066, + -0.10861766338348389, + -0.02176462486386299 + ], + "orientation": [ + 0.2499159276485443, + -0.03399929404258728, + -0.9651902914047241, + -0.06923674046993256 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + -0.019221918657422066, + -0.10861766338348389, + -0.02176462486386299 + ], + "orientation": [ + 0.2499159276485443, + -0.03399929404258728, + -0.9651902914047241, + -0.06923674046993256 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07093029469251633, + -0.041423164308071136, + 0.09372701495885849 + ], + "orientation": [ + 0.8250578045845032, + -0.48800769448280334, + -0.16645878553390503, + -0.23112653195858002 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.0683836042881012, + -0.04065779224038124, + 0.08973374217748642 + ], + "orientation": [ + 0.8217203617095947, + -0.4930926263332367, + -0.16499300301074982, + -0.23326541483402252 + ], + "joints": [ + -0.008942179381847382 + ] + }, + "final_grasp": { + "position": [ + -0.0683836042881012, + -0.04065779224038124, + 0.08973374217748642 + ], + "orientation": [ + 0.8217203617095947, + -0.4930926263332367, + -0.16499300301074982, + -0.23326541483402252 + ], + "joints": [ + -0.0025653839111328125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0024364390410482883, + 0.0800606980919838, + -0.1181485578417778 + ], + "orientation": [ + 0.6162053942680359, + 0.778877854347229, + -0.06533492356538773, + -0.09680730849504471 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.0020161725115031004, + 0.07960781455039978, + -0.11815956979990005 + ], + "orientation": [ + 0.6167517900466919, + 0.7749589085578918, + -0.07918935269117355, + -0.11307131499052048 + ], + "joints": [ + -0.011774188838899136 + ] + }, + "final_grasp": { + "position": [ + -0.0020161725115031004, + 0.07960781455039978, + -0.11815956979990005 + ], + "orientation": [ + 0.6167517900466919, + 0.7749589085578918, + -0.07918935269117355, + -0.11307131499052048 + ], + "joints": [ + -0.005344243720173836 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011281533166766167, + 0.18906275928020477, + -0.01073819026350975 + ], + "orientation": [ + 0.06741183251142502, + 0.7418681979179382, + 0.022389553487300873, + -0.6667727828025818 + ], + "joints": [ + -0.0007458447944372892 + ] + }, + "fine_grasp": { + "position": [ + -0.01046647597104311, + 0.18488161265850067, + -0.010514624416828156 + ], + "orientation": [ + 0.07381828129291534, + 0.7469187378883362, + 0.027590926736593246, + -0.6602287292480469 + ], + "joints": [ + 0.0040633222088217735 + ] + }, + "final_grasp": { + "position": [ + -0.01046647597104311, + 0.18488161265850067, + -0.010514624416828156 + ], + "orientation": [ + 0.07381828129291534, + 0.7469187378883362, + 0.027590926736593246, + -0.6602287292480469 + ], + "joints": [ + 0.00887248944491148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010959711857140064, + 0.18986274302005768, + -0.009975442662835121 + ], + "orientation": [ + 0.06477345526218414, + 0.7478734254837036, + 0.02560640312731266, + -0.6601774096488953 + ], + "joints": [ + -0.0007039111806079745 + ] + }, + "fine_grasp": { + "position": [ + -0.010177652351558208, + 0.18567286431789398, + -0.009706205688416958 + ], + "orientation": [ + 0.07136893272399902, + 0.7534874081611633, + 0.03057093732059002, + -0.6528618931770325 + ], + "joints": [ + 0.0036004255525767803 + ] + }, + "final_grasp": { + "position": [ + -0.010177652351558208, + 0.18567286431789398, + -0.009706205688416958 + ], + "orientation": [ + 0.07136893272399902, + 0.7534874081611633, + 0.03057093732059002, + -0.6528618931770325 + ], + "joints": [ + 0.007904762402176857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00701184431090951, + -0.10410653054714203, + 0.000586788053624332 + ], + "orientation": [ + 0.9923961162567139, + -0.06885268539190292, + -0.10060452669858932, + 0.016973087564110756 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.006989927496761084, + -0.10777992755174637, + 0.0025382679887115955 + ], + "orientation": [ + 0.9920343160629272, + -0.06743346154689789, + -0.10387135297060013, + 0.023053837940096855 + ], + "joints": [ + -0.008713942021131516 + ] + }, + "final_grasp": { + "position": [ + 0.006989927496761084, + -0.10777992755174637, + 0.0025382679887115955 + ], + "orientation": [ + 0.9920343160629272, + -0.06743346154689789, + -0.10387135297060013, + 0.023053837940096855 + ], + "joints": [ + -0.003904774785041809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007545888889580965, + -0.1115211620926857, + -0.012042787857353687 + ], + "orientation": [ + 0.9252786040306091, + 0.05406815931200981, + 0.3752177655696869, + -0.01215778011828661 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.0071451603434979916, + -0.10589813441038132, + -0.012519623152911663 + ], + "orientation": [ + 0.9253997206687927, + 0.05101514980196953, + 0.37546512484550476, + -0.007658842485398054 + ], + "joints": [ + -0.005915557965636253 + ] + }, + "final_grasp": { + "position": [ + -0.0071451603434979916, + -0.10589813441038132, + -0.012519623152911663 + ], + "orientation": [ + 0.9253997206687927, + 0.05101514980196953, + 0.37546512484550476, + -0.007658842485398054 + ], + "joints": [ + 0.0005143769085407257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007099857088178396, + -0.1040194034576416, + 0.0007875016890466213 + ], + "orientation": [ + 0.9923662543296814, + -0.06962472945451736, + -0.1002877876162529, + 0.017434973269701004 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.007042859215289354, + -0.10776020586490631, + 0.002744415309280157 + ], + "orientation": [ + 0.9919850826263428, + -0.06811799108982086, + -0.1038237139582634, + 0.02337135747075081 + ], + "joints": [ + -0.008713942021131516 + ] + }, + "final_grasp": { + "position": [ + 0.007042859215289354, + -0.10776020586490631, + 0.002744415309280157 + ], + "orientation": [ + 0.9919850826263428, + -0.06811799108982086, + -0.1038237139582634, + 0.02337135747075081 + ], + "joints": [ + -0.003904774785041809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02565762586891651, + -0.05165800452232361, + -0.09719564020633698 + ], + "orientation": [ + 0.19148489832878113, + -0.028823941946029663, + -0.8482472896575928, + -0.49292922019958496 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.022951245307922363, + -0.04997667670249939, + -0.0983337014913559 + ], + "orientation": [ + 0.18200871348381042, + -0.02059144899249077, + -0.8497706651687622, + -0.49430620670318604 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.022951245307922363, + -0.04997667670249939, + -0.0983337014913559 + ], + "orientation": [ + 0.18200871348381042, + -0.02059144899249077, + -0.8497706651687622, + -0.49430620670318604 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025687815621495247, + -0.05162884294986725, + -0.09715517610311508 + ], + "orientation": [ + 0.19197817146778107, + -0.028703998774290085, + -0.8481660485267639, + -0.49288424849510193 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.02304678037762642, + -0.04993176832795143, + -0.0982697457075119 + ], + "orientation": [ + 0.18223391473293304, + -0.020488474518060684, + -0.8496861457824707, + -0.4943728744983673 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.02304678037762642, + -0.04993176832795143, + -0.0982697457075119 + ], + "orientation": [ + 0.18223391473293304, + -0.020488474518060684, + -0.8496861457824707, + -0.4943728744983673 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03587259352207184, + -0.09801366925239563, + -0.002514907158911228 + ], + "orientation": [ + 0.6762320399284363, + -0.07840745896100998, + -0.7273980975151062, + -0.08633875101804733 + ], + "joints": [ + -0.0024872676003724337 + ] + }, + "fine_grasp": { + "position": [ + -0.035187508910894394, + -0.09713544696569443, + -0.0031083873473107815 + ], + "orientation": [ + 0.6638242602348328, + -0.07430200278759003, + -0.7397032380104065, + -0.08158253878355026 + ], + "joints": [ + 0.003916098270565271 + ] + }, + "final_grasp": { + "position": [ + -0.035187508910894394, + -0.09713544696569443, + -0.0031083873473107815 + ], + "orientation": [ + 0.6638242602348328, + -0.07430200278759003, + -0.7397032380104065, + -0.08158253878355026 + ], + "joints": [ + 0.010319463908672333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06267781555652618, + -0.08222900331020355, + -0.0008902040426619351 + ], + "orientation": [ + 0.6663790941238403, + 0.17779235541820526, + 0.705747663974762, + -0.16201524436473846 + ], + "joints": [ + -0.002256378997117281 + ] + }, + "fine_grasp": { + "position": [ + -0.06118564307689667, + -0.07896506786346436, + -0.0014578095870092511 + ], + "orientation": [ + 0.6547647714614868, + 0.18408070504665375, + 0.7151200175285339, + -0.16124771535396576 + ], + "joints": [ + 0.003615587018430233 + ] + }, + "final_grasp": { + "position": [ + -0.06118564307689667, + -0.07896506786346436, + -0.0014578095870092511 + ], + "orientation": [ + 0.6547647714614868, + 0.18408070504665375, + 0.7151200175285339, + -0.16124771535396576 + ], + "joints": [ + 0.00948755256831646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05441455543041229, + 0.18512609601020813, + -0.03495184704661369 + ], + "orientation": [ + 0.202377587556839, + 0.7249810099601746, + 0.04173162579536438, + -0.6570421457290649 + ], + "joints": [ + -0.0007529726717621088 + ] + }, + "fine_grasp": { + "position": [ + -0.05404101312160492, + 0.18113353848457336, + -0.03435658663511276 + ], + "orientation": [ + 0.19523122906684875, + 0.7197759747505188, + 0.03621261566877365, + -0.6652038097381592 + ], + "joints": [ + 0.004614163655787706 + ] + }, + "final_grasp": { + "position": [ + -0.05404101312160492, + 0.18113353848457336, + -0.03435658663511276 + ], + "orientation": [ + 0.19523122906684875, + 0.7197759747505188, + 0.03621261566877365, + -0.6652038097381592 + ], + "joints": [ + 0.009981299750506878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04386917129158974, + -0.09040258079767227, + -0.00037815485848113894 + ], + "orientation": [ + 0.6570718288421631, + 0.11177371442317963, + 0.7391589879989624, + -0.09699098765850067 + ], + "joints": [ + -0.0029680398292839527 + ] + }, + "fine_grasp": { + "position": [ + -0.043588630855083466, + -0.08865965157747269, + -0.0006637347396463156 + ], + "orientation": [ + 0.6459159255027771, + 0.11466596275568008, + 0.7488279342651367, + -0.09434489160776138 + ], + "joints": [ + 0.0034353258088231087 + ] + }, + "final_grasp": { + "position": [ + -0.043588630855083466, + -0.08865965157747269, + -0.0006637347396463156 + ], + "orientation": [ + 0.6459159255027771, + 0.11466596275568008, + 0.7488279342651367, + -0.09434489160776138 + ], + "joints": [ + 0.009838690981268883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0626930519938469, + -0.08220145106315613, + -0.0007986951968632638 + ], + "orientation": [ + 0.6663501262664795, + 0.17785315215587616, + 0.705624520778656, + -0.16260287165641785 + ], + "joints": [ + -0.002256378997117281 + ] + }, + "fine_grasp": { + "position": [ + -0.061351608484983444, + -0.07914964109659195, + -0.0014373520389199257 + ], + "orientation": [ + 0.6545292735099792, + 0.18449582159519196, + 0.7151421308517456, + -0.16163070499897003 + ], + "joints": [ + 0.003615587018430233 + ] + }, + "final_grasp": { + "position": [ + -0.061351608484983444, + -0.07914964109659195, + -0.0014373520389199257 + ], + "orientation": [ + 0.6545292735099792, + 0.18449582159519196, + 0.7151421308517456, + -0.16163070499897003 + ], + "joints": [ + 0.00948755256831646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0627596378326416, + -0.08256643265485764, + -0.0009696069173514843 + ], + "orientation": [ + 0.6647601127624512, + 0.1790114939212799, + 0.7069563269615173, + -0.16205459833145142 + ], + "joints": [ + -0.002256378997117281 + ] + }, + "fine_grasp": { + "position": [ + -0.061338771134614944, + -0.07926744222640991, + -0.0016116219339892268 + ], + "orientation": [ + 0.6530449390411377, + 0.1856134533882141, + 0.7163380980491638, + -0.16105815768241882 + ], + "joints": [ + 0.003615587018430233 + ] + }, + "final_grasp": { + "position": [ + -0.061338771134614944, + -0.07926744222640991, + -0.0016116219339892268 + ], + "orientation": [ + 0.6530449390411377, + 0.1856134533882141, + 0.7163380980491638, + -0.16105815768241882 + ], + "joints": [ + 0.00948755256831646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05436396226286888, + 0.18455471098423004, + -0.035030633211135864 + ], + "orientation": [ + 0.20269711315631866, + 0.722542941570282, + 0.040771353989839554, + -0.6596842408180237 + ], + "joints": [ + -0.0010004546493291855 + ] + }, + "fine_grasp": { + "position": [ + -0.053998567163944244, + 0.1807016134262085, + -0.03443256765604019 + ], + "orientation": [ + 0.19614027440547943, + 0.7188931107521057, + 0.036090508103370667, + -0.6658973097801208 + ], + "joints": [ + 0.0048715113662183285 + ] + }, + "final_grasp": { + "position": [ + -0.053998567163944244, + 0.1807016134262085, + -0.03443256765604019 + ], + "orientation": [ + 0.19614027440547943, + 0.7188931107521057, + 0.036090508103370667, + -0.6658973097801208 + ], + "joints": [ + 0.010743477381765842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11127465963363647, + 0.12654803693294525, + -0.005878911353647709 + ], + "orientation": [ + 0.2952607274055481, + -0.5994119644165039, + -0.2878713607788086, + -0.6860440373420715 + ], + "joints": [ + -0.0022837375290691853 + ] + }, + "fine_grasp": { + "position": [ + -0.10661260038614273, + 0.12307599931955338, + -0.006661520339548588 + ], + "orientation": [ + 0.2914280295372009, + -0.5960946083068848, + -0.2865157723426819, + -0.6911221146583557 + ], + "joints": [ + 0.0035882284864783287 + ] + }, + "final_grasp": { + "position": [ + -0.10661260038614273, + 0.12307599931955338, + -0.006661520339548588 + ], + "orientation": [ + 0.2914280295372009, + -0.5960946083068848, + -0.2865157723426819, + -0.6911221146583557 + ], + "joints": [ + 0.009460194036364555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04099505394697189, + -0.087915800511837, + -0.002175820292904973 + ], + "orientation": [ + 0.7302677035331726, + -0.09196550399065018, + 0.667351484298706, + 0.11354883015155792 + ], + "joints": [ + -0.0023305718787014484 + ] + }, + "fine_grasp": { + "position": [ + 0.04002830758690834, + -0.0850539281964302, + -0.001900990610010922 + ], + "orientation": [ + 0.7406510710716248, + -0.09304634481668472, + 0.655298113822937, + 0.11559748649597168 + ], + "joints": [ + 0.0035413941368460655 + ] + }, + "final_grasp": { + "position": [ + 0.04002830758690834, + -0.0850539281964302, + -0.001900990610010922 + ], + "orientation": [ + 0.7406510710716248, + -0.09304634481668472, + 0.655298113822937, + 0.11559748649597168 + ], + "joints": [ + 0.009413359686732292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11702729761600494, + 0.1026480570435524, + -0.0018455835524946451 + ], + "orientation": [ + 0.359027624130249, + 0.6201390624046326, + 0.35982486605644226, + -0.597538948059082 + ], + "joints": [ + -0.002256378997117281 + ] + }, + "fine_grasp": { + "position": [ + -0.11321770399808884, + 0.10133767127990723, + -0.0028670637402683496 + ], + "orientation": [ + 0.3600190579891205, + 0.6234925985336304, + 0.36232689023017883, + -0.5919142961502075 + ], + "joints": [ + 0.003615587018430233 + ] + }, + "final_grasp": { + "position": [ + -0.11321770399808884, + 0.10133767127990723, + -0.0028670637402683496 + ], + "orientation": [ + 0.3600190579891205, + 0.6234925985336304, + 0.36232689023017883, + -0.5919142961502075 + ], + "joints": [ + 0.00948755256831646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07212548702955246, + 0.013368282467126846, + -0.10379941761493683 + ], + "orientation": [ + 0.4157447814941406, + 0.6345514059066772, + -0.6345508694648743, + -0.1478041261434555 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.07045018672943115, + 0.015312014147639275, + -0.09920676052570343 + ], + "orientation": [ + 0.4298030138015747, + 0.6302065253257751, + -0.6278029680252075, + -0.1548306792974472 + ], + "joints": [ + -0.016811590641736984 + ] + }, + "final_grasp": { + "position": [ + 0.07045018672943115, + 0.015312014147639275, + -0.09920676052570343 + ], + "orientation": [ + 0.4298030138015747, + 0.6302065253257751, + -0.6278029680252075, + -0.1548306792974472 + ], + "joints": [ + -0.013623181730508804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11704209446907043, + 0.10330855846405029, + 0.0011652865214273334 + ], + "orientation": [ + 0.35514453053474426, + 0.6002224087715149, + 0.3467453122138977, + -0.6271946430206299 + ], + "joints": [ + -0.002085119718685746 + ] + }, + "fine_grasp": { + "position": [ + -0.11314486712217331, + 0.10218384861946106, + 0.0020568217150866985 + ], + "orientation": [ + 0.3578915596008301, + 0.598877489566803, + 0.356845885515213, + -0.6212249398231506 + ], + "joints": [ + 0.0037868465296924114 + ] + }, + "final_grasp": { + "position": [ + -0.11314486712217331, + 0.10218384861946106, + 0.0020568217150866985 + ], + "orientation": [ + 0.3578915596008301, + 0.598877489566803, + 0.356845885515213, + -0.6212249398231506 + ], + "joints": [ + 0.009658812545239925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04094642400741577, + -0.0874626636505127, + -0.0019430337706580758 + ], + "orientation": [ + 0.7245283722877502, + -0.09374682605266571, + 0.6735689640045166, + 0.11213896423578262 + ], + "joints": [ + -0.0023344778455793858 + ] + }, + "fine_grasp": { + "position": [ + 0.0397607646882534, + -0.08376830816268921, + -0.0017674816772341728 + ], + "orientation": [ + 0.7369362115859985, + -0.09521912783384323, + 0.6590912342071533, + 0.11600474268198013 + ], + "joints": [ + 0.003537488169968128 + ] + }, + "final_grasp": { + "position": [ + 0.0397607646882534, + -0.08376830816268921, + -0.0017674816772341728 + ], + "orientation": [ + 0.7369362115859985, + -0.09521912783384323, + 0.6590912342071533, + 0.11600474268198013 + ], + "joints": [ + 0.009409453719854355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1257954239845276, + 0.013778695836663246, + 0.0038948552682995796 + ], + "orientation": [ + 0.5214802622795105, + 0.45519864559173584, + -0.5685589909553528, + 0.4445146918296814 + ], + "joints": [ + -0.002256378997117281 + ] + }, + "fine_grasp": { + "position": [ + 0.12028684467077255, + 0.014640438370406628, + 0.004782018251717091 + ], + "orientation": [ + 0.5196163654327393, + 0.4538469612598419, + -0.5740129947662354, + 0.4410564601421356 + ], + "joints": [ + 0.003615587018430233 + ] + }, + "final_grasp": { + "position": [ + 0.12028684467077255, + 0.014640438370406628, + 0.004782018251717091 + ], + "orientation": [ + 0.5196163654327393, + 0.4538469612598419, + -0.5740129947662354, + 0.4410564601421356 + ], + "joints": [ + 0.00948755256831646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1273408979177475, + 0.03217734023928642, + 0.0035823483485728502 + ], + "orientation": [ + 0.4989553987979889, + 0.48416510224342346, + -0.5423455834388733, + 0.4716871976852417 + ], + "joints": [ + -0.002256378997117281 + ] + }, + "fine_grasp": { + "position": [ + 0.1216249093413353, + 0.03271340951323509, + 0.004465689416974783 + ], + "orientation": [ + 0.4987436532974243, + 0.4811859428882599, + -0.5504235029220581, + 0.4655628800392151 + ], + "joints": [ + 0.0041204169392585754 + ] + }, + "final_grasp": { + "position": [ + 0.1216249093413353, + 0.03271340951323509, + 0.004465689416974783 + ], + "orientation": [ + 0.4987436532974243, + 0.4811859428882599, + -0.5504235029220581, + 0.4655628800392151 + ], + "joints": [ + 0.010497212409973145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12602467834949493, + 0.013842211104929447, + 0.003933907486498356 + ], + "orientation": [ + 0.5214323401451111, + 0.45543286204338074, + -0.567425012588501, + 0.4457781910896301 + ], + "joints": [ + -0.002028020331636071 + ] + }, + "fine_grasp": { + "position": [ + 0.12047959119081497, + 0.014606787823140621, + 0.004865034483373165 + ], + "orientation": [ + 0.5183632969856262, + 0.4548538327217102, + -0.5734005570411682, + 0.4422886371612549 + ], + "joints": [ + 0.0038439459167420864 + ] + }, + "final_grasp": { + "position": [ + 0.12047959119081497, + 0.014606787823140621, + 0.004865034483373165 + ], + "orientation": [ + 0.5183632969856262, + 0.4548538327217102, + -0.5734005570411682, + 0.4422886371612549 + ], + "joints": [ + 0.0097159119322896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04659184813499451, + -0.08671718835830688, + 0.0031202808022499084 + ], + "orientation": [ + 0.6641953587532043, + -0.13596443831920624, + -0.7272539138793945, + -0.10705093294382095 + ], + "joints": [ + -0.0023305718787014484 + ] + }, + "fine_grasp": { + "position": [ + -0.045608993619680405, + -0.08361700922250748, + 0.00313882390037179 + ], + "orientation": [ + 0.6498879790306091, + -0.14165419340133667, + -0.739063024520874, + -0.10660932958126068 + ], + "joints": [ + 0.0035413941368460655 + ] + }, + "final_grasp": { + "position": [ + -0.045608993619680405, + -0.08361700922250748, + 0.00313882390037179 + ], + "orientation": [ + 0.6498879790306091, + -0.14165419340133667, + -0.739063024520874, + -0.10660932958126068 + ], + "joints": [ + 0.009413359686732292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13094325363636017, + 0.014903109520673752, + -0.0005371193983592093 + ], + "orientation": [ + 0.5104312300682068, + 0.4905390739440918, + -0.5211226344108582, + 0.4767206013202667 + ], + "joints": [ + -0.002216328401118517 + ] + }, + "fine_grasp": { + "position": [ + 0.13049277663230896, + 0.014953484758734703, + -0.0005284550134092569 + ], + "orientation": [ + 0.5135771036148071, + 0.48796215653419495, + -0.5147809982299805, + 0.4828375279903412 + ], + "joints": [ + 0.003655637614428997 + ] + }, + "final_grasp": { + "position": [ + 0.13049277663230896, + 0.014953484758734703, + -0.0005284550134092569 + ], + "orientation": [ + 0.5135771036148071, + 0.48796215653419495, + -0.5147809982299805, + 0.4828375279903412 + ], + "joints": [ + 0.009527603164315224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04654926434159279, + -0.08674010634422302, + 0.003174735698848963 + ], + "orientation": [ + 0.6628309488296509, + -0.1358288675546646, + -0.7286708354949951, + -0.10604022443294525 + ], + "joints": [ + -0.0023305718787014484 + ] + }, + "fine_grasp": { + "position": [ + -0.04559676721692085, + -0.083860844373703, + 0.0032028432469815016 + ], + "orientation": [ + 0.6490465998649597, + -0.14118649065494537, + -0.7400557398796082, + -0.10546327382326126 + ], + "joints": [ + 0.0035413941368460655 + ] + }, + "final_grasp": { + "position": [ + -0.04559676721692085, + -0.083860844373703, + 0.0032028432469815016 + ], + "orientation": [ + 0.6490465998649597, + -0.14118649065494537, + -0.7400557398796082, + -0.10546327382326126 + ], + "joints": [ + 0.009413359686732292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1275048553943634, + 0.03238601237535477, + 0.004114773124456406 + ], + "orientation": [ + 0.4956716001033783, + 0.4853173792362213, + -0.5441533327102661, + 0.4718833565711975 + ], + "joints": [ + -0.0023990804329514503 + ] + }, + "fine_grasp": { + "position": [ + 0.12178691476583481, + 0.032772935926914215, + 0.00499191926792264 + ], + "orientation": [ + 0.4953562319278717, + 0.4825943410396576, + -0.5508191585540771, + 0.4672505855560303 + ], + "joints": [ + 0.003977715503424406 + ] + }, + "final_grasp": { + "position": [ + 0.12178691476583481, + 0.032772935926914215, + 0.00499191926792264 + ], + "orientation": [ + 0.4953562319278717, + 0.4825943410396576, + -0.5508191585540771, + 0.4672505855560303 + ], + "joints": [ + 0.010354511439800262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016842730343341827, + -0.10181063413619995, + 0.0041555361822247505 + ], + "orientation": [ + 0.759669840335846, + -0.026978379115462303, + 0.64970862865448, + 0.00725199468433857 + ], + "joints": [ + -0.002754268702119589 + ] + }, + "fine_grasp": { + "position": [ + 0.016562124714255333, + -0.09933562576770782, + 0.0043392423540353775 + ], + "orientation": [ + 0.7696911096572876, + -0.02398127131164074, + 0.6379457712173462, + 0.005067369434982538 + ], + "joints": [ + 0.0036490969359874725 + ] + }, + "final_grasp": { + "position": [ + 0.016562124714255333, + -0.09933562576770782, + 0.0043392423540353775 + ], + "orientation": [ + 0.7696911096572876, + -0.02398127131164074, + 0.6379457712173462, + 0.005067369434982538 + ], + "joints": [ + 0.010052463039755821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13053777813911438, + 0.04992212355136871, + 0.0033369450829923153 + ], + "orientation": [ + 0.46469199657440186, + 0.5218909978866577, + -0.5067477822303772, + 0.5048741698265076 + ], + "joints": [ + -0.002250376623123884 + ] + }, + "fine_grasp": { + "position": [ + 0.12483097612857819, + 0.04947615787386894, + 0.0041925935074687 + ], + "orientation": [ + 0.46471163630485535, + 0.5198932886123657, + -0.514051079750061, + 0.4995051920413971 + ], + "joints": [ + 0.0036215893924236298 + ] + }, + "final_grasp": { + "position": [ + 0.12483097612857819, + 0.04947615787386894, + 0.0041925935074687 + ], + "orientation": [ + 0.46471163630485535, + 0.5198932886123657, + -0.514051079750061, + 0.4995051920413971 + ], + "joints": [ + 0.009493555873632431 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03741665184497833, + -0.09762422740459442, + 0.010943998582661152 + ], + "orientation": [ + 0.6147441864013672, + 0.05344982072710991, + -0.7813943028450012, + 0.09303564578294754 + ], + "joints": [ + -0.003014970337972045 + ] + }, + "fine_grasp": { + "position": [ + 0.03670108690857887, + -0.09758737683296204, + 0.01252280455082655 + ], + "orientation": [ + 0.6114780306816101, + 0.042441532015800476, + -0.785069465637207, + 0.08921447396278381 + ], + "joints": [ + 0.002883565379306674 + ] + }, + "final_grasp": { + "position": [ + 0.03670108690857887, + -0.09758737683296204, + 0.01252280455082655 + ], + "orientation": [ + 0.6114780306816101, + 0.042441532015800476, + -0.785069465637207, + 0.08921447396278381 + ], + "joints": [ + 0.00878210086375475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1268652379512787, + 0.02833670563995838, + 0.0022980112116783857 + ], + "orientation": [ + 0.49487847089767456, + -0.5140386819839478, + -0.5097081065177917, + -0.48068395256996155 + ], + "joints": [ + -0.0021342302206903696 + ] + }, + "fine_grasp": { + "position": [ + -0.12125211954116821, + 0.028551597148180008, + 0.003390647005289793 + ], + "orientation": [ + 0.4910944104194641, + -0.5206437110900879, + -0.5088417530059814, + -0.4783686399459839 + ], + "joints": [ + 0.003737736027687788 + ] + }, + "final_grasp": { + "position": [ + -0.12125211954116821, + 0.028551597148180008, + 0.003390647005289793 + ], + "orientation": [ + 0.4910944104194641, + -0.5206437110900879, + -0.5088417530059814, + -0.4783686399459839 + ], + "joints": [ + 0.009609702043235302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13064871728420258, + 0.050077784806489944, + 0.0038711130619049072 + ], + "orientation": [ + 0.4611433744430542, + 0.5234147906303406, + -0.5087820291519165, + 0.5045041441917419 + ], + "joints": [ + -0.0023264694027602673 + ] + }, + "fine_grasp": { + "position": [ + 0.12495961785316467, + 0.049692410975694656, + 0.00468286219984293 + ], + "orientation": [ + 0.46253466606140137, + 0.520147979259491, + -0.5161956548690796, + 0.4990488588809967 + ], + "joints": [ + 0.0035454966127872467 + ] + }, + "final_grasp": { + "position": [ + 0.12495961785316467, + 0.049692410975694656, + 0.00468286219984293 + ], + "orientation": [ + 0.46253466606140137, + 0.520147979259491, + -0.5161956548690796, + 0.4990488588809967 + ], + "joints": [ + 0.009417463093996048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029420074075460434, + -0.09926160424947739, + -0.009354319423437119 + ], + "orientation": [ + 0.6078548431396484, + -0.028077900409698486, + 0.7909634113311768, + 0.06403934955596924 + ], + "joints": [ + -0.003513915464282036 + ] + }, + "fine_grasp": { + "position": [ + 0.028658326715230942, + -0.1002516970038414, + -0.010217498987913132 + ], + "orientation": [ + 0.6063898205757141, + -0.0214088074862957, + 0.7923945188522339, + 0.06280196458101273 + ], + "joints": [ + 0.0028894501738250256 + ] + }, + "final_grasp": { + "position": [ + 0.028658326715230942, + -0.1002516970038414, + -0.010217498987913132 + ], + "orientation": [ + 0.6063898205757141, + -0.0214088074862957, + 0.7923945188522339, + 0.06280196458101273 + ], + "joints": [ + 0.009292815811932087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1268279254436493, + 0.028329286724328995, + 0.0023141438141465187 + ], + "orientation": [ + 0.4950522780418396, + -0.5139133334159851, + -0.5099469423294067, + -0.48038560152053833 + ], + "joints": [ + -0.0021342302206903696 + ] + }, + "fine_grasp": { + "position": [ + -0.12122378498315811, + 0.02854890003800392, + 0.0034161361400038004 + ], + "orientation": [ + 0.4912475347518921, + -0.5205748081207275, + -0.5090153217315674, + -0.478101521730423 + ], + "joints": [ + 0.003737736027687788 + ] + }, + "final_grasp": { + "position": [ + -0.12122378498315811, + 0.02854890003800392, + 0.0034161361400038004 + ], + "orientation": [ + 0.4912475347518921, + -0.5205748081207275, + -0.5090153217315674, + -0.478101521730423 + ], + "joints": [ + 0.009609702043235302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006883856374770403, + -0.10550212860107422, + -0.006873550824820995 + ], + "orientation": [ + 0.7747051119804382, + -0.0341641791164875, + 0.626020610332489, + 0.08223812282085419 + ], + "joints": [ + -0.0027349786832928658 + ] + }, + "fine_grasp": { + "position": [ + 0.007245446089655161, + -0.10386306047439575, + -0.0073578073643147945 + ], + "orientation": [ + 0.7864832878112793, + -0.03528479486703873, + 0.6104558110237122, + 0.08684869110584259 + ], + "joints": [ + 0.003136987332254648 + ] + }, + "final_grasp": { + "position": [ + 0.007245446089655161, + -0.10386306047439575, + -0.0073578073643147945 + ], + "orientation": [ + 0.7864832878112793, + -0.03528479486703873, + 0.6104558110237122, + 0.08684869110584259 + ], + "joints": [ + 0.009008953347802162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012372978962957859, + -0.09528561681509018, + 0.002371437381953001 + ], + "orientation": [ + 0.7305865287780762, + 0.01436672080308199, + 0.6820592284202576, + -0.028845973312854767 + ], + "joints": [ + -0.002256378997117281 + ] + }, + "fine_grasp": { + "position": [ + -0.012457987293601036, + -0.09168823808431625, + 0.0023739717435091734 + ], + "orientation": [ + 0.7395572662353516, + 0.015219362452626228, + 0.6722156405448914, + -0.03081672638654709 + ], + "joints": [ + 0.0041204169392585754 + ] + }, + "final_grasp": { + "position": [ + -0.012457987293601036, + -0.09168823808431625, + 0.0023739717435091734 + ], + "orientation": [ + 0.7395572662353516, + 0.015219362452626228, + 0.6722156405448914, + -0.03081672638654709 + ], + "joints": [ + 0.010497212409973145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012339715845882893, + -0.09522215276956558, + 0.0023630396462976933 + ], + "orientation": [ + 0.7307111620903015, + 0.014941192232072353, + 0.6818864345550537, + -0.029477832838892937 + ], + "joints": [ + -0.002256378997117281 + ] + }, + "fine_grasp": { + "position": [ + -0.012453039176762104, + -0.09168779850006104, + 0.0023668708745390177 + ], + "orientation": [ + 0.7400676608085632, + 0.01562861166894436, + 0.671620786190033, + -0.031320445239543915 + ], + "joints": [ + 0.0041204169392585754 + ] + }, + "final_grasp": { + "position": [ + -0.012453039176762104, + -0.09168779850006104, + 0.0023668708745390177 + ], + "orientation": [ + 0.7400676608085632, + 0.01562861166894436, + 0.671620786190033, + -0.031320445239543915 + ], + "joints": [ + 0.010497212409973145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11576128005981445, + -0.041070543229579926, + -0.0007820877362973988 + ], + "orientation": [ + 0.6572679877281189, + 0.33302995562553406, + -0.5516414642333984, + 0.39087265729904175 + ], + "joints": [ + -0.003117101965472102 + ] + }, + "fine_grasp": { + "position": [ + 0.11393299698829651, + -0.04174754023551941, + -0.0012630808632820845 + ], + "orientation": [ + 0.6707127690315247, + 0.3233378231525421, + -0.5421006083488464, + 0.3895176649093628 + ], + "joints": [ + 0.002754864050075412 + ] + }, + "final_grasp": { + "position": [ + 0.11393299698829651, + -0.04174754023551941, + -0.0012630808632820845 + ], + "orientation": [ + 0.6707127690315247, + 0.3233378231525421, + -0.5421006083488464, + 0.3895176649093628 + ], + "joints": [ + 0.008626829832792282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1157609224319458, + -0.04086543619632721, + -0.0008955372613854706 + ], + "orientation": [ + 0.6576029062271118, + 0.33318614959716797, + -0.5511037707328796, + 0.39093494415283203 + ], + "joints": [ + -0.003122813766822219 + ] + }, + "fine_grasp": { + "position": [ + 0.114075668156147, + -0.0414285808801651, + -0.0013591957977041602 + ], + "orientation": [ + 0.6712011098861694, + 0.3235292136669159, + -0.540905773639679, + 0.39017799496650696 + ], + "joints": [ + 0.002749152248725295 + ] + }, + "final_grasp": { + "position": [ + 0.114075668156147, + -0.0414285808801651, + -0.0013591957977041602 + ], + "orientation": [ + 0.6712011098861694, + 0.3235292136669159, + -0.540905773639679, + 0.39017799496650696 + ], + "joints": [ + 0.008621118031442165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003391602775081992, + -0.09976722300052643, + 0.0002337958721909672 + ], + "orientation": [ + 0.6795908212661743, + -0.01798071339726448, + 0.7332014441490173, + 0.015771357342600822 + ], + "joints": [ + -0.0024086707271635532 + ] + }, + "fine_grasp": { + "position": [ + 0.003262750804424286, + -0.09870661050081253, + 0.00014020175149198622 + ], + "orientation": [ + 0.6659698486328125, + -0.017898527905344963, + 0.7456068396568298, + 0.015306133776903152 + ], + "joints": [ + 0.0034632952883839607 + ] + }, + "final_grasp": { + "position": [ + 0.003262750804424286, + -0.09870661050081253, + 0.00014020175149198622 + ], + "orientation": [ + 0.6659698486328125, + -0.017898527905344963, + 0.7456068396568298, + 0.015306133776903152 + ], + "joints": [ + 0.009335260838270187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029443545266985893, + -0.09888315945863724, + -0.009476195089519024 + ], + "orientation": [ + 0.6097552180290222, + -0.03052828274667263, + 0.7891299724578857, + 0.0673825815320015 + ], + "joints": [ + -0.0034712436608970165 + ] + }, + "fine_grasp": { + "position": [ + 0.028582697734236717, + -0.09958895295858383, + -0.010241715237498283 + ], + "orientation": [ + 0.6083909273147583, + -0.024443116039037704, + 0.7905380129814148, + 0.06567250937223434 + ], + "joints": [ + 0.002932121977210045 + ] + }, + "final_grasp": { + "position": [ + 0.028582697734236717, + -0.09958895295858383, + -0.010241715237498283 + ], + "orientation": [ + 0.6083909273147583, + -0.024443116039037704, + 0.7905380129814148, + 0.06567250937223434 + ], + "joints": [ + 0.009335488080978394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11556780338287354, + -0.04057324677705765, + -0.0007010304252617061 + ], + "orientation": [ + 0.6558448672294617, + 0.3330877721309662, + -0.5548027157783508, + 0.38873398303985596 + ], + "joints": [ + -0.0031150986906141043 + ] + }, + "fine_grasp": { + "position": [ + 0.11367343366146088, + -0.04052305594086647, + -0.000952050497289747 + ], + "orientation": [ + 0.6673252582550049, + 0.32447895407676697, + -0.54636150598526, + 0.3884321451187134 + ], + "joints": [ + 0.0027568673249334097 + ] + }, + "final_grasp": { + "position": [ + 0.11367343366146088, + -0.04052305594086647, + -0.000952050497289747 + ], + "orientation": [ + 0.6673252582550049, + 0.32447895407676697, + -0.54636150598526, + 0.3884321451187134 + ], + "joints": [ + 0.00862883310765028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007685481570661068, + -0.10198724269866943, + 0.0026346403174102306 + ], + "orientation": [ + 0.6224576234817505, + -0.025615688413381577, + -0.7821776866912842, + -0.009404398500919342 + ], + "joints": [ + -0.002698401687666774 + ] + }, + "fine_grasp": { + "position": [ + 0.007273023948073387, + -0.10053064674139023, + 0.004180500749498606 + ], + "orientation": [ + 0.6128994226455688, + -0.03175859898328781, + -0.7894937992095947, + -0.006717117968946695 + ], + "joints": [ + 0.00317356432788074 + ] + }, + "final_grasp": { + "position": [ + 0.007273023948073387, + -0.10053064674139023, + 0.004180500749498606 + ], + "orientation": [ + 0.6128994226455688, + -0.03175859898328781, + -0.7894937992095947, + -0.006717117968946695 + ], + "joints": [ + 0.00904553011059761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09610338509082794, + 0.14802692830562592, + -0.022084904834628105 + ], + "orientation": [ + 0.2881157100200653, + 0.6719858646392822, + -0.17249062657356262, + 0.6600540280342102 + ], + "joints": [ + -0.002161819953471422 + ] + }, + "fine_grasp": { + "position": [ + 0.09423767775297165, + 0.14569289982318878, + -0.022717881947755814 + ], + "orientation": [ + 0.29052746295928955, + 0.6693978309631348, + -0.17125572264194489, + 0.6619454622268677 + ], + "joints": [ + 0.0031787464395165443 + ] + }, + "final_grasp": { + "position": [ + 0.09423767775297165, + 0.14569289982318878, + -0.022717881947755814 + ], + "orientation": [ + 0.29052746295928955, + 0.6693978309631348, + -0.17125572264194489, + 0.6619454622268677 + ], + "joints": [ + 0.008519312366843224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12657898664474487, + 0.025488147512078285, + 0.0033781765960156918 + ], + "orientation": [ + 0.5275388360023499, + 0.4586673974990845, + -0.5039695501327515, + 0.5072885751724243 + ], + "joints": [ + -0.002518611727282405 + ] + }, + "fine_grasp": { + "position": [ + 0.12101302295923233, + 0.026457469910383224, + 0.004621436819434166 + ], + "orientation": [ + 0.5268722176551819, + 0.45569950342178345, + -0.49970924854278564, + 0.5148147940635681 + ], + "joints": [ + 0.003858184441924095 + ] + }, + "final_grasp": { + "position": [ + 0.12101302295923233, + 0.026457469910383224, + 0.004621436819434166 + ], + "orientation": [ + 0.5268722176551819, + 0.45569950342178345, + -0.49970924854278564, + 0.5148147940635681 + ], + "joints": [ + 0.010234980843961239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04843031242489815, + 0.0007689213962294161, + 0.12091398239135742 + ], + "orientation": [ + 0.7018453478813171, + -0.6720160841941833, + 0.004009959753602743, + 0.23620231449604034 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.04814188927412033, + 0.0018282487289980054, + 0.11976158618927002 + ], + "orientation": [ + 0.7057693600654602, + -0.6683256030082703, + 0.008054392412304878, + 0.23487326502799988 + ], + "joints": [ + -0.006530935876071453 + ] + }, + "final_grasp": { + "position": [ + 0.04814188927412033, + 0.0018282487289980054, + 0.11976158618927002 + ], + "orientation": [ + 0.7057693600654602, + -0.6683256030082703, + 0.008054392412304878, + 0.23487326502799988 + ], + "joints": [ + -0.00012757070362567902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006968714762479067, + -0.1014757752418518, + 0.00338114146143198 + ], + "orientation": [ + 0.6205778121948242, + -0.028163950890302658, + -0.7836025953292847, + -0.007536284625530243 + ], + "joints": [ + -0.003219723468646407 + ] + }, + "fine_grasp": { + "position": [ + 0.006493772380053997, + -0.09964559972286224, + 0.004315973725169897 + ], + "orientation": [ + 0.6129823923110962, + -0.033206239342689514, + -0.7893653512001038, + -0.007216358557343483 + ], + "joints": [ + 0.0031836421694606543 + ] + }, + "final_grasp": { + "position": [ + 0.006493772380053997, + -0.09964559972286224, + 0.004315973725169897 + ], + "orientation": [ + 0.6129823923110962, + -0.033206239342689514, + -0.7893653512001038, + -0.007216358557343483 + ], + "joints": [ + 0.009587007574737072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12395598739385605, + -0.012421254999935627, + 0.002998542971909046 + ], + "orientation": [ + 0.5687853097915649, + -0.43322858214378357, + -0.5606949329376221, + -0.41763314604759216 + ], + "joints": [ + -0.0020039959345012903 + ] + }, + "fine_grasp": { + "position": [ + -0.12575694918632507, + -0.011908883228898048, + 0.0035444251261651516 + ], + "orientation": [ + 0.5741622447967529, + -0.42891284823417664, + -0.5575685501098633, + -0.41891375184059143 + ], + "joints": [ + 0.0038679703138768673 + ] + }, + "final_grasp": { + "position": [ + -0.12575694918632507, + -0.011908883228898048, + 0.0035444251261651516 + ], + "orientation": [ + 0.5741622447967529, + -0.42891284823417664, + -0.5575685501098633, + -0.41891375184059143 + ], + "joints": [ + 0.009739936329424381 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12670429050922394, + 0.019935453310608864, + 0.00140776252374053 + ], + "orientation": [ + 0.5223740339279175, + 0.4719281494617462, + 0.5095269680023193, + -0.49476414918899536 + ], + "joints": [ + -0.002216328401118517 + ] + }, + "fine_grasp": { + "position": [ + -0.1219097301363945, + 0.021633567288517952, + 0.0025366940535604954 + ], + "orientation": [ + 0.5237813591957092, + 0.46697476506233215, + 0.5118744969367981, + -0.4955523610115051 + ], + "joints": [ + 0.0041604675352573395 + ] + }, + "final_grasp": { + "position": [ + -0.1219097301363945, + 0.021633567288517952, + 0.0025366940535604954 + ], + "orientation": [ + 0.5237813591957092, + 0.46697476506233215, + 0.5118744969367981, + -0.4955523610115051 + ], + "joints": [ + 0.010537263005971909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017639566212892532, + -0.10448165982961655, + 0.0003256037016399205 + ], + "orientation": [ + 0.8159976601600647, + -0.03816564008593559, + 0.5750483870506287, + 0.04483744129538536 + ], + "joints": [ + -0.003391196485608816 + ] + }, + "fine_grasp": { + "position": [ + -0.00014925474533811212, + -0.10925986617803574, + -0.0001169928873423487 + ], + "orientation": [ + 0.8182126879692078, + -0.03177640587091446, + 0.5723488330841064, + 0.043987881392240524 + ], + "joints": [ + 0.002454199828207493 + ] + }, + "final_grasp": { + "position": [ + -0.00014925474533811212, + -0.10925986617803574, + -0.0001169928873423487 + ], + "orientation": [ + 0.8182126879692078, + -0.03177640587091446, + 0.5723488330841064, + 0.043987881392240524 + ], + "joints": [ + 0.008299596607685089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014424694702029228, + 0.05675327777862549, + -0.11978931725025177 + ], + "orientation": [ + 0.07064715027809143, + 0.18133527040481567, + 0.7513099312782288, + 0.6306027173995972 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.014524207450449467, + 0.05621233582496643, + -0.11869854480028152 + ], + "orientation": [ + 0.06910409033298492, + 0.17473337054252625, + 0.7502357959747314, + 0.6339079141616821 + ], + "joints": [ + -0.008660801686346531 + ] + }, + "final_grasp": { + "position": [ + -0.014524207450449467, + 0.05621233582496643, + -0.11869854480028152 + ], + "orientation": [ + 0.06910409033298492, + 0.17473337054252625, + 0.7502357959747314, + 0.6339079141616821 + ], + "joints": [ + -0.00379849411547184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01683913730084896, + -0.09449663758277893, + 0.003561595221981406 + ], + "orientation": [ + 0.7207998633384705, + 0.021634571254253387, + 0.6914969682693481, + -0.04256223887205124 + ], + "joints": [ + -0.0023725260980427265 + ] + }, + "fine_grasp": { + "position": [ + -0.01710597425699234, + -0.09145579487085342, + 0.004198113456368446 + ], + "orientation": [ + 0.7272615432739258, + 0.01921449787914753, + 0.6846705675125122, + -0.044134244322776794 + ], + "joints": [ + 0.004030839540064335 + ] + }, + "final_grasp": { + "position": [ + -0.01710597425699234, + -0.09145579487085342, + 0.004198113456368446 + ], + "orientation": [ + 0.7272615432739258, + 0.01921449787914753, + 0.6846705675125122, + -0.044134244322776794 + ], + "joints": [ + 0.010434204712510109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022959643974900246, + 0.06211192533373833, + -0.11338207870721817 + ], + "orientation": [ + 0.7438532114028931, + 0.6397939920425415, + -0.02174179069697857, + -0.19202420115470886 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.023757316172122955, + 0.061760373413562775, + -0.1153489500284195 + ], + "orientation": [ + 0.7457132935523987, + 0.6398535370826721, + -0.02021392434835434, + -0.18463629484176636 + ], + "joints": [ + -0.007567164953798056 + ] + }, + "final_grasp": { + "position": [ + -0.023757316172122955, + 0.061760373413562775, + -0.1153489500284195 + ], + "orientation": [ + 0.7457132935523987, + 0.6398535370826721, + -0.02021392434835434, + -0.18463629484176636 + ], + "joints": [ + -0.002200028859078884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12744078040122986, + 0.026958273723721504, + 0.003931265790015459 + ], + "orientation": [ + 0.5445805788040161, + 0.43939581513404846, + -0.49767613410949707, + 0.5125248432159424 + ], + "joints": [ + -0.0025291151832789183 + ] + }, + "fine_grasp": { + "position": [ + 0.12400898337364197, + 0.02820700965821743, + 0.004446917213499546 + ], + "orientation": [ + 0.5466006398200989, + 0.4354349374771118, + -0.48991867899894714, + 0.521156370639801 + ], + "joints": [ + 0.0033428508322685957 + ] + }, + "final_grasp": { + "position": [ + 0.12400898337364197, + 0.02820700965821743, + 0.004446917213499546 + ], + "orientation": [ + 0.5466006398200989, + 0.4354349374771118, + -0.48991867899894714, + 0.521156370639801 + ], + "joints": [ + 0.009214816614985466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02424035035073757, + 0.016259822994470596, + -0.1292247474193573 + ], + "orientation": [ + 0.056118935346603394, + 0.1743115335702896, + 0.6572161316871643, + 0.7311176061630249 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.024609582498669624, + 0.017350662499666214, + -0.12925297021865845 + ], + "orientation": [ + 0.05148744583129883, + 0.17315997183322906, + 0.6602624654769897, + 0.7289844155311584 + ], + "joints": [ + -0.006585473194718361 + ] + }, + "final_grasp": { + "position": [ + -0.024609582498669624, + 0.017350662499666214, + -0.12925297021865845 + ], + "orientation": [ + 0.05148744583129883, + 0.17315997183322906, + 0.6602624654769897, + 0.7289844155311584 + ], + "joints": [ + 0.0003227218985557556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05826641619205475, + -0.093307264149189, + -0.014195785857737064 + ], + "orientation": [ + 0.6047127842903137, + -0.11720161139965057, + -0.7713152766227722, + -0.1601841151714325 + ], + "joints": [ + -0.002844122238457203 + ] + }, + "fine_grasp": { + "position": [ + -0.058690816164016724, + -0.09916045516729355, + -0.014928828924894333 + ], + "orientation": [ + 0.6027608513832092, + -0.12547184526920319, + -0.7701016068458557, + -0.1669725626707077 + ], + "joints": [ + 0.003027843777090311 + ] + }, + "final_grasp": { + "position": [ + -0.058690816164016724, + -0.09916045516729355, + -0.014928828924894333 + ], + "orientation": [ + 0.6027608513832092, + -0.12547184526920319, + -0.7701016068458557, + -0.1669725626707077 + ], + "joints": [ + 0.008899809792637825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0010700635612010956, + 0.1992095559835434, + 0.021155336871743202 + ], + "orientation": [ + 0.060635555535554886, + -0.703290581703186, + 0.06020333990454674, + -0.7057487368583679 + ], + "joints": [ + -0.00014989124611020088 + ] + }, + "fine_grasp": { + "position": [ + 0.0008217525901272893, + 0.19616910815238953, + 0.021167999133467674 + ], + "orientation": [ + 0.060207534581422806, + -0.7043057680130005, + 0.057638414204120636, + -0.7049866914749146 + ], + "joints": [ + 0.005722074769437313 + ] + }, + "final_grasp": { + "position": [ + 0.0008217525901272893, + 0.19616910815238953, + 0.021167999133467674 + ], + "orientation": [ + 0.060207534581422806, + -0.7043057680130005, + 0.057638414204120636, + -0.7049866914749146 + ], + "joints": [ + 0.01159404031932354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05821536108851433, + -0.0931803286075592, + -0.014295507222414017 + ], + "orientation": [ + 0.6035346984863281, + -0.11740336567163467, + -0.7721346020698547, + -0.16053150594234467 + ], + "joints": [ + -0.002835056744515896 + ] + }, + "fine_grasp": { + "position": [ + -0.05862261354923248, + -0.09903771430253983, + -0.015025820583105087 + ], + "orientation": [ + 0.6016029119491577, + -0.12584486603736877, + -0.770857572555542, + -0.16737858951091766 + ], + "joints": [ + 0.003036909271031618 + ] + }, + "final_grasp": { + "position": [ + -0.05862261354923248, + -0.09903771430253983, + -0.015025820583105087 + ], + "orientation": [ + 0.6016029119491577, + -0.12584486603736877, + -0.770857572555542, + -0.16737858951091766 + ], + "joints": [ + 0.008908875286579132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12520526349544525, + 0.09817298501729965, + -0.004860749468207359 + ], + "orientation": [ + 0.31296107172966003, + -0.6776207685470581, + -0.47353047132492065, + -0.46760496497154236 + ], + "joints": [ + -0.0022345357574522495 + ] + }, + "fine_grasp": { + "position": [ + -0.12319985032081604, + 0.09712774306535721, + -0.0036978318821638823 + ], + "orientation": [ + 0.2992030084133148, + -0.6928514838218689, + -0.4788307547569275, + -0.4485034942626953 + ], + "joints": [ + 0.003106030635535717 + ] + }, + "final_grasp": { + "position": [ + -0.12319985032081604, + 0.09712774306535721, + -0.0036978318821638823 + ], + "orientation": [ + 0.2992030084133148, + -0.6928514838218689, + -0.4788307547569275, + -0.4485034942626953 + ], + "joints": [ + 0.008446596562862396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12738995254039764, + 0.025005169212818146, + -0.0042564645409584045 + ], + "orientation": [ + 0.519679069519043, + -0.46288323402404785, + 0.49648693203926086, + 0.5188193321228027 + ], + "joints": [ + -0.0021101238671690226 + ] + }, + "fine_grasp": { + "position": [ + 0.12172393500804901, + 0.02565900981426239, + -0.005149786826223135 + ], + "orientation": [ + 0.5164362788200378, + -0.4633622467517853, + 0.4931342899799347, + 0.5247929096221924 + ], + "joints": [ + 0.003761842381209135 + ] + }, + "final_grasp": { + "position": [ + 0.12172393500804901, + 0.02565900981426239, + -0.005149786826223135 + ], + "orientation": [ + 0.5164362788200378, + -0.4633622467517853, + 0.4931342899799347, + 0.5247929096221924 + ], + "joints": [ + 0.009633808396756649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13527794182300568, + 0.024053597822785378, + 0.000204051990294829 + ], + "orientation": [ + 0.5509042739868164, + 0.4479893445968628, + 0.4940827786922455, + -0.5016894936561584 + ], + "joints": [ + -0.0022143260575830936 + ] + }, + "fine_grasp": { + "position": [ + -0.13259026408195496, + 0.024274349212646484, + 0.0002726330712903291 + ], + "orientation": [ + 0.5669636130332947, + 0.43117597699165344, + 0.475155234336853, + -0.5165917873382568 + ], + "joints": [ + 0.0036576399579644203 + ] + }, + "final_grasp": { + "position": [ + -0.13259026408195496, + 0.024274349212646484, + 0.0002726330712903291 + ], + "orientation": [ + 0.5669636130332947, + 0.43117597699165344, + 0.475155234336853, + -0.5165917873382568 + ], + "joints": [ + 0.009529605507850647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023297838866710663, + -0.09164490550756454, + 0.0007909703417681158 + ], + "orientation": [ + 0.6544508337974548, + -0.043158333748579025, + 0.7541459202766418, + 0.033096544444561005 + ], + "joints": [ + -0.002951798029243946 + ] + }, + "fine_grasp": { + "position": [ + 0.02289643883705139, + -0.08650179952383041, + 0.0007883325451985002 + ], + "orientation": [ + 0.642844021320343, + -0.041713863611221313, + 0.7642723917961121, + 0.029986079782247543 + ], + "joints": [ + 0.0034515676088631153 + ] + }, + "final_grasp": { + "position": [ + 0.02289643883705139, + -0.08650179952383041, + 0.0007883325451985002 + ], + "orientation": [ + 0.642844021320343, + -0.041713863611221313, + 0.7642723917961121, + 0.029986079782247543 + ], + "joints": [ + 0.009854933246970177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12572331726551056, + 0.01448572613298893, + 0.0036571971140801907 + ], + "orientation": [ + 0.5386844277381897, + 0.4463726282119751, + -0.5150489807128906, + 0.4952729344367981 + ], + "joints": [ + -0.0023344778455793858 + ] + }, + "fine_grasp": { + "position": [ + 0.12019088864326477, + 0.015757165849208832, + 0.004900438245385885 + ], + "orientation": [ + 0.5379132032394409, + 0.443765789270401, + -0.511556088924408, + 0.5020274519920349 + ], + "joints": [ + 0.003537488169968128 + ] + }, + "final_grasp": { + "position": [ + 0.12019088864326477, + 0.015757165849208832, + 0.004900438245385885 + ], + "orientation": [ + 0.5379132032394409, + 0.443765789270401, + -0.511556088924408, + 0.5020274519920349 + ], + "joints": [ + 0.009409453719854355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037731245160102844, + 0.035532549023628235, + -0.12473540753126144 + ], + "orientation": [ + 0.6160441637039185, + 0.7444933652877808, + -0.049101728945970535, + -0.25260311365127563 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.038504522293806076, + 0.0356706865131855, + -0.12359941005706787 + ], + "orientation": [ + 0.6155589818954468, + 0.7450196743011475, + -0.04260754957795143, + -0.2534116804599762 + ], + "joints": [ + -0.00776308961212635 + ] + }, + "final_grasp": { + "position": [ + -0.038504522293806076, + 0.0356706865131855, + -0.12359941005706787 + ], + "orientation": [ + 0.6155589818954468, + 0.7450196743011475, + -0.04260754957795143, + -0.2534116804599762 + ], + "joints": [ + -0.0008548945188522339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02947651967406273, + -0.10396858304738998, + 0.0056176758371293545 + ], + "orientation": [ + 0.6125526428222656, + -0.06873894482851028, + -0.7870085835456848, + -0.025915371254086494 + ], + "joints": [ + -0.002982350531965494 + ] + }, + "fine_grasp": { + "position": [ + -0.03139573708176613, + -0.10029363632202148, + 0.0066385213285684586 + ], + "orientation": [ + 0.6062476634979248, + -0.07085610926151276, + -0.7918561697006226, + -0.020169520750641823 + ], + "joints": [ + 0.0018799557583406568 + ] + }, + "final_grasp": { + "position": [ + -0.03139573708176613, + -0.10029363632202148, + 0.0066385213285684586 + ], + "orientation": [ + 0.6062476634979248, + -0.07085610926151276, + -0.7918561697006226, + -0.020169520750641823 + ], + "joints": [ + 0.006742262281477451 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007702416740357876, + -0.012821637094020844, + -0.12302259355783463 + ], + "orientation": [ + 0.7257664203643799, + 0.6340826749801636, + 0.23626817762851715, + 0.12401514500379562 + ], + "joints": [ + -0.016938194632530212 + ] + }, + "fine_grasp": { + "position": [ + -0.007429738994687796, + -0.01128340233117342, + -0.12326418608427048 + ], + "orientation": [ + 0.7333029508590698, + 0.6340620517730713, + 0.2160920351743698, + 0.116346575319767 + ], + "joints": [ + -0.010029995813965797 + ] + }, + "final_grasp": { + "position": [ + -0.007429738994687796, + -0.01128340233117342, + -0.12326418608427048 + ], + "orientation": [ + 0.7333029508590698, + 0.6340620517730713, + 0.2160920351743698, + 0.116346575319767 + ], + "joints": [ + -0.0031217969954013824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10979141294956207, + 0.11667880415916443, + -0.012794998474419117 + ], + "orientation": [ + 0.29427486658096313, + -0.6129848957061768, + -0.3560859262943268, + -0.6409794092178345 + ], + "joints": [ + -0.002186716068536043 + ] + }, + "fine_grasp": { + "position": [ + -0.10905205458402634, + 0.1161951869726181, + -0.013537981547415257 + ], + "orientation": [ + 0.29313743114471436, + -0.6169469356536865, + -0.36200225353240967, + -0.6343509554862976 + ], + "joints": [ + 0.003685249947011471 + ] + }, + "final_grasp": { + "position": [ + -0.10905205458402634, + 0.1161951869726181, + -0.013537981547415257 + ], + "orientation": [ + 0.29313743114471436, + -0.6169469356536865, + -0.36200225353240967, + -0.6343509554862976 + ], + "joints": [ + 0.009557215496897697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12673798203468323, + 0.01998712494969368, + 0.0016930775018408895 + ], + "orientation": [ + 0.5222256779670715, + 0.47087734937667847, + 0.509344220161438, + -0.4961082637310028 + ], + "joints": [ + -0.002216328401118517 + ] + }, + "fine_grasp": { + "position": [ + -0.12196867913007736, + 0.021500516682863235, + 0.0030329502187669277 + ], + "orientation": [ + 0.5247183442115784, + 0.4641106426715851, + 0.5136860013008118, + -0.49537721276283264 + ], + "joints": [ + 0.0041604675352573395 + ] + }, + "final_grasp": { + "position": [ + -0.12196867913007736, + 0.021500516682863235, + 0.0030329502187669277 + ], + "orientation": [ + 0.5247183442115784, + 0.4641106426715851, + 0.5136860013008118, + -0.49537721276283264 + ], + "joints": [ + 0.010537263005971909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1100023090839386, + 0.11675205826759338, + -0.012747694738209248 + ], + "orientation": [ + 0.29421594738960266, + -0.613817572593689, + -0.35672396421432495, + -0.639853835105896 + ], + "joints": [ + -0.0021505714394152164 + ] + }, + "fine_grasp": { + "position": [ + -0.10885567963123322, + 0.1159200668334961, + -0.013727693818509579 + ], + "orientation": [ + 0.29184088110923767, + -0.6174153685569763, + -0.36205804347991943, + -0.6344612240791321 + ], + "joints": [ + 0.0037213945761322975 + ] + }, + "final_grasp": { + "position": [ + -0.10885567963123322, + 0.1159200668334961, + -0.013727693818509579 + ], + "orientation": [ + 0.29184088110923767, + -0.6174153685569763, + -0.36205804347991943, + -0.6344612240791321 + ], + "joints": [ + 0.009593360126018524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1233951672911644, + 0.09749002754688263, + 0.026110876351594925 + ], + "orientation": [ + 0.34937402606010437, + 0.5129124522209167, + 0.4133068919181824, + -0.6663603782653809 + ], + "joints": [ + -0.0031816710252314806 + ] + }, + "fine_grasp": { + "position": [ + -0.12027774006128311, + 0.09715041518211365, + 0.026006948202848434 + ], + "orientation": [ + 0.36160194873809814, + 0.4996768534183502, + 0.40719860792160034, + -0.6736144423484802 + ], + "joints": [ + 0.0026902949903160334 + ] + }, + "final_grasp": { + "position": [ + -0.12027774006128311, + 0.09715041518211365, + 0.026006948202848434 + ], + "orientation": [ + 0.36160194873809814, + 0.4996768534183502, + 0.40719860792160034, + -0.6736144423484802 + ], + "joints": [ + 0.008562261238694191 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10519950836896896, + -0.06352940201759338, + -0.04422036558389664 + ], + "orientation": [ + 0.7139154672622681, + -0.13569770753383636, + -0.4942066967487335, + -0.47714847326278687 + ], + "joints": [ + -0.0014399092178791761 + ] + }, + "fine_grasp": { + "position": [ + -0.10360199213027954, + -0.05918111652135849, + -0.042216863483190536 + ], + "orientation": [ + 0.7172526717185974, + -0.12145509570837021, + -0.5023280382156372, + -0.46740108728408813 + ], + "joints": [ + 0.00026056997012346983 + ] + }, + "final_grasp": { + "position": [ + -0.10360199213027954, + -0.05918111652135849, + -0.042216863483190536 + ], + "orientation": [ + 0.7172526717185974, + -0.12145509570837021, + -0.5023280382156372, + -0.46740108728408813 + ], + "joints": [ + 0.001961049158126116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10525479912757874, + -0.06288270652294159, + -0.04406213387846947 + ], + "orientation": [ + 0.7145989537239075, + -0.13295677304267883, + -0.49476367235183716, + -0.476318895816803 + ], + "joints": [ + -0.0028665177524089813 + ] + }, + "fine_grasp": { + "position": [ + -0.10381501913070679, + -0.05886545777320862, + -0.04220001772046089 + ], + "orientation": [ + 0.7177368402481079, + -0.12067971378564835, + -0.5017676949501038, + -0.4674604535102844 + ], + "joints": [ + 0.0004015901358798146 + ] + }, + "final_grasp": { + "position": [ + -0.10381501913070679, + -0.05886545777320862, + -0.04220001772046089 + ], + "orientation": [ + 0.7177368402481079, + -0.12067971378564835, + -0.5017676949501038, + -0.4674604535102844 + ], + "joints": [ + 0.0036696980241686106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006040478590875864, + 0.023280352354049683, + -0.12646114826202393 + ], + "orientation": [ + 0.7104007005691528, + 0.6965051889419556, + -0.056496985256671906, + -0.08378210663795471 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.005397108383476734, + 0.023458033800125122, + -0.12302397936582565 + ], + "orientation": [ + 0.7121788263320923, + 0.6942692399024963, + -0.061256080865859985, + -0.08389981091022491 + ], + "joints": [ + -0.010066651739180088 + ] + }, + "final_grasp": { + "position": [ + -0.005397108383476734, + 0.023458033800125122, + -0.12302397936582565 + ], + "orientation": [ + 0.7121788263320923, + 0.6942692399024963, + -0.061256080865859985, + -0.08389981091022491 + ], + "joints": [ + -0.003636712208390236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12735876441001892, + 0.026949532330036163, + 0.004720376338809729 + ], + "orientation": [ + 0.5035059452056885, + -0.5141813158988953, + -0.5111256241798401, + -0.4699467122554779 + ], + "joints": [ + -0.0022302758879959583 + ] + }, + "fine_grasp": { + "position": [ + -0.12414995580911636, + 0.027762940153479576, + 0.0057884748093783855 + ], + "orientation": [ + 0.5005146265029907, + -0.5195240378379822, + -0.5157336592674255, + -0.4621674418449402 + ], + "joints": [ + 0.0036416901275515556 + ] + }, + "final_grasp": { + "position": [ + -0.12414995580911636, + 0.027762940153479576, + 0.0057884748093783855 + ], + "orientation": [ + 0.5005146265029907, + -0.5195240378379822, + -0.5157336592674255, + -0.4621674418449402 + ], + "joints": [ + 0.009513655677437782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08565101772546768, + 0.0782490223646164, + 0.09688303619623184 + ], + "orientation": [ + 0.1650891751050949, + -0.615033745765686, + 0.5411382913589478, + -0.5492252707481384 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.0855637788772583, + 0.07604667544364929, + 0.09701406955718994 + ], + "orientation": [ + 0.18983617424964905, + -0.6212927103042603, + 0.5355433821678162, + -0.5395841002464294 + ], + "joints": [ + -0.013215367682278156 + ] + }, + "final_grasp": { + "position": [ + 0.0855637788772583, + 0.07604667544364929, + 0.09701406955718994 + ], + "orientation": [ + 0.18983617424964905, + -0.6212927103042603, + 0.5355433821678162, + -0.5395841002464294 + ], + "joints": [ + -0.007343389093875885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1265922635793686, + 0.019203657284379005, + -0.004789198748767376 + ], + "orientation": [ + 0.5215627551078796, + 0.4942447245121002, + -0.5287919640541077, + 0.45174506306648254 + ], + "joints": [ + -0.002364909742027521 + ] + }, + "fine_grasp": { + "position": [ + 0.12400948256254196, + 0.02028573490679264, + -0.005691383499652147 + ], + "orientation": [ + 0.5186511278152466, + 0.49838656187057495, + -0.5337072014808655, + 0.4447116553783417 + ], + "joints": [ + 0.003507056273519993 + ] + }, + "final_grasp": { + "position": [ + 0.12400948256254196, + 0.02028573490679264, + -0.005691383499652147 + ], + "orientation": [ + 0.5186511278152466, + 0.49838656187057495, + -0.5337072014808655, + 0.4447116553783417 + ], + "joints": [ + 0.00937902182340622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1266593337059021, + 0.017749514430761337, + 0.006167822051793337 + ], + "orientation": [ + 0.5426284670829773, + 0.4328141212463379, + 0.518621563911438, + -0.4992575943470001 + ], + "joints": [ + -0.002659456105902791 + ] + }, + "fine_grasp": { + "position": [ + -0.12454444915056229, + 0.01923627033829689, + 0.006370078306645155 + ], + "orientation": [ + 0.54536372423172, + 0.43002232909202576, + 0.5175767540931702, + -0.4997735917568207 + ], + "joints": [ + 0.0032125101424753666 + ] + }, + "final_grasp": { + "position": [ + -0.12454444915056229, + 0.01923627033829689, + 0.006370078306645155 + ], + "orientation": [ + 0.54536372423172, + 0.43002232909202576, + 0.5175767540931702, + -0.4997735917568207 + ], + "joints": [ + 0.00908447615802288 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12773655354976654, + 0.029056113213300705, + -0.006516722962260246 + ], + "orientation": [ + 0.5146203637123108, + 0.5103479027748108, + 0.5024978518486023, + -0.47138816118240356 + ], + "joints": [ + -0.0024285209365189075 + ] + }, + "fine_grasp": { + "position": [ + -0.1269618719816208, + 0.03004498779773712, + -0.007603572681546211 + ], + "orientation": [ + 0.5141111612319946, + 0.512443482875824, + 0.5061989426612854, + -0.46567580103874207 + ], + "joints": [ + 0.003948274999856949 + ] + }, + "final_grasp": { + "position": [ + -0.1269618719816208, + 0.03004498779773712, + -0.007603572681546211 + ], + "orientation": [ + 0.5141111612319946, + 0.512443482875824, + 0.5061989426612854, + -0.46567580103874207 + ], + "joints": [ + 0.010325070470571518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1151883453130722, + -0.049722231924533844, + 0.022862307727336884 + ], + "orientation": [ + 0.6484715938568115, + -0.39646199345588684, + 0.5764935612678528, + 0.29992952942848206 + ], + "joints": [ + -0.0025447688531130552 + ] + }, + "fine_grasp": { + "position": [ + 0.11362678557634354, + -0.04909413680434227, + 0.024187307804822922 + ], + "orientation": [ + 0.6433238387107849, + -0.3993511199951172, + 0.5846487283706665, + 0.29127106070518494 + ], + "joints": [ + 0.0033271971624344587 + ] + }, + "final_grasp": { + "position": [ + 0.11362678557634354, + -0.04909413680434227, + 0.024187307804822922 + ], + "orientation": [ + 0.6433238387107849, + -0.3993511199951172, + 0.5846487283706665, + 0.29127106070518494 + ], + "joints": [ + 0.009199162945151329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1277380734682083, + 0.029315738007426262, + -0.006611175835132599 + ], + "orientation": [ + 0.5139592885971069, + 0.5114209055900574, + 0.5013397932052612, + -0.47217899560928345 + ], + "joints": [ + -0.0024285209365189075 + ] + }, + "fine_grasp": { + "position": [ + -0.12691909074783325, + 0.030297376215457916, + -0.007701916620135307 + ], + "orientation": [ + 0.5135759115219116, + 0.5134084820747375, + 0.5049737691879272, + -0.46653297543525696 + ], + "joints": [ + 0.003948274999856949 + ] + }, + "final_grasp": { + "position": [ + -0.12691909074783325, + 0.030297376215457916, + -0.007701916620135307 + ], + "orientation": [ + 0.5135759115219116, + 0.5134084820747375, + 0.5049737691879272, + -0.46653297543525696 + ], + "joints": [ + 0.010325070470571518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12758956849575043, + 0.029306720942258835, + -0.006631684955209494 + ], + "orientation": [ + 0.5142202377319336, + 0.5112319588661194, + 0.5014784336090088, + -0.4719521999359131 + ], + "joints": [ + -0.0024285209365189075 + ] + }, + "fine_grasp": { + "position": [ + -0.12677644193172455, + 0.030286526307463646, + -0.0077162995003163815 + ], + "orientation": [ + 0.5137766599655151, + 0.513259768486023, + 0.5050120949745178, + -0.46643415093421936 + ], + "joints": [ + 0.003948274999856949 + ] + }, + "final_grasp": { + "position": [ + -0.12677644193172455, + 0.030286526307463646, + -0.0077162995003163815 + ], + "orientation": [ + 0.5137766599655151, + 0.513259768486023, + 0.5050120949745178, + -0.46643415093421936 + ], + "joints": [ + 0.010325070470571518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12423597276210785, + -0.008901899680495262, + 0.003541646059602499 + ], + "orientation": [ + 0.5664503574371338, + -0.43770164251327515, + 0.557441771030426, + 0.4204878807067871 + ], + "joints": [ + -0.0022944272495806217 + ] + }, + "fine_grasp": { + "position": [ + 0.12275901436805725, + -0.007328227162361145, + 0.0061047133058309555 + ], + "orientation": [ + 0.5712862014770508, + -0.44049763679504395, + 0.5553302764892578, + 0.4137658476829529 + ], + "joints": [ + 0.004082368686795235 + ] + }, + "final_grasp": { + "position": [ + 0.12275901436805725, + -0.007328227162361145, + 0.0061047133058309555 + ], + "orientation": [ + 0.5712862014770508, + -0.44049763679504395, + 0.5553302764892578, + 0.4137658476829529 + ], + "joints": [ + 0.010459164157509804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12166675180196762, + -0.01636379212141037, + 0.004763313569128513 + ], + "orientation": [ + 0.5790930986404419, + -0.42480626702308655, + 0.5692781805992126, + 0.4001416563987732 + ], + "joints": [ + -0.0022944272495806217 + ] + }, + "fine_grasp": { + "position": [ + 0.12087970972061157, + -0.01499639917165041, + 0.006711540278047323 + ], + "orientation": [ + 0.5815522074699402, + -0.42697545886039734, + 0.5694904327392578, + 0.39391592144966125 + ], + "joints": [ + 0.0035775387659668922 + ] + }, + "final_grasp": { + "position": [ + 0.12087970972061157, + -0.01499639917165041, + 0.006711540278047323 + ], + "orientation": [ + 0.5815522074699402, + -0.42697545886039734, + 0.5694904327392578, + 0.39391592144966125 + ], + "joints": [ + 0.009449504315853119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12688183784484863, + 0.020249875262379646, + 0.007262947037816048 + ], + "orientation": [ + 0.5411354303359985, + 0.42987003922462463, + 0.5229425430297852, + -0.4989142119884491 + ], + "joints": [ + -0.0023339842446148396 + ] + }, + "fine_grasp": { + "position": [ + -0.125998392701149, + 0.02153629995882511, + 0.007270115427672863 + ], + "orientation": [ + 0.5446967482566833, + 0.427016019821167, + 0.5233206152915955, + -0.4970899224281311 + ], + "joints": [ + 0.003033151850104332 + ] + }, + "final_grasp": { + "position": [ + -0.125998392701149, + 0.02153629995882511, + 0.007270115427672863 + ], + "orientation": [ + 0.5446967482566833, + 0.427016019821167, + 0.5233206152915955, + -0.4970899224281311 + ], + "joints": [ + 0.008400287479162216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12870675325393677, + 0.038616109639406204, + -0.011410005390644073 + ], + "orientation": [ + 0.5364848375320435, + 0.5065435171127319, + 0.4710575342178345, + -0.4834279417991638 + ], + "joints": [ + -0.0026888500433415174 + ] + }, + "fine_grasp": { + "position": [ + -0.12825153768062592, + 0.03772629797458649, + -0.012201565317809582 + ], + "orientation": [ + 0.5384618639945984, + 0.5062453746795654, + 0.4638054370880127, + -0.48852744698524475 + ], + "joints": [ + 0.0031831159722059965 + ] + }, + "final_grasp": { + "position": [ + -0.12825153768062592, + 0.03772629797458649, + -0.012201565317809582 + ], + "orientation": [ + 0.5384618639945984, + 0.5062453746795654, + 0.4638054370880127, + -0.48852744698524475 + ], + "joints": [ + 0.009055081754922867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12637361884117126, + 0.017073385417461395, + -0.005146692041307688 + ], + "orientation": [ + 0.5240585207939148, + 0.49294254183769226, + -0.5291888117790222, + 0.44981059432029724 + ], + "joints": [ + -0.002456632209941745 + ] + }, + "fine_grasp": { + "position": [ + 0.12422039359807968, + 0.018171681091189384, + -0.006103846710175276 + ], + "orientation": [ + 0.5217732787132263, + 0.4964914321899414, + -0.534197986125946, + 0.44258514046669006 + ], + "joints": [ + 0.003415334038436413 + ] + }, + "final_grasp": { + "position": [ + 0.12422039359807968, + 0.018171681091189384, + -0.006103846710175276 + ], + "orientation": [ + 0.5217732787132263, + 0.4964914321899414, + -0.534197986125946, + 0.44258514046669006 + ], + "joints": [ + 0.009287300519645214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12764675915241241, + 0.04245730862021446, + -0.010438148863613605 + ], + "orientation": [ + 0.4751628339290619, + -0.48175081610679626, + -0.4867388606071472, + -0.5524688363075256 + ], + "joints": [ + -0.0025192040484398603 + ] + }, + "fine_grasp": { + "position": [ + -0.12634237110614777, + 0.043386898934841156, + -0.010901459492743015 + ], + "orientation": [ + 0.475961297750473, + -0.480744332075119, + -0.4894765615463257, + -0.5502349734306335 + ], + "joints": [ + 0.0033527619671076536 + ] + }, + "final_grasp": { + "position": [ + -0.12634237110614777, + 0.043386898934841156, + -0.010901459492743015 + ], + "orientation": [ + 0.475961297750473, + -0.480744332075119, + -0.4894765615463257, + -0.5502349734306335 + ], + "joints": [ + 0.009224727749824524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1261512041091919, + 0.01691632717847824, + -0.005310541484504938 + ], + "orientation": [ + 0.5238916873931885, + 0.4935992956161499, + -0.5296034216880798, + 0.44879576563835144 + ], + "joints": [ + -0.0021646623499691486 + ] + }, + "fine_grasp": { + "position": [ + 0.12410008162260056, + 0.018056271597743034, + -0.00612750044092536 + ], + "orientation": [ + 0.5216776728630066, + 0.49689528346061707, + -0.5343998074531555, + 0.4420003592967987 + ], + "joints": [ + 0.0037073036655783653 + ] + }, + "final_grasp": { + "position": [ + 0.12410008162260056, + 0.018056271597743034, + -0.00612750044092536 + ], + "orientation": [ + 0.5216776728630066, + 0.49689528346061707, + -0.5343998074531555, + 0.4420003592967987 + ], + "joints": [ + 0.009579269215464592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12672927975654602, + 0.018307257443666458, + 0.006703922525048256 + ], + "orientation": [ + 0.5418848991394043, + 0.4313845932483673, + 0.5199120044708252, + -0.49995937943458557 + ], + "joints": [ + -0.0024946804624050856 + ] + }, + "fine_grasp": { + "position": [ + -0.12506861984729767, + 0.019657986238598824, + 0.006873427890241146 + ], + "orientation": [ + 0.545563817024231, + 0.42748910188674927, + 0.5191267728805542, + -0.5001206994056702 + ], + "joints": [ + 0.0033772855531424284 + ] + }, + "final_grasp": { + "position": [ + -0.12506861984729767, + 0.019657986238598824, + 0.006873427890241146 + ], + "orientation": [ + 0.545563817024231, + 0.42748910188674927, + 0.5191267728805542, + -0.5001206994056702 + ], + "joints": [ + 0.009249251335859299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12853635847568512, + 0.038371406495571136, + -0.011375385336577892 + ], + "orientation": [ + 0.5374979972839355, + 0.5054389834403992, + 0.47249430418014526, + -0.4820544421672821 + ], + "joints": [ + -0.0026888500433415174 + ] + }, + "fine_grasp": { + "position": [ + -0.12802651524543762, + 0.03748979791998863, + -0.01216729637235403 + ], + "orientation": [ + 0.5395141839981079, + 0.5051628947257996, + 0.46525490283966064, + -0.48710647225379944 + ], + "joints": [ + 0.0031831159722059965 + ] + }, + "final_grasp": { + "position": [ + -0.12802651524543762, + 0.03748979791998863, + -0.01216729637235403 + ], + "orientation": [ + 0.5395141839981079, + 0.5051628947257996, + 0.46525490283966064, + -0.48710647225379944 + ], + "joints": [ + 0.009055081754922867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13073191046714783, + 0.037922341376543045, + 0.020973477512598038 + ], + "orientation": [ + 0.4570375680923462, + 0.4597252905368805, + -0.5142563581466675, + 0.5615243911743164 + ], + "joints": [ + -0.003244008170440793 + ] + }, + "fine_grasp": { + "position": [ + 0.12848663330078125, + 0.038682952523231506, + 0.021028615534305573 + ], + "orientation": [ + 0.4604884386062622, + 0.4557501971721649, + -0.5165773630142212, + 0.5598124861717224 + ], + "joints": [ + 0.0020965582225471735 + ] + }, + "final_grasp": { + "position": [ + 0.12848663330078125, + 0.038682952523231506, + 0.021028615534305573 + ], + "orientation": [ + 0.4604884386062622, + 0.4557501971721649, + -0.5165773630142212, + 0.5598124861717224 + ], + "joints": [ + 0.007437124848365784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13158734142780304, + 0.04348137602210045, + -0.02529948204755783 + ], + "orientation": [ + 0.4361892342567444, + -0.4597075879573822, + 0.4991564154624939, + 0.5909743309020996 + ], + "joints": [ + -0.003343766089528799 + ] + }, + "fine_grasp": { + "position": [ + 0.12989188730716705, + 0.044578660279512405, + -0.026383554562926292 + ], + "orientation": [ + 0.44592589139938354, + -0.44663432240486145, + 0.4957929849624634, + 0.5965377688407898 + ], + "joints": [ + 0.002528199926018715 + ] + }, + "final_grasp": { + "position": [ + 0.12989188730716705, + 0.044578660279512405, + -0.026383554562926292 + ], + "orientation": [ + 0.44592589139938354, + -0.44663432240486145, + 0.4957929849624634, + 0.5965377688407898 + ], + "joints": [ + 0.008400166407227516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1313783824443817, + 0.013379857875406742, + -0.024433854967355728 + ], + "orientation": [ + 0.49863117933273315, + -0.40442603826522827, + 0.5524294972419739, + 0.531627893447876 + ], + "joints": [ + -0.003171623917296529 + ] + }, + "fine_grasp": { + "position": [ + 0.13123582303524017, + 0.015455584041774273, + -0.02603320963680744 + ], + "orientation": [ + 0.4970446527004242, + -0.40077316761016846, + 0.5549997091293335, + 0.5332004427909851 + ], + "joints": [ + 0.0021423727739602327 + ] + }, + "final_grasp": { + "position": [ + 0.13123582303524017, + 0.015455584041774273, + -0.02603320963680744 + ], + "orientation": [ + 0.4970446527004242, + -0.40077316761016846, + 0.5549997091293335, + 0.5332004427909851 + ], + "joints": [ + 0.007456369698047638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.131119966506958, + 0.028725171461701393, + -0.030508605763316154 + ], + "orientation": [ + 0.5464196801185608, + 0.5600454807281494, + 0.4054381549358368, + -0.4726462662220001 + ], + "joints": [ + -0.003943184856325388 + ] + }, + "fine_grasp": { + "position": [ + -0.1301143914461136, + 0.0271445419639349, + -0.0315982811152935 + ], + "orientation": [ + 0.5481059551239014, + 0.5607692003250122, + 0.39948374032974243, + -0.47490060329437256 + ], + "joints": [ + 0.001397381885908544 + ] + }, + "final_grasp": { + "position": [ + -0.1301143914461136, + 0.0271445419639349, + -0.0315982811152935 + ], + "orientation": [ + 0.5481059551239014, + 0.5607692003250122, + 0.39948374032974243, + -0.47490060329437256 + ], + "joints": [ + 0.006737948395311832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12645016610622406, + 0.017001008614897728, + -0.005077808164060116 + ], + "orientation": [ + 0.5235769152641296, + 0.4931231439113617, + -0.5295872688293457, + 0.4497043490409851 + ], + "joints": [ + -0.0024946804624050856 + ] + }, + "fine_grasp": { + "position": [ + 0.12424346059560776, + 0.018244221806526184, + -0.00645794440060854 + ], + "orientation": [ + 0.5215061902999878, + 0.4980030357837677, + -0.5341067314147949, + 0.44130977988243103 + ], + "joints": [ + 0.003377285785973072 + ] + }, + "final_grasp": { + "position": [ + 0.12424346059560776, + 0.018244221806526184, + -0.00645794440060854 + ], + "orientation": [ + 0.5215061902999878, + 0.4980030357837677, + -0.5341067314147949, + 0.44130977988243103 + ], + "joints": [ + 0.009249252267181873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1315595954656601, + 0.04390473663806915, + -0.025592831894755363 + ], + "orientation": [ + 0.4349575340747833, + -0.45973145961761475, + 0.4999311864376068, + 0.5912086367607117 + ], + "joints": [ + -0.0033076193649321795 + ] + }, + "fine_grasp": { + "position": [ + 0.12977752089500427, + 0.044957198202610016, + -0.026539655402302742 + ], + "orientation": [ + 0.444914847612381, + -0.44674232602119446, + 0.4958851635456085, + 0.5971348285675049 + ], + "joints": [ + 0.002059516729786992 + ] + }, + "final_grasp": { + "position": [ + 0.12977752089500427, + 0.044957198202610016, + -0.026539655402302742 + ], + "orientation": [ + 0.444914847612381, + -0.44674232602119446, + 0.4958851635456085, + 0.5971348285675049 + ], + "joints": [ + 0.007426653057336807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.131743922829628, + 0.02941724844276905, + -0.03105335123836994 + ], + "orientation": [ + 0.5480877757072449, + 0.5602924823760986, + 0.4089127480983734, + -0.46739986538887024 + ], + "joints": [ + -0.0036845593713223934 + ] + }, + "fine_grasp": { + "position": [ + -0.12996739149093628, + 0.02813046984374523, + -0.031625643372535706 + ], + "orientation": [ + 0.5488636493682861, + 0.5604937076568604, + 0.4028606414794922, + -0.47148558497428894 + ], + "joints": [ + 0.0016294375527650118 + ] + }, + "final_grasp": { + "position": [ + -0.12996739149093628, + 0.02813046984374523, + -0.031625643372535706 + ], + "orientation": [ + 0.5488636493682861, + 0.5604937076568604, + 0.4028606414794922, + -0.47148558497428894 + ], + "joints": [ + 0.006943434476852417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056520119309425354, + -0.08689974993467331, + -0.00990433432161808 + ], + "orientation": [ + 0.6614205837249756, + 0.19111856818199158, + -0.714613139629364, + 0.12379198521375656 + ], + "joints": [ + -0.0023649106733500957 + ] + }, + "fine_grasp": { + "position": [ + 0.058399755507707596, + -0.08789075911045074, + -0.01112616341561079 + ], + "orientation": [ + 0.6473222970962524, + 0.19325263798236847, + -0.7280561327934265, + 0.11645370721817017 + ], + "joints": [ + 0.003507055342197418 + ] + }, + "final_grasp": { + "position": [ + 0.058399755507707596, + -0.08789075911045074, + -0.01112616341561079 + ], + "orientation": [ + 0.6473222970962524, + 0.19325263798236847, + -0.7280561327934265, + 0.11645370721817017 + ], + "joints": [ + 0.00937902182340622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13175325095653534, + 0.04355824738740921, + -0.02681533806025982 + ], + "orientation": [ + 0.43106788396835327, + -0.4589442014694214, + 0.5033334493637085, + 0.5917822122573853 + ], + "joints": [ + -0.0033076193649321795 + ] + }, + "fine_grasp": { + "position": [ + 0.12957659363746643, + 0.0444214753806591, + -0.02745281159877777 + ], + "orientation": [ + 0.4420594573020935, + -0.4463697373867035, + 0.49896523356437683, + 0.5969682931900024 + ], + "joints": [ + 0.002032947028055787 + ] + }, + "final_grasp": { + "position": [ + 0.12957659363746643, + 0.0444214753806591, + -0.02745281159877777 + ], + "orientation": [ + 0.4420594573020935, + -0.4463697373867035, + 0.49896523356437683, + 0.5969682931900024 + ], + "joints": [ + 0.007373513653874397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12756024301052094, + 0.049490269273519516, + 0.0111769400537014 + ], + "orientation": [ + 0.5192312002182007, + -0.5217603445053101, + 0.4552417993545532, + 0.5009192824363708 + ], + "joints": [ + -0.0024375810753554106 + ] + }, + "fine_grasp": { + "position": [ + 0.12695275247097015, + 0.04855766147375107, + 0.011745520867407322 + ], + "orientation": [ + 0.5207111835479736, + -0.520993709564209, + 0.4481133222579956, + 0.5065765976905823 + ], + "joints": [ + 0.002902985317632556 + ] + }, + "final_grasp": { + "position": [ + 0.12695275247097015, + 0.04855766147375107, + 0.011745520867407322 + ], + "orientation": [ + 0.5207111835479736, + -0.520993709564209, + 0.4481133222579956, + 0.5065765976905823 + ], + "joints": [ + 0.008243551477789879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01549612544476986, + -0.10093702375888824, + 0.012188532389700413 + ], + "orientation": [ + 0.6579312682151794, + -0.03352712094783783, + 0.7517365217208862, + -0.029907802119851112 + ], + "joints": [ + -0.0026568796020001173 + ] + }, + "fine_grasp": { + "position": [ + -0.014373470097780228, + -0.10085184127092361, + 0.012955504469573498 + ], + "orientation": [ + 0.6494523882865906, + -0.033585526049137115, + 0.7589613795280457, + -0.03257576376199722 + ], + "joints": [ + 0.0032150866463780403 + ] + }, + "final_grasp": { + "position": [ + -0.014373470097780228, + -0.10085184127092361, + 0.012955504469573498 + ], + "orientation": [ + 0.6494523882865906, + -0.033585526049137115, + 0.7589613795280457, + -0.03257576376199722 + ], + "joints": [ + 0.009087053127586842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12896771728992462, + 0.023172849789261818, + 0.01655600406229496 + ], + "orientation": [ + 0.48489075899124146, + 0.44881463050842285, + 0.5082797408103943, + -0.5523567795753479 + ], + "joints": [ + -0.003257177537307143 + ] + }, + "fine_grasp": { + "position": [ + -0.12871047854423523, + 0.024704763665795326, + 0.01696896180510521 + ], + "orientation": [ + 0.4862801134586334, + 0.44562220573425293, + 0.5097089409828186, + -0.5524031519889832 + ], + "joints": [ + 0.0020833888556808233 + ] + }, + "final_grasp": { + "position": [ + -0.12871047854423523, + 0.024704763665795326, + 0.01696896180510521 + ], + "orientation": [ + 0.4862801134586334, + 0.44562220573425293, + 0.5097089409828186, + -0.5524031519889832 + ], + "joints": [ + 0.007423955015838146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13147643208503723, + 0.0403415746986866, + 0.03203520551323891 + ], + "orientation": [ + 0.4607619047164917, + 0.41068845987319946, + 0.5357483625411987, + -0.5762006640434265 + ], + "joints": [ + -0.003977526444941759 + ] + }, + "fine_grasp": { + "position": [ + -0.12999457120895386, + 0.042209167033433914, + 0.03340110555291176 + ], + "orientation": [ + 0.466363787651062, + 0.40079498291015625, + 0.5337978005409241, + -0.5804550647735596 + ], + "joints": [ + 0.0013630404137074947 + ] + }, + "final_grasp": { + "position": [ + -0.12999457120895386, + 0.042209167033433914, + 0.03340110555291176 + ], + "orientation": [ + 0.466363787651062, + 0.40079498291015625, + 0.5337978005409241, + -0.5804550647735596 + ], + "joints": [ + 0.006703607272356749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06464359909296036, + 0.17642642557621002, + -0.07535567134618759 + ], + "orientation": [ + 0.017315734177827835, + 0.5770432949066162, + -0.3258990943431854, + -0.7486729025840759 + ], + "joints": [ + -0.001453982898965478 + ] + }, + "fine_grasp": { + "position": [ + 0.062261708080768585, + 0.1723208725452423, + -0.0731426328420639 + ], + "orientation": [ + 0.017085125669836998, + 0.583483874797821, + -0.3210231363773346, + -0.7457873821258545 + ], + "joints": [ + 0.0028769238851964474 + ] + }, + "final_grasp": { + "position": [ + 0.062261708080768585, + 0.1723208725452423, + -0.0731426328420639 + ], + "orientation": [ + 0.017085125669836998, + 0.583483874797821, + -0.3210231363773346, + -0.7457873821258545 + ], + "joints": [ + 0.007207830436527729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1322464644908905, + 0.04086657240986824, + -0.029766177758574486 + ], + "orientation": [ + 0.5482888221740723, + 0.5572786331176758, + 0.4494536519050598, + -0.432216614484787 + ], + "joints": [ + -0.003496249672025442 + ] + }, + "fine_grasp": { + "position": [ + -0.12901245057582855, + 0.04151390865445137, + -0.029601536691188812 + ], + "orientation": [ + 0.5488690137863159, + 0.5572332143783569, + 0.45632627606391907, + -0.42426443099975586 + ], + "joints": [ + 0.0013129176804795861 + ] + }, + "final_grasp": { + "position": [ + -0.12901245057582855, + 0.04151390865445137, + -0.029601536691188812 + ], + "orientation": [ + 0.5488690137863159, + 0.5572332143783569, + 0.45632627606391907, + -0.42426443099975586 + ], + "joints": [ + 0.006122085265815258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1257956624031067, + 0.023592710494995117, + -0.009981917217373848 + ], + "orientation": [ + 0.5266391038894653, + 0.5102812647819519, + 0.5059689283370972, + -0.45415830612182617 + ], + "joints": [ + -0.002315433230251074 + ] + }, + "fine_grasp": { + "position": [ + -0.12501592934131622, + 0.024671707302331924, + -0.010939680971205235 + ], + "orientation": [ + 0.5267778038978577, + 0.5113097429275513, + 0.509209394454956, + -0.44919171929359436 + ], + "joints": [ + 0.00355653278529644 + ] + }, + "final_grasp": { + "position": [ + -0.12501592934131622, + 0.024671707302331924, + -0.010939680971205235 + ], + "orientation": [ + 0.5267778038978577, + 0.5113097429275513, + 0.509209394454956, + -0.44919171929359436 + ], + "joints": [ + 0.009428499266505241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.125851571559906, + 0.023392628878355026, + -0.01009455043822527 + ], + "orientation": [ + 0.5267803072929382, + 0.5106300115585327, + 0.5059041380882263, + -0.45367446541786194 + ], + "joints": [ + -0.002628949237987399 + ] + }, + "fine_grasp": { + "position": [ + -0.12494954466819763, + 0.024496233090758324, + -0.011125415563583374 + ], + "orientation": [ + 0.5264408588409424, + 0.5120912194252014, + 0.509341299533844, + -0.44854673743247986 + ], + "joints": [ + 0.0032430170103907585 + ] + }, + "final_grasp": { + "position": [ + -0.12494954466819763, + 0.024496233090758324, + -0.011125415563583374 + ], + "orientation": [ + 0.5264408588409424, + 0.5120912194252014, + 0.509341299533844, + -0.44854673743247986 + ], + "joints": [ + 0.00911498349159956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12730734050273895, + 0.020338481292128563, + -0.012312274426221848 + ], + "orientation": [ + 0.5214062929153442, + 0.5228362679481506, + -0.5089411735534668, + 0.4424440264701843 + ], + "joints": [ + -0.0028725415468215942 + ] + }, + "fine_grasp": { + "position": [ + 0.12726207077503204, + 0.021295253187417984, + -0.012995083816349506 + ], + "orientation": [ + 0.5195946097373962, + 0.5263692736625671, + -0.5159672498703003, + 0.43212801218032837 + ], + "joints": [ + 0.0024680248461663723 + ] + }, + "final_grasp": { + "position": [ + 0.12726207077503204, + 0.021295253187417984, + -0.012995083816349506 + ], + "orientation": [ + 0.5195946097373962, + 0.5263692736625671, + -0.5159672498703003, + 0.43212801218032837 + ], + "joints": [ + 0.007808591239154339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12988729774951935, + 0.023071791976690292, + -0.025039227679371834 + ], + "orientation": [ + 0.4358344078063965, + -0.46256110072135925, + -0.5775811672210693, + -0.5123335719108582 + ], + "joints": [ + -0.003468988463282585 + ] + }, + "fine_grasp": { + "position": [ + -0.1292061060667038, + 0.021017203107476234, + -0.02669549733400345 + ], + "orientation": [ + 0.42636701464653015, + -0.46420037746429443, + -0.5830503702163696, + -0.5126222372055054 + ], + "joints": [ + 0.0013401787728071213 + ] + }, + "final_grasp": { + "position": [ + -0.1292061060667038, + 0.021017203107476234, + -0.02669549733400345 + ], + "orientation": [ + 0.42636701464653015, + -0.46420037746429443, + -0.5830503702163696, + -0.5126222372055054 + ], + "joints": [ + 0.006149346008896828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12720215320587158, + 0.025607561692595482, + 0.012097759172320366 + ], + "orientation": [ + 0.5335390567779541, + -0.5041826963424683, + -0.4078502655029297, + -0.5429493188858032 + ], + "joints": [ + -0.003075328888371587 + ] + }, + "fine_grasp": { + "position": [ + -0.1270700991153717, + 0.024975381791591644, + 0.012638658285140991 + ], + "orientation": [ + 0.5389928221702576, + -0.4989493489265442, + -0.3941779136657715, + -0.5524129867553711 + ], + "joints": [ + 0.0017604077002033591 + ] + }, + "final_grasp": { + "position": [ + -0.1270700991153717, + 0.024975381791591644, + 0.012638658285140991 + ], + "orientation": [ + 0.5389928221702576, + -0.4989493489265442, + -0.3941779136657715, + -0.5524129867553711 + ], + "joints": [ + 0.006596144288778305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12841951847076416, + 0.006894213613122702, + -0.01967524364590645 + ], + "orientation": [ + 0.5172997117042542, + -0.4021557867527008, + -0.5726169943809509, + -0.4927287697792053 + ], + "joints": [ + -0.0029432661831378937 + ] + }, + "fine_grasp": { + "position": [ + -0.1265573799610138, + 0.008090157993137836, + -0.02009568363428116 + ], + "orientation": [ + 0.5204347968101501, + -0.39748966693878174, + -0.5738745331764221, + -0.49174952507019043 + ], + "joints": [ + 0.002397300209850073 + ] + }, + "final_grasp": { + "position": [ + -0.1265573799610138, + 0.008090157993137836, + -0.02009568363428116 + ], + "orientation": [ + 0.5204347968101501, + -0.39748966693878174, + -0.5738745331764221, + -0.49174952507019043 + ], + "joints": [ + 0.007737866602838039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06106676906347275, + -0.09321798384189606, + -0.022383004426956177 + ], + "orientation": [ + 0.6887883543968201, + 0.21351487934589386, + -0.6865261793136597, + 0.09308023750782013 + ], + "joints": [ + -0.00272318790666759 + ] + }, + "fine_grasp": { + "position": [ + 0.06096833571791649, + -0.092485211789608, + -0.023302046582102776 + ], + "orientation": [ + 0.6948567628860474, + 0.21986277401447296, + -0.6777753233909607, + 0.09723667055368423 + ], + "joints": [ + 0.0021125487983226776 + ] + }, + "final_grasp": { + "position": [ + 0.06096833571791649, + -0.092485211789608, + -0.023302046582102776 + ], + "orientation": [ + 0.6948567628860474, + 0.21986277401447296, + -0.6777753233909607, + 0.09723667055368423 + ], + "joints": [ + 0.006948285736143589 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06099119037389755, + -0.09274744987487793, + -0.02144392766058445 + ], + "orientation": [ + 0.6897352337837219, + 0.210319384932518, + -0.6862585544586182, + 0.09529020637273788 + ], + "joints": [ + -0.0027595190331339836 + ] + }, + "fine_grasp": { + "position": [ + 0.060874469578266144, + -0.09210927039384842, + -0.022553149610757828 + ], + "orientation": [ + 0.6958032250404358, + 0.21674814820289612, + -0.677571713924408, + 0.09886692464351654 + ], + "joints": [ + 0.002581047359853983 + ] + }, + "final_grasp": { + "position": [ + 0.060874469578266144, + -0.09210927039384842, + -0.022553149610757828 + ], + "orientation": [ + 0.6958032250404358, + 0.21674814820289612, + -0.677571713924408, + 0.09886692464351654 + ], + "joints": [ + 0.00792161375284195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06103144586086273, + -0.09244421869516373, + -0.023503299802541733 + ], + "orientation": [ + 0.6890273094177246, + 0.2134697139263153, + -0.6870953440666199, + 0.08701703697443008 + ], + "joints": [ + -0.002831903286278248 + ] + }, + "fine_grasp": { + "position": [ + 0.060869332402944565, + -0.0916237160563469, + -0.024588830769062042 + ], + "orientation": [ + 0.694815456867218, + 0.2202044427394867, + -0.6786622405052185, + 0.09032770246267319 + ], + "joints": [ + 0.0020038331858813763 + ] + }, + "final_grasp": { + "position": [ + 0.060869332402944565, + -0.0916237160563469, + -0.024588830769062042 + ], + "orientation": [ + 0.694815456867218, + 0.2202044427394867, + -0.6786622405052185, + 0.09032770246267319 + ], + "joints": [ + 0.006839569658041 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060885991901159286, + -0.09244854003190994, + -0.022428303956985474 + ], + "orientation": [ + 0.6884816884994507, + 0.21675504744052887, + -0.6854280829429626, + 0.09590895473957062 + ], + "joints": [ + -0.0027266244869679213 + ] + }, + "fine_grasp": { + "position": [ + 0.06091499701142311, + -0.09180930256843567, + -0.023658394813537598 + ], + "orientation": [ + 0.6957530379295349, + 0.22411298751831055, + -0.6749933362007141, + 0.10042501240968704 + ], + "joints": [ + 0.0021091122180223465 + ] + }, + "final_grasp": { + "position": [ + 0.06091499701142311, + -0.09180930256843567, + -0.023658394813537598 + ], + "orientation": [ + 0.6957530379295349, + 0.22411298751831055, + -0.6749933362007141, + 0.10042501240968704 + ], + "joints": [ + 0.006944849155843258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13031655550003052, + 0.03799538314342499, + 0.030900191515684128 + ], + "orientation": [ + 0.4218575954437256, + 0.45492061972618103, + 0.5581410527229309, + -0.5509645342826843 + ], + "joints": [ + -0.004055617842823267 + ] + }, + "fine_grasp": { + "position": [ + -0.1270914375782013, + 0.0373075045645237, + 0.030995003879070282 + ], + "orientation": [ + 0.41213029623031616, + 0.46229735016822815, + 0.5602909922599792, + -0.5500034093856812 + ], + "joints": [ + 0.0007801193278282881 + ] + }, + "final_grasp": { + "position": [ + -0.1270914375782013, + 0.0373075045645237, + 0.030995003879070282 + ], + "orientation": [ + 0.41213029623031616, + 0.46229735016822815, + 0.5602909922599792, + -0.5500034093856812 + ], + "joints": [ + 0.005615856498479843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008342310786247253, + -0.1020083948969841, + 0.017467692494392395 + ], + "orientation": [ + 0.6661123037338257, + -0.06415081769227982, + -0.7424243688583374, + 0.0313858799636364 + ], + "joints": [ + -0.0030954296234995127 + ] + }, + "fine_grasp": { + "position": [ + 0.009138887748122215, + -0.10085661709308624, + 0.018716929480433464 + ], + "orientation": [ + 0.6441471576690674, + -0.06375915557146072, + -0.7614003419876099, + 0.03576122596859932 + ], + "joints": [ + 0.0027765363920480013 + ] + }, + "final_grasp": { + "position": [ + 0.009138887748122215, + -0.10085661709308624, + 0.018716929480433464 + ], + "orientation": [ + 0.6441471576690674, + -0.06375915557146072, + -0.7614003419876099, + 0.03576122596859932 + ], + "joints": [ + 0.008648502640426159 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016675904393196106, + -0.09514512121677399, + 0.004202432464808226 + ], + "orientation": [ + 0.6452795267105103, + -0.024311484768986702, + 0.7635582685470581, + -0.0014400078216567636 + ], + "joints": [ + -0.0032633913215249777 + ] + }, + "fine_grasp": { + "position": [ + 0.01767505146563053, + -0.09053905308246613, + 0.005621988791972399 + ], + "orientation": [ + 0.6397223472595215, + -0.02690790593624115, + 0.768100380897522, + -0.007297303061932325 + ], + "joints": [ + 0.0026085746940225363 + ] + }, + "final_grasp": { + "position": [ + 0.01767505146563053, + -0.09053905308246613, + 0.005621988791972399 + ], + "orientation": [ + 0.6397223472595215, + -0.02690790593624115, + 0.768100380897522, + -0.007297303061932325 + ], + "joints": [ + 0.008480540476739407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11744354665279388, + -0.027516182512044907, + -0.011192033998668194 + ], + "orientation": [ + 0.5820028185844421, + -0.35306695103645325, + -0.6079326272010803, + -0.4086984097957611 + ], + "joints": [ + -0.002404960338026285 + ] + }, + "fine_grasp": { + "position": [ + -0.116514652967453, + -0.0255721565335989, + -0.012453973293304443 + ], + "orientation": [ + 0.5767713189125061, + -0.3533902168273926, + -0.6143966913223267, + -0.40616124868392944 + ], + "joints": [ + 0.003467005677521229 + ] + }, + "final_grasp": { + "position": [ + -0.116514652967453, + -0.0255721565335989, + -0.012453973293304443 + ], + "orientation": [ + 0.5767713189125061, + -0.3533902168273926, + -0.6143966913223267, + -0.40616124868392944 + ], + "joints": [ + 0.009338971227407455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005525656510144472, + -0.10324214398860931, + -0.03701406344771385 + ], + "orientation": [ + 0.7604457139968872, + 0.07250838726758957, + 0.6324711441993713, + 0.12823845446109772 + ], + "joints": [ + -0.0041212048381567 + ] + }, + "fine_grasp": { + "position": [ + -0.005448239389806986, + -0.09987468272447586, + -0.0370294488966465 + ], + "orientation": [ + 0.7636154890060425, + 0.07105154544115067, + 0.6286929845809937, + 0.12879474461078644 + ], + "joints": [ + 0.0012193621369078755 + ] + }, + "final_grasp": { + "position": [ + -0.005448239389806986, + -0.09987468272447586, + -0.0370294488966465 + ], + "orientation": [ + 0.7636154890060425, + 0.07105154544115067, + 0.6286929845809937, + 0.12879474461078644 + ], + "joints": [ + 0.0065599288791418076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005736723076552153, + -0.1034010797739029, + -0.038611870259046555 + ], + "orientation": [ + 0.7627902030944824, + 0.07820852100849152, + 0.6284245252609253, + 0.13083215057849884 + ], + "joints": [ + -0.004711189307272434 + ] + }, + "fine_grasp": { + "position": [ + -0.0056303078308701515, + -0.09985953569412231, + -0.03851742297410965 + ], + "orientation": [ + 0.765573263168335, + 0.07689765840768814, + 0.6250768899917603, + 0.131389319896698 + ], + "joints": [ + 0.0006559473695233464 + ] + }, + "final_grasp": { + "position": [ + -0.0056303078308701515, + -0.09985953569412231, + -0.03851742297410965 + ], + "orientation": [ + 0.765573263168335, + 0.07689765840768814, + 0.6250768899917603, + 0.131389319896698 + ], + "joints": [ + 0.006023083813488483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00978396087884903, + -0.1039409264922142, + -0.026313181966543198 + ], + "orientation": [ + 0.7250276207923889, + 0.046911999583244324, + -0.6805256605148315, + -0.09496951848268509 + ], + "joints": [ + -0.0035054306499660015 + ] + }, + "fine_grasp": { + "position": [ + -0.01028107013553381, + -0.10169634222984314, + -0.026505358517169952 + ], + "orientation": [ + 0.7324195504188538, + 0.05417286232113838, + -0.6724951863288879, + -0.09152664244174957 + ], + "joints": [ + 0.0013037367025390267 + ] + }, + "final_grasp": { + "position": [ + -0.01028107013553381, + -0.10169634222984314, + -0.026505358517169952 + ], + "orientation": [ + 0.7324195504188538, + 0.05417286232113838, + -0.6724951863288879, + -0.09152664244174957 + ], + "joints": [ + 0.006112904287874699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12999394536018372, + 0.02002726122736931, + -0.038732003420591354 + ], + "orientation": [ + 0.5777169466018677, + 0.5548004508018494, + -0.4590604305267334, + 0.3843216598033905 + ], + "joints": [ + -0.004636996425688267 + ] + }, + "fine_grasp": { + "position": [ + 0.12731194496154785, + 0.02139020338654518, + -0.03884134441614151 + ], + "orientation": [ + 0.5774512887001038, + 0.5550848841667175, + -0.4644811749458313, + 0.37774068117141724 + ], + "joints": [ + 0.0007035702001303434 + ] + }, + "final_grasp": { + "position": [ + 0.12731194496154785, + 0.02139020338654518, + -0.03884134441614151 + ], + "orientation": [ + 0.5774512887001038, + 0.5550848841667175, + -0.4644811749458313, + 0.37774068117141724 + ], + "joints": [ + 0.006044136825948954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12979531288146973, + 0.020340178161859512, + -0.038502287119627 + ], + "orientation": [ + 0.5762441158294678, + 0.555564284324646, + -0.460448682308197, + 0.3837682008743286 + ], + "joints": [ + -0.0046444246545434 + ] + }, + "fine_grasp": { + "position": [ + 0.12727312743663788, + 0.021713823080062866, + -0.03884683549404144 + ], + "orientation": [ + 0.5761480927467346, + 0.5563889741897583, + -0.4646380841732025, + 0.3776191473007202 + ], + "joints": [ + 0.0006961419712752104 + ] + }, + "final_grasp": { + "position": [ + 0.12727312743663788, + 0.021713823080062866, + -0.03884683549404144 + ], + "orientation": [ + 0.5761480927467346, + 0.5563889741897583, + -0.4646380841732025, + 0.3776191473007202 + ], + "joints": [ + 0.006036708597093821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1303224265575409, + 0.01984521374106407, + -0.039071906358003616 + ], + "orientation": [ + 0.5779340863227844, + 0.5557314157485962, + -0.4576331377029419, + 0.38435235619544983 + ], + "joints": [ + -0.004416067618876696 + ] + }, + "fine_grasp": { + "position": [ + 0.12726064026355743, + 0.02111368626356125, + -0.03895014151930809 + ], + "orientation": [ + 0.5771613717079163, + 0.5556971430778503, + -0.4639413058757782, + 0.3779471218585968 + ], + "joints": [ + 0.0004196692898403853 + ] + }, + "final_grasp": { + "position": [ + 0.12726064026355743, + 0.02111368626356125, + -0.03895014151930809 + ], + "orientation": [ + 0.5771613717079163, + 0.5556971430778503, + -0.4639413058757782, + 0.3779471218585968 + ], + "joints": [ + 0.005255406256765127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1299031674861908, + 0.020138397812843323, + -0.03865757957100868 + ], + "orientation": [ + 0.577613353729248, + 0.5546353459358215, + -0.4595397710800171, + 0.3841429054737091 + ], + "joints": [ + -0.004345585126429796 + ] + }, + "fine_grasp": { + "position": [ + 0.12727569043636322, + 0.021512994542717934, + -0.038829024881124496 + ], + "orientation": [ + 0.5774341821670532, + 0.5548019409179688, + -0.4648427665233612, + 0.37773755192756653 + ], + "joints": [ + 0.0004635818477254361 + ] + }, + "final_grasp": { + "position": [ + 0.12727569043636322, + 0.021512994542717934, + -0.038829024881124496 + ], + "orientation": [ + 0.5774341821670532, + 0.5548019409179688, + -0.4648427665233612, + 0.37773755192756653 + ], + "joints": [ + 0.005272748880088329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.130100280046463, + 0.020231133326888084, + -0.03908352181315422 + ], + "orientation": [ + 0.5787374377250671, + 0.5547367930412292, + -0.45871153473854065, + 0.3832932412624359 + ], + "joints": [ + -0.004381731618195772 + ] + }, + "fine_grasp": { + "position": [ + 0.12722602486610413, + 0.02153727039694786, + -0.03904023766517639 + ], + "orientation": [ + 0.5783857703208923, + 0.5546697974205017, + -0.4645453095436096, + 0.3768408000469208 + ], + "joints": [ + 0.00042743535595946014 + ] + }, + "final_grasp": { + "position": [ + 0.12722602486610413, + 0.02153727039694786, + -0.03904023766517639 + ], + "orientation": [ + 0.5783857703208923, + 0.5546697974205017, + -0.4645453095436096, + 0.3768408000469208 + ], + "joints": [ + 0.005236602388322353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1150115355849266, + 0.10643512010574341, + 0.011028298176825047 + ], + "orientation": [ + 0.42286744713783264, + -0.5768095850944519, + -0.3261719048023224, + -0.6181307435035706 + ], + "joints": [ + -0.002807111479341984 + ] + }, + "fine_grasp": { + "position": [ + -0.11617184430360794, + 0.10553920269012451, + 0.01162547804415226 + ], + "orientation": [ + 0.42723923921585083, + -0.5707280039787292, + -0.3166845440864563, + -0.625657320022583 + ], + "joints": [ + 0.0025334549136459827 + ] + }, + "final_grasp": { + "position": [ + -0.11617184430360794, + 0.10553920269012451, + 0.01162547804415226 + ], + "orientation": [ + 0.42723923921585083, + -0.5707280039787292, + -0.3166845440864563, + -0.625657320022583 + ], + "joints": [ + 0.00787402130663395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010407956317067146, + -0.09437696635723114, + -0.0034129165578633547 + ], + "orientation": [ + 0.692886471748352, + 0.024987807497382164, + 0.7205968499183655, + -0.004905449226498604 + ], + "joints": [ + -0.0021081215236335993 + ] + }, + "fine_grasp": { + "position": [ + -0.010752672329545021, + -0.092005155980587, + -0.0050850482657551765 + ], + "orientation": [ + 0.6792346239089966, + 0.024489358067512512, + 0.7335077524185181, + 0.0026550902985036373 + ], + "joints": [ + 0.0037638447247445583 + ] + }, + "final_grasp": { + "position": [ + -0.010752672329545021, + -0.092005155980587, + -0.0050850482657551765 + ], + "orientation": [ + 0.6792346239089966, + 0.024489358067512512, + 0.7335077524185181, + 0.0026550902985036373 + ], + "joints": [ + 0.009635810740292072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12845006585121155, + 0.05712543800473213, + -0.0419931560754776 + ], + "orientation": [ + 0.5531941652297974, + 0.5900399088859558, + 0.3730481266975403, + -0.45460325479507446 + ], + "joints": [ + -0.005077549256384373 + ] + }, + "fine_grasp": { + "position": [ + -0.12595151364803314, + 0.055659856647253036, + -0.04221339523792267 + ], + "orientation": [ + 0.5527147054672241, + 0.5911215543746948, + 0.3680367171764374, + -0.45785462856292725 + ], + "joints": [ + -0.0002418124640826136 + ] + }, + "final_grasp": { + "position": [ + -0.12595151364803314, + 0.055659856647253036, + -0.04221339523792267 + ], + "orientation": [ + 0.5527147054672241, + 0.5911215543746948, + 0.3680367171764374, + -0.45785462856292725 + ], + "joints": [ + 0.004593924153596163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010444886051118374, + -0.09433677792549133, + -0.003224646206945181 + ], + "orientation": [ + 0.6926715970039368, + 0.023922141641378403, + 0.7208396196365356, + -0.004884820431470871 + ], + "joints": [ + -0.0021081215236335993 + ] + }, + "fine_grasp": { + "position": [ + -0.01072647050023079, + -0.09134259074926376, + -0.005054906941950321 + ], + "orientation": [ + 0.6789989471435547, + 0.02460114285349846, + 0.7337226271629333, + 0.0024955314584076405 + ], + "joints": [ + 0.0037638447247445583 + ] + }, + "final_grasp": { + "position": [ + -0.01072647050023079, + -0.09134259074926376, + -0.005054906941950321 + ], + "orientation": [ + 0.6789989471435547, + 0.02460114285349846, + 0.7337226271629333, + 0.0024955314584076405 + ], + "joints": [ + 0.009635810740292072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12841980159282684, + 0.05693617835640907, + -0.04233449324965477 + ], + "orientation": [ + 0.5507224202156067, + 0.5932930111885071, + 0.3702123463153839, + -0.45568743348121643 + ], + "joints": [ + -0.005037498660385609 + ] + }, + "fine_grasp": { + "position": [ + -0.1257704794406891, + 0.055520813912153244, + -0.04255539923906326 + ], + "orientation": [ + 0.5504211187362671, + 0.5943448543548584, + 0.36538127064704895, + -0.45857104659080505 + ], + "joints": [ + -0.00022833191906102002 + ] + }, + "final_grasp": { + "position": [ + -0.1257704794406891, + 0.055520813912153244, + -0.04255539923906326 + ], + "orientation": [ + 0.5504211187362671, + 0.5943448543548584, + 0.36538127064704895, + -0.45857104659080505 + ], + "joints": [ + 0.0045808348804712296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028111815452575684, + -0.09211233258247375, + -0.003337724832817912 + ], + "orientation": [ + 0.7814411520957947, + -0.027499860152602196, + -0.6207326650619507, + -0.057310428470373154 + ], + "joints": [ + -0.0036152920220047235 + ] + }, + "fine_grasp": { + "position": [ + -0.02911960333585739, + -0.08786065876483917, + -0.0045317006297409534 + ], + "orientation": [ + 0.7863258123397827, + -0.019946619868278503, + -0.6147168278694153, + -0.058455776423215866 + ], + "joints": [ + 0.0022566739935427904 + ] + }, + "final_grasp": { + "position": [ + -0.02911960333585739, + -0.08786065876483917, + -0.0045317006297409534 + ], + "orientation": [ + 0.7863258123397827, + -0.019946619868278503, + -0.6147168278694153, + -0.058455776423215866 + ], + "joints": [ + 0.008128640241920948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018717672675848007, + -0.10143131017684937, + -0.026897720992565155 + ], + "orientation": [ + 0.7034648060798645, + 0.12129021435976028, + -0.6999690532684326, + -0.021661926060914993 + ], + "joints": [ + -0.0034850426018238068 + ] + }, + "fine_grasp": { + "position": [ + 0.01782832108438015, + -0.09918395429849625, + -0.027581950649619102 + ], + "orientation": [ + 0.7071056962013245, + 0.12652671337127686, + -0.6953967213630676, + -0.020399484783411026 + ], + "joints": [ + 0.0018555240239948034 + ] + }, + "final_grasp": { + "position": [ + 0.01782832108438015, + -0.09918395429849625, + -0.027581950649619102 + ], + "orientation": [ + 0.7071056962013245, + 0.12652671337127686, + -0.6953967213630676, + -0.020399484783411026 + ], + "joints": [ + 0.007196090649813414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1255641132593155, + 0.007091585546731949, + -0.04095898196101189 + ], + "orientation": [ + 0.4817620813846588, + -0.343454509973526, + -0.6273179650306702, + -0.506375789642334 + ], + "joints": [ + -0.004875305108726025 + ] + }, + "fine_grasp": { + "position": [ + -0.1215771734714508, + 0.008414874784648418, + -0.040461279451847076 + ], + "orientation": [ + 0.4895764887332916, + -0.33444225788116455, + -0.6260513663291931, + -0.5064809918403625 + ], + "joints": [ + -6.613816367462277e-05 + ] + }, + "final_grasp": { + "position": [ + -0.1215771734714508, + 0.008414874784648418, + -0.040461279451847076 + ], + "orientation": [ + 0.4895764887332916, + -0.33444225788116455, + -0.6260513663291931, + -0.5064809918403625 + ], + "joints": [ + 0.004743028897792101 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12631849944591522, + 0.048217903822660446, + -0.02419275790452957 + ], + "orientation": [ + 0.3914857506752014, + -0.5116839408874512, + 0.5395246148109436, + 0.5420622825622559 + ], + "joints": [ + -0.004021283704787493 + ] + }, + "fine_grasp": { + "position": [ + 0.12412332743406296, + 0.04716161638498306, + -0.02459915727376938 + ], + "orientation": [ + 0.3795364499092102, + -0.5202274322509766, + 0.5448564291000366, + 0.5370725989341736 + ], + "joints": [ + 0.0008144533494487405 + ] + }, + "final_grasp": { + "position": [ + 0.12412332743406296, + 0.04716161638498306, + -0.02459915727376938 + ], + "orientation": [ + 0.3795364499092102, + -0.5202274322509766, + 0.5448564291000366, + 0.5370725989341736 + ], + "joints": [ + 0.005650190636515617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11741077899932861, + -0.025207122787833214, + -0.012835822068154812 + ], + "orientation": [ + 0.6074210405349731, + 0.4129451513290405, + -0.5851142406463623, + 0.3437402546405792 + ], + "joints": [ + -0.0031021328177303076 + ] + }, + "fine_grasp": { + "position": [ + 0.11637097597122192, + -0.023611798882484436, + -0.01345047913491726 + ], + "orientation": [ + 0.6081272959709167, + 0.41159573197364807, + -0.5885604023933411, + 0.338181734085083 + ], + "joints": [ + 0.0027698331978172064 + ] + }, + "final_grasp": { + "position": [ + 0.11637097597122192, + -0.023611798882484436, + -0.01345047913491726 + ], + "orientation": [ + 0.6081272959709167, + 0.41159573197364807, + -0.5885604023933411, + 0.338181734085083 + ], + "joints": [ + 0.008641798980534077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11747764050960541, + -0.02495899610221386, + -0.013510867953300476 + ], + "orientation": [ + 0.6088943481445312, + 0.414122998714447, + -0.5832831263542175, + 0.3428272306919098 + ], + "joints": [ + -0.003065988188609481 + ] + }, + "fine_grasp": { + "position": [ + 0.11627297103404999, + -0.02330605499446392, + -0.014171931892633438 + ], + "orientation": [ + 0.6092130541801453, + 0.4134097099304199, + -0.5871146321296692, + 0.3365238606929779 + ], + "joints": [ + 0.002805977826938033 + ] + }, + "final_grasp": { + "position": [ + 0.11627297103404999, + -0.02330605499446392, + -0.014171931892633438 + ], + "orientation": [ + 0.6092130541801453, + 0.4134097099304199, + -0.5871146321296692, + 0.3365238606929779 + ], + "joints": [ + 0.008677943609654903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12521544098854065, + 0.007229890674352646, + -0.041373297572135925 + ], + "orientation": [ + 0.48168331384658813, + -0.34145739674568176, + -0.6282204985618591, + -0.5066823363304138 + ], + "joints": [ + -0.004911270923912525 + ] + }, + "fine_grasp": { + "position": [ + -0.12133783847093582, + 0.008629455231130123, + -0.04081975296139717 + ], + "orientation": [ + 0.4891778826713562, + -0.3331882655620575, + -0.6263554096221924, + -0.5073159337043762 + ], + "joints": [ + -0.00010210397886112332 + ] + }, + "final_grasp": { + "position": [ + -0.12133783847093582, + 0.008629455231130123, + -0.04081975296139717 + ], + "orientation": [ + 0.4891778826713562, + -0.3331882655620575, + -0.6263554096221924, + -0.5073159337043762 + ], + "joints": [ + 0.0047070630826056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06676803529262543, + -0.07937534898519516, + -0.00960476417094469 + ], + "orientation": [ + 0.6579491496086121, + -0.16240523755550385, + 0.7062910199165344, + 0.2046472579240799 + ], + "joints": [ + -0.002414579037576914 + ] + }, + "fine_grasp": { + "position": [ + 0.06624744087457657, + -0.07826367765665054, + -0.010096821933984756 + ], + "orientation": [ + 0.6570923924446106, + -0.162946417927742, + 0.706900954246521, + 0.2048637419939041 + ], + "joints": [ + 0.0034573869779706 + ] + }, + "final_grasp": { + "position": [ + 0.06624744087457657, + -0.07826367765665054, + -0.010096821933984756 + ], + "orientation": [ + 0.6570923924446106, + -0.162946417927742, + 0.706900954246521, + 0.2048637419939041 + ], + "joints": [ + 0.009329352527856827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03606283664703369, + -0.09243007004261017, + -0.012447542510926723 + ], + "orientation": [ + 0.6784047484397888, + -0.036535196006298065, + -0.7269436717033386, + -0.09992466866970062 + ], + "joints": [ + -0.002649773610755801 + ] + }, + "fine_grasp": { + "position": [ + -0.03496616333723068, + -0.09178059548139572, + -0.01483037881553173 + ], + "orientation": [ + 0.6682749390602112, + -0.034399669617414474, + -0.735640287399292, + -0.10515967756509781 + ], + "joints": [ + 0.0032221926376223564 + ] + }, + "final_grasp": { + "position": [ + -0.03496616333723068, + -0.09178059548139572, + -0.01483037881553173 + ], + "orientation": [ + 0.6682749390602112, + -0.034399669617414474, + -0.735640287399292, + -0.10515967756509781 + ], + "joints": [ + 0.009094159118831158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13022123277187347, + 0.02094743587076664, + 0.034350402653217316 + ], + "orientation": [ + 0.73604816198349, + -0.2639518976211548, + 0.01193131785839796, + -0.6232335567474365 + ], + "joints": [ + -0.019263986498117447 + ] + }, + "fine_grasp": { + "position": [ + -0.13073068857192993, + 0.01912127621471882, + 0.0342499315738678 + ], + "orientation": [ + 0.7409114837646484, + -0.24820774793624878, + 0.030236611142754555, + -0.6233208775520325 + ], + "joints": [ + -0.013949978165328503 + ] + }, + "final_grasp": { + "position": [ + -0.13073068857192993, + 0.01912127621471882, + 0.0342499315738678 + ], + "orientation": [ + 0.7409114837646484, + -0.24820774793624878, + 0.030236611142754555, + -0.6233208775520325 + ], + "joints": [ + -0.008635969832539558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13021200895309448, + 0.020936354994773865, + 0.03436744213104248 + ], + "orientation": [ + 0.7361052632331848, + -0.26404911279678345, + 0.011616501025855541, + -0.6231310367584229 + ], + "joints": [ + -0.019263986498117447 + ] + }, + "fine_grasp": { + "position": [ + -0.13069726526737213, + 0.019131477922201157, + 0.034235093742609024 + ], + "orientation": [ + 0.7408970594406128, + -0.24845734238624573, + 0.02978474460542202, + -0.6232602000236511 + ], + "joints": [ + -0.013949978165328503 + ] + }, + "final_grasp": { + "position": [ + -0.13069726526737213, + 0.019131477922201157, + 0.034235093742609024 + ], + "orientation": [ + 0.7408970594406128, + -0.24845734238624573, + 0.02978474460542202, + -0.6232602000236511 + ], + "joints": [ + -0.008635969832539558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07252299040555954, + 0.17574653029441833, + -0.049417223781347275 + ], + "orientation": [ + 0.04616262763738632, + -0.7209718227386475, + 0.32464444637298584, + 0.6104708909988403 + ], + "joints": [ + -0.0007298731943592429 + ] + }, + "fine_grasp": { + "position": [ + 0.07292874902486801, + 0.1734549105167389, + -0.05015697702765465 + ], + "orientation": [ + 0.04729926213622093, + -0.7184711694717407, + 0.3301546275615692, + 0.6103768348693848 + ], + "joints": [ + 0.005142092704772949 + ] + }, + "final_grasp": { + "position": [ + 0.07292874902486801, + 0.1734549105167389, + -0.05015697702765465 + ], + "orientation": [ + 0.04729926213622093, + -0.7184711694717407, + 0.3301546275615692, + 0.6103768348693848 + ], + "joints": [ + 0.011014058254659176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09915664047002792, + 0.11927641183137894, + -0.048153720796108246 + ], + "orientation": [ + 0.4026440978050232, + 0.7159469723701477, + 0.20039276778697968, + -0.533985435962677 + ], + "joints": [ + -0.0065835015848279 + ] + }, + "fine_grasp": { + "position": [ + -0.09566506743431091, + 0.11750703305006027, + -0.04872585088014603 + ], + "orientation": [ + 0.40235835313796997, + 0.7038821578025818, + 0.18089722096920013, + -0.5567169785499573 + ], + "joints": [ + -0.0012163653736934066 + ] + }, + "final_grasp": { + "position": [ + -0.09566506743431091, + 0.11750703305006027, + -0.04872585088014603 + ], + "orientation": [ + 0.40235835313796997, + 0.7038821578025818, + 0.18089722096920013, + -0.5567169785499573 + ], + "joints": [ + 0.004150770604610443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08473289012908936, + -0.06898722052574158, + -0.028473714366555214 + ], + "orientation": [ + 0.5867835879325867, + -0.17597097158432007, + -0.73738694190979, + -0.28456947207450867 + ], + "joints": [ + -0.0035306825302541256 + ] + }, + "fine_grasp": { + "position": [ + -0.08326967060565948, + -0.06752611696720123, + -0.0312429778277874 + ], + "orientation": [ + 0.6024616956710815, + -0.15402401983737946, + -0.728651225566864, + -0.2870260179042816 + ], + "joints": [ + 0.0013050541747361422 + ] + }, + "final_grasp": { + "position": [ + -0.08326967060565948, + -0.06752611696720123, + -0.0312429778277874 + ], + "orientation": [ + 0.6024616956710815, + -0.15402401983737946, + -0.728651225566864, + -0.2870260179042816 + ], + "joints": [ + 0.00614079087972641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01976078934967518, + -0.0955832377076149, + -0.0071553452871739864 + ], + "orientation": [ + 0.7258464694023132, + 0.05496593564748764, + 0.6854555606842041, + -0.016622165217995644 + ], + "joints": [ + -0.002254130784422159 + ] + }, + "fine_grasp": { + "position": [ + -0.019295189529657364, + -0.09304320067167282, + -0.007817243225872517 + ], + "orientation": [ + 0.7316676378250122, + 0.06017296388745308, + 0.6786550879478455, + -0.021656904369592667 + ], + "joints": [ + 0.0031130053102970123 + ] + }, + "final_grasp": { + "position": [ + -0.019295189529657364, + -0.09304320067167282, + -0.007817243225872517 + ], + "orientation": [ + 0.7316676378250122, + 0.06017296388745308, + 0.6786550879478455, + -0.021656904369592667 + ], + "joints": [ + 0.008480140939354897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019729958847165108, + -0.0955771952867508, + -0.007334724999964237 + ], + "orientation": [ + 0.7260327339172363, + 0.05568325147032738, + 0.685213565826416, + -0.016067275777459145 + ], + "joints": [ + -0.0025965587701648474 + ] + }, + "fine_grasp": { + "position": [ + -0.019147425889968872, + -0.09303852170705795, + -0.007862084545195103 + ], + "orientation": [ + 0.731737494468689, + 0.061247654259204865, + 0.6784939169883728, + -0.021333640441298485 + ], + "joints": [ + 0.0032754074782133102 + ] + }, + "final_grasp": { + "position": [ + -0.019147425889968872, + -0.09303852170705795, + -0.007862084545195103 + ], + "orientation": [ + 0.731737494468689, + 0.061247654259204865, + 0.6784939169883728, + -0.021333640441298485 + ], + "joints": [ + 0.009147373959422112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0032534319907426834, + -0.09436511993408203, + -0.008249177597463131 + ], + "orientation": [ + 0.6927573680877686, + 0.02512616105377674, + -0.7204470634460449, + -0.020294975489377975 + ], + "joints": [ + -0.002303812187165022 + ] + }, + "fine_grasp": { + "position": [ + 0.004380077123641968, + -0.0925489217042923, + -0.009080269373953342 + ], + "orientation": [ + 0.6920428276062012, + 0.023525860160589218, + -0.7210502028465271, + -0.024692051112651825 + ], + "joints": [ + 0.003568153828382492 + ] + }, + "final_grasp": { + "position": [ + 0.004380077123641968, + -0.0925489217042923, + -0.009080269373953342 + ], + "orientation": [ + 0.6920428276062012, + 0.023525860160589218, + -0.7210502028465271, + -0.024692051112651825 + ], + "joints": [ + 0.009440120309591293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1365518867969513, + -0.014262968674302101, + -0.04699978977441788 + ], + "orientation": [ + 0.6872260570526123, + -0.11913874000310898, + 0.3672504723072052, + 0.6153479814529419 + ], + "joints": [ + -0.007899588905274868 + ] + }, + "fine_grasp": { + "position": [ + 0.13538342714309692, + -0.012826110236346722, + -0.04466632753610611 + ], + "orientation": [ + 0.6927365064620972, + -0.1154782623052597, + 0.3645528554916382, + 0.6114590764045715 + ], + "joints": [ + -0.0025590229779481888 + ] + }, + "final_grasp": { + "position": [ + 0.13538342714309692, + -0.012826110236346722, + -0.04466632753610611 + ], + "orientation": [ + 0.6927365064620972, + -0.1154782623052597, + 0.3645528554916382, + 0.6114590764045715 + ], + "joints": [ + 0.0027815429493784904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12039446085691452, + 0.05195832625031471, + -0.04720497876405716 + ], + "orientation": [ + 0.6748220324516296, + 0.05911499261856079, + 0.05140038579702377, + 0.7338109612464905 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.11592508107423782, + 0.05033496767282486, + -0.04504711925983429 + ], + "orientation": [ + 0.6776345372200012, + 0.06317510455846786, + 0.05861380323767662, + 0.7303319573402405 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.11592508107423782, + 0.05033496767282486, + -0.04504711925983429 + ], + "orientation": [ + 0.6776345372200012, + 0.06317510455846786, + 0.05861380323767662, + 0.7303319573402405 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030398551374673843, + 0.05275319889187813, + -0.1150975152850151 + ], + "orientation": [ + 0.6247598528862, + 0.45643627643585205, + 0.4486202895641327, + 0.4473041296005249 + ], + "joints": [ + 0.0029216897673904896 + ] + }, + "fine_grasp": { + "position": [ + -0.02783108875155449, + 0.049237653613090515, + -0.11165951192378998 + ], + "orientation": [ + 0.6085483431816101, + 0.4971708059310913, + 0.4355001151561737, + 0.4391237199306488 + ], + "joints": [ + -0.0012497978750616312 + ] + }, + "final_grasp": { + "position": [ + -0.02783108875155449, + 0.049237653613090515, + -0.11165951192378998 + ], + "orientation": [ + 0.6085483431816101, + 0.4971708059310913, + 0.4355001151561737, + 0.4391237199306488 + ], + "joints": [ + -0.005421285517513752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11134098470211029, + -0.03337094560265541, + -0.06879059225320816 + ], + "orientation": [ + 0.2846897542476654, + 0.5676271915435791, + 0.7720150947570801, + 0.027274316176772118 + ], + "joints": [ + -0.002729840809479356 + ] + }, + "fine_grasp": { + "position": [ + -0.11324180662631989, + -0.03445877507328987, + -0.06678963452577591 + ], + "orientation": [ + 0.2818831503391266, + 0.5550673604011536, + 0.7811695337295532, + 0.04707949981093407 + ], + "joints": [ + 0.0004851272969972342 + ] + }, + "final_grasp": { + "position": [ + -0.11324180662631989, + -0.03445877507328987, + -0.06678963452577591 + ], + "orientation": [ + 0.2818831503391266, + 0.5550673604011536, + 0.7811695337295532, + 0.04707949981093407 + ], + "joints": [ + 0.003700095461681485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11221925169229507, + -0.03322204202413559, + -0.06938502192497253 + ], + "orientation": [ + 0.2805493175983429, + 0.565072774887085, + 0.7751631140708923, + 0.03327066823840141 + ], + "joints": [ + -0.003382217837497592 + ] + }, + "fine_grasp": { + "position": [ + -0.11350079625844955, + -0.034208159893751144, + -0.06726331263780594 + ], + "orientation": [ + 0.27771028876304626, + 0.5513964891433716, + 0.7848083972930908, + 0.053989872336387634 + ], + "joints": [ + -0.0006986496737226844 + ] + }, + "final_grasp": { + "position": [ + -0.11350079625844955, + -0.034208159893751144, + -0.06726331263780594 + ], + "orientation": [ + 0.27771028876304626, + 0.5513964891433716, + 0.7848083972930908, + 0.053989872336387634 + ], + "joints": [ + 0.001984918490052223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05861795321106911, + 0.14873106777668, + -0.08199875056743622 + ], + "orientation": [ + 0.1885637491941452, + 0.9334217309951782, + 0.27761733531951904, + 0.1268712431192398 + ], + "joints": [ + -0.015348415821790695 + ] + }, + "fine_grasp": { + "position": [ + -0.056857895106077194, + 0.14632971584796906, + -0.07885809987783432 + ], + "orientation": [ + 0.1973961591720581, + 0.9305191040039062, + 0.2746104300022125, + 0.14056360721588135 + ], + "joints": [ + -0.013089964166283607 + ] + }, + "final_grasp": { + "position": [ + -0.056857895106077194, + 0.14632971584796906, + -0.07885809987783432 + ], + "orientation": [ + 0.1973961591720581, + 0.9305191040039062, + 0.2746104300022125, + 0.14056360721588135 + ], + "joints": [ + -0.01083151251077652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12502220273017883, + -0.021213041618466377, + -0.026222461834549904 + ], + "orientation": [ + 0.21992267668247223, + 0.5898118019104004, + -0.7662965655326843, + 0.12863004207611084 + ], + "joints": [ + -0.005967769306153059 + ] + }, + "fine_grasp": { + "position": [ + 0.12220359593629837, + -0.0205881018191576, + -0.024216286838054657 + ], + "orientation": [ + 0.21898482739925385, + 0.5867588520050049, + -0.7711952328681946, + 0.11409501731395721 + ], + "joints": [ + -0.003257631789892912 + ] + }, + "final_grasp": { + "position": [ + 0.12220359593629837, + -0.0205881018191576, + -0.024216286838054657 + ], + "orientation": [ + 0.21898482739925385, + 0.5867588520050049, + -0.7711952328681946, + 0.11409501731395721 + ], + "joints": [ + -0.0005474942736327648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11465079337358475, + 0.008373986929655075, + -0.050607867538928986 + ], + "orientation": [ + 0.6630812883377075, + -0.09648501873016357, + -0.3049263060092926, + -0.6767818927764893 + ], + "joints": [ + -0.010311232879757881 + ] + }, + "fine_grasp": { + "position": [ + -0.11250210553407669, + 0.009193078614771366, + -0.049523770809173584 + ], + "orientation": [ + 0.6695852279663086, + -0.08026450127363205, + -0.3005453050136566, + -0.6744521856307983 + ], + "joints": [ + -0.0044924067333340645 + ] + }, + "final_grasp": { + "position": [ + -0.11250210553407669, + 0.009193078614771366, + -0.049523770809173584 + ], + "orientation": [ + 0.6695852279663086, + -0.08026450127363205, + -0.3005453050136566, + -0.6744521856307983 + ], + "joints": [ + 0.0013264194130897522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11459292471408844, + 0.00852612592279911, + -0.05079682916402817 + ], + "orientation": [ + 0.6632211208343506, + -0.09516873955726624, + -0.3045944571495056, + -0.67698073387146 + ], + "joints": [ + -0.010078076273202896 + ] + }, + "fine_grasp": { + "position": [ + -0.11241958290338516, + 0.009290587157011032, + -0.04966386780142784 + ], + "orientation": [ + 0.6695100665092468, + -0.07983516156673431, + -0.30070874094963074, + -0.674504816532135 + ], + "joints": [ + -0.004790649749338627 + ] + }, + "final_grasp": { + "position": [ + -0.11241958290338516, + 0.009290587157011032, + -0.04966386780142784 + ], + "orientation": [ + 0.6695100665092468, + -0.07983516156673431, + -0.30070874094963074, + -0.674504816532135 + ], + "joints": [ + 0.0004967767745256424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012645418755710125, + 0.031319841742515564, + -0.1285182535648346 + ], + "orientation": [ + 0.4690161347389221, + 0.2886350452899933, + 0.5203007459640503, + 0.6526873707771301 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.013326399959623814, + 0.03150805085897446, + -0.1299106329679489 + ], + "orientation": [ + 0.4723084568977356, + 0.2964932322502136, + 0.5152521133422852, + 0.650793194770813 + ], + "joints": [ + -0.011267964728176594 + ] + }, + "final_grasp": { + "position": [ + 0.013326399959623814, + 0.03150805085897446, + -0.1299106329679489 + ], + "orientation": [ + 0.4723084568977356, + 0.2964932322502136, + 0.5152521133422852, + 0.650793194770813 + ], + "joints": [ + -0.004891162738204002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11050856113433838, + 0.04100113734602928, + -0.07968148589134216 + ], + "orientation": [ + 0.5199901461601257, + -0.05821863189339638, + -0.36112308502197266, + -0.7718878984451294 + ], + "joints": [ + -0.013405345380306244 + ] + }, + "fine_grasp": { + "position": [ + -0.10865297168493271, + 0.04292429983615875, + -0.07982805371284485 + ], + "orientation": [ + 0.5163943767547607, + -0.04750331863760948, + -0.37091439962387085, + -0.7703913450241089 + ], + "joints": [ + -0.008622748777270317 + ] + }, + "final_grasp": { + "position": [ + -0.10865297168493271, + 0.04292429983615875, + -0.07982805371284485 + ], + "orientation": [ + 0.5163943767547607, + -0.04750331863760948, + -0.37091439962387085, + -0.7703913450241089 + ], + "joints": [ + -0.0038401521742343903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13394653797149658, + 0.03691168129444122, + -0.03372383117675781 + ], + "orientation": [ + 0.5802096128463745, + -0.18566112220287323, + 0.25616443157196045, + 0.7505108118057251 + ], + "joints": [ + -0.00998789444565773 + ] + }, + "fine_grasp": { + "position": [ + 0.13320963084697723, + 0.03870422765612602, + -0.032332323491573334 + ], + "orientation": [ + 0.5773096680641174, + -0.1884555071592331, + 0.28094783425331116, + 0.7431461811065674 + ], + "joints": [ + -0.004673898220062256 + ] + }, + "final_grasp": { + "position": [ + 0.13320963084697723, + 0.03870422765612602, + -0.032332323491573334 + ], + "orientation": [ + 0.5773096680641174, + -0.1884555071592331, + 0.28094783425331116, + 0.7431461811065674 + ], + "joints": [ + 0.0006400980055332184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13366298377513885, + 0.03676403686404228, + -0.0338551290333271 + ], + "orientation": [ + 0.5801565051078796, + -0.18500687181949615, + 0.2557929456233978, + 0.7508401274681091 + ], + "joints": [ + -0.009661683812737465 + ] + }, + "fine_grasp": { + "position": [ + 0.1331629753112793, + 0.038545262068510056, + -0.03248480707406998 + ], + "orientation": [ + 0.5764768123626709, + -0.18881508708000183, + 0.2812785804271698, + 0.7435762882232666 + ], + "joints": [ + -0.004879087209701538 + ] + }, + "final_grasp": { + "position": [ + 0.1331629753112793, + 0.038545262068510056, + -0.03248480707406998 + ], + "orientation": [ + 0.5764768123626709, + -0.18881508708000183, + 0.2812785804271698, + 0.7435762882232666 + ], + "joints": [ + -9.649060666561127e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13392090797424316, + 0.036696434020996094, + -0.03367265313863754 + ], + "orientation": [ + 0.5808950662612915, + -0.18541453778743744, + 0.2557204067707062, + 0.7501928806304932 + ], + "joints": [ + -0.009956901893019676 + ] + }, + "fine_grasp": { + "position": [ + 0.13327203691005707, + 0.03847316652536392, + -0.0322924442589283 + ], + "orientation": [ + 0.5775216817855835, + -0.18854041397571564, + 0.28084829449653625, + 0.7429975271224976 + ], + "joints": [ + -0.004642905667424202 + ] + }, + "final_grasp": { + "position": [ + 0.13327203691005707, + 0.03847316652536392, + -0.0322924442589283 + ], + "orientation": [ + 0.5775216817855835, + -0.18854041397571564, + 0.28084829449653625, + 0.7429975271224976 + ], + "joints": [ + 0.0006710905581712723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13656063377857208, + -0.014374424703419209, + -0.04783184081315994 + ], + "orientation": [ + 0.6861254572868347, + -0.11751535534858704, + 0.36474040150642395, + 0.6183739900588989 + ], + "joints": [ + -0.007402598857879639 + ] + }, + "fine_grasp": { + "position": [ + 0.13591021299362183, + -0.013157136738300323, + -0.04546798765659332 + ], + "orientation": [ + 0.6900688409805298, + -0.11677566915750504, + 0.36557871103286743, + 0.6136128306388855 + ], + "joints": [ + -0.001504063024185598 + ] + }, + "final_grasp": { + "position": [ + 0.13591021299362183, + -0.013157136738300323, + -0.04546798765659332 + ], + "orientation": [ + 0.6900688409805298, + -0.11677566915750504, + 0.36557871103286743, + 0.6136128306388855 + ], + "joints": [ + 0.004394472576677799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002546349074691534, + 0.1588079184293747, + 0.08447426557540894 + ], + "orientation": [ + 0.03401757776737213, + -0.1287342607975006, + -0.41300806403160095, + 0.9009410738945007 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.0016582401003688574, + 0.1591862589120865, + 0.08507871627807617 + ], + "orientation": [ + 0.022641034796833992, + -0.10981650650501251, + -0.4178628623485565, + 0.9015644192695618 + ], + "joints": [ + -0.005967224016785622 + ] + }, + "final_grasp": { + "position": [ + 0.0016582401003688574, + 0.1591862589120865, + 0.08507871627807617 + ], + "orientation": [ + 0.022641034796833992, + -0.10981650650501251, + -0.4178628623485565, + 0.9015644192695618 + ], + "joints": [ + 0.0009409710764884949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06950502842664719, + 0.16496868431568146, + 0.037355173379182816 + ], + "orientation": [ + 0.25838083028793335, + 0.19573558866977692, + -0.28672248125076294, + 0.9015082716941833 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.07172923535108566, + 0.16552896797657013, + 0.03975973650813103 + ], + "orientation": [ + 0.2508021295070648, + 0.19130346179008484, + -0.2726445198059082, + 0.9089369177818298 + ], + "joints": [ + -0.005153126083314419 + ] + }, + "final_grasp": { + "position": [ + 0.07172923535108566, + 0.16552896797657013, + 0.03975973650813103 + ], + "orientation": [ + 0.2508021295070648, + 0.19130346179008484, + -0.2726445198059082, + 0.9089369177818298 + ], + "joints": [ + -0.0008753594011068344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0013391809770837426, + 0.13294540345668793, + 0.10164769738912582 + ], + "orientation": [ + 0.04647129774093628, + -0.12257683277130127, + -0.5136621594429016, + 0.8479189276695251 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.0031367975752800703, + 0.13477814197540283, + 0.10532060265541077 + ], + "orientation": [ + 0.04102158918976784, + -0.10332485288381577, + -0.5243069529533386, + 0.8442414402961731 + ], + "joints": [ + -0.005463792011141777 + ] + }, + "final_grasp": { + "position": [ + 0.0031367975752800703, + 0.13477814197540283, + 0.10532060265541077 + ], + "orientation": [ + 0.04102158918976784, + -0.10332485288381577, + -0.5243069529533386, + 0.8442414402961731 + ], + "joints": [ + 0.0025072023272514343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058251846581697464, + 0.16042476892471313, + -0.0927838534116745 + ], + "orientation": [ + 0.3918616473674774, + 0.5939114689826965, + 0.12120971828699112, + 0.6921141147613525 + ], + "joints": [ + -0.006387055851519108 + ] + }, + "fine_grasp": { + "position": [ + 0.05599091202020645, + 0.15621212124824524, + -0.09041407704353333 + ], + "orientation": [ + 0.3922244608402252, + 0.5915989279747009, + 0.1154838427901268, + 0.6948626637458801 + ], + "joints": [ + -0.0009933497058227658 + ] + }, + "final_grasp": { + "position": [ + 0.05599091202020645, + 0.15621212124824524, + -0.09041407704353333 + ], + "orientation": [ + 0.3922244608402252, + 0.5915989279747009, + 0.1154838427901268, + 0.6948626637458801 + ], + "joints": [ + 0.00440035667270422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004373237956315279, + 0.10460970550775528, + 0.11336544156074524 + ], + "orientation": [ + 0.13871046900749207, + -0.22774364054203033, + -0.5622792840003967, + 0.7827734351158142 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.006736852694302797, + 0.10484831035137177, + 0.11708274483680725 + ], + "orientation": [ + 0.15107664465904236, + -0.23069003224372864, + -0.5734203457832336, + 0.7714576721191406 + ], + "joints": [ + -0.008971541188657284 + ] + }, + "final_grasp": { + "position": [ + 0.006736852694302797, + 0.10484831035137177, + 0.11708274483680725 + ], + "orientation": [ + 0.15107664465904236, + -0.23069003224372864, + -0.5734203457832336, + 0.7714576721191406 + ], + "joints": [ + -0.0015053730458021164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026735452935099602, + 0.17419372498989105, + -0.039672207087278366 + ], + "orientation": [ + 0.11355403065681458, + 0.8707072734832764, + -0.05266452208161354, + -0.4756057858467102 + ], + "joints": [ + -0.002484253840520978 + ] + }, + "fine_grasp": { + "position": [ + -0.024989629164338112, + 0.17095345258712769, + -0.03943198546767235 + ], + "orientation": [ + 0.12304486334323883, + 0.8698726296424866, + -0.047191668301820755, + -0.47534674406051636 + ], + "joints": [ + 0.0023514828644692898 + ] + }, + "final_grasp": { + "position": [ + -0.024989629164338112, + 0.17095345258712769, + -0.03943198546767235 + ], + "orientation": [ + 0.12304486334323883, + 0.8698726296424866, + -0.047191668301820755, + -0.47534674406051636 + ], + "joints": [ + 0.007187219336628914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019693978130817413, + 0.1186848059296608, + 0.10871300846338272 + ], + "orientation": [ + 0.5118854641914368, + -0.8266615271568298, + 0.16159553825855255, + -0.16879232227802277 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.01999642886221409, + 0.11869144439697266, + 0.10947456955909729 + ], + "orientation": [ + 0.5169785618782043, + -0.8221561312675476, + 0.16409407556056976, + -0.1728169471025467 + ], + "joints": [ + -0.00888756476342678 + ] + }, + "final_grasp": { + "position": [ + 0.01999642886221409, + 0.11869144439697266, + 0.10947456955909729 + ], + "orientation": [ + 0.5169785618782043, + -0.8221561312675476, + 0.16409407556056976, + -0.1728169471025467 + ], + "joints": [ + -0.001926228404045105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030618080869317055, + 0.10701793432235718, + 0.11101498454809189 + ], + "orientation": [ + 0.5743499994277954, + -0.799136757850647, + 0.1651812642812729, + -0.06494363397359848 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.030263293534517288, + 0.1071290671825409, + 0.11413093656301498 + ], + "orientation": [ + 0.5747923254966736, + -0.8003893494606018, + 0.15902891755104065, + -0.06083192676305771 + ], + "joints": [ + -0.008744779974222183 + ] + }, + "final_grasp": { + "position": [ + 0.030263293534517288, + 0.1071290671825409, + 0.11413093656301498 + ], + "orientation": [ + 0.5747923254966736, + -0.8003893494606018, + 0.15902891755104065, + -0.06083192676305771 + ], + "joints": [ + -0.0033776424825191498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02658693492412567, + 0.17769891023635864, + -0.08015909790992737 + ], + "orientation": [ + 0.25123998522758484, + 0.7053058743476868, + -0.15031148493289948, + -0.6456226110458374 + ], + "joints": [ + -0.0030883208382874727 + ] + }, + "fine_grasp": { + "position": [ + -0.026468006893992424, + 0.17257526516914368, + -0.07785689830780029 + ], + "orientation": [ + 0.23615938425064087, + 0.71346515417099, + -0.1551501601934433, + -0.6411899328231812 + ], + "joints": [ + 0.002252245554700494 + ] + }, + "final_grasp": { + "position": [ + -0.026468006893992424, + 0.17257526516914368, + -0.07785689830780029 + ], + "orientation": [ + 0.23615938425064087, + 0.71346515417099, + -0.1551501601934433, + -0.6411899328231812 + ], + "joints": [ + 0.007592812180519104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0744297131896019, + 0.14979897439479828, + -0.04709651321172714 + ], + "orientation": [ + 0.09913080930709839, + -0.5672162175178528, + 0.3005755543708801, + 0.7603244185447693 + ], + "joints": [ + -0.005124840885400772 + ] + }, + "fine_grasp": { + "position": [ + 0.07213106006383896, + 0.14673008024692535, + -0.04711688309907913 + ], + "orientation": [ + 0.09693951904773712, + -0.5724098682403564, + 0.29779577255249023, + 0.7578043937683105 + ], + "joints": [ + 0.0007736955303698778 + ] + }, + "final_grasp": { + "position": [ + 0.07213106006383896, + 0.14673008024692535, + -0.04711688309907913 + ], + "orientation": [ + 0.09693951904773712, + -0.5724098682403564, + 0.29779577255249023, + 0.7578043937683105 + ], + "joints": [ + 0.006672231946140528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09911186248064041, + 0.11947590112686157, + -0.04876263067126274 + ], + "orientation": [ + 0.40446385741233826, + 0.715566873550415, + 0.19887720048427582, + -0.533686101436615 + ], + "joints": [ + -0.006882891058921814 + ] + }, + "fine_grasp": { + "position": [ + -0.09582653641700745, + 0.11803455650806427, + -0.050265900790691376 + ], + "orientation": [ + 0.40595459938049316, + 0.7042738199234009, + 0.17743660509586334, + -0.5547211766242981 + ], + "joints": [ + -0.0010109252762049437 + ] + }, + "final_grasp": { + "position": [ + -0.09582653641700745, + 0.11803455650806427, + -0.050265900790691376 + ], + "orientation": [ + 0.40595459938049316, + 0.7042738199234009, + 0.17743660509586334, + -0.5547211766242981 + ], + "joints": [ + 0.004861040506511927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10506141930818558, + 0.14496980607509613, + -0.04950255528092384 + ], + "orientation": [ + 0.1705731749534607, + -0.6212628483772278, + -0.426261842250824, + -0.6350104212760925 + ], + "joints": [ + -9.092644904740155e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.10198281705379486, + 0.14260230958461761, + -0.0485876239836216 + ], + "orientation": [ + 0.17187049984931946, + -0.6212932467460632, + -0.42449483275413513, + -0.6358140110969543 + ], + "joints": [ + 0.004771379753947258 + ] + }, + "final_grasp": { + "position": [ + -0.10198281705379486, + 0.14260230958461761, + -0.0485876239836216 + ], + "orientation": [ + 0.17187049984931946, + -0.6212932467460632, + -0.42449483275413513, + -0.6358140110969543 + ], + "joints": [ + 0.009633686393499374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10558328032493591, + 0.14534632861614227, + -0.049601368606090546 + ], + "orientation": [ + 0.17046116292476654, + -0.6204279661178589, + -0.4254097640514374, + -0.6364264488220215 + ], + "joints": [ + 4.87041543237865e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.1025872752070427, + 0.1427679806947708, + -0.04859843850135803 + ], + "orientation": [ + 0.17137844860553741, + -0.6226328015327454, + -0.42235544323921204, + -0.6360610723495483 + ], + "joints": [ + 0.004937579855322838 + ] + }, + "final_grasp": { + "position": [ + -0.1025872752070427, + 0.1427679806947708, + -0.04859843850135803 + ], + "orientation": [ + 0.17137844860553741, + -0.6226328015327454, + -0.42235544323921204, + -0.6360610723495483 + ], + "joints": [ + 0.009826455265283585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05139061063528061, + 0.0366971418261528, + 0.11187103390693665 + ], + "orientation": [ + 0.2043278068304062, + 0.09225527942180634, + 0.6291633248329163, + -0.7442396879196167 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.048659712076187134, + 0.03897644951939583, + 0.1135675236582756 + ], + "orientation": [ + 0.2113436609506607, + 0.06568801403045654, + 0.6184778809547424, + -0.7539920806884766 + ], + "joints": [ + -0.008886167779564857 + ] + }, + "final_grasp": { + "position": [ + -0.048659712076187134, + 0.03897644951939583, + 0.1135675236582756 + ], + "orientation": [ + 0.2113436609506607, + 0.06568801403045654, + 0.6184778809547424, + -0.7539920806884766 + ], + "joints": [ + -0.002482801675796509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0514819473028183, + 0.03663260489702225, + 0.11204047501087189 + ], + "orientation": [ + 0.20391114056110382, + 0.09298789501190186, + 0.6294406056404114, + -0.7440281510353088 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.048672765493392944, + 0.03878243640065193, + 0.11356402933597565 + ], + "orientation": [ + 0.21107231080532074, + 0.0660419911146164, + 0.6185057163238525, + -0.7540143132209778 + ], + "joints": [ + -0.008886167779564857 + ] + }, + "final_grasp": { + "position": [ + -0.048672765493392944, + 0.03878243640065193, + 0.11356402933597565 + ], + "orientation": [ + 0.21107231080532074, + 0.0660419911146164, + 0.6185057163238525, + -0.7540143132209778 + ], + "joints": [ + -0.002482801675796509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.075514055788517, + 0.14999589323997498, + -0.0434022955596447 + ], + "orientation": [ + 0.10726267844438553, + -0.5749395489692688, + 0.2910074293613434, + 0.7571353912353516 + ], + "joints": [ + -0.004293540492653847 + ] + }, + "fine_grasp": { + "position": [ + 0.07347986102104187, + 0.1471632719039917, + -0.04385988786816597 + ], + "orientation": [ + 0.10025529563426971, + -0.583645761013031, + 0.2873677611351013, + 0.7528122663497925 + ], + "joints": [ + 0.0015784257557243109 + ] + }, + "final_grasp": { + "position": [ + 0.07347986102104187, + 0.1471632719039917, + -0.04385988786816597 + ], + "orientation": [ + 0.10025529563426971, + -0.583645761013031, + 0.2873677611351013, + 0.7528122663497925 + ], + "joints": [ + 0.0074503920041024685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08225671947002411, + 0.14099109172821045, + -0.04179691895842552 + ], + "orientation": [ + 0.3170841336250305, + 0.7348597049713135, + 0.13350766897201538, + -0.5844780206680298 + ], + "joints": [ + -0.0047769695520401 + ] + }, + "fine_grasp": { + "position": [ + -0.08055796474218369, + 0.13912715017795563, + -0.042926304042339325 + ], + "orientation": [ + 0.31401318311691284, + 0.7415290474891663, + 0.13066935539245605, + -0.5783216953277588 + ], + "joints": [ + 0.0010949966963380575 + ] + }, + "final_grasp": { + "position": [ + -0.08055796474218369, + 0.13912715017795563, + -0.042926304042339325 + ], + "orientation": [ + 0.31401318311691284, + 0.7415290474891663, + 0.13066935539245605, + -0.5783216953277588 + ], + "joints": [ + 0.006966962944716215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013500050641596317, + -0.11419279873371124, + -0.010875717736780643 + ], + "orientation": [ + 0.12200379371643066, + -0.02968442812561989, + -0.9919512867927551, + 0.016325928270816803 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.013547910377383232, + -0.1149977296590805, + -0.009755779057741165 + ], + "orientation": [ + 0.13317567110061646, + -0.02579152025282383, + -0.9907057285308838, + 0.010066824965178967 + ], + "joints": [ + -0.007119744084775448 + ] + }, + "final_grasp": { + "position": [ + -0.013547910377383232, + -0.1149977296590805, + -0.009755779057741165 + ], + "orientation": [ + 0.13317567110061646, + -0.02579152025282383, + -0.9907057285308838, + 0.010066824965178967 + ], + "joints": [ + -0.0007163789123296738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002692318055778742, + 0.19015026092529297, + -0.05769132822751999 + ], + "orientation": [ + 0.1527605801820755, + 0.5855433940887451, + -0.1363145411014557, + -0.7843605279922485 + ], + "joints": [ + -0.0020289591047912836 + ] + }, + "fine_grasp": { + "position": [ + -0.0024321519304066896, + 0.18594513833522797, + -0.05725821107625961 + ], + "orientation": [ + 0.16216108202934265, + 0.6036524772644043, + -0.12608638405799866, + -0.7703309059143066 + ], + "joints": [ + 0.0033381772227585316 + ] + }, + "final_grasp": { + "position": [ + -0.0024321519304066896, + 0.18594513833522797, + -0.05725821107625961 + ], + "orientation": [ + 0.16216108202934265, + 0.6036524772644043, + -0.12608638405799866, + -0.7703309059143066 + ], + "joints": [ + 0.008705313317477703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02100645937025547, + 0.024397743865847588, + -0.127096489071846 + ], + "orientation": [ + 0.15266449749469757, + 0.03268321603536606, + -0.6197081804275513, + -0.7691469192504883 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.01960403099656105, + 0.02469109743833542, + -0.12498333305120468 + ], + "orientation": [ + 0.13840994238853455, + 0.024042965844273567, + -0.6218556761741638, + -0.7704285979270935 + ], + "joints": [ + -0.007705681025981903 + ] + }, + "final_grasp": { + "position": [ + -0.01960403099656105, + 0.02469109743833542, + -0.12498333305120468 + ], + "orientation": [ + 0.13840994238853455, + 0.024042965844273567, + -0.6218556761741638, + -0.7704285979270935 + ], + "joints": [ + -0.001328885555267334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021207237616181374, + 0.024449586868286133, + -0.12726745009422302 + ], + "orientation": [ + 0.15226313471794128, + 0.03140852600336075, + -0.6195398569107056, + -0.7694151401519775 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.019840240478515625, + 0.024552473798394203, + -0.12488628178834915 + ], + "orientation": [ + 0.1383412927389145, + 0.02280476875603199, + -0.6214037537574768, + -0.7708430290222168 + ], + "joints": [ + -0.007705681025981903 + ] + }, + "final_grasp": { + "position": [ + -0.019840240478515625, + 0.024552473798394203, + -0.12488628178834915 + ], + "orientation": [ + 0.1383412927389145, + 0.02280476875603199, + -0.6214037537574768, + -0.7708430290222168 + ], + "joints": [ + -0.001328885555267334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10557097941637039, + 0.11718770861625671, + -0.036530040204524994 + ], + "orientation": [ + 0.22985632717609406, + -0.5826477408409119, + 0.40459489822387695, + 0.6663263440132141 + ], + "joints": [ + -0.003966910764575005 + ] + }, + "fine_grasp": { + "position": [ + 0.10333798825740814, + 0.11454182863235474, + -0.03764167055487633 + ], + "orientation": [ + 0.22919103503227234, + -0.5809156894683838, + 0.40552160143852234, + 0.6675033569335938 + ], + "joints": [ + 0.0014267953811213374 + ] + }, + "final_grasp": { + "position": [ + 0.10333798825740814, + 0.11454182863235474, + -0.03764167055487633 + ], + "orientation": [ + 0.22919103503227234, + -0.5809156894683838, + 0.40552160143852234, + 0.6675033569335938 + ], + "joints": [ + 0.006820501759648323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12657950818538666, + 0.07403288781642914, + -0.04816153272986412 + ], + "orientation": [ + 0.3493761122226715, + -0.44783708453178406, + 0.5352171659469604, + 0.6252367496490479 + ], + "joints": [ + -0.005333314649760723 + ] + }, + "fine_grasp": { + "position": [ + 0.12180808931589127, + 0.07352344691753387, + -0.046963881701231 + ], + "orientation": [ + 0.3447842001914978, + -0.4610382616519928, + 0.5338954329490662, + 0.6192926168441772 + ], + "joints": [ + 0.0010434814030304551 + ] + }, + "final_grasp": { + "position": [ + 0.12180808931589127, + 0.07352344691753387, + -0.046963881701231 + ], + "orientation": [ + 0.3447842001914978, + -0.4610382616519928, + 0.5338954329490662, + 0.6192926168441772 + ], + "joints": [ + 0.00742027722299099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00564682949334383, + -0.02015668898820877, + -0.11387451738119125 + ], + "orientation": [ + 0.7900313138961792, + 0.5983005166053772, + -0.1225333958864212, + -0.05359593406319618 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.006009601056575775, + -0.02085031010210514, + -0.11618092656135559 + ], + "orientation": [ + 0.7861815094947815, + 0.6023745536804199, + -0.12517783045768738, + -0.05826042965054512 + ], + "joints": [ + -0.009445535019040108 + ] + }, + "final_grasp": { + "position": [ + 0.006009601056575775, + -0.02085031010210514, + -0.11618092656135559 + ], + "orientation": [ + 0.7861815094947815, + 0.6023745536804199, + -0.12517783045768738, + -0.05826042965054512 + ], + "joints": [ + -0.003042168915271759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1278519183397293, + 0.024806691333651543, + 0.026990046724677086 + ], + "orientation": [ + 0.5169093608856201, + 0.3590361475944519, + 0.5972026586532593, + -0.4972390830516815 + ], + "joints": [ + -0.0014917978551238775 + ] + }, + "fine_grasp": { + "position": [ + -0.12537501752376556, + 0.025033973157405853, + 0.027413899078965187 + ], + "orientation": [ + 0.514492392539978, + 0.35569190979003906, + 0.5950896739959717, + -0.5046277046203613 + ], + "joints": [ + 0.0033439388498663902 + ] + }, + "final_grasp": { + "position": [ + -0.12537501752376556, + 0.025033973157405853, + 0.027413899078965187 + ], + "orientation": [ + 0.514492392539978, + 0.35569190979003906, + 0.5950896739959717, + -0.5046277046203613 + ], + "joints": [ + 0.008179675787687302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10375747084617615, + 0.1326926350593567, + -0.03206455335021019 + ], + "orientation": [ + 0.24213849008083344, + -0.5554843544960022, + 0.35292133688926697, + 0.7129183411598206 + ], + "joints": [ + -0.003498384263366461 + ] + }, + "fine_grasp": { + "position": [ + 0.10120758414268494, + 0.13053159415721893, + -0.03251064941287041 + ], + "orientation": [ + 0.23698663711547852, + -0.5612236261367798, + 0.34916892647743225, + 0.712001621723175 + ], + "joints": [ + 0.0029049813747406006 + ] + }, + "final_grasp": { + "position": [ + 0.10120758414268494, + 0.13053159415721893, + -0.03251064941287041 + ], + "orientation": [ + 0.23698663711547852, + -0.5612236261367798, + 0.34916892647743225, + 0.712001621723175 + ], + "joints": [ + 0.00930834747850895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002407914726063609, + -0.10309362411499023, + -0.024175206199288368 + ], + "orientation": [ + 0.6303125023841858, + 0.13679438829421997, + 0.7641943097114563, + -0.0007893541478551924 + ], + "joints": [ + -0.002119669923558831 + ] + }, + "fine_grasp": { + "position": [ + -0.0037360340356826782, + -0.10269293934106827, + -0.024719640612602234 + ], + "orientation": [ + 0.627188503742218, + 0.13315314054489136, + 0.7673982381820679, + 0.002176795620471239 + ], + "joints": [ + 0.004257126245647669 + ] + }, + "final_grasp": { + "position": [ + -0.0037360340356826782, + -0.10269293934106827, + -0.024719640612602234 + ], + "orientation": [ + 0.627188503742218, + 0.13315314054489136, + 0.7673982381820679, + 0.002176795620471239 + ], + "joints": [ + 0.010633922182023525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006424883846193552, + 0.009413636289536953, + 0.1195211112499237 + ], + "orientation": [ + 0.713205099105835, + -0.6946131587028503, + -0.04948927462100983, + 0.08001229166984558 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.006743198726326227, + 0.008908011950552464, + 0.12025409191846848 + ], + "orientation": [ + 0.7056733965873718, + -0.7013707756996155, + -0.05129322409629822, + 0.08644700795412064 + ], + "joints": [ + -0.008886167779564857 + ] + }, + "final_grasp": { + "position": [ + 0.006743198726326227, + 0.008908011950552464, + 0.12025409191846848 + ], + "orientation": [ + 0.7056733965873718, + -0.7013707756996155, + -0.05129322409629822, + 0.08644700795412064 + ], + "joints": [ + -0.002482801675796509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006471035536378622, + 0.009371917694807053, + 0.11940211057662964 + ], + "orientation": [ + 0.7132935523986816, + -0.6945196986198425, + -0.04924759268760681, + 0.08018423616886139 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.006779583171010017, + 0.008930303156375885, + 0.12025707960128784 + ], + "orientation": [ + 0.7056415677070618, + -0.7014164328575134, + -0.05109171196818352, + 0.08645622432231903 + ], + "joints": [ + -0.008886167779564857 + ] + }, + "final_grasp": { + "position": [ + 0.006779583171010017, + 0.008930303156375885, + 0.12025707960128784 + ], + "orientation": [ + 0.7056415677070618, + -0.7014164328575134, + -0.05109171196818352, + 0.08645622432231903 + ], + "joints": [ + -0.002482801675796509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008062858134508133, + -0.05560711398720741, + -0.09937825053930283 + ], + "orientation": [ + 0.12302209436893463, + 0.017865993082523346, + -0.8654305934906006, + -0.48536181449890137 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.007020292337983847, + -0.056613072752952576, + -0.10108775645494461 + ], + "orientation": [ + 0.10802306979894638, + 0.01495437789708376, + -0.8615908026695251, + -0.49575069546699524 + ], + "joints": [ + -0.007765960413962603 + ] + }, + "final_grasp": { + "position": [ + -0.007020292337983847, + -0.056613072752952576, + -0.10108775645494461 + ], + "orientation": [ + 0.10802306979894638, + 0.01495437789708376, + -0.8615908026695251, + -0.49575069546699524 + ], + "joints": [ + -0.0008311951532959938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.000891737756319344, + 0.07404116541147232, + -0.12031693756580353 + ], + "orientation": [ + 0.0842166543006897, + 0.09677381068468094, + -0.6898474097251892, + -0.7124977111816406 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.00030254025477916, + 0.07491352409124374, + -0.12312008440494537 + ], + "orientation": [ + 0.07437071949243546, + 0.09430693089962006, + -0.6910271644592285, + -0.7127809524536133 + ], + "joints": [ + -0.011325371451675892 + ] + }, + "final_grasp": { + "position": [ + -0.00030254025477916, + 0.07491352409124374, + -0.12312008440494537 + ], + "orientation": [ + 0.07437071949243546, + 0.09430693089962006, + -0.6910271644592285, + -0.7127809524536133 + ], + "joints": [ + -0.004417167976498604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001058761728927493, + 0.07401363551616669, + -0.11958115547895432 + ], + "orientation": [ + 0.08746609091758728, + 0.09975217282772064, + -0.6905967593193054, + -0.7109677791595459 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.000269220006885007, + 0.07488906383514404, + -0.12295792996883392 + ], + "orientation": [ + 0.07422151416540146, + 0.0941769927740097, + -0.6934881210327148, + -0.7104196548461914 + ], + "joints": [ + -0.011800759471952915 + ] + }, + "final_grasp": { + "position": [ + -0.000269220006885007, + 0.07488906383514404, + -0.12295792996883392 + ], + "orientation": [ + 0.07422151416540146, + 0.0941769927740097, + -0.6934881210327148, + -0.7104196548461914 + ], + "joints": [ + -0.005397384986281395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02281399816274643, + 0.04656638950109482, + 0.11901158094406128 + ], + "orientation": [ + 0.07479283958673477, + 0.05627461522817612, + 0.645229160785675, + -0.7582337856292725 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.021944932639598846, + 0.04434004798531532, + 0.11475703865289688 + ], + "orientation": [ + 0.06679842621088028, + 0.058449916541576385, + 0.6328447461128235, + -0.7691742777824402 + ], + "joints": [ + -0.008968750014901161 + ] + }, + "final_grasp": { + "position": [ + -0.021944932639598846, + 0.04434004798531532, + 0.11475703865289688 + ], + "orientation": [ + 0.06679842621088028, + 0.058449916541576385, + 0.6328447461128235, + -0.7691742777824402 + ], + "joints": [ + -0.0026185251772403717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0009506898932158947, + -0.05765124782919884, + -0.09789663553237915 + ], + "orientation": [ + 0.01194229070097208, + -0.001306824036873877, + -0.8783205151557922, + -0.47792142629623413 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.0004722025478258729, + -0.05967062711715698, + -0.09942008554935455 + ], + "orientation": [ + 0.01866983249783516, + 0.0007584535633213818, + -0.8756833672523499, + -0.48252415657043457 + ], + "joints": [ + -0.007681982591748238 + ] + }, + "final_grasp": { + "position": [ + -0.0004722025478258729, + -0.05967062711715698, + -0.09942008554935455 + ], + "orientation": [ + 0.01866983249783516, + 0.0007584535633213818, + -0.8756833672523499, + -0.48252415657043457 + ], + "joints": [ + -0.0012520477175712585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015524545684456825, + 0.025136547163128853, + 0.11728236079216003 + ], + "orientation": [ + 0.6990418434143066, + -0.7117185592651367, + -0.062102921307086945, + -0.03066507913172245 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.016148341819643974, + 0.025014176964759827, + 0.12027234584093094 + ], + "orientation": [ + 0.6964410543441772, + -0.7143540978431702, + -0.06468187272548676, + -0.022009141743183136 + ], + "joints": [ + -0.00944700837135315 + ] + }, + "final_grasp": { + "position": [ + -0.016148341819643974, + 0.025014176964759827, + 0.12027234584093094 + ], + "orientation": [ + 0.6964410543441772, + -0.7143540978431702, + -0.06468187272548676, + -0.022009141743183136 + ], + "joints": [ + -0.003575041890144348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00016826391220092773, + 0.029534613713622093, + -0.12275311350822449 + ], + "orientation": [ + 0.023499373346567154, + 0.02288428135216236, + 0.6933972835540771, + 0.7198085784912109 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.00010305672913091257, + 0.02854899875819683, + -0.1248285174369812 + ], + "orientation": [ + 0.01830287277698517, + 0.02243758924305439, + 0.6872327923774719, + 0.7258599996566772 + ], + "joints": [ + -0.00838133879005909 + ] + }, + "final_grasp": { + "position": [ + 0.00010305672913091257, + 0.02854899875819683, + -0.1248285174369812 + ], + "orientation": [ + 0.01830287277698517, + 0.02243758924305439, + 0.6872327923774719, + 0.7258599996566772 + ], + "joints": [ + -0.0014731436967849731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02240162156522274, + 0.076148122549057, + 0.11381997913122177 + ], + "orientation": [ + 0.031580112874507904, + 0.11497035622596741, + 0.654778778553009, + -0.7463574409484863 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.020946092903614044, + 0.07667931914329529, + 0.11622759699821472 + ], + "orientation": [ + 0.02514418587088585, + 0.11013559997081757, + 0.6591843366622925, + -0.7434473633766174 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + -0.020946092903614044, + 0.07667931914329529, + 0.11622759699821472 + ], + "orientation": [ + 0.02514418587088585, + 0.11013559997081757, + 0.6591843366622925, + -0.7434473633766174 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022388342767953873, + 0.0760011076927185, + 0.11367689073085785 + ], + "orientation": [ + 0.03238142654299736, + 0.11411692202091217, + 0.6551777720451355, + -0.7461037039756775 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.021078042685985565, + 0.07664556801319122, + 0.11620374023914337 + ], + "orientation": [ + 0.02611740119755268, + 0.10981112718582153, + 0.6593751311302185, + -0.7432925701141357 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + -0.021078042685985565, + 0.07664556801319122, + 0.11620374023914337 + ], + "orientation": [ + 0.02611740119755268, + 0.10981112718582153, + 0.6593751311302185, + -0.7432925701141357 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012093286029994488, + 0.10109906643629074, + 0.10588622838258743 + ], + "orientation": [ + 0.5975738763809204, + -0.797322690486908, + 0.008154500275850296, + 0.08435343205928802 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.013721272349357605, + 0.10193073004484177, + 0.10967803746461868 + ], + "orientation": [ + 0.5948384404182434, + -0.8006158471107483, + 0.012657013721764088, + 0.07086237519979477 + ], + "joints": [ + -0.011100010015070438 + ] + }, + "final_grasp": { + "position": [ + 0.013721272349357605, + 0.10193073004484177, + 0.10967803746461868 + ], + "orientation": [ + 0.5948384404182434, + -0.8006158471107483, + 0.012657013721764088, + 0.07086237519979477 + ], + "joints": [ + -0.005732869729399681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13810484111309052, + 0.07607030868530273, + 0.00445180619135499 + ], + "orientation": [ + 0.4285082221031189, + -0.5950097441673279, + -0.5499789714813232, + -0.3998340666294098 + ], + "joints": [ + 0.0012451647780835629 + ] + }, + "fine_grasp": { + "position": [ + -0.13787057995796204, + 0.07829760760068893, + 0.005452535580843687 + ], + "orientation": [ + 0.4243129789829254, + -0.5975186228752136, + -0.5604832768440247, + -0.385731041431427 + ], + "joints": [ + 0.007621960248798132 + ] + }, + "final_grasp": { + "position": [ + -0.13787057995796204, + 0.07829760760068893, + 0.005452535580843687 + ], + "orientation": [ + 0.4243129789829254, + -0.5975186228752136, + -0.5604832768440247, + -0.385731041431427 + ], + "joints": [ + 0.013998756185173988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016207285225391388, + 0.06150064989924431, + -0.11403978615999222 + ], + "orientation": [ + 0.7146591544151306, + 0.6949723958969116, + 0.03258034214377403, + -0.0722096636891365 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.017663968726992607, + 0.06104496493935585, + -0.11607933044433594 + ], + "orientation": [ + 0.714544951915741, + 0.6956883072853088, + 0.03163624182343483, + -0.06665074080228806 + ], + "joints": [ + -0.010568610392510891 + ] + }, + "final_grasp": { + "position": [ + -0.017663968726992607, + 0.06104496493935585, + -0.11607933044433594 + ], + "orientation": [ + 0.714544951915741, + 0.6956883072853088, + 0.03163624182343483, + -0.06665074080228806 + ], + "joints": [ + -0.004670070484280586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016267094761133194, + 0.06129966303706169, + -0.11405384540557861 + ], + "orientation": [ + 0.715122640132904, + 0.6944727897644043, + 0.03272954002022743, + -0.07236002385616302 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.017738020047545433, + 0.06088680401444435, + -0.11607427895069122 + ], + "orientation": [ + 0.7149960994720459, + 0.6952579021453857, + 0.031574588268995285, + -0.06633181124925613 + ], + "joints": [ + -0.010568610392510891 + ] + }, + "final_grasp": { + "position": [ + -0.017738020047545433, + 0.06088680401444435, + -0.11607427895069122 + ], + "orientation": [ + 0.7149960994720459, + 0.6952579021453857, + 0.031574588268995285, + -0.06633181124925613 + ], + "joints": [ + -0.004670070484280586 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2046, + "num_passed": 226 + } +} \ No newline at end of file diff --git a/005_french-fries_0/Annotation/piper_grasp_pose.json b/005_french-fries_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..c214533e40e5813febe62b65b50803f849f77948 --- /dev/null +++ b/005_french-fries_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,6618 @@ +{ + "type": "005_french-fries_0", + "bottom_center": [ + -1.6376376152038574e-05, + 0.04748792573809624, + -0.015457349829375744 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.010962477885186672, + -0.006178019102662802, + -0.13436882197856903 + ], + "orientation": [ + 0.6825965046882629, + -0.10691748559474945, + 0.05695716664195061, + 0.7206847071647644 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.010555785149335861, + -0.005951778497546911, + -0.1302461177110672 + ], + "orientation": [ + 0.6824743151664734, + -0.10481114685535431, + 0.055798888206481934, + 0.7212002873420715 + ], + "joints": [ + 0.027811165899038315 + ] + }, + "final_grasp": { + "position": [ + 0.010555785149335861, + -0.005951778497546911, + -0.1302461177110672 + ], + "orientation": [ + 0.6824743151664734, + -0.10481114685535431, + 0.055798888206481934, + 0.7212002873420715 + ], + "joints": [ + 0.020622331649065018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011119107715785503, + -0.006083325482904911, + -0.13435211777687073 + ], + "orientation": [ + 0.6825209856033325, + -0.10781315714120865, + 0.05717009678483009, + 0.7206058502197266 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.010716342367231846, + -0.005860992707312107, + -0.13022802770137787 + ], + "orientation": [ + 0.6824158430099487, + -0.10574478656053543, + 0.05595559999346733, + 0.7211071848869324 + ], + "joints": [ + 0.027811165899038315 + ] + }, + "final_grasp": { + "position": [ + 0.010716342367231846, + -0.005860992707312107, + -0.13022802770137787 + ], + "orientation": [ + 0.6824158430099487, + -0.10574478656053543, + 0.05595559999346733, + 0.7211071848869324 + ], + "joints": [ + 0.020622331649065018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0271139033138752, + 0.05541590601205826, + -0.131962850689888 + ], + "orientation": [ + 0.6977457404136658, + 0.009457635693252087, + -0.1430935561656952, + 0.7018444538116455 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.026081964373588562, + 0.05566059425473213, + -0.12774205207824707 + ], + "orientation": [ + 0.6985608339309692, + 0.00613508140668273, + -0.13934488594532013, + 0.7018248438835144 + ], + "joints": [ + 0.029065031558275223 + ] + }, + "final_grasp": { + "position": [ + 0.026081964373588562, + 0.05566059425473213, + -0.12774205207824707 + ], + "orientation": [ + 0.6985608339309692, + 0.00613508140668273, + -0.13934488594532013, + 0.7018248438835144 + ], + "joints": [ + 0.023130062967538834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0007300141151063144, + -0.021435033529996872, + 0.12983129918575287 + ], + "orientation": [ + 0.1051984578371048, + -0.7026089429855347, + -0.6965374946594238, + -0.10054527968168259 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.0007511329604312778, + -0.02073395624756813, + 0.1258973479270935 + ], + "orientation": [ + 0.09590314328670502, + -0.7041760683059692, + -0.6975652575492859, + -0.09133169054985046 + ], + "joints": [ + 0.029065031558275223 + ] + }, + "final_grasp": { + "position": [ + 0.0007511329604312778, + -0.02073395624756813, + 0.1258973479270935 + ], + "orientation": [ + 0.09590314328670502, + -0.7041760683059692, + -0.6975652575492859, + -0.09133169054985046 + ], + "joints": [ + 0.023130062967538834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000997165567241609, + -0.021506717428565025, + 0.12996740639209747 + ], + "orientation": [ + 0.10583192110061646, + -0.7027092576026917, + -0.6964071393013, + -0.10008203983306885 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.0009599148761481047, + -0.020814672112464905, + 0.1260838359594345 + ], + "orientation": [ + 0.09705043584108353, + -0.7045087218284607, + -0.6971520781517029, + -0.0907062217593193 + ], + "joints": [ + 0.028667975217103958 + ] + }, + "final_grasp": { + "position": [ + 0.0009599148761481047, + -0.020814672112464905, + 0.1260838359594345 + ], + "orientation": [ + 0.09705043584108353, + -0.7045087218284607, + -0.6971520781517029, + -0.0907062217593193 + ], + "joints": [ + 0.022335950285196304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008056103251874447, + -0.021540150046348572, + 0.13001252710819244 + ], + "orientation": [ + 0.10508229583501816, + -0.702599823474884, + -0.6966540217399597, + -0.09992144256830215 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.0007419573375955224, + -0.020847376435995102, + 0.1261180341243744 + ], + "orientation": [ + 0.09582620114088058, + -0.7037973999977112, + -0.6979795694351196, + -0.091165691614151 + ], + "joints": [ + 0.028667975217103958 + ] + }, + "final_grasp": { + "position": [ + 0.0007419573375955224, + -0.020847376435995102, + 0.1261180341243744 + ], + "orientation": [ + 0.09582620114088058, + -0.7037973999977112, + -0.6979795694351196, + -0.091165691614151 + ], + "joints": [ + 0.022335950285196304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03419027477502823, + -0.09164166450500488, + 0.08029042929410934 + ], + "orientation": [ + 0.4220840036869049, + -0.7132635712623596, + 0.5402663350105286, + 0.1456449031829834 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.03283796086907387, + -0.08815408498048782, + 0.07797108590602875 + ], + "orientation": [ + 0.4203367233276367, + -0.7059800028800964, + 0.5502777099609375, + 0.148672953248024 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + -0.03283796086907387, + -0.08815408498048782, + 0.07797108590602875 + ], + "orientation": [ + 0.4203367233276367, + -0.7059800028800964, + 0.5502777099609375, + 0.148672953248024 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034364473074674606, + -0.09220448136329651, + 0.08053656667470932 + ], + "orientation": [ + 0.42213737964630127, + -0.7132420539855957, + 0.5401193499565125, + 0.1461401730775833 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.033227406442165375, + -0.08871825039386749, + 0.07836209237575531 + ], + "orientation": [ + 0.4228847920894623, + -0.7062932252883911, + 0.5472140312194824, + 0.15124504268169403 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + -0.033227406442165375, + -0.08871825039386749, + 0.07836209237575531 + ], + "orientation": [ + 0.4228847920894623, + -0.7062932252883911, + 0.5472140312194824, + 0.15124504268169403 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03788766264915466, + 0.037577539682388306, + 0.13373963534832 + ], + "orientation": [ + 0.15992607176303864, + 0.7140819430351257, + -0.6810747385025024, + -0.025452423840761185 + ], + "joints": [ + 0.03374961018562317 + ] + }, + "fine_grasp": { + "position": [ + 0.03668472170829773, + 0.037156540900468826, + 0.13005544245243073 + ], + "orientation": [ + 0.15016518533229828, + 0.7140253186225891, + -0.6830320358276367, + -0.03294564038515091 + ], + "joints": [ + 0.026121921837329865 + ] + }, + "final_grasp": { + "position": [ + 0.03668472170829773, + 0.037156540900468826, + 0.13005544245243073 + ], + "orientation": [ + 0.15016518533229828, + 0.7140253186225891, + -0.6830320358276367, + -0.03294564038515091 + ], + "joints": [ + 0.01849423348903656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022623207420110703, + -0.10944937914609909, + -0.057038258761167526 + ], + "orientation": [ + 0.5029065608978271, + -0.288380891084671, + 0.49274539947509766, + 0.6489403247833252 + ], + "joints": [ + 0.03368015214800835 + ] + }, + "fine_grasp": { + "position": [ + -0.0215695071965456, + -0.10632440447807312, + -0.054561547935009 + ], + "orientation": [ + 0.5083615183830261, + -0.2826274335384369, + 0.4871116280555725, + 0.6514694690704346 + ], + "joints": [ + 0.026115160435438156 + ] + }, + "final_grasp": { + "position": [ + -0.0215695071965456, + -0.10632440447807312, + -0.054561547935009 + ], + "orientation": [ + 0.5083615183830261, + -0.2826274335384369, + 0.4871116280555725, + 0.6514694690704346 + ], + "joints": [ + 0.018550168722867966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026481635868549347, + 0.05558757856488228, + -0.13302749395370483 + ], + "orientation": [ + 0.6981434226036072, + 0.012090836651623249, + -0.14175044000148773, + 0.7016811370849609 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.02545175887644291, + 0.055797044187784195, + -0.12893925607204437 + ], + "orientation": [ + 0.6990106701850891, + 0.009188605472445488, + -0.13788509368896484, + 0.7016319632530212 + ], + "joints": [ + 0.028626177459955215 + ] + }, + "final_grasp": { + "position": [ + 0.02545175887644291, + 0.055797044187784195, + -0.12893925607204437 + ], + "orientation": [ + 0.6990106701850891, + 0.009188605472445488, + -0.13788509368896484, + 0.7016319632530212 + ], + "joints": [ + 0.02225235477089882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026779836043715477, + 0.05612645298242569, + -0.13278473913669586 + ], + "orientation": [ + 0.6981996297836304, + 0.011571072041988373, + -0.1426399052143097, + 0.7014536261558533 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.02579149790108204, + 0.056393757462501526, + -0.12872828543186188 + ], + "orientation": [ + 0.6990281939506531, + 0.008535736240446568, + -0.13867008686065674, + 0.7014679908752441 + ], + "joints": [ + 0.028647076338529587 + ] + }, + "final_grasp": { + "position": [ + 0.02579149790108204, + 0.056393757462501526, + -0.12872828543186188 + ], + "orientation": [ + 0.6990281939506531, + 0.008535736240446568, + -0.13867008686065674, + 0.7014679908752441 + ], + "joints": [ + 0.02229415252804756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02681170590221882, + 0.05595850571990013, + -0.13263720273971558 + ], + "orientation": [ + 0.6980481147766113, + 0.012553776614367962, + -0.14391252398490906, + 0.7013275623321533 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.02581419050693512, + 0.056228604167699814, + -0.1285654455423355 + ], + "orientation": [ + 0.6989286541938782, + 0.009429129771888256, + -0.13988108932971954, + 0.7013153433799744 + ], + "joints": [ + 0.028647076338529587 + ] + }, + "final_grasp": { + "position": [ + 0.02581419050693512, + 0.056228604167699814, + -0.1285654455423355 + ], + "orientation": [ + 0.6989286541938782, + 0.009429129771888256, + -0.13988108932971954, + 0.7013153433799744 + ], + "joints": [ + 0.02229415252804756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015819817781448364, + 0.08291277289390564, + 0.1322096884250641 + ], + "orientation": [ + 0.0970170795917511, + 0.6725391745567322, + 0.7114055156707764, + -0.17938995361328125 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.0152291189879179, + 0.0821896344423294, + 0.12850643694400787 + ], + "orientation": [ + 0.08317112177610397, + 0.6765716075897217, + 0.712967038154602, + -0.16435199975967407 + ], + "joints": [ + 0.026938095688819885 + ] + }, + "final_grasp": { + "position": [ + 0.0152291189879179, + 0.0821896344423294, + 0.12850643694400787 + ], + "orientation": [ + 0.08317112177610397, + 0.6765716075897217, + 0.712967038154602, + -0.16435199975967407 + ], + "joints": [ + 0.020543374121189117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004511131905019283, + 0.1992625594139099, + -0.037021953612565994 + ], + "orientation": [ + 0.7938165664672852, + 0.602259635925293, + -0.08350660651922226, + -0.01285511814057827 + ], + "joints": [ + 0.020388934761285782 + ] + }, + "fine_grasp": { + "position": [ + -0.0038884328678250313, + 0.1954333782196045, + -0.03625905513763428 + ], + "orientation": [ + 0.792781412601471, + 0.6046711802482605, + -0.076310895383358, + -0.0068566990084946156 + ], + "joints": [ + 0.010775964707136154 + ] + }, + "final_grasp": { + "position": [ + -0.0038884328678250313, + 0.1954333782196045, + -0.03625905513763428 + ], + "orientation": [ + 0.792781412601471, + 0.6046711802482605, + -0.076310895383358, + -0.0068566990084946156 + ], + "joints": [ + 0.0011629946529865265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015805229544639587, + 0.08286534994840622, + 0.13220272958278656 + ], + "orientation": [ + 0.09691589325666428, + 0.6717126965522766, + 0.7121912240982056, + -0.17942406237125397 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.015220331028103828, + 0.08213834464550018, + 0.1285019963979721 + ], + "orientation": [ + 0.08309786766767502, + 0.6756673455238342, + 0.7138098478317261, + -0.1644505113363266 + ], + "joints": [ + 0.026938095688819885 + ] + }, + "final_grasp": { + "position": [ + 0.015220331028103828, + 0.08213834464550018, + 0.1285019963979721 + ], + "orientation": [ + 0.08309786766767502, + 0.6756673455238342, + 0.7138098478317261, + -0.1644505113363266 + ], + "joints": [ + 0.020543374121189117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13368648290634155, + 0.11114565283060074, + 0.007995201274752617 + ], + "orientation": [ + 0.3350051939487457, + -0.474762886762619, + 0.5673732161521912, + -0.583488941192627 + ], + "joints": [ + 0.020482173189520836 + ] + }, + "fine_grasp": { + "position": [ + -0.13025188446044922, + 0.10919813811779022, + 0.007743011694401503 + ], + "orientation": [ + 0.33189189434051514, + -0.47016003727912903, + 0.5699416995048523, + -0.5864843726158142 + ], + "joints": [ + 0.010869203135371208 + ] + }, + "final_grasp": { + "position": [ + -0.13025188446044922, + 0.10919813811779022, + 0.007743011694401503 + ], + "orientation": [ + 0.33189189434051514, + -0.47016003727912903, + 0.5699416995048523, + -0.5864843726158142 + ], + "joints": [ + 0.0012562330812215805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05715939402580261, + -0.059327106922864914, + 0.09328943490982056 + ], + "orientation": [ + 0.01567208580672741, + 0.5740283131599426, + -0.7323921918869019, + -0.3658519387245178 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.05455862730741501, + -0.05715830996632576, + 0.09051235020160675 + ], + "orientation": [ + 0.017219366505742073, + 0.583306074142456, + -0.7260899543762207, + -0.3636632263660431 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + 0.05455862730741501, + -0.05715830996632576, + 0.09051235020160675 + ], + "orientation": [ + 0.017219366505742073, + 0.583306074142456, + -0.7260899543762207, + -0.3636632263660431 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05702408775687218, + -0.05976996198296547, + 0.09289445728063583 + ], + "orientation": [ + 0.019844915717840195, + 0.5761593580245972, + -0.731830358505249, + -0.36341577768325806 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.05437946692109108, + -0.057494569569826126, + 0.09021235257387161 + ], + "orientation": [ + 0.015494836494326591, + 0.5847665667533875, + -0.7249420881271362, + -0.3636852502822876 + ], + "joints": [ + 0.027476806193590164 + ] + }, + "final_grasp": { + "position": [ + 0.05437946692109108, + -0.057494569569826126, + 0.09021235257387161 + ], + "orientation": [ + 0.015494836494326591, + 0.5847665667533875, + -0.7249420881271362, + -0.3636852502822876 + ], + "joints": [ + 0.019953612238168716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13280948996543884, + 0.11173085868358612, + 0.007708994671702385 + ], + "orientation": [ + 0.32859766483306885, + -0.488118976354599, + 0.5592891573905945, + -0.5839171409606934 + ], + "joints": [ + 0.019957032054662704 + ] + }, + "fine_grasp": { + "position": [ + -0.12949185073375702, + 0.10954327881336212, + 0.007550458889454603 + ], + "orientation": [ + 0.32239311933517456, + -0.481342077255249, + 0.5630496144294739, + -0.5893620848655701 + ], + "joints": [ + 0.010344062000513077 + ] + }, + "final_grasp": { + "position": [ + -0.12949185073375702, + 0.10954327881336212, + 0.007550458889454603 + ], + "orientation": [ + 0.32239311933517456, + -0.481342077255249, + 0.5630496144294739, + -0.5893620848655701 + ], + "joints": [ + 0.0007310919463634491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13279497623443604, + 0.11105695366859436, + 0.007891730405390263 + ], + "orientation": [ + 0.3306058347225189, + -0.4830302596092224, + 0.5614505410194397, + -0.5849401354789734 + ], + "joints": [ + 0.02037789672613144 + ] + }, + "fine_grasp": { + "position": [ + -0.12944279611110687, + 0.10899058729410172, + 0.007717038970440626 + ], + "orientation": [ + 0.32588618993759155, + -0.47603490948677063, + 0.5662776231765747, + -0.5886582136154175 + ], + "joints": [ + 0.010764926671981812 + ] + }, + "final_grasp": { + "position": [ + -0.12944279611110687, + 0.10899058729410172, + 0.007717038970440626 + ], + "orientation": [ + 0.32588618993759155, + -0.47603490948677063, + 0.5662776231765747, + -0.5886582136154175 + ], + "joints": [ + 0.0011519566178321838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017939601093530655, + 0.07172694057226181, + -0.1286611109972 + ], + "orientation": [ + 0.6744445562362671, + 0.17525342106819153, + -0.09149622172117233, + 0.7113643884658813 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.01731930300593376, + 0.07200727611780167, + -0.124521404504776 + ], + "orientation": [ + 0.6747614145278931, + 0.16876904666423798, + -0.08693880587816238, + 0.7132009863853455 + ], + "joints": [ + 0.028626177459955215 + ] + }, + "final_grasp": { + "position": [ + -0.01731930300593376, + 0.07200727611780167, + -0.124521404504776 + ], + "orientation": [ + 0.6747614145278931, + 0.16876904666423798, + -0.08693880587816238, + 0.7132009863853455 + ], + "joints": [ + 0.02225235477089882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018696347251534462, + 0.07217925041913986, + -0.1292770355939865 + ], + "orientation": [ + 0.6771705746650696, + 0.17172515392303467, + -0.08380012959241867, + 0.7105829119682312 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.018027348443865776, + 0.0723944827914238, + -0.1251898556947708 + ], + "orientation": [ + 0.677474856376648, + 0.16584855318069458, + -0.07985267788171768, + 0.7121416926383972 + ], + "joints": [ + 0.028626177459955215 + ] + }, + "final_grasp": { + "position": [ + -0.018027348443865776, + 0.0723944827914238, + -0.1251898556947708 + ], + "orientation": [ + 0.677474856376648, + 0.16584855318069458, + -0.07985267788171768, + 0.7121416926383972 + ], + "joints": [ + 0.02225235477089882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01878477819263935, + 0.0721995010972023, + -0.12915420532226562 + ], + "orientation": [ + 0.6770177483558655, + 0.17245692014694214, + -0.08406416326761246, + 0.7105200290679932 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.018119191750884056, + 0.07243074476718903, + -0.12511183321475983 + ], + "orientation": [ + 0.677341878414154, + 0.166406512260437, + -0.0799746885895729, + 0.7121241688728333 + ], + "joints": [ + 0.028626177459955215 + ] + }, + "final_grasp": { + "position": [ + -0.018119191750884056, + 0.07243074476718903, + -0.12511183321475983 + ], + "orientation": [ + 0.677341878414154, + 0.166406512260437, + -0.0799746885895729, + 0.7121241688728333 + ], + "joints": [ + 0.02225235477089882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028477171435952187, + -0.028328169137239456, + -0.12656645476818085 + ], + "orientation": [ + 0.6753793358802795, + -0.20875610411167145, + 0.07145819067955017, + 0.703688383102417 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.02733110450208187, + -0.028119556605815887, + -0.1226189136505127 + ], + "orientation": [ + 0.6752223968505859, + -0.20359282195568085, + 0.06849253922700882, + 0.7056440711021423 + ], + "joints": [ + 0.02820822224020958 + ] + }, + "final_grasp": { + "position": [ + 0.02733110450208187, + -0.028119556605815887, + -0.1226189136505127 + ], + "orientation": [ + 0.6752223968505859, + -0.20359282195568085, + 0.06849253922700882, + 0.7056440711021423 + ], + "joints": [ + 0.021416444331407547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02857176400721073, + 0.19111894071102142, + -0.010035819374024868 + ], + "orientation": [ + 0.7231239676475525, + 0.6839500069618225, + -0.08613254874944687, + -0.043420080095529556 + ], + "joints": [ + 0.019933493807911873 + ] + }, + "fine_grasp": { + "position": [ + 0.02807745710015297, + 0.18731985986232758, + -0.010012593120336533 + ], + "orientation": [ + 0.723604142665863, + 0.6841688752174377, + -0.08205091208219528, + -0.03972078114748001 + ], + "joints": [ + 0.010759377852082253 + ] + }, + "final_grasp": { + "position": [ + 0.02807745710015297, + 0.18731985986232758, + -0.010012593120336533 + ], + "orientation": [ + 0.723604142665863, + 0.6841688752174377, + -0.08205091208219528, + -0.03972078114748001 + ], + "joints": [ + 0.0015852618962526321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1322452425956726, + 0.11396937817335129, + -0.015800340101122856 + ], + "orientation": [ + 0.37492629885673523, + -0.3752642273902893, + -0.5471894145011902, + 0.6474493145942688 + ], + "joints": [ + 0.02359290048480034 + ] + }, + "fine_grasp": { + "position": [ + 0.12866339087486267, + 0.11257754266262054, + -0.015716051682829857 + ], + "orientation": [ + 0.3729202449321747, + -0.37819135189056396, + -0.5500018000602722, + 0.6445150971412659 + ], + "joints": [ + 0.01234990730881691 + ] + }, + "final_grasp": { + "position": [ + 0.12866339087486267, + 0.11257754266262054, + -0.015716051682829857 + ], + "orientation": [ + 0.3729202449321747, + -0.37819135189056396, + -0.5500018000602722, + 0.6445150971412659 + ], + "joints": [ + 0.0011069141328334808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047719407826662064, + -0.020677125081419945, + 0.11747375875711441 + ], + "orientation": [ + 0.06014794856309891, + 0.6219867467880249, + -0.7497369647026062, + -0.21773678064346313 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.045307569205760956, + -0.019802875816822052, + 0.11372773349285126 + ], + "orientation": [ + 0.06303197145462036, + 0.623752236366272, + -0.7493272423744202, + -0.21323387324810028 + ], + "joints": [ + 0.028291817754507065 + ] + }, + "final_grasp": { + "position": [ + 0.045307569205760956, + -0.019802875816822052, + 0.11372773349285126 + ], + "orientation": [ + 0.06303197145462036, + 0.623752236366272, + -0.7493272423744202, + -0.21323387324810028 + ], + "joints": [ + 0.021583635360002518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04769596457481384, + -0.02046743780374527, + 0.11696895211935043 + ], + "orientation": [ + 0.05974042788147926, + 0.6222662925720215, + -0.7490715384483337, + -0.21933484077453613 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.04527566209435463, + -0.019617462530732155, + 0.11324499547481537 + ], + "orientation": [ + 0.06218878552317619, + 0.6248782873153687, + -0.7480088472366333, + -0.21480779349803925 + ], + "joints": [ + 0.028291817754507065 + ] + }, + "final_grasp": { + "position": [ + 0.04527566209435463, + -0.019617462530732155, + 0.11324499547481537 + ], + "orientation": [ + 0.06218878552317619, + 0.6248782873153687, + -0.7480088472366333, + -0.21480779349803925 + ], + "joints": [ + 0.021583635360002518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15706013143062592, + 0.032429639250040054, + 0.015485528856515884 + ], + "orientation": [ + 0.4433475136756897, + 0.5571810603141785, + 0.5159512758255005, + 0.4762212038040161 + ], + "joints": [ + 0.025367366150021553 + ] + }, + "fine_grasp": { + "position": [ + -0.15353386104106903, + 0.03252001106739044, + 0.01573055237531662 + ], + "orientation": [ + 0.4479579031467438, + 0.5523027777671814, + 0.5113354921340942, + 0.48252612352371216 + ], + "joints": [ + 0.014124372974038124 + ] + }, + "final_grasp": { + "position": [ + -0.15353386104106903, + 0.03252001106739044, + 0.01573055237531662 + ], + "orientation": [ + 0.4479579031467438, + 0.5523027777671814, + 0.5113354921340942, + 0.48252612352371216 + ], + "joints": [ + 0.002881379798054695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12487886101007462, + 0.1255558282136917, + 0.012556673027575016 + ], + "orientation": [ + 0.29892683029174805, + -0.45916786789894104, + -0.5977830290794373, + 0.5852033495903015 + ], + "joints": [ + 0.020183231681585312 + ] + }, + "fine_grasp": { + "position": [ + 0.12170742452144623, + 0.12348860502243042, + 0.012122890911996365 + ], + "orientation": [ + 0.29389530420303345, + -0.4605003893375397, + -0.5978024005889893, + 0.5866833329200745 + ], + "joints": [ + 0.009755250066518784 + ] + }, + "final_grasp": { + "position": [ + 0.12170742452144623, + 0.12348860502243042, + 0.012122890911996365 + ], + "orientation": [ + 0.29389530420303345, + -0.4605003893375397, + -0.5978024005889893, + 0.5866833329200745 + ], + "joints": [ + -0.0006727315485477448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14574672281742096, + 0.09013264626264572, + -0.023961275815963745 + ], + "orientation": [ + 0.4546627104282379, + -0.38195863366127014, + 0.5145342946052551, + -0.6185821294784546 + ], + "joints": [ + 0.022820254787802696 + ] + }, + "fine_grasp": { + "position": [ + -0.1419912874698639, + 0.08963701128959656, + -0.023315614089369774 + ], + "orientation": [ + 0.4574471116065979, + -0.3844653069972992, + 0.5117670297622681, + -0.6172705292701721 + ], + "joints": [ + 0.013959599658846855 + ] + }, + "final_grasp": { + "position": [ + -0.1419912874698639, + 0.08963701128959656, + -0.023315614089369774 + ], + "orientation": [ + 0.4574471116065979, + -0.3844653069972992, + 0.5117670297622681, + -0.6172705292701721 + ], + "joints": [ + 0.005098944529891014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1234995499253273, + 0.02929055318236351, + -0.000593783741351217 + ], + "orientation": [ + 0.49912503361701965, + 0.4905221164226532, + -0.5075644850730896, + -0.5026335716247559 + ], + "joints": [ + 0.02488100901246071 + ] + }, + "fine_grasp": { + "position": [ + 0.12123913317918777, + 0.029264189302921295, + -0.0006602861685678363 + ], + "orientation": [ + 0.5007249712944031, + 0.48880535364151, + -0.5081705451011658, + -0.5021019577980042 + ], + "joints": [ + 0.015685994178056717 + ] + }, + "final_grasp": { + "position": [ + 0.12123913317918777, + 0.029264189302921295, + -0.0006602861685678363 + ], + "orientation": [ + 0.5007249712944031, + 0.48880535364151, + -0.5081705451011658, + -0.5021019577980042 + ], + "joints": [ + 0.006490979343652725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011844337917864323, + 0.19063319265842438, + -0.007135889492928982 + ], + "orientation": [ + 0.7119191288948059, + 0.6907731294631958, + 0.0681929737329483, + -0.10655216127634048 + ], + "joints": [ + 0.021984659135341644 + ] + }, + "fine_grasp": { + "position": [ + -0.01102438848465681, + 0.18684859573841095, + -0.007461726665496826 + ], + "orientation": [ + 0.7127079963684082, + 0.6899274587631226, + 0.0757167786359787, + -0.10156023502349854 + ], + "joints": [ + 0.01195373386144638 + ] + }, + "final_grasp": { + "position": [ + -0.01102438848465681, + 0.18684859573841095, + -0.007461726665496826 + ], + "orientation": [ + 0.7127079963684082, + 0.6899274587631226, + 0.0757167786359787, + -0.10156023502349854 + ], + "joints": [ + 0.001922808587551117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14053168892860413, + 0.10089597851037979, + -0.005809419322758913 + ], + "orientation": [ + 0.5705870985984802, + 0.5919175744056702, + 0.3574019968509674, + 0.44308891892433167 + ], + "joints": [ + 0.02390855923295021 + ] + }, + "fine_grasp": { + "position": [ + -0.13665996491909027, + 0.10011568665504456, + -0.005608460865914822 + ], + "orientation": [ + 0.568067729473114, + 0.5899473428726196, + 0.3600831925868988, + 0.4467677175998688 + ], + "joints": [ + 0.014295589178800583 + ] + }, + "final_grasp": { + "position": [ + -0.13665996491909027, + 0.10011568665504456, + -0.005608460865914822 + ], + "orientation": [ + 0.568067729473114, + 0.5899473428726196, + 0.3600831925868988, + 0.4467677175998688 + ], + "joints": [ + 0.004682619124650955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07082817703485489, + -0.11031286418437958, + -0.01841176487505436 + ], + "orientation": [ + 0.12492012232542038, + 0.09180223196744919, + 0.6600912809371948, + 0.735014796257019 + ], + "joints": [ + 0.022843411192297935 + ] + }, + "fine_grasp": { + "position": [ + -0.06837993115186691, + -0.10731617361307144, + -0.017444323748350143 + ], + "orientation": [ + 0.13397318124771118, + 0.10040275752544403, + 0.6548022031784058, + 0.7370240688323975 + ], + "joints": [ + 0.013648396357893944 + ] + }, + "final_grasp": { + "position": [ + -0.06837993115186691, + -0.10731617361307144, + -0.017444323748350143 + ], + "orientation": [ + 0.13397318124771118, + 0.10040275752544403, + 0.6548022031784058, + 0.7370240688323975 + ], + "joints": [ + 0.004453381523489952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02571680024266243, + 0.18141424655914307, + -0.01778537407517433 + ], + "orientation": [ + 0.06164703145623207, + -0.061272673308849335, + 0.6585955619812012, + -0.7474605441093445 + ], + "joints": [ + 0.02249179780483246 + ] + }, + "fine_grasp": { + "position": [ + -0.024696147069334984, + 0.17848435044288635, + -0.01844416931271553 + ], + "orientation": [ + 0.05733061581850052, + -0.06877968460321426, + 0.6555901765823364, + -0.749789297580719 + ], + "joints": [ + 0.012460872530937195 + ] + }, + "final_grasp": { + "position": [ + -0.024696147069334984, + 0.17848435044288635, + -0.01844416931271553 + ], + "orientation": [ + 0.05733061581850052, + -0.06877968460321426, + 0.6555901765823364, + -0.749789297580719 + ], + "joints": [ + 0.002429947257041931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025311943143606186, + 0.18026390671730042, + -0.01729981042444706 + ], + "orientation": [ + 0.059603992849588394, + -0.0614008754491806, + 0.6597550511360168, + -0.7465927004814148 + ], + "joints": [ + 0.02226994000375271 + ] + }, + "fine_grasp": { + "position": [ + -0.024156847968697548, + 0.17779602110385895, + -0.01788935251533985 + ], + "orientation": [ + 0.054650600999593735, + -0.06756263226270676, + 0.6569305062294006, + -0.7489265203475952 + ], + "joints": [ + 0.01265696994960308 + ] + }, + "final_grasp": { + "position": [ + -0.024156847968697548, + 0.17779602110385895, + -0.01788935251533985 + ], + "orientation": [ + 0.054650600999593735, + -0.06756263226270676, + 0.6569305062294006, + -0.7489265203475952 + ], + "joints": [ + 0.003043999895453453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052301932126283646, + -0.07268591225147247, + -0.08751197904348373 + ], + "orientation": [ + 0.6077253818511963, + -0.12414389103651047, + 0.42341017723083496, + 0.6602892875671387 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.05012820288538933, + -0.07159571349620819, + -0.08436375111341476 + ], + "orientation": [ + 0.613825798034668, + -0.11578364670276642, + 0.41728800535202026, + 0.6600626707077026 + ], + "joints": [ + 0.026298142969608307 + ] + }, + "final_grasp": { + "position": [ + -0.05012820288538933, + -0.07159571349620819, + -0.08436375111341476 + ], + "orientation": [ + 0.613825798034668, + -0.11578364670276642, + 0.41728800535202026, + 0.6600626707077026 + ], + "joints": [ + 0.018754050135612488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13594526052474976, + 0.05355614423751831, + 0.060632966458797455 + ], + "orientation": [ + 0.3708474338054657, + 0.5968620181083679, + -0.6108126640319824, + -0.36487776041030884 + ], + "joints": [ + 0.022773941978812218 + ] + }, + "fine_grasp": { + "position": [ + 0.1325569450855255, + 0.053504567593336105, + 0.05882726609706879 + ], + "orientation": [ + 0.3699452579021454, + 0.5982869863510132, + -0.6116565465927124, + -0.36203524470329285 + ], + "joints": [ + 0.013140073046088219 + ] + }, + "final_grasp": { + "position": [ + 0.1325569450855255, + 0.053504567593336105, + 0.05882726609706879 + ], + "orientation": [ + 0.3699452579021454, + 0.5982869863510132, + -0.6116565465927124, + -0.36203524470329285 + ], + "joints": [ + 0.0035062041133642197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11690472066402435, + 0.12517762184143066, + 0.03658302128314972 + ], + "orientation": [ + 0.536921501159668, + 0.643290102481842, + 0.4977344572544098, + 0.22395017743110657 + ], + "joints": [ + 0.022105921059846878 + ] + }, + "fine_grasp": { + "position": [ + -0.11429108679294586, + 0.12302178889513016, + 0.0356297641992569 + ], + "orientation": [ + 0.5388250350952148, + 0.6435660719871521, + 0.49565428495407104, + 0.2231975942850113 + ], + "joints": [ + 0.011259984225034714 + ] + }, + "final_grasp": { + "position": [ + -0.11429108679294586, + 0.12302178889513016, + 0.0356297641992569 + ], + "orientation": [ + 0.5388250350952148, + 0.6435660719871521, + 0.49565428495407104, + 0.2231975942850113 + ], + "joints": [ + 0.00041404739022254944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15034329891204834, + 0.07135748863220215, + -0.0009729616576805711 + ], + "orientation": [ + 0.6021213531494141, + 0.554270327091217, + -0.4425501227378845, + -0.36658358573913574 + ], + "joints": [ + 0.02244977094233036 + ] + }, + "fine_grasp": { + "position": [ + 0.1467359960079193, + 0.07105779647827148, + -0.0007342923199757934 + ], + "orientation": [ + 0.60175621509552, + 0.5481678247451782, + -0.4452836513519287, + -0.372993528842926 + ], + "joints": [ + 0.013192059472203255 + ] + }, + "final_grasp": { + "position": [ + 0.1467359960079193, + 0.07105779647827148, + -0.0007342923199757934 + ], + "orientation": [ + 0.60175621509552, + 0.5481678247451782, + -0.4452836513519287, + -0.372993528842926 + ], + "joints": [ + 0.003934348002076149 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03852510452270508, + 0.1762618124485016, + -0.010378033854067326 + ], + "orientation": [ + 0.12243515253067017, + -0.12726326286792755, + 0.674390435218811, + -0.7169458866119385 + ], + "joints": [ + 0.020853616297245026 + ] + }, + "fine_grasp": { + "position": [ + -0.037270691245794296, + 0.17311443388462067, + -0.009740655310451984 + ], + "orientation": [ + 0.12024317681789398, + -0.13175301253795624, + 0.6742124557495117, + -0.7166731357574463 + ], + "joints": [ + 0.011658601462841034 + ] + }, + "final_grasp": { + "position": [ + -0.037270691245794296, + 0.17311443388462067, + -0.009740655310451984 + ], + "orientation": [ + 0.12024317681789398, + -0.13175301253795624, + 0.6742124557495117, + -0.7166731357574463 + ], + "joints": [ + 0.0024635866284370422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06091465801000595, + 0.05929179489612579, + -0.11318252235651016 + ], + "orientation": [ + 0.7042039632797241, + -0.12296995520591736, + -0.2141229212284088, + 0.6656776070594788 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.058596041053533554, + 0.059482771903276443, + -0.10946981608867645 + ], + "orientation": [ + 0.7047869563102722, + -0.12700249254703522, + -0.2138027846813202, + 0.6644050478935242 + ], + "joints": [ + 0.0287097729742527 + ] + }, + "final_grasp": { + "position": [ + 0.058596041053533554, + 0.059482771903276443, + -0.10946981608867645 + ], + "orientation": [ + 0.7047869563102722, + -0.12700249254703522, + -0.2138027846813202, + 0.6644050478935242 + ], + "joints": [ + 0.02241954579949379 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025930622592568398, + 0.18086649477481842, + -0.01785901188850403 + ], + "orientation": [ + 0.055867619812488556, + -0.06395068019628525, + 0.6579229235649109, + -0.7482823729515076 + ], + "joints": [ + 0.022490598261356354 + ] + }, + "fine_grasp": { + "position": [ + -0.024759791791439056, + 0.17805512249469757, + -0.01847539283335209 + ], + "orientation": [ + 0.04894552379846573, + -0.07288132607936859, + 0.6547080278396606, + -0.7507662773132324 + ], + "joints": [ + 0.012877628207206726 + ] + }, + "final_grasp": { + "position": [ + -0.024759791791439056, + 0.17805512249469757, + -0.01847539283335209 + ], + "orientation": [ + 0.04894552379846573, + -0.07288132607936859, + 0.6547080278396606, + -0.7507662773132324 + ], + "joints": [ + 0.0032646581530570984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030320443212985992, + 0.03223200514912605, + 0.12925460934638977 + ], + "orientation": [ + 0.1260482221841812, + 0.745827853679657, + 0.653209388256073, + 0.034208960831165314 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.02885654754936695, + 0.03197229653596878, + 0.12499625980854034 + ], + "orientation": [ + 0.11579733341932297, + 0.750546932220459, + 0.6492177844047546, + 0.04226734861731529 + ], + "joints": [ + 0.029127728193998337 + ] + }, + "final_grasp": { + "position": [ + -0.02885654754936695, + 0.03197229653596878, + 0.12499625980854034 + ], + "orientation": [ + 0.11579733341932297, + 0.750546932220459, + 0.6492177844047546, + 0.04226734861731529 + ], + "joints": [ + 0.02325545623898506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11648417264223099, + 0.0968518778681755, + -0.009974019601941109 + ], + "orientation": [ + 0.6307448148727417, + 0.5219412446022034, + -0.44145911931991577, + -0.3672223389148712 + ], + "joints": [ + 0.02345287799835205 + ] + }, + "fine_grasp": { + "position": [ + 0.1149999350309372, + 0.09575332701206207, + -0.010080982930958271 + ], + "orientation": [ + 0.638200581073761, + 0.5291810631752014, + -0.4297981858253479, + -0.3576885163784027 + ], + "joints": [ + 0.013421952724456787 + ] + }, + "final_grasp": { + "position": [ + 0.1149999350309372, + 0.09575332701206207, + -0.010080982930958271 + ], + "orientation": [ + 0.638200581073761, + 0.5291810631752014, + -0.4297981858253479, + -0.3576885163784027 + ], + "joints": [ + 0.0033910274505615234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030361231416463852, + 0.032496340572834015, + 0.12934835255146027 + ], + "orientation": [ + 0.1258249282836914, + 0.7456924319267273, + 0.6533955335617065, + 0.034426577389240265 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.0289006270468235, + 0.032249581068754196, + 0.12509647011756897 + ], + "orientation": [ + 0.11532799154520035, + 0.7502941489219666, + 0.6495680212974548, + 0.042656853795051575 + ], + "joints": [ + 0.029127728193998337 + ] + }, + "final_grasp": { + "position": [ + -0.0289006270468235, + 0.032249581068754196, + 0.12509647011756897 + ], + "orientation": [ + 0.11532799154520035, + 0.7502941489219666, + 0.6495680212974548, + 0.042656853795051575 + ], + "joints": [ + 0.02325545623898506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006104696076363325, + 0.17858299612998962, + -0.03500308096408844 + ], + "orientation": [ + 0.051218245178461075, + -0.00836656428873539, + 0.6052753925323486, + -0.7943226099014282 + ], + "joints": [ + 0.023411251604557037 + ] + }, + "fine_grasp": { + "position": [ + -0.0004937383346259594, + 0.17635822296142578, + -0.03519125282764435 + ], + "orientation": [ + 0.052616186439991, + -0.010276236571371555, + 0.5994958281517029, + -0.7985803484916687 + ], + "joints": [ + 0.015449203550815582 + ] + }, + "final_grasp": { + "position": [ + -0.0004937383346259594, + 0.17635822296142578, + -0.03519125282764435 + ], + "orientation": [ + 0.052616186439991, + -0.010276236571371555, + 0.5994958281517029, + -0.7985803484916687 + ], + "joints": [ + 0.007487155497074127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034436337649822235, + 0.18984761834144592, + -0.004017195198684931 + ], + "orientation": [ + 0.10185374319553375, + -0.08095701038837433, + -0.7025355100631714, + 0.6996538639068604 + ], + "joints": [ + 0.020485026761889458 + ] + }, + "fine_grasp": { + "position": [ + 0.03359443321824074, + 0.18596073985099792, + -0.004658615682274103 + ], + "orientation": [ + 0.10343948006629944, + -0.0728800967335701, + -0.7010707259178162, + 0.7017752528190613 + ], + "joints": [ + 0.01168706826865673 + ] + }, + "final_grasp": { + "position": [ + 0.03359443321824074, + 0.18596073985099792, + -0.004658615682274103 + ], + "orientation": [ + 0.10343948006629944, + -0.0728800967335701, + -0.7010707259178162, + 0.7017752528190613 + ], + "joints": [ + 0.0028891097754240036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14086852967739105, + 0.022056257352232933, + -0.01056587789207697 + ], + "orientation": [ + 0.5192332863807678, + -0.4752623736858368, + 0.481611043214798, + -0.5220854878425598 + ], + "joints": [ + 0.024531694129109383 + ] + }, + "fine_grasp": { + "position": [ + -0.13696104288101196, + 0.022060783579945564, + -0.010251241736114025 + ], + "orientation": [ + 0.5187880396842957, + -0.4758480489253998, + 0.48201069235801697, + -0.5216255784034729 + ], + "joints": [ + 0.014500768855214119 + ] + }, + "final_grasp": { + "position": [ + -0.13696104288101196, + 0.022060783579945564, + -0.010251241736114025 + ], + "orientation": [ + 0.5187880396842957, + -0.4758480489253998, + 0.48201069235801697, + -0.5216255784034729 + ], + "joints": [ + 0.004469843581318855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037778377532958984, + 0.1740817129611969, + -0.013353635556995869 + ], + "orientation": [ + 0.118731290102005, + -0.12786778807640076, + 0.6645443439483643, + -0.7265903353691101 + ], + "joints": [ + 0.021795542910695076 + ] + }, + "fine_grasp": { + "position": [ + -0.03700685501098633, + 0.17157644033432007, + -0.013688579201698303 + ], + "orientation": [ + 0.11391167342662811, + -0.13735094666481018, + 0.6600548028945923, + -0.7297167778015137 + ], + "joints": [ + 0.012182572856545448 + ] + }, + "final_grasp": { + "position": [ + -0.03700685501098633, + 0.17157644033432007, + -0.013688579201698303 + ], + "orientation": [ + 0.11391167342662811, + -0.13735094666481018, + 0.6600548028945923, + -0.7297167778015137 + ], + "joints": [ + 0.0025696028023958206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10009405016899109, + -0.08740461617708206, + 0.0002317486796528101 + ], + "orientation": [ + 0.3493351936340332, + 0.186703160405159, + 0.6774766445159912, + 0.6197840571403503 + ], + "joints": [ + 0.02411179058253765 + ] + }, + "fine_grasp": { + "position": [ + -0.0979013442993164, + -0.08400700986385345, + -0.00011223043838981539 + ], + "orientation": [ + 0.3405616581439972, + 0.1830233633518219, + 0.6808822751045227, + 0.6220285296440125 + ], + "joints": [ + 0.01491677574813366 + ] + }, + "final_grasp": { + "position": [ + -0.0979013442993164, + -0.08400700986385345, + -0.00011223043838981539 + ], + "orientation": [ + 0.3405616581439972, + 0.1830233633518219, + 0.6808822751045227, + 0.6220285296440125 + ], + "joints": [ + 0.005721760913729668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06932127475738525, + 0.16715788841247559, + -0.020981669425964355 + ], + "orientation": [ + 0.7512571811676025, + 0.6167751550674438, + 0.2092646360397339, + 0.10681527107954025 + ], + "joints": [ + 0.022611867636442184 + ] + }, + "fine_grasp": { + "position": [ + -0.06759987026453018, + 0.16427169740200043, + -0.02007547952234745 + ], + "orientation": [ + 0.7496244311332703, + 0.6187792420387268, + 0.20970502495765686, + 0.10582666099071503 + ], + "joints": [ + 0.013019796460866928 + ] + }, + "final_grasp": { + "position": [ + -0.06759987026453018, + 0.16427169740200043, + -0.02007547952234745 + ], + "orientation": [ + 0.7496244311332703, + 0.6187792420387268, + 0.20970502495765686, + 0.10582666099071503 + ], + "joints": [ + 0.0034277252852916718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03156840428709984, + 0.2066766619682312, + -0.009792348369956017 + ], + "orientation": [ + 0.12521302700042725, + 0.0619286373257637, + -0.6933611035346985, + 0.7069206237792969 + ], + "joints": [ + 0.0176912359893322 + ] + }, + "fine_grasp": { + "position": [ + 0.030623354017734528, + 0.20290862023830414, + -0.00934829656034708 + ], + "orientation": [ + 0.12852992117404938, + 0.05904846265912056, + -0.6928411722183228, + 0.7070816159248352 + ], + "joints": [ + 0.009290333837270737 + ] + }, + "final_grasp": { + "position": [ + 0.030623354017734528, + 0.20290862023830414, + -0.00934829656034708 + ], + "orientation": [ + 0.12852992117404938, + 0.05904846265912056, + -0.6928411722183228, + 0.7070816159248352 + ], + "joints": [ + 0.0008894316852092743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1327618509531021, + 0.117750383913517, + 0.003520421916618943 + ], + "orientation": [ + 0.5213242173194885, + 0.6151387691497803, + -0.38823410868644714, + -0.44620585441589355 + ], + "joints": [ + 0.01856136880815029 + ] + }, + "fine_grasp": { + "position": [ + 0.12950296700000763, + 0.11582047492265701, + 0.003194777062162757 + ], + "orientation": [ + 0.5239041447639465, + 0.6193214654922485, + -0.3854871094226837, + -0.43973278999328613 + ], + "joints": [ + 0.009324556216597557 + ] + }, + "final_grasp": { + "position": [ + 0.12950296700000763, + 0.11582047492265701, + 0.003194777062162757 + ], + "orientation": [ + 0.5239041447639465, + 0.6193214654922485, + -0.3854871094226837, + -0.43973278999328613 + ], + "joints": [ + 8.774362504482269e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11746680736541748, + 0.12328611314296722, + 0.03641457483172417 + ], + "orientation": [ + 0.5475875735282898, + 0.651312530040741, + 0.4771549701690674, + 0.21968844532966614 + ], + "joints": [ + 0.02370351366698742 + ] + }, + "fine_grasp": { + "position": [ + -0.11467647552490234, + 0.12120039761066437, + 0.03602613881230354 + ], + "orientation": [ + 0.5459178686141968, + 0.653908371925354, + 0.4731501042842865, + 0.224736288189888 + ], + "joints": [ + 0.013672588393092155 + ] + }, + "final_grasp": { + "position": [ + -0.11467647552490234, + 0.12120039761066437, + 0.03602613881230354 + ], + "orientation": [ + 0.5459178686141968, + 0.653908371925354, + 0.4731501042842865, + 0.224736288189888 + ], + "joints": [ + 0.003641663119196892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12386283278465271, + 0.14516082406044006, + -0.01257917657494545 + ], + "orientation": [ + 0.5978116989135742, + 0.6068643927574158, + -0.3190142512321472, + -0.41541144251823425 + ], + "joints": [ + 0.020066281780600548 + ] + }, + "fine_grasp": { + "position": [ + 0.12107811868190765, + 0.14240166544914246, + -0.012495460920035839 + ], + "orientation": [ + 0.6027722358703613, + 0.6093464493751526, + -0.3126254081726074, + -0.40942394733428955 + ], + "joints": [ + 0.01045331172645092 + ] + }, + "final_grasp": { + "position": [ + 0.12107811868190765, + 0.14240166544914246, + -0.012495460920035839 + ], + "orientation": [ + 0.6027722358703613, + 0.6093464493751526, + -0.3126254081726074, + -0.40942394733428955 + ], + "joints": [ + 0.0008403416723012924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1237759217619896, + 0.1449303925037384, + -0.012423901818692684 + ], + "orientation": [ + 0.5968841314315796, + 0.6071653366088867, + -0.31619834899902344, + -0.4184472858905792 + ], + "joints": [ + 0.019830308854579926 + ] + }, + "fine_grasp": { + "position": [ + 0.1209338828921318, + 0.14212802052497864, + -0.01245777029544115 + ], + "orientation": [ + 0.6012064218521118, + 0.6108345985412598, + -0.3099411725997925, + -0.4115440845489502 + ], + "joints": [ + 0.010217338800430298 + ] + }, + "final_grasp": { + "position": [ + 0.1209338828921318, + 0.14212802052497864, + -0.01245777029544115 + ], + "orientation": [ + 0.6012064218521118, + 0.6108345985412598, + -0.3099411725997925, + -0.4115440845489502 + ], + "joints": [ + 0.0006043687462806702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13256214559078217, + 0.011126060038805008, + -0.009233387187123299 + ], + "orientation": [ + 0.5539944767951965, + -0.5145296454429626, + 0.44512641429901123, + -0.4798038899898529 + ], + "joints": [ + 0.024241583421826363 + ] + }, + "fine_grasp": { + "position": [ + -0.12871740758419037, + 0.0114152692258358, + -0.008898988366127014 + ], + "orientation": [ + 0.5533621311187744, + -0.5143682360649109, + 0.4460245370864868, + -0.4798726737499237 + ], + "joints": [ + 0.014649512246251106 + ] + }, + "final_grasp": { + "position": [ + -0.12871740758419037, + 0.0114152692258358, + -0.008898988366127014 + ], + "orientation": [ + 0.5533621311187744, + -0.5143682360649109, + 0.4460245370864868, + -0.4798726737499237 + ], + "joints": [ + 0.00505744107067585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14522509276866913, + 0.03828743100166321, + -0.009362535551190376 + ], + "orientation": [ + 0.5460466146469116, + 0.5518795251846313, + 0.39880281686782837, + 0.4880760908126831 + ], + "joints": [ + 0.024001184850931168 + ] + }, + "fine_grasp": { + "position": [ + -0.1412944793701172, + 0.0379316620528698, + -0.00900737289339304 + ], + "orientation": [ + 0.5439703464508057, + 0.5508546829223633, + 0.40094590187072754, + 0.489793598651886 + ], + "joints": [ + 0.01438821479678154 + ] + }, + "final_grasp": { + "position": [ + -0.1412944793701172, + 0.0379316620528698, + -0.00900737289339304 + ], + "orientation": [ + 0.5439703464508057, + 0.5508546829223633, + 0.40094590187072754, + 0.489793598651886 + ], + "joints": [ + 0.004775244742631912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14541830122470856, + 0.038361404091119766, + -0.009363889694213867 + ], + "orientation": [ + 0.545677125453949, + 0.5520045161247253, + 0.39869800209999084, + 0.4884335994720459 + ], + "joints": [ + 0.02379278652369976 + ] + }, + "fine_grasp": { + "position": [ + -0.1414889544248581, + 0.03800788149237633, + -0.009007849730551243 + ], + "orientation": [ + 0.5436010956764221, + 0.5509311556816101, + 0.40087106823921204, + 0.4901787340641022 + ], + "joints": [ + 0.014576872810721397 + ] + }, + "final_grasp": { + "position": [ + -0.1414889544248581, + 0.03800788149237633, + -0.009007849730551243 + ], + "orientation": [ + 0.5436010956764221, + 0.5509311556816101, + 0.40087106823921204, + 0.4901787340641022 + ], + "joints": [ + 0.005360959097743034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14259149134159088, + 0.045925915241241455, + -0.021920323371887207 + ], + "orientation": [ + 0.5495055317878723, + -0.45200762152671814, + -0.45721837878227234, + 0.5335580110549927 + ], + "joints": [ + 0.024380527436733246 + ] + }, + "fine_grasp": { + "position": [ + 0.13869783282279968, + 0.04599226638674736, + -0.02139998972415924 + ], + "orientation": [ + 0.5489463806152344, + -0.45272085070610046, + -0.45797356963157654, + 0.5328806638717651 + ], + "joints": [ + 0.014746658504009247 + ] + }, + "final_grasp": { + "position": [ + 0.13869783282279968, + 0.04599226638674736, + -0.02139998972415924 + ], + "orientation": [ + 0.5489463806152344, + -0.45272085070610046, + -0.45797356963157654, + 0.5328806638717651 + ], + "joints": [ + 0.005112789571285248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14251136779785156, + 0.046008750796318054, + -0.02194366604089737 + ], + "orientation": [ + 0.549822211265564, + -0.45190849900245667, + -0.45718327164649963, + 0.5333456993103027 + ], + "joints": [ + 0.02438180148601532 + ] + }, + "fine_grasp": { + "position": [ + 0.13862472772598267, + 0.046075109392404556, + -0.021435433998703957 + ], + "orientation": [ + 0.549186110496521, + -0.45267724990844727, + -0.4580164849758148, + 0.5326338410377502 + ], + "joints": [ + 0.01474793255329132 + ] + }, + "final_grasp": { + "position": [ + 0.13862472772598267, + 0.046075109392404556, + -0.021435433998703957 + ], + "orientation": [ + 0.549186110496521, + -0.45267724990844727, + -0.4580164849758148, + 0.5326338410377502 + ], + "joints": [ + 0.005114063620567322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008788853883743286, + 0.060247376561164856, + 0.11670219898223877 + ], + "orientation": [ + 0.09966445714235306, + -0.631894052028656, + 0.7683632373809814, + 0.019869456067681313 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.009038587100803852, + 0.05847955122590065, + 0.11300038546323776 + ], + "orientation": [ + 0.08970622718334198, + -0.6428453922271729, + 0.7605265378952026, + 0.017376042902469635 + ], + "joints": [ + 0.026386186480522156 + ] + }, + "final_grasp": { + "position": [ + -0.009038587100803852, + 0.05847955122590065, + 0.11300038546323776 + ], + "orientation": [ + 0.08970622718334198, + -0.6428453922271729, + 0.7605265378952026, + 0.017376042902469635 + ], + "joints": [ + 0.018027082085609436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14214085042476654, + 0.04595474898815155, + -0.021844318136572838 + ], + "orientation": [ + 0.548995852470398, + -0.45209604501724243, + -0.4573366940021515, + 0.5339061617851257 + ], + "joints": [ + 0.024431832134723663 + ] + }, + "fine_grasp": { + "position": [ + 0.1382611244916916, + 0.04602142423391342, + -0.021308571100234985 + ], + "orientation": [ + 0.5484753251075745, + -0.45282644033432007, + -0.45802241563796997, + 0.5332341194152832 + ], + "joints": [ + 0.014797963201999664 + ] + }, + "final_grasp": { + "position": [ + 0.1382611244916916, + 0.04602142423391342, + -0.021308571100234985 + ], + "orientation": [ + 0.5484753251075745, + -0.45282644033432007, + -0.45802241563796997, + 0.5332341194152832 + ], + "joints": [ + 0.005164094269275665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1269271969795227, + 0.0449262335896492, + -0.06710889935493469 + ], + "orientation": [ + 0.65027916431427, + 0.3814045786857605, + -0.3141687214374542, + -0.577031672000885 + ], + "joints": [ + 0.024811621755361557 + ] + }, + "fine_grasp": { + "position": [ + 0.12379607558250427, + 0.04480237513780594, + -0.06512483209371567 + ], + "orientation": [ + 0.6502341032028198, + 0.38061589002609253, + -0.3159519135951996, + -0.576629638671875 + ], + "joints": [ + 0.016368921846151352 + ] + }, + "final_grasp": { + "position": [ + 0.12379607558250427, + 0.04480237513780594, + -0.06512483209371567 + ], + "orientation": [ + 0.6502341032028198, + 0.38061589002609253, + -0.3159519135951996, + -0.576629638671875 + ], + "joints": [ + 0.007926221936941147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09849926829338074, + -0.08529134094715118, + -0.0004099725338164717 + ], + "orientation": [ + 0.35795703530311584, + 0.18301598727703094, + 0.676987886428833, + 0.6164894104003906 + ], + "joints": [ + 0.023984096944332123 + ] + }, + "fine_grasp": { + "position": [ + -0.09640726447105408, + -0.08195856213569641, + -0.000729032966773957 + ], + "orientation": [ + 0.34968918561935425, + 0.17957943677902222, + 0.6809494495391846, + 0.617880642414093 + ], + "joints": [ + 0.01476818323135376 + ] + }, + "final_grasp": { + "position": [ + -0.09640726447105408, + -0.08195856213569641, + -0.000729032966773957 + ], + "orientation": [ + 0.34968918561935425, + 0.17957943677902222, + 0.6809494495391846, + 0.617880642414093 + ], + "joints": [ + 0.005552269518375397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08532291650772095, + -0.09006692469120026, + 0.006508927326649427 + ], + "orientation": [ + 0.6428337097167969, + -0.6975648403167725, + -0.1362220048904419, + 0.2856777608394623 + ], + "joints": [ + 0.0288406889885664 + ] + }, + "fine_grasp": { + "position": [ + 0.08356215059757233, + -0.08743900805711746, + 0.005443493835628033 + ], + "orientation": [ + 0.6329219341278076, + -0.7086969614028931, + -0.13900232315063477, + 0.278992623090744 + ], + "joints": [ + 0.014818301424384117 + ] + }, + "final_grasp": { + "position": [ + 0.08356215059757233, + -0.08743900805711746, + 0.005443493835628033 + ], + "orientation": [ + 0.6329219341278076, + -0.7086969614028931, + -0.13900232315063477, + 0.278992623090744 + ], + "joints": [ + 0.0007959138602018356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13928182423114777, + -0.010474462062120438, + -0.03027246706187725 + ], + "orientation": [ + 0.5937505960464478, + -0.5475401282310486, + 0.2956468462944031, + -0.5101500749588013 + ], + "joints": [ + 0.023445449769496918 + ] + }, + "fine_grasp": { + "position": [ + -0.1356436014175415, + -0.009823516942560673, + -0.02930581569671631 + ], + "orientation": [ + 0.5914846658706665, + -0.545548141002655, + 0.29766544699668884, + -0.5137298107147217 + ], + "joints": [ + 0.01462659239768982 + ] + }, + "final_grasp": { + "position": [ + -0.1356436014175415, + -0.009823516942560673, + -0.02930581569671631 + ], + "orientation": [ + 0.5914846658706665, + -0.545548141002655, + 0.29766544699668884, + -0.5137298107147217 + ], + "joints": [ + 0.005807735025882721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1392696499824524, + -0.010417369194328785, + -0.03024878352880478 + ], + "orientation": [ + 0.5936482548713684, + -0.547702431678772, + 0.29548853635787964, + -0.510186493396759 + ], + "joints": [ + 0.023445449769496918 + ] + }, + "fine_grasp": { + "position": [ + -0.13563001155853271, + -0.009779994376003742, + -0.029275421053171158 + ], + "orientation": [ + 0.5913170576095581, + -0.5455998182296753, + 0.29761993885040283, + -0.5138943195343018 + ], + "joints": [ + 0.01462659239768982 + ] + }, + "final_grasp": { + "position": [ + -0.13563001155853271, + -0.009779994376003742, + -0.029275421053171158 + ], + "orientation": [ + 0.5913170576095581, + -0.5455998182296753, + 0.29761993885040283, + -0.5138943195343018 + ], + "joints": [ + 0.005807735025882721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14584259688854218, + 0.0804075300693512, + 0.004245256073772907 + ], + "orientation": [ + 0.49723440408706665, + 0.5554433465003967, + -0.459018349647522, + -0.48326268792152405 + ], + "joints": [ + 0.022912880405783653 + ] + }, + "fine_grasp": { + "position": [ + 0.14191484451293945, + 0.07958366721868515, + 0.0039004513528198004 + ], + "orientation": [ + 0.49716275930404663, + 0.5594019293785095, + -0.4564359188079834, + -0.4812118411064148 + ], + "joints": [ + 0.012902854010462761 + ] + }, + "final_grasp": { + "position": [ + 0.14191484451293945, + 0.07958366721868515, + 0.0039004513528198004 + ], + "orientation": [ + 0.49716275930404663, + 0.5594019293785095, + -0.4564359188079834, + -0.4812118411064148 + ], + "joints": [ + 0.0028928276151418686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1390504539012909, + -0.010355605743825436, + -0.030229538679122925 + ], + "orientation": [ + 0.5938964486122131, + -0.5474579930305481, + 0.29568129777908325, + -0.5100483894348145 + ], + "joints": [ + 0.023445449769496918 + ] + }, + "fine_grasp": { + "position": [ + -0.13533008098602295, + -0.009719845838844776, + -0.0292726568877697 + ], + "orientation": [ + 0.591442346572876, + -0.5453827977180481, + 0.2978961765766144, + -0.5138202905654907 + ], + "joints": [ + 0.01462659239768982 + ] + }, + "final_grasp": { + "position": [ + -0.13533008098602295, + -0.009719845838844776, + -0.0292726568877697 + ], + "orientation": [ + 0.591442346572876, + -0.5453827977180481, + 0.2978961765766144, + -0.5138202905654907 + ], + "joints": [ + 0.005807735025882721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1115642860531807, + 0.1298464685678482, + -0.02833513543009758 + ], + "orientation": [ + 0.3723434805870056, + -0.23627929389476776, + 0.5767461061477661, + -0.6876744627952576 + ], + "joints": [ + 0.02437920868396759 + ] + }, + "fine_grasp": { + "position": [ + -0.10830548405647278, + 0.12778225541114807, + -0.027527883648872375 + ], + "orientation": [ + 0.3730148375034332, + -0.24032647907733917, + 0.5765827894210815, + -0.6860433220863342 + ], + "joints": [ + 0.014766238629817963 + ] + }, + "final_grasp": { + "position": [ + -0.10830548405647278, + 0.12778225541114807, + -0.027527883648872375 + ], + "orientation": [ + 0.3730148375034332, + -0.24032647907733917, + 0.5765827894210815, + -0.6860433220863342 + ], + "joints": [ + 0.005153268575668335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1388203650712967, + -0.010422066785395145, + -0.03012716770172119 + ], + "orientation": [ + 0.5937244892120361, + -0.5469086766242981, + 0.29658088088035583, + -0.5103155374526978 + ], + "joints": [ + 0.023677004501223564 + ] + }, + "fine_grasp": { + "position": [ + -0.13509178161621094, + -0.009789908304810524, + -0.02913977950811386 + ], + "orientation": [ + 0.591255247592926, + -0.5447523593902588, + 0.29885798692703247, + -0.5141459703445435 + ], + "joints": [ + 0.014858147129416466 + ] + }, + "final_grasp": { + "position": [ + -0.13509178161621094, + -0.009789908304810524, + -0.02913977950811386 + ], + "orientation": [ + 0.591255247592926, + -0.5447523593902588, + 0.29885798692703247, + -0.5141459703445435 + ], + "joints": [ + 0.006039289757609367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07246885448694229, + 0.18640682101249695, + 0.012509782798588276 + ], + "orientation": [ + 0.017359934747219086, + -0.3059524595737457, + -0.6845666170120239, + 0.6614078283309937 + ], + "joints": [ + 0.01975000463426113 + ] + }, + "fine_grasp": { + "position": [ + 0.07070232182741165, + 0.1829393357038498, + 0.012029431760311127 + ], + "orientation": [ + 0.015140913426876068, + -0.311123788356781, + -0.68489670753479, + 0.6587027311325073 + ], + "joints": [ + 0.010952046141028404 + ] + }, + "final_grasp": { + "position": [ + 0.07070232182741165, + 0.1829393357038498, + 0.012029431760311127 + ], + "orientation": [ + 0.015140913426876068, + -0.311123788356781, + -0.68489670753479, + 0.6587027311325073 + ], + "joints": [ + 0.002154087647795677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07252644002437592, + 0.1865314245223999, + 0.013657410629093647 + ], + "orientation": [ + 0.014807485044002533, + -0.30997493863105774, + -0.6859212517738342, + 0.658185601234436 + ], + "joints": [ + 0.019715910777449608 + ] + }, + "fine_grasp": { + "position": [ + 0.07079793512821198, + 0.18310439586639404, + 0.013142510317265987 + ], + "orientation": [ + 0.012377426959574223, + -0.3147451877593994, + -0.6862919330596924, + 0.655580461025238 + ], + "joints": [ + 0.01089705340564251 + ] + }, + "final_grasp": { + "position": [ + 0.07079793512821198, + 0.18310439586639404, + 0.013142510317265987 + ], + "orientation": [ + 0.012377426959574223, + -0.3147451877593994, + -0.6862919330596924, + 0.655580461025238 + ], + "joints": [ + 0.002078196033835411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030870085582137108, + -0.1096719428896904, + 0.03401608765125275 + ], + "orientation": [ + 0.036830317229032516, + 0.021130621433258057, + 0.7970717549324036, + 0.6023899912834167 + ], + "joints": [ + 0.025071894749999046 + ] + }, + "fine_grasp": { + "position": [ + -0.03066946752369404, + -0.1059928685426712, + 0.0329974889755249 + ], + "orientation": [ + 0.0342763215303421, + 0.02217148430645466, + 0.7969188094139099, + 0.6027055978775024 + ], + "joints": [ + 0.01629483513534069 + ] + }, + "final_grasp": { + "position": [ + -0.03066946752369404, + -0.1059928685426712, + 0.0329974889755249 + ], + "orientation": [ + 0.0342763215303421, + 0.02217148430645466, + 0.7969188094139099, + 0.6027055978775024 + ], + "joints": [ + 0.007517775520682335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13258951902389526, + 0.11811710894107819, + 0.0036477812100201845 + ], + "orientation": [ + 0.5192167162895203, + 0.6170209646224976, + -0.38445845246315, + -0.4493226706981659 + ], + "joints": [ + 0.0185729768127203 + ] + }, + "fine_grasp": { + "position": [ + 0.12947508692741394, + 0.11582047492265701, + 0.0033653953578323126 + ], + "orientation": [ + 0.5237295627593994, + 0.6253053545951843, + -0.37660905718803406, + -0.4391653835773468 + ], + "joints": [ + 0.009775018319487572 + ] + }, + "final_grasp": { + "position": [ + 0.12947508692741394, + 0.11582047492265701, + 0.0033653953578323126 + ], + "orientation": [ + 0.5237295627593994, + 0.6253053545951843, + -0.37660905718803406, + -0.4391653835773468 + ], + "joints": [ + 0.0009770598262548447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13640539348125458, + 0.04652044177055359, + 0.008229617029428482 + ], + "orientation": [ + 0.49493926763534546, + 0.5194779634475708, + 0.5129920840263367, + 0.4711866080760956 + ], + "joints": [ + 0.02426372654736042 + ] + }, + "fine_grasp": { + "position": [ + -0.1324707567691803, + 0.0464785173535347, + 0.008006243966519833 + ], + "orientation": [ + 0.4951989948749542, + 0.5190781950950623, + 0.5131417512893677, + 0.47119131684303284 + ], + "joints": [ + 0.014650756493210793 + ] + }, + "final_grasp": { + "position": [ + -0.1324707567691803, + 0.0464785173535347, + 0.008006243966519833 + ], + "orientation": [ + 0.4951989948749542, + 0.5190781950950623, + 0.5131417512893677, + 0.47119131684303284 + ], + "joints": [ + 0.005037786439061165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13049106299877167, + -0.0396927185356617, + 0.008062902837991714 + ], + "orientation": [ + 0.6032371520996094, + -0.5599737763404846, + 0.4689638912677765, + -0.32032346725463867 + ], + "joints": [ + 0.024715328589081764 + ] + }, + "fine_grasp": { + "position": [ + -0.12686596810817719, + -0.038262151181697845, + 0.007800321560353041 + ], + "orientation": [ + 0.6038346886634827, + -0.560074508190155, + 0.4676874279975891, + -0.32088735699653625 + ], + "joints": [ + 0.0146844033151865 + ] + }, + "final_grasp": { + "position": [ + -0.12686596810817719, + -0.038262151181697845, + 0.007800321560353041 + ], + "orientation": [ + 0.6038346886634827, + -0.560074508190155, + 0.4676874279975891, + -0.32088735699653625 + ], + "joints": [ + 0.004653478041291237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07216963171958923, + 0.18340156972408295, + -0.0036103513557463884 + ], + "orientation": [ + 0.6498081684112549, + 0.6934292316436768, + -0.14961151778697968, + -0.2729867398738861 + ], + "joints": [ + 0.01932412013411522 + ] + }, + "fine_grasp": { + "position": [ + 0.07012639194726944, + 0.17999449372291565, + -0.0035159140825271606 + ], + "orientation": [ + 0.6499840617179871, + 0.6948145031929016, + -0.14825426042079926, + -0.2697669565677643 + ], + "joints": [ + 0.010129105299711227 + ] + }, + "final_grasp": { + "position": [ + 0.07012639194726944, + 0.17999449372291565, + -0.0035159140825271606 + ], + "orientation": [ + 0.6499840617179871, + 0.6948145031929016, + -0.14825426042079926, + -0.2697669565677643 + ], + "joints": [ + 0.0009340904653072357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08773031085729599, + 0.16482318937778473, + 0.02278265915811062 + ], + "orientation": [ + 0.004136210773140192, + 0.360943078994751, + -0.6615751385688782, + 0.6572833061218262 + ], + "joints": [ + 0.019614234566688538 + ] + }, + "fine_grasp": { + "position": [ + -0.08541583269834518, + 0.1621127724647522, + 0.021704208105802536 + ], + "orientation": [ + 0.00012234416499268264, + 0.3755786418914795, + -0.6612155437469482, + 0.649411141872406 + ], + "joints": [ + 0.011234231293201447 + ] + }, + "final_grasp": { + "position": [ + -0.08541583269834518, + 0.1621127724647522, + 0.021704208105802536 + ], + "orientation": [ + 0.00012234416499268264, + 0.3755786418914795, + -0.6612155437469482, + 0.649411141872406 + ], + "joints": [ + 0.0028542280197143555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01898988150060177, + 0.1359906941652298, + 0.10608414560556412 + ], + "orientation": [ + 0.16677941381931305, + 0.5836464762687683, + -0.7775198817253113, + 0.16432976722717285 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.018123948946595192, + 0.13336563110351562, + 0.10275719314813614 + ], + "orientation": [ + 0.1891857534646988, + 0.5902525782585144, + -0.7662128210067749, + 0.1694951057434082 + ], + "joints": [ + 0.02646029368042946 + ] + }, + "final_grasp": { + "position": [ + 0.018123948946595192, + 0.13336563110351562, + 0.10275719314813614 + ], + "orientation": [ + 0.1891857534646988, + 0.5902525782585144, + -0.7662128210067749, + 0.1694951057434082 + ], + "joints": [ + 0.019773010164499283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14019381999969482, + 0.10963496565818787, + -0.016818638890981674 + ], + "orientation": [ + 0.46460503339767456, + -0.2505248188972473, + 0.622099757194519, + -0.5782486796379089 + ], + "joints": [ + 0.020782575011253357 + ] + }, + "fine_grasp": { + "position": [ + -0.13651296496391296, + 0.10902000218629837, + -0.01598462089896202 + ], + "orientation": [ + 0.472236692905426, + -0.25446492433547974, + 0.6170569062232971, + -0.5757437944412231 + ], + "joints": [ + 0.012339875102043152 + ] + }, + "final_grasp": { + "position": [ + -0.13651296496391296, + 0.10902000218629837, + -0.01598462089896202 + ], + "orientation": [ + 0.472236692905426, + -0.25446492433547974, + 0.6170569062232971, + -0.5757437944412231 + ], + "joints": [ + 0.0038971751928329468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01802857220172882, + 0.13633908331394196, + 0.10713748633861542 + ], + "orientation": [ + 0.16495077311992645, + 0.5871378183364868, + -0.775502622127533, + 0.1632668524980545 + ], + "joints": [ + 0.032939180731773376 + ] + }, + "fine_grasp": { + "position": [ + 0.017259631305933, + 0.13371162116527557, + 0.10381752997636795 + ], + "orientation": [ + 0.18548375368118286, + 0.5921915173530579, + -0.7650700807571411, + 0.1719675362110138 + ], + "joints": [ + 0.02704600989818573 + ] + }, + "final_grasp": { + "position": [ + 0.017259631305933, + 0.13371162116527557, + 0.10381752997636795 + ], + "orientation": [ + 0.18548375368118286, + 0.5921915173530579, + -0.7650700807571411, + 0.1719675362110138 + ], + "joints": [ + 0.021152839064598083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0028344537131488323, + 0.2039565145969391, + 0.005249903537333012 + ], + "orientation": [ + 0.0025606497656553984, + 0.07711032778024673, + -0.7304214835166931, + 0.6786248683929443 + ], + "joints": [ + 0.01888015680015087 + ] + }, + "fine_grasp": { + "position": [ + 0.0027684096712619066, + 0.20001398026943207, + 0.00512468907982111 + ], + "orientation": [ + 0.0058823032304644585, + 0.0746781975030899, + -0.7313922047615051, + 0.6778302788734436 + ], + "joints": [ + 0.009267186746001244 + ] + }, + "final_grasp": { + "position": [ + 0.0027684096712619066, + 0.20001398026943207, + 0.00512468907982111 + ], + "orientation": [ + 0.0058823032304644585, + 0.0746781975030899, + -0.7313922047615051, + 0.6778302788734436 + ], + "joints": [ + -0.0003457833081483841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11397916823625565, + -0.030395036563277245, + -0.006033211015164852 + ], + "orientation": [ + 0.38821059465408325, + 0.3405917286872864, + 0.5988513231277466, + 0.6121004223823547 + ], + "joints": [ + 0.024678600952029228 + ] + }, + "fine_grasp": { + "position": [ + -0.11077410727739334, + -0.031381506472826004, + -0.00565623352304101 + ], + "orientation": [ + 0.38766399025917053, + 0.3351221978664398, + 0.6015778183937073, + 0.6127918362617493 + ], + "joints": [ + 0.015483586117625237 + ] + }, + "final_grasp": { + "position": [ + -0.11077410727739334, + -0.031381506472826004, + -0.00565623352304101 + ], + "orientation": [ + 0.38766399025917053, + 0.3351221978664398, + 0.6015778183937073, + 0.6127918362617493 + ], + "joints": [ + 0.006288571283221245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13418778777122498, + 0.10382702201604843, + 0.048833224922418594 + ], + "orientation": [ + 0.24002741277217865, + -0.5150994658470154, + 0.6394402980804443, + -0.5178568363189697 + ], + "joints": [ + 0.020882243290543556 + ] + }, + "fine_grasp": { + "position": [ + -0.13076913356781006, + 0.10276633501052856, + 0.04745865240693092 + ], + "orientation": [ + 0.2436983585357666, + -0.5189312100410461, + 0.637218177318573, + -0.5150480270385742 + ], + "joints": [ + 0.012460442259907722 + ] + }, + "final_grasp": { + "position": [ + -0.13076913356781006, + 0.10276633501052856, + 0.04745865240693092 + ], + "orientation": [ + 0.2436983585357666, + -0.5189312100410461, + 0.637218177318573, + -0.5150480270385742 + ], + "joints": [ + 0.004038641229271889 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13517232239246368, + 0.010397234000265598, + -0.013145354576408863 + ], + "orientation": [ + 0.5368109941482544, + -0.5346071720123291, + 0.4020007252693176, + -0.5142222046852112 + ], + "joints": [ + 0.024519585072994232 + ] + }, + "fine_grasp": { + "position": [ + -0.131308451294899, + 0.010754762217402458, + -0.012718022800981998 + ], + "orientation": [ + 0.533849835395813, + -0.5360619425773621, + 0.40184280276298523, + -0.5159111022949219 + ], + "joints": [ + 0.014906615018844604 + ] + }, + "final_grasp": { + "position": [ + -0.131308451294899, + 0.010754762217402458, + -0.012718022800981998 + ], + "orientation": [ + 0.533849835395813, + -0.5360619425773621, + 0.40184280276298523, + -0.5159111022949219 + ], + "joints": [ + 0.005293644964694977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1365988850593567, + 0.11362911015748978, + 0.016072869300842285 + ], + "orientation": [ + 0.5481285452842712, + 0.6667228937149048, + 0.34308362007141113, + 0.3705795109272003 + ], + "joints": [ + 0.02326020784676075 + ] + }, + "fine_grasp": { + "position": [ + -0.13295918703079224, + 0.11240921914577484, + 0.0157218836247921 + ], + "orientation": [ + 0.5454084277153015, + 0.6644788384437561, + 0.3472435176372528, + 0.374725878238678 + ], + "joints": [ + 0.01442045159637928 + ] + }, + "final_grasp": { + "position": [ + -0.13295918703079224, + 0.11240921914577484, + 0.0157218836247921 + ], + "orientation": [ + 0.5454084277153015, + 0.6644788384437561, + 0.3472435176372528, + 0.374725878238678 + ], + "joints": [ + 0.00558069534599781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1347622275352478, + 0.01011955551803112, + -0.013254396617412567 + ], + "orientation": [ + 0.5341565012931824, + -0.5355439186096191, + 0.4002093970775604, + -0.5173991918563843 + ], + "joints": [ + 0.02473088912665844 + ] + }, + "fine_grasp": { + "position": [ + -0.13090690970420837, + 0.010456611402332783, + -0.012778714299201965 + ], + "orientation": [ + 0.5308904647827148, + -0.5371747016906738, + 0.39975810050964355, + -0.5194152593612671 + ], + "joints": [ + 0.014720862731337547 + ] + }, + "final_grasp": { + "position": [ + -0.13090690970420837, + 0.010456611402332783, + -0.012778714299201965 + ], + "orientation": [ + 0.5308904647827148, + -0.5371747016906738, + 0.39975810050964355, + -0.5194152593612671 + ], + "joints": [ + 0.004710836336016655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13489295542240143, + 0.01057043019682169, + -0.013089300133287907 + ], + "orientation": [ + 0.5354422330856323, + -0.5357275605201721, + 0.40075376629829407, + -0.5154551863670349 + ], + "joints": [ + 0.02452363818883896 + ] + }, + "fine_grasp": { + "position": [ + -0.13100051879882812, + 0.010922952555119991, + -0.012591320089995861 + ], + "orientation": [ + 0.5321952104568481, + -0.537316620349884, + 0.40049979090690613, + -0.5173577666282654 + ], + "joints": [ + 0.014910668134689331 + ] + }, + "final_grasp": { + "position": [ + -0.13100051879882812, + 0.010922952555119991, + -0.012591320089995861 + ], + "orientation": [ + 0.5321952104568481, + -0.537316620349884, + 0.40049979090690613, + -0.5173577666282654 + ], + "joints": [ + 0.005297698080539703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1151685118675232, + 0.09267394244670868, + -0.002932367380708456 + ], + "orientation": [ + 0.3908115029335022, + -0.5034745335578918, + -0.5071153044700623, + 0.5801844596862793 + ], + "joints": [ + 0.02031787484884262 + ] + }, + "fine_grasp": { + "position": [ + 0.11457498371601105, + 0.08888529986143112, + -0.0024930634535849094 + ], + "orientation": [ + 0.39672884345054626, + -0.5023502111434937, + -0.5047231912612915, + 0.5792279243469238 + ], + "joints": [ + 0.011958770453929901 + ] + }, + "final_grasp": { + "position": [ + 0.11457498371601105, + 0.08888529986143112, + -0.0024930634535849094 + ], + "orientation": [ + 0.39672884345054626, + -0.5023502111434937, + -0.5047231912612915, + 0.5792279243469238 + ], + "joints": [ + 0.0035996660590171814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13427987694740295, + 0.07831981033086777, + -0.0024559174198657274 + ], + "orientation": [ + 0.4969153106212616, + 0.5754599571228027, + -0.3990369737148285, + -0.5125333070755005 + ], + "joints": [ + 0.024684293195605278 + ] + }, + "fine_grasp": { + "position": [ + 0.13046978414058685, + 0.0778065025806427, + -0.0023027320858091116 + ], + "orientation": [ + 0.49400773644447327, + 0.5815330743789673, + -0.39268484711647034, + -0.5133949518203735 + ], + "joints": [ + 0.014653367921710014 + ] + }, + "final_grasp": { + "position": [ + 0.13046978414058685, + 0.0778065025806427, + -0.0023027320858091116 + ], + "orientation": [ + 0.49400773644447327, + 0.5815330743789673, + -0.39268484711647034, + -0.5133949518203735 + ], + "joints": [ + 0.004622442647814751 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10466748476028442, + 0.1314985305070877, + -0.03385892137885094 + ], + "orientation": [ + 0.7102714776992798, + 0.514561116695404, + -0.3332253694534302, + -0.34597983956336975 + ], + "joints": [ + 0.02235906757414341 + ] + }, + "fine_grasp": { + "position": [ + 0.10304713994264603, + 0.12920303642749786, + -0.0340777263045311 + ], + "orientation": [ + 0.7142220735549927, + 0.5092206597328186, + -0.33141306042671204, + -0.34748604893684387 + ], + "joints": [ + 0.013979064300656319 + ] + }, + "final_grasp": { + "position": [ + 0.10304713994264603, + 0.12920303642749786, + -0.0340777263045311 + ], + "orientation": [ + 0.7142220735549927, + 0.5092206597328186, + -0.33141306042671204, + -0.34748604893684387 + ], + "joints": [ + 0.005599061027169228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0860624611377716, + -0.0774654746055603, + -0.01434219628572464 + ], + "orientation": [ + 0.2686181366443634, + 0.1937704086303711, + -0.634416937828064, + -0.6984356641769409 + ], + "joints": [ + 0.025382429361343384 + ] + }, + "fine_grasp": { + "position": [ + 0.08395335078239441, + -0.0754912942647934, + -0.014262810349464417 + ], + "orientation": [ + 0.26987606287002563, + 0.19274824857711792, + -0.6335839033126831, + -0.6989896893501282 + ], + "joints": [ + 0.015769459307193756 + ] + }, + "final_grasp": { + "position": [ + 0.08395335078239441, + -0.0754912942647934, + -0.014262810349464417 + ], + "orientation": [ + 0.26987606287002563, + 0.19274824857711792, + -0.6335839033126831, + -0.6989896893501282 + ], + "joints": [ + 0.006156489253044128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09616833925247192, + 0.1414313018321991, + 0.0702914372086525 + ], + "orientation": [ + 0.4641464352607727, + 0.7668430209159851, + 0.4277937114238739, + 0.11624271422624588 + ], + "joints": [ + 0.02158498764038086 + ] + }, + "fine_grasp": { + "position": [ + -0.0941649079322815, + 0.13884292542934418, + 0.06843240559101105 + ], + "orientation": [ + 0.468425989151001, + 0.7650309205055237, + 0.4271725118160248, + 0.11326193809509277 + ], + "joints": [ + 0.01274523138999939 + ] + }, + "final_grasp": { + "position": [ + -0.0941649079322815, + 0.13884292542934418, + 0.06843240559101105 + ], + "orientation": [ + 0.468425989151001, + 0.7650309205055237, + 0.4271725118160248, + 0.11326193809509277 + ], + "joints": [ + 0.00390547513961792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13425561785697937, + 0.0013925975654274225, + 0.004186395555734634 + ], + "orientation": [ + 0.36545321345329285, + 0.6058654189109802, + 0.40013402700424194, + 0.5824634432792664 + ], + "joints": [ + 0.024258127436041832 + ] + }, + "fine_grasp": { + "position": [ + -0.13024625182151794, + 0.0022425486240535975, + 0.004235304892063141 + ], + "orientation": [ + 0.3644864559173584, + 0.5981164574623108, + 0.4042527973651886, + 0.5882056951522827 + ], + "joints": [ + 0.015899023041129112 + ] + }, + "final_grasp": { + "position": [ + -0.13024625182151794, + 0.0022425486240535975, + 0.004235304892063141 + ], + "orientation": [ + 0.3644864559173584, + 0.5981164574623108, + 0.4042527973651886, + 0.5882056951522827 + ], + "joints": [ + 0.0075399186462163925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0026332635898143053, + 0.20058944821357727, + 0.0050613959319889545 + ], + "orientation": [ + 0.007199645042419434, + 0.06874319911003113, + -0.7283673882484436, + 0.6816915273666382 + ], + "joints": [ + 0.02000233717262745 + ] + }, + "fine_grasp": { + "position": [ + 0.0030701232608407736, + 0.1967470645904541, + 0.00492602214217186 + ], + "orientation": [ + 0.0051269857212901115, + 0.07300669699907303, + -0.7295061945915222, + 0.680047333240509 + ], + "joints": [ + 0.009992310777306557 + ] + }, + "final_grasp": { + "position": [ + 0.0030701232608407736, + 0.1967470645904541, + 0.00492602214217186 + ], + "orientation": [ + 0.0051269857212901115, + 0.07300669699907303, + -0.7295061945915222, + 0.680047333240509 + ], + "joints": [ + -1.7715618014335632e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12307126075029373, + 0.12097935378551483, + 0.013627872802317142 + ], + "orientation": [ + 0.3336811363697052, + -0.3424135744571686, + 0.6610844135284424, + -0.5782536864280701 + ], + "joints": [ + 0.023824162781238556 + ] + }, + "fine_grasp": { + "position": [ + -0.11942126601934433, + 0.11949881911277771, + 0.013313164934515953 + ], + "orientation": [ + 0.3355967104434967, + -0.3433742821216583, + 0.6602470874786377, + -0.5775316953659058 + ], + "joints": [ + 0.014211192727088928 + ] + }, + "final_grasp": { + "position": [ + -0.11942126601934433, + 0.11949881911277771, + 0.013313164934515953 + ], + "orientation": [ + 0.3355967104434967, + -0.3433742821216583, + 0.6602470874786377, + -0.5775316953659058 + ], + "joints": [ + 0.0045982226729393005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10374540090560913, + -0.06470012664794922, + -0.02253217250108719 + ], + "orientation": [ + 0.29164403676986694, + 0.3002766966819763, + 0.5631247758865356, + 0.7125083804130554 + ], + "joints": [ + 0.025470035150647163 + ] + }, + "fine_grasp": { + "position": [ + -0.10113106667995453, + -0.06236310675740242, + -0.021282177418470383 + ], + "orientation": [ + 0.2927016019821167, + 0.3006017506122589, + 0.5653801560401917, + 0.7101477384567261 + ], + "joints": [ + 0.01627502031624317 + ] + }, + "final_grasp": { + "position": [ + -0.10113106667995453, + -0.06236310675740242, + -0.021282177418470383 + ], + "orientation": [ + 0.2927016019821167, + 0.3006017506122589, + 0.5653801560401917, + 0.7101477384567261 + ], + "joints": [ + 0.00708000548183918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12244976311922073, + 0.12024986743927002, + 0.013441934250295162 + ], + "orientation": [ + 0.3314014971256256, + -0.3377107083797455, + 0.6629382967948914, + -0.5802045464515686 + ], + "joints": [ + 0.024224070832133293 + ] + }, + "fine_grasp": { + "position": [ + -0.1188444197177887, + 0.11866523325443268, + 0.013197834603488445 + ], + "orientation": [ + 0.3356412351131439, + -0.33839988708496094, + 0.6623317003250122, + -0.5780547261238098 + ], + "joints": [ + 0.014611100777983665 + ] + }, + "final_grasp": { + "position": [ + -0.1188444197177887, + 0.11866523325443268, + 0.013197834603488445 + ], + "orientation": [ + 0.3356412351131439, + -0.33839988708496094, + 0.6623317003250122, + -0.5780547261238098 + ], + "joints": [ + 0.004998130723834038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12250573188066483, + -0.010643012821674347, + -0.004730733577162027 + ], + "orientation": [ + 0.5898377299308777, + -0.5626296997070312, + 0.4043034017086029, + -0.41482269763946533 + ], + "joints": [ + 0.024429820477962494 + ] + }, + "fine_grasp": { + "position": [ + -0.11913805454969406, + -0.010750583373010159, + -0.004589735995978117 + ], + "orientation": [ + 0.5915993452072144, + -0.5615636110305786, + 0.4047543406486511, + -0.4133162498474121 + ], + "joints": [ + 0.015234805643558502 + ] + }, + "final_grasp": { + "position": [ + -0.11913805454969406, + -0.010750583373010159, + -0.004589735995978117 + ], + "orientation": [ + 0.5915993452072144, + -0.5615636110305786, + 0.4047543406486511, + -0.4133162498474121 + ], + "joints": [ + 0.0060397908091545105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12260577827692032, + 0.11963090300559998, + 0.013338083401322365 + ], + "orientation": [ + 0.32487696409225464, + -0.339054137468338, + 0.6619721055030823, + -0.5842005610466003 + ], + "joints": [ + 0.024363037198781967 + ] + }, + "fine_grasp": { + "position": [ + -0.11897347867488861, + 0.11813364177942276, + 0.013021543622016907 + ], + "orientation": [ + 0.3306822180747986, + -0.3426797389984131, + 0.6600279211997986, + -0.5810188055038452 + ], + "joints": [ + 0.01475006714463234 + ] + }, + "final_grasp": { + "position": [ + -0.11897347867488861, + 0.11813364177942276, + 0.013021543622016907 + ], + "orientation": [ + 0.3306822180747986, + -0.3426797389984131, + 0.6600279211997986, + -0.5810188055038452 + ], + "joints": [ + 0.005137097090482712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1246989518404007, + 0.026884254068136215, + -0.020092563703656197 + ], + "orientation": [ + 0.39201226830482483, + -0.4662252366542816, + 0.4303605854511261, + -0.6661458015441895 + ], + "joints": [ + 0.02480291947722435 + ] + }, + "fine_grasp": { + "position": [ + -0.12178979814052582, + 0.026514926925301552, + -0.01938779093325138 + ], + "orientation": [ + 0.39129841327667236, + -0.4790733754634857, + 0.4203842282295227, + -0.6638156771659851 + ], + "joints": [ + 0.016025859862565994 + ] + }, + "final_grasp": { + "position": [ + -0.12178979814052582, + 0.026514926925301552, + -0.01938779093325138 + ], + "orientation": [ + 0.39129841327667236, + -0.4790733754634857, + 0.4203842282295227, + -0.6638156771659851 + ], + "joints": [ + 0.0072488002479076385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12479501217603683, + 0.026883769780397415, + -0.019786104559898376 + ], + "orientation": [ + 0.3921210467815399, + -0.4670097231864929, + 0.43128490447998047, + -0.6649333238601685 + ], + "joints": [ + 0.02462915889918804 + ] + }, + "fine_grasp": { + "position": [ + -0.12185855209827423, + 0.026481952518224716, + -0.01910584419965744 + ], + "orientation": [ + 0.3911854028701782, + -0.4797978103160858, + 0.42114558815956116, + -0.662875771522522 + ], + "joints": [ + 0.016270054504275322 + ] + }, + "final_grasp": { + "position": [ + -0.12185855209827423, + 0.026481952518224716, + -0.01910584419965744 + ], + "orientation": [ + 0.3911854028701782, + -0.4797978103160858, + 0.42114558815956116, + -0.662875771522522 + ], + "joints": [ + 0.007910950109362602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12506495416164398, + -0.003059439128264785, + -0.015140187926590443 + ], + "orientation": [ + 0.5292108654975891, + -0.5155323147773743, + 0.4111858308315277, + -0.5339369773864746 + ], + "joints": [ + 0.025547532364726067 + ] + }, + "fine_grasp": { + "position": [ + -0.12229122221469879, + -0.0031169122084975243, + -0.01517226081341505 + ], + "orientation": [ + 0.5255714654922485, + -0.5192345380783081, + 0.40436437726020813, + -0.5391284227371216 + ], + "joints": [ + 0.01593456231057644 + ] + }, + "final_grasp": { + "position": [ + -0.12229122221469879, + -0.0031169122084975243, + -0.01517226081341505 + ], + "orientation": [ + 0.5255714654922485, + -0.5192345380783081, + 0.40436437726020813, + -0.5391284227371216 + ], + "joints": [ + 0.006321592256426811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13096895813941956, + 0.03965970128774643, + 0.00740326102823019 + ], + "orientation": [ + 0.5389271974563599, + -0.4708382785320282, + -0.5549323558807373, + 0.42416858673095703 + ], + "joints": [ + 0.025085898116230965 + ] + }, + "fine_grasp": { + "position": [ + 0.12708914279937744, + 0.039736974984407425, + 0.007186089176684618 + ], + "orientation": [ + 0.5452924966812134, + -0.461565226316452, + -0.5639968514442444, + 0.4141511619091034 + ], + "joints": [ + 0.0158699844032526 + ] + }, + "final_grasp": { + "position": [ + 0.12708914279937744, + 0.039736974984407425, + 0.007186089176684618 + ], + "orientation": [ + 0.5452924966812134, + -0.461565226316452, + -0.5639968514442444, + 0.4141511619091034 + ], + "joints": [ + 0.006654070690274239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12466412782669067, + 0.039868392050266266, + 0.006896205712109804 + ], + "orientation": [ + 0.46462345123291016, + -0.38297632336616516, + -0.6205087304115295, + 0.5024171471595764 + ], + "joints": [ + 0.024617595598101616 + ] + }, + "fine_grasp": { + "position": [ + 0.12127695232629776, + 0.040221620351076126, + 0.007017577067017555 + ], + "orientation": [ + 0.4735308587551117, + -0.3714856207370758, + -0.6287375688552856, + 0.4923981726169586 + ], + "joints": [ + 0.01584053598344326 + ] + }, + "final_grasp": { + "position": [ + 0.12127695232629776, + 0.040221620351076126, + 0.007017577067017555 + ], + "orientation": [ + 0.4735308587551117, + -0.3714856207370758, + -0.6287375688552856, + 0.4923981726169586 + ], + "joints": [ + 0.0070634763687849045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12310145050287247, + 0.06096258759498596, + 0.005484226159751415 + ], + "orientation": [ + 0.4462350904941559, + -0.457620233297348, + -0.56004798412323, + 0.5270713567733765 + ], + "joints": [ + 0.02503439225256443 + ] + }, + "fine_grasp": { + "position": [ + 0.12050443887710571, + 0.06165512278676033, + 0.0053257569670677185 + ], + "orientation": [ + 0.4464972913265228, + -0.4534546732902527, + -0.5644139051437378, + 0.5257907509803772 + ], + "joints": [ + 0.015421422198414803 + ] + }, + "final_grasp": { + "position": [ + 0.12050443887710571, + 0.06165512278676033, + 0.0053257569670677185 + ], + "orientation": [ + 0.4464972913265228, + -0.4534546732902527, + -0.5644139051437378, + 0.5257907509803772 + ], + "joints": [ + 0.005808452144265175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12310469150543213, + 0.060859598219394684, + 0.005125382915139198 + ], + "orientation": [ + 0.4479886591434479, + -0.4564170837402344, + -0.5601411461830139, + 0.5265277028083801 + ], + "joints": [ + 0.025081926956772804 + ] + }, + "fine_grasp": { + "position": [ + 0.12057092040777206, + 0.06162787228822708, + 0.005017074290663004 + ], + "orientation": [ + 0.44807004928588867, + -0.4519314765930176, + -0.5646036267280579, + 0.5255605578422546 + ], + "joints": [ + 0.015468956902623177 + ] + }, + "final_grasp": { + "position": [ + 0.12057092040777206, + 0.06162787228822708, + 0.005017074290663004 + ], + "orientation": [ + 0.44807004928588867, + -0.4519314765930176, + -0.5646036267280579, + 0.5255605578422546 + ], + "joints": [ + 0.005855986848473549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12300954759120941, + 0.06099545210599899, + 0.00505303917452693 + ], + "orientation": [ + 0.4477699100971222, + -0.45479652285575867, + -0.5607618093490601, + 0.527454674243927 + ], + "joints": [ + 0.024617595598101616 + ] + }, + "fine_grasp": { + "position": [ + 0.12047987431287766, + 0.061800189316272736, + 0.00494542857632041 + ], + "orientation": [ + 0.44768738746643066, + -0.4502527117729187, + -0.5656300783157349, + 0.5262235403060913 + ], + "joints": [ + 0.015422580763697624 + ] + }, + "final_grasp": { + "position": [ + 0.12047987431287766, + 0.061800189316272736, + 0.00494542857632041 + ], + "orientation": [ + 0.44768738746643066, + -0.4502527117729187, + -0.5656300783157349, + 0.5262235403060913 + ], + "joints": [ + 0.0062275659292936325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12289443612098694, + 0.06105373427271843, + 0.005413440987467766 + ], + "orientation": [ + 0.4463624060153961, + -0.4580291509628296, + -0.5596832036972046, + 0.5269959568977356 + ], + "joints": [ + 0.02462594024837017 + ] + }, + "fine_grasp": { + "position": [ + 0.12032562494277954, + 0.06172623857855797, + 0.005407802760601044 + ], + "orientation": [ + 0.4466458559036255, + -0.4540174603462219, + -0.5640044808387756, + 0.5256184339523315 + ], + "joints": [ + 0.015430925413966179 + ] + }, + "final_grasp": { + "position": [ + 0.12032562494277954, + 0.06172623857855797, + 0.005407802760601044 + ], + "orientation": [ + 0.4466458559036255, + -0.4540174603462219, + -0.5640044808387756, + 0.5256184339523315 + ], + "joints": [ + 0.006235910579562187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056154608726501465, + -0.08913290500640869, + 0.021043112501502037 + ], + "orientation": [ + 0.09440185874700546, + 0.1314706802368164, + -0.7577702403068542, + -0.6321297883987427 + ], + "joints": [ + 0.026588374748826027 + ] + }, + "fine_grasp": { + "position": [ + 0.055133264511823654, + -0.08727742731571198, + 0.020258208736777306 + ], + "orientation": [ + 0.09804600477218628, + 0.1317577213048935, + -0.7559818029403687, + -0.633654773235321 + ], + "joints": [ + 0.01699630357325077 + ] + }, + "final_grasp": { + "position": [ + 0.055133264511823654, + -0.08727742731571198, + 0.020258208736777306 + ], + "orientation": [ + 0.09804600477218628, + 0.1317577213048935, + -0.7559818029403687, + -0.633654773235321 + ], + "joints": [ + 0.007404232397675514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12274132668972015, + 0.06089566648006439, + 0.00502839544788003 + ], + "orientation": [ + 0.4474739134311676, + -0.45585957169532776, + -0.5602003931999207, + 0.5273846387863159 + ], + "joints": [ + 0.02464197389781475 + ] + }, + "fine_grasp": { + "position": [ + 0.12027118355035782, + 0.061737060546875, + 0.004952135495841503 + ], + "orientation": [ + 0.44716954231262207, + -0.45133355259895325, + -0.564818263053894, + 0.5266096591949463 + ], + "joints": [ + 0.015446959063410759 + ] + }, + "final_grasp": { + "position": [ + 0.12027118355035782, + 0.061737060546875, + 0.004952135495841503 + ], + "orientation": [ + 0.44716954231262207, + -0.45133355259895325, + -0.564818263053894, + 0.5266096591949463 + ], + "joints": [ + 0.006251944229006767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.125051811337471, + 0.040764108300209045, + 0.006995814386755228 + ], + "orientation": [ + 0.4632837772369385, + -0.38610509037971497, + -0.6188416481018066, + 0.5033149719238281 + ], + "joints": [ + 0.024972185492515564 + ] + }, + "fine_grasp": { + "position": [ + 0.12125994265079498, + 0.04114549234509468, + 0.007181021384894848 + ], + "orientation": [ + 0.4729420840740204, + -0.3750363290309906, + -0.6272745728492737, + 0.4921383559703827 + ], + "joints": [ + 0.016174226999282837 + ] + }, + "final_grasp": { + "position": [ + 0.12125994265079498, + 0.04114549234509468, + 0.007181021384894848 + ], + "orientation": [ + 0.4729420840740204, + -0.3750363290309906, + -0.6272745728492737, + 0.4921383559703827 + ], + "joints": [ + 0.00737626850605011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11807993799448013, + 0.06935691088438034, + 0.08917342126369476 + ], + "orientation": [ + 0.3298855125904083, + 0.5526548027992249, + -0.7311111688613892, + -0.2263285219669342 + ], + "joints": [ + 0.020130030810832977 + ] + }, + "fine_grasp": { + "position": [ + 0.11522551625967026, + 0.06899971514940262, + 0.08668068051338196 + ], + "orientation": [ + 0.33384379744529724, + 0.555364191532135, + -0.7285122275352478, + -0.22223621606826782 + ], + "joints": [ + 0.011290274560451508 + ] + }, + "final_grasp": { + "position": [ + 0.11522551625967026, + 0.06899971514940262, + 0.08668068051338196 + ], + "orientation": [ + 0.33384379744529724, + 0.555364191532135, + -0.7285122275352478, + -0.22223621606826782 + ], + "joints": [ + 0.002450518310070038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06269605457782745, + 0.16057062149047852, + -0.04257446527481079 + ], + "orientation": [ + 0.7357833981513977, + 0.551771879196167, + -0.17565131187438965, + -0.35116544365882874 + ], + "joints": [ + 0.02339925430715084 + ] + }, + "fine_grasp": { + "position": [ + 0.06186903640627861, + 0.15786446630954742, + -0.04250755161046982 + ], + "orientation": [ + 0.7429808378219604, + 0.5473499298095703, + -0.17245978116989136, + -0.34444892406463623 + ], + "joints": [ + 0.015437206253409386 + ] + }, + "final_grasp": { + "position": [ + 0.06186903640627861, + 0.15786446630954742, + -0.04250755161046982 + ], + "orientation": [ + 0.7429808378219604, + 0.5473499298095703, + -0.17245978116989136, + -0.34444892406463623 + ], + "joints": [ + 0.007475158199667931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01441888976842165, + 0.020695475861430168, + -0.15727008879184723 + ], + "orientation": [ + 0.998542845249176, + 0.01727481558918953, + -0.04732644930481911, + -0.019340842962265015 + ], + "joints": [ + 0.016459770500659943 + ] + }, + "fine_grasp": { + "position": [ + 0.01444362010806799, + 0.021358152851462364, + -0.15202191472053528 + ], + "orientation": [ + 0.9987218976020813, + 0.012542741373181343, + -0.0449838750064373, + -0.019333381205797195 + ], + "joints": [ + 0.015205904841423035 + ] + }, + "final_grasp": { + "position": [ + 0.01444362010806799, + 0.021358152851462364, + -0.15202191472053528 + ], + "orientation": [ + 0.9987218976020813, + 0.012542741373181343, + -0.0449838750064373, + -0.019333381205797195 + ], + "joints": [ + 0.013952039182186127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11621922254562378, + 0.070337675511837, + 0.0905090868473053 + ], + "orientation": [ + 0.31951361894607544, + 0.5559183359146118, + -0.7336174845695496, + -0.22510282695293427 + ], + "joints": [ + 0.019940797239542007 + ] + }, + "fine_grasp": { + "position": [ + 0.11352481693029404, + 0.07027633488178253, + 0.08783143013715744 + ], + "orientation": [ + 0.3189980387687683, + 0.5550827980041504, + -0.7345000505447388, + -0.22501789033412933 + ], + "joints": [ + 0.010724883526563644 + ] + }, + "final_grasp": { + "position": [ + 0.11352481693029404, + 0.07027633488178253, + 0.08783143013715744 + ], + "orientation": [ + 0.3189980387687683, + 0.5550827980041504, + -0.7345000505447388, + -0.22501789033412933 + ], + "joints": [ + 0.0015089698135852814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12100328505039215, + 0.0600147619843483, + -0.012704938650131226 + ], + "orientation": [ + 0.5795033574104309, + 0.49603283405303955, + -0.44533559679985046, + -0.4688320457935333 + ], + "joints": [ + 0.02558376081287861 + ] + }, + "fine_grasp": { + "position": [ + 0.11879866570234299, + 0.06012197211384773, + -0.012784616090357304 + ], + "orientation": [ + 0.5843961238861084, + 0.4920431971549988, + -0.4479628801345825, + -0.464439332485199 + ], + "joints": [ + 0.016388745978474617 + ] + }, + "final_grasp": { + "position": [ + 0.11879866570234299, + 0.06012197211384773, + -0.012784616090357304 + ], + "orientation": [ + 0.5843961238861084, + 0.4920431971549988, + -0.4479628801345825, + -0.464439332485199 + ], + "joints": [ + 0.007193731144070625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1218566969037056, + 0.05907389149069786, + -0.012421460822224617 + ], + "orientation": [ + 0.5786239504814148, + 0.49900370836257935, + -0.44411545991897583, + -0.46792200207710266 + ], + "joints": [ + 0.025637777522206306 + ] + }, + "fine_grasp": { + "position": [ + 0.11948219686746597, + 0.059095628559589386, + -0.012486299499869347 + ], + "orientation": [ + 0.5832783579826355, + 0.4948010742664337, + -0.4463150203227997, + -0.46450090408325195 + ], + "joints": [ + 0.01602480746805668 + ] + }, + "final_grasp": { + "position": [ + 0.11948219686746597, + 0.059095628559589386, + -0.012486299499869347 + ], + "orientation": [ + 0.5832783579826355, + 0.4948010742664337, + -0.4463150203227997, + -0.46450090408325195 + ], + "joints": [ + 0.006411837413907051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04133056104183197, + -0.09566357731819153, + 0.02198879048228264 + ], + "orientation": [ + 0.08312977105379105, + 0.12209393829107285, + 0.7610551714897156, + 0.6316467523574829 + ], + "joints": [ + 0.026270180940628052 + ] + }, + "fine_grasp": { + "position": [ + -0.04137130081653595, + -0.09230931848287582, + 0.021748676896095276 + ], + "orientation": [ + 0.07843407988548279, + 0.1280854344367981, + 0.7614070773124695, + 0.6306358575820923 + ], + "joints": [ + 0.017493121325969696 + ] + }, + "final_grasp": { + "position": [ + -0.04137130081653595, + -0.09230931848287582, + 0.021748676896095276 + ], + "orientation": [ + 0.07843407988548279, + 0.1280854344367981, + 0.7614070773124695, + 0.6306358575820923 + ], + "joints": [ + 0.00871606171131134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12400324642658234, + 0.021836867555975914, + 0.016431523486971855 + ], + "orientation": [ + 0.4682239294052124, + -0.603242814540863, + -0.454715371131897, + 0.45836493372917175 + ], + "joints": [ + 0.025881420820951462 + ] + }, + "fine_grasp": { + "position": [ + 0.121288001537323, + 0.021897731348872185, + 0.016063708811998367 + ], + "orientation": [ + 0.4631654918193817, + -0.6077909469604492, + -0.44759804010391235, + 0.46446099877357483 + ], + "joints": [ + 0.016289349645376205 + ] + }, + "final_grasp": { + "position": [ + 0.121288001537323, + 0.021897731348872185, + 0.016063708811998367 + ], + "orientation": [ + 0.4631654918193817, + -0.6077909469604492, + -0.44759804010391235, + 0.46446099877357483 + ], + "joints": [ + 0.006697278469800949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12299541383981705, + 0.021386519074440002, + 0.015980932861566544 + ], + "orientation": [ + 0.4713917076587677, + -0.6036228537559509, + -0.45220619440078735, + 0.4570983350276947 + ], + "joints": [ + 0.025862891227006912 + ] + }, + "fine_grasp": { + "position": [ + 0.12049171328544617, + 0.021429669111967087, + 0.015596776269376278 + ], + "orientation": [ + 0.466723769903183, + -0.6078252792358398, + -0.4453882873058319, + 0.46297580003738403 + ], + "joints": [ + 0.016270820051431656 + ] + }, + "final_grasp": { + "position": [ + 0.12049171328544617, + 0.021429669111967087, + 0.015596776269376278 + ], + "orientation": [ + 0.466723769903183, + -0.6078252792358398, + -0.4453882873058319, + 0.46297580003738403 + ], + "joints": [ + 0.0066787488758563995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11296561360359192, + 0.08473548293113708, + -0.022874921560287476 + ], + "orientation": [ + 0.657183051109314, + 0.5273944139480591, + 0.3504943251609802, + 0.4088020622730255 + ], + "joints": [ + 0.02660861797630787 + ] + }, + "fine_grasp": { + "position": [ + -0.11067595332860947, + 0.08456767350435257, + -0.02307416871190071 + ], + "orientation": [ + 0.6623010039329529, + 0.5221433043479919, + 0.35304567217826843, + 0.40507104992866516 + ], + "joints": [ + 0.017810659483075142 + ] + }, + "final_grasp": { + "position": [ + -0.11067595332860947, + 0.08456767350435257, + -0.02307416871190071 + ], + "orientation": [ + 0.6623010039329529, + 0.5221433043479919, + 0.35304567217826843, + 0.40507104992866516 + ], + "joints": [ + 0.009012700989842415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010867628268897533, + 0.17849282920360565, + -0.047844793647527695 + ], + "orientation": [ + 0.009229878894984722, + -0.009482063353061676, + -0.5677409768104553, + 0.8231009840965271 + ], + "joints": [ + 0.02251313626766205 + ] + }, + "fine_grasp": { + "position": [ + -0.01003129594027996, + 0.17577607929706573, + -0.046528689563274384 + ], + "orientation": [ + 0.008245750330388546, + -0.0038647656328976154, + -0.56486976146698, + 0.8251298666000366 + ], + "joints": [ + 0.014551088213920593 + ] + }, + "final_grasp": { + "position": [ + -0.01003129594027996, + 0.17577607929706573, + -0.046528689563274384 + ], + "orientation": [ + 0.008245750330388546, + -0.0038647656328976154, + -0.56486976146698, + 0.8251298666000366 + ], + "joints": [ + 0.006589040160179138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011086761020123959, + 0.17734749615192413, + -0.047251615673303604 + ], + "orientation": [ + 0.01182559598237276, + -0.008532282896339893, + -0.5684659481048584, + 0.8225775957107544 + ], + "joints": [ + 0.022771423682570457 + ] + }, + "fine_grasp": { + "position": [ + -0.010237676091492176, + 0.1747255176305771, + -0.04618674889206886 + ], + "orientation": [ + 0.012133350595831871, + -0.002885818015784025, + -0.564321756362915, + 0.8254607915878296 + ], + "joints": [ + 0.014788476750254631 + ] + }, + "final_grasp": { + "position": [ + -0.010237676091492176, + 0.1747255176305771, + -0.04618674889206886 + ], + "orientation": [ + 0.012133350595831871, + -0.002885818015784025, + -0.564321756362915, + 0.8254607915878296 + ], + "joints": [ + 0.006805529817938805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026500403881072998, + 0.20469622313976288, + 0.02479954995214939 + ], + "orientation": [ + 0.45792293548583984, + 0.6522710919380188, + 0.45902809500694275, + -0.3926093876361847 + ], + "joints": [ + 0.028840668499469757 + ] + }, + "fine_grasp": { + "position": [ + 0.026001352816820145, + 0.200776606798172, + 0.02485446073114872 + ], + "orientation": [ + 0.46269491314888, + 0.6478537917137146, + 0.45447996258735657, + -0.399558424949646 + ], + "joints": [ + 0.019624754786491394 + ] + }, + "final_grasp": { + "position": [ + 0.026001352816820145, + 0.200776606798172, + 0.02485446073114872 + ], + "orientation": [ + 0.46269491314888, + 0.6478537917137146, + 0.45447996258735657, + -0.399558424949646 + ], + "joints": [ + 0.010408841073513031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053954046219587326, + -0.09146665781736374, + 0.008658950217068195 + ], + "orientation": [ + 0.6805586218833923, + -0.7112683057785034, + 0.17103329300880432, + -0.04104979336261749 + ], + "joints": [ + 0.025115901604294777 + ] + }, + "fine_grasp": { + "position": [ + -0.05224726349115372, + -0.08955115079879761, + 0.007659515831619501 + ], + "orientation": [ + 0.6815629005432129, + -0.7102131843566895, + 0.1716887503862381, + -0.03990226611495018 + ], + "joints": [ + 0.015920886769890785 + ] + }, + "final_grasp": { + "position": [ + -0.05224726349115372, + -0.08955115079879761, + 0.007659515831619501 + ], + "orientation": [ + 0.6815629005432129, + -0.7102131843566895, + 0.1716887503862381, + -0.03990226611495018 + ], + "joints": [ + 0.0067258719354867935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014670581556856632, + 0.02055111899971962, + -0.15850292146205902 + ], + "orientation": [ + 0.9984775185585022, + 0.026356110349297523, + -0.04474441707134247, + -0.018598303198814392 + ], + "joints": [ + 0.014787711203098297 + ] + }, + "fine_grasp": { + "position": [ + 0.014782248996198177, + 0.021554255858063698, + -0.15321534872055054 + ], + "orientation": [ + 0.998758852481842, + 0.019155539572238922, + -0.042072467505931854, + -0.01854180358350277 + ], + "joints": [ + 0.014369755983352661 + ] + }, + "final_grasp": { + "position": [ + 0.014782248996198177, + 0.021554255858063698, + -0.15321534872055054 + ], + "orientation": [ + 0.998758852481842, + 0.019155539572238922, + -0.042072467505931854, + -0.01854180358350277 + ], + "joints": [ + 0.013951800763607025 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 132 + } +} \ No newline at end of file diff --git a/005_french-fries_0/Object.usd b/005_french-fries_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..8a705aea104f8b6c3a366bd44df87125061fff1d --- /dev/null +++ b/005_french-fries_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c380d0e88b55e25ebc1911c496dda7e0af2994e06c623cebac362c549d891e8a +size 791895 diff --git a/006_hamburg_4/Annotation/dex1_1_grasp_pose.json b/006_hamburg_4/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..dc243f76ac6599d499d94aeec02b8e8cf3d4f4a8 --- /dev/null +++ b/006_hamburg_4/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,20218 @@ +{ + "type": "006_hamburg_4", + "bottom_center": [ + -5.057081580162048e-06, + 0.014800485223531723, + -0.03284718468785286 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0023981952108442783, + 0.1456979364156723, + -0.006234773434698582 + ], + "orientation": [ + 0.01011207140982151, + 0.025641830638051033, + 0.030081160366535187, + 0.9991673231124878 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.002147459192201495, + 0.13989390432834625, + -0.005612462293356657 + ], + "orientation": [ + 0.005944111850112677, + 0.0015414844965562224, + 0.03538226708769798, + 0.9993550181388855 + ], + "joints": [ + -0.011619774624705315 + ] + }, + "final_grasp": { + "position": [ + 0.002147459192201495, + 0.13989390432834625, + -0.005612462293356657 + ], + "orientation": [ + 0.005944111850112677, + 0.0015414844965562224, + 0.03538226708769798, + 0.9993550181388855 + ], + "joints": [ + -0.004711570218205452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014838040806353092, + -0.10168810933828354, + 0.03767828270792961 + ], + "orientation": [ + 0.4129432439804077, + -0.0002773233863990754, + -0.8915646076202393, + 0.18598437309265137 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.018472442403435707, + -0.10121309757232666, + 0.035604726523160934 + ], + "orientation": [ + 0.4137778878211975, + 0.010388312861323357, + -0.8946112990379333, + 0.16837622225284576 + ], + "joints": [ + -0.015642505139112473 + ] + }, + "final_grasp": { + "position": [ + 0.018472442403435707, + -0.10121309757232666, + 0.035604726523160934 + ], + "orientation": [ + 0.4137778878211975, + 0.010388312861323357, + -0.8946112990379333, + 0.16837622225284576 + ], + "joints": [ + -0.011285010725259781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023854460567235947, + 0.1315373182296753, + 0.012607580982148647 + ], + "orientation": [ + 0.07508033514022827, + -0.9560191631317139, + -0.09889917075634003, + 0.26572370529174805 + ], + "joints": [ + -0.019440632313489914 + ] + }, + "fine_grasp": { + "position": [ + -0.020207926630973816, + 0.13107505440711975, + 0.013493990525603294 + ], + "orientation": [ + 0.04757864028215408, + -0.954883337020874, + -0.08763153851032257, + 0.2797406017780304 + ], + "joints": [ + -0.015667680650949478 + ] + }, + "final_grasp": { + "position": [ + -0.020207926630973816, + 0.13107505440711975, + 0.013493990525603294 + ], + "orientation": [ + 0.04757864028215408, + -0.954883337020874, + -0.08763153851032257, + 0.2797406017780304 + ], + "joints": [ + -0.011894728988409042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012210256420075893, + 0.0734206810593605, + 0.1270589679479599 + ], + "orientation": [ + 0.04199850931763649, + 0.020138714462518692, + 0.4727289080619812, + -0.8799761533737183 + ], + "joints": [ + -0.015024570748209953 + ] + }, + "fine_grasp": { + "position": [ + -0.011685088276863098, + 0.07263079285621643, + 0.1238788366317749 + ], + "orientation": [ + 0.038338784128427505, + 0.02262846939265728, + 0.48061108589172363, + -0.8758031129837036 + ], + "joints": [ + -0.008063236251473427 + ] + }, + "final_grasp": { + "position": [ + -0.011685088276863098, + 0.07263079285621643, + 0.1238788366317749 + ], + "orientation": [ + 0.038338784128427505, + 0.02262846939265728, + 0.48061108589172363, + -0.8758031129837036 + ], + "joints": [ + -0.0011019017547369003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004562363959848881, + -0.015281989239156246, + 0.13950960338115692 + ], + "orientation": [ + 0.800295889377594, + -0.5940973162651062, + -0.07068273425102234, + 0.039736662060022354 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.006181000731885433, + -0.017759250476956367, + 0.14112499356269836 + ], + "orientation": [ + 0.7976658344268799, + -0.6001368761062622, + -0.05633225664496422, + 0.019786980003118515 + ], + "joints": [ + -0.010002108290791512 + ] + }, + "final_grasp": { + "position": [ + -0.006181000731885433, + -0.017759250476956367, + 0.14112499356269836 + ], + "orientation": [ + 0.7976658344268799, + -0.6001368761062622, + -0.05633225664496422, + 0.019786980003118515 + ], + "joints": [ + -0.004714682698249817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0032745683565735817, + -0.11105773597955704, + -0.012185106053948402 + ], + "orientation": [ + 0.7172402739524841, + 0.10162069648504257, + -0.6886156797409058, + 0.03237369656562805 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.001911267638206482, + -0.11058173328638077, + -0.011939529329538345 + ], + "orientation": [ + 0.7119227647781372, + 0.1039113774895668, + -0.693667471408844, + 0.03455295413732529 + ], + "joints": [ + -0.008382735773921013 + ] + }, + "final_grasp": { + "position": [ + 0.001911267638206482, + -0.11058173328638077, + -0.011939529329538345 + ], + "orientation": [ + 0.7119227647781372, + 0.1039113774895668, + -0.693667471408844, + 0.03455295413732529 + ], + "joints": [ + -0.0009165704250335693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004664186388254166, + -0.015307745896279812, + 0.13990283012390137 + ], + "orientation": [ + 0.8000624179840088, + -0.5943889021873474, + -0.0709671601653099, + 0.03956851735711098 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.006360597908496857, + -0.017622582614421844, + 0.14138537645339966 + ], + "orientation": [ + 0.797619104385376, + -0.5999899506568909, + -0.05821888893842697, + 0.020650362595915794 + ], + "joints": [ + -0.010002108290791512 + ] + }, + "final_grasp": { + "position": [ + -0.006360597908496857, + -0.017622582614421844, + 0.14138537645339966 + ], + "orientation": [ + 0.797619104385376, + -0.5999899506568909, + -0.05821888893842697, + 0.020650362595915794 + ], + "joints": [ + -0.004714682698249817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11943532526493073, + 0.06860566139221191, + -0.029574645683169365 + ], + "orientation": [ + 0.2216264307498932, + -0.6814663410186768, + 0.516335129737854, + 0.4689173102378845 + ], + "joints": [ + -0.014212630689144135 + ] + }, + "fine_grasp": { + "position": [ + 0.12315667420625687, + 0.06570595502853394, + -0.02816382236778736 + ], + "orientation": [ + 0.20047762989997864, + -0.6786850690841675, + 0.5046505928039551, + 0.494492769241333 + ], + "joints": [ + -0.007357575930655003 + ] + }, + "final_grasp": { + "position": [ + 0.12315667420625687, + 0.06570595502853394, + -0.02816382236778736 + ], + "orientation": [ + 0.20047762989997864, + -0.6786850690841675, + 0.5046505928039551, + 0.494492769241333 + ], + "joints": [ + -0.0005025211721658707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020679255947470665, + -0.038968026638031006, + 0.1329895406961441 + ], + "orientation": [ + 0.8514893651008606, + -0.5167936682701111, + -0.07845605909824371, + -0.041651029139757156 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.019364308565855026, + -0.0387941412627697, + 0.13223481178283691 + ], + "orientation": [ + 0.8531627058982849, + -0.5146105885505676, + -0.07760199904441833, + -0.03559887409210205 + ], + "joints": [ + -0.007876509800553322 + ] + }, + "final_grasp": { + "position": [ + -0.019364308565855026, + -0.0387941412627697, + 0.13223481178283691 + ], + "orientation": [ + 0.8531627058982849, + -0.5146105885505676, + -0.07760199904441833, + -0.03559887409210205 + ], + "joints": [ + -0.0004634857177734375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0204700268805027, + -0.03902294114232063, + 0.13301679491996765 + ], + "orientation": [ + 0.8516227006912231, + -0.5167833566665649, + -0.07699144631624222, + -0.04178650304675102 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.019014814868569374, + -0.03882288187742233, + 0.13232144713401794 + ], + "orientation": [ + 0.8532410860061646, + -0.5147857666015625, + -0.07567056268453598, + -0.035344235599040985 + ], + "joints": [ + -0.007876509800553322 + ] + }, + "final_grasp": { + "position": [ + -0.019014814868569374, + -0.03882288187742233, + 0.13232144713401794 + ], + "orientation": [ + 0.8532410860061646, + -0.5147857666015625, + -0.07567056268453598, + -0.035344235599040985 + ], + "joints": [ + -0.0004634857177734375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020472459495067596, + -0.03834446892142296, + 0.1336856186389923 + ], + "orientation": [ + 0.8503103852272034, + -0.5190795063972473, + -0.07611231505870819, + -0.04166049882769585 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.01870095357298851, + -0.03820047900080681, + 0.13341493904590607 + ], + "orientation": [ + 0.853093147277832, + -0.5151763558387756, + -0.07496490329504013, + -0.03472472354769707 + ], + "joints": [ + -0.007849939167499542 + ] + }, + "final_grasp": { + "position": [ + -0.01870095357298851, + -0.03820047900080681, + 0.13341493904590607 + ], + "orientation": [ + 0.853093147277832, + -0.5151763558387756, + -0.07496490329504013, + -0.03472472354769707 + ], + "joints": [ + -0.0004103444516658783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13376030325889587, + 0.013618037104606628, + 0.012139459140598774 + ], + "orientation": [ + 0.04937489703297615, + -0.7032728791236877, + -0.7078614830970764, + 0.04360654577612877 + ], + "joints": [ + -0.0014553775545209646 + ] + }, + "fine_grasp": { + "position": [ + -0.1380273699760437, + 0.013751579448580742, + 0.01318020187318325 + ], + "orientation": [ + 0.04779454320669174, + -0.7037869095802307, + -0.7077215313911438, + 0.03911251947283745 + ], + "joints": [ + 0.004921418614685535 + ] + }, + "final_grasp": { + "position": [ + -0.1380273699760437, + 0.013751579448580742, + 0.01318020187318325 + ], + "orientation": [ + 0.04779454320669174, + -0.7037869095802307, + -0.7077215313911438, + 0.03911251947283745 + ], + "joints": [ + 0.01129821501672268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08854343742132187, + -0.08067712932825089, + 0.006296609062701464 + ], + "orientation": [ + 0.7040807008743286, + -0.23232056200504303, + 0.6355870962142944, + 0.21523594856262207 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.09186213463544846, + -0.08473655581474304, + 0.006627996452152729 + ], + "orientation": [ + 0.6990800499916077, + -0.23150578141212463, + 0.6420883536338806, + 0.21310719847679138 + ], + "joints": [ + -0.007820498198270798 + ] + }, + "final_grasp": { + "position": [ + 0.09186213463544846, + -0.08473655581474304, + 0.006627996452152729 + ], + "orientation": [ + 0.6990800499916077, + -0.23150578141212463, + 0.6420883536338806, + 0.21310719847679138 + ], + "joints": [ + -0.0003809034824371338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016427304595708847, + -0.05277927964925766, + -0.1191679984331131 + ], + "orientation": [ + 0.8781012892723083, + 0.472150057554245, + -0.0036187756340950727, + 0.0774548351764679 + ], + "joints": [ + -0.016231628134846687 + ] + }, + "fine_grasp": { + "position": [ + 0.015588482841849327, + -0.051126495003700256, + -0.11600520461797714 + ], + "orientation": [ + 0.8770358562469482, + 0.475473552942276, + -0.01717992126941681, + 0.06661559641361237 + ], + "joints": [ + -0.009350001811981201 + ] + }, + "final_grasp": { + "position": [ + 0.015588482841849327, + -0.051126495003700256, + -0.11600520461797714 + ], + "orientation": [ + 0.8770358562469482, + 0.475473552942276, + -0.01717992126941681, + 0.06661559641361237 + ], + "joints": [ + -0.002468375489115715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11228574067354202, + -0.06600701808929443, + 0.024012366309762 + ], + "orientation": [ + 0.6194807887077332, + 0.2231658399105072, + 0.6677385568618774, + -0.347226083278656 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.11528416723012924, + -0.06796637177467346, + 0.02280235104262829 + ], + "orientation": [ + 0.6107046604156494, + 0.23343607783317566, + 0.676811933517456, + -0.3383384048938751 + ], + "joints": [ + -0.008856726810336113 + ] + }, + "final_grasp": { + "position": [ + -0.11528416723012924, + -0.06796637177467346, + 0.02280235104262829 + ], + "orientation": [ + 0.6107046604156494, + 0.23343607783317566, + 0.676811933517456, + -0.3383384048938751 + ], + "joints": [ + -0.0024533607065677643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11228754371404648, + -0.06591716408729553, + 0.024058977141976357 + ], + "orientation": [ + 0.6195529699325562, + 0.2230144739151001, + 0.6674492359161377, + -0.3477502763271332 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.11536266654729843, + -0.06791900843381882, + 0.02283773571252823 + ], + "orientation": [ + 0.6109341979026794, + 0.23337852954864502, + 0.6764684319496155, + -0.33865073323249817 + ], + "joints": [ + -0.008856726810336113 + ] + }, + "final_grasp": { + "position": [ + -0.11536266654729843, + -0.06791900843381882, + 0.02283773571252823 + ], + "orientation": [ + 0.6109341979026794, + 0.23337852954864502, + 0.6764684319496155, + -0.33865073323249817 + ], + "joints": [ + -0.0024533607065677643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06319402903318405, + -0.09760329127311707, + -0.025138208642601967 + ], + "orientation": [ + 0.018122054636478424, + 0.2618449330329895, + -0.9638751745223999, + -0.04531577229499817 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + 0.0599079430103302, + -0.0928490161895752, + -0.0256990697234869 + ], + "orientation": [ + 0.017535606399178505, + 0.2627165615558624, + -0.963966965675354, + -0.03795110806822777 + ], + "joints": [ + -0.008326800540089607 + ] + }, + "final_grasp": { + "position": [ + 0.0599079430103302, + -0.0928490161895752, + -0.0256990697234869 + ], + "orientation": [ + 0.017535606399178505, + 0.2627165615558624, + -0.963966965675354, + -0.03795110806822777 + ], + "joints": [ + -0.0019234344363212585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016417382284998894, + -0.052855756133794785, + -0.11912503093481064 + ], + "orientation": [ + 0.8780699372291565, + 0.47225257754325867, + -0.0041360328905284405, + 0.07715865969657898 + ], + "joints": [ + -0.016231628134846687 + ] + }, + "fine_grasp": { + "position": [ + 0.015618657693266869, + -0.051203653216362, + -0.11590804904699326 + ], + "orientation": [ + 0.8769932985305786, + 0.47554314136505127, + -0.01748819090425968, + 0.0666005089879036 + ], + "joints": [ + -0.009350001811981201 + ] + }, + "final_grasp": { + "position": [ + 0.015618657693266869, + -0.051203653216362, + -0.11590804904699326 + ], + "orientation": [ + 0.8769932985305786, + 0.47554314136505127, + -0.01748819090425968, + 0.0666005089879036 + ], + "joints": [ + -0.002468375489115715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06330184638500214, + -0.09768155217170715, + -0.024841777980327606 + ], + "orientation": [ + 0.018006324768066406, + 0.26182642579078674, + -0.963813066482544, + -0.04676602780818939 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + 0.05997635796666145, + -0.09292714297771454, + -0.02549188956618309 + ], + "orientation": [ + 0.017710447311401367, + 0.26275166869163513, + -0.9639229774475098, + -0.03873404487967491 + ], + "joints": [ + -0.008353371173143387 + ] + }, + "final_grasp": { + "position": [ + 0.05997635796666145, + -0.09292714297771454, + -0.02549188956618309 + ], + "orientation": [ + 0.017710447311401367, + 0.26275166869163513, + -0.9639229774475098, + -0.03873404487967491 + ], + "joints": [ + -0.0019765757024288177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11235726624727249, + -0.06574948877096176, + 0.02398867718875408 + ], + "orientation": [ + 0.6229325532913208, + 0.22101819515228271, + 0.6643416285514832, + -0.3489358127117157 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.11580067127943039, + -0.06822431832551956, + 0.022222507745027542 + ], + "orientation": [ + 0.6148166656494141, + 0.23280653357505798, + 0.6738383769989014, + -0.33725833892822266 + ], + "joints": [ + -0.008856726810336113 + ] + }, + "final_grasp": { + "position": [ + -0.11580067127943039, + -0.06822431832551956, + 0.022222507745027542 + ], + "orientation": [ + 0.6148166656494141, + 0.23280653357505798, + 0.6738383769989014, + -0.33725833892822266 + ], + "joints": [ + -0.0024533607065677643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11238924413919449, + -0.0659896656870842, + 0.02380492351949215 + ], + "orientation": [ + 0.6200257539749146, + 0.22378729283809662, + 0.6670611500740051, + -0.3471551537513733 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.11543235927820206, + -0.06797512620687485, + 0.022544097155332565 + ], + "orientation": [ + 0.6114346981048584, + 0.23391754925251007, + 0.6762980222702026, + -0.33771470189094543 + ], + "joints": [ + -0.008856726810336113 + ] + }, + "final_grasp": { + "position": [ + -0.11543235927820206, + -0.06797512620687485, + 0.022544097155332565 + ], + "orientation": [ + 0.6114346981048584, + 0.23391754925251007, + 0.6762980222702026, + -0.33771470189094543 + ], + "joints": [ + -0.0024533607065677643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13224108517169952, + 0.013205138966441154, + 0.024529706686735153 + ], + "orientation": [ + 0.7052549123764038, + -0.07670323550701141, + -0.09119278192520142, + 0.6988677382469177 + ], + "joints": [ + -0.0010952516458928585 + ] + }, + "fine_grasp": { + "position": [ + 0.1379573494195938, + 0.013027867302298546, + 0.025886137038469315 + ], + "orientation": [ + 0.7050747871398926, + -0.0759083703160286, + -0.09350452572107315, + 0.6988305449485779 + ], + "joints": [ + 0.0047501446679234505 + ] + }, + "final_grasp": { + "position": [ + 0.1379573494195938, + 0.013027867302298546, + 0.025886137038469315 + ], + "orientation": [ + 0.7050747871398926, + -0.0759083703160286, + -0.09350452572107315, + 0.6988305449485779 + ], + "joints": [ + 0.010595541447401047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0648518055677414, + 0.11693835258483887, + 0.03073783963918686 + ], + "orientation": [ + 0.09792604297399521, + -0.8954493403434753, + 0.26826128363609314, + -0.3414919078350067 + ], + "joints": [ + -0.015024570748209953 + ] + }, + "fine_grasp": { + "position": [ + 0.061185527592897415, + 0.11326612532138824, + 0.031592246145009995 + ], + "orientation": [ + 0.07564139366149902, + -0.8935075998306274, + 0.27927663922309875, + -0.3434048593044281 + ], + "joints": [ + -0.012898972257971764 + ] + }, + "final_grasp": { + "position": [ + 0.061185527592897415, + 0.11326612532138824, + 0.031592246145009995 + ], + "orientation": [ + 0.07564139366149902, + -0.8935075998306274, + 0.27927663922309875, + -0.3434048593044281 + ], + "joints": [ + -0.010773373767733574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1192760169506073, + 0.06848783046007156, + -0.029835069552063942 + ], + "orientation": [ + 0.2252059429883957, + -0.6787043213844299, + 0.5168226957321167, + 0.47067710757255554 + ], + "joints": [ + -0.01449308916926384 + ] + }, + "fine_grasp": { + "position": [ + 0.1228395476937294, + 0.06587959825992584, + -0.028277317062020302 + ], + "orientation": [ + 0.2051905244588852, + -0.6769254207611084, + 0.5063914656639099, + 0.4931900203227997 + ], + "joints": [ + -0.0076114642433822155 + ] + }, + "final_grasp": { + "position": [ + 0.1228395476937294, + 0.06587959825992584, + -0.028277317062020302 + ], + "orientation": [ + 0.2051905244588852, + -0.6769254207611084, + 0.5063914656639099, + 0.4931900203227997 + ], + "joints": [ + -0.0007298393175005913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05687875300645828, + -0.08396699279546738, + -0.016069425269961357 + ], + "orientation": [ + 0.964387834072113, + -0.024235624819993973, + 0.020191535353660583, + -0.2626044452190399 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.05644771829247475, + -0.08220531046390533, + -0.016766060143709183 + ], + "orientation": [ + 0.9631471633911133, + -0.034157175570726395, + 0.026893556118011475, + -0.2654384970664978 + ], + "joints": [ + -0.005410728044807911 + ] + }, + "final_grasp": { + "position": [ + -0.05644771829247475, + -0.08220531046390533, + -0.016766060143709183 + ], + "orientation": [ + 0.9631471633911133, + -0.034157175570726395, + 0.026893556118011475, + -0.2654384970664978 + ], + "joints": [ + 0.0015240367501974106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05930817127227783, + 0.1112423688173294, + -0.05310147628188133 + ], + "orientation": [ + 0.25058531761169434, + -0.033967528492212296, + 0.1719779521226883, + 0.9520907998085022 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.0607101209461689, + 0.11246608197689056, + -0.05542449280619621 + ], + "orientation": [ + 0.25126612186431885, + -0.03217323496937752, + 0.16396880149841309, + 0.9533857703208923 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + 0.0607101209461689, + 0.11246608197689056, + -0.05542449280619621 + ], + "orientation": [ + 0.25126612186431885, + -0.03217323496937752, + 0.16396880149841309, + 0.9533857703208923 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03608652949333191, + 0.10461509227752686, + -0.08150786906480789 + ], + "orientation": [ + 0.21067659556865692, + 0.13594388961791992, + 0.2642429769039154, + 0.9312950372695923 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.03701601177453995, + 0.10541295260190964, + -0.08373016119003296 + ], + "orientation": [ + 0.20746545493602753, + 0.1238706111907959, + 0.2590118646621704, + 0.9351615905761719 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + 0.03701601177453995, + 0.10541295260190964, + -0.08373016119003296 + ], + "orientation": [ + 0.20746545493602753, + 0.1238706111907959, + 0.2590118646621704, + 0.9351615905761719 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004478782415390015, + 0.12529581785202026, + 0.056259118020534515 + ], + "orientation": [ + 0.14874419569969177, + -0.9840986132621765, + 0.004308749455958605, + -0.09698734432458878 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.004806518089026213, + 0.12735335528850555, + 0.057170748710632324 + ], + "orientation": [ + 0.14640413224697113, + -0.9855923056602478, + 0.0014914862113073468, + -0.08468391001224518 + ], + "joints": [ + -0.008438747376203537 + ] + }, + "final_grasp": { + "position": [ + -0.004806518089026213, + 0.12735335528850555, + 0.057170748710632324 + ], + "orientation": [ + 0.14640413224697113, + -0.9855923056602478, + 0.0014914862113073468, + -0.08468391001224518 + ], + "joints": [ + -0.000999152660369873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0004983068211004138, + -0.08247659355401993, + -0.07594621181488037 + ], + "orientation": [ + 0.016750596463680267, + 0.006073805037885904, + -0.9419769644737244, + -0.33520424365997314 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.0020700483582913876, + -0.0849863737821579, + -0.0774998888373375 + ], + "orientation": [ + 0.008106033317744732, + 0.010686666704714298, + -0.9426166415214539, + -0.33360743522644043 + ], + "joints": [ + -0.010567215271294117 + ] + }, + "final_grasp": { + "position": [ + 0.0020700483582913876, + -0.0849863737821579, + -0.0774998888373375 + ], + "orientation": [ + 0.008106033317744732, + 0.010686666704714298, + -0.9426166415214539, + -0.33360743522644043 + ], + "joints": [ + -0.0052266474813222885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11605185270309448, + 0.06733128428459167, + 0.059560567140579224 + ], + "orientation": [ + 0.5329817533493042, + -0.4855802357196808, + 0.022717110812664032, + 0.6925506591796875 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.11498932540416718, + 0.06613782048225403, + 0.057964395731687546 + ], + "orientation": [ + 0.5251424908638, + -0.500659167766571, + 0.03415832296013832, + 0.68731290102005 + ], + "joints": [ + -0.005856751464307308 + ] + }, + "final_grasp": { + "position": [ + 0.11498932540416718, + 0.06613782048225403, + 0.057964395731687546 + ], + "orientation": [ + 0.5251424908638, + -0.500659167766571, + 0.03415832296013832, + 0.68731290102005 + ], + "joints": [ + -0.000516185536980629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004572780802845955, + 0.12533871829509735, + 0.056231722235679626 + ], + "orientation": [ + 0.14875933527946472, + -0.9840840697288513, + 0.003919989336282015, + -0.09712845087051392 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.0048726024106144905, + 0.12729303538799286, + 0.0570206418633461 + ], + "orientation": [ + 0.14729119837284088, + -0.9854512214660645, + 0.0013078071642667055, + -0.08479108661413193 + ], + "joints": [ + -0.008438747376203537 + ] + }, + "final_grasp": { + "position": [ + -0.0048726024106144905, + 0.12729303538799286, + 0.0570206418633461 + ], + "orientation": [ + 0.14729119837284088, + -0.9854512214660645, + 0.0013078071642667055, + -0.08479108661413193 + ], + "joints": [ + -0.000999152660369873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03338997811079025, + 0.12044926732778549, + -0.05768892541527748 + ], + "orientation": [ + 0.20170967280864716, + 0.644468367099762, + -0.1500820368528366, + -0.7221143245697021 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.03441006690263748, + 0.12261276692152023, + -0.058550089597702026 + ], + "orientation": [ + 0.19340185821056366, + 0.6539119482040405, + -0.15178099274635315, + -0.7155119776725769 + ], + "joints": [ + -0.007623175624758005 + ] + }, + "final_grasp": { + "position": [ + -0.03441006690263748, + 0.12261276692152023, + -0.058550089597702026 + ], + "orientation": [ + 0.19340185821056366, + 0.6539119482040405, + -0.15178099274635315, + -0.7155119776725769 + ], + "joints": [ + -0.0022826092317700386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1409309059381485, + 0.02121073380112648, + 0.011356719769537449 + ], + "orientation": [ + 0.26976898312568665, + 0.6357820630073547, + 0.6144642233848572, + -0.3813653886318207 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.13996931910514832, + 0.020708708092570305, + 0.01162054855376482 + ], + "orientation": [ + 0.2654043734073639, + 0.6345155835151672, + 0.6155914664268494, + -0.38470458984375 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.13996931910514832, + 0.020708708092570305, + 0.01162054855376482 + ], + "orientation": [ + 0.2654043734073639, + 0.6345155835151672, + 0.6155914664268494, + -0.38470458984375 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0592786967754364, + -0.10580100119113922, + 0.013004136271774769 + ], + "orientation": [ + 0.6285563707351685, + -0.1432083398103714, + 0.7635829448699951, + 0.036734070628881454 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.0598052442073822, + -0.10443930327892303, + 0.012165956199169159 + ], + "orientation": [ + 0.6398447751998901, + -0.13396967947483063, + 0.7560828328132629, + 0.031457915902137756 + ], + "joints": [ + -0.007147711701691151 + ] + }, + "final_grasp": { + "position": [ + 0.0598052442073822, + -0.10443930327892303, + 0.012165956199169159 + ], + "orientation": [ + 0.6398447751998901, + -0.13396967947483063, + 0.7560828328132629, + 0.031457915902137756 + ], + "joints": [ + -0.00021294690668582916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13447803258895874, + 0.015246777795255184, + 0.012764550745487213 + ], + "orientation": [ + 0.04919111728668213, + -0.7078604102134705, + -0.703239917755127, + 0.04435450956225395 + ], + "joints": [ + -0.0015334764029830694 + ] + }, + "fine_grasp": { + "position": [ + -0.13838732242584229, + 0.015732143074274063, + 0.013864267617464066 + ], + "orientation": [ + 0.042828671634197235, + -0.7086237072944641, + -0.7030101418495178, + 0.04236753657460213 + ], + "joints": [ + 0.004843319766223431 + ] + }, + "final_grasp": { + "position": [ + -0.13838732242584229, + 0.015732143074274063, + 0.013864267617464066 + ], + "orientation": [ + 0.042828671634197235, + -0.7086237072944641, + -0.7030101418495178, + 0.04236753657460213 + ], + "joints": [ + 0.011220116168260574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13500525057315826, + 0.03678703308105469, + 0.01921861432492733 + ], + "orientation": [ + 0.3954678177833557, + 0.512580931186676, + 0.4518345296382904, + -0.6137683987617493 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.1379389613866806, + 0.03906211629509926, + 0.016479892656207085 + ], + "orientation": [ + 0.3904857039451599, + 0.5309551358222961, + 0.4553813636302948, + -0.598527729511261 + ], + "joints": [ + -0.009500071406364441 + ] + }, + "final_grasp": { + "position": [ + -0.1379389613866806, + 0.03906211629509926, + 0.016479892656207085 + ], + "orientation": [ + 0.3904857039451599, + 0.5309551358222961, + 0.4553813636302948, + -0.598527729511261 + ], + "joints": [ + -0.002591874450445175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0238947756588459, + 0.11551462113857269, + -0.057348497211933136 + ], + "orientation": [ + 0.1208810806274414, + 0.04920021444559097, + 0.15032097697257996, + 0.9799850583076477 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.023420367389917374, + 0.11743589490652084, + -0.057603225111961365 + ], + "orientation": [ + 0.10626474767923355, + 0.027556423097848892, + 0.14835453033447266, + 0.9828221797943115 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + 0.023420367389917374, + 0.11743589490652084, + -0.057603225111961365 + ], + "orientation": [ + 0.10626474767923355, + 0.027556423097848892, + 0.14835453033447266, + 0.9828221797943115 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021968767046928406, + -0.07646903395652771, + -0.10175566375255585 + ], + "orientation": [ + 0.9219095706939697, + 0.3591688871383667, + -0.14218203723430634, + 0.02940649911761284 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.02123865857720375, + -0.0759720429778099, + -0.10243769735097885 + ], + "orientation": [ + 0.92482590675354, + 0.35411807894706726, + -0.1360645443201065, + 0.027996771037578583 + ], + "joints": [ + -0.009054123423993587 + ] + }, + "final_grasp": { + "position": [ + 0.02123865857720375, + -0.0759720429778099, + -0.10243769735097885 + ], + "orientation": [ + 0.92482590675354, + 0.35411807894706726, + -0.1360645443201065, + 0.027996771037578583 + ], + "joints": [ + -0.0016410965472459793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0025553375016897917, + 0.012510917149484158, + 0.12435552477836609 + ], + "orientation": [ + 0.4970427453517914, + -0.5079187750816345, + -0.5106897354125977, + 0.48390382528305054 + ], + "joints": [ + -0.0014153269585222006 + ] + }, + "fine_grasp": { + "position": [ + -0.002760213566944003, + 0.012929603457450867, + 0.1197609081864357 + ], + "orientation": [ + 0.4974610209465027, + -0.5062649846076965, + -0.5085574984550476, + 0.48743975162506104 + ], + "joints": [ + 0.004456639289855957 + ] + }, + "final_grasp": { + "position": [ + -0.002760213566944003, + 0.012929603457450867, + 0.1197609081864357 + ], + "orientation": [ + 0.4974610209465027, + -0.5062649846076965, + -0.5085574984550476, + 0.48743975162506104 + ], + "joints": [ + 0.010328605771064758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0025885163340717554, + 0.012505554594099522, + 0.12421092391014099 + ], + "orientation": [ + 0.4971061944961548, + -0.5080789923667908, + -0.5106470584869385, + 0.48371556401252747 + ], + "joints": [ + -0.0014153269585222006 + ] + }, + "fine_grasp": { + "position": [ + -0.0027799545787274837, + 0.012888498604297638, + 0.11969217658042908 + ], + "orientation": [ + 0.49755874276161194, + -0.5062170028686523, + -0.5086266994476318, + 0.4873177409172058 + ], + "joints": [ + 0.004456639289855957 + ] + }, + "final_grasp": { + "position": [ + -0.0027799545787274837, + 0.012888498604297638, + 0.11969217658042908 + ], + "orientation": [ + 0.49755874276161194, + -0.5062170028686523, + -0.5086266994476318, + 0.4873177409172058 + ], + "joints": [ + 0.010328605771064758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.088533915579319, + -0.07132204622030258, + -2.5803417884162627e-05 + ], + "orientation": [ + 0.022963695228099823, + 0.39184537529945374, + -0.9154897928237915, + 0.08836498111486435 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.08582692593336105, + -0.06945154815912247, + 5.4160511353984475e-05 + ], + "orientation": [ + 0.026448456570506096, + 0.38884082436561584, + -0.9165152311325073, + 0.0900169163942337 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.08582692593336105, + -0.06945154815912247, + 5.4160511353984475e-05 + ], + "orientation": [ + 0.026448456570506096, + 0.38884082436561584, + -0.9165152311325073, + 0.0900169163942337 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022491836920380592, + 0.0387604758143425, + 0.13190269470214844 + ], + "orientation": [ + 0.23803508281707764, + -0.14244294166564941, + 0.570378839969635, + -0.7731217741966248 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.023579712957143784, + 0.038743119686841965, + 0.1324893832206726 + ], + "orientation": [ + 0.23797908425331116, + -0.14243051409721375, + 0.5738469362258911, + -0.7705707550048828 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + -0.023579712957143784, + 0.038743119686841965, + 0.1324893832206726 + ], + "orientation": [ + 0.23797908425331116, + -0.14243051409721375, + 0.5738469362258911, + -0.7705707550048828 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08787460625171661, + 0.10678517818450928, + 0.05491681769490242 + ], + "orientation": [ + 0.41195017099380493, + -0.5863261222839355, + -0.08252463489770889, + -0.692609965801239 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.08432907611131668, + 0.10336713492870331, + 0.05221371352672577 + ], + "orientation": [ + 0.41330018639564514, + -0.5836905837059021, + -0.08098087459802628, + -0.6942120790481567 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.08432907611131668, + 0.10336713492870331, + 0.05221371352672577 + ], + "orientation": [ + 0.41330018639564514, + -0.5836905837059021, + -0.08098087459802628, + -0.6942120790481567 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027246976271271706, + -0.06422554701566696, + 0.11247708648443222 + ], + "orientation": [ + 0.8973375558853149, + -0.41922280192375183, + -0.1284557282924652, + -0.05036552995443344 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.026553738862276077, + -0.06384501606225967, + 0.1131787896156311 + ], + "orientation": [ + 0.9008033871650696, + -0.41203755140304565, + -0.12878850102424622, + -0.046818580478429794 + ], + "joints": [ + -0.008493282832205296 + ] + }, + "final_grasp": { + "position": [ + -0.026553738862276077, + -0.06384501606225967, + 0.1131787896156311 + ], + "orientation": [ + 0.9008033871650696, + -0.41203755140304565, + -0.12878850102424622, + -0.046818580478429794 + ], + "joints": [ + -0.00054885633289814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0070407637394964695, + 0.07016289979219437, + 0.11492839455604553 + ], + "orientation": [ + 0.015361382625997066, + 0.03108472190797329, + -0.48706209659576416, + 0.8726788759231567 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.007690521888434887, + 0.07226638495922089, + 0.11770269274711609 + ], + "orientation": [ + 0.020691419020295143, + 0.026095999404788017, + -0.4849443733692169, + 0.873910665512085 + ], + "joints": [ + -0.008385607041418552 + ] + }, + "final_grasp": { + "position": [ + 0.007690521888434887, + 0.07226638495922089, + 0.11770269274711609 + ], + "orientation": [ + 0.020691419020295143, + 0.026095999404788017, + -0.4849443733692169, + 0.873910665512085 + ], + "joints": [ + -0.0008928719907999039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016022074967622757, + -0.02439250610768795, + -0.13598290085792542 + ], + "orientation": [ + 0.1847335398197174, + 0.2288195788860321, + -0.7914245128631592, + -0.5358755588531494 + ], + "joints": [ + -0.013581991195678711 + ] + }, + "fine_grasp": { + "position": [ + 0.016125617548823357, + -0.023939261212944984, + -0.13349197804927826 + ], + "orientation": [ + 0.18677036464214325, + 0.23035448789596558, + -0.7852318286895752, + -0.5435665249824524 + ], + "joints": [ + -0.007178626023232937 + ] + }, + "final_grasp": { + "position": [ + 0.016125617548823357, + -0.023939261212944984, + -0.13349197804927826 + ], + "orientation": [ + 0.18677036464214325, + 0.23035448789596558, + -0.7852318286895752, + -0.5435665249824524 + ], + "joints": [ + -0.0007752608507871628 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12080935388803482, + 0.06918587535619736, + -0.029542112722992897 + ], + "orientation": [ + 0.21832679212093353, + -0.6842650771141052, + 0.5148385167121887, + 0.46803411841392517 + ], + "joints": [ + -0.01424362137913704 + ] + }, + "fine_grasp": { + "position": [ + 0.12459604442119598, + 0.06650716066360474, + -0.028161516413092613 + ], + "orientation": [ + 0.1976895034313202, + -0.6814725399017334, + 0.503180742263794, + 0.4932778775691986 + ], + "joints": [ + -0.007388566620647907 + ] + }, + "final_grasp": { + "position": [ + 0.12459604442119598, + 0.06650716066360474, + -0.028161516413092613 + ], + "orientation": [ + 0.1976895034313202, + -0.6814725399017334, + 0.503180742263794, + 0.4932778775691986 + ], + "joints": [ + -0.0005335118621587753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 1.8822400306817144e-05, + 0.0557328499853611, + -0.13049447536468506 + ], + "orientation": [ + 0.05253692343831062, + 0.0913248360157013, + 0.6400832533836365, + 0.76104736328125 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.0004603670386131853, + 0.05336174741387367, + -0.13351356983184814 + ], + "orientation": [ + 0.055948760360479355, + 0.08574653416872025, + 0.6266112327575684, + 0.7725772857666016 + ], + "joints": [ + -0.00859912484884262 + ] + }, + "final_grasp": { + "position": [ + 0.0004603670386131853, + 0.05336174741387367, + -0.13351356983184814 + ], + "orientation": [ + 0.055948760360479355, + 0.08574653416872025, + 0.6266112327575684, + 0.7725772857666016 + ], + "joints": [ + -0.004852756857872009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030976999551057816, + 0.05995173752307892, + -0.11792395263910294 + ], + "orientation": [ + 0.20004282891750336, + 0.0899381935596466, + 0.5296652317047119, + 0.819358766078949 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.031691547483205795, + 0.06052067130804062, + -0.11895503848791122 + ], + "orientation": [ + 0.20221106708049774, + 0.0918654352426529, + 0.5306761860847473, + 0.81795734167099 + ], + "joints": [ + -0.009445535019040108 + ] + }, + "final_grasp": { + "position": [ + 0.031691547483205795, + 0.06052067130804062, + -0.11895503848791122 + ], + "orientation": [ + 0.20221106708049774, + 0.0918654352426529, + 0.5306761860847473, + 0.81795734167099 + ], + "joints": [ + -0.003042168915271759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06791429221630096, + 0.11150657385587692, + -0.054308127611875534 + ], + "orientation": [ + 0.058536022901535034, + 0.7560676336288452, + 0.3150130808353424, + 0.5707030296325684 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.068586565554142, + 0.11231289803981781, + -0.05514877289533615 + ], + "orientation": [ + 0.057952143251895905, + 0.7486679553985596, + 0.3107348084449768, + 0.5827363133430481 + ], + "joints": [ + -0.0076231760904192924 + ] + }, + "final_grasp": { + "position": [ + -0.068586565554142, + 0.11231289803981781, + -0.05514877289533615 + ], + "orientation": [ + 0.057952143251895905, + 0.7486679553985596, + 0.3107348084449768, + 0.5827363133430481 + ], + "joints": [ + -0.0022826101630926132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0871099978685379, + -0.0701945424079895, + -0.0009007665212266147 + ], + "orientation": [ + 0.040891338139772415, + 0.390839159488678, + -0.9148887991905212, + 0.09247340261936188 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.08549337834119797, + -0.0700029656291008, + -0.000691206892952323 + ], + "orientation": [ + 0.04178932309150696, + 0.38717973232269287, + -0.9163997173309326, + 0.09250443428754807 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.08549337834119797, + -0.0700029656291008, + -0.000691206892952323 + ], + "orientation": [ + 0.04178932309150696, + 0.38717973232269287, + -0.9163997173309326, + 0.09250443428754807 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08711421489715576, + 0.1064903736114502, + 0.05446084961295128 + ], + "orientation": [ + 0.41163697838783264, + -0.5879318714141846, + -0.08483288437128067, + -0.691154420375824 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.08355620503425598, + 0.10311021655797958, + 0.051781829446554184 + ], + "orientation": [ + 0.4133557379245758, + -0.5841371417045593, + -0.08315829932689667, + -0.6935456991195679 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.08355620503425598, + 0.10311021655797958, + 0.051781829446554184 + ], + "orientation": [ + 0.4133557379245758, + -0.5841371417045593, + -0.08315829932689667, + -0.6935456991195679 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12357468903064728, + -0.03624042496085167, + 0.029883520677685738 + ], + "orientation": [ + 0.5498359203338623, + 0.29728084802627563, + -0.6443496346473694, + 0.4405882954597473 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.12413183599710464, + -0.03712320327758789, + 0.02686878852546215 + ], + "orientation": [ + 0.5573839545249939, + 0.3013021647930145, + -0.6427791714668274, + 0.4305521547794342 + ], + "joints": [ + -0.00952951144427061 + ] + }, + "final_grasp": { + "position": [ + 0.12413183599710464, + -0.03712320327758789, + 0.02686878852546215 + ], + "orientation": [ + 0.5573839545249939, + 0.3013021647930145, + -0.6427791714668274, + 0.4305521547794342 + ], + "joints": [ + -0.0026213135570287704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025124039500951767, + 0.1284702569246292, + 0.02969403564929962 + ], + "orientation": [ + 0.0843731015920639, + -0.6668868660926819, + 0.10000065714120865, + -0.7335823178291321 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.02633899450302124, + 0.12736402451992035, + 0.026428600773215294 + ], + "orientation": [ + 0.06369160860776901, + -0.6862327456474304, + 0.09627874195575714, + -0.7181633114814758 + ], + "joints": [ + -0.008294489234685898 + ] + }, + "final_grasp": { + "position": [ + -0.02633899450302124, + 0.12736402451992035, + 0.026428600773215294 + ], + "orientation": [ + 0.06369160860776901, + -0.6862327456474304, + 0.09627874195575714, + -0.7181633114814758 + ], + "joints": [ + -0.0019176937639713287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025141151621937752, + 0.12848897278308868, + 0.029718350619077682 + ], + "orientation": [ + 0.08462190628051758, + -0.6657759547233582, + 0.100013367831707, + -0.7345601916313171 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.026210390031337738, + 0.1273636817932129, + 0.026359690353274345 + ], + "orientation": [ + 0.06440313905477524, + -0.6851856708526611, + 0.09535561501979828, + -0.7192219495773315 + ], + "joints": [ + -0.008294489234685898 + ] + }, + "final_grasp": { + "position": [ + -0.026210390031337738, + 0.1273636817932129, + 0.026359690353274345 + ], + "orientation": [ + 0.06440313905477524, + -0.6851856708526611, + 0.09535561501979828, + -0.7192219495773315 + ], + "joints": [ + -0.0019176937639713287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10960071533918381, + -0.04440693184733391, + -0.04129932075738907 + ], + "orientation": [ + 0.6255809664726257, + 0.453251451253891, + 0.6161075830459595, + -0.15369775891304016 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.11083165556192398, + -0.04487282782793045, + -0.04202565923333168 + ], + "orientation": [ + 0.6224945187568665, + 0.45134249329566956, + 0.6221185326576233, + -0.14750966429710388 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + -0.11083165556192398, + -0.04487282782793045, + -0.04202565923333168 + ], + "orientation": [ + 0.6224945187568665, + 0.45134249329566956, + 0.6221185326576233, + -0.14750966429710388 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03231588751077652, + -0.10877324640750885, + 0.006497322116047144 + ], + "orientation": [ + 0.7615665793418884, + -0.0632922351360321, + 0.6439764499664307, + 0.03612009808421135 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.03368613123893738, + -0.11184009164571762, + 0.00703201862052083 + ], + "orientation": [ + 0.7613855600357056, + -0.05683570355176926, + 0.6450002789497375, + 0.03219359740614891 + ], + "joints": [ + -0.008466712199151516 + ] + }, + "final_grasp": { + "position": [ + 0.03368613123893738, + -0.11184009164571762, + 0.00703201862052083 + ], + "orientation": [ + 0.7613855600357056, + -0.05683570355176926, + 0.6450002789497375, + 0.03219359740614891 + ], + "joints": [ + -0.0004957150667905807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13480457663536072, + 0.03265628591179848, + 0.017749274149537086 + ], + "orientation": [ + 0.26711708307266235, + 0.6350489258766174, + -0.5753849744796753, + 0.44078728556632996 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.1379331797361374, + 0.03287602216005325, + 0.01933673396706581 + ], + "orientation": [ + 0.26456403732299805, + 0.6360208988189697, + -0.5811912417411804, + 0.4332435429096222 + ], + "joints": [ + -0.0076231760904192924 + ] + }, + "final_grasp": { + "position": [ + 0.1379331797361374, + 0.03287602216005325, + 0.01933673396706581 + ], + "orientation": [ + 0.26456403732299805, + 0.6360208988189697, + -0.5811912417411804, + 0.4332435429096222 + ], + "joints": [ + -0.0022826101630926132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0767974704504013, + -0.10195848345756531, + -0.008420589379966259 + ], + "orientation": [ + 0.7608001828193665, + -0.1153533086180687, + 0.6021124124526978, + 0.21292565762996674 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + 0.07490728795528412, + -0.09932324290275574, + -0.0062818266451358795 + ], + "orientation": [ + 0.7560415267944336, + -0.1263435333967209, + 0.6093572378158569, + 0.2027861326932907 + ], + "joints": [ + -0.009829655289649963 + ] + }, + "final_grasp": { + "position": [ + 0.07490728795528412, + -0.09932324290275574, + -0.0062818266451358795 + ], + "orientation": [ + 0.7560415267944336, + -0.1263435333967209, + 0.6093572378158569, + 0.2027861326932907 + ], + "joints": [ + -0.002868315204977989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04736931249499321, + -0.08927983790636063, + 0.07119758427143097 + ], + "orientation": [ + 0.6935222148895264, + -0.16157381236553192, + -0.6463868021965027, + 0.2740527391433716 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.046828147023916245, + -0.08699339628219604, + 0.06989903002977371 + ], + "orientation": [ + 0.6926150918006897, + -0.16273395717144012, + -0.6468179821968079, + 0.27464258670806885 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + 0.046828147023916245, + -0.08699339628219604, + 0.06989903002977371 + ], + "orientation": [ + 0.6926150918006897, + -0.16273395717144012, + -0.6468179821968079, + 0.27464258670806885 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03462379053235054, + -0.05167917534708977, + 0.1104351207613945 + ], + "orientation": [ + 0.024327103048563004, + 0.16000553965568542, + 0.8934836983680725, + -0.41891908645629883 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + -0.03538457304239273, + -0.05235395208001137, + 0.11341150104999542 + ], + "orientation": [ + 0.013216831721365452, + 0.1669548749923706, + 0.8980883955955505, + -0.40667998790740967 + ], + "joints": [ + -0.008265048265457153 + ] + }, + "final_grasp": { + "position": [ + -0.03538457304239273, + -0.05235395208001137, + 0.11341150104999542 + ], + "orientation": [ + 0.013216831721365452, + 0.1669548749923706, + 0.8980883955955505, + -0.40667998790740967 + ], + "joints": [ + -0.0018882527947425842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012020491063594818, + 0.10831499844789505, + 0.09045765548944473 + ], + "orientation": [ + 0.08658070862293243, + -0.08055879175662994, + 0.3260807991027832, + -0.9379154443740845 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.009516681544482708, + 0.10517367720603943, + 0.08774958550930023 + ], + "orientation": [ + 0.06886401027441025, + -0.0723782330751419, + 0.3201272189617157, + -0.9420921802520752 + ], + "joints": [ + -0.010331613942980766 + ] + }, + "final_grasp": { + "position": [ + -0.009516681544482708, + 0.10517367720603943, + 0.08774958550930023 + ], + "orientation": [ + 0.06886401027441025, + -0.0723782330751419, + 0.3201272189617157, + -0.9420921802520752 + ], + "joints": [ + -0.0039016734808683395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012492536567151546, + 0.10905039310455322, + 0.09065241366624832 + ], + "orientation": [ + 0.08949723094701767, + -0.08458193391561508, + 0.32441529631614685, + -0.9378650784492493 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.010474751703441143, + 0.10610047727823257, + 0.08784760534763336 + ], + "orientation": [ + 0.07662716507911682, + -0.07704509794712067, + 0.3208532929420471, + -0.9408748745918274 + ], + "joints": [ + -0.010091747157275677 + ] + }, + "final_grasp": { + "position": [ + -0.010474751703441143, + 0.10610047727823257, + 0.08784760534763336 + ], + "orientation": [ + 0.07662716507911682, + -0.07704509794712067, + 0.3208532929420471, + -0.9408748745918274 + ], + "joints": [ + -0.0031569767743349075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004473801236599684, + -0.054585088044404984, + -0.11479219049215317 + ], + "orientation": [ + 0.8863577842712402, + 0.41301044821739197, + 0.1831900030374527, + 0.1011614054441452 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.004398283548653126, + -0.054204683750867844, + -0.11472975462675095 + ], + "orientation": [ + 0.8856691122055054, + 0.40750059485435486, + 0.19385123252868652, + 0.1093401089310646 + ], + "joints": [ + -0.007230291608721018 + ] + }, + "final_grasp": { + "position": [ + -0.004398283548653126, + -0.054204683750867844, + -0.11472975462675095 + ], + "orientation": [ + 0.8856691122055054, + 0.40750059485435486, + 0.19385123252868652, + 0.1093401089310646 + ], + "joints": [ + -0.000348665751516819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11376667022705078, + -0.0492096021771431, + -0.007966366596519947 + ], + "orientation": [ + 0.695123016834259, + -0.24491819739341736, + -0.5477734208106995, + -0.3959335386753082 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.11568466573953629, + -0.05296415463089943, + -0.006437665782868862 + ], + "orientation": [ + 0.6860679984092712, + -0.26506349444389343, + -0.5614067912101746, + -0.3793080151081085 + ], + "joints": [ + -0.009891558438539505 + ] + }, + "final_grasp": { + "position": [ + -0.11568466573953629, + -0.05296415463089943, + -0.006437665782868862 + ], + "orientation": [ + 0.6860679984092712, + -0.26506349444389343, + -0.5614067912101746, + -0.3793080151081085 + ], + "joints": [ + -0.005082391202449799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11376357078552246, + -0.049285270273685455, + -0.007958892732858658 + ], + "orientation": [ + 0.6949966549873352, + -0.24504366517066956, + -0.5481054782867432, + -0.3956182599067688 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.11570096760988235, + -0.053101032972335815, + -0.0064392611384391785 + ], + "orientation": [ + 0.6851550936698914, + -0.2655932307243347, + -0.5622099041938782, + -0.37939807772636414 + ], + "joints": [ + -0.009891558438539505 + ] + }, + "final_grasp": { + "position": [ + -0.11570096760988235, + -0.053101032972335815, + -0.0064392611384391785 + ], + "orientation": [ + 0.6851550936698914, + -0.2655932307243347, + -0.5622099041938782, + -0.37939807772636414 + ], + "joints": [ + -0.005082391202449799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020066699013113976, + 0.1403377205133438, + -0.018015597015619278 + ], + "orientation": [ + 0.047537706792354584, + 0.5886202454566956, + -0.06558140367269516, + -0.8043416142463684 + ], + "joints": [ + -0.01673211343586445 + ] + }, + "fine_grasp": { + "position": [ + -0.019491713494062424, + 0.13565181195735931, + -0.01677205227315426 + ], + "orientation": [ + 0.05029916763305664, + 0.6012846231460571, + -0.05510866641998291, + -0.7955437898635864 + ], + "joints": [ + -0.009823914617300034 + ] + }, + "final_grasp": { + "position": [ + -0.019491713494062424, + 0.13565181195735931, + -0.01677205227315426 + ], + "orientation": [ + 0.05029916763305664, + 0.6012846231460571, + -0.05510866641998291, + -0.7955437898635864 + ], + "joints": [ + -0.0029157157987356186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020028388127684593, + 0.14090938866138458, + -0.01822762005031109 + ], + "orientation": [ + 0.04699933901429176, + 0.5861616134643555, + -0.06755833327770233, + -0.8060033321380615 + ], + "joints": [ + -0.01673211343586445 + ] + }, + "fine_grasp": { + "position": [ + -0.019225191324949265, + 0.13579238951206207, + -0.016970058903098106 + ], + "orientation": [ + 0.05096232518553734, + 0.5999389886856079, + -0.05565660819411278, + -0.7964786291122437 + ], + "joints": [ + -0.009823914617300034 + ] + }, + "final_grasp": { + "position": [ + -0.019225191324949265, + 0.13579238951206207, + -0.016970058903098106 + ], + "orientation": [ + 0.05096232518553734, + 0.5999389886856079, + -0.05565660819411278, + -0.7964786291122437 + ], + "joints": [ + -0.0029157157987356186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02009902149438858, + 0.14072655141353607, + -0.01799783669412136 + ], + "orientation": [ + 0.04701104387640953, + 0.5864002108573914, + -0.06625502556562424, + -0.8059374094009399 + ], + "joints": [ + -0.01673211343586445 + ] + }, + "fine_grasp": { + "position": [ + -0.019423529505729675, + 0.13573254644870758, + -0.016732750460505486 + ], + "orientation": [ + 0.050828371196985245, + 0.599364161491394, + -0.0548674650490284, + -0.796974778175354 + ], + "joints": [ + -0.009823914617300034 + ] + }, + "final_grasp": { + "position": [ + -0.019423529505729675, + 0.13573254644870758, + -0.016732750460505486 + ], + "orientation": [ + 0.050828371196985245, + 0.599364161491394, + -0.0548674650490284, + -0.796974778175354 + ], + "joints": [ + -0.0029157157987356186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12037214636802673, + -0.05744718387722969, + 0.025311771780252457 + ], + "orientation": [ + 0.5924412608146667, + 0.24593710899353027, + -0.67444908618927, + 0.36557716131210327 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.12154503166675568, + -0.056932687759399414, + 0.02276400662958622 + ], + "orientation": [ + 0.5939175486564636, + 0.2498803436756134, + -0.6783972978591919, + 0.3529857099056244 + ], + "joints": [ + -0.006697419099509716 + ] + }, + "final_grasp": { + "position": [ + 0.12154503166675568, + -0.056932687759399414, + 0.02276400662958622 + ], + "orientation": [ + 0.5939175486564636, + 0.2498803436756134, + -0.6783972978591919, + 0.3529857099056244 + ], + "joints": [ + 0.0012470055371522903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03025331161916256, + 0.12429806590080261, + 0.053301721811294556 + ], + "orientation": [ + 0.12172671407461166, + 0.016231510788202286, + 0.2230333685874939, + -0.9670446515083313 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.0279668178409338, + 0.11991939693689346, + 0.05131625011563301 + ], + "orientation": [ + 0.11529165506362915, + 0.016305433586239815, + 0.2247900515794754, + -0.9674251675605774 + ], + "joints": [ + -0.010568610392510891 + ] + }, + "final_grasp": { + "position": [ + -0.0279668178409338, + 0.11991939693689346, + 0.05131625011563301 + ], + "orientation": [ + 0.11529165506362915, + 0.016305433586239815, + 0.2247900515794754, + -0.9674251675605774 + ], + "joints": [ + -0.004670070484280586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02959640510380268, + 0.12403048574924469, + 0.05318726226687431 + ], + "orientation": [ + 0.11903561651706696, + 0.017677031457424164, + 0.223063126206398, + -0.9673473238945007 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.027403373271226883, + 0.11988059431314468, + 0.05141320452094078 + ], + "orientation": [ + 0.11303132772445679, + 0.016213709488511086, + 0.22596724331378937, + -0.9674191474914551 + ], + "joints": [ + -0.010568610392510891 + ] + }, + "final_grasp": { + "position": [ + -0.027403373271226883, + 0.11988059431314468, + 0.05141320452094078 + ], + "orientation": [ + 0.11303132772445679, + 0.016213709488511086, + 0.22596724331378937, + -0.9674191474914551 + ], + "joints": [ + -0.004670070484280586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11317727714776993, + -0.049394138157367706, + -0.007857535034418106 + ], + "orientation": [ + 0.6944150924682617, + -0.2471618354320526, + -0.5487944483757019, + -0.3943645656108856 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.11520379781723022, + -0.053472358733415604, + -0.0064130499958992004 + ], + "orientation": [ + 0.681977391242981, + -0.26785600185394287, + -0.5646957755088806, + -0.37984025478363037 + ], + "joints": [ + -0.009891558438539505 + ] + }, + "final_grasp": { + "position": [ + -0.11520379781723022, + -0.053472358733415604, + -0.0064130499958992004 + ], + "orientation": [ + 0.681977391242981, + -0.26785600185394287, + -0.5646957755088806, + -0.37984025478363037 + ], + "joints": [ + -0.005082391202449799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07873660326004028, + 0.12540344893932343, + 0.015075040981173515 + ], + "orientation": [ + 0.2938214838504791, + 0.029643330723047256, + -0.11158493906259537, + 0.9488619565963745 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07445178180932999, + 0.12150171399116516, + 0.014021558687090874 + ], + "orientation": [ + 0.2894037067890167, + 0.03305252268910408, + -0.12139150500297546, + 0.9489030838012695 + ], + "joints": [ + -0.008297359570860863 + ] + }, + "final_grasp": { + "position": [ + 0.07445178180932999, + 0.12150171399116516, + 0.014021558687090874 + ], + "orientation": [ + 0.2894037067890167, + 0.03305252268910408, + -0.12139150500297546, + 0.9489030838012695 + ], + "joints": [ + -0.001893993467092514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07845594733953476, + 0.12508654594421387, + 0.014910493046045303 + ], + "orientation": [ + 0.293766587972641, + 0.029663724824786186, + -0.11145326495170593, + 0.9488938450813293 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07412089407444, + 0.12125641107559204, + 0.013827702961862087 + ], + "orientation": [ + 0.28853315114974976, + 0.03437970578670502, + -0.12311646342277527, + 0.9488987922668457 + ], + "joints": [ + -0.008297359570860863 + ] + }, + "final_grasp": { + "position": [ + 0.07412089407444, + 0.12125641107559204, + 0.013827702961862087 + ], + "orientation": [ + 0.28853315114974976, + 0.03437970578670502, + -0.12311646342277527, + 0.9488987922668457 + ], + "joints": [ + -0.001893993467092514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006269142497330904, + 0.13011687994003296, + 0.05126458406448364 + ], + "orientation": [ + 0.038400765508413315, + -0.6022582054138184, + -0.23007138073444366, + 0.7634642124176025 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.005878272466361523, + 0.12890371680259705, + 0.05169286951422691 + ], + "orientation": [ + 0.03972576558589935, + -0.6120702028274536, + -0.23404601216316223, + 0.7543304562568665 + ], + "joints": [ + -0.00938812643289566 + ] + }, + "final_grasp": { + "position": [ + -0.005878272466361523, + 0.12890371680259705, + 0.05169286951422691 + ], + "orientation": [ + 0.03972576558589935, + -0.6120702028274536, + -0.23404601216316223, + 0.7543304562568665 + ], + "joints": [ + -0.003516159951686859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03776624798774719, + 0.014753163792192936, + 0.12126444280147552 + ], + "orientation": [ + 0.5175327062606812, + -0.43419915437698364, + -0.4817882180213928, + 0.5581316947937012 + ], + "joints": [ + -0.0014897154178470373 + ] + }, + "fine_grasp": { + "position": [ + 0.036342620849609375, + 0.016566289588809013, + 0.11896068602800369 + ], + "orientation": [ + 0.5092306137084961, + -0.4314573109149933, + -0.4831356704235077, + 0.5666643381118774 + ], + "joints": [ + 0.004887080751359463 + ] + }, + "final_grasp": { + "position": [ + 0.036342620849609375, + 0.016566289588809013, + 0.11896068602800369 + ], + "orientation": [ + 0.5092306137084961, + -0.4314573109149933, + -0.4831356704235077, + 0.5666643381118774 + ], + "joints": [ + 0.011263877153396606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03797200322151184, + 0.014609378762543201, + 0.12130893021821976 + ], + "orientation": [ + 0.5194230675697327, + -0.4334601163864136, + -0.480276495218277, + 0.5582529306411743 + ], + "joints": [ + -0.0014897154178470373 + ] + }, + "fine_grasp": { + "position": [ + 0.03642154112458229, + 0.016665278002619743, + 0.11913346499204636 + ], + "orientation": [ + 0.5105429887771606, + -0.4307117462158203, + -0.481594443321228, + 0.5673622488975525 + ], + "joints": [ + 0.00438225083053112 + ] + }, + "final_grasp": { + "position": [ + 0.03642154112458229, + 0.016665278002619743, + 0.11913346499204636 + ], + "orientation": [ + 0.5105429887771606, + -0.4307117462158203, + -0.481594443321228, + 0.5673622488975525 + ], + "joints": [ + 0.010254217311739922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13412180542945862, + 0.013577020727097988, + 0.011724140495061874 + ], + "orientation": [ + 0.04754403978586197, + -0.7033088207244873, + -0.7080833315849304, + 0.04140491783618927 + ], + "joints": [ + -0.0014533752109855413 + ] + }, + "fine_grasp": { + "position": [ + -0.1399916112422943, + 0.013654113747179508, + 0.012312810868024826 + ], + "orientation": [ + 0.05092101916670799, + -0.703365683555603, + -0.7077783942222595, + 0.04163608327507973 + ], + "joints": [ + 0.004923420958220959 + ] + }, + "final_grasp": { + "position": [ + -0.1399916112422943, + 0.013654113747179508, + 0.012312810868024826 + ], + "orientation": [ + 0.05092101916670799, + -0.703365683555603, + -0.7077783942222595, + 0.04163608327507973 + ], + "joints": [ + 0.011300217360258102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014314140193164349, + -0.1215728223323822, + -0.0380699448287487 + ], + "orientation": [ + 0.6774157881736755, + 0.16498979926109314, + 0.7161600589752197, + 0.03164035081863403 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.01341935619711876, + -0.11829108744859695, + -0.03767785429954529 + ], + "orientation": [ + 0.6786032915115356, + 0.17342139780521393, + 0.7129727602005005, + 0.03305096551775932 + ], + "joints": [ + -0.010455192998051643 + ] + }, + "final_grasp": { + "position": [ + -0.01341935619711876, + -0.11829108744859695, + -0.03767785429954529 + ], + "orientation": [ + 0.6786032915115356, + 0.17342139780521393, + 0.7129727602005005, + 0.03305096551775932 + ], + "joints": [ + -0.00506148487329483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014274843037128448, + -0.12166627496480942, + -0.03822505101561546 + ], + "orientation": [ + 0.6779869794845581, + 0.1651727557182312, + 0.7155706286430359, + 0.0317823700606823 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.013416280969977379, + -0.1187770888209343, + -0.037789762020111084 + ], + "orientation": [ + 0.6779054403305054, + 0.1730971336364746, + 0.7137459516525269, + 0.0323791578412056 + ], + "joints": [ + -0.010455192998051643 + ] + }, + "final_grasp": { + "position": [ + -0.013416280969977379, + -0.1187770888209343, + -0.037789762020111084 + ], + "orientation": [ + 0.6779054403305054, + 0.1730971336364746, + 0.7137459516525269, + 0.0323791578412056 + ], + "joints": [ + -0.00506148487329483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02356509119272232, + -0.10220340639352798, + -0.011456571519374847 + ], + "orientation": [ + 0.12076650559902191, + 0.11050882935523987, + -0.9860112071037292, + 0.03138815611600876 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.024213986471295357, + -0.10726021975278854, + -0.011434835381805897 + ], + "orientation": [ + 0.12011159211397171, + 0.1057065948843956, + -0.9865614175796509, + 0.033104684203863144 + ], + "joints": [ + -0.010144888423383236 + ] + }, + "final_grasp": { + "position": [ + 0.024213986471295357, + -0.10726021975278854, + -0.011434835381805897 + ], + "orientation": [ + 0.12011159211397171, + 0.1057065948843956, + -0.9865614175796509, + 0.033104684203863144 + ], + "joints": [ + -0.003263259306550026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07749772816896439, + 0.12252388894557953, + 0.015235090628266335 + ], + "orientation": [ + 0.29669806361198425, + 0.03748716041445732, + -0.11018063873052597, + 0.9478529095649719 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07356365770101547, + 0.11871091276407242, + 0.013935361988842487 + ], + "orientation": [ + 0.29188644886016846, + 0.04446861147880554, + -0.12680411338806152, + 0.9469665288925171 + ], + "joints": [ + -0.0072877006605267525 + ] + }, + "final_grasp": { + "position": [ + 0.07356365770101547, + 0.11871091276407242, + 0.013935361988842487 + ], + "orientation": [ + 0.29188644886016846, + 0.04446861147880554, + -0.12680411338806152, + 0.9469665288925171 + ], + "joints": [ + 0.00012532435357570648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013150135986506939, + -0.09227363765239716, + -0.06607934087514877 + ], + "orientation": [ + 0.5799598693847656, + 0.16196106374263763, + 0.7608119249343872, + 0.2420339435338974 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.013581886887550354, + -0.08836529403924942, + -0.06373732537031174 + ], + "orientation": [ + 0.5823621153831482, + 0.15850652754306793, + 0.7587704658508301, + 0.24494390189647675 + ], + "joints": [ + -0.007177152670919895 + ] + }, + "final_grasp": { + "position": [ + -0.013581886887550354, + -0.08836529403924942, + -0.06373732537031174 + ], + "orientation": [ + 0.5823621153831482, + 0.15850652754306793, + 0.7587704658508301, + 0.24494390189647675 + ], + "joints": [ + -0.00024238787591457367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004427339881658554, + -0.10591521114110947, + 0.008323234505951405 + ], + "orientation": [ + 0.994988203048706, + 0.0263229813426733, + 0.09490159153938293, + 0.01729881949722767 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + 0.00634907279163599, + -0.10663241147994995, + 0.0073549384251236916 + ], + "orientation": [ + 0.9954784512519836, + 0.027974700555205345, + 0.08866454660892487, + 0.019461739808321 + ], + "joints": [ + -0.011156021617352962 + ] + }, + "final_grasp": { + "position": [ + 0.00634907279163599, + -0.10663241147994995, + 0.0073549384251236916 + ], + "orientation": [ + 0.9954784512519836, + 0.027974700555205345, + 0.08866454660892487, + 0.019461739808321 + ], + "joints": [ + -0.005815451964735985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008580355904996395, + 0.1295141726732254, + 0.07545490562915802 + ], + "orientation": [ + 0.2810470759868622, + -0.8465218544006348, + 0.08477818965911865, + -0.4441012740135193 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.008707720786333084, + 0.12463480979204178, + 0.07166256010532379 + ], + "orientation": [ + 0.2781333029270172, + -0.8501064777374268, + 0.08618105202913284, + -0.4387865960597992 + ], + "joints": [ + -0.014181159436702728 + ] + }, + "final_grasp": { + "position": [ + -0.008707720786333084, + 0.12463480979204178, + 0.07166256010532379 + ], + "orientation": [ + 0.2781333029270172, + -0.8501064777374268, + 0.08618105202913284, + -0.4387865960597992 + ], + "joints": [ + -0.008362319320440292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008610251359641552, + 0.12950991094112396, + 0.07547025382518768 + ], + "orientation": [ + 0.28080639243125916, + -0.8463917970657349, + 0.08498602360486984, + -0.4444614350795746 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.00874193012714386, + 0.12462528795003891, + 0.07165946066379547 + ], + "orientation": [ + 0.2781911790370941, + -0.850024402141571, + 0.08611714839935303, + -0.43892139196395874 + ], + "joints": [ + -0.014181159436702728 + ] + }, + "final_grasp": { + "position": [ + -0.00874193012714386, + 0.12462528795003891, + 0.07165946066379547 + ], + "orientation": [ + 0.2781911790370941, + -0.850024402141571, + 0.08611714839935303, + -0.43892139196395874 + ], + "joints": [ + -0.008362319320440292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03473709151148796, + -0.097831130027771, + 0.030735744163393974 + ], + "orientation": [ + 0.11239511519670486, + -0.16761291027069092, + -0.9785398840904236, + 0.04162812605500221 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.03423178195953369, + -0.10059802979230881, + 0.030181121081113815 + ], + "orientation": [ + 0.10403728485107422, + -0.1564168930053711, + -0.9816633462905884, + 0.03235979750752449 + ], + "joints": [ + -0.009417567402124405 + ] + }, + "final_grasp": { + "position": [ + -0.03423178195953369, + -0.10059802979230881, + 0.030181121081113815 + ], + "orientation": [ + 0.10403728485107422, + -0.1564168930053711, + -0.9816633462905884, + 0.03235979750752449 + ], + "joints": [ + -0.0035456009209156036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14038753509521484, + -0.023331880569458008, + -0.017206773161888123 + ], + "orientation": [ + 0.555931031703949, + 0.48153236508369446, + 0.6014797687530518, + -0.3119125962257385 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.139888197183609, + -0.024597043171525, + -0.014563784003257751 + ], + "orientation": [ + 0.5620585083961487, + 0.46872082352638245, + 0.5990350246429443, + -0.32488173246383667 + ], + "joints": [ + -0.008968750014901161 + ] + }, + "final_grasp": { + "position": [ + -0.139888197183609, + -0.024597043171525, + -0.014563784003257751 + ], + "orientation": [ + 0.5620585083961487, + 0.46872082352638245, + 0.5990350246429443, + -0.32488173246383667 + ], + "joints": [ + -0.0026185251772403717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012610103003680706, + 0.14282646775245667, + -0.0002143133751815185 + ], + "orientation": [ + 0.06714288890361786, + -0.7984018921852112, + -0.08882945030927658, + -0.5917394757270813 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.011060105636715889, + 0.13717924058437347, + -7.846859807614237e-05 + ], + "orientation": [ + 0.079410620033741, + -0.80582195520401, + -0.09081553667783737, + -0.5797392725944519 + ], + "joints": [ + -0.009684435091912746 + ] + }, + "final_grasp": { + "position": [ + -0.011060105636715889, + 0.13717924058437347, + -7.846859807614237e-05 + ], + "orientation": [ + 0.079410620033741, + -0.80582195520401, + -0.09081553667783737, + -0.5797392725944519 + ], + "joints": [ + -0.0002520829439163208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06726287305355072, + -0.0631847158074379, + 0.09046639502048492 + ], + "orientation": [ + 0.8937560319900513, + -0.31439757347106934, + -0.04032771289348602, + 0.3173767924308777 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.06661617755889893, + -0.061453014612197876, + 0.0883144736289978 + ], + "orientation": [ + 0.8921656608581543, + -0.3221471607685089, + -0.03655549883842468, + 0.31452375650405884 + ], + "joints": [ + -0.007091776467859745 + ] + }, + "final_grasp": { + "position": [ + 0.06661617755889893, + -0.061453014612197876, + 0.0883144736289978 + ], + "orientation": [ + 0.8921656608581543, + -0.3221471607685089, + -0.03655549883842468, + 0.31452375650405884 + ], + "joints": [ + -0.0012198109179735184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012630084529519081, + 0.1428307294845581, + -0.00018326754798181355 + ], + "orientation": [ + 0.06701654195785522, + -0.7983359098434448, + -0.08856359869241714, + -0.5918827652931213 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.011077815666794777, + 0.13718678057193756, + -4.771499880007468e-05 + ], + "orientation": [ + 0.07943567633628845, + -0.8058473467826843, + -0.09069067984819412, + -0.5797199606895447 + ], + "joints": [ + -0.009684435091912746 + ] + }, + "final_grasp": { + "position": [ + -0.011077815666794777, + 0.13718678057193756, + -4.771499880007468e-05 + ], + "orientation": [ + 0.07943567633628845, + -0.8058473467826843, + -0.09069067984819412, + -0.5797199606895447 + ], + "joints": [ + -0.0002520829439163208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035044435411691666, + -0.09763343632221222, + 0.030064238235354424 + ], + "orientation": [ + 0.11709995567798615, + -0.16971148550510406, + -0.9776983857154846, + 0.03989413380622864 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.0344197154045105, + -0.10039401799440384, + 0.028907587751746178 + ], + "orientation": [ + 0.11241990327835083, + -0.1588534563779831, + -0.9803318977355957, + 0.03281346708536148 + ], + "joints": [ + -0.009417567402124405 + ] + }, + "final_grasp": { + "position": [ + -0.0344197154045105, + -0.10039401799440384, + 0.028907587751746178 + ], + "orientation": [ + 0.11241990327835083, + -0.1588534563779831, + -0.9803318977355957, + 0.03281346708536148 + ], + "joints": [ + -0.0035456009209156036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05070006474852562, + 0.1436481475830078, + -0.018035858869552612 + ], + "orientation": [ + 0.06521154195070267, + -0.7435045838356018, + -0.16683731973171234, + -0.6442931890487671 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.04886986315250397, + 0.13857530057430267, + -0.018744708970189095 + ], + "orientation": [ + 0.06327114254236221, + -0.7357848882675171, + -0.1770952045917511, + -0.6505804061889648 + ], + "joints": [ + -0.011712516658008099 + ] + }, + "final_grasp": { + "position": [ + -0.04886986315250397, + 0.13857530057430267, + -0.018744708970189095 + ], + "orientation": [ + 0.06327114254236221, + -0.7357848882675171, + -0.1770952045917511, + -0.6505804061889648 + ], + "joints": [ + -0.006398515775799751 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004207243211567402, + -0.10593104362487793, + 0.008069531060755253 + ], + "orientation": [ + 0.9946977496147156, + 0.026000363752245903, + 0.09811811149120331, + 0.01652970351278782 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + 0.006363497115671635, + -0.10734954476356506, + 0.006883903406560421 + ], + "orientation": [ + 0.995460033416748, + 0.02764876000583172, + 0.08918336033821106, + 0.01847139559686184 + ], + "joints": [ + -0.011450424790382385 + ] + }, + "final_grasp": { + "position": [ + 0.006363497115671635, + -0.10734954476356506, + 0.006883903406560421 + ], + "orientation": [ + 0.995460033416748, + 0.02764876000583172, + 0.08918336033821106, + 0.01847139559686184 + ], + "joints": [ + -0.006109854206442833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14486590027809143, + 0.012520876713097095, + -0.001551610417664051 + ], + "orientation": [ + 0.49998342990875244, + -0.4954342544078827, + -0.5536608099937439, + -0.4449956715106964 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.14930662512779236, + 0.010800818912684917, + -0.0012004934251308441 + ], + "orientation": [ + 0.4936337172985077, + -0.5019575357437134, + -0.554317831993103, + -0.44395530223846436 + ], + "joints": [ + -0.007674842607229948 + ] + }, + "final_grasp": { + "position": [ + -0.14930662512779236, + 0.010800818912684917, + -0.0012004934251308441 + ], + "orientation": [ + 0.4936337172985077, + -0.5019575357437134, + -0.554317831993103, + -0.44395530223846436 + ], + "joints": [ + -0.0018560169264674187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13184013962745667, + 0.01489836722612381, + 0.0401611253619194 + ], + "orientation": [ + 0.12435023486614227, + -0.6981165409088135, + -0.6948956847190857, + 0.11954130232334137 + ], + "joints": [ + -0.0014153269585222006 + ] + }, + "fine_grasp": { + "position": [ + -0.13511480391025543, + 0.015150628052651882, + 0.041328925639390945 + ], + "orientation": [ + 0.12467474490404129, + -0.6975376009941101, + -0.6948150992393494, + 0.12300177663564682 + ], + "joints": [ + 0.004456639289855957 + ] + }, + "final_grasp": { + "position": [ + -0.13511480391025543, + 0.015150628052651882, + 0.041328925639390945 + ], + "orientation": [ + 0.12467474490404129, + -0.6975376009941101, + -0.6948150992393494, + 0.12300177663564682 + ], + "joints": [ + 0.010328605771064758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017830809578299522, + 0.1309874802827835, + 0.053656093776226044 + ], + "orientation": [ + 0.14847485721111298, + -0.7070077657699585, + -0.14765100181102753, + 0.6754956245422363 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.01893024891614914, + 0.12980353832244873, + 0.05226217955350876 + ], + "orientation": [ + 0.1401844173669815, + -0.7096290588378906, + -0.14882685244083405, + 0.67425936460495 + ], + "joints": [ + -0.009891558438539505 + ] + }, + "final_grasp": { + "position": [ + 0.01893024891614914, + 0.12980353832244873, + 0.05226217955350876 + ], + "orientation": [ + 0.1401844173669815, + -0.7096290588378906, + -0.14882685244083405, + 0.67425936460495 + ], + "joints": [ + -0.005082391202449799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05796201527118683, + -0.08381271362304688, + 0.03548267111182213 + ], + "orientation": [ + 0.9550103545188904, + -0.10214806348085403, + 0.058976661413908005, + -0.2721080780029297 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.056866150349378586, + -0.08306761085987091, + 0.03511754795908928 + ], + "orientation": [ + 0.9526451826095581, + -0.10254287719726562, + 0.08594120293855667, + -0.2730681598186493 + ], + "joints": [ + -0.007122615352272987 + ] + }, + "final_grasp": { + "position": [ + -0.056866150349378586, + -0.08306761085987091, + 0.03511754795908928 + ], + "orientation": [ + 0.9526451826095581, + -0.10254287719726562, + 0.08594120293855667, + -0.2730681598186493 + ], + "joints": [ + -0.0006926804780960083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057678867131471634, + -0.08369183540344238, + 0.03552202880382538 + ], + "orientation": [ + 0.9552255272865295, + -0.10283917188644409, + 0.05871361121535301, + -0.2711475193500519 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.056041307747364044, + -0.08333888649940491, + 0.034949347376823425 + ], + "orientation": [ + 0.9536205530166626, + -0.10251744836568832, + 0.08477085828781128, + -0.2700219750404358 + ], + "joints": [ + -0.007149185054004192 + ] + }, + "final_grasp": { + "position": [ + -0.056041307747364044, + -0.08333888649940491, + 0.034949347376823425 + ], + "orientation": [ + 0.9536205530166626, + -0.10251744836568832, + 0.08477085828781128, + -0.2700219750404358 + ], + "joints": [ + -0.0007458198815584183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02192748337984085, + -0.11972247064113617, + -0.006850220263004303 + ], + "orientation": [ + 0.7528785467147827, + 0.09556485712528229, + 0.6472572684288025, + -0.07140934467315674 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.019856275990605354, + -0.11433064937591553, + -0.006224408745765686 + ], + "orientation": [ + 0.7517864108085632, + 0.09972713142633438, + 0.6475129723548889, + -0.07482399791479111 + ], + "joints": [ + -0.010529009625315666 + ] + }, + "final_grasp": { + "position": [ + -0.019856275990605354, + -0.11433064937591553, + -0.006224408745765686 + ], + "orientation": [ + 0.7517864108085632, + 0.09972713142633438, + 0.6475129723548889, + -0.07482399791479111 + ], + "joints": [ + -0.0030894074589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05780988186597824, + -0.08373827487230301, + 0.03555508702993393 + ], + "orientation": [ + 0.9550164341926575, + -0.10328467935323715, + 0.05903944373130798, + -0.27164357900619507 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.056703101843595505, + -0.08307559788227081, + 0.03513684496283531 + ], + "orientation": [ + 0.9527269601821899, + -0.10381780564785004, + 0.08563369512557983, + -0.2723967432975769 + ], + "joints": [ + -0.007122615352272987 + ] + }, + "final_grasp": { + "position": [ + -0.056703101843595505, + -0.08307559788227081, + 0.03513684496283531 + ], + "orientation": [ + 0.9527269601821899, + -0.10381780564785004, + 0.08563369512557983, + -0.2723967432975769 + ], + "joints": [ + -0.0006926804780960083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14066430926322937, + 0.02489263378083706, + -0.019667789340019226 + ], + "orientation": [ + 0.6688465476036072, + 0.1389775276184082, + -0.15900397300720215, + 0.7127742171287537 + ], + "joints": [ + -0.001509648049250245 + ] + }, + "fine_grasp": { + "position": [ + 0.13890960812568665, + 0.024306608363986015, + -0.01892939768731594 + ], + "orientation": [ + 0.6694422364234924, + 0.14546124637126923, + -0.16789686679840088, + 0.7088715434074402 + ], + "joints": [ + 0.004867148119956255 + ] + }, + "final_grasp": { + "position": [ + 0.13890960812568665, + 0.024306608363986015, + -0.01892939768731594 + ], + "orientation": [ + 0.6694422364234924, + 0.14546124637126923, + -0.16789686679840088, + 0.7088715434074402 + ], + "joints": [ + 0.011243944056332111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14027293026447296, + 0.025476407259702682, + -0.019602758809924126 + ], + "orientation": [ + 0.667325496673584, + 0.13882093131542206, + -0.1582127958536148, + 0.7144046425819397 + ], + "joints": [ + -0.0015093880938366055 + ] + }, + "fine_grasp": { + "position": [ + 0.1385732740163803, + 0.024772632867097855, + -0.01889025606215 + ], + "orientation": [ + 0.6680745482444763, + 0.1464308351278305, + -0.16766580939292908, + 0.7100159525871277 + ], + "joints": [ + 0.004867407958954573 + ] + }, + "final_grasp": { + "position": [ + 0.1385732740163803, + 0.024772632867097855, + -0.01889025606215 + ], + "orientation": [ + 0.6680745482444763, + 0.1464308351278305, + -0.16766580939292908, + 0.7100159525871277 + ], + "joints": [ + 0.011244203895330429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011303135193884373, + 0.039169687777757645, + -0.14193996787071228 + ], + "orientation": [ + 0.6185248494148254, + 0.7701959013938904, + -0.0668683871626854, + -0.14054788649082184 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.012302353978157043, + 0.039363835006952286, + -0.1413511484861374 + ], + "orientation": [ + 0.6177315711975098, + 0.7744492292404175, + -0.05304104834794998, + -0.12578852474689484 + ], + "joints": [ + -0.010592310689389706 + ] + }, + "final_grasp": { + "position": [ + -0.012302353978157043, + 0.039363835006952286, + -0.1413511484861374 + ], + "orientation": [ + 0.6177315711975098, + 0.7744492292404175, + -0.05304104834794998, + -0.12578852474689484 + ], + "joints": [ + -0.00474691204726696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027436604723334312, + -0.07466503232717514, + 0.08988763391971588 + ], + "orientation": [ + 0.6552618741989136, + -0.3580043911933899, + 0.638813316822052, + -0.18542474508285522 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.026713170111179352, + -0.07105531543493271, + 0.08607833832502365 + ], + "orientation": [ + 0.6583004593849182, + -0.3578082323074341, + 0.6363168358802795, + -0.18361517786979675 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.026713170111179352, + -0.07105531543493271, + 0.08607833832502365 + ], + "orientation": [ + 0.6583004593849182, + -0.3578082323074341, + 0.6363168358802795, + -0.18361517786979675 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01697382889688015, + 0.13614636659622192, + 0.04568551853299141 + ], + "orientation": [ + 0.12025735527276993, + -0.7704549431800842, + 0.13084475696086884, + -0.6122230291366577 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.016634130850434303, + 0.1312175691127777, + 0.04245807230472565 + ], + "orientation": [ + 0.13584625720977783, + -0.7744134664535522, + 0.10847403109073639, + -0.6083280444145203 + ], + "joints": [ + -0.010484633967280388 + ] + }, + "final_grasp": { + "position": [ + 0.016634130850434303, + 0.1312175691127777, + 0.04245807230472565 + ], + "orientation": [ + 0.13584625720977783, + -0.7744134664535522, + 0.10847403109073639, + -0.6083280444145203 + ], + "joints": [ + -0.005090925842523575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010985095985233784, + 0.12074438482522964, + -0.020740771666169167 + ], + "orientation": [ + 0.037763576954603195, + 0.9868670701980591, + -0.03645068779587746, + 0.15276983380317688 + ], + "joints": [ + -0.016261069104075432 + ] + }, + "fine_grasp": { + "position": [ + 0.011587237007915974, + 0.12181421369314194, + -0.021132012829184532 + ], + "orientation": [ + 0.0320289246737957, + 0.9885139465332031, + -0.03514416515827179, + 0.14345477521419525 + ], + "joints": [ + -0.010389100760221481 + ] + }, + "final_grasp": { + "position": [ + 0.011587237007915974, + 0.12181421369314194, + -0.021132012829184532 + ], + "orientation": [ + 0.0320289246737957, + 0.9885139465332031, + -0.03514416515827179, + 0.14345477521419525 + ], + "joints": [ + -0.004517132416367531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1340290606021881, + 0.015636537224054337, + 0.022797325626015663 + ], + "orientation": [ + 0.07657981663942337, + -0.7066655158996582, + -0.6997096538543701, + 0.0718722939491272 + ], + "joints": [ + -0.0014153269585222006 + ] + }, + "fine_grasp": { + "position": [ + -0.13871176540851593, + 0.015925073996186256, + 0.023424668237566948 + ], + "orientation": [ + 0.07773836702108383, + -0.7060377597808838, + -0.6996896266937256, + 0.07682356238365173 + ], + "joints": [ + 0.004456639289855957 + ] + }, + "final_grasp": { + "position": [ + -0.13871176540851593, + 0.015925073996186256, + 0.023424668237566948 + ], + "orientation": [ + 0.07773836702108383, + -0.7060377597808838, + -0.6996896266937256, + 0.07682356238365173 + ], + "joints": [ + 0.010328605771064758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01873883418738842, + 0.10672185570001602, + 0.08006251603364944 + ], + "orientation": [ + 0.3047414720058441, + -0.9438991546630859, + 0.03905204311013222, + 0.12108638137578964 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.01986478827893734, + 0.10850050300359726, + 0.08075935393571854 + ], + "orientation": [ + 0.30501794815063477, + -0.942457377910614, + 0.036276765167713165, + 0.13199302554130554 + ], + "joints": [ + -0.010626017116010189 + ] + }, + "final_grasp": { + "position": [ + 0.01986478827893734, + 0.10850050300359726, + 0.08075935393571854 + ], + "orientation": [ + 0.30501794815063477, + -0.942457377910614, + 0.036276765167713165, + 0.13199302554130554 + ], + "joints": [ + -0.004196075722575188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048530858010053635, + -0.08591850847005844, + 0.0784599632024765 + ], + "orientation": [ + 0.5845947265625, + -0.34084758162498474, + -0.7240403294563293, + 0.13355746865272522 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.04604419693350792, + -0.08211614191532135, + 0.07537853717803955 + ], + "orientation": [ + 0.587658166885376, + -0.34435003995895386, + -0.7203749418258667, + 0.13092274963855743 + ], + "joints": [ + -0.006530935876071453 + ] + }, + "final_grasp": { + "position": [ + -0.04604419693350792, + -0.08211614191532135, + 0.07537853717803955 + ], + "orientation": [ + 0.587658166885376, + -0.34435003995895386, + -0.7203749418258667, + 0.13092274963855743 + ], + "joints": [ + -0.00012757070362567902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0026469926815479994, + 0.0402027852833271, + -0.1439397931098938 + ], + "orientation": [ + 0.04424619302153587, + 0.05544441565871239, + 0.5686317086219788, + 0.8195279836654663 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.0015068191569298506, + 0.04130193963646889, + -0.14415939152240753 + ], + "orientation": [ + 0.04306752607226372, + 0.053111542016267776, + 0.5760325193405151, + 0.8145618438720703 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + -0.0015068191569298506, + 0.04130193963646889, + -0.14415939152240753 + ], + "orientation": [ + 0.04306752607226372, + 0.053111542016267776, + 0.5760325193405151, + 0.8145618438720703 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00252144574187696, + 0.040203627198934555, + -0.143821582198143 + ], + "orientation": [ + 0.04483621194958687, + 0.0553610660135746, + 0.568180501461029, + 0.8198145627975464 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.0014429996954277158, + 0.041358064860105515, + -0.14414861798286438 + ], + "orientation": [ + 0.042543284595012665, + 0.052455659955739975, + 0.5760872960090637, + 0.8145930767059326 + ], + "joints": [ + -0.006446957588195801 + ] + }, + "final_grasp": { + "position": [ + -0.0014429996954277158, + 0.041358064860105515, + -0.14414861798286438 + ], + "orientation": [ + 0.042543284595012665, + 0.052455659955739975, + 0.5760872960090637, + 0.8145930767059326 + ], + "joints": [ + -0.0005484223365783691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12589024007320404, + 0.021502135321497917, + 0.020014362409710884 + ], + "orientation": [ + 0.6333151459693909, + -0.37867164611816406, + 0.2231154590845108, + 0.6369766592979431 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.12769217789173126, + 0.02056197263300419, + 0.022949906066060066 + ], + "orientation": [ + 0.6376500725746155, + -0.38599202036857605, + 0.24098624289035797, + 0.6215610504150391 + ], + "joints": [ + -0.006442688405513763 + ] + }, + "final_grasp": { + "position": [ + 0.12769217789173126, + 0.02056197263300419, + 0.022949906066060066 + ], + "orientation": [ + 0.6376500725746155, + -0.38599202036857605, + 0.24098624289035797, + 0.6215610504150391 + ], + "joints": [ + -0.0011286921799182892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12529437243938446, + -0.024626601487398148, + 0.03906507417559624 + ], + "orientation": [ + 0.5152995586395264, + -0.5524781346321106, + 0.6227649450302124, + 0.20346543192863464 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + 0.12108072638511658, + -0.023189831525087357, + 0.03906203806400299 + ], + "orientation": [ + 0.5140723586082458, + -0.5591856241226196, + 0.6200177669525146, + 0.19651730358600616 + ], + "joints": [ + -0.007264002226293087 + ] + }, + "final_grasp": { + "position": [ + 0.12108072638511658, + -0.023189831525087357, + 0.03906203806400299 + ], + "orientation": [ + 0.5140723586082458, + -0.5591856241226196, + 0.6200177669525146, + 0.19651730358600616 + ], + "joints": [ + 0.00020216219127178192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008537246845662594, + -0.08514335006475449, + -0.07072701305150986 + ], + "orientation": [ + 0.7035122513771057, + 0.2515510022640228, + 0.6379546523094177, + 0.1865645945072174 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.009479350410401821, + -0.08252152800559998, + -0.0680009201169014 + ], + "orientation": [ + 0.7059568762779236, + 0.24873560667037964, + 0.6379016637802124, + 0.1812097579240799 + ], + "joints": [ + -0.00762457400560379 + ] + }, + "final_grasp": { + "position": [ + -0.009479350410401821, + -0.08252152800559998, + -0.0680009201169014 + ], + "orientation": [ + 0.7059568762779236, + 0.24873560667037964, + 0.6379016637802124, + 0.1812097579240799 + ], + "joints": [ + -0.0017260387539863586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018687961623072624, + 0.10704714804887772, + 0.07856745272874832 + ], + "orientation": [ + 0.3030923008918762, + -0.9440892338752747, + 0.038779400289058685, + 0.12380214035511017 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.019905775785446167, + 0.10914313793182373, + 0.07928542047739029 + ], + "orientation": [ + 0.3021279573440552, + -0.9424419403076172, + 0.034790825098752975, + 0.13896559178829193 + ], + "joints": [ + -0.010920420289039612 + ] + }, + "final_grasp": { + "position": [ + 0.019905775785446167, + 0.10914313793182373, + 0.07928542047739029 + ], + "orientation": [ + 0.3021279573440552, + -0.9424419403076172, + 0.034790825098752975, + 0.13896559178829193 + ], + "joints": [ + -0.004490477964282036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010443325154483318, + -0.0963437408208847, + 0.07084255665540695 + ], + "orientation": [ + 0.5195770859718323, + -0.13571013510227203, + 0.7993106842041016, + -0.2696755528450012 + ], + "joints": [ + -0.014053035527467728 + ] + }, + "fine_grasp": { + "position": [ + 0.010008408688008785, + -0.09419362992048264, + 0.06877025216817856 + ], + "orientation": [ + 0.5290401577949524, + -0.13088156282901764, + 0.792785108089447, + -0.2729071378707886 + ], + "joints": [ + -0.007649670355021954 + ] + }, + "final_grasp": { + "position": [ + 0.010008408688008785, + -0.09419362992048264, + 0.06877025216817856 + ], + "orientation": [ + 0.5290401577949524, + -0.13088156282901764, + 0.792785108089447, + -0.2729071378707886 + ], + "joints": [ + -0.0012463051825761795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03919827565550804, + 0.11917780339717865, + -0.0027897420804947615 + ], + "orientation": [ + 0.10834821313619614, + 0.5870131850242615, + 0.04922885075211525, + -0.8007825613021851 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.03942261263728142, + 0.12025812268257141, + -0.0028747827745974064 + ], + "orientation": [ + 0.10199691355228424, + 0.5858963131904602, + 0.046118974685668945, + -0.8026177287101746 + ], + "joints": [ + -0.010568610392510891 + ] + }, + "final_grasp": { + "position": [ + -0.03942261263728142, + 0.12025812268257141, + -0.0028747827745974064 + ], + "orientation": [ + 0.10199691355228424, + 0.5858963131904602, + 0.046118974685668945, + -0.8026177287101746 + ], + "joints": [ + -0.004670070484280586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03119099885225296, + 0.12961746752262115, + 0.006176715716719627 + ], + "orientation": [ + 0.036536943167448044, + 0.7720221281051636, + -0.08479518443346024, + 0.6288533806800842 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.030799606814980507, + 0.12884512543678284, + 0.004441955592483282 + ], + "orientation": [ + 0.03648000955581665, + 0.7821667790412903, + -0.07862422615289688, + 0.6170109510421753 + ], + "joints": [ + -0.010091747157275677 + ] + }, + "final_grasp": { + "position": [ + 0.030799606814980507, + 0.12884512543678284, + 0.004441955592483282 + ], + "orientation": [ + 0.03648000955581665, + 0.7821667790412903, + -0.07862422615289688, + 0.6170109510421753 + ], + "joints": [ + -0.0031569767743349075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02264614962041378, + 0.11425235122442245, + -0.059653300791978836 + ], + "orientation": [ + 0.1786327362060547, + 0.9566495418548584, + -0.14817677438259125, + -0.17594261467456818 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + 0.01953991688787937, + 0.11566425859928131, + -0.05820031836628914 + ], + "orientation": [ + 0.17760354280471802, + 0.9614191651344299, + -0.12754926085472107, + -0.1669168323278427 + ], + "joints": [ + -0.008915608748793602 + ] + }, + "final_grasp": { + "position": [ + 0.01953991688787937, + 0.11566425859928131, + -0.05820031836628914 + ], + "orientation": [ + 0.17760354280471802, + 0.9614191651344299, + -0.12754926085472107, + -0.1669168323278427 + ], + "joints": [ + -0.0025122426450252533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011870735324919224, + 0.11137224733829498, + 0.08842042833566666 + ], + "orientation": [ + 0.0794939324259758, + -0.08524491637945175, + 0.3527028560638428, + -0.9284474849700928 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.012536952272057533, + 0.1082020103931427, + 0.08418051898479462 + ], + "orientation": [ + 0.08114217966794968, + -0.06773330271244049, + 0.3695564866065979, + -0.923177182674408 + ], + "joints": [ + -0.011241394095122814 + ] + }, + "final_grasp": { + "position": [ + -0.012536952272057533, + 0.1082020103931427, + 0.08418051898479462 + ], + "orientation": [ + 0.08114217966794968, + -0.06773330271244049, + 0.3695564866065979, + -0.923177182674408 + ], + "joints": [ + -0.004838021472096443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1338096559047699, + 0.022029921412467957, + -0.018134279176592827 + ], + "orientation": [ + 0.6839150786399841, + 0.09793639183044434, + -0.07404635846614838, + 0.7191563248634338 + ], + "joints": [ + -0.0021949955262243748 + ] + }, + "fine_grasp": { + "position": [ + 0.1320149302482605, + 0.023042412474751472, + -0.016838867217302322 + ], + "orientation": [ + 0.6794003248214722, + 0.10692156106233597, + -0.09494177252054214, + 0.7197006344795227 + ], + "joints": [ + 0.003676970489323139 + ] + }, + "final_grasp": { + "position": [ + 0.1320149302482605, + 0.023042412474751472, + -0.016838867217302322 + ], + "orientation": [ + 0.6794003248214722, + 0.10692156106233597, + -0.09494177252054214, + 0.7197006344795227 + ], + "joints": [ + 0.009548936039209366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024959338828921318, + -0.01639382913708687, + 0.12610681354999542 + ], + "orientation": [ + 0.7747494578361511, + -0.5805026292800903, + 0.12412306666374207, + -0.21765434741973877 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.02530585043132305, + -0.014700773172080517, + 0.12312866747379303 + ], + "orientation": [ + 0.7764151096343994, + -0.5693591237068176, + 0.12803742289543152, + -0.2379414439201355 + ], + "joints": [ + -0.007342238910496235 + ] + }, + "final_grasp": { + "position": [ + -0.02530585043132305, + -0.014700773172080517, + 0.12312866747379303 + ], + "orientation": [ + 0.7764151096343994, + -0.5693591237068176, + 0.12803742289543152, + -0.2379414439201355 + ], + "joints": [ + 0.0005756150931119919 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07003632932901382, + 0.1311853677034378, + -0.009268227033317089 + ], + "orientation": [ + 0.2582917809486389, + -0.0826069787144661, + 0.056822873651981354, + 0.960849940776825 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.06700728833675385, + 0.12952537834644318, + -0.010887078009545803 + ], + "orientation": [ + 0.2544456422328949, + -0.07419305294752121, + 0.05873313173651695, + 0.9624465107917786 + ], + "joints": [ + -0.009474975988268852 + ] + }, + "final_grasp": { + "position": [ + 0.06700728833675385, + 0.12952537834644318, + -0.010887078009545803 + ], + "orientation": [ + 0.2544456422328949, + -0.07419305294752121, + 0.05873313173651695, + 0.9624465107917786 + ], + "joints": [ + -0.0030716098845005035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02311219647526741, + 0.13057667016983032, + 0.016445808112621307 + ], + "orientation": [ + 0.11440780013799667, + -0.7453005313873291, + 0.02992652915418148, + 0.6561572551727295 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.02405373752117157, + 0.13209810853004456, + 0.015271879732608795 + ], + "orientation": [ + 0.11189909279346466, + -0.7618966698646545, + 0.034998178482055664, + 0.6369984149932861 + ], + "joints": [ + -0.011126580648124218 + ] + }, + "final_grasp": { + "position": [ + 0.02405373752117157, + 0.13209810853004456, + 0.015271879732608795 + ], + "orientation": [ + 0.11189909279346466, + -0.7618966698646545, + 0.034998178482055664, + 0.6369984149932861 + ], + "joints": [ + -0.00578601099550724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07824403047561646, + -0.08660338819026947, + -0.003937950357794762 + ], + "orientation": [ + 0.05538123473525047, + -0.32789844274520874, + 0.9416961669921875, + 0.051225028932094574 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.07534723728895187, + -0.08235960453748703, + -0.004217335022985935 + ], + "orientation": [ + 0.057478055357933044, + -0.3291723132133484, + 0.9410900473594666, + 0.051879722625017166 + ], + "joints": [ + -0.007651143241673708 + ] + }, + "final_grasp": { + "position": [ + 0.07534723728895187, + -0.08235960453748703, + -0.004217335022985935 + ], + "orientation": [ + 0.057478055357933044, + -0.3291723132133484, + 0.9410900473594666, + 0.051879722625017166 + ], + "joints": [ + -0.001779177226126194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1311093419790268, + 0.0575871579349041, + 0.0037659930530935526 + ], + "orientation": [ + 0.37199124693870544, + -0.6499212980270386, + -0.4514588415622711, + -0.48519042134284973 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.12956824898719788, + 0.056584201753139496, + 0.004375424701720476 + ], + "orientation": [ + 0.3640457093715668, + -0.655218243598938, + -0.45252755284309387, + -0.4830927848815918 + ], + "joints": [ + -0.011715386994183064 + ] + }, + "final_grasp": { + "position": [ + -0.12956824898719788, + 0.056584201753139496, + 0.004375424701720476 + ], + "orientation": [ + 0.3640457093715668, + -0.655218243598938, + -0.45252755284309387, + -0.4830927848815918 + ], + "joints": [ + -0.006374815478920937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021472368389368057, + 0.0074961525388062, + 0.1289474070072174 + ], + "orientation": [ + 0.6483860611915588, + -0.6922934055328369, + -0.28254324197769165, + 0.1431596428155899 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.023515162989497185, + 0.007747478783130646, + 0.1273580640554428 + ], + "orientation": [ + 0.6548935174942017, + -0.6838842034339905, + -0.28786396980285645, + 0.14335691928863525 + ], + "joints": [ + -0.007091776467859745 + ] + }, + "final_grasp": { + "position": [ + -0.023515162989497185, + 0.007747478783130646, + 0.1273580640554428 + ], + "orientation": [ + 0.6548935174942017, + -0.6838842034339905, + -0.28786396980285645, + 0.14335691928863525 + ], + "joints": [ + -0.0012198109179735184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021244745701551437, + 0.007393001113086939, + 0.12908363342285156 + ], + "orientation": [ + 0.6489178538322449, + -0.6918832659721375, + -0.2820412516593933, + 0.14372114837169647 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.02324751392006874, + 0.007597307674586773, + 0.12723323702812195 + ], + "orientation": [ + 0.6555360555648804, + -0.6833571195602417, + -0.28728556632995605, + 0.14409196376800537 + ], + "joints": [ + -0.007091776467859745 + ] + }, + "final_grasp": { + "position": [ + -0.02324751392006874, + 0.007597307674586773, + 0.12723323702812195 + ], + "orientation": [ + 0.6555360555648804, + -0.6833571195602417, + -0.28728556632995605, + 0.14409196376800537 + ], + "joints": [ + -0.0012198109179735184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0357883982360363, + 0.07432664185762405, + 0.11479923129081726 + ], + "orientation": [ + 0.48690035939216614, + -0.8594573736190796, + 0.1557537019252777, + 0.0013481136411428452 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.0375465489923954, + 0.07361038029193878, + 0.11119422316551208 + ], + "orientation": [ + 0.4974796175956726, + -0.8530882596969604, + 0.15716759860515594, + 0.007256887387484312 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.0375465489923954, + 0.07361038029193878, + 0.11119422316551208 + ], + "orientation": [ + 0.4974796175956726, + -0.8530882596969604, + 0.15716759860515594, + 0.007256887387484312 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018857477232813835, + 0.14420075714588165, + -0.0002958930272143334 + ], + "orientation": [ + 0.04921853914856911, + -0.7888568043708801, + -0.06764697283506393, + -0.6088566184043884 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.017570190131664276, + 0.13845530152320862, + -0.00011960301344515756 + ], + "orientation": [ + 0.053093623369932175, + -0.7839859127998352, + -0.07072129100561142, + -0.6144475340843201 + ], + "joints": [ + -0.012770815752446651 + ] + }, + "final_grasp": { + "position": [ + -0.017570190131664276, + 0.13845530152320862, + -0.00011960301344515756 + ], + "orientation": [ + 0.053093623369932175, + -0.7839859127998352, + -0.07072129100561142, + -0.6144475340843201 + ], + "joints": [ + -0.005836036056280136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10785677284002304, + 0.0041380045004189014, + -0.07933854311704636 + ], + "orientation": [ + 0.18584901094436646, + 0.6203277111053467, + -0.7096487283706665, + -0.27758294343948364 + ], + "joints": [ + -0.0015224253293126822 + ] + }, + "fine_grasp": { + "position": [ + 0.10348427295684814, + 0.003562500001862645, + -0.07576317340135574 + ], + "orientation": [ + 0.19330748915672302, + 0.6145874857902527, + -0.7075394988059998, + -0.2903484106063843 + ], + "joints": [ + 0.0043495409190654755 + ] + }, + "final_grasp": { + "position": [ + 0.10348427295684814, + 0.003562500001862645, + -0.07576317340135574 + ], + "orientation": [ + 0.19330748915672302, + 0.6145874857902527, + -0.7075394988059998, + -0.2903484106063843 + ], + "joints": [ + 0.010221507400274277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02353585511445999, + 0.12063641846179962, + 0.04067813977599144 + ], + "orientation": [ + 0.09203779697418213, + -0.7638710141181946, + -0.16655512154102325, + 0.6166762113571167 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.023460816591978073, + 0.12284781038761139, + 0.0364517904818058 + ], + "orientation": [ + 0.08361085504293442, + -0.7772960066795349, + -0.1486988514661789, + 0.6055649518966675 + ], + "joints": [ + -0.010511204600334167 + ] + }, + "final_grasp": { + "position": [ + -0.023460816591978073, + 0.12284781038761139, + 0.0364517904818058 + ], + "orientation": [ + 0.08361085504293442, + -0.7772960066795349, + -0.1486988514661789, + 0.6055649518966675 + ], + "joints": [ + -0.005144067108631134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0061691030859947205, + -0.08379413187503815, + 0.09475784748792648 + ], + "orientation": [ + 0.917750895023346, + -0.3598901927471161, + -0.16125154495239258, + 0.04701383411884308 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.0076211849227547646, + -0.08089244365692139, + 0.09123304486274719 + ], + "orientation": [ + 0.920271635055542, + -0.3568849265575409, + -0.1566298007965088, + 0.03464681655168533 + ], + "joints": [ + -0.012155438773334026 + ] + }, + "final_grasp": { + "position": [ + -0.0076211849227547646, + -0.08089244365692139, + 0.09123304486274719 + ], + "orientation": [ + 0.920271635055542, + -0.3568849265575409, + -0.1566298007965088, + 0.03464681655168533 + ], + "joints": [ + -0.005194090306758881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014366964809596539, + -0.1218365877866745, + -0.03815367817878723 + ], + "orientation": [ + 0.6782917380332947, + 0.16413035988807678, + 0.7155076861381531, + 0.03209833428263664 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.013502131216228008, + -0.11944391578435898, + -0.03787694498896599 + ], + "orientation": [ + 0.6770333051681519, + 0.17283114790916443, + 0.7147152423858643, + 0.03061649203300476 + ], + "joints": [ + -0.010455192998051643 + ] + }, + "final_grasp": { + "position": [ + -0.013502131216228008, + -0.11944391578435898, + -0.03787694498896599 + ], + "orientation": [ + 0.6770333051681519, + 0.17283114790916443, + 0.7147152423858643, + 0.03061649203300476 + ], + "joints": [ + -0.00506148487329483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10713858157396317, + 0.0026207915507256985, + -0.08033021539449692 + ], + "orientation": [ + 0.18273428082466125, + 0.615004301071167, + -0.714463472366333, + -0.2791413366794586 + ], + "joints": [ + -0.0013642171397805214 + ] + }, + "fine_grasp": { + "position": [ + 0.10279090702533722, + 0.002228214405477047, + -0.07657000422477722 + ], + "orientation": [ + 0.18683630228042603, + 0.6088050007820129, + -0.7127028703689575, + -0.2941141724586487 + ], + "joints": [ + 0.004507748875766993 + ] + }, + "final_grasp": { + "position": [ + 0.10279090702533722, + 0.002228214405477047, + -0.07657000422477722 + ], + "orientation": [ + 0.18683630228042603, + 0.6088050007820129, + -0.7127028703689575, + -0.2941141724586487 + ], + "joints": [ + 0.010379714891314507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07097259908914566, + -0.012693734839558601, + -0.10559258610010147 + ], + "orientation": [ + 0.7866436243057251, + 0.48676353693008423, + 0.00789976678788662, + 0.3797246813774109 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.06981447339057922, + -0.011772950179874897, + -0.10428027808666229 + ], + "orientation": [ + 0.7874919772148132, + 0.49116572737693787, + -0.0017475083004683256, + 0.3723031282424927 + ], + "joints": [ + -0.007177152670919895 + ] + }, + "final_grasp": { + "position": [ + 0.06981447339057922, + -0.011772950179874897, + -0.10428027808666229 + ], + "orientation": [ + 0.7874919772148132, + 0.49116572737693787, + -0.0017475083004683256, + 0.3723031282424927 + ], + "joints": [ + -0.00024238787591457367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001466701622121036, + -0.11065497994422913, + 0.03086802363395691 + ], + "orientation": [ + 0.6166127920150757, + -0.05353428050875664, + 0.776782214641571, + -0.116327203810215 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + 0.001790484064258635, + -0.10933078825473785, + 0.028728123754262924 + ], + "orientation": [ + 0.5924286842346191, + -0.038873542100191116, + 0.7957428693771362, + -0.11962510645389557 + ], + "joints": [ + -0.011534402146935463 + ] + }, + "final_grasp": { + "position": [ + 0.001790484064258635, + -0.10933078825473785, + 0.028728123754262924 + ], + "orientation": [ + 0.5924286842346191, + -0.038873542100191116, + 0.7957428693771362, + -0.11962510645389557 + ], + "joints": [ + -0.005689000710844994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10644864290952682, + 0.0021026695612818003, + -0.08049339801073074 + ], + "orientation": [ + 0.17537188529968262, + 0.6100983023643494, + -0.7175251245498657, + -0.2866748571395874 + ], + "joints": [ + -0.0019964042585343122 + ] + }, + "fine_grasp": { + "position": [ + 0.10207115113735199, + 0.0016163914697244763, + -0.07685281336307526 + ], + "orientation": [ + 0.1824832558631897, + 0.6040542721748352, + -0.7152773141860962, + -0.3003276586532593 + ], + "joints": [ + 0.004406961612403393 + ] + }, + "final_grasp": { + "position": [ + 0.10207115113735199, + 0.0016163914697244763, + -0.07685281336307526 + ], + "orientation": [ + 0.1824832558631897, + 0.6040542721748352, + -0.7152773141860962, + -0.3003276586532593 + ], + "joints": [ + 0.010810327716171741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01531921699643135, + 0.05979759246110916, + -0.11859117448329926 + ], + "orientation": [ + 0.041946571320295334, + 0.1494818776845932, + -0.491646409034729, + -0.8568426370620728 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + 0.01686687208712101, + 0.06096772849559784, + -0.11711020767688751 + ], + "orientation": [ + 0.03402088209986687, + 0.16151076555252075, + -0.4915695786476135, + -0.8550533652305603 + ], + "joints": [ + -0.009389599785208702 + ] + }, + "final_grasp": { + "position": [ + 0.01686687208712101, + 0.06096772849559784, + -0.11711020767688751 + ], + "orientation": [ + 0.03402088209986687, + 0.16151076555252075, + -0.4915695786476135, + -0.8550533652305603 + ], + "joints": [ + -0.004049032926559448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00019272914505563676, + -0.12025762349367142, + -0.008365132845938206 + ], + "orientation": [ + 0.8050149083137512, + 0.023869525641202927, + 0.5923255681991577, + 0.02305610291659832 + ], + "joints": [ + -0.01885182410478592 + ] + }, + "fine_grasp": { + "position": [ + -0.00025475560687482357, + -0.11471643298864365, + -0.007798473350703716 + ], + "orientation": [ + 0.8058937191963196, + 0.021990181878209114, + 0.5912435054779053, + 0.0219744723290205 + ], + "joints": [ + -0.011917047202587128 + ] + }, + "final_grasp": { + "position": [ + -0.00025475560687482357, + -0.11471643298864365, + -0.007798473350703716 + ], + "orientation": [ + 0.8058937191963196, + 0.021990181878209114, + 0.5912435054779053, + 0.0219744723290205 + ], + "joints": [ + -0.004982270300388336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013250506483018398, + -0.10803241282701492, + -0.022375116124749184 + ], + "orientation": [ + 0.9731317162513733, + 0.039425283670425415, + 0.21309040486812592, + 0.07779918611049652 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.012776574119925499, + -0.10795336216688156, + -0.021471558138728142 + ], + "orientation": [ + 0.9672743678092957, + 0.035863202065229416, + 0.2379169464111328, + 0.08055852353572845 + ], + "joints": [ + -0.013302215375006199 + ] + }, + "final_grasp": { + "position": [ + 0.012776574119925499, + -0.10795336216688156, + -0.021471558138728142 + ], + "orientation": [ + 0.9672743678092957, + 0.035863202065229416, + 0.2379169464111328, + 0.08055852353572845 + ], + "joints": [ + -0.006898835301399231 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01019609346985817, + -0.11638139188289642, + 0.004925367888063192 + ], + "orientation": [ + 0.09963443875312805, + -0.041288621723651886, + 0.9941338300704956, + -0.008124377578496933 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + 0.009619166143238544, + -0.11347358673810959, + 0.004388997331261635 + ], + "orientation": [ + 0.10348863899707794, + -0.03994421288371086, + 0.9937870502471924, + -0.009050650522112846 + ], + "joints": [ + -0.010418461635708809 + ] + }, + "final_grasp": { + "position": [ + 0.009619166143238544, + -0.11347358673810959, + 0.004388997331261635 + ], + "orientation": [ + 0.10348863899707794, + -0.03994421288371086, + 0.9937870502471924, + -0.009050650522112846 + ], + "joints": [ + -0.0034571196883916855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14203082025051117, + -0.0026751577388495207, + -0.021168485283851624 + ], + "orientation": [ + 0.46088889241218567, + 0.5834221243858337, + 0.5691157579421997, + -0.3511512875556946 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.14004120230674744, + -0.0022113046143203974, + -0.021118750795722008 + ], + "orientation": [ + 0.4670434594154358, + 0.5790044069290161, + 0.5622791647911072, + -0.36120134592056274 + ], + "joints": [ + -0.00938812643289566 + ] + }, + "final_grasp": { + "position": [ + -0.14004120230674744, + -0.0022113046143203974, + -0.021118750795722008 + ], + "orientation": [ + 0.4670434594154358, + 0.5790044069290161, + 0.5622791647911072, + -0.36120134592056274 + ], + "joints": [ + -0.003516159951686859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01762775331735611, + 0.14138422906398773, + 0.00797613151371479 + ], + "orientation": [ + 0.01658223569393158, + -0.4847394824028015, + -0.06066286191344261, + 0.8723948001861572 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.016429530456662178, + 0.13758622109889984, + 0.006990098860114813 + ], + "orientation": [ + 0.014163046143949032, + -0.5017400979995728, + -0.04545934498310089, + 0.8637069463729858 + ], + "joints": [ + -0.012217345647513866 + ] + }, + "final_grasp": { + "position": [ + 0.016429530456662178, + 0.13758622109889984, + 0.006990098860114813 + ], + "orientation": [ + 0.014163046143949032, + -0.5017400979995728, + -0.04545934498310089, + 0.8637069463729858 + ], + "joints": [ + -0.007408173754811287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09224000573158264, + 0.07805023342370987, + -0.056351326406002045 + ], + "orientation": [ + 0.3919190764427185, + -0.1318637877702713, + -0.2639630436897278, + -0.8713982701301575 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.08916978538036346, + 0.07922817766666412, + -0.05801185220479965 + ], + "orientation": [ + 0.379903107881546, + -0.1261594146490097, + -0.2588993310928345, + -0.8790498375892639 + ], + "joints": [ + -0.008297359570860863 + ] + }, + "final_grasp": { + "position": [ + -0.08916978538036346, + 0.07922817766666412, + -0.05801185220479965 + ], + "orientation": [ + 0.379903107881546, + -0.1261594146490097, + -0.2588993310928345, + -0.8790498375892639 + ], + "joints": [ + -0.001893993467092514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026496771723031998, + -0.0174576323479414, + 0.12652993202209473 + ], + "orientation": [ + 0.7702849507331848, + -0.586643397808075, + 0.1228381022810936, + -0.21776489913463593 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.0284742284566164, + -0.016866512596607208, + 0.12648478150367737 + ], + "orientation": [ + 0.7678620219230652, + -0.5923956036567688, + 0.1127859577536583, + -0.21618226170539856 + ], + "joints": [ + -0.00938812643289566 + ] + }, + "final_grasp": { + "position": [ + -0.0284742284566164, + -0.016866512596607208, + 0.12648478150367737 + ], + "orientation": [ + 0.7678620219230652, + -0.5923956036567688, + 0.1127859577536583, + -0.21618226170539856 + ], + "joints": [ + -0.003516159951686859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014708762057125568, + -0.10721233487129211, + 0.009248156100511551 + ], + "orientation": [ + 0.6130196452140808, + -0.0334242582321167, + -0.7888041138648987, + 0.02963101677596569 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + -0.012933268211781979, + -0.10800150036811829, + 0.008802074939012527 + ], + "orientation": [ + 0.6097124814987183, + -0.03224842622876167, + -0.7915765047073364, + 0.024848276749253273 + ], + "joints": [ + -0.0105671351775527 + ] + }, + "final_grasp": { + "position": [ + -0.012933268211781979, + -0.10800150036811829, + 0.008802074939012527 + ], + "orientation": [ + 0.6097124814987183, + -0.03224842622876167, + -0.7915765047073364, + 0.024848276749253273 + ], + "joints": [ + -0.004137193784117699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1335527002811432, + 0.01788189262151718, + -0.012330833822488785 + ], + "orientation": [ + 0.41379863023757935, + 0.6181678771972656, + 0.5556405782699585, + -0.3713526427745819 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.13363149762153625, + 0.01976996660232544, + -0.01315335649996996 + ], + "orientation": [ + 0.42705488204956055, + 0.6110249161720276, + 0.5443926453590393, + -0.3845899701118469 + ], + "joints": [ + -0.009976934641599655 + ] + }, + "final_grasp": { + "position": [ + -0.13363149762153625, + 0.01976996660232544, + -0.01315335649996996 + ], + "orientation": [ + 0.42705488204956055, + 0.6110249161720276, + 0.5443926453590393, + -0.3845899701118469 + ], + "joints": [ + -0.004104968160390854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00010500485950615257, + -0.12082111090421677, + -0.008339550346136093 + ], + "orientation": [ + 0.8043084144592285, + 0.024227581918239594, + 0.5932847857475281, + 0.022672368213534355 + ], + "joints": [ + -0.01885182410478592 + ] + }, + "fine_grasp": { + "position": [ + -0.00028764884336851537, + -0.11526179313659668, + -0.007798298262059689 + ], + "orientation": [ + 0.8053617477416992, + 0.022258346900343895, + 0.5919809937477112, + 0.021344413980841637 + ], + "joints": [ + -0.011943617835640907 + ] + }, + "final_grasp": { + "position": [ + -0.00028764884336851537, + -0.11526179313659668, + -0.007798298262059689 + ], + "orientation": [ + 0.8053617477416992, + 0.022258346900343895, + 0.5919809937477112, + 0.021344413980841637 + ], + "joints": [ + -0.005035411566495895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 9.497979590378236e-06, + -0.12078891694545746, + -0.00852562952786684 + ], + "orientation": [ + 0.8045077919960022, + 0.02486947365105152, + 0.592975914478302, + 0.022984497249126434 + ], + "joints": [ + -0.01885182410478592 + ] + }, + "fine_grasp": { + "position": [ + -0.00038542356924153864, + -0.11523675918579102, + -0.007976369932293892 + ], + "orientation": [ + 0.8054840564727783, + 0.02290545031428337, + 0.5917779207229614, + 0.021671859547495842 + ], + "joints": [ + -0.011943617835640907 + ] + }, + "final_grasp": { + "position": [ + -0.00038542356924153864, + -0.11523675918579102, + -0.007976369932293892 + ], + "orientation": [ + 0.8054840564727783, + 0.02290545031428337, + 0.5917779207229614, + 0.021671859547495842 + ], + "joints": [ + -0.005035411566495895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06724097579717636, + 0.017652783542871475, + -0.12020257860422134 + ], + "orientation": [ + 0.5987380146980286, + 0.33782851696014404, + 0.35879290103912354, + 0.6313892602920532 + ], + "joints": [ + -0.0014934258069843054 + ] + }, + "fine_grasp": { + "position": [ + 0.06689571589231491, + 0.018651070073246956, + -0.12233392894268036 + ], + "orientation": [ + 0.5921602845191956, + 0.3304329514503479, + 0.36712661385536194, + 0.6366932392120361 + ], + "joints": [ + 0.004378540441393852 + ] + }, + "final_grasp": { + "position": [ + 0.06689571589231491, + 0.018651070073246956, + -0.12233392894268036 + ], + "orientation": [ + 0.5921602845191956, + 0.3304329514503479, + 0.36712661385536194, + 0.6366932392120361 + ], + "joints": [ + 0.010250506922602654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11711163818836212, + 0.03823259100317955, + 0.0760345384478569 + ], + "orientation": [ + 0.24153806269168854, + -0.7460677623748779, + 0.5956271886825562, + -0.1739841103553772 + ], + "joints": [ + -0.0023142811842262745 + ] + }, + "fine_grasp": { + "position": [ + 0.11394937336444855, + 0.03805358335375786, + 0.07474104315042496 + ], + "orientation": [ + 0.24520327150821686, + -0.745820164680481, + 0.5966957807540894, + -0.1660781353712082 + ], + "joints": [ + 0.0035576848313212395 + ] + }, + "final_grasp": { + "position": [ + 0.11394937336444855, + 0.03805358335375786, + 0.07474104315042496 + ], + "orientation": [ + 0.24520327150821686, + -0.745820164680481, + 0.5966957807540894, + -0.1660781353712082 + ], + "joints": [ + 0.009429650381207466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13323235511779785, + -0.0032387834507972, + -0.026055781170725822 + ], + "orientation": [ + 0.5903501510620117, + -0.30037274956703186, + -0.4487380087375641, + -0.5999142527580261 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.13239385187625885, + -0.00255137518979609, + -0.027412118390202522 + ], + "orientation": [ + 0.5824747681617737, + -0.3061675429344177, + -0.4557299017906189, + -0.5994120836257935 + ], + "joints": [ + -0.009330717846751213 + ] + }, + "final_grasp": { + "position": [ + -0.13239385187625885, + -0.00255137518979609, + -0.027412118390202522 + ], + "orientation": [ + 0.5824747681617737, + -0.3061675429344177, + -0.4557299017906189, + -0.5994120836257935 + ], + "joints": [ + -0.003990150988101959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13322235643863678, + -0.00302485772408545, + -0.025852421298623085 + ], + "orientation": [ + 0.5906450748443604, + -0.30011463165283203, + -0.4489375948905945, + -0.5996037721633911 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.13243946433067322, + -0.0022217980585992336, + -0.027523791417479515 + ], + "orientation": [ + 0.582305908203125, + -0.30502110719680786, + -0.45674681663513184, + -0.5993865132331848 + ], + "joints": [ + -0.009330717846751213 + ] + }, + "final_grasp": { + "position": [ + -0.13243946433067322, + -0.0022217980585992336, + -0.027523791417479515 + ], + "orientation": [ + 0.582305908203125, + -0.30502110719680786, + -0.45674681663513184, + -0.5993865132331848 + ], + "joints": [ + -0.003990150988101959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0859723910689354, + -0.011358674615621567, + -0.11154993623495102 + ], + "orientation": [ + 0.37702926993370056, + 0.5672850012779236, + 0.6729656457901001, + 0.2883642613887787 + ], + "joints": [ + -0.00155876693315804 + ] + }, + "fine_grasp": { + "position": [ + -0.08410083502531052, + -0.011635646224021912, + -0.10905478894710541 + ], + "orientation": [ + 0.3707299828529358, + 0.5682244896888733, + 0.6753481030464172, + 0.28911110758781433 + ], + "joints": [ + 0.004313199315220118 + ] + }, + "final_grasp": { + "position": [ + -0.08410083502531052, + -0.011635646224021912, + -0.10905478894710541 + ], + "orientation": [ + 0.3707299828529358, + 0.5682244896888733, + 0.6753481030464172, + 0.28911110758781433 + ], + "joints": [ + 0.010185165330767632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008296173065900803, + 0.13658013939857483, + -0.00013074021262582392 + ], + "orientation": [ + 0.01736115664243698, + -0.990158200263977, + 0.031813863664865494, + 0.135178342461586 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + 0.008043930865824223, + 0.13161231577396393, + 1.3653029782290105e-06 + ], + "orientation": [ + 0.018937086686491966, + -0.9904515743255615, + 0.03374664857983589, + 0.13231925666332245 + ], + "joints": [ + -0.011060409247875214 + ] + }, + "final_grasp": { + "position": [ + 0.008043930865824223, + 0.13161231577396393, + 1.3653029782290105e-06 + ], + "orientation": [ + 0.018937086686491966, + -0.9904515743255615, + 0.03374664857983589, + 0.13231925666332245 + ], + "joints": [ + -0.0041522067040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008284354582428932, + 0.13647882640361786, + -7.048377301543951e-05 + ], + "orientation": [ + 0.018380435183644295, + -0.9900844693183899, + 0.03172023966908455, + 0.1356043517589569 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.008062145672738552, + 0.13162483274936676, + 8.88267004484078e-06 + ], + "orientation": [ + 0.018938131630420685, + -0.9904114007949829, + 0.033748190850019455, + 0.1326189637184143 + ], + "joints": [ + -0.011030968278646469 + ] + }, + "final_grasp": { + "position": [ + 0.008062145672738552, + 0.13162483274936676, + 8.88267004484078e-06 + ], + "orientation": [ + 0.018938131630420685, + -0.9904114007949829, + 0.033748190850019455, + 0.1326189637184143 + ], + "joints": [ + -0.004122765734791756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1270906627178192, + 0.030157053843140602, + 0.05436806380748749 + ], + "orientation": [ + 0.6419448852539062, + -0.12463993579149246, + -0.1737266182899475, + 0.7363359332084656 + ], + "joints": [ + -0.0015814676880836487 + ] + }, + "fine_grasp": { + "position": [ + 0.12460239976644516, + 0.031029976904392242, + 0.0539817214012146 + ], + "orientation": [ + 0.6406825184822083, + -0.11411524564027786, + -0.1756427139043808, + 0.7386834621429443 + ], + "joints": [ + 0.004290498327463865 + ] + }, + "final_grasp": { + "position": [ + 0.12460239976644516, + 0.031029976904392242, + 0.0539817214012146 + ], + "orientation": [ + 0.6406825184822083, + -0.11411524564027786, + -0.1756427139043808, + 0.7386834621429443 + ], + "joints": [ + 0.01016246434301138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03238913416862488, + -0.07318882644176483, + -0.09138314425945282 + ], + "orientation": [ + 0.9180371165275574, + 0.3277478516101837, + 0.22063587605953217, + -0.03330233693122864 + ], + "joints": [ + -0.016938194632530212 + ] + }, + "fine_grasp": { + "position": [ + -0.031738054007291794, + -0.07660126686096191, + -0.09311571717262268 + ], + "orientation": [ + 0.914802610874176, + 0.3333289921283722, + 0.22628603875637054, + -0.028680700808763504 + ], + "joints": [ + -0.010029995813965797 + ] + }, + "final_grasp": { + "position": [ + -0.031738054007291794, + -0.07660126686096191, + -0.09311571717262268 + ], + "orientation": [ + 0.914802610874176, + 0.3333289921283722, + 0.22628603875637054, + -0.028680700808763504 + ], + "joints": [ + -0.0031217969954013824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12373214960098267, + 0.00888125877827406, + 0.01240209024399519 + ], + "orientation": [ + 0.6324421763420105, + 0.25177034735679626, + -0.36831340193748474, + 0.6332249641418457 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.11984145641326904, + 0.010090905241668224, + 0.015099860727787018 + ], + "orientation": [ + 0.6184396743774414, + 0.2588604986667633, + -0.37330350279808044, + 0.6412238478660583 + ], + "joints": [ + -0.006530935876071453 + ] + }, + "final_grasp": { + "position": [ + 0.11984145641326904, + 0.010090905241668224, + 0.015099860727787018 + ], + "orientation": [ + 0.6184396743774414, + 0.2588604986667633, + -0.37330350279808044, + 0.6412238478660583 + ], + "joints": [ + -0.00012757070362567902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004767496604472399, + -0.0922258123755455, + -0.06413193047046661 + ], + "orientation": [ + 0.5115798711776733, + 0.12135063111782074, + 0.8079095482826233, + 0.2661622166633606 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.0041349343955516815, + -0.09080047160387039, + -0.06260267645120621 + ], + "orientation": [ + 0.5190369486808777, + 0.11356943100690842, + 0.8037582039833069, + 0.26772287487983704 + ], + "joints": [ + -0.00891413539648056 + ] + }, + "final_grasp": { + "position": [ + -0.0041349343955516815, + -0.09080047160387039, + -0.06260267645120621 + ], + "orientation": [ + 0.5190369486808777, + 0.11356943100690842, + 0.8037582039833069, + 0.26772287487983704 + ], + "joints": [ + -0.001979369670152664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14886660873889923, + -0.019618820399045944, + -0.040904298424720764 + ], + "orientation": [ + 0.6351478099822998, + 0.4906495213508606, + 0.4950576424598694, + -0.33281847834587097 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.1445758193731308, + -0.0182962529361248, + -0.03806624189019203 + ], + "orientation": [ + 0.6352908611297607, + 0.4857178032398224, + 0.49451640248298645, + -0.34049540758132935 + ], + "joints": [ + -0.009916655719280243 + ] + }, + "final_grasp": { + "position": [ + -0.1445758193731308, + -0.0182962529361248, + -0.03806624189019203 + ], + "orientation": [ + 0.6352908611297607, + 0.4857178032398224, + 0.49451640248298645, + -0.34049540758132935 + ], + "joints": [ + -0.004602659493684769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1295938938856125, + 0.04553798586130142, + -0.0444011390209198 + ], + "orientation": [ + 0.6079550981521606, + 0.1498701572418213, + 0.12257727980613708, + 0.7700027823448181 + ], + "joints": [ + -0.0024717499036341906 + ] + }, + "fine_grasp": { + "position": [ + 0.12812507152557373, + 0.046892426908016205, + -0.04272837191820145 + ], + "orientation": [ + 0.6062893867492676, + 0.15495729446411133, + 0.12325868755578995, + 0.7702004313468933 + ], + "joints": [ + 0.0039316159673035145 + ] + }, + "final_grasp": { + "position": [ + 0.12812507152557373, + 0.046892426908016205, + -0.04272837191820145 + ], + "orientation": [ + 0.6062893867492676, + 0.15495729446411133, + 0.12325868755578995, + 0.7702004313468933 + ], + "joints": [ + 0.010334981605410576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1390201300382614, + -0.03452173247933388, + -0.013219926506280899 + ], + "orientation": [ + 0.6342082619667053, + -0.3198659121990204, + 0.5052551031112671, + 0.4900846481323242 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.1380624622106552, + -0.034125152975320816, + -0.01297511626034975 + ], + "orientation": [ + 0.6306115984916687, + -0.3223874866962433, + 0.5124318599700928, + 0.4856017529964447 + ], + "joints": [ + -0.009948967024683952 + ] + }, + "final_grasp": { + "position": [ + 0.1380624622106552, + -0.034125152975320816, + -0.01297511626034975 + ], + "orientation": [ + 0.6306115984916687, + -0.3223874866962433, + 0.5124318599700928, + 0.4856017529964447 + ], + "joints": [ + -0.0046084001660346985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1390661597251892, + -0.03450837731361389, + -0.013361930847167969 + ], + "orientation": [ + 0.6336483955383301, + -0.31989720463752747, + 0.5058159828186035, + 0.4902098476886749 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.13901503384113312, + -0.03424055874347687, + -0.013034923002123833 + ], + "orientation": [ + 0.6310105919837952, + -0.3214259445667267, + 0.5128392577171326, + 0.48529067635536194 + ], + "joints": [ + -0.009948967024683952 + ] + }, + "final_grasp": { + "position": [ + 0.13901503384113312, + -0.03424055874347687, + -0.013034923002123833 + ], + "orientation": [ + 0.6310105919837952, + -0.3214259445667267, + 0.5128392577171326, + 0.48529067635536194 + ], + "joints": [ + -0.0046084001660346985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005233793053776026, + 0.008177286945283413, + -0.12672832608222961 + ], + "orientation": [ + 0.4950365722179413, + 0.4665832817554474, + -0.5289418697357178, + -0.5074045062065125 + ], + "joints": [ + -0.0015237655024975538 + ] + }, + "fine_grasp": { + "position": [ + 0.003980709705501795, + 0.007162244990468025, + -0.12701000273227692 + ], + "orientation": [ + 0.4909791648387909, + 0.46316856145858765, + -0.5355076193809509, + -0.5075882077217102 + ], + "joints": [ + 0.004348200745880604 + ] + }, + "final_grasp": { + "position": [ + 0.003980709705501795, + 0.007162244990468025, + -0.12701000273227692 + ], + "orientation": [ + 0.4909791648387909, + 0.46316856145858765, + -0.5355076193809509, + -0.5075882077217102 + ], + "joints": [ + 0.010220167227089405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00498165562748909, + 0.007477352861315012, + -0.12659358978271484 + ], + "orientation": [ + 0.4957060217857361, + 0.4654587507247925, + -0.5309001207351685, + -0.5057357549667358 + ], + "joints": [ + -0.0015237645711749792 + ] + }, + "fine_grasp": { + "position": [ + 0.0037784564774483442, + 0.006462492048740387, + -0.12691517174243927 + ], + "orientation": [ + 0.49224376678466797, + 0.46216440200805664, + -0.5372059345245361, + -0.5054796934127808 + ], + "joints": [ + 0.003843371756374836 + ] + }, + "final_grasp": { + "position": [ + 0.0037784564774483442, + 0.006462492048740387, + -0.12691517174243927 + ], + "orientation": [ + 0.49224376678466797, + 0.46216440200805664, + -0.5372059345245361, + -0.5054796934127808 + ], + "joints": [ + 0.009210508316755295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13315246999263763, + 0.024550097063183784, + -0.006280848290771246 + ], + "orientation": [ + 0.4213602840900421, + 0.5884574055671692, + -0.42771321535110474, + 0.5415117740631104 + ], + "joints": [ + -0.012257169932126999 + ] + }, + "fine_grasp": { + "position": [ + 0.13819697499275208, + 0.025413429364562035, + -0.005747523158788681 + ], + "orientation": [ + 0.4247663617134094, + 0.5901997089385986, + -0.4351741373538971, + 0.5309061408042908 + ], + "joints": [ + -0.008510801941156387 + ] + }, + "final_grasp": { + "position": [ + 0.13819697499275208, + 0.025413429364562035, + -0.005747523158788681 + ], + "orientation": [ + 0.4247663617134094, + 0.5901997089385986, + -0.4351741373538971, + 0.5309061408042908 + ], + "joints": [ + -0.004764433950185776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0014590169303119183, + -0.1125103309750557, + 0.037782229483127594 + ], + "orientation": [ + 0.05929853394627571, + -0.005423808004707098, + -0.997733473777771, + 0.031339168548583984 + ], + "joints": [ + -0.015171770006418228 + ] + }, + "fine_grasp": { + "position": [ + 0.00104473065584898, + -0.11288565397262573, + 0.039687708020210266 + ], + "orientation": [ + 0.05342899635434151, + -0.008069854229688644, + -0.9983795285224915, + 0.017842067405581474 + ], + "joints": [ + -0.006695945747196674 + ] + }, + "final_grasp": { + "position": [ + 0.00104473065584898, + -0.11288565397262573, + 0.039687708020210266 + ], + "orientation": [ + 0.05342899635434151, + -0.008069854229688644, + -0.9983795285224915, + 0.017842067405581474 + ], + "joints": [ + 0.0017798785120248795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021371271461248398, + -0.06747595220804214, + -0.11883993446826935 + ], + "orientation": [ + 0.24184650182724, + 0.03870762512087822, + -0.8502711057662964, + -0.46588730812072754 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.021164853125810623, + -0.06571982800960541, + -0.11658787727355957 + ], + "orientation": [ + 0.23439398407936096, + 0.04096628725528717, + -0.8518835306167603, + -0.46655741333961487 + ], + "joints": [ + -0.013424399308860302 + ] + }, + "final_grasp": { + "position": [ + -0.021164853125810623, + -0.06571982800960541, + -0.11658787727355957 + ], + "orientation": [ + 0.23439398407936096, + 0.04096628725528717, + -0.8518835306167603, + -0.46655741333961487 + ], + "joints": [ + -0.008615223690867424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05443795770406723, + -0.04025440663099289, + -0.11893613636493683 + ], + "orientation": [ + 0.04944491758942604, + -0.2358984798192978, + 0.8769993185997009, + 0.41566741466522217 + ], + "joints": [ + -0.0101483054459095 + ] + }, + "fine_grasp": { + "position": [ + 0.05364460498094559, + -0.040398694574832916, + -0.1184283047914505 + ], + "orientation": [ + 0.03887898102402687, + -0.23752258718013763, + 0.8751768469810486, + 0.41968676447868347 + ], + "joints": [ + -0.0032666800543665886 + ] + }, + "final_grasp": { + "position": [ + 0.05364460498094559, + -0.040398694574832916, + -0.1184283047914505 + ], + "orientation": [ + 0.03887898102402687, + -0.23752258718013763, + 0.8751768469810486, + 0.41968676447868347 + ], + "joints": [ + 0.003614945337176323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12371291220188141, + 0.023222601041197777, + 0.021205725148320198 + ], + "orientation": [ + 0.6283442378044128, + -0.38623765110969543, + -0.28385835886001587, + -0.6127221584320068 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.12541231513023376, + 0.021968713030219078, + 0.022180544212460518 + ], + "orientation": [ + 0.6239287257194519, + -0.4045461416244507, + -0.29659461975097656, + -0.5992386341094971 + ], + "joints": [ + -0.009835546836256981 + ] + }, + "final_grasp": { + "position": [ + -0.12541231513023376, + 0.021968713030219078, + 0.022180544212460518 + ], + "orientation": [ + 0.6239287257194519, + -0.4045461416244507, + -0.29659461975097656, + -0.5992386341094971 + ], + "joints": [ + -0.004999808967113495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11181581020355225, + 0.026763468980789185, + -0.07556669414043427 + ], + "orientation": [ + 0.16272006928920746, + 0.7060640454292297, + -0.6540327072143555, + -0.21734066307544708 + ], + "joints": [ + -0.0018664884846657515 + ] + }, + "fine_grasp": { + "position": [ + 0.11286500841379166, + 0.02986462600529194, + -0.07542821764945984 + ], + "orientation": [ + 0.15760734677314758, + 0.7110747694969177, + -0.648156464099884, + -0.22231927514076233 + ], + "joints": [ + 0.004536877386271954 + ] + }, + "final_grasp": { + "position": [ + 0.11286500841379166, + 0.02986462600529194, + -0.07542821764945984 + ], + "orientation": [ + 0.15760734677314758, + 0.7110747694969177, + -0.648156464099884, + -0.22231927514076233 + ], + "joints": [ + 0.010940243490040302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11212099343538284, + 0.027736125513911247, + -0.07501968741416931 + ], + "orientation": [ + 0.15718291699886322, + 0.706007719039917, + -0.6524209976196289, + -0.22625961899757385 + ], + "joints": [ + -0.0017037345096468925 + ] + }, + "fine_grasp": { + "position": [ + 0.11277496069669724, + 0.030443893745541573, + -0.07451995462179184 + ], + "orientation": [ + 0.15395265817642212, + 0.7085579037666321, + -0.647390604019165, + -0.2347971647977829 + ], + "joints": [ + 0.004168231505900621 + ] + }, + "final_grasp": { + "position": [ + 0.11277496069669724, + 0.030443893745541573, + -0.07451995462179184 + ], + "orientation": [ + 0.15395265817642212, + 0.7085579037666321, + -0.647390604019165, + -0.2347971647977829 + ], + "joints": [ + 0.010040197521448135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1107805147767067, + 0.026320604607462883, + -0.07520417124032974 + ], + "orientation": [ + 0.1691177636384964, + 0.7046242952346802, + -0.6532743573188782, + -0.21939989924430847 + ], + "joints": [ + -0.0017030658200383186 + ] + }, + "fine_grasp": { + "position": [ + 0.11144746094942093, + 0.029361780732870102, + -0.07513356953859329 + ], + "orientation": [ + 0.1639203131198883, + 0.7081001400947571, + -0.6477628350257874, + -0.2283148467540741 + ], + "joints": [ + 0.004168900195509195 + ] + }, + "final_grasp": { + "position": [ + 0.11144746094942093, + 0.029361780732870102, + -0.07513356953859329 + ], + "orientation": [ + 0.1639203131198883, + 0.7081001400947571, + -0.6477628350257874, + -0.2283148467540741 + ], + "joints": [ + 0.01004086621105671 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11715184897184372, + 0.015635626390576363, + 0.054837971925735474 + ], + "orientation": [ + 0.16941314935684204, + -0.6942693591117859, + -0.6830512881278992, + 0.15076522529125214 + ], + "joints": [ + -0.0014553775545209646 + ] + }, + "fine_grasp": { + "position": [ + -0.11527284234762192, + 0.01762072741985321, + 0.05428681522607803 + ], + "orientation": [ + 0.17335499823093414, + -0.7000692486763, + -0.6777051687240601, + 0.1434113085269928 + ], + "joints": [ + 0.004416588693857193 + ] + }, + "final_grasp": { + "position": [ + -0.11527284234762192, + 0.01762072741985321, + 0.05428681522607803 + ], + "orientation": [ + 0.17335499823093414, + -0.7000692486763, + -0.6777051687240601, + 0.1434113085269928 + ], + "joints": [ + 0.010288555175065994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12617111206054688, + 0.018393319100141525, + 0.02486775629222393 + ], + "orientation": [ + 0.6899651885032654, + -0.0614619143307209, + 0.09566330909729004, + -0.7148559093475342 + ], + "joints": [ + -0.0017559551633894444 + ] + }, + "fine_grasp": { + "position": [ + -0.12666146457195282, + 0.02086266130208969, + 0.02647162415087223 + ], + "orientation": [ + 0.6839358806610107, + -0.05585630238056183, + 0.09732328355312347, + -0.7208604216575623 + ], + "joints": [ + 0.004620840772986412 + ] + }, + "final_grasp": { + "position": [ + -0.12666146457195282, + 0.02086266130208969, + 0.02647162415087223 + ], + "orientation": [ + 0.6839358806610107, + -0.05585630238056183, + 0.09732328355312347, + -0.7208604216575623 + ], + "joints": [ + 0.010997636243700981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1260925978422165, + 0.018355362117290497, + 0.025074198842048645 + ], + "orientation": [ + 0.6898080706596375, + -0.06112811714410782, + 0.09665658324956894, + -0.7149025201797485 + ], + "joints": [ + -0.0014954281505197287 + ] + }, + "fine_grasp": { + "position": [ + -0.12654437124729156, + 0.020844092592597008, + 0.02670430578291416 + ], + "orientation": [ + 0.6837794780731201, + -0.055758364498615265, + 0.0989542230963707, + -0.7207943797111511 + ], + "joints": [ + 0.004376538097858429 + ] + }, + "final_grasp": { + "position": [ + -0.12654437124729156, + 0.020844092592597008, + 0.02670430578291416 + ], + "orientation": [ + 0.6837794780731201, + -0.055758364498615265, + 0.0989542230963707, + -0.7207943797111511 + ], + "joints": [ + 0.01024850457906723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12617461383342743, + 0.01839311234652996, + 0.024754250422120094 + ], + "orientation": [ + 0.6900106072425842, + -0.060171373188495636, + 0.09541497379541397, + -0.7149550914764404 + ], + "joints": [ + -0.0015334764029830694 + ] + }, + "fine_grasp": { + "position": [ + -0.12665872275829315, + 0.020813491195440292, + 0.02627038024365902 + ], + "orientation": [ + 0.6840940713882446, + -0.054623737931251526, + 0.09686215221881866, + -0.7208669781684875 + ], + "joints": [ + 0.004338489845395088 + ] + }, + "final_grasp": { + "position": [ + -0.12665872275829315, + 0.020813491195440292, + 0.02627038024365902 + ], + "orientation": [ + 0.6840940713882446, + -0.054623737931251526, + 0.09686215221881866, + -0.7208669781684875 + ], + "joints": [ + 0.01021045632660389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12429236620664597, + 0.0538959801197052, + -0.015104186721146107 + ], + "orientation": [ + 0.5072178244590759, + -0.32342061400413513, + -0.27799081802368164, + -0.7488993406295776 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.12378150224685669, + 0.053514838218688965, + -0.01599232293665409 + ], + "orientation": [ + 0.4979097247123718, + -0.3316047489643097, + -0.27213916182518005, + -0.7537005543708801 + ], + "joints": [ + -0.010537775233387947 + ] + }, + "final_grasp": { + "position": [ + -0.12378150224685669, + 0.053514838218688965, + -0.01599232293665409 + ], + "orientation": [ + 0.4979097247123718, + -0.3316047489643097, + -0.27213916182518005, + -0.7537005543708801 + ], + "joints": [ + -0.005197208374738693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12613068521022797, + 0.018423790112137794, + 0.02466021478176117 + ], + "orientation": [ + 0.6898666024208069, + -0.06024029105901718, + 0.09594724327325821, + -0.7150170803070068 + ], + "joints": [ + -0.0015334764029830694 + ] + }, + "fine_grasp": { + "position": [ + -0.1265144646167755, + 0.020736653357744217, + 0.026039712131023407 + ], + "orientation": [ + 0.6842387914657593, + -0.05428827926516533, + 0.09770051389932632, + -0.7206418514251709 + ], + "joints": [ + 0.004338489845395088 + ] + }, + "final_grasp": { + "position": [ + -0.1265144646167755, + 0.020736653357744217, + 0.026039712131023407 + ], + "orientation": [ + 0.6842387914657593, + -0.05428827926516533, + 0.09770051389932632, + -0.7206418514251709 + ], + "joints": [ + 0.01021045632660389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1044040396809578, + 0.02411256916821003, + -0.08339274674654007 + ], + "orientation": [ + 0.6491061449050903, + 0.2403545379638672, + 0.2041778862476349, + 0.6922444701194763 + ], + "joints": [ + -0.0013880857732146978 + ] + }, + "fine_grasp": { + "position": [ + 0.10472382605075836, + 0.026294125244021416, + -0.0835140198469162 + ], + "orientation": [ + 0.6463552117347717, + 0.24130204319953918, + 0.19972707331180573, + 0.6957781910896301 + ], + "joints": [ + 0.00448388047516346 + ] + }, + "final_grasp": { + "position": [ + 0.10472382605075836, + 0.026294125244021416, + -0.0835140198469162 + ], + "orientation": [ + 0.6463552117347717, + 0.24130204319953918, + 0.19972707331180573, + 0.6957781910896301 + ], + "joints": [ + 0.010355846956372261 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12645848095417023, + 0.018909266218543053, + 0.02259005606174469 + ], + "orientation": [ + 0.0751202404499054, + -0.7174857258796692, + 0.6909410357475281, + -0.04660162329673767 + ], + "joints": [ + -0.0014553775545209646 + ] + }, + "fine_grasp": { + "position": [ + 0.1275882124900818, + 0.021530162543058395, + 0.02402435801923275 + ], + "orientation": [ + 0.07492965459823608, + -0.723599374294281, + 0.6847229599952698, + -0.0440908819437027 + ], + "joints": [ + 0.004416588693857193 + ] + }, + "final_grasp": { + "position": [ + 0.1275882124900818, + 0.021530162543058395, + 0.02402435801923275 + ], + "orientation": [ + 0.07492965459823608, + -0.723599374294281, + 0.6847229599952698, + -0.0440908819437027 + ], + "joints": [ + 0.010288555175065994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09436137229204178, + 0.026620080694556236, + 0.09589152038097382 + ], + "orientation": [ + 0.6180031895637512, + -0.27643266320228577, + -0.2684982419013977, + 0.6852486729621887 + ], + "joints": [ + -0.0016981977969408035 + ] + }, + "fine_grasp": { + "position": [ + 0.09470739960670471, + 0.02995409071445465, + 0.09602047502994537 + ], + "orientation": [ + 0.6087476015090942, + -0.273904025554657, + -0.2715323269367218, + 0.6933059692382812 + ], + "joints": [ + 0.0041737682186067104 + ] + }, + "final_grasp": { + "position": [ + 0.09470739960670471, + 0.02995409071445465, + 0.09602047502994537 + ], + "orientation": [ + 0.6087476015090942, + -0.273904025554657, + -0.2715323269367218, + 0.6933059692382812 + ], + "joints": [ + 0.010045734234154224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07009362429380417, + -0.10821408778429031, + 0.0683319941163063 + ], + "orientation": [ + 0.6797960996627808, + -0.31040987372398376, + 0.6643131375312805, + -0.014523983001708984 + ], + "joints": [ + -0.012198293581604958 + ] + }, + "fine_grasp": { + "position": [ + 0.07031535357236862, + -0.10690999776124954, + 0.06700817495584488 + ], + "orientation": [ + 0.6851876378059387, + -0.30907681584358215, + 0.6593260765075684, + -0.016685225069522858 + ], + "joints": [ + -0.007362557575106621 + ] + }, + "final_grasp": { + "position": [ + 0.07031535357236862, + -0.10690999776124954, + 0.06700817495584488 + ], + "orientation": [ + 0.6851876378059387, + -0.30907681584358215, + 0.6593260765075684, + -0.016685225069522858 + ], + "joints": [ + -0.002526821568608284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12406326085329056, + 0.01927545666694641, + 0.030336059629917145 + ], + "orientation": [ + 0.6852039694786072, + -0.0720197856426239, + 0.11091198772192001, + -0.7162452936172485 + ], + "joints": [ + -0.0016037635505199432 + ] + }, + "fine_grasp": { + "position": [ + -0.12416180223226547, + 0.02185644768178463, + 0.031736649572849274 + ], + "orientation": [ + 0.6786890029907227, + -0.06620100885629654, + 0.11300992965698242, + -0.7226530909538269 + ], + "joints": [ + 0.004268202465027571 + ] + }, + "final_grasp": { + "position": [ + -0.12416180223226547, + 0.02185644768178463, + 0.031736649572849274 + ], + "orientation": [ + 0.6786890029907227, + -0.06620100885629654, + 0.11300992965698242, + -0.7226530909538269 + ], + "joints": [ + 0.010140168480575085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0791674330830574, + 0.12058141827583313, + 0.019187230616807938 + ], + "orientation": [ + 0.15857571363449097, + -0.7768357992172241, + 0.11880607903003693, + 0.5977163910865784 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.07956978678703308, + 0.12151186168193817, + 0.0183662548661232 + ], + "orientation": [ + 0.16171498596668243, + -0.772443950176239, + 0.12047303467988968, + 0.6022165417671204 + ], + "joints": [ + -0.005912686698138714 + ] + }, + "final_grasp": { + "position": [ + 0.07956978678703308, + 0.12151186168193817, + 0.0183662548661232 + ], + "orientation": [ + 0.16171498596668243, + -0.772443950176239, + 0.12047303467988968, + 0.6022165417671204 + ], + "joints": [ + 0.0004906784743070602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12799836695194244, + 0.022849537432193756, + -0.018120165914297104 + ], + "orientation": [ + 0.6843550801277161, + 0.04733426123857498, + -0.004410166759043932, + -0.7275974154472351 + ], + "joints": [ + -0.0018312949687242508 + ] + }, + "fine_grasp": { + "position": [ + -0.12843163311481476, + 0.025181882083415985, + -0.017389295622706413 + ], + "orientation": [ + 0.6785786747932434, + 0.0557413212954998, + -0.0019339373102411628, + -0.7324071526527405 + ], + "joints": [ + 0.004040671046823263 + ] + }, + "final_grasp": { + "position": [ + -0.12843163311481476, + 0.025181882083415985, + -0.017389295622706413 + ], + "orientation": [ + 0.6785786747932434, + 0.0557413212954998, + -0.0019339373102411628, + -0.7324071526527405 + ], + "joints": [ + 0.009912637062370777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12630513310432434, + 0.007603876758366823, + 0.009240626357495785 + ], + "orientation": [ + 0.7256002426147461, + -0.052482493221759796, + -0.02472621388733387, + 0.6856663823127747 + ], + "joints": [ + -0.0017412328161299229 + ] + }, + "fine_grasp": { + "position": [ + 0.12599867582321167, + 0.005801754537969828, + 0.010476837866008282 + ], + "orientation": [ + 0.7297211289405823, + -0.05293518304824829, + -0.020342083647847176, + 0.6813890337944031 + ], + "joints": [ + 0.004130733199417591 + ] + }, + "final_grasp": { + "position": [ + 0.12599867582321167, + 0.005801754537969828, + 0.010476837866008282 + ], + "orientation": [ + 0.7297211289405823, + -0.05293518304824829, + -0.020342083647847176, + 0.6813890337944031 + ], + "joints": [ + 0.010002698749303818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10562202334403992, + -0.07690488547086716, + -0.013669009320437908 + ], + "orientation": [ + 0.8032965660095215, + 0.18687009811401367, + -0.49318385124206543, + 0.27670207619667053 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10333870351314545, + -0.07623168081045151, + -0.013232838362455368 + ], + "orientation": [ + 0.7952532172203064, + 0.20204514265060425, + -0.5015766024589539, + 0.2741730213165283 + ], + "joints": [ + -0.007536326535046101 + ] + }, + "final_grasp": { + "position": [ + 0.10333870351314545, + -0.07623168081045151, + -0.013232838362455368 + ], + "orientation": [ + 0.7952532172203064, + 0.20204514265060425, + -0.5015766024589539, + 0.2741730213165283 + ], + "joints": [ + -0.002727160230278969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12627309560775757, + -0.06190108880400658, + -0.0018830628832802176 + ], + "orientation": [ + 0.7030216455459595, + 0.25328558683395386, + -0.5796716213226318, + 0.3249428868293762 + ], + "joints": [ + -0.01324397511780262 + ] + }, + "fine_grasp": { + "position": [ + 0.12553180754184723, + -0.06088467687368393, + -0.0011581546859815717 + ], + "orientation": [ + 0.6954490542411804, + 0.25716695189476013, + -0.5878473520278931, + 0.3234984576702118 + ], + "joints": [ + -0.005804380401968956 + ] + }, + "final_grasp": { + "position": [ + 0.12553180754184723, + -0.06088467687368393, + -0.0011581546859815717 + ], + "orientation": [ + 0.6954490542411804, + 0.25716695189476013, + -0.5878473520278931, + 0.3234984576702118 + ], + "joints": [ + 0.001635214313864708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11103115975856781, + 0.10236281901597977, + -0.026704216375947 + ], + "orientation": [ + 0.4178065061569214, + 0.5671278238296509, + -0.2501034140586853, + 0.6642679572105408 + ], + "joints": [ + -0.01132902130484581 + ] + }, + "fine_grasp": { + "position": [ + 0.10878533124923706, + 0.09964944422245026, + -0.02659386210143566 + ], + "orientation": [ + 0.4181889295578003, + 0.5660938024520874, + -0.2388078272342682, + 0.6690490245819092 + ], + "joints": [ + -0.007981205359101295 + ] + }, + "final_grasp": { + "position": [ + 0.10878533124923706, + 0.09964944422245026, + -0.02659386210143566 + ], + "orientation": [ + 0.4181889295578003, + 0.5660938024520874, + -0.2388078272342682, + 0.6690490245819092 + ], + "joints": [ + -0.004633389413356781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09022548049688339, + -0.04196692258119583, + -0.1107243224978447 + ], + "orientation": [ + 0.07488717883825302, + -0.33215245604515076, + -0.8265293836593628, + -0.4482363164424896 + ], + "joints": [ + -0.015760578215122223 + ] + }, + "fine_grasp": { + "position": [ + -0.08791293203830719, + -0.041036732494831085, + -0.1078154668211937 + ], + "orientation": [ + 0.05983833596110344, + -0.3333730101585388, + -0.8269402384757996, + -0.4488335847854614 + ], + "joints": [ + -0.010420011356472969 + ] + }, + "final_grasp": { + "position": [ + -0.08791293203830719, + -0.041036732494831085, + -0.1078154668211937 + ], + "orientation": [ + 0.05983833596110344, + -0.3333730101585388, + -0.8269402384757996, + -0.4488335847854614 + ], + "joints": [ + -0.005079444497823715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030915891751646996, + -0.09663980454206467, + -0.0515466071665287 + ], + "orientation": [ + 0.5914074778556824, + 0.11033022403717041, + -0.778252124786377, + -0.17996664345264435 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + -0.032172247767448425, + -0.10130933672189713, + -0.05329287424683571 + ], + "orientation": [ + 0.5999462604522705, + 0.11027853190898895, + -0.7737492918968201, + -0.1709243357181549 + ], + "joints": [ + -0.007589390035718679 + ] + }, + "final_grasp": { + "position": [ + -0.032172247767448425, + -0.10130933672189713, + -0.05329287424683571 + ], + "orientation": [ + 0.5999462604522705, + 0.11027853190898895, + -0.7737492918968201, + -0.1709243357181549 + ], + "joints": [ + -0.0017439937219023705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031299374997615814, + -0.09629863500595093, + -0.050593990832567215 + ], + "orientation": [ + 0.5956488847732544, + 0.10809647291898727, + -0.7755512595176697, + -0.17899090051651 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + -0.032615579664707184, + -0.10108621418476105, + -0.052408456802368164 + ], + "orientation": [ + 0.604876697063446, + 0.10854381322860718, + -0.770601749420166, + -0.16886554658412933 + ], + "joints": [ + -0.007589390035718679 + ] + }, + "final_grasp": { + "position": [ + -0.032615579664707184, + -0.10108621418476105, + -0.052408456802368164 + ], + "orientation": [ + 0.604876697063446, + 0.10854381322860718, + -0.770601749420166, + -0.16886554658412933 + ], + "joints": [ + -0.0017439937219023705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09946543723344803, + 0.08995647728443146, + -0.08132286369800568 + ], + "orientation": [ + 0.4931013882160187, + 0.4195256233215332, + 0.01866135187447071, + 0.7619062662124634 + ], + "joints": [ + -0.004064581356942654 + ] + }, + "fine_grasp": { + "position": [ + 0.09667939692735672, + 0.08890993148088455, + -0.07888971269130707 + ], + "orientation": [ + 0.49369004368782043, + 0.41513076424598694, + 0.019972017034888268, + 0.7638963460922241 + ], + "joints": [ + 0.00023975590011104941 + ] + }, + "final_grasp": { + "position": [ + 0.09667939692735672, + 0.08890993148088455, + -0.07888971269130707 + ], + "orientation": [ + 0.49369004368782043, + 0.41513076424598694, + 0.019972017034888268, + 0.7638963460922241 + ], + "joints": [ + 0.004544093273580074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10317394882440567, + 0.099082812666893, + -0.0665539801120758 + ], + "orientation": [ + 0.05140096694231033, + -0.7718991041183472, + -0.4687330424785614, + -0.42640233039855957 + ], + "joints": [ + -0.0035410902928560972 + ] + }, + "fine_grasp": { + "position": [ + -0.09900801628828049, + 0.09683533757925034, + -0.0641949325799942 + ], + "orientation": [ + 0.04694044589996338, + -0.7769671082496643, + -0.4711468815803528, + -0.41489678621292114 + ], + "joints": [ + 0.001799476332962513 + ] + }, + "final_grasp": { + "position": [ + -0.09900801628828049, + 0.09683533757925034, + -0.0641949325799942 + ], + "orientation": [ + 0.04694044589996338, + -0.7769671082496643, + -0.4711468815803528, + -0.41489678621292114 + ], + "joints": [ + 0.007140043191611767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053256385028362274, + 0.13617733120918274, + 0.022654620930552483 + ], + "orientation": [ + 0.07357563823461533, + 0.49657589197158813, + -0.10217692703008652, + 0.8588125109672546 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.05219591036438942, + 0.13120856881141663, + 0.021800357848405838 + ], + "orientation": [ + 0.07551170140504837, + 0.4920654594898224, + -0.10166755318641663, + 0.8612974286079407 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.05219591036438942, + 0.13120856881141663, + 0.021800357848405838 + ], + "orientation": [ + 0.07551170140504837, + 0.4920654594898224, + -0.10166755318641663, + 0.8612974286079407 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12689238786697388, + -0.062352824956178665, + -0.002056633122265339 + ], + "orientation": [ + 0.7049561142921448, + 0.25126421451568604, + -0.5786540508270264, + 0.3241339325904846 + ], + "joints": [ + -0.012593107298016548 + ] + }, + "fine_grasp": { + "position": [ + 0.1259203851222992, + -0.06167620047926903, + -0.0015772972255945206 + ], + "orientation": [ + 0.6964988112449646, + 0.2574875056743622, + -0.5880516767501831, + 0.3206007778644562 + ], + "joints": [ + -0.005684912204742432 + ] + }, + "final_grasp": { + "position": [ + 0.1259203851222992, + -0.06167620047926903, + -0.0015772972255945206 + ], + "orientation": [ + 0.6964988112449646, + 0.2574875056743622, + -0.5880516767501831, + 0.3206007778644562 + ], + "joints": [ + 0.0012232828885316849 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11816246807575226, + 0.06997878849506378, + -0.03150472417473793 + ], + "orientation": [ + 0.24848829209804535, + -0.6769632697105408, + 0.5223287343978882, + 0.4551340341567993 + ], + "joints": [ + -0.011723324656486511 + ] + }, + "fine_grasp": { + "position": [ + 0.11458072811365128, + 0.06715226173400879, + -0.029709527269005775 + ], + "orientation": [ + 0.2347656786441803, + -0.6841679811477661, + 0.5252684950828552, + 0.4482102394104004 + ], + "joints": [ + -0.0058779288083314896 + ] + }, + "final_grasp": { + "position": [ + 0.11458072811365128, + 0.06715226173400879, + -0.029709527269005775 + ], + "orientation": [ + 0.2347656786441803, + -0.6841679811477661, + 0.5252684950828552, + 0.4482102394104004 + ], + "joints": [ + -3.2532960176467896e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016163835301995277, + 0.09002237021923065, + 0.10901856422424316 + ], + "orientation": [ + 0.06413647532463074, + -0.28583988547325134, + -0.49499526619911194, + 0.8180230855941772 + ], + "joints": [ + -0.019234545528888702 + ] + }, + "fine_grasp": { + "position": [ + -0.017021436244249344, + 0.08987215161323547, + 0.10641719400882721 + ], + "orientation": [ + 0.055956270545721054, + -0.2974378168582916, + -0.49296116828918457, + 0.8157138228416443 + ], + "joints": [ + -0.012326338328421116 + ] + }, + "final_grasp": { + "position": [ + -0.017021436244249344, + 0.08987215161323547, + 0.10641719400882721 + ], + "orientation": [ + 0.055956270545721054, + -0.2974378168582916, + -0.49296116828918457, + 0.8157138228416443 + ], + "joints": [ + -0.005418131127953529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12305319309234619, + 0.07593240588903427, + -0.07875385880470276 + ], + "orientation": [ + 0.3541788160800934, + 0.8319966793060303, + -0.3717827796936035, + 0.2100389301776886 + ], + "joints": [ + -0.007264013402163982 + ] + }, + "fine_grasp": { + "position": [ + 0.11891646683216095, + 0.07421981543302536, + -0.076689213514328 + ], + "orientation": [ + 0.3596361577510834, + 0.8281988501548767, + -0.37047308683395386, + 0.21794062852859497 + ], + "joints": [ + -0.003995906561613083 + ] + }, + "final_grasp": { + "position": [ + 0.11891646683216095, + 0.07421981543302536, + -0.076689213514328 + ], + "orientation": [ + 0.3596361577510834, + 0.8281988501548767, + -0.37047308683395386, + 0.21794062852859497 + ], + "joints": [ + -0.0007277997210621834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11755558848381042, + 0.08593212068080902, + -0.02936224639415741 + ], + "orientation": [ + 0.15182268619537354, + 0.8578490614891052, + -0.40950897336006165, + 0.27082687616348267 + ], + "joints": [ + -0.004860794637352228 + ] + }, + "fine_grasp": { + "position": [ + 0.11490492522716522, + 0.08633708953857422, + -0.029286831617355347 + ], + "orientation": [ + 0.16305479407310486, + 0.8570237159729004, + -0.4025973677635193, + 0.2771979570388794 + ], + "joints": [ + -0.0011409972794353962 + ] + }, + "final_grasp": { + "position": [ + 0.11490492522716522, + 0.08633708953857422, + -0.029286831617355347 + ], + "orientation": [ + 0.16305479407310486, + 0.8570237159729004, + -0.4025973677635193, + 0.2771979570388794 + ], + "joints": [ + 0.0025788000784814358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05073865130543709, + 0.13520699739456177, + 0.015073167160153389 + ], + "orientation": [ + 0.16418318450450897, + -0.3253680169582367, + -0.08412192016839981, + 0.927417516708374 + ], + "joints": [ + -0.012226179242134094 + ] + }, + "fine_grasp": { + "position": [ + 0.04960058256983757, + 0.1369977444410324, + 0.01651865616440773 + ], + "orientation": [ + 0.16672581434249878, + -0.31942155957221985, + -0.07333984225988388, + 0.929942786693573 + ], + "joints": [ + -0.007443582639098167 + ] + }, + "final_grasp": { + "position": [ + 0.04960058256983757, + 0.1369977444410324, + 0.01651865616440773 + ], + "orientation": [ + 0.16672581434249878, + -0.31942155957221985, + -0.07333984225988388, + 0.929942786693573 + ], + "joints": [ + -0.0026609860360622406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05061836540699005, + 0.13495029509067535, + 0.015210483223199844 + ], + "orientation": [ + 0.1651105433702469, + -0.32766494154930115, + -0.0812540054321289, + 0.9266994595527649 + ], + "joints": [ + -0.013405345380306244 + ] + }, + "fine_grasp": { + "position": [ + 0.04923798516392708, + 0.1369519829750061, + 0.01685609109699726 + ], + "orientation": [ + 0.16608640551567078, + -0.3223974108695984, + -0.07121050357818604, + 0.9291955828666687 + ], + "joints": [ + -0.008622748777270317 + ] + }, + "final_grasp": { + "position": [ + 0.04923798516392708, + 0.1369519829750061, + 0.01685609109699726 + ], + "orientation": [ + 0.16608640551567078, + -0.3223974108695984, + -0.07121050357818604, + 0.9291955828666687 + ], + "joints": [ + -0.0038401521742343903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008175719529390335, + -0.09874522686004639, + -0.046364497393369675 + ], + "orientation": [ + 0.3725394308567047, + 0.09247715771198273, + 0.9192718863487244, + 0.08718689531087875 + ], + "joints": [ + -0.012193916365504265 + ] + }, + "fine_grasp": { + "position": [ + 0.008037467487156391, + -0.10210508853197098, + -0.0453767254948616 + ], + "orientation": [ + 0.3812049329280853, + 0.08477824926376343, + 0.9162560105323792, + 0.08927719295024872 + ], + "joints": [ + -0.008474119007587433 + ] + }, + "final_grasp": { + "position": [ + 0.008037467487156391, + -0.10210508853197098, + -0.0453767254948616 + ], + "orientation": [ + 0.3812049329280853, + 0.08477824926376343, + 0.9162560105323792, + 0.08927719295024872 + ], + "joints": [ + -0.004754321649670601 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029241781681776047, + -0.09999856352806091, + -0.05004988983273506 + ], + "orientation": [ + 0.3764031231403351, + 0.021611765027046204, + -0.9177235960960388, + -0.12504851818084717 + ], + "joints": [ + -0.012051085010170937 + ] + }, + "fine_grasp": { + "position": [ + -0.02779213711619377, + -0.1042659804224968, + -0.049989040940999985 + ], + "orientation": [ + 0.3746235966682434, + 0.014349769800901413, + -0.9169710874557495, + -0.13643819093704224 + ], + "joints": [ + -0.006152549758553505 + ] + }, + "final_grasp": { + "position": [ + -0.02779213711619377, + -0.1042659804224968, + -0.049989040940999985 + ], + "orientation": [ + 0.3746235966682434, + 0.014349769800901413, + -0.9169710874557495, + -0.13643819093704224 + ], + "joints": [ + -0.0002540145069360733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09690868854522705, + -0.1008736714720726, + -0.0024449301417917013 + ], + "orientation": [ + 0.6282806396484375, + 0.28827375173568726, + 0.6724203824996948, + -0.26459866762161255 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.0957430973649025, + -0.0976458415389061, + -0.001697055995464325 + ], + "orientation": [ + 0.6315134763717651, + 0.28357309103012085, + 0.6727354526519775, + -0.2611590623855591 + ], + "joints": [ + -0.008513673208653927 + ] + }, + "final_grasp": { + "position": [ + -0.0957430973649025, + -0.0976458415389061, + -0.001697055995464325 + ], + "orientation": [ + 0.6315134763717651, + 0.28357309103012085, + 0.6727354526519775, + -0.2611590623855591 + ], + "joints": [ + -0.00474073551595211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11744526028633118, + -0.06128140911459923, + 0.011842366307973862 + ], + "orientation": [ + 0.621095597743988, + -0.3987225890159607, + -0.573203444480896, + -0.3559470474720001 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.11803210526704788, + -0.05955132469534874, + 0.011750786565244198 + ], + "orientation": [ + 0.6303273439407349, + -0.38994646072387695, + -0.5676984786987305, + -0.35825634002685547 + ], + "joints": [ + -0.009922396391630173 + ] + }, + "final_grasp": { + "position": [ + -0.11803210526704788, + -0.05955132469534874, + 0.011750786565244198 + ], + "orientation": [ + 0.6303273439407349, + -0.38994646072387695, + -0.5676984786987305, + -0.35825634002685547 + ], + "joints": [ + -0.004555258899927139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1172170341014862, + -0.061185531318187714, + 0.011929869651794434 + ], + "orientation": [ + 0.6216650009155273, + -0.39896777272224426, + -0.5722172856330872, + -0.35626479983329773 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.11775504797697067, + -0.059506408870220184, + 0.011849893257021904 + ], + "orientation": [ + 0.6309800744056702, + -0.3901025652885437, + -0.5668755769729614, + -0.3582405149936676 + ], + "joints": [ + -0.009922396391630173 + ] + }, + "final_grasp": { + "position": [ + -0.11775504797697067, + -0.059506408870220184, + 0.011849893257021904 + ], + "orientation": [ + 0.6309800744056702, + -0.3901025652885437, + -0.5668755769729614, + -0.3582405149936676 + ], + "joints": [ + -0.004555258899927139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030370570719242096, + -0.08358065038919449, + -0.07293759286403656 + ], + "orientation": [ + 0.3169816732406616, + 0.01764611527323723, + -0.9183831810951233, + -0.2361852377653122 + ], + "joints": [ + -0.014153748750686646 + ] + }, + "fine_grasp": { + "position": [ + -0.029575349763035774, + -0.08921065926551819, + -0.07432787120342255 + ], + "orientation": [ + 0.3169857859611511, + 0.007728626951575279, + -0.9155279397964478, + -0.24752533435821533 + ], + "joints": [ + -0.009397722780704498 + ] + }, + "final_grasp": { + "position": [ + -0.029575349763035774, + -0.08921065926551819, + -0.07432787120342255 + ], + "orientation": [ + 0.3169857859611511, + 0.007728626951575279, + -0.9155279397964478, + -0.24752533435821533 + ], + "joints": [ + -0.004641696810722351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010579637251794338, + 0.14318613708019257, + 0.0010976959019899368 + ], + "orientation": [ + 0.10600703209638596, + -0.9199379682540894, + -0.07012930512428284, + -0.3708890378475189 + ], + "joints": [ + -0.015083447098731995 + ] + }, + "fine_grasp": { + "position": [ + -0.011454743333160877, + 0.1428103744983673, + 0.002128021791577339 + ], + "orientation": [ + 0.09696469455957413, + -0.9199089407920837, + -0.06938908249139786, + -0.37356460094451904 + ], + "joints": [ + -0.010327421128749847 + ] + }, + "final_grasp": { + "position": [ + -0.011454743333160877, + 0.1428103744983673, + 0.002128021791577339 + ], + "orientation": [ + 0.09696469455957413, + -0.9199089407920837, + -0.06938908249139786, + -0.37356460094451904 + ], + "joints": [ + -0.0055713951587677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01453292928636074, + 0.14616818726062775, + -0.013016431592404842 + ], + "orientation": [ + 0.028340430930256844, + -0.9251524209976196, + -0.00772580411285162, + -0.3784574866294861 + ], + "joints": [ + -0.01194727048277855 + ] + }, + "fine_grasp": { + "position": [ + 0.01469981949776411, + 0.14158563315868378, + -0.012780075892806053 + ], + "orientation": [ + 0.015321626327931881, + -0.9283957481384277, + 0.00013460862101055682, + -0.37127694487571716 + ], + "joints": [ + -0.007669503800570965 + ] + }, + "final_grasp": { + "position": [ + 0.01469981949776411, + 0.14158563315868378, + -0.012780075892806053 + ], + "orientation": [ + 0.015321626327931881, + -0.9283957481384277, + 0.00013460862101055682, + -0.37127694487571716 + ], + "joints": [ + -0.0033917371183633804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033090438693761826, + 0.03890643268823624, + 0.1470329761505127 + ], + "orientation": [ + 0.5732102394104004, + -0.8090664744377136, + -0.03790685907006264, + -0.12411441653966904 + ], + "joints": [ + -0.011426636949181557 + ] + }, + "fine_grasp": { + "position": [ + -0.031787969172000885, + 0.03929489478468895, + 0.1444113701581955 + ], + "orientation": [ + 0.5809538960456848, + -0.8023778200149536, + -0.022784532979130745, + -0.1347714364528656 + ], + "joints": [ + -0.003987042233347893 + ] + }, + "final_grasp": { + "position": [ + -0.031787969172000885, + 0.03929489478468895, + 0.1444113701581955 + ], + "orientation": [ + 0.5809538960456848, + -0.8023778200149536, + -0.022784532979130745, + -0.1347714364528656 + ], + "joints": [ + 0.003452552482485771 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010982993058860302, + 0.1441531926393509, + 0.0223669596016407 + ], + "orientation": [ + 0.019221602007746696, + 0.1844330132007599, + -0.021163364872336388, + -0.9824292063713074 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.010921417735517025, + 0.1393030732870102, + 0.023005548864603043 + ], + "orientation": [ + 0.02073248103260994, + 0.17164741456508636, + -0.023563692346215248, + -0.984658420085907 + ], + "joints": [ + -0.006672322750091553 + ] + }, + "final_grasp": { + "position": [ + -0.010921417735517025, + 0.1393030732870102, + 0.023005548864603043 + ], + "orientation": [ + 0.02073248103260994, + 0.17164741456508636, + -0.023563692346215248, + -0.984658420085907 + ], + "joints": [ + 0.0007672719657421112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1296636015176773, + 0.06045987829566002, + -0.0003100438916590065 + ], + "orientation": [ + 0.2371385246515274, + -0.7099900245666504, + 0.4206601679325104, + 0.5125666260719299 + ], + "joints": [ + -0.009091552346944809 + ] + }, + "fine_grasp": { + "position": [ + 0.12954023480415344, + 0.06211184710264206, + -0.000886127760168165 + ], + "orientation": [ + 0.25495806336402893, + -0.6974246501922607, + 0.4151482880115509, + 0.5255922675132751 + ], + "joints": [ + -0.00478721596300602 + ] + }, + "final_grasp": { + "position": [ + 0.12954023480415344, + 0.06211184710264206, + -0.000886127760168165 + ], + "orientation": [ + 0.25495806336402893, + -0.6974246501922607, + 0.4151482880115509, + 0.5255922675132751 + ], + "joints": [ + -0.0004828795790672302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12060606479644775, + 0.06936722248792648, + -0.05795827507972717 + ], + "orientation": [ + 0.432320773601532, + -0.21748624742031097, + -0.24917247891426086, + -0.8388751149177551 + ], + "joints": [ + -0.003284925129264593 + ] + }, + "fine_grasp": { + "position": [ + -0.11657704412937164, + 0.06781939417123795, + -0.05661595240235329 + ], + "orientation": [ + 0.43236541748046875, + -0.22057299315929413, + -0.2542603611946106, + -0.836516261100769 + ], + "joints": [ + 0.001497671939432621 + ] + }, + "final_grasp": { + "position": [ + -0.11657704412937164, + 0.06781939417123795, + -0.05661595240235329 + ], + "orientation": [ + 0.43236541748046875, + -0.22057299315929413, + -0.2542603611946106, + -0.836516261100769 + ], + "joints": [ + 0.006280269008129835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05290377140045166, + -0.08547065407037735, + -0.04378636181354523 + ], + "orientation": [ + 0.9110593795776367, + 0.1503865122795105, + 0.36997127532958984, + -0.10235216468572617 + ], + "joints": [ + -0.011521156877279282 + ] + }, + "fine_grasp": { + "position": [ + -0.054292064160108566, + -0.09042174369096756, + -0.04249526932835579 + ], + "orientation": [ + 0.9107041358947754, + 0.16154341399669647, + 0.3667294681072235, + -0.10015576332807541 + ], + "joints": [ + -0.00782793015241623 + ] + }, + "final_grasp": { + "position": [ + -0.054292064160108566, + -0.09042174369096756, + -0.04249526932835579 + ], + "orientation": [ + 0.9107041358947754, + 0.16154341399669647, + 0.3667294681072235, + -0.10015576332807541 + ], + "joints": [ + -0.004134703427553177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13002225756645203, + 0.06117438152432442, + -0.03772617131471634 + ], + "orientation": [ + 0.49696382880210876, + -0.2285570204257965, + -0.20284627377986908, + -0.8121834397315979 + ], + "joints": [ + -0.003688513534143567 + ] + }, + "fine_grasp": { + "position": [ + -0.12563855946063995, + 0.060082826763391495, + -0.03695603460073471 + ], + "orientation": [ + 0.4986990690231323, + -0.2280997931957245, + -0.20934459567070007, + -0.8095953464508057 + ], + "joints": [ + 0.0016254831571131945 + ] + }, + "final_grasp": { + "position": [ + -0.12563855946063995, + 0.060082826763391495, + -0.03695603460073471 + ], + "orientation": [ + 0.4986990690231323, + -0.2280997931957245, + -0.20934459567070007, + -0.8095953464508057 + ], + "joints": [ + 0.0069394800812006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13155509531497955, + 0.06207277625799179, + -0.03745504096150398 + ], + "orientation": [ + 0.49569639563560486, + -0.23117893934249878, + -0.2092326134443283, + -0.8105942606925964 + ], + "joints": [ + -0.004268312826752663 + ] + }, + "fine_grasp": { + "position": [ + -0.12678271532058716, + 0.06093382462859154, + -0.03671730309724808 + ], + "orientation": [ + 0.4971459209918976, + -0.22787827253341675, + -0.21490472555160522, + -0.809156060218811 + ], + "joints": [ + 0.0005142841255292296 + ] + }, + "final_grasp": { + "position": [ + -0.12678271532058716, + 0.06093382462859154, + -0.03671730309724808 + ], + "orientation": [ + 0.4971459209918976, + -0.22787827253341675, + -0.21490472555160522, + -0.809156060218811 + ], + "joints": [ + 0.005296881310641766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11498577892780304, + 0.09486260265111923, + -0.02845889702439308 + ], + "orientation": [ + 0.19300316274166107, + 0.8508579730987549, + 0.36519762873649597, + -0.3246863782405853 + ], + "joints": [ + -0.010490745306015015 + ] + }, + "fine_grasp": { + "position": [ + -0.11152281612157822, + 0.09378542751073837, + -0.028058473020792007 + ], + "orientation": [ + 0.20505736768245697, + 0.8456806540489197, + 0.36258405447006226, + -0.3336292803287506 + ], + "joints": [ + -0.00621297862380743 + ] + }, + "final_grasp": { + "position": [ + -0.11152281612157822, + 0.09378542751073837, + -0.028058473020792007 + ], + "orientation": [ + 0.20505736768245697, + 0.8456806540489197, + 0.36258405447006226, + -0.3336292803287506 + ], + "joints": [ + -0.0019352119415998459 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01382475532591343, + -0.11222998797893524, + 0.020846573635935783 + ], + "orientation": [ + 0.5139333009719849, + -0.009795119054615498, + -0.847425639629364, + 0.13283959031105042 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.012688073329627514, + -0.11243902146816254, + 0.02074102871119976 + ], + "orientation": [ + 0.5141100883483887, + -0.00878097303211689, + -0.8482144474983215, + 0.12706732749938965 + ], + "joints": [ + -0.008153101429343224 + ] + }, + "final_grasp": { + "position": [ + -0.012688073329627514, + -0.11243902146816254, + 0.02074102871119976 + ], + "orientation": [ + 0.5141100883483887, + -0.00878097303211689, + -0.8482144474983215, + 0.12706732749938965 + ], + "joints": [ + -0.0028125345706939697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004955303389579058, + 0.13446447253227234, + 0.024225711822509766 + ], + "orientation": [ + 0.024422073736786842, + -0.918645977973938, + 0.053048375993967056, + -0.3907415568828583 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.005879431031644344, + 0.1312929391860962, + 0.023548366501927376 + ], + "orientation": [ + 0.02756795473396778, + -0.9178431630134583, + 0.05236569419503212, + -0.39250725507736206 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.005879431031644344, + 0.1312929391860962, + 0.023548366501927376 + ], + "orientation": [ + 0.02756795473396778, + -0.9178431630134583, + 0.05236569419503212, + -0.39250725507736206 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024788890033960342, + -0.11330842971801758, + -0.03250535577535629 + ], + "orientation": [ + 0.5251767039299011, + 0.05127774178981781, + 0.8463997840881348, + 0.07188515365123749 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.024986347183585167, + -0.11174173653125763, + -0.03130773454904556 + ], + "orientation": [ + 0.5288859605789185, + 0.04510524496436119, + 0.8448425531387329, + 0.06698042154312134 + ], + "joints": [ + -0.008179672062397003 + ] + }, + "final_grasp": { + "position": [ + 0.024986347183585167, + -0.11174173653125763, + -0.03130773454904556 + ], + "orientation": [ + 0.5288859605789185, + 0.04510524496436119, + 0.8448425531387329, + 0.06698042154312134 + ], + "joints": [ + -0.002865675836801529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024254973977804184, + -0.11314117908477783, + -0.03258853033185005 + ], + "orientation": [ + 0.51418137550354, + 0.04683355987071991, + 0.8530920147895813, + 0.07522021979093552 + ], + "joints": [ + -0.014582961797714233 + ] + }, + "fine_grasp": { + "position": [ + 0.024573346599936485, + -0.11170022934675217, + -0.03137657791376114 + ], + "orientation": [ + 0.5178561210632324, + 0.04121193289756775, + 0.8516951203346252, + 0.06886297464370728 + ], + "joints": [ + -0.008737565949559212 + ] + }, + "final_grasp": { + "position": [ + 0.024573346599936485, + -0.11170022934675217, + -0.03137657791376114 + ], + "orientation": [ + 0.5178561210632324, + 0.04121193289756775, + 0.8516951203346252, + 0.06886297464370728 + ], + "joints": [ + -0.00289217010140419 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02446664869785309, + -0.11298317462205887, + -0.032887041568756104 + ], + "orientation": [ + 0.5245351195335388, + 0.05301284044981003, + 0.8465922474861145, + 0.07303570955991745 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + 0.024856191128492355, + -0.11044923961162567, + -0.03184155747294426 + ], + "orientation": [ + 0.5290012955665588, + 0.04778693988919258, + 0.8444292545318604, + 0.06937745958566666 + ], + "joints": [ + -0.008681630715727806 + ] + }, + "final_grasp": { + "position": [ + 0.024856191128492355, + -0.11044923961162567, + -0.03184155747294426 + ], + "orientation": [ + 0.5290012955665588, + 0.04778693988919258, + 0.8444292545318604, + 0.06937745958566666 + ], + "joints": [ + -0.0038990341126918793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001724107307381928, + -0.1127876415848732, + -0.012579400092363358 + ], + "orientation": [ + 0.545185923576355, + -0.03917316347360611, + 0.8281764388084412, + 0.12394106388092041 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.002328775590285659, + -0.11084598302841187, + -0.012348450720310211 + ], + "orientation": [ + 0.538791835308075, + -0.03815741464495659, + 0.8321788907051086, + 0.1254020631313324 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + -0.002328775590285659, + -0.11084598302841187, + -0.012348450720310211 + ], + "orientation": [ + 0.538791835308075, + -0.03815741464495659, + 0.8321788907051086, + 0.1254020631313324 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0864630714058876, + -0.10336585342884064, + -0.013212602585554123 + ], + "orientation": [ + 0.49822792410850525, + 0.2477736473083496, + 0.8293822407722473, + -0.050022076815366745 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.0836600512266159, + -0.09940185397863388, + -0.012395583093166351 + ], + "orientation": [ + 0.504703938961029, + 0.24762484431266785, + 0.8253523707389832, + -0.052435263991355896 + ], + "joints": [ + -0.008741909638047218 + ] + }, + "final_grasp": { + "position": [ + -0.0836600512266159, + -0.09940185397863388, + -0.012395583093166351 + ], + "orientation": [ + 0.504703938961029, + 0.24762484431266785, + 0.8253523707389832, + -0.052435263991355896 + ], + "joints": [ + -0.0034013427793979645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07919888198375702, + 0.1206984743475914, + 0.019340861588716507 + ], + "orientation": [ + 0.15881852805614471, + -0.7758541107177734, + 0.1173824742436409, + 0.5992064476013184 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.0795932337641716, + 0.1216360479593277, + 0.018486691638827324 + ], + "orientation": [ + 0.1614953577518463, + -0.7708758115768433, + 0.11949332058429718, + 0.6044759154319763 + ], + "joints": [ + -0.005939256399869919 + ] + }, + "final_grasp": { + "position": [ + 0.0795932337641716, + 0.1216360479593277, + 0.018486691638827324 + ], + "orientation": [ + 0.1614953577518463, + -0.7708758115768433, + 0.11949332058429718, + 0.6044759154319763 + ], + "joints": [ + 0.00043753907084465027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08300302922725677, + -0.047950830310583115, + -0.08749736845493317 + ], + "orientation": [ + 0.21308527886867523, + -0.272155225276947, + -0.8645565509796143, + -0.36478519439697266 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + -0.08218752592802048, + -0.04694201797246933, + -0.08558961004018784 + ], + "orientation": [ + 0.20691578090190887, + -0.27338188886642456, + -0.8632653951644897, + -0.3704336881637573 + ], + "joints": [ + -0.007618831470608711 + ] + }, + "final_grasp": { + "position": [ + -0.08218752592802048, + -0.04694201797246933, + -0.08558961004018784 + ], + "orientation": [ + 0.20691578090190887, + -0.27338188886642456, + -0.8632653951644897, + -0.3704336881637573 + ], + "joints": [ + -0.0017734356224536896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012626798823475838, + 0.053047265857458115, + -0.1316564530134201 + ], + "orientation": [ + 0.013049867004156113, + -0.05933649092912674, + -0.5058610439300537, + -0.8604729175567627 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.012852667830884457, + 0.055670883506536484, + -0.13576087355613708 + ], + "orientation": [ + 0.00945274531841278, + -0.0647348165512085, + -0.5175215005874634, + -0.8531656861305237 + ], + "joints": [ + -0.006498623639345169 + ] + }, + "final_grasp": { + "position": [ + -0.012852667830884457, + 0.055670883506536484, + -0.13576087355613708 + ], + "orientation": [ + 0.00945274531841278, + -0.0647348165512085, + -0.5175215005874634, + -0.8531656861305237 + ], + "joints": [ + -0.00012182816863059998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09956533461809158, + -0.07264547795057297, + -0.011385281570255756 + ], + "orientation": [ + 0.5993341207504272, + -0.2102336883544922, + 0.7441222071647644, + 0.20708099007606506 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10076337307691574, + -0.07659177482128143, + -0.011379514820873737 + ], + "orientation": [ + 0.613196849822998, + -0.21487998962402344, + 0.7297919988632202, + 0.21264991164207458 + ], + "joints": [ + -0.007926339283585548 + ] + }, + "final_grasp": { + "position": [ + 0.10076337307691574, + -0.07659177482128143, + -0.011379514820873737 + ], + "orientation": [ + 0.613196849822998, + -0.21487998962402344, + 0.7297919988632202, + 0.21264991164207458 + ], + "joints": [ + -0.004684802144765854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06024478003382683, + -0.045373957604169846, + 0.10886070132255554 + ], + "orientation": [ + 0.8781412839889526, + -0.4068956673145294, + -0.11322201043367386, + -0.22468754649162292 + ], + "joints": [ + -0.012397272512316704 + ] + }, + "fine_grasp": { + "position": [ + -0.06046849116683006, + -0.04650536924600601, + 0.11084838211536407 + ], + "orientation": [ + 0.878873884677887, + -0.4072175621986389, + -0.10831824690103531, + -0.22365543246269226 + ], + "joints": [ + -0.00495767779648304 + ] + }, + "final_grasp": { + "position": [ + -0.06046849116683006, + -0.04650536924600601, + 0.11084838211536407 + ], + "orientation": [ + 0.878873884677887, + -0.4072175621986389, + -0.10831824690103531, + -0.22365543246269226 + ], + "joints": [ + 0.002481916919350624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016091208904981613, + 0.06255041807889938, + 0.12856435775756836 + ], + "orientation": [ + 0.4868227541446686, + -0.8653537034988403, + -0.013945451006293297, + 0.11820381879806519 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.015343260020017624, + 0.06263904273509979, + 0.12852366268634796 + ], + "orientation": [ + 0.4939870238304138, + -0.8607826232910156, + -0.014590462669730186, + 0.12172640115022659 + ], + "joints": [ + -0.00762457400560379 + ] + }, + "final_grasp": { + "position": [ + 0.015343260020017624, + 0.06263904273509979, + 0.12852366268634796 + ], + "orientation": [ + 0.4939870238304138, + -0.8607826232910156, + -0.014590462669730186, + 0.12172640115022659 + ], + "joints": [ + -0.0017260387539863586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020406080409884453, + 0.11511509120464325, + -0.06487097591161728 + ], + "orientation": [ + 0.011163455434143543, + -0.2207949459552765, + -0.18146395683288574, + -0.9582253694534302 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.020353149622678757, + 0.11596889048814774, + -0.0646689385175705 + ], + "orientation": [ + 0.017823265865445137, + -0.2195182740688324, + -0.1823987364768982, + -0.9582403898239136 + ], + "joints": [ + -0.009389599785208702 + ] + }, + "final_grasp": { + "position": [ + -0.020353149622678757, + 0.11596889048814774, + -0.0646689385175705 + ], + "orientation": [ + 0.017823265865445137, + -0.2195182740688324, + -0.1823987364768982, + -0.9582403898239136 + ], + "joints": [ + -0.004049032926559448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004888889845460653, + -0.09204167872667313, + -0.06406393647193909 + ], + "orientation": [ + 0.5105764269828796, + 0.12151578813791275, + 0.8084478974342346, + 0.26637890934944153 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.004152889363467693, + -0.09075699746608734, + -0.06264715641736984 + ], + "orientation": [ + 0.5188870429992676, + 0.11383258551359177, + 0.8037833571434021, + 0.2678260803222656 + ], + "joints": [ + -0.00891413539648056 + ] + }, + "final_grasp": { + "position": [ + -0.004152889363467693, + -0.09075699746608734, + -0.06264715641736984 + ], + "orientation": [ + 0.5188870429992676, + 0.11383258551359177, + 0.8037833571434021, + 0.2678260803222656 + ], + "joints": [ + -0.001979369670152664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026250574737787247, + -0.10154195129871368, + 0.006635763682425022 + ], + "orientation": [ + 0.9045841693878174, + -0.0588068850338459, + 0.41539037227630615, + -0.07563060522079468 + ], + "joints": [ + -0.01846909709274769 + ] + }, + "fine_grasp": { + "position": [ + -0.024539992213249207, + -0.10279122740030289, + 0.006102415733039379 + ], + "orientation": [ + 0.9131812453269958, + -0.053858835250139236, + 0.39769497513771057, + -0.07097823172807693 + ], + "joints": [ + -0.014191320165991783 + ] + }, + "final_grasp": { + "position": [ + -0.024539992213249207, + -0.10279122740030289, + 0.006102415733039379 + ], + "orientation": [ + 0.9131812453269958, + -0.053858835250139236, + 0.39769497513771057, + -0.07097823172807693 + ], + "joints": [ + -0.009913543239235878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00802290067076683, + -0.1166323870420456, + 0.024911846965551376 + ], + "orientation": [ + 0.9783737659454346, + 0.016988828778266907, + -0.19921785593032837, + 0.052993834018707275 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.007104689255356789, + -0.11453089118003845, + 0.02528894878923893 + ], + "orientation": [ + 0.9784771203994751, + 0.018883097916841507, + -0.199224591255188, + 0.050354599952697754 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.007104689255356789, + -0.11453089118003845, + 0.02528894878923893 + ], + "orientation": [ + 0.9784771203994751, + 0.018883097916841507, + -0.199224591255188, + 0.050354599952697754 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025517461821436882, + -0.03492666780948639, + -0.13562452793121338 + ], + "orientation": [ + 0.13842736184597015, + -0.01048985868692398, + -0.838371753692627, + -0.52712482213974 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.02439126931130886, + -0.033725813031196594, + -0.13352230191230774 + ], + "orientation": [ + 0.13619107007980347, + -0.007008422166109085, + -0.8395488262176514, + -0.5258901715278625 + ], + "joints": [ + -0.0072848298586905 + ] + }, + "final_grasp": { + "position": [ + -0.02439126931130886, + -0.033725813031196594, + -0.13352230191230774 + ], + "orientation": [ + 0.13619107007980347, + -0.007008422166109085, + -0.8395488262176514, + -0.5258901715278625 + ], + "joints": [ + 0.0001016249880194664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0028708463069051504, + 0.1324203908443451, + 0.01159848552197218 + ], + "orientation": [ + 0.07423930615186691, + 0.9850420951843262, + -0.024834970012307167, + 0.15350504219532013 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.0028987738769501448, + 0.13272371888160706, + 0.012720772996544838 + ], + "orientation": [ + 0.082083560526371, + 0.984632134437561, + -0.027325134724378586, + 0.1517074555158615 + ], + "joints": [ + -0.008294489234685898 + ] + }, + "final_grasp": { + "position": [ + 0.0028987738769501448, + 0.13272371888160706, + 0.012720772996544838 + ], + "orientation": [ + 0.082083560526371, + 0.984632134437561, + -0.027325134724378586, + 0.1517074555158615 + ], + "joints": [ + -0.0019176937639713287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13492390513420105, + 0.04053280130028725, + -0.01599067822098732 + ], + "orientation": [ + 0.3828868865966797, + 0.6571751832962036, + 0.42096731066703796, + -0.4942721128463745 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.1327558159828186, + 0.04151873663067818, + -0.015528189018368721 + ], + "orientation": [ + 0.3943829834461212, + 0.6497587561607361, + 0.416972815990448, + -0.4984067678451538 + ], + "joints": [ + -0.0076217022724449635 + ] + }, + "final_grasp": { + "position": [ + -0.1327558159828186, + 0.04151873663067818, + -0.015528189018368721 + ], + "orientation": [ + 0.3943829834461212, + 0.6497587561607361, + 0.416972815990448, + -0.4984067678451538 + ], + "joints": [ + -0.0017497362568974495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0013500030618160963, + 0.13840530812740326, + 0.026353878900408745 + ], + "orientation": [ + 0.006429536733776331, + 0.9798488020896912, + -0.0322834812104702, + 0.19700954854488373 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.0008017686195671558, + 0.13387513160705566, + 0.0271920096129179 + ], + "orientation": [ + 0.015594398602843285, + 0.9802799224853516, + -0.03351801261305809, + 0.19412562251091003 + ], + "joints": [ + -0.008325327187776566 + ] + }, + "final_grasp": { + "position": [ + 0.0008017686195671558, + 0.13387513160705566, + 0.0271920096129179 + ], + "orientation": [ + 0.015594398602843285, + 0.9802799224853516, + -0.03351801261305809, + 0.19412562251091003 + ], + "joints": [ + -0.0013905614614486694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006536467932164669, + 0.14710724353790283, + 0.022856418043375015 + ], + "orientation": [ + 0.025768522173166275, + 0.9817166328430176, + -0.04453463852405548, + 0.18326231837272644 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + 0.00622930470854044, + 0.14140644669532776, + 0.022252900525927544 + ], + "orientation": [ + 0.020161494612693787, + 0.9838811159133911, + -0.04430762678384781, + 0.17207075655460358 + ], + "joints": [ + -0.00899532064795494 + ] + }, + "final_grasp": { + "position": [ + 0.00622930470854044, + 0.14140644669532776, + 0.022252900525927544 + ], + "orientation": [ + 0.020161494612693787, + 0.9838811159133911, + -0.04430762678384781, + 0.17207075655460358 + ], + "joints": [ + -0.002671666443347931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13077041506767273, + 0.03141755610704422, + 0.020440315827727318 + ], + "orientation": [ + 0.42529040575027466, + 0.47567877173423767, + 0.41738465428352356, + -0.6470299959182739 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.12803006172180176, + 0.03154578432440758, + 0.019747570157051086 + ], + "orientation": [ + 0.42491549253463745, + 0.4706253409385681, + 0.4192653298377991, + -0.6497501134872437 + ], + "joints": [ + -0.009330717846751213 + ] + }, + "final_grasp": { + "position": [ + -0.12803006172180176, + 0.03154578432440758, + 0.019747570157051086 + ], + "orientation": [ + 0.42491549253463745, + 0.4706253409385681, + 0.4192653298377991, + -0.6497501134872437 + ], + "joints": [ + -0.003990150988101959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010457787662744522, + 0.0185660682618618, + 0.13736160099506378 + ], + "orientation": [ + 0.04232107475399971, + -0.0832226499915123, + -0.6380019783973694, + 0.7643536925315857 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.010852698236703873, + 0.019700834527611732, + 0.14094683527946472 + ], + "orientation": [ + 0.03985895588994026, + -0.0838128849864006, + -0.642612874507904, + 0.7605494260787964 + ], + "joints": [ + -0.007146313786506653 + ] + }, + "final_grasp": { + "position": [ + -0.010852698236703873, + 0.019700834527611732, + 0.14094683527946472 + ], + "orientation": [ + 0.03985895588994026, + -0.0838128849864006, + -0.642612874507904, + 0.7605494260787964 + ], + "joints": [ + -0.0007695183157920837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010412916541099548, + 0.018718523904681206, + 0.13742107152938843 + ], + "orientation": [ + 0.04277770593762398, + -0.08342796564102173, + -0.6374197006225586, + 0.7647914290428162 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.01085987500846386, + 0.019854823127388954, + 0.14093954861164093 + ], + "orientation": [ + 0.040395334362983704, + -0.08432015031576157, + -0.6418836712837219, + 0.7610806226730347 + ], + "joints": [ + -0.007146313786506653 + ] + }, + "final_grasp": { + "position": [ + -0.01085987500846386, + 0.019854823127388954, + 0.14093954861164093 + ], + "orientation": [ + 0.040395334362983704, + -0.08432015031576157, + -0.6418836712837219, + 0.7610806226730347 + ], + "joints": [ + -0.0007695183157920837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1383683681488037, + -0.028036868199706078, + 0.021338196471333504 + ], + "orientation": [ + 0.6624821424484253, + -0.39810875058174133, + -0.5056118369102478, + -0.3833840489387512 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + -0.14029431343078613, + -0.029546033591032028, + 0.020063403993844986 + ], + "orientation": [ + 0.6643051505088806, + -0.388698935508728, + -0.5113726854324341, + -0.38224291801452637 + ], + "joints": [ + -0.007172808051109314 + ] + }, + "final_grasp": { + "position": [ + -0.14029431343078613, + -0.029546033591032028, + 0.020063403993844986 + ], + "orientation": [ + 0.6643051505088806, + -0.388698935508728, + -0.5113726854324341, + -0.38224291801452637 + ], + "joints": [ + 0.00026678666472435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010421807877719402, + 0.018615128472447395, + 0.1373736560344696 + ], + "orientation": [ + 0.042867206037044525, + -0.08362335711717606, + -0.6376761794090271, + 0.7645513415336609 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.01086284127086401, + 0.019782019779086113, + 0.14073489606380463 + ], + "orientation": [ + 0.04109405726194382, + -0.08509020507335663, + -0.6419800519943237, + 0.7608761787414551 + ], + "joints": [ + -0.007146313786506653 + ] + }, + "final_grasp": { + "position": [ + -0.01086284127086401, + 0.019782019779086113, + 0.14073489606380463 + ], + "orientation": [ + 0.04109405726194382, + -0.08509020507335663, + -0.6419800519943237, + 0.7608761787414551 + ], + "joints": [ + -0.0007695183157920837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004482134245336056, + 0.04926041141152382, + -0.1380378156900406 + ], + "orientation": [ + 0.0545332245528698, + 0.12364746630191803, + 0.658202052116394, + 0.7406129837036133 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.004564827773720026, + 0.0474708154797554, + -0.14138436317443848 + ], + "orientation": [ + 0.06836196780204773, + 0.13929976522922516, + 0.6518082618713379, + 0.7423396706581116 + ], + "joints": [ + -0.006470656022429466 + ] + }, + "final_grasp": { + "position": [ + -0.004564827773720026, + 0.0474708154797554, + -0.14138436317443848 + ], + "orientation": [ + 0.06836196780204773, + 0.13929976522922516, + 0.6518082618713379, + 0.7423396706581116 + ], + "joints": [ + -0.0006252601742744446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014630668796598911, + 0.13378800451755524, + 0.002653252799063921 + ], + "orientation": [ + 0.09630884230136871, + -0.9747952222824097, + -0.05736464634537697, + 0.19289399683475494 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + -0.014538911171257496, + 0.13334085047245026, + 0.0012581994524225593 + ], + "orientation": [ + 0.10748928785324097, + -0.9752183556556702, + -0.06044544652104378, + 0.18368852138519287 + ], + "joints": [ + -0.008881824091076851 + ] + }, + "final_grasp": { + "position": [ + -0.014538911171257496, + 0.13334085047245026, + 0.0012581994524225593 + ], + "orientation": [ + 0.10748928785324097, + -0.9752183556556702, + -0.06044544652104378, + 0.18368852138519287 + ], + "joints": [ + -0.0019736289978027344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11294716596603394, + 0.07295700907707214, + 0.0039884475991129875 + ], + "orientation": [ + 0.36178824305534363, + 0.5254658460617065, + 0.25542861223220825, + -0.7264648675918579 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.11409412324428558, + 0.07300084829330444, + 0.003524048952385783 + ], + "orientation": [ + 0.35369881987571716, + 0.5302493572235107, + 0.255534291267395, + -0.7269353866577148 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + -0.11409412324428558, + 0.07300084829330444, + 0.003524048952385783 + ], + "orientation": [ + 0.35369881987571716, + 0.5302493572235107, + 0.255534291267395, + -0.7269353866577148 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013092481531202793, + 0.13314443826675415, + 0.053862132132053375 + ], + "orientation": [ + 0.06767599284648895, + -0.9740675091743469, + 0.10249952971935272, + -0.19001704454421997 + ], + "joints": [ + -0.012594960629940033 + ] + }, + "fine_grasp": { + "position": [ + 0.01108724344521761, + 0.13031473755836487, + 0.05308995768427849 + ], + "orientation": [ + 0.0701497346162796, + -0.977388858795166, + 0.0934763252735138, + -0.17621645331382751 + ], + "joints": [ + -0.006191595457494259 + ] + }, + "final_grasp": { + "position": [ + 0.01108724344521761, + 0.13031473755836487, + 0.05308995768427849 + ], + "orientation": [ + 0.0701497346162796, + -0.977388858795166, + 0.0934763252735138, + -0.17621645331382751 + ], + "joints": [ + 0.0002117697149515152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02540683001279831, + -0.034865085035562515, + -0.13562050461769104 + ], + "orientation": [ + 0.1390896588563919, + -0.009417607448995113, + -0.8381115198135376, + -0.5273846983909607 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.024266378954052925, + -0.03353748470544815, + -0.13320466876029968 + ], + "orientation": [ + 0.13685517013072968, + -0.006508111022412777, + -0.8390788435935974, + -0.5264740586280823 + ], + "joints": [ + -0.007789659779518843 + ] + }, + "final_grasp": { + "position": [ + -0.024266378954052925, + -0.03353748470544815, + -0.13320466876029968 + ], + "orientation": [ + 0.13685517013072968, + -0.006508111022412777, + -0.8390788435935974, + -0.5264740586280823 + ], + "joints": [ + -0.0009080348536372185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005637824535369873, + 0.12171203643083572, + 0.038695476949214935 + ], + "orientation": [ + 0.05689237266778946, + -0.9653944373130798, + -0.03439730778336525, + 0.2521781921386719 + ], + "joints": [ + -0.01493624784052372 + ] + }, + "fine_grasp": { + "position": [ + 0.005301227793097496, + 0.1235973984003067, + 0.039601024240255356 + ], + "orientation": [ + 0.05551360175013542, + -0.9678974151611328, + -0.026895718649029732, + 0.24365846812725067 + ], + "joints": [ + -0.009622251614928246 + ] + }, + "final_grasp": { + "position": [ + 0.005301227793097496, + 0.1235973984003067, + 0.039601024240255356 + ], + "orientation": [ + 0.05551360175013542, + -0.9678974151611328, + -0.026895718649029732, + 0.24365846812725067 + ], + "joints": [ + -0.004308255389332771 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005632729269564152, + 0.12172876298427582, + 0.03867315128445625 + ], + "orientation": [ + 0.05711449682712555, + -0.965430498123169, + -0.0344090573489666, + 0.251988023519516 + ], + "joints": [ + -0.01493624784052372 + ] + }, + "fine_grasp": { + "position": [ + 0.005297219380736351, + 0.12359857559204102, + 0.03959806263446808 + ], + "orientation": [ + 0.05558350309729576, + -0.9678914546966553, + -0.026912204921245575, + 0.24366454780101776 + ], + "joints": [ + -0.009622251614928246 + ] + }, + "final_grasp": { + "position": [ + 0.005297219380736351, + 0.12359857559204102, + 0.03959806263446808 + ], + "orientation": [ + 0.05558350309729576, + -0.9678914546966553, + -0.026912204921245575, + 0.24366454780101776 + ], + "joints": [ + -0.004308255389332771 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05949651822447777, + 0.12845464050769806, + -0.0010721632279455662 + ], + "orientation": [ + 0.23338620364665985, + -0.4074961543083191, + 0.16547811031341553, + 0.8672339916229248 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.05878065153956413, + 0.1253972202539444, + -0.002173754619434476 + ], + "orientation": [ + 0.22908146679401398, + -0.38369032740592957, + 0.14948296546936035, + 0.8820194005966187 + ], + "joints": [ + -0.014281037263572216 + ] + }, + "final_grasp": { + "position": [ + 0.05878065153956413, + 0.1253972202539444, + -0.002173754619434476 + ], + "orientation": [ + 0.22908146679401398, + -0.38369032740592957, + 0.14948296546936035, + 0.8820194005966187 + ], + "joints": [ + -0.00944528728723526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1311483383178711, + 0.049453191459178925, + 0.002493788255378604 + ], + "orientation": [ + 0.31734421849250793, + 0.6489167809486389, + -0.4327710270881653, + 0.5393597483634949 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.13518595695495605, + 0.05035293474793434, + 0.0035583593416959047 + ], + "orientation": [ + 0.32293835282325745, + 0.6502840518951416, + -0.4310532510280609, + 0.5357560515403748 + ], + "joints": [ + -0.0070889052003622055 + ] + }, + "final_grasp": { + "position": [ + 0.13518595695495605, + 0.05035293474793434, + 0.0035583593416959047 + ], + "orientation": [ + 0.32293835282325745, + 0.6502840518951416, + -0.4310532510280609, + 0.5357560515403748 + ], + "joints": [ + -0.0012435093522071838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006656539626419544, + 0.14690972864627838, + 0.02280660904943943 + ], + "orientation": [ + 0.02387731522321701, + 0.9824222922325134, + -0.04398750886321068, + 0.17983761429786682 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.006233158987015486, + 0.14120304584503174, + 0.022265177220106125 + ], + "orientation": [ + 0.01738295704126358, + 0.985421359539032, + -0.042799513787031174, + 0.1637398898601532 + ], + "joints": [ + -0.009584127925336361 + ] + }, + "final_grasp": { + "position": [ + 0.006233158987015486, + 0.14120304584503174, + 0.022265177220106125 + ], + "orientation": [ + 0.01738295704126358, + 0.985421359539032, + -0.042799513787031174, + 0.1637398898601532 + ], + "joints": [ + -0.0032604727894067764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00669889198616147, + 0.1468953639268875, + 0.02281901054084301 + ], + "orientation": [ + 0.023774404078722, + 0.9824680685997009, + -0.0443812720477581, + 0.17950376868247986 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.006268507335335016, + 0.1412084549665451, + 0.022282563149929047 + ], + "orientation": [ + 0.016729911789298058, + 0.9854900240898132, + -0.04307128116488457, + 0.16332301497459412 + ], + "joints": [ + -0.009584127925336361 + ] + }, + "final_grasp": { + "position": [ + 0.006268507335335016, + 0.1412084549665451, + 0.022282563149929047 + ], + "orientation": [ + 0.016729911789298058, + 0.9854900240898132, + -0.04307128116488457, + 0.16332301497459412 + ], + "joints": [ + -0.0032604727894067764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0360606424510479, + -0.1107015386223793, + 0.029778791591525078 + ], + "orientation": [ + 0.8453834056854248, + -0.09221415221691132, + -0.5107029676437378, + 0.12651506066322327 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.0340886227786541, + -0.11001376807689667, + 0.028203463181853294 + ], + "orientation": [ + 0.8349314332008362, + -0.08298542350530624, + -0.5298019647598267, + 0.12374480068683624 + ], + "joints": [ + -0.00952951144427061 + ] + }, + "final_grasp": { + "position": [ + 0.0340886227786541, + -0.11001376807689667, + 0.028203463181853294 + ], + "orientation": [ + 0.8349314332008362, + -0.08298542350530624, + -0.5298019647598267, + 0.12374480068683624 + ], + "joints": [ + -0.0026213135570287704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036102477461099625, + -0.11069066822528839, + 0.02982616052031517 + ], + "orientation": [ + 0.8450561761856079, + -0.09236663579940796, + -0.5112103223800659, + 0.12654075026512146 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.03413534164428711, + -0.11001896113157272, + 0.028230639174580574 + ], + "orientation": [ + 0.8345044255256653, + -0.08303184062242508, + -0.5304668545722961, + 0.1237456202507019 + ], + "joints": [ + -0.009500071406364441 + ] + }, + "final_grasp": { + "position": [ + 0.03413534164428711, + -0.11001896113157272, + 0.028230639174580574 + ], + "orientation": [ + 0.8345044255256653, + -0.08303184062242508, + -0.5304668545722961, + 0.1237456202507019 + ], + "joints": [ + -0.002591874450445175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001198544050566852, + 0.06449238210916519, + 0.11402835696935654 + ], + "orientation": [ + 0.4631209671497345, + -0.8721924424171448, + -0.0890023484826088, + 0.12991495430469513 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.001573087414726615, + 0.06515935808420181, + 0.11545359343290329 + ], + "orientation": [ + 0.46015602350234985, + -0.8729564547538757, + -0.08672624826431274, + 0.13668258488178253 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + 0.001573087414726615, + 0.06515935808420181, + 0.11545359343290329 + ], + "orientation": [ + 0.46015602350234985, + -0.8729564547538757, + -0.08672624826431274, + 0.13668258488178253 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045644912868738174, + 0.11479510366916656, + -0.05377256125211716 + ], + "orientation": [ + 0.06104394420981407, + 0.8616907000541687, + -0.30098170042037964, + -0.40394657850265503 + ], + "joints": [ + -0.0161727461963892 + ] + }, + "fine_grasp": { + "position": [ + 0.04639216884970665, + 0.11236602813005447, + -0.04977948218584061 + ], + "orientation": [ + 0.08942621946334839, + 0.8664945960044861, + -0.29173019528388977, + -0.3950742781162262 + ], + "joints": [ + -0.012399805709719658 + ] + }, + "final_grasp": { + "position": [ + 0.04639216884970665, + 0.11236602813005447, + -0.04977948218584061 + ], + "orientation": [ + 0.08942621946334839, + 0.8664945960044861, + -0.29173019528388977, + -0.3950742781162262 + ], + "joints": [ + -0.008626865223050117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049326930195093155, + -0.073768749833107, + 0.09138870239257812 + ], + "orientation": [ + 0.597509503364563, + -0.18112251162528992, + -0.6952133178710938, + 0.3561677038669586 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.04860532656311989, + -0.07083962112665176, + 0.08809348195791245 + ], + "orientation": [ + 0.5933567881584167, + -0.17793652415275574, + -0.7013092637062073, + 0.3527486026287079 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.04860532656311989, + -0.07083962112665176, + 0.08809348195791245 + ], + "orientation": [ + 0.5933567881584167, + -0.17793652415275574, + -0.7013092637062073, + 0.3527486026287079 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004671344067901373, + 0.04944857954978943, + -0.13775591552257538 + ], + "orientation": [ + 0.05708319693803787, + 0.1305416077375412, + 0.6581795811653137, + 0.7392564415931702 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.005380265414714813, + 0.04775017499923706, + -0.14139798283576965 + ], + "orientation": [ + 0.07391881197690964, + 0.1532411426305771, + 0.6479063630104065, + 0.7424758672714233 + ], + "joints": [ + -0.006442688405513763 + ] + }, + "final_grasp": { + "position": [ + -0.005380265414714813, + 0.04775017499923706, + -0.14139798283576965 + ], + "orientation": [ + 0.07391881197690964, + 0.1532411426305771, + 0.6479063630104065, + 0.7424758672714233 + ], + "joints": [ + -0.0011286921799182892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01846456713974476, + 0.028064485639333725, + -0.13330785930156708 + ], + "orientation": [ + 0.6002734303474426, + 0.7882552146911621, + -0.13365107774734497, + -0.021518616005778313 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.01940881833434105, + 0.0280450526624918, + -0.13416841626167297 + ], + "orientation": [ + 0.6057708859443665, + 0.7844516038894653, + -0.13050585985183716, + -0.02540714479982853 + ], + "joints": [ + -0.007624573539942503 + ] + }, + "final_grasp": { + "position": [ + 0.01940881833434105, + 0.0280450526624918, + -0.13416841626167297 + ], + "orientation": [ + 0.6057708859443665, + 0.7844516038894653, + -0.13050585985183716, + -0.02540714479982853 + ], + "joints": [ + -0.001726037822663784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04987702518701553, + -0.07371658086776733, + 0.09111560136079788 + ], + "orientation": [ + 0.5972012877464294, + -0.18058836460113525, + -0.6967213749885559, + 0.35400256514549255 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.04892582446336746, + -0.0709444060921669, + 0.08789093047380447 + ], + "orientation": [ + 0.5931501388549805, + -0.17612706124782562, + -0.7020426988601685, + 0.3525453805923462 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.04892582446336746, + -0.0709444060921669, + 0.08789093047380447 + ], + "orientation": [ + 0.5931501388549805, + -0.17612706124782562, + -0.7020426988601685, + 0.3525453805923462 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0038509652949869633, + 0.054104600101709366, + -0.12403404712677002 + ], + "orientation": [ + 0.5140514969825745, + 0.8485589027404785, + -0.09160860627889633, + -0.08547911792993546 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.004085598513484001, + 0.05530077591538429, + -0.1270017772912979 + ], + "orientation": [ + 0.5149618983268738, + 0.8481343984603882, + -0.08488760888576508, + -0.09097495675086975 + ], + "joints": [ + -0.008126531727612019 + ] + }, + "final_grasp": { + "position": [ + 0.004085598513484001, + 0.05530077591538429, + -0.1270017772912979 + ], + "orientation": [ + 0.5149618983268738, + 0.8481343984603882, + -0.08488760888576508, + -0.09097495675086975 + ], + "joints": [ + -0.0027593951672315598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09842120856046677, + -0.08543674647808075, + 0.005694393068552017 + ], + "orientation": [ + 0.5970980525016785, + -0.25571388006210327, + 0.7440027594566345, + 0.15666595101356506 + ], + "joints": [ + -0.014053035527467728 + ] + }, + "fine_grasp": { + "position": [ + 0.09901301562786102, + -0.08397704362869263, + 0.00609386432915926 + ], + "orientation": [ + 0.6163375377655029, + -0.24911104142665863, + 0.7313503623008728, + 0.1523108184337616 + ], + "joints": [ + -0.006586871109902859 + ] + }, + "final_grasp": { + "position": [ + 0.09901301562786102, + -0.08397704362869263, + 0.00609386432915926 + ], + "orientation": [ + 0.6163375377655029, + -0.24911104142665863, + 0.7313503623008728, + 0.1523108184337616 + ], + "joints": [ + 0.0008792933076620102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0193905271589756, + -0.11302404850721359, + 0.013766622170805931 + ], + "orientation": [ + 0.5553654432296753, + -0.034107599407434464, + 0.8282639384269714, + -0.0662180706858635 + ], + "joints": [ + -0.016626745462417603 + ] + }, + "fine_grasp": { + "position": [ + 0.020703792572021484, + -0.11024883389472961, + 0.013246927410364151 + ], + "orientation": [ + 0.57017582654953, + -0.031558021903038025, + 0.817756712436676, + -0.07195471227169037 + ], + "joints": [ + -0.008682318963110447 + ] + }, + "final_grasp": { + "position": [ + 0.020703792572021484, + -0.11024883389472961, + 0.013246927410364151 + ], + "orientation": [ + 0.57017582654953, + -0.031558021903038025, + 0.817756712436676, + -0.07195471227169037 + ], + "joints": [ + -0.0007378924638032913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13246166706085205, + 0.04212280362844467, + -0.029474681243300438 + ], + "orientation": [ + 0.3522745370864868, + 0.7228958010673523, + 0.5013919472694397, + -0.31926530599594116 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.12969163060188293, + 0.04075932130217552, + -0.02963063307106495 + ], + "orientation": [ + 0.3418439030647278, + 0.7255480289459229, + 0.5027223229408264, + -0.3224795162677765 + ], + "joints": [ + -0.008911265060305595 + ] + }, + "final_grasp": { + "position": [ + -0.12969163060188293, + 0.04075932130217552, + -0.02963063307106495 + ], + "orientation": [ + 0.3418439030647278, + 0.7255480289459229, + 0.5027223229408264, + -0.3224795162677765 + ], + "joints": [ + -0.002003069967031479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11907867342233658, + -0.06222470849752426, + -0.003422793699428439 + ], + "orientation": [ + 0.6678576469421387, + -0.23960702121257782, + -0.6411237716674805, + -0.29242923855781555 + ], + "joints": [ + -0.012227728962898254 + ] + }, + "fine_grasp": { + "position": [ + -0.12076930701732635, + -0.06606961041688919, + -0.004805981647223234 + ], + "orientation": [ + 0.6670182943344116, + -0.242130845785141, + -0.6377840638160706, + -0.29948416352272034 + ], + "joints": [ + -0.006408902816474438 + ] + }, + "final_grasp": { + "position": [ + -0.12076930701732635, + -0.06606961041688919, + -0.004805981647223234 + ], + "orientation": [ + 0.6670182943344116, + -0.242130845785141, + -0.6377840638160706, + -0.29948416352272034 + ], + "joints": [ + -0.000590076670050621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011625396087765694, + 0.09768147766590118, + -0.10929600149393082 + ], + "orientation": [ + 0.3630015254020691, + 0.8774651288986206, + 0.18065966665744781, + 0.2562166750431061 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.011236919090151787, + 0.09604157507419586, + -0.10728857666254044 + ], + "orientation": [ + 0.36125001311302185, + 0.8784818053245544, + 0.18264642357826233, + 0.25378847122192383 + ], + "joints": [ + -0.008799318224191666 + ] + }, + "final_grasp": { + "position": [ + -0.011236919090151787, + 0.09604157507419586, + -0.10728857666254044 + ], + "orientation": [ + 0.36125001311302185, + 0.8784818053245544, + 0.18264642357826233, + 0.25378847122192383 + ], + "joints": [ + -0.0029273517429828644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13215875625610352, + 0.04191415011882782, + -0.029468229040503502 + ], + "orientation": [ + 0.35259559750556946, + 0.7225721478462219, + 0.5014124512672424, + -0.3196113407611847 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.12950780987739563, + 0.04068969190120697, + -0.029716311022639275 + ], + "orientation": [ + 0.34237003326416016, + 0.7253878712654114, + 0.502373456954956, + -0.32282519340515137 + ], + "joints": [ + -0.00894070602953434 + ] + }, + "final_grasp": { + "position": [ + -0.12950780987739563, + 0.04068969190120697, + -0.029716311022639275 + ], + "orientation": [ + 0.34237003326416016, + 0.7253878712654114, + 0.502373456954956, + -0.32282519340515137 + ], + "joints": [ + -0.0020325109362602234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1319146305322647, + 0.0418117381632328, + -0.029527176171541214 + ], + "orientation": [ + 0.3528484106063843, + 0.7225667238235474, + 0.5012637376785278, + -0.31957778334617615 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.1293548345565796, + 0.040619928389787674, + -0.029806600883603096 + ], + "orientation": [ + 0.342604398727417, + 0.7253698110580444, + 0.5020958781242371, + -0.3230490982532501 + ], + "joints": [ + -0.00894070602953434 + ] + }, + "final_grasp": { + "position": [ + -0.1293548345565796, + 0.040619928389787674, + -0.029806600883603096 + ], + "orientation": [ + 0.342604398727417, + 0.7253698110580444, + 0.5020958781242371, + -0.3230490982532501 + ], + "joints": [ + -0.0020325109362602234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02015472762286663, + -0.11155290901660919, + -0.008256570436060429 + ], + "orientation": [ + 0.9745704531669617, + 0.12316442281007767, + 0.1713952273130417, + -0.07527610659599304 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.0192120298743248, + -0.10859688371419907, + -0.008786950260400772 + ], + "orientation": [ + 0.9753299951553345, + 0.11460362374782562, + 0.17200644314289093, + -0.07753316313028336 + ], + "joints": [ + -0.010652587749063969 + ] + }, + "final_grasp": { + "position": [ + -0.0192120298743248, + -0.10859688371419907, + -0.008786950260400772 + ], + "orientation": [ + 0.9753299951553345, + 0.11460362374782562, + 0.17200644314289093, + -0.07753316313028336 + ], + "joints": [ + -0.004249216988682747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0038385752122849226, + 0.12857303023338318, + -0.04718831926584244 + ], + "orientation": [ + 0.06949682533740997, + 0.5740702748298645, + 0.20140010118484497, + 0.7906019687652588 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.004614962264895439, + 0.12830720841884613, + -0.045505400747060776 + ], + "orientation": [ + 0.060998428612947464, + 0.5904489159584045, + 0.20565283298492432, + 0.7780463695526123 + ], + "joints": [ + -0.007764487527310848 + ] + }, + "final_grasp": { + "position": [ + 0.004614962264895439, + 0.12830720841884613, + -0.045505400747060776 + ], + "orientation": [ + 0.060998428612947464, + 0.5904489159584045, + 0.20565283298492432, + 0.7780463695526123 + ], + "joints": [ + -0.0002983231097459793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10611151903867722, + -0.07802361249923706, + -0.00487568648532033 + ], + "orientation": [ + 0.017809756100177765, + 0.4091888964176178, + 0.9119556546211243, + 0.024168873205780983 + ], + "joints": [ + -0.01021028682589531 + ] + }, + "fine_grasp": { + "position": [ + -0.10177882015705109, + -0.07565934211015701, + -0.003890668274834752 + ], + "orientation": [ + 0.01790563389658928, + 0.41811010241508484, + 0.9076648950576782, + 0.03174470365047455 + ], + "joints": [ + -0.0038069216534495354 + ] + }, + "final_grasp": { + "position": [ + -0.10177882015705109, + -0.07565934211015701, + -0.003890668274834752 + ], + "orientation": [ + 0.01790563389658928, + 0.41811010241508484, + 0.9076648950576782, + 0.03174470365047455 + ], + "joints": [ + 0.0025964435189962387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008739221841096878, + 0.13866661489009857, + 0.004370840732008219 + ], + "orientation": [ + 0.03496285527944565, + 0.15179170668125153, + 0.11646892875432968, + -0.9809036254882812 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.0074594346806406975, + 0.13431575894355774, + 0.0030577860306948423 + ], + "orientation": [ + 0.03089769184589386, + 0.14119009673595428, + 0.12520845234394073, + -0.9815465807914734 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.0074594346806406975, + 0.13431575894355774, + 0.0030577860306948423 + ], + "orientation": [ + 0.03089769184589386, + 0.14119009673595428, + 0.12520845234394073, + -0.9815465807914734 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059782836586236954, + 0.1320108026266098, + 0.018397444859147072 + ], + "orientation": [ + 0.12238456308841705, + -0.7358695864677429, + -0.03370122238993645, + -0.6651181578636169 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + -0.059971194714307785, + 0.132712259888649, + 0.0179324671626091 + ], + "orientation": [ + 0.11849815398454666, + -0.722571074962616, + -0.02787834033370018, + -0.6804940700531006 + ], + "joints": [ + -0.006583999842405319 + ] + }, + "final_grasp": { + "position": [ + -0.059971194714307785, + 0.132712259888649, + 0.0179324671626091 + ], + "orientation": [ + 0.11849815398454666, + -0.722571074962616, + -0.02787834033370018, + -0.6804940700531006 + ], + "joints": [ + 0.0008555948734283447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06020533666014671, + 0.07473921030759811, + 0.10121604055166245 + ], + "orientation": [ + 0.4100339412689209, + -0.8621783256530762, + 0.2953272759914398, + -0.03609125688672066 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.06003953516483307, + 0.07512574642896652, + 0.10090313851833344 + ], + "orientation": [ + 0.4146386384963989, + -0.8631722331047058, + 0.28746384382247925, + -0.019313408061861992 + ], + "joints": [ + -0.0065883444622159 + ] + }, + "final_grasp": { + "position": [ + 0.06003953516483307, + 0.07512574642896652, + 0.10090313851833344 + ], + "orientation": [ + 0.4146386384963989, + -0.8631722331047058, + 0.28746384382247925, + -0.019313408061861992 + ], + "joints": [ + 0.0003464203327894211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12480875104665756, + -0.03792084380984306, + 0.0035457415506243706 + ], + "orientation": [ + 0.5564289093017578, + 0.3769829571247101, + -0.6742720007896423, + 0.30598706007003784 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.12969531118869781, + -0.03947099670767784, + 0.0014403469394892454 + ], + "orientation": [ + 0.560640275478363, + 0.3698192536830902, + -0.6782338619232178, + 0.29818615317344666 + ], + "joints": [ + -0.007084560580551624 + ] + }, + "final_grasp": { + "position": [ + 0.12969531118869781, + -0.03947099670767784, + 0.0014403469394892454 + ], + "orientation": [ + 0.560640275478363, + 0.3698192536830902, + -0.6782338619232178, + 0.29818615317344666 + ], + "joints": [ + -0.0007343348115682602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0010517716873437166, + -0.11061602085828781, + 0.030854327604174614 + ], + "orientation": [ + 0.617138683795929, + -0.054520074278116226, + 0.7764338254928589, + -0.1154039055109024 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + 0.0007996972417458892, + -0.11003699898719788, + 0.030316531658172607 + ], + "orientation": [ + 0.6008683443069458, + -0.04247830808162689, + 0.7895062565803528, + -0.11761275678873062 + ], + "joints": [ + -0.01203923113644123 + ] + }, + "final_grasp": { + "position": [ + 0.0007996972417458892, + -0.11003699898719788, + 0.030316531658172607 + ], + "orientation": [ + 0.6008683443069458, + -0.04247830808162689, + 0.7895062565803528, + -0.11761275678873062 + ], + "joints": [ + -0.006698658689856529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06605511903762817, + -0.08038023114204407, + -0.07752712070941925 + ], + "orientation": [ + 0.5824941396713257, + 0.36444011330604553, + 0.7158596515655518, + 0.1242128536105156 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.06435351073741913, + -0.0768943727016449, + -0.07375046610832214 + ], + "orientation": [ + 0.5810393691062927, + 0.36233946681022644, + 0.7171622514724731, + 0.12954354286193848 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + -0.06435351073741913, + -0.0768943727016449, + -0.07375046610832214 + ], + "orientation": [ + 0.5810393691062927, + 0.36233946681022644, + 0.7171622514724731, + 0.12954354286193848 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06613954156637192, + -0.08047392219305038, + -0.07756476104259491 + ], + "orientation": [ + 0.582603394985199, + 0.36431562900543213, + 0.7158365845680237, + 0.12419872730970383 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.06446484476327896, + -0.0769733339548111, + -0.07377017289400101 + ], + "orientation": [ + 0.5813875794410706, + 0.36206623911857605, + 0.7170085310935974, + 0.1295965611934662 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + -0.06446484476327896, + -0.0769733339548111, + -0.07377017289400101 + ], + "orientation": [ + 0.5813875794410706, + 0.36206623911857605, + 0.7170085310935974, + 0.1295965611934662 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005560758989304304, + 0.05476261302828789, + -0.1377720981836319 + ], + "orientation": [ + 0.5318624973297119, + 0.8059225082397461, + 0.17965205013751984, + 0.18798020482063293 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.004861005116254091, + 0.05305279791355133, + -0.13529755175113678 + ], + "orientation": [ + 0.5256383419036865, + 0.8104857206344604, + 0.18252038955688477, + 0.18303944170475006 + ], + "joints": [ + -0.006501494906842709 + ] + }, + "final_grasp": { + "position": [ + -0.004861005116254091, + 0.05305279791355133, + -0.13529755175113678 + ], + "orientation": [ + 0.5256383419036865, + 0.8104857206344604, + 0.18252038955688477, + 0.18303944170475006 + ], + "joints": [ + -9.812973439693451e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008564787567593157, + 0.05245066434144974, + 0.1299520879983902 + ], + "orientation": [ + 0.555594801902771, + -0.7626986503601074, + 0.20091640949249268, + -0.2631310224533081 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.0019774711690843105, + 0.05322830751538277, + 0.12852458655834198 + ], + "orientation": [ + 0.5552712082862854, + -0.7646273970603943, + 0.196284219622612, + -0.2617087960243225 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.0019774711690843105, + 0.05322830751538277, + 0.12852458655834198 + ], + "orientation": [ + 0.5552712082862854, + -0.7646273970603943, + 0.196284219622612, + -0.2617087960243225 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039019353687763214, + 0.13158217072486877, + 0.0017836452461779118 + ], + "orientation": [ + 0.15471868216991425, + 0.056241583079099655, + 0.1129838153719902, + 0.9798641800880432 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.04058285057544708, + 0.13386423885822296, + 0.0016729478957131505 + ], + "orientation": [ + 0.1573328971862793, + 0.04419274255633354, + 0.11992767453193665, + 0.9792398810386658 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + 0.04058285057544708, + 0.13386423885822296, + 0.0016729478957131505 + ], + "orientation": [ + 0.1573328971862793, + 0.04419274255633354, + 0.11992767453193665, + 0.9792398810386658 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013012992218136787, + -0.10701201856136322, + -0.02204553224146366 + ], + "orientation": [ + 0.973181426525116, + 0.04022837430238724, + 0.21277785301208496, + 0.07762272655963898 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.012643554247915745, + -0.10777277499437332, + -0.02153426967561245 + ], + "orientation": [ + 0.9673807621002197, + 0.03616873919963837, + 0.2374601662158966, + 0.08049251139163971 + ], + "joints": [ + -0.013570047914981842 + ] + }, + "final_grasp": { + "position": [ + 0.012643554247915745, + -0.10777277499437332, + -0.02153426967561245 + ], + "orientation": [ + 0.9673807621002197, + 0.03616873919963837, + 0.2374601662158966, + 0.08049251139163971 + ], + "joints": [ + -0.00714009627699852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039039019495248795, + 0.13156776130199432, + 0.0018064373871311545 + ], + "orientation": [ + 0.15481677651405334, + 0.056055787950754166, + 0.11290993541479111, + 0.9798678159713745 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.04058951511979103, + 0.1338547170162201, + 0.0016973072197288275 + ], + "orientation": [ + 0.15739309787750244, + 0.04400882124900818, + 0.11986074596643448, + 0.9792466163635254 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + 0.04058951511979103, + 0.1338547170162201, + 0.0016973072197288275 + ], + "orientation": [ + 0.15739309787750244, + 0.04400882124900818, + 0.11986074596643448, + 0.9792466163635254 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07313573360443115, + -0.08110930770635605, + -0.02166755124926567 + ], + "orientation": [ + 0.5345785617828369, + -0.16411790251731873, + -0.8033819794654846, + -0.20461803674697876 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.0767873153090477, + -0.0837773010134697, + -0.01954161934554577 + ], + "orientation": [ + 0.5452769994735718, + -0.15628664195537567, + -0.79939204454422, + -0.1980399191379547 + ], + "joints": [ + -0.011041129007935524 + ] + }, + "final_grasp": { + "position": [ + -0.0767873153090477, + -0.0837773010134697, + -0.01954161934554577 + ], + "orientation": [ + 0.5452769994735718, + -0.15628664195537567, + -0.79939204454422, + -0.1980399191379547 + ], + "joints": [ + -0.005673989653587341 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03908848762512207, + 0.1315869241952896, + 0.0017007054993882775 + ], + "orientation": [ + 0.15500952303409576, + 0.05685638263821602, + 0.11296796053647995, + 0.9797845482826233 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.040627505630254745, + 0.1338484138250351, + 0.0016007699305191636 + ], + "orientation": [ + 0.1574903428554535, + 0.04477823153138161, + 0.12004351615905762, + 0.9791737198829651 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + 0.040627505630254745, + 0.1338484138250351, + 0.0016007699305191636 + ], + "orientation": [ + 0.1574903428554535, + 0.04477823153138161, + 0.12004351615905762, + 0.9791737198829651 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038996633142232895, + 0.1315084993839264, + 0.0018106179777532816 + ], + "orientation": [ + 0.1547446846961975, + 0.05527077987790108, + 0.11276794224977493, + 0.9799402356147766 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.040513504296541214, + 0.1338149756193161, + 0.001655443338677287 + ], + "orientation": [ + 0.15729232132434845, + 0.043860841542482376, + 0.12005111575126648, + 0.9792461395263672 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + 0.040513504296541214, + 0.1338149756193161, + 0.001655443338677287 + ], + "orientation": [ + 0.15729232132434845, + 0.043860841542482376, + 0.12005111575126648, + 0.9792461395263672 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03900737315416336, + 0.1315673142671585, + 0.0017413758905604482 + ], + "orientation": [ + 0.1547013372182846, + 0.05561963841319084, + 0.11314427852630615, + 0.9798838496208191 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.04055466130375862, + 0.13384325802326202, + 0.0016229983884841204 + ], + "orientation": [ + 0.1572975516319275, + 0.04382370039820671, + 0.1202545091509819, + 0.9792220592498779 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + 0.04055466130375862, + 0.13384325802326202, + 0.0016229983884841204 + ], + "orientation": [ + 0.1572975516319275, + 0.04382370039820671, + 0.1202545091509819, + 0.9792220592498779 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12483042478561401, + -0.03809570148587227, + 0.003608238883316517 + ], + "orientation": [ + 0.5564481019973755, + 0.3769742548465729, + -0.6734315156936646, + 0.3078082203865051 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.1298113763332367, + -0.039695803076028824, + 0.0015831582713872194 + ], + "orientation": [ + 0.5604566931724548, + 0.3698078691959381, + -0.6773313879966736, + 0.30058738589286804 + ], + "joints": [ + -0.007589390035718679 + ] + }, + "final_grasp": { + "position": [ + 0.1298113763332367, + -0.039695803076028824, + 0.0015831582713872194 + ], + "orientation": [ + 0.5604566931724548, + 0.3698078691959381, + -0.6773313879966736, + 0.30058738589286804 + ], + "joints": [ + -0.0017439937219023705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006496327463537455, + -0.0776917040348053, + -0.08969838172197342 + ], + "orientation": [ + 0.8668143153190613, + 0.3749566078186035, + -0.3105792701244354, + -0.10761440545320511 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.007592413108795881, + -0.07615935057401657, + -0.08675042539834976 + ], + "orientation": [ + 0.8632578253746033, + 0.3808114528656006, + -0.31495028734207153, + -0.10283438861370087 + ], + "joints": [ + -0.013596618548035622 + ] + }, + "final_grasp": { + "position": [ + 0.007592413108795881, + -0.07615935057401657, + -0.08675042539834976 + ], + "orientation": [ + 0.8632578253746033, + 0.3808114528656006, + -0.31495028734207153, + -0.10283438861370087 + ], + "joints": [ + -0.007193237543106079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006502556148916483, + -0.077667735517025, + -0.08958680927753448 + ], + "orientation": [ + 0.8669515252113342, + 0.37467390298843384, + -0.3105711340904236, + -0.10751767456531525 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.007616632152348757, + -0.07617566734552383, + -0.08672996610403061 + ], + "orientation": [ + 0.8632733225822449, + 0.38071227073669434, + -0.31505605578422546, + -0.10274837911128998 + ], + "joints": [ + -0.013596618548035622 + ] + }, + "final_grasp": { + "position": [ + 0.007616632152348757, + -0.07617566734552383, + -0.08672996610403061 + ], + "orientation": [ + 0.8632733225822449, + 0.38071227073669434, + -0.31505605578422546, + -0.10274837911128998 + ], + "joints": [ + -0.007193237543106079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006376226432621479, + -0.07777561247348785, + -0.089767687022686 + ], + "orientation": [ + 0.8668280839920044, + 0.3749094307422638, + -0.3104642629623413, + -0.10799896717071533 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.007456758059561253, + -0.07622064650058746, + -0.08672063797712326 + ], + "orientation": [ + 0.8634597659111023, + 0.3804447054862976, + -0.31471097469329834, + -0.10322815179824829 + ], + "joints": [ + -0.013596618548035622 + ] + }, + "final_grasp": { + "position": [ + 0.007456758059561253, + -0.07622064650058746, + -0.08672063797712326 + ], + "orientation": [ + 0.8634597659111023, + 0.3804447054862976, + -0.31471097469329834, + -0.10322815179824829 + ], + "joints": [ + -0.007193237543106079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022304648533463478, + -0.1046115905046463, + 0.009123258292675018 + ], + "orientation": [ + 0.7944413423538208, + -0.02520097605884075, + 0.604953944683075, + -0.047524672001600266 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.022561365738511086, + -0.10628363490104675, + 0.009594663046300411 + ], + "orientation": [ + 0.7963530421257019, + -0.025689097121357918, + 0.6028726696968079, + -0.04131060838699341 + ], + "joints": [ + -0.00997980497777462 + ] + }, + "final_grasp": { + "position": [ + -0.022561365738511086, + -0.10628363490104675, + 0.009594663046300411 + ], + "orientation": [ + 0.7963530421257019, + -0.025689097121357918, + 0.6028726696968079, + -0.04131060838699341 + ], + "joints": [ + -0.004081267863512039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036722332239151, + -0.04986460879445076, + 0.11170985549688339 + ], + "orientation": [ + 0.885322630405426, + -0.43848127126693726, + 0.05392146483063698, + 0.14501845836639404 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.036927539855241776, + -0.04932626709342003, + 0.11144120246171951 + ], + "orientation": [ + 0.8874416351318359, + -0.43366721272468567, + 0.042312171310186386, + 0.15029890835285187 + ], + "joints": [ + -0.008351897820830345 + ] + }, + "final_grasp": { + "position": [ + 0.036927539855241776, + -0.04932626709342003, + 0.11144120246171951 + ], + "orientation": [ + 0.8874416351318359, + -0.43366721272468567, + 0.042312171310186386, + 0.15029890835285187 + ], + "joints": [ + -0.0014437027275562286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030822942033410072, + 0.12726540863513947, + 0.03424074873328209 + ], + "orientation": [ + 0.10612519830465317, + 0.12433088570833206, + 0.07165270298719406, + -0.9839437007904053 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.03045468218624592, + 0.12939238548278809, + 0.036567673087120056 + ], + "orientation": [ + 0.09747987240552902, + 0.11398080736398697, + 0.05999680235981941, + -0.9868670105934143 + ], + "joints": [ + -0.010034340433776379 + ] + }, + "final_grasp": { + "position": [ + -0.03045468218624592, + 0.12939238548278809, + 0.036567673087120056 + ], + "orientation": [ + 0.09747987240552902, + 0.11398080736398697, + 0.05999680235981941, + -0.9868670105934143 + ], + "joints": [ + -0.003630971536040306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019204163923859596, + -0.10221169888973236, + 0.001080476911738515 + ], + "orientation": [ + 0.8363886475563049, + -0.0820079818367958, + -0.5326241254806519, + -0.10020120441913605 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.019405266270041466, + -0.1031588464975357, + 0.0014802119694650173 + ], + "orientation": [ + 0.8386637568473816, + -0.08425479382276535, + -0.5304983854293823, + -0.09008724242448807 + ], + "joints": [ + -0.014251596294343472 + ] + }, + "final_grasp": { + "position": [ + -0.019405266270041466, + -0.1031588464975357, + 0.0014802119694650173 + ], + "orientation": [ + 0.8386637568473816, + -0.08425479382276535, + -0.5304983854293823, + -0.09008724242448807 + ], + "joints": [ + -0.009415846318006516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13493503630161285, + 0.020050790160894394, + 0.009958785027265549 + ], + "orientation": [ + 0.058498743921518326, + -0.7147507667541504, + 0.6820309162139893, + 0.14332838356494904 + ], + "joints": [ + -0.00080818438436836 + ] + }, + "fine_grasp": { + "position": [ + 0.1393764317035675, + 0.021178975701332092, + 0.008994215168058872 + ], + "orientation": [ + 0.0718114823102951, + -0.7135205864906311, + 0.6828522086143494, + 0.13944299519062042 + ], + "joints": [ + 0.005010642111301422 + ] + }, + "final_grasp": { + "position": [ + 0.1393764317035675, + 0.021178975701332092, + 0.008994215168058872 + ], + "orientation": [ + 0.0718114823102951, + -0.7135205864906311, + 0.6828522086143494, + 0.13944299519062042 + ], + "joints": [ + 0.010829468257725239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0004616178048308939, + 0.12489776313304901, + 0.023305056616663933 + ], + "orientation": [ + 0.024694018065929413, + -0.7987825274467468, + -0.1218162402510643, + 0.5886404514312744 + ], + "joints": [ + -0.0147596076130867 + ] + }, + "fine_grasp": { + "position": [ + 0.0016337130218744278, + 0.12618674337863922, + 0.02516777068376541 + ], + "orientation": [ + 0.008775078691542149, + -0.7976473569869995, + -0.13316860795021057, + 0.5881733894348145 + ], + "joints": [ + -0.0088876411318779 + ] + }, + "final_grasp": { + "position": [ + 0.0016337130218744278, + 0.12618674337863922, + 0.02516777068376541 + ], + "orientation": [ + 0.008775078691542149, + -0.7976473569869995, + -0.13316860795021057, + 0.5881733894348145 + ], + "joints": [ + -0.003015674650669098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008929581381380558, + -0.11064828932285309, + -0.04792621731758118 + ], + "orientation": [ + 0.29804831743240356, + 0.08637835830450058, + 0.9358943104743958, + 0.16675686836242676 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.006134100258350372, + -0.1064150407910347, + -0.044835414737463 + ], + "orientation": [ + 0.2996446192264557, + 0.08941538631916046, + 0.935825765132904, + 0.16262872517108917 + ], + "joints": [ + -0.01574878767132759 + ] + }, + "final_grasp": { + "position": [ + -0.006134100258350372, + -0.1064150407910347, + -0.044835414737463 + ], + "orientation": [ + 0.2996446192264557, + 0.08941538631916046, + 0.935825765132904, + 0.16262872517108917 + ], + "joints": [ + -0.011497575789690018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027337953448295593, + -0.10072137415409088, + 0.007438225671648979 + ], + "orientation": [ + 0.9643560647964478, + -0.03478693217039108, + 0.23396585881710052, + -0.11860531568527222 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.026836059987545013, + -0.10389324277639389, + 0.006488131824880838 + ], + "orientation": [ + 0.9669348001480103, + -0.0347798615694046, + 0.22925160825252533, + -0.10616544634103775 + ], + "joints": [ + -0.013777603395283222 + ] + }, + "final_grasp": { + "position": [ + -0.026836059987545013, + -0.10389324277639389, + 0.006488131824880838 + ], + "orientation": [ + 0.9669348001480103, + -0.0347798615694046, + 0.22925160825252533, + -0.10616544634103775 + ], + "joints": [ + -0.007879052311182022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002084207022562623, + -0.07739275693893433, + 0.0968308225274086 + ], + "orientation": [ + 0.1776890605688095, + -0.07830440253019333, + -0.9277823567390442, + 0.3186142146587372 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.0029143812134861946, + -0.07729575037956238, + 0.09583505243062973 + ], + "orientation": [ + 0.16970740258693695, + -0.06683816760778427, + -0.9290373921394348, + 0.3219029903411865 + ], + "joints": [ + -0.009364426136016846 + ] + }, + "final_grasp": { + "position": [ + 0.0029143812134861946, + -0.07729575037956238, + 0.09583505243062973 + ], + "orientation": [ + 0.16970740258693695, + -0.06683816760778427, + -0.9290373921394348, + 0.3219029903411865 + ], + "joints": [ + -0.0034393183887004852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023480938747525215, + 0.12169528752565384, + 0.020386185497045517 + ], + "orientation": [ + 0.09296229481697083, + 0.14763323962688446, + 0.024036947637796402, + -0.984370231628418 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.02400917187333107, + 0.12395410239696503, + 0.02069161832332611 + ], + "orientation": [ + 0.08551201224327087, + 0.1433616429567337, + 0.02372598648071289, + -0.9856836795806885 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + -0.02400917187333107, + 0.12395410239696503, + 0.02069161832332611 + ], + "orientation": [ + 0.08551201224327087, + 0.1433616429567337, + 0.02372598648071289, + -0.9856836795806885 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02384205348789692, + 0.13152623176574707, + 0.012579124420881271 + ], + "orientation": [ + 0.07505784183740616, + -0.9560629725456238, + -0.09890119731426239, + 0.26557227969169617 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.020118463784456253, + 0.13077346980571747, + 0.013540538027882576 + ], + "orientation": [ + 0.046624332666397095, + -0.9548593759536743, + -0.08711247891187668, + 0.2801450192928314 + ], + "joints": [ + -0.015427814796566963 + ] + }, + "final_grasp": { + "position": [ + -0.020118463784456253, + 0.13077346980571747, + 0.013540538027882576 + ], + "orientation": [ + 0.046624332666397095, + -0.9548593759536743, + -0.08711247891187668, + 0.2801450192928314 + ], + "joints": [ + -0.01115003414452076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02654431201517582, + -0.06603862345218658, + -0.09901642799377441 + ], + "orientation": [ + 0.14111872017383575, + -0.04773297160863876, + -0.9201687574386597, + -0.36207231879234314 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.026465801522135735, + -0.07076360285282135, + -0.10092698037624359 + ], + "orientation": [ + 0.14006157219409943, + -0.045069798827171326, + -0.9154735803604126, + -0.37451234459877014 + ], + "joints": [ + -0.009916655719280243 + ] + }, + "final_grasp": { + "position": [ + -0.026465801522135735, + -0.07076360285282135, + -0.10092698037624359 + ], + "orientation": [ + 0.14006157219409943, + -0.045069798827171326, + -0.9154735803604126, + -0.37451234459877014 + ], + "joints": [ + -0.004602659493684769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09872180968523026, + -0.0642298012971878, + 0.006114770658314228 + ], + "orientation": [ + 0.5109861493110657, + -0.34846368432044983, + -0.7664271593093872, + -0.1733657419681549 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.09779459238052368, + -0.06677395105361938, + 0.004672444891184568 + ], + "orientation": [ + 0.5125117301940918, + -0.33832913637161255, + -0.7682064771652222, + -0.18089748919010162 + ], + "joints": [ + -0.008859597146511078 + ] + }, + "final_grasp": { + "position": [ + -0.09779459238052368, + -0.06677395105361938, + 0.004672444891184568 + ], + "orientation": [ + 0.5125117301940918, + -0.33832913637161255, + -0.7682064771652222, + -0.18089748919010162 + ], + "joints": [ + -0.0024296604096889496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033729810267686844, + -0.06829828023910522, + 0.1025879830121994 + ], + "orientation": [ + 0.11066247522830963, + 0.09193778783082962, + -0.9074413776397705, + 0.39478009939193726 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.03247206285595894, + -0.0680309534072876, + 0.1035621240735054 + ], + "orientation": [ + 0.10701946914196014, + 0.08707563579082489, + -0.9074714779853821, + 0.3968127369880676 + ], + "joints": [ + -0.009616359136998653 + ] + }, + "final_grasp": { + "position": [ + 0.03247206285595894, + -0.0680309534072876, + 0.1035621240735054 + ], + "orientation": [ + 0.10701946914196014, + 0.08707563579082489, + -0.9074714779853821, + 0.3968127369880676 + ], + "joints": [ + -0.0021767597645521164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033725835382938385, + -0.06830404698848724, + 0.10256706178188324 + ], + "orientation": [ + 0.11046340316534042, + 0.09204141050577164, + -0.907490611076355, + 0.3946986794471741 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.03246825933456421, + -0.06804686784744263, + 0.10352815687656403 + ], + "orientation": [ + 0.10686914622783661, + 0.08714991807937622, + -0.907504677772522, + 0.3967610001564026 + ], + "joints": [ + -0.009616359136998653 + ] + }, + "final_grasp": { + "position": [ + 0.03246825933456421, + -0.06804686784744263, + 0.10352815687656403 + ], + "orientation": [ + 0.10686914622783661, + 0.08714991807937622, + -0.907504677772522, + 0.3967610001564026 + ], + "joints": [ + -0.0021767597645521164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0016812299145385623, + 0.12999901175498962, + 0.008108618669211864 + ], + "orientation": [ + 0.006292950827628374, + 0.8111996650695801, + -0.0535220243036747, + 0.5822806358337402 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.0029436233453452587, + 0.13104715943336487, + 0.0078123100101947784 + ], + "orientation": [ + 0.012164565734565258, + 0.8088104128837585, + -0.05667727068066597, + 0.5852054357528687 + ], + "joints": [ + -0.010446427389979362 + ] + }, + "final_grasp": { + "position": [ + -0.0029436233453452587, + 0.13104715943336487, + 0.0078123100101947784 + ], + "orientation": [ + 0.012164565734565258, + 0.8088104128837585, + -0.05667727068066597, + 0.5852054357528687 + ], + "joints": [ + -0.0029536839574575424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018441643565893173, + 0.05177634581923485, + -0.1187594085931778 + ], + "orientation": [ + 0.5876994132995605, + 0.7951974868774414, + -0.022002805024385452, + -0.14760111272335052 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.019763410091400146, + 0.05196339637041092, + -0.11886303871870041 + ], + "orientation": [ + 0.5937247276306152, + 0.7892000675201416, + -0.02168882079422474, + -0.15551167726516724 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + -0.019763410091400146, + 0.05196339637041092, + -0.11886303871870041 + ], + "orientation": [ + 0.5937247276306152, + 0.7892000675201416, + -0.02168882079422474, + -0.15551167726516724 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11933661252260208, + -0.06844799220561981, + -0.004209361970424652 + ], + "orientation": [ + 0.7369083166122437, + -0.19624249637126923, + -0.554363489151001, + -0.33337074518203735 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.11619540303945541, + -0.06666923314332962, + -0.0042752488516271114 + ], + "orientation": [ + 0.7316644787788391, + -0.2025659680366516, + -0.5580987334251404, + -0.33490297198295593 + ], + "joints": [ + -0.00650296825915575 + ] + }, + "final_grasp": { + "position": [ + -0.11619540303945541, + -0.06666923314332962, + -0.0042752488516271114 + ], + "orientation": [ + 0.7316644787788391, + -0.2025659680366516, + -0.5580987334251404, + -0.33490297198295593 + ], + "joints": [ + -0.0006310027092695236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021893514320254326, + -0.07648234814405441, + -0.10161585360765457 + ], + "orientation": [ + 0.921912670135498, + 0.35962414741516113, + -0.14092767238616943, + 0.02977905049920082 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.020757148042321205, + -0.07618366926908493, + -0.10223402082920074 + ], + "orientation": [ + 0.9254364371299744, + 0.3536413311958313, + -0.13310235738754272, + 0.02808944135904312 + ], + "joints": [ + -0.009054123423993587 + ] + }, + "final_grasp": { + "position": [ + 0.020757148042321205, + -0.07618366926908493, + -0.10223402082920074 + ], + "orientation": [ + 0.9254364371299744, + 0.3536413311958313, + -0.13310235738754272, + 0.02808944135904312 + ], + "joints": [ + -0.0016410965472459793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13023681938648224, + 0.06770828366279602, + -0.001136887352913618 + ], + "orientation": [ + 0.2642303705215454, + -0.7141464352607727, + 0.4448128938674927, + 0.47150662541389465 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.1285603940486908, + 0.06719683855772018, + -0.0007211323827505112 + ], + "orientation": [ + 0.26799678802490234, + -0.7082219123840332, + 0.44414961338043213, + 0.47888463735580444 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.1285603940486908, + 0.06719683855772018, + -0.0007211323827505112 + ], + "orientation": [ + 0.26799678802490234, + -0.7082219123840332, + 0.44414961338043213, + 0.47888463735580444 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13046801090240479, + 0.06779226660728455, + -0.0012137345038354397 + ], + "orientation": [ + 0.2641948461532593, + -0.7137352824211121, + 0.4445473253726959, + 0.472398966550827 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.12859755754470825, + 0.06725718080997467, + -0.0007549806032329798 + ], + "orientation": [ + 0.26782098412513733, + -0.7081702351570129, + 0.4438535273075104, + 0.47933387756347656 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.12859755754470825, + 0.06725718080997467, + -0.0007549806032329798 + ], + "orientation": [ + 0.26782098412513733, + -0.7081702351570129, + 0.4438535273075104, + 0.47933387756347656 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005772941280156374, + 0.12354172766208649, + -0.01916751079261303 + ], + "orientation": [ + 0.0495084747672081, + 0.7722463607788086, + -0.07394025474786758, + -0.629060685634613 + ], + "joints": [ + -0.016202187165617943 + ] + }, + "fine_grasp": { + "position": [ + -0.006357565056532621, + 0.12398776412010193, + -0.01855168305337429 + ], + "orientation": [ + 0.04311258718371391, + 0.7879120707511902, + -0.0671408548951149, + -0.6105963587760925 + ], + "joints": [ + -0.01086161844432354 + ] + }, + "final_grasp": { + "position": [ + -0.006357565056532621, + 0.12398776412010193, + -0.01855168305337429 + ], + "orientation": [ + 0.04311258718371391, + 0.7879120707511902, + -0.0671408548951149, + -0.6105963587760925 + ], + "joints": [ + -0.005521049723029137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13054388761520386, + 0.06767196953296661, + -0.00125774962361902 + ], + "orientation": [ + 0.2647097408771515, + -0.7130581140518188, + 0.44462940096855164, + 0.4730556011199951 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.12867949903011322, + 0.06711898744106293, + -0.0009497154387645423 + ], + "orientation": [ + 0.26829713582992554, + -0.7072354555130005, + 0.44444385170936584, + 0.47990044951438904 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.12867949903011322, + 0.06711898744106293, + -0.0009497154387645423 + ], + "orientation": [ + 0.26829713582992554, + -0.7072354555130005, + 0.44444385170936584, + 0.47990044951438904 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010684880428016186, + -0.011085258796811104, + 0.14679281413555145 + ], + "orientation": [ + 0.7889978289604187, + -0.6112908720970154, + 0.06130436062812805, + -0.006909604649990797 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.009931044653058052, + -0.010918531566858292, + 0.14464202523231506 + ], + "orientation": [ + 0.7879579663276672, + -0.6133391261100769, + 0.054012589156627655, + -0.00446981331333518 + ], + "joints": [ + -0.008350500836968422 + ] + }, + "final_grasp": { + "position": [ + 0.009931044653058052, + -0.010918531566858292, + 0.14464202523231506 + ], + "orientation": [ + 0.7879579663276672, + -0.6133391261100769, + 0.054012589156627655, + -0.00446981331333518 + ], + "joints": [ + -0.0020002759993076324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019995270296931267, + 0.12990322709083557, + 0.044407300651073456 + ], + "orientation": [ + 0.16046564280986786, + -0.6623901128768921, + -0.08646667748689651, + 0.7266454696655273 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.020138928666710854, + 0.1311454176902771, + 0.04276032745838165 + ], + "orientation": [ + 0.15593110024929047, + -0.6722865104675293, + -0.08773326128721237, + 0.7183448076248169 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.020138928666710854, + 0.1311454176902771, + 0.04276032745838165 + ], + "orientation": [ + 0.15593110024929047, + -0.6722865104675293, + -0.08773326128721237, + 0.7183448076248169 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010742022655904293, + -0.0110638327896595, + 0.14655692875385284 + ], + "orientation": [ + 0.7884566187858582, + -0.6119087338447571, + 0.062123578041791916, + -0.006677528377622366 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.010089024901390076, + -0.010821587406098843, + 0.14408595860004425 + ], + "orientation": [ + 0.7873581051826477, + -0.6140120625495911, + 0.055095985531806946, + -0.004578880500048399 + ], + "joints": [ + -0.008350500836968422 + ] + }, + "final_grasp": { + "position": [ + 0.010089024901390076, + -0.010821587406098843, + 0.14408595860004425 + ], + "orientation": [ + 0.7873581051826477, + -0.6140120625495911, + 0.055095985531806946, + -0.004578880500048399 + ], + "joints": [ + -0.0020002759993076324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014047244563698769, + 0.1230926662683487, + -0.024120640009641647 + ], + "orientation": [ + 0.06314148753881454, + 0.7809598445892334, + -0.08045607060194016, + -0.6161507964134216 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.014867856167256832, + 0.12539155781269073, + -0.024577639997005463 + ], + "orientation": [ + 0.05347045511007309, + 0.778563916683197, + -0.07917381078004837, + -0.6202504634857178 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.014867856167256832, + 0.12539155781269073, + -0.024577639997005463 + ], + "orientation": [ + 0.05347045511007309, + 0.778563916683197, + -0.07917381078004837, + -0.6202504634857178 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004928984213620424, + 0.12912872433662415, + 0.024301843717694283 + ], + "orientation": [ + 0.1618310809135437, + -0.7823309898376465, + 0.027958348393440247, + 0.6008221507072449 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.003576851449906826, + 0.1289120465517044, + 0.021455051377415657 + ], + "orientation": [ + 0.1637677103281021, + -0.7633434534072876, + 0.03742249682545662, + 0.6237679123878479 + ], + "joints": [ + -0.007820498198270798 + ] + }, + "final_grasp": { + "position": [ + 0.003576851449906826, + 0.1289120465517044, + 0.021455051377415657 + ], + "orientation": [ + 0.1637677103281021, + -0.7633434534072876, + 0.03742249682545662, + 0.6237679123878479 + ], + "joints": [ + -0.0003809034824371338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014105823822319508, + 0.12310168892145157, + -0.024460403248667717 + ], + "orientation": [ + 0.06373322010040283, + 0.7802375555038452, + -0.0817580595612526, + -0.6168332099914551 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.015219301916658878, + 0.12539702653884888, + -0.02463388629257679 + ], + "orientation": [ + 0.05303976312279701, + 0.7772257328033447, + -0.08066777139902115, + -0.6217713952064514 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.015219301916658878, + 0.12539702653884888, + -0.02463388629257679 + ], + "orientation": [ + 0.05303976312279701, + 0.7772257328033447, + -0.08066777139902115, + -0.6217713952064514 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13000163435935974, + 0.045650582760572433, + -0.04481194168329239 + ], + "orientation": [ + 0.608339250087738, + 0.14963647723197937, + 0.11871026456356049, + 0.7703506946563721 + ], + "joints": [ + -0.002375521697103977 + ] + }, + "fine_grasp": { + "position": [ + 0.12858733534812927, + 0.04691018536686897, + -0.04310179874300957 + ], + "orientation": [ + 0.6071950793266296, + 0.15484821796417236, + 0.12010710686445236, + 0.7700068354606628 + ], + "joints": [ + 0.004001274239271879 + ] + }, + "final_grasp": { + "position": [ + 0.12858733534812927, + 0.04691018536686897, + -0.04310179874300957 + ], + "orientation": [ + 0.6071950793266296, + 0.15484821796417236, + 0.12010710686445236, + 0.7700068354606628 + ], + "joints": [ + 0.010378070175647736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08943630009889603, + 0.04859094321727753, + -0.11001192033290863 + ], + "orientation": [ + 0.2624586820602417, + 0.708840012550354, + 0.5524773597717285, + 0.351326048374176 + ], + "joints": [ + -0.00277742650359869 + ] + }, + "fine_grasp": { + "position": [ + -0.08824941515922546, + 0.05022938922047615, + -0.10860201716423035 + ], + "orientation": [ + 0.26138079166412354, + 0.7098644971847534, + 0.5504947900772095, + 0.3531683087348938 + ], + "joints": [ + 0.0036259391345083714 + ] + }, + "final_grasp": { + "position": [ + -0.08824941515922546, + 0.05022938922047615, + -0.10860201716423035 + ], + "orientation": [ + 0.26138079166412354, + 0.7098644971847534, + 0.5504947900772095, + 0.3531683087348938 + ], + "joints": [ + 0.010029304772615433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004504975397139788, + -0.05933018773794174, + -0.1013941690325737 + ], + "orientation": [ + 0.900214672088623, + 0.3888026773929596, + 0.1598072201013565, + 0.11361125856637955 + ], + "joints": [ + -0.015583937987685204 + ] + }, + "fine_grasp": { + "position": [ + 0.0036194731947034597, + -0.060827791690826416, + -0.10190461575984955 + ], + "orientation": [ + 0.9045838713645935, + 0.3808414340019226, + 0.16154365241527557, + 0.10291455686092377 + ], + "joints": [ + -0.01024337112903595 + ] + }, + "final_grasp": { + "position": [ + 0.0036194731947034597, + -0.060827791690826416, + -0.10190461575984955 + ], + "orientation": [ + 0.9045838713645935, + 0.3808414340019226, + 0.16154365241527557, + 0.10291455686092377 + ], + "joints": [ + -0.004902804270386696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004971018526703119, + -0.09998416900634766, + 0.005386543460190296 + ], + "orientation": [ + 0.2558889389038086, + -0.022921981289982796, + -0.9646732211112976, + 0.05831792205572128 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.005263166967779398, + -0.10289034247398376, + 0.0055039916187524796 + ], + "orientation": [ + 0.26880866289138794, + -0.012125084176659584, + -0.9614782929420471, + 0.056163109838962555 + ], + "joints": [ + -0.015164246782660484 + ] + }, + "final_grasp": { + "position": [ + -0.005263166967779398, + -0.10289034247398376, + 0.0055039916187524796 + ], + "orientation": [ + 0.26880866289138794, + -0.012125084176659584, + -0.9614782929420471, + 0.056163109838962555 + ], + "joints": [ + -0.010328494012355804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13483291864395142, + 0.0408126525580883, + -0.016068361699581146 + ], + "orientation": [ + 0.383029043674469, + 0.6574215888977051, + 0.41977956891059875, + -0.4948442876338959 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.13272319734096527, + 0.04180192947387695, + -0.015571173280477524 + ], + "orientation": [ + 0.39522022008895874, + 0.6495310068130493, + 0.4160330295562744, + -0.49882546067237854 + ], + "joints": [ + -0.008153101429343224 + ] + }, + "final_grasp": { + "position": [ + -0.13272319734096527, + 0.04180192947387695, + -0.015571173280477524 + ], + "orientation": [ + 0.39522022008895874, + 0.6495310068130493, + 0.4160330295562744, + -0.49882546067237854 + ], + "joints": [ + -0.0028125345706939697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12210197746753693, + 0.05249198153614998, + -0.000876585254445672 + ], + "orientation": [ + 0.42488420009613037, + 0.5317562818527222, + 0.30978667736053467, + -0.6638832688331604 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.12487132847309113, + 0.054135747253894806, + -0.001191998366266489 + ], + "orientation": [ + 0.4208657443523407, + 0.5276274085044861, + 0.31370988488197327, + -0.6678828597068787 + ], + "joints": [ + -0.007677712943404913 + ] + }, + "final_grasp": { + "position": [ + -0.12487132847309113, + 0.054135747253894806, + -0.001191998366266489 + ], + "orientation": [ + 0.4208657443523407, + 0.5276274085044861, + 0.31370988488197327, + -0.6678828597068787 + ], + "joints": [ + -0.001832316629588604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006008904427289963, + -0.10888426005840302, + -0.026675712317228317 + ], + "orientation": [ + 0.7714325785636902, + 0.08209206908941269, + 0.6268390417098999, + 0.07228778302669525 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.008986194618046284, + -0.10913557559251785, + -0.02418772503733635 + ], + "orientation": [ + 0.7786673903465271, + 0.07484693825244904, + 0.619387149810791, + 0.06659410893917084 + ], + "joints": [ + -0.010007769800722599 + ] + }, + "final_grasp": { + "position": [ + -0.008986194618046284, + -0.10913557559251785, + -0.02418772503733635 + ], + "orientation": [ + 0.7786673903465271, + 0.07484693825244904, + 0.619387149810791, + 0.06659410893917084 + ], + "joints": [ + -0.003577830269932747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11903399229049683, + 0.08920587599277496, + 0.01731935515999794 + ], + "orientation": [ + 0.17971661686897278, + 0.7303270697593689, + 0.39936569333076477, + -0.5242435336112976 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.11692062765359879, + 0.08855687081813812, + 0.016741205006837845 + ], + "orientation": [ + 0.18665359914302826, + 0.7205941677093506, + 0.398095965385437, + -0.5361194014549255 + ], + "joints": [ + -0.008267918601632118 + ] + }, + "final_grasp": { + "position": [ + -0.11692062765359879, + 0.08855687081813812, + 0.016741205006837845 + ], + "orientation": [ + 0.18665359914302826, + 0.7205941677093506, + 0.398095965385437, + -0.5361194014549255 + ], + "joints": [ + -0.0018645524978637695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11690668761730194, + 0.08902735263109207, + 0.017210746183991432 + ], + "orientation": [ + 0.18216462433338165, + 0.7298060655593872, + 0.3995860517024994, + -0.5239561200141907 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.11515837162733078, + 0.08837703615427017, + 0.016264690086245537 + ], + "orientation": [ + 0.18607541918754578, + 0.7209253311157227, + 0.3959428071975708, + -0.5374679565429688 + ], + "joints": [ + -0.008267918601632118 + ] + }, + "final_grasp": { + "position": [ + -0.11515837162733078, + 0.08837703615427017, + 0.016264690086245537 + ], + "orientation": [ + 0.18607541918754578, + 0.7209253311157227, + 0.3959428071975708, + -0.5374679565429688 + ], + "joints": [ + -0.0018645524978637695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11671433597803116, + 0.08895657956600189, + 0.016926998272538185 + ], + "orientation": [ + 0.18356184661388397, + 0.729857861995697, + 0.39944592118263245, + -0.5235031247138977 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.11507786065340042, + 0.08837631344795227, + 0.016042321920394897 + ], + "orientation": [ + 0.18682532012462616, + 0.7208589315414429, + 0.39534544944763184, + -0.5377364158630371 + ], + "joints": [ + -0.008267918601632118 + ] + }, + "final_grasp": { + "position": [ + -0.11507786065340042, + 0.08837631344795227, + 0.016042321920394897 + ], + "orientation": [ + 0.18682532012462616, + 0.7208589315414429, + 0.39534544944763184, + -0.5377364158630371 + ], + "joints": [ + -0.0018645524978637695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020800065249204636, + -0.1085173562169075, + -0.02471937984228134 + ], + "orientation": [ + 0.7363653779029846, + 0.0644092857837677, + -0.6684444546699524, + -0.08245930075645447 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.02014642208814621, + -0.10920683294534683, + -0.024316733703017235 + ], + "orientation": [ + 0.7512012720108032, + 0.06769125908613205, + -0.6518675684928894, + -0.07863336056470871 + ], + "joints": [ + -0.00835476815700531 + ] + }, + "final_grasp": { + "position": [ + -0.02014642208814621, + -0.10920683294534683, + -0.024316733703017235 + ], + "orientation": [ + 0.7512012720108032, + 0.06769125908613205, + -0.6518675684928894, + -0.07863336056470871 + ], + "joints": [ + -0.001420002430677414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04605313017964363, + 0.12606608867645264, + 0.03333655744791031 + ], + "orientation": [ + 0.15105704963207245, + -0.9673864841461182, + 0.16955603659152985, + 0.11223111301660538 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.04631461575627327, + 0.12341190874576569, + 0.03263804689049721 + ], + "orientation": [ + 0.15053878724575043, + -0.9651615023612976, + 0.17507782578468323, + 0.12308189272880554 + ], + "joints": [ + -0.010652587749063969 + ] + }, + "final_grasp": { + "position": [ + 0.04631461575627327, + 0.12341190874576569, + 0.03263804689049721 + ], + "orientation": [ + 0.15053878724575043, + -0.9651615023612976, + 0.17507782578468323, + 0.12308189272880554 + ], + "joints": [ + -0.004249216988682747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0036443150602281094, + 0.13586299121379852, + -0.006376327481120825 + ], + "orientation": [ + 0.06124446541070938, + -0.7846651673316956, + 0.09660313278436661, + 0.6092762351036072 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + 0.0022383066825568676, + 0.13358306884765625, + -0.005265913438051939 + ], + "orientation": [ + 0.0655658096075058, + -0.777503252029419, + 0.09189265221357346, + 0.6186644434928894 + ], + "joints": [ + -0.00944700837135315 + ] + }, + "final_grasp": { + "position": [ + 0.0022383066825568676, + 0.13358306884765625, + -0.005265913438051939 + ], + "orientation": [ + 0.0655658096075058, + -0.777503252029419, + 0.09189265221357346, + 0.6186644434928894 + ], + "joints": [ + -0.003575041890144348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1098194345831871, + 0.0789649486541748, + 0.012636309489607811 + ], + "orientation": [ + 0.42245426774024963, + -0.5148381590843201, + -0.22707940638065338, + -0.710569441318512 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.11107645183801651, + 0.07878778129816055, + 0.011553915217518806 + ], + "orientation": [ + 0.41590994596481323, + -0.5290220379829407, + -0.2282067835330963, + -0.7036165595054626 + ], + "joints": [ + -0.009445535019040108 + ] + }, + "final_grasp": { + "position": [ + -0.11107645183801651, + 0.07878778129816055, + 0.011553915217518806 + ], + "orientation": [ + 0.41590994596481323, + -0.5290220379829407, + -0.2282067835330963, + -0.7036165595054626 + ], + "joints": [ + -0.003042168915271759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01200499664992094, + -0.11022362112998962, + 0.01600562036037445 + ], + "orientation": [ + 0.6393077969551086, + -0.019124120473861694, + -0.7655014395713806, + 0.0701957643032074 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.013557150028645992, + -0.10825458914041519, + 0.01465446688234806 + ], + "orientation": [ + 0.6238723993301392, + -0.015227260068058968, + -0.7786166667938232, + 0.06563069671392441 + ], + "joints": [ + -0.010542039759457111 + ] + }, + "final_grasp": { + "position": [ + 0.013557150028645992, + -0.10825458914041519, + 0.01465446688234806 + ], + "orientation": [ + 0.6238723993301392, + -0.015227260068058968, + -0.7786166667938232, + 0.06563069671392441 + ], + "joints": [ + -0.004616929218173027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0501435287296772, + -0.09807693958282471, + 0.018068118020892143 + ], + "orientation": [ + 0.7525258660316467, + 0.018550725653767586, + 0.6392599940299988, + -0.15718567371368408 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.050263747572898865, + -0.10189737379550934, + 0.018861476331949234 + ], + "orientation": [ + 0.7553253769874573, + 0.022612271830439568, + 0.6367359161376953, + -0.15342670679092407 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.050263747572898865, + -0.10189737379550934, + 0.018861476331949234 + ], + "orientation": [ + 0.7553253769874573, + 0.022612271830439568, + 0.6367359161376953, + -0.15342670679092407 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011868628673255444, + 0.11808514595031738, + -0.07142486423254013 + ], + "orientation": [ + 0.08750990033149719, + 0.11209244281053543, + -0.22413751482963562, + -0.9641263484954834 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.010413878597319126, + 0.11629647016525269, + -0.07021896541118622 + ], + "orientation": [ + 0.08374787867069244, + 0.10529406368732452, + -0.22524723410606384, + -0.9649679660797119 + ], + "joints": [ + -0.009532381780445576 + ] + }, + "final_grasp": { + "position": [ + -0.010413878597319126, + 0.11629647016525269, + -0.07021896541118622 + ], + "orientation": [ + 0.08374787867069244, + 0.10529406368732452, + -0.22524723410606384, + -0.9649679660797119 + ], + "joints": [ + -0.0025976132601499557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005242658662609756, + 0.005397873464971781, + 0.1401325911283493 + ], + "orientation": [ + 0.09946759045124054, + -0.12564747035503387, + -0.7612336874008179, + 0.628364622592926 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.0008991560316644609, + 0.004882826004177332, + 0.141466423869133 + ], + "orientation": [ + 0.09737267345190048, + -0.1274586319923401, + -0.7599300146102905, + 0.6299040913581848 + ], + "joints": [ + -0.006083514541387558 + ] + }, + "final_grasp": { + "position": [ + -0.0008991560316644609, + 0.004882826004177332, + 0.141466423869133 + ], + "orientation": [ + 0.09737267345190048, + -0.1274586319923401, + -0.7599300146102905, + 0.6299040913581848 + ], + "joints": [ + 0.001356080174446106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011716824024915695, + -0.11413168907165527, + 0.013630514033138752 + ], + "orientation": [ + 0.7426520586013794, + -0.12255869060754776, + -0.6562798023223877, + -0.0523838996887207 + ], + "joints": [ + -0.016231628134846687 + ] + }, + "fine_grasp": { + "position": [ + -0.009154881350696087, + -0.10973988473415375, + 0.0123524721711874 + ], + "orientation": [ + 0.7384913563728333, + -0.13151271641254425, + -0.6584372520446777, + -0.06160633638501167 + ], + "joints": [ + -0.008287202566862106 + ] + }, + "final_grasp": { + "position": [ + -0.009154881350696087, + -0.10973988473415375, + 0.0123524721711874 + ], + "orientation": [ + 0.7384913563728333, + -0.13151271641254425, + -0.6584372520446777, + -0.06160633638501167 + ], + "joints": [ + -0.00034277699887752533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01374848559498787, + -0.07595589756965637, + -0.09283508360385895 + ], + "orientation": [ + 0.9369561672210693, + 0.3152744472026825, + -0.10350076854228973, + -0.10955662280321121 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.014001172035932541, + -0.07872293889522552, + -0.09500738233327866 + ], + "orientation": [ + 0.9402728080749512, + 0.3074125647544861, + -0.103685662150383, + -0.10312113910913467 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.014001172035932541, + -0.07872293889522552, + -0.09500738233327866 + ], + "orientation": [ + 0.9402728080749512, + 0.3074125647544861, + -0.103685662150383, + -0.10312113910913467 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011110188439488411, + 0.1361873298883438, + 0.045396193861961365 + ], + "orientation": [ + 0.04519668594002724, + -0.028130067512392998, + 0.05403345823287964, + -0.9971190094947815 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.009860113263130188, + 0.13479800522327423, + 0.04526665061712265 + ], + "orientation": [ + 0.03916211798787117, + -0.025058012455701828, + 0.05654965713620186, + -0.9973166584968567 + ], + "joints": [ + -0.0077379927970469 + ] + }, + "final_grasp": { + "position": [ + -0.009860113263130188, + 0.13479800522327423, + 0.04526665061712265 + ], + "orientation": [ + 0.03916211798787117, + -0.025058012455701828, + 0.05654965713620186, + -0.9973166584968567 + ], + "joints": [ + -0.0013346271589398384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011236986145377159, + 0.054106418043375015, + -0.12737993896007538 + ], + "orientation": [ + 0.0019250455079600215, + -0.07548891007900238, + -0.5292308926582336, + -0.8451109528541565 + ], + "joints": [ + -0.01629050448536873 + ] + }, + "fine_grasp": { + "position": [ + -0.010845029726624489, + 0.056919828057289124, + -0.13214465975761414 + ], + "orientation": [ + 0.01834704726934433, + -0.05532040074467659, + -0.5357504487037659, + -0.8423624634742737 + ], + "joints": [ + -0.008850907906889915 + ] + }, + "final_grasp": { + "position": [ + -0.010845029726624489, + 0.056919828057289124, + -0.13214465975761414 + ], + "orientation": [ + 0.01834704726934433, + -0.05532040074467659, + -0.5357504487037659, + -0.8423624634742737 + ], + "joints": [ + -0.0014113113284111023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014467811211943626, + -0.10729735344648361, + 0.008247502148151398 + ], + "orientation": [ + 0.07835368067026138, + -0.0623476579785347, + 0.994568407535553, + 0.02841251902282238 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.014127642847597599, + -0.10772263258695602, + 0.006658633705228567 + ], + "orientation": [ + 0.06530951708555222, + -0.05561036616563797, + 0.9958419799804688, + 0.030671898275613785 + ], + "joints": [ + -0.009445535019040108 + ] + }, + "final_grasp": { + "position": [ + 0.014127642847597599, + -0.10772263258695602, + 0.006658633705228567 + ], + "orientation": [ + 0.06530951708555222, + -0.05561036616563797, + 0.9958419799804688, + 0.030671898275613785 + ], + "joints": [ + -0.003042168915271759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022169604897499084, + -0.10257691890001297, + -0.02081083506345749 + ], + "orientation": [ + 0.08767040073871613, + -0.0895916074514389, + -0.9918392896652222, + -0.02328450232744217 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.022305095568299294, + -0.1044360026717186, + -0.021942978724837303 + ], + "orientation": [ + 0.0802050456404686, + -0.0824219360947609, + -0.993226170539856, + -0.016596514731645584 + ], + "joints": [ + -0.009445535019040108 + ] + }, + "final_grasp": { + "position": [ + -0.022305095568299294, + -0.1044360026717186, + -0.021942978724837303 + ], + "orientation": [ + 0.0802050456404686, + -0.0824219360947609, + -0.993226170539856, + -0.016596514731645584 + ], + "joints": [ + -0.003042168915271759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022428525611758232, + -0.10288035124540329, + -0.020488521084189415 + ], + "orientation": [ + 0.08768186718225479, + -0.09093081206083298, + -0.9916826486587524, + -0.024679170921444893 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.022388838231563568, + -0.10439519584178925, + -0.021533405408263206 + ], + "orientation": [ + 0.0811019092798233, + -0.08268816024065018, + -0.993096649646759, + -0.018553121015429497 + ], + "joints": [ + -0.009474975988268852 + ] + }, + "final_grasp": { + "position": [ + -0.022388838231563568, + -0.10439519584178925, + -0.021533405408263206 + ], + "orientation": [ + 0.0811019092798233, + -0.08268816024065018, + -0.993096649646759, + -0.018553121015429497 + ], + "joints": [ + -0.0030716098845005035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012806834653019905, + 0.13829340040683746, + 0.04508207365870476 + ], + "orientation": [ + 0.06579703837633133, + -0.08960135281085968, + 0.06612978875637054, + -0.9915993213653564 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.010961756110191345, + 0.13436686992645264, + 0.04525716230273247 + ], + "orientation": [ + 0.050443071871995926, + -0.07099463790655136, + 0.058759383857250214, + -0.9944659471511841 + ], + "joints": [ + -0.008409306406974792 + ] + }, + "final_grasp": { + "position": [ + -0.010961756110191345, + 0.13436686992645264, + 0.04525716230273247 + ], + "orientation": [ + 0.050443071871995926, + -0.07099463790655136, + 0.058759383857250214, + -0.9944659471511841 + ], + "joints": [ + -0.0009697116911411285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0021796179935336113, + 0.06136751547455788, + -0.11563744395971298 + ], + "orientation": [ + 0.10779432952404022, + 0.12791678309440613, + 0.48052549362182617, + 0.860879123210907 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.000732937827706337, + 0.06280117481946945, + -0.11416082084178925 + ], + "orientation": [ + 0.07316020131111145, + 0.11692413687705994, + 0.4842882752418518, + 0.8639681935310364 + ], + "joints": [ + -0.008242822252213955 + ] + }, + "final_grasp": { + "position": [ + -0.000732937827706337, + 0.06280117481946945, + -0.11416082084178925 + ], + "orientation": [ + 0.07316020131111145, + 0.11692413687705994, + 0.4842882752418518, + 0.8639681935310364 + ], + "joints": [ + -0.0023442860692739487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002065562177449465, + -0.10886058211326599, + -0.05222073569893837 + ], + "orientation": [ + 0.9902669787406921, + 0.11962318420410156, + -0.07107660919427872, + -0.0031202270183712244 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.002594603458419442, + -0.10859201848506927, + -0.05521440505981445 + ], + "orientation": [ + 0.9927747845649719, + 0.10551854223012924, + -0.05713100731372833, + 0.0005528984474949539 + ], + "joints": [ + -0.008382735773921013 + ] + }, + "final_grasp": { + "position": [ + 0.002594603458419442, + -0.10859201848506927, + -0.05521440505981445 + ], + "orientation": [ + 0.9927747845649719, + 0.10551854223012924, + -0.05713100731372833, + 0.0005528984474949539 + ], + "joints": [ + -0.0009165704250335693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009655755013227463, + -0.10433555394411087, + -0.0012144844513386488 + ], + "orientation": [ + 0.09031620621681213, + -0.043831318616867065, + -0.9916199445724487, + 0.08131208270788193 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.00997782964259386, + -0.10432951152324677, + -0.001767453271895647 + ], + "orientation": [ + 0.0793955847620964, + -0.037062983959913254, + -0.9922171831130981, + 0.08847478777170181 + ], + "joints": [ + -0.008886167779564857 + ] + }, + "final_grasp": { + "position": [ + -0.00997782964259386, + -0.10432951152324677, + -0.001767453271895647 + ], + "orientation": [ + 0.0793955847620964, + -0.037062983959913254, + -0.9922171831130981, + 0.08847478777170181 + ], + "joints": [ + -0.002482801675796509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031099490821361542, + 0.1410648226737976, + 0.03353476896882057 + ], + "orientation": [ + 0.16872617602348328, + -0.5249611139297485, + -0.035474348813295364, + 0.8334800004959106 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.02957361936569214, + 0.13700343668460846, + 0.03392571583390236 + ], + "orientation": [ + 0.18536387383937836, + -0.5177024006843567, + -0.033454131335020065, + 0.8345689177513123 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + 0.02957361936569214, + 0.13700343668460846, + 0.03392571583390236 + ], + "orientation": [ + 0.18536387383937836, + -0.5177024006843567, + -0.033454131335020065, + 0.8345689177513123 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11655234545469284, + -0.05552700534462929, + -0.010403544642031193 + ], + "orientation": [ + 0.7169637680053711, + -0.20940664410591125, + 0.5359498858451843, + 0.3935345709323883 + ], + "joints": [ + -0.01420024037361145 + ] + }, + "fine_grasp": { + "position": [ + 0.11398069560527802, + -0.05531604588031769, + -0.009576571173965931 + ], + "orientation": [ + 0.7151455879211426, + -0.2241349071264267, + 0.5385321974754333, + 0.3851149082183838 + ], + "joints": [ + -0.007823444902896881 + ] + }, + "final_grasp": { + "position": [ + 0.11398069560527802, + -0.05531604588031769, + -0.009576571173965931 + ], + "orientation": [ + 0.7151455879211426, + -0.2241349071264267, + 0.5385321974754333, + 0.3851149082183838 + ], + "joints": [ + -0.001446649432182312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11742193251848221, + -0.05635640397667885, + -0.011089327745139599 + ], + "orientation": [ + 0.7160089612007141, + -0.20865847170352936, + 0.5353873372077942, + 0.3964254856109619 + ], + "joints": [ + -0.0147596076130867 + ] + }, + "fine_grasp": { + "position": [ + 0.11477944999933243, + -0.05599723383784294, + -0.010112186893820763 + ], + "orientation": [ + 0.7130622863769531, + -0.22436930239200592, + 0.5394514799118042, + 0.38754695653915405 + ], + "joints": [ + -0.008382812142372131 + ] + }, + "final_grasp": { + "position": [ + 0.11477944999933243, + -0.05599723383784294, + -0.010112186893820763 + ], + "orientation": [ + 0.7130622863769531, + -0.22436930239200592, + 0.5394514799118042, + 0.38754695653915405 + ], + "joints": [ + -0.0020060166716575623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02971072867512703, + 0.13483695685863495, + -0.008901347406208515 + ], + "orientation": [ + 0.009398876689374447, + 0.7695847153663635, + -0.05725330486893654, + -0.6359034776687622 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.029671113938093185, + 0.13148733973503113, + -0.008171961642801762 + ], + "orientation": [ + 0.010568606667220592, + 0.759458601474762, + -0.054240673780441284, + -0.6482043266296387 + ], + "joints": [ + -0.008468187414109707 + ] + }, + "final_grasp": { + "position": [ + 0.029671113938093185, + 0.13148733973503113, + -0.008171961642801762 + ], + "orientation": [ + 0.010568606667220592, + 0.759458601474762, + -0.054240673780441284, + -0.6482043266296387 + ], + "joints": [ + -0.0010285917669534683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002768825739622116, + -0.09651116281747818, + 0.0798550546169281 + ], + "orientation": [ + 0.9637660384178162, + -0.25202950835227966, + -0.08618132025003433, + 0.014460891485214233 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.0029647513292729855, + -0.0963483452796936, + 0.08081790059804916 + ], + "orientation": [ + 0.9672704339027405, + -0.2431877851486206, + -0.07170236110687256, + 0.010320000350475311 + ], + "joints": [ + -0.008917005732655525 + ] + }, + "final_grasp": { + "position": [ + -0.0029647513292729855, + -0.0963483452796936, + 0.08081790059804916 + ], + "orientation": [ + 0.9672704339027405, + -0.2431877851486206, + -0.07170236110687256, + 0.010320000350475311 + ], + "joints": [ + -0.0019556693732738495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015593933640047908, + -0.10887892544269562, + 0.0032381664495915174 + ], + "orientation": [ + 0.671862781047821, + 0.012105719186365604, + -0.7399754524230957, + 0.029835032299160957 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.0018570072716102004, + -0.11237725615501404, + 0.003477984806522727 + ], + "orientation": [ + 0.6545897126197815, + 0.01430732011795044, + -0.7552796006202698, + 0.029331166297197342 + ], + "joints": [ + -0.010063781403005123 + ] + }, + "final_grasp": { + "position": [ + 0.0018570072716102004, + -0.11237725615501404, + 0.003477984806522727 + ], + "orientation": [ + 0.6545897126197815, + 0.01430732011795044, + -0.7552796006202698, + 0.029331166297197342 + ], + "joints": [ + -0.0036604125052690506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017791006714105606, + -0.04546907916665077, + 0.12269782274961472 + ], + "orientation": [ + 0.06130358576774597, + -0.12955772876739502, + 0.8769766092300415, + -0.45865970849990845 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.01615525595843792, + -0.04747999086976051, + 0.12381833791732788 + ], + "orientation": [ + 0.05554822459816933, + -0.10916407406330109, + 0.8807879090309143, + -0.457395076751709 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + 0.01615525595843792, + -0.04747999086976051, + 0.12381833791732788 + ], + "orientation": [ + 0.05554822459816933, + -0.10916407406330109, + 0.8807879090309143, + -0.457395076751709 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0075068227015435696, + 0.1332186907529831, + 0.0009348637540824711 + ], + "orientation": [ + 0.08694525063037872, + -0.6309058666229248, + -0.07853087782859802, + -0.7669623494148254 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.006425488740205765, + 0.13155749440193176, + 0.0006070426316000521 + ], + "orientation": [ + 0.08051744848489761, + -0.6472433805465698, + -0.08164898306131363, + -0.7536088824272156 + ], + "joints": [ + -0.009474975988268852 + ] + }, + "final_grasp": { + "position": [ + -0.006425488740205765, + 0.13155749440193176, + 0.0006070426316000521 + ], + "orientation": [ + 0.08051744848489761, + -0.6472433805465698, + -0.08164898306131363, + -0.7536088824272156 + ], + "joints": [ + -0.0030716098845005035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04742855206131935, + 0.12708182632923126, + 0.026919396594166756 + ], + "orientation": [ + 0.00013957657210994512, + 0.6549580097198486, + -0.13453593850135803, + 0.7435927987098694 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.04723864048719406, + 0.1292453408241272, + 0.025221362709999084 + ], + "orientation": [ + 0.008445163257420063, + 0.6593704223632812, + -0.1279916912317276, + 0.7407950758934021 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.04723864048719406, + 0.1292453408241272, + 0.025221362709999084 + ], + "orientation": [ + 0.008445163257420063, + 0.6593704223632812, + -0.1279916912317276, + 0.7407950758934021 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008309907279908657, + 0.13371911644935608, + 0.006772012449800968 + ], + "orientation": [ + 0.004276454448699951, + 0.05419372394680977, + 0.0732153058052063, + 0.9958335161209106 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.0036911654751747847, + 0.133488729596138, + 0.008927653543651104 + ], + "orientation": [ + 0.01782170683145523, + 0.05106212943792343, + 0.0922756940126419, + 0.9942637085914612 + ], + "joints": [ + -0.00838133879005909 + ] + }, + "final_grasp": { + "position": [ + 0.0036911654751747847, + 0.133488729596138, + 0.008927653543651104 + ], + "orientation": [ + 0.01782170683145523, + 0.05106212943792343, + 0.0922756940126419, + 0.9942637085914612 + ], + "joints": [ + -0.0014731436967849731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013691454194486141, + -0.10413671284914017, + 0.009782190434634686 + ], + "orientation": [ + 0.0648103654384613, + 0.05891948938369751, + -0.9943878650665283, + -0.05933681130409241 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.012672610580921173, + -0.10421469062566757, + 0.011257467791438103 + ], + "orientation": [ + 0.056276850402355194, + 0.04678545892238617, + -0.9947458505630493, + -0.07158719003200531 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + 0.012672610580921173, + -0.10421469062566757, + 0.011257467791438103 + ], + "orientation": [ + 0.056276850402355194, + 0.04678545892238617, + -0.9947458505630493, + -0.07158719003200531 + ], + "joints": [ + -0.0024211257696151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002158635761588812, + -0.10330783575773239, + -0.020804032683372498 + ], + "orientation": [ + 0.9977752566337585, + 0.009172146208584309, + 0.0644741803407669, + 0.014266679994761944 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.0003656480985227972, + -0.10799670219421387, + -0.021274244412779808 + ], + "orientation": [ + 0.9980363845825195, + 0.0033545922487974167, + 0.05959979072213173, + 0.01897752471268177 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + 0.0003656480985227972, + -0.10799670219421387, + -0.021274244412779808 + ], + "orientation": [ + 0.9980363845825195, + 0.0033545922487974167, + 0.05959979072213173, + 0.01897752471268177 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01361420750617981, + -0.10409862548112869, + 0.009778493084013462 + ], + "orientation": [ + 0.06349192559719086, + 0.05869261175394058, + -0.9944560527801514, + -0.05984167382121086 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.012645842507481575, + -0.10419853776693344, + 0.011356464587152004 + ], + "orientation": [ + 0.05524734407663345, + 0.04677893593907356, + -0.9946940541267395, + -0.073096364736557 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + 0.012645842507481575, + -0.10419853776693344, + 0.011356464587152004 + ], + "orientation": [ + 0.05524734407663345, + 0.04677893593907356, + -0.9946940541267395, + -0.073096364736557 + ], + "joints": [ + -0.0024211257696151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009246817789971828, + 0.055016323924064636, + -0.12111280113458633 + ], + "orientation": [ + 0.0338490754365921, + -0.021492386236786842, + -0.5357480645179749, + -0.8434253334999084 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.008886341005563736, + 0.056996576488018036, + -0.12535668909549713 + ], + "orientation": [ + 0.022200370207428932, + -0.03644846752285957, + -0.5359199643135071, + -0.843189537525177 + ], + "joints": [ + -0.008943576365709305 + ] + }, + "final_grasp": { + "position": [ + -0.008886341005563736, + 0.056996576488018036, + -0.12535668909549713 + ], + "orientation": [ + 0.022200370207428932, + -0.03644846752285957, + -0.5359199643135071, + -0.843189537525177 + ], + "joints": [ + -0.0020088106393814087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013651051558554173, + -0.10402330011129379, + 0.00986894965171814 + ], + "orientation": [ + 0.06344985216856003, + 0.05879829078912735, + -0.9944035410881042, + -0.060650572180747986 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.012641241773962975, + -0.10420072823762894, + 0.011346218176186085 + ], + "orientation": [ + 0.05509667098522186, + 0.04676305502653122, + -0.9946961402893066, + -0.07319242507219315 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + 0.012641241773962975, + -0.10420072823762894, + 0.011346218176186085 + ], + "orientation": [ + 0.05509667098522186, + 0.04676305502653122, + -0.9946961402893066, + -0.07319242507219315 + ], + "joints": [ + -0.0024211257696151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004458002746105194, + 0.12579131126403809, + 0.0673055574297905 + ], + "orientation": [ + 0.009093796834349632, + 0.03932584822177887, + -0.17892828583717346, + 0.9830337762832642 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.005277104210108519, + 0.12684734165668488, + 0.06959958374500275 + ], + "orientation": [ + 0.01502390205860138, + 0.029735054820775986, + -0.1617787778377533, + 0.9862645268440247 + ], + "joints": [ + -0.007792530115693808 + ] + }, + "final_grasp": { + "position": [ + 0.005277104210108519, + 0.12684734165668488, + 0.06959958374500275 + ], + "orientation": [ + 0.01502390205860138, + 0.029735054820775986, + -0.1617787778377533, + 0.9862645268440247 + ], + "joints": [ + -0.0008843345567584038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013629899360239506, + -0.10402843356132507, + 0.009851331822574139 + ], + "orientation": [ + 0.06284349411725998, + 0.05875580012798309, + -0.9944504499435425, + -0.060552868992090225 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.012631086632609367, + -0.10421367734670639, + 0.011364979669451714 + ], + "orientation": [ + 0.054186563938856125, + 0.0467282272875309, + -0.9947393536567688, + -0.07330787926912308 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + 0.012631086632609367, + -0.10421367734670639, + 0.011364979669451714 + ], + "orientation": [ + 0.054186563938856125, + 0.0467282272875309, + -0.9947393536567688, + -0.07330787926912308 + ], + "joints": [ + -0.0024211257696151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0093838507309556, + -0.10739010572433472, + 0.0268508680164814 + ], + "orientation": [ + 0.03180505335330963, + 0.03725200891494751, + 0.9953292608261108, + -0.08318867534399033 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.010458740405738354, + -0.1084810122847557, + 0.02885318174958229 + ], + "orientation": [ + 0.0598306767642498, + 0.03316443786025047, + 0.9945225119590759, + -0.07902858406305313 + ], + "joints": [ + -0.009532381780445576 + ] + }, + "final_grasp": { + "position": [ + -0.010458740405738354, + -0.1084810122847557, + 0.02885318174958229 + ], + "orientation": [ + 0.0598306767642498, + 0.03316443786025047, + 0.9945225119590759, + -0.07902858406305313 + ], + "joints": [ + -0.0025976132601499557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009823879227042198, + -0.05099805071949959, + -0.11772029101848602 + ], + "orientation": [ + 0.8856117725372314, + 0.4458984434604645, + -0.08252594619989395, + -0.10027920454740524 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.00840134546160698, + -0.0523645244538784, + -0.11867313086986542 + ], + "orientation": [ + 0.8880301117897034, + 0.4449033737182617, + -0.08020298928022385, + -0.08385089784860611 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.00840134546160698, + -0.0523645244538784, + -0.11867313086986542 + ], + "orientation": [ + 0.8880301117897034, + 0.4449033737182617, + -0.08020298928022385, + -0.08385089784860611 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0019602773245424032, + -0.10905079543590546, + 0.0035799008328467607 + ], + "orientation": [ + 0.6713641881942749, + 0.011756506748497486, + -0.7403703927993774, + 0.03136223927140236 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.0024563190527260303, + -0.11218459159135818, + 0.0038927069399505854 + ], + "orientation": [ + 0.6534116864204407, + 0.013546149246394634, + -0.7562788724899292, + 0.030199246481060982 + ], + "joints": [ + -0.010063781403005123 + ] + }, + "final_grasp": { + "position": [ + 0.0024563190527260303, + -0.11218459159135818, + 0.0038927069399505854 + ], + "orientation": [ + 0.6534116864204407, + 0.013546149246394634, + -0.7562788724899292, + 0.030199246481060982 + ], + "joints": [ + -0.0036604125052690506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00897346343845129, + 0.05464648827910423, + -0.12097787857055664 + ], + "orientation": [ + 0.03298457711935043, + -0.0207686610519886, + -0.5371915102005005, + -0.842559278011322 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.008579691872000694, + 0.05665179714560509, + -0.12537482380867004 + ], + "orientation": [ + 0.021243680268526077, + -0.03548744320869446, + -0.5372232794761658, + -0.8424253463745117 + ], + "joints": [ + -0.008943576365709305 + ] + }, + "final_grasp": { + "position": [ + -0.008579691872000694, + 0.05665179714560509, + -0.12537482380867004 + ], + "orientation": [ + 0.021243680268526077, + -0.03548744320869446, + -0.5372232794761658, + -0.8424253463745117 + ], + "joints": [ + -0.0020088106393814087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018091576173901558, + -0.045374080538749695, + 0.12286920100450516 + ], + "orientation": [ + 0.06254541873931885, + -0.1316918581724167, + 0.8764579892158508, + -0.45887553691864014 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.01625431515276432, + -0.04719221591949463, + 0.1236950233578682 + ], + "orientation": [ + 0.05544815957546234, + -0.10969983041286469, + 0.8800843954086304, + -0.458631694316864 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + 0.01625431515276432, + -0.04719221591949463, + 0.1236950233578682 + ], + "orientation": [ + 0.05544815957546234, + -0.10969983041286469, + 0.8800843954086304, + -0.458631694316864 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008272775448858738, + -0.06216580420732498, + -0.11332879960536957 + ], + "orientation": [ + 0.02935083396732807, + 0.0564257875084877, + 0.9154738783836365, + 0.3973189890384674 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.009271965362131596, + -0.06548158824443817, + -0.11730840057134628 + ], + "orientation": [ + 0.0323391854763031, + 0.052271753549575806, + 0.9167354106903076, + 0.3947378396987915 + ], + "joints": [ + -0.009330717846751213 + ] + }, + "final_grasp": { + "position": [ + -0.009271965362131596, + -0.06548158824443817, + -0.11730840057134628 + ], + "orientation": [ + 0.0323391854763031, + 0.052271753549575806, + 0.9167354106903076, + 0.3947378396987915 + ], + "joints": [ + -0.003990150988101959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03939671441912651, + -0.1006682813167572, + -0.01878858357667923 + ], + "orientation": [ + 0.6663348078727722, + 0.0014320496702566743, + 0.7380951642990112, + 0.10588400065898895 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.040087662637233734, + -0.10338278114795685, + -0.019091129302978516 + ], + "orientation": [ + 0.6755824685096741, + -0.0007816749857738614, + 0.7305657267570496, + 0.09930507093667984 + ], + "joints": [ + -0.008799318224191666 + ] + }, + "final_grasp": { + "position": [ + 0.040087662637233734, + -0.10338278114795685, + -0.019091129302978516 + ], + "orientation": [ + 0.6755824685096741, + -0.0007816749857738614, + 0.7305657267570496, + 0.09930507093667984 + ], + "joints": [ + -0.0029273517429828644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018240222707390785, + -0.045393794775009155, + 0.12292978912591934 + ], + "orientation": [ + 0.06347158551216125, + -0.13283750414848328, + 0.8761950135231018, + -0.45892027020454407 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.01620587892830372, + -0.04706370458006859, + 0.12351611256599426 + ], + "orientation": [ + 0.05515946075320244, + -0.10924899578094482, + 0.8794928193092346, + -0.4599068760871887 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + 0.01620587892830372, + -0.04706370458006859, + 0.12351611256599426 + ], + "orientation": [ + 0.05515946075320244, + -0.10924899578094482, + 0.8794928193092346, + -0.4599068760871887 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012971526011824608, + -0.10585728287696838, + -0.017250552773475647 + ], + "orientation": [ + 0.7215532064437866, + 0.03541481867432594, + -0.6879438161849976, + -0.06957098841667175 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.011508915573358536, + -0.10690049082040787, + -0.01766206882894039 + ], + "orientation": [ + 0.7260249257087708, + 0.03616517037153244, + -0.6841928958892822, + -0.058821212500333786 + ], + "joints": [ + -0.008886167779564857 + ] + }, + "final_grasp": { + "position": [ + 0.011508915573358536, + -0.10690049082040787, + -0.01766206882894039 + ], + "orientation": [ + 0.7260249257087708, + 0.03616517037153244, + -0.6841928958892822, + -0.058821212500333786 + ], + "joints": [ + -0.002482801675796509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012861759401857853, + -0.10609087347984314, + -0.01729099452495575 + ], + "orientation": [ + 0.7212467789649963, + 0.03513317555189133, + -0.6882551908493042, + -0.06981144100427628 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.011514945887029171, + -0.10696377605199814, + -0.01765003241598606 + ], + "orientation": [ + 0.7254873514175415, + 0.035779695957899094, + -0.6847625970840454, + -0.05906098335981369 + ], + "joints": [ + -0.008886167779564857 + ] + }, + "final_grasp": { + "position": [ + 0.011514945887029171, + -0.10696377605199814, + -0.01765003241598606 + ], + "orientation": [ + 0.7254873514175415, + 0.035779695957899094, + -0.6847625970840454, + -0.05906098335981369 + ], + "joints": [ + -0.002482801675796509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01300873328000307, + -0.10608720779418945, + -0.01709599234163761 + ], + "orientation": [ + 0.7209953665733337, + 0.0348416268825531, + -0.6886133551597595, + -0.06901860982179642 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.011622387915849686, + -0.10694924741983414, + -0.01744501106441021 + ], + "orientation": [ + 0.7249963879585266, + 0.03534187749028206, + -0.6853659152984619, + -0.05834874138236046 + ], + "joints": [ + -0.008886167779564857 + ] + }, + "final_grasp": { + "position": [ + 0.011622387915849686, + -0.10694924741983414, + -0.01744501106441021 + ], + "orientation": [ + 0.7249963879585266, + 0.03534187749028206, + -0.6853659152984619, + -0.05834874138236046 + ], + "joints": [ + -0.002482801675796509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023826487362384796, + 0.14350654184818268, + -0.009462172165513039 + ], + "orientation": [ + 0.07286246865987778, + 0.9921522736549377, + -0.09281234443187714, + -0.041362203657627106 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + 0.022543348371982574, + 0.1385875791311264, + -0.008194984868168831 + ], + "orientation": [ + 0.07711208611726761, + 0.9920040965080261, + -0.09710939228534698, + -0.023480124771595 + ], + "joints": [ + -0.010177199728786945 + ] + }, + "final_grasp": { + "position": [ + 0.022543348371982574, + 0.1385875791311264, + -0.008194984868168831 + ], + "orientation": [ + 0.07711208611726761, + 0.9920040965080261, + -0.09710939228534698, + -0.023480124771595 + ], + "joints": [ + -0.0032689999788999557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02364935539662838, + 0.14362914860248566, + -0.009635633789002895 + ], + "orientation": [ + 0.07362884283065796, + 0.9922172427177429, + -0.09194116294384003, + -0.04038120433688164 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + 0.022362053394317627, + 0.13865546882152557, + -0.008494534529745579 + ], + "orientation": [ + 0.07709809392690659, + 0.992123007774353, + -0.09627703577280045, + -0.02187514118850231 + ], + "joints": [ + -0.010177199728786945 + ] + }, + "final_grasp": { + "position": [ + 0.022362053394317627, + 0.13865546882152557, + -0.008494534529745579 + ], + "orientation": [ + 0.07709809392690659, + 0.992123007774353, + -0.09627703577280045, + -0.02187514118850231 + ], + "joints": [ + -0.0032689999788999557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008954713121056557, + 0.12838393449783325, + -0.0031552270520478487 + ], + "orientation": [ + 0.08665372431278229, + -0.6538528203964233, + 0.09665177017450333, + 0.7454033493995667 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.006430181674659252, + 0.12883731722831726, + -0.001973958220332861 + ], + "orientation": [ + 0.10374431312084198, + -0.6650344133377075, + 0.10253959149122238, + 0.7324289083480835 + ], + "joints": [ + -0.00894070602953434 + ] + }, + "final_grasp": { + "position": [ + 0.006430181674659252, + 0.12883731722831726, + -0.001973958220332861 + ], + "orientation": [ + 0.10374431312084198, + -0.6650344133377075, + 0.10253959149122238, + 0.7324289083480835 + ], + "joints": [ + -0.0020325109362602234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008119734935462475, + -0.062149446457624435, + -0.11331845819950104 + ], + "orientation": [ + 0.028587520122528076, + 0.05510852485895157, + 0.9155998826026917, + 0.39726904034614563 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.009148797951638699, + -0.06559757143259048, + -0.11726105958223343 + ], + "orientation": [ + 0.031149789690971375, + 0.05056888982653618, + 0.9164223074913025, + 0.3957810401916504 + ], + "joints": [ + -0.00930275022983551 + ] + }, + "final_grasp": { + "position": [ + -0.009148797951638699, + -0.06559757143259048, + -0.11726105958223343 + ], + "orientation": [ + 0.031149789690971375, + 0.05056888982653618, + 0.9164223074913025, + 0.3957810401916504 + ], + "joints": [ + -0.004493582993745804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0510135255753994, + -0.09999748319387436, + -0.01649087853729725 + ], + "orientation": [ + 0.7297501564025879, + -0.01692160964012146, + 0.6703140139579773, + 0.13363218307495117 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.05188394710421562, + -0.10170620679855347, + -0.016023049131035805 + ], + "orientation": [ + 0.7256688475608826, + -0.020126599818468094, + 0.6773301959037781, + 0.11926235258579254 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + 0.05188394710421562, + -0.10170620679855347, + -0.016023049131035805 + ], + "orientation": [ + 0.7256688475608826, + -0.020126599818468094, + 0.6773301959037781, + 0.11926235258579254 + ], + "joints": [ + -0.0024211257696151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07147396355867386, + -0.08980423957109451, + 0.0049093058332800865 + ], + "orientation": [ + 0.722089946269989, + -0.14774909615516663, + -0.6629092693328857, + -0.13155817985534668 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.07345898449420929, + -0.09446148574352264, + 0.006554191000759602 + ], + "orientation": [ + 0.7171755433082581, + -0.14315031468868256, + -0.6689110994338989, + -0.13313543796539307 + ], + "joints": [ + -0.009332191199064255 + ] + }, + "final_grasp": { + "position": [ + -0.07345898449420929, + -0.09446148574352264, + 0.006554191000759602 + ], + "orientation": [ + 0.7171755433082581, + -0.14315031468868256, + -0.6689110994338989, + -0.13313543796539307 + ], + "joints": [ + -0.004523023962974548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03284832090139389, + 0.1288524717092514, + 0.02266145870089531 + ], + "orientation": [ + 0.037380531430244446, + 0.6499525308609009, + 0.154012069106102, + -0.7432661652565002 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.03217590972781181, + 0.12468504905700684, + 0.020381949841976166 + ], + "orientation": [ + 0.04331902414560318, + 0.6607096791267395, + 0.15122047066688538, + -0.7339745163917542 + ], + "joints": [ + -0.009532381780445576 + ] + }, + "final_grasp": { + "position": [ + -0.03217590972781181, + 0.12468504905700684, + 0.020381949841976166 + ], + "orientation": [ + 0.04331902414560318, + 0.6607096791267395, + 0.15122047066688538, + -0.7339745163917542 + ], + "joints": [ + -0.0025976132601499557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10902457684278488, + -0.06690697371959686, + 0.01721528172492981 + ], + "orientation": [ + 0.6190850138664246, + -0.3365631103515625, + -0.6844980120658875, + -0.18687321245670319 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.11272997409105301, + -0.06792519241571426, + 0.018126191571354866 + ], + "orientation": [ + 0.6174767017364502, + -0.32849106192588806, + -0.6923647522926331, + -0.1773335337638855 + ], + "joints": [ + -0.008153101429343224 + ] + }, + "final_grasp": { + "position": [ + -0.11272997409105301, + -0.06792519241571426, + 0.018126191571354866 + ], + "orientation": [ + 0.6174767017364502, + -0.32849106192588806, + -0.6923647522926331, + -0.1773335337638855 + ], + "joints": [ + -0.0028125345706939697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10954491794109344, + -0.06767922639846802, + 0.017278306186199188 + ], + "orientation": [ + 0.6196211576461792, + -0.3358522951602936, + -0.6838700771331787, + -0.1886654645204544 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.11405523121356964, + -0.0697828009724617, + 0.018190277740359306 + ], + "orientation": [ + 0.6176865100860596, + -0.3273083567619324, + -0.6921757459640503, + -0.17951469123363495 + ], + "joints": [ + -0.008153101429343224 + ] + }, + "final_grasp": { + "position": [ + -0.11405523121356964, + -0.0697828009724617, + 0.018190277740359306 + ], + "orientation": [ + 0.6176865100860596, + -0.3273083567619324, + -0.6921757459640503, + -0.17951469123363495 + ], + "joints": [ + -0.0028125345706939697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00855652242898941, + -0.06345166265964508, + -0.11351814866065979 + ], + "orientation": [ + 0.026984138414263725, + 0.054012592881917953, + 0.9135491251945496, + 0.40222182869911194 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.00915392953902483, + -0.06736978888511658, + -0.11724638938903809 + ], + "orientation": [ + 0.02661239169538021, + 0.04828760027885437, + 0.9129462242126465, + 0.40433812141418457 + ], + "joints": [ + -0.008825888857245445 + ] + }, + "final_grasp": { + "position": [ + -0.00915392953902483, + -0.06736978888511658, + -0.11724638938903809 + ], + "orientation": [ + 0.02661239169538021, + 0.04828760027885437, + 0.9129462242126465, + 0.40433812141418457 + ], + "joints": [ + -0.0029804930090904236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008876469917595387, + -0.1049276739358902, + 0.02014409936964512 + ], + "orientation": [ + 9.743146802065894e-05, + -0.03894742950797081, + -0.991392195224762, + 0.12499836087226868 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.009523041546344757, + -0.10518557578325272, + 0.02037961781024933 + ], + "orientation": [ + 0.0016750203212723136, + -0.035177867859601974, + -0.991273820400238, + 0.12702706456184387 + ], + "joints": [ + -0.009474975988268852 + ] + }, + "final_grasp": { + "position": [ + -0.009523041546344757, + -0.10518557578325272, + 0.02037961781024933 + ], + "orientation": [ + 0.0016750203212723136, + -0.035177867859601974, + -0.991273820400238, + 0.12702706456184387 + ], + "joints": [ + -0.0030716098845005035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00849470030516386, + -0.0631825178861618, + -0.11359675228595734 + ], + "orientation": [ + 0.026325099170207977, + 0.05365149304270744, + 0.9140544533729553, + 0.4011644423007965 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.009199411608278751, + -0.06718569248914719, + -0.11724379658699036 + ], + "orientation": [ + 0.026899060234427452, + 0.048437997698783875, + 0.9129612445831299, + 0.4042673110961914 + ], + "joints": [ + -0.008825888857245445 + ] + }, + "final_grasp": { + "position": [ + -0.009199411608278751, + -0.06718569248914719, + -0.11724379658699036 + ], + "orientation": [ + 0.026899060234427452, + 0.048437997698783875, + 0.9129612445831299, + 0.4042673110961914 + ], + "joints": [ + -0.0029804930090904236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008789909072220325, + -0.10342714190483093, + 0.03232172876596451 + ], + "orientation": [ + 0.9981911182403564, + -0.04515814408659935, + 0.011945669539272785, + 0.03784876689314842 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.00966566801071167, + -0.10529783368110657, + 0.033196914941072464 + ], + "orientation": [ + 0.9988066554069519, + -0.035283833742141724, + 0.0028631703462451696, + 0.03364771604537964 + ], + "joints": [ + -0.009333588182926178 + ] + }, + "final_grasp": { + "position": [ + 0.00966566801071167, + -0.10529783368110657, + 0.033196914941072464 + ], + "orientation": [ + 0.9988066554069519, + -0.035283833742141724, + 0.0028631703462451696, + 0.03364771604537964 + ], + "joints": [ + -0.0039664506912231445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00881456770002842, + -0.1034240871667862, + 0.03223996236920357 + ], + "orientation": [ + 0.998207151889801, + -0.044764477759599686, + 0.011719055473804474, + 0.03796432539820671 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.009773374535143375, + -0.1052570641040802, + 0.03319209814071655 + ], + "orientation": [ + 0.9988667368888855, + -0.03409341722726822, + 0.0029925184790045023, + 0.033074043691158295 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + 0.009773374535143375, + -0.1052570641040802, + 0.03319209814071655 + ], + "orientation": [ + 0.9988667368888855, + -0.03409341722726822, + 0.0029925184790045023, + 0.033074043691158295 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11495226621627808, + -0.06186005845665932, + 0.00479570496827364 + ], + "orientation": [ + 0.6539722681045532, + 0.27312976121902466, + 0.6321064829826355, + -0.31330761313438416 + ], + "joints": [ + -0.015201210975646973 + ] + }, + "fine_grasp": { + "position": [ + -0.1184346079826355, + -0.06592768430709839, + 0.004730070009827614 + ], + "orientation": [ + 0.6503825783729553, + 0.27764126658439636, + 0.6341904997825623, + -0.31260234117507935 + ], + "joints": [ + -0.008293015882372856 + ] + }, + "final_grasp": { + "position": [ + -0.1184346079826355, + -0.06592768430709839, + 0.004730070009827614 + ], + "orientation": [ + 0.6503825783729553, + 0.27764126658439636, + 0.6341904997825623, + -0.31260234117507935 + ], + "joints": [ + -0.0013848207890987396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11490481346845627, + -0.06210925430059433, + 0.004764633718878031 + ], + "orientation": [ + 0.6535976529121399, + 0.2734753489494324, + 0.6325339674949646, + -0.3129251003265381 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.11848454177379608, + -0.06609532237052917, + 0.004672032780945301 + ], + "orientation": [ + 0.6504476070404053, + 0.2772919833660126, + 0.6347341537475586, + -0.3116723895072937 + ], + "joints": [ + -0.008295886218547821 + ] + }, + "final_grasp": { + "position": [ + -0.11848454177379608, + -0.06609532237052917, + 0.004672032780945301 + ], + "orientation": [ + 0.6504476070404053, + 0.2772919833660126, + 0.6347341537475586, + -0.3116723895072937 + ], + "joints": [ + -0.001361120492219925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02904067374765873, + 0.13440361618995667, + 0.0112815722823143 + ], + "orientation": [ + 0.02924134023487568, + -0.6978591084480286, + -0.033332325518131256, + 0.7148612141609192 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.030550260096788406, + 0.13207398355007172, + 0.010876528918743134 + ], + "orientation": [ + 0.039955344051122665, + -0.7070418000221252, + -0.02820226363837719, + 0.7054785490036011 + ], + "joints": [ + -0.007679110858589411 + ] + }, + "final_grasp": { + "position": [ + -0.030550260096788406, + 0.13207398355007172, + 0.010876528918743134 + ], + "orientation": [ + 0.039955344051122665, + -0.7070418000221252, + -0.02820226363837719, + 0.7054785490036011 + ], + "joints": [ + -0.0012757452204823494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12021486461162567, + -0.05747788026928902, + 0.025396516546607018 + ], + "orientation": [ + 0.5936040878295898, + 0.24484096467494965, + -0.6732645630836487, + 0.36660870909690857 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.1213097795844078, + -0.0570649579167366, + 0.02262435108423233 + ], + "orientation": [ + 0.5961707234382629, + 0.2485915720462799, + -0.676339864730835, + 0.3540440499782562 + ], + "joints": [ + -0.006697419099509716 + ] + }, + "final_grasp": { + "position": [ + 0.1213097795844078, + -0.0570649579167366, + 0.02262435108423233 + ], + "orientation": [ + 0.5961707234382629, + 0.2485915720462799, + -0.676339864730835, + 0.3540440499782562 + ], + "joints": [ + 0.0012470055371522903 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2029, + "num_passed": 404 + } +} \ No newline at end of file diff --git a/006_hamburg_4/Annotation/piper_grasp_pose.json b/006_hamburg_4/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..7f157ae932f6ff31e95b461653d9c2a0ace874a4 --- /dev/null +++ b/006_hamburg_4/Annotation/piper_grasp_pose.json @@ -0,0 +1,5518 @@ +{ + "type": "006_hamburg_4", + "bottom_center": [ + -5.057081580162048e-06, + 0.014800485223531723, + -0.03284718468785286 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0033492029178887606, + -0.05982906371355057, + -0.11910317093133926 + ], + "orientation": [ + 0.6822414398193359, + -0.14325135946273804, + -0.1681295484304428, + -0.6969635486602783 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.003224373562261462, + -0.05689775571227074, + -0.11716312915086746 + ], + "orientation": [ + 0.6798449158668518, + -0.15370461344718933, + -0.17755204439163208, + -0.6947382092475891 + ], + "joints": [ + 0.025240927934646606 + ] + }, + "final_grasp": { + "position": [ + 0.003224373562261462, + -0.05689775571227074, + -0.11716312915086746 + ], + "orientation": [ + 0.6798449158668518, + -0.15370461344718933, + -0.17755204439163208, + -0.6947382092475891 + ], + "joints": [ + 0.01805209368467331 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003296129871159792, + -0.05958719179034233, + -0.11889350414276123 + ], + "orientation": [ + 0.6825260519981384, + -0.14301037788391113, + -0.16742008924484253, + -0.6969049572944641 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.003169962204992771, + -0.05661935731768608, + -0.11698871850967407 + ], + "orientation": [ + 0.6800366640090942, + -0.15391312539577484, + -0.1773039549589157, + -0.6945677399635315 + ], + "joints": [ + 0.02566114068031311 + ] + }, + "final_grasp": { + "position": [ + 0.003169962204992771, + -0.05661935731768608, + -0.11698871850967407 + ], + "orientation": [ + 0.6800366640090942, + -0.15391312539577484, + -0.1773039549589157, + -0.6945677399635315 + ], + "joints": [ + 0.018869362771511078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11880037188529968, + 0.014438769780099392, + 0.058725278824567795 + ], + "orientation": [ + 0.0036511116195470095, + -0.8396570086479187, + 0.009490380063652992, + -0.5430217981338501 + ], + "joints": [ + 0.023806938901543617 + ] + }, + "fine_grasp": { + "position": [ + -0.11570032685995102, + 0.014129593968391418, + 0.058632344007492065 + ], + "orientation": [ + 0.003484980436041951, + -0.8402937650680542, + 0.007872258313000202, + -0.5420628786087036 + ], + "joints": [ + 0.01419396884739399 + ] + }, + "final_grasp": { + "position": [ + -0.11570032685995102, + 0.014129593968391418, + 0.058632344007492065 + ], + "orientation": [ + 0.003484980436041951, + -0.8402937650680542, + 0.007872258313000202, + -0.5420628786087036 + ], + "joints": [ + 0.004580998793244362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11922898888587952, + 0.013717824593186378, + 0.05895562097430229 + ], + "orientation": [ + 0.008434170857071877, + -0.8437394499778748, + 0.010536721907556057, + -0.5365831851959229 + ], + "joints": [ + 0.023586150258779526 + ] + }, + "fine_grasp": { + "position": [ + -0.11546740680932999, + 0.013477984815835953, + 0.05912096053361893 + ], + "orientation": [ + 0.00797472707927227, + -0.8454752564430237, + 0.009030843153595924, + -0.5338788628578186 + ], + "joints": [ + 0.014391135424375534 + ] + }, + "final_grasp": { + "position": [ + -0.11546740680932999, + 0.013477984815835953, + 0.05912096053361893 + ], + "orientation": [ + 0.00797472707927227, + -0.8454752564430237, + 0.009030843153595924, + -0.5338788628578186 + ], + "joints": [ + 0.005196120589971542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11937106400728226, + 0.013582601211965084, + 0.05902249366044998 + ], + "orientation": [ + 0.009655951522290707, + -0.8437171578407288, + 0.011320192366838455, + -0.5365817546844482 + ], + "joints": [ + 0.02385697141289711 + ] + }, + "fine_grasp": { + "position": [ + -0.11558596044778824, + 0.013349817134439945, + 0.059157468378543854 + ], + "orientation": [ + 0.009438539855182171, + -0.8454139232635498, + 0.010197030380368233, + -0.5339310169219971 + ], + "joints": [ + 0.014264900237321854 + ] + }, + "final_grasp": { + "position": [ + -0.11558596044778824, + 0.013349817134439945, + 0.059157468378543854 + ], + "orientation": [ + 0.009438539855182171, + -0.8454139232635498, + 0.010197030380368233, + -0.5339310169219971 + ], + "joints": [ + 0.004672829061746597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15046913921833038, + 0.02481756918132305, + 0.0019984079990535975 + ], + "orientation": [ + 0.6186671257019043, + 0.4010480046272278, + -0.587380588054657, + -0.33375978469848633 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.14616283774375916, + 0.024257011711597443, + 0.002245423849672079 + ], + "orientation": [ + 0.6172608137130737, + 0.4053153097629547, + -0.5840115547180176, + -0.33710405230522156 + ], + "joints": [ + 0.027037952095270157 + ] + }, + "final_grasp": { + "position": [ + 0.14616283774375916, + 0.024257011711597443, + 0.002245423849672079 + ], + "orientation": [ + 0.6172608137130737, + 0.4053153097629547, + -0.5840115547180176, + -0.33710405230522156 + ], + "joints": [ + 0.019075904041528702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032739315181970596, + -0.04457356408238411, + -0.12654447555541992 + ], + "orientation": [ + 0.8584041595458984, + -0.14939860999584198, + 0.22003844380378723, + 0.4386405348777771 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.03183756396174431, + -0.04288458079099655, + -0.12284024804830551 + ], + "orientation": [ + 0.8552532196044922, + -0.14968903362751007, + 0.2192211002111435, + 0.44505882263183594 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + -0.03183756396174431, + -0.04288458079099655, + -0.12284024804830551 + ], + "orientation": [ + 0.8552532196044922, + -0.14968903362751007, + 0.2192211002111435, + 0.44505882263183594 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10889600217342377, + 0.01371400710195303, + -0.1173662543296814 + ], + "orientation": [ + 0.9389641284942627, + -0.06831111758947372, + 0.3087606132030487, + -0.13544988632202148 + ], + "joints": [ + 0.018561072647571564 + ] + }, + "fine_grasp": { + "position": [ + -0.1057952344417572, + 0.01369711384177208, + -0.11486438661813736 + ], + "orientation": [ + 0.9367115497589111, + -0.06728927046060562, + 0.3150133192539215, + -0.13715052604675293 + ], + "joints": [ + 0.01013927161693573 + ] + }, + "final_grasp": { + "position": [ + -0.1057952344417572, + 0.01369711384177208, + -0.11486438661813736 + ], + "orientation": [ + 0.9367115497589111, + -0.06728927046060562, + 0.3150133192539215, + -0.13715052604675293 + ], + "joints": [ + 0.0017174705862998962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09365372359752655, + 0.012385254725813866, + 0.10590769350528717 + ], + "orientation": [ + 0.2330079972743988, + -0.014237992465496063, + -0.9721825122833252, + -0.019125064834952354 + ], + "joints": [ + 0.02073584869503975 + ] + }, + "fine_grasp": { + "position": [ + 0.09017573297023773, + 0.011970664374530315, + 0.1040150374174118 + ], + "orientation": [ + 0.2606792151927948, + -0.006606613751500845, + -0.9653603434562683, + -0.009069504216313362 + ], + "joints": [ + 0.01352611556649208 + ] + }, + "final_grasp": { + "position": [ + 0.09017573297023773, + 0.011970664374530315, + 0.1040150374174118 + ], + "orientation": [ + 0.2606792151927948, + -0.006606613751500845, + -0.9653603434562683, + -0.009069504216313362 + ], + "joints": [ + 0.006316382437944412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09257718175649643, + 0.010137779638171196, + 0.107057586312294 + ], + "orientation": [ + 0.2461388111114502, + -0.014673096127808094, + -0.9690914154052734, + -0.007882953621447086 + ], + "joints": [ + 0.01932704821228981 + ] + }, + "fine_grasp": { + "position": [ + 0.08959069848060608, + 0.010217459872364998, + 0.10496528446674347 + ], + "orientation": [ + 0.2626033425331116, + -0.013952191919088364, + -0.9647300839424133, + -0.011860240250825882 + ], + "joints": [ + 0.012911427766084671 + ] + }, + "final_grasp": { + "position": [ + 0.08959069848060608, + 0.010217459872364998, + 0.10496528446674347 + ], + "orientation": [ + 0.2626033425331116, + -0.013952191919088364, + -0.9647300839424133, + -0.011860240250825882 + ], + "joints": [ + 0.006495807319879532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048038776963949203, + 0.12280995398759842, + -0.05476473644375801 + ], + "orientation": [ + 0.8425085544586182, + 0.520114541053772, + 0.13036873936653137, + 0.05161634832620621 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.047620050609111786, + 0.11924684047698975, + -0.052381038665771484 + ], + "orientation": [ + 0.8423250317573547, + 0.5217823386192322, + 0.12535198032855988, + 0.05018424615263939 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + -0.047620050609111786, + 0.11924684047698975, + -0.052381038665771484 + ], + "orientation": [ + 0.8423250317573547, + 0.5217823386192322, + 0.12535198032855988, + 0.05018424615263939 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06876448541879654, + 0.003849395550787449, + 0.1343284696340561 + ], + "orientation": [ + 0.17096154391765594, + -0.12189293652772903, + -0.9776523113250732, + -0.010497774928808212 + ], + "joints": [ + 0.020883068442344666 + ] + }, + "fine_grasp": { + "position": [ + 0.06733991205692291, + 0.0037664417177438736, + 0.1308683156967163 + ], + "orientation": [ + 0.175604909658432, + -0.1132512167096138, + -0.9778259992599487, + -0.013902909122407436 + ], + "joints": [ + 0.011688053607940674 + ] + }, + "final_grasp": { + "position": [ + 0.06733991205692291, + 0.0037664417177438736, + 0.1308683156967163 + ], + "orientation": [ + 0.175604909658432, + -0.1132512167096138, + -0.9778259992599487, + -0.013902909122407436 + ], + "joints": [ + 0.002493038773536682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006961685139685869, + -0.019316082820296288, + 0.15169501304626465 + ], + "orientation": [ + 0.08951732516288757, + -0.7934600710868835, + -0.5927632451057434, + -0.10506909340620041 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.006776089780032635, + -0.018451768904924393, + 0.14794450998306274 + ], + "orientation": [ + 0.08100638538599014, + -0.7833141088485718, + -0.608368456363678, + -0.09871600568294525 + ], + "joints": [ + 0.027093350887298584 + ] + }, + "final_grasp": { + "position": [ + -0.006776089780032635, + -0.018451768904924393, + 0.14794450998306274 + ], + "orientation": [ + 0.08100638538599014, + -0.7833141088485718, + -0.608368456363678, + -0.09871600568294525 + ], + "joints": [ + 0.019904516637325287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017465872690081596, + 0.1498710960149765, + 0.0385638028383255 + ], + "orientation": [ + 0.037190359085798264, + 0.0993463322520256, + 0.790912389755249, + -0.6026648283004761 + ], + "joints": [ + 0.032360292971134186 + ] + }, + "fine_grasp": { + "position": [ + -0.017397746443748474, + 0.14622879028320312, + 0.03762495890259743 + ], + "orientation": [ + 0.045054033398628235, + 0.09978184849023819, + 0.7881378531455994, + -0.6056835055351257 + ], + "joints": [ + 0.023499637842178345 + ] + }, + "final_grasp": { + "position": [ + -0.017397746443748474, + 0.14622879028320312, + 0.03762495890259743 + ], + "orientation": [ + 0.045054033398628235, + 0.09978184849023819, + 0.7881378531455994, + -0.6056835055351257 + ], + "joints": [ + 0.014638982713222504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013492117635905743, + -0.025209615007042885, + -0.13500156998634338 + ], + "orientation": [ + 0.4737303555011749, + -0.08891589939594269, + -0.10128597170114517, + -0.8702956438064575 + ], + "joints": [ + 0.03363383933901787 + ] + }, + "fine_grasp": { + "position": [ + -0.012155439704656601, + -0.023019473999738693, + -0.13190992176532745 + ], + "orientation": [ + 0.4768275022506714, + -0.10004409402608871, + -0.10608197003602982, + -0.8668179512023926 + ], + "joints": [ + 0.025671791285276413 + ] + }, + "final_grasp": { + "position": [ + -0.012155439704656601, + -0.023019473999738693, + -0.13190992176532745 + ], + "orientation": [ + 0.4768275022506714, + -0.10004409402608871, + -0.10608197003602982, + -0.8668179512023926 + ], + "joints": [ + 0.017709743231534958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01134746428579092, + -0.05168705806136131, + 0.12453561276197433 + ], + "orientation": [ + 0.08180604130029678, + -0.6545175313949585, + -0.7310440540313721, + -0.17461168766021729 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.011029444634914398, + -0.049182239919900894, + 0.12177398800849915 + ], + "orientation": [ + 0.1006123423576355, + -0.6549369692802429, + -0.7250092625617981, + -0.1878730058670044 + ], + "joints": [ + 0.026354704052209854 + ] + }, + "final_grasp": { + "position": [ + -0.011029444634914398, + -0.049182239919900894, + 0.12177398800849915 + ], + "orientation": [ + 0.1006123423576355, + -0.6549369692802429, + -0.7250092625617981, + -0.1878730058670044 + ], + "joints": [ + 0.02000178024172783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10901537537574768, + 0.012993445619940758, + -0.11681909114122391 + ], + "orientation": [ + 0.9387861490249634, + -0.07060424983501434, + 0.3102293014526367, + -0.13211068511009216 + ], + "joints": [ + 0.01848773844540119 + ] + }, + "fine_grasp": { + "position": [ + -0.10594142973423004, + 0.012903643772006035, + -0.11434853821992874 + ], + "orientation": [ + 0.9365541338920593, + -0.06880801171064377, + 0.3164915442466736, + -0.134033665060997 + ], + "joints": [ + 0.010483892634510994 + ] + }, + "final_grasp": { + "position": [ + -0.10594142973423004, + 0.012903643772006035, + -0.11434853821992874 + ], + "orientation": [ + 0.9365541338920593, + -0.06880801171064377, + 0.3164915442466736, + -0.134033665060997 + ], + "joints": [ + 0.002480046823620796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05531468987464905, + 0.1408289223909378, + 0.0356004498898983 + ], + "orientation": [ + 0.596129298210144, + 0.7860056757926941, + -0.05278961732983589, + -0.15504221618175507 + ], + "joints": [ + 0.0344674251973629 + ] + }, + "fine_grasp": { + "position": [ + 0.054707132279872894, + 0.13730783760547638, + 0.0344216413795948 + ], + "orientation": [ + 0.5981763601303101, + 0.7855411171913147, + -0.052169762551784515, + -0.14962811768054962 + ], + "joints": [ + 0.027633849531412125 + ] + }, + "final_grasp": { + "position": [ + 0.054707132279872894, + 0.13730783760547638, + 0.0344216413795948 + ], + "orientation": [ + 0.5981763601303101, + 0.7855411171913147, + -0.052169762551784515, + -0.14962811768054962 + ], + "joints": [ + 0.02080027386546135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0552617684006691, + 0.14130188524723053, + 0.035919949412345886 + ], + "orientation": [ + 0.5955339074134827, + 0.7865264415740967, + -0.05161774903535843, + -0.15508398413658142 + ], + "joints": [ + 0.034004319459199905 + ] + }, + "fine_grasp": { + "position": [ + 0.05461074784398079, + 0.13775493204593658, + 0.034788038581609726 + ], + "orientation": [ + 0.5971361994743347, + 0.7862935066223145, + -0.05117655545473099, + -0.15017248690128326 + ], + "joints": [ + 0.02717074379324913 + ] + }, + "final_grasp": { + "position": [ + 0.05461074784398079, + 0.13775493204593658, + 0.034788038581609726 + ], + "orientation": [ + 0.5971361994743347, + 0.7862935066223145, + -0.05117655545473099, + -0.15017248690128326 + ], + "joints": [ + 0.020337168127298355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09292348474264145, + 0.011845579370856285, + 0.10542570799589157 + ], + "orientation": [ + 0.23854376375675201, + -0.019115084782242775, + -0.9709386825561523, + -0.00306606269441545 + ], + "joints": [ + 0.019301965832710266 + ] + }, + "fine_grasp": { + "position": [ + 0.0892958864569664, + 0.012053663842380047, + 0.10327853262424469 + ], + "orientation": [ + 0.2669091820716858, + -0.018225189298391342, + -0.963535487651825, + -0.005149859003722668 + ], + "joints": [ + 0.013387896120548248 + ] + }, + "final_grasp": { + "position": [ + 0.0892958864569664, + 0.012053663842380047, + 0.10327853262424469 + ], + "orientation": [ + 0.2669091820716858, + -0.018225189298391342, + -0.963535487651825, + -0.005149859003722668 + ], + "joints": [ + 0.0074738264083862305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05234908685088158, + 0.13692666590213776, + -0.022407706826925278 + ], + "orientation": [ + 0.10830124467611313, + -0.21396352350711823, + 0.6179987788200378, + -0.7487108707427979 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.052197929471731186, + 0.1333138346672058, + -0.021424051374197006 + ], + "orientation": [ + 0.10066896677017212, + -0.20598040521144867, + 0.6204078793525696, + -0.7500213384628296 + ], + "joints": [ + 0.026588447391986847 + ] + }, + "final_grasp": { + "position": [ + -0.052197929471731186, + 0.1333138346672058, + -0.021424051374197006 + ], + "orientation": [ + 0.10066896677017212, + -0.20598040521144867, + 0.6204078793525696, + -0.7500213384628296 + ], + "joints": [ + 0.019357815384864807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019765634089708328, + -0.02732313796877861, + -0.1429356336593628 + ], + "orientation": [ + 0.9835954308509827, + -0.15756890177726746, + -0.0872039794921875, + 0.01037110760807991 + ], + "joints": [ + 0.02098812907934189 + ] + }, + "fine_grasp": { + "position": [ + 0.019583430141210556, + -0.026478400453925133, + -0.13943788409233093 + ], + "orientation": [ + 0.9836493134498596, + -0.158067524433136, + -0.08568892627954483, + 0.010300745256245136 + ], + "joints": [ + 0.012148372828960419 + ] + }, + "final_grasp": { + "position": [ + 0.019583430141210556, + -0.026478400453925133, + -0.13943788409233093 + ], + "orientation": [ + 0.9836493134498596, + -0.158067524433136, + -0.08568892627954483, + 0.010300745256245136 + ], + "joints": [ + 0.003308616578578949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0022116461768746376, + 0.14974406361579895, + 0.03293672949075699 + ], + "orientation": [ + 0.6207632422447205, + 0.7830924987792969, + -0.028511257842183113, + -0.024623842909932137 + ], + "joints": [ + 0.033286504447460175 + ] + }, + "fine_grasp": { + "position": [ + 0.002102677943184972, + 0.146246999502182, + 0.03195730969309807 + ], + "orientation": [ + 0.6214906573295593, + 0.7825646996498108, + -0.02802368998527527, + -0.023587709292769432 + ], + "joints": [ + 0.025219962000846863 + ] + }, + "final_grasp": { + "position": [ + 0.002102677943184972, + 0.146246999502182, + 0.03195730969309807 + ], + "orientation": [ + 0.6214906573295593, + 0.7825646996498108, + -0.02802368998527527, + -0.023587709292769432 + ], + "joints": [ + 0.01715341955423355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06800109893083572, + 0.0026733793783932924, + 0.13594023883342743 + ], + "orientation": [ + 0.16000038385391235, + -0.1636129468679428, + -0.9734630584716797, + 0.0006484934710897505 + ], + "joints": [ + 0.01912997104227543 + ] + }, + "fine_grasp": { + "position": [ + 0.06654233485460281, + 0.0027325081173330545, + 0.13251560926437378 + ], + "orientation": [ + 0.1687420904636383, + -0.15863889455795288, + -0.9728044867515564, + -0.0033752864692360163 + ], + "joints": [ + 0.009934956207871437 + ] + }, + "final_grasp": { + "position": [ + 0.06654233485460281, + 0.0027325081173330545, + 0.13251560926437378 + ], + "orientation": [ + 0.1687420904636383, + -0.15863889455795288, + -0.9728044867515564, + -0.0033752864692360163 + ], + "joints": [ + 0.0007399413734674454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012989872135221958, + 0.030082687735557556, + 0.1557132452726364 + ], + "orientation": [ + 0.060879312455654144, + 0.9878120422363281, + -0.12998434901237488, + 0.060210052877664566 + ], + "joints": [ + 0.019106294959783554 + ] + }, + "fine_grasp": { + "position": [ + 0.012995569035410881, + 0.029840555042028427, + 0.15170125663280487 + ], + "orientation": [ + 0.0556173175573349, + 0.9869000911712646, + -0.1463041752576828, + 0.03911313787102699 + ], + "joints": [ + 0.011541303247213364 + ] + }, + "final_grasp": { + "position": [ + 0.012995569035410881, + 0.029840555042028427, + 0.15170125663280487 + ], + "orientation": [ + 0.0556173175573349, + 0.9869000911712646, + -0.1463041752576828, + 0.03911313787102699 + ], + "joints": [ + 0.003976311534643173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13121569156646729, + -0.027409473434090614, + 0.03676607087254524 + ], + "orientation": [ + 0.4913141131401062, + -0.6962259411811829, + -0.41182681918144226, + 0.32292190194129944 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + 0.127517431974411, + -0.026812471449375153, + 0.03546367958188057 + ], + "orientation": [ + 0.4883788824081421, + -0.689836323261261, + -0.4197157919406891, + 0.33083322644233704 + ], + "joints": [ + 0.026948746293783188 + ] + }, + "final_grasp": { + "position": [ + 0.127517431974411, + -0.026812471449375153, + 0.03546367958188057 + ], + "orientation": [ + 0.4883788824081421, + -0.689836323261261, + -0.4197157919406891, + 0.33083322644233704 + ], + "joints": [ + 0.019383754581212997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09833136945962906, + -0.02339037135243416, + -0.12501846253871918 + ], + "orientation": [ + 0.9325254559516907, + -0.11213404685258865, + 0.3320282995700836, + 0.08706030994653702 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + -0.09622416645288467, + -0.02263643778860569, + -0.12192480266094208 + ], + "orientation": [ + 0.9331167936325073, + -0.11028793454170227, + 0.3311198055744171, + 0.08654064685106277 + ], + "joints": [ + 0.010017504915595055 + ] + }, + "final_grasp": { + "position": [ + -0.09622416645288467, + -0.02263643778860569, + -0.12192480266094208 + ], + "orientation": [ + 0.9331167936325073, + -0.11028793454170227, + 0.3311198055744171, + 0.08654064685106277 + ], + "joints": [ + 0.0007806923240423203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09712148457765579, + -0.02081250213086605, + -0.11796392500400543 + ], + "orientation": [ + 0.9388051629066467, + -0.12709058821201324, + 0.31626197695732117, + 0.04971235990524292 + ], + "joints": [ + 0.02245396375656128 + ] + }, + "fine_grasp": { + "position": [ + -0.09475547820329666, + -0.01973990723490715, + -0.11505988240242004 + ], + "orientation": [ + 0.9386075735092163, + -0.1277734339237213, + 0.31676775217056274, + 0.04845573380589485 + ], + "joints": [ + 0.013635106384754181 + ] + }, + "final_grasp": { + "position": [ + -0.09475547820329666, + -0.01973990723490715, + -0.11505988240242004 + ], + "orientation": [ + 0.9386075735092163, + -0.1277734339237213, + 0.31676775217056274, + 0.04845573380589485 + ], + "joints": [ + 0.0048162490129470825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036628175526857376, + 0.06492502242326736, + -0.13610456883907318 + ], + "orientation": [ + 0.07695868611335754, + -0.1971898227930069, + 0.20265814661979675, + -0.9560978412628174 + ], + "joints": [ + 0.019488804042339325 + ] + }, + "fine_grasp": { + "position": [ + -0.03619490936398506, + 0.06349530071020126, + -0.1324639618396759 + ], + "orientation": [ + 0.07632044702768326, + -0.19164881110191345, + 0.20098569989204407, + -0.9576275944709778 + ], + "joints": [ + 0.010669946670532227 + ] + }, + "final_grasp": { + "position": [ + -0.03619490936398506, + 0.06349530071020126, + -0.1324639618396759 + ], + "orientation": [ + 0.07632044702768326, + -0.19164881110191345, + 0.20098569989204407, + -0.9576275944709778 + ], + "joints": [ + 0.0018510892987251282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08486545085906982, + -0.07062417268753052, + 0.061531487852334976 + ], + "orientation": [ + 0.309475839138031, + 0.09009937942028046, + -0.8484359979629517, + -0.4198371171951294 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.08376718312501907, + -0.06845025718212128, + 0.059556059539318085 + ], + "orientation": [ + 0.2919617295265198, + 0.09055449813604355, + -0.8550483584403992, + -0.4188683331012726 + ], + "joints": [ + 0.024307820945978165 + ] + }, + "final_grasp": { + "position": [ + 0.08376718312501907, + -0.06845025718212128, + 0.059556059539318085 + ], + "orientation": [ + 0.2919617295265198, + 0.09055449813604355, + -0.8550483584403992, + -0.4188683331012726 + ], + "joints": [ + 0.015468064695596695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03328773006796837, + -0.026095235720276833, + 0.1444133073091507 + ], + "orientation": [ + 0.15072619915008545, + -0.9863536953926086, + 0.020479561761021614, + 0.06299678236246109 + ], + "joints": [ + 0.02097349427640438 + ] + }, + "fine_grasp": { + "position": [ + 0.03301219269633293, + -0.02502085454761982, + 0.14092917740345 + ], + "orientation": [ + 0.15094241499900818, + -0.9866681098937988, + 0.026091253384947777, + 0.05497030168771744 + ], + "joints": [ + 0.012509895488619804 + ] + }, + "final_grasp": { + "position": [ + 0.03301219269633293, + -0.02502085454761982, + 0.14092917740345 + ], + "orientation": [ + 0.15094241499900818, + -0.9866681098937988, + 0.026091253384947777, + 0.05497030168771744 + ], + "joints": [ + 0.004046296700835228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10659617930650711, + 0.01679096929728985, + 0.07736838608980179 + ], + "orientation": [ + 0.4658111333847046, + -0.006266498006880283, + -0.8847345113754272, + 0.0150209441781044 + ], + "joints": [ + 0.023501325398683548 + ] + }, + "fine_grasp": { + "position": [ + 0.10409718751907349, + 0.016939066350460052, + 0.0760437622666359 + ], + "orientation": [ + 0.4667215943336487, + -0.008306129835546017, + -0.8842070698738098, + 0.016731394454836845 + ], + "joints": [ + 0.013909254223108292 + ] + }, + "final_grasp": { + "position": [ + 0.10409718751907349, + 0.016939066350460052, + 0.0760437622666359 + ], + "orientation": [ + 0.4667215943336487, + -0.008306129835546017, + -0.8842070698738098, + 0.016731394454836845 + ], + "joints": [ + 0.004317183047533035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09019189327955246, + -0.006515896879136562, + 0.12985041737556458 + ], + "orientation": [ + 0.32390323281288147, + -0.06876920163631439, + 0.9419839382171631, + 0.054990004748106 + ], + "joints": [ + 0.020070459693670273 + ] + }, + "fine_grasp": { + "position": [ + -0.0883236899971962, + -0.005948323756456375, + 0.1264476329088211 + ], + "orientation": [ + 0.3094623386859894, + -0.07704539597034454, + 0.9461952447891235, + 0.054878294467926025 + ], + "joints": [ + 0.012442771345376968 + ] + }, + "final_grasp": { + "position": [ + -0.0883236899971962, + -0.005948323756456375, + 0.1264476329088211 + ], + "orientation": [ + 0.3094623386859894, + -0.07704539597034454, + 0.9461952447891235, + 0.054878294467926025 + ], + "joints": [ + 0.004815082997083664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1066308245062828, + 0.017026633024215698, + 0.07751084119081497 + ], + "orientation": [ + 0.46461114287376404, + -0.005558385048061609, + -0.8853569030761719, + 0.015774449333548546 + ], + "joints": [ + 0.023532826453447342 + ] + }, + "fine_grasp": { + "position": [ + 0.10419002175331116, + 0.01730938069522381, + 0.07621995359659195 + ], + "orientation": [ + 0.4655376076698303, + -0.007323383819311857, + -0.884824275970459, + 0.017526725307106972 + ], + "joints": [ + 0.013940755277872086 + ] + }, + "final_grasp": { + "position": [ + 0.10419002175331116, + 0.01730938069522381, + 0.07621995359659195 + ], + "orientation": [ + 0.4655376076698303, + -0.007323383819311857, + -0.884824275970459, + 0.017526725307106972 + ], + "joints": [ + 0.004348684102296829 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09024853259325027, + -0.0063253059051930904, + 0.13031025230884552 + ], + "orientation": [ + 0.326140433549881, + -0.062480878084897995, + 0.9416674971580505, + 0.0546894334256649 + ], + "joints": [ + 0.019401097670197487 + ] + }, + "fine_grasp": { + "position": [ + -0.08839473128318787, + -0.00575620960444212, + 0.1268550306558609 + ], + "orientation": [ + 0.30908140540122986, + -0.0708039328455925, + 0.9468337893486023, + 0.054418500512838364 + ], + "joints": [ + 0.011773409321904182 + ] + }, + "final_grasp": { + "position": [ + -0.08839473128318787, + -0.00575620960444212, + 0.1268550306558609 + ], + "orientation": [ + 0.30908140540122986, + -0.0708039328455925, + 0.9468337893486023, + 0.054418500512838364 + ], + "joints": [ + 0.004145720973610878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00029315828578546643, + 0.02030283957719803, + 0.14302696287631989 + ], + "orientation": [ + 0.03262616693973541, + 0.9805059432983398, + -0.16473288834095, + -0.10201332718133926 + ], + "joints": [ + 0.022470921277999878 + ] + }, + "fine_grasp": { + "position": [ + -0.0007162732072174549, + 0.0201979111880064, + 0.13910098373889923 + ], + "orientation": [ + 0.03371918201446533, + 0.9808307886123657, + -0.17155569791793823, + -0.08603793382644653 + ], + "joints": [ + 0.013275906443595886 + ] + }, + "final_grasp": { + "position": [ + -0.0007162732072174549, + 0.0201979111880064, + 0.13910098373889923 + ], + "orientation": [ + 0.03371918201446533, + 0.9808307886123657, + -0.17155569791793823, + -0.08603793382644653 + ], + "joints": [ + 0.0040808916091918945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15304328501224518, + 0.021642427891492844, + 0.02052588202059269 + ], + "orientation": [ + 0.14543305337429047, + -0.6597083210945129, + -0.2108556181192398, + 0.706522524356842 + ], + "joints": [ + 0.01885409839451313 + ] + }, + "fine_grasp": { + "position": [ + 0.14919336140155792, + 0.02170172892510891, + 0.019940491765737534 + ], + "orientation": [ + 0.1477033644914627, + -0.6676644086837769, + -0.2098889946937561, + 0.6988237500190735 + ], + "joints": [ + 0.010829353705048561 + ] + }, + "final_grasp": { + "position": [ + 0.14919336140155792, + 0.02170172892510891, + 0.019940491765737534 + ], + "orientation": [ + 0.1477033644914627, + -0.6676644086837769, + -0.2098889946937561, + 0.6988237500190735 + ], + "joints": [ + 0.002804609015583992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13274116814136505, + 0.038392383605241776, + 0.06082847714424133 + ], + "orientation": [ + 0.5015490055084229, + 0.10199298709630966, + -0.8578781485557556, + 0.04572790116071701 + ], + "joints": [ + 0.02259599044919014 + ] + }, + "fine_grasp": { + "position": [ + 0.12902821600437164, + 0.03757430240511894, + 0.05965696647763252 + ], + "orientation": [ + 0.5089371800422668, + 0.10255289077758789, + -0.8534021973609924, + 0.04658958688378334 + ], + "joints": [ + 0.014174189418554306 + ] + }, + "final_grasp": { + "position": [ + 0.12902821600437164, + 0.03757430240511894, + 0.05965696647763252 + ], + "orientation": [ + 0.5089371800422668, + 0.10255289077758789, + -0.8534021973609924, + 0.04658958688378334 + ], + "joints": [ + 0.005752388387918472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03960833698511124, + 0.001579839619807899, + -0.12910956144332886 + ], + "orientation": [ + 0.9949461221694946, + -0.03221585601568222, + 0.03212659806013107, + 0.08951215445995331 + ], + "joints": [ + 0.0194845087826252 + ] + }, + "fine_grasp": { + "position": [ + -0.03743583709001541, + 0.002414556685835123, + -0.12571197748184204 + ], + "orientation": [ + 0.9945741891860962, + -0.03706124424934387, + 0.04996773973107338, + 0.08337821811437607 + ], + "joints": [ + 0.01196131482720375 + ] + }, + "final_grasp": { + "position": [ + -0.03743583709001541, + 0.002414556685835123, + -0.12571197748184204 + ], + "orientation": [ + 0.9945741891860962, + -0.03706124424934387, + 0.04996773973107338, + 0.08337821811437607 + ], + "joints": [ + 0.004438120871782303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022064881399273872, + 0.1429120898246765, + -0.01718280091881752 + ], + "orientation": [ + 0.6024624705314636, + 0.43559545278549194, + 0.4693613350391388, + -0.4764403998851776 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.021030297502875328, + 0.13885636627674103, + -0.017283935099840164 + ], + "orientation": [ + 0.5973191857337952, + 0.44211629033088684, + 0.47308850288391113, + -0.473212867975235 + ], + "joints": [ + 0.02948298677802086 + ] + }, + "final_grasp": { + "position": [ + -0.021030297502875328, + 0.13885636627674103, + -0.017283935099840164 + ], + "orientation": [ + 0.5973191857337952, + 0.44211629033088684, + 0.47308850288391113, + -0.473212867975235 + ], + "joints": [ + 0.023965973407030106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13855989277362823, + 0.06693869084119797, + 0.027459191158413887 + ], + "orientation": [ + 0.6140796542167664, + 0.15970540046691895, + -0.7624057531356812, + 0.1270345002412796 + ], + "joints": [ + 0.0215003602206707 + ] + }, + "fine_grasp": { + "position": [ + 0.1350707709789276, + 0.06542719900608063, + 0.02701091580092907 + ], + "orientation": [ + 0.6162505149841309, + 0.15980850160121918, + -0.760451078414917, + 0.12810443341732025 + ], + "joints": [ + 0.013057660311460495 + ] + }, + "final_grasp": { + "position": [ + 0.1350707709789276, + 0.06542719900608063, + 0.02701091580092907 + ], + "orientation": [ + 0.6162505149841309, + 0.15980850160121918, + -0.760451078414917, + 0.12810443341732025 + ], + "joints": [ + 0.00461496040225029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020366434007883072, + 0.03387458994984627, + -0.13776710629463196 + ], + "orientation": [ + 0.08742768317461014, + 0.01900438591837883, + 0.07806900143623352, + -0.992925226688385 + ], + "joints": [ + 0.023836644366383553 + ] + }, + "fine_grasp": { + "position": [ + -0.019983412697911263, + 0.033453237265348434, + -0.1339464634656906 + ], + "orientation": [ + 0.08924409002065659, + 0.017346497625112534, + 0.07639474421739578, + -0.9929242134094238 + ], + "joints": [ + 0.014223674312233925 + ] + }, + "final_grasp": { + "position": [ + -0.019983412697911263, + 0.033453237265348434, + -0.1339464634656906 + ], + "orientation": [ + 0.08924409002065659, + 0.017346497625112534, + 0.07639474421739578, + -0.9929242134094238 + ], + "joints": [ + 0.004610704258084297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07076246291399002, + 0.0017645822372287512, + -0.11727199703454971 + ], + "orientation": [ + 0.010284172371029854, + -0.2591516077518463, + 0.0517287515103817, + 0.9643955826759338 + ], + "joints": [ + 0.023593198508024216 + ] + }, + "fine_grasp": { + "position": [ + 0.06994979083538055, + 0.0024058944545686245, + -0.1138644739985466 + ], + "orientation": [ + 0.011714392341673374, + -0.25516384840011597, + 0.050193849951028824, + 0.9655230045318604 + ], + "joints": [ + 0.014398183673620224 + ] + }, + "final_grasp": { + "position": [ + 0.06994979083538055, + 0.0024058944545686245, + -0.1138644739985466 + ], + "orientation": [ + 0.011714392341673374, + -0.25516384840011597, + 0.050193849951028824, + 0.9655230045318604 + ], + "joints": [ + 0.005203168839216232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13857842981815338, + 0.0661546066403389, + 0.027831871062517166 + ], + "orientation": [ + 0.6165500283241272, + 0.15799768269062042, + -0.7610265612602234, + 0.1254650056362152 + ], + "joints": [ + 0.021718448027968407 + ] + }, + "fine_grasp": { + "position": [ + 0.135064035654068, + 0.0645967572927475, + 0.027361419051885605 + ], + "orientation": [ + 0.6184383630752563, + 0.1579059213399887, + -0.7593315243721008, + 0.1265513300895691 + ], + "joints": [ + 0.013275748118758202 + ] + }, + "final_grasp": { + "position": [ + 0.135064035654068, + 0.0645967572927475, + 0.027361419051885605 + ], + "orientation": [ + 0.6184383630752563, + 0.1579059213399887, + -0.7593315243721008, + 0.1265513300895691 + ], + "joints": [ + 0.0048330482095479965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11940097063779831, + 0.042366258800029755, + -0.083448126912117 + ], + "orientation": [ + 0.8738795518875122, + 0.0811316967010498, + 0.4719991087913513, + -0.08347949385643005 + ], + "joints": [ + 0.024166034534573555 + ] + }, + "fine_grasp": { + "position": [ + -0.11605292558670044, + 0.041851356625556946, + -0.08145047724246979 + ], + "orientation": [ + 0.8736804723739624, + 0.07868130505084991, + 0.47278937697410583, + -0.08343680202960968 + ], + "joints": [ + 0.014553064480423927 + ] + }, + "final_grasp": { + "position": [ + -0.11605292558670044, + 0.041851356625556946, + -0.08145047724246979 + ], + "orientation": [ + 0.8736804723739624, + 0.07868130505084991, + 0.47278937697410583, + -0.08343680202960968 + ], + "joints": [ + 0.0049400944262743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06404796987771988, + 0.011817376129329205, + -0.12908531725406647 + ], + "orientation": [ + 0.05539126321673393, + 0.1897650808095932, + 0.022319629788398743, + 0.9800116419792175 + ], + "joints": [ + 0.02364877425134182 + ] + }, + "fine_grasp": { + "position": [ + -0.06301896274089813, + 0.011834015138447285, + -0.12528447806835175 + ], + "orientation": [ + 0.055525097995996475, + 0.18585865199565887, + 0.021747834980487823, + 0.9807652831077576 + ], + "joints": [ + 0.014035804197192192 + ] + }, + "final_grasp": { + "position": [ + -0.06301896274089813, + 0.011834015138447285, + -0.12528447806835175 + ], + "orientation": [ + 0.055525097995996475, + 0.18585865199565887, + 0.021747834980487823, + 0.9807652831077576 + ], + "joints": [ + 0.004422834143042564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13118652999401093, + 0.03581857308745384, + 0.06057309731841087 + ], + "orientation": [ + 0.5036634206771851, + 0.10469558089971542, + -0.8568387031555176, + 0.0344892255961895 + ], + "joints": [ + 0.022972065955400467 + ] + }, + "fine_grasp": { + "position": [ + 0.12732656300067902, + 0.035085611045360565, + 0.05936227738857269 + ], + "orientation": [ + 0.5118796229362488, + 0.1043853759765625, + -0.8520277738571167, + 0.03363783657550812 + ], + "joints": [ + 0.01417410746216774 + ] + }, + "final_grasp": { + "position": [ + 0.12732656300067902, + 0.035085611045360565, + 0.05936227738857269 + ], + "orientation": [ + 0.5118796229362488, + 0.1043853759765625, + -0.8520277738571167, + 0.03363783657550812 + ], + "joints": [ + 0.005376148968935013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13190658390522003, + 0.03659265488386154, + 0.0606856532394886 + ], + "orientation": [ + 0.5030649900436401, + 0.1106427013874054, + -0.8564741015434265, + 0.03370533138513565 + ], + "joints": [ + 0.022718200460076332 + ] + }, + "fine_grasp": { + "position": [ + 0.1280960887670517, + 0.03576650843024254, + 0.05951516702771187 + ], + "orientation": [ + 0.5114657282829285, + 0.11040297895669937, + -0.8515346646308899, + 0.03320574760437012 + ], + "joints": [ + 0.013920241966843605 + ] + }, + "final_grasp": { + "position": [ + 0.1280960887670517, + 0.03576650843024254, + 0.05951516702771187 + ], + "orientation": [ + 0.5114657282829285, + 0.11040297895669937, + -0.8515346646308899, + 0.03320574760437012 + ], + "joints": [ + 0.005122283473610878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04047859460115433, + -0.007769354619085789, + 0.13470813632011414 + ], + "orientation": [ + 0.08836609870195389, + -0.986114501953125, + -0.004638779442757368, + -0.14052796363830566 + ], + "joints": [ + 0.023488420993089676 + ] + }, + "fine_grasp": { + "position": [ + -0.039698101580142975, + -0.007125496864318848, + 0.13089624047279358 + ], + "orientation": [ + 0.08585114777088165, + -0.9868157505989075, + -0.005461514927446842, + -0.13709299266338348 + ], + "joints": [ + 0.013478394597768784 + ] + }, + "final_grasp": { + "position": [ + -0.039698101580142975, + -0.007125496864318848, + 0.13089624047279358 + ], + "orientation": [ + 0.08585114777088165, + -0.9868157505989075, + -0.005461514927446842, + -0.13709299266338348 + ], + "joints": [ + 0.0034683682024478912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14316967129707336, + -0.007542823441326618, + 0.04598747193813324 + ], + "orientation": [ + 0.5284391641616821, + -0.012194527313113213, + 0.8445708155632019, + 0.08545998483896255 + ], + "joints": [ + 0.02043253183364868 + ] + }, + "fine_grasp": { + "position": [ + -0.1396050602197647, + -0.007205822970718145, + 0.04514918476343155 + ], + "orientation": [ + 0.5352510809898376, + -0.00923954974859953, + 0.8404103517532349, + 0.08444676548242569 + ], + "joints": [ + 0.011174820363521576 + ] + }, + "final_grasp": { + "position": [ + -0.1396050602197647, + -0.007205822970718145, + 0.04514918476343155 + ], + "orientation": [ + 0.5352510809898376, + -0.00923954974859953, + 0.8404103517532349, + 0.08444676548242569 + ], + "joints": [ + 0.0019171088933944702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14782291650772095, + 0.048109255731105804, + -0.028714431449770927 + ], + "orientation": [ + 0.777593195438385, + 0.12605203688144684, + 0.6144323348999023, + -0.04396030679345131 + ], + "joints": [ + 0.02147417515516281 + ] + }, + "fine_grasp": { + "position": [ + -0.14398697018623352, + 0.0471767783164978, + -0.028377769514918327 + ], + "orientation": [ + 0.7752002477645874, + 0.1270056813955307, + 0.6173462867736816, + -0.04263356700539589 + ], + "joints": [ + 0.012655317783355713 + ] + }, + "final_grasp": { + "position": [ + -0.14398697018623352, + 0.0471767783164978, + -0.028377769514918327 + ], + "orientation": [ + 0.7752002477645874, + 0.1270056813955307, + 0.6173462867736816, + -0.04263356700539589 + ], + "joints": [ + 0.0038364604115486145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07353534549474716, + 0.02104518562555313, + 0.12306888401508331 + ], + "orientation": [ + 0.004420698620378971, + -0.9630957841873169, + -0.13564133644104004, + 0.23243997991085052 + ], + "joints": [ + 0.023658404126763344 + ] + }, + "fine_grasp": { + "position": [ + 0.07186368852853775, + 0.021075259894132614, + 0.11947266757488251 + ], + "orientation": [ + 0.00573793426156044, + -0.9614914655685425, + -0.13487125933170319, + 0.23939698934555054 + ], + "joints": [ + 0.014045434072613716 + ] + }, + "final_grasp": { + "position": [ + 0.07186368852853775, + 0.021075259894132614, + 0.11947266757488251 + ], + "orientation": [ + 0.00573793426156044, + -0.9614914655685425, + -0.13487125933170319, + 0.23939698934555054 + ], + "joints": [ + 0.0044324640184640884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.064165398478508, + 0.011462030000984669, + -0.12882888317108154 + ], + "orientation": [ + 0.05334092676639557, + 0.1902301013469696, + 0.023420026525855064, + 0.9800096154212952 + ], + "joints": [ + 0.023485105484724045 + ] + }, + "fine_grasp": { + "position": [ + -0.06311704963445663, + 0.011474501341581345, + -0.1249919906258583 + ], + "orientation": [ + 0.05355818569660187, + 0.18617446720600128, + 0.02266356535255909, + 0.9807940125465393 + ], + "joints": [ + 0.014290090650320053 + ] + }, + "final_grasp": { + "position": [ + -0.06311704963445663, + 0.011474501341581345, + -0.1249919906258583 + ], + "orientation": [ + 0.05355818569660187, + 0.18617446720600128, + 0.02266356535255909, + 0.9807940125465393 + ], + "joints": [ + 0.005095075815916061 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07244570553302765, + -0.008374441415071487, + 0.13537633419036865 + ], + "orientation": [ + 0.07111866027116776, + -0.9609048962593079, + -0.06178797781467438, + -0.2603580355644226 + ], + "joints": [ + 0.02200736291706562 + ] + }, + "fine_grasp": { + "position": [ + -0.07086154073476791, + -0.00769776338711381, + 0.13180582225322723 + ], + "orientation": [ + 0.07006583362817764, + -0.9625768065452576, + -0.07085483521223068, + -0.25202441215515137 + ], + "joints": [ + 0.013188505545258522 + ] + }, + "final_grasp": { + "position": [ + -0.07086154073476791, + -0.00769776338711381, + 0.13180582225322723 + ], + "orientation": [ + 0.07006583362817764, + -0.9625768065452576, + -0.07085483521223068, + -0.25202441215515137 + ], + "joints": [ + 0.004369648173451424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13099005818367004, + 0.03637225553393364, + 0.06068854779005051 + ], + "orientation": [ + 0.5026524662971497, + 0.10442187637090683, + -0.8573495745658875, + 0.037260763347148895 + ], + "joints": [ + 0.02279430441558361 + ] + }, + "fine_grasp": { + "position": [ + 0.12714937329292297, + 0.03550326079130173, + 0.0594819076359272 + ], + "orientation": [ + 0.5109126567840576, + 0.10386846959590912, + -0.8525749444961548, + 0.03599299117922783 + ], + "joints": [ + 0.014017244800925255 + ] + }, + "final_grasp": { + "position": [ + 0.12714937329292297, + 0.03550326079130173, + 0.0594819076359272 + ], + "orientation": [ + 0.5109126567840576, + 0.10386846959590912, + -0.8525749444961548, + 0.03599299117922783 + ], + "joints": [ + 0.005240185186266899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13739341497421265, + 0.01633572019636631, + -0.05893167480826378 + ], + "orientation": [ + 0.8602422475814819, + -0.030570819973945618, + 0.5050622224807739, + -0.06293582171201706 + ], + "joints": [ + 0.02301490679383278 + ] + }, + "fine_grasp": { + "position": [ + -0.13355498015880585, + 0.016187483444809914, + -0.058116763830184937 + ], + "orientation": [ + 0.855840802192688, + -0.03044324554502964, + 0.5124377012252808, + -0.0633835420012474 + ], + "joints": [ + 0.013798993080854416 + ] + }, + "final_grasp": { + "position": [ + -0.13355498015880585, + 0.016187483444809914, + -0.058116763830184937 + ], + "orientation": [ + 0.855840802192688, + -0.03044324554502964, + 0.5124377012252808, + -0.0633835420012474 + ], + "joints": [ + 0.004583079367876053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0024562811013311148, + 0.14838907122612, + 0.03089841455221176 + ], + "orientation": [ + 0.6258372664451599, + 0.7792335152626038, + -0.026054657995700836, + -0.021069152280688286 + ], + "joints": [ + 0.03379592299461365 + ] + }, + "fine_grasp": { + "position": [ + 0.0023999041877686977, + 0.14473050832748413, + 0.02984025329351425 + ], + "orientation": [ + 0.6273302435874939, + 0.7781129479408264, + -0.025014303624629974, + -0.019266361370682716 + ], + "joints": [ + 0.026168234646320343 + ] + }, + "final_grasp": { + "position": [ + 0.0023999041877686977, + 0.14473050832748413, + 0.02984025329351425 + ], + "orientation": [ + 0.6273302435874939, + 0.7781129479408264, + -0.025014303624629974, + -0.019266361370682716 + ], + "joints": [ + 0.01854054629802704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03492889925837517, + 0.005038486327975988, + -0.12945865094661713 + ], + "orientation": [ + 0.9938788414001465, + -0.032375138252973557, + 0.051939841359853745, + 0.09197243303060532 + ], + "joints": [ + 0.023421071469783783 + ] + }, + "fine_grasp": { + "position": [ + -0.03395632654428482, + 0.005445078946650028, + -0.12583845853805542 + ], + "orientation": [ + 0.993788480758667, + -0.03179863467812538, + 0.05705105513334274, + 0.09010295569896698 + ], + "joints": [ + 0.013808101415634155 + ] + }, + "final_grasp": { + "position": [ + -0.03395632654428482, + 0.005445078946650028, + -0.12583845853805542 + ], + "orientation": [ + 0.993788480758667, + -0.03179863467812538, + 0.05705105513334274, + 0.09010295569896698 + ], + "joints": [ + 0.004195131361484528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027365509420633316, + 0.020562458783388138, + -0.14249679446220398 + ], + "orientation": [ + 0.9939163327217102, + 0.02835899591445923, + -0.09069133549928665, + -0.05568838119506836 + ], + "joints": [ + 0.023429375141859055 + ] + }, + "fine_grasp": { + "position": [ + 0.027259252965450287, + 0.020510205999016762, + -0.13854016363620758 + ], + "orientation": [ + 0.9941401481628418, + 0.027958232909440994, + -0.08771000057458878, + -0.056663379073143005 + ], + "joints": [ + 0.013816405087709427 + ] + }, + "final_grasp": { + "position": [ + 0.027259252965450287, + 0.020510205999016762, + -0.13854016363620758 + ], + "orientation": [ + 0.9941401481628418, + 0.027958232909440994, + -0.08771000057458878, + -0.056663379073143005 + ], + "joints": [ + 0.004203435033559799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030123868957161903, + 0.027116814628243446, + -0.14087951183319092 + ], + "orientation": [ + 0.980749785900116, + 0.06172597408294678, + 0.17231768369674683, + 0.06801655888557434 + ], + "joints": [ + 0.023491762578487396 + ] + }, + "fine_grasp": { + "position": [ + -0.029680458828806877, + 0.02684379369020462, + -0.13695721328258514 + ], + "orientation": [ + 0.9814862608909607, + 0.06079576909542084, + 0.1680968999862671, + 0.06878931075334549 + ], + "joints": [ + 0.014275848865509033 + ] + }, + "final_grasp": { + "position": [ + -0.029680458828806877, + 0.02684379369020462, + -0.13695721328258514 + ], + "orientation": [ + 0.9814862608909607, + 0.06079576909542084, + 0.1680968999862671, + 0.06878931075334549 + ], + "joints": [ + 0.00505993515253067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.120826356112957, + 0.041978828608989716, + -0.084278903901577 + ], + "orientation": [ + 0.8739917278289795, + 0.0818043053150177, + 0.47250327467918396, + -0.07865869998931885 + ], + "joints": [ + 0.02411571331322193 + ] + }, + "fine_grasp": { + "position": [ + -0.11747054010629654, + 0.04146825149655342, + -0.08232145011425018 + ], + "orientation": [ + 0.8734341859817505, + 0.07949632406234741, + 0.4739703834056854, + -0.07839159667491913 + ], + "joints": [ + 0.014502743259072304 + ] + }, + "final_grasp": { + "position": [ + -0.11747054010629654, + 0.04146825149655342, + -0.08232145011425018 + ], + "orientation": [ + 0.8734341859817505, + 0.07949632406234741, + 0.4739703834056854, + -0.07839159667491913 + ], + "joints": [ + 0.004889773204922676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12473531812429428, + 0.03796027600765228, + -0.07533744722604752 + ], + "orientation": [ + 0.8618661761283875, + 0.08033768087625504, + -0.4982835650444031, + 0.04945598542690277 + ], + "joints": [ + 0.02374645136296749 + ] + }, + "fine_grasp": { + "position": [ + 0.12114152312278748, + 0.03750221058726311, + -0.07371197640895844 + ], + "orientation": [ + 0.8607817888259888, + 0.07952841371297836, + -0.5003985166549683, + 0.0482824444770813 + ], + "joints": [ + 0.0145514365285635 + ] + }, + "final_grasp": { + "position": [ + 0.12114152312278748, + 0.03750221058726311, + -0.07371197640895844 + ], + "orientation": [ + 0.8607817888259888, + 0.07952841371297836, + -0.5003985166549683, + 0.0482824444770813 + ], + "joints": [ + 0.005356421694159508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12444846332073212, + 0.037877630442380905, + -0.07582741975784302 + ], + "orientation": [ + 0.8581393957138062, + 0.07906462252140045, + -0.5048347115516663, + 0.049874160438776016 + ], + "joints": [ + 0.02398769184947014 + ] + }, + "fine_grasp": { + "position": [ + 0.12097163498401642, + 0.03739197924733162, + -0.07405814528465271 + ], + "orientation": [ + 0.858399510383606, + 0.07747608423233032, + -0.5047121644020081, + 0.04912601783871651 + ], + "joints": [ + 0.01437472179532051 + ] + }, + "final_grasp": { + "position": [ + 0.12097163498401642, + 0.03739197924733162, + -0.07405814528465271 + ], + "orientation": [ + 0.858399510383606, + 0.07747608423233032, + -0.5047121644020081, + 0.04912601783871651 + ], + "joints": [ + 0.004761751741170883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06396671384572983, + 0.011930677108466625, + -0.12873218953609467 + ], + "orientation": [ + 0.054178059101104736, + 0.18992775678634644, + 0.021643714979290962, + 0.9800631999969482 + ], + "joints": [ + 0.023530777543783188 + ] + }, + "fine_grasp": { + "position": [ + -0.06293221563100815, + 0.011901363730430603, + -0.12489043176174164 + ], + "orientation": [ + 0.05444199591875076, + 0.18578572571277618, + 0.0207673367112875, + 0.9808610081672668 + ], + "joints": [ + 0.014335762709379196 + ] + }, + "final_grasp": { + "position": [ + -0.06293221563100815, + 0.011901363730430603, + -0.12489043176174164 + ], + "orientation": [ + 0.05444199591875076, + 0.18578572571277618, + 0.0207673367112875, + 0.9808610081672668 + ], + "joints": [ + 0.0051407478749752045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13258738815784454, + 0.034340158104896545, + 0.056648172438144684 + ], + "orientation": [ + 0.0368756502866745, + 0.829113781452179, + 0.08904369920492172, + -0.5507102608680725 + ], + "joints": [ + 0.023342249915003777 + ] + }, + "fine_grasp": { + "position": [ + 0.12881293892860413, + 0.03391622379422188, + 0.05576356127858162 + ], + "orientation": [ + 0.03527343273162842, + 0.8258357048034668, + 0.08784925192594528, + -0.555908203125 + ], + "joints": [ + 0.013729279860854149 + ] + }, + "final_grasp": { + "position": [ + 0.12881293892860413, + 0.03391622379422188, + 0.05576356127858162 + ], + "orientation": [ + 0.03527343273162842, + 0.8258357048034668, + 0.08784925192594528, + -0.555908203125 + ], + "joints": [ + 0.004116309806704521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006924812216311693, + 0.02604338526725769, + 0.1471230834722519 + ], + "orientation": [ + 0.01494454313069582, + -0.003560872981324792, + -0.9987411499023438, + 0.04774938523769379 + ], + "joints": [ + 0.022798137739300728 + ] + }, + "fine_grasp": { + "position": [ + 0.006839940324425697, + 0.025891374796628952, + 0.1432022899389267 + ], + "orientation": [ + 0.014479088596999645, + -0.004394957330077887, + -0.9987961649894714, + 0.04666172340512276 + ], + "joints": [ + 0.0131851676851511 + ] + }, + "final_grasp": { + "position": [ + 0.006839940324425697, + 0.025891374796628952, + 0.1432022899389267 + ], + "orientation": [ + 0.014479088596999645, + -0.004394957330077887, + -0.9987961649894714, + 0.04666172340512276 + ], + "joints": [ + 0.0035721976310014725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04148415848612785, + -0.11679207533597946, + -0.022676605731248856 + ], + "orientation": [ + 0.4319744408130646, + -0.5653603672981262, + 0.4090784192085266, + 0.5713322758674622 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03985075280070305, + -0.1127401739358902, + -0.022582000121474266 + ], + "orientation": [ + 0.4316321313381195, + -0.5659917593002319, + 0.40809834003448486, + 0.5716667175292969 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + 0.03985075280070305, + -0.1127401739358902, + -0.022582000121474266 + ], + "orientation": [ + 0.4316321313381195, + -0.5659917593002319, + 0.40809834003448486, + 0.5716667175292969 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13981498777866364, + -0.0065323347225785255, + 0.04426529258489609 + ], + "orientation": [ + 0.5324897766113281, + -0.022358011454343796, + 0.842330276966095, + 0.08021475374698639 + ], + "joints": [ + 0.022541604936122894 + ] + }, + "fine_grasp": { + "position": [ + -0.13607817888259888, + -0.005945551674813032, + 0.043436773121356964 + ], + "orientation": [ + 0.5393707156181335, + -0.021650362759828568, + 0.8377203941345215, + 0.08267417550086975 + ], + "joints": [ + 0.013701848685741425 + ] + }, + "final_grasp": { + "position": [ + -0.13607817888259888, + -0.005945551674813032, + 0.043436773121356964 + ], + "orientation": [ + 0.5393707156181335, + -0.021650362759828568, + 0.8377203941345215, + 0.08267417550086975 + ], + "joints": [ + 0.004862092435359955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1242176741361618, + 0.04015784338116646, + 0.07166466861963272 + ], + "orientation": [ + 0.5111649632453918, + 0.08308509737253189, + 0.8524523377418518, + -0.07163940370082855 + ], + "joints": [ + 0.023247821256518364 + ] + }, + "fine_grasp": { + "position": [ + -0.1207737997174263, + 0.03997901454567909, + 0.0701148733496666 + ], + "orientation": [ + 0.518057107925415, + 0.0819125846028328, + 0.8484585285186768, + -0.07089003920555115 + ], + "joints": [ + 0.013655750080943108 + ] + }, + "final_grasp": { + "position": [ + -0.1207737997174263, + 0.03997901454567909, + 0.0701148733496666 + ], + "orientation": [ + 0.518057107925415, + 0.0819125846028328, + 0.8484585285186768, + -0.07089003920555115 + ], + "joints": [ + 0.004063678905367851 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047709885984659195, + 0.013151498511433601, + -0.11700598895549774 + ], + "orientation": [ + 0.9819844365119934, + -0.007360527291893959, + 0.18863104283809662, + -0.008411501534283161 + ], + "joints": [ + 0.023359065875411034 + ] + }, + "fine_grasp": { + "position": [ + -0.047808755189180374, + 0.013322046957910061, + -0.11368973553180695 + ], + "orientation": [ + 0.9819185733795166, + -0.005965481977909803, + 0.1890249401330948, + -0.008356514386832714 + ], + "joints": [ + 0.014582006260752678 + ] + }, + "final_grasp": { + "position": [ + -0.047808755189180374, + 0.013322046957910061, + -0.11368973553180695 + ], + "orientation": [ + 0.9819185733795166, + -0.005965481977909803, + 0.1890249401330948, + -0.008356514386832714 + ], + "joints": [ + 0.005804946646094322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13788209855556488, + -0.0015462563605979085, + 0.022092266008257866 + ], + "orientation": [ + 0.6979010105133057, + 0.06470756977796555, + 0.6986066102981567, + 0.14386028051376343 + ], + "joints": [ + 0.022469250485301018 + ] + }, + "fine_grasp": { + "position": [ + -0.1341131180524826, + -0.0010568152647465467, + 0.021924490109086037 + ], + "orientation": [ + 0.690579354763031, + 0.06524472683668137, + 0.7056615352630615, + 0.14451634883880615 + ], + "joints": [ + 0.013253336772322655 + ] + }, + "final_grasp": { + "position": [ + -0.1341131180524826, + -0.0010568152647465467, + 0.021924490109086037 + ], + "orientation": [ + 0.690579354763031, + 0.06524472683668137, + 0.7056615352630615, + 0.14451634883880615 + ], + "joints": [ + 0.004037423059344292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10420011729001999, + 0.007468751631677151, + 0.0938013419508934 + ], + "orientation": [ + 0.36129382252693176, + 0.0731210708618164, + 0.9277811646461487, + 0.05781169980764389 + ], + "joints": [ + 0.023129034787416458 + ] + }, + "fine_grasp": { + "position": [ + -0.10091986507177353, + 0.007757926359772682, + 0.09192926436662674 + ], + "orientation": [ + 0.3742603361606598, + 0.07516443729400635, + 0.9223790764808655, + 0.05913153663277626 + ], + "joints": [ + 0.013913121074438095 + ] + }, + "final_grasp": { + "position": [ + -0.10091986507177353, + 0.007757926359772682, + 0.09192926436662674 + ], + "orientation": [ + 0.3742603361606598, + 0.07516443729400635, + 0.9223790764808655, + 0.05913153663277626 + ], + "joints": [ + 0.004697207361459732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04108131676912308, + -0.11714652180671692, + -0.022721119225025177 + ], + "orientation": [ + 0.4351927638053894, + -0.5652444958686829, + 0.40831729769706726, + 0.5695462822914124 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.039449237287044525, + -0.11304411292076111, + -0.022618116810917854 + ], + "orientation": [ + 0.43480876088142395, + -0.5659262537956238, + 0.4072389304637909, + 0.5699344277381897 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + 0.039449237287044525, + -0.11304411292076111, + -0.022618116810917854 + ], + "orientation": [ + 0.43480876088142395, + -0.5659262537956238, + 0.4072389304637909, + 0.5699344277381897 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00527831120416522, + 0.031134173274040222, + -0.144664004445076 + ], + "orientation": [ + 0.020938368514180183, + -0.0032435001339763403, + -0.06561476737260818, + 0.9976201057434082 + ], + "joints": [ + 0.023251643404364586 + ] + }, + "fine_grasp": { + "position": [ + -0.005289270542562008, + 0.030891355127096176, + -0.14071691036224365 + ], + "orientation": [ + 0.021257728338241577, + -0.0031564896926283836, + -0.06446874141693115, + 0.9976882934570312 + ], + "joints": [ + 0.014035729691386223 + ] + }, + "final_grasp": { + "position": [ + -0.005289270542562008, + 0.030891355127096176, + -0.14071691036224365 + ], + "orientation": [ + 0.021257728338241577, + -0.0031564896926283836, + -0.06446874141693115, + 0.9976882934570312 + ], + "joints": [ + 0.00481981597840786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08671122044324875, + -0.006685190834105015, + 0.10064931213855743 + ], + "orientation": [ + 0.3279687762260437, + -0.11763402074575424, + 0.9359608292579651, + 0.050754740834236145 + ], + "joints": [ + 0.02438180148601532 + ] + }, + "fine_grasp": { + "position": [ + -0.08456439524888992, + -0.006073117721825838, + 0.09852240234613419 + ], + "orientation": [ + 0.33159375190734863, + -0.1189967542886734, + 0.9345147013664246, + 0.0506720133125782 + ], + "joints": [ + 0.015604741871356964 + ] + }, + "final_grasp": { + "position": [ + -0.08456439524888992, + -0.006073117721825838, + 0.09852240234613419 + ], + "orientation": [ + 0.33159375190734863, + -0.1189967542886734, + 0.9345147013664246, + 0.0506720133125782 + ], + "joints": [ + 0.006827682256698608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09228849411010742, + 0.000987218227237463, + -0.09192897379398346 + ], + "orientation": [ + 0.9253993630409241, + -0.01268854457885027, + -0.358885794878006, + -0.1211441233754158 + ], + "joints": [ + 0.02458435483276844 + ] + }, + "fine_grasp": { + "position": [ + 0.09081336855888367, + 0.0017860153457149863, + -0.0907260924577713 + ], + "orientation": [ + 0.9265031218528748, + -0.01056374330073595, + -0.3560381829738617, + -0.12131427228450775 + ], + "joints": [ + 0.014553429558873177 + ] + }, + "final_grasp": { + "position": [ + 0.09081336855888367, + 0.0017860153457149863, + -0.0907260924577713 + ], + "orientation": [ + 0.9265031218528748, + -0.01056374330073595, + -0.3560381829738617, + -0.12131427228450775 + ], + "joints": [ + 0.004522504284977913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13850490748882294, + -0.0016775247640907764, + 0.020177822560071945 + ], + "orientation": [ + 0.6908451914787292, + 0.05198807269334793, + 0.7080963850021362, + 0.1364900767803192 + ], + "joints": [ + 0.02334793470799923 + ] + }, + "fine_grasp": { + "position": [ + -0.13451053202152252, + -0.0012418420519679785, + 0.01997358165681362 + ], + "orientation": [ + 0.6887906789779663, + 0.05243285372853279, + 0.7100436091423035, + 0.13658852875232697 + ], + "joints": [ + 0.013755863532423973 + ] + }, + "final_grasp": { + "position": [ + -0.13451053202152252, + -0.0012418420519679785, + 0.01997358165681362 + ], + "orientation": [ + 0.6887906789779663, + 0.05243285372853279, + 0.7100436091423035, + 0.13658852875232697 + ], + "joints": [ + 0.004163792356848717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005063002463430166, + 0.030010031536221504, + -0.1440526843070984 + ], + "orientation": [ + 0.017436031252145767, + -0.0015708889113739133, + -0.06154736503958702, + 0.9979506731033325 + ], + "joints": [ + 0.023617280647158623 + ] + }, + "fine_grasp": { + "position": [ + -0.005076782312244177, + 0.029712051153182983, + -0.14010091125965118 + ], + "orientation": [ + 0.017799818888306618, + -0.0015622699866071343, + -0.05998808890581131, + 0.9980392456054688 + ], + "joints": [ + 0.014004310593008995 + ] + }, + "final_grasp": { + "position": [ + -0.005076782312244177, + 0.029712051153182983, + -0.14010091125965118 + ], + "orientation": [ + 0.017799818888306618, + -0.0015622699866071343, + -0.05998808890581131, + 0.9980392456054688 + ], + "joints": [ + 0.004391340538859367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14415611326694489, + 0.010508688166737556, + -0.04879578948020935 + ], + "orientation": [ + 0.1220507100224495, + -0.53818678855896, + 0.07073289155960083, + -0.8309364318847656 + ], + "joints": [ + 0.021519958972930908 + ] + }, + "fine_grasp": { + "position": [ + -0.14043937623500824, + 0.010875167325139046, + -0.04824895039200783 + ], + "orientation": [ + 0.12340831756591797, + -0.5444871783256531, + 0.07119634002447128, + -0.8265804648399353 + ], + "joints": [ + 0.012680202722549438 + ] + }, + "final_grasp": { + "position": [ + -0.14043937623500824, + 0.010875167325139046, + -0.04824895039200783 + ], + "orientation": [ + 0.12340831756591797, + -0.5444871783256531, + 0.07119634002447128, + -0.8265804648399353 + ], + "joints": [ + 0.0038404464721679688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03987230733036995, + -0.11068034917116165, + 0.025546686723828316 + ], + "orientation": [ + 0.6229147911071777, + -0.73783278465271, + -0.20639625191688538, + 0.15805183351039886 + ], + "joints": [ + 0.034004319459199905 + ] + }, + "fine_grasp": { + "position": [ + 0.03924119845032692, + -0.10732264816761017, + 0.024542350322008133 + ], + "orientation": [ + 0.6253505349159241, + -0.7388224005699158, + -0.2034711092710495, + 0.1472332626581192 + ], + "joints": [ + 0.02602137252688408 + ] + }, + "final_grasp": { + "position": [ + 0.03924119845032692, + -0.10732264816761017, + 0.024542350322008133 + ], + "orientation": [ + 0.6253505349159241, + -0.7388224005699158, + -0.2034711092710495, + 0.1472332626581192 + ], + "joints": [ + 0.018038425594568253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03915362432599068, + -0.11093731224536896, + 0.025822659954428673 + ], + "orientation": [ + 0.6215449571609497, + -0.7383520007133484, + -0.20827245712280273, + 0.15855850279331207 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + 0.03857453912496567, + -0.10734766721725464, + 0.024785857647657394 + ], + "orientation": [ + 0.6244503259658813, + -0.73966383934021, + -0.20375476777553558, + 0.14643464982509613 + ], + "joints": [ + 0.026396434754133224 + ] + }, + "final_grasp": { + "position": [ + 0.03857453912496567, + -0.10734766721725464, + 0.024785857647657394 + ], + "orientation": [ + 0.6244503259658813, + -0.73966383934021, + -0.20375476777553558, + 0.14643464982509613 + ], + "joints": [ + 0.0192284993827343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03904268890619278, + -0.11070682108402252, + 0.025744669139385223 + ], + "orientation": [ + 0.6215451955795288, + -0.7378013730049133, + -0.2114710807800293, + 0.15687741339206696 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + 0.03840473294258118, + -0.1070328950881958, + 0.024713510647416115 + ], + "orientation": [ + 0.6243864893913269, + -0.7391349673271179, + -0.20707371830940247, + 0.14471161365509033 + ], + "joints": [ + 0.02599937841296196 + ] + }, + "final_grasp": { + "position": [ + 0.03840473294258118, + -0.1070328950881958, + 0.024713510647416115 + ], + "orientation": [ + 0.6243864893913269, + -0.7391349673271179, + -0.20707371830940247, + 0.14471161365509033 + ], + "joints": [ + 0.01843438670039177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005756445694714785, + 0.008977849967777729, + -0.13498041033744812 + ], + "orientation": [ + 0.04374365508556366, + -0.014693016186356544, + 0.022566160187125206, + 0.9986798167228699 + ], + "joints": [ + 0.02391747012734413 + ] + }, + "fine_grasp": { + "position": [ + 0.005701404996216297, + 0.009134231135249138, + -0.13099044561386108 + ], + "orientation": [ + 0.045351698994636536, + -0.01456975657492876, + 0.02250272035598755, + 0.9986113905906677 + ], + "joints": [ + 0.014304500073194504 + ] + }, + "final_grasp": { + "position": [ + 0.005701404996216297, + 0.009134231135249138, + -0.13099044561386108 + ], + "orientation": [ + 0.045351698994636536, + -0.01456975657492876, + 0.02250272035598755, + 0.9986113905906677 + ], + "joints": [ + 0.004691530019044876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03912586718797684, + -0.11065880209207535, + 0.025332791730761528 + ], + "orientation": [ + 0.6209538578987122, + -0.7365134358406067, + -0.21842259168624878, + 0.15574324131011963 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.038649845868349075, + -0.1068054735660553, + 0.024359162896871567 + ], + "orientation": [ + 0.6245765686035156, + -0.7382451295852661, + -0.21181191504001617, + 0.141540989279747 + ], + "joints": [ + 0.026539944112300873 + ] + }, + "final_grasp": { + "position": [ + 0.038649845868349075, + -0.1068054735660553, + 0.024359162896871567 + ], + "orientation": [ + 0.6245765686035156, + -0.7382451295852661, + -0.21181191504001617, + 0.141540989279747 + ], + "joints": [ + 0.020187020301818848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12652476131916046, + 0.0398455373942852, + -0.0443829670548439 + ], + "orientation": [ + 0.8398357033729553, + 0.08198776841163635, + 0.5329720973968506, + -0.0624077133834362 + ], + "joints": [ + 0.023532267659902573 + ] + }, + "fine_grasp": { + "position": [ + -0.12270532548427582, + 0.0394739955663681, + -0.04362817481160164 + ], + "orientation": [ + 0.8371772766113281, + 0.08290375024080276, + 0.5371242761611938, + -0.061307989060878754 + ], + "joints": [ + 0.014337252825498581 + ] + }, + "final_grasp": { + "position": [ + -0.12270532548427582, + 0.0394739955663681, + -0.04362817481160164 + ], + "orientation": [ + 0.8371772766113281, + 0.08290375024080276, + 0.5371242761611938, + -0.061307989060878754 + ], + "joints": [ + 0.005142237991094589 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1257573366165161, + 0.03875456005334854, + -0.04269014298915863 + ], + "orientation": [ + 0.8426198959350586, + 0.08785012364387512, + 0.5292706489562988, + -0.04633183777332306 + ], + "joints": [ + 0.023577243089675903 + ] + }, + "fine_grasp": { + "position": [ + -0.12199738621711731, + 0.03805379197001457, + -0.04186966270208359 + ], + "orientation": [ + 0.8407522439956665, + 0.08915169537067413, + 0.5322459936141968, + -0.04361194372177124 + ], + "joints": [ + 0.014800183475017548 + ] + }, + "final_grasp": { + "position": [ + -0.12199738621711731, + 0.03805379197001457, + -0.04186966270208359 + ], + "orientation": [ + 0.8407522439956665, + 0.08915169537067413, + 0.5322459936141968, + -0.04361194372177124 + ], + "joints": [ + 0.006023123860359192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12994584441184998, + -0.04257652536034584, + -0.04785895347595215 + ], + "orientation": [ + 0.23950806260108948, + -0.5464425086975098, + 0.0891057476401329, + 0.7975566983222961 + ], + "joints": [ + 0.019954118877649307 + ] + }, + "fine_grasp": { + "position": [ + 0.126804381608963, + -0.04104408249258995, + -0.04707662761211395 + ], + "orientation": [ + 0.24026831984519958, + -0.5488119721412659, + 0.09020072221755981, + 0.7955755591392517 + ], + "joints": [ + 0.011093463748693466 + ] + }, + "final_grasp": { + "position": [ + 0.126804381608963, + -0.04104408249258995, + -0.04707662761211395 + ], + "orientation": [ + 0.24026831984519958, + -0.5488119721412659, + 0.09020072221755981, + 0.7955755591392517 + ], + "joints": [ + 0.002232808619737625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03209517523646355, + -0.09654084593057632, + -0.07229138165712357 + ], + "orientation": [ + 0.41098716855049133, + -0.3845125138759613, + 0.3722832500934601, + 0.7380005121231079 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03050440363585949, + -0.09292519837617874, + -0.07049689441919327 + ], + "orientation": [ + 0.4164876937866211, + -0.3855193555355072, + 0.3699769675731659, + 0.7355474233627319 + ], + "joints": [ + 0.02868887409567833 + ] + }, + "final_grasp": { + "position": [ + 0.03050440363585949, + -0.09292519837617874, + -0.07049689441919327 + ], + "orientation": [ + 0.4164876937866211, + -0.3855193555355072, + 0.3699769675731659, + 0.7355474233627319 + ], + "joints": [ + 0.022377748042345047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.125791534781456, + 0.002625215332955122, + -0.03725754842162132 + ], + "orientation": [ + 0.014197604730725288, + 0.6220325231552124, + 0.07758855074644089, + 0.7790084481239319 + ], + "joints": [ + 0.024719828739762306 + ] + }, + "fine_grasp": { + "position": [ + -0.1224791631102562, + 0.003164681140333414, + -0.036962222307920456 + ], + "orientation": [ + 0.020856186747550964, + 0.6197338104248047, + 0.08161691576242447, + 0.7802779078483582 + ], + "joints": [ + 0.015106858685612679 + ] + }, + "final_grasp": { + "position": [ + -0.1224791631102562, + 0.003164681140333414, + -0.036962222307920456 + ], + "orientation": [ + 0.020856186747550964, + 0.6197338104248047, + 0.08161691576242447, + 0.7802779078483582 + ], + "joints": [ + 0.005493888631463051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05312586575746536, + -0.06961721926927567, + -0.1073870062828064 + ], + "orientation": [ + 0.726996660232544, + -0.31006765365600586, + -0.4196925163269043, + -0.446309357881546 + ], + "joints": [ + 0.011414247564971447 + ] + }, + "fine_grasp": { + "position": [ + 0.051689352840185165, + -0.06955156475305557, + -0.10240098834037781 + ], + "orientation": [ + 0.7399192452430725, + -0.2913559675216675, + -0.40654808282852173, + -0.44983333349227905 + ], + "joints": [ + 0.008948314003646374 + ] + }, + "final_grasp": { + "position": [ + 0.051689352840185165, + -0.06955156475305557, + -0.10240098834037781 + ], + "orientation": [ + 0.7399192452430725, + -0.2913559675216675, + -0.40654808282852173, + -0.44983333349227905 + ], + "joints": [ + 0.0064823804423213005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11893299967050552, + 0.013417279347777367, + 0.07282311469316483 + ], + "orientation": [ + 0.0725405141711235, + -0.8467963933944702, + 0.11451784521341324, + -0.514353334903717 + ], + "joints": [ + 0.023944787681102753 + ] + }, + "fine_grasp": { + "position": [ + -0.11545272171497345, + 0.013593682087957859, + 0.0709366425871849 + ], + "orientation": [ + 0.06740844249725342, + -0.8454892635345459, + 0.10621653497219086, + -0.5189623236656189 + ], + "joints": [ + 0.01393476128578186 + ] + }, + "final_grasp": { + "position": [ + -0.11545272171497345, + 0.013593682087957859, + 0.0709366425871849 + ], + "orientation": [ + 0.06740844249725342, + -0.8454892635345459, + 0.10621653497219086, + -0.5189623236656189 + ], + "joints": [ + 0.003924734890460968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03749982267618179, + 0.03307729214429855, + -0.1499272882938385 + ], + "orientation": [ + 0.7844824194908142, + 0.14314694702625275, + 0.04989665746688843, + 0.6013373136520386 + ], + "joints": [ + 0.03307810798287392 + ] + }, + "fine_grasp": { + "position": [ + -0.03658704832196236, + 0.03255612030625343, + -0.1461506187915802 + ], + "orientation": [ + 0.7846581339836121, + 0.14048129320144653, + 0.04870060458779335, + 0.6018346548080444 + ], + "joints": [ + 0.023862194269895554 + ] + }, + "final_grasp": { + "position": [ + -0.03658704832196236, + 0.03255612030625343, + -0.1461506187915802 + ], + "orientation": [ + 0.7846581339836121, + 0.14048129320144653, + 0.04870060458779335, + 0.6018346548080444 + ], + "joints": [ + 0.01464628055691719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08378779888153076, + 0.026682674884796143, + 0.10643617808818817 + ], + "orientation": [ + 0.05436805263161659, + 0.9324005246162415, + -0.0014571143547073007, + -0.35731109976768494 + ], + "joints": [ + 0.023414909839630127 + ] + }, + "fine_grasp": { + "position": [ + 0.08250263333320618, + 0.026410311460494995, + 0.10291219502687454 + ], + "orientation": [ + 0.05744687467813492, + 0.931358277797699, + -0.002923819702118635, + -0.35953187942504883 + ], + "joints": [ + 0.014637850224971771 + ] + }, + "final_grasp": { + "position": [ + 0.08250263333320618, + 0.026410311460494995, + 0.10291219502687454 + ], + "orientation": [ + 0.05744687467813492, + 0.931358277797699, + -0.002923819702118635, + -0.35953187942504883 + ], + "joints": [ + 0.0058607906103134155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0132101746276021, + 0.011741507798433304, + -0.12381918728351593 + ], + "orientation": [ + 0.006695608142763376, + -0.0440983772277832, + -0.011360292322933674, + -0.9989401698112488 + ], + "joints": [ + 0.023557204753160477 + ] + }, + "fine_grasp": { + "position": [ + -0.013290212489664555, + 0.011716333217918873, + -0.12054912000894547 + ], + "orientation": [ + 0.00867947842925787, + -0.04440895840525627, + -0.011397557333111763, + -0.998910665512085 + ], + "joints": [ + 0.014362189918756485 + ] + }, + "final_grasp": { + "position": [ + -0.013290212489664555, + 0.011716333217918873, + -0.12054912000894547 + ], + "orientation": [ + 0.00867947842925787, + -0.04440895840525627, + -0.011397557333111763, + -0.998910665512085 + ], + "joints": [ + 0.005167175084352493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0017977227689698339, + 0.1581762433052063, + 0.00255216215737164 + ], + "orientation": [ + 0.4335010051727295, + 0.5048478245735168, + 0.5591852068901062, + -0.4944870173931122 + ], + "joints": [ + 0.03171194717288017 + ] + }, + "fine_grasp": { + "position": [ + 0.001752308919094503, + 0.1541212797164917, + 0.0022430510725826025 + ], + "orientation": [ + 0.43468838930130005, + 0.5033910870552063, + 0.5584861636161804, + -0.4957183301448822 + ], + "joints": [ + 0.02333194389939308 + ] + }, + "final_grasp": { + "position": [ + 0.001752308919094503, + 0.1541212797164917, + 0.0022430510725826025 + ], + "orientation": [ + 0.43468838930130005, + 0.5033910870552063, + 0.5584861636161804, + -0.4957183301448822 + ], + "joints": [ + 0.01495194062590599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019713567569851875, + 0.13797228038311005, + 0.0826219692826271 + ], + "orientation": [ + 0.40219539403915405, + 0.6318407654762268, + -0.6061081290245056, + 0.267673522233963 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.018944432958960533, + 0.13424243032932281, + 0.08096490055322647 + ], + "orientation": [ + 0.4066932201385498, + 0.6299979090690613, + -0.6022641658782959, + 0.27382680773735046 + ], + "joints": [ + 0.023839104920625687 + ] + }, + "final_grasp": { + "position": [ + 0.018944432958960533, + 0.13424243032932281, + 0.08096490055322647 + ], + "orientation": [ + 0.4066932201385498, + 0.6299979090690613, + -0.6022641658782959, + 0.27382680773735046 + ], + "joints": [ + 0.015480000525712967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008273767307400703, + 0.094217449426651, + -0.10375052690505981 + ], + "orientation": [ + 0.5980122089385986, + 0.13874363899230957, + 0.20697662234306335, + -0.7617690563201904 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + 0.00035645763273350894, + 0.09087050706148148, + -0.10219398140907288 + ], + "orientation": [ + 0.5975253582000732, + 0.14967939257621765, + 0.21672211587429047, + -0.7573579549789429 + ], + "joints": [ + 0.02296602912247181 + ] + }, + "final_grasp": { + "position": [ + 0.00035645763273350894, + 0.09087050706148148, + -0.10219398140907288 + ], + "orientation": [ + 0.5975253582000732, + 0.14967939257621765, + 0.21672211587429047, + -0.7573579549789429 + ], + "joints": [ + 0.015401037409901619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09921686351299286, + 0.018943173810839653, + 0.08745954185724258 + ], + "orientation": [ + 0.3793705701828003, + 0.007466297596693039, + -0.9250463247299194, + 0.01764478161931038 + ], + "joints": [ + 0.023584727197885513 + ] + }, + "fine_grasp": { + "position": [ + 0.09654819220304489, + 0.018740059807896614, + 0.0870293378829956 + ], + "orientation": [ + 0.3804154098033905, + 0.005838009994477034, + -0.9246211051940918, + 0.018056116998195648 + ], + "joints": [ + 0.013992656022310257 + ] + }, + "final_grasp": { + "position": [ + 0.09654819220304489, + 0.018740059807896614, + 0.0870293378829956 + ], + "orientation": [ + 0.3804154098033905, + 0.005838009994477034, + -0.9246211051940918, + 0.018056116998195648 + ], + "joints": [ + 0.004400584846735001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12932872772216797, + 0.005190098658204079, + -0.01944284699857235 + ], + "orientation": [ + 0.005231214687228203, + -0.6314224600791931, + -0.044472288340330124, + -0.7741450667381287 + ], + "joints": [ + 0.02375728450715542 + ] + }, + "fine_grasp": { + "position": [ + -0.1255629062652588, + 0.005531035829335451, + -0.019270606338977814 + ], + "orientation": [ + 0.000215424777707085, + -0.6321665048599243, + -0.05055134370923042, + -0.7731817364692688 + ], + "joints": [ + 0.014541370794177055 + ] + }, + "final_grasp": { + "position": [ + -0.1255629062652588, + 0.005531035829335451, + -0.019270606338977814 + ], + "orientation": [ + 0.000215424777707085, + -0.6321665048599243, + -0.05055134370923042, + -0.7731817364692688 + ], + "joints": [ + 0.005325457081198692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005769949406385422, + 0.15589705109596252, + -0.00021879200357943773 + ], + "orientation": [ + 0.5228222608566284, + 0.5071325302124023, + 0.49534958600997925, + -0.4733945429325104 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + -0.005694552790373564, + 0.15187516808509827, + -0.00041496235644444823 + ], + "orientation": [ + 0.5228293538093567, + 0.5076534152030945, + 0.49643421173095703, + -0.4716891646385193 + ], + "joints": [ + 0.024423658847808838 + ] + }, + "final_grasp": { + "position": [ + -0.005694552790373564, + 0.15187516808509827, + -0.00041496235644444823 + ], + "orientation": [ + 0.5228293538093567, + 0.5076534152030945, + 0.49643421173095703, + -0.4716891646385193 + ], + "joints": [ + 0.01644071191549301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009462481364607811, + 0.15275625884532928, + -0.019666414707899094 + ], + "orientation": [ + 0.5559024810791016, + 0.5633972883224487, + 0.40552401542663574, + -0.45728129148483276 + ], + "joints": [ + 0.03449058160185814 + ] + }, + "fine_grasp": { + "position": [ + 0.009125099517405033, + 0.1488313376903534, + -0.019246598705649376 + ], + "orientation": [ + 0.5568829774856567, + 0.5623008608818054, + 0.40368279814720154, + -0.45906347036361694 + ], + "joints": [ + 0.02648673579096794 + ] + }, + "final_grasp": { + "position": [ + 0.009125099517405033, + 0.1488313376903534, + -0.019246598705649376 + ], + "orientation": [ + 0.5568829774856567, + 0.5623008608818054, + 0.40368279814720154, + -0.45906347036361694 + ], + "joints": [ + 0.018482889980077744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01717359572649002, + 0.1507120430469513, + 0.022329181432724 + ], + "orientation": [ + 0.38307318091392517, + 0.5326898694038391, + 0.5522410869598389, + -0.514320969581604 + ], + "joints": [ + 0.034004319459199905 + ] + }, + "fine_grasp": { + "position": [ + 0.016498414799571037, + 0.14684273302555084, + 0.021987417712807655 + ], + "orientation": [ + 0.38444119691848755, + 0.529655396938324, + 0.5528656244277954, + -0.5157613158226013 + ], + "joints": [ + 0.026000473648309708 + ] + }, + "final_grasp": { + "position": [ + 0.016498414799571037, + 0.14684273302555084, + 0.021987417712807655 + ], + "orientation": [ + 0.38444119691848755, + 0.529655396938324, + 0.5528656244277954, + -0.5157613158226013 + ], + "joints": [ + 0.01799662783741951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046639226377010345, + 0.04125688597559929, + 0.11860602349042892 + ], + "orientation": [ + 0.15314321219921112, + 0.039209991693496704, + -0.9811092019081116, + 0.11150955408811569 + ], + "joints": [ + 0.026535039767622948 + ] + }, + "fine_grasp": { + "position": [ + 0.046378619968891144, + 0.04092816635966301, + 0.11597255617380142 + ], + "orientation": [ + 0.15218406915664673, + 0.04379331320524216, + -0.9812253713607788, + 0.11008600890636444 + ], + "joints": [ + 0.01692206971347332 + ] + }, + "final_grasp": { + "position": [ + 0.046378619968891144, + 0.04092816635966301, + 0.11597255617380142 + ], + "orientation": [ + 0.15218406915664673, + 0.04379331320524216, + -0.9812253713607788, + 0.11008600890636444 + ], + "joints": [ + 0.007309099659323692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12103715538978577, + -0.014339463785290718, + 0.02966466173529625 + ], + "orientation": [ + 0.6028221845626831, + -0.07034577429294586, + -0.7883205413818359, + -0.10103263705968857 + ], + "joints": [ + 0.025692570954561234 + ] + }, + "fine_grasp": { + "position": [ + 0.11816688627004623, + -0.013996007852256298, + 0.029420726001262665 + ], + "orientation": [ + 0.6026310324668884, + -0.06788616627454758, + -0.7882300019264221, + -0.10450191795825958 + ], + "joints": [ + 0.016497556120157242 + ] + }, + "final_grasp": { + "position": [ + 0.11816688627004623, + -0.013996007852256298, + 0.029420726001262665 + ], + "orientation": [ + 0.6026310324668884, + -0.06788616627454758, + -0.7882300019264221, + -0.10450191795825958 + ], + "joints": [ + 0.00730254128575325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11796256899833679, + 0.002585903974249959, + 0.04083629697561264 + ], + "orientation": [ + 0.5627992153167725, + 0.0027626531664282084, + -0.8240720629692078, + -0.06445741653442383 + ], + "joints": [ + 0.02453608624637127 + ] + }, + "fine_grasp": { + "position": [ + 0.11542797833681107, + 0.003365960670635104, + 0.041708800941705704 + ], + "orientation": [ + 0.5580629706382751, + 0.010231330059468746, + -0.8270435333251953, + -0.06678386777639389 + ], + "joints": [ + 0.014923116192221642 + ] + }, + "final_grasp": { + "position": [ + 0.11542797833681107, + 0.003365960670635104, + 0.041708800941705704 + ], + "orientation": [ + 0.5580629706382751, + 0.010231330059468746, + -0.8270435333251953, + -0.06678386777639389 + ], + "joints": [ + 0.005310146138072014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03220454230904579, + -0.06957954168319702, + -0.12286846339702606 + ], + "orientation": [ + 0.5970586538314819, + -0.0683540403842926, + -0.2990800738334656, + -0.7412150502204895 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.03138615936040878, + -0.06691300868988037, + -0.12067914754152298 + ], + "orientation": [ + 0.5949819684028625, + -0.07447482645511627, + -0.3016915023326874, + -0.7412368655204773 + ], + "joints": [ + 0.024760276079177856 + ] + }, + "final_grasp": { + "position": [ + 0.03138615936040878, + -0.06691300868988037, + -0.12067914754152298 + ], + "orientation": [ + 0.5949819684028625, + -0.07447482645511627, + -0.3016915023326874, + -0.7412368655204773 + ], + "joints": [ + 0.01709078997373581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03252548351883888, + -0.06987074017524719, + -0.12355867773294449 + ], + "orientation": [ + 0.5967472791671753, + -0.07223977148532867, + -0.301290363073349, + -0.7402013540267944 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + 0.031667523086071014, + -0.06719863414764404, + -0.12123800069093704 + ], + "orientation": [ + 0.5950848460197449, + -0.0775480791926384, + -0.3030426502227783, + -0.7402874827384949 + ], + "joints": [ + 0.024737119674682617 + ] + }, + "final_grasp": { + "position": [ + 0.031667523086071014, + -0.06719863414764404, + -0.12123800069093704 + ], + "orientation": [ + 0.5950848460197449, + -0.0775480791926384, + -0.3030426502227783, + -0.7402874827384949 + ], + "joints": [ + 0.01706763356924057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01599091663956642, + -0.11914809048175812, + 0.013584812171757221 + ], + "orientation": [ + 0.6574658751487732, + -0.7441835403442383, + -0.11801118403673172, + -0.0016376363346353173 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.015324667096138, + -0.11519833654165268, + 0.013203106820583344 + ], + "orientation": [ + 0.6588678359985352, + -0.7447213530540466, + -0.1059107556939125, + -0.008137611672282219 + ], + "joints": [ + 0.023983709514141083 + ] + }, + "final_grasp": { + "position": [ + -0.015324667096138, + -0.11519833654165268, + 0.013203106820583344 + ], + "orientation": [ + 0.6588678359985352, + -0.7447213530540466, + -0.1059107556939125, + -0.008137611672282219 + ], + "joints": [ + 0.016000762581825256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016193967312574387, + -0.11921137571334839, + 0.013373810797929764 + ], + "orientation": [ + 0.658072829246521, + -0.7436934113502502, + -0.11772994697093964, + 8.318811887875199e-05 + ], + "joints": [ + 0.03189718723297119 + ] + }, + "fine_grasp": { + "position": [ + -0.01549613382667303, + -0.11522805690765381, + 0.013021167367696762 + ], + "orientation": [ + 0.6601483821868896, + -0.743655800819397, + -0.10552334785461426, + -0.0067189354449510574 + ], + "joints": [ + 0.023914240300655365 + ] + }, + "final_grasp": { + "position": [ + -0.01549613382667303, + -0.11522805690765381, + 0.013021167367696762 + ], + "orientation": [ + 0.6601483821868896, + -0.743655800819397, + -0.10552334785461426, + -0.0067189354449510574 + ], + "joints": [ + 0.01593129336833954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11943144351243973, + 0.014064045622944832, + 0.05870186537504196 + ], + "orientation": [ + 0.005320030730217695, + -0.8419608473777771, + 0.009269570000469685, + -0.5394327044487 + ], + "joints": [ + 0.02363753877580166 + ] + }, + "fine_grasp": { + "position": [ + -0.11574860662221909, + 0.013686560094356537, + 0.05888102203607559 + ], + "orientation": [ + 0.004614947363734245, + -0.84316086769104, + 0.006971291266381741, + -0.5375962853431702 + ], + "joints": [ + 0.014442523941397667 + ] + }, + "final_grasp": { + "position": [ + -0.11574860662221909, + 0.013686560094356537, + 0.05888102203607559 + ], + "orientation": [ + 0.004614947363734245, + -0.84316086769104, + 0.006971291266381741, + -0.5375962853431702 + ], + "joints": [ + 0.005247509106993675 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 110 + } +} \ No newline at end of file diff --git a/006_hamburg_4/Object.usd b/006_hamburg_4/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..6af59fa47aa6af529709df45e2995d83fb2ba50b --- /dev/null +++ b/006_hamburg_4/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebde0426b456aa34ce255de347636e3275274e210d46d5eb34225e19e5e500c4 +size 881196 diff --git a/012_plant-pot_0/Annotation/dex1_1_grasp_pose.json b/012_plant-pot_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..334927eff2c2a300b6106415e1a1812430586e09 --- /dev/null +++ b/012_plant-pot_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "012_plant-pot_0", + "bottom_center": [ + -0.0005021542310714722, + 0.09460315108299255, + -0.06914529949426651 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2041, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/012_plant-pot_0/Annotation/piper_grasp_pose.json b/012_plant-pot_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..1f4d8852b15968b0f49bfe43c4b38309c45c0eb9 --- /dev/null +++ b/012_plant-pot_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "012_plant-pot_0", + "bottom_center": [ + -0.0005021542310714722, + 0.09460315108299255, + -0.06914529949426651 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/012_plant-pot_0/Object.usd b/012_plant-pot_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..9fac4ea32f3376d71264eedc3fd31caf687014e6 --- /dev/null +++ b/012_plant-pot_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6b6228d2486c1b26c41b96c061329870bbaa4cbfab642baadefc880f3c3cecd +size 326100 diff --git a/018_microphone_5/Annotation/dex1_1_grasp_pose.json b/018_microphone_5/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..93e0f5b4bcf09aff03780eab73c73fecd6391248 --- /dev/null +++ b/018_microphone_5/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,12718 @@ +{ + "type": "018_microphone_5", + "bottom_center": [ + 0.0006589330732822418, + 0.017210444702735694, + -0.07591699063777924 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.039534758776426315, + -0.0848638191819191, + 0.052938103675842285 + ], + "orientation": [ + 0.031841643154621124, + -0.17545340955257416, + -0.9544146656990051, + 0.2393633872270584 + ], + "joints": [ + 0.005892325658351183 + ] + }, + "fine_grasp": { + "position": [ + -0.03911687806248665, + -0.08261644095182419, + 0.05277486518025398 + ], + "orientation": [ + 0.028100918978452682, + -0.17608284950256348, + -0.9573378562927246, + 0.22739732265472412 + ], + "joints": [ + 0.011259463615715504 + ] + }, + "final_grasp": { + "position": [ + -0.03911687806248665, + -0.08261644095182419, + 0.05277486518025398 + ], + "orientation": [ + 0.028100918978452682, + -0.17608284950256348, + -0.9573378562927246, + 0.22739732265472412 + ], + "joints": [ + 0.016626602038741112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03953048214316368, + -0.08441101014614105, + 0.05405208095908165 + ], + "orientation": [ + 0.03344669193029404, + -0.17613016068935394, + -0.9533666968345642, + 0.2427988201379776 + ], + "joints": [ + 0.005895321723073721 + ] + }, + "fine_grasp": { + "position": [ + -0.03911803662776947, + -0.08221389353275299, + 0.053869713097810745 + ], + "orientation": [ + 0.029835134744644165, + -0.17677776515483856, + -0.9563514590263367, + 0.23076260089874268 + ], + "joints": [ + 0.011262459680438042 + ] + }, + "final_grasp": { + "position": [ + -0.03911803662776947, + -0.08221389353275299, + 0.053869713097810745 + ], + "orientation": [ + 0.029835134744644165, + -0.17677776515483856, + -0.9563514590263367, + 0.23076260089874268 + ], + "joints": [ + 0.016629597172141075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03323500230908394, + -0.0877687931060791, + 0.05046137049794197 + ], + "orientation": [ + 0.058336302638053894, + -0.15332509577274323, + 0.9594350457191467, + -0.2292873114347458 + ], + "joints": [ + 0.005735104903578758 + ] + }, + "fine_grasp": { + "position": [ + 0.03258548676967621, + -0.08607682585716248, + 0.050298504531383514 + ], + "orientation": [ + 0.05854126438498497, + -0.15509304404258728, + 0.9622014760971069, + -0.21607239544391632 + ], + "joints": [ + 0.011102242395281792 + ] + }, + "final_grasp": { + "position": [ + 0.03258548676967621, + -0.08607682585716248, + 0.050298504531383514 + ], + "orientation": [ + 0.05854126438498497, + -0.15509304404258728, + 0.9622014760971069, + -0.21607239544391632 + ], + "joints": [ + 0.016469379886984825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1114821508526802, + 0.010510270483791828, + 0.04712441563606262 + ], + "orientation": [ + 0.143914595246315, + -0.6679985523223877, + -0.7116276025772095, + 0.1632559448480606 + ], + "joints": [ + 0.006045787129551172 + ] + }, + "fine_grasp": { + "position": [ + -0.10975494980812073, + 0.010705499909818172, + 0.047397125512361526 + ], + "orientation": [ + 0.1319812387228012, + -0.6678792238235474, + -0.7152186036109924, + 0.1580525040626526 + ], + "joints": [ + 0.011412925086915493 + ] + }, + "final_grasp": { + "position": [ + -0.10975494980812073, + 0.010705499909818172, + 0.047397125512361526 + ], + "orientation": [ + 0.1319812387228012, + -0.6678792238235474, + -0.7152186036109924, + 0.1580525040626526 + ], + "joints": [ + 0.0167800635099411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03982911258935928, + -0.08470392227172852, + 0.05366794392466545 + ], + "orientation": [ + 0.03301462158560753, + -0.17673775553703308, + -0.9535622596740723, + 0.24164576828479767 + ], + "joints": [ + 0.00586804049089551 + ] + }, + "fine_grasp": { + "position": [ + -0.0393226258456707, + -0.08226986229419708, + 0.05340130999684334 + ], + "orientation": [ + 0.029119089245796204, + -0.17748235166072845, + -0.9564449787139893, + 0.2299242913722992 + ], + "joints": [ + 0.01123517844825983 + ] + }, + "final_grasp": { + "position": [ + -0.0393226258456707, + -0.08226986229419708, + 0.05340130999684334 + ], + "orientation": [ + 0.029119089245796204, + -0.17748235166072845, + -0.9564449787139893, + 0.2299242913722992 + ], + "joints": [ + 0.01660231687128544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06314476579427719, + 0.1090613529086113, + 0.04939115047454834 + ], + "orientation": [ + 0.1995576173067093, + -0.9291980266571045, + -0.29630279541015625, + 0.09472223371267319 + ], + "joints": [ + 0.005981109105050564 + ] + }, + "fine_grasp": { + "position": [ + -0.06339479982852936, + 0.10973881930112839, + 0.05039406195282936 + ], + "orientation": [ + 0.18217292428016663, + -0.9324095249176025, + -0.2987021207809448, + 0.09056860208511353 + ], + "joints": [ + 0.011348246596753597 + ] + }, + "final_grasp": { + "position": [ + -0.06339479982852936, + 0.10973881930112839, + 0.05039406195282936 + ], + "orientation": [ + 0.18217292428016663, + -0.9324095249176025, + -0.2987021207809448, + 0.09056860208511353 + ], + "joints": [ + 0.016715385019779205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06937044858932495, + 0.10260264575481415, + 0.04298579320311546 + ], + "orientation": [ + 0.325163334608078, + -0.0776527151465416, + -0.21435628831386566, + 0.9177637696266174 + ], + "joints": [ + 0.006267949938774109 + ] + }, + "fine_grasp": { + "position": [ + 0.0692337304353714, + 0.10237643867731094, + 0.04472927749156952 + ], + "orientation": [ + 0.3258381485939026, + -0.06997331231832504, + -0.19990843534469604, + 0.9213955998420715 + ], + "joints": [ + 0.010625429451465607 + ] + }, + "final_grasp": { + "position": [ + 0.0692337304353714, + 0.10237643867731094, + 0.04472927749156952 + ], + "orientation": [ + 0.3258381485939026, + -0.06997331231832504, + -0.19990843534469604, + 0.9213955998420715 + ], + "joints": [ + 0.014982908964157104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0667000561952591, + -0.07728111743927002, + 0.034626301378011703 + ], + "orientation": [ + 0.02888093702495098, + -0.296438068151474, + -0.9421979188919067, + 0.15347139537334442 + ], + "joints": [ + 0.005917783360928297 + ] + }, + "fine_grasp": { + "position": [ + -0.06721236556768417, + -0.07710857689380646, + 0.03677334263920784 + ], + "orientation": [ + 0.012776502408087254, + -0.29428598284721375, + -0.9450666904449463, + 0.14170953631401062 + ], + "joints": [ + 0.011284921318292618 + ] + }, + "final_grasp": { + "position": [ + -0.06721236556768417, + -0.07710857689380646, + 0.03677334263920784 + ], + "orientation": [ + 0.012776502408087254, + -0.29428598284721375, + -0.9450666904449463, + 0.14170953631401062 + ], + "joints": [ + 0.01665205880999565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017107941210269928, + 0.12679384648799896, + 0.04531943053007126 + ], + "orientation": [ + 0.2281002551317215, + -0.9709704518318176, + 0.07198977470397949, + -0.001992577686905861 + ], + "joints": [ + 0.005657191388309002 + ] + }, + "fine_grasp": { + "position": [ + 0.016984131187200546, + 0.12582160532474518, + 0.04560011625289917 + ], + "orientation": [ + 0.21258413791656494, + -0.9746013283729553, + 0.07038766145706177, + -0.0024181976914405823 + ], + "joints": [ + 0.011024328880012035 + ] + }, + "final_grasp": { + "position": [ + 0.016984131187200546, + 0.12582160532474518, + 0.04560011625289917 + ], + "orientation": [ + 0.21258413791656494, + -0.9746013283729553, + 0.07038766145706177, + -0.0024181976914405823 + ], + "joints": [ + 0.016391467303037643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06261672079563141, + 0.10910804569721222, + 0.04893474653363228 + ], + "orientation": [ + 0.2011997103691101, + -0.929489016532898, + -0.29431143403053284, + 0.09460285305976868 + ], + "joints": [ + 0.005946514196693897 + ] + }, + "fine_grasp": { + "position": [ + -0.06264544278383255, + 0.10952892899513245, + 0.04991026967763901 + ], + "orientation": [ + 0.18422958254814148, + -0.9330694079399109, + -0.29588010907173157, + 0.08885852247476578 + ], + "joints": [ + 0.01131365168839693 + ] + }, + "final_grasp": { + "position": [ + -0.06264544278383255, + 0.10952892899513245, + 0.04991026967763901 + ], + "orientation": [ + 0.18422958254814148, + -0.9330694079399109, + -0.29588010907173157, + 0.08885852247476578 + ], + "joints": [ + 0.01668078824877739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07707826048135757, + 0.09637898951768875, + 0.05271890386939049 + ], + "orientation": [ + 0.3695879876613617, + -0.09196408092975616, + 0.20646712183952332, + -0.9012871384620667 + ], + "joints": [ + 0.006263752467930317 + ] + }, + "fine_grasp": { + "position": [ + -0.0768996924161911, + 0.09669969230890274, + 0.05410204082727432 + ], + "orientation": [ + 0.37123575806617737, + -0.0859181135892868, + 0.1891172081232071, + -0.9050065279006958 + ], + "joints": [ + 0.01160431932657957 + ] + }, + "final_grasp": { + "position": [ + -0.0768996924161911, + 0.09669969230890274, + 0.05410204082727432 + ], + "orientation": [ + 0.37123575806617737, + -0.0859181135892868, + 0.1891172081232071, + -0.9050065279006958 + ], + "joints": [ + 0.01694488525390625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029920905828475952, + 0.12217247486114502, + 0.05758022144436836 + ], + "orientation": [ + 0.13839000463485718, + -0.04508925974369049, + 0.24389994144439697, + -0.9588159322738647 + ], + "joints": [ + 0.006018631160259247 + ] + }, + "fine_grasp": { + "position": [ + -0.029411420226097107, + 0.12080967426300049, + 0.057576488703489304 + ], + "orientation": [ + 0.13799884915351868, + -0.043424494564533234, + 0.2312866449356079, + -0.9620692729949951 + ], + "joints": [ + 0.01138576865196228 + ] + }, + "final_grasp": { + "position": [ + -0.029411420226097107, + 0.12080967426300049, + 0.057576488703489304 + ], + "orientation": [ + 0.13799884915351868, + -0.043424494564533234, + 0.2312866449356079, + -0.9620692729949951 + ], + "joints": [ + 0.016752906143665314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07719860225915909, + 0.0966654121875763, + 0.052386797964572906 + ], + "orientation": [ + 0.3693576753139496, + -0.0911126434803009, + 0.20395202934741974, + -0.9020404815673828 + ], + "joints": [ + 0.006296087987720966 + ] + }, + "fine_grasp": { + "position": [ + -0.07703847438097, + 0.09703998267650604, + 0.053758300840854645 + ], + "orientation": [ + 0.3710176646709442, + -0.0852331891655922, + 0.18656565248966217, + -0.9056901335716248 + ], + "joints": [ + 0.01163665484637022 + ] + }, + "final_grasp": { + "position": [ + -0.07703847438097, + 0.09703998267650604, + 0.053758300840854645 + ], + "orientation": [ + 0.3710176646709442, + -0.0852331891655922, + 0.18656565248966217, + -0.9056901335716248 + ], + "joints": [ + 0.0169772207736969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06280636787414551, + -0.08406981080770493, + 0.025632072240114212 + ], + "orientation": [ + 0.9510635733604431, + -0.11536452174186707, + -0.07505463808774948, + 0.27665141224861145 + ], + "joints": [ + 0.006544761825352907 + ] + }, + "fine_grasp": { + "position": [ + 0.06219630688428879, + -0.08339542150497437, + 0.025921683758497238 + ], + "orientation": [ + 0.9510705471038818, + -0.10816093534231186, + -0.07671772688627243, + 0.2790709137916565 + ], + "joints": [ + 0.010902241803705692 + ] + }, + "final_grasp": { + "position": [ + 0.06219630688428879, + -0.08339542150497437, + 0.025921683758497238 + ], + "orientation": [ + 0.9510705471038818, + -0.10816093534231186, + -0.07671772688627243, + 0.2790709137916565 + ], + "joints": [ + 0.015259722247719765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0625113844871521, + -0.08373050391674042, + 0.024963296949863434 + ], + "orientation": [ + 0.9499929547309875, + -0.12324021011590958, + -0.07670256495475769, + 0.2764814496040344 + ], + "joints": [ + 0.006029448471963406 + ] + }, + "fine_grasp": { + "position": [ + 0.0619010403752327, + -0.08308974653482437, + 0.025633346289396286 + ], + "orientation": [ + 0.9505541324615479, + -0.11227492988109589, + -0.07788188010454178, + 0.2788831889629364 + ], + "joints": [ + 0.01091832760721445 + ] + }, + "final_grasp": { + "position": [ + 0.0619010403752327, + -0.08308974653482437, + 0.025633346289396286 + ], + "orientation": [ + 0.9505541324615479, + -0.11227492988109589, + -0.07788188010454178, + 0.2788831889629364 + ], + "joints": [ + 0.01580720767378807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08753947913646698, + 0.09783996641635895, + 0.02371176891028881 + ], + "orientation": [ + 0.4035019278526306, + -0.09247653931379318, + 0.1111188679933548, + -0.9034860134124756 + ], + "joints": [ + 0.00618624547496438 + ] + }, + "fine_grasp": { + "position": [ + -0.08688028901815414, + 0.09759941697120667, + 0.025728479027748108 + ], + "orientation": [ + 0.4047962725162506, + -0.08207351714372635, + 0.0921129435300827, + -0.9060459136962891 + ], + "joints": [ + 0.011075125075876713 + ] + }, + "final_grasp": { + "position": [ + -0.08688028901815414, + 0.09759941697120667, + 0.025728479027748108 + ], + "orientation": [ + 0.4047962725162506, + -0.08207351714372635, + 0.0921129435300827, + -0.9060459136962891 + ], + "joints": [ + 0.015964005142450333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12053462862968445, + 0.00252484530210495, + 0.00670662522315979 + ], + "orientation": [ + 0.7492435574531555, + -0.08217499405145645, + 0.009060213342308998, + -0.6571142077445984 + ], + "joints": [ + 0.0066497474908828735 + ] + }, + "fine_grasp": { + "position": [ + -0.11982328444719315, + 0.0026553755160421133, + 0.008985556662082672 + ], + "orientation": [ + 0.750162661075592, + -0.06137363240122795, + -0.0028195292688906193, + -0.6583929657936096 + ], + "joints": [ + 0.01151205599308014 + ] + }, + "final_grasp": { + "position": [ + -0.11982328444719315, + 0.0026553755160421133, + 0.008985556662082672 + ], + "orientation": [ + 0.750162661075592, + -0.06137363240122795, + -0.0028195292688906193, + -0.6583929657936096 + ], + "joints": [ + 0.016374364495277405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12081892788410187, + 0.0023395209573209286, + 0.007417615968734026 + ], + "orientation": [ + 0.7492488622665405, + -0.08114829659461975, + 0.009814638644456863, + -0.6572250723838806 + ], + "joints": [ + 0.006624468602240086 + ] + }, + "fine_grasp": { + "position": [ + -0.12076591700315475, + 0.0023149847984313965, + 0.009501077234745026 + ], + "orientation": [ + 0.7507452368736267, + -0.06377566605806351, + -0.0007047242252156138, + -0.6575056314468384 + ], + "joints": [ + 0.011486777104437351 + ] + }, + "final_grasp": { + "position": [ + -0.12076591700315475, + 0.0023149847984313965, + 0.009501077234745026 + ], + "orientation": [ + 0.7507452368736267, + -0.06377566605806351, + -0.0007047242252156138, + -0.6575056314468384 + ], + "joints": [ + 0.016349084675312042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1210128590464592, + 0.002310367301106453, + 0.006903595291078091 + ], + "orientation": [ + 0.7495176196098328, + -0.08025391399860382, + 0.006597868632525206, + -0.6570686101913452 + ], + "joints": [ + 0.006762468721717596 + ] + }, + "fine_grasp": { + "position": [ + -0.12072736024856567, + 0.0022866118233650923, + 0.008408166468143463 + ], + "orientation": [ + 0.7507300972938538, + -0.06458937376737595, + 0.0004652776406146586, + -0.6574437618255615 + ], + "joints": [ + 0.011119948700070381 + ] + }, + "final_grasp": { + "position": [ + -0.12072736024856567, + 0.0022866118233650923, + 0.008408166468143463 + ], + "orientation": [ + 0.7507300972938538, + -0.06458937376737595, + 0.0004652776406146586, + -0.6574437618255615 + ], + "joints": [ + 0.015477428212761879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0032390104606747627, + 0.13591475784778595, + 0.022649794816970825 + ], + "orientation": [ + 0.13428275287151337, + -0.9900630712509155, + -0.018128175288438797, + 0.037610284984111786 + ], + "joints": [ + 0.006303034722805023 + ] + }, + "fine_grasp": { + "position": [ + -0.0029537456575781107, + 0.13541842997074127, + 0.024473533034324646 + ], + "orientation": [ + 0.1155923455953598, + -0.9925608038902283, + -0.018859781324863434, + 0.03325343504548073 + ], + "joints": [ + 0.011165343225002289 + ] + }, + "final_grasp": { + "position": [ + -0.0029537456575781107, + 0.13541842997074127, + 0.024473533034324646 + ], + "orientation": [ + 0.1155923455953598, + -0.9925608038902283, + -0.018859781324863434, + 0.03325343504548073 + ], + "joints": [ + 0.016027651727199554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09724078327417374, + 0.08494219183921814, + 0.02450624108314514 + ], + "orientation": [ + 0.45454615354537964, + -0.03743361681699753, + -0.13451121747493744, + 0.879711925983429 + ], + "joints": [ + 0.006342439912259579 + ] + }, + "fine_grasp": { + "position": [ + 0.09764694422483444, + 0.08525798469781876, + 0.02553144283592701 + ], + "orientation": [ + 0.45081984996795654, + -0.027407478541135788, + -0.13254719972610474, + 0.8822934031486511 + ], + "joints": [ + 0.010726490058004856 + ] + }, + "final_grasp": { + "position": [ + 0.09764694422483444, + 0.08525798469781876, + 0.02553144283592701 + ], + "orientation": [ + 0.45081984996795654, + -0.027407478541135788, + -0.13254719972610474, + 0.8822934031486511 + ], + "joints": [ + 0.015110540203750134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06772005558013916, + 0.10306507349014282, + 0.07399030774831772 + ], + "orientation": [ + 0.24482259154319763, + -0.9143427014350891, + 0.3146447539329529, + -0.07097841054201126 + ], + "joints": [ + 0.005623727571219206 + ] + }, + "fine_grasp": { + "position": [ + 0.06660540401935577, + 0.10134623199701309, + 0.07342179864645004 + ], + "orientation": [ + 0.23571057617664337, + -0.9178522825241089, + 0.31351199746131897, + -0.06081186234951019 + ], + "joints": [ + 0.011495694518089294 + ] + }, + "final_grasp": { + "position": [ + 0.06660540401935577, + 0.10134623199701309, + 0.07342179864645004 + ], + "orientation": [ + 0.23571057617664337, + -0.9178522825241089, + 0.31351199746131897, + -0.06081186234951019 + ], + "joints": [ + 0.017367660999298096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03751876577734947, + 0.1288723200559616, + 0.037587929517030716 + ], + "orientation": [ + 0.1644369512796402, + -0.05197760835289955, + 0.146382138133049, + -0.9740796685218811 + ], + "joints": [ + 0.006466854829341173 + ] + }, + "fine_grasp": { + "position": [ + -0.03696640580892563, + 0.12868928909301758, + 0.037660881876945496 + ], + "orientation": [ + 0.16674090921878815, + -0.05782619118690491, + 0.14214253425598145, + -0.9739862680435181 + ], + "joints": [ + 0.011329163797199726 + ] + }, + "final_grasp": { + "position": [ + -0.03696640580892563, + 0.12868928909301758, + 0.037660881876945496 + ], + "orientation": [ + 0.16674090921878815, + -0.05782619118690491, + 0.14214253425598145, + -0.9739862680435181 + ], + "joints": [ + 0.016191473230719566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05203533545136452, + 0.04969039186835289, + -0.16014140844345093 + ], + "orientation": [ + 0.382190465927124, + 0.18439288437366486, + 0.47039416432380676, + 0.7737306952476501 + ], + "joints": [ + -0.0005702408961951733 + ] + }, + "fine_grasp": { + "position": [ + 0.04988301917910576, + 0.04918196052312851, + -0.15730485320091248 + ], + "orientation": [ + 0.3768615126609802, + 0.17883871495723724, + 0.47134310007095337, + 0.7770636081695557 + ], + "joints": [ + 0.006869354285299778 + ] + }, + "final_grasp": { + "position": [ + 0.04988301917910576, + 0.04918196052312851, + -0.15730485320091248 + ], + "orientation": [ + 0.3768615126609802, + 0.17883871495723724, + 0.47134310007095337, + 0.7770636081695557 + ], + "joints": [ + 0.014308949932456017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07862764596939087, + -0.05783780664205551, + -0.09782826155424118 + ], + "orientation": [ + 0.0936410129070282, + 0.391825795173645, + 0.9000058770179749, + 0.16641345620155334 + ], + "joints": [ + -0.0006189943524077535 + ] + }, + "fine_grasp": { + "position": [ + -0.08037972450256348, + -0.060909491032361984, + -0.09886810183525085 + ], + "orientation": [ + 0.0938655436038971, + 0.3916237950325012, + 0.9000917077064514, + 0.1662982851266861 + ], + "joints": [ + 0.006315771024674177 + ] + }, + "final_grasp": { + "position": [ + -0.08037972450256348, + -0.060909491032361984, + -0.09886810183525085 + ], + "orientation": [ + 0.0938655436038971, + 0.3916237950325012, + 0.9000917077064514, + 0.1662982851266861 + ], + "joints": [ + 0.013250536285340786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08056875318288803, + -0.039662428200244904, + -0.12579281628131866 + ], + "orientation": [ + 0.847737193107605, + 0.3067305088043213, + 0.10296712070703506, + 0.42030441761016846 + ], + "joints": [ + -0.0006589614786207676 + ] + }, + "fine_grasp": { + "position": [ + 0.07937292754650116, + -0.039059028029441833, + -0.12626130878925323 + ], + "orientation": [ + 0.850590169429779, + 0.3015826940536499, + 0.09853485971689224, + 0.419327050447464 + ], + "joints": [ + 0.006249234080314636 + ] + }, + "final_grasp": { + "position": [ + 0.07937292754650116, + -0.039059028029441833, + -0.12626130878925323 + ], + "orientation": [ + 0.850590169429779, + 0.3015826940536499, + 0.09853485971689224, + 0.419327050447464 + ], + "joints": [ + 0.013157429173588753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031733643263578415, + 0.11859813332557678, + 0.0850500836968422 + ], + "orientation": [ + 0.2763412296772003, + -0.9471785426139832, + -0.15044951438903809, + 0.06207554414868355 + ], + "joints": [ + 0.004907857161015272 + ] + }, + "fine_grasp": { + "position": [ + -0.031090829521417618, + 0.11640515178442001, + 0.08396922051906586 + ], + "orientation": [ + 0.2662195563316345, + -0.9499264359474182, + -0.15080158412456512, + 0.06345036625862122 + ], + "joints": [ + 0.011311223730444908 + ] + }, + "final_grasp": { + "position": [ + -0.031090829521417618, + 0.11640515178442001, + 0.08396922051906586 + ], + "orientation": [ + 0.2662195563316345, + -0.9499264359474182, + -0.15080158412456512, + 0.06345036625862122 + ], + "joints": [ + 0.017714589834213257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0027724560350179672, + 0.023359792307019234, + -0.17294500768184662 + ], + "orientation": [ + 0.2504855990409851, + 0.24517224729061127, + -0.6433115601539612, + -0.6806598901748657 + ], + "joints": [ + -0.0001494558237027377 + ] + }, + "fine_grasp": { + "position": [ + -0.003429125528782606, + 0.02385544963181019, + -0.17565594613552094 + ], + "orientation": [ + 0.24701182544231415, + 0.24498896300792694, + -0.6453022956848145, + -0.6801106333732605 + ], + "joints": [ + 0.006785309407860041 + ] + }, + "final_grasp": { + "position": [ + -0.003429125528782606, + 0.02385544963181019, + -0.17565594613552094 + ], + "orientation": [ + 0.24701182544231415, + 0.24498896300792694, + -0.6453022956848145, + -0.6801106333732605 + ], + "joints": [ + 0.01372007466852665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0030711102299392223, + 0.023417513817548752, + -0.1741584837436676 + ], + "orientation": [ + 0.2596105635166168, + 0.2519223690032959, + -0.6377997994422913, + -0.6799623370170593 + ], + "joints": [ + -0.000214968720683828 + ] + }, + "fine_grasp": { + "position": [ + -0.0028343668673187494, + 0.023831697180867195, + -0.17584900557994843 + ], + "orientation": [ + 0.2619435787200928, + 0.2561245858669281, + -0.6367298364639282, + -0.6784989833831787 + ], + "joints": [ + 0.0067197964526712894 + ] + }, + "final_grasp": { + "position": [ + -0.0028343668673187494, + 0.023831697180867195, + -0.17584900557994843 + ], + "orientation": [ + 0.2619435787200928, + 0.2561245858669281, + -0.6367298364639282, + -0.6784989833831787 + ], + "joints": [ + 0.013654561713337898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03183634579181671, + 0.11865834891796112, + 0.0861644297838211 + ], + "orientation": [ + 0.27795347571372986, + -0.9467543363571167, + -0.15035201609134674, + 0.06158303841948509 + ], + "joints": [ + 0.0048026759177446365 + ] + }, + "fine_grasp": { + "position": [ + -0.03115576133131981, + 0.11638860404491425, + 0.08497299998998642 + ], + "orientation": [ + 0.2686702013015747, + -0.9490178823471069, + -0.15141838788986206, + 0.0652216374874115 + ], + "joints": [ + 0.011232612654566765 + ] + }, + "final_grasp": { + "position": [ + -0.03115576133131981, + 0.11638860404491425, + 0.08497299998998642 + ], + "orientation": [ + 0.2686702013015747, + -0.9490178823471069, + -0.15141838788986206, + 0.0652216374874115 + ], + "joints": [ + 0.017662549391388893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0334026925265789, + -0.01374981738626957, + -0.16622036695480347 + ], + "orientation": [ + 0.7549952268600464, + 0.49786216020584106, + -0.24520407617092133, + -0.34927117824554443 + ], + "joints": [ + -0.00035698272404260933 + ] + }, + "fine_grasp": { + "position": [ + -0.03299930319190025, + -0.013391409069299698, + -0.1664053499698639 + ], + "orientation": [ + 0.7569535970687866, + 0.498064786195755, + -0.24328678846359253, + -0.34606942534446716 + ], + "joints": [ + 0.006577782798558474 + ] + }, + "final_grasp": { + "position": [ + -0.03299930319190025, + -0.013391409069299698, + -0.1664053499698639 + ], + "orientation": [ + 0.7569535970687866, + 0.498064786195755, + -0.24328678846359253, + -0.34606942534446716 + ], + "joints": [ + 0.013512548059225082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03208903968334198, + 0.11830455809831619, + 0.08750142902135849 + ], + "orientation": [ + 0.2770037055015564, + -0.9466988444328308, + -0.15195788443088531, + 0.06276080757379532 + ], + "joints": [ + 0.0049733747728168964 + ] + }, + "fine_grasp": { + "position": [ + -0.03124874457716942, + 0.11558614671230316, + 0.08631385862827301 + ], + "orientation": [ + 0.2673104703426361, + -0.9494602084159851, + -0.15185460448265076, + 0.06332860141992569 + ], + "joints": [ + 0.011376741342246532 + ] + }, + "final_grasp": { + "position": [ + -0.03124874457716942, + 0.11558614671230316, + 0.08631385862827301 + ], + "orientation": [ + 0.2673104703426361, + -0.9494602084159851, + -0.15185460448265076, + 0.06332860141992569 + ], + "joints": [ + 0.017780108377337456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005068222060799599, + 0.03468185290694237, + 0.15723203122615814 + ], + "orientation": [ + 0.09129747003316879, + -0.07858786731958389, + 0.6630144119262695, + -0.7388508319854736 + ], + "joints": [ + 0.003718860447406769 + ] + }, + "fine_grasp": { + "position": [ + -0.004807493183761835, + 0.03352869674563408, + 0.15437297523021698 + ], + "orientation": [ + 0.09243082255125046, + -0.07819738239049911, + 0.6556045413017273, + -0.745335042476654 + ], + "joints": [ + 0.00959082692861557 + ] + }, + "final_grasp": { + "position": [ + -0.004807493183761835, + 0.03352869674563408, + 0.15437297523021698 + ], + "orientation": [ + 0.09243082255125046, + -0.07819738239049911, + 0.6556045413017273, + -0.745335042476654 + ], + "joints": [ + 0.015462793409824371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0062338802963495255, + 0.009283971972763538, + -0.17283155024051666 + ], + "orientation": [ + 0.17728757858276367, + 0.13557371497154236, + 0.7110851407051086, + 0.6667433977127075 + ], + "joints": [ + -6.620472413487732e-05 + ] + }, + "fine_grasp": { + "position": [ + 0.006332144141197205, + 0.008679892867803574, + -0.17558497190475464 + ], + "orientation": [ + 0.18197327852249146, + 0.14000126719474792, + 0.707690954208374, + 0.6681758761405945 + ], + "joints": [ + 0.006868560332804918 + ] + }, + "final_grasp": { + "position": [ + 0.006332144141197205, + 0.008679892867803574, + -0.17558497190475464 + ], + "orientation": [ + 0.18197327852249146, + 0.14000126719474792, + 0.707690954208374, + 0.6681758761405945 + ], + "joints": [ + 0.013803325593471527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036849766969680786, + -0.047520484775304794, + -0.15385201573371887 + ], + "orientation": [ + 0.855013370513916, + 0.455046147108078, + 0.11478886008262634, + 0.22070036828517914 + ], + "joints": [ + -0.00018609719700179994 + ] + }, + "fine_grasp": { + "position": [ + 0.03517782315611839, + -0.044320523738861084, + -0.15212127566337585 + ], + "orientation": [ + 0.8621033430099487, + 0.4425313472747803, + 0.10972587019205093, + 0.22114284336566925 + ], + "joints": [ + 0.006217268295586109 + ] + }, + "final_grasp": { + "position": [ + 0.03517782315611839, + -0.044320523738861084, + -0.15212127566337585 + ], + "orientation": [ + 0.8621033430099487, + 0.4425313472747803, + 0.10972587019205093, + 0.22114284336566925 + ], + "joints": [ + 0.012620633468031883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038233980536460876, + -0.06676072627305984, + -0.1397792398929596 + ], + "orientation": [ + 0.9045630097389221, + 0.3867146968841553, + 0.036916203796863556, + 0.1756550371646881 + ], + "joints": [ + -0.0003740878601092845 + ] + }, + "fine_grasp": { + "position": [ + 0.03676154837012291, + -0.06296714395284653, + -0.13843704760074615 + ], + "orientation": [ + 0.9102234840393066, + 0.37246444821357727, + 0.036833371967077255, + 0.1772191822528839 + ], + "joints": [ + 0.006029278039932251 + ] + }, + "final_grasp": { + "position": [ + 0.03676154837012291, + -0.06296714395284653, + -0.13843704760074615 + ], + "orientation": [ + 0.9102234840393066, + 0.37246444821357727, + 0.036833371967077255, + 0.1772191822528839 + ], + "joints": [ + 0.0124326441437006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04464082419872284, + -0.08188965916633606, + -0.10056476294994354 + ], + "orientation": [ + 0.05730254575610161, + 0.20559856295585632, + -0.9575373530387878, + -0.19382444024085999 + ], + "joints": [ + -0.00035497263888828456 + ] + }, + "fine_grasp": { + "position": [ + 0.045697323977947235, + -0.083778016269207, + -0.10185067355632782 + ], + "orientation": [ + 0.05005882680416107, + 0.20122896134853363, + -0.9591095447540283, + -0.19263961911201477 + ], + "joints": [ + 0.006048392970114946 + ] + }, + "final_grasp": { + "position": [ + 0.045697323977947235, + -0.083778016269207, + -0.10185067355632782 + ], + "orientation": [ + 0.05005882680416107, + 0.20122896134853363, + -0.9591095447540283, + -0.19263961911201477 + ], + "joints": [ + 0.012451758608222008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051361508667469025, + 0.1248939037322998, + -0.05093979090452194 + ], + "orientation": [ + 0.22297517955303192, + -0.019480152055621147, + 0.0028112134896218777, + -0.9746253490447998 + ], + "joints": [ + -0.0002766911347862333 + ] + }, + "fine_grasp": { + "position": [ + -0.05148995295166969, + 0.12440484017133713, + -0.051348764449357986 + ], + "orientation": [ + 0.22178035974502563, + -0.023443657904863358, + 0.006899212021380663, + -0.9747903943061829 + ], + "joints": [ + 0.006658073980361223 + ] + }, + "final_grasp": { + "position": [ + -0.05148995295166969, + 0.12440484017133713, + -0.051348764449357986 + ], + "orientation": [ + 0.22178035974502563, + -0.023443657904863358, + 0.006899212021380663, + -0.9747903943061829 + ], + "joints": [ + 0.013592839241027832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016828345134854317, + -0.007284118328243494, + -0.174397274851799 + ], + "orientation": [ + 0.33381423354148865, + 0.35934892296791077, + 0.7023705244064331, + 0.5158606171607971 + ], + "joints": [ + -0.00018751347670331597 + ] + }, + "fine_grasp": { + "position": [ + -0.01807950809597969, + -0.006632826756685972, + -0.17312271893024445 + ], + "orientation": [ + 0.3341580331325531, + 0.3610422611236572, + 0.6956452131271362, + 0.5235120058059692 + ], + "joints": [ + 0.006747251842170954 + ] + }, + "final_grasp": { + "position": [ + -0.01807950809597969, + -0.006632826756685972, + -0.17312271893024445 + ], + "orientation": [ + 0.3341580331325531, + 0.3610422611236572, + 0.6956452131271362, + 0.5235120058059692 + ], + "joints": [ + 0.013682017102837563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01643967628479004, + -0.007187966722995043, + -0.17513161897659302 + ], + "orientation": [ + 0.3303873836994171, + 0.3594038486480713, + 0.7065163850784302, + 0.5123552083969116 + ], + "joints": [ + -0.0002663738850969821 + ] + }, + "fine_grasp": { + "position": [ + -0.018078865483403206, + -0.006636214442551136, + -0.17292402684688568 + ], + "orientation": [ + 0.3330833613872528, + 0.36012402176856995, + 0.6969684362411499, + 0.5230690240859985 + ], + "joints": [ + 0.0066683911718428135 + ] + }, + "final_grasp": { + "position": [ + -0.018078865483403206, + -0.006636214442551136, + -0.17292402684688568 + ], + "orientation": [ + 0.3330833613872528, + 0.36012402176856995, + 0.6969684362411499, + 0.5230690240859985 + ], + "joints": [ + 0.013603156432509422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0715843066573143, + 0.0350528284907341, + -0.1576765775680542 + ], + "orientation": [ + 0.3840866982936859, + 0.6901618838310242, + -0.5383843779563904, + -0.2937624156475067 + ], + "joints": [ + -0.0011224932968616486 + ] + }, + "fine_grasp": { + "position": [ + 0.06816087663173676, + 0.03472229465842247, + -0.15548214316368103 + ], + "orientation": [ + 0.3689572811126709, + 0.6975597143173218, + -0.5433031916618347, + -0.2865355610847473 + ], + "joints": [ + 0.006317101884633303 + ] + }, + "final_grasp": { + "position": [ + 0.06816087663173676, + 0.03472229465842247, + -0.15548214316368103 + ], + "orientation": [ + 0.3689572811126709, + 0.6975597143173218, + -0.5433031916618347, + -0.2865355610847473 + ], + "joints": [ + 0.013756697066128254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.106818288564682, + 0.019078310579061508, + 0.0856536403298378 + ], + "orientation": [ + 0.1992446780204773, + -0.6892716288566589, + 0.6736426949501038, + -0.17723314464092255 + ], + "joints": [ + 0.005684222094714642 + ] + }, + "fine_grasp": { + "position": [ + 0.1055256649851799, + 0.019385788589715958, + 0.08561752736568451 + ], + "orientation": [ + 0.19593212008476257, + -0.6939595937728882, + 0.6724445223808289, + -0.16688010096549988 + ], + "joints": [ + 0.01208758819848299 + ] + }, + "final_grasp": { + "position": [ + 0.1055256649851799, + 0.019385788589715958, + 0.08561752736568451 + ], + "orientation": [ + 0.19593212008476257, + -0.6939595937728882, + 0.6724445223808289, + -0.16688010096549988 + ], + "joints": [ + 0.018490955233573914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0163789764046669, + -0.006816113367676735, + -0.16895081102848053 + ], + "orientation": [ + 0.766556441783905, + 0.6269020438194275, + 0.0551556833088398, + 0.12783941626548767 + ], + "joints": [ + -0.00046525782090611756 + ] + }, + "fine_grasp": { + "position": [ + 0.016384057700634003, + -0.005197765771299601, + -0.16320933401584625 + ], + "orientation": [ + 0.7668924927711487, + 0.6266300678253174, + 0.05061090365052223, + 0.1290317177772522 + ], + "joints": [ + 0.00644293799996376 + ] + }, + "final_grasp": { + "position": [ + 0.016384057700634003, + -0.005197765771299601, + -0.16320933401584625 + ], + "orientation": [ + 0.7668924927711487, + 0.6266300678253174, + 0.05061090365052223, + 0.1290317177772522 + ], + "joints": [ + 0.013351134024560452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09737573564052582, + -0.016498111188411713, + 0.09238603711128235 + ], + "orientation": [ + 0.7748113870620728, + -0.21115829050540924, + 0.19517973065376282, + -0.5630135536193848 + ], + "joints": [ + 0.005991781130433083 + ] + }, + "fine_grasp": { + "position": [ + -0.09497331827878952, + -0.01509909238666296, + 0.09237721562385559 + ], + "orientation": [ + 0.7760710120201111, + -0.20717014372348785, + 0.18859951198101044, + -0.5649997591972351 + ], + "joints": [ + 0.011890318244695663 + ] + }, + "final_grasp": { + "position": [ + -0.09497331827878952, + -0.01509909238666296, + 0.09237721562385559 + ], + "orientation": [ + 0.7760710120201111, + -0.20717014372348785, + 0.18859951198101044, + -0.5649997591972351 + ], + "joints": [ + 0.017788855358958244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025516316294670105, + 0.07557401061058044, + -0.1568446010351181 + ], + "orientation": [ + 0.48251160979270935, + 0.8652217984199524, + -0.1341431438922882, + -0.02407294139266014 + ], + "joints": [ + -0.00026030692970380187 + ] + }, + "fine_grasp": { + "position": [ + 0.025347251445055008, + 0.07624723762273788, + -0.15565142035484314 + ], + "orientation": [ + 0.4852810800075531, + 0.863445520401001, + -0.1352996975183487, + -0.025655845180153847 + ], + "joints": [ + 0.006674458272755146 + ] + }, + "final_grasp": { + "position": [ + 0.025347251445055008, + 0.07624723762273788, + -0.15565142035484314 + ], + "orientation": [ + 0.4852810800075531, + 0.863445520401001, + -0.1352996975183487, + -0.025655845180153847 + ], + "joints": [ + 0.013609223067760468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024995267391204834, + 0.07461878657341003, + -0.1551378220319748 + ], + "orientation": [ + 0.48550882935523987, + 0.8637201189994812, + -0.13318230211734772, + -0.023050902411341667 + ], + "joints": [ + -0.0002817892818711698 + ] + }, + "fine_grasp": { + "position": [ + 0.02489481121301651, + 0.07552873343229294, + -0.15570823848247528 + ], + "orientation": [ + 0.4890874922275543, + 0.8615291714668274, + -0.13383938372135162, + -0.0254531130194664 + ], + "joints": [ + 0.006652975920587778 + ] + }, + "final_grasp": { + "position": [ + 0.02489481121301651, + 0.07552873343229294, + -0.15570823848247528 + ], + "orientation": [ + 0.4890874922275543, + 0.8615291714668274, + -0.13383938372135162, + -0.0254531130194664 + ], + "joints": [ + 0.013587741181254387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016751516610383987, + 0.025936875492334366, + 0.16356414556503296 + ], + "orientation": [ + 0.23067514598369598, + -0.16929864883422852, + 0.6596295833587646, + -0.6949934363365173 + ], + "joints": [ + 0.003886043094098568 + ] + }, + "fine_grasp": { + "position": [ + -0.016213735565543175, + 0.024841981008648872, + 0.16123050451278687 + ], + "orientation": [ + 0.23119230568408966, + -0.16707843542099, + 0.6520543694496155, + -0.7024672031402588 + ], + "joints": [ + 0.009253180585801601 + ] + }, + "final_grasp": { + "position": [ + -0.016213735565543175, + 0.024841981008648872, + 0.16123050451278687 + ], + "orientation": [ + 0.23119230568408966, + -0.16707843542099, + 0.6520543694496155, + -0.7024672031402588 + ], + "joints": [ + 0.014620318077504635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0018126948270946741, + -0.08395734429359436, + -0.11460322141647339 + ], + "orientation": [ + 0.001670723082497716, + -0.01124598179012537, + -0.9630284905433655, + -0.2691594660282135 + ], + "joints": [ + -4.710032953880727e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.0018089179648086429, + -0.08586142957210541, + -0.11587560176849365 + ], + "orientation": [ + 0.0029710596427321434, + -0.01362087856978178, + -0.9633716344833374, + -0.26780712604522705 + ], + "joints": [ + 0.0063562653958797455 + ] + }, + "final_grasp": { + "position": [ + -0.0018089179648086429, + -0.08586142957210541, + -0.11587560176849365 + ], + "orientation": [ + 0.0029710596427321434, + -0.01362087856978178, + -0.9633716344833374, + -0.26780712604522705 + ], + "joints": [ + 0.012759631499648094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027330411598086357, + -0.09588510543107986, + -0.029364949092268944 + ], + "orientation": [ + 0.0049057649448513985, + -0.11306602507829666, + 0.9878768920898438, + -0.10626089572906494 + ], + "joints": [ + -0.00012415737728588283 + ] + }, + "fine_grasp": { + "position": [ + 0.027799274772405624, + -0.09805038571357727, + -0.028643470257520676 + ], + "orientation": [ + 0.011778537184000015, + -0.11183343082666397, + 0.9882491230964661, + -0.10352842509746552 + ], + "joints": [ + 0.0068106078542768955 + ] + }, + "final_grasp": { + "position": [ + 0.027799274772405624, + -0.09805038571357727, + -0.028643470257520676 + ], + "orientation": [ + 0.011778537184000015, + -0.11183343082666397, + 0.9882491230964661, + -0.10352842509746552 + ], + "joints": [ + 0.013745373114943504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10800811648368835, + 0.026667596772313118, + 0.08704407513141632 + ], + "orientation": [ + 0.20228277146816254, + -0.7158671021461487, + -0.6490789651870728, + 0.15909892320632935 + ], + "joints": [ + 0.005931240972131491 + ] + }, + "fine_grasp": { + "position": [ + -0.10466788709163666, + 0.027163207530975342, + 0.08672843873500824 + ], + "orientation": [ + 0.19111788272857666, + -0.7179726958274841, + -0.6510946750640869, + 0.15512892603874207 + ], + "joints": [ + 0.01180320791900158 + ] + }, + "final_grasp": { + "position": [ + -0.10466788709163666, + 0.027163207530975342, + 0.08672843873500824 + ], + "orientation": [ + 0.19111788272857666, + -0.7179726958274841, + -0.6510946750640869, + 0.15512892603874207 + ], + "joints": [ + 0.01767517440021038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0816536396741867, + -0.03822460025548935, + -0.123702272772789 + ], + "orientation": [ + 0.8471813797950745, + 0.31769514083862305, + 0.07548382878303528, + 0.419112890958786 + ], + "joints": [ + -0.00034479695023037493 + ] + }, + "fine_grasp": { + "position": [ + 0.08108790218830109, + -0.037717193365097046, + -0.12323083728551865 + ], + "orientation": [ + 0.8495723009109497, + 0.314076691865921, + 0.06295318156480789, + 0.4190700650215149 + ], + "joints": [ + 0.005500599276274443 + ] + }, + "final_grasp": { + "position": [ + 0.08108790218830109, + -0.037717193365097046, + -0.12323083728551865 + ], + "orientation": [ + 0.8495723009109497, + 0.314076691865921, + 0.06295318156480789, + 0.4190700650215149 + ], + "joints": [ + 0.011345995590090752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016540518030524254, + 0.017683785408735275, + 0.16624519228935242 + ], + "orientation": [ + 0.6242588758468628, + -0.6615336537361145, + -0.3290010094642639, + 0.25383517146110535 + ], + "joints": [ + 0.003608452156186104 + ] + }, + "fine_grasp": { + "position": [ + -0.01590055041015148, + 0.017167726531624794, + 0.1626545488834381 + ], + "orientation": [ + 0.620308518409729, + -0.6656444668769836, + -0.33016490936279297, + 0.2512489855289459 + ], + "joints": [ + 0.009985247626900673 + ] + }, + "final_grasp": { + "position": [ + -0.01590055041015148, + 0.017167726531624794, + 0.1626545488834381 + ], + "orientation": [ + 0.620308518409729, + -0.6656444668769836, + -0.33016490936279297, + 0.2512489855289459 + ], + "joints": [ + 0.016362043097615242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08350180834531784, + -0.027358947321772575, + 0.11197037249803543 + ], + "orientation": [ + 0.8102731704711914, + -0.3046574890613556, + -0.15199989080429077, + 0.4770084619522095 + ], + "joints": [ + 0.005935270339250565 + ] + }, + "fine_grasp": { + "position": [ + 0.08110632002353668, + -0.026390762999653816, + 0.11031791567802429 + ], + "orientation": [ + 0.8100776076316833, + -0.29908907413482666, + -0.15639656782150269, + 0.4794374108314514 + ], + "joints": [ + 0.012338636443018913 + ] + }, + "final_grasp": { + "position": [ + 0.08110632002353668, + -0.026390762999653816, + 0.11031791567802429 + ], + "orientation": [ + 0.8100776076316833, + -0.29908907413482666, + -0.15639656782150269, + 0.4794374108314514 + ], + "joints": [ + 0.018742002546787262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05550239607691765, + -0.002585021546110511, + -0.15521176159381866 + ], + "orientation": [ + 0.19454263150691986, + 0.44686901569366455, + 0.7391209602355957, + 0.46493175625801086 + ], + "joints": [ + -2.3724103812128305e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.055739399045705795, + -0.002060091821476817, + -0.15617281198501587 + ], + "orientation": [ + 0.19738583266735077, + 0.4507521092891693, + 0.7410422563552856, + 0.45685628056526184 + ], + "joints": [ + 0.006379641592502594 + ] + }, + "final_grasp": { + "position": [ + -0.055739399045705795, + -0.002060091821476817, + -0.15617281198501587 + ], + "orientation": [ + 0.19738583266735077, + 0.4507521092891693, + 0.7410422563552856, + 0.45685628056526184 + ], + "joints": [ + 0.012783007696270943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0812520906329155, + -0.03905177488923073, + -0.12406802177429199 + ], + "orientation": [ + 0.8481593728065491, + 0.31302544474601746, + 0.08505644649267197, + 0.4188150465488434 + ], + "joints": [ + -0.0004037028702441603 + ] + }, + "fine_grasp": { + "position": [ + 0.08072168380022049, + -0.03816385194659233, + -0.12293335050344467 + ], + "orientation": [ + 0.8497300744056702, + 0.3135848939418793, + 0.07057202607393265, + 0.4179030656814575 + ], + "joints": [ + 0.0049634333699941635 + ] + }, + "final_grasp": { + "position": [ + 0.08072168380022049, + -0.03816385194659233, + -0.12293335050344467 + ], + "orientation": [ + 0.8497300744056702, + 0.3135848939418793, + 0.07057202607393265, + 0.4179030656814575 + ], + "joints": [ + 0.010330569930374622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011799708940088749, + -0.02050415426492691, + 0.1596871018409729 + ], + "orientation": [ + 0.13983039557933807, + -0.1590549796819687, + 0.7875425815582275, + -0.578727662563324 + ], + "joints": [ + 0.003595065325498581 + ] + }, + "fine_grasp": { + "position": [ + 0.01173239853233099, + -0.018707573413848877, + 0.15618936717510223 + ], + "orientation": [ + 0.13576388359069824, + -0.16037021577358246, + 0.791619598865509, + -0.5737490057945251 + ], + "joints": [ + 0.00997186079621315 + ] + }, + "final_grasp": { + "position": [ + 0.01173239853233099, + -0.018707573413848877, + 0.15618936717510223 + ], + "orientation": [ + 0.13576388359069824, + -0.16037021577358246, + 0.791619598865509, + -0.5737490057945251 + ], + "joints": [ + 0.01634865626692772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10354515165090561, + -0.04624374955892563, + -0.06999243050813675 + ], + "orientation": [ + 0.8682745099067688, + 0.12488605827093124, + -0.035632453858852386, + 0.47878310084342957 + ], + "joints": [ + -0.0002328359696548432 + ] + }, + "fine_grasp": { + "position": [ + 0.10250216722488403, + -0.044520702213048935, + -0.07113517820835114 + ], + "orientation": [ + 0.8689318299293518, + 0.11504523456096649, + -0.04265987128019333, + 0.47948136925697327 + ], + "joints": [ + 0.006197099573910236 + ] + }, + "final_grasp": { + "position": [ + 0.10250216722488403, + -0.044520702213048935, + -0.07113517820835114 + ], + "orientation": [ + 0.8689318299293518, + 0.11504523456096649, + -0.04265987128019333, + 0.47948136925697327 + ], + "joints": [ + 0.01262703537940979 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10268402099609375, + -0.019179541617631912, + 0.08137677609920502 + ], + "orientation": [ + 0.7934704422950745, + -0.18145978450775146, + -0.14024901390075684, + 0.563744068145752 + ], + "joints": [ + 0.006650290451943874 + ] + }, + "fine_grasp": { + "position": [ + 0.10329627245664597, + -0.020274456590414047, + 0.08285914361476898 + ], + "orientation": [ + 0.7962310910224915, + -0.16275955736637115, + -0.13551151752471924, + 0.5667115449905396 + ], + "joints": [ + 0.012495686300098896 + ] + }, + "final_grasp": { + "position": [ + 0.10329627245664597, + -0.020274456590414047, + 0.08285914361476898 + ], + "orientation": [ + 0.7962310910224915, + -0.16275955736637115, + -0.13551151752471924, + 0.5667115449905396 + ], + "joints": [ + 0.018341083079576492 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10054352879524231, + 0.06751999258995056, + 0.08082889765501022 + ], + "orientation": [ + 0.5218181610107422, + -0.14089231193065643, + 0.15096735954284668, + -0.8276859521865845 + ], + "joints": [ + 0.006562050431966782 + ] + }, + "fine_grasp": { + "position": [ + -0.10084754973649979, + 0.06829290837049484, + 0.08055046945810318 + ], + "orientation": [ + 0.5236266255378723, + -0.14312201738357544, + 0.15259714424610138, + -0.8258604407310486 + ], + "joints": [ + 0.01296541653573513 + ] + }, + "final_grasp": { + "position": [ + -0.10084754973649979, + 0.06829290837049484, + 0.08055046945810318 + ], + "orientation": [ + 0.5236266255378723, + -0.14312201738357544, + 0.15259714424610138, + -0.8258604407310486 + ], + "joints": [ + 0.01936878263950348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07123352587223053, + -0.0489189550280571, + -0.12539441883563995 + ], + "orientation": [ + 0.846344530582428, + 0.260039746761322, + -0.22649863362312317, + -0.40592944622039795 + ], + "joints": [ + -0.0007420111214742064 + ] + }, + "fine_grasp": { + "position": [ + -0.07117238640785217, + -0.04916760325431824, + -0.12482304126024246 + ], + "orientation": [ + 0.8497612476348877, + 0.24667908251285553, + -0.22617879509925842, + -0.40730637311935425 + ], + "joints": [ + 0.005103385075926781 + ] + }, + "final_grasp": { + "position": [ + -0.07117238640785217, + -0.04916760325431824, + -0.12482304126024246 + ], + "orientation": [ + 0.8497612476348877, + 0.24667908251285553, + -0.22617879509925842, + -0.40730637311935425 + ], + "joints": [ + 0.010948780924081802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0875798687338829, + 0.05289297178387642, + 0.11749614775180817 + ], + "orientation": [ + 0.2921029329299927, + -0.7769196033477783, + 0.5233286023139954, + -0.1928701251745224 + ], + "joints": [ + 0.005721990950405598 + ] + }, + "fine_grasp": { + "position": [ + 0.08371754735708237, + 0.05145642161369324, + 0.11485469341278076 + ], + "orientation": [ + 0.2903432846069336, + -0.7791668176651001, + 0.5232683420181274, + -0.1865205466747284 + ], + "joints": [ + 0.013135015033185482 + ] + }, + "final_grasp": { + "position": [ + 0.08371754735708237, + 0.05145642161369324, + 0.11485469341278076 + ], + "orientation": [ + 0.2903432846069336, + -0.7791668176651001, + 0.5232683420181274, + -0.1865205466747284 + ], + "joints": [ + 0.020548038184642792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10420338809490204, + -0.04618380218744278, + -0.06958891451358795 + ], + "orientation": [ + 0.8663309216499329, + 0.1324882060289383, + -0.04525788128376007, + 0.47944706678390503 + ], + "joints": [ + -0.00023283233167603612 + ] + }, + "fine_grasp": { + "position": [ + 0.10428880900144577, + -0.04493294656276703, + -0.0703754872083664 + ], + "orientation": [ + 0.8670528531074524, + 0.12298649549484253, + -0.051789481192827225, + 0.48001185059547424 + ], + "joints": [ + 0.0061705331318080425 + ] + }, + "final_grasp": { + "position": [ + 0.10428880900144577, + -0.04493294656276703, + -0.0703754872083664 + ], + "orientation": [ + 0.8670528531074524, + 0.12298649549484253, + -0.051789481192827225, + 0.48001185059547424 + ], + "joints": [ + 0.012573898769915104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015960009768605232, + 0.01803913339972496, + 0.16711103916168213 + ], + "orientation": [ + 0.6238875985145569, + -0.6692489385604858, + -0.32076144218444824, + 0.24491268396377563 + ], + "joints": [ + 0.003613516688346863 + ] + }, + "fine_grasp": { + "position": [ + -0.015388980507850647, + 0.017537765204906464, + 0.1634998917579651 + ], + "orientation": [ + 0.6205624938011169, + -0.6734303832054138, + -0.32077229022979736, + 0.24186520278453827 + ], + "joints": [ + 0.009990312159061432 + ] + }, + "final_grasp": { + "position": [ + -0.015388980507850647, + 0.017537765204906464, + 0.1634998917579651 + ], + "orientation": [ + 0.6205624938011169, + -0.6734303832054138, + -0.32077229022979736, + 0.24186520278453827 + ], + "joints": [ + 0.016367107629776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09883514791727066, + -0.009181790053844452, + 0.10280786454677582 + ], + "orientation": [ + 0.16118769347667694, + -0.5741751194000244, + 0.7618743181228638, + -0.25276273488998413 + ], + "joints": [ + 0.005479495041072369 + ] + }, + "fine_grasp": { + "position": [ + 0.09487297385931015, + -0.008454256691038609, + 0.1012803465127945 + ], + "orientation": [ + 0.16065660119056702, + -0.5771007537841797, + 0.7631542086601257, + -0.2423633635044098 + ], + "joints": [ + 0.011856290511786938 + ] + }, + "final_grasp": { + "position": [ + 0.09487297385931015, + -0.008454256691038609, + 0.1012803465127945 + ], + "orientation": [ + 0.16065660119056702, + -0.5771007537841797, + 0.7631542086601257, + -0.2423633635044098 + ], + "joints": [ + 0.01823308691382408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08717523515224457, + 0.052563734352588654, + 0.11794362217187881 + ], + "orientation": [ + 0.2930242121219635, + -0.7780476808547974, + 0.5228643417358398, + -0.18812669813632965 + ], + "joints": [ + 0.006106599234044552 + ] + }, + "fine_grasp": { + "position": [ + 0.08370473980903625, + 0.05145205557346344, + 0.11553962528705597 + ], + "orientation": [ + 0.2920874357223511, + -0.779875636100769, + 0.5225104093551636, + -0.1829254925251007 + ], + "joints": [ + 0.013014794327318668 + ] + }, + "final_grasp": { + "position": [ + 0.08370473980903625, + 0.05145205557346344, + 0.11553962528705597 + ], + "orientation": [ + 0.2920874357223511, + -0.779875636100769, + 0.5225104093551636, + -0.1829254925251007 + ], + "joints": [ + 0.01992299035191536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10735151916742325, + 0.032814860343933105, + 0.0866263285279274 + ], + "orientation": [ + 0.6314659714698792, + -0.11205073446035385, + -0.19094526767730713, + 0.7431252598762512 + ], + "joints": [ + 0.007215500809252262 + ] + }, + "fine_grasp": { + "position": [ + 0.10747841000556946, + 0.032742295414209366, + 0.08631417155265808 + ], + "orientation": [ + 0.6288983225822449, + -0.11252755671739578, + -0.19398771226406097, + 0.744441568851471 + ], + "joints": [ + 0.013087467290461063 + ] + }, + "final_grasp": { + "position": [ + 0.10747841000556946, + 0.032742295414209366, + 0.08631417155265808 + ], + "orientation": [ + 0.6288983225822449, + -0.11252755671739578, + -0.19398771226406097, + 0.744441568851471 + ], + "joints": [ + 0.01895943284034729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09761673212051392, + -0.008685920387506485, + 0.1033652126789093 + ], + "orientation": [ + 0.1526661515235901, + -0.5746217966079712, + 0.7648073434829712, + -0.24813829362392426 + ], + "joints": [ + 0.006180731114000082 + ] + }, + "fine_grasp": { + "position": [ + 0.09553642570972443, + -0.008091144263744354, + 0.10293460637331009 + ], + "orientation": [ + 0.15355545282363892, + -0.5752378106117249, + 0.7656436562538147, + -0.24354037642478943 + ], + "joints": [ + 0.012557527050375938 + ] + }, + "final_grasp": { + "position": [ + 0.09553642570972443, + -0.008091144263744354, + 0.10293460637331009 + ], + "orientation": [ + 0.15355545282363892, + -0.5752378106117249, + 0.7656436562538147, + -0.24354037642478943 + ], + "joints": [ + 0.018934322521090508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011435799300670624, + 0.00969262607395649, + 0.16375108063220978 + ], + "orientation": [ + 0.18500638008117676, + -0.24366118013858795, + -0.719306230545044, + 0.623698890209198 + ], + "joints": [ + 0.005111830309033394 + ] + }, + "fine_grasp": { + "position": [ + -0.011027372442185879, + 0.010145092383027077, + 0.15940874814987183 + ], + "orientation": [ + 0.18465255200862885, + -0.24320654571056366, + -0.7197362184524536, + 0.6234851479530334 + ], + "joints": [ + 0.011488625779747963 + ] + }, + "final_grasp": { + "position": [ + -0.011027372442185879, + 0.010145092383027077, + 0.15940874814987183 + ], + "orientation": [ + 0.18465255200862885, + -0.24320654571056366, + -0.7197362184524536, + 0.6234851479530334 + ], + "joints": [ + 0.017865421250462532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11735525727272034, + 0.004237037617713213, + -0.031917963176965714 + ], + "orientation": [ + 0.74580979347229, + -0.11634089797735214, + -0.02752511203289032, + -0.6553432941436768 + ], + "joints": [ + -1.4861667295917869e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.11714416742324829, + 0.003467750968411565, + -0.03222617134451866 + ], + "orientation": [ + 0.7447718381881714, + -0.13032777607440948, + -0.03330593556165695, + -0.6536208391189575 + ], + "joints": [ + 0.0058836741372942924 + ] + }, + "final_grasp": { + "position": [ + -0.11714416742324829, + 0.003467750968411565, + -0.03222617134451866 + ], + "orientation": [ + 0.7447718381881714, + -0.13032777607440948, + -0.03330593556165695, + -0.6536208391189575 + ], + "joints": [ + 0.011782210320234299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04490107297897339, + 0.04940319433808327, + 0.1599891483783722 + ], + "orientation": [ + 0.4883381426334381, + -0.7561724781990051, + -0.3716655373573303, + 0.22714264690876007 + ], + "joints": [ + 0.004127966705709696 + ] + }, + "fine_grasp": { + "position": [ + -0.0427815280854702, + 0.04764550179243088, + 0.15554331243038177 + ], + "orientation": [ + 0.4802727997303009, + -0.762026846408844, + -0.3725954592227936, + 0.22321662306785583 + ], + "joints": [ + 0.011540991254150867 + ] + }, + "final_grasp": { + "position": [ + -0.0427815280854702, + 0.04764550179243088, + 0.15554331243038177 + ], + "orientation": [ + 0.4802727997303009, + -0.762026846408844, + -0.3725954592227936, + 0.22321662306785583 + ], + "joints": [ + 0.018954016268253326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02146797627210617, + -0.017056308686733246, + 0.15738044679164886 + ], + "orientation": [ + 0.7585386037826538, + -0.5205331444740295, + -0.2546730041503906, + 0.29800325632095337 + ], + "joints": [ + 0.004016341641545296 + ] + }, + "fine_grasp": { + "position": [ + 0.02048657275736332, + -0.014584111049771309, + 0.15355581045150757 + ], + "orientation": [ + 0.760165810585022, + -0.519696056842804, + -0.2505667507648468, + 0.2987981140613556 + ], + "joints": [ + 0.0114027950912714 + ] + }, + "final_grasp": { + "position": [ + 0.02048657275736332, + -0.014584111049771309, + 0.15355581045150757 + ], + "orientation": [ + 0.760165810585022, + -0.519696056842804, + -0.2505667507648468, + 0.2987981140613556 + ], + "joints": [ + 0.018789248540997505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04562520608305931, + 0.1281447559595108, + -0.0313476026058197 + ], + "orientation": [ + 0.18562649190425873, + 0.05848982185125351, + 0.08260976523160934, + -0.9773931503295898 + ], + "joints": [ + -0.00035106801078654826 + ] + }, + "fine_grasp": { + "position": [ + -0.04617391899228096, + 0.12837249040603638, + -0.0322587676346302 + ], + "orientation": [ + 0.18754984438419342, + 0.05305885151028633, + 0.09310343116521835, + -0.9763920903205872 + ], + "joints": [ + 0.006052297540009022 + ] + }, + "final_grasp": { + "position": [ + -0.04617391899228096, + 0.12837249040603638, + -0.0322587676346302 + ], + "orientation": [ + 0.18754984438419342, + 0.05305885151028633, + 0.09310343116521835, + -0.9763920903205872 + ], + "joints": [ + 0.012455662712454796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030744805932044983, + 0.051874786615371704, + 0.1650201380252838 + ], + "orientation": [ + 0.5668940544128418, + -0.7756215929985046, + -0.24013787508010864, + 0.13919752836227417 + ], + "joints": [ + 0.003573080524802208 + ] + }, + "fine_grasp": { + "position": [ + -0.0293849129229784, + 0.049822743982076645, + 0.16125352680683136 + ], + "orientation": [ + 0.5543255805969238, + -0.7858262062072754, + -0.2396470308303833, + 0.13330291211605072 + ], + "joints": [ + 0.010454704985022545 + ] + }, + "final_grasp": { + "position": [ + -0.0293849129229784, + 0.049822743982076645, + 0.16125352680683136 + ], + "orientation": [ + 0.5543255805969238, + -0.7858262062072754, + -0.2396470308303833, + 0.13330291211605072 + ], + "joints": [ + 0.017336329445242882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0001795958960428834, + -0.09607922285795212, + -0.09355685114860535 + ], + "orientation": [ + 0.071965292096138, + 0.015548561699688435, + 0.9803312420845032, + 0.1831115484237671 + ], + "joints": [ + 2.3157743271440268e-05 + ] + }, + "fine_grasp": { + "position": [ + 1.4716428268002346e-05, + -0.09699515998363495, + -0.09381557255983353 + ], + "orientation": [ + 0.08801791816949844, + 0.017209641635417938, + 0.9799522161483765, + 0.1779053807258606 + ], + "joints": [ + 0.006426523439586163 + ] + }, + "final_grasp": { + "position": [ + 1.4716428268002346e-05, + -0.09699515998363495, + -0.09381557255983353 + ], + "orientation": [ + 0.08801791816949844, + 0.017209641635417938, + 0.9799522161483765, + 0.1779053807258606 + ], + "joints": [ + 0.012829889543354511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01234249398112297, + -0.008212107233703136, + 0.16273291409015656 + ], + "orientation": [ + 0.20424237847328186, + -0.2404259890317917, + -0.7624525427818298, + 0.5649304986000061 + ], + "joints": [ + 0.005529503803700209 + ] + }, + "fine_grasp": { + "position": [ + -0.011590134352445602, + -0.008182782679796219, + 0.15980087220668793 + ], + "orientation": [ + 0.20647689700126648, + -0.24025312066078186, + -0.7610474824905396, + 0.5660853385925293 + ], + "joints": [ + 0.012437699362635612 + ] + }, + "final_grasp": { + "position": [ + -0.011590134352445602, + -0.008182782679796219, + 0.15980087220668793 + ], + "orientation": [ + 0.20647689700126648, + -0.24025312066078186, + -0.7610474824905396, + 0.5660853385925293 + ], + "joints": [ + 0.01934589445590973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046682752668857574, + 0.03735484555363655, + 0.16233767569065094 + ], + "orientation": [ + 0.4795075058937073, + -0.3353380560874939, + 0.44144782423973083, + -0.6802535057067871 + ], + "joints": [ + 0.004071428906172514 + ] + }, + "fine_grasp": { + "position": [ + -0.0442892350256443, + 0.03635340929031372, + 0.1577446162700653 + ], + "orientation": [ + 0.48221370577812195, + -0.3320126533508301, + 0.4349628686904907, + -0.6841380596160889 + ], + "joints": [ + 0.011484453454613686 + ] + }, + "final_grasp": { + "position": [ + -0.0442892350256443, + 0.03635340929031372, + 0.1577446162700653 + ], + "orientation": [ + 0.48221370577812195, + -0.3320126533508301, + 0.4349628686904907, + -0.6841380596160889 + ], + "joints": [ + 0.01889747753739357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012283001095056534, + 0.02311229147017002, + 0.16406840085983276 + ], + "orientation": [ + 0.5032589435577393, + -0.6017298698425293, + 0.4691616892814636, + -0.40563395619392395 + ], + "joints": [ + 0.005293909925967455 + ] + }, + "fine_grasp": { + "position": [ + 0.011672226712107658, + 0.02330339141190052, + 0.15981309115886688 + ], + "orientation": [ + 0.5032508969306946, + -0.6024307012557983, + 0.46813544631004333, + -0.4057893753051758 + ], + "joints": [ + 0.012202105484902859 + ] + }, + "final_grasp": { + "position": [ + 0.011672226712107658, + 0.02330339141190052, + 0.15981309115886688 + ], + "orientation": [ + 0.5032508969306946, + -0.6024307012557983, + 0.46813544631004333, + -0.4057893753051758 + ], + "joints": [ + 0.01911030150949955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07422163337469101, + -0.017932849004864693, + -0.14065082371234894 + ], + "orientation": [ + 0.7307742238044739, + 0.2763826847076416, + -0.33261945843696594, + -0.5281533598899841 + ], + "joints": [ + -0.0008923935238271952 + ] + }, + "fine_grasp": { + "position": [ + -0.0702434703707695, + -0.016763070598244667, + -0.13715702295303345 + ], + "orientation": [ + 0.7301977276802063, + 0.2642964720726013, + -0.3396655321121216, + -0.5306467413902283 + ], + "joints": [ + 0.00442160340026021 + ] + }, + "final_grasp": { + "position": [ + -0.0702434703707695, + -0.016763070598244667, + -0.13715702295303345 + ], + "orientation": [ + 0.7301977276802063, + 0.2642964720726013, + -0.3396655321121216, + -0.5306467413902283 + ], + "joints": [ + 0.009735600091516972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04664362221956253, + -0.021202711388468742, + -0.1515830010175705 + ], + "orientation": [ + 0.8028679490089417, + 0.48643261194229126, + -0.12024221569299698, + -0.3229987323284149 + ], + "joints": [ + -0.0002000285021495074 + ] + }, + "fine_grasp": { + "position": [ + -0.04566347226500511, + -0.01768084056675434, + -0.14775145053863525 + ], + "orientation": [ + 0.8016239404678345, + 0.49162518978118896, + -0.1093541830778122, + -0.3220953643321991 + ], + "joints": [ + 0.0061767674051225185 + ] + }, + "final_grasp": { + "position": [ + -0.04566347226500511, + -0.01768084056675434, + -0.14775145053863525 + ], + "orientation": [ + 0.8016239404678345, + 0.49162518978118896, + -0.1093541830778122, + -0.3220953643321991 + ], + "joints": [ + 0.012553563341498375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04427936673164368, + -0.0956093892455101, + -0.04001982510089874 + ], + "orientation": [ + 0.9791002869606018, + -0.04179886355996132, + -0.07937969267368317, + -0.18252213299274445 + ], + "joints": [ + -6.461350130848587e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.0435216911137104, + -0.09489627927541733, + -0.04083283245563507 + ], + "orientation": [ + 0.9764179587364197, + -0.05443583428859711, + -0.09969746321439743, + -0.18358950316905975 + ], + "joints": [ + 0.005833921954035759 + ] + }, + "final_grasp": { + "position": [ + -0.0435216911137104, + -0.09489627927541733, + -0.04083283245563507 + ], + "orientation": [ + 0.9764179587364197, + -0.05443583428859711, + -0.09969746321439743, + -0.18358950316905975 + ], + "joints": [ + 0.01173245720565319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06998832523822784, + -0.048759862780570984, + -0.12408431619405746 + ], + "orientation": [ + 0.8383207321166992, + 0.26458218693733215, + -0.2524165213108063, + -0.4043520987033844 + ], + "joints": [ + -0.00048108355258591473 + ] + }, + "fine_grasp": { + "position": [ + -0.06782122701406479, + -0.0457371324300766, + -0.12052607536315918 + ], + "orientation": [ + 0.8405470848083496, + 0.26562896370887756, + -0.24525819718837738, + -0.4034479260444641 + ], + "joints": [ + 0.0038232533261179924 + ] + }, + "final_grasp": { + "position": [ + -0.06782122701406479, + -0.0457371324300766, + -0.12052607536315918 + ], + "orientation": [ + 0.8405470848083496, + 0.26562896370887756, + -0.24525819718837738, + -0.4034479260444641 + ], + "joints": [ + 0.008127590641379356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1115494892001152, + 0.028406748548150063, + 0.08799946308135986 + ], + "orientation": [ + 0.6674665212631226, + -0.16392682492733002, + -0.10344323515892029, + 0.7189687490463257 + ], + "joints": [ + 0.0073570748791098595 + ] + }, + "fine_grasp": { + "position": [ + 0.11364295333623886, + 0.02892463281750679, + 0.09096642583608627 + ], + "orientation": [ + 0.6683604121208191, + -0.1371898204088211, + -0.10148530453443527, + 0.7239986062049866 + ], + "joints": [ + 0.01322904136031866 + ] + }, + "final_grasp": { + "position": [ + 0.11364295333623886, + 0.02892463281750679, + 0.09096642583608627 + ], + "orientation": [ + 0.6683604121208191, + -0.1371898204088211, + -0.10148530453443527, + 0.7239986062049866 + ], + "joints": [ + 0.019101008772850037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005512558855116367, + 0.017376605421304703, + 0.16606079041957855 + ], + "orientation": [ + 0.27682554721832275, + -0.26363229751586914, + -0.6641201972961426, + 0.6425029039382935 + ], + "joints": [ + 0.0041303918696939945 + ] + }, + "fine_grasp": { + "position": [ + 0.005837351083755493, + 0.016372136771678925, + 0.16506914794445038 + ], + "orientation": [ + 0.27685073018074036, + -0.26056045293807983, + -0.6658604145050049, + 0.6419438719749451 + ], + "joints": [ + 0.010507187806069851 + ] + }, + "final_grasp": { + "position": [ + 0.005837351083755493, + 0.016372136771678925, + 0.16506914794445038 + ], + "orientation": [ + 0.27685073018074036, + -0.26056045293807983, + -0.6658604145050049, + 0.6419438719749451 + ], + "joints": [ + 0.016883984208106995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11275505274534225, + 0.02821783348917961, + 0.09066344052553177 + ], + "orientation": [ + 0.669338583946228, + -0.15266430377960205, + -0.10207374393939972, + 0.7199031114578247 + ], + "joints": [ + 0.007746860850602388 + ] + }, + "fine_grasp": { + "position": [ + 0.11505992710590363, + 0.028893576934933662, + 0.09358980506658554 + ], + "orientation": [ + 0.6674177050590515, + -0.12999582290649414, + -0.10435338318347931, + 0.7257859110832214 + ], + "joints": [ + 0.014123656786978245 + ] + }, + "final_grasp": { + "position": [ + 0.11505992710590363, + 0.028893576934933662, + 0.09358980506658554 + ], + "orientation": [ + 0.6674177050590515, + -0.12999582290649414, + -0.10435338318347931, + 0.7257859110832214 + ], + "joints": [ + 0.02050045318901539 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019201749935746193, + -0.004535507410764694, + -0.166118785738945 + ], + "orientation": [ + 0.7682288289070129, + 0.624492883682251, + 0.038913484662771225, + 0.1353471577167511 + ], + "joints": [ + 7.586716674268246e-05 + ] + }, + "fine_grasp": { + "position": [ + 0.019998539239168167, + -0.0031226766295731068, + -0.16266870498657227 + ], + "orientation": [ + 0.768482506275177, + 0.6241405010223389, + 0.03227093443274498, + 0.13726592063903809 + ], + "joints": [ + 0.006984062492847443 + ] + }, + "final_grasp": { + "position": [ + 0.019998539239168167, + -0.0031226766295731068, + -0.16266870498657227 + ], + "orientation": [ + 0.768482506275177, + 0.6241405010223389, + 0.03227093443274498, + 0.13726592063903809 + ], + "joints": [ + 0.01389225758612156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10369748622179031, + 0.08325910568237305, + -0.060278721153736115 + ], + "orientation": [ + 0.47856730222702026, + -0.056004513055086136, + -0.1115638017654419, + -0.8691320419311523 + ], + "joints": [ + 0.0004949275171384215 + ] + }, + "fine_grasp": { + "position": [ + -0.1016816720366478, + 0.08181942254304886, + -0.05975853651762009 + ], + "orientation": [ + 0.47260284423828125, + -0.07160615921020508, + -0.11959780007600784, + -0.8701812624931335 + ], + "joints": [ + 0.005835493560880423 + ] + }, + "final_grasp": { + "position": [ + -0.1016816720366478, + 0.08181942254304886, + -0.05975853651762009 + ], + "orientation": [ + 0.47260284423828125, + -0.07160615921020508, + -0.11959780007600784, + -0.8701812624931335 + ], + "joints": [ + 0.011176059953868389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007212839554995298, + 0.025275157764554024, + -0.1659754067659378 + ], + "orientation": [ + 0.6515230536460876, + 0.68074631690979, + -0.20380398631095886, + -0.265642911195755 + ], + "joints": [ + -0.000448095757747069 + ] + }, + "fine_grasp": { + "position": [ + -0.007742727175354958, + 0.026120468974113464, + -0.16561269760131836 + ], + "orientation": [ + 0.6494837999343872, + 0.6824193000793457, + -0.20281897485256195, + -0.2670936584472656 + ], + "joints": [ + 0.006486669648438692 + ] + }, + "final_grasp": { + "position": [ + -0.007742727175354958, + 0.026120468974113464, + -0.16561269760131836 + ], + "orientation": [ + 0.6494837999343872, + 0.6824193000793457, + -0.20281897485256195, + -0.2670936584472656 + ], + "joints": [ + 0.013421434909105301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09963474422693253, + 0.08713316917419434, + -0.0239497572183609 + ], + "orientation": [ + 0.4755832552909851, + -0.1273140013217926, + -0.00791086070239544, + -0.8703728914260864 + ], + "joints": [ + 0.0011283522471785545 + ] + }, + "fine_grasp": { + "position": [ + -0.09619157016277313, + 0.08530142158269882, + -0.025389837101101875 + ], + "orientation": [ + 0.46832215785980225, + -0.1471455842256546, + -0.010508803650736809, + -0.8711556196212769 + ], + "joints": [ + 0.005459258332848549 + ] + }, + "final_grasp": { + "position": [ + -0.09619157016277313, + 0.08530142158269882, + -0.025389837101101875 + ], + "orientation": [ + 0.46832215785980225, + -0.1471455842256546, + -0.010508803650736809, + -0.8711556196212769 + ], + "joints": [ + 0.009790164418518543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05755244940519333, + 0.03809043765068054, + 0.15690132975578308 + ], + "orientation": [ + 0.5415852665901184, + -0.36700767278671265, + 0.35826918482780457, + -0.6660586595535278 + ], + "joints": [ + 0.004976229276508093 + ] + }, + "fine_grasp": { + "position": [ + -0.05491390824317932, + 0.037338871508836746, + 0.1521279513835907 + ], + "orientation": [ + 0.5426772832870483, + -0.36559566855430603, + 0.3539886474609375, + -0.6682313084602356 + ], + "joints": [ + 0.012389253824949265 + ] + }, + "final_grasp": { + "position": [ + -0.05491390824317932, + 0.037338871508836746, + 0.1521279513835907 + ], + "orientation": [ + 0.5426772832870483, + -0.36559566855430603, + 0.3539886474609375, + -0.6682313084602356 + ], + "joints": [ + 0.01980227790772915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08525533229112625, + 0.0939425602555275, + -0.004530512262135744 + ], + "orientation": [ + 0.08289451897144318, + -0.8813523054122925, + -0.42775776982307434, + 0.1826743632555008 + ], + "joints": [ + -0.00024607067462056875 + ] + }, + "fine_grasp": { + "position": [ + -0.08438511192798615, + 0.09310271590948105, + -0.0067715938203036785 + ], + "orientation": [ + 0.07798337191343307, + -0.8794155120849609, + -0.42242154479026794, + 0.20520053803920746 + ], + "joints": [ + 0.0046428050845861435 + ] + }, + "final_grasp": { + "position": [ + -0.08438511192798615, + 0.09310271590948105, + -0.0067715938203036785 + ], + "orientation": [ + 0.07798337191343307, + -0.8794155120849609, + -0.42242154479026794, + 0.20520053803920746 + ], + "joints": [ + 0.00953168049454689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05873538926243782, + -0.06740120053291321, + -0.11532224714756012 + ], + "orientation": [ + 0.2825656235218048, + 0.33793726563453674, + 0.8810303211212158, + 0.17245449125766754 + ], + "joints": [ + -0.0008794434834271669 + ] + }, + "fine_grasp": { + "position": [ + -0.058000244200229645, + -0.07021554559469223, + -0.11510442197322845 + ], + "orientation": [ + 0.312917023897171, + 0.3423272967338562, + 0.8707764744758606, + 0.1632280945777893 + ], + "joints": [ + 0.004009432625025511 + ] + }, + "final_grasp": { + "position": [ + -0.058000244200229645, + -0.07021554559469223, + -0.11510442197322845 + ], + "orientation": [ + 0.312917023897171, + 0.3423272967338562, + 0.8707764744758606, + 0.1632280945777893 + ], + "joints": [ + 0.008898308500647545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05822230502963066, + -0.09988284856081009, + -0.042278897017240524 + ], + "orientation": [ + 0.9606865644454956, + -0.04640134796500206, + -0.16921982169151306, + -0.2151578813791275 + ], + "joints": [ + -0.0013642171397805214 + ] + }, + "fine_grasp": { + "position": [ + -0.055618878453969955, + -0.09580498188734055, + -0.042742714285850525 + ], + "orientation": [ + 0.9573901891708374, + -0.05279577523469925, + -0.17574617266654968, + -0.22300191223621368 + ], + "joints": [ + 0.0045874579809606075 + ] + }, + "final_grasp": { + "position": [ + -0.055618878453969955, + -0.09580498188734055, + -0.042742714285850525 + ], + "orientation": [ + 0.9573901891708374, + -0.05279577523469925, + -0.17574617266654968, + -0.22300191223621368 + ], + "joints": [ + 0.010539133101701736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08341383188962936, + -0.07075389474630356, + -0.051326651126146317 + ], + "orientation": [ + 0.15711595118045807, + 0.36163797974586487, + 0.9187606573104858, + -0.020281529054045677 + ], + "joints": [ + 8.60115687828511e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.08246061205863953, + -0.07086874544620514, + -0.05191362276673317 + ], + "orientation": [ + 0.17487198114395142, + 0.3658350110054016, + 0.9134141206741333, + -0.03548474982380867 + ], + "joints": [ + 0.0044434876181185246 + ] + }, + "final_grasp": { + "position": [ + -0.08246061205863953, + -0.07086874544620514, + -0.05191362276673317 + ], + "orientation": [ + 0.17487198114395142, + 0.3658350110054016, + 0.9134141206741333, + -0.03548474982380867 + ], + "joints": [ + 0.008800963871181011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018026618286967278, + 0.1339777559041977, + 0.05673849955201149 + ], + "orientation": [ + 0.1328652948141098, + -0.9876166582107544, + 0.07940252125263214, + -0.0256007369607687 + ], + "joints": [ + 0.0064606512896716595 + ] + }, + "fine_grasp": { + "position": [ + 0.01855056919157505, + 0.13483168184757233, + 0.058917466551065445 + ], + "orientation": [ + 0.11848770081996918, + -0.9899571537971497, + 0.0761520192027092, + -0.012099276296794415 + ], + "joints": [ + 0.0118012186139822 + ] + }, + "final_grasp": { + "position": [ + 0.01855056919157505, + 0.13483168184757233, + 0.058917466551065445 + ], + "orientation": [ + 0.11848770081996918, + -0.9899571537971497, + 0.0761520192027092, + -0.012099276296794415 + ], + "joints": [ + 0.017141785472631454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08344723284244537, + -0.07059011608362198, + -0.05125067010521889 + ], + "orientation": [ + 0.16790400445461273, + 0.3613330125808716, + 0.9168330430984497, + -0.025766804814338684 + ], + "joints": [ + 8.320886990986764e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.08214334398508072, + -0.0702967569231987, + -0.05196493864059448 + ], + "orientation": [ + 0.18613824248313904, + 0.36603739857673645, + 0.9106237888336182, + -0.046189431101083755 + ], + "joints": [ + 0.003935855347663164 + ] + }, + "final_grasp": { + "position": [ + -0.08214334398508072, + -0.0702967569231987, + -0.05196493864059448 + ], + "orientation": [ + 0.18613824248313904, + 0.36603739857673645, + 0.9106237888336182, + -0.046189431101083755 + ], + "joints": [ + 0.007788501679897308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009394609369337559, + 0.13259068131446838, + 0.05363105237483978 + ], + "orientation": [ + 0.1707993596792221, + -0.9827080368995667, + 0.02896786481142044, + 0.06537066400051117 + ], + "joints": [ + 0.005573630798608065 + ] + }, + "fine_grasp": { + "position": [ + 0.009858570992946625, + 0.13376644253730774, + 0.05307126045227051 + ], + "orientation": [ + 0.1688728630542755, + -0.9810742735862732, + 0.023474713787436485, + 0.09178301692008972 + ], + "joints": [ + 0.010489081032574177 + ] + }, + "final_grasp": { + "position": [ + 0.009858570992946625, + 0.13376644253730774, + 0.05307126045227051 + ], + "orientation": [ + 0.1688728630542755, + -0.9810742735862732, + 0.023474713787436485, + 0.09178301692008972 + ], + "joints": [ + 0.015404531732201576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009486762806773186, + 0.13274894654750824, + 0.054567378014326096 + ], + "orientation": [ + 0.16894742846488953, + -0.9830305576324463, + 0.02963331714272499, + 0.06503544747829437 + ], + "joints": [ + 0.005525871179997921 + ] + }, + "fine_grasp": { + "position": [ + 0.01012510247528553, + 0.1336868554353714, + 0.054129067808389664 + ], + "orientation": [ + 0.16677561402320862, + -0.9812926054000854, + 0.022493397817015648, + 0.09351315349340439 + ], + "joints": [ + 0.010441320948302746 + ] + }, + "final_grasp": { + "position": [ + 0.01012510247528553, + 0.1336868554353714, + 0.054129067808389664 + ], + "orientation": [ + 0.16677561402320862, + -0.9812926054000854, + 0.022493397817015648, + 0.09351315349340439 + ], + "joints": [ + 0.01535677071660757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1094183698296547, + 0.008339965716004372, + 0.010381698608398438 + ], + "orientation": [ + 0.6703428030014038, + -0.042819295078516006, + -0.2790791094303131, + 0.6862375140190125 + ], + "joints": [ + -0.0010583968833088875 + ] + }, + "fine_grasp": { + "position": [ + 0.1081327497959137, + 0.008697504177689552, + 0.007547563407570124 + ], + "orientation": [ + 0.6676615476608276, + -0.021164031699299812, + -0.30063971877098083, + 0.6807319521903992 + ], + "joints": [ + 0.0038039092905819416 + ] + }, + "final_grasp": { + "position": [ + 0.1081327497959137, + 0.008697504177689552, + 0.007547563407570124 + ], + "orientation": [ + 0.6676615476608276, + -0.021164031699299812, + -0.30063971877098083, + 0.6807319521903992 + ], + "joints": [ + 0.00866621546447277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00936035718768835, + 0.027407780289649963, + 0.16436874866485596 + ], + "orientation": [ + 0.5782511830329895, + -0.5990192890167236, + 0.3578158915042877, + -0.4228111505508423 + ], + "joints": [ + 0.0038199445698410273 + ] + }, + "fine_grasp": { + "position": [ + -0.009372040629386902, + 0.028046205639839172, + 0.16075623035430908 + ], + "orientation": [ + 0.5791588425636292, + -0.598658561706543, + 0.3560798466205597, + -0.42354485392570496 + ], + "joints": [ + 0.00969191174954176 + ] + }, + "final_grasp": { + "position": [ + -0.009372040629386902, + 0.028046205639839172, + 0.16075623035430908 + ], + "orientation": [ + 0.5791588425636292, + -0.598658561706543, + 0.3560798466205597, + -0.42354485392570496 + ], + "joints": [ + 0.015563879162073135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022631453350186348, + 0.006769377272576094, + 0.16346785426139832 + ], + "orientation": [ + 0.5494045615196228, + -0.4271045923233032, + 0.48697978258132935, + -0.5278133749961853 + ], + "joints": [ + 0.004091345705091953 + ] + }, + "fine_grasp": { + "position": [ + -0.0216958187520504, + 0.006339132320135832, + 0.15939459204673767 + ], + "orientation": [ + 0.548832893371582, + -0.4219804108142853, + 0.487589031457901, + -0.5319510102272034 + ], + "joints": [ + 0.009963312186300755 + ] + }, + "final_grasp": { + "position": [ + -0.0216958187520504, + 0.006339132320135832, + 0.15939459204673767 + ], + "orientation": [ + 0.548832893371582, + -0.4219804108142853, + 0.487589031457901, + -0.5319510102272034 + ], + "joints": [ + 0.01583527773618698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05642826855182648, + 0.00468780193477869, + -0.1547308713197708 + ], + "orientation": [ + 0.7495335936546326, + 0.5562995076179504, + -0.03993185609579086, + -0.3565608263015747 + ], + "joints": [ + -0.0017471457831561565 + ] + }, + "fine_grasp": { + "position": [ + -0.057575371116399765, + 0.006158913020044565, + -0.15103933215141296 + ], + "orientation": [ + 0.742377758026123, + 0.5689953565597534, + -0.03178084269165993, + -0.3522917330265045 + ], + "joints": [ + 0.0031151603907346725 + ] + }, + "final_grasp": { + "position": [ + -0.057575371116399765, + 0.006158913020044565, + -0.15103933215141296 + ], + "orientation": [ + 0.742377758026123, + 0.5689953565597534, + -0.03178084269165993, + -0.3522917330265045 + ], + "joints": [ + 0.007977467030286789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023210637271404266, + 0.04695100337266922, + -0.1651846319437027 + ], + "orientation": [ + 0.5720569491386414, + 0.6459335088729858, + -0.23697513341903687, + -0.44650134444236755 + ], + "joints": [ + -0.002620703773573041 + ] + }, + "fine_grasp": { + "position": [ + -0.025053393095731735, + 0.04860801622271538, + -0.16326819360256195 + ], + "orientation": [ + 0.5681346654891968, + 0.6476835012435913, + -0.2332201898097992, + -0.4509294629096985 + ], + "joints": [ + 0.0032512624748051167 + ] + }, + "final_grasp": { + "position": [ + -0.025053393095731735, + 0.04860801622271538, + -0.16326819360256195 + ], + "orientation": [ + 0.5681346654891968, + 0.6476835012435913, + -0.2332201898097992, + -0.4509294629096985 + ], + "joints": [ + 0.00912322849035263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023326633498072624, + 0.047162484377622604, + -0.16500571370124817 + ], + "orientation": [ + 0.5721373558044434, + 0.64682936668396, + -0.23551630973815918, + -0.4458729028701782 + ], + "joints": [ + -0.002418265212327242 + ] + }, + "fine_grasp": { + "position": [ + -0.0253128744661808, + 0.048997100442647934, + -0.16299143433570862 + ], + "orientation": [ + 0.5675674080848694, + 0.6486809849739075, + -0.23175527155399323, + -0.4509654939174652 + ], + "joints": [ + 0.0029488708823919296 + ] + }, + "final_grasp": { + "position": [ + -0.0253128744661808, + 0.048997100442647934, + -0.16299143433570862 + ], + "orientation": [ + 0.5675674080848694, + 0.6486809849739075, + -0.23175527155399323, + -0.4509654939174652 + ], + "joints": [ + 0.008316006511449814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023731917142868042, + 0.04755883663892746, + -0.16454380750656128 + ], + "orientation": [ + 0.5714684724807739, + 0.6479766368865967, + -0.23325130343437195, + -0.44625547528266907 + ], + "joints": [ + -0.0030106285121291876 + ] + }, + "fine_grasp": { + "position": [ + -0.025632206350564957, + 0.04931379482150078, + -0.16237831115722656 + ], + "orientation": [ + 0.5669808983802795, + 0.6496427059173584, + -0.229535773396492, + -0.4514538049697876 + ], + "joints": [ + 0.002887907437980175 + ] + }, + "final_grasp": { + "position": [ + -0.025632206350564957, + 0.04931379482150078, + -0.16237831115722656 + ], + "orientation": [ + 0.5669808983802795, + 0.6496427059173584, + -0.229535773396492, + -0.4514538049697876 + ], + "joints": [ + 0.008786443620920181 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014476148411631584, + -0.01831878535449505, + 0.15499265491962433 + ], + "orientation": [ + 0.7900409698486328, + -0.6107287406921387, + -0.03446171432733536, + -0.040719784796237946 + ], + "joints": [ + 0.003039116505533457 + ] + }, + "fine_grasp": { + "position": [ + -0.012911343015730381, + -0.017058543860912323, + 0.15040507912635803 + ], + "orientation": [ + 0.7914913296699524, + -0.609347939491272, + -0.027653060853481293, + -0.03836635500192642 + ], + "joints": [ + 0.008911083452403545 + ] + }, + "final_grasp": { + "position": [ + -0.012911343015730381, + -0.017058543860912323, + 0.15040507912635803 + ], + "orientation": [ + 0.7914913296699524, + -0.609347939491272, + -0.027653060853481293, + -0.03836635500192642 + ], + "joints": [ + 0.014783050864934921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036666471511125565, + -0.005595756229013205, + -0.16134372353553772 + ], + "orientation": [ + 0.510371744632721, + 0.24053196609020233, + 0.5730873346328735, + 0.5943365693092346 + ], + "joints": [ + -0.0013854315038770437 + ] + }, + "fine_grasp": { + "position": [ + 0.037246670573949814, + -0.006169761996716261, + -0.1573454886674881 + ], + "orientation": [ + 0.5049465894699097, + 0.2386353462934494, + 0.5812749266624451, + 0.5917783975601196 + ], + "joints": [ + 0.0039817048236727715 + ] + }, + "final_grasp": { + "position": [ + 0.037246670573949814, + -0.006169761996716261, + -0.1573454886674881 + ], + "orientation": [ + 0.5049465894699097, + 0.2386353462934494, + 0.5812749266624451, + 0.5917783975601196 + ], + "joints": [ + 0.00934884138405323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03681658208370209, + -0.006262593902647495, + -0.16310392320156097 + ], + "orientation": [ + 0.5152415633201599, + 0.24440684914588928, + 0.5704095363616943, + 0.5911214351654053 + ], + "joints": [ + -0.0014201097656041384 + ] + }, + "fine_grasp": { + "position": [ + 0.037578705698251724, + -0.006331630516797304, + -0.15893487632274628 + ], + "orientation": [ + 0.5127995610237122, + 0.24462273716926575, + 0.5745839476585388, + 0.5891091823577881 + ], + "joints": [ + 0.004478426184505224 + ] + }, + "final_grasp": { + "position": [ + 0.037578705698251724, + -0.006331630516797304, + -0.15893487632274628 + ], + "orientation": [ + 0.5127995610237122, + 0.24462273716926575, + 0.5745839476585388, + 0.5891091823577881 + ], + "joints": [ + 0.010376961901783943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017066100612282753, + 0.058455199003219604, + 0.18582628667354584 + ], + "orientation": [ + 0.4461742639541626, + -0.5365439057350159, + 0.3957741856575012, + -0.597002387046814 + ], + "joints": [ + 0.0048558455891907215 + ] + }, + "fine_grasp": { + "position": [ + -0.016516786068677902, + 0.05838247388601303, + 0.18105682730674744 + ], + "orientation": [ + 0.44826823472976685, + -0.5354188084602356, + 0.39720627665519714, + -0.5954909324645996 + ], + "joints": [ + 0.010222983546555042 + ] + }, + "final_grasp": { + "position": [ + -0.016516786068677902, + 0.05838247388601303, + 0.18105682730674744 + ], + "orientation": [ + 0.44826823472976685, + -0.5354188084602356, + 0.39720627665519714, + -0.5954909324645996 + ], + "joints": [ + 0.01559012196958065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05774436146020889, + 0.02282145619392395, + 0.16238299012184143 + ], + "orientation": [ + 0.26195499300956726, + -0.5623061656951904, + -0.6466238498687744, + 0.4439243674278259 + ], + "joints": [ + 0.005744601134210825 + ] + }, + "fine_grasp": { + "position": [ + -0.05545829236507416, + 0.023618973791599274, + 0.15725304186344147 + ], + "orientation": [ + 0.25748324394226074, + -0.558838427066803, + -0.6449349522590637, + 0.4532777667045593 + ], + "joints": [ + 0.012652796693146229 + ] + }, + "final_grasp": { + "position": [ + -0.05545829236507416, + 0.023618973791599274, + 0.15725304186344147 + ], + "orientation": [ + 0.25748324394226074, + -0.558838427066803, + -0.6449349522590637, + 0.4532777667045593 + ], + "joints": [ + 0.01956099271774292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016953367739915848, + 0.05648317188024521, + 0.18414179980754852 + ], + "orientation": [ + 0.44629600644111633, + -0.5298690795898438, + 0.4050942361354828, + -0.5966216921806335 + ], + "joints": [ + 0.004613129422068596 + ] + }, + "fine_grasp": { + "position": [ + -0.01640104129910469, + 0.057184915989637375, + 0.17990684509277344 + ], + "orientation": [ + 0.4462748169898987, + -0.5298837423324585, + 0.40442928671836853, + -0.5970752835273743 + ], + "joints": [ + 0.010511666536331177 + ] + }, + "final_grasp": { + "position": [ + -0.01640104129910469, + 0.057184915989637375, + 0.17990684509277344 + ], + "orientation": [ + 0.4462748169898987, + -0.5298837423324585, + 0.40442928671836853, + -0.5970752835273743 + ], + "joints": [ + 0.016410203650593758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010675220750272274, + 0.033511608839035034, + 0.16464512050151825 + ], + "orientation": [ + 0.6645572781562805, + -0.7430006265640259, + 0.01819716952741146, + -0.07734744250774384 + ], + "joints": [ + 0.0034206274431198835 + ] + }, + "fine_grasp": { + "position": [ + -0.014196011237800121, + 0.033827848732471466, + 0.16198278963565826 + ], + "orientation": [ + 0.6558694839477539, + -0.7488916516304016, + 0.017499303445219994, + -0.09322209656238556 + ], + "joints": [ + 0.009797423146665096 + ] + }, + "final_grasp": { + "position": [ + -0.014196011237800121, + 0.033827848732471466, + 0.16198278963565826 + ], + "orientation": [ + 0.6558694839477539, + -0.7488916516304016, + 0.017499303445219994, + -0.09322209656238556 + ], + "joints": [ + 0.01617421954870224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001983494032174349, + -0.005790076218545437, + 0.16751115024089813 + ], + "orientation": [ + 0.42149731516838074, + -0.3500239849090576, + 0.6393508911132812, + -0.5394938588142395 + ], + "joints": [ + 0.003063221462070942 + ] + }, + "fine_grasp": { + "position": [ + -0.0034105314407497644, + -0.010497290641069412, + 0.16576001048088074 + ], + "orientation": [ + 0.43150556087493896, + -0.3376941382884979, + 0.6411285400390625, + -0.5373265743255615 + ], + "joints": [ + 0.009440016932785511 + ] + }, + "final_grasp": { + "position": [ + -0.0034105314407497644, + -0.010497290641069412, + 0.16576001048088074 + ], + "orientation": [ + 0.43150556087493896, + -0.3376941382884979, + 0.6411285400390625, + -0.5373265743255615 + ], + "joints": [ + 0.015816811472177505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06189015135169029, + 0.13742725551128387, + -0.06446465849876404 + ], + "orientation": [ + 0.16811302304267883, + -0.7713528275489807, + -0.25424498319625854, + -0.5586701035499573 + ], + "joints": [ + -0.0008048489689826965 + ] + }, + "fine_grasp": { + "position": [ + -0.06252866983413696, + 0.13626624643802643, + -0.0627223402261734 + ], + "orientation": [ + 0.15044593811035156, + -0.773923933506012, + -0.2471522092819214, + -0.5633146166801453 + ], + "joints": [ + -0.0007517087506130338 + ] + }, + "final_grasp": { + "position": [ + -0.06252866983413696, + 0.13626624643802643, + -0.0627223402261734 + ], + "orientation": [ + 0.15044593811035156, + -0.773923933506012, + -0.2471522092819214, + -0.5633146166801453 + ], + "joints": [ + -0.000698568532243371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0488048680126667, + -0.09501326829195023, + -0.05752300098538399 + ], + "orientation": [ + 0.6079129576683044, + -0.07982191443443298, + -0.7858973741531372, + -0.08022156357765198 + ], + "joints": [ + -0.007517267018556595 + ] + }, + "fine_grasp": { + "position": [ + -0.04876470938324928, + -0.09549178183078766, + -0.05579126626253128 + ], + "orientation": [ + 0.6082455515861511, + -0.08754678070545197, + -0.7834565043449402, + -0.09256719052791595 + ], + "joints": [ + -0.005338529124855995 + ] + }, + "final_grasp": { + "position": [ + -0.04876470938324928, + -0.09549178183078766, + -0.05579126626253128 + ], + "orientation": [ + 0.6082455515861511, + -0.08754678070545197, + -0.7834565043449402, + -0.09256719052791595 + ], + "joints": [ + -0.0031597912311553955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024180201813578606, + -0.10797056555747986, + -0.07994387298822403 + ], + "orientation": [ + 0.5997921228408813, + 0.040372490882873535, + 0.7950068712234497, + 0.08113853633403778 + ], + "joints": [ + -0.006028200499713421 + ] + }, + "fine_grasp": { + "position": [ + 0.02269185334444046, + -0.10769101977348328, + -0.07852897047996521 + ], + "orientation": [ + 0.6070398092269897, + 0.036614418029785156, + 0.7879272699356079, + 0.096605084836483 + ], + "joints": [ + -0.0033446326851844788 + ] + }, + "final_grasp": { + "position": [ + 0.02269185334444046, + -0.10769101977348328, + -0.07852897047996521 + ], + "orientation": [ + 0.6070398092269897, + 0.036614418029785156, + 0.7879272699356079, + 0.096605084836483 + ], + "joints": [ + -0.0006610648706555367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10237005352973938, + -0.06219104677438736, + -0.06553783267736435 + ], + "orientation": [ + 0.46807214617729187, + 0.42456862330436707, + -0.7338249683380127, + 0.24930065870285034 + ], + "joints": [ + -0.003042321652173996 + ] + }, + "fine_grasp": { + "position": [ + 0.10217373818159103, + -0.06098904088139534, + -0.06345044821500778 + ], + "orientation": [ + 0.47796401381492615, + 0.42316755652427673, + -0.7307645082473755, + 0.24179114401340485 + ], + "joints": [ + -0.00027904336457140744 + ] + }, + "final_grasp": { + "position": [ + 0.10217373818159103, + -0.06098904088139534, + -0.06345044821500778 + ], + "orientation": [ + 0.47796401381492615, + 0.42316755652427673, + -0.7307645082473755, + 0.24179114401340485 + ], + "joints": [ + 0.002484234981238842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07908802479505539, + 0.11670606583356857, + -0.09202762693166733 + ], + "orientation": [ + 0.38643404841423035, + 0.573158860206604, + 0.14131809771060944, + -0.7086514830589294 + ], + "joints": [ + -0.002482953481376171 + ] + }, + "fine_grasp": { + "position": [ + -0.07792038470506668, + 0.11428887397050858, + -0.0899563655257225 + ], + "orientation": [ + 0.38190069794654846, + 0.5878235697746277, + 0.1283014416694641, + -0.7015367746353149 + ], + "joints": [ + -0.0013670140178874135 + ] + }, + "final_grasp": { + "position": [ + -0.07792038470506668, + 0.11428887397050858, + -0.0899563655257225 + ], + "orientation": [ + 0.38190069794654846, + 0.5878235697746277, + 0.1283014416694641, + -0.7015367746353149 + ], + "joints": [ + -0.0002510745543986559 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07846418023109436, + 0.11516552418470383, + -0.09240123629570007 + ], + "orientation": [ + 0.3891810476779938, + 0.5610901117324829, + 0.13586802780628204, + -0.71781325340271 + ], + "joints": [ + -0.0020521923433989286 + ] + }, + "fine_grasp": { + "position": [ + -0.07790964096784592, + 0.11298790574073792, + -0.09073425829410553 + ], + "orientation": [ + 0.38337892293930054, + 0.5755556225776672, + 0.12299017608165741, + -0.7117792367935181 + ], + "joints": [ + -0.000404853344662115 + ] + }, + "final_grasp": { + "position": [ + -0.07790964096784592, + 0.11298790574073792, + -0.09073425829410553 + ], + "orientation": [ + 0.38337892293930054, + 0.5755556225776672, + 0.12299017608165741, + -0.7117792367935181 + ], + "joints": [ + 0.0012424855958670378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.116419218480587, + -0.032982274889945984, + -0.08269352465867996 + ], + "orientation": [ + 0.43412190675735474, + -0.3770960867404938, + 0.7481904625892639, + 0.3309799134731293 + ], + "joints": [ + -0.004410526715219021 + ] + }, + "fine_grasp": { + "position": [ + 0.11554447561502457, + -0.03361356258392334, + -0.08146057277917862 + ], + "orientation": [ + 0.42838671803474426, + -0.3797875642776489, + 0.744223415851593, + 0.3440607190132141 + ], + "joints": [ + -0.0011955590452998877 + ] + }, + "final_grasp": { + "position": [ + 0.11554447561502457, + -0.03361356258392334, + -0.08146057277917862 + ], + "orientation": [ + 0.42838671803474426, + -0.3797875642776489, + 0.744223415851593, + 0.3440607190132141 + ], + "joints": [ + 0.0020194086246192455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11540763825178146, + -0.04460820555686951, + -0.062198951840400696 + ], + "orientation": [ + 0.4901008605957031, + 0.4759316146373749, + -0.6596200466156006, + 0.31335556507110596 + ], + "joints": [ + -0.00745683629065752 + ] + }, + "fine_grasp": { + "position": [ + 0.11413649469614029, + -0.04247229918837547, + -0.06014500930905342 + ], + "orientation": [ + 0.5049864649772644, + 0.4739264249801636, + -0.6527910232543945, + 0.30699560046195984 + ], + "joints": [ + -0.005251528695225716 + ] + }, + "final_grasp": { + "position": [ + 0.11413649469614029, + -0.04247229918837547, + -0.06014500930905342 + ], + "orientation": [ + 0.5049864649772644, + 0.4739264249801636, + -0.6527910232543945, + 0.30699560046195984 + ], + "joints": [ + -0.003046221099793911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03318488597869873, + -0.10927043110132217, + -0.03953910246491432 + ], + "orientation": [ + 0.5071273446083069, + 0.11742907017469406, + 0.8425846695899963, + -0.13814230263233185 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.033545009791851044, + -0.10658043622970581, + -0.03801073879003525 + ], + "orientation": [ + 0.5186424255371094, + 0.11771071702241898, + 0.8365855813026428, + -0.13144877552986145 + ], + "joints": [ + -0.00837088841944933 + ] + }, + "final_grasp": { + "position": [ + -0.033545009791851044, + -0.10658043622970581, + -0.03801073879003525 + ], + "orientation": [ + 0.5186424255371094, + 0.11771071702241898, + 0.8365855813026428, + -0.13144877552986145 + ], + "joints": [ + -0.006192149594426155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03317366540431976, + -0.10913971066474915, + -0.03947499394416809 + ], + "orientation": [ + 0.5072136521339417, + 0.11760581284761429, + 0.842601478099823, + -0.13757173717021942 + ], + "joints": [ + -0.011108994483947754 + ] + }, + "fine_grasp": { + "position": [ + -0.03351638838648796, + -0.10641607642173767, + -0.037967585027217865 + ], + "orientation": [ + 0.5184389352798462, + 0.11806293576955795, + 0.8368273377418518, + -0.1303919404745102 + ], + "joints": [ + -0.008398856036365032 + ] + }, + "final_grasp": { + "position": [ + -0.03351638838648796, + -0.10641607642173767, + -0.037967585027217865 + ], + "orientation": [ + 0.5184389352798462, + 0.11806293576955795, + 0.8368273377418518, + -0.1303919404745102 + ], + "joints": [ + -0.0056887175887823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08585268259048462, + 0.10690078139305115, + -0.035857439041137695 + ], + "orientation": [ + 0.29808861017227173, + -0.5379514098167419, + -0.13993556797504425, + -0.7759957909584045 + ], + "joints": [ + -0.0161727461963892 + ] + }, + "fine_grasp": { + "position": [ + -0.08409716933965683, + 0.10705108195543289, + -0.0349327027797699 + ], + "orientation": [ + 0.2949053645133972, + -0.5379502177238464, + -0.15663039684295654, + -0.774020254611969 + ], + "joints": [ + -0.013489175587892532 + ] + }, + "final_grasp": { + "position": [ + -0.08409716933965683, + 0.10705108195543289, + -0.0349327027797699 + ], + "orientation": [ + 0.2949053645133972, + -0.5379502177238464, + -0.15663039684295654, + -0.774020254611969 + ], + "joints": [ + -0.010805604979395866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08586188405752182, + 0.10689882934093475, + -0.0358501635491848 + ], + "orientation": [ + 0.2980930805206299, + -0.538022518157959, + -0.1399334818124771, + -0.7759451866149902 + ], + "joints": [ + -0.0161727461963892 + ] + }, + "fine_grasp": { + "position": [ + -0.08412033319473267, + 0.10706022381782532, + -0.03492921590805054 + ], + "orientation": [ + 0.294833779335022, + -0.5381887555122375, + -0.15662550926208496, + -0.7738826274871826 + ], + "joints": [ + -0.013489175587892532 + ] + }, + "final_grasp": { + "position": [ + -0.08412033319473267, + 0.10706022381782532, + -0.03492921590805054 + ], + "orientation": [ + 0.294833779335022, + -0.5381887555122375, + -0.15662550926208496, + -0.7738826274871826 + ], + "joints": [ + -0.010805604979395866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04807513207197189, + 0.12958738207817078, + -0.060950636863708496 + ], + "orientation": [ + 0.22917859256267548, + 0.5066943764686584, + 0.09779970347881317, + -0.8253322243690491 + ], + "joints": [ + -0.011696252971887589 + ] + }, + "fine_grasp": { + "position": [ + -0.04972410574555397, + 0.12963132560253143, + -0.05989463999867439 + ], + "orientation": [ + 0.227708101272583, + 0.5076990723609924, + 0.07682880759239197, + -0.827337920665741 + ], + "joints": [ + -0.007418486289680004 + ] + }, + "final_grasp": { + "position": [ + -0.04972410574555397, + 0.12963132560253143, + -0.05989463999867439 + ], + "orientation": [ + 0.227708101272583, + 0.5076990723609924, + 0.07682880759239197, + -0.827337920665741 + ], + "joints": [ + -0.0031407196074724197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04815854877233505, + 0.12939363718032837, + -0.06073251739144325 + ], + "orientation": [ + 0.22957254946231842, + 0.5060340762138367, + 0.09480719268321991, + -0.8259767889976501 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.0498330295085907, + 0.12980833649635315, + -0.05978500470519066 + ], + "orientation": [ + 0.22761358320713043, + 0.508357048034668, + 0.07512333989143372, + -0.8271164894104004 + ], + "joints": [ + -0.007477444596588612 + ] + }, + "final_grasp": { + "position": [ + -0.0498330295085907, + 0.12980833649635315, + -0.05978500470519066 + ], + "orientation": [ + 0.22761358320713043, + 0.508357048034668, + 0.07512333989143372, + -0.8271164894104004 + ], + "joints": [ + -0.00266827829182148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10714917629957199, + 0.006204779725521803, + -0.1147051602602005 + ], + "orientation": [ + 0.7174369096755981, + 0.48398372530937195, + 0.3057625889778137, + -0.3969299793243408 + ], + "joints": [ + -0.004715973045676947 + ] + }, + "fine_grasp": { + "position": [ + -0.10624007880687714, + 0.005966613534837961, + -0.11276785284280777 + ], + "orientation": [ + 0.7109505534172058, + 0.5003690719604492, + 0.30777814984321594, + -0.38659119606018066 + ], + "joints": [ + -0.0014478653902187943 + ] + }, + "final_grasp": { + "position": [ + -0.10624007880687714, + 0.005966613534837961, + -0.11276785284280777 + ], + "orientation": [ + 0.7109505534172058, + 0.5003690719604492, + 0.30777814984321594, + -0.38659119606018066 + ], + "joints": [ + 0.001820242265239358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11680325865745544, + -0.002347746165469289, + -0.050843849778175354 + ], + "orientation": [ + 0.40095534920692444, + 0.5644112825393677, + 0.592866837978363, + -0.4113190472126007 + ], + "joints": [ + -0.00916127860546112 + ] + }, + "fine_grasp": { + "position": [ + -0.1202494353055954, + -0.0018466394394636154, + -0.050616901367902756 + ], + "orientation": [ + 0.4097523093223572, + 0.5619438886642456, + 0.5913326740264893, + -0.40822499990463257 + ], + "joints": [ + -0.0065042804926633835 + ] + }, + "final_grasp": { + "position": [ + -0.1202494353055954, + -0.0018466394394636154, + -0.050616901367902756 + ], + "orientation": [ + 0.4097523093223572, + 0.5619438886642456, + 0.5913326740264893, + -0.40822499990463257 + ], + "joints": [ + -0.0038472823798656464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11680099368095398, + -0.0023537930101156235, + -0.051058486104011536 + ], + "orientation": [ + 0.3980187177658081, + 0.5651915669441223, + 0.595642626285553, + -0.409083753824234 + ], + "joints": [ + -0.009133387356996536 + ] + }, + "fine_grasp": { + "position": [ + -0.12011734396219254, + -0.0017150862840935588, + -0.05102299898862839 + ], + "orientation": [ + 0.40584811568260193, + 0.5636757016181946, + 0.5952659249305725, + -0.40399929881095886 + ], + "joints": [ + -0.006449819542467594 + ] + }, + "final_grasp": { + "position": [ + -0.12011734396219254, + -0.0017150862840935588, + -0.05102299898862839 + ], + "orientation": [ + 0.40584811568260193, + 0.5636757016181946, + 0.5952659249305725, + -0.40399929881095886 + ], + "joints": [ + -0.003766251727938652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11483553797006607, + -0.01863999292254448, + -0.08677196502685547 + ], + "orientation": [ + 0.38886716961860657, + -0.40803617238998413, + 0.7371174693107605, + 0.37275561690330505 + ], + "joints": [ + -0.007094983011484146 + ] + }, + "fine_grasp": { + "position": [ + 0.11518172174692154, + -0.021250970661640167, + -0.08547838777303696 + ], + "orientation": [ + 0.36216652393341064, + -0.4177899658679962, + 0.739453136920929, + 0.38405224680900574 + ], + "joints": [ + -0.003906585276126862 + ] + }, + "final_grasp": { + "position": [ + 0.11518172174692154, + -0.021250970661640167, + -0.08547838777303696 + ], + "orientation": [ + 0.36216652393341064, + -0.4177899658679962, + 0.739453136920929, + 0.38405224680900574 + ], + "joints": [ + -0.000718187540769577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09631938487291336, + 0.09743821620941162, + -0.05692001059651375 + ], + "orientation": [ + 0.40437373518943787, + 0.46971067786216736, + 0.25270605087280273, + -0.7429625988006592 + ], + "joints": [ + -0.008265672251582146 + ] + }, + "fine_grasp": { + "position": [ + -0.0955715924501419, + 0.09605522453784943, + -0.05558060482144356 + ], + "orientation": [ + 0.4031836986541748, + 0.47469452023506165, + 0.2430172562599182, + -0.7436737418174744 + ], + "joints": [ + -0.004545874893665314 + ] + }, + "final_grasp": { + "position": [ + -0.0955715924501419, + 0.09605522453784943, + -0.05558060482144356 + ], + "orientation": [ + 0.4031836986541748, + 0.47469452023506165, + 0.2430172562599182, + -0.7436737418174744 + ], + "joints": [ + -0.0008260775357484818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09624016284942627, + 0.09732308238744736, + -0.05675465613603592 + ], + "orientation": [ + 0.4044373333454132, + 0.4718954861164093, + 0.25176966190338135, + -0.7418606281280518 + ], + "joints": [ + -0.009195370599627495 + ] + }, + "fine_grasp": { + "position": [ + -0.09541115909814835, + 0.09574149549007416, + -0.05534724146127701 + ], + "orientation": [ + 0.4037415683269501, + 0.476313054561615, + 0.24018394947052002, + -0.7432564496994019 + ], + "joints": [ + -0.005449003539979458 + ] + }, + "final_grasp": { + "position": [ + -0.09541115909814835, + 0.09574149549007416, + -0.05534724146127701 + ], + "orientation": [ + 0.4037415683269501, + 0.476313054561615, + 0.24018394947052002, + -0.7432564496994019 + ], + "joints": [ + -0.001702636480331421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03895182907581329, + 0.1237119659781456, + -0.07123789936304092 + ], + "orientation": [ + 0.05315547063946724, + -0.5360701680183411, + -0.12710201740264893, + -0.8328555226325989 + ], + "joints": [ + -0.011358462274074554 + ] + }, + "fine_grasp": { + "position": [ + -0.03675222769379616, + 0.1210794746875763, + -0.06924404203891754 + ], + "orientation": [ + 0.06055337190628052, + -0.5205896496772766, + -0.14094318449497223, + -0.8399136066436768 + ], + "joints": [ + -0.008116924203932285 + ] + }, + "final_grasp": { + "position": [ + -0.03675222769379616, + 0.1210794746875763, + -0.06924404203891754 + ], + "orientation": [ + 0.06055337190628052, + -0.5205896496772766, + -0.14094318449497223, + -0.8399136066436768 + ], + "joints": [ + -0.004875386133790016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039180055260658264, + 0.1244378387928009, + -0.07123502343893051 + ], + "orientation": [ + 0.05480959638953209, + -0.5345732569694519, + -0.12671136856079102, + -0.8337695598602295 + ], + "joints": [ + -0.01163892075419426 + ] + }, + "fine_grasp": { + "position": [ + -0.037002481520175934, + 0.12209050357341766, + -0.06899810582399368 + ], + "orientation": [ + 0.06375109404325485, + -0.5179676413536072, + -0.13994744420051575, + -0.8414632081985474 + ], + "joints": [ + -0.007892553694546223 + ] + }, + "final_grasp": { + "position": [ + -0.037002481520175934, + 0.12209050357341766, + -0.06899810582399368 + ], + "orientation": [ + 0.06375109404325485, + -0.5179676413536072, + -0.13994744420051575, + -0.8414632081985474 + ], + "joints": [ + -0.004146186634898186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018269920721650124, + -0.10730265080928802, + -0.05076075717806816 + ], + "orientation": [ + 0.45508265495300293, + 0.08346740901470184, + -0.882542610168457, + 0.08397305756807327 + ], + "joints": [ + -0.00573521014302969 + ] + }, + "fine_grasp": { + "position": [ + 0.018338540568947792, + -0.10741665959358215, + -0.04933423176407814 + ], + "orientation": [ + 0.4670320451259613, + 0.0845315232872963, + -0.8769678473472595, + 0.07525321841239929 + ], + "joints": [ + -0.001988842850551009 + ] + }, + "final_grasp": { + "position": [ + 0.018338540568947792, + -0.10741665959358215, + -0.04933423176407814 + ], + "orientation": [ + 0.4670320451259613, + 0.0845315232872963, + -0.8769678473472595, + 0.07525321841239929 + ], + "joints": [ + 0.0017575244419276714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035552021116018295, + -0.10625719279050827, + -0.06420620530843735 + ], + "orientation": [ + 0.5281571745872498, + -0.05989203602075577, + 0.8434200882911682, + 0.07813836634159088 + ], + "joints": [ + -0.00990193709731102 + ] + }, + "fine_grasp": { + "position": [ + 0.033671677112579346, + -0.10386832058429718, + -0.06216767430305481 + ], + "orientation": [ + 0.5278453826904297, + -0.061874523758888245, + 0.8421316742897034, + 0.09146124869585037 + ], + "joints": [ + -0.006155570037662983 + ] + }, + "final_grasp": { + "position": [ + 0.033671677112579346, + -0.10386832058429718, + -0.06216767430305481 + ], + "orientation": [ + 0.5278453826904297, + -0.061874523758888245, + 0.8421316742897034, + 0.09146124869585037 + ], + "joints": [ + -0.002409202978014946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0353536531329155, + -0.10580819100141525, + -0.06414176523685455 + ], + "orientation": [ + 0.5267024040222168, + -0.05983807146549225, + 0.8442173004150391, + 0.07938020676374435 + ], + "joints": [ + -0.010490745306015015 + ] + }, + "fine_grasp": { + "position": [ + 0.033208586275577545, + -0.10330947488546371, + -0.06209549307823181 + ], + "orientation": [ + 0.5242204070091248, + -0.06106524169445038, + 0.8440824151039124, + 0.09480950236320496 + ], + "joints": [ + -0.006717808544635773 + ] + }, + "final_grasp": { + "position": [ + 0.033208586275577545, + -0.10330947488546371, + -0.06209549307823181 + ], + "orientation": [ + 0.5242204070091248, + -0.06106524169445038, + 0.8440824151039124, + 0.09480950236320496 + ], + "joints": [ + -0.0029448717832565308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12859760224819183, + 0.03522026166319847, + -0.014147652313113213 + ], + "orientation": [ + 0.5277527570724487, + 0.2754996716976166, + -0.43135181069374084, + 0.6778734922409058 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.12619468569755554, + 0.03408699110150337, + -0.014011714607477188 + ], + "orientation": [ + 0.5269291996955872, + 0.2903214693069458, + -0.4235070049762726, + 0.6772747039794922 + ], + "joints": [ + -0.009633880108594894 + ] + }, + "final_grasp": { + "position": [ + 0.12619468569755554, + 0.03408699110150337, + -0.014011714607477188 + ], + "orientation": [ + 0.5269291996955872, + 0.2903214693069458, + -0.4235070049762726, + 0.6772747039794922 + ], + "joints": [ + -0.006392341107130051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04854263365268707, + 0.13456615805625916, + -0.08915077149868011 + ], + "orientation": [ + 0.1735859364271164, + 0.8508093357086182, + -0.07130394130945206, + 0.4908229410648346 + ], + "joints": [ + -0.005449340678751469 + ] + }, + "fine_grasp": { + "position": [ + 0.0469844751060009, + 0.13179445266723633, + -0.087345190346241 + ], + "orientation": [ + 0.19231528043746948, + 0.8460561633110046, + -0.07248247414827347, + 0.4918842911720276 + ], + "joints": [ + -0.002260942943394184 + ] + }, + "final_grasp": { + "position": [ + 0.0469844751060009, + 0.13179445266723633, + -0.087345190346241 + ], + "orientation": [ + 0.19231528043746948, + 0.8460561633110046, + -0.07248247414827347, + 0.4918842911720276 + ], + "joints": [ + 0.0009274547919631004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04720104858279228, + 0.1343057006597519, + -0.0894550308585167 + ], + "orientation": [ + 0.17438022792339325, + 0.8553126454353333, + -0.06986789405345917, + 0.4828564524650574 + ], + "joints": [ + -0.005743008106946945 + ] + }, + "fine_grasp": { + "position": [ + 0.04563286900520325, + 0.13197718560695648, + -0.08767887204885483 + ], + "orientation": [ + 0.19349642097949982, + 0.8523952960968018, + -0.07304669171571732, + 0.4802559018135071 + ], + "joints": [ + -0.0025280406698584557 + ] + }, + "final_grasp": { + "position": [ + 0.04563286900520325, + 0.13197718560695648, + -0.08767887204885483 + ], + "orientation": [ + 0.19349642097949982, + 0.8523952960968018, + -0.07304669171571732, + 0.4802559018135071 + ], + "joints": [ + 0.0006869267672300339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008682586252689362, + -0.11551375687122345, + -0.07394138723611832 + ], + "orientation": [ + 0.45778799057006836, + 0.017989924177527428, + 0.8874625563621521, + 0.05016656965017319 + ], + "joints": [ + -0.006333447992801666 + ] + }, + "fine_grasp": { + "position": [ + 0.006704828701913357, + -0.11234269291162491, + -0.07063500583171844 + ], + "orientation": [ + 0.4584582448005676, + 0.01593458652496338, + 0.8857563138008118, + 0.07069635391235352 + ], + "joints": [ + -0.0030653411522507668 + ] + }, + "final_grasp": { + "position": [ + 0.006704828701913357, + -0.11234269291162491, + -0.07063500583171844 + ], + "orientation": [ + 0.4584582448005676, + 0.01593458652496338, + 0.8857563138008118, + 0.07069635391235352 + ], + "joints": [ + 0.00020276568830013275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07143022119998932, + 0.11423011124134064, + -0.025751959532499313 + ], + "orientation": [ + 0.018841572105884552, + -0.9034513235092163, + -0.33198508620262146, + 0.2705673277378082 + ], + "joints": [ + -0.002219152171164751 + ] + }, + "fine_grasp": { + "position": [ + -0.07126439362764359, + 0.11247630417346954, + -0.02716263197362423 + ], + "orientation": [ + 0.021112605929374695, + -0.9025540351867676, + -0.32523125410079956, + 0.28138065338134766 + ], + "joints": [ + 0.002669723704457283 + ] + }, + "final_grasp": { + "position": [ + -0.07126439362764359, + 0.11247630417346954, + -0.02716263197362423 + ], + "orientation": [ + 0.021112605929374695, + -0.9025540351867676, + -0.32523125410079956, + 0.28138065338134766 + ], + "joints": [ + 0.007558599580079317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005636029876768589, + -0.049766238778829575, + -0.16387809813022614 + ], + "orientation": [ + 0.7753841280937195, + 0.4176608622074127, + -0.40052512288093567, + -0.252821147441864 + ], + "joints": [ + -0.003387774806469679 + ] + }, + "fine_grasp": { + "position": [ + -0.0050092944875359535, + -0.048311468213796616, + -0.15978945791721344 + ], + "orientation": [ + 0.7728102207183838, + 0.41884246468544006, + -0.40340524911880493, + -0.25416451692581177 + ], + "joints": [ + 0.0030155908316373825 + ] + }, + "final_grasp": { + "position": [ + -0.0050092944875359535, + -0.048311468213796616, + -0.15978945791721344 + ], + "orientation": [ + 0.7728102207183838, + 0.41884246468544006, + -0.40340524911880493, + -0.25416451692581177 + ], + "joints": [ + 0.009418956935405731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058431219309568405, + -0.06780140101909637, + -0.11493735760450363 + ], + "orientation": [ + 0.2806556224822998, + 0.3354242146015167, + 0.8824073076248169, + 0.17343705892562866 + ], + "joints": [ + -0.001130112912505865 + ] + }, + "fine_grasp": { + "position": [ + -0.05797750875353813, + -0.07075995951890945, + -0.11463230103254318 + ], + "orientation": [ + 0.309898316860199, + 0.338611900806427, + 0.8732753396034241, + 0.16338619589805603 + ], + "joints": [ + 0.003732193261384964 + ] + }, + "final_grasp": { + "position": [ + -0.05797750875353813, + -0.07075995951890945, + -0.11463230103254318 + ], + "orientation": [ + 0.309898316860199, + 0.338611900806427, + 0.8732753396034241, + 0.16338619589805603 + ], + "joints": [ + 0.00859449990093708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046974893659353256, + 0.008254483342170715, + -0.1636781394481659 + ], + "orientation": [ + 0.10533357411623001, + 0.3482116758823395, + -0.7258822321891785, + -0.5837365984916687 + ], + "joints": [ + -0.0012433556839823723 + ] + }, + "fine_grasp": { + "position": [ + 0.045526232570409775, + 0.009846356697380543, + -0.15844780206680298 + ], + "orientation": [ + 0.09961409866809845, + 0.34854593873023987, + -0.7250486016273499, + -0.5855743288993835 + ], + "joints": [ + 0.004123780410736799 + ] + }, + "final_grasp": { + "position": [ + 0.045526232570409775, + 0.009846356697380543, + -0.15844780206680298 + ], + "orientation": [ + 0.09961409866809845, + 0.34854593873023987, + -0.7250486016273499, + -0.5855743288993835 + ], + "joints": [ + 0.00949091650545597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02858060970902443, + 0.0122641297057271, + -0.16330942511558533 + ], + "orientation": [ + 0.1416161060333252, + 0.3043975830078125, + 0.7116430997848511, + 0.6171312928199768 + ], + "joints": [ + -0.000951794208958745 + ] + }, + "fine_grasp": { + "position": [ + -0.029306771233677864, + 0.012769648805260658, + -0.16005252301692963 + ], + "orientation": [ + 0.14258773624897003, + 0.30604255199432373, + 0.70745450258255, + 0.6208983063697815 + ], + "joints": [ + 0.00545157166197896 + ] + }, + "final_grasp": { + "position": [ + -0.029306771233677864, + 0.012769648805260658, + -0.16005252301692963 + ], + "orientation": [ + 0.14258773624897003, + 0.30604255199432373, + 0.70745450258255, + 0.6208983063697815 + ], + "joints": [ + 0.011854937300086021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028366338461637497, + 0.011987061239778996, + -0.163196861743927 + ], + "orientation": [ + 0.1422571837902069, + 0.3033853769302368, + 0.7121389508247375, + 0.6169103384017944 + ], + "joints": [ + -0.0007368482183665037 + ] + }, + "fine_grasp": { + "position": [ + -0.029223347082734108, + 0.012462618760764599, + -0.1598229855298996 + ], + "orientation": [ + 0.14281433820724487, + 0.3050123155117035, + 0.7079696655273438, + 0.6207661032676697 + ], + "joints": [ + 0.005666517652571201 + ] + }, + "final_grasp": { + "position": [ + -0.029223347082734108, + 0.012462618760764599, + -0.1598229855298996 + ], + "orientation": [ + 0.14281433820724487, + 0.3050123155117035, + 0.7079696655273438, + 0.6207661032676697 + ], + "joints": [ + 0.01206988375633955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04803406074643135, + 0.008931382559239864, + -0.1634099781513214 + ], + "orientation": [ + 0.11799962818622589, + 0.36306312680244446, + -0.7200002670288086, + -0.5795350074768066 + ], + "joints": [ + -0.0016059386543929577 + ] + }, + "fine_grasp": { + "position": [ + 0.04643087089061737, + 0.010553610511124134, + -0.1583646535873413 + ], + "orientation": [ + 0.11119969189167023, + 0.3628334701061249, + -0.7189838886260986, + -0.5822789669036865 + ], + "joints": [ + 0.003761197440326214 + ] + }, + "final_grasp": { + "position": [ + 0.04643087089061737, + 0.010553610511124134, + -0.1583646535873413 + ], + "orientation": [ + 0.11119969189167023, + 0.3628334701061249, + -0.7189838886260986, + -0.5822789669036865 + ], + "joints": [ + 0.009128334000706673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013897668570280075, + -0.011825736612081528, + -0.1670546680688858 + ], + "orientation": [ + 0.6844244599342346, + 0.575718104839325, + 0.3835638463497162, + 0.23019713163375854 + ], + "joints": [ + -0.0020253213588148355 + ] + }, + "fine_grasp": { + "position": [ + -0.015530029311776161, + -0.01401833537966013, + -0.16401952505111694 + ], + "orientation": [ + 0.6907621026039124, + 0.5675857067108154, + 0.38677504658699036, + 0.2260514199733734 + ], + "joints": [ + 0.003846644889563322 + ] + }, + "final_grasp": { + "position": [ + -0.015530029311776161, + -0.01401833537966013, + -0.16401952505111694 + ], + "orientation": [ + 0.6907621026039124, + 0.5675857067108154, + 0.38677504658699036, + 0.2260514199733734 + ], + "joints": [ + 0.009718610905110836 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058854274451732635, + -0.053132861852645874, + -0.13116306066513062 + ], + "orientation": [ + 0.8457980155944824, + 0.27939239144325256, + 0.2728126645088196, + 0.3635089695453644 + ], + "joints": [ + -0.0007542974781244993 + ] + }, + "fine_grasp": { + "position": [ + 0.05521225929260254, + -0.05103723332285881, + -0.12780508399009705 + ], + "orientation": [ + 0.8425618410110474, + 0.26923155784606934, + 0.28900814056396484, + 0.36616674065589905 + ], + "joints": [ + 0.004108008928596973 + ] + }, + "final_grasp": { + "position": [ + 0.05521225929260254, + -0.05103723332285881, + -0.12780508399009705 + ], + "orientation": [ + 0.8425618410110474, + 0.26923155784606934, + 0.28900814056396484, + 0.36616674065589905 + ], + "joints": [ + 0.00897031556814909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07677271962165833, + 0.10863912105560303, + -0.011623488739132881 + ], + "orientation": [ + 0.06672263890504837, + -0.9226219058036804, + 0.3597734272480011, + -0.12198349833488464 + ], + "joints": [ + 0.0007960046641528606 + ] + }, + "fine_grasp": { + "position": [ + 0.07800763100385666, + 0.11068743467330933, + -0.011122663505375385 + ], + "orientation": [ + 0.06885925680398941, + -0.9193316698074341, + 0.3573046028614044, + -0.1497366726398468 + ], + "joints": [ + 0.00510034104809165 + ] + }, + "final_grasp": { + "position": [ + 0.07800763100385666, + 0.11068743467330933, + -0.011122663505375385 + ], + "orientation": [ + 0.06885925680398941, + -0.9193316698074341, + 0.3573046028614044, + -0.1497366726398468 + ], + "joints": [ + 0.009404677897691727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08269823342561722, + -0.06801638007164001, + -0.02229548990726471 + ], + "orientation": [ + 0.911841630935669, + -0.056851327419281006, + 0.11857186257839203, + -0.38891324400901794 + ], + "joints": [ + -5.5081764003261924e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.08416314423084259, + -0.06979656219482422, + -0.022097278386354446 + ], + "orientation": [ + 0.9113843441009521, + -0.061277542263269424, + 0.1251964122056961, + -0.3872331976890564 + ], + "joints": [ + 0.006321714259684086 + ] + }, + "final_grasp": { + "position": [ + -0.08416314423084259, + -0.06979656219482422, + -0.022097278386354446 + ], + "orientation": [ + 0.9113843441009521, + -0.061277542263269424, + 0.1251964122056961, + -0.3872331976890564 + ], + "joints": [ + 0.01269851066172123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0832112580537796, + -0.06835883855819702, + -0.02118516154587269 + ], + "orientation": [ + 0.9124191999435425, + -0.0578240267932415, + 0.11097497493028641, + -0.3896564543247223 + ], + "joints": [ + -0.00020416165352798998 + ] + }, + "fine_grasp": { + "position": [ + -0.0842815488576889, + -0.0696723535656929, + -0.02150442823767662 + ], + "orientation": [ + 0.9113878011703491, + -0.06392855197191238, + 0.11918153613805771, + -0.3886917233467102 + ], + "joints": [ + 0.00619920389726758 + ] + }, + "final_grasp": { + "position": [ + -0.0842815488576889, + -0.0696723535656929, + -0.02150442823767662 + ], + "orientation": [ + 0.9113878011703491, + -0.06392855197191238, + 0.11918153613805771, + -0.3886917233467102 + ], + "joints": [ + 0.012602569535374641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07384956628084183, + -0.08073678612709045, + -0.05224684253334999 + ], + "orientation": [ + 0.9415175914764404, + 0.03560634329915047, + -0.12438546866178513, + -0.31113529205322266 + ], + "joints": [ + 0.001895745750516653 + ] + }, + "fine_grasp": { + "position": [ + -0.07283921539783478, + -0.0801490843296051, + -0.05313841998577118 + ], + "orientation": [ + 0.9387170076370239, + 0.014265178702771664, + -0.14086036384105682, + -0.314269483089447 + ], + "joints": [ + 0.005190422758460045 + ] + }, + "final_grasp": { + "position": [ + -0.07283921539783478, + -0.0801490843296051, + -0.05313841998577118 + ], + "orientation": [ + 0.9387170076370239, + 0.014265178702771664, + -0.14086036384105682, + -0.314269483089447 + ], + "joints": [ + 0.00848509930074215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05908004939556122, + -0.05275920778512955, + -0.13149616122245789 + ], + "orientation": [ + 0.8452610969543457, + 0.2831129729747772, + 0.27015170454978943, + 0.3638664186000824 + ], + "joints": [ + -0.0008303883951157331 + ] + }, + "fine_grasp": { + "position": [ + 0.05530805513262749, + -0.05064558982849121, + -0.12822507321834564 + ], + "orientation": [ + 0.842705249786377, + 0.2722318470478058, + 0.28468868136405945, + 0.3670015335083008 + ], + "joints": [ + 0.004536747932434082 + ] + }, + "final_grasp": { + "position": [ + 0.05530805513262749, + -0.05064558982849121, + -0.12822507321834564 + ], + "orientation": [ + 0.842705249786377, + 0.2722318470478058, + 0.28468868136405945, + 0.3670015335083008 + ], + "joints": [ + 0.00990388449281454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0824444591999054, + -0.06805828958749771, + -0.022136203944683075 + ], + "orientation": [ + 0.9128033518791199, + -0.06020691990852356, + 0.11407651752233505, + -0.3874939978122711 + ], + "joints": [ + 2.2268330212682486e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.08387726545333862, + -0.06981413066387177, + -0.022254999727010727 + ], + "orientation": [ + 0.9118406176567078, + -0.0657351016998291, + 0.12082405388355255, + -0.3868168592453003 + ], + "joints": [ + 0.0063990643247962 + ] + }, + "final_grasp": { + "position": [ + -0.08387726545333862, + -0.06981413066387177, + -0.022254999727010727 + ], + "orientation": [ + 0.9118406176567078, + -0.0657351016998291, + 0.12082405388355255, + -0.3868168592453003 + ], + "joints": [ + 0.012775860726833344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05942486971616745, + -0.053395796567201614, + -0.132467582821846 + ], + "orientation": [ + 0.8448053002357483, + 0.28510552644729614, + 0.2707550823688507, + 0.36291947960853577 + ], + "joints": [ + -0.0009953388944268227 + ] + }, + "fine_grasp": { + "position": [ + 0.05564672127366066, + -0.050899215042591095, + -0.12952075898647308 + ], + "orientation": [ + 0.8439168930053711, + 0.27230730652809143, + 0.2825583815574646, + 0.36580562591552734 + ], + "joints": [ + 0.004371797200292349 + ] + }, + "final_grasp": { + "position": [ + 0.05564672127366066, + -0.050899215042591095, + -0.12952075898647308 + ], + "orientation": [ + 0.8439168930053711, + 0.27230730652809143, + 0.2825583815574646, + 0.36580562591552734 + ], + "joints": [ + 0.00973893329501152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059950705617666245, + -0.05333387106657028, + -0.13228455185890198 + ], + "orientation": [ + 0.8456845283508301, + 0.28567442297935486, + 0.2665189802646637, + 0.36355942487716675 + ], + "joints": [ + -0.0010950034484267235 + ] + }, + "fine_grasp": { + "position": [ + 0.056056439876556396, + -0.05086984112858772, + -0.1293100267648697 + ], + "orientation": [ + 0.8450538516044617, + 0.2725416421890259, + 0.2780819237232208, + 0.3664360046386719 + ], + "joints": [ + 0.0047769625671207905 + ] + }, + "final_grasp": { + "position": [ + 0.056056439876556396, + -0.05086984112858772, + -0.1293100267648697 + ], + "orientation": [ + 0.8450538516044617, + 0.2725416421890259, + 0.2780819237232208, + 0.3664360046386719 + ], + "joints": [ + 0.010648928582668304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08432471007108688, + -0.06787300109863281, + -0.03483479842543602 + ], + "orientation": [ + 0.08535359799861908, + -0.3907284438610077, + -0.9164416790008545, + 0.013436506502330303 + ], + "joints": [ + -0.0007296124240383506 + ] + }, + "fine_grasp": { + "position": [ + -0.08524038642644882, + -0.06927520781755447, + -0.03571814298629761 + ], + "orientation": [ + 0.09249822050333023, + -0.39021798968315125, + -0.9158613085746765, + 0.019285855814814568 + ], + "joints": [ + 0.005673753097653389 + ] + }, + "final_grasp": { + "position": [ + -0.08524038642644882, + -0.06927520781755447, + -0.03571814298629761 + ], + "orientation": [ + 0.09249822050333023, + -0.39021798968315125, + -0.9158613085746765, + 0.019285855814814568 + ], + "joints": [ + 0.012077118270099163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08591098338365555, + -0.0488911010324955, + 0.0651247575879097 + ], + "orientation": [ + 0.11861055344343185, + -0.42934995889663696, + 0.8677322268486023, + -0.2205241471529007 + ], + "joints": [ + 0.005624029319733381 + ] + }, + "fine_grasp": { + "position": [ + 0.08456797152757645, + -0.04807693883776665, + 0.06507608294487 + ], + "orientation": [ + 0.11571011692285538, + -0.43229609727859497, + 0.8694515824317932, + -0.20924940705299377 + ], + "joints": [ + 0.01149599626660347 + ] + }, + "final_grasp": { + "position": [ + 0.08456797152757645, + -0.04807693883776665, + 0.06507608294487 + ], + "orientation": [ + 0.11571011692285538, + -0.43229609727859497, + 0.8694515824317932, + -0.20924940705299377 + ], + "joints": [ + 0.01736796274781227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05351214110851288, + 0.06081932410597801, + -0.1511366367340088 + ], + "orientation": [ + 0.49950626492500305, + 0.8282590508460999, + -0.25221797823905945, + 0.029438871890306473 + ], + "joints": [ + -0.0005842228420078754 + ] + }, + "fine_grasp": { + "position": [ + 0.054547905921936035, + 0.05904805287718773, + -0.14794917404651642 + ], + "orientation": [ + 0.5012732744216919, + 0.8275785446166992, + -0.24858534336090088, + 0.04521249234676361 + ], + "joints": [ + 0.004836052656173706 + ] + }, + "final_grasp": { + "position": [ + 0.054547905921936035, + 0.05904805287718773, + -0.14794917404651642 + ], + "orientation": [ + 0.5012732744216919, + 0.8275785446166992, + -0.24858534336090088, + 0.04521249234676361 + ], + "joints": [ + 0.010256327688694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06513077020645142, + 0.11506544053554535, + -0.0818626880645752 + ], + "orientation": [ + 0.12756603956222534, + 0.9314085841178894, + -0.2905377745628357, + -0.17830544710159302 + ], + "joints": [ + 0.00010403597843833268 + ] + }, + "fine_grasp": { + "position": [ + 0.06388659030199051, + 0.1158449649810791, + -0.08214880526065826 + ], + "orientation": [ + 0.10820012539625168, + 0.928668737411499, + -0.2916332185268402, + -0.20203278958797455 + ], + "joints": [ + 0.00443494226783514 + ] + }, + "final_grasp": { + "position": [ + 0.06388659030199051, + 0.1158449649810791, + -0.08214880526065826 + ], + "orientation": [ + 0.10820012539625168, + 0.928668737411499, + -0.2916332185268402, + -0.20203278958797455 + ], + "joints": [ + 0.008765848353505135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011681468226015568, + 0.04487011954188347, + -0.16367460787296295 + ], + "orientation": [ + 0.1771068423986435, + 0.2902382016181946, + -0.5830322504043579, + -0.737881064414978 + ], + "joints": [ + -0.0008356824982911348 + ] + }, + "fine_grasp": { + "position": [ + 0.01214656513184309, + 0.04720170050859451, + -0.1629905253648758 + ], + "orientation": [ + 0.1742040514945984, + 0.29361432790756226, + -0.5810942649841309, + -0.7387645244598389 + ], + "joints": [ + 0.005062853451818228 + ] + }, + "final_grasp": { + "position": [ + 0.01214656513184309, + 0.04720170050859451, + -0.1629905253648758 + ], + "orientation": [ + 0.1742040514945984, + 0.29361432790756226, + -0.5810942649841309, + -0.7387645244598389 + ], + "joints": [ + 0.010961389169096947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09282771497964859, + 0.07917606085538864, + 0.058616992086172104 + ], + "orientation": [ + 0.4576517939567566, + -0.09353098273277283, + 0.2110959142446518, + -0.8586298823356628 + ], + "joints": [ + 0.005908334162086248 + ] + }, + "fine_grasp": { + "position": [ + -0.0916135385632515, + 0.07957092672586441, + 0.05920714512467384 + ], + "orientation": [ + 0.4572431445121765, + -0.09336060285568237, + 0.20215636491775513, + -0.8610142469406128 + ], + "joints": [ + 0.011806871742010117 + ] + }, + "final_grasp": { + "position": [ + -0.0916135385632515, + 0.07957092672586441, + 0.05920714512467384 + ], + "orientation": [ + 0.4572431445121765, + -0.09336060285568237, + 0.20215636491775513, + -0.8610142469406128 + ], + "joints": [ + 0.017705408856272697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011096887290477753, + 0.07670234888792038, + -0.15102635324001312 + ], + "orientation": [ + 0.1914830058813095, + 0.25611403584480286, + 0.45353618264198303, + 0.831892192363739 + ], + "joints": [ + -0.0013052516151219606 + ] + }, + "fine_grasp": { + "position": [ + 0.010015910491347313, + 0.07635720074176788, + -0.14585678279399872 + ], + "orientation": [ + 0.18679027259349823, + 0.26695024967193604, + 0.4569706618785858, + 0.8276622295379639 + ], + "joints": [ + 0.0030256551690399647 + ] + }, + "final_grasp": { + "position": [ + 0.010015910491347313, + 0.07635720074176788, + -0.14585678279399872 + ], + "orientation": [ + 0.18679027259349823, + 0.26695024967193604, + 0.4569706618785858, + 0.8276622295379639 + ], + "joints": [ + 0.007356561720371246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10455191880464554, + 0.0858069434762001, + -0.03801644966006279 + ], + "orientation": [ + 0.4838230311870575, + -0.08863331377506256, + -0.0600859560072422, + -0.868590235710144 + ], + "joints": [ + 0.0015940361190587282 + ] + }, + "fine_grasp": { + "position": [ + -0.10253815352916718, + 0.08438973128795624, + -0.03927002474665642 + ], + "orientation": [ + 0.47950661182403564, + -0.1128569170832634, + -0.05817030742764473, + -0.8683046102523804 + ], + "joints": [ + 0.005420112982392311 + ] + }, + "final_grasp": { + "position": [ + -0.10253815352916718, + 0.08438973128795624, + -0.03927002474665642 + ], + "orientation": [ + 0.47950661182403564, + -0.1128569170832634, + -0.05817030742764473, + -0.8683046102523804 + ], + "joints": [ + 0.009246190078556538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04618252068758011, + -0.021120330318808556, + -0.15118706226348877 + ], + "orientation": [ + 0.8050529956817627, + 0.48540186882019043, + -0.11608754098415375, + -0.3206220269203186 + ], + "joints": [ + -0.00011902253027074039 + ] + }, + "fine_grasp": { + "position": [ + -0.0458640493452549, + -0.017937682569026947, + -0.1484050750732422 + ], + "orientation": [ + 0.8036706447601318, + 0.4914366602897644, + -0.10248138010501862, + -0.31953248381614685 + ], + "joints": [ + 0.006789172999560833 + ] + }, + "final_grasp": { + "position": [ + -0.0458640493452549, + -0.017937682569026947, + -0.1484050750732422 + ], + "orientation": [ + 0.8036706447601318, + 0.4914366602897644, + -0.10248138010501862, + -0.31953248381614685 + ], + "joints": [ + 0.01369736809283495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01667642779648304, + -0.0353400744497776, + -0.1695842146873474 + ], + "orientation": [ + 0.6844455599784851, + 0.40695783495903015, + 0.48344874382019043, + 0.36358892917633057 + ], + "joints": [ + -0.0028298147954046726 + ] + }, + "fine_grasp": { + "position": [ + 0.015054604969918728, + -0.03424425423145294, + -0.16557329893112183 + ], + "orientation": [ + 0.6865221858024597, + 0.40201395750045776, + 0.481574147939682, + 0.3676389753818512 + ], + "joints": [ + 0.0030421512201428413 + ] + }, + "final_grasp": { + "position": [ + 0.015054604969918728, + -0.03424425423145294, + -0.16557329893112183 + ], + "orientation": [ + 0.6865221858024597, + 0.40201395750045776, + 0.481574147939682, + 0.3676389753818512 + ], + "joints": [ + 0.008914116770029068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08441414684057236, + -0.06725440919399261, + -0.035573482513427734 + ], + "orientation": [ + 0.07766973972320557, + -0.3913543224334717, + -0.9167461395263672, + 0.019640423357486725 + ], + "joints": [ + -0.0006584759103134274 + ] + }, + "fine_grasp": { + "position": [ + -0.0852227583527565, + -0.06821426749229431, + -0.036820486187934875 + ], + "orientation": [ + 0.08510290086269379, + -0.3915036916732788, + -0.9157715439796448, + 0.02906814217567444 + ], + "joints": [ + 0.005744889844208956 + ] + }, + "final_grasp": { + "position": [ + -0.0852227583527565, + -0.06821426749229431, + -0.036820486187934875 + ], + "orientation": [ + 0.08510290086269379, + -0.3915036916732788, + -0.9157715439796448, + 0.02906814217567444 + ], + "joints": [ + 0.012148255482316017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08285772055387497, + -0.05095578730106354, + 0.07090344280004501 + ], + "orientation": [ + 0.8668703436851501, + -0.21393024921417236, + -0.152140811085701, + 0.42381933331489563 + ], + "joints": [ + 0.006022810935974121 + ] + }, + "fine_grasp": { + "position": [ + 0.08392350375652313, + -0.05101284757256508, + 0.07114019244909286 + ], + "orientation": [ + 0.8692930340766907, + -0.20199158787727356, + -0.14516480267047882, + 0.42714884877204895 + ], + "joints": [ + 0.011894777417182922 + ] + }, + "final_grasp": { + "position": [ + 0.08392350375652313, + -0.05101284757256508, + 0.07114019244909286 + ], + "orientation": [ + 0.8692930340766907, + -0.20199158787727356, + -0.14516480267047882, + 0.42714884877204895 + ], + "joints": [ + 0.017766743898391724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0652494728565216, + 0.10504592210054398, + 0.07046715170145035 + ], + "orientation": [ + 0.23179864883422852, + -0.9159708619117737, + -0.3104475140571594, + 0.10435032099485397 + ], + "joints": [ + 0.005565920379012823 + ] + }, + "fine_grasp": { + "position": [ + -0.0642719641327858, + 0.10413877665996552, + 0.07021480053663254 + ], + "orientation": [ + 0.22021439671516418, + -0.9188279509544373, + -0.3108215034008026, + 0.10320288687944412 + ], + "joints": [ + 0.011437887325882912 + ] + }, + "final_grasp": { + "position": [ + -0.0642719641327858, + 0.10413877665996552, + 0.07021480053663254 + ], + "orientation": [ + 0.22021439671516418, + -0.9188279509544373, + -0.3108215034008026, + 0.10320288687944412 + ], + "joints": [ + 0.017309853807091713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015984391793608665, + -0.026852034032344818, + -0.16093482077121735 + ], + "orientation": [ + 0.6688957214355469, + 0.41210827231407166, + 0.48113107681274414, + 0.3889191448688507 + ], + "joints": [ + -0.0027097526472061872 + ] + }, + "fine_grasp": { + "position": [ + 0.01547322142869234, + -0.028762005269527435, + -0.1582287847995758 + ], + "orientation": [ + 0.6714244484901428, + 0.4052673876285553, + 0.48483872413635254, + 0.387142151594162 + ], + "joints": [ + 0.0031622136011719704 + ] + }, + "final_grasp": { + "position": [ + 0.01547322142869234, + -0.028762005269527435, + -0.1582287847995758 + ], + "orientation": [ + 0.6714244484901428, + 0.4052673876285553, + 0.48483872413635254, + 0.387142151594162 + ], + "joints": [ + 0.009034180082380772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016029611229896545, + -0.02760525420308113, + -0.16236452758312225 + ], + "orientation": [ + 0.669177234172821, + 0.4111599922180176, + 0.48235073685646057, + 0.38792672753334045 + ], + "joints": [ + -0.0026786804664880037 + ] + }, + "fine_grasp": { + "position": [ + 0.015270036645233631, + -0.028960425406694412, + -0.15932758152484894 + ], + "orientation": [ + 0.6715102195739746, + 0.40506473183631897, + 0.4853517711162567, + 0.3865620791912079 + ], + "joints": [ + 0.003193285781890154 + ] + }, + "final_grasp": { + "position": [ + 0.015270036645233631, + -0.028960425406694412, + -0.15932758152484894 + ], + "orientation": [ + 0.6715102195739746, + 0.40506473183631897, + 0.4853517711162567, + 0.3865620791912079 + ], + "joints": [ + 0.009065251797437668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009396646171808243, + 0.07712310552597046, + -0.15569226443767548 + ], + "orientation": [ + 0.477994829416275, + 0.8445513844490051, + -0.08400893211364746, + -0.2262663096189499 + ], + "joints": [ + -0.0010699620470404625 + ] + }, + "fine_grasp": { + "position": [ + -0.01084831915795803, + 0.07549544423818588, + -0.15100418031215668 + ], + "orientation": [ + 0.47746899724006653, + 0.8367446064949036, + -0.09281130135059357, + -0.25153103470802307 + ], + "joints": [ + 0.0038189138285815716 + ] + }, + "final_grasp": { + "position": [ + -0.01084831915795803, + 0.07549544423818588, + -0.15100418031215668 + ], + "orientation": [ + 0.47746899724006653, + 0.8367446064949036, + -0.09281130135059357, + -0.25153103470802307 + ], + "joints": [ + 0.008707789704203606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009554944932460785, + 0.07651353627443314, + -0.15569733083248138 + ], + "orientation": [ + 0.481071412563324, + 0.8431267142295837, + -0.08306165039539337, + -0.22540730237960815 + ], + "joints": [ + -0.0011778739280998707 + ] + }, + "fine_grasp": { + "position": [ + -0.010961413383483887, + 0.0749346986413002, + -0.15079958736896515 + ], + "orientation": [ + 0.480609655380249, + 0.8354471921920776, + -0.09167982637882233, + -0.25027430057525635 + ], + "joints": [ + 0.0036844322457909584 + ] + }, + "final_grasp": { + "position": [ + -0.010961413383483887, + 0.0749346986413002, + -0.15079958736896515 + ], + "orientation": [ + 0.480609655380249, + 0.8354471921920776, + -0.09167982637882233, + -0.25027430057525635 + ], + "joints": [ + 0.0085467379540205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058353785425424576, + -0.1004372164607048, + -0.04280328005552292 + ], + "orientation": [ + 0.961364209651947, + -0.048395413905382156, + -0.16456665098667145, + -0.2153012901544571 + ], + "joints": [ + -0.0019235853105783463 + ] + }, + "fine_grasp": { + "position": [ + -0.05582837387919426, + -0.09595397859811783, + -0.04285310581326485 + ], + "orientation": [ + 0.9588266015052795, + -0.051006000488996506, + -0.1708259880542755, + -0.22106216847896576 + ], + "joints": [ + 0.00455948943272233 + ] + }, + "final_grasp": { + "position": [ + -0.05582837387919426, + -0.09595397859811783, + -0.04285310581326485 + ], + "orientation": [ + 0.9588266015052795, + -0.051006000488996506, + -0.1708259880542755, + -0.22106216847896576 + ], + "joints": [ + 0.011042564176023006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05765101686120033, + -0.07804075628519058, + 0.05512986704707146 + ], + "orientation": [ + 0.07728324830532074, + -0.26571473479270935, + -0.9368739128112793, + 0.21375268697738647 + ], + "joints": [ + 0.005580225493758917 + ] + }, + "fine_grasp": { + "position": [ + -0.0565204881131649, + -0.075254425406456, + 0.0552859753370285 + ], + "orientation": [ + 0.06645378470420837, + -0.26398834586143494, + -0.9401965141296387, + 0.20475511252880096 + ], + "joints": [ + 0.011425621807575226 + ] + }, + "final_grasp": { + "position": [ + -0.0565204881131649, + -0.075254425406456, + 0.0552859753370285 + ], + "orientation": [ + 0.06645378470420837, + -0.26398834586143494, + -0.9401965141296387, + 0.20475511252880096 + ], + "joints": [ + 0.017271017655730247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0337800569832325, + -0.09847664833068848, + -0.07374546676874161 + ], + "orientation": [ + 0.9668617844581604, + 0.12023863196372986, + -0.18850207328796387, + 0.12323900312185287 + ], + "joints": [ + -0.0006426583277061582 + ] + }, + "fine_grasp": { + "position": [ + 0.03511252999305725, + -0.09875881671905518, + -0.07344280183315277 + ], + "orientation": [ + 0.9626810550689697, + 0.1145021915435791, + -0.21513903141021729, + 0.11768405139446259 + ], + "joints": [ + 0.0037413877435028553 + ] + }, + "final_grasp": { + "position": [ + 0.03511252999305725, + -0.09875881671905518, + -0.07344280183315277 + ], + "orientation": [ + 0.9626810550689697, + 0.1145021915435791, + -0.21513903141021729, + 0.11768405139446259 + ], + "joints": [ + 0.008125433698296547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10102835297584534, + 0.08065593987703323, + -0.024143774062395096 + ], + "orientation": [ + 0.15569853782653809, + -0.8720232844352722, + -0.4553847908973694, + -0.0892086997628212 + ], + "joints": [ + -0.0013427587691694498 + ] + }, + "fine_grasp": { + "position": [ + -0.10277968645095825, + 0.08219141513109207, + -0.023026801645755768 + ], + "orientation": [ + 0.17290246486663818, + -0.8669120669364929, + -0.45313647389411926, + -0.11504612118005753 + ], + "joints": [ + 0.003492977935820818 + ] + }, + "final_grasp": { + "position": [ + -0.10277968645095825, + 0.08219141513109207, + -0.023026801645755768 + ], + "orientation": [ + 0.17290246486663818, + -0.8669120669364929, + -0.45313647389411926, + -0.11504612118005753 + ], + "joints": [ + 0.008328714407980442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07955306768417358, + 0.10476677864789963, + -0.07599856704473495 + ], + "orientation": [ + 0.35039663314819336, + -0.042145926505327225, + 0.14881446957588196, + 0.9237425327301025 + ], + "joints": [ + -0.0003684505936689675 + ] + }, + "fine_grasp": { + "position": [ + 0.0789344310760498, + 0.10472273081541061, + -0.07666924595832825 + ], + "orientation": [ + 0.3509887754917145, + -0.050365056842565536, + 0.1419968456029892, + 0.9241791367530823 + ], + "joints": [ + 0.004998685326427221 + ] + }, + "final_grasp": { + "position": [ + 0.0789344310760498, + 0.10472273081541061, + -0.07666924595832825 + ], + "orientation": [ + 0.3509887754917145, + -0.050365056842565536, + 0.1419968456029892, + 0.9241791367530823 + ], + "joints": [ + 0.010365821421146393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10344870388507843, + 0.08370307087898254, + -0.0615105964243412 + ], + "orientation": [ + 0.4760865271091461, + -0.03727471083402634, + -0.09857755154371262, + -0.8730605244636536 + ], + "joints": [ + -0.00025529024424031377 + ] + }, + "fine_grasp": { + "position": [ + -0.10188093036413193, + 0.08239437639713287, + -0.06083395332098007 + ], + "orientation": [ + 0.47114062309265137, + -0.05321156233549118, + -0.11048087477684021, + -0.8734923601150513 + ], + "joints": [ + 0.0056432452984154224 + ] + }, + "final_grasp": { + "position": [ + -0.10188093036413193, + 0.08239437639713287, + -0.06083395332098007 + ], + "orientation": [ + 0.47114062309265137, + -0.05321156233549118, + -0.11048087477684021, + -0.8734923601150513 + ], + "joints": [ + 0.011541781015694141 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05997561290860176, + 0.11613985896110535, + 0.04785702005028725 + ], + "orientation": [ + 0.2627362012863159, + -0.047248587012290955, + -0.18245834112167358, + 0.9462802410125732 + ], + "joints": [ + 0.0059435246512293816 + ] + }, + "fine_grasp": { + "position": [ + 0.05940432474017143, + 0.1147628128528595, + 0.0485241562128067 + ], + "orientation": [ + 0.26016873121261597, + -0.03345274180173874, + -0.1743219643831253, + 0.9491074681282043 + ], + "joints": [ + 0.011363803409039974 + ] + }, + "final_grasp": { + "position": [ + 0.05940432474017143, + 0.1147628128528595, + 0.0485241562128067 + ], + "orientation": [ + 0.26016873121261597, + -0.03345274180173874, + -0.1743219643831253, + 0.9491074681282043 + ], + "joints": [ + 0.01678408309817314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06002726033329964, + 0.11622851341962814, + 0.04789779335260391 + ], + "orientation": [ + 0.2626432180404663, + -0.046580612659454346, + -0.182124525308609, + 0.946403443813324 + ], + "joints": [ + 0.00594552606344223 + ] + }, + "fine_grasp": { + "position": [ + 0.059407271444797516, + 0.11480247229337692, + 0.048529595136642456 + ], + "orientation": [ + 0.2600814998149872, + -0.032941289246082306, + -0.17397792637348175, + 0.949212372303009 + ], + "joints": [ + 0.011365804821252823 + ] + }, + "final_grasp": { + "position": [ + 0.059407271444797516, + 0.11480247229337692, + 0.048529595136642456 + ], + "orientation": [ + 0.2600814998149872, + -0.032941289246082306, + -0.17397792637348175, + 0.949212372303009 + ], + "joints": [ + 0.016786083579063416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06067131832242012, + 0.11689715087413788, + 0.0498858243227005 + ], + "orientation": [ + 0.26414889097213745, + -0.0475928969681263, + -0.17568138241767883, + 0.9471516609191895 + ], + "joints": [ + 0.0059447819367051125 + ] + }, + "fine_grasp": { + "position": [ + 0.060457028448581696, + 0.115977443754673, + 0.05077579617500305 + ], + "orientation": [ + 0.2608385384082794, + -0.034331656992435455, + -0.16975270211696625, + 0.9497203230857849 + ], + "joints": [ + 0.011869889684021473 + ] + }, + "final_grasp": { + "position": [ + 0.060457028448581696, + 0.115977443754673, + 0.05077579617500305 + ], + "orientation": [ + 0.2608385384082794, + -0.034331656992435455, + -0.16975270211696625, + 0.9497203230857849 + ], + "joints": [ + 0.01779499650001526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08850585669279099, + 0.07729624956846237, + 0.07326764613389969 + ], + "orientation": [ + 0.45791947841644287, + -0.14351168274879456, + -0.21579194068908691, + 0.8503811359405518 + ], + "joints": [ + 0.006213087122887373 + ] + }, + "fine_grasp": { + "position": [ + 0.08741685003042221, + 0.07630319148302078, + 0.0735541358590126 + ], + "orientation": [ + 0.45717504620552063, + -0.13668926060199738, + -0.20699860155582428, + 0.8540834784507751 + ], + "joints": [ + 0.011580225080251694 + ] + }, + "final_grasp": { + "position": [ + 0.08741685003042221, + 0.07630319148302078, + 0.0735541358590126 + ], + "orientation": [ + 0.45717504620552063, + -0.13668926060199738, + -0.20699860155582428, + 0.8540834784507751 + ], + "joints": [ + 0.016947362571954727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0039862883277237415, + -0.03767095506191254, + -0.16661661863327026 + ], + "orientation": [ + 0.2637840807437897, + 0.14874036610126495, + 0.8014535307884216, + 0.515719473361969 + ], + "joints": [ + -0.0020700038876384497 + ] + }, + "fine_grasp": { + "position": [ + 0.0058268774300813675, + -0.03530700504779816, + -0.1629478484392166 + ], + "orientation": [ + 0.2713807225227356, + 0.15043507516384125, + 0.8048292398452759, + 0.5059364438056946 + ], + "joints": [ + 0.004891331307590008 + ] + }, + "final_grasp": { + "position": [ + 0.0058268774300813675, + -0.03530700504779816, + -0.1629478484392166 + ], + "orientation": [ + 0.2713807225227356, + 0.15043507516384125, + 0.8048292398452759, + 0.5059364438056946 + ], + "joints": [ + 0.011852666735649109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06058083847165108, + 0.11733878403902054, + 0.049243781715631485 + ], + "orientation": [ + 0.2631031274795532, + -0.04697727784514427, + -0.17184892296791077, + 0.9481760859489441 + ], + "joints": [ + 0.005870582070201635 + ] + }, + "fine_grasp": { + "position": [ + 0.059779148548841476, + 0.11560912430286407, + 0.05001405254006386 + ], + "orientation": [ + 0.26064637303352356, + -0.03293507918715477, + -0.16427473723888397, + 0.950785219669342 + ], + "joints": [ + 0.011795690283179283 + ] + }, + "final_grasp": { + "position": [ + 0.059779148548841476, + 0.11560912430286407, + 0.05001405254006386 + ], + "orientation": [ + 0.26064637303352356, + -0.03293507918715477, + -0.16427473723888397, + 0.950785219669342 + ], + "joints": [ + 0.017720798030495644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0029015447944402695, + -0.10368610173463821, + -0.06107327342033386 + ], + "orientation": [ + 0.9840810894966125, + 0.03228751942515373, + -0.17397773265838623, + -0.01654396392405033 + ], + "joints": [ + -0.000555177335627377 + ] + }, + "fine_grasp": { + "position": [ + -0.0019297386752441525, + -0.10404393076896667, + -0.061462920159101486 + ], + "orientation": [ + 0.9800244569778442, + 0.024983515962958336, + -0.19643336534500122, + -0.018486719578504562 + ], + "joints": [ + 0.004838528577238321 + ] + }, + "final_grasp": { + "position": [ + -0.0019297386752441525, + -0.10404393076896667, + -0.061462920159101486 + ], + "orientation": [ + 0.9800244569778442, + 0.024983515962958336, + -0.19643336534500122, + -0.018486719578504562 + ], + "joints": [ + 0.010232234373688698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042662929743528366, + -0.030882611870765686, + -0.1483325958251953 + ], + "orientation": [ + 0.06919822096824646, + 0.26398542523384094, + 0.8364641666412354, + 0.47523781657218933 + ], + "joints": [ + -9.172878344543278e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.044715456664562225, + -0.02864704839885235, + -0.14706531167030334 + ], + "orientation": [ + 0.046247102320194244, + 0.262179434299469, + 0.8359394073486328, + 0.4799254536628723 + ], + "joints": [ + 0.0068164668045938015 + ] + }, + "final_grasp": { + "position": [ + -0.044715456664562225, + -0.02864704839885235, + -0.14706531167030334 + ], + "orientation": [ + 0.046247102320194244, + 0.262179434299469, + 0.8359394073486328, + 0.4799254536628723 + ], + "joints": [ + 0.013724662363529205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019485272467136383, + -0.04445350170135498, + -0.14837327599525452 + ], + "orientation": [ + 0.21756552159786224, + 0.208271324634552, + 0.8453614115715027, + 0.44119420647621155 + ], + "joints": [ + -0.00044554893975146115 + ] + }, + "fine_grasp": { + "position": [ + -0.017915800213813782, + -0.04162236675620079, + -0.14465482532978058 + ], + "orientation": [ + 0.2240457683801651, + 0.20954346656799316, + 0.8446785807609558, + 0.4386492669582367 + ], + "joints": [ + 0.005399847403168678 + ] + }, + "final_grasp": { + "position": [ + -0.017915800213813782, + -0.04162236675620079, + -0.14465482532978058 + ], + "orientation": [ + 0.2240457683801651, + 0.20954346656799316, + 0.8446785807609558, + 0.4386492669582367 + ], + "joints": [ + 0.011245244182646275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06025860831141472, + -0.08822962641716003, + -0.06893178820610046 + ], + "orientation": [ + 0.953083872795105, + 0.10646159946918488, + -0.14508700370788574, + 0.24340704083442688 + ], + "joints": [ + -0.0005801268853247166 + ] + }, + "fine_grasp": { + "position": [ + 0.060687195509672165, + -0.08747125416994095, + -0.06922823190689087 + ], + "orientation": [ + 0.9506343603134155, + 0.10612426698207855, + -0.16718366742134094, + 0.23891761898994446 + ], + "joints": [ + 0.004840148612856865 + ] + }, + "final_grasp": { + "position": [ + 0.060687195509672165, + -0.08747125416994095, + -0.06922823190689087 + ], + "orientation": [ + 0.9506343603134155, + 0.10612426698207855, + -0.16718366742134094, + 0.23891761898994446 + ], + "joints": [ + 0.010260423645377159 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11672503501176834, + -0.02747790329158306, + -0.03997441753745079 + ], + "orientation": [ + 0.09614056348800659, + -0.5749112963676453, + -0.8091500997543335, + -0.07423067092895508 + ], + "joints": [ + -0.00012208378757350147 + ] + }, + "fine_grasp": { + "position": [ + -0.11612506210803986, + -0.027013199403882027, + -0.04117080941796303 + ], + "orientation": [ + 0.11857502162456512, + -0.570449709892273, + -0.8089510798454285, + -0.07826267182826996 + ], + "joints": [ + 0.00420882273465395 + ] + }, + "final_grasp": { + "position": [ + -0.11612506210803986, + -0.027013199403882027, + -0.04117080941796303 + ], + "orientation": [ + 0.11857502162456512, + -0.570449709892273, + -0.8089510798454285, + -0.07826267182826996 + ], + "joints": [ + 0.008539728820323944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039468470960855484, + -0.0844913199543953, + 0.05368706211447716 + ], + "orientation": [ + 0.03365170210599899, + -0.17586348950862885, + -0.9535096287727356, + 0.24240253865718842 + ], + "joints": [ + 0.005374000407755375 + ] + }, + "fine_grasp": { + "position": [ + -0.0390564501285553, + -0.08223849534988403, + 0.053403232246637344 + ], + "orientation": [ + 0.030308922752738, + -0.17612959444522858, + -0.9563040733337402, + 0.23139193654060364 + ], + "joints": [ + 0.010767708532512188 + ] + }, + "final_grasp": { + "position": [ + -0.0390564501285553, + -0.08223849534988403, + 0.053403232246637344 + ], + "orientation": [ + 0.030308922752738, + -0.17612959444522858, + -0.9563040733337402, + 0.23139193654060364 + ], + "joints": [ + 0.016161415725946426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03967874124646187, + -0.08459924161434174, + 0.05300626903772354 + ], + "orientation": [ + 0.0329606756567955, + -0.1765238493680954, + -0.9538333415985107, + 0.24073831737041473 + ], + "joints": [ + 0.005926663521677256 + ] + }, + "fine_grasp": { + "position": [ + -0.039285555481910706, + -0.08240891247987747, + 0.0527668334543705 + ], + "orientation": [ + 0.029402347281575203, + -0.1768241673707962, + -0.9567264914512634, + 0.2292230874300003 + ], + "joints": [ + 0.010788972489535809 + ] + }, + "final_grasp": { + "position": [ + -0.039285555481910706, + -0.08240891247987747, + 0.0527668334543705 + ], + "orientation": [ + 0.029402347281575203, + -0.1768241673707962, + -0.9567264914512634, + 0.2292230874300003 + ], + "joints": [ + 0.01565128192305565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03754671663045883, + 0.1304616630077362, + -0.013012959621846676 + ], + "orientation": [ + 0.18185292184352875, + -0.13700063526630402, + -0.09084686636924744, + 0.9694880843162537 + ], + "joints": [ + -0.00018727124552242458 + ] + }, + "fine_grasp": { + "position": [ + 0.036864858120679855, + 0.1309312880039215, + -0.012735138647258282 + ], + "orientation": [ + 0.17804749310016632, + -0.1551852822303772, + -0.09187673777341843, + 0.9673547744750977 + ], + "joints": [ + 0.004117065574973822 + ] + }, + "final_grasp": { + "position": [ + 0.036864858120679855, + 0.1309312880039215, + -0.012735138647258282 + ], + "orientation": [ + 0.17804749310016632, + -0.1551852822303772, + -0.09187673777341843, + 0.9673547744750977 + ], + "joints": [ + 0.008421402424573898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01790693588554859, + -0.04340903088450432, + -0.15590959787368774 + ], + "orientation": [ + 0.852351725101471, + 0.49213171005249023, + -0.17606574296951294, + -0.017430847510695457 + ], + "joints": [ + -0.0007278274279087782 + ] + }, + "fine_grasp": { + "position": [ + 0.018490508198738098, + -0.04093756526708603, + -0.1517169177532196 + ], + "orientation": [ + 0.8489217758178711, + 0.49514663219451904, + -0.18407250940799713, + -0.016699427738785744 + ], + "joints": [ + 0.0041344789788126945 + ] + }, + "final_grasp": { + "position": [ + 0.018490508198738098, + -0.04093756526708603, + -0.1517169177532196 + ], + "orientation": [ + 0.8489217758178711, + 0.49514663219451904, + -0.18407250940799713, + -0.016699427738785744 + ], + "joints": [ + 0.008996785618364811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017894549295306206, + -0.04387931153178215, + -0.1561465561389923 + ], + "orientation": [ + 0.8522946238517761, + 0.4917711317539215, + -0.1772461235523224, + -0.01840854249894619 + ], + "joints": [ + -0.0010032998397946358 + ] + }, + "fine_grasp": { + "position": [ + 0.018348554149270058, + -0.041338369250297546, + -0.1520882248878479 + ], + "orientation": [ + 0.8495063781738281, + 0.4939013123512268, + -0.18469783663749695, + -0.01694227010011673 + ], + "joints": [ + 0.0038590063340961933 + ] + }, + "final_grasp": { + "position": [ + 0.018348554149270058, + -0.041338369250297546, + -0.1520882248878479 + ], + "orientation": [ + 0.8495063781738281, + 0.4939013123512268, + -0.18469783663749695, + -0.01694227010011673 + ], + "joints": [ + 0.008721312507987022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11282023042440414, + 0.043277136981487274, + 0.03910093009471893 + ], + "orientation": [ + 0.11134544014930725, + -0.7686775922775269, + 0.6181105971336365, + -0.12114599347114563 + ], + "joints": [ + 0.006392267998307943 + ] + }, + "fine_grasp": { + "position": [ + 0.11207596957683563, + 0.04236873984336853, + 0.04088165983557701 + ], + "orientation": [ + 0.10830595344305038, + -0.7721545696258545, + 0.6182557344436646, + -0.09903057664632797 + ], + "joints": [ + 0.011201435700058937 + ] + }, + "final_grasp": { + "position": [ + 0.11207596957683563, + 0.04236873984336853, + 0.04088165983557701 + ], + "orientation": [ + 0.10830595344305038, + -0.7721545696258545, + 0.6182557344436646, + -0.09903057664632797 + ], + "joints": [ + 0.016010602936148643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1071060299873352, + 0.07791651785373688, + -0.04589587822556496 + ], + "orientation": [ + 0.5017438530921936, + 0.03030676767230034, + -0.07043110579252243, + -0.8616112470626831 + ], + "joints": [ + 0.004777731839567423 + ] + }, + "fine_grasp": { + "position": [ + -0.10467710345983505, + 0.07680662721395493, + -0.04484173655509949 + ], + "orientation": [ + 0.49944913387298584, + 0.031801845878362656, + -0.07462980598211288, + -0.862536609172821 + ], + "joints": [ + 0.009108641184866428 + ] + }, + "final_grasp": { + "position": [ + -0.10467710345983505, + 0.07680662721395493, + -0.04484173655509949 + ], + "orientation": [ + 0.49944913387298584, + 0.031801845878362656, + -0.07462980598211288, + -0.862536609172821 + ], + "joints": [ + 0.013439550995826721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11031683534383774, + 0.017113229259848595, + -0.09718334674835205 + ], + "orientation": [ + 0.01457630842924118, + 0.6624455451965332, + 0.7024282217025757, + 0.2598998546600342 + ], + "joints": [ + -0.0007293734233826399 + ] + }, + "fine_grasp": { + "position": [ + -0.10979165881872177, + 0.017176715657114983, + -0.09788212925195694 + ], + "orientation": [ + 0.0016948118573054671, + 0.6609706878662109, + 0.7019098997116089, + 0.26540061831474304 + ], + "joints": [ + 0.004079793579876423 + ] + }, + "final_grasp": { + "position": [ + -0.10979165881872177, + 0.017176715657114983, + -0.09788212925195694 + ], + "orientation": [ + 0.0016948118573054671, + 0.6609706878662109, + 0.7019098997116089, + 0.26540061831474304 + ], + "joints": [ + 0.00888896081596613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11132874339818954, + 0.043386638164520264, + 0.03900434449315071 + ], + "orientation": [ + 0.11345961689949036, + -0.7722764015197754, + 0.616264283657074, + -0.10456643253564835 + ], + "joints": [ + 0.00639026565477252 + ] + }, + "fine_grasp": { + "position": [ + 0.11219775676727295, + 0.04296848550438881, + 0.041944630444049835 + ], + "orientation": [ + 0.11055935174226761, + -0.7754315733909607, + 0.6157811880111694, + -0.08541747182607651 + ], + "joints": [ + 0.011730832979083061 + ] + }, + "final_grasp": { + "position": [ + 0.11219775676727295, + 0.04296848550438881, + 0.041944630444049835 + ], + "orientation": [ + 0.11055935174226761, + -0.7754315733909607, + 0.6157811880111694, + -0.08541747182607651 + ], + "joints": [ + 0.017071399837732315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03772512823343277, + 0.12669633328914642, + -0.0851835235953331 + ], + "orientation": [ + 0.15211136639118195, + 0.9644848108291626, + 0.17108747363090515, + 0.13175855576992035 + ], + "joints": [ + -0.00010491555440239608 + ] + }, + "fine_grasp": { + "position": [ + -0.037321314215660095, + 0.1263306885957718, + -0.08442051708698273 + ], + "orientation": [ + 0.15268900990486145, + 0.9620872139930725, + 0.1710290163755417, + 0.14772751927375793 + ], + "joints": [ + 0.004730821121484041 + ] + }, + "final_grasp": { + "position": [ + -0.037321314215660095, + 0.1263306885957718, + -0.08442051708698273 + ], + "orientation": [ + 0.15268900990486145, + 0.9620872139930725, + 0.1710290163755417, + 0.14772751927375793 + ], + "joints": [ + 0.009566557593643665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03131050989031792, + -0.10099122673273087, + -0.02361340820789337 + ], + "orientation": [ + 0.983087956905365, + -0.052446480840444565, + 0.09459038078784943, + -0.14778324961662292 + ], + "joints": [ + 0.0005500765983015299 + ] + }, + "fine_grasp": { + "position": [ + -0.030239921063184738, + -0.10023578256368637, + -0.02505839429795742 + ], + "orientation": [ + 0.9802076816558838, + -0.05645907297730446, + 0.12276216596364975, + -0.1446884423494339 + ], + "joints": [ + 0.0043495832942426205 + ] + }, + "final_grasp": { + "position": [ + -0.030239921063184738, + -0.10023578256368637, + -0.02505839429795742 + ], + "orientation": [ + 0.9802076816558838, + -0.05645907297730446, + 0.12276216596364975, + -0.1446884423494339 + ], + "joints": [ + 0.008149090223014355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03735719993710518, + 0.12667393684387207, + -0.08509328961372375 + ], + "orientation": [ + 0.15218859910964966, + 0.9652678370475769, + 0.16935721039772034, + 0.12811994552612305 + ], + "joints": [ + -0.00017838456551544368 + ] + }, + "fine_grasp": { + "position": [ + -0.03697190061211586, + 0.1263870745897293, + -0.0841871127486229 + ], + "orientation": [ + 0.15224625170230865, + 0.9627732634544373, + 0.16912873089313507, + 0.1458911895751953 + ], + "joints": [ + 0.00465735187754035 + ] + }, + "final_grasp": { + "position": [ + -0.03697190061211586, + 0.1263870745897293, + -0.0841871127486229 + ], + "orientation": [ + 0.15224625170230865, + 0.9627732634544373, + 0.16912873089313507, + 0.1458911895751953 + ], + "joints": [ + 0.009493088349699974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007297724951058626, + -0.03355611488223076, + -0.1619875580072403 + ], + "orientation": [ + 0.8168620467185974, + 0.5261276364326477, + 0.1855485886335373, + 0.14662115275859833 + ], + "joints": [ + -0.000562516157515347 + ] + }, + "fine_grasp": { + "position": [ + 0.006008497439324856, + -0.03079730086028576, + -0.15797357261180878 + ], + "orientation": [ + 0.8194326758384705, + 0.5197957158088684, + 0.1902489960193634, + 0.14882159233093262 + ], + "joints": [ + 0.006345679517835379 + ] + }, + "final_grasp": { + "position": [ + 0.006008497439324856, + -0.03079730086028576, + -0.15797357261180878 + ], + "orientation": [ + 0.8194326758384705, + 0.5197957158088684, + 0.1902489960193634, + 0.14882159233093262 + ], + "joints": [ + 0.013253875076770782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007107950281351805, + -0.033600129187107086, + -0.1624596118927002 + ], + "orientation": [ + 0.8170372247695923, + 0.5268311500549316, + 0.18393757939338684, + 0.14514197409152985 + ], + "joints": [ + -0.0008284555515274405 + ] + }, + "fine_grasp": { + "position": [ + 0.00591628672555089, + -0.03071572072803974, + -0.15841858088970184 + ], + "orientation": [ + 0.8189943432807922, + 0.5215600728988647, + 0.18829533457756042, + 0.14754021167755127 + ], + "joints": [ + 0.006584569811820984 + ] + }, + "final_grasp": { + "position": [ + 0.00591628672555089, + -0.03071572072803974, + -0.15841858088970184 + ], + "orientation": [ + 0.8189943432807922, + 0.5215600728988647, + 0.18829533457756042, + 0.14754021167755127 + ], + "joints": [ + 0.013997594825923443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029797546565532684, + -0.0822407528758049, + 0.07314653694629669 + ], + "orientation": [ + 0.9496882557868958, + -0.2836683988571167, + -0.012581447139382362, + 0.1321595162153244 + ], + "joints": [ + 0.0055397688411176205 + ] + }, + "fine_grasp": { + "position": [ + 0.028881877660751343, + -0.07974181324243546, + 0.07281907647848129 + ], + "orientation": [ + 0.9518975019454956, + -0.27535438537597656, + -0.014160318300127983, + 0.13368113338947296 + ], + "joints": [ + 0.011411735787987709 + ] + }, + "final_grasp": { + "position": [ + 0.028881877660751343, + -0.07974181324243546, + 0.07281907647848129 + ], + "orientation": [ + 0.9518975019454956, + -0.27535438537597656, + -0.014160318300127983, + 0.13368113338947296 + ], + "joints": [ + 0.01728370226919651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0736628994345665, + -0.01806763932108879, + -0.14005625247955322 + ], + "orientation": [ + 0.7322435975074768, + 0.2752928137779236, + -0.3320014178752899, + -0.5270752906799316 + ], + "joints": [ + -0.0004482555959839374 + ] + }, + "fine_grasp": { + "position": [ + -0.07007063925266266, + -0.017047252506017685, + -0.13642390072345734 + ], + "orientation": [ + 0.7306481003761292, + 0.2658042311668396, + -0.34140679240226746, + -0.5281503796577454 + ], + "joints": [ + 0.0043343412689864635 + ] + }, + "final_grasp": { + "position": [ + -0.07007063925266266, + -0.017047252506017685, + -0.13642390072345734 + ], + "orientation": [ + 0.7306481003761292, + 0.2658042311668396, + -0.34140679240226746, + -0.5281503796577454 + ], + "joints": [ + 0.009116938337683678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0732160210609436, + -0.01841355487704277, + -0.14008045196533203 + ], + "orientation": [ + 0.7336939573287964, + 0.27369213104248047, + -0.33179640769958496, + -0.5260198712348938 + ], + "joints": [ + -0.0004988652653992176 + ] + }, + "fine_grasp": { + "position": [ + -0.06921923905611038, + -0.01694261096417904, + -0.13706235587596893 + ], + "orientation": [ + 0.7331319451332092, + 0.26411500573158264, + -0.3367830514907837, + -0.5285242795944214 + ], + "joints": [ + 0.004815131425857544 + ] + }, + "final_grasp": { + "position": [ + -0.06921923905611038, + -0.01694261096417904, + -0.13706235587596893 + ], + "orientation": [ + 0.7331319451332092, + 0.26411500573158264, + -0.3367830514907837, + -0.5285242795944214 + ], + "joints": [ + 0.010129127651453018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0411180704832077, + -0.09654722362756729, + -0.07083318382501602 + ], + "orientation": [ + 0.9744011163711548, + 0.1268075406551361, + 0.06854702532291412, + -0.17252135276794434 + ], + "joints": [ + 3.690065932460129e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.04087609052658081, + -0.0945090502500534, + -0.06978023052215576 + ], + "orientation": [ + 0.9718347191810608, + 0.1318264603614807, + 0.08118356019258499, + -0.17767475545406342 + ], + "joints": [ + 0.004899206571280956 + ] + }, + "final_grasp": { + "position": [ + -0.04087609052658081, + -0.0945090502500534, + -0.06978023052215576 + ], + "orientation": [ + 0.9718347191810608, + 0.1318264603614807, + 0.08118356019258499, + -0.17767475545406342 + ], + "joints": [ + 0.009761512279510498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004570260178297758, + 0.12464242428541183, + 0.06679992377758026 + ], + "orientation": [ + 0.02109893411397934, + -0.0020665351767092943, + 0.2683259844779968, + -0.9630948901176453 + ], + "joints": [ + 0.005704927258193493 + ] + }, + "fine_grasp": { + "position": [ + -0.004349909722805023, + 0.12230470776557922, + 0.06608212739229202 + ], + "orientation": [ + 0.02119269035756588, + -0.0036422715056687593, + 0.25893789529800415, + -0.9656546115875244 + ], + "joints": [ + 0.011603464372456074 + ] + }, + "final_grasp": { + "position": [ + -0.004349909722805023, + 0.12230470776557922, + 0.06608212739229202 + ], + "orientation": [ + 0.02119269035756588, + -0.0036422715056687593, + 0.25893789529800415, + -0.9656546115875244 + ], + "joints": [ + 0.01750200241804123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11609018594026566, + 0.05441582202911377, + -0.045749302953481674 + ], + "orientation": [ + 0.06074916943907738, + -0.8086201548576355, + -0.5792504549026489, + -0.08313826471567154 + ], + "joints": [ + -0.00027472691726870835 + ] + }, + "fine_grasp": { + "position": [ + -0.11707986146211624, + 0.054970864206552505, + -0.047216542065143585 + ], + "orientation": [ + 0.06525890529155731, + -0.8093613982200623, + -0.5793379545211792, + -0.07101447880268097 + ], + "joints": [ + 0.005597238894551992 + ] + }, + "final_grasp": { + "position": [ + -0.11707986146211624, + 0.054970864206552505, + -0.047216542065143585 + ], + "orientation": [ + 0.06525890529155731, + -0.8093613982200623, + -0.5793379545211792, + -0.07101447880268097 + ], + "joints": [ + 0.011469204910099506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08028600364923477, + -0.019422588869929314, + -0.13825355470180511 + ], + "orientation": [ + 0.3060723543167114, + 0.5244550704956055, + -0.7460344433784485, + -0.2733117341995239 + ], + "joints": [ + -0.0005483441054821014 + ] + }, + "fine_grasp": { + "position": [ + 0.077292799949646, + -0.01819179765880108, + -0.1362355500459671 + ], + "orientation": [ + 0.3027385175228119, + 0.5245039463043213, + -0.7495113611221313, + -0.26735320687294006 + ], + "joints": [ + 0.00585502153262496 + ] + }, + "final_grasp": { + "position": [ + 0.077292799949646, + -0.01819179765880108, + -0.1362355500459671 + ], + "orientation": [ + 0.3027385175228119, + 0.5245039463043213, + -0.7495113611221313, + -0.26735320687294006 + ], + "joints": [ + 0.012258387170732021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004710827488452196, + 0.12606634199619293, + 0.06840619444847107 + ], + "orientation": [ + 0.021294619888067245, + -0.0011138394474983215, + 0.25773268938064575, + -0.9659808874130249 + ], + "joints": [ + 0.005734758451581001 + ] + }, + "fine_grasp": { + "position": [ + -0.004523580428212881, + 0.12409070134162903, + 0.0678662434220314 + ], + "orientation": [ + 0.02213631570339203, + -0.003873958019539714, + 0.24835975468158722, + -0.968407154083252 + ], + "joints": [ + 0.011633295565843582 + ] + }, + "final_grasp": { + "position": [ + -0.004523580428212881, + 0.12409070134162903, + 0.0678662434220314 + ], + "orientation": [ + 0.02213631570339203, + -0.003873958019539714, + 0.24835975468158722, + -0.968407154083252 + ], + "joints": [ + 0.017531832680106163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04709593206644058, + 0.12832552194595337, + -0.06570301204919815 + ], + "orientation": [ + 0.065347820520401, + 0.9739362597465515, + 0.19874894618988037, + 0.08761639147996902 + ], + "joints": [ + -0.00030778758809901774 + ] + }, + "fine_grasp": { + "position": [ + -0.04721394181251526, + 0.12782055139541626, + -0.06646773219108582 + ], + "orientation": [ + 0.05772475153207779, + 0.975294828414917, + 0.1964130997657776, + 0.08300463855266571 + ], + "joints": [ + 0.006095577962696552 + ] + }, + "final_grasp": { + "position": [ + -0.04721394181251526, + 0.12782055139541626, + -0.06646773219108582 + ], + "orientation": [ + 0.05772475153207779, + 0.975294828414917, + 0.1964130997657776, + 0.08300463855266571 + ], + "joints": [ + 0.012498943135142326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004777664318680763, + 0.1276412010192871, + 0.06935736536979675 + ], + "orientation": [ + 0.021220963448286057, + -0.00035703479079529643, + 0.24808990955352783, + -0.9685044884681702 + ], + "joints": [ + 0.005641994532197714 + ] + }, + "fine_grasp": { + "position": [ + -0.004582432564347982, + 0.12546247243881226, + 0.06858506798744202 + ], + "orientation": [ + 0.023263974115252495, + -0.004635535646229982, + 0.23990920186042786, + -0.9705055952072144 + ], + "joints": [ + 0.011540532112121582 + ] + }, + "final_grasp": { + "position": [ + -0.004582432564347982, + 0.12546247243881226, + 0.06858506798744202 + ], + "orientation": [ + 0.023263974115252495, + -0.004635535646229982, + 0.23990920186042786, + -0.9705055952072144 + ], + "joints": [ + 0.017439069226384163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04048290476202965, + 0.12274488061666489, + 0.06312082707881927 + ], + "orientation": [ + 0.17837141454219818, + -0.9590007066726685, + -0.19117239117622375, + 0.10933654755353928 + ], + "joints": [ + 0.005823467392474413 + ] + }, + "fine_grasp": { + "position": [ + -0.0407852865755558, + 0.1238662526011467, + 0.06240405887365341 + ], + "orientation": [ + 0.16902919113636017, + -0.9566794037818909, + -0.19675800204277039, + 0.13221199810504913 + ], + "joints": [ + 0.010685776360332966 + ] + }, + "final_grasp": { + "position": [ + -0.0407852865755558, + 0.1238662526011467, + 0.06240405887365341 + ], + "orientation": [ + 0.16902919113636017, + -0.9566794037818909, + -0.19675800204277039, + 0.13221199810504913 + ], + "joints": [ + 0.015548085793852806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08437559753656387, + -0.05085352808237076, + -0.10139074921607971 + ], + "orientation": [ + 0.11206332594156265, + 0.42479443550109863, + -0.8818813562393188, + -0.1711045354604721 + ], + "joints": [ + -0.00015048161731101573 + ] + }, + "fine_grasp": { + "position": [ + 0.08633057773113251, + -0.05202198773622513, + -0.10193619877099991 + ], + "orientation": [ + 0.10614381730556488, + 0.4193262755870819, + -0.8838944435119629, + -0.17784687876701355 + ], + "joints": [ + 0.006252883933484554 + ] + }, + "final_grasp": { + "position": [ + 0.08633057773113251, + -0.05202198773622513, + -0.10193619877099991 + ], + "orientation": [ + 0.10614381730556488, + 0.4193262755870819, + -0.8838944435119629, + -0.17784687876701355 + ], + "joints": [ + 0.012656249105930328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08453713357448578, + -0.050780039280653, + -0.10122082382440567 + ], + "orientation": [ + 0.11216975748538971, + 0.42567500472068787, + -0.881641149520874, + -0.1700807511806488 + ], + "joints": [ + -0.00022966685355640948 + ] + }, + "fine_grasp": { + "position": [ + 0.08633189648389816, + -0.05204535648226738, + -0.10185820609331131 + ], + "orientation": [ + 0.10609551519155502, + 0.42024266719818115, + -0.8839873671531677, + -0.1752319484949112 + ], + "joints": [ + 0.0061736986972391605 + ] + }, + "final_grasp": { + "position": [ + 0.08633189648389816, + -0.05204535648226738, + -0.10185820609331131 + ], + "orientation": [ + 0.10609551519155502, + 0.42024266719818115, + -0.8839873671531677, + -0.1752319484949112 + ], + "joints": [ + 0.012577064335346222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08426448702812195, + -0.05085626617074013, + -0.10122501105070114 + ], + "orientation": [ + 0.11324100941419601, + 0.42511019110679626, + -0.8818541169166565, + -0.16967904567718506 + ], + "joints": [ + -0.0002886352885980159 + ] + }, + "fine_grasp": { + "position": [ + 0.08640772104263306, + -0.052079349756240845, + -0.10193351656198502 + ], + "orientation": [ + 0.10582233220338821, + 0.4196886420249939, + -0.8840863108634949, + -0.1762229949235916 + ], + "joints": [ + 0.006114730145782232 + ] + }, + "final_grasp": { + "position": [ + 0.08640772104263306, + -0.052079349756240845, + -0.10193351656198502 + ], + "orientation": [ + 0.10582233220338821, + 0.4196886420249939, + -0.8840863108634949, + -0.1762229949235916 + ], + "joints": [ + 0.012518095783889294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009752574376761913, + 0.12302357703447342, + -0.10492181777954102 + ], + "orientation": [ + 0.06481213867664337, + 0.10105103254318237, + -0.2346576303243637, + -0.9646366834640503 + ], + "joints": [ + -0.0002454808563925326 + ] + }, + "fine_grasp": { + "position": [ + -0.00836856383830309, + 0.1196240708231926, + -0.10373272001743317 + ], + "orientation": [ + 0.0640668049454689, + 0.1228274405002594, + -0.2246646136045456, + -0.9645386338233948 + ], + "joints": [ + 0.005626485217362642 + ] + }, + "final_grasp": { + "position": [ + -0.00836856383830309, + 0.1196240708231926, + -0.10373272001743317 + ], + "orientation": [ + 0.0640668049454689, + 0.1228274405002594, + -0.2246646136045456, + -0.9645386338233948 + ], + "joints": [ + 0.011498451232910156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03985052555799484, + 0.12326117604970932, + 0.06379886716604233 + ], + "orientation": [ + 0.17686772346496582, + -0.9604699015617371, + -0.18724283576011658, + 0.1056201383471489 + ], + "joints": [ + 0.005816428456455469 + ] + }, + "fine_grasp": { + "position": [ + -0.04031660035252571, + 0.1243152767419815, + 0.06305037438869476 + ], + "orientation": [ + 0.16728615760803223, + -0.9581153988838196, + -0.19262252748012543, + 0.13010291755199432 + ], + "joints": [ + 0.010678737424314022 + ] + }, + "final_grasp": { + "position": [ + -0.04031660035252571, + 0.1243152767419815, + 0.06305037438869476 + ], + "orientation": [ + 0.16728615760803223, + -0.9581153988838196, + -0.19262252748012543, + 0.13010291755199432 + ], + "joints": [ + 0.015541046857833862 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03997032344341278, + 0.12392561882734299, + 0.06494255363941193 + ], + "orientation": [ + 0.17028392851352692, + -0.9615451693534851, + -0.1869264841079712, + 0.10720428079366684 + ], + "joints": [ + 0.0058618104085326195 + ] + }, + "fine_grasp": { + "position": [ + -0.04045999050140381, + 0.12495078146457672, + 0.06417568027973175 + ], + "orientation": [ + 0.1606648713350296, + -0.9592984914779663, + -0.1912899911403656, + 0.13168667256832123 + ], + "joints": [ + 0.010724118910729885 + ] + }, + "final_grasp": { + "position": [ + -0.04045999050140381, + 0.12495078146457672, + 0.06417568027973175 + ], + "orientation": [ + 0.1606648713350296, + -0.9592984914779663, + -0.1912899911403656, + 0.13168667256832123 + ], + "joints": [ + 0.01558642741292715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009281264618039131, + 0.13211560249328613, + 0.05363435298204422 + ], + "orientation": [ + 0.17657144367694855, + -0.9819228649139404, + 0.028897147625684738, + 0.06176545470952988 + ], + "joints": [ + 0.005484199151396751 + ] + }, + "fine_grasp": { + "position": [ + 0.010029729455709457, + 0.1332293003797531, + 0.053257055580616 + ], + "orientation": [ + 0.1740565150976181, + -0.9805603623390198, + 0.021482082083821297, + 0.08800166100263596 + ], + "joints": [ + 0.010399648919701576 + ] + }, + "final_grasp": { + "position": [ + 0.010029729455709457, + 0.1332293003797531, + 0.053257055580616 + ], + "orientation": [ + 0.1740565150976181, + -0.9805603623390198, + 0.021482082083821297, + 0.08800166100263596 + ], + "joints": [ + 0.015315098688006401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03810244798660278, + 0.1346856951713562, + -0.050698842853307724 + ], + "orientation": [ + 0.08253929018974304, + 0.9841486215591431, + -0.15586790442466736, + -0.018544651567935944 + ], + "joints": [ + 0.004456199239939451 + ] + }, + "fine_grasp": { + "position": [ + 0.038378503173589706, + 0.13542884588241577, + -0.051724888384342194 + ], + "orientation": [ + 0.07324042171239853, + 0.9842771291732788, + -0.15764085948467255, + -0.03136437013745308 + ], + "joints": [ + 0.008760537952184677 + ] + }, + "final_grasp": { + "position": [ + 0.038378503173589706, + 0.13542884588241577, + -0.051724888384342194 + ], + "orientation": [ + 0.07324042171239853, + 0.9842771291732788, + -0.15764085948467255, + -0.03136437013745308 + ], + "joints": [ + 0.013064876198768616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08668377995491028, + -0.05474869906902313, + 0.04335955157876015 + ], + "orientation": [ + 0.9060130715370178, + -0.031232373788952827, + -0.023518303409218788, + -0.4214402437210083 + ], + "joints": [ + 0.00658158166334033 + ] + }, + "fine_grasp": { + "position": [ + -0.08991967141628265, + -0.058167681097984314, + 0.04416653886437416 + ], + "orientation": [ + 0.9051846265792847, + -0.028503140434622765, + -0.03085191361606121, + -0.4229379892349243 + ], + "joints": [ + 0.012426977977156639 + ] + }, + "final_grasp": { + "position": [ + -0.08991967141628265, + -0.058167681097984314, + 0.04416653886437416 + ], + "orientation": [ + 0.9051846265792847, + -0.028503140434622765, + -0.03085191361606121, + -0.4229379892349243 + ], + "joints": [ + 0.01827237382531166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10126364231109619, + -0.03919914364814758, + -0.08610577881336212 + ], + "orientation": [ + 0.8546539545059204, + 0.12532030045986176, + 0.0675436481833458, + 0.49929898977279663 + ], + "joints": [ + -0.00043381244176998734 + ] + }, + "fine_grasp": { + "position": [ + 0.10048948973417282, + -0.03813811019062996, + -0.08688785135746002 + ], + "orientation": [ + 0.8560599088668823, + 0.1243983581662178, + 0.06158195436000824, + 0.49788981676101685 + ], + "joints": [ + 0.006500952877104282 + ] + }, + "final_grasp": { + "position": [ + 0.10048948973417282, + -0.03813811019062996, + -0.08688785135746002 + ], + "orientation": [ + 0.8560599088668823, + 0.1243983581662178, + 0.06158195436000824, + 0.49788981676101685 + ], + "joints": [ + 0.013435718603432178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10185446590185165, + -0.03898990899324417, + -0.08595143258571625 + ], + "orientation": [ + 0.8536301255226135, + 0.12521593272686005, + 0.06910212337970734, + 0.5008608102798462 + ], + "joints": [ + -0.0003529702953528613 + ] + }, + "fine_grasp": { + "position": [ + 0.100704625248909, + -0.03790474683046341, + -0.08664257079362869 + ], + "orientation": [ + 0.8550679087638855, + 0.12323703616857529, + 0.063051737844944, + 0.4996959865093231 + ], + "joints": [ + 0.006581794936209917 + ] + }, + "final_grasp": { + "position": [ + 0.100704625248909, + -0.03790474683046341, + -0.08664257079362869 + ], + "orientation": [ + 0.8550679087638855, + 0.12323703616857529, + 0.063051737844944, + 0.4996959865093231 + ], + "joints": [ + 0.013516560196876526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10746243596076965, + -0.03897178918123245, + 0.04820844158530235 + ], + "orientation": [ + 0.8551616072654724, + -0.057053130120038986, + 0.02456030622124672, + -0.5146264433860779 + ], + "joints": [ + 0.00647670729085803 + ] + }, + "fine_grasp": { + "position": [ + -0.10876400768756866, + -0.040042728185653687, + 0.04966764152050018 + ], + "orientation": [ + 0.8558596968650818, + -0.053810037672519684, + 0.00598887586966157, + -0.5143663883209229 + ], + "joints": [ + 0.013358332216739655 + ] + }, + "final_grasp": { + "position": [ + -0.10876400768756866, + -0.040042728185653687, + 0.04966764152050018 + ], + "orientation": [ + 0.8558596968650818, + -0.053810037672519684, + 0.00598887586966157, + -0.5143663883209229 + ], + "joints": [ + 0.02023995667695999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04476954787969589, + -0.08296272158622742, + -0.10094977170228958 + ], + "orientation": [ + 0.05506472289562225, + 0.20305709540843964, + -0.9580395817756653, + -0.19466865062713623 + ], + "joints": [ + -0.00010214949725195765 + ] + }, + "fine_grasp": { + "position": [ + 0.045968104153871536, + -0.08501899242401123, + -0.10208795219659805 + ], + "orientation": [ + 0.04813859239220619, + 0.1989356279373169, + -0.9593916535377502, + -0.19410018622875214 + ], + "joints": [ + 0.0063012163154780865 + ] + }, + "final_grasp": { + "position": [ + 0.045968104153871536, + -0.08501899242401123, + -0.10208795219659805 + ], + "orientation": [ + 0.04813859239220619, + 0.1989356279373169, + -0.9593916535377502, + -0.19410018622875214 + ], + "joints": [ + 0.012704581953585148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0463467575609684, + 0.12624332308769226, + -0.06830964237451553 + ], + "orientation": [ + 0.055725302547216415, + 0.9768043160438538, + 0.20132878422737122, + 0.0470617339015007 + ], + "joints": [ + -0.00010071793803945184 + ] + }, + "fine_grasp": { + "position": [ + -0.04743587225675583, + 0.12761718034744263, + -0.06851056963205338 + ], + "orientation": [ + 0.06055368483066559, + 0.9775643944740295, + 0.1992860734462738, + 0.03140329569578171 + ], + "joints": [ + 0.006807477679103613 + ] + }, + "final_grasp": { + "position": [ + -0.04743587225675583, + 0.12761718034744263, + -0.06851056963205338 + ], + "orientation": [ + 0.06055368483066559, + 0.9775643944740295, + 0.1992860734462738, + 0.03140329569578171 + ], + "joints": [ + 0.013715673238039017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0593574233353138, + 0.11104623973369598, + 0.08646353334188461 + ], + "orientation": [ + 0.28871312737464905, + -0.13310888409614563, + -0.18138152360916138, + 0.9306058883666992 + ], + "joints": [ + 0.006086260545998812 + ] + }, + "fine_grasp": { + "position": [ + 0.05879991501569748, + 0.11116614937782288, + 0.08673904836177826 + ], + "orientation": [ + 0.2875610589981079, + -0.15747663378715515, + -0.17948377132415771, + 0.9275210499763489 + ], + "joints": [ + 0.011426827870309353 + ] + }, + "final_grasp": { + "position": [ + 0.05879991501569748, + 0.11116614937782288, + 0.08673904836177826 + ], + "orientation": [ + 0.2875610589981079, + -0.15747663378715515, + -0.17948377132415771, + 0.9275210499763489 + ], + "joints": [ + 0.01676739566028118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10135678201913834, + -0.04906744882464409, + 0.05166860297322273 + ], + "orientation": [ + 0.01154144387692213, + -0.4729379713535309, + 0.8795148134231567, + -0.05147820711135864 + ], + "joints": [ + 0.00665250513702631 + ] + }, + "fine_grasp": { + "position": [ + 0.10267629474401474, + -0.04958019778132439, + 0.052990224212408066 + ], + "orientation": [ + 0.010631551966071129, + -0.4705348014831543, + 0.8814013600349426, + -0.04019562900066376 + ], + "joints": [ + 0.013587270863354206 + ] + }, + "final_grasp": { + "position": [ + 0.10267629474401474, + -0.04958019778132439, + 0.052990224212408066 + ], + "orientation": [ + 0.010631551966071129, + -0.4705348014831543, + 0.8814013600349426, + -0.04019562900066376 + ], + "joints": [ + 0.020522035658359528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10075980424880981, + 0.06815522909164429, + 0.08100537210702896 + ], + "orientation": [ + 0.5173119902610779, + -0.12060823291540146, + 0.15644827485084534, + -0.8326859474182129 + ], + "joints": [ + 0.006646371446549892 + ] + }, + "fine_grasp": { + "position": [ + -0.10192970931529999, + 0.06990429013967514, + 0.0826408788561821 + ], + "orientation": [ + 0.5169643759727478, + -0.12563316524028778, + 0.13743926584720612, + -0.8355086445808411 + ], + "joints": [ + 0.014085966162383556 + ] + }, + "final_grasp": { + "position": [ + -0.10192970931529999, + 0.06990429013967514, + 0.0826408788561821 + ], + "orientation": [ + 0.5169643759727478, + -0.12563316524028778, + 0.13743926584720612, + -0.8355086445808411 + ], + "joints": [ + 0.021525561809539795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0332697257399559, + 0.02306632697582245, + 0.1755402535200119 + ], + "orientation": [ + 0.2073943018913269, + -0.03746914491057396, + 0.642142653465271, + -0.7370458245277405 + ], + "joints": [ + 0.004171626176685095 + ] + }, + "fine_grasp": { + "position": [ + -0.0348685048520565, + 0.023171382024884224, + 0.17261476814746857 + ], + "orientation": [ + 0.20459696650505066, + -0.03174133226275444, + 0.6487218141555786, + -0.7323200702667236 + ], + "joints": [ + 0.010043593123555183 + ] + }, + "final_grasp": { + "position": [ + -0.0348685048520565, + 0.023171382024884224, + 0.17261476814746857 + ], + "orientation": [ + 0.20459696650505066, + -0.03174133226275444, + 0.6487218141555786, + -0.7323200702667236 + ], + "joints": [ + 0.015915559604763985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0985468253493309, + 0.006159486249089241, + 0.10617735981941223 + ], + "orientation": [ + 0.7237231135368347, + -0.2688350975513458, + 0.15261170268058777, + -0.6169783473014832 + ], + "joints": [ + 0.00651520537212491 + ] + }, + "fine_grasp": { + "position": [ + -0.09748806804418564, + 0.006438518408685923, + 0.10312214493751526 + ], + "orientation": [ + 0.7225191593170166, + -0.28412148356437683, + 0.15434850752353668, + -0.6110789179801941 + ], + "joints": [ + 0.012945142574608326 + ] + }, + "final_grasp": { + "position": [ + -0.09748806804418564, + 0.006438518408685923, + 0.10312214493751526 + ], + "orientation": [ + 0.7225191593170166, + -0.28412148356437683, + 0.15434850752353668, + -0.6110789179801941 + ], + "joints": [ + 0.01937508024275303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09849168360233307, + 0.006155841518193483, + 0.10665807127952576 + ], + "orientation": [ + 0.7236685156822205, + -0.26896801590919495, + 0.15299101173877716, + -0.6168904304504395 + ], + "joints": [ + 0.006555655039846897 + ] + }, + "fine_grasp": { + "position": [ + -0.09726257622241974, + 0.006493459455668926, + 0.1034793108701706 + ], + "orientation": [ + 0.722087025642395, + -0.2844335734844208, + 0.15599098801612854, + -0.6110274791717529 + ], + "joints": [ + 0.012959021143615246 + ] + }, + "final_grasp": { + "position": [ + -0.09726257622241974, + 0.006493459455668926, + 0.1034793108701706 + ], + "orientation": [ + 0.722087025642395, + -0.2844335734844208, + 0.15599098801612854, + -0.6110274791717529 + ], + "joints": [ + 0.01936238631606102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014614586718380451, + 0.11135228723287582, + 0.11096195876598358 + ], + "orientation": [ + 0.09425618499517441, + -0.08957128971815109, + 0.3268740475177765, + -0.9360802173614502 + ], + "joints": [ + 0.0059608398005366325 + ] + }, + "fine_grasp": { + "position": [ + -0.014635243453085423, + 0.10933975130319595, + 0.10769543051719666 + ], + "orientation": [ + 0.09391413629055023, + -0.0945991799235344, + 0.33745843172073364, + -0.9318546056747437 + ], + "joints": [ + 0.011832806281745434 + ] + }, + "final_grasp": { + "position": [ + -0.014635243453085423, + 0.10933975130319595, + 0.10769543051719666 + ], + "orientation": [ + 0.09391413629055023, + -0.0945991799235344, + 0.33745843172073364, + -0.9318546056747437 + ], + "joints": [ + 0.01770477369427681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10166682302951813, + -0.04904664307832718, + 0.052140165120363235 + ], + "orientation": [ + 0.0002929910842794925, + 0.4731760025024414, + -0.8795745372772217, + 0.0495273731648922 + ], + "joints": [ + 0.0066341618075966835 + ] + }, + "fine_grasp": { + "position": [ + 0.10308478772640228, + -0.04957538843154907, + 0.05400143563747406 + ], + "orientation": [ + 0.008172348141670227, + 0.4701452851295471, + -0.8818870782852173, + 0.03422922641038895 + ], + "joints": [ + 0.01356892753392458 + ] + }, + "final_grasp": { + "position": [ + 0.10308478772640228, + -0.04957538843154907, + 0.05400143563747406 + ], + "orientation": [ + 0.008172348141670227, + 0.4701452851295471, + -0.8818870782852173, + 0.03422922641038895 + ], + "joints": [ + 0.0205036923289299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09528608620166779, + -0.015522507019340992, + 0.10681115090847015 + ], + "orientation": [ + 0.07875501364469528, + -0.5231122374534607, + -0.7944806814193726, + 0.29824772477149963 + ], + "joints": [ + 0.006026298739016056 + ] + }, + "fine_grasp": { + "position": [ + -0.09664452821016312, + -0.014634354040026665, + 0.10481112450361252 + ], + "orientation": [ + 0.0565808042883873, + -0.5201435089111328, + -0.7936652302742004, + 0.310394823551178 + ], + "joints": [ + 0.011420006863772869 + ] + }, + "final_grasp": { + "position": [ + -0.09664452821016312, + -0.014634354040026665, + 0.10481112450361252 + ], + "orientation": [ + 0.0565808042883873, + -0.5201435089111328, + -0.7936652302742004, + 0.310394823551178 + ], + "joints": [ + 0.016813714057207108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014101637527346611, + 0.11107899248600006, + 0.1120593473315239 + ], + "orientation": [ + 0.09455683827400208, + -0.0988544374704361, + 0.32064130902290344, + -0.9372705221176147 + ], + "joints": [ + 0.006116463337093592 + ] + }, + "fine_grasp": { + "position": [ + -0.013428404927253723, + 0.11022290587425232, + 0.10933159291744232 + ], + "orientation": [ + 0.09543952345848083, + -0.122677281498909, + 0.32269400358200073, + -0.933654248714447 + ], + "joints": [ + 0.010952201671898365 + ] + }, + "final_grasp": { + "position": [ + -0.013428404927253723, + 0.11022290587425232, + 0.10933159291744232 + ], + "orientation": [ + 0.09543952345848083, + -0.122677281498909, + 0.32269400358200073, + -0.933654248714447 + ], + "joints": [ + 0.015787940472364426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11909788101911545, + 0.0077818031422793865, + 0.04089093208312988 + ], + "orientation": [ + 0.050704389810562134, + -0.6781002283096313, + 0.7323278784751892, + 0.03612598031759262 + ], + "joints": [ + 0.00682165939360857 + ] + }, + "fine_grasp": { + "position": [ + 0.11865220218896866, + 0.007678980007767677, + 0.039915781468153 + ], + "orientation": [ + 0.06701648235321045, + -0.6761935353279114, + 0.7325606346130371, + 0.04032444581389427 + ], + "joints": [ + 0.012720196507871151 + ] + }, + "final_grasp": { + "position": [ + 0.11865220218896866, + 0.007678980007767677, + 0.039915781468153 + ], + "orientation": [ + 0.06701648235321045, + -0.6761935353279114, + 0.7325606346130371, + 0.04032444581389427 + ], + "joints": [ + 0.018618732690811157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11844691634178162, + 0.007570164278149605, + 0.041760049760341644 + ], + "orientation": [ + 0.0427284762263298, + -0.6773609519004822, + 0.7336748242378235, + 0.0328265056014061 + ], + "joints": [ + 0.007381074130535126 + ] + }, + "fine_grasp": { + "position": [ + 0.11840268969535828, + 0.007700339891016483, + 0.041653286665678024 + ], + "orientation": [ + 0.045165181159973145, + -0.6736149191856384, + 0.7366976141929626, + 0.03846625238656998 + ], + "joints": [ + 0.013279611244797707 + ] + }, + "final_grasp": { + "position": [ + 0.11840268969535828, + 0.007700339891016483, + 0.041653286665678024 + ], + "orientation": [ + 0.045165181159973145, + -0.6736149191856384, + 0.7366976141929626, + 0.03846625238656998 + ], + "joints": [ + 0.019178148359060287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10962344706058502, + 0.032463494688272476, + 0.08853832632303238 + ], + "orientation": [ + 0.6339977383613586, + -0.0943157896399498, + -0.1875753551721573, + 0.7442895770072937 + ], + "joints": [ + 0.007358203176409006 + ] + }, + "fine_grasp": { + "position": [ + 0.11028101295232773, + 0.03294958174228668, + 0.08921410888433456 + ], + "orientation": [ + 0.6320716142654419, + -0.08949902653694153, + -0.1912970095872879, + 0.7455741167068481 + ], + "joints": [ + 0.01429296936839819 + ] + }, + "final_grasp": { + "position": [ + 0.11028101295232773, + 0.03294958174228668, + 0.08921410888433456 + ], + "orientation": [ + 0.6320716142654419, + -0.08949902653694153, + -0.1912970095872879, + 0.7455741167068481 + ], + "joints": [ + 0.02122773602604866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04470203071832657, + 0.037379682064056396, + 0.16251008212566376 + ], + "orientation": [ + 0.4892231225967407, + -0.3254707157611847, + 0.41609689593315125, + -0.6939688920974731 + ], + "joints": [ + 0.007479911204427481 + ] + }, + "fine_grasp": { + "position": [ + -0.04369591921567917, + 0.036832209676504135, + 0.15811939537525177 + ], + "orientation": [ + 0.48604169487953186, + -0.3296622931957245, + 0.4191378653049469, + -0.6923941969871521 + ], + "joints": [ + 0.014919506385922432 + ] + }, + "final_grasp": { + "position": [ + -0.04369591921567917, + 0.036832209676504135, + 0.15811939537525177 + ], + "orientation": [ + 0.48604169487953186, + -0.3296622931957245, + 0.4191378653049469, + -0.6923941969871521 + ], + "joints": [ + 0.022359101101756096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013948280364274979, + 0.1115705743432045, + 0.11382471024990082 + ], + "orientation": [ + 0.09115035086870193, + -0.09249140322208405, + 0.31484824419021606, + -0.9402167797088623 + ], + "joints": [ + 0.006150966044515371 + ] + }, + "fine_grasp": { + "position": [ + -0.013824489898979664, + 0.11247386783361435, + 0.1128595620393753 + ], + "orientation": [ + 0.09268541634082794, + -0.11521662771701813, + 0.3155357241630554, + -0.937321662902832 + ], + "joints": [ + 0.011518104001879692 + ] + }, + "final_grasp": { + "position": [ + -0.013824489898979664, + 0.11247386783361435, + 0.1128595620393753 + ], + "orientation": [ + 0.09268541634082794, + -0.11521662771701813, + 0.3155357241630554, + -0.937321662902832 + ], + "joints": [ + 0.016885241493582726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03881216421723366, + 0.011712571606040001, + 0.17011214792728424 + ], + "orientation": [ + 0.7206559181213379, + -0.5603823065757751, + 0.16816677153110504, + -0.3719497621059418 + ], + "joints": [ + 0.006262440234422684 + ] + }, + "fine_grasp": { + "position": [ + -0.03891311213374138, + 0.012621068395674229, + 0.1647065132856369 + ], + "orientation": [ + 0.7159627079963684, + -0.5700035095214844, + 0.16571395099163055, + -0.3674675226211548 + ], + "joints": [ + 0.012160977348685265 + ] + }, + "final_grasp": { + "position": [ + -0.03891311213374138, + 0.012621068395674229, + 0.1647065132856369 + ], + "orientation": [ + 0.7159627079963684, + -0.5700035095214844, + 0.16571395099163055, + -0.3674675226211548 + ], + "joints": [ + 0.018059514462947845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11711495369672775, + 0.007369327358901501, + 0.04202907159924507 + ], + "orientation": [ + 0.0334145724773407, + -0.676378071308136, + 0.7351657748222351, + 0.030456524342298508 + ], + "joints": [ + 0.007338299416005611 + ] + }, + "fine_grasp": { + "position": [ + 0.11871615052223206, + 0.007412681356072426, + 0.04281584918498993 + ], + "orientation": [ + 0.03797316923737526, + -0.6724885702133179, + 0.7378227710723877, + 0.04398474842309952 + ], + "joints": [ + 0.013236836530268192 + ] + }, + "final_grasp": { + "position": [ + 0.11871615052223206, + 0.007412681356072426, + 0.04281584918498993 + ], + "orientation": [ + 0.03797316923737526, + -0.6724885702133179, + 0.7378227710723877, + 0.04398474842309952 + ], + "joints": [ + 0.019135374575853348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09638849645853043, + -0.016656722873449326, + 0.10907139629125595 + ], + "orientation": [ + 0.06909596920013428, + -0.5219870805740356, + -0.7986538410186768, + 0.291388601064682 + ], + "joints": [ + 0.006275900639593601 + ] + }, + "fine_grasp": { + "position": [ + -0.09803226590156555, + -0.016088800504803658, + 0.10832960158586502 + ], + "orientation": [ + 0.047085024416446686, + -0.5194181799888611, + -0.7983807921409607, + 0.30095845460891724 + ], + "joints": [ + 0.011669608764350414 + ] + }, + "final_grasp": { + "position": [ + -0.09803226590156555, + -0.016088800504803658, + 0.10832960158586502 + ], + "orientation": [ + 0.047085024416446686, + -0.5194181799888611, + -0.7983807921409607, + 0.30095845460891724 + ], + "joints": [ + 0.017063315957784653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03705901280045509, + 0.04015064984560013, + 0.18528279662132263 + ], + "orientation": [ + 0.21347549557685852, + -0.4250712990760803, + -0.6082269549369812, + 0.6354546546936035 + ], + "joints": [ + 0.0045341262593865395 + ] + }, + "fine_grasp": { + "position": [ + -0.03605767339468002, + 0.040953416377305984, + 0.18085698783397675 + ], + "orientation": [ + 0.21290376782417297, + -0.42386335134506226, + -0.6128283143043518, + 0.632023274898529 + ], + "joints": [ + 0.009901263751089573 + ] + }, + "final_grasp": { + "position": [ + -0.03605767339468002, + 0.040953416377305984, + 0.18085698783397675 + ], + "orientation": [ + 0.21290376782417297, + -0.42386335134506226, + -0.6128283143043518, + 0.632023274898529 + ], + "joints": [ + 0.015268401242792606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038583990186452866, + 0.041579004377126694, + 0.18628108501434326 + ], + "orientation": [ + 0.2070460170507431, + -0.4272681474685669, + -0.6042494177818298, + 0.639887809753418 + ], + "joints": [ + 0.004485016223043203 + ] + }, + "fine_grasp": { + "position": [ + -0.03744493052363396, + 0.042355917394161224, + 0.1819983571767807 + ], + "orientation": [ + 0.2067522257566452, + -0.4256620705127716, + -0.6101090312004089, + 0.6354779005050659 + ], + "joints": [ + 0.009852154180407524 + ] + }, + "final_grasp": { + "position": [ + -0.03744493052363396, + 0.042355917394161224, + 0.1819983571767807 + ], + "orientation": [ + 0.2067522257566452, + -0.4256620705127716, + -0.6101090312004089, + 0.6354779005050659 + ], + "joints": [ + 0.015219291672110558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037584830075502396, + 0.04030297324061394, + 0.1859670728445053 + ], + "orientation": [ + 0.2135155349969864, + -0.42655470967292786, + -0.6065483093261719, + 0.6360514760017395 + ], + "joints": [ + 0.004494076129049063 + ] + }, + "fine_grasp": { + "position": [ + -0.03650274872779846, + 0.04103787615895271, + 0.18156854808330536 + ], + "orientation": [ + 0.21322821080684662, + -0.4249013662338257, + -0.6120259165763855, + 0.6319944262504578 + ], + "joints": [ + 0.009861214086413383 + ] + }, + "final_grasp": { + "position": [ + -0.03650274872779846, + 0.04103787615895271, + 0.18156854808330536 + ], + "orientation": [ + 0.21322821080684662, + -0.4249013662338257, + -0.6120259165763855, + 0.6319944262504578 + ], + "joints": [ + 0.015228351578116417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006535117048770189, + -0.08509088307619095, + 0.10664138197898865 + ], + "orientation": [ + 0.08920672535896301, + -0.05517460033297539, + 0.956771731376648, + -0.2712671756744385 + ], + "joints": [ + 0.00640910817310214 + ] + }, + "fine_grasp": { + "position": [ + 0.0061926646158099174, + -0.08524288982152939, + 0.1048799604177475 + ], + "orientation": [ + 0.10529700666666031, + -0.05568670481443405, + 0.9551476240158081, + -0.27111732959747314 + ], + "joints": [ + 0.011776246130466461 + ] + }, + "final_grasp": { + "position": [ + 0.0061926646158099174, + -0.08524288982152939, + 0.1048799604177475 + ], + "orientation": [ + 0.10529700666666031, + -0.05568670481443405, + 0.9551476240158081, + -0.27111732959747314 + ], + "joints": [ + 0.017143383622169495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09985684603452682, + 0.002889730967581272, + 0.11745519191026688 + ], + "orientation": [ + 0.7444573044776917, + -0.2698688805103302, + -0.10954871773719788, + 0.600793719291687 + ], + "joints": [ + 0.007110067177563906 + ] + }, + "fine_grasp": { + "position": [ + 0.10166724771261215, + 0.003441885579377413, + 0.1188250482082367 + ], + "orientation": [ + 0.740511417388916, + -0.2913181781768799, + -0.08697846531867981, + 0.599342405796051 + ], + "joints": [ + 0.0119192348793149 + ] + }, + "final_grasp": { + "position": [ + 0.10166724771261215, + 0.003441885579377413, + 0.1188250482082367 + ], + "orientation": [ + 0.740511417388916, + -0.2913181781768799, + -0.08697846531867981, + 0.599342405796051 + ], + "joints": [ + 0.01672840304672718 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2016, + "num_passed": 254 + } +} \ No newline at end of file diff --git a/018_microphone_5/Annotation/piper_grasp_pose.json b/018_microphone_5/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..f482449e986498690bb6b8ee95c6d14fcbf95253 --- /dev/null +++ b/018_microphone_5/Annotation/piper_grasp_pose.json @@ -0,0 +1,28168 @@ +{ + "type": "018_microphone_5", + "bottom_center": [ + 0.0006589330732822418, + 0.017210444702735694, + -0.07591699063777924 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.024696802720427513, + -0.08913538604974747, + 0.02574457973241806 + ], + "orientation": [ + 0.37164199352264404, + -0.6286556124687195, + 0.4984673857688904, + 0.46712377667427063 + ], + "joints": [ + 0.017799556255340576 + ] + }, + "fine_grasp": { + "position": [ + 0.023624885827302933, + -0.0852402001619339, + 0.02557467482984066 + ], + "orientation": [ + 0.37044772505760193, + -0.6274275779724121, + 0.5009273886680603, + 0.46709197759628296 + ], + "joints": [ + 0.00902249664068222 + ] + }, + "final_grasp": { + "position": [ + 0.023624885827302933, + -0.0852402001619339, + 0.02557467482984066 + ], + "orientation": [ + 0.37044772505760193, + -0.6274275779724121, + 0.5009273886680603, + 0.46709197759628296 + ], + "joints": [ + 0.00024543702602386475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05217667296528816, + 0.1196151152253151, + 0.03415509685873985 + ], + "orientation": [ + 0.49257826805114746, + 0.40650948882102966, + -0.7008283138275146, + 0.31773626804351807 + ], + "joints": [ + 0.018378742039203644 + ] + }, + "fine_grasp": { + "position": [ + 0.0503690168261528, + 0.11624221503734589, + 0.03345780819654465 + ], + "orientation": [ + 0.4942675232887268, + 0.4052036702632904, + -0.6994497179985046, + 0.31981194019317627 + ], + "joints": [ + 0.00834781676530838 + ] + }, + "final_grasp": { + "position": [ + 0.0503690168261528, + 0.11624221503734589, + 0.03345780819654465 + ], + "orientation": [ + 0.4942675232887268, + 0.4052036702632904, + -0.6994497179985046, + 0.31981194019317627 + ], + "joints": [ + -0.0016831085085868835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08318150788545609, + -0.05988794192671776, + 0.01138273999094963 + ], + "orientation": [ + 0.24199604988098145, + -0.6993339657783508, + -0.27467960119247437, + -0.6139388680458069 + ], + "joints": [ + 0.01730244606733322 + ] + }, + "fine_grasp": { + "position": [ + -0.08032310009002686, + -0.056960880756378174, + 0.011223570443689823 + ], + "orientation": [ + 0.24300460517406464, + -0.7003236413002014, + -0.2724888026714325, + -0.6133885383605957 + ], + "joints": [ + 0.008525386452674866 + ] + }, + "final_grasp": { + "position": [ + -0.08032310009002686, + -0.056960880756378174, + 0.011223570443689823 + ], + "orientation": [ + 0.24300460517406464, + -0.7003236413002014, + -0.2724888026714325, + -0.6133885383605957 + ], + "joints": [ + -0.00025167316198349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04330497607588768, + 0.12838327884674072, + -0.0060847168788313866 + ], + "orientation": [ + 0.40798699855804443, + 0.5956968069076538, + 0.3900241255760193, + -0.571465790271759 + ], + "joints": [ + 0.0179727952927351 + ] + }, + "fine_grasp": { + "position": [ + 0.041906509548425674, + 0.12471556663513184, + -0.0061232103034853935 + ], + "orientation": [ + 0.408659964799881, + 0.5957768559455872, + 0.38975590467453003, + -0.5710843801498413 + ], + "joints": [ + 0.008359825238585472 + ] + }, + "final_grasp": { + "position": [ + 0.041906509548425674, + 0.12471556663513184, + -0.0061232103034853935 + ], + "orientation": [ + 0.408659964799881, + 0.5957768559455872, + 0.38975590467453003, + -0.5710843801498413 + ], + "joints": [ + -0.0012531448155641556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08300863951444626, + 0.09005742520093918, + 0.014595618471503258 + ], + "orientation": [ + 0.22298625111579895, + 0.7299426794052124, + 0.2727132737636566, + -0.585737407207489 + ], + "joints": [ + 0.016979025676846504 + ] + }, + "fine_grasp": { + "position": [ + 0.08009275048971176, + 0.08775252103805542, + 0.015086816623806953 + ], + "orientation": [ + 0.22275163233280182, + 0.7309355139732361, + 0.2737279236316681, + -0.5841130018234253 + ], + "joints": [ + 0.008201966062188148 + ] + }, + "final_grasp": { + "position": [ + 0.08009275048971176, + 0.08775252103805542, + 0.015086816623806953 + ], + "orientation": [ + 0.22275163233280182, + 0.7309355139732361, + 0.2737279236316681, + -0.5841130018234253 + ], + "joints": [ + -0.0005750935524702072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08403338491916656, + 0.08987380564212799, + 0.013985078781843185 + ], + "orientation": [ + 0.2203325778245926, + 0.7302998304367065, + 0.27174171805381775, + -0.5867469906806946 + ], + "joints": [ + 0.017181284725666046 + ] + }, + "fine_grasp": { + "position": [ + 0.08087845146656036, + 0.08728563040494919, + 0.01413202378898859 + ], + "orientation": [ + 0.2193162441253662, + 0.7306661009788513, + 0.2728096842765808, + -0.5861760973930359 + ], + "joints": [ + 0.00840422511100769 + ] + }, + "final_grasp": { + "position": [ + 0.08087845146656036, + 0.08728563040494919, + 0.01413202378898859 + ], + "orientation": [ + 0.2193162441253662, + 0.7306661009788513, + 0.2728096842765808, + -0.5861760973930359 + ], + "joints": [ + -0.0003728345036506653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08701133728027344, + 0.09198078513145447, + 0.01435958594083786 + ], + "orientation": [ + 0.22205354273319244, + 0.7345249652862549, + 0.2639130651950836, + -0.5843929052352905 + ], + "joints": [ + 0.017614886164665222 + ] + }, + "fine_grasp": { + "position": [ + 0.08396615087985992, + 0.08938484638929367, + 0.013903376646339893 + ], + "orientation": [ + 0.2229214310646057, + 0.7337659597396851, + 0.2636929750442505, + -0.5851151347160339 + ], + "joints": [ + 0.00841987133026123 + ] + }, + "final_grasp": { + "position": [ + 0.08396615087985992, + 0.08938484638929367, + 0.013903376646339893 + ], + "orientation": [ + 0.2229214310646057, + 0.7337659597396851, + 0.2636929750442505, + -0.5851151347160339 + ], + "joints": [ + -0.0007751435041427612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12025903910398483, + 0.027334528043866158, + 0.01680276170372963 + ], + "orientation": [ + 0.053442567586898804, + 0.7838493585586548, + 0.003150674980133772, + 0.6186389923095703 + ], + "joints": [ + 0.018504923209547997 + ] + }, + "fine_grasp": { + "position": [ + -0.11635305732488632, + 0.02702728472650051, + 0.016371920704841614 + ], + "orientation": [ + 0.05455862358212471, + 0.7816581130027771, + 0.004195799585431814, + 0.6213021874427795 + ], + "joints": [ + 0.008076941594481468 + ] + }, + "final_grasp": { + "position": [ + -0.11635305732488632, + 0.02702728472650051, + 0.016371920704841614 + ], + "orientation": [ + 0.05455862358212471, + 0.7816581130027771, + 0.004195799585431814, + 0.6213021874427795 + ], + "joints": [ + -0.00235104002058506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0848895013332367, + 0.09041748195886612, + 0.013989954255521297 + ], + "orientation": [ + 0.22063693404197693, + 0.7313312888145447, + 0.269993394613266, + -0.5861546993255615 + ], + "joints": [ + 0.017010431736707687 + ] + }, + "fine_grasp": { + "position": [ + 0.08174099773168564, + 0.08778141438961029, + 0.01373524870723486 + ], + "orientation": [ + 0.21997904777526855, + 0.7313241958618164, + 0.2707892656326294, + -0.5860437154769897 + ], + "joints": [ + 0.008233372122049332 + ] + }, + "final_grasp": { + "position": [ + 0.08174099773168564, + 0.08778141438961029, + 0.01373524870723486 + ], + "orientation": [ + 0.21997904777526855, + 0.7313241958618164, + 0.2707892656326294, + -0.5860437154769897 + ], + "joints": [ + -0.000543687492609024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10649818927049637, + -0.006253317929804325, + 0.027462881058454514 + ], + "orientation": [ + 0.08955571055412292, + -0.7861656546592712, + 0.058765556663274765, + 0.608662486076355 + ], + "joints": [ + 0.017270494252443314 + ] + }, + "fine_grasp": { + "position": [ + 0.1025666669011116, + -0.005381259601563215, + 0.02772580459713936 + ], + "orientation": [ + 0.09463248401880264, + -0.7876449227333069, + 0.05100928619503975, + 0.6066779494285583 + ], + "joints": [ + 0.008493434637784958 + ] + }, + "final_grasp": { + "position": [ + 0.1025666669011116, + -0.005381259601563215, + 0.02772580459713936 + ], + "orientation": [ + 0.09463248401880264, + -0.7876449227333069, + 0.05100928619503975, + 0.6066779494285583 + ], + "joints": [ + -0.00028362497687339783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08029771596193314, + 0.10710643231868744, + -0.015398102812469006 + ], + "orientation": [ + 0.6591245532035828, + 0.29695653915405273, + -0.631534993648529, + 0.2802411913871765 + ], + "joints": [ + 0.018239937722682953 + ] + }, + "fine_grasp": { + "position": [ + 0.07778848707675934, + 0.1041877418756485, + -0.015351319685578346 + ], + "orientation": [ + 0.6589046716690063, + 0.29826170206069946, + -0.6311513185501099, + 0.28023675084114075 + ], + "joints": [ + 0.007791056763380766 + ] + }, + "final_grasp": { + "position": [ + 0.07778848707675934, + 0.1041877418756485, + -0.015351319685578346 + ], + "orientation": [ + 0.6589046716690063, + 0.29826170206069946, + -0.6311513185501099, + 0.28023675084114075 + ], + "joints": [ + -0.002657824195921421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12066352367401123, + 0.02740112878382206, + 0.01662546955049038 + ], + "orientation": [ + 0.05351286754012108, + 0.7848691344261169, + 0.0029654481913894415, + 0.6173394918441772 + ], + "joints": [ + 0.018430490046739578 + ] + }, + "fine_grasp": { + "position": [ + -0.11675816029310226, + 0.02711409144103527, + 0.01619770936667919 + ], + "orientation": [ + 0.05432513728737831, + 0.7824686169624329, + 0.0040703206323087215, + 0.6203024387359619 + ], + "joints": [ + 0.00800250843167305 + ] + }, + "final_grasp": { + "position": [ + -0.11675816029310226, + 0.02711409144103527, + 0.01619770936667919 + ], + "orientation": [ + 0.05432513728737831, + 0.7824686169624329, + 0.0040703206323087215, + 0.6203024387359619 + ], + "joints": [ + -0.0024254731833934784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08276727795600891, + 0.10289986431598663, + 0.020861657336354256 + ], + "orientation": [ + 0.2503470778465271, + 0.6982659697532654, + -0.3002893924713135, + 0.5996475219726562 + ], + "joints": [ + 0.018404576927423477 + ] + }, + "fine_grasp": { + "position": [ + -0.08017008751630783, + 0.10007594525814056, + 0.020550599321722984 + ], + "orientation": [ + 0.2513306438922882, + 0.69715416431427, + -0.30030742287635803, + 0.6005201935768127 + ], + "joints": [ + 0.007955696433782578 + ] + }, + "final_grasp": { + "position": [ + -0.08017008751630783, + 0.10007594525814056, + 0.020550599321722984 + ], + "orientation": [ + 0.2513306438922882, + 0.69715416431427, + -0.30030742287635803, + 0.6005201935768127 + ], + "joints": [ + -0.002493184059858322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08209557831287384, + 0.10221162438392639, + 0.020979581400752068 + ], + "orientation": [ + 0.25034940242767334, + 0.6964437365531921, + -0.3007844388484955, + 0.6015148758888245 + ], + "joints": [ + 0.017798207700252533 + ] + }, + "fine_grasp": { + "position": [ + -0.07945670187473297, + 0.09933315962553024, + 0.02067290060222149 + ], + "orientation": [ + 0.2512170374393463, + 0.6954805254936218, + -0.3009912371635437, + 0.6021637320518494 + ], + "joints": [ + 0.008185237646102905 + ] + }, + "final_grasp": { + "position": [ + -0.07945670187473297, + 0.09933315962553024, + 0.02067290060222149 + ], + "orientation": [ + 0.2512170374393463, + 0.6954805254936218, + -0.3009912371635437, + 0.6021637320518494 + ], + "joints": [ + -0.0014277324080467224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013053461909294128, + 0.13588623702526093, + 0.02250581793487072 + ], + "orientation": [ + 0.41225603222846985, + 0.5584343075752258, + 0.5299373865127563, + -0.48719847202301025 + ], + "joints": [ + 0.018450625240802765 + ] + }, + "fine_grasp": { + "position": [ + 0.012645081616938114, + 0.13200417160987854, + 0.022097144275903702 + ], + "orientation": [ + 0.4125240445137024, + 0.5568966865539551, + 0.5298144221305847, + -0.4888625741004944 + ], + "joints": [ + 0.008837655186653137 + ] + }, + "final_grasp": { + "position": [ + 0.012645081616938114, + 0.13200417160987854, + 0.022097144275903702 + ], + "orientation": [ + 0.4125240445137024, + 0.5568966865539551, + 0.5298144221305847, + -0.4888625741004944 + ], + "joints": [ + -0.0007753148674964905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035157136619091034, + -0.08510842174291611, + -0.0028430321253836155 + ], + "orientation": [ + 0.3854619860649109, + -0.5864985585212708, + 0.4371495544910431, + 0.5624399781227112 + ], + "joints": [ + 0.018459737300872803 + ] + }, + "fine_grasp": { + "position": [ + 0.03447061777114868, + -0.08337120711803436, + -0.0024432200007140636 + ], + "orientation": [ + 0.3833584487438202, + -0.5861619114875793, + 0.43965795636177063, + 0.5622735023498535 + ], + "joints": [ + 0.009264722466468811 + ] + }, + "final_grasp": { + "position": [ + 0.03447061777114868, + -0.08337120711803436, + -0.0024432200007140636 + ], + "orientation": [ + 0.3833584487438202, + -0.5861619114875793, + 0.43965795636177063, + 0.5622735023498535 + ], + "joints": [ + 6.970763206481934e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026080578565597534, + -0.0981777235865593, + 0.015010287053883076 + ], + "orientation": [ + 0.48230546712875366, + -0.4919804632663727, + 0.6147480607032776, + 0.3839550316333771 + ], + "joints": [ + 0.018713174387812614 + ] + }, + "fine_grasp": { + "position": [ + -0.02518092282116413, + -0.09442691504955292, + 0.014499847777187824 + ], + "orientation": [ + 0.4843440651893616, + -0.4906589388847351, + 0.6135052442550659, + 0.3850661516189575 + ], + "joints": [ + 0.00868224911391735 + ] + }, + "final_grasp": { + "position": [ + -0.02518092282116413, + -0.09442691504955292, + 0.014499847777187824 + ], + "orientation": [ + 0.4843440651893616, + -0.4906589388847351, + 0.6135052442550659, + 0.3850661516189575 + ], + "joints": [ + -0.001348676159977913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026097116991877556, + -0.0982000008225441, + 0.014961299486458302 + ], + "orientation": [ + 0.4820401668548584, + -0.49216923117637634, + 0.6149884462356567, + 0.3836612105369568 + ], + "joints": [ + 0.018713174387812614 + ] + }, + "fine_grasp": { + "position": [ + -0.025197520852088928, + -0.09444911032915115, + 0.014451460912823677 + ], + "orientation": [ + 0.4841121733188629, + -0.490837424993515, + 0.6137170791625977, + 0.384792685508728 + ], + "joints": [ + 0.00868224911391735 + ] + }, + "final_grasp": { + "position": [ + -0.025197520852088928, + -0.09444911032915115, + 0.014451460912823677 + ], + "orientation": [ + 0.4841121733188629, + -0.490837424993515, + 0.6137170791625977, + 0.384792685508728 + ], + "joints": [ + -0.001348676159977913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09058687090873718, + -0.040873944759368896, + 0.01857626810669899 + ], + "orientation": [ + 0.5723329186439514, + -0.22956444323062897, + -0.7692732810974121, + -0.16719374060630798 + ], + "joints": [ + 0.017263472080230713 + ] + }, + "fine_grasp": { + "position": [ + 0.08728259056806564, + -0.038565780967473984, + 0.01877477392554283 + ], + "orientation": [ + 0.5714468955993652, + -0.23170505464076996, + -0.7698196768760681, + -0.16473861038684845 + ], + "joints": [ + 0.008904367685317993 + ] + }, + "final_grasp": { + "position": [ + 0.08728259056806564, + -0.038565780967473984, + 0.01877477392554283 + ], + "orientation": [ + 0.5714468955993652, + -0.23170505464076996, + -0.7698196768760681, + -0.16473861038684845 + ], + "joints": [ + 0.0005452632904052734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04683804139494896, + -0.10091374069452286, + -0.027301698923110962 + ], + "orientation": [ + 0.4314729869365692, + -0.562589168548584, + 0.3642927408218384, + 0.603833794593811 + ], + "joints": [ + 0.01861056499183178 + ] + }, + "fine_grasp": { + "position": [ + 0.04536709934473038, + -0.09724242240190506, + -0.027134688571095467 + ], + "orientation": [ + 0.4310038983821869, + -0.5638101100921631, + 0.3647913336753845, + 0.6027280688285828 + ], + "joints": [ + 0.008997594937682152 + ] + }, + "final_grasp": { + "position": [ + 0.04536709934473038, + -0.09724242240190506, + -0.027134688571095467 + ], + "orientation": [ + 0.4310038983821869, + -0.5638101100921631, + 0.3647913336753845, + 0.6027280688285828 + ], + "joints": [ + -0.0006153751164674759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04709853231906891, + -0.10124817490577698, + -0.027475399896502495 + ], + "orientation": [ + 0.4300515353679657, + -0.5630008578300476, + 0.3652336299419403, + 0.6038956642150879 + ], + "joints": [ + 0.01829160936176777 + ] + }, + "fine_grasp": { + "position": [ + 0.045624230057001114, + -0.09757046401500702, + -0.027320684865117073 + ], + "orientation": [ + 0.42952579259872437, + -0.564260721206665, + 0.36571788787841797, + 0.6027999520301819 + ], + "joints": [ + 0.009075695648789406 + ] + }, + "final_grasp": { + "position": [ + 0.045624230057001114, + -0.09757046401500702, + -0.027320684865117073 + ], + "orientation": [ + 0.42952579259872437, + -0.564260721206665, + 0.36571788787841797, + 0.6027999520301819 + ], + "joints": [ + -0.00014021806418895721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06579527258872986, + -0.06876742839813232, + -0.013543456792831421 + ], + "orientation": [ + 0.6367467045783997, + -0.3277851343154907, + 0.630923867225647, + 0.2984049618244171 + ], + "joints": [ + 0.01847165822982788 + ] + }, + "fine_grasp": { + "position": [ + -0.06451629102230072, + -0.06734280288219452, + -0.013416973873972893 + ], + "orientation": [ + 0.6370980143547058, + -0.3284195363521576, + 0.6308725476264954, + 0.29706302285194397 + ], + "joints": [ + 0.00927664339542389 + ] + }, + "final_grasp": { + "position": [ + -0.06451629102230072, + -0.06734280288219452, + -0.013416973873972893 + ], + "orientation": [ + 0.6370980143547058, + -0.3284195363521576, + 0.6308725476264954, + 0.29706302285194397 + ], + "joints": [ + 8.162856101989746e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02883109450340271, + -0.09114918112754822, + 0.011000122874975204 + ], + "orientation": [ + 0.3819967210292816, + -0.622547447681427, + 0.4733094274997711, + 0.4924342632293701 + ], + "joints": [ + 0.017793424427509308 + ] + }, + "fine_grasp": { + "position": [ + 0.027640102431178093, + -0.08724794536828995, + 0.01064557395875454 + ], + "orientation": [ + 0.38299015164375305, + -0.6217853426933289, + 0.4737354815006256, + 0.492215633392334 + ], + "joints": [ + 0.009016364812850952 + ] + }, + "final_grasp": { + "position": [ + 0.027640102431178093, + -0.08724794536828995, + 0.01064557395875454 + ], + "orientation": [ + 0.38299015164375305, + -0.6217853426933289, + 0.4737354815006256, + 0.492215633392334 + ], + "joints": [ + 0.00023930519819259644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028326869010925293, + -0.08885800093412399, + 0.011016606353223324 + ], + "orientation": [ + 0.38140276074409485, + -0.6220888495445251, + 0.47381719946861267, + 0.49298539757728577 + ], + "joints": [ + 0.017859485000371933 + ] + }, + "fine_grasp": { + "position": [ + 0.0271910410374403, + -0.08495538681745529, + 0.011029954068362713 + ], + "orientation": [ + 0.382246196269989, + -0.6229848265647888, + 0.4740235209465027, + 0.49099841713905334 + ], + "joints": [ + 0.009082425385713577 + ] + }, + "final_grasp": { + "position": [ + 0.0271910410374403, + -0.08495538681745529, + 0.011029954068362713 + ], + "orientation": [ + 0.382246196269989, + -0.6229848265647888, + 0.4740235209465027, + 0.49099841713905334 + ], + "joints": [ + 0.00030536577105522156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08322050422430038, + 0.09913677722215652, + -0.016390599310398102 + ], + "orientation": [ + 0.269878089427948, + 0.6616988778114319, + -0.26463496685028076, + 0.6475251317024231 + ], + "joints": [ + 0.017205556854605675 + ] + }, + "fine_grasp": { + "position": [ + -0.08039252460002899, + 0.09622092545032501, + -0.016385842114686966 + ], + "orientation": [ + 0.270842969417572, + 0.6615587472915649, + -0.26447632908821106, + 0.6473303437232971 + ], + "joints": [ + 0.008428497239947319 + ] + }, + "final_grasp": { + "position": [ + -0.08039252460002899, + 0.09622092545032501, + -0.016385842114686966 + ], + "orientation": [ + 0.270842969417572, + 0.6615587472915649, + -0.26447632908821106, + 0.6473303437232971 + ], + "joints": [ + -0.0003485623747110367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006235954351723194, + -0.09903743118047714, + -0.011712178587913513 + ], + "orientation": [ + 0.4750448167324066, + -0.513648271560669, + -0.49692502617836, + -0.5133841037750244 + ], + "joints": [ + 0.017307791858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.006028024014085531, + -0.09498085826635361, + -0.01174638420343399 + ], + "orientation": [ + 0.4749079942703247, + -0.5134134888648987, + -0.4969881772994995, + -0.5136844515800476 + ], + "joints": [ + 0.008530732244253159 + ] + }, + "final_grasp": { + "position": [ + -0.006028024014085531, + -0.09498085826635361, + -0.01174638420343399 + ], + "orientation": [ + 0.4749079942703247, + -0.5134134888648987, + -0.4969881772994995, + -0.5136844515800476 + ], + "joints": [ + -0.00024632737040519714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027977565303444862, + -0.08838391304016113, + 0.010731717571616173 + ], + "orientation": [ + 0.38111618161201477, + -0.6226580739021301, + 0.4756436347961426, + 0.49072447419166565 + ], + "joints": [ + 0.017726581543684006 + ] + }, + "fine_grasp": { + "position": [ + 0.026773890480399132, + -0.08452537655830383, + 0.010853460058569908 + ], + "orientation": [ + 0.380768746137619, + -0.6229981780052185, + 0.4767118990421295, + 0.4895245432853699 + ], + "joints": [ + 0.00894952192902565 + ] + }, + "final_grasp": { + "position": [ + 0.026773890480399132, + -0.08452537655830383, + 0.010853460058569908 + ], + "orientation": [ + 0.380768746137619, + -0.6229981780052185, + 0.4767118990421295, + 0.4895245432853699 + ], + "joints": [ + 0.0001724623143672943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10526859760284424, + 0.05475309118628502, + -0.005394678562879562 + ], + "orientation": [ + 0.11795452237129211, + 0.7307572960853577, + 0.12275999039411545, + -0.6610677242279053 + ], + "joints": [ + 0.01703689992427826 + ] + }, + "fine_grasp": { + "position": [ + 0.10196720063686371, + 0.05372092127799988, + -0.005151189398020506 + ], + "orientation": [ + 0.1183033362030983, + 0.7316614389419556, + 0.12238604575395584, + -0.6600737571716309 + ], + "joints": [ + 0.008259840309619904 + ] + }, + "final_grasp": { + "position": [ + 0.10196720063686371, + 0.05372092127799988, + -0.005151189398020506 + ], + "orientation": [ + 0.1183033362030983, + 0.7316614389419556, + 0.12238604575395584, + -0.6600737571716309 + ], + "joints": [ + -0.0005172193050384521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07661231607198715, + 0.10028129816055298, + -0.028681155294179916 + ], + "orientation": [ + 0.6783395409584045, + 0.2778138816356659, + -0.6155047416687012, + 0.2895320653915405 + ], + "joints": [ + 0.0168619304895401 + ] + }, + "fine_grasp": { + "position": [ + 0.0736856609582901, + 0.0973295271396637, + -0.028707468882203102 + ], + "orientation": [ + 0.6800692677497864, + 0.28063708543777466, + -0.6140555739402771, + 0.28580477833747864 + ], + "joints": [ + 0.00850282609462738 + ] + }, + "final_grasp": { + "position": [ + 0.0736856609582901, + 0.0973295271396637, + -0.028707468882203102 + ], + "orientation": [ + 0.6800692677497864, + 0.28063708543777466, + -0.6140555739402771, + 0.28580477833747864 + ], + "joints": [ + 0.00014372169971466064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09932683408260345, + 0.0866408497095108, + 0.032005246728658676 + ], + "orientation": [ + 0.1856885403394699, + 0.7397605776786804, + -0.2372397929430008, + 0.6016571521759033 + ], + "joints": [ + 0.01831763982772827 + ] + }, + "fine_grasp": { + "position": [ + -0.09607762843370438, + 0.08443229645490646, + 0.031620193272829056 + ], + "orientation": [ + 0.18588265776634216, + 0.7379099130630493, + -0.23627114295959473, + 0.6042454838752747 + ], + "joints": [ + 0.007492600940167904 + ] + }, + "final_grasp": { + "position": [ + -0.09607762843370438, + 0.08443229645490646, + 0.031620193272829056 + ], + "orientation": [ + 0.18588265776634216, + 0.7379099130630493, + -0.23627114295959473, + 0.6042454838752747 + ], + "joints": [ + -0.0033324379473924637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00355354743078351, + -0.09555399417877197, + -0.0067964051850140095 + ], + "orientation": [ + 0.4653182625770569, + -0.5247714519500732, + -0.5166775584220886, + -0.4910580813884735 + ], + "joints": [ + 0.01704702526330948 + ] + }, + "fine_grasp": { + "position": [ + -0.0033443444408476353, + -0.09139639139175415, + -0.006875575985759497 + ], + "orientation": [ + 0.46462446451187134, + -0.523514986038208, + -0.5177270770072937, + -0.4919500946998596 + ], + "joints": [ + 0.008687920868396759 + ] + }, + "final_grasp": { + "position": [ + -0.0033443444408476353, + -0.09139639139175415, + -0.006875575985759497 + ], + "orientation": [ + 0.46462446451187134, + -0.523514986038208, + -0.5177270770072937, + -0.4919500946998596 + ], + "joints": [ + 0.0003288164734840393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005930018611252308, + -0.09524518251419067, + -0.012226334773004055 + ], + "orientation": [ + 0.4741055369377136, + -0.5167215466499329, + -0.49889594316482544, + -0.5092402100563049 + ], + "joints": [ + 0.017467305064201355 + ] + }, + "fine_grasp": { + "position": [ + -0.005617721471935511, + -0.0911269411444664, + -0.01225866749882698 + ], + "orientation": [ + 0.4735497534275055, + -0.516021728515625, + -0.4996069371700287, + -0.5097696185112 + ], + "joints": [ + 0.009108200669288635 + ] + }, + "final_grasp": { + "position": [ + -0.005617721471935511, + -0.0911269411444664, + -0.01225866749882698 + ], + "orientation": [ + 0.4735497534275055, + -0.516021728515625, + -0.4996069371700287, + -0.5097696185112 + ], + "joints": [ + 0.0007490962743759155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12638844549655914, + -0.0006340834079310298, + -0.0032837791368365288 + ], + "orientation": [ + 0.6546096205711365, + -0.07845477014780045, + -0.7514684200286865, + -0.0250274408608675 + ], + "joints": [ + 0.01788049191236496 + ] + }, + "fine_grasp": { + "position": [ + 0.12246787548065186, + -0.00010403648775536567, + -0.0035438777413219213 + ], + "orientation": [ + 0.6565026044845581, + -0.07857038080692291, + -0.7498224377632141, + -0.024439014494419098 + ], + "joints": [ + 0.008664578199386597 + ] + }, + "final_grasp": { + "position": [ + 0.12246787548065186, + -0.00010403648775536567, + -0.0035438777413219213 + ], + "orientation": [ + 0.6565026044845581, + -0.07857038080692291, + -0.7498224377632141, + -0.024439014494419098 + ], + "joints": [ + -0.0005513355135917664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009607690386474133, + 0.12570691108703613, + -0.00796397216618061 + ], + "orientation": [ + 0.4766589403152466, + 0.5588976740837097, + 0.47726380825042725, + -0.48233702778816223 + ], + "joints": [ + 0.018351616337895393 + ] + }, + "fine_grasp": { + "position": [ + 0.009027795866131783, + 0.12357699871063232, + -0.007500048726797104 + ], + "orientation": [ + 0.4785848557949066, + 0.5602977871894836, + 0.47652605175971985, + -0.4795267581939697 + ], + "joints": [ + 0.009156601503491402 + ] + }, + "final_grasp": { + "position": [ + 0.009027795866131783, + 0.12357699871063232, + -0.007500048726797104 + ], + "orientation": [ + 0.4785848557949066, + 0.5602977871894836, + 0.47652605175971985, + -0.4795267581939697 + ], + "joints": [ + -3.841333091259003e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05909484624862671, + -0.071200430393219, + -0.014938777312636375 + ], + "orientation": [ + 0.6129206418991089, + -0.3417210876941681, + -0.6345385909080505, + -0.32390689849853516 + ], + "joints": [ + 0.018447142094373703 + ] + }, + "fine_grasp": { + "position": [ + 0.05856417119503021, + -0.07035712152719498, + -0.014809263870120049 + ], + "orientation": [ + 0.6123986840248108, + -0.3431226313114166, + -0.6341533660888672, + -0.32416701316833496 + ], + "joints": [ + 0.008855070918798447 + ] + }, + "final_grasp": { + "position": [ + 0.05856417119503021, + -0.07035712152719498, + -0.014809263870120049 + ], + "orientation": [ + 0.6123986840248108, + -0.3431226313114166, + -0.6341533660888672, + -0.32416701316833496 + ], + "joints": [ + -0.0007370002567768097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034340959042310715, + 0.13001571595668793, + 0.032870206981897354 + ], + "orientation": [ + 0.3689884543418884, + 0.6157170534133911, + 0.46948468685150146, + -0.5141247510910034 + ], + "joints": [ + 0.018470145761966705 + ] + }, + "fine_grasp": { + "position": [ + 0.03315379470586777, + 0.12633450329303741, + 0.03244667500257492 + ], + "orientation": [ + 0.3690054416656494, + 0.6144751310348511, + 0.4691570997238159, + -0.5158944129943848 + ], + "joints": [ + 0.008439220488071442 + ] + }, + "final_grasp": { + "position": [ + 0.03315379470586777, + 0.12633450329303741, + 0.03244667500257492 + ], + "orientation": [ + 0.3690054416656494, + 0.6144751310348511, + 0.4691570997238159, + -0.5158944129943848 + ], + "joints": [ + -0.001591704785823822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05924493446946144, + -0.07137239724397659, + -0.015191419050097466 + ], + "orientation": [ + 0.6089937090873718, + -0.3402863144874573, + -0.6374300718307495, + -0.32713112235069275 + ], + "joints": [ + 0.018789155408740044 + ] + }, + "fine_grasp": { + "position": [ + 0.05871662124991417, + -0.07020633667707443, + -0.014988121576607227 + ], + "orientation": [ + 0.6085810661315918, + -0.34013620018959045, + -0.6384347081184387, + -0.32609450817108154 + ], + "joints": [ + 0.009176185354590416 + ] + }, + "final_grasp": { + "position": [ + 0.05871662124991417, + -0.07020633667707443, + -0.014988121576607227 + ], + "orientation": [ + 0.6085810661315918, + -0.34013620018959045, + -0.6384347081184387, + -0.32609450817108154 + ], + "joints": [ + -0.00043678469955921173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10019494593143463, + 0.08708152920007706, + 0.03330409526824951 + ], + "orientation": [ + 0.18969643115997314, + 0.7318872213363647, + -0.23280532658100128, + 0.6116846203804016 + ], + "joints": [ + 0.01833467185497284 + ] + }, + "fine_grasp": { + "position": [ + -0.09693676233291626, + 0.0848786011338234, + 0.03297388553619385 + ], + "orientation": [ + 0.18984457850456238, + 0.7302578091621399, + -0.2319086492061615, + 0.6139225959777832 + ], + "joints": [ + 0.007906690239906311 + ] + }, + "final_grasp": { + "position": [ + -0.09693676233291626, + 0.0848786011338234, + 0.03297388553619385 + ], + "orientation": [ + 0.18984457850456238, + 0.7302578091621399, + -0.2319086492061615, + 0.6139225959777832 + ], + "joints": [ + -0.0025212913751602173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009438078850507736, + 0.1276923269033432, + -0.013361552730202675 + ], + "orientation": [ + 0.5014309883117676, + 0.49046942591667175, + -0.5372385382652283, + 0.4683816730976105 + ], + "joints": [ + 0.01731286570429802 + ] + }, + "fine_grasp": { + "position": [ + 0.008820358663797379, + 0.12477982044219971, + -0.013383449986577034 + ], + "orientation": [ + 0.5015634298324585, + 0.4905080199241638, + -0.5364542007446289, + 0.4690980613231659 + ], + "joints": [ + 0.008117850869894028 + ] + }, + "final_grasp": { + "position": [ + 0.008820358663797379, + 0.12477982044219971, + -0.013383449986577034 + ], + "orientation": [ + 0.5015634298324585, + 0.4905080199241638, + -0.5364542007446289, + 0.4690980613231659 + ], + "joints": [ + -0.001077163964509964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0018283412791788578, + 0.12830443680286407, + -0.023901987820863724 + ], + "orientation": [ + 0.5191587209701538, + 0.4910581409931183, + -0.48648566007614136, + 0.5026606917381287 + ], + "joints": [ + 0.01765112206339836 + ] + }, + "fine_grasp": { + "position": [ + 0.0014014554908499122, + 0.1255815029144287, + -0.023923154920339584 + ], + "orientation": [ + 0.5195519328117371, + 0.4927193522453308, + -0.4845182001590729, + 0.5025292038917542 + ], + "joints": [ + 0.008038152009248734 + ] + }, + "final_grasp": { + "position": [ + 0.0014014554908499122, + 0.1255815029144287, + -0.023923154920339584 + ], + "orientation": [ + 0.5195519328117371, + 0.4927193522453308, + -0.4845182001590729, + 0.5025292038917542 + ], + "joints": [ + -0.0015748180449008942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006481058080680668, + -0.09982951730489731, + -0.03487005457282066 + ], + "orientation": [ + 0.5361312031745911, + -0.4723350703716278, + 0.4606877267360687, + 0.5265260934829712 + ], + "joints": [ + 0.017803482711315155 + ] + }, + "fine_grasp": { + "position": [ + 0.0006422702572308481, + -0.0958438366651535, + -0.03461826220154762 + ], + "orientation": [ + 0.5357698798179626, + -0.47300124168395996, + 0.4611063003540039, + 0.5259292721748352 + ], + "joints": [ + 0.008608467876911163 + ] + }, + "final_grasp": { + "position": [ + 0.0006422702572308481, + -0.0958438366651535, + -0.03461826220154762 + ], + "orientation": [ + 0.5357698798179626, + -0.47300124168395996, + 0.4611063003540039, + 0.5259292721748352 + ], + "joints": [ + -0.0005865469574928284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006758497329428792, + -0.09950605034828186, + -0.034852877259254456 + ], + "orientation": [ + 0.5358268618583679, + -0.4723931550979614, + 0.46081894636154175, + 0.5266689658164978 + ], + "joints": [ + 0.017645759508013725 + ] + }, + "fine_grasp": { + "position": [ + 0.0006732472684234381, + -0.09544640779495239, + -0.034589290618896484 + ], + "orientation": [ + 0.5354732275009155, + -0.47301849722862244, + 0.4611402153968811, + 0.526185929775238 + ], + "joints": [ + 0.008471643552184105 + ] + }, + "final_grasp": { + "position": [ + 0.0006732472684234381, + -0.09544640779495239, + -0.034589290618896484 + ], + "orientation": [ + 0.5354732275009155, + -0.47301849722862244, + 0.4611402153968811, + 0.526185929775238 + ], + "joints": [ + -0.0007024724036455154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006774623179808259, + -0.0996541976928711, + -0.034861087799072266 + ], + "orientation": [ + 0.5358736515045166, + -0.4721400737762451, + 0.4607572853565216, + 0.5269023180007935 + ], + "joints": [ + 0.01782914251089096 + ] + }, + "fine_grasp": { + "position": [ + 0.0006730708410032094, + -0.09563729912042618, + -0.03459886088967323 + ], + "orientation": [ + 0.5354836583137512, + -0.4727925658226013, + 0.46110090613365173, + 0.5264127254486084 + ], + "joints": [ + 0.008634127676486969 + ] + }, + "final_grasp": { + "position": [ + 0.0006730708410032094, + -0.09563729912042618, + -0.03459886088967323 + ], + "orientation": [ + 0.5354836583137512, + -0.4727925658226013, + 0.46110090613365173, + 0.5264127254486084 + ], + "joints": [ + -0.0005608871579170227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09331654757261276, + -0.05677450820803642, + -0.03909751772880554 + ], + "orientation": [ + 0.7080753445625305, + -0.2255508154630661, + 0.6258059144020081, + 0.23690296709537506 + ], + "joints": [ + 0.018174156546592712 + ] + }, + "fine_grasp": { + "position": [ + -0.09024805575609207, + -0.0543203167617321, + -0.03947332873940468 + ], + "orientation": [ + 0.705128014087677, + -0.22703133523464203, + 0.6289604306221008, + 0.23592370748519897 + ], + "joints": [ + 0.008561186492443085 + ] + }, + "final_grasp": { + "position": [ + -0.09024805575609207, + -0.0543203167617321, + -0.03947332873940468 + ], + "orientation": [ + 0.705128014087677, + -0.22703133523464203, + 0.6289604306221008, + 0.23592370748519897 + ], + "joints": [ + -0.001051783561706543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10326630622148514, + 0.07435709238052368, + -0.03529166802763939 + ], + "orientation": [ + 0.7175995707511902, + 0.1514686793088913, + -0.6487247347831726, + 0.20313575863838196 + ], + "joints": [ + 0.01768072322010994 + ] + }, + "fine_grasp": { + "position": [ + 0.09979094564914703, + 0.0724014863371849, + -0.03546972572803497 + ], + "orientation": [ + 0.7142462730407715, + 0.14985652267932892, + -0.6520901322364807, + 0.20536242425441742 + ], + "joints": [ + 0.008485708385705948 + ] + }, + "final_grasp": { + "position": [ + 0.09979094564914703, + 0.0724014863371849, + -0.03546972572803497 + ], + "orientation": [ + 0.7142462730407715, + 0.14985652267932892, + -0.6520901322364807, + 0.20536242425441742 + ], + "joints": [ + -0.0007093064486980438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05563291162252426, + -0.07916174083948135, + 0.060359302908182144 + ], + "orientation": [ + 0.4832322597503662, + -0.423724889755249, + -0.7164226174354553, + -0.27144473791122437 + ], + "joints": [ + 0.018269792199134827 + ] + }, + "fine_grasp": { + "position": [ + 0.0536256805062294, + -0.07595463842153549, + 0.059465937316417694 + ], + "orientation": [ + 0.4865155518054962, + -0.4233640730381012, + -0.7143763303756714, + -0.2715362012386322 + ], + "joints": [ + 0.008635923266410828 + ] + }, + "final_grasp": { + "position": [ + 0.0536256805062294, + -0.07595463842153549, + 0.059465937316417694 + ], + "orientation": [ + 0.4865155518054962, + -0.4233640730381012, + -0.7143763303756714, + -0.2715362012386322 + ], + "joints": [ + -0.0009979456663131714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09186653047800064, + 0.07479041069746017, + 0.07033611088991165 + ], + "orientation": [ + 0.13972502946853638, + 0.8210695385932922, + -0.24141936004161835, + 0.4980345368385315 + ], + "joints": [ + 0.018498990684747696 + ] + }, + "fine_grasp": { + "position": [ + -0.08867836743593216, + 0.07281538099050522, + 0.06927022337913513 + ], + "orientation": [ + 0.14100946485996246, + 0.8184675574302673, + -0.24103853106498718, + 0.502123236656189 + ], + "joints": [ + 0.008071009069681168 + ] + }, + "final_grasp": { + "position": [ + -0.08867836743593216, + 0.07281538099050522, + 0.06927022337913513 + ], + "orientation": [ + 0.14100946485996246, + 0.8184675574302673, + -0.24103853106498718, + 0.502123236656189 + ], + "joints": [ + -0.0023569725453853607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0928177610039711, + -0.05663341283798218, + -0.04038001596927643 + ], + "orientation": [ + 0.701917827129364, + -0.2230614870786667, + 0.6328315138816833, + 0.23891262710094452 + ], + "joints": [ + 0.01834401860833168 + ] + }, + "fine_grasp": { + "position": [ + -0.08961402624845505, + -0.05425778776407242, + -0.04093502089381218 + ], + "orientation": [ + 0.6998759508132935, + -0.22137148678302765, + 0.635324239730835, + 0.23985739052295685 + ], + "joints": [ + 0.009149003773927689 + ] + }, + "final_grasp": { + "position": [ + -0.08961402624845505, + -0.05425778776407242, + -0.04093502089381218 + ], + "orientation": [ + 0.6998759508132935, + -0.22137148678302765, + 0.635324239730835, + 0.23985739052295685 + ], + "joints": [ + -4.60110604763031e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03688352182507515, + -0.08505365997552872, + -0.04366706311702728 + ], + "orientation": [ + 0.43879932165145874, + -0.5265957713127136, + -0.36949464678764343, + -0.6273959875106812 + ], + "joints": [ + 0.018012113869190216 + ] + }, + "fine_grasp": { + "position": [ + -0.0359773151576519, + -0.08227648586034775, + -0.04624643921852112 + ], + "orientation": [ + 0.4419902265071869, + -0.5242481231689453, + -0.36465248465538025, + -0.6299499869346619 + ], + "joints": [ + 0.00923505425453186 + ] + }, + "final_grasp": { + "position": [ + -0.0359773151576519, + -0.08227648586034775, + -0.04624643921852112 + ], + "orientation": [ + 0.4419902265071869, + -0.5242481231689453, + -0.36465248465538025, + -0.6299499869346619 + ], + "joints": [ + 0.00045799463987350464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0284221563488245, + -0.032203927636146545, + -0.17677663266658783 + ], + "orientation": [ + 0.8773863315582275, + -0.1278323382139206, + 0.19134898483753204, + 0.4209960401058197 + ], + "joints": [ + 0.024370446801185608 + ] + }, + "fine_grasp": { + "position": [ + -0.02744339592754841, + -0.030545642599463463, + -0.17331452667713165 + ], + "orientation": [ + 0.8772661685943604, + -0.1279008388519287, + 0.19241060316562653, + 0.4207414984703064 + ], + "joints": [ + 0.015154533088207245 + ] + }, + "final_grasp": { + "position": [ + -0.02744339592754841, + -0.030545642599463463, + -0.17331452667713165 + ], + "orientation": [ + 0.8772661685943604, + -0.1279008388519287, + 0.19241060316562653, + 0.4207414984703064 + ], + "joints": [ + 0.005938619375228882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028291240334510803, + -0.03222280368208885, + -0.17669369280338287 + ], + "orientation": [ + 0.8774905800819397, + -0.1280374974012375, + 0.19097046554088593, + 0.42088818550109863 + ], + "joints": [ + 0.02434729039669037 + ] + }, + "fine_grasp": { + "position": [ + -0.027317458763718605, + -0.03058370016515255, + -0.1732148975133896 + ], + "orientation": [ + 0.877402126789093, + -0.1282651424407959, + 0.19177836179733276, + 0.4206361472606659 + ], + "joints": [ + 0.015131376683712006 + ] + }, + "final_grasp": { + "position": [ + -0.027317458763718605, + -0.03058370016515255, + -0.1732148975133896 + ], + "orientation": [ + 0.877402126789093, + -0.1282651424407959, + 0.19177836179733276, + 0.4206361472606659 + ], + "joints": [ + 0.005915462970733643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09690981358289719, + 0.10889159888029099, + -0.05062102526426315 + ], + "orientation": [ + 0.2824913561344147, + 0.714277982711792, + -0.2381742149591446, + 0.594372570514679 + ], + "joints": [ + 0.02242661453783512 + ] + }, + "fine_grasp": { + "position": [ + -0.09413473308086395, + 0.1063731461763382, + -0.050185855478048325 + ], + "orientation": [ + 0.2837317883968353, + 0.7103930711746216, + -0.23354510962963104, + 0.600245475769043 + ], + "joints": [ + 0.013607757166028023 + ] + }, + "final_grasp": { + "position": [ + -0.09413473308086395, + 0.1063731461763382, + -0.050185855478048325 + ], + "orientation": [ + 0.2837317883968353, + 0.7103930711746216, + -0.23354510962963104, + 0.600245475769043 + ], + "joints": [ + 0.004788899794220924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09687280654907227, + 0.10882838815450668, + -0.050739601254463196 + ], + "orientation": [ + 0.2825053334236145, + 0.7146238684654236, + -0.23848821222782135, + 0.5938239097595215 + ], + "joints": [ + 0.02242661453783512 + ] + }, + "fine_grasp": { + "position": [ + -0.09405972808599472, + 0.10627567768096924, + -0.050273340195417404 + ], + "orientation": [ + 0.2836562991142273, + 0.7106762528419495, + -0.23352643847465515, + 0.5999531149864197 + ], + "joints": [ + 0.014025712385773659 + ] + }, + "final_grasp": { + "position": [ + -0.09405972808599472, + 0.10627567768096924, + -0.050273340195417404 + ], + "orientation": [ + 0.2836562991142273, + 0.7106762528419495, + -0.23352643847465515, + 0.5999531149864197 + ], + "joints": [ + 0.005624810233712196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03484022244811058, + 0.1412317156791687, + -0.047512173652648926 + ], + "orientation": [ + 0.47650066018104553, + 0.5340918302536011, + 0.37806597352027893, + -0.5871619582176208 + ], + "joints": [ + 0.018101390451192856 + ] + }, + "fine_grasp": { + "position": [ + 0.03380872309207916, + 0.13746516406536102, + -0.04825211688876152 + ], + "orientation": [ + 0.47134092450141907, + 0.5431714653968811, + 0.3838224709033966, + -0.5792087316513062 + ], + "joints": [ + 0.009721387177705765 + ] + }, + "final_grasp": { + "position": [ + 0.03380872309207916, + 0.13746516406536102, + -0.04825211688876152 + ], + "orientation": [ + 0.47134092450141907, + 0.5431714653968811, + 0.3838224709033966, + -0.5792087316513062 + ], + "joints": [ + 0.0013413839042186737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10623867809772491, + 0.10731559246778488, + -0.032374802976846695 + ], + "orientation": [ + 0.6002147793769836, + 0.2835942506790161, + 0.7211116552352905, + -0.19827856123447418 + ], + "joints": [ + 0.02062048949301243 + ] + }, + "fine_grasp": { + "position": [ + -0.10330691188573837, + 0.10479576885700226, + -0.032640207558870316 + ], + "orientation": [ + 0.6036324501037598, + 0.28402748703956604, + 0.7173604369163513, + -0.20087365806102753 + ], + "joints": [ + 0.01180163212120533 + ] + }, + "final_grasp": { + "position": [ + -0.10330691188573837, + 0.10479576885700226, + -0.032640207558870316 + ], + "orientation": [ + 0.6036324501037598, + 0.28402748703956604, + 0.7173604369163513, + -0.20087365806102753 + ], + "joints": [ + 0.0029827747493982315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09145902842283249, + -0.042288996279239655, + -0.099362313747406 + ], + "orientation": [ + 0.8117061853408813, + -0.1428605318069458, + -0.5072501301765442, + -0.25183600187301636 + ], + "joints": [ + 0.02330542914569378 + ] + }, + "fine_grasp": { + "position": [ + 0.08845880627632141, + -0.04016057029366493, + -0.09831808507442474 + ], + "orientation": [ + 0.8085554242134094, + -0.14423613250255585, + -0.5130016803741455, + -0.24952609837055206 + ], + "joints": [ + 0.014089515432715416 + ] + }, + "final_grasp": { + "position": [ + 0.08845880627632141, + -0.04016057029366493, + -0.09831808507442474 + ], + "orientation": [ + 0.8085554242134094, + -0.14423613250255585, + -0.5130016803741455, + -0.24952609837055206 + ], + "joints": [ + 0.004873601719737053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08202715963125229, + 0.09548889845609665, + -0.12941300868988037 + ], + "orientation": [ + 0.7623429298400879, + 0.14572717249393463, + -0.48841434717178345, + 0.3988085985183716 + ], + "joints": [ + 0.023715922608971596 + ] + }, + "fine_grasp": { + "position": [ + 0.07961653172969818, + 0.09314732998609543, + -0.12747618556022644 + ], + "orientation": [ + 0.7623400092124939, + 0.14595744013786316, + -0.48807844519615173, + 0.3991408944129944 + ], + "joints": [ + 0.014500008895993233 + ] + }, + "final_grasp": { + "position": [ + 0.07961653172969818, + 0.09314732998609543, + -0.12747618556022644 + ], + "orientation": [ + 0.7623400092124939, + 0.14595744013786316, + -0.48807844519615173, + 0.3991408944129944 + ], + "joints": [ + 0.00528409518301487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04160553961992264, + 0.08136733621358871, + -0.15438733994960785 + ], + "orientation": [ + 0.4310430586338043, + 0.2860881984233856, + 0.16613265872001648, + -0.8394970893859863 + ], + "joints": [ + 0.025957206264138222 + ] + }, + "fine_grasp": { + "position": [ + 0.040177538990974426, + 0.07912073284387589, + -0.1515435129404068 + ], + "orientation": [ + 0.43090662360191345, + 0.2869579792022705, + 0.16716782748699188, + -0.8390646576881409 + ], + "joints": [ + 0.01594717986881733 + ] + }, + "final_grasp": { + "position": [ + 0.040177538990974426, + 0.07912073284387589, + -0.1515435129404068 + ], + "orientation": [ + 0.43090662360191345, + 0.2869579792022705, + 0.16716782748699188, + -0.8390646576881409 + ], + "joints": [ + 0.005937153473496437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041434500366449356, + 0.0811314657330513, + -0.15415380895137787 + ], + "orientation": [ + 0.43053269386291504, + 0.2867492735385895, + 0.16667985916137695, + -0.8394249081611633 + ], + "joints": [ + 0.02615341544151306 + ] + }, + "fine_grasp": { + "position": [ + 0.04000997170805931, + 0.07890632003545761, + -0.15128973126411438 + ], + "orientation": [ + 0.43058285117149353, + 0.2874549329280853, + 0.16755104064941406, + -0.8389843106269836 + ], + "joints": [ + 0.015725433826446533 + ] + }, + "final_grasp": { + "position": [ + 0.04000997170805931, + 0.07890632003545761, + -0.15128973126411438 + ], + "orientation": [ + 0.43058285117149353, + 0.2874549329280853, + 0.16755104064941406, + -0.8389843106269836 + ], + "joints": [ + 0.005297452211380005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08210316300392151, + 0.09555964916944504, + -0.12980318069458008 + ], + "orientation": [ + 0.7625463604927063, + 0.14694614708423615, + -0.48895612359046936, + 0.39730560779571533 + ], + "joints": [ + 0.023741574957966805 + ] + }, + "fine_grasp": { + "position": [ + 0.07972104102373123, + 0.09324971586465836, + -0.12776769697666168 + ], + "orientation": [ + 0.7630320191383362, + 0.14678606390953064, + -0.4879121780395508, + 0.39771541953086853 + ], + "joints": [ + 0.01450476236641407 + ] + }, + "final_grasp": { + "position": [ + 0.07972104102373123, + 0.09324971586465836, + -0.12776769697666168 + ], + "orientation": [ + 0.7630320191383362, + 0.14678606390953064, + -0.4879121780395508, + 0.39771541953086853 + ], + "joints": [ + 0.005267949774861336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03337637707591057, + 0.031546179205179214, + -0.186544269323349 + ], + "orientation": [ + 0.8366437554359436, + -0.048863861709833145, + -0.09688320755958557, + 0.5368921160697937 + ], + "joints": [ + 0.02191719226539135 + ] + }, + "fine_grasp": { + "position": [ + 0.032174188643693924, + 0.03047615848481655, + -0.18323032557964325 + ], + "orientation": [ + 0.8355615735054016, + -0.044013381004333496, + -0.10173745453357697, + 0.5380977392196655 + ], + "joints": [ + 0.013453593477606773 + ] + }, + "final_grasp": { + "position": [ + 0.032174188643693924, + 0.03047615848481655, + -0.18323032557964325 + ], + "orientation": [ + 0.8355615735054016, + -0.044013381004333496, + -0.10173745453357697, + 0.5380977392196655 + ], + "joints": [ + 0.004989994689822197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033595066517591476, + 0.03134235367178917, + -0.18549206852912903 + ], + "orientation": [ + 0.8373945951461792, + -0.04971887543797493, + -0.09801027923822403, + 0.5354363918304443 + ], + "joints": [ + 0.022380301728844643 + ] + }, + "fine_grasp": { + "position": [ + 0.03241933882236481, + 0.030249636620283127, + -0.1821328103542328 + ], + "orientation": [ + 0.8362248539924622, + -0.04379018396139145, + -0.10229342430830002, + 0.5369789600372314 + ], + "joints": [ + 0.013916702941060066 + ] + }, + "final_grasp": { + "position": [ + 0.03241933882236481, + 0.030249636620283127, + -0.1821328103542328 + ], + "orientation": [ + 0.8362248539924622, + -0.04379018396139145, + -0.10229342430830002, + 0.5369789600372314 + ], + "joints": [ + 0.00545310415327549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07698838412761688, + -0.09610915929079056, + -0.028980934992432594 + ], + "orientation": [ + 0.2955605089664459, + -0.6756910085678101, + 0.3658066689968109, + 0.5676892399787903 + ], + "joints": [ + 0.02256554365158081 + ] + }, + "fine_grasp": { + "position": [ + 0.07494837790727615, + -0.09309916198253632, + -0.029557965695858 + ], + "orientation": [ + 0.29567354917526245, + -0.6743147969245911, + 0.36595362424850464, + 0.5691700577735901 + ], + "joints": [ + 0.01370488852262497 + ] + }, + "final_grasp": { + "position": [ + 0.07494837790727615, + -0.09309916198253632, + -0.029557965695858 + ], + "orientation": [ + 0.29567354917526245, + -0.6743147969245911, + 0.36595362424850464, + 0.5691700577735901 + ], + "joints": [ + 0.004844233393669128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034060440957546234, + 0.03146066889166832, + -0.18566855788230896 + ], + "orientation": [ + 0.838183581829071, + -0.056413888931274414, + -0.09494879096746445, + 0.5340884327888489 + ], + "joints": [ + 0.022380301728844643 + ] + }, + "fine_grasp": { + "position": [ + 0.03287861868739128, + 0.030083488672971725, + -0.18232780694961548 + ], + "orientation": [ + 0.8371129035949707, + -0.04951215907931328, + -0.10060050338506699, + 0.5354158282279968 + ], + "joints": [ + 0.013540545478463173 + ] + }, + "final_grasp": { + "position": [ + 0.03287861868739128, + 0.030083488672971725, + -0.18232780694961548 + ], + "orientation": [ + 0.8371129035949707, + -0.04951215907931328, + -0.10060050338506699, + 0.5354158282279968 + ], + "joints": [ + 0.004700789228081703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09055884927511215, + 0.07088398188352585, + -0.09348399937152863 + ], + "orientation": [ + 0.7832578420639038, + 0.15500259399414062, + 0.5625503659248352, + -0.21451938152313232 + ], + "joints": [ + 0.024784745648503304 + ] + }, + "fine_grasp": { + "position": [ + -0.08805643022060394, + 0.06957145780324936, + -0.09236376732587814 + ], + "orientation": [ + 0.7881137132644653, + 0.15590223670005798, + 0.5568518042564392, + -0.21092018485069275 + ], + "joints": [ + 0.015589730814099312 + ] + }, + "final_grasp": { + "position": [ + -0.08805643022060394, + 0.06957145780324936, + -0.09236376732587814 + ], + "orientation": [ + 0.7881137132644653, + 0.15590223670005798, + 0.5568518042564392, + -0.21092018485069275 + ], + "joints": [ + 0.00639471597969532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08987338840961456, + 0.07061963528394699, + -0.09367300570011139 + ], + "orientation": [ + 0.7815476655960083, + 0.1534242182970047, + 0.5639002323150635, + -0.21831336617469788 + ], + "joints": [ + 0.02473721094429493 + ] + }, + "fine_grasp": { + "position": [ + -0.08769319206476212, + 0.06943129748106003, + -0.09249572455883026 + ], + "orientation": [ + 0.7868674993515015, + 0.15467730164527893, + 0.5576769709587097, + -0.21426823735237122 + ], + "joints": [ + 0.015542196109890938 + ] + }, + "final_grasp": { + "position": [ + -0.08769319206476212, + 0.06943129748106003, + -0.09249572455883026 + ], + "orientation": [ + 0.7868674993515015, + 0.15467730164527893, + 0.5576769709587097, + -0.21426823735237122 + ], + "joints": [ + 0.006347181275486946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11171461641788483, + 0.074777752161026, + -0.028039757162332535 + ], + "orientation": [ + 0.5683988928794861, + 0.1344902217388153, + -0.7893045544624329, + 0.1892976015806198 + ], + "joints": [ + 0.024325355887413025 + ] + }, + "fine_grasp": { + "position": [ + 0.10817212611436844, + 0.07309006154537201, + -0.028375979512929916 + ], + "orientation": [ + 0.5762784481048584, + 0.13127592206001282, + -0.7840086817741394, + 0.18973740935325623 + ], + "joints": [ + 0.015130341053009033 + ] + }, + "final_grasp": { + "position": [ + 0.10817212611436844, + 0.07309006154537201, + -0.028375979512929916 + ], + "orientation": [ + 0.5762784481048584, + 0.13127592206001282, + -0.7840086817741394, + 0.18973740935325623 + ], + "joints": [ + 0.0059353262186050415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022352876141667366, + 0.021856948733329773, + -0.19017329812049866 + ], + "orientation": [ + 0.49136704206466675, + -0.054229091852903366, + 0.06854623556137085, + -0.86655592918396 + ], + "joints": [ + 0.023836644366383553 + ] + }, + "fine_grasp": { + "position": [ + -0.02160254865884781, + 0.021930688992142677, + -0.18637453019618988 + ], + "orientation": [ + 0.4914310872554779, + -0.055013228207826614, + 0.06683925539255142, + -0.8666034936904907 + ], + "joints": [ + 0.01462073065340519 + ] + }, + "final_grasp": { + "position": [ + -0.02160254865884781, + 0.021930688992142677, + -0.18637453019618988 + ], + "orientation": [ + 0.4914310872554779, + -0.055013228207826614, + 0.06683925539255142, + -0.8666034936904907 + ], + "joints": [ + 0.0054048169404268265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10658916085958481, + 0.10756208002567291, + -0.03153567761182785 + ], + "orientation": [ + 0.6035999059677124, + 0.28497153520584106, + 0.7173357009887695, + -0.19971908628940582 + ], + "joints": [ + 0.02062048949301243 + ] + }, + "fine_grasp": { + "position": [ + -0.10367343574762344, + 0.1051187589764595, + -0.03190374746918678 + ], + "orientation": [ + 0.6064073443412781, + 0.2848346531391144, + 0.714590847492218, + -0.20124410092830658 + ], + "joints": [ + 0.011780733242630959 + ] + }, + "final_grasp": { + "position": [ + -0.10367343574762344, + 0.1051187589764595, + -0.03190374746918678 + ], + "orientation": [ + 0.6064073443412781, + 0.2848346531391144, + 0.714590847492218, + -0.20124410092830658 + ], + "joints": [ + 0.002940976992249489 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05636041611433029, + 0.09040819108486176, + -0.15920473635196686 + ], + "orientation": [ + 0.8619797229766846, + 0.20542438328266144, + -0.33229151368141174, + 0.32307004928588867 + ], + "joints": [ + 0.023201705887913704 + ] + }, + "fine_grasp": { + "position": [ + 0.05477359518408775, + 0.08829139173030853, + -0.15634702146053314 + ], + "orientation": [ + 0.8621726036071777, + 0.20498988032341003, + -0.3317352831363678, + 0.3234028220176697 + ], + "joints": [ + 0.01396489329636097 + ] + }, + "final_grasp": { + "position": [ + 0.05477359518408775, + 0.08829139173030853, + -0.15634702146053314 + ], + "orientation": [ + 0.8621726036071777, + 0.20498988032341003, + -0.3317352831363678, + 0.3234028220176697 + ], + "joints": [ + 0.004728080704808235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07143993675708771, + 0.05367322266101837, + -0.13791877031326294 + ], + "orientation": [ + 0.23456107079982758, + 0.35014474391937256, + 0.07746089994907379, + -0.9035372734069824 + ], + "joints": [ + 0.02454032376408577 + ] + }, + "fine_grasp": { + "position": [ + 0.06860780715942383, + 0.051846060901880264, + -0.13664127886295319 + ], + "orientation": [ + 0.2327672243118286, + 0.35197851061820984, + 0.07820770889520645, + -0.9032243490219116 + ], + "joints": [ + 0.015345308929681778 + ] + }, + "final_grasp": { + "position": [ + 0.06860780715942383, + 0.051846060901880264, + -0.13664127886295319 + ], + "orientation": [ + 0.2327672243118286, + 0.35197851061820984, + 0.07820770889520645, + -0.9032243490219116 + ], + "joints": [ + 0.006150294095277786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03679559379816055, + -0.04979167878627777, + -0.1575184017419815 + ], + "orientation": [ + 0.8054465651512146, + -0.15277032554149628, + 0.27692869305610657, + 0.5012259483337402 + ], + "joints": [ + 0.025871191173791885 + ] + }, + "fine_grasp": { + "position": [ + -0.035429030656814575, + -0.04732538014650345, + -0.1548151820898056 + ], + "orientation": [ + 0.8041454553604126, + -0.15495620667934418, + 0.27961301803588867, + 0.5011539459228516 + ], + "joints": [ + 0.016258221119642258 + ] + }, + "final_grasp": { + "position": [ + -0.035429030656814575, + -0.04732538014650345, + -0.1548151820898056 + ], + "orientation": [ + 0.8041454553604126, + -0.15495620667934418, + 0.27961301803588867, + 0.5011539459228516 + ], + "joints": [ + 0.00664525106549263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05625548213720322, + 0.0903240516781807, + -0.15929491817951202 + ], + "orientation": [ + 0.8610373735427856, + 0.20553414523601532, + -0.3339681029319763, + 0.32378318905830383 + ], + "joints": [ + 0.023005496710538864 + ] + }, + "fine_grasp": { + "position": [ + 0.054688163101673126, + 0.08822419494390488, + -0.15645655989646912 + ], + "orientation": [ + 0.8612536191940308, + 0.20516087114810944, + -0.3333134651184082, + 0.3241192698478699 + ], + "joints": [ + 0.013789582997560501 + ] + }, + "final_grasp": { + "position": [ + 0.054688163101673126, + 0.08822419494390488, + -0.15645655989646912 + ], + "orientation": [ + 0.8612536191940308, + 0.20516087114810944, + -0.3333134651184082, + 0.3241192698478699 + ], + "joints": [ + 0.004573669284582138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056092727929353714, + 0.09018466621637344, + -0.15903043746948242 + ], + "orientation": [ + 0.8616347908973694, + 0.20579735934734344, + -0.33310049772262573, + 0.322919636964798 + ], + "joints": [ + 0.023201705887913704 + ] + }, + "fine_grasp": { + "position": [ + 0.05447660759091377, + 0.08805473148822784, + -0.15627431869506836 + ], + "orientation": [ + 0.8615351915359497, + 0.20577776432037354, + -0.33322957158088684, + 0.3230644762516022 + ], + "joints": [ + 0.01396489329636097 + ] + }, + "final_grasp": { + "position": [ + 0.05447660759091377, + 0.08805473148822784, + -0.15627431869506836 + ], + "orientation": [ + 0.8615351915359497, + 0.20577776432037354, + -0.33322957158088684, + 0.3230644762516022 + ], + "joints": [ + 0.004728080704808235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005972208455204964, + 0.15096904337406158, + -0.08683730661869049 + ], + "orientation": [ + 0.5089952945709229, + 0.43219515681266785, + -0.45091181993484497, + 0.5922918319702148 + ], + "joints": [ + 0.022797098383307457 + ] + }, + "fine_grasp": { + "position": [ + -0.005763035733252764, + 0.14723415672779083, + -0.08601858466863632 + ], + "orientation": [ + 0.5089700222015381, + 0.43208378553390503, + -0.4511852562427521, + 0.5921865701675415 + ], + "joints": [ + 0.013957342132925987 + ] + }, + "final_grasp": { + "position": [ + -0.005763035733252764, + 0.14723415672779083, + -0.08601858466863632 + ], + "orientation": [ + 0.5089700222015381, + 0.43208378553390503, + -0.4511852562427521, + 0.5921865701675415 + ], + "joints": [ + 0.0051175858825445175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026352066546678543, + -0.07472436875104904, + -0.1487581580877304 + ], + "orientation": [ + 0.7890499234199524, + -0.26064836978912354, + -0.27952051162719727, + -0.4809686839580536 + ], + "joints": [ + 0.02460322342813015 + ] + }, + "fine_grasp": { + "position": [ + 0.02542005106806755, + -0.07180821895599365, + -0.14642922580242157 + ], + "orientation": [ + 0.7880734801292419, + -0.2621488571166992, + -0.28247272968292236, + -0.4800283908843994 + ], + "joints": [ + 0.01576346717774868 + ] + }, + "final_grasp": { + "position": [ + 0.02542005106806755, + -0.07180821895599365, + -0.14642922580242157 + ], + "orientation": [ + 0.7880734801292419, + -0.2621488571166992, + -0.28247272968292236, + -0.4800283908843994 + ], + "joints": [ + 0.00692371092736721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026329372078180313, + -0.07467947155237198, + -0.14877288043498993 + ], + "orientation": [ + 0.7890329957008362, + -0.26071301102638245, + -0.2795651853084564, + -0.48093563318252563 + ], + "joints": [ + 0.024811621755361557 + ] + }, + "fine_grasp": { + "position": [ + 0.02540786936879158, + -0.07174565643072128, + -0.14641858637332916 + ], + "orientation": [ + 0.7880194187164307, + -0.262310653924942, + -0.2823898494243622, + -0.4800775945186615 + ], + "joints": [ + 0.015574809163808823 + ] + }, + "final_grasp": { + "position": [ + 0.02540786936879158, + -0.07174565643072128, + -0.14641858637332916 + ], + "orientation": [ + 0.7880194187164307, + -0.262310653924942, + -0.2823898494243622, + -0.4800775945186615 + ], + "joints": [ + 0.006337996572256088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07197070121765137, + 0.053066253662109375, + -0.13828445971012115 + ], + "orientation": [ + 0.24777808785438538, + 0.35559672117233276, + 0.07053015381097794, + -0.8984333276748657 + ], + "joints": [ + 0.02476036734879017 + ] + }, + "fine_grasp": { + "position": [ + 0.06949885934591293, + 0.05111294984817505, + -0.13681477308273315 + ], + "orientation": [ + 0.2504098415374756, + 0.35649341344833374, + 0.06904026865959167, + -0.8974635601043701 + ], + "joints": [ + 0.015147397294640541 + ] + }, + "final_grasp": { + "position": [ + 0.06949885934591293, + 0.05111294984817505, + -0.13681477308273315 + ], + "orientation": [ + 0.2504098415374756, + 0.35649341344833374, + 0.06904026865959167, + -0.8974635601043701 + ], + "joints": [ + 0.005534427240490913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04940756782889366, + -0.014411231502890587, + -0.1613214761018753 + ], + "orientation": [ + 0.24248619377613068, + -0.2276875227689743, + 0.07691065222024918, + 0.9399167895317078 + ], + "joints": [ + 0.026123909279704094 + ] + }, + "fine_grasp": { + "position": [ + 0.047608159482479095, + -0.01299299392849207, + -0.15838506817817688 + ], + "orientation": [ + 0.24252542853355408, + -0.23152059316635132, + 0.07891435921192169, + 0.9388035535812378 + ], + "joints": [ + 0.0144838597625494 + ] + }, + "final_grasp": { + "position": [ + 0.047608159482479095, + -0.01299299392849207, + -0.15838506817817688 + ], + "orientation": [ + 0.24252542853355408, + -0.23152059316635132, + 0.07891435921192169, + 0.9388035535812378 + ], + "joints": [ + 0.0028438102453947067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0915866568684578, + -0.04132800176739693, + -0.1252845972776413 + ], + "orientation": [ + 0.2198030799627304, + -0.46913114190101624, + -0.14934660494327545, + -0.842198371887207 + ], + "joints": [ + 0.025043176487088203 + ] + }, + "fine_grasp": { + "position": [ + -0.0888642743229866, + -0.039463773369789124, + -0.12327801436185837 + ], + "orientation": [ + 0.21956093609333038, + -0.4701808989048004, + -0.14919191598892212, + -0.8417034149169922 + ], + "joints": [ + 0.015409307554364204 + ] + }, + "final_grasp": { + "position": [ + -0.0888642743229866, + -0.039463773369789124, + -0.12327801436185837 + ], + "orientation": [ + 0.21956093609333038, + -0.4701808989048004, + -0.14919191598892212, + -0.8417034149169922 + ], + "joints": [ + 0.005775438621640205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11079626530408859, + 0.07418040931224823, + -0.02728806622326374 + ], + "orientation": [ + 0.5733022689819336, + 0.1282098889350891, + -0.7855168581008911, + 0.194550558924675 + ], + "joints": [ + 0.025178438052535057 + ] + }, + "fine_grasp": { + "position": [ + 0.1072888970375061, + 0.07247533649206161, + -0.027905868366360664 + ], + "orientation": [ + 0.578984260559082, + 0.12635692954063416, + -0.7817102670669556, + 0.1942688524723053 + ], + "joints": [ + 0.015962524339556694 + ] + }, + "final_grasp": { + "position": [ + 0.1072888970375061, + 0.07247533649206161, + -0.027905868366360664 + ], + "orientation": [ + 0.578984260559082, + 0.12635692954063416, + -0.7817102670669556, + 0.1942688524723053 + ], + "joints": [ + 0.006746610626578331 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10390309989452362, + 0.08479335904121399, + -0.06017482280731201 + ], + "orientation": [ + 0.26629963517189026, + 0.7026938199996948, + 0.14128021895885468, + -0.6444732546806335 + ], + "joints": [ + 0.02549409680068493 + ] + }, + "fine_grasp": { + "position": [ + 0.10059370845556259, + 0.08276344835758209, + -0.05956380069255829 + ], + "orientation": [ + 0.26741960644721985, + 0.6988712549209595, + 0.13847705721855164, + -0.648760199546814 + ], + "joints": [ + 0.015087014064192772 + ] + }, + "final_grasp": { + "position": [ + 0.10059370845556259, + 0.08276344835758209, + -0.05956380069255829 + ], + "orientation": [ + 0.26741960644721985, + 0.6988712549209595, + 0.13847705721855164, + -0.648760199546814 + ], + "joints": [ + 0.004679931327700615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1066131442785263, + 0.10798992961645126, + -0.031909968703985214 + ], + "orientation": [ + 0.6006981134414673, + 0.28227439522743225, + 0.7208504676818848, + -0.1996435523033142 + ], + "joints": [ + 0.02062048949301243 + ] + }, + "fine_grasp": { + "position": [ + -0.10373823344707489, + 0.1053893119096756, + -0.03221283107995987 + ], + "orientation": [ + 0.6036689877510071, + 0.283273845911026, + 0.7170450091362, + -0.20294374227523804 + ], + "joints": [ + 0.011404575780034065 + ] + }, + "final_grasp": { + "position": [ + -0.10373823344707489, + 0.1053893119096756, + -0.03221283107995987 + ], + "orientation": [ + 0.6036689877510071, + 0.283273845911026, + 0.7170450091362, + -0.20294374227523804 + ], + "joints": [ + 0.002188662067055702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05487784370779991, + -0.09741528332233429, + -0.07320410013198853 + ], + "orientation": [ + 0.6014675498008728, + -0.3571653962135315, + 0.5963172316551208, + 0.3937962055206299 + ], + "joints": [ + 0.023603178560733795 + ] + }, + "fine_grasp": { + "position": [ + -0.053186893463134766, + -0.09395164996385574, + -0.07259528338909149 + ], + "orientation": [ + 0.6031212210655212, + -0.3562730848789215, + 0.5936605334281921, + 0.3960826098918915 + ], + "joints": [ + 0.013990208506584167 + ] + }, + "final_grasp": { + "position": [ + -0.053186893463134766, + -0.09395164996385574, + -0.07259528338909149 + ], + "orientation": [ + 0.6031212210655212, + -0.3562730848789215, + 0.5936605334281921, + 0.3960826098918915 + ], + "joints": [ + 0.00437723845243454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12133003026247025, + 0.012925556860864162, + -0.09473228454589844 + ], + "orientation": [ + 0.11208362877368927, + -0.6031914353370667, + -0.0568322129547596, + 0.7876340746879578 + ], + "joints": [ + 0.02532104402780533 + ] + }, + "fine_grasp": { + "position": [ + 0.11758264899253845, + 0.013121739961206913, + -0.09350985288619995 + ], + "orientation": [ + 0.11346354335546494, + -0.6025394797325134, + -0.05870940536260605, + 0.7877978086471558 + ], + "joints": [ + 0.015311017632484436 + ] + }, + "final_grasp": { + "position": [ + 0.11758264899253845, + 0.013121739961206913, + -0.09350985288619995 + ], + "orientation": [ + 0.11346354335546494, + -0.6025394797325134, + -0.05870940536260605, + 0.7877978086471558 + ], + "joints": [ + 0.005300991237163544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026285994797945023, + -0.07468339055776596, + -0.14851130545139313 + ], + "orientation": [ + 0.7891188859939575, + -0.26036515831947327, + -0.2789292335510254, + -0.48135218024253845 + ], + "joints": [ + 0.024811621755361557 + ] + }, + "fine_grasp": { + "position": [ + 0.02536463364958763, + -0.07175802439451218, + -0.14616671204566956 + ], + "orientation": [ + 0.7881213426589966, + -0.26200324296951294, + -0.28172236680984497, + -0.48047006130218506 + ], + "joints": [ + 0.015574809163808823 + ] + }, + "final_grasp": { + "position": [ + 0.02536463364958763, + -0.07175802439451218, + -0.14616671204566956 + ], + "orientation": [ + 0.7881213426589966, + -0.26200324296951294, + -0.28172236680984497, + -0.48047006130218506 + ], + "joints": [ + 0.006337996572256088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03825796768069267, + -0.09513713419437408, + -0.09187973290681839 + ], + "orientation": [ + 0.4532889425754547, + -0.4909570813179016, + 0.3617895841598511, + 0.6500756740570068 + ], + "joints": [ + 0.025054143741726875 + ] + }, + "fine_grasp": { + "position": [ + 0.03716340288519859, + -0.09185486286878586, + -0.09017711132764816 + ], + "orientation": [ + 0.45441725850105286, + -0.48700258135795593, + 0.36117681860923767, + 0.6525983810424805 + ], + "joints": [ + 0.015441173687577248 + ] + }, + "final_grasp": { + "position": [ + 0.03716340288519859, + -0.09185486286878586, + -0.09017711132764816 + ], + "orientation": [ + 0.45441725850105286, + -0.48700258135795593, + 0.36117681860923767, + 0.6525983810424805 + ], + "joints": [ + 0.00582820363342762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012114043347537518, + -2.1454754460137337e-05, + -0.1883617490530014 + ], + "orientation": [ + 0.021777866408228874, + 0.058538369834423065, + -0.06741362065076828, + -0.9957682490348816 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + 0.01195679884403944, + 0.000520794652402401, + -0.18454590439796448 + ], + "orientation": [ + 0.021666470915079117, + 0.057437069714069366, + -0.06637600064277649, + -0.9959045052528381 + ], + "joints": [ + 0.01450740359723568 + ] + }, + "final_grasp": { + "position": [ + 0.01195679884403944, + 0.000520794652402401, + -0.18454590439796448 + ], + "orientation": [ + 0.021666470915079117, + 0.057437069714069366, + -0.06637600064277649, + -0.9959045052528381 + ], + "joints": [ + 0.005291489884257317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1039602980017662, + 0.08488944917917252, + -0.05961821228265762 + ], + "orientation": [ + 0.2687343955039978, + 0.7000695466995239, + 0.13939060270786285, + -0.646726131439209 + ], + "joints": [ + 0.025713462382555008 + ] + }, + "fine_grasp": { + "position": [ + 0.10066215693950653, + 0.08279396593570709, + -0.059141699224710464 + ], + "orientation": [ + 0.26971831917762756, + 0.6973055005073547, + 0.13714022934436798, + -0.6497765779495239 + ], + "joints": [ + 0.015306379646062851 + ] + }, + "final_grasp": { + "position": [ + 0.10066215693950653, + 0.08279396593570709, + -0.059141699224710464 + ], + "orientation": [ + 0.26971831917762756, + 0.6973055005073547, + 0.13714022934436798, + -0.6497765779495239 + ], + "joints": [ + 0.004899296909570694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13160677254199982, + 0.05362381786108017, + -0.04190918803215027 + ], + "orientation": [ + 0.10439120978116989, + 0.707019031047821, + -0.08872544765472412, + 0.6937969923019409 + ], + "joints": [ + 0.021986661478877068 + ] + }, + "fine_grasp": { + "position": [ + -0.12802326679229736, + 0.05269262567162514, + -0.04277607053518295 + ], + "orientation": [ + 0.10029812902212143, + 0.7152971625328064, + -0.08901377767324448, + 0.6858329176902771 + ], + "joints": [ + 0.013543961569666862 + ] + }, + "final_grasp": { + "position": [ + -0.12802326679229736, + 0.05269262567162514, + -0.04277607053518295 + ], + "orientation": [ + 0.10029812902212143, + 0.7152971625328064, + -0.08901377767324448, + 0.6858329176902771 + ], + "joints": [ + 0.005101261660456657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1310524195432663, + 0.05321741849184036, + -0.04135863482952118 + ], + "orientation": [ + 0.10574160516262054, + 0.7041009664535522, + -0.09122951328754425, + 0.6962311863899231 + ], + "joints": [ + 0.02242661453783512 + ] + }, + "fine_grasp": { + "position": [ + -0.12748654186725616, + 0.05238134413957596, + -0.04232226684689522 + ], + "orientation": [ + 0.10019789636135101, + 0.7142995595932007, + -0.09114237129688263, + 0.6866072416305542 + ], + "joints": [ + 0.01356595940887928 + ] + }, + "final_grasp": { + "position": [ + -0.12748654186725616, + 0.05238134413957596, + -0.04232226684689522 + ], + "orientation": [ + 0.10019789636135101, + 0.7142995595932007, + -0.09114237129688263, + 0.6866072416305542 + ], + "joints": [ + 0.004705304279923439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005965770687907934, + 0.1500561684370041, + -0.08625335246324539 + ], + "orientation": [ + 0.5075165033340454, + 0.4323728382587433, + -0.4520806074142456, + 0.5925402641296387 + ], + "joints": [ + 0.023468606173992157 + ] + }, + "fine_grasp": { + "position": [ + -0.005776763893663883, + 0.14632664620876312, + -0.08525366336107254 + ], + "orientation": [ + 0.5084225535392761, + 0.4312715530395508, + -0.4511457681655884, + 0.5932781100273132 + ], + "joints": [ + 0.014628849923610687 + ] + }, + "final_grasp": { + "position": [ + -0.005776763893663883, + 0.14632664620876312, + -0.08525366336107254 + ], + "orientation": [ + 0.5084225535392761, + 0.4312715530395508, + -0.4511457681655884, + 0.5932781100273132 + ], + "joints": [ + 0.0057890936732292175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08254929631948471, + -0.009586195461452007, + -0.12432221323251724 + ], + "orientation": [ + 0.12516187131404877, + -0.4392454922199249, + -0.07648952305316925, + -0.8863109946250916 + ], + "joints": [ + 0.025304686278104782 + ] + }, + "fine_grasp": { + "position": [ + -0.08032654225826263, + -0.008489623665809631, + -0.12385602295398712 + ], + "orientation": [ + 0.1279207319021225, + -0.431930273771286, + -0.07264208048582077, + -0.8898289799690247 + ], + "joints": [ + 0.01610967144370079 + ] + }, + "final_grasp": { + "position": [ + -0.08032654225826263, + -0.008489623665809631, + -0.12385602295398712 + ], + "orientation": [ + 0.1279207319021225, + -0.431930273771286, + -0.07264208048582077, + -0.8898289799690247 + ], + "joints": [ + 0.006914656609296799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039177436381578445, + -0.09777618944644928, + -0.09359975159168243 + ], + "orientation": [ + 0.45857539772987366, + -0.4956984221935272, + 0.3591896593570709, + 0.6441851258277893 + ], + "joints": [ + 0.024140113964676857 + ] + }, + "fine_grasp": { + "position": [ + 0.03808603808283806, + -0.09442403167486191, + -0.09177261590957642 + ], + "orientation": [ + 0.4612818956375122, + -0.49081096053123474, + 0.3565988540649414, + 0.6474263072013855 + ], + "joints": [ + 0.015363054350018501 + ] + }, + "final_grasp": { + "position": [ + 0.03808603808283806, + -0.09442403167486191, + -0.09177261590957642 + ], + "orientation": [ + 0.4612818956375122, + -0.49081096053123474, + 0.3565988540649414, + 0.6474263072013855 + ], + "joints": [ + 0.006585994735360146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01150934211909771, + 0.05987880378961563, + -0.15874403715133667 + ], + "orientation": [ + 0.595183789730072, + 0.1471400409936905, + -0.11086659878492355, + 0.7821859121322632 + ], + "joints": [ + 0.02476026676595211 + ] + }, + "fine_grasp": { + "position": [ + -0.011249825358390808, + 0.0587732307612896, + -0.15760931372642517 + ], + "orientation": [ + 0.5950838327407837, + 0.15032722055912018, + -0.11276637017726898, + 0.7813838124275208 + ], + "joints": [ + 0.015565251931548119 + ] + }, + "final_grasp": { + "position": [ + -0.011249825358390808, + 0.0587732307612896, + -0.15760931372642517 + ], + "orientation": [ + 0.5950838327407837, + 0.15032722055912018, + -0.11276637017726898, + 0.7813838124275208 + ], + "joints": [ + 0.006370237097144127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01165427640080452, + 0.060005851089954376, + -0.15825271606445312 + ], + "orientation": [ + 0.5921570658683777, + 0.14750784635543823, + -0.11118636280298233, + 0.7843654155731201 + ], + "joints": [ + 0.024516455829143524 + ] + }, + "fine_grasp": { + "position": [ + -0.011209429241716862, + 0.05899059399962425, + -0.1564704328775406 + ], + "orientation": [ + 0.5919124484062195, + 0.15158987045288086, + -0.11323516815900803, + 0.7834781408309937 + ], + "joints": [ + 0.01573939621448517 + ] + }, + "final_grasp": { + "position": [ + -0.011209429241716862, + 0.05899059399962425, + -0.1564704328775406 + ], + "orientation": [ + 0.5919124484062195, + 0.15158987045288086, + -0.11323516815900803, + 0.7834781408309937 + ], + "joints": [ + 0.006962336599826813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0010521325748413801, + -0.11116116493940353, + -0.0556412898004055 + ], + "orientation": [ + 0.5360730886459351, + -0.5398308038711548, + 0.47073832154273987, + 0.44678154587745667 + ], + "joints": [ + 0.025020020082592964 + ] + }, + "fine_grasp": { + "position": [ + -0.001111972494982183, + -0.10717936605215073, + -0.05509273707866669 + ], + "orientation": [ + 0.538882315158844, + -0.5371408462524414, + 0.46737992763519287, + 0.4501572549343109 + ], + "joints": [ + 0.0158041063696146 + ] + }, + "final_grasp": { + "position": [ + -0.001111972494982183, + -0.10717936605215073, + -0.05509273707866669 + ], + "orientation": [ + 0.538882315158844, + -0.5371408462524414, + 0.46737992763519287, + 0.4501572549343109 + ], + "joints": [ + 0.006588192656636238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11699262261390686, + 0.011839695274829865, + -0.09252920746803284 + ], + "orientation": [ + 0.7695947289466858, + -0.0505606010556221, + -0.6358094215393066, + 0.030231274664402008 + ], + "joints": [ + 0.02276175282895565 + ] + }, + "fine_grasp": { + "position": [ + 0.11352871358394623, + 0.012034455314278603, + -0.0908067598938942 + ], + "orientation": [ + 0.7759193778038025, + -0.05172237753868103, + -0.6279388070106506, + 0.03109215386211872 + ], + "joints": [ + 0.012730827555060387 + ] + }, + "final_grasp": { + "position": [ + 0.11352871358394623, + 0.012034455314278603, + -0.0908067598938942 + ], + "orientation": [ + 0.7759193778038025, + -0.05172237753868103, + -0.6279388070106506, + 0.03109215386211872 + ], + "joints": [ + 0.002699902281165123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09548616409301758, + 0.09351468831300735, + -0.07858996093273163 + ], + "orientation": [ + 0.30140289664268494, + 0.627568781375885, + 0.17820455133914948, + -0.6953824758529663 + ], + "joints": [ + 0.025663429871201515 + ] + }, + "fine_grasp": { + "position": [ + 0.09261464327573776, + 0.09125152975320816, + -0.07713046669960022 + ], + "orientation": [ + 0.3029979467391968, + 0.6223108768463135, + 0.17605218291282654, + -0.6999478340148926 + ], + "joints": [ + 0.01563250459730625 + ] + }, + "final_grasp": { + "position": [ + 0.09261464327573776, + 0.09125152975320816, + -0.07713046669960022 + ], + "orientation": [ + 0.3029979467391968, + 0.6223108768463135, + 0.17605218291282654, + -0.6999478340148926 + ], + "joints": [ + 0.005601579323410988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026889467611908913, + 0.006818365305662155, + -0.18263480067253113 + ], + "orientation": [ + 0.7985756397247314, + 0.0088951475918293, + -0.1293877810239792, + -0.5877556204795837 + ], + "joints": [ + 0.02460322342813015 + ] + }, + "fine_grasp": { + "position": [ + 0.02631230279803276, + 0.0068990630097687244, + -0.17895488440990448 + ], + "orientation": [ + 0.799237847328186, + 0.009346790611743927, + -0.12643998861312866, + -0.5874900221824646 + ], + "joints": [ + 0.01496935449540615 + ] + }, + "final_grasp": { + "position": [ + 0.02631230279803276, + 0.0068990630097687244, + -0.17895488440990448 + ], + "orientation": [ + 0.799237847328186, + 0.009346790611743927, + -0.12643998861312866, + -0.5874900221824646 + ], + "joints": [ + 0.005335485562682152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08263711631298065, + 0.04626936465501785, + -0.14849913120269775 + ], + "orientation": [ + 0.9215112924575806, + 0.10964560508728027, + -0.3712156116962433, + 0.03152409940958023 + ], + "joints": [ + 0.02504098229110241 + ] + }, + "fine_grasp": { + "position": [ + 0.08005943149328232, + 0.045353300869464874, + -0.14572598040103912 + ], + "orientation": [ + 0.9216986894607544, + 0.1094946563243866, + -0.37082111835479736, + 0.031211111694574356 + ], + "joints": [ + 0.015448911115527153 + ] + }, + "final_grasp": { + "position": [ + 0.08005943149328232, + 0.045353300869464874, + -0.14572598040103912 + ], + "orientation": [ + 0.9216986894607544, + 0.1094946563243866, + -0.37082111835479736, + 0.031211111694574356 + ], + "joints": [ + 0.005856839939951897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13111628592014313, + 0.03491983562707901, + -0.05704096704721451 + ], + "orientation": [ + 0.03492246940732002, + 0.7166445255279541, + -0.05770166218280792, + 0.6941696405410767 + ], + "joints": [ + 0.02393171563744545 + ] + }, + "fine_grasp": { + "position": [ + -0.12728546559810638, + 0.034332118928432465, + -0.05643858388066292 + ], + "orientation": [ + 0.03601527959108353, + 0.7126006484031677, + -0.058483898639678955, + 0.6981997489929199 + ], + "joints": [ + 0.014715801924467087 + ] + }, + "final_grasp": { + "position": [ + -0.12728546559810638, + 0.034332118928432465, + -0.05643858388066292 + ], + "orientation": [ + 0.03601527959108353, + 0.7126006484031677, + -0.058483898639678955, + 0.6981997489929199 + ], + "joints": [ + 0.005499888211488724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00781389232724905, + 0.10137137770652771, + -0.1526966392993927 + ], + "orientation": [ + 0.6515091061592102, + 0.2595316767692566, + -0.21949617564678192, + 0.6782333850860596 + ], + "joints": [ + 0.025446562096476555 + ] + }, + "fine_grasp": { + "position": [ + -0.0075437165796756744, + 0.09843709319829941, + -0.15018585324287415 + ], + "orientation": [ + 0.651121973991394, + 0.26179903745651245, + -0.22229677438735962, + 0.6768202185630798 + ], + "joints": [ + 0.016230648383498192 + ] + }, + "final_grasp": { + "position": [ + -0.0075437165796756744, + 0.09843709319829941, + -0.15018585324287415 + ], + "orientation": [ + 0.651121973991394, + 0.26179903745651245, + -0.22229677438735962, + 0.6768202185630798 + ], + "joints": [ + 0.007014734670519829 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08241035044193268, + 0.04596475511789322, + -0.14779716730117798 + ], + "orientation": [ + 0.92152339220047, + 0.10933046042919159, + -0.37141022086143494, + 0.029931144788861275 + ], + "joints": [ + 0.02504098229110241 + ] + }, + "fine_grasp": { + "position": [ + 0.07983381301164627, + 0.04505937919020653, + -0.14506259560585022 + ], + "orientation": [ + 0.921664834022522, + 0.10932621359825134, + -0.3710961937904358, + 0.02948213927447796 + ], + "joints": [ + 0.015448911115527153 + ] + }, + "final_grasp": { + "position": [ + 0.07983381301164627, + 0.04505937919020653, + -0.14506259560585022 + ], + "orientation": [ + 0.921664834022522, + 0.10932621359825134, + -0.3710961937904358, + 0.02948213927447796 + ], + "joints": [ + 0.005856839939951897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012877285480499268, + 0.020426640287041664, + -0.1943667232990265 + ], + "orientation": [ + 0.7810896039009094, + -0.028569601476192474, + 0.042177412658929825, + -0.6223374009132385 + ], + "joints": [ + 0.02323705144226551 + ] + }, + "fine_grasp": { + "position": [ + -0.012437235563993454, + 0.0201893113553524, + -0.19041994214057922 + ], + "orientation": [ + 0.7812024354934692, + -0.027316421270370483, + 0.042514387518167496, + -0.6222290396690369 + ], + "joints": [ + 0.014000238850712776 + ] + }, + "final_grasp": { + "position": [ + -0.012437235563993454, + 0.0201893113553524, + -0.19041994214057922 + ], + "orientation": [ + 0.7812024354934692, + -0.027316421270370483, + 0.042514387518167496, + -0.6222290396690369 + ], + "joints": [ + 0.004763426259160042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08780375868082047, + -0.012695752084255219, + -0.1484699547290802 + ], + "orientation": [ + 0.058513715863227844, + -0.32548704743385315, + 0.09930329024791718, + 0.9384952187538147 + ], + "joints": [ + 0.023746473714709282 + ] + }, + "fine_grasp": { + "position": [ + 0.08495406061410904, + -0.011748571880161762, + -0.14629390835762024 + ], + "orientation": [ + 0.05665472522377968, + -0.33059436082839966, + 0.10006673634052277, + 0.936741292476654 + ], + "joints": [ + 0.014509661123156548 + ] + }, + "final_grasp": { + "position": [ + 0.08495406061410904, + -0.011748571880161762, + -0.14629390835762024 + ], + "orientation": [ + 0.05665472522377968, + -0.33059436082839966, + 0.10006673634052277, + 0.936741292476654 + ], + "joints": [ + 0.005272848531603813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09474258869886398, + 0.09330250322818756, + -0.07778684794902802 + ], + "orientation": [ + 0.29658085107803345, + 0.6220335364341736, + 0.18297557532787323, + -0.7011662125587463 + ], + "joints": [ + 0.025683822110295296 + ] + }, + "fine_grasp": { + "position": [ + 0.09186951071023941, + 0.09101402759552002, + -0.07662145793437958 + ], + "orientation": [ + 0.29708394408226013, + 0.6192113161087036, + 0.18144580721855164, + -0.7038437128067017 + ], + "joints": [ + 0.015652896836400032 + ] + }, + "final_grasp": { + "position": [ + 0.09186951071023941, + 0.09101402759552002, + -0.07662145793437958 + ], + "orientation": [ + 0.29708394408226013, + 0.6192113161087036, + 0.18144580721855164, + -0.7038437128067017 + ], + "joints": [ + 0.005621971562504768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08789347857236862, + -0.012735610827803612, + -0.14851227402687073 + ], + "orientation": [ + 0.05826268345117569, + -0.3252975642681122, + 0.09949439764022827, + 0.9385561347007751 + ], + "joints": [ + 0.023746473714709282 + ] + }, + "fine_grasp": { + "position": [ + 0.08500292152166367, + -0.011782309971749783, + -0.14633259177207947 + ], + "orientation": [ + 0.05635991320014, + -0.330637663602829, + 0.10023686289787292, + 0.9367255568504333 + ], + "joints": [ + 0.014509661123156548 + ] + }, + "final_grasp": { + "position": [ + 0.08500292152166367, + -0.011782309971749783, + -0.14633259177207947 + ], + "orientation": [ + 0.05635991320014, + -0.330637663602829, + 0.10023686289787292, + 0.9367255568504333 + ], + "joints": [ + 0.005272848531603813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12207980453968048, + 0.03879035636782646, + 0.040285758674144745 + ], + "orientation": [ + 0.041444189846515656, + 0.7281184196472168, + -0.08257114142179489, + 0.6791965961456299 + ], + "joints": [ + 0.018410751596093178 + ] + }, + "fine_grasp": { + "position": [ + -0.11823634803295135, + 0.03811610862612724, + 0.040175218135118484 + ], + "orientation": [ + 0.04106517881155014, + 0.7272046208381653, + -0.08284535259008408, + 0.6801643967628479 + ], + "joints": [ + 0.00758571270853281 + ] + }, + "final_grasp": { + "position": [ + -0.11823634803295135, + 0.03811610862612724, + 0.040175218135118484 + ], + "orientation": [ + 0.04106517881155014, + 0.7272046208381653, + -0.08284535259008408, + 0.6801643967628479 + ], + "joints": [ + -0.0032393261790275574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020109964534640312, + -0.003555014031007886, + -0.19674693048000336 + ], + "orientation": [ + 0.9182265996932983, + -0.0368640199303627, + -0.0811070129275322, + -0.3859046995639801 + ], + "joints": [ + 0.022054899483919144 + ] + }, + "fine_grasp": { + "position": [ + 0.019475532695651054, + -0.0028662022668868303, + -0.1930071860551834 + ], + "orientation": [ + 0.918136477470398, + -0.03743034601211548, + -0.081926628947258, + -0.38589179515838623 + ], + "joints": [ + 0.01281808689236641 + ] + }, + "final_grasp": { + "position": [ + 0.019475532695651054, + -0.0028662022668868303, + -0.1930071860551834 + ], + "orientation": [ + 0.918136477470398, + -0.03743034601211548, + -0.081926628947258, + -0.38589179515838623 + ], + "joints": [ + 0.003581274300813675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011523413704708219, + -0.11063690483570099, + -0.05538506805896759 + ], + "orientation": [ + 0.5360165238380432, + -0.5402253270149231, + 0.4710521101951599, + 0.44604140520095825 + ], + "joints": [ + 0.0250066090375185 + ] + }, + "fine_grasp": { + "position": [ + -0.0012005985481664538, + -0.10668511688709259, + -0.05483953654766083 + ], + "orientation": [ + 0.5387967228889465, + -0.5374991297721863, + 0.46777135133743286, + 0.4494248628616333 + ], + "joints": [ + 0.015790695324540138 + ] + }, + "final_grasp": { + "position": [ + -0.0012005985481664538, + -0.10668511688709259, + -0.05483953654766083 + ], + "orientation": [ + 0.5387967228889465, + -0.5374991297721863, + 0.46777135133743286, + 0.4494248628616333 + ], + "joints": [ + 0.006574781611561775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09497495740652084, + 0.09343905746936798, + -0.07765255123376846 + ], + "orientation": [ + 0.30405300855636597, + 0.6216428279876709, + 0.17566078901290894, + -0.7001824378967285 + ], + "joints": [ + 0.025932827964425087 + ] + }, + "fine_grasp": { + "position": [ + 0.09208201617002487, + 0.09113629907369614, + -0.0766054317355156 + ], + "orientation": [ + 0.30418992042541504, + 0.6192979216575623, + 0.1749529242515564, + -0.7023746371269226 + ], + "joints": [ + 0.015504846349358559 + ] + }, + "final_grasp": { + "position": [ + 0.09208201617002487, + 0.09113629907369614, + -0.0766054317355156 + ], + "orientation": [ + 0.30418992042541504, + 0.6192979216575623, + 0.1749529242515564, + -0.7023746371269226 + ], + "joints": [ + 0.00507686473429203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0977809950709343, + 0.09878341108560562, + -0.06972470134496689 + ], + "orientation": [ + 0.7194972634315491, + 0.2855459451675415, + -0.6049950122833252, + 0.18646231293678284 + ], + "joints": [ + 0.026048092171549797 + ] + }, + "fine_grasp": { + "position": [ + 0.09480135142803192, + 0.09629134088754654, + -0.06914134323596954 + ], + "orientation": [ + 0.7202680110931396, + 0.28516843914985657, + -0.6044217944145203, + 0.18592293560504913 + ], + "joints": [ + 0.016414223238825798 + ] + }, + "final_grasp": { + "position": [ + 0.09480135142803192, + 0.09629134088754654, + -0.06914134323596954 + ], + "orientation": [ + 0.7202680110931396, + 0.28516843914985657, + -0.6044217944145203, + 0.18592293560504913 + ], + "joints": [ + 0.006780354306101799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12229305505752563, + 0.03872279077768326, + 0.040792595595121384 + ], + "orientation": [ + 0.041060760617256165, + 0.7254026532173157, + -0.08241896331310272, + 0.6821379661560059 + ], + "joints": [ + 0.018293466418981552 + ] + }, + "fine_grasp": { + "position": [ + -0.11841283738613129, + 0.03803934156894684, + 0.04069071263074875 + ], + "orientation": [ + 0.04046094790101051, + 0.7245678305625916, + -0.08263453096151352, + 0.6830343008041382 + ], + "joints": [ + 0.007865484803915024 + ] + }, + "final_grasp": { + "position": [ + -0.11841283738613129, + 0.03803934156894684, + 0.04069071263074875 + ], + "orientation": [ + 0.04046094790101051, + 0.7245678305625916, + -0.08263453096151352, + 0.6830343008041382 + ], + "joints": [ + -0.0025624968111515045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08787545561790466, + -0.01274053007364273, + -0.14819620549678802 + ], + "orientation": [ + 0.060075949877500534, + -0.3227536976337433, + 0.09899550676345825, + 0.9393725395202637 + ], + "joints": [ + 0.02330652065575123 + ] + }, + "fine_grasp": { + "position": [ + 0.0849829614162445, + -0.011751187033951283, + -0.14613546431064606 + ], + "orientation": [ + 0.05846972018480301, + -0.32888901233673096, + 0.10016350448131561, + 0.9372195601463318 + ], + "joints": [ + 0.014048809185624123 + ] + }, + "final_grasp": { + "position": [ + 0.0849829614162445, + -0.011751187033951283, + -0.14613546431064606 + ], + "orientation": [ + 0.05846972018480301, + -0.32888901233673096, + 0.10016350448131561, + 0.9372195601463318 + ], + "joints": [ + 0.004791097715497017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08765633404254913, + -0.012721272185444832, + -0.1483997404575348 + ], + "orientation": [ + 0.057999420911073685, + -0.32620927691459656, + 0.09975540637969971, + 0.9382283091545105 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + 0.0847783088684082, + -0.01178241427987814, + -0.14619658887386322 + ], + "orientation": [ + 0.05614638701081276, + -0.3312753736972809, + 0.1003962978720665, + 0.9364959597587585 + ], + "joints": [ + 0.014904459938406944 + ] + }, + "final_grasp": { + "position": [ + 0.0847783088684082, + -0.01178241427987814, + -0.14619658887386322 + ], + "orientation": [ + 0.05614638701081276, + -0.3312753736972809, + 0.1003962978720665, + 0.9364959597587585 + ], + "joints": [ + 0.006085602566599846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11079422384500504, + -0.0263509564101696, + -0.0225024726241827 + ], + "orientation": [ + 0.08533649891614914, + -0.775507926940918, + 0.18368296325206757, + 0.5979679822921753 + ], + "joints": [ + 0.0261765718460083 + ] + }, + "fine_grasp": { + "position": [ + 0.10730975866317749, + -0.02505091391503811, + -0.023452410474419594 + ], + "orientation": [ + 0.08516800403594971, + -0.7743279933929443, + 0.18210069835186005, + 0.6000015735626221 + ], + "joints": [ + 0.015351533889770508 + ] + }, + "final_grasp": { + "position": [ + 0.10730975866317749, + -0.02505091391503811, + -0.023452410474419594 + ], + "orientation": [ + 0.08516800403594971, + -0.7743279933929443, + 0.18210069835186005, + 0.6000015735626221 + ], + "joints": [ + 0.004526495933532715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09757518768310547, + 0.09882401674985886, + -0.06950166821479797 + ], + "orientation": [ + 0.7205160856246948, + 0.2826542258262634, + -0.6037232875823975, + 0.1910012662410736 + ], + "joints": [ + 0.025713462382555008 + ] + }, + "fine_grasp": { + "position": [ + 0.09465542435646057, + 0.09629568457603455, + -0.06881096214056015 + ], + "orientation": [ + 0.7216523289680481, + 0.2822539508342743, + -0.6024921536445618, + 0.19119073450565338 + ], + "joints": [ + 0.01610049232840538 + ] + }, + "final_grasp": { + "position": [ + 0.09465542435646057, + 0.09629568457603455, + -0.06881096214056015 + ], + "orientation": [ + 0.7216523289680481, + 0.2822539508342743, + -0.6024921536445618, + 0.19119073450565338 + ], + "joints": [ + 0.0064875222742557526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05677742883563042, + 0.021484948694705963, + -0.16923721134662628 + ], + "orientation": [ + 0.9445831179618835, + -0.029768815264105797, + -0.2416941225528717, + 0.2201373279094696 + ], + "joints": [ + 0.025689082220196724 + ] + }, + "fine_grasp": { + "position": [ + 0.05510708689689636, + 0.021333979442715645, + -0.16580793261528015 + ], + "orientation": [ + 0.9447876811027527, + -0.02914644032716751, + -0.24083100259304047, + 0.22028879821300507 + ], + "joints": [ + 0.01567905582487583 + ] + }, + "final_grasp": { + "position": [ + 0.05510708689689636, + 0.021333979442715645, + -0.16580793261528015 + ], + "orientation": [ + 0.9447876811027527, + -0.02914644032716751, + -0.24083100259304047, + 0.22028879821300507 + ], + "joints": [ + 0.005669029429554939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09730341285467148, + 0.09862115234136581, + -0.06911150366067886 + ], + "orientation": [ + 0.7215033769607544, + 0.284798264503479, + -0.6020543575286865, + 0.1893502026796341 + ], + "joints": [ + 0.026023713871836662 + ] + }, + "fine_grasp": { + "position": [ + 0.0944184958934784, + 0.09603699296712875, + -0.06841808557510376 + ], + "orientation": [ + 0.7228073477745056, + 0.28439775109291077, + -0.6002046465873718, + 0.19084541499614716 + ], + "joints": [ + 0.0159927885979414 + ] + }, + "final_grasp": { + "position": [ + 0.0944184958934784, + 0.09603699296712875, + -0.06841808557510376 + ], + "orientation": [ + 0.7228073477745056, + 0.28439775109291077, + -0.6002046465873718, + 0.19084541499614716 + ], + "joints": [ + 0.005961863324046135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023857969790697098, + 0.060713548213243484, + -0.16752055287361145 + ], + "orientation": [ + 0.9034261703491211, + 0.14078542590141296, + -0.18093550205230713, + 0.36230242252349854 + ], + "joints": [ + 0.025417733937501907 + ] + }, + "fine_grasp": { + "position": [ + 0.02339821308851242, + 0.05923425033688545, + -0.16394025087356567 + ], + "orientation": [ + 0.9037068486213684, + 0.1412537544965744, + -0.17577432096004486, + 0.36395731568336487 + ], + "joints": [ + 0.01501065120100975 + ] + }, + "final_grasp": { + "position": [ + 0.02339821308851242, + 0.05923425033688545, + -0.16394025087356567 + ], + "orientation": [ + 0.9037068486213684, + 0.1412537544965744, + -0.17577432096004486, + 0.36395731568336487 + ], + "joints": [ + 0.004603568464517593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0972459688782692, + 0.09845024347305298, + -0.06929850578308105 + ], + "orientation": [ + 0.7222536206245422, + 0.2841807007789612, + -0.6014076471328735, + 0.18947269022464752 + ], + "joints": [ + 0.025801174342632294 + ] + }, + "fine_grasp": { + "position": [ + 0.09436029940843582, + 0.09586820751428604, + -0.06860959529876709 + ], + "orientation": [ + 0.7234413623809814, + 0.28386205434799194, + -0.5996660590171814, + 0.19093352556228638 + ], + "joints": [ + 0.016167305409908295 + ] + }, + "final_grasp": { + "position": [ + 0.09436029940843582, + 0.09586820751428604, + -0.06860959529876709 + ], + "orientation": [ + 0.7234413623809814, + 0.28386205434799194, + -0.5996660590171814, + 0.19093352556228638 + ], + "joints": [ + 0.006533436477184296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016785278916358948, + 0.1450275480747223, + -0.04215158522129059 + ], + "orientation": [ + 0.39973172545433044, + 0.5171777009963989, + -0.5297528505325317, + 0.5404660701751709 + ], + "joints": [ + 0.025409355759620667 + ] + }, + "fine_grasp": { + "position": [ + -0.01617450825870037, + 0.1412193328142166, + -0.042729366570711136 + ], + "orientation": [ + 0.39715439081192017, + 0.5194153785705566, + -0.5308587551116943, + 0.5391335487365723 + ], + "joints": [ + 0.01579638570547104 + ] + }, + "final_grasp": { + "position": [ + -0.01617450825870037, + 0.1412193328142166, + -0.042729366570711136 + ], + "orientation": [ + 0.39715439081192017, + 0.5194153785705566, + -0.5308587551116943, + 0.5391335487365723 + ], + "joints": [ + 0.006183415651321411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08429266512393951, + -0.06354526430368423, + -0.05385787412524223 + ], + "orientation": [ + 0.6131884455680847, + -0.21601969003677368, + -0.6915096640586853, + -0.31488049030303955 + ], + "joints": [ + 0.02476036734879017 + ] + }, + "fine_grasp": { + "position": [ + 0.08152620494365692, + -0.06090111285448074, + -0.05308486893773079 + ], + "orientation": [ + 0.6200498938560486, + -0.21357885003089905, + -0.6844691038131714, + -0.3184714913368225 + ], + "joints": [ + 0.015147397294640541 + ] + }, + "final_grasp": { + "position": [ + 0.08152620494365692, + -0.06090111285448074, + -0.05308486893773079 + ], + "orientation": [ + 0.6200498938560486, + -0.21357885003089905, + -0.6844691038131714, + -0.3184714913368225 + ], + "joints": [ + 0.005534427240490913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016370391473174095, + 0.006580776069313288, + -0.1950429230928421 + ], + "orientation": [ + 0.27016159892082214, + 0.036837466061115265, + -0.05826288089156151, + -0.9603441953659058 + ], + "joints": [ + 0.023028653115034103 + ] + }, + "fine_grasp": { + "position": [ + 0.015840575098991394, + 0.006777335423976183, + -0.1911679059267044 + ], + "orientation": [ + 0.27051445841789246, + 0.037137918174266815, + -0.05666113644838333, + -0.9603292346000671 + ], + "joints": [ + 0.014209795743227005 + ] + }, + "final_grasp": { + "position": [ + 0.015840575098991394, + 0.006777335423976183, + -0.1911679059267044 + ], + "orientation": [ + 0.27051445841789246, + 0.037137918174266815, + -0.05666113644838333, + -0.9603292346000671 + ], + "joints": [ + 0.005390938371419907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016804903745651245, + 0.006598365493118763, + -0.19547614455223083 + ], + "orientation": [ + 0.2702306807041168, + 0.0331689789891243, + -0.059212058782577515, + -0.9604004621505737 + ], + "joints": [ + 0.022760530933737755 + ] + }, + "fine_grasp": { + "position": [ + 0.01619262993335724, + 0.006765020079910755, + -0.19161184132099152 + ], + "orientation": [ + 0.27059975266456604, + 0.03412044048309326, + -0.057666465640068054, + -0.9603572487831116 + ], + "joints": [ + 0.013941673561930656 + ] + }, + "final_grasp": { + "position": [ + 0.01619262993335724, + 0.006765020079910755, + -0.19161184132099152 + ], + "orientation": [ + 0.27059975266456604, + 0.03412044048309326, + -0.057666465640068054, + -0.9603572487831116 + ], + "joints": [ + 0.005122816190123558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07594002038240433, + -0.0696471706032753, + 0.06062968820333481 + ], + "orientation": [ + 0.5995109677314758, + -0.3255150616168976, + 0.6827504634857178, + 0.26168325543403625 + ], + "joints": [ + 0.01715894229710102 + ] + }, + "fine_grasp": { + "position": [ + -0.07328807562589645, + -0.06657165288925171, + 0.059876278042793274 + ], + "orientation": [ + 0.598781168460846, + -0.3263656198978424, + 0.6830267310142517, + 0.26157429814338684 + ], + "joints": [ + 0.008799837902188301 + ] + }, + "final_grasp": { + "position": [ + -0.07328807562589645, + -0.06657165288925171, + 0.059876278042793274 + ], + "orientation": [ + 0.598781168460846, + -0.3263656198978424, + 0.6830267310142517, + 0.26157429814338684 + ], + "joints": [ + 0.00044073350727558136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09503234177827835, + 0.06736218184232712, + -0.1473953276872635 + ], + "orientation": [ + 0.25790560245513916, + 0.4659407138824463, + -0.08625193685293198, + 0.8419883847236633 + ], + "joints": [ + 0.021477239206433296 + ] + }, + "fine_grasp": { + "position": [ + -0.09285413473844528, + 0.06592247635126114, + -0.14466352760791779 + ], + "orientation": [ + 0.25964584946632385, + 0.46103957295417786, + -0.08795749396085739, + 0.8439728021621704 + ], + "joints": [ + 0.011822471395134926 + ] + }, + "final_grasp": { + "position": [ + -0.09285413473844528, + 0.06592247635126114, + -0.14466352760791779 + ], + "orientation": [ + 0.25964584946632385, + 0.46103957295417786, + -0.08795749396085739, + 0.8439728021621704 + ], + "joints": [ + 0.0021677035838365555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017126986756920815, + 0.14684438705444336, + -0.04186734929680824 + ], + "orientation": [ + 0.4000353515148163, + 0.5148732662200928, + -0.5296675562858582, + 0.5425214171409607 + ], + "joints": [ + 0.024983452633023262 + ] + }, + "fine_grasp": { + "position": [ + -0.016606740653514862, + 0.14295892417430878, + -0.04231682047247887 + ], + "orientation": [ + 0.3996897041797638, + 0.5153613090515137, + -0.5300127863883972, + 0.5419754385948181 + ], + "joints": [ + 0.016164595261216164 + ] + }, + "final_grasp": { + "position": [ + -0.016606740653514862, + 0.14295892417430878, + -0.04231682047247887 + ], + "orientation": [ + 0.3996897041797638, + 0.5153613090515137, + -0.5300127863883972, + 0.5419754385948181 + ], + "joints": [ + 0.007345737889409065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03866499662399292, + 0.14058244228363037, + -0.03234774246811867 + ], + "orientation": [ + 0.48119038343429565, + 0.39672523736953735, + 0.6574032306671143, + -0.42294904589653015 + ], + "joints": [ + 0.02522841840982437 + ] + }, + "fine_grasp": { + "position": [ + -0.03753595054149628, + 0.13689610362052917, + -0.03286329656839371 + ], + "orientation": [ + 0.48295143246650696, + 0.39707884192466736, + 0.6554463505744934, + -0.4236464202404022 + ], + "joints": [ + 0.015991605818271637 + ] + }, + "final_grasp": { + "position": [ + -0.03753595054149628, + 0.13689610362052917, + -0.03286329656839371 + ], + "orientation": [ + 0.48295143246650696, + 0.39707884192466736, + 0.6554463505744934, + -0.4236464202404022 + ], + "joints": [ + 0.006754793226718903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0381646528840065, + 0.13913872838020325, + -0.03254689648747444 + ], + "orientation": [ + 0.48072442412376404, + 0.39672452211380005, + 0.6574104428291321, + -0.42346805334091187 + ], + "joints": [ + 0.02542218193411827 + ] + }, + "fine_grasp": { + "position": [ + -0.03706151247024536, + 0.13542641699314117, + -0.033044394105672836 + ], + "orientation": [ + 0.48299112915992737, + 0.3969355821609497, + 0.6552287340164185, + -0.4240718483924866 + ], + "joints": [ + 0.015809211879968643 + ] + }, + "final_grasp": { + "position": [ + -0.03706151247024536, + 0.13542641699314117, + -0.033044394105672836 + ], + "orientation": [ + 0.48299112915992737, + 0.3969355821609497, + 0.6552287340164185, + -0.4240718483924866 + ], + "joints": [ + 0.0061962418258190155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04164911061525345, + 0.042409662157297134, + -0.17065691947937012 + ], + "orientation": [ + 0.11722396314144135, + 0.15814504027366638, + -0.07876447588205338, + 0.9772639870643616 + ], + "joints": [ + 0.02569030597805977 + ] + }, + "fine_grasp": { + "position": [ + -0.039811450988054276, + 0.0414649173617363, + -0.16739636659622192 + ], + "orientation": [ + 0.11666253954172134, + 0.16276010870933533, + -0.07920477539300919, + 0.9765375256538391 + ], + "joints": [ + 0.015680279582738876 + ] + }, + "final_grasp": { + "position": [ + -0.039811450988054276, + 0.0414649173617363, + -0.16739636659622192 + ], + "orientation": [ + 0.11666253954172134, + 0.16276010870933533, + -0.07920477539300919, + 0.9765375256538391 + ], + "joints": [ + 0.005670253187417984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04125426337122917, + 0.042383503168821335, + -0.17046979069709778 + ], + "orientation": [ + 0.11710100620985031, + 0.16101521253585815, + -0.0792870745062828, + 0.9767675995826721 + ], + "joints": [ + 0.025909671559929848 + ] + }, + "fine_grasp": { + "position": [ + -0.039528924971818924, + 0.04144302010536194, + -0.16711869835853577 + ], + "orientation": [ + 0.11674860119819641, + 0.16482388973236084, + -0.07971914112567902, + 0.9761391282081604 + ], + "joints": [ + 0.015899645164608955 + ] + }, + "final_grasp": { + "position": [ + -0.039528924971818924, + 0.04144302010536194, + -0.16711869835853577 + ], + "orientation": [ + 0.11674860119819641, + 0.16482388973236084, + -0.07971914112567902, + 0.9761391282081604 + ], + "joints": [ + 0.005889618769288063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0119497524574399, + 0.007982837036252022, + -0.19863499701023102 + ], + "orientation": [ + 0.9737515449523926, + -0.041790641844272614, + -0.008234215900301933, + 0.22359223663806915 + ], + "joints": [ + 0.022820254787802696 + ] + }, + "fine_grasp": { + "position": [ + 0.011172967962920666, + 0.008449514396488667, + -0.19495689868927002 + ], + "orientation": [ + 0.9736039638519287, + -0.044446442276239395, + -0.011633560061454773, + 0.22357212007045746 + ], + "joints": [ + 0.012768430635333061 + ] + }, + "final_grasp": { + "position": [ + 0.011172967962920666, + 0.008449514396488667, + -0.19495689868927002 + ], + "orientation": [ + 0.9736039638519287, + -0.044446442276239395, + -0.011633560061454773, + 0.22357212007045746 + ], + "joints": [ + 0.002716606482863426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01625051535665989, + -0.07749751210212708, + -0.14387840032577515 + ], + "orientation": [ + 0.5796321630477905, + -0.3546367287635803, + -0.29042911529541016, + -0.6737286448478699 + ], + "joints": [ + 0.022298643365502357 + ] + }, + "fine_grasp": { + "position": [ + -0.015807077288627625, + -0.07506804168224335, + -0.14094166457653046 + ], + "orientation": [ + 0.5810898542404175, + -0.3511226773262024, + -0.2879897356033325, + -0.6753585934638977 + ], + "joints": [ + 0.01268567331135273 + ] + }, + "final_grasp": { + "position": [ + -0.015807077288627625, + -0.07506804168224335, + -0.14094166457653046 + ], + "orientation": [ + 0.5810898542404175, + -0.3511226773262024, + -0.2879897356033325, + -0.6753585934638977 + ], + "joints": [ + 0.003072703257203102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01780526526272297, + 0.0557149313390255, + 0.15579362213611603 + ], + "orientation": [ + 0.11547316610813141, + 0.8527473211288452, + -0.4844118058681488, + 0.15758530795574188 + ], + "joints": [ + 0.019025437533855438 + ] + }, + "fine_grasp": { + "position": [ + -0.0161446500569582, + 0.05238404497504234, + 0.15654627978801727 + ], + "orientation": [ + 0.106918103992939, + 0.8525257110595703, + -0.4906211197376251, + 0.14511868357658386 + ], + "joints": [ + 0.00941246747970581 + ] + }, + "final_grasp": { + "position": [ + -0.0161446500569582, + 0.05238404497504234, + 0.15654627978801727 + ], + "orientation": [ + 0.106918103992939, + 0.8525257110595703, + -0.4906211197376251, + 0.14511868357658386 + ], + "joints": [ + -0.00020050257444381714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1356954723596573, + 0.02912091091275215, + -0.03170831501483917 + ], + "orientation": [ + 0.05730859190225601, + 0.7520816326141357, + 0.004069289658218622, + 0.6565608978271484 + ], + "joints": [ + 0.02254238724708557 + ] + }, + "fine_grasp": { + "position": [ + -0.13207828998565674, + 0.028875121846795082, + -0.03240743651986122 + ], + "orientation": [ + 0.056046634912490845, + 0.7541067600250244, + 0.004201686475425959, + 0.6543424129486084 + ], + "joints": [ + 0.013284675776958466 + ] + }, + "final_grasp": { + "position": [ + -0.13207828998565674, + 0.028875121846795082, + -0.03240743651986122 + ], + "orientation": [ + 0.056046634912490845, + 0.7541067600250244, + 0.004201686475425959, + 0.6543424129486084 + ], + "joints": [ + 0.00402696430683136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08388744294643402, + -0.06329747289419174, + -0.05355211719870567 + ], + "orientation": [ + 0.6289733052253723, + -0.22163227200508118, + -0.6783027052879333, + -0.3085080683231354 + ], + "joints": [ + 0.025219490751624107 + ] + }, + "fine_grasp": { + "position": [ + 0.08099395036697388, + -0.06055084988474846, + -0.053596604615449905 + ], + "orientation": [ + 0.6344180107116699, + -0.226850688457489, + -0.6738733053207397, + -0.3032281994819641 + ], + "joints": [ + 0.01560652069747448 + ] + }, + "final_grasp": { + "position": [ + 0.08099395036697388, + -0.06055084988474846, + -0.053596604615449905 + ], + "orientation": [ + 0.6344180107116699, + -0.226850688457489, + -0.6738733053207397, + -0.3032281994819641 + ], + "joints": [ + 0.005993550643324852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012103340588510036, + -0.015293503180146217, + -0.19225764274597168 + ], + "orientation": [ + 0.9382395148277283, + -0.10449777543544769, + -0.07654375582933426, + -0.3208238482475281 + ], + "joints": [ + 0.023538075387477875 + ] + }, + "fine_grasp": { + "position": [ + 0.0116600152105093, + -0.014449112117290497, + -0.18845224380493164 + ], + "orientation": [ + 0.9383763074874878, + -0.10267593711614609, + -0.07742553949356079, + -0.3208006024360657 + ], + "joints": [ + 0.014322161674499512 + ] + }, + "final_grasp": { + "position": [ + 0.0116600152105093, + -0.014449112117290497, + -0.18845224380493164 + ], + "orientation": [ + 0.9383763074874878, + -0.10267593711614609, + -0.07742553949356079, + -0.3208006024360657 + ], + "joints": [ + 0.005106247961521149 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011934546753764153, + -0.01541266217827797, + -0.19226248562335968 + ], + "orientation": [ + 0.9382786750793457, + -0.10400780290365219, + -0.07688388973474503, + -0.3207867443561554 + ], + "joints": [ + 0.023514918982982635 + ] + }, + "fine_grasp": { + "position": [ + 0.011524578556418419, + -0.014462136663496494, + -0.18845513463020325 + ], + "orientation": [ + 0.9383077025413513, + -0.10314588993787766, + -0.07755155861377716, + -0.3208198547363281 + ], + "joints": [ + 0.014278106391429901 + ] + }, + "final_grasp": { + "position": [ + 0.011524578556418419, + -0.014462136663496494, + -0.18845513463020325 + ], + "orientation": [ + 0.9383077025413513, + -0.10314588993787766, + -0.07755155861377716, + -0.3208198547363281 + ], + "joints": [ + 0.005041293799877167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05208900198340416, + 0.13065704703330994, + -0.07818891108036041 + ], + "orientation": [ + 0.6422257423400879, + 0.422808974981308, + 0.5544432997703552, + -0.31838834285736084 + ], + "joints": [ + 0.022403458133339882 + ] + }, + "fine_grasp": { + "position": [ + -0.050792571157217026, + 0.12734749913215637, + -0.07674621790647507 + ], + "orientation": [ + 0.6474900841712952, + 0.4225475788116455, + 0.5462546348571777, + -0.3222047984600067 + ], + "joints": [ + 0.013187544420361519 + ] + }, + "final_grasp": { + "position": [ + -0.050792571157217026, + 0.12734749913215637, + -0.07674621790647507 + ], + "orientation": [ + 0.6474900841712952, + 0.4225475788116455, + 0.5462546348571777, + -0.3222047984600067 + ], + "joints": [ + 0.003971630707383156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011995559325441718, + -0.11069785058498383, + -0.05544207990169525 + ], + "orientation": [ + 0.5364502668380737, + -0.5400625467300415, + 0.4707717299461365, + 0.446012943983078 + ], + "joints": [ + 0.02525157481431961 + ] + }, + "fine_grasp": { + "position": [ + -0.0012532767141237855, + -0.10670165717601776, + -0.054889217019081116 + ], + "orientation": [ + 0.5393173098564148, + -0.537279486656189, + 0.46748775243759155, + 0.44935813546180725 + ], + "joints": [ + 0.015638604760169983 + ] + }, + "final_grasp": { + "position": [ + -0.0012532767141237855, + -0.10670165717601776, + -0.054889217019081116 + ], + "orientation": [ + 0.5393173098564148, + -0.537279486656189, + 0.46748775243759155, + 0.44935813546180725 + ], + "joints": [ + 0.006025634706020355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018561504781246185, + 0.056633226573467255, + 0.15539821982383728 + ], + "orientation": [ + 0.11691945046186447, + 0.8540493249893188, + -0.48062512278556824, + 0.1610252410173416 + ], + "joints": [ + 0.019304731860756874 + ] + }, + "fine_grasp": { + "position": [ + -0.016999725252389908, + 0.05325213819742203, + 0.1561545878648758 + ], + "orientation": [ + 0.10905928164720535, + 0.8536069989204407, + -0.48672184348106384, + 0.15020999312400818 + ], + "joints": [ + 0.00927380658686161 + ] + }, + "final_grasp": { + "position": [ + -0.016999725252389908, + 0.05325213819742203, + 0.1561545878648758 + ], + "orientation": [ + 0.10905928164720535, + 0.8536069989204407, + -0.48672184348106384, + 0.15020999312400818 + ], + "joints": [ + -0.0007571186870336533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03791257366538048, + 0.12896867096424103, + -0.027609029784798622 + ], + "orientation": [ + 0.39082205295562744, + 0.6639392971992493, + 0.4226900339126587, + -0.477258563041687 + ], + "joints": [ + 0.025737840682268143 + ] + }, + "fine_grasp": { + "position": [ + 0.03666077181696892, + 0.1253904551267624, + -0.02838205173611641 + ], + "orientation": [ + 0.39042094349861145, + 0.6626641750335693, + 0.42196565866470337, + -0.47999241948127747 + ], + "joints": [ + 0.015309859067201614 + ] + }, + "final_grasp": { + "position": [ + 0.03666077181696892, + 0.1253904551267624, + -0.02838205173611641 + ], + "orientation": [ + 0.39042094349861145, + 0.6626641750335693, + 0.42196565866470337, + -0.47999241948127747 + ], + "joints": [ + 0.004881877452135086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059888578951358795, + -0.02599310129880905, + -0.14881913363933563 + ], + "orientation": [ + 0.37932854890823364, + -0.3241225779056549, + -0.0674581378698349, + -0.8640044927597046 + ], + "joints": [ + 0.02571096457540989 + ] + }, + "fine_grasp": { + "position": [ + -0.0575106255710125, + -0.02433578483760357, + -0.14641180634498596 + ], + "orientation": [ + 0.37968116998672485, + -0.32575783133506775, + -0.06706269830465317, + -0.8632650971412659 + ], + "joints": [ + 0.01526208408176899 + ] + }, + "final_grasp": { + "position": [ + -0.0575106255710125, + -0.02433578483760357, + -0.14641180634498596 + ], + "orientation": [ + 0.37968116998672485, + -0.32575783133506775, + -0.06706269830465317, + -0.8632650971412659 + ], + "joints": [ + 0.00481320358812809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016993416473269463, + 0.14577338099479675, + -0.041982248425483704 + ], + "orientation": [ + 0.4003315269947052, + 0.5159406661987305, + -0.5292704701423645, + 0.5416758060455322 + ], + "joints": [ + 0.025202816352248192 + ] + }, + "fine_grasp": { + "position": [ + -0.016441579908132553, + 0.14187252521514893, + -0.042467717081308365 + ], + "orientation": [ + 0.399586945772171, + 0.5167431831359863, + -0.5295270681381226, + 0.5412095785140991 + ], + "joints": [ + 0.01598690263926983 + ] + }, + "final_grasp": { + "position": [ + -0.016441579908132553, + 0.14187252521514893, + -0.042467717081308365 + ], + "orientation": [ + 0.399586945772171, + 0.5167431831359863, + -0.5295270681381226, + 0.5412095785140991 + ], + "joints": [ + 0.006770988926291466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02847467176616192, + 0.022987300530076027, + 0.16197699308395386 + ], + "orientation": [ + 0.1419476717710495, + 0.18656283617019653, + -0.9721246957778931, + 0.004343394655734301 + ], + "joints": [ + 0.017902882769703865 + ] + }, + "fine_grasp": { + "position": [ + 0.02766389586031437, + 0.021799929440021515, + 0.16068080067634583 + ], + "orientation": [ + 0.1356712132692337, + 0.19385020434856415, + -0.9716031551361084, + -0.0016972852172330022 + ], + "joints": [ + 0.007474900223314762 + ] + }, + "final_grasp": { + "position": [ + 0.02766389586031437, + 0.021799929440021515, + 0.16068080067634583 + ], + "orientation": [ + 0.1356712132692337, + 0.19385020434856415, + -0.9716031551361084, + -0.0016972852172330022 + ], + "joints": [ + -0.002953082323074341 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07638398557901382, + -0.07055454701185226, + 0.06222013011574745 + ], + "orientation": [ + 0.6072173714637756, + -0.3272809088230133, + 0.6733798384666443, + 0.2659584879875183 + ], + "joints": [ + 0.017142802476882935 + ] + }, + "fine_grasp": { + "position": [ + -0.07385027408599854, + -0.06758780777454376, + 0.061133816838264465 + ], + "orientation": [ + 0.5992740988731384, + -0.3324222266674042, + 0.6795350313186646, + 0.2619122862815857 + ], + "joints": [ + 0.008365742862224579 + ] + }, + "final_grasp": { + "position": [ + -0.07385027408599854, + -0.06758780777454376, + 0.061133816838264465 + ], + "orientation": [ + 0.5992740988731384, + -0.3324222266674042, + 0.6795350313186646, + 0.2619122862815857 + ], + "joints": [ + -0.00041131675243377686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1362472027540207, + 0.029253484681248665, + -0.031508706510066986 + ], + "orientation": [ + 0.056019335985183716, + 0.7516464591026306, + 0.002444247482344508, + 0.6571784615516663 + ], + "joints": [ + 0.022078055888414383 + ] + }, + "fine_grasp": { + "position": [ + -0.13252045214176178, + 0.02898080088198185, + -0.03230643272399902 + ], + "orientation": [ + 0.054935257881879807, + 0.7545803189277649, + 0.002306962851434946, + 0.6539000868797302 + ], + "joints": [ + 0.012841243296861649 + ] + }, + "final_grasp": { + "position": [ + -0.13252045214176178, + 0.02898080088198185, + -0.03230643272399902 + ], + "orientation": [ + 0.054935257881879807, + 0.7545803189277649, + 0.002306962851434946, + 0.6539000868797302 + ], + "joints": [ + 0.003604430705308914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11750689148902893, + 0.04234205186367035, + -0.12938834726810455 + ], + "orientation": [ + 0.06789493560791016, + 0.5408708453178406, + 0.07122746855020523, + -0.8353295922279358 + ], + "joints": [ + 0.019694270566105843 + ] + }, + "fine_grasp": { + "position": [ + 0.1144607737660408, + 0.0417037308216095, + -0.12696239352226257 + ], + "orientation": [ + 0.06771828234195709, + 0.5362952947616577, + 0.06961304694414139, + -0.8384243845939636 + ], + "joints": [ + 0.010499255731701851 + ] + }, + "final_grasp": { + "position": [ + 0.1144607737660408, + 0.0417037308216095, + -0.12696239352226257 + ], + "orientation": [ + 0.06771828234195709, + 0.5362952947616577, + 0.06961304694414139, + -0.8384243845939636 + ], + "joints": [ + 0.0013042408972978592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10240701586008072, + 0.07699006795883179, + -0.05369305983185768 + ], + "orientation": [ + 0.691044807434082, + 0.21900808811187744, + -0.6718875765800476, + 0.1518535315990448 + ], + "joints": [ + 0.025504427030682564 + ] + }, + "fine_grasp": { + "position": [ + 0.09908462315797806, + 0.0749693363904953, + -0.053714025765657425 + ], + "orientation": [ + 0.6915906071662903, + 0.22114312648773193, + -0.6710304021835327, + 0.15005408227443695 + ], + "joints": [ + 0.0154735017567873 + ] + }, + "final_grasp": { + "position": [ + 0.09908462315797806, + 0.0749693363904953, + -0.053714025765657425 + ], + "orientation": [ + 0.6915906071662903, + 0.22114312648773193, + -0.6710304021835327, + 0.15005408227443695 + ], + "joints": [ + 0.0054425764828920364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02015889622271061, + -0.019945332780480385, + -0.17717644572257996 + ], + "orientation": [ + 0.5740859508514404, + -0.024959443137049675, + -0.16490502655506134, + -0.801628828048706 + ], + "joints": [ + 0.025885291397571564 + ] + }, + "fine_grasp": { + "position": [ + 0.01946120150387287, + -0.018777266144752502, + -0.17351822555065155 + ], + "orientation": [ + 0.5741085410118103, + -0.025438493117690086, + -0.1643783301115036, + -0.8017057180404663 + ], + "joints": [ + 0.016272321343421936 + ] + }, + "final_grasp": { + "position": [ + 0.01946120150387287, + -0.018777266144752502, + -0.17351822555065155 + ], + "orientation": [ + 0.5741085410118103, + -0.025438493117690086, + -0.1643783301115036, + -0.8017057180404663 + ], + "joints": [ + 0.006659351289272308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055524494498968124, + -0.091326043009758, + -0.030729489400982857 + ], + "orientation": [ + 0.29091230034828186, + -0.6250525712966919, + 0.4526514708995819, + 0.5654962658882141 + ], + "joints": [ + 0.025957206264138222 + ] + }, + "fine_grasp": { + "position": [ + 0.0537491999566555, + -0.08795318752527237, + -0.03138956055045128 + ], + "orientation": [ + 0.2911372184753418, + -0.625299334526062, + 0.45225128531455994, + 0.5654279589653015 + ], + "joints": [ + 0.015529224649071693 + ] + }, + "final_grasp": { + "position": [ + 0.0537491999566555, + -0.08795318752527237, + -0.03138956055045128 + ], + "orientation": [ + 0.2911372184753418, + -0.625299334526062, + 0.45225128531455994, + 0.5654279589653015 + ], + "joints": [ + 0.005101243034005165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11244449019432068, + 0.07212426513433456, + -0.0607856921851635 + ], + "orientation": [ + 0.0900498479604721, + 0.6508315801620483, + -0.22177453339099884, + 0.7205035090446472 + ], + "joints": [ + 0.025894347578287125 + ] + }, + "fine_grasp": { + "position": [ + -0.10904152691364288, + 0.07028442621231079, + -0.06042688339948654 + ], + "orientation": [ + 0.09108242392539978, + 0.6496163606643677, + -0.2218041867017746, + 0.7214607000350952 + ], + "joints": [ + 0.01586342230439186 + ] + }, + "final_grasp": { + "position": [ + -0.10904152691364288, + 0.07028442621231079, + -0.06042688339948654 + ], + "orientation": [ + 0.09108242392539978, + 0.6496163606643677, + -0.2218041867017746, + 0.7214607000350952 + ], + "joints": [ + 0.005832497030496597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011736813932657242, + 0.043734077364206314, + 0.16722901165485382 + ], + "orientation": [ + 0.07926280796527863, + 0.9026280641555786, + 0.4114595353603363, + -0.09839238226413727 + ], + "joints": [ + 0.018258826807141304 + ] + }, + "fine_grasp": { + "position": [ + 0.010852723382413387, + 0.042308297008275986, + 0.16454850137233734 + ], + "orientation": [ + 0.07885593175888062, + 0.8993730545043945, + 0.418842077255249, + -0.09737075120210648 + ], + "joints": [ + 0.008645856752991676 + ] + }, + "final_grasp": { + "position": [ + 0.010852723382413387, + 0.042308297008275986, + 0.16454850137233734 + ], + "orientation": [ + 0.07885593175888062, + 0.8993730545043945, + 0.418842077255249, + -0.09737075120210648 + ], + "joints": [ + -0.0009671133011579514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04099203273653984, + -0.04433559253811836, + 0.1300753951072693 + ], + "orientation": [ + 0.3248322010040283, + -0.450270414352417, + -0.8145990967750549, + -0.16783618927001953 + ], + "joints": [ + 0.018178638070821762 + ] + }, + "fine_grasp": { + "position": [ + 0.038834281265735626, + -0.04147739335894585, + 0.1315176784992218 + ], + "orientation": [ + 0.3144419491291046, + -0.45601436495780945, + -0.8168370127677917, + -0.16110371053218842 + ], + "joints": [ + 0.00898362323641777 + ] + }, + "final_grasp": { + "position": [ + 0.038834281265735626, + -0.04147739335894585, + 0.1315176784992218 + ], + "orientation": [ + 0.3144419491291046, + -0.45601436495780945, + -0.8168370127677917, + -0.16110371053218842 + ], + "joints": [ + -0.0002113915979862213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08343740552663803, + -0.06312348693609238, + -0.05280414596199989 + ], + "orientation": [ + 0.6181900501251221, + -0.20246262848377228, + -0.6850569844245911, + -0.32794350385665894 + ], + "joints": [ + 0.02464819885790348 + ] + }, + "fine_grasp": { + "position": [ + 0.08058613538742065, + -0.06033216416835785, + -0.052876148372888565 + ], + "orientation": [ + 0.62281733751297, + -0.2064174860715866, + -0.6815635561943054, + -0.3239775598049164 + ], + "joints": [ + 0.015453184023499489 + ] + }, + "final_grasp": { + "position": [ + 0.08058613538742065, + -0.06033216416835785, + -0.052876148372888565 + ], + "orientation": [ + 0.62281733751297, + -0.2064174860715866, + -0.6815635561943054, + -0.3239775598049164 + ], + "joints": [ + 0.006258169189095497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056945931166410446, + -0.08791609853506088, + -0.06513801217079163 + ], + "orientation": [ + 0.5975046157836914, + -0.29317164421081543, + -0.6067876815795898, + -0.4345657229423523 + ], + "joints": [ + 0.025736618787050247 + ] + }, + "fine_grasp": { + "position": [ + 0.055060748010873795, + -0.08462350815534592, + -0.06468363851308823 + ], + "orientation": [ + 0.5998259782791138, + -0.294586181640625, + -0.6050624847412109, + -0.4328131377696991 + ], + "joints": [ + 0.014890681952238083 + ] + }, + "final_grasp": { + "position": [ + 0.055060748010873795, + -0.08462350815534592, + -0.06468363851308823 + ], + "orientation": [ + 0.5998259782791138, + -0.294586181640625, + -0.6050624847412109, + -0.4328131377696991 + ], + "joints": [ + 0.004044745117425919 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023553306236863136, + 0.060774076730012894, + -0.1661015897989273 + ], + "orientation": [ + 0.9041454195976257, + 0.1413438320159912, + -0.17593099176883698, + 0.3627551794052124 + ], + "joints": [ + 0.025932827964425087 + ] + }, + "fine_grasp": { + "position": [ + 0.023018285632133484, + 0.05923842266201973, + -0.16267706453800201 + ], + "orientation": [ + 0.9043075442314148, + 0.14090991020202637, + -0.17190444469451904, + 0.36444616317749023 + ], + "joints": [ + 0.015086891129612923 + ] + }, + "final_grasp": { + "position": [ + 0.023018285632133484, + 0.05923842266201973, + -0.16267706453800201 + ], + "orientation": [ + 0.9043075442314148, + 0.14090991020202637, + -0.17190444469451904, + 0.36444616317749023 + ], + "joints": [ + 0.004240954294800758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04172219708561897, + -0.04369005560874939, + 0.13093766570091248 + ], + "orientation": [ + 0.3262854814529419, + -0.434810072183609, + -0.8218817114830017, + -0.17025965452194214 + ], + "joints": [ + 0.017727438360452652 + ] + }, + "fine_grasp": { + "position": [ + 0.03966804966330528, + -0.040785323828458786, + 0.13243968784809113 + ], + "orientation": [ + 0.31637004017829895, + -0.44153928756713867, + -0.8236668109893799, + -0.16286836564540863 + ], + "joints": [ + 0.008929479867219925 + ] + }, + "final_grasp": { + "position": [ + 0.03966804966330528, + -0.040785323828458786, + 0.13243968784809113 + ], + "orientation": [ + 0.31637004017829895, + -0.44153928756713867, + -0.8236668109893799, + -0.16286836564540863 + ], + "joints": [ + 0.00013152137398719788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00915245246142149, + 0.060770243406295776, + -0.17197251319885254 + ], + "orientation": [ + 0.6546844244003296, + 0.03178183734416962, + 0.11312397569417953, + -0.7467136383056641 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + -0.008987226523458958, + 0.05782557651400566, + -0.16911062598228455 + ], + "orientation": [ + 0.6526694893836975, + 0.04358815401792526, + 0.1246735155582428, + -0.7460423111915588 + ], + "joints": [ + 0.01221507228910923 + ] + }, + "final_grasp": { + "position": [ + -0.008987226523458958, + 0.05782557651400566, + -0.16911062598228455 + ], + "orientation": [ + 0.6526694893836975, + 0.04358815401792526, + 0.1246735155582428, + -0.7460423111915588 + ], + "joints": [ + 0.0038559678941965103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02021578513085842, + -0.019152292981743813, + -0.17526623606681824 + ], + "orientation": [ + 0.5770272612571716, + -0.025353195145726204, + -0.16509680449962616, + -0.7994621396064758 + ], + "joints": [ + 0.025689082220196724 + ] + }, + "fine_grasp": { + "position": [ + 0.019558580592274666, + -0.017953209578990936, + -0.17161178588867188 + ], + "orientation": [ + 0.5769205093383789, + -0.025698449462652206, + -0.16530722379684448, + -0.7994847297668457 + ], + "joints": [ + 0.015699954703450203 + ] + }, + "final_grasp": { + "position": [ + 0.019558580592274666, + -0.017953209578990936, + -0.17161178588867188 + ], + "orientation": [ + 0.5769205093383789, + -0.025698449462652206, + -0.16530722379684448, + -0.7994847297668457 + ], + "joints": [ + 0.005710827186703682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05769146978855133, + -0.08789165318012238, + -0.06569444388151169 + ], + "orientation": [ + 0.597143828868866, + -0.29396507143974304, + -0.6086485385894775, + -0.4319150447845459 + ], + "joints": [ + 0.02571096457540989 + ] + }, + "fine_grasp": { + "position": [ + 0.05576617270708084, + -0.08459725230932236, + -0.0650397315621376 + ], + "orientation": [ + 0.600805938243866, + -0.29389965534210205, + -0.6059365272521973, + -0.4306926727294922 + ], + "joints": [ + 0.014885926619172096 + ] + }, + "final_grasp": { + "position": [ + 0.05576617270708084, + -0.08459725230932236, + -0.0650397315621376 + ], + "orientation": [ + 0.600805938243866, + -0.29389965534210205, + -0.6059365272521973, + -0.4306926727294922 + ], + "joints": [ + 0.004060888662934303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009135651402175426, + 0.06050414964556694, + -0.17185023427009583 + ], + "orientation": [ + 0.6547985076904297, + 0.03381466493010521, + 0.11480464041233063, + -0.7462677359580994 + ], + "joints": [ + 0.021014129742980003 + ] + }, + "fine_grasp": { + "position": [ + -0.00898034032434225, + 0.05764763429760933, + -0.16895778477191925 + ], + "orientation": [ + 0.6529593467712402, + 0.04551876708865166, + 0.1256401091814041, + -0.7455111145973206 + ], + "joints": [ + 0.012237070128321648 + ] + }, + "final_grasp": { + "position": [ + -0.00898034032434225, + 0.05764763429760933, + -0.16895778477191925 + ], + "orientation": [ + 0.6529593467712402, + 0.04551876708865166, + 0.1256401091814041, + -0.7455111145973206 + ], + "joints": [ + 0.003460010513663292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12144285440444946, + 0.03556531295180321, + -0.12809142470359802 + ], + "orientation": [ + 0.8418318629264832, + 0.008540973998606205, + -0.5272893905639648, + 0.11494392156600952 + ], + "joints": [ + 0.021037286147475243 + ] + }, + "fine_grasp": { + "position": [ + 0.11812601238489151, + 0.03493010252714157, + -0.12625829875469208 + ], + "orientation": [ + 0.8422514200210571, + 0.009507783688604832, + -0.5264771580696106, + 0.11551571637392044 + ], + "joints": [ + 0.011800473555922508 + ] + }, + "final_grasp": { + "position": [ + 0.11812601238489151, + 0.03493010252714157, + -0.12625829875469208 + ], + "orientation": [ + 0.8422514200210571, + 0.009507783688604832, + -0.5264771580696106, + 0.11551571637392044 + ], + "joints": [ + 0.002563660964369774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04800530523061752, + -0.06909596920013428, + -0.14782395958900452 + ], + "orientation": [ + 0.6841735243797302, + -0.16270482540130615, + -0.40650448203086853, + -0.5832561254501343 + ], + "joints": [ + 0.02326020784676075 + ] + }, + "fine_grasp": { + "position": [ + 0.046698618680238724, + -0.0668230876326561, + -0.14504101872444153 + ], + "orientation": [ + 0.6852872371673584, + -0.16247090697288513, + -0.40336111187934875, + -0.5841955542564392 + ], + "joints": [ + 0.014044294133782387 + ] + }, + "final_grasp": { + "position": [ + 0.046698618680238724, + -0.0668230876326561, + -0.14504101872444153 + ], + "orientation": [ + 0.6852872371673584, + -0.16247090697288513, + -0.40336111187934875, + -0.5841955542564392 + ], + "joints": [ + 0.004828380420804024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005868769250810146, + -0.012423601001501083, + 0.16537664830684662 + ], + "orientation": [ + 0.0837693139910698, + -0.7554319500923157, + 0.6397879123687744, + 0.11391578614711761 + ], + "joints": [ + 0.01865304820239544 + ] + }, + "fine_grasp": { + "position": [ + 0.005672161933034658, + -0.011420016176998615, + 0.1634141206741333 + ], + "orientation": [ + 0.08230306208133698, + -0.7566806674003601, + 0.6386207938194275, + 0.11324311792850494 + ], + "joints": [ + 0.009060977026820183 + ] + }, + "final_grasp": { + "position": [ + 0.005672161933034658, + -0.011420016176998615, + 0.1634141206741333 + ], + "orientation": [ + 0.08230306208133698, + -0.7566806674003601, + 0.6386207938194275, + 0.11324311792850494 + ], + "joints": [ + -0.0005310941487550735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11772921681404114, + 0.042379699647426605, + -0.12953568994998932 + ], + "orientation": [ + 0.06784288585186005, + 0.541087806224823, + 0.07143262773752213, + -0.8351758718490601 + ], + "joints": [ + 0.019694270566105843 + ] + }, + "fine_grasp": { + "position": [ + 0.11465442180633545, + 0.04175103083252907, + -0.12700611352920532 + ], + "orientation": [ + 0.06760060042142868, + 0.5358736515045166, + 0.06949954479932785, + -0.8387129902839661 + ], + "joints": [ + 0.010499255731701851 + ] + }, + "final_grasp": { + "position": [ + 0.11465442180633545, + 0.04175103083252907, + -0.12700611352920532 + ], + "orientation": [ + 0.06760060042142868, + 0.5358736515045166, + 0.06949954479932785, + -0.8387129902839661 + ], + "joints": [ + 0.0013042408972978592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0370098352432251, + 0.08604605495929718, + 0.13662929832935333 + ], + "orientation": [ + 0.19282127916812897, + 0.8120657205581665, + 0.45501166582107544, + -0.3103766441345215 + ], + "joints": [ + 0.017802556976675987 + ] + }, + "fine_grasp": { + "position": [ + 0.03494413197040558, + 0.08282177150249481, + 0.13590185344219208 + ], + "orientation": [ + 0.1896030604839325, + 0.8084735870361328, + 0.46376463770866394, + -0.3087773621082306 + ], + "joints": [ + 0.008607542142271996 + ] + }, + "final_grasp": { + "position": [ + 0.03494413197040558, + 0.08282177150249481, + 0.13590185344219208 + ], + "orientation": [ + 0.1896030604839325, + 0.8084735870361328, + 0.46376463770866394, + -0.3087773621082306 + ], + "joints": [ + -0.0005874726921319962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11952455341815948, + -0.0004449608677532524, + -0.04035675898194313 + ], + "orientation": [ + 0.6695178151130676, + -0.12132935225963593, + 0.7327118515968323, + -0.012591891922056675 + ], + "joints": [ + 0.025819938629865646 + ] + }, + "fine_grasp": { + "position": [ + -0.11568175256252289, + 0.00011568967602215707, + -0.04076368361711502 + ], + "orientation": [ + 0.6692031621932983, + -0.1182970330119133, + 0.733548641204834, + -0.008906165137887001 + ], + "joints": [ + 0.015391957014799118 + ] + }, + "final_grasp": { + "position": [ + -0.11568175256252289, + 0.00011568967602215707, + -0.04076368361711502 + ], + "orientation": [ + 0.6692031621932983, + -0.1182970330119133, + 0.733548641204834, + -0.008906165137887001 + ], + "joints": [ + 0.00496397539973259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07796332985162735, + -0.047204792499542236, + 0.09312020987272263 + ], + "orientation": [ + 0.2110743522644043, + -0.7794398665428162, + 0.25459346175193787, + 0.5320745706558228 + ], + "joints": [ + 0.016193754971027374 + ] + }, + "fine_grasp": { + "position": [ + 0.07520444691181183, + -0.04505842924118042, + 0.09458378702402115 + ], + "orientation": [ + 0.2096051424741745, + -0.7880187630653381, + 0.2540499269962311, + 0.5201449394226074 + ], + "joints": [ + 0.0074166953563690186 + ] + }, + "final_grasp": { + "position": [ + 0.07520444691181183, + -0.04505842924118042, + 0.09458378702402115 + ], + "orientation": [ + 0.2096051424741745, + -0.7880187630653381, + 0.2540499269962311, + 0.5201449394226074 + ], + "joints": [ + -0.0013603642582893372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08980035036802292, + 0.07232572883367538, + -0.1112939640879631 + ], + "orientation": [ + 0.8543470501899719, + 0.1966124027967453, + 0.4614523947238922, + -0.1360011249780655 + ], + "joints": [ + 0.02502976544201374 + ] + }, + "fine_grasp": { + "position": [ + -0.08661013841629028, + 0.07064975798130035, + -0.10985033214092255 + ], + "orientation": [ + 0.8523122072219849, + 0.1979037970304489, + 0.4659058749675751, + -0.13164196908473969 + ], + "joints": [ + 0.014998840168118477 + ] + }, + "final_grasp": { + "position": [ + -0.08661013841629028, + 0.07064975798130035, + -0.10985033214092255 + ], + "orientation": [ + 0.8523122072219849, + 0.1979037970304489, + 0.4659058749675751, + -0.13164196908473969 + ], + "joints": [ + 0.004967914894223213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01148269884288311, + 0.042131178081035614, + 0.1726042926311493 + ], + "orientation": [ + 0.07400204241275787, + 0.8759530782699585, + -0.46770817041397095, + 0.09208055585622787 + ], + "joints": [ + 0.01850859820842743 + ] + }, + "fine_grasp": { + "position": [ + -0.010850653052330017, + 0.04048752039670944, + 0.16935807466506958 + ], + "orientation": [ + 0.0717732235789299, + 0.8703488707542419, + -0.4783402979373932, + 0.09236887842416763 + ], + "joints": [ + 0.008477672934532166 + ] + }, + "final_grasp": { + "position": [ + -0.010850653052330017, + 0.04048752039670944, + 0.16935807466506958 + ], + "orientation": [ + 0.0717732235789299, + 0.8703488707542419, + -0.4783402979373932, + 0.09236887842416763 + ], + "joints": [ + -0.0015532523393630981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04463312029838562, + -0.03091723844408989, + 0.153245747089386 + ], + "orientation": [ + 0.27770891785621643, + -0.41115617752075195, + 0.8601877689361572, + 0.11792055517435074 + ], + "joints": [ + 0.016890987753868103 + ] + }, + "fine_grasp": { + "position": [ + -0.04270448908209801, + -0.028430866077542305, + 0.15076382458209991 + ], + "orientation": [ + 0.2748847007751465, + -0.4275195002555847, + 0.854293167591095, + 0.10885085165500641 + ], + "joints": [ + 0.007695972453802824 + ] + }, + "final_grasp": { + "position": [ + -0.04270448908209801, + -0.028430866077542305, + 0.15076382458209991 + ], + "orientation": [ + 0.2748847007751465, + -0.4275195002555847, + 0.854293167591095, + 0.10885085165500641 + ], + "joints": [ + -0.001499042846262455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002631720621138811, + -0.08865108340978622, + -0.11835041642189026 + ], + "orientation": [ + 0.6898836493492126, + -0.37795838713645935, + -0.3022823929786682, + -0.5383616089820862 + ], + "joints": [ + 0.025636421516537666 + ] + }, + "fine_grasp": { + "position": [ + 0.0024189406540244818, + -0.08509054780006409, + -0.1166706532239914 + ], + "orientation": [ + 0.6890731453895569, + -0.3813384175300598, + -0.3040572702884674, + -0.5360114574432373 + ], + "joints": [ + 0.01522933878004551 + ] + }, + "final_grasp": { + "position": [ + 0.0024189406540244818, + -0.08509054780006409, + -0.1166706532239914 + ], + "orientation": [ + 0.6890731453895569, + -0.3813384175300598, + -0.3040572702884674, + -0.5360114574432373 + ], + "joints": [ + 0.004822256043553352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0878831148147583, + -0.056339066475629807, + 0.08230533450841904 + ], + "orientation": [ + 0.2203609198331833, + -0.7336045503616333, + -0.26337379217147827, + -0.5864295363426208 + ], + "joints": [ + 0.01583503745496273 + ] + }, + "fine_grasp": { + "position": [ + -0.08497819304466248, + -0.05371803790330887, + 0.08153136074542999 + ], + "orientation": [ + 0.22143365442752838, + -0.7367496490478516, + -0.26473453640937805, + -0.5814487934112549 + ], + "joints": [ + 0.006222067400813103 + ] + }, + "final_grasp": { + "position": [ + -0.08497819304466248, + -0.05371803790330887, + 0.08153136074542999 + ], + "orientation": [ + 0.22143365442752838, + -0.7367496490478516, + -0.26473453640937805, + -0.5814487934112549 + ], + "joints": [ + -0.003390902653336525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07785782963037491, + -0.04724716395139694, + 0.09347176551818848 + ], + "orientation": [ + 0.21274417638778687, + -0.7788714170455933, + 0.25293490290641785, + 0.5330320000648499 + ], + "joints": [ + 0.016340114176273346 + ] + }, + "fine_grasp": { + "position": [ + 0.07503554970026016, + -0.04518149420619011, + 0.09500560909509659 + ], + "orientation": [ + 0.21146313846111298, + -0.7877389788627625, + 0.25250178575515747, + 0.5205702185630798 + ], + "joints": [ + 0.00756305456161499 + ] + }, + "final_grasp": { + "position": [ + 0.07503554970026016, + -0.04518149420619011, + 0.09500560909509659 + ], + "orientation": [ + 0.21146313846111298, + -0.7877389788627625, + 0.25250178575515747, + 0.5205702185630798 + ], + "joints": [ + -0.0012140050530433655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12048612534999847, + -0.000868083443492651, + -0.04031360521912575 + ], + "orientation": [ + 0.6706658005714417, + -0.12228085845708847, + 0.731518566608429, + -0.011625056155025959 + ], + "joints": [ + 0.02626940980553627 + ] + }, + "fine_grasp": { + "position": [ + -0.11664307117462158, + -0.00029956342768855393, + -0.04073680564761162 + ], + "orientation": [ + 0.6695986986160278, + -0.11963541805744171, + 0.732974648475647, + -0.00856147799640894 + ], + "joints": [ + 0.015444371849298477 + ] + }, + "final_grasp": { + "position": [ + -0.11664307117462158, + -0.00029956342768855393, + -0.04073680564761162 + ], + "orientation": [ + 0.6695986986160278, + -0.11963541805744171, + 0.732974648475647, + -0.00856147799640894 + ], + "joints": [ + 0.004619333893060684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044299688190221786, + -0.029914960265159607, + 0.15263313055038452 + ], + "orientation": [ + 0.2819227874279022, + -0.4088594615459442, + 0.8598865866661072, + 0.11810359358787537 + ], + "joints": [ + 0.016532475128769875 + ] + }, + "fine_grasp": { + "position": [ + -0.042377348989248276, + -0.027296829968690872, + 0.15043394267559052 + ], + "orientation": [ + 0.2747597396373749, + -0.4335234761238098, + 0.8515814542770386, + 0.1066468209028244 + ], + "joints": [ + 0.007337460294365883 + ] + }, + "final_grasp": { + "position": [ + -0.042377348989248276, + -0.027296829968690872, + 0.15043394267559052 + ], + "orientation": [ + 0.2747597396373749, + -0.4335234761238098, + 0.8515814542770386, + 0.1066468209028244 + ], + "joints": [ + -0.0018575545400381088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03325749933719635, + 0.054459597915410995, + -0.15762344002723694 + ], + "orientation": [ + 0.8147393465042114, + 0.0628952831029892, + 0.23454301059246063, + -0.5265296697616577 + ], + "joints": [ + 0.024729305878281593 + ] + }, + "fine_grasp": { + "position": [ + -0.03259384259581566, + 0.053236477077007294, + -0.15590554475784302 + ], + "orientation": [ + 0.8157487511634827, + 0.061164598912000656, + 0.23057062923908234, + -0.5269250869750977 + ], + "joints": [ + 0.015952246263623238 + ] + }, + "final_grasp": { + "position": [ + -0.03259384259581566, + 0.053236477077007294, + -0.15590554475784302 + ], + "orientation": [ + 0.8157487511634827, + 0.061164598912000656, + 0.23057062923908234, + -0.5269250869750977 + ], + "joints": [ + 0.007175186648964882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03306181728839874, + 0.05527642369270325, + -0.1565317064523697 + ], + "orientation": [ + 0.8238716721534729, + 0.07101266086101532, + 0.23817244172096252, + -0.5093784928321838 + ], + "joints": [ + 0.025174668058753014 + ] + }, + "fine_grasp": { + "position": [ + -0.0325314961373806, + 0.05436776578426361, + -0.15450231730937958 + ], + "orientation": [ + 0.8264693021774292, + 0.06721910089254379, + 0.23140446841716766, + -0.5088046789169312 + ], + "joints": [ + 0.015561698004603386 + ] + }, + "final_grasp": { + "position": [ + -0.0325314961373806, + 0.05436776578426361, + -0.15450231730937958 + ], + "orientation": [ + 0.8264693021774292, + 0.06721910089254379, + 0.23140446841716766, + -0.5088046789169312 + ], + "joints": [ + 0.005948727950453758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07456742227077484, + -0.04481301084160805, + -0.13527068495750427 + ], + "orientation": [ + 0.12046131491661072, + -0.4350086450576782, + -0.23437881469726562, + -0.8610012531280518 + ], + "joints": [ + 0.021500395610928535 + ] + }, + "fine_grasp": { + "position": [ + -0.07325027137994766, + -0.042982298880815506, + -0.13190601766109467 + ], + "orientation": [ + 0.12292944639921188, + -0.42425334453582764, + -0.23311901092529297, + -0.8663446307182312 + ], + "joints": [ + 0.01272333599627018 + ] + }, + "final_grasp": { + "position": [ + -0.07325027137994766, + -0.042982298880815506, + -0.13190601766109467 + ], + "orientation": [ + 0.12292944639921188, + -0.42425334453582764, + -0.23311901092529297, + -0.8663446307182312 + ], + "joints": [ + 0.003946276381611824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.069577656686306, + 0.04695253446698189, + -0.17109094560146332 + ], + "orientation": [ + 0.3957199156284332, + 0.298956960439682, + -0.0056237708777189255, + -0.8683311343193054 + ], + "joints": [ + 0.024186426773667336 + ] + }, + "fine_grasp": { + "position": [ + 0.06761479377746582, + 0.0461268313229084, + -0.16787585616111755 + ], + "orientation": [ + 0.395912766456604, + 0.2979001998901367, + -0.005041551310569048, + -0.8686099052429199 + ], + "joints": [ + 0.015346670523285866 + ] + }, + "final_grasp": { + "position": [ + 0.06761479377746582, + 0.0461268313229084, + -0.16787585616111755 + ], + "orientation": [ + 0.395912766456604, + 0.2979001998901367, + -0.005041551310569048, + -0.8686099052429199 + ], + "joints": [ + 0.006506914272904396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04964970797300339, + 0.001110235694795847, + 0.1655968278646469 + ], + "orientation": [ + 0.05598313361406326, + -0.9708387851715088, + 0.06664566695690155, + 0.22337454557418823 + ], + "joints": [ + 0.0153302401304245 + ] + }, + "fine_grasp": { + "position": [ + 0.04765922576189041, + 0.0014278973685577512, + 0.16262105107307434 + ], + "orientation": [ + 0.05620593950152397, + -0.9716455936431885, + 0.06937143951654434, + 0.21893705427646637 + ], + "joints": [ + 0.006553180515766144 + ] + }, + "final_grasp": { + "position": [ + 0.04765922576189041, + 0.0014278973685577512, + 0.16262105107307434 + ], + "orientation": [ + 0.05620593950152397, + -0.9716455936431885, + 0.06937143951654434, + 0.21893705427646637 + ], + "joints": [ + -0.002223879098892212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03083827532827854, + -0.09009310603141785, + -0.06258705258369446 + ], + "orientation": [ + 0.6160956025123596, + -0.43173131346702576, + -0.5092475414276123, + -0.4179728925228119 + ], + "joints": [ + 0.025094715878367424 + ] + }, + "fine_grasp": { + "position": [ + 0.029893286526203156, + -0.0877428948879242, + -0.0629330575466156 + ], + "orientation": [ + 0.6115291714668274, + -0.4331403076648712, + -0.5133792757987976, + -0.41816654801368713 + ], + "joints": [ + 0.015481745824217796 + ] + }, + "final_grasp": { + "position": [ + 0.029893286526203156, + -0.0877428948879242, + -0.0629330575466156 + ], + "orientation": [ + 0.6115291714668274, + -0.4331403076648712, + -0.5133792757987976, + -0.41816654801368713 + ], + "joints": [ + 0.005868775770068169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006338262464851141, + 0.005404241848737001, + 0.18078932166099548 + ], + "orientation": [ + 0.031240006908774376, + -0.8725633025169373, + 0.48420456051826477, + 0.05659789219498634 + ], + "joints": [ + 0.01667766273021698 + ] + }, + "fine_grasp": { + "position": [ + 0.005884257145226002, + 0.006033584009855986, + 0.17702634632587433 + ], + "orientation": [ + 0.028937695547938347, + -0.8731255531311035, + 0.48346424102783203, + 0.05546887218952179 + ], + "joints": [ + 0.007900603115558624 + ] + }, + "final_grasp": { + "position": [ + 0.005884257145226002, + 0.006033584009855986, + 0.17702634632587433 + ], + "orientation": [ + 0.028937695547938347, + -0.8731255531311035, + 0.48346424102783203, + 0.05546887218952179 + ], + "joints": [ + -0.0008764564990997314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035449616611003876, + 0.03114951029419899, + 0.1766934096813202 + ], + "orientation": [ + 0.012373234145343304, + 0.9510841369628906, + 0.2679208517074585, + -0.15331120789051056 + ], + "joints": [ + 0.016438771039247513 + ] + }, + "fine_grasp": { + "position": [ + 0.03409094735980034, + 0.030728381127119064, + 0.17296262085437775 + ], + "orientation": [ + 0.01126927975565195, + 0.946128249168396, + 0.2804671823978424, + -0.161407932639122 + ], + "joints": [ + 0.007243756204843521 + ] + }, + "final_grasp": { + "position": [ + 0.03409094735980034, + 0.030728381127119064, + 0.17296262085437775 + ], + "orientation": [ + 0.01126927975565195, + 0.946128249168396, + 0.2804671823978424, + -0.161407932639122 + ], + "joints": [ + -0.0019512586295604706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06947316974401474, + 0.04717176407575607, + -0.17118750512599945 + ], + "orientation": [ + 0.39620259404182434, + 0.29916149377822876, + -0.005018312018364668, + -0.8680441975593567 + ], + "joints": [ + 0.024163270369172096 + ] + }, + "fine_grasp": { + "position": [ + 0.06752312928438187, + 0.04634683206677437, + -0.16795910894870758 + ], + "orientation": [ + 0.39631548523902893, + 0.2979620099067688, + -0.004202745389193296, + -0.8684095740318298 + ], + "joints": [ + 0.015323514118790627 + ] + }, + "final_grasp": { + "position": [ + 0.06752312928438187, + 0.04634683206677437, + -0.16795910894870758 + ], + "orientation": [ + 0.39631548523902893, + 0.2979620099067688, + -0.004202745389193296, + -0.8684095740318298 + ], + "joints": [ + 0.006483757868409157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017334038391709328, + 0.056990060955286026, + 0.1690000295639038 + ], + "orientation": [ + 0.11306203901767731, + 0.821189284324646, + 0.530579686164856, + -0.17706049978733063 + ], + "joints": [ + 0.017995212227106094 + ] + }, + "fine_grasp": { + "position": [ + 0.016499493271112442, + 0.05549846589565277, + 0.16580602526664734 + ], + "orientation": [ + 0.11034129559993744, + 0.8184365034103394, + 0.5363231897354126, + -0.17419470846652985 + ], + "joints": [ + 0.008382242172956467 + ] + }, + "final_grasp": { + "position": [ + 0.016499493271112442, + 0.05549846589565277, + 0.16580602526664734 + ], + "orientation": [ + 0.11034129559993744, + 0.8184365034103394, + 0.5363231897354126, + -0.17419470846652985 + ], + "joints": [ + -0.001230727881193161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03643004223704338, + 0.031904976814985275, + 0.17735974490642548 + ], + "orientation": [ + 0.01546897366642952, + 0.9522694945335388, + 0.26274290680885315, + -0.1546274870634079 + ], + "joints": [ + 0.01609320566058159 + ] + }, + "fine_grasp": { + "position": [ + 0.035060785710811615, + 0.03143490105867386, + 0.1736120581626892 + ], + "orientation": [ + 0.014759530313313007, + 0.9480586647987366, + 0.2719734311103821, + -0.16430848836898804 + ], + "joints": [ + 0.006898190826177597 + ] + }, + "final_grasp": { + "position": [ + 0.035060785710811615, + 0.03143490105867386, + 0.1736120581626892 + ], + "orientation": [ + 0.014759530313313007, + 0.9480586647987366, + 0.2719734311103821, + -0.16430848836898804 + ], + "joints": [ + -0.0022968240082263947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055910155177116394, + -0.07470779120922089, + 0.11043856292963028 + ], + "orientation": [ + 0.45277926325798035, + -0.3939540684223175, + -0.7532647252082825, + -0.26904165744781494 + ], + "joints": [ + 0.01684608869254589 + ] + }, + "fine_grasp": { + "position": [ + 0.05383960157632828, + -0.07147738337516785, + 0.10921420902013779 + ], + "orientation": [ + 0.4536677896976471, + -0.39189833402633667, + -0.7530822157859802, + -0.2710505425930023 + ], + "joints": [ + 0.007651073858141899 + ] + }, + "final_grasp": { + "position": [ + 0.05383960157632828, + -0.07147738337516785, + 0.10921420902013779 + ], + "orientation": [ + 0.4536677896976471, + -0.39189833402633667, + -0.7530822157859802, + -0.2710505425930023 + ], + "joints": [ + -0.0015439409762620926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008822811767458916, + -0.05226074159145355, + -0.17524856328964233 + ], + "orientation": [ + 0.47240543365478516, + -0.17210297286510468, + 0.22779235243797302, + 0.8338611125946045 + ], + "joints": [ + 0.023746473714709282 + ] + }, + "fine_grasp": { + "position": [ + 0.008682492189109325, + -0.050280001014471054, + -0.17200501263141632 + ], + "orientation": [ + 0.47279611229896545, + -0.17245538532733917, + 0.2274550348520279, + 0.8336589336395264 + ], + "joints": [ + 0.014509661123156548 + ] + }, + "final_grasp": { + "position": [ + 0.008682492189109325, + -0.050280001014471054, + -0.17200501263141632 + ], + "orientation": [ + 0.47279611229896545, + -0.17245538532733917, + 0.2274550348520279, + 0.8336589336395264 + ], + "joints": [ + 0.005272848531603813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008793299086391926, + -0.052227120846509933, + -0.17526784539222717 + ], + "orientation": [ + 0.4721871614456177, + -0.1722305566072464, + 0.22797635197639465, + 0.833908200263977 + ], + "joints": [ + 0.023746473714709282 + ] + }, + "fine_grasp": { + "position": [ + 0.008667457848787308, + -0.05024879053235054, + -0.172012597322464 + ], + "orientation": [ + 0.4725898206233978, + -0.17247608304023743, + 0.22760601341724396, + 0.8337304592132568 + ], + "joints": [ + 0.014509661123156548 + ] + }, + "final_grasp": { + "position": [ + 0.008667457848787308, + -0.05024879053235054, + -0.172012597322464 + ], + "orientation": [ + 0.4725898206233978, + -0.17247608304023743, + 0.22760601341724396, + 0.8337304592132568 + ], + "joints": [ + 0.005272848531603813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09689010679721832, + 0.08804766088724136, + 0.0709332600235939 + ], + "orientation": [ + 0.23256048560142517, + 0.7132269144058228, + -0.201622873544693, + 0.6297391057014465 + ], + "joints": [ + 0.01550188660621643 + ] + }, + "fine_grasp": { + "position": [ + -0.09390678256750107, + 0.08550965785980225, + 0.07028976827859879 + ], + "orientation": [ + 0.23580476641654968, + 0.7162299752235413, + -0.20390063524246216, + 0.6243680119514465 + ], + "joints": [ + 0.0050948020070791245 + ] + }, + "final_grasp": { + "position": [ + -0.09390678256750107, + 0.08550965785980225, + 0.07028976827859879 + ], + "orientation": [ + 0.23580476641654968, + 0.7162299752235413, + -0.20390063524246216, + 0.6243680119514465 + ], + "joints": [ + -0.005312282592058182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036256153136491776, + 0.03187836334109306, + 0.17770642042160034 + ], + "orientation": [ + 0.013240591622889042, + 0.9507831335067749, + 0.2701888978481293, + -0.15110930800437927 + ], + "joints": [ + 0.016312234103679657 + ] + }, + "fine_grasp": { + "position": [ + 0.03485714644193649, + 0.03138577565550804, + 0.17401331663131714 + ], + "orientation": [ + 0.013285201974213123, + 0.9463364481925964, + 0.27930963039398193, + -0.16203969717025757 + ], + "joints": [ + 0.007117219269275665 + ] + }, + "final_grasp": { + "position": [ + 0.03485714644193649, + 0.03138577565550804, + 0.17401331663131714 + ], + "orientation": [ + 0.013285201974213123, + 0.9463364481925964, + 0.27930963039398193, + -0.16203969717025757 + ], + "joints": [ + -0.0020777955651283264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04176915064454079, + 0.09544429928064346, + -0.1678663194179535 + ], + "orientation": [ + 0.7548471093177795, + 0.14187245070934296, + 0.3137875497341156, + -0.558225154876709 + ], + "joints": [ + 0.021454082801938057 + ] + }, + "fine_grasp": { + "position": [ + -0.04061261564493179, + 0.09332969039678574, + -0.1649293154478073 + ], + "orientation": [ + 0.7546335458755493, + 0.142759770154953, + 0.31284478306770325, + -0.5588165521621704 + ], + "joints": [ + 0.012614326551556587 + ] + }, + "final_grasp": { + "position": [ + -0.04061261564493179, + 0.09332969039678574, + -0.1649293154478073 + ], + "orientation": [ + 0.7546335458755493, + 0.142759770154953, + 0.31284478306770325, + -0.5588165521621704 + ], + "joints": [ + 0.0037745703011751175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006723860744386911, + 0.005589710548520088, + 0.18195150792598724 + ], + "orientation": [ + 0.03009060025215149, + -0.8664736747741699, + 0.4945991337299347, + 0.06074267625808716 + ], + "joints": [ + 0.01673177257180214 + ] + }, + "fine_grasp": { + "position": [ + 0.0063184527680277824, + 0.006214693188667297, + 0.17810897529125214 + ], + "orientation": [ + 0.0270055141299963, + -0.8672824501991272, + 0.4936794638633728, + 0.05807222053408623 + ], + "joints": [ + 0.007954712957143784 + ] + }, + "final_grasp": { + "position": [ + 0.0063184527680277824, + 0.006214693188667297, + 0.17810897529125214 + ], + "orientation": [ + 0.0270055141299963, + -0.8672824501991272, + 0.4936794638633728, + 0.05807222053408623 + ], + "joints": [ + -0.0008223466575145721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07977437227964401, + 0.032628949731588364, + -0.12867854535579681 + ], + "orientation": [ + 0.9014018774032593, + 0.0020073363557457924, + 0.3985231816768646, + -0.16926252841949463 + ], + "joints": [ + 0.02566215582191944 + ] + }, + "fine_grasp": { + "position": [ + -0.07786412537097931, + 0.03278065845370293, + -0.1280633509159088 + ], + "orientation": [ + 0.9007177948951721, + 0.003528465749695897, + 0.3998888432979584, + -0.16965793073177338 + ], + "joints": [ + 0.01646714098751545 + ] + }, + "final_grasp": { + "position": [ + -0.07786412537097931, + 0.03278065845370293, + -0.1280633509159088 + ], + "orientation": [ + 0.9007177948951721, + 0.003528465749695897, + 0.3998888432979584, + -0.16965793073177338 + ], + "joints": [ + 0.007272126153111458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03590058162808418, + 0.007338987663388252, + -0.18440376222133636 + ], + "orientation": [ + 0.37074169516563416, + 0.11308585852384567, + -0.08542099595069885, + -0.9178591966629028 + ], + "joints": [ + 0.025760997086763382 + ] + }, + "fine_grasp": { + "position": [ + 0.03476551175117493, + 0.00740010105073452, + -0.1807347536087036 + ], + "orientation": [ + 0.3705925941467285, + 0.11406069248914719, + -0.08325566351413727, + -0.9179976582527161 + ], + "joints": [ + 0.016127128154039383 + ] + }, + "final_grasp": { + "position": [ + 0.03476551175117493, + 0.00740010105073452, + -0.1807347536087036 + ], + "orientation": [ + 0.3705925941467285, + 0.11406069248914719, + -0.08325566351413727, + -0.9179976582527161 + ], + "joints": [ + 0.006493259221315384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10839496552944183, + 0.04413054510951042, + -0.1412595510482788 + ], + "orientation": [ + 0.8433359861373901, + -0.024325508624315262, + -0.46562525629997253, + 0.2671811580657959 + ], + "joints": [ + 0.022380301728844643 + ] + }, + "fine_grasp": { + "position": [ + 0.10538804531097412, + 0.043411120772361755, + -0.13894276320934296 + ], + "orientation": [ + 0.8438531160354614, + -0.025377923622727394, + -0.46486762166023254, + 0.2667694687843323 + ], + "joints": [ + 0.013540545478463173 + ] + }, + "final_grasp": { + "position": [ + 0.10538804531097412, + 0.043411120772361755, + -0.13894276320934296 + ], + "orientation": [ + 0.8438531160354614, + -0.025377923622727394, + -0.46486762166023254, + 0.2667694687843323 + ], + "joints": [ + 0.004700789228081703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0588797889649868, + 0.03504481911659241, + 0.166022390127182 + ], + "orientation": [ + 0.26594454050064087, + 0.1509297490119934, + 0.9517406225204468, + -0.026148013770580292 + ], + "joints": [ + 0.017332419753074646 + ] + }, + "fine_grasp": { + "position": [ + -0.05705929547548294, + 0.034231092780828476, + 0.16286715865135193 + ], + "orientation": [ + 0.2667231261730194, + 0.165351003408432, + 0.9489505290985107, + -0.03179141879081726 + ], + "joints": [ + 0.006486481986939907 + ] + }, + "final_grasp": { + "position": [ + -0.05705929547548294, + 0.034231092780828476, + 0.16286715865135193 + ], + "orientation": [ + 0.2667231261730194, + 0.165351003408432, + 0.9489505290985107, + -0.03179141879081726 + ], + "joints": [ + -0.004359455779194832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05527743697166443, + -0.07366763055324554, + 0.11085329949855804 + ], + "orientation": [ + 0.4605081379413605, + -0.3930184841156006, + -0.7480593919754028, + -0.2718009054660797 + ], + "joints": [ + 0.016237599775195122 + ] + }, + "fine_grasp": { + "position": [ + 0.053205911070108414, + -0.07038062810897827, + 0.10967057198286057 + ], + "orientation": [ + 0.4610708951950073, + -0.39257368445396423, + -0.7470588684082031, + -0.27423128485679626 + ], + "joints": [ + 0.00704258494079113 + ] + }, + "final_grasp": { + "position": [ + 0.053205911070108414, + -0.07038062810897827, + 0.10967057198286057 + ], + "orientation": [ + 0.4610708951950073, + -0.39257368445396423, + -0.7470588684082031, + -0.27423128485679626 + ], + "joints": [ + -0.0021524298936128616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03583638742566109, + 0.031469814479351044, + 0.17731942236423492 + ], + "orientation": [ + 0.012643910013139248, + 0.9500120878219604, + 0.2706643044948578, + -0.15510620176792145 + ], + "joints": [ + 0.01646267995238304 + ] + }, + "fine_grasp": { + "position": [ + 0.034501537680625916, + 0.03103761374950409, + 0.17358730733394623 + ], + "orientation": [ + 0.01191133726388216, + 0.9454345107078552, + 0.28170186281204224, + -0.16326573491096497 + ], + "joints": [ + 0.00726766511797905 + ] + }, + "final_grasp": { + "position": [ + 0.034501537680625916, + 0.03103761374950409, + 0.17358730733394623 + ], + "orientation": [ + 0.01191133726388216, + 0.9454345107078552, + 0.28170186281204224, + -0.16326573491096497 + ], + "joints": [ + -0.001927349716424942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011978305876255035, + 0.10142549127340317, + -0.14319175481796265 + ], + "orientation": [ + 0.5849407911300659, + 0.18991929292678833, + -0.31724390387535095, + 0.7218941450119019 + ], + "joints": [ + 0.02555127628147602 + ] + }, + "fine_grasp": { + "position": [ + 0.011736582033336163, + 0.09843326359987259, + -0.14072786271572113 + ], + "orientation": [ + 0.5841644406318665, + 0.19127772748470306, + -0.3184603154659271, + 0.7216285467147827 + ], + "joints": [ + 0.015123294666409492 + ] + }, + "final_grasp": { + "position": [ + 0.011736582033336163, + 0.09843326359987259, + -0.14072786271572113 + ], + "orientation": [ + 0.5841644406318665, + 0.19127772748470306, + -0.3184603154659271, + 0.7216285467147827 + ], + "joints": [ + 0.004695313051342964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06733736395835876, + -0.03733287379145622, + -0.14330507814884186 + ], + "orientation": [ + 0.9161216020584106, + -0.16828759014606476, + -0.30607905983924866, + -0.19676409661769867 + ], + "joints": [ + 0.024881090968847275 + ] + }, + "fine_grasp": { + "position": [ + 0.06485431641340256, + -0.03539004549384117, + -0.14114756882190704 + ], + "orientation": [ + 0.9134070873260498, + -0.17159134149551392, + -0.3143429458141327, + -0.19347424805164337 + ], + "joints": [ + 0.015247222036123276 + ] + }, + "final_grasp": { + "position": [ + 0.06485431641340256, + -0.03539004549384117, + -0.14114756882190704 + ], + "orientation": [ + 0.9134070873260498, + -0.17159134149551392, + -0.3143429458141327, + -0.19347424805164337 + ], + "joints": [ + 0.005613353103399277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006042389431968331, + 0.0507393553853035, + 0.17899516224861145 + ], + "orientation": [ + 0.08560852706432343, + 0.7211910486221313, + -0.6834423542022705, + 0.07389897853136063 + ], + "joints": [ + 0.017262950539588928 + ] + }, + "fine_grasp": { + "position": [ + 0.0005038233357481658, + 0.04939072206616402, + 0.17526064813137054 + ], + "orientation": [ + 0.09418986737728119, + 0.7119733095169067, + -0.6908190250396729, + 0.08361408859491348 + ], + "joints": [ + 0.007649980019778013 + ] + }, + "final_grasp": { + "position": [ + 0.0005038233357481658, + 0.04939072206616402, + 0.17526064813137054 + ], + "orientation": [ + 0.09418986737728119, + 0.7119733095169067, + -0.6908190250396729, + 0.08361408859491348 + ], + "joints": [ + -0.0019629905000329018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1090640127658844, + 0.03180888295173645, + -0.08881781995296478 + ], + "orientation": [ + 0.008981695398688316, + 0.566656768321991, + 0.07412675768136978, + -0.8205636739730835 + ], + "joints": [ + 0.024424489587545395 + ] + }, + "fine_grasp": { + "position": [ + 0.1051691398024559, + 0.03128568083047867, + -0.08774904906749725 + ], + "orientation": [ + 0.014572357758879662, + 0.5719335079193115, + 0.06973674148321152, + -0.8172003626823425 + ], + "joints": [ + 0.01564742997288704 + ] + }, + "final_grasp": { + "position": [ + 0.1051691398024559, + 0.03128568083047867, + -0.08774904906749725 + ], + "orientation": [ + 0.014572357758879662, + 0.5719335079193115, + 0.06973674148321152, + -0.8172003626823425 + ], + "joints": [ + 0.0068703703582286835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04198711737990379, + 0.06300267577171326, + -0.18141022324562073 + ], + "orientation": [ + 0.38285031914711, + -0.10072053968906403, + 0.21407006680965424, + -0.8930032849311829 + ], + "joints": [ + 0.023700160905718803 + ] + }, + "fine_grasp": { + "position": [ + -0.040870022028684616, + 0.06152481213212013, + -0.1782185137271881 + ], + "orientation": [ + 0.3826732933521271, + -0.09971044957637787, + 0.21573403477668762, + -0.8927921652793884 + ], + "joints": [ + 0.014045393094420433 + ] + }, + "final_grasp": { + "position": [ + -0.040870022028684616, + 0.06152481213212013, + -0.1782185137271881 + ], + "orientation": [ + 0.3826732933521271, + -0.09971044957637787, + 0.21573403477668762, + -0.8927921652793884 + ], + "joints": [ + 0.004390625283122063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0032205283641815186, + 0.04850919544696808, + 0.1823413372039795 + ], + "orientation": [ + 0.1182452142238617, + 0.6582289338111877, + -0.7363541126251221, + 0.10264185070991516 + ], + "joints": [ + 0.01762150600552559 + ] + }, + "fine_grasp": { + "position": [ + 0.0030806022696197033, + 0.047592464834451675, + 0.1784965544939041 + ], + "orientation": [ + 0.11285055428743362, + 0.6586452722549438, + -0.7374602556228638, + 0.09799858182668686 + ], + "joints": [ + 0.008008535951375961 + ] + }, + "final_grasp": { + "position": [ + 0.0030806022696197033, + 0.047592464834451675, + 0.1784965544939041 + ], + "orientation": [ + 0.11285055428743362, + 0.6586452722549438, + -0.7374602556228638, + 0.09799858182668686 + ], + "joints": [ + -0.0016044341027736664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009118755348026752, + -0.09897954761981964, + -0.08356783539056778 + ], + "orientation": [ + 0.439018189907074, + -0.3973549008369446, + -0.48217594623565674, + -0.6456612348556519 + ], + "joints": [ + 0.025431238114833832 + ] + }, + "fine_grasp": { + "position": [ + -0.008821513503789902, + -0.09523210674524307, + -0.08260193467140198 + ], + "orientation": [ + 0.4378266930580139, + -0.3946765959262848, + -0.48159515857696533, + -0.648540198802948 + ], + "joints": [ + 0.014209143817424774 + ] + }, + "final_grasp": { + "position": [ + -0.008821513503789902, + -0.09523210674524307, + -0.08260193467140198 + ], + "orientation": [ + 0.4378266930580139, + -0.3946765959262848, + -0.48159515857696533, + -0.648540198802948 + ], + "joints": [ + 0.0029870495200157166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10888805240392685, + 0.040073245763778687, + 0.121987484395504 + ], + "orientation": [ + 0.05200375244021416, + 0.8518000245094299, + -0.08953537791967392, + 0.5135325193405151 + ], + "joints": [ + 0.014831261709332466 + ] + }, + "fine_grasp": { + "position": [ + -0.10524608194828033, + 0.03947763890028, + 0.12069948017597198 + ], + "orientation": [ + 0.05065087229013443, + 0.8486348390579224, + -0.08822199702262878, + 0.5191053152084351 + ], + "joints": [ + 0.00442417711019516 + ] + }, + "final_grasp": { + "position": [ + -0.10524608194828033, + 0.03947763890028, + 0.12069948017597198 + ], + "orientation": [ + 0.05065087229013443, + 0.8486348390579224, + -0.08822199702262878, + 0.5191053152084351 + ], + "joints": [ + -0.005982907488942146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049307551234960556, + 0.0009624026715755463, + 0.16616220772266388 + ], + "orientation": [ + 0.05751970410346985, + -0.9717077612876892, + 0.06272721290588379, + 0.2203197032213211 + ], + "joints": [ + 0.01542644202709198 + ] + }, + "fine_grasp": { + "position": [ + 0.04727735370397568, + 0.0014435499906539917, + 0.16299119591712952 + ], + "orientation": [ + 0.05723317340016365, + -0.9721832275390625, + 0.06651392579078674, + 0.21716369688510895 + ], + "joints": [ + 0.006649382412433624 + ] + }, + "final_grasp": { + "position": [ + 0.04727735370397568, + 0.0014435499906539917, + 0.16299119591712952 + ], + "orientation": [ + 0.05723317340016365, + -0.9721832275390625, + 0.06651392579078674, + 0.21716369688510895 + ], + "joints": [ + -0.0021276772022247314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026794299483299255, + -0.0834302231669426, + -0.13808274269104004 + ], + "orientation": [ + 0.42586496472358704, + -0.36174479126930237, + 0.35725972056388855, + 0.7484285831451416 + ], + "joints": [ + 0.021037286147475243 + ] + }, + "fine_grasp": { + "position": [ + 0.026303883641958237, + -0.08123629540205002, + -0.1349181979894638 + ], + "orientation": [ + 0.4288952648639679, + -0.35573485493659973, + 0.3507084250450134, + 0.7526653409004211 + ], + "joints": [ + 0.011424316093325615 + ] + }, + "final_grasp": { + "position": [ + 0.026303883641958237, + -0.08123629540205002, + -0.1349181979894638 + ], + "orientation": [ + 0.4288952648639679, + -0.35573485493659973, + 0.3507084250450134, + 0.7526653409004211 + ], + "joints": [ + 0.0018113460391759872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09152905642986298, + -0.03740719333291054, + -0.08727703988552094 + ], + "orientation": [ + 0.2797265648841858, + -0.5495280027389526, + -0.09616953879594803, + -0.7813600301742554 + ], + "joints": [ + 0.02342919260263443 + ] + }, + "fine_grasp": { + "position": [ + -0.08912758529186249, + -0.03575332462787628, + -0.08750829845666885 + ], + "orientation": [ + 0.2843441665172577, + -0.5555403232574463, + -0.09246830642223358, + -0.7758691906929016 + ], + "joints": [ + 0.014234177768230438 + ] + }, + "final_grasp": { + "position": [ + -0.08912758529186249, + -0.03575332462787628, + -0.08750829845666885 + ], + "orientation": [ + 0.2843441665172577, + -0.5555403232574463, + -0.09246830642223358, + -0.7758691906929016 + ], + "joints": [ + 0.0050391629338264465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07495510578155518, + -0.047490194439888, + 0.11966212093830109 + ], + "orientation": [ + 0.17790615558624268, + -0.7630181908607483, + -0.3251819908618927, + -0.5295369029045105 + ], + "joints": [ + 0.014861534349620342 + ] + }, + "fine_grasp": { + "position": [ + -0.07338089495897293, + -0.04580054432153702, + 0.11800790578126907 + ], + "orientation": [ + 0.17535634338855743, + -0.7674805521965027, + -0.32444480061531067, + -0.5243656039237976 + ], + "joints": [ + 0.0056665195152163506 + ] + }, + "final_grasp": { + "position": [ + -0.07338089495897293, + -0.04580054432153702, + 0.11800790578126907 + ], + "orientation": [ + 0.17535634338855743, + -0.7674805521965027, + -0.32444480061531067, + -0.5243656039237976 + ], + "joints": [ + -0.003528495319187641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06483371555805206, + 0.0372459813952446, + 0.16869190335273743 + ], + "orientation": [ + 0.05357903987169266, + 0.943902850151062, + 0.09754691272974014, + -0.3109039068222046 + ], + "joints": [ + 0.014040510170161724 + ] + }, + "fine_grasp": { + "position": [ + 0.06284322589635849, + 0.03664429485797882, + 0.16524292528629303 + ], + "orientation": [ + 0.054773956537246704, + 0.9443812370300293, + 0.09789722412824631, + -0.3091278076171875 + ], + "joints": [ + 0.004845495335757732 + ] + }, + "final_grasp": { + "position": [ + 0.06284322589635849, + 0.03664429485797882, + 0.16524292528629303 + ], + "orientation": [ + 0.054773956537246704, + 0.9443812370300293, + 0.09789722412824631, + -0.3091278076171875 + ], + "joints": [ + -0.004349519498646259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09316553175449371, + 0.04505631700158119, + 0.11245079338550568 + ], + "orientation": [ + 0.07471261918544769, + 0.7983914613723755, + 0.12498950213193893, + -0.5842660069465637 + ], + "joints": [ + 0.013752847909927368 + ] + }, + "fine_grasp": { + "position": [ + 0.09327469021081924, + 0.04502563551068306, + 0.11022219806909561 + ], + "orientation": [ + 0.0758858248591423, + 0.8012368679046631, + 0.12238926440477371, + -0.5807595252990723 + ], + "joints": [ + 0.004160775803029537 + ] + }, + "final_grasp": { + "position": [ + 0.09327469021081924, + 0.04502563551068306, + 0.11022219806909561 + ], + "orientation": [ + 0.0758858248591423, + 0.8012368679046631, + 0.12238926440477371, + -0.5807595252990723 + ], + "joints": [ + -0.005431296303868294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08801411092281342, + -0.09237297624349594, + -0.05622488632798195 + ], + "orientation": [ + 0.5683316588401794, + -0.23113341629505157, + 0.6907158493995667, + 0.3827376067638397 + ], + "joints": [ + 0.021060442551970482 + ] + }, + "fine_grasp": { + "position": [ + -0.08552918583154678, + -0.08955579996109009, + -0.05583207309246063 + ], + "orientation": [ + 0.5723854303359985, + -0.2271057367324829, + 0.6885637044906616, + 0.38298553228378296 + ], + "joints": [ + 0.011802731081843376 + ] + }, + "final_grasp": { + "position": [ + -0.08552918583154678, + -0.08955579996109009, + -0.05583207309246063 + ], + "orientation": [ + 0.5723854303359985, + -0.2271057367324829, + 0.6885637044906616, + 0.38298553228378296 + ], + "joints": [ + 0.0025450196117162704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004830465652048588, + 0.031596772372722626, + 0.16095323860645294 + ], + "orientation": [ + 0.05281445384025574, + 0.9852702617645264, + 0.15960641205310822, + -0.031290385872125626 + ], + "joints": [ + 0.018397774547338486 + ] + }, + "fine_grasp": { + "position": [ + 0.003698765765875578, + 0.03156016021966934, + 0.15854914486408234 + ], + "orientation": [ + 0.054169509559869766, + 0.9838942885398865, + 0.16787965595722198, + -0.028880348429083824 + ], + "joints": [ + 0.008784804493188858 + ] + }, + "final_grasp": { + "position": [ + 0.003698765765875578, + 0.03156016021966934, + 0.15854914486408234 + ], + "orientation": [ + 0.054169509559869766, + 0.9838942885398865, + 0.16787965595722198, + -0.028880348429083824 + ], + "joints": [ + -0.0008281655609607697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009683212265372276, + 0.09289934486150742, + -0.15493054687976837 + ], + "orientation": [ + 0.4432947337627411, + 0.22460386157035828, + -0.2789677381515503, + 0.8217175602912903 + ], + "joints": [ + 0.024927403777837753 + ] + }, + "fine_grasp": { + "position": [ + -0.009488753974437714, + 0.0911165401339531, + -0.1516275405883789 + ], + "orientation": [ + 0.4440755546092987, + 0.22042852640151978, + -0.2752395570278168, + 0.8236815333366394 + ], + "joints": [ + 0.014478523284196854 + ] + }, + "final_grasp": { + "position": [ + -0.009488753974437714, + 0.0911165401339531, + -0.1516275405883789 + ], + "orientation": [ + 0.4440755546092987, + 0.22042852640151978, + -0.2752395570278168, + 0.8236815333366394 + ], + "joints": [ + 0.004029642790555954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01405162364244461, + 0.029951903969049454, + -0.16673491895198822 + ], + "orientation": [ + 0.9960348010063171, + 0.05862615257501602, + 0.05245836451649666, + 0.041540950536727905 + ], + "joints": [ + 0.02522597275674343 + ] + }, + "fine_grasp": { + "position": [ + -0.013717010617256165, + 0.029342077672481537, + -0.16467000544071198 + ], + "orientation": [ + 0.9959076046943665, + 0.057605743408203125, + 0.05478568375110626, + 0.042989157140254974 + ], + "joints": [ + 0.01603095792233944 + ] + }, + "final_grasp": { + "position": [ + -0.013717010617256165, + 0.029342077672481537, + -0.16467000544071198 + ], + "orientation": [ + 0.9959076046943665, + 0.057605743408203125, + 0.05478568375110626, + 0.042989157140254974 + ], + "joints": [ + 0.006835943087935448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06402530521154404, + 0.03633604571223259, + 0.1680266410112381 + ], + "orientation": [ + 0.04935664311051369, + 0.9396652579307556, + 0.10951106250286102, + -0.32031306624412537 + ], + "joints": [ + 0.013198907487094402 + ] + }, + "fine_grasp": { + "position": [ + 0.06222841143608093, + 0.03569100797176361, + 0.1644873321056366 + ], + "orientation": [ + 0.050708331167697906, + 0.942361056804657, + 0.11312782019376755, + -0.3107835054397583 + ], + "joints": [ + 0.004003892652690411 + ] + }, + "final_grasp": { + "position": [ + 0.06222841143608093, + 0.03569100797176361, + 0.1644873321056366 + ], + "orientation": [ + 0.050708331167697906, + 0.942361056804657, + 0.11312782019376755, + -0.3107835054397583 + ], + "joints": [ + -0.005191122181713581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13503850996494293, + 0.04109666869044304, + -0.05053851380944252 + ], + "orientation": [ + 0.7394168972969055, + 0.14341546595096588, + 0.6577909588813782, + 0.002417364390566945 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + -0.13122132420539856, + 0.04053676873445511, + -0.0509035661816597 + ], + "orientation": [ + 0.7340648174285889, + 0.14392532408237457, + 0.6636247038841248, + 0.006041198503226042 + ], + "joints": [ + 0.012152375653386116 + ] + }, + "final_grasp": { + "position": [ + -0.13122132420539856, + 0.04053676873445511, + -0.0509035661816597 + ], + "orientation": [ + 0.7340648174285889, + 0.14392532408237457, + 0.6636247038841248, + 0.006041198503226042 + ], + "joints": [ + 0.0037305746227502823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0897398293018341, + -0.013141480274498463, + 0.1277080923318863 + ], + "orientation": [ + 0.09911209344863892, + -0.8330215215682983, + -0.11142987757921219, + -0.5327619910240173 + ], + "joints": [ + 0.01111609861254692 + ] + }, + "fine_grasp": { + "position": [ + -0.0880424752831459, + -0.012023329734802246, + 0.1250951588153839 + ], + "orientation": [ + 0.09753043204545975, + -0.8434099555015564, + -0.11159410327672958, + -0.5164245963096619 + ], + "joints": [ + 0.0035929051227867603 + ] + }, + "final_grasp": { + "position": [ + -0.0880424752831459, + -0.012023329734802246, + 0.1250951588153839 + ], + "orientation": [ + 0.09753043204545975, + -0.8434099555015564, + -0.11159410327672958, + -0.5164245963096619 + ], + "joints": [ + -0.0039302883669734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043835971504449844, + 0.009176584891974926, + -0.1750517636537552 + ], + "orientation": [ + 0.6956184506416321, + 0.08201093971729279, + -0.16203579306602478, + -0.6950781941413879 + ], + "joints": [ + 0.02538120746612549 + ] + }, + "fine_grasp": { + "position": [ + 0.0424545593559742, + 0.009059228003025055, + -0.1714513599872589 + ], + "orientation": [ + 0.6961331367492676, + 0.08453457802534103, + -0.16007539629936218, + -0.6947146654129028 + ], + "joints": [ + 0.01576823741197586 + ] + }, + "final_grasp": { + "position": [ + 0.0424545593559742, + 0.009059228003025055, + -0.1714513599872589 + ], + "orientation": [ + 0.6961331367492676, + 0.08453457802534103, + -0.16007539629936218, + -0.6947146654129028 + ], + "joints": [ + 0.006155267357826233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13458804786205292, + 0.04100584611296654, + -0.05054593086242676 + ], + "orientation": [ + 0.7393181324005127, + 0.1419018656015396, + 0.6582307815551758, + 0.0022035720758140087 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + -0.13077853620052338, + 0.040459904819726944, + -0.05088824778795242 + ], + "orientation": [ + 0.7341064214706421, + 0.14242343604564667, + 0.6639043688774109, + 0.005857733078300953 + ], + "joints": [ + 0.012152375653386116 + ] + }, + "final_grasp": { + "position": [ + -0.13077853620052338, + 0.040459904819726944, + -0.05088824778795242 + ], + "orientation": [ + 0.7341064214706421, + 0.14242343604564667, + 0.6639043688774109, + 0.005857733078300953 + ], + "joints": [ + 0.0037305746227502823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01672017201781273, + 0.13958445191383362, + -0.06390213221311569 + ], + "orientation": [ + 0.5787012577056885, + 0.5222259163856506, + 0.34518060088157654, + -0.5227190852165222 + ], + "joints": [ + 0.021817108616232872 + ] + }, + "fine_grasp": { + "position": [ + 0.01629095897078514, + 0.13563495874404907, + -0.06420884281396866 + ], + "orientation": [ + 0.5754369497299194, + 0.5297607779502869, + 0.34792420268058777, + -0.5168892741203308 + ], + "joints": [ + 0.01262209378182888 + ] + }, + "final_grasp": { + "position": [ + 0.01629095897078514, + 0.13563495874404907, + -0.06420884281396866 + ], + "orientation": [ + 0.5754369497299194, + 0.5297607779502869, + 0.34792420268058777, + -0.5168892741203308 + ], + "joints": [ + 0.0034270789474248886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09217552095651627, + 0.03249290585517883, + -0.16220177710056305 + ], + "orientation": [ + 0.7982605695724487, + -0.11359172314405441, + 0.3747055232524872, + -0.4576817750930786 + ], + "joints": [ + 0.021454082801938057 + ] + }, + "fine_grasp": { + "position": [ + -0.09002780169248581, + 0.03241770341992378, + -0.15903665125370026 + ], + "orientation": [ + 0.8006249070167542, + -0.11349812150001526, + 0.3696199655532837, + -0.4577106535434723 + ], + "joints": [ + 0.012217270210385323 + ] + }, + "final_grasp": { + "position": [ + -0.09002780169248581, + 0.03241770341992378, + -0.15903665125370026 + ], + "orientation": [ + 0.8006249070167542, + -0.11349812150001526, + 0.3696199655532837, + -0.4577106535434723 + ], + "joints": [ + 0.002980457618832588 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07334049046039581, + 0.08346185833215714, + -0.15389390289783478 + ], + "orientation": [ + 0.568219780921936, + 0.3842830955982208, + -0.01470615342259407, + 0.7274864912033081 + ], + "joints": [ + 0.023641658946871758 + ] + }, + "fine_grasp": { + "position": [ + -0.07135884463787079, + 0.0815928727388382, + -0.1513666808605194 + ], + "orientation": [ + 0.5687952637672424, + 0.38401952385902405, + -0.016460826620459557, + 0.7271382808685303 + ], + "joints": [ + 0.015178060159087181 + ] + }, + "final_grasp": { + "position": [ + -0.07135884463787079, + 0.0815928727388382, + -0.1513666808605194 + ], + "orientation": [ + 0.5687952637672424, + 0.38401952385902405, + -0.016460826620459557, + 0.7271382808685303 + ], + "joints": [ + 0.006714461371302605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11009825021028519, + -0.03553706035017967, + -0.008504832163453102 + ], + "orientation": [ + 0.18267525732517242, + -0.7160953879356384, + 0.1293770670890808, + 0.6611343622207642 + ], + "joints": [ + 0.01830276846885681 + ] + }, + "fine_grasp": { + "position": [ + 0.10662024468183517, + -0.033772192895412445, + -0.008639742620289326 + ], + "orientation": [ + 0.18408088386058807, + -0.715785801410675, + 0.12861472368240356, + 0.6612285375595093 + ], + "joints": [ + 0.007874786853790283 + ] + }, + "final_grasp": { + "position": [ + 0.10662024468183517, + -0.033772192895412445, + -0.008639742620289326 + ], + "orientation": [ + 0.18408088386058807, + -0.715785801410675, + 0.12861472368240356, + 0.6612285375595093 + ], + "joints": [ + -0.002553194761276245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013668809086084366, + 0.02969186380505562, + -0.16502271592617035 + ], + "orientation": [ + 0.99552321434021, + 0.06027267128229141, + 0.05619269981980324, + 0.04629481956362724 + ], + "joints": [ + 0.02522597275674343 + ] + }, + "fine_grasp": { + "position": [ + -0.013324960134923458, + 0.029407192021608353, + -0.1639806181192398 + ], + "orientation": [ + 0.9953637719154358, + 0.060040563344955444, + 0.05770834535360336, + 0.04812345653772354 + ], + "joints": [ + 0.01603095792233944 + ] + }, + "final_grasp": { + "position": [ + -0.013324960134923458, + 0.029407192021608353, + -0.1639806181192398 + ], + "orientation": [ + 0.9953637719154358, + 0.060040563344955444, + 0.05770834535360336, + 0.04812345653772354 + ], + "joints": [ + 0.006835943087935448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07332786172628403, + 0.08371064811944962, + -0.15360406041145325 + ], + "orientation": [ + 0.5685962438583374, + 0.38283810019493103, + -0.01375203300267458, + 0.7279726266860962 + ], + "joints": [ + 0.023653848096728325 + ] + }, + "fine_grasp": { + "position": [ + -0.07131250947713852, + 0.0817643329501152, + -0.15106941759586334 + ], + "orientation": [ + 0.5691911578178406, + 0.3828888237476349, + -0.01563197560608387, + 0.7274430394172668 + ], + "joints": [ + 0.014793192967772484 + ] + }, + "final_grasp": { + "position": [ + -0.07131250947713852, + 0.0817643329501152, + -0.15106941759586334 + ], + "orientation": [ + 0.5691911578178406, + 0.3828888237476349, + -0.01563197560608387, + 0.7274430394172668 + ], + "joints": [ + 0.005932537838816643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013803360052406788, + 0.030743297189474106, + -0.1653597503900528 + ], + "orientation": [ + 0.9952073097229004, + 0.06476568430662155, + 0.05413971468806267, + 0.049363117665052414 + ], + "joints": [ + 0.025089306756854057 + ] + }, + "fine_grasp": { + "position": [ + -0.013469886966049671, + 0.030462883412837982, + -0.1640481799840927 + ], + "orientation": [ + 0.9951332211494446, + 0.06442611664533615, + 0.05513995140790939, + 0.05018611624836922 + ], + "joints": [ + 0.015894291922450066 + ] + }, + "final_grasp": { + "position": [ + -0.013469886966049671, + 0.030462883412837982, + -0.1640481799840927 + ], + "orientation": [ + 0.9951332211494446, + 0.06442611664533615, + 0.05513995140790939, + 0.05018611624836922 + ], + "joints": [ + 0.006699277088046074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06479918211698532, + -0.028987841680645943, + -0.16451257467269897 + ], + "orientation": [ + 0.9656617045402527, + -0.16329507529735565, + 0.19893284142017365, + 0.03546763211488724 + ], + "joints": [ + 0.020180536434054375 + ] + }, + "fine_grasp": { + "position": [ + -0.0619284063577652, + -0.027362613007426262, + -0.16228362917900085 + ], + "orientation": [ + 0.9624508619308472, + -0.16748449206352234, + 0.21073321998119354, + 0.035054754465818405 + ], + "joints": [ + 0.011403476819396019 + ] + }, + "final_grasp": { + "position": [ + -0.0619284063577652, + -0.027362613007426262, + -0.16228362917900085 + ], + "orientation": [ + 0.9624508619308472, + -0.16748449206352234, + 0.21073321998119354, + 0.035054754465818405 + ], + "joints": [ + 0.0026264172047376633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017320290207862854, + 0.14296594262123108, + -0.10008469969034195 + ], + "orientation": [ + 0.42397481203079224, + 0.39200279116630554, + 0.4597461521625519, + -0.6746944785118103 + ], + "joints": [ + 0.024232739582657814 + ] + }, + "fine_grasp": { + "position": [ + 0.016958022490143776, + 0.13942375779151917, + -0.09865786135196686 + ], + "orientation": [ + 0.4251781702041626, + 0.3889951705932617, + 0.4601617455482483, + -0.6753943562507629 + ], + "joints": [ + 0.014619769528508186 + ] + }, + "final_grasp": { + "position": [ + 0.016958022490143776, + 0.13942375779151917, + -0.09865786135196686 + ], + "orientation": [ + 0.4251781702041626, + 0.3889951705932617, + 0.4601617455482483, + -0.6753943562507629 + ], + "joints": [ + 0.005006799474358559 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07509291172027588, + -0.10136787593364716, + -0.05055150389671326 + ], + "orientation": [ + 0.5270715355873108, + -0.250033974647522, + -0.69255131483078, + -0.4243246018886566 + ], + "joints": [ + 0.021477239206433296 + ] + }, + "fine_grasp": { + "position": [ + 0.07310783118009567, + -0.09819794446229935, + -0.05052411928772926 + ], + "orientation": [ + 0.5285141468048096, + -0.248733788728714, + -0.6913468837738037, + -0.42525714635849 + ], + "joints": [ + 0.01221952773630619 + ] + }, + "final_grasp": { + "position": [ + 0.07310783118009567, + -0.09819794446229935, + -0.05052411928772926 + ], + "orientation": [ + 0.5285141468048096, + -0.248733788728714, + -0.6913468837738037, + -0.42525714635849 + ], + "joints": [ + 0.0029618162661790848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06524237990379333, + -0.02920195274055004, + -0.1646200716495514 + ], + "orientation": [ + 0.9661802649497986, + -0.16238108277320862, + 0.19724135100841522, + 0.03498569503426552 + ], + "joints": [ + 0.01974058337509632 + ] + }, + "fine_grasp": { + "position": [ + -0.0623101070523262, + -0.027553074061870575, + -0.1624080240726471 + ], + "orientation": [ + 0.9628132581710815, + -0.16674213111400604, + 0.20976810157299042, + 0.03442393243312836 + ], + "joints": [ + 0.01136058010160923 + ] + }, + "final_grasp": { + "position": [ + -0.0623101070523262, + -0.027553074061870575, + -0.1624080240726471 + ], + "orientation": [ + 0.9628132581710815, + -0.16674213111400604, + 0.20976810157299042, + 0.03442393243312836 + ], + "joints": [ + 0.002980576828122139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031396299600601196, + 0.0666046068072319, + -0.18220961093902588 + ], + "orientation": [ + 0.9754299521446228, + 0.19397523999214172, + 0.09495687484741211, + 0.043509889394044876 + ], + "joints": [ + 0.023700160905718803 + ] + }, + "fine_grasp": { + "position": [ + -0.030466949567198753, + 0.06514555960893631, + -0.1788668930530548 + ], + "orientation": [ + 0.9753752946853638, + 0.19379758834838867, + 0.09595303237438202, + 0.043342411518096924 + ], + "joints": [ + 0.014860404655337334 + ] + }, + "final_grasp": { + "position": [ + -0.030466949567198753, + 0.06514555960893631, + -0.1788668930530548 + ], + "orientation": [ + 0.9753752946853638, + 0.19379758834838867, + 0.09595303237438202, + 0.043342411518096924 + ], + "joints": [ + 0.006020648404955864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08258263021707535, + 0.108428955078125, + -6.456470146076754e-05 + ], + "orientation": [ + 0.5872731804847717, + 0.269871324300766, + -0.7029361724853516, + 0.2969180643558502 + ], + "joints": [ + 0.018626868724822998 + ] + }, + "fine_grasp": { + "position": [ + 0.07992272078990936, + 0.10557275265455246, + -0.0003727303701452911 + ], + "orientation": [ + 0.5879938006401062, + 0.2685697376728058, + -0.7022806406021118, + 0.2982204854488373 + ], + "joints": [ + 0.007801830302923918 + ] + }, + "final_grasp": { + "position": [ + 0.07992272078990936, + 0.10557275265455246, + -0.0003727303701452911 + ], + "orientation": [ + 0.5879938006401062, + 0.2685697376728058, + -0.7022806406021118, + 0.2982204854488373 + ], + "joints": [ + -0.0030232081189751625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05412821099162102, + 0.057331230491399765, + -0.167909175157547 + ], + "orientation": [ + 0.8888548016548157, + 0.23956860601902008, + -0.12522529065608978, + -0.3699492812156677 + ], + "joints": [ + 0.02664090320467949 + ] + }, + "fine_grasp": { + "position": [ + 0.05235067009925842, + 0.05648430064320564, + -0.16451549530029297 + ], + "orientation": [ + 0.8892256021499634, + 0.23662914335727692, + -0.12777484953403473, + -0.370078444480896 + ], + "joints": [ + 0.016651775687932968 + ] + }, + "final_grasp": { + "position": [ + 0.05235067009925842, + 0.05648430064320564, + -0.16451549530029297 + ], + "orientation": [ + 0.8892256021499634, + 0.23662914335727692, + -0.12777484953403473, + -0.370078444480896 + ], + "joints": [ + 0.006662648171186447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06770879775285721, + 0.05571439117193222, + -0.1718580424785614 + ], + "orientation": [ + 0.48111411929130554, + -0.163148894906044, + 0.252559632062912, + -0.8234836459159851 + ], + "joints": [ + 0.024163270369172096 + ] + }, + "fine_grasp": { + "position": [ + -0.065894715487957, + 0.05454318970441818, + -0.16892826557159424 + ], + "orientation": [ + 0.4809574484825134, + -0.16202722489833832, + 0.25221917033195496, + -0.8239008784294128 + ], + "joints": [ + 0.015302615240216255 + ] + }, + "final_grasp": { + "position": [ + -0.065894715487957, + 0.05454318970441818, + -0.16892826557159424 + ], + "orientation": [ + 0.4809574484825134, + -0.16202722489833832, + 0.25221917033195496, + -0.8239008784294128 + ], + "joints": [ + 0.006441960111260414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13468678295612335, + 0.01861833781003952, + -0.07501785457134247 + ], + "orientation": [ + 0.21058274805545807, + -0.6632710099220276, + 0.18241183459758759, + -0.6945878863334656 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + -0.13095399737358093, + 0.018306473270058632, + -0.07431121170520782 + ], + "orientation": [ + 0.20969605445861816, + -0.6613245010375977, + 0.1841450333595276, + -0.6962528228759766 + ], + "joints": [ + 0.014068549498915672 + ] + }, + "final_grasp": { + "position": [ + -0.13095399737358093, + 0.018306473270058632, + -0.07431121170520782 + ], + "orientation": [ + 0.20969605445861816, + -0.6613245010375977, + 0.1841450333595276, + -0.6962528228759766 + ], + "joints": [ + 0.004413781687617302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05098918452858925, + -0.0077792806550860405, + -0.17253035306930542 + ], + "orientation": [ + 0.690220296382904, + -0.26124289631843567, + -0.022957397624850273, + 0.6744042634963989 + ], + "joints": [ + 0.02189403586089611 + ] + }, + "fine_grasp": { + "position": [ + 0.04927800968289375, + -0.00825407449156046, + -0.16899269819259644 + ], + "orientation": [ + 0.6898735165596008, + -0.2546008229255676, + -0.03084275871515274, + 0.6769798398017883 + ], + "joints": [ + 0.012699021026492119 + ] + }, + "final_grasp": { + "position": [ + 0.04927800968289375, + -0.00825407449156046, + -0.16899269819259644 + ], + "orientation": [ + 0.6898735165596008, + -0.2546008229255676, + -0.03084275871515274, + 0.6769798398017883 + ], + "joints": [ + 0.003504006192088127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046037204563617706, + -0.03884169086813927, + -0.16598328948020935 + ], + "orientation": [ + 0.6162307858467102, + -0.27410975098609924, + -0.041128575801849365, + -0.737178385257721 + ], + "joints": [ + 0.02525157481431961 + ] + }, + "fine_grasp": { + "position": [ + -0.044719744473695755, + -0.03679150715470314, + -0.16292919218540192 + ], + "orientation": [ + 0.6166910529136658, + -0.27546072006225586, + -0.04411991685628891, + -0.7361160516738892 + ], + "joints": [ + 0.016035661101341248 + ] + }, + "final_grasp": { + "position": [ + -0.044719744473695755, + -0.03679150715470314, + -0.16292919218540192 + ], + "orientation": [ + 0.6166910529136658, + -0.27546072006225586, + -0.04411991685628891, + -0.7361160516738892 + ], + "joints": [ + 0.0068197473883628845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06764218211174011, + 0.05556059256196022, + -0.17169933021068573 + ], + "orientation": [ + 0.48086825013160706, + -0.16277512907981873, + 0.2526770234107971, + -0.8236652612686157 + ], + "joints": [ + 0.024163270369172096 + ] + }, + "fine_grasp": { + "position": [ + -0.06577139347791672, + 0.0543854646384716, + -0.16875940561294556 + ], + "orientation": [ + 0.48069828748703003, + -0.16159407794475555, + 0.25237488746643066, + -0.8240894675254822 + ], + "joints": [ + 0.015302615240216255 + ] + }, + "final_grasp": { + "position": [ + -0.06577139347791672, + 0.0543854646384716, + -0.16875940561294556 + ], + "orientation": [ + 0.48069828748703003, + -0.16159407794475555, + 0.25237488746643066, + -0.8240894675254822 + ], + "joints": [ + 0.006441960111260414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08080068230628967, + 0.10200219601392746, + -0.12221230566501617 + ], + "orientation": [ + 0.2369314581155777, + 0.4251925051212311, + 0.2555907666683197, + -0.8353132009506226 + ], + "joints": [ + 0.02430097758769989 + ] + }, + "fine_grasp": { + "position": [ + 0.07838048785924911, + 0.09959691762924194, + -0.12044747918844223 + ], + "orientation": [ + 0.2356584668159485, + 0.4258609712123871, + 0.2553938329219818, + -0.8353930115699768 + ], + "joints": [ + 0.015879176557064056 + ] + }, + "final_grasp": { + "position": [ + 0.07838048785924911, + 0.09959691762924194, + -0.12044747918844223 + ], + "orientation": [ + 0.2356584668159485, + 0.4258609712123871, + 0.2553938329219818, + -0.8353930115699768 + ], + "joints": [ + 0.007457375526428223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06565330177545547, + 0.11716620624065399, + -0.08366376906633377 + ], + "orientation": [ + 0.5353100895881653, + 0.1849859654903412, + 0.6508539915084839, + -0.5055812001228333 + ], + "joints": [ + 0.022447315976023674 + ] + }, + "fine_grasp": { + "position": [ + -0.06330597400665283, + 0.11452102661132812, + -0.08136968314647675 + ], + "orientation": [ + 0.5443059206008911, + 0.17760977149009705, + 0.6415227055549622, + -0.5105237364768982 + ], + "joints": [ + 0.01450616680085659 + ] + }, + "final_grasp": { + "position": [ + -0.06330597400665283, + 0.11452102661132812, + -0.08136968314647675 + ], + "orientation": [ + 0.5443059206008911, + 0.17760977149009705, + 0.6415227055549622, + -0.5105237364768982 + ], + "joints": [ + 0.0065650176256895065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014494992792606354, + 0.14330965280532837, + -0.037192147225141525 + ], + "orientation": [ + 0.43216413259506226, + 0.4429689347743988, + -0.49372538924217224, + 0.6109400987625122 + ], + "joints": [ + 0.019083354622125626 + ] + }, + "fine_grasp": { + "position": [ + -0.014097518287599087, + 0.1392880082130432, + -0.03755682706832886 + ], + "orientation": [ + 0.4271685481071472, + 0.44316166639328003, + -0.5006828904151917, + 0.6086471080780029 + ], + "joints": [ + 0.009888339787721634 + ] + }, + "final_grasp": { + "position": [ + -0.014097518287599087, + 0.1392880082130432, + -0.03755682706832886 + ], + "orientation": [ + 0.4271685481071472, + 0.44316166639328003, + -0.5006828904151917, + 0.6086471080780029 + ], + "joints": [ + 0.0006933249533176422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06527906656265259, + -0.006726532708853483, + -0.15989600121974945 + ], + "orientation": [ + 0.25833943486213684, + 0.3050902485847473, + 0.1554843932390213, + 0.9033300876617432 + ], + "joints": [ + 0.022148746997117996 + ] + }, + "fine_grasp": { + "position": [ + -0.06455928832292557, + -0.005391695071011782, + -0.15621984004974365 + ], + "orientation": [ + 0.2578222155570984, + 0.29334983229637146, + 0.15665194392204285, + 0.9071570038795471 + ], + "joints": [ + 0.01337168738245964 + ] + }, + "final_grasp": { + "position": [ + -0.06455928832292557, + -0.005391695071011782, + -0.15621984004974365 + ], + "orientation": [ + 0.2578222155570984, + 0.29334983229637146, + 0.15665194392204285, + 0.9071570038795471 + ], + "joints": [ + 0.004594627767801285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033567555248737335, + -0.04494534432888031, + -0.1673344522714615 + ], + "orientation": [ + 0.21289679408073425, + -0.20002909004688263, + -0.2148008644580841, + -0.9319462776184082 + ], + "joints": [ + 0.026129035279154778 + ] + }, + "fine_grasp": { + "position": [ + -0.032395169138908386, + -0.04314153268933296, + -0.16417758166790009 + ], + "orientation": [ + 0.21286913752555847, + -0.20174534618854523, + -0.2128908634185791, + -0.9320208430290222 + ], + "joints": [ + 0.016098110005259514 + ] + }, + "final_grasp": { + "position": [ + -0.032395169138908386, + -0.04314153268933296, + -0.16417758166790009 + ], + "orientation": [ + 0.21286913752555847, + -0.20174534618854523, + -0.2128908634185791, + -0.9320208430290222 + ], + "joints": [ + 0.00606718473136425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016089504584670067, + 0.06600318104028702, + -0.165169358253479 + ], + "orientation": [ + 0.29228898882865906, + 0.16794250905513763, + -0.18677042424678802, + 0.9227563142776489 + ], + "joints": [ + 0.02473721094429493 + ] + }, + "fine_grasp": { + "position": [ + -0.016451500356197357, + 0.06436298042535782, + -0.16162967681884766 + ], + "orientation": [ + 0.29718270897865295, + 0.16032060980796814, + -0.18693292140960693, + 0.9225161075592041 + ], + "joints": [ + 0.015124240890145302 + ] + }, + "final_grasp": { + "position": [ + -0.016451500356197357, + 0.06436298042535782, + -0.16162967681884766 + ], + "orientation": [ + 0.29718270897865295, + 0.16032060980796814, + -0.18693292140960693, + 0.9225161075592041 + ], + "joints": [ + 0.005511270835995674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0145195871591568, + 0.14343950152397156, + -0.03747737780213356 + ], + "orientation": [ + 0.4300644099712372, + 0.44369712471961975, + -0.49639180302619934, + 0.6097316741943359 + ], + "joints": [ + 0.018961425870656967 + ] + }, + "fine_grasp": { + "position": [ + -0.01411824207752943, + 0.13941249251365662, + -0.03777175396680832 + ], + "orientation": [ + 0.42564263939857483, + 0.44318851828575134, + -0.5025166869163513, + 0.6081852316856384 + ], + "joints": [ + 0.010184366255998611 + ] + }, + "final_grasp": { + "position": [ + -0.01411824207752943, + 0.13941249251365662, + -0.03777175396680832 + ], + "orientation": [ + 0.42564263939857483, + 0.44318851828575134, + -0.5025166869163513, + 0.6081852316856384 + ], + "joints": [ + 0.0014073066413402557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029771504923701286, + -0.1018359512090683, + -0.0266311913728714 + ], + "orientation": [ + 0.6062726974487305, + -0.4628852903842926, + 0.5075013637542725, + 0.40076544880867004 + ], + "joints": [ + 0.018798761069774628 + ] + }, + "fine_grasp": { + "position": [ + -0.028781699016690254, + -0.09797302633523941, + -0.026838524267077446 + ], + "orientation": [ + 0.6058043837547302, + -0.46647268533706665, + 0.5072253942489624, + 0.3976515829563141 + ], + "joints": [ + 0.009603746235370636 + ] + }, + "final_grasp": { + "position": [ + -0.028781699016690254, + -0.09797302633523941, + -0.026838524267077446 + ], + "orientation": [ + 0.6058043837547302, + -0.46647268533706665, + 0.5072253942489624, + 0.3976515829563141 + ], + "joints": [ + 0.0004087314009666443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06003996729850769, + 0.10614428669214249, + -0.1275300830602646 + ], + "orientation": [ + 0.838219165802002, + 0.30494341254234314, + 0.37950432300567627, + -0.24571211636066437 + ], + "joints": [ + 0.026046736165881157 + ] + }, + "fine_grasp": { + "position": [ + -0.057982731610536575, + 0.1035175621509552, + -0.12543480098247528 + ], + "orientation": [ + 0.8388110995292664, + 0.30376753211021423, + 0.37987202405929565, + -0.24457837641239166 + ], + "joints": [ + 0.01643376611173153 + ] + }, + "final_grasp": { + "position": [ + -0.057982731610536575, + 0.1035175621509552, + -0.12543480098247528 + ], + "orientation": [ + 0.8388110995292664, + 0.30376753211021423, + 0.37987202405929565, + -0.24457837641239166 + ], + "joints": [ + 0.0068207960575819016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026514874771237373, + -0.05643555894494057, + -0.16341418027877808 + ], + "orientation": [ + 0.9200283288955688, + -0.2320980429649353, + 0.1393897384405136, + 0.28328245878219604 + ], + "joints": [ + 0.02189403586089611 + ] + }, + "fine_grasp": { + "position": [ + -0.025032736361026764, + -0.05423136055469513, + -0.16083687543869019 + ], + "orientation": [ + 0.9189502596855164, + -0.2336396872997284, + 0.14714789390563965, + 0.28158554434776306 + ], + "joints": [ + 0.01305427961051464 + ] + }, + "final_grasp": { + "position": [ + -0.025032736361026764, + -0.05423136055469513, + -0.16083687543869019 + ], + "orientation": [ + 0.9189502596855164, + -0.2336396872997284, + 0.14714789390563965, + 0.28158554434776306 + ], + "joints": [ + 0.004214523360133171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0339784249663353, + -0.04506757855415344, + -0.1671827882528305 + ], + "orientation": [ + 0.21243153512477875, + -0.195791557431221, + -0.21337711811065674, + -0.9332784414291382 + ], + "joints": [ + 0.025909671559929848 + ] + }, + "fine_grasp": { + "position": [ + -0.03268885239958763, + -0.04315967857837677, + -0.16405388712882996 + ], + "orientation": [ + 0.21232005953788757, + -0.1984085589647293, + -0.21187379956245422, + -0.9330936074256897 + ], + "joints": [ + 0.01629670150578022 + ] + }, + "final_grasp": { + "position": [ + -0.03268885239958763, + -0.04315967857837677, + -0.16405388712882996 + ], + "orientation": [ + 0.21232005953788757, + -0.1984085589647293, + -0.21187379956245422, + -0.9330936074256897 + ], + "joints": [ + 0.006683731451630592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018802309408783913, + 0.026495493948459625, + 0.17872610688209534 + ], + "orientation": [ + 0.04866981878876686, + 0.988125741481781, + -0.128444105386734, + -0.06885495036840439 + ], + "joints": [ + 0.017216142266988754 + ] + }, + "fine_grasp": { + "position": [ + 0.018165715038776398, + 0.02612471953034401, + 0.17483749985694885 + ], + "orientation": [ + 0.04994449019432068, + 0.9841533303260803, + -0.1537931114435196, + -0.07276947796344757 + ], + "joints": [ + 0.007603172212839127 + ] + }, + "final_grasp": { + "position": [ + 0.018165715038776398, + 0.02612471953034401, + 0.17483749985694885 + ], + "orientation": [ + 0.04994449019432068, + 0.9841533303260803, + -0.1537931114435196, + -0.07276947796344757 + ], + "joints": [ + -0.002009797841310501 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1300349086523056, + -0.02803909033536911, + -0.04097791016101837 + ], + "orientation": [ + 0.6135168075561523, + 0.016425421461462975, + 0.7530040144920349, + 0.2373020201921463 + ], + "joints": [ + 0.022357145324349403 + ] + }, + "fine_grasp": { + "position": [ + -0.12653107941150665, + -0.026838237419724464, + -0.04123793542385101 + ], + "orientation": [ + 0.615409255027771, + 0.017245544120669365, + 0.7514538168907166, + 0.23725754022598267 + ], + "joints": [ + 0.013496490195393562 + ] + }, + "final_grasp": { + "position": [ + -0.12653107941150665, + -0.026838237419724464, + -0.04123793542385101 + ], + "orientation": [ + 0.615409255027771, + 0.017245544120669365, + 0.7514538168907166, + 0.23725754022598267 + ], + "joints": [ + 0.004635835066437721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01975376531481743, + 0.02625255659222603, + 0.17817239463329315 + ], + "orientation": [ + 0.04606245085597038, + 0.990436851978302, + -0.11130672693252563, + -0.067259281873703 + ], + "joints": [ + 0.017232783138751984 + ] + }, + "fine_grasp": { + "position": [ + 0.01909640245139599, + 0.025924084708094597, + 0.17432056367397308 + ], + "orientation": [ + 0.047025058418512344, + 0.9876702427864075, + -0.13019657135009766, + -0.0731082558631897 + ], + "joints": [ + 0.00720185786485672 + ] + }, + "final_grasp": { + "position": [ + 0.01909640245139599, + 0.025924084708094597, + 0.17432056367397308 + ], + "orientation": [ + 0.047025058418512344, + 0.9876702427864075, + -0.13019657135009766, + -0.0731082558631897 + ], + "joints": [ + -0.0028290674090385437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028283987194299698, + -0.10058833658695221, + -0.0989127978682518 + ], + "orientation": [ + 0.2847757041454315, + -0.3723830282688141, + -0.48844534158706665, + -0.7359720468521118 + ], + "joints": [ + 0.0250066090375185 + ] + }, + "fine_grasp": { + "position": [ + -0.02772555872797966, + -0.09717897325754166, + -0.09735045582056046 + ], + "orientation": [ + 0.28674131631851196, + -0.3688623011112213, + -0.48826339840888977, + -0.7371017336845398 + ], + "joints": [ + 0.015790695324540138 + ] + }, + "final_grasp": { + "position": [ + -0.02772555872797966, + -0.09717897325754166, + -0.09735045582056046 + ], + "orientation": [ + 0.28674131631851196, + -0.3688623011112213, + -0.48826339840888977, + -0.7371017336845398 + ], + "joints": [ + 0.006574781611561775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10853347182273865, + 0.03674391284584999, + -0.12188588827848434 + ], + "orientation": [ + 0.8386576771736145, + 0.15582482516765594, + -0.5057439804077148, + -0.12882204353809357 + ], + "joints": [ + 0.024787243455648422 + ] + }, + "fine_grasp": { + "position": [ + 0.10548753291368484, + 0.036067668348550797, + -0.11971180886030197 + ], + "orientation": [ + 0.8408934473991394, + 0.1555706262588501, + -0.502081573009491, + -0.12888067960739136 + ], + "joints": [ + 0.015174273401498795 + ] + }, + "final_grasp": { + "position": [ + 0.10548753291368484, + 0.036067668348550797, + -0.11971180886030197 + ], + "orientation": [ + 0.8408934473991394, + 0.1555706262588501, + -0.502081573009491, + -0.12888067960739136 + ], + "joints": [ + 0.005561303347349167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0419631265103817, + -0.0284643042832613, + -0.17243286967277527 + ], + "orientation": [ + 0.865283727645874, + -0.2580793797969818, + 0.03356337547302246, + -0.4284305274486542 + ], + "joints": [ + 0.024788465350866318 + ] + }, + "fine_grasp": { + "position": [ + -0.04052535817027092, + -0.027635373175144196, + -0.16904699802398682 + ], + "orientation": [ + 0.8655092120170593, + -0.2543330490589142, + 0.036707110702991486, + -0.42995476722717285 + ], + "joints": [ + 0.015154596418142319 + ] + }, + "final_grasp": { + "position": [ + -0.04052535817027092, + -0.027635373175144196, + -0.16904699802398682 + ], + "orientation": [ + 0.8655092120170593, + -0.2543330490589142, + 0.036707110702991486, + -0.42995476722717285 + ], + "joints": [ + 0.00552072748541832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1159103512763977, + -0.02315761335194111, + -0.03897092863917351 + ], + "orientation": [ + 0.08126229047775269, + -0.6239174604415894, + 0.14701656997203827, + 0.7632232308387756 + ], + "joints": [ + 0.018615130335092545 + ] + }, + "fine_grasp": { + "position": [ + 0.11218880116939545, + -0.021844742819666862, + -0.03890548646450043 + ], + "orientation": [ + 0.07927359640598297, + -0.6260820031166077, + 0.14950285851955414, + 0.7611741423606873 + ], + "joints": [ + 0.008605103939771652 + ] + }, + "final_grasp": { + "position": [ + 0.11218880116939545, + -0.021844742819666862, + -0.03890548646450043 + ], + "orientation": [ + 0.07927359640598297, + -0.6260820031166077, + 0.14950285851955414, + 0.7611741423606873 + ], + "joints": [ + -0.0014049224555492401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01007816568017006, + 0.1386454999446869, + -0.02143924869596958 + ], + "orientation": [ + 0.4313419461250305, + 0.49458950757980347, + 0.5272646546363831, + -0.539738118648529 + ], + "joints": [ + 0.018902091309428215 + ] + }, + "fine_grasp": { + "position": [ + 0.00974168162792921, + 0.13456754386425018, + -0.021992376074194908 + ], + "orientation": [ + 0.4259403645992279, + 0.49159327149391174, + 0.5332357883453369, + -0.540897786617279 + ], + "joints": [ + 0.010542986914515495 + ] + }, + "final_grasp": { + "position": [ + 0.00974168162792921, + 0.13456754386425018, + -0.021992376074194908 + ], + "orientation": [ + 0.4259403645992279, + 0.49159327149391174, + 0.5332357883453369, + -0.540897786617279 + ], + "joints": [ + 0.0021838825196027756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11866190284490585, + -0.024424109607934952, + -0.05894754081964493 + ], + "orientation": [ + 0.6848207116127014, + -0.27464282512664795, + -0.6729826331138611, + 0.05182947590947151 + ], + "joints": [ + 0.025944380089640617 + ] + }, + "fine_grasp": { + "position": [ + 0.11503727734088898, + -0.02296113781630993, + -0.05859753489494324 + ], + "orientation": [ + 0.6899229288101196, + -0.27618855237960815, + -0.6670972108840942, + 0.05203566700220108 + ], + "joints": [ + 0.015934353694319725 + ] + }, + "final_grasp": { + "position": [ + 0.11503727734088898, + -0.02296113781630993, + -0.05859753489494324 + ], + "orientation": [ + 0.6899229288101196, + -0.27618855237960815, + -0.6670972108840942, + 0.05203566700220108 + ], + "joints": [ + 0.005924327298998833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10125982016324997, + 0.020540321245789528, + 0.09484271705150604 + ], + "orientation": [ + 0.533599853515625, + -0.03416956588625908, + 0.8442202806472778, + -0.03736007213592529 + ], + "joints": [ + 0.01656252145767212 + ] + }, + "fine_grasp": { + "position": [ + -0.097286656498909, + 0.020591692999005318, + 0.09487108886241913 + ], + "orientation": [ + 0.5251263380050659, + -0.04145665839314461, + 0.8489420413970947, + -0.04267513379454613 + ], + "joints": [ + 0.0082034170627594 + ] + }, + "final_grasp": { + "position": [ + -0.097286656498909, + 0.020591692999005318, + 0.09487108886241913 + ], + "orientation": [ + 0.5251263380050659, + -0.04145665839314461, + 0.8489420413970947, + -0.04267513379454613 + ], + "joints": [ + -0.0001556873321533203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04405811429023743, + -0.08930394053459167, + -0.12524919211864471 + ], + "orientation": [ + 0.39989835023880005, + -0.10604558885097504, + -0.5153325200080872, + -0.7505117654800415 + ], + "joints": [ + 0.022820254787802696 + ] + }, + "fine_grasp": { + "position": [ + 0.04216655343770981, + -0.08689369261264801, + -0.12284638732671738 + ], + "orientation": [ + 0.40404367446899414, + -0.09776172041893005, + -0.513984739780426, + -0.7503405809402466 + ], + "joints": [ + 0.013980498537421227 + ] + }, + "final_grasp": { + "position": [ + 0.04216655343770981, + -0.08689369261264801, + -0.12284638732671738 + ], + "orientation": [ + 0.40404367446899414, + -0.09776172041893005, + -0.513984739780426, + -0.7503405809402466 + ], + "joints": [ + 0.005140742287039757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02524908445775509, + 0.07335156202316284, + -0.14740633964538574 + ], + "orientation": [ + 0.6990911960601807, + 0.09202606230974197, + 0.256268173456192, + -0.6611575484275818 + ], + "joints": [ + 0.025147659704089165 + ] + }, + "fine_grasp": { + "position": [ + -0.02526901476085186, + 0.0715838298201561, + -0.14672566950321198 + ], + "orientation": [ + 0.6968091130256653, + 0.09131133556365967, + 0.25864648818969727, + -0.6627377867698669 + ], + "joints": [ + 0.015534689649939537 + ] + }, + "final_grasp": { + "position": [ + -0.02526901476085186, + 0.0715838298201561, + -0.14672566950321198 + ], + "orientation": [ + 0.6968091130256653, + 0.09131133556365967, + 0.25864648818969727, + -0.6627377867698669 + ], + "joints": [ + 0.005921719595789909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07509816437959671, + 0.1122443675994873, + -0.10204119980335236 + ], + "orientation": [ + 0.21742750704288483, + 0.46187862753868103, + -0.3350222408771515, + 0.7919302582740784 + ], + "joints": [ + 0.025714684277772903 + ] + }, + "fine_grasp": { + "position": [ + -0.07273043692111969, + 0.10936913639307022, + -0.10073819756507874 + ], + "orientation": [ + 0.2156641185283661, + 0.46202412247657776, + -0.3358412981033325, + 0.7919806241989136 + ], + "joints": [ + 0.01649877056479454 + ] + }, + "final_grasp": { + "position": [ + -0.07273043692111969, + 0.10936913639307022, + -0.10073819756507874 + ], + "orientation": [ + 0.2156641185283661, + 0.46202412247657776, + -0.3358412981033325, + 0.7919806241989136 + ], + "joints": [ + 0.007282856851816177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08046314120292664, + 0.12708018720149994, + -0.051401104778051376 + ], + "orientation": [ + 0.39544054865837097, + 0.6681411862373352, + -0.21102122962474823, + 0.5938722491264343 + ], + "joints": [ + 0.0249274130910635 + ] + }, + "fine_grasp": { + "position": [ + -0.07867644727230072, + 0.12379629909992218, + -0.051653482019901276 + ], + "orientation": [ + 0.40058633685112, + 0.6678286790847778, + -0.21787315607070923, + 0.5882742404937744 + ], + "joints": [ + 0.014081476256251335 + ] + }, + "final_grasp": { + "position": [ + -0.07867644727230072, + 0.12379629909992218, + -0.051653482019901276 + ], + "orientation": [ + 0.40058633685112, + 0.6678286790847778, + -0.21787315607070923, + 0.5882742404937744 + ], + "joints": [ + 0.003235539421439171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10959039628505707, + -0.04757177084684372, + -0.06151755154132843 + ], + "orientation": [ + 0.26946595311164856, + -0.6748514175415039, + -0.10174637287855148, + -0.6794198751449585 + ], + "joints": [ + 0.02554270811378956 + ] + }, + "fine_grasp": { + "position": [ + -0.10623973608016968, + -0.04557902365922928, + -0.06136956810951233 + ], + "orientation": [ + 0.26961007714271545, + -0.6767565608024597, + -0.1024818941950798, + -0.6773539781570435 + ], + "joints": [ + 0.01590883918106556 + ] + }, + "final_grasp": { + "position": [ + -0.10623973608016968, + -0.04557902365922928, + -0.06136956810951233 + ], + "orientation": [ + 0.26961007714271545, + -0.6767565608024597, + -0.1024818941950798, + -0.6773539781570435 + ], + "joints": [ + 0.00627497024834156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021696709096431732, + -0.10246162861585617, + -0.08755951374769211 + ], + "orientation": [ + 0.5945253968238831, + -0.4514893889427185, + 0.2950061559677124, + 0.5963791608810425 + ], + "joints": [ + 0.02108359895646572 + ] + }, + "fine_grasp": { + "position": [ + 0.0213469285517931, + -0.09853243827819824, + -0.08735257387161255 + ], + "orientation": [ + 0.5929692983627319, + -0.4594196379184723, + 0.3022615313529968, + 0.5881827473640442 + ], + "joints": [ + 0.012285640463232994 + ] + }, + "final_grasp": { + "position": [ + 0.0213469285517931, + -0.09853243827819824, + -0.08735257387161255 + ], + "orientation": [ + 0.5929692983627319, + -0.4594196379184723, + 0.3022615313529968, + 0.5881827473640442 + ], + "joints": [ + 0.003487681970000267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1189717948436737, + -0.02463080734014511, + -0.05851735547184944 + ], + "orientation": [ + 0.6886376142501831, + -0.27687373757362366, + -0.6681133508682251, + 0.05237776041030884 + ], + "joints": [ + 0.026420315727591515 + ] + }, + "fine_grasp": { + "position": [ + 0.11530878394842148, + -0.02326413430273533, + -0.05838640034198761 + ], + "orientation": [ + 0.6920928359031677, + -0.2786426246166229, + -0.6637036204338074, + 0.05351097509264946 + ], + "joints": [ + 0.01638939045369625 + ] + }, + "final_grasp": { + "position": [ + 0.11530878394842148, + -0.02326413430273533, + -0.05838640034198761 + ], + "orientation": [ + 0.6920928359031677, + -0.2786426246166229, + -0.6637036204338074, + 0.05351097509264946 + ], + "joints": [ + 0.006358465179800987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10830584913492203, + 0.03681764751672745, + -0.12149696797132492 + ], + "orientation": [ + 0.8387124538421631, + 0.15712106227874756, + -0.5049098134040833, + -0.13015596568584442 + ], + "joints": [ + 0.025043176487088203 + ] + }, + "fine_grasp": { + "position": [ + 0.10534371435642242, + 0.03613944351673126, + -0.11910545825958252 + ], + "orientation": [ + 0.8418813347816467, + 0.15713359415531158, + -0.49948710203170776, + -0.1306043416261673 + ], + "joints": [ + 0.015430206432938576 + ] + }, + "final_grasp": { + "position": [ + 0.10534371435642242, + 0.03613944351673126, + -0.11910545825958252 + ], + "orientation": [ + 0.8418813347816467, + 0.15713359415531158, + -0.49948710203170776, + -0.1306043416261673 + ], + "joints": [ + 0.005817236378788948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08047698438167572, + 0.12704624235630035, + -0.051401231437921524 + ], + "orientation": [ + 0.3958909213542938, + 0.6680525541305542, + -0.21112176775932312, + 0.5936359763145447 + ], + "joints": [ + 0.0249274130910635 + ] + }, + "fine_grasp": { + "position": [ + -0.07868271321058273, + 0.12380516529083252, + -0.05165740102529526 + ], + "orientation": [ + 0.4007316827774048, + 0.6678915023803711, + -0.21768945455551147, + 0.5881720781326294 + ], + "joints": [ + 0.014081476256251335 + ] + }, + "final_grasp": { + "position": [ + -0.07868271321058273, + 0.12380516529083252, + -0.05165740102529526 + ], + "orientation": [ + 0.4007316827774048, + 0.6678915023803711, + -0.21768945455551147, + 0.5881720781326294 + ], + "joints": [ + 0.003235539421439171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07453811913728714, + 0.11170940846204758, + -0.10168179124593735 + ], + "orientation": [ + 0.21976496279239655, + 0.4602952003479004, + -0.33365926146507263, + 0.7927820086479187 + ], + "joints": [ + 0.02610083483159542 + ] + }, + "fine_grasp": { + "position": [ + -0.07219040393829346, + 0.10886242240667343, + -0.10042703151702881 + ], + "orientation": [ + 0.2180943787097931, + 0.46066391468048096, + -0.3350332975387573, + 0.7924495339393616 + ], + "joints": [ + 0.016466965898871422 + ] + }, + "final_grasp": { + "position": [ + -0.07219040393829346, + 0.10886242240667343, + -0.10042703151702881 + ], + "orientation": [ + 0.2180943787097931, + 0.46066391468048096, + -0.3350332975387573, + 0.7924495339393616 + ], + "joints": [ + 0.006833096966147423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0802796483039856, + 0.12652483582496643, + -0.05130843445658684 + ], + "orientation": [ + 0.39842140674591064, + 0.6665156483650208, + -0.21333785355091095, + 0.5928780436515808 + ], + "joints": [ + 0.024163279682397842 + ] + }, + "fine_grasp": { + "position": [ + -0.0783071368932724, + 0.12342087924480438, + -0.0515231229364872 + ], + "orientation": [ + 0.4018182158470154, + 0.6667554378509521, + -0.21784868836402893, + 0.5886605978012085 + ], + "joints": [ + 0.013714399188756943 + ] + }, + "final_grasp": { + "position": [ + -0.0783071368932724, + 0.12342087924480438, + -0.0515231229364872 + ], + "orientation": [ + 0.4018182158470154, + 0.6667554378509521, + -0.21784868836402893, + 0.5886605978012085 + ], + "joints": [ + 0.003265518695116043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039653465151786804, + -0.07367251813411713, + -0.14879915118217468 + ], + "orientation": [ + 0.9079853892326355, + -0.3263912796974182, + 0.1927178055047989, + 0.1785804182291031 + ], + "joints": [ + 0.023538075387477875 + ] + }, + "fine_grasp": { + "position": [ + -0.038040950894355774, + -0.07116284966468811, + -0.14632469415664673 + ], + "orientation": [ + 0.9076412916183472, + -0.3261267840862274, + 0.1975698173046112, + 0.17548461258411407 + ], + "joints": [ + 0.014740116894245148 + ] + }, + "final_grasp": { + "position": [ + -0.038040950894355774, + -0.07116284966468811, + -0.14632469415664673 + ], + "orientation": [ + 0.9076412916183472, + -0.3261267840862274, + 0.1975698173046112, + 0.17548461258411407 + ], + "joints": [ + 0.005942158401012421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040696386247873306, + 0.06605552136898041, + -0.17397785186767578 + ], + "orientation": [ + 0.09311769902706146, + -0.1264190375804901, + -0.2064763903617859, + 0.9657717347145081 + ], + "joints": [ + 0.02578415349125862 + ] + }, + "fine_grasp": { + "position": [ + 0.03966357931494713, + 0.06462754309177399, + -0.1706133335828781 + ], + "orientation": [ + 0.09343717992305756, + -0.12528197467327118, + -0.20349785685539246, + 0.9665209054946899 + ], + "joints": [ + 0.016171183437108994 + ] + }, + "final_grasp": { + "position": [ + 0.03966357931494713, + 0.06462754309177399, + -0.1706133335828781 + ], + "orientation": [ + 0.09343717992305756, + -0.12528197467327118, + -0.20349785685539246, + 0.9665209054946899 + ], + "joints": [ + 0.006558213382959366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13367721438407898, + -0.001496104639954865, + -0.03158038854598999 + ], + "orientation": [ + 0.6600740551948547, + 0.09884271025657654, + 0.7258504033088684, + 0.16635380685329437 + ], + "joints": [ + 0.022321799769997597 + ] + }, + "fine_grasp": { + "position": [ + -0.12961585819721222, + -0.0009925079066306353, + -0.03177333623170853 + ], + "orientation": [ + 0.6602355241775513, + 0.10163619369268417, + 0.7246001362800598, + 0.16945192217826843 + ], + "joints": [ + 0.013544740155339241 + ] + }, + "final_grasp": { + "position": [ + -0.12961585819721222, + -0.0009925079066306353, + -0.03177333623170853 + ], + "orientation": [ + 0.6602355241775513, + 0.10163619369268417, + 0.7246001362800598, + 0.16945192217826843 + ], + "joints": [ + 0.004767680540680885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03955097123980522, + -0.07355981320142746, + -0.14900292456150055 + ], + "orientation": [ + 0.9076208472251892, + -0.3267934024333954, + 0.19525176286697388, + 0.17693836987018585 + ], + "joints": [ + 0.024186426773667336 + ] + }, + "fine_grasp": { + "position": [ + -0.038035906851291656, + -0.07104437798261642, + -0.14650368690490723 + ], + "orientation": [ + 0.9072911143302917, + -0.3266719877719879, + 0.19952066242694855, + 0.17406852543354034 + ], + "joints": [ + 0.014970513060688972 + ] + }, + "final_grasp": { + "position": [ + -0.038035906851291656, + -0.07104437798261642, + -0.14650368690490723 + ], + "orientation": [ + 0.9072911143302917, + -0.3266719877719879, + 0.19952066242694855, + 0.17406852543354034 + ], + "joints": [ + 0.0057545993477106094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0423307791352272, + -0.028339993208646774, + -0.17292749881744385 + ], + "orientation": [ + 0.8655421733856201, + -0.2588385343551636, + 0.03244384378194809, + -0.4275355935096741 + ], + "joints": [ + 0.02476530894637108 + ] + }, + "fine_grasp": { + "position": [ + -0.040807709097862244, + -0.027603352442383766, + -0.1695946455001831 + ], + "orientation": [ + 0.8656474351882935, + -0.2549862563610077, + 0.03636445105075836, + -0.4293181896209717 + ], + "joints": [ + 0.015110541135072708 + ] + }, + "final_grasp": { + "position": [ + -0.040807709097862244, + -0.027603352442383766, + -0.1695946455001831 + ], + "orientation": [ + 0.8656474351882935, + -0.2549862563610077, + 0.03636445105075836, + -0.4293181896209717 + ], + "joints": [ + 0.005455773323774338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0407586470246315, + 0.06606026738882065, + -0.174103781580925 + ], + "orientation": [ + 0.09301270544528961, + -0.12658029794692993, + -0.20639920234680176, + 0.9657771587371826 + ], + "joints": [ + 0.02578415349125862 + ] + }, + "fine_grasp": { + "position": [ + 0.03972521424293518, + 0.06462618708610535, + -0.1707400679588318 + ], + "orientation": [ + 0.09330402314662933, + -0.12536035478115082, + -0.20337046682834625, + 0.966550350189209 + ], + "joints": [ + 0.016150284558534622 + ] + }, + "final_grasp": { + "position": [ + 0.03972521424293518, + 0.06462618708610535, + -0.1707400679588318 + ], + "orientation": [ + 0.09330402314662933, + -0.12536035478115082, + -0.20337046682834625, + 0.966550350189209 + ], + "joints": [ + 0.006516415625810623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010096557438373566, + -0.07047856599092484, + -0.15708790719509125 + ], + "orientation": [ + 0.8865833878517151, + -0.3328394889831543, + 0.02279910072684288, + 0.32041865587234497 + ], + "joints": [ + 0.022889724001288414 + ] + }, + "fine_grasp": { + "position": [ + 0.01075380202382803, + -0.06763578206300735, + -0.1545899361371994 + ], + "orientation": [ + 0.8871670365333557, + -0.33466190099716187, + 0.03258134797215462, + 0.31602928042411804 + ], + "joints": [ + 0.014070866629481316 + ] + }, + "final_grasp": { + "position": [ + 0.01075380202382803, + -0.06763578206300735, + -0.1545899361371994 + ], + "orientation": [ + 0.8871670365333557, + -0.33466190099716187, + 0.03258134797215462, + 0.31602928042411804 + ], + "joints": [ + 0.005252009257674217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1334545612335205, + -0.001366145326755941, + -0.031245604157447815 + ], + "orientation": [ + 0.6616032719612122, + 0.1003364697098732, + 0.7244476079940796, + 0.16549700498580933 + ], + "joints": [ + 0.02310541272163391 + ] + }, + "fine_grasp": { + "position": [ + -0.12941503524780273, + -0.0008097016252577305, + -0.031369734555482864 + ], + "orientation": [ + 0.6616016030311584, + 0.10310498625040054, + 0.723259687423706, + 0.16896222531795502 + ], + "joints": [ + 0.014328353106975555 + ] + }, + "final_grasp": { + "position": [ + -0.12941503524780273, + -0.0008097016252577305, + -0.031369734555482864 + ], + "orientation": [ + 0.6616016030311584, + 0.10310498625040054, + 0.723259687423706, + 0.16896222531795502 + ], + "joints": [ + 0.0055512934923172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07043838500976562, + -0.008962290361523628, + -0.15513254702091217 + ], + "orientation": [ + 0.37689661979675293, + -0.2762421667575836, + -0.03286399692296982, + 0.8834925293922424 + ], + "joints": [ + 0.024140113964676857 + ] + }, + "fine_grasp": { + "position": [ + 0.06808487325906754, + -0.007762124761939049, + -0.1526559740304947 + ], + "orientation": [ + 0.3767218291759491, + -0.28321707248687744, + -0.030734112486243248, + 0.8814330697059631 + ], + "joints": [ + 0.014506245031952858 + ] + }, + "final_grasp": { + "position": [ + 0.06808487325906754, + -0.007762124761939049, + -0.1526559740304947 + ], + "orientation": [ + 0.3767218291759491, + -0.28321707248687744, + -0.030734112486243248, + 0.8814330697059631 + ], + "joints": [ + 0.004872376099228859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05777553468942642, + -0.0917809009552002, + 0.08322864770889282 + ], + "orientation": [ + 0.39909613132476807, + -0.6312593817710876, + -0.29339340329170227, + -0.5967865586280823 + ], + "joints": [ + 0.012696836143732071 + ] + }, + "fine_grasp": { + "position": [ + -0.056891459971666336, + -0.08797617256641388, + 0.0816781148314476 + ], + "orientation": [ + 0.39946088194847107, + -0.6414992213249207, + -0.3145526647567749, + -0.5744268894195557 + ], + "joints": [ + 0.004755686968564987 + ] + }, + "final_grasp": { + "position": [ + -0.056891459971666336, + -0.08797617256641388, + 0.0816781148314476 + ], + "orientation": [ + 0.39946088194847107, + -0.6414992213249207, + -0.3145526647567749, + -0.5744268894195557 + ], + "joints": [ + -0.0031854622066020966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053946543484926224, + -0.10461248457431793, + -0.03257673978805542 + ], + "orientation": [ + 0.5757541656494141, + -0.5963417887687683, + -0.5409777760505676, + -0.14222025871276855 + ], + "joints": [ + 0.021454082801938057 + ] + }, + "fine_grasp": { + "position": [ + 0.052760738879442215, + -0.10081657022237778, + -0.03276585415005684 + ], + "orientation": [ + 0.5808598399162292, + -0.5975114703178406, + -0.5321528911590576, + -0.14965054392814636 + ], + "joints": [ + 0.013053180649876595 + ] + }, + "final_grasp": { + "position": [ + 0.052760738879442215, + -0.10081657022237778, + -0.03276585415005684 + ], + "orientation": [ + 0.5808598399162292, + -0.5975114703178406, + -0.5321528911590576, + -0.14965054392814636 + ], + "joints": [ + 0.004652278497815132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03978641331195831, + -0.07364848256111145, + -0.14853057265281677 + ], + "orientation": [ + 0.9075368642807007, + -0.327801913022995, + 0.1913406103849411, + 0.17975395917892456 + ], + "joints": [ + 0.02376963011920452 + ] + }, + "fine_grasp": { + "position": [ + -0.0381014421582222, + -0.07115558534860611, + -0.14605264365673065 + ], + "orientation": [ + 0.9072317481040955, + -0.32738515734672546, + 0.1964310109615326, + 0.17653432488441467 + ], + "joints": [ + 0.01457461528480053 + ] + }, + "final_grasp": { + "position": [ + -0.0381014421582222, + -0.07115558534860611, + -0.14605264365673065 + ], + "orientation": [ + 0.9072317481040955, + -0.32738515734672546, + 0.1964310109615326, + 0.17653432488441467 + ], + "joints": [ + 0.005379600450396538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05373367294669151, + -0.10452611744403839, + -0.03267865255475044 + ], + "orientation": [ + 0.5753219127655029, + -0.5961005687713623, + -0.5417363047599792, + -0.14209407567977905 + ], + "joints": [ + 0.021454082801938057 + ] + }, + "fine_grasp": { + "position": [ + 0.052576903253793716, + -0.10072094947099686, + -0.03283452242612839 + ], + "orientation": [ + 0.5806307196617126, + -0.5972461700439453, + -0.532682478427887, + -0.1497141718864441 + ], + "joints": [ + 0.013053180649876595 + ] + }, + "final_grasp": { + "position": [ + 0.052576903253793716, + -0.10072094947099686, + -0.03283452242612839 + ], + "orientation": [ + 0.5806307196617126, + -0.5972461700439453, + -0.532682478427887, + -0.1497141718864441 + ], + "joints": [ + 0.004652278497815132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0701637789607048, + -0.008910315111279488, + -0.15493017435073853 + ], + "orientation": [ + 0.3770707845687866, + -0.27741706371307373, + -0.032103363424539566, + 0.8830779790878296 + ], + "joints": [ + 0.024116957560181618 + ] + }, + "fine_grasp": { + "position": [ + 0.0676809623837471, + -0.007578081917017698, + -0.1524467021226883 + ], + "orientation": [ + 0.3770919144153595, + -0.28532180190086365, + -0.029374955222010612, + 0.8806419372558594 + ], + "joints": [ + 0.01450398750603199 + ] + }, + "final_grasp": { + "position": [ + 0.0676809623837471, + -0.007578081917017698, + -0.1524467021226883 + ], + "orientation": [ + 0.3770919144153595, + -0.28532180190086365, + -0.029374955222010612, + 0.8806419372558594 + ], + "joints": [ + 0.004891017451882362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08818532526493073, + 0.10510294884443283, + -0.09689804166555405 + ], + "orientation": [ + 0.618735134601593, + 0.07061448693275452, + -0.5986384153366089, + 0.5037981271743774 + ], + "joints": [ + 0.02683711238205433 + ] + }, + "fine_grasp": { + "position": [ + 0.0855148434638977, + 0.1024680882692337, + -0.09561754018068314 + ], + "orientation": [ + 0.6193987727165222, + 0.0690908282995224, + -0.5973184108734131, + 0.5047599077224731 + ], + "joints": [ + 0.0172241423279047 + ] + }, + "final_grasp": { + "position": [ + 0.0855148434638977, + 0.1024680882692337, + -0.09561754018068314 + ], + "orientation": [ + 0.6193987727165222, + 0.0690908282995224, + -0.5973184108734131, + 0.5047599077224731 + ], + "joints": [ + 0.0076111722737550735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06987201422452927, + -0.008868400007486343, + -0.15447023510932922 + ], + "orientation": [ + 0.37544527649879456, + -0.27780285477638245, + -0.031255509704351425, + 0.8836795091629028 + ], + "joints": [ + 0.024116957560181618 + ] + }, + "fine_grasp": { + "position": [ + 0.06740423291921616, + -0.0075092376209795475, + -0.1520150750875473 + ], + "orientation": [ + 0.37540170550346375, + -0.2861270010471344, + -0.02813231386244297, + 0.88114333152771 + ], + "joints": [ + 0.01450398750603199 + ] + }, + "final_grasp": { + "position": [ + 0.06740423291921616, + -0.0075092376209795475, + -0.1520150750875473 + ], + "orientation": [ + 0.37540170550346375, + -0.2861270010471344, + -0.02813231386244297, + 0.88114333152771 + ], + "joints": [ + 0.004891017451882362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07558765262365341, + -0.07439674437046051, + -0.036205220967531204 + ], + "orientation": [ + 0.1823553442955017, + -0.6391836404800415, + 0.42734384536743164, + 0.6128360033035278 + ], + "joints": [ + 0.026200950145721436 + ] + }, + "fine_grasp": { + "position": [ + 0.07325493544340134, + -0.07135596871376038, + -0.03656381368637085 + ], + "orientation": [ + 0.18349230289459229, + -0.6380681395530701, + 0.4267266094684601, + 0.6140879392623901 + ], + "joints": [ + 0.014581799507141113 + ] + }, + "final_grasp": { + "position": [ + 0.07325493544340134, + -0.07135596871376038, + -0.03656381368637085 + ], + "orientation": [ + 0.18349230289459229, + -0.6380681395530701, + 0.4267266094684601, + 0.6140879392623901 + ], + "joints": [ + 0.002962648868560791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017996560782194138, + 0.1421457678079605, + -0.06273049116134644 + ], + "orientation": [ + 0.5926321148872375, + 0.518795907497406, + 0.3296046257019043, + -0.520575225353241 + ], + "joints": [ + 0.02063874714076519 + ] + }, + "fine_grasp": { + "position": [ + 0.017479870468378067, + 0.13809314370155334, + -0.06294962018728256 + ], + "orientation": [ + 0.5893386006355286, + 0.5263186097145081, + 0.33180883526802063, + -0.5153364539146423 + ], + "joints": [ + 0.011861687526106834 + ] + }, + "final_grasp": { + "position": [ + 0.017479870468378067, + 0.13809314370155334, + -0.06294962018728256 + ], + "orientation": [ + 0.5893386006355286, + 0.5263186097145081, + 0.33180883526802063, + -0.5153364539146423 + ], + "joints": [ + 0.0030846279114484787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013868601061403751, + 0.14273414015769958, + -0.09945519268512726 + ], + "orientation": [ + 0.3628130555152893, + 0.23387916386127472, + 0.5596544146537781, + -0.7074277997016907 + ], + "joints": [ + 0.025384925305843353 + ] + }, + "fine_grasp": { + "position": [ + -0.013321676291525364, + 0.139186292886734, + -0.09807164967060089 + ], + "orientation": [ + 0.36385276913642883, + 0.23214541375637054, + 0.5587624311447144, + -0.70816969871521 + ], + "joints": [ + 0.01614811271429062 + ] + }, + "final_grasp": { + "position": [ + -0.013321676291525364, + 0.139186292886734, + -0.09807164967060089 + ], + "orientation": [ + 0.36385276913642883, + 0.23214541375637054, + 0.5587624311447144, + -0.70816969871521 + ], + "joints": [ + 0.0069113001227378845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0026025930419564247, + 0.10811875760555267, + -0.14787964522838593 + ], + "orientation": [ + 0.7864189147949219, + 0.3264482617378235, + 0.2210279107093811, + -0.47552451491355896 + ], + "joints": [ + 0.025885291397571564 + ] + }, + "fine_grasp": { + "position": [ + -0.0023589718621224165, + 0.10527166724205017, + -0.1452239453792572 + ], + "orientation": [ + 0.7864513993263245, + 0.3256172239780426, + 0.22199131548404694, + -0.47559159994125366 + ], + "joints": [ + 0.016272321343421936 + ] + }, + "final_grasp": { + "position": [ + -0.0023589718621224165, + 0.10527166724205017, + -0.1452239453792572 + ], + "orientation": [ + 0.7864513993263245, + 0.3256172239780426, + 0.22199131548404694, + -0.47559159994125366 + ], + "joints": [ + 0.006659351289272308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048287179321050644, + -0.08805865794420242, + -0.11876258254051208 + ], + "orientation": [ + 0.6065905690193176, + -0.48628324270248413, + 0.18364495038986206, + 0.6015406250953674 + ], + "joints": [ + 0.025665925815701485 + ] + }, + "fine_grasp": { + "position": [ + 0.04697464033961296, + -0.08490700274705887, + -0.11681358516216278 + ], + "orientation": [ + 0.6080291867256165, + -0.48541954159736633, + 0.18371973931789398, + 0.6007623076438904 + ], + "joints": [ + 0.01645001210272312 + ] + }, + "final_grasp": { + "position": [ + 0.04697464033961296, + -0.08490700274705887, + -0.11681358516216278 + ], + "orientation": [ + 0.6080291867256165, + -0.48541954159736633, + 0.18371973931789398, + 0.6007623076438904 + ], + "joints": [ + 0.007234098389744759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07002222537994385, + -0.008975237607955933, + -0.15504704415798187 + ], + "orientation": [ + 0.37651097774505615, + -0.2770220935344696, + -0.031248576939105988, + 0.8834713697433472 + ], + "joints": [ + 0.024116957560181618 + ] + }, + "fine_grasp": { + "position": [ + 0.06754662841558456, + -0.007651051040738821, + -0.15256129205226898 + ], + "orientation": [ + 0.3765634298324585, + -0.28489169478416443, + -0.028603412210941315, + 0.8810327053070068 + ], + "joints": [ + 0.01450398750603199 + ] + }, + "final_grasp": { + "position": [ + 0.06754662841558456, + -0.007651051040738821, + -0.15256129205226898 + ], + "orientation": [ + 0.3765634298324585, + -0.28489169478416443, + -0.028603412210941315, + 0.8810327053070068 + ], + "joints": [ + 0.004891017451882362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06286802887916565, + 0.13389019668102264, + -0.046068303287029266 + ], + "orientation": [ + 0.22975081205368042, + 0.5038819909095764, + -0.48880523443222046, + 0.6740822196006775 + ], + "joints": [ + 0.024104570969939232 + ] + }, + "fine_grasp": { + "position": [ + -0.06108339503407478, + 0.13051986694335938, + -0.04602915048599243 + ], + "orientation": [ + 0.22805669903755188, + 0.5021225810050964, + -0.48936471343040466, + 0.6755629777908325 + ], + "joints": [ + 0.014449803158640862 + ] + }, + "final_grasp": { + "position": [ + -0.06108339503407478, + 0.13051986694335938, + -0.04602915048599243 + ], + "orientation": [ + 0.22805669903755188, + 0.5021225810050964, + -0.48936471343040466, + 0.6755629777908325 + ], + "joints": [ + 0.004795035347342491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06255962699651718, + 0.13330446183681488, + -0.04541049897670746 + ], + "orientation": [ + 0.2378387302160263, + 0.5022652745246887, + -0.4817996323108673, + 0.6775186657905579 + ], + "joints": [ + 0.024200862273573875 + ] + }, + "fine_grasp": { + "position": [ + -0.06057222932577133, + 0.13006873428821564, + -0.04552916809916496 + ], + "orientation": [ + 0.23398980498313904, + 0.5030391812324524, + -0.4820837080478668, + 0.6780824065208435 + ], + "joints": [ + 0.013751981779932976 + ] + }, + "final_grasp": { + "position": [ + -0.06057222932577133, + 0.13006873428821564, + -0.04552916809916496 + ], + "orientation": [ + 0.23398980498313904, + 0.5030391812324524, + -0.4820837080478668, + 0.6780824065208435 + ], + "joints": [ + 0.003303101286292076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09138961136341095, + 0.08630779385566711, + -0.11373085528612137 + ], + "orientation": [ + 0.84532231092453, + 0.25020766258239746, + -0.45442384481430054, + 0.12777011096477509 + ], + "joints": [ + 0.02615341544151306 + ] + }, + "fine_grasp": { + "position": [ + 0.08847535401582718, + 0.0842105895280838, + -0.11211439222097397 + ], + "orientation": [ + 0.8443838357925415, + 0.2517809271812439, + -0.4559003412723541, + 0.12560705840587616 + ], + "joints": [ + 0.015746332705020905 + ] + }, + "final_grasp": { + "position": [ + 0.08847535401582718, + 0.0842105895280838, + -0.11211439222097397 + ], + "orientation": [ + 0.8443838357925415, + 0.2517809271812439, + -0.4559003412723541, + 0.12560705840587616 + ], + "joints": [ + 0.0053392499685287476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07977873086929321, + -0.08006700873374939, + -0.08596552163362503 + ], + "orientation": [ + 0.576198399066925, + -0.09571994841098785, + -0.6201240420341492, + -0.5237168073654175 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + 0.07742984592914581, + -0.07704810053110123, + -0.08511262387037277 + ], + "orientation": [ + 0.5744373798370361, + -0.09540010988712311, + -0.6204026341438293, + -0.5253771543502808 + ], + "joints": [ + 0.017470143735408783 + ] + }, + "final_grasp": { + "position": [ + 0.07742984592914581, + -0.07704810053110123, + -0.08511262387037277 + ], + "orientation": [ + 0.5744373798370361, + -0.09540010988712311, + -0.6204026341438293, + -0.5253771543502808 + ], + "joints": [ + 0.007836274802684784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09102781116962433, + 0.0957251787185669, + 0.01872888207435608 + ], + "orientation": [ + 0.16677172482013702, + 0.7011106014251709, + -0.33258670568466187, + 0.6082903146743774 + ], + "joints": [ + 0.01889440044760704 + ] + }, + "fine_grasp": { + "position": [ + -0.08818641304969788, + 0.09316257387399673, + 0.01831333339214325 + ], + "orientation": [ + 0.16563686728477478, + 0.6986767053604126, + -0.3339831233024597, + 0.6106314063072205 + ], + "joints": [ + 0.00844551995396614 + ] + }, + "final_grasp": { + "position": [ + -0.08818641304969788, + 0.09316257387399673, + 0.01831333339214325 + ], + "orientation": [ + 0.16563686728477478, + 0.6986767053604126, + -0.3339831233024597, + 0.6106314063072205 + ], + "joints": [ + -0.002003360539674759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08126438409090042, + 0.12156017124652863, + 0.029172835871577263 + ], + "orientation": [ + 0.32915112376213074, + 0.6802222728729248, + 0.28674736618995667, + -0.5888405442237854 + ], + "joints": [ + 0.01763809658586979 + ] + }, + "fine_grasp": { + "position": [ + 0.07886884361505508, + 0.11845934391021729, + 0.02900627814233303 + ], + "orientation": [ + 0.3301627039909363, + 0.6795375943183899, + 0.28571492433547974, + -0.5895661115646362 + ], + "joints": [ + 0.008380386978387833 + ] + }, + "final_grasp": { + "position": [ + 0.07886884361505508, + 0.11845934391021729, + 0.02900627814233303 + ], + "orientation": [ + 0.3301627039909363, + 0.6795375943183899, + 0.28571492433547974, + -0.5895661115646362 + ], + "joints": [ + -0.0008773226290941238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053274936974048615, + -0.08239083737134933, + -0.09123249351978302 + ], + "orientation": [ + 0.7572516202926636, + -0.40964171290397644, + -0.43900346755981445, + -0.2569815218448639 + ], + "joints": [ + 0.025736618787050247 + ] + }, + "fine_grasp": { + "position": [ + 0.05136444792151451, + -0.07911573350429535, + -0.08998047560453415 + ], + "orientation": [ + 0.7583301663398743, + -0.41297438740730286, + -0.43622976541519165, + -0.2531622648239136 + ], + "joints": [ + 0.01612364873290062 + ] + }, + "final_grasp": { + "position": [ + 0.05136444792151451, + -0.07911573350429535, + -0.08998047560453415 + ], + "orientation": [ + 0.7583301663398743, + -0.41297438740730286, + -0.43622976541519165, + -0.2531622648239136 + ], + "joints": [ + 0.006510678678750992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1268085539340973, + -0.024503594264388084, + -0.04364655911922455 + ], + "orientation": [ + 0.008207825012505054, + -0.6811797618865967, + -0.2283085733652115, + -0.6955586671829224 + ], + "joints": [ + 0.023594124242663383 + ] + }, + "fine_grasp": { + "position": [ + -0.12316402792930603, + -0.023254914209246635, + -0.04399178922176361 + ], + "orientation": [ + 0.008086555637419224, + -0.6820296049118042, + -0.22858555614948273, + -0.6946357488632202 + ], + "joints": [ + 0.014357311651110649 + ] + }, + "final_grasp": { + "position": [ + -0.12316402792930603, + -0.023254914209246635, + -0.04399178922176361 + ], + "orientation": [ + 0.008086555637419224, + -0.6820296049118042, + -0.22858555614948273, + -0.6946357488632202 + ], + "joints": [ + 0.005120499059557915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08158870786428452, + 0.12209426611661911, + 0.029514821246266365 + ], + "orientation": [ + 0.33204659819602966, + 0.6787990927696228, + 0.2843463122844696, + -0.5900202989578247 + ], + "joints": [ + 0.01716112345457077 + ] + }, + "fine_grasp": { + "position": [ + 0.07921290397644043, + 0.11906879395246506, + 0.029360439628362656 + ], + "orientation": [ + 0.33286210894584656, + 0.6782673597335815, + 0.2832251787185669, + -0.5907111763954163 + ], + "joints": [ + 0.00832136906683445 + ] + }, + "final_grasp": { + "position": [ + 0.07921290397644043, + 0.11906879395246506, + 0.029360439628362656 + ], + "orientation": [ + 0.33286210894584656, + 0.6782673597335815, + 0.2832251787185669, + -0.5907111763954163 + ], + "joints": [ + -0.0005183853209018707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10861755162477493, + -0.04711097106337547, + -0.0610191635787487 + ], + "orientation": [ + 0.2743285298347473, + -0.6725368499755859, + -0.09374473243951797, + -0.6809184551239014 + ], + "joints": [ + 0.02504483424127102 + ] + }, + "fine_grasp": { + "position": [ + -0.10519493371248245, + -0.04508482292294502, + -0.06082253158092499 + ], + "orientation": [ + 0.275459349155426, + -0.6723965406417847, + -0.09182809293270111, + -0.6808616518974304 + ], + "joints": [ + 0.015431864187121391 + ] + }, + "final_grasp": { + "position": [ + -0.10519493371248245, + -0.04508482292294502, + -0.06082253158092499 + ], + "orientation": [ + 0.275459349155426, + -0.6723965406417847, + -0.09182809293270111, + -0.6808616518974304 + ], + "joints": [ + 0.005818894132971764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06284733861684799, + 0.134114071726799, + -0.046001411974430084 + ], + "orientation": [ + 0.2307361662387848, + 0.5041520595550537, + -0.4885554313659668, + 0.6737247705459595 + ], + "joints": [ + 0.02396216243505478 + ] + }, + "fine_grasp": { + "position": [ + -0.06107073649764061, + 0.13078784942626953, + -0.04595253989100456 + ], + "orientation": [ + 0.2290077656507492, + 0.5025033950805664, + -0.48897814750671387, + 0.675237774848938 + ], + "joints": [ + 0.014307394623756409 + ] + }, + "final_grasp": { + "position": [ + -0.06107073649764061, + 0.13078784942626953, + -0.04595253989100456 + ], + "orientation": [ + 0.2290077656507492, + 0.5025033950805664, + -0.48897814750671387, + 0.675237774848938 + ], + "joints": [ + 0.004652626812458038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04396863281726837, + -0.08926913142204285, + -0.1252162903547287 + ], + "orientation": [ + 0.40062081813812256, + -0.10495402663946152, + -0.5149478316307068, + -0.7505440711975098 + ], + "joints": [ + 0.022820254787802696 + ] + }, + "fine_grasp": { + "position": [ + 0.04215871915221214, + -0.08684176206588745, + -0.12284790724515915 + ], + "orientation": [ + 0.4044005572795868, + -0.09735963493585587, + -0.5136651396751404, + -0.7504194378852844 + ], + "joints": [ + 0.014001397415995598 + ] + }, + "final_grasp": { + "position": [ + 0.04215871915221214, + -0.08684176206588745, + -0.12284790724515915 + ], + "orientation": [ + 0.4044005572795868, + -0.09735963493585587, + -0.5136651396751404, + -0.7504194378852844 + ], + "joints": [ + 0.0051825400441884995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02934480458498001, + -0.10131096839904785, + -0.06611333787441254 + ], + "orientation": [ + 0.528312623500824, + -0.5837535262107849, + 0.3467995226383209, + 0.509752631187439 + ], + "joints": [ + 0.025713462382555008 + ] + }, + "fine_grasp": { + "position": [ + 0.028574539348483086, + -0.09748933464288712, + -0.06591978669166565 + ], + "orientation": [ + 0.529234766960144, + -0.5853745341300964, + 0.34647414088249207, + 0.50715172290802 + ], + "joints": [ + 0.014888424426317215 + ] + }, + "final_grasp": { + "position": [ + 0.028574539348483086, + -0.09748933464288712, + -0.06591978669166565 + ], + "orientation": [ + 0.529234766960144, + -0.5853745341300964, + 0.34647414088249207, + 0.50715172290802 + ], + "joints": [ + 0.004063386470079422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008617375278845429, + 0.07362286001443863, + -0.16718249022960663 + ], + "orientation": [ + 0.37270963191986084, + 0.064475417137146, + 0.21127590537071228, + -0.9012728929519653 + ], + "joints": [ + 0.025367356836795807 + ] + }, + "fine_grasp": { + "position": [ + -0.0012051047524437308, + 0.07150694727897644, + -0.16398116946220398 + ], + "orientation": [ + 0.3710569143295288, + 0.06891638785600662, + 0.21275489032268524, + -0.9012783169746399 + ], + "joints": [ + 0.016172342002391815 + ] + }, + "final_grasp": { + "position": [ + -0.0012051047524437308, + 0.07150694727897644, + -0.16398116946220398 + ], + "orientation": [ + 0.3710569143295288, + 0.06891638785600662, + 0.21275489032268524, + -0.9012783169746399 + ], + "joints": [ + 0.0069773271679878235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11656677722930908, + 0.0360131673514843, + -0.11045898497104645 + ], + "orientation": [ + 0.7752501964569092, + -0.11466756463050842, + -0.5383633971214294, + 0.30984413623809814 + ], + "joints": [ + 0.026860268786549568 + ] + }, + "fine_grasp": { + "position": [ + 0.11316584795713425, + 0.03547211363911629, + -0.10864142328500748 + ], + "orientation": [ + 0.7760193943977356, + -0.11561977863311768, + -0.5368900895118713, + 0.31012076139450073 + ], + "joints": [ + 0.01722639985382557 + ] + }, + "final_grasp": { + "position": [ + 0.11316584795713425, + 0.03547211363911629, + -0.10864142328500748 + ], + "orientation": [ + 0.7760193943977356, + -0.11561977863311768, + -0.5368900895118713, + 0.31012076139450073 + ], + "joints": [ + 0.00759253092110157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09261968731880188, + 0.09602535516023636, + -0.07427797466516495 + ], + "orientation": [ + 0.17794878780841827, + 0.5498009920120239, + 0.2976088225841522, + -0.759922444820404 + ], + "joints": [ + 0.025049226358532906 + ] + }, + "fine_grasp": { + "position": [ + 0.08968548476696014, + 0.09354341775178909, + -0.0738620012998581 + ], + "orientation": [ + 0.17692260444164276, + 0.5541541576385498, + 0.29925525188446045, + -0.7563450336456299 + ], + "joints": [ + 0.014224188402295113 + ] + }, + "final_grasp": { + "position": [ + 0.08968548476696014, + 0.09354341775178909, + -0.0738620012998581 + ], + "orientation": [ + 0.17692260444164276, + 0.5541541576385498, + 0.29925525188446045, + -0.7563450336456299 + ], + "joints": [ + 0.0033991504460573196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06048814207315445, + -0.08767169713973999, + -0.06065092980861664 + ], + "orientation": [ + 0.18377582728862762, + -0.5062589049339294, + -0.49196457862854004, + -0.6840316653251648 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + -0.058337707072496414, + -0.08438535779714584, + -0.06065003573894501 + ], + "orientation": [ + 0.17961730062961578, + -0.5059407353401184, + -0.49403807520866394, + -0.6838771104812622 + ], + "joints": [ + 0.01625923439860344 + ] + }, + "final_grasp": { + "position": [ + -0.058337707072496414, + -0.08438535779714584, + -0.06065003573894501 + ], + "orientation": [ + 0.17961730062961578, + -0.5059407353401184, + -0.49403807520866394, + -0.6838771104812622 + ], + "joints": [ + 0.005831252783536911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05874006450176239, + -0.09565430879592896, + -0.07942218333482742 + ], + "orientation": [ + 0.5019735097885132, + -0.1699986308813095, + 0.6363517642021179, + 0.5605172514915466 + ], + "joints": [ + 0.02664090320467949 + ] + }, + "fine_grasp": { + "position": [ + -0.05683757737278938, + -0.09226974844932556, + -0.07864591479301453 + ], + "orientation": [ + 0.5030951499938965, + -0.16815783083438873, + 0.6346118450164795, + 0.5620372891426086 + ], + "joints": [ + 0.01702793315052986 + ] + }, + "final_grasp": { + "position": [ + -0.05683757737278938, + -0.09226974844932556, + -0.07864591479301453 + ], + "orientation": [ + 0.5030951499938965, + -0.16815783083438873, + 0.6346118450164795, + 0.5620372891426086 + ], + "joints": [ + 0.007414963096380234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013999690301716328, + 0.13164962828159332, + -0.06630605459213257 + ], + "orientation": [ + 0.5616025328636169, + 0.5531650185585022, + 0.3741734027862549, + -0.4884723722934723 + ], + "joints": [ + 0.024784745648503304 + ] + }, + "fine_grasp": { + "position": [ + 0.01352218259125948, + 0.12765911221504211, + -0.0664568617939949 + ], + "orientation": [ + 0.5634611248970032, + 0.5568069219589233, + 0.3735223114490509, + -0.48265790939331055 + ], + "joints": [ + 0.015589730814099312 + ] + }, + "final_grasp": { + "position": [ + 0.01352218259125948, + 0.12765911221504211, + -0.0664568617939949 + ], + "orientation": [ + 0.5634611248970032, + 0.5568069219589233, + 0.3735223114490509, + -0.48265790939331055 + ], + "joints": [ + 0.00639471597969532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04462967440485954, + 0.00971870869398117, + -0.17571179568767548 + ], + "orientation": [ + 0.6939224004745483, + 0.07986444234848022, + -0.16778941452503204, + -0.6956580877304077 + ], + "joints": [ + 0.025174668058753014 + ] + }, + "fine_grasp": { + "position": [ + 0.043279603123664856, + 0.009343871846795082, + -0.17207464575767517 + ], + "orientation": [ + 0.6948597431182861, + 0.0833248719573021, + -0.16410097479820251, + -0.695196270942688 + ], + "joints": [ + 0.015561698004603386 + ] + }, + "final_grasp": { + "position": [ + 0.043279603123664856, + 0.009343871846795082, + -0.17207464575767517 + ], + "orientation": [ + 0.6948597431182861, + 0.0833248719573021, + -0.16410097479820251, + -0.695196270942688 + ], + "joints": [ + 0.005948727950453758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02449631132185459, + 0.11737490445375443, + -0.11922337859869003 + ], + "orientation": [ + 0.5194116830825806, + 0.21629410982131958, + -0.46094679832458496, + 0.6862626075744629 + ], + "joints": [ + 0.025517253205180168 + ] + }, + "fine_grasp": { + "position": [ + 0.02349584735929966, + 0.11438070982694626, + -0.1169726699590683 + ], + "orientation": [ + 0.5201371312141418, + 0.21077710390090942, + -0.4606636166572571, + 0.6876185536384583 + ], + "joints": [ + 0.015486327931284904 + ] + }, + "final_grasp": { + "position": [ + 0.02349584735929966, + 0.11438070982694626, + -0.1169726699590683 + ], + "orientation": [ + 0.5201371312141418, + 0.21077710390090942, + -0.4606636166572571, + 0.6876185536384583 + ], + "joints": [ + 0.005455402657389641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020272063091397285, + -0.06058932840824127, + -0.14621862769126892 + ], + "orientation": [ + 0.6925631761550903, + -0.31719300150871277, + -0.16293546557426453, + -0.6270540952682495 + ], + "joints": [ + 0.025371234863996506 + ] + }, + "fine_grasp": { + "position": [ + -0.019733354449272156, + -0.057853393256664276, + -0.1435323804616928 + ], + "orientation": [ + 0.6921572089195251, + -0.3197499215602875, + -0.16374169290065765, + -0.6259928941726685 + ], + "joints": [ + 0.014943253248929977 + ] + }, + "final_grasp": { + "position": [ + -0.019733354449272156, + -0.057853393256664276, + -0.1435323804616928 + ], + "orientation": [ + 0.6921572089195251, + -0.3197499215602875, + -0.16374169290065765, + -0.6259928941726685 + ], + "joints": [ + 0.004515271633863449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018411047756671906, + -0.020624009892344475, + -0.17174430191516876 + ], + "orientation": [ + 0.9834595918655396, + -0.16002507507801056, + 0.04932442307472229, + -0.069039486348629 + ], + "joints": [ + 0.02571096457540989 + ] + }, + "fine_grasp": { + "position": [ + -0.017487317323684692, + -0.01946127973496914, + -0.16830436885356903 + ], + "orientation": [ + 0.9829841256141663, + -0.16139520704746246, + 0.05306254327297211, + -0.06984420120716095 + ], + "joints": [ + 0.01526208408176899 + ] + }, + "final_grasp": { + "position": [ + -0.017487317323684692, + -0.01946127973496914, + -0.16830436885356903 + ], + "orientation": [ + 0.9829841256141663, + -0.16139520704746246, + 0.05306254327297211, + -0.06984420120716095 + ], + "joints": [ + 0.00481320358812809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008486457169055939, + 0.13910773396492004, + -0.061184510588645935 + ], + "orientation": [ + 0.5975387096405029, + 0.6180193424224854, + -0.3406069874763489, + 0.38077086210250854 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + -0.008150656707584858, + 0.13527466356754303, + -0.060911260545253754 + ], + "orientation": [ + 0.5999196171760559, + 0.6178890466690063, + -0.3370364308357239, + 0.38041558861732483 + ], + "joints": [ + 0.015818122774362564 + ] + }, + "final_grasp": { + "position": [ + -0.008150656707584858, + 0.13527466356754303, + -0.060911260545253754 + ], + "orientation": [ + 0.5999196171760559, + 0.6178890466690063, + -0.3370364308357239, + 0.38041558861732483 + ], + "joints": [ + 0.0049721859395504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0022091481368988752, + 0.1427435576915741, + -0.07822484523057938 + ], + "orientation": [ + 0.46620774269104004, + 0.38375338912010193, + 0.5173767805099487, + -0.6063866019248962 + ], + "joints": [ + 0.02533239871263504 + ] + }, + "fine_grasp": { + "position": [ + -0.0020185925532132387, + 0.1389058381319046, + -0.07737907767295837 + ], + "orientation": [ + 0.46683815121650696, + 0.38195598125457764, + 0.5169641375541687, + -0.6073877811431885 + ], + "joints": [ + 0.015719428658485413 + ] + }, + "final_grasp": { + "position": [ + -0.0020185925532132387, + 0.1389058381319046, + -0.07737907767295837 + ], + "orientation": [ + 0.46683815121650696, + 0.38195598125457764, + 0.5169641375541687, + -0.6073877811431885 + ], + "joints": [ + 0.006106458604335785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09724394977092743, + 0.08957472443580627, + -0.016355007886886597 + ], + "orientation": [ + 0.5580763220787048, + 0.14074057340621948, + 0.774952232837677, + -0.2611355781555176 + ], + "joints": [ + 0.024811621755361557 + ] + }, + "fine_grasp": { + "position": [ + -0.09408314526081085, + 0.08743023127317429, + -0.017312826588749886 + ], + "orientation": [ + 0.5545141696929932, + 0.1374584287405014, + 0.7776488065719604, + -0.2624528408050537 + ], + "joints": [ + 0.014780696481466293 + ] + }, + "final_grasp": { + "position": [ + -0.09408314526081085, + 0.08743023127317429, + -0.017312826588749886 + ], + "orientation": [ + 0.5545141696929932, + 0.1374584287405014, + 0.7776488065719604, + -0.2624528408050537 + ], + "joints": [ + 0.00474977120757103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13368505239486694, + -0.0043136486783623695, + -0.019323386251926422 + ], + "orientation": [ + 0.08021033555269241, + 0.7360628843307495, + -0.23570267856121063, + -0.6294616460800171 + ], + "joints": [ + 0.022333988919854164 + ] + }, + "fine_grasp": { + "position": [ + 0.1295991986989975, + -0.0036129651125520468, + -0.01978157088160515 + ], + "orientation": [ + 0.08349357545375824, + 0.7338001728057861, + -0.23726235330104828, + -0.6310885548591614 + ], + "joints": [ + 0.014371940866112709 + ] + }, + "final_grasp": { + "position": [ + 0.1295991986989975, + -0.0036129651125520468, + -0.01978157088160515 + ], + "orientation": [ + 0.08349357545375824, + 0.7338001728057861, + -0.23726235330104828, + -0.6310885548591614 + ], + "joints": [ + 0.006409892812371254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08094733953475952, + -0.08147744089365005, + -0.06559131294488907 + ], + "orientation": [ + 0.48394957184791565, + -0.6804753541946411, + -0.104660764336586, + -0.5401779413223267 + ], + "joints": [ + 0.027079634368419647 + ] + }, + "fine_grasp": { + "position": [ + -0.07840890437364578, + -0.07849809527397156, + -0.06536152213811874 + ], + "orientation": [ + 0.4850922226905823, + -0.6797091364860535, + -0.1021747961640358, + -0.5405933856964111 + ], + "joints": [ + 0.017069607973098755 + ] + }, + "final_grasp": { + "position": [ + -0.07840890437364578, + -0.07849809527397156, + -0.06536152213811874 + ], + "orientation": [ + 0.4850922226905823, + -0.6797091364860535, + -0.1021747961640358, + -0.5405933856964111 + ], + "joints": [ + 0.0070595815777778625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0896366536617279, + -0.05511586368083954, + -0.022421447560191154 + ], + "orientation": [ + 0.19408062100410461, + -0.6247069835662842, + 0.27361682057380676, + 0.7051295638084412 + ], + "joints": [ + 0.017656762152910233 + ] + }, + "fine_grasp": { + "position": [ + 0.08646553009748459, + -0.05247160792350769, + -0.02230978198349476 + ], + "orientation": [ + 0.1894867718219757, + -0.6228806376457214, + 0.2780912518501282, + 0.7062432765960693 + ], + "joints": [ + 0.009297657757997513 + ] + }, + "final_grasp": { + "position": [ + 0.08646553009748459, + -0.05247160792350769, + -0.02230978198349476 + ], + "orientation": [ + 0.1894867718219757, + -0.6228806376457214, + 0.2780912518501282, + 0.7062432765960693 + ], + "joints": [ + 0.0009385533630847931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10911665111780167, + 0.013598168268799782, + -0.09451150894165039 + ], + "orientation": [ + 0.14258955419063568, + -0.581696629524231, + -0.07640483230352402, + 0.7971572875976562 + ], + "joints": [ + 0.024679342284798622 + ] + }, + "fine_grasp": { + "position": [ + 0.10567830502986908, + 0.01399527583271265, + -0.09311630576848984 + ], + "orientation": [ + 0.14950957894325256, + -0.576700747013092, + -0.083087258040905, + 0.7988489270210266 + ], + "joints": [ + 0.01548432745039463 + ] + }, + "final_grasp": { + "position": [ + 0.10567830502986908, + 0.01399527583271265, + -0.09311630576848984 + ], + "orientation": [ + 0.14950957894325256, + -0.576700747013092, + -0.083087258040905, + 0.7988489270210266 + ], + "joints": [ + 0.006289312615990639 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008276212960481644, + 0.1380310356616974, + -0.0610169917345047 + ], + "orientation": [ + 0.596202552318573, + 0.6135912537574768, + -0.3438461720943451, + 0.38706353306770325 + ], + "joints": [ + 0.026420315727591515 + ] + }, + "fine_grasp": { + "position": [ + -0.007982867769896984, + 0.13418768346309662, + -0.060974545776844025 + ], + "orientation": [ + 0.5976821780204773, + 0.6150921583175659, + -0.3412959575653076, + 0.38464877009391785 + ], + "joints": [ + 0.015971435233950615 + ] + }, + "final_grasp": { + "position": [ + -0.007982867769896984, + 0.13418768346309662, + -0.060974545776844025 + ], + "orientation": [ + 0.5976821780204773, + 0.6150921583175659, + -0.3412959575653076, + 0.38464877009391785 + ], + "joints": [ + 0.005522554740309715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07932209223508835, + 0.033005401492118835, + -0.1340646892786026 + ], + "orientation": [ + 0.8558328747749329, + -0.04703798517584801, + -0.41777753829956055, + 0.30132943391799927 + ], + "joints": [ + 0.025821879506111145 + ] + }, + "fine_grasp": { + "position": [ + 0.0784410610795021, + 0.03310943767428398, + -0.13224142789840698 + ], + "orientation": [ + 0.8577684760093689, + -0.048506222665309906, + -0.4127243161201477, + 0.3025541305541992 + ], + "joints": [ + 0.01622980833053589 + ] + }, + "final_grasp": { + "position": [ + 0.0784410610795021, + 0.03310943767428398, + -0.13224142789840698 + ], + "orientation": [ + 0.8577684760093689, + -0.048506222665309906, + -0.4127243161201477, + 0.3025541305541992 + ], + "joints": [ + 0.006637737154960632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008505561389029026, + 0.13917282223701477, + -0.06093394383788109 + ], + "orientation": [ + 0.5984458327293396, + 0.618090033531189, + -0.3387696444988251, + 0.3808706998825073 + ], + "joints": [ + 0.026639681309461594 + ] + }, + "fine_grasp": { + "position": [ + -0.008186821825802326, + 0.13533519208431244, + -0.06073462963104248 + ], + "orientation": [ + 0.6002011895179749, + 0.6182945370674133, + -0.33596664667129517, + 0.380258709192276 + ], + "joints": [ + 0.01579374447464943 + ] + }, + "final_grasp": { + "position": [ + -0.008186821825802326, + 0.13533519208431244, + -0.06073462963104248 + ], + "orientation": [ + 0.6002011895179749, + 0.6182945370674133, + -0.33596664667129517, + 0.380258709192276 + ], + "joints": [ + 0.004947807639837265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06969206035137177, + 0.09649311751127243, + -0.14788618683815002 + ], + "orientation": [ + 0.8849244117736816, + 0.378175288438797, + 0.1761266142129898, + 0.2070549875497818 + ], + "joints": [ + 0.023531265556812286 + ] + }, + "fine_grasp": { + "position": [ + -0.06779761612415314, + 0.09443142265081406, + -0.1454610824584961 + ], + "orientation": [ + 0.884405791759491, + 0.3787766695022583, + 0.17720530927181244, + 0.2072509229183197 + ], + "joints": [ + 0.01427355408668518 + ] + }, + "final_grasp": { + "position": [ + -0.06779761612415314, + 0.09443142265081406, + -0.1454610824584961 + ], + "orientation": [ + 0.884405791759491, + 0.3787766695022583, + 0.17720530927181244, + 0.2072509229183197 + ], + "joints": [ + 0.005015842616558075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052076004445552826, + -0.0949418693780899, + -0.022153211757540703 + ], + "orientation": [ + 0.39494091272354126, + -0.70436692237854, + -0.3292175829410553, + -0.4893921911716461 + ], + "joints": [ + 0.025425294414162636 + ] + }, + "fine_grasp": { + "position": [ + -0.05048326030373573, + -0.09156347066164017, + -0.02329045534133911 + ], + "orientation": [ + 0.393079936504364, + -0.7070757150650024, + -0.3308110535144806, + -0.4858973026275635 + ], + "joints": [ + 0.015394369140267372 + ] + }, + "final_grasp": { + "position": [ + -0.05048326030373573, + -0.09156347066164017, + -0.02329045534133911 + ], + "orientation": [ + 0.393079936504364, + -0.7070757150650024, + -0.3308110535144806, + -0.4858973026275635 + ], + "joints": [ + 0.0053634438663721085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021598773077130318, + 0.14013659954071045, + -0.05393008142709732 + ], + "orientation": [ + 0.635829746723175, + 0.62225741147995, + 0.39249950647354126, + -0.2333674281835556 + ], + "joints": [ + 0.026224106550216675 + ] + }, + "fine_grasp": { + "position": [ + -0.021091096103191376, + 0.13628482818603516, + -0.05401013046503067 + ], + "orientation": [ + 0.6378832459449768, + 0.6214377880096436, + 0.38927125930786133, + -0.23534654080867767 + ], + "joints": [ + 0.016611136496067047 + ] + }, + "final_grasp": { + "position": [ + -0.021091096103191376, + 0.13628482818603516, + -0.05401013046503067 + ], + "orientation": [ + 0.6378832459449768, + 0.6214377880096436, + 0.38927125930786133, + -0.23534654080867767 + ], + "joints": [ + 0.006998166441917419 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0330996997654438, + -0.1075252816081047, + -0.009403870441019535 + ], + "orientation": [ + 0.27243876457214355, + -0.5180109143257141, + 0.6072751879692078, + 0.5372695326805115 + ], + "joints": [ + 0.02328336425125599 + ] + }, + "fine_grasp": { + "position": [ + 0.03228139504790306, + -0.10369706898927689, + -0.00990338996052742 + ], + "orientation": [ + 0.271172434091568, + -0.511978805065155, + 0.6075214743614197, + 0.5433791279792786 + ], + "joints": [ + 0.013670394197106361 + ] + }, + "final_grasp": { + "position": [ + 0.03228139504790306, + -0.10369706898927689, + -0.00990338996052742 + ], + "orientation": [ + 0.271172434091568, + -0.511978805065155, + 0.6075214743614197, + 0.5433791279792786 + ], + "joints": [ + 0.004057424142956734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03305477276444435, + -0.1076129823923111, + -0.0094462214037776 + ], + "orientation": [ + 0.2725185453891754, + -0.5180957317352295, + 0.6073529124259949, + 0.537059485912323 + ], + "joints": [ + 0.02326020784676075 + ] + }, + "fine_grasp": { + "position": [ + 0.03223343566060066, + -0.10378413647413254, + -0.009941722266376019 + ], + "orientation": [ + 0.2713610827922821, + -0.512043833732605, + 0.6075463891029358, + 0.5431958436965942 + ], + "joints": [ + 0.013647237792611122 + ] + }, + "final_grasp": { + "position": [ + 0.03223343566060066, + -0.10378413647413254, + -0.009941722266376019 + ], + "orientation": [ + 0.2713610827922821, + -0.512043833732605, + 0.6075463891029358, + 0.5431958436965942 + ], + "joints": [ + 0.0040342677384614944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06783637404441833, + -0.07810260355472565, + -0.0010036338353529572 + ], + "orientation": [ + 0.627981424331665, + -0.3788978159427643, + -0.6235092282295227, + -0.2707619369029999 + ], + "joints": [ + 0.01760416105389595 + ] + }, + "fine_grasp": { + "position": [ + 0.06539489328861237, + -0.07481911033391953, + -0.001152440090663731 + ], + "orientation": [ + 0.6296162009239197, + -0.38206571340560913, + -0.6213805079460144, + -0.26738646626472473 + ], + "joints": [ + 0.008827101439237595 + ] + }, + "final_grasp": { + "position": [ + 0.06539489328861237, + -0.07481911033391953, + -0.001152440090663731 + ], + "orientation": [ + 0.6296162009239197, + -0.38206571340560913, + -0.6213805079460144, + -0.26738646626472473 + ], + "joints": [ + 5.004182457923889e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10051104426383972, + -0.02866050787270069, + -0.019185315817594528 + ], + "orientation": [ + 0.12813501060009003, + -0.679429829120636, + 0.1735227257013321, + 0.7013176679611206 + ], + "joints": [ + 0.01786959543824196 + ] + }, + "fine_grasp": { + "position": [ + 0.09778053313493729, + -0.028154639527201653, + -0.019280098378658295 + ], + "orientation": [ + 0.12344355136156082, + -0.6772217154502869, + 0.18110306560993195, + 0.7023773789405823 + ], + "joints": [ + 0.008674580603837967 + ] + }, + "final_grasp": { + "position": [ + 0.09778053313493729, + -0.028154639527201653, + -0.019280098378658295 + ], + "orientation": [ + 0.12344355136156082, + -0.6772217154502869, + 0.18110306560993195, + 0.7023773789405823 + ], + "joints": [ + -0.0005204342305660248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10165591537952423, + -0.049868252128362656, + -0.05804400518536568 + ], + "orientation": [ + 0.6949750781059265, + -0.3938654959201813, + 0.6014564037322998, + -0.011392719112336636 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + -0.09842542558908463, + -0.0477333627641201, + -0.05804676190018654 + ], + "orientation": [ + 0.697272777557373, + -0.3933098316192627, + 0.5991525053977966, + -0.011584187857806683 + ], + "joints": [ + 0.015862178057432175 + ] + }, + "final_grasp": { + "position": [ + -0.09842542558908463, + -0.0477333627641201, + -0.05804676190018654 + ], + "orientation": [ + 0.697272777557373, + -0.3933098316192627, + 0.5991525053977966, + -0.011584187857806683 + ], + "joints": [ + 0.005037140101194382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06777018308639526, + -0.07802402973175049, + -0.0012518113944679499 + ], + "orientation": [ + 0.6281204223632812, + -0.3786748945713043, + -0.6233490109443665, + -0.27111971378326416 + ], + "joints": [ + 0.01763010397553444 + ] + }, + "fine_grasp": { + "position": [ + 0.06531320512294769, + -0.07474897801876068, + -0.001377926324494183 + ], + "orientation": [ + 0.6299671530723572, + -0.3824506103992462, + -0.6207503080368042, + -0.2674735486507416 + ], + "joints": [ + 0.008853044360876083 + ] + }, + "final_grasp": { + "position": [ + 0.06531320512294769, + -0.07474897801876068, + -0.001377926324494183 + ], + "orientation": [ + 0.6299671530723572, + -0.3824506103992462, + -0.6207503080368042, + -0.2674735486507416 + ], + "joints": [ + 7.598474621772766e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039559170603752136, + -0.09750327467918396, + -0.0639328584074974 + ], + "orientation": [ + 0.5793617963790894, + -0.2958897650241852, + 0.563198447227478, + 0.5095062851905823 + ], + "joints": [ + 0.023822417482733727 + ] + }, + "fine_grasp": { + "position": [ + -0.03841739147901535, + -0.0937904343008995, + -0.06421857327222824 + ], + "orientation": [ + 0.5706834197044373, + -0.30003243684768677, + 0.5723577737808228, + 0.5066632032394409 + ], + "joints": [ + 0.01423034630715847 + ] + }, + "final_grasp": { + "position": [ + -0.03841739147901535, + -0.0937904343008995, + -0.06421857327222824 + ], + "orientation": [ + 0.5706834197044373, + -0.30003243684768677, + 0.5723577737808228, + 0.5066632032394409 + ], + "joints": [ + 0.004638275131583214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03660773113369942, + 0.13491706550121307, + -0.061088673770427704 + ], + "orientation": [ + 0.5078825950622559, + 0.31696006655693054, + 0.615415632724762, + -0.5126940608024597 + ], + "joints": [ + 0.025957206264138222 + ] + }, + "fine_grasp": { + "position": [ + -0.03548942133784294, + 0.13123804330825806, + -0.06093275174498558 + ], + "orientation": [ + 0.5079513788223267, + 0.31829899549484253, + 0.6145591735839844, + -0.512823760509491 + ], + "joints": [ + 0.015529224649071693 + ] + }, + "final_grasp": { + "position": [ + -0.03548942133784294, + 0.13123804330825806, + -0.06093275174498558 + ], + "orientation": [ + 0.5079513788223267, + 0.31829899549484253, + 0.6145591735839844, + -0.512823760509491 + ], + "joints": [ + 0.005101243034005165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03655385226011276, + 0.1343284249305725, + -0.06106454133987427 + ], + "orientation": [ + 0.508246660232544, + 0.31408464908599854, + 0.6151545643806458, + -0.5144132375717163 + ], + "joints": [ + 0.02546849474310875 + ] + }, + "fine_grasp": { + "position": [ + -0.035458192229270935, + 0.13055822253227234, + -0.06089795008301735 + ], + "orientation": [ + 0.5082323551177979, + 0.3156558871269226, + 0.6141533851623535, + -0.5146617889404297 + ], + "joints": [ + 0.015061412006616592 + ] + }, + "final_grasp": { + "position": [ + -0.035458192229270935, + 0.13055822253227234, + -0.06089795008301735 + ], + "orientation": [ + 0.5082323551177979, + 0.3156558871269226, + 0.6141533851623535, + -0.5146617889404297 + ], + "joints": [ + 0.004654329270124435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12423691153526306, + 0.042867355048656464, + -0.019902428612113 + ], + "orientation": [ + 0.6024755835533142, + 0.27853408455848694, + 0.7421779632568359, + 0.0928102359175682 + ], + "joints": [ + 0.02544778399169445 + ] + }, + "fine_grasp": { + "position": [ + -0.12059225887060165, + 0.04203343018889427, + -0.020703960210084915 + ], + "orientation": [ + 0.6032514572143555, + 0.2814605236053467, + 0.7403166890144348, + 0.09380311518907547 + ], + "joints": [ + 0.01581391505897045 + ] + }, + "final_grasp": { + "position": [ + -0.12059225887060165, + 0.04203343018889427, + -0.020703960210084915 + ], + "orientation": [ + 0.6032514572143555, + 0.2814605236053467, + 0.7403166890144348, + 0.09380311518907547 + ], + "joints": [ + 0.006180046126246452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08399452269077301, + -0.05021915212273598, + 0.002863316796720028 + ], + "orientation": [ + 0.5880767107009888, + -0.21866311132907867, + -0.7393558621406555, + -0.24434612691402435 + ], + "joints": [ + 0.01821143738925457 + ] + }, + "fine_grasp": { + "position": [ + 0.08209338784217834, + -0.04849876090884209, + 0.0037034687120467424 + ], + "orientation": [ + 0.5840657353401184, + -0.21370767056941986, + -0.743276059627533, + -0.24644871056079865 + ], + "joints": [ + 0.009016422554850578 + ] + }, + "final_grasp": { + "position": [ + 0.08209338784217834, + -0.04849876090884209, + 0.0037034687120467424 + ], + "orientation": [ + 0.5840657353401184, + -0.21370767056941986, + -0.743276059627533, + -0.24644871056079865 + ], + "joints": [ + -0.0001785922795534134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05167475342750549, + -0.09471514821052551, + -0.02205856889486313 + ], + "orientation": [ + 0.39817318320274353, + -0.7078872919082642, + -0.3252238631248474, + -0.48433786630630493 + ], + "joints": [ + 0.025425344705581665 + ] + }, + "fine_grasp": { + "position": [ + -0.05006159469485283, + -0.0913090780377388, + -0.023187942802906036 + ], + "orientation": [ + 0.39634761214256287, + -0.710369884967804, + -0.32671165466308594, + -0.4811888635158539 + ], + "joints": [ + 0.015394419431686401 + ] + }, + "final_grasp": { + "position": [ + -0.05006159469485283, + -0.0913090780377388, + -0.023187942802906036 + ], + "orientation": [ + 0.39634761214256287, + -0.710369884967804, + -0.32671165466308594, + -0.4811888635158539 + ], + "joints": [ + 0.005363494157791138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016971206292510033, + -0.020092960447072983, + -0.17075112462043762 + ], + "orientation": [ + 0.9830557703971863, + -0.15820138156414032, + 0.06030251085758209, + -0.07026570290327072 + ], + "joints": [ + 0.025478772819042206 + ] + }, + "fine_grasp": { + "position": [ + -0.016454966738820076, + -0.018819965422153473, + -0.16730843484401703 + ], + "orientation": [ + 0.9824739694595337, + -0.1616465151309967, + 0.06074095517396927, + -0.07018452137708664 + ], + "joints": [ + 0.015865802764892578 + ] + }, + "final_grasp": { + "position": [ + -0.016454966738820076, + -0.018819965422153473, + -0.16730843484401703 + ], + "orientation": [ + 0.9824739694595337, + -0.1616465151309967, + 0.06074095517396927, + -0.07018452137708664 + ], + "joints": [ + 0.0062528327107429504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04079047963023186, + -0.09856054931879044, + -0.06478563696146011 + ], + "orientation": [ + 0.5738874673843384, + -0.294895738363266, + 0.5681349635124207, + 0.5107957124710083 + ], + "joints": [ + 0.023959342390298843 + ] + }, + "fine_grasp": { + "position": [ + -0.039811018854379654, + -0.09477372467517853, + -0.06504232436418533 + ], + "orientation": [ + 0.5661398768424988, + -0.298602819442749, + 0.5749747157096863, + 0.5096331834793091 + ], + "joints": [ + 0.013970214873552322 + ] + }, + "final_grasp": { + "position": [ + -0.039811018854379654, + -0.09477372467517853, + -0.06504232436418533 + ], + "orientation": [ + 0.5661398768424988, + -0.298602819442749, + 0.5749747157096863, + 0.5096331834793091 + ], + "joints": [ + 0.003981087356805801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09633134305477142, + 0.08880653977394104, + -0.01668492890894413 + ], + "orientation": [ + 0.5578344464302063, + 0.14223319292068481, + 0.7754784822463989, + -0.25927525758743286 + ], + "joints": [ + 0.024787243455648422 + ] + }, + "fine_grasp": { + "position": [ + -0.09319315105676651, + 0.08664444088935852, + -0.017680834978818893 + ], + "orientation": [ + 0.553832471370697, + 0.13820487260818481, + 0.7783401012420654, + -0.2614491879940033 + ], + "joints": [ + 0.014756318181753159 + ] + }, + "final_grasp": { + "position": [ + -0.09319315105676651, + 0.08664444088935852, + -0.017680834978818893 + ], + "orientation": [ + 0.553832471370697, + 0.13820487260818481, + 0.7783401012420654, + -0.2614491879940033 + ], + "joints": [ + 0.004725392907857895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09944773465394974, + -0.027604013681411743, + -0.019742468371987343 + ], + "orientation": [ + 0.12438131868839264, + -0.6788231730461121, + 0.17332209646701813, + 0.7026293277740479 + ], + "joints": [ + 0.018298573791980743 + ] + }, + "fine_grasp": { + "position": [ + 0.09694080799818039, + -0.02628009393811226, + -0.01989036053419113 + ], + "orientation": [ + 0.11610022932291031, + -0.6765339970588684, + 0.18040278553962708, + 0.7044695019721985 + ], + "joints": [ + 0.008685603737831116 + ] + }, + "final_grasp": { + "position": [ + 0.09694080799818039, + -0.02628009393811226, + -0.01989036053419113 + ], + "orientation": [ + 0.11610022932291031, + -0.6765339970588684, + 0.18040278553962708, + 0.7044695019721985 + ], + "joints": [ + -0.000927366316318512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08324982970952988, + -0.050623174756765366, + 0.003173664677888155 + ], + "orientation": [ + 0.5880090594291687, + -0.2180096060037613, + -0.7379336953163147, + -0.24934101104736328 + ], + "joints": [ + 0.01840972527861595 + ] + }, + "fine_grasp": { + "position": [ + 0.08131437748670578, + -0.049116577953100204, + 0.003941524773836136 + ], + "orientation": [ + 0.5838959813117981, + -0.2141474187374115, + -0.7414541840553284, + -0.25189679861068726 + ], + "joints": [ + 0.00921471044421196 + ] + }, + "final_grasp": { + "position": [ + 0.08131437748670578, + -0.049116577953100204, + 0.003941524773836136 + ], + "orientation": [ + 0.5838959813117981, + -0.2141474187374115, + -0.7414541840553284, + -0.25189679861068726 + ], + "joints": [ + 1.969560980796814e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08381028473377228, + -0.049677640199661255, + 0.00287770782597363 + ], + "orientation": [ + 0.5862976908683777, + -0.21319784224033356, + -0.7414432168006897, + -0.2471107393503189 + ], + "joints": [ + 0.018241511657834053 + ] + }, + "fine_grasp": { + "position": [ + 0.08214091509580612, + -0.048113830387592316, + 0.003815528703853488 + ], + "orientation": [ + 0.582098662853241, + -0.2089441567659378, + -0.745495080947876, + -0.24847635626792908 + ], + "joints": [ + 0.009046496823430061 + ] + }, + "final_grasp": { + "position": [ + 0.08214091509580612, + -0.048113830387592316, + 0.003815528703853488 + ], + "orientation": [ + 0.582098662853241, + -0.2089441567659378, + -0.745495080947876, + -0.24847635626792908 + ], + "joints": [ + -0.00014851801097393036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05703257396817207, + -0.09731389582157135, + -0.016838278621435165 + ], + "orientation": [ + 0.4408511817455292, + -0.26764124631881714, + -0.7472937703132629, + -0.4190114736557007 + ], + "joints": [ + 0.024740930646657944 + ] + }, + "fine_grasp": { + "position": [ + 0.05518537759780884, + -0.0939752534031868, + -0.017516406252980232 + ], + "orientation": [ + 0.4423212707042694, + -0.26433297991752625, + -0.7470169067382812, + -0.4200543463230133 + ], + "joints": [ + 0.01552501693367958 + ] + }, + "final_grasp": { + "position": [ + 0.05518537759780884, + -0.0939752534031868, + -0.017516406252980232 + ], + "orientation": [ + 0.4423212707042694, + -0.26433297991752625, + -0.7470169067382812, + -0.4200543463230133 + ], + "joints": [ + 0.006309103220701218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021964073181152344, + 0.13879980146884918, + -0.053533125668764114 + ], + "orientation": [ + 0.6388084292411804, + 0.6207398176193237, + 0.3890517055988312, + -0.23504167795181274 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + -0.021342076361179352, + 0.13499268889427185, + -0.05371825024485588 + ], + "orientation": [ + 0.6394134163856506, + 0.6214643716812134, + 0.3865508735179901, + -0.23560763895511627 + ], + "joints": [ + 0.016633134335279465 + ] + }, + "final_grasp": { + "position": [ + -0.021342076361179352, + 0.13499268889427185, + -0.05371825024485588 + ], + "orientation": [ + 0.6394134163856506, + 0.6214643716812134, + 0.3865508735179901, + -0.23560763895511627 + ], + "joints": [ + 0.006602209061384201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04404616355895996, + -0.08929544687271118, + -0.12520810961723328 + ], + "orientation": [ + 0.4003763496875763, + -0.10482967644929886, + -0.5153955817222595, + -0.750384509563446 + ], + "joints": [ + 0.022820254787802696 + ] + }, + "fine_grasp": { + "position": [ + 0.04221777990460396, + -0.08684772998094559, + -0.1227966770529747 + ], + "orientation": [ + 0.4042092561721802, + -0.09717802703380585, + -0.5139451026916504, + -0.7503544688224792 + ], + "joints": [ + 0.014001397415995598 + ] + }, + "final_grasp": { + "position": [ + 0.04221777990460396, + -0.08684772998094559, + -0.1227966770529747 + ], + "orientation": [ + 0.4042092561721802, + -0.09717802703380585, + -0.5139451026916504, + -0.7503544688224792 + ], + "joints": [ + 0.0051825400441884995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039575185626745224, + -0.09663327783346176, + -0.06388344615697861 + ], + "orientation": [ + 0.5781824588775635, + -0.2984258830547333, + 0.564651370048523, + 0.5077556371688843 + ], + "joints": [ + 0.023772386834025383 + ] + }, + "fine_grasp": { + "position": [ + -0.038331661373376846, + -0.09290391951799393, + -0.06414756923913956 + ], + "orientation": [ + 0.5701720118522644, + -0.3022766709327698, + 0.5738436579704285, + 0.5042183995246887 + ], + "joints": [ + 0.014180315658450127 + ] + }, + "final_grasp": { + "position": [ + -0.038331661373376846, + -0.09290391951799393, + -0.06414756923913956 + ], + "orientation": [ + 0.5701720118522644, + -0.3022766709327698, + 0.5738436579704285, + 0.5042183995246887 + ], + "joints": [ + 0.00458824448287487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021716825664043427, + 0.1385282725095749, + -0.05353500694036484 + ], + "orientation": [ + 0.6388004422187805, + 0.6212753057479858, + 0.3881286680698395, + -0.23517462611198425 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + -0.021101217716932297, + 0.13470210134983063, + -0.053688544780015945 + ], + "orientation": [ + 0.6393712759017944, + 0.6221268177032471, + 0.3853294253349304, + -0.23597392439842224 + ], + "joints": [ + 0.016633134335279465 + ] + }, + "final_grasp": { + "position": [ + -0.021101217716932297, + 0.13470210134983063, + -0.053688544780015945 + ], + "orientation": [ + 0.6393712759017944, + 0.6221268177032471, + 0.3853294253349304, + -0.23597392439842224 + ], + "joints": [ + 0.006602209061384201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11186530441045761, + 0.026262426748871803, + -0.12620742619037628 + ], + "orientation": [ + 0.8530075550079346, + 0.14624620974063873, + -0.4619748294353485, + -0.19382821023464203 + ], + "joints": [ + 0.025934049859642982 + ] + }, + "fine_grasp": { + "position": [ + 0.10861257463693619, + 0.02615918219089508, + -0.12406820058822632 + ], + "orientation": [ + 0.8526564240455627, + 0.14551067352294922, + -0.4622360169887543, + -0.19529861211776733 + ], + "joints": [ + 0.016321079805493355 + ] + }, + "final_grasp": { + "position": [ + 0.10861257463693619, + 0.02615918219089508, + -0.12406820058822632 + ], + "orientation": [ + 0.8526564240455627, + 0.14551067352294922, + -0.4622360169887543, + -0.19529861211776733 + ], + "joints": [ + 0.006708109751343727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09375659376382828, + 0.08030366897583008, + -0.06458437442779541 + ], + "orientation": [ + 0.40210872888565063, + 0.6950571537017822, + 0.01195522304624319, + -0.5958700776100159 + ], + "joints": [ + 0.025957206264138222 + ] + }, + "fine_grasp": { + "position": [ + 0.09140830487012863, + 0.0784723162651062, + -0.0642070323228836 + ], + "orientation": [ + 0.4061405062675476, + 0.6958733201026917, + 0.004681623075157404, + -0.5922737717628479 + ], + "joints": [ + 0.0167830903083086 + ] + }, + "final_grasp": { + "position": [ + 0.09140830487012863, + 0.0784723162651062, + -0.0642070323228836 + ], + "orientation": [ + 0.4061405062675476, + 0.6958733201026917, + 0.004681623075157404, + -0.5922737717628479 + ], + "joints": [ + 0.007608974352478981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09064769744873047, + -0.05003735050559044, + -0.05089539289474487 + ], + "orientation": [ + 0.1518998146057129, + -0.6235735416412354, + -0.29697632789611816, + -0.7070271968841553 + ], + "joints": [ + 0.023821664974093437 + ] + }, + "fine_grasp": { + "position": [ + -0.08811003714799881, + -0.04846316948533058, + -0.05226600915193558 + ], + "orientation": [ + 0.14617596566677094, + -0.6217171549797058, + -0.30210912227630615, + -0.7076936960220337 + ], + "joints": [ + 0.015044605359435081 + ] + }, + "final_grasp": { + "position": [ + -0.08811003714799881, + -0.04846316948533058, + -0.05226600915193558 + ], + "orientation": [ + 0.14617596566677094, + -0.6217171549797058, + -0.30210912227630615, + -0.7076936960220337 + ], + "joints": [ + 0.006267545744776726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09904494881629944, + 0.07990334182977676, + -0.0164951141923666 + ], + "orientation": [ + 0.5582926869392395, + 0.1172221377491951, + -0.786213755607605, + 0.23756304383277893 + ], + "joints": [ + 0.02515028975903988 + ] + }, + "fine_grasp": { + "position": [ + 0.09582816064357758, + 0.07803922146558762, + -0.01743670180439949 + ], + "orientation": [ + 0.5556460618972778, + 0.11464498937129974, + -0.7882412672042847, + 0.2383054941892624 + ], + "joints": [ + 0.014325251802802086 + ] + }, + "final_grasp": { + "position": [ + 0.09582816064357758, + 0.07803922146558762, + -0.01743670180439949 + ], + "orientation": [ + 0.5556460618972778, + 0.11464498937129974, + -0.7882412672042847, + 0.2383054941892624 + ], + "joints": [ + 0.003500213846564293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06680310517549515, + 0.11477933824062347, + -0.05606566742062569 + ], + "orientation": [ + 0.5895078182220459, + 0.22224240005016327, + 0.6517234444618225, + -0.422309547662735 + ], + "joints": [ + 0.024420637637376785 + ] + }, + "fine_grasp": { + "position": [ + -0.06460953503847122, + 0.1116352304816246, + -0.05646379664540291 + ], + "orientation": [ + 0.5886496901512146, + 0.22161003947257996, + 0.6511056423187256, + -0.42478471994400024 + ], + "joints": [ + 0.014389712363481522 + ] + }, + "final_grasp": { + "position": [ + -0.06460953503847122, + 0.1116352304816246, + -0.05646379664540291 + ], + "orientation": [ + 0.5886496901512146, + 0.22161003947257996, + 0.6511056423187256, + -0.42478471994400024 + ], + "joints": [ + 0.004358787089586258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008893444202840328, + -0.08488158881664276, + -0.15211547911167145 + ], + "orientation": [ + 0.3963760733604431, + -0.16251730918884277, + 0.32375526428222656, + 0.8435975909233093 + ], + "joints": [ + 0.022032974287867546 + ] + }, + "fine_grasp": { + "position": [ + 0.008335747756063938, + -0.08168783783912659, + -0.15008682012557983 + ], + "orientation": [ + 0.3949113190174103, + -0.16771292686462402, + 0.3292720317840576, + 0.8411285281181335 + ], + "joints": [ + 0.01277526281774044 + ] + }, + "final_grasp": { + "position": [ + 0.008335747756063938, + -0.08168783783912659, + -0.15008682012557983 + ], + "orientation": [ + 0.3949113190174103, + -0.16771292686462402, + 0.3292720317840576, + 0.8411285281181335 + ], + "joints": [ + 0.0035175513476133347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02807028964161873, + 0.1486608386039734, + -0.030158856883645058 + ], + "orientation": [ + 0.5249191522598267, + 0.7399126291275024, + -0.2776477038860321, + 0.3160713016986847 + ], + "joints": [ + 0.02397802844643593 + ] + }, + "fine_grasp": { + "position": [ + -0.02702918089926243, + 0.14498373866081238, + -0.03072882629930973 + ], + "orientation": [ + 0.52629154920578, + 0.7386444211006165, + -0.2746652066707611, + 0.31934434175491333 + ], + "joints": [ + 0.01515917107462883 + ] + }, + "final_grasp": { + "position": [ + -0.02702918089926243, + 0.14498373866081238, + -0.03072882629930973 + ], + "orientation": [ + 0.52629154920578, + 0.7386444211006165, + -0.2746652066707611, + 0.31934434175491333 + ], + "joints": [ + 0.006340313702821732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0651111826300621, + -0.036888036876916885, + -0.14320766925811768 + ], + "orientation": [ + 0.5826160311698914, + -0.3774779438972473, + 0.009362157434225082, + 0.7197090983390808 + ], + "joints": [ + 0.02598036266863346 + ] + }, + "fine_grasp": { + "position": [ + 0.06287763267755508, + -0.035094019025564194, + -0.1406390219926834 + ], + "orientation": [ + 0.5824496150016785, + -0.37959104776382446, + 0.007577273529022932, + 0.7187528610229492 + ], + "joints": [ + 0.016367392614483833 + ] + }, + "final_grasp": { + "position": [ + 0.06287763267755508, + -0.035094019025564194, + -0.1406390219926834 + ], + "orientation": [ + 0.5824496150016785, + -0.37959104776382446, + 0.007577273529022932, + 0.7187528610229492 + ], + "joints": [ + 0.006754422560334206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06752427667379379, + -0.017465371638536453, + -0.1509505659341812 + ], + "orientation": [ + 0.5249290466308594, + -0.3249471187591553, + -0.03765448182821274, + 0.7857742309570312 + ], + "joints": [ + 0.02598036266863346 + ] + }, + "fine_grasp": { + "position": [ + 0.06529343873262405, + -0.016221268102526665, + -0.14829681813716888 + ], + "orientation": [ + 0.5236139893531799, + -0.32838326692581177, + -0.03730243444442749, + 0.7852396368980408 + ], + "joints": [ + 0.016367392614483833 + ] + }, + "final_grasp": { + "position": [ + 0.06529343873262405, + -0.016221268102526665, + -0.14829681813716888 + ], + "orientation": [ + 0.5236139893531799, + -0.32838326692581177, + -0.03730243444442749, + 0.7852396368980408 + ], + "joints": [ + 0.006754422560334206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00893730204552412, + -0.08483554422855377, + -0.15204864740371704 + ], + "orientation": [ + 0.39659541845321655, + -0.16263560950756073, + 0.3235686421394348, + 0.8435432314872742 + ], + "joints": [ + 0.022032974287867546 + ] + }, + "fine_grasp": { + "position": [ + 0.008376700803637505, + -0.08163919299840927, + -0.1500256359577179 + ], + "orientation": [ + 0.39512166380882263, + -0.16786977648735046, + 0.3291221857070923, + 0.8410571813583374 + ], + "joints": [ + 0.01277526281774044 + ] + }, + "final_grasp": { + "position": [ + 0.008376700803637505, + -0.08163919299840927, + -0.1500256359577179 + ], + "orientation": [ + 0.39512166380882263, + -0.16786977648735046, + 0.3291221857070923, + 0.8410571813583374 + ], + "joints": [ + 0.0035175513476133347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013548871502280235, + 0.12976324558258057, + -0.06624023616313934 + ], + "orientation": [ + 0.5671481490135193, + 0.5652628540992737, + 0.3730238080024719, + -0.46869418025016785 + ], + "joints": [ + 0.02449474111199379 + ] + }, + "fine_grasp": { + "position": [ + 0.012837388552725315, + 0.12678727507591248, + -0.06603961437940598 + ], + "orientation": [ + 0.5719018578529358, + 0.5652497410774231, + 0.3688843250274658, + -0.46620291471481323 + ], + "joints": [ + 0.015299726277589798 + ] + }, + "final_grasp": { + "position": [ + 0.012837388552725315, + 0.12678727507591248, + -0.06603961437940598 + ], + "orientation": [ + 0.5719018578529358, + 0.5652497410774231, + 0.3688843250274658, + -0.46620291471481323 + ], + "joints": [ + 0.006104711443185806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12206260114908218, + 0.039374735206365585, + -0.04047943279147148 + ], + "orientation": [ + 0.1073225885629654, + -0.7097623348236084, + -0.25279757380485535, + 0.6487007141113281 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + 0.11829498410224915, + 0.038636215031147, + -0.04103677347302437 + ], + "orientation": [ + 0.1089857816696167, + -0.7104166150093079, + -0.2539421021938324, + 0.6472585797309875 + ], + "joints": [ + 0.015839021652936935 + ] + }, + "final_grasp": { + "position": [ + 0.11829498410224915, + 0.038636215031147, + -0.04103677347302437 + ], + "orientation": [ + 0.1089857816696167, + -0.7104166150093079, + -0.2539421021938324, + 0.6472585797309875 + ], + "joints": [ + 0.0050139836966991425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09892650693655014, + 0.06567925959825516, + -0.006408063694834709 + ], + "orientation": [ + 0.6701707243919373, + 0.2152806669473648, + -0.7022374868392944, + 0.10671421885490417 + ], + "joints": [ + 0.017952680587768555 + ] + }, + "fine_grasp": { + "position": [ + 0.09659802913665771, + 0.06461411714553833, + -0.006165387574583292 + ], + "orientation": [ + 0.6702755689620972, + 0.22260186076164246, + -0.7008822560310364, + 0.09971503913402557 + ], + "joints": [ + 0.009175620973110199 + ] + }, + "final_grasp": { + "position": [ + 0.09659802913665771, + 0.06461411714553833, + -0.006165387574583292 + ], + "orientation": [ + 0.6702755689620972, + 0.22260186076164246, + -0.7008822560310364, + 0.09971503913402557 + ], + "joints": [ + 0.00039856135845184326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015069586224853992, + -0.04300009459257126, + -0.16040606796741486 + ], + "orientation": [ + 0.5577130913734436, + -0.09867426007986069, + -0.24454939365386963, + -0.7870292663574219 + ], + "joints": [ + 0.025737840682268143 + ] + }, + "fine_grasp": { + "position": [ + 0.014552336186170578, + -0.04089701175689697, + -0.15712887048721313 + ], + "orientation": [ + 0.5569913387298584, + -0.09841147810220718, + -0.2466030865907669, + -0.7869325280189514 + ], + "joints": [ + 0.01491280272603035 + ] + }, + "final_grasp": { + "position": [ + 0.014552336186170578, + -0.04089701175689697, + -0.15712887048721313 + ], + "orientation": [ + 0.5569913387298584, + -0.09841147810220718, + -0.2466030865907669, + -0.7869325280189514 + ], + "joints": [ + 0.004087764769792557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10438761115074158, + -0.016331547871232033, + -0.06664305925369263 + ], + "orientation": [ + 0.705201268196106, + -0.010849141515791416, + -0.6732059121131897, + -0.22218777239322662 + ], + "joints": [ + 0.025382429361343384 + ] + }, + "fine_grasp": { + "position": [ + 0.10261614620685577, + -0.015800680965185165, + -0.06637077778577805 + ], + "orientation": [ + 0.7123352885246277, + -0.011144212447106838, + -0.666580855846405, + -0.2193724662065506 + ], + "joints": [ + 0.01535150408744812 + ] + }, + "final_grasp": { + "position": [ + 0.10261614620685577, + -0.015800680965185165, + -0.06637077778577805 + ], + "orientation": [ + 0.7123352885246277, + -0.011144212447106838, + -0.666580855846405, + -0.2193724662065506 + ], + "joints": [ + 0.0053205788135528564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12216176837682724, + -0.0060289762914180756, + -0.016369415447115898 + ], + "orientation": [ + 0.613896906375885, + -0.2141987383365631, + 0.7585696578025818, + -0.04268055781722069 + ], + "joints": [ + 0.0247397068887949 + ] + }, + "fine_grasp": { + "position": [ + -0.11847599595785141, + -0.005245877895504236, + -0.017475444823503494 + ], + "orientation": [ + 0.6106405258178711, + -0.2169172763824463, + 0.7603345513343811, + -0.04423362389206886 + ], + "joints": [ + 0.015126736834645271 + ] + }, + "final_grasp": { + "position": [ + -0.11847599595785141, + -0.005245877895504236, + -0.017475444823503494 + ], + "orientation": [ + 0.6106405258178711, + -0.2169172763824463, + 0.7603345513343811, + -0.04423362389206886 + ], + "joints": [ + 0.005513766780495644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04391413927078247, + 0.07164399325847626, + 0.17892998456954956 + ], + "orientation": [ + 0.2526162564754486, + 0.5379832983016968, + 0.8015192151069641, + -0.06577357649803162 + ], + "joints": [ + 0.017540818080306053 + ] + }, + "fine_grasp": { + "position": [ + -0.04282176494598389, + 0.0700259581208229, + 0.1758848875761032 + ], + "orientation": [ + 0.2586740255355835, + 0.5409223437309265, + 0.7964919209480286, + -0.07804795354604721 + ], + "joints": [ + 0.006694880314171314 + ] + }, + "final_grasp": { + "position": [ + -0.04282176494598389, + 0.0700259581208229, + 0.1758848875761032 + ], + "orientation": [ + 0.2586740255355835, + 0.5409223437309265, + 0.7964919209480286, + -0.07804795354604721 + ], + "joints": [ + -0.004151057451963425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10099880397319794, + 0.06672544032335281, + -0.005718893837183714 + ], + "orientation": [ + 0.6723231673240662, + 0.21798084676265717, + -0.6994386911392212, + 0.10607249289751053 + ], + "joints": [ + 0.017575226724147797 + ] + }, + "fine_grasp": { + "position": [ + 0.09729049354791641, + 0.06494822353124619, + -0.005664005409926176 + ], + "orientation": [ + 0.6737756729125977, + 0.22991587221622467, + -0.6959724426269531, + 0.09374073147773743 + ], + "joints": [ + 0.009216122329235077 + ] + }, + "final_grasp": { + "position": [ + 0.09729049354791641, + 0.06494822353124619, + -0.005664005409926176 + ], + "orientation": [ + 0.6737756729125977, + 0.22991587221622467, + -0.6959724426269531, + 0.09374073147773743 + ], + "joints": [ + 0.0008570179343223572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00043739096145145595, + -0.07340529561042786, + 0.12952347099781036 + ], + "orientation": [ + 0.3924412429332733, + -0.6598492860794067, + -0.5516394972801208, + -0.32601043581962585 + ], + "joints": [ + 0.015688370913267136 + ] + }, + "fine_grasp": { + "position": [ + 7.66737648518756e-05, + -0.07202377170324326, + 0.12663258612155914 + ], + "orientation": [ + 0.38829293847084045, + -0.652845561504364, + -0.560949981212616, + -0.32917520403862 + ], + "joints": [ + 0.006075400859117508 + ] + }, + "final_grasp": { + "position": [ + 7.66737648518756e-05, + -0.07202377170324326, + 0.12663258612155914 + ], + "orientation": [ + 0.38829293847084045, + -0.652845561504364, + -0.560949981212616, + -0.32917520403862 + ], + "joints": [ + -0.0035375691950321198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04821499064564705, + -0.08988481760025024, + -0.07182160764932632 + ], + "orientation": [ + 0.28084880113601685, + -0.4584919214248657, + -0.4520455598831177, + -0.7117329835891724 + ], + "joints": [ + 0.02502976544201374 + ] + }, + "fine_grasp": { + "position": [ + -0.04647911339998245, + -0.08645366877317429, + -0.07161102443933487 + ], + "orientation": [ + 0.2750154733657837, + -0.45962634682655334, + -0.4561501145362854, + -0.7106596231460571 + ], + "joints": [ + 0.014998840168118477 + ] + }, + "final_grasp": { + "position": [ + -0.04647911339998245, + -0.08645366877317429, + -0.07161102443933487 + ], + "orientation": [ + 0.2750154733657837, + -0.45962634682655334, + -0.4561501145362854, + -0.7106596231460571 + ], + "joints": [ + 0.004967914894223213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1167183369398117, + 0.05337271839380264, + -0.07576382905244827 + ], + "orientation": [ + 0.2820614278316498, + 0.629523515701294, + 0.05493521690368652, + 0.7218888998031616 + ], + "joints": [ + 0.02539072558283806 + ] + }, + "fine_grasp": { + "position": [ + -0.11301080882549286, + 0.05223330855369568, + -0.07546743005514145 + ], + "orientation": [ + 0.28242725133895874, + 0.6316991448402405, + 0.05503176897764206, + 0.719835102558136 + ], + "joints": [ + 0.015359800308942795 + ] + }, + "final_grasp": { + "position": [ + -0.11301080882549286, + 0.05223330855369568, + -0.07546743005514145 + ], + "orientation": [ + 0.28242725133895874, + 0.6316991448402405, + 0.05503176897764206, + 0.719835102558136 + ], + "joints": [ + 0.005328875035047531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056722261011600494, + -0.0965702161192894, + -0.016868652775883675 + ], + "orientation": [ + 0.4405534267425537, + -0.26768895983695984, + -0.7477666735649109, + -0.41844967007637024 + ], + "joints": [ + 0.0247397068887949 + ] + }, + "fine_grasp": { + "position": [ + 0.05479828640818596, + -0.09316358715295792, + -0.017474006861448288 + ], + "orientation": [ + 0.4426864981651306, + -0.2635868191719055, + -0.7470461130142212, + -0.4200866222381592 + ], + "joints": [ + 0.015544692054390907 + ] + }, + "final_grasp": { + "position": [ + 0.05479828640818596, + -0.09316358715295792, + -0.017474006861448288 + ], + "orientation": [ + 0.4426864981651306, + -0.2635868191719055, + -0.7470461130142212, + -0.4200866222381592 + ], + "joints": [ + 0.006349677219986916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04790901765227318, + -0.09028177708387375, + -0.07181116938591003 + ], + "orientation": [ + 0.27684926986694336, + -0.4591822326183319, + -0.457378625869751, + -0.7094441652297974 + ], + "joints": [ + 0.025054143741726875 + ] + }, + "fine_grasp": { + "position": [ + -0.046179212629795074, + -0.08685854077339172, + -0.07131803780794144 + ], + "orientation": [ + 0.2728053629398346, + -0.457996666431427, + -0.4583010673522949, + -0.7111796140670776 + ], + "joints": [ + 0.014626162126660347 + ] + }, + "final_grasp": { + "position": [ + -0.046179212629795074, + -0.08685854077339172, + -0.07131803780794144 + ], + "orientation": [ + 0.2728053629398346, + -0.457996666431427, + -0.4583010673522949, + -0.7111796140670776 + ], + "joints": [ + 0.004198180511593819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054163482040166855, + 0.07911717146635056, + -0.1420072317123413 + ], + "orientation": [ + 0.9155961275100708, + 0.22764994204044342, + -0.2805500328540802, + 0.17649634182453156 + ], + "joints": [ + 0.02539072558283806 + ] + }, + "fine_grasp": { + "position": [ + 0.05219041556119919, + 0.07711481302976608, + -0.1396031230688095 + ], + "orientation": [ + 0.9148268103599548, + 0.22863483428955078, + -0.2827839255332947, + 0.17564520239830017 + ], + "joints": [ + 0.015380699187517166 + ] + }, + "final_grasp": { + "position": [ + 0.05219041556119919, + 0.07711481302976608, + -0.1396031230688095 + ], + "orientation": [ + 0.9148268103599548, + 0.22863483428955078, + -0.2827839255332947, + 0.17564520239830017 + ], + "joints": [ + 0.005370672792196274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037307851016521454, + -0.08023055642843246, + 0.06575906276702881 + ], + "orientation": [ + 0.4378392696380615, + -0.5257554054260254, + 0.6783917546272278, + 0.2676989734172821 + ], + "joints": [ + 0.018389422446489334 + ] + }, + "fine_grasp": { + "position": [ + -0.03596710041165352, + -0.07659528404474258, + 0.06478458642959595 + ], + "orientation": [ + 0.4424368441104889, + -0.5277822613716125, + 0.674770176410675, + 0.26529383659362793 + ], + "joints": [ + 0.009173508733510971 + ] + }, + "final_grasp": { + "position": [ + -0.03596710041165352, + -0.07659528404474258, + 0.06478458642959595 + ], + "orientation": [ + 0.4424368441104889, + -0.5277822613716125, + 0.674770176410675, + 0.26529383659362793 + ], + "joints": [ + -4.240497946739197e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1239982321858406, + 0.03969128802418709, + -0.039952848106622696 + ], + "orientation": [ + 0.10914058238267899, + -0.7062928080558777, + -0.25717973709106445, + 0.6504592895507812 + ], + "joints": [ + 0.026150917634367943 + ] + }, + "fine_grasp": { + "position": [ + 0.12018591910600662, + 0.038968659937381744, + -0.04055628180503845 + ], + "orientation": [ + 0.11162056773900986, + -0.7056502103805542, + -0.2580316662788391, + 0.6503986120223999 + ], + "joints": [ + 0.01611999236047268 + ] + }, + "final_grasp": { + "position": [ + 0.12018591910600662, + 0.038968659937381744, + -0.04055628180503845 + ], + "orientation": [ + 0.11162056773900986, + -0.7056502103805542, + -0.2580316662788391, + 0.6503986120223999 + ], + "joints": [ + 0.0060890670865774155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07959388196468353, + 0.07739237695932388, + -0.1137458086013794 + ], + "orientation": [ + 0.04306633025407791, + 0.3989870250225067, + -0.2797513008117676, + 0.8721776604652405 + ], + "joints": [ + 0.026443472132086754 + ] + }, + "fine_grasp": { + "position": [ + -0.07637925446033478, + 0.07565198093652725, + -0.11229793727397919 + ], + "orientation": [ + 0.03252130374312401, + 0.39865627884864807, + -0.2891121506690979, + 0.8697296977043152 + ], + "joints": [ + 0.016830502077937126 + ] + }, + "final_grasp": { + "position": [ + -0.07637925446033478, + 0.07565198093652725, + -0.11229793727397919 + ], + "orientation": [ + 0.03252130374312401, + 0.39865627884864807, + -0.2891121506690979, + 0.8697296977043152 + ], + "joints": [ + 0.0072175320237874985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1072574332356453, + -0.04554568976163864, + 0.04040098935365677 + ], + "orientation": [ + 0.6189271211624146, + -0.2563953101634979, + -0.7388517260551453, + -0.07272440940141678 + ], + "joints": [ + 0.027289273217320442 + ] + }, + "fine_grasp": { + "position": [ + 0.1050623431801796, + -0.04261747747659683, + 0.040206000208854675 + ], + "orientation": [ + 0.6215375661849976, + -0.2719734311103821, + -0.7293071746826172, + -0.08850300312042236 + ], + "joints": [ + 0.011678660288453102 + ] + }, + "final_grasp": { + "position": [ + 0.1050623431801796, + -0.04261747747659683, + 0.040206000208854675 + ], + "orientation": [ + 0.6215375661849976, + -0.2719734311103821, + -0.7293071746826172, + -0.08850300312042236 + ], + "joints": [ + -0.003931952640414238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1073920726776123, + -0.04517278075218201, + 0.040721021592617035 + ], + "orientation": [ + 0.6215682625770569, + -0.25848188996315, + -0.7355517745018005, + -0.07618118077516556 + ], + "joints": [ + 0.025691546499729156 + ] + }, + "fine_grasp": { + "position": [ + 0.10498182475566864, + -0.04229738563299179, + 0.04050959646701813 + ], + "orientation": [ + 0.6242865324020386, + -0.2726558744907379, + -0.7265158891677856, + -0.08999807387590408 + ], + "joints": [ + 0.010875046253204346 + ] + }, + "final_grasp": { + "position": [ + 0.10498182475566864, + -0.04229738563299179, + 0.04050959646701813 + ], + "orientation": [ + 0.6242865324020386, + -0.2726558744907379, + -0.7265158891677856, + -0.08999807387590408 + ], + "joints": [ + -0.003941453993320465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1109943762421608, + 0.06669241189956665, + 0.07760556787252426 + ], + "orientation": [ + 0.5588088631629944, + 0.21168792247772217, + -0.7969732284545898, + 0.08806004375219345 + ], + "joints": [ + 0.017684778198599815 + ] + }, + "fine_grasp": { + "position": [ + 0.10746774077415466, + 0.06508907675743103, + 0.0767102837562561 + ], + "orientation": [ + 0.5630861520767212, + 0.21219035983085632, + -0.7937931418418884, + 0.08832850307226181 + ], + "joints": [ + 0.008865920826792717 + ] + }, + "final_grasp": { + "position": [ + 0.10746774077415466, + 0.06508907675743103, + 0.0767102837562561 + ], + "orientation": [ + 0.5630861520767212, + 0.21219035983085632, + -0.7937931418418884, + 0.08832850307226181 + ], + "joints": [ + 4.706345498561859e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008999178186058998, + 0.12947657704353333, + 0.02483370155096054 + ], + "orientation": [ + 0.46524283289909363, + 0.5839649438858032, + 0.5506296157836914, + -0.373284250497818 + ], + "joints": [ + 0.017927952110767365 + ] + }, + "fine_grasp": { + "position": [ + -0.008690404705703259, + 0.12550564110279083, + 0.024241454899311066 + ], + "orientation": [ + 0.4690178632736206, + 0.5863083004951477, + 0.5469732880592346, + -0.3702499270439148 + ], + "joints": [ + 0.008732937276363373 + ] + }, + "final_grasp": { + "position": [ + -0.008690404705703259, + 0.12550564110279083, + 0.024241454899311066 + ], + "orientation": [ + 0.4690178632736206, + 0.5863083004951477, + 0.5469732880592346, + -0.3702499270439148 + ], + "joints": [ + -0.0004620775580406189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11711078137159348, + 0.04422011598944664, + -0.09679391235113144 + ], + "orientation": [ + 0.8095556497573853, + 0.20114682614803314, + 0.5422050952911377, + 0.10086170583963394 + ], + "joints": [ + 0.02580730989575386 + ] + }, + "fine_grasp": { + "position": [ + -0.11334247887134552, + 0.04358822852373123, + -0.09589456766843796 + ], + "orientation": [ + 0.8055875301361084, + 0.20223106443881989, + 0.5471271872520447, + 0.10384181886911392 + ], + "joints": [ + 0.016194339841604233 + ] + }, + "final_grasp": { + "position": [ + -0.11334247887134552, + 0.04358822852373123, + -0.09589456766843796 + ], + "orientation": [ + 0.8055875301361084, + 0.20223106443881989, + 0.5471271872520447, + 0.10384181886911392 + ], + "joints": [ + 0.006581369787454605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03745414316654205, + 0.13318374752998352, + -0.033484265208244324 + ], + "orientation": [ + 0.5884606838226318, + 0.5704871416091919, + -0.5070475339889526, + 0.26676055788993835 + ], + "joints": [ + 0.025932827964425087 + ] + }, + "fine_grasp": { + "position": [ + 0.036364927887916565, + 0.12952901422977448, + -0.03423095494508743 + ], + "orientation": [ + 0.5868664383888245, + 0.5735719799995422, + -0.5074394345283508, + 0.26288437843322754 + ], + "joints": [ + 0.015901902690529823 + ] + }, + "final_grasp": { + "position": [ + 0.036364927887916565, + 0.12952901422977448, + -0.03423095494508743 + ], + "orientation": [ + 0.5868664383888245, + 0.5735719799995422, + -0.5074394345283508, + 0.26288437843322754 + ], + "joints": [ + 0.00587097741663456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00764771131798625, + 0.13868816196918488, + -0.060851484537124634 + ], + "orientation": [ + 0.6064046025276184, + 0.6150879859924316, + -0.33040615916252136, + 0.3804892301559448 + ], + "joints": [ + 0.026224106550216675 + ] + }, + "fine_grasp": { + "position": [ + -0.00762390810996294, + 0.13476969301700592, + -0.061009980738162994 + ], + "orientation": [ + 0.6064805388450623, + 0.6198659539222717, + -0.3298797309398651, + 0.3729971945285797 + ], + "joints": [ + 0.015817023813724518 + ] + }, + "final_grasp": { + "position": [ + -0.00762390810996294, + 0.13476969301700592, + -0.061009980738162994 + ], + "orientation": [ + 0.6064805388450623, + 0.6198659539222717, + -0.3298797309398651, + 0.3729971945285797 + ], + "joints": [ + 0.005409941077232361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08828741312026978, + 0.10944421589374542, + 0.060673221945762634 + ], + "orientation": [ + 0.6177577376365662, + 0.3532833158969879, + 0.6710031032562256, + -0.20813673734664917 + ], + "joints": [ + 0.018636412918567657 + ] + }, + "fine_grasp": { + "position": [ + -0.08561192452907562, + 0.10662779957056046, + 0.06005237251520157 + ], + "orientation": [ + 0.6172817945480347, + 0.35264852643013, + 0.6717718839645386, + -0.2081460952758789 + ], + "joints": [ + 0.009002543985843658 + ] + }, + "final_grasp": { + "position": [ + -0.08561192452907562, + 0.10662779957056046, + 0.06005237251520157 + ], + "orientation": [ + 0.6172817945480347, + 0.35264852643013, + 0.6717718839645386, + -0.2081460952758789 + ], + "joints": [ + -0.0006313249468803406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06681381165981293, + 0.0658392682671547, + -0.14510926604270935 + ], + "orientation": [ + 0.7816506624221802, + 0.006656247191131115, + -0.34817999601364136, + 0.5174443125724792 + ], + "joints": [ + 0.02529788762331009 + ] + }, + "fine_grasp": { + "position": [ + 0.06465627998113632, + 0.06376335769891739, + -0.14284363389015198 + ], + "orientation": [ + 0.7784565091133118, + 0.010182231664657593, + -0.35498446226119995, + 0.5175787210464478 + ], + "joints": [ + 0.015705816447734833 + ] + }, + "final_grasp": { + "position": [ + 0.06465627998113632, + 0.06376335769891739, + -0.14284363389015198 + ], + "orientation": [ + 0.7784565091133118, + 0.010182231664657593, + -0.35498446226119995, + 0.5175787210464478 + ], + "joints": [ + 0.006113745272159576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06630364060401917, + 0.06553806364536285, + -0.1445879340171814 + ], + "orientation": [ + 0.7815068364143372, + 0.008635942824184895, + -0.34910470247268677, + 0.5170089602470398 + ], + "joints": [ + 0.02549409680068493 + ] + }, + "fine_grasp": { + "position": [ + 0.06397058069705963, + 0.06357717514038086, + -0.14211627840995789 + ], + "orientation": [ + 0.7789685130119324, + 0.010358314029872417, + -0.3550279438495636, + 0.5167744159698486 + ], + "joints": [ + 0.0158811267465353 + ] + }, + "final_grasp": { + "position": [ + 0.06397058069705963, + 0.06357717514038086, + -0.14211627840995789 + ], + "orientation": [ + 0.7789685130119324, + 0.010358314029872417, + -0.3550279438495636, + 0.5167744159698486 + ], + "joints": [ + 0.0062681566923856735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05899666249752045, + -0.027212798595428467, + -0.1522362381219864 + ], + "orientation": [ + 0.6885137557983398, + 0.0398840568959713, + -0.3124213218688965, + -0.6532618403434753 + ], + "joints": [ + 0.025492874905467033 + ] + }, + "fine_grasp": { + "position": [ + 0.057450395077466965, + -0.02563353441655636, + -0.14958536624908447 + ], + "orientation": [ + 0.6881943345069885, + 0.03794200345873833, + -0.3159481883049011, + -0.6520167589187622 + ], + "joints": [ + 0.017133770510554314 + ] + }, + "final_grasp": { + "position": [ + 0.057450395077466965, + -0.02563353441655636, + -0.14958536624908447 + ], + "orientation": [ + 0.6881943345069885, + 0.03794200345873833, + -0.3159481883049011, + -0.6520167589187622 + ], + "joints": [ + 0.008774666115641594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06641408801078796, + 0.11467259377241135, + -0.054618485271930695 + ], + "orientation": [ + 0.5899275541305542, + 0.2094690352678299, + 0.6478495001792908, + -0.4340496361255646 + ], + "joints": [ + 0.024630317464470863 + ] + }, + "fine_grasp": { + "position": [ + -0.06426898390054703, + 0.11145073175430298, + -0.05498941242694855 + ], + "orientation": [ + 0.5837852954864502, + 0.20630666613578796, + 0.6526129245758057, + -0.43672505021095276 + ], + "joints": [ + 0.0145993921905756 + ] + }, + "final_grasp": { + "position": [ + -0.06426898390054703, + 0.11145073175430298, + -0.05498941242694855 + ], + "orientation": [ + 0.5837852954864502, + 0.20630666613578796, + 0.6526129245758057, + -0.43672505021095276 + ], + "joints": [ + 0.004568466916680336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06658543646335602, + 0.06576035171747208, + -0.14491458237171173 + ], + "orientation": [ + 0.7814651131629944, + 0.008052090182900429, + -0.34886932373046875, + 0.5172404646873474 + ], + "joints": [ + 0.02549409680068493 + ] + }, + "fine_grasp": { + "position": [ + 0.06432720273733139, + 0.06375414878129959, + -0.14255404472351074 + ], + "orientation": [ + 0.7785983681678772, + 0.01047817338258028, + -0.3554142415523529, + 0.5170641541481018 + ], + "joints": [ + 0.0158811267465353 + ] + }, + "final_grasp": { + "position": [ + 0.06432720273733139, + 0.06375414878129959, + -0.14255404472351074 + ], + "orientation": [ + 0.7785983681678772, + 0.01047817338258028, + -0.3554142415523529, + 0.5170641541481018 + ], + "joints": [ + 0.0062681566923856735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0790611281991005, + 0.07744532078504562, + -0.11353011429309845 + ], + "orientation": [ + 0.04177233204245567, + 0.3988133370876312, + -0.2819797992706299, + 0.8716021776199341 + ], + "joints": [ + 0.026394713670015335 + ] + }, + "fine_grasp": { + "position": [ + -0.07573693245649338, + 0.07583168148994446, + -0.11221928149461746 + ], + "orientation": [ + 0.0309501551091671, + 0.3967166841030121, + -0.29128625988960266, + 0.8699484467506409 + ], + "joints": [ + 0.016781743615865707 + ] + }, + "final_grasp": { + "position": [ + -0.07573693245649338, + 0.07583168148994446, + -0.11221928149461746 + ], + "orientation": [ + 0.0309501551091671, + 0.3967166841030121, + -0.29128625988960266, + 0.8699484467506409 + ], + "joints": [ + 0.00716877356171608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12076316773891449, + -0.00542031042277813, + -0.016485989093780518 + ], + "orientation": [ + 0.6101451516151428, + -0.22006721794605255, + 0.7595204710960388, + -0.049214478582143784 + ], + "joints": [ + 0.025382429361343384 + ] + }, + "fine_grasp": { + "position": [ + -0.11698988825082779, + -0.0045372117310762405, + -0.017172718420624733 + ], + "orientation": [ + 0.611747145652771, + -0.22541557252407074, + 0.7564231753349304, + -0.05269985646009445 + ], + "joints": [ + 0.01535150408744812 + ] + }, + "final_grasp": { + "position": [ + -0.11698988825082779, + -0.0045372117310762405, + -0.017172718420624733 + ], + "orientation": [ + 0.611747145652771, + -0.22541557252407074, + 0.7564231753349304, + -0.05269985646009445 + ], + "joints": [ + 0.0053205788135528564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1094292625784874, + 0.07733568549156189, + -0.06193888187408447 + ], + "orientation": [ + 0.03891890123486519, + 0.5925016403198242, + -0.30011504888534546, + 0.7465642094612122 + ], + "joints": [ + 0.025459187105298042 + ] + }, + "fine_grasp": { + "position": [ + -0.10595807433128357, + 0.07545746862888336, + -0.0618661604821682 + ], + "orientation": [ + 0.037351809442043304, + 0.5938559770584106, + -0.3003051280975342, + 0.7454909682273865 + ], + "joints": [ + 0.015846217051148415 + ] + }, + "final_grasp": { + "position": [ + -0.10595807433128357, + 0.07545746862888336, + -0.0618661604821682 + ], + "orientation": [ + 0.037351809442043304, + 0.5938559770584106, + -0.3003051280975342, + 0.7454909682273865 + ], + "joints": [ + 0.006233246996998787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04070650786161423, + -0.10329915583133698, + 0.04764222726225853 + ], + "orientation": [ + 0.5665321350097656, + -0.46066948771476746, + 0.5767121911048889, + 0.3663713335990906 + ], + "joints": [ + 0.01848098263144493 + ] + }, + "fine_grasp": { + "position": [ + -0.039453912526369095, + -0.09954855591058731, + 0.04748702049255371 + ], + "orientation": [ + 0.5677747130393982, + -0.4608728289604187, + 0.575147807598114, + 0.366651326417923 + ], + "joints": [ + 0.008868012577295303 + ] + }, + "final_grasp": { + "position": [ + -0.039453912526369095, + -0.09954855591058731, + 0.04748702049255371 + ], + "orientation": [ + 0.5677747130393982, + -0.4608728289604187, + 0.575147807598114, + 0.366651326417923 + ], + "joints": [ + -0.0007449574768543243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015351944603025913, + -0.04248311370611191, + -0.15924248099327087 + ], + "orientation": [ + 0.5546594858169556, + -0.09974946081638336, + -0.2487337738275528, + -0.7877401113510132 + ], + "joints": [ + 0.02560393698513508 + ] + }, + "fine_grasp": { + "position": [ + 0.01476926077157259, + -0.04037366807460785, + -0.15600043535232544 + ], + "orientation": [ + 0.5528883934020996, + -0.09820228815078735, + -0.25146162509918213, + -0.7883133292198181 + ], + "joints": [ + 0.01517595537006855 + ] + }, + "final_grasp": { + "position": [ + 0.01476926077157259, + -0.04037366807460785, + -0.15600043535232544 + ], + "orientation": [ + 0.5528883934020996, + -0.09820228815078735, + -0.25146162509918213, + -0.7883133292198181 + ], + "joints": [ + 0.004747973755002022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00927753746509552, + 0.12971502542495728, + 0.024819299578666687 + ], + "orientation": [ + 0.4682183265686035, + 0.585277795791626, + 0.5479514002799988, + -0.37144413590431213 + ], + "joints": [ + 0.017934851348400116 + ] + }, + "fine_grasp": { + "position": [ + -0.008991402573883533, + 0.1257433444261551, + 0.024219857528805733 + ], + "orientation": [ + 0.47198009490966797, + 0.5875990390777588, + 0.5442528128623962, + -0.3684442341327667 + ], + "joints": [ + 0.008739836513996124 + ] + }, + "final_grasp": { + "position": [ + -0.008991402573883533, + 0.1257433444261551, + 0.024219857528805733 + ], + "orientation": [ + 0.47198009490966797, + 0.5875990390777588, + 0.5442528128623962, + -0.3684442341327667 + ], + "joints": [ + -0.00045517832040786743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07373779267072678, + -0.07354284077882767, + -0.034253254532814026 + ], + "orientation": [ + 0.4430086612701416, + -0.7835564017295837, + 0.09312328696250916, + 0.42557093501091003 + ], + "joints": [ + 0.026443472132086754 + ] + }, + "fine_grasp": { + "position": [ + 0.07113860547542572, + -0.07067646831274033, + -0.0345701240003109 + ], + "orientation": [ + 0.44742900133132935, + -0.7805891036987305, + 0.08760203421115875, + 0.42756742238998413 + ], + "joints": [ + 0.01641254685819149 + ] + }, + "final_grasp": { + "position": [ + 0.07113860547542572, + -0.07067646831274033, + -0.0345701240003109 + ], + "orientation": [ + 0.44742900133132935, + -0.7805891036987305, + 0.08760203421115875, + 0.42756742238998413 + ], + "joints": [ + 0.0063816215842962265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027603765949606895, + -0.08861256390810013, + -0.00018208743131253868 + ], + "orientation": [ + 0.5005771517753601, + -0.41239386796951294, + -0.6162872910499573, + -0.44670334458351135 + ], + "joints": [ + 0.01839263364672661 + ] + }, + "fine_grasp": { + "position": [ + 0.02684788405895233, + -0.08611010015010834, + 0.0002786026452668011 + ], + "orientation": [ + 0.4950600862503052, + -0.40688568353652954, + -0.621537446975708, + -0.45061150193214417 + ], + "joints": [ + 0.009197618812322617 + ] + }, + "final_grasp": { + "position": [ + 0.02684788405895233, + -0.08611010015010834, + 0.0002786026452668011 + ], + "orientation": [ + 0.4950600862503052, + -0.40688568353652954, + -0.621537446975708, + -0.45061150193214417 + ], + "joints": [ + 2.603977918624878e-06 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08670446276664734, + 0.08770064264535904, + -0.05571063235402107 + ], + "orientation": [ + 0.6591307520866394, + 0.13099928200244904, + -0.6618558764457703, + 0.3321632444858551 + ], + "joints": [ + 0.02399963140487671 + ] + }, + "fine_grasp": { + "position": [ + 0.0848298892378807, + 0.0857926458120346, + -0.05682717263698578 + ], + "orientation": [ + 0.6556361317634583, + 0.1272701919078827, + -0.6639220714569092, + 0.3363792598247528 + ], + "joints": [ + 0.015222571790218353 + ] + }, + "final_grasp": { + "position": [ + 0.0848298892378807, + 0.0857926458120346, + -0.05682717263698578 + ], + "orientation": [ + 0.6556361317634583, + 0.1272701919078827, + -0.6639220714569092, + 0.3363792598247528 + ], + "joints": [ + 0.0064455121755599976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08696604520082474, + 0.08749331533908844, + -0.057013168931007385 + ], + "orientation": [ + 0.6619742512702942, + 0.12696844339370728, + -0.6582675576210022, + 0.33519119024276733 + ], + "joints": [ + 0.02393820881843567 + ] + }, + "fine_grasp": { + "position": [ + 0.08502311259508133, + 0.08541072905063629, + -0.05847882106900215 + ], + "orientation": [ + 0.6591652035713196, + 0.12237570434808731, + -0.6592944860458374, + 0.34037667512893677 + ], + "joints": [ + 0.015161149203777313 + ] + }, + "final_grasp": { + "position": [ + 0.08502311259508133, + 0.08541072905063629, + -0.05847882106900215 + ], + "orientation": [ + 0.6591652035713196, + 0.12237570434808731, + -0.6592944860458374, + 0.34037667512893677 + ], + "joints": [ + 0.0063840895891189575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014727693051099777, + -0.041865430772304535, + -0.15835919976234436 + ], + "orientation": [ + 0.55560702085495, + -0.10021311044692993, + -0.2467755377292633, + -0.7876293063163757 + ], + "joints": [ + 0.025358770042657852 + ] + }, + "fine_grasp": { + "position": [ + 0.014209358021616936, + -0.039706986397504807, + -0.1551600694656372 + ], + "orientation": [ + 0.5524157285690308, + -0.09888017922639847, + -0.24939724802970886, + -0.789215087890625 + ], + "joints": [ + 0.015327844768762589 + ] + }, + "final_grasp": { + "position": [ + 0.014209358021616936, + -0.039706986397504807, + -0.1551600694656372 + ], + "orientation": [ + 0.5524157285690308, + -0.09888017922639847, + -0.24939724802970886, + -0.789215087890625 + ], + "joints": [ + 0.005296919494867325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10472263395786285, + 0.007626447826623917, + -0.11241917312145233 + ], + "orientation": [ + 0.2207905501127243, + 0.4875718355178833, + 0.17661325633525848, + 0.826034426689148 + ], + "joints": [ + 0.026224106550216675 + ] + }, + "fine_grasp": { + "position": [ + -0.10125076770782471, + 0.007876801304519176, + -0.110613614320755 + ], + "orientation": [ + 0.22352050244808197, + 0.4860193133354187, + 0.18184641003608704, + 0.8250791430473328 + ], + "joints": [ + 0.016611136496067047 + ] + }, + "final_grasp": { + "position": [ + -0.10125076770782471, + 0.007876801304519176, + -0.110613614320755 + ], + "orientation": [ + 0.22352050244808197, + 0.4860193133354187, + 0.18184641003608704, + 0.8250791430473328 + ], + "joints": [ + 0.006998166441917419 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041156966239213943, + 0.12191266566514969, + -0.04890746250748634 + ], + "orientation": [ + 0.6395100355148315, + 0.5285829305648804, + -0.4936710000038147, + 0.26060691475868225 + ], + "joints": [ + 0.0248374342918396 + ] + }, + "fine_grasp": { + "position": [ + 0.040278490632772446, + 0.11945358663797379, + -0.05020035058259964 + ], + "orientation": [ + 0.6469956040382385, + 0.5367039442062378, + -0.48073330521583557, + 0.24948172271251678 + ], + "joints": [ + 0.016039475798606873 + ] + }, + "final_grasp": { + "position": [ + 0.040278490632772446, + 0.11945358663797379, + -0.05020035058259964 + ], + "orientation": [ + 0.6469956040382385, + 0.5367039442062378, + -0.48073330521583557, + 0.24948172271251678 + ], + "joints": [ + 0.0072415173053741455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0866960659623146, + 0.09122917801141739, + 0.06480465829372406 + ], + "orientation": [ + 0.5477619767189026, + 0.32486721873283386, + -0.7525626420974731, + 0.1675337255001068 + ], + "joints": [ + 0.018627017736434937 + ] + }, + "fine_grasp": { + "position": [ + 0.08383620530366898, + 0.08879121392965317, + 0.06397473067045212 + ], + "orientation": [ + 0.5513113737106323, + 0.3258550763130188, + -0.7498568296432495, + 0.1660994291305542 + ], + "joints": [ + 0.008178137242794037 + ] + }, + "final_grasp": { + "position": [ + 0.08383620530366898, + 0.08879121392965317, + 0.06397473067045212 + ], + "orientation": [ + 0.5513113737106323, + 0.3258550763130188, + -0.7498568296432495, + 0.1660994291305542 + ], + "joints": [ + -0.002270743250846863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0895673856139183, + 0.09233032912015915, + -0.051018550992012024 + ], + "orientation": [ + 0.3613132834434509, + 0.688421368598938, + 0.1045493632555008, + -0.6201596856117249 + ], + "joints": [ + 0.024337131530046463 + ] + }, + "fine_grasp": { + "position": [ + 0.08670330047607422, + 0.08964205533266068, + -0.051522061228752136 + ], + "orientation": [ + 0.3648627698421478, + 0.6902209520339966, + 0.0997595489025116, + -0.6168615221977234 + ], + "joints": [ + 0.01432710513472557 + ] + }, + "final_grasp": { + "position": [ + 0.08670330047607422, + 0.08964205533266068, + -0.051522061228752136 + ], + "orientation": [ + 0.3648627698421478, + 0.6902209520339966, + 0.0997595489025116, + -0.6168615221977234 + ], + "joints": [ + 0.004317078739404678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08655308187007904, + 0.09115210175514221, + 0.06443751603364944 + ], + "orientation": [ + 0.5442720651626587, + 0.3249547481536865, + -0.7551116943359375, + 0.1672680526971817 + ], + "joints": [ + 0.01862572878599167 + ] + }, + "fine_grasp": { + "position": [ + 0.08368882536888123, + 0.08871813863515854, + 0.06361442804336548 + ], + "orientation": [ + 0.548072874546051, + 0.32602396607398987, + -0.7522587776184082, + 0.16562439501285553 + ], + "joints": [ + 0.008176848292350769 + ] + }, + "final_grasp": { + "position": [ + 0.08368882536888123, + 0.08871813863515854, + 0.06361442804336548 + ], + "orientation": [ + 0.548072874546051, + 0.32602396607398987, + -0.7522587776184082, + 0.16562439501285553 + ], + "joints": [ + -0.0022720322012901306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08786921948194504, + 0.0923139750957489, + 0.0661388635635376 + ], + "orientation": [ + 0.5563165545463562, + 0.32747745513916016, + -0.7454201579093933, + 0.16619031131267548 + ], + "joints": [ + 0.018637053668498993 + ] + }, + "fine_grasp": { + "position": [ + 0.08498445153236389, + 0.08985713124275208, + 0.06539422273635864 + ], + "orientation": [ + 0.5599767565727234, + 0.3283870220184326, + -0.7425607442855835, + 0.1648988425731659 + ], + "joints": [ + 0.008209072053432465 + ] + }, + "final_grasp": { + "position": [ + 0.08498445153236389, + 0.08985713124275208, + 0.06539422273635864 + ], + "orientation": [ + 0.5599767565727234, + 0.3283870220184326, + -0.7425607442855835, + 0.1648988425731659 + ], + "joints": [ + -0.0022189095616340637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04714558646082878, + 0.1352826952934265, + 0.0684070959687233 + ], + "orientation": [ + 0.5252296924591064, + 0.4880460202693939, + 0.6254124641418457, + -0.30790287256240845 + ], + "joints": [ + 0.018267150968313217 + ] + }, + "fine_grasp": { + "position": [ + -0.045772112905979156, + 0.13170772790908813, + 0.06779501587152481 + ], + "orientation": [ + 0.5280138850212097, + 0.4872567355632782, + 0.6230736374855042, + -0.30913007259368896 + ], + "joints": [ + 0.009030338376760483 + ] + }, + "final_grasp": { + "position": [ + -0.045772112905979156, + 0.13170772790908813, + 0.06779501587152481 + ], + "orientation": [ + 0.5280138850212097, + 0.4872567355632782, + 0.6230736374855042, + -0.30913007259368896 + ], + "joints": [ + -0.0002064742147922516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014111225493252277, + -0.09809838980436325, + -0.07411100715398788 + ], + "orientation": [ + 0.6611115336418152, + -0.5066993236541748, + -0.384674608707428, + -0.3977596163749695 + ], + "joints": [ + 0.02473471499979496 + ] + }, + "fine_grasp": { + "position": [ + 0.013507591560482979, + -0.0943109318614006, + -0.07349134981632233 + ], + "orientation": [ + 0.6651816964149475, + -0.5059581995010376, + -0.38151976466178894, + -0.39494574069976807 + ], + "joints": [ + 0.013909677043557167 + ] + }, + "final_grasp": { + "position": [ + 0.013507591560482979, + -0.0943109318614006, + -0.07349134981632233 + ], + "orientation": [ + 0.6651816964149475, + -0.5059581995010376, + -0.38151976466178894, + -0.39494574069976807 + ], + "joints": [ + 0.003084639087319374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11941515654325485, + 0.007246917579323053, + -0.09445266425609589 + ], + "orientation": [ + 0.8105224370956421, + 0.09257931262254715, + -0.5478990077972412, + -0.18517257273197174 + ], + "joints": [ + 0.024857934564352036 + ] + }, + "fine_grasp": { + "position": [ + 0.11552592366933823, + 0.007841604761779308, + -0.09384643286466599 + ], + "orientation": [ + 0.8046461343765259, + 0.09224548190832138, + -0.5558842420578003, + -0.18715815246105194 + ], + "joints": [ + 0.015642020851373672 + ] + }, + "final_grasp": { + "position": [ + 0.11552592366933823, + 0.007841604761779308, + -0.09384643286466599 + ], + "orientation": [ + 0.8046461343765259, + 0.09224548190832138, + -0.5558842420578003, + -0.18715815246105194 + ], + "joints": [ + 0.0064261071383953094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027809100225567818, + -0.08741580694913864, + -9.229555143974721e-05 + ], + "orientation": [ + 0.5051169395446777, + -0.4108484983444214, + -0.6138087511062622, + -0.4464293122291565 + ], + "joints": [ + 0.01849866285920143 + ] + }, + "fine_grasp": { + "position": [ + 0.02736520953476429, + -0.08550547063350677, + 0.0004074900643900037 + ], + "orientation": [ + 0.5013830661773682, + -0.40792107582092285, + -0.6176191568374634, + -0.4480646550655365 + ], + "joints": [ + 0.009721603244543076 + ] + }, + "final_grasp": { + "position": [ + 0.02736520953476429, + -0.08550547063350677, + 0.0004074900643900037 + ], + "orientation": [ + 0.5013830661773682, + -0.40792107582092285, + -0.6176191568374634, + -0.4480646550655365 + ], + "joints": [ + 0.0009445436298847198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07196871191263199, + -0.016519425436854362, + -0.1455060839653015 + ], + "orientation": [ + 0.9249600172042847, + -0.18933992087841034, + -0.30809953808784485, + 0.11693600565195084 + ], + "joints": [ + 0.025663429871201515 + ] + }, + "fine_grasp": { + "position": [ + 0.06995715200901031, + -0.015453068539500237, + -0.14302337169647217 + ], + "orientation": [ + 0.9249379634857178, + -0.1914597600698471, + -0.3068389892578125, + 0.1169729083776474 + ], + "joints": [ + 0.015653403475880623 + ] + }, + "final_grasp": { + "position": [ + 0.06995715200901031, + -0.015453068539500237, + -0.14302337169647217 + ], + "orientation": [ + 0.9249379634857178, + -0.1914597600698471, + -0.3068389892578125, + 0.1169729083776474 + ], + "joints": [ + 0.0056433770805597305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10464080423116684, + 0.029484253376722336, + 0.01711610145866871 + ], + "orientation": [ + 0.02430058643221855, + -0.8032194972038269, + -0.12530450522899628, + 0.5818477272987366 + ], + "joints": [ + 0.018015030771493912 + ] + }, + "fine_grasp": { + "position": [ + 0.10151941329240799, + 0.028714865446090698, + 0.018220921978354454 + ], + "orientation": [ + 0.03576771914958954, + -0.804122805595398, + -0.13971734046936035, + 0.5767030715942383 + ], + "joints": [ + 0.009655926376581192 + ] + }, + "final_grasp": { + "position": [ + 0.10151941329240799, + 0.028714865446090698, + 0.018220921978354454 + ], + "orientation": [ + 0.03576771914958954, + -0.804122805595398, + -0.13971734046936035, + 0.5767030715942383 + ], + "joints": [ + 0.0012968219816684723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08596201241016388, + 0.08982035517692566, + 0.048357270658016205 + ], + "orientation": [ + 0.15267057716846466, + 0.7310923933982849, + 0.34354689717292786, + -0.5693601965904236 + ], + "joints": [ + 0.018340926617383957 + ] + }, + "fine_grasp": { + "position": [ + 0.08296190947294235, + 0.08721604943275452, + 0.04770519584417343 + ], + "orientation": [ + 0.14744700491428375, + 0.7279306054115295, + 0.34777551889419556, + -0.5722137689590454 + ], + "joints": [ + 0.009145911782979965 + ] + }, + "final_grasp": { + "position": [ + 0.08296190947294235, + 0.08721604943275452, + 0.04770519584417343 + ], + "orientation": [ + 0.14744700491428375, + 0.7279306054115295, + 0.34777551889419556, + -0.5722137689590454 + ], + "joints": [ + -4.910305142402649e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008785394951701164, + -0.08457554131746292, + -0.15216313302516937 + ], + "orientation": [ + 0.39580434560775757, + -0.16353730857372284, + 0.3253631293773651, + 0.8430500030517578 + ], + "joints": [ + 0.022032974287867546 + ] + }, + "fine_grasp": { + "position": [ + 0.008300223387777805, + -0.08144237101078033, + -0.15009921789169312 + ], + "orientation": [ + 0.3946243226528168, + -0.1679380238056183, + 0.33060693740844727, + 0.8406945466995239 + ], + "joints": [ + 0.01277526281774044 + ] + }, + "final_grasp": { + "position": [ + 0.008300223387777805, + -0.08144237101078033, + -0.15009921789169312 + ], + "orientation": [ + 0.3946243226528168, + -0.1679380238056183, + 0.33060693740844727, + 0.8406945466995239 + ], + "joints": [ + 0.0035175513476133347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03991806134581566, + 0.12185396254062653, + -0.05632971227169037 + ], + "orientation": [ + 0.4780559837818146, + 0.24114184081554413, + -0.6520655751228333, + 0.5367714166641235 + ], + "joints": [ + 0.025202816352248192 + ] + }, + "fine_grasp": { + "position": [ + 0.039136823266744614, + 0.11966586858034134, + -0.05799848213791847 + ], + "orientation": [ + 0.4728100299835205, + 0.23186607658863068, + -0.6518593430519104, + 0.5456815361976624 + ], + "joints": [ + 0.016425756737589836 + ] + }, + "final_grasp": { + "position": [ + 0.039136823266744614, + 0.11966586858034134, + -0.05799848213791847 + ], + "orientation": [ + 0.4728100299835205, + 0.23186607658863068, + -0.6518593430519104, + 0.5456815361976624 + ], + "joints": [ + 0.00764869712293148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015811868011951447, + -0.10125239193439484, + -0.01329172495752573 + ], + "orientation": [ + 0.32637426257133484, + -0.47931474447250366, + 0.6231564283370972, + 0.5247983932495117 + ], + "joints": [ + 0.024307798594236374 + ] + }, + "fine_grasp": { + "position": [ + 0.015348857268691063, + -0.09744039177894592, + -0.014141549356281757 + ], + "orientation": [ + 0.31721144914627075, + -0.4747960567474365, + 0.6290249228477478, + 0.5275160670280457 + ], + "joints": [ + 0.01509188488125801 + ] + }, + "final_grasp": { + "position": [ + 0.015348857268691063, + -0.09744039177894592, + -0.014141549356281757 + ], + "orientation": [ + 0.31721144914627075, + -0.4747960567474365, + 0.6290249228477478, + 0.5275160670280457 + ], + "joints": [ + 0.005875971168279648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014721634797751904, + 0.12225703150033951, + 0.01086124125868082 + ], + "orientation": [ + 0.4448893964290619, + 0.6390038728713989, + -0.46107515692710876, + 0.4256255328655243 + ], + "joints": [ + 0.018551327288150787 + ] + }, + "fine_grasp": { + "position": [ + -0.013973172754049301, + 0.11978118866682053, + 0.012004688382148743 + ], + "orientation": [ + 0.448540598154068, + 0.6471248269081116, + -0.45415472984313965, + 0.4168745279312134 + ], + "joints": [ + 0.009774267673492432 + ] + }, + "final_grasp": { + "position": [ + -0.013973172754049301, + 0.11978118866682053, + 0.012004688382148743 + ], + "orientation": [ + 0.448540598154068, + 0.6471248269081116, + -0.45415472984313965, + 0.4168745279312134 + ], + "joints": [ + 0.000997208058834076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08914568275213242, + 0.10778547823429108, + -0.0385129414498806 + ], + "orientation": [ + 0.41852831840515137, + 0.7340791821479797, + 0.0807967483997345, + -0.5286147594451904 + ], + "joints": [ + 0.026397159323096275 + ] + }, + "fine_grasp": { + "position": [ + 0.08647092431783676, + 0.10498105734586716, + -0.039049580693244934 + ], + "orientation": [ + 0.41974252462387085, + 0.736369788646698, + 0.07906877994537354, + -0.5247130990028381 + ], + "joints": [ + 0.016763290390372276 + ] + }, + "final_grasp": { + "position": [ + 0.08647092431783676, + 0.10498105734586716, + -0.039049580693244934 + ], + "orientation": [ + 0.41974252462387085, + 0.736369788646698, + 0.07906877994537354, + -0.5247130990028381 + ], + "joints": [ + 0.007129421457648277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040610503405332565, + 0.10711361467838287, + 0.08560123294591904 + ], + "orientation": [ + 0.39391815662384033, + 0.4451724886894226, + 0.754962682723999, + -0.27691391110420227 + ], + "joints": [ + 0.018013540655374527 + ] + }, + "fine_grasp": { + "position": [ + -0.038872700184583664, + 0.10353817790746689, + 0.08508089929819107 + ], + "orientation": [ + 0.38923871517181396, + 0.43679365515708923, + 0.7597337961196899, + -0.28374141454696655 + ], + "joints": [ + 0.008818525820970535 + ] + }, + "final_grasp": { + "position": [ + -0.038872700184583664, + 0.10353817790746689, + 0.08508089929819107 + ], + "orientation": [ + 0.38923871517181396, + 0.43679365515708923, + 0.7597337961196899, + -0.28374141454696655 + ], + "joints": [ + -0.0003764890134334564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019512370228767395, + 0.12825925648212433, + 0.07495685666799545 + ], + "orientation": [ + 0.42391788959503174, + 0.49848324060440063, + 0.6480388641357422, + -0.3896839916706085 + ], + "joints": [ + 0.01822945475578308 + ] + }, + "fine_grasp": { + "position": [ + -0.018949642777442932, + 0.12450236082077026, + 0.07409351319074631 + ], + "orientation": [ + 0.42283499240875244, + 0.4985527992248535, + 0.647922933101654, + -0.3909623324871063 + ], + "joints": [ + 0.008595585823059082 + ] + }, + "final_grasp": { + "position": [ + -0.018949642777442932, + 0.12450236082077026, + 0.07409351319074631 + ], + "orientation": [ + 0.42283499240875244, + 0.4985527992248535, + 0.647922933101654, + -0.3909623324871063 + ], + "joints": [ + -0.001038283109664917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04096267744898796, + 0.13393940031528473, + -0.035978034138679504 + ], + "orientation": [ + 0.44719019532203674, + 0.2609444558620453, + 0.6910991668701172, + -0.5042923092842102 + ], + "joints": [ + 0.02549409680068493 + ] + }, + "fine_grasp": { + "position": [ + -0.039612650871276855, + 0.13033074140548706, + -0.03629523888230324 + ], + "orientation": [ + 0.4441724121570587, + 0.2562270164489746, + 0.6928266286849976, + -0.5070008039474487 + ], + "joints": [ + 0.0150661151856184 + ] + }, + "final_grasp": { + "position": [ + -0.039612650871276855, + 0.13033074140548706, + -0.03629523888230324 + ], + "orientation": [ + 0.4441724121570587, + 0.2562270164489746, + 0.6928266286849976, + -0.5070008039474487 + ], + "joints": [ + 0.004638133570551872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024223607033491135, + 0.13394944369792938, + 0.03593907505273819 + ], + "orientation": [ + 0.47179052233695984, + 0.4379425346851349, + -0.6249199509620667, + 0.4416957199573517 + ], + "joints": [ + 0.01869654282927513 + ] + }, + "fine_grasp": { + "position": [ + 0.02341141179203987, + 0.13015933334827423, + 0.03559752181172371 + ], + "orientation": [ + 0.4712294042110443, + 0.4356973469257355, + -0.6250753998756409, + 0.4442875385284424 + ], + "joints": [ + 0.008665617555379868 + ] + }, + "final_grasp": { + "position": [ + 0.02341141179203987, + 0.13015933334827423, + 0.03559752181172371 + ], + "orientation": [ + 0.4712294042110443, + 0.4356973469257355, + -0.6250753998756409, + 0.4442875385284424 + ], + "joints": [ + -0.0013653077185153961 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10858432203531265, + 0.059098467230796814, + -0.04163297265768051 + ], + "orientation": [ + 0.010202065110206604, + 0.687722384929657, + 0.26362210512161255, + -0.6763409376144409 + ], + "joints": [ + 0.024271605536341667 + ] + }, + "fine_grasp": { + "position": [ + 0.10476759076118469, + 0.0576818473637104, + -0.04218244180083275 + ], + "orientation": [ + 0.010045607574284077, + 0.6834797263145447, + 0.2644374370574951, + -0.6803140640258789 + ], + "joints": [ + 0.015494545921683311 + ] + }, + "final_grasp": { + "position": [ + 0.10476759076118469, + 0.0576818473637104, + -0.04218244180083275 + ], + "orientation": [ + 0.010045607574284077, + 0.6834797263145447, + 0.2644374370574951, + -0.6803140640258789 + ], + "joints": [ + 0.006717486307024956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08601683378219604, + 0.1019686758518219, + -0.004047623835504055 + ], + "orientation": [ + 0.07951532304286957, + 0.646647572517395, + 0.5027567744255066, + -0.5681195259094238 + ], + "joints": [ + 0.025934049859642982 + ] + }, + "fine_grasp": { + "position": [ + 0.08336647599935532, + 0.09912446141242981, + -0.004981956910341978 + ], + "orientation": [ + 0.07531055063009262, + 0.6409050822257996, + 0.5076109766960144, + -0.5708766579627991 + ], + "joints": [ + 0.01673903502523899 + ] + }, + "final_grasp": { + "position": [ + 0.08336647599935532, + 0.09912446141242981, + -0.004981956910341978 + ], + "orientation": [ + 0.07531055063009262, + 0.6409050822257996, + 0.5076109766960144, + -0.5708766579627991 + ], + "joints": [ + 0.007544020190834999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04518816992640495, + -0.06375432014465332, + -0.15597504377365112 + ], + "orientation": [ + 0.35970309376716614, + 0.08865724503993988, + 0.352318674325943, + 0.8594330549240112 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + -0.04419182986021042, + -0.061435163021087646, + -0.153213232755661 + ], + "orientation": [ + 0.3591688275337219, + 0.08587527275085449, + 0.35369977355003357, + 0.8593717217445374 + ], + "joints": [ + 0.014465605840086937 + ] + }, + "final_grasp": { + "position": [ + -0.04419182986021042, + -0.061435163021087646, + -0.153213232755661 + ], + "orientation": [ + 0.3591688275337219, + 0.08587527275085449, + 0.35369977355003357, + 0.8593717217445374 + ], + "joints": [ + 0.005207894369959831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0941668450832367, + 0.07336421310901642, + 0.02298704907298088 + ], + "orientation": [ + 0.5977414846420288, + 0.28165295720100403, + -0.7431702613830566, + 0.10523618012666702 + ], + "joints": [ + 0.018135182559490204 + ] + }, + "fine_grasp": { + "position": [ + 0.0907149687409401, + 0.07112748920917511, + 0.022714601829648018 + ], + "orientation": [ + 0.5995147824287415, + 0.2989124655723572, + -0.7368903756141663, + 0.09069640934467316 + ], + "joints": [ + 0.009776078164577484 + ] + }, + "final_grasp": { + "position": [ + 0.0907149687409401, + 0.07112748920917511, + 0.022714601829648018 + ], + "orientation": [ + 0.5995147824287415, + 0.2989124655723572, + -0.7368903756141663, + 0.09069640934467316 + ], + "joints": [ + 0.0014169737696647644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09279388189315796, + -0.04882465675473213, + 0.06797564774751663 + ], + "orientation": [ + 0.5403243899345398, + -0.3147406578063965, + 0.7697271108627319, + 0.12848319113254547 + ], + "joints": [ + 0.018613971769809723 + ] + }, + "fine_grasp": { + "position": [ + -0.0897165983915329, + -0.04660084471106529, + 0.06711083650588989 + ], + "orientation": [ + 0.5450855493545532, + -0.3156530559062958, + 0.7662875056266785, + 0.12668222188949585 + ], + "joints": [ + 0.00858304649591446 + ] + }, + "final_grasp": { + "position": [ + -0.0897165983915329, + -0.04660084471106529, + 0.06711083650588989 + ], + "orientation": [ + 0.5450855493545532, + -0.3156530559062958, + 0.7662875056266785, + 0.12668222188949585 + ], + "joints": [ + -0.0014478787779808044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09909669309854507, + -0.037886012345552444, + -0.028853241354227066 + ], + "orientation": [ + 0.6402551531791687, + -0.31644198298454285, + 0.6971220374107361, + 0.06291861087083817 + ], + "joints": [ + 0.024189157411456108 + ] + }, + "fine_grasp": { + "position": [ + -0.09570405632257462, + -0.03611535578966141, + -0.03007328137755394 + ], + "orientation": [ + 0.6398364901542664, + -0.32364219427108765, + 0.694821298122406, + 0.055573996156454086 + ], + "joints": [ + 0.014994142577052116 + ] + }, + "final_grasp": { + "position": [ + -0.09570405632257462, + -0.03611535578966141, + -0.03007328137755394 + ], + "orientation": [ + 0.6398364901542664, + -0.32364219427108765, + 0.694821298122406, + 0.055573996156454086 + ], + "joints": [ + 0.005799127742648125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0439288355410099, + -0.0892876386642456, + -0.12516123056411743 + ], + "orientation": [ + 0.40097394585609436, + -0.10428960621356964, + -0.5151548385620117, + -0.7503059506416321 + ], + "joints": [ + 0.022820254787802696 + ] + }, + "fine_grasp": { + "position": [ + 0.04212399944663048, + -0.08685985207557678, + -0.1227642074227333 + ], + "orientation": [ + 0.4048263132572174, + -0.09673889726400375, + -0.5136045217514038, + -0.7503116726875305 + ], + "joints": [ + 0.014398453757166862 + ] + }, + "final_grasp": { + "position": [ + 0.04212399944663048, + -0.08685985207557678, + -0.1227642074227333 + ], + "orientation": [ + 0.4048263132572174, + -0.09673889726400375, + -0.5136045217514038, + -0.7503116726875305 + ], + "joints": [ + 0.005976652726531029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037978533655405045, + -0.11225773394107819, + 0.024192679673433304 + ], + "orientation": [ + 0.4377311170101166, + -0.39851588010787964, + 0.6974595189094543, + 0.40388938784599304 + ], + "joints": [ + 0.01705455221235752 + ] + }, + "fine_grasp": { + "position": [ + -0.03702915459871292, + -0.10840483009815216, + 0.023770242929458618 + ], + "orientation": [ + 0.4394534230232239, + -0.3972923755645752, + 0.6928166151046753, + 0.41115009784698486 + ], + "joints": [ + 0.00785953737795353 + ] + }, + "final_grasp": { + "position": [ + -0.03702915459871292, + -0.10840483009815216, + 0.023770242929458618 + ], + "orientation": [ + 0.4394534230232239, + -0.3972923755645752, + 0.6928166151046753, + 0.41115009784698486 + ], + "joints": [ + -0.0013354774564504623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09301789104938507, + 0.07711571455001831, + -0.028589030727744102 + ], + "orientation": [ + 0.2767429053783417, + 0.7627677917480469, + 0.08454835414886475, + -0.5783166289329529 + ], + "joints": [ + 0.024287955835461617 + ] + }, + "fine_grasp": { + "position": [ + 0.0908852145075798, + 0.07538588345050812, + -0.029428832232952118 + ], + "orientation": [ + 0.2857167422771454, + 0.7622499465942383, + 0.07200886309146881, + -0.5763294100761414 + ], + "joints": [ + 0.015092941001057625 + ] + }, + "final_grasp": { + "position": [ + 0.0908852145075798, + 0.07538588345050812, + -0.029428832232952118 + ], + "orientation": [ + 0.2857167422771454, + 0.7622499465942383, + 0.07200886309146881, + -0.5763294100761414 + ], + "joints": [ + 0.005897926166653633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0964304655790329, + 0.04370756447315216, + 0.12007469683885574 + ], + "orientation": [ + 0.03971341997385025, + 0.8412200212478638, + 0.16040661931037903, + -0.5148217082023621 + ], + "joints": [ + 0.013945868238806725 + ] + }, + "fine_grasp": { + "position": [ + 0.09260212630033493, + 0.04261082038283348, + 0.11921890079975128 + ], + "orientation": [ + 0.0339815691113472, + 0.8398712277412415, + 0.17044861614704132, + -0.5142069458961487 + ], + "joints": [ + 0.005586763843894005 + ] + }, + "final_grasp": { + "position": [ + 0.09260212630033493, + 0.04261082038283348, + 0.11921890079975128 + ], + "orientation": [ + 0.0339815691113472, + 0.8398712277412415, + 0.17044861614704132, + -0.5142069458961487 + ], + "joints": [ + -0.002772340551018715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1200607419013977, + 0.03847019001841545, + -0.037408940494060516 + ], + "orientation": [ + 0.10680800676345825, + -0.6970611214637756, + -0.25530439615249634, + 0.661450982093811 + ], + "joints": [ + 0.026152191683650017 + ] + }, + "fine_grasp": { + "position": [ + 0.11632224917411804, + 0.03781447559595108, + -0.038084279745817184 + ], + "orientation": [ + 0.11059592664241791, + -0.699149489402771, + -0.26042357087135315, + 0.6566110849380493 + ], + "joints": [ + 0.015306254848837852 + ] + }, + "final_grasp": { + "position": [ + 0.11632224917411804, + 0.03781447559595108, + -0.038084279745817184 + ], + "orientation": [ + 0.11059592664241791, + -0.699149489402771, + -0.26042357087135315, + 0.6566110849380493 + ], + "joints": [ + 0.004460318014025688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03375288099050522, + -0.09836836159229279, + 0.0598098523914814 + ], + "orientation": [ + 0.48564091324806213, + -0.585145115852356, + -0.3650458753108978, + -0.537121593952179 + ], + "joints": [ + 0.016492750495672226 + ] + }, + "fine_grasp": { + "position": [ + -0.032497309148311615, + -0.09444549679756165, + 0.05951182171702385 + ], + "orientation": [ + 0.4862264096736908, + -0.5890479683876038, + -0.3622410297393799, + -0.534217119216919 + ], + "joints": [ + 0.008133646100759506 + ] + }, + "final_grasp": { + "position": [ + -0.032497309148311615, + -0.09444549679756165, + 0.05951182171702385 + ], + "orientation": [ + 0.4862264096736908, + -0.5890479683876038, + -0.3622410297393799, + -0.534217119216919 + ], + "joints": [ + -0.0002254582941532135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06694581359624863, + -0.07458479702472687, + -0.12737755477428436 + ], + "orientation": [ + 0.8576698899269104, + -0.39178651571273804, + -0.3330247700214386, + -0.0003362004063092172 + ], + "joints": [ + 0.023700160905718803 + ] + }, + "fine_grasp": { + "position": [ + 0.06561142951250076, + -0.07203970849514008, + -0.12512537837028503 + ], + "orientation": [ + 0.8591439127922058, + -0.3920285403728485, + -0.3289099931716919, + -0.0018839809345081449 + ], + "joints": [ + 0.015236562117934227 + ] + }, + "final_grasp": { + "position": [ + 0.06561142951250076, + -0.07203970849514008, + -0.12512537837028503 + ], + "orientation": [ + 0.8591439127922058, + -0.3920285403728485, + -0.3289099931716919, + -0.0018839809345081449 + ], + "joints": [ + 0.006772963330149651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04145335033535957, + 0.13487672805786133, + -0.036337222903966904 + ], + "orientation": [ + 0.44614484906196594, + 0.2633364796638489, + 0.6921250820159912, + -0.5025650858879089 + ], + "joints": [ + 0.02566215582191944 + ] + }, + "fine_grasp": { + "position": [ + -0.04017563536763191, + 0.13114237785339355, + -0.036711230874061584 + ], + "orientation": [ + 0.44324228167533875, + 0.2615402638912201, + 0.6931071877479553, + -0.5047129988670349 + ], + "joints": [ + 0.01565212942659855 + ] + }, + "final_grasp": { + "position": [ + -0.04017563536763191, + 0.13114237785339355, + -0.036711230874061584 + ], + "orientation": [ + 0.44324228167533875, + 0.2615402638912201, + 0.6931071877479553, + -0.5047129988670349 + ], + "joints": [ + 0.0056421030312776566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04397484287619591, + -0.08940145373344421, + -0.12523207068443298 + ], + "orientation": [ + 0.40128278732299805, + -0.10451928526163101, + -0.5149640440940857, + -0.7502397894859314 + ], + "joints": [ + 0.022820254787802696 + ] + }, + "fine_grasp": { + "position": [ + 0.042166367173194885, + -0.08696463704109192, + -0.12283334881067276 + ], + "orientation": [ + 0.4051492214202881, + -0.09695622324943542, + -0.5134246945381165, + -0.7502322793006897 + ], + "joints": [ + 0.014398453757166862 + ] + }, + "final_grasp": { + "position": [ + 0.042166367173194885, + -0.08696463704109192, + -0.12283334881067276 + ], + "orientation": [ + 0.4051492214202881, + -0.09695622324943542, + -0.5134246945381165, + -0.7502322793006897 + ], + "joints": [ + 0.005976652726531029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04072923585772514, + 0.08673226088285446, + 0.16534651815891266 + ], + "orientation": [ + 0.07724793255329132, + 0.7009802460670471, + -0.6538739204406738, + 0.2740589678287506 + ], + "joints": [ + 0.016846153885126114 + ] + }, + "fine_grasp": { + "position": [ + -0.03921006992459297, + 0.0841333344578743, + 0.16279269754886627 + ], + "orientation": [ + 0.08396090567111969, + 0.6954478621482849, + -0.6491791009902954, + 0.29642772674560547 + ], + "joints": [ + 0.0076302411034703255 + ] + }, + "final_grasp": { + "position": [ + -0.03921006992459297, + 0.0841333344578743, + 0.16279269754886627 + ], + "orientation": [ + 0.08396090567111969, + 0.6954478621482849, + -0.6491791009902954, + 0.29642772674560547 + ], + "joints": [ + -0.001585671678185463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06708323210477829, + -0.07454214990139008, + -0.12728039920330048 + ], + "orientation": [ + 0.8586589097976685, + -0.39208275079727173, + -0.3301140069961548, + -0.0008845235570333898 + ], + "joints": [ + 0.024371668696403503 + ] + }, + "fine_grasp": { + "position": [ + 0.06569710373878479, + -0.07196907699108124, + -0.12497791647911072 + ], + "orientation": [ + 0.8602725267410278, + -0.3923078179359436, + -0.3256063461303711, + -0.0024968304205685854 + ], + "joints": [ + 0.015511013567447662 + ] + }, + "final_grasp": { + "position": [ + 0.06569710373878479, + -0.07196907699108124, + -0.12497791647911072 + ], + "orientation": [ + 0.8602725267410278, + -0.3923078179359436, + -0.3256063461303711, + -0.0024968304205685854 + ], + "joints": [ + 0.006650358438491821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023565061390399933, + 0.13741880655288696, + 0.08594474196434021 + ], + "orientation": [ + 0.348937451839447, + 0.7403239607810974, + -0.4646189510822296, + 0.33807143568992615 + ], + "joints": [ + 0.017494505271315575 + ] + }, + "fine_grasp": { + "position": [ + -0.023037586361169815, + 0.13351655006408691, + 0.08512023836374283 + ], + "orientation": [ + 0.362067312002182, + 0.7330126762390137, + -0.46186259388923645, + 0.34392252564430237 + ], + "joints": [ + 0.008299490436911583 + ] + }, + "final_grasp": { + "position": [ + -0.023037586361169815, + 0.13351655006408691, + 0.08512023836374283 + ], + "orientation": [ + 0.362067312002182, + 0.7330126762390137, + -0.46186259388923645, + 0.34392252564430237 + ], + "joints": [ + -0.0008955243974924088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05958572030067444, + -0.02758229896426201, + -0.15193809568881989 + ], + "orientation": [ + 0.68487948179245, + 0.03968805819749832, + -0.31479108333587646, + -0.6559509038925171 + ], + "joints": [ + 0.026200950145721436 + ] + }, + "fine_grasp": { + "position": [ + 0.05805574357509613, + -0.026239657774567604, + -0.1490897387266159 + ], + "orientation": [ + 0.6847059726715088, + 0.039655301719903946, + -0.31504756212234497, + -0.6560106873512268 + ], + "joints": [ + 0.017005935311317444 + ] + }, + "final_grasp": { + "position": [ + 0.05805574357509613, + -0.026239657774567604, + -0.1490897387266159 + ], + "orientation": [ + 0.6847059726715088, + 0.039655301719903946, + -0.31504756212234497, + -0.6560106873512268 + ], + "joints": [ + 0.007810920476913452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09759069234132767, + -0.05114203691482544, + -0.03199585899710655 + ], + "orientation": [ + 0.45127472281455994, + 0.01962333172559738, + 0.804652750492096, + 0.3853570222854614 + ], + "joints": [ + 0.024371668696403503 + ] + }, + "fine_grasp": { + "position": [ + -0.09401371330022812, + -0.04929829761385918, + -0.03197693079710007 + ], + "orientation": [ + 0.46199095249176025, + 0.028152326121926308, + 0.797024130821228, + 0.38797450065612793 + ], + "joints": [ + 0.015176653861999512 + ] + }, + "final_grasp": { + "position": [ + -0.09401371330022812, + -0.04929829761385918, + -0.03197693079710007 + ], + "orientation": [ + 0.46199095249176025, + 0.028152326121926308, + 0.797024130821228, + 0.38797450065612793 + ], + "joints": [ + 0.00598163902759552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0069680898450315, + 0.1334724873304367, + 0.00936894677579403 + ], + "orientation": [ + 0.49529892206192017, + 0.4377215504646301, + -0.5304553508758545, + 0.5307503342628479 + ], + "joints": [ + 0.017738210037350655 + ] + }, + "fine_grasp": { + "position": [ + 0.006769251078367233, + 0.1293480545282364, + 0.009477473795413971 + ], + "orientation": [ + 0.49241903424263, + 0.4351693391799927, + -0.5327746272087097, + 0.5332000851631165 + ], + "joints": [ + 0.008961150422692299 + ] + }, + "final_grasp": { + "position": [ + 0.006769251078367233, + 0.1293480545282364, + 0.009477473795413971 + ], + "orientation": [ + 0.49241903424263, + 0.4351693391799927, + -0.5327746272087097, + 0.5332000851631165 + ], + "joints": [ + 0.00018409080803394318 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00699110422283411, + 0.13346578180789948, + 0.00943959690630436 + ], + "orientation": [ + 0.49584686756134033, + 0.43752095103263855, + -0.529871940612793, + 0.5309867858886719 + ], + "joints": [ + 0.017762580886483192 + ] + }, + "fine_grasp": { + "position": [ + 0.006791225168853998, + 0.12930786609649658, + 0.009559698402881622 + ], + "orientation": [ + 0.4931764602661133, + 0.43513041734695435, + -0.532050609588623, + 0.5332546830177307 + ], + "joints": [ + 0.009403476491570473 + ] + }, + "final_grasp": { + "position": [ + 0.006791225168853998, + 0.12930786609649658, + 0.009559698402881622 + ], + "orientation": [ + 0.4931764602661133, + 0.43513041734695435, + -0.532050609588623, + 0.5332546830177307 + ], + "joints": [ + 0.001044372096657753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08240672200918198, + -0.05068377032876015, + 0.048941269516944885 + ], + "orientation": [ + 0.24459171295166016, + -0.7839537858963013, + -0.2120535969734192, + -0.5297400951385498 + ], + "joints": [ + 0.017692528665065765 + ] + }, + "fine_grasp": { + "position": [ + -0.07935670018196106, + -0.048523060977458954, + 0.04974398389458656 + ], + "orientation": [ + 0.25274088978767395, + -0.7893129587173462, + -0.19877542555332184, + -0.5230635404586792 + ], + "joints": [ + 0.009312525391578674 + ] + }, + "final_grasp": { + "position": [ + -0.07935670018196106, + -0.048523060977458954, + 0.04974398389458656 + ], + "orientation": [ + 0.25274088978767395, + -0.7893129587173462, + -0.19877542555332184, + -0.5230635404586792 + ], + "joints": [ + 0.0009325221180915833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04102155938744545, + 0.1342574954032898, + -0.0363822877407074 + ], + "orientation": [ + 0.44577541947364807, + 0.26339635252952576, + 0.6919389367103577, + -0.5031173825263977 + ], + "joints": [ + 0.025932827964425087 + ] + }, + "fine_grasp": { + "position": [ + -0.03980986401438713, + 0.13055534660816193, + -0.03690188750624657 + ], + "orientation": [ + 0.44092291593551636, + 0.26303529739379883, + 0.6950123906135559, + -0.5033460855484009 + ], + "joints": [ + 0.015504846349358559 + ] + }, + "final_grasp": { + "position": [ + -0.03980986401438713, + 0.13055534660816193, + -0.03690188750624657 + ], + "orientation": [ + 0.44092291593551636, + 0.26303529739379883, + 0.6950123906135559, + -0.5033460855484009 + ], + "joints": [ + 0.00507686473429203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0910818874835968, + -0.04757554084062576, + 0.06800728291273117 + ], + "orientation": [ + 0.538285493850708, + -0.31047651171684265, + 0.7723445892333984, + 0.13166974484920502 + ], + "joints": [ + 0.01843685284256935 + ] + }, + "fine_grasp": { + "position": [ + -0.08802914619445801, + -0.04532938450574875, + 0.06711038947105408 + ], + "orientation": [ + 0.5419784188270569, + -0.31233832240104675, + 0.7694511413574219, + 0.12903158366680145 + ], + "joints": [ + 0.008802983909845352 + ] + }, + "final_grasp": { + "position": [ + -0.08802914619445801, + -0.04532938450574875, + 0.06711038947105408 + ], + "orientation": [ + 0.5419784188270569, + -0.31233832240104675, + 0.7694511413574219, + 0.12903158366680145 + ], + "joints": [ + -0.0008308850228786469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08494143933057785, + 0.03797389566898346, + -0.14050602912902832 + ], + "orientation": [ + 0.5408878326416016, + 0.39575332403182983, + -0.12456189095973969, + -0.7316448092460632 + ], + "joints": [ + 0.025043176487088203 + ] + }, + "fine_grasp": { + "position": [ + 0.08250206708908081, + 0.03837715834379196, + -0.13735269010066986 + ], + "orientation": [ + 0.5387691259384155, + 0.3874450623989105, + -0.13005074858665466, + -0.7366824150085449 + ], + "joints": [ + 0.015869060531258583 + ] + }, + "final_grasp": { + "position": [ + 0.08250206708908081, + 0.03837715834379196, + -0.13735269010066986 + ], + "orientation": [ + 0.5387691259384155, + 0.3874450623989105, + -0.13005074858665466, + -0.7366824150085449 + ], + "joints": [ + 0.006694944575428963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06710167974233627, + -0.0745268240571022, + -0.12731745839118958 + ], + "orientation": [ + 0.8579264879226685, + -0.3915572166442871, + -0.332631379365921, + -0.0012448292691260576 + ], + "joints": [ + 0.02393171563744545 + ] + }, + "fine_grasp": { + "position": [ + 0.06576322764158249, + -0.07198801636695862, + -0.12505020201206207 + ], + "orientation": [ + 0.859521210193634, + -0.3916705548763275, + -0.3283427953720093, + -0.002910878974944353 + ], + "joints": [ + 0.015468116849660873 + ] + }, + "final_grasp": { + "position": [ + 0.06576322764158249, + -0.07198801636695862, + -0.12505020201206207 + ], + "orientation": [ + 0.859521210193634, + -0.3916705548763275, + -0.3283427953720093, + -0.002910878974944353 + ], + "joints": [ + 0.007004518061876297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09956062585115433, + -0.02860141731798649, + 0.037213731557130814 + ], + "orientation": [ + 0.6078206300735474, + -0.21335776150226593, + 0.758603036403656, + 0.09774409979581833 + ], + "joints": [ + 0.017778389155864716 + ] + }, + "fine_grasp": { + "position": [ + -0.09587360918521881, + -0.026871351525187492, + 0.0374077633023262 + ], + "orientation": [ + 0.6081439256668091, + -0.22519703209400177, + 0.7561255693435669, + 0.08787064999341965 + ], + "joints": [ + 0.00900132954120636 + ] + }, + "final_grasp": { + "position": [ + -0.09587360918521881, + -0.026871351525187492, + 0.0374077633023262 + ], + "orientation": [ + 0.6081439256668091, + -0.22519703209400177, + 0.7561255693435669, + 0.08787064999341965 + ], + "joints": [ + 0.00022426992654800415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08587068319320679, + 0.03776061162352562, + -0.14108175039291382 + ], + "orientation": [ + 0.5433209538459778, + 0.3965466320514679, + -0.12758278846740723, + -0.728886604309082 + ], + "joints": [ + 0.02522597275674343 + ] + }, + "fine_grasp": { + "position": [ + 0.08340808749198914, + 0.03801984712481499, + -0.13796816766262054 + ], + "orientation": [ + 0.5416437387466431, + 0.38997241854667664, + -0.13294440507888794, + -0.7327136993408203 + ], + "joints": [ + 0.015613002702593803 + ] + }, + "final_grasp": { + "position": [ + 0.08340808749198914, + 0.03801984712481499, + -0.13796816766262054 + ], + "orientation": [ + 0.5416437387466431, + 0.38997241854667664, + -0.13294440507888794, + -0.7327136993408203 + ], + "joints": [ + 0.006000032648444176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047946520149707794, + 0.12049677968025208, + 0.05354705825448036 + ], + "orientation": [ + 0.3673446774482727, + 0.7148129940032959, + -0.3643944561481476, + 0.470443457365036 + ], + "joints": [ + 0.018388502299785614 + ] + }, + "fine_grasp": { + "position": [ + -0.04627763852477074, + 0.1168723925948143, + 0.052910663187503815 + ], + "orientation": [ + 0.3730679452419281, + 0.7153114080429077, + -0.36054641008377075, + 0.46814119815826416 + ], + "joints": [ + 0.009611442685127258 + ] + }, + "final_grasp": { + "position": [ + -0.04627763852477074, + 0.1168723925948143, + 0.052910663187503815 + ], + "orientation": [ + 0.3730679452419281, + 0.7153114080429077, + -0.36054641008377075, + 0.46814119815826416 + ], + "joints": [ + 0.0008343830704689026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10583516955375671, + -0.006474359892308712, + 0.02922714874148369 + ], + "orientation": [ + 0.09568044543266296, + -0.7762502431869507, + 0.05488353222608566, + 0.6207001805305481 + ], + "joints": [ + 0.017760608345270157 + ] + }, + "fine_grasp": { + "position": [ + 0.10267479717731476, + -0.005890475120395422, + 0.029935119673609734 + ], + "orientation": [ + 0.10068492591381073, + -0.778741180896759, + 0.04720403626561165, + 0.617411196231842 + ], + "joints": [ + 0.008983548730611801 + ] + }, + "final_grasp": { + "position": [ + 0.10267479717731476, + -0.005890475120395422, + 0.029935119673609734 + ], + "orientation": [ + 0.10068492591381073, + -0.778741180896759, + 0.04720403626561165, + 0.617411196231842 + ], + "joints": [ + 0.00020648911595344543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047503512352705, + 0.12021926790475845, + 0.053074341267347336 + ], + "orientation": [ + 0.3664276897907257, + 0.7155856490135193, + -0.3664519786834717, + 0.46838125586509705 + ], + "joints": [ + 0.018416859209537506 + ] + }, + "fine_grasp": { + "position": [ + -0.04583892971277237, + 0.11656897515058517, + 0.05245278403162956 + ], + "orientation": [ + 0.3725711703300476, + 0.7164047956466675, + -0.36201733350753784, + 0.4657234847545624 + ], + "joints": [ + 0.00963979959487915 + ] + }, + "final_grasp": { + "position": [ + -0.04583892971277237, + 0.11656897515058517, + 0.05245278403162956 + ], + "orientation": [ + 0.3725711703300476, + 0.7164047956466675, + -0.36201733350753784, + 0.4657234847545624 + ], + "joints": [ + 0.0008627399802207947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013298097997903824, + -0.09525574743747711, + -0.05016478896141052 + ], + "orientation": [ + 0.6071673035621643, + -0.5578910708427429, + -0.42128118872642517, + -0.3776604235172272 + ], + "joints": [ + 0.024086182937026024 + ] + }, + "fine_grasp": { + "position": [ + 0.012257076799869537, + -0.0919833853840828, + -0.05061757564544678 + ], + "orientation": [ + 0.6127411723136902, + -0.5641623139381409, + -0.4115358889102936, + -0.37000998854637146 + ], + "joints": [ + 0.015309123322367668 + ] + }, + "final_grasp": { + "position": [ + 0.012257076799869537, + -0.0919833853840828, + -0.05061757564544678 + ], + "orientation": [ + 0.6127411723136902, + -0.5641623139381409, + -0.4115358889102936, + -0.37000998854637146 + ], + "joints": [ + 0.0065320637077093124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10924320667982101, + 0.016009217128157616, + 0.07672859728336334 + ], + "orientation": [ + 0.5200295448303223, + 0.04661102592945099, + 0.8521654605865479, + 0.03479503467679024 + ], + "joints": [ + 0.018183650448918343 + ] + }, + "fine_grasp": { + "position": [ + -0.10544310510158539, + 0.015999281778931618, + 0.07573951780796051 + ], + "orientation": [ + 0.5249209403991699, + 0.0489235483109951, + 0.8488786816596985, + 0.03833235800266266 + ], + "joints": [ + 0.007755668368190527 + ] + }, + "final_grasp": { + "position": [ + -0.10544310510158539, + 0.015999281778931618, + 0.07573951780796051 + ], + "orientation": [ + 0.5249209403991699, + 0.0489235483109951, + 0.8488786816596985, + 0.03833235800266266 + ], + "joints": [ + -0.0026723137125372887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0656205266714096, + -0.002779589733108878, + -0.15048222243785858 + ], + "orientation": [ + 0.5423139929771423, + -0.2756074070930481, + 0.10805050283670425, + -0.7862958312034607 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + -0.06390306353569031, + -0.0017753002466633916, + -0.1477321833372116 + ], + "orientation": [ + 0.5426311492919922, + -0.2814173400402069, + 0.10568641126155853, + -0.7843379974365234 + ], + "joints": [ + 0.01790899783372879 + ] + }, + "final_grasp": { + "position": [ + -0.06390306353569031, + -0.0017753002466633916, + -0.1477321833372116 + ], + "orientation": [ + 0.5426311492919922, + -0.2814173400402069, + 0.10568641126155853, + -0.7843379974365234 + ], + "joints": [ + 0.008713982999324799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07974746078252792, + 0.09063853323459625, + 0.09696859866380692 + ], + "orientation": [ + 0.44681447744369507, + 0.21604622900485992, + -0.8351691365242004, + 0.237009197473526 + ], + "joints": [ + 0.01914108917117119 + ] + }, + "fine_grasp": { + "position": [ + 0.07688780128955841, + 0.08825742453336716, + 0.09559495747089386 + ], + "orientation": [ + 0.45141178369522095, + 0.21157681941986084, + -0.8323919773101807, + 0.24204595386981964 + ], + "joints": [ + 0.008734006434679031 + ] + }, + "final_grasp": { + "position": [ + 0.07688780128955841, + 0.08825742453336716, + 0.09559495747089386 + ], + "orientation": [ + 0.45141178369522095, + 0.21157681941986084, + -0.8323919773101807, + 0.24204595386981964 + ], + "joints": [ + -0.0016730763018131256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11035431921482086, + 0.01591387391090393, + 0.07707486301660538 + ], + "orientation": [ + 0.5234183669090271, + 0.05012127012014389, + 0.8497560620307922, + 0.03788892552256584 + ], + "joints": [ + 0.018505534157156944 + ] + }, + "fine_grasp": { + "position": [ + -0.10653701424598694, + 0.015932094305753708, + 0.0760057270526886 + ], + "orientation": [ + 0.5281190276145935, + 0.05215272307395935, + 0.8465578556060791, + 0.04135272279381752 + ], + "joints": [ + 0.008077552542090416 + ] + }, + "final_grasp": { + "position": [ + -0.10653701424598694, + 0.015932094305753708, + 0.0760057270526886 + ], + "orientation": [ + 0.5281190276145935, + 0.05215272307395935, + 0.8465578556060791, + 0.04135272279381752 + ], + "joints": [ + -0.0023504290729761124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08191539347171783, + -0.050356674939394, + 0.048134222626686096 + ], + "orientation": [ + 0.2423669993877411, + -0.7845114469528198, + -0.21494938433170319, + -0.5287690758705139 + ], + "joints": [ + 0.017834819853305817 + ] + }, + "fine_grasp": { + "position": [ + -0.07896503806114197, + -0.04823524132370949, + 0.04897363483905792 + ], + "orientation": [ + 0.2502690255641937, + -0.790294349193573, + -0.20157985389232635, + -0.5216951966285706 + ], + "joints": [ + 0.009057760238647461 + ] + }, + "final_grasp": { + "position": [ + -0.07896503806114197, + -0.04823524132370949, + 0.04897363483905792 + ], + "orientation": [ + 0.2502690255641937, + -0.790294349193573, + -0.20157985389232635, + -0.5216951966285706 + ], + "joints": [ + 0.0002807006239891052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11270778626203537, + -0.011513147503137589, + 0.04669179767370224 + ], + "orientation": [ + 0.12221446633338928, + -0.7728323936462402, + 0.041640061885118484, + 0.6213370561599731 + ], + "joints": [ + 0.017724156379699707 + ] + }, + "fine_grasp": { + "position": [ + 0.10882752388715744, + -0.010532788001000881, + 0.046263888478279114 + ], + "orientation": [ + 0.12639933824539185, + -0.7719793319702148, + 0.03947664052248001, + 0.6217014193534851 + ], + "joints": [ + 0.008529141545295715 + ] + }, + "final_grasp": { + "position": [ + 0.10882752388715744, + -0.010532788001000881, + 0.046263888478279114 + ], + "orientation": [ + 0.12639933824539185, + -0.7719793319702148, + 0.03947664052248001, + 0.6217014193534851 + ], + "joints": [ + -0.0006658732891082764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11014235764741898, + 0.01584533415734768, + 0.07722305506467819 + ], + "orientation": [ + 0.5235682725906372, + 0.04986262321472168, + 0.8496729135513306, + 0.03802449256181717 + ], + "joints": [ + 0.018282990902662277 + ] + }, + "fine_grasp": { + "position": [ + -0.10631826519966125, + 0.015878086909651756, + 0.07616268843412399 + ], + "orientation": [ + 0.5281764268875122, + 0.05180157348513603, + 0.8465343713760376, + 0.04154293239116669 + ], + "joints": [ + 0.008272964507341385 + ] + }, + "final_grasp": { + "position": [ + -0.10631826519966125, + 0.015878086909651756, + 0.07616268843412399 + ], + "orientation": [ + 0.5281764268875122, + 0.05180157348513603, + 0.8465343713760376, + 0.04154293239116669 + ], + "joints": [ + -0.0017370618879795074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003045386169105768, + 0.13808980584144592, + -0.02145388349890709 + ], + "orientation": [ + 0.5295992493629456, + 0.676241397857666, + -0.3848005533218384, + 0.3378622233867645 + ], + "joints": [ + 0.025737840682268143 + ] + }, + "fine_grasp": { + "position": [ + -0.0029673599638044834, + 0.13408809900283813, + -0.02190040983259678 + ], + "orientation": [ + 0.5349512696266174, + 0.6790227293968201, + -0.37816643714904785, + 0.33127856254577637 + ], + "joints": [ + 0.01654282584786415 + ] + }, + "final_grasp": { + "position": [ + -0.0029673599638044834, + 0.13408809900283813, + -0.02190040983259678 + ], + "orientation": [ + 0.5349512696266174, + 0.6790227293968201, + -0.37816643714904785, + 0.33127856254577637 + ], + "joints": [ + 0.007347811013460159 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023474199697375298, + 0.13696366548538208, + 0.08598839491605759 + ], + "orientation": [ + 0.35137492418289185, + 0.738606870174408, + -0.4641749858856201, + 0.3399076759815216 + ], + "joints": [ + 0.017934458330273628 + ] + }, + "fine_grasp": { + "position": [ + -0.02292817272245884, + 0.133133664727211, + 0.0851670354604721 + ], + "orientation": [ + 0.3637795150279999, + 0.7316133975982666, + -0.4613882899284363, + 0.3457270860671997 + ], + "joints": [ + 0.008321488276124 + ] + }, + "final_grasp": { + "position": [ + -0.02292817272245884, + 0.133133664727211, + 0.0851670354604721 + ], + "orientation": [ + 0.3637795150279999, + 0.7316133975982666, + -0.4613882899284363, + 0.3457270860671997 + ], + "joints": [ + -0.0012914817780256271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07911623269319534, + 0.08927424997091293, + 0.0955023244023323 + ], + "orientation": [ + 0.4475196301937103, + 0.22246786952018738, + -0.8351576924324036, + 0.22966472804546356 + ], + "joints": [ + 0.01899179443717003 + ] + }, + "fine_grasp": { + "position": [ + 0.07624654471874237, + 0.08689035475254059, + 0.09411712735891342 + ], + "orientation": [ + 0.4512292444705963, + 0.21813154220581055, + -0.8328167796134949, + 0.23500429093837738 + ], + "joints": [ + 0.008584711700677872 + ] + }, + "final_grasp": { + "position": [ + 0.07624654471874237, + 0.08689035475254059, + 0.09411712735891342 + ], + "orientation": [ + 0.4512292444705963, + 0.21813154220581055, + -0.8328167796134949, + 0.23500429093837738 + ], + "joints": [ + -0.0018223710358142853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09935928881168365, + 0.07763063162565231, + 0.049885306507349014 + ], + "orientation": [ + 0.6894216537475586, + 0.13131465017795563, + -0.6696489453315735, + 0.24294984340667725 + ], + "joints": [ + 0.015108560211956501 + ] + }, + "fine_grasp": { + "position": [ + 0.0957225114107132, + 0.07542624324560165, + 0.0495457798242569 + ], + "orientation": [ + 0.685411274433136, + 0.12594977021217346, + -0.6723060607910156, + 0.24970518052577972 + ], + "joints": [ + 0.007585366256535053 + ] + }, + "final_grasp": { + "position": [ + 0.0957225114107132, + 0.07542624324560165, + 0.0495457798242569 + ], + "orientation": [ + 0.685411274433136, + 0.12594977021217346, + -0.6723060607910156, + 0.24970518052577972 + ], + "joints": [ + 6.21723011136055e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0375027135014534, + -0.08043011277914047, + 0.06632650643587112 + ], + "orientation": [ + 0.4434184730052948, + -0.530218243598938, + 0.6721075773239136, + 0.26555636525154114 + ], + "joints": [ + 0.018389571458101273 + ] + }, + "fine_grasp": { + "position": [ + -0.036136046051979065, + -0.07676497101783752, + 0.06538758426904678 + ], + "orientation": [ + 0.44839709997177124, + -0.5330200791358948, + 0.6679190397262573, + 0.2621331810951233 + ], + "joints": [ + 0.009194556623697281 + ] + }, + "final_grasp": { + "position": [ + -0.036136046051979065, + -0.07676497101783752, + 0.06538758426904678 + ], + "orientation": [ + 0.44839709997177124, + -0.5330200791358948, + 0.6679190397262573, + 0.2621331810951233 + ], + "joints": [ + -4.5821070671081543e-07 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09918086975812912, + 0.07738672196865082, + 0.049300119280815125 + ], + "orientation": [ + 0.6872521042823792, + 0.13522551953792572, + -0.6716841459274292, + 0.24132756888866425 + ], + "joints": [ + 0.015743879601359367 + ] + }, + "fine_grasp": { + "position": [ + 0.09555911272764206, + 0.07527763396501541, + 0.048967890441417694 + ], + "orientation": [ + 0.6834151148796082, + 0.12858723104000092, + -0.6745194792747498, + 0.24785608053207397 + ], + "joints": [ + 0.007781832478940487 + ] + }, + "final_grasp": { + "position": [ + 0.09555911272764206, + 0.07527763396501541, + 0.048967890441417694 + ], + "orientation": [ + 0.6834151148796082, + 0.12858723104000092, + -0.6745194792747498, + 0.24785608053207397 + ], + "joints": [ + -0.00018021464347839355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019220927730202675, + 0.12718282639980316, + 0.08521955460309982 + ], + "orientation": [ + 0.3792603313922882, + 0.6668201684951782, + 0.4966920018196106, + -0.40596717596054077 + ], + "joints": [ + 0.018397698178887367 + ] + }, + "fine_grasp": { + "position": [ + 0.018456613644957542, + 0.12347562611103058, + 0.08419366180896759 + ], + "orientation": [ + 0.38263240456581116, + 0.666301429271698, + 0.49349674582481384, + -0.40754857659339905 + ], + "joints": [ + 0.00878472812473774 + ] + }, + "final_grasp": { + "position": [ + 0.018456613644957542, + 0.12347562611103058, + 0.08419366180896759 + ], + "orientation": [ + 0.38263240456581116, + 0.666301429271698, + 0.49349674582481384, + -0.40754857659339905 + ], + "joints": [ + -0.0008282419294118881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01923312060534954, + 0.12715405225753784, + 0.07357608526945114 + ], + "orientation": [ + 0.41846397519111633, + 0.4998535215854645, + 0.6524323225021362, + -0.38647955656051636 + ], + "joints": [ + 0.01820109412074089 + ] + }, + "fine_grasp": { + "position": [ + -0.018601449206471443, + 0.1233363077044487, + 0.07274670153856277 + ], + "orientation": [ + 0.4183703362941742, + 0.49746543169021606, + 0.6520302891731262, + -0.3903215825557709 + ], + "joints": [ + 0.008588124066591263 + ] + }, + "final_grasp": { + "position": [ + -0.018601449206471443, + 0.1233363077044487, + 0.07274670153856277 + ], + "orientation": [ + 0.4183703362941742, + 0.49746543169021606, + 0.6520302891731262, + -0.3903215825557709 + ], + "joints": [ + -0.0010248459875583649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0982384979724884, + 0.07686661183834076, + 0.04833817481994629 + ], + "orientation": [ + 0.6747516989707947, + 0.13582345843315125, + -0.6860800981521606, + 0.23570343852043152 + ], + "joints": [ + 0.016232797876000404 + ] + }, + "fine_grasp": { + "position": [ + 0.09463945031166077, + 0.074692502617836, + 0.048290181905031204 + ], + "orientation": [ + 0.6702873706817627, + 0.1241808608174324, + -0.688470721244812, + 0.2475925236940384 + ], + "joints": [ + 0.00829164870083332 + ] + }, + "final_grasp": { + "position": [ + 0.09463945031166077, + 0.074692502617836, + 0.048290181905031204 + ], + "orientation": [ + 0.6702873706817627, + 0.1241808608174324, + -0.688470721244812, + 0.2475925236940384 + ], + "joints": [ + 0.0003504995256662369 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09826075285673141, + 0.07671266049146652, + 0.04921465367078781 + ], + "orientation": [ + 0.6796234846115112, + 0.12977619469165802, + -0.6790900230407715, + 0.2451668530702591 + ], + "joints": [ + 0.016325129196047783 + ] + }, + "fine_grasp": { + "position": [ + 0.09463757276535034, + 0.0746099129319191, + 0.048948075622320175 + ], + "orientation": [ + 0.6759561896324158, + 0.11859036237001419, + -0.6804993748664856, + 0.2567881941795349 + ], + "joints": [ + 0.007966024801135063 + ] + }, + "final_grasp": { + "position": [ + 0.09463757276535034, + 0.0746099129319191, + 0.048948075622320175 + ], + "orientation": [ + 0.6759561896324158, + 0.11859036237001419, + -0.6804993748664856, + 0.2567881941795349 + ], + "joints": [ + -0.00039307959377765656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019151169806718826, + 0.12653255462646484, + 0.07363639771938324 + ], + "orientation": [ + 0.41613537073135376, + 0.49808430671691895, + 0.6550518870353699, + -0.386846661567688 + ], + "joints": [ + 0.01825539767742157 + ] + }, + "fine_grasp": { + "position": [ + -0.018587986007332802, + 0.12269909679889679, + 0.07283756881952286 + ], + "orientation": [ + 0.415505975484848, + 0.4951981008052826, + 0.6548005938529968, + -0.39162465929985046 + ], + "joints": [ + 0.008642427623271942 + ] + }, + "final_grasp": { + "position": [ + -0.018587986007332802, + 0.12269909679889679, + 0.07283756881952286 + ], + "orientation": [ + 0.415505975484848, + 0.4951981008052826, + 0.6548005938529968, + -0.39162465929985046 + ], + "joints": [ + -0.0009705424308776855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010994712822139263, + 0.06169243901968002, + 0.16958045959472656 + ], + "orientation": [ + 0.06460921466350555, + 0.48257315158843994, + 0.850254476070404, + -0.2000403255224228 + ], + "joints": [ + 0.019906552508473396 + ] + }, + "fine_grasp": { + "position": [ + 0.010823238641023636, + 0.060143060982227325, + 0.16624845564365387 + ], + "orientation": [ + 0.059024568647146225, + 0.4825006127357483, + 0.8505978584289551, + -0.2004806399345398 + ], + "joints": [ + 0.009875627234578133 + ] + }, + "final_grasp": { + "position": [ + 0.010823238641023636, + 0.060143060982227325, + 0.16624845564365387 + ], + "orientation": [ + 0.059024568647146225, + 0.4825006127357483, + 0.8505978584289551, + -0.2004806399345398 + ], + "joints": [ + -0.00015529803931713104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018541930243372917, + -0.08959590643644333, + 0.09166721999645233 + ], + "orientation": [ + 0.5015530586242676, + -0.5596251487731934, + 0.5674736499786377, + 0.33650830388069153 + ], + "joints": [ + 0.01895330287516117 + ] + }, + "fine_grasp": { + "position": [ + -0.01835663430392742, + -0.0860321894288063, + 0.09088466316461563 + ], + "orientation": [ + 0.49997276067733765, + -0.5763992071151733, + 0.5560975074768066, + 0.32946446537971497 + ], + "joints": [ + 0.008107366040349007 + ] + }, + "final_grasp": { + "position": [ + -0.01835663430392742, + -0.0860321894288063, + 0.09088466316461563 + ], + "orientation": [ + 0.49997276067733765, + -0.5763992071151733, + 0.5560975074768066, + 0.32946446537971497 + ], + "joints": [ + -0.0027385707944631577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0183604396879673, + -0.08965909481048584, + 0.09171956777572632 + ], + "orientation": [ + 0.5020139217376709, + -0.5587431192398071, + 0.5685216188430786, + 0.3355165719985962 + ], + "joints": [ + 0.01897645927965641 + ] + }, + "fine_grasp": { + "position": [ + -0.018280962482094765, + -0.08611743897199631, + 0.09091845154762268 + ], + "orientation": [ + 0.4992310404777527, + -0.5752027034759521, + 0.5572973489761353, + 0.33065065741539 + ], + "joints": [ + 0.007733465638011694 + ] + }, + "final_grasp": { + "position": [ + -0.018280962482094765, + -0.08611743897199631, + 0.09091845154762268 + ], + "orientation": [ + 0.4992310404777527, + -0.5752027034759521, + 0.5572973489761353, + 0.33065065741539 + ], + "joints": [ + -0.0035095280036330223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07246597856283188, + -0.056428804993629456, + 0.09451675415039062 + ], + "orientation": [ + 0.2511307895183563, + -0.8345506191253662, + 0.2251851111650467, + 0.43560341000556946 + ], + "joints": [ + 0.01889493688941002 + ] + }, + "fine_grasp": { + "position": [ + 0.06991599500179291, + -0.05373899266123772, + 0.09324072301387787 + ], + "orientation": [ + 0.25839388370513916, + -0.8348739743232727, + 0.22116166353225708, + 0.4327881634235382 + ], + "joints": [ + 0.008864011615514755 + ] + }, + "final_grasp": { + "position": [ + 0.06991599500179291, + -0.05373899266123772, + 0.09324072301387787 + ], + "orientation": [ + 0.25839388370513916, + -0.8348739743232727, + 0.22116166353225708, + 0.4327881634235382 + ], + "joints": [ + -0.0011669136583805084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03097543865442276, + 0.12225474417209625, + 0.08612650632858276 + ], + "orientation": [ + 0.3489246368408203, + 0.7177219390869141, + -0.4536398947238922, + 0.39665791392326355 + ], + "joints": [ + 0.0186203271150589 + ] + }, + "fine_grasp": { + "position": [ + -0.029937829822301865, + 0.11867816746234894, + 0.08485845476388931 + ], + "orientation": [ + 0.35190412402153015, + 0.7162839770317078, + -0.4532487690448761, + 0.3970724046230316 + ], + "joints": [ + 0.00819234549999237 + ] + }, + "final_grasp": { + "position": [ + -0.029937829822301865, + 0.11867816746234894, + 0.08485845476388931 + ], + "orientation": [ + 0.35190412402153015, + 0.7162839770317078, + -0.4532487690448761, + 0.3970724046230316 + ], + "joints": [ + -0.0022356361150741577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02363799698650837, + 0.13775737583637238, + 0.07742327451705933 + ], + "orientation": [ + 0.35310909152030945, + 0.4525136351585388, + -0.7313406467437744, + 0.36835625767707825 + ], + "joints": [ + 0.01842072419822216 + ] + }, + "fine_grasp": { + "position": [ + 0.02311471849679947, + 0.134105384349823, + 0.07679247856140137 + ], + "orientation": [ + 0.3571542799472809, + 0.4507538080215454, + -0.7242116928100586, + 0.3804985284805298 + ], + "joints": [ + 0.00797184370458126 + ] + }, + "final_grasp": { + "position": [ + 0.02311471849679947, + 0.134105384349823, + 0.07679247856140137 + ], + "orientation": [ + 0.3571542799472809, + 0.4507538080215454, + -0.7242116928100586, + 0.3804985284805298 + ], + "joints": [ + -0.002477036789059639 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07235228270292282, + -0.05645054578781128, + 0.09434337168931961 + ], + "orientation": [ + 0.24979960918426514, + -0.8368279933929443, + 0.2256455421447754, + 0.4317443370819092 + ], + "joints": [ + 0.01894190162420273 + ] + }, + "fine_grasp": { + "position": [ + 0.06979303807020187, + -0.05376948043704033, + 0.09306650608778 + ], + "orientation": [ + 0.25696852803230286, + -0.8368894457817078, + 0.22203461825847626, + 0.42928293347358704 + ], + "joints": [ + 0.008910976350307465 + ] + }, + "final_grasp": { + "position": [ + 0.06979303807020187, + -0.05376948043704033, + 0.09306650608778 + ], + "orientation": [ + 0.25696852803230286, + -0.8368894457817078, + 0.22203461825847626, + 0.42928293347358704 + ], + "joints": [ + -0.001119948923587799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02368347719311714, + 0.13773654401302338, + 0.07743097096681595 + ], + "orientation": [ + 0.35276058316230774, + 0.4522102177143097, + -0.7314100861549377, + 0.36892443895339966 + ], + "joints": [ + 0.01842072419822216 + ] + }, + "fine_grasp": { + "position": [ + 0.02313266135752201, + 0.13406459987163544, + 0.07678946852684021 + ], + "orientation": [ + 0.3570524752140045, + 0.4502446949481964, + -0.724375307559967, + 0.38088536262512207 + ], + "joints": [ + 0.00797184370458126 + ] + }, + "final_grasp": { + "position": [ + 0.02313266135752201, + 0.13406459987163544, + 0.07678946852684021 + ], + "orientation": [ + 0.3570524752140045, + 0.4502446949481964, + -0.724375307559967, + 0.38088536262512207 + ], + "joints": [ + -0.002477036789059639 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018304720520973206, + -0.08926284313201904, + 0.09091947227716446 + ], + "orientation": [ + 0.4962252676486969, + -0.562951385974884, + 0.5701056122779846, + 0.33440375328063965 + ], + "joints": [ + 0.019184857606887817 + ] + }, + "fine_grasp": { + "position": [ + -0.01821722649037838, + -0.08556197583675385, + 0.09031030535697937 + ], + "orientation": [ + 0.49577030539512634, + -0.5784411430358887, + 0.557089626789093, + 0.3305582106113434 + ], + "joints": [ + 0.008735977113246918 + ] + }, + "final_grasp": { + "position": [ + -0.01821722649037838, + -0.08556197583675385, + 0.09031030535697937 + ], + "orientation": [ + 0.49577030539512634, + -0.5784411430358887, + 0.557089626789093, + 0.3305582106113434 + ], + "joints": [ + -0.001712903380393982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06499675661325455, + -0.003485497087240219, + -0.14183048903942108 + ], + "orientation": [ + 0.849297046661377, + 0.0652843564748764, + 0.29858288168907166, + 0.4304424226284027 + ], + "joints": [ + 0.026639681309461594 + ] + }, + "fine_grasp": { + "position": [ + -0.06351754069328308, + -0.0022783949971199036, + -0.13994789123535156 + ], + "orientation": [ + 0.8430275917053223, + 0.07103919237852097, + 0.3046369254589081, + 0.43755483627319336 + ], + "joints": [ + 0.017026711255311966 + ] + }, + "final_grasp": { + "position": [ + -0.06351754069328308, + -0.0022783949971199036, + -0.13994789123535156 + ], + "orientation": [ + 0.8430275917053223, + 0.07103919237852097, + 0.3046369254589081, + 0.43755483627319336 + ], + "joints": [ + 0.007413741201162338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05607423931360245, + 0.09980630874633789, + -0.1488109529018402 + ], + "orientation": [ + 0.3029332160949707, + -0.06428924947977066, + -0.4045259654521942, + 0.8604981303215027 + ], + "joints": [ + 0.024276597425341606 + ] + }, + "fine_grasp": { + "position": [ + 0.05437855049967766, + 0.09762899577617645, + -0.14640209078788757 + ], + "orientation": [ + 0.3032376170158386, + -0.06583856791257858, + -0.40490928292274475, + 0.8600934147834778 + ], + "joints": [ + 0.0150188859552145 + ] + }, + "final_grasp": { + "position": [ + 0.05437855049967766, + 0.09762899577617645, + -0.14640209078788757 + ], + "orientation": [ + 0.3032376170158386, + -0.06583856791257858, + -0.40490928292274475, + 0.8600934147834778 + ], + "joints": [ + 0.005761174485087395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030325576663017273, + 0.12065069377422333, + 0.08518970757722855 + ], + "orientation": [ + 0.34454041719436646, + 0.719538152217865, + -0.4571792483329773, + 0.3931206464767456 + ], + "joints": [ + 0.01853378862142563 + ] + }, + "fine_grasp": { + "position": [ + -0.029242290183901787, + 0.11704440414905548, + 0.08397909253835678 + ], + "orientation": [ + 0.3493843078613281, + 0.718010425567627, + -0.4550395905971527, + 0.39412015676498413 + ], + "joints": [ + 0.008920818567276001 + ] + }, + "final_grasp": { + "position": [ + -0.029242290183901787, + 0.11704440414905548, + 0.08397909253835678 + ], + "orientation": [ + 0.3493843078613281, + 0.718010425567627, + -0.4550395905971527, + 0.39412015676498413 + ], + "joints": [ + -0.0006921514868736267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03881107643246651, + 0.11597997695207596, + 0.07089182734489441 + ], + "orientation": [ + 0.2990228235721588, + 0.6403926014900208, + 0.4930278956890106, + -0.5073519945144653 + ], + "joints": [ + 0.01793394237756729 + ] + }, + "fine_grasp": { + "position": [ + 0.03744521737098694, + 0.11306513100862503, + 0.07097113132476807 + ], + "orientation": [ + 0.2946125268936157, + 0.6342795491218567, + 0.5004590153694153, + -0.5103270411491394 + ], + "joints": [ + 0.009156882762908936 + ] + }, + "final_grasp": { + "position": [ + 0.03744521737098694, + 0.11306513100862503, + 0.07097113132476807 + ], + "orientation": [ + 0.2946125268936157, + 0.6342795491218567, + 0.5004590153694153, + -0.5103270411491394 + ], + "joints": [ + 0.00037982314825057983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02372020110487938, + 0.1378653347492218, + 0.07738982886075974 + ], + "orientation": [ + 0.3522223234176636, + 0.4525396525859833, + -0.7319191694259644, + 0.3680241107940674 + ], + "joints": [ + 0.017980771139264107 + ] + }, + "fine_grasp": { + "position": [ + 0.0231668371707201, + 0.13415426015853882, + 0.07677200436592102 + ], + "orientation": [ + 0.3567281663417816, + 0.45046329498291016, + -0.7247431874275208, + 0.38023021817207336 + ], + "joints": [ + 0.007928947918117046 + ] + }, + "final_grasp": { + "position": [ + 0.0231668371707201, + 0.13415426015853882, + 0.07677200436592102 + ], + "orientation": [ + 0.3567281663417816, + 0.45046329498291016, + -0.7247431874275208, + 0.38023021817207336 + ], + "joints": [ + -0.002122875303030014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0023421775549650192, + 0.12871630489826202, + 0.060061320662498474 + ], + "orientation": [ + 0.4071092903614044, + 0.5086642503738403, + -0.5853028297424316, + 0.48264211416244507 + ], + "joints": [ + 0.017821282148361206 + ] + }, + "fine_grasp": { + "position": [ + -0.0023032641038298607, + 0.12461778521537781, + 0.0595620721578598 + ], + "orientation": [ + 0.40088772773742676, + 0.5013490915298462, + -0.5905379056930542, + 0.48908403515815735 + ], + "joints": [ + 0.009462177753448486 + ] + }, + "final_grasp": { + "position": [ + -0.0023032641038298607, + 0.12461778521537781, + 0.0595620721578598 + ], + "orientation": [ + 0.40088772773742676, + 0.5013490915298462, + -0.5905379056930542, + 0.48908403515815735 + ], + "joints": [ + 0.0011030733585357666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11649774760007858, + 0.0056671821512281895, + 0.08906973898410797 + ], + "orientation": [ + 0.09556750953197479, + -0.8109005689620972, + 0.06187697499990463, + -0.5740019679069519 + ], + "joints": [ + 0.017305888235569 + ] + }, + "fine_grasp": { + "position": [ + -0.11266326904296875, + 0.006150055676698685, + 0.08795037865638733 + ], + "orientation": [ + 0.1012992188334465, + -0.8121951222419739, + 0.06361835449934006, + -0.5709906816482544 + ], + "joints": [ + 0.008110873401165009 + ] + }, + "final_grasp": { + "position": [ + -0.11266326904296875, + 0.006150055676698685, + 0.08795037865638733 + ], + "orientation": [ + 0.1012992188334465, + -0.8121951222419739, + 0.06361835449934006, + -0.5709906816482544 + ], + "joints": [ + -0.0010841414332389832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03915197402238846, + 0.11562950164079666, + 0.07016023248434067 + ], + "orientation": [ + 0.287733793258667, + 0.6402790546417236, + 0.5030242204666138, + -0.5042008757591248 + ], + "joints": [ + 0.017764974385499954 + ] + }, + "fine_grasp": { + "position": [ + 0.037727050483226776, + 0.11208675801753998, + 0.07033074647188187 + ], + "orientation": [ + 0.2800307869911194, + 0.6322295069694519, + 0.5135606527328491, + -0.5080592632293701 + ], + "joints": [ + 0.009405869990587234 + ] + }, + "final_grasp": { + "position": [ + 0.037727050483226776, + 0.11208675801753998, + 0.07033074647188187 + ], + "orientation": [ + 0.2800307869911194, + 0.6322295069694519, + 0.5135606527328491, + -0.5080592632293701 + ], + "joints": [ + 0.0010467655956745148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03841838240623474, + 0.11372971534729004, + 0.07047166675329208 + ], + "orientation": [ + 0.29155874252319336, + 0.6405729651451111, + 0.4981139600276947, + -0.5064998865127563 + ], + "joints": [ + 0.018552251160144806 + ] + }, + "fine_grasp": { + "position": [ + 0.03738445043563843, + 0.11148945242166519, + 0.07133040577173233 + ], + "orientation": [ + 0.2857801616191864, + 0.6377041339874268, + 0.5057277083396912, + -0.5058683156967163 + ], + "joints": [ + 0.00977519154548645 + ] + }, + "final_grasp": { + "position": [ + 0.03738445043563843, + 0.11148945242166519, + 0.07133040577173233 + ], + "orientation": [ + 0.2857801616191864, + 0.6377041339874268, + 0.5057277083396912, + -0.5058683156967163 + ], + "joints": [ + 0.0009981319308280945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06857450306415558, + 0.012079823762178421, + 0.15793690085411072 + ], + "orientation": [ + 0.056808143854141235, + -0.9468835592269897, + -0.1101723462343216, + 0.2967262268066406 + ], + "joints": [ + 0.016046840697526932 + ] + }, + "fine_grasp": { + "position": [ + 0.06599323451519012, + 0.012340421788394451, + 0.15485812723636627 + ], + "orientation": [ + 0.060971736907958984, + -0.9450687766075134, + -0.11733255535364151, + 0.29893237352371216 + ], + "joints": [ + 0.00685182586312294 + ] + }, + "final_grasp": { + "position": [ + 0.06599323451519012, + 0.012340421788394451, + 0.15485812723636627 + ], + "orientation": [ + 0.060971736907958984, + -0.9450687766075134, + -0.11733255535364151, + 0.29893237352371216 + ], + "joints": [ + -0.0023431889712810516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03859448805451393, + 0.11368747800588608, + 0.06925810128450394 + ], + "orientation": [ + 0.28648099303245544, + 0.6427066326141357, + 0.5026843547821045, + -0.5021606683731079 + ], + "joints": [ + 0.018440185114741325 + ] + }, + "fine_grasp": { + "position": [ + 0.037509553134441376, + 0.1109682098031044, + 0.07034455239772797 + ], + "orientation": [ + 0.2777194380760193, + 0.6379960179328918, + 0.5132462382316589, + -0.5024056434631348 + ], + "joints": [ + 0.00966312550008297 + ] + }, + "final_grasp": { + "position": [ + 0.037509553134441376, + 0.1109682098031044, + 0.07034455239772797 + ], + "orientation": [ + 0.2777194380760193, + 0.6379960179328918, + 0.5132462382316589, + -0.5024056434631348 + ], + "joints": [ + 0.000886065885424614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040084902197122574, + 0.11065270751714706, + 0.09296911209821701 + ], + "orientation": [ + 0.28134119510650635, + 0.6675062775611877, + -0.5004077553749084, + 0.4742093086242676 + ], + "joints": [ + 0.01711651310324669 + ] + }, + "fine_grasp": { + "position": [ + -0.03836281597614288, + 0.10840488225221634, + 0.09250815957784653 + ], + "orientation": [ + 0.2747117877006531, + 0.662846028804779, + -0.5116456151008606, + 0.47263866662979126 + ], + "joints": [ + 0.007921498268842697 + ] + }, + "final_grasp": { + "position": [ + -0.03836281597614288, + 0.10840488225221634, + 0.09250815957784653 + ], + "orientation": [ + 0.2747117877006531, + 0.662846028804779, + -0.5116456151008606, + 0.47263866662979126 + ], + "joints": [ + -0.0012735165655612946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0017673735274001956, + 0.041551314294338226, + 0.17331935465335846 + ], + "orientation": [ + 0.09545423090457916, + 0.9734169840812683, + 0.20523397624492645, + -0.03502612188458443 + ], + "joints": [ + 0.01857314445078373 + ] + }, + "fine_grasp": { + "position": [ + 0.0011626573977991939, + 0.04089057445526123, + 0.17122812569141388 + ], + "orientation": [ + 0.09552646428346634, + 0.9706305265426636, + 0.21793122589588165, + -0.03545530140399933 + ], + "joints": [ + 0.00812426395714283 + ] + }, + "final_grasp": { + "position": [ + 0.0011626573977991939, + 0.04089057445526123, + 0.17122812569141388 + ], + "orientation": [ + 0.09552646428346634, + 0.9706305265426636, + 0.21793122589588165, + -0.03545530140399933 + ], + "joints": [ + -0.0023246165364980698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01954803243279457, + 0.07312645763158798, + -0.14886625111103058 + ], + "orientation": [ + 0.17628556489944458, + 0.1156768947839737, + -0.2353002279996872, + 0.9487761855125427 + ], + "joints": [ + 0.02732337825000286 + ] + }, + "fine_grasp": { + "position": [ + -0.018133623525500298, + 0.07191444933414459, + -0.146341472864151 + ], + "orientation": [ + 0.17352351546287537, + 0.12044207006692886, + -0.23902612924575806, + 0.9477604031562805 + ], + "joints": [ + 0.017710408195853233 + ] + }, + "final_grasp": { + "position": [ + -0.018133623525500298, + 0.07191444933414459, + -0.146341472864151 + ], + "orientation": [ + 0.17352351546287537, + 0.12044207006692886, + -0.23902612924575806, + 0.9477604031562805 + ], + "joints": [ + 0.008097438141703606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06773582100868225, + 0.012131912633776665, + 0.15626727044582367 + ], + "orientation": [ + 0.05553624406456947, + -0.9446714520454407, + -0.11207348108291626, + 0.30323442816734314 + ], + "joints": [ + 0.01585090160369873 + ] + }, + "fine_grasp": { + "position": [ + 0.06512903422117233, + 0.012351949699223042, + 0.15347878634929657 + ], + "orientation": [ + 0.061837587505578995, + -0.9429776072502136, + -0.13153378665447235, + 0.2994464933872223 + ], + "joints": [ + 0.006237931549549103 + ] + }, + "final_grasp": { + "position": [ + 0.06512903422117233, + 0.012351949699223042, + 0.15347878634929657 + ], + "orientation": [ + 0.061837587505578995, + -0.9429776072502136, + -0.13153378665447235, + 0.2994464933872223 + ], + "joints": [ + -0.003375038504600525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0120643125846982, + 0.0686696320772171, + -0.1539517194032669 + ], + "orientation": [ + 0.9674849510192871, + 0.23916390538215637, + 0.04982029274106026, + 0.06550990790128708 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + -0.011843510903418064, + 0.06791426986455917, + -0.15084457397460938 + ], + "orientation": [ + 0.9671225547790527, + 0.24077312648296356, + 0.04684574156999588, + 0.06713979691267014 + ], + "joints": [ + 0.01839636266231537 + ] + }, + "final_grasp": { + "position": [ + -0.011843510903418064, + 0.06791426986455917, + -0.15084457397460938 + ], + "orientation": [ + 0.9671225547790527, + 0.24077312648296356, + 0.04684574156999588, + 0.06713979691267014 + ], + "joints": [ + 0.00876249372959137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008539889007806778, + -0.07951515167951584, + 0.09496841579675674 + ], + "orientation": [ + 0.34494492411613464, + -0.5637037754058838, + 0.6033143997192383, + 0.44638851284980774 + ], + "joints": [ + 0.017516691237688065 + ] + }, + "fine_grasp": { + "position": [ + 0.00929480604827404, + -0.07800405472517014, + 0.09705701470375061 + ], + "orientation": [ + 0.33381444215774536, + -0.5653595328330994, + 0.6107291579246521, + 0.44265851378440857 + ], + "joints": [ + 0.008739631623029709 + ] + }, + "final_grasp": { + "position": [ + 0.00929480604827404, + -0.07800405472517014, + 0.09705701470375061 + ], + "orientation": [ + 0.33381444215774536, + -0.5653595328330994, + 0.6107291579246521, + 0.44265851378440857 + ], + "joints": [ + -3.742799162864685e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04870001971721649, + -0.06393776834011078, + 0.07450217008590698 + ], + "orientation": [ + 0.20892234146595, + -0.7305876016616821, + -0.4829217493534088, + -0.43517789244651794 + ], + "joints": [ + 0.018280234187841415 + ] + }, + "fine_grasp": { + "position": [ + -0.04701369255781174, + -0.06081660836935043, + 0.07579389959573746 + ], + "orientation": [ + 0.19941723346710205, + -0.7265048623085022, + -0.49530497193336487, + -0.43254637718200684 + ], + "joints": [ + 0.00950317457318306 + ] + }, + "final_grasp": { + "position": [ + -0.04701369255781174, + -0.06081660836935043, + 0.07579389959573746 + ], + "orientation": [ + 0.19941723346710205, + -0.7265048623085022, + -0.49530497193336487, + -0.43254637718200684 + ], + "joints": [ + 0.000726114958524704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0691879466176033, + 0.09609123319387436, + -0.1478337049484253 + ], + "orientation": [ + 0.8856565952301025, + 0.37679046392440796, + 0.1772214025259018, + 0.20550894737243652 + ], + "joints": [ + 0.023862246423959732 + ] + }, + "fine_grasp": { + "position": [ + -0.06729080528020859, + 0.0940147414803505, + -0.14539049565792084 + ], + "orientation": [ + 0.8851844668388367, + 0.37730351090431213, + 0.17823553085327148, + 0.2057248204946518 + ], + "joints": [ + 0.014604534953832626 + ] + }, + "final_grasp": { + "position": [ + -0.06729080528020859, + 0.0940147414803505, + -0.14539049565792084 + ], + "orientation": [ + 0.8851844668388367, + 0.37730351090431213, + 0.17823553085327148, + 0.2057248204946518 + ], + "joints": [ + 0.005346823483705521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1153423860669136, + 0.005989676807075739, + 0.08894674479961395 + ], + "orientation": [ + 0.09688079357147217, + -0.8108715415000916, + 0.06296904385089874, + -0.5737040042877197 + ], + "joints": [ + 0.01796461082994938 + ] + }, + "fine_grasp": { + "position": [ + -0.11153708398342133, + 0.0064687407575547695, + 0.08784305304288864 + ], + "orientation": [ + 0.10322573035955429, + -0.8125185370445251, + 0.06532296538352966, + -0.5699920058250427 + ], + "joints": [ + 0.008351640775799751 + ] + }, + "final_grasp": { + "position": [ + -0.11153708398342133, + 0.0064687407575547695, + 0.08784305304288864 + ], + "orientation": [ + 0.10322573035955429, + -0.8125185370445251, + 0.06532296538352966, + -0.5699920058250427 + ], + "joints": [ + -0.0012613292783498764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04139980673789978, + -0.09078741818666458, + -0.02860068902373314 + ], + "orientation": [ + 0.21281707286834717, + -0.5063568353652954, + -0.593186616897583, + -0.588592529296875 + ], + "joints": [ + 0.025760997086763382 + ] + }, + "fine_grasp": { + "position": [ + -0.03999415785074234, + -0.0872199609875679, + -0.02928999438881874 + ], + "orientation": [ + 0.20372779667377472, + -0.5030295252799988, + -0.5972746014595032, + -0.5905246734619141 + ], + "joints": [ + 0.01573007181286812 + ] + }, + "final_grasp": { + "position": [ + -0.03999415785074234, + -0.0872199609875679, + -0.02928999438881874 + ], + "orientation": [ + 0.20372779667377472, + -0.5030295252799988, + -0.5972746014595032, + -0.5905246734619141 + ], + "joints": [ + 0.005699146538972855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021877989172935486, + -0.09979291260242462, + -0.014160864055156708 + ], + "orientation": [ + 0.3336225748062134, + -0.3023713231086731, + -0.740573525428772, + -0.49881723523139954 + ], + "joints": [ + 0.02619972825050354 + ] + }, + "fine_grasp": { + "position": [ + 0.02110942453145981, + -0.09588485956192017, + -0.014979887753725052 + ], + "orientation": [ + 0.32369059324264526, + -0.29321083426475525, + -0.7433155179023743, + -0.5066889524459839 + ], + "joints": [ + 0.017422668635845184 + ] + }, + "final_grasp": { + "position": [ + 0.02110942453145981, + -0.09588485956192017, + -0.014979887753725052 + ], + "orientation": [ + 0.32369059324264526, + -0.29321083426475525, + -0.7433155179023743, + -0.5066889524459839 + ], + "joints": [ + 0.008645609021186829 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09330470860004425, + 0.05079071968793869, + 0.08903420716524124 + ], + "orientation": [ + 0.47500717639923096, + 0.25462156534194946, + -0.8419634699821472, + 0.02517266944050789 + ], + "joints": [ + 0.018878892064094543 + ] + }, + "fine_grasp": { + "position": [ + 0.08988802134990692, + 0.04939347878098488, + 0.08752096444368362 + ], + "orientation": [ + 0.47541195154190063, + 0.2651222050189972, + -0.8387239575386047, + 0.015359390527009964 + ], + "joints": [ + 0.009265922009944916 + ] + }, + "final_grasp": { + "position": [ + 0.08988802134990692, + 0.04939347878098488, + 0.08752096444368362 + ], + "orientation": [ + 0.47541195154190063, + 0.2651222050189972, + -0.8387239575386047, + 0.015359390527009964 + ], + "joints": [ + -0.0003470480442047119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09612040966749191, + 0.011395538225769997, + 0.11956075578927994 + ], + "orientation": [ + 0.4637261629104614, + -0.13787201046943665, + -0.874362051486969, + 0.0379512645304203 + ], + "joints": [ + 0.017113465815782547 + ] + }, + "fine_grasp": { + "position": [ + 0.09247755259275436, + 0.011774642392992973, + 0.11799130588769913 + ], + "orientation": [ + 0.4588623344898224, + -0.14619356393814087, + -0.8751102685928345, + 0.047484658658504486 + ], + "joints": [ + 0.007918450981378555 + ] + }, + "final_grasp": { + "position": [ + 0.09247755259275436, + 0.011774642392992973, + 0.11799130588769913 + ], + "orientation": [ + 0.4588623344898224, + -0.14619356393814087, + -0.8751102685928345, + 0.047484658658504486 + ], + "joints": [ + -0.0012765638530254364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07700900733470917, + -0.03126592934131622, + 0.11444869637489319 + ], + "orientation": [ + 0.06980738788843155, + -0.8089936971664429, + -0.3615471124649048, + -0.4581916928291321 + ], + "joints": [ + 0.01799505203962326 + ] + }, + "fine_grasp": { + "position": [ + -0.07410850375890732, + -0.02874135598540306, + 0.11502190679311752 + ], + "orientation": [ + 0.05426802486181259, + -0.8023636341094971, + -0.3848622739315033, + -0.4529333710670471 + ], + "joints": [ + 0.00963594764471054 + ] + }, + "final_grasp": { + "position": [ + -0.07410850375890732, + -0.02874135598540306, + 0.11502190679311752 + ], + "orientation": [ + 0.05426802486181259, + -0.8023636341094971, + -0.3848622739315033, + -0.4529333710670471 + ], + "joints": [ + 0.001276843249797821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0924723818898201, + 0.05041070282459259, + 0.08846886456012726 + ], + "orientation": [ + 0.47150352597236633, + 0.25789588689804077, + -0.8429899215698242, + 0.023285437375307083 + ], + "joints": [ + 0.01864449307322502 + ] + }, + "fine_grasp": { + "position": [ + 0.08901429176330566, + 0.048947229981422424, + 0.08711420744657516 + ], + "orientation": [ + 0.47166937589645386, + 0.27248620986938477, + -0.8385456800460815, + 0.010973663069307804 + ], + "joints": [ + 0.00944947823882103 + ] + }, + "final_grasp": { + "position": [ + 0.08901429176330566, + 0.048947229981422424, + 0.08711420744657516 + ], + "orientation": [ + 0.47166937589645386, + 0.27248620986938477, + -0.8385456800460815, + 0.010973663069307804 + ], + "joints": [ + 0.00025446340441703796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00783468782901764, + -0.07953264564275742, + 0.0935928001999855 + ], + "orientation": [ + 0.3510138690471649, + -0.5757651329040527, + 0.5971606969833374, + 0.4343763589859009 + ], + "joints": [ + 0.01716536656022072 + ] + }, + "fine_grasp": { + "position": [ + 0.008510635234415531, + -0.07755642384290695, + 0.09544595330953598 + ], + "orientation": [ + 0.33883750438690186, + -0.5798044800758362, + 0.6051329374313354, + 0.4275863468647003 + ], + "joints": [ + 0.008806262165307999 + ] + }, + "final_grasp": { + "position": [ + 0.008510635234415531, + -0.07755642384290695, + 0.09544595330953598 + ], + "orientation": [ + 0.33883750438690186, + -0.5798044800758362, + 0.6051329374313354, + 0.4275863468647003 + ], + "joints": [ + 0.00044715777039527893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10207588970661163, + 0.021177956834435463, + 0.09295177459716797 + ], + "orientation": [ + 0.5240178108215332, + -0.05452245473861694, + 0.8482694625854492, + -0.053586818277835846 + ], + "joints": [ + 0.017413992434740067 + ] + }, + "fine_grasp": { + "position": [ + -0.09821242094039917, + 0.02128523401916027, + 0.091773122549057 + ], + "orientation": [ + 0.5218600630760193, + -0.0730559378862381, + 0.8472205400466919, + -0.06739730387926102 + ], + "joints": [ + 0.00861603394150734 + ] + }, + "final_grasp": { + "position": [ + -0.09821242094039917, + 0.02128523401916027, + 0.091773122549057 + ], + "orientation": [ + 0.5218600630760193, + -0.0730559378862381, + 0.8472205400466919, + -0.06739730387926102 + ], + "joints": [ + -0.00018192455172538757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09199061244726181, + 0.05001784488558769, + 0.08844930678606033 + ], + "orientation": [ + 0.4717573821544647, + 0.2617090940475464, + -0.8417441248893738, + 0.02050035633146763 + ], + "joints": [ + 0.018574045971035957 + ] + }, + "fine_grasp": { + "position": [ + 0.08849001675844193, + 0.04853392019867897, + 0.0872497633099556 + ], + "orientation": [ + 0.47112929821014404, + 0.27908337116241455, + -0.8367277979850769, + 0.006030500866472721 + ], + "joints": [ + 0.00977608747780323 + ] + }, + "final_grasp": { + "position": [ + 0.08849001675844193, + 0.04853392019867897, + 0.0872497633099556 + ], + "orientation": [ + 0.47112929821014404, + 0.27908337116241455, + -0.8367277979850769, + 0.006030500866472721 + ], + "joints": [ + 0.0009781289845705032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004813216160982847, + -0.02205747365951538, + 0.16438530385494232 + ], + "orientation": [ + 0.04084233567118645, + -0.27309665083885193, + -0.9457941651344299, + -0.1709488481283188 + ], + "joints": [ + 0.021089710295200348 + ] + }, + "fine_grasp": { + "position": [ + -0.0048960051499307156, + -0.0212017223238945, + 0.16284282505512238 + ], + "orientation": [ + 0.04091666638851166, + -0.2762473523616791, + -0.9449747204780579, + -0.17039963603019714 + ], + "joints": [ + 0.011497639119625092 + ] + }, + "final_grasp": { + "position": [ + -0.0048960051499307156, + -0.0212017223238945, + 0.16284282505512238 + ], + "orientation": [ + 0.04091666638851166, + -0.2762473523616791, + -0.9449747204780579, + -0.17039963603019714 + ], + "joints": [ + 0.0019055679440498352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01319366879761219, + 0.05613568052649498, + 0.16164475679397583 + ], + "orientation": [ + 0.12231525033712387, + 0.3543485701084137, + -0.9173386693000793, + 0.13403604924678802 + ], + "joints": [ + 0.01930810511112213 + ] + }, + "fine_grasp": { + "position": [ + 0.012484024278819561, + 0.053981076925992966, + 0.1598736047744751 + ], + "orientation": [ + 0.12135995924472809, + 0.3583325147628784, + -0.9162005186080933, + 0.13208407163619995 + ], + "joints": [ + 0.009277179837226868 + ] + }, + "final_grasp": { + "position": [ + 0.012484024278819561, + 0.053981076925992966, + 0.1598736047744751 + ], + "orientation": [ + 0.12135995924472809, + 0.3583325147628784, + -0.9162005186080933, + 0.13208407163619995 + ], + "joints": [ + -0.000753745436668396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03393625468015671, + -0.007191845681518316, + 0.16322356462478638 + ], + "orientation": [ + 0.15354092419147491, + -0.45277562737464905, + -0.8781329989433289, + -0.017368648201227188 + ], + "joints": [ + 0.018572282046079636 + ] + }, + "fine_grasp": { + "position": [ + 0.03226388245820999, + -0.005487584974616766, + 0.1604011207818985 + ], + "orientation": [ + 0.165289968252182, + -0.4524478614330292, + -0.876079797744751, + -0.021315794438123703 + ], + "joints": [ + 0.00979522243142128 + ] + }, + "final_grasp": { + "position": [ + 0.03226388245820999, + -0.005487584974616766, + 0.1604011207818985 + ], + "orientation": [ + 0.165289968252182, + -0.4524478614330292, + -0.876079797744751, + -0.021315794438123703 + ], + "joints": [ + 0.0010181628167629242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03380925580859184, + -0.007242652587592602, + 0.16310614347457886 + ], + "orientation": [ + 0.1544158011674881, + -0.4529346227645874, + -0.8778805136680603, + -0.01821596920490265 + ], + "joints": [ + 0.01852474734187126 + ] + }, + "fine_grasp": { + "position": [ + 0.03232159465551376, + -0.0055586835369467735, + 0.1603637933731079 + ], + "orientation": [ + 0.16516044735908508, + -0.4523940980434418, + -0.8761126399040222, + -0.022100886330008507 + ], + "joints": [ + 0.00932973250746727 + ] + }, + "final_grasp": { + "position": [ + 0.03232159465551376, + -0.0055586835369467735, + 0.1603637933731079 + ], + "orientation": [ + 0.16516044735908508, + -0.4523940980434418, + -0.8761126399040222, + -0.022100886330008507 + ], + "joints": [ + 0.0001347176730632782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03465675935149193, + -0.047650281339883804, + 0.13516640663146973 + ], + "orientation": [ + 0.15603020787239075, + -0.7660828828811646, + 0.5388737916946411, + 0.3136664927005768 + ], + "joints": [ + 0.01788674294948578 + ] + }, + "fine_grasp": { + "position": [ + 0.03284536302089691, + -0.04485826566815376, + 0.1338178515434265 + ], + "orientation": [ + 0.14497865736484528, + -0.7631977200508118, + 0.547432005405426, + 0.3111726939678192 + ], + "joints": [ + 0.007479659281671047 + ] + }, + "final_grasp": { + "position": [ + 0.03284536302089691, + -0.04485826566815376, + 0.1338178515434265 + ], + "orientation": [ + 0.14497865736484528, + -0.7631977200508118, + 0.547432005405426, + 0.3111726939678192 + ], + "joints": [ + -0.0029274243861436844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02458590269088745, + 0.06115802749991417, + 0.16357924044132233 + ], + "orientation": [ + 0.10185515135526657, + 0.03760543838143349, + -0.9776180386543274, + 0.18020598590373993 + ], + "joints": [ + 0.020989734679460526 + ] + }, + "fine_grasp": { + "position": [ + 0.023743176832795143, + 0.060513075441122055, + 0.16161684691905975 + ], + "orientation": [ + 0.10575462132692337, + 0.03567205369472504, + -0.9772598743438721, + 0.1802958846092224 + ], + "joints": [ + 0.01139766350388527 + ] + }, + "final_grasp": { + "position": [ + 0.023743176832795143, + 0.060513075441122055, + 0.16161684691905975 + ], + "orientation": [ + 0.10575462132692337, + 0.03567205369472504, + -0.9772598743438721, + 0.1802958846092224 + ], + "joints": [ + 0.0018055923283100128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00935029610991478, + -0.07719536870718002, + 0.09891918301582336 + ], + "orientation": [ + 0.33838731050491333, + -0.7120081186294556, + -0.5331976413726807, + -0.30698341131210327 + ], + "joints": [ + 0.01928677409887314 + ] + }, + "fine_grasp": { + "position": [ + -0.008863302879035473, + -0.07343024015426636, + 0.0978783369064331 + ], + "orientation": [ + 0.3468116819858551, + -0.7229582667350769, + -0.5180121064186096, + -0.2978529632091522 + ], + "joints": [ + 0.00967380404472351 + ] + }, + "final_grasp": { + "position": [ + -0.008863302879035473, + -0.07343024015426636, + 0.0978783369064331 + ], + "orientation": [ + 0.3468116819858551, + -0.7229582667350769, + -0.5180121064186096, + -0.2978529632091522 + ], + "joints": [ + 6.083399057388306e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015981948003172874, + 0.11167021840810776, + 0.10664230585098267 + ], + "orientation": [ + 0.26252907514572144, + 0.5824986100196838, + -0.6501823663711548, + 0.41114071011543274 + ], + "joints": [ + 0.01856340654194355 + ] + }, + "fine_grasp": { + "position": [ + -0.01585516706109047, + 0.10775672644376755, + 0.10685638338327408 + ], + "orientation": [ + 0.24862925708293915, + 0.5682523250579834, + -0.6655879020690918, + 0.41504889726638794 + ], + "joints": [ + 0.009786346927285194 + ] + }, + "final_grasp": { + "position": [ + -0.01585516706109047, + 0.10775672644376755, + 0.10685638338327408 + ], + "orientation": [ + 0.24862925708293915, + 0.5682523250579834, + -0.6655879020690918, + 0.41504889726638794 + ], + "joints": [ + 0.0010092873126268387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00195663096383214, + -0.03711952269077301, + 0.15467964112758636 + ], + "orientation": [ + 0.12425733357667923, + -0.5259325504302979, + 0.815097451210022, + 0.20873698592185974 + ], + "joints": [ + 0.020276851952075958 + ] + }, + "fine_grasp": { + "position": [ + 0.0017012321623042226, + -0.03489142283797264, + 0.15343612432479858 + ], + "orientation": [ + 0.12515756487846375, + -0.5245545506477356, + 0.8151733875274658, + 0.21135376393795013 + ], + "joints": [ + 0.010266825556755066 + ] + }, + "final_grasp": { + "position": [ + 0.0017012321623042226, + -0.03489142283797264, + 0.15343612432479858 + ], + "orientation": [ + 0.12515756487846375, + -0.5245545506477356, + 0.8151733875274658, + 0.21135376393795013 + ], + "joints": [ + 0.0002567991614341736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11870424449443817, + -0.04236886277794838, + 0.0792316123843193 + ], + "orientation": [ + 0.5296508073806763, + -0.08532823622226715, + 0.8220774531364441, + 0.19072949886322021 + ], + "joints": [ + 0.016614599153399467 + ] + }, + "fine_grasp": { + "position": [ + -0.11538136005401611, + -0.04042242839932442, + 0.07854920625686646 + ], + "orientation": [ + 0.535298228263855, + -0.08701859414577484, + 0.8167268633842468, + 0.19708091020584106 + ], + "joints": [ + 0.006583673879504204 + ] + }, + "final_grasp": { + "position": [ + -0.11538136005401611, + -0.04042242839932442, + 0.07854920625686646 + ], + "orientation": [ + 0.535298228263855, + -0.08701859414577484, + 0.8167268633842468, + 0.19708091020584106 + ], + "joints": [ + -0.00344725139439106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13195106387138367, + 0.02292446605861187, + -0.07324367761611938 + ], + "orientation": [ + 0.3743445873260498, + 0.6357877850532532, + 0.27215060591697693, + 0.6177167296409607 + ], + "joints": [ + 0.021662481129169464 + ] + }, + "fine_grasp": { + "position": [ + -0.12804655730724335, + 0.023272646591067314, + -0.07232107222080231 + ], + "orientation": [ + 0.37169507145881653, + 0.629684567451477, + 0.27464285492897034, + 0.6244288086891174 + ], + "joints": [ + 0.013679534196853638 + ] + }, + "final_grasp": { + "position": [ + -0.12804655730724335, + 0.023272646591067314, + -0.07232107222080231 + ], + "orientation": [ + 0.37169507145881653, + 0.629684567451477, + 0.27464285492897034, + 0.6244288086891174 + ], + "joints": [ + 0.005696587264537811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023554779589176178, + 0.018217889592051506, + 0.1615716516971588 + ], + "orientation": [ + 0.10928834229707718, + -0.2896854281425476, + -0.950351357460022, + 0.031155390664935112 + ], + "joints": [ + 0.019633091986179352 + ] + }, + "fine_grasp": { + "position": [ + 0.021925566717982292, + 0.017769252881407738, + 0.16156604886054993 + ], + "orientation": [ + 0.10235632956027985, + -0.296480268239975, + -0.9490697979927063, + 0.029819143936038017 + ], + "joints": [ + 0.010020121932029724 + ] + }, + "final_grasp": { + "position": [ + 0.021925566717982292, + 0.017769252881407738, + 0.16156604886054993 + ], + "orientation": [ + 0.10235632956027985, + -0.296480268239975, + -0.9490697979927063, + 0.029819143936038017 + ], + "joints": [ + 0.00040715187788009644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0010715166572481394, + 0.04821981489658356, + 0.1649801880121231 + ], + "orientation": [ + 0.1083684116601944, + 0.7585852742195129, + -0.6372705101966858, + 0.0817970335483551 + ], + "joints": [ + 0.01895979233086109 + ] + }, + "fine_grasp": { + "position": [ + 0.0007549913134425879, + 0.04659241437911987, + 0.16322994232177734 + ], + "orientation": [ + 0.10593892633914948, + 0.75848388671875, + -0.6379711627960205, + 0.08044853061437607 + ], + "joints": [ + 0.0097647774964571 + ] + }, + "final_grasp": { + "position": [ + 0.0007549913134425879, + 0.04659241437911987, + 0.16322994232177734 + ], + "orientation": [ + 0.10593892633914948, + 0.75848388671875, + -0.6379711627960205, + 0.08044853061437607 + ], + "joints": [ + 0.0005697626620531082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07949668914079666, + -0.0034712529741227627, + 0.13037163019180298 + ], + "orientation": [ + 0.4020878076553345, + -0.04814527928829193, + -0.9104616641998291, + -0.08406554907560349 + ], + "joints": [ + 0.017325835302472115 + ] + }, + "fine_grasp": { + "position": [ + 0.07600454986095428, + -0.0024425892625004053, + 0.1301613599061966 + ], + "orientation": [ + 0.39134660363197327, + -0.039125893265008926, + -0.9152942895889282, + -0.08691047132015228 + ], + "joints": [ + 0.007294910028576851 + ] + }, + "final_grasp": { + "position": [ + 0.07600454986095428, + -0.0024425892625004053, + 0.1301613599061966 + ], + "orientation": [ + 0.39134660363197327, + -0.039125893265008926, + -0.9152942895889282, + -0.08691047132015228 + ], + "joints": [ + -0.0027360152453184128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001345528638921678, + 0.04890097305178642, + 0.17202408611774445 + ], + "orientation": [ + 0.12723465263843536, + 0.828376293182373, + 0.5386843681335449, + -0.08615761250257492 + ], + "joints": [ + 0.01829146221280098 + ] + }, + "fine_grasp": { + "position": [ + -0.00082871486665681, + 0.04745141416788101, + 0.16850611567497253 + ], + "orientation": [ + 0.12292294949293137, + 0.8279971480369568, + 0.5408139824867249, + -0.08264877647161484 + ], + "joints": [ + 0.008678492158651352 + ] + }, + "final_grasp": { + "position": [ + -0.00082871486665681, + 0.04745141416788101, + 0.16850611567497253 + ], + "orientation": [ + 0.12292294949293137, + 0.8279971480369568, + 0.5408139824867249, + -0.08264877647161484 + ], + "joints": [ + -0.0009344778954982758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0095670772716403, + -0.0024619274772703648, + 0.15738603472709656 + ], + "orientation": [ + 0.09894511103630066, + -0.847262442111969, + -0.5218234062194824, + -0.007518749684095383 + ], + "joints": [ + 0.02114912122488022 + ] + }, + "fine_grasp": { + "position": [ + 0.009713822975754738, + -0.0016659469110891223, + 0.15679782629013062 + ], + "orientation": [ + 0.10019513219594955, + -0.8474234938621521, + -0.521350085735321, + -0.005335479509085417 + ], + "joints": [ + 0.011954106390476227 + ] + }, + "final_grasp": { + "position": [ + 0.009713822975754738, + -0.0016659469110891223, + 0.15679782629013062 + ], + "orientation": [ + 0.10019513219594955, + -0.8474234938621521, + -0.521350085735321, + -0.005335479509085417 + ], + "joints": [ + 0.002759091556072235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010623111389577389, + -0.001990468241274357, + 0.15725049376487732 + ], + "orientation": [ + 0.09774348884820938, + -0.8418886661529541, + -0.5307251214981079, + -0.0007681637653149664 + ], + "joints": [ + 0.021245397627353668 + ] + }, + "fine_grasp": { + "position": [ + 0.010895976796746254, + -0.001092111924663186, + 0.15688210725784302 + ], + "orientation": [ + 0.10037305951118469, + -0.840964674949646, + -0.5316987633705139, + 0.0004883707733824849 + ], + "joints": [ + 0.012050382792949677 + ] + }, + "final_grasp": { + "position": [ + 0.010895976796746254, + -0.001092111924663186, + 0.15688210725784302 + ], + "orientation": [ + 0.10037305951118469, + -0.840964674949646, + -0.5316987633705139, + 0.0004883707733824849 + ], + "joints": [ + 0.002855367958545685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010056491009891033, + -0.0016428333474323153, + 0.15728454291820526 + ], + "orientation": [ + 0.10105272382497787, + -0.8430036902427673, + -0.5282639861106873, + -0.008396684192121029 + ], + "joints": [ + 0.02175206132233143 + ] + }, + "fine_grasp": { + "position": [ + 0.010391341522336006, + -0.001028860337100923, + 0.15695813298225403 + ], + "orientation": [ + 0.10110969096422195, + -0.8429688215255737, + -0.5283530950546265, + -0.004861308727413416 + ], + "joints": [ + 0.011721136048436165 + ] + }, + "final_grasp": { + "position": [ + 0.010391341522336006, + -0.001028860337100923, + 0.15695813298225403 + ], + "orientation": [ + 0.10110969096422195, + -0.8429688215255737, + -0.5283530950546265, + -0.004861308727413416 + ], + "joints": [ + 0.0016902107745409012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04174959659576416, + 0.024731405079364777, + 0.15676265954971313 + ], + "orientation": [ + 0.016086610034108162, + -0.9476383924484253, + -0.2569872736930847, + 0.18889214098453522 + ], + "joints": [ + 0.01942519284784794 + ] + }, + "fine_grasp": { + "position": [ + 0.03923623263835907, + 0.0245419442653656, + 0.15632984042167664 + ], + "orientation": [ + 0.01700596883893013, + -0.9450656771659851, + -0.26792052388191223, + 0.1864946186542511 + ], + "joints": [ + 0.009394267573952675 + ] + }, + "final_grasp": { + "position": [ + 0.03923623263835907, + 0.0245419442653656, + 0.15632984042167664 + ], + "orientation": [ + 0.01700596883893013, + -0.9450656771659851, + -0.26792052388191223, + 0.1864946186542511 + ], + "joints": [ + -0.0006366576999425888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0242414902895689, + 0.0185606200248003, + 0.16210481524467468 + ], + "orientation": [ + 0.10735885798931122, + -0.2969939708709717, + -0.9481881856918335, + 0.03475593030452728 + ], + "joints": [ + 0.019808929413557053 + ] + }, + "fine_grasp": { + "position": [ + 0.022405410185456276, + 0.018378615379333496, + 0.1619865447282791 + ], + "orientation": [ + 0.10185210406780243, + -0.30325400829315186, + -0.946844220161438, + 0.03390190377831459 + ], + "joints": [ + 0.010195959359407425 + ] + }, + "final_grasp": { + "position": [ + 0.022405410185456276, + 0.018378615379333496, + 0.1619865447282791 + ], + "orientation": [ + 0.10185210406780243, + -0.30325400829315186, + -0.946844220161438, + 0.03390190377831459 + ], + "joints": [ + 0.0005829893052577972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024006372317671776, + 0.018407244235277176, + 0.16151942312717438 + ], + "orientation": [ + 0.10577153414487839, + -0.2857302129268646, + -0.9518600106239319, + 0.03366100788116455 + ], + "joints": [ + 0.019658468663692474 + ] + }, + "fine_grasp": { + "position": [ + 0.022609548643231392, + 0.018369631841778755, + 0.16137933731079102 + ], + "orientation": [ + 0.10238166153430939, + -0.2898240387439728, + -0.9510424733161926, + 0.032224882394075394 + ], + "joints": [ + 0.009648442268371582 + ] + }, + "final_grasp": { + "position": [ + 0.022609548643231392, + 0.018369631841778755, + 0.16137933731079102 + ], + "orientation": [ + 0.10238166153430939, + -0.2898240387439728, + -0.9510424733161926, + 0.032224882394075394 + ], + "joints": [ + -0.0003615841269493103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020122811198234558, + -0.0018032700754702091, + 0.16424767673015594 + ], + "orientation": [ + 0.02407972887158394, + 0.6044694185256958, + -0.7872874736785889, + -0.11922749131917953 + ], + "joints": [ + 0.021461056545376778 + ] + }, + "fine_grasp": { + "position": [ + 0.01976417750120163, + -0.0010806262725964189, + 0.16366299986839294 + ], + "orientation": [ + 0.02299054153263569, + 0.6030054688453674, + -0.7880663871765137, + -0.1216849833726883 + ], + "joints": [ + 0.012266041710972786 + ] + }, + "final_grasp": { + "position": [ + 0.01976417750120163, + -0.0010806262725964189, + 0.16366299986839294 + ], + "orientation": [ + 0.02299054153263569, + 0.6030054688453674, + -0.7880663871765137, + -0.1216849833726883 + ], + "joints": [ + 0.0030710268765687943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019909139722585678, + -0.0017704871715977788, + 0.16417549550533295 + ], + "orientation": [ + 0.024208642542362213, + 0.6073402166366577, + -0.785443127155304, + -0.11675237864255905 + ], + "joints": [ + 0.021515285596251488 + ] + }, + "fine_grasp": { + "position": [ + 0.019611738622188568, + -0.0009136571898125112, + 0.16358992457389832 + ], + "orientation": [ + 0.02259824052453041, + 0.6058672070503235, + -0.7861571311950684, + -0.1198807805776596 + ], + "joints": [ + 0.012320270761847496 + ] + }, + "final_grasp": { + "position": [ + 0.019611738622188568, + -0.0009136571898125112, + 0.16358992457389832 + ], + "orientation": [ + 0.02259824052453041, + 0.6058672070503235, + -0.7861571311950684, + -0.1198807805776596 + ], + "joints": [ + 0.0031252559274435043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01783187873661518, + -0.0076427161693573, + 0.1606748104095459 + ], + "orientation": [ + 0.08191576600074768, + -0.04375067353248596, + -0.9902464747428894, + -0.10386288166046143 + ], + "joints": [ + 0.02008982002735138 + ] + }, + "fine_grasp": { + "position": [ + 0.017101023346185684, + -0.007073014043271542, + 0.15862777829170227 + ], + "orientation": [ + 0.08344858884811401, + -0.04465122148394585, + -0.9900994300842285, + -0.10366218537092209 + ], + "joints": [ + 0.010894805192947388 + ] + }, + "final_grasp": { + "position": [ + 0.017101023346185684, + -0.007073014043271542, + 0.15862777829170227 + ], + "orientation": [ + 0.08344858884811401, + -0.04465122148394585, + -0.9900994300842285, + -0.10366218537092209 + ], + "joints": [ + 0.001699790358543396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0191336739808321, + -0.008037900552153587, + 0.16142426431179047 + ], + "orientation": [ + 0.08218640089035034, + -0.030652746558189392, + -0.9904266595840454, + -0.10658743977546692 + ], + "joints": [ + 0.020554780960083008 + ] + }, + "fine_grasp": { + "position": [ + 0.018404114991426468, + -0.0075169713236391544, + 0.15898852050304413 + ], + "orientation": [ + 0.083628349006176, + -0.03072662279009819, + -0.9903534650802612, + -0.1061231791973114 + ], + "joints": [ + 0.010962709784507751 + ] + }, + "final_grasp": { + "position": [ + 0.018404114991426468, + -0.0075169713236391544, + 0.15898852050304413 + ], + "orientation": [ + 0.083628349006176, + -0.03072662279009819, + -0.9903534650802612, + -0.1061231791973114 + ], + "joints": [ + 0.0013706386089324951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0912935882806778, + -0.03726740553975105, + 0.07481709122657776 + ], + "orientation": [ + 0.1966738998889923, + -0.7589274644851685, + -0.17749609053134918, + -0.5948475003242493 + ], + "joints": [ + 0.01733633503317833 + ] + }, + "fine_grasp": { + "position": [ + -0.08887532353401184, + -0.036643218249082565, + 0.07505687326192856 + ], + "orientation": [ + 0.20149673521518707, + -0.7684698104858398, + -0.16963718831539154, + -0.5831606984138489 + ], + "joints": [ + 0.008956331759691238 + ] + }, + "final_grasp": { + "position": [ + -0.08887532353401184, + -0.036643218249082565, + 0.07505687326192856 + ], + "orientation": [ + 0.20149673521518707, + -0.7684698104858398, + -0.16963718831539154, + -0.5831606984138489 + ], + "joints": [ + 0.0005763284862041473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03351917862892151, + -0.006951458286494017, + 0.16271920502185822 + ], + "orientation": [ + 0.1557275354862213, + -0.45223650336265564, + -0.8779909610748291, + -0.01905173249542713 + ], + "joints": [ + 0.018609290942549706 + ] + }, + "fine_grasp": { + "position": [ + 0.03173939511179924, + -0.005303280893713236, + 0.15996570885181427 + ], + "orientation": [ + 0.16565877199172974, + -0.452300101518631, + -0.8760601282119751, + -0.02237076498568058 + ], + "joints": [ + 0.00983223132789135 + ] + }, + "final_grasp": { + "position": [ + 0.03173939511179924, + -0.005303280893713236, + 0.15996570885181427 + ], + "orientation": [ + 0.16565877199172974, + -0.452300101518631, + -0.8760601282119751, + -0.02237076498568058 + ], + "joints": [ + 0.001055171713232994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013337666168808937, + 0.04403971508145332, + 0.16662812232971191 + ], + "orientation": [ + 0.11190298944711685, + 0.9926337003707886, + 0.011286738328635693, + 0.045040879398584366 + ], + "joints": [ + 0.0197710283100605 + ] + }, + "fine_grasp": { + "position": [ + -0.013046270236372948, + 0.043626442551612854, + 0.16397851705551147 + ], + "orientation": [ + 0.11336180567741394, + 0.9924424886703491, + 0.011842279694974422, + 0.04546182602643967 + ], + "joints": [ + 0.01059691235423088 + ] + }, + "final_grasp": { + "position": [ + -0.013046270236372948, + 0.043626442551612854, + 0.16397851705551147 + ], + "orientation": [ + 0.11336180567741394, + 0.9924424886703491, + 0.011842279694974422, + 0.04546182602643967 + ], + "joints": [ + 0.0014227963984012604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018415721133351326, + 0.017660323530435562, + 0.16760337352752686 + ], + "orientation": [ + 0.04783841222524643, + 0.8365199565887451, + 0.5428210496902466, + 0.05736802518367767 + ], + "joints": [ + 0.020222235471010208 + ] + }, + "fine_grasp": { + "position": [ + -0.018051011487841606, + 0.017953408882021904, + 0.16558681428432465 + ], + "orientation": [ + 0.04656817018985748, + 0.8361644148826599, + 0.5431850552558899, + 0.06008775159716606 + ], + "joints": [ + 0.01060926541686058 + ] + }, + "final_grasp": { + "position": [ + -0.018051011487841606, + 0.017953408882021904, + 0.16558681428432465 + ], + "orientation": [ + 0.04656817018985748, + 0.8361644148826599, + 0.5431850552558899, + 0.06008775159716606 + ], + "joints": [ + 0.0009962953627109528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009390883147716522, + 0.05466585233807564, + 0.16555441915988922 + ], + "orientation": [ + 0.14500698447227478, + 0.4612366855144501, + -0.862484872341156, + 0.14951078593730927 + ], + "joints": [ + 0.018053855746984482 + ] + }, + "fine_grasp": { + "position": [ + 0.007276482414454222, + 0.05416310206055641, + 0.1634543091058731 + ], + "orientation": [ + 0.13162082433700562, + 0.46939927339553833, + -0.860832691192627, + 0.14597056806087494 + ], + "joints": [ + 0.00885884091258049 + ] + }, + "final_grasp": { + "position": [ + 0.007276482414454222, + 0.05416310206055641, + 0.1634543091058731 + ], + "orientation": [ + 0.13162082433700562, + 0.46939927339553833, + -0.860832691192627, + 0.14597056806087494 + ], + "joints": [ + -0.0003361739218235016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009064096957445145, + 0.054096221923828125, + 0.16510885953903198 + ], + "orientation": [ + 0.1478278487920761, + 0.46151867508888245, + -0.8617784380912781, + 0.1499512642621994 + ], + "joints": [ + 0.017454709857702255 + ] + }, + "fine_grasp": { + "position": [ + 0.006937186233699322, + 0.05402010679244995, + 0.16324558854103088 + ], + "orientation": [ + 0.13279782235622406, + 0.4693846106529236, + -0.8604182004928589, + 0.1473885327577591 + ], + "joints": [ + 0.008656751364469528 + ] + }, + "final_grasp": { + "position": [ + 0.006937186233699322, + 0.05402010679244995, + 0.16324558854103088 + ], + "orientation": [ + 0.13279782235622406, + 0.4693846106529236, + -0.8604182004928589, + 0.1473885327577591 + ], + "joints": [ + -0.00014120712876319885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009527160786092281, + -0.02561095729470253, + 0.17489026486873627 + ], + "orientation": [ + 0.14023786783218384, + -0.886577308177948, + 0.4277227222919464, + 0.10661713033914566 + ], + "joints": [ + 0.017882784828543663 + ] + }, + "fine_grasp": { + "position": [ + 0.008995582349598408, + -0.023984115570783615, + 0.1713068038225174 + ], + "orientation": [ + 0.14420033991336823, + -0.8837648034095764, + 0.4295879602432251, + 0.11670607328414917 + ], + "joints": [ + 0.008687769994139671 + ] + }, + "final_grasp": { + "position": [ + 0.008995582349598408, + -0.023984115570783615, + 0.1713068038225174 + ], + "orientation": [ + 0.14420033991336823, + -0.8837648034095764, + 0.4295879602432251, + 0.11670607328414917 + ], + "joints": [ + -0.0005072448402643204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002975507639348507, + 0.04128633067011833, + 0.17409648001194 + ], + "orientation": [ + 0.09517169743776321, + 0.973703920841217, + 0.20346194505691528, + -0.03802965581417084 + ], + "joints": [ + 0.018885042518377304 + ] + }, + "fine_grasp": { + "position": [ + 0.0023996566887944937, + 0.040782369673252106, + 0.17122869193553925 + ], + "orientation": [ + 0.09657909721136093, + 0.9709516167640686, + 0.21546772122383118, + -0.038718272000551224 + ], + "joints": [ + 0.009251173585653305 + ] + }, + "final_grasp": { + "position": [ + 0.0023996566887944937, + 0.040782369673252106, + 0.17122869193553925 + ], + "orientation": [ + 0.09657909721136093, + 0.9709516167640686, + 0.21546772122383118, + -0.038718272000551224 + ], + "joints": [ + -0.00038269534707069397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05335211008787155, + 0.007875860668718815, + 0.15997819602489471 + ], + "orientation": [ + 0.25924015045166016, + 0.0528385154902935, + 0.9627143144607544, + 0.05642399936914444 + ], + "joints": [ + 0.01633046194911003 + ] + }, + "fine_grasp": { + "position": [ + -0.052292101085186005, + 0.009370684623718262, + 0.1574338972568512 + ], + "orientation": [ + 0.2547873258590698, + 0.07371750473976135, + 0.9624906182289124, + 0.05710480734705925 + ], + "joints": [ + 0.007135447114706039 + ] + }, + "final_grasp": { + "position": [ + -0.052292101085186005, + 0.009370684623718262, + 0.1574338972568512 + ], + "orientation": [ + 0.2547873258590698, + 0.07371750473976135, + 0.9624906182289124, + 0.05710480734705925 + ], + "joints": [ + -0.0020595677196979523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053697407245635986, + 0.007670310325920582, + 0.1599670797586441 + ], + "orientation": [ + 0.2572281062602997, + 0.05310635268688202, + 0.963208794593811, + 0.056941352784633636 + ], + "joints": [ + 0.016586242243647575 + ] + }, + "fine_grasp": { + "position": [ + -0.05225832015275955, + 0.009292464703321457, + 0.15766370296478271 + ], + "orientation": [ + 0.25233086943626404, + 0.07471884787082672, + 0.9630270600318909, + 0.0576656311750412 + ], + "joints": [ + 0.006973272189497948 + ] + }, + "final_grasp": { + "position": [ + -0.05225832015275955, + 0.009292464703321457, + 0.15766370296478271 + ], + "orientation": [ + 0.25233086943626404, + 0.07471884787082672, + 0.9630270600318909, + 0.0576656311750412 + ], + "joints": [ + -0.00263969786465168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018409796059131622, + 0.018209945410490036, + 0.1683955043554306 + ], + "orientation": [ + 0.048997122794389725, + 0.8367020487785339, + 0.5425156950950623, + 0.05662012845277786 + ], + "joints": [ + 0.020145336166024208 + ] + }, + "fine_grasp": { + "position": [ + -0.018052857369184494, + 0.018471557646989822, + 0.16723686456680298 + ], + "orientation": [ + 0.0482829250395298, + 0.8359123468399048, + 0.5434610843658447, + 0.059745095670223236 + ], + "joints": [ + 0.010950321331620216 + ] + }, + "final_grasp": { + "position": [ + -0.018052857369184494, + 0.018471557646989822, + 0.16723686456680298 + ], + "orientation": [ + 0.0482829250395298, + 0.8359123468399048, + 0.5434610843658447, + 0.059745095670223236 + ], + "joints": [ + 0.0017553064972162247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053419120609760284, + 0.007934857159852982, + 0.1605314165353775 + ], + "orientation": [ + 0.2610962688922882, + 0.05446608364582062, + 0.9620552062988281, + 0.057549819350242615 + ], + "joints": [ + 0.016438273712992668 + ] + }, + "fine_grasp": { + "position": [ + -0.05197811871767044, + 0.00925395730882883, + 0.15773653984069824 + ], + "orientation": [ + 0.255075603723526, + 0.0752042904496193, + 0.9622202515602112, + 0.058421000838279724 + ], + "joints": [ + 0.00722236093133688 + ] + }, + "final_grasp": { + "position": [ + -0.05197811871767044, + 0.00925395730882883, + 0.15773653984069824 + ], + "orientation": [ + 0.255075603723526, + 0.0752042904496193, + 0.9622202515602112, + 0.058421000838279724 + ], + "joints": [ + -0.0019935518503189087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08052041381597519, + -0.003079858375713229, + 0.13130389153957367 + ], + "orientation": [ + 0.3992672562599182, + -0.036183591932058334, + -0.912368655204773, + -0.08282376080751419 + ], + "joints": [ + 0.017712941393256187 + ] + }, + "fine_grasp": { + "position": [ + 0.07712466269731522, + -0.0018659430788829923, + 0.13118675351142883 + ], + "orientation": [ + 0.3878427743911743, + -0.02365047298371792, + -0.9171738624572754, + -0.08837775141000748 + ], + "joints": [ + 0.007264060899615288 + ] + }, + "final_grasp": { + "position": [ + 0.07712466269731522, + -0.0018659430788829923, + 0.13118675351142883 + ], + "orientation": [ + 0.3878427743911743, + -0.02365047298371792, + -0.9171738624572754, + -0.08837775141000748 + ], + "joints": [ + -0.003184819594025612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009166085161268711, + 0.054374322295188904, + 0.1655472368001938 + ], + "orientation": [ + 0.15195025503635406, + 0.46096810698509216, + -0.8611716032028198, + 0.15100666880607605 + ], + "joints": [ + 0.016831370070576668 + ] + }, + "fine_grasp": { + "position": [ + 0.00814701709896326, + 0.055244650691747665, + 0.1641887128353119 + ], + "orientation": [ + 0.14113372564315796, + 0.47026288509368896, + -0.8581151366233826, + 0.15024147927761078 + ], + "joints": [ + 0.008054310455918312 + ] + }, + "final_grasp": { + "position": [ + 0.00814701709896326, + 0.055244650691747665, + 0.1641887128353119 + ], + "orientation": [ + 0.14113372564315796, + 0.47026288509368896, + -0.8581151366233826, + 0.15024147927761078 + ], + "joints": [ + -0.0007227491587400436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03489274904131889, + 0.10102897137403488, + 0.12655892968177795 + ], + "orientation": [ + 0.29856759309768677, + 0.7669760584831238, + -0.4292328953742981, + 0.3719736933708191 + ], + "joints": [ + 0.01736285164952278 + ] + }, + "fine_grasp": { + "position": [ + -0.03325175866484642, + 0.09883260726928711, + 0.127956822514534 + ], + "orientation": [ + 0.29609382152557373, + 0.7725474834442139, + -0.4288240075111389, + 0.36277902126312256 + ], + "joints": [ + 0.00816783681511879 + ] + }, + "final_grasp": { + "position": [ + -0.03325175866484642, + 0.09883260726928711, + 0.127956822514534 + ], + "orientation": [ + 0.29609382152557373, + 0.7725474834442139, + -0.4288240075111389, + 0.36277902126312256 + ], + "joints": [ + -0.001027178019285202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023272722959518433, + 0.11879690736532211, + 0.11508147418498993 + ], + "orientation": [ + 0.3948822021484375, + 0.6548580527305603, + 0.4739242494106293, + -0.43660593032836914 + ], + "joints": [ + 0.01732262782752514 + ] + }, + "fine_grasp": { + "position": [ + 0.02216598205268383, + 0.11595667898654938, + 0.11281894892454147 + ], + "orientation": [ + 0.37847745418548584, + 0.6644170880317688, + 0.4790644645690918, + -0.43104755878448486 + ], + "joints": [ + 0.007291702553629875 + ] + }, + "final_grasp": { + "position": [ + 0.02216598205268383, + 0.11595667898654938, + 0.11281894892454147 + ], + "orientation": [ + 0.37847745418548584, + 0.6644170880317688, + 0.4790644645690918, + -0.43104755878448486 + ], + "joints": [ + -0.0027392227202653885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03464718535542488, + 0.10145144164562225, + 0.13287070393562317 + ], + "orientation": [ + 0.43056026101112366, + 0.565710723400116, + -0.6680375933647156, + 0.2198064774274826 + ], + "joints": [ + 0.01600651815533638 + ] + }, + "fine_grasp": { + "position": [ + 0.03287617862224579, + 0.09917271882295609, + 0.13015393912792206 + ], + "orientation": [ + 0.4271940588951111, + 0.5592201948165894, + -0.6732485890388489, + 0.22696790099143982 + ], + "joints": [ + 0.007229458540678024 + ] + }, + "final_grasp": { + "position": [ + 0.03287617862224579, + 0.09917271882295609, + 0.13015393912792206 + ], + "orientation": [ + 0.4271940588951111, + 0.5592201948165894, + -0.6732485890388489, + 0.22696790099143982 + ], + "joints": [ + -0.0015476010739803314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03492669016122818, + 0.10164901614189148, + 0.12815773487091064 + ], + "orientation": [ + 0.30898094177246094, + 0.7552950978279114, + -0.4263553023338318, + 0.39023229479789734 + ], + "joints": [ + 0.01678372174501419 + ] + }, + "fine_grasp": { + "position": [ + -0.03441147133708, + 0.10120712965726852, + 0.12635070085525513 + ], + "orientation": [ + 0.3096151351928711, + 0.7525662183761597, + -0.4285971522331238, + 0.3925391435623169 + ], + "joints": [ + 0.007588706910610199 + ] + }, + "final_grasp": { + "position": [ + -0.03441147133708, + 0.10120712965726852, + 0.12635070085525513 + ], + "orientation": [ + 0.3096151351928711, + 0.7525662183761597, + -0.4285971522331238, + 0.3925391435623169 + ], + "joints": [ + -0.0016063079237937927 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 563 + } +} \ No newline at end of file diff --git a/018_microphone_5/Object.usd b/018_microphone_5/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..7175f81fed8ad2b375033c8e7b15f95bd4a7feeb --- /dev/null +++ b/018_microphone_5/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07ee292f4b6e6c1377a56e77d76ec2fd182127b026b3113f1fd49575ec2f3c2b +size 341176 diff --git a/021_cup_2/Annotation/dex1_1_grasp_pose.json b/021_cup_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..b8451ecde2ecab4727333903407a791fa63aed6c --- /dev/null +++ b/021_cup_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,11618 @@ +{ + "type": "021_cup_2", + "bottom_center": [ + 0.0, + 0.054999999701976776, + -0.0371088832616806 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.07207134366035461, + 0.028830820694565773, + 0.10134278982877731 + ], + "orientation": [ + 0.2363373190164566, + 0.19519037008285522, + -0.7097190618515015, + 0.6343061923980713 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + 0.07121917605400085, + 0.028136426582932472, + 0.1002996563911438 + ], + "orientation": [ + 0.23100662231445312, + 0.20220936834812164, + -0.7040687799453735, + 0.6403393149375916 + ], + "joints": [ + -0.011060409247875214 + ] + }, + "final_grasp": { + "position": [ + 0.07121917605400085, + 0.028136426582932472, + 0.1002996563911438 + ], + "orientation": [ + 0.23100662231445312, + 0.20220936834812164, + -0.7040687799453735, + 0.6403393149375916 + ], + "joints": [ + -0.0041522067040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07615650445222855, + 0.013790953904390335, + 0.1189882829785347 + ], + "orientation": [ + 0.74942547082901, + -0.5986462235450745, + 0.2264830470085144, + 0.16938051581382751 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.07401518523693085, + 0.013935120776295662, + 0.11572112143039703 + ], + "orientation": [ + 0.7447001934051514, + -0.6045827865600586, + 0.22612139582633972, + 0.16961856186389923 + ], + "joints": [ + -0.013424399308860302 + ] + }, + "final_grasp": { + "position": [ + 0.07401518523693085, + 0.013935120776295662, + 0.11572112143039703 + ], + "orientation": [ + 0.7447001934051514, + -0.6045827865600586, + 0.22612139582633972, + 0.16961856186389923 + ], + "joints": [ + -0.008615223690867424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02189711108803749, + 0.04767336696386337, + -0.1371363401412964 + ], + "orientation": [ + 0.6961731314659119, + 0.7135403752326965, + 0.05565531924366951, + -0.05572647228837013 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.02105874754488468, + 0.04663422331213951, + -0.13133418560028076 + ], + "orientation": [ + 0.687517523765564, + 0.7218443155288696, + 0.05524154752492905, + -0.056645940989255905 + ], + "joints": [ + -0.01327137928456068 + ] + }, + "final_grasp": { + "position": [ + -0.02105874754488468, + 0.04663422331213951, + -0.13133418560028076 + ], + "orientation": [ + 0.687517523765564, + 0.7218443155288696, + 0.05524154752492905, + -0.056645940989255905 + ], + "joints": [ + -0.007425971329212189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08977482467889786, + 0.07975660264492035, + 0.09904822707176208 + ], + "orientation": [ + 0.22104249894618988, + 0.28787145018577576, + -0.6176642775535583, + 0.6976826190948486 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.08596796542406082, + 0.07823127508163452, + 0.09482403844594955 + ], + "orientation": [ + 0.21700841188430786, + 0.2920735776424408, + -0.6084979176521301, + 0.7052167654037476 + ], + "joints": [ + -0.013328786008059978 + ] + }, + "final_grasp": { + "position": [ + 0.08596796542406082, + 0.07823127508163452, + 0.09482403844594955 + ], + "orientation": [ + 0.21700841188430786, + 0.2920735776424408, + -0.6084979176521301, + 0.7052167654037476 + ], + "joints": [ + -0.00695197656750679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12772023677825928, + 0.06041449308395386, + -0.0669981986284256 + ], + "orientation": [ + 0.5974442362785339, + 0.6122393608093262, + -0.3767507076263428, + 0.35536202788352966 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.1233123317360878, + 0.05959964171051979, + -0.06428191065788269 + ], + "orientation": [ + 0.5896865129470825, + 0.6188570261001587, + -0.3755204975605011, + 0.35814806818962097 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + 0.1233123317360878, + 0.05959964171051979, + -0.06428191065788269 + ], + "orientation": [ + 0.5896865129470825, + 0.6188570261001587, + -0.3755204975605011, + 0.35814806818962097 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12744061648845673, + 0.06059107929468155, + -0.06695540994405746 + ], + "orientation": [ + 0.5974927544593811, + 0.6123435497283936, + -0.3776686191558838, + 0.35412442684173584 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.12265242636203766, + 0.0598270483314991, + -0.06404171884059906 + ], + "orientation": [ + 0.5889030694961548, + 0.6197924613952637, + -0.37627992033958435, + 0.35702091455459595 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + 0.12265242636203766, + 0.0598270483314991, + -0.06404171884059906 + ], + "orientation": [ + 0.5889030694961548, + 0.6197924613952637, + -0.37627992033958435, + 0.35702091455459595 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052157122641801834, + 0.031037185341119766, + 0.12207868695259094 + ], + "orientation": [ + 0.14608187973499298, + 0.13396227359771729, + -0.7628735303878784, + 0.6154168844223022 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.04981251060962677, + 0.03189823403954506, + 0.11652205139398575 + ], + "orientation": [ + 0.14501714706420898, + 0.13622182607650757, + -0.7584472298622131, + 0.6206218600273132 + ], + "joints": [ + -0.013118360191583633 + ] + }, + "final_grasp": { + "position": [ + 0.04981251060962677, + 0.03189823403954506, + 0.11652205139398575 + ], + "orientation": [ + 0.14501714706420898, + 0.13622182607650757, + -0.7584472298622131, + 0.6206218600273132 + ], + "joints": [ + -0.006236720830202103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019136860966682434, + 0.015319928526878357, + -0.1257268339395523 + ], + "orientation": [ + 0.040748946368694305, + -0.058452583849430084, + 0.7937029600143433, + 0.604117751121521 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.018213022500276566, + 0.015863416716456413, + -0.1205410361289978 + ], + "orientation": [ + 0.03885607421398163, + -0.05862122401595116, + 0.7873246669769287, + 0.6125142574310303 + ], + "joints": [ + -0.012292557395994663 + ] + }, + "final_grasp": { + "position": [ + 0.018213022500276566, + 0.015863416716456413, + -0.1205410361289978 + ], + "orientation": [ + 0.03885607421398163, + -0.05862122401595116, + 0.7873246669769287, + 0.6125142574310303 + ], + "joints": [ + -0.00487951934337616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019218889996409416, + 0.015522626228630543, + -0.1258191615343094 + ], + "orientation": [ + 0.04136185348033905, + -0.058150991797447205, + 0.7944243550300598, + 0.6031565070152283 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.018273349851369858, + 0.016110364347696304, + -0.12060543894767761 + ], + "orientation": [ + 0.039261724799871445, + -0.05828440189361572, + 0.7883153557777405, + 0.6112449765205383 + ], + "joints": [ + -0.012797386385500431 + ] + }, + "final_grasp": { + "position": [ + 0.018273349851369858, + 0.016110364347696304, + -0.12060543894767761 + ], + "orientation": [ + 0.039261724799871445, + -0.05828440189361572, + 0.7883153557777405, + 0.6112449765205383 + ], + "joints": [ + -0.005889177322387695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0522787906229496, + 0.031243519857525826, + 0.12188892811536789 + ], + "orientation": [ + 0.14588560163974762, + 0.1349164843559265, + -0.763332724571228, + 0.6146852374076843 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.04992993175983429, + 0.03209508955478668, + 0.11634606122970581 + ], + "orientation": [ + 0.14476428925991058, + 0.137240931391716, + -0.7588489651679993, + 0.6199648976325989 + ], + "joints": [ + -0.013118360191583633 + ] + }, + "final_grasp": { + "position": [ + 0.04992993175983429, + 0.03209508955478668, + 0.11634606122970581 + ], + "orientation": [ + 0.14476428925991058, + 0.137240931391716, + -0.7588489651679993, + 0.6199648976325989 + ], + "joints": [ + -0.006236720830202103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019163008779287338, + 0.015447267331182957, + -0.12579534947872162 + ], + "orientation": [ + 0.0407414548099041, + -0.05844079703092575, + 0.794319212436676, + 0.6033090949058533 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.01823798567056656, + 0.01602463237941265, + -0.12060090899467468 + ], + "orientation": [ + 0.03866693750023842, + -0.05859464034438133, + 0.7882214784622192, + 0.6113741397857666 + ], + "joints": [ + -0.012797386385500431 + ] + }, + "final_grasp": { + "position": [ + 0.01823798567056656, + 0.01602463237941265, + -0.12060090899467468 + ], + "orientation": [ + 0.03866693750023842, + -0.05859464034438133, + 0.7882214784622192, + 0.6113741397857666 + ], + "joints": [ + -0.005889177322387695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11810004711151123, + 0.016597075387835503, + 0.08386439830064774 + ], + "orientation": [ + 0.7005199790000916, + -0.5430065393447876, + -0.37658119201660156, + -0.26944777369499207 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.11550135165452957, + 0.01730179227888584, + 0.08217458426952362 + ], + "orientation": [ + 0.6985108852386475, + -0.5455281734466553, + -0.3779773712158203, + -0.267609179019928 + ], + "joints": [ + -0.013365517370402813 + ] + }, + "final_grasp": { + "position": [ + -0.11550135165452957, + 0.01730179227888584, + 0.08217458426952362 + ], + "orientation": [ + 0.6985108852386475, + -0.5455281734466553, + -0.3779773712158203, + -0.267609179019928 + ], + "joints": [ + -0.008556341752409935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052410200238227844, + 0.03127028048038483, + 0.12219911068677902 + ], + "orientation": [ + 0.1465904265642166, + 0.13426394760608673, + -0.7648699879646301, + 0.6127464771270752 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.05008203536272049, + 0.032162945717573166, + 0.11666624993085861 + ], + "orientation": [ + 0.1453682780265808, + 0.1365613490343094, + -0.7604796886444092, + 0.6179722547531128 + ], + "joints": [ + -0.01364975981414318 + ] + }, + "final_grasp": { + "position": [ + 0.05008203536272049, + 0.032162945717573166, + 0.11666624993085861 + ], + "orientation": [ + 0.1453682780265808, + 0.1365613490343094, + -0.7604796886444092, + 0.6179722547531128 + ], + "joints": [ + -0.0072995200753211975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12232828885316849, + 0.030825084075331688, + -0.06743285804986954 + ], + "orientation": [ + 0.4052092134952545, + -0.30823200941085815, + -0.6827795505523682, + -0.5240330100059509 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.11939998716115952, + 0.03123057819902897, + -0.06540079414844513 + ], + "orientation": [ + 0.4069996476173401, + -0.310008704662323, + -0.6775140762329102, + -0.5284132957458496 + ], + "joints": [ + -0.014362144283950329 + ] + }, + "final_grasp": { + "position": [ + -0.11939998716115952, + 0.03123057819902897, + -0.06540079414844513 + ], + "orientation": [ + 0.4069996476173401, + -0.310008704662323, + -0.6775140762329102, + -0.5284132957458496 + ], + "joints": [ + -0.009048134088516235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08049136400222778, + 0.08700904250144958, + -0.12293116748332977 + ], + "orientation": [ + 0.19302509725093842, + -0.20945650339126587, + -0.6246920824050903, + -0.7270687818527222 + ], + "joints": [ + -0.019646713510155678 + ] + }, + "fine_grasp": { + "position": [ + -0.07872415333986282, + 0.0866006538271904, + -0.12043608725070953 + ], + "orientation": [ + 0.19501496851444244, + -0.20686864852905273, + -0.6224825978279114, + -0.7291706800460815 + ], + "joints": [ + -0.014332703314721584 + ] + }, + "final_grasp": { + "position": [ + -0.07872415333986282, + 0.0866006538271904, + -0.12043608725070953 + ], + "orientation": [ + 0.19501496851444244, + -0.20686864852905273, + -0.6224825978279114, + -0.7291706800460815 + ], + "joints": [ + -0.00901869311928749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1375756859779358, + 0.04301968589425087, + -0.009829015471041203 + ], + "orientation": [ + 0.4947904348373413, + -0.46982935070991516, + -0.5095663070678711, + -0.5241992473602295 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.13181465864181519, + 0.042387478053569794, + -0.009323987178504467 + ], + "orientation": [ + 0.4912154972553253, + -0.47468101978302, + -0.5036348700523376, + -0.5289017558097839 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + -0.13181465864181519, + 0.042387478053569794, + -0.009323987178504467 + ], + "orientation": [ + 0.4912154972553253, + -0.47468101978302, + -0.5036348700523376, + -0.5289017558097839 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0806095227599144, + 0.08745519071817398, + -0.12312395125627518 + ], + "orientation": [ + 0.1938425898551941, + -0.2086365520954132, + -0.6260496973991394, + -0.7259184718132019 + ], + "joints": [ + -0.019646713510155678 + ] + }, + "fine_grasp": { + "position": [ + -0.07887408137321472, + 0.08703506737947464, + -0.12057702988386154 + ], + "orientation": [ + 0.19518914818763733, + -0.2069283127784729, + -0.6241668462753296, + -0.7276658415794373 + ], + "joints": [ + -0.014837532304227352 + ] + }, + "final_grasp": { + "position": [ + -0.07887408137321472, + 0.08703506737947464, + -0.12057702988386154 + ], + "orientation": [ + 0.19518914818763733, + -0.2069283127784729, + -0.6241668462753296, + -0.7276658415794373 + ], + "joints": [ + -0.010028351098299026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13771319389343262, + 0.042623620480298996, + -0.009962113574147224 + ], + "orientation": [ + 0.4954436719417572, + -0.46874022483825684, + -0.5084637403488159, + -0.5256260633468628 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.13192324340343475, + 0.041992418467998505, + -0.009476544335484505 + ], + "orientation": [ + 0.49165457487106323, + -0.4735974073410034, + -0.5024324059486389, + -0.530606210231781 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + -0.13192324340343475, + 0.041992418467998505, + -0.009476544335484505 + ], + "orientation": [ + 0.49165457487106323, + -0.4735974073410034, + -0.5024324059486389, + -0.530606210231781 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1370781511068344, + 0.043028417974710464, + -0.009914053604006767 + ], + "orientation": [ + 0.4966318905353546, + -0.46762970089912415, + -0.5090651512145996, + -0.5249114036560059 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.13147412240505219, + 0.042351603507995605, + -0.009389743208885193 + ], + "orientation": [ + 0.49353429675102234, + -0.4721493721008301, + -0.5029463768005371, + -0.5296639204025269 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + -0.13147412240505219, + 0.042351603507995605, + -0.009389743208885193 + ], + "orientation": [ + 0.49353429675102234, + -0.4721493721008301, + -0.5029463768005371, + -0.5296639204025269 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03693303093314171, + 0.02949412539601326, + -0.11994408071041107 + ], + "orientation": [ + 0.13366861641407013, + -0.08139391243457794, + -0.7045887112617493, + -0.6921433210372925 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + -0.035913825035095215, + 0.02781018801033497, + -0.11656763404607773 + ], + "orientation": [ + 0.13377073407173157, + -0.08338332921266556, + -0.6934048533439636, + -0.7030948996543884 + ], + "joints": [ + -0.011507831513881683 + ] + }, + "final_grasp": { + "position": [ + -0.035913825035095215, + 0.02781018801033497, + -0.11656763404607773 + ], + "orientation": [ + 0.13377073407173157, + -0.08338332921266556, + -0.6934048533439636, + -0.7030948996543884 + ], + "joints": [ + -0.005635859444737434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13688567280769348, + 0.04325256869196892, + -0.010211250744760036 + ], + "orientation": [ + 0.49571487307548523, + -0.4673607349395752, + -0.5091155171394348, + -0.5259677171707153 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.13127195835113525, + 0.042590394616127014, + -0.009688102640211582 + ], + "orientation": [ + 0.4924991726875305, + -0.4719429016113281, + -0.502942681312561, + -0.5308138132095337 + ], + "joints": [ + -0.012235150672495365 + ] + }, + "final_grasp": { + "position": [ + -0.13127195835113525, + 0.042590394616127014, + -0.009688102640211582 + ], + "orientation": [ + 0.4924991726875305, + -0.4719429016113281, + -0.502942681312561, + -0.5308138132095337 + ], + "joints": [ + -0.005353514105081558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04821450263261795, + 0.023586327210068703, + -0.12717093527317047 + ], + "orientation": [ + 0.1320871263742447, + -0.11691264063119888, + -0.789662778377533, + -0.5876368880271912 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.04692797362804413, + 0.02433549053966999, + -0.12256874144077301 + ], + "orientation": [ + 0.1330839842557907, + -0.11851447075605392, + -0.785057783126831, + -0.5932345390319824 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.04692797362804413, + 0.02433549053966999, + -0.12256874144077301 + ], + "orientation": [ + 0.1330839842557907, + -0.11851447075605392, + -0.785057783126831, + -0.5932345390319824 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03690648451447487, + 0.029644962400197983, + -0.12010377645492554 + ], + "orientation": [ + 0.13072393834590912, + -0.08359754830598831, + -0.7062209248542786, + -0.6907783150672913 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + -0.036100856959819794, + 0.028122365474700928, + -0.11680551618337631 + ], + "orientation": [ + 0.1263287514448166, + -0.09132352471351624, + -0.6966500878334045, + -0.7002713680267334 + ], + "joints": [ + -0.011003002524375916 + ] + }, + "final_grasp": { + "position": [ + -0.036100856959819794, + 0.028122365474700928, + -0.11680551618337631 + ], + "orientation": [ + 0.1263287514448166, + -0.09132352471351624, + -0.6966500878334045, + -0.7002713680267334 + ], + "joints": [ + -0.004626201465725899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08048535138368607, + 0.08744853734970093, + -0.12313073128461838 + ], + "orientation": [ + 0.1936105191707611, + -0.20840100944042206, + -0.6263694763183594, + -0.7257720828056335 + ], + "joints": [ + -0.019646713510155678 + ] + }, + "fine_grasp": { + "position": [ + -0.07884278893470764, + 0.08704084903001785, + -0.12073561549186707 + ], + "orientation": [ + 0.19532963633537292, + -0.20628680288791656, + -0.6241230964660645, + -0.7278477549552917 + ], + "joints": [ + -0.014837532304227352 + ] + }, + "final_grasp": { + "position": [ + -0.07884278893470764, + 0.08704084903001785, + -0.12073561549186707 + ], + "orientation": [ + 0.19532963633537292, + -0.20628680288791656, + -0.6241230964660645, + -0.7278477549552917 + ], + "joints": [ + -0.010028351098299026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02231595851480961, + 0.03352729231119156, + -0.1317022144794464 + ], + "orientation": [ + 0.7186169028282166, + 0.6890312433242798, + 0.08822666108608246, + -0.03227555751800537 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + -0.021765712648630142, + 0.03335796669125557, + -0.12621980905532837 + ], + "orientation": [ + 0.7150233387947083, + 0.6924572587013245, + 0.08971869200468063, + -0.03457202762365341 + ], + "joints": [ + -0.012180614285171032 + ] + }, + "final_grasp": { + "position": [ + -0.021765712648630142, + 0.03335796669125557, + -0.12621980905532837 + ], + "orientation": [ + 0.7150233387947083, + 0.6924572587013245, + 0.08971869200468063, + -0.03457202762365341 + ], + "joints": [ + -0.005803808569908142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13659177720546722, + 0.08543230593204498, + -0.02074206806719303 + ], + "orientation": [ + 0.37253686785697937, + -0.5394619703292847, + 0.4501653015613556, + 0.6062575578689575 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.13193988800048828, + 0.08347482979297638, + -0.020469214767217636 + ], + "orientation": [ + 0.3662196695804596, + -0.5442605018615723, + 0.4480383098125458, + 0.6073923707008362 + ], + "joints": [ + -0.01286355871707201 + ] + }, + "final_grasp": { + "position": [ + 0.13193988800048828, + 0.08347482979297638, + -0.020469214767217636 + ], + "orientation": [ + 0.3662196695804596, + -0.5442605018615723, + 0.4480383098125458, + 0.6073923707008362 + ], + "joints": [ + -0.007522983476519585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12289080768823624, + 0.03381601721048355, + -0.06808000802993774 + ], + "orientation": [ + 0.3445623517036438, + -0.37052640318870544, + -0.6413631439208984, + -0.5767497420310974 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.11838075518608093, + 0.03398855775594711, + -0.0650239810347557 + ], + "orientation": [ + 0.3478809595108032, + -0.370045006275177, + -0.6378154754638672, + -0.5789964199066162 + ], + "joints": [ + -0.013187402859330177 + ] + }, + "final_grasp": { + "position": [ + -0.11838075518608093, + 0.03398855775594711, + -0.0650239810347557 + ], + "orientation": [ + 0.3478809595108032, + -0.370045006275177, + -0.6378154754638672, + -0.5789964199066162 + ], + "joints": [ + -0.007846826687455177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12727776169776917, + 0.08046310395002365, + 0.046223774552345276 + ], + "orientation": [ + 0.33416420221328735, + 0.4746457040309906, + -0.5128246545791626, + 0.6325002908706665 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.12210775166749954, + 0.07854276895523071, + 0.0442904457449913 + ], + "orientation": [ + 0.3294318914413452, + 0.47908931970596313, + -0.507298469543457, + 0.6360788941383362 + ], + "joints": [ + -0.012710538692772388 + ] + }, + "final_grasp": { + "position": [ + 0.12210775166749954, + 0.07854276895523071, + 0.0442904457449913 + ], + "orientation": [ + 0.3294318914413452, + 0.47908931970596313, + -0.507298469543457, + 0.6360788941383362 + ], + "joints": [ + -0.006333731114864349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10521255433559418, + 0.043406590819358826, + -0.09102404862642288 + ], + "orientation": [ + 0.2749369442462921, + -0.31031447649002075, + 0.5847362279891968, + 0.697279155254364 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.10078661888837814, + 0.041974108666181564, + -0.08729039132595062 + ], + "orientation": [ + 0.2710553705692291, + -0.31286123394966125, + 0.5761001110076904, + 0.7048088312149048 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + 0.10078661888837814, + 0.041974108666181564, + -0.08729039132595062 + ], + "orientation": [ + 0.2710553705692291, + -0.31286123394966125, + 0.5761001110076904, + 0.7048088312149048 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025093434378504753, + 0.021010996773838997, + 0.13212896883487701 + ], + "orientation": [ + 0.08080407977104187, + 0.0534188374876976, + 0.7200061678886414, + -0.6871741414070129 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.024057786911725998, + 0.020187458023428917, + 0.12652473151683807 + ], + "orientation": [ + 0.0798211470246315, + 0.05299771949648857, + 0.7100127339363098, + -0.6976401805877686 + ], + "joints": [ + -0.011030968278646469 + ] + }, + "final_grasp": { + "position": [ + -0.024057786911725998, + 0.020187458023428917, + 0.12652473151683807 + ], + "orientation": [ + 0.0798211470246315, + 0.05299771949648857, + 0.7100127339363098, + -0.6976401805877686 + ], + "joints": [ + -0.004122765734791756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02508113719522953, + 0.021120579913258553, + 0.13287514448165894 + ], + "orientation": [ + 0.07997730374336243, + 0.053680770099163055, + 0.7209910154342651, + -0.6862171292304993 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.02410285174846649, + 0.020265040919184685, + 0.127347931265831 + ], + "orientation": [ + 0.07883643358945847, + 0.05305190756917, + 0.7106530070304871, + -0.6970959305763245 + ], + "joints": [ + -0.011057538911700249 + ] + }, + "final_grasp": { + "position": [ + -0.02410285174846649, + 0.020265040919184685, + 0.127347931265831 + ], + "orientation": [ + 0.07883643358945847, + 0.05305190756917, + 0.7106530070304871, + -0.6970959305763245 + ], + "joints": [ + -0.004175907000899315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09780016541481018, + 0.07462868839502335, + -0.10509601980447769 + ], + "orientation": [ + 0.20428261160850525, + -0.3129238784313202, + 0.5955185294151306, + 0.7111293077468872 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + 0.09478885680437088, + 0.0740908607840538, + -0.10124132037162781 + ], + "orientation": [ + 0.21152402460575104, + -0.3092103898525238, + 0.5946397185325623, + 0.7113719582557678 + ], + "joints": [ + -0.013422924093902111 + ] + }, + "final_grasp": { + "position": [ + 0.09478885680437088, + 0.0740908607840538, + -0.10124132037162781 + ], + "orientation": [ + 0.21152402460575104, + -0.3092103898525238, + 0.5946397185325623, + 0.7113719582557678 + ], + "joints": [ + -0.008082346990704536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13676844537258148, + 0.037666238844394684, + -0.04115695506334305 + ], + "orientation": [ + 0.4261814057826996, + -0.41632455587387085, + -0.5245572328567505, + -0.608180046081543 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.1316564977169037, + 0.03690127655863762, + -0.0398690365254879 + ], + "orientation": [ + 0.4216561019420624, + -0.41857412457466125, + -0.5258549451828003, + -0.6086694598197937 + ], + "joints": [ + -0.011769923381507397 + ] + }, + "final_grasp": { + "position": [ + -0.1316564977169037, + 0.03690127655863762, + -0.0398690365254879 + ], + "orientation": [ + 0.4216561019420624, + -0.41857412457466125, + -0.5258549451828003, + -0.6086694598197937 + ], + "joints": [ + -0.005924521014094353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11852367967367172, + 0.00105256715323776, + -0.07033028453588486 + ], + "orientation": [ + 0.6709789633750916, + 0.5556816458702087, + 0.35488536953926086, + -0.3392072916030884 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.11368394643068314, + 0.0010913432342931628, + -0.06716670095920563 + ], + "orientation": [ + 0.6660305857658386, + 0.560831606388092, + 0.3501281142234802, + -0.34537163376808167 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.11368394643068314, + 0.0010913432342931628, + -0.06716670095920563 + ], + "orientation": [ + 0.6660305857658386, + 0.560831606388092, + 0.3501281142234802, + -0.34537163376808167 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1374039351940155, + 0.037636641412973404, + -0.0414087250828743 + ], + "orientation": [ + 0.4267582297325134, + -0.41555270552635193, + -0.5250522494316101, + -0.6078762412071228 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.13223481178283691, + 0.03685036301612854, + -0.04014972224831581 + ], + "orientation": [ + 0.4216318428516388, + -0.41829466819763184, + -0.5263587236404419, + -0.6084427833557129 + ], + "joints": [ + -0.011769923381507397 + ] + }, + "final_grasp": { + "position": [ + -0.13223481178283691, + 0.03685036301612854, + -0.04014972224831581 + ], + "orientation": [ + 0.4216318428516388, + -0.41829466819763184, + -0.5263587236404419, + -0.6084427833557129 + ], + "joints": [ + -0.005924521014094353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07025998830795288, + 0.13994094729423523, + 0.1096181645989418 + ], + "orientation": [ + 0.14773887395858765, + 0.23622839152812958, + -0.49204620718955994, + 0.82477867603302 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06763075292110443, + 0.13689231872558594, + 0.10518709570169449 + ], + "orientation": [ + 0.14680588245391846, + 0.23521292209625244, + -0.4821755290031433, + 0.8310413360595703 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.06763075292110443, + 0.13689231872558594, + 0.10518709570169449 + ], + "orientation": [ + 0.14680588245391846, + 0.23521292209625244, + -0.4821755290031433, + 0.8310413360595703 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07029461115598679, + 0.1399897038936615, + 0.10975489020347595 + ], + "orientation": [ + 0.14751330018043518, + 0.23649242520332336, + -0.4927428960800171, + 0.8243272304534912 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06764363497495651, + 0.1369355022907257, + 0.10532791167497635 + ], + "orientation": [ + 0.1469048261642456, + 0.23518826067447662, + -0.4826749265193939, + 0.8307409286499023 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.06764363497495651, + 0.1369355022907257, + 0.10532791167497635 + ], + "orientation": [ + 0.1469048261642456, + 0.23518826067447662, + -0.4826749265193939, + 0.8307409286499023 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0701737329363823, + 0.1400792896747589, + 0.10977863520383835 + ], + "orientation": [ + 0.1481785923242569, + 0.23468126356601715, + -0.49272429943084717, + 0.8247365951538086 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06746900081634521, + 0.13704700767993927, + 0.10527876019477844 + ], + "orientation": [ + 0.1472124606370926, + 0.23374950885772705, + -0.4828105866909027, + 0.831013560295105 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.06746900081634521, + 0.13704700767993927, + 0.10527876019477844 + ], + "orientation": [ + 0.1472124606370926, + 0.23374950885772705, + -0.4828105866909027, + 0.831013560295105 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1458863466978073, + 0.02060852386057377, + 0.005986321717500687 + ], + "orientation": [ + 0.5010082721710205, + 0.47771117091178894, + -0.5290491580963135, + 0.49080514907836914 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.14214618504047394, + 0.020537059754133224, + 0.006062264088541269 + ], + "orientation": [ + 0.49770456552505493, + 0.4798533618450165, + -0.5282936692237854, + 0.4928862154483795 + ], + "joints": [ + -0.012217345647513866 + ] + }, + "final_grasp": { + "position": [ + 0.14214618504047394, + 0.020537059754133224, + 0.006062264088541269 + ], + "orientation": [ + 0.49770456552505493, + 0.4798533618450165, + -0.5282936692237854, + 0.4928862154483795 + ], + "joints": [ + -0.007408173754811287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14588011801242828, + 0.02016211301088333, + 0.005728006828576326 + ], + "orientation": [ + 0.5002046227455139, + 0.4798048734664917, + -0.5249587893486023, + 0.49396440386772156 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.14206068217754364, + 0.020188219845294952, + 0.005777240265160799 + ], + "orientation": [ + 0.497301310300827, + 0.48133963346481323, + -0.5249702334403992, + 0.49538853764533997 + ], + "joints": [ + -0.012217345647513866 + ] + }, + "final_grasp": { + "position": [ + 0.14206068217754364, + 0.020188219845294952, + 0.005777240265160799 + ], + "orientation": [ + 0.497301310300827, + 0.48133963346481323, + -0.5249702334403992, + 0.49538853764533997 + ], + "joints": [ + -0.007408173754811287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12459740787744522, + 0.07397400587797165, + 0.05224836617708206 + ], + "orientation": [ + 0.32003799080848694, + 0.4593135118484497, + 0.5160349607467651, + -0.6483167409896851 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + -0.11947977542877197, + 0.07189862430095673, + 0.0503486804664135 + ], + "orientation": [ + 0.31435880064964294, + 0.4644358456134796, + 0.510358989238739, + -0.6519291400909424 + ], + "joints": [ + -0.012148303911089897 + ] + }, + "final_grasp": { + "position": [ + -0.11947977542877197, + 0.07189862430095673, + 0.0503486804664135 + ], + "orientation": [ + 0.31435880064964294, + 0.4644358456134796, + 0.510358989238739, + -0.6519291400909424 + ], + "joints": [ + -0.0057980697602033615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14562739431858063, + 0.020067919045686722, + 0.00602053152397275 + ], + "orientation": [ + 0.4979562759399414, + 0.48114800453186035, + -0.5241891145706177, + 0.49574366211891174 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.14190687239170074, + 0.02004573866724968, + 0.006101085804402828 + ], + "orientation": [ + 0.49476444721221924, + 0.4826534688472748, + -0.5243785977363586, + 0.4972735345363617 + ], + "joints": [ + -0.012217345647513866 + ] + }, + "final_grasp": { + "position": [ + 0.14190687239170074, + 0.02004573866724968, + 0.006101085804402828 + ], + "orientation": [ + 0.49476444721221924, + 0.4826534688472748, + -0.5243785977363586, + 0.4972735345363617 + ], + "joints": [ + -0.007408173754811287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14613968133926392, + 0.01991930790245533, + 0.005924354773014784 + ], + "orientation": [ + 0.4983098804950714, + 0.4807837903499603, + -0.5272196531295776, + 0.4925175607204437 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.14244255423545837, + 0.019977310672402382, + 0.0060622598975896835 + ], + "orientation": [ + 0.4954906404018402, + 0.4823653995990753, + -0.5273568034172058, + 0.4936673045158386 + ], + "joints": [ + -0.012217345647513866 + ] + }, + "final_grasp": { + "position": [ + 0.14244255423545837, + 0.019977310672402382, + 0.0060622598975896835 + ], + "orientation": [ + 0.4954906404018402, + 0.4823653995990753, + -0.5273568034172058, + 0.4936673045158386 + ], + "joints": [ + -0.007408173754811287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05389219895005226, + -0.0192498080432415, + 0.12485010176897049 + ], + "orientation": [ + 0.19487647712230682, + 0.0969996452331543, + -0.7770780920982361, + 0.5905624032020569 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.0521862767636776, + -0.018314354121685028, + 0.12044643610715866 + ], + "orientation": [ + 0.19514937698841095, + 0.09908072650432587, + -0.7737143039703369, + 0.5945299863815308 + ], + "joints": [ + -0.011769923381507397 + ] + }, + "final_grasp": { + "position": [ + 0.0521862767636776, + -0.018314354121685028, + 0.12044643610715866 + ], + "orientation": [ + 0.19514937698841095, + 0.09908072650432587, + -0.7737143039703369, + 0.5945299863815308 + ], + "joints": [ + -0.005924521014094353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047124914824962616, + 0.012909221462905407, + -0.12156591564416885 + ], + "orientation": [ + 0.1519821435213089, + -0.11088325083255768, + -0.7078940868377686, + -0.6808026432991028 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + -0.04539850726723671, + 0.011884578503668308, + -0.11714491993188858 + ], + "orientation": [ + 0.1511046290397644, + -0.11424216628074646, + -0.6976406574249268, + -0.6909511685371399 + ], + "joints": [ + -0.009672370739281178 + ] + }, + "final_grasp": { + "position": [ + -0.04539850726723671, + 0.011884578503668308, + -0.11714491993188858 + ], + "orientation": [ + 0.1511046290397644, + -0.11424216628074646, + -0.6976406574249268, + -0.6909511685371399 + ], + "joints": [ + -0.00225934199988842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05429397150874138, + -0.01957392506301403, + 0.12570025026798248 + ], + "orientation": [ + 0.19418449699878693, + 0.09788838028907776, + -0.7773820161819458, + 0.5902435779571533 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.053214866667985916, + -0.018542343750596046, + 0.1227288693189621 + ], + "orientation": [ + 0.19523879885673523, + 0.09766566008329391, + -0.7766109704971313, + 0.5909472107887268 + ], + "joints": [ + -0.011769923381507397 + ] + }, + "final_grasp": { + "position": [ + 0.053214866667985916, + -0.018542343750596046, + 0.1227288693189621 + ], + "orientation": [ + 0.19523879885673523, + 0.09766566008329391, + -0.7766109704971313, + 0.5909472107887268 + ], + "joints": [ + -0.005924521014094353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14520005881786346, + 0.10315202921628952, + 0.03953645005822182 + ], + "orientation": [ + 0.39885538816452026, + 0.45754948258399963, + -0.5076630711555481, + 0.6114255785942078 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + 0.14255324006080627, + 0.10295481979846954, + 0.039417825639247894 + ], + "orientation": [ + 0.3981494605541229, + 0.4552242159843445, + -0.5089541673660278, + 0.612546980381012 + ], + "joints": [ + -0.01454312913119793 + ] + }, + "final_grasp": { + "position": [ + 0.14255324006080627, + 0.10295481979846954, + 0.039417825639247894 + ], + "orientation": [ + 0.3981494605541229, + 0.4552242159843445, + -0.5089541673660278, + 0.612546980381012 + ], + "joints": [ + -0.009733948856592178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12223244458436966, + 0.01772356405854225, + 0.032106876373291016 + ], + "orientation": [ + 0.5541809797286987, + -0.5661029815673828, + -0.4433787763118744, + -0.41931626200675964 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + -0.1192372590303421, + 0.01592649146914482, + 0.030862858518958092 + ], + "orientation": [ + 0.5436731576919556, + -0.5769229531288147, + -0.44082900881767273, + -0.4210096597671509 + ], + "joints": [ + -0.008999587036669254 + ] + }, + "final_grasp": { + "position": [ + -0.1192372590303421, + 0.01592649146914482, + 0.030862858518958092 + ], + "orientation": [ + 0.5436731576919556, + -0.5769229531288147, + -0.44082900881767273, + -0.4210096597671509 + ], + "joints": [ + -0.002091391012072563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06068338453769684, + 0.03868979960680008, + 0.1351492702960968 + ], + "orientation": [ + 0.1847979873418808, + 0.11219536513090134, + 0.7678125500679016, + -0.6030967831611633 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + -0.06004663556814194, + 0.03922618553042412, + 0.1331159770488739 + ], + "orientation": [ + 0.18628808856010437, + 0.11145226657390594, + 0.7678616642951965, + -0.6027136445045471 + ], + "joints": [ + -0.01451368909329176 + ] + }, + "final_grasp": { + "position": [ + -0.06004663556814194, + 0.03922618553042412, + 0.1331159770488739 + ], + "orientation": [ + 0.18628808856010437, + 0.11145226657390594, + 0.7678616642951965, + -0.6027136445045471 + ], + "joints": [ + -0.009704509750008583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06104470416903496, + -0.004714906681329012, + 0.12011568248271942 + ], + "orientation": [ + 0.7485014200210571, + -0.6223966479301453, + 0.1484719216823578, + 0.17413800954818726 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.05843130499124527, + -0.0043042609468102455, + 0.1152484342455864 + ], + "orientation": [ + 0.7446951270103455, + -0.6265763640403748, + 0.1475738286972046, + 0.1762191206216812 + ], + "joints": [ + -0.010733694769442081 + ] + }, + "final_grasp": { + "position": [ + 0.05843130499124527, + -0.0043042609468102455, + 0.1152484342455864 + ], + "orientation": [ + 0.7446951270103455, + -0.6265763640403748, + 0.1475738286972046, + 0.1762191206216812 + ], + "joints": [ + -0.0038520637899637222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06084446609020233, + -0.004781365394592285, + 0.11985913664102554 + ], + "orientation": [ + 0.7482980489730835, + -0.622711718082428, + 0.1484205424785614, + 0.1739295870065689 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.05823173001408577, + -0.004398176446557045, + 0.11492820084095001 + ], + "orientation": [ + 0.743636965751648, + -0.6278486251831055, + 0.14729724824428558, + 0.17639100551605225 + ], + "joints": [ + -0.010733694769442081 + ] + }, + "final_grasp": { + "position": [ + 0.05823173001408577, + -0.004398176446557045, + 0.11492820084095001 + ], + "orientation": [ + 0.743636965751648, + -0.6278486251831055, + 0.14729724824428558, + 0.17639100551605225 + ], + "joints": [ + -0.0038520637899637222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11425137519836426, + -0.05939420685172081, + -0.03384749963879585 + ], + "orientation": [ + 0.5783030390739441, + -0.2462591826915741, + 0.679991602897644, + 0.37753602862358093 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.11292880773544312, + -0.058319080621004105, + -0.033585771918296814 + ], + "orientation": [ + 0.5811341404914856, + -0.24416056275367737, + 0.6779193878173828, + 0.3782776892185211 + ], + "joints": [ + -0.011685946024954319 + ] + }, + "final_grasp": { + "position": [ + 0.11292880773544312, + -0.058319080621004105, + -0.033585771918296814 + ], + "orientation": [ + 0.5811341404914856, + -0.24416056275367737, + 0.6779193878173828, + 0.3782776892185211 + ], + "joints": [ + -0.006345374509692192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14506858587265015, + 0.10336968302726746, + 0.03954877704381943 + ], + "orientation": [ + 0.39817965030670166, + 0.4586395025253296, + -0.5119568705558777, + 0.6074560284614563 + ], + "joints": [ + -0.019646713510155678 + ] + }, + "fine_grasp": { + "position": [ + 0.1426108181476593, + 0.10316009819507599, + 0.03951728716492653 + ], + "orientation": [ + 0.3976079225540161, + 0.4560481607913971, + -0.5124121308326721, + 0.6093947291374207 + ], + "joints": [ + -0.014837532304227352 + ] + }, + "final_grasp": { + "position": [ + 0.1426108181476593, + 0.10316009819507599, + 0.03951728716492653 + ], + "orientation": [ + 0.3976079225540161, + 0.4560481607913971, + -0.5124121308326721, + 0.6093947291374207 + ], + "joints": [ + -0.010028351098299026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04578857868909836, + 0.0005594377289526165, + -0.1417393982410431 + ], + "orientation": [ + 0.7607781887054443, + 0.6295510530471802, + -0.1277276873588562, + 0.09256143867969513 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.044971220195293427, + 0.0009627380059100688, + -0.1388639658689499 + ], + "orientation": [ + 0.7587394714355469, + 0.6318016648292542, + -0.1297302544116974, + 0.09116588532924652 + ], + "joints": [ + -0.011599099263548851 + ] + }, + "final_grasp": { + "position": [ + 0.044971220195293427, + 0.0009627380059100688, + -0.1388639658689499 + ], + "orientation": [ + 0.7587394714355469, + 0.6318016648292542, + -0.1297302544116974, + 0.09116588532924652 + ], + "joints": [ + -0.006789930164813995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024294573813676834, + 0.039102502167224884, + 0.14696919918060303 + ], + "orientation": [ + 0.05932939052581787, + 0.054258573800325394, + 0.7841206789016724, + -0.6153784990310669 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + -0.023838460445404053, + 0.039469052106142044, + 0.14373427629470825 + ], + "orientation": [ + 0.05962112918496132, + 0.05500344932079315, + 0.7814338803291321, + -0.6186931133270264 + ], + "joints": [ + -0.014485723339021206 + ] + }, + "final_grasp": { + "position": [ + -0.023838460445404053, + 0.039469052106142044, + 0.14373427629470825 + ], + "orientation": [ + 0.05962112918496132, + 0.05500344932079315, + 0.7814338803291321, + -0.6186931133270264 + ], + "joints": [ + -0.010207945480942726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04550345242023468, + 0.0006259469082579017, + -0.14136667549610138 + ], + "orientation": [ + 0.7602683305740356, + 0.6300167441368103, + -0.13032962381839752, + 0.08991795033216476 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.044642649590969086, + 0.0009504356421530247, + -0.13886496424674988 + ], + "orientation": [ + 0.7586205005645752, + 0.6318538188934326, + -0.13250088691711426, + 0.08774489909410477 + ], + "joints": [ + -0.011599099263548851 + ] + }, + "final_grasp": { + "position": [ + 0.044642649590969086, + 0.0009504356421530247, + -0.13886496424674988 + ], + "orientation": [ + 0.7586205005645752, + 0.6318538188934326, + -0.13250088691711426, + 0.08774489909410477 + ], + "joints": [ + -0.006789930164813995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06113575026392937, + -0.005109724588692188, + 0.12021037936210632 + ], + "orientation": [ + 0.7477440237998962, + -0.6232137680053711, + 0.14935770630836487, + 0.1737116128206253 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.05857088789343834, + -0.004942290019243956, + 0.11522742360830307 + ], + "orientation": [ + 0.7424226999282837, + -0.6290201544761658, + 0.1475217342376709, + 0.17714296281337738 + ], + "joints": [ + -0.010733694769442081 + ] + }, + "final_grasp": { + "position": [ + 0.05857088789343834, + -0.004942290019243956, + 0.11522742360830307 + ], + "orientation": [ + 0.7424226999282837, + -0.6290201544761658, + 0.1475217342376709, + 0.17714296281337738 + ], + "joints": [ + -0.0038520637899637222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12029299139976501, + 0.05940490961074829, + -0.08507292717695236 + ], + "orientation": [ + 0.6278582215309143, + 0.62649005651474, + -0.285834938287735, + 0.3627709448337555 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.11838845163583755, + 0.05949786677956581, + -0.08322900533676147 + ], + "orientation": [ + 0.6305696964263916, + 0.6224974393844604, + -0.2850193977355957, + 0.36557191610336304 + ], + "joints": [ + -0.013983764685690403 + ] + }, + "final_grasp": { + "position": [ + 0.11838845163583755, + 0.05949786677956581, + -0.08322900533676147 + ], + "orientation": [ + 0.6305696964263916, + 0.6224974393844604, + -0.2850193977355957, + 0.36557191610336304 + ], + "joints": [ + -0.009174587205052376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11796177178621292, + 0.02500227838754654, + 0.08380647003650665 + ], + "orientation": [ + 0.3027578890323639, + 0.3451361656188965, + 0.6025153994560242, + -0.6528351902961731 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.1139189824461937, + 0.023897819221019745, + 0.08067098259925842 + ], + "orientation": [ + 0.3007740378379822, + 0.3478538990020752, + 0.5968821048736572, + -0.6574681401252747 + ], + "joints": [ + -0.010592310689389706 + ] + }, + "final_grasp": { + "position": [ + -0.1139189824461937, + 0.023897819221019745, + 0.08067098259925842 + ], + "orientation": [ + 0.3007740378379822, + 0.3478538990020752, + 0.5968821048736572, + -0.6574681401252747 + ], + "joints": [ + -0.00474691204726696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14471222460269928, + 0.046832576394081116, + -0.04214786738157272 + ], + "orientation": [ + 0.5040978193283081, + 0.6241930723190308, + -0.4324532151222229, + 0.4114031195640564 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.1427156776189804, + 0.04691409692168236, + -0.04165532439947128 + ], + "orientation": [ + 0.5056518912315369, + 0.6230504512786865, + -0.434623122215271, + 0.4089340567588806 + ], + "joints": [ + -0.011599099263548851 + ] + }, + "final_grasp": { + "position": [ + 0.1427156776189804, + 0.04691409692168236, + -0.04165532439947128 + ], + "orientation": [ + 0.5056518912315369, + 0.6230504512786865, + -0.434623122215271, + 0.4089340567588806 + ], + "joints": [ + -0.006789930164813995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1399681568145752, + -0.00017838065105024725, + 0.03777831792831421 + ], + "orientation": [ + 0.5816376209259033, + -0.5323783159255981, + 0.49025899171829224, + 0.371371865272522 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.13698400557041168, + 0.0002208454388892278, + 0.03706623986363411 + ], + "orientation": [ + 0.5805675983428955, + -0.5340322852134705, + 0.4901970326900482, + 0.37075284123420715 + ], + "joints": [ + -0.011656505055725574 + ] + }, + "final_grasp": { + "position": [ + 0.13698400557041168, + 0.0002208454388892278, + 0.03706623986363411 + ], + "orientation": [ + 0.5805675983428955, + -0.5340322852134705, + 0.4901970326900482, + 0.37075284123420715 + ], + "joints": [ + -0.006315933540463448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06074238941073418, + 0.038682181388139725, + 0.13532373309135437 + ], + "orientation": [ + 0.1842079758644104, + 0.1126454770565033, + 0.7682621479034424, + -0.6026207804679871 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + -0.0600491464138031, + 0.03913484513759613, + 0.13342173397541046 + ], + "orientation": [ + 0.1857016533613205, + 0.11114924401044846, + 0.7683175802230835, + -0.6023693084716797 + ], + "joints": [ + -0.014485723339021206 + ] + }, + "final_grasp": { + "position": [ + -0.0600491464138031, + 0.03913484513759613, + 0.13342173397541046 + ], + "orientation": [ + 0.1857016533613205, + 0.11114924401044846, + 0.7683175802230835, + -0.6023693084716797 + ], + "joints": [ + -0.010207945480942726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13983044028282166, + -0.00052680290536955, + 0.037782251834869385 + ], + "orientation": [ + 0.5800160765647888, + -0.5345960259437561, + 0.4885595738887787, + 0.37295833230018616 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.13696889579296112, + -6.781595584470779e-05, + 0.037141475826501846 + ], + "orientation": [ + 0.5791616439819336, + -0.5359218120574951, + 0.48911798000335693, + 0.3716493248939514 + ], + "joints": [ + -0.011656505055725574 + ] + }, + "final_grasp": { + "position": [ + 0.13696889579296112, + -6.781595584470779e-05, + 0.037141475826501846 + ], + "orientation": [ + 0.5791616439819336, + -0.5359218120574951, + 0.48911798000335693, + 0.3716493248939514 + ], + "joints": [ + -0.006315933540463448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08639002591371536, + -0.002637192839756608, + -0.09541388601064682 + ], + "orientation": [ + 0.24527688324451447, + -0.2626347839832306, + -0.6814791560173035, + -0.6375330686569214 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.08296457678079605, + -0.0034645721316337585, + -0.09197352081537247 + ], + "orientation": [ + 0.23865248262882233, + -0.27037954330444336, + -0.6731876730918884, + -0.6455681324005127 + ], + "joints": [ + -0.007905950769782066 + ] + }, + "final_grasp": { + "position": [ + -0.08296457678079605, + -0.0034645721316337585, + -0.09197352081537247 + ], + "orientation": [ + 0.23865248262882233, + -0.27037954330444336, + -0.6731876730918884, + -0.6455681324005127 + ], + "joints": [ + -0.000492926687002182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004524163901805878, + -0.10588568449020386, + 0.003597400151193142 + ], + "orientation": [ + 0.7652016878128052, + -0.07386700063943863, + -0.637868344783783, + -0.046196673065423965 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.005280789453536272, + -0.10549364238977432, + 0.0035168433096259832 + ], + "orientation": [ + 0.7674011588096619, + -0.07230625301599503, + -0.6354550123214722, + -0.04543379321694374 + ], + "joints": [ + -0.008942179381847382 + ] + }, + "final_grasp": { + "position": [ + -0.005280789453536272, + -0.10549364238977432, + 0.0035168433096259832 + ], + "orientation": [ + 0.7674011588096619, + -0.07230625301599503, + -0.6354550123214722, + -0.04543379321694374 + ], + "joints": [ + -0.0025653839111328125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14549051225185394, + 0.03518117964267731, + -0.03924177587032318 + ], + "orientation": [ + 0.4649199843406677, + -0.39452385902404785, + -0.5198546648025513, + -0.5982904434204102 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + -0.14216019213199615, + 0.03546883910894394, + -0.038796816021203995 + ], + "orientation": [ + 0.46609124541282654, + -0.3908659517765045, + -0.5206015706062317, + -0.5991300344467163 + ], + "joints": [ + -0.012187904678285122 + ] + }, + "final_grasp": { + "position": [ + -0.14216019213199615, + 0.03546883910894394, + -0.038796816021203995 + ], + "orientation": [ + 0.46609124541282654, + -0.3908659517765045, + -0.5206015706062317, + -0.5991300344467163 + ], + "joints": [ + -0.007378732785582542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06588077545166016, + 0.00501076877117157, + -0.12226524949073792 + ], + "orientation": [ + 0.6901038885116577, + 0.6811975240707397, + 0.16802382469177246, + -0.17746694386005402 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.06309685856103897, + 0.00410442054271698, + -0.11710461974143982 + ], + "orientation": [ + 0.6820269823074341, + 0.6890726089477539, + 0.1655595600605011, + -0.18057774007320404 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + -0.06309685856103897, + 0.00410442054271698, + -0.11710461974143982 + ], + "orientation": [ + 0.6820269823074341, + 0.6890726089477539, + 0.1655595600605011, + -0.18057774007320404 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02937050722539425, + 0.2060483694076538, + 0.04210798442363739 + ], + "orientation": [ + 0.005076004192233086, + -0.847034215927124, + 0.07608015835285187, + -0.52604079246521 + ], + "joints": [ + 0.011261504143476486 + ] + }, + "fine_grasp": { + "position": [ + 0.028067318722605705, + 0.2041621208190918, + 0.040268562734127045 + ], + "orientation": [ + 0.005037060938775539, + -0.8500619530677795, + 0.06686130166053772, + -0.5223971605300903 + ], + "joints": [ + 0.017133478075265884 + ] + }, + "final_grasp": { + "position": [ + 0.028067318722605705, + 0.2041621208190918, + 0.040268562734127045 + ], + "orientation": [ + 0.005037060938775539, + -0.8500619530677795, + 0.06686130166053772, + -0.5223971605300903 + ], + "joints": [ + 0.023005452007055283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04222695156931877, + 0.20858697593212128, + -0.030005786567926407 + ], + "orientation": [ + 0.048263486474752426, + -0.8693023920059204, + -0.0914316400885582, + -0.4833470284938812 + ], + "joints": [ + 0.011277779936790466 + ] + }, + "fine_grasp": { + "position": [ + -0.04067544639110565, + 0.2047528624534607, + -0.029324550181627274 + ], + "orientation": [ + 0.058377254754304886, + -0.8655800223350525, + -0.08927913010120392, + -0.48927754163742065 + ], + "joints": [ + 0.01768115535378456 + ] + }, + "final_grasp": { + "position": [ + -0.04067544639110565, + 0.2047528624534607, + -0.029324550181627274 + ], + "orientation": [ + 0.058377254754304886, + -0.8655800223350525, + -0.08927913010120392, + -0.48927754163742065 + ], + "joints": [ + 0.024084530770778656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14495207369327545, + 0.03495248779654503, + -0.03905589506030083 + ], + "orientation": [ + 0.4629431664943695, + -0.3958771228790283, + -0.5161178708076477, + -0.6021521091461182 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + -0.14152327179908752, + 0.03505837544798851, + -0.03844121843576431 + ], + "orientation": [ + 0.46424221992492676, + -0.3924858570098877, + -0.5153689384460449, + -0.6040107011795044 + ], + "joints": [ + -0.012187904678285122 + ] + }, + "final_grasp": { + "position": [ + -0.14152327179908752, + 0.03505837544798851, + -0.03844121843576431 + ], + "orientation": [ + 0.46424221992492676, + -0.3924858570098877, + -0.5153689384460449, + -0.6040107011795044 + ], + "joints": [ + -0.007378732785582542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008515323512256145, + -0.11586214601993561, + 0.012958520092070103 + ], + "orientation": [ + 0.30386659502983093, + 0.0410272590816021, + -0.9434083700180054, + 0.1263425648212433 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.010054279118776321, + -0.11895733326673508, + 0.014799564145505428 + ], + "orientation": [ + 0.3108404874801636, + 0.03851420804858208, + -0.9424576163291931, + 0.11691255867481232 + ], + "joints": [ + -0.0081517044454813 + ] + }, + "final_grasp": { + "position": [ + 0.010054279118776321, + -0.11895733326673508, + 0.014799564145505428 + ], + "orientation": [ + 0.3108404874801636, + 0.03851420804858208, + -0.9424576163291931, + 0.11691255867481232 + ], + "joints": [ + -0.0033691078424453735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0034971858840435743, + 0.20734168589115143, + 0.04939433932304382 + ], + "orientation": [ + 0.0884968489408493, + -0.8147456645965576, + -0.0077506136149168015, + 0.5729727745056152 + ], + "joints": [ + 0.011357348412275314 + ] + }, + "fine_grasp": { + "position": [ + -0.002346685854718089, + 0.2053234577178955, + 0.047265175729990005 + ], + "orientation": [ + 0.08176834136247635, + -0.8256356716156006, + 0.001730794901959598, + 0.5582442879676819 + ], + "joints": [ + 0.018265552818775177 + ] + }, + "final_grasp": { + "position": [ + -0.002346685854718089, + 0.2053234577178955, + 0.047265175729990005 + ], + "orientation": [ + 0.08176834136247635, + -0.8256356716156006, + 0.001730794901959598, + 0.5582442879676819 + ], + "joints": [ + 0.02517375722527504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002410827437415719, + 0.2266426980495453, + 0.0005260601756162941 + ], + "orientation": [ + 0.012760350480675697, + 0.355975478887558, + -0.06141515448689461, + 0.93238765001297 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.001495039789006114, + 0.22920724749565125, + 0.0003223692474421114 + ], + "orientation": [ + 0.013299104757606983, + 0.35031527280807495, + -0.06234956160187721, + 0.9344597458839417 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.001495039789006114, + 0.22920724749565125, + 0.0003223692474421114 + ], + "orientation": [ + 0.013299104757606983, + 0.35031527280807495, + -0.06234956160187721, + 0.9344597458839417 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15115371346473694, + 0.057540081441402435, + -0.03621634095907211 + ], + "orientation": [ + 0.46429872512817383, + -0.4113100469112396, + -0.5738309621810913, + -0.5347604751586914 + ], + "joints": [ + -0.017835352569818497 + ] + }, + "fine_grasp": { + "position": [ + -0.14827489852905273, + 0.05763106048107147, + -0.03512584790587425 + ], + "orientation": [ + 0.465110182762146, + -0.41358473896980286, + -0.5707802772521973, + -0.5355652570724487 + ], + "joints": [ + -0.013531006872653961 + ] + }, + "final_grasp": { + "position": [ + -0.14827489852905273, + 0.05763106048107147, + -0.03512584790587425 + ], + "orientation": [ + 0.465110182762146, + -0.41358473896980286, + -0.5707802772521973, + -0.5355652570724487 + ], + "joints": [ + -0.009226661175489426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11542126536369324, + 2.7872809369000606e-05, + -0.030879296362400055 + ], + "orientation": [ + 0.4538319706916809, + -0.40781861543655396, + 0.5654268860816956, + 0.5549891591072083 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.11619790643453598, + -0.001729015028104186, + -0.03044949471950531 + ], + "orientation": [ + 0.4502871632575989, + -0.41051018238067627, + 0.5582661032676697, + 0.5630824565887451 + ], + "joints": [ + -0.008297359570860863 + ] + }, + "final_grasp": { + "position": [ + 0.11619790643453598, + -0.001729015028104186, + -0.03044949471950531 + ], + "orientation": [ + 0.4502871632575989, + -0.41051018238067627, + 0.5582661032676697, + 0.5630824565887451 + ], + "joints": [ + -0.001893993467092514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0028134742751717567, + 0.22665059566497803, + 0.0004299648280721158 + ], + "orientation": [ + 0.012748214416205883, + 0.34406960010528564, + -0.06693608313798904, + 0.9364684224128723 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.0019617744255810976, + 0.22883623838424683, + 0.00032839446794241667 + ], + "orientation": [ + 0.01221788302063942, + 0.34692415595054626, + -0.06484057754278183, + 0.9355694055557251 + ], + "joints": [ + -0.014391585253179073 + ] + }, + "final_grasp": { + "position": [ + -0.0019617744255810976, + 0.22883623838424683, + 0.00032839446794241667 + ], + "orientation": [ + 0.01221788302063942, + 0.34692415595054626, + -0.06484057754278183, + 0.9355694055557251 + ], + "joints": [ + -0.00907757505774498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0028881572652608156, + 0.22649607062339783, + 0.0005254768184386194 + ], + "orientation": [ + 0.012539612129330635, + 0.3444100022315979, + -0.06750647723674774, + 0.9363051056861877 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.0021610334515571594, + 0.22860680520534515, + 8.143020386341959e-05 + ], + "orientation": [ + 0.012159977108240128, + 0.3481364846229553, + -0.0672849789261818, + 0.9349469542503357 + ], + "joints": [ + -0.014391585253179073 + ] + }, + "final_grasp": { + "position": [ + -0.0021610334515571594, + 0.22860680520534515, + 8.143020386341959e-05 + ], + "orientation": [ + 0.012159977108240128, + 0.3481364846229553, + -0.0672849789261818, + 0.9349469542503357 + ], + "joints": [ + -0.00907757505774498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023088334128260612, + 0.20169247686862946, + -0.04282744973897934 + ], + "orientation": [ + 0.07060062885284424, + 0.5802097916603088, + -0.004573654383420944, + -0.8113885521888733 + ], + "joints": [ + 0.010435232892632484 + ] + }, + "fine_grasp": { + "position": [ + -0.022406967356801033, + 0.20144429802894592, + -0.03945554792881012 + ], + "orientation": [ + 0.05933672562241554, + 0.5843470096588135, + 0.006771427113562822, + -0.8093034029006958 + ], + "joints": [ + 0.017848262563347816 + ] + }, + "final_grasp": { + "position": [ + -0.022406967356801033, + 0.20144429802894592, + -0.03945554792881012 + ], + "orientation": [ + 0.05933672562241554, + 0.5843470096588135, + 0.006771427113562822, + -0.8093034029006958 + ], + "joints": [ + 0.02526129223406315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017281247302889824, + 0.20551829040050507, + 0.04267781600356102 + ], + "orientation": [ + 0.03342559188604355, + -0.5254583358764648, + 0.04153513163328171, + -0.8491472005844116 + ], + "joints": [ + 0.011549359187483788 + ] + }, + "fine_grasp": { + "position": [ + -0.01619570702314377, + 0.20375296473503113, + 0.042016662657260895 + ], + "orientation": [ + 0.029405493289232254, + -0.5242199897766113, + 0.039085276424884796, + -0.8501771688461304 + ], + "joints": [ + 0.017926162108778954 + ] + }, + "final_grasp": { + "position": [ + -0.01619570702314377, + 0.20375296473503113, + 0.042016662657260895 + ], + "orientation": [ + 0.029405493289232254, + -0.5242199897766113, + 0.039085276424884796, + -0.8501771688461304 + ], + "joints": [ + 0.02430296503007412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15112553536891937, + 0.05774865299463272, + -0.03609326109290123 + ], + "orientation": [ + 0.4657110273838043, + -0.4103313088417053, + -0.5738853812217712, + -0.5342257022857666 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + -0.14798562228679657, + 0.05791497975587845, + -0.03502505272626877 + ], + "orientation": [ + 0.46670129895210266, + -0.4122811257839203, + -0.5710792541503906, + -0.5348670482635498 + ], + "joints": [ + -0.013786369003355503 + ] + }, + "final_grasp": { + "position": [ + -0.14798562228679657, + 0.05791497975587845, + -0.03502505272626877 + ], + "orientation": [ + 0.46670129895210266, + -0.4122811257839203, + -0.5710792541503906, + -0.5348670482635498 + ], + "joints": [ + -0.00998685322701931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02938740700483322, + 0.20102296769618988, + 0.04276268184185028 + ], + "orientation": [ + 0.004873554687947035, + 0.8279440999031067, + -0.08918114006519318, + 0.5536530017852783 + ], + "joints": [ + 0.010248102247714996 + ] + }, + "fine_grasp": { + "position": [ + 0.02834348753094673, + 0.20071548223495483, + 0.03937303647398949 + ], + "orientation": [ + 0.0175455491989851, + 0.8223430514335632, + -0.07908208668231964, + 0.5631962418556213 + ], + "joints": [ + 0.01715630292892456 + ] + }, + "final_grasp": { + "position": [ + 0.02834348753094673, + 0.20071548223495483, + 0.03937303647398949 + ], + "orientation": [ + 0.0175455491989851, + 0.8223430514335632, + -0.07908208668231964, + 0.5631962418556213 + ], + "joints": [ + 0.024064503610134125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012993181124329567, + 0.1380799114704132, + 0.12475249171257019 + ], + "orientation": [ + 0.050589438527822495, + 0.004644376691430807, + 0.48849743604660034, + -0.8710851669311523 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.011832009069621563, + 0.13530327379703522, + 0.1203330010175705 + ], + "orientation": [ + 0.04349770396947861, + 0.008261417970061302, + 0.48555517196655273, + -0.8730840682983398 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.011832009069621563, + 0.13530327379703522, + 0.1203330010175705 + ], + "orientation": [ + 0.04349770396947861, + 0.008261417970061302, + 0.48555517196655273, + -0.8730840682983398 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012998166494071484, + 0.13799430429935455, + 0.12475907057523727 + ], + "orientation": [ + 0.05079560726881027, + 0.004419713746756315, + 0.4888117015361786, + -0.8708979487419128 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.011840892024338245, + 0.1352369338274002, + 0.12031780183315277 + ], + "orientation": [ + 0.04393916577100754, + 0.007712252903729677, + 0.48537105321884155, + -0.8731694221496582 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.011840892024338245, + 0.1352369338274002, + 0.12031780183315277 + ], + "orientation": [ + 0.04393916577100754, + 0.007712252903729677, + 0.48537105321884155, + -0.8731694221496582 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14016346633434296, + 0.059742521494627, + -0.06695204973220825 + ], + "orientation": [ + 0.6033021807670593, + 0.5921111106872559, + -0.3455609083175659, + 0.40745383501052856 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.13788862526416779, + 0.05995960533618927, + -0.06557144224643707 + ], + "orientation": [ + 0.6040546894073486, + 0.5899127125740051, + -0.34703561663627625, + 0.4082736372947693 + ], + "joints": [ + -0.01269273366779089 + ] + }, + "final_grasp": { + "position": [ + 0.13788862526416779, + 0.05995960533618927, + -0.06557144224643707 + ], + "orientation": [ + 0.6040546894073486, + 0.5899127125740051, + -0.34703561663627625, + 0.4082736372947693 + ], + "joints": [ + -0.008388390764594078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15244750678539276, + 0.07563580572605133, + -0.00477735185995698 + ], + "orientation": [ + 0.5168449282646179, + -0.4667832553386688, + 0.5306780338287354, + 0.4830792248249054 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + 0.14935098588466644, + 0.07594262808561325, + -0.005346480291336775 + ], + "orientation": [ + 0.513147234916687, + -0.46762824058532715, + 0.5335073471069336, + 0.4830876886844635 + ], + "joints": [ + -0.015579357743263245 + ] + }, + "final_grasp": { + "position": [ + 0.14935098588466644, + 0.07594262808561325, + -0.005346480291336775 + ], + "orientation": [ + 0.513147234916687, + -0.46762824058532715, + 0.5335073471069336, + 0.4830876886844635 + ], + "joints": [ + -0.011806406080722809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012978699058294296, + 0.13802699744701385, + 0.12474562227725983 + ], + "orientation": [ + 0.05084030330181122, + 0.004187921527773142, + 0.48864319920539856, + -0.8709911108016968 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.01182906050235033, + 0.13524912297725677, + 0.12035622447729111 + ], + "orientation": [ + 0.043667033314704895, + 0.007904935628175735, + 0.48559531569480896, + -0.8730567097663879 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.01182906050235033, + 0.13524912297725677, + 0.12035622447729111 + ], + "orientation": [ + 0.043667033314704895, + 0.007904935628175735, + 0.48559531569480896, + -0.8730567097663879 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12056440860033035, + -0.010313845239579678, + -0.027572860941290855 + ], + "orientation": [ + 0.45973724126815796, + -0.4224083423614502, + -0.5826191902160645, + -0.5203534364700317 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.11774346232414246, + -0.011909510008990765, + -0.02737908810377121 + ], + "orientation": [ + 0.4542199671268463, + -0.42842286825180054, + -0.5776481628417969, + -0.5257952213287354 + ], + "joints": [ + -0.007290571928024292 + ] + }, + "final_grasp": { + "position": [ + -0.11774346232414246, + -0.011909510008990765, + -0.02737908810377121 + ], + "orientation": [ + 0.4542199671268463, + -0.42842286825180054, + -0.5776481628417969, + -0.5257952213287354 + ], + "joints": [ + 0.00014902278780937195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06111995875835419, + -0.004680173471570015, + 0.12039054185152054 + ], + "orientation": [ + 0.7485072612762451, + -0.622426450252533, + 0.1491767168045044, + 0.17340271174907684 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.05853714793920517, + -0.004330534487962723, + 0.11551166325807571 + ], + "orientation": [ + 0.7442710995674133, + -0.6270896792411804, + 0.14739693701267242, + 0.17633265256881714 + ], + "joints": [ + -0.010733694769442081 + ] + }, + "final_grasp": { + "position": [ + 0.05853714793920517, + -0.004330534487962723, + 0.11551166325807571 + ], + "orientation": [ + 0.7442710995674133, + -0.6270896792411804, + 0.14739693701267242, + 0.17633265256881714 + ], + "joints": [ + -0.0038520637899637222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14805175364017487, + 0.11665099114179611, + -0.026446999981999397 + ], + "orientation": [ + 0.43875885009765625, + 0.6392344236373901, + 0.44277244806289673, + -0.45035821199417114 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.1454099714756012, + 0.11685563623905182, + -0.02624375931918621 + ], + "orientation": [ + 0.43882280588150024, + 0.6402473449707031, + 0.4486392140388489, + -0.44299086928367615 + ], + "joints": [ + -0.015903202816843987 + ] + }, + "final_grasp": { + "position": [ + -0.1454099714756012, + 0.11685563623905182, + -0.02624375931918621 + ], + "orientation": [ + 0.43882280588150024, + 0.6402473449707031, + 0.4486392140388489, + -0.44299086928367615 + ], + "joints": [ + -0.01213025115430355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04040608927607536, + 0.21938130259513855, + 0.011500215157866478 + ], + "orientation": [ + 0.07027494162321091, + -0.8431815505027771, + -0.07536225020885468, + -0.5276616811752319 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.039505019783973694, + 0.21802109479904175, + 0.010543635115027428 + ], + "orientation": [ + 0.07098513841629028, + -0.8455442786216736, + -0.07939772307872772, + -0.5231748819351196 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.039505019783973694, + 0.21802109479904175, + 0.010543635115027428 + ], + "orientation": [ + 0.07098513841629028, + -0.8455442786216736, + -0.07939772307872772, + -0.5231748819351196 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009786023758351803, + 0.21244864165782928, + -0.017412865534424782 + ], + "orientation": [ + 0.03187301754951477, + 0.5400065779685974, + 0.1042221337556839, + 0.8345745801925659 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.008607964962720871, + 0.21553443372249603, + -0.017618374899029732 + ], + "orientation": [ + 0.03568644821643829, + 0.5442583560943604, + 0.10454149544239044, + 0.8316130638122559 + ], + "joints": [ + -0.015427814796566963 + ] + }, + "final_grasp": { + "position": [ + 0.008607964962720871, + 0.21553443372249603, + -0.017618374899029732 + ], + "orientation": [ + 0.03568644821643829, + 0.5442583560943604, + 0.10454149544239044, + 0.8316130638122559 + ], + "joints": [ + -0.01115003414452076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10817929357290268, + 0.008965090848505497, + 0.07193420827388763 + ], + "orientation": [ + 0.27142441272735596, + 0.38989272713661194, + -0.6036972403526306, + 0.6402047872543335 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10659277439117432, + 0.010102313943207264, + 0.07076035439968109 + ], + "orientation": [ + 0.27891525626182556, + 0.38746291399002075, + -0.6030353307723999, + 0.6390829682350159 + ], + "joints": [ + -0.007031496614217758 + ] + }, + "final_grasp": { + "position": [ + 0.10659277439117432, + 0.010102313943207264, + 0.07076035439968109 + ], + "orientation": [ + 0.27891525626182556, + 0.38746291399002075, + -0.6030353307723999, + 0.6390829682350159 + ], + "joints": [ + -0.001717500388622284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15185323357582092, + 0.07591009885072708, + -0.004756986163556576 + ], + "orientation": [ + 0.5182637572288513, + -0.4653970003128052, + 0.5312473177909851, + 0.4822704493999481 + ], + "joints": [ + -0.019646713510155678 + ] + }, + "fine_grasp": { + "position": [ + 0.14838919043540955, + 0.07619699835777283, + -0.005146040581166744 + ], + "orientation": [ + 0.5146573185920715, + -0.4661511778831482, + 0.5333119034767151, + 0.4831244647502899 + ], + "joints": [ + -0.015873761847615242 + ] + }, + "final_grasp": { + "position": [ + 0.14838919043540955, + 0.07619699835777283, + -0.005146040581166744 + ], + "orientation": [ + 0.5146573185920715, + -0.4661511778831482, + 0.5333119034767151, + 0.4831244647502899 + ], + "joints": [ + -0.012100810185074806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026910575106739998, + 0.020402906462550163, + -0.13808201253414154 + ], + "orientation": [ + 0.0542929545044899, + -0.08052068203687668, + 0.6600630283355713, + 0.7449063062667847 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.025718264281749725, + 0.019204160198569298, + -0.132408007979393 + ], + "orientation": [ + 0.05390365049242973, + -0.08041688054800034, + 0.6528218984603882, + 0.7512996792793274 + ], + "joints": [ + -0.010060911066830158 + ] + }, + "final_grasp": { + "position": [ + 0.025718264281749725, + 0.019204160198569298, + -0.132408007979393 + ], + "orientation": [ + 0.05390365049242973, + -0.08041688054800034, + 0.6528218984603882, + 0.7512996792793274 + ], + "joints": [ + -0.0036841128021478653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029525425285100937, + 0.19983987510204315, + 0.04168461635708809 + ], + "orientation": [ + 0.012403327971696854, + 0.8201909065246582, + -0.09013059735298157, + 0.5648092031478882 + ], + "joints": [ + 0.01050230860710144 + ] + }, + "fine_grasp": { + "position": [ + 0.028660360723733902, + 0.19919143617153168, + 0.03810964897274971 + ], + "orientation": [ + 0.025749601423740387, + 0.8143972754478455, + -0.07941485941410065, + 0.5742712020874023 + ], + "joints": [ + 0.017410509288311005 + ] + }, + "final_grasp": { + "position": [ + 0.028660360723733902, + 0.19919143617153168, + 0.03810964897274971 + ], + "orientation": [ + 0.025749601423740387, + 0.8143972754478455, + -0.07941485941410065, + 0.5742712020874023 + ], + "joints": [ + 0.02431870996952057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14809392392635345, + 0.1165742427110672, + -0.026390440762043 + ], + "orientation": [ + 0.4377894401550293, + 0.640183687210083, + 0.44312584400177, + -0.4496051073074341 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.14546945691108704, + 0.116767518222332, + -0.026204492896795273 + ], + "orientation": [ + 0.43754109740257263, + 0.6412563920021057, + 0.4490162432193756, + -0.4424166679382324 + ], + "joints": [ + -0.015903202816843987 + ] + }, + "final_grasp": { + "position": [ + -0.14546945691108704, + 0.116767518222332, + -0.026204492896795273 + ], + "orientation": [ + 0.43754109740257263, + 0.6412563920021057, + 0.4490162432193756, + -0.4424166679382324 + ], + "joints": [ + -0.01213025115430355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13000626862049103, + 0.05683516338467598, + 0.05085069313645363 + ], + "orientation": [ + 0.37069255113601685, + 0.42448925971984863, + -0.6029528379440308, + 0.564662516117096 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.12446415424346924, + 0.05725312605500221, + 0.04876978322863579 + ], + "orientation": [ + 0.37496131658554077, + 0.419822096824646, + -0.6036408543586731, + 0.5645981431007385 + ], + "joints": [ + -0.013860185630619526 + ] + }, + "final_grasp": { + "position": [ + 0.12446415424346924, + 0.05725312605500221, + 0.04876978322863579 + ], + "orientation": [ + 0.37496131658554077, + 0.419822096824646, + -0.6036408543586731, + 0.5645981431007385 + ], + "joints": [ + -0.008014775812625885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0986848846077919, + 0.06927819550037384, + 0.10305806994438171 + ], + "orientation": [ + 0.6328737139701843, + -0.6769117116928101, + -0.2979063391685486, + -0.2291577011346817 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.09433724731206894, + 0.06924152374267578, + 0.09869338572025299 + ], + "orientation": [ + 0.634834885597229, + -0.6753683686256409, + -0.2977136969566345, + -0.22853624820709229 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.09433724731206894, + 0.06924152374267578, + 0.09869338572025299 + ], + "orientation": [ + 0.634834885597229, + -0.6753683686256409, + -0.2977136969566345, + -0.22853624820709229 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12171248346567154, + 0.07097042351961136, + -0.0875500738620758 + ], + "orientation": [ + 0.592396080493927, + 0.6596797108650208, + 0.37920281291007996, + -0.26475414633750916 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.11923833936452866, + 0.07116178423166275, + -0.08582644164562225 + ], + "orientation": [ + 0.5919812321662903, + 0.6596524715423584, + 0.3828967213630676, + -0.2603975832462311 + ], + "joints": [ + -0.015398372896015644 + ] + }, + "final_grasp": { + "position": [ + -0.11923833936452866, + 0.07116178423166275, + -0.08582644164562225 + ], + "orientation": [ + 0.5919812321662903, + 0.6596524715423584, + 0.3828967213630676, + -0.2603975832462311 + ], + "joints": [ + -0.011120591312646866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1151232197880745, + -0.0766492635011673, + 0.006101193372160196 + ], + "orientation": [ + 0.6124587655067444, + -0.32956305146217346, + -0.665160596370697, + -0.2717421352863312 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.11228275299072266, + -0.07487457990646362, + 0.005903236567974091 + ], + "orientation": [ + 0.6140841841697693, + -0.33100226521492004, + -0.6616518497467041, + -0.2748726010322571 + ], + "joints": [ + -0.01103973388671875 + ] + }, + "final_grasp": { + "position": [ + -0.11228275299072266, + -0.07487457990646362, + 0.005903236567974091 + ], + "orientation": [ + 0.6140841841697693, + -0.33100226521492004, + -0.6616518497467041, + -0.2748726010322571 + ], + "joints": [ + -0.006230566650629044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08718691021203995, + -0.05780107155442238, + 0.07698428630828857 + ], + "orientation": [ + 0.7609556317329407, + -0.4747910797595978, + -0.40321412682533264, + -0.1814890205860138 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.08299309760332108, + -0.055504512041807175, + 0.07351619750261307 + ], + "orientation": [ + 0.756805956363678, + -0.4813649654388428, + -0.40262240171432495, + -0.1828322559595108 + ], + "joints": [ + -0.009558952413499355 + ] + }, + "final_grasp": { + "position": [ + -0.08299309760332108, + -0.055504512041807175, + 0.07351619750261307 + ], + "orientation": [ + 0.756805956363678, + -0.4813649654388428, + -0.40262240171432495, + -0.1828322559595108 + ], + "joints": [ + -0.002650754526257515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08745431154966354, + -0.057775646448135376, + 0.07654052972793579 + ], + "orientation": [ + 0.7605065107345581, + -0.4722210466861725, + -0.4074465036392212, + -0.18062224984169006 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.08371883630752563, + -0.05577417090535164, + 0.07310371845960617 + ], + "orientation": [ + 0.7556635141372681, + -0.4776155948638916, + -0.40949684381484985, + -0.1821220964193344 + ], + "joints": [ + -0.009558952413499355 + ] + }, + "final_grasp": { + "position": [ + -0.08371883630752563, + -0.05577417090535164, + 0.07310371845960617 + ], + "orientation": [ + 0.7556635141372681, + -0.4776155948638916, + -0.40949684381484985, + -0.1821220964193344 + ], + "joints": [ + -0.002650754526257515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12094210088253021, + 0.06988036632537842, + -0.07299632579088211 + ], + "orientation": [ + 0.2677324116230011, + -0.4279601573944092, + -0.5840525031089783, + -0.6356508731842041 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.11756174266338348, + 0.06928463280200958, + -0.07047677040100098 + ], + "orientation": [ + 0.2707875669002533, + -0.4287036061286926, + -0.5809547901153564, + -0.6366936564445496 + ], + "joints": [ + -0.013746767304837704 + ] + }, + "final_grasp": { + "position": [ + -0.11756174266338348, + 0.06928463280200958, + -0.07047677040100098 + ], + "orientation": [ + 0.2707875669002533, + -0.4287036061286926, + -0.5809547901153564, + -0.6366936564445496 + ], + "joints": [ + -0.00840618833899498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0395909883081913, + -0.08991225063800812, + 0.06773544102907181 + ], + "orientation": [ + 0.29119473695755005, + 0.04367652162909508, + -0.930930495262146, + 0.21602404117584229 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.03794044628739357, + -0.0890992060303688, + 0.06555655598640442 + ], + "orientation": [ + 0.2909606099128723, + 0.04713930934667587, + -0.9279139637947083, + 0.22824454307556152 + ], + "joints": [ + -0.010924916714429855 + ] + }, + "final_grasp": { + "position": [ + 0.03794044628739357, + -0.0890992060303688, + 0.06555655598640442 + ], + "orientation": [ + 0.2909606099128723, + 0.04713930934667587, + -0.9279139637947083, + 0.22824454307556152 + ], + "joints": [ + -0.007178548723459244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021832723170518875, + 0.05361562967300415, + -0.15123994648456573 + ], + "orientation": [ + 0.02648274041712284, + 0.12366721034049988, + -0.7034997940063477, + -0.699351966381073 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + 0.02217387966811657, + 0.05408856272697449, + -0.14827123284339905 + ], + "orientation": [ + 0.028234468773007393, + 0.1293652057647705, + -0.7036706209182739, + -0.6980797052383423 + ], + "joints": [ + -0.013954323716461658 + ] + }, + "final_grasp": { + "position": [ + 0.02217387966811657, + 0.05408856272697449, + -0.14827123284339905 + ], + "orientation": [ + 0.028234468773007393, + 0.1293652057647705, + -0.7036706209182739, + -0.6980797052383423 + ], + "joints": [ + -0.009145146235823631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10698811709880829, + -0.0509168766438961, + 0.06342775374650955 + ], + "orientation": [ + 0.7696401476860046, + -0.4399279057979584, + -0.3495138883590698, + -0.30324506759643555 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.10257074236869812, + -0.04891159012913704, + 0.06105607748031616 + ], + "orientation": [ + 0.7682923674583435, + -0.44274041056632996, + -0.34885042905807495, + -0.3033335208892822 + ], + "joints": [ + -0.010705729015171528 + ] + }, + "final_grasp": { + "position": [ + -0.10257074236869812, + -0.04891159012913704, + 0.06105607748031616 + ], + "orientation": [ + 0.7682923674583435, + -0.44274041056632996, + -0.34885042905807495, + -0.3033335208892822 + ], + "joints": [ + -0.004355499520897865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10697992891073227, + 0.030401263386011124, + -0.07803113758563995 + ], + "orientation": [ + 0.5895934104919434, + 0.6619515419006348, + -0.2581533193588257, + 0.3841308355331421 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.10293702036142349, + 0.02853936143219471, + -0.07497391104698181 + ], + "orientation": [ + 0.5830329060554504, + 0.6682522296905518, + -0.2506830096244812, + 0.38816189765930176 + ], + "joints": [ + -0.009585523046553135 + ] + }, + "final_grasp": { + "position": [ + 0.10293702036142349, + 0.02853936143219471, + -0.07497391104698181 + ], + "orientation": [ + 0.5830329060554504, + 0.6682522296905518, + -0.2506830096244812, + 0.38816189765930176 + ], + "joints": [ + -0.002703895792365074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09362227469682693, + -0.04235677421092987, + 0.05590035021305084 + ], + "orientation": [ + 0.6967198252677917, + -0.49058061838150024, + 0.4625466763973236, + 0.24487288296222687 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.09420955926179886, + -0.04299179092049599, + 0.05627314746379852 + ], + "orientation": [ + 0.6940083503723145, + -0.4926644265651703, + 0.46273842453956604, + 0.24800680577754974 + ], + "joints": [ + -0.007792530115693808 + ] + }, + "final_grasp": { + "position": [ + 0.09420955926179886, + -0.04299179092049599, + 0.05627314746379852 + ], + "orientation": [ + 0.6940083503723145, + -0.4926644265651703, + 0.46273842453956604, + 0.24800680577754974 + ], + "joints": [ + -0.0008843345567584038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14286738634109497, + 0.06469971686601639, + 0.010656952857971191 + ], + "orientation": [ + 0.5431575775146484, + -0.49230149388313293, + 0.4491426348686218, + 0.5107738971710205 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1365380883216858, + 0.06491505354642868, + 0.01031496562063694 + ], + "orientation": [ + 0.5440630316734314, + -0.49276119470596313, + 0.4512198567390442, + 0.5075258612632751 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.1365380883216858, + 0.06491505354642868, + 0.01031496562063694 + ], + "orientation": [ + 0.5440630316734314, + -0.49276119470596313, + 0.4512198567390442, + 0.5075258612632751 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13451837003231049, + 0.018566155806183815, + -0.0002725555677898228 + ], + "orientation": [ + 0.518963634967804, + 0.46930328011512756, + 0.5761404633522034, + -0.42248469591140747 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.12881289422512054, + 0.02027597464621067, + -0.00023715711722616106 + ], + "orientation": [ + 0.5238878130912781, + 0.4639374017715454, + 0.5754321813583374, + -0.42329835891723633 + ], + "joints": [ + -0.01327137928456068 + ] + }, + "final_grasp": { + "position": [ + -0.12881289422512054, + 0.02027597464621067, + -0.00023715711722616106 + ], + "orientation": [ + 0.5238878130912781, + 0.4639374017715454, + 0.5754321813583374, + -0.42329835891723633 + ], + "joints": [ + -0.007425971329212189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12970931828022003, + 0.012969099916517735, + -0.0643276795744896 + ], + "orientation": [ + 0.6096147894859314, + 0.5768784880638123, + -0.45898115634918213, + 0.29140564799308777 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.1252920776605606, + 0.01391429454088211, + -0.061717789620161057 + ], + "orientation": [ + 0.6113463640213013, + 0.5736426115036011, + -0.4600071609020233, + 0.2925458252429962 + ], + "joints": [ + -0.013394958339631557 + ] + }, + "final_grasp": { + "position": [ + 0.1252920776605606, + 0.01391429454088211, + -0.061717789620161057 + ], + "orientation": [ + 0.6113463640213013, + 0.5736426115036011, + -0.4600071609020233, + 0.2925458252429962 + ], + "joints": [ + -0.00858578272163868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1067812517285347, + -0.050205305218696594, + 0.06376367807388306 + ], + "orientation": [ + 0.772023618221283, + -0.43769097328186035, + -0.348913311958313, + -0.3011075556278229 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.10217753797769547, + -0.04840170964598656, + 0.061170198023319244 + ], + "orientation": [ + 0.7698097229003906, + -0.44196200370788574, + -0.346906840801239, + -0.30285006761550903 + ], + "joints": [ + -0.010705729015171528 + ] + }, + "final_grasp": { + "position": [ + -0.10217753797769547, + -0.04840170964598656, + 0.061170198023319244 + ], + "orientation": [ + 0.7698097229003906, + -0.44196200370788574, + -0.346906840801239, + -0.30285006761550903 + ], + "joints": [ + -0.004355499520897865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12979716062545776, + 0.01320756133645773, + -0.06436887383460999 + ], + "orientation": [ + 0.6090908050537109, + 0.5774644017219543, + -0.4588914215564728, + 0.2914820611476898 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.12538710236549377, + 0.014145463705062866, + -0.06175956502556801 + ], + "orientation": [ + 0.6107673645019531, + 0.5742577910423279, + -0.45997169613838196, + 0.2926045358181 + ], + "joints": [ + -0.013394958339631557 + ] + }, + "final_grasp": { + "position": [ + 0.12538710236549377, + 0.014145463705062866, + -0.06175956502556801 + ], + "orientation": [ + 0.6107673645019531, + 0.5742577910423279, + -0.45997169613838196, + 0.2926045358181 + ], + "joints": [ + -0.00858578272163868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10701953619718552, + 0.030494125559926033, + -0.07808548957109451 + ], + "orientation": [ + 0.5901056528091431, + 0.6615473628044128, + -0.2581205666065216, + 0.3840627372264862 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.10291159152984619, + 0.028672708198428154, + -0.07502751797437668 + ], + "orientation": [ + 0.584112823009491, + 0.6671766638755798, + -0.25147509574890137, + 0.3878757953643799 + ], + "joints": [ + -0.009585523046553135 + ] + }, + "final_grasp": { + "position": [ + 0.10291159152984619, + 0.028672708198428154, + -0.07502751797437668 + ], + "orientation": [ + 0.584112823009491, + 0.6671766638755798, + -0.25147509574890137, + 0.3878757953643799 + ], + "joints": [ + -0.002703895792365074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1342969536781311, + 0.01894533261656761, + -5.638303991872817e-05 + ], + "orientation": [ + 0.5193471312522888, + 0.4673849046230316, + 0.5785260796546936, + -0.4208768904209137 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.12865985929965973, + 0.02067672461271286, + -3.27043017023243e-06 + ], + "orientation": [ + 0.5244084596633911, + 0.4618845283985138, + 0.5778182148933411, + -0.42164504528045654 + ], + "joints": [ + -0.013299345038831234 + ] + }, + "final_grasp": { + "position": [ + -0.12865985929965973, + 0.02067672461271286, + -3.27043017023243e-06 + ], + "orientation": [ + 0.5244084596633911, + 0.4618845283985138, + 0.5778182148933411, + -0.42164504528045654 + ], + "joints": [ + -0.006922535598278046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03920622169971466, + -0.09049924463033676, + 0.06768806278705597 + ], + "orientation": [ + 0.28903818130493164, + 0.04416241496801376, + -0.9311726689338684, + 0.2177707701921463 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.0376732237637043, + -0.08974148333072662, + 0.06553728878498077 + ], + "orientation": [ + 0.29222536087036133, + 0.04645012691617012, + -0.9272074699401855, + 0.22963684797286987 + ], + "joints": [ + -0.0109543576836586 + ] + }, + "final_grasp": { + "position": [ + 0.0376732237637043, + -0.08974148333072662, + 0.06553728878498077 + ], + "orientation": [ + 0.29222536087036133, + 0.04645012691617012, + -0.9272074699401855, + 0.22963684797286987 + ], + "joints": [ + -0.007207989692687988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06507859379053116, + 0.08677323907613754, + -0.12703149020671844 + ], + "orientation": [ + 0.198086217045784, + -0.12319500744342804, + 0.6048069596290588, + 0.7614416480064392 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06256566196680069, + 0.0862240418791771, + -0.1225958839058876 + ], + "orientation": [ + 0.19598612189292908, + -0.12510235607624054, + 0.6070170402526855, + 0.7599139213562012 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.06256566196680069, + 0.0862240418791771, + -0.1225958839058876 + ], + "orientation": [ + 0.19598612189292908, + -0.12510235607624054, + 0.6070170402526855, + 0.7599139213562012 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018918940797448158, + 0.216034933924675, + -0.023637861013412476 + ], + "orientation": [ + 0.019576720893383026, + -0.36333349347114563, + 0.008598756045103073, + 0.9314138293266296 + ], + "joints": [ + 0.011890646070241928 + ] + }, + "fine_grasp": { + "position": [ + -0.019341042265295982, + 0.22117963433265686, + -0.02415900118649006 + ], + "orientation": [ + 0.017361748963594437, + -0.36449480056762695, + 0.01012970320880413, + 0.9309884905815125 + ], + "joints": [ + 0.018294023349881172 + ] + }, + "final_grasp": { + "position": [ + -0.019341042265295982, + 0.22117963433265686, + -0.02415900118649006 + ], + "orientation": [ + 0.017361748963594437, + -0.36449480056762695, + 0.01012970320880413, + 0.9309884905815125 + ], + "joints": [ + 0.024697400629520416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029517991468310356, + 0.21771979331970215, + -0.014700273983180523 + ], + "orientation": [ + 0.03968219459056854, + -0.9307901263237, + -0.005619726609438658, + -0.3633504807949066 + ], + "joints": [ + 0.011708229780197144 + ] + }, + "fine_grasp": { + "position": [ + -0.03037952072918415, + 0.2225475311279297, + -0.015126935206353664 + ], + "orientation": [ + 0.043937284499406815, + -0.9292815327644348, + -0.011344601400196552, + -0.3665742576122284 + ], + "joints": [ + 0.018616436049342155 + ] + }, + "final_grasp": { + "position": [ + -0.03037952072918415, + 0.2225475311279297, + -0.015126935206353664 + ], + "orientation": [ + 0.043937284499406815, + -0.9292815327644348, + -0.011344601400196552, + -0.3665742576122284 + ], + "joints": [ + 0.025524642318487167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06495114415884018, + 0.08650892972946167, + -0.12677879631519318 + ], + "orientation": [ + 0.1983879804611206, + -0.12263645976781845, + 0.6034343242645264, + 0.7625414729118347 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06255447864532471, + 0.0859975814819336, + -0.12253309786319733 + ], + "orientation": [ + 0.19653137028217316, + -0.12434928119182587, + 0.6057595014572144, + 0.7608996033668518 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.06255447864532471, + 0.0859975814819336, + -0.12253309786319733 + ], + "orientation": [ + 0.19653137028217316, + -0.12434928119182587, + 0.6057595014572144, + 0.7608996033668518 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13150113821029663, + 0.08902347087860107, + 0.04765356704592705 + ], + "orientation": [ + 0.5561291575431824, + -0.5938435792922974, + 0.3403368294239044, + 0.471424400806427 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12553125619888306, + 0.08828571438789368, + 0.0456613227725029 + ], + "orientation": [ + 0.5589985847473145, + -0.5909865498542786, + 0.3404495418071747, + 0.4715396463871002 + ], + "joints": [ + -0.014712559059262276 + ] + }, + "final_grasp": { + "position": [ + 0.12553125619888306, + 0.08828571438789368, + 0.0456613227725029 + ], + "orientation": [ + 0.5589985847473145, + -0.5909865498542786, + 0.3404495418071747, + 0.4715396463871002 + ], + "joints": [ + -0.009425118565559387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029375646263360977, + 0.21683795750141144, + -0.013805768452584743 + ], + "orientation": [ + 0.041140854358673096, + -0.9345368146896362, + -0.0042866189032793045, + -0.35345458984375 + ], + "joints": [ + 0.011704705655574799 + ] + }, + "fine_grasp": { + "position": [ + -0.03057943470776081, + 0.22192071378231049, + -0.014134685508906841 + ], + "orientation": [ + 0.0376468300819397, + -0.9344455599784851, + -0.006960431579500437, + -0.35404226183891296 + ], + "joints": [ + 0.018108082935214043 + ] + }, + "final_grasp": { + "position": [ + -0.03057943470776081, + 0.22192071378231049, + -0.014134685508906841 + ], + "orientation": [ + 0.0376468300819397, + -0.9344455599784851, + -0.006960431579500437, + -0.35404226183891296 + ], + "joints": [ + 0.024511460214853287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13130991160869598, + 0.08894350379705429, + 0.04764489084482193 + ], + "orientation": [ + 0.5570563673973083, + -0.5933069586753845, + 0.3409588932991028, + 0.47055500745773315 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1253601610660553, + 0.0882289931178093, + 0.04567816108465195 + ], + "orientation": [ + 0.5600403547286987, + -0.5904911160469055, + 0.340986430644989, + 0.4705350697040558 + ], + "joints": [ + -0.014712559059262276 + ] + }, + "final_grasp": { + "position": [ + 0.1253601610660553, + 0.0882289931178093, + 0.04567816108465195 + ], + "orientation": [ + 0.5600403547286987, + -0.5904911160469055, + 0.340986430644989, + 0.4705350697040558 + ], + "joints": [ + -0.009425118565559387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014810397289693356, + 0.22592797875404358, + -0.010911314748227596 + ], + "orientation": [ + 0.0502544604241848, + -0.45580387115478516, + 0.04236936941742897, + -0.8876497149467468 + ], + "joints": [ + 0.0119184460490942 + ] + }, + "fine_grasp": { + "position": [ + 0.01515184622257948, + 0.22973032295703888, + -0.011899550445377827 + ], + "orientation": [ + 0.04359414801001549, + -0.456825852394104, + 0.04290810227394104, + -0.8874506950378418 + ], + "joints": [ + 0.018295250833034515 + ] + }, + "final_grasp": { + "position": [ + 0.01515184622257948, + 0.22973032295703888, + -0.011899550445377827 + ], + "orientation": [ + 0.04359414801001549, + -0.456825852394104, + 0.04290810227394104, + -0.8874506950378418 + ], + "joints": [ + 0.02467205561697483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12272356450557709, + 0.02127912826836109, + -0.0791361853480339 + ], + "orientation": [ + 0.2938968539237976, + -0.34711796045303345, + -0.7511546015739441, + -0.4784354269504547 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + -0.12065453827381134, + 0.021349508315324783, + -0.07844486087560654 + ], + "orientation": [ + 0.28524431586265564, + -0.349871963262558, + -0.7530466318130493, + -0.478691965341568 + ], + "joints": [ + -0.015074528753757477 + ] + }, + "final_grasp": { + "position": [ + -0.12065453827381134, + 0.021349508315324783, + -0.07844486087560654 + ], + "orientation": [ + 0.28524431586265564, + -0.349871963262558, + -0.7530466318130493, + -0.478691965341568 + ], + "joints": [ + -0.010796748101711273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014859355986118317, + 0.2257770150899887, + -0.01127700600773096 + ], + "orientation": [ + 0.0493648499250412, + -0.4573403298854828, + 0.04139108955860138, + -0.8869552612304688 + ], + "joints": [ + 0.011775577440857887 + ] + }, + "fine_grasp": { + "position": [ + 0.015068317763507366, + 0.22955457866191864, + -0.01219145581126213 + ], + "orientation": [ + 0.04441690817475319, + -0.457968533039093, + 0.040891632437705994, + -0.886915922164917 + ], + "joints": [ + 0.01817895472049713 + ] + }, + "final_grasp": { + "position": [ + 0.015068317763507366, + 0.22955457866191864, + -0.01219145581126213 + ], + "orientation": [ + 0.04441690817475319, + -0.457968533039093, + 0.040891632437705994, + -0.886915922164917 + ], + "joints": [ + 0.024582332000136375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02933366596698761, + 0.2175525575876236, + -0.014454571530222893 + ], + "orientation": [ + 0.038394585251808167, + -0.9352151155471802, + -0.004672839306294918, + -0.3519614636898041 + ], + "joints": [ + 0.011851411312818527 + ] + }, + "fine_grasp": { + "position": [ + -0.03042973391711712, + 0.2226235419511795, + -0.01488654688000679 + ], + "orientation": [ + 0.036267347633838654, + -0.9349362850189209, + -0.006561421789228916, + -0.3528963029384613 + ], + "joints": [ + 0.01825478859245777 + ] + }, + "final_grasp": { + "position": [ + -0.03042973391711712, + 0.2226235419511795, + -0.01488654688000679 + ], + "orientation": [ + 0.036267347633838654, + -0.9349362850189209, + -0.006561421789228916, + -0.3528963029384613 + ], + "joints": [ + 0.024658165872097015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03430665284395218, + 0.2180624157190323, + 0.018992405384778976 + ], + "orientation": [ + 0.018100980669260025, + -0.2298457771539688, + -0.011910871602594852, + 0.9729857444763184 + ], + "joints": [ + 0.011857565492391586 + ] + }, + "fine_grasp": { + "position": [ + 0.03452629595994949, + 0.21814343333244324, + 0.018783263862133026 + ], + "orientation": [ + 0.017428040504455566, + -0.23073627054691315, + -0.009949217550456524, + 0.9728094339370728 + ], + "joints": [ + 0.0182343702763319 + ] + }, + "final_grasp": { + "position": [ + 0.03452629595994949, + 0.21814343333244324, + 0.018783263862133026 + ], + "orientation": [ + 0.017428040504455566, + -0.23073627054691315, + -0.009949217550456524, + 0.9728094339370728 + ], + "joints": [ + 0.024611175060272217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01742643117904663, + 0.21905340254306793, + -0.01756471022963524 + ], + "orientation": [ + 0.04591577872633934, + -0.2521034777164459, + -0.018350686877965927, + -0.9664360880851746 + ], + "joints": [ + 0.011830030009150505 + ] + }, + "fine_grasp": { + "position": [ + 0.01885632611811161, + 0.22391098737716675, + -0.017921287566423416 + ], + "orientation": [ + 0.03992340713739395, + -0.2536020278930664, + -0.02063390053808689, + -0.9662641882896423 + ], + "joints": [ + 0.01820683479309082 + ] + }, + "final_grasp": { + "position": [ + 0.01885632611811161, + 0.22391098737716675, + -0.017921287566423416 + ], + "orientation": [ + 0.03992340713739395, + -0.2536020278930664, + -0.02063390053808689, + -0.9662641882896423 + ], + "joints": [ + 0.024583639577031136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03473096713423729, + 0.21932457387447357, + 0.01935230940580368 + ], + "orientation": [ + 0.01944592036306858, + -0.23252937197685242, + -0.013000836595892906, + 0.9723080396652222 + ], + "joints": [ + 0.011739040724933147 + ] + }, + "fine_grasp": { + "position": [ + 0.034944187849760056, + 0.21956978738307953, + 0.019373459741473198 + ], + "orientation": [ + 0.01886662282049656, + -0.23195494711399078, + -0.009082389995455742, + 0.9725011587142944 + ], + "joints": [ + 0.018142417073249817 + ] + }, + "final_grasp": { + "position": [ + 0.034944187849760056, + 0.21956978738307953, + 0.019373459741473198 + ], + "orientation": [ + 0.01886662282049656, + -0.23195494711399078, + -0.009082389995455742, + 0.9725011587142944 + ], + "joints": [ + 0.024545792490243912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034154828637838364, + 0.21911092102527618, + 0.019511183723807335 + ], + "orientation": [ + 0.015431187115609646, + -0.21007584035396576, + -0.02097386121749878, + 0.9773383140563965 + ], + "joints": [ + 0.012035965919494629 + ] + }, + "fine_grasp": { + "position": [ + 0.034342993050813675, + 0.22268003225326538, + 0.01977420225739479 + ], + "orientation": [ + 0.014220419339835644, + -0.20119862258434296, + -0.0203589778393507, + 0.9792356491088867 + ], + "joints": [ + 0.017907941713929176 + ] + }, + "final_grasp": { + "position": [ + 0.034342993050813675, + 0.22268003225326538, + 0.01977420225739479 + ], + "orientation": [ + 0.014220419339835644, + -0.20119862258434296, + -0.0203589778393507, + 0.9792356491088867 + ], + "joints": [ + 0.023779917508363724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007067996077239513, + 0.22480754554271698, + 0.01818743720650673 + ], + "orientation": [ + 0.04008639231324196, + -0.9710586667060852, + 0.08731258660554886, + 0.21866585314273834 + ], + "joints": [ + 0.01161404512822628 + ] + }, + "fine_grasp": { + "position": [ + -0.008241716772317886, + 0.22866244614124298, + 0.01926478184759617 + ], + "orientation": [ + 0.046743039041757584, + -0.9708337187767029, + 0.08096279948949814, + 0.22077611088752747 + ], + "joints": [ + 0.018017420545220375 + ] + }, + "final_grasp": { + "position": [ + -0.008241716772317886, + 0.22866244614124298, + 0.01926478184759617 + ], + "orientation": [ + 0.046743039041757584, + -0.9708337187767029, + 0.08096279948949814, + 0.22077611088752747 + ], + "joints": [ + 0.02442079596221447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007465930189937353, + 0.22442689538002014, + 0.01781477779150009 + ], + "orientation": [ + 0.039271775633096695, + -0.974687397480011, + 0.08733772486448288, + 0.20202569663524628 + ], + "joints": [ + 0.01146918535232544 + ] + }, + "fine_grasp": { + "position": [ + -0.008880645968019962, + 0.22860705852508545, + 0.01834578812122345 + ], + "orientation": [ + 0.04302523657679558, + -0.9745392799377441, + 0.08100735396146774, + 0.20459690690040588 + ], + "joints": [ + 0.017872560769319534 + ] + }, + "final_grasp": { + "position": [ + -0.008880645968019962, + 0.22860705852508545, + 0.01834578812122345 + ], + "orientation": [ + 0.04302523657679558, + -0.9745392799377441, + 0.08100735396146774, + 0.20459690690040588 + ], + "joints": [ + 0.02427593618631363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14950351417064667, + 0.047235842794179916, + -0.0273068156093359 + ], + "orientation": [ + 0.4451315701007843, + 0.633080244064331, + -0.48289385437965393, + 0.40973255038261414 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.1448386013507843, + 0.04722825437784195, + -0.0273030586540699 + ], + "orientation": [ + 0.4434937834739685, + 0.6377780437469482, + -0.4845537841320038, + 0.40219396352767944 + ], + "joints": [ + -0.013169596903026104 + ] + }, + "final_grasp": { + "position": [ + 0.1448386013507843, + 0.04722825437784195, + -0.0273030586540699 + ], + "orientation": [ + 0.4434937834739685, + 0.6377780437469482, + -0.4845537841320038, + 0.40219396352767944 + ], + "joints": [ + -0.009901484474539757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004523712210357189, + 0.2112811654806137, + 0.03763093799352646 + ], + "orientation": [ + 0.011988676153123379, + -0.7555736899375916, + 0.012667317874729633, + -0.6548313498497009 + ], + "joints": [ + 0.011929727159440517 + ] + }, + "fine_grasp": { + "position": [ + 0.00466077821329236, + 0.2164887934923172, + 0.037939537316560745 + ], + "orientation": [ + 0.009164024144411087, + -0.753219723701477, + 0.01230567041784525, + -0.6575900316238403 + ], + "joints": [ + 0.018306532874703407 + ] + }, + "final_grasp": { + "position": [ + 0.00466077821329236, + 0.2164887934923172, + 0.037939537316560745 + ], + "orientation": [ + 0.009164024144411087, + -0.753219723701477, + 0.01230567041784525, + -0.6575900316238403 + ], + "joints": [ + 0.024683337658643723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004212454427033663, + 0.21071746945381165, + 0.03770681098103523 + ], + "orientation": [ + 0.010952811688184738, + -0.7534430027008057, + 0.01385023444890976, + -0.6572761535644531 + ], + "joints": [ + 0.011607561260461807 + ] + }, + "fine_grasp": { + "position": [ + 0.0043724956922233105, + 0.2159067988395691, + 0.03780880570411682 + ], + "orientation": [ + 0.009532313793897629, + -0.7517551183700562, + 0.012604206800460815, + -0.6592530012130737 + ], + "joints": [ + 0.018010936677455902 + ] + }, + "final_grasp": { + "position": [ + 0.0043724956922233105, + 0.2159067988395691, + 0.03780880570411682 + ], + "orientation": [ + 0.009532313793897629, + -0.7517551183700562, + 0.012604206800460815, + -0.6592530012130737 + ], + "joints": [ + 0.024414312094449997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14255128800868988, + 0.054103218019008636, + 0.014385423623025417 + ], + "orientation": [ + 0.578613817691803, + -0.4708589017391205, + 0.44817236065864563, + 0.4925844669342041 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.13626834750175476, + 0.054807789623737335, + 0.013782928697764874 + ], + "orientation": [ + 0.5815927386283875, + -0.4695601165294647, + 0.4474847912788391, + 0.4909383952617645 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.13626834750175476, + 0.054807789623737335, + 0.013782928697764874 + ], + "orientation": [ + 0.5815927386283875, + -0.4695601165294647, + 0.4474847912788391, + 0.4909383952617645 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0255428496748209, + 0.22120149433612823, + 0.005343469325453043 + ], + "orientation": [ + 0.1431601345539093, + 0.6991556286811829, + -0.013292770832777023, + -0.7003641724586487 + ], + "joints": [ + 0.011235306039452553 + ] + }, + "fine_grasp": { + "position": [ + -0.026058562099933624, + 0.22568325698375702, + 0.006300642620772123 + ], + "orientation": [ + 0.14083316922187805, + 0.6985183358192444, + -0.0073252529837191105, + -0.7015585899353027 + ], + "joints": [ + 0.017638681456446648 + ] + }, + "final_grasp": { + "position": [ + -0.026058562099933624, + 0.22568325698375702, + 0.006300642620772123 + ], + "orientation": [ + 0.14083316922187805, + 0.6985183358192444, + -0.0073252529837191105, + -0.7015585899353027 + ], + "joints": [ + 0.024042056873440742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034853868186473846, + 0.022185325622558594, + -0.12776973843574524 + ], + "orientation": [ + 0.15692153573036194, + -0.04368032515048981, + -0.7832409739494324, + -0.6000009775161743 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.03310792148113251, + 0.024477634578943253, + -0.1221064031124115 + ], + "orientation": [ + 0.15850256383419037, + -0.04279984533786774, + -0.7851511836051941, + -0.5971454381942749 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.03310792148113251, + 0.024477634578943253, + -0.1221064031124115 + ], + "orientation": [ + 0.15850256383419037, + -0.04279984533786774, + -0.7851511836051941, + -0.5971454381942749 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12381460517644882, + 0.004906696267426014, + -0.04419536888599396 + ], + "orientation": [ + 0.49512091279029846, + -0.32218503952026367, + 0.6195031404495239, + 0.5169796347618103 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.11853143572807312, + 0.006913411431014538, + -0.04214509204030037 + ], + "orientation": [ + 0.4955785870552063, + -0.3222030997276306, + 0.6219884157180786, + 0.5135342478752136 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + 0.11853143572807312, + 0.006913411431014538, + -0.04214509204030037 + ], + "orientation": [ + 0.4955785870552063, + -0.3222030997276306, + 0.6219884157180786, + 0.5135342478752136 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034942660480737686, + 0.02251584082841873, + -0.12778082489967346 + ], + "orientation": [ + 0.15805797278881073, + -0.04319801554083824, + -0.7845744490623474, + -0.5979920625686646 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.03316914662718773, + 0.02466043271124363, + -0.1220649778842926 + ], + "orientation": [ + 0.15922756493091583, + -0.042488954961299896, + -0.7856696844100952, + -0.5962923765182495 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.03316914662718773, + 0.02466043271124363, + -0.1220649778842926 + ], + "orientation": [ + 0.15922756493091583, + -0.042488954961299896, + -0.7856696844100952, + -0.5962923765182495 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09763790667057037, + 0.1470445692539215, + 0.08544612675905228 + ], + "orientation": [ + 0.1461956948041916, + 0.43149879574775696, + -0.4259144067764282, + 0.7816856503486633 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.0959363654255867, + 0.1455075591802597, + 0.0821724385023117 + ], + "orientation": [ + 0.1491672247648239, + 0.43467506766319275, + -0.42376449704170227, + 0.7805321216583252 + ], + "joints": [ + -0.012187904678285122 + ] + }, + "final_grasp": { + "position": [ + 0.0959363654255867, + 0.1455075591802597, + 0.0821724385023117 + ], + "orientation": [ + 0.1491672247648239, + 0.43467506766319275, + -0.42376449704170227, + 0.7805321216583252 + ], + "joints": [ + -0.007378732785582542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12557299435138702, + 0.05624830350279808, + 0.06686276942491531 + ], + "orientation": [ + 0.6182224154472351, + -0.5785378217697144, + -0.45041605830192566, + -0.28323203325271606 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.12005419284105301, + 0.05761009827256203, + 0.06376978754997253 + ], + "orientation": [ + 0.6202749013900757, + -0.5755707025527954, + -0.4511779248714447, + -0.28357675671577454 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + -0.12005419284105301, + 0.05761009827256203, + 0.06376978754997253 + ], + "orientation": [ + 0.6202749013900757, + -0.5755707025527954, + -0.4511779248714447, + -0.28357675671577454 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1275024265050888, + 0.04748784378170967, + -0.0665416345000267 + ], + "orientation": [ + 0.40967026352882385, + -0.3178139328956604, + -0.5383579134941101, + -0.6643306612968445 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.12237662076950073, + 0.04731359705328941, + -0.06386413425207138 + ], + "orientation": [ + 0.40909454226493835, + -0.31728067994117737, + -0.541533887386322, + -0.6623561382293701 + ], + "joints": [ + -0.013241938315331936 + ] + }, + "final_grasp": { + "position": [ + -0.12237662076950073, + 0.04731359705328941, + -0.06386413425207138 + ], + "orientation": [ + 0.40909454226493835, + -0.31728067994117737, + -0.541533887386322, + -0.6623561382293701 + ], + "joints": [ + -0.007396530359983444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14777782559394836, + 0.04873766377568245, + -0.026555631309747696 + ], + "orientation": [ + 0.4456874430179596, + 0.6295017004013062, + -0.49598580598831177, + 0.39885878562927246 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + 0.1431470364332199, + 0.04853709787130356, + -0.026085911318659782 + ], + "orientation": [ + 0.44573259353637695, + 0.6320953369140625, + -0.49593400955200195, + 0.39474987983703613 + ], + "joints": [ + -0.01387034635990858 + ] + }, + "final_grasp": { + "position": [ + 0.1431470364332199, + 0.04853709787130356, + -0.026085911318659782 + ], + "orientation": [ + 0.44573259353637695, + 0.6320953369140625, + -0.49593400955200195, + 0.39474987983703613 + ], + "joints": [ + -0.00956599973142147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1478113830089569, + 0.04880218580365181, + -0.026776274666190147 + ], + "orientation": [ + 0.44763243198394775, + 0.6280286312103271, + -0.497160941362381, + 0.3975376784801483 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + 0.14317387342453003, + 0.04860761761665344, + -0.026340339332818985 + ], + "orientation": [ + 0.4477504789829254, + 0.6306179165840149, + -0.49727940559387207, + 0.39313334226608276 + ], + "joints": [ + -0.01389691699296236 + ] + }, + "final_grasp": { + "position": [ + 0.14317387342453003, + 0.04860761761665344, + -0.026340339332818985 + ], + "orientation": [ + 0.4477504789829254, + 0.6306179165840149, + -0.49727940559387207, + 0.39313334226608276 + ], + "joints": [ + -0.00961914099752903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1075785756111145, + 0.053150393068790436, + -0.07225652784109116 + ], + "orientation": [ + 0.581301212310791, + 0.6639570593833923, + 0.35712578892707825, + -0.3061228394508362 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + -0.10460533946752548, + 0.05285593122243881, + -0.07028540223836899 + ], + "orientation": [ + 0.5843059420585632, + 0.6589470505714417, + 0.3578808605670929, + -0.3103169798851013 + ], + "joints": [ + -0.0126854432746768 + ] + }, + "final_grasp": { + "position": [ + -0.10460533946752548, + 0.05285593122243881, + -0.07028540223836899 + ], + "orientation": [ + 0.5843059420585632, + 0.6589470505714417, + 0.3578808605670929, + -0.3103169798851013 + ], + "joints": [ + -0.006813466548919678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12866877019405365, + 0.03392907977104187, + 0.03940954804420471 + ], + "orientation": [ + 0.49661821126937866, + 0.34643128514289856, + 0.5967780351638794, + -0.5265089869499207 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.12287243455648422, + 0.0355939082801342, + 0.03775591775774956 + ], + "orientation": [ + 0.5000448226928711, + 0.3421788513660431, + 0.5966077446937561, + -0.5262394547462463 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.12287243455648422, + 0.0355939082801342, + 0.03775591775774956 + ], + "orientation": [ + 0.5000448226928711, + 0.3421788513660431, + 0.5966077446937561, + -0.5262394547462463 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10763733834028244, + 0.05327443778514862, + -0.07224409282207489 + ], + "orientation": [ + 0.5817672610282898, + 0.6634056568145752, + 0.35736769437789917, + -0.3061504364013672 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.10468291491270065, + 0.0529925636947155, + -0.07028482109308243 + ], + "orientation": [ + 0.5846208930015564, + 0.6585137248039246, + 0.358401894569397, + -0.31004229187965393 + ], + "joints": [ + -0.012713409028947353 + ] + }, + "final_grasp": { + "position": [ + -0.10468291491270065, + 0.0529925636947155, + -0.07028482109308243 + ], + "orientation": [ + 0.5846208930015564, + 0.6585137248039246, + 0.358401894569397, + -0.31004229187965393 + ], + "joints": [ + -0.006310030817985535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08772549033164978, + 0.04962986335158348, + -0.09700919687747955 + ], + "orientation": [ + 0.27782121300697327, + -0.22558043897151947, + 0.6047916412353516, + 0.7114463448524475 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + 0.0839822068810463, + 0.04907351732254028, + -0.09263261407613754 + ], + "orientation": [ + 0.27839887142181396, + -0.2263890504837036, + 0.6057642698287964, + 0.7101349830627441 + ], + "joints": [ + -0.010555580258369446 + ] + }, + "final_grasp": { + "position": [ + 0.0839822068810463, + 0.04907351732254028, + -0.09263261407613754 + ], + "orientation": [ + 0.27839887142181396, + -0.2263890504837036, + 0.6057642698287964, + 0.7101349830627441 + ], + "joints": [ + -0.0031425487250089645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09832782298326492, + 0.015687789767980576, + -0.09593456983566284 + ], + "orientation": [ + 0.36342760920524597, + -0.1957862377166748, + -0.6791048645973206, + -0.6069634556770325 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.0942622646689415, + 0.017134351655840874, + -0.09182610362768173 + ], + "orientation": [ + 0.36122840642929077, + -0.19890347123146057, + -0.6823994517326355, + -0.6035583019256592 + ], + "joints": [ + -0.013776208274066448 + ] + }, + "final_grasp": { + "position": [ + -0.0942622646689415, + 0.017134351655840874, + -0.09182610362768173 + ], + "orientation": [ + 0.36122840642929077, + -0.19890347123146057, + -0.6823994517326355, + -0.6035583019256592 + ], + "joints": [ + -0.008435629308223724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1537223607301712, + 0.10997697710990906, + -0.0033147085923701525 + ], + "orientation": [ + 0.4156704843044281, + 0.5908308029174805, + -0.4945732653141022, + 0.48325368762016296 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + 0.15047062933444977, + 0.11025876551866531, + -0.0030632358975708485 + ], + "orientation": [ + 0.4148385226726532, + 0.590893030166626, + -0.5017979741096497, + 0.4763959050178528 + ], + "joints": [ + -0.015576489269733429 + ] + }, + "final_grasp": { + "position": [ + 0.15047062933444977, + 0.11025876551866531, + -0.0030632358975708485 + ], + "orientation": [ + 0.4148385226726532, + 0.590893030166626, + -0.5017979741096497, + 0.4763959050178528 + ], + "joints": [ + -0.011830110102891922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08650487661361694, + 0.08458024263381958, + 0.10932821035385132 + ], + "orientation": [ + 0.6295211315155029, + -0.6977529525756836, + 0.1689770668745041, + 0.29713737964630127 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.08251894265413284, + 0.08374333381652832, + 0.10475654900074005 + ], + "orientation": [ + 0.6323903203010559, + -0.6946955323219299, + 0.1661098152399063, + 0.29981353878974915 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + 0.08251894265413284, + 0.08374333381652832, + 0.10475654900074005 + ], + "orientation": [ + 0.6323903203010559, + -0.6946955323219299, + 0.1661098152399063, + 0.29981353878974915 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09776437282562256, + 0.14712919294834137, + 0.0853259488940239 + ], + "orientation": [ + 0.14546415209770203, + 0.4335332214832306, + -0.4260252118110657, + 0.780635416507721 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.09603841602802277, + 0.14560769498348236, + 0.08203444629907608 + ], + "orientation": [ + 0.14894160628318787, + 0.4362650513648987, + -0.42432793974876404, + 0.7793812155723572 + ], + "joints": [ + -0.012214475311338902 + ] + }, + "final_grasp": { + "position": [ + 0.09603841602802277, + 0.14560769498348236, + 0.08203444629907608 + ], + "orientation": [ + 0.14894160628318787, + 0.4362650513648987, + -0.42432793974876404, + 0.7793812155723572 + ], + "joints": [ + -0.007431874051690102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10515511780977249, + -0.04639900475740433, + 0.0311745572835207 + ], + "orientation": [ + 0.5834848284721375, + -0.46660250425338745, + 0.6128535866737366, + 0.2573675513267517 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.10371091961860657, + -0.04516012221574783, + 0.03098900429904461 + ], + "orientation": [ + 0.5891789197921753, + -0.46179941296577454, + 0.6104849576950073, + 0.25868433713912964 + ], + "joints": [ + -0.009558952413499355 + ] + }, + "final_grasp": { + "position": [ + 0.10371091961860657, + -0.04516012221574783, + 0.03098900429904461 + ], + "orientation": [ + 0.5891789197921753, + -0.46179941296577454, + 0.6104849576950073, + 0.25868433713912964 + ], + "joints": [ + -0.002650754526257515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03488457202911377, + 0.03713782876729965, + -0.1479763388633728 + ], + "orientation": [ + 0.7361294627189636, + 0.6471769213676453, + -0.1972552090883255, + -0.019123265519738197 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + 0.03383471444249153, + 0.03768496960401535, + -0.14570221304893494 + ], + "orientation": [ + 0.7347301840782166, + 0.6474059820175171, + -0.2010892629623413, + -0.024498354643583298 + ], + "joints": [ + -0.015579357743263245 + ] + }, + "final_grasp": { + "position": [ + 0.03383471444249153, + 0.03768496960401535, + -0.14570221304893494 + ], + "orientation": [ + 0.7347301840782166, + 0.6474059820175171, + -0.2010892629623413, + -0.024498354643583298 + ], + "joints": [ + -0.011806406080722809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022236809134483337, + -0.1152995228767395, + 0.00268957344815135 + ], + "orientation": [ + 0.3569214940071106, + 0.061173148453235626, + 0.9320754408836365, + -0.01001710444688797 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.021297911182045937, + -0.11386783421039581, + 0.0009634853340685368 + ], + "orientation": [ + 0.3566966652870178, + 0.06463608145713806, + 0.9317883253097534, + -0.018980158492922783 + ], + "joints": [ + -0.012274752371013165 + ] + }, + "final_grasp": { + "position": [ + -0.021297911182045937, + -0.11386783421039581, + 0.0009634853340685368 + ], + "orientation": [ + 0.3566966652870178, + 0.06463608145713806, + 0.9317883253097534, + -0.018980158492922783 + ], + "joints": [ + -0.006934178993105888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15252630412578583, + 0.06473764032125473, + 0.0011894117342308164 + ], + "orientation": [ + 0.533593475818634, + 0.4562849998474121, + -0.5553988218307495, + 0.4456615447998047 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + 0.1511768251657486, + 0.06486687064170837, + 0.0013172903563827276 + ], + "orientation": [ + 0.5326167941093445, + 0.45742127299308777, + -0.5560653209686279, + 0.44483307003974915 + ], + "joints": [ + -0.014485723339021206 + ] + }, + "final_grasp": { + "position": [ + 0.1511768251657486, + 0.06486687064170837, + 0.0013172903563827276 + ], + "orientation": [ + 0.5326167941093445, + 0.45742127299308777, + -0.5560653209686279, + 0.44483307003974915 + ], + "joints": [ + -0.010207945480942726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007121478673070669, + 0.005970542784780264, + 0.13785824179649353 + ], + "orientation": [ + 0.7276261448860168, + -0.6820181012153625, + -0.034157514572143555, + 0.06515152752399445 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.006691024638712406, + 0.006501281168311834, + 0.13194239139556885 + ], + "orientation": [ + 0.7310101389884949, + -0.6785276532173157, + -0.033515993505716324, + 0.06404021382331848 + ], + "joints": [ + -0.01123852375894785 + ] + }, + "final_grasp": { + "position": [ + 0.006691024638712406, + 0.006501281168311834, + 0.13194239139556885 + ], + "orientation": [ + 0.7310101389884949, + -0.6785276532173157, + -0.033515993505716324, + 0.06404021382331848 + ], + "joints": [ + -0.004861721768975258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0644490122795105, + 0.0768086165189743, + -0.1346030980348587 + ], + "orientation": [ + 0.2374659776687622, + -0.06447596848011017, + -0.6101561188697815, + -0.7531017661094666 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.06254637241363525, + 0.07662893831729889, + -0.1302807480096817 + ], + "orientation": [ + 0.24004998803138733, + -0.06108080595731735, + -0.6126089096069336, + -0.7505701780319214 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.06254637241363525, + 0.07662893831729889, + -0.1302807480096817 + ], + "orientation": [ + 0.24004998803138733, + -0.06108080595731735, + -0.6126089096069336, + -0.7505701780319214 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06441016495227814, + 0.07674602419137955, + -0.1345936805009842 + ], + "orientation": [ + 0.2374827116727829, + -0.06408561766147614, + -0.6092503666877747, + -0.7538626194000244 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0624990314245224, + 0.07658935338258743, + -0.13025544583797455 + ], + "orientation": [ + 0.2400929033756256, + -0.06065601855516434, + -0.6119140386581421, + -0.7511574029922485 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.0624990314245224, + 0.07658935338258743, + -0.13025544583797455 + ], + "orientation": [ + 0.2400929033756256, + -0.06065601855516434, + -0.6119140386581421, + -0.7511574029922485 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0760876014828682, + 0.03558151051402092, + -0.10310501605272293 + ], + "orientation": [ + 0.7060911059379578, + 0.6288344860076904, + -0.2762501537799835, + 0.1723029911518097 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + 0.07279770821332932, + 0.0369170680642128, + -0.09887710213661194 + ], + "orientation": [ + 0.7105036377906799, + 0.6239551305770874, + -0.2773876488208771, + 0.17006120085716248 + ], + "joints": [ + -0.01226459164172411 + ] + }, + "final_grasp": { + "position": [ + 0.07279770821332932, + 0.0369170680642128, + -0.09887710213661194 + ], + "orientation": [ + 0.7105036377906799, + 0.6239551305770874, + -0.2773876488208771, + 0.17006120085716248 + ], + "joints": [ + -0.005382955074310303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07577097415924072, + 0.04335499927401543, + 0.10374175012111664 + ], + "orientation": [ + 0.2593705952167511, + 0.17499113082885742, + -0.617896556854248, + 0.7213245034217834 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.07484176009893417, + 0.04268995672464371, + 0.10255969315767288 + ], + "orientation": [ + 0.2623518109321594, + 0.17395329475402832, + -0.6185451149940491, + 0.7199401259422302 + ], + "joints": [ + -0.012124603614211082 + ] + }, + "final_grasp": { + "position": [ + 0.07484176009893417, + 0.04268995672464371, + 0.10255969315767288 + ], + "orientation": [ + 0.2623518109321594, + 0.17395329475402832, + -0.6185451149940491, + 0.7199401259422302 + ], + "joints": [ + -0.005721228197216988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1273932307958603, + 0.047211773693561554, + -0.04251487925648689 + ], + "orientation": [ + 0.2982494831085205, + -0.529600977897644, + -0.5370606184005737, + -0.5849239230155945 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.1222381442785263, + 0.045210033655166626, + -0.041475992649793625 + ], + "orientation": [ + 0.2919769287109375, + -0.5353699922561646, + -0.5330528616905212, + -0.5865008234977722 + ], + "joints": [ + -0.011267964728176594 + ] + }, + "final_grasp": { + "position": [ + -0.1222381442785263, + 0.045210033655166626, + -0.041475992649793625 + ], + "orientation": [ + 0.2919769287109375, + -0.5353699922561646, + -0.5330528616905212, + -0.5865008234977722 + ], + "joints": [ + -0.004891162738204002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08197242021560669, + 0.07327762991189957, + 0.11046107858419418 + ], + "orientation": [ + 0.5775951743125916, + -0.7542293667793274, + 0.26307716965675354, + 0.16826246678829193 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.07889244705438614, + 0.07211049646139145, + 0.10559093952178955 + ], + "orientation": [ + 0.578465461730957, + -0.7531235814094543, + 0.26587045192718506, + 0.16581787168979645 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + 0.07889244705438614, + 0.07211049646139145, + 0.10559093952178955 + ], + "orientation": [ + 0.578465461730957, + -0.7531235814094543, + 0.26587045192718506, + 0.16581787168979645 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07493969053030014, + 0.10642937570810318, + 0.1378699392080307 + ], + "orientation": [ + 0.1713634729385376, + 0.17384327948093414, + -0.632914662361145, + 0.7347326278686523 + ], + "joints": [ + -0.018145252019166946 + ] + }, + "fine_grasp": { + "position": [ + 0.07422905415296555, + 0.10620596259832382, + 0.13550160825252533 + ], + "orientation": [ + 0.1741187870502472, + 0.172706738114357, + -0.6318942904472351, + 0.7352309823036194 + ], + "joints": [ + -0.013336076401174068 + ] + }, + "final_grasp": { + "position": [ + 0.07422905415296555, + 0.10620596259832382, + 0.13550160825252533 + ], + "orientation": [ + 0.1741187870502472, + 0.172706738114357, + -0.6318942904472351, + 0.7352309823036194 + ], + "joints": [ + -0.00852690078318119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017628684639930725, + -0.00011353965965099633, + -0.12771984934806824 + ], + "orientation": [ + 0.1290830373764038, + 0.01321625430136919, + -0.7704633474349976, + -0.6241387128829956 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.017261864617466927, + 0.00205027824267745, + -0.1224871575832367 + ], + "orientation": [ + 0.1274019330739975, + 0.009759192354977131, + -0.7740245461463928, + -0.6201286911964417 + ], + "joints": [ + -0.012713409028947353 + ] + }, + "final_grasp": { + "position": [ + -0.017261864617466927, + 0.00205027824267745, + -0.1224871575832367 + ], + "orientation": [ + 0.1274019330739975, + 0.009759192354977131, + -0.7740245461463928, + -0.6201286911964417 + ], + "joints": [ + -0.006310030817985535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13324661552906036, + 0.06403503566980362, + -0.039454665035009384 + ], + "orientation": [ + 0.4834701716899872, + 0.644866406917572, + -0.44206008315086365, + 0.3936837315559387 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.12780024111270905, + 0.06309684365987778, + -0.03734477236866951 + ], + "orientation": [ + 0.4847096800804138, + 0.6432554125785828, + -0.44241568446159363, + 0.39439496397972107 + ], + "joints": [ + -0.01327137928456068 + ] + }, + "final_grasp": { + "position": [ + 0.12780024111270905, + 0.06309684365987778, + -0.03734477236866951 + ], + "orientation": [ + 0.4847096800804138, + 0.6432554125785828, + -0.44241568446159363, + 0.39439496397972107 + ], + "joints": [ + -0.007425971329212189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1468600332736969, + 0.06449538469314575, + 0.056887298822402954 + ], + "orientation": [ + 0.37627843022346497, + 0.4230467677116394, + -0.567531943321228, + 0.597790539264679 + ], + "joints": [ + -0.016349386423826218 + ] + }, + "fine_grasp": { + "position": [ + 0.14312748610973358, + 0.06446769088506699, + 0.056436896324157715 + ], + "orientation": [ + 0.37539198994636536, + 0.42078909277915955, + -0.5695076584815979, + 0.5980622172355652 + ], + "joints": [ + -0.01204504631459713 + ] + }, + "final_grasp": { + "position": [ + 0.14312748610973358, + 0.06446769088506699, + 0.056436896324157715 + ], + "orientation": [ + 0.37539198994636536, + 0.42078909277915955, + -0.5695076584815979, + 0.5980622172355652 + ], + "joints": [ + -0.007740706205368042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1259266585111618, + 0.035051316022872925, + -0.05127531662583351 + ], + "orientation": [ + 0.5135264992713928, + 0.6533820033073425, + 0.4374978840351105, + -0.3434794843196869 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.12072471529245377, + 0.0342925488948822, + -0.048828013241291046 + ], + "orientation": [ + 0.5158492922782898, + 0.6501033306121826, + 0.43912801146507263, + -0.3441392779350281 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + -0.12072471529245377, + 0.0342925488948822, + -0.048828013241291046 + ], + "orientation": [ + 0.5158492922782898, + 0.6501033306121826, + 0.43912801146507263, + -0.3441392779350281 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015506024472415447, + -0.10944601893424988, + 0.010755302384495735 + ], + "orientation": [ + 0.9898610711097717, + -0.08946333825588226, + -0.0944608524441719, + 0.0569966584444046 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.015372060239315033, + -0.10742843151092529, + 0.011428582482039928 + ], + "orientation": [ + 0.990289568901062, + -0.08543571829795837, + -0.09387943893671036, + 0.05669179558753967 + ], + "joints": [ + -0.011126580648124218 + ] + }, + "final_grasp": { + "position": [ + 0.015372060239315033, + -0.10742843151092529, + 0.011428582482039928 + ], + "orientation": [ + 0.990289568901062, + -0.08543571829795837, + -0.09387943893671036, + 0.05669179558753967 + ], + "joints": [ + -0.00578601099550724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015564188361167908, + -0.10918675363063812, + 0.010602462105453014 + ], + "orientation": [ + 0.9898660778999329, + -0.08883775770664215, + -0.09497218579053879, + 0.05703834071755409 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.015407872386276722, + -0.10730328410863876, + 0.011199620552361012 + ], + "orientation": [ + 0.9903749227523804, + -0.08475063741207123, + -0.09359075129032135, + 0.056706562638282776 + ], + "joints": [ + -0.011126580648124218 + ] + }, + "final_grasp": { + "position": [ + 0.015407872386276722, + -0.10730328410863876, + 0.011199620552361012 + ], + "orientation": [ + 0.9903749227523804, + -0.08475063741207123, + -0.09359075129032135, + 0.056706562638282776 + ], + "joints": [ + -0.00578601099550724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08482354879379272, + 0.05193810909986496, + -0.10748396813869476 + ], + "orientation": [ + 0.6244907379150391, + 0.6934695839881897, + 0.13745002448558807, + -0.33199211955070496 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.08097455650568008, + 0.05081697925925255, + -0.10302049666643143 + ], + "orientation": [ + 0.6257296204566956, + 0.691875159740448, + 0.13732455670833588, + -0.33303648233413696 + ], + "joints": [ + -0.01268257386982441 + ] + }, + "final_grasp": { + "position": [ + -0.08097455650568008, + 0.05081697925925255, + -0.10302049666643143 + ], + "orientation": [ + 0.6257296204566956, + 0.691875159740448, + 0.13732455670833588, + -0.33303648233413696 + ], + "joints": [ + -0.006837168708443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031586989760398865, + 0.21712422370910645, + -0.033513206988573074 + ], + "orientation": [ + 0.0782470852136612, + 0.9687294960021973, + -0.01945916935801506, + -0.23465274274349213 + ], + "joints": [ + 0.011596700176596642 + ] + }, + "fine_grasp": { + "position": [ + 0.0326857753098011, + 0.21937520802021027, + -0.03451443091034889 + ], + "orientation": [ + 0.0758158341050148, + 0.9667761921882629, + -0.02216283418238163, + -0.24311451613903046 + ], + "joints": [ + 0.01749524660408497 + ] + }, + "final_grasp": { + "position": [ + 0.0326857753098011, + 0.21937520802021027, + -0.03451443091034889 + ], + "orientation": [ + 0.0758158341050148, + 0.9667761921882629, + -0.02216283418238163, + -0.24311451613903046 + ], + "joints": [ + 0.023393793031573296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1264323890209198, + 0.034838177263736725, + -0.051639657467603683 + ], + "orientation": [ + 0.5124053955078125, + 0.654964804649353, + 0.4363987445831299, + -0.34353744983673096 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.1212497279047966, + 0.03422434628009796, + -0.04929543659090996 + ], + "orientation": [ + 0.5154987573623657, + 0.6513012051582336, + 0.43805965781211853, + -0.34376081824302673 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + -0.1212497279047966, + 0.03422434628009796, + -0.04929543659090996 + ], + "orientation": [ + 0.5154987573623657, + 0.6513012051582336, + 0.43805965781211853, + -0.34376081824302673 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12970322370529175, + 0.1540747582912445, + -0.018587272614240646 + ], + "orientation": [ + 0.40947961807250977, + 0.5723323225975037, + -0.2420070767402649, + 0.6679781675338745 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12443163990974426, + 0.15265510976314545, + -0.01850653439760208 + ], + "orientation": [ + 0.4249633848667145, + 0.5576866865158081, + -0.2498435378074646, + 0.667809784412384 + ], + "joints": [ + -0.017316419631242752 + ] + }, + "final_grasp": { + "position": [ + 0.12443163990974426, + 0.15265510976314545, + -0.01850653439760208 + ], + "orientation": [ + 0.4249633848667145, + 0.5576866865158081, + -0.2498435378074646, + 0.667809784412384 + ], + "joints": [ + -0.01463283970952034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14483222365379333, + 0.09138082712888718, + -0.0641268640756607 + ], + "orientation": [ + 0.28615498542785645, + -0.48118528723716736, + 0.5979521870613098, + 0.5736105442047119 + ], + "joints": [ + -0.018115811049938202 + ] + }, + "fine_grasp": { + "position": [ + 0.14090576767921448, + 0.0911613330245018, + -0.06279872357845306 + ], + "orientation": [ + 0.2850770354270935, + -0.48262664675712585, + 0.6023717522621155, + 0.5682876706123352 + ], + "joints": [ + -0.01434286404401064 + ] + }, + "final_grasp": { + "position": [ + 0.14090576767921448, + 0.0911613330245018, + -0.06279872357845306 + ], + "orientation": [ + 0.2850770354270935, + -0.48262664675712585, + 0.6023717522621155, + 0.5682876706123352 + ], + "joints": [ + -0.010569917038083076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14492203295230865, + 0.09165438264608383, + -0.06406786292791367 + ], + "orientation": [ + 0.28950223326683044, + -0.47843220829963684, + 0.5984809398651123, + 0.5736825466156006 + ], + "joints": [ + -0.018115811049938202 + ] + }, + "fine_grasp": { + "position": [ + 0.14098204672336578, + 0.09144465625286102, + -0.06272745877504349 + ], + "orientation": [ + 0.2883742153644562, + -0.47974738478660583, + 0.6027487516403198, + 0.5686622858047485 + ], + "joints": [ + -0.01434286404401064 + ] + }, + "final_grasp": { + "position": [ + 0.14098204672336578, + 0.09144465625286102, + -0.06272745877504349 + ], + "orientation": [ + 0.2883742153644562, + -0.47974738478660583, + 0.6027487516403198, + 0.5686622858047485 + ], + "joints": [ + -0.010569917038083076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14387764036655426, + 0.06473758071660995, + -0.06609737873077393 + ], + "orientation": [ + 0.6142218112945557, + 0.5678104758262634, + -0.30139413475990295, + 0.45769453048706055 + ], + "joints": [ + -0.016938194632530212 + ] + }, + "fine_grasp": { + "position": [ + 0.1402459591627121, + 0.06470536440610886, + -0.06466282159090042 + ], + "orientation": [ + 0.6169334650039673, + 0.5653166770935059, + -0.2993566393852234, + 0.4584710896015167 + ], + "joints": [ + -0.012633852660655975 + ] + }, + "final_grasp": { + "position": [ + 0.1402459591627121, + 0.06470536440610886, + -0.06466282159090042 + ], + "orientation": [ + 0.6169334650039673, + 0.5653166770935059, + -0.2993566393852234, + 0.4584710896015167 + ], + "joints": [ + -0.008329510688781738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023828178644180298, + -0.10643725097179413, + 0.016423489898443222 + ], + "orientation": [ + 0.742968738079071, + -0.1046929806470871, + 0.6604968905448914, + 0.027941087260842323 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.02328205481171608, + -0.10587132722139359, + 0.019401295110583305 + ], + "orientation": [ + 0.7434947490692139, + -0.11375640332698822, + 0.6586093902587891, + 0.022551903501152992 + ], + "joints": [ + -0.012598596513271332 + ] + }, + "final_grasp": { + "position": [ + 0.02328205481171608, + -0.10587132722139359, + 0.019401295110583305 + ], + "orientation": [ + 0.7434947490692139, + -0.11375640332698822, + 0.6586093902587891, + 0.022551903501152992 + ], + "joints": [ + -0.007258022204041481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001281101256608963, + -0.10588468611240387, + -0.016314484179019928 + ], + "orientation": [ + 0.511947751045227, + 0.05020643770694733, + 0.857276439666748, + 0.021586336195468903 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.0029865021351724863, + -0.10575098544359207, + -0.01770021952688694 + ], + "orientation": [ + 0.5140706896781921, + 0.05338645726442337, + 0.8556739687919617, + 0.026521330699324608 + ], + "joints": [ + -0.012304193340241909 + ] + }, + "final_grasp": { + "position": [ + -0.0029865021351724863, + -0.10575098544359207, + -0.01770021952688694 + ], + "orientation": [ + 0.5140706896781921, + 0.05338645726442337, + 0.8556739687919617, + 0.026521330699324608 + ], + "joints": [ + -0.006963619962334633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1260155737400055, + 0.004328591749072075, + -0.03970235958695412 + ], + "orientation": [ + 0.6654989719390869, + 0.4724963307380676, + -0.3696734607219696, + 0.4440719783306122 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.12108918279409409, + 0.005843449383974075, + -0.038038428872823715 + ], + "orientation": [ + 0.6696716547012329, + 0.46923983097076416, + -0.36997440457344055, + 0.44099074602127075 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + 0.12108918279409409, + 0.005843449383974075, + -0.038038428872823715 + ], + "orientation": [ + 0.6696716547012329, + 0.46923983097076416, + -0.36997440457344055, + 0.44099074602127075 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12592212855815887, + 0.00431806081905961, + -0.03952895477414131 + ], + "orientation": [ + 0.6650543212890625, + 0.4725118577480316, + -0.3698638081550598, + 0.44456273317337036 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.12097031623125076, + 0.00588176678866148, + -0.037820398807525635 + ], + "orientation": [ + 0.6690720915794373, + 0.46899479627609253, + -0.37073642015457153, + 0.44152116775512695 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + 0.12097031623125076, + 0.00588176678866148, + -0.037820398807525635 + ], + "orientation": [ + 0.6690720915794373, + 0.46899479627609253, + -0.37073642015457153, + 0.44152116775512695 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01181928999722004, + 0.018384940922260284, + -0.12981092929840088 + ], + "orientation": [ + 0.767194926738739, + 0.6273441910743713, + 0.12649956345558167, + 0.04300083965063095 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.011196557432413101, + 0.020142361521720886, + -0.12415754050016403 + ], + "orientation": [ + 0.7685320377349854, + 0.6240313053131104, + 0.1330256462097168, + 0.047408703714609146 + ], + "joints": [ + -0.015164246782660484 + ] + }, + "final_grasp": { + "position": [ + -0.011196557432413101, + 0.020142361521720886, + -0.12415754050016403 + ], + "orientation": [ + 0.7685320377349854, + 0.6240313053131104, + 0.1330256462097168, + 0.047408703714609146 + ], + "joints": [ + -0.010328494012355804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041229087859392166, + 0.15066979825496674, + -0.11867373436689377 + ], + "orientation": [ + 0.423500657081604, + 0.8951126337051392, + 0.11206705868244171, + -0.08283450454473495 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.03868228197097778, + 0.1485660970211029, + -0.11554405838251114 + ], + "orientation": [ + 0.4267937242984772, + 0.8943814039230347, + 0.10332342982292175, + -0.08516567200422287 + ], + "joints": [ + -0.01389691699296236 + ] + }, + "final_grasp": { + "position": [ + -0.03868228197097778, + 0.1485660970211029, + -0.11554405838251114 + ], + "orientation": [ + 0.4267937242984772, + 0.8943814039230347, + 0.10332342982292175, + -0.08516567200422287 + ], + "joints": [ + -0.00961914099752903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1421753466129303, + -0.009341541677713394, + -0.004835539031773806 + ], + "orientation": [ + 0.6430092453956604, + -0.3401064872741699, + 0.44510185718536377, + 0.5222557187080383 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.1386871337890625, + -0.008730579167604446, + -0.004551611840724945 + ], + "orientation": [ + 0.6466083526611328, + -0.33796700835227966, + 0.44077178835868835, + 0.5228729844093323 + ], + "joints": [ + -0.014840402640402317 + ] + }, + "final_grasp": { + "position": [ + 0.1386871337890625, + -0.008730579167604446, + -0.004551611840724945 + ], + "orientation": [ + 0.6466083526611328, + -0.33796700835227966, + 0.44077178835868835, + 0.5228729844093323 + ], + "joints": [ + -0.010004650801420212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1421862095594406, + -0.00928829051554203, + -0.004872354678809643 + ], + "orientation": [ + 0.6431706547737122, + -0.33979421854019165, + 0.44503355026245117, + 0.5223184823989868 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.13870997726917267, + -0.008695129305124283, + -0.004515314940363169 + ], + "orientation": [ + 0.6469986438751221, + -0.33765003085136414, + 0.4404869079589844, + 0.5228349566459656 + ], + "joints": [ + -0.014840402640402317 + ] + }, + "final_grasp": { + "position": [ + 0.13870997726917267, + -0.008695129305124283, + -0.004515314940363169 + ], + "orientation": [ + 0.6469986438751221, + -0.33765003085136414, + 0.4404869079589844, + 0.5228349566459656 + ], + "joints": [ + -0.010004650801420212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1289280652999878, + 0.04167884960770607, + -0.04489399492740631 + ], + "orientation": [ + 0.581919252872467, + 0.5516910552978516, + 0.3015584349632263, + -0.5158191919326782 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.12353383749723434, + 0.040730640292167664, + -0.04333385452628136 + ], + "orientation": [ + 0.5847707390785217, + 0.5483162999153137, + 0.2994454801082611, + -0.5174212455749512 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + -0.12353383749723434, + 0.040730640292167664, + -0.04333385452628136 + ], + "orientation": [ + 0.5847707390785217, + 0.5483162999153137, + 0.2994454801082611, + -0.5174212455749512 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1550041288137436, + 0.09117802232503891, + -0.0023051390890032053 + ], + "orientation": [ + 0.4976266026496887, + 0.5074216723442078, + -0.4557837247848511, + 0.5358657836914062 + ], + "joints": [ + -0.018145252019166946 + ] + }, + "fine_grasp": { + "position": [ + 0.1533316969871521, + 0.09131619334220886, + -0.0018580964533612132 + ], + "orientation": [ + 0.49802184104919434, + 0.505449116230011, + -0.45351001620292664, + 0.5392810106277466 + ], + "joints": [ + -0.013336076401174068 + ] + }, + "final_grasp": { + "position": [ + 0.1533316969871521, + 0.09131619334220886, + -0.0018580964533612132 + ], + "orientation": [ + 0.49802184104919434, + 0.505449116230011, + -0.45351001620292664, + 0.5392810106277466 + ], + "joints": [ + -0.00852690078318119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15510310232639313, + 0.0910814106464386, + -0.00235335947945714 + ], + "orientation": [ + 0.49795329570770264, + 0.5071303844451904, + -0.4549323618412018, + 0.5365612506866455 + ], + "joints": [ + -0.018145252019166946 + ] + }, + "fine_grasp": { + "position": [ + 0.1533578783273697, + 0.09121327102184296, + -0.0019085822859779 + ], + "orientation": [ + 0.49845370650291443, + 0.5050081014633179, + -0.4527607262134552, + 0.5399243831634521 + ], + "joints": [ + -0.013336076401174068 + ] + }, + "final_grasp": { + "position": [ + 0.1533578783273697, + 0.09121327102184296, + -0.0019085822859779 + ], + "orientation": [ + 0.49845370650291443, + 0.5050081014633179, + -0.4527607262134552, + 0.5399243831634521 + ], + "joints": [ + -0.00852690078318119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15840935707092285, + 0.08297299593687057, + -0.003397834487259388 + ], + "orientation": [ + 0.4378071129322052, + -0.549356997013092, + 0.5200614333152771, + 0.485868364572525 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + 0.1542261242866516, + 0.08295774459838867, + -0.0035631812643259764 + ], + "orientation": [ + 0.4361949563026428, + -0.5493219494819641, + 0.5244646072387695, + 0.4826139807701111 + ], + "joints": [ + -0.013194692321121693 + ] + }, + "final_grasp": { + "position": [ + 0.1542261242866516, + 0.08295774459838867, + -0.0035631812643259764 + ], + "orientation": [ + 0.4361949563026428, + -0.5493219494819641, + 0.5244646072387695, + 0.4826139807701111 + ], + "joints": [ + -0.009421749040484428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15864859521389008, + 0.08341272920370102, + -0.0034498153254389763 + ], + "orientation": [ + 0.4418076276779175, + -0.5455350875854492, + 0.5212723612785339, + 0.4852552115917206 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + 0.15437647700309753, + 0.08332496881484985, + -0.0036635478027164936 + ], + "orientation": [ + 0.43952786922454834, + -0.5458290576934814, + 0.5250065326690674, + 0.482963889837265 + ], + "joints": [ + -0.013194692321121693 + ] + }, + "final_grasp": { + "position": [ + 0.15437647700309753, + 0.08332496881484985, + -0.0036635478027164936 + ], + "orientation": [ + 0.43952786922454834, + -0.5458290576934814, + 0.5250065326690674, + 0.482963889837265 + ], + "joints": [ + -0.009421749040484428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15835194289684296, + 0.08361300081014633, + -0.0034358275588601828 + ], + "orientation": [ + 0.44317761063575745, + -0.5441104173660278, + 0.5220414996147156, + 0.48477834463119507 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + 0.15434566140174866, + 0.08359496295452118, + -0.003629205282777548 + ], + "orientation": [ + 0.44101211428642273, + -0.5444320440292358, + 0.525496244430542, + 0.4826549291610718 + ], + "joints": [ + -0.01369952131062746 + ] + }, + "final_grasp": { + "position": [ + 0.15434566140174866, + 0.08359496295452118, + -0.003629205282777548 + ], + "orientation": [ + 0.44101211428642273, + -0.5444320440292358, + 0.525496244430542, + 0.4826549291610718 + ], + "joints": [ + -0.010431407019495964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012544305995106697, + 0.058810703456401825, + -0.1548885703086853 + ], + "orientation": [ + 0.680634617805481, + 0.7134217023849487, + 0.1432778537273407, + 0.0850738137960434 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + -0.012535949237644672, + 0.05892130360007286, + -0.152544766664505 + ], + "orientation": [ + 0.6817319989204407, + 0.7107142210006714, + 0.14853018522262573, + 0.08980876207351685 + ], + "joints": [ + -0.01451368909329176 + ] + }, + "final_grasp": { + "position": [ + -0.012535949237644672, + 0.05892130360007286, + -0.152544766664505 + ], + "orientation": [ + 0.6817319989204407, + 0.7107142210006714, + 0.14853018522262573, + 0.08980876207351685 + ], + "joints": [ + -0.009704509750008583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012683359906077385, + 0.05884845554828644, + -0.15496568381786346 + ], + "orientation": [ + 0.6810106039047241, + 0.7128905653953552, + 0.14407627284526825, + 0.08516863733530045 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + -0.012612788937985897, + 0.059049952775239944, + -0.15241262316703796 + ], + "orientation": [ + 0.6825089454650879, + 0.709551215171814, + 0.14998725056648254, + 0.09067835658788681 + ], + "joints": [ + -0.015018518082797527 + ] + }, + "final_grasp": { + "position": [ + -0.012612788937985897, + 0.059049952775239944, + -0.15241262316703796 + ], + "orientation": [ + 0.6825089454650879, + 0.709551215171814, + 0.14998725056648254, + 0.09067835658788681 + ], + "joints": [ + -0.010714167729020119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012352243065834045, + 0.05882609635591507, + -0.1548355221748352 + ], + "orientation": [ + 0.6814659833908081, + 0.7126462459564209, + 0.14296500384807587, + 0.08544240146875381 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + -0.012253484688699245, + 0.059060268104076385, + -0.15243873000144958 + ], + "orientation": [ + 0.682522714138031, + 0.7094833254814148, + 0.1495046615600586, + 0.09189406037330627 + ], + "joints": [ + -0.015018518082797527 + ] + }, + "final_grasp": { + "position": [ + -0.012253484688699245, + 0.059060268104076385, + -0.15243873000144958 + ], + "orientation": [ + 0.682522714138031, + 0.7094833254814148, + 0.1495046615600586, + 0.09189406037330627 + ], + "joints": [ + -0.010714167729020119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14458905160427094, + -0.01212744228541851, + -0.009084285236895084 + ], + "orientation": [ + 0.44935131072998047, + 0.5150206685066223, + -0.6646391153335571, + 0.3018144369125366 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.13927720487117767, + -0.010807153768837452, + -0.00824486929923296 + ], + "orientation": [ + 0.44598808884620667, + 0.5108142495155334, + -0.6706085205078125, + 0.30074501037597656 + ], + "joints": [ + -0.01622704602777958 + ] + }, + "final_grasp": { + "position": [ + 0.13927720487117767, + -0.010807153768837452, + -0.00824486929923296 + ], + "orientation": [ + 0.44598808884620667, + 0.5108142495155334, + -0.6706085205078125, + 0.30074501037597656 + ], + "joints": [ + -0.012454092502593994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10510212928056717, + 0.08885312080383301, + -0.1173604428768158 + ], + "orientation": [ + 0.5917600393295288, + 0.7245710492134094, + -0.24593797326087952, + 0.25363633036613464 + ], + "joints": [ + -0.016349386423826218 + ] + }, + "fine_grasp": { + "position": [ + 0.10325092077255249, + 0.0886741653084755, + -0.11523722112178802 + ], + "orientation": [ + 0.5933144092559814, + 0.7231767177581787, + -0.24726885557174683, + 0.25268858671188354 + ], + "joints": [ + -0.011540217325091362 + ] + }, + "final_grasp": { + "position": [ + 0.10325092077255249, + 0.0886741653084755, + -0.11523722112178802 + ], + "orientation": [ + 0.5933144092559814, + 0.7231767177581787, + -0.24726885557174683, + 0.25268858671188354 + ], + "joints": [ + -0.006731048226356506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1046113446354866, + 0.0883856862783432, + -0.11730189621448517 + ], + "orientation": [ + 0.5905314683914185, + 0.7261855602264404, + -0.24643594026565552, + 0.25138914585113525 + ], + "joints": [ + -0.016349386423826218 + ] + }, + "fine_grasp": { + "position": [ + 0.10300684720277786, + 0.08823439478874207, + -0.11526156216859818 + ], + "orientation": [ + 0.591435432434082, + 0.7251453995704651, + -0.2480715960264206, + 0.25065699219703674 + ], + "joints": [ + -0.011540217325091362 + ] + }, + "final_grasp": { + "position": [ + 0.10300684720277786, + 0.08823439478874207, + -0.11526156216859818 + ], + "orientation": [ + 0.591435432434082, + 0.7251453995704651, + -0.2480715960264206, + 0.25065699219703674 + ], + "joints": [ + -0.006731048226356506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13135182857513428, + 0.17500239610671997, + 0.01776162162423134 + ], + "orientation": [ + 0.27129125595092773, + 0.6294222474098206, + 0.3725759983062744, + -0.6256323456764221 + ], + "joints": [ + -0.01846909709274769 + ] + }, + "fine_grasp": { + "position": [ + -0.1288556307554245, + 0.17452619969844818, + 0.01656375080347061 + ], + "orientation": [ + 0.27250537276268005, + 0.6346526741981506, + 0.3729374408721924, + -0.6195759177207947 + ], + "joints": [ + -0.014696149155497551 + ] + }, + "final_grasp": { + "position": [ + -0.1288556307554245, + 0.17452619969844818, + 0.01656375080347061 + ], + "orientation": [ + 0.27250537276268005, + 0.6346526741981506, + 0.3729374408721924, + -0.6195759177207947 + ], + "joints": [ + -0.010923201218247414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05042523145675659, + 0.08565421402454376, + -0.1484762728214264 + ], + "orientation": [ + 0.677488386631012, + 0.7158783078193665, + 0.08241875469684601, + -0.14742769300937653 + ], + "joints": [ + -0.018145252019166946 + ] + }, + "fine_grasp": { + "position": [ + -0.04982121288776398, + 0.08582938462495804, + -0.14715476334095 + ], + "orientation": [ + 0.6778040528297424, + 0.7156699895858765, + 0.08078937977552414, + -0.14788945019245148 + ], + "joints": [ + -0.012804676778614521 + ] + }, + "final_grasp": { + "position": [ + -0.04982121288776398, + 0.08582938462495804, + -0.14715476334095 + ], + "orientation": [ + 0.6778040528297424, + 0.7156699895858765, + 0.08078937977552414, + -0.14788945019245148 + ], + "joints": [ + -0.007464101538062096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05017242208123207, + 0.08568475395441055, + -0.14844271540641785 + ], + "orientation": [ + 0.6792632937431335, + 0.7144295573234558, + 0.08233753591775894, + -0.14632946252822876 + ], + "joints": [ + -0.018145252019166946 + ] + }, + "fine_grasp": { + "position": [ + -0.04982771724462509, + 0.08580124378204346, + -0.14718730747699738 + ], + "orientation": [ + 0.6795610189437866, + 0.7141077518463135, + 0.08144675940275192, + -0.1470155566930771 + ], + "joints": [ + -0.012804676778614521 + ] + }, + "final_grasp": { + "position": [ + -0.04982771724462509, + 0.08580124378204346, + -0.14718730747699738 + ], + "orientation": [ + 0.6795610189437866, + 0.7141077518463135, + 0.08144675940275192, + -0.1470155566930771 + ], + "joints": [ + -0.007464101538062096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04998230189085007, + 0.08562012761831284, + -0.14824293553829193 + ], + "orientation": [ + 0.6818920969963074, + 0.7121027112007141, + 0.08270157873630524, + -0.14523519575595856 + ], + "joints": [ + -0.018145252019166946 + ] + }, + "fine_grasp": { + "position": [ + -0.04965347424149513, + 0.08572062849998474, + -0.14738565683364868 + ], + "orientation": [ + 0.6825003027915955, + 0.7116280794143677, + 0.0819830596446991, + -0.1451129913330078 + ], + "joints": [ + -0.013336076401174068 + ] + }, + "final_grasp": { + "position": [ + -0.04965347424149513, + 0.08572062849998474, + -0.14738565683364868 + ], + "orientation": [ + 0.6825003027915955, + 0.7116280794143677, + 0.0819830596446991, + -0.1451129913330078 + ], + "joints": [ + -0.00852690078318119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.155608132481575, + 0.06997334957122803, + 0.028388436883687973 + ], + "orientation": [ + 0.50804603099823, + -0.5743322968482971, + 0.408862441778183, + 0.4948365092277527 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.15119963884353638, + 0.06975328922271729, + 0.027305234223604202 + ], + "orientation": [ + 0.5098169445991516, + -0.5715087056159973, + 0.4109443128108978, + 0.4945596158504486 + ], + "joints": [ + -0.011344293132424355 + ] + }, + "final_grasp": { + "position": [ + 0.15119963884353638, + 0.06975328922271729, + 0.027305234223604202 + ], + "orientation": [ + 0.5098169445991516, + -0.5715087056159973, + 0.4109443128108978, + 0.4945596158504486 + ], + "joints": [ + -0.008076183497905731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1514049619436264, + 0.05604219436645508, + -0.026693742722272873 + ], + "orientation": [ + 0.6415749788284302, + 0.4400777518749237, + 0.42075273394584656, + -0.4665621519088745 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + -0.14990608394145966, + 0.056659478694200516, + -0.025236038491129875 + ], + "orientation": [ + 0.6412779092788696, + 0.4363495111465454, + 0.42028796672821045, + -0.47087132930755615 + ], + "joints": [ + -0.015045088715851307 + ] + }, + "final_grasp": { + "position": [ + -0.14990608394145966, + 0.056659478694200516, + -0.025236038491129875 + ], + "orientation": [ + 0.6412779092788696, + 0.4363495111465454, + 0.42028796672821045, + -0.47087132930755615 + ], + "joints": [ + -0.010767308995127678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14795589447021484, + 0.11693260073661804, + 0.04147559031844139 + ], + "orientation": [ + 0.49457356333732605, + -0.6176374554634094, + 0.3456777036190033, + 0.5044084787368774 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.14553700387477875, + 0.11666449159383774, + 0.04020894318819046 + ], + "orientation": [ + 0.49678924679756165, + -0.615683376789093, + 0.34496936202049255, + 0.5051044225692749 + ], + "joints": [ + -0.013224133290350437 + ] + }, + "final_grasp": { + "position": [ + 0.14553700387477875, + 0.11666449159383774, + 0.04020894318819046 + ], + "orientation": [ + 0.49678924679756165, + -0.615683376789093, + 0.34496936202049255, + 0.5051044225692749 + ], + "joints": [ + -0.009451190009713173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004106369335204363, + -0.1101861521601677, + -0.019216258078813553 + ], + "orientation": [ + 0.7072042226791382, + -0.025908270850777626, + 0.6936851739883423, + 0.13413363695144653 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.004125042352825403, + -0.10929301381111145, + -0.01808548904955387 + ], + "orientation": [ + 0.716497540473938, + -0.023188432678580284, + 0.6845567226409912, + 0.1321958601474762 + ], + "joints": [ + -0.007031496614217758 + ] + }, + "final_grasp": { + "position": [ + 0.004125042352825403, + -0.10929301381111145, + -0.01808548904955387 + ], + "orientation": [ + 0.716497540473938, + -0.023188432678580284, + 0.6845567226409912, + 0.1321958601474762 + ], + "joints": [ + -0.001717500388622284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05709159001708031, + -0.09121213108301163, + -0.07062368839979172 + ], + "orientation": [ + 0.284257709980011, + -0.10114521533250809, + 0.9221319556236267, + 0.24215635657310486 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.056158408522605896, + -0.09081067144870758, + -0.06928235292434692 + ], + "orientation": [ + 0.28095579147338867, + -0.10260940343141556, + 0.9216586947441101, + 0.24714460968971252 + ], + "joints": [ + -0.008656533434987068 + ] + }, + "final_grasp": { + "position": [ + 0.056158408522605896, + -0.09081067144870758, + -0.06928235292434692 + ], + "orientation": [ + 0.28095579147338867, + -0.10260940343141556, + 0.9216586947441101, + 0.24714460968971252 + ], + "joints": [ + -0.004378765821456909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004370917100459337, + -0.1093093529343605, + -0.01882961578667164 + ], + "orientation": [ + 0.7118244767189026, + -0.026177985593676567, + 0.6897109150886536, + 0.13007482886314392 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.005112877115607262, + -0.10923533886671066, + -0.016978351399302483 + ], + "orientation": [ + 0.721173107624054, + -0.027565758675336838, + 0.6800454258918762, + 0.1291811168193817 + ], + "joints": [ + -0.007536326535046101 + ] + }, + "final_grasp": { + "position": [ + 0.005112877115607262, + -0.10923533886671066, + -0.016978351399302483 + ], + "orientation": [ + 0.721173107624054, + -0.027565758675336838, + 0.6800454258918762, + 0.1291811168193817 + ], + "joints": [ + -0.002727160230278969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06157882884144783, + -0.09738190472126007, + -0.05159974843263626 + ], + "orientation": [ + 0.5202798843383789, + -0.05997816473245621, + 0.8207840919494629, + 0.22808967530727386 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.05968332290649414, + -0.09575742483139038, + -0.05201553925871849 + ], + "orientation": [ + 0.5200895071029663, + -0.05574554204940796, + 0.8207398056983948, + 0.2297511100769043 + ], + "joints": [ + -0.009859247133135796 + ] + }, + "final_grasp": { + "position": [ + 0.05968332290649414, + -0.09575742483139038, + -0.05201553925871849 + ], + "orientation": [ + 0.5200895071029663, + -0.05574554204940796, + 0.8207398056983948, + 0.2297511100769043 + ], + "joints": [ + -0.005076650530099869 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1482941061258316, + 0.11726360023021698, + 0.04201151058077812 + ], + "orientation": [ + 0.49441099166870117, + -0.6196272969245911, + 0.34795433282852173, + 0.5005473494529724 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + 0.14593078196048737, + 0.11684060096740723, + 0.04108112305402756 + ], + "orientation": [ + 0.49634572863578796, + -0.6192409992218018, + 0.34794872999191284, + 0.49911248683929443 + ], + "joints": [ + -0.012689863331615925 + ] + }, + "final_grasp": { + "position": [ + 0.14593078196048737, + 0.11684060096740723, + 0.04108112305402756 + ], + "orientation": [ + 0.49634572863578796, + -0.6192409992218018, + 0.34794872999191284, + 0.49911248683929443 + ], + "joints": [ + -0.008412091061472893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06571954488754272, + 0.005028735846281052, + -0.12194830924272537 + ], + "orientation": [ + 0.6897009015083313, + 0.6815974712371826, + 0.16827477514743805, + -0.1772599220275879 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.0629255548119545, + 0.004174555651843548, + -0.11679951846599579 + ], + "orientation": [ + 0.6813957095146179, + 0.6896324157714844, + 0.16588494181632996, + -0.18052496016025543 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + -0.0629255548119545, + 0.004174555651843548, + -0.11679951846599579 + ], + "orientation": [ + 0.6813957095146179, + 0.6896324157714844, + 0.16588494181632996, + -0.18052496016025543 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1582312136888504, + 0.10409244149923325, + -0.014025566168129444 + ], + "orientation": [ + 0.4433794915676117, + 0.5935202240943909, + -0.4231831729412079, + 0.5215979218482971 + ], + "joints": [ + -0.014522530138492584 + ] + }, + "fine_grasp": { + "position": [ + 0.15363532304763794, + 0.10337614268064499, + -0.013746857643127441 + ], + "orientation": [ + 0.4448603391647339, + 0.5910951495170593, + -0.425089031457901, + 0.5215409994125366 + ], + "joints": [ + -0.01128099113702774 + ] + }, + "final_grasp": { + "position": [ + 0.15363532304763794, + 0.10337614268064499, + -0.013746857643127441 + ], + "orientation": [ + 0.4448603391647339, + 0.5910951495170593, + -0.425089031457901, + 0.5215409994125366 + ], + "joints": [ + -0.008039452135562897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15769922733306885, + 0.10476627945899963, + -0.013629330322146416 + ], + "orientation": [ + 0.44704678654670715, + 0.5887448191642761, + -0.4236171245574951, + 0.5235238671302795 + ], + "joints": [ + -0.015142329037189484 + ] + }, + "fine_grasp": { + "position": [ + 0.15317021310329437, + 0.10400568693876266, + -0.013569165021181107 + ], + "orientation": [ + 0.4485682547092438, + 0.5873832702636719, + -0.4254594147205353, + 0.5222563147544861 + ], + "joints": [ + -0.011369390413165092 + ] + }, + "final_grasp": { + "position": [ + 0.15317021310329437, + 0.10400568693876266, + -0.013569165021181107 + ], + "orientation": [ + 0.4485682547092438, + 0.5873832702636719, + -0.4254594147205353, + 0.5222563147544861 + ], + "joints": [ + -0.007596451789140701 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1574486792087555, + 0.10474763065576553, + -0.013834914192557335 + ], + "orientation": [ + 0.44646430015563965, + 0.5903322696685791, + -0.4258196949958801, + 0.5204371809959412 + ], + "joints": [ + -0.014861870557069778 + ] + }, + "fine_grasp": { + "position": [ + 0.15332354605197906, + 0.10405946522951126, + -0.013748828321695328 + ], + "orientation": [ + 0.44766131043434143, + 0.5891132354736328, + -0.42750853300094604, + 0.5194050073623657 + ], + "joints": [ + -0.011620331555604935 + ] + }, + "final_grasp": { + "position": [ + 0.15332354605197906, + 0.10405946522951126, + -0.013748828321695328 + ], + "orientation": [ + 0.44766131043434143, + 0.5891132354736328, + -0.42750853300094604, + 0.5194050073623657 + ], + "joints": [ + -0.008378792554140091 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06647554039955139, + -0.08954646438360214, + 0.04771949350833893 + ], + "orientation": [ + 0.45162612199783325, + 0.09827996045351028, + 0.8644549250602722, + -0.19771860539913177 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.06505406647920609, + -0.08739057183265686, + 0.04650726169347763 + ], + "orientation": [ + 0.45150694251060486, + 0.09883410483598709, + 0.863768458366394, + -0.2006922960281372 + ], + "joints": [ + -0.008066251873970032 + ] + }, + "final_grasp": { + "position": [ + -0.06505406647920609, + -0.08739057183265686, + 0.04650726169347763 + ], + "orientation": [ + 0.45150694251060486, + 0.09883410483598709, + 0.863768458366394, + -0.2006922960281372 + ], + "joints": [ + -0.0032570846378803253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12113916873931885, + 0.06001860648393631, + -0.08517646044492722 + ], + "orientation": [ + 0.6277359127998352, + 0.625973105430603, + -0.28828945755958557, + 0.36193159222602844 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.11905089020729065, + 0.06012023612856865, + -0.08338620513677597 + ], + "orientation": [ + 0.6305784583091736, + 0.622366189956665, + -0.2884274125099182, + 0.36309894919395447 + ], + "joints": [ + -0.013983764685690403 + ] + }, + "final_grasp": { + "position": [ + 0.11905089020729065, + 0.06012023612856865, + -0.08338620513677597 + ], + "orientation": [ + 0.6305784583091736, + 0.622366189956665, + -0.2884274125099182, + 0.36309894919395447 + ], + "joints": [ + -0.009174587205052376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08962246030569077, + 0.1552416980266571, + -0.10554324090480804 + ], + "orientation": [ + 0.5371702909469604, + 0.49676063656806946, + -0.0010465416125953197, + 0.6816713809967041 + ], + "joints": [ + 0.003365482669323683 + ] + }, + "fine_grasp": { + "position": [ + 0.08631599694490433, + 0.1538778394460678, + -0.10229703783988953 + ], + "orientation": [ + 0.5456018447875977, + 0.49300065636634827, + 0.003875202499330044, + 0.6776828765869141 + ], + "joints": [ + 0.0071915616281330585 + ] + }, + "final_grasp": { + "position": [ + 0.08631599694490433, + 0.1538778394460678, + -0.10229703783988953 + ], + "orientation": [ + 0.5456018447875977, + 0.49300065636634827, + 0.003875202499330044, + 0.6776828765869141 + ], + "joints": [ + 0.011017641052603722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06755314022302628, + 0.09441293030977249, + -0.1257273107767105 + ], + "orientation": [ + 0.11061548441648483, + 0.5353646874427795, + -0.6842566132545471, + -0.48264017701148987 + ], + "joints": [ + -0.014579862356185913 + ] + }, + "fine_grasp": { + "position": [ + 0.06603880226612091, + 0.09369553625583649, + -0.12290363013744354 + ], + "orientation": [ + 0.11744668334722519, + 0.5366840362548828, + -0.6799657344818115, + -0.48561617732048035 + ], + "joints": [ + -0.00878760777413845 + ] + }, + "final_grasp": { + "position": [ + 0.06603880226612091, + 0.09369553625583649, + -0.12290363013744354 + ], + "orientation": [ + 0.11744668334722519, + 0.5366840362548828, + -0.6799657344818115, + -0.48561617732048035 + ], + "joints": [ + -0.002995353192090988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.136283740401268, + -0.021022284403443336, + -0.030992895364761353 + ], + "orientation": [ + 0.6349183917045593, + 0.4799034893512726, + -0.3990821838378906, + 0.45530733466148376 + ], + "joints": [ + -0.012993182986974716 + ] + }, + "fine_grasp": { + "position": [ + 0.1308838129043579, + -0.01928243786096573, + -0.02968101017177105 + ], + "orientation": [ + 0.6405682563781738, + 0.4770287275314331, + -0.39584875106811523, + 0.4532323479652405 + ], + "joints": [ + -0.0071212174370884895 + ] + }, + "final_grasp": { + "position": [ + 0.1308838129043579, + -0.01928243786096573, + -0.02968101017177105 + ], + "orientation": [ + 0.6405682563781738, + 0.4770287275314331, + -0.39584875106811523, + 0.4532323479652405 + ], + "joints": [ + -0.0012492518872022629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006386443506926298, + 0.22533266246318817, + -0.0257286224514246 + ], + "orientation": [ + 0.01629927195608616, + -0.8010485172271729, + 0.1373489946126938, + 0.5824010372161865 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.006241121329367161, + 0.22731028497219086, + -0.024559151381254196 + ], + "orientation": [ + 0.020520346239209175, + -0.8062739372253418, + 0.12919721007347107, + 0.5768963098526001 + ], + "joints": [ + -0.01120768766850233 + ] + }, + "final_grasp": { + "position": [ + 0.006241121329367161, + 0.22731028497219086, + -0.024559151381254196 + ], + "orientation": [ + 0.020520346239209175, + -0.8062739372253418, + 0.12919721007347107, + 0.5768963098526001 + ], + "joints": [ + -0.005388857796788216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08766540884971619, + 0.04966988414525986, + -0.097134530544281 + ], + "orientation": [ + 0.27809473872184753, + -0.22459405660629272, + 0.6046485304832458, + 0.711773157119751 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + 0.08390432596206665, + 0.04910755529999733, + -0.09272360056638718 + ], + "orientation": [ + 0.2786654829978943, + -0.22547824680805206, + 0.6056063771247864, + 0.7104547619819641 + ], + "joints": [ + -0.010555580258369446 + ] + }, + "final_grasp": { + "position": [ + 0.08390432596206665, + 0.04910755529999733, + -0.09272360056638718 + ], + "orientation": [ + 0.2786654829978943, + -0.22547824680805206, + 0.6056063771247864, + 0.7104547619819641 + ], + "joints": [ + -0.0031425487250089645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023055750876665115, + 0.2194983810186386, + 0.008283937349915504 + ], + "orientation": [ + 0.10796335339546204, + 0.40472665429115295, + -0.15287557244300842, + 0.8950807452201843 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.023074723780155182, + 0.22046750783920288, + 0.00791578833013773 + ], + "orientation": [ + 0.10485413670539856, + 0.4099486172199249, + -0.15875616669654846, + 0.8920450210571289 + ], + "joints": [ + -0.012625167146325111 + ] + }, + "final_grasp": { + "position": [ + 0.023074723780155182, + 0.22046750783920288, + 0.00791578833013773 + ], + "orientation": [ + 0.10485413670539856, + 0.4099486172199249, + -0.15875616669654846, + 0.8920450210571289 + ], + "joints": [ + -0.00731116347014904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032174184918403625, + -0.08938807994127274, + -0.0628642663359642 + ], + "orientation": [ + 0.9343929290771484, + 0.32051360607147217, + 0.06442715227603912, + 0.1415274441242218 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.031483959406614304, + -0.08784577995538712, + -0.06280222535133362 + ], + "orientation": [ + 0.9369783401489258, + 0.3157624304294586, + 0.05928254500031471, + 0.13729974627494812 + ], + "joints": [ + -0.008294489234685898 + ] + }, + "final_grasp": { + "position": [ + 0.031483959406614304, + -0.08784577995538712, + -0.06280222535133362 + ], + "orientation": [ + 0.9369783401489258, + 0.3157624304294586, + 0.05928254500031471, + 0.13729974627494812 + ], + "joints": [ + -0.0019176937639713287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01201464980840683, + 0.21893954277038574, + 0.012901987880468369 + ], + "orientation": [ + 0.03908466175198555, + -0.36503762006759644, + -0.08551255613565445, + 0.9262329936027527 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.012200992554426193, + 0.2181730717420578, + 0.014672145247459412 + ], + "orientation": [ + 0.04544449597597122, + -0.36105111241340637, + -0.07320358604192734, + 0.9285571575164795 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + 0.012200992554426193, + 0.2181730717420578, + 0.014672145247459412 + ], + "orientation": [ + 0.04544449597597122, + -0.36105111241340637, + -0.07320358604192734, + 0.9285571575164795 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1260567158460617, + 0.021631604060530663, + 0.010039834305644035 + ], + "orientation": [ + 0.4429011940956116, + 0.5066959857940674, + -0.5759864449501038, + 0.464044451713562 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.12345048040151596, + 0.02203737013041973, + 0.009683064185082912 + ], + "orientation": [ + 0.4440501630306244, + 0.5058587193489075, + -0.5797460675239563, + 0.4591524600982666 + ], + "joints": [ + -0.009884191676974297 + ] + }, + "final_grasp": { + "position": [ + 0.12345048040151596, + 0.02203737013041973, + 0.009683064185082912 + ], + "orientation": [ + 0.4440501630306244, + 0.5058587193489075, + -0.5797460675239563, + 0.4591524600982666 + ], + "joints": [ + -0.0024180207401514053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12598316371440887, + 0.02132798731327057, + 0.010097992606461048 + ], + "orientation": [ + 0.4430879056453705, + 0.506605863571167, + -0.5748430490493774, + 0.46538054943084717 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + 0.12332595884799957, + 0.02159304916858673, + 0.009684357792139053 + ], + "orientation": [ + 0.44465169310569763, + 0.5051008462905884, + -0.5787573456764221, + 0.4606495201587677 + ], + "joints": [ + -0.009645800106227398 + ] + }, + "final_grasp": { + "position": [ + 0.12332595884799957, + 0.02159304916858673, + 0.009684357792139053 + ], + "orientation": [ + 0.44465169310569763, + 0.5051008462905884, + -0.5787573456764221, + 0.4606495201587677 + ], + "joints": [ + -0.002206200733780861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12161748111248016, + -0.004296799656003714, + 0.031562529504299164 + ], + "orientation": [ + 0.5241929888725281, + 0.34801384806632996, + 0.5017918944358826, + -0.5935596823692322 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.12106747180223465, + -0.0043721371330320835, + 0.030901743099093437 + ], + "orientation": [ + 0.5159265995025635, + 0.3548355996608734, + 0.5094860196113586, + -0.5901994705200195 + ], + "joints": [ + -0.0083224568516016 + ] + }, + "final_grasp": { + "position": [ + -0.12106747180223465, + -0.0043721371330320835, + 0.030901743099093437 + ], + "orientation": [ + 0.5159265995025635, + 0.3548355996608734, + 0.5094860196113586, + -0.5901994705200195 + ], + "joints": [ + -0.0014142617583274841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08862679451704025, + 0.013420607894659042, + 0.09372750669717789 + ], + "orientation": [ + 0.24112878739833832, + 0.282488077878952, + -0.5987427830696106, + 0.7096228003501892 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.08655966818332672, + 0.013692463748157024, + 0.09179949760437012 + ], + "orientation": [ + 0.24418620765209198, + 0.2842949330806732, + -0.5989712476730347, + 0.7076600790023804 + ], + "joints": [ + -0.006414645351469517 + ] + }, + "final_grasp": { + "position": [ + 0.08655966818332672, + 0.013692463748157024, + 0.09179949760437012 + ], + "orientation": [ + 0.24418620765209198, + 0.2842949330806732, + -0.5989712476730347, + 0.7076600790023804 + ], + "joints": [ + -0.0005426798015832901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012456580996513367, + 0.22331850230693817, + -0.01636536978185177 + ], + "orientation": [ + 0.15167966485023499, + 0.7944669127464294, + -0.05533454567193985, + 0.5854516625404358 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.012547013349831104, + 0.22351104021072388, + -0.014718816615641117 + ], + "orientation": [ + 0.15221114456653595, + 0.7961466908454895, + -0.06899212300777435, + 0.581568717956543 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.012547013349831104, + 0.22351104021072388, + -0.014718816615641117 + ], + "orientation": [ + 0.15221114456653595, + 0.7961466908454895, + -0.06899212300777435, + 0.581568717956543 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009399005211889744, + 0.2197932004928589, + -0.019894003868103027 + ], + "orientation": [ + 0.06618113070726395, + 0.747793972492218, + 0.04983586072921753, + 0.6587417721748352 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.008753403089940548, + 0.21582435071468353, + -0.020851220935583115 + ], + "orientation": [ + 0.05498307943344116, + 0.7503578662872314, + 0.05928550288081169, + 0.6560680270195007 + ], + "joints": [ + -0.01574878767132759 + ] + }, + "final_grasp": { + "position": [ + -0.008753403089940548, + 0.21582435071468353, + -0.020851220935583115 + ], + "orientation": [ + 0.05498307943344116, + 0.7503578662872314, + 0.05928550288081169, + 0.6560680270195007 + ], + "joints": [ + -0.011497575789690018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01988920196890831, + 0.2209947109222412, + -0.02004167251288891 + ], + "orientation": [ + 0.048444513231515884, + -0.09785623848438263, + -0.0661887601017952, + -0.9918146133422852 + ], + "joints": [ + 0.011266583576798439 + ] + }, + "fine_grasp": { + "position": [ + 0.020866623148322105, + 0.2254469096660614, + -0.020129475742578506 + ], + "orientation": [ + 0.043896693736314774, + -0.09632623940706253, + -0.06777818500995636, + -0.9920688271522522 + ], + "joints": [ + 0.01820136047899723 + ] + }, + "final_grasp": { + "position": [ + 0.020866623148322105, + 0.2254469096660614, + -0.020129475742578506 + ], + "orientation": [ + 0.043896693736314774, + -0.09632623940706253, + -0.06777818500995636, + -0.9920688271522522 + ], + "joints": [ + 0.025136137381196022 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2037, + "num_passed": 232 + } +} \ No newline at end of file diff --git a/021_cup_2/Annotation/piper_grasp_pose.json b/021_cup_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..5b16fc7eaaa528223a4b38dfb7b8ad249a8fbd20 --- /dev/null +++ b/021_cup_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,1818 @@ +{ + "type": "021_cup_2", + "bottom_center": [ + 0.0, + 0.054999999701976776, + -0.0371088832616806 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.12078474462032318, + 0.05257334187626839, + -0.08058175444602966 + ], + "orientation": [ + 0.6275457143783569, + -0.289817214012146, + 0.3749316334724426, + -0.6177528500556946 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + -0.11757354438304901, + 0.053019098937511444, + -0.07850015163421631 + ], + "orientation": [ + 0.6300201416015625, + -0.2927490770816803, + 0.3718288242816925, + -0.6157239079475403 + ], + "joints": [ + 0.027345802634954453 + ] + }, + "final_grasp": { + "position": [ + -0.11757354438304901, + 0.053019098937511444, + -0.07850015163421631 + ], + "orientation": [ + 0.6300201416015625, + -0.2927490770816803, + 0.3718288242816925, + -0.6157239079475403 + ], + "joints": [ + 0.020177867263555527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13054484128952026, + 0.0006283671245910227, + 0.04916077479720116 + ], + "orientation": [ + 0.4600011110305786, + -0.6188193559646606, + 0.5386332869529724, + -0.339611291885376 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.12680251896381378, + 0.0012896913103759289, + 0.047651078552007675 + ], + "orientation": [ + 0.46065524220466614, + -0.6180583238601685, + 0.5382053852081299, + -0.3407866358757019 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.12680251896381378, + 0.0012896913103759289, + 0.047651078552007675 + ], + "orientation": [ + 0.46065524220466614, + -0.6180583238601685, + 0.5382053852081299, + -0.3407866358757019 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06032160669565201, + -0.08466918021440506, + -0.04896232485771179 + ], + "orientation": [ + 0.44229161739349365, + -0.12682737410068512, + 0.5934722423553467, + 0.6603662371635437 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.05818844214081764, + -0.08359663933515549, + -0.04688238352537155 + ], + "orientation": [ + 0.45063745975494385, + -0.11701036989688873, + 0.5873197317123413, + 0.6620347499847412 + ], + "joints": [ + 0.026840899139642715 + ] + }, + "final_grasp": { + "position": [ + -0.05818844214081764, + -0.08359663933515549, + -0.04688238352537155 + ], + "orientation": [ + 0.45063745975494385, + -0.11701036989688873, + 0.5873197317123413, + 0.6620347499847412 + ], + "joints": [ + 0.019631166011095047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13098224997520447, + 0.0011383859673514962, + 0.049166955053806305 + ], + "orientation": [ + 0.45986953377723694, + -0.6179821491241455, + 0.5393491983413696, + -0.3401772081851959 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.12745851278305054, + 0.0017030988819897175, + 0.04773811995983124 + ], + "orientation": [ + 0.46026623249053955, + -0.6176358461380005, + 0.5386273264884949, + -0.3414108157157898 + ], + "joints": [ + 0.02820822224020958 + ] + }, + "final_grasp": { + "position": [ + -0.12745851278305054, + 0.0017030988819897175, + 0.04773811995983124 + ], + "orientation": [ + 0.46026623249053955, + -0.6176358461380005, + 0.5386273264884949, + -0.3414108157157898 + ], + "joints": [ + 0.021416444331407547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10873062908649445, + 0.008150671608746052, + -0.08995971828699112 + ], + "orientation": [ + 0.6222639083862305, + 0.2702946662902832, + -0.33043739199638367, + -0.6561552286148071 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.10576852411031723, + 0.008657490834593773, + -0.08769921958446503 + ], + "orientation": [ + 0.6220297813415527, + 0.2692848742008209, + -0.33134835958480835, + -0.6563329100608826 + ], + "joints": [ + 0.02760051190853119 + ] + }, + "final_grasp": { + "position": [ + 0.10576852411031723, + 0.008657490834593773, + -0.08769921958446503 + ], + "orientation": [ + 0.6220297813415527, + 0.2692848742008209, + -0.33134835958480835, + -0.6563329100608826 + ], + "joints": [ + 0.020432576537132263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06976238638162613, + 0.0010258014081045985, + -0.1220511868596077 + ], + "orientation": [ + 0.7155669927597046, + -0.2240404486656189, + -0.14108780026435852, + 0.6464240550994873 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.06765815615653992, + 0.0015777813969179988, + -0.11833810806274414 + ], + "orientation": [ + 0.716502845287323, + -0.2237122505903244, + -0.1410924792289734, + 0.6454993486404419 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.06765815615653992, + 0.0015777813969179988, + -0.11833810806274414 + ], + "orientation": [ + 0.716502845287323, + -0.2237122505903244, + -0.1410924792289734, + 0.6454993486404419 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0681525394320488, + 0.0014071807963773608, + -0.1233949214220047 + ], + "orientation": [ + 0.7136049866676331, + -0.21804732084274292, + -0.13644731044769287, + 0.6516175270080566 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + 0.066238634288311, + 0.0018663593800738454, + -0.11997675895690918 + ], + "orientation": [ + 0.7145326733589172, + -0.21726664900779724, + -0.13628040254116058, + 0.6508961319923401 + ], + "joints": [ + 0.02757735550403595 + ] + }, + "final_grasp": { + "position": [ + 0.066238634288311, + 0.0018663593800738454, + -0.11997675895690918 + ], + "orientation": [ + 0.7145326733589172, + -0.21726664900779724, + -0.13628040254116058, + 0.6508961319923401 + ], + "joints": [ + 0.020409420132637024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06779082864522934, + 0.0017342776991426945, + -0.12383914738893509 + ], + "orientation": [ + 0.7133216261863708, + -0.2185910940170288, + -0.13293291628360748, + 0.6524714827537537 + ], + "joints": [ + 0.03497684374451637 + ] + }, + "fine_grasp": { + "position": [ + 0.06588118523359299, + 0.0022253745701164007, + -0.12040873616933823 + ], + "orientation": [ + 0.7143065929412842, + -0.2177608609199524, + -0.132569819688797, + 0.6517451405525208 + ], + "joints": [ + 0.02739095315337181 + ] + }, + "final_grasp": { + "position": [ + 0.06588118523359299, + 0.0022253745701164007, + -0.12040873616933823 + ], + "orientation": [ + 0.7143065929412842, + -0.2177608609199524, + -0.132569819688797, + 0.6517451405525208 + ], + "joints": [ + 0.01980506256222725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0003005140461027622, + -0.11259346455335617, + 0.027229519560933113 + ], + "orientation": [ + 0.48243069648742676, + -0.6628193855285645, + 0.4782203733921051, + 0.31501805782318115 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 8.670855459058657e-05, + -0.10794887691736221, + 0.026967786252498627 + ], + "orientation": [ + 0.48913541436195374, + -0.6579028964042664, + 0.47216108441352844, + 0.32399725914001465 + ], + "joints": [ + 0.028730671852827072 + ] + }, + "final_grasp": { + "position": [ + 8.670855459058657e-05, + -0.10794887691736221, + 0.026967786252498627 + ], + "orientation": [ + 0.48913541436195374, + -0.6579028964042664, + 0.47216108441352844, + 0.32399725914001465 + ], + "joints": [ + 0.022461343556642532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1048957034945488, + -0.043568406254053116, + -0.06435202807188034 + ], + "orientation": [ + 0.5459123849868774, + 0.27013784646987915, + 0.42612165212631226, + 0.6688987016677856 + ], + "joints": [ + 0.032832641154527664 + ] + }, + "fine_grasp": { + "position": [ + -0.10273048281669617, + -0.040860746055841446, + -0.06309626996517181 + ], + "orientation": [ + 0.5399410128593445, + 0.26082611083984375, + 0.4353216588497162, + 0.6715120673179626 + ], + "joints": [ + 0.025622908025979996 + ] + }, + "final_grasp": { + "position": [ + -0.10273048281669617, + -0.040860746055841446, + -0.06309626996517181 + ], + "orientation": [ + 0.5399410128593445, + 0.26082611083984375, + 0.4353216588497162, + 0.6715120673179626 + ], + "joints": [ + 0.018413174897432327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10484320670366287, + -0.04255193471908569, + -0.06460443139076233 + ], + "orientation": [ + 0.5503755211830139, + 0.2699415385723114, + 0.42354315519332886, + 0.6669555306434631 + ], + "joints": [ + 0.033201318234205246 + ] + }, + "fine_grasp": { + "position": [ + -0.10269787907600403, + -0.039958421140909195, + -0.06339024752378464 + ], + "orientation": [ + 0.5445459485054016, + 0.261234849691391, + 0.43277987837791443, + 0.6692739129066467 + ], + "joints": [ + 0.02557362988591194 + ] + }, + "final_grasp": { + "position": [ + -0.10269787907600403, + -0.039958421140909195, + -0.06339024752378464 + ], + "orientation": [ + 0.5445459485054016, + 0.261234849691391, + 0.43277987837791443, + 0.6692739129066467 + ], + "joints": [ + 0.017945941537618637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007129083853214979, + -0.09675378352403641, + -0.06749933212995529 + ], + "orientation": [ + 0.4981377124786377, + -0.3267775774002075, + 0.449870228767395, + 0.6653509736061096 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + -0.0067988126538693905, + -0.09467898309230804, + -0.064572274684906 + ], + "orientation": [ + 0.505951464176178, + -0.3191624581813812, + 0.44422560930252075, + 0.6669423580169678 + ], + "joints": [ + 0.02648789808154106 + ] + }, + "final_grasp": { + "position": [ + -0.0067988126538693905, + -0.09467898309230804, + -0.064572274684906 + ], + "orientation": [ + 0.505951464176178, + -0.3191624581813812, + 0.44422560930252075, + 0.6669423580169678 + ], + "joints": [ + 0.0189020074903965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00667888717725873, + -0.09620917588472366, + -0.0677088275551796 + ], + "orientation": [ + 0.4959104061126709, + -0.3221319615840912, + 0.4476988911628723, + 0.6707231998443604 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + -0.006468013860285282, + -0.09404651820659637, + -0.06508537381887436 + ], + "orientation": [ + 0.5034022927284241, + -0.31687790155410767, + 0.4429607391357422, + 0.6707907319068909 + ], + "joints": [ + 0.026948746293783188 + ] + }, + "final_grasp": { + "position": [ + -0.006468013860285282, + -0.09404651820659637, + -0.06508537381887436 + ], + "orientation": [ + 0.5034022927284241, + -0.31687790155410767, + 0.4429607391357422, + 0.6707907319068909 + ], + "joints": [ + 0.019383754581212997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007218401879072189, + -0.09644333273172379, + -0.06769406795501709 + ], + "orientation": [ + 0.4930950701236725, + -0.3206017017364502, + 0.45065879821777344, + 0.671549379825592 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.006981965620070696, + -0.09432089328765869, + -0.06503713876008987 + ], + "orientation": [ + 0.5005123615264893, + -0.3143048584461212, + 0.44618985056877136, + 0.6720227003097534 + ], + "joints": [ + 0.02671945095062256 + ] + }, + "final_grasp": { + "position": [ + -0.006981965620070696, + -0.09432089328765869, + -0.06503713876008987 + ], + "orientation": [ + 0.5005123615264893, + -0.3143048584461212, + 0.44618985056877136, + 0.6720227003097534 + ], + "joints": [ + 0.019133560359477997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006533476524055004, + -0.09631049633026123, + -0.06767011433839798 + ], + "orientation": [ + 0.4941856265068054, + -0.3221161365509033, + 0.4482390284538269, + 0.671642541885376 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.006306431721895933, + -0.09413543343544006, + -0.06503504514694214 + ], + "orientation": [ + 0.501684308052063, + -0.3167530596256256, + 0.4435470998287201, + 0.671748697757721 + ], + "joints": [ + 0.02674034982919693 + ] + }, + "final_grasp": { + "position": [ + -0.006306431721895933, + -0.09413543343544006, + -0.06503504514694214 + ], + "orientation": [ + 0.501684308052063, + -0.3167530596256256, + 0.4435470998287201, + 0.671748697757721 + ], + "joints": [ + 0.01917535811662674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0849226862192154, + 0.02339809574186802, + -0.11855395883321762 + ], + "orientation": [ + 0.6423642039299011, + 0.1369471698999405, + 0.2913808226585388, + 0.6954932808876038 + ], + "joints": [ + 0.0342358723282814 + ] + }, + "fine_grasp": { + "position": [ + -0.08274839073419571, + 0.023903271183371544, + -0.11568994075059891 + ], + "orientation": [ + 0.6423479914665222, + 0.1377239227294922, + 0.29152894020080566, + 0.6952927112579346 + ], + "joints": [ + 0.026587285101413727 + ] + }, + "final_grasp": { + "position": [ + -0.08274839073419571, + 0.023903271183371544, + -0.11568994075059891 + ], + "orientation": [ + 0.6423479914665222, + 0.1377239227294922, + 0.29152894020080566, + 0.6952927112579346 + ], + "joints": [ + 0.01893869787454605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04301825910806656, + -0.11360733211040497, + -0.01880372315645218 + ], + "orientation": [ + 0.07513339817523956, + 0.06677678972482681, + -0.6529576182365417, + -0.7506945729255676 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.041542571038007736, + -0.11002269387245178, + -0.018296673893928528 + ], + "orientation": [ + 0.0823996365070343, + 0.07262111455202103, + -0.6524755954742432, + -0.7498080134391785 + ], + "joints": [ + 0.026111740618944168 + ] + }, + "final_grasp": { + "position": [ + 0.041542571038007736, + -0.11002269387245178, + -0.018296673893928528 + ], + "orientation": [ + 0.0823996365070343, + 0.07262111455202103, + -0.6524755954742432, + -0.7498080134391785 + ], + "joints": [ + 0.018149692565202713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01691220887005329, + -0.03411775827407837, + 0.127931147813797 + ], + "orientation": [ + 0.20070192217826843, + -0.6725534200668335, + -0.7020343542098999, + -0.12057525664567947 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.01650921255350113, + -0.03284674510359764, + 0.12434972822666168 + ], + "orientation": [ + 0.19574131071567535, + -0.6702433824539185, + -0.706204891204834, + -0.11719102412462234 + ], + "joints": [ + 0.028250019997358322 + ] + }, + "final_grasp": { + "position": [ + 0.01650921255350113, + -0.03284674510359764, + 0.12434972822666168 + ], + "orientation": [ + 0.19574131071567535, + -0.6702433824539185, + -0.706204891204834, + -0.11719102412462234 + ], + "joints": [ + 0.021500039845705032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05181493982672691, + 0.018789377063512802, + -0.12899120151996613 + ], + "orientation": [ + 0.6559637188911438, + 0.17497193813323975, + 0.09098166972398758, + 0.7285730242729187 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.05036662146449089, + 0.01909421570599079, + -0.12530387938022614 + ], + "orientation": [ + 0.6547210216522217, + 0.17298677563667297, + 0.09103667736053467, + 0.7301563024520874 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + -0.05036662146449089, + 0.01909421570599079, + -0.12530387938022614 + ], + "orientation": [ + 0.6547210216522217, + 0.17298677563667297, + 0.09103667736053467, + 0.7301563024520874 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1238880604505539, + -0.03414548188447952, + 0.03528987243771553 + ], + "orientation": [ + 0.3573707342147827, + 0.4659021198749542, + 0.6425405740737915, + 0.492303729057312 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.11985541135072708, + -0.032789334654808044, + 0.034116826951503754 + ], + "orientation": [ + 0.35375988483428955, + 0.46251434087753296, + 0.6455396413803101, + 0.4941791296005249 + ], + "joints": [ + 0.028270918875932693 + ] + }, + "final_grasp": { + "position": [ + -0.11985541135072708, + -0.032789334654808044, + 0.034116826951503754 + ], + "orientation": [ + 0.35375988483428955, + 0.46251434087753296, + 0.6455396413803101, + 0.4941791296005249 + ], + "joints": [ + 0.021541837602853775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1372605562210083, + 0.01368427649140358, + -0.029472550377249718 + ], + "orientation": [ + 0.580769419670105, + -0.5445231199264526, + 0.3240331709384918, + -0.5110811591148376 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.13360658288002014, + 0.014382697641849518, + -0.0284196175634861 + ], + "orientation": [ + 0.5787057876586914, + -0.5445075631141663, + 0.325634241104126, + -0.5124192237854004 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.13360658288002014, + 0.014382697641849518, + -0.0284196175634861 + ], + "orientation": [ + 0.5787057876586914, + -0.5445075631141663, + 0.325634241104126, + -0.5124192237854004 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011611076071858406, + -0.03334196284413338, + 0.1331629455089569 + ], + "orientation": [ + 0.10631896555423737, + -0.7013563513755798, + 0.6858133673667908, + 0.16265185177326202 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.011392069049179554, + -0.032218050211668015, + 0.13002997636795044 + ], + "orientation": [ + 0.10196663439273834, + -0.7024447917938232, + 0.6865405440330505, + 0.15759512782096863 + ], + "joints": [ + 0.026508796960115433 + ] + }, + "final_grasp": { + "position": [ + 0.011392069049179554, + -0.032218050211668015, + 0.13002997636795044 + ], + "orientation": [ + 0.10196663439273834, + -0.7024447917938232, + 0.6865405440330505, + 0.15759512782096863 + ], + "joints": [ + 0.018943805247545242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11215059459209442, + -0.020106283947825432, + 0.07202501595020294 + ], + "orientation": [ + 0.4666686952114105, + -0.6420273780822754, + 0.5796219110488892, + -0.18455281853675842 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.1088155061006546, + -0.019109323620796204, + 0.06987395137548447 + ], + "orientation": [ + 0.46109598875045776, + -0.6401090025901794, + 0.5844944715499878, + -0.189782053232193 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.1088155061006546, + -0.019109323620796204, + 0.06987395137548447 + ], + "orientation": [ + 0.46109598875045776, + -0.6401090025901794, + 0.5844944715499878, + -0.189782053232193 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026620348915457726, + -0.10362280160188675, + -0.06698612123727798 + ], + "orientation": [ + 0.7830575108528137, + -0.4893886148929596, + -0.10130328685045242, + -0.3702126145362854 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.026486476883292198, + -0.0998494103550911, + -0.0650428906083107 + ], + "orientation": [ + 0.7812681198120117, + -0.49118250608444214, + -0.10715865343809128, + -0.36996880173683167 + ], + "joints": [ + 0.02948298677802086 + ] + }, + "final_grasp": { + "position": [ + -0.026486476883292198, + -0.0998494103550911, + -0.0650428906083107 + ], + "orientation": [ + 0.7812681198120117, + -0.49118250608444214, + -0.10715865343809128, + -0.36996880173683167 + ], + "joints": [ + 0.023965973407030106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12546513974666595, + -0.038889482617378235, + 0.02222760021686554 + ], + "orientation": [ + 0.6137078404426575, + -0.6096349358558655, + 0.44407057762145996, + -0.23347237706184387 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.12203866988420486, + -0.038124118000268936, + 0.021444594487547874 + ], + "orientation": [ + 0.6098106503486633, + -0.6048240065574646, + 0.45267683267593384, + -0.23958826065063477 + ], + "joints": [ + 0.026611603796482086 + ] + }, + "final_grasp": { + "position": [ + -0.12203866988420486, + -0.038124118000268936, + 0.021444594487547874 + ], + "orientation": [ + 0.6098106503486633, + -0.6048240065574646, + 0.45267683267593384, + -0.23958826065063477 + ], + "joints": [ + 0.019380971789360046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08546026051044464, + 0.02347046695649624, + -0.11856568604707718 + ], + "orientation": [ + 0.6417844891548157, + 0.13965094089508057, + 0.2913302481174469, + 0.6955119371414185 + ], + "joints": [ + 0.03444426879286766 + ] + }, + "fine_grasp": { + "position": [ + -0.08326663076877594, + 0.024028228595852852, + -0.11556684225797653 + ], + "orientation": [ + 0.6417073607444763, + 0.1403934508562088, + 0.2915346026420593, + 0.6953480839729309 + ], + "joints": [ + 0.02637772634625435 + ] + }, + "final_grasp": { + "position": [ + -0.08326663076877594, + 0.024028228595852852, + -0.11556684225797653 + ], + "orientation": [ + 0.6417073607444763, + 0.1403934508562088, + 0.2915346026420593, + 0.6953480839729309 + ], + "joints": [ + 0.018311183899641037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1198350042104721, + 0.024593859910964966, + -0.08141051232814789 + ], + "orientation": [ + 0.6355650424957275, + -0.40884098410606384, + -0.24316269159317017, + 0.6080937385559082 + ], + "joints": [ + 0.03495368734002113 + ] + }, + "fine_grasp": { + "position": [ + 0.11672453582286835, + 0.02507275715470314, + -0.07941263914108276 + ], + "orientation": [ + 0.6348351240158081, + -0.4076823890209198, + -0.24279387295246124, + 0.6097791194915771 + ], + "joints": [ + 0.02732599899172783 + ] + }, + "final_grasp": { + "position": [ + 0.11672453582286835, + 0.02507275715470314, + -0.07941263914108276 + ], + "orientation": [ + 0.6348351240158081, + -0.4076823890209198, + -0.24279387295246124, + 0.6097791194915771 + ], + "joints": [ + 0.019698310643434525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11424998193979263, + -0.06279212236404419, + 0.04764075577259064 + ], + "orientation": [ + 0.49783656001091003, + -0.7222622036933899, + -0.3801281750202179, + 0.29325512051582336 + ], + "joints": [ + 0.03303179517388344 + ] + }, + "fine_grasp": { + "position": [ + 0.11124332249164581, + -0.0606907494366169, + 0.046655699610710144 + ], + "orientation": [ + 0.5027499198913574, + -0.7184311747550964, + -0.3836407959461212, + 0.28968778252601624 + ], + "joints": [ + 0.024254735559225082 + ] + }, + "final_grasp": { + "position": [ + 0.11124332249164581, + -0.0606907494366169, + 0.046655699610710144 + ], + "orientation": [ + 0.5027499198913574, + -0.7184311747550964, + -0.3836407959461212, + 0.28968778252601624 + ], + "joints": [ + 0.015477675944566727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12483573704957962, + -0.036700814962387085, + 0.019468536600470543 + ], + "orientation": [ + 0.611285924911499, + -0.6049429178237915, + 0.4425380825996399, + -0.25403475761413574 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.12141165882349014, + -0.035686228424310684, + 0.018778005614876747 + ], + "orientation": [ + 0.60960453748703, + -0.6005814075469971, + 0.4490607678890228, + -0.25696027278900146 + ], + "joints": [ + 0.027579613029956818 + ] + }, + "final_grasp": { + "position": [ + -0.12141165882349014, + -0.035686228424310684, + 0.018778005614876747 + ], + "orientation": [ + 0.60960453748703, + -0.6005814075469971, + 0.4490607678890228, + -0.25696027278900146 + ], + "joints": [ + 0.02039077877998352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056686945259571075, + -0.10775032639503479, + -0.03008347749710083 + ], + "orientation": [ + 0.626611590385437, + -0.6461323499679565, + -0.16024133563041687, + -0.40520820021629333 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.054649218916893005, + -0.10442207008600235, + -0.029050063341856003 + ], + "orientation": [ + 0.6289747953414917, + -0.6429119110107422, + -0.15377163887023926, + -0.4091566205024719 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + -0.054649218916893005, + -0.10442207008600235, + -0.029050063341856003 + ], + "orientation": [ + 0.6289747953414917, + -0.6429119110107422, + -0.15377163887023926, + -0.4091566205024719 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11843913793563843, + -0.05101305618882179, + -0.03391830250620842 + ], + "orientation": [ + 0.7168499827384949, + -0.5436276197433472, + -0.2929736375808716, + 0.32366877794265747 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + 0.1148841381072998, + -0.04985249415040016, + -0.03306494280695915 + ], + "orientation": [ + 0.7152800559997559, + -0.5406216382980347, + -0.2989213168621063, + 0.3267242908477783 + ], + "joints": [ + 0.025957580655813217 + ] + }, + "final_grasp": { + "position": [ + 0.1148841381072998, + -0.04985249415040016, + -0.03306494280695915 + ], + "orientation": [ + 0.7152800559997559, + -0.5406216382980347, + -0.2989213168621063, + 0.3267242908477783 + ], + "joints": [ + 0.018350791186094284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.118230901658535, + -0.05107087641954422, + -0.033982016146183014 + ], + "orientation": [ + 0.7181068062782288, + -0.5433659553527832, + -0.29295894503593445, + 0.32132694125175476 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + 0.11467558890581131, + -0.049892205744981766, + -0.03309011459350586 + ], + "orientation": [ + 0.7167659997940063, + -0.5400375127792358, + -0.2989116609096527, + 0.32443466782569885 + ], + "joints": [ + 0.025980737060308456 + ] + }, + "final_grasp": { + "position": [ + 0.11467558890581131, + -0.049892205744981766, + -0.03309011459350586 + ], + "orientation": [ + 0.7167659997940063, + -0.5400375127792358, + -0.2989116609096527, + 0.32443466782569885 + ], + "joints": [ + 0.018373947590589523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08833823353052139, + 0.02310006693005562, + -0.11805252730846405 + ], + "orientation": [ + 0.6369044184684753, + 0.1440330147743225, + 0.29782021045684814, + 0.6963551044464111 + ], + "joints": [ + 0.033101264387369156 + ] + }, + "fine_grasp": { + "position": [ + -0.08617212623357773, + 0.023498309776186943, + -0.11505845934152603 + ], + "orientation": [ + 0.6375870108604431, + 0.1459638923406601, + 0.2965758740901947, + 0.6958593130111694 + ], + "joints": [ + 0.024679463356733322 + ] + }, + "final_grasp": { + "position": [ + -0.08617212623357773, + 0.023498309776186943, + -0.11505845934152603 + ], + "orientation": [ + 0.6375870108604431, + 0.1459638923406601, + 0.2965758740901947, + 0.6958593130111694 + ], + "joints": [ + 0.01625766232609749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1186540499329567, + -0.05147203803062439, + -0.03330754488706589 + ], + "orientation": [ + 0.722363293170929, + -0.5418052077293396, + -0.2978264391422272, + 0.30973827838897705 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.11550044268369675, + -0.05036662146449089, + -0.03230353072285652 + ], + "orientation": [ + 0.7218133211135864, + -0.5392840504646301, + -0.30317720770835876, + 0.3102288246154785 + ], + "joints": [ + 0.025309234857559204 + ] + }, + "final_grasp": { + "position": [ + 0.11550044268369675, + -0.05036662146449089, + -0.03230353072285652 + ], + "orientation": [ + 0.7218133211135864, + -0.5392840504646301, + -0.30317720770835876, + 0.3102288246154785 + ], + "joints": [ + 0.01770244538784027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1372695416212082, + 0.013893772847950459, + -0.02877008356153965 + ], + "orientation": [ + 0.5815322995185852, + -0.5472494959831238, + 0.32343509793281555, + -0.5076692700386047 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.133674755692482, + 0.014629137702286243, + -0.027763258665800095 + ], + "orientation": [ + 0.5793531537055969, + -0.5472744107246399, + 0.32495930790901184, + -0.5091582536697388 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + -0.133674755692482, + 0.014629137702286243, + -0.027763258665800095 + ], + "orientation": [ + 0.5793531537055969, + -0.5472744107246399, + 0.32495930790901184, + -0.5091582536697388 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11785904318094254, + 0.011060930788516998, + -0.08921816945075989 + ], + "orientation": [ + 0.6327567100524902, + -0.3880670964717865, + 0.23159106075763702, + -0.6287992000579834 + ], + "joints": [ + 0.03259184584021568 + ] + }, + "fine_grasp": { + "position": [ + -0.11505162715911865, + 0.01154473889619112, + -0.08698622137308121 + ], + "orientation": [ + 0.6321291923522949, + -0.3890499770641327, + 0.2309223711490631, + -0.6290688514709473 + ], + "joints": [ + 0.02452530339360237 + ] + }, + "final_grasp": { + "position": [ + -0.11505162715911865, + 0.01154473889619112, + -0.08698622137308121 + ], + "orientation": [ + 0.6321291923522949, + -0.3890499770641327, + 0.2309223711490631, + -0.6290688514709473 + ], + "joints": [ + 0.01645876094698906 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 36 + } +} \ No newline at end of file diff --git a/021_cup_2/Object.usd b/021_cup_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..7674508935a3e4172d369c85b8277cd45e2dd8e1 --- /dev/null +++ b/021_cup_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:add44b972ffe45e6d16714f50426dab58341d4426467d72670e4464e12ef7c7e +size 162411 diff --git a/023_tissue-box_0/Annotation/dex1_1_grasp_pose.json b/023_tissue-box_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4eab29e6f5b140cd344e9a5c51dbdfb7b1028956 --- /dev/null +++ b/023_tissue-box_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,1918 @@ +{ + "type": "023_tissue-box_0", + "bottom_center": [ + 2.7902424335479736e-06, + 0.030828749760985374, + -0.03298866003751755 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.0700877234339714, + 0.16393649578094482, + 0.003867230610921979 + ], + "orientation": [ + 0.07505165040493011, + 0.7258874773979187, + 0.10001055151224136, + -0.6763522624969482 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.06971552222967148, + 0.16120891273021698, + 0.003571550827473402 + ], + "orientation": [ + 0.07190762460231781, + 0.7208645939826965, + 0.09448695182800293, + -0.6828292608261108 + ], + "joints": [ + -0.013776208274066448 + ] + }, + "final_grasp": { + "position": [ + -0.06971552222967148, + 0.16120891273021698, + 0.003571550827473402 + ], + "orientation": [ + 0.07190762460231781, + 0.7208645939826965, + 0.09448695182800293, + -0.6828292608261108 + ], + "joints": [ + -0.008435629308223724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16702605783939362, + -0.027170538902282715, + -0.0008087604073807597 + ], + "orientation": [ + 0.5357839465141296, + 0.451973557472229, + -0.5825791954994202, + 0.41140851378440857 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.16485202312469482, + -0.027298342436552048, + -0.0004796867142431438 + ], + "orientation": [ + 0.5410365462303162, + 0.4481983482837677, + -0.5753836035728455, + 0.4187258183956146 + ], + "joints": [ + -0.013776208274066448 + ] + }, + "final_grasp": { + "position": [ + 0.16485202312469482, + -0.027298342436552048, + -0.0004796867142431438 + ], + "orientation": [ + 0.5410365462303162, + 0.4481983482837677, + -0.5753836035728455, + 0.4187258183956146 + ], + "joints": [ + -0.008435629308223724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04689236357808113, + -0.10004030913114548, + 0.016666946932673454 + ], + "orientation": [ + 0.6924483180046082, + -0.07682020962238312, + 0.717176616191864, + -0.016477549448609352 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.04689447954297066, + -0.09559134393930435, + 0.01856481097638607 + ], + "orientation": [ + 0.6835096478462219, + -0.08707692474126816, + 0.7243552207946777, + -0.02327636629343033 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + 0.04689447954297066, + -0.09559134393930435, + 0.01856481097638607 + ], + "orientation": [ + 0.6835096478462219, + -0.08707692474126816, + 0.7243552207946777, + -0.02327636629343033 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05037064850330353, + -0.10604733973741531, + 0.015711575746536255 + ], + "orientation": [ + 0.7136160731315613, + 0.0488898865878582, + -0.6851769685745239, + 0.13745750486850739 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.0516558438539505, + -0.10641369968652725, + 0.016578147187829018 + ], + "orientation": [ + 0.7190170288085938, + 0.0459347665309906, + -0.679897129535675, + 0.1365451067686081 + ], + "joints": [ + -0.014365014620125294 + ] + }, + "final_grasp": { + "position": [ + 0.0516558438539505, + -0.10641369968652725, + 0.016578147187829018 + ], + "orientation": [ + 0.7190170288085938, + 0.0459347665309906, + -0.679897129535675, + 0.1365451067686081 + ], + "joints": [ + -0.00902443379163742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02606397122144699, + -0.11142976582050323, + 0.011355588212609291 + ], + "orientation": [ + 0.7268444895744324, + -0.06207923963665962, + 0.6839789748191833, + 0.004011646844446659 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.025303080677986145, + -0.1107415109872818, + 0.012131577357649803 + ], + "orientation": [ + 0.7333962321281433, + -0.06507032364606857, + 0.6766467690467834, + 0.006706432439386845 + ], + "joints": [ + -0.013833614997565746 + ] + }, + "final_grasp": { + "position": [ + 0.025303080677986145, + -0.1107415109872818, + 0.012131577357649803 + ], + "orientation": [ + 0.7333962321281433, + -0.06507032364606857, + 0.6766467690467834, + 0.006706432439386845 + ], + "joints": [ + -0.007961634546518326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02864800952374935, + -0.10742167383432388, + -0.020563190802931786 + ], + "orientation": [ + 0.7289944887161255, + 0.12669654190540314, + -0.672304093837738, + 0.02285093069076538 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.027794677764177322, + -0.10350993275642395, + -0.020825818181037903 + ], + "orientation": [ + 0.7354530692100525, + 0.12967991828918457, + -0.6646330952644348, + 0.023551376536488533 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + 0.027794677764177322, + -0.10350993275642395, + -0.020825818181037903 + ], + "orientation": [ + 0.7354530692100525, + 0.12967991828918457, + -0.6646330952644348, + 0.023551376536488533 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006497940979897976, + -0.09961100667715073, + 0.011918511241674423 + ], + "orientation": [ + 0.741725504398346, + -0.023808341473340988, + -0.6688146591186523, + 0.04430992901325226 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.006193994078785181, + -0.09536721557378769, + 0.013999373652040958 + ], + "orientation": [ + 0.7495956420898438, + -0.031665608286857605, + -0.6588870882987976, + 0.05450968071818352 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.006193994078785181, + -0.09536721557378769, + 0.013999373652040958 + ], + "orientation": [ + 0.7495956420898438, + -0.031665608286857605, + -0.6588870882987976, + 0.05450968071818352 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06378845125436783, + 0.15780241787433624, + -0.017923027276992798 + ], + "orientation": [ + 0.1863870769739151, + 0.7426252961158752, + 0.11339593678712845, + -0.6331737041473389 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.061800435185432434, + 0.15503747761249542, + -0.01762048713862896 + ], + "orientation": [ + 0.18833386898040771, + 0.7435083985328674, + 0.12181323021650314, + -0.6299898028373718 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.061800435185432434, + 0.15503747761249542, + -0.01762048713862896 + ], + "orientation": [ + 0.18833386898040771, + 0.7435083985328674, + 0.12181323021650314, + -0.6299898028373718 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1539277881383896, + -0.043615374714136124, + -2.6204694222542457e-05 + ], + "orientation": [ + 0.6800318956375122, + 0.23887711763381958, + -0.6077455878257751, + 0.3333760201931 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.15033499896526337, + -0.043966144323349, + 0.004220331087708473 + ], + "orientation": [ + 0.6776447296142578, + 0.26785027980804443, + -0.5900580286979675, + 0.3476858139038086 + ], + "joints": [ + -0.013012077659368515 + ] + }, + "final_grasp": { + "position": [ + 0.15033499896526337, + -0.043966144323349, + 0.004220331087708473 + ], + "orientation": [ + 0.6776447296142578, + 0.26785027980804443, + -0.5900580286979675, + 0.3476858139038086 + ], + "joints": [ + -0.006024155765771866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15393312275409698, + -0.04361480474472046, + -3.26757290167734e-05 + ], + "orientation": [ + 0.6800531148910522, + 0.23886294662952423, + -0.6077115535736084, + 0.33340486884117126 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.15034258365631104, + -0.04396785423159599, + 0.004215095192193985 + ], + "orientation": [ + 0.6776817440986633, + 0.26784446835517883, + -0.5900101065635681, + 0.3476993441581726 + ], + "joints": [ + -0.013012077659368515 + ] + }, + "final_grasp": { + "position": [ + 0.15034258365631104, + -0.04396785423159599, + 0.004215095192193985 + ], + "orientation": [ + 0.6776817440986633, + 0.26784446835517883, + -0.5900101065635681, + 0.3476993441581726 + ], + "joints": [ + -0.006024155765771866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06306235492229462, + 0.15760435163974762, + -0.017969675362110138 + ], + "orientation": [ + 0.1876082718372345, + 0.7421248555183411, + 0.11437781900167465, + -0.6332231163978577 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.06104404479265213, + 0.15471608936786652, + -0.017802203074097633 + ], + "orientation": [ + 0.1895519345998764, + 0.7447841763496399, + 0.1230248510837555, + -0.6278784871101379 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.06104404479265213, + 0.15471608936786652, + -0.017802203074097633 + ], + "orientation": [ + 0.1895519345998764, + 0.7447841763496399, + 0.1230248510837555, + -0.6278784871101379 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12022407352924347, + 0.1236008033156395, + 0.01980741135776043 + ], + "orientation": [ + 0.2907942235469818, + -0.6762486696243286, + -0.18864449858665466, + -0.6500304937362671 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.12040481716394424, + 0.12365172058343887, + 0.02197176404297352 + ], + "orientation": [ + 0.2927524447441101, + -0.6801638007164001, + -0.18705132603645325, + -0.6455113887786865 + ], + "joints": [ + -0.014128018170595169 + ] + }, + "final_grasp": { + "position": [ + -0.12040481716394424, + 0.12365172058343887, + 0.02197176404297352 + ], + "orientation": [ + 0.2927524447441101, + -0.6801638007164001, + -0.18705132603645325, + -0.6455113887786865 + ], + "joints": [ + -0.008256036788225174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01717008464038372, + -0.1068081259727478, + -0.0024435974191874266 + ], + "orientation": [ + 0.6632493138313293, + -0.0171500314027071, + 0.747654914855957, + 0.028609372675418854 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.018039677292108536, + -0.10691159963607788, + -0.003012113505974412 + ], + "orientation": [ + 0.6488943099975586, + -0.013507211580872536, + 0.760271430015564, + 0.02722417376935482 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.018039677292108536, + -0.10691159963607788, + -0.003012113505974412 + ], + "orientation": [ + 0.6488943099975586, + -0.013507211580872536, + 0.760271430015564, + 0.02722417376935482 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0552683025598526, + -0.11276465654373169, + -0.002222424140200019 + ], + "orientation": [ + 0.74907386302948, + 0.06525248289108276, + 0.6564047336578369, + -0.06134538725018501 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.05476875975728035, + -0.11154958605766296, + -0.0026461626403033733 + ], + "orientation": [ + 0.7579395174980164, + 0.06374461203813553, + 0.6463918685913086, + -0.06034806743264198 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + -0.05476875975728035, + -0.11154958605766296, + -0.0026461626403033733 + ], + "orientation": [ + 0.7579395174980164, + 0.06374461203813553, + 0.6463918685913086, + -0.06034806743264198 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12618282437324524, + -0.06696927547454834, + -0.009830941446125507 + ], + "orientation": [ + 0.5677270889282227, + -0.2971436381340027, + 0.7101160287857056, + 0.29176488518714905 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12466558068990707, + -0.06660096347332001, + -0.010134248062968254 + ], + "orientation": [ + 0.5540918707847595, + -0.29662683606147766, + 0.7246245741844177, + 0.28269079327583313 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.12466558068990707, + -0.06660096347332001, + -0.010134248062968254 + ], + "orientation": [ + 0.5540918707847595, + -0.29662683606147766, + 0.7246245741844177, + 0.28269079327583313 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055269431322813034, + -0.11275343596935272, + -0.0022319674026221037 + ], + "orientation": [ + 0.7490249872207642, + 0.06528864055871964, + 0.6564586758613586, + -0.061325643211603165 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.054777033627033234, + -0.11154928058385849, + -0.002656499156728387 + ], + "orientation": [ + 0.757908284664154, + 0.063789002597332, + 0.6464251279830933, + -0.06033744290471077 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + -0.054777033627033234, + -0.11154928058385849, + -0.002656499156728387 + ], + "orientation": [ + 0.757908284664154, + 0.063789002597332, + 0.6464251279830933, + -0.06033744290471077 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05526584014296532, + -0.11275369673967361, + -0.0022322088479995728 + ], + "orientation": [ + 0.7490358352661133, + 0.06529684364795685, + 0.6564444899559021, + -0.06133583188056946 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.05477162450551987, + -0.11154530197381973, + -0.002656870521605015 + ], + "orientation": [ + 0.7579339146614075, + 0.06379123777151108, + 0.6463943719863892, + -0.060343187302351 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + -0.05477162450551987, + -0.11154530197381973, + -0.002656870521605015 + ], + "orientation": [ + 0.7579339146614075, + 0.06379123777151108, + 0.6463943719863892, + -0.060343187302351 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055267997086048126, + -0.11275409907102585, + -0.00223156507126987 + ], + "orientation": [ + 0.7490410208702087, + 0.06529103219509125, + 0.6564393639564514, + -0.061333924531936646 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.05477454140782356, + -0.11154749989509583, + -0.0026559317484498024 + ], + "orientation": [ + 0.7579242587089539, + 0.06378807127475739, + 0.6464059948921204, + -0.06034271791577339 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + -0.05477454140782356, + -0.11154749989509583, + -0.0026559317484498024 + ], + "orientation": [ + 0.7579242587089539, + 0.06378807127475739, + 0.6464059948921204, + -0.06034271791577339 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021722182631492615, + -0.10178942233324051, + 0.009303071536123753 + ], + "orientation": [ + 0.7569300532341003, + -0.019410772249102592, + -0.6523481607437134, + 0.03349422290921211 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.02281433343887329, + -0.09904734790325165, + 0.011367296800017357 + ], + "orientation": [ + 0.7705339789390564, + -0.024628056213259697, + -0.635474681854248, + 0.042926546186208725 + ], + "joints": [ + -0.015695646405220032 + ] + }, + "final_grasp": { + "position": [ + 0.02281433343887329, + -0.09904734790325165, + 0.011367296800017357 + ], + "orientation": [ + 0.7705339789390564, + -0.024628056213259697, + -0.635474681854248, + 0.042926546186208725 + ], + "joints": [ + -0.0113912932574749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020631544291973114, + -0.113449826836586, + -0.002020974177867174 + ], + "orientation": [ + 0.63217693567276, + 0.08926048874855042, + -0.7669577598571777, + 0.06450339406728745 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.01982169598340988, + -0.11308826506137848, + -0.0012905009789392352 + ], + "orientation": [ + 0.6251435875892639, + 0.08719190955162048, + -0.7729277610778809, + 0.06462004035711288 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + 0.01982169598340988, + -0.11308826506137848, + -0.0012905009789392352 + ], + "orientation": [ + 0.6251435875892639, + 0.08719190955162048, + -0.7729277610778809, + 0.06462004035711288 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015565294306725264, + -0.1184656172990799, + -0.00077968614641577 + ], + "orientation": [ + 0.6449254155158997, + 0.043622203171253204, + 0.7622837424278259, + -0.0330403707921505 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.0025028137024492025, + -0.11730747669935226, + -0.0006647435948252678 + ], + "orientation": [ + 0.6275086402893066, + 0.041643764823675156, + 0.7768650054931641, + -0.031295984983444214 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.0025028137024492025, + -0.11730747669935226, + -0.0006647435948252678 + ], + "orientation": [ + 0.6275086402893066, + 0.041643764823675156, + 0.7768650054931641, + -0.031295984983444214 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13640418648719788, + 0.09253614395856857, + 0.01608756184577942 + ], + "orientation": [ + 0.2841702103614807, + 0.6220939755439758, + -0.3831880986690521, + 0.6208164691925049 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1374647319316864, + 0.09117033332586288, + 0.01940171793103218 + ], + "orientation": [ + 0.27734503149986267, + 0.6199118494987488, + -0.38853952288627625, + 0.6227567791938782 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + 0.1374647319316864, + 0.09117033332586288, + 0.01940171793103218 + ], + "orientation": [ + 0.27734503149986267, + 0.6199118494987488, + -0.38853952288627625, + 0.6227567791938782 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13640522956848145, + 0.09253580123186111, + 0.01608716882765293 + ], + "orientation": [ + 0.2841670513153076, + 0.6220995187759399, + -0.3831874132156372, + 0.6208128929138184 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1374656707048416, + 0.0911703109741211, + 0.019400810822844505 + ], + "orientation": [ + 0.27734076976776123, + 0.6199216842651367, + -0.3885372281074524, + 0.6227502822875977 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + 0.1374656707048416, + 0.0911703109741211, + 0.019400810822844505 + ], + "orientation": [ + 0.27734076976776123, + 0.6199216842651367, + -0.3885372281074524, + 0.6227502822875977 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1364019364118576, + 0.09253857284784317, + 0.016087312251329422 + ], + "orientation": [ + 0.28417056798934937, + 0.6220897436141968, + -0.3831791877746582, + 0.6208260655403137 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.13746219873428345, + 0.09117291867733002, + 0.019401444122195244 + ], + "orientation": [ + 0.27734658122062683, + 0.6199052333831787, + -0.388530433177948, + 0.6227684020996094 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + 0.13746219873428345, + 0.09117291867733002, + 0.019401444122195244 + ], + "orientation": [ + 0.27734658122062683, + 0.6199052333831787, + -0.388530433177948, + 0.6227684020996094 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13317953050136566, + -0.061837371438741684, + 0.009870381094515324 + ], + "orientation": [ + 0.6786859035491943, + -0.31563955545425415, + 0.5919632315635681, + 0.2988923490047455 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.13299788534641266, + -0.06315886229276657, + 0.012853231281042099 + ], + "orientation": [ + 0.687721848487854, + -0.32002758979797363, + 0.577316164970398, + 0.30220332741737366 + ], + "joints": [ + -0.014365014620125294 + ] + }, + "final_grasp": { + "position": [ + 0.13299788534641266, + -0.06315886229276657, + 0.012853231281042099 + ], + "orientation": [ + 0.687721848487854, + -0.32002758979797363, + 0.577316164970398, + 0.30220332741737366 + ], + "joints": [ + -0.00902443379163742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13317924737930298, + -0.06183842197060585, + 0.009871642105281353 + ], + "orientation": [ + 0.6786894798278809, + -0.3156468868255615, + 0.5919511914253235, + 0.2989002466201782 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.13300088047981262, + -0.06315810233354568, + 0.012831857427954674 + ], + "orientation": [ + 0.68770432472229, + -0.3199850022792816, + 0.5773255228996277, + 0.30227041244506836 + ], + "joints": [ + -0.014365014620125294 + ] + }, + "final_grasp": { + "position": [ + 0.13300088047981262, + -0.06315810233354568, + 0.012831857427954674 + ], + "orientation": [ + 0.68770432472229, + -0.3199850022792816, + 0.5773255228996277, + 0.30227041244506836 + ], + "joints": [ + -0.00902443379163742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1331731230020523, + -0.0618404783308506, + 0.009869962930679321 + ], + "orientation": [ + 0.6786813735961914, + -0.3156471848487854, + 0.5919605493545532, + 0.2989000082015991 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.1330125629901886, + -0.06316278129816055, + 0.012711027637124062 + ], + "orientation": [ + 0.6875946521759033, + -0.31971192359924316, + 0.5774521827697754, + 0.3025670647621155 + ], + "joints": [ + -0.014365014620125294 + ] + }, + "final_grasp": { + "position": [ + 0.1330125629901886, + -0.06316278129816055, + 0.012711027637124062 + ], + "orientation": [ + 0.6875946521759033, + -0.31971192359924316, + 0.5774521827697754, + 0.3025670647621155 + ], + "joints": [ + -0.00902443379163742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005802365485578775, + -0.11548449844121933, + -0.012191609479486942 + ], + "orientation": [ + 0.7885061502456665, + -0.0226250272244215, + -0.6063111424446106, + -0.10066186636686325 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.006185097154229879, + -0.11222508549690247, + -0.01144042145460844 + ], + "orientation": [ + 0.8020933270454407, + -0.020583974197506905, + -0.588715672492981, + -0.0981641411781311 + ], + "joints": [ + -0.01622704602777958 + ] + }, + "final_grasp": { + "position": [ + 0.006185097154229879, + -0.11222508549690247, + -0.01144042145460844 + ], + "orientation": [ + 0.8020933270454407, + -0.020583974197506905, + -0.588715672492981, + -0.0981641411781311 + ], + "joints": [ + -0.012454092502593994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10121224075555801, + -0.0848095566034317, + -0.018058614805340767 + ], + "orientation": [ + 0.7917567491531372, + 0.14003048837184906, + 0.5860193371772766, + -0.10046945512294769 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.10070682317018509, + -0.08646697551012039, + -0.01792677491903305 + ], + "orientation": [ + 0.7929348349571228, + 0.14301453530788422, + 0.582798421382904, + -0.10558004677295685 + ], + "joints": [ + -0.010063781403005123 + ] + }, + "final_grasp": { + "position": [ + -0.10070682317018509, + -0.08646697551012039, + -0.01792677491903305 + ], + "orientation": [ + 0.7929348349571228, + 0.14301453530788422, + 0.582798421382904, + -0.10558004677295685 + ], + "joints": [ + -0.0036604125052690506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039955273270606995, + 0.1537424474954605, + -0.047433506697416306 + ], + "orientation": [ + 0.04392822086811066, + 0.9821025133132935, + -0.030436484143137932, + 0.18060584366321564 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.0390336774289608, + 0.15239742398262024, + -0.045615680515766144 + ], + "orientation": [ + 0.05977063998579979, + 0.9816914200782776, + -0.03680083900690079, + 0.17707376182079315 + ], + "joints": [ + -0.014724195003509521 + ] + }, + "final_grasp": { + "position": [ + 0.0390336774289608, + 0.15239742398262024, + -0.045615680515766144 + ], + "orientation": [ + 0.05977063998579979, + 0.9816914200782776, + -0.03680083900690079, + 0.17707376182079315 + ], + "joints": [ + -0.01150921918451786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048496097326278687, + 0.1382857859134674, + -0.10025345534086227 + ], + "orientation": [ + 0.35610657930374146, + 0.6691321730613708, + 0.09353811293840408, + 0.6455236077308655 + ], + "joints": [ + -0.00990193709731102 + ] + }, + "fine_grasp": { + "position": [ + 0.04720158502459526, + 0.1344262659549713, + -0.09776585549116135 + ], + "orientation": [ + 0.35632026195526123, + 0.6744292974472046, + 0.09651067107915878, + 0.6394268274307251 + ], + "joints": [ + -0.008679717779159546 + ] + }, + "final_grasp": { + "position": [ + 0.04720158502459526, + 0.1344262659549713, + -0.09776585549116135 + ], + "orientation": [ + 0.35632026195526123, + 0.6744292974472046, + 0.09651067107915878, + 0.6394268274307251 + ], + "joints": [ + -0.007457498461008072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044557686895132065, + 0.14222288131713867, + -0.1025177463889122 + ], + "orientation": [ + 0.10285759717226028, + 0.6215124726295471, + -0.34238871932029724, + -0.6970742344856262 + ], + "joints": [ + -0.00862816907465458 + ] + }, + "fine_grasp": { + "position": [ + 0.04346812143921852, + 0.13851208984851837, + -0.09986148774623871 + ], + "orientation": [ + 0.10742885619401932, + 0.6158609390258789, + -0.33999407291412354, + -0.7025514245033264 + ], + "joints": [ + -0.007379381917417049 + ] + }, + "final_grasp": { + "position": [ + 0.04346812143921852, + 0.13851208984851837, + -0.09986148774623871 + ], + "orientation": [ + 0.10742885619401932, + 0.6158609390258789, + -0.33999407291412354, + -0.7025514245033264 + ], + "joints": [ + -0.00613059476017952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04435349255800247, + 0.1419076919555664, + -0.10255774110555649 + ], + "orientation": [ + 0.10108689963817596, + 0.6199724674224854, + -0.3443644046783447, + -0.6977311968803406 + ], + "joints": [ + -0.008660789579153061 + ] + }, + "fine_grasp": { + "position": [ + 0.04324226826429367, + 0.13822872936725616, + -0.09995705634355545 + ], + "orientation": [ + 0.10590506345033646, + 0.6143742799758911, + -0.3417417109012604, + -0.7032360434532166 + ], + "joints": [ + -0.007412002421915531 + ] + }, + "final_grasp": { + "position": [ + 0.04324226826429367, + 0.13822872936725616, + -0.09995705634355545 + ], + "orientation": [ + 0.10590506345033646, + 0.6143742799758911, + -0.3417417109012604, + -0.7032360434532166 + ], + "joints": [ + -0.006163215264678001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047650523483753204, + 0.13688956201076508, + -0.1000681221485138 + ], + "orientation": [ + 0.3586219847202301, + 0.6654342412948608, + 0.09519011527299881, + 0.6477087140083313 + ], + "joints": [ + -0.010490745306015015 + ] + }, + "fine_grasp": { + "position": [ + 0.04649171233177185, + 0.13315610587596893, + -0.0978623777627945 + ], + "orientation": [ + 0.35859596729278564, + 0.6720715761184692, + 0.09906262904405594, + 0.6402463316917419 + ], + "joints": [ + -0.009295094758272171 + ] + }, + "final_grasp": { + "position": [ + 0.04649171233177185, + 0.13315610587596893, + -0.0978623777627945 + ], + "orientation": [ + 0.35859596729278564, + 0.6720715761184692, + 0.09906262904405594, + 0.6402463316917419 + ], + "joints": [ + -0.008099444210529327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028270283713936806, + -0.11014918237924576, + -0.007626070640981197 + ], + "orientation": [ + 0.8331573605537415, + -0.03745798394083977, + -0.5465433597564697, + -0.0757368877530098 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + 0.026710350066423416, + -0.10840506106615067, + -0.00977038498967886 + ], + "orientation": [ + 0.8308586478233337, + -0.034975651651620865, + -0.549453854560852, + -0.0809391438961029 + ], + "joints": [ + -0.013848335482180119 + ] + }, + "final_grasp": { + "position": [ + 0.026710350066423416, + -0.10840506106615067, + -0.00977038498967886 + ], + "orientation": [ + 0.8308586478233337, + -0.034975651651620865, + -0.549453854560852, + -0.0809391438961029 + ], + "joints": [ + -0.007976355031132698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01944677159190178, + 0.009701021015644073, + -0.13523051142692566 + ], + "orientation": [ + 0.5414533615112305, + 0.4253292977809906, + -0.5065085291862488, + -0.5190109014511108 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.019787035882472992, + 0.009804336354136467, + -0.13340196013450623 + ], + "orientation": [ + 0.5476825833320618, + 0.42929020524024963, + -0.5017727017402649, + -0.5137878060340881 + ], + "joints": [ + -0.005127954296767712 + ] + }, + "final_grasp": { + "position": [ + 0.019787035882472992, + 0.009804336354136467, + -0.13340196013450623 + ], + "orientation": [ + 0.5476825833320618, + 0.42929020524024963, + -0.5017727017402649, + -0.5137878060340881 + ], + "joints": [ + -0.00026564858853816986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017454156652092934, + 0.03961918503046036, + -0.13727720081806183 + ], + "orientation": [ + 0.3855540156364441, + 0.4889492690563202, + 0.5496777892112732, + 0.556894063949585 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.017936524003744125, + 0.040910542011260986, + -0.13687700033187866 + ], + "orientation": [ + 0.3805275559425354, + 0.4922407865524292, + 0.5422309637069702, + 0.5646977424621582 + ], + "joints": [ + -0.009472105652093887 + ] + }, + "final_grasp": { + "position": [ + -0.017936524003744125, + 0.040910542011260986, + -0.13687700033187866 + ], + "orientation": [ + 0.3805275559425354, + 0.4922407865524292, + 0.5422309637069702, + 0.5646977424621582 + ], + "joints": [ + -0.0030953101813793182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03736841678619385, + 0.03546600788831711, + -0.13047698140144348 + ], + "orientation": [ + 0.5830515623092651, + 0.5096821784973145, + 0.35420480370521545, + 0.5242269039154053 + ], + "joints": [ + -0.014965688809752464 + ] + }, + "fine_grasp": { + "position": [ + 0.03909024968743324, + 0.038038335740566254, + -0.13318869471549988 + ], + "orientation": [ + 0.5757261514663696, + 0.5130167603492737, + 0.35013651847839355, + 0.5317496061325073 + ], + "joints": [ + -0.0075260940939188 + ] + }, + "final_grasp": { + "position": [ + 0.03909024968743324, + 0.038038335740566254, + -0.13318869471549988 + ], + "orientation": [ + 0.5757261514663696, + 0.5130167603492737, + 0.35013651847839355, + 0.5317496061325073 + ], + "joints": [ + -8.649937808513641e-05 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2031, + "num_passed": 38 + } +} \ No newline at end of file diff --git a/023_tissue-box_0/Annotation/piper_grasp_pose.json b/023_tissue-box_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..c8fdcb3b34bfa032215885b8a9d651abce26f118 --- /dev/null +++ b/023_tissue-box_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,518 @@ +{ + "type": "023_tissue-box_0", + "bottom_center": [ + 2.7902424335479736e-06, + 0.030828749760985374, + -0.03298866003751755 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.019423572346568108, + 0.1695232391357422, + 0.004819595254957676 + ], + "orientation": [ + 0.6896905899047852, + 0.712454617023468, + -0.09286338835954666, + -0.09006425738334656 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.01903386041522026, + 0.16507813334465027, + 0.004652931354939938 + ], + "orientation": [ + 0.6907669305801392, + 0.713904082775116, + -0.08280967175960541, + -0.07952842861413956 + ], + "joints": [ + 0.03113390877842903 + ] + }, + "final_grasp": { + "position": [ + -0.01903386041522026, + 0.16507813334465027, + 0.004652931354939938 + ], + "orientation": [ + 0.6907669305801392, + 0.713904082775116, + -0.08280967175960541, + -0.07952842861413956 + ], + "joints": [ + 0.02726781740784645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009746488183736801, + 0.017969248816370964, + 0.14708413183689117 + ], + "orientation": [ + 0.07871943712234497, + -0.09579698741436005, + 0.992235541343689, + 0.00972840003669262 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.009365970268845558, + 0.018084663897752762, + 0.14314237236976624 + ], + "orientation": [ + 0.07707653194665909, + -0.11037226766347885, + 0.990863561630249, + 0.008156361058354378 + ], + "joints": [ + 0.022145289927721024 + ] + }, + "final_grasp": { + "position": [ + -0.009365970268845558, + 0.018084663897752762, + 0.14314237236976624 + ], + "orientation": [ + 0.07707653194665909, + -0.11037226766347885, + 0.990863561630249, + 0.008156361058354378 + ], + "joints": [ + 0.012532319873571396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009418344125151634, + 0.017094356939196587, + 0.1471017301082611 + ], + "orientation": [ + 0.07851096987724304, + -0.09188517928123474, + 0.992581307888031, + 0.013245436362922192 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.009037294425070286, + 0.017160452902317047, + 0.14327025413513184 + ], + "orientation": [ + 0.07724755257368088, + -0.11779333651065826, + 0.989963948726654, + 0.011352754198014736 + ], + "joints": [ + 0.022124391049146652 + ] + }, + "final_grasp": { + "position": [ + -0.009037294425070286, + 0.017160452902317047, + 0.14327025413513184 + ], + "orientation": [ + 0.07724755257368088, + -0.11779333651065826, + 0.989963948726654, + 0.011352754198014736 + ], + "joints": [ + 0.012490522116422653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022118616849184036, + 0.041311610490083694, + 0.150501549243927 + ], + "orientation": [ + 0.0769524872303009, + 0.9947998523712158, + -0.009980912320315838, + -0.06596946716308594 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + 0.021725263446569443, + 0.040649574249982834, + 0.14667896926403046 + ], + "orientation": [ + 0.07459576427936554, + 0.9950245022773743, + -0.013822153210639954, + -0.06458165496587753 + ], + "joints": [ + 0.02165902778506279 + ] + }, + "final_grasp": { + "position": [ + 0.021725263446569443, + 0.040649574249982834, + 0.14667896926403046 + ], + "orientation": [ + 0.07459576427936554, + 0.9950245022773743, + -0.013822153210639954, + -0.06458165496587753 + ], + "joints": [ + 0.012046057730913162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02209988795220852, + 0.04161329194903374, + 0.15017157793045044 + ], + "orientation": [ + 0.07794398814439774, + 0.9947790503501892, + -0.013191686943173409, + -0.06453951448202133 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.021707821637392044, + 0.04095524176955223, + 0.14633809030056 + ], + "orientation": [ + 0.07609393447637558, + 0.9949284195899963, + -0.01764838770031929, + -0.06336871534585953 + ], + "joints": [ + 0.02168218418955803 + ] + }, + "final_grasp": { + "position": [ + 0.021707821637392044, + 0.04095524176955223, + 0.14633809030056 + ], + "orientation": [ + 0.07609393447637558, + 0.9949284195899963, + -0.01764838770031929, + -0.06336871534585953 + ], + "joints": [ + 0.012069214135408401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00447064870968461, + 0.029789358377456665, + 0.14912471175193787 + ], + "orientation": [ + 0.031566694378852844, + 0.9974002242088318, + 0.06388681381940842, + 0.010719479992985725 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.004558207001537085, + 0.02959507890045643, + 0.14514361321926117 + ], + "orientation": [ + 0.031567465513944626, + 0.9964542388916016, + 0.0773627981543541, + 0.00987966451793909 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + 0.004558207001537085, + 0.02959507890045643, + 0.14514361321926117 + ], + "orientation": [ + 0.031567465513944626, + 0.9964542388916016, + 0.0773627981543541, + 0.00987966451793909 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030361756682395935, + -0.021123846992850304, + -0.1472645103931427 + ], + "orientation": [ + 0.11117789894342422, + 0.010365869849920273, + -0.16672752797603607, + -0.9796600937843323 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.030263757333159447, + -0.019626900553703308, + -0.1437292844057083 + ], + "orientation": [ + 0.11227957904338837, + 0.009507913142442703, + -0.16617751121520996, + -0.9796366095542908 + ], + "joints": [ + 0.022132376208901405 + ] + }, + "final_grasp": { + "position": [ + 0.030263757333159447, + -0.019626900553703308, + -0.1437292844057083 + ], + "orientation": [ + 0.11227957904338837, + 0.009507913142442703, + -0.16617751121520996, + -0.9796366095542908 + ], + "joints": [ + 0.013710575178265572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018668217584490776, + 0.06826432794332504, + 0.14632295072078705 + ], + "orientation": [ + 0.1767212301492691, + 0.9822185635566711, + 0.00977534893900156, + 0.06261668354272842 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.01830747164785862, + 0.06668823212385178, + 0.1429104208946228 + ], + "orientation": [ + 0.17531587183475494, + 0.9826952219009399, + 0.007047625258564949, + 0.05936909839510918 + ], + "joints": [ + 0.021228155121207237 + ] + }, + "final_grasp": { + "position": [ + -0.01830747164785862, + 0.06668823212385178, + 0.1429104208946228 + ], + "orientation": [ + 0.17531587183475494, + 0.9826952219009399, + 0.007047625258564949, + 0.05936909839510918 + ], + "joints": [ + 0.012388398870825768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018426023423671722, + 0.06804657727479935, + 0.14602741599082947 + ], + "orientation": [ + 0.17619025707244873, + 0.9822565317153931, + 0.010787724517285824, + 0.06334690004587173 + ], + "joints": [ + 0.03050786443054676 + ] + }, + "fine_grasp": { + "position": [ + -0.018061257898807526, + 0.06646445393562317, + 0.14259302616119385 + ], + "orientation": [ + 0.17558424174785614, + 0.9825670719146729, + 0.008283977396786213, + 0.06052668020129204 + ], + "joints": [ + 0.02166810818016529 + ] + }, + "final_grasp": { + "position": [ + -0.018061257898807526, + 0.06646445393562317, + 0.14259302616119385 + ], + "orientation": [ + 0.17558424174785614, + 0.9825670719146729, + 0.008283977396786213, + 0.06052668020129204 + ], + "joints": [ + 0.012828351929783821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09215889126062393, + 0.14018970727920532, + -0.06127891689538956 + ], + "orientation": [ + 0.7711017727851868, + 0.5305262207984924, + -0.23193247616291046, + -0.2648608982563019 + ], + "joints": [ + 0.024232739582657814 + ] + }, + "fine_grasp": { + "position": [ + 0.0907452255487442, + 0.13693314790725708, + -0.05964423716068268 + ], + "orientation": [ + 0.7743930816650391, + 0.5307561159133911, + -0.22594165802001953, + -0.2599301338195801 + ], + "joints": [ + 0.014640668407082558 + ] + }, + "final_grasp": { + "position": [ + 0.0907452255487442, + 0.13693314790725708, + -0.05964423716068268 + ], + "orientation": [ + 0.7743930816650391, + 0.5307561159133911, + -0.22594165802001953, + -0.2599301338195801 + ], + "joints": [ + 0.005048597231507301 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 10 + } +} \ No newline at end of file diff --git a/023_tissue-box_0/Object.usd b/023_tissue-box_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..c6ba22979725a66eda920a0ce231771c7637254e --- /dev/null +++ b/023_tissue-box_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7b7f77b403c2d12eb6b784d87877f702e8ec9ad865313fb456def1eac29ac0c +size 323044 diff --git a/024_scanner_2/Annotation/dex1_1_grasp_pose.json b/024_scanner_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..b38ec4266bd88db4c096b08e2ce94e398ee5a3f2 --- /dev/null +++ b/024_scanner_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,5118 @@ +{ + "type": "024_scanner_2", + "bottom_center": [ + 7.59027898311615e-07, + 0.03424780070781708, + -0.07589495927095413 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.12733356654644012, + -0.02235177531838417, + 0.037894848734140396 + ], + "orientation": [ + 0.05883835256099701, + -0.5396726131439209, + -0.8386740684509277, + 0.04378684610128403 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.12264647334814072, + -0.021727265790104866, + 0.038557350635528564 + ], + "orientation": [ + 0.047742810100317, + -0.5488463640213013, + -0.8336187601089478, + 0.039597753435373306 + ], + "joints": [ + -0.009720290079712868 + ] + }, + "final_grasp": { + "position": [ + -0.12264647334814072, + -0.021727265790104866, + 0.038557350635528564 + ], + "orientation": [ + 0.047742810100317, + -0.5488463640213013, + -0.8336187601089478, + 0.039597753435373306 + ], + "joints": [ + -0.010039128363132477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1162741482257843, + -0.03940887749195099, + -0.0032025654800236225 + ], + "orientation": [ + 0.8563590049743652, + 0.06455399096012115, + 0.10638748854398727, + 0.5011623501777649 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.11314717680215836, + -0.03725568950176239, + -0.001578928087837994 + ], + "orientation": [ + 0.8564046621322632, + 0.07245038449764252, + 0.10639091581106186, + 0.5000028610229492 + ], + "joints": [ + -0.009923793375492096 + ] + }, + "final_grasp": { + "position": [ + 0.11314717680215836, + -0.03725568950176239, + -0.001578928087837994 + ], + "orientation": [ + 0.8564046621322632, + 0.07245038449764252, + 0.10639091581106186, + 0.5000028610229492 + ], + "joints": [ + -0.0039986856281757355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0034350936766713858, + 0.15810957551002502, + 0.07410598546266556 + ], + "orientation": [ + 0.01626729406416416, + -0.021708648651838303, + 0.15697595477104187, + -0.9872297644615173 + ], + "joints": [ + -0.0059524718672037125 + ] + }, + "fine_grasp": { + "position": [ + -0.0035045009572058916, + 0.15411902964115143, + 0.07273435592651367 + ], + "orientation": [ + 0.019039103761315346, + -0.02908698283135891, + 0.15930286049842834, + -0.9866175055503845 + ], + "joints": [ + -0.0006119054742157459 + ] + }, + "final_grasp": { + "position": [ + -0.0035045009572058916, + 0.15411902964115143, + 0.07273435592651367 + ], + "orientation": [ + 0.019039103761315346, + -0.02908698283135891, + 0.15930286049842834, + -0.9866175055503845 + ], + "joints": [ + 0.004728660918772221 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09696051478385925, + 0.07325135916471481, + 0.10632777214050293 + ], + "orientation": [ + 0.21957892179489136, + -0.80327308177948, + 0.5303593873977661, + -0.1589224487543106 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.09997302293777466, + 0.07383264601230621, + 0.10858019441366196 + ], + "orientation": [ + 0.21561089158058167, + -0.8030341267585754, + 0.5320277214050293, + -0.15998314321041107 + ], + "joints": [ + -0.01097782701253891 + ] + }, + "final_grasp": { + "position": [ + 0.09997302293777466, + 0.07383264601230621, + 0.10858019441366196 + ], + "orientation": [ + 0.21561089158058167, + -0.8030341267585754, + 0.5320277214050293, + -0.15998314321041107 + ], + "joints": [ + -0.004016483202576637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007565242704004049, + -0.097020722925663, + 3.613116132328287e-05 + ], + "orientation": [ + 0.995166003704071, + 0.09429926425218582, + -0.0005918164388276637, + -0.027421560138463974 + ], + "joints": [ + -0.0019001688342541456 + ] + }, + "fine_grasp": { + "position": [ + -0.007898797281086445, + -0.10061279684305191, + -6.669560389127582e-05 + ], + "orientation": [ + 0.994443953037262, + 0.09969423711299896, + 0.0012977857841178775, + -0.03377170115709305 + ], + "joints": [ + 0.0004114190523978323 + ] + }, + "final_grasp": { + "position": [ + -0.007898797281086445, + -0.10061279684305191, + -6.669560389127582e-05 + ], + "orientation": [ + 0.994443953037262, + 0.09969423711299896, + 0.0012977857841178775, + -0.03377170115709305 + ], + "joints": [ + 0.002723006997257471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0071406373754143715, + -0.09483808279037476, + 0.0001985121489269659 + ], + "orientation": [ + 0.9951500296592712, + 0.09402336925268173, + -0.008358530700206757, + -0.02768036164343357 + ], + "joints": [ + -0.001832163892686367 + ] + }, + "fine_grasp": { + "position": [ + -0.0077354018576443195, + -0.09750454127788544, + 0.0007851054542697966 + ], + "orientation": [ + 0.994328498840332, + 0.09906478226184845, + -0.010626616887748241, + -0.037206076085567474 + ], + "joints": [ + 0.0004528539429884404 + ] + }, + "final_grasp": { + "position": [ + -0.0077354018576443195, + -0.09750454127788544, + 0.0007851054542697966 + ], + "orientation": [ + 0.994328498840332, + 0.09906478226184845, + -0.010626616887748241, + -0.037206076085567474 + ], + "joints": [ + 0.0027378718368709087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12833453714847565, + -0.0052404263988137245, + 0.01993350125849247 + ], + "orientation": [ + 0.7980483174324036, + -0.035445038229227066, + -0.04986137896776199, + -0.5994800329208374 + ], + "joints": [ + -0.014435762539505959 + ] + }, + "fine_grasp": { + "position": [ + -0.12451469898223877, + -0.003382182214409113, + 0.02118426002562046 + ], + "orientation": [ + 0.7952710390090942, + -0.025343017652630806, + -0.05897902324795723, + -0.6028457880020142 + ], + "joints": [ + -0.010556542314589024 + ] + }, + "final_grasp": { + "position": [ + -0.12451469898223877, + -0.003382182214409113, + 0.02118426002562046 + ], + "orientation": [ + 0.7952710390090942, + -0.025343017652630806, + -0.05897902324795723, + -0.6028457880020142 + ], + "joints": [ + -0.006677322089672089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00947971735149622, + 0.16312776505947113, + 0.021924156695604324 + ], + "orientation": [ + 0.006943459622561932, + -0.9988311529159546, + 0.03931195288896561, + 0.02725561149418354 + ], + "joints": [ + 0.0001753975811880082 + ] + }, + "fine_grasp": { + "position": [ + 0.008850101381540298, + 0.16002647578716278, + 0.021703626960515976 + ], + "orientation": [ + 0.006368114147335291, + -0.9994155764579773, + 0.031857699155807495, + 0.010632147081196308 + ], + "joints": [ + 0.0020087240263819695 + ] + }, + "final_grasp": { + "position": [ + 0.008850101381540298, + 0.16002647578716278, + 0.021703626960515976 + ], + "orientation": [ + 0.006368114147335291, + -0.9994155764579773, + 0.031857699155807495, + 0.010632147081196308 + ], + "joints": [ + 0.0038420504424721003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10941865295171738, + 0.099821075797081, + 0.06088801473379135 + ], + "orientation": [ + 0.018489129841327667, + 0.8697643280029297, + -0.47698161005973816, + 0.1251268982887268 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.1102166399359703, + 0.1016792431473732, + 0.060571420937776566 + ], + "orientation": [ + 0.010396582074463367, + 0.8728065490722656, + -0.47679075598716736, + 0.1037839949131012 + ], + "joints": [ + -0.012100902386009693 + ] + }, + "final_grasp": { + "position": [ + 0.1102166399359703, + 0.1016792431473732, + 0.060571420937776566 + ], + "orientation": [ + 0.010396582074463367, + 0.8728065490722656, + -0.47679075598716736, + 0.1037839949131012 + ], + "joints": [ + -0.0056443847715854645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1133933961391449, + -0.023203907534480095, + 0.004624118562787771 + ], + "orientation": [ + 0.061526574194431305, + 0.5277366042137146, + 0.846936821937561, + 0.020162740722298622 + ], + "joints": [ + -0.011845007538795471 + ] + }, + "fine_grasp": { + "position": [ + -0.10917198657989502, + -0.022793861106038094, + 0.006720436736941338 + ], + "orientation": [ + 0.06696107983589172, + 0.5308490991592407, + 0.8442684412002563, + 0.03043544292449951 + ], + "joints": [ + -0.011047905310988426 + ] + }, + "final_grasp": { + "position": [ + -0.10917198657989502, + -0.022793861106038094, + 0.006720436736941338 + ], + "orientation": [ + 0.06696107983589172, + 0.5308490991592407, + 0.8442684412002563, + 0.03043544292449951 + ], + "joints": [ + -0.010250803083181381 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006642297375947237, + -0.10964043438434601, + 0.07214248925447464 + ], + "orientation": [ + 0.9979089498519897, + -0.031004982069134712, + -0.04830443114042282, + 0.029716065153479576 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.006764461752027273, + -0.10986408591270447, + 0.0714515745639801 + ], + "orientation": [ + 0.9978786110877991, + -0.030080271884799004, + -0.05009451135993004, + 0.028708694502711296 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + 0.006764461752027273, + -0.10986408591270447, + 0.0714515745639801 + ], + "orientation": [ + 0.9978786110877991, + -0.030080271884799004, + -0.05009451135993004, + 0.028708694502711296 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00010583214316284284, + -0.06280181556940079, + 0.15573753416538239 + ], + "orientation": [ + 0.03180565685033798, + -0.014832681976258755, + -0.8908349275588989, + 0.45296981930732727 + ], + "joints": [ + -0.010078582912683487 + ] + }, + "fine_grasp": { + "position": [ + -0.00022535801690537483, + -0.06077343970537186, + 0.15344330668449402 + ], + "orientation": [ + 0.03496932238340378, + -0.015516786836087704, + -0.889532208442688, + 0.455267995595932 + ], + "joints": [ + -0.0031703878194093704 + ] + }, + "final_grasp": { + "position": [ + -0.00022535801690537483, + -0.06077343970537186, + 0.15344330668449402 + ], + "orientation": [ + 0.03496932238340378, + -0.015516786836087704, + -0.889532208442688, + 0.455267995595932 + ], + "joints": [ + 0.003737807273864746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00015909677313175052, + -0.06296714395284653, + 0.15491759777069092 + ], + "orientation": [ + 0.03065863996744156, + -0.014873354695737362, + -0.8897638916969299, + 0.4551474153995514 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + -0.0004296643892303109, + -0.060868799686431885, + 0.15330520272254944 + ], + "orientation": [ + 0.034562207758426666, + -0.015868544578552246, + -0.8896965980529785, + 0.45496562123298645 + ], + "joints": [ + -0.003140946850180626 + ] + }, + "final_grasp": { + "position": [ + -0.0004296643892303109, + -0.060868799686431885, + 0.15330520272254944 + ], + "orientation": [ + 0.034562207758426666, + -0.015868544578552246, + -0.8896965980529785, + 0.45496562123298645 + ], + "joints": [ + 0.0037672482430934906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00011031956819351763, + -0.06295908987522125, + 0.15514877438545227 + ], + "orientation": [ + 0.030102062970399857, + -0.014596364460885525, + -0.8901211619377136, + 0.45449432730674744 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + -0.0003054685948882252, + -0.06085991486907005, + 0.15334509313106537 + ], + "orientation": [ + 0.03361578285694122, + -0.01643524132668972, + -0.8897973299026489, + 0.4548192024230957 + ], + "joints": [ + -0.003140946850180626 + ] + }, + "final_grasp": { + "position": [ + -0.0003054685948882252, + -0.06085991486907005, + 0.15334509313106537 + ], + "orientation": [ + 0.03361578285694122, + -0.01643524132668972, + -0.8897973299026489, + 0.4548192024230957 + ], + "joints": [ + 0.0037672482430934906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011942488141357899, + -0.10039066523313522, + 0.06468973308801651 + ], + "orientation": [ + 0.021331004798412323, + 0.04832648113369942, + 0.9985033273696899, + -0.014165449887514114 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.012480689212679863, + -0.10177130997180939, + 0.06296859681606293 + ], + "orientation": [ + 0.017153698951005936, + 0.048829853534698486, + 0.9984171390533447, + -0.022014109417796135 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + -0.012480689212679863, + -0.10177130997180939, + 0.06296859681606293 + ], + "orientation": [ + 0.017153698951005936, + 0.048829853534698486, + 0.9984171390533447, + -0.022014109417796135 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00813610665500164, + 0.04008951410651207, + 0.17553576827049255 + ], + "orientation": [ + 0.6117929816246033, + -0.7900681495666504, + 0.03799508512020111, + 0.0076242731884121895 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.007869357243180275, + 0.03987576812505722, + 0.17404939234256744 + ], + "orientation": [ + 0.612293541431427, + -0.7893823385238647, + 0.04407006502151489, + 0.005475678481161594 + ], + "joints": [ + -0.0030849361792206764 + ] + }, + "final_grasp": { + "position": [ + 0.007869357243180275, + 0.03987576812505722, + 0.17404939234256744 + ], + "orientation": [ + 0.612293541431427, + -0.7893823385238647, + 0.04407006502151489, + 0.005475678481161594 + ], + "joints": [ + 0.003849828615784645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00813590083271265, + 0.09480620175600052, + 0.16388244926929474 + ], + "orientation": [ + 0.042703818529844284, + -0.012183758430182934, + 0.5116247534751892, + -0.8580605983734131 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.007861589081585407, + 0.09315598756074905, + 0.1598692238330841 + ], + "orientation": [ + 0.047404319047927856, + -0.01725739985704422, + 0.5161582231521606, + -0.8550062775611877 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + -0.007861589081585407, + 0.09315598756074905, + 0.1598692238330841 + ], + "orientation": [ + 0.047404319047927856, + -0.01725739985704422, + 0.5161582231521606, + -0.8550062775611877 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008109011687338352, + 0.0949222669005394, + 0.16426077485084534 + ], + "orientation": [ + 0.04245910793542862, + -0.012419040314853191, + 0.5104039311408997, + -0.858796238899231 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.007839367724955082, + 0.09315462410449982, + 0.15997599065303802 + ], + "orientation": [ + 0.047473594546318054, + -0.01754637435078621, + 0.5157429575920105, + -0.8552469611167908 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + -0.007839367724955082, + 0.09315462410449982, + 0.15997599065303802 + ], + "orientation": [ + 0.047473594546318054, + -0.01754637435078621, + 0.5157429575920105, + -0.8552469611167908 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008178704418241978, + 0.09497267752885818, + 0.16402634978294373 + ], + "orientation": [ + 0.04308627173304558, + -0.012650813907384872, + 0.5120686292648315, + -0.8577699065208435 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.00790636707097292, + 0.09327825903892517, + 0.15995267033576965 + ], + "orientation": [ + 0.04780648276209831, + -0.01791810616850853, + 0.5165746808052063, + -0.8547186851501465 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + -0.00790636707097292, + 0.09327825903892517, + 0.15995267033576965 + ], + "orientation": [ + 0.04780648276209831, + -0.01791810616850853, + 0.5165746808052063, + -0.8547186851501465 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004003555979579687, + -0.05649973452091217, + 0.1561405062675476 + ], + "orientation": [ + 0.11165875196456909, + -0.0727790966629982, + 0.8785105347633362, + -0.4587536156177521 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.004147715400904417, + -0.053571294993162155, + 0.15364806354045868 + ], + "orientation": [ + 0.11093997955322266, + -0.07550478726625443, + 0.8786768913269043, + -0.4581684172153473 + ], + "joints": [ + -0.003673744387924671 + ] + }, + "final_grasp": { + "position": [ + 0.004147715400904417, + -0.053571294993162155, + 0.15364806354045868 + ], + "orientation": [ + 0.11093997955322266, + -0.07550478726625443, + 0.8786768913269043, + -0.4581684172153473 + ], + "joints": [ + 0.0032610204070806503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0030545128975063562, + 0.029966823756694794, + 0.17530237138271332 + ], + "orientation": [ + 0.04806751012802124, + -0.037936244159936905, + -0.6963061690330505, + 0.7151280045509338 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.0034240903332829475, + 0.030475426465272903, + 0.17687521874904633 + ], + "orientation": [ + 0.04044598713517189, + -0.03447553887963295, + -0.702896773815155, + 0.709303617477417 + ], + "joints": [ + -0.003556055948138237 + ] + }, + "final_grasp": { + "position": [ + 0.0034240903332829475, + 0.030475426465272903, + 0.17687521874904633 + ], + "orientation": [ + 0.04044598713517189, + -0.03447553887963295, + -0.702896773815155, + 0.709303617477417 + ], + "joints": [ + 0.0022893399000167847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011714140884578228, + -0.08129600435495377, + 0.14001543819904327 + ], + "orientation": [ + 0.914772093296051, + -0.3869272470474243, + 0.11550842970609665, + 0.011715867556631565 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.01140630804002285, + -0.07964680343866348, + 0.14088347554206848 + ], + "orientation": [ + 0.920661985874176, + -0.3749982416629791, + 0.10787145793437958, + 0.011021827347576618 + ], + "joints": [ + -0.004150606691837311 + ] + }, + "final_grasp": { + "position": [ + 0.01140630804002285, + -0.07964680343866348, + 0.14088347554206848 + ], + "orientation": [ + 0.920661985874176, + -0.3749982416629791, + 0.10787145793437958, + 0.011021827347576618 + ], + "joints": [ + 0.0017479285597801208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01169316004961729, + -0.08141149580478668, + 0.13998642563819885 + ], + "orientation": [ + 0.9146980047225952, + -0.38699305057525635, + 0.11588659137487411, + 0.011589949950575829 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.011408776976168156, + -0.07964262366294861, + 0.1407269984483719 + ], + "orientation": [ + 0.9206030964851379, + -0.3749403655529022, + 0.10858050733804703, + 0.01095854863524437 + ], + "joints": [ + -0.004150606691837311 + ] + }, + "final_grasp": { + "position": [ + 0.011408776976168156, + -0.07964262366294861, + 0.1407269984483719 + ], + "orientation": [ + 0.9206030964851379, + -0.3749403655529022, + 0.10858050733804703, + 0.01095854863524437 + ], + "joints": [ + 0.0017479285597801208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011701597832143307, + -0.0813707560300827, + 0.13998404145240784 + ], + "orientation": [ + 0.9144749641418457, + -0.38736584782600403, + 0.11640695482492447, + 0.011518960818648338 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.011355134658515453, + -0.07957377284765244, + 0.1406419575214386 + ], + "orientation": [ + 0.9204635620117188, + -0.3752853274345398, + 0.10862022638320923, + 0.010464328341186047 + ], + "joints": [ + -0.004150606691837311 + ] + }, + "final_grasp": { + "position": [ + 0.011355134658515453, + -0.07957377284765244, + 0.1406419575214386 + ], + "orientation": [ + 0.9204635620117188, + -0.3752853274345398, + 0.10862022638320923, + 0.010464328341186047 + ], + "joints": [ + 0.0017479285597801208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12483318895101547, + 0.031090689823031425, + 0.015574732795357704 + ], + "orientation": [ + 0.10085412114858627, + 0.6905552744865417, + 0.7031311392784119, + 0.13626587390899658 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.1280422955751419, + 0.0331079326570034, + 0.014825460501015186 + ], + "orientation": [ + 0.10732896625995636, + 0.6979077458381653, + 0.6955212950706482, + 0.1328742951154709 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.1280422955751419, + 0.0331079326570034, + 0.014825460501015186 + ], + "orientation": [ + 0.10732896625995636, + 0.6979077458381653, + 0.6955212950706482, + 0.1328742951154709 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0068283649161458015, + 0.036234114319086075, + 0.18953289091587067 + ], + "orientation": [ + 0.5889237523078918, + -0.7178895473480225, + 0.2765350639820099, + -0.24765242636203766 + ], + "joints": [ + -0.01302262395620346 + ] + }, + "fine_grasp": { + "position": [ + 0.00701249111443758, + 0.03691520169377327, + 0.18404686450958252 + ], + "orientation": [ + 0.5954053997993469, + -0.7099595069885254, + 0.27630335092544556, + -0.25515928864479065 + ], + "joints": [ + -0.00818688701838255 + ] + }, + "final_grasp": { + "position": [ + 0.00701249111443758, + 0.03691520169377327, + 0.18404686450958252 + ], + "orientation": [ + 0.5954053997993469, + -0.7099595069885254, + 0.27630335092544556, + -0.25515928864479065 + ], + "joints": [ + -0.003351150080561638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003989098127931356, + 0.1441560536623001, + 0.09751741588115692 + ], + "orientation": [ + 0.23592887818813324, + -0.9631953239440918, + -0.0009903403697535396, + 0.1288069784641266 + ], + "joints": [ + -0.007635027170181274 + ] + }, + "fine_grasp": { + "position": [ + 0.004924733657389879, + 0.14011535048484802, + 0.09575150161981583 + ], + "orientation": [ + 0.2212584912776947, + -0.965066134929657, + -0.004912693984806538, + 0.14024263620376587 + ], + "joints": [ + -0.0022944610100239515 + ] + }, + "final_grasp": { + "position": [ + 0.004924733657389879, + 0.14011535048484802, + 0.09575150161981583 + ], + "orientation": [ + 0.2212584912776947, + -0.965066134929657, + -0.004912693984806538, + 0.14024263620376587 + ], + "joints": [ + 0.0030461051501333714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07747924327850342, + 0.04511900246143341, + -0.15448130667209625 + ], + "orientation": [ + 0.6006156802177429, + 0.28058692812919617, + 0.2940133810043335, + 0.688540518283844 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07849718630313873, + 0.045913826674222946, + -0.15600161254405975 + ], + "orientation": [ + 0.5960243344306946, + 0.27080708742141724, + 0.29985448718070984, + 0.693906307220459 + ], + "joints": [ + -0.007739391177892685 + ] + }, + "final_grasp": { + "position": [ + 0.07849718630313873, + 0.045913826674222946, + -0.15600161254405975 + ], + "orientation": [ + 0.5960243344306946, + 0.27080708742141724, + 0.29985448718070984, + 0.693906307220459 + ], + "joints": [ + -0.0007780566811561584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07776829600334167, + 0.045288752764463425, + -0.15425141155719757 + ], + "orientation": [ + 0.6005189418792725, + 0.2797410786151886, + 0.29301056265830994, + 0.6893959641456604 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07876770943403244, + 0.046081963926553726, + -0.1557234674692154 + ], + "orientation": [ + 0.5960055589675903, + 0.270022451877594, + 0.2986904978752136, + 0.6947295069694519 + ], + "joints": [ + -0.007739391177892685 + ] + }, + "final_grasp": { + "position": [ + 0.07876770943403244, + 0.046081963926553726, + -0.1557234674692154 + ], + "orientation": [ + 0.5960055589675903, + 0.270022451877594, + 0.2986904978752136, + 0.6947295069694519 + ], + "joints": [ + -0.0007780566811561584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07735835760831833, + 0.04561978206038475, + -0.15472003817558289 + ], + "orientation": [ + 0.5970712304115295, + 0.2770366370677948, + 0.29779335856437683, + 0.6914302706718445 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07850675284862518, + 0.04661652445793152, + -0.15634934604167938 + ], + "orientation": [ + 0.5922253727912903, + 0.2687632441520691, + 0.30212530493736267, + 0.6969619393348694 + ], + "joints": [ + -0.007739391177892685 + ] + }, + "final_grasp": { + "position": [ + 0.07850675284862518, + 0.04661652445793152, + -0.15634934604167938 + ], + "orientation": [ + 0.5922253727912903, + 0.2687632441520691, + 0.30212530493736267, + 0.6969619393348694 + ], + "joints": [ + -0.0007780566811561584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08080890029668808, + 0.01823502965271473, + -0.1486506164073944 + ], + "orientation": [ + 0.18040840327739716, + 0.5677834749221802, + 0.7325732707977295, + 0.32925859093666077 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.08112610131502151, + 0.018329303711652756, + -0.14742374420166016 + ], + "orientation": [ + 0.18449237942695618, + 0.5766894817352295, + 0.7295246720314026, + 0.31809690594673157 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + -0.08112610131502151, + 0.018329303711652756, + -0.14742374420166016 + ], + "orientation": [ + 0.18449237942695618, + 0.5766894817352295, + 0.7295246720314026, + 0.31809690594673157 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013332225382328033, + 0.09658074378967285, + 0.16332674026489258 + ], + "orientation": [ + 0.014508446678519249, + -0.13672105967998505, + 0.5277807116508484, + -0.8381792902946472 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.012819676660001278, + 0.09438321739435196, + 0.1595645397901535 + ], + "orientation": [ + 0.020576374605298042, + -0.14295221865177155, + 0.5262963771820068, + -0.8379459977149963 + ], + "joints": [ + -0.0019338895799592137 + ] + }, + "final_grasp": { + "position": [ + 0.012819676660001278, + 0.09438321739435196, + 0.1595645397901535 + ], + "orientation": [ + 0.020576374605298042, + -0.14295221865177155, + 0.5262963771820068, + -0.8379459977149963 + ], + "joints": [ + 0.004974305629730225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010006233118474483, + 0.0707336887717247, + 0.18544745445251465 + ], + "orientation": [ + 0.35664212703704834, + -0.5064461827278137, + 0.48927050828933716, + -0.61394864320755 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + 0.009615384973585606, + 0.07014009356498718, + 0.1818268895149231 + ], + "orientation": [ + 0.35351523756980896, + -0.5075974464416504, + 0.4900740087032318, + -0.6141656041145325 + ], + "joints": [ + -0.013300820253789425 + ] + }, + "final_grasp": { + "position": [ + 0.009615384973585606, + 0.07014009356498718, + 0.1818268895149231 + ], + "orientation": [ + 0.35351523756980896, + -0.5075974464416504, + 0.4900740087032318, + -0.6141656041145325 + ], + "joints": [ + -0.007455412298440933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13875029981136322, + 0.03539281338453293, + 0.056946493685245514 + ], + "orientation": [ + 0.6727040410041809, + -0.23192404210567474, + 0.25194260478019714, + 0.6559004187583923 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.13827845454216003, + 0.03794936090707779, + 0.054476797580718994 + ], + "orientation": [ + 0.6722710728645325, + -0.21518123149871826, + 0.2459917664527893, + 0.6642565131187439 + ], + "joints": [ + -0.011535797268152237 + ] + }, + "final_grasp": { + "position": [ + 0.13827845454216003, + 0.03794936090707779, + 0.054476797580718994 + ], + "orientation": [ + 0.6722710728645325, + -0.21518123149871826, + 0.2459917664527893, + 0.6642565131187439 + ], + "joints": [ + -0.005132423713803291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13872551918029785, + 0.03538208454847336, + 0.05694367736577988 + ], + "orientation": [ + 0.6728547811508179, + -0.23184140026569366, + 0.25242000818252563, + 0.6555914282798767 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.13830293715000153, + 0.03788921982049942, + 0.05447109416127205 + ], + "orientation": [ + 0.6723460555076599, + -0.21535073220729828, + 0.24617905914783478, + 0.6640562415122986 + ], + "joints": [ + -0.011535797268152237 + ] + }, + "final_grasp": { + "position": [ + 0.13830293715000153, + 0.03788921982049942, + 0.05447109416127205 + ], + "orientation": [ + 0.6723460555076599, + -0.21535073220729828, + 0.24617905914783478, + 0.6640562415122986 + ], + "joints": [ + -0.005132423713803291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004649462178349495, + 0.06380034238100052, + 0.18139369785785675 + ], + "orientation": [ + 0.5185249447822571, + -0.7314122915267944, + -0.26387089490890503, + 0.3557247519493103 + ], + "joints": [ + -0.015201210975646973 + ] + }, + "fine_grasp": { + "position": [ + 0.0056061530485749245, + 0.0651574581861496, + 0.18229344487190247 + ], + "orientation": [ + 0.5165646076202393, + -0.7350454926490784, + -0.25786587595939636, + 0.355491578578949 + ], + "joints": [ + -0.007283356506377459 + ] + }, + "final_grasp": { + "position": [ + 0.0056061530485749245, + 0.0651574581861496, + 0.18229344487190247 + ], + "orientation": [ + 0.5165646076202393, + -0.7350454926490784, + -0.25786587595939636, + 0.355491578578949 + ], + "joints": [ + 0.0006344979628920555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016646554693579674, + 0.10887487977743149, + 0.16394011676311493 + ], + "orientation": [ + 0.36223429441452026, + -0.5007391571998596, + -0.2848900556564331, + 0.7327238917350769 + ], + "joints": [ + -0.015760578215122223 + ] + }, + "fine_grasp": { + "position": [ + 0.01457469817250967, + 0.10507824271917343, + 0.16176384687423706 + ], + "orientation": [ + 0.38448309898376465, + -0.5045472979545593, + -0.2700166702270508, + 0.724358856678009 + ], + "joints": [ + -0.008374124765396118 + ] + }, + "final_grasp": { + "position": [ + 0.01457469817250967, + 0.10507824271917343, + 0.16176384687423706 + ], + "orientation": [ + 0.38448309898376465, + -0.5045472979545593, + -0.2700166702270508, + 0.724358856678009 + ], + "joints": [ + -0.0009876713156700134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07460512220859528, + 0.0484958253800869, + 0.1725519597530365 + ], + "orientation": [ + 0.5839779376983643, + -0.47815585136413574, + 0.2958792448043823, + -0.5854845643043518 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.07298979163169861, + 0.049610938876867294, + 0.1692916303873062 + ], + "orientation": [ + 0.5815871357917786, + -0.47278842329978943, + 0.2928917109966278, + -0.5936682224273682 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + -0.07298979163169861, + 0.049610938876867294, + 0.1692916303873062 + ], + "orientation": [ + 0.5815871357917786, + -0.47278842329978943, + 0.2928917109966278, + -0.5936682224273682 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12086673080921173, + 0.0720299556851387, + -0.06374683231115341 + ], + "orientation": [ + 0.3040013015270233, + -0.6301489472389221, + 0.5947346091270447, + 0.39596229791641235 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.12307300418615341, + 0.07183965295553207, + -0.0628439262509346 + ], + "orientation": [ + 0.308940052986145, + -0.6249570846557617, + 0.5882230997085571, + 0.4098513424396515 + ], + "joints": [ + -0.013840985484421253 + ] + }, + "final_grasp": { + "position": [ + 0.12307300418615341, + 0.07183965295553207, + -0.0628439262509346 + ], + "orientation": [ + 0.308940052986145, + -0.6249570846557617, + 0.5882230997085571, + 0.4098513424396515 + ], + "joints": [ + -0.010626012459397316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1251143366098404, + 0.06347741186618805, + -0.07061119377613068 + ], + "orientation": [ + 0.3343828022480011, + -0.5522846579551697, + -0.6204636693000793, + -0.4451904594898224 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.12508592009544373, + 0.06332740187644958, + -0.06922218203544617 + ], + "orientation": [ + 0.33017677068710327, + -0.5535924434661865, + -0.6137157082557678, + -0.45592954754829407 + ], + "joints": [ + -0.013393563218414783 + ] + }, + "final_grasp": { + "position": [ + -0.12508592009544373, + 0.06332740187644958, + -0.06922218203544617 + ], + "orientation": [ + 0.33017677068710327, + -0.5535924434661865, + -0.6137157082557678, + -0.45592954754829407 + ], + "joints": [ + -0.009142359718680382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10135544836521149, + 0.1020999550819397, + 0.08530094474554062 + ], + "orientation": [ + 0.4762483835220337, + -0.23730158805847168, + -0.024169566109776497, + -0.846340000629425 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + -0.10349893569946289, + 0.10453154891729355, + 0.0880817249417305 + ], + "orientation": [ + 0.48560386896133423, + -0.2263283133506775, + -0.041503507643938065, + -0.8433515429496765 + ], + "joints": [ + -0.010340808890759945 + ] + }, + "final_grasp": { + "position": [ + -0.10349893569946289, + 0.10453154891729355, + 0.0880817249417305 + ], + "orientation": [ + 0.48560386896133423, + -0.2263283133506775, + -0.041503507643938065, + -0.8433515429496765 + ], + "joints": [ + -0.0019181165844202042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029982076957821846, + 0.09000267833471298, + 0.1747862696647644 + ], + "orientation": [ + 0.4393954873085022, + -0.679296612739563, + 0.26931220293045044, + -0.522454559803009 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.029608312994241714, + 0.08894658088684082, + 0.17229382693767548 + ], + "orientation": [ + 0.44058334827423096, + -0.6648735404014587, + 0.2787879705429077, + -0.5348893404006958 + ], + "joints": [ + -0.007143442053347826 + ] + }, + "final_grasp": { + "position": [ + -0.029608312994241714, + 0.08894658088684082, + 0.17229382693767548 + ], + "orientation": [ + 0.44058334827423096, + -0.6648735404014587, + 0.2787879705429077, + -0.5348893404006958 + ], + "joints": [ + -0.0007932158187031746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044901859015226364, + 0.05115341395139694, + 0.17272092401981354 + ], + "orientation": [ + 0.5926873087882996, + -0.676529586315155, + -0.3695864677429199, + 0.2333136349916458 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.043170709162950516, + 0.05183548852801323, + 0.17085854709148407 + ], + "orientation": [ + 0.57391357421875, + -0.682858407497406, + -0.3755905032157898, + 0.2515137195587158 + ], + "joints": [ + -0.00980331189930439 + ] + }, + "final_grasp": { + "position": [ + -0.043170709162950516, + 0.05183548852801323, + 0.17085854709148407 + ], + "orientation": [ + 0.57391357421875, + -0.682858407497406, + -0.3755905032157898, + 0.2515137195587158 + ], + "joints": [ + -0.006083514541387558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09591357409954071, + 0.037818606942892075, + 0.13267020881175995 + ], + "orientation": [ + 0.5743045210838318, + -0.08858217298984528, + 0.3519761860370636, + -0.7337849140167236 + ], + "joints": [ + -0.016879312694072723 + ] + }, + "fine_grasp": { + "position": [ + -0.09859921038150787, + 0.03836629539728165, + 0.13455089926719666 + ], + "orientation": [ + 0.5629199743270874, + -0.0761558786034584, + 0.36215028166770935, + -0.7390322685241699 + ], + "joints": [ + -0.009944543242454529 + ] + }, + "final_grasp": { + "position": [ + -0.09859921038150787, + 0.03836629539728165, + 0.13455089926719666 + ], + "orientation": [ + 0.5629199743270874, + -0.0761558786034584, + 0.36215028166770935, + -0.7390322685241699 + ], + "joints": [ + -0.0030097737908363342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09595701843500137, + 0.03770536556839943, + 0.13271303474903107 + ], + "orientation": [ + 0.5750178694725037, + -0.08870338648557663, + 0.35068953037261963, + -0.7338276505470276 + ], + "joints": [ + -0.016879312694072723 + ] + }, + "fine_grasp": { + "position": [ + -0.09858869016170502, + 0.038287803530693054, + 0.13446086645126343 + ], + "orientation": [ + 0.5636204481124878, + -0.07684493809938431, + 0.361386775970459, + -0.7388007640838623 + ], + "joints": [ + -0.009944543242454529 + ] + }, + "final_grasp": { + "position": [ + -0.09858869016170502, + 0.038287803530693054, + 0.13446086645126343 + ], + "orientation": [ + 0.5636204481124878, + -0.07684493809938431, + 0.361386775970459, + -0.7388007640838623 + ], + "joints": [ + -0.0030097737908363342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10976693034172058, + -0.010954823344945908, + 0.10376325994729996 + ], + "orientation": [ + 0.8126535415649414, + -0.30479034781455994, + -0.14925053715705872, + -0.4737311899662018 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.10769809037446976, + -0.008128415793180466, + 0.10245011001825333 + ], + "orientation": [ + 0.8135484457015991, + -0.29304996132850647, + -0.1452651470899582, + -0.48078957200050354 + ], + "joints": [ + -0.013191667385399342 + ] + }, + "final_grasp": { + "position": [ + -0.10769809037446976, + -0.008128415793180466, + 0.10245011001825333 + ], + "orientation": [ + 0.8135484457015991, + -0.29304996132850647, + -0.1452651470899582, + -0.48078957200050354 + ], + "joints": [ + -0.007266547530889511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11830136179924011, + 0.05744480714201927, + 0.09289737045764923 + ], + "orientation": [ + 0.20000869035720825, + -0.7829391360282898, + 0.5886512994766235, + 0.022192394360899925 + ], + "joints": [ + -0.017320921644568443 + ] + }, + "fine_grasp": { + "position": [ + 0.12040958553552628, + 0.0583469457924366, + 0.09510083496570587 + ], + "orientation": [ + 0.19818414747714996, + -0.7863041758537292, + 0.5845098495483398, + 0.028230814263224602 + ], + "joints": [ + -0.009907891973853111 + ] + }, + "final_grasp": { + "position": [ + 0.12040958553552628, + 0.0583469457924366, + 0.09510083496570587 + ], + "orientation": [ + 0.19818414747714996, + -0.7863041758537292, + 0.5845098495483398, + 0.028230814263224602 + ], + "joints": [ + -0.0024948623031377792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00112883688416332, + 0.0718386322259903, + 0.1680951863527298 + ], + "orientation": [ + 0.3713792562484741, + -0.6233397126197815, + -0.44921165704727173, + 0.5212810635566711 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.0005058547831140459, + 0.0732509195804596, + 0.16809460520744324 + ], + "orientation": [ + 0.3495365083217621, + -0.6219503879547119, + -0.45742061734199524, + 0.530818521976471 + ], + "joints": [ + -0.008911265060305595 + ] + }, + "final_grasp": { + "position": [ + 0.0005058547831140459, + 0.0732509195804596, + 0.16809460520744324 + ], + "orientation": [ + 0.3495365083217621, + -0.6219503879547119, + -0.45742061734199524, + 0.530818521976471 + ], + "joints": [ + -0.002003069967031479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013341262238100171, + 0.07170235365629196, + 0.16873696446418762 + ], + "orientation": [ + 0.3728561997413635, + -0.6249765157699585, + -0.4487299621105194, + 0.5186752676963806 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.00032778456807136536, + 0.07316667586565018, + 0.1682281494140625 + ], + "orientation": [ + 0.3514135181903839, + -0.6235460638999939, + -0.4560869038105011, + 0.5288512110710144 + ], + "joints": [ + -0.008911265060305595 + ] + }, + "final_grasp": { + "position": [ + 0.00032778456807136536, + 0.07316667586565018, + 0.1682281494140625 + ], + "orientation": [ + 0.3514135181903839, + -0.6235460638999939, + -0.4560869038105011, + 0.5288512110710144 + ], + "joints": [ + -0.002003069967031479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015021098777651787, + 0.07325901091098785, + 0.1810346096754074 + ], + "orientation": [ + 0.24402277171611786, + -0.24782413244247437, + -0.48367732763290405, + 0.8031764626502991 + ], + "joints": [ + -0.013611432164907455 + ] + }, + "fine_grasp": { + "position": [ + 0.0149642089381814, + 0.07252543419599533, + 0.1758716106414795 + ], + "orientation": [ + 0.24885624647140503, + -0.25464221835136414, + -0.49115294218063354, + 0.7949822545051575 + ], + "joints": [ + -0.008244295604526997 + ] + }, + "final_grasp": { + "position": [ + 0.0149642089381814, + 0.07252543419599533, + 0.1758716106414795 + ], + "orientation": [ + 0.24885624647140503, + -0.25464221835136414, + -0.49115294218063354, + 0.7949822545051575 + ], + "joints": [ + -0.0028771590441465378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03280455619096756, + 0.08280681073665619, + 0.16677777469158173 + ], + "orientation": [ + 0.3543127775192261, + -0.6637346744537354, + 0.4313074052333832, + -0.4978882372379303 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.031303759664297104, + 0.08518972992897034, + 0.1666504293680191 + ], + "orientation": [ + 0.342257022857666, + -0.6759622693061829, + 0.4320806860923767, + -0.48912301659584045 + ], + "joints": [ + -0.013160832226276398 + ] + }, + "final_grasp": { + "position": [ + 0.031303759664297104, + 0.08518972992897034, + 0.1666504293680191 + ], + "orientation": [ + 0.342257022857666, + -0.6759622693061829, + 0.4320806860923767, + -0.48912301659584045 + ], + "joints": [ + -0.007793685421347618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03280772268772125, + 0.08281499147415161, + 0.16677804291248322 + ], + "orientation": [ + 0.35405364632606506, + -0.6636642217636108, + 0.4314897358417511, + -0.4980084002017975 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.0313895121216774, + 0.08518610149621964, + 0.16657432913780212 + ], + "orientation": [ + 0.34385091066360474, + -0.674701452255249, + 0.43268853425979614, + -0.4892086386680603 + ], + "joints": [ + -0.013160832226276398 + ] + }, + "final_grasp": { + "position": [ + 0.0313895121216774, + 0.08518610149621964, + 0.16657432913780212 + ], + "orientation": [ + 0.34385091066360474, + -0.674701452255249, + 0.43268853425979614, + -0.4892086386680603 + ], + "joints": [ + -0.007793685421347618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0492619164288044, + 0.05633176863193512, + 0.16910463571548462 + ], + "orientation": [ + 0.6277971267700195, + -0.744027853012085, + -0.2275438904762268, + -0.022740032523870468 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.047957893460989, + 0.055308952927589417, + 0.16506558656692505 + ], + "orientation": [ + 0.6218259334564209, + -0.7500858306884766, + -0.22439782321453094, + -0.01869110018014908 + ], + "joints": [ + -0.0025776387192308903 + ] + }, + "final_grasp": { + "position": [ + -0.047957893460989, + 0.055308952927589417, + 0.16506558656692505 + ], + "orientation": [ + 0.6218259334564209, + -0.7500858306884766, + -0.22439782321453094, + -0.01869110018014908 + ], + "joints": [ + 0.0033474666997790337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020969001576304436, + 0.08717555552721024, + 0.1711985021829605 + ], + "orientation": [ + 0.35886242985725403, + -0.49885812401771545, + -0.41265976428985596, + 0.6723616719245911 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + 0.022206079214811325, + 0.08644846081733704, + 0.1733759343624115 + ], + "orientation": [ + 0.36425235867500305, + -0.5038833618164062, + -0.4139735698699951, + 0.6648667454719543 + ], + "joints": [ + -0.01244410127401352 + ] + }, + "final_grasp": { + "position": [ + 0.022206079214811325, + 0.08644846081733704, + 0.1733759343624115 + ], + "orientation": [ + 0.36425235867500305, + -0.5038833618164062, + -0.4139735698699951, + 0.6648667454719543 + ], + "joints": [ + -0.005535893142223358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12231384962797165, + 0.016458211466670036, + -0.08484425395727158 + ], + "orientation": [ + 0.7522900700569153, + 0.21937905251979828, + 0.14212000370025635, + -0.6047598719596863 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + -0.12235501408576965, + 0.017586827278137207, + -0.08308855444192886 + ], + "orientation": [ + 0.7508513331413269, + 0.20621278882026672, + 0.12247749418020248, + -0.6153842806816101 + ], + "joints": [ + -0.01244410127401352 + ] + }, + "final_grasp": { + "position": [ + -0.12235501408576965, + 0.017586827278137207, + -0.08308855444192886 + ], + "orientation": [ + 0.7508513331413269, + 0.20621278882026672, + 0.12247749418020248, + -0.6153842806816101 + ], + "joints": [ + -0.005535893142223358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12219077348709106, + 0.01652359403669834, + -0.08485449850559235 + ], + "orientation": [ + 0.7521989345550537, + 0.2193133533000946, + 0.14162330329418182, + -0.605013370513916 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + -0.1222795769572258, + 0.01766260899603367, + -0.08310116827487946 + ], + "orientation": [ + 0.7507064938545227, + 0.20615461468696594, + 0.12197528779506683, + -0.6156802773475647 + ], + "joints": [ + -0.01244410127401352 + ] + }, + "final_grasp": { + "position": [ + -0.1222795769572258, + 0.01766260899603367, + -0.08310116827487946 + ], + "orientation": [ + 0.7507064938545227, + 0.20615461468696594, + 0.12197528779506683, + -0.6156802773475647 + ], + "joints": [ + -0.005535893142223358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01999867521226406, + 0.045743849128484726, + 0.16416358947753906 + ], + "orientation": [ + 0.05527505651116371, + -0.20789441466331482, + 0.6065468788146973, + -0.7653923034667969 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.02306867577135563, + 0.04764740914106369, + 0.16571730375289917 + ], + "orientation": [ + 0.0580311119556427, + -0.2204774022102356, + 0.6098254323005676, + -0.7590354681015015 + ], + "joints": [ + -0.005800740793347359 + ] + }, + "final_grasp": { + "position": [ + 0.02306867577135563, + 0.04764740914106369, + 0.16571730375289917 + ], + "orientation": [ + 0.0580311119556427, + -0.2204774022102356, + 0.6098254323005676, + -0.7590354681015015 + ], + "joints": [ + -0.0004336051642894745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014035086147487164, + 0.0557667575776577, + 0.1596936583518982 + ], + "orientation": [ + 0.5422707796096802, + -0.7122873067855835, + 0.31045621633529663, + -0.3196970820426941 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.014170457608997822, + 0.05774058401584625, + 0.16491493582725525 + ], + "orientation": [ + 0.5439718961715698, + -0.7088097929954529, + 0.31644901633262634, + -0.3186587393283844 + ], + "joints": [ + -0.012514619156718254 + ] + }, + "final_grasp": { + "position": [ + 0.014170457608997822, + 0.05774058401584625, + 0.16491493582725525 + ], + "orientation": [ + 0.5439718961715698, + -0.7088097929954529, + 0.31644901633262634, + -0.3186587393283844 + ], + "joints": [ + -0.00767887569963932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04909875616431236, + -0.08840353041887283, + 0.0005177569692023098 + ], + "orientation": [ + 0.16917572915554047, + 0.23531299829483032, + -0.9505794644355774, + -0.11138325184583664 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.04959937185049057, + -0.0851878821849823, + 0.0012361557455733418 + ], + "orientation": [ + 0.1812288761138916, + 0.2409355342388153, + -0.9470728039741516, + -0.11026978492736816 + ], + "joints": [ + -0.009274706244468689 + ] + }, + "final_grasp": { + "position": [ + 0.04959937185049057, + -0.0851878821849823, + 0.0012361557455733418 + ], + "orientation": [ + 0.1812288761138916, + 0.2409355342388153, + -0.9470728039741516, + -0.11026978492736816 + ], + "joints": [ + -0.0039075687527656555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1390313357114792, + 0.012353102676570415, + 0.0362284891307354 + ], + "orientation": [ + 0.11845097690820694, + 0.6538652777671814, + -0.7424301505088806, + 0.0850120335817337 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.13537812232971191, + 0.013870135881006718, + 0.03646240383386612 + ], + "orientation": [ + 0.12187863886356354, + 0.6561431884765625, + -0.7401502728462219, + 0.0824584811925888 + ], + "joints": [ + -0.011685946024954319 + ] + }, + "final_grasp": { + "position": [ + 0.13537812232971191, + 0.013870135881006718, + 0.03646240383386612 + ], + "orientation": [ + 0.12187863886356354, + 0.6561431884765625, + -0.7401502728462219, + 0.0824584811925888 + ], + "joints": [ + -0.006345374509692192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008801774121820927, + 0.0649680495262146, + -0.17110922932624817 + ], + "orientation": [ + 0.12585607171058655, + 0.09286634624004364, + -0.6397573351860046, + -0.7524935603141785 + ], + "joints": [ + -0.0012246710248291492 + ] + }, + "fine_grasp": { + "position": [ + -0.008671908639371395, + 0.06456626206636429, + -0.16757534444332123 + ], + "orientation": [ + 0.1308668702840805, + 0.09778399020433426, + -0.6402989029884338, + -0.7505528330802917 + ], + "joints": [ + 0.0057100942358374596 + ] + }, + "final_grasp": { + "position": [ + -0.008671908639371395, + 0.06456626206636429, + -0.16757534444332123 + ], + "orientation": [ + 0.1308668702840805, + 0.09778399020433426, + -0.6402989029884338, + -0.7505528330802917 + ], + "joints": [ + 0.012644859030842781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11405576765537262, + 0.01338605023920536, + -0.09991105645895004 + ], + "orientation": [ + 0.10585437715053558, + -0.5822370648384094, + 0.7670930624008179, + 0.24771563708782196 + ], + "joints": [ + -0.018675178289413452 + ] + }, + "fine_grasp": { + "position": [ + 0.11489493399858475, + 0.012099126353859901, + -0.09869831800460815 + ], + "orientation": [ + 0.07306555658578873, + -0.5935736298561096, + 0.7658205628395081, + 0.23632720112800598 + ], + "joints": [ + -0.012298372574150562 + ] + }, + "final_grasp": { + "position": [ + 0.11489493399858475, + 0.012099126353859901, + -0.09869831800460815 + ], + "orientation": [ + 0.07306555658578873, + -0.5935736298561096, + 0.7658205628395081, + 0.23632720112800598 + ], + "joints": [ + -0.005921566858887672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11404074728488922, + 0.013416232541203499, + -0.0999663695693016 + ], + "orientation": [ + 0.1054486483335495, + -0.5824034810066223, + 0.7670339941978455, + 0.2476806342601776 + ], + "joints": [ + -0.018675178289413452 + ] + }, + "fine_grasp": { + "position": [ + 0.11487029492855072, + 0.012115484103560448, + -0.09879513829946518 + ], + "orientation": [ + 0.07265345752239227, + -0.5937093496322632, + 0.7658160328865051, + 0.23612836003303528 + ], + "joints": [ + -0.012298372574150562 + ] + }, + "final_grasp": { + "position": [ + 0.11487029492855072, + 0.012115484103560448, + -0.09879513829946518 + ], + "orientation": [ + 0.07265345752239227, + -0.5937093496322632, + 0.7658160328865051, + 0.23612836003303528 + ], + "joints": [ + -0.005921566858887672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023641815409064293, + 0.17239919304847717, + 0.04591597989201546 + ], + "orientation": [ + 0.09259349852800369, + 0.09164438396692276, + 0.06296148151159286, + -0.9894765019416809 + ], + "joints": [ + -0.004700761288404465 + ] + }, + "fine_grasp": { + "position": [ + -0.02324611134827137, + 0.16861505806446075, + 0.04522578418254852 + ], + "orientation": [ + 0.08870329707860947, + 0.117238849401474, + 0.06869205832481384, + -0.9867463111877441 + ], + "joints": [ + -0.0008746839012019336 + ] + }, + "final_grasp": { + "position": [ + -0.02324611134827137, + 0.16861505806446075, + 0.04522578418254852 + ], + "orientation": [ + 0.08870329707860947, + 0.117238849401474, + 0.06869205832481384, + -0.9867463111877441 + ], + "joints": [ + 0.0029513933695852757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13294635713100433, + 0.019702669233083725, + 0.07622049003839493 + ], + "orientation": [ + 0.7328991889953613, + -0.2097603678703308, + 0.045614928007125854, + 0.645583987236023 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.12986968457698822, + 0.020873956382274628, + 0.07477998733520508 + ], + "orientation": [ + 0.7316992282867432, + -0.21337905526161194, + 0.04664896801114082, + 0.6456852555274963 + ], + "joints": [ + -0.012809022329747677 + ] + }, + "final_grasp": { + "position": [ + 0.12986968457698822, + 0.020873956382274628, + 0.07477998733520508 + ], + "orientation": [ + 0.7316992282867432, + -0.21337905526161194, + 0.04664896801114082, + 0.6456852555274963 + ], + "joints": [ + -0.007973277941346169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023185590282082558, + 0.17203518748283386, + 0.045292627066373825 + ], + "orientation": [ + 0.09152617305517197, + 0.08376959711313248, + 0.06193709000945091, + -0.9903379678726196 + ], + "joints": [ + -0.004673035815358162 + ] + }, + "fine_grasp": { + "position": [ + -0.022911736741662025, + 0.16851064562797546, + 0.0446065291762352 + ], + "orientation": [ + 0.0871017649769783, + 0.1083393320441246, + 0.06807233393192291, + -0.9879483580589294 + ], + "joints": [ + -0.0008469583699479699 + ] + }, + "final_grasp": { + "position": [ + -0.022911736741662025, + 0.16851064562797546, + 0.0446065291762352 + ], + "orientation": [ + 0.0871017649769783, + 0.1083393320441246, + 0.06807233393192291, + -0.9879483580589294 + ], + "joints": [ + 0.002979119075462222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032904110848903656, + 0.0647335946559906, + 0.16410991549491882 + ], + "orientation": [ + 0.4711434841156006, + -0.6981714963912964, + 0.3912549912929535, + -0.3708095848560333 + ], + "joints": [ + -0.019381750375032425 + ] + }, + "fine_grasp": { + "position": [ + 0.035014085471630096, + 0.06255155056715012, + 0.1662253886461258 + ], + "orientation": [ + 0.4834269881248474, + -0.6853686571121216, + 0.39708080887794495, + -0.37268608808517456 + ], + "joints": [ + -0.012420400977134705 + ] + }, + "final_grasp": { + "position": [ + 0.035014085471630096, + 0.06255155056715012, + 0.1662253886461258 + ], + "orientation": [ + 0.4834269881248474, + -0.6853686571121216, + 0.39708080887794495, + -0.37268608808517456 + ], + "joints": [ + -0.005459051579236984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12420791387557983, + 0.07109375298023224, + 0.004541048314422369 + ], + "orientation": [ + 0.15821519494056702, + 0.810495913028717, + -0.5639680027961731, + 0.0020910887978971004 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.12289144843816757, + 0.07140912860631943, + 0.005195747595280409 + ], + "orientation": [ + 0.16541831195354462, + 0.8080165386199951, + -0.5654464960098267, + 0.004033186472952366 + ], + "joints": [ + -0.01305028423666954 + ] + }, + "final_grasp": { + "position": [ + 0.12289144843816757, + 0.07140912860631943, + 0.005195747595280409 + ], + "orientation": [ + 0.16541831195354462, + 0.8080165386199951, + -0.5654464960098267, + 0.004033186472952366 + ], + "joints": [ + -0.008161397650837898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034071750938892365, + 0.059347812086343765, + 0.16844278573989868 + ], + "orientation": [ + 0.07713278383016586, + 0.13106483221054077, + -0.5515407919883728, + 0.8201678991317749 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + 0.03368039429187775, + 0.05734498053789139, + 0.16538472473621368 + ], + "orientation": [ + 0.07475921511650085, + 0.1357155591249466, + -0.5441957116127014, + 0.8245261907577515 + ], + "joints": [ + -0.0037031853571534157 + ] + }, + "final_grasp": { + "position": [ + 0.03368039429187775, + 0.05734498053789139, + 0.16538472473621368 + ], + "orientation": [ + 0.07475921511650085, + 0.1357155591249466, + -0.5441957116127014, + 0.8245261907577515 + ], + "joints": [ + 0.003231579437851906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12422364205121994, + 0.07089589536190033, + 0.004149903077632189 + ], + "orientation": [ + 0.15660488605499268, + 0.8102465271949768, + -0.5647785663604736, + 0.0008534718654118478 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.12293684482574463, + 0.07124514877796173, + 0.004837299231439829 + ], + "orientation": [ + 0.16513392329216003, + 0.8076615929603577, + -0.566042423248291, + 0.0030836230143904686 + ], + "joints": [ + -0.01305028423666954 + ] + }, + "final_grasp": { + "position": [ + 0.12293684482574463, + 0.07124514877796173, + 0.004837299231439829 + ], + "orientation": [ + 0.16513392329216003, + 0.8076615929603577, + -0.566042423248291, + 0.0030836230143904686 + ], + "joints": [ + -0.008161397650837898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12425068020820618, + 0.07090909779071808, + 0.004283331800252199 + ], + "orientation": [ + 0.15642976760864258, + 0.8102845549583435, + -0.5647723078727722, + 0.0009675113251432776 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.1229499876499176, + 0.07125550508499146, + 0.004980095662176609 + ], + "orientation": [ + 0.16507790982723236, + 0.8076784014701843, + -0.5660337209701538, + 0.0032581572886556387 + ], + "joints": [ + -0.01305028423666954 + ] + }, + "final_grasp": { + "position": [ + 0.1229499876499176, + 0.07125550508499146, + 0.004980095662176609 + ], + "orientation": [ + 0.16507790982723236, + 0.8076784014701843, + -0.5660337209701538, + 0.0032581572886556387 + ], + "joints": [ + -0.008161397650837898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012121572159230709, + 0.17300042510032654, + 0.041508082300424576 + ], + "orientation": [ + 0.0375993438065052, + -0.10384254157543182, + 0.041441623121500015, + -0.993018388748169 + ], + "joints": [ + -0.004161057993769646 + ] + }, + "fine_grasp": { + "position": [ + -0.011607925407588482, + 0.16755199432373047, + 0.04172351956367493 + ], + "orientation": [ + 0.03702428564429283, + -0.11719782650470734, + 0.02779783308506012, + -0.9920288920402527 + ], + "joints": [ + -0.00028184111579321325 + ] + }, + "final_grasp": { + "position": [ + -0.011607925407588482, + 0.16755199432373047, + 0.04172351956367493 + ], + "orientation": [ + 0.03702428564429283, + -0.11719782650470734, + 0.02779783308506012, + -0.9920288920402527 + ], + "joints": [ + 0.0035973757039755583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01174384355545044, + 0.17244286835193634, + 0.04177913814783096 + ], + "orientation": [ + 0.037054643034935, + -0.10130605846643448, + 0.04400040581822395, + -0.9931907653808594 + ], + "joints": [ + -0.004379536025226116 + ] + }, + "fine_grasp": { + "position": [ + -0.011273450218141079, + 0.16701063513755798, + 0.04204708710312843 + ], + "orientation": [ + 0.035920605063438416, + -0.1141226664185524, + 0.02873637154698372, + -0.9924011826515198 + ], + "joints": [ + 3.10805335175246e-05 + ] + }, + "final_grasp": { + "position": [ + -0.011273450218141079, + 0.16701063513755798, + 0.04204708710312843 + ], + "orientation": [ + 0.035920605063438416, + -0.1141226664185524, + 0.02873637154698372, + -0.9924011826515198 + ], + "joints": [ + 0.004441697150468826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0014616809785366058, + -0.110436350107193, + 0.0751948356628418 + ], + "orientation": [ + 0.9780426621437073, + -0.13565774261951447, + -0.15820568799972534, + -0.0007176543003879488 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + -0.003400102723389864, + -0.10905707627534866, + 0.07697919756174088 + ], + "orientation": [ + 0.9762040376663208, + -0.12029661983251572, + -0.18041938543319702, + 0.0017634412506595254 + ], + "joints": [ + -0.004598028026521206 + ] + }, + "final_grasp": { + "position": [ + -0.003400102723389864, + -0.10905707627534866, + 0.07697919756174088 + ], + "orientation": [ + 0.9762040376663208, + -0.12029661983251572, + -0.18041938543319702, + 0.0017634412506595254 + ], + "joints": [ + 0.0002642776817083359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0024343852419406176, + 0.17233526706695557, + 0.045217663049697876 + ], + "orientation": [ + 0.05704641714692116, + -0.9944589734077454, + 0.0040411753579974174, + -0.08820853382349014 + ], + "joints": [ + -0.0041269296780228615 + ] + }, + "fine_grasp": { + "position": [ + 0.003041449934244156, + 0.16664183139801025, + 0.04505038261413574 + ], + "orientation": [ + 0.05531981587409973, + -0.992929220199585, + 0.008547498844563961, + -0.10468129068613052 + ], + "joints": [ + -0.0008056818041950464 + ] + }, + "final_grasp": { + "position": [ + 0.003041449934244156, + 0.16664183139801025, + 0.04505038261413574 + ], + "orientation": [ + 0.05531981587409973, + -0.992929220199585, + 0.008547498844563961, + -0.10468129068613052 + ], + "joints": [ + 0.0025155660696327686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10447128117084503, + 0.020044852048158646, + 0.125994011759758 + ], + "orientation": [ + 0.18295148015022278, + -0.6080977916717529, + 0.7088823318481445, + -0.3069716989994049 + ], + "joints": [ + -0.016820436343550682 + ] + }, + "fine_grasp": { + "position": [ + 0.10053703188896179, + 0.02025495655834675, + 0.12506596744060516 + ], + "orientation": [ + 0.1797000616788864, + -0.6156646013259888, + 0.711524486541748, + -0.28705033659935 + ], + "joints": [ + -0.012011265382170677 + ] + }, + "final_grasp": { + "position": [ + 0.10053703188896179, + 0.02025495655834675, + 0.12506596744060516 + ], + "orientation": [ + 0.1797000616788864, + -0.6156646013259888, + 0.711524486541748, + -0.28705033659935 + ], + "joints": [ + -0.007202094420790672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019974008202552795, + 0.03853771090507507, + 0.18011999130249023 + ], + "orientation": [ + 0.020600808784365654, + -0.1502903550863266, + 0.6358035206794739, + -0.7567974328994751 + ], + "joints": [ + -0.011226758360862732 + ] + }, + "fine_grasp": { + "position": [ + 0.0194344911724329, + 0.03684892877936363, + 0.1754523366689682 + ], + "orientation": [ + 0.023632284253835678, + -0.15300610661506653, + 0.6297982931137085, + -0.7611732482910156 + ], + "joints": [ + -0.003787163645029068 + ] + }, + "final_grasp": { + "position": [ + 0.0194344911724329, + 0.03684892877936363, + 0.1754523366689682 + ], + "orientation": [ + 0.023632284253835678, + -0.15300610661506653, + 0.6297982931137085, + -0.7611732482910156 + ], + "joints": [ + 0.003652431070804596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02093765139579773, + 0.015469028614461422, + 0.17631743848323822 + ], + "orientation": [ + 0.0030945329926908016, + 0.1204182431101799, + -0.6917968988418579, + 0.7119739651679993 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.02135070040822029, + 0.015952961519360542, + 0.17501212656497955 + ], + "orientation": [ + 0.006680263206362724, + 0.12022466212511063, + -0.69074547290802, + 0.7130020260810852 + ], + "joints": [ + -0.003589766100049019 + ] + }, + "final_grasp": { + "position": [ + 0.02135070040822029, + 0.015952961519360542, + 0.17501212656497955 + ], + "orientation": [ + 0.006680263206362724, + 0.12022466212511063, + -0.69074547290802, + 0.7130020260810852 + ], + "joints": [ + 0.00284016877412796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03399892896413803, + 0.059641361236572266, + 0.16833540797233582 + ], + "orientation": [ + 0.07744211703538895, + 0.1301167756319046, + -0.5550433397293091, + 0.8179237842559814 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.03372299671173096, + 0.0579870231449604, + 0.16576440632343292 + ], + "orientation": [ + 0.07365965098142624, + 0.13719448447227478, + -0.5491976737976074, + 0.8210565447807312 + ], + "joints": [ + -0.003673744387924671 + ] + }, + "final_grasp": { + "position": [ + 0.03372299671173096, + 0.0579870231449604, + 0.16576440632343292 + ], + "orientation": [ + 0.07365965098142624, + 0.13719448447227478, + -0.5491976737976074, + 0.8210565447807312 + ], + "joints": [ + 0.0032610204070806503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033869460225105286, + 0.05965427681803703, + 0.16848590970039368 + ], + "orientation": [ + 0.07693913578987122, + 0.12968848645687103, + -0.5550107955932617, + 0.8180612921714783 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + 0.03362278267741203, + 0.05797358974814415, + 0.16585057973861694 + ], + "orientation": [ + 0.07333038747310638, + 0.1367492377758026, + -0.5491204857826233, + 0.8212120532989502 + ], + "joints": [ + -0.0037031853571534157 + ] + }, + "final_grasp": { + "position": [ + 0.03362278267741203, + 0.05797358974814415, + 0.16585057973861694 + ], + "orientation": [ + 0.07333038747310638, + 0.1367492377758026, + -0.5491204857826233, + 0.8212120532989502 + ], + "joints": [ + 0.003231579437851906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015537833096459508, + 0.1686595231294632, + 0.0454506054520607 + ], + "orientation": [ + 0.05017595365643501, + -0.994403600692749, + -0.0029670442454516888, + -0.0929257720708847 + ], + "joints": [ + -0.004842992871999741 + ] + }, + "fine_grasp": { + "position": [ + 0.0014587660552933812, + 0.1644826978445053, + 0.045343343168497086 + ], + "orientation": [ + 0.04681041091680527, + -0.9929226636886597, + 0.00037317571695894003, + -0.10914737731218338 + ], + "joints": [ + -0.0009903456084430218 + ] + }, + "final_grasp": { + "position": [ + 0.0014587660552933812, + 0.1644826978445053, + 0.045343343168497086 + ], + "orientation": [ + 0.04681041091680527, + -0.9929226636886597, + 0.00037317571695894003, + -0.10914737731218338 + ], + "joints": [ + 0.002862301655113697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12404166907072067, + 0.03265348821878433, + 0.024896569550037384 + ], + "orientation": [ + 0.7021998167037964, + 0.12689335644245148, + -0.04884563013911247, + -0.6988760232925415 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.12039969116449356, + 0.033724311739206314, + 0.025721393525600433 + ], + "orientation": [ + 0.6971307992935181, + 0.11940131336450577, + -0.05520012602210045, + -0.7047728896141052 + ], + "joints": [ + -0.011154546402394772 + ] + }, + "final_grasp": { + "position": [ + -0.12039969116449356, + 0.033724311739206314, + 0.025721393525600433 + ], + "orientation": [ + 0.6971307992935181, + 0.11940131336450577, + -0.05520012602210045, + -0.7047728896141052 + ], + "joints": [ + -0.005282575264573097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0045663174241781235, + -0.0878014788031578, + 0.1309337168931961 + ], + "orientation": [ + 0.17865818738937378, + -0.03639299049973488, + 0.932399570941925, + -0.3120703101158142 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.0040705339051783085, + -0.08419787138700485, + 0.12929019331932068 + ], + "orientation": [ + 0.17454445362091064, + -0.03697415068745613, + 0.9334808588027954, + -0.31109607219696045 + ], + "joints": [ + -0.004793952219188213 + ] + }, + "final_grasp": { + "position": [ + -0.0040705339051783085, + -0.08419787138700485, + 0.12929019331932068 + ], + "orientation": [ + 0.17454445362091064, + -0.03697415068745613, + 0.9334808588027954, + -0.31109607219696045 + ], + "joints": [ + 0.0016094129532575607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026069708168506622, + 0.033626824617385864, + 0.17952246963977814 + ], + "orientation": [ + 0.6649264097213745, + -0.7389881014823914, + 0.05515872314572334, + 0.09341832995414734 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.02579360641539097, + 0.03359388932585716, + 0.1764824241399765 + ], + "orientation": [ + 0.6667385697364807, + -0.7364784479141235, + 0.04624943435192108, + 0.10449939966201782 + ], + "joints": [ + -0.0031689144670963287 + ] + }, + "final_grasp": { + "position": [ + 0.02579360641539097, + 0.03359388932585716, + 0.1764824241399765 + ], + "orientation": [ + 0.6667385697364807, + -0.7364784479141235, + 0.04624943435192108, + 0.10449939966201782 + ], + "joints": [ + 0.004270680248737335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02604970708489418, + 0.033295825123786926, + 0.1793794482946396 + ], + "orientation": [ + 0.6639447212219238, + -0.7398631572723389, + 0.05529080331325531, + 0.09339594095945358 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.02572246454656124, + 0.03314090520143509, + 0.1763106882572174 + ], + "orientation": [ + 0.6651685833930969, + -0.7378720641136169, + 0.045525841414928436, + 0.10499074310064316 + ], + "joints": [ + -0.0031689144670963287 + ] + }, + "final_grasp": { + "position": [ + 0.02572246454656124, + 0.03314090520143509, + 0.1763106882572174 + ], + "orientation": [ + 0.6651685833930969, + -0.7378720641136169, + 0.045525841414928436, + 0.10499074310064316 + ], + "joints": [ + 0.004270680248737335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004881659056991339, + -0.08790024369955063, + 0.1305990219116211 + ], + "orientation": [ + 0.18084406852722168, + -0.03516557812690735, + 0.9316513538360596, + -0.3131847381591797 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.004568487871438265, + -0.08412675559520721, + 0.12911422550678253 + ], + "orientation": [ + 0.17937327921390533, + -0.03581148386001587, + 0.9327011108398438, + -0.31082382798194885 + ], + "joints": [ + -0.004793952219188213 + ] + }, + "final_grasp": { + "position": [ + -0.004568487871438265, + -0.08412675559520721, + 0.12911422550678253 + ], + "orientation": [ + 0.17937327921390533, + -0.03581148386001587, + 0.9327011108398438, + -0.31082382798194885 + ], + "joints": [ + 0.0016094129532575607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12165294587612152, + 0.030569594353437424, + -0.08931311219930649 + ], + "orientation": [ + 0.716767430305481, + 0.17529979348182678, + -0.08158167451620102, + 0.6699692606925964 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + 0.12439633160829544, + 0.03063811920583248, + -0.08826582133769989 + ], + "orientation": [ + 0.7139871120452881, + 0.1682046800851822, + -0.07546677440404892, + 0.6754512190818787 + ], + "joints": [ + -0.011209082789719105 + ] + }, + "final_grasp": { + "position": [ + 0.12439633160829544, + 0.03063811920583248, + -0.08826582133769989 + ], + "orientation": [ + 0.7139871120452881, + 0.1682046800851822, + -0.07546677440404892, + 0.6754512190818787 + ], + "joints": [ + -0.004832280799746513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08397413790225983, + 0.0654388889670372, + -0.1381978690624237 + ], + "orientation": [ + 0.608066737651825, + 0.3681323230266571, + -0.10379749536514282, + -0.6956720352172852 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.0826716497540474, + 0.06499885767698288, + -0.13914526998996735 + ], + "orientation": [ + 0.6139432787895203, + 0.35999029874801636, + -0.10722733289003372, + -0.6942499279975891 + ], + "joints": [ + -0.01177131850272417 + ] + }, + "final_grasp": { + "position": [ + -0.0826716497540474, + 0.06499885767698288, + -0.13914526998996735 + ], + "orientation": [ + 0.6139432787895203, + 0.35999029874801636, + -0.10722733289003372, + -0.6942499279975891 + ], + "joints": [ + -0.0053679440170526505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08384796977043152, + 0.06526939570903778, + -0.1385166198015213 + ], + "orientation": [ + 0.6073989272117615, + 0.36808016896247864, + -0.10770976543426514, + -0.6956883072853088 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.08292785286903381, + 0.06467561423778534, + -0.1398879587650299 + ], + "orientation": [ + 0.6143185496330261, + 0.3607420325279236, + -0.11030392348766327, + -0.6930446624755859 + ], + "joints": [ + -0.011800759471952915 + ] + }, + "final_grasp": { + "position": [ + -0.08292785286903381, + 0.06467561423778534, + -0.1398879587650299 + ], + "orientation": [ + 0.6143185496330261, + 0.3607420325279236, + -0.11030392348766327, + -0.6930446624755859 + ], + "joints": [ + -0.005397384986281395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10473314672708511, + 0.0879724994301796, + -0.1033143699169159 + ], + "orientation": [ + 0.5301163196563721, + 0.21741989254951477, + 0.014825885184109211, + 0.819442093372345 + ], + "joints": [ + -0.016908753663301468 + ] + }, + "fine_grasp": { + "position": [ + 0.10411246865987778, + 0.08435890078544617, + -0.10391829907894135 + ], + "orientation": [ + 0.5366874933242798, + 0.19491367042064667, + 0.03663753718137741, + 0.8201420307159424 + ], + "joints": [ + -0.011036783456802368 + ] + }, + "final_grasp": { + "position": [ + 0.10411246865987778, + 0.08435890078544617, + -0.10391829907894135 + ], + "orientation": [ + 0.5366874933242798, + 0.19491367042064667, + 0.03663753718137741, + 0.8201420307159424 + ], + "joints": [ + -0.005164813250303268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004717097617685795, + 0.0386035330593586, + 0.1668502688407898 + ], + "orientation": [ + 0.5222155451774597, + -0.5195091366767883, + 0.45646849274635315, + -0.4990367889404297 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.005742503795772791, + 0.03735361993312836, + 0.1691313087940216 + ], + "orientation": [ + 0.5251780152320862, + -0.5125512480735779, + 0.4577546715736389, + -0.5019363760948181 + ], + "joints": [ + -0.010175724513828754 + ] + }, + "final_grasp": { + "position": [ + 0.005742503795772791, + 0.03735361993312836, + 0.1691313087940216 + ], + "orientation": [ + 0.5251780152320862, + -0.5125512480735779, + 0.4577546715736389, + -0.5019363760948181 + ], + "joints": [ + -0.002736123278737068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004146833438426256, + -0.0566592738032341, + 0.1565561443567276 + ], + "orientation": [ + 0.11231642216444016, + -0.0734330341219902, + 0.8789788484573364, + -0.45759016275405884 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.004290361423045397, + -0.053723495453596115, + 0.1539071500301361 + ], + "orientation": [ + 0.11101517081260681, + -0.07575730979442596, + 0.8789490461349487, + -0.45758605003356934 + ], + "joints": [ + -0.003673744387924671 + ] + }, + "final_grasp": { + "position": [ + 0.004290361423045397, + -0.053723495453596115, + 0.1539071500301361 + ], + "orientation": [ + 0.11101517081260681, + -0.07575730979442596, + 0.8789490461349487, + -0.45758605003356934 + ], + "joints": [ + 0.0032610204070806503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023693475872278214, + -0.0747392475605011, + 0.12649467587471008 + ], + "orientation": [ + 0.9374592900276184, + -0.33353477716445923, + 0.020718218758702278, + 0.09744483232498169 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.025797605514526367, + -0.07290981709957123, + 0.12687699496746063 + ], + "orientation": [ + 0.9391821622848511, + -0.32661691308021545, + 0.02249879390001297, + 0.10369217395782471 + ], + "joints": [ + -0.004177176393568516 + ] + }, + "final_grasp": { + "position": [ + 0.025797605514526367, + -0.07290981709957123, + 0.12687699496746063 + ], + "orientation": [ + 0.9391821622848511, + -0.32661691308021545, + 0.02249879390001297, + 0.10369217395782471 + ], + "joints": [ + 0.0016947891563177109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007986447773873806, + 0.037223298102617264, + -0.16884469985961914 + ], + "orientation": [ + 0.6947769522666931, + 0.717628002166748, + 0.0032794810831546783, + -0.04779518395662308 + ], + "joints": [ + 0.0010095651960000396 + ] + }, + "fine_grasp": { + "position": [ + -0.008751551620662212, + 0.03854679316282272, + -0.16760115325450897 + ], + "orientation": [ + 0.7047058343887329, + 0.7076479196548462, + -0.002169378101825714, + -0.05117945745587349 + ], + "joints": [ + 0.005871871020644903 + ] + }, + "final_grasp": { + "position": [ + -0.008751551620662212, + 0.03854679316282272, + -0.16760115325450897 + ], + "orientation": [ + 0.7047058343887329, + 0.7076479196548462, + -0.002169378101825714, + -0.05117945745587349 + ], + "joints": [ + 0.010734177194535732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00860985741019249, + -0.004911441821604967, + 0.17299194633960724 + ], + "orientation": [ + 0.06443094462156296, + -0.1002943217754364, + 0.7575189471244812, + -0.641836941242218 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.00895423162728548, + -0.005102876108139753, + 0.17296911776065826 + ], + "orientation": [ + 0.07171331346035004, + -0.11077532917261124, + 0.7519708275794983, + -0.6458528637886047 + ], + "joints": [ + -0.0035603251308202744 + ] + }, + "final_grasp": { + "position": [ + 0.00895423162728548, + -0.005102876108139753, + 0.17296911776065826 + ], + "orientation": [ + 0.07171331346035004, + -0.11077532917261124, + 0.7519708275794983, + -0.6458528637886047 + ], + "joints": [ + 0.0028696097433567047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008654248900711536, + -0.004893668927252293, + 0.1729615330696106 + ], + "orientation": [ + 0.06354779750108719, + -0.09987150877714157, + 0.7577388882637024, + -0.6417313814163208 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.0089692622423172, + -0.005128578282892704, + 0.17294380068778992 + ], + "orientation": [ + 0.07123079150915146, + -0.11042525619268417, + 0.752188503742218, + -0.645712673664093 + ], + "joints": [ + -0.0035603251308202744 + ] + }, + "final_grasp": { + "position": [ + 0.0089692622423172, + -0.005128578282892704, + 0.17294380068778992 + ], + "orientation": [ + 0.07123079150915146, + -0.11042525619268417, + 0.752188503742218, + -0.645712673664093 + ], + "joints": [ + 0.0028696097433567047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11693736165761948, + 0.013787631876766682, + -0.10361792892217636 + ], + "orientation": [ + 0.7674252986907959, + 0.2153172641992569, + 0.05324948951601982, + -0.6015492081642151 + ], + "joints": [ + -0.01755644381046295 + ] + }, + "fine_grasp": { + "position": [ + -0.11745703965425491, + 0.014108873903751373, + -0.10220906138420105 + ], + "orientation": [ + 0.7666498422622681, + 0.1996634602546692, + 0.031184004619717598, + -0.6094343066215515 + ], + "joints": [ + -0.010648242197930813 + ] + }, + "final_grasp": { + "position": [ + -0.11745703965425491, + 0.014108873903751373, + -0.10220906138420105 + ], + "orientation": [ + 0.7666498422622681, + 0.1996634602546692, + 0.031184004619717598, + -0.6094343066215515 + ], + "joints": [ + -0.003740040585398674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12096606940031052, + 0.012485598213970661, + -0.07608841359615326 + ], + "orientation": [ + 0.05809154361486435, + -0.6418319940567017, + 0.7618330717086792, + 0.06547736376523972 + ], + "joints": [ + -0.01573113724589348 + ] + }, + "fine_grasp": { + "position": [ + 0.1242566928267479, + 0.011536279693245888, + -0.07606729120016098 + ], + "orientation": [ + 0.04548104479908943, + -0.645132839679718, + 0.7612248659133911, + 0.04766280576586723 + ], + "joints": [ + -0.008264971897006035 + ] + }, + "final_grasp": { + "position": [ + 0.1242566928267479, + 0.011536279693245888, + -0.07606729120016098 + ], + "orientation": [ + 0.04548104479908943, + -0.645132839679718, + 0.7612248659133911, + 0.04766280576586723 + ], + "joints": [ + -0.0007988065481185913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0018909110222011805, + -0.004339276347309351, + 0.17517657577991486 + ], + "orientation": [ + 0.7430601716041565, + -0.6639276742935181, + 0.07023755460977554, + -0.04613354429602623 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.0026148546021431684, + -0.00512964092195034, + 0.1760939061641693 + ], + "orientation": [ + 0.7427287101745605, + -0.663836658000946, + 0.0773739218711853, + -0.04108820855617523 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + 0.0026148546021431684, + -0.00512964092195034, + 0.1760939061641693 + ], + "orientation": [ + 0.7427287101745605, + -0.663836658000946, + 0.0773739218711853, + -0.04108820855617523 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10022618621587753, + 0.0483524464070797, + -0.13184958696365356 + ], + "orientation": [ + 0.05878322198987007, + 0.6774188876152039, + 0.6720095872879028, + 0.293345183134079 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.10185394436120987, + 0.04893270507454872, + -0.13221147656440735 + ], + "orientation": [ + 0.08084852993488312, + 0.6830533742904663, + 0.6661790609359741, + 0.2882828414440155 + ], + "joints": [ + -0.01003294624388218 + ] + }, + "final_grasp": { + "position": [ + -0.10185394436120987, + 0.04893270507454872, + -0.13221147656440735 + ], + "orientation": [ + 0.08084852993488312, + 0.6830533742904663, + 0.6661790609359741, + 0.2882828414440155 + ], + "joints": [ + -0.004187550395727158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10924502462148666, + 0.003922183532267809, + -0.11088927835226059 + ], + "orientation": [ + 0.7881346344947815, + 0.17605814337730408, + 0.028100714087486267, + 0.5891159772872925 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.10988357663154602, + 0.004698620643466711, + -0.10964242368936539 + ], + "orientation": [ + 0.7833495736122131, + 0.16015926003456116, + 0.05008314549922943, + 0.5985015034675598 + ], + "joints": [ + -0.008858123794198036 + ] + }, + "final_grasp": { + "position": [ + 0.10988357663154602, + 0.004698620643466711, + -0.10964242368936539 + ], + "orientation": [ + 0.7833495736122131, + 0.16015926003456116, + 0.05008314549922943, + 0.5985015034675598 + ], + "joints": [ + -0.0018967874348163605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08935418725013733, + 0.0350983664393425, + -0.1433650404214859 + ], + "orientation": [ + 0.6509189605712891, + 0.23495207726955414, + 0.2565387785434723, + 0.6747516393661499 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.0893927738070488, + 0.036395248025655746, + -0.1436564177274704 + ], + "orientation": [ + 0.6511023640632629, + 0.24119259417057037, + 0.2516897916793823, + 0.6741987466812134 + ], + "joints": [ + -0.007681982591748238 + ] + }, + "final_grasp": { + "position": [ + 0.0893927738070488, + 0.036395248025655746, + -0.1436564177274704 + ], + "orientation": [ + 0.6511023640632629, + 0.24119259417057037, + 0.2516897916793823, + 0.6741987466812134 + ], + "joints": [ + -0.0012520477175712585 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2032, + "num_passed": 102 + } +} \ No newline at end of file diff --git a/024_scanner_2/Annotation/piper_grasp_pose.json b/024_scanner_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..9cb46fc122167d9d15faffe770a28c7515a544c7 --- /dev/null +++ b/024_scanner_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,13068 @@ +{ + "type": "024_scanner_2", + "bottom_center": [ + 7.59027898311615e-07, + 0.03424780070781708, + -0.07589495927095413 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.12035509943962097, + 0.06613580882549286, + 0.010455830954015255 + ], + "orientation": [ + 0.06088976189494133, + 0.6984729766845703, + -0.074608214199543, + 0.7091273665428162 + ], + "joints": [ + 0.026443472132086754 + ] + }, + "fine_grasp": { + "position": [ + -0.11653801053762436, + 0.0654539242386818, + 0.010387957096099854 + ], + "orientation": [ + 0.0628921166062355, + 0.6993198990821838, + -0.07328567653894424, + 0.7082552909851074 + ], + "joints": [ + 0.016015490517020226 + ] + }, + "final_grasp": { + "position": [ + -0.11653801053762436, + 0.0654539242386818, + 0.010387957096099854 + ], + "orientation": [ + 0.0628921166062355, + 0.6993198990821838, + -0.07328567653894424, + 0.7082552909851074 + ], + "joints": [ + 0.005587508901953697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012256459333002567, + -0.0808701366186142, + 0.15101258456707 + ], + "orientation": [ + 0.2691888213157654, + -0.6710172295570374, + 0.662494421005249, + 0.1958932876586914 + ], + "joints": [ + 0.03215189650654793 + ] + }, + "fine_grasp": { + "position": [ + -0.011916275136172771, + -0.0774945542216301, + 0.14892511069774628 + ], + "orientation": [ + 0.28424376249313354, + -0.665581464767456, + 0.6579704284667969, + 0.20804253220558167 + ], + "joints": [ + 0.024545107036828995 + ] + }, + "final_grasp": { + "position": [ + -0.011916275136172771, + -0.0774945542216301, + 0.14892511069774628 + ], + "orientation": [ + 0.28424376249313354, + -0.665581464767456, + 0.6579704284667969, + 0.20804253220558167 + ], + "joints": [ + 0.01693831756711006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014426098205149174, + -0.03437528386712074, + 0.18148575723171234 + ], + "orientation": [ + 0.13088959455490112, + -0.7047320604324341, + 0.6954740881919861, + 0.05036318302154541 + ], + "joints": [ + 0.03201296925544739 + ] + }, + "fine_grasp": { + "position": [ + -0.01395490299910307, + -0.032385215163230896, + 0.17818023264408112 + ], + "orientation": [ + 0.14657147228717804, + -0.7012845873832703, + 0.6945647597312927, + 0.0655488669872284 + ], + "joints": [ + 0.02480323612689972 + ] + }, + "final_grasp": { + "position": [ + -0.01395490299910307, + -0.032385215163230896, + 0.17818023264408112 + ], + "orientation": [ + 0.14657147228717804, + -0.7012845873832703, + 0.6945647597312927, + 0.0655488669872284 + ], + "joints": [ + 0.01759350299835205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014308619312942028, + -0.03416145220398903, + 0.18137633800506592 + ], + "orientation": [ + 0.13257846236228943, + -0.7089793086051941, + 0.6908335089683533, + 0.05020321160554886 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.013777673244476318, + -0.03206321597099304, + 0.17802467942237854 + ], + "orientation": [ + 0.15164047479629517, + -0.7063610553741455, + 0.6878341436386108, + 0.07031066715717316 + ], + "joints": [ + 0.02486702799797058 + ] + }, + "final_grasp": { + "position": [ + -0.013777673244476318, + -0.03206321597099304, + 0.17802467942237854 + ], + "orientation": [ + 0.15164047479629517, + -0.7063610553741455, + 0.6878341436386108, + 0.07031066715717316 + ], + "joints": [ + 0.01728113740682602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004521417897194624, + -0.040190234780311584, + 0.18149366974830627 + ], + "orientation": [ + 0.14719265699386597, + -0.6182519793510437, + 0.7581443786621094, + 0.14599983394145966 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.004368038382381201, + -0.038577716797590256, + 0.17792163789272308 + ], + "orientation": [ + 0.1484043449163437, + -0.6268630623817444, + 0.7508977055549622, + 0.1455044448375702 + ], + "joints": [ + 0.024491965770721436 + ] + }, + "final_grasp": { + "position": [ + -0.004368038382381201, + -0.038577716797590256, + 0.17792163789272308 + ], + "orientation": [ + 0.1484043449163437, + -0.6268630623817444, + 0.7508977055549622, + 0.1455044448375702 + ], + "joints": [ + 0.016091063618659973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007148577831685543, + -0.11731348186731339, + 0.08198978751897812 + ], + "orientation": [ + 0.4723668694496155, + -0.5060959458351135, + 0.5562238693237305, + 0.4597296416759491 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.006899092812091112, + -0.11338505148887634, + 0.081027552485466 + ], + "orientation": [ + 0.46814778447151184, + -0.5100123286247253, + 0.5590121150016785, + 0.4563227593898773 + ], + "joints": [ + 0.024602070450782776 + ] + }, + "final_grasp": { + "position": [ + -0.006899092812091112, + -0.11338505148887634, + 0.081027552485466 + ], + "orientation": [ + 0.46814778447151184, + -0.5100123286247253, + 0.5590121150016785, + 0.4563227593898773 + ], + "joints": [ + 0.01582501083612442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014912562444806099, + 0.1711486577987671, + 0.07799305766820908 + ], + "orientation": [ + 0.49452704191207886, + 0.5270558595657349, + -0.5515941381454468, + 0.4164123237133026 + ], + "joints": [ + 0.028701739385724068 + ] + }, + "fine_grasp": { + "position": [ + 0.014539401978254318, + 0.16753944754600525, + 0.07687745243310928 + ], + "orientation": [ + 0.4913580119609833, + 0.5298369526863098, + -0.5546703934669495, + 0.41253000497817993 + ], + "joints": [ + 0.020279938355088234 + ] + }, + "final_grasp": { + "position": [ + 0.014539401978254318, + 0.16753944754600525, + 0.07687745243310928 + ], + "orientation": [ + 0.4913580119609833, + 0.5298369526863098, + -0.5546703934669495, + 0.41253000497817993 + ], + "joints": [ + 0.0118581373244524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003632638603448868, + 0.03349625691771507, + 0.1831495761871338 + ], + "orientation": [ + 0.04314984008669853, + 0.6948606967926025, + 0.7148793339729309, + -0.06522469967603683 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + 0.0035708248615264893, + 0.03275499865412712, + 0.17933088541030884 + ], + "orientation": [ + 0.045752547681331635, + 0.6921396255493164, + 0.7170788049697876, + -0.06817340105772018 + ], + "joints": [ + 0.024789568036794662 + ] + }, + "final_grasp": { + "position": [ + 0.0035708248615264893, + 0.03275499865412712, + 0.17933088541030884 + ], + "orientation": [ + 0.045752547681331635, + 0.6921396255493164, + 0.7170788049697876, + -0.06817340105772018 + ], + "joints": [ + 0.015991609543561935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011246931739151478, + 0.12177548557519913, + 0.14337468147277832 + ], + "orientation": [ + 0.20754192769527435, + 0.699222207069397, + 0.6366624236106873, + -0.25035130977630615 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.011052855290472507, + 0.11936239153146744, + 0.1405070573091507 + ], + "orientation": [ + 0.2146272212266922, + 0.6978205442428589, + 0.6332054734230042, + -0.25696781277656555 + ], + "joints": [ + 0.02029285579919815 + ] + }, + "final_grasp": { + "position": [ + 0.011052855290472507, + 0.11936239153146744, + 0.1405070573091507 + ], + "orientation": [ + 0.2146272212266922, + 0.6978205442428589, + 0.6332054734230042, + -0.25696781277656555 + ], + "joints": [ + 0.010679885745048523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014832848682999611, + 0.1701861172914505, + 0.07821223884820938 + ], + "orientation": [ + 0.4938637316226959, + 0.5253512263298035, + -0.552474856376648, + 0.41818201541900635 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.014488667249679565, + 0.1665937304496765, + 0.07712843269109726 + ], + "orientation": [ + 0.4905320405960083, + 0.528347373008728, + -0.5558606386184692, + 0.41381925344467163 + ], + "joints": [ + 0.020322835072875023 + ] + }, + "final_grasp": { + "position": [ + 0.014488667249679565, + 0.1665937304496765, + 0.07712843269109726 + ], + "orientation": [ + 0.4905320405960083, + 0.528347373008728, + -0.5558606386184692, + 0.41381925344467163 + ], + "joints": [ + 0.011503977701067924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003454884048551321, + 0.03338376432657242, + 0.18198929727077484 + ], + "orientation": [ + 0.04450013116002083, + 0.6943092346191406, + 0.7152602672576904, + -0.06600809842348099 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + 0.003355544526129961, + 0.03262878954410553, + 0.1781403124332428 + ], + "orientation": [ + 0.047118183225393295, + 0.6908766031265259, + 0.7181115746498108, + -0.06917648017406464 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + 0.003355544526129961, + 0.03262878954410553, + 0.1781403124332428 + ], + "orientation": [ + 0.047118183225393295, + 0.6908766031265259, + 0.7181115746498108, + -0.06917648017406464 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015027724206447601, + 0.17112642526626587, + 0.0780825987458229 + ], + "orientation": [ + 0.49516403675079346, + 0.5262660384178162, + -0.5513929128646851, + 0.41692015528678894 + ], + "joints": [ + 0.02867858298122883 + ] + }, + "fine_grasp": { + "position": [ + 0.014661548659205437, + 0.16754232347011566, + 0.07701566070318222 + ], + "orientation": [ + 0.492005854845047, + 0.5290344953536987, + -0.5542313456535339, + 0.41337689757347107 + ], + "joints": [ + 0.020256781950592995 + ] + }, + "final_grasp": { + "position": [ + 0.014661548659205437, + 0.16754232347011566, + 0.07701566070318222 + ], + "orientation": [ + 0.492005854845047, + 0.5290344953536987, + -0.5542313456535339, + 0.41337689757347107 + ], + "joints": [ + 0.011834980919957161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0034468919038772583, + 0.03268350660800934, + 0.18190786242485046 + ], + "orientation": [ + 0.04709526151418686, + 0.6952120065689087, + 0.713988184928894, + -0.06843353062868118 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + 0.00335347349755466, + 0.03188609704375267, + 0.17811541259288788 + ], + "orientation": [ + 0.0494636669754982, + 0.693338930606842, + 0.7154273986816406, + -0.07069636136293411 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + 0.00335347349755466, + 0.03188609704375267, + 0.17811541259288788 + ], + "orientation": [ + 0.0494636669754982, + 0.693338930606842, + 0.7154273986816406, + -0.07069636136293411 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018089646473526955, + 0.17085061967372894, + -0.04332758113741875 + ], + "orientation": [ + 0.46382150053977966, + 0.52716064453125, + 0.46009933948516846, + -0.5433965921401978 + ], + "joints": [ + 0.022575341165065765 + ] + }, + "fine_grasp": { + "position": [ + 0.017527738586068153, + 0.1669808030128479, + -0.04332417994737625 + ], + "orientation": [ + 0.46346351504325867, + 0.5273575186729431, + 0.4605514705181122, + -0.5431277751922607 + ], + "joints": [ + 0.012544415891170502 + ] + }, + "final_grasp": { + "position": [ + 0.017527738586068153, + 0.1669808030128479, + -0.04332417994737625 + ], + "orientation": [ + 0.46346351504325867, + 0.5273575186729431, + 0.4605514705181122, + -0.5431277751922607 + ], + "joints": [ + 0.002513490617275238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021598048508167267, + -0.10137451440095901, + 0.07751073688268661 + ], + "orientation": [ + 0.5530229210853577, + -0.494397908449173, + 0.5226758122444153, + 0.42017418146133423 + ], + "joints": [ + 0.02969742752611637 + ] + }, + "fine_grasp": { + "position": [ + -0.020553594455122948, + -0.09791545569896698, + 0.0764789804816246 + ], + "orientation": [ + 0.5439164638519287, + -0.4996286928653717, + 0.5339279174804688, + 0.41163942217826843 + ], + "joints": [ + 0.022174233570694923 + ] + }, + "final_grasp": { + "position": [ + -0.020553594455122948, + -0.09791545569896698, + 0.0764789804816246 + ], + "orientation": [ + 0.5439164638519287, + -0.4996286928653717, + 0.5339279174804688, + 0.41163942217826843 + ], + "joints": [ + 0.014651039615273476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013961859978735447, + -0.06183680146932602, + 0.16340841352939606 + ], + "orientation": [ + 0.08523983508348465, + -0.570938229560852, + 0.7789725065231323, + 0.24487893283367157 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.013920910656452179, + -0.05914301052689552, + 0.16064664721488953 + ], + "orientation": [ + 0.1052505150437355, + -0.5715023279190063, + 0.7737563848495483, + 0.25220733880996704 + ], + "joints": [ + 0.02431245893239975 + ] + }, + "final_grasp": { + "position": [ + 0.013920910656452179, + -0.05914301052689552, + 0.16064664721488953 + ], + "orientation": [ + 0.1052505150437355, + -0.5715023279190063, + 0.7737563848495483, + 0.25220733880996704 + ], + "joints": [ + 0.017144523561000824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0031196505296975374, + -0.06748168915510178, + 0.14706386625766754 + ], + "orientation": [ + 0.27365195751190186, + -0.7100564241409302, + 0.5984779596328735, + 0.2505169212818146 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + 0.0032262438908219337, + -0.06507140398025513, + 0.14431947469711304 + ], + "orientation": [ + 0.2694142162799835, + -0.7042277455329895, + 0.6067129969596863, + 0.25175103545188904 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + 0.0032262438908219337, + -0.06507140398025513, + 0.14431947469711304 + ], + "orientation": [ + 0.2694142162799835, + -0.7042277455329895, + 0.6067129969596863, + 0.25175103545188904 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003466094611212611, + -0.06697114557027817, + 0.1478426158428192 + ], + "orientation": [ + 0.2763831615447998, + -0.7097983956336975, + 0.595472514629364, + 0.2553647756576538 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + 0.0036464917939156294, + -0.06475754082202911, + 0.14493605494499207 + ], + "orientation": [ + 0.2702948749065399, + -0.7057359218597412, + 0.6038728356361389, + 0.25340700149536133 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + 0.0036464917939156294, + -0.06475754082202911, + 0.14493605494499207 + ], + "orientation": [ + 0.2702948749065399, + -0.7057359218597412, + 0.6038728356361389, + 0.25340700149536133 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028153732419013977, + 0.07976780831813812, + 0.16078510880470276 + ], + "orientation": [ + 0.20420490205287933, + 0.6583155393600464, + -0.7227942943572998, + 0.04989314824342728 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.02694484032690525, + 0.07850614935159683, + 0.15734976530075073 + ], + "orientation": [ + 0.20777222514152527, + 0.65230792760849, + -0.7266231179237366, + 0.05782569572329521 + ], + "joints": [ + 0.021351177245378494 + ] + }, + "final_grasp": { + "position": [ + 0.02694484032690525, + 0.07850614935159683, + 0.15734976530075073 + ], + "orientation": [ + 0.20777222514152527, + 0.65230792760849, + -0.7266231179237366, + 0.05782569572329521 + ], + "joints": [ + 0.010944094508886337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027977842837572098, + 0.07951901108026505, + 0.16013137996196747 + ], + "orientation": [ + 0.2049044966697693, + 0.6583969593048096, + -0.7224552631378174, + 0.05085292086005211 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.02676446922123432, + 0.07824728637933731, + 0.15673092007637024 + ], + "orientation": [ + 0.2086651474237442, + 0.6517530679702759, + -0.7267385125160217, + 0.05939682200551033 + ], + "joints": [ + 0.02093322202563286 + ] + }, + "final_grasp": { + "position": [ + 0.02676446922123432, + 0.07824728637933731, + 0.15673092007637024 + ], + "orientation": [ + 0.2086651474237442, + 0.6517530679702759, + -0.7267385125160217, + 0.05939682200551033 + ], + "joints": [ + 0.010108184069395065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034758228808641434, + 0.14942443370819092, + 0.12506064772605896 + ], + "orientation": [ + 0.385593056678772, + 0.5779286026954651, + 0.6805166602134705, + -0.2328379899263382 + ], + "joints": [ + 0.02800707519054413 + ] + }, + "fine_grasp": { + "position": [ + -0.03375827521085739, + 0.14659355580806732, + 0.12271704524755478 + ], + "orientation": [ + 0.3854299783706665, + 0.5761721134185791, + 0.6816689968109131, + -0.2340867519378662 + ], + "joints": [ + 0.018770262598991394 + ] + }, + "final_grasp": { + "position": [ + -0.03375827521085739, + 0.14659355580806732, + 0.12271704524755478 + ], + "orientation": [ + 0.3854299783706665, + 0.5761721134185791, + 0.6816689968109131, + -0.2340867519378662 + ], + "joints": [ + 0.00953345000743866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034389249980449677, + 0.14921236038208008, + 0.12459903210401535 + ], + "orientation": [ + 0.3848098814487457, + 0.5759977698326111, + 0.6817352175712585, + -0.2353401780128479 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + -0.03339417651295662, + 0.14645493030548096, + 0.12220755219459534 + ], + "orientation": [ + 0.38352659344673157, + 0.5743060111999512, + 0.683583676815033, + -0.23620600998401642 + ], + "joints": [ + 0.01900181733071804 + ] + }, + "final_grasp": { + "position": [ + -0.03339417651295662, + 0.14645493030548096, + 0.12220755219459534 + ], + "orientation": [ + 0.38352659344673157, + 0.5743060111999512, + 0.683583676815033, + -0.23620600998401642 + ], + "joints": [ + 0.009765004739165306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0347231924533844, + 0.14967012405395508, + 0.12511053681373596 + ], + "orientation": [ + 0.3835248053073883, + 0.5754312872886658, + 0.6834227442741394, + -0.23392514884471893 + ], + "joints": [ + 0.027775520458817482 + ] + }, + "fine_grasp": { + "position": [ + -0.03370235487818718, + 0.1468850076198578, + 0.12274238467216492 + ], + "orientation": [ + 0.3828549385070801, + 0.5739088654518127, + 0.6846498847007751, + -0.23517027497291565 + ], + "joints": [ + 0.01855960674583912 + ] + }, + "final_grasp": { + "position": [ + -0.03370235487818718, + 0.1468850076198578, + 0.12274238467216492 + ], + "orientation": [ + 0.3828549385070801, + 0.5739088654518127, + 0.6846498847007751, + -0.23517027497291565 + ], + "joints": [ + 0.009343693032860756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03495828062295914, + 0.14974799752235413, + 0.12499795109033585 + ], + "orientation": [ + 0.3848170042037964, + 0.5741284489631653, + 0.6834615468978882, + -0.23488859832286835 + ], + "joints": [ + 0.027775520458817482 + ] + }, + "fine_grasp": { + "position": [ + -0.03391255438327789, + 0.14702562987804413, + 0.12265132367610931 + ], + "orientation": [ + 0.3837423026561737, + 0.572686493396759, + 0.6849675178527832, + -0.23577827215194702 + ], + "joints": [ + 0.01855960674583912 + ] + }, + "final_grasp": { + "position": [ + -0.03391255438327789, + 0.14702562987804413, + 0.12265132367610931 + ], + "orientation": [ + 0.3837423026561737, + 0.572686493396759, + 0.6849675178527832, + -0.23577827215194702 + ], + "joints": [ + 0.009343693032860756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013515123166143894, + 0.02252928540110588, + 0.18501217663288116 + ], + "orientation": [ + 0.03693061321973801, + -0.7941582798957825, + 0.6058491468429565, + -0.029924318194389343 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.01277835201472044, + 0.022134050726890564, + 0.18114466965198517 + ], + "orientation": [ + 0.029294203966856003, + -0.8007209300994873, + 0.5971481800079346, + -0.0374426506459713 + ], + "joints": [ + 0.02495507150888443 + ] + }, + "final_grasp": { + "position": [ + -0.01277835201472044, + 0.022134050726890564, + 0.18114466965198517 + ], + "orientation": [ + 0.029294203966856003, + -0.8007209300994873, + 0.5971481800079346, + -0.0374426506459713 + ], + "joints": [ + 0.016554169356822968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011308407410979271, + 0.16508372128009796, + 0.060443103313446045 + ], + "orientation": [ + 0.4000509977340698, + 0.5038383603096008, + 0.5504730939865112, + -0.5320578217506409 + ], + "joints": [ + 0.03057733364403248 + ] + }, + "fine_grasp": { + "position": [ + 0.010813107714056969, + 0.16190296411514282, + 0.059805434197187424 + ], + "orientation": [ + 0.40007373690605164, + 0.5041651129722595, + 0.5511792302131653, + -0.5309991240501404 + ], + "joints": [ + 0.02096436358988285 + ] + }, + "final_grasp": { + "position": [ + 0.010813107714056969, + 0.16190296411514282, + 0.059805434197187424 + ], + "orientation": [ + 0.40007373690605164, + 0.5041651129722595, + 0.5511792302131653, + -0.5309991240501404 + ], + "joints": [ + 0.011351393535733223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01289527490735054, + 0.15809285640716553, + -0.02037173882126808 + ], + "orientation": [ + 0.4912950396537781, + 0.46390339732170105, + -0.4437519907951355, + 0.5886483192443848 + ], + "joints": [ + 0.022460874170064926 + ] + }, + "fine_grasp": { + "position": [ + -0.012451879680156708, + 0.15466247498989105, + -0.0212477445602417 + ], + "orientation": [ + 0.4903915524482727, + 0.46046125888824463, + -0.4424242079257965, + 0.5930873155593872 + ], + "joints": [ + 0.012847904115915298 + ] + }, + "final_grasp": { + "position": [ + -0.012451879680156708, + 0.15466247498989105, + -0.0212477445602417 + ], + "orientation": [ + 0.4903915524482727, + 0.46046125888824463, + -0.4424242079257965, + 0.5930873155593872 + ], + "joints": [ + 0.0032349340617656708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014117419719696045, + -0.08354704082012177, + 0.1383334994316101 + ], + "orientation": [ + 0.38094303011894226, + -0.7285596132278442, + 0.5292618870735168, + 0.20967839658260345 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.013498323038220406, + -0.08037059009075165, + 0.13607661426067352 + ], + "orientation": [ + 0.3753902316093445, + -0.7240692377090454, + 0.5401249527931213, + 0.20753565430641174 + ], + "joints": [ + 0.024767573922872543 + ] + }, + "final_grasp": { + "position": [ + -0.013498323038220406, + -0.08037059009075165, + 0.13607661426067352 + ], + "orientation": [ + 0.3753902316093445, + -0.7240692377090454, + 0.5401249527931213, + 0.20753565430641174 + ], + "joints": [ + 0.016387570649385452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028220944106578827, + -0.02218751050531864, + 0.18057744204998016 + ], + "orientation": [ + 0.21946047246456146, + -0.6375766396522522, + -0.7335708141326904, + -0.0848948210477829 + ], + "joints": [ + 0.03002159856259823 + ] + }, + "fine_grasp": { + "position": [ + 0.027482716366648674, + -0.021334324032068253, + 0.17697428166866302 + ], + "orientation": [ + 0.20748968422412872, + -0.6349391341209412, + -0.7405650019645691, + -0.07323747128248215 + ], + "joints": [ + 0.02281186543405056 + ] + }, + "final_grasp": { + "position": [ + 0.027482716366648674, + -0.021334324032068253, + 0.17697428166866302 + ], + "orientation": [ + 0.20748968422412872, + -0.6349391341209412, + -0.7405650019645691, + -0.07323747128248215 + ], + "joints": [ + 0.015602132305502892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018407268449664116, + -0.10847488045692444, + 0.09980060160160065 + ], + "orientation": [ + 0.5027516484260559, + -0.5952712297439575, + 0.5283717513084412, + 0.3372184932231903 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.017818419262766838, + -0.10480531305074692, + 0.09861700236797333 + ], + "orientation": [ + 0.4970972537994385, + -0.5983322858810425, + 0.5324190855026245, + 0.3338005244731903 + ], + "joints": [ + 0.02393166348338127 + ] + }, + "final_grasp": { + "position": [ + -0.017818419262766838, + -0.10480531305074692, + 0.09861700236797333 + ], + "orientation": [ + 0.4970972537994385, + -0.5983322858810425, + 0.5324190855026245, + 0.3338005244731903 + ], + "joints": [ + 0.014715749770402908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01902942545711994, + -0.10860379785299301, + 0.09957335889339447 + ], + "orientation": [ + 0.5018337965011597, + -0.5938971638679504, + 0.5322603583335876, + 0.33488497138023376 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.01836530864238739, + -0.10485628247261047, + 0.09822738170623779 + ], + "orientation": [ + 0.4961321949958801, + -0.5966250896453857, + 0.5368760824203491, + 0.3311426639556885 + ], + "joints": [ + 0.02418411523103714 + ] + }, + "final_grasp": { + "position": [ + -0.01836530864238739, + -0.10485628247261047, + 0.09822738170623779 + ], + "orientation": [ + 0.4961321949958801, + -0.5966250896453857, + 0.5368760824203491, + 0.3311426639556885 + ], + "joints": [ + 0.014989100396633148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03144310414791107, + 0.1570155769586563, + 0.06026114523410797 + ], + "orientation": [ + 0.292110800743103, + 0.5299475789070129, + -0.5529399514198303, + 0.5727863311767578 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.030913058668375015, + 0.15380975604057312, + 0.06006183847784996 + ], + "orientation": [ + 0.28986963629722595, + 0.5238592028617859, + -0.556075394153595, + 0.5764783620834351 + ], + "joints": [ + 0.01894642412662506 + ] + }, + "final_grasp": { + "position": [ + -0.030913058668375015, + 0.15380975604057312, + 0.06006183847784996 + ], + "orientation": [ + 0.28986963629722595, + 0.5238592028617859, + -0.556075394153595, + 0.5764783620834351 + ], + "joints": [ + 0.008936397731304169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01573888212442398, + 0.12075430154800415, + -0.18307942152023315 + ], + "orientation": [ + 0.6557566523551941, + 0.2137739360332489, + -0.1650753617286682, + 0.7050063610076904 + ], + "joints": [ + 0.02062048949301243 + ] + }, + "fine_grasp": { + "position": [ + -0.014829988591372967, + 0.11894836276769638, + -0.18009218573570251 + ], + "orientation": [ + 0.6545574069023132, + 0.21719025075435638, + -0.1618959903717041, + 0.705813467502594 + ], + "joints": [ + 0.009774552658200264 + ] + }, + "final_grasp": { + "position": [ + -0.014829988591372967, + 0.11894836276769638, + -0.18009218573570251 + ], + "orientation": [ + 0.6545574069023132, + 0.21719025075435638, + -0.1618959903717041, + 0.705813467502594 + ], + "joints": [ + -0.0010713841766119003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019220862537622452, + 0.07709356397390366, + 0.15698595345020294 + ], + "orientation": [ + 0.04676840081810951, + 0.7929173707962036, + 0.5944938659667969, + -0.1251877397298813 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + 0.018604569137096405, + 0.07475242763757706, + 0.154219850897789 + ], + "orientation": [ + 0.053564026951789856, + 0.8059793710708618, + 0.5752317905426025, + -0.12898239493370056 + ], + "joints": [ + 0.01946272887289524 + ] + }, + "final_grasp": { + "position": [ + 0.018604569137096405, + 0.07475242763757706, + 0.154219850897789 + ], + "orientation": [ + 0.053564026951789856, + 0.8059793710708618, + 0.5752317905426025, + -0.12898239493370056 + ], + "joints": [ + 0.011103624477982521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01977088488638401, + 0.07629916071891785, + 0.15744644403457642 + ], + "orientation": [ + 0.04807528108358383, + 0.7920244932174683, + 0.5945227146148682, + -0.1301104873418808 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + 0.018778497353196144, + 0.07452452927827835, + 0.15420278906822205 + ], + "orientation": [ + 0.05801888182759285, + 0.8054890036582947, + 0.5743690133094788, + -0.13387075066566467 + ], + "joints": [ + 0.019925838336348534 + ] + }, + "final_grasp": { + "position": [ + 0.018778497353196144, + 0.07452452927827835, + 0.15420278906822205 + ], + "orientation": [ + 0.05801888182759285, + 0.8054890036582947, + 0.5743690133094788, + -0.13387075066566467 + ], + "joints": [ + 0.011566733941435814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035016752779483795, + 0.15024609863758087, + 0.12528398633003235 + ], + "orientation": [ + 0.38464808464050293, + 0.5766724348068237, + 0.6822308301925659, + -0.23249875009059906 + ], + "joints": [ + 0.02731241099536419 + ] + }, + "fine_grasp": { + "position": [ + -0.03396949544548988, + 0.14754076302051544, + 0.12295063585042953 + ], + "orientation": [ + 0.3837603032588959, + 0.5755006074905396, + 0.683420717716217, + -0.23337328433990479 + ], + "joints": [ + 0.01849355362355709 + ] + }, + "final_grasp": { + "position": [ + -0.03396949544548988, + 0.14754076302051544, + 0.12295063585042953 + ], + "orientation": [ + 0.3837603032588959, + 0.5755006074905396, + 0.683420717716217, + -0.23337328433990479 + ], + "joints": [ + 0.009674696251749992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015520167537033558, + 0.16321855783462524, + 0.028835194185376167 + ], + "orientation": [ + 0.41513127088546753, + 0.4808945655822754, + 0.5031533241271973, + -0.5858696103096008 + ], + "joints": [ + 0.02599255181849003 + ] + }, + "fine_grasp": { + "position": [ + 0.015290672890841961, + 0.16024018824100494, + 0.03040746971964836 + ], + "orientation": [ + 0.41824084520339966, + 0.4768678843975067, + 0.49932724237442017, + -0.5902067422866821 + ], + "joints": [ + 0.016776638105511665 + ] + }, + "final_grasp": { + "position": [ + 0.015290672890841961, + 0.16024018824100494, + 0.03040746971964836 + ], + "orientation": [ + 0.41824084520339966, + 0.4768678843975067, + 0.49932724237442017, + -0.5902067422866821 + ], + "joints": [ + 0.007560724392533302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0310117918998003, + 0.040565501898527145, + -0.2003246694803238 + ], + "orientation": [ + 0.9936830997467041, + 0.0317828394472599, + 0.0871388241648674, + -0.06317084282636642 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.03015025146305561, + 0.040135324001312256, + -0.19617818295955658 + ], + "orientation": [ + 0.9936434626579285, + 0.03056647628545761, + 0.08796897530555725, + -0.06324391067028046 + ], + "joints": [ + 0.028250019997358322 + ] + }, + "final_grasp": { + "position": [ + -0.03015025146305561, + 0.040135324001312256, + -0.19617818295955658 + ], + "orientation": [ + 0.9936434626579285, + 0.03056647628545761, + 0.08796897530555725, + -0.06324391067028046 + ], + "joints": [ + 0.021500039845705032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015244066715240479, + 0.16322125494480133, + 0.02909976989030838 + ], + "orientation": [ + 0.4138045907020569, + 0.4799228310585022, + 0.5054585337638855, + -0.585620641708374 + ], + "joints": [ + 0.02599255181849003 + ] + }, + "fine_grasp": { + "position": [ + 0.014987443573772907, + 0.1603085845708847, + 0.030692238360643387 + ], + "orientation": [ + 0.4170643389225006, + 0.47591397166252136, + 0.5015232563018799, + -0.5899471640586853 + ], + "joints": [ + 0.016755739226937294 + ] + }, + "final_grasp": { + "position": [ + 0.014987443573772907, + 0.1603085845708847, + 0.030692238360643387 + ], + "orientation": [ + 0.4170643389225006, + 0.47591397166252136, + 0.5015232563018799, + -0.5899471640586853 + ], + "joints": [ + 0.00751892663538456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01762476935982704, + 0.15618926286697388, + 0.0008427371503785253 + ], + "orientation": [ + 0.5631094574928284, + 0.4762883186340332, + 0.5111154317855835, + -0.4413822591304779 + ], + "joints": [ + 0.022495422512292862 + ] + }, + "fine_grasp": { + "position": [ + -0.01702340878546238, + 0.15330050885677338, + -0.0005802381201647222 + ], + "orientation": [ + 0.568903923034668, + 0.47683092951774597, + 0.504660964012146, + -0.44079235196113586 + ], + "joints": [ + 0.01330040767788887 + ] + }, + "final_grasp": { + "position": [ + -0.01702340878546238, + 0.15330050885677338, + -0.0005802381201647222 + ], + "orientation": [ + 0.568903923034668, + 0.47683092951774597, + 0.504660964012146, + -0.44079235196113586 + ], + "joints": [ + 0.0041053928434848785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02001597359776497, + 0.07646564394235611, + 0.15740905702114105 + ], + "orientation": [ + 0.045377299189567566, + 0.7925623655319214, + 0.5943450927734375, + -0.1286073476076126 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.019141552969813347, + 0.07465443015098572, + 0.15406301617622375 + ], + "orientation": [ + 0.05498044565320015, + 0.8057563900947571, + 0.5744462013244629, + -0.13321149349212646 + ], + "joints": [ + 0.019694283604621887 + ] + }, + "final_grasp": { + "position": [ + 0.019141552969813347, + 0.07465443015098572, + 0.15406301617622375 + ], + "orientation": [ + 0.05498044565320015, + 0.8057563900947571, + 0.5744462013244629, + -0.13321149349212646 + ], + "joints": [ + 0.011335179209709167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004007699433714151, + -0.10562381893396378, + 0.03324254974722862 + ], + "orientation": [ + 0.45663440227508545, + -0.35532358288764954, + 0.49463018774986267, + 0.6485145688056946 + ], + "joints": [ + 0.032939180731773376 + ] + }, + "fine_grasp": { + "position": [ + 0.0030623949132859707, + -0.10155485570430756, + 0.03320475295186043 + ], + "orientation": [ + 0.452727735042572, + -0.36439913511276245, + 0.4980023503303528, + 0.6436184048652649 + ], + "joints": [ + 0.024998031556606293 + ] + }, + "final_grasp": { + "position": [ + 0.0030623949132859707, + -0.10155485570430756, + 0.03320475295186043 + ], + "orientation": [ + 0.452727735042572, + -0.36439913511276245, + 0.4980023503303528, + 0.6436184048652649 + ], + "joints": [ + 0.01705688238143921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04566827043890953, + 0.11242818087339401, + 0.13562260568141937 + ], + "orientation": [ + 0.31511178612709045, + 0.5697696208953857, + -0.7532740831375122, + 0.0929797813296318 + ], + "joints": [ + 0.027613434940576553 + ] + }, + "fine_grasp": { + "position": [ + 0.04414379969239235, + 0.10992120951414108, + 0.13304373621940613 + ], + "orientation": [ + 0.3230607509613037, + 0.5593209862709045, + -0.7561246752738953, + 0.10520084202289581 + ], + "joints": [ + 0.018000464886426926 + ] + }, + "final_grasp": { + "position": [ + 0.04414379969239235, + 0.10992120951414108, + 0.13304373621940613 + ], + "orientation": [ + 0.3230607509613037, + 0.5593209862709045, + -0.7561246752738953, + 0.10520084202289581 + ], + "joints": [ + 0.008387494832277298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004867310635745525, + -0.10752996802330017, + 0.05571374669671059 + ], + "orientation": [ + 0.37425997853279114, + -0.33158206939697266, + -0.5895466208457947, + -0.6343638300895691 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.004228523001074791, + -0.10332164168357849, + 0.055326998233795166 + ], + "orientation": [ + 0.3687216639518738, + -0.34250545501708984, + -0.5907905697822571, + -0.6306352615356445 + ], + "joints": [ + 0.02377196028828621 + ] + }, + "final_grasp": { + "position": [ + -0.004228523001074791, + -0.10332164168357849, + 0.055326998233795166 + ], + "orientation": [ + 0.3687216639518738, + -0.34250545501708984, + -0.5907905697822571, + -0.6306352615356445 + ], + "joints": [ + 0.01624876633286476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017795195803046227, + 0.15598076581954956, + 0.0001827980304369703 + ], + "orientation": [ + 0.5656670928001404, + 0.4774715304374695, + 0.5101515650749207, + -0.43793484568595886 + ], + "joints": [ + 0.02247270569205284 + ] + }, + "fine_grasp": { + "position": [ + -0.016990510746836662, + 0.15320177376270294, + -0.0012641592184081674 + ], + "orientation": [ + 0.5710323452949524, + 0.47929972410202026, + 0.5025287866592407, + -0.4377884268760681 + ], + "joints": [ + 0.01327769085764885 + ] + }, + "final_grasp": { + "position": [ + -0.016990510746836662, + 0.15320177376270294, + -0.0012641592184081674 + ], + "orientation": [ + 0.5710323452949524, + 0.47929972410202026, + 0.5025287866592407, + -0.4377884268760681 + ], + "joints": [ + 0.004082676023244858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027099760249257088, + 0.10392849147319794, + 0.14390186965465546 + ], + "orientation": [ + 0.22392261028289795, + 0.5867013335227966, + -0.7698831558227539, + 0.11366692185401917 + ], + "joints": [ + 0.026443472132086754 + ] + }, + "fine_grasp": { + "position": [ + 0.025714300572872162, + 0.1021648570895195, + 0.14204463362693787 + ], + "orientation": [ + 0.232769176363945, + 0.5807682871818542, + -0.7702144980430603, + 0.12367783486843109 + ], + "joints": [ + 0.017666412517428398 + ] + }, + "final_grasp": { + "position": [ + 0.025714300572872162, + 0.1021648570895195, + 0.14204463362693787 + ], + "orientation": [ + 0.232769176363945, + 0.5807682871818542, + -0.7702144980430603, + 0.12367783486843109 + ], + "joints": [ + 0.008889352902770042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02894420549273491, + 0.07692346721887589, + 0.1692313700914383 + ], + "orientation": [ + 0.05313001573085785, + 0.7956317067146301, + -0.5786705613136292, + 0.17113664746284485 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.027904652059078217, + 0.075651153922081, + 0.16571125388145447 + ], + "orientation": [ + 0.06211947277188301, + 0.8023902773857117, + -0.5668588876724243, + 0.17601747810840607 + ], + "joints": [ + 0.022960301488637924 + ] + }, + "final_grasp": { + "position": [ + -0.027904652059078217, + 0.075651153922081, + 0.16571125388145447 + ], + "orientation": [ + 0.06211947277188301, + 0.8023902773857117, + -0.5668588876724243, + 0.17601747810840607 + ], + "joints": [ + 0.014162342995405197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036271288990974426, + 0.17967535555362701, + 0.02312612347304821 + ], + "orientation": [ + 0.5270113348960876, + 0.4944360852241516, + -0.589661180973053, + 0.36068230867385864 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + 0.03521253541111946, + 0.17597122490406036, + 0.022498182952404022 + ], + "orientation": [ + 0.5278897881507874, + 0.49457424879074097, + -0.5887811779975891, + 0.3606458902359009 + ], + "joints": [ + 0.01043546013534069 + ] + }, + "final_grasp": { + "position": [ + 0.03521253541111946, + 0.17597122490406036, + 0.022498182952404022 + ], + "orientation": [ + 0.5278897881507874, + 0.49457424879074097, + -0.5887811779975891, + 0.3606458902359009 + ], + "joints": [ + 0.0016166027635335922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01164254080504179, + -0.10992202162742615, + 0.09706785529851913 + ], + "orientation": [ + 0.3180011510848999, + -0.464446097612381, + 0.7044762969017029, + 0.4322941303253174 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + -0.010812788270413876, + -0.10588040202856064, + 0.09638422727584839 + ], + "orientation": [ + 0.3296138644218445, + -0.45880165696144104, + 0.6980343461036682, + 0.4400043189525604 + ], + "joints": [ + 0.02268133871257305 + ] + }, + "final_grasp": { + "position": [ + -0.010812788270413876, + -0.10588040202856064, + 0.09638422727584839 + ], + "orientation": [ + 0.3296138644218445, + -0.45880165696144104, + 0.6980343461036682, + 0.4400043189525604 + ], + "joints": [ + 0.014322234317660332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053923290222883224, + -0.06015618145465851, + 0.15129703283309937 + ], + "orientation": [ + 0.053200140595436096, + -0.6592832207679749, + -0.6533968448638916, + -0.36822250485420227 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.05184045433998108, + -0.05766880884766579, + 0.1488424837589264 + ], + "orientation": [ + 0.060420311987400055, + -0.6560052633285522, + -0.6546216011047363, + -0.3707789182662964 + ], + "joints": [ + 0.024810466915369034 + ] + }, + "final_grasp": { + "position": [ + -0.05184045433998108, + -0.05766880884766579, + 0.1488424837589264 + ], + "orientation": [ + 0.060420311987400055, + -0.6560052633285522, + -0.6546216011047363, + -0.3707789182662964 + ], + "joints": [ + 0.016033407300710678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018378686159849167, + 0.15802490711212158, + 0.0005322381039150059 + ], + "orientation": [ + 0.5676628947257996, + 0.48074638843536377, + 0.5083247423171997, + -0.43387508392333984 + ], + "joints": [ + 0.022604111582040787 + ] + }, + "fine_grasp": { + "position": [ + -0.017728544771671295, + 0.15427473187446594, + 7.505084795411676e-05 + ], + "orientation": [ + 0.5776798725128174, + 0.48102259635925293, + 0.49910756945610046, + -0.43103930354118347 + ], + "joints": [ + 0.012991141527891159 + ] + }, + "final_grasp": { + "position": [ + -0.017728544771671295, + 0.15427473187446594, + 7.505084795411676e-05 + ], + "orientation": [ + 0.5776798725128174, + 0.48102259635925293, + 0.49910756945610046, + -0.43103930354118347 + ], + "joints": [ + 0.0033781714737415314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06340818852186203, + -0.08544760942459106, + 0.011551597155630589 + ], + "orientation": [ + 0.5474088191986084, + -0.5709975361824036, + -0.17818583548069, + -0.585282027721405 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.06133224070072174, + -0.08310048282146454, + 0.013235649093985558 + ], + "orientation": [ + 0.5499568581581116, + -0.5660614371299744, + -0.1752893030643463, + -0.5885539054870605 + ], + "joints": [ + 0.024283569306135178 + ] + }, + "final_grasp": { + "position": [ + -0.06133224070072174, + -0.08310048282146454, + 0.013235649093985558 + ], + "orientation": [ + 0.5499568581581116, + -0.5660614371299744, + -0.1752893030643463, + -0.5885539054870605 + ], + "joints": [ + 0.015882667154073715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011598397977650166, + -0.10944391787052155, + 0.09671484678983688 + ], + "orientation": [ + 0.3178650736808777, + -0.4641207754611969, + 0.7044063210487366, + 0.4328571557998657 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + -0.010795463807880878, + -0.10543327778577805, + 0.0960492193698883 + ], + "orientation": [ + 0.32905659079551697, + -0.4589954614639282, + 0.6977767944335938, + 0.4406273663043976 + ], + "joints": [ + 0.02268133871257305 + ] + }, + "final_grasp": { + "position": [ + -0.010795463807880878, + -0.10543327778577805, + 0.0960492193698883 + ], + "orientation": [ + 0.32905659079551697, + -0.4589954614639282, + 0.6977767944335938, + 0.4406273663043976 + ], + "joints": [ + 0.014322234317660332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012275569140911102, + 0.036884140223264694, + 0.18328037858009338 + ], + "orientation": [ + 0.07758673280477524, + 0.7960139513015747, + 0.6002538800239563, + 0.006095802411437035 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.011956009082496166, + 0.036078080534935, + 0.17939317226409912 + ], + "orientation": [ + 0.08283177763223648, + 0.8061720132827759, + 0.5858507752418518, + 0.0021184987854212523 + ], + "joints": [ + 0.02588128298521042 + ] + }, + "final_grasp": { + "position": [ + -0.011956009082496166, + 0.036078080534935, + 0.17939317226409912 + ], + "orientation": [ + 0.08283177763223648, + 0.8061720132827759, + 0.5858507752418518, + 0.0021184987854212523 + ], + "joints": [ + 0.017480380833148956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0040515754371881485, + -0.10745168477296829, + 0.05560788884758949 + ], + "orientation": [ + 0.374645859003067, + -0.3314691185951233, + -0.5898352861404419, + -0.6339265704154968 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.0032403829973191023, + -0.10329735279083252, + 0.055282995104789734 + ], + "orientation": [ + 0.3686392605304718, + -0.34105297923088074, + -0.5915869474411011, + -0.6307241320610046 + ], + "joints": [ + 0.023793954402208328 + ] + }, + "final_grasp": { + "position": [ + -0.0032403829973191023, + -0.10329735279083252, + 0.055282995104789734 + ], + "orientation": [ + 0.3686392605304718, + -0.34105297923088074, + -0.5915869474411011, + -0.6307241320610046 + ], + "joints": [ + 0.015852805227041245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010035552084445953, + -0.09303396940231323, + -0.050849735736846924 + ], + "orientation": [ + 0.475882887840271, + -0.5371771454811096, + -0.4842691123485565, + -0.5004592537879944 + ], + "joints": [ + 0.021684063598513603 + ] + }, + "fine_grasp": { + "position": [ + -0.009739959612488747, + -0.08961549401283264, + -0.05268104746937752 + ], + "orientation": [ + 0.47141197323799133, + -0.5428435802459717, + -0.4876754581928253, + -0.4952414631843567 + ], + "joints": [ + 0.012886105105280876 + ] + }, + "final_grasp": { + "position": [ + -0.009739959612488747, + -0.08961549401283264, + -0.05268104746937752 + ], + "orientation": [ + 0.47141197323799133, + -0.5428435802459717, + -0.4876754581928253, + -0.4952414631843567 + ], + "joints": [ + 0.004088146612048149 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0634765774011612, + -0.0853959172964096, + 0.011409161612391472 + ], + "orientation": [ + 0.5498991012573242, + -0.5722352266311646, + -0.17727383971214294, + -0.5820066332817078 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.061398833990097046, + -0.08311214298009872, + 0.013115113601088524 + ], + "orientation": [ + 0.5523560643196106, + -0.5672835111618042, + -0.17408400774002075, + -0.5854800939559937 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.061398833990097046, + -0.08311214298009872, + 0.013115113601088524 + ], + "orientation": [ + 0.5523560643196106, + -0.5672835111618042, + -0.17408400774002075, + -0.5854800939559937 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012278626672923565, + 0.037312351167201996, + 0.18348462879657745 + ], + "orientation": [ + 0.07530763745307922, + 0.7954496741294861, + 0.6012730598449707, + 0.007686645723879337 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.011975938454270363, + 0.03652319684624672, + 0.17960432171821594 + ], + "orientation": [ + 0.08088598400354385, + 0.8053411841392517, + 0.5872554183006287, + 0.0037707481533288956 + ], + "joints": [ + 0.025670628994703293 + ] + }, + "final_grasp": { + "position": [ + -0.011975938454270363, + 0.03652319684624672, + 0.17960432171821594 + ], + "orientation": [ + 0.08088598400354385, + 0.8053411841392517, + 0.5872554183006287, + 0.0037707481533288956 + ], + "joints": [ + 0.017290625721216202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042378298938274384, + 0.16358360648155212, + 0.10144231468439102 + ], + "orientation": [ + 0.4450205862522125, + 0.5022178888320923, + 0.6791460514068604, + -0.2974800765514374 + ], + "joints": [ + 0.02728925459086895 + ] + }, + "fine_grasp": { + "position": [ + -0.041144222021102905, + 0.16028596460819244, + 0.09991252422332764 + ], + "orientation": [ + 0.44606268405914307, + 0.5012613534927368, + 0.678425669670105, + -0.2991716265678406 + ], + "joints": [ + 0.018052441999316216 + ] + }, + "final_grasp": { + "position": [ + -0.041144222021102905, + 0.16028596460819244, + 0.09991252422332764 + ], + "orientation": [ + 0.44606268405914307, + 0.5012613534927368, + 0.678425669670105, + -0.2991716265678406 + ], + "joints": [ + 0.008815629407763481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09188853204250336, + 0.040766168385744095, + -0.16274094581604004 + ], + "orientation": [ + 0.9154903888702393, + 0.07748551666736603, + -0.377799928188324, + -0.11463256180286407 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08983127772808075, + 0.04021354019641876, + -0.15917353332042694 + ], + "orientation": [ + 0.9177013039588928, + 0.07752548158168793, + -0.3728489577770233, + -0.11312650144100189 + ], + "joints": [ + 0.029921840876340866 + ] + }, + "final_grasp": { + "position": [ + 0.08983127772808075, + 0.04021354019641876, + -0.15917353332042694 + ], + "orientation": [ + 0.9177013039588928, + 0.07752548158168793, + -0.3728489577770233, + -0.11312650144100189 + ], + "joints": [ + 0.02484368160367012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01352615561336279, + 0.16650758683681488, + 0.04427480697631836 + ], + "orientation": [ + 0.6289393901824951, + 0.5747671127319336, + 0.40448102355003357, + -0.33237484097480774 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.01303214393556118, + 0.16318675875663757, + 0.04452633857727051 + ], + "orientation": [ + 0.6289004683494568, + 0.5737566351890564, + 0.4040643274784088, + -0.33469319343566895 + ], + "joints": [ + 0.020666755735874176 + ] + }, + "final_grasp": { + "position": [ + -0.01303214393556118, + 0.16318675875663757, + 0.04452633857727051 + ], + "orientation": [ + 0.6289004683494568, + 0.5737566351890564, + 0.4040643274784088, + -0.33469319343566895 + ], + "joints": [ + 0.011450842022895813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12116910517215729, + 0.05781799554824829, + 0.03193298354744911 + ], + "orientation": [ + 0.0709134191274643, + -0.7561727166175842, + 0.16120415925979614, + -0.6302279233932495 + ], + "joints": [ + 0.02437567710876465 + ] + }, + "fine_grasp": { + "position": [ + -0.11707403510808945, + 0.0572856105864048, + 0.032473135739564896 + ], + "orientation": [ + 0.07707593590021133, + -0.7510906457901001, + 0.16664475202560425, + -0.634154200553894 + ], + "joints": [ + 0.016413629055023193 + ] + }, + "final_grasp": { + "position": [ + -0.11707403510808945, + 0.0572856105864048, + 0.032473135739564896 + ], + "orientation": [ + 0.07707593590021133, + -0.7510906457901001, + 0.16664475202560425, + -0.634154200553894 + ], + "joints": [ + 0.008451581001281738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020628906786441803, + 0.16959020495414734, + 0.07924764603376389 + ], + "orientation": [ + 0.30191871523857117, + 0.5442726612091064, + -0.6010658740997314, + 0.5013302564620972 + ], + "joints": [ + 0.026409348472952843 + ] + }, + "fine_grasp": { + "position": [ + -0.020114123821258545, + 0.1659635305404663, + 0.0785939022898674 + ], + "orientation": [ + 0.30562350153923035, + 0.5433236956596375, + -0.5983095169067383, + 0.5034076571464539 + ], + "joints": [ + 0.016775479540228844 + ] + }, + "final_grasp": { + "position": [ + -0.020114123821258545, + 0.1659635305404663, + 0.0785939022898674 + ], + "orientation": [ + 0.30562350153923035, + 0.5433236956596375, + -0.5983095169067383, + 0.5034076571464539 + ], + "joints": [ + 0.007141610607504845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03526528924703598, + -0.020569292828440666, + 0.17385217547416687 + ], + "orientation": [ + 0.003208954120054841, + 0.5629937052726746, + -0.79697585105896, + -0.21876299381256104 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.03395818546414375, + -0.01987181231379509, + 0.170322448015213 + ], + "orientation": [ + 0.011654590256512165, + 0.5672473907470703, + -0.7953935265541077, + -0.21317541599273682 + ], + "joints": [ + 0.02426041290163994 + ] + }, + "final_grasp": { + "position": [ + 0.03395818546414375, + -0.01987181231379509, + 0.170322448015213 + ], + "orientation": [ + 0.011654590256512165, + 0.5672473907470703, + -0.7953935265541077, + -0.21317541599273682 + ], + "joints": [ + 0.015859510749578476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0055879876017570496, + 0.0724736899137497, + 0.1758025884628296 + ], + "orientation": [ + 0.0823790654540062, + 0.43964093923568726, + 0.8719464540481567, + -0.19909553229808807 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.00504284119233489, + 0.07069742679595947, + 0.17174921929836273 + ], + "orientation": [ + 0.0685400441288948, + 0.42718949913978577, + 0.8808322548866272, + -0.1922135055065155 + ], + "joints": [ + 0.029127728193998337 + ] + }, + "final_grasp": { + "position": [ + 0.00504284119233489, + 0.07069742679595947, + 0.17174921929836273 + ], + "orientation": [ + 0.0685400441288948, + 0.42718949913978577, + 0.8808322548866272, + -0.1922135055065155 + ], + "joints": [ + 0.02325545623898506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038582880049943924, + 0.15687741339206696, + 0.06371346116065979 + ], + "orientation": [ + 0.27706512808799744, + 0.5477861762046814, + -0.5410016775131226, + 0.574876070022583 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + -0.037620361894369125, + 0.15365341305732727, + 0.0636608675122261 + ], + "orientation": [ + 0.28121018409729004, + 0.5465063452720642, + -0.5389040112495422, + 0.5760504603385925 + ], + "joints": [ + 0.019829746335744858 + ] + }, + "final_grasp": { + "position": [ + -0.037620361894369125, + 0.15365341305732727, + 0.0636608675122261 + ], + "orientation": [ + 0.28121018409729004, + 0.5465063452720642, + -0.5389040112495422, + 0.5760504603385925 + ], + "joints": [ + 0.01021677628159523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010211187414824963, + -0.09434805065393448, + -0.05078452080488205 + ], + "orientation": [ + 0.47599509358406067, + -0.5393090844154358, + -0.4824264943599701, + -0.4998389780521393 + ], + "joints": [ + 0.021163957193493843 + ] + }, + "fine_grasp": { + "position": [ + -0.00991535373032093, + -0.0910097062587738, + -0.05275909602642059 + ], + "orientation": [ + 0.46962207555770874, + -0.546971321105957, + -0.488043874502182, + -0.4920271933078766 + ], + "joints": [ + 0.012783953920006752 + ] + }, + "final_grasp": { + "position": [ + -0.00991535373032093, + -0.0910097062587738, + -0.05275909602642059 + ], + "orientation": [ + 0.46962207555770874, + -0.546971321105957, + -0.488043874502182, + -0.4920271933078766 + ], + "joints": [ + 0.004403950646519661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016041824594140053, + 0.1686186045408249, + 0.09349112957715988 + ], + "orientation": [ + 0.3793368339538574, + 0.44885388016700745, + 0.6774833798408508, + -0.4423235356807709 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.015705065801739693, + 0.1650831401348114, + 0.09221301227807999 + ], + "orientation": [ + 0.3782199025154114, + 0.4489987790584564, + 0.6779348850250244, + -0.4424411952495575 + ], + "joints": [ + 0.020345991477370262 + ] + }, + "final_grasp": { + "position": [ + -0.015705065801739693, + 0.1650831401348114, + 0.09221301227807999 + ], + "orientation": [ + 0.3782199025154114, + 0.4489987790584564, + 0.6779348850250244, + -0.4424411952495575 + ], + "joints": [ + 0.011527134105563164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07749320566654205, + 0.10075853019952774, + 0.14288660883903503 + ], + "orientation": [ + 0.04110546037554741, + -0.725962221622467, + 0.5835866332054138, + -0.36154651641845703 + ], + "joints": [ + 0.02661774680018425 + ] + }, + "fine_grasp": { + "position": [ + -0.07523083686828613, + 0.09918234497308731, + 0.1402629017829895 + ], + "orientation": [ + 0.033885031938552856, + -0.7251068949699402, + 0.5803908705711365, + -0.36907753348350525 + ], + "joints": [ + 0.018216844648122787 + ] + }, + "final_grasp": { + "position": [ + -0.07523083686828613, + 0.09918234497308731, + 0.1402629017829895 + ], + "orientation": [ + 0.033885031938552856, + -0.7251068949699402, + 0.5803908705711365, + -0.36907753348350525 + ], + "joints": [ + 0.009815942496061325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015980103984475136, + 0.16868956387043, + 0.09334520250558853 + ], + "orientation": [ + 0.37927868962287903, + 0.44963502883911133, + 0.6771472096443176, + -0.4420948326587677 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.015615308657288551, + 0.16513927280902863, + 0.09203279763460159 + ], + "orientation": [ + 0.3783703148365021, + 0.4495484530925751, + 0.6777794361114502, + -0.4419923424720764 + ], + "joints": [ + 0.02032509259879589 + ] + }, + "final_grasp": { + "position": [ + -0.015615308657288551, + 0.16513927280902863, + 0.09203279763460159 + ], + "orientation": [ + 0.3783703148365021, + 0.4495484530925751, + 0.6777794361114502, + -0.4419923424720764 + ], + "joints": [ + 0.011485336348414421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0305912047624588, + 0.1839258372783661, + -0.009714747779071331 + ], + "orientation": [ + 0.40393421053886414, + 0.5328424572944641, + 0.47557538747787476, + -0.57161545753479 + ], + "joints": [ + 0.019694270566105843 + ] + }, + "fine_grasp": { + "position": [ + 0.02967519499361515, + 0.18014582991600037, + -0.009926922619342804 + ], + "orientation": [ + 0.4032914638519287, + 0.5328972935676575, + 0.47661441564559937, + -0.5711524486541748 + ], + "joints": [ + 0.010875413194298744 + ] + }, + "final_grasp": { + "position": [ + 0.02967519499361515, + 0.18014582991600037, + -0.009926922619342804 + ], + "orientation": [ + 0.4032914638519287, + 0.5328972935676575, + 0.47661441564559937, + -0.5711524486541748 + ], + "joints": [ + 0.002056555822491646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032732490450143814, + 0.15629999339580536, + 0.089111328125 + ], + "orientation": [ + 0.21679097414016724, + 0.4999612271785736, + -0.6388815641403198, + 0.5430200099945068 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + -0.03145492076873779, + 0.15310265123844147, + 0.08760695904493332 + ], + "orientation": [ + 0.21542474627494812, + 0.5046541690826416, + -0.6380923390388489, + 0.5401430130004883 + ], + "joints": [ + 0.02077796310186386 + ] + }, + "final_grasp": { + "position": [ + -0.03145492076873779, + 0.15310265123844147, + 0.08760695904493332 + ], + "orientation": [ + 0.21542474627494812, + 0.5046541690826416, + -0.6380923390388489, + 0.5401430130004883 + ], + "joints": [ + 0.010747037827968597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03820241615176201, + 0.15539972484111786, + 0.06320913881063461 + ], + "orientation": [ + 0.2762294113636017, + 0.5528632998466492, + -0.540148138999939, + 0.5712087750434875 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.03739647939801216, + 0.15229256451129913, + 0.06333543360233307 + ], + "orientation": [ + 0.28337159752845764, + 0.5500457286834717, + -0.5365838408470154, + 0.5737840533256531 + ], + "joints": [ + 0.019366636872291565 + ] + }, + "final_grasp": { + "position": [ + -0.03739647939801216, + 0.15229256451129913, + 0.06333543360233307 + ], + "orientation": [ + 0.28337159752845764, + 0.5500457286834717, + -0.5365838408470154, + 0.5737840533256531 + ], + "joints": [ + 0.009753666818141937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02106584794819355, + 0.16829095780849457, + 0.02965066209435463 + ], + "orientation": [ + 0.588003933429718, + 0.5764703750610352, + -0.33313223719596863, + 0.4592996835708618 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + -0.02032605931162834, + 0.16512778401374817, + 0.03049168549478054 + ], + "orientation": [ + 0.588810384273529, + 0.5741375088691711, + -0.3329699635505676, + 0.4613020718097687 + ], + "joints": [ + 0.020203646272420883 + ] + }, + "final_grasp": { + "position": [ + -0.02032605931162834, + 0.16512778401374817, + 0.03049168549478054 + ], + "orientation": [ + 0.588810384273529, + 0.5741375088691711, + -0.3329699635505676, + 0.4613020718097687 + ], + "joints": [ + 0.01098773255944252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04576590657234192, + 0.06595416367053986, + 0.17304985225200653 + ], + "orientation": [ + 0.2407694309949875, + 0.7649843096733093, + -0.5963737368583679, + -0.03416886925697327 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + 0.04419879987835884, + 0.06471842527389526, + 0.169790580868721 + ], + "orientation": [ + 0.2398134469985962, + 0.7721028923988342, + -0.5873549580574036, + -0.03688798099756241 + ], + "joints": [ + 0.024381861090660095 + ] + }, + "final_grasp": { + "position": [ + 0.04419879987835884, + 0.06471842527389526, + 0.169790580868721 + ], + "orientation": [ + 0.2398134469985962, + 0.7721028923988342, + -0.5873549580574036, + -0.03688798099756241 + ], + "joints": [ + 0.016357116401195526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051145367324352264, + 0.16376081109046936, + 0.02717766910791397 + ], + "orientation": [ + 0.7085065245628357, + 0.46527189016342163, + 0.45394086837768555, + -0.2747329771518707 + ], + "joints": [ + 0.029604801908135414 + ] + }, + "fine_grasp": { + "position": [ + -0.04963479936122894, + 0.16040559113025665, + 0.027722515165805817 + ], + "orientation": [ + 0.7073624134063721, + 0.46567195653915405, + 0.45458802580833435, + -0.27593058347702026 + ], + "joints": [ + 0.02036798931658268 + ] + }, + "final_grasp": { + "position": [ + -0.04963479936122894, + 0.16040559113025665, + 0.027722515165805817 + ], + "orientation": [ + 0.7073624134063721, + 0.46567195653915405, + 0.45458802580833435, + -0.27593058347702026 + ], + "joints": [ + 0.011131176725029945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07700417935848236, + 0.09968926757574081, + 0.14295585453510284 + ], + "orientation": [ + 0.03790631517767906, + -0.7121903896331787, + 0.5956583619117737, + -0.3695118725299835 + ], + "joints": [ + 0.027775520458817482 + ] + }, + "fine_grasp": { + "position": [ + -0.07473410665988922, + 0.09810913354158401, + 0.14024987816810608 + ], + "orientation": [ + 0.032760363072156906, + -0.7142361998558044, + 0.5908344388008118, + -0.3737754225730896 + ], + "joints": [ + 0.018956663087010384 + ] + }, + "final_grasp": { + "position": [ + -0.07473410665988922, + 0.09810913354158401, + 0.14024987816810608 + ], + "orientation": [ + 0.032760363072156906, + -0.7142361998558044, + 0.5908344388008118, + -0.3737754225730896 + ], + "joints": [ + 0.010137805715203285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01597091183066368, + 0.168683722615242, + 0.09334757924079895 + ], + "orientation": [ + 0.379189133644104, + 0.44944247603416443, + 0.6772258877754211, + -0.442246675491333 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.015616497956216335, + 0.16514021158218384, + 0.0920327678322792 + ], + "orientation": [ + 0.37806326150894165, + 0.4494904577732086, + 0.6777989864349365, + -0.44228383898735046 + ], + "joints": [ + 0.02032509259879589 + ] + }, + "final_grasp": { + "position": [ + -0.015616497956216335, + 0.16514021158218384, + 0.0920327678322792 + ], + "orientation": [ + 0.37806326150894165, + 0.4494904577732086, + 0.6777989864349365, + -0.44228383898735046 + ], + "joints": [ + 0.011485336348414421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07848290354013443, + 0.1015278697013855, + 0.14393937587738037 + ], + "orientation": [ + 0.04415901377797127, + -0.7170175909996033, + 0.5926489233970642, + -0.3642841577529907 + ], + "joints": [ + 0.026363035663962364 + ] + }, + "fine_grasp": { + "position": [ + -0.07628738880157471, + 0.09993069618940353, + 0.14130975306034088 + ], + "orientation": [ + 0.03838310390710831, + -0.716900110244751, + 0.5897282361984253, + -0.36986684799194336 + ], + "joints": [ + 0.017523279413580894 + ] + }, + "final_grasp": { + "position": [ + -0.07628738880157471, + 0.09993069618940353, + 0.14130975306034088 + ], + "orientation": [ + 0.03838310390710831, + -0.716900110244751, + 0.5897282361984253, + -0.36986684799194336 + ], + "joints": [ + 0.008683523163199425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03090902790427208, + 0.1843440681695938, + -0.009563514031469822 + ], + "orientation": [ + 0.40457215905189514, + 0.5318570733070374, + 0.4741886556148529, + -0.5732318162918091 + ], + "joints": [ + 0.019462715834379196 + ] + }, + "fine_grasp": { + "position": [ + 0.029995162039995193, + 0.18053676187992096, + -0.009772478602826595 + ], + "orientation": [ + 0.40376460552215576, + 0.5321083068847656, + 0.47517213225364685, + -0.5727534294128418 + ], + "joints": [ + 0.010643858462572098 + ] + }, + "final_grasp": { + "position": [ + 0.029995162039995193, + 0.18053676187992096, + -0.009772478602826595 + ], + "orientation": [ + 0.40376460552215576, + 0.5321083068847656, + 0.47517213225364685, + -0.5727534294128418 + ], + "joints": [ + 0.0018250010907649994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11024154722690582, + 0.0014093344798311591, + -0.05137758329510689 + ], + "orientation": [ + 0.0818030908703804, + -0.630653440952301, + 0.1855172961950302, + 0.7491112947463989 + ], + "joints": [ + 0.026639681309461594 + ] + }, + "fine_grasp": { + "position": [ + 0.10649807006120682, + 0.0025985492393374443, + -0.052225902676582336 + ], + "orientation": [ + 0.08037294447422028, + -0.6335452795028687, + 0.17988213896751404, + 0.7481998205184937 + ], + "joints": [ + 0.017444666475057602 + ] + }, + "final_grasp": { + "position": [ + 0.10649807006120682, + 0.0025985492393374443, + -0.052225902676582336 + ], + "orientation": [ + 0.08037294447422028, + -0.6335452795028687, + 0.17988213896751404, + 0.7481998205184937 + ], + "joints": [ + 0.00824965164065361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009446759708225727, + -0.09328833967447281, + -0.05189714953303337 + ], + "orientation": [ + 0.4674610495567322, + -0.5503023266792297, + -0.4887601137161255, + -0.48965391516685486 + ], + "joints": [ + 0.02321307174861431 + ] + }, + "fine_grasp": { + "position": [ + -0.009054969996213913, + -0.08976637572050095, + -0.05341734737157822 + ], + "orientation": [ + 0.46526822447776794, + -0.5541101098060608, + -0.4909023642539978, + -0.4852859079837799 + ], + "joints": [ + 0.013621000573039055 + ] + }, + "final_grasp": { + "position": [ + -0.009054969996213913, + -0.08976637572050095, + -0.05341734737157822 + ], + "orientation": [ + 0.46526822447776794, + -0.5541101098060608, + -0.4909023642539978, + -0.4852859079837799 + ], + "joints": [ + 0.0040289293974637985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010461567901074886, + -0.09428102523088455, + -0.05250052362680435 + ], + "orientation": [ + 0.4604312777519226, + -0.5481886267662048, + -0.4944097399711609, + -0.49300214648246765 + ], + "joints": [ + 0.023321466520428658 + ] + }, + "fine_grasp": { + "position": [ + -0.010010995902121067, + -0.09059197455644608, + -0.05403388664126396 + ], + "orientation": [ + 0.45566242933273315, + -0.5497928857803345, + -0.49750229716300964, + -0.49253520369529724 + ], + "joints": [ + 0.014126451686024666 + ] + }, + "final_grasp": { + "position": [ + -0.010010995902121067, + -0.09059197455644608, + -0.05403388664126396 + ], + "orientation": [ + 0.45566242933273315, + -0.5497928857803345, + -0.49750229716300964, + -0.49253520369529724 + ], + "joints": [ + 0.004931436851620674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07687447220087051, + 0.0997161716222763, + 0.14315587282180786 + ], + "orientation": [ + 0.0359521247446537, + -0.713865339756012, + 0.593960702419281, + -0.369207501411438 + ], + "joints": [ + 0.02798391878604889 + ] + }, + "fine_grasp": { + "position": [ + -0.07463818788528442, + 0.09818527847528458, + 0.14044339954853058 + ], + "orientation": [ + 0.031096836552023888, + -0.7160977125167847, + 0.58899986743927, + -0.3732510805130005 + ], + "joints": [ + 0.01914416253566742 + ] + }, + "final_grasp": { + "position": [ + -0.07463818788528442, + 0.09818527847528458, + 0.14044339954853058 + ], + "orientation": [ + 0.031096836552023888, + -0.7160977125167847, + 0.58899986743927, + -0.3732510805130005 + ], + "joints": [ + 0.01030440628528595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005464684683829546, + -0.10156693309545517, + 0.03304804861545563 + ], + "orientation": [ + 0.38973450660705566, + -0.25222405791282654, + 0.5614497661590576, + 0.6850285530090332 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.006490199826657772, + -0.09752253443002701, + 0.0334426574409008 + ], + "orientation": [ + 0.39307740330696106, + -0.26784107089042664, + 0.5603566765785217, + 0.6780499815940857 + ], + "joints": [ + 0.02451176941394806 + ] + }, + "final_grasp": { + "position": [ + -0.006490199826657772, + -0.09752253443002701, + 0.0334426574409008 + ], + "orientation": [ + 0.39307740330696106, + -0.26784107089042664, + 0.5603566765785217, + 0.6780499815940857 + ], + "joints": [ + 0.016570620238780975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006386937107890844, + -0.10181298851966858, + 0.033370863646268845 + ], + "orientation": [ + 0.38833728432655334, + -0.25443822145462036, + 0.5653327703475952, + 0.6818020939826965 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.00735785998404026, + -0.09769656509160995, + 0.03404788672924042 + ], + "orientation": [ + 0.39028048515319824, + -0.2655908763408661, + 0.5641288161277771, + 0.6774225831031799 + ], + "joints": [ + 0.025161277502775192 + ] + }, + "final_grasp": { + "position": [ + -0.00735785998404026, + -0.09769656509160995, + 0.03404788672924042 + ], + "orientation": [ + 0.39028048515319824, + -0.2655908763408661, + 0.5641288161277771, + 0.6774225831031799 + ], + "joints": [ + 0.017638083547353745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03244991600513458, + 0.15632890164852142, + 0.08846905082464218 + ], + "orientation": [ + 0.21452096104621887, + 0.49759232997894287, + -0.6402851343154907, + 0.5444425344467163 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.031232571229338646, + 0.15312165021896362, + 0.08695469796657562 + ], + "orientation": [ + 0.214189350605011, + 0.5009371638298035, + -0.6393870711326599, + 0.5425578355789185 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + -0.031232571229338646, + 0.15312165021896362, + 0.08695469796657562 + ], + "orientation": [ + 0.214189350605011, + 0.5009371638298035, + -0.6393870711326599, + 0.5425578355789185 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05033062398433685, + 0.14987531304359436, + 0.01444048248231411 + ], + "orientation": [ + 0.5891351699829102, + 0.3961227834224701, + -0.6009255051612854, + 0.3672805428504944 + ], + "joints": [ + 0.023997899144887924 + ] + }, + "fine_grasp": { + "position": [ + 0.048471156507730484, + 0.1464586704969406, + 0.014170316979289055 + ], + "orientation": [ + 0.5915302038192749, + 0.390079140663147, + -0.6042962670326233, + 0.3643573522567749 + ], + "joints": [ + 0.013569917529821396 + ] + }, + "final_grasp": { + "position": [ + 0.048471156507730484, + 0.1464586704969406, + 0.014170316979289055 + ], + "orientation": [ + 0.5915302038192749, + 0.390079140663147, + -0.6042962670326233, + 0.3643573522567749 + ], + "joints": [ + 0.0031419359147548676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09739387780427933, + -0.04609869793057442, + -0.00482316454872489 + ], + "orientation": [ + 0.3473779559135437, + -0.6514824032783508, + 0.17515914142131805, + 0.6513205170631409 + ], + "joints": [ + 0.02173255756497383 + ] + }, + "fine_grasp": { + "position": [ + 0.0946323350071907, + -0.043797679245471954, + -0.003913346212357283 + ], + "orientation": [ + 0.34775325655937195, + -0.6481063365936279, + 0.17414796352386475, + 0.6547507047653198 + ], + "joints": [ + 0.013310756534337997 + ] + }, + "final_grasp": { + "position": [ + 0.0946323350071907, + -0.043797679245471954, + -0.003913346212357283 + ], + "orientation": [ + 0.34775325655937195, + -0.6481063365936279, + 0.17414796352386475, + 0.6547507047653198 + ], + "joints": [ + 0.004888955503702164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03018968366086483, + -0.09317190945148468, + 0.020528070628643036 + ], + "orientation": [ + 0.5540057420730591, + -0.5581703186035156, + 0.3343713581562042, + 0.5193452835083008 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + 0.0290784053504467, + -0.09126770496368408, + 0.0226355642080307 + ], + "orientation": [ + 0.5568495392799377, + -0.5514162182807922, + 0.3304291367530823, + 0.5259994864463806 + ], + "joints": [ + 0.021713322028517723 + ] + }, + "final_grasp": { + "position": [ + 0.0290784053504467, + -0.09126770496368408, + 0.0226355642080307 + ], + "orientation": [ + 0.5568495392799377, + -0.5514162182807922, + 0.3304291367530823, + 0.5259994864463806 + ], + "joints": [ + 0.01331241987645626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09697426110506058, + -0.04612380638718605, + -0.004767195321619511 + ], + "orientation": [ + 0.3551761209964752, + -0.651345431804657, + 0.16850611567497253, + 0.6490029692649841 + ], + "joints": [ + 0.02209288999438286 + ] + }, + "fine_grasp": { + "position": [ + 0.09413614869117737, + -0.04382772371172905, + -0.0037890507373958826 + ], + "orientation": [ + 0.35570859909057617, + -0.6476534008979797, + 0.16743060946464539, + 0.6526740193367004 + ], + "joints": [ + 0.013650190085172653 + ] + }, + "final_grasp": { + "position": [ + 0.09413614869117737, + -0.04382772371172905, + -0.0037890507373958826 + ], + "orientation": [ + 0.35570859909057617, + -0.6476534008979797, + 0.16743060946464539, + 0.6526740193367004 + ], + "joints": [ + 0.005207490175962448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02717086859047413, + 0.0696491226553917, + 0.16912591457366943 + ], + "orientation": [ + 0.017009710893034935, + -0.5812775492668152, + 0.7940218448638916, + -0.17707741260528564 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.02608686499297619, + 0.06839302182197571, + 0.16552267968654633 + ], + "orientation": [ + 0.013068328611552715, + -0.5692620277404785, + 0.8014646172523499, + -0.18282349407672882 + ], + "joints": [ + 0.023721009492874146 + ] + }, + "final_grasp": { + "position": [ + -0.02608686499297619, + 0.06839302182197571, + 0.16552267968654633 + ], + "orientation": [ + 0.013068328611552715, + -0.5692620277404785, + 0.8014646172523499, + -0.18282349407672882 + ], + "joints": [ + 0.014525994658470154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0074681867845356464, + 0.031193356961011887, + -0.18640676140785217 + ], + "orientation": [ + 0.7908858060836792, + -0.02092505805194378, + 0.023464946076273918, + -0.6111555695533752 + ], + "joints": [ + 0.022715045139193535 + ] + }, + "fine_grasp": { + "position": [ + -0.007148762699216604, + 0.03108837641775608, + -0.18246996402740479 + ], + "orientation": [ + 0.7926891446113586, + -0.020125411450862885, + 0.023781845346093178, + -0.6088296175003052 + ], + "joints": [ + 0.013102075085043907 + ] + }, + "final_grasp": { + "position": [ + -0.007148762699216604, + 0.03108837641775608, + -0.18246996402740479 + ], + "orientation": [ + 0.7926891446113586, + -0.020125411450862885, + 0.023781845346093178, + -0.6088296175003052 + ], + "joints": [ + 0.0034891050308942795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04017551243305206, + 0.050249312072992325, + 0.18069857358932495 + ], + "orientation": [ + 0.07969930768013, + -0.48517584800720215, + -0.8535388112068176, + 0.1724066138267517 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.038752973079681396, + 0.04939308017492294, + 0.17681890726089478 + ], + "orientation": [ + 0.0866236761212349, + -0.47257155179977417, + -0.8611196279525757, + 0.1662689745426178 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + 0.038752973079681396, + 0.04939308017492294, + 0.17681890726089478 + ], + "orientation": [ + 0.0866236761212349, + -0.47257155179977417, + -0.8611196279525757, + 0.1662689745426178 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023285407572984695, + 0.16737782955169678, + -0.01864217035472393 + ], + "orientation": [ + 0.5405780673027039, + 0.5070985555648804, + -0.5444757342338562, + 0.39264822006225586 + ], + "joints": [ + 0.022638682276010513 + ] + }, + "fine_grasp": { + "position": [ + 0.022554706782102585, + 0.16354310512542725, + -0.01898275874555111 + ], + "orientation": [ + 0.5431015491485596, + 0.5088664293289185, + -0.5427737832069397, + 0.38922032713890076 + ], + "joints": [ + 0.01181364431977272 + ] + }, + "final_grasp": { + "position": [ + 0.022554706782102585, + 0.16354310512542725, + -0.01898275874555111 + ], + "orientation": [ + 0.5431015491485596, + 0.5088664293289185, + -0.5427737832069397, + 0.38922032713890076 + ], + "joints": [ + 0.0009886063635349274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.062420736998319626, + 0.15438911318778992, + 0.027333367615938187 + ], + "orientation": [ + 0.5418105125427246, + 0.3988197147846222, + -0.6743243336677551, + 0.3044189214706421 + ], + "joints": [ + 0.023508161306381226 + ] + }, + "fine_grasp": { + "position": [ + 0.060453325510025024, + 0.15100017189979553, + 0.026679199188947678 + ], + "orientation": [ + 0.5433003902435303, + 0.3974091112613678, + -0.6732785701751709, + 0.3059193789958954 + ], + "joints": [ + 0.013498134911060333 + ] + }, + "final_grasp": { + "position": [ + 0.060453325510025024, + 0.15100017189979553, + 0.026679199188947678 + ], + "orientation": [ + 0.5433003902435303, + 0.3974091112613678, + -0.6732785701751709, + 0.3059193789958954 + ], + "joints": [ + 0.003488108515739441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010882070288062096, + -0.07983972877264023, + -0.14798881113529205 + ], + "orientation": [ + 0.7914681434631348, + -0.33624598383903503, + 0.2338418960571289, + 0.45369017124176025 + ], + "joints": [ + 0.022068414837121964 + ] + }, + "fine_grasp": { + "position": [ + -0.010506344959139824, + -0.07686393707990646, + -0.1456047147512436 + ], + "orientation": [ + 0.7880730032920837, + -0.3366266191005707, + 0.2382160872220993, + 0.45703011751174927 + ], + "joints": [ + 0.012455444782972336 + ] + }, + "final_grasp": { + "position": [ + -0.010506344959139824, + -0.07686393707990646, + -0.1456047147512436 + ], + "orientation": [ + 0.7880730032920837, + -0.3366266191005707, + 0.2382160872220993, + 0.45703011751174927 + ], + "joints": [ + 0.002842474728822708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06333109736442566, + 0.13530652225017548, + 0.09217529743909836 + ], + "orientation": [ + 0.5179538726806641, + 0.5340031385421753, + 0.6534750461578369, + -0.1397670954465866 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.06144949793815613, + 0.13232840597629547, + 0.09090364724397659 + ], + "orientation": [ + 0.5220486521720886, + 0.5301991105079651, + 0.6514962315559387, + -0.1480095237493515 + ], + "joints": [ + 0.019851744174957275 + ] + }, + "final_grasp": { + "position": [ + -0.06144949793815613, + 0.13232840597629547, + 0.09090364724397659 + ], + "orientation": [ + 0.5220486521720886, + 0.5301991105079651, + 0.6514962315559387, + -0.1480095237493515 + ], + "joints": [ + 0.009820818901062012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03270505368709564, + 0.15722773969173431, + 0.004658487159758806 + ], + "orientation": [ + 0.6024380326271057, + 0.4833146333694458, + 0.5213848948478699, + -0.36281266808509827 + ], + "joints": [ + 0.0224875807762146 + ] + }, + "fine_grasp": { + "position": [ + -0.03130462020635605, + 0.15353931486606598, + 0.004115615505725145 + ], + "orientation": [ + 0.6108188033103943, + 0.49003493785858154, + 0.5122279524803162, + -0.3526879549026489 + ], + "joints": [ + 0.013292565941810608 + ] + }, + "final_grasp": { + "position": [ + -0.03130462020635605, + 0.15353931486606598, + 0.004115615505725145 + ], + "orientation": [ + 0.6108188033103943, + 0.49003493785858154, + 0.5122279524803162, + -0.3526879549026489 + ], + "joints": [ + 0.004097551107406616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007819710299372673, + -0.10474438220262527, + 0.05346027761697769 + ], + "orientation": [ + 0.34133821725845337, + -0.44441869854927063, + -0.5914266705513, + -0.5798230171203613 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.007652182597666979, + -0.10075236111879349, + 0.05429398640990257 + ], + "orientation": [ + 0.35575374960899353, + -0.4443874955177307, + -0.582587480545044, + -0.5801299810409546 + ], + "joints": [ + 0.022936049848794937 + ] + }, + "final_grasp": { + "position": [ + -0.007652182597666979, + -0.10075236111879349, + 0.05429398640990257 + ], + "orientation": [ + 0.35575374960899353, + -0.4443874955177307, + -0.582587480545044, + -0.5801299810409546 + ], + "joints": [ + 0.014576945453882217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06527793407440186, + 0.08364693075418472, + 0.16140203177928925 + ], + "orientation": [ + 0.2826102077960968, + 0.7252787351608276, + -0.6209350824356079, + -0.09242253750562668 + ], + "joints": [ + 0.028447028249502182 + ] + }, + "fine_grasp": { + "position": [ + 0.06331709772348404, + 0.08248049020767212, + 0.1584341824054718 + ], + "orientation": [ + 0.28725382685661316, + 0.726233720779419, + -0.6184452176094055, + -0.08715078979730606 + ], + "joints": [ + 0.019983429461717606 + ] + }, + "final_grasp": { + "position": [ + 0.06331709772348404, + 0.08248049020767212, + 0.1584341824054718 + ], + "orientation": [ + 0.28725382685661316, + 0.726233720779419, + -0.6184452176094055, + -0.08715078979730606 + ], + "joints": [ + 0.01151983067393303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03265386074781418, + -0.08350788056850433, + -0.13556335866451263 + ], + "orientation": [ + 0.6508374214172363, + -0.4521726667881012, + 0.21214398741722107, + 0.5717912912368774 + ], + "joints": [ + 0.021708793938159943 + ] + }, + "fine_grasp": { + "position": [ + 0.031165026128292084, + -0.0815499946475029, + -0.13253924250602722 + ], + "orientation": [ + 0.6520677208900452, + -0.4474436044692993, + 0.20560596883296967, + 0.5764791965484619 + ], + "joints": [ + 0.01249288022518158 + ] + }, + "final_grasp": { + "position": [ + 0.031165026128292084, + -0.0815499946475029, + -0.13253924250602722 + ], + "orientation": [ + 0.6520677208900452, + -0.4474436044692993, + 0.20560596883296967, + 0.5764791965484619 + ], + "joints": [ + 0.0032769665122032166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08261972665786743, + 0.07181955873966217, + 0.13815203309059143 + ], + "orientation": [ + 0.1289459615945816, + -0.5450108051300049, + -0.7231466174125671, + 0.4042215645313263 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.0798778086900711, + 0.07030504196882248, + 0.1361042857170105 + ], + "orientation": [ + 0.13264095783233643, + -0.538151741027832, + -0.7275418043136597, + 0.40432900190353394 + ], + "joints": [ + 0.023379351943731308 + ] + }, + "final_grasp": { + "position": [ + 0.0798778086900711, + 0.07030504196882248, + 0.1361042857170105 + ], + "orientation": [ + 0.13264095783233643, + -0.538151741027832, + -0.7275418043136597, + 0.40432900190353394 + ], + "joints": [ + 0.01456049457192421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04340772330760956, + 0.16492758691310883, + -0.09121900051832199 + ], + "orientation": [ + 0.602856457233429, + 0.6076120734214783, + -0.2174278348684311, + 0.46914464235305786 + ], + "joints": [ + 0.02191719226539135 + ] + }, + "fine_grasp": { + "position": [ + -0.04180954024195671, + 0.16180987656116486, + -0.08972963690757751 + ], + "orientation": [ + 0.6048736572265625, + 0.6043204665184021, + -0.21357294917106628, + 0.47255823016166687 + ], + "joints": [ + 0.013098334893584251 + ] + }, + "final_grasp": { + "position": [ + -0.04180954024195671, + 0.16180987656116486, + -0.08972963690757751 + ], + "orientation": [ + 0.6048736572265625, + 0.6043204665184021, + -0.21357294917106628, + 0.47255823016166687 + ], + "joints": [ + 0.004279477521777153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023993847891688347, + -0.1060861125588417, + 0.09509532898664474 + ], + "orientation": [ + 0.5694910883903503, + -0.7133646607398987, + 0.36465227603912354, + 0.1839006394147873 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + -0.023224569857120514, + -0.10247284919023514, + 0.09389697760343552 + ], + "orientation": [ + 0.5659232139587402, + -0.7130577564239502, + 0.37205013632774353, + 0.18126840889453888 + ], + "joints": [ + 0.0225864015519619 + ] + }, + "final_grasp": { + "position": [ + -0.023224569857120514, + -0.10247284919023514, + 0.09389697760343552 + ], + "orientation": [ + 0.5659232139587402, + -0.7130577564239502, + 0.37205013632774353, + 0.18126840889453888 + ], + "joints": [ + 0.013391386717557907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02476787008345127, + -0.10624070465564728, + 0.09529681503772736 + ], + "orientation": [ + 0.5700497627258301, + -0.7120532989501953, + 0.36633068323135376, + 0.18391650915145874 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.023963987827301025, + -0.10253876447677612, + 0.0938539057970047 + ], + "orientation": [ + 0.5656614899635315, + -0.7119978070259094, + 0.37504148483276367, + 0.18008320033550262 + ], + "joints": [ + 0.023026350885629654 + ] + }, + "final_grasp": { + "position": [ + -0.023963987827301025, + -0.10253876447677612, + 0.0938539057970047 + ], + "orientation": [ + 0.5656614899635315, + -0.7119978070259094, + 0.37504148483276367, + 0.18008320033550262 + ], + "joints": [ + 0.013831336051225662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015426195226609707, + 0.06079839915037155, + -0.1827242523431778 + ], + "orientation": [ + 0.7213125824928284, + 0.1297878623008728, + 0.0360049344599247, + -0.6793871521949768 + ], + "joints": [ + 0.022683294489979744 + ] + }, + "fine_grasp": { + "position": [ + 0.014831725507974625, + 0.06028972566127777, + -0.17895354330539703 + ], + "orientation": [ + 0.721442699432373, + 0.12931568920612335, + 0.03430050238966942, + -0.6794272065162659 + ], + "joints": [ + 0.012234413996338844 + ] + }, + "final_grasp": { + "position": [ + 0.014831725507974625, + 0.06028972566127777, + -0.17895354330539703 + ], + "orientation": [ + 0.721442699432373, + 0.12931568920612335, + 0.03430050238966942, + -0.6794272065162659 + ], + "joints": [ + 0.0017855335026979446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03473023697733879, + -0.06491740792989731, + -0.15113188326358795 + ], + "orientation": [ + 0.6378206610679626, + -0.3583987355232239, + -0.1463700383901596, + -0.6658158898353577 + ], + "joints": [ + 0.022357499226927757 + ] + }, + "fine_grasp": { + "position": [ + -0.03305147588253021, + -0.06296476721763611, + -0.14808577299118042 + ], + "orientation": [ + 0.6360076069831848, + -0.35682860016822815, + -0.1439090073108673, + -0.6689229011535645 + ], + "joints": [ + 0.013162484392523766 + ] + }, + "final_grasp": { + "position": [ + -0.03305147588253021, + -0.06296476721763611, + -0.14808577299118042 + ], + "orientation": [ + 0.6360076069831848, + -0.35682860016822815, + -0.1439090073108673, + -0.6689229011535645 + ], + "joints": [ + 0.003967469558119774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05403892695903778, + 0.09640363603830338, + 0.14068880677223206 + ], + "orientation": [ + 0.35914722084999084, + 0.7345108985900879, + -0.5749424695968628, + -0.030791522935032845 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.051620494574308395, + 0.0948181226849556, + 0.13808739185333252 + ], + "orientation": [ + 0.3594180941581726, + 0.7358260154724121, + -0.5733136534690857, + -0.026273131370544434 + ], + "joints": [ + 0.022188182920217514 + ] + }, + "final_grasp": { + "position": [ + 0.051620494574308395, + 0.0948181226849556, + 0.13808739185333252 + ], + "orientation": [ + 0.3594180941581726, + 0.7358260154724121, + -0.5733136534690857, + -0.026273131370544434 + ], + "joints": [ + 0.012178156524896622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03901294991374016, + -0.05709601938724518, + -0.1436997801065445 + ], + "orientation": [ + 0.8992275595664978, + -0.36232030391693115, + -0.19798995554447174, + -0.14461645483970642 + ], + "joints": [ + 0.026876190677285194 + ] + }, + "fine_grasp": { + "position": [ + 0.03791177272796631, + -0.05467730015516281, + -0.1422712206840515 + ], + "orientation": [ + 0.8974740505218506, + -0.3613755404949188, + -0.20519116520881653, + -0.1477993130683899 + ], + "joints": [ + 0.017263220623135567 + ] + }, + "final_grasp": { + "position": [ + 0.03791177272796631, + -0.05467730015516281, + -0.1422712206840515 + ], + "orientation": [ + 0.8974740505218506, + -0.3613755404949188, + -0.20519116520881653, + -0.1477993130683899 + ], + "joints": [ + 0.007650250568985939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.000923577172216028, + -0.06822680681943893, + -0.15135693550109863 + ], + "orientation": [ + 0.793057918548584, + -0.3473336696624756, + -0.19832810759544373, + -0.4594391882419586 + ], + "joints": [ + 0.02406841702759266 + ] + }, + "fine_grasp": { + "position": [ + -0.0006842394359409809, + -0.0661768764257431, + -0.14866989850997925 + ], + "orientation": [ + 0.7930752038955688, + -0.3434942960739136, + -0.1972002238035202, + -0.46276935935020447 + ], + "joints": [ + 0.014852503314614296 + ] + }, + "final_grasp": { + "position": [ + -0.0006842394359409809, + -0.0661768764257431, + -0.14866989850997925 + ], + "orientation": [ + 0.7930752038955688, + -0.3434942960739136, + -0.1972002238035202, + -0.46276935935020447 + ], + "joints": [ + 0.005636589601635933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02832818403840065, + -0.08817195892333984, + 0.008860547095537186 + ], + "orientation": [ + 0.49497300386428833, + -0.5610336661338806, + 0.38594409823417664, + 0.5397128462791443 + ], + "joints": [ + 0.02331276424229145 + ] + }, + "fine_grasp": { + "position": [ + 0.027137862518429756, + -0.08470577746629715, + 0.01066241879016161 + ], + "orientation": [ + 0.49614447355270386, + -0.5585536360740662, + 0.38494452834129333, + 0.5419189929962158 + ], + "joints": [ + 0.014535704627633095 + ] + }, + "final_grasp": { + "position": [ + 0.027137862518429756, + -0.08470577746629715, + 0.01066241879016161 + ], + "orientation": [ + 0.49614447355270386, + -0.5585536360740662, + 0.38494452834129333, + 0.5419189929962158 + ], + "joints": [ + 0.005758645012974739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024084346368908882, + 0.16371843218803406, + 0.07395536452531815 + ], + "orientation": [ + 0.3643942177295685, + 0.34705257415771484, + 0.6983775496482849, + -0.5089598894119263 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + -0.02355639450252056, + 0.1603989452123642, + 0.07333578914403915 + ], + "orientation": [ + 0.36590877175331116, + 0.34722673892974854, + 0.6963091492652893, + -0.5105858445167542 + ], + "joints": [ + 0.02167992666363716 + ] + }, + "final_grasp": { + "position": [ + -0.02355639450252056, + 0.1603989452123642, + 0.07333578914403915 + ], + "orientation": [ + 0.36590877175331116, + 0.34722673892974854, + 0.6963091492652893, + -0.5105858445167542 + ], + "joints": [ + 0.012087855488061905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03181428834795952, + -0.08620405197143555, + -0.1167021319270134 + ], + "orientation": [ + 0.6008580923080444, + -0.4854965806007385, + -0.25511011481285095, + -0.5815337896347046 + ], + "joints": [ + 0.023567531257867813 + ] + }, + "fine_grasp": { + "position": [ + -0.030788810923695564, + -0.0840151235461235, + -0.11467406153678894 + ], + "orientation": [ + 0.5994436740875244, + -0.48207908868789673, + -0.2517819404602051, + -0.5872588753700256 + ], + "joints": [ + 0.014372516423463821 + ] + }, + "final_grasp": { + "position": [ + -0.030788810923695564, + -0.0840151235461235, + -0.11467406153678894 + ], + "orientation": [ + 0.5994436740875244, + -0.48207908868789673, + -0.2517819404602051, + -0.5872588753700256 + ], + "joints": [ + 0.00517750158905983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11811570823192596, + -0.015249259769916534, + -0.0938475951552391 + ], + "orientation": [ + 0.778669536113739, + -0.31331315636634827, + -0.5378478169441223, + 0.07892054319381714 + ], + "joints": [ + 0.026325244456529617 + ] + }, + "fine_grasp": { + "position": [ + 0.1142553836107254, + -0.014197638258337975, + -0.09361272305250168 + ], + "orientation": [ + 0.7764105200767517, + -0.30567753314971924, + -0.5450935959815979, + 0.0813685804605484 + ], + "joints": [ + 0.017130229622125626 + ] + }, + "final_grasp": { + "position": [ + 0.1142553836107254, + -0.014197638258337975, + -0.09361272305250168 + ], + "orientation": [ + 0.7764105200767517, + -0.30567753314971924, + -0.5450935959815979, + 0.0813685804605484 + ], + "joints": [ + 0.007935214787721634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02457074448466301, + 0.17086420953273773, + -0.035640839487314224 + ], + "orientation": [ + 0.5005545020103455, + 0.5929280519485474, + -0.39013198018074036, + 0.4956596791744232 + ], + "joints": [ + 0.02312127873301506 + ] + }, + "fine_grasp": { + "position": [ + -0.023861169815063477, + 0.16710077226161957, + -0.03567194938659668 + ], + "orientation": [ + 0.503119945526123, + 0.594642162322998, + -0.3873952627182007, + 0.49314919114112854 + ], + "joints": [ + 0.012693297117948532 + ] + }, + "final_grasp": { + "position": [ + -0.023861169815063477, + 0.16710077226161957, + -0.03567194938659668 + ], + "orientation": [ + 0.503119945526123, + 0.594642162322998, + -0.3873952627182007, + 0.49314919114112854 + ], + "joints": [ + 0.002265315502882004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041113533079624176, + -0.06309245526790619, + -0.1432466208934784 + ], + "orientation": [ + 0.4647614657878876, + -0.029478758573532104, + -0.4272412955760956, + -0.7749791741371155 + ], + "joints": [ + 0.022265048697590828 + ] + }, + "fine_grasp": { + "position": [ + 0.039408084005117416, + -0.061007507145404816, + -0.14048269391059875 + ], + "orientation": [ + 0.46903786063194275, + -0.03180401772260666, + -0.42368537187576294, + -0.7742626667022705 + ], + "joints": [ + 0.0118370670825243 + ] + }, + "final_grasp": { + "position": [ + 0.039408084005117416, + -0.061007507145404816, + -0.14048269391059875 + ], + "orientation": [ + 0.46903786063194275, + -0.03180401772260666, + -0.42368537187576294, + -0.7742626667022705 + ], + "joints": [ + 0.0014090854674577713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024613209068775177, + 0.1708351969718933, + -0.035690587013959885 + ], + "orientation": [ + 0.49985748529434204, + 0.5928634405136108, + -0.39070358872413635, + 0.49599000811576843 + ], + "joints": [ + 0.02312127873301506 + ] + }, + "fine_grasp": { + "position": [ + -0.02394658699631691, + 0.16705186665058136, + -0.035718441009521484 + ], + "orientation": [ + 0.502544105052948, + 0.5943917036056519, + -0.3882037103176117, + 0.4934022128582001 + ], + "joints": [ + 0.012693297117948532 + ] + }, + "final_grasp": { + "position": [ + -0.02394658699631691, + 0.16705186665058136, + -0.035718441009521484 + ], + "orientation": [ + 0.502544105052948, + 0.5943917036056519, + -0.3882037103176117, + 0.4934022128582001 + ], + "joints": [ + 0.002265315502882004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028202902525663376, + -0.09210503846406937, + -0.04270492494106293 + ], + "orientation": [ + 0.5596980452537537, + -0.5822094678878784, + -0.5115925669670105, + -0.29333093762397766 + ], + "joints": [ + 0.022099100053310394 + ] + }, + "fine_grasp": { + "position": [ + 0.026456980034708977, + -0.08891355246305466, + -0.04409918561577797 + ], + "orientation": [ + 0.5549677610397339, + -0.583952784538269, + -0.5149028897285461, + -0.2930614650249481 + ], + "joints": [ + 0.012904085218906403 + ] + }, + "final_grasp": { + "position": [ + 0.026456980034708977, + -0.08891355246305466, + -0.04409918561577797 + ], + "orientation": [ + 0.5549677610397339, + -0.583952784538269, + -0.5149028897285461, + -0.2930614650249481 + ], + "joints": [ + 0.003709070384502411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02822773903608322, + -0.09145893901586533, + -0.042379915714263916 + ], + "orientation": [ + 0.5627722144126892, + -0.5875366926193237, + -0.5049859881401062, + -0.2882310152053833 + ], + "joints": [ + 0.022227471694350243 + ] + }, + "fine_grasp": { + "position": [ + 0.026415269821882248, + -0.0882621631026268, + -0.04382389783859253 + ], + "orientation": [ + 0.5576096177101135, + -0.5890545845031738, + -0.5090857744216919, + -0.2879546880722046 + ], + "joints": [ + 0.012635400518774986 + ] + }, + "final_grasp": { + "position": [ + 0.026415269821882248, + -0.0882621631026268, + -0.04382389783859253 + ], + "orientation": [ + 0.5576096177101135, + -0.5890545845031738, + -0.5090857744216919, + -0.2879546880722046 + ], + "joints": [ + 0.00304332934319973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07256856560707092, + 0.09117245674133301, + 0.1393677294254303 + ], + "orientation": [ + 0.39408981800079346, + 0.6408126354217529, + -0.6578593254089355, + -0.03568300977349281 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.07007014751434326, + 0.08961433172225952, + 0.1367478221654892 + ], + "orientation": [ + 0.39547377824783325, + 0.6366692185401917, + -0.6611925959587097, + -0.0328228622674942 + ], + "joints": [ + 0.02249719575047493 + ] + }, + "final_grasp": { + "position": [ + 0.07007014751434326, + 0.08961433172225952, + 0.1367478221654892 + ], + "orientation": [ + 0.39547377824783325, + 0.6366692185401917, + -0.6611925959587097, + -0.0328228622674942 + ], + "joints": [ + 0.013699237257242203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029446545988321304, + -0.09108677506446838, + -0.042045027017593384 + ], + "orientation": [ + 0.5595209002494812, + -0.5694153904914856, + -0.5188059210777283, + -0.30584773421287537 + ], + "joints": [ + 0.022741900756955147 + ] + }, + "fine_grasp": { + "position": [ + 0.02801240235567093, + -0.08788605034351349, + -0.04372211545705795 + ], + "orientation": [ + 0.5525420308113098, + -0.5687097311019897, + -0.5274134278297424, + -0.30512553453445435 + ], + "joints": [ + 0.013128930702805519 + ] + }, + "final_grasp": { + "position": [ + 0.02801240235567093, + -0.08788605034351349, + -0.04372211545705795 + ], + "orientation": [ + 0.5525420308113098, + -0.5687097311019897, + -0.5274134278297424, + -0.30512553453445435 + ], + "joints": [ + 0.0035159606486558914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0448460727930069, + -0.07633916288614273, + -0.016231488436460495 + ], + "orientation": [ + 0.599685788154602, + -0.42542365193367004, + 0.5580549240112305, + 0.38466399908065796 + ], + "joints": [ + 0.02157723531126976 + ] + }, + "fine_grasp": { + "position": [ + -0.04354960843920708, + -0.0727740228176117, + -0.01575581729412079 + ], + "orientation": [ + 0.6014078259468079, + -0.42738214135169983, + 0.5550258159637451, + 0.38418668508529663 + ], + "joints": [ + 0.012382220476865768 + ] + }, + "final_grasp": { + "position": [ + -0.04354960843920708, + -0.0727740228176117, + -0.01575581729412079 + ], + "orientation": [ + 0.6014078259468079, + -0.42738214135169983, + 0.5550258159637451, + 0.38418668508529663 + ], + "joints": [ + 0.0031872056424617767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11757496744394302, + -0.015099665150046349, + -0.09345333278179169 + ], + "orientation": [ + 0.778357982635498, + -0.3142523765563965, + -0.5379880666732788, + 0.07728562504053116 + ], + "joints": [ + 0.026543335989117622 + ] + }, + "fine_grasp": { + "position": [ + 0.11374057829380035, + -0.01411061268299818, + -0.09325626492500305 + ], + "orientation": [ + 0.7754484415054321, + -0.30608540773391724, + -0.5464629530906677, + 0.07981012761592865 + ], + "joints": [ + 0.01732742227613926 + ] + }, + "final_grasp": { + "position": [ + 0.11374057829380035, + -0.01411061268299818, + -0.09325626492500305 + ], + "orientation": [ + 0.7754484415054321, + -0.30608540773391724, + -0.5464629530906677, + 0.07981012761592865 + ], + "joints": [ + 0.008111508563160896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059194788336753845, + 0.1627744436264038, + 0.04010552540421486 + ], + "orientation": [ + 0.43565747141838074, + 0.6382580995559692, + -0.3225937783718109, + 0.546591579914093 + ], + "joints": [ + 0.02728925459086895 + ] + }, + "fine_grasp": { + "position": [ + -0.057576701045036316, + 0.15958312153816223, + 0.040621425956487656 + ], + "orientation": [ + 0.43672487139701843, + 0.6361927390098572, + -0.321119099855423, + 0.5490107536315918 + ], + "joints": [ + 0.018052441999316216 + ] + }, + "final_grasp": { + "position": [ + -0.057576701045036316, + 0.15958312153816223, + 0.040621425956487656 + ], + "orientation": [ + 0.43672487139701843, + 0.6361927390098572, + -0.321119099855423, + 0.5490107536315918 + ], + "joints": [ + 0.008815629407763481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025284577161073685, + 0.15223005414009094, + -0.01170221995562315 + ], + "orientation": [ + 0.5408819317817688, + 0.5314357280731201, + -0.34129175543785095, + 0.5554661154747009 + ], + "joints": [ + 0.02496384084224701 + ] + }, + "fine_grasp": { + "position": [ + -0.02453414723277092, + 0.14918829500675201, + -0.012435355223715305 + ], + "orientation": [ + 0.5502545833587646, + 0.5390514731407166, + -0.3278427720069885, + 0.5469575524330139 + ], + "joints": [ + 0.014535859227180481 + ] + }, + "final_grasp": { + "position": [ + -0.02453414723277092, + 0.14918829500675201, + -0.012435355223715305 + ], + "orientation": [ + 0.5502545833587646, + 0.5390514731407166, + -0.3278427720069885, + 0.5469575524330139 + ], + "joints": [ + 0.004107877612113953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08139608800411224, + 0.14109836518764496, + 0.06028013303875923 + ], + "orientation": [ + 0.10390506684780121, + 0.49146029353141785, + -0.5242765545845032, + 0.6876079440116882 + ], + "joints": [ + 0.028933294117450714 + ] + }, + "fine_grasp": { + "position": [ + -0.07878697663545609, + 0.13840363919734955, + 0.059563394635915756 + ], + "orientation": [ + 0.09915906190872192, + 0.5004688501358032, + -0.5238667130470276, + 0.6821011900901794 + ], + "joints": [ + 0.02051149308681488 + ] + }, + "final_grasp": { + "position": [ + -0.07878697663545609, + 0.13840363919734955, + 0.059563394635915756 + ], + "orientation": [ + 0.09915906190872192, + 0.5004688501358032, + -0.5238667130470276, + 0.6821011900901794 + ], + "joints": [ + 0.012089692056179047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024765390902757645, + 0.15141279995441437, + -0.011555233038961887 + ], + "orientation": [ + 0.5423570871353149, + 0.5324888229370117, + -0.34202250838279724, + 0.5525622367858887 + ], + "joints": [ + 0.02500024624168873 + ] + }, + "fine_grasp": { + "position": [ + -0.02394050545990467, + 0.14884991943836212, + -0.012493234127759933 + ], + "orientation": [ + 0.5522348880767822, + 0.5391949415206909, + -0.3288519084453583, + 0.5442075133323669 + ], + "joints": [ + 0.014551365748047829 + ] + }, + "final_grasp": { + "position": [ + -0.02394050545990467, + 0.14884991943836212, + -0.012493234127759933 + ], + "orientation": [ + 0.5522348880767822, + 0.5391949415206909, + -0.3288519084453583, + 0.5442075133323669 + ], + "joints": [ + 0.004102485254406929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0800398513674736, + -0.05462466925382614, + -0.037106771022081375 + ], + "orientation": [ + 0.6586330533027649, + -0.23090581595897675, + 0.6020018458366394, + 0.38791611790657043 + ], + "joints": [ + 0.02317713014781475 + ] + }, + "fine_grasp": { + "position": [ + -0.07760044932365417, + -0.051552511751651764, + -0.037469532340765 + ], + "orientation": [ + 0.6535277366638184, + -0.22753356397151947, + 0.607207715511322, + 0.3904213011264801 + ], + "joints": [ + 0.015215082094073296 + ] + }, + "final_grasp": { + "position": [ + -0.07760044932365417, + -0.051552511751651764, + -0.037469532340765 + ], + "orientation": [ + 0.6535277366638184, + -0.22753356397151947, + 0.607207715511322, + 0.3904213011264801 + ], + "joints": [ + 0.0072530340403318405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03751084581017494, + -0.08471768349409103, + -0.10868218541145325 + ], + "orientation": [ + 0.2651875913143158, + -0.352266788482666, + -0.4563014805316925, + -0.77289879322052 + ], + "joints": [ + 0.024638371542096138 + ] + }, + "fine_grasp": { + "position": [ + -0.036556947976350784, + -0.08209245651960373, + -0.10792330652475357 + ], + "orientation": [ + 0.26972439885139465, + -0.36017438769340515, + -0.45376715064048767, + -0.7691673636436462 + ], + "joints": [ + 0.015861311927437782 + ] + }, + "final_grasp": { + "position": [ + -0.036556947976350784, + -0.08209245651960373, + -0.10792330652475357 + ], + "orientation": [ + 0.26972439885139465, + -0.36017438769340515, + -0.45376715064048767, + -0.7691673636436462 + ], + "joints": [ + 0.007084252312779427 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014723721891641617, + -0.008084043860435486, + -0.17107410728931427 + ], + "orientation": [ + 0.6588838696479797, + -0.1595398187637329, + -0.08223264664411545, + -0.7305182218551636 + ], + "joints": [ + 0.02291252464056015 + ] + }, + "fine_grasp": { + "position": [ + -0.014720550738275051, + -0.008209176361560822, + -0.16724155843257904 + ], + "orientation": [ + 0.6512346267700195, + -0.16271726787090302, + -0.08227358013391495, + -0.7366461157798767 + ], + "joints": [ + 0.013299554586410522 + ] + }, + "final_grasp": { + "position": [ + -0.014720550738275051, + -0.008209176361560822, + -0.16724155843257904 + ], + "orientation": [ + 0.6512346267700195, + -0.16271726787090302, + -0.08227358013391495, + -0.7366461157798767 + ], + "joints": [ + 0.0036865845322608948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05577719584107399, + 0.1536531299352646, + -0.023099303245544434 + ], + "orientation": [ + 0.3087286651134491, + 0.5068196058273315, + -0.4012209475040436, + 0.6977407932281494 + ], + "joints": [ + 0.023174697533249855 + ] + }, + "fine_grasp": { + "position": [ + -0.05387277528643608, + 0.15022985637187958, + -0.022941023111343384 + ], + "orientation": [ + 0.3051977753639221, + 0.5057877898216248, + -0.40475699305534363, + 0.6980006098747253 + ], + "joints": [ + 0.013143772259354591 + ] + }, + "final_grasp": { + "position": [ + -0.05387277528643608, + 0.15022985637187958, + -0.022941023111343384 + ], + "orientation": [ + 0.3051977753639221, + 0.5057877898216248, + -0.40475699305534363, + 0.6980006098747253 + ], + "joints": [ + 0.0031128469854593277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08025132864713669, + 0.14045901596546173, + 0.05927740037441254 + ], + "orientation": [ + 0.0902763232588768, + 0.5026844143867493, + -0.5222452878952026, + 0.6829482913017273 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + -0.07796765863895416, + 0.13764525949954987, + 0.058837179094552994 + ], + "orientation": [ + 0.09003786742687225, + 0.5056291818618774, + -0.5225454568862915, + 0.6805723309516907 + ], + "joints": [ + 0.021360261365771294 + ] + }, + "final_grasp": { + "position": [ + -0.07796765863895416, + 0.13764525949954987, + 0.058837179094552994 + ], + "orientation": [ + 0.09003786742687225, + 0.5056291818618774, + -0.5225454568862915, + 0.6805723309516907 + ], + "joints": [ + 0.011726392433047295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052813656628131866, + 0.13323254883289337, + -0.1098468229174614 + ], + "orientation": [ + 0.5263777375221252, + 0.4331423342227936, + 0.16943751275539398, + -0.7117619514465332 + ], + "joints": [ + 0.023861024528741837 + ] + }, + "fine_grasp": { + "position": [ + 0.05115711688995361, + 0.13034473359584808, + -0.1083839163184166 + ], + "orientation": [ + 0.5283195376396179, + 0.4352233409881592, + 0.1684880405664444, + -0.7092748880386353 + ], + "joints": [ + 0.014666009694337845 + ] + }, + "final_grasp": { + "position": [ + 0.05115711688995361, + 0.13034473359584808, + -0.1083839163184166 + ], + "orientation": [ + 0.5283195376396179, + 0.4352233409881592, + 0.1684880405664444, + -0.7092748880386353 + ], + "joints": [ + 0.005470994859933853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08810776472091675, + 0.12592075765132904, + 0.06856697797775269 + ], + "orientation": [ + 0.03496852517127991, + 0.5722754597663879, + -0.5060270428657532, + 0.644371509552002 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.08553919941186905, + 0.12331876158714294, + 0.06788522005081177 + ], + "orientation": [ + 0.04103081300854683, + 0.5749289393424988, + -0.5017695426940918, + 0.6449809670448303 + ], + "joints": [ + 0.02231079339981079 + ] + }, + "final_grasp": { + "position": [ + -0.08553919941186905, + 0.12331876158714294, + 0.06788522005081177 + ], + "orientation": [ + 0.04103081300854683, + 0.5749289393424988, + -0.5017695426940918, + 0.6449809670448303 + ], + "joints": [ + 0.013094879686832428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06380726397037506, + 0.14452658593654633, + -0.009637627750635147 + ], + "orientation": [ + 0.6587840914726257, + 0.2858860194683075, + 0.5662680268287659, + -0.4044913053512573 + ], + "joints": [ + 0.025053875520825386 + ] + }, + "fine_grasp": { + "position": [ + -0.06157967448234558, + 0.14112965762615204, + -0.009553863666951656 + ], + "orientation": [ + 0.6561964750289917, + 0.2817040979862213, + 0.5726269483566284, + -0.40267524123191833 + ], + "joints": [ + 0.014688590541481972 + ] + }, + "final_grasp": { + "position": [ + -0.06157967448234558, + 0.14112965762615204, + -0.009553863666951656 + ], + "orientation": [ + 0.6561964750289917, + 0.2817040979862213, + 0.5726269483566284, + -0.40267524123191833 + ], + "joints": [ + 0.0043233055621385574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04791652038693428, + 0.15305562317371368, + -0.07307189702987671 + ], + "orientation": [ + 0.49914026260375977, + 0.49676254391670227, + -0.26563796401023865, + 0.6584242582321167 + ], + "joints": [ + 0.023066245019435883 + ] + }, + "fine_grasp": { + "position": [ + -0.04628989100456238, + 0.1495915651321411, + -0.07233932614326477 + ], + "orientation": [ + 0.49972662329673767, + 0.5002686977386475, + -0.264498233795166, + 0.6557782888412476 + ], + "joints": [ + 0.013453274965286255 + ] + }, + "final_grasp": { + "position": [ + -0.04628989100456238, + 0.1495915651321411, + -0.07233932614326477 + ], + "orientation": [ + 0.49972662329673767, + 0.5002686977386475, + -0.264498233795166, + 0.6557782888412476 + ], + "joints": [ + 0.003840304911136627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026875047013163567, + 0.15208299458026886, + -0.043582718819379807 + ], + "orientation": [ + 0.6127922534942627, + 0.3403766453266144, + 0.48777157068252563, + -0.5202962756156921 + ], + "joints": [ + 0.022442491725087166 + ] + }, + "fine_grasp": { + "position": [ + -0.02634624019265175, + 0.14898855984210968, + -0.04514741897583008 + ], + "orientation": [ + 0.6078867316246033, + 0.3276132345199585, + 0.48738113045692444, + -0.5344182848930359 + ], + "joints": [ + 0.013644533231854439 + ] + }, + "final_grasp": { + "position": [ + -0.02634624019265175, + 0.14898855984210968, + -0.04514741897583008 + ], + "orientation": [ + 0.6078867316246033, + 0.3276132345199585, + 0.48738113045692444, + -0.5344182848930359 + ], + "joints": [ + 0.004846574738621712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08067896217107773, + 0.14149855077266693, + 0.05859195068478584 + ], + "orientation": [ + 0.08456122130155563, + 0.505710780620575, + -0.5214488506317139, + 0.6820534467697144 + ], + "joints": [ + 0.030785731971263885 + ] + }, + "fine_grasp": { + "position": [ + -0.07836193591356277, + 0.13864047825336456, + 0.05814187973737717 + ], + "orientation": [ + 0.08567621558904648, + 0.5079715251922607, + -0.5204047560691833, + 0.6810311675071716 + ], + "joints": [ + 0.02154891937971115 + ] + }, + "final_grasp": { + "position": [ + -0.07836193591356277, + 0.13864047825336456, + 0.05814187973737717 + ], + "orientation": [ + 0.08567621558904648, + 0.5079715251922607, + -0.5204047560691833, + 0.6810311675071716 + ], + "joints": [ + 0.012312106788158417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08686879277229309, + -0.058814480900764465, + 0.12612710893154144 + ], + "orientation": [ + 0.47512927651405334, + -0.6951482892036438, + 0.5309816002845764, + -0.09528735280036926 + ], + "joints": [ + 0.031005097553133965 + ] + }, + "fine_grasp": { + "position": [ + -0.08450838923454285, + -0.056545041501522064, + 0.1241486594080925 + ], + "orientation": [ + 0.4742637276649475, + -0.6954907774925232, + 0.5309560298919678, + -0.09722281992435455 + ], + "joints": [ + 0.0217891838401556 + ] + }, + "final_grasp": { + "position": [ + -0.08450838923454285, + -0.056545041501522064, + 0.1241486594080925 + ], + "orientation": [ + 0.4742637276649475, + -0.6954907774925232, + 0.5309560298919678, + -0.09722281992435455 + ], + "joints": [ + 0.012573270127177238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014743953011929989, + 0.1623353660106659, + 0.07520069926977158 + ], + "orientation": [ + 0.5541088581085205, + 0.7043602466583252, + -0.30717065930366516, + 0.32013460993766785 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.014981050975620747, + 0.15906237065792084, + 0.07474959641695023 + ], + "orientation": [ + 0.5536205768585205, + 0.7041155099868774, + -0.30793166160583496, + 0.32078635692596436 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + -0.014981050975620747, + 0.15906237065792084, + 0.07474959641695023 + ], + "orientation": [ + 0.5536205768585205, + 0.7041155099868774, + -0.30793166160583496, + 0.32078635692596436 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05281081423163414, + 0.1464204490184784, + -0.016103725880384445 + ], + "orientation": [ + 0.2855790853500366, + 0.4920123517513275, + -0.4194062352180481, + 0.7074368000030518 + ], + "joints": [ + 0.023586910218000412 + ] + }, + "fine_grasp": { + "position": [ + -0.050429023802280426, + 0.14326609671115875, + -0.016757328063249588 + ], + "orientation": [ + 0.2769348621368408, + 0.48115086555480957, + -0.42544835805892944, + 0.7146989703178406 + ], + "joints": [ + 0.014809850603342056 + ] + }, + "final_grasp": { + "position": [ + -0.050429023802280426, + 0.14326609671115875, + -0.016757328063249588 + ], + "orientation": [ + 0.2769348621368408, + 0.48115086555480957, + -0.42544835805892944, + 0.7146989703178406 + ], + "joints": [ + 0.0060327909886837006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06767667829990387, + 0.12589327991008759, + -0.1319180279970169 + ], + "orientation": [ + 0.5236169695854187, + 0.03345196694135666, + 0.5210720300674438, + -0.6731940507888794 + ], + "joints": [ + 0.022704482078552246 + ] + }, + "fine_grasp": { + "position": [ + -0.06565748900175095, + 0.12458419054746628, + -0.128943532705307 + ], + "orientation": [ + 0.5297785997390747, + 0.030243391171097755, + 0.5118618011474609, + -0.6755868196487427 + ], + "joints": [ + 0.013091512024402618 + ] + }, + "final_grasp": { + "position": [ + -0.06565748900175095, + 0.12458419054746628, + -0.128943532705307 + ], + "orientation": [ + 0.5297785997390747, + 0.030243391171097755, + 0.5118618011474609, + -0.6755868196487427 + ], + "joints": [ + 0.0034785419702529907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06412410736083984, + 0.1433814913034439, + -0.009905251674354076 + ], + "orientation": [ + 0.6544415354728699, + 0.28047287464141846, + 0.5729062557220459, + -0.40597987174987793 + ], + "joints": [ + 0.025224866345524788 + ] + }, + "fine_grasp": { + "position": [ + -0.061727333813905716, + 0.14008735120296478, + -0.009761481545865536 + ], + "orientation": [ + 0.6529563069343567, + 0.2741667628288269, + 0.5792552828788757, + -0.4036632776260376 + ], + "joints": [ + 0.014044569805264473 + ] + }, + "final_grasp": { + "position": [ + -0.061727333813905716, + 0.14008735120296478, + -0.009761481545865536 + ], + "orientation": [ + 0.6529563069343567, + 0.2741667628288269, + 0.5792552828788757, + -0.4036632776260376 + ], + "joints": [ + 0.002864273265004158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06383995711803436, + 0.1461644172668457, + -0.013928323052823544 + ], + "orientation": [ + 0.2756044268608093, + 0.545845627784729, + -0.3894648849964142, + 0.6887755393981934 + ], + "joints": [ + 0.023042533546686172 + ] + }, + "fine_grasp": { + "position": [ + -0.06151237338781357, + 0.14296400547027588, + -0.013968492858111858 + ], + "orientation": [ + 0.2696983814239502, + 0.545167088508606, + -0.39192599058151245, + 0.6902532577514648 + ], + "joints": [ + 0.013429563492536545 + ] + }, + "final_grasp": { + "position": [ + -0.06151237338781357, + 0.14296400547027588, + -0.013968492858111858 + ], + "orientation": [ + 0.2696983814239502, + 0.545167088508606, + -0.39192599058151245, + 0.6902532577514648 + ], + "joints": [ + 0.003816593438386917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030840400606393814, + -0.08317697793245316, + -0.041942521929740906 + ], + "orientation": [ + 0.35167351365089417, + -0.49936768412590027, + -0.5191108584403992, + -0.5978976488113403 + ], + "joints": [ + 0.021807106211781502 + ] + }, + "fine_grasp": { + "position": [ + -0.029407693073153496, + -0.0800597295165062, + -0.043721675872802734 + ], + "orientation": [ + 0.3446671962738037, + -0.49948009848594666, + -0.5278003811836243, + -0.5942652225494385 + ], + "joints": [ + 0.013030046597123146 + ] + }, + "final_grasp": { + "position": [ + -0.029407693073153496, + -0.0800597295165062, + -0.043721675872802734 + ], + "orientation": [ + 0.3446671962738037, + -0.49948009848594666, + -0.5278003811836243, + -0.5942652225494385 + ], + "joints": [ + 0.00425298698246479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04391980543732643, + 0.1462588906288147, + -0.09250280261039734 + ], + "orientation": [ + 0.5400453209877014, + 0.49168264865875244, + 0.23424319922924042, + -0.6416614651679993 + ], + "joints": [ + 0.023955058306455612 + ] + }, + "fine_grasp": { + "position": [ + 0.04256302863359451, + 0.1429203450679779, + -0.09155993908643723 + ], + "orientation": [ + 0.5470274090766907, + 0.49450305104255676, + 0.22736294567584991, + -0.6360297203063965 + ], + "joints": [ + 0.01394503191113472 + ] + }, + "final_grasp": { + "position": [ + 0.04256302863359451, + 0.1429203450679779, + -0.09155993908643723 + ], + "orientation": [ + 0.5470274090766907, + 0.49450305104255676, + 0.22736294567584991, + -0.6360297203063965 + ], + "joints": [ + 0.0039350055158138275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014765181578695774, + -0.09424350410699844, + -0.10923502594232559 + ], + "orientation": [ + 0.7534406781196594, + -0.4864594638347626, + 0.2775484323501587, + 0.3444579243659973 + ], + "joints": [ + 0.021369757130742073 + ] + }, + "fine_grasp": { + "position": [ + -0.01381816528737545, + -0.09106585383415222, + -0.10840313136577606 + ], + "orientation": [ + 0.7473475337028503, + -0.4877360761165619, + 0.28878915309906006, + 0.3466786742210388 + ], + "joints": [ + 0.012592697516083717 + ] + }, + "final_grasp": { + "position": [ + -0.01381816528737545, + -0.09106585383415222, + -0.10840313136577606 + ], + "orientation": [ + 0.7473475337028503, + -0.4877360761165619, + 0.28878915309906006, + 0.3466786742210388 + ], + "joints": [ + 0.0038156379014253616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04052431508898735, + -0.0775652527809143, + -0.02929278090596199 + ], + "orientation": [ + 0.5992411971092224, + -0.31849032640457153, + 0.5277712345123291, + 0.5108144879341125 + ], + "joints": [ + 0.022102434188127518 + ] + }, + "fine_grasp": { + "position": [ + -0.03940968215465546, + -0.07397670298814774, + -0.028549229726195335 + ], + "orientation": [ + 0.5975243449211121, + -0.31748953461647034, + 0.5289997458457947, + 0.5121760368347168 + ], + "joints": [ + 0.012865621596574783 + ] + }, + "final_grasp": { + "position": [ + -0.03940968215465546, + -0.07397670298814774, + -0.028549229726195335 + ], + "orientation": [ + 0.5975243449211121, + -0.31748953461647034, + 0.5289997458457947, + 0.5121760368347168 + ], + "joints": [ + 0.003628809005022049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052309971302747726, + 0.1447838842868805, + -0.015532338060438633 + ], + "orientation": [ + 0.2737535536289215, + 0.4929324686527252, + -0.4240127503871918, + 0.7087240219116211 + ], + "joints": [ + 0.02363358996808529 + ] + }, + "fine_grasp": { + "position": [ + -0.05004164204001427, + 0.14191094040870667, + -0.016025304794311523 + ], + "orientation": [ + 0.25606611371040344, + 0.4798310101032257, + -0.436519593000412, + 0.7166889309883118 + ], + "joints": [ + 0.01527448557317257 + ] + }, + "final_grasp": { + "position": [ + -0.05004164204001427, + 0.14191094040870667, + -0.016025304794311523 + ], + "orientation": [ + 0.25606611371040344, + 0.4798310101032257, + -0.436519593000412, + 0.7166889309883118 + ], + "joints": [ + 0.0069153811782598495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06735506653785706, + 0.12565141916275024, + -0.13176870346069336 + ], + "orientation": [ + 0.5244220495223999, + 0.031578436493873596, + 0.5216688513755798, + -0.67219477891922 + ], + "joints": [ + 0.023375989869236946 + ] + }, + "fine_grasp": { + "position": [ + -0.06539107114076614, + 0.1243036612868309, + -0.1287425458431244 + ], + "orientation": [ + 0.5305487513542175, + 0.028882157057523727, + 0.5121909379959106, + -0.6747919917106628 + ], + "joints": [ + 0.013763019815087318 + ] + }, + "final_grasp": { + "position": [ + -0.06539107114076614, + 0.1243036612868309, + -0.1287425458431244 + ], + "orientation": [ + 0.5305487513542175, + 0.028882157057523727, + 0.5121909379959106, + -0.6747919917106628 + ], + "joints": [ + 0.004150049760937691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03966870903968811, + -0.07492481917142868, + -0.0261214692145586 + ], + "orientation": [ + 0.6127700805664062, + -0.3136766850948334, + 0.5175502896308899, + 0.5081942677497864 + ], + "joints": [ + 0.023670928552746773 + ] + }, + "fine_grasp": { + "position": [ + -0.0385148748755455, + -0.07145872712135315, + -0.024684133008122444 + ], + "orientation": [ + 0.6135923862457275, + -0.31443798542022705, + 0.5142353177070618, + 0.5100933313369751 + ], + "joints": [ + 0.014057958498597145 + ] + }, + "final_grasp": { + "position": [ + -0.0385148748755455, + -0.07145872712135315, + -0.024684133008122444 + ], + "orientation": [ + 0.6135923862457275, + -0.31443798542022705, + 0.5142353177070618, + 0.5100933313369751 + ], + "joints": [ + 0.004444988444447517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04672611132264137, + 0.01073993556201458, + -0.15691225230693817 + ], + "orientation": [ + 0.75276780128479, + -0.18085330724716187, + 0.1565779596567154, + -0.6132830381393433 + ], + "joints": [ + 0.023303234949707985 + ] + }, + "fine_grasp": { + "position": [ + -0.046199239790439606, + 0.009378272108733654, + -0.15604618191719055 + ], + "orientation": [ + 0.7559536695480347, + -0.18788129091262817, + 0.14488916099071503, + -0.6101163625717163 + ], + "joints": [ + 0.01452617533504963 + ] + }, + "final_grasp": { + "position": [ + -0.046199239790439606, + 0.009378272108733654, + -0.15604618191719055 + ], + "orientation": [ + 0.7559536695480347, + -0.18788129091262817, + 0.14488916099071503, + -0.6101163625717163 + ], + "joints": [ + 0.0057491157203912735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029224112629890442, + -0.10021389275789261, + 0.07062602788209915 + ], + "orientation": [ + 0.2738536596298218, + -0.10502979904413223, + 0.7393527030944824, + 0.6060779690742493 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.02844993956387043, + -0.09647442400455475, + 0.06946036964654922 + ], + "orientation": [ + 0.27947521209716797, + -0.12515424191951752, + 0.735683023929596, + 0.6041527986526489 + ], + "joints": [ + 0.02136032097041607 + ] + }, + "final_grasp": { + "position": [ + -0.02844993956387043, + -0.09647442400455475, + 0.06946036964654922 + ], + "orientation": [ + 0.27947521209716797, + -0.12515424191951752, + 0.735683023929596, + 0.6041527986526489 + ], + "joints": [ + 0.012583261355757713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04565967246890068, + 0.011955749243497849, + -0.1558172106742859 + ], + "orientation": [ + 0.754962682723999, + -0.17352376878261566, + 0.1541806310415268, + -0.6133099794387817 + ], + "joints": [ + 0.023391585797071457 + ] + }, + "fine_grasp": { + "position": [ + -0.045456670224666595, + 0.011828117072582245, + -0.15544407069683075 + ], + "orientation": [ + 0.757559061050415, + -0.17991265654563904, + 0.14632269740104675, + -0.6101847290992737 + ], + "joints": [ + 0.014196570962667465 + ] + }, + "final_grasp": { + "position": [ + -0.045456670224666595, + 0.011828117072582245, + -0.15544407069683075 + ], + "orientation": [ + 0.757559061050415, + -0.17991265654563904, + 0.14632269740104675, + -0.6101847290992737 + ], + "joints": [ + 0.0050015561282634735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03937613219022751, + -0.0747443437576294, + -0.026512203738093376 + ], + "orientation": [ + 0.6055527329444885, + -0.30902746319770813, + 0.5213489532470703, + 0.5157548189163208 + ], + "joints": [ + 0.02334572561085224 + ] + }, + "fine_grasp": { + "position": [ + -0.03822437301278114, + -0.07131980359554291, + -0.025000566616654396 + ], + "orientation": [ + 0.6066292524337769, + -0.3095631003379822, + 0.5174921751022339, + 0.5180478096008301 + ], + "joints": [ + 0.013732755556702614 + ] + }, + "final_grasp": { + "position": [ + -0.03822437301278114, + -0.07131980359554291, + -0.025000566616654396 + ], + "orientation": [ + 0.6066292524337769, + -0.3095631003379822, + 0.5174921751022339, + 0.5180478096008301 + ], + "joints": [ + 0.004119785502552986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0796617791056633, + 0.14865657687187195, + -0.039190907031297684 + ], + "orientation": [ + 0.2662787437438965, + 0.5802673697471619, + 0.3358534574508667, + -0.6925228238105774 + ], + "joints": [ + 0.02352321892976761 + ] + }, + "fine_grasp": { + "position": [ + 0.07729445397853851, + 0.1456606686115265, + -0.0390830896794796 + ], + "orientation": [ + 0.26596271991729736, + 0.5804716348648071, + 0.33859097957611084, + -0.6911386251449585 + ], + "joints": [ + 0.014286406338214874 + ] + }, + "final_grasp": { + "position": [ + 0.07729445397853851, + 0.1456606686115265, + -0.0390830896794796 + ], + "orientation": [ + 0.26596271991729736, + 0.5804716348648071, + 0.33859097957611084, + -0.6911386251449585 + ], + "joints": [ + 0.00504959374666214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06293633580207825, + -0.09094399958848953, + 0.0433603934943676 + ], + "orientation": [ + 0.49617069959640503, + -0.07336058467626572, + -0.6505078673362732, + -0.5703266263008118 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.06114022061228752, + -0.08755043148994446, + 0.04281395301222801 + ], + "orientation": [ + 0.4876804053783417, + -0.08496031910181046, + -0.6529268026351929, + -0.573267936706543 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.06114022061228752, + -0.08755043148994446, + 0.04281395301222801 + ], + "orientation": [ + 0.4876804053783417, + -0.08496031910181046, + -0.6529268026351929, + -0.573267936706543 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050288744270801544, + 0.16318276524543762, + 0.027254220098257065 + ], + "orientation": [ + 0.706747829914093, + 0.4707510471343994, + 0.45481324195861816, + -0.2684135138988495 + ], + "joints": [ + 0.029396403580904007 + ] + }, + "fine_grasp": { + "position": [ + -0.04883990436792374, + 0.1598471701145172, + 0.027929633855819702 + ], + "orientation": [ + 0.7061865925788879, + 0.47100958228111267, + 0.4542206823825836, + -0.2704330086708069 + ], + "joints": [ + 0.020159590989351273 + ] + }, + "final_grasp": { + "position": [ + -0.04883990436792374, + 0.1598471701145172, + 0.027929633855819702 + ], + "orientation": [ + 0.7061865925788879, + 0.47100958228111267, + 0.4542206823825836, + -0.2704330086708069 + ], + "joints": [ + 0.010922778397798538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0554739348590374, + 0.11666121333837509, + 0.13884761929512024 + ], + "orientation": [ + 0.03805188834667206, + 0.6271048784255981, + -0.6749463081359863, + 0.38696104288101196 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.05359838902950287, + 0.11471157521009445, + 0.13608895242214203 + ], + "orientation": [ + 0.039443161338567734, + 0.6293153762817383, + -0.6724395751953125, + 0.38759690523147583 + ], + "joints": [ + 0.020666755735874176 + ] + }, + "final_grasp": { + "position": [ + -0.05359838902950287, + 0.11471157521009445, + 0.13608895242214203 + ], + "orientation": [ + 0.039443161338567734, + 0.6293153762817383, + -0.6724395751953125, + 0.38759690523147583 + ], + "joints": [ + 0.011450842022895813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05797013267874718, + -0.10198116302490234, + 0.05809774994850159 + ], + "orientation": [ + 0.5996690392494202, + -0.7034958600997925, + 0.014088618569076061, + 0.3811720311641693 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + 0.05678693577647209, + -0.09816571325063705, + 0.05746876820921898 + ], + "orientation": [ + 0.6014682054519653, + -0.7058305144309998, + 0.022775301709771156, + 0.37352439761161804 + ], + "joints": [ + 0.02064250037074089 + ] + }, + "final_grasp": { + "position": [ + 0.05678693577647209, + -0.09816571325063705, + 0.05746876820921898 + ], + "orientation": [ + 0.6014682054519653, + -0.7058305144309998, + 0.022775301709771156, + 0.37352439761161804 + ], + "joints": [ + 0.011865440756082535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11110422760248184, + 0.018507549539208412, + -0.09354346990585327 + ], + "orientation": [ + 0.7172873616218567, + -0.31395816802978516, + -0.5329014658927917, + 0.3208504319190979 + ], + "joints": [ + 0.024770040065050125 + ] + }, + "fine_grasp": { + "position": [ + 0.10718165338039398, + 0.019119102507829666, + -0.09235057979822159 + ], + "orientation": [ + 0.7283336520195007, + -0.30936381220817566, + -0.5270928144454956, + 0.3098343312740326 + ], + "joints": [ + 0.01682889088988304 + ] + }, + "final_grasp": { + "position": [ + 0.10718165338039398, + 0.019119102507829666, + -0.09235057979822159 + ], + "orientation": [ + 0.7283336520195007, + -0.30936381220817566, + -0.5270928144454956, + 0.3098343312740326 + ], + "joints": [ + 0.008887741714715958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017809579148888588, + -0.09005855023860931, + -0.051519494503736496 + ], + "orientation": [ + 0.2314317226409912, + -0.37395864725112915, + -0.6520382165908813, + -0.6176086664199829 + ], + "joints": [ + 0.02343052625656128 + ] + }, + "fine_grasp": { + "position": [ + -0.01611870899796486, + -0.08732634782791138, + -0.053101975470781326 + ], + "orientation": [ + 0.2421470433473587, + -0.3696043789386749, + -0.6493200063705444, + -0.6189839243888855 + ], + "joints": [ + 0.013817556202411652 + ] + }, + "final_grasp": { + "position": [ + -0.01611870899796486, + -0.08732634782791138, + -0.053101975470781326 + ], + "orientation": [ + 0.2421470433473587, + -0.3696043789386749, + -0.6493200063705444, + -0.6189839243888855 + ], + "joints": [ + 0.004204586148262024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08399033546447754, + 0.13241985440254211, + -0.003527306951582432 + ], + "orientation": [ + 0.657976508140564, + 0.2199888527393341, + -0.6316302418708801, + 0.3459985852241516 + ], + "joints": [ + 0.02639593742787838 + ] + }, + "fine_grasp": { + "position": [ + 0.0812290832400322, + 0.12970589101314545, + -0.0034664820414036512 + ], + "orientation": [ + 0.6558017134666443, + 0.21399445831775665, + -0.6363239884376526, + 0.34528571367263794 + ], + "joints": [ + 0.01515294425189495 + ] + }, + "final_grasp": { + "position": [ + 0.0812290832400322, + 0.12970589101314545, + -0.0034664820414036512 + ], + "orientation": [ + 0.6558017134666443, + 0.21399445831775665, + -0.6363239884376526, + 0.34528571367263794 + ], + "joints": [ + 0.003909951075911522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10648029297590256, + 0.11094494163990021, + 0.06072143092751503 + ], + "orientation": [ + 0.03376610949635506, + -0.6023426055908203, + -0.4401730000972748, + 0.6650494933128357 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + 0.10330428183078766, + 0.10868517309427261, + 0.06033042073249817 + ], + "orientation": [ + 0.028521280735731125, + -0.6035156846046448, + -0.4376845955848694, + 0.6658734083175659 + ], + "joints": [ + 0.02251918986439705 + ] + }, + "final_grasp": { + "position": [ + 0.10330428183078766, + 0.10868517309427261, + 0.06033042073249817 + ], + "orientation": [ + 0.028521280735731125, + -0.6035156846046448, + -0.4376845955848694, + 0.6658734083175659 + ], + "joints": [ + 0.013303276151418686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019975177943706512, + -0.09860825538635254, + -0.09663285315036774 + ], + "orientation": [ + 0.7040338516235352, + -0.596953272819519, + -0.1847516894340515, + -0.3374161422252655 + ], + "joints": [ + 0.021261312067508698 + ] + }, + "fine_grasp": { + "position": [ + -0.019051700830459595, + -0.09515892714262009, + -0.0953797996044159 + ], + "orientation": [ + 0.7030348777770996, + -0.5934967398643494, + -0.18241602182388306, + -0.34673911333084106 + ], + "joints": [ + 0.012045398354530334 + ] + }, + "final_grasp": { + "position": [ + -0.019051700830459595, + -0.09515892714262009, + -0.0953797996044159 + ], + "orientation": [ + 0.7030348777770996, + -0.5934967398643494, + -0.18241602182388306, + -0.34673911333084106 + ], + "joints": [ + 0.0028294846415519714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11585541814565659, + 0.08441896736621857, + 0.07228682935237885 + ], + "orientation": [ + 0.5792900323867798, + 0.4104599058628082, + -0.6927198767662048, + -0.12682677805423737 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.11206622421741486, + 0.08286767452955246, + 0.07133746892213821 + ], + "orientation": [ + 0.5817792415618896, + 0.4046499729156494, + -0.6939462423324585, + -0.12739691138267517 + ], + "joints": [ + 0.02501087263226509 + ] + }, + "final_grasp": { + "position": [ + 0.11206622421741486, + 0.08286767452955246, + 0.07133746892213821 + ], + "orientation": [ + 0.5817792415618896, + 0.4046499729156494, + -0.6939462423324585, + -0.12739691138267517 + ], + "joints": [ + 0.01502174511551857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08564144372940063, + 0.12492454797029495, + 0.01681295409798622 + ], + "orientation": [ + 0.16757173836231232, + 0.6596490144729614, + 0.3524235188961029, + -0.6423242688179016 + ], + "joints": [ + 0.023201199248433113 + ] + }, + "fine_grasp": { + "position": [ + 0.08275150507688522, + 0.12210306525230408, + 0.01640254072844982 + ], + "orientation": [ + 0.16051185131072998, + 0.6574256420135498, + 0.35651424527168274, + -0.6441466808319092 + ], + "joints": [ + 0.014006184414029121 + ] + }, + "final_grasp": { + "position": [ + 0.08275150507688522, + 0.12210306525230408, + 0.01640254072844982 + ], + "orientation": [ + 0.16051185131072998, + 0.6574256420135498, + 0.35651424527168274, + -0.6441466808319092 + ], + "joints": [ + 0.00481116957962513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10557935386896133, + 0.09843409061431885, + -0.09650292992591858 + ], + "orientation": [ + 0.43044957518577576, + 0.6237051486968994, + 0.018184734508395195, + 0.6522074341773987 + ], + "joints": [ + 0.025885291397571564 + ] + }, + "fine_grasp": { + "position": [ + -0.10223902016878128, + 0.0968799814581871, + -0.09518899023532867 + ], + "orientation": [ + 0.4256184697151184, + 0.6221668124198914, + 0.019022203981876373, + 0.6568070650100708 + ], + "joints": [ + 0.0158543661236763 + ] + }, + "final_grasp": { + "position": [ + -0.10223902016878128, + 0.0968799814581871, + -0.09518899023532867 + ], + "orientation": [ + 0.4256184697151184, + 0.6221668124198914, + 0.019022203981876373, + 0.6568070650100708 + ], + "joints": [ + 0.005823440849781036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1048998162150383, + 0.1006312221288681, + -0.09582009166479111 + ], + "orientation": [ + 0.43529561161994934, + 0.6170763373374939, + 0.02990087680518627, + 0.6548591256141663 + ], + "joints": [ + 0.025587746873497963 + ] + }, + "fine_grasp": { + "position": [ + -0.10178495198488235, + 0.09873849898576736, + -0.09446126222610474 + ], + "orientation": [ + 0.4338609278202057, + 0.6156873106956482, + 0.02812213823199272, + 0.6571933031082153 + ], + "joints": [ + 0.01476270891726017 + ] + }, + "final_grasp": { + "position": [ + -0.10178495198488235, + 0.09873849898576736, + -0.09446126222610474 + ], + "orientation": [ + 0.4338609278202057, + 0.6156873106956482, + 0.02812213823199272, + 0.6571933031082153 + ], + "joints": [ + 0.003937670961022377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10401532799005508, + 0.12106852978467941, + -0.0341167077422142 + ], + "orientation": [ + 0.22312378883361816, + 0.6182507872581482, + -0.19946332275867462, + 0.7267710566520691 + ], + "joints": [ + 0.024334266781806946 + ] + }, + "fine_grasp": { + "position": [ + -0.1009143739938736, + 0.11866404116153717, + -0.03389131650328636 + ], + "orientation": [ + 0.22319087386131287, + 0.6201234459877014, + -0.20034684240818024, + 0.7249094843864441 + ], + "joints": [ + 0.014700397849082947 + ] + }, + "final_grasp": { + "position": [ + -0.1009143739938736, + 0.11866404116153717, + -0.03389131650328636 + ], + "orientation": [ + 0.22319087386131287, + 0.6201234459877014, + -0.20034684240818024, + 0.7249094843864441 + ], + "joints": [ + 0.005066528916358948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10586769878864288, + 0.09970194101333618, + -0.09604545682668686 + ], + "orientation": [ + 0.43165138363838196, + 0.6199030876159668, + 0.02721044234931469, + 0.6547189354896545 + ], + "joints": [ + 0.025885291397571564 + ] + }, + "fine_grasp": { + "position": [ + -0.10267239063978195, + 0.0979485958814621, + -0.09477908909320831 + ], + "orientation": [ + 0.42927223443984985, + 0.6188154220581055, + 0.026717454195022583, + 0.6573272943496704 + ], + "joints": [ + 0.015457309782505035 + ] + }, + "final_grasp": { + "position": [ + -0.10267239063978195, + 0.0979485958814621, + -0.09477908909320831 + ], + "orientation": [ + 0.42927223443984985, + 0.6188154220581055, + 0.026717454195022583, + 0.6573272943496704 + ], + "joints": [ + 0.005029328167438507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1038094311952591, + 0.1221812516450882, + -0.03696765378117561 + ], + "orientation": [ + 0.20964182913303375, + 0.6212582588195801, + -0.21597039699554443, + 0.7234951853752136 + ], + "joints": [ + 0.024129001423716545 + ] + }, + "fine_grasp": { + "position": [ + -0.10066033154726028, + 0.11985434591770172, + -0.03681429103016853 + ], + "orientation": [ + 0.20953641831874847, + 0.6229919791221619, + -0.21726596355438232, + 0.7216446399688721 + ], + "joints": [ + 0.014913087710738182 + ] + }, + "final_grasp": { + "position": [ + -0.10066033154726028, + 0.11985434591770172, + -0.03681429103016853 + ], + "orientation": [ + 0.20953641831874847, + 0.6229919791221619, + -0.21726596355438232, + 0.7216446399688721 + ], + "joints": [ + 0.005697173997759819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1116676852107048, + 0.12077220529317856, + -0.04101024195551872 + ], + "orientation": [ + 0.7340235710144043, + 0.23558595776557922, + 0.6181795597076416, + -0.15350203216075897 + ], + "joints": [ + 0.022887269034981728 + ] + }, + "fine_grasp": { + "position": [ + -0.10843764990568161, + 0.11874540895223618, + -0.04084903001785278 + ], + "orientation": [ + 0.732606053352356, + 0.23669834434986115, + 0.6197728514671326, + -0.1521313339471817 + ], + "joints": [ + 0.01406841166317463 + ] + }, + "final_grasp": { + "position": [ + -0.10843764990568161, + 0.11874540895223618, + -0.04084903001785278 + ], + "orientation": [ + 0.732606053352356, + 0.23669834434986115, + 0.6197728514671326, + -0.1521313339471817 + ], + "joints": [ + 0.005249554291367531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11145638674497604, + 0.10332310944795609, + 0.026268692687153816 + ], + "orientation": [ + 0.19012992084026337, + 0.7353349924087524, + 0.14871731400489807, + -0.6332584619522095 + ], + "joints": [ + 0.02630167081952095 + ] + }, + "fine_grasp": { + "position": [ + 0.10802742838859558, + 0.10129804164171219, + 0.02632884681224823 + ], + "orientation": [ + 0.1959996074438095, + 0.7346189618110657, + 0.14418675005435944, + -0.6333476901054382 + ], + "joints": [ + 0.016688700765371323 + ] + }, + "final_grasp": { + "position": [ + 0.10802742838859558, + 0.10129804164171219, + 0.02632884681224823 + ], + "orientation": [ + 0.1959996074438095, + 0.7346189618110657, + 0.14418675005435944, + -0.6333476901054382 + ], + "joints": [ + 0.007075730711221695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10578298568725586, + 0.0013375681592151523, + 0.12595108151435852 + ], + "orientation": [ + 0.3603878319263458, + 0.48121508955955505, + -0.7417733073234558, + -0.2971951365470886 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.10255236178636551, + 0.0014039553934708238, + 0.12480850517749786 + ], + "orientation": [ + 0.36545607447624207, + 0.47919267416000366, + -0.7419191002845764, + -0.2938915193080902 + ], + "joints": [ + 0.020776864141225815 + ] + }, + "final_grasp": { + "position": [ + 0.10255236178636551, + 0.0014039553934708238, + 0.12480850517749786 + ], + "orientation": [ + 0.36545607447624207, + 0.47919267416000366, + -0.7419191002845764, + -0.2938915193080902 + ], + "joints": [ + 0.011184792965650558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1069565936923027, + -0.025934556499123573, + -0.11280541867017746 + ], + "orientation": [ + 0.8218039274215698, + -0.3118284344673157, + -0.47266247868537903, + 0.06317698955535889 + ], + "joints": [ + 0.02731241099536419 + ] + }, + "fine_grasp": { + "position": [ + 0.1036456972360611, + -0.024495765566825867, + -0.11167288571596146 + ], + "orientation": [ + 0.8214036226272583, + -0.3056527376174927, + -0.4772210419178009, + 0.06428531557321548 + ], + "joints": [ + 0.01686353050172329 + ] + }, + "final_grasp": { + "position": [ + 0.1036456972360611, + -0.024495765566825867, + -0.11167288571596146 + ], + "orientation": [ + 0.8214036226272583, + -0.3056527376174927, + -0.4772210419178009, + 0.06428531557321548 + ], + "joints": [ + 0.00641465000808239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11248155683279037, + 0.10399545729160309, + 0.02629745379090309 + ], + "orientation": [ + 0.19024771451950073, + 0.7347962856292725, + 0.14872346818447113, + -0.6338465213775635 + ], + "joints": [ + 0.02625856176018715 + ] + }, + "fine_grasp": { + "position": [ + 0.10906369239091873, + 0.10196556150913239, + 0.026320094242691994 + ], + "orientation": [ + 0.19524109363555908, + 0.7341238260269165, + 0.14442093670368195, + -0.6341021656990051 + ], + "joints": [ + 0.01664559170603752 + ] + }, + "final_grasp": { + "position": [ + 0.10906369239091873, + 0.10196556150913239, + 0.026320094242691994 + ], + "orientation": [ + 0.19524109363555908, + 0.7341238260269165, + 0.14442093670368195, + -0.6341021656990051 + ], + "joints": [ + 0.007032621651887894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07087944447994232, + -0.08218886703252792, + 0.10657436400651932 + ], + "orientation": [ + 0.5221007466316223, + -0.8125515580177307, + -0.21260115504264832, + 0.14822736382484436 + ], + "joints": [ + 0.026883425191044807 + ] + }, + "fine_grasp": { + "position": [ + 0.0690290704369545, + -0.07939237356185913, + 0.10535362362861633 + ], + "orientation": [ + 0.5211570858955383, + -0.8098741173744202, + -0.2219659984111786, + 0.1524151861667633 + ], + "joints": [ + 0.01810636557638645 + ] + }, + "final_grasp": { + "position": [ + 0.0690290704369545, + -0.07939237356185913, + 0.10535362362861633 + ], + "orientation": [ + 0.5211570858955383, + -0.8098741173744202, + -0.2219659984111786, + 0.1524151861667633 + ], + "joints": [ + 0.009329305961728096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1168164312839508, + 0.12481442093849182, + -0.004539908841252327 + ], + "orientation": [ + 0.6421688795089722, + 0.22365586459636688, + -0.7119417190551758, + 0.17531774938106537 + ], + "joints": [ + 0.01907636597752571 + ] + }, + "fine_grasp": { + "position": [ + 0.11353059858083725, + 0.12271898239850998, + -0.00484895147383213 + ], + "orientation": [ + 0.6429513692855835, + 0.22315096855163574, + -0.7113302946090698, + 0.1755746304988861 + ], + "joints": [ + 0.010278407484292984 + ] + }, + "final_grasp": { + "position": [ + 0.11353059858083725, + 0.12271898239850998, + -0.00484895147383213 + ], + "orientation": [ + 0.6429513692855835, + 0.22315096855163574, + -0.7113302946090698, + 0.1755746304988861 + ], + "joints": [ + 0.001480448991060257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07089249044656754, + -0.08268614858388901, + 0.1064121425151825 + ], + "orientation": [ + 0.5230555534362793, + -0.8116267323493958, + -0.2138194888830185, + 0.14817658066749573 + ], + "joints": [ + 0.02712716907262802 + ] + }, + "fine_grasp": { + "position": [ + 0.06905938684940338, + -0.07986943423748016, + 0.1052379384636879 + ], + "orientation": [ + 0.5222974419593811, + -0.8090571761131287, + -0.22250641882419586, + 0.15206162631511688 + ], + "joints": [ + 0.01793215423822403 + ] + }, + "final_grasp": { + "position": [ + 0.06905938684940338, + -0.07986943423748016, + 0.1052379384636879 + ], + "orientation": [ + 0.5222974419593811, + -0.8090571761131287, + -0.22250641882419586, + 0.15206162631511688 + ], + "joints": [ + 0.008737139403820038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07104393094778061, + -0.08356521278619766, + 0.10670125484466553 + ], + "orientation": [ + 0.5219645500183105, + -0.8126200437545776, + -0.21101799607276917, + 0.15057601034641266 + ], + "joints": [ + 0.02712716907262802 + ] + }, + "fine_grasp": { + "position": [ + 0.06918500363826752, + -0.08071788400411606, + 0.10551339387893677 + ], + "orientation": [ + 0.522256076335907, + -0.8094812631607056, + -0.21949909627437592, + 0.15430109202861786 + ], + "joints": [ + 0.01793215423822403 + ] + }, + "final_grasp": { + "position": [ + 0.06918500363826752, + -0.08071788400411606, + 0.10551339387893677 + ], + "orientation": [ + 0.522256076335907, + -0.8094812631607056, + -0.21949909627437592, + 0.15430109202861786 + ], + "joints": [ + 0.008737139403820038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10653366893529892, + 0.10076595097780228, + -0.027156297117471695 + ], + "orientation": [ + 0.25038331747055054, + 0.7781974077224731, + 0.03962923213839531, + -0.5745836496353149 + ], + "joints": [ + 0.026639681309461594 + ] + }, + "fine_grasp": { + "position": [ + 0.10315639525651932, + 0.09861177206039429, + -0.02752567268908024 + ], + "orientation": [ + 0.2572643756866455, + 0.7784217000007629, + 0.04013371467590332, + -0.5711953043937683 + ], + "joints": [ + 0.017444666475057602 + ] + }, + "final_grasp": { + "position": [ + 0.10315639525651932, + 0.09861177206039429, + -0.02752567268908024 + ], + "orientation": [ + 0.2572643756866455, + 0.7784217000007629, + 0.04013371467590332, + -0.5711953043937683 + ], + "joints": [ + 0.00824965164065361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11810130625963211, + -0.034258827567100525, + 0.07892045378684998 + ], + "orientation": [ + 0.43058913946151733, + -0.7538819313049316, + 0.2018618881702423, + -0.45332857966423035 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.11470633745193481, + -0.03288191556930542, + 0.07896711677312851 + ], + "orientation": [ + 0.4259425103664398, + -0.7527158260345459, + 0.20242564380168915, + -0.45936447381973267 + ], + "joints": [ + 0.01974053680896759 + ] + }, + "final_grasp": { + "position": [ + -0.11470633745193481, + -0.03288191556930542, + 0.07896711677312851 + ], + "orientation": [ + 0.4259425103664398, + -0.7527158260345459, + 0.20242564380168915, + -0.45936447381973267 + ], + "joints": [ + 0.010524623095989227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13107062876224518, + 0.048955705016851425, + 0.06183798238635063 + ], + "orientation": [ + 0.6152219772338867, + 0.4980952739715576, + 0.5251846313476562, + 0.31238481402397156 + ], + "joints": [ + 0.02733556739985943 + ] + }, + "fine_grasp": { + "position": [ + -0.1272895634174347, + 0.04825505241751671, + 0.06150338798761368 + ], + "orientation": [ + 0.6141120195388794, + 0.4958774447441101, + 0.5283126831054688, + 0.3128221333026886 + ], + "joints": [ + 0.018119653686881065 + ] + }, + "final_grasp": { + "position": [ + -0.1272895634174347, + 0.04825505241751671, + 0.06150338798761368 + ], + "orientation": [ + 0.6141120195388794, + 0.4958774447441101, + 0.5283126831054688, + 0.3128221333026886 + ], + "joints": [ + 0.008903739973902702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0366988405585289, + -0.08065918833017349, + -0.12268663197755814 + ], + "orientation": [ + 0.3388478755950928, + -0.07393347471952438, + -0.531742513179779, + -0.7726355791091919 + ], + "joints": [ + 0.020471712574362755 + ] + }, + "fine_grasp": { + "position": [ + 0.0349271260201931, + -0.07841560989618301, + -0.12065500020980835 + ], + "orientation": [ + 0.34525105357170105, + -0.0694473385810852, + -0.5298873782157898, + -0.7714909315109253 + ], + "joints": [ + 0.011631956323981285 + ] + }, + "final_grasp": { + "position": [ + 0.0349271260201931, + -0.07841560989618301, + -0.12065500020980835 + ], + "orientation": [ + 0.34525105357170105, + -0.0694473385810852, + -0.5298873782157898, + -0.7714909315109253 + ], + "joints": [ + 0.0027922000735998154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06226798892021179, + -0.0962078720331192, + 0.06817597150802612 + ], + "orientation": [ + 0.32003748416900635, + -0.09756520390510559, + -0.755495011806488, + -0.563279926776886 + ], + "joints": [ + 0.027358723804354668 + ] + }, + "fine_grasp": { + "position": [ + 0.06045948714017868, + -0.09311453253030777, + 0.06786974519491196 + ], + "orientation": [ + 0.32555532455444336, + -0.09137898683547974, + -0.7517516016960144, + -0.5661565065383911 + ], + "joints": [ + 0.01856076531112194 + ] + }, + "final_grasp": { + "position": [ + 0.06045948714017868, + -0.09311453253030777, + 0.06786974519491196 + ], + "orientation": [ + 0.32555532455444336, + -0.09137898683547974, + -0.7517516016960144, + -0.5661565065383911 + ], + "joints": [ + 0.009762806817889214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04961628094315529, + -0.10283005982637405, + 0.08925706148147583 + ], + "orientation": [ + 0.23599757254123688, + -0.08756870776414871, + 0.8002943396568298, + 0.5442111492156982 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + -0.048088207840919495, + -0.09938843548297882, + 0.08838275820016861 + ], + "orientation": [ + 0.24551548063755035, + -0.08127065747976303, + 0.7976066470146179, + 0.5449228882789612 + ], + "joints": [ + 0.019507883116602898 + ] + }, + "final_grasp": { + "position": [ + -0.048088207840919495, + -0.09938843548297882, + 0.08838275820016861 + ], + "orientation": [ + 0.24551548063755035, + -0.08127065747976303, + 0.7976066470146179, + 0.5449228882789612 + ], + "joints": [ + 0.010730823501944542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0491965189576149, + -0.10243666917085648, + 0.08931390941143036 + ], + "orientation": [ + 0.24289155006408691, + -0.09143736213445663, + 0.79944908618927, + 0.5417784452438354 + ], + "joints": [ + 0.028748052194714546 + ] + }, + "fine_grasp": { + "position": [ + -0.047703083604574203, + -0.09897855669260025, + 0.08840406686067581 + ], + "orientation": [ + 0.2517091631889343, + -0.08636119216680527, + 0.797145664691925, + 0.5419806241989136 + ], + "joints": [ + 0.019553037360310555 + ] + }, + "final_grasp": { + "position": [ + -0.047703083604574203, + -0.09897855669260025, + 0.08840406686067581 + ], + "orientation": [ + 0.2517091631889343, + -0.08636119216680527, + 0.797145664691925, + 0.5419806241989136 + ], + "joints": [ + 0.010358022525906563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10731085389852524, + -0.026204057037830353, + 0.1086602509021759 + ], + "orientation": [ + 0.3934883177280426, + 0.3335718810558319, + -0.7754486799240112, + -0.36411020159721375 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + 0.1044454425573349, + -0.024684101343154907, + 0.10768269002437592 + ], + "orientation": [ + 0.3857288658618927, + 0.33964359760284424, + -0.7744978666305542, + -0.3687933087348938 + ], + "joints": [ + 0.020059043541550636 + ] + }, + "final_grasp": { + "position": [ + 0.1044454425573349, + -0.024684101343154907, + 0.10768269002437592 + ], + "orientation": [ + 0.3857288658618927, + 0.33964359760284424, + -0.7744978666305542, + -0.3687933087348938 + ], + "joints": [ + 0.01046697236597538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00475881714373827, + -0.11028455942869186, + 0.10139388591051102 + ], + "orientation": [ + 0.05397577956318855, + -0.04579945653676987, + 0.8214277029037476, + 0.5659023523330688 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + 0.004782783333212137, + -0.10659193247556686, + 0.09995591640472412 + ], + "orientation": [ + 0.051361218094825745, + -0.050226565450429916, + 0.8205709457397461, + 0.5670119524002075 + ], + "joints": [ + 0.01879006251692772 + ] + }, + "final_grasp": { + "position": [ + 0.004782783333212137, + -0.10659193247556686, + 0.09995591640472412 + ], + "orientation": [ + 0.051361218094825745, + -0.050226565450429916, + 0.8205709457397461, + 0.5670119524002075 + ], + "joints": [ + 0.010013002902269363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02596273645758629, + -0.10532985627651215, + 0.10752958804368973 + ], + "orientation": [ + 0.5275047421455383, + -0.837904691696167, + 0.0769752711057663, + 0.11717216670513153 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.025324776768684387, + -0.10185684263706207, + 0.10576088726520538 + ], + "orientation": [ + 0.5289913415908813, + -0.8366943597793579, + 0.07579870522022247, + 0.11985582858324051 + ], + "joints": [ + 0.01841726154088974 + ] + }, + "final_grasp": { + "position": [ + 0.025324776768684387, + -0.10185684263706207, + 0.10576088726520538 + ], + "orientation": [ + 0.5289913415908813, + -0.8366943597793579, + 0.07579870522022247, + 0.11985582858324051 + ], + "joints": [ + 0.008804291486740112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11627822369337082, + 0.10258466750383377, + 0.07368285953998566 + ], + "orientation": [ + 0.11660433560609818, + -0.5084972381591797, + -0.5545871257781982, + 0.6482800841331482 + ], + "joints": [ + 0.025529442355036736 + ] + }, + "fine_grasp": { + "position": [ + 0.11307499557733536, + 0.10083514451980591, + 0.07278092205524445 + ], + "orientation": [ + 0.12060439586639404, + -0.5145769119262695, + -0.5522013902664185, + 0.6447780728340149 + ], + "joints": [ + 0.016668787226080894 + ] + }, + "final_grasp": { + "position": [ + 0.11307499557733536, + 0.10083514451980591, + 0.07278092205524445 + ], + "orientation": [ + 0.12060439586639404, + -0.5145769119262695, + -0.5522013902664185, + 0.6447780728340149 + ], + "joints": [ + 0.007808132097125053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025873426347970963, + -0.10526806116104126, + 0.10739431530237198 + ], + "orientation": [ + 0.5274198055267334, + -0.8374990224838257, + 0.07925857603549957, + 0.11891856044530869 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.025254059582948685, + -0.10179279744625092, + 0.10562478005886078 + ], + "orientation": [ + 0.5289236307144165, + -0.8363363146781921, + 0.07823139429092407, + 0.12108294665813446 + ], + "joints": [ + 0.01841726154088974 + ] + }, + "final_grasp": { + "position": [ + 0.025254059582948685, + -0.10179279744625092, + 0.10562478005886078 + ], + "orientation": [ + 0.5289236307144165, + -0.8363363146781921, + 0.07823139429092407, + 0.12108294665813446 + ], + "joints": [ + 0.008804291486740112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1058497354388237, + 0.10068894177675247, + -0.026837797835469246 + ], + "orientation": [ + 0.24968715012073517, + 0.773203432559967, + 0.042829614132642746, + -0.5813589096069336 + ], + "joints": [ + 0.026224106550216675 + ] + }, + "fine_grasp": { + "position": [ + 0.10237616300582886, + 0.09879351407289505, + -0.027036752551794052 + ], + "orientation": [ + 0.2579587996006012, + 0.7709242701530457, + 0.035909503698349, + -0.5812432169914246 + ], + "joints": [ + 0.017008192837238312 + ] + }, + "final_grasp": { + "position": [ + 0.10237616300582886, + 0.09879351407289505, + -0.027036752551794052 + ], + "orientation": [ + 0.2579587996006012, + 0.7709242701530457, + 0.035909503698349, + -0.5812432169914246 + ], + "joints": [ + 0.007792279124259949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10491468757390976, + -0.021350111812353134, + 0.12149099260568619 + ], + "orientation": [ + 0.29635298252105713, + 0.4583878815174103, + 0.7441237568855286, + 0.38514307141304016 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + -0.10180670768022537, + -0.0208069309592247, + 0.12007883191108704 + ], + "orientation": [ + 0.3026452660560608, + 0.4623097777366638, + 0.7404617071151733, + 0.3826119601726532 + ], + "joints": [ + 0.01980658993124962 + ] + }, + "final_grasp": { + "position": [ + -0.10180670768022537, + -0.0208069309592247, + 0.12007883191108704 + ], + "orientation": [ + 0.3026452660560608, + 0.4623097777366638, + 0.7404617071151733, + 0.3826119601726532 + ], + "joints": [ + 0.01019361987709999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10678313672542572, + 0.10104383528232574, + -0.026393745094537735 + ], + "orientation": [ + 0.24654068052768707, + 0.7734935283660889, + 0.04638008773326874, + -0.5820432305335999 + ], + "joints": [ + 0.026639681309461594 + ] + }, + "fine_grasp": { + "position": [ + 0.10336510092020035, + 0.09920236468315125, + -0.02661680057644844 + ], + "orientation": [ + 0.2532898485660553, + 0.7712193131446838, + 0.04074427857995033, + -0.5825847387313843 + ], + "joints": [ + 0.01660875603556633 + ] + }, + "final_grasp": { + "position": [ + 0.10336510092020035, + 0.09920236468315125, + -0.02661680057644844 + ], + "orientation": [ + 0.2532898485660553, + 0.7712193131446838, + 0.04074427857995033, + -0.5825847387313843 + ], + "joints": [ + 0.006577830761671066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1432601660490036, + 0.0057660420425236225, + 0.030899306759238243 + ], + "orientation": [ + 0.6479775309562683, + 0.29997479915618896, + 0.5689361691474915, + 0.40798497200012207 + ], + "joints": [ + 0.02589992620050907 + ] + }, + "fine_grasp": { + "position": [ + -0.13951772451400757, + 0.005907208658754826, + 0.03169691190123558 + ], + "orientation": [ + 0.6492596864700317, + 0.29978203773498535, + 0.5689551830291748, + 0.4060575067996979 + ], + "joints": [ + 0.01703927107155323 + ] + }, + "final_grasp": { + "position": [ + -0.13951772451400757, + 0.005907208658754826, + 0.03169691190123558 + ], + "orientation": [ + 0.6492596864700317, + 0.29978203773498535, + 0.5689551830291748, + 0.4060575067996979 + ], + "joints": [ + 0.00817861594259739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1206384152173996, + -0.0019986575935035944, + 0.05644349381327629 + ], + "orientation": [ + 0.5613551735877991, + 0.39319851994514465, + -0.5861809253692627, + -0.43205004930496216 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.11750716716051102, + -0.0020231720991432667, + 0.05651797354221344 + ], + "orientation": [ + 0.5596638917922974, + 0.3893013596534729, + -0.5901129841804504, + -0.4324204623699188 + ], + "joints": [ + 0.018022462725639343 + ] + }, + "final_grasp": { + "position": [ + 0.11750716716051102, + -0.0020231720991432667, + 0.05651797354221344 + ], + "orientation": [ + 0.5596638917922974, + 0.3893013596534729, + -0.5901129841804504, + -0.4324204623699188 + ], + "joints": [ + 0.00799153745174408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025960804894566536, + -0.10507078468799591, + 0.10708865523338318 + ], + "orientation": [ + 0.5289517641067505, + -0.8375748991966248, + 0.07574416697025299, + 0.11375845968723297 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.025308456271886826, + -0.10155828297138214, + 0.10534685850143433 + ], + "orientation": [ + 0.5304883122444153, + -0.836279034614563, + 0.07436279952526093, + 0.11700303107500076 + ], + "joints": [ + 0.018020205199718475 + ] + }, + "final_grasp": { + "position": [ + 0.025308456271886826, + -0.10155828297138214, + 0.10534685850143433 + ], + "orientation": [ + 0.5304883122444153, + -0.836279034614563, + 0.07436279952526093, + 0.11700303107500076 + ], + "joints": [ + 0.008010178804397583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13134630024433136, + 0.04896683245897293, + 0.061679963022470474 + ], + "orientation": [ + 0.6151918768882751, + 0.49817872047424316, + 0.5246712565422058, + 0.31317245960235596 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + -0.12759838998317719, + 0.048409443348646164, + 0.06118983402848244 + ], + "orientation": [ + 0.6132671236991882, + 0.49508893489837646, + 0.5290053486824036, + 0.31455329060554504 + ], + "joints": [ + 0.01788809895515442 + ] + }, + "final_grasp": { + "position": [ + -0.12759838998317719, + 0.048409443348646164, + 0.06118983402848244 + ], + "orientation": [ + 0.6132671236991882, + 0.49508893489837646, + 0.5290053486824036, + 0.31455329060554504 + ], + "joints": [ + 0.008672185242176056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004849816206842661, + -0.1098475381731987, + 0.10141374915838242 + ], + "orientation": [ + 0.054790183901786804, + -0.04528786614537239, + 0.8216958045959473, + 0.5654760003089905 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + 0.004886872135102749, + -0.10612687468528748, + 0.09989126771688461 + ], + "orientation": [ + 0.05192378908395767, + -0.04999079927802086, + 0.8212284445762634, + 0.5660289525985718 + ], + "joints": [ + 0.01879006251692772 + ] + }, + "final_grasp": { + "position": [ + 0.004886872135102749, + -0.10612687468528748, + 0.09989126771688461 + ], + "orientation": [ + 0.05192378908395767, + -0.04999079927802086, + 0.8212284445762634, + 0.5660289525985718 + ], + "joints": [ + 0.010013002902269363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1091466099023819, + 0.08756235241889954, + -0.047000400722026825 + ], + "orientation": [ + 0.7744582891464233, + 0.11793693900108337, + -0.6095396280288696, + 0.12151864916086197 + ], + "joints": [ + 0.024216366931796074 + ] + }, + "fine_grasp": { + "position": [ + 0.10559580475091934, + 0.0861169621348381, + -0.046581536531448364 + ], + "orientation": [ + 0.7729982137680054, + 0.11824168264865875, + -0.6114888191223145, + 0.12072350084781647 + ], + "joints": [ + 0.01418544165790081 + ] + }, + "final_grasp": { + "position": [ + 0.10559580475091934, + 0.0861169621348381, + -0.046581536531448364 + ], + "orientation": [ + 0.7729982137680054, + 0.11824168264865875, + -0.6114888191223145, + 0.12072350084781647 + ], + "joints": [ + 0.004154516384005547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004769455175846815, + -0.11026503145694733, + 0.10122023522853851 + ], + "orientation": [ + 0.05484044551849365, + -0.04592862352728844, + 0.821004331111908, + 0.5664228796958923 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + 0.0048007238656282425, + -0.10657256096601486, + 0.09978784620761871 + ], + "orientation": [ + 0.0521346740424633, + -0.05036650598049164, + 0.8202058672904968, + 0.5674569606781006 + ], + "joints": [ + 0.01879006251692772 + ] + }, + "final_grasp": { + "position": [ + 0.0048007238656282425, + -0.10657256096601486, + 0.09978784620761871 + ], + "orientation": [ + 0.0521346740424633, + -0.05036650598049164, + 0.8202058672904968, + 0.5674569606781006 + ], + "joints": [ + 0.010013002902269363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0047988626174628735, + -0.11018963903188705, + 0.10144844651222229 + ], + "orientation": [ + 0.05566577613353729, + -0.045663557946681976, + 0.8213164806365967, + 0.5659109950065613 + ], + "joints": [ + 0.02733556739985943 + ] + }, + "fine_grasp": { + "position": [ + 0.0047822860069572926, + -0.10646836459636688, + 0.10001347959041595 + ], + "orientation": [ + 0.05206035450100899, + -0.05058837682008743, + 0.8201978206634521, + 0.5674558281898499 + ], + "joints": [ + 0.018558507785201073 + ] + }, + "final_grasp": { + "position": [ + 0.0047822860069572926, + -0.10646836459636688, + 0.10001347959041595 + ], + "orientation": [ + 0.05206035450100899, + -0.05058837682008743, + 0.8201978206634521, + 0.5674558281898499 + ], + "joints": [ + 0.009781448170542717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11003437638282776, + 0.08809883892536163, + -0.04651738703250885 + ], + "orientation": [ + 0.7755994200706482, + 0.11789607256650925, + -0.6078895330429077, + 0.12254216521978378 + ], + "joints": [ + 0.024558143690228462 + ] + }, + "fine_grasp": { + "position": [ + 0.10648785531520844, + 0.0867665633559227, + -0.04610178992152214 + ], + "orientation": [ + 0.7736731171607971, + 0.1179821565747261, + -0.6105267405509949, + 0.12152034789323807 + ], + "joints": [ + 0.014109263196587563 + ] + }, + "final_grasp": { + "position": [ + 0.10648785531520844, + 0.0867665633559227, + -0.04610178992152214 + ], + "orientation": [ + 0.7736731171607971, + 0.1179821565747261, + -0.6105267405509949, + 0.12152034789323807 + ], + "joints": [ + 0.003660382702946663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11624365299940109, + 0.10285872220993042, + 0.07359263300895691 + ], + "orientation": [ + 0.1189669743180275, + -0.5091097354888916, + -0.5548651814460754, + 0.6471311450004578 + ], + "joints": [ + 0.02532104402780533 + ] + }, + "fine_grasp": { + "position": [ + 0.11308283358812332, + 0.10107120871543884, + 0.07268445193767548 + ], + "orientation": [ + 0.12277957797050476, + -0.5145469307899475, + -0.5527287125587463, + 0.6439391374588013 + ], + "joints": [ + 0.016878344118595123 + ] + }, + "final_grasp": { + "position": [ + 0.11308283358812332, + 0.10107120871543884, + 0.07268445193767548 + ], + "orientation": [ + 0.12277957797050476, + -0.5145469307899475, + -0.5527287125587463, + 0.6439391374588013 + ], + "joints": [ + 0.008435644209384918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11599983274936676, + 0.10253678262233734, + 0.07352553308010101 + ], + "orientation": [ + 0.11826739460229874, + -0.5097020864486694, + -0.554230272769928, + 0.6473371386528015 + ], + "joints": [ + 0.025552598759531975 + ] + }, + "fine_grasp": { + "position": [ + 0.11280713975429535, + 0.10076334327459335, + 0.07259649783372879 + ], + "orientation": [ + 0.12227126955986023, + -0.5152302384376526, + -0.5519223809242249, + 0.6441810131072998 + ], + "joints": [ + 0.01710989885032177 + ] + }, + "final_grasp": { + "position": [ + 0.11280713975429535, + 0.10076334327459335, + 0.07259649783372879 + ], + "orientation": [ + 0.12227126955986023, + -0.5152302384376526, + -0.5519223809242249, + 0.6441810131072998 + ], + "joints": [ + 0.008667198941111565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0652298629283905, + -0.08601661026477814, + 0.1197335422039032 + ], + "orientation": [ + 0.18198612332344055, + 0.16983050107955933, + 0.8460071682929993, + 0.4714981019496918 + ], + "joints": [ + 0.027691416442394257 + ] + }, + "fine_grasp": { + "position": [ + -0.06385844200849533, + -0.08297803997993469, + 0.11753090471029282 + ], + "orientation": [ + 0.1698467880487442, + 0.1716051697731018, + 0.8468834757804871, + 0.4738059937953949 + ], + "joints": [ + 0.018475502729415894 + ] + }, + "final_grasp": { + "position": [ + -0.06385844200849533, + -0.08297803997993469, + 0.11753090471029282 + ], + "orientation": [ + 0.1698467880487442, + 0.1716051697731018, + 0.8468834757804871, + 0.4738059937953949 + ], + "joints": [ + 0.00925958901643753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004833047278225422, + -0.10974138230085373, + 0.10104966163635254 + ], + "orientation": [ + 0.055079203099012375, + -0.043544989079236984, + 0.8210283517837524, + 0.5665534138679504 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + 0.004893979523330927, + -0.10601713508367538, + 0.09952490776777267 + ], + "orientation": [ + 0.052244268357753754, + -0.048019297420978546, + 0.8207003474235535, + 0.5669351816177368 + ], + "joints": [ + 0.01879006251692772 + ] + }, + "final_grasp": { + "position": [ + 0.004893979523330927, + -0.10601713508367538, + 0.09952490776777267 + ], + "orientation": [ + 0.052244268357753754, + -0.048019297420978546, + 0.8207003474235535, + 0.5669351816177368 + ], + "joints": [ + 0.010013002902269363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12090812623500824, + -0.0026692920364439487, + 0.05705495551228523 + ], + "orientation": [ + 0.5723146796226501, + 0.37665876746177673, + -0.5976083874702454, + -0.4164712429046631 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.11782234907150269, + -0.0026784164365381002, + 0.05719592794775963 + ], + "orientation": [ + 0.5703235864639282, + 0.37310290336608887, + -0.6017820239067078, + -0.4163936972618103 + ], + "joints": [ + 0.018043361604213715 + ] + }, + "final_grasp": { + "position": [ + 0.11782234907150269, + -0.0026784164365381002, + 0.05719592794775963 + ], + "orientation": [ + 0.5703235864639282, + 0.37310290336608887, + -0.6017820239067078, + -0.4163936972618103 + ], + "joints": [ + 0.008033335208892822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12080992013216019, + -0.002698239404708147, + 0.05702926218509674 + ], + "orientation": [ + 0.5691750645637512, + 0.3808214068412781, + -0.595172643661499, + -0.4204573929309845 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.1177501380443573, + -0.002677238779142499, + 0.05718046426773071 + ], + "orientation": [ + 0.5680872201919556, + 0.37584537267684937, + -0.6002461314201355, + -0.419191837310791 + ], + "joints": [ + 0.018043361604213715 + ] + }, + "final_grasp": { + "position": [ + 0.1177501380443573, + -0.002677238779142499, + 0.05718046426773071 + ], + "orientation": [ + 0.5680872201919556, + 0.37584537267684937, + -0.6002461314201355, + -0.419191837310791 + ], + "joints": [ + 0.008033335208892822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14330634474754333, + 0.005579397082328796, + 0.031063979491591454 + ], + "orientation": [ + 0.6483430862426758, + 0.3020407259464264, + 0.5676156878471375, + 0.4077192544937134 + ], + "joints": [ + 0.026350846514105797 + ] + }, + "fine_grasp": { + "position": [ + -0.1396157592535019, + 0.005707170814275742, + 0.03183506429195404 + ], + "orientation": [ + 0.6493661403656006, + 0.302095890045166, + 0.5677882432937622, + 0.4058056175708771 + ], + "joints": [ + 0.01709313504397869 + ] + }, + "final_grasp": { + "position": [ + -0.1396157592535019, + 0.005707170814275742, + 0.03183506429195404 + ], + "orientation": [ + 0.6493661403656006, + 0.302095890045166, + 0.5677882432937622, + 0.4058056175708771 + ], + "joints": [ + 0.007835423573851585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11928132176399231, + -0.03396005928516388, + 0.07988998293876648 + ], + "orientation": [ + 0.5179045796394348, + -0.7137780785560608, + 0.35491594672203064, + -0.31037136912345886 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.11577334254980087, + -0.03258315846323967, + 0.07916920632123947 + ], + "orientation": [ + 0.5195677280426025, + -0.709074854850769, + 0.3570334315299988, + -0.3158944249153137 + ], + "joints": [ + 0.02235368639230728 + ] + }, + "final_grasp": { + "position": [ + -0.11577334254980087, + -0.03258315846323967, + 0.07916920632123947 + ], + "orientation": [ + 0.5195677280426025, + -0.709074854850769, + 0.3570334315299988, + -0.3158944249153137 + ], + "joints": [ + 0.012740716338157654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032733649015426636, + -0.10643111914396286, + 0.07415886968374252 + ], + "orientation": [ + 0.026575708761811256, + -0.15995734930038452, + -0.7390953898429871, + -0.6537930369377136 + ], + "joints": [ + 0.027590278536081314 + ] + }, + "fine_grasp": { + "position": [ + -0.032005440443754196, + -0.10269702225923538, + 0.07339280098676682 + ], + "orientation": [ + 0.024202441796660423, + -0.16401758790016174, + -0.7404267191886902, + -0.6513683199882507 + ], + "joints": [ + 0.017977308481931686 + ] + }, + "final_grasp": { + "position": [ + -0.032005440443754196, + -0.10269702225923538, + 0.07339280098676682 + ], + "orientation": [ + 0.024202441796660423, + -0.16401758790016174, + -0.7404267191886902, + -0.6513683199882507 + ], + "joints": [ + 0.008364338427782059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12341929972171783, + -0.042228877544403076, + 0.0757884681224823 + ], + "orientation": [ + 0.48530828952789307, + -0.6835112571716309, + 0.3279154896736145, + -0.4356141686439514 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + -0.12001128494739532, + -0.04047441482543945, + 0.07518637180328369 + ], + "orientation": [ + 0.4891491234302521, + -0.6842300891876221, + 0.32771021127700806, + -0.430311918258667 + ], + "joints": [ + 0.018306054174900055 + ] + }, + "final_grasp": { + "position": [ + -0.12001128494739532, + -0.04047441482543945, + 0.07518637180328369 + ], + "orientation": [ + 0.4891491234302521, + -0.6842300891876221, + 0.32771021127700806, + -0.430311918258667 + ], + "joints": [ + 0.009508095681667328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1212535873055458, + 0.07369574159383774, + 0.05108419805765152 + ], + "orientation": [ + 0.1363530457019806, + -0.4719303548336029, + -0.4765477180480957, + 0.7291035056114197 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + 0.11749312281608582, + 0.07253271341323853, + 0.05084129422903061 + ], + "orientation": [ + 0.1449933648109436, + -0.4836615025997162, + -0.47175633907318115, + 0.7228377461433411 + ], + "joints": [ + 0.014946257695555687 + ] + }, + "final_grasp": { + "position": [ + 0.11749312281608582, + 0.07253271341323853, + 0.05084129422903061 + ], + "orientation": [ + 0.1449933648109436, + -0.4836615025997162, + -0.47175633907318115, + 0.7228377461433411 + ], + "joints": [ + 0.006169198080897331 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03197970986366272, + -0.10687711089849472, + 0.07404079288244247 + ], + "orientation": [ + 0.024656768888235092, + -0.16361622512340546, + -0.7382966876029968, + -0.6538652777671814 + ], + "joints": [ + 0.027809644117951393 + ] + }, + "fine_grasp": { + "position": [ + -0.031213928014039993, + -0.10308028012514114, + 0.07336423546075821 + ], + "orientation": [ + 0.023592500016093254, + -0.16765323281288147, + -0.7392973303794861, + -0.6517478227615356 + ], + "joints": [ + 0.01859373040497303 + ] + }, + "final_grasp": { + "position": [ + -0.031213928014039993, + -0.10308028012514114, + 0.07336423546075821 + ], + "orientation": [ + 0.023592500016093254, + -0.16765323281288147, + -0.7392973303794861, + -0.6517478227615356 + ], + "joints": [ + 0.009377816691994667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039759036153554916, + -0.08477266877889633, + -0.10441672056913376 + ], + "orientation": [ + 0.7858680486679077, + -0.5072899460792542, + 0.32107606530189514, + 0.14825156331062317 + ], + "joints": [ + 0.022350316867232323 + ] + }, + "fine_grasp": { + "position": [ + -0.038557734340429306, + -0.08226602524518967, + -0.10308890044689178 + ], + "orientation": [ + 0.785207986831665, + -0.5048425197601318, + 0.32367607951164246, + 0.15432503819465637 + ], + "joints": [ + 0.011901436373591423 + ] + }, + "final_grasp": { + "position": [ + -0.038557734340429306, + -0.08226602524518967, + -0.10308890044689178 + ], + "orientation": [ + 0.785207986831665, + -0.5048425197601318, + 0.32367607951164246, + 0.15432503819465637 + ], + "joints": [ + 0.0014525558799505234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032723769545555115, + -0.09413374215364456, + 0.08517549186944962 + ], + "orientation": [ + 0.0022096182219684124, + 0.10227619856595993, + 0.7900934219360352, + 0.6043899655342102 + ], + "joints": [ + 0.028261786326766014 + ] + }, + "fine_grasp": { + "position": [ + -0.031714532524347305, + -0.0905243530869484, + 0.08403091877698898 + ], + "orientation": [ + 0.015151191502809525, + 0.10678312182426453, + 0.7914347648620605, + 0.6016634702682495 + ], + "joints": [ + 0.019902681931853294 + ] + }, + "final_grasp": { + "position": [ + -0.031714532524347305, + -0.0905243530869484, + 0.08403091877698898 + ], + "orientation": [ + 0.015151191502809525, + 0.10678312182426453, + 0.7914347648620605, + 0.6016634702682495 + ], + "joints": [ + 0.011543577536940575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11166266351938248, + -0.050227705389261246, + 0.05725468695163727 + ], + "orientation": [ + 0.42656368017196655, + 0.32521042227745056, + 0.6278603672981262, + 0.5639797449111938 + ], + "joints": [ + 0.027590278536081314 + ] + }, + "fine_grasp": { + "position": [ + -0.10892748832702637, + -0.04777652397751808, + 0.05717720463871956 + ], + "orientation": [ + 0.4186132550239563, + 0.3187391757965088, + 0.6344236731529236, + 0.566281795501709 + ], + "joints": [ + 0.018395263701677322 + ] + }, + "final_grasp": { + "position": [ + -0.10892748832702637, + -0.04777652397751808, + 0.05717720463871956 + ], + "orientation": [ + 0.4186132550239563, + 0.3187391757965088, + 0.6344236731529236, + 0.566281795501709 + ], + "joints": [ + 0.00920024886727333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04160574823617935, + -0.11294354498386383, + 0.09116616100072861 + ], + "orientation": [ + 0.4044450521469116, + -0.6503555774688721, + 0.41041824221611023, + 0.4949934482574463 + ], + "joints": [ + 0.030276309698820114 + ] + }, + "fine_grasp": { + "position": [ + 0.040317289531230927, + -0.1093696877360344, + 0.0901438295841217 + ], + "orientation": [ + 0.4043014943599701, + -0.65077805519104, + 0.41385114192962646, + 0.49168622493743896 + ], + "joints": [ + 0.020663339644670486 + ] + }, + "final_grasp": { + "position": [ + 0.040317289531230927, + -0.1093696877360344, + 0.0901438295841217 + ], + "orientation": [ + 0.4043014943599701, + -0.65077805519104, + 0.41385114192962646, + 0.49168622493743896 + ], + "joints": [ + 0.011050369590520859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.119871124625206, + 0.07572263479232788, + -0.026351043954491615 + ], + "orientation": [ + 0.11202581971883774, + 0.6956078410148621, + -0.04660767689347267, + 0.7081013321876526 + ], + "joints": [ + 0.025082891806960106 + ] + }, + "fine_grasp": { + "position": [ + -0.1160585880279541, + 0.07484616339206696, + -0.026340428739786148 + ], + "orientation": [ + 0.11410529166460037, + 0.6964699029922485, + -0.0448482483625412, + 0.7070349454879761 + ], + "joints": [ + 0.014257853850722313 + ] + }, + "final_grasp": { + "position": [ + -0.1160585880279541, + 0.07484616339206696, + -0.026340428739786148 + ], + "orientation": [ + 0.11410529166460037, + 0.6964699029922485, + -0.0448482483625412, + 0.7070349454879761 + ], + "joints": [ + 0.00343281589448452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07853659242391586, + 0.0038206123281270266, + -0.1456281691789627 + ], + "orientation": [ + 0.47132056951522827, + 0.30075302720069885, + -0.24716806411743164, + -0.7913990020751953 + ], + "joints": [ + 0.021089855581521988 + ] + }, + "fine_grasp": { + "position": [ + 0.07617982476949692, + 0.005050575360655785, + -0.14498181641101837 + ], + "orientation": [ + 0.4650132954120636, + 0.29980096220970154, + -0.2428060621023178, + -0.7968232035636902 + ], + "joints": [ + 0.012312795966863632 + ] + }, + "final_grasp": { + "position": [ + 0.07617982476949692, + 0.005050575360655785, + -0.14498181641101837 + ], + "orientation": [ + 0.4650132954120636, + 0.29980096220970154, + -0.2428060621023178, + -0.7968232035636902 + ], + "joints": [ + 0.0035357363522052765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12385919690132141, + 0.06706582754850388, + -0.05248099938035011 + ], + "orientation": [ + 0.21128308773040771, + 0.685531735420227, + -0.10097552090883255, + -0.6893545389175415 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.12005335837602615, + 0.0665443167090416, + -0.05216771736741066 + ], + "orientation": [ + 0.21454741060733795, + 0.6837655901908875, + -0.1049002930521965, + -0.6895142197608948 + ], + "joints": [ + 0.017184294760227203 + ] + }, + "final_grasp": { + "position": [ + 0.12005335837602615, + 0.0665443167090416, + -0.05216771736741066 + ], + "orientation": [ + 0.21454741060733795, + 0.6837655901908875, + -0.1049002930521965, + -0.6895142197608948 + ], + "joints": [ + 0.006338357925415039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08020268380641937, + -0.09291800111532211, + 0.05791662260890007 + ], + "orientation": [ + 0.6425419449806213, + -0.7196938395500183, + -0.12063302844762802, + 0.23372673988342285 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.07777177542448044, + -0.08991385251283646, + 0.05801573395729065 + ], + "orientation": [ + 0.6432048678398132, + -0.7166617512702942, + -0.12381719797849655, + 0.2394842505455017 + ], + "joints": [ + 0.018551625311374664 + ] + }, + "final_grasp": { + "position": [ + 0.07777177542448044, + -0.08991385251283646, + 0.05801573395729065 + ], + "orientation": [ + 0.6432048678398132, + -0.7166617512702942, + -0.12381719797849655, + 0.2394842505455017 + ], + "joints": [ + 0.008123643696308136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10795275121927261, + 0.10577836632728577, + 0.05874136835336685 + ], + "orientation": [ + 0.22115156054496765, + -0.3220527768135071, + -0.6391547918319702, + 0.6624613404273987 + ], + "joints": [ + 0.025423405691981316 + ] + }, + "fine_grasp": { + "position": [ + 0.10436920076608658, + 0.10413714498281479, + 0.058349575847387314 + ], + "orientation": [ + 0.23038876056671143, + -0.3295454978942871, + -0.6388292908668518, + 0.655910074710846 + ], + "joints": [ + 0.017858413979411125 + ] + }, + "final_grasp": { + "position": [ + 0.10436920076608658, + 0.10413714498281479, + 0.058349575847387314 + ], + "orientation": [ + 0.23038876056671143, + -0.3295454978942871, + -0.6388292908668518, + 0.655910074710846 + ], + "joints": [ + 0.010293422266840935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10890138149261475, + 0.10752682387828827, + 0.05907046049833298 + ], + "orientation": [ + 0.2166873663663864, + -0.3290799856185913, + -0.6418606638908386, + 0.6578507423400879 + ], + "joints": [ + 0.02677983231842518 + ] + }, + "fine_grasp": { + "position": [ + 0.10510935634374619, + 0.10620978474617004, + 0.05841600522398949 + ], + "orientation": [ + 0.23083481192588806, + -0.3412005603313446, + -0.6437647938728333, + 0.6448755860328674 + ], + "joints": [ + 0.02005075104534626 + ] + }, + "final_grasp": { + "position": [ + 0.10510935634374619, + 0.10620978474617004, + 0.05841600522398949 + ], + "orientation": [ + 0.23083481192588806, + -0.3412005603313446, + -0.6437647938728333, + 0.6448755860328674 + ], + "joints": [ + 0.013321669772267342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12378285080194473, + 0.06689804047346115, + -0.05223068967461586 + ], + "orientation": [ + 0.21637007594108582, + 0.6850363612174988, + -0.10655230283737183, + -0.6874269843101501 + ], + "joints": [ + 0.028261786326766014 + ] + }, + "fine_grasp": { + "position": [ + 0.11994992196559906, + 0.06629228591918945, + -0.0518658421933651 + ], + "orientation": [ + 0.2204558253288269, + 0.6828429698944092, + -0.11071709543466568, + -0.6876527667045593 + ], + "joints": [ + 0.017833804711699486 + ] + }, + "final_grasp": { + "position": [ + 0.11994992196559906, + 0.06629228591918945, + -0.0518658421933651 + ], + "orientation": [ + 0.2204558253288269, + 0.6828429698944092, + -0.11071709543466568, + -0.6876527667045593 + ], + "joints": [ + 0.0074058230966329575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10739439725875854, + 0.10520397126674652, + 0.058691587299108505 + ], + "orientation": [ + 0.22449705004692078, + -0.31741687655448914, + -0.6413876414299011, + 0.6614148020744324 + ], + "joints": [ + 0.02589992620050907 + ] + }, + "fine_grasp": { + "position": [ + 0.10389113426208496, + 0.10356128215789795, + 0.058370474725961685 + ], + "orientation": [ + 0.23374126851558685, + -0.32439643144607544, + -0.6414877772331238, + 0.6546948552131653 + ], + "joints": [ + 0.01833493448793888 + ] + }, + "final_grasp": { + "position": [ + 0.10389113426208496, + 0.10356128215789795, + 0.058370474725961685 + ], + "orientation": [ + 0.23374126851558685, + -0.32439643144607544, + -0.6414877772331238, + 0.6546948552131653 + ], + "joints": [ + 0.01076994277536869 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1094619482755661, + 0.10766670107841492, + 0.05876960977911949 + ], + "orientation": [ + 0.22162891924381256, + -0.3216594457626343, + -0.6455903649330139, + 0.6562232375144958 + ], + "joints": [ + 0.02677983231842518 + ] + }, + "fine_grasp": { + "position": [ + 0.10563521087169647, + 0.10634047538042068, + 0.058139730244874954 + ], + "orientation": [ + 0.23575273156166077, + -0.3338732123374939, + -0.6471478343009949, + 0.6435441374778748 + ], + "joints": [ + 0.02005075104534626 + ] + }, + "final_grasp": { + "position": [ + 0.10563521087169647, + 0.10634047538042068, + 0.058139730244874954 + ], + "orientation": [ + 0.23575273156166077, + -0.3338732123374939, + -0.6471478343009949, + 0.6435441374778748 + ], + "joints": [ + 0.013321669772267342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10965963453054428, + 0.10715609788894653, + 0.05865847319364548 + ], + "orientation": [ + 0.2229423075914383, + -0.3184315264225006, + -0.646127462387085, + 0.6568236947059631 + ], + "joints": [ + 0.026327690109610558 + ] + }, + "fine_grasp": { + "position": [ + 0.10588330030441284, + 0.10573195666074753, + 0.057931702584028244 + ], + "orientation": [ + 0.2362898290157318, + -0.3299933969974518, + -0.6490247845649719, + 0.6434581279754639 + ], + "joints": [ + 0.020016564056277275 + ] + }, + "final_grasp": { + "position": [ + 0.10588330030441284, + 0.10573195666074753, + 0.057931702584028244 + ], + "orientation": [ + 0.2362898290157318, + -0.3299933969974518, + -0.6490247845649719, + 0.6434581279754639 + ], + "joints": [ + 0.013705438002943993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12229308485984802, + 0.005411109421402216, + -0.05112225189805031 + ], + "orientation": [ + 0.5610941648483276, + -0.47098541259765625, + 0.5758920907974243, + -0.36289703845977783 + ], + "joints": [ + 0.02142493613064289 + ] + }, + "fine_grasp": { + "position": [ + -0.11825364828109741, + 0.00695232255384326, + -0.05018286034464836 + ], + "orientation": [ + 0.5677160620689392, + -0.4767371118068695, + 0.5635057091712952, + -0.36452919244766235 + ], + "joints": [ + 0.014737652614712715 + ] + }, + "final_grasp": { + "position": [ + -0.11825364828109741, + 0.00695232255384326, + -0.05018286034464836 + ], + "orientation": [ + 0.5677160620689392, + -0.4767371118068695, + 0.5635057091712952, + -0.36452919244766235 + ], + "joints": [ + 0.00805036909878254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12723572552204132, + 0.06075426563620567, + 0.03738875314593315 + ], + "orientation": [ + 0.6193434596061707, + 0.1855480819940567, + -0.7589268088340759, + -0.07756049931049347 + ], + "joints": [ + 0.02393171563744545 + ] + }, + "fine_grasp": { + "position": [ + 0.12281586229801178, + 0.060208383947610855, + 0.03771275281906128 + ], + "orientation": [ + 0.6267407536506653, + 0.1885174810886383, + -0.7512039542198181, + -0.08573141694068909 + ], + "joints": [ + 0.01766238734126091 + ] + }, + "final_grasp": { + "position": [ + 0.12281586229801178, + 0.060208383947610855, + 0.03771275281906128 + ], + "orientation": [ + 0.6267407536506653, + 0.1885174810886383, + -0.7512039542198181, + -0.08573141694068909 + ], + "joints": [ + 0.01139305904507637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1279442012310028, + 0.06069175526499748, + 0.03760276734828949 + ], + "orientation": [ + 0.6200807690620422, + 0.19080588221549988, + -0.7564535737037659, + -0.08289045840501785 + ], + "joints": [ + 0.02434729039669037 + ] + }, + "fine_grasp": { + "position": [ + 0.123518206179142, + 0.06016070023179054, + 0.037869710475206375 + ], + "orientation": [ + 0.6272547841072083, + 0.19339512288570404, + -0.7489210963249207, + -0.0909222736954689 + ], + "joints": [ + 0.017660006880760193 + ] + }, + "final_grasp": { + "position": [ + 0.123518206179142, + 0.06016070023179054, + 0.037869710475206375 + ], + "orientation": [ + 0.6272547841072083, + 0.19339512288570404, + -0.7489210963249207, + -0.0909222736954689 + ], + "joints": [ + 0.010972723364830017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1256140023469925, + 0.060721252113580704, + 0.03764070197939873 + ], + "orientation": [ + 0.6184669733047485, + 0.1888444572687149, + -0.7586694359779358, + -0.07910092920064926 + ], + "joints": [ + 0.024505019187927246 + ] + }, + "fine_grasp": { + "position": [ + 0.12130992114543915, + 0.060209378600120544, + 0.038192763924598694 + ], + "orientation": [ + 0.6270442008972168, + 0.1917966604232788, + -0.7498696446418762, + -0.08789315819740295 + ], + "joints": [ + 0.017399780452251434 + ] + }, + "final_grasp": { + "position": [ + 0.12130992114543915, + 0.060209378600120544, + 0.038192763924598694 + ], + "orientation": [ + 0.6270442008972168, + 0.1917966604232788, + -0.7498696446418762, + -0.08789315819740295 + ], + "joints": [ + 0.010294541716575623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06751487404108047, + 0.12562941014766693, + -0.13149987161159515 + ], + "orientation": [ + 0.5242563486099243, + 0.03306122496724129, + 0.5206302404403687, + -0.673057496547699 + ], + "joints": [ + 0.022704482078552246 + ] + }, + "fine_grasp": { + "position": [ + -0.0655096247792244, + 0.1243005320429802, + -0.12851154804229736 + ], + "orientation": [ + 0.5304018259048462, + 0.030140381306409836, + 0.511303186416626, + -0.6755253672599792 + ], + "joints": [ + 0.013091512024402618 + ] + }, + "final_grasp": { + "position": [ + -0.0655096247792244, + 0.1243005320429802, + -0.12851154804229736 + ], + "orientation": [ + 0.5304018259048462, + 0.030140381306409836, + 0.511303186416626, + -0.6755253672599792 + ], + "joints": [ + 0.0034785419702529907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12606222927570343, + 0.07036176323890686, + 0.024657471105456352 + ], + "orientation": [ + 0.6859641671180725, + 0.5089292526245117, + -0.3750092387199402, + -0.36029449105262756 + ], + "joints": [ + 0.029581645503640175 + ] + }, + "fine_grasp": { + "position": [ + 0.12193991988897324, + 0.06969451159238815, + 0.024753719568252563 + ], + "orientation": [ + 0.6778615117073059, + 0.5096986293792725, + -0.3819917142391205, + -0.3671421706676483 + ], + "joints": [ + 0.022058451548218727 + ] + }, + "final_grasp": { + "position": [ + 0.12193991988897324, + 0.06969451159238815, + 0.024753719568252563 + ], + "orientation": [ + 0.6778615117073059, + 0.5096986293792725, + -0.3819917142391205, + -0.3671421706676483 + ], + "joints": [ + 0.01453525759279728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.094576895236969, + -0.056088414043188095, + -0.07272125780582428 + ], + "orientation": [ + 0.2871907651424408, + 0.3554445505142212, + 0.5873502492904663, + 0.667982280254364 + ], + "joints": [ + 0.019169433042407036 + ] + }, + "fine_grasp": { + "position": [ + -0.09189988672733307, + -0.053333863615989685, + -0.07210025191307068 + ], + "orientation": [ + 0.2847483456134796, + 0.346709281206131, + 0.5907497406005859, + 0.670616090297699 + ], + "joints": [ + 0.01039237342774868 + ] + }, + "final_grasp": { + "position": [ + -0.09189988672733307, + -0.053333863615989685, + -0.07210025191307068 + ], + "orientation": [ + 0.2847483456134796, + 0.346709281206131, + 0.5907497406005859, + 0.670616090297699 + ], + "joints": [ + 0.0016153138130903244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13938607275485992, + 0.03710580989718437, + 0.034661028534173965 + ], + "orientation": [ + 0.6087687611579895, + 0.3975028693675995, + -0.5607785582542419, + -0.39613065123558044 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + 0.1353992223739624, + 0.037996284663677216, + 0.03439703211188316 + ], + "orientation": [ + 0.595303475856781, + 0.395709365606308, + -0.569354772567749, + -0.4060334265232086 + ], + "joints": [ + 0.026461388915777206 + ] + }, + "final_grasp": { + "position": [ + 0.1353992223739624, + 0.037996284663677216, + 0.03439703211188316 + ], + "orientation": [ + 0.595303475856781, + 0.395709365606308, + -0.569354772567749, + -0.4060334265232086 + ], + "joints": [ + 0.019335251301527023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13166113197803497, + 0.0423065610229969, + 0.009073834866285324 + ], + "orientation": [ + 0.7479575872421265, + 0.14908254146575928, + 0.6154503226280212, + 0.19888365268707275 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.12780247628688812, + 0.04260293394327164, + 0.009499444626271725 + ], + "orientation": [ + 0.7425061464309692, + 0.15320329368114471, + 0.6193225979804993, + 0.2040901780128479 + ], + "joints": [ + 0.02400796115398407 + ] + }, + "final_grasp": { + "position": [ + -0.12780247628688812, + 0.04260293394327164, + 0.009499444626271725 + ], + "orientation": [ + 0.7425061464309692, + 0.15320329368114471, + 0.6193225979804993, + 0.2040901780128479 + ], + "joints": [ + 0.015586160123348236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12416693568229675, + 0.05388465151190758, + -0.002378773409873247 + ], + "orientation": [ + 0.6803897023200989, + 0.09691950678825378, + 0.7242638468742371, + 0.05584128201007843 + ], + "joints": [ + 0.02479919046163559 + ] + }, + "fine_grasp": { + "position": [ + -0.1202600821852684, + 0.05365021526813507, + -0.002658070530742407 + ], + "orientation": [ + 0.6796371936798096, + 0.09903600066900253, + 0.7244930863380432, + 0.05826611444354057 + ], + "joints": [ + 0.014768265187740326 + ] + }, + "final_grasp": { + "position": [ + -0.1202600821852684, + 0.05365021526813507, + -0.002658070530742407 + ], + "orientation": [ + 0.6796371936798096, + 0.09903600066900253, + 0.7244930863380432, + 0.05826611444354057 + ], + "joints": [ + 0.004737339913845062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001384916016831994, + -0.10224965959787369, + 0.06141795590519905 + ], + "orientation": [ + 0.652859091758728, + -0.7378512024879456, + 0.1712368130683899, + 0.005346963647753 + ], + "joints": [ + 0.028308099135756493 + ] + }, + "fine_grasp": { + "position": [ + -3.6299799830885604e-05, + -0.09924056380987167, + 0.06217537447810173 + ], + "orientation": [ + 0.6572521924972534, + -0.7363755106925964, + 0.15915636718273163, + 0.020972909405827522 + ], + "joints": [ + 0.02036694996058941 + ] + }, + "final_grasp": { + "position": [ + -3.6299799830885604e-05, + -0.09924056380987167, + 0.06217537447810173 + ], + "orientation": [ + 0.6572521924972534, + -0.7363755106925964, + 0.15915636718273163, + 0.020972909405827522 + ], + "joints": [ + 0.012425800785422325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0011864908738061786, + -0.10205039381980896, + 0.06155036389827728 + ], + "orientation": [ + 0.6520560383796692, + -0.738695502281189, + 0.1706525683403015, + 0.0054390751756727695 + ], + "joints": [ + 0.028794365003705025 + ] + }, + "fine_grasp": { + "position": [ + -0.0002083649014821276, + -0.09911413490772247, + 0.0623805969953537 + ], + "orientation": [ + 0.6565240025520325, + -0.7372380495071411, + 0.1583399623632431, + 0.019619179889559746 + ], + "joints": [ + 0.02083231694996357 + ] + }, + "final_grasp": { + "position": [ + -0.0002083649014821276, + -0.09911413490772247, + 0.0623805969953537 + ], + "orientation": [ + 0.6565240025520325, + -0.7372380495071411, + 0.1583399623632431, + 0.019619179889559746 + ], + "joints": [ + 0.012870268896222115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1317843496799469, + 0.04169197380542755, + 0.007540255784988403 + ], + "orientation": [ + 0.7438105940818787, + 0.14502617716789246, + 0.6226579546928406, + 0.19496171176433563 + ], + "joints": [ + 0.03263815864920616 + ] + }, + "fine_grasp": { + "position": [ + -0.12804725766181946, + 0.04199369251728058, + 0.00811463501304388 + ], + "orientation": [ + 0.7422341704368591, + 0.14663191139698029, + 0.6228175759315491, + 0.1992131918668747 + ], + "joints": [ + 0.023798402398824692 + ] + }, + "final_grasp": { + "position": [ + -0.12804725766181946, + 0.04199369251728058, + 0.00811463501304388 + ], + "orientation": [ + 0.7422341704368591, + 0.14663191139698029, + 0.6228175759315491, + 0.1992131918668747 + ], + "joints": [ + 0.014958646148443222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10767973959445953, + -0.005961490795016289, + -0.05763739347457886 + ], + "orientation": [ + 0.388368159532547, + 0.5258662700653076, + -0.5251911282539368, + -0.5448017716407776 + ], + "joints": [ + 0.016055915504693985 + ] + }, + "fine_grasp": { + "position": [ + 0.10597596317529678, + -0.005944448057562113, + -0.058229949325323105 + ], + "orientation": [ + 0.384675532579422, + 0.520632803440094, + -0.5273333787918091, + -0.5503506660461426 + ], + "joints": [ + 0.006860900670289993 + ] + }, + "final_grasp": { + "position": [ + 0.10597596317529678, + -0.005944448057562113, + -0.058229949325323105 + ], + "orientation": [ + 0.384675532579422, + 0.520632803440094, + -0.5273333787918091, + -0.5503506660461426 + ], + "joints": [ + -0.0023341141641139984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13200360536575317, + 0.04187483713030815, + 0.008615195751190186 + ], + "orientation": [ + 0.7476657629013062, + 0.14929994940757751, + 0.6152854561805725, + 0.20032274723052979 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + -0.12825125455856323, + 0.042229149490594864, + 0.009044557809829712 + ], + "orientation": [ + 0.7429202795028687, + 0.15238311886787415, + 0.6186239719390869, + 0.20531220734119415 + ], + "joints": [ + 0.02402995526790619 + ] + }, + "final_grasp": { + "position": [ + -0.12825125455856323, + 0.042229149490594864, + 0.009044557809829712 + ], + "orientation": [ + 0.7429202795028687, + 0.15238311886787415, + 0.6186239719390869, + 0.20531220734119415 + ], + "joints": [ + 0.01519019901752472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10073710232973099, + -0.06914704293012619, + -0.08026207983493805 + ], + "orientation": [ + 0.700690507888794, + -0.5666726231575012, + 0.36925166845321655, + -0.22708621621131897 + ], + "joints": [ + 0.015079738572239876 + ] + }, + "fine_grasp": { + "position": [ + -0.09770854562520981, + -0.06681057065725327, + -0.0798492431640625 + ], + "orientation": [ + 0.7011222243309021, + -0.5655949115753174, + 0.3692835569381714, + -0.22838488221168518 + ], + "joints": [ + 0.005863825790584087 + ] + }, + "final_grasp": { + "position": [ + -0.09770854562520981, + -0.06681057065725327, + -0.0798492431640625 + ], + "orientation": [ + 0.7011222243309021, + -0.5655949115753174, + 0.3692835569381714, + -0.22838488221168518 + ], + "joints": [ + -0.003352086991071701 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10146751254796982, + -0.06943149864673615, + -0.08015646785497665 + ], + "orientation": [ + 0.7015255689620972, + -0.5693342089653015, + 0.36472204327583313, + -0.22516271471977234 + ], + "joints": [ + 0.014892512932419777 + ] + }, + "fine_grasp": { + "position": [ + -0.09836239367723465, + -0.06700511276721954, + -0.07977432757616043 + ], + "orientation": [ + 0.7017903327941895, + -0.5683318972587585, + 0.3649548292160034, + -0.22648902237415314 + ], + "joints": [ + 0.0060945553705096245 + ] + }, + "final_grasp": { + "position": [ + -0.09836239367723465, + -0.06700511276721954, + -0.07977432757616043 + ], + "orientation": [ + 0.7017903327941895, + -0.5683318972587585, + 0.3649548292160034, + -0.22648902237415314 + ], + "joints": [ + -0.002703402191400528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12929433584213257, + 0.05224471911787987, + -0.03735531494021416 + ], + "orientation": [ + 0.6740401983261108, + -0.1443661004304886, + 0.7069047689437866, + -0.15847329795360565 + ], + "joints": [ + 0.027982696890830994 + ] + }, + "fine_grasp": { + "position": [ + -0.12537208199501038, + 0.05213577300310135, + -0.0373215489089489 + ], + "orientation": [ + 0.6745762228965759, + -0.14823178946971893, + 0.7044896483421326, + -0.16330531239509583 + ], + "joints": [ + 0.01795177161693573 + ] + }, + "final_grasp": { + "position": [ + -0.12537208199501038, + 0.05213577300310135, + -0.0373215489089489 + ], + "orientation": [ + 0.6745762228965759, + -0.14823178946971893, + 0.7044896483421326, + -0.16330531239509583 + ], + "joints": [ + 0.007920846343040466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004683580249547958, + -0.07102107256650925, + -0.13117589056491852 + ], + "orientation": [ + 0.831831693649292, + -0.43701404333114624, + 0.1161450669169426, + 0.32184627652168274 + ], + "joints": [ + 0.023907944560050964 + ] + }, + "fine_grasp": { + "position": [ + 0.005101598333567381, + -0.06792549788951874, + -0.12908712029457092 + ], + "orientation": [ + 0.830906331539154, + -0.43753162026405334, + 0.1233341172337532, + 0.32085713744163513 + ], + "joints": [ + 0.014692030847072601 + ] + }, + "final_grasp": { + "position": [ + 0.005101598333567381, + -0.06792549788951874, + -0.12908712029457092 + ], + "orientation": [ + 0.830906331539154, + -0.43753162026405334, + 0.1233341172337532, + 0.32085713744163513 + ], + "joints": [ + 0.005476117134094238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025449354201555252, + -0.09679220616817474, + -0.11548357456922531 + ], + "orientation": [ + 0.0590599961578846, + 0.052335869520902634, + 0.557401716709137, + 0.826484203338623 + ], + "joints": [ + 0.017162226140499115 + ] + }, + "fine_grasp": { + "position": [ + -0.024707965552806854, + -0.09345342218875885, + -0.11408308893442154 + ], + "orientation": [ + 0.0594952367246151, + 0.05373729020357132, + 0.5589586496353149, + 0.8253108263015747 + ], + "joints": [ + 0.00792541541159153 + ] + }, + "final_grasp": { + "position": [ + -0.024707965552806854, + -0.09345342218875885, + -0.11408308893442154 + ], + "orientation": [ + 0.0594952367246151, + 0.05373729020357132, + 0.5589586496353149, + 0.8253108263015747 + ], + "joints": [ + -0.0013113953173160553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12986363470554352, + 0.02847171761095524, + -0.037869080901145935 + ], + "orientation": [ + 0.008049304597079754, + -0.6276999115943909, + -0.0895654484629631, + -0.7732438445091248 + ], + "joints": [ + 0.023711128160357475 + ] + }, + "fine_grasp": { + "position": [ + -0.12602300941944122, + 0.02902563475072384, + -0.03754180669784546 + ], + "orientation": [ + 0.006806843914091587, + -0.6299704909324646, + -0.09076545387506485, + -0.7712668776512146 + ], + "joints": [ + 0.014495214447379112 + ] + }, + "final_grasp": { + "position": [ + -0.12602300941944122, + 0.02902563475072384, + -0.03754180669784546 + ], + "orientation": [ + 0.006806843914091587, + -0.6299704909324646, + -0.09076545387506485, + -0.7712668776512146 + ], + "joints": [ + 0.005279300734400749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015534983016550541, + -0.07690633088350296, + -0.13308608531951904 + ], + "orientation": [ + 0.8764882683753967, + -0.4808819890022278, + -0.021793663501739502, + -0.006777345202863216 + ], + "joints": [ + 0.021290453150868416 + ] + }, + "fine_grasp": { + "position": [ + 0.014904496259987354, + -0.07452910393476486, + -0.1313290148973465 + ], + "orientation": [ + 0.8751492500305176, + -0.4831070601940155, + -0.025980615988373756, + -0.006814120337367058 + ], + "joints": [ + 0.011677483096718788 + ] + }, + "final_grasp": { + "position": [ + 0.014904496259987354, + -0.07452910393476486, + -0.1313290148973465 + ], + "orientation": [ + 0.8751492500305176, + -0.4831070601940155, + -0.025980615988373756, + -0.006814120337367058 + ], + "joints": [ + 0.0020645130425691605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03386316075921059, + -0.07346964627504349, + -0.13372594118118286 + ], + "orientation": [ + 0.06301058083772659, + 0.10116679966449738, + -0.4698319435119629, + -0.8746730089187622 + ], + "joints": [ + 0.021704716607928276 + ] + }, + "fine_grasp": { + "position": [ + 0.033059507608413696, + -0.0710042417049408, + -0.13200315833091736 + ], + "orientation": [ + 0.061251360923051834, + 0.10376144200563431, + -0.4707593619823456, + -0.8739951252937317 + ], + "joints": [ + 0.012488802894949913 + ] + }, + "final_grasp": { + "position": [ + 0.033059507608413696, + -0.0710042417049408, + -0.13200315833091736 + ], + "orientation": [ + 0.061251360923051834, + 0.10376144200563431, + -0.4707593619823456, + -0.8739951252937317 + ], + "joints": [ + 0.00327288918197155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13032220304012299, + 0.04714585840702057, + -0.03477439284324646 + ], + "orientation": [ + 0.16419069468975067, + 0.7362232208251953, + 0.18871964514255524, + 0.6288096308708191 + ], + "joints": [ + 0.027057699859142303 + ] + }, + "fine_grasp": { + "position": [ + -0.12636889517307281, + 0.0474037304520607, + -0.03464649245142937 + ], + "orientation": [ + 0.1652621030807495, + 0.7307244539260864, + 0.1931263953447342, + 0.6335870027542114 + ], + "joints": [ + 0.01784178614616394 + ] + }, + "final_grasp": { + "position": [ + -0.12636889517307281, + 0.0474037304520607, + -0.03464649245142937 + ], + "orientation": [ + 0.1652621030807495, + 0.7307244539260864, + 0.1931263953447342, + 0.6335870027542114 + ], + "joints": [ + 0.008625872433185577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0815136656165123, + 0.14079900085926056, + 0.06088416278362274 + ], + "orientation": [ + 0.10741332918405533, + 0.49109968543052673, + -0.5241794586181641, + 0.6874004006385803 + ], + "joints": [ + 0.028665171936154366 + ] + }, + "fine_grasp": { + "position": [ + -0.07892154157161713, + 0.13815578818321228, + 0.06017417833209038 + ], + "orientation": [ + 0.10183141380548477, + 0.5005771517753601, + -0.5235456824302673, + 0.6818745136260986 + ], + "joints": [ + 0.020243370905518532 + ] + }, + "final_grasp": { + "position": [ + -0.07892154157161713, + 0.13815578818321228, + 0.06017417833209038 + ], + "orientation": [ + 0.10183141380548477, + 0.5005771517753601, + -0.5235456824302673, + 0.6818745136260986 + ], + "joints": [ + 0.011821569874882698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10564392060041428, + 0.0998767763376236, + -0.09648853540420532 + ], + "orientation": [ + 0.4315663278102875, + 0.6199878454208374, + 0.02327112853527069, + 0.6548466682434082 + ], + "joints": [ + 0.02564154751598835 + ] + }, + "fine_grasp": { + "position": [ + -0.10236074030399323, + 0.09818100929260254, + -0.09518937766551971 + ], + "orientation": [ + 0.4285706877708435, + 0.6185609698295593, + 0.022936053574085236, + 0.6581667065620422 + ], + "joints": [ + 0.015631521120667458 + ] + }, + "final_grasp": { + "position": [ + -0.10236074030399323, + 0.09818100929260254, + -0.09518937766551971 + ], + "orientation": [ + 0.4285706877708435, + 0.6185609698295593, + 0.022936053574085236, + 0.6581667065620422 + ], + "joints": [ + 0.005621494725346565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09452739357948303, + -0.05384423956274986, + -0.11024872213602066 + ], + "orientation": [ + 0.7508044242858887, + -0.5030175447463989, + -0.2825314402580261, + 0.32162413001060486 + ], + "joints": [ + 0.017079206183552742 + ] + }, + "fine_grasp": { + "position": [ + 0.09153463691473007, + -0.052017003297805786, + -0.10907137393951416 + ], + "orientation": [ + 0.7485946416854858, + -0.5033644437789917, + -0.28583019971847534, + 0.3233131170272827 + ], + "joints": [ + 0.007466236129403114 + ] + }, + "final_grasp": { + "position": [ + 0.09153463691473007, + -0.052017003297805786, + -0.10907137393951416 + ], + "orientation": [ + 0.7485946416854858, + -0.5033644437789917, + -0.28583019971847534, + 0.3233131170272827 + ], + "joints": [ + -0.0021467339247465134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12836028635501862, + 0.07113105803728104, + 0.024532392621040344 + ], + "orientation": [ + 0.6843244433403015, + 0.5116831064224243, + -0.3720075488090515, + -0.362616628408432 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.12418611347675323, + 0.07043083012104034, + 0.02464900352060795 + ], + "orientation": [ + 0.6764107942581177, + 0.5120832324028015, + -0.3795059621334076, + -0.36907240748405457 + ], + "joints": [ + 0.021618498489260674 + ] + }, + "final_grasp": { + "position": [ + 0.12418611347675323, + 0.07043083012104034, + 0.02464900352060795 + ], + "orientation": [ + 0.6764107942581177, + 0.5120832324028015, + -0.3795059621334076, + -0.36907240748405457 + ], + "joints": [ + 0.014095304533839226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12765780091285706, + 0.07127795368432999, + 0.024796724319458008 + ], + "orientation": [ + 0.6848931908607483, + 0.511195182800293, + -0.3744550943374634, + -0.3597002327442169 + ], + "joints": [ + 0.02935009077191353 + ] + }, + "fine_grasp": { + "position": [ + 0.1235070675611496, + 0.07056784629821777, + 0.0249033086001873 + ], + "orientation": [ + 0.6771194338798523, + 0.5115761160850525, + -0.38160544633865356, + -0.36630094051361084 + ], + "joints": [ + 0.02182689681649208 + ] + }, + "final_grasp": { + "position": [ + 0.1235070675611496, + 0.07056784629821777, + 0.0249033086001873 + ], + "orientation": [ + 0.6771194338798523, + 0.5115761160850525, + -0.38160544633865356, + -0.36630094051361084 + ], + "joints": [ + 0.014303702861070633 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 261 + } +} \ No newline at end of file diff --git a/024_scanner_2/Object.usd b/024_scanner_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..80a90f5b39f46606a61874ae8b6d7f219a05f034 --- /dev/null +++ b/024_scanner_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dee095b7774f447720bf70ff5022ba1ef66755228104082606cb286f641cddd +size 305572 diff --git a/030_drill_0/Annotation/dex1_1_grasp_pose.json b/030_drill_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..a8e3dcc7f587961c696bdcc983e071986ab064bc --- /dev/null +++ b/030_drill_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,718 @@ +{ + "type": "030_drill_0", + "bottom_center": [ + 5.1995739340782166e-06, + 0.0603535994887352, + -0.07600504159927368 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0007612672634422779, + 0.21656258404254913, + 0.0063171349465847015 + ], + "orientation": [ + 0.004268753807991743, + -0.007551494054496288, + -0.10685503482818604, + 0.9942367672920227 + ], + "joints": [ + -0.0040890928357839584 + ] + }, + "fine_grasp": { + "position": [ + 0.0006169983535073698, + 0.21617551147937775, + 0.007910573855042458 + ], + "orientation": [ + 0.002752735512331128, + -0.004874261561781168, + -0.08817402273416519, + 0.9960893392562866 + ], + "joints": [ + 0.002314272802323103 + ] + }, + "final_grasp": { + "position": [ + 0.0006169983535073698, + 0.21617551147937775, + 0.007910573855042458 + ], + "orientation": [ + 0.002752735512331128, + -0.004874261561781168, + -0.08817402273416519, + 0.9960893392562866 + ], + "joints": [ + 0.008717638440430164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00018671354337129742, + 0.21911706030368805, + 0.021901460364460945 + ], + "orientation": [ + 0.1427762508392334, + -0.9896002411842346, + 0.0022623115219175816, + -0.017355993390083313 + ], + "joints": [ + -0.0043485453352332115 + ] + }, + "fine_grasp": { + "position": [ + 1.6949237760854885e-05, + 0.21460680663585663, + 0.021298499777913094 + ], + "orientation": [ + 0.1284496784210205, + -0.991662323474884, + 0.0013499310007318854, + -0.010235191322863102 + ], + "joints": [ + 0.0025596502237021923 + ] + }, + "final_grasp": { + "position": [ + 1.6949237760854885e-05, + 0.21460680663585663, + 0.021298499777913094 + ], + "orientation": [ + 0.1284496784210205, + -0.991662323474884, + 0.0013499310007318854, + -0.010235191322863102 + ], + "joints": [ + 0.009467845782637596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012317289365455508, + 0.21674706041812897, + 0.006564738228917122 + ], + "orientation": [ + 0.005049986764788628, + -0.0004884483059868217, + -0.10813946276903152, + 0.9941228628158569 + ], + "joints": [ + -0.004012998193502426 + ] + }, + "fine_grasp": { + "position": [ + 0.0006824937299825251, + 0.2158791571855545, + 0.008121294900774956 + ], + "orientation": [ + 0.002349274465814233, + 0.0006650355644524097, + -0.09079974889755249, + 0.9958661794662476 + ], + "joints": [ + 0.0023903674446046352 + ] + }, + "final_grasp": { + "position": [ + 0.0006824937299825251, + 0.2158791571855545, + 0.008121294900774956 + ], + "orientation": [ + 0.002349274465814233, + 0.0006650355644524097, + -0.09079974889755249, + 0.9958661794662476 + ], + "joints": [ + 0.008793733082711697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022576449438929558, + 0.20731711387634277, + 0.02002234011888504 + ], + "orientation": [ + 0.14572083950042725, + -0.9818440675735474, + -0.10390643775463104, + 0.06285826861858368 + ], + "joints": [ + -0.004784015007317066 + ] + }, + "fine_grasp": { + "position": [ + -0.022780777886509895, + 0.2049339860677719, + 0.01972646452486515 + ], + "orientation": [ + 0.14371554553508759, + -0.9819639921188354, + -0.10527130216360092, + 0.06332848221063614 + ], + "joints": [ + 0.0021507502533495426 + ] + }, + "final_grasp": { + "position": [ + -0.022780777886509895, + 0.2049339860677719, + 0.01972646452486515 + ], + "orientation": [ + 0.14371554553508759, + -0.9819639921188354, + -0.10527130216360092, + 0.06332848221063614 + ], + "joints": [ + 0.009085515514016151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11544854193925858, + 0.10996848344802856, + -0.018612779676914215 + ], + "orientation": [ + 0.2576152980327606, + 0.6778489351272583, + 0.6170698404312134, + -0.3055814802646637 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.11648190021514893, + 0.11002399027347565, + -0.016680406406521797 + ], + "orientation": [ + 0.26548904180526733, + 0.6850170493125916, + 0.6104381084442139, + -0.2960280776023865 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.11648190021514893, + 0.11002399027347565, + -0.016680406406521797 + ], + "orientation": [ + 0.26548904180526733, + 0.6850170493125916, + 0.6104381084442139, + -0.2960280776023865 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10268376767635345, + 0.14481377601623535, + -0.08978751301765442 + ], + "orientation": [ + 0.5557520389556885, + 0.28982600569725037, + -0.027301806956529617, + 0.7787138819694519 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.1037537232041359, + 0.1430540531873703, + -0.0905885174870491 + ], + "orientation": [ + 0.5439622402191162, + 0.2890717685222626, + -0.03401203453540802, + 0.787010669708252 + ], + "joints": [ + -0.012155231088399887 + ] + }, + "final_grasp": { + "position": [ + 0.1037537232041359, + 0.1430540531873703, + -0.0905885174870491 + ], + "orientation": [ + 0.5439622402191162, + 0.2890717685222626, + -0.03401203453540802, + 0.787010669708252 + ], + "joints": [ + -0.012553777545690536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12171970307826996, + 0.08383563905954361, + -0.07405322790145874 + ], + "orientation": [ + 0.1368626356124878, + -0.622503936290741, + 0.7377018928527832, + 0.22260579466819763 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.1221982017159462, + 0.08267868310213089, + -0.0755133330821991 + ], + "orientation": [ + 0.14972323179244995, + -0.6334138512611389, + 0.7260794043540955, + 0.22176247835159302 + ], + "joints": [ + -0.012184672057628632 + ] + }, + "final_grasp": { + "position": [ + 0.1221982017159462, + 0.08267868310213089, + -0.0755133330821991 + ], + "orientation": [ + 0.14972323179244995, + -0.6334138512611389, + 0.7260794043540955, + 0.22176247835159302 + ], + "joints": [ + -0.012583218514919281 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1215975284576416, + 0.08371660113334656, + -0.07404040545225143 + ], + "orientation": [ + 0.13661299645900726, + -0.622417151927948, + 0.7379657626152039, + 0.2221265584230423 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.12202513962984085, + 0.08263204246759415, + -0.07551354169845581 + ], + "orientation": [ + 0.1500799059867859, + -0.6334385275840759, + 0.7261280417442322, + 0.22129122912883759 + ], + "joints": [ + -0.012155231088399887 + ] + }, + "final_grasp": { + "position": [ + 0.12202513962984085, + 0.08263204246759415, + -0.07551354169845581 + ], + "orientation": [ + 0.1500799059867859, + -0.6334385275840759, + 0.7261280417442322, + 0.22129122912883759 + ], + "joints": [ + -0.012553777545690536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10732375830411911, + 0.13468873500823975, + -0.08615540713071823 + ], + "orientation": [ + 0.04872022941708565, + -0.752586841583252, + -0.5945205092430115, + -0.27889928221702576 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.10916940122842789, + 0.13395537436008453, + -0.0880594402551651 + ], + "orientation": [ + 0.0592370331287384, + -0.7566489577293396, + -0.5864860415458679, + -0.28285571932792664 + ], + "joints": [ + -0.011200111359357834 + ] + }, + "final_grasp": { + "position": [ + -0.10916940122842789, + 0.13395537436008453, + -0.0880594402551651 + ], + "orientation": [ + 0.0592370331287384, + -0.7566489577293396, + -0.5864860415458679, + -0.28285571932792664 + ], + "joints": [ + -0.01008417084813118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10652896016836166, + 0.14904829859733582, + -0.05674818530678749 + ], + "orientation": [ + 0.15073511004447937, + -0.8105507493019104, + -0.5077962279319763, + -0.24985896050930023 + ], + "joints": [ + -0.01941119134426117 + ] + }, + "fine_grasp": { + "position": [ + -0.10849104821681976, + 0.1492536962032318, + -0.05557296797633171 + ], + "orientation": [ + 0.14463099837303162, + -0.803100049495697, + -0.5128275156021118, + -0.26668351888656616 + ], + "joints": [ + -0.016754183918237686 + ] + }, + "final_grasp": { + "position": [ + -0.10849104821681976, + 0.1492536962032318, + -0.05557296797633171 + ], + "orientation": [ + 0.14463099837303162, + -0.803100049495697, + -0.5128275156021118, + -0.26668351888656616 + ], + "joints": [ + -0.014097176492214203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12443632632493973, + 0.07091611623764038, + -0.10633588582277298 + ], + "orientation": [ + 0.46124574542045593, + 0.6923872232437134, + 0.5086474418640137, + -0.22165314853191376 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.12274082750082016, + 0.07215223461389542, + -0.10568493604660034 + ], + "orientation": [ + 0.460116446018219, + 0.6999525427818298, + 0.5039734244346619, + -0.2106422483921051 + ], + "joints": [ + -0.016517186537384987 + ] + }, + "final_grasp": { + "position": [ + -0.12274082750082016, + 0.07215223461389542, + -0.10568493604660034 + ], + "orientation": [ + 0.460116446018219, + 0.6999525427818298, + 0.5039734244346619, + -0.2106422483921051 + ], + "joints": [ + -0.013328777626156807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005157558247447014, + 0.21144704520702362, + 0.024833567440509796 + ], + "orientation": [ + 0.14150071144104004, + -0.9878568053245544, + 0.01166310254484415, + 0.06309054791927338 + ], + "joints": [ + -0.0032794245053082705 + ] + }, + "fine_grasp": { + "position": [ + 0.0052552418783307076, + 0.21228083968162537, + 0.024005496874451637 + ], + "orientation": [ + 0.14495126903057098, + -0.9874052405357361, + 0.012204477563500404, + 0.06221712753176689 + ], + "joints": [ + 0.0036287710536271334 + ] + }, + "final_grasp": { + "position": [ + 0.0052552418783307076, + 0.21228083968162537, + 0.024005496874451637 + ], + "orientation": [ + 0.14495126903057098, + -0.9874052405357361, + 0.012204477563500404, + 0.06221712753176689 + ], + "joints": [ + 0.01053696684539318 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0174738559871912, + -0.0028415543492883444, + 0.10844921320676804 + ], + "orientation": [ + 0.005433292593806982, + -0.07316417247056961, + 0.9412030577659607, + -0.3297792971134186 + ], + "joints": [ + -0.0002002905821427703 + ] + }, + "fine_grasp": { + "position": [ + 0.018333250656723976, + -0.0017084948485717177, + 0.10734076052904129 + ], + "orientation": [ + 0.01630067639052868, + -0.08026627451181412, + 0.9402227997779846, + -0.3305645287036896 + ], + "joints": [ + 0.006707904860377312 + ] + }, + "final_grasp": { + "position": [ + 0.018333250656723976, + -0.0017084948485717177, + 0.10734076052904129 + ], + "orientation": [ + 0.01630067639052868, + -0.08026627451181412, + 0.9402227997779846, + -0.3305645287036896 + ], + "joints": [ + 0.013616099953651428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018704067915678024, + 0.2195068597793579, + -0.014066340401768684 + ], + "orientation": [ + 0.07333119213581085, + 0.039392877370119095, + 0.07427386939525604, + -0.9937576055526733 + ], + "joints": [ + -0.005555601790547371 + ] + }, + "fine_grasp": { + "position": [ + -0.018358495086431503, + 0.2161312699317932, + -0.014925621449947357 + ], + "orientation": [ + 0.07444635778665543, + 0.03350408747792244, + 0.08742202818393707, + -0.9928206205368042 + ], + "joints": [ + 0.001352593768388033 + ] + }, + "final_grasp": { + "position": [ + -0.018358495086431503, + 0.2161312699317932, + -0.014925621449947357 + ], + "orientation": [ + 0.07444635778665543, + 0.03350408747792244, + 0.08742202818393707, + -0.9928206205368042 + ], + "joints": [ + 0.008260789327323437 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2047, + "num_passed": 14 + } +} \ No newline at end of file diff --git a/030_drill_0/Annotation/piper_grasp_pose.json b/030_drill_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..34607cdd8075001bcc9e22e8cee8d46cefd249ed --- /dev/null +++ b/030_drill_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,6368 @@ +{ + "type": "030_drill_0", + "bottom_center": [ + 5.1995739340782166e-06, + 0.0603535994887352, + -0.07600504159927368 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.026612423360347748, + 0.04522028937935829, + -0.176015242934227 + ], + "orientation": [ + 0.679742157459259, + -0.19757646322250366, + -0.0581405833363533, + -0.7039416432380676 + ], + "joints": [ + 0.026849301531910896 + ] + }, + "fine_grasp": { + "position": [ + -0.025931527838110924, + 0.046630263328552246, + -0.17264893651008606 + ], + "orientation": [ + 0.679902195930481, + -0.1970914602279663, + -0.05966786667704582, + -0.7037951946258545 + ], + "joints": [ + 0.01679747737944126 + ] + }, + "final_grasp": { + "position": [ + -0.025931527838110924, + 0.046630263328552246, + -0.17264893651008606 + ], + "orientation": [ + 0.679902195930481, + -0.1970914602279663, + -0.05966786667704582, + -0.7037951946258545 + ], + "joints": [ + 0.006745653226971626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041285306215286255, + 0.21551893651485443, + 0.006671523675322533 + ], + "orientation": [ + 0.2938764989376068, + 0.6717160940170288, + 0.5101450681686401, + -0.44965091347694397 + ], + "joints": [ + 0.026131480932235718 + ] + }, + "fine_grasp": { + "position": [ + 0.040174148976802826, + 0.21219974756240845, + 0.00601348327472806 + ], + "orientation": [ + 0.29635098576545715, + 0.6685134172439575, + 0.5095044374465942, + -0.4535098671913147 + ], + "joints": [ + 0.016894668340682983 + ] + }, + "final_grasp": { + "position": [ + 0.040174148976802826, + 0.21219974756240845, + 0.00601348327472806 + ], + "orientation": [ + 0.29635098576545715, + 0.6685134172439575, + 0.5095044374465942, + -0.4535098671913147 + ], + "joints": [ + 0.007657855749130249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041423238813877106, + 0.21525061130523682, + 0.006707025691866875 + ], + "orientation": [ + 0.29282307624816895, + 0.6707702875137329, + 0.5111186504364014, + -0.45064350962638855 + ], + "joints": [ + 0.026154637336730957 + ] + }, + "fine_grasp": { + "position": [ + 0.040327467024326324, + 0.21211665868759155, + 0.005986000876873732 + ], + "orientation": [ + 0.29498085379600525, + 0.6677725911140442, + 0.5104050040245056, + -0.454480916261673 + ], + "joints": [ + 0.016917824745178223 + ] + }, + "final_grasp": { + "position": [ + 0.040327467024326324, + 0.21211665868759155, + 0.005986000876873732 + ], + "orientation": [ + 0.29498085379600525, + 0.6677725911140442, + 0.5104050040245056, + -0.454480916261673 + ], + "joints": [ + 0.007681012153625488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0030662021599709988, + 0.21576175093650818, + -0.11620426923036575 + ], + "orientation": [ + 0.5321601033210754, + 0.4031452536582947, + 0.4281722903251648, + -0.6090551018714905 + ], + "joints": [ + 0.023491762578487396 + ] + }, + "fine_grasp": { + "position": [ + 0.003038964467123151, + 0.2127392590045929, + -0.11396605521440506 + ], + "orientation": [ + 0.5342282056808472, + 0.39924538135528564, + 0.4255470335483551, + -0.6116477847099304 + ], + "joints": [ + 0.014652006328105927 + ] + }, + "final_grasp": { + "position": [ + 0.003038964467123151, + 0.2127392590045929, + -0.11396605521440506 + ], + "orientation": [ + 0.5342282056808472, + 0.39924538135528564, + 0.4255470335483551, + -0.6116477847099304 + ], + "joints": [ + 0.005812250077724457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003039501840248704, + 0.2155417501926422, + -0.11636940389871597 + ], + "orientation": [ + 0.5313410758972168, + 0.40370404720306396, + 0.42885786294937134, + -0.6089175939559937 + ], + "joints": [ + 0.02328336425125599 + ] + }, + "fine_grasp": { + "position": [ + 0.0030002358835190535, + 0.21250121295452118, + -0.11405286937952042 + ], + "orientation": [ + 0.5334573984146118, + 0.3997710645198822, + 0.425648033618927, + -0.6119069457054138 + ], + "joints": [ + 0.01446450687944889 + ] + }, + "final_grasp": { + "position": [ + 0.0030002358835190535, + 0.21250121295452118, + -0.11405286937952042 + ], + "orientation": [ + 0.5334573984146118, + 0.3997710645198822, + 0.425648033618927, + -0.6119069457054138 + ], + "joints": [ + 0.005645649507641792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0028731352649629116, + 0.21541403234004974, + -0.11644255369901657 + ], + "orientation": [ + 0.5291107892990112, + 0.40411147475242615, + 0.43042638897895813, + -0.6094822883605957 + ], + "joints": [ + 0.02328336425125599 + ] + }, + "fine_grasp": { + "position": [ + 0.002857363549992442, + 0.21244961023330688, + -0.11402420699596405 + ], + "orientation": [ + 0.5316265821456909, + 0.39939796924591064, + 0.4268377721309662, + -0.6129143834114075 + ], + "joints": [ + 0.014046551659703255 + ] + }, + "final_grasp": { + "position": [ + 0.002857363549992442, + 0.21244961023330688, + -0.11402420699596405 + ], + "orientation": [ + 0.5316265821456909, + 0.39939796924591064, + 0.4268377721309662, + -0.6129143834114075 + ], + "joints": [ + 0.00480973906815052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002983285114169121, + 0.09576310962438583, + -0.17857865989208221 + ], + "orientation": [ + 0.804920494556427, + 0.004684746731072664, + 0.020119108259677887, + -0.5930231213569641 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + -0.0029396244790405035, + 0.09601462632417679, + -0.17468006908893585 + ], + "orientation": [ + 0.8037273287773132, + 0.0025626434944570065, + 0.01931648515164852, + -0.594678521156311 + ], + "joints": [ + 0.018208863213658333 + ] + }, + "final_grasp": { + "position": [ + -0.0029396244790405035, + 0.09601462632417679, + -0.17468006908893585 + ], + "orientation": [ + 0.8037273287773132, + 0.0025626434944570065, + 0.01931648515164852, + -0.594678521156311 + ], + "joints": [ + 0.008595893159508705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028635988011956215, + 0.06043565645813942, + 0.15532314777374268 + ], + "orientation": [ + 0.04830481484532356, + -0.7401405572891235, + -0.6411992311477661, + -0.19677944481372833 + ], + "joints": [ + 0.02174757793545723 + ] + }, + "fine_grasp": { + "position": [ + -0.02819005213677883, + 0.06184566393494606, + 0.15338344871997833 + ], + "orientation": [ + 0.04709574952721596, + -0.7388530373573303, + -0.6430898308753967, + -0.19573886692523956 + ], + "joints": [ + 0.011737551540136337 + ] + }, + "final_grasp": { + "position": [ + -0.02819005213677883, + 0.06184566393494606, + 0.15338344871997833 + ], + "orientation": [ + 0.04709574952721596, + -0.7388530373573303, + -0.6430898308753967, + -0.19573886692523956 + ], + "joints": [ + 0.001727525144815445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028708674013614655, + 0.06082259863615036, + 0.1556462198495865 + ], + "orientation": [ + 0.04476441815495491, + -0.7390881180763245, + -0.6436100602149963, + -0.19367770850658417 + ], + "joints": [ + 0.021959887817502022 + ] + }, + "fine_grasp": { + "position": [ + -0.02826024405658245, + 0.062390852719545364, + 0.153762087225914 + ], + "orientation": [ + 0.04540277272462845, + -0.7372733354568481, + -0.6454002261161804, + -0.19448736310005188 + ], + "joints": [ + 0.011552805081009865 + ] + }, + "final_grasp": { + "position": [ + -0.02826024405658245, + 0.062390852719545364, + 0.153762087225914 + ], + "orientation": [ + 0.04540277272462845, + -0.7372733354568481, + -0.6454002261161804, + -0.19448736310005188 + ], + "joints": [ + 0.0011457223445177078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029225576668977737, + 0.06024159491062164, + 0.15594375133514404 + ], + "orientation": [ + 0.046753909438848495, + -0.7348400950431824, + -0.6465169191360474, + -0.1995995044708252 + ], + "joints": [ + 0.021693777292966843 + ] + }, + "fine_grasp": { + "position": [ + -0.028737002983689308, + 0.06167617812752724, + 0.15384499728679657 + ], + "orientation": [ + 0.045475494116544724, + -0.73338383436203, + -0.6483071446418762, + -0.19944466650485992 + ], + "joints": [ + 0.01168375089764595 + ] + }, + "final_grasp": { + "position": [ + -0.028737002983689308, + 0.06167617812752724, + 0.15384499728679657 + ], + "orientation": [ + 0.045475494116544724, + -0.73338383436203, + -0.6483071446418762, + -0.19944466650485992 + ], + "joints": [ + 0.001673724502325058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029185615479946136, + 0.06080182269215584, + 0.1548972874879837 + ], + "orientation": [ + 0.04721890389919281, + -0.7384685277938843, + -0.6422567963600159, + -0.19985173642635345 + ], + "joints": [ + 0.021612636744976044 + ] + }, + "fine_grasp": { + "position": [ + -0.028745057061314583, + 0.06223548948764801, + 0.15293344855308533 + ], + "orientation": [ + 0.04597288742661476, + -0.7376487851142883, + -0.6433047652244568, + -0.19979943335056305 + ], + "joints": [ + 0.011602610349655151 + ] + }, + "final_grasp": { + "position": [ + -0.028745057061314583, + 0.06223548948764801, + 0.15293344855308533 + ], + "orientation": [ + 0.04597288742661476, + -0.7376487851142883, + -0.6433047652244568, + -0.19979943335056305 + ], + "joints": [ + 0.001592583954334259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02227007783949375, + 0.2234243005514145, + -0.0264741200953722 + ], + "orientation": [ + 0.523675262928009, + 0.6213852763175964, + 0.36974167823791504, + -0.4504837691783905 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + 0.021853983402252197, + 0.21952778100967407, + -0.02641991898417473 + ], + "orientation": [ + 0.5270745158195496, + 0.6281017065048218, + 0.3630635440349579, + -0.4425671100616455 + ], + "joints": [ + 0.019432689994573593 + ] + }, + "final_grasp": { + "position": [ + 0.021853983402252197, + 0.21952778100967407, + -0.02641991898417473 + ], + "orientation": [ + 0.5270745158195496, + 0.6281017065048218, + 0.3630635440349579, + -0.4425671100616455 + ], + "joints": [ + 0.0094226635992527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017976950854063034, + 0.12074144184589386, + 0.16757793724536896 + ], + "orientation": [ + 0.12123679369688034, + 0.8056402206420898, + 0.579858124256134, + -0.0031907344236969948 + ], + "joints": [ + 0.021654434502124786 + ] + }, + "fine_grasp": { + "position": [ + -0.01765470579266548, + 0.11997875571250916, + 0.16493955254554749 + ], + "orientation": [ + 0.12288375198841095, + 0.8067811131477356, + 0.5779000520706177, + -0.005959580652415752 + ], + "joints": [ + 0.012041464447975159 + ] + }, + "final_grasp": { + "position": [ + -0.01765470579266548, + 0.11997875571250916, + 0.16493955254554749 + ], + "orientation": [ + 0.12288375198841095, + 0.8067811131477356, + 0.5779000520706177, + -0.005959580652415752 + ], + "joints": [ + 0.002428494393825531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04908520728349686, + 0.080287404358387, + 0.15950092673301697 + ], + "orientation": [ + 0.2061750888824463, + -0.5601599812507629, + 0.8006499409675598, + -0.05169478803873062 + ], + "joints": [ + 0.022058900445699692 + ] + }, + "fine_grasp": { + "position": [ + -0.04802333936095238, + 0.08148574084043503, + 0.15666049718856812 + ], + "orientation": [ + 0.20848380029201508, + -0.561583936214447, + 0.7989999651908875, + -0.052509013563394547 + ], + "joints": [ + 0.012445930391550064 + ] + }, + "final_grasp": { + "position": [ + -0.04802333936095238, + 0.08148574084043503, + 0.15666049718856812 + ], + "orientation": [ + 0.20848380029201508, + -0.561583936214447, + 0.7989999651908875, + -0.052509013563394547 + ], + "joints": [ + 0.0028329603374004364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03465050831437111, + 0.192620187997818, + -0.1292451173067093 + ], + "orientation": [ + 0.7554511427879333, + 0.32714417576789856, + 0.37963181734085083, + -0.4220782518386841 + ], + "joints": [ + 0.026432504877448082 + ] + }, + "fine_grasp": { + "position": [ + -0.03388889878988266, + 0.19015122950077057, + -0.12658581137657166 + ], + "orientation": [ + 0.7584454417228699, + 0.3248659074306488, + 0.3740599453449249, + -0.42344027757644653 + ], + "joints": [ + 0.016819534823298454 + ] + }, + "final_grasp": { + "position": [ + -0.03388889878988266, + 0.19015122950077057, + -0.12658581137657166 + ], + "orientation": [ + 0.7584454417228699, + 0.3248659074306488, + 0.3740599453449249, + -0.42344027757644653 + ], + "joints": [ + 0.007206564769148827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050099484622478485, + 0.07932867854833603, + 0.16087155044078827 + ], + "orientation": [ + 0.1987433284521103, + -0.5617231726646423, + 0.8009830117225647, + -0.05826132744550705 + ], + "joints": [ + 0.021906794980168343 + ] + }, + "fine_grasp": { + "position": [ + -0.04860788211226463, + 0.08065165579319, + 0.1582355499267578 + ], + "orientation": [ + 0.20568497478961945, + -0.5637275576591492, + 0.7981637716293335, + -0.053287748247385025 + ], + "joints": [ + 0.01189676858484745 + ] + }, + "final_grasp": { + "position": [ + -0.04860788211226463, + 0.08065165579319, + 0.1582355499267578 + ], + "orientation": [ + 0.20568497478961945, + -0.5637275576591492, + 0.7981637716293335, + -0.053287748247385025 + ], + "joints": [ + 0.001886742189526558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06686513870954514, + 0.19744499027729034, + 0.08233463019132614 + ], + "orientation": [ + 0.2676904797554016, + 0.7253702878952026, + 0.3946009576320648, + -0.49645739793777466 + ], + "joints": [ + 0.02256554365158081 + ] + }, + "fine_grasp": { + "position": [ + 0.06480494886636734, + 0.19440263509750366, + 0.08090674132108688 + ], + "orientation": [ + 0.26820069551467896, + 0.7247070670127869, + 0.39437752962112427, + -0.4973273277282715 + ], + "joints": [ + 0.013349629938602448 + ] + }, + "final_grasp": { + "position": [ + 0.06480494886636734, + 0.19440263509750366, + 0.08090674132108688 + ], + "orientation": [ + 0.26820069551467896, + 0.7247070670127869, + 0.39437752962112427, + -0.4973273277282715 + ], + "joints": [ + 0.0041337162256240845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0009394098306074739, + 0.07644132524728775, + -0.18526282906532288 + ], + "orientation": [ + 0.8461628556251526, + -0.03586259484291077, + 0.010914688929915428, + 0.5316041707992554 + ], + "joints": [ + 0.025957206264138222 + ] + }, + "fine_grasp": { + "position": [ + -0.0006885674083605409, + 0.07731056958436966, + -0.181777223944664 + ], + "orientation": [ + 0.8458446860313416, + -0.03786081075668335, + 0.013393018394708633, + 0.5319154262542725 + ], + "joints": [ + 0.01674129255115986 + ] + }, + "final_grasp": { + "position": [ + -0.0006885674083605409, + 0.07731056958436966, + -0.181777223944664 + ], + "orientation": [ + 0.8458446860313416, + -0.03786081075668335, + 0.013393018394708633, + 0.5319154262542725 + ], + "joints": [ + 0.007525378838181496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018025286495685577, + 0.058223024010658264, + -0.16281862556934357 + ], + "orientation": [ + 0.7221823334693909, + 0.04617149010300636, + -0.05555550754070282, + -0.6879202723503113 + ], + "joints": [ + 0.02031085640192032 + ] + }, + "fine_grasp": { + "position": [ + 0.017392806708812714, + 0.059730883687734604, + -0.15929202735424042 + ], + "orientation": [ + 0.7225889563560486, + 0.04637319967150688, + -0.055049944669008255, + -0.6875202655792236 + ], + "joints": [ + 0.010697886347770691 + ] + }, + "final_grasp": { + "position": [ + 0.017392806708812714, + 0.059730883687734604, + -0.15929202735424042 + ], + "orientation": [ + 0.7225889563560486, + 0.04637319967150688, + -0.055049944669008255, + -0.6875202655792236 + ], + "joints": [ + 0.0010849162936210632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011128578335046768, + 0.1570802628993988, + -0.1654946357011795 + ], + "orientation": [ + 0.8467474579811096, + 0.1817445009946823, + 0.1465926468372345, + -0.47801509499549866 + ], + "joints": [ + 0.028249597176909447 + ] + }, + "fine_grasp": { + "position": [ + -0.010961289517581463, + 0.15547066926956177, + -0.16230212152004242 + ], + "orientation": [ + 0.8475357890129089, + 0.18055589497089386, + 0.14608396589756012, + -0.4772234857082367 + ], + "joints": [ + 0.018615728244185448 + ] + }, + "final_grasp": { + "position": [ + -0.010961289517581463, + 0.15547066926956177, + -0.16230212152004242 + ], + "orientation": [ + 0.8475357890129089, + 0.18055589497089386, + 0.14608396589756012, + -0.4772234857082367 + ], + "joints": [ + 0.008981859311461449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03673865273594856, + 0.12277523428201675, + -0.17955252528190613 + ], + "orientation": [ + 0.8499853610992432, + 0.04981135204434395, + 0.2210816740989685, + -0.4755697250366211 + ], + "joints": [ + 0.025760997086763382 + ] + }, + "fine_grasp": { + "position": [ + -0.036218009889125824, + 0.1225932314991951, + -0.1756979525089264 + ], + "orientation": [ + 0.8518977165222168, + 0.04848753660917282, + 0.21443244814872742, + -0.47532936930656433 + ], + "joints": [ + 0.01656598225235939 + ] + }, + "final_grasp": { + "position": [ + -0.036218009889125824, + 0.1225932314991951, + -0.1756979525089264 + ], + "orientation": [ + 0.8518977165222168, + 0.04848753660917282, + 0.21443244814872742, + -0.47532936930656433 + ], + "joints": [ + 0.0073709674179553986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021776363253593445, + 0.05055532231926918, + -0.1701223999261856 + ], + "orientation": [ + 0.6154446601867676, + -0.02630293183028698, + -0.1752498745918274, + -0.7679997682571411 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.021022306755185127, + 0.0521942563354969, + -0.16749891638755798 + ], + "orientation": [ + 0.6128684282302856, + -0.028087826445698738, + -0.17886756360530853, + -0.7691616415977478 + ], + "joints": [ + 0.018419519066810608 + ] + }, + "final_grasp": { + "position": [ + 0.021022306755185127, + 0.0521942563354969, + -0.16749891638755798 + ], + "orientation": [ + 0.6128684282302856, + -0.028087826445698738, + -0.17886756360530853, + -0.7691616415977478 + ], + "joints": [ + 0.008785650134086609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03692217543721199, + 0.12289078533649445, + -0.1791708767414093 + ], + "orientation": [ + 0.8497377634048462, + 0.04839971289038658, + 0.21970988810062408, + -0.4767921268939972 + ], + "joints": [ + 0.026200950145721436 + ] + }, + "fine_grasp": { + "position": [ + -0.03636459633708, + 0.12265938520431519, + -0.17532742023468018 + ], + "orientation": [ + 0.8514940738677979, + 0.04690408706665039, + 0.21368937194347382, + -0.47654449939727783 + ], + "joints": [ + 0.016985036432743073 + ] + }, + "final_grasp": { + "position": [ + -0.03636459633708, + 0.12265938520431519, + -0.17532742023468018 + ], + "orientation": [ + 0.8514940738677979, + 0.04690408706665039, + 0.21368937194347382, + -0.47654449939727783 + ], + "joints": [ + 0.0077691227197647095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029795115813612938, + 0.07496949285268784, + -0.17689822614192963 + ], + "orientation": [ + 0.8160853981971741, + -0.12397019565105438, + -0.06024377793073654, + 0.5612545609474182 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.028798572719097137, + 0.07601460814476013, + -0.17339743673801422 + ], + "orientation": [ + 0.8165743947029114, + -0.1256561130285263, + -0.05688071995973587, + 0.5605188608169556 + ], + "joints": [ + 0.019321482628583908 + ] + }, + "final_grasp": { + "position": [ + 0.028798572719097137, + 0.07601460814476013, + -0.17339743673801422 + ], + "orientation": [ + 0.8165743947029114, + -0.1256561130285263, + -0.05688071995973587, + 0.5605188608169556 + ], + "joints": [ + 0.010126467794179916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06809019297361374, + 0.19783689081668854, + -0.07699349522590637 + ], + "orientation": [ + 0.47023358941078186, + 0.518380880355835, + -0.2008301019668579, + 0.685440719127655 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + -0.06619054079055786, + 0.1947188526391983, + -0.07624511420726776 + ], + "orientation": [ + 0.47098106145858765, + 0.5219098925590515, + -0.2023080438375473, + 0.6818051934242249 + ], + "joints": [ + 0.01929832622408867 + ] + }, + "final_grasp": { + "position": [ + -0.06619054079055786, + 0.1947188526391983, + -0.07624511420726776 + ], + "orientation": [ + 0.47098106145858765, + 0.5219098925590515, + -0.2023080438375473, + 0.6818051934242249 + ], + "joints": [ + 0.010103311389684677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07851672917604446, + 0.19459520280361176, + 0.03196690231561661 + ], + "orientation": [ + 0.6361426711082458, + 0.3121508061885834, + 0.6360843181610107, + -0.3054194152355194 + ], + "joints": [ + 0.023169508203864098 + ] + }, + "fine_grasp": { + "position": [ + -0.07608376443386078, + 0.19147157669067383, + 0.03198300302028656 + ], + "orientation": [ + 0.6363016366958618, + 0.31224504113197327, + 0.635828971862793, + -0.30552414059638977 + ], + "joints": [ + 0.01355653814971447 + ] + }, + "final_grasp": { + "position": [ + -0.07608376443386078, + 0.19147157669067383, + 0.03198300302028656 + ], + "orientation": [ + 0.6363016366958618, + 0.31224504113197327, + 0.635828971862793, + -0.30552414059638977 + ], + "joints": [ + 0.003943568095564842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03781002759933472, + 0.04764904826879501, + -0.15768519043922424 + ], + "orientation": [ + 0.738450825214386, + -0.10704252868890762, + 0.11471138149499893, + -0.6557998061180115 + ], + "joints": [ + 0.021125182509422302 + ] + }, + "fine_grasp": { + "position": [ + -0.036428052932024, + 0.04823656007647514, + -0.15406684577465057 + ], + "orientation": [ + 0.7414966821670532, + -0.10729420185089111, + 0.11609154939651489, + -0.6520686745643616 + ], + "joints": [ + 0.01193016767501831 + ] + }, + "final_grasp": { + "position": [ + -0.036428052932024, + 0.04823656007647514, + -0.15406684577465057 + ], + "orientation": [ + 0.7414966821670532, + -0.10729420185089111, + 0.11609154939651489, + -0.6520686745643616 + ], + "joints": [ + 0.002735152840614319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07798860967159271, + 0.19394747912883759, + 0.031721096485853195 + ], + "orientation": [ + 0.6349315643310547, + 0.31246715784072876, + 0.6371786594390869, + -0.30533501505851746 + ], + "joints": [ + 0.02333802916109562 + ] + }, + "fine_grasp": { + "position": [ + -0.07554426789283752, + 0.19082476198673248, + 0.03172813355922699 + ], + "orientation": [ + 0.6351974010467529, + 0.31248292326927185, + 0.6368955969810486, + -0.3053569197654724 + ], + "joints": [ + 0.013328002765774727 + ] + }, + "final_grasp": { + "position": [ + -0.07554426789283752, + 0.19082476198673248, + 0.03172813355922699 + ], + "orientation": [ + 0.6351974010467529, + 0.31248292326927185, + 0.6368955969810486, + -0.3053569197654724 + ], + "joints": [ + 0.0033179763704538345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07570794224739075, + 0.19138243794441223, + -0.05310821905732155 + ], + "orientation": [ + 0.5970913171768188, + 0.2835702896118164, + -0.6733905076980591, + 0.3310815691947937 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.07345889508724213, + 0.18830092251300812, + -0.05218514800071716 + ], + "orientation": [ + 0.603415846824646, + 0.2799188196659088, + -0.6673864126205444, + 0.33485811948776245 + ], + "joints": [ + 0.019321482628583908 + ] + }, + "final_grasp": { + "position": [ + 0.07345889508724213, + 0.18830092251300812, + -0.05218514800071716 + ], + "orientation": [ + 0.603415846824646, + 0.2799188196659088, + -0.6673864126205444, + 0.33485811948776245 + ], + "joints": [ + 0.010126467794179916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0782315582036972, + 0.19409918785095215, + 0.03189016878604889 + ], + "orientation": [ + 0.6356711387634277, + 0.31154361367225647, + 0.6367076635360718, + -0.30572235584259033 + ], + "joints": [ + 0.02331237681210041 + ] + }, + "fine_grasp": { + "position": [ + -0.075799860060215, + 0.19097448885440826, + 0.031904857605695724 + ], + "orientation": [ + 0.6358912587165833, + 0.3115289509296417, + 0.6364777684211731, + -0.305758535861969 + ], + "joints": [ + 0.013699406757950783 + ] + }, + "final_grasp": { + "position": [ + -0.075799860060215, + 0.19097448885440826, + 0.031904857605695724 + ], + "orientation": [ + 0.6358912587165833, + 0.3115289509296417, + 0.6364777684211731, + -0.305758535861969 + ], + "joints": [ + 0.004086436703801155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06628188490867615, + 0.1864086389541626, + 0.05346266180276871 + ], + "orientation": [ + 0.572493851184845, + 0.40463751554489136, + -0.6705966591835022, + 0.24252717196941376 + ], + "joints": [ + 0.022706804797053337 + ] + }, + "fine_grasp": { + "position": [ + 0.06392578780651093, + 0.18309180438518524, + 0.053062938153743744 + ], + "orientation": [ + 0.57457435131073, + 0.41877439618110657, + -0.6643280982971191, + 0.23056559264659882 + ], + "joints": [ + 0.014326801523566246 + ] + }, + "final_grasp": { + "position": [ + 0.06392578780651093, + 0.18309180438518524, + 0.053062938153743744 + ], + "orientation": [ + 0.57457435131073, + 0.41877439618110657, + -0.6643280982971191, + 0.23056559264659882 + ], + "joints": [ + 0.005946798250079155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04574695974588394, + 0.061830028891563416, + -0.1636187583208084 + ], + "orientation": [ + 0.8211150169372559, + -0.04618878662586212, + -0.26768985390663147, + -0.5019751191139221 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.0445629358291626, + 0.06269550323486328, + -0.16042308509349823 + ], + "orientation": [ + 0.8230758905410767, + -0.04262196645140648, + -0.26708441972732544, + -0.4993951618671417 + ], + "joints": [ + 0.01927632838487625 + ] + }, + "final_grasp": { + "position": [ + 0.0445629358291626, + 0.06269550323486328, + -0.16042308509349823 + ], + "orientation": [ + 0.8230758905410767, + -0.04262196645140648, + -0.26708441972732544, + -0.4993951618671417 + ], + "joints": [ + 0.010499268770217896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07349798083305359, + 0.1909763067960739, + -0.09223071485757828 + ], + "orientation": [ + 0.5177711248397827, + 0.48923107981681824, + 0.117708720266819, + -0.6918891072273254 + ], + "joints": [ + 0.02847018465399742 + ] + }, + "fine_grasp": { + "position": [ + 0.07171400636434555, + 0.18800118565559387, + -0.09142623841762543 + ], + "orientation": [ + 0.5181944370269775, + 0.4948575794696808, + 0.12287965416908264, + -0.6866521239280701 + ], + "joints": [ + 0.018857214599847794 + ] + }, + "final_grasp": { + "position": [ + 0.07171400636434555, + 0.18800118565559387, + -0.09142623841762543 + ], + "orientation": [ + 0.5181944370269775, + 0.4948575794696808, + 0.12287965416908264, + -0.6866521239280701 + ], + "joints": [ + 0.009244244545698166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025714987888932228, + 0.08639343082904816, + -0.17248909175395966 + ], + "orientation": [ + 0.8276646137237549, + -0.05349733307957649, + -0.11054125428199768, + 0.5476221442222595 + ], + "joints": [ + 0.027543965727090836 + ] + }, + "fine_grasp": { + "position": [ + 0.024996714666485786, + 0.0873212143778801, + -0.1691417247056961 + ], + "orientation": [ + 0.8294011950492859, + -0.05559810623526573, + -0.10731983184814453, + 0.5454216003417969 + ], + "joints": [ + 0.017930995672941208 + ] + }, + "final_grasp": { + "position": [ + 0.024996714666485786, + 0.0873212143778801, + -0.1691417247056961 + ], + "orientation": [ + 0.8294011950492859, + -0.05559810623526573, + -0.10731983184814453, + 0.5454216003417969 + ], + "joints": [ + 0.00831802561879158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0254115741699934, + 0.09413111954927444, + -0.1867114007472992 + ], + "orientation": [ + 0.42635273933410645, + -0.09992095082998276, + -0.030757104977965355, + 0.8984949588775635 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + 0.024773282930254936, + 0.09416205435991287, + -0.1828548014163971 + ], + "orientation": [ + 0.4264300465583801, + -0.09873773902654648, + -0.02962903119623661, + 0.8986269235610962 + ], + "joints": [ + 0.01885947212576866 + ] + }, + "final_grasp": { + "position": [ + 0.024773282930254936, + 0.09416205435991287, + -0.1828548014163971 + ], + "orientation": [ + 0.4264300465583801, + -0.09873773902654648, + -0.02962903119623661, + 0.8986269235610962 + ], + "joints": [ + 0.009225603193044662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07117941230535507, + 0.1855478584766388, + 0.10227155685424805 + ], + "orientation": [ + 0.2728477120399475, + 0.8211032748222351, + -0.2767545282840729, + 0.41803178191185 + ], + "joints": [ + 0.021708793938159943 + ] + }, + "fine_grasp": { + "position": [ + -0.06904729455709457, + 0.18288658559322357, + 0.10048478096723557 + ], + "orientation": [ + 0.2746015191078186, + 0.8201349377632141, + -0.273754745721817, + 0.4207504391670227 + ], + "joints": [ + 0.012889936566352844 + ] + }, + "final_grasp": { + "position": [ + -0.06904729455709457, + 0.18288658559322357, + 0.10048478096723557 + ], + "orientation": [ + 0.2746015191078186, + 0.8201349377632141, + -0.273754745721817, + 0.4207504391670227 + ], + "joints": [ + 0.004071079194545746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07106108218431473, + 0.1853889673948288, + 0.10227830708026886 + ], + "orientation": [ + 0.27309125661849976, + 0.8211116194725037, + -0.27622589468955994, + 0.4182058274745941 + ], + "joints": [ + 0.021731950342655182 + ] + }, + "fine_grasp": { + "position": [ + -0.06895224750041962, + 0.18273743987083435, + 0.10049169510602951 + ], + "orientation": [ + 0.27490970492362976, + 0.8201975226402283, + -0.27337026596069336, + 0.4206772744655609 + ], + "joints": [ + 0.012913092970848083 + ] + }, + "final_grasp": { + "position": [ + -0.06895224750041962, + 0.18273743987083435, + 0.10049169510602951 + ], + "orientation": [ + 0.27490970492362976, + 0.8201975226402283, + -0.27337026596069336, + 0.4206772744655609 + ], + "joints": [ + 0.004094235599040985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048539914190769196, + 0.19437715411186218, + 0.10266190767288208 + ], + "orientation": [ + 0.39123743772506714, + 0.26096010208129883, + -0.8006786108016968, + 0.3711424171924591 + ], + "joints": [ + 0.02048938162624836 + ] + }, + "fine_grasp": { + "position": [ + 0.04682621359825134, + 0.1911209374666214, + 0.10093788802623749 + ], + "orientation": [ + 0.37987563014030457, + 0.25658711791038513, + -0.8056194186210632, + 0.3752797842025757 + ], + "joints": [ + 0.011712322011590004 + ] + }, + "final_grasp": { + "position": [ + 0.04682621359825134, + 0.1911209374666214, + 0.10093788802623749 + ], + "orientation": [ + 0.37987563014030457, + 0.25658711791038513, + -0.8056194186210632, + 0.3752797842025757 + ], + "joints": [ + 0.0029352623969316483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08581263571977615, + 0.17368464171886444, + 0.06276283413171768 + ], + "orientation": [ + 0.2237773984670639, + 0.7522375583648682, + 0.2818247973918915, + -0.5519394278526306 + ], + "joints": [ + 0.023421071469783783 + ] + }, + "fine_grasp": { + "position": [ + 0.0830036848783493, + 0.17106539011001587, + 0.06202154979109764 + ], + "orientation": [ + 0.22511298954486847, + 0.7507376670837402, + 0.28078028559684753, + -0.5539670586585999 + ], + "joints": [ + 0.01259603351354599 + ] + }, + "final_grasp": { + "position": [ + 0.0830036848783493, + 0.17106539011001587, + 0.06202154979109764 + ], + "orientation": [ + 0.22511298954486847, + 0.7507376670837402, + 0.28078028559684753, + -0.5539670586585999 + ], + "joints": [ + 0.001770995557308197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04302074387669563, + 0.1829383671283722, + 0.07588604092597961 + ], + "orientation": [ + 0.40483006834983826, + 0.28110364079475403, + -0.7818268537521362, + 0.38189002871513367 + ], + "joints": [ + 0.02484835684299469 + ] + }, + "fine_grasp": { + "position": [ + 0.04163456708192825, + 0.18196700513362885, + 0.07636533677577972 + ], + "orientation": [ + 0.39332035183906555, + 0.27447447180747986, + -0.7892318367958069, + 0.3835049569606781 + ], + "joints": [ + 0.016071297228336334 + ] + }, + "final_grasp": { + "position": [ + 0.04163456708192825, + 0.18196700513362885, + 0.07636533677577972 + ], + "orientation": [ + 0.39332035183906555, + 0.27447447180747986, + -0.7892318367958069, + 0.3835049569606781 + ], + "joints": [ + 0.0072942376136779785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08008147776126862, + -0.002413996960967779, + 0.08739474415779114 + ], + "orientation": [ + 0.24676865339279175, + -0.7668808698654175, + 0.33715713024139404, + 0.48715898394584656 + ], + "joints": [ + 0.020663125440478325 + ] + }, + "fine_grasp": { + "position": [ + 0.07781117409467697, + 0.0003137440071441233, + 0.08590859174728394 + ], + "orientation": [ + 0.24684381484985352, + -0.7663276195526123, + 0.3366277813911438, + 0.48835644125938416 + ], + "joints": [ + 0.011823369190096855 + ] + }, + "final_grasp": { + "position": [ + 0.07781117409467697, + 0.0003137440071441233, + 0.08590859174728394 + ], + "orientation": [ + 0.24684381484985352, + -0.7663276195526123, + 0.3366277813911438, + 0.48835644125938416 + ], + "joints": [ + 0.0029836129397153854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0818258672952652, + -0.004355297889560461, + 0.08795599639415741 + ], + "orientation": [ + 0.24513036012649536, + -0.7687809467315674, + 0.33818548917770386, + 0.4842701852321625 + ], + "joints": [ + 0.01924212835729122 + ] + }, + "fine_grasp": { + "position": [ + 0.07952045649290085, + -0.0015237925108522177, + 0.08653004467487335 + ], + "orientation": [ + 0.2457578033208847, + -0.7674725651741028, + 0.3372214436531067, + 0.4866936206817627 + ], + "joints": [ + 0.010444169864058495 + ] + }, + "final_grasp": { + "position": [ + 0.07952045649290085, + -0.0015237925108522177, + 0.08653004467487335 + ], + "orientation": [ + 0.2457578033208847, + -0.7674725651741028, + 0.3372214436531067, + 0.4866936206817627 + ], + "joints": [ + 0.0016462113708257675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0732702910900116, + -0.09416939318180084, + -0.027135789394378662 + ], + "orientation": [ + 0.4873282015323639, + -0.7296367287635803, + 0.10719288140535355, + 0.46760138869285583 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + 0.07080522179603577, + -0.09146357327699661, + -0.02743334323167801 + ], + "orientation": [ + 0.48867663741111755, + -0.7295214533805847, + 0.09871966391801834, + 0.46823936700820923 + ], + "joints": [ + 0.01943378895521164 + ] + }, + "final_grasp": { + "position": [ + 0.07080522179603577, + -0.09146357327699661, + -0.02743334323167801 + ], + "orientation": [ + 0.48867663741111755, + -0.7295214533805847, + 0.09871966391801834, + 0.46823936700820923 + ], + "joints": [ + 0.00898490846157074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07362457364797592, + -0.09454205632209778, + -0.02705417014658451 + ], + "orientation": [ + 0.4894368648529053, + -0.7309994697570801, + 0.1047600656747818, + 0.46380671858787537 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + 0.07115553319454193, + -0.09187299758195877, + -0.027287403121590614 + ], + "orientation": [ + 0.49110448360443115, + -0.7304525375366211, + 0.09595401585102081, + 0.46480998396873474 + ], + "joints": [ + 0.019830845296382904 + ] + }, + "final_grasp": { + "position": [ + 0.07115553319454193, + -0.09187299758195877, + -0.027287403121590614 + ], + "orientation": [ + 0.49110448360443115, + -0.7304525375366211, + 0.09595401585102081, + 0.46480998396873474 + ], + "joints": [ + 0.009779021143913269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013994811102747917, + 0.13253305852413177, + 0.17422731220722198 + ], + "orientation": [ + 0.0275266170501709, + 0.3830685317516327, + 0.9100136160850525, + -0.15612861514091492 + ], + "joints": [ + 0.016919400542974472 + ] + }, + "fine_grasp": { + "position": [ + 0.013647672720253468, + 0.13136497139930725, + 0.17090612649917603 + ], + "orientation": [ + 0.024669451639056206, + 0.38344621658325195, + 0.9101550579071045, + -0.15484900772571564 + ], + "joints": [ + 0.008100544102489948 + ] + }, + "final_grasp": { + "position": [ + 0.013647672720253468, + 0.13136497139930725, + 0.17090612649917603 + ], + "orientation": [ + 0.024669451639056206, + 0.38344621658325195, + 0.9101550579071045, + -0.15484900772571564 + ], + "joints": [ + -0.0007183123379945755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007360729854553938, + 0.10491151362657547, + 0.1770862340927124 + ], + "orientation": [ + 0.03343386948108673, + 0.34797194600105286, + 0.9366142749786377, + -0.02348390780389309 + ], + "joints": [ + 0.019117170944809914 + ] + }, + "fine_grasp": { + "position": [ + -0.006722915917634964, + 0.10474930703639984, + 0.17417342960834503 + ], + "orientation": [ + 0.040352921932935715, + 0.3506200313568115, + 0.9352471828460693, + -0.027388328686356544 + ], + "joints": [ + 0.009859459474682808 + ] + }, + "final_grasp": { + "position": [ + -0.006722915917634964, + 0.10474930703639984, + 0.17417342960834503 + ], + "orientation": [ + 0.040352921932935715, + 0.3506200313568115, + 0.9352471828460693, + -0.027388328686356544 + ], + "joints": [ + 0.0006017480045557022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07379812002182007, + 0.15583068132400513, + 0.08703753352165222 + ], + "orientation": [ + 0.4528416395187378, + 0.20149320363998413, + -0.8394211530685425, + 0.22295081615447998 + ], + "joints": [ + 0.023104455322027206 + ] + }, + "fine_grasp": { + "position": [ + 0.07092113047838211, + 0.1542803794145584, + 0.08692633360624313 + ], + "orientation": [ + 0.4394248127937317, + 0.18775337934494019, + -0.8485286235809326, + 0.22727446258068085 + ], + "joints": [ + 0.014745350927114487 + ] + }, + "final_grasp": { + "position": [ + 0.07092113047838211, + 0.1542803794145584, + 0.08692633360624313 + ], + "orientation": [ + 0.4394248127937317, + 0.18775337934494019, + -0.8485286235809326, + 0.22727446258068085 + ], + "joints": [ + 0.006386246532201767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05417995527386665, + -0.09243884682655334, + -0.06613794714212418 + ], + "orientation": [ + 0.7615925073623657, + -0.6096661686897278, + 0.07724499702453613, + -0.20571182668209076 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.0527288056910038, + -0.08999472856521606, + -0.06531930714845657 + ], + "orientation": [ + 0.7607393264770508, + -0.6083258390426636, + 0.0855027511715889, + -0.2095346599817276 + ], + "joints": [ + 0.022331692278385162 + ] + }, + "final_grasp": { + "position": [ + -0.0527288056910038, + -0.08999472856521606, + -0.06531930714845657 + ], + "orientation": [ + 0.7607393264770508, + -0.6083258390426636, + 0.0855027511715889, + -0.2095346599817276 + ], + "joints": [ + 0.01313667744398117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10887300223112106, + -0.02693832293152809, + -0.06563816219568253 + ], + "orientation": [ + 0.73516845703125, + -0.38666436076164246, + 0.48625460267066956, + -0.27124643325805664 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.10638272017240524, + -0.025027945637702942, + -0.06402231007814407 + ], + "orientation": [ + 0.7418394088745117, + -0.3921285569667816, + 0.4732498824596405, + -0.26822367310523987 + ], + "joints": [ + 0.02411806583404541 + ] + }, + "final_grasp": { + "position": [ + -0.10638272017240524, + -0.025027945637702942, + -0.06402231007814407 + ], + "orientation": [ + 0.7418394088745117, + -0.3921285569667816, + 0.4732498824596405, + -0.26822367310523987 + ], + "joints": [ + 0.015320107340812683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07861869782209396, + 0.13757991790771484, + 0.09373105317354202 + ], + "orientation": [ + 0.10734107345342636, + 0.8673663139343262, + 0.22510142624378204, + -0.4306773841381073 + ], + "joints": [ + 0.023449044674634933 + ] + }, + "fine_grasp": { + "position": [ + 0.07530636340379715, + 0.13586099445819855, + 0.09364335983991623 + ], + "orientation": [ + 0.10446185618638992, + 0.871850311756134, + 0.22647765278816223, + -0.42151233553886414 + ], + "joints": [ + 0.014671985059976578 + ] + }, + "final_grasp": { + "position": [ + 0.07530636340379715, + 0.13586099445819855, + 0.09364335983991623 + ], + "orientation": [ + 0.10446185618638992, + 0.871850311756134, + 0.22647765278816223, + -0.42151233553886414 + ], + "joints": [ + 0.005894925445318222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11669732630252838, + 0.05789127200841904, + -0.021404137834906578 + ], + "orientation": [ + 0.430978387594223, + 0.6040959358215332, + -0.4422331154346466, + -0.5037416219711304 + ], + "joints": [ + 0.028622973710298538 + ] + }, + "fine_grasp": { + "position": [ + 0.11241625249385834, + 0.059410788118839264, + -0.021561522036790848 + ], + "orientation": [ + 0.43321922421455383, + 0.5924272537231445, + -0.45025479793548584, + -0.5085486769676208 + ], + "joints": [ + 0.0231686569750309 + ] + }, + "final_grasp": { + "position": [ + 0.11241625249385834, + 0.059410788118839264, + -0.021561522036790848 + ], + "orientation": [ + 0.43321922421455383, + 0.5924272537231445, + -0.45025479793548584, + -0.5085486769676208 + ], + "joints": [ + 0.01771434023976326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08744640648365021, + 0.14161403477191925, + 0.07898707687854767 + ], + "orientation": [ + 0.13092540204524994, + 0.8332604169845581, + -0.19763433933258057, + 0.4994759261608124 + ], + "joints": [ + 0.022757412865757942 + ] + }, + "fine_grasp": { + "position": [ + -0.0841149240732193, + 0.1398249864578247, + 0.0792667418718338 + ], + "orientation": [ + 0.12731921672821045, + 0.8401219844818115, + -0.1981627494096756, + 0.4885859489440918 + ], + "joints": [ + 0.013980353251099586 + ] + }, + "final_grasp": { + "position": [ + -0.0841149240732193, + 0.1398249864578247, + 0.0792667418718338 + ], + "orientation": [ + 0.12731921672821045, + 0.8401219844818115, + -0.1981627494096756, + 0.4885859489440918 + ], + "joints": [ + 0.005203293636441231 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11789651960134506, + 0.05603332445025444, + -0.021317796781659126 + ], + "orientation": [ + 0.42560508847236633, + 0.6165814995765686, + -0.4255526661872864, + -0.5075356960296631 + ], + "joints": [ + 0.028442086651921272 + ] + }, + "fine_grasp": { + "position": [ + 0.11344979703426361, + 0.05601578578352928, + -0.022371558472514153 + ], + "orientation": [ + 0.414224237203598, + 0.6155276298522949, + -0.41686809062957764, + -0.5251334309577942 + ], + "joints": [ + 0.023008668795228004 + ] + }, + "final_grasp": { + "position": [ + 0.11344979703426361, + 0.05601578578352928, + -0.022371558472514153 + ], + "orientation": [ + 0.414224237203598, + 0.6155276298522949, + -0.41686809062957764, + -0.5251334309577942 + ], + "joints": [ + 0.017575250938534737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11579454690217972, + 0.05705269053578377, + -0.022562362253665924 + ], + "orientation": [ + 0.40876320004463196, + 0.6301875710487366, + -0.40786999464035034, + -0.519055187702179 + ], + "joints": [ + 0.031002651900053024 + ] + }, + "fine_grasp": { + "position": [ + 0.11119378358125687, + 0.057993657886981964, + -0.02384071797132492 + ], + "orientation": [ + 0.38929808139801025, + 0.64757239818573, + -0.3788178861141205, + -0.534409761428833 + ], + "joints": [ + 0.0280560664832592 + ] + }, + "final_grasp": { + "position": [ + 0.11119378358125687, + 0.057993657886981964, + -0.02384071797132492 + ], + "orientation": [ + 0.38929808139801025, + 0.64757239818573, + -0.3788178861141205, + -0.534409761428833 + ], + "joints": [ + 0.025109481066465378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0273581575602293, + -0.09981971979141235, + -0.07866857945919037 + ], + "orientation": [ + 0.18965330719947815, + -0.05797748267650604, + 0.5772519111633301, + 0.792117714881897 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.025822779163718224, + -0.09695661067962646, + -0.07670944929122925 + ], + "orientation": [ + 0.19572961330413818, + -0.046077001839876175, + 0.5796566009521484, + 0.7896614670753479 + ], + "joints": [ + 0.02231079339981079 + ] + }, + "final_grasp": { + "position": [ + -0.025822779163718224, + -0.09695661067962646, + -0.07670944929122925 + ], + "orientation": [ + 0.19572961330413818, + -0.046077001839876175, + 0.5796566009521484, + 0.7896614670753479 + ], + "joints": [ + 0.013094879686832428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12509362399578094, + 0.03460697829723358, + -0.03998977318406105 + ], + "orientation": [ + 0.44583314657211304, + 0.6321302652359009, + 0.30285516381263733, + 0.5567071437835693 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + -0.12122544646263123, + 0.0337870791554451, + -0.03955632820725441 + ], + "orientation": [ + 0.4465291500091553, + 0.62913978099823, + 0.3069819211959839, + 0.5572763681411743 + ], + "joints": [ + 0.02260730043053627 + ] + }, + "final_grasp": { + "position": [ + -0.12122544646263123, + 0.0337870791554451, + -0.03955632820725441 + ], + "orientation": [ + 0.4465291500091553, + 0.62913978099823, + 0.3069819211959839, + 0.5572763681411743 + ], + "joints": [ + 0.01343318447470665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0010655228979885578, + 0.12613986432552338, + 0.1907264143228531 + ], + "orientation": [ + 0.048260338604450226, + 0.3937493860721588, + -0.9121745228767395, + 0.10280989110469818 + ], + "joints": [ + 0.01225711777806282 + ] + }, + "fine_grasp": { + "position": [ + 0.0010490796994417906, + 0.12515147030353546, + 0.18678392469882965 + ], + "orientation": [ + 0.04886265844106674, + 0.38414818048477173, + -0.9163267016410828, + 0.10192179679870605 + ], + "joints": [ + 0.0034800588618963957 + ] + }, + "final_grasp": { + "position": [ + 0.0010490796994417906, + 0.12515147030353546, + 0.18678392469882965 + ], + "orientation": [ + 0.04886265844106674, + 0.38414818048477173, + -0.9163267016410828, + 0.10192179679870605 + ], + "joints": [ + -0.005297000054270029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01791798323392868, + 0.11519475281238556, + 0.18158657848834991 + ], + "orientation": [ + 0.03688139468431473, + -0.24771380424499512, + -0.9639996886253357, + 0.08934388309717178 + ], + "joints": [ + 0.015808256343007088 + ] + }, + "fine_grasp": { + "position": [ + 0.017446408048272133, + 0.11484245210886002, + 0.1780708134174347 + ], + "orientation": [ + 0.0423814058303833, + -0.2484651654958725, + -0.9631578326225281, + 0.09378567337989807 + ], + "joints": [ + 0.005359375849366188 + ] + }, + "final_grasp": { + "position": [ + 0.017446408048272133, + 0.11484245210886002, + 0.1780708134174347 + ], + "orientation": [ + 0.0423814058303833, + -0.2484651654958725, + -0.9631578326225281, + 0.09378567337989807 + ], + "joints": [ + -0.005089504644274712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01837589032948017, + 0.11547641456127167, + 0.18307237327098846 + ], + "orientation": [ + 0.04288293048739433, + -0.24717648327350616, + -0.9636577367782593, + 0.0918075442314148 + ], + "joints": [ + 0.015177538618445396 + ] + }, + "fine_grasp": { + "position": [ + 0.017772899940609932, + 0.11484743654727936, + 0.17920829355716705 + ], + "orientation": [ + 0.0441821850836277, + -0.24804073572158813, + -0.9631964564323425, + 0.09368181973695755 + ], + "joints": [ + 0.005564568564295769 + ] + }, + "final_grasp": { + "position": [ + 0.017772899940609932, + 0.11484743654727936, + 0.17920829355716705 + ], + "orientation": [ + 0.0441821850836277, + -0.24804073572158813, + -0.9631964564323425, + 0.09368181973695755 + ], + "joints": [ + -0.004048401489853859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017829369753599167, + 0.1149337887763977, + 0.18171799182891846 + ], + "orientation": [ + 0.038972314447164536, + -0.2441009134054184, + -0.9649882912635803, + 0.08771341294050217 + ], + "joints": [ + 0.015916135162115097 + ] + }, + "fine_grasp": { + "position": [ + 0.017273129895329475, + 0.11445976048707962, + 0.1780996322631836 + ], + "orientation": [ + 0.04338085278868675, + -0.24444958567619324, + -0.964323878288269, + 0.09188041090965271 + ], + "joints": [ + 0.005467254668474197 + ] + }, + "final_grasp": { + "position": [ + 0.017273129895329475, + 0.11445976048707962, + 0.1780996322631836 + ], + "orientation": [ + 0.04338085278868675, + -0.24444958567619324, + -0.964323878288269, + 0.09188041090965271 + ], + "joints": [ + -0.004981625825166702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0691126212477684, + 0.06197367236018181, + 0.1459789127111435 + ], + "orientation": [ + 0.3027364909648895, + -0.15522031486034393, + 0.936504602432251, + 0.08495043963193893 + ], + "joints": [ + 0.021014129742980003 + ] + }, + "fine_grasp": { + "position": [ + -0.06674962490797043, + 0.06297334283590317, + 0.14314930140972137 + ], + "orientation": [ + 0.3020423650741577, + -0.14691323041915894, + 0.9377273321151733, + 0.08862549811601639 + ], + "joints": [ + 0.01179821603000164 + ] + }, + "final_grasp": { + "position": [ + -0.06674962490797043, + 0.06297334283590317, + 0.14314930140972137 + ], + "orientation": [ + 0.3020423650741577, + -0.14691323041915894, + 0.9377273321151733, + 0.08862549811601639 + ], + "joints": [ + 0.0025823023170232773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06600680202245712, + -0.10256048291921616, + -0.015081152319908142 + ], + "orientation": [ + 0.2000538557767868, + 0.10838312655687332, + -0.7585504055023193, + -0.6106003522872925 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.06409910321235657, + -0.09913663566112518, + -0.01598505489528179 + ], + "orientation": [ + 0.19968880712985992, + 0.11510640382766724, + -0.7572852373123169, + -0.6110597848892212 + ], + "joints": [ + 0.022166188806295395 + ] + }, + "final_grasp": { + "position": [ + 0.06409910321235657, + -0.09913663566112518, + -0.01598505489528179 + ], + "orientation": [ + 0.19968880712985992, + 0.11510640382766724, + -0.7572852373123169, + -0.6110597848892212 + ], + "joints": [ + 0.012574117630720139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01324397325515747, + 0.11063897609710693, + 0.19126778841018677 + ], + "orientation": [ + 0.03645333647727966, + 0.9491682648658752, + 0.3051204979419708, + -0.06820634007453918 + ], + "joints": [ + 0.012472277507185936 + ] + }, + "fine_grasp": { + "position": [ + 0.012784967198967934, + 0.11025913804769516, + 0.18730296194553375 + ], + "orientation": [ + 0.03469773381948471, + 0.9419695734977722, + 0.32669514417648315, + -0.06899158656597137 + ], + "joints": [ + 0.003674320876598358 + ] + }, + "final_grasp": { + "position": [ + 0.012784967198967934, + 0.11025913804769516, + 0.18730296194553375 + ], + "orientation": [ + 0.03469773381948471, + 0.9419695734977722, + 0.32669514417648315, + -0.06899158656597137 + ], + "joints": [ + -0.00512363575398922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0862073078751564, + 0.12094417214393616, + 0.11252695322036743 + ], + "orientation": [ + 0.0382419116795063, + 0.8948745131492615, + -0.18353067338466644, + 0.40503525733947754 + ], + "joints": [ + 0.023309210315346718 + ] + }, + "fine_grasp": { + "position": [ + -0.08320263773202896, + 0.11992932856082916, + 0.11032423377037048 + ], + "orientation": [ + 0.039312634617090225, + 0.893502414226532, + -0.18210925161838531, + 0.408588171005249 + ], + "joints": [ + 0.01290212757885456 + ] + }, + "final_grasp": { + "position": [ + -0.08320263773202896, + 0.11992932856082916, + 0.11032423377037048 + ], + "orientation": [ + 0.039312634617090225, + 0.893502414226532, + -0.18210925161838531, + 0.408588171005249 + ], + "joints": [ + 0.002495044842362404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09934329986572266, + 0.05867789313197136, + 0.05881400778889656 + ], + "orientation": [ + 0.001320083043538034, + 0.731006920337677, + -0.277222216129303, + -0.6235182881355286 + ], + "joints": [ + 0.02427276037633419 + ] + }, + "fine_grasp": { + "position": [ + 0.09735934436321259, + 0.06011630594730377, + 0.06018867343664169 + ], + "orientation": [ + 0.015456723980605602, + 0.7326813340187073, + -0.29448622465133667, + -0.6133652925491333 + ], + "joints": [ + 0.015495700761675835 + ] + }, + "final_grasp": { + "position": [ + 0.09735934436321259, + 0.06011630594730377, + 0.06018867343664169 + ], + "orientation": [ + 0.015456723980605602, + 0.7326813340187073, + -0.29448622465133667, + -0.6133652925491333 + ], + "joints": [ + 0.006718641147017479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09496644139289856, + 0.1344490349292755, + 0.06691141426563263 + ], + "orientation": [ + 0.5463790893554688, + 0.1418716013431549, + 0.81600421667099, + -0.12441712617874146 + ], + "joints": [ + 0.02312934398651123 + ] + }, + "fine_grasp": { + "position": [ + -0.09172861278057098, + 0.13327474892139435, + 0.06770844012498856 + ], + "orientation": [ + 0.5351135730743408, + 0.14197099208831787, + 0.8239256739616394, + -0.12101324647665024 + ], + "joints": [ + 0.014352284371852875 + ] + }, + "final_grasp": { + "position": [ + -0.09172861278057098, + 0.13327474892139435, + 0.06770844012498856 + ], + "orientation": [ + 0.5351135730743408, + 0.14197099208831787, + 0.8239256739616394, + -0.12101324647665024 + ], + "joints": [ + 0.005575224757194519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09066534042358398, + 0.0609690360724926, + 0.11439525336027145 + ], + "orientation": [ + 0.43873223662376404, + -0.2877647578716278, + 0.8510938882827759, + 0.018559927120804787 + ], + "joints": [ + 0.023382291197776794 + ] + }, + "fine_grasp": { + "position": [ + -0.08773601055145264, + 0.0622095987200737, + 0.11201182007789612 + ], + "orientation": [ + 0.4390135109424591, + -0.2884558439254761, + 0.8507197499275208, + 0.01834324188530445 + ], + "joints": [ + 0.01335136592388153 + ] + }, + "final_grasp": { + "position": [ + -0.08773601055145264, + 0.0622095987200737, + 0.11201182007789612 + ], + "orientation": [ + 0.4390135109424591, + -0.2884558439254761, + 0.8507197499275208, + 0.01834324188530445 + ], + "joints": [ + 0.003320440649986267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10282576829195023, + 0.0657140389084816, + 0.06278723478317261 + ], + "orientation": [ + 0.6062765121459961, + -0.22383786737918854, + -0.7630958557128906, + 0.003164714202284813 + ], + "joints": [ + 0.023448817431926727 + ] + }, + "fine_grasp": { + "position": [ + 0.09992724657058716, + 0.06732812523841858, + 0.06338538229465485 + ], + "orientation": [ + 0.5983045101165771, + -0.23984584212303162, + -0.7643764019012451, + 0.015307296067476273 + ], + "joints": [ + 0.015089713037014008 + ] + }, + "final_grasp": { + "position": [ + 0.09992724657058716, + 0.06732812523841858, + 0.06338538229465485 + ], + "orientation": [ + 0.5983045101165771, + -0.23984584212303162, + -0.7643764019012451, + 0.015307296067476273 + ], + "joints": [ + 0.006730608642101288 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10247153043746948, + 0.06543842703104019, + 0.061799272894859314 + ], + "orientation": [ + 0.6029292345046997, + -0.2117026001214981, + -0.7691590189933777, + -0.007255363278090954 + ], + "joints": [ + 0.02361810766160488 + ] + }, + "fine_grasp": { + "position": [ + 0.09982973337173462, + 0.06686745584011078, + 0.06179960444569588 + ], + "orientation": [ + 0.597727358341217, + -0.22521334886550903, + -0.7694106698036194, + 0.002850977936759591 + ], + "joints": [ + 0.014841048046946526 + ] + }, + "final_grasp": { + "position": [ + 0.09982973337173462, + 0.06686745584011078, + 0.06179960444569588 + ], + "orientation": [ + 0.597727358341217, + -0.22521334886550903, + -0.7694106698036194, + 0.002850977936759591 + ], + "joints": [ + 0.00606398843228817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08685089647769928, + 0.055840905755758286, + 0.08181880414485931 + ], + "orientation": [ + 0.09279096871614456, + -0.8449555039405823, + 0.20399993658065796, + 0.48561733961105347 + ], + "joints": [ + 0.023692315444350243 + ] + }, + "fine_grasp": { + "position": [ + 0.08365951478481293, + 0.0570836216211319, + 0.08303188532590866 + ], + "orientation": [ + 0.08884501457214355, + -0.8515589237213135, + 0.20829994976520538, + 0.47282686829566956 + ], + "joints": [ + 0.014915255829691887 + ] + }, + "final_grasp": { + "position": [ + 0.08365951478481293, + 0.0570836216211319, + 0.08303188532590866 + ], + "orientation": [ + 0.08884501457214355, + -0.8515589237213135, + 0.20829994976520538, + 0.47282686829566956 + ], + "joints": [ + 0.006138196215033531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027736304327845573, + -0.09914261847734451, + -0.07903137058019638 + ], + "orientation": [ + 0.19059604406356812, + -0.06140376999974251, + 0.5775929093360901, + 0.7913842797279358 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.02612106315791607, + -0.09630998224020004, + -0.07703407853841782 + ], + "orientation": [ + 0.1972539871931076, + -0.05055674538016319, + 0.5790640115737915, + 0.7894426584243774 + ], + "joints": [ + 0.02186858467757702 + ] + }, + "final_grasp": { + "position": [ + -0.02612106315791607, + -0.09630998224020004, + -0.07703407853841782 + ], + "orientation": [ + 0.1972539871931076, + -0.05055674538016319, + 0.5790640115737915, + 0.7894426584243774 + ], + "joints": [ + 0.012673569843173027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01296492200344801, + 0.10968367010354996, + 0.1923568695783615 + ], + "orientation": [ + 0.03291933238506317, + 0.9566853046417236, + 0.28330403566360474, + -0.058380428701639175 + ], + "joints": [ + 0.012293259613215923 + ] + }, + "fine_grasp": { + "position": [ + 0.01247174572199583, + 0.10923212766647339, + 0.1883302479982376 + ], + "orientation": [ + 0.03329578414559364, + 0.9543498158454895, + 0.2899281680583954, + -0.06363555788993835 + ], + "joints": [ + 0.0034953029826283455 + ] + }, + "final_grasp": { + "position": [ + 0.01247174572199583, + 0.10923212766647339, + 0.1883302479982376 + ], + "orientation": [ + 0.03329578414559364, + 0.9543498158454895, + 0.2899281680583954, + -0.06363555788993835 + ], + "joints": [ + -0.005302653647959232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10245471447706223, + 0.11647657305002213, + 0.05497484654188156 + ], + "orientation": [ + 0.1255040168762207, + 0.7889273166656494, + -0.0036624083295464516, + 0.6015221476554871 + ], + "joints": [ + 0.023924611508846283 + ] + }, + "fine_grasp": { + "position": [ + -0.10027016699314117, + 0.11671443283557892, + 0.0550798699259758 + ], + "orientation": [ + 0.13590922951698303, + 0.7953729629516602, + 0.013213133439421654, + 0.5905386805534363 + ], + "joints": [ + 0.015565507113933563 + ] + }, + "final_grasp": { + "position": [ + -0.10027016699314117, + 0.11671443283557892, + 0.0550798699259758 + ], + "orientation": [ + 0.13590922951698303, + 0.7953729629516602, + 0.013213133439421654, + 0.5905386805534363 + ], + "joints": [ + 0.0072064027190208435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08991720527410507, + 0.057913463562726974, + 0.1059681624174118 + ], + "orientation": [ + 0.08462969958782196, + -0.8826701641082764, + -0.17364996671676636, + -0.42845869064331055 + ], + "joints": [ + 0.023538831621408463 + ] + }, + "fine_grasp": { + "position": [ + -0.08677200227975845, + 0.05918034911155701, + 0.10418982803821564 + ], + "orientation": [ + 0.08560137450695038, + -0.8804256319999695, + -0.17233800888061523, + -0.43338507413864136 + ], + "joints": [ + 0.013110850006341934 + ] + }, + "final_grasp": { + "position": [ + -0.08677200227975845, + 0.05918034911155701, + 0.10418982803821564 + ], + "orientation": [ + 0.08560137450695038, + -0.8804256319999695, + -0.17233800888061523, + -0.43338507413864136 + ], + "joints": [ + 0.002682868391275406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09152483940124512, + 0.07999131083488464, + 0.10257849842309952 + ], + "orientation": [ + 0.03157543018460274, + 0.8650010228157043, + -0.20987914502620697, + -0.45467227697372437 + ], + "joints": [ + 0.023457534611225128 + ] + }, + "fine_grasp": { + "position": [ + 0.08842377364635468, + 0.08081860840320587, + 0.1002936065196991 + ], + "orientation": [ + 0.04579121619462967, + 0.862984299659729, + -0.22895225882530212, + -0.44804251194000244 + ], + "joints": [ + 0.0138445645570755 + ] + }, + "final_grasp": { + "position": [ + 0.08842377364635468, + 0.08081860840320587, + 0.1002936065196991 + ], + "orientation": [ + 0.04579121619462967, + 0.862984299659729, + -0.22895225882530212, + -0.44804251194000244 + ], + "joints": [ + 0.004231594502925873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11185090988874435, + -0.06605153530836105, + -0.07153555750846863 + ], + "orientation": [ + 0.23496223986148834, + 0.3749065101146698, + -0.4835471212863922, + -0.7552615404129028 + ], + "joints": [ + 0.029627958312630653 + ] + }, + "fine_grasp": { + "position": [ + 0.10894550383090973, + -0.0636453628540039, + -0.07029816508293152 + ], + "orientation": [ + 0.23415012657642365, + 0.37128177285194397, + -0.48638859391212463, + -0.7554798126220703 + ], + "joints": [ + 0.020014988258481026 + ] + }, + "final_grasp": { + "position": [ + 0.10894550383090973, + -0.0636453628540039, + -0.07029816508293152 + ], + "orientation": [ + 0.23415012657642365, + 0.37128177285194397, + -0.48638859391212463, + -0.7554798126220703 + ], + "joints": [ + 0.010402018204331398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07115429639816284, + 0.17932286858558655, + 0.113185353577137 + ], + "orientation": [ + 0.4914196729660034, + 0.2782292664051056, + 0.7784870862960815, + -0.2739578187465668 + ], + "joints": [ + 0.011163481511175632 + ] + }, + "fine_grasp": { + "position": [ + -0.0685303658246994, + 0.1764131337404251, + 0.11143631488084793 + ], + "orientation": [ + 0.48180198669433594, + 0.2771853804588318, + 0.7861419916152954, + -0.27021485567092896 + ], + "joints": [ + 0.003640288021415472 + ] + }, + "final_grasp": { + "position": [ + -0.0685303658246994, + 0.1764131337404251, + 0.11143631488084793 + ], + "orientation": [ + 0.48180198669433594, + 0.2771853804588318, + 0.7861419916152954, + -0.27021485567092896 + ], + "joints": [ + -0.0038829054683446884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0903814509510994, + 0.08012820780277252, + 0.10184831917285919 + ], + "orientation": [ + 0.026272853836417198, + 0.8684574365615845, + -0.2001374065876007, + -0.45280957221984863 + ], + "joints": [ + 0.023017581552267075 + ] + }, + "fine_grasp": { + "position": [ + 0.08719703555107117, + 0.08115745335817337, + 0.09972510486841202 + ], + "orientation": [ + 0.04183776676654816, + 0.8667185306549072, + -0.22148582339286804, + -0.444963663816452 + ], + "joints": [ + 0.013822566717863083 + ] + }, + "final_grasp": { + "position": [ + 0.08719703555107117, + 0.08115745335817337, + 0.09972510486841202 + ], + "orientation": [ + 0.04183776676654816, + 0.8667185306549072, + -0.22148582339286804, + -0.444963663816452 + ], + "joints": [ + 0.004627551883459091 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08964730054140091, + 0.08288522064685822, + 0.11310672014951706 + ], + "orientation": [ + 0.034965429455041885, + -0.8867087960243225, + -0.046363458037376404, + -0.4586670696735382 + ], + "joints": [ + 0.02014700509607792 + ] + }, + "fine_grasp": { + "position": [ + -0.08641242980957031, + 0.08290275931358337, + 0.11093594878911972 + ], + "orientation": [ + 0.03798952326178551, + -0.8917601108551025, + -0.04157648980617523, + -0.4489900767803192 + ], + "joints": [ + 0.010534035041928291 + ] + }, + "final_grasp": { + "position": [ + -0.08641242980957031, + 0.08290275931358337, + 0.11093594878911972 + ], + "orientation": [ + 0.03798952326178551, + -0.8917601108551025, + -0.04157648980617523, + -0.4489900767803192 + ], + "joints": [ + 0.0009210649877786636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011094177141785622, + 0.09639196842908859, + 0.19096791744232178 + ], + "orientation": [ + 0.022693544626235962, + 0.9964407086372375, + 0.07848312705755234, + 0.020772479474544525 + ], + "joints": [ + 0.015943091362714767 + ] + }, + "fine_grasp": { + "position": [ + -0.01066749356687069, + 0.09687823802232742, + 0.18743227422237396 + ], + "orientation": [ + 0.008348151110112667, + 0.9960730671882629, + 0.08111955225467682, + 0.03447483479976654 + ], + "joints": [ + 0.00430303905159235 + ] + }, + "final_grasp": { + "position": [ + -0.01066749356687069, + 0.09687823802232742, + 0.18743227422237396 + ], + "orientation": [ + 0.008348151110112667, + 0.9960730671882629, + 0.08111955225467682, + 0.03447483479976654 + ], + "joints": [ + -0.0073370132595300674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08898384869098663, + 0.08266581594944, + 0.11199083924293518 + ], + "orientation": [ + 0.04158725216984749, + -0.8907614350318909, + -0.03340991586446762, + -0.45132943987846375 + ], + "joints": [ + 0.020987985655665398 + ] + }, + "fine_grasp": { + "position": [ + -0.08583582937717438, + 0.08271703124046326, + 0.11016576737165451 + ], + "orientation": [ + 0.048764269798994064, + -0.8936783075332642, + -0.022254426032304764, + -0.4454948902130127 + ], + "joints": [ + 0.010539105162024498 + ] + }, + "final_grasp": { + "position": [ + -0.08583582937717438, + 0.08271703124046326, + 0.11016576737165451 + ], + "orientation": [ + 0.048764269798994064, + -0.8936783075332642, + -0.022254426032304764, + -0.4454948902130127 + ], + "joints": [ + 9.022466838359833e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0897790938615799, + 0.14996865391731262, + 0.1137751042842865 + ], + "orientation": [ + 0.13355039060115814, + 0.8193764686584473, + 0.16413502395153046, + -0.5327722430229187 + ], + "joints": [ + 0.017332419753074646 + ] + }, + "fine_grasp": { + "position": [ + 0.08786404877901077, + 0.14791393280029297, + 0.11190533638000488 + ], + "orientation": [ + 0.14836086332798004, + 0.8276308178901672, + 0.17233914136886597, + -0.5131427645683289 + ], + "joints": [ + 0.00489825289696455 + ] + }, + "final_grasp": { + "position": [ + 0.08786404877901077, + 0.14791393280029297, + 0.11190533638000488 + ], + "orientation": [ + 0.14836086332798004, + 0.8276308178901672, + 0.17233914136886597, + -0.5131427645683289 + ], + "joints": [ + -0.007535913959145546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08856039494276047, + 0.08346210420131683, + 0.1107875183224678 + ], + "orientation": [ + 0.03952237218618393, + -0.8930460214614868, + -0.0315130278468132, + -0.4471171200275421 + ], + "joints": [ + 0.02128652110695839 + ] + }, + "fine_grasp": { + "position": [ + -0.08539503067731857, + 0.08389929682016373, + 0.10840749740600586 + ], + "orientation": [ + 0.04213162139058113, + -0.8955743908882141, + -0.028133012354373932, + -0.4420180916786194 + ], + "joints": [ + 0.012091506272554398 + ] + }, + "final_grasp": { + "position": [ + -0.08539503067731857, + 0.08389929682016373, + 0.10840749740600586 + ], + "orientation": [ + 0.04213162139058113, + -0.8955743908882141, + -0.028133012354373932, + -0.4420180916786194 + ], + "joints": [ + 0.002896491438150406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018218517303466797, + 0.12226022034883499, + 0.18697629868984222 + ], + "orientation": [ + 0.09134507179260254, + 0.9882817268371582, + 0.11675448715686798, + 0.03638336807489395 + ], + "joints": [ + 0.015699347481131554 + ] + }, + "fine_grasp": { + "position": [ + -0.01736670359969139, + 0.12132173776626587, + 0.18363994359970093 + ], + "orientation": [ + 0.10449887812137604, + 0.9859415292739868, + 0.11844056099653244, + 0.05450925603508949 + ], + "joints": [ + 0.003662237897515297 + ] + }, + "final_grasp": { + "position": [ + -0.01736670359969139, + 0.12132173776626587, + 0.18363994359970093 + ], + "orientation": [ + 0.10449887812137604, + 0.9859415292739868, + 0.11844056099653244, + 0.05450925603508949 + ], + "joints": [ + -0.00837487168610096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018554965034127235, + 0.12111465632915497, + 0.1655101478099823 + ], + "orientation": [ + 0.0700608566403389, + -0.1278028041124344, + 0.9834777116775513, + -0.10737573355436325 + ], + "joints": [ + 0.022071179002523422 + ] + }, + "fine_grasp": { + "position": [ + -0.017595961689949036, + 0.12056616693735123, + 0.16289028525352478 + ], + "orientation": [ + 0.07057405263185501, + -0.12798674404621124, + 0.983620822429657, + -0.10549358278512955 + ], + "joints": [ + 0.012437310069799423 + ] + }, + "final_grasp": { + "position": [ + -0.017595961689949036, + 0.12056616693735123, + 0.16289028525352478 + ], + "orientation": [ + 0.07057405263185501, + -0.12798674404621124, + 0.983620822429657, + -0.10549358278512955 + ], + "joints": [ + 0.002803441137075424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10177336633205414, + 0.08423399925231934, + 0.11081895977258682 + ], + "orientation": [ + 0.5599951148033142, + -0.027945557609200478, + -0.8262683749198914, + -0.05389862507581711 + ], + "joints": [ + 0.011075722053647041 + ] + }, + "fine_grasp": { + "position": [ + 0.0978659987449646, + 0.08456151932477951, + 0.10926297307014465 + ], + "orientation": [ + 0.5483764410018921, + -0.020342255011200905, + -0.8344680666923523, + -0.05032394826412201 + ], + "joints": [ + 0.003552528563886881 + ] + }, + "final_grasp": { + "position": [ + 0.0978659987449646, + 0.08456151932477951, + 0.10926297307014465 + ], + "orientation": [ + 0.5483764410018921, + -0.020342255011200905, + -0.8344680666923523, + -0.05032394826412201 + ], + "joints": [ + -0.00397066492587328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018028583377599716, + 0.1211225688457489, + 0.1662323921918869 + ], + "orientation": [ + 0.06565640866756439, + -0.13056550920009613, + 0.9834116697311401, + -0.10744010657072067 + ], + "joints": [ + 0.02190379612147808 + ] + }, + "fine_grasp": { + "position": [ + -0.01708078943192959, + 0.12047421187162399, + 0.16351862251758575 + ], + "orientation": [ + 0.06672380119562149, + -0.13111302256584167, + 0.9835374355316162, + -0.10493549704551697 + ], + "joints": [ + 0.012269927188754082 + ] + }, + "final_grasp": { + "position": [ + -0.01708078943192959, + 0.12047421187162399, + 0.16351862251758575 + ], + "orientation": [ + 0.06672380119562149, + -0.13111302256584167, + 0.9835374355316162, + -0.10493549704551697 + ], + "joints": [ + 0.0026360582560300827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07731524854898453, + 0.093297079205513, + 0.12224635481834412 + ], + "orientation": [ + 0.04188348352909088, + 0.9019466638565063, + -0.14195242524147034, + -0.40569373965263367 + ], + "joints": [ + 0.019206156954169273 + ] + }, + "fine_grasp": { + "position": [ + 0.0747799351811409, + 0.09492839872837067, + 0.1208779513835907 + ], + "orientation": [ + 0.05588362738490105, + 0.9064055681228638, + -0.1573370099067688, + -0.3880089819431305 + ], + "joints": [ + 0.010847052559256554 + ] + }, + "final_grasp": { + "position": [ + 0.0747799351811409, + 0.09492839872837067, + 0.1208779513835907 + ], + "orientation": [ + 0.05588362738490105, + 0.9064055681228638, + -0.1573370099067688, + -0.3880089819431305 + ], + "joints": [ + 0.002487948164343834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012067774310708046, + 0.0699896290898323, + 0.16921167075634003 + ], + "orientation": [ + 0.09183428436517715, + -0.9884579181671143, + -0.09888877719640732, + -0.0688357725739479 + ], + "joints": [ + 0.02085273712873459 + ] + }, + "fine_grasp": { + "position": [ + -0.011275876313447952, + 0.07012868672609329, + 0.16599144041538239 + ], + "orientation": [ + 0.09422791749238968, + -0.9884939193725586, + -0.0964527353644371, + -0.06854112446308136 + ], + "joints": [ + 0.011260665953159332 + ] + }, + "final_grasp": { + "position": [ + -0.011275876313447952, + 0.07012868672609329, + 0.16599144041538239 + ], + "orientation": [ + 0.09422791749238968, + -0.9884939193725586, + -0.0964527353644371, + -0.06854112446308136 + ], + "joints": [ + 0.001668594777584076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09595897793769836, + 0.1031470075249672, + 0.10553059726953506 + ], + "orientation": [ + 0.018127650022506714, + -0.8841567039489746, + 0.1172885075211525, + -0.45186465978622437 + ], + "joints": [ + 0.02343285083770752 + ] + }, + "fine_grasp": { + "position": [ + -0.09284266084432602, + 0.10254324972629547, + 0.10342155396938324 + ], + "orientation": [ + 0.021019570529460907, + -0.8840065002441406, + 0.12255415320396423, + -0.450634241104126 + ], + "joints": [ + 0.012607812881469727 + ] + }, + "final_grasp": { + "position": [ + -0.09284266084432602, + 0.10254324972629547, + 0.10342155396938324 + ], + "orientation": [ + 0.021019570529460907, + -0.8840065002441406, + 0.12255415320396423, + -0.450634241104126 + ], + "joints": [ + 0.0017827749252319336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11883821338415146, + 0.1254737824201584, + 0.014984533190727234 + ], + "orientation": [ + 0.03669782355427742, + 0.6861593127250671, + 0.1828290820121765, + -0.703144371509552 + ], + "joints": [ + 0.031318310648202896 + ] + }, + "fine_grasp": { + "position": [ + 0.1153971254825592, + 0.12485185265541077, + 0.014111398719251156 + ], + "orientation": [ + 0.027169371023774147, + 0.6943504810333252, + 0.18517780303955078, + -0.6948729157447815 + ], + "joints": [ + 0.020472373813390732 + ] + }, + "final_grasp": { + "position": [ + 0.1153971254825592, + 0.12485185265541077, + 0.014111398719251156 + ], + "orientation": [ + 0.027169371023774147, + 0.6943504810333252, + 0.18517780303955078, + -0.6948729157447815 + ], + "joints": [ + 0.009626436978578568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07832738757133484, + 0.07290150970220566, + 0.15517473220825195 + ], + "orientation": [ + 0.062428273260593414, + -0.9158857464790344, + 0.11654257029294968, + 0.3790432810783386 + ], + "joints": [ + 0.010907665826380253 + ] + }, + "fine_grasp": { + "position": [ + 0.07549548894166946, + 0.07386177778244019, + 0.15215614438056946 + ], + "orientation": [ + 0.06481236219406128, + -0.916932225227356, + 0.1198403611779213, + 0.3750638961791992 + ], + "joints": [ + 0.0033635750878602266 + ] + }, + "final_grasp": { + "position": [ + 0.07549548894166946, + 0.07386177778244019, + 0.15215614438056946 + ], + "orientation": [ + 0.06481236219406128, + -0.916932225227356, + 0.1198403611779213, + 0.3750638961791992 + ], + "joints": [ + -0.0041805156506598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047753673046827316, + 0.12352709472179413, + 0.18259449303150177 + ], + "orientation": [ + 0.19728347659111023, + -0.011591370217502117, + -0.9740554690361023, + 0.11027558147907257 + ], + "joints": [ + 0.011854641139507294 + ] + }, + "fine_grasp": { + "position": [ + 0.04612709954380989, + 0.1226373165845871, + 0.1788966953754425 + ], + "orientation": [ + 0.19484712183475494, + -0.017098242416977882, + -0.9747194647789001, + 0.10800167918205261 + ], + "joints": [ + 0.0034955372102558613 + ] + }, + "final_grasp": { + "position": [ + 0.04612709954380989, + 0.1226373165845871, + 0.1788966953754425 + ], + "orientation": [ + 0.19484712183475494, + -0.017098242416977882, + -0.9747194647789001, + 0.10800167918205261 + ], + "joints": [ + -0.004863566718995571 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05611543357372284, + 0.07928506284952164, + 0.14062778651714325 + ], + "orientation": [ + 0.2509341239929199, + -0.01793384738266468, + -0.965933084487915, + -0.06069353222846985 + ], + "joints": [ + 0.023493461310863495 + ] + }, + "fine_grasp": { + "position": [ + 0.053887467831373215, + 0.07915756106376648, + 0.13754326105117798 + ], + "orientation": [ + 0.24893993139266968, + -0.005920655094087124, + -0.9662706851959229, + -0.06568675488233566 + ], + "joints": [ + 0.013065479695796967 + ] + }, + "final_grasp": { + "position": [ + 0.053887467831373215, + 0.07915756106376648, + 0.13754326105117798 + ], + "orientation": [ + 0.24893993139266968, + -0.005920655094087124, + -0.9662706851959229, + -0.06568675488233566 + ], + "joints": [ + 0.0026374980807304382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1270161122083664, + 0.12568986415863037, + 0.030010903254151344 + ], + "orientation": [ + 0.7424989342689514, + 0.08152066916227341, + -0.6586239337921143, + 0.09090802073478699 + ], + "joints": [ + 0.020689958706498146 + ] + }, + "fine_grasp": { + "position": [ + 0.12315691262483597, + 0.1248893141746521, + 0.029747532680630684 + ], + "orientation": [ + 0.7370766401290894, + 0.08095227926969528, + -0.6652592420578003, + 0.0871487408876419 + ], + "joints": [ + 0.011494943872094154 + ] + }, + "final_grasp": { + "position": [ + 0.12315691262483597, + 0.1248893141746521, + 0.029747532680630684 + ], + "orientation": [ + 0.7370766401290894, + 0.08095227926969528, + -0.6652592420578003, + 0.0871487408876419 + ], + "joints": [ + 0.0022999290376901627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11136765033006668, + 0.14687268435955048, + 0.04805229604244232 + ], + "orientation": [ + 0.2008136808872223, + 0.810941755771637, + 0.05093807727098465, + -0.5472226738929749 + ], + "joints": [ + 0.028933294117450714 + ] + }, + "fine_grasp": { + "position": [ + 0.10798203945159912, + 0.1454927921295166, + 0.04646555706858635 + ], + "orientation": [ + 0.20840348303318024, + 0.8152633309364319, + 0.04104943200945854, + -0.538728654384613 + ], + "joints": [ + 0.019738279283046722 + ] + }, + "final_grasp": { + "position": [ + 0.10798203945159912, + 0.1454927921295166, + 0.04646555706858635 + ], + "orientation": [ + 0.20840348303318024, + 0.8152633309364319, + 0.04104943200945854, + -0.538728654384613 + ], + "joints": [ + 0.01054326444864273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05536358058452606, + 0.08000498265028, + 0.14085066318511963 + ], + "orientation": [ + 0.2574842870235443, + -0.034797441214323044, + -0.9641098380088806, + -0.054619528353214264 + ], + "joints": [ + 0.023090340197086334 + ] + }, + "fine_grasp": { + "position": [ + 0.05312853306531906, + 0.08017385005950928, + 0.13797499239444733 + ], + "orientation": [ + 0.25368502736091614, + -0.02696942910552025, + -0.9651919603347778, + -0.057629987597465515 + ], + "joints": [ + 0.012265302240848541 + ] + }, + "final_grasp": { + "position": [ + 0.05312853306531906, + 0.08017385005950928, + 0.13797499239444733 + ], + "orientation": [ + 0.25368502736091614, + -0.02696942910552025, + -0.9651919603347778, + -0.057629987597465515 + ], + "joints": [ + 0.0014402642846107483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07011355459690094, + 0.11328106373548508, + 0.13411422073841095 + ], + "orientation": [ + 0.372610867023468, + -0.05976096913218498, + 0.9209350347518921, + -0.09730613976716995 + ], + "joints": [ + 0.016397852450609207 + ] + }, + "fine_grasp": { + "position": [ + -0.06775490939617157, + 0.1139565035700798, + 0.13359473645687103 + ], + "orientation": [ + 0.3530668318271637, + -0.07076898962259293, + 0.9267503023147583, + -0.10709549486637115 + ], + "joints": [ + 0.008038748055696487 + ] + }, + "final_grasp": { + "position": [ + -0.06775490939617157, + 0.1139565035700798, + 0.13359473645687103 + ], + "orientation": [ + 0.3530668318271637, + -0.07076898962259293, + 0.9267503023147583, + -0.10709549486637115 + ], + "joints": [ + -0.0003203563392162323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05518818646669388, + 0.08009547740221024, + 0.1401846557855606 + ], + "orientation": [ + 0.25285542011260986, + -0.03685625642538071, + -0.9653065800666809, + -0.053749360144138336 + ], + "joints": [ + 0.02305237203836441 + ] + }, + "fine_grasp": { + "position": [ + 0.05290753021836281, + 0.08010120689868927, + 0.13726264238357544 + ], + "orientation": [ + 0.24861733615398407, + -0.02704801969230175, + -0.9665529131889343, + -0.05686178058385849 + ], + "joints": [ + 0.012645289301872253 + ] + }, + "final_grasp": { + "position": [ + 0.05290753021836281, + 0.08010120689868927, + 0.13726264238357544 + ], + "orientation": [ + 0.24861733615398407, + -0.02704801969230175, + -0.9665529131889343, + -0.05686178058385849 + ], + "joints": [ + 0.0022382065653800964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07063472270965576, + 0.09882160276174545, + 0.1314391791820526 + ], + "orientation": [ + 0.32634833455085754, + 0.12255020439624786, + -0.9370796084403992, + -0.01897415518760681 + ], + "joints": [ + 0.022944532334804535 + ] + }, + "fine_grasp": { + "position": [ + 0.06829868257045746, + 0.09771658480167389, + 0.12880952656269073 + ], + "orientation": [ + 0.3253880739212036, + 0.13503679633140564, + -0.9355087280273438, + -0.026664992794394493 + ], + "joints": [ + 0.01209859549999237 + ] + }, + "final_grasp": { + "position": [ + 0.06829868257045746, + 0.09771658480167389, + 0.12880952656269073 + ], + "orientation": [ + 0.3253880739212036, + 0.13503679633140564, + -0.9355087280273438, + -0.026664992794394493 + ], + "joints": [ + 0.0012526586651802063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07072082906961441, + 0.09884784370660782, + 0.13148300349712372 + ], + "orientation": [ + 0.3261505365371704, + 0.12209164351224899, + -0.9372134208679199, + -0.018722662702202797 + ], + "joints": [ + 0.022788377478718758 + ] + }, + "fine_grasp": { + "position": [ + 0.06836041808128357, + 0.09772607684135437, + 0.12880122661590576 + ], + "orientation": [ + 0.3251132071018219, + 0.13531529903411865, + -0.9355529546737671, + -0.027052942663431168 + ], + "joints": [ + 0.011963339522480965 + ] + }, + "final_grasp": { + "position": [ + 0.06836041808128357, + 0.09772607684135437, + 0.12880122661590576 + ], + "orientation": [ + 0.3251132071018219, + 0.13531529903411865, + -0.9355529546737671, + -0.027052942663431168 + ], + "joints": [ + 0.0011383015662431717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12207300215959549, + -0.015068861655890942, + 0.009206465445458889 + ], + "orientation": [ + 0.34717708826065063, + -0.7406332492828369, + 0.3672671914100647, + -0.44276994466781616 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.11854566633701324, + -0.014753307215869427, + 0.007877785712480545 + ], + "orientation": [ + 0.34898123145103455, + -0.7361875772476196, + 0.37024635076522827, + -0.4462708532810211 + ], + "joints": [ + 0.019036732614040375 + ] + }, + "final_grasp": { + "position": [ + -0.11854566633701324, + -0.014753307215869427, + 0.007877785712480545 + ], + "orientation": [ + 0.34898123145103455, + -0.7361875772476196, + 0.37024635076522827, + -0.4462708532810211 + ], + "joints": [ + 0.00819079577922821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.069817915558815, + 0.09960045665502548, + 0.13258160650730133 + ], + "orientation": [ + 0.3369064927101135, + 0.118239626288414, + -0.9339943528175354, + -0.012955286540091038 + ], + "joints": [ + 0.022096600383520126 + ] + }, + "fine_grasp": { + "position": [ + 0.06715666502714157, + 0.09871510416269302, + 0.13007423281669617 + ], + "orientation": [ + 0.3317170739173889, + 0.13569433987140656, + -0.9332168698310852, + -0.0256345197558403 + ], + "joints": [ + 0.012044776231050491 + ] + }, + "final_grasp": { + "position": [ + 0.06715666502714157, + 0.09871510416269302, + 0.13007423281669617 + ], + "orientation": [ + 0.3317170739173889, + 0.13569433987140656, + -0.9332168698310852, + -0.0256345197558403 + ], + "joints": [ + 0.0019929520785808563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0385611467063427, + 0.05803229287266731, + 0.15901224315166473 + ], + "orientation": [ + 0.14669518172740936, + -0.9724627733230591, + 0.009636694565415382, + -0.18084217607975006 + ], + "joints": [ + 0.02149619720876217 + ] + }, + "fine_grasp": { + "position": [ + -0.03720609471201897, + 0.058432791382074356, + 0.15566283464431763 + ], + "orientation": [ + 0.1505754292011261, + -0.9726300835609436, + 0.01582292839884758, + -0.17625963687896729 + ], + "joints": [ + 0.012301182374358177 + ] + }, + "final_grasp": { + "position": [ + -0.03720609471201897, + 0.058432791382074356, + 0.15566283464431763 + ], + "orientation": [ + 0.1505754292011261, + -0.9726300835609436, + 0.01582292839884758, + -0.17625963687896729 + ], + "joints": [ + 0.0031061675399541855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12158288806676865, + 0.09769302606582642, + -0.024141360074281693 + ], + "orientation": [ + 0.5776811838150024, + 0.14277122914791107, + -0.7955039739608765, + -0.11434242874383926 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.11759023368358612, + 0.09751211106777191, + -0.02414766512811184 + ], + "orientation": [ + 0.5873908400535583, + 0.14819784462451935, + -0.7869454026222229, + -0.11715952306985855 + ], + "joints": [ + 0.02339915558695793 + ] + }, + "final_grasp": { + "position": [ + 0.11759023368358612, + 0.09751211106777191, + -0.02414766512811184 + ], + "orientation": [ + 0.5873908400535583, + 0.14819784462451935, + -0.7869454026222229, + -0.11715952306985855 + ], + "joints": [ + 0.015040051192045212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13293926417827606, + 0.11773142218589783, + 0.05840381234884262 + ], + "orientation": [ + 0.642756462097168, + 0.06918106973171234, + -0.7611768245697021, + 0.051845796406269073 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + 0.12916211783885956, + 0.11704032868146896, + 0.0577988438308239 + ], + "orientation": [ + 0.642880916595459, + 0.06897851824760437, + -0.7611098289489746, + 0.05155325308442116 + ], + "joints": [ + 0.01173442043364048 + ] + }, + "final_grasp": { + "position": [ + 0.12916211783885956, + 0.11704032868146896, + 0.0577988438308239 + ], + "orientation": [ + 0.642880916595459, + 0.06897851824760437, + -0.7611098289489746, + 0.05155325308442116 + ], + "joints": [ + 0.0028946641832590103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13293100893497467, + 0.11772987991571426, + 0.058454595506191254 + ], + "orientation": [ + 0.6429058313369751, + 0.06930031627416611, + -0.7610459923744202, + 0.05175362527370453 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + 0.1291491985321045, + 0.11704634875059128, + 0.05784381181001663 + ], + "orientation": [ + 0.6430023908615112, + 0.0690583810210228, + -0.7610060572624207, + 0.05146448314189911 + ], + "joints": [ + 0.01173442043364048 + ] + }, + "final_grasp": { + "position": [ + 0.1291491985321045, + 0.11704634875059128, + 0.05784381181001663 + ], + "orientation": [ + 0.6430023908615112, + 0.0690583810210228, + -0.7610060572624207, + 0.05146448314189911 + ], + "joints": [ + 0.0028946641832590103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0278539527207613, + -0.10353238880634308, + -0.07035030424594879 + ], + "orientation": [ + 0.7861565351486206, + -0.5827962160110474, + 0.1611996442079544, + -0.12775403261184692 + ], + "joints": [ + 0.028771208599209785 + ] + }, + "fine_grasp": { + "position": [ + -0.028003476560115814, + -0.09973511844873428, + -0.06922221928834915 + ], + "orientation": [ + 0.7866273522377014, + -0.5875837802886963, + 0.14914986491203308, + -0.11712031066417694 + ], + "joints": [ + 0.01997325010597706 + ] + }, + "final_grasp": { + "position": [ + -0.028003476560115814, + -0.09973511844873428, + -0.06922221928834915 + ], + "orientation": [ + 0.7866273522377014, + -0.5875837802886963, + 0.14914986491203308, + -0.11712031066417694 + ], + "joints": [ + 0.011175291612744331 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04800669476389885, + 0.12129174917936325, + -0.17594905197620392 + ], + "orientation": [ + 0.004899661988019943, + -0.21361611783504486, + 0.0989607498049736, + -0.9718801379203796 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.04722600802779198, + 0.12034536898136139, + -0.17236363887786865 + ], + "orientation": [ + 0.004730502143502235, + -0.20991861820220947, + 0.10037733614444733, + -0.972541093826294 + ], + "joints": [ + 0.020434042438864708 + ] + }, + "final_grasp": { + "position": [ + -0.04722600802779198, + 0.12034536898136139, + -0.17236363887786865 + ], + "orientation": [ + 0.004730502143502235, + -0.20991861820220947, + 0.10037733614444733, + -0.972541093826294 + ], + "joints": [ + 0.010800173506140709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014975489117205143, + 0.11594494432210922, + -0.18905112147331238 + ], + "orientation": [ + 0.03088189661502838, + 0.06594089418649673, + -0.07622215896844864, + 0.9944285750389099 + ], + "joints": [ + 0.028933294117450714 + ] + }, + "fine_grasp": { + "position": [ + -0.014749155379831791, + 0.11528735607862473, + -0.18516556918621063 + ], + "orientation": [ + 0.031039731577038765, + 0.06500625610351562, + -0.07542051374912262, + 0.9945463538169861 + ], + "joints": [ + 0.020114436745643616 + ] + }, + "final_grasp": { + "position": [ + -0.014749155379831791, + 0.11528735607862473, + -0.18516556918621063 + ], + "orientation": [ + 0.031039731577038765, + 0.06500625610351562, + -0.07542051374912262, + 0.9945463538169861 + ], + "joints": [ + 0.011295579373836517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061059627681970596, + -0.09347143024206161, + 0.012961587868630886 + ], + "orientation": [ + 0.20913384854793549, + 0.06363282352685928, + -0.8362298011779785, + -0.5029250979423523 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + 0.05943119898438454, + -0.09064991772174835, + 0.010998384095728397 + ], + "orientation": [ + 0.20608960092067719, + 0.07274872064590454, + -0.8345614671707153, + -0.5057092905044556 + ], + "joints": [ + 0.02066565677523613 + ] + }, + "final_grasp": { + "position": [ + 0.05943119898438454, + -0.09064991772174835, + 0.010998384095728397 + ], + "orientation": [ + 0.20608960092067719, + 0.07274872064590454, + -0.8345614671707153, + -0.5057092905044556 + ], + "joints": [ + 0.011888597160577774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06221570819616318, + -0.09303763508796692, + 0.01226846780627966 + ], + "orientation": [ + 0.199148491024971, + 0.05757758021354675, + -0.8396809697151184, + -0.5019567012786865 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.06034248322248459, + -0.08979298919439316, + 0.01067541167140007 + ], + "orientation": [ + 0.1998739242553711, + 0.06973274797201157, + -0.8374041318893433, + -0.503926694393158 + ], + "joints": [ + 0.02015739306807518 + ] + }, + "final_grasp": { + "position": [ + 0.06034248322248459, + -0.08979298919439316, + 0.01067541167140007 + ], + "orientation": [ + 0.1998739242553711, + 0.06973274797201157, + -0.8374041318893433, + -0.503926694393158 + ], + "joints": [ + 0.01179828867316246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061659958213567734, + -0.09250855445861816, + 0.011918526142835617 + ], + "orientation": [ + 0.20334115624427795, + 0.056267399340867996, + -0.8394887447357178, + -0.5007445812225342 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.05981643125414848, + -0.0892067477107048, + 0.010312083177268505 + ], + "orientation": [ + 0.20156964659690857, + 0.06784568727016449, + -0.8365218639373779, + -0.5049729347229004 + ], + "joints": [ + 0.020620502531528473 + ] + }, + "final_grasp": { + "position": [ + 0.05981643125414848, + -0.0892067477107048, + 0.010312083177268505 + ], + "orientation": [ + 0.20156964659690857, + 0.06784568727016449, + -0.8365218639373779, + -0.5049729347229004 + ], + "joints": [ + 0.012261398136615753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061955034732818604, + -0.09269566088914871, + 0.011800345964729786 + ], + "orientation": [ + 0.2042517513036728, + 0.05634716525673866, + -0.8389096260070801, + -0.501335084438324 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.06009818986058235, + -0.08938316255807877, + 0.010206925682723522 + ], + "orientation": [ + 0.20265521109104156, + 0.06808143854141235, + -0.8359951972961426, + -0.5053790211677551 + ], + "joints": [ + 0.020620502531528473 + ] + }, + "final_grasp": { + "position": [ + 0.06009818986058235, + -0.08938316255807877, + 0.010206925682723522 + ], + "orientation": [ + 0.20265521109104156, + 0.06808143854141235, + -0.8359951972961426, + -0.5053790211677551 + ], + "joints": [ + 0.012261398136615753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061458636075258255, + -0.0927986204624176, + 0.012837495654821396 + ], + "orientation": [ + 0.20236316323280334, + 0.06575267761945724, + -0.8381673693656921, + -0.5021964311599731 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + 0.059779345989227295, + -0.08972352743148804, + 0.010989684611558914 + ], + "orientation": [ + 0.2019820511341095, + 0.07600254565477371, + -0.8359332084655762, + -0.5046210885047913 + ], + "joints": [ + 0.02064250037074089 + ] + }, + "final_grasp": { + "position": [ + 0.059779345989227295, + -0.08972352743148804, + 0.010989684611558914 + ], + "orientation": [ + 0.2019820511341095, + 0.07600254565477371, + -0.8359332084655762, + -0.5046210885047913 + ], + "joints": [ + 0.011865440756082535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12970374524593353, + 0.06411589682102203, + -0.06688590347766876 + ], + "orientation": [ + 0.5844612717628479, + -0.3636622428894043, + 0.5410780310630798, + -0.48310399055480957 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.12585848569869995, + 0.06568586081266403, + -0.06636223196983337 + ], + "orientation": [ + 0.5942551493644714, + -0.3709121346473694, + 0.537251353263855, + -0.46972978115081787 + ], + "joints": [ + 0.026340698823332787 + ] + }, + "final_grasp": { + "position": [ + -0.12585848569869995, + 0.06568586081266403, + -0.06636223196983337 + ], + "orientation": [ + 0.5942551493644714, + -0.3709121346473694, + 0.537251353263855, + -0.46972978115081787 + ], + "joints": [ + 0.021617798134684563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03748996928334236, + -0.1082802265882492, + 0.008022100664675236 + ], + "orientation": [ + 0.07774924486875534, + 0.05672067403793335, + -0.8192113637924194, + -0.5653586983680725 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.03666328638792038, + -0.10473767668008804, + 0.006387742236256599 + ], + "orientation": [ + 0.0779755637049675, + 0.06121859699487686, + -0.8195319771766663, + -0.5643929839134216 + ], + "joints": [ + 0.02121681720018387 + ] + }, + "final_grasp": { + "position": [ + 0.03666328638792038, + -0.10473767668008804, + 0.006387742236256599 + ], + "orientation": [ + 0.0779755637049675, + 0.06121859699487686, + -0.8195319771766663, + -0.5643929839134216 + ], + "joints": [ + 0.011624746024608612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03747628256678581, + -0.10786481201648712, + 0.00766253424808383 + ], + "orientation": [ + 0.0772717222571373, + 0.05716034770011902, + -0.8190022110939026, + -0.5656829476356506 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + 0.03663470223546028, + -0.10431044548749924, + 0.006031068507581949 + ], + "orientation": [ + 0.07733621448278427, + 0.06157907098531723, + -0.8192407488822937, + -0.5648642778396606 + ], + "joints": [ + 0.021405475214123726 + ] + }, + "final_grasp": { + "position": [ + 0.03663470223546028, + -0.10431044548749924, + 0.006031068507581949 + ], + "orientation": [ + 0.07733621448278427, + 0.06157907098531723, + -0.8192407488822937, + -0.5648642778396606 + ], + "joints": [ + 0.012210460379719734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12573206424713135, + 0.10835234075784683, + -0.015141704119741917 + ], + "orientation": [ + 0.21322838962078094, + 0.6751614212989807, + -0.1530109941959381, + -0.6894043684005737 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.12200247496366501, + 0.10817612707614899, + -0.015552706085145473 + ], + "orientation": [ + 0.21936289966106415, + 0.6796013712882996, + -0.16040144860744476, + -0.6813907027244568 + ], + "joints": [ + 0.02485787495970726 + ] + }, + "final_grasp": { + "position": [ + 0.12200247496366501, + 0.10817612707614899, + -0.015552706085145473 + ], + "orientation": [ + 0.21936289966106415, + 0.6796013712882996, + -0.16040144860744476, + -0.6813907027244568 + ], + "joints": [ + 0.015641961246728897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13102757930755615, + 0.07269386202096939, + 0.013210441917181015 + ], + "orientation": [ + 0.09360648691654205, + -0.7269111275672913, + 0.03623484820127487, + -0.6793564558029175 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.126808762550354, + 0.07293596118688583, + 0.01213524304330349 + ], + "orientation": [ + 0.09662942588329315, + -0.7346855401992798, + 0.03917769715189934, + -0.6703469753265381 + ], + "joints": [ + 0.028270918875932693 + ] + }, + "final_grasp": { + "position": [ + -0.126808762550354, + 0.07293596118688583, + 0.01213524304330349 + ], + "orientation": [ + 0.09662942588329315, + -0.7346855401992798, + 0.03917769715189934, + -0.6703469753265381 + ], + "joints": [ + 0.021541837602853775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12736880779266357, + 0.01920963265001774, + -0.07486690580844879 + ], + "orientation": [ + 0.7509883046150208, + 0.27517780661582947, + -0.5166172981262207, + -0.30561450123786926 + ], + "joints": [ + 0.025340694934129715 + ] + }, + "fine_grasp": { + "position": [ + 0.12348674982786179, + 0.01879221573472023, + -0.07388336956501007 + ], + "orientation": [ + 0.7473687529563904, + 0.2807350754737854, + -0.5180292129516602, + -0.3070395886898041 + ], + "joints": [ + 0.016145680099725723 + ] + }, + "final_grasp": { + "position": [ + 0.12348674982786179, + 0.01879221573472023, + -0.07388336956501007 + ], + "orientation": [ + 0.7473687529563904, + 0.2807350754737854, + -0.5180292129516602, + -0.3070395886898041 + ], + "joints": [ + 0.006950665265321732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12265805155038834, + 0.1033610999584198, + -0.0018838450778275728 + ], + "orientation": [ + 0.19757963716983795, + 0.6775106191635132, + 0.17838174104690552, + 0.6856541633605957 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.11867500096559525, + 0.10308472812175751, + -0.002475134562700987 + ], + "orientation": [ + 0.20687691867351532, + 0.6803061366081238, + 0.18639348447322845, + 0.6779696941375732 + ], + "joints": [ + 0.02443656697869301 + ] + }, + "final_grasp": { + "position": [ + -0.11867500096559525, + 0.10308472812175751, + -0.002475134562700987 + ], + "orientation": [ + 0.20687691867351532, + 0.6803061366081238, + 0.18639348447322845, + 0.6779696941375732 + ], + "joints": [ + 0.015262451022863388 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013673115521669388, + -0.10814132541418076, + 0.025131337344646454 + ], + "orientation": [ + 0.5231917500495911, + -0.8501835465431213, + -0.0210893414914608, + -0.05489572510123253 + ], + "joints": [ + 0.02518211491405964 + ] + }, + "fine_grasp": { + "position": [ + 0.01290763821452856, + -0.10469215363264084, + 0.022871123626828194 + ], + "orientation": [ + 0.5228647589683533, + -0.8510521650314331, + -0.0301985926926136, + -0.03755992278456688 + ], + "joints": [ + 0.01684390939772129 + ] + }, + "final_grasp": { + "position": [ + 0.01290763821452856, + -0.10469215363264084, + 0.022871123626828194 + ], + "orientation": [ + 0.5228647589683533, + -0.8510521650314331, + -0.0301985926926136, + -0.03755992278456688 + ], + "joints": [ + 0.008505703881382942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003529902780428529, + -0.08338594436645508, + 0.05152416229248047 + ], + "orientation": [ + 0.060179319232702255, + -0.07524818927049637, + -0.9139654636383057, + -0.39418670535087585 + ], + "joints": [ + 0.02511264570057392 + ] + }, + "fine_grasp": { + "position": [ + -0.0035240952856838703, + -0.0799790769815445, + 0.049173470586538315 + ], + "orientation": [ + 0.05926191061735153, + -0.07937391847372055, + -0.9086843729019165, + -0.40556201338768005 + ], + "joints": [ + 0.021204756572842598 + ] + }, + "final_grasp": { + "position": [ + -0.0035240952856838703, + -0.0799790769815445, + 0.049173470586538315 + ], + "orientation": [ + 0.05926191061735153, + -0.07937391847372055, + -0.9086843729019165, + -0.40556201338768005 + ], + "joints": [ + 0.017296867445111275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06331223249435425, + -0.08152028918266296, + 0.02582802250981331 + ], + "orientation": [ + 0.4722721576690674, + -0.8514434695243835, + -0.18807537853717804, + 0.12895989418029785 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + 0.06116599217057228, + -0.07891514152288437, + 0.023813650012016296 + ], + "orientation": [ + 0.47388210892677307, + -0.8484180569648743, + -0.19527795910835266, + 0.1322466880083084 + ], + "joints": [ + 0.019507883116602898 + ] + }, + "final_grasp": { + "position": [ + 0.06116599217057228, + -0.07891514152288437, + 0.023813650012016296 + ], + "orientation": [ + 0.47388210892677307, + -0.8484180569648743, + -0.19527795910835266, + 0.1322466880083084 + ], + "joints": [ + 0.010730823501944542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12375284731388092, + 0.04048708826303482, + -0.007902288809418678 + ], + "orientation": [ + 0.4905381500720978, + -0.4931595027446747, + 0.6114033460617065, + -0.37729549407958984 + ], + "joints": [ + 0.02529788762331009 + ] + }, + "fine_grasp": { + "position": [ + -0.1195281520485878, + 0.04055732488632202, + -0.008204681798815727 + ], + "orientation": [ + 0.4985164403915405, + -0.49268144369125366, + 0.6055111885070801, + -0.376964807510376 + ], + "joints": [ + 0.01856880635023117 + ] + }, + "final_grasp": { + "position": [ + -0.1195281520485878, + 0.04055732488632202, + -0.008204681798815727 + ], + "orientation": [ + 0.4985164403915405, + -0.49268144369125366, + 0.6055111885070801, + -0.376964807510376 + ], + "joints": [ + 0.011839725077152252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12457036972045898, + 0.0403619147837162, + -0.007687528617680073 + ], + "orientation": [ + 0.4902982711791992, + -0.4935504198074341, + 0.6113499402999878, + -0.3771826922893524 + ], + "joints": [ + 0.025066332891583443 + ] + }, + "fine_grasp": { + "position": [ + -0.1203092560172081, + 0.040418095886707306, + -0.007951021194458008 + ], + "orientation": [ + 0.4981645345687866, + -0.4930047392845154, + 0.6055310368537903, + -0.37697550654411316 + ], + "joints": [ + 0.018358150497078896 + ] + }, + "final_grasp": { + "position": [ + -0.1203092560172081, + 0.040418095886707306, + -0.007951021194458008 + ], + "orientation": [ + 0.4981645345687866, + -0.4930047392845154, + 0.6055310368537903, + -0.37697550654411316 + ], + "joints": [ + 0.011649968102574348 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 127 + } +} \ No newline at end of file diff --git a/030_drill_0/Object.usd b/030_drill_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..1ef986fc51d4d4f5f58668383b6a83f53e879905 --- /dev/null +++ b/030_drill_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbfecce0d1fba4a85e36b11ce2445d868feecf7eee20a0c7bd9b5f35a793b9a8 +size 328044 diff --git a/033_fork_0/Annotation/dex1_1_grasp_pose.json b/033_fork_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..7d6854335fb35858e39d438b450a355adc2ef2c4 --- /dev/null +++ b/033_fork_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,5368 @@ +{ + "type": "033_fork_0", + "bottom_center": [ + 0.0, + 0.1093999594449997, + -0.00930397491902113 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.12137801945209503, + 0.11685676872730255, + 0.022322116419672966 + ], + "orientation": [ + 0.5308429002761841, + -0.5565057396888733, + -0.4414500594139099, + -0.4622001647949219 + ], + "joints": [ + 0.013893058523535728 + ] + }, + "fine_grasp": { + "position": [ + -0.12167936563491821, + 0.11668176203966141, + 0.02225710079073906 + ], + "orientation": [ + 0.5194246768951416, + -0.5738602876663208, + -0.43404197692871094, + -0.4609663784503937 + ], + "joints": [ + 0.016736067831516266 + ] + }, + "final_grasp": { + "position": [ + -0.12167936563491821, + 0.11668176203966141, + 0.02225710079073906 + ], + "orientation": [ + 0.5194246768951416, + -0.5738602876663208, + -0.43404197692871094, + -0.4609663784503937 + ], + "joints": [ + 0.019579077139496803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12336269021034241, + 0.10806655883789062, + 0.01405506394803524 + ], + "orientation": [ + 0.46570631861686707, + 0.4751238226890564, + -0.5411555171012878, + 0.5143206119537354 + ], + "joints": [ + 0.014231126755475998 + ] + }, + "fine_grasp": { + "position": [ + 0.12510061264038086, + 0.10615760087966919, + 0.013313534669578075 + ], + "orientation": [ + 0.45888811349868774, + 0.4764379560947418, + -0.5335438847541809, + 0.5270290374755859 + ], + "joints": [ + 0.017578965052962303 + ] + }, + "final_grasp": { + "position": [ + 0.12510061264038086, + 0.10615760087966919, + 0.013313534669578075 + ], + "orientation": [ + 0.45888811349868774, + 0.4764379560947418, + -0.5335438847541809, + 0.5270290374755859 + ], + "joints": [ + 0.02092680335044861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12219707667827606, + 0.126562237739563, + 0.014820242300629616 + ], + "orientation": [ + 0.4347958266735077, + 0.5023967027664185, + -0.5079853534698486, + 0.5481797456741333 + ], + "joints": [ + 0.013867704197764397 + ] + }, + "fine_grasp": { + "position": [ + 0.1249803826212883, + 0.12484338134527206, + 0.014369571581482887 + ], + "orientation": [ + 0.4269031584262848, + 0.5028486251831055, + -0.5040854215621948, + 0.557489812374115 + ], + "joints": [ + 0.017215542495250702 + ] + }, + "final_grasp": { + "position": [ + 0.1249803826212883, + 0.12484338134527206, + 0.014369571581482887 + ], + "orientation": [ + 0.4269031584262848, + 0.5028486251831055, + -0.5040854215621948, + 0.557489812374115 + ], + "joints": [ + 0.020563380792737007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12454529851675034, + 0.12042607367038727, + 0.01160337682813406 + ], + "orientation": [ + 0.48330479860305786, + -0.559831440448761, + 0.48180437088012695, + 0.4699677526950836 + ], + "joints": [ + 0.01364312693476677 + ] + }, + "fine_grasp": { + "position": [ + 0.12373989075422287, + 0.1196947991847992, + 0.01095877680927515 + ], + "orientation": [ + 0.48072752356529236, + -0.5697376728057861, + 0.4886663854122162, + 0.4533268213272095 + ], + "joints": [ + 0.01598130539059639 + ] + }, + "final_grasp": { + "position": [ + 0.12373989075422287, + 0.1196947991847992, + 0.01095877680927515 + ], + "orientation": [ + 0.48072752356529236, + -0.5697376728057861, + 0.4886663854122162, + 0.4533268213272095 + ], + "joints": [ + 0.01831948384642601 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0047179716639220715, + 0.24792328476905823, + -0.09406058490276337 + ], + "orientation": [ + 0.395744651556015, + 0.9178072810173035, + 0.006692328955978155, + -0.031163260340690613 + ], + "joints": [ + 0.002520429203286767 + ] + }, + "fine_grasp": { + "position": [ + -0.003197312355041504, + 0.24561616778373718, + -0.09594162553548813 + ], + "orientation": [ + 0.3900541663169861, + 0.920259416103363, + 0.005353311542421579, + -0.030849823728203773 + ], + "joints": [ + 0.0083923963829875 + ] + }, + "final_grasp": { + "position": [ + -0.003197312355041504, + 0.24561616778373718, + -0.09594162553548813 + ], + "orientation": [ + 0.3900541663169861, + 0.920259416103363, + 0.005353311542421579, + -0.030849823728203773 + ], + "joints": [ + 0.014264363795518875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012496577110141516, + 0.2742493152618408, + -0.07732284069061279 + ], + "orientation": [ + 0.3166372776031494, + 0.9485182762145996, + -0.0072869593277573586, + -0.0010089640272781253 + ], + "joints": [ + 0.0025453991256654263 + ] + }, + "fine_grasp": { + "position": [ + 0.0011248391820117831, + 0.26993218064308167, + -0.07496802508831024 + ], + "orientation": [ + 0.3026551306247711, + 0.953068196773529, + -0.007121899165213108, + 0.0031821175944060087 + ], + "joints": [ + 0.008922195062041283 + ] + }, + "final_grasp": { + "position": [ + 0.0011248391820117831, + 0.26993218064308167, + -0.07496802508831024 + ], + "orientation": [ + 0.3026551306247711, + 0.953068196773529, + -0.007121899165213108, + 0.0031821175944060087 + ], + "joints": [ + 0.015298990532755852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11572496592998505, + 0.07471053302288055, + 0.02086915820837021 + ], + "orientation": [ + 0.5919424295425415, + -0.48226645588874817, + 0.5188738703727722, + 0.3844388723373413 + ], + "joints": [ + 0.01369566097855568 + ] + }, + "fine_grasp": { + "position": [ + 0.11637788265943527, + 0.07395816594362259, + 0.021122116595506668 + ], + "orientation": [ + 0.5886720418930054, + -0.49070343375205994, + 0.5270057916641235, + 0.3673422336578369 + ], + "joints": [ + 0.0160338394343853 + ] + }, + "final_grasp": { + "position": [ + 0.11637788265943527, + 0.07395816594362259, + 0.021122116595506668 + ], + "orientation": [ + 0.5886720418930054, + -0.49070343375205994, + 0.5270057916641235, + 0.3673422336578369 + ], + "joints": [ + 0.01837201789021492 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1179279237985611, + 0.11882268637418747, + -0.0013617448275908828 + ], + "orientation": [ + 0.476835697889328, + -0.5167111754417419, + -0.5115712881088257, + -0.4938949942588806 + ], + "joints": [ + 0.013966098427772522 + ] + }, + "fine_grasp": { + "position": [ + -0.11326256394386292, + 0.1172240749001503, + -0.0026690238155424595 + ], + "orientation": [ + 0.4780419170856476, + -0.513300895690918, + -0.5182178020477295, + -0.48933467268943787 + ], + "joints": [ + 0.017765620723366737 + ] + }, + "final_grasp": { + "position": [ + -0.11326256394386292, + 0.1172240749001503, + -0.0026690238155424595 + ], + "orientation": [ + 0.4780419170856476, + -0.513300895690918, + -0.5182178020477295, + -0.48933467268943787 + ], + "joints": [ + 0.021565143018960953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12097378075122833, + 0.05941262096166611, + -0.017427532002329826 + ], + "orientation": [ + 0.601922869682312, + 0.4640120565891266, + -0.481663316488266, + 0.43632808327674866 + ], + "joints": [ + 0.01346535049378872 + ] + }, + "fine_grasp": { + "position": [ + 0.11987537890672684, + 0.05861305072903633, + -0.018406925722956657 + ], + "orientation": [ + 0.6053479909896851, + 0.45938563346862793, + -0.46980366110801697, + 0.44922518730163574 + ], + "joints": [ + 0.016813186928629875 + ] + }, + "final_grasp": { + "position": [ + 0.11987537890672684, + 0.05861305072903633, + -0.018406925722956657 + ], + "orientation": [ + 0.6053479909896851, + 0.45938563346862793, + -0.46980366110801697, + 0.44922518730163574 + ], + "joints": [ + 0.02016102336347103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12108258157968521, + 0.0594324953854084, + -0.01733200065791607 + ], + "orientation": [ + 0.6007612943649292, + 0.46480849385261536, + -0.4809708297252655, + 0.43784236907958984 + ], + "joints": [ + 0.013386696577072144 + ] + }, + "fine_grasp": { + "position": [ + 0.1200178861618042, + 0.058508940041065216, + -0.018269818276166916 + ], + "orientation": [ + 0.6043580770492554, + 0.4593804180622101, + -0.46878668665885925, + 0.4516194760799408 + ], + "joints": [ + 0.0167345330119133 + ] + }, + "final_grasp": { + "position": [ + 0.1200178861618042, + 0.058508940041065216, + -0.018269818276166916 + ], + "orientation": [ + 0.6043580770492554, + 0.4593804180622101, + -0.46878668665885925, + 0.4516194760799408 + ], + "joints": [ + 0.020082369446754456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11747907102108002, + 0.04118525609374046, + -0.008551005274057388 + ], + "orientation": [ + 0.6113682985305786, + 0.4166376292705536, + -0.5259793996810913, + 0.4195086658000946 + ], + "joints": [ + 0.01321357674896717 + ] + }, + "fine_grasp": { + "position": [ + 0.11609680950641632, + 0.04071265086531639, + -0.009319276548922062 + ], + "orientation": [ + 0.6134088039398193, + 0.4127752482891083, + -0.5202922224998474, + 0.427366703748703 + ], + "joints": [ + 0.017597641795873642 + ] + }, + "final_grasp": { + "position": [ + 0.11609680950641632, + 0.04071265086531639, + -0.009319276548922062 + ], + "orientation": [ + 0.6134088039398193, + 0.4127752482891083, + -0.5202922224998474, + 0.427366703748703 + ], + "joints": [ + 0.021981706842780113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11835901439189911, + 0.07551688700914383, + -0.03145397827029228 + ], + "orientation": [ + 0.4728354513645172, + -0.38575729727745056, + 0.5500569939613342, + 0.5701360702514648 + ], + "joints": [ + 0.013767695054411888 + ] + }, + "fine_grasp": { + "position": [ + 0.11699181795120239, + 0.07529959082603455, + -0.03214491531252861 + ], + "orientation": [ + 0.4961937367916107, + -0.37228113412857056, + 0.5325872898101807, + 0.5758030414581299 + ], + "joints": [ + 0.015574473887681961 + ] + }, + "final_grasp": { + "position": [ + 0.11699181795120239, + 0.07529959082603455, + -0.03214491531252861 + ], + "orientation": [ + 0.4961937367916107, + -0.37228113412857056, + 0.5325872898101807, + 0.5758030414581299 + ], + "joints": [ + 0.017381252720952034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1150694414973259, + 0.035460565239191055, + 0.014290746301412582 + ], + "orientation": [ + 0.6375104188919067, + -0.4146369397640228, + 0.49331945180892944, + 0.42224714159965515 + ], + "joints": [ + 0.013170437887310982 + ] + }, + "fine_grasp": { + "position": [ + 0.11645600199699402, + 0.03530329465866089, + 0.013549917377531528 + ], + "orientation": [ + 0.6411706209182739, + -0.42286983132362366, + 0.48178791999816895, + 0.42185500264167786 + ], + "joints": [ + 0.017049673944711685 + ] + }, + "final_grasp": { + "position": [ + 0.11645600199699402, + 0.03530329465866089, + 0.013549917377531528 + ], + "orientation": [ + 0.6411706209182739, + -0.42286983132362366, + 0.48178791999816895, + 0.42185500264167786 + ], + "joints": [ + 0.02092891000211239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005787460599094629, + 0.2684084475040436, + 0.08667400479316711 + ], + "orientation": [ + 0.02256624586880207, + -0.1133590042591095, + 0.4180297553539276, + -0.9010502696037292 + ], + "joints": [ + 0.0028146267868578434 + ] + }, + "fine_grasp": { + "position": [ + 0.005677036941051483, + 0.2661561667919159, + 0.089315265417099 + ], + "orientation": [ + 0.014261194504797459, + -0.09005273133516312, + 0.42597782611846924, + -0.9001277685165405 + ], + "joints": [ + 0.010227651335299015 + ] + }, + "final_grasp": { + "position": [ + 0.005677036941051483, + 0.2661561667919159, + 0.089315265417099 + ], + "orientation": [ + 0.014261194504797459, + -0.09005273133516312, + 0.42597782611846924, + -0.9001277685165405 + ], + "joints": [ + 0.017640676349401474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003448129165917635, + 0.2480057179927826, + -0.09533058851957321 + ], + "orientation": [ + 0.3954254388809204, + 0.9172082543373108, + -0.006188489031046629, + -0.0482635460793972 + ], + "joints": [ + 0.002353890798985958 + ] + }, + "fine_grasp": { + "position": [ + -0.002823102520778775, + 0.2467793971300125, + -0.09722073376178741 + ], + "orientation": [ + 0.4007941484451294, + 0.9152982831001282, + -0.0006257464992813766, + -0.039909813553094864 + ], + "joints": [ + 0.008757256902754307 + ] + }, + "final_grasp": { + "position": [ + -0.002823102520778775, + 0.2467793971300125, + -0.09722073376178741 + ], + "orientation": [ + 0.4007941484451294, + 0.9152982831001282, + -0.0006257464992813766, + -0.039909813553094864 + ], + "joints": [ + 0.015160623006522655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017034875229001045, + -0.08773190528154373, + -0.00731239840388298 + ], + "orientation": [ + 0.7667805552482605, + 0.05571749433875084, + -0.6387404203414917, + 0.030887259170413017 + ], + "joints": [ + 0.010165678337216377 + ] + }, + "fine_grasp": { + "position": [ + 0.01692814752459526, + -0.09011904150247574, + -0.006927798502147198 + ], + "orientation": [ + 0.770544707775116, + 0.06667041033506393, + -0.632397472858429, + 0.04346710070967674 + ], + "joints": [ + 0.016542477533221245 + ] + }, + "final_grasp": { + "position": [ + 0.01692814752459526, + -0.09011904150247574, + -0.006927798502147198 + ], + "orientation": [ + 0.770544707775116, + 0.06667041033506393, + -0.632397472858429, + 0.04346710070967674 + ], + "joints": [ + 0.022919276729226112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12033513188362122, + 0.049264051020145416, + 0.009021125733852386 + ], + "orientation": [ + 0.6394590139389038, + -0.39357101917266846, + 0.46158918738365173, + 0.4723657965660095 + ], + "joints": [ + 0.012536710128188133 + ] + }, + "fine_grasp": { + "position": [ + 0.11802475154399872, + 0.04969019442796707, + 0.007625281810760498 + ], + "orientation": [ + 0.6525644063949585, + -0.3897697627544403, + 0.4393330216407776, + 0.4787752032279968 + ], + "joints": [ + 0.013812081888318062 + ] + }, + "final_grasp": { + "position": [ + 0.11802475154399872, + 0.04969019442796707, + 0.007625281810760498 + ], + "orientation": [ + 0.6525644063949585, + -0.3897697627544403, + 0.4393330216407776, + 0.4787752032279968 + ], + "joints": [ + 0.01508745364844799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12116637825965881, + 0.05432040989398956, + 0.004596751183271408 + ], + "orientation": [ + 0.5799537897109985, + -0.43590402603149414, + 0.4787285327911377, + 0.4944293797016144 + ], + "joints": [ + 0.013259327039122581 + ] + }, + "fine_grasp": { + "position": [ + 0.11991849541664124, + 0.05392202362418175, + 0.003703356022015214 + ], + "orientation": [ + 0.5897262096405029, + -0.43645063042640686, + 0.46654820442199707, + 0.4940311908721924 + ], + "joints": [ + 0.017111992463469505 + ] + }, + "final_grasp": { + "position": [ + 0.11991849541664124, + 0.05392202362418175, + 0.003703356022015214 + ], + "orientation": [ + 0.5897262096405029, + -0.43645063042640686, + 0.46654820442199707, + 0.4940311908721924 + ], + "joints": [ + 0.02096465788781643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11896935105323792, + 0.04800613969564438, + -0.019130922853946686 + ], + "orientation": [ + 0.5471544861793518, + -0.36769482493400574, + 0.549670398235321, + 0.5131129026412964 + ], + "joints": [ + 0.013242850080132484 + ] + }, + "fine_grasp": { + "position": [ + 0.11770249158143997, + 0.048335202038288116, + -0.019941916689276695 + ], + "orientation": [ + 0.5598337054252625, + -0.365586519241333, + 0.536416232585907, + 0.5149663686752319 + ], + "joints": [ + 0.0161124300211668 + ] + }, + "final_grasp": { + "position": [ + 0.11770249158143997, + 0.048335202038288116, + -0.019941916689276695 + ], + "orientation": [ + 0.5598337054252625, + -0.365586519241333, + 0.536416232585907, + 0.5149663686752319 + ], + "joints": [ + 0.01898200996220112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052838824689388275, + -0.07546526193618774, + -0.01643749698996544 + ], + "orientation": [ + 0.7381429672241211, + 0.19386513531208038, + 0.6324591636657715, + -0.13250115513801575 + ], + "joints": [ + 0.010998819023370743 + ] + }, + "fine_grasp": { + "position": [ + -0.05198857560753822, + -0.0743386447429657, + -0.017690904438495636 + ], + "orientation": [ + 0.7364379167556763, + 0.19815918803215027, + 0.6326647996902466, + -0.13463807106018066 + ], + "joints": [ + 0.01740219257771969 + ] + }, + "final_grasp": { + "position": [ + -0.05198857560753822, + -0.0743386447429657, + -0.017690904438495636 + ], + "orientation": [ + 0.7364379167556763, + 0.19815918803215027, + 0.6326647996902466, + -0.13463807106018066 + ], + "joints": [ + 0.023805566132068634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11717980355024338, + 0.03729876130819321, + -0.024800263345241547 + ], + "orientation": [ + 0.5503726601600647, + 0.5197981595993042, + -0.5693149566650391, + 0.32059362530708313 + ], + "joints": [ + 0.012709582224488258 + ] + }, + "fine_grasp": { + "position": [ + 0.11674893647432327, + 0.037731219083070755, + -0.026664094999432564 + ], + "orientation": [ + 0.5291555523872375, + 0.5305574536323547, + -0.5847136378288269, + 0.31082668900489807 + ], + "joints": [ + 0.014038100838661194 + ] + }, + "final_grasp": { + "position": [ + 0.11674893647432327, + 0.037731219083070755, + -0.026664094999432564 + ], + "orientation": [ + 0.5291555523872375, + 0.5305574536323547, + -0.5847136378288269, + 0.31082668900489807 + ], + "joints": [ + 0.01536661945283413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0020781748462468386, + 0.2468949556350708, + -0.09351321309804916 + ], + "orientation": [ + 0.387289434671402, + 0.9206547737121582, + -0.012147566303610802, + -0.04747656732797623 + ], + "joints": [ + 0.0021622346248477697 + ] + }, + "fine_grasp": { + "position": [ + -0.0006990688852965832, + 0.2460518479347229, + -0.09613168984651566 + ], + "orientation": [ + 0.3886100947856903, + 0.9207004904747009, + -0.008004196919500828, + -0.0350516214966774 + ], + "joints": [ + 0.008565600961446762 + ] + }, + "final_grasp": { + "position": [ + -0.0006990688852965832, + 0.2460518479347229, + -0.09613168984651566 + ], + "orientation": [ + 0.3886100947856903, + 0.9207004904747009, + -0.008004196919500828, + -0.0350516214966774 + ], + "joints": [ + 0.01496896706521511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12353712320327759, + 0.16703525185585022, + 0.02867303416132927 + ], + "orientation": [ + 0.5787807106971741, + -0.5412704348564148, + -0.43159589171409607, + -0.43100371956825256 + ], + "joints": [ + 0.009935332462191582 + ] + }, + "fine_grasp": { + "position": [ + -0.12187041342258453, + 0.17009711265563965, + 0.029772618785500526 + ], + "orientation": [ + 0.5780890583992004, + -0.5404446125030518, + -0.4306298792362213, + -0.4339244067668915 + ], + "joints": [ + 0.015329044312238693 + ] + }, + "final_grasp": { + "position": [ + -0.12187041342258453, + 0.17009711265563965, + 0.029772618785500526 + ], + "orientation": [ + 0.5780890583992004, + -0.5404446125030518, + -0.4306298792362213, + -0.4339244067668915 + ], + "joints": [ + 0.020722756162285805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02360004372894764, + -0.07368092983961105, + -0.06909488886594772 + ], + "orientation": [ + 0.06558889150619507, + -0.0888540968298912, + -0.941376805305481, + -0.31876781582832336 + ], + "joints": [ + 0.006095271557569504 + ] + }, + "fine_grasp": { + "position": [ + -0.024046679958701134, + -0.07263308763504028, + -0.06788472086191177 + ], + "orientation": [ + 0.04632395878434181, + -0.09472339600324631, + -0.9442111253738403, + -0.3120046854019165 + ], + "joints": [ + 0.011542120948433876 + ] + }, + "final_grasp": { + "position": [ + -0.024046679958701134, + -0.07263308763504028, + -0.06788472086191177 + ], + "orientation": [ + 0.04632395878434181, + -0.09472339600324631, + -0.9442111253738403, + -0.3120046854019165 + ], + "joints": [ + 0.01698897033929825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023176606744527817, + -0.06084142625331879, + -0.0804733857512474 + ], + "orientation": [ + 0.043618470430374146, + -0.09000913053750992, + 0.9212689995765686, + 0.3758447766304016 + ], + "joints": [ + 0.00543677993118763 + ] + }, + "fine_grasp": { + "position": [ + 0.024823764339089394, + -0.06085674837231636, + -0.08172062784433365 + ], + "orientation": [ + 0.02775159664452076, + -0.10271045565605164, + 0.9233270287513733, + 0.36898183822631836 + ], + "joints": [ + 0.010910199955105782 + ] + }, + "final_grasp": { + "position": [ + 0.024823764339089394, + -0.06085674837231636, + -0.08172062784433365 + ], + "orientation": [ + 0.02775159664452076, + -0.10271045565605164, + 0.9233270287513733, + 0.36898183822631836 + ], + "joints": [ + 0.016383619979023933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023662477731704712, + -0.06065470725297928, + -0.08072022348642349 + ], + "orientation": [ + 0.035726092755794525, + -0.09534942358732224, + 0.9212928414344788, + 0.3753019869327545 + ], + "joints": [ + 0.005263499449938536 + ] + }, + "fine_grasp": { + "position": [ + 0.024940259754657745, + -0.06081240624189377, + -0.08221256732940674 + ], + "orientation": [ + 0.021487802267074585, + -0.10542108863592148, + 0.9233404397964478, + 0.36860156059265137 + ], + "joints": [ + 0.010736919939517975 + ] + }, + "final_grasp": { + "position": [ + 0.024940259754657745, + -0.06081240624189377, + -0.08221256732940674 + ], + "orientation": [ + 0.021487802267074585, + -0.10542108863592148, + 0.9233404397964478, + 0.36860156059265137 + ], + "joints": [ + 0.016210339963436127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012016481719911098, + -0.010655868798494339, + -0.11702185124158859 + ], + "orientation": [ + 0.8108727931976318, + 0.5798239707946777, + -0.01692759059369564, + -0.07747815549373627 + ], + "joints": [ + 0.005487046670168638 + ] + }, + "fine_grasp": { + "position": [ + -0.01359540969133377, + -0.011774018406867981, + -0.11695006489753723 + ], + "orientation": [ + 0.8039585947990417, + 0.5849447250366211, + -0.03996898978948593, + -0.09946170449256897 + ], + "joints": [ + 0.01037592627108097 + ] + }, + "final_grasp": { + "position": [ + -0.01359540969133377, + -0.011774018406867981, + -0.11695006489753723 + ], + "orientation": [ + 0.8039585947990417, + 0.5849447250366211, + -0.03996898978948593, + -0.09946170449256897 + ], + "joints": [ + 0.015264805406332016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11966221034526825, + 0.052750326693058014, + -0.007126438431441784 + ], + "orientation": [ + 0.41777288913726807, + 0.5914222002029419, + 0.5758007764816284, + -0.3796563446521759 + ], + "joints": [ + 0.009622367098927498 + ] + }, + "fine_grasp": { + "position": [ + -0.11909902840852737, + 0.05384412780404091, + -0.00850422028452158 + ], + "orientation": [ + 0.39169198274612427, + 0.6094273328781128, + 0.5892170667648315, + -0.3577691912651062 + ], + "joints": [ + 0.01084459014236927 + ] + }, + "final_grasp": { + "position": [ + -0.11909902840852737, + 0.05384412780404091, + -0.00850422028452158 + ], + "orientation": [ + 0.39169198274612427, + 0.6094273328781128, + 0.5892170667648315, + -0.3577691912651062 + ], + "joints": [ + 0.012066813185811043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11991827934980392, + 0.05265958234667778, + -0.0066179074347019196 + ], + "orientation": [ + 0.41763797402381897, + 0.5908597111701965, + 0.5742332339286804, + -0.3830399215221405 + ], + "joints": [ + 0.009553691372275352 + ] + }, + "fine_grasp": { + "position": [ + -0.11946921050548553, + 0.05366457253694534, + -0.008244241587817669 + ], + "orientation": [ + 0.3922659456729889, + 0.6093990802764893, + 0.5866103768348694, + -0.3614530861377716 + ], + "joints": [ + 0.010775914415717125 + ] + }, + "final_grasp": { + "position": [ + -0.11946921050548553, + 0.05366457253694534, + -0.008244241587817669 + ], + "orientation": [ + 0.3922659456729889, + 0.6093990802764893, + 0.5866103768348694, + -0.3614530861377716 + ], + "joints": [ + 0.011998137459158897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011656668968498707, + -0.01004625391215086, + -0.1162535771727562 + ], + "orientation": [ + 0.81209397315979, + 0.5786892175674438, + -0.014280496165156364, + -0.0736088976264 + ], + "joints": [ + 0.005480704829096794 + ] + }, + "fine_grasp": { + "position": [ + -0.012967938557267189, + -0.011229985393583775, + -0.11664465814828873 + ], + "orientation": [ + 0.8067029118537903, + 0.5822247266769409, + -0.03701260685920715, + -0.09420712292194366 + ], + "joints": [ + 0.01036958396434784 + ] + }, + "final_grasp": { + "position": [ + -0.012967938557267189, + -0.011229985393583775, + -0.11664465814828873 + ], + "orientation": [ + 0.8067029118537903, + 0.5822247266769409, + -0.03701260685920715, + -0.09420712292194366 + ], + "joints": [ + 0.015258463099598885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12497285008430481, + 0.056163594126701355, + -0.008795374073088169 + ], + "orientation": [ + 0.5618276000022888, + -0.37683171033859253, + 0.39751508831977844, + 0.6199430823326111 + ], + "joints": [ + 0.010925466194748878 + ] + }, + "fine_grasp": { + "position": [ + 0.12480998039245605, + 0.0557095929980278, + -0.01035026554018259 + ], + "orientation": [ + 0.5786716341972351, + -0.3567631244659424, + 0.37067562341690063, + 0.6328182816505432 + ], + "joints": [ + 0.011191174387931824 + ] + }, + "final_grasp": { + "position": [ + 0.12480998039245605, + 0.0557095929980278, + -0.01035026554018259 + ], + "orientation": [ + 0.5786716341972351, + -0.3567631244659424, + 0.37067562341690063, + 0.6328182816505432 + ], + "joints": [ + 0.011456882581114769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12112148106098175, + -0.005195667501538992, + 0.009425085037946701 + ], + "orientation": [ + 0.5392813086509705, + 0.40869835019111633, + -0.5426307320594788, + 0.4976879060268402 + ], + "joints": [ + 0.010527553036808968 + ] + }, + "fine_grasp": { + "position": [ + 0.11849123984575272, + -0.0041130054742097855, + 0.010777592658996582 + ], + "orientation": [ + 0.5358631610870361, + 0.40151575207710266, + -0.5500354766845703, + 0.49909597635269165 + ], + "joints": [ + 0.01586812175810337 + ] + }, + "final_grasp": { + "position": [ + 0.11849123984575272, + -0.0041130054742097855, + 0.010777592658996582 + ], + "orientation": [ + 0.5358631610870361, + 0.40151575207710266, + -0.5500354766845703, + 0.49909597635269165 + ], + "joints": [ + 0.021208690479397774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11699118465185165, + 0.021145610138773918, + 0.03034067153930664 + ], + "orientation": [ + 0.2969190180301666, + 0.5298293828964233, + -0.6679601669311523, + 0.4300571084022522 + ], + "joints": [ + 0.009016888216137886 + ] + }, + "fine_grasp": { + "position": [ + 0.11423379927873611, + 0.02039419300854206, + 0.028507357463240623 + ], + "orientation": [ + 0.26675114035606384, + 0.5396318435668945, + -0.6768343448638916, + 0.4237174987792969 + ], + "joints": [ + 0.010318823158740997 + ] + }, + "final_grasp": { + "position": [ + 0.11423379927873611, + 0.02039419300854206, + 0.028507357463240623 + ], + "orientation": [ + 0.26675114035606384, + 0.5396318435668945, + -0.6768343448638916, + 0.4237174987792969 + ], + "joints": [ + 0.011620758101344109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00502227246761322, + 0.31472548842430115, + -0.03130168095231056 + ], + "orientation": [ + 0.1563483625650406, + 0.975753128528595, + -0.034016482532024384, + -0.14934495091438293 + ], + "joints": [ + 0.0032768372911959887 + ] + }, + "fine_grasp": { + "position": [ + 0.006041793152689934, + 0.3100704848766327, + -0.032073941081762314 + ], + "orientation": [ + 0.13846635818481445, + 0.9766305685043335, + -0.0366700142621994, + -0.16023461520671844 + ], + "joints": [ + 0.008670546114444733 + ] + }, + "final_grasp": { + "position": [ + 0.006041793152689934, + 0.3100704848766327, + -0.032073941081762314 + ], + "orientation": [ + 0.13846635818481445, + 0.9766305685043335, + -0.0366700142621994, + -0.16023461520671844 + ], + "joints": [ + 0.01406425517052412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010414691641926765, + 0.16162297129631042, + -0.12967345118522644 + ], + "orientation": [ + 0.7093768119812012, + 0.7035381197929382, + -0.03425919637084007, + 0.02539733797311783 + ], + "joints": [ + 0.002908878494054079 + ] + }, + "fine_grasp": { + "position": [ + 0.010498248040676117, + 0.16256946325302124, + -0.1303941160440445 + ], + "orientation": [ + 0.7145398259162903, + 0.6982519626617432, + -0.0333840437233448, + 0.027615157887339592 + ], + "joints": [ + 0.010933014564216137 + ] + }, + "final_grasp": { + "position": [ + 0.010498248040676117, + 0.16256946325302124, + -0.1303941160440445 + ], + "orientation": [ + 0.7145398259162903, + 0.6982519626617432, + -0.0333840437233448, + 0.027615157887339592 + ], + "joints": [ + 0.018957151100039482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11717206984758377, + 0.020716354250907898, + 0.030552156269550323 + ], + "orientation": [ + 0.2843131124973297, + 0.5371622443199158, + -0.6721095442771912, + 0.42295563220977783 + ], + "joints": [ + 0.008885975927114487 + ] + }, + "fine_grasp": { + "position": [ + 0.11445828527212143, + 0.02005518600344658, + 0.02872432768344879 + ], + "orientation": [ + 0.25290393829345703, + 0.547688364982605, + -0.6811521053314209, + 0.41486024856567383 + ], + "joints": [ + 0.00965651124715805 + ] + }, + "final_grasp": { + "position": [ + 0.11445828527212143, + 0.02005518600344658, + 0.02872432768344879 + ], + "orientation": [ + 0.25290393829345703, + 0.547688364982605, + -0.6811521053314209, + 0.41486024856567383 + ], + "joints": [ + 0.010427046567201614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11687570810317993, + 0.02071012556552887, + 0.03163151070475578 + ], + "orientation": [ + 0.2816534638404846, + 0.5335533618927002, + -0.6775070428848267, + 0.42068547010421753 + ], + "joints": [ + 0.008397459983825684 + ] + }, + "fine_grasp": { + "position": [ + 0.11377254873514175, + 0.019975775852799416, + 0.029820768162608147 + ], + "orientation": [ + 0.2494610846042633, + 0.5438233017921448, + -0.6865876317024231, + 0.4130650460720062 + ], + "joints": [ + 0.009167995303869247 + ] + }, + "final_grasp": { + "position": [ + 0.11377254873514175, + 0.019975775852799416, + 0.029820768162608147 + ], + "orientation": [ + 0.2494610846042633, + 0.5438233017921448, + -0.6865876317024231, + 0.4130650460720062 + ], + "joints": [ + 0.009938530623912811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009721468202769756, + -0.07061681151390076, + 0.0600268729031086 + ], + "orientation": [ + 0.9591568112373352, + -0.2795931100845337, + -0.0031592068262398243, + -0.04284919798374176 + ], + "joints": [ + 0.005668197758495808 + ] + }, + "fine_grasp": { + "position": [ + -0.012939589098095894, + -0.06790440529584885, + 0.05913138389587402 + ], + "orientation": [ + 0.9599533677101135, + -0.2728690207004547, + 0.016545899212360382, + -0.061305418610572815 + ], + "joints": [ + 0.010583647526800632 + ] + }, + "final_grasp": { + "position": [ + -0.012939589098095894, + -0.06790440529584885, + 0.05913138389587402 + ], + "orientation": [ + 0.9599533677101135, + -0.2728690207004547, + 0.016545899212360382, + -0.061305418610572815 + ], + "joints": [ + 0.015499097295105457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010082924738526344, + -0.07021669298410416, + 0.060423556715250015 + ], + "orientation": [ + 0.9584395289421082, + -0.28182172775268555, + -0.004260335583239794, + -0.0441821925342083 + ], + "joints": [ + 0.005754191428422928 + ] + }, + "fine_grasp": { + "position": [ + -0.013314380310475826, + -0.0673157200217247, + 0.05960690602660179 + ], + "orientation": [ + 0.959391176700592, + -0.2746375799179077, + 0.014630943536758423, + -0.0626794695854187 + ], + "joints": [ + 0.010669641196727753 + ] + }, + "final_grasp": { + "position": [ + -0.013314380310475826, + -0.0673157200217247, + 0.05960690602660179 + ], + "orientation": [ + 0.959391176700592, + -0.2746375799179077, + 0.014630943536758423, + -0.0626794695854187 + ], + "joints": [ + 0.015585090965032578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010405278764665127, + -0.07036467641592026, + 0.06012088432908058 + ], + "orientation": [ + 0.9588363170623779, + -0.28020238876342773, + -0.004059140104800463, + -0.045859236270189285 + ], + "joints": [ + 0.005700802430510521 + ] + }, + "fine_grasp": { + "position": [ + -0.013504900969564915, + -0.06747177988290787, + 0.05932203307747841 + ], + "orientation": [ + 0.9597285389900208, + -0.27317866683006287, + 0.015422252006828785, + -0.0636916309595108 + ], + "joints": [ + 0.010616252198815346 + ] + }, + "final_grasp": { + "position": [ + -0.013504900969564915, + -0.06747177988290787, + 0.05932203307747841 + ], + "orientation": [ + 0.9597285389900208, + -0.27317866683006287, + 0.015422252006828785, + -0.0636916309595108 + ], + "joints": [ + 0.01553170196712017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11062333732843399, + 0.22710131108760834, + 0.008722399361431599 + ], + "orientation": [ + 0.49560850858688354, + 0.45161622762680054, + -0.4018212854862213, + 0.6236621141433716 + ], + "joints": [ + 0.007346704602241516 + ] + }, + "fine_grasp": { + "position": [ + 0.11667586863040924, + 0.22641751170158386, + 0.009084159508347511 + ], + "orientation": [ + 0.4849248230457306, + 0.4549660384654999, + -0.3943094313144684, + 0.6343294382095337 + ], + "joints": [ + 0.01058824360370636 + ] + }, + "final_grasp": { + "position": [ + 0.11667586863040924, + 0.22641751170158386, + 0.009084159508347511 + ], + "orientation": [ + 0.4849248230457306, + 0.4549660384654999, + -0.3943094313144684, + 0.6343294382095337 + ], + "joints": [ + 0.013829782605171204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07802537828683853, + -0.05168265104293823, + -0.05820652097463608 + ], + "orientation": [ + 0.5193244218826294, + 0.48040977120399475, + -0.7052637934684753, + 0.04595395550131798 + ], + "joints": [ + 0.010094095021486282 + ] + }, + "fine_grasp": { + "position": [ + 0.07998453825712204, + -0.05062839761376381, + -0.059374671429395676 + ], + "orientation": [ + 0.5099157691001892, + 0.47348421812057495, + -0.7172882556915283, + 0.03600151091814041 + ], + "joints": [ + 0.013999894261360168 + ] + }, + "final_grasp": { + "position": [ + 0.07998453825712204, + -0.05062839761376381, + -0.059374671429395676 + ], + "orientation": [ + 0.5099157691001892, + 0.47348421812057495, + -0.7172882556915283, + 0.03600151091814041 + ], + "joints": [ + 0.017905693501234055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07732366770505905, + -0.05070185288786888, + -0.05776497349143028 + ], + "orientation": [ + 0.520274817943573, + 0.4804757535457611, + -0.7044477462768555, + 0.04701551795005798 + ], + "joints": [ + 0.009893227368593216 + ] + }, + "fine_grasp": { + "position": [ + 0.07948419451713562, + -0.05002037435770035, + -0.05941962078213692 + ], + "orientation": [ + 0.5099261403083801, + 0.4733135402202606, + -0.7173932194709778, + 0.03600841015577316 + ], + "joints": [ + 0.013799024745821953 + ] + }, + "final_grasp": { + "position": [ + 0.07948419451713562, + -0.05002037435770035, + -0.05941962078213692 + ], + "orientation": [ + 0.5099261403083801, + 0.4733135402202606, + -0.7173932194709778, + 0.03600841015577316 + ], + "joints": [ + 0.01770482212305069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11530201137065887, + 0.202215313911438, + 0.0010495358146727085 + ], + "orientation": [ + 0.5877611041069031, + 0.34010985493659973, + -0.3071891963481903, + 0.6667060256004333 + ], + "joints": [ + -0.0038460115902125835 + ] + }, + "fine_grasp": { + "position": [ + 0.11968537420034409, + 0.2033040076494217, + 0.0013875951990485191 + ], + "orientation": [ + 0.5952332615852356, + 0.32100117206573486, + -0.29539793729782104, + 0.6748301386833191 + ], + "joints": [ + -4.650416667573154e-05 + ] + }, + "final_grasp": { + "position": [ + 0.11968537420034409, + 0.2033040076494217, + 0.0013875951990485191 + ], + "orientation": [ + 0.5952332615852356, + 0.32100117206573486, + -0.29539793729782104, + 0.6748301386833191 + ], + "joints": [ + 0.0037530031986534595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11620613932609558, + 0.2039332389831543, + 0.0015320989768952131 + ], + "orientation": [ + 0.6004441380500793, + 0.31669020652770996, + -0.29319682717323303, + 0.6732086539268494 + ], + "joints": [ + -0.006147260777652264 + ] + }, + "fine_grasp": { + "position": [ + 0.12016461789608002, + 0.20358061790466309, + 0.0020212186500430107 + ], + "orientation": [ + 0.5988836884498596, + 0.3068239986896515, + -0.2849242091178894, + 0.6826533079147339 + ], + "joints": [ + -0.0018163538770750165 + ] + }, + "final_grasp": { + "position": [ + 0.12016461789608002, + 0.20358061790466309, + 0.0020212186500430107 + ], + "orientation": [ + 0.5988836884498596, + 0.3068239986896515, + -0.2849242091178894, + 0.6826533079147339 + ], + "joints": [ + 0.0025145530235022306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10552414506673813, + 0.25733843445777893, + -0.02141416072845459 + ], + "orientation": [ + 0.21112053096294403, + -0.6975261569023132, + -0.473882794380188, + -0.49428796768188477 + ], + "joints": [ + 0.0017959657125175 + ] + }, + "fine_grasp": { + "position": [ + -0.1020583063364029, + 0.2536439597606659, + -0.02140173502266407 + ], + "orientation": [ + 0.18198996782302856, + -0.7148658633232117, + -0.4750046133995056, + -0.479809433221817 + ], + "joints": [ + 0.0035761529579758644 + ] + }, + "final_grasp": { + "position": [ + -0.1020583063364029, + 0.2536439597606659, + -0.02140173502266407 + ], + "orientation": [ + 0.18198996782302856, + -0.7148658633232117, + -0.4750046133995056, + -0.479809433221817 + ], + "joints": [ + 0.005356340203434229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1115524172782898, + -0.003644252195954323, + -0.04244096577167511 + ], + "orientation": [ + 0.6430359482765198, + -0.15743090212345123, + 0.3827582895755768, + 0.6443727612495422 + ], + "joints": [ + 0.008906278759241104 + ] + }, + "fine_grasp": { + "position": [ + 0.11037442833185196, + -0.002085002139210701, + -0.04258492961525917 + ], + "orientation": [ + 0.6479419469833374, + -0.15582437813282013, + 0.3788359761238098, + 0.6421631574630737 + ], + "joints": [ + 0.01331690140068531 + ] + }, + "final_grasp": { + "position": [ + 0.11037442833185196, + -0.002085002139210701, + -0.04258492961525917 + ], + "orientation": [ + 0.6479419469833374, + -0.15582437813282013, + 0.3788359761238098, + 0.6421631574630737 + ], + "joints": [ + 0.017727524042129517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10226980596780777, + 0.09955562651157379, + -0.05371377244591713 + ], + "orientation": [ + 0.13816426694393158, + 0.6067327857017517, + -0.7810112237930298, + -0.05298610031604767 + ], + "joints": [ + -0.012570636346936226 + ] + }, + "fine_grasp": { + "position": [ + 0.10365141928195953, + 0.09951857477426529, + -0.0525163896381855 + ], + "orientation": [ + 0.13520516455173492, + 0.6147891283035278, + -0.7741028666496277, + -0.0672212541103363 + ], + "joints": [ + -0.011003008112311363 + ] + }, + "final_grasp": { + "position": [ + 0.10365141928195953, + 0.09951857477426529, + -0.0525163896381855 + ], + "orientation": [ + 0.13520516455173492, + 0.6147891283035278, + -0.7741028666496277, + -0.0672212541103363 + ], + "joints": [ + -0.0094353798776865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10559625923633575, + 0.25860849022865295, + -0.020904384553432465 + ], + "orientation": [ + 0.22539611160755157, + -0.6836857199668884, + -0.4705926179885864, + -0.5102089047431946 + ], + "joints": [ + 0.0031629817094653845 + ] + }, + "fine_grasp": { + "position": [ + -0.10204756259918213, + 0.2552278935909271, + -0.020919548347592354 + ], + "orientation": [ + 0.19553245604038239, + -0.7012356519699097, + -0.47177600860595703, + -0.49745655059814453 + ], + "joints": [ + 0.006005970761179924 + ] + }, + "final_grasp": { + "position": [ + -0.10204756259918213, + 0.2552278935909271, + -0.020919548347592354 + ], + "orientation": [ + 0.19553245604038239, + -0.7012356519699097, + -0.47177600860595703, + -0.49745655059814453 + ], + "joints": [ + 0.00884895958006382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12844203412532806, + 0.21093180775642395, + -0.02225634828209877 + ], + "orientation": [ + 0.5739890336990356, + 0.3828016519546509, + 0.19323764741420746, + -0.6976091861724854 + ], + "joints": [ + -0.005155831575393677 + ] + }, + "fine_grasp": { + "position": [ + -0.12403321266174316, + 0.21082790195941925, + -0.021437428891658783 + ], + "orientation": [ + 0.5973499417304993, + 0.3464342951774597, + 0.16348141431808472, + -0.7045779228210449 + ], + "joints": [ + -0.005926363170146942 + ] + }, + "final_grasp": { + "position": [ + -0.12403321266174316, + 0.21082790195941925, + -0.021437428891658783 + ], + "orientation": [ + 0.5973499417304993, + 0.3464342951774597, + 0.16348141431808472, + -0.7045779228210449 + ], + "joints": [ + -0.0066968947649002075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11329356580972672, + 0.25234296917915344, + -0.026950564235448837 + ], + "orientation": [ + 0.49978068470954895, + 0.41609489917755127, + 0.14180298149585724, + -0.7463083267211914 + ], + "joints": [ + -0.005628581158816814 + ] + }, + "fine_grasp": { + "position": [ + -0.11025123298168182, + 0.2489430010318756, + -0.026547620072960854 + ], + "orientation": [ + 0.5015130639076233, + 0.38869547843933105, + 0.1138257160782814, + -0.764489471912384 + ], + "joints": [ + -0.002254193415865302 + ] + }, + "final_grasp": { + "position": [ + -0.11025123298168182, + 0.2489430010318756, + -0.026547620072960854 + ], + "orientation": [ + 0.5015130639076233, + 0.38869547843933105, + 0.1138257160782814, + -0.764489471912384 + ], + "joints": [ + 0.0011201943270862103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1153869703412056, + 0.11907224357128143, + -0.0672103613615036 + ], + "orientation": [ + 0.7459069490432739, + 0.05957866832613945, + -0.17592820525169373, + -0.6396268606185913 + ], + "joints": [ + -0.006307502277195454 + ] + }, + "fine_grasp": { + "position": [ + -0.11112606525421143, + 0.11995606869459152, + -0.06315863877534866 + ], + "orientation": [ + 0.7467898726463318, + 0.09935292601585388, + -0.15422789752483368, + -0.6392554640769958 + ], + "joints": [ + -0.012498303316533566 + ] + }, + "final_grasp": { + "position": [ + -0.11112606525421143, + 0.11995606869459152, + -0.06315863877534866 + ], + "orientation": [ + 0.7467898726463318, + 0.09935292601585388, + -0.15422789752483368, + -0.6392554640769958 + ], + "joints": [ + -0.018689103424549103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11517154425382614, + 0.11860032379627228, + -0.06734679639339447 + ], + "orientation": [ + 0.7477904558181763, + 0.0730452910065651, + -0.16464687883853912, + -0.6390345692634583 + ], + "joints": [ + -0.007554813753813505 + ] + }, + "fine_grasp": { + "position": [ + -0.1109418272972107, + 0.11936715990304947, + -0.06314333528280258 + ], + "orientation": [ + 0.7480105757713318, + 0.11189033091068268, + -0.14679615199565887, + -0.6375042200088501 + ], + "joints": [ + -0.013240786269307137 + ] + }, + "final_grasp": { + "position": [ + -0.1109418272972107, + 0.11936715990304947, + -0.06314333528280258 + ], + "orientation": [ + 0.7480105757713318, + 0.11189033091068268, + -0.14679615199565887, + -0.6375042200088501 + ], + "joints": [ + -0.01892675831913948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11452055722475052, + 0.119447723031044, + -0.06662352383136749 + ], + "orientation": [ + 0.7474105954170227, + 0.08376810699701309, + -0.15707792341709137, + -0.6400678753852844 + ], + "joints": [ + -0.008496986702084541 + ] + }, + "fine_grasp": { + "position": [ + -0.11033123731613159, + 0.12061280757188797, + -0.06261037290096283 + ], + "orientation": [ + 0.7506902813911438, + 0.11946571618318558, + -0.13957464694976807, + -0.6345951557159424 + ], + "joints": [ + -0.01314673013985157 + ] + }, + "final_grasp": { + "position": [ + -0.11033123731613159, + 0.12061280757188797, + -0.06261037290096283 + ], + "orientation": [ + 0.7506902813911438, + 0.11946571618318558, + -0.13957464694976807, + -0.6345951557159424 + ], + "joints": [ + -0.0177964735776186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10076552629470825, + 0.2475718855857849, + -0.060474421828985214 + ], + "orientation": [ + 0.5251017808914185, + 0.4031870663166046, + -0.009073268622159958, + -0.7494170665740967 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.09858418256044388, + 0.24509209394454956, + -0.05911928787827492 + ], + "orientation": [ + 0.5206745266914368, + 0.39600682258605957, + -0.020266961306333542, + -0.7560859322547913 + ], + "joints": [ + -0.008015984669327736 + ] + }, + "final_grasp": { + "position": [ + -0.09858418256044388, + 0.24509209394454956, + -0.05911928787827492 + ], + "orientation": [ + 0.5206745266914368, + 0.39600682258605957, + -0.020266961306333542, + -0.7560859322547913 + ], + "joints": [ + -0.003127109259366989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10065824538469315, + 0.24737758934497833, + -0.06053392216563225 + ], + "orientation": [ + 0.5256111025810242, + 0.4025570750236511, + -0.009643900208175182, + -0.7493916749954224 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.09874960035085678, + 0.24493135511875153, + -0.05927776172757149 + ], + "orientation": [ + 0.5210012197494507, + 0.39589571952819824, + -0.021417632699012756, + -0.7558873295783997 + ], + "joints": [ + -0.008015984669327736 + ] + }, + "final_grasp": { + "position": [ + -0.09874960035085678, + 0.24493135511875153, + -0.05927776172757149 + ], + "orientation": [ + 0.5210012197494507, + 0.39589571952819824, + -0.021417632699012756, + -0.7558873295783997 + ], + "joints": [ + -0.003127109259366989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10081340372562408, + 0.24747148156166077, + -0.060487281531095505 + ], + "orientation": [ + 0.5242929458618164, + 0.40163061022758484, + -0.01065361499786377, + -0.7507970929145813 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.09903274476528168, + 0.24511441588401794, + -0.059325169771909714 + ], + "orientation": [ + 0.520249605178833, + 0.3957598805427551, + -0.022116774693131447, + -0.7564558386802673 + ], + "joints": [ + -0.008042554371058941 + ] + }, + "final_grasp": { + "position": [ + -0.09903274476528168, + 0.24511441588401794, + -0.059325169771909714 + ], + "orientation": [ + 0.520249605178833, + 0.3957598805427551, + -0.022116774693131447, + -0.7564558386802673 + ], + "joints": [ + -0.003180248662829399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11956122517585754, + 0.1720420867204666, + 0.00428446801379323 + ], + "orientation": [ + 0.7337390184402466, + 0.149038627743721, + -0.26896247267723083, + 0.6058661937713623 + ], + "joints": [ + -0.00897068902850151 + ] + }, + "fine_grasp": { + "position": [ + 0.12115422636270523, + 0.17022596299648285, + 0.006310639902949333 + ], + "orientation": [ + 0.7293244004249573, + 0.14116938412189484, + -0.2547386884689331, + 0.6190842390060425 + ], + "joints": [ + -0.0062339818105101585 + ] + }, + "final_grasp": { + "position": [ + 0.12115422636270523, + 0.17022596299648285, + 0.006310639902949333 + ], + "orientation": [ + 0.7293244004249573, + 0.14116938412189484, + -0.2547386884689331, + 0.6190842390060425 + ], + "joints": [ + -0.0034972745925188065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11436772346496582, + 0.14599093794822693, + 0.022880438715219498 + ], + "orientation": [ + 0.6654258966445923, + 0.14943435788154602, + -0.2915448844432831, + 0.670730471611023 + ], + "joints": [ + -0.011545948684215546 + ] + }, + "fine_grasp": { + "position": [ + 0.1144140437245369, + 0.15149806439876556, + 0.024552349001169205 + ], + "orientation": [ + 0.66778564453125, + 0.10388542711734772, + -0.25775498151779175, + 0.6905304789543152 + ], + "joints": [ + -0.016115980222821236 + ] + }, + "final_grasp": { + "position": [ + 0.1144140437245369, + 0.15149806439876556, + 0.024552349001169205 + ], + "orientation": [ + 0.66778564453125, + 0.10388542711734772, + -0.25775498151779175, + 0.6905304789543152 + ], + "joints": [ + -0.020686011761426926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07742761820554733, + 0.24367943406105042, + -0.07435436546802521 + ], + "orientation": [ + 0.06332507729530334, + 0.6797020435333252, + -0.45979738235473633, + -0.5679627060890198 + ], + "joints": [ + -0.013344913721084595 + ] + }, + "fine_grasp": { + "position": [ + 0.07602769136428833, + 0.23936627805233002, + -0.07558915764093399 + ], + "orientation": [ + 0.0948922410607338, + 0.695971667766571, + -0.46812617778778076, + -0.5361685156822205 + ], + "joints": [ + -0.012574378401041031 + ] + }, + "final_grasp": { + "position": [ + 0.07602769136428833, + 0.23936627805233002, + -0.07558915764093399 + ], + "orientation": [ + 0.0948922410607338, + 0.695971667766571, + -0.46812617778778076, + -0.5361685156822205 + ], + "joints": [ + -0.011803843080997467 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11408156901597977, + 0.004876555874943733, + -0.03170245513319969 + ], + "orientation": [ + 0.27013856172561646, + 0.6652783751487732, + 0.6835336685180664, + -0.1311926245689392 + ], + "joints": [ + 0.0031253215856850147 + ] + }, + "fine_grasp": { + "position": [ + -0.1140422374010086, + 0.007281560450792313, + -0.03238394856452942 + ], + "orientation": [ + 0.24398335814476013, + 0.6611483693122864, + 0.7022275924682617, + -0.10115107893943787 + ], + "joints": [ + 0.005436910316348076 + ] + }, + "final_grasp": { + "position": [ + -0.1140422374010086, + 0.007281560450792313, + -0.03238394856452942 + ], + "orientation": [ + 0.24398335814476013, + 0.6611483693122864, + 0.7022275924682617, + -0.10115107893943787 + ], + "joints": [ + 0.007748499047011137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11036394536495209, + 0.013263493776321411, + -0.06003963202238083 + ], + "orientation": [ + 0.310160756111145, + 0.6815012097358704, + -0.6628234386444092, + 0.004628538619726896 + ], + "joints": [ + -0.002952028764411807 + ] + }, + "fine_grasp": { + "position": [ + 0.10993997007608414, + 0.01596304215490818, + -0.05881565809249878 + ], + "orientation": [ + 0.3124987781047821, + 0.6725636124610901, + -0.6707969307899475, + -0.005860094912350178 + ], + "joints": [ + 0.0003692188474815339 + ] + }, + "final_grasp": { + "position": [ + 0.10993997007608414, + 0.01596304215490818, + -0.05881565809249878 + ], + "orientation": [ + 0.3124987781047821, + 0.6725636124610901, + -0.6707969307899475, + -0.005860094912350178 + ], + "joints": [ + 0.0036904665175825357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1105455681681633, + 0.02105247601866722, + -0.05378787964582443 + ], + "orientation": [ + 0.6662265062332153, + -0.005744790658354759, + 0.2683297097682953, + 0.6957790851593018 + ], + "joints": [ + -0.006022891495376825 + ] + }, + "fine_grasp": { + "position": [ + 0.1104390025138855, + 0.023600013926625252, + -0.0529189370572567 + ], + "orientation": [ + 0.6705915331840515, + 0.000861317035742104, + 0.27478623390197754, + 0.6890564560890198 + ], + "joints": [ + -0.0027016443200409412 + ] + }, + "final_grasp": { + "position": [ + 0.1104390025138855, + 0.023600013926625252, + -0.0529189370572567 + ], + "orientation": [ + 0.6705915331840515, + 0.000861317035742104, + 0.27478623390197754, + 0.6890564560890198 + ], + "joints": [ + 0.0006196028552949429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10967017710208893, + 0.013416415080428123, + -0.059151358902454376 + ], + "orientation": [ + 0.3175845742225647, + 0.6794546246528625, + -0.661331832408905, + 0.01103314571082592 + ], + "joints": [ + -0.0031183927785605192 + ] + }, + "fine_grasp": { + "position": [ + 0.1105538159608841, + 0.016256244853138924, + -0.05860523506999016 + ], + "orientation": [ + 0.3155340254306793, + 0.6714290380477905, + -0.6705288290977478, + -0.003525594947859645 + ], + "joints": [ + -0.00030197526211850345 + ] + }, + "final_grasp": { + "position": [ + 0.1105538159608841, + 0.016256244853138924, + -0.05860523506999016 + ], + "orientation": [ + 0.3155340254306793, + 0.6714290380477905, + -0.6705288290977478, + -0.003525594947859645 + ], + "joints": [ + 0.0025144421961158514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12009097635746002, + 0.03615010902285576, + 0.004044985864311457 + ], + "orientation": [ + 0.6292011141777039, + -0.24705703556537628, + -0.1331578493118286, + -0.7248018383979797 + ], + "joints": [ + 0.0019932338036596775 + ] + }, + "fine_grasp": { + "position": [ + -0.12083349376916885, + 0.03738674893975258, + 0.004658796358853579 + ], + "orientation": [ + 0.6432980298995972, + -0.2281530648469925, + -0.1169174462556839, + -0.721418023109436 + ], + "joints": [ + 0.005287910811603069 + ] + }, + "final_grasp": { + "position": [ + -0.12083349376916885, + 0.03738674893975258, + 0.004658796358853579 + ], + "orientation": [ + 0.6432980298995972, + -0.2281530648469925, + -0.1169174462556839, + -0.721418023109436 + ], + "joints": [ + 0.008582588285207748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11607342958450317, + 0.028285309672355652, + -0.030905062332749367 + ], + "orientation": [ + 0.2528262436389923, + 0.7323663234710693, + 0.6110450029373169, + -0.16230368614196777 + ], + "joints": [ + 0.004038105718791485 + ] + }, + "fine_grasp": { + "position": [ + -0.11629568040370941, + 0.030219590291380882, + -0.031093081459403038 + ], + "orientation": [ + 0.23980094492435455, + 0.7297303676605225, + 0.6249602437019348, + -0.13933353126049042 + ], + "joints": [ + 0.006827955134212971 + ] + }, + "final_grasp": { + "position": [ + -0.11629568040370941, + 0.030219590291380882, + -0.031093081459403038 + ], + "orientation": [ + 0.23980094492435455, + 0.7297303676605225, + 0.6249602437019348, + -0.13933353126049042 + ], + "joints": [ + 0.009617804549634457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11108675599098206, + -0.0034342033322900534, + -0.042909394949674606 + ], + "orientation": [ + 0.6428112983703613, + -0.15501157939434052, + 0.38296687602996826, + 0.6450591683387756 + ], + "joints": [ + 0.009103655815124512 + ] + }, + "fine_grasp": { + "position": [ + 0.11168139427900314, + -0.0022065010853111744, + -0.04322435334324837 + ], + "orientation": [ + 0.6498799324035645, + -0.14999687671661377, + 0.38096559047698975, + 0.6403297185897827 + ], + "joints": [ + 0.01298287883400917 + ] + }, + "final_grasp": { + "position": [ + 0.11168139427900314, + -0.0022065010853111744, + -0.04322435334324837 + ], + "orientation": [ + 0.6498799324035645, + -0.14999687671661377, + 0.38096559047698975, + 0.6403297185897827 + ], + "joints": [ + 0.01686210185289383 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11881642043590546, + 0.11718816310167313, + -0.02877415530383587 + ], + "orientation": [ + 0.5378345847129822, + 0.571897029876709, + -0.4016340672969818, + 0.47154825925827026 + ], + "joints": [ + 0.013640088960528374 + ] + }, + "fine_grasp": { + "position": [ + 0.11702495813369751, + 0.1163586676120758, + -0.029295213520526886 + ], + "orientation": [ + 0.5396566987037659, + 0.5666835904121399, + -0.3940548002719879, + 0.48203858733177185 + ], + "joints": [ + 0.015925122424960136 + ] + }, + "final_grasp": { + "position": [ + 0.11702495813369751, + 0.1163586676120758, + -0.029295213520526886 + ], + "orientation": [ + 0.5396566987037659, + 0.5666835904121399, + -0.3940548002719879, + 0.48203858733177185 + ], + "joints": [ + 0.0182101558893919 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11817488074302673, + 0.11749624460935593, + -0.029236597940325737 + ], + "orientation": [ + 0.5406142473220825, + 0.57147216796875, + -0.40062564611434937, + 0.46973901987075806 + ], + "joints": [ + 0.013606308028101921 + ] + }, + "fine_grasp": { + "position": [ + 0.11680343747138977, + 0.11671891808509827, + -0.02963043749332428 + ], + "orientation": [ + 0.5416743755340576, + 0.5659053921699524, + -0.3936978876590729, + 0.48098024725914 + ], + "joints": [ + 0.015864768996834755 + ] + }, + "final_grasp": { + "position": [ + 0.11680343747138977, + 0.11671891808509827, + -0.02963043749332428 + ], + "orientation": [ + 0.5416743755340576, + 0.5659053921699524, + -0.3936978876590729, + 0.48098024725914 + ], + "joints": [ + 0.01812322996556759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11805590242147446, + 0.11764403432607651, + -0.0297480970621109 + ], + "orientation": [ + 0.5434466004371643, + 0.5704941749572754, + -0.39888879656791687, + 0.46913737058639526 + ], + "joints": [ + 0.013571970164775848 + ] + }, + "fine_grasp": { + "position": [ + 0.1165909394621849, + 0.11694788932800293, + -0.030073557049036026 + ], + "orientation": [ + 0.5456264615058899, + 0.5649774670600891, + -0.3908011317253113, + 0.4799652397632599 + ], + "joints": [ + 0.015325602144002914 + ] + }, + "final_grasp": { + "position": [ + 0.1165909394621849, + 0.11694788932800293, + -0.030073557049036026 + ], + "orientation": [ + 0.5456264615058899, + 0.5649774670600891, + -0.3908011317253113, + 0.4799652397632599 + ], + "joints": [ + 0.01707923412322998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1187848374247551, + 0.11716031283140182, + -0.028914902359247208 + ], + "orientation": [ + 0.5382758975028992, + 0.5719671249389648, + -0.4012887477874756, + 0.4712536931037903 + ], + "joints": [ + 0.01364227756857872 + ] + }, + "fine_grasp": { + "position": [ + 0.11703650653362274, + 0.11635570973157883, + -0.02945735864341259 + ], + "orientation": [ + 0.5397101044654846, + 0.5670191645622253, + -0.39432692527770996, + 0.4813612699508667 + ], + "joints": [ + 0.015927311033010483 + ] + }, + "final_grasp": { + "position": [ + 0.11703650653362274, + 0.11635570973157883, + -0.02945735864341259 + ], + "orientation": [ + 0.5397101044654846, + 0.5670191645622253, + -0.39432692527770996, + 0.4813612699508667 + ], + "joints": [ + 0.018212344497442245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12277241796255112, + 0.08836285769939423, + -0.008949331939220428 + ], + "orientation": [ + 0.45341378450393677, + -0.5033774971961975, + 0.5584287047386169, + 0.47873222827911377 + ], + "joints": [ + 0.012780418619513512 + ] + }, + "fine_grasp": { + "position": [ + 0.12175051867961884, + 0.08758491277694702, + -0.009617414325475693 + ], + "orientation": [ + 0.44401058554649353, + -0.5130447745323181, + 0.5692932605743408, + 0.46426811814308167 + ], + "joints": [ + 0.015570279210805893 + ] + }, + "final_grasp": { + "position": [ + 0.12175051867961884, + 0.08758491277694702, + -0.009617414325475693 + ], + "orientation": [ + 0.44401058554649353, + -0.5130447745323181, + 0.5692932605743408, + 0.46426811814308167 + ], + "joints": [ + 0.018360139802098274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11840374022722244, + 0.08276134729385376, + -0.002622033469378948 + ], + "orientation": [ + 0.5090005993843079, + -0.4641766846179962, + 0.5923787951469421, + 0.4177868068218231 + ], + "joints": [ + 0.012964710593223572 + ] + }, + "fine_grasp": { + "position": [ + 0.11748522520065308, + 0.08199042826890945, + -0.0028290499467402697 + ], + "orientation": [ + 0.49886655807495117, + -0.47498539090156555, + 0.6009941101074219, + 0.40537264943122864 + ], + "joints": [ + 0.015249742195010185 + ] + }, + "final_grasp": { + "position": [ + 0.11748522520065308, + 0.08199042826890945, + -0.0028290499467402697 + ], + "orientation": [ + 0.49886655807495117, + -0.47498539090156555, + 0.6009941101074219, + 0.40537264943122864 + ], + "joints": [ + 0.0175347737967968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10892661660909653, + 0.03172875940799713, + 0.03187768906354904 + ], + "orientation": [ + 0.48421335220336914, + 0.342406302690506, + -0.6774013638496399, + 0.43522730469703674 + ], + "joints": [ + 0.0137790497392416 + ] + }, + "fine_grasp": { + "position": [ + 0.10972772538661957, + 0.0288854967802763, + 0.03125729411840439 + ], + "orientation": [ + 0.4759396016597748, + 0.3482706844806671, + -0.6645693182945251, + 0.4588426351547241 + ], + "joints": [ + 0.017126888036727905 + ] + }, + "final_grasp": { + "position": [ + 0.10972772538661957, + 0.0288854967802763, + 0.03125729411840439 + ], + "orientation": [ + 0.4759396016597748, + 0.3482706844806671, + -0.6645693182945251, + 0.4588426351547241 + ], + "joints": [ + 0.02047472633421421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10898572951555252, + 0.030846595764160156, + 0.03189534321427345 + ], + "orientation": [ + 0.4840037226676941, + 0.3434511721134186, + -0.6756554245948792, + 0.4373459219932556 + ], + "joints": [ + 0.013729719445109367 + ] + }, + "fine_grasp": { + "position": [ + 0.10956195741891861, + 0.028757698833942413, + 0.031277477741241455 + ], + "orientation": [ + 0.4766676723957062, + 0.34717991948127747, + -0.6648255586624146, + 0.45854219794273376 + ], + "joints": [ + 0.017077555879950523 + ] + }, + "final_grasp": { + "position": [ + 0.10956195741891861, + 0.028757698833942413, + 0.031277477741241455 + ], + "orientation": [ + 0.4766676723957062, + 0.34717991948127747, + -0.6648255586624146, + 0.45854219794273376 + ], + "joints": [ + 0.02042539231479168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11442488431930542, + 0.06075968220829964, + -0.008469668217003345 + ], + "orientation": [ + 0.5691513419151306, + -0.38824981451034546, + -0.5576521158218384, + -0.4629824459552765 + ], + "joints": [ + 0.013283777981996536 + ] + }, + "fine_grasp": { + "position": [ + -0.10959243029356003, + 0.06144687905907631, + -0.009354567155241966 + ], + "orientation": [ + 0.5771228671073914, + -0.3834596276283264, + -0.5502774715423584, + -0.4659210741519928 + ], + "joints": [ + 0.016551896929740906 + ] + }, + "final_grasp": { + "position": [ + -0.10959243029356003, + 0.06144687905907631, + -0.009354567155241966 + ], + "orientation": [ + 0.5771228671073914, + -0.3834596276283264, + -0.5502774715423584, + -0.4659210741519928 + ], + "joints": [ + 0.019820015877485275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11387461423873901, + 0.11203665286302567, + 0.01294355746358633 + ], + "orientation": [ + 0.08509461581707001, + -0.7220466732978821, + -0.6713396310806274, + 0.14391210675239563 + ], + "joints": [ + 0.006876841187477112 + ] + }, + "fine_grasp": { + "position": [ + -0.11912160366773605, + 0.11241023987531662, + 0.015031764283776283 + ], + "orientation": [ + 0.08260125666856766, + -0.7235053777694702, + -0.6718934178352356, + 0.1351896971464157 + ], + "joints": [ + 0.0032633226364851 + ] + }, + "final_grasp": { + "position": [ + -0.11912160366773605, + 0.11241023987531662, + 0.015031764283776283 + ], + "orientation": [ + 0.08260125666856766, + -0.7235053777694702, + -0.6718934178352356, + 0.1351896971464157 + ], + "joints": [ + -0.00035019591450691223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11735634505748749, + 0.07376429438591003, + -0.030983783304691315 + ], + "orientation": [ + 0.4648014307022095, + -0.39412641525268555, + 0.5443705320358276, + 0.5764414072036743 + ], + "joints": [ + 0.013667665421962738 + ] + }, + "fine_grasp": { + "position": [ + 0.11721442639827728, + 0.07367873936891556, + -0.03220737725496292 + ], + "orientation": [ + 0.4874502420425415, + -0.3808836042881012, + 0.5282644033432007, + 0.5815983414649963 + ], + "joints": [ + 0.015447869896888733 + ] + }, + "final_grasp": { + "position": [ + 0.11721442639827728, + 0.07367873936891556, + -0.03220737725496292 + ], + "orientation": [ + 0.4874502420425415, + -0.3808836042881012, + 0.5282644033432007, + 0.5815983414649963 + ], + "joints": [ + 0.017228074371814728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1072661280632019, + 0.09432268887758255, + -0.03336011990904808 + ], + "orientation": [ + 0.7615275979042053, + 0.01299615204334259, + 0.057196613401174545, + 0.6454728841781616 + ], + "joints": [ + 0.013711882755160332 + ] + }, + "fine_grasp": { + "position": [ + 0.10876165330410004, + 0.09429284185171127, + -0.03344159573316574 + ], + "orientation": [ + 0.7670383453369141, + 0.026464777067303658, + 0.05791891738772392, + 0.6384334564208984 + ], + "joints": [ + 0.011639425531029701 + ] + }, + "final_grasp": { + "position": [ + 0.10876165330410004, + 0.09429284185171127, + -0.03344159573316574 + ], + "orientation": [ + 0.7670383453369141, + 0.026464777067303658, + 0.05791891738772392, + 0.6384334564208984 + ], + "joints": [ + 0.00956696830689907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10686562955379486, + 0.09450165182352066, + -0.0334126316010952 + ], + "orientation": [ + 0.7637973427772522, + 0.012461064383387566, + 0.05850321426987648, + 0.642678439617157 + ], + "joints": [ + 0.014987535774707794 + ] + }, + "fine_grasp": { + "position": [ + 0.10836436599493027, + 0.09430181980133057, + -0.033670056611299515 + ], + "orientation": [ + 0.7694334983825684, + 0.025599775835871696, + 0.05992164835333824, + 0.6353945732116699 + ], + "joints": [ + 0.012915078550577164 + ] + }, + "final_grasp": { + "position": [ + 0.10836436599493027, + 0.09430181980133057, + -0.033670056611299515 + ], + "orientation": [ + 0.7694334983825684, + 0.025599775835871696, + 0.05992164835333824, + 0.6353945732116699 + ], + "joints": [ + 0.010842621326446533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10642116516828537, + 0.0961926132440567, + -0.03379397466778755 + ], + "orientation": [ + 0.7630495429039001, + 0.014652200974524021, + 0.05887183919548988, + 0.643486499786377 + ], + "joints": [ + 0.016058003529906273 + ] + }, + "fine_grasp": { + "position": [ + 0.1080029308795929, + 0.09661155939102173, + -0.03424482420086861 + ], + "orientation": [ + 0.7667931914329529, + 0.02553463540971279, + 0.06266175210475922, + 0.638317883014679 + ], + "joints": [ + 0.013985545374453068 + ] + }, + "final_grasp": { + "position": [ + 0.1080029308795929, + 0.09661155939102173, + -0.03424482420086861 + ], + "orientation": [ + 0.7667931914329529, + 0.02553463540971279, + 0.06266175210475922, + 0.638317883014679 + ], + "joints": [ + 0.011913087218999863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12432428449392319, + 0.10278293490409851, + 0.001992978621274233 + ], + "orientation": [ + 0.5324668884277344, + -0.47380077838897705, + 0.5073277354240417, + 0.4843660593032837 + ], + "joints": [ + 0.014040293172001839 + ] + }, + "fine_grasp": { + "position": [ + 0.12448114156723022, + 0.1008870080113411, + 0.0013474285369738936 + ], + "orientation": [ + 0.5251601338386536, + -0.4861052632331848, + 0.5032234191894531, + 0.4844321608543396 + ], + "joints": [ + 0.01791953295469284 + ] + }, + "final_grasp": { + "position": [ + 0.12448114156723022, + 0.1008870080113411, + 0.0013474285369738936 + ], + "orientation": [ + 0.5251601338386536, + -0.4861052632331848, + 0.5032234191894531, + 0.4844321608543396 + ], + "joints": [ + 0.021798772737383842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1191273182630539, + 0.05327422916889191, + 0.005126780830323696 + ], + "orientation": [ + 0.5506009459495544, + -0.4610406756401062, + 0.5506203174591064, + 0.42555540800094604 + ], + "joints": [ + 0.01369566097855568 + ] + }, + "fine_grasp": { + "position": [ + 0.11973690241575241, + 0.05268748849630356, + 0.00466303713619709 + ], + "orientation": [ + 0.5472731590270996, + -0.4681084454059601, + 0.5579308271408081, + 0.4124073386192322 + ], + "joints": [ + 0.018026582896709442 + ] + }, + "final_grasp": { + "position": [ + 0.11973690241575241, + 0.05268748849630356, + 0.00466303713619709 + ], + "orientation": [ + 0.5472731590270996, + -0.4681084454059601, + 0.5579308271408081, + 0.4124073386192322 + ], + "joints": [ + 0.022357504814863205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11440788954496384, + 0.03705054149031639, + -0.016165411099791527 + ], + "orientation": [ + 0.6188119053840637, + -0.3052229583263397, + 0.49490460753440857, + 0.5281857848167419 + ], + "joints": [ + 0.010234735906124115 + ] + }, + "fine_grasp": { + "position": [ + 0.11162872612476349, + 0.03972446545958519, + -0.017358094453811646 + ], + "orientation": [ + 0.6267319917678833, + -0.2978758215904236, + 0.472667932510376, + 0.5431962013244629 + ], + "joints": [ + 0.01092555932700634 + ] + }, + "final_grasp": { + "position": [ + 0.11162872612476349, + 0.03972446545958519, + -0.017358094453811646 + ], + "orientation": [ + 0.6267319917678833, + -0.2978758215904236, + 0.472667932510376, + 0.5431962013244629 + ], + "joints": [ + 0.011616382747888565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12128151208162308, + 0.0469520278275013, + -0.001079767826013267 + ], + "orientation": [ + 0.5022962093353271, + 0.4814390242099762, + -0.6027460694313049, + 0.3906560242176056 + ], + "joints": [ + 0.013248905539512634 + ] + }, + "fine_grasp": { + "position": [ + 0.12105365097522736, + 0.04704902693629265, + -0.002224436029791832 + ], + "orientation": [ + 0.487400621175766, + 0.4848115146160126, + -0.6120264530181885, + 0.3909246623516083 + ], + "joints": [ + 0.016091912984848022 + ] + }, + "final_grasp": { + "position": [ + 0.12105365097522736, + 0.04704902693629265, + -0.002224436029791832 + ], + "orientation": [ + 0.487400621175766, + 0.4848115146160126, + -0.6120264530181885, + 0.3909246623516083 + ], + "joints": [ + 0.01893492043018341 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1214490532875061, + 0.046681128442287445, + -0.0012810819316655397 + ], + "orientation": [ + 0.5012116432189941, + 0.4840790331363678, + -0.6004672646522522, + 0.3922923505306244 + ], + "joints": [ + 0.013322753831744194 + ] + }, + "fine_grasp": { + "position": [ + 0.12114903330802917, + 0.046797968447208405, + -0.0024527900386601686 + ], + "orientation": [ + 0.4850160479545593, + 0.4882763624191284, + -0.6108497381210327, + 0.39141833782196045 + ], + "joints": [ + 0.016139188781380653 + ] + }, + "final_grasp": { + "position": [ + 0.12114903330802917, + 0.046797968447208405, + -0.0024527900386601686 + ], + "orientation": [ + 0.4850160479545593, + 0.4882763624191284, + -0.6108497381210327, + 0.39141833782196045 + ], + "joints": [ + 0.018955623731017113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12092486023902893, + 0.10378576070070267, + 0.017171483486890793 + ], + "orientation": [ + 0.5048251152038574, + 0.42259353399276733, + 0.5536441206932068, + -0.5099455118179321 + ], + "joints": [ + 0.014356130734086037 + ] + }, + "fine_grasp": { + "position": [ + -0.12188924849033356, + 0.10475628823041916, + 0.017130639404058456 + ], + "orientation": [ + 0.48741236329078674, + 0.4363889694213867, + 0.5548559427261353, + -0.5139345526695251 + ], + "joints": [ + 0.017145996913313866 + ] + }, + "final_grasp": { + "position": [ + -0.12188924849033356, + 0.10475628823041916, + 0.017130639404058456 + ], + "orientation": [ + 0.48741236329078674, + 0.4363889694213867, + 0.5548559427261353, + -0.5139345526695251 + ], + "joints": [ + 0.019935863092541695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12122441083192825, + 0.0940530076622963, + 0.014683832414448261 + ], + "orientation": [ + 0.5266594886779785, + 0.41029515862464905, + 0.5697416067123413, + -0.4792517125606537 + ], + "joints": [ + 0.014432325959205627 + ] + }, + "fine_grasp": { + "position": [ + -0.12229631096124649, + 0.09397625923156738, + 0.014477135613560677 + ], + "orientation": [ + 0.5124595165252686, + 0.42102569341659546, + 0.5702713131904602, + -0.4846784174442291 + ], + "joints": [ + 0.017222192138433456 + ] + }, + "final_grasp": { + "position": [ + -0.12229631096124649, + 0.09397625923156738, + 0.014477135613560677 + ], + "orientation": [ + 0.5124595165252686, + 0.42102569341659546, + 0.5702713131904602, + -0.4846784174442291 + ], + "joints": [ + 0.020012058317661285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1153302863240242, + 0.02261999063193798, + 0.027868423610925674 + ], + "orientation": [ + 0.617518424987793, + -0.4890299141407013, + -0.4849435091018677, + -0.37993478775024414 + ], + "joints": [ + 0.012565255165100098 + ] + }, + "fine_grasp": { + "position": [ + -0.11595610529184341, + 0.023288745433092117, + 0.028547782450914383 + ], + "orientation": [ + 0.6135987043380737, + -0.4956120550632477, + -0.48647212982177734, + -0.3757794499397278 + ], + "joints": [ + 0.018437232822179794 + ] + }, + "final_grasp": { + "position": [ + -0.11595610529184341, + 0.023288745433092117, + 0.028547782450914383 + ], + "orientation": [ + 0.6135987043380737, + -0.4956120550632477, + -0.48647212982177734, + -0.3757794499397278 + ], + "joints": [ + 0.02430921047925949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016242556273937225, + 0.15695083141326904, + 0.11563504487276077 + ], + "orientation": [ + 0.00015355218783952296, + -0.08424001932144165, + -0.6842098236083984, + 0.7244036197662354 + ], + "joints": [ + 0.0035631698556244373 + ] + }, + "fine_grasp": { + "position": [ + -0.01576967164874077, + 0.15692353248596191, + 0.1177220493555069 + ], + "orientation": [ + 0.007155217230319977, + -0.09128999710083008, + -0.6918291449546814, + 0.7162314057350159 + ], + "joints": [ + 0.009435136802494526 + ] + }, + "final_grasp": { + "position": [ + -0.01576967164874077, + 0.15692353248596191, + 0.1177220493555069 + ], + "orientation": [ + 0.007155217230319977, + -0.09128999710083008, + -0.6918291449546814, + 0.7162314057350159 + ], + "joints": [ + 0.015307104215025902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00739580113440752, + 0.1618339568376541, + 0.11577319353818893 + ], + "orientation": [ + 0.6758379340171814, + -0.7336099743843079, + 0.0685393363237381, + -0.019017744809389114 + ], + "joints": [ + 0.003357763634994626 + ] + }, + "fine_grasp": { + "position": [ + 0.008715758100152016, + 0.1616966724395752, + 0.11746587604284286 + ], + "orientation": [ + 0.6807544231414795, + -0.7256126403808594, + 0.09144739806652069, + -0.041197437793016434 + ], + "joints": [ + 0.008273214101791382 + ] + }, + "final_grasp": { + "position": [ + 0.008715758100152016, + 0.1616966724395752, + 0.11746587604284286 + ], + "orientation": [ + 0.6807544231414795, + -0.7256126403808594, + 0.09144739806652069, + -0.041197437793016434 + ], + "joints": [ + 0.013188664801418781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11638379096984863, + 0.021159078925848007, + 0.028407594189047813 + ], + "orientation": [ + 0.6183393001556396, + -0.48736804723739624, + -0.4866580367088318, + -0.3785405158996582 + ], + "joints": [ + 0.012393157929182053 + ] + }, + "fine_grasp": { + "position": [ + -0.11639192700386047, + 0.021656082943081856, + 0.028370197862386703 + ], + "orientation": [ + 0.6131667494773865, + -0.49443724751472473, + -0.48789069056510925, + -0.3761928081512451 + ], + "joints": [ + 0.018291708081960678 + ] + }, + "final_grasp": { + "position": [ + -0.11639192700386047, + 0.021656082943081856, + 0.028370197862386703 + ], + "orientation": [ + 0.6131667494773865, + -0.49443724751472473, + -0.48789069056510925, + -0.3761928081512451 + ], + "joints": [ + 0.024190258234739304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10265671461820602, + 0.2429940402507782, + 0.033132657408714294 + ], + "orientation": [ + 0.40696534514427185, + -0.6697655916213989, + -0.2197672724723816, + -0.5809437036514282 + ], + "joints": [ + 0.010324865579605103 + ] + }, + "fine_grasp": { + "position": [ + -0.09855702519416809, + 0.2407940924167633, + 0.03239242732524872 + ], + "orientation": [ + 0.4050719439983368, + -0.6703137755393982, + -0.23561778664588928, + -0.5753960013389587 + ], + "joints": [ + 0.015160605311393738 + ] + }, + "final_grasp": { + "position": [ + -0.09855702519416809, + 0.2407940924167633, + 0.03239242732524872 + ], + "orientation": [ + 0.4050719439983368, + -0.6703137755393982, + -0.23561778664588928, + -0.5753960013389587 + ], + "joints": [ + 0.019996345043182373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06330366432666779, + -0.06825106590986252, + -0.02439589612185955 + ], + "orientation": [ + 0.6293545961380005, + -0.1401403397321701, + 0.7217369079589844, + 0.2517326772212982 + ], + "joints": [ + 0.010485241189599037 + ] + }, + "fine_grasp": { + "position": [ + 0.061744753271341324, + -0.06595731526613235, + -0.02336905151605606 + ], + "orientation": [ + 0.6242688894271851, + -0.14190609753131866, + 0.726554811000824, + 0.24953807890415192 + ], + "joints": [ + 0.015878954902291298 + ] + }, + "final_grasp": { + "position": [ + 0.061744753271341324, + -0.06595731526613235, + -0.02336905151605606 + ], + "orientation": [ + 0.6242688894271851, + -0.14190609753131866, + 0.726554811000824, + 0.24953807890415192 + ], + "joints": [ + 0.02127266861498356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020156944170594215, + 0.21887260675430298, + -0.11152002215385437 + ], + "orientation": [ + 0.5129208564758301, + 0.8540643453598022, + -0.08193401247262955, + 0.02780514396727085 + ], + "joints": [ + 0.002701682271435857 + ] + }, + "fine_grasp": { + "position": [ + 0.0203261636197567, + 0.2185731828212738, + -0.10968171060085297 + ], + "orientation": [ + 0.5117921829223633, + 0.85519939661026, + -0.07286334037780762, + 0.03733415901660919 + ], + "joints": [ + 0.010672677308321 + ] + }, + "final_grasp": { + "position": [ + 0.0203261636197567, + 0.2185731828212738, + -0.10968171060085297 + ], + "orientation": [ + 0.5117921829223633, + 0.85519939661026, + -0.07286334037780762, + 0.03733415901660919 + ], + "joints": [ + 0.01864367164671421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05234985798597336, + -0.07357171922922134, + -0.026236642152071 + ], + "orientation": [ + 0.6934570074081421, + 0.22438858449459076, + -0.679502546787262, + 0.08392458409070969 + ], + "joints": [ + 0.010124662891030312 + ] + }, + "fine_grasp": { + "position": [ + 0.05302979797124863, + -0.07391668111085892, + -0.027022389695048332 + ], + "orientation": [ + 0.7003310322761536, + 0.2178037464618683, + -0.6752262711524963, + 0.07853307574987411 + ], + "joints": [ + 0.015465231612324715 + ] + }, + "final_grasp": { + "position": [ + 0.05302979797124863, + -0.07391668111085892, + -0.027022389695048332 + ], + "orientation": [ + 0.7003310322761536, + 0.2178037464618683, + -0.6752262711524963, + 0.07853307574987411 + ], + "joints": [ + 0.020805800333619118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1164524108171463, + 0.005201573017984629, + -0.013582061044871807 + ], + "orientation": [ + 0.6220628023147583, + 0.42350199818611145, + 0.5164039134979248, + -0.4086695611476898 + ], + "joints": [ + 0.01286131702363491 + ] + }, + "fine_grasp": { + "position": [ + -0.11338820308446884, + 0.00592344393953681, + -0.014078957960009575 + ], + "orientation": [ + 0.6336613893508911, + 0.4124041497707367, + 0.5054101943969727, + -0.41588062047958374 + ], + "joints": [ + 0.01822846755385399 + ] + }, + "final_grasp": { + "position": [ + -0.11338820308446884, + 0.00592344393953681, + -0.014078957960009575 + ], + "orientation": [ + 0.6336613893508911, + 0.4124041497707367, + 0.5054101943969727, + -0.41588062047958374 + ], + "joints": [ + 0.023595618084073067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06620287895202637, + -0.06688681989908218, + -0.01932448334991932 + ], + "orientation": [ + 0.6767282485961914, + -0.14187592267990112, + -0.679310142993927, + -0.24586163461208344 + ], + "joints": [ + 0.011059632524847984 + ] + }, + "fine_grasp": { + "position": [ + -0.06593874096870422, + -0.06635981053113937, + -0.020116910338401794 + ], + "orientation": [ + 0.6699718832969666, + -0.1395561248064041, + -0.6874720454216003, + -0.2429897040128708 + ], + "joints": [ + 0.016931604593992233 + ] + }, + "final_grasp": { + "position": [ + -0.06593874096870422, + -0.06635981053113937, + -0.020116910338401794 + ], + "orientation": [ + 0.6699718832969666, + -0.1395561248064041, + -0.6874720454216003, + -0.2429897040128708 + ], + "joints": [ + 0.022803576663136482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05504554882645607, + -0.07201819121837616, + -0.03070095367729664 + ], + "orientation": [ + 0.6307803988456726, + -0.09885341674089432, + -0.7302555441856384, + -0.243045374751091 + ], + "joints": [ + 0.010770166292786598 + ] + }, + "fine_grasp": { + "position": [ + -0.05475112423300743, + -0.07237131148576736, + -0.031416259706020355 + ], + "orientation": [ + 0.6288032531738281, + -0.09457483142614365, + -0.7343724370002747, + -0.23740096390247345 + ], + "joints": [ + 0.016642138361930847 + ] + }, + "final_grasp": { + "position": [ + -0.05475112423300743, + -0.07237131148576736, + -0.031416259706020355 + ], + "orientation": [ + 0.6288032531738281, + -0.09457483142614365, + -0.7343724370002747, + -0.23740096390247345 + ], + "joints": [ + 0.022514110431075096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11847963184118271, + 0.21094654500484467, + -0.027756767347455025 + ], + "orientation": [ + 0.4411509931087494, + 0.6463404893875122, + -0.4220966696739197, + 0.4576725959777832 + ], + "joints": [ + 0.009715503081679344 + ] + }, + "fine_grasp": { + "position": [ + 0.11429621279239655, + 0.21126839518547058, + -0.02630801312625408 + ], + "orientation": [ + 0.45457881689071655, + 0.6428506970405579, + -0.42440715432167053, + 0.44719088077545166 + ], + "joints": [ + 0.014577813446521759 + ] + }, + "final_grasp": { + "position": [ + 0.11429621279239655, + 0.21126839518547058, + -0.02630801312625408 + ], + "orientation": [ + 0.45457881689071655, + 0.6428506970405579, + -0.42440715432167053, + 0.44719088077545166 + ], + "joints": [ + 0.019440123811364174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11670330166816711, + 0.23492108285427094, + -0.011002522893249989 + ], + "orientation": [ + 0.39534080028533936, + -0.5254727005958557, + -0.3443939983844757, + -0.670057475566864 + ], + "joints": [ + 0.01064586266875267 + ] + }, + "fine_grasp": { + "position": [ + -0.11164633184671402, + 0.23401737213134766, + -0.010082265362143517 + ], + "orientation": [ + 0.40120887756347656, + -0.5156165361404419, + -0.3590315878391266, + -0.6665338277816772 + ], + "joints": [ + 0.014950202777981758 + ] + }, + "final_grasp": { + "position": [ + -0.11164633184671402, + 0.23401737213134766, + -0.010082265362143517 + ], + "orientation": [ + 0.40120887756347656, + -0.5156165361404419, + -0.3590315878391266, + -0.6665338277816772 + ], + "joints": [ + 0.019254542887210846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01828448846936226, + 0.23715940117835999, + -0.10608718544244766 + ], + "orientation": [ + 0.0668138712644577, + -0.03766867518424988, + -0.4485328793525696, + -0.8904691338539124 + ], + "joints": [ + 0.00253999512642622 + ] + }, + "fine_grasp": { + "position": [ + -0.018350472673773766, + 0.23851728439331055, + -0.10794822871685028 + ], + "orientation": [ + 0.06151526793837547, + -0.051202863454818726, + -0.4573308527469635, + -0.8856877088546753 + ], + "joints": [ + 0.010006160475313663 + ] + }, + "final_grasp": { + "position": [ + -0.018350472673773766, + 0.23851728439331055, + -0.10794822871685028 + ], + "orientation": [ + 0.06151526793837547, + -0.051202863454818726, + -0.4573308527469635, + -0.8856877088546753 + ], + "joints": [ + 0.01747232675552368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01909983716905117, + 0.23892594873905182, + -0.10772208869457245 + ], + "orientation": [ + 0.06434151530265808, + -0.047510936856269836, + -0.4602237939834595, + -0.8841927647590637 + ], + "joints": [ + 0.002545510418713093 + ] + }, + "fine_grasp": { + "position": [ + -0.019057419151067734, + 0.24049387872219086, + -0.10848400741815567 + ], + "orientation": [ + 0.0614066906273365, + -0.0568060502409935, + -0.4778132736682892, + -0.8744693994522095 + ], + "joints": [ + 0.009985105134546757 + ] + }, + "final_grasp": { + "position": [ + -0.019057419151067734, + 0.24049387872219086, + -0.10848400741815567 + ], + "orientation": [ + 0.0614066906273365, + -0.0568060502409935, + -0.4778132736682892, + -0.8744693994522095 + ], + "joints": [ + 0.017424698919057846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12745508551597595, + 0.2180023193359375, + -0.011712639592587948 + ], + "orientation": [ + 0.4236990213394165, + -0.5261850357055664, + 0.41982847452163696, + 0.6060960292816162 + ], + "joints": [ + 0.010500000789761543 + ] + }, + "fine_grasp": { + "position": [ + 0.12265478074550629, + 0.21813488006591797, + -0.010865321382880211 + ], + "orientation": [ + 0.42957255244255066, + -0.518878161907196, + 0.4305966794490814, + 0.600682258605957 + ], + "joints": [ + 0.01530916802585125 + ] + }, + "final_grasp": { + "position": [ + 0.12265478074550629, + 0.21813488006591797, + -0.010865321382880211 + ], + "orientation": [ + 0.42957255244255066, + -0.518878161907196, + 0.4305966794490814, + 0.600682258605957 + ], + "joints": [ + 0.020118335261940956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12749381363391876, + 0.21899256110191345, + -0.01152657251805067 + ], + "orientation": [ + 0.4331536889076233, + -0.5138534903526306, + 0.4237305223941803, + 0.6072767972946167 + ], + "joints": [ + 0.009968183934688568 + ] + }, + "fine_grasp": { + "position": [ + 0.122623011469841, + 0.21938957273960114, + -0.010811387561261654 + ], + "orientation": [ + 0.44007763266563416, + -0.5054413676261902, + 0.4337216913700104, + 0.6022840738296509 + ], + "joints": [ + 0.015308750793337822 + ] + }, + "final_grasp": { + "position": [ + 0.122623011469841, + 0.21938957273960114, + -0.010811387561261654 + ], + "orientation": [ + 0.44007763266563416, + -0.5054413676261902, + 0.4337216913700104, + 0.6022840738296509 + ], + "joints": [ + 0.020649317651987076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022908270359039307, + 0.26996946334838867, + -0.0860198587179184 + ], + "orientation": [ + 0.07164773344993591, + -0.07482008635997772, + -0.37900984287261963, + -0.9195760488510132 + ], + "joints": [ + 0.0035982453264296055 + ] + }, + "fine_grasp": { + "position": [ + -0.02235155925154686, + 0.271883487701416, + -0.0876990333199501 + ], + "orientation": [ + 0.0731562152504921, + -0.07741076499223709, + -0.3888208270072937, + -0.9151361584663391 + ], + "joints": [ + 0.01050644088536501 + ] + }, + "final_grasp": { + "position": [ + -0.02235155925154686, + 0.271883487701416, + -0.0876990333199501 + ], + "orientation": [ + 0.0731562152504921, + -0.07741076499223709, + -0.3888208270072937, + -0.9151361584663391 + ], + "joints": [ + 0.0174146369099617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015690792351961136, + -0.02660897746682167, + 0.10978556424379349 + ], + "orientation": [ + 0.8394848108291626, + -0.5308888554573059, + -0.11583423614501953, + 0.002152032917365432 + ], + "joints": [ + 0.005903678480535746 + ] + }, + "fine_grasp": { + "position": [ + -0.01437216717749834, + -0.02513919584453106, + 0.10771427303552628 + ], + "orientation": [ + 0.8322235941886902, + -0.5372577905654907, + -0.1358640491962433, + 0.017287302762269974 + ], + "joints": [ + 0.010792558081448078 + ] + }, + "final_grasp": { + "position": [ + -0.01437216717749834, + -0.02513919584453106, + 0.10771427303552628 + ], + "orientation": [ + 0.8322235941886902, + -0.5372577905654907, + -0.1358640491962433, + 0.017287302762269974 + ], + "joints": [ + 0.015681438148021698 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2018, + "num_passed": 107 + } +} \ No newline at end of file diff --git a/033_fork_0/Annotation/piper_grasp_pose.json b/033_fork_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..35832f374e01919e527a8f10c8db4ab276832c33 --- /dev/null +++ b/033_fork_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,2968 @@ +{ + "type": "033_fork_0", + "bottom_center": [ + 0.0, + 0.1093999594449997, + -0.00930397491902113 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0037195971235632896, + 0.07882089167833328, + 0.10273997485637665 + ], + "orientation": [ + 0.062403082847595215, + -0.701450526714325, + 0.7045392990112305, + 0.08773475885391235 + ], + "joints": [ + 0.011722818948328495 + ] + }, + "fine_grasp": { + "position": [ + 0.0034593227319419384, + 0.07488437741994858, + 0.10163911432027817 + ], + "orientation": [ + 0.07700240612030029, + -0.6997265219688416, + 0.70306795835495, + 0.10074136406183243 + ], + "joints": [ + 0.0033637152519077063 + ] + }, + "final_grasp": { + "position": [ + 0.0034593227319419384, + 0.07488437741994858, + 0.10163911432027817 + ], + "orientation": [ + 0.07700240612030029, + -0.6997265219688416, + 0.70306795835495, + 0.10074136406183243 + ], + "joints": [ + -0.0049953884445130825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003573003225028515, + 0.07977986335754395, + 0.10211291164159775 + ], + "orientation": [ + 0.06147950887680054, + -0.7017632722854614, + 0.7044728994369507, + 0.08640947937965393 + ], + "joints": [ + 0.011725225485861301 + ] + }, + "fine_grasp": { + "position": [ + 0.0031211143359541893, + 0.07578834146261215, + 0.1013883724808693 + ], + "orientation": [ + 0.07693621516227722, + -0.6993885636329651, + 0.7036927938461304, + 0.09875640273094177 + ], + "joints": [ + 0.0033661217894405127 + ] + }, + "final_grasp": { + "position": [ + 0.0031211143359541893, + 0.07578834146261215, + 0.1013883724808693 + ], + "orientation": [ + 0.07693621516227722, + -0.6993885636329651, + 0.7036927938461304, + 0.09875640273094177 + ], + "joints": [ + -0.004992981906980276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008781293290667236, + 0.09292121231555939, + 0.10457208007574081 + ], + "orientation": [ + 0.03512730076909065, + -0.7072488069534302, + 0.7054696083068848, + 0.02962733618915081 + ], + "joints": [ + 0.011965930461883545 + ] + }, + "fine_grasp": { + "position": [ + -0.0008711394621059299, + 0.08900229632854462, + 0.10404417663812637 + ], + "orientation": [ + 0.048448942601680756, + -0.7069242596626282, + 0.7043485045433044, + 0.042474620044231415 + ], + "joints": [ + 0.003585929051041603 + ] + }, + "final_grasp": { + "position": [ + -0.0008711394621059299, + 0.08900229632854462, + 0.10404417663812637 + ], + "orientation": [ + 0.048448942601680756, + -0.7069242596626282, + 0.7043485045433044, + 0.042474620044231415 + ], + "joints": [ + -0.004794072359800339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00489727733656764, + -0.09234865009784698, + 0.03772512450814247 + ], + "orientation": [ + 0.43354853987693787, + -0.61192387342453, + -0.5544729232788086, + -0.36075568199157715 + ], + "joints": [ + 0.019458387047052383 + ] + }, + "fine_grasp": { + "position": [ + 0.004428921267390251, + -0.08883019536733627, + 0.035768769681453705 + ], + "orientation": [ + 0.43072378635406494, + -0.6089610457420349, + -0.5591698288917542, + -0.3619014322757721 + ], + "joints": [ + 0.011078383773565292 + ] + }, + "final_grasp": { + "position": [ + 0.004428921267390251, + -0.08883019536733627, + 0.035768769681453705 + ], + "orientation": [ + 0.43072378635406494, + -0.6089610457420349, + -0.5591698288917542, + -0.3619014322757721 + ], + "joints": [ + 0.0026983805000782013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025154441595077515, + 0.10680609196424484, + 0.10695554316043854 + ], + "orientation": [ + 0.0886678695678711, + 0.7072315216064453, + 0.6973465085029602, + 0.07529661059379578 + ], + "joints": [ + 0.011221100576221943 + ] + }, + "fine_grasp": { + "position": [ + -0.024488570168614388, + 0.10617148876190186, + 0.1035957857966423 + ], + "orientation": [ + 0.08720585703849792, + 0.7093102335929871, + 0.6953040361404419, + 0.07633183151483536 + ], + "joints": [ + 0.0036770093720406294 + ] + }, + "final_grasp": { + "position": [ + -0.024488570168614388, + 0.10617148876190186, + 0.1035957857966423 + ], + "orientation": [ + 0.08720585703849792, + 0.7093102335929871, + 0.6953040361404419, + 0.07633183151483536 + ], + "joints": [ + -0.003867081832140684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03174547478556633, + 0.07671849429607391, + 0.11436201632022858 + ], + "orientation": [ + 0.047324229031801224, + 0.6312137842178345, + 0.7589099407196045, + 0.15292219817638397 + ], + "joints": [ + 0.011423771269619465 + ] + }, + "fine_grasp": { + "position": [ + -0.03061395324766636, + 0.07718861848115921, + 0.11033832281827927 + ], + "orientation": [ + 0.05162385478615761, + 0.6190703511238098, + 0.7690573930740356, + 0.1504581868648529 + ], + "joints": [ + 0.003482622792944312 + ] + }, + "final_grasp": { + "position": [ + -0.03061395324766636, + 0.07718861848115921, + 0.11033832281827927 + ], + "orientation": [ + 0.05162385478615761, + 0.6190703511238098, + 0.7690573930740356, + 0.1504581868648529 + ], + "joints": [ + -0.004458525683730841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07543306797742844, + -0.07469402253627777, + -0.003203272819519043 + ], + "orientation": [ + 0.6820750832557678, + -0.6542433500289917, + 0.2645651698112488, + -0.1916881501674652 + ], + "joints": [ + 0.012181372381746769 + ] + }, + "fine_grasp": { + "position": [ + -0.07297685742378235, + -0.07249008119106293, + -0.00348279089666903 + ], + "orientation": [ + 0.6791192889213562, + -0.6561949849128723, + 0.26392483711242676, + -0.19633866846561432 + ], + "joints": [ + 0.003404313465580344 + ] + }, + "final_grasp": { + "position": [ + -0.07297685742378235, + -0.07249008119106293, + -0.00348279089666903 + ], + "orientation": [ + 0.6791192889213562, + -0.6561949849128723, + 0.26392483711242676, + -0.19633866846561432 + ], + "joints": [ + -0.0053727454505860806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007940300274640322, + 0.09230697900056839, + 0.10713009536266327 + ], + "orientation": [ + 0.03811608627438545, + -0.7157097458839417, + 0.6965917348861694, + 0.03266041353344917 + ], + "joints": [ + 0.011667373590171337 + ] + }, + "fine_grasp": { + "position": [ + -0.0021858648397028446, + 0.0900392085313797, + 0.10494343191385269 + ], + "orientation": [ + 0.049657635390758514, + -0.719411313533783, + 0.691864013671875, + 0.03613327071070671 + ], + "joints": [ + 0.0033082698937505484 + ] + }, + "final_grasp": { + "position": [ + -0.0021858648397028446, + 0.0900392085313797, + 0.10494343191385269 + ], + "orientation": [ + 0.049657635390758514, + -0.719411313533783, + 0.691864013671875, + 0.03613327071070671 + ], + "joints": [ + -0.00505083380267024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038903433829545975, + -0.08121193945407867, + 0.004933554213494062 + ], + "orientation": [ + 0.06297329813241959, + 0.14343968033790588, + 0.715307891368866, + 0.6810243725776672 + ], + "joints": [ + 0.01373124960809946 + ] + }, + "fine_grasp": { + "position": [ + -0.03761743754148483, + -0.08005116879940033, + 0.00499179819598794 + ], + "orientation": [ + 0.06177327781915665, + 0.14293000102043152, + 0.7155255675315857, + 0.6810126304626465 + ], + "joints": [ + 0.004118279553949833 + ] + }, + "final_grasp": { + "position": [ + -0.03761743754148483, + -0.08005116879940033, + 0.00499179819598794 + ], + "orientation": [ + 0.06177327781915665, + 0.14293000102043152, + 0.7155255675315857, + 0.6810126304626465 + ], + "joints": [ + -0.005494690500199795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10911637544631958, + -0.036951225250959396, + 0.010356936603784561 + ], + "orientation": [ + 0.29704269766807556, + 0.40838930010795593, + -0.6188418865203857, + -0.6016796827316284 + ], + "joints": [ + 0.011728230863809586 + ] + }, + "fine_grasp": { + "position": [ + 0.10526049137115479, + -0.035627227276563644, + 0.009688750840723515 + ], + "orientation": [ + 0.2996090054512024, + 0.41169872879981995, + -0.619329035282135, + -0.5976372361183167 + ], + "joints": [ + 0.003369127167388797 + ] + }, + "final_grasp": { + "position": [ + 0.10526049137115479, + -0.035627227276563644, + 0.009688750840723515 + ], + "orientation": [ + 0.2996090054512024, + 0.41169872879981995, + -0.619329035282135, + -0.5976372361183167 + ], + "joints": [ + -0.004989976529031992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -2.0333207430667244e-05, + 0.09243196249008179, + 0.10654999315738678 + ], + "orientation": [ + 0.0330808088183403, + -0.7206102609634399, + 0.6918169856071472, + 0.031872764229774475 + ], + "joints": [ + 0.01163504458963871 + ] + }, + "fine_grasp": { + "position": [ + 7.023097714409232e-05, + 0.08974354714155197, + 0.10447083413600922 + ], + "orientation": [ + 0.04269718378782272, + -0.7268356084823608, + 0.6842746734619141, + 0.04068344831466675 + ], + "joints": [ + 0.003672998398542404 + ] + }, + "final_grasp": { + "position": [ + 7.023097714409232e-05, + 0.08974354714155197, + 0.10447083413600922 + ], + "orientation": [ + 0.04269718378782272, + -0.7268356084823608, + 0.6842746734619141, + 0.04068344831466675 + ], + "joints": [ + -0.004289047792553902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10752213001251221, + -0.03548258915543556, + 0.010192371904850006 + ], + "orientation": [ + 0.2951834499835968, + 0.399730384349823, + -0.6217974424362183, + -0.6053512692451477 + ], + "joints": [ + 0.01136977132409811 + ] + }, + "fine_grasp": { + "position": [ + 0.10362422466278076, + -0.03421869874000549, + 0.009420612826943398 + ], + "orientation": [ + 0.29681265354156494, + 0.4028826951980591, + -0.623304545879364, + -0.6008986234664917 + ], + "joints": [ + 0.003407725365832448 + ] + }, + "final_grasp": { + "position": [ + 0.10362422466278076, + -0.03421869874000549, + 0.009420612826943398 + ], + "orientation": [ + 0.29681265354156494, + 0.4028826951980591, + -0.623304545879364, + -0.6008986234664917 + ], + "joints": [ + -0.004554320592433214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01084773801267147, + 0.11308082938194275, + 0.10660140961408615 + ], + "orientation": [ + 0.006382073741406202, + 0.6288700699806213, + 0.7724729776382446, + -0.08813167363405228 + ], + "joints": [ + 0.011719985865056515 + ] + }, + "fine_grasp": { + "position": [ + 0.010843368247151375, + 0.11529896408319473, + 0.1041201800107956 + ], + "orientation": [ + 0.01035336684435606, + 0.6051522493362427, + 0.789922297000885, + -0.09851963073015213 + ], + "joints": [ + 0.003360882168635726 + ] + }, + "final_grasp": { + "position": [ + 0.010843368247151375, + 0.11529896408319473, + 0.1041201800107956 + ], + "orientation": [ + 0.01035336684435606, + 0.6051522493362427, + 0.789922297000885, + -0.09851963073015213 + ], + "joints": [ + -0.004998221527785063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11544592678546906, + 0.0023642168380320072, + -0.0025014597922563553 + ], + "orientation": [ + 0.46554678678512573, + 0.5226888060569763, + -0.48555392026901245, + -0.5237365365028381 + ], + "joints": [ + 0.011270995251834393 + ] + }, + "fine_grasp": { + "position": [ + 0.11132169514894485, + 0.0031085095833986998, + -0.002286358503624797 + ], + "orientation": [ + 0.46722277998924255, + 0.5190606713294983, + -0.49027445912361145, + -0.5214498043060303 + ], + "joints": [ + 0.0033298467751592398 + ] + }, + "final_grasp": { + "position": [ + 0.11132169514894485, + 0.0031085095833986998, + -0.002286358503624797 + ], + "orientation": [ + 0.46722277998924255, + 0.5190606713294983, + -0.49027445912361145, + -0.5214498043060303 + ], + "joints": [ + -0.004611301701515913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11422207951545715, + -0.04324784874916077, + 9.64114151429385e-05 + ], + "orientation": [ + 0.332347571849823, + 0.4098469913005829, + 0.5876494646072388, + 0.6133829951286316 + ], + "joints": [ + 0.011074678041040897 + ] + }, + "fine_grasp": { + "position": [ + -0.11040989309549332, + -0.04149002209305763, + -0.00022999699285719544 + ], + "orientation": [ + 0.3321003019809723, + 0.41100966930389404, + 0.5890293717384338, + 0.6114121675491333 + ], + "joints": [ + 0.0035305870696902275 + ] + }, + "final_grasp": { + "position": [ + -0.11040989309549332, + -0.04149002209305763, + -0.00022999699285719544 + ], + "orientation": [ + 0.3321003019809723, + 0.41100966930389404, + 0.5890293717384338, + 0.6114121675491333 + ], + "joints": [ + -0.004013503901660442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08077290654182434, + 0.2837550938129425, + -0.0013863275526091456 + ], + "orientation": [ + 0.3393758237361908, + -0.13642433285713196, + -0.6901054978370667, + 0.6244733333587646 + ], + "joints": [ + 0.012674740515649319 + ] + }, + "fine_grasp": { + "position": [ + 0.07784902304410934, + 0.28201305866241455, + -0.0005656298017129302 + ], + "orientation": [ + 0.3408033847808838, + -0.13998310267925262, + -0.6896798014640808, + 0.6233776211738586 + ], + "joints": [ + 0.0038976811338216066 + ] + }, + "final_grasp": { + "position": [ + 0.07784902304410934, + 0.28201305866241455, + -0.0005656298017129302 + ], + "orientation": [ + 0.3408033847808838, + -0.13998310267925262, + -0.6896798014640808, + 0.6233776211738586 + ], + "joints": [ + -0.004879378248006105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11422841995954514, + 0.07103382050991058, + 0.013162290677428246 + ], + "orientation": [ + 0.3482511639595032, + 0.5359438061714172, + 0.5642925500869751, + 0.5225507616996765 + ], + "joints": [ + 0.020041607320308685 + ] + }, + "fine_grasp": { + "position": [ + -0.11187746375799179, + 0.07105325907468796, + 0.014674192294478416 + ], + "orientation": [ + 0.3566114604473114, + 0.5305812954902649, + 0.5550618767738342, + 0.5321823358535767 + ], + "joints": [ + 0.003636871464550495 + ] + }, + "final_grasp": { + "position": [ + -0.11187746375799179, + 0.07105325907468796, + 0.014674192294478416 + ], + "orientation": [ + 0.3566114604473114, + 0.5305812954902649, + 0.5550618767738342, + 0.5321823358535767 + ], + "joints": [ + -0.012767864391207695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010458179749548435, + 0.10838882625102997, + -0.11546000093221664 + ], + "orientation": [ + 0.6797444820404053, + 0.009105728939175606, + -0.07565516978502274, + 0.729479968547821 + ], + "joints": [ + 0.010534248314797878 + ] + }, + "fine_grasp": { + "position": [ + 0.010050533339381218, + 0.1080903559923172, + -0.11111558973789215 + ], + "orientation": [ + 0.6793655753135681, + 0.008912780322134495, + -0.07559069991111755, + 0.7298417687416077 + ], + "joints": [ + 0.0034290102776139975 + ] + }, + "final_grasp": { + "position": [ + 0.010050533339381218, + 0.1080903559923172, + -0.11111558973789215 + ], + "orientation": [ + 0.6793655753135681, + 0.008912780322134495, + -0.07559069991111755, + 0.7298417687416077 + ], + "joints": [ + -0.0036762277595698833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014054247178137302, + 0.07104604691267014, + 0.1200822964310646 + ], + "orientation": [ + 0.048871807754039764, + -0.707888126373291, + 0.7037522792816162, + -0.03519622981548309 + ], + "joints": [ + 0.012823971919715405 + ] + }, + "fine_grasp": { + "position": [ + -0.013524794951081276, + 0.0710984393954277, + 0.11602134257555008 + ], + "orientation": [ + 0.04505595564842224, + -0.7216932773590088, + 0.689651370048523, + -0.03885442391037941 + ], + "joints": [ + 0.004046912305057049 + ] + }, + "final_grasp": { + "position": [ + -0.013524794951081276, + 0.0710984393954277, + 0.11602134257555008 + ], + "orientation": [ + 0.04505595564842224, + -0.7216932773590088, + 0.689651370048523, + -0.03885442391037941 + ], + "joints": [ + -0.004730147309601307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00995719339698553, + 0.1079673245549202, + -0.11420869827270508 + ], + "orientation": [ + 0.6785046458244324, + 0.011374748311936855, + -0.07605060189962387, + 0.730560302734375 + ], + "joints": [ + 0.009943502955138683 + ] + }, + "fine_grasp": { + "position": [ + 0.009557029232382774, + 0.10765984654426575, + -0.10982125997543335 + ], + "orientation": [ + 0.6778841614723206, + 0.011383505538105965, + -0.07635191828012466, + 0.7311046719551086 + ], + "joints": [ + 0.0036532776430249214 + ] + }, + "final_grasp": { + "position": [ + 0.009557029232382774, + 0.10765984654426575, + -0.10982125997543335 + ], + "orientation": [ + 0.6778841614723206, + 0.011383505538105965, + -0.07635191828012466, + 0.7311046719551086 + ], + "joints": [ + -0.0026369476690888405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1075754463672638, + 0.11419225484132767, + -0.0036701199132949114 + ], + "orientation": [ + 0.5101305842399597, + 0.5425311923027039, + 0.4290253818035126, + 0.5112375617027283 + ], + "joints": [ + 0.011535990983247757 + ] + }, + "fine_grasp": { + "position": [ + -0.10489559918642044, + 0.11462114006280899, + -0.0029508713632822037 + ], + "orientation": [ + 0.5074212551116943, + 0.5474490523338318, + 0.4253460764884949, + 0.5117655396461487 + ], + "joints": [ + 0.003573944792151451 + ] + }, + "final_grasp": { + "position": [ + -0.10489559918642044, + 0.11462114006280899, + -0.0029508713632822037 + ], + "orientation": [ + 0.5074212551116943, + 0.5474490523338318, + 0.4253460764884949, + 0.5117655396461487 + ], + "joints": [ + -0.004388101398944855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010215885005891323, + 0.10822786390781403, + -0.11526764184236526 + ], + "orientation": [ + 0.676958441734314, + 0.011153328232467175, + -0.07690296322107315, + 0.7319076061248779 + ], + "joints": [ + 0.010483265854418278 + ] + }, + "fine_grasp": { + "position": [ + 0.009813101962208748, + 0.1079021617770195, + -0.11093269288539886 + ], + "orientation": [ + 0.6764788031578064, + 0.011073111556470394, + -0.07700423896312714, + 0.7323415279388428 + ], + "joints": [ + 0.003378027817234397 + ] + }, + "final_grasp": { + "position": [ + 0.009813101962208748, + 0.1079021617770195, + -0.11093269288539886 + ], + "orientation": [ + 0.6764788031578064, + 0.011073111556470394, + -0.07700423896312714, + 0.7323415279388428 + ], + "joints": [ + -0.003727210219949484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10752922296524048, + 0.11408533155918121, + -0.003812351729720831 + ], + "orientation": [ + 0.5099924206733704, + 0.5422636270523071, + 0.42815637588500977, + 0.5123865604400635 + ], + "joints": [ + 0.011201506480574608 + ] + }, + "fine_grasp": { + "position": [ + -0.10489749163389206, + 0.11448632180690765, + -0.003126266412436962 + ], + "orientation": [ + 0.5071620345115662, + 0.5473061800003052, + 0.42466074228286743, + 0.5127435326576233 + ], + "joints": [ + 0.003657415509223938 + ] + }, + "final_grasp": { + "position": [ + -0.10489749163389206, + 0.11448632180690765, + -0.003126266412436962 + ], + "orientation": [ + 0.5071620345115662, + 0.5473061800003052, + 0.42466074228286743, + 0.5127435326576233 + ], + "joints": [ + -0.003886675462126732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10633107274770737, + 0.11412908136844635, + -0.00398931372910738 + ], + "orientation": [ + 0.5066590905189514, + 0.5445873141288757, + 0.4248390197753906, + 0.515977680683136 + ], + "joints": [ + 0.011617647483944893 + ] + }, + "fine_grasp": { + "position": [ + -0.10466699302196503, + 0.11472119390964508, + -0.0034916310105472803 + ], + "orientation": [ + 0.5056598782539368, + 0.5484473705291748, + 0.42213043570518494, + 0.5150916576385498 + ], + "joints": [ + 0.003655601292848587 + ] + }, + "final_grasp": { + "position": [ + -0.10466699302196503, + 0.11472119390964508, + -0.0034916310105472803 + ], + "orientation": [ + 0.5056598782539368, + 0.5484473705291748, + 0.42213043570518494, + 0.5150916576385498 + ], + "joints": [ + -0.004306444898247719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00762304337695241, + 0.07774528115987778, + -0.11627808213233948 + ], + "orientation": [ + 0.7260308265686035, + -0.00011867014836752787, + 0.04650374874472618, + 0.6860878467559814 + ], + "joints": [ + 0.010765047743916512 + ] + }, + "fine_grasp": { + "position": [ + -0.0071441843174397945, + 0.07752173393964767, + -0.11200423538684845 + ], + "orientation": [ + 0.7264226078987122, + 0.0018645870732143521, + 0.04528423771262169, + 0.685752272605896 + ], + "joints": [ + 0.0036389119923114777 + ] + }, + "final_grasp": { + "position": [ + -0.0071441843174397945, + 0.07752173393964767, + -0.11200423538684845 + ], + "orientation": [ + 0.7264226078987122, + 0.0018645870732143521, + 0.04528423771262169, + 0.685752272605896 + ], + "joints": [ + -0.003487223759293556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012756132520735264, + 0.0546061173081398, + -0.13112851977348328 + ], + "orientation": [ + 0.6770891547203064, + 0.05819454416632652, + 0.03858211636543274, + 0.7325810790061951 + ], + "joints": [ + 0.019300630316138268 + ] + }, + "fine_grasp": { + "position": [ + -0.01326423417776823, + 0.05414954572916031, + -0.12752461433410645 + ], + "orientation": [ + 0.6773561835289001, + 0.05469432473182678, + 0.032298892736434937, + 0.7329080104827881 + ], + "joints": [ + 0.008454693481326103 + ] + }, + "final_grasp": { + "position": [ + -0.01326423417776823, + 0.05414954572916031, + -0.12752461433410645 + ], + "orientation": [ + 0.6773561835289001, + 0.05469432473182678, + 0.032298892736434937, + 0.7329080104827881 + ], + "joints": [ + -0.002391243353486061 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10855506360530853, + 0.08546531200408936, + -0.021009143441915512 + ], + "orientation": [ + 0.5177549719810486, + 0.4343918561935425, + 0.4615286886692047, + 0.5746518969535828 + ], + "joints": [ + 0.009945075027644634 + ] + }, + "fine_grasp": { + "position": [ + -0.10443079471588135, + 0.0852089375257492, + -0.01996799372136593 + ], + "orientation": [ + 0.5139024257659912, + 0.43802136182785034, + 0.46114468574523926, + 0.57566237449646 + ], + "joints": [ + 0.003633952233940363 + ] + }, + "final_grasp": { + "position": [ + -0.10443079471588135, + 0.0852089375257492, + -0.01996799372136593 + ], + "orientation": [ + 0.5139024257659912, + 0.43802136182785034, + 0.46114468574523926, + 0.57566237449646 + ], + "joints": [ + -0.0026771705597639084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001916037406772375, + -0.09406179934740067, + 0.06020299345254898 + ], + "orientation": [ + 0.3403661847114563, + -0.5368428230285645, + -0.6631689071655273, + -0.39516791701316833 + ], + "joints": [ + 0.019022762775421143 + ] + }, + "fine_grasp": { + "position": [ + 0.002151127438992262, + -0.09103135764598846, + 0.05757451429963112 + ], + "orientation": [ + 0.32625409960746765, + -0.546535313129425, + -0.6679621338844299, + -0.3855957090854645 + ], + "joints": [ + 0.010224804282188416 + ] + }, + "final_grasp": { + "position": [ + 0.002151127438992262, + -0.09103135764598846, + 0.05757451429963112 + ], + "orientation": [ + 0.32625409960746765, + -0.546535313129425, + -0.6679621338844299, + -0.3855957090854645 + ], + "joints": [ + 0.0014268457889556885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12299150228500366, + 0.05919257551431656, + 0.008168895728886127 + ], + "orientation": [ + 0.40864136815071106, + 0.5475333333015442, + -0.4823942184448242, + -0.5481927990913391 + ], + "joints": [ + 0.011821639724075794 + ] + }, + "fine_grasp": { + "position": [ + 0.11886578053236008, + 0.05915740132331848, + 0.007756360806524754 + ], + "orientation": [ + 0.40873393416404724, + 0.5500048398971558, + -0.48022329807281494, + -0.5475552678108215 + ], + "joints": [ + 0.0034625360276550055 + ] + }, + "final_grasp": { + "position": [ + 0.11886578053236008, + 0.05915740132331848, + 0.007756360806524754 + ], + "orientation": [ + 0.40873393416404724, + 0.5500048398971558, + -0.48022329807281494, + -0.5475552678108215 + ], + "joints": [ + -0.004896567668765783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1201123520731926, + 0.1461828649044037, + -0.009609523229300976 + ], + "orientation": [ + 0.5670113563537598, + 0.45494329929351807, + -0.5182529091835022, + -0.45048704743385315 + ], + "joints": [ + 0.011221755295991898 + ] + }, + "fine_grasp": { + "position": [ + 0.11597701162099838, + 0.14678695797920227, + -0.009638531133532524 + ], + "orientation": [ + 0.5652157664299011, + 0.4549357295036316, + -0.5181412696838379, + -0.452873170375824 + ], + "joints": [ + 0.003677664091810584 + ] + }, + "final_grasp": { + "position": [ + 0.11597701162099838, + 0.14678695797920227, + -0.009638531133532524 + ], + "orientation": [ + 0.5652157664299011, + 0.4549357295036316, + -0.5181412696838379, + -0.452873170375824 + ], + "joints": [ + -0.0038664271123707294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10988353937864304, + 0.10579867660999298, + 0.013447185046970844 + ], + "orientation": [ + 0.4675184488296509, + 0.47268539667129517, + 0.577836275100708, + 0.47339215874671936 + ], + "joints": [ + 0.011007018387317657 + ] + }, + "fine_grasp": { + "position": [ + -0.10566739737987518, + 0.10578920692205429, + 0.012970024719834328 + ], + "orientation": [ + 0.47088658809661865, + 0.46814650297164917, + 0.5825411081314087, + 0.4687756597995758 + ], + "joints": [ + 0.0034629276487976313 + ] + }, + "final_grasp": { + "position": [ + -0.10566739737987518, + 0.10578920692205429, + 0.012970024719834328 + ], + "orientation": [ + 0.47088658809661865, + 0.46814650297164917, + 0.5825411081314087, + 0.4687756597995758 + ], + "joints": [ + -0.004081163089722395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01015498023480177, + 0.057519376277923584, + -0.11216509342193604 + ], + "orientation": [ + 0.6783720850944519, + -0.09020302444696426, + 0.025543753057718277, + 0.7287126779556274 + ], + "joints": [ + 0.011071489192545414 + ] + }, + "fine_grasp": { + "position": [ + 0.009795044548809528, + 0.05732014402747154, + -0.10785230249166489 + ], + "orientation": [ + 0.6772996187210083, + -0.08728912472724915, + 0.02432074025273323, + 0.7301056981086731 + ], + "joints": [ + 0.003966250456869602 + ] + }, + "final_grasp": { + "position": [ + 0.009795044548809528, + 0.05732014402747154, + -0.10785230249166489 + ], + "orientation": [ + 0.6772996187210083, + -0.08728912472724915, + 0.02432074025273323, + 0.7301056981086731 + ], + "joints": [ + -0.0031389882788062096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11942314356565475, + 0.17018315196037292, + -0.03950539231300354 + ], + "orientation": [ + 0.44771018624305725, + -0.4213465750217438, + -0.4307687282562256, + 0.6606519222259521 + ], + "joints": [ + 0.011219918727874756 + ] + }, + "fine_grasp": { + "position": [ + 0.11542687565088272, + 0.1703466773033142, + -0.0381903275847435 + ], + "orientation": [ + 0.451202392578125, + -0.42418521642684937, + -0.425860196352005, + 0.6596410870552063 + ], + "joints": [ + 0.0036549302749335766 + ] + }, + "final_grasp": { + "position": [ + 0.11542687565088272, + 0.1703466773033142, + -0.0381903275847435 + ], + "orientation": [ + 0.451202392578125, + -0.42418521642684937, + -0.425860196352005, + 0.6596410870552063 + ], + "joints": [ + -0.003910058178007603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10798010975122452, + 0.14753486216068268, + -0.035494763404130936 + ], + "orientation": [ + 0.6061966419219971, + 0.3976178467273712, + -0.45511093735694885, + -0.5170104503631592 + ], + "joints": [ + 0.012706239707767963 + ] + }, + "fine_grasp": { + "position": [ + 0.10596076399087906, + 0.1494360715150833, + -0.03474096581339836 + ], + "orientation": [ + 0.6049487590789795, + 0.3984808623790741, + -0.4531265199184418, + -0.519544243812561 + ], + "joints": [ + 0.003511225339025259 + ] + }, + "final_grasp": { + "position": [ + 0.10596076399087906, + 0.1494360715150833, + -0.03474096581339836 + ], + "orientation": [ + 0.6049487590789795, + 0.3984808623790741, + -0.4531265199184418, + -0.519544243812561 + ], + "joints": [ + -0.005683789029717445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11740191280841827, + 0.051258280873298645, + -0.031471800059080124 + ], + "orientation": [ + 0.5577501654624939, + -0.44514328241348267, + -0.41655054688453674, + 0.563247561454773 + ], + "joints": [ + 0.011204950511455536 + ] + }, + "fine_grasp": { + "position": [ + 0.11346026510000229, + 0.0509808324277401, + -0.03011343814432621 + ], + "orientation": [ + 0.5583671927452087, + -0.4424925148487091, + -0.41547927260398865, + 0.5655116438865662 + ], + "joints": [ + 0.0036399620585143566 + ] + }, + "final_grasp": { + "position": [ + 0.11346026510000229, + 0.0509808324277401, + -0.03011343814432621 + ], + "orientation": [ + 0.5583671927452087, + -0.4424925148487091, + -0.41547927260398865, + 0.5655116438865662 + ], + "joints": [ + -0.003925026394426823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11851896345615387, + 0.05758693814277649, + -0.023601561784744263 + ], + "orientation": [ + 0.5637125968933105, + 0.430481493473053, + 0.466218501329422, + 0.5287288427352905 + ], + "joints": [ + 0.01140917744487524 + ] + }, + "fine_grasp": { + "position": [ + -0.11444253474473953, + 0.0573577843606472, + -0.022569164633750916 + ], + "orientation": [ + 0.5659061074256897, + 0.4294314384460449, + 0.46425241231918335, + 0.5289693474769592 + ], + "joints": [ + 0.003447131486609578 + ] + }, + "final_grasp": { + "position": [ + -0.11444253474473953, + 0.0573577843606472, + -0.022569164633750916 + ], + "orientation": [ + 0.5659061074256897, + 0.4294314384460449, + 0.46425241231918335, + 0.5289693474769592 + ], + "joints": [ + -0.004514914471656084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007867170497775078, + 0.04354773834347725, + -0.10654832422733307 + ], + "orientation": [ + 0.7271329164505005, + -0.08985505998134613, + 0.13269147276878357, + 0.6675304770469666 + ], + "joints": [ + 0.010905417613685131 + ] + }, + "fine_grasp": { + "position": [ + -0.007486739661544561, + 0.043316129595041275, + -0.10229167342185974 + ], + "orientation": [ + 0.7306047081947327, + -0.08902410417795181, + 0.1307642161846161, + 0.6642230153083801 + ], + "joints": [ + 0.0033822243567556143 + ] + }, + "final_grasp": { + "position": [ + -0.007486739661544561, + 0.043316129595041275, + -0.10229167342185974 + ], + "orientation": [ + 0.7306047081947327, + -0.08902410417795181, + 0.1307642161846161, + 0.6642230153083801 + ], + "joints": [ + -0.0041409689001739025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1044098362326622, + 0.15568985044956207, + -0.041689433157444 + ], + "orientation": [ + 0.6386035084724426, + 0.3862934112548828, + -0.43259021639823914, + -0.5057951211929321 + ], + "joints": [ + 0.013989247381687164 + ] + }, + "fine_grasp": { + "position": [ + 0.10304497182369232, + 0.15743961930274963, + -0.040756359696388245 + ], + "orientation": [ + 0.6396044492721558, + 0.38892224431037903, + -0.43023958802223206, + -0.5045192837715149 + ], + "joints": [ + 0.003540367353707552 + ] + }, + "final_grasp": { + "position": [ + 0.10304497182369232, + 0.15743961930274963, + -0.040756359696388245 + ], + "orientation": [ + 0.6396044492721558, + 0.38892224431037903, + -0.43023958802223206, + -0.5045192837715149 + ], + "joints": [ + -0.00690851267427206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13381130993366241, + 0.026700695976614952, + -0.015837321057915688 + ], + "orientation": [ + 0.5751879811286926, + -0.4040696322917938, + -0.531109631061554, + 0.4730847179889679 + ], + "joints": [ + 0.011338490061461926 + ] + }, + "fine_grasp": { + "position": [ + 0.12962134182453156, + 0.02640986442565918, + -0.015530817210674286 + ], + "orientation": [ + 0.5744651556015015, + -0.403674453496933, + -0.5322512984275818, + 0.47301724553108215 + ], + "joints": [ + 0.0033764441031962633 + ] + }, + "final_grasp": { + "position": [ + 0.12962134182453156, + 0.02640986442565918, + -0.015530817210674286 + ], + "orientation": [ + 0.5744651556015015, + -0.403674453496933, + -0.5322512984275818, + 0.47301724553108215 + ], + "joints": [ + -0.004585601855069399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12257765233516693, + 0.05840608850121498, + -0.023642921820282936 + ], + "orientation": [ + 0.5992905497550964, + 0.44901955127716064, + -0.4525446593761444, + -0.48418548703193665 + ], + "joints": [ + 0.01163034699857235 + ] + }, + "fine_grasp": { + "position": [ + 0.11857634782791138, + 0.05784452706575394, + -0.02271442860364914 + ], + "orientation": [ + 0.600935161113739, + 0.4481140375137329, + -0.45158451795578003, + -0.4838823676109314 + ], + "joints": [ + 0.0036683008074760437 + ] + }, + "final_grasp": { + "position": [ + 0.11857634782791138, + 0.05784452706575394, + -0.02271442860364914 + ], + "orientation": [ + 0.600935161113739, + 0.4481140375137329, + -0.45158451795578003, + -0.4838823676109314 + ], + "joints": [ + -0.004293745383620262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005080650094896555, + -0.012712699361145496, + -0.1088067963719368 + ], + "orientation": [ + 0.7320013046264648, + -0.11749939620494843, + -0.1387728750705719, + -0.6565896272659302 + ], + "joints": [ + 0.01673344150185585 + ] + }, + "fine_grasp": { + "position": [ + 0.004954154137521982, + -0.013058163225650787, + -0.1044677123427391 + ], + "orientation": [ + 0.7360013723373413, + -0.11444537341594696, + -0.13511942327022552, + -0.653411865234375 + ], + "joints": [ + 0.009628202766180038 + ] + }, + "final_grasp": { + "position": [ + 0.004954154137521982, + -0.013058163225650787, + -0.1044677123427391 + ], + "orientation": [ + 0.7360013723373413, + -0.11444537341594696, + -0.13511942327022552, + -0.653411865234375 + ], + "joints": [ + 0.0025229640305042267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11731651425361633, + -0.002751006744801998, + 0.008772457018494606 + ], + "orientation": [ + 0.5996459722518921, + -0.5094137787818909, + -0.5288622379302979, + 0.3181619942188263 + ], + "joints": [ + 0.011518677696585655 + ] + }, + "fine_grasp": { + "position": [ + 0.11321310698986053, + -0.0022373858373612165, + 0.008236155845224857 + ], + "orientation": [ + 0.5992619395256042, + -0.5086618065834045, + -0.5314551591873169, + 0.3157590925693512 + ], + "joints": [ + 0.0035566315054893494 + ] + }, + "final_grasp": { + "position": [ + 0.11321310698986053, + -0.0022373858373612165, + 0.008236155845224857 + ], + "orientation": [ + 0.5992619395256042, + -0.5086618065834045, + -0.5314551591873169, + 0.3157590925693512 + ], + "joints": [ + -0.0044054146856069565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1214333176612854, + 0.017135854810476303, + -0.005289384163916111 + ], + "orientation": [ + 0.5002395510673523, + 0.4404473304748535, + 0.536257803440094, + 0.5178746581077576 + ], + "joints": [ + 0.01123486366122961 + ] + }, + "fine_grasp": { + "position": [ + -0.11722316592931747, + 0.01706036739051342, + -0.0051820240914821625 + ], + "orientation": [ + 0.5031507611274719, + 0.44148996472358704, + 0.536197304725647, + 0.5142161250114441 + ], + "joints": [ + 0.003690772457048297 + ] + }, + "final_grasp": { + "position": [ + -0.11722316592931747, + 0.01706036739051342, + -0.0051820240914821625 + ], + "orientation": [ + 0.5031507611274719, + 0.44148996472358704, + 0.536197304725647, + 0.5142161250114441 + ], + "joints": [ + -0.0038533187471330166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0071808407083153725, + 0.1738031804561615, + -0.1110512986779213 + ], + "orientation": [ + 0.7807610034942627, + 0.0965067520737648, + 0.04117946699261665, + -0.6159570813179016 + ], + "joints": [ + 0.022352857515215874 + ] + }, + "fine_grasp": { + "position": [ + 0.006325480993837118, + 0.17522354423999786, + -0.10999134927988052 + ], + "orientation": [ + 0.7814849019050598, + 0.09382026642560959, + 0.03973397985100746, + -0.6155486702919006 + ], + "joints": [ + 0.013575797900557518 + ] + }, + "final_grasp": { + "position": [ + 0.006325480993837118, + 0.17522354423999786, + -0.10999134927988052 + ], + "orientation": [ + 0.7814849019050598, + 0.09382026642560959, + 0.03973397985100746, + -0.6155486702919006 + ], + "joints": [ + 0.004798738285899162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09061277657747269, + -0.05897774547338486, + -0.01866799220442772 + ], + "orientation": [ + 0.3967910408973694, + 0.1772269606590271, + -0.6334463357925415, + -0.6402290463447571 + ], + "joints": [ + 0.013061489909887314 + ] + }, + "fine_grasp": { + "position": [ + 0.0870465636253357, + -0.05711783096194267, + -0.017969001084566116 + ], + "orientation": [ + 0.40757593512535095, + 0.17274847626686096, + -0.6350377798080444, + -0.6330614686012268 + ], + "joints": [ + 0.004284430295228958 + ] + }, + "final_grasp": { + "position": [ + 0.0870465636253357, + -0.05711783096194267, + -0.017969001084566116 + ], + "orientation": [ + 0.40757593512535095, + 0.17274847626686096, + -0.6350377798080444, + -0.6330614686012268 + ], + "joints": [ + -0.004492629319429398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0330536924302578, + -0.08211151510477066, + -0.015717532485723495 + ], + "orientation": [ + 0.034436408430337906, + 0.1566268652677536, + -0.6441593766212463, + -0.7478910088539124 + ], + "joints": [ + 0.01333041675388813 + ] + }, + "fine_grasp": { + "position": [ + 0.0318230502307415, + -0.08148527145385742, + -0.01634429767727852 + ], + "orientation": [ + 0.025769826024770737, + 0.15878097712993622, + -0.6407572627067566, + -0.7507027983665466 + ], + "joints": [ + 0.003717446932569146 + ] + }, + "final_grasp": { + "position": [ + 0.0318230502307415, + -0.08148527145385742, + -0.01634429767727852 + ], + "orientation": [ + 0.025769826024770737, + 0.15878097712993622, + -0.6407572627067566, + -0.7507027983665466 + ], + "joints": [ + -0.005895522888749838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028908155858516693, + -0.08785713464021683, + 0.006035289261490107 + ], + "orientation": [ + 0.6707829833030701, + -0.7323549389839172, + 0.01815127208828926, + -0.11565849184989929 + ], + "joints": [ + 0.013836652040481567 + ] + }, + "fine_grasp": { + "position": [ + -0.027957135811448097, + -0.08616970479488373, + 0.005719285923987627 + ], + "orientation": [ + 0.6700141429901123, + -0.7321621179580688, + 0.013733205385506153, + -0.12178352475166321 + ], + "joints": [ + 0.004244579933583736 + ] + }, + "final_grasp": { + "position": [ + -0.027957135811448097, + -0.08616970479488373, + 0.005719285923987627 + ], + "orientation": [ + 0.6700141429901123, + -0.7321621179580688, + 0.013733205385506153, + -0.12178352475166321 + ], + "joints": [ + -0.0053474921733140945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028062565252184868, + -0.0874098464846611, + 0.005201767664402723 + ], + "orientation": [ + 0.6715577840805054, + -0.72954261302948, + 0.024621568620204926, + -0.12716694176197052 + ], + "joints": [ + 0.013763823546469212 + ] + }, + "fine_grasp": { + "position": [ + -0.027697939425706863, + -0.08573824912309647, + 0.0046162656508386135 + ], + "orientation": [ + 0.6701450943946838, + -0.7296827435493469, + 0.01714075356721878, + -0.13481412827968597 + ], + "joints": [ + 0.00456880871206522 + ] + }, + "final_grasp": { + "position": [ + -0.027697939425706863, + -0.08573824912309647, + 0.0046162656508386135 + ], + "orientation": [ + 0.6701450943946838, + -0.7296827435493469, + 0.01714075356721878, + -0.13481412827968597 + ], + "joints": [ + -0.004626206122338772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1348298192024231, + 0.10986902564764023, + 0.00938165932893753 + ], + "orientation": [ + 0.43810707330703735, + -0.6452546119689941, + 0.4096715450286865, + -0.4731573462486267 + ], + "joints": [ + 0.01638304442167282 + ] + }, + "fine_grasp": { + "position": [ + -0.1315648853778839, + 0.11048437654972076, + 0.00981462374329567 + ], + "orientation": [ + 0.44189316034317017, + -0.6393458843231201, + 0.40672099590301514, + -0.4801514446735382 + ], + "joints": [ + 0.003551820293068886 + ] + }, + "final_grasp": { + "position": [ + -0.1315648853778839, + 0.11048437654972076, + 0.00981462374329567 + ], + "orientation": [ + 0.44189316034317017, + -0.6393458843231201, + 0.40672099590301514, + -0.4801514446735382 + ], + "joints": [ + -0.00927940383553505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11446959525346756, + 0.12713734805583954, + -0.044000595808029175 + ], + "orientation": [ + 0.7487839460372925, + 0.017388002946972847, + 0.6617370843887329, + 0.03352714702486992 + ], + "joints": [ + 0.0321330763399601 + ] + }, + "fine_grasp": { + "position": [ + -0.11192931979894638, + 0.12683627009391785, + -0.03969638794660568 + ], + "orientation": [ + 0.7631393074989319, + 0.006546716671437025, + 0.6456645131111145, + 0.026324959471821785 + ], + "joints": [ + 0.03171512112021446 + ] + }, + "final_grasp": { + "position": [ + -0.11192931979894638, + 0.12683627009391785, + -0.03969638794660568 + ], + "orientation": [ + 0.7631393074989319, + 0.006546716671437025, + 0.6456645131111145, + 0.026324959471821785 + ], + "joints": [ + 0.031297165900468826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09811653941869736, + -0.020170876756310463, + -0.007513811811804771 + ], + "orientation": [ + 0.66508549451828, + -0.5906354188919067, + 0.34577277302742004, + -0.29875120520591736 + ], + "joints": [ + 0.011256295256316662 + ] + }, + "fine_grasp": { + "position": [ + -0.09398362785577774, + -0.020355265587568283, + -0.007424310781061649 + ], + "orientation": [ + 0.6671704053878784, + -0.5894256234169006, + 0.3467506468296051, + -0.29533880949020386 + ], + "joints": [ + 0.003315146779641509 + ] + }, + "final_grasp": { + "position": [ + -0.09398362785577774, + -0.020355265587568283, + -0.007424310781061649 + ], + "orientation": [ + 0.6671704053878784, + -0.5894256234169006, + 0.3467506468296051, + -0.29533880949020386 + ], + "joints": [ + -0.004626001697033644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09761970490217209, + -0.0198137816041708, + -0.007284506689757109 + ], + "orientation": [ + 0.666068434715271, + -0.5877726078033447, + 0.3485792279243469, + -0.2989460229873657 + ], + "joints": [ + 0.011993467807769775 + ] + }, + "fine_grasp": { + "position": [ + -0.09359782189130783, + -0.019915413111448288, + -0.007199813611805439 + ], + "orientation": [ + 0.668376088142395, + -0.5875910520553589, + 0.3496755063533783, + -0.2928090989589691 + ], + "joints": [ + 0.0036134663969278336 + ] + }, + "final_grasp": { + "position": [ + -0.09359782189130783, + -0.019915413111448288, + -0.007199813611805439 + ], + "orientation": [ + 0.668376088142395, + -0.5875910520553589, + 0.3496755063533783, + -0.2928090989589691 + ], + "joints": [ + -0.004766535013914108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09762801975011826, + -0.019773347303271294, + -0.007557793520390987 + ], + "orientation": [ + 0.6664564609527588, + -0.5862767696380615, + 0.349394291639328, + -0.30006492137908936 + ], + "joints": [ + 0.01212351769208908 + ] + }, + "fine_grasp": { + "position": [ + -0.09360860288143158, + -0.019865088164806366, + -0.007451156619936228 + ], + "orientation": [ + 0.6686448454856873, + -0.5861812233924866, + 0.3503769636154175, + -0.2941797375679016 + ], + "joints": [ + 0.003346458775922656 + ] + }, + "final_grasp": { + "position": [ + -0.09360860288143158, + -0.019865088164806366, + -0.007451156619936228 + ], + "orientation": [ + 0.6686448454856873, + -0.5861812233924866, + 0.3503769636154175, + -0.2941797375679016 + ], + "joints": [ + -0.005430600140243769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12351439893245697, + 0.03920850157737732, + -0.01659274473786354 + ], + "orientation": [ + 0.48736998438835144, + 0.44729071855545044, + -0.48156628012657166, + -0.5748872756958008 + ], + "joints": [ + 0.011207451112568378 + ] + }, + "fine_grasp": { + "position": [ + 0.11934614181518555, + 0.039211455732584, + -0.015977121889591217 + ], + "orientation": [ + 0.4889049232006073, + 0.44851428270339966, + -0.4794274866580963, + -0.5744181871414185 + ], + "joints": [ + 0.003642462659627199 + ] + }, + "final_grasp": { + "position": [ + 0.11934614181518555, + 0.039211455732584, + -0.015977121889591217 + ], + "orientation": [ + 0.4889049232006073, + 0.44851428270339966, + -0.4794274866580963, + -0.5744181871414185 + ], + "joints": [ + -0.00392252579331398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09963298588991165, + 0.2504870593547821, + 0.015087229199707508 + ], + "orientation": [ + 0.5314531922340393, + 0.7151170969009399, + -0.25652894377708435, + -0.37464389204978943 + ], + "joints": [ + 0.011220380663871765 + ] + }, + "fine_grasp": { + "position": [ + 0.09554355591535568, + 0.2497366964817047, + 0.015035162679851055 + ], + "orientation": [ + 0.5304510593414307, + 0.715640664100647, + -0.2533397376537323, + -0.3772256374359131 + ], + "joints": [ + 0.0036762896925210953 + ] + }, + "final_grasp": { + "position": [ + 0.09554355591535568, + 0.2497366964817047, + 0.015035162679851055 + ], + "orientation": [ + 0.5304510593414307, + 0.715640664100647, + -0.2533397376537323, + -0.3772256374359131 + ], + "joints": [ + -0.0038678012788295746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10031931102275848, + 0.2505547106266022, + 0.015980815514922142 + ], + "orientation": [ + 0.5316101312637329, + 0.7153596878051758, + -0.2597528100013733, + -0.3717253506183624 + ], + "joints": [ + 0.01074877567589283 + ] + }, + "fine_grasp": { + "position": [ + 0.09616168588399887, + 0.24961337447166443, + 0.01603206805884838 + ], + "orientation": [ + 0.5296401977539062, + 0.7160152196884155, + -0.2584224343299866, + -0.37419450283050537 + ], + "joints": [ + 0.003622639924287796 + ] + }, + "final_grasp": { + "position": [ + 0.09616168588399887, + 0.24961337447166443, + 0.01603206805884838 + ], + "orientation": [ + 0.5296401977539062, + 0.7160152196884155, + -0.2584224343299866, + -0.37419450283050537 + ], + "joints": [ + -0.003503495827317238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10102782398462296, + 0.25002041459083557, + 0.014876705594360828 + ], + "orientation": [ + 0.5340451002120972, + 0.7164270281791687, + -0.25597041845321655, + -0.3687916696071625 + ], + "joints": [ + 0.0115127544850111 + ] + }, + "fine_grasp": { + "position": [ + 0.0970686823129654, + 0.24865368008613586, + 0.014560763724148273 + ], + "orientation": [ + 0.5348013043403625, + 0.7147771120071411, + -0.2567911148071289, + -0.3703234791755676 + ], + "joints": [ + 0.003550708293914795 + ] + }, + "final_grasp": { + "position": [ + 0.0970686823129654, + 0.24865368008613586, + 0.014560763724148273 + ], + "orientation": [ + 0.5348013043403625, + 0.7147771120071411, + -0.2567911148071289, + -0.3703234791755676 + ], + "joints": [ + -0.004411337897181511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10820293426513672, + 0.24128316342830658, + 0.03216668963432312 + ], + "orientation": [ + 0.36099928617477417, + -0.3491140604019165, + 0.7179991006851196, + -0.4819502830505371 + ], + "joints": [ + 0.010935449041426182 + ] + }, + "fine_grasp": { + "position": [ + -0.10419165343046188, + 0.2402467429637909, + 0.03112133778631687 + ], + "orientation": [ + 0.36220982670783997, + -0.3533037006855011, + 0.7178961038589478, + -0.4781273305416107 + ], + "joints": [ + 0.0033913583029061556 + ] + }, + "final_grasp": { + "position": [ + -0.10419165343046188, + 0.2402467429637909, + 0.03112133778631687 + ], + "orientation": [ + 0.36220982670783997, + -0.3533037006855011, + 0.7178961038589478, + -0.4781273305416107 + ], + "joints": [ + -0.004152732435613871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0027638887986540794, + 0.18626204133033752, + 0.10469862073659897 + ], + "orientation": [ + 0.02758936397731304, + 0.6737756729125977, + -0.7370456457138062, + 0.045044396072626114 + ], + "joints": [ + 0.02152092196047306 + ] + }, + "fine_grasp": { + "position": [ + -0.0024581297766417265, + 0.1878272444009781, + 0.10106078535318375 + ], + "orientation": [ + 0.032127898186445236, + 0.6594619154930115, + -0.7492871284484863, + 0.05144500732421875 + ], + "joints": [ + 0.013579772785305977 + ] + }, + "final_grasp": { + "position": [ + -0.0024581297766417265, + 0.1878272444009781, + 0.10106078535318375 + ], + "orientation": [ + 0.032127898186445236, + 0.6594619154930115, + -0.7492871284484863, + 0.05144500732421875 + ], + "joints": [ + 0.005638623610138893 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 59 + } +} \ No newline at end of file diff --git a/033_fork_0/Object.usd b/033_fork_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..cccc0f76487bed9b13113b1fb1da2e7c9d73ffb2 --- /dev/null +++ b/033_fork_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c193455cb08d3ae4998d1ede07ac430263fdf9a79481ef5511eb2c1cc2b87ec1 +size 185715 diff --git a/039_mug_0/Annotation/dex1_1_grasp_pose.json b/039_mug_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..ef1528355b029a27bf52581ec7d89af727304aa6 --- /dev/null +++ b/039_mug_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,4218 @@ +{ + "type": "039_mug_0", + "bottom_center": [ + 0.0, + 0.05540115758776665, + -0.07605928182601929 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.06271342188119888, + 0.20360960066318512, + -0.019735950976610184 + ], + "orientation": [ + 0.09002778679132462, + 0.2940898835659027, + 0.015175302512943745, + 0.951407253742218 + ], + "joints": [ + 0.009160570800304413 + ] + }, + "fine_grasp": { + "position": [ + 0.06185837835073471, + 0.20344512164592743, + -0.01977997086942196 + ], + "orientation": [ + 0.08468368649482727, + 0.2880491614341736, + 0.018342124298214912, + 0.9536874890327454 + ], + "joints": [ + 0.01556393876671791 + ] + }, + "final_grasp": { + "position": [ + 0.06185837835073471, + 0.20344512164592743, + -0.01977997086942196 + ], + "orientation": [ + 0.08468368649482727, + 0.2880491614341736, + 0.018342124298214912, + 0.9536874890327454 + ], + "joints": [ + 0.02196730673313141 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06261859834194183, + 0.20387105643749237, + -0.020323190838098526 + ], + "orientation": [ + 0.0897221565246582, + 0.2917505204677582, + 0.02002837508916855, + 0.9520663619041443 + ], + "joints": [ + 0.009656328707933426 + ] + }, + "fine_grasp": { + "position": [ + 0.06179441884160042, + 0.20341522991657257, + -0.020164191722869873 + ], + "orientation": [ + 0.08406145125627518, + 0.285751610994339, + 0.022041425108909607, + 0.9543552398681641 + ], + "joints": [ + 0.015528297051787376 + ] + }, + "final_grasp": { + "position": [ + 0.06179441884160042, + 0.20341522991657257, + -0.020164191722869873 + ], + "orientation": [ + 0.08406145125627518, + 0.285751610994339, + 0.022041425108909607, + 0.9543552398681641 + ], + "joints": [ + 0.021400265395641327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06268452852964401, + 0.2034742534160614, + -0.02097759209573269 + ], + "orientation": [ + 0.09049893915653229, + 0.28788718581199646, + 0.024027232080698013, + 0.9530758857727051 + ], + "joints": [ + 0.009100308641791344 + ] + }, + "fine_grasp": { + "position": [ + 0.06169449910521507, + 0.20329596102237701, + -0.020587995648384094 + ], + "orientation": [ + 0.08354147523641586, + 0.283188134431839, + 0.02520553022623062, + 0.9550864100456238 + ], + "joints": [ + 0.015503676608204842 + ] + }, + "final_grasp": { + "position": [ + 0.06169449910521507, + 0.20329596102237701, + -0.020587995648384094 + ], + "orientation": [ + 0.08354147523641586, + 0.283188134431839, + 0.02520553022623062, + 0.9550864100456238 + ], + "joints": [ + 0.02190704457461834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047223154455423355, + 0.21119578182697296, + -0.010311785154044628 + ], + "orientation": [ + 0.06505368649959564, + 0.9836646914482117, + -0.001023252960294485, + -0.1678415983915329 + ], + "joints": [ + 0.01168757863342762 + ] + }, + "fine_grasp": { + "position": [ + 0.04799991846084595, + 0.21676144003868103, + -0.01104161236435175 + ], + "orientation": [ + 0.07073274254798889, + 0.9814677834510803, + -0.002533768769353628, + -0.17807719111442566 + ], + "joints": [ + 0.018090955913066864 + ] + }, + "final_grasp": { + "position": [ + 0.04799991846084595, + 0.21676144003868103, + -0.01104161236435175 + ], + "orientation": [ + 0.07073274254798889, + 0.9814677834510803, + -0.002533768769353628, + -0.17807719111442566 + ], + "joints": [ + 0.024494333192706108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058919478207826614, + 0.2107120007276535, + 0.0008944645524024963 + ], + "orientation": [ + 0.022130737081170082, + -0.04307704046368599, + 0.11072338372468948, + 0.9926705956459045 + ], + "joints": [ + 0.012017274275422096 + ] + }, + "fine_grasp": { + "position": [ + 0.05865923687815666, + 0.20763207972049713, + 0.0015506281051784754 + ], + "orientation": [ + 0.020285502076148987, + -0.040679819881916046, + 0.10901812463998795, + 0.9929999113082886 + ], + "joints": [ + 0.017889250069856644 + ] + }, + "final_grasp": { + "position": [ + 0.05865923687815666, + 0.20763207972049713, + 0.0015506281051784754 + ], + "orientation": [ + 0.020285502076148987, + -0.040679819881916046, + 0.10901812463998795, + 0.9929999113082886 + ], + "joints": [ + 0.02376122586429119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024823231622576714, + 0.21858443319797516, + -0.03722899407148361 + ], + "orientation": [ + 0.03577569127082825, + -0.2772000730037689, + 0.13052769005298615, + 0.9512322545051575 + ], + "joints": [ + 0.012250849977135658 + ] + }, + "fine_grasp": { + "position": [ + -0.025176340714097023, + 0.21996797621250153, + -0.037000179290771484 + ], + "orientation": [ + 0.035628028213977814, + -0.2828790247440338, + 0.1302873194217682, + 0.9495973587036133 + ], + "joints": [ + 0.018096255138516426 + ] + }, + "final_grasp": { + "position": [ + -0.025176340714097023, + 0.21996797621250153, + -0.037000179290771484 + ], + "orientation": [ + 0.035628028213977814, + -0.2828790247440338, + 0.1302873194217682, + 0.9495973587036133 + ], + "joints": [ + 0.023941660299897194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05425633117556572, + 0.20481598377227783, + 0.007630554493516684 + ], + "orientation": [ + 0.019233714789152145, + 0.1931995451450348, + -0.030536632984876633, + 0.9804954528808594 + ], + "joints": [ + 0.011473841965198517 + ] + }, + "fine_grasp": { + "position": [ + 0.05364585667848587, + 0.2023078203201294, + 0.007250746712088585 + ], + "orientation": [ + 0.016524117439985275, + 0.19275802373886108, + -0.031381987035274506, + 0.9806051850318909 + ], + "joints": [ + 0.01787721738219261 + ] + }, + "final_grasp": { + "position": [ + 0.05364585667848587, + 0.2023078203201294, + 0.007250746712088585 + ], + "orientation": [ + 0.016524117439985275, + 0.19275802373886108, + -0.031381987035274506, + 0.9806051850318909 + ], + "joints": [ + 0.024280592799186707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05543632432818413, + 0.20655328035354614, + 0.019275154918432236 + ], + "orientation": [ + 0.00022791237279307097, + 0.9998490214347839, + 0.012273675762116909, + 0.012302282266318798 + ], + "joints": [ + 0.011852892115712166 + ] + }, + "fine_grasp": { + "position": [ + -0.055267512798309326, + 0.20427531003952026, + 0.019544927403330803 + ], + "orientation": [ + 0.002125035272911191, + 0.9998073577880859, + 0.010040749795734882, + 0.01673363707959652 + ], + "joints": [ + 0.017724867910146713 + ] + }, + "final_grasp": { + "position": [ + -0.055267512798309326, + 0.20427531003952026, + 0.019544927403330803 + ], + "orientation": [ + 0.002125035272911191, + 0.9998073577880859, + 0.010040749795734882, + 0.01673363707959652 + ], + "joints": [ + 0.02359684370458126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04462533816695213, + 0.21070295572280884, + 0.05514274165034294 + ], + "orientation": [ + 0.0008699241443537176, + 0.23974309861660004, + -0.051097672432661057, + 0.9694902896881104 + ], + "joints": [ + 0.011851003393530846 + ] + }, + "fine_grasp": { + "position": [ + -0.04506899043917656, + 0.21623805165290833, + 0.056022655218839645 + ], + "orientation": [ + 0.0019274966325610876, + 0.2335614114999771, + -0.06059980019927025, + 0.9704499244689941 + ], + "joints": [ + 0.01822780817747116 + ] + }, + "final_grasp": { + "position": [ + -0.04506899043917656, + 0.21623805165290833, + 0.056022655218839645 + ], + "orientation": [ + 0.0019274966325610876, + 0.2335614114999771, + -0.06059980019927025, + 0.9704499244689941 + ], + "joints": [ + 0.024604612961411476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0003627250262070447, + 0.20709922909736633, + 0.011309269815683365 + ], + "orientation": [ + 0.05074668303132057, + 0.9976062774658203, + -0.00028516791644506156, + -0.04697093740105629 + ], + "joints": [ + -0.0006033122772350907 + ] + }, + "fine_grasp": { + "position": [ + 0.0002045125002041459, + 0.2089715152978897, + 0.01084677129983902 + ], + "orientation": [ + 0.04823731258511543, + 0.9973741173744202, + -0.0035982434637844563, + -0.053900185972452164 + ], + "joints": [ + -0.00700667779892683 + ] + }, + "final_grasp": { + "position": [ + 0.0002045125002041459, + 0.2089715152978897, + 0.01084677129983902 + ], + "orientation": [ + 0.04823731258511543, + 0.9973741173744202, + -0.0035982434637844563, + -0.053900185972452164 + ], + "joints": [ + -0.013410042971372604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021557006984949112, + 0.21335455775260925, + 0.046725090593099594 + ], + "orientation": [ + 0.0842423141002655, + 0.29547351598739624, + -0.005530347116291523, + 0.9516134262084961 + ], + "joints": [ + 0.011308316141366959 + ] + }, + "fine_grasp": { + "position": [ + -0.02179110422730446, + 0.2188270539045334, + 0.04731380566954613 + ], + "orientation": [ + 0.07965483516454697, + 0.29723238945007324, + -0.0031332699581980705, + 0.9514716267585754 + ], + "joints": [ + 0.017685119062662125 + ] + }, + "final_grasp": { + "position": [ + -0.02179110422730446, + 0.2188270539045334, + 0.04731380566954613 + ], + "orientation": [ + 0.07965483516454697, + 0.29723238945007324, + -0.0031332699581980705, + 0.9514716267585754 + ], + "joints": [ + 0.02406192198395729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03644343838095665, + 0.21367628872394562, + 0.03306903690099716 + ], + "orientation": [ + 0.06911483407020569, + 0.9533101320266724, + 0.04278884828090668, + 0.2908470630645752 + ], + "joints": [ + 0.011782723478972912 + ] + }, + "fine_grasp": { + "position": [ + 0.03743046149611473, + 0.21926665306091309, + 0.03297576680779457 + ], + "orientation": [ + 0.06284157186746597, + 0.9521664977073669, + 0.039499010890722275, + 0.2964283227920532 + ], + "joints": [ + 0.018159527331590652 + ] + }, + "final_grasp": { + "position": [ + 0.03743046149611473, + 0.21926665306091309, + 0.03297576680779457 + ], + "orientation": [ + 0.06284157186746597, + 0.9521664977073669, + 0.039499010890722275, + 0.2964283227920532 + ], + "joints": [ + 0.02453633025288582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036917734891176224, + 0.21370317041873932, + 0.03289441764354706 + ], + "orientation": [ + 0.06583449244499207, + 0.9575784206390381, + 0.04207734018564224, + 0.2773786783218384 + ], + "joints": [ + 0.011815343983471394 + ] + }, + "fine_grasp": { + "position": [ + 0.03770105540752411, + 0.21928127110004425, + 0.03270417079329491 + ], + "orientation": [ + 0.062026720494031906, + 0.9563043117523193, + 0.0388372465968132, + 0.2830660045146942 + ], + "joints": [ + 0.018192147836089134 + ] + }, + "final_grasp": { + "position": [ + 0.03770105540752411, + 0.21928127110004425, + 0.03270417079329491 + ], + "orientation": [ + 0.062026720494031906, + 0.9563043117523193, + 0.0388372465968132, + 0.2830660045146942 + ], + "joints": [ + 0.02456895262002945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021407023072242737, + 0.21343424916267395, + 0.04650336131453514 + ], + "orientation": [ + 0.08475226163864136, + 0.2960037887096405, + -0.004843829199671745, + 0.9514070749282837 + ], + "joints": [ + 0.011308316141366959 + ] + }, + "fine_grasp": { + "position": [ + -0.021618934348225594, + 0.21897713840007782, + 0.047059670090675354 + ], + "orientation": [ + 0.0805387869477272, + 0.29803982377052307, + -0.002455518813803792, + 0.9511465430259705 + ], + "joints": [ + 0.017685119062662125 + ] + }, + "final_grasp": { + "position": [ + -0.021618934348225594, + 0.21897713840007782, + 0.047059670090675354 + ], + "orientation": [ + 0.0805387869477272, + 0.29803982377052307, + -0.002455518813803792, + 0.9511465430259705 + ], + "joints": [ + 0.02406192198395729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02223012037575245, + 0.21340973675251007, + 0.0470440499484539 + ], + "orientation": [ + 0.08147827535867691, + 0.29744696617126465, + -0.006147318985313177, + 0.9512353539466858 + ], + "joints": [ + 0.011342654004693031 + ] + }, + "fine_grasp": { + "position": [ + -0.022443490102887154, + 0.21887923777103424, + 0.047639891505241394 + ], + "orientation": [ + 0.07671993225812912, + 0.29820716381073, + -0.0033150550443679094, + 0.9514071941375732 + ], + "joints": [ + 0.017719456925988197 + ] + }, + "final_grasp": { + "position": [ + -0.022443490102887154, + 0.21887923777103424, + 0.047639891505241394 + ], + "orientation": [ + 0.07671993225812912, + 0.29820716381073, + -0.0033150550443679094, + 0.9514071941375732 + ], + "joints": [ + 0.024096259847283363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01837213523685932, + 0.21225109696388245, + 0.07460793107748032 + ], + "orientation": [ + 0.012083729729056358, + 0.7885167002677917, + -0.026577964425086975, + 0.6143200397491455 + ], + "joints": [ + 0.012115221470594406 + ] + }, + "fine_grasp": { + "position": [ + 0.018783532083034515, + 0.21758951246738434, + 0.07535486668348312 + ], + "orientation": [ + 0.014456495642662048, + 0.7900331616401672, + -0.029220009222626686, + 0.612196683883667 + ], + "joints": [ + 0.017987197265028954 + ] + }, + "final_grasp": { + "position": [ + 0.018783532083034515, + 0.21758951246738434, + 0.07535486668348312 + ], + "orientation": [ + 0.014456495642662048, + 0.7900331616401672, + -0.029220009222626686, + 0.612196683883667 + ], + "joints": [ + 0.0238591730594635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04316628724336624, + 0.20508185029029846, + 0.07429539412260056 + ], + "orientation": [ + 0.07104042917490005, + -0.46841317415237427, + -0.0052856700494885445, + -0.8806329965591431 + ], + "joints": [ + 0.010362908244132996 + ] + }, + "fine_grasp": { + "position": [ + -0.04154429957270622, + 0.2045210599899292, + 0.07296692579984665 + ], + "orientation": [ + 0.061601702123880386, + -0.46482545137405396, + -0.005441908724606037, + -0.8832400441169739 + ], + "joints": [ + 0.016766279935836792 + ] + }, + "final_grasp": { + "position": [ + -0.04154429957270622, + 0.2045210599899292, + 0.07296692579984665 + ], + "orientation": [ + 0.061601702123880386, + -0.46482545137405396, + -0.005441908724606037, + -0.8832400441169739 + ], + "joints": [ + 0.02316965162754059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04592670500278473, + 0.21602791547775269, + 0.03257707506418228 + ], + "orientation": [ + 0.04534855857491493, + 0.9694620966911316, + -0.015474230982363224, + -0.2405146062374115 + ], + "joints": [ + 0.011940248310565948 + ] + }, + "fine_grasp": { + "position": [ + -0.046626586467027664, + 0.22122012078762054, + 0.032293956726789474 + ], + "orientation": [ + 0.03973684087395668, + 0.9694305062294006, + -0.014626574702560902, + -0.24168479442596436 + ], + "joints": [ + 0.018317053094506264 + ] + }, + "final_grasp": { + "position": [ + -0.046626586467027664, + 0.22122012078762054, + 0.032293956726789474 + ], + "orientation": [ + 0.03973684087395668, + 0.9694305062294006, + -0.014626574702560902, + -0.24168479442596436 + ], + "joints": [ + 0.02469385787844658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04614073038101196, + 0.21601194143295288, + 0.031715620309114456 + ], + "orientation": [ + 0.04892798513174057, + 0.9696244597434998, + -0.015363738872110844, + -0.23916201293468475 + ], + "joints": [ + 0.01216587983071804 + ] + }, + "fine_grasp": { + "position": [ + -0.04683803766965866, + 0.22125853598117828, + 0.031373195350170135 + ], + "orientation": [ + 0.04284278303384781, + 0.9695338606834412, + -0.014375309459865093, + -0.2407529652118683 + ], + "joints": [ + 0.018037855625152588 + ] + }, + "final_grasp": { + "position": [ + -0.04683803766965866, + 0.22125853598117828, + 0.031373195350170135 + ], + "orientation": [ + 0.04284278303384781, + 0.9695338606834412, + -0.014375309459865093, + -0.2407529652118683 + ], + "joints": [ + 0.023909831419587135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0554223470389843, + 0.20677290856838226, + 0.01928272843360901 + ], + "orientation": [ + 0.0019236820517107844, + -0.9998257160186768, + -0.011832129210233688, + -0.01431362982839346 + ], + "joints": [ + 0.011448672041296959 + ] + }, + "fine_grasp": { + "position": [ + -0.05524240806698799, + 0.2045764923095703, + 0.019578836858272552 + ], + "orientation": [ + 0.00032431300496682525, + -0.999755859375, + -0.009633172303438187, + -0.01988413743674755 + ], + "joints": [ + 0.017852047458291054 + ] + }, + "final_grasp": { + "position": [ + -0.05524240806698799, + 0.2045764923095703, + 0.019578836858272552 + ], + "orientation": [ + 0.00032431300496682525, + -0.999755859375, + -0.009633172303438187, + -0.01988413743674755 + ], + "joints": [ + 0.02425542287528515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03046482801437378, + 0.21417108178138733, + 0.05837047100067139 + ], + "orientation": [ + 0.02603835053741932, + 0.3829840421676636, + -0.015455882996320724, + 0.9232585430145264 + ], + "joints": [ + 0.011694945394992828 + ] + }, + "fine_grasp": { + "position": [ + -0.030518004670739174, + 0.2194862812757492, + 0.05874180793762207 + ], + "orientation": [ + 0.025680258870124817, + 0.3816379904747009, + -0.016408519819378853, + 0.923809289932251 + ], + "joints": [ + 0.018098322674632072 + ] + }, + "final_grasp": { + "position": [ + -0.030518004670739174, + 0.2194862812757492, + 0.05874180793762207 + ], + "orientation": [ + 0.025680258870124817, + 0.3816379904747009, + -0.016408519819378853, + 0.923809289932251 + ], + "joints": [ + 0.024501699954271317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030420608818531036, + 0.2140229344367981, + 0.058526597917079926 + ], + "orientation": [ + 0.026174994185566902, + 0.3829141855239868, + -0.016631631180644035, + 0.9232633113861084 + ], + "joints": [ + 0.011692943051457405 + ] + }, + "fine_grasp": { + "position": [ + -0.0304368007928133, + 0.21944169700145721, + 0.05891263112425804 + ], + "orientation": [ + 0.025872772559523582, + 0.3816862106323242, + -0.01750737428665161, + 0.9237639307975769 + ], + "joints": [ + 0.01809632033109665 + ] + }, + "final_grasp": { + "position": [ + -0.0304368007928133, + 0.21944169700145721, + 0.05891263112425804 + ], + "orientation": [ + 0.025872772559523582, + 0.3816862106323242, + -0.01750737428665161, + 0.9237639307975769 + ], + "joints": [ + 0.024499697610735893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023518860340118408, + 0.21589262783527374, + 0.05465828999876976 + ], + "orientation": [ + 0.055596962571144104, + 0.3697781562805176, + 0.0075698476284742355, + -0.9274242520332336 + ], + "joints": [ + 0.012078529223799706 + ] + }, + "fine_grasp": { + "position": [ + 0.023645466193556786, + 0.22110694646835327, + 0.05516694113612175 + ], + "orientation": [ + 0.05244259536266327, + 0.372308611869812, + 0.011547544971108437, + -0.9265541434288025 + ], + "joints": [ + 0.017950505018234253 + ] + }, + "final_grasp": { + "position": [ + 0.023645466193556786, + 0.22110694646835327, + 0.05516694113612175 + ], + "orientation": [ + 0.05244259536266327, + 0.372308611869812, + 0.011547544971108437, + -0.9265541434288025 + ], + "joints": [ + 0.0238224808126688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032162413001060486, + 0.21907532215118408, + 0.04576639086008072 + ], + "orientation": [ + 0.03389522060751915, + 0.3720191717147827, + -0.04446176066994667, + -0.9265398383140564 + ], + "joints": [ + 0.01203128881752491 + ] + }, + "fine_grasp": { + "position": [ + 0.032342951744794846, + 0.2241874635219574, + 0.04609045013785362 + ], + "orientation": [ + 0.02822253853082657, + 0.3744187355041504, + -0.04740510135889053, + -0.9256170392036438 + ], + "joints": [ + 0.017903264611959457 + ] + }, + "final_grasp": { + "position": [ + 0.032342951744794846, + 0.2241874635219574, + 0.04609045013785362 + ], + "orientation": [ + 0.02822253853082657, + 0.3744187355041504, + -0.04740510135889053, + -0.9256170392036438 + ], + "joints": [ + 0.023775240406394005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047095753252506256, + 0.21146832406520844, + 0.06299108266830444 + ], + "orientation": [ + 0.11555125564336777, + -0.9828431606292725, + -0.0012599480105563998, + 0.14375576376914978 + ], + "joints": [ + 0.01196335256099701 + ] + }, + "fine_grasp": { + "position": [ + -0.047293879091739655, + 0.21048897504806519, + 0.06259056180715561 + ], + "orientation": [ + 0.11821883171796799, + -0.9825161099433899, + 0.00021632811694871634, + 0.14382776618003845 + ], + "joints": [ + 0.018340157344937325 + ] + }, + "final_grasp": { + "position": [ + -0.047293879091739655, + 0.21048897504806519, + 0.06259056180715561 + ], + "orientation": [ + 0.11821883171796799, + -0.9825161099433899, + 0.00021632811694871634, + 0.14382776618003845 + ], + "joints": [ + 0.02471696212887764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024525444954633713, + 0.21130678057670593, + 0.08156782388687134 + ], + "orientation": [ + 0.08836910128593445, + 0.6309903860092163, + 0.11919944733381271, + -0.7614679336547852 + ], + "joints": [ + 0.01193947158753872 + ] + }, + "fine_grasp": { + "position": [ + -0.024635519832372665, + 0.21356983482837677, + 0.0820673406124115 + ], + "orientation": [ + 0.09061266481876373, + 0.6342388391494751, + 0.12425369769334793, + -0.7576882839202881 + ], + "joints": [ + 0.017811447381973267 + ] + }, + "final_grasp": { + "position": [ + -0.024635519832372665, + 0.21356983482837677, + 0.0820673406124115 + ], + "orientation": [ + 0.09061266481876373, + 0.6342388391494751, + 0.12425369769334793, + -0.7576882839202881 + ], + "joints": [ + 0.023683423176407814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03750261291861534, + 0.22004356980323792, + 0.013238076120615005 + ], + "orientation": [ + 0.048800673335790634, + -0.9702013731002808, + 0.047158900648355484, + -0.23260259628295898 + ], + "joints": [ + 0.011768234893679619 + ] + }, + "fine_grasp": { + "position": [ + -0.03826287016272545, + 0.22463758289813995, + 0.013299455866217613 + ], + "orientation": [ + 0.04722918942570686, + -0.9718213081359863, + 0.042643677443265915, + -0.22696776688098907 + ], + "joints": [ + 0.018171612173318863 + ] + }, + "final_grasp": { + "position": [ + -0.03826287016272545, + 0.22463758289813995, + 0.013299455866217613 + ], + "orientation": [ + 0.04722918942570686, + -0.9718213081359863, + 0.042643677443265915, + -0.22696776688098907 + ], + "joints": [ + 0.024574989452958107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03590879589319229, + 0.22317743301391602, + 0.01420981902629137 + ], + "orientation": [ + 0.05110718682408333, + -0.9683870673179626, + 0.05390601605176926, + -0.23813597857952118 + ], + "joints": [ + 0.011740954592823982 + ] + }, + "fine_grasp": { + "position": [ + -0.03687407448887825, + 0.2275555282831192, + 0.014297137968242168 + ], + "orientation": [ + 0.04991081357002258, + -0.970273494720459, + 0.04777560383081436, + -0.23193906247615814 + ], + "joints": [ + 0.018117759376764297 + ] + }, + "final_grasp": { + "position": [ + -0.03687407448887825, + 0.2275555282831192, + 0.014297137968242168 + ], + "orientation": [ + 0.04991081357002258, + -0.970273494720459, + 0.04777560383081436, + -0.23193906247615814 + ], + "joints": [ + 0.024494564160704613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03692416846752167, + 0.22321924567222595, + 0.0144624849781394 + ], + "orientation": [ + 0.0532643087208271, + -0.9692528247833252, + 0.050231095403432846, + -0.23492270708084106 + ], + "joints": [ + 0.011805920861661434 + ] + }, + "fine_grasp": { + "position": [ + -0.03778798505663872, + 0.22733621299266815, + 0.014620743691921234 + ], + "orientation": [ + 0.051299262791872025, + -0.970780074596405, + 0.044982992112636566, + -0.23006696999073029 + ], + "joints": [ + 0.018182724714279175 + ] + }, + "final_grasp": { + "position": [ + -0.03778798505663872, + 0.22733621299266815, + 0.014620743691921234 + ], + "orientation": [ + 0.051299262791872025, + -0.970780074596405, + 0.044982992112636566, + -0.23006696999073029 + ], + "joints": [ + 0.02455952763557434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03184254467487335, + 0.2190757691860199, + 0.04638391360640526 + ], + "orientation": [ + 0.029470551759004593, + 0.39629626274108887, + -0.05406039208173752, + -0.9160559177398682 + ], + "joints": [ + 0.012103673070669174 + ] + }, + "fine_grasp": { + "position": [ + 0.03236348554491997, + 0.22426487505435944, + 0.04657677561044693 + ], + "orientation": [ + 0.023806601762771606, + 0.3979840874671936, + -0.055591654032468796, + -0.9153968691825867 + ], + "joints": [ + 0.01797564886510372 + ] + }, + "final_grasp": { + "position": [ + 0.03236348554491997, + 0.22426487505435944, + 0.04657677561044693 + ], + "orientation": [ + 0.023806601762771606, + 0.3979840874671936, + -0.055591654032468796, + -0.9153968691825867 + ], + "joints": [ + 0.02384762465953827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03130272403359413, + 0.21867665648460388, + 0.04585038498044014 + ], + "orientation": [ + 0.032050490379333496, + 0.3946652412414551, + -0.05526967719197273, + -0.9166010022163391 + ], + "joints": [ + 0.01166565716266632 + ] + }, + "fine_grasp": { + "position": [ + 0.03166630491614342, + 0.22387854754924774, + 0.04584015533328056 + ], + "orientation": [ + 0.027009909972548485, + 0.3977651298046112, + -0.057406626641750336, + -0.9152910709381104 + ], + "joints": [ + 0.018069034442305565 + ] + }, + "final_grasp": { + "position": [ + 0.03166630491614342, + 0.22387854754924774, + 0.04584015533328056 + ], + "orientation": [ + 0.027009909972548485, + 0.3977651298046112, + -0.057406626641750336, + -0.9152910709381104 + ], + "joints": [ + 0.02447241172194481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03191593661904335, + 0.21902655065059662, + 0.046461548656225204 + ], + "orientation": [ + 0.028984440490603447, + 0.39751431345939636, + -0.054437894374132156, + -0.9155210256576538 + ], + "joints": [ + 0.01173442229628563 + ] + }, + "fine_grasp": { + "position": [ + 0.03247419744729996, + 0.2241889238357544, + 0.046576060354709625 + ], + "orientation": [ + 0.024285051971673965, + 0.39934566617012024, + -0.056012216955423355, + -0.914765477180481 + ], + "joints": [ + 0.018137799575924873 + ] + }, + "final_grasp": { + "position": [ + 0.03247419744729996, + 0.2241889238357544, + 0.046576060354709625 + ], + "orientation": [ + 0.024285051971673965, + 0.39934566617012024, + -0.056012216955423355, + -0.914765477180481 + ], + "joints": [ + 0.024541176855564117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04708928242325783, + 0.20476900041103363, + 0.08121582120656967 + ], + "orientation": [ + 0.12436659634113312, + -0.5171663165092468, + -0.03347920998930931, + -0.8461389541625977 + ], + "joints": [ + 0.010299129411578178 + ] + }, + "fine_grasp": { + "position": [ + -0.04637964442372322, + 0.20421019196510315, + 0.08030889183282852 + ], + "orientation": [ + 0.11562486737966537, + -0.525446891784668, + -0.03150356188416481, + -0.8423444032669067 + ], + "joints": [ + 0.01614452712237835 + ] + }, + "final_grasp": { + "position": [ + -0.04637964442372322, + 0.20421019196510315, + 0.08030889183282852 + ], + "orientation": [ + 0.11562486737966537, + -0.525446891784668, + -0.03150356188416481, + -0.8423444032669067 + ], + "joints": [ + 0.02198992483317852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05388147756457329, + 0.22054028511047363, + 0.013483376242220402 + ], + "orientation": [ + 0.003857155330479145, + -0.09777849912643433, + 0.08334279805421829, + 0.9917048811912537 + ], + "joints": [ + 0.011935081332921982 + ] + }, + "fine_grasp": { + "position": [ + 0.0541529580950737, + 0.22439174354076385, + 0.012639254331588745 + ], + "orientation": [ + 0.002977101830765605, + -0.0985521450638771, + 0.0784565731883049, + 0.9920297861099243 + ], + "joints": [ + 0.018338458612561226 + ] + }, + "final_grasp": { + "position": [ + 0.0541529580950737, + 0.22439174354076385, + 0.012639254331588745 + ], + "orientation": [ + 0.002977101830765605, + -0.0985521450638771, + 0.0784565731883049, + 0.9920297861099243 + ], + "joints": [ + 0.02474183589220047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03256266191601753, + 0.21403315663337708, + 0.03725425526499748 + ], + "orientation": [ + 0.07047317922115326, + 0.10921026021242142, + -0.033269163221120834, + 0.9909590482711792 + ], + "joints": [ + 0.011686205863952637 + ] + }, + "fine_grasp": { + "position": [ + -0.03299698233604431, + 0.21954962611198425, + 0.0379047766327858 + ], + "orientation": [ + 0.06552953273057938, + 0.10726115107536316, + -0.029001912102103233, + 0.9916449785232544 + ], + "joints": [ + 0.018063010647892952 + ] + }, + "final_grasp": { + "position": [ + -0.03299698233604431, + 0.21954962611198425, + 0.0379047766327858 + ], + "orientation": [ + 0.06552953273057938, + 0.10726115107536316, + -0.029001912102103233, + 0.9916449785232544 + ], + "joints": [ + 0.024439815431833267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030709609389305115, + 0.2138679474592209, + 0.056259192526340485 + ], + "orientation": [ + 0.04119625687599182, + 0.8677050471305847, + 0.007117121480405331, + 0.4953182637691498 + ], + "joints": [ + 0.011671384796500206 + ] + }, + "fine_grasp": { + "position": [ + 0.031135251745581627, + 0.21917061507701874, + 0.05618450790643692 + ], + "orientation": [ + 0.03580613061785698, + 0.8687868714332581, + 0.008931261487305164, + 0.49380913376808167 + ], + "joints": [ + 0.01807476207613945 + ] + }, + "final_grasp": { + "position": [ + 0.031135251745581627, + 0.21917061507701874, + 0.05618450790643692 + ], + "orientation": [ + 0.03580613061785698, + 0.8687868714332581, + 0.008931261487305164, + 0.49380913376808167 + ], + "joints": [ + 0.024478139355778694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021670667454600334, + 0.21612952649593353, + 0.06225753575563431 + ], + "orientation": [ + 0.0351581946015358, + 0.4456627070903778, + 0.009507081471383572, + -0.8944597840309143 + ], + "joints": [ + 0.012177125550806522 + ] + }, + "fine_grasp": { + "position": [ + 0.021642601117491722, + 0.22156402468681335, + 0.06281667202711105 + ], + "orientation": [ + 0.033444516360759735, + 0.44526761770248413, + 0.010822150856256485, + -0.8947073817253113 + ], + "joints": [ + 0.018049102276563644 + ] + }, + "final_grasp": { + "position": [ + 0.021642601117491722, + 0.22156402468681335, + 0.06281667202711105 + ], + "orientation": [ + 0.033444516360759735, + 0.44526761770248413, + 0.010822150856256485, + -0.8947073817253113 + ], + "joints": [ + 0.02392107993364334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021142954006791115, + 0.21622896194458008, + 0.062284208834171295 + ], + "orientation": [ + 0.03702426701784134, + 0.4479474127292633, + 0.0104171521961689, + -0.8932322263717651 + ], + "joints": [ + 0.012189256027340889 + ] + }, + "fine_grasp": { + "position": [ + 0.021085171028971672, + 0.2215990424156189, + 0.06280813366174698 + ], + "orientation": [ + 0.03493395447731018, + 0.44744396209716797, + 0.011791334487497807, + -0.8935516476631165 + ], + "joints": [ + 0.018061233684420586 + ] + }, + "final_grasp": { + "position": [ + 0.021085171028971672, + 0.2215990424156189, + 0.06280813366174698 + ], + "orientation": [ + 0.03493395447731018, + 0.44744396209716797, + 0.011791334487497807, + -0.8935516476631165 + ], + "joints": [ + 0.023933211341500282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036033790558576584, + 0.21414197981357574, + -0.009031918831169605 + ], + "orientation": [ + 0.08789768069982529, + 0.9859752058982849, + 0.04773183912038803, + -0.1335984319448471 + ], + "joints": [ + 0.011831846088171005 + ] + }, + "fine_grasp": { + "position": [ + 0.036305155605077744, + 0.21948376297950745, + -0.009803359396755695 + ], + "orientation": [ + 0.08672447502613068, + 0.986127495765686, + 0.0451526902616024, + -0.1341371089220047 + ], + "joints": [ + 0.01823522336781025 + ] + }, + "final_grasp": { + "position": [ + 0.036305155605077744, + 0.21948376297950745, + -0.009803359396755695 + ], + "orientation": [ + 0.08672447502613068, + 0.986127495765686, + 0.0451526902616024, + -0.1341371089220047 + ], + "joints": [ + 0.024638600647449493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027844341471791267, + 0.22119155526161194, + 0.041390929371118546 + ], + "orientation": [ + 0.041669461876153946, + 0.5125582814216614, + -0.09323945641517639, + -0.8525574207305908 + ], + "joints": [ + 0.011728718876838684 + ] + }, + "fine_grasp": { + "position": [ + 0.028167972341179848, + 0.22617262601852417, + 0.04210236668586731 + ], + "orientation": [ + 0.03131295368075371, + 0.5144253373146057, + -0.09867928177118301, + -0.8512628674507141 + ], + "joints": [ + 0.018105523660779 + ] + }, + "final_grasp": { + "position": [ + 0.028167972341179848, + 0.22617262601852417, + 0.04210236668586731 + ], + "orientation": [ + 0.03131295368075371, + 0.5144253373146057, + -0.09867928177118301, + -0.8512628674507141 + ], + "joints": [ + 0.024482328444719315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04837699234485626, + 0.22383888065814972, + 0.039348799735307693 + ], + "orientation": [ + 0.024646449834108353, + -0.46069982647895813, + 0.13083003461360931, + 0.8775145411491394 + ], + "joints": [ + 0.011920335702598095 + ] + }, + "fine_grasp": { + "position": [ + 0.049553871154785156, + 0.22625841200351715, + 0.039288125932216644 + ], + "orientation": [ + 0.02493196353316307, + -0.46215707063674927, + 0.12396940588951111, + 0.8777362108230591 + ], + "joints": [ + 0.018323713913559914 + ] + }, + "final_grasp": { + "position": [ + 0.049553871154785156, + 0.22625841200351715, + 0.039288125932216644 + ], + "orientation": [ + 0.02493196353316307, + -0.46215707063674927, + 0.12396940588951111, + 0.8777362108230591 + ], + "joints": [ + 0.024727091193199158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028534218668937683, + 0.22103308141231537, + 0.04206321761012077 + ], + "orientation": [ + 0.04432756453752518, + 0.4937884509563446, + -0.07893527299165726, + -0.8648567795753479 + ], + "joints": [ + 0.011761516332626343 + ] + }, + "fine_grasp": { + "position": [ + 0.029455985873937607, + 0.2261519581079483, + 0.04264206066727638 + ], + "orientation": [ + 0.03894156962633133, + 0.48355552554130554, + -0.07487797737121582, + -0.8712353706359863 + ], + "joints": [ + 0.01763349212706089 + ] + }, + "final_grasp": { + "position": [ + 0.029455985873937607, + 0.2261519581079483, + 0.04264206066727638 + ], + "orientation": [ + 0.03894156962633133, + 0.48355552554130554, + -0.07487797737121582, + -0.8712353706359863 + ], + "joints": [ + 0.023505467921495438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050045013427734375, + 0.21400919556617737, + 0.033223845064640045 + ], + "orientation": [ + 0.15148647129535675, + 0.8826408982276917, + -0.01948513649404049, + 0.44454169273376465 + ], + "joints": [ + 0.01167105883359909 + ] + }, + "fine_grasp": { + "position": [ + 0.051471758633852005, + 0.21888919174671173, + 0.033189669251441956 + ], + "orientation": [ + 0.1519419550895691, + 0.8834709525108337, + -0.02688029780983925, + 0.44234633445739746 + ], + "joints": [ + 0.018074436113238335 + ] + }, + "final_grasp": { + "position": [ + 0.051471758633852005, + 0.21888919174671173, + 0.033189669251441956 + ], + "orientation": [ + 0.1519419550895691, + 0.8834709525108337, + -0.02688029780983925, + 0.44234633445739746 + ], + "joints": [ + 0.02447781339287758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048067543655633926, + 0.22351549565792084, + 0.03906701132655144 + ], + "orientation": [ + 0.02355339750647545, + -0.45485562086105347, + 0.130399689078331, + 0.8806518316268921 + ], + "joints": [ + 0.01193111203610897 + ] + }, + "fine_grasp": { + "position": [ + 0.049103617668151855, + 0.2260848730802536, + 0.03873254731297493 + ], + "orientation": [ + 0.02305721677839756, + -0.45656120777130127, + 0.12495394051074982, + 0.8805718421936035 + ], + "joints": [ + 0.018307916820049286 + ] + }, + "final_grasp": { + "position": [ + 0.049103617668151855, + 0.2260848730802536, + 0.03873254731297493 + ], + "orientation": [ + 0.02305721677839756, + -0.45656120777130127, + 0.12495394051074982, + 0.8805718421936035 + ], + "joints": [ + 0.0246847216039896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04790283367037773, + 0.22329159080982208, + 0.03997474163770676 + ], + "orientation": [ + 0.02420959249138832, + -0.4654329717159271, + 0.12950335443019867, + 0.8752226829528809 + ], + "joints": [ + 0.012379946187138557 + ] + }, + "fine_grasp": { + "position": [ + 0.0491630882024765, + 0.22624315321445465, + 0.0398653969168663 + ], + "orientation": [ + 0.02415623888373375, + -0.4667038917541504, + 0.12167854607105255, + 0.8756701946258545 + ], + "joints": [ + 0.018251923844218254 + ] + }, + "final_grasp": { + "position": [ + 0.0491630882024765, + 0.22624315321445465, + 0.0398653969168663 + ], + "orientation": [ + 0.02415623888373375, + -0.4667038917541504, + 0.12167854607105255, + 0.8756701946258545 + ], + "joints": [ + 0.02412390150129795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03638426959514618, + 0.21379008889198303, + -0.0015686643309891224 + ], + "orientation": [ + 0.0674736425280571, + 0.9900332093238831, + 0.05266765505075455, + -0.11183802783489227 + ], + "joints": [ + 0.011967061087489128 + ] + }, + "fine_grasp": { + "position": [ + 0.036641210317611694, + 0.2192358374595642, + -0.0023901911918073893 + ], + "orientation": [ + 0.06536416709423065, + 0.9912081956863403, + 0.04957926273345947, + -0.10380633920431137 + ], + "joints": [ + 0.017839036881923676 + ] + }, + "final_grasp": { + "position": [ + 0.036641210317611694, + 0.2192358374595642, + -0.0023901911918073893 + ], + "orientation": [ + 0.06536416709423065, + 0.9912081956863403, + 0.04957926273345947, + -0.10380633920431137 + ], + "joints": [ + 0.023711012676358223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03468804806470871, + 0.21854254603385925, + 0.031317245215177536 + ], + "orientation": [ + 0.058306559920310974, + -0.9926932454109192, + -0.07100898027420044, + 0.07821860164403915 + ], + "joints": [ + 0.01168726198375225 + ] + }, + "fine_grasp": { + "position": [ + 0.035379137843847275, + 0.22365371882915497, + 0.0315653532743454 + ], + "orientation": [ + 0.057816170156002045, + -0.9927927851676941, + -0.06571121513843536, + 0.08186542242765427 + ], + "joints": [ + 0.018090639263391495 + ] + }, + "final_grasp": { + "position": [ + 0.035379137843847275, + 0.22365371882915497, + 0.0315653532743454 + ], + "orientation": [ + 0.057816170156002045, + -0.9927927851676941, + -0.06571121513843536, + 0.08186542242765427 + ], + "joints": [ + 0.02449401654303074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03467443212866783, + 0.21818296611309052, + 0.030761072412133217 + ], + "orientation": [ + 0.05615445598959923, + -0.9931111335754395, + -0.0707615464925766, + 0.07463029772043228 + ], + "joints": [ + 0.011622020974755287 + ] + }, + "fine_grasp": { + "position": [ + 0.035452570766210556, + 0.2233515828847885, + 0.031006811186671257 + ], + "orientation": [ + 0.05622927099466324, + -0.9931151866912842, + -0.06513391435146332, + 0.07948630303144455 + ], + "joints": [ + 0.018025396391749382 + ] + }, + "final_grasp": { + "position": [ + 0.035452570766210556, + 0.2233515828847885, + 0.031006811186671257 + ], + "orientation": [ + 0.05622927099466324, + -0.9931151866912842, + -0.06513391435146332, + 0.07948630303144455 + ], + "joints": [ + 0.024428771808743477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023731697350740433, + 0.21802905201911926, + 0.06169695034623146 + ], + "orientation": [ + 0.016200441867113113, + 0.8544507026672363, + -0.017170047387480736, + -0.5189960598945618 + ], + "joints": [ + 0.011816801503300667 + ] + }, + "fine_grasp": { + "position": [ + -0.023765936493873596, + 0.22321836650371552, + 0.062175072729587555 + ], + "orientation": [ + 0.022465022280812263, + 0.8556780815124512, + -0.011008518747985363, + -0.5169034600257874 + ], + "joints": [ + 0.01822017878293991 + ] + }, + "final_grasp": { + "position": [ + -0.023765936493873596, + 0.22321836650371552, + 0.062175072729587555 + ], + "orientation": [ + 0.022465022280812263, + 0.8556780815124512, + -0.011008518747985363, + -0.5169034600257874 + ], + "joints": [ + 0.024623556062579155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024007098749279976, + 0.21536871790885925, + 0.08309416472911835 + ], + "orientation": [ + 0.088096022605896, + 0.6259133815765381, + 0.12761569023132324, + -0.764320433139801 + ], + "joints": [ + 0.011903325095772743 + ] + }, + "fine_grasp": { + "position": [ + -0.02413754165172577, + 0.217819944024086, + 0.08407530188560486 + ], + "orientation": [ + 0.08942200243473053, + 0.6290518045425415, + 0.135437473654747, + -0.7602331042289734 + ], + "joints": [ + 0.01777530089020729 + ] + }, + "final_grasp": { + "position": [ + -0.02413754165172577, + 0.217819944024086, + 0.08407530188560486 + ], + "orientation": [ + 0.08942200243473053, + 0.6290518045425415, + 0.135437473654747, + -0.7602331042289734 + ], + "joints": [ + 0.023647276684641838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024898065254092216, + 0.20661063492298126, + 0.07941319793462753 + ], + "orientation": [ + 0.08193108439445496, + 0.6682823300361633, + 0.108140729367733, + -0.7314311861991882 + ], + "joints": [ + 0.01128370314836502 + ] + }, + "fine_grasp": { + "position": [ + -0.023349111899733543, + 0.20234255492687225, + 0.07881317287683487 + ], + "orientation": [ + 0.08534010499715805, + 0.6662784814834595, + 0.10865715891122818, + -0.7327916622161865 + ], + "joints": [ + 0.017687078565359116 + ] + }, + "final_grasp": { + "position": [ + -0.023349111899733543, + 0.20234255492687225, + 0.07881317287683487 + ], + "orientation": [ + 0.08534010499715805, + 0.6662784814834595, + 0.10865715891122818, + -0.7327916622161865 + ], + "joints": [ + 0.02409045398235321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028644299134612083, + 0.21615663170814514, + 0.05382910743355751 + ], + "orientation": [ + 0.06916222721338272, + 0.8454007506370544, + -0.006994784809648991, + -0.5295896530151367 + ], + "joints": [ + 0.011896062642335892 + ] + }, + "fine_grasp": { + "position": [ + -0.029026199132204056, + 0.2211526483297348, + 0.053904976695775986 + ], + "orientation": [ + 0.06951887160539627, + 0.8437487483024597, + -0.0038311537355184555, + -0.5322034358978271 + ], + "joints": [ + 0.018272867426276207 + ] + }, + "final_grasp": { + "position": [ + -0.029026199132204056, + 0.2211526483297348, + 0.053904976695775986 + ], + "orientation": [ + 0.06951887160539627, + 0.8437487483024597, + -0.0038311537355184555, + -0.5322034358978271 + ], + "joints": [ + 0.024649672210216522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0286229457706213, + 0.21703709661960602, + 0.051586754620075226 + ], + "orientation": [ + 0.07781077921390533, + 0.8348690271377563, + -0.012398521415889263, + -0.5447801351547241 + ], + "joints": [ + 0.011858182027935982 + ] + }, + "fine_grasp": { + "position": [ + -0.02909773215651512, + 0.22206421196460724, + 0.05179651081562042 + ], + "orientation": [ + 0.0770152360200882, + 0.8337321281433105, + -0.008681977167725563, + -0.5467029213905334 + ], + "joints": [ + 0.018234986811876297 + ] + }, + "final_grasp": { + "position": [ + -0.02909773215651512, + 0.22206421196460724, + 0.05179651081562042 + ], + "orientation": [ + 0.0770152360200882, + 0.8337321281433105, + -0.008681977167725563, + -0.5467029213905334 + ], + "joints": [ + 0.024611791595816612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021175606176257133, + 0.2157200127840042, + 0.04509889706969261 + ], + "orientation": [ + 0.08379913866519928, + 0.835832417011261, + -0.04906705394387245, + -0.5403278470039368 + ], + "joints": [ + 0.011627323925495148 + ] + }, + "fine_grasp": { + "position": [ + -0.021723978221416473, + 0.22105050086975098, + 0.045411210507154465 + ], + "orientation": [ + 0.08267991989850998, + 0.8322073221206665, + -0.04417417570948601, + -0.5464829802513123 + ], + "joints": [ + 0.017499297857284546 + ] + }, + "final_grasp": { + "position": [ + -0.021723978221416473, + 0.22105050086975098, + 0.045411210507154465 + ], + "orientation": [ + 0.08267991989850998, + 0.8322073221206665, + -0.04417417570948601, + -0.5464829802513123 + ], + "joints": [ + 0.023371271789073944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009402820840477943, + 0.21404524147510529, + 0.059540268033742905 + ], + "orientation": [ + 0.06830013543367386, + 0.5147929787635803, + -0.005252629052847624, + 0.8545733690261841 + ], + "joints": [ + 0.011652089655399323 + ] + }, + "fine_grasp": { + "position": [ + -0.009551022201776505, + 0.2194509506225586, + 0.06017380207777023 + ], + "orientation": [ + 0.06425812095403671, + 0.5149209499359131, + -0.007589391432702541, + 0.8547922372817993 + ], + "joints": [ + 0.018028894439339638 + ] + }, + "final_grasp": { + "position": [ + -0.009551022201776505, + 0.2194509506225586, + 0.06017380207777023 + ], + "orientation": [ + 0.06425812095403671, + 0.5149209499359131, + -0.007589391432702541, + 0.8547922372817993 + ], + "joints": [ + 0.024405699223279953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018306240439414978, + 0.21587073802947998, + 0.06381078064441681 + ], + "orientation": [ + 0.04316810145974159, + 0.787488579750061, + -0.0019794791005551815, + -0.6148124933242798 + ], + "joints": [ + 0.011793140321969986 + ] + }, + "fine_grasp": { + "position": [ + -0.018585285171866417, + 0.22120264172554016, + 0.06424400955438614 + ], + "orientation": [ + 0.04517979174852371, + 0.787057101726532, + 0.002482109935954213, + -0.615218460559845 + ], + "joints": [ + 0.01819651760160923 + ] + }, + "final_grasp": { + "position": [ + -0.018585285171866417, + 0.22120264172554016, + 0.06424400955438614 + ], + "orientation": [ + 0.04517979174852371, + 0.787057101726532, + 0.002482109935954213, + -0.615218460559845 + ], + "joints": [ + 0.024599894881248474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018341325223445892, + 0.21625740826129913, + 0.06436839699745178 + ], + "orientation": [ + 0.04082970693707466, + 0.7880669236183167, + -0.0003779898979701102, + -0.6142338514328003 + ], + "joints": [ + 0.011860276572406292 + ] + }, + "fine_grasp": { + "position": [ + -0.018666947260499, + 0.22161340713500977, + 0.06467163562774658 + ], + "orientation": [ + 0.043630897998809814, + 0.7874055504798889, + 0.0038776593282818794, + -0.6148771047592163 + ], + "joints": [ + 0.01826365292072296 + ] + }, + "final_grasp": { + "position": [ + -0.018666947260499, + 0.22161340713500977, + 0.06467163562774658 + ], + "orientation": [ + 0.043630897998809814, + 0.7874055504798889, + 0.0038776593282818794, + -0.6148771047592163 + ], + "joints": [ + 0.024667028337717056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010502385906875134, + 0.21599945425987244, + 0.06214916333556175 + ], + "orientation": [ + 0.043261799961328506, + 0.7487943768501282, + -0.01970484107732773, + -0.6610954403877258 + ], + "joints": [ + 0.011713326908648014 + ] + }, + "fine_grasp": { + "position": [ + -0.010763180442154408, + 0.22139422595500946, + 0.06273113936185837 + ], + "orientation": [ + 0.040043365210294724, + 0.7499397397041321, + -0.016977015882730484, + -0.660074770450592 + ], + "joints": [ + 0.018116703256964684 + ] + }, + "final_grasp": { + "position": [ + -0.010763180442154408, + 0.22139422595500946, + 0.06273113936185837 + ], + "orientation": [ + 0.040043365210294724, + 0.7499397397041321, + -0.016977015882730484, + -0.660074770450592 + ], + "joints": [ + 0.024520080536603928 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02265835367143154, + 0.21997509896755219, + 0.06841530650854111 + ], + "orientation": [ + 0.05689597874879837, + -0.7303948998451233, + -0.09228267520666122, + -0.674366295337677 + ], + "joints": [ + 0.011816971004009247 + ] + }, + "fine_grasp": { + "position": [ + -0.023513441905379295, + 0.22459498047828674, + 0.06891251355409622 + ], + "orientation": [ + 0.060365330427885056, + -0.7344948053359985, + -0.09400520473718643, + -0.6693552136421204 + ], + "joints": [ + 0.01822034828364849 + ] + }, + "final_grasp": { + "position": [ + -0.023513441905379295, + 0.22459498047828674, + 0.06891251355409622 + ], + "orientation": [ + 0.060365330427885056, + -0.7344948053359985, + -0.09400520473718643, + -0.6693552136421204 + ], + "joints": [ + 0.024623725563287735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008009074255824089, + 0.21412920951843262, + 0.06418056041002274 + ], + "orientation": [ + 0.04321332275867462, + 0.7312444448471069, + 0.010562866926193237, + 0.6806634664535522 + ], + "joints": [ + 0.01204315759241581 + ] + }, + "fine_grasp": { + "position": [ + 0.008357316255569458, + 0.21956810355186462, + 0.06460065394639969 + ], + "orientation": [ + 0.043142326176166534, + 0.7314696907997131, + 0.0067259445786476135, + 0.6804746389389038 + ], + "joints": [ + 0.017915133386850357 + ] + }, + "final_grasp": { + "position": [ + 0.008357316255569458, + 0.21956810355186462, + 0.06460065394639969 + ], + "orientation": [ + 0.043142326176166534, + 0.7314696907997131, + 0.0067259445786476135, + 0.6804746389389038 + ], + "joints": [ + 0.023787109181284904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019802631810307503, + 0.21752457320690155, + 0.06705780327320099 + ], + "orientation": [ + 0.07095329463481903, + 0.709358811378479, + 0.03230305016040802, + -0.7005227208137512 + ], + "joints": [ + 0.01174413226544857 + ] + }, + "fine_grasp": { + "position": [ + -0.021106157451868057, + 0.2227141410112381, + 0.06748084723949432 + ], + "orientation": [ + 0.06701213866472244, + 0.7050796747207642, + 0.030226202681660652, + -0.7053073048591614 + ], + "joints": [ + 0.018147509545087814 + ] + }, + "final_grasp": { + "position": [ + -0.021106157451868057, + 0.2227141410112381, + 0.06748084723949432 + ], + "orientation": [ + 0.06701213866472244, + 0.7050796747207642, + 0.030226202681660652, + -0.7053073048591614 + ], + "joints": [ + 0.02455088682472706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019850583747029305, + 0.20629462599754333, + 0.08271196484565735 + ], + "orientation": [ + 0.025767454877495766, + 0.4010668396949768, + 0.12050594389438629, + -0.9077222943305969 + ], + "joints": [ + 0.011532837525010109 + ] + }, + "fine_grasp": { + "position": [ + 0.02010487951338291, + 0.20118804275989532, + 0.08049558103084564 + ], + "orientation": [ + 0.033555302768945694, + 0.39577507972717285, + 0.12580670416355133, + -0.9090702533721924 + ], + "joints": [ + 0.017404811456799507 + ] + }, + "final_grasp": { + "position": [ + 0.02010487951338291, + 0.20118804275989532, + 0.08049558103084564 + ], + "orientation": [ + 0.033555302768945694, + 0.39577507972717285, + 0.12580670416355133, + -0.9090702533721924 + ], + "joints": [ + 0.023276785388588905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043523240834474564, + 0.21309535205364227, + 0.055349137634038925 + ], + "orientation": [ + 0.001022531185299158, + 0.26138657331466675, + -0.03929614648222923, + 0.9644334316253662 + ], + "joints": [ + 0.012222032994031906 + ] + }, + "fine_grasp": { + "position": [ + -0.04382672160863876, + 0.21684305369853973, + 0.05585666373372078 + ], + "orientation": [ + 0.0020758265163749456, + 0.2610514461994171, + -0.042498838156461716, + 0.9643867015838623 + ], + "joints": [ + 0.018094010651111603 + ] + }, + "final_grasp": { + "position": [ + -0.04382672160863876, + 0.21684305369853973, + 0.05585666373372078 + ], + "orientation": [ + 0.0020758265163749456, + 0.2610514461994171, + -0.042498838156461716, + 0.9643867015838623 + ], + "joints": [ + 0.0239659883081913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05638750642538071, + 0.2120373398065567, + 0.018467817455530167 + ], + "orientation": [ + 0.019679313525557518, + 0.15909211337566376, + 0.0647410973906517, + -0.9849421977996826 + ], + "joints": [ + 0.012201646342873573 + ] + }, + "fine_grasp": { + "position": [ + -0.05600032955408096, + 0.20617498457431793, + 0.01797488145530224 + ], + "orientation": [ + 0.01515190675854683, + 0.15390241146087646, + 0.05357648804783821, + -0.9865161180496216 + ], + "joints": [ + 0.01807362399995327 + ] + }, + "final_grasp": { + "position": [ + -0.05600032955408096, + 0.20617498457431793, + 0.01797488145530224 + ], + "orientation": [ + 0.01515190675854683, + 0.15390241146087646, + 0.05357648804783821, + -0.9865161180496216 + ], + "joints": [ + 0.023945601657032967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05619431287050247, + 0.21158015727996826, + 0.018161941319704056 + ], + "orientation": [ + 0.018894677981734276, + 0.1558649241924286, + 0.061240069568157196, + -0.9856970906257629 + ], + "joints": [ + 0.012184791266918182 + ] + }, + "fine_grasp": { + "position": [ + -0.0558197945356369, + 0.20575575530529022, + 0.017692547291517258 + ], + "orientation": [ + 0.01529962383210659, + 0.1532071977853775, + 0.0523979514837265, + -0.9866853952407837 + ], + "joints": [ + 0.01805676892399788 + ] + }, + "final_grasp": { + "position": [ + -0.0558197945356369, + 0.20575575530529022, + 0.017692547291517258 + ], + "orientation": [ + 0.01529962383210659, + 0.1532071977853775, + 0.0523979514837265, + -0.9866853952407837 + ], + "joints": [ + 0.023928746581077576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04427357017993927, + 0.2030879557132721, + 0.06745309382677078 + ], + "orientation": [ + 0.007153140846639872, + 0.13948388397693634, + -0.1422560214996338, + 0.9799267649650574 + ], + "joints": [ + 0.011997370049357414 + ] + }, + "fine_grasp": { + "position": [ + -0.04445694386959076, + 0.19788038730621338, + 0.06610193103551865 + ], + "orientation": [ + 0.009383134543895721, + 0.1375621110200882, + -0.13530944287776947, + 0.9811626076698303 + ], + "joints": [ + 0.01786934584379196 + ] + }, + "final_grasp": { + "position": [ + -0.04445694386959076, + 0.19788038730621338, + 0.06610193103551865 + ], + "orientation": [ + 0.009383134543895721, + 0.1375621110200882, + -0.13530944287776947, + 0.9811626076698303 + ], + "joints": [ + 0.02374132163822651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04417041316628456, + 0.20317617058753967, + 0.06730307638645172 + ], + "orientation": [ + 0.0076051014475524426, + 0.14004108309745789, + -0.14247114956378937, + 0.9798125624656677 + ], + "joints": [ + 0.012069659307599068 + ] + }, + "fine_grasp": { + "position": [ + -0.044381849467754364, + 0.19780229032039642, + 0.065978042781353 + ], + "orientation": [ + 0.00910290889441967, + 0.138704314827919, + -0.1342010796070099, + 0.9811567068099976 + ], + "joints": [ + 0.017941635102033615 + ] + }, + "final_grasp": { + "position": [ + -0.044381849467754364, + 0.19780229032039642, + 0.065978042781353 + ], + "orientation": [ + 0.00910290889441967, + 0.138704314827919, + -0.1342010796070099, + 0.9811567068099976 + ], + "joints": [ + 0.023813610896468163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0033004593569785357, + 0.20582132041454315, + 0.07693516463041306 + ], + "orientation": [ + 0.024146314710378647, + -0.7187655568122864, + -0.00838827807456255, + -0.6947823166847229 + ], + "joints": [ + 0.011495795100927353 + ] + }, + "fine_grasp": { + "position": [ + -0.0029027643613517284, + 0.2000371813774109, + 0.07628429681062698 + ], + "orientation": [ + 0.025065461173653603, + -0.7135553956031799, + -0.013742710463702679, + -0.7000153660774231 + ], + "joints": [ + 0.01739434152841568 + ] + }, + "final_grasp": { + "position": [ + -0.0029027643613517284, + 0.2000371813774109, + 0.07628429681062698 + ], + "orientation": [ + 0.025065461173653603, + -0.7135553956031799, + -0.013742710463702679, + -0.7000153660774231 + ], + "joints": [ + 0.023292887955904007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05515029653906822, + 0.20230689644813538, + 0.025695154443383217 + ], + "orientation": [ + 0.04133337363600731, + 0.9908773899078369, + -0.014635119587182999, + 0.12743408977985382 + ], + "joints": [ + 0.011473853141069412 + ] + }, + "fine_grasp": { + "position": [ + 0.05473469942808151, + 0.196449875831604, + 0.02569759264588356 + ], + "orientation": [ + 0.02322329953312874, + 0.9915010333061218, + -0.010034846141934395, + 0.12761560082435608 + ], + "joints": [ + 0.01737239956855774 + ] + }, + "final_grasp": { + "position": [ + 0.05473469942808151, + 0.196449875831604, + 0.02569759264588356 + ], + "orientation": [ + 0.02322329953312874, + 0.9915010333061218, + -0.010034846141934395, + 0.12761560082435608 + ], + "joints": [ + 0.023270945996046066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05521479994058609, + 0.20218613743782043, + 0.025785434991121292 + ], + "orientation": [ + 0.04202155023813248, + 0.99085533618927, + -0.014718562364578247, + 0.1273707151412964 + ], + "joints": [ + 0.01198946125805378 + ] + }, + "fine_grasp": { + "position": [ + 0.05472942814230919, + 0.19628846645355225, + 0.025859132409095764 + ], + "orientation": [ + 0.028915995731949806, + 0.9913488626480103, + -0.010706068016588688, + 0.12757998704910278 + ], + "joints": [ + 0.01735660806298256 + ] + }, + "final_grasp": { + "position": [ + 0.05472942814230919, + 0.19628846645355225, + 0.025859132409095764 + ], + "orientation": [ + 0.028915995731949806, + 0.9913488626480103, + -0.010706068016588688, + 0.12757998704910278 + ], + "joints": [ + 0.02272375486791134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016398774459958076, + 0.20291447639465332, + 0.0736732929944992 + ], + "orientation": [ + 0.013155904598534107, + 0.7828673124313354, + -0.02107427269220352, + 0.6216925978660583 + ], + "joints": [ + 0.011562559753656387 + ] + }, + "fine_grasp": { + "position": [ + 0.01618928834795952, + 0.19715248048305511, + 0.07296185940504074 + ], + "orientation": [ + 0.011382494121789932, + 0.7762205004692078, + -0.014160321094095707, + 0.6301997303962708 + ], + "joints": [ + 0.017461106181144714 + ] + }, + "final_grasp": { + "position": [ + 0.01618928834795952, + 0.19715248048305511, + 0.07296185940504074 + ], + "orientation": [ + 0.011382494121789932, + 0.7762205004692078, + -0.014160321094095707, + 0.6301997303962708 + ], + "joints": [ + 0.02335965260863304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11243492364883423, + 0.04659709706902504, + -0.11709362268447876 + ], + "orientation": [ + 0.6206949353218079, + -0.08345533162355423, + 0.31756213307380676, + 0.7119883298873901 + ], + "joints": [ + -0.00803560484200716 + ] + }, + "fine_grasp": { + "position": [ + 0.11304213851690292, + 0.04790147766470909, + -0.11553654819726944 + ], + "orientation": [ + 0.6133890151977539, + -0.07635785639286041, + 0.3332309126853943, + 0.7119555473327637 + ], + "joints": [ + -0.007477635517716408 + ] + }, + "final_grasp": { + "position": [ + 0.11304213851690292, + 0.04790147766470909, + -0.11553654819726944 + ], + "orientation": [ + 0.6133890151977539, + -0.07635785639286041, + 0.3332309126853943, + 0.7119555473327637 + ], + "joints": [ + -0.006919666193425655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04234306886792183, + -0.0239937175065279, + -0.13256138563156128 + ], + "orientation": [ + 0.9010383486747742, + 0.2952188551425934, + 0.18267595767974854, + 0.26000985503196716 + ], + "joints": [ + -0.007351468317210674 + ] + }, + "fine_grasp": { + "position": [ + 0.04211261495947838, + -0.019710605964064598, + -0.1324262022972107 + ], + "orientation": [ + 0.9006338119506836, + 0.27434417605400085, + 0.19819839298725128, + 0.27260106801986694 + ], + "joints": [ + -0.00921136699616909 + ] + }, + "final_grasp": { + "position": [ + 0.04211261495947838, + -0.019710605964064598, + -0.1324262022972107 + ], + "orientation": [ + 0.9006338119506836, + 0.27434417605400085, + 0.19819839298725128, + 0.27260106801986694 + ], + "joints": [ + -0.011071265675127506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06299446523189545, + -0.03766017407178879, + -0.12238210439682007 + ], + "orientation": [ + 0.8909375071525574, + 0.2930748462677002, + -0.149226576089859, + -0.3131597936153412 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.061130039393901825, + -0.034152235835790634, + -0.11813158541917801 + ], + "orientation": [ + 0.8888042569160461, + 0.3026971220970154, + -0.14463254809379578, + -0.31222227215766907 + ], + "joints": [ + -0.017316419631242752 + ] + }, + "final_grasp": { + "position": [ + -0.061130039393901825, + -0.034152235835790634, + -0.11813158541917801 + ], + "orientation": [ + 0.8888042569160461, + 0.3026971220970154, + -0.14463254809379578, + -0.31222227215766907 + ], + "joints": [ + -0.01463283970952034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06271620094776154, + -0.0376182459294796, + -0.12265696376562119 + ], + "orientation": [ + 0.8909978270530701, + 0.29096847772598267, + -0.14792871475219727, + -0.3155588209629059 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.061160922050476074, + -0.034082718193531036, + -0.11834476888179779 + ], + "orientation": [ + 0.8890841603279114, + 0.3009582757949829, + -0.14583851397037506, + -0.31254538893699646 + ], + "joints": [ + -0.017316419631242752 + ] + }, + "final_grasp": { + "position": [ + -0.061160922050476074, + -0.034082718193531036, + -0.11834476888179779 + ], + "orientation": [ + 0.8890841603279114, + 0.3009582757949829, + -0.14583851397037506, + -0.31254538893699646 + ], + "joints": [ + -0.01463283970952034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13418352603912354, + 0.018658503890037537, + -0.06925737112760544 + ], + "orientation": [ + 0.276348352432251, + 0.6756143569946289, + -0.6824953556060791, + 0.03710737079381943 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.13955508172512054, + 0.01568123884499073, + -0.07069197297096252 + ], + "orientation": [ + 0.2804175615310669, + 0.6679855585098267, + -0.6869828104972839, + 0.0567086823284626 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.13955508172512054, + 0.01568123884499073, + -0.07069197297096252 + ], + "orientation": [ + 0.2804175615310669, + 0.6679855585098267, + -0.6869828104972839, + 0.0567086823284626 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13419875502586365, + 0.018653269857168198, + -0.0692448541522026 + ], + "orientation": [ + 0.2764171361923218, + 0.6756084561347961, + -0.6824684143066406, + 0.037195835262537 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.13957174122333527, + 0.015674730762839317, + -0.07067014276981354 + ], + "orientation": [ + 0.2805067002773285, + 0.6679761409759521, + -0.6869513392448425, + 0.05675887316465378 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.13957174122333527, + 0.015674730762839317, + -0.07067014276981354 + ], + "orientation": [ + 0.2805067002773285, + 0.6679761409759521, + -0.6869513392448425, + 0.05675887316465378 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13422814011573792, + 0.018684981390833855, + -0.06926453858613968 + ], + "orientation": [ + 0.2762830853462219, + 0.6756992936134338, + -0.6824376583099365, + 0.03710787743330002 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1395968198776245, + 0.01570296473801136, + -0.07069538533687592 + ], + "orientation": [ + 0.28036829829216003, + 0.6680691242218018, + -0.6869184970855713, + 0.056746531277894974 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.1395968198776245, + 0.01570296473801136, + -0.07069538533687592 + ], + "orientation": [ + 0.28036829829216003, + 0.6680691242218018, + -0.6869184970855713, + 0.056746531277894974 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07280362397432327, + -0.04485403746366501, + -0.10023611783981323 + ], + "orientation": [ + 0.932150661945343, + 0.2884640097618103, + -0.09341686218976974, + 0.19788137078285217 + ], + "joints": [ + -0.017909729853272438 + ] + }, + "fine_grasp": { + "position": [ + 0.0704718679189682, + -0.04349590465426445, + -0.09935002028942108 + ], + "orientation": [ + 0.9317270517349243, + 0.28555476665496826, + -0.10352478176355362, + 0.19906219840049744 + ], + "joints": [ + -0.015651270747184753 + ] + }, + "final_grasp": { + "position": [ + 0.0704718679189682, + -0.04349590465426445, + -0.09935002028942108 + ], + "orientation": [ + 0.9317270517349243, + 0.28555476665496826, + -0.10352478176355362, + 0.19906219840049744 + ], + "joints": [ + -0.013392811641097069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029449187219142914, + 0.21532295644283295, + -0.007318312767893076 + ], + "orientation": [ + 0.04054304212331772, + -0.896415650844574, + -0.029379229992628098, + 0.44037723541259766 + ], + "joints": [ + 0.011486541479825974 + ] + }, + "fine_grasp": { + "position": [ + 0.031232459470629692, + 0.2183380275964737, + -0.007916155271232128 + ], + "orientation": [ + 0.0330607071518898, + -0.8961964845657349, + -0.02896975725889206, + 0.4414743185043335 + ], + "joints": [ + 0.016853686422109604 + ] + }, + "final_grasp": { + "position": [ + 0.031232459470629692, + 0.2183380275964737, + -0.007916155271232128 + ], + "orientation": [ + 0.0330607071518898, + -0.8961964845657349, + -0.02896975725889206, + 0.4414743185043335 + ], + "joints": [ + 0.022220831364393234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03395920619368553, + 0.21471963822841644, + 0.0023810709826648235 + ], + "orientation": [ + 0.03396947681903839, + -0.38268426060676575, + 0.06564737856388092, + -0.9209176301956177 + ], + "joints": [ + 0.01150856539607048 + ] + }, + "fine_grasp": { + "position": [ + 0.035819970071315765, + 0.2195441573858261, + 0.002598092658445239 + ], + "orientation": [ + 0.032345231622457504, + -0.3789095878601074, + 0.05020326375961304, + -0.9235047698020935 + ], + "joints": [ + 0.017911940813064575 + ] + }, + "final_grasp": { + "position": [ + 0.035819970071315765, + 0.2195441573858261, + 0.002598092658445239 + ], + "orientation": [ + 0.032345231622457504, + -0.3789095878601074, + 0.05020326375961304, + -0.9235047698020935 + ], + "joints": [ + 0.02431531623005867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038146477192640305, + 0.2140301614999771, + -0.01721726730465889 + ], + "orientation": [ + 0.02094333991408348, + -0.9053989052772522, + -0.016816549003124237, + -0.4237113893032074 + ], + "joints": [ + 0.011553138494491577 + ] + }, + "fine_grasp": { + "position": [ + -0.03914962708950043, + 0.21390266716480255, + -0.017154596745967865 + ], + "orientation": [ + 0.015711449086666107, + -0.9041369557380676, + -0.013547790236771107, + -0.4267388880252838 + ], + "joints": [ + 0.016920283436775208 + ] + }, + "final_grasp": { + "position": [ + -0.03914962708950043, + 0.21390266716480255, + -0.017154596745967865 + ], + "orientation": [ + 0.015711449086666107, + -0.9041369557380676, + -0.013547790236771107, + -0.4267388880252838 + ], + "joints": [ + 0.022287428379058838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035700488835573196, + 0.2141072005033493, + -0.022024694830179214 + ], + "orientation": [ + 0.015817837789654732, + 0.4298408031463623, + -0.00016012811101973057, + -0.9027661085128784 + ], + "joints": [ + 0.011537095531821251 + ] + }, + "fine_grasp": { + "position": [ + -0.03636178374290466, + 0.21394456923007965, + -0.02166062220931053 + ], + "orientation": [ + 0.012698355130851269, + 0.43412017822265625, + -0.004669060464948416, + -0.9007534384727478 + ], + "joints": [ + 0.01738249696791172 + ] + }, + "final_grasp": { + "position": [ + -0.03636178374290466, + 0.21394456923007965, + -0.02166062220931053 + ], + "orientation": [ + 0.012698355130851269, + 0.43412017822265625, + -0.004669060464948416, + -0.9007534384727478 + ], + "joints": [ + 0.02322789840400219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04528107866644859, + 0.21683485805988312, + -0.015088207088410854 + ], + "orientation": [ + 0.0388471744954586, + 0.4169979393482208, + 0.04106658324599266, + -0.9071477055549622 + ], + "joints": [ + 0.011615388095378876 + ] + }, + "fine_grasp": { + "position": [ + -0.045765090733766556, + 0.21616412699222565, + -0.014921050518751144 + ], + "orientation": [ + 0.03546152636408806, + 0.41802096366882324, + 0.03495940938591957, + -0.907071590423584 + ], + "joints": [ + 0.017992191016674042 + ] + }, + "final_grasp": { + "position": [ + -0.045765090733766556, + 0.21616412699222565, + -0.014921050518751144 + ], + "orientation": [ + 0.03546152636408806, + 0.41802096366882324, + 0.03495940938591957, + -0.907071590423584 + ], + "joints": [ + 0.024368993937969208 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2037, + "num_passed": 84 + } +} \ No newline at end of file diff --git a/039_mug_0/Annotation/piper_grasp_pose.json b/039_mug_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..fee1ef0498d2c3027487bf8493f347b73cf819b7 --- /dev/null +++ b/039_mug_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,2768 @@ +{ + "type": "039_mug_0", + "bottom_center": [ + 0.0, + 0.05540115758776665, + -0.07605928182601929 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.03809617832303047, + 0.20461905002593994, + 0.004903630819171667 + ], + "orientation": [ + 0.5479413866996765, + 0.6064844727516174, + -0.3850710690021515, + 0.42855244874954224 + ], + "joints": [ + 0.012462208047509193 + ] + }, + "fine_grasp": { + "position": [ + 0.03911394625902176, + 0.20373697578907013, + 0.003939653281122446 + ], + "orientation": [ + 0.549616813659668, + 0.6021028161048889, + -0.38769078254699707, + 0.4302203059196472 + ], + "joints": [ + 0.0036642514169216156 + ] + }, + "final_grasp": { + "position": [ + 0.03911394625902176, + 0.20373697578907013, + 0.003939653281122446 + ], + "orientation": [ + 0.549616813659668, + 0.6021028161048889, + -0.38769078254699707, + 0.4302203059196472 + ], + "joints": [ + -0.005133705213665962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04016709327697754, + 0.21386930346488953, + 0.013212389312684536 + ], + "orientation": [ + 0.3833248019218445, + 0.41286471486091614, + -0.6334527134895325, + 0.5304173231124878 + ], + "joints": [ + 0.011225770227611065 + ] + }, + "fine_grasp": { + "position": [ + -0.0402471199631691, + 0.2097296565771103, + 0.012891214340925217 + ], + "orientation": [ + 0.3899020850658417, + 0.41932791471481323, + -0.6296975016593933, + 0.524996817111969 + ], + "joints": [ + 0.003660781541839242 + ] + }, + "final_grasp": { + "position": [ + -0.0402471199631691, + 0.2097296565771103, + 0.012891214340925217 + ], + "orientation": [ + 0.3899020850658417, + 0.41932791471481323, + -0.6296975016593933, + 0.524996817111969 + ], + "joints": [ + -0.003904207143932581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04024526849389076, + 0.22027896344661713, + -0.008122216910123825 + ], + "orientation": [ + 0.580158531665802, + 0.5606563687324524, + -0.3779454231262207, + 0.45413410663604736 + ], + "joints": [ + 0.01016661524772644 + ] + }, + "fine_grasp": { + "position": [ + 0.04050583392381668, + 0.21592970192432404, + -0.008153937757015228 + ], + "orientation": [ + 0.5775222182273865, + 0.5617804527282715, + -0.38028937578201294, + 0.45414847135543823 + ], + "joints": [ + 0.003458434948697686 + ] + }, + "final_grasp": { + "position": [ + 0.04050583392381668, + 0.21592970192432404, + -0.008153937757015228 + ], + "orientation": [ + 0.5775222182273865, + 0.5617804527282715, + -0.38028937578201294, + 0.45414847135543823 + ], + "joints": [ + -0.003249745350331068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036130815744400024, + 0.20850571990013123, + 0.004376854747533798 + ], + "orientation": [ + 0.3293398916721344, + 0.3324779272079468, + 0.6691969633102417, + -0.5772080421447754 + ], + "joints": [ + 0.011747115291655064 + ] + }, + "fine_grasp": { + "position": [ + 0.03741253539919853, + 0.20607466995716095, + 0.0047549717128276825 + ], + "orientation": [ + 0.32581642270088196, + 0.33559057116508484, + 0.6715420484542847, + -0.5746772885322571 + ], + "joints": [ + 0.0033671141136437654 + ] + }, + "final_grasp": { + "position": [ + 0.03741253539919853, + 0.20607466995716095, + 0.0047549717128276825 + ], + "orientation": [ + 0.32581642270088196, + 0.33559057116508484, + 0.6715420484542847, + -0.5746772885322571 + ], + "joints": [ + -0.005012887064367533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05402121692895889, + 0.22229625284671783, + 0.042192310094833374 + ], + "orientation": [ + 0.6678594946861267, + 0.6390236616134644, + -0.224932000041008, + 0.30824989080429077 + ], + "joints": [ + 0.01062827743589878 + ] + }, + "fine_grasp": { + "position": [ + -0.05387894809246063, + 0.2179938703775406, + 0.04184960573911667 + ], + "orientation": [ + 0.6659080982208252, + 0.6434712409973145, + -0.22594881057739258, + 0.3024211525917053 + ], + "joints": [ + 0.003502141684293747 + ] + }, + "final_grasp": { + "position": [ + -0.05387894809246063, + 0.2179938703775406, + 0.04184960573911667 + ], + "orientation": [ + 0.6659080982208252, + 0.6434712409973145, + -0.22594881057739258, + 0.3024211525917053 + ], + "joints": [ + -0.003623994067311287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05203106999397278, + 0.2054404765367508, + 0.022112086415290833 + ], + "orientation": [ + 0.45575255155563354, + 0.44807368516921997, + 0.5383274555206299, + -0.5492932200431824 + ], + "joints": [ + 0.010988500900566578 + ] + }, + "fine_grasp": { + "position": [ + -0.05209500342607498, + 0.20331691205501556, + 0.021971246227622032 + ], + "orientation": [ + 0.4456815719604492, + 0.44081977009773254, + 0.5451338887214661, + -0.5566641092300415 + ], + "joints": [ + 0.0034444101620465517 + ] + }, + "final_grasp": { + "position": [ + -0.05209500342607498, + 0.20331691205501556, + 0.021971246227622032 + ], + "orientation": [ + 0.4456815719604492, + 0.44081977009773254, + 0.5451338887214661, + -0.5566641092300415 + ], + "joints": [ + -0.0040996805764734745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05140852555632591, + 0.2053031623363495, + 0.022619616240262985 + ], + "orientation": [ + 0.45675843954086304, + 0.4592384397983551, + 0.5360144972801208, + -0.5414426922798157 + ], + "joints": [ + 0.010964357294142246 + ] + }, + "fine_grasp": { + "position": [ + -0.05153375864028931, + 0.20319756865501404, + 0.022601131349802017 + ], + "orientation": [ + 0.44814959168434143, + 0.45216676592826843, + 0.5419493913650513, + -0.5486327409744263 + ], + "joints": [ + 0.00342026655562222 + ] + }, + "final_grasp": { + "position": [ + -0.05153375864028931, + 0.20319756865501404, + 0.022601131349802017 + ], + "orientation": [ + 0.44814959168434143, + 0.45216676592826843, + 0.5419493913650513, + -0.5486327409744263 + ], + "joints": [ + -0.004123824182897806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05531534552574158, + 0.20915241539478302, + 0.0009370796615257859 + ], + "orientation": [ + 0.3870474696159363, + 0.4088752269744873, + -0.566631555557251, + 0.6016178131103516 + ], + "joints": [ + 0.012099821120500565 + ] + }, + "fine_grasp": { + "position": [ + -0.055200330913066864, + 0.2063780128955841, + 0.0010787765495479107 + ], + "orientation": [ + 0.3817172348499298, + 0.4021497070789337, + -0.5701646208763123, + 0.6062011122703552 + ], + "joints": [ + 0.00332276220433414 + ] + }, + "final_grasp": { + "position": [ + -0.055200330913066864, + 0.2063780128955841, + 0.0010787765495479107 + ], + "orientation": [ + 0.3817172348499298, + 0.4021497070789337, + -0.5701646208763123, + 0.6062011122703552 + ], + "joints": [ + -0.005454296711832285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0558597669005394, + 0.20848983526229858, + 0.0004723934398498386 + ], + "orientation": [ + 0.3869237005710602, + 0.4112756550312042, + -0.5658289194107056, + 0.6008161902427673 + ], + "joints": [ + 0.011144476011395454 + ] + }, + "fine_grasp": { + "position": [ + -0.05641097575426102, + 0.2062581330537796, + 0.0008634636760689318 + ], + "orientation": [ + 0.38098272681236267, + 0.40971553325653076, + -0.5674663186073303, + 0.6041253209114075 + ], + "joints": [ + 0.0036003850400447845 + ] + }, + "final_grasp": { + "position": [ + -0.05641097575426102, + 0.2062581330537796, + 0.0008634636760689318 + ], + "orientation": [ + 0.38098272681236267, + 0.40971553325653076, + -0.5674663186073303, + 0.6041253209114075 + ], + "joints": [ + -0.003943705931305885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060871608555316925, + 0.20448020100593567, + 0.0077630337327718735 + ], + "orientation": [ + 0.3039543330669403, + 0.4296282231807709, + -0.6099676489830017, + 0.5924278497695923 + ], + "joints": [ + 0.011168520897626877 + ] + }, + "fine_grasp": { + "position": [ + -0.061579469591379166, + 0.2024593949317932, + 0.008651607669889927 + ], + "orientation": [ + 0.3018629252910614, + 0.4363037943840027, + -0.6086668968200684, + 0.5899513363838196 + ], + "joints": [ + 0.003624429926276207 + ] + }, + "final_grasp": { + "position": [ + -0.061579469591379166, + 0.2024593949317932, + 0.008651607669889927 + ], + "orientation": [ + 0.3018629252910614, + 0.4363037943840027, + -0.6086668968200684, + 0.5899513363838196 + ], + "joints": [ + -0.003919661045074463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03619762510061264, + 0.20395247638225555, + 0.06642163544893265 + ], + "orientation": [ + 0.5650191307067871, + 0.6427761912345886, + 0.42060354351997375, + -0.3011394143104553 + ], + "joints": [ + 0.011178556829690933 + ] + }, + "fine_grasp": { + "position": [ + 0.03510023280978203, + 0.2015867382287979, + 0.06815922260284424 + ], + "orientation": [ + 0.5606392025947571, + 0.6428834795951843, + 0.4292479455471039, + -0.29686805605888367 + ], + "joints": [ + 0.0036344658583402634 + ] + }, + "final_grasp": { + "position": [ + 0.03510023280978203, + 0.2015867382287979, + 0.06815922260284424 + ], + "orientation": [ + 0.5606392025947571, + 0.6428834795951843, + 0.4292479455471039, + -0.29686805605888367 + ], + "joints": [ + -0.0039096251130104065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03662232682108879, + 0.20377729833126068, + 0.06640709191560745 + ], + "orientation": [ + 0.5631488561630249, + 0.6446588039398193, + 0.420732706785202, + -0.30043673515319824 + ], + "joints": [ + 0.011434602551162243 + ] + }, + "fine_grasp": { + "position": [ + 0.03546835854649544, + 0.20132508873939514, + 0.06836940348148346 + ], + "orientation": [ + 0.5584089159965515, + 0.6465144157409668, + 0.42875635623931885, + -0.2938821315765381 + ], + "joints": [ + 0.003472556360065937 + ] + }, + "final_grasp": { + "position": [ + 0.03546835854649544, + 0.20132508873939514, + 0.06836940348148346 + ], + "orientation": [ + 0.5584089159965515, + 0.6465144157409668, + 0.42875635623931885, + -0.2938821315765381 + ], + "joints": [ + -0.004489489831030369 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05606565997004509, + 0.20395909249782562, + 0.022448193281888962 + ], + "orientation": [ + 0.4584462344646454, + 0.4444950520992279, + 0.54995197057724, + -0.5383346676826477 + ], + "joints": [ + 0.011390130035579205 + ] + }, + "fine_grasp": { + "position": [ + -0.05713384225964546, + 0.20239797234535217, + 0.02215820550918579 + ], + "orientation": [ + 0.45123758912086487, + 0.4304763972759247, + 0.5605859756469727, + -0.5448102355003357 + ], + "joints": [ + 0.0034280840773135424 + ] + }, + "final_grasp": { + "position": [ + -0.05713384225964546, + 0.20239797234535217, + 0.02215820550918579 + ], + "orientation": [ + 0.45123758912086487, + 0.4304763972759247, + 0.5605859756469727, + -0.5448102355003357 + ], + "joints": [ + -0.00453396188095212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022806396707892418, + 0.20334984362125397, + 0.07281501591205597 + ], + "orientation": [ + 0.20655415952205658, + 0.31488263607025146, + -0.6775363683700562, + 0.6317664384841919 + ], + "joints": [ + 0.011288660578429699 + ] + }, + "fine_grasp": { + "position": [ + 0.022012080997228622, + 0.2015199065208435, + 0.07381080836057663 + ], + "orientation": [ + 0.20935466885566711, + 0.32240617275238037, + -0.675966739654541, + 0.6287240386009216 + ], + "joints": [ + 0.0033266146201640368 + ] + }, + "final_grasp": { + "position": [ + 0.022012080997228622, + 0.2015199065208435, + 0.07381080836057663 + ], + "orientation": [ + 0.20935466885566711, + 0.32240617275238037, + -0.675966739654541, + 0.6287240386009216 + ], + "joints": [ + -0.0046354313381016254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00788495596498251, + 0.19785475730895996, + -0.1200157031416893 + ], + "orientation": [ + 0.6561382412910461, + 0.32288146018981934, + 0.34290453791618347, + -0.5896155834197998 + ], + "joints": [ + 0.015307359397411346 + ] + }, + "fine_grasp": { + "position": [ + -0.007785530295222998, + 0.19415713846683502, + -0.11775553226470947 + ], + "orientation": [ + 0.6569604873657227, + 0.3235642910003662, + 0.3422238230705261, + -0.5887206792831421 + ], + "joints": [ + 0.008202120661735535 + ] + }, + "final_grasp": { + "position": [ + -0.007785530295222998, + 0.19415713846683502, + -0.11775553226470947 + ], + "orientation": [ + 0.6569604873657227, + 0.3235642910003662, + 0.3422238230705261, + -0.5887206792831421 + ], + "joints": [ + 0.001096881926059723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0001225221058120951, + 0.08602596819400787, + -0.1924358755350113 + ], + "orientation": [ + 0.6655182838439941, + 0.008340409025549889, + 0.007806950714439154, + -0.7462941408157349 + ], + "joints": [ + 0.017506105825304985 + ] + }, + "fine_grasp": { + "position": [ + 0.0001469236012781039, + 0.08571013808250427, + -0.18848933279514313 + ], + "orientation": [ + 0.6652889847755432, + 0.008812421932816505, + 0.008800755254924297, + -0.7464821338653564 + ], + "joints": [ + 0.007893135771155357 + ] + }, + "final_grasp": { + "position": [ + 0.0001469236012781039, + 0.08571013808250427, + -0.18848933279514313 + ], + "orientation": [ + 0.6652889847755432, + 0.008812421932816505, + 0.008800755254924297, + -0.7464821338653564 + ], + "joints": [ + -0.0017198342829942703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009808954782783985, + 0.07386121898889542, + -0.18680354952812195 + ], + "orientation": [ + 0.7881281971931458, + -0.07259681075811386, + 4.728797648567706e-06, + -0.6112149953842163 + ], + "joints": [ + 0.01742408610880375 + ] + }, + "fine_grasp": { + "position": [ + -0.009745254181325436, + 0.07356135547161102, + -0.18278907239437103 + ], + "orientation": [ + 0.7889695167541504, + -0.06866351515054703, + 0.00033066191826947033, + -0.6105837225914001 + ], + "joints": [ + 0.008229071274399757 + ] + }, + "final_grasp": { + "position": [ + -0.009745254181325436, + 0.07356135547161102, + -0.18278907239437103 + ], + "orientation": [ + 0.7889695167541504, + -0.06866351515054703, + 0.00033066191826947033, + -0.6105837225914001 + ], + "joints": [ + -0.0009659435600042343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004129763692617416, + 0.06147658824920654, + -0.18027958273887634 + ], + "orientation": [ + 0.7721890211105347, + -0.06032117083668709, + -0.0700172409415245, + -0.628635823726654 + ], + "joints": [ + 0.01777767762541771 + ] + }, + "fine_grasp": { + "position": [ + 0.003994728904217482, + 0.061619315296411514, + -0.17616474628448486 + ], + "orientation": [ + 0.7782413363456726, + -0.06169266626238823, + -0.07234154641628265, + -0.6207262873649597 + ], + "joints": [ + 0.009000618010759354 + ] + }, + "final_grasp": { + "position": [ + 0.003994728904217482, + 0.061619315296411514, + -0.17616474628448486 + ], + "orientation": [ + 0.7782413363456726, + -0.06169266626238823, + -0.07234154641628265, + -0.6207262873649597 + ], + "joints": [ + 0.00022355839610099792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010105115361511707, + 0.07471863180398941, + -0.18578112125396729 + ], + "orientation": [ + 0.7941981554031372, + -0.07917014509439468, + -0.003441993612796068, + -0.6024696230888367 + ], + "joints": [ + 0.01752924546599388 + ] + }, + "fine_grasp": { + "position": [ + -0.009974236600100994, + 0.0743686780333519, + -0.18177300691604614 + ], + "orientation": [ + 0.7950926423072815, + -0.0746319442987442, + -0.0025531204883009195, + -0.6018730998039246 + ], + "joints": [ + 0.00833423063158989 + ] + }, + "final_grasp": { + "position": [ + -0.009974236600100994, + 0.0743686780333519, + -0.18177300691604614 + ], + "orientation": [ + 0.7950926423072815, + -0.0746319442987442, + -0.0025531204883009195, + -0.6018730998039246 + ], + "joints": [ + -0.0008607842028141022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007198825944215059, + 0.19826824963092804, + -0.11945600807666779 + ], + "orientation": [ + 0.6597434878349304, + 0.31923606991767883, + 0.3410610556602478, + -0.5886459946632385 + ], + "joints": [ + 0.016216911375522614 + ] + }, + "fine_grasp": { + "position": [ + -0.006664156448096037, + 0.19474415481090546, + -0.11676051467657089 + ], + "orientation": [ + 0.6630938053131104, + 0.3160777986049652, + 0.33839237689971924, + -0.588126003742218 + ], + "joints": [ + 0.009947583079338074 + ] + }, + "final_grasp": { + "position": [ + -0.006664156448096037, + 0.19474415481090546, + -0.11676051467657089 + ], + "orientation": [ + 0.6630938053131104, + 0.3160777986049652, + 0.33839237689971924, + -0.588126003742218 + ], + "joints": [ + 0.003678254783153534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016170870512723923, + 0.12046083807945251, + -0.18221335113048553 + ], + "orientation": [ + 0.7397590279579163, + 0.17429479956626892, + -0.060985151678323746, + 0.6470385193824768 + ], + "joints": [ + 0.017194293439388275 + ] + }, + "fine_grasp": { + "position": [ + -0.015742357820272446, + 0.11947991698980331, + -0.17833088338375092 + ], + "orientation": [ + 0.7406150698661804, + 0.17230400443077087, + -0.06037119776010513, + 0.6466497778892517 + ], + "joints": [ + 0.007999278604984283 + ] + }, + "final_grasp": { + "position": [ + -0.015742357820272446, + 0.11947991698980331, + -0.17833088338375092 + ], + "orientation": [ + 0.7406150698661804, + 0.17230400443077087, + -0.06037119776010513, + 0.6466497778892517 + ], + "joints": [ + -0.0011957362294197083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03724915161728859, + 0.06479618698358536, + -0.17498818039894104 + ], + "orientation": [ + 0.6521302461624146, + 0.10257026553153992, + 0.1146339401602745, + 0.742337167263031 + ], + "joints": [ + 0.020960474386811256 + ] + }, + "fine_grasp": { + "position": [ + -0.035999834537506104, + 0.06491809338331223, + -0.17091038823127747 + ], + "orientation": [ + 0.6510881781578064, + 0.1018645167350769, + 0.1136903166770935, + 0.7434934377670288 + ], + "joints": [ + 0.013437280431389809 + ] + }, + "final_grasp": { + "position": [ + -0.035999834537506104, + 0.06491809338331223, + -0.17091038823127747 + ], + "orientation": [ + 0.6510881781578064, + 0.1018645167350769, + 0.1136903166770935, + 0.7434934377670288 + ], + "joints": [ + 0.005914086475968361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058318112045526505, + -0.018843431025743484, + -0.1438523232936859 + ], + "orientation": [ + 0.5619850754737854, + -0.3821962773799896, + -0.08523599058389664, + -0.7285832762718201 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + -0.05669645220041275, + -0.01660793460905552, + -0.14069215953350067 + ], + "orientation": [ + 0.5636144876480103, + -0.37853288650512695, + -0.08626016229391098, + -0.7291164994239807 + ], + "joints": [ + 0.01221507228910923 + ] + }, + "final_grasp": { + "position": [ + -0.05669645220041275, + -0.01660793460905552, + -0.14069215953350067 + ], + "orientation": [ + 0.5636144876480103, + -0.37853288650512695, + -0.08626016229391098, + -0.7291164994239807 + ], + "joints": [ + 0.0038559678941965103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03879386559128761, + 0.1929132342338562, + -0.09423137456178665 + ], + "orientation": [ + 0.4799140691757202, + 0.20903947949409485, + 0.5986413955688477, + -0.6063112020492554 + ], + "joints": [ + 0.01670854538679123 + ] + }, + "fine_grasp": { + "position": [ + -0.037014301866292953, + 0.1899881362915039, + -0.0920819416642189 + ], + "orientation": [ + 0.4835461676120758, + 0.20962563157081604, + 0.5943619608879089, + -0.6074323654174805 + ], + "joints": [ + 0.0075135305523872375 + ] + }, + "final_grasp": { + "position": [ + -0.037014301866292953, + 0.1899881362915039, + -0.0920819416642189 + ], + "orientation": [ + 0.4835461676120758, + 0.20962563157081604, + 0.5943619608879089, + -0.6074323654174805 + ], + "joints": [ + -0.0016814842820167542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01891661062836647, + 0.07864320278167725, + -0.18415556848049164 + ], + "orientation": [ + 0.8043123483657837, + 0.10297690331935883, + -0.028688007965683937, + -0.5845119953155518 + ], + "joints": [ + 0.017465345561504364 + ] + }, + "fine_grasp": { + "position": [ + 0.01837197132408619, + 0.0787736102938652, + -0.1800420582294464 + ], + "orientation": [ + 0.8057610392570496, + 0.09910661727190018, + -0.028884083032608032, + -0.5831747055053711 + ], + "joints": [ + 0.009106241166591644 + ] + }, + "final_grasp": { + "position": [ + 0.01837197132408619, + 0.0787736102938652, + -0.1800420582294464 + ], + "orientation": [ + 0.8057610392570496, + 0.09910661727190018, + -0.028884083032608032, + -0.5831747055053711 + ], + "joints": [ + 0.0007471367716789246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06352654844522476, + 0.15468917787075043, + -0.13884229958057404 + ], + "orientation": [ + 0.590222179889679, + 0.03440805524587631, + 0.47433149814605713, + -0.6522756218910217 + ], + "joints": [ + 0.01668265089392662 + ] + }, + "fine_grasp": { + "position": [ + -0.061290543526411057, + 0.15301306545734406, + -0.13609036803245544 + ], + "orientation": [ + 0.5932011604309082, + 0.031468991190195084, + 0.4710818827152252, + -0.6520766615867615 + ], + "joints": [ + 0.006651725620031357 + ] + }, + "final_grasp": { + "position": [ + -0.061290543526411057, + 0.15301306545734406, + -0.13609036803245544 + ], + "orientation": [ + 0.5932011604309082, + 0.031468991190195084, + 0.4710818827152252, + -0.6520766615867615 + ], + "joints": [ + -0.003379199653863907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027718553319573402, + 0.18052905797958374, + -0.12361998856067657 + ], + "orientation": [ + 0.4497508704662323, + 0.16589169204235077, + 0.5079823136329651, + -0.7156522274017334 + ], + "joints": [ + 0.017218641936779022 + ] + }, + "fine_grasp": { + "position": [ + -0.02629734016954899, + 0.1783009171485901, + -0.12071321159601212 + ], + "orientation": [ + 0.4542202949523926, + 0.1600530743598938, + 0.5024580955505371, + -0.7180547714233398 + ], + "joints": [ + 0.008044525980949402 + ] + }, + "final_grasp": { + "position": [ + -0.02629734016954899, + 0.1783009171485901, + -0.12071321159601212 + ], + "orientation": [ + 0.4542202949523926, + 0.1600530743598938, + 0.5024580955505371, + -0.7180547714233398 + ], + "joints": [ + -0.0011295899748802185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026599273085594177, + 0.22101753950119019, + -0.0640692338347435 + ], + "orientation": [ + 0.5904515981674194, + 0.4142513871192932, + -0.5108410120010376, + 0.4677652418613434 + ], + "joints": [ + 0.018325090408325195 + ] + }, + "fine_grasp": { + "position": [ + 0.026197155937552452, + 0.2169380635023117, + -0.06296949833631516 + ], + "orientation": [ + 0.5886681079864502, + 0.41427701711654663, + -0.5092992782592773, + 0.47165536880493164 + ], + "joints": [ + 0.010383941233158112 + ] + }, + "final_grasp": { + "position": [ + 0.026197155937552452, + 0.2169380635023117, + -0.06296949833631516 + ], + "orientation": [ + 0.5886681079864502, + 0.41427701711654663, + -0.5092992782592773, + 0.47165536880493164 + ], + "joints": [ + 0.002442792057991028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08144818246364594, + 0.13649801909923553, + -0.148548886179924 + ], + "orientation": [ + 0.7190073132514954, + -0.0281202532351017, + -0.43124353885650635, + 0.5443040132522583 + ], + "joints": [ + 0.01709597185254097 + ] + }, + "fine_grasp": { + "position": [ + 0.0788515955209732, + 0.13497599959373474, + -0.14603817462921143 + ], + "orientation": [ + 0.719490110874176, + -0.028363535180687904, + -0.4316699206829071, + 0.5433143377304077 + ], + "joints": [ + 0.007085944525897503 + ] + }, + "final_grasp": { + "position": [ + 0.0788515955209732, + 0.13497599959373474, + -0.14603817462921143 + ], + "orientation": [ + 0.719490110874176, + -0.028363535180687904, + -0.4316699206829071, + 0.5433143377304077 + ], + "joints": [ + -0.002924082800745964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054732631891965866, + 0.035179492086172104, + -0.1709464192390442 + ], + "orientation": [ + 0.4856796860694885, + 0.09981469064950943, + -0.2865206003189087, + -0.8197915554046631 + ], + "joints": [ + 0.01740938052535057 + ] + }, + "fine_grasp": { + "position": [ + 0.0528792180120945, + 0.035534169524908066, + -0.1674164980649948 + ], + "orientation": [ + 0.4868431091308594, + 0.10368938744068146, + -0.2808150351047516, + -0.8205944299697876 + ], + "joints": [ + 0.008611422032117844 + ] + }, + "final_grasp": { + "position": [ + 0.0528792180120945, + 0.035534169524908066, + -0.1674164980649948 + ], + "orientation": [ + 0.4868431091308594, + 0.10368938744068146, + -0.2808150351047516, + -0.8205944299697876 + ], + "joints": [ + -0.00018653646111488342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0817846730351448, + 0.13657096028327942, + -0.1487331986427307 + ], + "orientation": [ + 0.7226463556289673, + -0.030304545536637306, + -0.4296712875366211, + 0.5405981540679932 + ], + "joints": [ + 0.01700202375650406 + ] + }, + "fine_grasp": { + "position": [ + 0.07912535965442657, + 0.13509945571422577, + -0.14635679125785828 + ], + "orientation": [ + 0.7229120135307312, + -0.031011873856186867, + -0.43089550733566284, + 0.5392268300056458 + ], + "joints": [ + 0.006197881884872913 + ] + }, + "final_grasp": { + "position": [ + 0.07912535965442657, + 0.13509945571422577, + -0.14635679125785828 + ], + "orientation": [ + 0.7229120135307312, + -0.031011873856186867, + -0.43089550733566284, + 0.5392268300056458 + ], + "joints": [ + -0.004606259986758232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033414483070373535, + 0.16796644032001495, + -0.14709515869617462 + ], + "orientation": [ + 0.7768297791481018, + 0.4395942687988281, + 0.08728746324777603, + -0.4423495829105377 + ], + "joints": [ + 0.016661331057548523 + ] + }, + "fine_grasp": { + "position": [ + 0.031758490949869156, + 0.16624224185943604, + -0.143846794962883 + ], + "orientation": [ + 0.7782738208770752, + 0.4345063269138336, + 0.08045381307601929, + -0.4461180865764618 + ], + "joints": [ + 0.008281327784061432 + ] + }, + "final_grasp": { + "position": [ + 0.031758490949869156, + 0.16624224185943604, + -0.143846794962883 + ], + "orientation": [ + 0.7782738208770752, + 0.4345063269138336, + 0.08045381307601929, + -0.4461180865764618 + ], + "joints": [ + -9.867548942565918e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0002499470137991011, + 0.08589860051870346, + -0.1929902881383896 + ], + "orientation": [ + 0.6657288074493408, + 0.00983060710132122, + 0.008799402974545956, + -0.7460770010948181 + ], + "joints": [ + 0.01752248965203762 + ] + }, + "fine_grasp": { + "position": [ + 0.00024998924345709383, + 0.08563269674777985, + -0.18904003500938416 + ], + "orientation": [ + 0.6655176281929016, + 0.010100421495735645, + 0.009606998413801193, + -0.7462520003318787 + ], + "joints": [ + 0.007909519597887993 + ] + }, + "final_grasp": { + "position": [ + 0.00024998924345709383, + 0.08563269674777985, + -0.18904003500938416 + ], + "orientation": [ + 0.6655176281929016, + 0.010100421495735645, + 0.009606998413801193, + -0.7462520003318787 + ], + "joints": [ + -0.0017034504562616348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056327108293771744, + 0.1671895533800125, + -0.14258241653442383 + ], + "orientation": [ + 0.381449431180954, + 0.3354904055595398, + -0.1541968286037445, + 0.8474466800689697 + ], + "joints": [ + 0.017501963302493095 + ] + }, + "fine_grasp": { + "position": [ + -0.0543864481151104, + 0.16438882052898407, + -0.1404244601726532 + ], + "orientation": [ + 0.3800177574157715, + 0.34063538908958435, + -0.16025933623313904, + 0.8449088335037231 + ], + "joints": [ + 0.00872490368783474 + ] + }, + "final_grasp": { + "position": [ + -0.0543864481151104, + 0.16438882052898407, + -0.1404244601726532 + ], + "orientation": [ + 0.3800177574157715, + 0.34063538908958435, + -0.16025933623313904, + 0.8449088335037231 + ], + "joints": [ + -5.215592682361603e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11268030852079391, + 0.1495244950056076, + -0.07844444364309311 + ], + "orientation": [ + 0.1610737293958664, + 0.6081535816192627, + -0.1278296709060669, + 0.7667229771614075 + ], + "joints": [ + 0.018926937133073807 + ] + }, + "fine_grasp": { + "position": [ + -0.10936160385608673, + 0.14725355803966522, + -0.07714725285768509 + ], + "orientation": [ + 0.1640617996454239, + 0.6089949607849121, + -0.13280010223388672, + 0.7645737528800964 + ], + "joints": [ + 0.012197855859994888 + ] + }, + "final_grasp": { + "position": [ + -0.10936160385608673, + 0.14725355803966522, + -0.07714725285768509 + ], + "orientation": [ + 0.1640617996454239, + 0.6089949607849121, + -0.13280010223388672, + 0.7645737528800964 + ], + "joints": [ + 0.00546877458691597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07284484058618546, + 0.20672929286956787, + 0.021711435168981552 + ], + "orientation": [ + 0.408383846282959, + 0.05002625659108162, + 0.5772626399993896, + -0.705328106880188 + ], + "joints": [ + 0.015628494322299957 + ] + }, + "fine_grasp": { + "position": [ + -0.07233031839132309, + 0.20263037085533142, + 0.021356165409088135 + ], + "orientation": [ + 0.4065571129322052, + 0.04842982441186905, + 0.580287754535675, + -0.7040113210678101 + ], + "joints": [ + 0.0076873451471328735 + ] + }, + "final_grasp": { + "position": [ + -0.07233031839132309, + 0.20263037085533142, + 0.021356165409088135 + ], + "orientation": [ + 0.4065571129322052, + 0.04842982441186905, + 0.580287754535675, + -0.7040113210678101 + ], + "joints": [ + -0.0002538040280342102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09716186672449112, + 0.15381474792957306, + -0.11559830605983734 + ], + "orientation": [ + 0.2562295198440552, + -0.37347400188446045, + 0.3720751106739044, + -0.8101997375488281 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.09523937851190567, + 0.15120172500610352, + -0.11323410272598267 + ], + "orientation": [ + 0.2518659234046936, + -0.3649400472640991, + 0.3762848377227783, + -0.8135060667991638 + ], + "joints": [ + 0.0227496474981308 + ] + }, + "final_grasp": { + "position": [ + -0.09523937851190567, + 0.15120172500610352, + -0.11323410272598267 + ], + "orientation": [ + 0.2518659234046936, + -0.3649400472640991, + 0.3762848377227783, + -0.8135060667991638 + ], + "joints": [ + 0.013972587883472443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004270356614142656, + 0.20798242092132568, + -0.025131668895483017 + ], + "orientation": [ + 0.6469368934631348, + 0.6958536505699158, + 0.11962004005908966, + -0.28801292181015015 + ], + "joints": [ + 0.01254403404891491 + ] + }, + "fine_grasp": { + "position": [ + 0.005561430007219315, + 0.20458051562309265, + -0.026184428483247757 + ], + "orientation": [ + 0.6407982707023621, + 0.6922503709793091, + 0.13194890320301056, + -0.304559588432312 + ], + "joints": [ + 0.0033490199130028486 + ] + }, + "final_grasp": { + "position": [ + 0.005561430007219315, + 0.20458051562309265, + -0.026184428483247757 + ], + "orientation": [ + 0.6407982707023621, + 0.6922503709793091, + 0.13194890320301056, + -0.304559588432312 + ], + "joints": [ + -0.005845994222909212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004899534862488508, + 0.20974759757518768, + -0.025977948680520058 + ], + "orientation": [ + 0.644858181476593, + 0.6916161775588989, + 0.12605218589305878, + -0.2998929023742676 + ], + "joints": [ + 0.011736840941011906 + ] + }, + "fine_grasp": { + "position": [ + 0.005931996274739504, + 0.20610864460468292, + -0.027025984600186348 + ], + "orientation": [ + 0.6392971277236938, + 0.6880984902381897, + 0.1377371996641159, + -0.3144012689590454 + ], + "joints": [ + 0.003377737244591117 + ] + }, + "final_grasp": { + "position": [ + 0.005931996274739504, + 0.20610864460468292, + -0.027025984600186348 + ], + "orientation": [ + 0.6392971277236938, + 0.6880984902381897, + 0.1377371996641159, + -0.3144012689590454 + ], + "joints": [ + -0.004981366451829672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004446789156645536, + 0.20849736034870148, + -0.025319593027234077 + ], + "orientation": [ + 0.6470316648483276, + 0.6952516436576843, + 0.12830613553524017, + -0.28550422191619873 + ], + "joints": [ + 0.012851119041442871 + ] + }, + "fine_grasp": { + "position": [ + 0.005756967701017857, + 0.20491836965084076, + -0.026099177077412605 + ], + "orientation": [ + 0.6395675539970398, + 0.6917934417724609, + 0.1428368091583252, + -0.30327045917510986 + ], + "joints": [ + 0.004074059426784515 + ] + }, + "final_grasp": { + "position": [ + 0.005756967701017857, + 0.20491836965084076, + -0.026099177077412605 + ], + "orientation": [ + 0.6395675539970398, + 0.6917934417724609, + 0.1428368091583252, + -0.30327045917510986 + ], + "joints": [ + -0.00470300018787384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004102514591068029, + 0.2084069848060608, + -0.025849755853414536 + ], + "orientation": [ + 0.6489412188529968, + 0.6952689290046692, + 0.1281406581401825, + -0.2811696529388428 + ], + "joints": [ + 0.012968644499778748 + ] + }, + "fine_grasp": { + "position": [ + 0.005495020654052496, + 0.20499134063720703, + -0.026713112369179726 + ], + "orientation": [ + 0.6424823999404907, + 0.6915413737297058, + 0.1418537050485611, + -0.29810112714767456 + ], + "joints": [ + 0.003773629665374756 + ] + }, + "final_grasp": { + "position": [ + 0.005495020654052496, + 0.20499134063720703, + -0.026713112369179726 + ], + "orientation": [ + 0.6424823999404907, + 0.6915413737297058, + 0.1418537050485611, + -0.29810112714767456 + ], + "joints": [ + -0.005421385169029236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07317367941141129, + 0.2050044685602188, + 0.02217041328549385 + ], + "orientation": [ + 0.40424734354019165, + 0.05694001913070679, + 0.5789585709571838, + -0.7057966589927673 + ], + "joints": [ + 0.015503786504268646 + ] + }, + "fine_grasp": { + "position": [ + -0.07292640954256058, + 0.20079274475574493, + 0.021969588473439217 + ], + "orientation": [ + 0.40358254313468933, + 0.05287874862551689, + 0.5808056592941284, + -0.704974889755249 + ], + "joints": [ + 0.0075626373291015625 + ] + }, + "final_grasp": { + "position": [ + -0.07292640954256058, + 0.20079274475574493, + 0.021969588473439217 + ], + "orientation": [ + 0.40358254313468933, + 0.05287874862551689, + 0.5808056592941284, + -0.704974889755249 + ], + "joints": [ + -0.00037851184606552124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07277438789606094, + 0.20711281895637512, + 0.02205083705484867 + ], + "orientation": [ + 0.41549691557884216, + 0.053807199001312256, + 0.5720994472503662, + -0.705102264881134 + ], + "joints": [ + 0.014195818454027176 + ] + }, + "fine_grasp": { + "position": [ + -0.07217828184366226, + 0.2030436396598816, + 0.022035840898752213 + ], + "orientation": [ + 0.41349396109580994, + 0.05426100268959999, + 0.575384795665741, + -0.7035700678825378 + ], + "joints": [ + 0.0058158161118626595 + ] + }, + "final_grasp": { + "position": [ + -0.07217828184366226, + 0.2030436396598816, + 0.022035840898752213 + ], + "orientation": [ + 0.41349396109580994, + 0.05426100268959999, + 0.575384795665741, + -0.7035700678825378 + ], + "joints": [ + -0.002564186230301857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02544463612139225, + 0.22432862222194672, + -0.008522300980985165 + ], + "orientation": [ + 0.6522533297538757, + 0.7389878034591675, + -0.12206612527370453, + 0.11645733565092087 + ], + "joints": [ + 0.010982745327055454 + ] + }, + "fine_grasp": { + "position": [ + 0.02588328719139099, + 0.22012868523597717, + -0.008953450247645378 + ], + "orientation": [ + 0.6525148153305054, + 0.7394909858703613, + -0.117451973259449, + 0.11654426902532578 + ], + "joints": [ + 0.003438654588535428 + ] + }, + "final_grasp": { + "position": [ + 0.02588328719139099, + 0.22012868523597717, + -0.008953450247645378 + ], + "orientation": [ + 0.6525148153305054, + 0.7394909858703613, + -0.117451973259449, + 0.11654426902532578 + ], + "joints": [ + -0.004105436149984598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023304210975766182, + 0.21505464613437653, + -0.02546081319451332 + ], + "orientation": [ + 0.6825539469718933, + 0.6731856465339661, + 0.18225768208503723, + -0.21845702826976776 + ], + "joints": [ + 0.010455106385052204 + ] + }, + "fine_grasp": { + "position": [ + -0.023289335891604424, + 0.21082118153572083, + -0.02548104152083397 + ], + "orientation": [ + 0.6813609004020691, + 0.6723082661628723, + 0.18527165055274963, + -0.22231347858905792 + ], + "joints": [ + 0.003328970866277814 + ] + }, + "final_grasp": { + "position": [ + -0.023289335891604424, + 0.21082118153572083, + -0.02548104152083397 + ], + "orientation": [ + 0.6813609004020691, + 0.6723082661628723, + 0.18527165055274963, + -0.22231347858905792 + ], + "joints": [ + -0.0037971646524965763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06399957835674286, + 0.204741969704628, + -0.0005541951395571232 + ], + "orientation": [ + 0.6405881643295288, + 0.6570122241973877, + 0.35866448283195496, + -0.17129409313201904 + ], + "joints": [ + 0.011481547728180885 + ] + }, + "fine_grasp": { + "position": [ + -0.06415007263422012, + 0.2022947520017624, + 0.0012138395104557276 + ], + "orientation": [ + 0.6396303176879883, + 0.663754403591156, + 0.3523964583873749, + -0.16161608695983887 + ], + "joints": [ + 0.0035195015370845795 + ] + }, + "final_grasp": { + "position": [ + -0.06415007263422012, + 0.2022947520017624, + 0.0012138395104557276 + ], + "orientation": [ + 0.6396303176879883, + 0.663754403591156, + 0.3523964583873749, + -0.16161608695983887 + ], + "joints": [ + -0.004442544654011726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06474229693412781, + 0.20597895979881287, + -0.0008188844658434391 + ], + "orientation": [ + 0.6424170732498169, + 0.6574889421463013, + 0.35547977685928345, + -0.16924186050891876 + ], + "joints": [ + 0.011018797755241394 + ] + }, + "fine_grasp": { + "position": [ + -0.06486231088638306, + 0.20292878150939941, + 0.0005778810591436923 + ], + "orientation": [ + 0.6428915858268738, + 0.6615884900093079, + 0.3508283793926239, + -0.1609671264886856 + ], + "joints": [ + 0.003474706783890724 + ] + }, + "final_grasp": { + "position": [ + -0.06486231088638306, + 0.20292878150939941, + 0.0005778810591436923 + ], + "orientation": [ + 0.6428915858268738, + 0.6615884900093079, + 0.3508283793926239, + -0.1609671264886856 + ], + "joints": [ + -0.004069384187459946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06457749754190445, + 0.2063852846622467, + -0.0009453086531721056 + ], + "orientation": [ + 0.640579879283905, + 0.657671332359314, + 0.35887637734413147, + -0.16832563281059265 + ], + "joints": [ + 0.010954533703625202 + ] + }, + "fine_grasp": { + "position": [ + -0.0647137239575386, + 0.20323723554611206, + 0.00038330742972902954 + ], + "orientation": [ + 0.6401009559631348, + 0.6612465977668762, + 0.3566749095916748, + -0.1606447994709015 + ], + "joints": [ + 0.003410442965105176 + ] + }, + "final_grasp": { + "position": [ + -0.0647137239575386, + 0.20323723554611206, + 0.00038330742972902954 + ], + "orientation": [ + 0.6401009559631348, + 0.6612465977668762, + 0.3566749095916748, + -0.1606447994709015 + ], + "joints": [ + -0.00413364777341485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06537538021802902, + 0.20398588478565216, + -0.012790282256901264 + ], + "orientation": [ + 0.6731791496276855, + 0.60723477602005, + 0.3629603981971741, + -0.21530336141586304 + ], + "joints": [ + 0.011857225559651852 + ] + }, + "fine_grasp": { + "position": [ + -0.06493808329105377, + 0.20129148662090302, + -0.012143206782639027 + ], + "orientation": [ + 0.6749259233474731, + 0.6062718629837036, + 0.3621055483818054, + -0.2139834612607956 + ], + "joints": [ + 0.00347722414880991 + ] + }, + "final_grasp": { + "position": [ + -0.06493808329105377, + 0.20129148662090302, + -0.012143206782639027 + ], + "orientation": [ + 0.6749259233474731, + 0.6062718629837036, + 0.3621055483818054, + -0.2139834612607956 + ], + "joints": [ + -0.004902777262032032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06526821851730347, + 0.20614077150821686, + 0.006164346821606159 + ], + "orientation": [ + 0.5067839026451111, + 0.36852574348449707, + -0.5323259830474854, + 0.5691993832588196 + ], + "joints": [ + 0.012609651312232018 + ] + }, + "fine_grasp": { + "position": [ + 0.06382402777671814, + 0.20433945953845978, + 0.004732141736894846 + ], + "orientation": [ + 0.4950016438961029, + 0.36324992775917053, + -0.5369412302970886, + 0.5785474181175232 + ], + "joints": [ + 0.0034146371763199568 + ] + }, + "final_grasp": { + "position": [ + 0.06382402777671814, + 0.20433945953845978, + 0.004732141736894846 + ], + "orientation": [ + 0.4950016438961029, + 0.36324992775917053, + -0.5369412302970886, + 0.5785474181175232 + ], + "joints": [ + -0.005780376959592104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06410498172044754, + 0.2111244648694992, + 0.04307052120566368 + ], + "orientation": [ + 0.5545110702514648, + 0.6165148019790649, + -0.3578186631202698, + 0.42940977215766907 + ], + "joints": [ + 0.011838090606033802 + ] + }, + "fine_grasp": { + "position": [ + -0.06313557177782059, + 0.20775435864925385, + 0.04243899881839752 + ], + "orientation": [ + 0.5576611161231995, + 0.6184685826301575, + -0.3532506823539734, + 0.4262915253639221 + ], + "joints": [ + 0.003458089428022504 + ] + }, + "final_grasp": { + "position": [ + -0.06313557177782059, + 0.20775435864925385, + 0.04243899881839752 + ], + "orientation": [ + 0.5576611161231995, + 0.6184685826301575, + -0.3532506823539734, + 0.4262915253639221 + ], + "joints": [ + -0.004921911749988794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08559925854206085, + 0.2038399875164032, + -0.011707872152328491 + ], + "orientation": [ + 0.6255199313163757, + 0.5223655700683594, + 0.19996152818202972, + -0.5439433455467224 + ], + "joints": [ + 0.015477493405342102 + ] + }, + "fine_grasp": { + "position": [ + 0.08490417897701263, + 0.20043843984603882, + -0.012342301197350025 + ], + "orientation": [ + 0.6335492730140686, + 0.5286164283752441, + 0.19269756972789764, + -0.5310816764831543 + ], + "joints": [ + 0.006700433790683746 + ] + }, + "final_grasp": { + "position": [ + 0.08490417897701263, + 0.20043843984603882, + -0.012342301197350025 + ], + "orientation": [ + 0.6335492730140686, + 0.5286164283752441, + 0.19269756972789764, + -0.5310816764831543 + ], + "joints": [ + -0.0020766258239746094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09837724268436432, + 0.19686856865882874, + 0.026148809120059013 + ], + "orientation": [ + 0.5876383185386658, + 0.6678524613380432, + -0.45615309476852417, + 0.02405732125043869 + ], + "joints": [ + 0.013559927232563496 + ] + }, + "fine_grasp": { + "position": [ + 0.09783723205327988, + 0.19402123987674713, + 0.02645833231508732 + ], + "orientation": [ + 0.5915340781211853, + 0.6702901124954224, + -0.44768133759498596, + 0.019498370587825775 + ], + "joints": [ + 0.00478286761790514 + ] + }, + "final_grasp": { + "position": [ + 0.09783723205327988, + 0.19402123987674713, + 0.02645833231508732 + ], + "orientation": [ + 0.5915340781211853, + 0.6702901124954224, + -0.44768133759498596, + 0.019498370587825775 + ], + "joints": [ + -0.003994191996753216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07383348792791367, + 0.20195773243904114, + 0.0003399981651455164 + ], + "orientation": [ + 0.5884737372398376, + 0.43094465136528015, + 0.5015489459037781, + -0.4652247428894043 + ], + "joints": [ + 0.012634684331715107 + ] + }, + "fine_grasp": { + "position": [ + -0.07356948405504227, + 0.20031487941741943, + 0.00011420680675655603 + ], + "orientation": [ + 0.5849058628082275, + 0.4262455701828003, + 0.5070159435272217, + -0.4681180715560913 + ], + "joints": [ + 0.003857624949887395 + ] + }, + "final_grasp": { + "position": [ + -0.07356948405504227, + 0.20031487941741943, + 0.00011420680675655603 + ], + "orientation": [ + 0.5849058628082275, + 0.4262455701828003, + 0.5070159435272217, + -0.4681180715560913 + ], + "joints": [ + -0.004919434431940317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07372850179672241, + 0.19956372678279877, + -0.029366958886384964 + ], + "orientation": [ + 0.5329771637916565, + 0.4423603117465973, + -0.3451502025127411, + 0.6333434581756592 + ], + "joints": [ + 0.013128477148711681 + ] + }, + "fine_grasp": { + "position": [ + -0.0733179897069931, + 0.19692887365818024, + -0.029006117954850197 + ], + "orientation": [ + 0.5369789600372314, + 0.44826197624206543, + -0.3436591327190399, + 0.6265885233879089 + ], + "joints": [ + 0.00393346231430769 + ] + }, + "final_grasp": { + "position": [ + -0.0733179897069931, + 0.19692887365818024, + -0.029006117954850197 + ], + "orientation": [ + 0.5369789600372314, + 0.44826197624206543, + -0.3436591327190399, + 0.6265885233879089 + ], + "joints": [ + -0.005261552520096302 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 55 + } +} \ No newline at end of file diff --git a/039_mug_0/Object.usd b/039_mug_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..89dce4048975619a0aca126b24187f1595dcc870 --- /dev/null +++ b/039_mug_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6753106e6625988e767c733b2b64a67e1ff77393f67fa39ea1182bfb70a512c3 +size 168351 diff --git a/039_mug_5/Annotation/dex1_1_grasp_pose.json b/039_mug_5/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..bc46b06064c419b7fa634d19113cc5822d7e7d89 --- /dev/null +++ b/039_mug_5/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,2218 @@ +{ + "type": "039_mug_5", + "bottom_center": [ + 0.0, + 0.06083531677722931, + -0.0758778378367424 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.06415658444166183, + 0.2152276486158371, + 0.012978805229067802 + ], + "orientation": [ + 0.03317601606249809, + 0.08093079179525375, + -0.031586434692144394, + 0.9956665635108948 + ], + "joints": [ + 0.01072739064693451 + ] + }, + "fine_grasp": { + "position": [ + 0.06238425895571709, + 0.21297132968902588, + 0.012902009300887585 + ], + "orientation": [ + 0.025546086952090263, + 0.08780349791049957, + -0.034803081303834915, + 0.995201826095581 + ], + "joints": [ + 0.017130764201283455 + ] + }, + "final_grasp": { + "position": [ + 0.06238425895571709, + 0.21297132968902588, + 0.012902009300887585 + ], + "orientation": [ + 0.025546086952090263, + 0.08780349791049957, + -0.034803081303834915, + 0.995201826095581 + ], + "joints": [ + 0.0235341377556324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060268256813287735, + 0.21688002347946167, + -0.005716169252991676 + ], + "orientation": [ + 0.07424016296863556, + 0.9962735176086426, + -0.01972586289048195, + -0.03922230377793312 + ], + "joints": [ + 0.011172827333211899 + ] + }, + "fine_grasp": { + "position": [ + 0.060199614614248276, + 0.21408827602863312, + -0.005288729909807444 + ], + "orientation": [ + 0.07590418308973312, + 0.9961874485015869, + -0.017199335619807243, + -0.03941494971513748 + ], + "joints": [ + 0.017549630254507065 + ] + }, + "final_grasp": { + "position": [ + 0.060199614614248276, + 0.21408827602863312, + -0.005288729909807444 + ], + "orientation": [ + 0.07590418308973312, + 0.9961874485015869, + -0.017199335619807243, + -0.03941494971513748 + ], + "joints": [ + 0.02392643317580223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06573852151632309, + 0.21305640041828156, + 0.03593827039003372 + ], + "orientation": [ + 0.02079646848142147, + 0.9784282445907593, + -0.05275381729006767, + 0.19865281879901886 + ], + "joints": [ + 0.010636895895004272 + ] + }, + "fine_grasp": { + "position": [ + 0.064471535384655, + 0.21208107471466064, + 0.03494209051132202 + ], + "orientation": [ + 0.02517213113605976, + 0.9770400524139404, + -0.0458514504134655, + 0.20653453469276428 + ], + "joints": [ + 0.01701369695365429 + ] + }, + "final_grasp": { + "position": [ + 0.064471535384655, + 0.21208107471466064, + 0.03494209051132202 + ], + "orientation": [ + 0.02517213113605976, + 0.9770400524139404, + -0.0458514504134655, + 0.20653453469276428 + ], + "joints": [ + 0.023390498012304306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04092264920473099, + 0.2130126655101776, + 0.06617019325494766 + ], + "orientation": [ + 0.016311485320329666, + -0.368460088968277, + 0.04589323326945305, + -0.9283667802810669 + ], + "joints": [ + 0.010688092559576035 + ] + }, + "fine_grasp": { + "position": [ + -0.03963727876543999, + 0.21152734756469727, + 0.06532572954893112 + ], + "orientation": [ + 0.00860546063631773, + -0.36404159665107727, + 0.04509657993912697, + -0.9302505254745483 + ], + "joints": [ + 0.01709146611392498 + ] + }, + "final_grasp": { + "position": [ + -0.03963727876543999, + 0.21152734756469727, + 0.06532572954893112 + ], + "orientation": [ + 0.00860546063631773, + -0.36404159665107727, + 0.04509657993912697, + -0.9302505254745483 + ], + "joints": [ + 0.023494839668273926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04919715225696564, + 0.2151985764503479, + 0.06194772571325302 + ], + "orientation": [ + 0.016693584620952606, + 0.9072514176368713, + 0.05381562560796738, + -0.41679733991622925 + ], + "joints": [ + 0.010949842631816864 + ] + }, + "fine_grasp": { + "position": [ + -0.04764551669359207, + 0.21343469619750977, + 0.06048468127846718 + ], + "orientation": [ + 0.018609104678034782, + 0.9076797366142273, + 0.04516855254769325, + -0.4168104827404022 + ], + "joints": [ + 0.016821814700961113 + ] + }, + "final_grasp": { + "position": [ + -0.04764551669359207, + 0.21343469619750977, + 0.06048468127846718 + ], + "orientation": [ + 0.018609104678034782, + 0.9076797366142273, + 0.04516855254769325, + -0.4168104827404022 + ], + "joints": [ + 0.022693786770105362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05994098260998726, + 0.212680846452713, + 0.048701390624046326 + ], + "orientation": [ + 0.04299604147672653, + 0.9363425374031067, + -0.061106715351343155, + 0.3430452346801758 + ], + "joints": [ + 0.010973116382956505 + ] + }, + "fine_grasp": { + "position": [ + 0.05850604921579361, + 0.21132639050483704, + 0.047138165682554245 + ], + "orientation": [ + 0.04626064747571945, + 0.9349452257156372, + -0.05179842188954353, + 0.3479284346103668 + ], + "joints": [ + 0.016845088452100754 + ] + }, + "final_grasp": { + "position": [ + 0.05850604921579361, + 0.21132639050483704, + 0.047138165682554245 + ], + "orientation": [ + 0.04626064747571945, + 0.9349452257156372, + -0.05179842188954353, + 0.3479284346103668 + ], + "joints": [ + 0.022717060521245003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037814147770404816, + 0.212304025888443, + 0.07702794671058655 + ], + "orientation": [ + 0.03136182576417923, + -0.4153565764427185, + 0.070549875497818, + -0.9063761830329895 + ], + "joints": [ + 0.010342631489038467 + ] + }, + "fine_grasp": { + "position": [ + -0.036489974707365036, + 0.211481973528862, + 0.07582702487707138 + ], + "orientation": [ + 0.024658678099513054, + -0.412368506193161, + 0.06576903909444809, + -0.9083053469657898 + ], + "joints": [ + 0.016214601695537567 + ] + }, + "final_grasp": { + "position": [ + -0.036489974707365036, + 0.211481973528862, + 0.07582702487707138 + ], + "orientation": [ + 0.024658678099513054, + -0.412368506193161, + 0.06576903909444809, + -0.9083053469657898 + ], + "joints": [ + 0.022086571902036667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06356468796730042, + 0.21543379127979279, + 0.013189822435379028 + ], + "orientation": [ + 0.03074154630303383, + 0.0833672434091568, + -0.03213861957192421, + 0.9955260157585144 + ], + "joints": [ + 0.010841375216841698 + ] + }, + "fine_grasp": { + "position": [ + 0.06220079958438873, + 0.21279308199882507, + 0.013008814305067062 + ], + "orientation": [ + 0.024992257356643677, + 0.0879681259393692, + -0.036576155573129654, + 0.9951377511024475 + ], + "joints": [ + 0.017244748771190643 + ] + }, + "final_grasp": { + "position": [ + 0.06220079958438873, + 0.21279308199882507, + 0.013008814305067062 + ], + "orientation": [ + 0.024992257356643677, + 0.0879681259393692, + -0.036576155573129654, + 0.9951377511024475 + ], + "joints": [ + 0.02364812232553959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0001284406753256917, + 0.21806959807872772, + 0.08709314465522766 + ], + "orientation": [ + 0.10356854647397995, + -0.8019264936447144, + -0.01831904798746109, + -0.5880917310714722 + ], + "joints": [ + 0.010666338726878166 + ] + }, + "fine_grasp": { + "position": [ + 0.00023212999803945422, + 0.21588946878910065, + 0.08544057607650757 + ], + "orientation": [ + 0.09927252680063248, + -0.8001042008399963, + -0.023001113906502724, + -0.5911422967910767 + ], + "joints": [ + 0.016538310796022415 + ] + }, + "final_grasp": { + "position": [ + 0.00023212999803945422, + 0.21588946878910065, + 0.08544057607650757 + ], + "orientation": [ + 0.09927252680063248, + -0.8001042008399963, + -0.023001113906502724, + -0.5911422967910767 + ], + "joints": [ + 0.022410282865166664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051622796803712845, + 0.22007709741592407, + -0.01928461715579033 + ], + "orientation": [ + 0.039902281016111374, + 0.36519378423690796, + 0.038025714457035065, + -0.9292983412742615 + ], + "joints": [ + 0.011308610439300537 + ] + }, + "fine_grasp": { + "position": [ + -0.05235893651843071, + 0.21973344683647156, + -0.018467053771018982 + ], + "orientation": [ + 0.03548801690340042, + 0.36883413791656494, + 0.03010232374072075, + -0.9283296465873718 + ], + "joints": [ + 0.017180584371089935 + ] + }, + "final_grasp": { + "position": [ + -0.05235893651843071, + 0.21973344683647156, + -0.018467053771018982 + ], + "orientation": [ + 0.03548801690340042, + 0.36883413791656494, + 0.03010232374072075, + -0.9283296465873718 + ], + "joints": [ + 0.023052558302879333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03885495662689209, + 0.21441204845905304, + 0.07819688320159912 + ], + "orientation": [ + 0.03989196568727493, + -0.4414997398853302, + -0.06844715774059296, + 0.8937569856643677 + ], + "joints": [ + 0.009897960349917412 + ] + }, + "fine_grasp": { + "position": [ + 0.03772714361548424, + 0.21320165693759918, + 0.07605493068695068 + ], + "orientation": [ + 0.032867830246686935, + -0.44361385703086853, + -0.060879237949848175, + 0.8935436606407166 + ], + "joints": [ + 0.01627475768327713 + ] + }, + "final_grasp": { + "position": [ + 0.03772714361548424, + 0.21320165693759918, + 0.07605493068695068 + ], + "orientation": [ + 0.032867830246686935, + -0.44361385703086853, + -0.060879237949848175, + 0.8935436606407166 + ], + "joints": [ + 0.02265155501663685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014205459505319595, + 0.22271716594696045, + 0.07629646360874176 + ], + "orientation": [ + 0.006277150474488735, + 0.5697871446609497, + -0.04710480943322182, + 0.8204172253608704 + ], + "joints": [ + 0.011621000245213509 + ] + }, + "fine_grasp": { + "position": [ + -0.013996392488479614, + 0.22765202820301056, + 0.07680859416723251 + ], + "orientation": [ + 0.008344986476004124, + 0.5721670985221863, + -0.049943406134843826, + 0.8185725212097168 + ], + "joints": [ + 0.017492974177002907 + ] + }, + "final_grasp": { + "position": [ + -0.013996392488479614, + 0.22765202820301056, + 0.07680859416723251 + ], + "orientation": [ + 0.008344986476004124, + 0.5721670985221863, + -0.049943406134843826, + 0.8185725212097168 + ], + "joints": [ + 0.023364948108792305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04790359362959862, + 0.21530400216579437, + -0.02681070938706398 + ], + "orientation": [ + 0.041154973208904266, + 0.9503338932991028, + 0.01961388625204563, + 0.30787500739097595 + ], + "joints": [ + 0.011041883379220963 + ] + }, + "fine_grasp": { + "position": [ + -0.04702576622366905, + 0.21046198904514313, + -0.025610480457544327 + ], + "orientation": [ + 0.053019192069768906, + 0.9522517323493958, + 0.010681914165616035, + 0.3004857003688812 + ], + "joints": [ + 0.01691385544836521 + ] + }, + "final_grasp": { + "position": [ + -0.04702576622366905, + 0.21046198904514313, + -0.025610480457544327 + ], + "orientation": [ + 0.053019192069768906, + 0.9522517323493958, + 0.010681914165616035, + 0.3004857003688812 + ], + "joints": [ + 0.02278582751750946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05074521154165268, + 0.2203529328107834, + -0.02022571675479412 + ], + "orientation": [ + 0.03878963738679886, + 0.3761976659297943, + 0.03666765242815018, + -0.9250006675720215 + ], + "joints": [ + 0.011270925402641296 + ] + }, + "fine_grasp": { + "position": [ + -0.05138208344578743, + 0.21984106302261353, + -0.019511429592967033 + ], + "orientation": [ + 0.03387880325317383, + 0.37861594557762146, + 0.029590679332613945, + -0.9244601726531982 + ], + "joints": [ + 0.017142899334430695 + ] + }, + "final_grasp": { + "position": [ + -0.05138208344578743, + 0.21984106302261353, + -0.019511429592967033 + ], + "orientation": [ + 0.03387880325317383, + 0.37861594557762146, + 0.029590679332613945, + -0.9244601726531982 + ], + "joints": [ + 0.023014873266220093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00593643169850111, + 0.2142622023820877, + 0.09145452827215195 + ], + "orientation": [ + 0.016193756833672523, + -0.6894950270652771, + -0.09065275639295578, + 0.7184123992919922 + ], + "joints": [ + 0.010070644319057465 + ] + }, + "fine_grasp": { + "position": [ + -0.00551227293908596, + 0.2133239209651947, + 0.0889577865600586 + ], + "orientation": [ + 0.01276298426091671, + -0.6912946701049805, + -0.08036529272794724, + 0.7179762721061707 + ], + "joints": [ + 0.015916042029857635 + ] + }, + "final_grasp": { + "position": [ + -0.00551227293908596, + 0.2133239209651947, + 0.0889577865600586 + ], + "orientation": [ + 0.01276298426091671, + -0.6912946701049805, + -0.08036529272794724, + 0.7179762721061707 + ], + "joints": [ + 0.021761439740657806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005927671678364277, + 0.21425200998783112, + 0.09168419986963272 + ], + "orientation": [ + 0.016573254019021988, + -0.6891728639602661, + -0.09159515798091888, + 0.7185933589935303 + ], + "joints": [ + 0.010038023814558983 + ] + }, + "fine_grasp": { + "position": [ + -0.005523928441107273, + 0.21332770586013794, + 0.08919751644134521 + ], + "orientation": [ + 0.013327320106327534, + -0.6913712024688721, + -0.08115454018115997, + 0.7178037762641907 + ], + "joints": [ + 0.015883419662714005 + ] + }, + "final_grasp": { + "position": [ + -0.005523928441107273, + 0.21332770586013794, + 0.08919751644134521 + ], + "orientation": [ + 0.013327320106327534, + -0.6913712024688721, + -0.08115454018115997, + 0.7178037762641907 + ], + "joints": [ + 0.021728815510869026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0317608080804348, + 0.2187321037054062, + 0.07792110741138458 + ], + "orientation": [ + 0.10312879830598831, + -0.9179575443267822, + 0.0008471072069369256, + -0.3830375373363495 + ], + "joints": [ + 0.011100325733423233 + ] + }, + "fine_grasp": { + "position": [ + 0.03154003247618675, + 0.21569573879241943, + 0.07627397775650024 + ], + "orientation": [ + 0.10383211076259613, + -0.9185308814048767, + -0.0055198268964886665, + -0.38143062591552734 + ], + "joints": [ + 0.016972297802567482 + ] + }, + "final_grasp": { + "position": [ + 0.03154003247618675, + 0.21569573879241943, + 0.07627397775650024 + ], + "orientation": [ + 0.10383211076259613, + -0.9185308814048767, + -0.0055198268964886665, + -0.38143062591552734 + ], + "joints": [ + 0.02284426987171173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07103188335895538, + 0.2120334804058075, + 0.05220643803477287 + ], + "orientation": [ + 0.10962671041488647, + 0.891954243183136, + -0.12772977352142334, + 0.41962432861328125 + ], + "joints": [ + 0.010414663702249527 + ] + }, + "fine_grasp": { + "position": [ + 0.06850489228963852, + 0.2098107784986496, + 0.050198543816804886 + ], + "orientation": [ + 0.11349642276763916, + 0.8904187083244324, + -0.11430694907903671, + 0.42568397521972656 + ], + "joints": [ + 0.016286633908748627 + ] + }, + "final_grasp": { + "position": [ + 0.06850489228963852, + 0.2098107784986496, + 0.050198543816804886 + ], + "orientation": [ + 0.11349642276763916, + 0.8904187083244324, + -0.11430694907903671, + 0.42568397521972656 + ], + "joints": [ + 0.022158604115247726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 5.647689249599352e-07, + 0.2183075249195099, + 0.08870711177587509 + ], + "orientation": [ + 0.11656088382005692, + -0.804926872253418, + -0.02082371897995472, + -0.5814400911331177 + ], + "joints": [ + 0.010527810081839561 + ] + }, + "fine_grasp": { + "position": [ + 0.0004451039421837777, + 0.21513113379478455, + 0.08730334788560867 + ], + "orientation": [ + 0.11454271525144577, + -0.8074737787246704, + -0.025402307510375977, + -0.5781184434890747 + ], + "joints": [ + 0.01690460927784443 + ] + }, + "final_grasp": { + "position": [ + 0.0004451039421837777, + 0.21513113379478455, + 0.08730334788560867 + ], + "orientation": [ + 0.11454271525144577, + -0.8074737787246704, + -0.025402307510375977, + -0.5781184434890747 + ], + "joints": [ + 0.023281408473849297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031410034745931625, + 0.21831023693084717, + 0.07661934196949005 + ], + "orientation": [ + 0.09620567411184311, + -0.9175928831100464, + -0.0011052769841626287, + -0.3857027590274811 + ], + "joints": [ + 0.011123886331915855 + ] + }, + "fine_grasp": { + "position": [ + 0.030669789761304855, + 0.21482723951339722, + 0.0746021419763565 + ], + "orientation": [ + 0.09908011555671692, + -0.9193956255912781, + -0.011239321902394295, + -0.3804846405982971 + ], + "joints": [ + 0.016995860263705254 + ] + }, + "final_grasp": { + "position": [ + 0.030669789761304855, + 0.21482723951339722, + 0.0746021419763565 + ], + "orientation": [ + 0.09908011555671692, + -0.9193956255912781, + -0.011239321902394295, + -0.3804846405982971 + ], + "joints": [ + 0.022867834195494652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06989783048629761, + 0.21237042546272278, + 0.05153477191925049 + ], + "orientation": [ + 0.10844893008470535, + 0.8922391533851624, + -0.12111078947782516, + 0.42128419876098633 + ], + "joints": [ + 0.010859917849302292 + ] + }, + "fine_grasp": { + "position": [ + 0.06732162833213806, + 0.2102240025997162, + 0.04961573705077171 + ], + "orientation": [ + 0.11473239958286285, + 0.8895111680030823, + -0.10897371917963028, + 0.42863887548446655 + ], + "joints": [ + 0.016705317422747612 + ] + }, + "final_grasp": { + "position": [ + 0.06732162833213806, + 0.2102240025997162, + 0.04961573705077171 + ], + "orientation": [ + 0.11473239958286285, + 0.8895111680030823, + -0.10897371917963028, + 0.42863887548446655 + ], + "joints": [ + 0.022550716996192932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04583233594894409, + 0.2256716787815094, + 0.031601425260305405 + ], + "orientation": [ + 0.03053687885403633, + 0.16156411170959473, + -0.0011910772882401943, + 0.9863889217376709 + ], + "joints": [ + 0.011292468756437302 + ] + }, + "fine_grasp": { + "position": [ + -0.04696342721581459, + 0.23107251524925232, + 0.03224183991551399 + ], + "orientation": [ + 0.023362893611192703, + 0.15198327600955963, + 0.005472013261169195, + 0.9880917072296143 + ], + "joints": [ + 0.017669271677732468 + ] + }, + "final_grasp": { + "position": [ + -0.04696342721581459, + 0.23107251524925232, + 0.03224183991551399 + ], + "orientation": [ + 0.023362893611192703, + 0.15198327600955963, + 0.005472013261169195, + 0.9880917072296143 + ], + "joints": [ + 0.024046074599027634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0124359717592597, + 0.2310098111629486, + 0.0719769299030304 + ], + "orientation": [ + 0.04822900891304016, + -0.8411022424697876, + 0.03218415752053261, + 0.5377594232559204 + ], + "joints": [ + 0.011250365525484085 + ] + }, + "fine_grasp": { + "position": [ + -0.012481233105063438, + 0.23567815124988556, + 0.07267170399427414 + ], + "orientation": [ + 0.0492636039853096, + -0.8416711091995239, + 0.029182737693190575, + 0.5369462370872498 + ], + "joints": [ + 0.01765374094247818 + ] + }, + "final_grasp": { + "position": [ + -0.012481233105063438, + 0.23567815124988556, + 0.07267170399427414 + ], + "orientation": [ + 0.0492636039853096, + -0.8416711091995239, + 0.029182737693190575, + 0.5369462370872498 + ], + "joints": [ + 0.024057116359472275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01225706934928894, + 0.22536516189575195, + 0.06583715230226517 + ], + "orientation": [ + 0.035572122782468796, + 0.5627041459083557, + -0.01621054857969284, + 0.8257335424423218 + ], + "joints": [ + 0.011698555201292038 + ] + }, + "fine_grasp": { + "position": [ + -0.012217090465128422, + 0.2306005209684372, + 0.06703108549118042 + ], + "orientation": [ + 0.02916157804429531, + 0.5599387288093567, + -0.01583925075829029, + 0.827869176864624 + ], + "joints": [ + 0.017570530995726585 + ] + }, + "final_grasp": { + "position": [ + -0.012217090465128422, + 0.2306005209684372, + 0.06703108549118042 + ], + "orientation": [ + 0.02916157804429531, + 0.5599387288093567, + -0.01583925075829029, + 0.827869176864624 + ], + "joints": [ + 0.023442506790161133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027434688061475754, + 0.2264443039894104, + 0.0676327720284462 + ], + "orientation": [ + 0.01734921708703041, + 0.8257357478141785, + 0.020454945042729378, + -0.5634190440177917 + ], + "joints": [ + 0.011560000479221344 + ] + }, + "fine_grasp": { + "position": [ + -0.02775285392999649, + 0.23147256672382355, + 0.06763067841529846 + ], + "orientation": [ + 0.018338030204176903, + 0.8234679698944092, + 0.02080938033759594, + -0.5666843056678772 + ], + "joints": [ + 0.017431974411010742 + ] + }, + "final_grasp": { + "position": [ + -0.02775285392999649, + 0.23147256672382355, + 0.06763067841529846 + ], + "orientation": [ + 0.018338030204176903, + 0.8234679698944092, + 0.02080938033759594, + -0.5666843056678772 + ], + "joints": [ + 0.02330394834280014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027474382892251015, + 0.22692066431045532, + 0.06635599583387375 + ], + "orientation": [ + 0.020467864349484444, + 0.828962504863739, + 0.017515523359179497, + -0.5586550235748291 + ], + "joints": [ + 0.011594993993639946 + ] + }, + "fine_grasp": { + "position": [ + -0.02776959538459778, + 0.23178893327713013, + 0.06639159470796585 + ], + "orientation": [ + 0.021704720333218575, + 0.8270215392112732, + 0.01840493083000183, + -0.5614495873451233 + ], + "joints": [ + 0.017466967925429344 + ] + }, + "final_grasp": { + "position": [ + -0.02776959538459778, + 0.23178893327713013, + 0.06639159470796585 + ], + "orientation": [ + 0.021704720333218575, + 0.8270215392112732, + 0.01840493083000183, + -0.5614495873451233 + ], + "joints": [ + 0.023338941857218742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011924147605895996, + 0.2308182269334793, + 0.07202783226966858 + ], + "orientation": [ + 0.04043043404817581, + -0.8318020105361938, + 0.026847731322050095, + 0.5529468059539795 + ], + "joints": [ + 0.011737347580492496 + ] + }, + "fine_grasp": { + "position": [ + -0.011580380611121655, + 0.23532290756702423, + 0.07263092696666718 + ], + "orientation": [ + 0.03824490308761597, + -0.8312087655067444, + 0.023556167259812355, + 0.5541430115699768 + ], + "joints": [ + 0.01760932244360447 + ] + }, + "final_grasp": { + "position": [ + -0.011580380611121655, + 0.23532290756702423, + 0.07263092696666718 + ], + "orientation": [ + 0.03824490308761597, + -0.8312087655067444, + 0.023556167259812355, + 0.5541430115699768 + ], + "joints": [ + 0.023481298238039017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027188027277588844, + 0.22649504244327545, + 0.06651964038610458 + ], + "orientation": [ + 0.0201539508998394, + 0.8266291618347168, + 0.017245151102542877, + -0.5621216893196106 + ], + "joints": [ + 0.011080732569098473 + ] + }, + "fine_grasp": { + "position": [ + -0.027498265728354454, + 0.23147623240947723, + 0.06653488427400589 + ], + "orientation": [ + 0.021069800481200218, + 0.8249382376670837, + 0.01767677068710327, + -0.5645534992218018 + ], + "joints": [ + 0.017484106123447418 + ] + }, + "final_grasp": { + "position": [ + -0.027498265728354454, + 0.23147623240947723, + 0.06653488427400589 + ], + "orientation": [ + 0.021069800481200218, + 0.8249382376670837, + 0.01767677068710327, + -0.5645534992218018 + ], + "joints": [ + 0.023887479677796364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027267782017588615, + 0.2263045758008957, + 0.06704813241958618 + ], + "orientation": [ + 0.01891309954226017, + 0.8256531357765198, + 0.01871822215616703, + -0.5635502934455872 + ], + "joints": [ + 0.01159452460706234 + ] + }, + "fine_grasp": { + "position": [ + -0.027606992051005363, + 0.23137933015823364, + 0.06709188222885132 + ], + "orientation": [ + 0.020084887742996216, + 0.8237616419792175, + 0.01853460632264614, + -0.5662771463394165 + ], + "joints": [ + 0.017466498538851738 + ] + }, + "final_grasp": { + "position": [ + -0.027606992051005363, + 0.23137933015823364, + 0.06709188222885132 + ], + "orientation": [ + 0.020084887742996216, + 0.8237616419792175, + 0.01853460632264614, + -0.5662771463394165 + ], + "joints": [ + 0.023338472470641136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0023539529647678137, + 0.23057207465171814, + 0.0706387385725975 + ], + "orientation": [ + 0.02826545573771, + -0.7796265482902527, + 0.034704189747571945, + 0.6246432662010193 + ], + "joints": [ + 0.011574966832995415 + ] + }, + "fine_grasp": { + "position": [ + -0.002091513015329838, + 0.23543058335781097, + 0.07142750173807144 + ], + "orientation": [ + 0.029866503551602364, + -0.7789715528488159, + 0.03178172558546066, + 0.6255406737327576 + ], + "joints": [ + 0.01795176975429058 + ] + }, + "final_grasp": { + "position": [ + -0.002091513015329838, + 0.23543058335781097, + 0.07142750173807144 + ], + "orientation": [ + 0.029866503551602364, + -0.7789715528488159, + 0.03178172558546066, + 0.6255406737327576 + ], + "joints": [ + 0.024328572675585747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009167064912617207, + 0.22537602484226227, + 0.06801415979862213 + ], + "orientation": [ + 0.017652424052357674, + 0.627936601638794, + -0.000564110407140106, + 0.7780641913414001 + ], + "joints": [ + 0.011153774335980415 + ] + }, + "fine_grasp": { + "position": [ + -0.0090857595205307, + 0.2304966151714325, + 0.06859949231147766 + ], + "orientation": [ + 0.013271247036755085, + 0.6266952157020569, + -3.7231355236144736e-05, + 0.779151439666748 + ], + "joints": [ + 0.01755714975297451 + ] + }, + "final_grasp": { + "position": [ + -0.0090857595205307, + 0.2304966151714325, + 0.06859949231147766 + ], + "orientation": [ + 0.013271247036755085, + 0.6266952157020569, + -3.7231355236144736e-05, + 0.779151439666748 + ], + "joints": [ + 0.023960525169968605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0020518344826996326, + 0.23065617680549622, + 0.0706559419631958 + ], + "orientation": [ + 0.028814684599637985, + -0.777138888835907, + 0.03513480722904205, + 0.6276865601539612 + ], + "joints": [ + 0.011544795706868172 + ] + }, + "fine_grasp": { + "position": [ + -0.0017561331624165177, + 0.23539578914642334, + 0.07131531834602356 + ], + "orientation": [ + 0.03053067810833454, + -0.7768071889877319, + 0.032254789024591446, + 0.6281703114509583 + ], + "joints": [ + 0.017921598628163338 + ] + }, + "final_grasp": { + "position": [ + -0.0017561331624165177, + 0.23539578914642334, + 0.07131531834602356 + ], + "orientation": [ + 0.03053067810833454, + -0.7768071889877319, + 0.032254789024591446, + 0.6281703114509583 + ], + "joints": [ + 0.024298401549458504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0091635100543499, + 0.22537881135940552, + 0.06847891956567764 + ], + "orientation": [ + 0.0166519433259964, + 0.6259058713912964, + -0.0031984576489776373, + 0.7797142863273621 + ], + "joints": [ + 0.01163504458963871 + ] + }, + "fine_grasp": { + "position": [ + -0.009176710620522499, + 0.23066286742687225, + 0.06929117441177368 + ], + "orientation": [ + 0.012797842733561993, + 0.624845027923584, + -0.0024615006987005472, + 0.7806399464607239 + ], + "joints": [ + 0.017507018521428108 + ] + }, + "final_grasp": { + "position": [ + -0.009176710620522499, + 0.23066286742687225, + 0.06929117441177368 + ], + "orientation": [ + 0.012797842733561993, + 0.624845027923584, + -0.0024615006987005472, + 0.7806399464607239 + ], + "joints": [ + 0.023378992453217506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009369097650051117, + 0.22511795163154602, + 0.06987561285495758 + ], + "orientation": [ + 0.02368217147886753, + 0.7329838275909424, + -0.013475066982209682, + 0.6797001361846924 + ], + "joints": [ + 0.011149769648909569 + ] + }, + "fine_grasp": { + "position": [ + 0.009695992805063725, + 0.23020943999290466, + 0.07043195515871048 + ], + "orientation": [ + 0.022117625921964645, + 0.7342536449432373, + -0.014453605748713017, + 0.6783607602119446 + ], + "joints": [ + 0.017553145065903664 + ] + }, + "final_grasp": { + "position": [ + 0.009695992805063725, + 0.23020943999290466, + 0.07043195515871048 + ], + "orientation": [ + 0.022117625921964645, + 0.7342536449432373, + -0.014453605748713017, + 0.6783607602119446 + ], + "joints": [ + 0.02395652048289776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009941456839442253, + 0.22518211603164673, + 0.06972010433673859 + ], + "orientation": [ + 0.025036297738552094, + 0.735767126083374, + -0.014283196069300175, + 0.6766210198402405 + ], + "joints": [ + 0.011191822588443756 + ] + }, + "fine_grasp": { + "position": [ + 0.010304871015250683, + 0.23035818338394165, + 0.07039085775613785 + ], + "orientation": [ + 0.023616116493940353, + 0.7365477681159973, + -0.01557723619043827, + 0.6757935881614685 + ], + "joints": [ + 0.01759519800543785 + ] + }, + "final_grasp": { + "position": [ + 0.010304871015250683, + 0.23035818338394165, + 0.07039085775613785 + ], + "orientation": [ + 0.023616116493940353, + 0.7365477681159973, + -0.01557723619043827, + 0.6757935881614685 + ], + "joints": [ + 0.023998573422431946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008475182577967644, + 0.22508050501346588, + 0.07040058076381683 + ], + "orientation": [ + 0.029513586312532425, + 0.7217040657997131, + -0.021088214591145515, + 0.6912506222724915 + ], + "joints": [ + 0.011671090498566628 + ] + }, + "fine_grasp": { + "position": [ + 0.008889658376574516, + 0.23027077317237854, + 0.07119882106781006 + ], + "orientation": [ + 0.02841539867222309, + 0.7195399403572083, + -0.0238045621663332, + 0.6934610605239868 + ], + "joints": [ + 0.017543066293001175 + ] + }, + "final_grasp": { + "position": [ + 0.008889658376574516, + 0.23027077317237854, + 0.07119882106781006 + ], + "orientation": [ + 0.02841539867222309, + 0.7195399403572083, + -0.0238045621663332, + 0.6934610605239868 + ], + "joints": [ + 0.023415042087435722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06234461069107056, + 0.2175176739692688, + 0.01741335354745388 + ], + "orientation": [ + 0.04622242599725723, + -0.9948999285697937, + 0.025095444172620773, + 0.08606993407011032 + ], + "joints": [ + 0.011039907112717628 + ] + }, + "fine_grasp": { + "position": [ + 0.061700284481048584, + 0.21168337762355804, + 0.016927732154726982 + ], + "orientation": [ + 0.04546220973134041, + -0.9957172274589539, + 0.021954815834760666, + 0.07745015621185303 + ], + "joints": [ + 0.017443280667066574 + ] + }, + "final_grasp": { + "position": [ + 0.061700284481048584, + 0.21168337762355804, + 0.016927732154726982 + ], + "orientation": [ + 0.04546220973134041, + -0.9957172274589539, + 0.021954815834760666, + 0.07745015621185303 + ], + "joints": [ + 0.02384665422141552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0609043724834919, + 0.2157600373029709, + 0.0029461027588695288 + ], + "orientation": [ + 0.027882730588316917, + 0.1669197827577591, + -0.028258122503757477, + 0.9851710200309753 + ], + "joints": [ + 0.011192170903086662 + ] + }, + "fine_grasp": { + "position": [ + 0.059936996549367905, + 0.21176709234714508, + 0.0028517930768430233 + ], + "orientation": [ + 0.02402542717754841, + 0.16960856318473816, + -0.029201919212937355, + 0.9847857356071472 + ], + "joints": [ + 0.01756897382438183 + ] + }, + "final_grasp": { + "position": [ + 0.059936996549367905, + 0.21176709234714508, + 0.0028517930768430233 + ], + "orientation": [ + 0.02402542717754841, + 0.16960856318473816, + -0.029201919212937355, + 0.9847857356071472 + ], + "joints": [ + 0.023945776745676994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060454111546278, + 0.21560879051685333, + 0.028073230758309364 + ], + "orientation": [ + 0.029025841504335403, + 0.9870920777320862, + 0.024560775607824326, + -0.15557512640953064 + ], + "joints": [ + 0.011266559362411499 + ] + }, + "fine_grasp": { + "position": [ + -0.059745967388153076, + 0.20969684422016144, + 0.02830076590180397 + ], + "orientation": [ + 0.030035950243473053, + 0.9878149628639221, + 0.02086452580988407, + -0.15127456188201904 + ], + "joints": [ + 0.017138533294200897 + ] + }, + "final_grasp": { + "position": [ + -0.059745967388153076, + 0.20969684422016144, + 0.02830076590180397 + ], + "orientation": [ + 0.030035950243473053, + 0.9878149628639221, + 0.02086452580988407, + -0.15127456188201904 + ], + "joints": [ + 0.023010507225990295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059626489877700806, + 0.21534234285354614, + -0.005842279642820358 + ], + "orientation": [ + 0.07472430169582367, + 0.9960991740226746, + -0.018173903226852417, + -0.04327265918254852 + ], + "joints": [ + 0.011313792318105698 + ] + }, + "fine_grasp": { + "position": [ + 0.059253644198179245, + 0.20962831377983093, + -0.005177187267690897 + ], + "orientation": [ + 0.06577404588460922, + 0.9964499473571777, + -0.015293566510081291, + -0.0502740740776062 + ], + "joints": [ + 0.017690595239400864 + ] + }, + "final_grasp": { + "position": [ + 0.059253644198179245, + 0.20962831377983093, + -0.005177187267690897 + ], + "orientation": [ + 0.06577404588460922, + 0.9964499473571777, + -0.015293566510081291, + -0.0502740740776062 + ], + "joints": [ + 0.02406739816069603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059590764343738556, + 0.21508312225341797, + -0.005719081964343786 + ], + "orientation": [ + 0.07465063035488129, + 0.9961594939231873, + -0.017709966748952866, + -0.04218851402401924 + ], + "joints": [ + 0.011606477200984955 + ] + }, + "fine_grasp": { + "position": [ + 0.05915307626128197, + 0.20935335755348206, + -0.005046432372182608 + ], + "orientation": [ + 0.06551894545555115, + 0.9965095520019531, + -0.01515424344688654, + -0.04945945739746094 + ], + "joints": [ + 0.017478451132774353 + ] + }, + "final_grasp": { + "position": [ + 0.05915307626128197, + 0.20935335755348206, + -0.005046432372182608 + ], + "orientation": [ + 0.06551894545555115, + 0.9965095520019531, + -0.01515424344688654, + -0.04945945739746094 + ], + "joints": [ + 0.02335042506456375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06044011935591698, + 0.21556836366653442, + 0.028614889830350876 + ], + "orientation": [ + 0.027178235352039337, + 0.9861903190612793, + 0.02471369504928589, + -0.1614910364151001 + ], + "joints": [ + 0.01078338548541069 + ] + }, + "fine_grasp": { + "position": [ + -0.05965907871723175, + 0.2097133845090866, + 0.02881510555744171 + ], + "orientation": [ + 0.027709493413567543, + 0.9876254796981812, + 0.02139316312968731, + -0.15287387371063232 + ], + "joints": [ + 0.017186759039759636 + ] + }, + "final_grasp": { + "position": [ + -0.05965907871723175, + 0.2097133845090866, + 0.02881510555744171 + ], + "orientation": [ + 0.027709493413567543, + 0.9876254796981812, + 0.02139316312968731, + -0.15287387371063232 + ], + "joints": [ + 0.02359013259410858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051796428859233856, + 0.2185574173927307, + 0.04996049404144287 + ], + "orientation": [ + 0.028061676770448685, + -0.3299034833908081, + 0.01581403985619545, + 0.943464994430542 + ], + "joints": [ + 0.011312320828437805 + ] + }, + "fine_grasp": { + "position": [ + 0.05135860666632652, + 0.21364359557628632, + 0.04966925084590912 + ], + "orientation": [ + 0.02461312524974346, + -0.3298628628253937, + 0.01459512859582901, + 0.9435951113700867 + ], + "joints": [ + 0.017184294760227203 + ] + }, + "final_grasp": { + "position": [ + 0.05135860666632652, + 0.21364359557628632, + 0.04966925084590912 + ], + "orientation": [ + 0.02461312524974346, + -0.3298628628253937, + 0.01459512859582901, + 0.9435951113700867 + ], + "joints": [ + 0.0230562686920166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008443462662398815, + 0.21556437015533447, + 0.07660680264234543 + ], + "orientation": [ + 0.0028949128463864326, + 0.6159518361091614, + 0.03407107666134834, + -0.7870414853096008 + ], + "joints": [ + 0.011173972859978676 + ] + }, + "fine_grasp": { + "position": [ + 0.00884916726499796, + 0.20986336469650269, + 0.07622820883989334 + ], + "orientation": [ + 0.005780656356364489, + 0.6173244714736938, + 0.034806083887815475, + -0.7859169840812683 + ], + "joints": [ + 0.017045946791768074 + ] + }, + "final_grasp": { + "position": [ + 0.00884916726499796, + 0.20986336469650269, + 0.07622820883989334 + ], + "orientation": [ + 0.005780656356364489, + 0.6173244714736938, + 0.034806083887815475, + -0.7859169840812683 + ], + "joints": [ + 0.022917920723557472 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2042, + "num_passed": 44 + } +} \ No newline at end of file diff --git a/039_mug_5/Annotation/piper_grasp_pose.json b/039_mug_5/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..b53098dfa4d2d5422d961fe81d5742645f1d6050 --- /dev/null +++ b/039_mug_5/Annotation/piper_grasp_pose.json @@ -0,0 +1,1418 @@ +{ + "type": "039_mug_5", + "bottom_center": [ + 0.0, + 0.06083531677722931, + -0.0758778378367424 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.027453169226646423, + 0.22504976391792297, + 0.05940277501940727 + ], + "orientation": [ + 0.6763278841972351, + 0.655499279499054, + 0.2621281147003174, + -0.21021418273448944 + ], + "joints": [ + 0.011989984661340714 + ] + }, + "fine_grasp": { + "position": [ + 0.027745287865400314, + 0.22100189328193665, + 0.05973053351044655 + ], + "orientation": [ + 0.6754112839698792, + 0.6556037664413452, + 0.2631176710128784, + -0.2115945816040039 + ], + "joints": [ + 0.0036099832504987717 + ] + }, + "final_grasp": { + "position": [ + 0.027745287865400314, + 0.22100189328193665, + 0.05973053351044655 + ], + "orientation": [ + 0.6754112839698792, + 0.6556037664413452, + 0.2631176710128784, + -0.2115945816040039 + ], + "joints": [ + -0.00477001816034317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04941706359386444, + 0.2305276095867157, + 0.05367979779839516 + ], + "orientation": [ + 0.24425986409187317, + 0.12405197322368622, + -0.6640676856040955, + 0.6956740617752075 + ], + "joints": [ + 0.011981319636106491 + ] + }, + "fine_grasp": { + "position": [ + 0.04929635301232338, + 0.22639837861061096, + 0.05387890711426735 + ], + "orientation": [ + 0.24138562381267548, + 0.12417905777692795, + -0.6641902327537537, + 0.6965371370315552 + ], + "joints": [ + 0.0036013182252645493 + ] + }, + "final_grasp": { + "position": [ + 0.04929635301232338, + 0.22639837861061096, + 0.05387890711426735 + ], + "orientation": [ + 0.24138562381267548, + 0.12417905777692795, + -0.6641902327537537, + 0.6965371370315552 + ], + "joints": [ + -0.004778683185577393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04433348402380943, + 0.22123704850673676, + -0.02673865482211113 + ], + "orientation": [ + 0.4194849133491516, + 0.3328797221183777, + 0.5624772906303406, + -0.6299546360969543 + ], + "joints": [ + 0.011228161863982677 + ] + }, + "fine_grasp": { + "position": [ + 0.04414753243327141, + 0.21801717579364777, + -0.02766609564423561 + ], + "orientation": [ + 0.4250209927558899, + 0.3362404406070709, + 0.5583842992782593, + -0.6280974745750427 + ], + "joints": [ + 0.003684070659801364 + ] + }, + "final_grasp": { + "position": [ + 0.04414753243327141, + 0.21801717579364777, + -0.02766609564423561 + ], + "orientation": [ + 0.4250209927558899, + 0.3362404406070709, + 0.5583842992782593, + -0.6280974745750427 + ], + "joints": [ + -0.0038600205443799496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044176992028951645, + 0.22452226281166077, + -0.026708271354436874 + ], + "orientation": [ + 0.41770461201667786, + 0.3221220374107361, + 0.5633845329284668, + -0.6358914971351624 + ], + "joints": [ + 0.011222952976822853 + ] + }, + "fine_grasp": { + "position": [ + 0.04430781677365303, + 0.22035351395606995, + -0.026786847040057182 + ], + "orientation": [ + 0.4194868505001068, + 0.322357177734375, + 0.5617423057556152, + -0.636052131652832 + ], + "joints": [ + 0.0036788617726415396 + ] + }, + "final_grasp": { + "position": [ + 0.04430781677365303, + 0.22035351395606995, + -0.026786847040057182 + ], + "orientation": [ + 0.4194868505001068, + 0.322357177734375, + 0.5617423057556152, + -0.636052131652832 + ], + "joints": [ + -0.003865229431539774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046761561185121536, + 0.2144382894039154, + -0.02105049043893814 + ], + "orientation": [ + 0.6348779797554016, + 0.6059999465942383, + -0.32807520031929016, + 0.3493718206882477 + ], + "joints": [ + 0.012240859679877758 + ] + }, + "fine_grasp": { + "position": [ + 0.04656048119068146, + 0.21386855840682983, + -0.022142119705677032 + ], + "orientation": [ + 0.6374951601028442, + 0.6020925045013428, + -0.32772746682167053, + 0.35168036818504333 + ], + "joints": [ + 0.0034638007637113333 + ] + }, + "final_grasp": { + "position": [ + 0.04656048119068146, + 0.21386855840682983, + -0.022142119705677032 + ], + "orientation": [ + 0.6374951601028442, + 0.6020925045013428, + -0.32772746682167053, + 0.35168036818504333 + ], + "joints": [ + -0.0053132581524550915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046328358352184296, + 0.21463240683078766, + -0.020199919119477272 + ], + "orientation": [ + 0.6372316479682922, + 0.6085571050643921, + -0.3226188123226166, + 0.34570378065109253 + ], + "joints": [ + 0.012153527699410915 + ] + }, + "fine_grasp": { + "position": [ + 0.04649856314063072, + 0.2141292542219162, + -0.021385163068771362 + ], + "orientation": [ + 0.6398814916610718, + 0.6055275797843933, + -0.321353554725647, + 0.34730371832847595 + ], + "joints": [ + 0.0033764687832444906 + ] + }, + "final_grasp": { + "position": [ + 0.04649856314063072, + 0.2141292542219162, + -0.021385163068771362 + ], + "orientation": [ + 0.6398814916610718, + 0.6055275797843933, + -0.321353554725647, + 0.34730371832847595 + ], + "joints": [ + -0.005400590132921934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046639297157526016, + 0.2130153924226761, + -0.020629333332180977 + ], + "orientation": [ + 0.6351577639579773, + 0.6102738976478577, + -0.32812395691871643, + 0.34128427505493164 + ], + "joints": [ + 0.012653895653784275 + ] + }, + "fine_grasp": { + "position": [ + 0.04659589007496834, + 0.21305528283119202, + -0.021027445793151855 + ], + "orientation": [ + 0.6352604031562805, + 0.6089285016059875, + -0.3296634554862976, + 0.3420122563838959 + ], + "joints": [ + 0.0034588815178722143 + ] + }, + "final_grasp": { + "position": [ + 0.04659589007496834, + 0.21305528283119202, + -0.021027445793151855 + ], + "orientation": [ + 0.6352604031562805, + 0.6089285016059875, + -0.3296634554862976, + 0.3420122563838959 + ], + "joints": [ + -0.005736132618039846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04614134132862091, + 0.2131984531879425, + -0.020257731899619102 + ], + "orientation": [ + 0.6332733035087585, + 0.6137930750846863, + -0.3273138701915741, + 0.3392471671104431 + ], + "joints": [ + 0.012631081975996494 + ] + }, + "fine_grasp": { + "position": [ + 0.04639061540365219, + 0.2132321149110794, + -0.020497145131230354 + ], + "orientation": [ + 0.6336027979850769, + 0.6121575832366943, + -0.32954999804496765, + 0.3394223153591156 + ], + "joints": [ + 0.0034360678400844336 + ] + }, + "final_grasp": { + "position": [ + 0.04639061540365219, + 0.2132321149110794, + -0.020497145131230354 + ], + "orientation": [ + 0.6336027979850769, + 0.6121575832366943, + -0.32954999804496765, + 0.3394223153591156 + ], + "joints": [ + -0.005758946295827627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034051936119794846, + -0.03604394197463989, + -0.16122837364673615 + ], + "orientation": [ + 0.6729053854942322, + -0.11150453239679337, + -0.319021999835968, + -0.6580199003219604 + ], + "joints": [ + 0.019013509154319763 + ] + }, + "fine_grasp": { + "position": [ + 0.03331609070301056, + -0.03443317860364914, + -0.15717603266239166 + ], + "orientation": [ + 0.6740129590034485, + -0.11069357395172119, + -0.31196969747543335, + -0.6604002118110657 + ], + "joints": [ + 0.012326225638389587 + ] + }, + "final_grasp": { + "position": [ + 0.03331609070301056, + -0.03443317860364914, + -0.15717603266239166 + ], + "orientation": [ + 0.6740129590034485, + -0.11069357395172119, + -0.31196969747543335, + -0.6604002118110657 + ], + "joints": [ + 0.005638942122459412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01683441363275051, + 0.0054894620552659035, + -0.18065474927425385 + ], + "orientation": [ + 0.6662039756774902, + -0.030916430056095123, + -0.13299402594566345, + -0.7331637144088745 + ], + "joints": [ + 0.018426112830638885 + ] + }, + "fine_grasp": { + "position": [ + 0.016592644155025482, + 0.006316200364381075, + -0.17623233795166016 + ], + "orientation": [ + 0.6655805110931396, + -0.031489674001932144, + -0.1303803026676178, + -0.7341743111610413 + ], + "joints": [ + 0.012156784534454346 + ] + }, + "final_grasp": { + "position": [ + 0.016592644155025482, + 0.006316200364381075, + -0.17623233795166016 + ], + "orientation": [ + 0.6655805110931396, + -0.031489674001932144, + -0.1303803026676178, + -0.7341743111610413 + ], + "joints": [ + 0.005887456238269806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017224226146936417, + 0.0052680037915706635, + -0.18110336363315582 + ], + "orientation": [ + 0.6640955209732056, + -0.03119884803891182, + -0.13234905898571014, + -0.7351784706115723 + ], + "joints": [ + 0.02071770653128624 + ] + }, + "fine_grasp": { + "position": [ + 0.016825705766677856, + 0.0060630603693425655, + -0.17692992091178894 + ], + "orientation": [ + 0.6636437177658081, + -0.03090907633304596, + -0.13081791996955872, + -0.7358725666999817 + ], + "joints": [ + 0.013194512575864792 + ] + }, + "final_grasp": { + "position": [ + 0.016825705766677856, + 0.0060630603693425655, + -0.17692992091178894 + ], + "orientation": [ + 0.6636437177658081, + -0.03090907633304596, + -0.13081791996955872, + -0.7358725666999817 + ], + "joints": [ + 0.005671318620443344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04187185317277908, + 0.03700597584247589, + -0.1780657172203064 + ], + "orientation": [ + 0.6772775650024414, + -0.2148904949426651, + 0.020490603521466255, + -0.7033471465110779 + ], + "joints": [ + 0.021447645500302315 + ] + }, + "fine_grasp": { + "position": [ + -0.04083659127354622, + 0.03741595149040222, + -0.17398306727409363 + ], + "orientation": [ + 0.677582859992981, + -0.21074099838733673, + 0.020996887236833572, + -0.7042932510375977 + ], + "joints": [ + 0.013506496325135231 + ] + }, + "final_grasp": { + "position": [ + -0.04083659127354622, + 0.03741595149040222, + -0.17398306727409363 + ], + "orientation": [ + 0.677582859992981, + -0.21074099838733673, + 0.020996887236833572, + -0.7042932510375977 + ], + "joints": [ + 0.005565347149968147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0014046416617929935, + 0.07160332798957825, + -0.18617650866508484 + ], + "orientation": [ + 0.6279876828193665, + 0.05834903568029404, + 0.05963786691427231, + -0.7737377285957336 + ], + "joints": [ + 0.018056437373161316 + ] + }, + "fine_grasp": { + "position": [ + 0.001379480236209929, + 0.07136280834674835, + -0.1818828582763672 + ], + "orientation": [ + 0.6251574158668518, + 0.05775551125407219, + 0.05846704542636871, + -0.7761598825454712 + ], + "joints": [ + 0.010533243417739868 + ] + }, + "final_grasp": { + "position": [ + 0.001379480236209929, + 0.07136280834674835, + -0.1818828582763672 + ], + "orientation": [ + 0.6251574158668518, + 0.05775551125407219, + 0.05846704542636871, + -0.7761598825454712 + ], + "joints": [ + 0.0030100494623184204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003805516054853797, + -0.0404423251748085, + -0.16417813301086426 + ], + "orientation": [ + 0.7489112615585327, + -0.22399969398975372, + 0.1662994772195816, + 0.6010827422142029 + ], + "joints": [ + 0.019062725827097893 + ] + }, + "fine_grasp": { + "position": [ + 0.0040450794622302055, + -0.03853531926870346, + -0.16010423004627228 + ], + "orientation": [ + 0.7513467073440552, + -0.22080521285533905, + 0.16514401137828827, + 0.5995421409606934 + ], + "joints": [ + 0.012793397530913353 + ] + }, + "final_grasp": { + "position": [ + 0.0040450794622302055, + -0.03853531926870346, + -0.16010423004627228 + ], + "orientation": [ + 0.7513467073440552, + -0.22080521285533905, + 0.16514401137828827, + 0.5995421409606934 + ], + "joints": [ + 0.006524069234728813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07310120761394501, + -0.06989714503288269, + -0.09726425260305405 + ], + "orientation": [ + 0.7424854636192322, + -0.265132337808609, + 0.5190103054046631, + 0.33022481203079224 + ], + "joints": [ + 0.022054899483919144 + ] + }, + "fine_grasp": { + "position": [ + -0.07024979591369629, + -0.06671908497810364, + -0.09633733332157135 + ], + "orientation": [ + 0.7425450682640076, + -0.26722702383995056, + 0.5207310318946838, + 0.3256619870662689 + ], + "joints": [ + 0.014949660748243332 + ] + }, + "final_grasp": { + "position": [ + -0.07024979591369629, + -0.06671908497810364, + -0.09633733332157135 + ], + "orientation": [ + 0.7425450682640076, + -0.26722702383995056, + 0.5207310318946838, + 0.3256619870662689 + ], + "joints": [ + 0.00784442201256752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09573453664779663, + -0.05906917154788971, + -0.09494288265705109 + ], + "orientation": [ + 0.25285422801971436, + -0.5435795783996582, + -0.22419916093349457, + -0.7683232426643372 + ], + "joints": [ + 0.020658835768699646 + ] + }, + "fine_grasp": { + "position": [ + -0.09311197698116302, + -0.05592992901802063, + -0.09401167929172516 + ], + "orientation": [ + 0.2557086944580078, + -0.5481109023094177, + -0.22936980426311493, + -0.7626118659973145 + ], + "joints": [ + 0.012717686593532562 + ] + }, + "final_grasp": { + "position": [ + -0.09311197698116302, + -0.05592992901802063, + -0.09401167929172516 + ], + "orientation": [ + 0.2557086944580078, + -0.5481109023094177, + -0.22936980426311493, + -0.7626118659973145 + ], + "joints": [ + 0.0047765374183654785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027887320145964622, + 0.21998442709445953, + -0.051841460168361664 + ], + "orientation": [ + 0.10276970267295837, + -0.044401731342077255, + -0.7148624658584595, + 0.6902451515197754 + ], + "joints": [ + 0.026335574686527252 + ] + }, + "fine_grasp": { + "position": [ + 0.02769368328154087, + 0.21614988148212433, + -0.05210026726126671 + ], + "orientation": [ + 0.10390478372573853, + -0.03539252281188965, + -0.7145386934280396, + 0.6909310817718506 + ], + "joints": [ + 0.017976470291614532 + ] + }, + "final_grasp": { + "position": [ + 0.02769368328154087, + 0.21614988148212433, + -0.05210026726126671 + ], + "orientation": [ + 0.10390478372573853, + -0.03539252281188965, + -0.7145386934280396, + 0.6909310817718506 + ], + "joints": [ + 0.009617365896701813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018931789323687553, + 0.21258842945098877, + -0.04441869631409645 + ], + "orientation": [ + 0.2234971970319748, + 0.16049788892269135, + 0.6525234580039978, + -0.7060472369194031 + ], + "joints": [ + 0.012542860582470894 + ] + }, + "fine_grasp": { + "position": [ + 0.018533194437623024, + 0.21120478212833405, + -0.044849492609500885 + ], + "orientation": [ + 0.22853079438209534, + 0.16354286670684814, + 0.6503177285194397, + -0.7057721018791199 + ], + "joints": [ + 0.003347846446558833 + ] + }, + "final_grasp": { + "position": [ + 0.018533194437623024, + 0.21120478212833405, + -0.044849492609500885 + ], + "orientation": [ + 0.22853079438209534, + 0.16354286670684814, + 0.6503177285194397, + -0.7057721018791199 + ], + "joints": [ + -0.005847167689353228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039928171783685684, + 0.22234058380126953, + -0.03155430406332016 + ], + "orientation": [ + 0.6883185505867004, + 0.673420786857605, + -0.21846523880958557, + 0.1580977737903595 + ], + "joints": [ + 0.011356531642377377 + ] + }, + "fine_grasp": { + "position": [ + 0.040116071701049805, + 0.21895910799503326, + -0.031380001455545425 + ], + "orientation": [ + 0.6891506314277649, + 0.6747502088546753, + -0.21448713541030884, + 0.1542031615972519 + ], + "joints": [ + 0.0033944856841117144 + ] + }, + "final_grasp": { + "position": [ + 0.040116071701049805, + 0.21895910799503326, + -0.031380001455545425 + ], + "orientation": [ + 0.6891506314277649, + 0.6747502088546753, + -0.21448713541030884, + 0.1542031615972519 + ], + "joints": [ + -0.004567560274153948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039308760315179825, + 0.22504915297031403, + -0.031047679483890533 + ], + "orientation": [ + 0.6863323450088501, + 0.6794562339782715, + -0.21384172141551971, + 0.1468294858932495 + ], + "joints": [ + 0.010966758243739605 + ] + }, + "fine_grasp": { + "position": [ + 0.03906776010990143, + 0.22092944383621216, + -0.030341001227498055 + ], + "orientation": [ + 0.6871368885040283, + 0.6801579594612122, + -0.21161077916622162, + 0.14299987256526947 + ], + "joints": [ + 0.0034226675052195787 + ] + }, + "final_grasp": { + "position": [ + 0.03906776010990143, + 0.22092944383621216, + -0.030341001227498055 + ], + "orientation": [ + 0.6871368885040283, + 0.6801579594612122, + -0.21161077916622162, + 0.14299987256526947 + ], + "joints": [ + -0.0041214232333004475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06782360374927521, + 0.21761511266231537, + 0.013548268936574459 + ], + "orientation": [ + 0.279829204082489, + 0.42212674021720886, + 0.6345937252044678, + -0.5837767720222473 + ], + "joints": [ + 0.012144625186920166 + ] + }, + "fine_grasp": { + "position": [ + 0.06834031641483307, + 0.2153272032737732, + 0.015284336172044277 + ], + "orientation": [ + 0.26662489771842957, + 0.4143966734409332, + 0.6438537240028381, + -0.5853537917137146 + ], + "joints": [ + 0.0033675662707537413 + ] + }, + "final_grasp": { + "position": [ + 0.06834031641483307, + 0.2153272032737732, + 0.015284336172044277 + ], + "orientation": [ + 0.26662489771842957, + 0.4143966734409332, + 0.6438537240028381, + -0.5853537917137146 + ], + "joints": [ + -0.0054094926454126835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04444800689816475, + 0.22680959105491638, + 0.07220398634672165 + ], + "orientation": [ + 0.5805384516716003, + 0.697609543800354, + 0.32491278648376465, + -0.26598453521728516 + ], + "joints": [ + 0.010482852347195148 + ] + }, + "fine_grasp": { + "position": [ + 0.0439421571791172, + 0.22261495888233185, + 0.07159718126058578 + ], + "orientation": [ + 0.5796136260032654, + 0.6992793083190918, + 0.32253214716911316, + -0.2665134370326996 + ], + "joints": [ + 0.0033567168284207582 + ] + }, + "final_grasp": { + "position": [ + 0.0439421571791172, + 0.22261495888233185, + 0.07159718126058578 + ], + "orientation": [ + 0.5796136260032654, + 0.6992793083190918, + 0.32253214716911316, + -0.2665134370326996 + ], + "joints": [ + -0.003769418690353632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04485931247472763, + 0.22710569202899933, + 0.07233971357345581 + ], + "orientation": [ + 0.5783403515815735, + 0.7001206874847412, + 0.3254401683807373, + -0.2635188698768616 + ], + "joints": [ + 0.010804441757500172 + ] + }, + "fine_grasp": { + "position": [ + 0.04433272406458855, + 0.22296221554279327, + 0.07180098444223404 + ], + "orientation": [ + 0.5780638456344604, + 0.701994776725769, + 0.32188835740089417, + -0.2635021507740021 + ], + "joints": [ + 0.0036574082914739847 + ] + }, + "final_grasp": { + "position": [ + 0.04433272406458855, + 0.22296221554279327, + 0.07180098444223404 + ], + "orientation": [ + 0.5780638456344604, + 0.701994776725769, + 0.32188835740089417, + -0.2635021507740021 + ], + "joints": [ + -0.0034896251745522022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03709521144628525, + 0.2252378761768341, + -0.033405154943466187 + ], + "orientation": [ + 0.6333463788032532, + 0.5831893682479858, + -0.32382044196128845, + 0.39230450987815857 + ], + "joints": [ + 0.011601617559790611 + ] + }, + "fine_grasp": { + "position": [ + 0.03667597100138664, + 0.22111037373542786, + -0.03350532427430153 + ], + "orientation": [ + 0.6265350580215454, + 0.5776855945587158, + -0.33549755811691284, + 0.40146535634994507 + ], + "joints": [ + 0.0036395713686943054 + ] + }, + "final_grasp": { + "position": [ + 0.03667597100138664, + 0.22111037373542786, + -0.03350532427430153 + ], + "orientation": [ + 0.6265350580215454, + 0.5776855945587158, + -0.33549755811691284, + 0.40146535634994507 + ], + "joints": [ + -0.004322474822402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07071726024150848, + 0.22391489148139954, + -0.015402627177536488 + ], + "orientation": [ + 0.6713010668754578, + 0.6793493628501892, + -0.2871091365814209, + 0.0735364481806755 + ], + "joints": [ + 0.011598413810133934 + ] + }, + "fine_grasp": { + "position": [ + 0.07025927305221558, + 0.21977756917476654, + -0.014956661500036716 + ], + "orientation": [ + 0.675041913986206, + 0.6820166110992432, + -0.2738717496395111, + 0.06454586982727051 + ], + "joints": [ + 0.0036572651006281376 + ] + }, + "final_grasp": { + "position": [ + 0.07025927305221558, + 0.21977756917476654, + -0.014956661500036716 + ], + "orientation": [ + 0.675041913986206, + 0.6820166110992432, + -0.2738717496395111, + 0.06454586982727051 + ], + "joints": [ + -0.004283883608877659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03690626844763756, + 0.22877512872219086, + 0.0804200991988182 + ], + "orientation": [ + 0.10329417139291763, + -0.058732740581035614, + -0.7280091047286987, + 0.6751915216445923 + ], + "joints": [ + 0.011437653563916683 + ] + }, + "fine_grasp": { + "position": [ + 0.03654935583472252, + 0.22458809614181519, + 0.08011069148778915 + ], + "orientation": [ + 0.09870900958776474, + -0.058947738260030746, + -0.7293607592582703, + 0.6743993759155273 + ], + "joints": [ + 0.0034756073728203773 + ] + }, + "final_grasp": { + "position": [ + 0.03654935583472252, + 0.22458809614181519, + 0.08011069148778915 + ], + "orientation": [ + 0.09870900958776474, + -0.058947738260030746, + -0.7293607592582703, + 0.6743993759155273 + ], + "joints": [ + -0.0044864388182759285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06207948550581932, + 0.22452551126480103, + -0.0267692431807518 + ], + "orientation": [ + 0.6080363988876343, + 0.45497292280197144, + -0.4243866503238678, + 0.4931402802467346 + ], + "joints": [ + 0.01104772463440895 + ] + }, + "fine_grasp": { + "position": [ + 0.06148118898272514, + 0.2203482836484909, + -0.02664673700928688 + ], + "orientation": [ + 0.601540744304657, + 0.44837433099746704, + -0.43359169363975525, + 0.49910667538642883 + ], + "joints": [ + 0.003503633663058281 + ] + }, + "final_grasp": { + "position": [ + 0.06148118898272514, + 0.2203482836484909, + -0.02664673700928688 + ], + "orientation": [ + 0.601540744304657, + 0.44837433099746704, + -0.43359169363975525, + 0.49910667538642883 + ], + "joints": [ + -0.004040457308292389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06190509721636772, + 0.2258882075548172, + -0.026933783665299416 + ], + "orientation": [ + 0.6120596528053284, + 0.4592450261116028, + -0.4202252924442291, + 0.487737238407135 + ], + "joints": [ + 0.011025197803974152 + ] + }, + "fine_grasp": { + "position": [ + 0.06126708164811134, + 0.22170193493366241, + -0.02669503539800644 + ], + "orientation": [ + 0.6066365242004395, + 0.454441636800766, + -0.428420752286911, + 0.4918644428253174 + ], + "joints": [ + 0.0034811068326234818 + ] + }, + "final_grasp": { + "position": [ + 0.06126708164811134, + 0.22170193493366241, + -0.02669503539800644 + ], + "orientation": [ + 0.6066365242004395, + 0.454441636800766, + -0.428420752286911, + 0.4918644428253174 + ], + "joints": [ + -0.004062984138727188 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 28 + } +} \ No newline at end of file diff --git a/039_mug_5/Object.usd b/039_mug_5/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..ec7bcac67732ca1aaa221103fb2935ad99ca0a4e --- /dev/null +++ b/039_mug_5/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9794b5ad5409470fdc0ea5d61382554522deb0ce20a53170f45097257971e9 +size 190723 diff --git a/041_shoe_2/Annotation/dex1_1_grasp_pose.json b/041_shoe_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..a5fd8983a5b712b77a87df7da8ced9f8bf828934 --- /dev/null +++ b/041_shoe_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,468 @@ +{ + "type": "041_shoe_2", + "bottom_center": [ + 0.0, + 0.04037637636065483, + -0.10437829047441483 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.05570661276578903, + -0.09063199907541275, + 0.05769748613238335 + ], + "orientation": [ + 0.9691510796546936, + 0.0020346171222627163, + 0.019752919673919678, + -0.24566587805747986 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.0562320239841938, + -0.09191254526376724, + 0.059069275856018066 + ], + "orientation": [ + 0.9698265790939331, + 0.01039075292646885, + 0.018351679667830467, + -0.2428821623325348 + ], + "joints": [ + -0.010205165483057499 + ] + }, + "final_grasp": { + "position": [ + -0.0562320239841938, + -0.09191254526376724, + 0.059069275856018066 + ], + "orientation": [ + 0.9698265790939331, + 0.01039075292646885, + 0.018351679667830467, + -0.2428821623325348 + ], + "joints": [ + -0.0027655642479658127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11222946643829346, + -0.005584190599620342, + -0.13185526430606842 + ], + "orientation": [ + 0.6803284287452698, + -0.08920196443796158, + -0.36373353004455566, + -0.6299952864646912 + ], + "joints": [ + -0.015201210975646973 + ] + }, + "fine_grasp": { + "position": [ + -0.11171445995569229, + -0.005078594665974379, + -0.13104814291000366 + ], + "orientation": [ + 0.6843603849411011, + -0.08395974338054657, + -0.3611471951007843, + -0.6278330087661743 + ], + "joints": [ + -0.009913785383105278 + ] + }, + "final_grasp": { + "position": [ + -0.11171445995569229, + -0.005078594665974379, + -0.13104814291000366 + ], + "orientation": [ + 0.6843603849411011, + -0.08395974338054657, + -0.3611471951007843, + -0.6278330087661743 + ], + "joints": [ + -0.004626359790563583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11539501696825027, + 0.0032366139348596334, + -0.1358618438243866 + ], + "orientation": [ + 0.5742017030715942, + -0.1694580614566803, + -0.43456828594207764, + -0.6728496551513672 + ], + "joints": [ + -0.011914394795894623 + ] + }, + "fine_grasp": { + "position": [ + -0.11471550166606903, + 0.0029315268620848656, + -0.13478991389274597 + ], + "orientation": [ + 0.56829833984375, + -0.1775914579629898, + -0.4490525722503662, + -0.6662206649780273 + ], + "joints": [ + -0.0066269682720303535 + ] + }, + "final_grasp": { + "position": [ + -0.11471550166606903, + 0.0029315268620848656, + -0.13478991389274597 + ], + "orientation": [ + 0.56829833984375, + -0.1775914579629898, + -0.4490525722503662, + -0.6662206649780273 + ], + "joints": [ + -0.0013395417481660843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11519597470760345, + 0.0032640022691339254, + -0.1354539841413498 + ], + "orientation": [ + 0.5771833062171936, + -0.1672390103340149, + -0.4329495429992676, + -0.671896755695343 + ], + "joints": [ + -0.012329993769526482 + ] + }, + "fine_grasp": { + "position": [ + -0.11464149504899979, + 0.0029873212333768606, + -0.13472820818424225 + ], + "orientation": [ + 0.5741777420043945, + -0.17226357758045197, + -0.44478148221969604, + -0.6654430031776428 + ], + "joints": [ + -0.007042567245662212 + ] + }, + "final_grasp": { + "position": [ + -0.11464149504899979, + 0.0029873212333768606, + -0.13472820818424225 + ], + "orientation": [ + 0.5741777420043945, + -0.17226357758045197, + -0.44478148221969604, + -0.6654430031776428 + ], + "joints": [ + -0.0017551407217979431 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09064935892820358, + 0.03017372637987137, + -0.16035176813602448 + ], + "orientation": [ + 0.04228000342845917, + -0.5139224529266357, + 0.7400568127632141, + 0.4317546784877777 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.09025992453098297, + 0.0340929739177227, + -0.15994051098823547 + ], + "orientation": [ + 0.03422413393855095, + -0.5186366438865662, + 0.7489451766014099, + 0.41100579500198364 + ], + "joints": [ + -0.016082793474197388 + ] + }, + "final_grasp": { + "position": [ + 0.09025992453098297, + 0.0340929739177227, + -0.15994051098823547 + ], + "orientation": [ + 0.03422413393855095, + -0.5186366438865662, + 0.7489451766014099, + 0.41100579500198364 + ], + "joints": [ + -0.013372644782066345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09065523743629456, + 0.030189188197255135, + -0.16033935546875 + ], + "orientation": [ + 0.04245920106768608, + -0.5138825178146362, + 0.740058958530426, + 0.43178078532218933 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.09026739001274109, + 0.034103162586688995, + -0.1599215716123581 + ], + "orientation": [ + 0.03434784337878227, + -0.5186126828193665, + 0.7489355206489563, + 0.41104334592819214 + ], + "joints": [ + -0.016082793474197388 + ] + }, + "final_grasp": { + "position": [ + 0.09026739001274109, + 0.034103162586688995, + -0.1599215716123581 + ], + "orientation": [ + 0.03434784337878227, + -0.5186126828193665, + 0.7489355206489563, + 0.41104334592819214 + ], + "joints": [ + -0.013372644782066345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045346327126026154, + -0.10727754235267639, + -0.07731947302818298 + ], + "orientation": [ + 0.3367769420146942, + 0.19482268393039703, + -0.9173303246498108, + 0.08444157242774963 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.044687919318675995, + -0.10544637590646744, + -0.07582483440637589 + ], + "orientation": [ + 0.34653398394584656, + 0.1892625391483307, + -0.9144082069396973, + 0.0891718864440918 + ], + "joints": [ + -0.011126580648124218 + ] + }, + "final_grasp": { + "position": [ + 0.044687919318675995, + -0.10544637590646744, + -0.07582483440637589 + ], + "orientation": [ + 0.34653398394584656, + 0.1892625391483307, + -0.9144082069396973, + 0.0891718864440918 + ], + "joints": [ + -0.00578601099550724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013423416763544083, + -0.10344411432743073, + -0.11068916320800781 + ], + "orientation": [ + 0.9941352605819702, + 0.09769978374242783, + 0.003753100521862507, + -0.04621446132659912 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.013168931007385254, + -0.10285988450050354, + -0.11079104989767075 + ], + "orientation": [ + 0.994705855846405, + 0.09332724660634995, + 0.004179227165877819, + -0.04281014949083328 + ], + "joints": [ + -0.004903026856482029 + ] + }, + "final_grasp": { + "position": [ + -0.013168931007385254, + -0.10285988450050354, + -0.11079104989767075 + ], + "orientation": [ + 0.994705855846405, + 0.09332724660634995, + 0.004179227165877819, + -0.04281014949083328 + ], + "joints": [ + 0.00250999815762043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013649052008986473, + -0.10340423136949539, + -0.11092512309551239 + ], + "orientation": [ + 0.9940201640129089, + 0.09856262058019638, + 0.00640150485560298, + -0.046565763652324677 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.013441511429846287, + -0.10288126766681671, + -0.11112768203020096 + ], + "orientation": [ + 0.9946295022964478, + 0.09374973177909851, + 0.008077457547187805, + -0.043103743344545364 + ], + "joints": [ + -0.004903026856482029 + ] + }, + "final_grasp": { + "position": [ + -0.013441511429846287, + -0.10288126766681671, + -0.11112768203020096 + ], + "orientation": [ + 0.9946295022964478, + 0.09374973177909851, + 0.008077457547187805, + -0.043103743344545364 + ], + "joints": [ + 0.00250999815762043 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2038, + "num_passed": 9 + } +} \ No newline at end of file diff --git a/041_shoe_2/Annotation/piper_grasp_pose.json b/041_shoe_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..f5deb9f760bb9143fdc16c2c9bcb98f455da2175 --- /dev/null +++ b/041_shoe_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,1018 @@ +{ + "type": "041_shoe_2", + "bottom_center": [ + 0.0, + 0.04037637636065483, + -0.10437829047441483 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.02343732677400112, + -0.11303409188985825, + -0.004037700593471527 + ], + "orientation": [ + 0.463422030210495, + -0.564191997051239, + 0.4556138515472412, + 0.5092575550079346 + ], + "joints": [ + 0.034027475863695145 + ] + }, + "fine_grasp": { + "position": [ + 0.0226837620139122, + -0.10909925401210785, + -0.00358792906627059 + ], + "orientation": [ + 0.4672391712665558, + -0.5629879832267761, + 0.45093584060668945, + 0.5112622380256653 + ], + "joints": [ + 0.025229517370462418 + ] + }, + "final_grasp": { + "position": [ + 0.0226837620139122, + -0.10909925401210785, + -0.00358792906627059 + ], + "orientation": [ + 0.4672391712665558, + -0.5629879832267761, + 0.45093584060668945, + 0.5112622380256653 + ], + "joints": [ + 0.01643155887722969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13285204768180847, + -0.0010985501576215029, + 0.11476496607065201 + ], + "orientation": [ + 0.13058140873908997, + -0.8186997771263123, + 0.056298960000276566, + -0.5563358664512634 + ], + "joints": [ + 0.02664090320467949 + ] + }, + "fine_grasp": { + "position": [ + -0.12931247055530548, + -0.0004338545259088278, + 0.1136152520775795 + ], + "orientation": [ + 0.1347408890724182, + -0.817673921585083, + 0.06134229525923729, + -0.5563194751739502 + ], + "joints": [ + 0.016609977930784225 + ] + }, + "final_grasp": { + "position": [ + -0.12931247055530548, + -0.0004338545259088278, + 0.1136152520775795 + ], + "orientation": [ + 0.1347408890724182, + -0.817673921585083, + 0.06134229525923729, + -0.5563194751739502 + ], + "joints": [ + 0.006579052656888962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13291750848293304, + -0.0011054580099880695, + 0.11550411581993103 + ], + "orientation": [ + 0.13125008344650269, + -0.8159412145614624, + 0.054600365459918976, + -0.5603856444358826 + ], + "joints": [ + 0.026397159323096275 + ] + }, + "fine_grasp": { + "position": [ + -0.12938374280929565, + -0.00048575675464235246, + 0.11421819031238556 + ], + "orientation": [ + 0.13393890857696533, + -0.8159967660903931, + 0.06030226871371269, + -0.5590826272964478 + ], + "joints": [ + 0.01634533517062664 + ] + }, + "final_grasp": { + "position": [ + -0.12938374280929565, + -0.00048575675464235246, + 0.11421819031238556 + ], + "orientation": [ + 0.13393890857696533, + -0.8159967660903931, + 0.06030226871371269, + -0.5590826272964478 + ], + "joints": [ + 0.006293511018157005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12350384145975113, + 0.01746188849210739, + 0.14665381610393524 + ], + "orientation": [ + 0.5456694960594177, + 0.004415025468915701, + 0.8378379940986633, + 0.01589343696832657 + ], + "joints": [ + 0.02194034866988659 + ] + }, + "fine_grasp": { + "position": [ + -0.12012837827205658, + 0.01769411563873291, + 0.14458675682544708 + ], + "orientation": [ + 0.536263644695282, + 0.005924675613641739, + 0.8438614010810852, + 0.016858717426657677 + ], + "joints": [ + 0.013560345396399498 + ] + }, + "final_grasp": { + "position": [ + -0.12012837827205658, + 0.01769411563873291, + 0.14458675682544708 + ], + "orientation": [ + 0.536263644695282, + 0.005924675613641739, + 0.8438614010810852, + 0.016858717426657677 + ], + "joints": [ + 0.005180342122912407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016925064846873283, + -0.10989341884851456, + -0.0015760305104777217 + ], + "orientation": [ + 0.49996691942214966, + -0.43486645817756653, + -0.5509821176528931, + -0.507289707660675 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.016072051599621773, + -0.1059146597981453, + -0.0002663417544681579 + ], + "orientation": [ + 0.5052183270454407, + -0.427650511264801, + -0.546018123626709, + -0.5135501027107239 + ], + "joints": [ + 0.027476806193590164 + ] + }, + "final_grasp": { + "position": [ + 0.016072051599621773, + -0.1059146597981453, + -0.0002663417544681579 + ], + "orientation": [ + 0.5052183270454407, + -0.427650511264801, + -0.546018123626709, + -0.5135501027107239 + ], + "joints": [ + 0.019953612238168716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023143848404288292, + 0.05691139027476311, + -0.2050076723098755 + ], + "orientation": [ + 0.5961493253707886, + 0.13547857105731964, + -0.04810737445950508, + 0.7898969650268555 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.02263674885034561, + 0.056209955364465714, + -0.20131050050258636 + ], + "orientation": [ + 0.5922742486000061, + 0.13458792865276337, + -0.048202212899923325, + 0.7929526567459106 + ], + "joints": [ + 0.02588128298521042 + ] + }, + "final_grasp": { + "position": [ + -0.02263674885034561, + 0.056209955364465714, + -0.20131050050258636 + ], + "orientation": [ + 0.5922742486000061, + 0.13458792865276337, + -0.048202212899923325, + 0.7929526567459106 + ], + "joints": [ + 0.017480380833148956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004482103977352381, + 0.031221793964505196, + 0.205440491437912 + ], + "orientation": [ + 0.04276344180107117, + 0.998931348323822, + -0.0010426847729831934, + -0.017503391951322556 + ], + "joints": [ + 0.0244193896651268 + ] + }, + "fine_grasp": { + "position": [ + 0.004356907680630684, + 0.031416844576597214, + 0.20170380175113678 + ], + "orientation": [ + 0.044087003916502, + 0.9988495111465454, + 0.004181362222880125, + -0.01840457320213318 + ], + "joints": [ + 0.015600532293319702 + ] + }, + "final_grasp": { + "position": [ + 0.004356907680630684, + 0.031416844576597214, + 0.20170380175113678 + ], + "orientation": [ + 0.044087003916502, + 0.9988495111465454, + 0.004181362222880125, + -0.01840457320213318 + ], + "joints": [ + 0.006781674921512604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12343969941139221, + 0.017364531755447388, + 0.14671237766742706 + ], + "orientation": [ + 0.5458459854125977, + 0.0038925863336771727, + 0.8377231955528259, + 0.016025152057409286 + ], + "joints": [ + 0.02194034866988659 + ] + }, + "fine_grasp": { + "position": [ + -0.12006732821464539, + 0.01757742464542389, + 0.1446395069360733 + ], + "orientation": [ + 0.5364574790000916, + 0.005266118329018354, + 0.843742311000824, + 0.016867877915501595 + ], + "joints": [ + 0.013560345396399498 + ] + }, + "final_grasp": { + "position": [ + -0.12006732821464539, + 0.01757742464542389, + 0.1446395069360733 + ], + "orientation": [ + 0.5364574790000916, + 0.005266118329018354, + 0.843742311000824, + 0.016867877915501595 + ], + "joints": [ + 0.005180342122912407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1002194732427597, + 0.09686718881130219, + 0.11314968019723892 + ], + "orientation": [ + 0.11039277911186218, + 0.7240774035453796, + -0.41683709621429443, + 0.5383049845695496 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.09743111580610275, + 0.09410608559846878, + 0.11173555999994278 + ], + "orientation": [ + 0.10507660359144211, + 0.7216861248016357, + -0.4187335968017578, + 0.5411009192466736 + ], + "joints": [ + 0.027455907315015793 + ] + }, + "final_grasp": { + "position": [ + -0.09743111580610275, + 0.09410608559846878, + 0.11173555999994278 + ], + "orientation": [ + 0.10507660359144211, + 0.7216861248016357, + -0.4187335968017578, + 0.5411009192466736 + ], + "joints": [ + 0.019911814481019974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13263899087905884, + 0.02059336006641388, + 0.09985171258449554 + ], + "orientation": [ + 0.6442334055900574, + -0.060047123581171036, + 0.7608338594436646, + -0.049892641603946686 + ], + "joints": [ + 0.025073250755667686 + ] + }, + "fine_grasp": { + "position": [ + -0.12901027500629425, + 0.02102537639439106, + 0.09895569831132889 + ], + "orientation": [ + 0.6397766470909119, + -0.06067771092057228, + 0.7643083930015564, + -0.05326210707426071 + ], + "joints": [ + 0.015878235921263695 + ] + }, + "final_grasp": { + "position": [ + -0.12901027500629425, + 0.02102537639439106, + 0.09895569831132889 + ], + "orientation": [ + 0.6397766470909119, + -0.06067771092057228, + 0.7643083930015564, + -0.05326210707426071 + ], + "joints": [ + 0.006683221086859703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05183003097772598, + 0.08156586438417435, + -0.18334849178791046 + ], + "orientation": [ + 0.6397135853767395, + 0.009782178327441216, + 0.303893506526947, + -0.705917477607727 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.05061055347323418, + 0.0807289183139801, + -0.18006230890750885 + ], + "orientation": [ + 0.6415155529975891, + 0.00881508644670248, + 0.3003939688205719, + -0.7057928442955017 + ], + "joints": [ + 0.02634664624929428 + ] + }, + "final_grasp": { + "position": [ + -0.05061055347323418, + 0.0807289183139801, + -0.18006230890750885 + ], + "orientation": [ + 0.6415155529975891, + 0.00881508644670248, + 0.3003939688205719, + -0.7057928442955017 + ], + "joints": [ + 0.017924845218658447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010607755742967129, + -0.07857535034418106, + -0.16161511838436127 + ], + "orientation": [ + 0.4364498257637024, + -0.27901962399482727, + -0.35448816418647766, + -0.7784585356712341 + ], + "joints": [ + 0.03432849794626236 + ] + }, + "fine_grasp": { + "position": [ + -0.010545600205659866, + -0.07629599422216415, + -0.15868137776851654 + ], + "orientation": [ + 0.4402095079421997, + -0.2736002504825592, + -0.3521842360496521, + -0.779310405254364 + ], + "joints": [ + 0.026345551013946533 + ] + }, + "final_grasp": { + "position": [ + -0.010545600205659866, + -0.07629599422216415, + -0.15868137776851654 + ], + "orientation": [ + 0.4402095079421997, + -0.2736002504825592, + -0.3521842360496521, + -0.779310405254364 + ], + "joints": [ + 0.018362604081630707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06167212128639221, + 0.029334861785173416, + -0.19625262916088104 + ], + "orientation": [ + 0.6076481938362122, + 0.16048282384872437, + 0.1559937447309494, + 0.7620202302932739 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.05994115769863129, + 0.02894190512597561, + -0.19292181730270386 + ], + "orientation": [ + 0.6051644086837769, + 0.1626642793416977, + 0.15282265841960907, + 0.7641738653182983 + ], + "joints": [ + 0.025352127850055695 + ] + }, + "final_grasp": { + "position": [ + -0.05994115769863129, + 0.02894190512597561, + -0.19292181730270386 + ], + "orientation": [ + 0.6051644086837769, + 0.1626642793416977, + 0.15282265841960907, + 0.7641738653182983 + ], + "joints": [ + 0.017348282039165497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11174001544713974, + -0.004033687524497509, + 0.14353227615356445 + ], + "orientation": [ + 0.017797254025936127, + -0.8515837788581848, + 0.15759260952472687, + 0.4996527135372162 + ], + "joints": [ + 0.024394825100898743 + ] + }, + "fine_grasp": { + "position": [ + 0.10861106216907501, + -0.0032972281333059072, + 0.14151868224143982 + ], + "orientation": [ + 0.015973348170518875, + -0.8516173362731934, + 0.15844020247459412, + 0.4993891716003418 + ], + "joints": [ + 0.01517891138792038 + ] + }, + "final_grasp": { + "position": [ + 0.10861106216907501, + -0.0032972281333059072, + 0.14151868224143982 + ], + "orientation": [ + 0.015973348170518875, + -0.8516173362731934, + 0.15844020247459412, + 0.4993891716003418 + ], + "joints": [ + 0.005962997674942017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06825792044401169, + 0.055337026715278625, + -0.18732157349586487 + ], + "orientation": [ + 0.7298030257225037, + -0.09815509617328644, + 0.25296780467033386, + -0.6275033354759216 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.06651535630226135, + 0.05417928844690323, + -0.18417279422283173 + ], + "orientation": [ + 0.7318294644355774, + -0.09426052123308182, + 0.2548753023147583, + -0.6249634027481079 + ], + "joints": [ + 0.02653304859995842 + ] + }, + "final_grasp": { + "position": [ + -0.06651535630226135, + 0.05417928844690323, + -0.18417279422283173 + ], + "orientation": [ + 0.7318294644355774, + -0.09426052123308182, + 0.2548753023147583, + -0.6249634027481079 + ], + "joints": [ + 0.018529202789068222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06823155283927917, + 0.05532177537679672, + -0.18742965161800385 + ], + "orientation": [ + 0.7299506664276123, + -0.09802142530679703, + 0.25278371572494507, + -0.6274266839027405 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.06647264212369919, + 0.05417482182383537, + -0.1842493712902069 + ], + "orientation": [ + 0.7320727109909058, + -0.09418404847383499, + 0.2545299828052521, + -0.6248307228088379 + ], + "joints": [ + 0.02653304859995842 + ] + }, + "final_grasp": { + "position": [ + -0.06647264212369919, + 0.05417482182383537, + -0.1842493712902069 + ], + "orientation": [ + 0.7320727109909058, + -0.09418404847383499, + 0.2545299828052521, + -0.6248307228088379 + ], + "joints": [ + 0.018529202789068222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13878421485424042, + 0.04819801077246666, + -0.12267592549324036 + ], + "orientation": [ + 0.17335523664951324, + -0.5790439248085022, + 0.18963909149169922, + -0.7737526297569275 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.13493408262729645, + 0.04738414287567139, + -0.12098246067762375 + ], + "orientation": [ + 0.17051658034324646, + -0.5757599472999573, + 0.1913636326789856, + -0.7764049172401428 + ], + "joints": [ + 0.029085930436849594 + ] + }, + "final_grasp": { + "position": [ + -0.13493408262729645, + 0.04738414287567139, + -0.12098246067762375 + ], + "orientation": [ + 0.17051658034324646, + -0.5757599472999573, + 0.1913636326789856, + -0.7764049172401428 + ], + "joints": [ + 0.023171860724687576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14437055587768555, + 0.05560428276658058, + -0.035616435110569 + ], + "orientation": [ + 0.6622235178947449, + 0.004643482156097889, + 0.7380869388580322, + -0.12909768521785736 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.14033839106559753, + 0.054249171167612076, + -0.03569823503494263 + ], + "orientation": [ + 0.6630057692527771, + 0.009362402372062206, + 0.7375622987747192, + -0.1278182417154312 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + -0.14033839106559753, + 0.054249171167612076, + -0.03569823503494263 + ], + "orientation": [ + 0.6630057692527771, + 0.009362402372062206, + 0.7375622987747192, + -0.1278182417154312 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14361047744750977, + 0.05565793439745903, + -0.03542276844382286 + ], + "orientation": [ + 0.6630517840385437, + 0.0077384295873343945, + 0.7374337911605835, + -0.12842847406864166 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.1395825743675232, + 0.05421458184719086, + -0.03558388724923134 + ], + "orientation": [ + 0.6627120971679688, + 0.012483803555369377, + 0.7381237745285034, + -0.12581780552864075 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + -0.1395825743675232, + 0.05421458184719086, + -0.03558388724923134 + ], + "orientation": [ + 0.6627120971679688, + 0.012483803555369377, + 0.7381237745285034, + -0.12581780552864075 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14099620282649994, + 0.06150064244866371, + -0.10007035732269287 + ], + "orientation": [ + 0.08526802808046341, + -0.6229779720306396, + -0.21696887910366058, + 0.7466942667961121 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.13722988963127136, + 0.05992942303419113, + -0.098392054438591 + ], + "orientation": [ + 0.08182412385940552, + -0.6155466437339783, + -0.22082142531871796, + 0.7520937323570251 + ], + "joints": [ + 0.02868887409567833 + ] + }, + "final_grasp": { + "position": [ + 0.13722988963127136, + 0.05992942303419113, + -0.098392054438591 + ], + "orientation": [ + 0.08182412385940552, + -0.6155466437339783, + -0.22082142531871796, + 0.7520937323570251 + ], + "joints": [ + 0.022377748042345047 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 20 + } +} \ No newline at end of file diff --git a/041_shoe_2/Object.usd b/041_shoe_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..24f9190f99f706eca60a05a441692b2917c8bf3e --- /dev/null +++ b/041_shoe_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca61fecb9c89c59eaa5eb100a78aa68f36e301112815e675477e417077bfcb05 +size 187291 diff --git a/043_book_0/Annotation/dex1_1_grasp_pose.json b/043_book_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..caf07742a1e3486bcd83795c5283e331b4eb68ce --- /dev/null +++ b/043_book_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "043_book_0", + "bottom_center": [ + 0.0004455000162124634, + 0.02500000037252903, + -0.10643699765205383 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2039, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/043_book_0/Annotation/piper_grasp_pose.json b/043_book_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e730c28c7185652b9927732980e2a96cf0102792 --- /dev/null +++ b/043_book_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "043_book_0", + "bottom_center": [ + 0.0004455000162124634, + 0.02500000037252903, + -0.10643699765205383 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/043_book_0/Object.usd b/043_book_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..ebefa1db938bf265267da6eb995b3443b560ea5d --- /dev/null +++ b/043_book_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:427acceb69192641b636fb17fab9b44b5127b001fd0c985e4487ac6bbc600bf0 +size 451468 diff --git a/046_alarm-clock_4/Annotation/dex1_1_grasp_pose.json b/046_alarm-clock_4/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4046de4ebbdefea4a1948f72a997950b1301f410 --- /dev/null +++ b/046_alarm-clock_4/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,168 @@ +{ + "type": "046_alarm-clock_4", + "bottom_center": [ + 8.25151801109314e-06, + 0.0744786486029625, + -0.029170900583267212 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.00042795646004378796, + -0.10160402953624725, + 0.001325154211372137 + ], + "orientation": [ + 0.7662853002548218, + -0.06797771900892258, + -0.6357465386390686, + -0.06334259361028671 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.001665074029006064, + -0.10104871541261673, + 0.0007279625860974193 + ], + "orientation": [ + 0.7782178521156311, + -0.0637320950627327, + -0.6204904913902283, + -0.07284846156835556 + ], + "joints": [ + -0.011516595259308815 + ] + }, + "final_grasp": { + "position": [ + -0.001665074029006064, + -0.10104871541261673, + 0.0007279625860974193 + ], + "orientation": [ + 0.7782178521156311, + -0.0637320950627327, + -0.6204904913902283, + -0.07284846156835556 + ], + "joints": [ + -0.007743656635284424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10895342379808426, + 0.06851755827665329, + -0.1378784030675888 + ], + "orientation": [ + 0.16464863717556, + -0.20922723412513733, + -0.6764071583747864, + -0.6867226958274841 + ], + "joints": [ + -0.01873406022787094 + ] + }, + "fine_grasp": { + "position": [ + -0.10788287967443466, + 0.06800460070371628, + -0.13582846522331238 + ], + "orientation": [ + 0.16587010025978088, + -0.20751167833805084, + -0.6717174649238586, + -0.6915356516838074 + ], + "joints": [ + -0.0160239115357399 + ] + }, + "final_grasp": { + "position": [ + -0.10788287967443466, + 0.06800460070371628, + -0.13582846522331238 + ], + "orientation": [ + 0.16587010025978088, + -0.20751167833805084, + -0.6717174649238586, + -0.6915356516838074 + ], + "joints": [ + -0.013313762843608856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18088673055171967, + 0.09210014343261719, + -0.023052997887134552 + ], + "orientation": [ + 0.40109434723854065, + 0.6676844358444214, + 0.39652585983276367, + -0.48588892817497253 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.1790580153465271, + 0.09190802276134491, + -0.02296493761241436 + ], + "orientation": [ + 0.39872685074806213, + 0.6747036576271057, + 0.4033145308494568, + -0.4723656475543976 + ], + "joints": [ + -0.010366946458816528 + ] + }, + "final_grasp": { + "position": [ + -0.1790580153465271, + 0.09190802276134491, + -0.02296493761241436 + ], + "orientation": [ + 0.39872685074806213, + 0.6747036576271057, + 0.4033145308494568, + -0.4723656475543976 + ], + "joints": [ + -0.00606260821223259 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2037, + "num_passed": 3 + } +} \ No newline at end of file diff --git a/046_alarm-clock_4/Annotation/piper_grasp_pose.json b/046_alarm-clock_4/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..94b285f6823ddf392911d39a80385b3fbc77f2a8 --- /dev/null +++ b/046_alarm-clock_4/Annotation/piper_grasp_pose.json @@ -0,0 +1,318 @@ +{ + "type": "046_alarm-clock_4", + "bottom_center": [ + 8.25151801109314e-06, + 0.0744786486029625, + -0.029170900583267212 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.03891156613826752, + -0.10650122165679932, + -0.002964596962556243 + ], + "orientation": [ + 0.04689805209636688, + 0.06358172744512558, + 0.7055484056472778, + 0.7042438387870789 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.04009566083550453, + -0.1024455651640892, + -0.002480406779795885 + ], + "orientation": [ + 0.04001188650727272, + 0.05709541216492653, + 0.7038910984992981, + 0.7068780064582825 + ], + "joints": [ + 0.02608748897910118 + ] + }, + "final_grasp": { + "position": [ + -0.04009566083550453, + -0.1024455651640892, + -0.002480406779795885 + ], + "orientation": [ + 0.04001188650727272, + 0.05709541216492653, + 0.7038910984992981, + 0.7068780064582825 + ], + "joints": [ + 0.018564295023679733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06672011315822601, + -0.10823913663625717, + -0.003963233437389135 + ], + "orientation": [ + 0.015171115286648273, + 0.06839337199926376, + -0.6938835382461548, + -0.7166712880134583 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.06655187904834747, + -0.10390574485063553, + -0.003401408903300762 + ], + "orientation": [ + 0.012261345982551575, + 0.06740202009677887, + -0.6948456168174744, + -0.7158884406089783 + ], + "joints": [ + 0.0287097729742527 + ] + }, + "final_grasp": { + "position": [ + 0.06655187904834747, + -0.10390574485063553, + -0.003401408903300762 + ], + "orientation": [ + 0.012261345982551575, + 0.06740202009677887, + -0.6948456168174744, + -0.7158884406089783 + ], + "joints": [ + 0.02241954579949379 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015258151106536388, + 0.08780600130558014, + -0.17324332892894745 + ], + "orientation": [ + 0.736262857913971, + 0.1284751147031784, + -0.022849975153803825, + 0.6639946699142456 + ], + "joints": [ + 0.0033044712617993355 + ] + }, + "fine_grasp": { + "position": [ + -0.015115173533558846, + 0.08758348226547241, + -0.16787219047546387 + ], + "orientation": [ + 0.7367715835571289, + 0.12315056473016739, + -0.021946659311652184, + 0.6644697189331055 + ], + "joints": [ + 0.0033044712617993355 + ] + }, + "final_grasp": { + "position": [ + -0.015115173533558846, + 0.08758348226547241, + -0.16787219047546387 + ], + "orientation": [ + 0.7367715835571289, + 0.12315056473016739, + -0.021946659311652184, + 0.6644697189331055 + ], + "joints": [ + 0.0033044712617993355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015330526046454906, + 0.08787685632705688, + -0.17317140102386475 + ], + "orientation": [ + 0.7363083362579346, + 0.12826894223690033, + -0.022671110928058624, + 0.663990318775177 + ], + "joints": [ + 0.0033044712617993355 + ] + }, + "fine_grasp": { + "position": [ + -0.015186729840934277, + 0.08765435218811035, + -0.16780026257038116 + ], + "orientation": [ + 0.7368147969245911, + 0.12295792996883392, + -0.02177390642464161, + 0.664463222026825 + ], + "joints": [ + 0.0033044712617993355 + ] + }, + "final_grasp": { + "position": [ + -0.015186729840934277, + 0.08765435218811035, + -0.16780026257038116 + ], + "orientation": [ + 0.7368147969245911, + 0.12295792996883392, + -0.02177390642464161, + 0.664463222026825 + ], + "joints": [ + 0.0033044712617993355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030487002804875374, + 0.07836199551820755, + -0.17037783563137054 + ], + "orientation": [ + 0.02162623032927513, + 0.1294023096561432, + 0.0662355050444603, + -0.9891411662101746 + ], + "joints": [ + 0.0031563621014356613 + ] + }, + "fine_grasp": { + "position": [ + 0.030226774513721466, + 0.07820732146501541, + -0.16500842571258545 + ], + "orientation": [ + 0.021667007356882095, + 0.12412050366401672, + 0.0635303258895874, + -0.9899942278862 + ], + "joints": [ + 0.00357431685552001 + ] + }, + "final_grasp": { + "position": [ + 0.030226774513721466, + 0.07820732146501541, + -0.16500842571258545 + ], + "orientation": [ + 0.021667007356882095, + 0.12412050366401672, + 0.0635303258895874, + -0.9899942278862 + ], + "joints": [ + 0.003992271609604359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019435826689004898, + 0.06658332049846649, + -0.17380177974700928 + ], + "orientation": [ + 0.5120652318000793, + 0.07280932366847992, + -0.04354897513985634, + -0.8547464609146118 + ], + "joints": [ + 0.0028360895812511444 + ] + }, + "fine_grasp": { + "position": [ + 0.01924893632531166, + 0.06659805774688721, + -0.16840888559818268 + ], + "orientation": [ + 0.5122044086456299, + 0.06978866457939148, + -0.041785452514886856, + -0.8550030589103699 + ], + "joints": [ + 0.0036511016078293324 + ] + }, + "final_grasp": { + "position": [ + 0.01924893632531166, + 0.06659805774688721, + -0.16840888559818268 + ], + "orientation": [ + 0.5122044086456299, + 0.06978866457939148, + -0.041785452514886856, + -0.8550030589103699 + ], + "joints": [ + 0.00446611363440752 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 6 + } +} \ No newline at end of file diff --git a/046_alarm-clock_4/Object.usd b/046_alarm-clock_4/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..fd2da81420f88e9612a38e444a0077b001edd8bc --- /dev/null +++ b/046_alarm-clock_4/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f7a5e6497fe468526f1f5903547072a97765b693c5d6a8bf12f24c728c1b49e +size 299020 diff --git a/048_stapler_4/Annotation/dex1_1_grasp_pose.json b/048_stapler_4/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..256699984aa23fbe2ba1fba504fc78242f65dc52 --- /dev/null +++ b/048_stapler_4/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,22468 @@ +{ + "type": "048_stapler_4", + "bottom_center": [ + -2.725515514612198e-06, + 0.024147573858499527, + -0.0474899485707283 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.003580125980079174, + 0.14024238288402557, + -0.025204190984368324 + ], + "orientation": [ + 0.05944979190826416, + 0.9981492161750793, + 0.012790297158062458, + 0.000415399728808552 + ], + "joints": [ + -0.0008470843313261867 + ] + }, + "fine_grasp": { + "position": [ + -0.0035636916290968657, + 0.1342940628528595, + -0.024551210924983025 + ], + "orientation": [ + 0.043445296585559845, + 0.9989464282989502, + 0.014437122270464897, + -0.003190643386915326 + ], + "joints": [ + 0.006565941032022238 + ] + }, + "final_grasp": { + "position": [ + -0.0035636916290968657, + 0.1342940628528595, + -0.024551210924983025 + ], + "orientation": [ + 0.043445296585559845, + 0.9989464282989502, + 0.014437122270464897, + -0.003190643386915326 + ], + "joints": [ + 0.013978966511785984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003507389919832349, + 0.14016634225845337, + -0.025962719693779945 + ], + "orientation": [ + 0.05303068831562996, + 0.9985073804855347, + 0.012923448346555233, + 0.001926419441588223 + ], + "joints": [ + -0.00033908747718669474 + ] + }, + "fine_grasp": { + "position": [ + -0.0034616906195878983, + 0.13419616222381592, + -0.025356633588671684 + ], + "orientation": [ + 0.03789742290973663, + 0.9991811513900757, + 0.014169437810778618, + -0.00018961257592309266 + ], + "joints": [ + 0.006542538292706013 + ] + }, + "final_grasp": { + "position": [ + -0.0034616906195878983, + 0.13419616222381592, + -0.025356633588671684 + ], + "orientation": [ + 0.03789742290973663, + 0.9991811513900757, + 0.014169437810778618, + -0.00018961257592309266 + ], + "joints": [ + 0.013424163684248924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0012316188076511025, + 0.1292242556810379, + -0.062387581914663315 + ], + "orientation": [ + 0.2176167517900467, + 0.9760218858718872, + 0.004667606204748154, + 0.0016036992892622948 + ], + "joints": [ + -0.0011268706293776631 + ] + }, + "fine_grasp": { + "position": [ + -0.0010998937068507075, + 0.12369907647371292, + -0.06002272292971611 + ], + "orientation": [ + 0.20071528851985931, + 0.9796304702758789, + 0.005659628659486771, + -0.002333946293219924 + ], + "joints": [ + 0.0062595852650702 + ] + }, + "final_grasp": { + "position": [ + -0.0010998937068507075, + 0.12369907647371292, + -0.06002272292971611 + ], + "orientation": [ + 0.20071528851985931, + 0.9796304702758789, + 0.005659628659486771, + -0.002333946293219924 + ], + "joints": [ + 0.013646041043102741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004730148706585169, + 0.13975130021572113, + -0.024831978604197502 + ], + "orientation": [ + 0.06218120455741882, + 0.9979175925254822, + 0.016774455085396767, + -0.0035457771737128496 + ], + "joints": [ + -0.0006489000516012311 + ] + }, + "fine_grasp": { + "position": [ + -0.004519688431173563, + 0.13388730585575104, + -0.024266012012958527 + ], + "orientation": [ + 0.04603875055909157, + 0.9987434148788452, + 0.01754876784980297, + -0.00918370857834816 + ], + "joints": [ + 0.0062327259220182896 + ] + }, + "final_grasp": { + "position": [ + -0.004519688431173563, + 0.13388730585575104, + -0.024266012012958527 + ], + "orientation": [ + 0.04603875055909157, + 0.9987434148788452, + 0.01754876784980297, + -0.00918370857834816 + ], + "joints": [ + 0.013114351779222488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0016531673027202487, + 0.12882265448570251, + -0.06200554221868515 + ], + "orientation": [ + 0.21572299301624298, + 0.976436972618103, + 0.0054009342566132545, + -0.002257067710161209 + ], + "joints": [ + -0.0009448250057175756 + ] + }, + "fine_grasp": { + "position": [ + -0.00155854900367558, + 0.12329171597957611, + -0.05969016253948212 + ], + "orientation": [ + 0.19907592236995697, + 0.9799467921257019, + 0.006037119776010513, + -0.006056931335479021 + ], + "joints": [ + 0.0064416308887302876 + ] + }, + "final_grasp": { + "position": [ + -0.00155854900367558, + 0.12329171597957611, + -0.05969016253948212 + ], + "orientation": [ + 0.19907592236995697, + 0.9799467921257019, + 0.006037119776010513, + -0.006056931335479021 + ], + "joints": [ + 0.013828086666762829 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001174232573248446, + 0.12865136563777924, + -0.06232995539903641 + ], + "orientation": [ + 0.21874940395355225, + 0.975768506526947, + 0.004730576649308205, + 0.0014915411593392491 + ], + "joints": [ + -0.001086730626411736 + ] + }, + "fine_grasp": { + "position": [ + -0.0010873388964682817, + 0.12317683547735214, + -0.05999696999788284 + ], + "orientation": [ + 0.20237107574939728, + 0.9792920351028442, + 0.005227872170507908, + -0.0024204161018133163 + ], + "joints": [ + 0.006299725268036127 + ] + }, + "final_grasp": { + "position": [ + -0.0010873388964682817, + 0.12317683547735214, + -0.05999696999788284 + ], + "orientation": [ + 0.20237107574939728, + 0.9792920351028442, + 0.005227872170507908, + -0.0024204161018133163 + ], + "joints": [ + 0.013686181046068668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00045338855125010014, + 0.026445457711815834, + -0.13509975373744965 + ], + "orientation": [ + 0.00894125271588564, + 0.01582094468176365, + -0.6676461696624756, + -0.744256854057312 + ], + "joints": [ + 0.0001214051153510809 + ] + }, + "fine_grasp": { + "position": [ + 0.0008184661855921149, + 0.02610223926603794, + -0.12972058355808258 + ], + "orientation": [ + 0.009381753392517567, + 0.01671656034886837, + -0.6673723459243774, + -0.7444775700569153 + ], + "joints": [ + 0.006524770520627499 + ] + }, + "final_grasp": { + "position": [ + 0.0008184661855921149, + 0.02610223926603794, + -0.12972058355808258 + ], + "orientation": [ + 0.009381753392517567, + 0.01671656034886837, + -0.6673723459243774, + -0.7444775700569153 + ], + "joints": [ + 0.012928135693073273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005093663930892944, + -0.09157991409301758, + -0.08425869792699814 + ], + "orientation": [ + 0.9463889002799988, + 0.32246842980384827, + 0.004215532913804054, + -0.018555790185928345 + ], + "joints": [ + 0.0015045169275254011 + ] + }, + "fine_grasp": { + "position": [ + -0.0052742683328688145, + -0.08929106593132019, + -0.08391238749027252 + ], + "orientation": [ + 0.9479062557220459, + 0.3181454539299011, + 0.007995782420039177, + -0.013901615515351295 + ], + "joints": [ + 0.008412712253630161 + ] + }, + "final_grasp": { + "position": [ + -0.0052742683328688145, + -0.08929106593132019, + -0.08391238749027252 + ], + "orientation": [ + 0.9479062557220459, + 0.3181454539299011, + 0.007995782420039177, + -0.013901615515351295 + ], + "joints": [ + 0.015320907346904278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0002913099015131593, + -0.10551931709051132, + -0.008753247559070587 + ], + "orientation": [ + 0.018285632133483887, + 0.002693906659260392, + -0.999152421951294, + -0.0367807112634182 + ], + "joints": [ + 0.00188360083848238 + ] + }, + "fine_grasp": { + "position": [ + -0.00016906912787817419, + -0.10977586358785629, + -0.010001961141824722 + ], + "orientation": [ + 0.012053056620061398, + 0.0020354166626930237, + -0.9995802640914917, + -0.026264728978276253 + ], + "joints": [ + 0.006692767143249512 + ] + }, + "final_grasp": { + "position": [ + -0.00016906912787817419, + -0.10977586358785629, + -0.010001961141824722 + ], + "orientation": [ + 0.012053056620061398, + 0.0020354166626930237, + -0.9995802640914917, + -0.026264728978276253 + ], + "joints": [ + 0.011501933448016644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10182413458824158, + 0.06546910852193832, + -0.061849676072597504 + ], + "orientation": [ + 0.5049906969070435, + 0.05847657471895218, + 0.2327858954668045, + 0.8290811777114868 + ], + "joints": [ + -0.005937028676271439 + ] + }, + "fine_grasp": { + "position": [ + 0.10101377218961716, + 0.06488547474145889, + -0.06261393427848816 + ], + "orientation": [ + 0.5055228471755981, + 0.053048521280288696, + 0.22586363554000854, + 0.8310343623161316 + ], + "joints": [ + 0.0015025665052235126 + ] + }, + "final_grasp": { + "position": [ + 0.10101377218961716, + 0.06488547474145889, + -0.06261393427848816 + ], + "orientation": [ + 0.5055228471755981, + 0.053048521280288696, + 0.22586363554000854, + 0.8310343623161316 + ], + "joints": [ + 0.008942161686718464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11686641722917557, + 0.019087202847003937, + -0.022579053416848183 + ], + "orientation": [ + 0.12713739275932312, + 0.7014246582984924, + 0.7009724974632263, + 0.021842436864972115 + ], + "joints": [ + -0.007879025302827358 + ] + }, + "fine_grasp": { + "position": [ + -0.11693912744522095, + 0.018570715561509132, + -0.02450833097100258 + ], + "orientation": [ + 0.11559026688337326, + 0.6984719634056091, + 0.706098735332489, + 0.014153649099171162 + ], + "joints": [ + -0.0020336294546723366 + ] + }, + "final_grasp": { + "position": [ + -0.11693912744522095, + 0.018570715561509132, + -0.02450833097100258 + ], + "orientation": [ + 0.11559026688337326, + 0.6984719634056091, + 0.706098735332489, + 0.014153649099171162 + ], + "joints": [ + 0.003811766393482685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011301631107926369, + -0.09912292659282684, + -0.0701935887336731 + ], + "orientation": [ + 0.011953484266996384, + 0.05199730023741722, + 0.9580714106559753, + 0.28151848912239075 + ], + "joints": [ + 0.0019547143019735813 + ] + }, + "fine_grasp": { + "position": [ + -0.011310955509543419, + -0.10063588619232178, + -0.0717739686369896 + ], + "orientation": [ + 0.008627109229564667, + 0.05345702916383743, + 0.9618444442749023, + 0.2681851387023926 + ], + "joints": [ + 0.0072952802293002605 + ] + }, + "final_grasp": { + "position": [ + -0.011310955509543419, + -0.10063588619232178, + -0.0717739686369896 + ], + "orientation": [ + 0.008627109229564667, + 0.05345702916383743, + 0.9618444442749023, + 0.2681851387023926 + ], + "joints": [ + 0.012635845690965652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011035176925361156, + -0.0988374799489975, + -0.07068188488483429 + ], + "orientation": [ + 0.012354356236755848, + 0.05074762925505638, + 0.9575230479240417, + 0.2835868000984192 + ], + "joints": [ + 0.0016069470439106226 + ] + }, + "fine_grasp": { + "position": [ + -0.01105570886284113, + -0.10075388103723526, + -0.07229963690042496 + ], + "orientation": [ + 0.008550799451768398, + 0.05221245065331459, + 0.961292028427124, + 0.2704039514064789 + ], + "joints": [ + 0.00747891329228878 + ] + }, + "final_grasp": { + "position": [ + -0.01105570886284113, + -0.10075388103723526, + -0.07229963690042496 + ], + "orientation": [ + 0.008550799451768398, + 0.05221245065331459, + 0.961292028427124, + 0.2704039514064789 + ], + "joints": [ + 0.013350879773497581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007904386147856712, + 0.1440725028514862, + -0.022183271124958992 + ], + "orientation": [ + 0.06648368388414383, + 0.9973722100257874, + 0.026751358062028885, + -0.010632039047777653 + ], + "joints": [ + -0.0003897355927620083 + ] + }, + "fine_grasp": { + "position": [ + -0.0074552977457642555, + 0.13833408057689667, + -0.021681388840079308 + ], + "orientation": [ + 0.0577862374484539, + 0.9979203939437866, + 0.02669801190495491, + -0.010143093764781952 + ], + "joints": [ + 0.004924261011183262 + ] + }, + "final_grasp": { + "position": [ + -0.0074552977457642555, + 0.13833408057689667, + -0.021681388840079308 + ], + "orientation": [ + 0.0577862374484539, + 0.9979203939437866, + 0.02669801190495491, + -0.010143093764781952 + ], + "joints": [ + 0.010238257236778736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007130482234060764, + 0.14315171539783478, + -0.02178286574780941 + ], + "orientation": [ + 0.06526581943035126, + 0.9974907040596008, + 0.02415889874100685, + -0.012992686592042446 + ], + "joints": [ + -0.0005932215135544538 + ] + }, + "fine_grasp": { + "position": [ + -0.006722094025462866, + 0.13731133937835693, + -0.021280888468027115 + ], + "orientation": [ + 0.05561509355902672, + 0.9980695843696594, + 0.024044185876846313, + -0.013639485463500023 + ], + "joints": [ + 0.0052521745674312115 + ] + }, + "final_grasp": { + "position": [ + -0.006722094025462866, + 0.13731133937835693, + -0.021280888468027115 + ], + "orientation": [ + 0.05561509355902672, + 0.9980695843696594, + 0.024044185876846313, + -0.013639485463500023 + ], + "joints": [ + 0.01109757088124752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09397809952497482, + -0.046903617680072784, + -0.05399569869041443 + ], + "orientation": [ + 0.8603379726409912, + 0.07928994297981262, + -0.15028096735477448, + -0.4805697500705719 + ], + "joints": [ + -0.003754671663045883 + ] + }, + "fine_grasp": { + "position": [ + -0.09297508001327515, + -0.046377379447221756, + -0.0542030967772007 + ], + "orientation": [ + 0.859815776348114, + 0.0757686123251915, + -0.14964540302753448, + -0.4822678864002228 + ], + "joints": [ + 0.0031535238958895206 + ] + }, + "final_grasp": { + "position": [ + -0.09297508001327515, + -0.046377379447221756, + -0.0542030967772007 + ], + "orientation": [ + 0.859815776348114, + 0.0757686123251915, + -0.14964540302753448, + -0.4822678864002228 + ], + "joints": [ + 0.010061719454824924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11805633455514908, + 0.014150086790323257, + -0.009572484530508518 + ], + "orientation": [ + 0.09735318273305893, + 0.6866979002952576, + 0.7199216485023499, + -0.02609839476644993 + ], + "joints": [ + -0.0076939500868320465 + ] + }, + "fine_grasp": { + "position": [ + -0.1203814297914505, + 0.013533946126699448, + -0.011262502521276474 + ], + "orientation": [ + 0.08732542395591736, + 0.683036744594574, + 0.72439044713974, + -0.033069588243961334 + ], + "joints": [ + -0.0018485543550923467 + ] + }, + "final_grasp": { + "position": [ + -0.1203814297914505, + 0.013533946126699448, + -0.011262502521276474 + ], + "orientation": [ + 0.08732542395591736, + 0.683036744594574, + 0.72439044713974, + -0.033069588243961334 + ], + "joints": [ + 0.003996841609477997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0978025496006012, + 0.057989608496427536, + -0.07438565790653229 + ], + "orientation": [ + 0.2921867370605469, + 0.8091133832931519, + -0.5043829083442688, + -0.07456755638122559 + ], + "joints": [ + -0.006061832420527935 + ] + }, + "fine_grasp": { + "position": [ + 0.09720595180988312, + 0.05746990069746971, + -0.07474052160978317 + ], + "orientation": [ + 0.28399163484573364, + 0.8112322092056274, + -0.5065450072288513, + -0.0682881623506546 + ], + "joints": [ + 0.0013777627609670162 + ] + }, + "final_grasp": { + "position": [ + 0.09720595180988312, + 0.05746990069746971, + -0.07474052160978317 + ], + "orientation": [ + 0.28399163484573364, + 0.8112322092056274, + -0.5065450072288513, + -0.0682881623506546 + ], + "joints": [ + 0.008817357942461967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11812911182641983, + 0.014433775097131729, + -0.009418860077857971 + ], + "orientation": [ + 0.1013120636343956, + 0.6871653199195862, + 0.7189667224884033, + -0.02503201737999916 + ], + "joints": [ + -0.007693953346461058 + ] + }, + "fine_grasp": { + "position": [ + -0.12031339854001999, + 0.01368175819516182, + -0.011254102922976017 + ], + "orientation": [ + 0.08982615917921066, + 0.6835159659385681, + 0.7236130237579346, + -0.03348694369196892 + ], + "joints": [ + -0.0018485576147213578 + ] + }, + "final_grasp": { + "position": [ + -0.12031339854001999, + 0.01368175819516182, + -0.011254102922976017 + ], + "orientation": [ + 0.08982615917921066, + 0.6835159659385681, + 0.7236130237579346, + -0.03348694369196892 + ], + "joints": [ + 0.003996837884187698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007991326856426895, + -0.11741425842046738, + 0.013554285280406475 + ], + "orientation": [ + 0.9992179274559021, + -0.036967597901821136, + -0.013783672824501991, + -0.0026658119168132544 + ], + "joints": [ + 0.0013941670767962933 + ] + }, + "fine_grasp": { + "position": [ + -0.0011294555151835084, + -0.12017299979925156, + 0.01371154934167862 + ], + "orientation": [ + 0.9991858601570129, + -0.038416750729084015, + -0.01227608509361744, + -0.0010373579571023583 + ], + "joints": [ + 0.007239562924951315 + ] + }, + "final_grasp": { + "position": [ + -0.0011294555151835084, + -0.12017299979925156, + 0.01371154934167862 + ], + "orientation": [ + 0.9991858601570129, + -0.038416750729084015, + -0.01227608509361744, + -0.0010373579571023583 + ], + "joints": [ + 0.013084959238767624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0878286063671112, + -0.011635608039796352, + 0.12074481695890427 + ], + "orientation": [ + 0.7442463636398315, + -0.2892928719520569, + 0.2692379653453827, + -0.5384401679039001 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.08340486884117126, + -0.010116243734955788, + 0.1180533915758133 + ], + "orientation": [ + 0.7460619807243347, + -0.2826160788536072, + 0.2587394714355469, + -0.5445855855941772 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + -0.08340486884117126, + -0.010116243734955788, + 0.1180533915758133 + ], + "orientation": [ + 0.7460619807243347, + -0.2826160788536072, + 0.2587394714355469, + -0.5445855855941772 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08778083324432373, + -0.011673716828227043, + 0.1207142099738121 + ], + "orientation": [ + 0.7442312836647034, + -0.28917062282562256, + 0.26955708861351013, + -0.538366973400116 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.08335936069488525, + -0.010160229168832302, + 0.11802289634943008 + ], + "orientation": [ + 0.7460098266601562, + -0.2824810743331909, + 0.25915929675102234, + -0.5445274114608765 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + -0.08335936069488525, + -0.010160229168832302, + 0.11802289634943008 + ], + "orientation": [ + 0.7460098266601562, + -0.2824810743331909, + 0.25915929675102234, + -0.5445274114608765 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11676301062107086, + 0.010966945439577103, + 0.014181711710989475 + ], + "orientation": [ + 0.034121714532375336, + 0.6691782474517822, + 0.7338479161262512, + -0.11181853711605072 + ], + "joints": [ + -0.007290741428732872 + ] + }, + "fine_grasp": { + "position": [ + -0.11894286423921585, + 0.010113898664712906, + 0.012549316510558128 + ], + "orientation": [ + 0.024504201486706734, + 0.6646982431411743, + 0.7368775010108948, + -0.12077784538269043 + ], + "joints": [ + -0.001471915515139699 + ] + }, + "final_grasp": { + "position": [ + -0.11894286423921585, + 0.010113898664712906, + 0.012549316510558128 + ], + "orientation": [ + 0.024504201486706734, + 0.6646982431411743, + 0.7368775010108948, + -0.12077784538269043 + ], + "joints": [ + 0.004346910398453474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08627114444971085, + -0.06647385656833649, + -0.05539360269904137 + ], + "orientation": [ + 0.1529790759086609, + 0.41302719712257385, + 0.8952707052230835, + 0.06705378741025925 + ], + "joints": [ + -0.002112369751557708 + ] + }, + "fine_grasp": { + "position": [ + -0.08339810371398926, + -0.06382381916046143, + -0.054190851747989655 + ], + "orientation": [ + 0.15450263023376465, + 0.41524049639701843, + 0.8941794633865356, + 0.0644003301858902 + ], + "joints": [ + 0.004290996119379997 + ] + }, + "final_grasp": { + "position": [ + -0.08339810371398926, + -0.06382381916046143, + -0.054190851747989655 + ], + "orientation": [ + 0.15450263023376465, + 0.41524049639701843, + 0.8941794633865356, + 0.0644003301858902 + ], + "joints": [ + 0.010694362223148346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08050321787595749, + -0.054515156894922256, + -0.06337856501340866 + ], + "orientation": [ + 0.1893978863954544, + 0.43182045221328735, + 0.8727866411209106, + 0.126106858253479 + ], + "joints": [ + -0.004164996091276407 + ] + }, + "fine_grasp": { + "position": [ + -0.08038783073425293, + -0.05465025082230568, + -0.06452424079179764 + ], + "orientation": [ + 0.19094640016555786, + 0.4352128505706787, + 0.8718586564064026, + 0.11828694492578506 + ], + "joints": [ + 0.003248029388487339 + ] + }, + "final_grasp": { + "position": [ + -0.08038783073425293, + -0.05465025082230568, + -0.06452424079179764 + ], + "orientation": [ + 0.19094640016555786, + 0.4352128505706787, + 0.8718586564064026, + 0.11828694492578506 + ], + "joints": [ + 0.010661054402589798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07900122553110123, + 0.04848836734890938, + -0.10754889994859695 + ], + "orientation": [ + 0.3970681130886078, + 0.7932194471359253, + 0.45105138421058655, + 0.09845063835382462 + ], + "joints": [ + -0.0032569377217441797 + ] + }, + "fine_grasp": { + "position": [ + -0.08129263669252396, + 0.048870060592889786, + -0.11020143330097198 + ], + "orientation": [ + 0.3941240608692169, + 0.7941267490386963, + 0.45271432399749756, + 0.09528318047523499 + ], + "joints": [ + 0.004182657692581415 + ] + }, + "final_grasp": { + "position": [ + -0.08129263669252396, + 0.048870060592889786, + -0.11020143330097198 + ], + "orientation": [ + 0.3941240608692169, + 0.7941267490386963, + 0.45271432399749756, + 0.09528318047523499 + ], + "joints": [ + 0.011622252874076366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0805206298828125, + -0.05457630008459091, + -0.06317468732595444 + ], + "orientation": [ + 0.18884620070457458, + 0.43182215094566345, + 0.8730151653289795, + 0.12534382939338684 + ], + "joints": [ + -0.003842592239379883 + ] + }, + "fine_grasp": { + "position": [ + -0.08019350469112396, + -0.0545889250934124, + -0.0642164945602417 + ], + "orientation": [ + 0.1897190809249878, + 0.4347580671310425, + 0.8724885582923889, + 0.11728433519601822 + ], + "joints": [ + 0.003065603319555521 + ] + }, + "final_grasp": { + "position": [ + -0.08019350469112396, + -0.0545889250934124, + -0.0642164945602417 + ], + "orientation": [ + 0.1897190809249878, + 0.4347580671310425, + 0.8724885582923889, + 0.11728433519601822 + ], + "joints": [ + 0.009973798878490925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08091627061367035, + -0.05455711856484413, + -0.06358708441257477 + ], + "orientation": [ + 0.19025202095508575, + 0.43327176570892334, + 0.8720976710319519, + 0.1246003657579422 + ], + "joints": [ + -0.003811764996498823 + ] + }, + "fine_grasp": { + "position": [ + -0.08066802471876144, + -0.05463667958974838, + -0.06477300822734833 + ], + "orientation": [ + 0.19086866080760956, + 0.43672439455986023, + 0.8714404702186584, + 0.11589920520782471 + ], + "joints": [ + 0.0030964305624365807 + ] + }, + "final_grasp": { + "position": [ + -0.08066802471876144, + -0.05463667958974838, + -0.06477300822734833 + ], + "orientation": [ + 0.19086866080760956, + 0.43672439455986023, + 0.8714404702186584, + 0.11589920520782471 + ], + "joints": [ + 0.010004626587033272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08709236979484558, + 0.03452817723155022, + -0.09911002963781357 + ], + "orientation": [ + 0.38017967343330383, + 0.7463468313217163, + -0.5308592915534973, + -0.12891213595867157 + ], + "joints": [ + -0.00526917539536953 + ] + }, + "fine_grasp": { + "position": [ + 0.08674591034650803, + 0.03487271070480347, + -0.09963133186101913 + ], + "orientation": [ + 0.37597858905792236, + 0.7514955997467041, + -0.5287201404571533, + -0.11978932470083237 + ], + "joints": [ + 0.0021704197861254215 + ] + }, + "final_grasp": { + "position": [ + 0.08674591034650803, + 0.03487271070480347, + -0.09963133186101913 + ], + "orientation": [ + 0.37597858905792236, + 0.7514955997467041, + -0.5287201404571533, + -0.11978932470083237 + ], + "joints": [ + 0.009610014967620373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10734910517930984, + 0.0646648183465004, + -0.054136402904987335 + ], + "orientation": [ + 0.21720778942108154, + 0.8300421833992004, + -0.5135253071784973, + -0.011937499977648258 + ], + "joints": [ + -0.006171884946525097 + ] + }, + "fine_grasp": { + "position": [ + 0.10744165629148483, + 0.06406314671039581, + -0.05529575049877167 + ], + "orientation": [ + 0.2081611305475235, + 0.8322104215621948, + -0.5139009952545166, + -0.0007164572598412633 + ], + "joints": [ + 0.00179910974111408 + ] + }, + "final_grasp": { + "position": [ + 0.10744165629148483, + 0.06406314671039581, + -0.05529575049877167 + ], + "orientation": [ + 0.2081611305475235, + 0.8322104215621948, + -0.5139009952545166, + -0.0007164572598412633 + ], + "joints": [ + 0.0097701046615839 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10726216435432434, + 0.06465990841388702, + -0.05401695519685745 + ], + "orientation": [ + 0.21652808785438538, + 0.8304508924484253, + -0.5131612420082092, + -0.011514118872582912 + ], + "joints": [ + -0.006005524657666683 + ] + }, + "fine_grasp": { + "position": [ + 0.10737048834562302, + 0.0641469657421112, + -0.05481806769967079 + ], + "orientation": [ + 0.20803256332874298, + 0.8322961926460266, + -0.5138145685195923, + -0.00034880946623161435 + ], + "joints": [ + 0.0014340704074129462 + ] + }, + "final_grasp": { + "position": [ + 0.10737048834562302, + 0.0641469657421112, + -0.05481806769967079 + ], + "orientation": [ + 0.20803256332874298, + 0.8322961926460266, + -0.5138145685195923, + -0.00034880946623161435 + ], + "joints": [ + 0.00887366570532322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11845328658819199, + 0.009590454399585724, + 0.014569646678864956 + ], + "orientation": [ + 0.03870668262243271, + 0.6649577021598816, + 0.7366576790809631, + -0.11691157519817352 + ], + "joints": [ + -0.007254596799612045 + ] + }, + "fine_grasp": { + "position": [ + -0.12086397409439087, + 0.008724619634449482, + 0.01314331591129303 + ], + "orientation": [ + 0.030402831733226776, + 0.6604675054550171, + 0.7396762371063232, + -0.12544894218444824 + ], + "joints": [ + -0.0014357708860188723 + ] + }, + "final_grasp": { + "position": [ + -0.12086397409439087, + 0.008724619634449482, + 0.01314331591129303 + ], + "orientation": [ + 0.030402831733226776, + 0.6604675054550171, + 0.7396762371063232, + -0.12544894218444824 + ], + "joints": [ + 0.004383055027574301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020498303696513176, + 0.0025958477053791285, + -0.1337713748216629 + ], + "orientation": [ + 0.5342707633972168, + 0.5356530547142029, + 0.5318106412887573, + 0.3805364668369293 + ], + "joints": [ + -0.00875025987625122 + ] + }, + "fine_grasp": { + "position": [ + -0.019905956462025642, + 0.0031265891157090664, + -0.13063347339630127 + ], + "orientation": [ + 0.5353354215621948, + 0.539147675037384, + 0.5293006300926208, + 0.37759292125701904 + ], + "joints": [ + -0.0034096939489245415 + ] + }, + "final_grasp": { + "position": [ + -0.019905956462025642, + 0.0031265891157090664, + -0.13063347339630127 + ], + "orientation": [ + 0.5353354215621948, + 0.539147675037384, + 0.5293006300926208, + 0.37759292125701904 + ], + "joints": [ + 0.0019308719784021378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0804859846830368, + 0.045921094715595245, + -0.11013200879096985 + ], + "orientation": [ + 0.38356849551200867, + 0.7981191873550415, + 0.4578729271888733, + 0.07895096391439438 + ], + "joints": [ + -0.0016539343632757664 + ] + }, + "fine_grasp": { + "position": [ + -0.08376331627368927, + 0.0467417947947979, + -0.11367711424827576 + ], + "orientation": [ + 0.3830609917640686, + 0.7991373538970947, + 0.4570472836494446, + 0.07583797723054886 + ], + "joints": [ + 0.00575909111648798 + ] + }, + "final_grasp": { + "position": [ + -0.08376331627368927, + 0.0467417947947979, + -0.11367711424827576 + ], + "orientation": [ + 0.3830609917640686, + 0.7991373538970947, + 0.4570472836494446, + 0.07583797723054886 + ], + "joints": [ + 0.013172116130590439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049308888614177704, + -0.0019970787689089775, + -0.12335963547229767 + ], + "orientation": [ + 0.4649815857410431, + 0.5513726472854614, + -0.6077888607978821, + -0.3322243392467499 + ], + "joints": [ + -0.008750580251216888 + ] + }, + "fine_grasp": { + "position": [ + 0.048013582825660706, + -0.0015813667559996247, + -0.12034252285957336 + ], + "orientation": [ + 0.4658414423465729, + 0.552547037601471, + -0.607314944267273, + -0.3299272954463959 + ], + "joints": [ + -0.003941413946449757 + ] + }, + "final_grasp": { + "position": [ + 0.048013582825660706, + -0.0015813667559996247, + -0.12034252285957336 + ], + "orientation": [ + 0.4658414423465729, + 0.552547037601471, + -0.607314944267273, + -0.3299272954463959 + ], + "joints": [ + 0.0008677523583173752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05005473271012306, + -0.002093726070597768, + -0.12305749952793121 + ], + "orientation": [ + 0.4602070450782776, + 0.5494824051856995, + -0.611813485622406, + -0.3346083462238312 + ], + "joints": [ + -0.008752211928367615 + ] + }, + "fine_grasp": { + "position": [ + 0.04907315596938133, + -0.0016764998435974121, + -0.12012115865945816 + ], + "orientation": [ + 0.46109938621520996, + 0.5489975810050964, + -0.6114065647125244, + -0.33491960167884827 + ], + "joints": [ + -0.003943045623600483 + ] + }, + "final_grasp": { + "position": [ + 0.04907315596938133, + -0.0016764998435974121, + -0.12012115865945816 + ], + "orientation": [ + 0.46109938621520996, + 0.5489975810050964, + -0.6114065647125244, + -0.33491960167884827 + ], + "joints": [ + 0.0008661206811666489 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0346178337931633, + 0.007103240583091974, + -0.1365126073360443 + ], + "orientation": [ + 0.6042197942733765, + 0.41620972752571106, + -0.4312211871147156, + -0.5251059532165527 + ], + "joints": [ + -0.008081446401774883 + ] + }, + "fine_grasp": { + "position": [ + -0.03390905633568764, + 0.007574595510959625, + -0.13360056281089783 + ], + "orientation": [ + 0.6065860390663147, + 0.4194675087928772, + -0.427903413772583, + -0.5224932432174683 + ], + "joints": [ + -0.002740880474448204 + ] + }, + "final_grasp": { + "position": [ + -0.03390905633568764, + 0.007574595510959625, + -0.13360056281089783 + ], + "orientation": [ + 0.6065860390663147, + 0.4194675087928772, + -0.427903413772583, + -0.5224932432174683 + ], + "joints": [ + 0.002599685452878475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00701022706925869, + -0.10900826752185822, + -0.06382326036691666 + ], + "orientation": [ + 0.9787276387214661, + 0.2016359269618988, + -0.01965312473475933, + -0.03238477557897568 + ], + "joints": [ + 0.0020723340567201376 + ] + }, + "fine_grasp": { + "position": [ + -0.006153537891805172, + -0.10904347896575928, + -0.06362412869930267 + ], + "orientation": [ + 0.9788743257522583, + 0.19994217157363892, + -0.02495899796485901, + -0.034717414528131485 + ], + "joints": [ + 0.00847570039331913 + ] + }, + "final_grasp": { + "position": [ + -0.006153537891805172, + -0.10904347896575928, + -0.06362412869930267 + ], + "orientation": [ + 0.9788743257522583, + 0.19994217157363892, + -0.02495899796485901, + -0.034717414528131485 + ], + "joints": [ + 0.014879066497087479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013412972912192345, + 0.02343236841261387, + -0.13553206622600555 + ], + "orientation": [ + 0.05946715921163559, + 0.07121174782514572, + -0.6725375056266785, + -0.7342247366905212 + ], + "joints": [ + 0.00035028342972509563 + ] + }, + "fine_grasp": { + "position": [ + -0.0010097428457811475, + 0.022698674350976944, + -0.13277477025985718 + ], + "orientation": [ + 0.06263484805822372, + 0.07327286899089813, + -0.6667758822441101, + -0.7389978766441345 + ], + "joints": [ + 0.005717419553548098 + ] + }, + "final_grasp": { + "position": [ + -0.0010097428457811475, + 0.022698674350976944, + -0.13277477025985718 + ], + "orientation": [ + 0.06263484805822372, + 0.07327286899089813, + -0.6667758822441101, + -0.7389978766441345 + ], + "joints": [ + 0.01108455564826727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07736083120107651, + 0.045680124312639236, + -0.11843250691890717 + ], + "orientation": [ + 0.4508916437625885, + 0.1126970648765564, + 0.39332130551338196, + 0.7932807207107544 + ], + "joints": [ + -0.0010218365350738168 + ] + }, + "fine_grasp": { + "position": [ + 0.07755961269140244, + 0.04572348669171333, + -0.11979348957538605 + ], + "orientation": [ + 0.4540829360485077, + 0.11140671372413635, + 0.38674455881118774, + 0.7948747873306274 + ], + "joints": [ + 0.006922588683664799 + ] + }, + "final_grasp": { + "position": [ + 0.07755961269140244, + 0.04572348669171333, + -0.11979348957538605 + ], + "orientation": [ + 0.4540829360485077, + 0.11140671372413635, + 0.38674455881118774, + 0.7948747873306274 + ], + "joints": [ + 0.01486701425164938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11887098848819733, + 0.056293778121471405, + -0.006527523044496775 + ], + "orientation": [ + 0.09547845274209976, + 0.7970874905586243, + 0.5955490469932556, + 0.029267605394124985 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.11784015595912933, + 0.056059714406728745, + -0.009646073915064335 + ], + "orientation": [ + 0.07636398822069168, + 0.7965925931930542, + 0.598766028881073, + 0.032987602055072784 + ], + "joints": [ + -0.0034455079585313797 + ] + }, + "final_grasp": { + "position": [ + -0.11784015595912933, + 0.056059714406728745, + -0.009646073915064335 + ], + "orientation": [ + 0.07636398822069168, + 0.7965925931930542, + 0.598766028881073, + 0.032987602055072784 + ], + "joints": [ + 0.0019216276705265045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11065634340047836, + 0.019144954159855843, + -0.03206110745668411 + ], + "orientation": [ + 0.1709488183259964, + 0.6991176009178162, + 0.6923100352287292, + 0.05213344842195511 + ], + "joints": [ + -0.0076111420057713985 + ] + }, + "fine_grasp": { + "position": [ + -0.11343280225992203, + 0.01830105297267437, + -0.03435559198260307 + ], + "orientation": [ + 0.16167372465133667, + 0.6953758001327515, + 0.6984844207763672, + 0.0493335984647274 + ], + "joints": [ + -0.0022971457801759243 + ] + }, + "final_grasp": { + "position": [ + -0.11343280225992203, + 0.01830105297267437, + -0.03435559198260307 + ], + "orientation": [ + 0.16167372465133667, + 0.6953758001327515, + 0.6984844207763672, + 0.0493335984647274 + ], + "joints": [ + 0.00301685044541955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10182183980941772, + 0.026080233976244926, + -0.06851455569267273 + ], + "orientation": [ + 0.27050912380218506, + 0.7119285464286804, + 0.634648859500885, + 0.1311623901128769 + ], + "joints": [ + -0.006763037294149399 + ] + }, + "fine_grasp": { + "position": [ + -0.10428951680660248, + 0.02702358365058899, + -0.07104755938053131 + ], + "orientation": [ + 0.2739807367324829, + 0.716189980506897, + 0.6293196678161621, + 0.1263459324836731 + ], + "joints": [ + -0.00038624167791567743 + ] + }, + "final_grasp": { + "position": [ + -0.10428951680660248, + 0.02702358365058899, + -0.07104755938053131 + ], + "orientation": [ + 0.2739807367324829, + 0.716189980506897, + 0.6293196678161621, + 0.1263459324836731 + ], + "joints": [ + 0.005990554112941027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05114219710230827, + -0.013317842967808247, + -0.13213150203227997 + ], + "orientation": [ + 0.44179680943489075, + 0.5280174016952515, + -0.6491407155990601, + -0.3234650194644928 + ], + "joints": [ + -0.006480575539171696 + ] + }, + "fine_grasp": { + "position": [ + 0.049693360924720764, + -0.01252910029143095, + -0.1287902146577835 + ], + "orientation": [ + 0.4402475357055664, + 0.5282057523727417, + -0.6500861644744873, + -0.32337093353271484 + ], + "joints": [ + -0.0016714090015739202 + ] + }, + "final_grasp": { + "position": [ + 0.049693360924720764, + -0.01252910029143095, + -0.1287902146577835 + ], + "orientation": [ + 0.4402475357055664, + 0.5282057523727417, + -0.6500861644744873, + -0.32337093353271484 + ], + "joints": [ + 0.003137757536023855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10242169350385666, + -0.04651864618062973, + -0.012358180247247219 + ], + "orientation": [ + 0.11413239687681198, + 0.4815596342086792, + -0.8689073920249939, + -0.008608012460172176 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.09941242635250092, + -0.044757451862096786, + -0.0130216795951128 + ], + "orientation": [ + 0.11414723098278046, + 0.48759713768959045, + -0.865571916103363, + -0.002165052806958556 + ], + "joints": [ + -0.0018764807609841228 + ] + }, + "final_grasp": { + "position": [ + 0.09941242635250092, + -0.044757451862096786, + -0.0130216795951128 + ], + "orientation": [ + 0.11414723098278046, + 0.48759713768959045, + -0.865571916103363, + -0.002165052806958556 + ], + "joints": [ + 0.0045003145933151245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12244530767202377, + 0.058467939496040344, + 0.01800665818154812 + ], + "orientation": [ + 0.5972905158996582, + 0.010946319438517094, + 0.019660433754324913, + 0.8017092943191528 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.12446928024291992, + 0.06030118837952614, + 0.017314903438091278 + ], + "orientation": [ + 0.5937677621841431, + 0.001755405100993812, + 0.02407149411737919, + 0.8042744398117065 + ], + "joints": [ + -0.002435848116874695 + ] + }, + "final_grasp": { + "position": [ + 0.12446928024291992, + 0.06030118837952614, + 0.017314903438091278 + ], + "orientation": [ + 0.5937677621841431, + 0.001755405100993812, + 0.02407149411737919, + 0.8042744398117065 + ], + "joints": [ + 0.003940947353839874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008789624087512493, + 0.015039773657917976, + -0.13976192474365234 + ], + "orientation": [ + 0.46634048223495483, + 0.4815066456794739, + 0.5537094473838806, + 0.49404844641685486 + ], + "joints": [ + -0.008578117936849594 + ] + }, + "fine_grasp": { + "position": [ + -0.008817254565656185, + 0.015660295262932777, + -0.13657061755657196 + ], + "orientation": [ + 0.46513664722442627, + 0.4782479405403137, + 0.5552493333816528, + 0.4966135025024414 + ], + "joints": [ + -0.0037423819303512573 + ] + }, + "final_grasp": { + "position": [ + -0.008817254565656185, + 0.015660295262932777, + -0.13657061755657196 + ], + "orientation": [ + 0.46513664722442627, + 0.4782479405403137, + 0.5552493333816528, + 0.4966135025024414 + ], + "joints": [ + 0.0010933540761470795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11324421316385269, + 0.05496561899781227, + 0.03910355269908905 + ], + "orientation": [ + 0.6001315712928772, + -0.09366181492805481, + 0.03835616633296013, + -0.7934723496437073 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.1180557981133461, + 0.05701228603720665, + 0.03790728747844696 + ], + "orientation": [ + 0.5992470383644104, + -0.1014142706990242, + 0.049974847584962845, + -0.7925407290458679 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + -0.1180557981133461, + 0.05701228603720665, + 0.03790728747844696 + ], + "orientation": [ + 0.5992470383644104, + -0.1014142706990242, + 0.049974847584962845, + -0.7925407290458679 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12146400660276413, + 0.023282457143068314, + 0.00029005412943661213 + ], + "orientation": [ + 0.07652098685503006, + 0.7118719220161438, + 0.6974296569824219, + -0.031221585348248482 + ], + "joints": [ + -0.00815449096262455 + ] + }, + "fine_grasp": { + "position": [ + -0.12514804303646088, + 0.023110823705792427, + -0.0014677334111183882 + ], + "orientation": [ + 0.0690944567322731, + 0.7096914052963257, + 0.7001633644104004, + -0.0365450382232666 + ], + "joints": [ + -0.002309095114469528 + ] + }, + "final_grasp": { + "position": [ + -0.12514804303646088, + 0.023110823705792427, + -0.0014677334111183882 + ], + "orientation": [ + 0.0690944567322731, + 0.7096914052963257, + 0.7001633644104004, + -0.0365450382232666 + ], + "joints": [ + 0.0035363007336854935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050508759915828705, + 0.05668449029326439, + -0.12754544615745544 + ], + "orientation": [ + 0.43811696767807007, + 0.8164181709289551, + -0.3419937193393707, + -0.1567009836435318 + ], + "joints": [ + -0.00045986080658622086 + ] + }, + "fine_grasp": { + "position": [ + 0.05200226232409477, + 0.05716158077120781, + -0.13096515834331512 + ], + "orientation": [ + 0.4321453273296356, + 0.8182967901229858, + -0.34629377722740173, + -0.15401743352413177 + ], + "joints": [ + 0.0069797346368432045 + ] + }, + "final_grasp": { + "position": [ + 0.05200226232409477, + 0.05716158077120781, + -0.13096515834331512 + ], + "orientation": [ + 0.4321453273296356, + 0.8182967901229858, + -0.34629377722740173, + -0.15401743352413177 + ], + "joints": [ + 0.014419330283999443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11937125772237778, + 0.020526645705103874, + -0.01140439324080944 + ], + "orientation": [ + 0.7004290819168091, + 0.017317812889814377, + 0.11272004246711731, + 0.7045517563819885 + ], + "joints": [ + -0.008600451052188873 + ] + }, + "fine_grasp": { + "position": [ + 0.12170562893152237, + 0.020047122612595558, + -0.012636056169867516 + ], + "orientation": [ + 0.7025642395019531, + 0.017100540921092033, + 0.10164929181337357, + 0.7041152715682983 + ], + "joints": [ + -0.002223655581474304 + ] + }, + "final_grasp": { + "position": [ + 0.12170562893152237, + 0.020047122612595558, + -0.012636056169867516 + ], + "orientation": [ + 0.7025642395019531, + 0.017100540921092033, + 0.10164929181337357, + 0.7041152715682983 + ], + "joints": [ + 0.004153139889240265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059159211814403534, + 0.011022600345313549, + -0.11836763471364975 + ], + "orientation": [ + 0.6226800084114075, + 0.3359021842479706, + 0.390237420797348, + 0.5891978740692139 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + 0.056857168674468994, + 0.011408681981265545, + -0.1148681566119194 + ], + "orientation": [ + 0.6208938360214233, + 0.33125337958335876, + 0.388023316860199, + 0.5951469540596008 + ], + "joints": [ + -0.00215251836925745 + ] + }, + "final_grasp": { + "position": [ + 0.056857168674468994, + 0.011408681981265545, + -0.1148681566119194 + ], + "orientation": [ + 0.6208938360214233, + 0.33125337958335876, + 0.388023316860199, + 0.5951469540596008 + ], + "joints": [ + 0.004197707399725914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1141095981001854, + 0.05353986844420433, + 0.01873820647597313 + ], + "orientation": [ + 0.601691722869873, + -0.11329873651266098, + 2.632509495015256e-05, + 0.7906519174575806 + ], + "joints": [ + -0.007543605286628008 + ] + }, + "fine_grasp": { + "position": [ + 0.11772194504737854, + 0.05425742641091347, + 0.017220623791217804 + ], + "orientation": [ + 0.5959171056747437, + -0.11962690949440002, + -0.006997274234890938, + 0.7940549254417419 + ], + "joints": [ + -0.0022296090610325336 + ] + }, + "final_grasp": { + "position": [ + 0.11772194504737854, + 0.05425742641091347, + 0.017220623791217804 + ], + "orientation": [ + 0.5959171056747437, + -0.11962690949440002, + -0.006997274234890938, + 0.7940549254417419 + ], + "joints": [ + 0.0030843871645629406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08987874537706375, + -0.046875011175870895, + 0.056509118527173996 + ], + "orientation": [ + 0.08496341854333878, + -0.4432264268398285, + 0.883171796798706, + -0.12782461941242218 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + 0.08648456633090973, + -0.0431164912879467, + 0.057190071791410446 + ], + "orientation": [ + 0.0819321945309639, + -0.44772666692733765, + 0.8821489214897156, + -0.12100104242563248 + ], + "joints": [ + -0.001431930810213089 + ] + }, + "final_grasp": { + "position": [ + 0.08648456633090973, + -0.0431164912879467, + 0.057190071791410446 + ], + "orientation": [ + 0.0819321945309639, + -0.44772666692733765, + 0.8821489214897156, + -0.12100104242563248 + ], + "joints": [ + 0.006007663905620575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12144624441862106, + 0.02317807823419571, + -0.0005284981452859938 + ], + "orientation": [ + 0.0782158225774765, + 0.7119908928871155, + 0.6970825791358948, + -0.032048460096120834 + ], + "joints": [ + -0.008464299142360687 + ] + }, + "fine_grasp": { + "position": [ + -0.12508337199687958, + 0.023068806156516075, + -0.0022787984926253557 + ], + "orientation": [ + 0.07130835205316544, + 0.7097410559654236, + 0.6999121308326721, + -0.03613707795739174 + ], + "joints": [ + -0.0026189032942056656 + ] + }, + "final_grasp": { + "position": [ + -0.12508337199687958, + 0.023068806156516075, + -0.0022787984926253557 + ], + "orientation": [ + 0.07130835205316544, + 0.7097410559654236, + 0.6999121308326721, + -0.03613707795739174 + ], + "joints": [ + 0.003226492553949356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10244979709386826, + 0.0932515412569046, + 0.008612366393208504 + ], + "orientation": [ + 0.05705418810248375, + 0.8872930407524109, + 0.4572989344596863, + 0.018260560929775238 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.10336507856845856, + 0.09038573503494263, + 0.007391643710434437 + ], + "orientation": [ + 0.049621302634477615, + 0.8818400502204895, + 0.468633770942688, + 0.01667669229209423 + ], + "joints": [ + -0.0007576706120744348 + ] + }, + "final_grasp": { + "position": [ + -0.10336507856845856, + 0.09038573503494263, + 0.007391643710434437 + ], + "orientation": [ + 0.049621302634477615, + 0.8818400502204895, + 0.468633770942688, + 0.01667669229209423 + ], + "joints": [ + 0.006708494387567043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10239213705062866, + 0.09332956373691559, + 0.008630714379251003 + ], + "orientation": [ + 0.056751806288957596, + 0.8875018358230591, + 0.45697101950645447, + 0.017241721972823143 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.10328439623117447, + 0.09047386050224304, + 0.007564874365925789 + ], + "orientation": [ + 0.04919082671403885, + 0.8820903897285461, + 0.4682370126247406, + 0.015837565064430237 + ], + "joints": [ + -0.0007576706120744348 + ] + }, + "final_grasp": { + "position": [ + -0.10328439623117447, + 0.09047386050224304, + 0.007564874365925789 + ], + "orientation": [ + 0.04919082671403885, + 0.8820903897285461, + 0.4682370126247406, + 0.015837565064430237 + ], + "joints": [ + 0.006708494387567043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11514850705862045, + 0.03181519731879234, + -0.038187459111213684 + ], + "orientation": [ + 0.1798078715801239, + 0.73232501745224, + 0.6527712941169739, + 0.07251844555139542 + ], + "joints": [ + -0.007728287484496832 + ] + }, + "fine_grasp": { + "position": [ + -0.11787471175193787, + 0.03263337165117264, + -0.040537890046834946 + ], + "orientation": [ + 0.1744445413351059, + 0.7346587181091309, + 0.6520744562149048, + 0.06815236806869507 + ], + "joints": [ + -0.0013514920137822628 + ] + }, + "final_grasp": { + "position": [ + -0.11787471175193787, + 0.03263337165117264, + -0.040537890046834946 + ], + "orientation": [ + 0.1744445413351059, + 0.7346587181091309, + 0.6520744562149048, + 0.06815236806869507 + ], + "joints": [ + 0.005025303456932306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11498930305242538, + 0.031212223693728447, + -0.038168296217918396 + ], + "orientation": [ + 0.1822688728570938, + 0.7306373715400696, + 0.6539773941040039, + 0.07252992689609528 + ], + "joints": [ + -0.007986634969711304 + ] + }, + "fine_grasp": { + "position": [ + -0.11783752590417862, + 0.03181285411119461, + -0.040567703545093536 + ], + "orientation": [ + 0.17541222274303436, + 0.7325714826583862, + 0.6541556119918823, + 0.0681895837187767 + ], + "joints": [ + -0.0016098394989967346 + ] + }, + "final_grasp": { + "position": [ + -0.11783752590417862, + 0.03181285411119461, + -0.040567703545093536 + ], + "orientation": [ + 0.17541222274303436, + 0.7325714826583862, + 0.6541556119918823, + 0.0681895837187767 + ], + "joints": [ + 0.0047669559717178345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12290211766958237, + 0.02589644119143486, + 0.0024123769253492355 + ], + "orientation": [ + 0.056007031351327896, + 0.7204663157463074, + -0.6890682578086853, + 0.054557494819164276 + ], + "joints": [ + -0.007467261515557766 + ] + }, + "fine_grasp": { + "position": [ + 0.12389173358678818, + 0.027616046369075775, + 0.0006929441587999463 + ], + "orientation": [ + 0.04639162868261337, + 0.7271722555160522, + -0.6828424334526062, + 0.05286401882767677 + ], + "joints": [ + -0.0010904660448431969 + ] + }, + "final_grasp": { + "position": [ + 0.12389173358678818, + 0.027616046369075775, + 0.0006929441587999463 + ], + "orientation": [ + 0.04639162868261337, + 0.7271722555160522, + -0.6828424334526062, + 0.05286401882767677 + ], + "joints": [ + 0.005286329425871372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11926833540201187, + 0.031010134145617485, + -0.029247572645545006 + ], + "orientation": [ + 0.158976748585701, + 0.7358657717704773, + 0.6579299569129944, + 0.018867285922169685 + ], + "joints": [ + -0.007281128317117691 + ] + }, + "fine_grasp": { + "position": [ + -0.12138885259628296, + 0.03250608593225479, + -0.03177082911133766 + ], + "orientation": [ + 0.1505700647830963, + 0.7393155097961426, + 0.6562137007713318, + 0.0111696133390069 + ], + "joints": [ + -0.000904332846403122 + ] + }, + "final_grasp": { + "position": [ + -0.12138885259628296, + 0.03250608593225479, + -0.03177082911133766 + ], + "orientation": [ + 0.1505700647830963, + 0.7393155097961426, + 0.6562137007713318, + 0.0111696133390069 + ], + "joints": [ + 0.005472462624311447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1162889152765274, + 0.01885388419032097, + -0.029987432062625885 + ], + "orientation": [ + 0.6950185894966125, + 0.05124538019299507, + 0.15393197536468506, + 0.7004483938217163 + ], + "joints": [ + -0.008170509710907936 + ] + }, + "fine_grasp": { + "position": [ + 0.11841149628162384, + 0.01845903880894184, + -0.031076986342668533 + ], + "orientation": [ + 0.6960477232933044, + 0.04896581918001175, + 0.1501603126525879, + 0.7004084587097168 + ], + "joints": [ + -0.0012623146176338196 + ] + }, + "final_grasp": { + "position": [ + 0.11841149628162384, + 0.01845903880894184, + -0.031076986342668533 + ], + "orientation": [ + 0.6960477232933044, + 0.04896581918001175, + 0.1501603126525879, + 0.7004084587097168 + ], + "joints": [ + 0.005645880475640297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1228303387761116, + 0.02564692310988903, + 0.002315988764166832 + ], + "orientation": [ + 0.056661490350961685, + 0.7197917103767395, + -0.6896793246269226, + 0.055062565952539444 + ], + "joints": [ + -0.0074272146448493 + ] + }, + "fine_grasp": { + "position": [ + 0.12380067259073257, + 0.027219470590353012, + 0.0006285730050876737 + ], + "orientation": [ + 0.04721491411328316, + 0.7261525392532349, + -0.6838329434394836, + 0.05334724113345146 + ], + "joints": [ + -0.0010504191741347313 + ] + }, + "final_grasp": { + "position": [ + 0.12380067259073257, + 0.027219470590353012, + 0.0006285730050876737 + ], + "orientation": [ + 0.04721491411328316, + 0.7261525392532349, + -0.6838329434394836, + 0.05334724113345146 + ], + "joints": [ + 0.005326376296579838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11631058156490326, + 0.018957382068037987, + -0.030187875032424927 + ], + "orientation": [ + 0.6944661140441895, + 0.05069004371762276, + 0.15423141419887543, + 0.7009708285331726 + ], + "joints": [ + -0.008130909875035286 + ] + }, + "fine_grasp": { + "position": [ + 0.1183861494064331, + 0.018571754917502403, + -0.031244903802871704 + ], + "orientation": [ + 0.6954430341720581, + 0.04844453185796738, + 0.1508912593126297, + 0.7008880376815796 + ], + "joints": [ + -0.0012227147817611694 + ] + }, + "final_grasp": { + "position": [ + 0.1183861494064331, + 0.018571754917502403, + -0.031244903802871704 + ], + "orientation": [ + 0.6954430341720581, + 0.04844453185796738, + 0.1508912593126297, + 0.7008880376815796 + ], + "joints": [ + 0.005685480311512947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11589603871107101, + 0.007378444541245699, + 0.03156917542219162 + ], + "orientation": [ + 0.7515169382095337, + -0.09319909662008286, + 0.012753088027238846, + -0.6529728174209595 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.11318764835596085, + 0.0065050688572227955, + 0.03064204566180706 + ], + "orientation": [ + 0.7568579316139221, + -0.08097192645072937, + 0.03986586630344391, + -0.6473178267478943 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.11318764835596085, + 0.0065050688572227955, + 0.03064204566180706 + ], + "orientation": [ + 0.7568579316139221, + -0.08097192645072937, + 0.03986586630344391, + -0.6473178267478943 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11635442078113556, + 0.01906903274357319, + -0.030100416392087936 + ], + "orientation": [ + 0.6943735480308533, + 0.051437582820653915, + 0.15398496389389038, + 0.7010620832443237 + ], + "joints": [ + -0.008170507848262787 + ] + }, + "fine_grasp": { + "position": [ + 0.11843747645616531, + 0.018667472526431084, + -0.031155452132225037 + ], + "orientation": [ + 0.6954361200332642, + 0.04908667132258415, + 0.1503748893737793, + 0.7009611129760742 + ], + "joints": [ + -0.0012623127549886703 + ] + }, + "final_grasp": { + "position": [ + 0.11843747645616531, + 0.018667472526431084, + -0.031155452132225037 + ], + "orientation": [ + 0.6954361200332642, + 0.04908667132258415, + 0.1503748893737793, + 0.7009611129760742 + ], + "joints": [ + 0.005645882338285446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019965248182415962, + 0.09772447496652603, + -0.10066269338130951 + ], + "orientation": [ + 0.10623691231012344, + 0.06049736216664314, + -0.36779195070266724, + -0.9218366742134094 + ], + "joints": [ + -0.00038102761027403176 + ] + }, + "fine_grasp": { + "position": [ + -0.02115679904818535, + 0.09448248147964478, + -0.10063287615776062 + ], + "orientation": [ + 0.11380782723426819, + 0.0549759566783905, + -0.35124027729034424, + -0.9277154207229614 + ], + "joints": [ + 0.006527168210595846 + ] + }, + "final_grasp": { + "position": [ + -0.02115679904818535, + 0.09448248147964478, + -0.10063287615776062 + ], + "orientation": [ + 0.11380782723426819, + 0.0549759566783905, + -0.35124027729034424, + -0.9277154207229614 + ], + "joints": [ + 0.01343536376953125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11125996708869934, + -0.025272153317928314, + 0.010328847914934158 + ], + "orientation": [ + 0.08001198619604111, + 0.5545416474342346, + -0.8183563351631165, + 0.1279623955488205 + ], + "joints": [ + -0.007015228271484375 + ] + }, + "fine_grasp": { + "position": [ + 0.11043720692396164, + -0.025699695572257042, + 0.009821956977248192 + ], + "orientation": [ + 0.08436596393585205, + 0.5554961562156677, + -0.815673291683197, + 0.13778050243854523 + ], + "joints": [ + -0.0011698324233293533 + ] + }, + "final_grasp": { + "position": [ + 0.11043720692396164, + -0.025699695572257042, + 0.009821956977248192 + ], + "orientation": [ + 0.08436596393585205, + 0.5554961562156677, + -0.815673291683197, + 0.13778050243854523 + ], + "joints": [ + 0.004675563424825668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12360920757055283, + 0.028256071731448174, + -0.011925233528017998 + ], + "orientation": [ + 0.10230306535959244, + 0.7261650562286377, + 0.6798394918441772, + -0.006061852443963289 + ], + "joints": [ + -0.008168961852788925 + ] + }, + "fine_grasp": { + "position": [ + -0.12695331871509552, + 0.028907274827361107, + -0.013806995935738087 + ], + "orientation": [ + 0.09595778584480286, + 0.7285882234573364, + 0.678080141544342, + -0.012597120366990566 + ], + "joints": [ + -0.0012607668759301305 + ] + }, + "final_grasp": { + "position": [ + -0.12695331871509552, + 0.028907274827361107, + -0.013806995935738087 + ], + "orientation": [ + 0.09595778584480286, + 0.7285882234573364, + 0.678080141544342, + -0.012597120366990566 + ], + "joints": [ + 0.005647428333759308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12330733239650726, + 0.028142735362052917, + -0.011497391387820244 + ], + "orientation": [ + 0.10469482094049454, + 0.7260271906852722, + 0.6796000599861145, + -0.008208876475691795 + ], + "joints": [ + -0.008199948817491531 + ] + }, + "fine_grasp": { + "position": [ + -0.12688995897769928, + 0.028970107436180115, + -0.013405642472207546 + ], + "orientation": [ + 0.10004858672618866, + 0.7286403179168701, + 0.6773547530174255, + -0.016255943104624748 + ], + "joints": [ + -0.0013183237751945853 + ] + }, + "final_grasp": { + "position": [ + -0.12688995897769928, + 0.028970107436180115, + -0.013405642472207546 + ], + "orientation": [ + 0.10004858672618866, + 0.7286403179168701, + 0.6773547530174255, + -0.016255943104624748 + ], + "joints": [ + 0.005563301034271717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11109668761491776, + -0.02555975131690502, + 0.01037394255399704 + ], + "orientation": [ + 0.07892074435949326, + 0.5535491704940796, + -0.8190818428993225, + 0.12829573452472687 + ], + "joints": [ + -0.006982605904340744 + ] + }, + "fine_grasp": { + "position": [ + 0.11019671708345413, + -0.02593761682510376, + 0.009821715764701366 + ], + "orientation": [ + 0.084003746509552, + 0.5545027852058411, + -0.8161382675170898, + 0.13924214243888855 + ], + "joints": [ + -0.0011372100561857224 + ] + }, + "final_grasp": { + "position": [ + 0.11019671708345413, + -0.02593761682510376, + 0.009821715764701366 + ], + "orientation": [ + 0.084003746509552, + 0.5545027852058411, + -0.8161382675170898, + 0.13924214243888855 + ], + "joints": [ + 0.004708185791969299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019833609461784363, + 0.09715144336223602, + -0.1002451479434967 + ], + "orientation": [ + 0.10563136637210846, + 0.05793512985110283, + -0.3667675852775574, + -0.9224787354469299 + ], + "joints": [ + -0.0003377374669071287 + ] + }, + "fine_grasp": { + "position": [ + -0.021452415734529495, + 0.09443257749080658, + -0.09966572374105453 + ], + "orientation": [ + 0.11480365693569183, + 0.05498364195227623, + -0.35147348046302795, + -0.9275038838386536 + ], + "joints": [ + 0.006543888244777918 + ] + }, + "final_grasp": { + "position": [ + -0.021452415734529495, + 0.09443257749080658, + -0.09966572374105453 + ], + "orientation": [ + 0.11480365693569183, + 0.05498364195227623, + -0.35147348046302795, + -0.9275038838386536 + ], + "joints": [ + 0.013425514101982117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12242034822702408, + 0.02347199060022831, + -0.010044866241514683 + ], + "orientation": [ + 0.093254953622818, + 0.7156535983085632, + -0.6919492483139038, + 0.018702736124396324 + ], + "joints": [ + -0.007812065072357655 + ] + }, + "fine_grasp": { + "position": [ + 0.12520964443683624, + 0.023352866992354393, + -0.011303870938718319 + ], + "orientation": [ + 0.08405494689941406, + 0.7151356339454651, + -0.693712592124939, + 0.01668851636350155 + ], + "joints": [ + -0.0014352696016430855 + ] + }, + "final_grasp": { + "position": [ + 0.12520964443683624, + 0.023352866992354393, + -0.011303870938718319 + ], + "orientation": [ + 0.08405494689941406, + 0.7151356339454651, + -0.693712592124939, + 0.01668851636350155 + ], + "joints": [ + 0.004941525869071484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11814456433057785, + 0.01896638609468937, + 0.01952259987592697 + ], + "orientation": [ + 0.024702681228518486, + 0.6948307156562805, + 0.7172425985336304, + -0.04650759696960449 + ], + "joints": [ + -0.008486432954668999 + ] + }, + "fine_grasp": { + "position": [ + -0.12061101198196411, + 0.018444575369358063, + 0.018600627779960632 + ], + "orientation": [ + 0.010690221562981606, + 0.6910721659660339, + 0.7213066220283508, + -0.04496544599533081 + ], + "joints": [ + -0.0031192973256111145 + ] + }, + "final_grasp": { + "position": [ + -0.12061101198196411, + 0.018444575369358063, + 0.018600627779960632 + ], + "orientation": [ + 0.010690221562981606, + 0.6910721659660339, + 0.7213066220283508, + -0.04496544599533081 + ], + "joints": [ + 0.0022478383034467697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0022619569208472967, + 0.019382547587156296, + 0.14897258579730988 + ], + "orientation": [ + 0.10273292660713196, + -0.09278745204210281, + -0.6334619522094727, + 0.7612900137901306 + ], + "joints": [ + 0.0007024521473795176 + ] + }, + "fine_grasp": { + "position": [ + 0.003087896853685379, + 0.021144170314073563, + 0.14650875329971313 + ], + "orientation": [ + 0.1066807359457016, + -0.08969981223344803, + -0.6340247988700867, + 0.7606481909751892 + ], + "joints": [ + 0.006600987631827593 + ] + }, + "final_grasp": { + "position": [ + 0.003087896853685379, + 0.021144170314073563, + 0.14650875329971313 + ], + "orientation": [ + 0.1066807359457016, + -0.08969981223344803, + -0.6340247988700867, + 0.7606481909751892 + ], + "joints": [ + 0.012499523349106312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09983742237091064, + 0.07596741616725922, + 0.06896849721670151 + ], + "orientation": [ + 0.4787677824497223, + -0.04184914752840996, + 0.22284789383411407, + -0.8481562733650208 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.09955865889787674, + 0.07548511028289795, + 0.06850665807723999 + ], + "orientation": [ + 0.4817224144935608, + -0.04791143164038658, + 0.2178044319152832, + -0.8474722504615784 + ], + "joints": [ + -0.0012625003000721335 + ] + }, + "final_grasp": { + "position": [ + -0.09955865889787674, + 0.07548511028289795, + 0.06850665807723999 + ], + "orientation": [ + 0.4817224144935608, + -0.04791143164038658, + 0.2178044319152832, + -0.8474722504615784 + ], + "joints": [ + 0.005698834545910358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11878916621208191, + 0.027064643800258636, + -0.01552407443523407 + ], + "orientation": [ + 0.12086889892816544, + 0.7232558727264404, + -0.6795914173126221, + -0.021146131679415703 + ], + "joints": [ + -0.008649108931422234 + ] + }, + "fine_grasp": { + "position": [ + 0.12070852518081665, + 0.028827138245105743, + -0.017566589638590813 + ], + "orientation": [ + 0.11281801015138626, + 0.7305242419242859, + -0.6732274293899536, + -0.019268490374088287 + ], + "joints": [ + -0.001740913954563439 + ] + }, + "final_grasp": { + "position": [ + 0.12070852518081665, + 0.028827138245105743, + -0.017566589638590813 + ], + "orientation": [ + 0.11281801015138626, + 0.7305242419242859, + -0.6732274293899536, + -0.019268490374088287 + ], + "joints": [ + 0.0051672812551259995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11880266666412354, + 0.02692003920674324, + -0.015317619778215885 + ], + "orientation": [ + 0.1206824854016304, + 0.7229259610176086, + -0.6799851655960083, + -0.020830923691391945 + ], + "joints": [ + -0.00835324265062809 + ] + }, + "fine_grasp": { + "position": [ + 0.12069466710090637, + 0.02872586064040661, + -0.017412561923265457 + ], + "orientation": [ + 0.11237633228302002, + 0.7303627133369446, + -0.6734676957130432, + -0.019574493169784546 + ], + "joints": [ + -0.001976447179913521 + ] + }, + "final_grasp": { + "position": [ + 0.12069466710090637, + 0.02872586064040661, + -0.017412561923265457 + ], + "orientation": [ + 0.11237633228302002, + 0.7303627133369446, + -0.6734676957130432, + -0.019574493169784546 + ], + "joints": [ + 0.004400348290801048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1198657751083374, + 0.031769998371601105, + 0.016177235171198845 + ], + "orientation": [ + 0.6782896518707275, + -0.04819825291633606, + -0.03327575698494911, + -0.7324566841125488 + ], + "joints": [ + -0.008719589561223984 + ] + }, + "fine_grasp": { + "position": [ + -0.12460995465517044, + 0.033170171082019806, + 0.014267895370721817 + ], + "orientation": [ + 0.677270233631134, + -0.04972551017999649, + -0.018404599279165268, + -0.7338212132453918 + ], + "joints": [ + -0.002874193713068962 + ] + }, + "final_grasp": { + "position": [ + -0.12460995465517044, + 0.033170171082019806, + 0.014267895370721817 + ], + "orientation": [ + 0.677270233631134, + -0.04972551017999649, + -0.018404599279165268, + -0.7338212132453918 + ], + "joints": [ + 0.0029712021350860596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11422089487314224, + 0.016687922179698944, + 0.029692016541957855 + ], + "orientation": [ + 0.03083987347781658, + -0.6868346929550171, + 0.7258276343345642, + -0.0219405684620142 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.11461054533720016, + 0.014735824428498745, + 0.031561676412820816 + ], + "orientation": [ + 0.020084815099835396, + -0.6786553859710693, + 0.7340781688690186, + -0.012357334606349468 + ], + "joints": [ + -0.0029127104207873344 + ] + }, + "final_grasp": { + "position": [ + 0.11461054533720016, + 0.014735824428498745, + 0.031561676412820816 + ], + "orientation": [ + 0.020084815099835396, + -0.6786553859710693, + 0.7340781688690186, + -0.012357334606349468 + ], + "joints": [ + 0.002427855506539345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11895858496427536, + 0.030511531978845596, + 0.02677672542631626 + ], + "orientation": [ + 0.6825816035270691, + -0.0874330922961235, + -0.015128279104828835, + -0.7254026532173157 + ], + "joints": [ + -0.008942069485783577 + ] + }, + "fine_grasp": { + "position": [ + -0.12351151555776596, + 0.03170197457075119, + 0.025151820853352547 + ], + "orientation": [ + 0.6800100803375244, + -0.08401469141244888, + 0.0017728512175381184, + -0.728371262550354 + ], + "joints": [ + -0.0036015035584568977 + ] + }, + "final_grasp": { + "position": [ + -0.12351151555776596, + 0.03170197457075119, + 0.025151820853352547 + ], + "orientation": [ + 0.6800100803375244, + -0.08401469141244888, + 0.0017728512175381184, + -0.728371262550354 + ], + "joints": [ + 0.0017390623688697815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11914383620023727, + 0.030468812212347984, + 0.02617809735238552 + ], + "orientation": [ + 0.6826477646827698, + -0.08393972367048264, + -0.017274856567382812, + -0.7257049083709717 + ], + "joints": [ + -0.008752210065722466 + ] + }, + "fine_grasp": { + "position": [ + -0.12362124770879745, + 0.03166776895523071, + 0.024351103231310844 + ], + "orientation": [ + 0.6801484823226929, + -0.0820213183760643, + -0.00036076095420867205, + -0.7284713983535767 + ], + "joints": [ + -0.0034116441383957863 + ] + }, + "final_grasp": { + "position": [ + -0.12362124770879745, + 0.03166776895523071, + 0.024351103231310844 + ], + "orientation": [ + 0.6801484823226929, + -0.0820213183760643, + -0.00036076095420867205, + -0.7284713983535767 + ], + "joints": [ + 0.001928921788930893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11655676364898682, + 0.02440837398171425, + -0.039939943701028824 + ], + "orientation": [ + 0.6726362109184265, + 0.05491175502538681, + -0.18512089550495148, + -0.7143356204032898 + ], + "joints": [ + -0.008492916822433472 + ] + }, + "fine_grasp": { + "position": [ + -0.1168467104434967, + 0.026582293212413788, + -0.04108177497982979 + ], + "orientation": [ + 0.6662316918373108, + 0.04638869687914848, + -0.1817556470632553, + -0.7217674255371094 + ], + "joints": [ + -0.0015847217291593552 + ] + }, + "final_grasp": { + "position": [ + -0.1168467104434967, + 0.026582293212413788, + -0.04108177497982979 + ], + "orientation": [ + 0.6662316918373108, + 0.04638869687914848, + -0.1817556470632553, + -0.7217674255371094 + ], + "joints": [ + 0.005323473364114761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11906339973211288, + 0.030193334445357323, + 0.02568092755973339 + ], + "orientation": [ + 0.6833375692367554, + -0.0843014195561409, + -0.01839364692568779, + -0.7249860167503357 + ], + "joints": [ + -0.00875057652592659 + ] + }, + "fine_grasp": { + "position": [ + -0.1235933005809784, + 0.03140765428543091, + 0.024009840562939644 + ], + "orientation": [ + 0.6808773875236511, + -0.08100808411836624, + -0.002208505757153034, + -0.7279002666473389 + ], + "joints": [ + -0.0034100105985999107 + ] + }, + "final_grasp": { + "position": [ + -0.1235933005809784, + 0.03140765428543091, + 0.024009840562939644 + ], + "orientation": [ + 0.6808773875236511, + -0.08100808411836624, + -0.002208505757153034, + -0.7279002666473389 + ], + "joints": [ + 0.0019305553287267685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11670421063899994, + 0.028156759217381477, + -0.012008436024188995 + ], + "orientation": [ + 0.10958653688430786, + 0.7193518877029419, + 0.6814260482788086, + 0.07862668484449387 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.11941991001367569, + 0.029720695689320564, + -0.013425947166979313 + ], + "orientation": [ + 0.10366963595151901, + 0.7232804298400879, + 0.6776686310768127, + 0.08296460658311844 + ], + "joints": [ + -0.001851308741606772 + ] + }, + "final_grasp": { + "position": [ + -0.11941991001367569, + 0.029720695689320564, + -0.013425947166979313 + ], + "orientation": [ + 0.10366963595151901, + 0.7232804298400879, + 0.6776686310768127, + 0.08296460658311844 + ], + "joints": [ + 0.005110026337206364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08765622228384018, + 0.0591139942407608, + -0.08800134062767029 + ], + "orientation": [ + 0.5119336247444153, + 0.14341919124126434, + -0.23631758987903595, + -0.8133319616317749 + ], + "joints": [ + -0.003560500917956233 + ] + }, + "fine_grasp": { + "position": [ + -0.09123490005731583, + 0.06083495169878006, + -0.09184969216585159 + ], + "orientation": [ + 0.5140281319618225, + 0.14727869629859924, + -0.227730393409729, + -0.8137708902359009 + ], + "joints": [ + 0.003347694640979171 + ] + }, + "final_grasp": { + "position": [ + -0.09123490005731583, + 0.06083495169878006, + -0.09184969216585159 + ], + "orientation": [ + 0.5140281319618225, + 0.14727869629859924, + -0.227730393409729, + -0.8137708902359009 + ], + "joints": [ + 0.010255889967083931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11680333316326141, + 0.051937561482191086, + 0.007693163119256496 + ], + "orientation": [ + 0.047818537801504135, + 0.7878413200378418, + -0.6025224924087524, + 0.11826315522193909 + ], + "joints": [ + -0.00721739511936903 + ] + }, + "fine_grasp": { + "position": [ + 0.11967398971319199, + 0.0512348897755146, + 0.007517130579799414 + ], + "orientation": [ + 0.04583188146352768, + 0.7893059253692627, + -0.5982713103294373, + 0.1302582025527954 + ], + "joints": [ + -0.0019033990101888776 + ] + }, + "final_grasp": { + "position": [ + 0.11967398971319199, + 0.0512348897755146, + 0.007517130579799414 + ], + "orientation": [ + 0.04583188146352768, + 0.7893059253692627, + -0.5982713103294373, + 0.1302582025527954 + ], + "joints": [ + 0.003410597098991275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11974864453077316, + 0.02339528128504753, + -0.022746792063117027 + ], + "orientation": [ + 0.677649974822998, + -0.023297423496842384, + -0.16247469186782837, + -0.7168331742286682 + ], + "joints": [ + -0.007875066250562668 + ] + }, + "fine_grasp": { + "position": [ + -0.1219671443104744, + 0.02483345754444599, + -0.024176910519599915 + ], + "orientation": [ + 0.6738808751106262, + -0.03752242401242256, + -0.16101907193660736, + -0.7201038599014282 + ], + "joints": [ + -0.0009934410918504 + ] + }, + "final_grasp": { + "position": [ + -0.1219671443104744, + 0.02483345754444599, + -0.024176910519599915 + ], + "orientation": [ + 0.6738808751106262, + -0.03752242401242256, + -0.16101907193660736, + -0.7201038599014282 + ], + "joints": [ + 0.005888184066861868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11800529062747955, + 0.06847693771123886, + 0.03419990465044975 + ], + "orientation": [ + 0.5575650334358215, + -0.0041824569925665855, + 0.09313113242387772, + -0.8248820304870605 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.11694110929965973, + 0.06822089105844498, + 0.03462633863091469 + ], + "orientation": [ + 0.5531852841377258, + 0.018833938986063004, + 0.10266058892011642, + -0.8264938592910767 + ], + "joints": [ + -0.001935287262313068 + ] + }, + "final_grasp": { + "position": [ + -0.11694110929965973, + 0.06822089105844498, + 0.03462633863091469 + ], + "orientation": [ + 0.5531852841377258, + 0.018833938986063004, + 0.10266058892011642, + -0.8264938592910767 + ], + "joints": [ + 0.005530877038836479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052170030772686005, + -0.03318779543042183, + -0.12309964001178741 + ], + "orientation": [ + 0.3715212047100067, + 0.4312843978404999, + -0.7406778931617737, + -0.3568783402442932 + ], + "joints": [ + -0.008405487984418869 + ] + }, + "fine_grasp": { + "position": [ + 0.04864874109625816, + -0.031417082995176315, + -0.12021992355585098 + ], + "orientation": [ + 0.36284294724464417, + 0.4400084912776947, + -0.7457594871520996, + -0.34435486793518066 + ], + "joints": [ + -0.0030914917588233948 + ] + }, + "final_grasp": { + "position": [ + 0.04864874109625816, + -0.031417082995176315, + -0.12021992355585098 + ], + "orientation": [ + 0.36284294724464417, + 0.4400084912776947, + -0.7457594871520996, + -0.34435486793518066 + ], + "joints": [ + 0.0022225044667720795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10402513295412064, + 0.0772588923573494, + 0.05917161703109741 + ], + "orientation": [ + 0.06618332117795944, + -0.8311744332313538, + -0.5178577303886414, + 0.19129087030887604 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.10483631491661072, + 0.07788600772619247, + 0.058639392256736755 + ], + "orientation": [ + 0.0652598962187767, + -0.8302465081214905, + -0.5177568793296814, + 0.19585616886615753 + ], + "joints": [ + -0.0030863340944051743 + ] + }, + "final_grasp": { + "position": [ + -0.10483631491661072, + 0.07788600772619247, + 0.058639392256736755 + ], + "orientation": [ + 0.0652598962187767, + -0.8302465081214905, + -0.5177568793296814, + 0.19585616886615753 + ], + "joints": [ + 0.0044064000248909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11667198687791824, + 0.05207814648747444, + 0.007399116177111864 + ], + "orientation": [ + 0.049016207456588745, + 0.7880962491035461, + -0.6007975339889526, + 0.12467645108699799 + ], + "joints": [ + -0.007167604751884937 + ] + }, + "fine_grasp": { + "position": [ + 0.1196327656507492, + 0.05137189105153084, + 0.007177483756095171 + ], + "orientation": [ + 0.04643420875072479, + 0.7898565530776978, + -0.5961418747901917, + 0.13632775843143463 + ], + "joints": [ + -0.0018536086427047849 + ] + }, + "final_grasp": { + "position": [ + 0.1196327656507492, + 0.05137189105153084, + 0.007177483756095171 + ], + "orientation": [ + 0.04643420875072479, + 0.7898565530776978, + -0.5961418747901917, + 0.13632775843143463 + ], + "joints": [ + 0.0034603874664753675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1163468286395073, + 0.052601978182792664, + 0.007279729004949331 + ], + "orientation": [ + 0.0526568666100502, + 0.7892835736274719, + -0.5980901122093201, + 0.12863433361053467 + ], + "joints": [ + -0.0074799926951527596 + ] + }, + "fine_grasp": { + "position": [ + 0.11925730109214783, + 0.051783815026283264, + 0.007413758896291256 + ], + "orientation": [ + 0.050420474261045456, + 0.7902907133102417, + -0.5943318605422974, + 0.14024288952350616 + ], + "joints": [ + -0.0021659964695572853 + ] + }, + "final_grasp": { + "position": [ + 0.11925730109214783, + 0.051783815026283264, + 0.007413758896291256 + ], + "orientation": [ + 0.050420474261045456, + 0.7902907133102417, + -0.5943318605422974, + 0.14024288952350616 + ], + "joints": [ + 0.003147999756038189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12187368422746658, + 0.023697219789028168, + -0.0006032253731973469 + ], + "orientation": [ + 0.07950448244810104, + 0.7130755186080933, + 0.6959866285324097, + -0.028372956439852715 + ], + "joints": [ + -0.00853496789932251 + ] + }, + "fine_grasp": { + "position": [ + -0.1262175738811493, + 0.023680496960878372, + -0.002326487796381116 + ], + "orientation": [ + 0.07403907924890518, + 0.7121235728263855, + 0.6973726749420166, + -0.03270651772618294 + ], + "joints": [ + -0.0021847421303391457 + ] + }, + "final_grasp": { + "position": [ + -0.1262175738811493, + 0.023680496960878372, + -0.002326487796381116 + ], + "orientation": [ + 0.07403907924890518, + 0.7121235728263855, + 0.6973726749420166, + -0.03270651772618294 + ], + "joints": [ + 0.0041654836386442184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1162242665886879, + 0.05267159640789032, + 0.007428630255162716 + ], + "orientation": [ + 0.05322886258363724, + 0.7892789244651794, + -0.5976146459579468, + 0.13062269985675812 + ], + "joints": [ + -0.007214212790131569 + ] + }, + "fine_grasp": { + "position": [ + 0.11920202523469925, + 0.051847636699676514, + 0.007570149842649698 + ], + "orientation": [ + 0.05054314061999321, + 0.7901792526245117, + -0.5940111875534058, + 0.14217206835746765 + ], + "joints": [ + -0.0019002166809514165 + ] + }, + "final_grasp": { + "position": [ + 0.11920202523469925, + 0.051847636699676514, + 0.007570149842649698 + ], + "orientation": [ + 0.05054314061999321, + 0.7901792526245117, + -0.5940111875534058, + 0.14217206835746765 + ], + "joints": [ + 0.003413779428228736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04830043017864227, + 0.09803903847932816, + -0.09497405588626862 + ], + "orientation": [ + 0.272599458694458, + 0.9352615475654602, + 0.22243794798851013, + 0.038686446845531464 + ], + "joints": [ + 0.0020400448702275753 + ] + }, + "fine_grasp": { + "position": [ + -0.0502517968416214, + 0.09920956194400787, + -0.09656006097793579 + ], + "orientation": [ + 0.2658448815345764, + 0.9364334940910339, + 0.22746723890304565, + 0.026029834523797035 + ], + "joints": [ + 0.007380611263215542 + ] + }, + "final_grasp": { + "position": [ + -0.0502517968416214, + 0.09920956194400787, + -0.09656006097793579 + ], + "orientation": [ + 0.2658448815345764, + 0.9364334940910339, + 0.22746723890304565, + 0.026029834523797035 + ], + "joints": [ + 0.012721177190542221 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020886287093162537, + 0.03199240565299988, + -0.14472684264183044 + ], + "orientation": [ + 0.2680913209915161, + 0.18473228812217712, + -0.5639819502830505, + -0.7588974833488464 + ], + "joints": [ + 0.0008720349287614226 + ] + }, + "fine_grasp": { + "position": [ + -0.021504158154129982, + 0.03417908400297165, + -0.14700216054916382 + ], + "orientation": [ + 0.2842622995376587, + 0.20174239575862885, + -0.5619025826454163, + -0.7501735687255859 + ], + "joints": [ + 0.005681201349943876 + ] + }, + "final_grasp": { + "position": [ + -0.021504158154129982, + 0.03417908400297165, + -0.14700216054916382 + ], + "orientation": [ + 0.2842622995376587, + 0.20174239575862885, + -0.5619025826454163, + -0.7501735687255859 + ], + "joints": [ + 0.010490368120372295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11779329180717468, + 0.06882632523775101, + 0.03412456065416336 + ], + "orientation": [ + 0.5571085214614868, + -0.010277274996042252, + 0.09453381597995758, + -0.8249775171279907 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.11647895723581314, + 0.0681145191192627, + 0.03452873229980469 + ], + "orientation": [ + 0.5526087880134583, + 0.016623253002762794, + 0.10428027808666229, + -0.8267242312431335 + ], + "joints": [ + -0.0019618570804595947 + ] + }, + "final_grasp": { + "position": [ + -0.11647895723581314, + 0.0681145191192627, + 0.03452873229980469 + ], + "orientation": [ + 0.5526087880134583, + 0.016623253002762794, + 0.10428027808666229, + -0.8267242312431335 + ], + "joints": [ + 0.005477737635374069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10404067486524582, + 0.07723941653966904, + 0.059145648032426834 + ], + "orientation": [ + 0.06531688570976257, + -0.8312572836875916, + -0.5179975032806396, + 0.19084951281547546 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.1048794761300087, + 0.07785962522029877, + 0.05864200368523598 + ], + "orientation": [ + 0.06438833475112915, + -0.8302091360092163, + -0.517832338809967, + 0.19610337913036346 + ], + "joints": [ + -0.0030863340944051743 + ] + }, + "final_grasp": { + "position": [ + -0.1048794761300087, + 0.07785962522029877, + 0.05864200368523598 + ], + "orientation": [ + 0.06438833475112915, + -0.8302091360092163, + -0.517832338809967, + 0.19610337913036346 + ], + "joints": [ + 0.0044064000248909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007126442505978048, + 0.14163610339164734, + -0.000984243699349463 + ], + "orientation": [ + 0.00832883920520544, + 0.9992968440055847, + 0.0027501750737428665, + 0.036455005407333374 + ], + "joints": [ + -0.001072633545845747 + ] + }, + "fine_grasp": { + "position": [ + -0.0007075220928527415, + 0.13559848070144653, + -0.0007642597774975002 + ], + "orientation": [ + 0.010644746012985706, + 0.999599039554596, + 0.0032890650909394026, + 0.02602873556315899 + ], + "joints": [ + 0.005304162390530109 + ] + }, + "final_grasp": { + "position": [ + -0.0007075220928527415, + 0.13559848070144653, + -0.0007642597774975002 + ], + "orientation": [ + 0.010644746012985706, + 0.999599039554596, + 0.0032890650909394026, + 0.02602873556315899 + ], + "joints": [ + 0.011680958792567253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10774330794811249, + 0.08451643586158752, + 0.060216400772333145 + ], + "orientation": [ + 0.506697416305542, + -0.23769035935401917, + -0.0021525758784264326, + 0.8287076354026794 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10570397973060608, + 0.08322395384311676, + 0.06183027848601341 + ], + "orientation": [ + 0.5142517685890198, + -0.23228353261947632, + -0.0019396102288737893, + 0.8255820870399475 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + 0.10570397973060608, + 0.08322395384311676, + 0.06183027848601341 + ], + "orientation": [ + 0.5142517685890198, + -0.23228353261947632, + -0.0019396102288737893, + 0.8255820870399475 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008257389417849481, + 0.14169186353683472, + -0.0009221379295922816 + ], + "orientation": [ + 0.00989806093275547, + 0.9991341233253479, + 0.003566567087545991, + 0.04025232046842575 + ], + "joints": [ + -0.0010546105913817883 + ] + }, + "fine_grasp": { + "position": [ + -0.0007541750092059374, + 0.13569754362106323, + -0.0006785074947401881 + ], + "orientation": [ + 0.009887685999274254, + 0.9994986057281494, + 0.003441768465563655, + 0.02988031692802906 + ], + "joints": [ + 0.005322185344994068 + ] + }, + "final_grasp": { + "position": [ + -0.0007541750092059374, + 0.13569754362106323, + -0.0006785074947401881 + ], + "orientation": [ + 0.009887685999274254, + 0.9994986057281494, + 0.003441768465563655, + 0.02988031692802906 + ], + "joints": [ + 0.011698981747031212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006653240998275578, + 0.14157284796237946, + -0.0005697766900993884 + ], + "orientation": [ + 0.008950243704020977, + 0.9992192983627319, + 0.0028908373787999153, + 0.038371630012989044 + ], + "joints": [ + -0.001030679326504469 + ] + }, + "fine_grasp": { + "position": [ + -0.0006135459989309311, + 0.13559630513191223, + -0.00030639092437922955 + ], + "orientation": [ + 0.009117599576711655, + 0.9995372295379639, + 0.002888167044147849, + 0.02887657843530178 + ], + "joints": [ + 0.0053461166098713875 + ] + }, + "final_grasp": { + "position": [ + -0.0006135459989309311, + 0.13559630513191223, + -0.00030639092437922955 + ], + "orientation": [ + 0.009117599576711655, + 0.9995372295379639, + 0.002888167044147849, + 0.02887657843530178 + ], + "joints": [ + 0.011722913011908531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10794986039400101, + 0.08476471155881882, + 0.06017478182911873 + ], + "orientation": [ + 0.5064281821250916, + -0.2366960048675537, + -0.003924619872123003, + 0.8291501998901367 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10548863559961319, + 0.08343257009983063, + 0.06158733367919922 + ], + "orientation": [ + 0.5133779644966125, + -0.23145215213298798, + -0.0022880174219608307, + 0.8263581395149231 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + 0.10548863559961319, + 0.08343257009983063, + 0.06158733367919922 + ], + "orientation": [ + 0.5133779644966125, + -0.23145215213298798, + -0.0022880174219608307, + 0.8263581395149231 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10790149122476578, + 0.08469481766223907, + 0.06009415164589882 + ], + "orientation": [ + 0.5065438151359558, + -0.23667596280574799, + -0.0032392332796007395, + 0.8290882110595703 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.1055171862244606, + 0.08347874879837036, + 0.061524756252765656 + ], + "orientation": [ + 0.513188898563385, + -0.23185186088085175, + -0.001696177409030497, + 0.8263649344444275 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + 0.1055171862244606, + 0.08347874879837036, + 0.061524756252765656 + ], + "orientation": [ + 0.513188898563385, + -0.23185186088085175, + -0.001696177409030497, + 0.8263649344444275 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10797270387411118, + 0.0849011242389679, + 0.06009446829557419 + ], + "orientation": [ + 0.5057946443557739, + -0.2369101345539093, + -0.004361048806458712, + 0.829473614692688 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10539404302835464, + 0.0836295410990715, + 0.06142618879675865 + ], + "orientation": [ + 0.5125852227210999, + -0.232346311211586, + -0.0018937478307634592, + 0.8266002535820007 + ], + "joints": [ + -0.006446957588195801 + ] + }, + "final_grasp": { + "position": [ + 0.10539404302835464, + 0.0836295410990715, + 0.06142618879675865 + ], + "orientation": [ + 0.5125852227210999, + -0.232346311211586, + -0.0018937478307634592, + 0.8266002535820007 + ], + "joints": [ + -0.0005484223365783691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11815588921308517, + 0.019361121580004692, + 0.025252381339669228 + ], + "orientation": [ + 0.7104241847991943, + -0.13742820918560028, + -0.05619734525680542, + -0.6879336833953857 + ], + "joints": [ + -0.009091552346944809 + ] + }, + "fine_grasp": { + "position": [ + -0.12145961821079254, + 0.0174024049192667, + 0.02358076348900795 + ], + "orientation": [ + 0.7159841060638428, + -0.141999289393425, + -0.040954962372779846, + -0.6822943687438965 + ], + "joints": [ + -0.0032461564987897873 + ] + }, + "final_grasp": { + "position": [ + -0.12145961821079254, + 0.0174024049192667, + 0.02358076348900795 + ], + "orientation": [ + 0.7159841060638428, + -0.141999289393425, + -0.040954962372779846, + -0.6822943687438965 + ], + "joints": [ + 0.0025992393493652344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1077745258808136, + 0.051082126796245575, + -0.00520914513617754 + ], + "orientation": [ + 0.5833570957183838, + -0.09720837324857712, + 0.13777047395706177, + 0.7945213913917542 + ], + "joints": [ + -0.00934256985783577 + ] + }, + "fine_grasp": { + "position": [ + 0.11143704503774643, + 0.05250091478228569, + -0.006713206879794598 + ], + "orientation": [ + 0.5813289284706116, + -0.08873452991247177, + 0.12826275825500488, + 0.7985808849334717 + ], + "joints": [ + -0.004028573632240295 + ] + }, + "final_grasp": { + "position": [ + 0.11143704503774643, + 0.05250091478228569, + -0.006713206879794598 + ], + "orientation": [ + 0.5813289284706116, + -0.08873452991247177, + 0.12826275825500488, + 0.7985808849334717 + ], + "joints": [ + 0.0012854225933551788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008063234272412956, + 0.051795847713947296, + 0.1417096108198166 + ], + "orientation": [ + 0.5203176736831665, + -0.6954192519187927, + -0.30866798758506775, + 0.3877957761287689 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.0013440059265121818, + 0.05352117866277695, + 0.14351890981197357 + ], + "orientation": [ + 0.5216102600097656, + -0.6926203370094299, + -0.3044774532318115, + 0.3943262994289398 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + -0.0013440059265121818, + 0.05352117866277695, + 0.14351890981197357 + ], + "orientation": [ + 0.5216102600097656, + -0.6926203370094299, + -0.3044774532318115, + 0.3943262994289398 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11809974163770676, + 0.019345074892044067, + 0.02483086846768856 + ], + "orientation": [ + 0.7101593017578125, + -0.13612712919712067, + -0.05842044949531555, + -0.6882805824279785 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.12120594084262848, + 0.017156634479761124, + 0.023243488743901253 + ], + "orientation": [ + 0.7167559862136841, + -0.13999846577644348, + -0.04299900308251381, + -0.6817715764045715 + ], + "joints": [ + -0.0034986473619937897 + ] + }, + "final_grasp": { + "position": [ + -0.12120594084262848, + 0.017156634479761124, + 0.023243488743901253 + ], + "orientation": [ + 0.7167559862136841, + -0.13999846577644348, + -0.04299900308251381, + -0.6817715764045715 + ], + "joints": [ + 0.0018153488636016846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11733189225196838, + 0.03851263225078583, + 0.04559892788529396 + ], + "orientation": [ + 0.6577798128128052, + -0.03762458637356758, + -0.025142360478639603, + 0.7518496513366699 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.12044047564268112, + 0.04126940295100212, + 0.04565175995230675 + ], + "orientation": [ + 0.652881920337677, + -0.042592134326696396, + -0.028437184169888496, + 0.7557263374328613 + ], + "joints": [ + -0.003469206392765045 + ] + }, + "final_grasp": { + "position": [ + 0.12044047564268112, + 0.04126940295100212, + 0.04565175995230675 + ], + "orientation": [ + 0.652881920337677, + -0.042592134326696396, + -0.028437184169888496, + 0.7557263374328613 + ], + "joints": [ + 0.001844789832830429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04461773484945297, + -0.023248156532645226, + -0.12576282024383545 + ], + "orientation": [ + 0.7073812484741211, + 0.36629384756088257, + 0.39542123675346375, + 0.457255482673645 + ], + "joints": [ + -0.008750582113862038 + ] + }, + "fine_grasp": { + "position": [ + 0.04204301908612251, + -0.021774224936962128, + -0.1218470111489296 + ], + "orientation": [ + 0.7110704183578491, + 0.3620591163635254, + 0.38787463307380676, + 0.46135154366493225 + ], + "joints": [ + -0.002905186265707016 + ] + }, + "final_grasp": { + "position": [ + 0.04204301908612251, + -0.021774224936962128, + -0.1218470111489296 + ], + "orientation": [ + 0.7110704183578491, + 0.3620591163635254, + 0.38787463307380676, + 0.46135154366493225 + ], + "joints": [ + 0.0029402095824480057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007723786984570324, + 0.05294760689139366, + 0.13933204114437103 + ], + "orientation": [ + 0.5206964612007141, + -0.7039967179298401, + -0.2973657250404358, + 0.38057515025138855 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.0014081564731895924, + 0.05429459735751152, + 0.14146246016025543 + ], + "orientation": [ + 0.5218935608863831, + -0.6986765265464783, + -0.2968677580356598, + 0.3890344202518463 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + -0.0014081564731895924, + 0.05429459735751152, + 0.14146246016025543 + ], + "orientation": [ + 0.5218935608863831, + -0.6986765265464783, + -0.2968677580356598, + 0.3890344202518463 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00022011241526342928, + 0.03801445662975311, + 0.14199042320251465 + ], + "orientation": [ + 0.3773878514766693, + -0.4550759196281433, + -0.5487806797027588, + 0.5910363793373108 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.0008570060017518699, + 0.04070892930030823, + 0.14410054683685303 + ], + "orientation": [ + 0.3720950484275818, + -0.4610844552516937, + -0.5446890592575073, + 0.593515157699585 + ], + "joints": [ + -0.004231713712215424 + ] + }, + "final_grasp": { + "position": [ + -0.0008570060017518699, + 0.04070892930030823, + 0.14410054683685303 + ], + "orientation": [ + 0.3720950484275818, + -0.4610844552516937, + -0.5446890592575073, + 0.593515157699585 + ], + "joints": [ + 0.0021450817584991455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006135409348644316, + 0.05304073169827461, + 0.13928325474262238 + ], + "orientation": [ + 0.5210332274436951, + -0.7048529386520386, + -0.29571738839149475, + 0.3798130750656128 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.001273048692382872, + 0.05431830883026123, + 0.14140014350414276 + ], + "orientation": [ + 0.5223298668861389, + -0.6991137266159058, + -0.2956558167934418, + 0.3885859251022339 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + -0.001273048692382872, + 0.05431830883026123, + 0.14140014350414276 + ], + "orientation": [ + 0.5223298668861389, + -0.6991137266159058, + -0.2956558167934418, + 0.3885859251022339 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02745591476559639, + 0.001680708141066134, + -0.13498757779598236 + ], + "orientation": [ + 0.5455025434494019, + 0.3415648341178894, + 0.5124002695083618, + 0.5685124397277832 + ], + "joints": [ + -0.006126127205789089 + ] + }, + "fine_grasp": { + "position": [ + 0.026993872597813606, + 0.002501958515495062, + -0.13102975487709045 + ], + "orientation": [ + 0.5396798253059387, + 0.3437887728214264, + 0.5160179734230042, + 0.5694563388824463 + ], + "joints": [ + -0.0002541611611377448 + ] + }, + "final_grasp": { + "position": [ + 0.026993872597813606, + 0.002501958515495062, + -0.13102975487709045 + ], + "orientation": [ + 0.5396798253059387, + 0.3437887728214264, + 0.5160179734230042, + 0.5694563388824463 + ], + "joints": [ + 0.005617804825305939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055539630353450775, + 0.0563044510781765, + 0.12894093990325928 + ], + "orientation": [ + 0.4060966372489929, + -0.7581364512443542, + 0.4395449161529541, + -0.25906556844711304 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.05487784370779991, + 0.05517905205488205, + 0.12382662296295166 + ], + "orientation": [ + 0.4203547239303589, + -0.7476463913917542, + 0.4372113049030304, + -0.2705051302909851 + ], + "joints": [ + -0.002435848116874695 + ] + }, + "final_grasp": { + "position": [ + 0.05487784370779991, + 0.05517905205488205, + 0.12382662296295166 + ], + "orientation": [ + 0.4203547239303589, + -0.7476463913917542, + 0.4372113049030304, + -0.2705051302909851 + ], + "joints": [ + 0.003940947353839874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05570127069950104, + 0.05637332797050476, + 0.12887050211429596 + ], + "orientation": [ + 0.40510106086730957, + -0.758047342300415, + 0.4402810037136078, + -0.25963422656059265 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.05501556396484375, + 0.055226899683475494, + 0.12375105917453766 + ], + "orientation": [ + 0.4196779727935791, + -0.7477499842643738, + 0.43768996000289917, + -0.27049562335014343 + ], + "joints": [ + -0.002435848116874695 + ] + }, + "final_grasp": { + "position": [ + 0.05501556396484375, + 0.055226899683475494, + 0.12375105917453766 + ], + "orientation": [ + 0.4196779727935791, + -0.7477499842643738, + 0.43768996000289917, + -0.27049562335014343 + ], + "joints": [ + 0.003940947353839874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11364943534135818, + 0.04477287828922272, + 0.02156456932425499 + ], + "orientation": [ + 0.08381500840187073, + -0.7715581655502319, + 0.6273326873779297, + 0.06424009799957275 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.1191020980477333, + 0.046094100922346115, + 0.02263808622956276 + ], + "orientation": [ + 0.07590794563293457, + -0.7726946473121643, + 0.6276215314865112, + 0.05720320716500282 + ], + "joints": [ + -0.00302178505808115 + ] + }, + "final_grasp": { + "position": [ + 0.1191020980477333, + 0.046094100922346115, + 0.02263808622956276 + ], + "orientation": [ + 0.07590794563293457, + -0.7726946473121643, + 0.6276215314865112, + 0.05720320716500282 + ], + "joints": [ + 0.003328440710902214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1135658249258995, + 0.04478100687265396, + 0.021578537300229073 + ], + "orientation": [ + 0.08369217813014984, + -0.7716647982597351, + 0.6272252798080444, + 0.06416837871074677 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.11904343217611313, + 0.04610089585185051, + 0.022614728659391403 + ], + "orientation": [ + 0.07585301250219345, + -0.7728193402290344, + 0.6275224685668945, + 0.05667559802532196 + ], + "joints": [ + -0.00302178505808115 + ] + }, + "final_grasp": { + "position": [ + 0.11904343217611313, + 0.04610089585185051, + 0.022614728659391403 + ], + "orientation": [ + 0.07585301250219345, + -0.7728193402290344, + 0.6275224685668945, + 0.05667559802532196 + ], + "joints": [ + 0.003328440710902214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11677610129117966, + 0.015809718519449234, + -0.03674372285604477 + ], + "orientation": [ + 0.1905093491077423, + 0.7063641548156738, + -0.6795613169670105, + 0.05433513969182968 + ], + "joints": [ + -0.004532712511718273 + ] + }, + "fine_grasp": { + "position": [ + 0.11550282686948776, + 0.014273153617978096, + -0.03712863847613335 + ], + "orientation": [ + 0.1849781721830368, + 0.7051396369934082, + -0.6821047067642212, + 0.0573970302939415 + ], + "joints": [ + 0.0013126838020980358 + ] + }, + "final_grasp": { + "position": [ + 0.11550282686948776, + 0.014273153617978096, + -0.03712863847613335 + ], + "orientation": [ + 0.1849781721830368, + 0.7051396369934082, + -0.6821047067642212, + 0.0573970302939415 + ], + "joints": [ + 0.007158080115914345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11355258524417877, + 0.044794920831918716, + 0.02158035896718502 + ], + "orientation": [ + 0.08370719850063324, + -0.7717158198356628, + 0.6271575689315796, + 0.06419796496629715 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.11903198808431625, + 0.046115703880786896, + 0.022612374275922775 + ], + "orientation": [ + 0.07588740438222885, + -0.7728694677352905, + 0.6274600028991699, + 0.05663648992776871 + ], + "joints": [ + -0.00302178505808115 + ] + }, + "final_grasp": { + "position": [ + 0.11903198808431625, + 0.046115703880786896, + 0.022612374275922775 + ], + "orientation": [ + 0.07588740438222885, + -0.7728694677352905, + 0.6274600028991699, + 0.05663648992776871 + ], + "joints": [ + 0.003328440710902214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1169220358133316, + 0.015235141851007938, + -0.03735583275556564 + ], + "orientation": [ + 0.19108852744102478, + 0.7054212689399719, + -0.6801000833511353, + 0.057705897837877274 + ], + "joints": [ + -0.004566858522593975 + ] + }, + "fine_grasp": { + "position": [ + 0.1155388355255127, + 0.013988478109240532, + -0.037620123475790024 + ], + "orientation": [ + 0.18634508550167084, + 0.7047326564788818, + -0.6818068027496338, + 0.06137555465102196 + ], + "joints": [ + 0.0013051077257841825 + ] + }, + "final_grasp": { + "position": [ + 0.1155388355255127, + 0.013988478109240532, + -0.037620123475790024 + ], + "orientation": [ + 0.18634508550167084, + 0.7047326564788818, + -0.6818068027496338, + 0.06137555465102196 + ], + "joints": [ + 0.00717707397416234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07280084490776062, + 0.04424328729510307, + 0.12404512614011765 + ], + "orientation": [ + 0.5457276701927185, + -0.26795920729637146, + -0.3349881172180176, + 0.7198346853256226 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.07223738729953766, + 0.04578135907649994, + 0.12241089344024658 + ], + "orientation": [ + 0.535843551158905, + -0.2787069082260132, + -0.3473069369792938, + 0.7173367142677307 + ], + "joints": [ + -0.0023547408636659384 + ] + }, + "final_grasp": { + "position": [ + 0.07223738729953766, + 0.04578135907649994, + 0.12241089344024658 + ], + "orientation": [ + 0.535843551158905, + -0.2787069082260132, + -0.3473069369792938, + 0.7173367142677307 + ], + "joints": [ + 0.003543794620782137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09638447314500809, + 0.06466055661439896, + -0.07521425932645798 + ], + "orientation": [ + 0.11696525663137436, + -0.5478560328483582, + 0.5076579451560974, + 0.6545657515525818 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.09349490702152252, + 0.06458383053541183, + -0.07041649520397186 + ], + "orientation": [ + 0.13209952414035797, + -0.5389786958694458, + 0.5049146413803101, + 0.6611452698707581 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + 0.09349490702152252, + 0.06458383053541183, + -0.07041649520397186 + ], + "orientation": [ + 0.13209952414035797, + -0.5389786958694458, + 0.5049146413803101, + 0.6611452698707581 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11346308887004852, + 0.052824247628450394, + 0.020470907911658287 + ], + "orientation": [ + 0.5947615504264832, + -0.12686775624752045, + -0.16592977941036224, + -0.7762928605079651 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.11734603345394135, + 0.05480678379535675, + 0.02071981132030487 + ], + "orientation": [ + 0.5954959988594055, + -0.11281847208738327, + -0.15968751907348633, + -0.7792024612426758 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + -0.11734603345394135, + 0.05480678379535675, + 0.02071981132030487 + ], + "orientation": [ + 0.5954959988594055, + -0.11281847208738327, + -0.15968751907348633, + -0.7792024612426758 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010246834717690945, + 0.038116395473480225, + -0.13327153027057648 + ], + "orientation": [ + 0.10387776046991348, + 0.08490725606679916, + -0.6292444467544556, + -0.7655400633811951 + ], + "joints": [ + 0.0003807246685028076 + ] + }, + "fine_grasp": { + "position": [ + -0.01019830908626318, + 0.036433544009923935, + -0.13097049295902252 + ], + "orientation": [ + 0.10213033854961395, + 0.0814172551035881, + -0.6238903403282166, + -0.7705202102661133 + ], + "joints": [ + 0.006252690684050322 + ] + }, + "final_grasp": { + "position": [ + -0.01019830908626318, + 0.036433544009923935, + -0.13097049295902252 + ], + "orientation": [ + 0.10213033854961395, + 0.0814172551035881, + -0.6238903403282166, + -0.7705202102661133 + ], + "joints": [ + 0.012124656699597836 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02432352676987648, + -0.1048150286078453, + -0.016650963574647903 + ], + "orientation": [ + 0.9941473603248596, + 0.022821743041276932, + 0.001351436018012464, + -0.10558580607175827 + ], + "joints": [ + 0.0006415600655600429 + ] + }, + "fine_grasp": { + "position": [ + -0.024794692173600197, + -0.10550567507743835, + -0.017883233726024628 + ], + "orientation": [ + 0.9942508339881897, + 0.010352622717618942, + 0.003105908865109086, + -0.10652977228164673 + ], + "joints": [ + 0.006513525731861591 + ] + }, + "final_grasp": { + "position": [ + -0.024794692173600197, + -0.10550567507743835, + -0.017883233726024628 + ], + "orientation": [ + 0.9942508339881897, + 0.010352622717618942, + 0.003105908865109086, + -0.10652977228164673 + ], + "joints": [ + 0.012385491281747818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11016896367073059, + 0.060722872614860535, + 0.04107269272208214 + ], + "orientation": [ + 0.5814155340194702, + -0.11122079193592072, + 0.01089495699852705, + 0.8058952689170837 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.11445847153663635, + 0.06277094781398773, + 0.04311088100075722 + ], + "orientation": [ + 0.5857437252998352, + -0.12187911570072174, + 0.04074143245816231, + 0.800243616104126 + ], + "joints": [ + -0.005318211391568184 + ] + }, + "final_grasp": { + "position": [ + 0.11445847153663635, + 0.06277094781398773, + 0.04311088100075722 + ], + "orientation": [ + 0.5857437252998352, + -0.12187911570072174, + 0.04074143245816231, + 0.800243616104126 + ], + "joints": [ + -5.735456943511963e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01019630953669548, + -0.00863729976117611, + -0.13392125070095062 + ], + "orientation": [ + 0.549863338470459, + 0.37689337134361267, + -0.5483091473579407, + -0.5049344301223755 + ], + "joints": [ + -0.007242117077112198 + ] + }, + "fine_grasp": { + "position": [ + -0.00969794113188982, + -0.007626428734511137, + -0.12973704934120178 + ], + "orientation": [ + 0.5438669919967651, + 0.3753337562084198, + -0.5498229265213013, + -0.5109090805053711 + ], + "joints": [ + -0.0019015508005395532 + ] + }, + "final_grasp": { + "position": [ + -0.00969794113188982, + -0.007626428734511137, + -0.12973704934120178 + ], + "orientation": [ + 0.5438669919967651, + 0.3753337562084198, + -0.5498229265213013, + -0.5109090805053711 + ], + "joints": [ + 0.0034390154760330915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11358745396137238, + 0.05734897777438164, + 0.016212226822972298 + ], + "orientation": [ + 0.5671291947364807, + -0.17888125777244568, + -0.19614139199256897, + -0.7796759009361267 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11754652857780457, + 0.05923264101147652, + 0.017246734350919724 + ], + "orientation": [ + 0.570709228515625, + -0.1605159342288971, + -0.18464086949825287, + -0.7838580012321472 + ], + "joints": [ + -0.006026105955243111 + ] + }, + "final_grasp": { + "position": [ + -0.11754652857780457, + 0.05923264101147652, + 0.017246734350919724 + ], + "orientation": [ + 0.570709228515625, + -0.1605159342288971, + -0.18464086949825287, + -0.7838580012321472 + ], + "joints": [ + 0.0008820891380310059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009778165258467197, + -0.008249985054135323, + -0.13407430052757263 + ], + "orientation": [ + 0.5514248609542847, + 0.3812463581562042, + -0.5459545254707336, + -0.5025092959403992 + ], + "joints": [ + -0.007584545761346817 + ] + }, + "fine_grasp": { + "position": [ + -0.009144425392150879, + -0.0073286863043904305, + -0.12967638671398163 + ], + "orientation": [ + 0.5463448762893677, + 0.37950998544692993, + -0.5468329787254333, + -0.5083827376365662 + ], + "joints": [ + -0.0017125800950452685 + ] + }, + "final_grasp": { + "position": [ + -0.009144425392150879, + -0.0073286863043904305, + -0.12967638671398163 + ], + "orientation": [ + 0.5463448762893677, + 0.37950998544692993, + -0.5468329787254333, + -0.5083827376365662 + ], + "joints": [ + 0.004159385338425636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018147777765989304, + -0.051275428384542465, + 0.1204511970281601 + ], + "orientation": [ + 0.863484799861908, + -0.471136212348938, + 0.1016445979475975, + -0.14863696694374084 + ], + "joints": [ + -0.00016331076039932668 + ] + }, + "fine_grasp": { + "position": [ + -0.019688507542014122, + -0.04840440675616264, + 0.12232017517089844 + ], + "orientation": [ + 0.8601839542388916, + -0.47832709550857544, + 0.09381933510303497, + -0.14994890987873077 + ], + "joints": [ + 0.0067448848858475685 + ] + }, + "final_grasp": { + "position": [ + -0.019688507542014122, + -0.04840440675616264, + 0.12232017517089844 + ], + "orientation": [ + 0.8601839542388916, + -0.47832709550857544, + 0.09381933510303497, + -0.14994890987873077 + ], + "joints": [ + 0.01365308091044426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009758051484823227, + -0.008323377929627895, + -0.13407279551029205 + ], + "orientation": [ + 0.5494397282600403, + 0.3791866898536682, + -0.5478259325027466, + -0.5042026042938232 + ], + "joints": [ + -0.0073126014322042465 + ] + }, + "fine_grasp": { + "position": [ + -0.009168789722025394, + -0.0073247565887868404, + -0.12970592081546783 + ], + "orientation": [ + 0.544329822063446, + 0.3774872422218323, + -0.5480079054832458, + -0.5107793807983398 + ], + "joints": [ + -0.0014672055840492249 + ] + }, + "final_grasp": { + "position": [ + -0.009168789722025394, + -0.0073247565887868404, + -0.12970592081546783 + ], + "orientation": [ + 0.544329822063446, + 0.3774872422218323, + -0.5480079054832458, + -0.5107793807983398 + ], + "joints": [ + 0.004378190264105797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018245095387101173, + -0.05064576119184494, + 0.11994317919015884 + ], + "orientation": [ + 0.8627322912216187, + -0.47280654311180115, + 0.09988228231668472, + -0.14889734983444214 + ], + "joints": [ + -0.000510745623614639 + ] + }, + "fine_grasp": { + "position": [ + -0.01998070813715458, + -0.04831366986036301, + 0.1223190426826477 + ], + "orientation": [ + 0.8601360321044922, + -0.47799161076545715, + 0.09398873150348663, + -0.15118266642093658 + ], + "joints": [ + 0.006397449877113104 + ] + }, + "final_grasp": { + "position": [ + -0.01998070813715458, + -0.04831366986036301, + 0.1223190426826477 + ], + "orientation": [ + 0.8601360321044922, + -0.47799161076545715, + 0.09398873150348663, + -0.15118266642093658 + ], + "joints": [ + 0.013305645436048508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027586249634623528, + 0.06187960505485535, + -0.13698293268680573 + ], + "orientation": [ + 0.17884597182273865, + 0.10405462980270386, + -0.5362272262573242, + -0.8183197379112244 + ], + "joints": [ + -0.0005533128278329968 + ] + }, + "fine_grasp": { + "position": [ + -0.02776264399290085, + 0.06138749420642853, + -0.1383766382932663 + ], + "orientation": [ + 0.179316908121109, + 0.10433488339185715, + -0.5307709574699402, + -0.8217310309410095 + ], + "joints": [ + 0.005292083602398634 + ] + }, + "final_grasp": { + "position": [ + -0.02776264399290085, + 0.06138749420642853, + -0.1383766382932663 + ], + "orientation": [ + 0.179316908121109, + 0.10433488339185715, + -0.5307709574699402, + -0.8217310309410095 + ], + "joints": [ + 0.011137479916214943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0975797027349472, + 0.04664604738354683, + 0.09248185902833939 + ], + "orientation": [ + 0.1894959807395935, + -0.7380070686340332, + 0.6056215167045593, + -0.22947628796100616 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.09936380386352539, + 0.04956022650003433, + 0.09480874985456467 + ], + "orientation": [ + 0.17983731627464294, + -0.7457884550094604, + 0.5995298027992249, + -0.228083536028862 + ], + "joints": [ + -0.0040608858689665794 + ] + }, + "final_grasp": { + "position": [ + 0.09936380386352539, + 0.04956022650003433, + 0.09480874985456467 + ], + "orientation": [ + 0.17983731627464294, + -0.7457884550094604, + 0.5995298027992249, + -0.228083536028862 + ], + "joints": [ + 0.0012796800583600998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11655886471271515, + 0.06494703143835068, + 0.031039245426654816 + ], + "orientation": [ + 0.5713552832603455, + -0.056045543402433395, + -0.009538802318274975, + -0.8187313675880432 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.12015166878700256, + 0.06691086292266846, + 0.03215361014008522 + ], + "orientation": [ + 0.570197343826294, + -0.055676404386758804, + -0.006473004352301359, + -0.8195934295654297 + ], + "joints": [ + -0.0019618573132902384 + ] + }, + "final_grasp": { + "position": [ + -0.12015166878700256, + 0.06691086292266846, + 0.03215361014008522 + ], + "orientation": [ + 0.570197343826294, + -0.055676404386758804, + -0.006473004352301359, + -0.8195934295654297 + ], + "joints": [ + 0.005477737169712782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00748303160071373, + 0.1307675540447235, + 0.04916920140385628 + ], + "orientation": [ + 0.1804289072751999, + -0.9824594855308533, + 0.019873304292559624, + 0.04270579293370247 + ], + "joints": [ + -0.0006725186249241233 + ] + }, + "fine_grasp": { + "position": [ + 0.007176863495260477, + 0.1252489984035492, + 0.04690767824649811 + ], + "orientation": [ + 0.181761234998703, + -0.982148289680481, + 0.021186934784054756, + 0.043573178350925446 + ], + "joints": [ + 0.006209107115864754 + ] + }, + "final_grasp": { + "position": [ + 0.007176863495260477, + 0.1252489984035492, + 0.04690767824649811 + ], + "orientation": [ + 0.181761234998703, + -0.982148289680481, + 0.021186934784054756, + 0.043573178350925446 + ], + "joints": [ + 0.013090732507407665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02708100713789463, + 0.03792243078351021, + 0.15132983028888702 + ], + "orientation": [ + 0.3764178156852722, + -0.5592043995857239, + -0.5529443025588989, + 0.489747554063797 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.025040585547685623, + 0.038978684693574905, + 0.14678233861923218 + ], + "orientation": [ + 0.358835905790329, + -0.5603746771812439, + -0.5595287680625916, + 0.49410974979400635 + ], + "joints": [ + -0.003754851408302784 + ] + }, + "final_grasp": { + "position": [ + -0.025040585547685623, + 0.038978684693574905, + 0.14678233861923218 + ], + "orientation": [ + 0.358835905790329, + -0.5603746771812439, + -0.5595287680625916, + 0.49410974979400635 + ], + "joints": [ + 0.003658173605799675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08818575739860535, + 0.059438109397888184, + -0.08864329010248184 + ], + "orientation": [ + 0.5132629871368408, + 0.1485690474510193, + -0.23539094626903534, + -0.8118370771408081 + ], + "joints": [ + -0.004007574170827866 + ] + }, + "fine_grasp": { + "position": [ + -0.09164229780435562, + 0.061018023639917374, + -0.09210072457790375 + ], + "orientation": [ + 0.5141043663024902, + 0.1552271842956543, + -0.22862190008163452, + -0.8119934797286987 + ], + "joints": [ + 0.0029006213881075382 + ] + }, + "final_grasp": { + "position": [ + -0.09164229780435562, + 0.061018023639917374, + -0.09210072457790375 + ], + "orientation": [ + 0.5141043663024902, + 0.1552271842956543, + -0.22862190008163452, + -0.8119934797286987 + ], + "joints": [ + 0.009808816947042942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04729665443301201, + 0.052990078926086426, + 0.1316758543252945 + ], + "orientation": [ + 0.5977647304534912, + -0.6318890452384949, + -0.1424809843301773, + 0.47232702374458313 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.04709039255976677, + 0.05333052575588226, + 0.1304679661989212 + ], + "orientation": [ + 0.6021976470947266, + -0.6167643070220947, + -0.14667919278144836, + 0.4852268695831299 + ], + "joints": [ + -0.00880218856036663 + ] + }, + "final_grasp": { + "position": [ + 0.04709039255976677, + 0.05333052575588226, + 0.1304679661989212 + ], + "orientation": [ + 0.6021976470947266, + -0.6167643070220947, + -0.14667919278144836, + 0.4852268695831299 + ], + "joints": [ + -0.0029036514461040497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10570881515741348, + 0.08594461530447006, + 0.05127152055501938 + ], + "orientation": [ + 0.49642863869667053, + -0.30967530608177185, + 0.07781915366649628, + 0.8072198033332825 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.10481668263673782, + 0.08484703302383423, + 0.05263274535536766 + ], + "orientation": [ + 0.5019195675849915, + -0.29470399022102356, + 0.05928713455796242, + 0.810994029045105 + ], + "joints": [ + -0.00880218856036663 + ] + }, + "final_grasp": { + "position": [ + 0.10481668263673782, + 0.08484703302383423, + 0.05263274535536766 + ], + "orientation": [ + 0.5019195675849915, + -0.29470399022102356, + 0.05928713455796242, + 0.810994029045105 + ], + "joints": [ + -0.0029036514461040497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09327805042266846, + 0.07189231365919113, + 0.10424531996250153 + ], + "orientation": [ + 0.09315449744462967, + -0.7458190321922302, + 0.5566827654838562, + -0.3538084626197815 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.08994285762310028, + 0.07050208002328873, + 0.10199259221553802 + ], + "orientation": [ + 0.10048149526119232, + -0.7484080791473389, + 0.55682772397995, + -0.3460226356983185 + ], + "joints": [ + -0.0049058981239795685 + ] + }, + "final_grasp": { + "position": [ + 0.08994285762310028, + 0.07050208002328873, + 0.10199259221553802 + ], + "orientation": [ + 0.10048149526119232, + -0.7484080791473389, + 0.55682772397995, + -0.3460226356983185 + ], + "joints": [ + 0.0025336965918540955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005775732453912497, + 0.1316363513469696, + 0.04971538484096527 + ], + "orientation": [ + 0.1768200844526291, + -0.9822835922241211, + 0.010243183001875877, + 0.0612265020608902 + ], + "joints": [ + -0.0010647899471223354 + ] + }, + "fine_grasp": { + "position": [ + 0.00548950769007206, + 0.12614135444164276, + 0.04755118116736412 + ], + "orientation": [ + 0.1778516322374344, + -0.9820517897605896, + 0.010965152643620968, + 0.06183019280433655 + ], + "joints": [ + 0.005843405611813068 + ] + }, + "final_grasp": { + "position": [ + 0.00548950769007206, + 0.12614135444164276, + 0.04755118116736412 + ], + "orientation": [ + 0.1778516322374344, + -0.9820517897605896, + 0.010965152643620968, + 0.06183019280433655 + ], + "joints": [ + 0.01275160163640976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.125171959400177, + 0.028200112283229828, + 0.029202187433838844 + ], + "orientation": [ + 0.051038697361946106, + 0.7198784947395325, + -0.6911939978599548, + 0.037695303559303284 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.12637314200401306, + 0.028469618409872055, + 0.0285345371812582 + ], + "orientation": [ + 0.047742556780576706, + 0.7195038795471191, + -0.6914204359054565, + 0.044414401054382324 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.12637314200401306, + 0.028469618409872055, + 0.0285345371812582 + ], + "orientation": [ + 0.047742556780576706, + 0.7195038795471191, + -0.6914204359054565, + 0.044414401054382324 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10043363273143768, + -0.05030711367726326, + -0.027284646406769753 + ], + "orientation": [ + 0.8844467997550964, + 0.11529703438282013, + -0.036419060081243515, + -0.4507039189338684 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.09684912860393524, + -0.04686709865927696, + -0.02480737864971161 + ], + "orientation": [ + 0.8805340528488159, + 0.12048137933015823, + -0.04065784811973572, + -0.4566081166267395 + ], + "joints": [ + -0.004565715789794922 + ] + }, + "final_grasp": { + "position": [ + -0.09684912860393524, + -0.04686709865927696, + -0.02480737864971161 + ], + "orientation": [ + 0.8805340528488159, + 0.12048137933015823, + -0.04065784811973572, + -0.4566081166267395 + ], + "joints": [ + 0.0002700202167034149 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07081049680709839, + 0.1001070886850357, + 0.08148687332868576 + ], + "orientation": [ + 0.06912735849618912, + -0.784978985786438, + -0.4171796441078186, + 0.4527589678764343 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.0734005942940712, + 0.10324464738368988, + 0.08310877531766891 + ], + "orientation": [ + 0.0674925372004509, + -0.7894662022590637, + -0.41529250144958496, + 0.4469004273414612 + ], + "joints": [ + -0.00846958253532648 + ] + }, + "final_grasp": { + "position": [ + -0.0734005942940712, + 0.10324464738368988, + 0.08310877531766891 + ], + "orientation": [ + 0.0674925372004509, + -0.7894662022590637, + -0.41529250144958496, + 0.4469004273414612 + ], + "joints": [ + -0.00047201476991176605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12049264460802078, + 0.048046935349702835, + 0.0167147908359766 + ], + "orientation": [ + 0.08082763105630875, + -0.7740987539291382, + 0.624941349029541, + 0.06071452423930168 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.12163420021533966, + 0.04920825734734535, + 0.01823553815484047 + ], + "orientation": [ + 0.0883864164352417, + -0.7772400379180908, + 0.617592453956604, + 0.08164138346910477 + ], + "joints": [ + -0.0029743879567831755 + ] + }, + "final_grasp": { + "position": [ + 0.12163420021533966, + 0.04920825734734535, + 0.01823553815484047 + ], + "orientation": [ + 0.0883864164352417, + -0.7772400379180908, + 0.617592453956604, + 0.08164138346910477 + ], + "joints": [ + 0.0034821168519556522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11885758489370346, + 0.025913087651133537, + 0.03997201472520828 + ], + "orientation": [ + 0.6991105079650879, + -0.10999730974435806, + 0.12128912657499313, + 0.6960129737854004 + ], + "joints": [ + -0.010180845856666565 + ] + }, + "fine_grasp": { + "position": [ + 0.12215045094490051, + 0.026599043980240822, + 0.03981287404894829 + ], + "orientation": [ + 0.7006403803825378, + -0.10779876261949539, + 0.11909393966197968, + 0.6951971650123596 + ], + "joints": [ + -0.004840279929339886 + ] + }, + "final_grasp": { + "position": [ + 0.12215045094490051, + 0.026599043980240822, + 0.03981287404894829 + ], + "orientation": [ + 0.7006403803825378, + -0.10779876261949539, + 0.11909393966197968, + 0.6951971650123596 + ], + "joints": [ + 0.0005002859979867935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12039215117692947, + 0.0478949099779129, + 0.016755584627389908 + ], + "orientation": [ + 0.07993610948324203, + -0.7738651633262634, + 0.6254084706306458, + 0.06005904823541641 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.12164794653654099, + 0.04912702366709709, + 0.018305594101548195 + ], + "orientation": [ + 0.08874982595443726, + -0.7769815325737, + 0.6178861856460571, + 0.0814855620265007 + ], + "joints": [ + -0.0029743879567831755 + ] + }, + "final_grasp": { + "position": [ + 0.12164794653654099, + 0.04912702366709709, + 0.018305594101548195 + ], + "orientation": [ + 0.08874982595443726, + -0.7769815325737, + 0.6178861856460571, + 0.0814855620265007 + ], + "joints": [ + 0.0034821168519556522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11350620537996292, + 0.05854851007461548, + 0.057766303420066833 + ], + "orientation": [ + 0.04076114296913147, + 0.7615965604782104, + 0.597399890422821, + -0.24783575534820557 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11330737918615341, + 0.05984009429812431, + 0.0570819191634655 + ], + "orientation": [ + 0.04890953749418259, + 0.7639071345329285, + 0.5939738750457764, + -0.24748505651950836 + ], + "joints": [ + -0.005300180055201054 + ] + }, + "final_grasp": { + "position": [ + -0.11330737918615341, + 0.05984009429812431, + 0.0570819191634655 + ], + "orientation": [ + 0.04890953749418259, + 0.7639071345329285, + 0.5939738750457764, + -0.24748505651950836 + ], + "joints": [ + 0.0011563245207071304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12055230140686035, + 0.04815123602747917, + 0.01682259701192379 + ], + "orientation": [ + 0.08188879489898682, + -0.7741259336471558, + 0.624760091304779, + 0.060812242329120636 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.12166567891836166, + 0.049229804426431656, + 0.01816635951399803 + ], + "orientation": [ + 0.08903677761554718, + -0.777259886264801, + 0.6174849271774292, + 0.0815592110157013 + ], + "joints": [ + -0.002974388189613819 + ] + }, + "final_grasp": { + "position": [ + 0.12166567891836166, + 0.049229804426431656, + 0.01816635951399803 + ], + "orientation": [ + 0.08903677761554718, + -0.777259886264801, + 0.6174849271774292, + 0.0815592110157013 + ], + "joints": [ + 0.003482116386294365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12452942878007889, + 0.028116747736930847, + 0.028785018250346184 + ], + "orientation": [ + 0.05452413484454155, + 0.7189031839370728, + -0.691301167011261, + 0.04804345220327377 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.12513861060142517, + 0.027842296287417412, + 0.029046470299363136 + ], + "orientation": [ + 0.05353621393442154, + 0.71700119972229, + -0.6927209496498108, + 0.05639871209859848 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + 0.12513861060142517, + 0.027842296287417412, + 0.029046470299363136 + ], + "orientation": [ + 0.05353621393442154, + 0.71700119972229, + -0.6927209496498108, + 0.05639871209859848 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10966815799474716, + 0.07043230533599854, + 0.03835251182317734 + ], + "orientation": [ + 0.5400015711784363, + -0.2520099878311157, + -0.10746318101882935, + -0.7958272099494934 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.11095017939805984, + 0.07143880426883698, + 0.038333043456077576 + ], + "orientation": [ + 0.5393214821815491, + -0.26083841919898987, + -0.11745993047952652, + -0.7920219898223877 + ], + "joints": [ + -0.007066604681313038 + ] + }, + "final_grasp": { + "position": [ + -0.11095017939805984, + 0.07143880426883698, + 0.038333043456077576 + ], + "orientation": [ + 0.5393214821815491, + -0.26083841919898987, + -0.11745993047952652, + -0.7920219898223877 + ], + "joints": [ + -0.0006101001054048538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0470762774348259, + 0.05233042314648628, + 0.13177384436130524 + ], + "orientation": [ + 0.5973238348960876, + -0.6424124836921692, + -0.13614730536937714, + 0.4604067802429199 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.04628833383321762, + 0.05295991897583008, + 0.12997648119926453 + ], + "orientation": [ + 0.6044057011604309, + -0.6237513422966003, + -0.13945689797401428, + 0.4755835235118866 + ], + "joints": [ + -0.008774220943450928 + ] + }, + "final_grasp": { + "position": [ + 0.04628833383321762, + 0.05295991897583008, + 0.12997648119926453 + ], + "orientation": [ + 0.6044057011604309, + -0.6237513422966003, + -0.13945689797401428, + 0.4755835235118866 + ], + "joints": [ + -0.0034070834517478943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01955212838947773, + 0.09799057245254517, + -0.10217095166444778 + ], + "orientation": [ + 0.11740381270647049, + 0.08497954159975052, + -0.34385553002357483, + -0.9277704954147339 + ], + "joints": [ + 0.00015305430861189961 + ] + }, + "fine_grasp": { + "position": [ + -0.021473277360200882, + 0.09532041102647781, + -0.09926566481590271 + ], + "orientation": [ + 0.12475212663412094, + 0.08338306099176407, + -0.34572190046310425, + -0.9262616634368896 + ], + "joints": [ + 0.005998450331389904 + ] + }, + "final_grasp": { + "position": [ + -0.021473277360200882, + 0.09532041102647781, + -0.09926566481590271 + ], + "orientation": [ + 0.12475212663412094, + 0.08338306099176407, + -0.34572190046310425, + -0.9262616634368896 + ], + "joints": [ + 0.011843846179544926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1136871948838234, + 0.05822226032614708, + 0.05797770246863365 + ], + "orientation": [ + 0.03857044875621796, + 0.7618602514266968, + 0.5985121130943298, + -0.2446722835302353 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.11373370885848999, + 0.059466682374477386, + 0.05744536966085434 + ], + "orientation": [ + 0.04716426879167557, + 0.7640411257743835, + 0.5956190228462219, + -0.24342255294322968 + ], + "joints": [ + -0.004765909165143967 + ] + }, + "final_grasp": { + "position": [ + -0.11373370885848999, + 0.059466682374477386, + 0.05744536966085434 + ], + "orientation": [ + 0.04716426879167557, + 0.7640411257743835, + 0.5956190228462219, + -0.24342255294322968 + ], + "joints": [ + 0.00219542533159256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11358103156089783, + 0.058371998369693756, + 0.05773906037211418 + ], + "orientation": [ + 0.040535762906074524, + 0.7617096304893494, + 0.5978854298591614, + -0.2463502138853073 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11333377659320831, + 0.059585921466350555, + 0.0571083165705204 + ], + "orientation": [ + 0.049388304352760315, + 0.7641134262084961, + 0.5952097177505493, + -0.24375608563423157 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + -0.11333377659320831, + 0.059585921466350555, + 0.0571083165705204 + ], + "orientation": [ + 0.049388304352760315, + 0.7641134262084961, + 0.5952097177505493, + -0.24375608563423157 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11381732672452927, + 0.058012086898088455, + 0.057855743914842606 + ], + "orientation": [ + 0.038602955639362335, + 0.761601448059082, + 0.5993712544441223, + -0.24336647987365723 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.11378492414951324, + 0.059091441333293915, + 0.05748790502548218 + ], + "orientation": [ + 0.04489932209253311, + 0.7635948657989502, + 0.5970579981803894, + -0.24172019958496094 + ], + "joints": [ + -0.004765909165143967 + ] + }, + "final_grasp": { + "position": [ + -0.11378492414951324, + 0.059091441333293915, + 0.05748790502548218 + ], + "orientation": [ + 0.04489932209253311, + 0.7635948657989502, + 0.5970579981803894, + -0.24172019958496094 + ], + "joints": [ + 0.00219542533159256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11288771778345108, + -0.010619860142469406, + -0.04407944530248642 + ], + "orientation": [ + 0.7414525747299194, + -0.06521465629339218, + -0.21996000409126282, + -0.6305654048919678 + ], + "joints": [ + -0.002929708920419216 + ] + }, + "fine_grasp": { + "position": [ + -0.11104517430067062, + -0.012598119676113129, + -0.04321426898241043 + ], + "orientation": [ + 0.7504623532295227, + -0.06966135650873184, + -0.22020450234413147, + -0.6192443370819092 + ], + "joints": [ + 0.0023842877708375454 + ] + }, + "final_grasp": { + "position": [ + -0.11104517430067062, + -0.012598119676113129, + -0.04321426898241043 + ], + "orientation": [ + 0.7504623532295227, + -0.06966135650873184, + -0.22020450234413147, + -0.6192443370819092 + ], + "joints": [ + 0.007698284462094307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11249799281358719, + 0.06929022818803787, + 0.03548569604754448 + ], + "orientation": [ + 0.15745335817337036, + -0.8323370814323425, + -0.5251558423042297, + -0.0814540758728981 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.11409536004066467, + 0.069900281727314, + 0.03528794273734093 + ], + "orientation": [ + 0.1609547883272171, + -0.830993115901947, + -0.5248221755027771, + -0.09003176540136337 + ], + "joints": [ + -0.0036457013338804245 + ] + }, + "final_grasp": { + "position": [ + -0.11409536004066467, + 0.069900281727314, + 0.03528794273734093 + ], + "orientation": [ + 0.1609547883272171, + -0.830993115901947, + -0.5248221755027771, + -0.09003176540136337 + ], + "joints": [ + 0.0038470327854156494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.112895667552948, + 0.06964511424303055, + 0.03553040698170662 + ], + "orientation": [ + 0.15857374668121338, + -0.832439661026001, + -0.5242308378219604, + -0.0841473788022995 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.11418724805116653, + 0.070066899061203, + 0.03515440598130226 + ], + "orientation": [ + 0.16125276684761047, + -0.8311116099357605, + -0.5243164300918579, + -0.09134218841791153 + ], + "joints": [ + -0.0036457013338804245 + ] + }, + "final_grasp": { + "position": [ + -0.11418724805116653, + 0.070066899061203, + 0.03515440598130226 + ], + "orientation": [ + 0.16125276684761047, + -0.8311116099357605, + -0.5243164300918579, + -0.09134218841791153 + ], + "joints": [ + 0.0038470327854156494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01628812775015831, + 0.09701575338840485, + -0.09734911471605301 + ], + "orientation": [ + 0.4187661409378052, + 0.9060815572738647, + -0.06019768491387367, + 0.00522754667326808 + ], + "joints": [ + -0.0007529896683990955 + ] + }, + "fine_grasp": { + "position": [ + 0.015424506738781929, + 0.0929790586233139, + -0.0932203084230423 + ], + "orientation": [ + 0.40967050194740295, + 0.9103320240974426, + -0.05858376622200012, + 0.005810800474137068 + ], + "joints": [ + 0.004587576724588871 + ] + }, + "final_grasp": { + "position": [ + 0.015424506738781929, + 0.0929790586233139, + -0.0932203084230423 + ], + "orientation": [ + 0.40967050194740295, + 0.9103320240974426, + -0.05858376622200012, + 0.005810800474137068 + ], + "joints": [ + 0.00992814265191555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11256051063537598, + 0.0693783313035965, + 0.03538297489285469 + ], + "orientation": [ + 0.15709775686264038, + -0.8324432969093323, + -0.5249893069267273, + -0.08212639391422272 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.11412002146244049, + 0.06998032331466675, + 0.035127803683280945 + ], + "orientation": [ + 0.16074037551879883, + -0.8313385248184204, + -0.5242837071418762, + -0.09036240726709366 + ], + "joints": [ + -0.0036457013338804245 + ] + }, + "final_grasp": { + "position": [ + -0.11412002146244049, + 0.06998032331466675, + 0.035127803683280945 + ], + "orientation": [ + 0.16074037551879883, + -0.8313385248184204, + -0.5242837071418762, + -0.09036240726709366 + ], + "joints": [ + 0.0038470327854156494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11792733520269394, + 0.009778957813978195, + 0.008705707266926765 + ], + "orientation": [ + 0.07855910807847977, + 0.6550681591033936, + 0.7104482054710388, + -0.24490319192409515 + ], + "joints": [ + -0.0033354591578245163 + ] + }, + "fine_grasp": { + "position": [ + -0.11749915033578873, + 0.007154474034905434, + 0.0070486958138644695 + ], + "orientation": [ + 0.0830523893237114, + 0.6459779143333435, + 0.7146129608154297, + -0.25523141026496887 + ], + "joints": [ + 0.0014471379108726978 + ] + }, + "final_grasp": { + "position": [ + -0.11749915033578873, + 0.007154474034905434, + 0.0070486958138644695 + ], + "orientation": [ + 0.0830523893237114, + 0.6459779143333435, + 0.7146129608154297, + -0.25523141026496887 + ], + "joints": [ + 0.006229734979569912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11099694669246674, + 0.06304904818534851, + 0.020115768536925316 + ], + "orientation": [ + 0.1387978047132492, + -0.8106924295425415, + -0.5374413132667542, + -0.18619807064533234 + ], + "joints": [ + -0.01163892075419426 + ] + }, + "fine_grasp": { + "position": [ + -0.11577450484037399, + 0.0634327307343483, + 0.0206915196031332 + ], + "orientation": [ + 0.12254602462053299, + -0.8130331635475159, + -0.5392024517059326, + -0.18226464092731476 + ], + "joints": [ + -0.006324924528598785 + ] + }, + "final_grasp": { + "position": [ + -0.11577450484037399, + 0.0634327307343483, + 0.0206915196031332 + ], + "orientation": [ + 0.12254602462053299, + -0.8130331635475159, + -0.5392024517059326, + -0.18226464092731476 + ], + "joints": [ + -0.0010109283030033112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10033436119556427, + 0.07384517788887024, + -0.007125406060367823 + ], + "orientation": [ + 0.5194207429885864, + 0.13920444250106812, + -0.01959989219903946, + -0.8428759574890137 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.10219944268465042, + 0.0741920992732048, + -0.006854403298348188 + ], + "orientation": [ + 0.5174657702445984, + 0.1390155553817749, + -0.021702999249100685, + -0.8440573811531067 + ], + "joints": [ + -0.004032918252050877 + ] + }, + "final_grasp": { + "position": [ + -0.10219944268465042, + 0.0741920992732048, + -0.006854403298348188 + ], + "orientation": [ + 0.5174657702445984, + 0.1390155553817749, + -0.021702999249100685, + -0.8440573811531067 + ], + "joints": [ + 0.0007762480527162552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12143419682979584, + 0.025715971365571022, + 0.022989654913544655 + ], + "orientation": [ + 0.04469281807541847, + 0.7016409039497375, + -0.6834261417388916, + 0.19654861092567444 + ], + "joints": [ + -0.0076399678364396095 + ] + }, + "fine_grasp": { + "position": [ + 0.12567256391048431, + 0.025916019454598427, + 0.022803135216236115 + ], + "orientation": [ + 0.03378957509994507, + 0.7042903900146484, + -0.6816931366920471, + 0.1952633559703827 + ], + "joints": [ + -0.0023259716108441353 + ] + }, + "final_grasp": { + "position": [ + 0.12567256391048431, + 0.025916019454598427, + 0.022803135216236115 + ], + "orientation": [ + 0.03378957509994507, + 0.7042903900146484, + -0.6816931366920471, + 0.1952633559703827 + ], + "joints": [ + 0.002988024614751339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11551691591739655, + 0.04500455781817436, + 0.06011567637324333 + ], + "orientation": [ + 0.5831813216209412, + 0.014676012098789215, + 0.2541399300098419, + -0.7714253664016724 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.11464536935091019, + 0.045048121362924576, + 0.05939950421452522 + ], + "orientation": [ + 0.5787085890769958, + 0.021579980850219727, + 0.2613866925239563, + -0.772209644317627 + ], + "joints": [ + -0.004206541925668716 + ] + }, + "final_grasp": { + "position": [ + -0.11464536935091019, + 0.045048121362924576, + 0.05939950421452522 + ], + "orientation": [ + 0.5787085890769958, + 0.021579980850219727, + 0.2613866925239563, + -0.772209644317627 + ], + "joints": [ + 0.00275479257106781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11882003396749496, + 0.02003171294927597, + -0.002067290712147951 + ], + "orientation": [ + 0.07107625156641006, + -0.6854037046432495, + 0.7096563577651978, + 0.14682546257972717 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.12032866477966309, + 0.019223429262638092, + 0.00011398059723433107 + ], + "orientation": [ + 0.062139444053173065, + -0.684812068939209, + 0.7100425958633423, + 0.1516929417848587 + ], + "joints": [ + -0.0046805329620838165 + ] + }, + "final_grasp": { + "position": [ + 0.12032866477966309, + 0.019223429262638092, + 0.00011398059723433107 + ], + "orientation": [ + 0.062139444053173065, + -0.684812068939209, + 0.7100425958633423, + 0.1516929417848587 + ], + "joints": [ + 0.0012180022895336151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00868679117411375, + 0.015844425186514854, + -0.14030320942401886 + ], + "orientation": [ + 0.4647118151187897, + 0.4808216094970703, + 0.5520787835121155, + 0.4980587363243103 + ], + "joints": [ + -0.008540069684386253 + ] + }, + "fine_grasp": { + "position": [ + -0.009070929139852524, + 0.016765795648097992, + -0.13618946075439453 + ], + "orientation": [ + 0.4668734669685364, + 0.4765744209289551, + 0.5503959059715271, + 0.5019665956497192 + ], + "joints": [ + -0.0037043336778879166 + ] + }, + "final_grasp": { + "position": [ + -0.009070929139852524, + 0.016765795648097992, + -0.13618946075439453 + ], + "orientation": [ + 0.4668734669685364, + 0.4765744209289551, + 0.5503959059715271, + 0.5019665956497192 + ], + "joints": [ + 0.0011314023286104202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013450332917273045, + 0.0951145589351654, + -0.09756117314100266 + ], + "orientation": [ + 0.4138015806674957, + 0.9089248776435852, + -0.05097192898392677, + 0.005068163387477398 + ], + "joints": [ + -0.001149434712715447 + ] + }, + "fine_grasp": { + "position": [ + 0.012647961266338825, + 0.09138672798871994, + -0.09323868155479431 + ], + "orientation": [ + 0.4156566262245178, + 0.9081727862358093, + -0.04947676509618759, + 0.0019565760158002377 + ], + "joints": [ + 0.004695961717516184 + ] + }, + "final_grasp": { + "position": [ + 0.012647961266338825, + 0.09138672798871994, + -0.09323868155479431 + ], + "orientation": [ + 0.4156566262245178, + 0.9081727862358093, + -0.04947676509618759, + 0.0019565760158002377 + ], + "joints": [ + 0.010541358031332493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12178050726652145, + 0.026396695524454117, + 0.023067224770784378 + ], + "orientation": [ + 0.0484871082007885, + 0.7035276293754578, + -0.6816041469573975, + 0.19522736966609955 + ], + "joints": [ + -0.007633260916918516 + ] + }, + "fine_grasp": { + "position": [ + 0.12615036964416504, + 0.02659364603459835, + 0.02318759076297283 + ], + "orientation": [ + 0.040495846420526505, + 0.7057474255561829, + -0.6807217001914978, + 0.19209018349647522 + ], + "joints": [ + -0.0028240946121513844 + ] + }, + "final_grasp": { + "position": [ + 0.12615036964416504, + 0.02659364603459835, + 0.02318759076297283 + ], + "orientation": [ + 0.040495846420526505, + 0.7057474255561829, + -0.6807217001914978, + 0.19209018349647522 + ], + "joints": [ + 0.0019850716926157475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015066302381455898, + 0.026702018454670906, + -0.13793058693408966 + ], + "orientation": [ + 0.1257004588842392, + 0.07263848185539246, + 0.6598408222198486, + 0.7372469305992126 + ], + "joints": [ + 0.0006481590680778027 + ] + }, + "fine_grasp": { + "position": [ + 0.01417551189661026, + 0.025264684110879898, + -0.1336289942264557 + ], + "orientation": [ + 0.12174659967422485, + 0.07108109444379807, + 0.6541891694068909, + 0.7430760264396667 + ], + "joints": [ + 0.004979065619409084 + ] + }, + "final_grasp": { + "position": [ + 0.01417551189661026, + 0.025264684110879898, + -0.1336289942264557 + ], + "orientation": [ + 0.12174659967422485, + 0.07108109444379807, + 0.6541891694068909, + 0.7430760264396667 + ], + "joints": [ + 0.009309971705079079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013716460205614567, + 0.09546182304620743, + -0.0974530279636383 + ], + "orientation": [ + 0.42082589864730835, + 0.9057860374450684, + -0.048056431114673615, + 0.012159701436758041 + ], + "joints": [ + -0.001014384557493031 + ] + }, + "fine_grasp": { + "position": [ + 0.012906496413052082, + 0.09152982383966446, + -0.09329886734485626 + ], + "orientation": [ + 0.41691628098487854, + 0.9076836109161377, + -0.04666886851191521, + 0.010637830011546612 + ], + "joints": [ + 0.004326181951910257 + ] + }, + "final_grasp": { + "position": [ + 0.012906496413052082, + 0.09152982383966446, + -0.09329886734485626 + ], + "orientation": [ + 0.41691628098487854, + 0.9076836109161377, + -0.04666886851191521, + 0.010637830011546612 + ], + "joints": [ + 0.009666748344898224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013037183322012424, + 0.011697843670845032, + -0.1379675418138504 + ], + "orientation": [ + 0.7062683701515198, + 0.6947686672210693, + -0.12039914727210999, + -0.06313174962997437 + ], + "joints": [ + 0.00046141844359226525 + ] + }, + "fine_grasp": { + "position": [ + 0.012326964177191257, + 0.011095278896391392, + -0.13248001039028168 + ], + "orientation": [ + 0.700664758682251, + 0.7005555629730225, + -0.11843737214803696, + -0.06529638916254044 + ], + "joints": [ + 0.005828554276376963 + ] + }, + "final_grasp": { + "position": [ + 0.012326964177191257, + 0.011095278896391392, + -0.13248001039028168 + ], + "orientation": [ + 0.700664758682251, + 0.7005555629730225, + -0.11843737214803696, + -0.06529638916254044 + ], + "joints": [ + 0.011195690371096134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012752994894981384, + 0.012063796631991863, + -0.13692274689674377 + ], + "orientation": [ + 0.7108650803565979, + 0.6905555725097656, + -0.11841073632240295, + -0.06150359287858009 + ], + "joints": [ + 0.0009066072525456548 + ] + }, + "fine_grasp": { + "position": [ + 0.012066153809428215, + 0.011213690973818302, + -0.1315113753080368 + ], + "orientation": [ + 0.7025846838951111, + 0.6990253329277039, + -0.11716949939727783, + -0.06332237273454666 + ], + "joints": [ + 0.005795483477413654 + ] + }, + "final_grasp": { + "position": [ + 0.012066153809428215, + 0.011213690973818302, + -0.1315113753080368 + ], + "orientation": [ + 0.7025846838951111, + 0.6990253329277039, + -0.11716949939727783, + -0.06332237273454666 + ], + "joints": [ + 0.010684359818696976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11093050241470337, + 0.03889927640557289, + 0.06787826865911484 + ], + "orientation": [ + 0.07350637763738632, + -0.7114112377166748, + 0.6518117189407349, + -0.2522541880607605 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.1132780909538269, + 0.04068854823708534, + 0.06744477152824402 + ], + "orientation": [ + 0.07360260933637619, + -0.7164839506149292, + 0.6450594067573547, + -0.2552092373371124 + ], + "joints": [ + -0.005209061317145824 + ] + }, + "final_grasp": { + "position": [ + 0.1132780909538269, + 0.04068854823708534, + 0.06744477152824402 + ], + "orientation": [ + 0.07360260933637619, + -0.7164839506149292, + 0.6450594067573547, + -0.2552092373371124 + ], + "joints": [ + 0.0001315046101808548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022077517583966255, + 0.020679717883467674, + -0.13917793333530426 + ], + "orientation": [ + 0.14717712998390198, + 0.050519876182079315, + -0.6728237867355347, + -0.7232530117034912 + ], + "joints": [ + -0.0007426596712321043 + ] + }, + "fine_grasp": { + "position": [ + -0.0213447418063879, + 0.019357547163963318, + -0.13622123003005981 + ], + "orientation": [ + 0.14990189671516418, + 0.0559048056602478, + -0.6610718965530396, + -0.7330674529075623 + ], + "joints": [ + 0.0040930770337581635 + ] + }, + "final_grasp": { + "position": [ + -0.0213447418063879, + 0.019357547163963318, + -0.13622123003005981 + ], + "orientation": [ + 0.14990189671516418, + 0.0559048056602478, + -0.6610718965530396, + -0.7330674529075623 + ], + "joints": [ + 0.008928813971579075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08695001155138016, + 0.05906468257308006, + -0.08856575191020966 + ], + "orientation": [ + 0.5148813128471375, + 0.1540876179933548, + -0.22286474704742432, + -0.813317596912384 + ], + "joints": [ + -0.0035412590950727463 + ] + }, + "fine_grasp": { + "position": [ + -0.09104525297880173, + 0.06116457283496857, + -0.0914500430226326 + ], + "orientation": [ + 0.5158791542053223, + 0.16161274909973145, + -0.2263512909412384, + -0.81025630235672 + ], + "joints": [ + 0.0023572766222059727 + ] + }, + "final_grasp": { + "position": [ + -0.09104525297880173, + 0.06116457283496857, + -0.0914500430226326 + ], + "orientation": [ + 0.5158791542053223, + 0.16161274909973145, + -0.2263512909412384, + -0.81025630235672 + ], + "joints": [ + 0.008255812339484692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010982933454215527, + -0.11989466100931168, + -0.049471523612737656 + ], + "orientation": [ + 0.9912181496620178, + 0.05708077549934387, + 0.11535552889108658, + -0.03035736456513405 + ], + "joints": [ + 0.0020829897839576006 + ] + }, + "fine_grasp": { + "position": [ + -0.011509664356708527, + -0.12098273634910583, + -0.04769343510270119 + ], + "orientation": [ + 0.988373339176178, + 0.06180133298039436, + 0.13528656959533691, + -0.03156689926981926 + ], + "joints": [ + 0.00851292721927166 + ] + }, + "final_grasp": { + "position": [ + -0.011509664356708527, + -0.12098273634910583, + -0.04769343510270119 + ], + "orientation": [ + 0.988373339176178, + 0.06180133298039436, + 0.13528656959533691, + -0.03156689926981926 + ], + "joints": [ + 0.014942864887416363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005757791455835104, + 0.08764420449733734, + 0.12022668123245239 + ], + "orientation": [ + 0.01047215424478054, + 0.02701670117676258, + -0.5032269358634949, + 0.8636683821678162 + ], + "joints": [ + 0.005281794350594282 + ] + }, + "fine_grasp": { + "position": [ + 0.006410748232156038, + 0.08708428591489792, + 0.12032162398099899 + ], + "orientation": [ + 0.011158506385982037, + 0.03094523958861828, + -0.49805137515068054, + 0.866523265838623 + ], + "joints": [ + 0.01123347319662571 + ] + }, + "final_grasp": { + "position": [ + 0.006410748232156038, + 0.08708428591489792, + 0.12032162398099899 + ], + "orientation": [ + 0.011158506385982037, + 0.03094523958861828, + -0.49805137515068054, + 0.866523265838623 + ], + "joints": [ + 0.01718515157699585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03204968199133873, + -0.10259464383125305, + 0.042656365782022476 + ], + "orientation": [ + 0.06584976613521576, + -0.1456219106912613, + -0.9728913903236389, + 0.16715432703495026 + ], + "joints": [ + 0.00015105505008250475 + ] + }, + "fine_grasp": { + "position": [ + -0.03211257606744766, + -0.09979354590177536, + 0.042976975440979004 + ], + "orientation": [ + 0.07473991066217422, + -0.15088236331939697, + -0.9714579582214355, + 0.167086660861969 + ], + "joints": [ + 0.005039930809289217 + ] + }, + "final_grasp": { + "position": [ + -0.03211257606744766, + -0.09979354590177536, + 0.042976975440979004 + ], + "orientation": [ + 0.07473991066217422, + -0.15088236331939697, + -0.9714579582214355, + 0.167086660861969 + ], + "joints": [ + 0.009928806684911251 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00780917564406991, + -0.11850979179143906, + -0.0215277299284935 + ], + "orientation": [ + 0.9952632784843445, + 0.06063290312886238, + -0.06655128300189972, + -0.03668294474482536 + ], + "joints": [ + 0.0015840737614780664 + ] + }, + "fine_grasp": { + "position": [ + -0.007603062782436609, + -0.11743174493312836, + -0.021316619589924812 + ], + "orientation": [ + 0.9925675392150879, + 0.06174615025520325, + -0.09758204221725464, + -0.0384037047624588 + ], + "joints": [ + 0.007482610642910004 + ] + }, + "final_grasp": { + "position": [ + -0.007603062782436609, + -0.11743174493312836, + -0.021316619589924812 + ], + "orientation": [ + 0.9925675392150879, + 0.06174615025520325, + -0.09758204221725464, + -0.0384037047624588 + ], + "joints": [ + 0.013381147757172585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12123006582260132, + 0.014018166810274124, + 0.0012703826650977135 + ], + "orientation": [ + 0.07625333219766617, + 0.6780886650085449, + -0.6953697800636292, + 0.22548207640647888 + ], + "joints": [ + -0.0018162974156439304 + ] + }, + "fine_grasp": { + "position": [ + 0.11814960092306137, + 0.012987205758690834, + 0.0010104305110871792 + ], + "orientation": [ + 0.06821252405643463, + 0.6788352131843567, + -0.6949107646942139, + 0.22721979022026062 + ], + "joints": [ + 0.0040025291964411736 + ] + }, + "final_grasp": { + "position": [ + 0.11814960092306137, + 0.012987205758690834, + 0.0010104305110871792 + ], + "orientation": [ + 0.06821252405643463, + 0.6788352131843567, + -0.6949107646942139, + 0.22721979022026062 + ], + "joints": [ + 0.00982135534286499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11688282340765, + 0.013110619969666004, + 0.006473787594586611 + ], + "orientation": [ + 0.7250359654426575, + 0.1362338662147522, + 0.09507350623607635, + -0.6683743000030518 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.11848746240139008, + 0.012213611043989658, + 0.006131837610155344 + ], + "orientation": [ + 0.722675085067749, + 0.13938115537166595, + 0.1004335880279541, + -0.6694973707199097 + ], + "joints": [ + -0.004679135046899319 + ] + }, + "final_grasp": { + "position": [ + -0.11848746240139008, + 0.012213611043989658, + 0.006131837610155344 + ], + "orientation": [ + 0.722675085067749, + 0.13938115537166595, + 0.1004335880279541, + -0.6694973707199097 + ], + "joints": [ + 0.0006614308804273605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1201222687959671, + 0.002539867302402854, + -0.033965062350034714 + ], + "orientation": [ + 0.21947170794010162, + 0.6690270900726318, + -0.6930676102638245, + 0.15457120537757874 + ], + "joints": [ + -0.002655134769156575 + ] + }, + "fine_grasp": { + "position": [ + 0.12033241987228394, + 0.0012461766600608826, + -0.03401882201433182 + ], + "orientation": [ + 0.2241387516260147, + 0.6679895520210266, + -0.69093257188797, + 0.16175298392772675 + ], + "joints": [ + 0.003695091465488076 + ] + }, + "final_grasp": { + "position": [ + 0.12033241987228394, + 0.0012461766600608826, + -0.03401882201433182 + ], + "orientation": [ + 0.2241387516260147, + 0.6679895520210266, + -0.69093257188797, + 0.16175298392772675 + ], + "joints": [ + 0.010045317932963371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023113438859581947, + 0.022870657965540886, + -0.14108452200889587 + ], + "orientation": [ + 0.15203812718391418, + 0.04974048584699631, + -0.6748957633972168, + -0.7203652858734131 + ], + "joints": [ + 0.0005465209251269698 + ] + }, + "fine_grasp": { + "position": [ + -0.023072898387908936, + 0.02035869099199772, + -0.13783615827560425 + ], + "orientation": [ + 0.14777858555316925, + 0.04474660009145737, + -0.6655694246292114, + -0.730189323425293 + ], + "joints": [ + 0.004877427127212286 + ] + }, + "final_grasp": { + "position": [ + -0.023072898387908936, + 0.02035869099199772, + -0.13783615827560425 + ], + "orientation": [ + 0.14777858555316925, + 0.04474660009145737, + -0.6655694246292114, + -0.730189323425293 + ], + "joints": [ + 0.009208333678543568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03024403192102909, + 0.14084750413894653, + -0.06373153626918793 + ], + "orientation": [ + 0.09497342258691788, + -0.054226890206336975, + -0.2044968158006668, + -0.9727387428283691 + ], + "joints": [ + 0.002607210073620081 + ] + }, + "fine_grasp": { + "position": [ + -0.030002715066075325, + 0.13821819424629211, + -0.06280580163002014 + ], + "orientation": [ + 0.08824887871742249, + -0.06568294018507004, + -0.20501446723937988, + -0.9725568294525146 + ], + "joints": [ + 0.0074163768440485 + ] + }, + "final_grasp": { + "position": [ + -0.030002715066075325, + 0.13821819424629211, + -0.06280580163002014 + ], + "orientation": [ + 0.08824887871742249, + -0.06568294018507004, + -0.20501446723937988, + -0.9725568294525146 + ], + "joints": [ + 0.012225544080138206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1100720465183258, + 0.0704336166381836, + 0.016200745478272438 + ], + "orientation": [ + 0.5034521818161011, + -0.2872536778450012, + -0.19668243825435638, + -0.7907826900482178 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.11202448606491089, + 0.07068975269794464, + 0.016674431040883064 + ], + "orientation": [ + 0.506344735622406, + -0.2959558963775635, + -0.2013682723045349, + -0.7845228314399719 + ], + "joints": [ + -0.010034340433776379 + ] + }, + "final_grasp": { + "position": [ + -0.11202448606491089, + 0.07068975269794464, + 0.016674431040883064 + ], + "orientation": [ + 0.506344735622406, + -0.2959558963775635, + -0.2013682723045349, + -0.7845228314399719 + ], + "joints": [ + -0.003630971536040306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10719875991344452, + 0.033186182379722595, + 0.05585525557398796 + ], + "orientation": [ + 0.1833072155714035, + 0.6089980006217957, + 0.6502537727355957, + -0.4155597984790802 + ], + "joints": [ + -0.01767420768737793 + ] + }, + "fine_grasp": { + "position": [ + -0.1085125058889389, + 0.03294472023844719, + 0.05608571320772171 + ], + "orientation": [ + 0.18135714530944824, + 0.6089850068092346, + 0.6513198614120483, + -0.41476401686668396 + ], + "joints": [ + -0.011722522787749767 + ] + }, + "final_grasp": { + "position": [ + -0.1085125058889389, + 0.03294472023844719, + 0.05608571320772171 + ], + "orientation": [ + 0.18135714530944824, + 0.6089850068092346, + 0.6513198614120483, + -0.41476401686668396 + ], + "joints": [ + -0.005770837888121605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019701248034834862, + -0.10328725725412369, + 0.03103434480726719 + ], + "orientation": [ + 0.0721040889620781, + -0.09149359166622162, + -0.9930939674377441, + -0.013937488198280334 + ], + "joints": [ + 0.0008812476880848408 + ] + }, + "fine_grasp": { + "position": [ + -0.019171571359038353, + -0.10707329213619232, + 0.02993033453822136 + ], + "orientation": [ + 0.08396369218826294, + -0.09211240708827972, + -0.9920973777770996, + -0.014430602081120014 + ], + "joints": [ + 0.005716983694583178 + ] + }, + "final_grasp": { + "position": [ + -0.019171571359038353, + -0.10707329213619232, + 0.02993033453822136 + ], + "orientation": [ + 0.08396369218826294, + -0.09211240708827972, + -0.9920973777770996, + -0.014430602081120014 + ], + "joints": [ + 0.010552719235420227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01137121208012104, + -0.10441942512989044, + 0.002464018762111664 + ], + "orientation": [ + 0.996478796005249, + -0.034589312970638275, + 0.05819783732295036, + 0.0494636669754982 + ], + "joints": [ + 0.00105723412707448 + ] + }, + "fine_grasp": { + "position": [ + 0.011337208561599255, + -0.10678904503583908, + 0.002713430905714631 + ], + "orientation": [ + 0.9952347874641418, + -0.03504448011517525, + 0.07527198642492294, + 0.051126137375831604 + ], + "joints": [ + 0.006929200142621994 + ] + }, + "final_grasp": { + "position": [ + 0.011337208561599255, + -0.10678904503583908, + 0.002713430905714631 + ], + "orientation": [ + 0.9952347874641418, + -0.03504448011517525, + 0.07527198642492294, + 0.051126137375831604 + ], + "joints": [ + 0.012801166623830795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11958827078342438, + 0.05075523629784584, + 1.4311408449430019e-05 + ], + "orientation": [ + 0.035642243921756744, + -0.7851645946502686, + 0.6179892420768738, + 0.018314896151423454 + ], + "joints": [ + -0.008194394409656525 + ] + }, + "fine_grasp": { + "position": [ + 0.12029861658811569, + 0.05131503567099571, + 0.0011716753942891955 + ], + "orientation": [ + 0.05427560582756996, + -0.7842788696289062, + 0.6163761019706726, + 0.04518045485019684 + ], + "joints": [ + -0.002322428859770298 + ] + }, + "final_grasp": { + "position": [ + 0.12029861658811569, + 0.05131503567099571, + 0.0011716753942891955 + ], + "orientation": [ + 0.05427560582756996, + -0.7842788696289062, + 0.6163761019706726, + 0.04518045485019684 + ], + "joints": [ + 0.0035495366901159286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11970745027065277, + 0.050805989652872086, + 9.780811524251476e-05 + ], + "orientation": [ + 0.035868145525455475, + -0.7851712703704834, + 0.6179487705230713, + 0.018941354006528854 + ], + "joints": [ + -0.008194394409656525 + ] + }, + "fine_grasp": { + "position": [ + 0.12029831111431122, + 0.051292743533849716, + 0.0012845818419009447 + ], + "orientation": [ + 0.0549701489508152, + -0.7842884063720703, + 0.6162189245223999, + 0.04630586504936218 + ], + "joints": [ + -0.002322428859770298 + ] + }, + "final_grasp": { + "position": [ + 0.12029831111431122, + 0.051292743533849716, + 0.0012845818419009447 + ], + "orientation": [ + 0.0549701489508152, + -0.7842884063720703, + 0.6162189245223999, + 0.04630586504936218 + ], + "joints": [ + 0.0035495366901159286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027922019362449646, + 0.11087244004011154, + -0.07465215772390366 + ], + "orientation": [ + 0.14072567224502563, + 0.08351784199476242, + 0.2391076385974884, + 0.9571042656898499 + ], + "joints": [ + 0.000780911766923964 + ] + }, + "fine_grasp": { + "position": [ + 0.02747257985174656, + 0.10954486578702927, + -0.07141996920108795 + ], + "orientation": [ + 0.14250683784484863, + 0.08820095658302307, + 0.24040229618549347, + 0.956095814704895 + ], + "joints": [ + 0.007184276822954416 + ] + }, + "final_grasp": { + "position": [ + 0.02747257985174656, + 0.10954486578702927, + -0.07141996920108795 + ], + "orientation": [ + 0.14250683784484863, + 0.08820095658302307, + 0.24040229618549347, + 0.956095814704895 + ], + "joints": [ + 0.013587641529738903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011370456777513027, + -0.1048053652048111, + 0.00295392912812531 + ], + "orientation": [ + 0.9964743256568909, + -0.03115324303507805, + 0.06025299057364464, + 0.04937571659684181 + ], + "joints": [ + 0.001124116824939847 + ] + }, + "fine_grasp": { + "position": [ + 0.011238714680075645, + -0.10664015263319016, + 0.003061870811507106 + ], + "orientation": [ + 0.9951615333557129, + -0.031583476811647415, + 0.07766027748584747, + 0.05123506858944893 + ], + "joints": [ + 0.006996083073318005 + ] + }, + "final_grasp": { + "position": [ + 0.011238714680075645, + -0.10664015263319016, + 0.003061870811507106 + ], + "orientation": [ + 0.9951615333557129, + -0.031583476811647415, + 0.07766027748584747, + 0.05123506858944893 + ], + "joints": [ + 0.012868049554526806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01927054114639759, + -0.11914720386266708, + 0.010131198912858963 + ], + "orientation": [ + 0.9945922493934631, + -0.031253669410943985, + -0.05895527824759483, + 0.07958467304706573 + ], + "joints": [ + 0.0016735726967453957 + ] + }, + "fine_grasp": { + "position": [ + 0.01885644905269146, + -0.1176319345831871, + 0.009860151447355747 + ], + "orientation": [ + 0.9921937584877014, + -0.028024375438690186, + -0.09289208799600601, + 0.07834096997976303 + ], + "joints": [ + 0.007572109345346689 + ] + }, + "final_grasp": { + "position": [ + 0.01885644905269146, + -0.1176319345831871, + 0.009860151447355747 + ], + "orientation": [ + 0.9921937584877014, + -0.028024375438690186, + -0.09289208799600601, + 0.07834096997976303 + ], + "joints": [ + 0.013470645993947983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0449371263384819, + 0.1279204934835434, + 0.0422317236661911 + ], + "orientation": [ + 0.1836726814508438, + -0.03192723169922829, + 0.09506195038557053, + -0.9778590202331543 + ], + "joints": [ + -0.002482953481376171 + ] + }, + "fine_grasp": { + "position": [ + -0.04773127660155296, + 0.1253020167350769, + 0.041657011955976486 + ], + "orientation": [ + 0.20165741443634033, + -0.043709758669137955, + 0.10054498165845871, + -0.9733007550239563 + ], + "joints": [ + 0.0038938424549996853 + ] + }, + "final_grasp": { + "position": [ + -0.04773127660155296, + 0.1253020167350769, + 0.041657011955976486 + ], + "orientation": [ + 0.20165741443634033, + -0.043709758669137955, + 0.10054498165845871, + -0.9733007550239563 + ], + "joints": [ + 0.010270638391375542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018897859379649162, + -0.1037050113081932, + 0.030437516048550606 + ], + "orientation": [ + 0.07258079946041107, + -0.0865926668047905, + -0.9935362935066223, + -0.010925030335783958 + ], + "joints": [ + 0.0005107127362862229 + ] + }, + "fine_grasp": { + "position": [ + -0.01798759028315544, + -0.10657400637865067, + 0.029204370453953743 + ], + "orientation": [ + 0.08741387724876404, + -0.08595745265483856, + -0.9923849105834961, + -0.011929715983569622 + ], + "joints": [ + 0.005877848714590073 + ] + }, + "final_grasp": { + "position": [ + -0.01798759028315544, + -0.10657400637865067, + 0.029204370453953743 + ], + "orientation": [ + 0.08741387724876404, + -0.08595745265483856, + -0.9923849105834961, + -0.011929715983569622 + ], + "joints": [ + 0.011244984343647957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009255134500563145, + -0.11423265188932419, + -0.06704795360565186 + ], + "orientation": [ + 0.9811151027679443, + 0.14385353028774261, + -0.11582991480827332, + -0.05746909976005554 + ], + "joints": [ + 0.002119366778060794 + ] + }, + "fine_grasp": { + "position": [ + -0.008030527271330357, + -0.11541306972503662, + -0.06599690765142441 + ], + "orientation": [ + 0.9803640246391296, + 0.1454172432422638, + -0.12196588516235352, + -0.05352192372083664 + ], + "joints": [ + 0.009054132737219334 + ] + }, + "final_grasp": { + "position": [ + -0.008030527271330357, + -0.11541306972503662, + -0.06599690765142441 + ], + "orientation": [ + 0.9803640246391296, + 0.1454172432422638, + -0.12196588516235352, + -0.05352192372083664 + ], + "joints": [ + 0.015988899394869804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015477171167731285, + -0.1192578375339508, + -0.012989138253033161 + ], + "orientation": [ + 0.07765159755945206, + -0.060035597532987595, + 0.9949139356613159, + 0.022629717364907265 + ], + "joints": [ + 0.0014395960606634617 + ] + }, + "fine_grasp": { + "position": [ + 0.015856636688113213, + -0.11747808009386063, + -0.012770923785865307 + ], + "orientation": [ + 0.10377764701843262, + -0.06151088699698448, + 0.992384672164917, + 0.024885760620236397 + ], + "joints": [ + 0.007364703342318535 + ] + }, + "final_grasp": { + "position": [ + 0.015856636688113213, + -0.11747808009386063, + -0.012770923785865307 + ], + "orientation": [ + 0.10377764701843262, + -0.06151088699698448, + 0.992384672164917, + 0.024885760620236397 + ], + "joints": [ + 0.013289811089634895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018746212124824524, + -0.10385972261428833, + 0.030294617637991905 + ], + "orientation": [ + 0.07654564082622528, + -0.08586255460977554, + -0.9933238625526428, + -0.008715950883924961 + ], + "joints": [ + 0.0006256416672840714 + ] + }, + "fine_grasp": { + "position": [ + -0.01790948584675789, + -0.10534446686506271, + 0.028666416183114052 + ], + "orientation": [ + 0.09395038336515427, + -0.08530447632074356, + -0.9918428063392639, + -0.01201492641121149 + ], + "joints": [ + 0.005992777645587921 + ] + }, + "final_grasp": { + "position": [ + -0.01790948584675789, + -0.10534446686506271, + 0.028666416183114052 + ], + "orientation": [ + 0.09395038336515427, + -0.08530447632074356, + -0.9918428063392639, + -0.01201492641121149 + ], + "joints": [ + 0.011359913274645805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024027543142437935, + 0.12068860232830048, + -0.07426033914089203 + ], + "orientation": [ + 0.0801950991153717, + -0.06456198543310165, + -0.20764949917793274, + -0.9727702736854553 + ], + "joints": [ + 0.00030614269780926406 + ] + }, + "fine_grasp": { + "position": [ + -0.023187005892395973, + 0.11568041145801544, + -0.07136182487010956 + ], + "orientation": [ + 0.0789400041103363, + -0.07123817503452301, + -0.22225278615951538, + -0.9691734910011292 + ], + "joints": [ + 0.007719167973846197 + ] + }, + "final_grasp": { + "position": [ + -0.023187005892395973, + 0.11568041145801544, + -0.07136182487010956 + ], + "orientation": [ + 0.0789400041103363, + -0.07123817503452301, + -0.22225278615951538, + -0.9691734910011292 + ], + "joints": [ + 0.015132193453609943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0020777510944753885, + -0.10165530443191528, + 0.07033950835466385 + ], + "orientation": [ + 0.9617713093757629, + -0.26799866557121277, + -0.05613631755113602, + 0.004632764495909214 + ], + "joints": [ + 0.0008728525135666132 + ] + }, + "fine_grasp": { + "position": [ + -0.0034834006801247597, + -0.10302222520112991, + 0.06892672926187515 + ], + "orientation": [ + 0.9609147906303406, + -0.2643173933029175, + -0.0823015570640564, + 0.0023378680925816298 + ], + "joints": [ + 0.005682019051164389 + ] + }, + "final_grasp": { + "position": [ + -0.0034834006801247597, + -0.10302222520112991, + 0.06892672926187515 + ], + "orientation": [ + 0.9609147906303406, + -0.2643173933029175, + -0.0823015570640564, + 0.0023378680925816298 + ], + "joints": [ + 0.010491185821592808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039184559136629105, + 0.09544075280427933, + 0.10666526854038239 + ], + "orientation": [ + 0.14635170996189117, + 0.013677927665412426, + -0.4096224904060364, + 0.9003351926803589 + ], + "joints": [ + -0.0011288141831755638 + ] + }, + "fine_grasp": { + "position": [ + 0.03885118290781975, + 0.09274087101221085, + 0.10647248476743698 + ], + "orientation": [ + 0.15063045918941498, + 0.010043122805655003, + -0.3929928243160248, + 0.90706467628479 + ], + "joints": [ + 0.004716582130640745 + ] + }, + "final_grasp": { + "position": [ + 0.03885118290781975, + 0.09274087101221085, + 0.10647248476743698 + ], + "orientation": [ + 0.15063045918941498, + 0.010043122805655003, + -0.3929928243160248, + 0.90706467628479 + ], + "joints": [ + 0.010561978444457054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019507747143507004, + -0.10448421537876129, + -0.005148136522620916 + ], + "orientation": [ + 0.06972196698188782, + -0.0841207355260849, + 0.9939089417457581, + 0.014404784888029099 + ], + "joints": [ + -0.0003220630169380456 + ] + }, + "fine_grasp": { + "position": [ + 0.020625799894332886, + -0.1104191243648529, + -0.005121887195855379 + ], + "orientation": [ + 0.07825984060764313, + -0.0839797705411911, + 0.9932651519775391, + 0.01572437770664692 + ], + "joints": [ + 0.006559562869369984 + ] + }, + "final_grasp": { + "position": [ + 0.020625799894332886, + -0.1104191243648529, + -0.005121887195855379 + ], + "orientation": [ + 0.07825984060764313, + -0.0839797705411911, + 0.9932651519775391, + 0.01572437770664692 + ], + "joints": [ + 0.01344118919223547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018381498754024506, + 0.12183963507413864, + 0.06529510766267776 + ], + "orientation": [ + 0.2301134467124939, + -0.9696237444877625, + 0.05681341886520386, + 0.06041189283132553 + ], + "joints": [ + -0.0008035984355956316 + ] + }, + "fine_grasp": { + "position": [ + 0.020028594881296158, + 0.11981017142534256, + 0.06257399916648865 + ], + "orientation": [ + 0.23594047129154205, + -0.9659338593482971, + 0.0573115274310112, + 0.08955034613609314 + ], + "joints": [ + 0.0055997674353420734 + ] + }, + "final_grasp": { + "position": [ + 0.020028594881296158, + 0.11981017142534256, + 0.06257399916648865 + ], + "orientation": [ + 0.23594047129154205, + -0.9659338593482971, + 0.0573115274310112, + 0.08955034613609314 + ], + "joints": [ + 0.012003133073449135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01712084747850895, + 0.021032150834798813, + -0.13460709154605865 + ], + "orientation": [ + 0.6854491233825684, + 0.7132011651992798, + 0.13328765332698822, + 0.06113904342055321 + ], + "joints": [ + 0.00013846566434949636 + ] + }, + "fine_grasp": { + "position": [ + -0.01731865666806698, + 0.019214577972888947, + -0.13062863051891327 + ], + "orientation": [ + 0.6801124215126038, + 0.7190988063812256, + 0.1312118023633957, + 0.05592401698231697 + ], + "joints": [ + 0.00550560187548399 + ] + }, + "final_grasp": { + "position": [ + -0.01731865666806698, + 0.019214577972888947, + -0.13062863051891327 + ], + "orientation": [ + 0.6801124215126038, + 0.7190988063812256, + 0.1312118023633957, + 0.05592401698231697 + ], + "joints": [ + 0.010872738435864449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01793539524078369, + -0.11455345898866653, + 0.03598535805940628 + ], + "orientation": [ + 0.985899806022644, + -0.11083890497684479, + -0.09367690235376358, + 0.08331304788589478 + ], + "joints": [ + 0.0005422659451141953 + ] + }, + "fine_grasp": { + "position": [ + 0.017229177057743073, + -0.1152418702840805, + 0.03577735275030136 + ], + "orientation": [ + 0.9828294515609741, + -0.10924438387155533, + -0.12422167509794235, + 0.08173691481351852 + ], + "joints": [ + 0.005989111959934235 + ] + }, + "final_grasp": { + "position": [ + 0.017229177057743073, + -0.1152418702840805, + 0.03577735275030136 + ], + "orientation": [ + 0.9828294515609741, + -0.10924438387155533, + -0.12422167509794235, + 0.08173691481351852 + ], + "joints": [ + 0.011435957625508308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013697352260351181, + 0.08379045128822327, + -0.11562410742044449 + ], + "orientation": [ + 0.12166975438594818, + 0.13648802042007446, + -0.44836652278900146, + -0.8749485611915588 + ], + "joints": [ + -0.001265540486201644 + ] + }, + "fine_grasp": { + "position": [ + -0.013722243718802929, + 0.08247692137956619, + -0.11398094147443771 + ], + "orientation": [ + 0.1301332265138626, + 0.150730699300766, + -0.44268131256103516, + -0.8742876052856445 + ], + "joints": [ + 0.004101595841348171 + ] + }, + "final_grasp": { + "position": [ + -0.013722243718802929, + 0.08247692137956619, + -0.11398094147443771 + ], + "orientation": [ + 0.1301332265138626, + 0.150730699300766, + -0.44268131256103516, + -0.8742876052856445 + ], + "joints": [ + 0.00946873240172863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0054407608695328236, + -0.11825723201036453, + 0.005368357058614492 + ], + "orientation": [ + 0.9958803057670593, + -0.04431372135877609, + -0.07655128091573715, + -0.01996891386806965 + ], + "joints": [ + 0.0016275602392852306 + ] + }, + "fine_grasp": { + "position": [ + -0.005401311907917261, + -0.11529611051082611, + 0.005131145939230919 + ], + "orientation": [ + 0.9921481013298035, + -0.04291289672255516, + -0.11560668796300888, + -0.020870378240942955 + ], + "joints": [ + 0.006516437046229839 + ] + }, + "final_grasp": { + "position": [ + -0.005401311907917261, + -0.11529611051082611, + 0.005131145939230919 + ], + "orientation": [ + 0.9921481013298035, + -0.04291289672255516, + -0.11560668796300888, + -0.020870378240942955 + ], + "joints": [ + 0.01140531338751316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027769021689891815, + 0.11137516796588898, + -0.07277227193117142 + ], + "orientation": [ + 0.1440010666847229, + 0.09894763678312302, + 0.24218681454658508, + 0.9543682336807251 + ], + "joints": [ + 0.0002353055460844189 + ] + }, + "fine_grasp": { + "position": [ + 0.027802251279354095, + 0.11022123694419861, + -0.07023608684539795 + ], + "orientation": [ + 0.15459734201431274, + 0.12373045831918716, + 0.23977364599704742, + 0.9504204988479614 + ], + "joints": [ + 0.005575872026383877 + ] + }, + "final_grasp": { + "position": [ + 0.027802251279354095, + 0.11022123694419861, + -0.07023608684539795 + ], + "orientation": [ + 0.15459734201431274, + 0.12373045831918716, + 0.23977364599704742, + 0.9504204988479614 + ], + "joints": [ + 0.01091643888503313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10599879920482635, + -0.03230634704232216, + 0.003337148344144225 + ], + "orientation": [ + 0.8362588286399841, + 0.11287211626768112, + -0.15418685972690582, + 0.5139625668525696 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.10379475355148315, + -0.03128732368350029, + 0.005151756573468447 + ], + "orientation": [ + 0.8311172127723694, + 0.12434796988964081, + -0.16468344628810883, + 0.5163924694061279 + ], + "joints": [ + -0.005944998934864998 + ] + }, + "final_grasp": { + "position": [ + 0.10379475355148315, + -0.03128732368350029, + 0.005151756573468447 + ], + "orientation": [ + 0.8311172127723694, + 0.12434796988964081, + -0.16468344628810883, + 0.5163924694061279 + ], + "joints": [ + 0.0004849359393119812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0277487114071846, + 0.0907697007060051, + 0.11096146702766418 + ], + "orientation": [ + 0.39363062381744385, + -0.9021540284156799, + -0.15432970225811005, + 0.08576328307390213 + ], + "joints": [ + -0.0017779264599084854 + ] + }, + "fine_grasp": { + "position": [ + -0.027371561154723167, + 0.08929891884326935, + 0.1088092252612114 + ], + "orientation": [ + 0.3938821852207184, + -0.8998569250106812, + -0.16138283908367157, + 0.09523651748895645 + ], + "joints": [ + 0.004598869476467371 + ] + }, + "final_grasp": { + "position": [ + -0.027371561154723167, + 0.08929891884326935, + 0.1088092252612114 + ], + "orientation": [ + 0.3938821852207184, + -0.8998569250106812, + -0.16138283908367157, + 0.09523651748895645 + ], + "joints": [ + 0.010975665412843227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10583413392305374, + -0.05035245046019554, + 0.028998887166380882 + ], + "orientation": [ + 0.11780133843421936, + 0.45622700452804565, + -0.8706706762313843, + 0.14111095666885376 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.10237996280193329, + -0.04775680601596832, + 0.028041083365678787 + ], + "orientation": [ + 0.12045292556285858, + 0.46103957295417786, + -0.8680607080459595, + 0.1392989307641983 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.10237996280193329, + -0.04775680601596832, + 0.028041083365678787 + ], + "orientation": [ + 0.12045292556285858, + 0.46103957295417786, + -0.8680607080459595, + 0.1392989307641983 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10594867169857025, + -0.03228345513343811, + 0.0033262684009969234 + ], + "orientation": [ + 0.8362833857536316, + 0.1127074733376503, + -0.15414224565029144, + 0.5139721035957336 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.10377267003059387, + -0.03133080527186394, + 0.005286401137709618 + ], + "orientation": [ + 0.8312490582466125, + 0.12349729984998703, + -0.16483616828918457, + 0.5163355469703674 + ], + "joints": [ + -0.005944998934864998 + ] + }, + "final_grasp": { + "position": [ + 0.10377267003059387, + -0.03133080527186394, + 0.005286401137709618 + ], + "orientation": [ + 0.8312490582466125, + 0.12349729984998703, + -0.16483616828918457, + 0.5163355469703674 + ], + "joints": [ + 0.0004849359393119812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04615963622927666, + 0.04682813957333565, + -0.1411382108926773 + ], + "orientation": [ + 0.4204004108905792, + 0.7430263161659241, + 0.4333725571632385, + 0.28872761130332947 + ], + "joints": [ + -0.001400517183355987 + ] + }, + "fine_grasp": { + "position": [ + -0.04689544066786766, + 0.04809674620628357, + -0.1418730765581131 + ], + "orientation": [ + 0.4269360899925232, + 0.7393304705619812, + 0.4299362897872925, + 0.293719083070755 + ], + "joints": [ + 0.005029418505728245 + ] + }, + "final_grasp": { + "position": [ + -0.04689544066786766, + 0.04809674620628357, + -0.1418730765581131 + ], + "orientation": [ + 0.4269360899925232, + 0.7393304705619812, + 0.4299362897872925, + 0.293719083070755 + ], + "joints": [ + 0.011459354311227798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005399711430072784, + 0.09168843179941177, + 0.1262136846780777 + ], + "orientation": [ + 0.4367004334926605, + -0.8696693778038025, + -0.11007777601480484, + 0.20211555063724518 + ], + "joints": [ + -0.0020335090812295675 + ] + }, + "fine_grasp": { + "position": [ + -0.0039045470766723156, + 0.09047409147024155, + 0.12559746205806732 + ], + "orientation": [ + 0.4279238283634186, + -0.8738986849784851, + -0.10860495269298553, + 0.20343837141990662 + ], + "joints": [ + 0.0043698567897081375 + ] + }, + "final_grasp": { + "position": [ + -0.0039045470766723156, + 0.09047409147024155, + 0.12559746205806732 + ], + "orientation": [ + 0.4279238283634186, + -0.8738986849784851, + -0.10860495269298553, + 0.20343837141990662 + ], + "joints": [ + 0.010773222893476486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04639559984207153, + 0.04734600707888603, + -0.14098086953163147 + ], + "orientation": [ + 0.4173122048377991, + 0.7432976961135864, + 0.4345819652080536, + 0.2906845211982727 + ], + "joints": [ + -0.0012050345540046692 + ] + }, + "fine_grasp": { + "position": [ + -0.04720478132367134, + 0.04841185733675957, + -0.1415872871875763 + ], + "orientation": [ + 0.42410939931869507, + 0.7396014332771301, + 0.43128159642219543, + 0.29515600204467773 + ], + "joints": [ + 0.005198331084102392 + ] + }, + "final_grasp": { + "position": [ + -0.04720478132367134, + 0.04841185733675957, + -0.1415872871875763 + ], + "orientation": [ + 0.42410939931869507, + 0.7396014332771301, + 0.43128159642219543, + 0.29515600204467773 + ], + "joints": [ + 0.011601696722209454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045827820897102356, + 0.04745208099484444, + -0.14065471291542053 + ], + "orientation": [ + 0.41320160031318665, + 0.738152265548706, + 0.4401358366012573, + 0.30112501978874207 + ], + "joints": [ + -0.0015654978342354298 + ] + }, + "fine_grasp": { + "position": [ + -0.046217627823352814, + 0.04879800230264664, + -0.14026443660259247 + ], + "orientation": [ + 0.4203641414642334, + 0.7343040108680725, + 0.435964971780777, + 0.3066366910934448 + ], + "joints": [ + 0.004333037883043289 + ] + }, + "final_grasp": { + "position": [ + -0.046217627823352814, + 0.04879800230264664, + -0.14026443660259247 + ], + "orientation": [ + 0.4203641414642334, + 0.7343040108680725, + 0.435964971780777, + 0.3066366910934448 + ], + "joints": [ + 0.01023157313466072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004592848010361195, + -0.06320229172706604, + -0.11683719605207443 + ], + "orientation": [ + 0.8910447955131531, + 0.4504844844341278, + -0.05551370605826378, + -0.004596963059157133 + ], + "joints": [ + 0.0018799095414578915 + ] + }, + "fine_grasp": { + "position": [ + 0.006478236988186836, + -0.06382302939891815, + -0.11435352265834808 + ], + "orientation": [ + 0.8851819038391113, + 0.4603242576122284, + -0.06744673103094101, + -0.0023505331482738256 + ], + "joints": [ + 0.0073001873679459095 + ] + }, + "final_grasp": { + "position": [ + 0.006478236988186836, + -0.06382302939891815, + -0.11435352265834808 + ], + "orientation": [ + 0.8851819038391113, + 0.4603242576122284, + -0.06744673103094101, + -0.0023505331482738256 + ], + "joints": [ + 0.012720465660095215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030088428407907486, + -0.09755866229534149, + 0.02022978663444519 + ], + "orientation": [ + 0.986338198184967, + -0.07778313755989075, + 0.048798080533742905, + -0.13676775991916656 + ], + "joints": [ + -0.0008833340834826231 + ] + }, + "fine_grasp": { + "position": [ + -0.03069695085287094, + -0.09242772310972214, + 0.020470771938562393 + ], + "orientation": [ + 0.9849003553390503, + -0.07515422999858856, + 0.06503033638000488, + -0.14175379276275635 + ], + "joints": [ + 0.0049886321648955345 + ] + }, + "final_grasp": { + "position": [ + -0.03069695085287094, + -0.09242772310972214, + 0.020470771938562393 + ], + "orientation": [ + 0.9849003553390503, + -0.07515422999858856, + 0.06503033638000488, + -0.14175379276275635 + ], + "joints": [ + 0.010860598646104336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10894683003425598, + -0.027948008850216866, + -0.07468561083078384 + ], + "orientation": [ + 0.043496131896972656, + -0.5298487544059753, + -0.8273357152938843, + -0.18133942782878876 + ], + "joints": [ + -0.001787390559911728 + ] + }, + "fine_grasp": { + "position": [ + -0.10755546391010284, + -0.027638979256153107, + -0.07410631328821182 + ], + "orientation": [ + 0.03544674068689346, + -0.531065821647644, + -0.8267253041267395, + -0.18231338262557983 + ], + "joints": [ + 0.005678774323314428 + ] + }, + "final_grasp": { + "position": [ + -0.10755546391010284, + -0.027638979256153107, + -0.07410631328821182 + ], + "orientation": [ + 0.03544674068689346, + -0.531065821647644, + -0.8267253041267395, + -0.18231338262557983 + ], + "joints": [ + 0.013144939206540585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0004942279192619026, + 0.012138540856540203, + -0.13828836381435394 + ], + "orientation": [ + 0.5352068543434143, + 0.5415211319923401, + 0.4883410930633545, + 0.4264169931411743 + ], + "joints": [ + -0.006419985555112362 + ] + }, + "fine_grasp": { + "position": [ + 0.0005593064124695957, + 0.013110247440636158, + -0.1341513842344284 + ], + "orientation": [ + 0.5373516082763672, + 0.5461717844009399, + 0.48217645287513733, + 0.4248005449771881 + ], + "joints": [ + -0.001079419394955039 + ] + }, + "final_grasp": { + "position": [ + 0.0005593064124695957, + 0.013110247440636158, + -0.1341513842344284 + ], + "orientation": [ + 0.5373516082763672, + 0.5461717844009399, + 0.48217645287513733, + 0.4248005449771881 + ], + "joints": [ + 0.004261146765202284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03264041617512703, + -0.02060314267873764, + -0.1463462859392166 + ], + "orientation": [ + 0.032570403069257736, + -0.13863135874271393, + 0.7837371826171875, + 0.6045464873313904 + ], + "joints": [ + 0.00069277617149055 + ] + }, + "fine_grasp": { + "position": [ + 0.03276567906141281, + -0.019979029893875122, + -0.14243651926517487 + ], + "orientation": [ + 0.036128539592027664, + -0.13815756142139435, + 0.7798649668693542, + 0.6094405651092529 + ], + "joints": [ + 0.00714928237721324 + ] + }, + "final_grasp": { + "position": [ + 0.03276567906141281, + -0.019979029893875122, + -0.14243651926517487 + ], + "orientation": [ + 0.036128539592027664, + -0.13815756142139435, + 0.7798649668693542, + 0.6094405651092529 + ], + "joints": [ + 0.013605788350105286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09080395847558975, + 0.09433510899543762, + -0.08084908127784729 + ], + "orientation": [ + 0.03987126797437668, + 0.8767126798629761, + -0.4296983778476715, + -0.21247230470180511 + ], + "joints": [ + 0.0008830586448311806 + ] + }, + "fine_grasp": { + "position": [ + 0.08868616074323654, + 0.09256093204021454, + -0.07825616002082825 + ], + "orientation": [ + 0.06176643446087837, + 0.8743942975997925, + -0.4322701692581177, + -0.21157050132751465 + ], + "joints": [ + 0.005665655247867107 + ] + }, + "final_grasp": { + "position": [ + 0.08868616074323654, + 0.09256093204021454, + -0.07825616002082825 + ], + "orientation": [ + 0.06176643446087837, + 0.8743942975997925, + -0.4322701692581177, + -0.21157050132751465 + ], + "joints": [ + 0.010448251850903034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09095489978790283, + 0.09416404366493225, + -0.08056145906448364 + ], + "orientation": [ + 0.04792439192533493, + 0.8758694529533386, + -0.4308839440345764, + -0.2118844836950302 + ], + "joints": [ + -0.00038675949326716363 + ] + }, + "fine_grasp": { + "position": [ + 0.08859820663928986, + 0.09212298691272736, + -0.0782867893576622 + ], + "orientation": [ + 0.06645631790161133, + 0.8740095496177673, + -0.4333793520927429, + -0.20945952832698822 + ], + "joints": [ + 0.005458636675029993 + ] + }, + "final_grasp": { + "position": [ + 0.08859820663928986, + 0.09212298691272736, + -0.0782867893576622 + ], + "orientation": [ + 0.06645631790161133, + 0.8740095496177673, + -0.4333793520927429, + -0.20945952832698822 + ], + "joints": [ + 0.011304032988846302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11322049051523209, + -0.03053848259150982, + -0.04757698252797127 + ], + "orientation": [ + 0.16717953979969025, + -0.5169603824615479, + -0.8258316516876221, + -0.15101341903209686 + ], + "joints": [ + -0.006788945756852627 + ] + }, + "fine_grasp": { + "position": [ + -0.11079638451337814, + -0.02907560206949711, + -0.04586521163582802 + ], + "orientation": [ + 0.1580008715391159, + -0.5180621147155762, + -0.8255147337913513, + -0.15865954756736755 + ], + "joints": [ + -0.0003855802060570568 + ] + }, + "final_grasp": { + "position": [ + -0.11079638451337814, + -0.02907560206949711, + -0.04586521163582802 + ], + "orientation": [ + 0.1580008715391159, + -0.5180621147155762, + -0.8255147337913513, + -0.15865954756736755 + ], + "joints": [ + 0.006017785519361496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019139451906085014, + -0.019100308418273926, + -0.13525110483169556 + ], + "orientation": [ + 0.03170735388994217, + 0.13053901493549347, + -0.7835240364074707, + -0.606666624546051 + ], + "joints": [ + 0.0012610126286745071 + ] + }, + "fine_grasp": { + "position": [ + 0.021680403500795364, + -0.017870333045721054, + -0.13481707870960236 + ], + "orientation": [ + 0.025102678686380386, + 0.13559193909168243, + -0.7855237722396851, + -0.603272020816803 + ], + "joints": [ + 0.007186118979007006 + ] + }, + "final_grasp": { + "position": [ + 0.021680403500795364, + -0.017870333045721054, + -0.13481707870960236 + ], + "orientation": [ + 0.025102678686380386, + 0.13559193909168243, + -0.7855237722396851, + -0.603272020816803 + ], + "joints": [ + 0.013111225329339504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011953993700444698, + 0.04161136597394943, + -0.14008420705795288 + ], + "orientation": [ + 0.6025379300117493, + 0.7660285830497742, + 0.09167256206274033, + 0.20431461930274963 + ], + "joints": [ + -0.0012514288537204266 + ] + }, + "fine_grasp": { + "position": [ + 0.013501027598977089, + 0.041261520236730576, + -0.13792330026626587 + ], + "orientation": [ + 0.6038509607315063, + 0.7599237561225891, + 0.09824157506227493, + 0.21961019933223724 + ], + "joints": [ + 0.005151936784386635 + ] + }, + "final_grasp": { + "position": [ + 0.013501027598977089, + 0.041261520236730576, + -0.13792330026626587 + ], + "orientation": [ + 0.6038509607315063, + 0.7599237561225891, + 0.09824157506227493, + 0.21961019933223724 + ], + "joints": [ + 0.011555302888154984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00653014425188303, + -0.062064435333013535, + -0.12560316920280457 + ], + "orientation": [ + 0.5963160991668701, + 0.2817398011684418, + -0.6497708559036255, + -0.37792539596557617 + ], + "joints": [ + -0.008005337789654732 + ] + }, + "fine_grasp": { + "position": [ + -0.006871105637401342, + -0.060762401670217514, + -0.12112203240394592 + ], + "orientation": [ + 0.5936863422393799, + 0.28544119000434875, + -0.6512590646743774, + -0.37672486901283264 + ], + "joints": [ + -0.0036744317039847374 + ] + }, + "final_grasp": { + "position": [ + -0.006871105637401342, + -0.060762401670217514, + -0.12112203240394592 + ], + "orientation": [ + 0.5936863422393799, + 0.28544119000434875, + -0.6512590646743774, + -0.37672486901283264 + ], + "joints": [ + 0.000656474381685257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11344826221466064, + 0.05707474425435066, + -0.0038539189845323563 + ], + "orientation": [ + 0.41994017362594604, + -0.5841124653816223, + -0.45922213792800903, + -0.5211313366889954 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.11162950843572617, + 0.05603503808379173, + -0.0036848552990704775 + ], + "orientation": [ + 0.41149842739105225, + -0.5897091031074524, + -0.4577217996120453, + -0.522879421710968 + ], + "joints": [ + -0.016306761652231216 + ] + }, + "final_grasp": { + "position": [ + -0.11162950843572617, + 0.05603503808379173, + -0.0036848552990704775 + ], + "orientation": [ + 0.41149842739105225, + -0.5897091031074524, + -0.4577217996120453, + -0.522879421710968 + ], + "joints": [ + -0.012613523751497269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1132657378911972, + 0.057073671370744705, + -0.0038794702850282192 + ], + "orientation": [ + 0.41996508836746216, + -0.5840145945549011, + -0.45937395095825195, + -0.5210872292518616 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.11156259477138519, + 0.05603157356381416, + -0.003790974849835038 + ], + "orientation": [ + 0.41108736395835876, + -0.589989423751831, + -0.4579906761646271, + -0.5226510763168335 + ], + "joints": [ + -0.016306761652231216 + ] + }, + "final_grasp": { + "position": [ + -0.11156259477138519, + 0.05603157356381416, + -0.003790974849835038 + ], + "orientation": [ + 0.41108736395835876, + -0.589989423751831, + -0.4579906761646271, + -0.5226510763168335 + ], + "joints": [ + -0.012613523751497269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02384019084274769, + -0.009796095080673695, + -0.13419651985168457 + ], + "orientation": [ + 0.3727159798145294, + 0.37636879086494446, + -0.6720611453056335, + -0.5174582004547119 + ], + "joints": [ + -0.005630712024867535 + ] + }, + "fine_grasp": { + "position": [ + 0.02216716855764389, + -0.008540254086256027, + -0.12866419553756714 + ], + "orientation": [ + 0.36900678277015686, + 0.38071903586387634, + -0.6728799343109131, + -0.5158677101135254 + ], + "joints": [ + -0.0007684053853154182 + ] + }, + "final_grasp": { + "position": [ + 0.02216716855764389, + -0.008540254086256027, + -0.12866419553756714 + ], + "orientation": [ + 0.36900678277015686, + 0.38071903586387634, + -0.6728799343109131, + -0.5158677101135254 + ], + "joints": [ + 0.004093901254236698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12531501054763794, + 0.049229856580495834, + 0.01420825906097889 + ], + "orientation": [ + 0.46180999279022217, + 0.4258889853954315, + 0.44563260674476624, + -0.6377788186073303 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.1212775856256485, + 0.047623977065086365, + 0.012901457026600838 + ], + "orientation": [ + 0.4567418098449707, + 0.4299420118331909, + 0.44122380018234253, + -0.6417620182037354 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + -0.1212775856256485, + 0.047623977065086365, + 0.012901457026600838 + ], + "orientation": [ + 0.4567418098449707, + 0.4299420118331909, + 0.44122380018234253, + -0.6417620182037354 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06542004644870758, + 0.12023646384477615, + -0.03842143714427948 + ], + "orientation": [ + 0.3840218484401703, + 0.68719083070755, + 0.16020908951759338, + -0.5955073237419128 + ], + "joints": [ + -0.012080525979399681 + ] + }, + "fine_grasp": { + "position": [ + -0.06902802735567093, + 0.12271898984909058, + -0.04001482576131821 + ], + "orientation": [ + 0.37947404384613037, + 0.6871444582939148, + 0.148534893989563, + -0.6014726161956787 + ], + "joints": [ + -0.007829328998923302 + ] + }, + "final_grasp": { + "position": [ + -0.06902802735567093, + 0.12271898984909058, + -0.04001482576131821 + ], + "orientation": [ + 0.37947404384613037, + 0.6871444582939148, + 0.148534893989563, + -0.6014726161956787 + ], + "joints": [ + -0.0035781320184469223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12135174870491028, + 0.07667886465787888, + 0.035870086401700974 + ], + "orientation": [ + 0.19764767587184906, + 0.7703819870948792, + -0.5348634123802185, + 0.285250723361969 + ], + "joints": [ + -0.013199260458350182 + ] + }, + "fine_grasp": { + "position": [ + 0.11970556527376175, + 0.07613800466060638, + 0.03544248640537262 + ], + "orientation": [ + 0.18580885231494904, + 0.776823103427887, + -0.535315215587616, + 0.27469709515571594 + ], + "joints": [ + -0.0068224649876356125 + ] + }, + "final_grasp": { + "position": [ + 0.11970556527376175, + 0.07613800466060638, + 0.03544248640537262 + ], + "orientation": [ + 0.18580885231494904, + 0.776823103427887, + -0.535315215587616, + 0.27469709515571594 + ], + "joints": [ + -0.0004456695169210434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11360491067171097, + 0.06710650026798248, + -0.03180038183927536 + ], + "orientation": [ + 0.15796564519405365, + 0.8318629264831543, + 0.5006309747695923, + -0.18005436658859253 + ], + "joints": [ + -0.004253528080880642 + ] + }, + "fine_grasp": { + "position": [ + -0.11370158195495605, + 0.06584008783102036, + -0.030884064733982086 + ], + "orientation": [ + 0.1692100167274475, + 0.8255659937858582, + 0.5038991570472717, + -0.1894582360982895 + ], + "joints": [ + 0.0010870385449379683 + ] + }, + "final_grasp": { + "position": [ + -0.11370158195495605, + 0.06584008783102036, + -0.030884064733982086 + ], + "orientation": [ + 0.1692100167274475, + 0.8255659937858582, + 0.5038991570472717, + -0.1894582360982895 + ], + "joints": [ + 0.0064276051707565784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04946190118789673, + -0.06714285165071487, + -0.1054798886179924 + ], + "orientation": [ + 0.3718838393688202, + 0.37360405921936035, + -0.8205996751785278, + -0.22076846659183502 + ], + "joints": [ + -0.0045197950676083565 + ] + }, + "fine_grasp": { + "position": [ + 0.04787943884730339, + -0.0646006315946579, + -0.1012428030371666 + ], + "orientation": [ + 0.37821587920188904, + 0.3708592355251312, + -0.8176969289779663, + -0.22536179423332214 + ], + "joints": [ + 0.0018835706869140267 + ] + }, + "final_grasp": { + "position": [ + 0.04787943884730339, + -0.0646006315946579, + -0.1012428030371666 + ], + "orientation": [ + 0.37821587920188904, + 0.3708592355251312, + -0.8176969289779663, + -0.22536179423332214 + ], + "joints": [ + 0.008286936208605766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08892616629600525, + 0.07063177227973938, + 0.08592172712087631 + ], + "orientation": [ + 0.10705139487981796, + 0.5823510885238647, + -0.570228099822998, + 0.569426953792572 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + 0.08711306005716324, + 0.06888967007398605, + 0.08500467985868454 + ], + "orientation": [ + 0.09234274923801422, + 0.5916317105293274, + -0.5687571167945862, + 0.5638796091079712 + ], + "joints": [ + -0.01182445976883173 + ] + }, + "final_grasp": { + "position": [ + 0.08711306005716324, + 0.06888967007398605, + 0.08500467985868454 + ], + "orientation": [ + 0.09234274923801422, + 0.5916317105293274, + -0.5687571167945862, + 0.5638796091079712 + ], + "joints": [ + -0.005474226549267769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10497225821018219, + 0.04139423742890358, + -0.07357539981603622 + ], + "orientation": [ + 0.5132994055747986, + -0.08449011296033859, + 0.30812036991119385, + 0.796521782875061 + ], + "joints": [ + -0.003327343612909317 + ] + }, + "fine_grasp": { + "position": [ + 0.10932230949401855, + 0.04272701218724251, + -0.07570555806159973 + ], + "orientation": [ + 0.5091708898544312, + -0.09031111747026443, + 0.3187926709651947, + 0.7943299412727356 + ], + "joints": [ + 0.003501142840832472 + ] + }, + "final_grasp": { + "position": [ + 0.10932230949401855, + 0.04272701218724251, + -0.07570555806159973 + ], + "orientation": [ + 0.5091708898544312, + -0.09031111747026443, + 0.3187926709651947, + 0.7943299412727356 + ], + "joints": [ + 0.01032962929457426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02201206423342228, + 0.022238289937376976, + -0.14280563592910767 + ], + "orientation": [ + 0.3847809135913849, + 0.2823414206504822, + 0.5533215403556824, + 0.682687520980835 + ], + "joints": [ + -0.00269993650726974 + ] + }, + "fine_grasp": { + "position": [ + 0.022250434383749962, + 0.02371729165315628, + -0.1451185941696167 + ], + "orientation": [ + 0.3858563303947449, + 0.296339750289917, + 0.5536077618598938, + 0.6758816242218018 + ], + "joints": [ + 0.00367685966193676 + ] + }, + "final_grasp": { + "position": [ + 0.022250434383749962, + 0.02371729165315628, + -0.1451185941696167 + ], + "orientation": [ + 0.3858563303947449, + 0.296339750289917, + 0.5536077618598938, + 0.6758816242218018 + ], + "joints": [ + 0.010053656063973904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09352337568998337, + 0.05344341695308685, + -0.09392520040273666 + ], + "orientation": [ + 0.32583871483802795, + 0.8281214833259583, + 0.4554130434989929, + -0.025353290140628815 + ], + "joints": [ + -0.0007337690331041813 + ] + }, + "fine_grasp": { + "position": [ + -0.09708961844444275, + 0.05412007495760918, + -0.09645839780569077 + ], + "orientation": [ + 0.32952791452407837, + 0.8268226385116577, + 0.4543549418449402, + -0.036569301038980484 + ], + "joints": [ + 0.0061212871223688126 + ] + }, + "final_grasp": { + "position": [ + -0.09708961844444275, + 0.05412007495760918, + -0.09645839780569077 + ], + "orientation": [ + 0.32952791452407837, + 0.8268226385116577, + 0.4543549418449402, + -0.036569301038980484 + ], + "joints": [ + 0.012976342812180519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09419471770524979, + -0.06119038164615631, + -0.04037617892026901 + ], + "orientation": [ + 0.04118116945028305, + 0.4376385807991028, + 0.8978158235549927, + 0.026523377746343613 + ], + "joints": [ + -0.0013604166451841593 + ] + }, + "fine_grasp": { + "position": [ + -0.09437523782253265, + -0.06095074489712715, + -0.04012603312730789 + ], + "orientation": [ + 0.03739239647984505, + 0.4401928782463074, + 0.8969380855560303, + 0.018278740346431732 + ], + "joints": [ + 0.005547779146581888 + ] + }, + "final_grasp": { + "position": [ + -0.09437523782253265, + -0.06095074489712715, + -0.04012603312730789 + ], + "orientation": [ + 0.03739239647984505, + 0.4401928782463074, + 0.8969380855560303, + 0.018278740346431732 + ], + "joints": [ + 0.012455974705517292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09383130073547363, + -0.06078726798295975, + -0.03985384479165077 + ], + "orientation": [ + 0.05399575084447861, + 0.4381677508354187, + 0.8969048261642456, + 0.02560032345354557 + ], + "joints": [ + -0.001832377864047885 + ] + }, + "fine_grasp": { + "position": [ + -0.09381481260061264, + -0.06044038385152817, + -0.039719730615615845 + ], + "orientation": [ + 0.05247163772583008, + 0.44107958674430847, + 0.895777702331543, + 0.01666923612356186 + ], + "joints": [ + 0.0050758179277181625 + ] + }, + "final_grasp": { + "position": [ + -0.09381481260061264, + -0.06044038385152817, + -0.039719730615615845 + ], + "orientation": [ + 0.05247163772583008, + 0.44107958674430847, + 0.895777702331543, + 0.01666923612356186 + ], + "joints": [ + 0.011984013952314854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11015887558460236, + 0.040999289602041245, + 0.048506543040275574 + ], + "orientation": [ + 0.2755206823348999, + 0.5833122134208679, + 0.6107137203216553, + -0.4591992497444153 + ], + "joints": [ + -0.01991167664527893 + ] + }, + "fine_grasp": { + "position": [ + -0.11179514974355698, + 0.03919939696788788, + 0.04863704368472099 + ], + "orientation": [ + 0.24841639399528503, + 0.6005812883377075, + 0.6138997077941895, + -0.44801628589630127 + ], + "joints": [ + -0.013561436906456947 + ] + }, + "final_grasp": { + "position": [ + -0.11179514974355698, + 0.03919939696788788, + 0.04863704368472099 + ], + "orientation": [ + 0.24841639399528503, + 0.6005812883377075, + 0.6138997077941895, + -0.44801628589630127 + ], + "joints": [ + -0.007211197167634964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11015086621046066, + 0.0410081222653389, + 0.04851080849766731 + ], + "orientation": [ + 0.27557358145713806, + 0.5832284688949585, + 0.6106758713722229, + -0.45932430028915405 + ], + "joints": [ + -0.01991167664527893 + ] + }, + "fine_grasp": { + "position": [ + -0.11178582161664963, + 0.039207249879837036, + 0.04863816872239113 + ], + "orientation": [ + 0.2483995258808136, + 0.6005447506904602, + 0.6138607859611511, + -0.4481281340122223 + ], + "joints": [ + -0.013561436906456947 + ] + }, + "final_grasp": { + "position": [ + -0.11178582161664963, + 0.039207249879837036, + 0.04863816872239113 + ], + "orientation": [ + 0.2483995258808136, + 0.6005447506904602, + 0.6138607859611511, + -0.4481281340122223 + ], + "joints": [ + -0.007211197167634964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07981245964765549, + -0.06144581735134125, + -0.058973122388124466 + ], + "orientation": [ + 0.8728018999099731, + 0.06397136300802231, + -0.2330286204814911, + -0.42405441403388977 + ], + "joints": [ + -0.003478777129203081 + ] + }, + "fine_grasp": { + "position": [ + -0.07972106337547302, + -0.0633208379149437, + -0.059194453060626984 + ], + "orientation": [ + 0.8732625246047974, + 0.053286273032426834, + -0.23697195947170258, + -0.42239493131637573 + ], + "joints": [ + 0.0034294184297323227 + ] + }, + "final_grasp": { + "position": [ + -0.07972106337547302, + -0.0633208379149437, + -0.059194453060626984 + ], + "orientation": [ + 0.8732625246047974, + 0.053286273032426834, + -0.23697195947170258, + -0.42239493131637573 + ], + "joints": [ + 0.01033761352300644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07984711974859238, + 0.045889534056186676, + -0.10987544059753418 + ], + "orientation": [ + 0.38306924700737, + 0.7995912432670593, + 0.4561168849468231, + 0.07661094516515732 + ], + "joints": [ + -0.0018317278008908033 + ] + }, + "fine_grasp": { + "position": [ + -0.08325011283159256, + 0.046811457723379135, + -0.11338969320058823 + ], + "orientation": [ + 0.38359227776527405, + 0.7998707890510559, + 0.4556646943092346, + 0.07371250540018082 + ], + "joints": [ + 0.005581297911703587 + ] + }, + "final_grasp": { + "position": [ + -0.08325011283159256, + 0.046811457723379135, + -0.11338969320058823 + ], + "orientation": [ + 0.38359227776527405, + 0.7998707890510559, + 0.4556646943092346, + 0.07371250540018082 + ], + "joints": [ + 0.01299432385712862 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09363376349210739, + -0.06028100475668907, + -0.03948711231350899 + ], + "orientation": [ + 0.06429122388362885, + 0.4394143223762512, + 0.8956368565559387, + 0.0248247217386961 + ], + "joints": [ + -0.0021025012247264385 + ] + }, + "fine_grasp": { + "position": [ + -0.09294724464416504, + -0.05927227810025215, + -0.039908163249492645 + ], + "orientation": [ + 0.061990994960069656, + 0.4435978829860687, + 0.8939489126205444, + 0.015277106314897537 + ], + "joints": [ + 0.004805694334208965 + ] + }, + "final_grasp": { + "position": [ + -0.09294724464416504, + -0.05927227810025215, + -0.039908163249492645 + ], + "orientation": [ + 0.061990994960069656, + 0.4435978829860687, + 0.8939489126205444, + 0.015277106314897537 + ], + "joints": [ + 0.011713890358805656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1172860860824585, + 0.0723554715514183, + -0.012082378380000591 + ], + "orientation": [ + 0.5003870725631714, + -0.18614713847637177, + 0.1626737117767334, + 0.8297585248947144 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.11678911745548248, + 0.07305097579956055, + -0.010516839101910591 + ], + "orientation": [ + 0.4995909631252289, + -0.1932319700717926, + 0.17306159436702728, + 0.8265106081962585 + ], + "joints": [ + -0.004062283784151077 + ] + }, + "final_grasp": { + "position": [ + 0.11678911745548248, + 0.07305097579956055, + -0.010516839101910591 + ], + "orientation": [ + 0.4995909631252289, + -0.1932319700717926, + 0.17306159436702728, + 0.8265106081962585 + ], + "joints": [ + 0.0018362514674663544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12194795906543732, + 0.0515480600297451, + -0.052257850766181946 + ], + "orientation": [ + 0.2514115571975708, + 0.7956836223602295, + -0.5387371778488159, + 0.11594005674123764 + ], + "joints": [ + -0.006032990291714668 + ] + }, + "fine_grasp": { + "position": [ + 0.11747054010629654, + 0.05013083666563034, + -0.050972774624824524 + ], + "orientation": [ + 0.25450292229652405, + 0.7973588705062866, + -0.534099817276001, + 0.1190989539027214 + ], + "joints": [ + 0.0008486352162435651 + ] + }, + "final_grasp": { + "position": [ + 0.11747054010629654, + 0.05013083666563034, + -0.050972774624824524 + ], + "orientation": [ + 0.25450292229652405, + 0.7973588705062866, + -0.534099817276001, + 0.1190989539027214 + ], + "joints": [ + 0.007730260491371155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033937081694602966, + 0.017262445762753487, + -0.13633209466934204 + ], + "orientation": [ + 0.6701124310493469, + 0.7021321654319763, + -0.22921854257583618, + -0.07361068576574326 + ], + "joints": [ + -0.001654074527323246 + ] + }, + "fine_grasp": { + "position": [ + 0.03524314984679222, + 0.014566436409950256, + -0.13433034718036652 + ], + "orientation": [ + 0.672961950302124, + 0.7026137709617615, + -0.22359749674797058, + -0.0588252879679203 + ], + "joints": [ + 0.004271030891686678 + ] + }, + "final_grasp": { + "position": [ + 0.03524314984679222, + 0.014566436409950256, + -0.13433034718036652 + ], + "orientation": [ + 0.672961950302124, + 0.7026137709617615, + -0.22359749674797058, + -0.0588252879679203 + ], + "joints": [ + 0.010196136310696602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12268199771642685, + 0.051780395209789276, + -0.052389197051525116 + ], + "orientation": [ + 0.2513810098171234, + 0.795078694820404, + -0.5395394563674927, + 0.11642497032880783 + ], + "joints": [ + -0.006031179800629616 + ] + }, + "fine_grasp": { + "position": [ + 0.11765453219413757, + 0.05021059513092041, + -0.05079127848148346 + ], + "orientation": [ + 0.2546168863773346, + 0.7970288395881653, + -0.5347149968147278, + 0.11830130964517593 + ], + "joints": [ + 0.0008504457073286176 + ] + }, + "final_grasp": { + "position": [ + 0.11765453219413757, + 0.05021059513092041, + -0.05079127848148346 + ], + "orientation": [ + 0.2546168863773346, + 0.7970288395881653, + -0.5347149968147278, + 0.11830130964517593 + ], + "joints": [ + 0.007732070982456207 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10715080797672272, + 0.050833869725465775, + 0.015845203772187233 + ], + "orientation": [ + 0.33006659150123596, + 0.6872981190681458, + -0.5324965715408325, + 0.36759305000305176 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1108865886926651, + 0.05119567736983299, + 0.013275770470499992 + ], + "orientation": [ + 0.2976376414299011, + 0.696942925453186, + -0.5436829328536987, + 0.3606817126274109 + ], + "joints": [ + -0.015243958681821823 + ] + }, + "final_grasp": { + "position": [ + 0.1108865886926651, + 0.05119567736983299, + 0.013275770470499992 + ], + "orientation": [ + 0.2976376414299011, + 0.696942925453186, + -0.5436829328536987, + 0.3606817126274109 + ], + "joints": [ + -0.010487917810678482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10711950063705444, + 0.050800252705812454, + 0.01582852564752102 + ], + "orientation": [ + 0.3299294710159302, + 0.6873937249183655, + -0.5323747396469116, + 0.36771389842033386 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.11080878227949142, + 0.05117031931877136, + 0.013278386555612087 + ], + "orientation": [ + 0.2977040708065033, + 0.6965521574020386, + -0.5435397028923035, + 0.36159631609916687 + ], + "joints": [ + -0.015243958681821823 + ] + }, + "final_grasp": { + "position": [ + 0.11080878227949142, + 0.05117031931877136, + 0.013278386555612087 + ], + "orientation": [ + 0.2977040708065033, + 0.6965521574020386, + -0.5435397028923035, + 0.36159631609916687 + ], + "joints": [ + -0.010487917810678482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.107109934091568, + 0.0507998913526535, + 0.015825998038053513 + ], + "orientation": [ + 0.3299214839935303, + 0.6873779296875, + -0.5323840975761414, + 0.36773714423179626 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.11080427467823029, + 0.05116955563426018, + 0.013274839147925377 + ], + "orientation": [ + 0.29771900177001953, + 0.6965420842170715, + -0.5435259342193604, + 0.36162418127059937 + ], + "joints": [ + -0.015243958681821823 + ] + }, + "final_grasp": { + "position": [ + 0.11080427467823029, + 0.05116955563426018, + 0.013274839147925377 + ], + "orientation": [ + 0.29771900177001953, + 0.6965420842170715, + -0.5435259342193604, + 0.36162418127059937 + ], + "joints": [ + -0.010487917810678482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05521456524729729, + 0.049919068813323975, + -0.12021223455667496 + ], + "orientation": [ + 0.3395615220069885, + 0.08397038280963898, + -0.442003458738327, + -0.8260024189949036 + ], + "joints": [ + 0.0006286082789301872 + ] + }, + "fine_grasp": { + "position": [ + -0.05647279694676399, + 0.05071057379245758, + -0.12396091222763062 + ], + "orientation": [ + 0.3401872515678406, + 0.07136202603578568, + -0.4442048966884613, + -0.8257494568824768 + ], + "joints": [ + 0.005942604970186949 + ] + }, + "final_grasp": { + "position": [ + -0.05647279694676399, + 0.05071057379245758, + -0.12396091222763062 + ], + "orientation": [ + 0.3401872515678406, + 0.07136202603578568, + -0.4442048966884613, + -0.8257494568824768 + ], + "joints": [ + 0.01125660166144371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07743394374847412, + -0.06462586671113968, + -0.050102002918720245 + ], + "orientation": [ + 0.9004876613616943, + 0.07458744198083878, + -0.17056086659431458, + -0.39302366971969604 + ], + "joints": [ + -0.0034625474363565445 + ] + }, + "fine_grasp": { + "position": [ + -0.07569331675767899, + -0.06296279281377792, + -0.04940678924322128 + ], + "orientation": [ + 0.8972697257995605, + 0.06748832017183304, + -0.180791974067688, + -0.39707255363464355 + ], + "joints": [ + 0.002940818201750517 + ] + }, + "final_grasp": { + "position": [ + -0.07569331675767899, + -0.06296279281377792, + -0.04940678924322128 + ], + "orientation": [ + 0.8972697257995605, + 0.06748832017183304, + -0.180791974067688, + -0.39707255363464355 + ], + "joints": [ + 0.009344183839857578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09585647284984589, + 0.054634932428598404, + -0.08873913437128067 + ], + "orientation": [ + 0.34859219193458557, + 0.8147256970405579, + 0.46334898471832275, + 0.0036338919308036566 + ], + "joints": [ + -0.0040664286352694035 + ] + }, + "fine_grasp": { + "position": [ + -0.09733203798532486, + 0.05420338362455368, + -0.0901094302535057 + ], + "orientation": [ + 0.3530467450618744, + 0.8141495585441589, + 0.46090230345726013, + -0.009354588575661182 + ], + "joints": [ + 0.003373166546225548 + ] + }, + "final_grasp": { + "position": [ + -0.09733203798532486, + 0.05420338362455368, + -0.0901094302535057 + ], + "orientation": [ + 0.3530467450618744, + 0.8141495585441589, + 0.46090230345726013, + -0.009354588575661182 + ], + "joints": [ + 0.010812761262059212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03570028766989708, + -0.024083688855171204, + -0.12959764897823334 + ], + "orientation": [ + 0.753211498260498, + 0.5631103515625, + 0.1737910956144333, + 0.29219120740890503 + ], + "joints": [ + 0.0011266395449638367 + ] + }, + "fine_grasp": { + "position": [ + 0.034165821969509125, + -0.02143341302871704, + -0.1256222426891327 + ], + "orientation": [ + 0.7575585246086121, + 0.5568076968193054, + 0.16923195123672485, + 0.29568707942962646 + ], + "joints": [ + 0.005404406227171421 + ] + }, + "final_grasp": { + "position": [ + 0.034165821969509125, + -0.02143341302871704, + -0.1256222426891327 + ], + "orientation": [ + 0.7575585246086121, + 0.5568076968193054, + 0.16923195123672485, + 0.29568707942962646 + ], + "joints": [ + 0.009682172909379005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1119936928153038, + 0.06333445757627487, + 0.02000890113413334 + ], + "orientation": [ + 0.13999632000923157, + -0.8110501170158386, + -0.5372481942176819, + -0.18429070711135864 + ], + "joints": [ + -0.011668361723423004 + ] + }, + "fine_grasp": { + "position": [ + -0.11663686484098434, + 0.06422639638185501, + 0.020761994644999504 + ], + "orientation": [ + 0.12421797215938568, + -0.8143678903579712, + -0.5376522541046143, + -0.17973582446575165 + ], + "joints": [ + -0.0058495355769991875 + ] + }, + "final_grasp": { + "position": [ + -0.11663686484098434, + 0.06422639638185501, + 0.020761994644999504 + ], + "orientation": [ + 0.12421797215938568, + -0.8143678903579712, + -0.5376522541046143, + -0.17973582446575165 + ], + "joints": [ + -3.070943057537079e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09397068619728088, + 0.08671391755342484, + -0.06524284183979034 + ], + "orientation": [ + 0.17445753514766693, + 0.8347717523574829, + 0.46821215748786926, + 0.23129664361476898 + ], + "joints": [ + -0.011226758360862732 + ] + }, + "fine_grasp": { + "position": [ + -0.09273117035627365, + 0.08742909878492355, + -0.06198824569582939 + ], + "orientation": [ + 0.18220080435276031, + 0.8312079310417175, + 0.4640870988368988, + 0.2460070699453354 + ], + "joints": [ + -0.00429199356585741 + ] + }, + "final_grasp": { + "position": [ + -0.09273117035627365, + 0.08742909878492355, + -0.06198824569582939 + ], + "orientation": [ + 0.18220080435276031, + 0.8312079310417175, + 0.4640870988368988, + 0.2460070699453354 + ], + "joints": [ + 0.002642771229147911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12163407355546951, + 0.03593408688902855, + -0.016270002350211143 + ], + "orientation": [ + 0.037191204726696014, + 0.7578686475753784, + -0.6469577550888062, + 0.07548237591981888 + ], + "joints": [ + -0.0030796027276664972 + ] + }, + "fine_grasp": { + "position": [ + 0.12069538980722427, + 0.036827266216278076, + -0.017200786620378494 + ], + "orientation": [ + 0.024030715227127075, + 0.7646902799606323, + -0.6395424008369446, + 0.07521219551563263 + ], + "joints": [ + 0.003270623506978154 + ] + }, + "final_grasp": { + "position": [ + 0.12069538980722427, + 0.036827266216278076, + -0.017200786620378494 + ], + "orientation": [ + 0.024030715227127075, + 0.7646902799606323, + -0.6395424008369446, + 0.07521219551563263 + ], + "joints": [ + 0.00962084997445345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12136051803827286, + 0.035793486982584, + -0.0166664719581604 + ], + "orientation": [ + 0.04002480208873749, + 0.7577004432678223, + -0.6469167470932007, + 0.0760708898305893 + ], + "joints": [ + -0.003110593417659402 + ] + }, + "fine_grasp": { + "position": [ + 0.12072411924600601, + 0.03642414137721062, + -0.017392443493008614 + ], + "orientation": [ + 0.027581479400396347, + 0.7636967897415161, + -0.640340268611908, + 0.07727058231830597 + ], + "joints": [ + 0.0032396328169852495 + ] + }, + "final_grasp": { + "position": [ + 0.12072411924600601, + 0.03642414137721062, + -0.017392443493008614 + ], + "orientation": [ + 0.027581479400396347, + 0.7636967897415161, + -0.640340268611908, + 0.07727058231830597 + ], + "joints": [ + 0.009589859284460545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010797101072967052, + 0.01866789534687996, + -0.1363203227519989 + ], + "orientation": [ + 0.22761160135269165, + 0.17786061763763428, + -0.6182634234428406, + -0.7309643030166626 + ], + "joints": [ + 0.0012523947516456246 + ] + }, + "fine_grasp": { + "position": [ + -0.010456209070980549, + 0.019799470901489258, + -0.13775430619716644 + ], + "orientation": [ + 0.24140620231628418, + 0.186162531375885, + -0.6189227104187012, + -0.7238792181015015 + ], + "joints": [ + 0.006619530729949474 + ] + }, + "final_grasp": { + "position": [ + -0.010456209070980549, + 0.019799470901489258, + -0.13775430619716644 + ], + "orientation": [ + 0.24140620231628418, + 0.186162531375885, + -0.6189227104187012, + -0.7238792181015015 + ], + "joints": [ + 0.011986666359007359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12169317901134491, + 0.03553466871380806, + -0.0161423459649086 + ], + "orientation": [ + 0.04162478446960449, + 0.7566636204719543, + -0.6475607752799988, + 0.07995368540287018 + ], + "joints": [ + -0.0030110145453363657 + ] + }, + "fine_grasp": { + "position": [ + 0.12095528095960617, + 0.036416295915842056, + -0.016958579421043396 + ], + "orientation": [ + 0.031045040115714073, + 0.7635523080825806, + -0.6402646899223328, + 0.07800747454166412 + ], + "joints": [ + 0.0028343817684799433 + ] + }, + "final_grasp": { + "position": [ + 0.12095528095960617, + 0.036416295915842056, + -0.016958579421043396 + ], + "orientation": [ + 0.031045040115714073, + 0.7635523080825806, + -0.6402646899223328, + 0.07800747454166412 + ], + "joints": [ + 0.008679778315126896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12101713567972183, + 0.03604483976960182, + -0.016279403120279312 + ], + "orientation": [ + 0.042021479457616806, + 0.7580042481422424, + -0.646635890007019, + 0.07433468103408813 + ], + "joints": [ + -0.003388731274753809 + ] + }, + "fine_grasp": { + "position": [ + 0.12083472311496735, + 0.036690276116132736, + -0.01694319397211075 + ], + "orientation": [ + 0.030099444091320038, + 0.7639261484146118, + -0.6402592658996582, + 0.07469209283590317 + ], + "joints": [ + 0.0029614949598908424 + ] + }, + "final_grasp": { + "position": [ + 0.12083472311496735, + 0.036690276116132736, + -0.01694319397211075 + ], + "orientation": [ + 0.030099444091320038, + 0.7639261484146118, + -0.6402592658996582, + 0.07469209283590317 + ], + "joints": [ + 0.009311720728874207 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010440368205308914, + 0.01922191120684147, + -0.13646523654460907 + ], + "orientation": [ + 0.2267865538597107, + 0.1801963448524475, + -0.6171582341194153, + -0.7315824031829834 + ], + "joints": [ + 0.0008470339234918356 + ] + }, + "fine_grasp": { + "position": [ + -0.009694945998489857, + 0.02050197310745716, + -0.13842956721782684 + ], + "orientation": [ + 0.2402118444442749, + 0.18935181200504303, + -0.6164519786834717, + -0.7255557775497437 + ], + "joints": [ + 0.007223829627037048 + ] + }, + "final_grasp": { + "position": [ + -0.009694945998489857, + 0.02050197310745716, + -0.13842956721782684 + ], + "orientation": [ + 0.2402118444442749, + 0.18935181200504303, + -0.6164519786834717, + -0.7255557775497437 + ], + "joints": [ + 0.013600625097751617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08654014766216278, + 0.04892396554350853, + -0.10457353293895721 + ], + "orientation": [ + 0.4402555823326111, + 0.058074794709682465, + 0.40748393535614014, + 0.7979719042778015 + ], + "joints": [ + -0.005247252993285656 + ] + }, + "fine_grasp": { + "position": [ + 0.08340240269899368, + 0.0475240983068943, + -0.10089393705129623 + ], + "orientation": [ + 0.44209977984428406, + 0.05466732382774353, + 0.40525490045547485, + 0.7983281016349792 + ], + "joints": [ + 0.0016343726310878992 + ] + }, + "final_grasp": { + "position": [ + 0.08340240269899368, + 0.0475240983068943, + -0.10089393705129623 + ], + "orientation": [ + 0.44209977984428406, + 0.05466732382774353, + 0.40525490045547485, + 0.7983281016349792 + ], + "joints": [ + 0.008515998721122742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12535806000232697, + 0.029319439083337784, + 0.016879552975296974 + ], + "orientation": [ + 0.30166277289390564, + 0.6688063144683838, + 0.6283142566680908, + -0.25868698954582214 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.1234956830739975, + 0.027884604409337044, + 0.016354527324438095 + ], + "orientation": [ + 0.28433194756507874, + 0.6740869879722595, + 0.6292287111282349, + -0.2623612582683563 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.1234956830739975, + 0.027884604409337044, + 0.016354527324438095 + ], + "orientation": [ + 0.28433194756507874, + 0.6740869879722595, + 0.6292287111282349, + -0.2623612582683563 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12537126243114471, + 0.02940378710627556, + 0.01697579026222229 + ], + "orientation": [ + 0.30083799362182617, + 0.6692163944244385, + 0.6283648014068604, + -0.2584637403488159 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.12359129637479782, + 0.028008069843053818, + 0.016510220244526863 + ], + "orientation": [ + 0.28409019112586975, + 0.6744368076324463, + 0.629217267036438, + -0.26175054907798767 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.12359129637479782, + 0.028008069843053818, + 0.016510220244526863 + ], + "orientation": [ + 0.28409019112586975, + 0.6744368076324463, + 0.629217267036438, + -0.26175054907798767 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11271008849143982, + -0.02125847339630127, + -0.038306500762701035 + ], + "orientation": [ + 0.7703140377998352, + -0.0780261754989624, + 0.20184439420700073, + 0.599822461605072 + ], + "joints": [ + -0.0025415795389562845 + ] + }, + "fine_grasp": { + "position": [ + 0.1108952984213829, + -0.02219611406326294, + -0.037587970495224 + ], + "orientation": [ + 0.7741872072219849, + -0.07631580531597137, + 0.19985313713550568, + 0.5957087278366089 + ], + "joints": [ + 0.003835216397419572 + ] + }, + "final_grasp": { + "position": [ + 0.1108952984213829, + -0.02219611406326294, + -0.037587970495224 + ], + "orientation": [ + 0.7741872072219849, + -0.07631580531597137, + 0.19985313713550568, + 0.5957087278366089 + ], + "joints": [ + 0.010212012566626072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09379750490188599, + 0.06329438090324402, + 0.09172902256250381 + ], + "orientation": [ + 0.6000449061393738, + -0.4680142104625702, + 0.04801854491233826, + 0.6469953656196594 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.0944165512919426, + 0.06330253183841705, + 0.09191786497831345 + ], + "orientation": [ + 0.5992281436920166, + -0.4742468595504761, + 0.045110076665878296, + 0.6434133052825928 + ], + "joints": [ + -0.007736519910395145 + ] + }, + "final_grasp": { + "position": [ + 0.0944165512919426, + 0.06330253183841705, + 0.09191786497831345 + ], + "orientation": [ + 0.5992281436920166, + -0.4742468595504761, + 0.045110076665878296, + 0.6434133052825928 + ], + "joints": [ + -0.0008017551153898239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09371298551559448, + 0.06336162984371185, + 0.09182500094175339 + ], + "orientation": [ + 0.5998477935791016, + -0.4680057168006897, + 0.04742378368973732, + 0.6472281217575073 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.09435559809207916, + 0.06327050924301147, + 0.09204805642366409 + ], + "orientation": [ + 0.5995869040489197, + -0.473544180393219, + 0.0443979874253273, + 0.6436461806297302 + ], + "joints": [ + -0.007231689989566803 + ] + }, + "final_grasp": { + "position": [ + 0.09435559809207916, + 0.06327050924301147, + 0.09204805642366409 + ], + "orientation": [ + 0.5995869040489197, + -0.473544180393219, + 0.0443979874253273, + 0.6436461806297302 + ], + "joints": [ + 0.00020790472626686096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07115771621465683, + -0.08091913163661957, + -0.001149186515249312 + ], + "orientation": [ + 0.935384213924408, + -0.1459299921989441, + 0.022156091406941414, + -0.32135623693466187 + ], + "joints": [ + 0.0008050794713199139 + ] + }, + "fine_grasp": { + "position": [ + -0.07092667371034622, + -0.07938854396343231, + -0.0014964939327910542 + ], + "orientation": [ + 0.9335319399833679, + -0.15390221774578094, + 0.025246327742934227, + -0.32279226183891296 + ], + "joints": [ + 0.008244674652814865 + ] + }, + "final_grasp": { + "position": [ + -0.07092667371034622, + -0.07938854396343231, + -0.0014964939327910542 + ], + "orientation": [ + 0.9335319399833679, + -0.15390221774578094, + 0.025246327742934227, + -0.32279226183891296 + ], + "joints": [ + 0.01568426936864853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12058688700199127, + 0.046849194914102554, + 0.06751080602407455 + ], + "orientation": [ + 0.6480370759963989, + -0.3396036624908447, + 0.1522044837474823, + 0.6644930839538574 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.11787734925746918, + 0.04504306986927986, + 0.0661541149020195 + ], + "orientation": [ + 0.6444838643074036, + -0.35596978664398193, + 0.1430157870054245, + 0.6614172458648682 + ], + "joints": [ + -0.00692381989210844 + ] + }, + "final_grasp": { + "position": [ + 0.11787734925746918, + 0.04504306986927986, + 0.0661541149020195 + ], + "orientation": [ + 0.6444838643074036, + -0.35596978664398193, + 0.1430157870054245, + 0.6614172458648682 + ], + "joints": [ + -0.0020615141838788986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0694085955619812, + -0.003313500201329589, + -0.1196964681148529 + ], + "orientation": [ + 0.5055305361747742, + 0.6488719582557678, + -0.5500949621200562, + -0.1442209631204605 + ], + "joints": [ + -0.003970218822360039 + ] + }, + "fine_grasp": { + "position": [ + 0.06897205859422684, + -0.0031092509161680937, + -0.11702645570039749 + ], + "orientation": [ + 0.5151872038841248, + 0.647867739200592, + -0.5423555970191956, + -0.1438753753900528 + ], + "joints": [ + 0.0013703479198738933 + ] + }, + "final_grasp": { + "position": [ + 0.06897205859422684, + -0.0031092509161680937, + -0.11702645570039749 + ], + "orientation": [ + 0.5151872038841248, + 0.647867739200592, + -0.5423555970191956, + -0.1438753753900528 + ], + "joints": [ + 0.006710914894938469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11284594237804413, + -0.019560489803552628, + 0.010530072264373302 + ], + "orientation": [ + 0.7876543998718262, + 0.16219757497310638, + 0.18381915986537933, + -0.5652459859848022 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.11016087234020233, + -0.01915842853486538, + 0.011867159977555275 + ], + "orientation": [ + 0.7862699031829834, + 0.16306769847869873, + 0.17599020898342133, + -0.5693996548652649 + ], + "joints": [ + -0.005378415808081627 + ] + }, + "final_grasp": { + "position": [ + -0.11016087234020233, + -0.01915842853486538, + 0.011867159977555275 + ], + "orientation": [ + 0.7862699031829834, + 0.16306769847869873, + 0.17599020898342133, + -0.5693996548652649 + ], + "joints": [ + 0.0015297792851924896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11145475506782532, + -0.03021024912595749, + 0.017671918496489525 + ], + "orientation": [ + 0.8102434277534485, + -0.10231854021549225, + 0.2446306347846985, + 0.522678017616272 + ], + "joints": [ + -0.014170799404382706 + ] + }, + "fine_grasp": { + "position": [ + 0.10908611863851547, + -0.029739415273070335, + 0.019660981371998787 + ], + "orientation": [ + 0.8149698972702026, + -0.11165128648281097, + 0.24760554730892181, + 0.511907696723938 + ], + "joints": [ + -0.006704634986817837 + ] + }, + "final_grasp": { + "position": [ + 0.10908611863851547, + -0.029739415273070335, + 0.019660981371998787 + ], + "orientation": [ + 0.8149698972702026, + -0.11165128648281097, + 0.24760554730892181, + 0.511907696723938 + ], + "joints": [ + 0.0007615294307470322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11189722269773483, + 0.03527224808931351, + 0.04223727807402611 + ], + "orientation": [ + 0.20102331042289734, + 0.6575453877449036, + -0.6449015140533447, + 0.3336551785469055 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.11277901381254196, + 0.03704456612467766, + 0.04227131977677345 + ], + "orientation": [ + 0.19869747757911682, + 0.6628000140190125, + -0.6496988534927368, + 0.3148125410079956 + ], + "joints": [ + -0.010063781403005123 + ] + }, + "final_grasp": { + "position": [ + 0.11277901381254196, + 0.03704456612467766, + 0.04227131977677345 + ], + "orientation": [ + 0.19869747757911682, + 0.6628000140190125, + -0.6496988534927368, + 0.3148125410079956 + ], + "joints": [ + -0.0036604125052690506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12321886420249939, + -0.002919655293226242, + -0.011955921538174152 + ], + "orientation": [ + 0.691150963306427, + -0.15875259041786194, + -0.3166084885597229, + -0.6299737691879272 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.12474459409713745, + -0.0021638290490955114, + -0.010947739705443382 + ], + "orientation": [ + 0.6813927292823792, + -0.1730421632528305, + -0.3352747857570648, + -0.6271771788597107 + ], + "joints": [ + -0.009950364008545876 + ] + }, + "final_grasp": { + "position": [ + -0.12474459409713745, + -0.0021638290490955114, + -0.010947739705443382 + ], + "orientation": [ + 0.6813927292823792, + -0.1730421632528305, + -0.3352747857570648, + -0.6271771788597107 + ], + "joints": [ + -0.004051826894283295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06409915536642075, + 0.023481449112296104, + -0.11754225939512253 + ], + "orientation": [ + 0.4451877176761627, + 0.6941108107566833, + -0.5211251378059387, + -0.22010593116283417 + ], + "joints": [ + -0.005197376478463411 + ] + }, + "fine_grasp": { + "position": [ + 0.06561233103275299, + 0.02476339600980282, + -0.12044448405504227 + ], + "orientation": [ + 0.4384448230266571, + 0.6995112895965576, + -0.5197597146034241, + -0.21977275609970093 + ], + "joints": [ + 0.00224221870303154 + ] + }, + "final_grasp": { + "position": [ + 0.06561233103275299, + 0.02476339600980282, + -0.12044448405504227 + ], + "orientation": [ + 0.4384448230266571, + 0.6995112895965576, + -0.5197597146034241, + -0.21977275609970093 + ], + "joints": [ + 0.009681813418865204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06447423249483109, + 0.024007359519600868, + -0.11761940270662308 + ], + "orientation": [ + 0.4439007043838501, + 0.6959631443023682, + -0.5202059149742126, + -0.21902784705162048 + ], + "joints": [ + -0.005166385788470507 + ] + }, + "fine_grasp": { + "position": [ + 0.0658871978521347, + 0.025391709059476852, + -0.12026772648096085 + ], + "orientation": [ + 0.4372555613517761, + 0.7006053924560547, + -0.519287645816803, + -0.21977263689041138 + ], + "joints": [ + 0.0022732093930244446 + ] + }, + "final_grasp": { + "position": [ + 0.0658871978521347, + 0.025391709059476852, + -0.12026772648096085 + ], + "orientation": [ + 0.4372555613517761, + 0.7006053924560547, + -0.519287645816803, + -0.21977263689041138 + ], + "joints": [ + 0.009712804108858109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045552290976047516, + 0.06434255838394165, + -0.12038349360227585 + ], + "orientation": [ + 0.45288774371147156, + 0.8593977093696594, + -0.23529526591300964, + -0.03105561062693596 + ], + "joints": [ + 0.0007459225598722696 + ] + }, + "fine_grasp": { + "position": [ + 0.04920746758580208, + 0.06458796560764313, + -0.1211761087179184 + ], + "orientation": [ + 0.45233678817749023, + 0.8548856377601624, + -0.25246116518974304, + -0.028728649020195007 + ], + "joints": [ + 0.007122718263417482 + ] + }, + "final_grasp": { + "position": [ + 0.04920746758580208, + 0.06458796560764313, + -0.1211761087179184 + ], + "orientation": [ + 0.45233678817749023, + 0.8548856377601624, + -0.25246116518974304, + -0.028728649020195007 + ], + "joints": [ + 0.013499514199793339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06426504254341125, + 0.0238637812435627, + -0.11775273084640503 + ], + "orientation": [ + 0.4434601962566376, + 0.6951982378959656, + -0.5210030674934387, + -0.22044998407363892 + ], + "joints": [ + -0.005123183596879244 + ] + }, + "fine_grasp": { + "position": [ + 0.06562752276659012, + 0.02514932118356228, + -0.12033261358737946 + ], + "orientation": [ + 0.4369414150714874, + 0.6993115544319153, + -0.5205048322677612, + -0.22163112461566925 + ], + "joints": [ + 0.0023164115846157074 + ] + }, + "final_grasp": { + "position": [ + 0.06562752276659012, + 0.02514932118356228, + -0.12033261358737946 + ], + "orientation": [ + 0.4369414150714874, + 0.6993115544319153, + -0.5205048322677612, + -0.22163112461566925 + ], + "joints": [ + 0.009756006300449371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11411876976490021, + -0.003306363010779023, + 0.03234018385410309 + ], + "orientation": [ + 0.2320735901594162, + -0.6310930848121643, + -0.733835756778717, + -0.09668716788291931 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.11501359939575195, + -0.003966349642723799, + 0.03266122564673424 + ], + "orientation": [ + 0.22648362815380096, + -0.6322309374809265, + -0.735202968120575, + -0.09200995415449142 + ], + "joints": [ + -0.0048470161855220795 + ] + }, + "final_grasp": { + "position": [ + -0.11501359939575195, + -0.003966349642723799, + 0.03266122564673424 + ], + "orientation": [ + 0.22648362815380096, + -0.6322309374809265, + -0.735202968120575, + -0.09200995415449142 + ], + "joints": [ + 0.0025925785303115845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0645369440317154, + 0.023069078102707863, + -0.11738492548465729 + ], + "orientation": [ + 0.44235554337501526, + 0.6928508877754211, + -0.5249722003936768, + -0.22064340114593506 + ], + "joints": [ + -0.005128607619553804 + ] + }, + "fine_grasp": { + "position": [ + 0.06603153049945831, + 0.02427911013364792, + -0.11996839195489883 + ], + "orientation": [ + 0.43735578656196594, + 0.6973794102668762, + -0.5233344435691833, + -0.2202339768409729 + ], + "joints": [ + 0.002310987561941147 + ] + }, + "final_grasp": { + "position": [ + 0.06603153049945831, + 0.02427911013364792, + -0.11996839195489883 + ], + "orientation": [ + 0.43735578656196594, + 0.6973794102668762, + -0.5233344435691833, + -0.2202339768409729 + ], + "joints": [ + 0.00975058227777481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13089978694915771, + 0.03279521316289902, + 0.03983733430504799 + ], + "orientation": [ + 0.6724575757980347, + -0.19528968632221222, + 0.19971926510334015, + 0.685401439666748 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.129257932305336, + 0.032330986112356186, + 0.03824339061975479 + ], + "orientation": [ + 0.6692191362380981, + -0.2148570567369461, + 0.20311473309993744, + 0.6817085146903992 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.129257932305336, + 0.032330986112356186, + 0.03824339061975479 + ], + "orientation": [ + 0.6692191362380981, + -0.2148570567369461, + 0.20311473309993744, + 0.6817085146903992 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10078798234462738, + -0.050306204706430435, + -0.0004290739889256656 + ], + "orientation": [ + 0.051856089383363724, + 0.470954567193985, + -0.8772822618484497, + 0.07673655450344086 + ], + "joints": [ + -0.005540322512388229 + ] + }, + "fine_grasp": { + "position": [ + 0.09982585161924362, + -0.04904849827289581, + -0.0014768217224627733 + ], + "orientation": [ + 0.0522879995405674, + 0.47695955634117126, + -0.8735350370407104, + 0.08192741125822067 + ], + "joints": [ + 0.0008364733075723052 + ] + }, + "final_grasp": { + "position": [ + 0.09982585161924362, + -0.04904849827289581, + -0.0014768217224627733 + ], + "orientation": [ + 0.0522879995405674, + 0.47695955634117126, + -0.8735350370407104, + 0.08192741125822067 + ], + "joints": [ + 0.007213269360363483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10061927139759064, + -0.04995769262313843, + -0.0007127696298994124 + ], + "orientation": [ + 0.05281870812177658, + 0.47182053327560425, + -0.8770641088485718, + 0.07317229360342026 + ], + "joints": [ + -0.005478339269757271 + ] + }, + "fine_grasp": { + "position": [ + 0.10006459802389145, + -0.048715587705373764, + -0.0020178440026938915 + ], + "orientation": [ + 0.05327460542321205, + 0.4786086976528168, + -0.8729326128959656, + 0.07800175994634628 + ], + "joints": [ + 0.000871886732056737 + ] + }, + "final_grasp": { + "position": [ + 0.10006459802389145, + -0.048715587705373764, + -0.0020178440026938915 + ], + "orientation": [ + 0.05327460542321205, + 0.4786086976528168, + -0.8729326128959656, + 0.07800175994634628 + ], + "joints": [ + 0.007222112733870745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12630696594715118, + 0.0395694226026535, + -0.002587276976555586 + ], + "orientation": [ + 0.08094406872987747, + 0.7522047758102417, + 0.636810839176178, + -0.14868785440921783 + ], + "joints": [ + -0.005549918860197067 + ] + }, + "fine_grasp": { + "position": [ + -0.12419314682483673, + 0.04108770191669464, + -0.004762154538184404 + ], + "orientation": [ + 0.085930235683918, + 0.7555107474327087, + 0.629092812538147, + -0.16143690049648285 + ], + "joints": [ + 0.0008534470107406378 + ] + }, + "final_grasp": { + "position": [ + -0.12419314682483673, + 0.04108770191669464, + -0.004762154538184404 + ], + "orientation": [ + 0.085930235683918, + 0.7555107474327087, + 0.629092812538147, + -0.16143690049648285 + ], + "joints": [ + 0.007256812881678343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1243940070271492, + 0.03797538951039314, + -0.003125379327684641 + ], + "orientation": [ + 0.08432605862617493, + 0.7501976490020752, + 0.6391905546188354, + -0.14672492444515228 + ], + "joints": [ + -0.0055954959243535995 + ] + }, + "fine_grasp": { + "position": [ + -0.12439826130867004, + 0.03999818488955498, + -0.0052847168408334255 + ], + "orientation": [ + 0.08901828527450562, + 0.7529050707817078, + 0.6326824426651001, + -0.15786948800086975 + ], + "joints": [ + 0.0008078699465841055 + ] + }, + "final_grasp": { + "position": [ + -0.12439826130867004, + 0.03999818488955498, + -0.0052847168408334255 + ], + "orientation": [ + 0.08901828527450562, + 0.7529050707817078, + 0.6326824426651001, + -0.15786948800086975 + ], + "joints": [ + 0.0072112358175218105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10769297182559967, + 0.08169826865196228, + 0.019552404060959816 + ], + "orientation": [ + 0.04156242311000824, + 0.8440520167350769, + 0.49123138189315796, + -0.21104635298252106 + ], + "joints": [ + -0.009574176743626595 + ] + }, + "fine_grasp": { + "position": [ + -0.10506757348775864, + 0.0806223452091217, + 0.01824958249926567 + ], + "orientation": [ + 0.03304122015833855, + 0.8425852060317993, + 0.4918266832828522, + -0.21694450080394745 + ], + "joints": [ + -0.002639411948621273 + ] + }, + "final_grasp": { + "position": [ + -0.10506757348775864, + 0.0806223452091217, + 0.01824958249926567 + ], + "orientation": [ + 0.03304122015833855, + 0.8425852060317993, + 0.4918266832828522, + -0.21694450080394745 + ], + "joints": [ + 0.0042953528463840485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10775967687368393, + 0.08180072158575058, + 0.01988411135971546 + ], + "orientation": [ + 0.04227715730667114, + 0.8440433740615845, + 0.4907437562942505, + -0.21207034587860107 + ], + "joints": [ + -0.009278956800699234 + ] + }, + "fine_grasp": { + "position": [ + -0.10522682219743729, + 0.08099401742219925, + 0.019023187458515167 + ], + "orientation": [ + 0.033006951212882996, + 0.8431296348571777, + 0.4910595417022705, + -0.21657201647758484 + ], + "joints": [ + -0.00287559162825346 + ] + }, + "final_grasp": { + "position": [ + -0.10522682219743729, + 0.08099401742219925, + 0.019023187458515167 + ], + "orientation": [ + 0.033006951212882996, + 0.8431296348571777, + 0.4910595417022705, + -0.21657201647758484 + ], + "joints": [ + 0.003527773544192314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11117706447839737, + -0.02380330115556717, + 0.031138762831687927 + ], + "orientation": [ + 0.17951758205890656, + -0.560021162033081, + 0.8060436844825745, + 0.06665913760662079 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10811034590005875, + -0.022477027028799057, + 0.030097713693976402 + ], + "orientation": [ + 0.17465050518512726, + -0.560754656791687, + 0.8073924779891968, + 0.05629162862896919 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + 0.10811034590005875, + -0.022477027028799057, + 0.030097713693976402 + ], + "orientation": [ + 0.17465050518512726, + -0.560754656791687, + 0.8073924779891968, + 0.05629162862896919 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11111104488372803, + -0.023782817646861076, + 0.031066328287124634 + ], + "orientation": [ + 0.18019388616085052, + -0.560001790523529, + 0.8059014081954956, + 0.06671631336212158 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10808464884757996, + -0.02246765047311783, + 0.030029624700546265 + ], + "orientation": [ + 0.17527377605438232, + -0.5607346892356873, + 0.8072766661643982, + 0.05621520057320595 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + 0.10808464884757996, + -0.02246765047311783, + 0.030029624700546265 + ], + "orientation": [ + 0.17527377605438232, + -0.5607346892356873, + 0.8072766661643982, + 0.05621520057320595 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11102820187807083, + -0.023785335943102837, + 0.031041327863931656 + ], + "orientation": [ + 0.18012301623821259, + -0.5598975419998169, + 0.8060186505317688, + 0.06636501103639603 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10804306715726852, + -0.022489676252007484, + 0.030035564675927162 + ], + "orientation": [ + 0.1747031807899475, + -0.5606483817100525, + 0.8074868321418762, + 0.05583088845014572 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + 0.10804306715726852, + -0.022489676252007484, + 0.030035564675927162 + ], + "orientation": [ + 0.1747031807899475, + -0.5606483817100525, + 0.8074868321418762, + 0.05583088845014572 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025851702317595482, + 0.05785803496837616, + -0.1353890746831894 + ], + "orientation": [ + 0.19826266169548035, + 0.11182946711778641, + -0.49637413024902344, + -0.8377343416213989 + ], + "joints": [ + 0.001174108823761344 + ] + }, + "fine_grasp": { + "position": [ + -0.02548387087881565, + 0.05735050514340401, + -0.1325288861989975 + ], + "orientation": [ + 0.21120798587799072, + 0.12170582264661789, + -0.49589651823043823, + -0.8334658741950989 + ], + "joints": [ + 0.008082304149866104 + ] + }, + "final_grasp": { + "position": [ + -0.02548387087881565, + 0.05735050514340401, + -0.1325288861989975 + ], + "orientation": [ + 0.21120798587799072, + 0.12170582264661789, + -0.49589651823043823, + -0.8334658741950989 + ], + "joints": [ + 0.01499049924314022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11497100442647934, + 0.035976532846689224, + -0.04281110689043999 + ], + "orientation": [ + 0.6201580762863159, + -0.018749017268419266, + 0.18873876333236694, + 0.7612031102180481 + ], + "joints": [ + -0.005371740087866783 + ] + }, + "fine_grasp": { + "position": [ + 0.11755554378032684, + 0.034947220236063004, + -0.0437282919883728 + ], + "orientation": [ + 0.6196326613426208, + -0.02027403935790062, + 0.18284671008586884, + 0.7630278468132019 + ], + "joints": [ + 0.000473656109534204 + ] + }, + "final_grasp": { + "position": [ + 0.11755554378032684, + 0.034947220236063004, + -0.0437282919883728 + ], + "orientation": [ + 0.6196326613426208, + -0.02027403935790062, + 0.18284671008586884, + 0.7630278468132019 + ], + "joints": [ + 0.006319052539765835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10649790614843369, + 0.08283917605876923, + -0.014579355716705322 + ], + "orientation": [ + 0.043394785374403, + 0.8583324551582336, + -0.5018467307090759, + -0.09763281047344208 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.10633443295955658, + 0.08239265531301498, + -0.014628274366259575 + ], + "orientation": [ + 0.03689594939351082, + 0.8539140820503235, + -0.503640353679657, + -0.12576141953468323 + ], + "joints": [ + -0.0033923680894076824 + ] + }, + "final_grasp": { + "position": [ + 0.10633443295955658, + 0.08239265531301498, + -0.014628274366259575 + ], + "orientation": [ + 0.03689594939351082, + 0.8539140820503235, + -0.503640353679657, + -0.12576141953468323 + ], + "joints": [ + 0.002027907408773899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012194857001304626, + 0.04120795056223869, + -0.14084284007549286 + ], + "orientation": [ + 0.6065986156463623, + 0.7659780979156494, + 0.08361152559518814, + 0.19576717913150787 + ], + "joints": [ + -0.0012745445128530264 + ] + }, + "fine_grasp": { + "position": [ + 0.013307031244039536, + 0.04067499563097954, + -0.13830964267253876 + ], + "orientation": [ + 0.6087526082992554, + 0.7598955631256104, + 0.09020205587148666, + 0.20938624441623688 + ], + "joints": [ + 0.005660220980644226 + ] + }, + "final_grasp": { + "position": [ + 0.013307031244039536, + 0.04067499563097954, + -0.13830964267253876 + ], + "orientation": [ + 0.6087526082992554, + 0.7598955631256104, + 0.09020205587148666, + 0.20938624441623688 + ], + "joints": [ + 0.012594986706972122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.125132754445076, + 0.03895898535847664, + 0.04865560680627823 + ], + "orientation": [ + 0.18639521300792694, + -0.7514484524726868, + 0.631308913230896, + 0.045067086815834045 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.12040901184082031, + 0.039343446493148804, + 0.047705043107271194 + ], + "orientation": [ + 0.18699708580970764, + -0.7540050745010376, + 0.6283004879951477, + 0.0417962372303009 + ], + "joints": [ + -0.003166043199598789 + ] + }, + "final_grasp": { + "position": [ + 0.12040901184082031, + 0.039343446493148804, + 0.047705043107271194 + ], + "orientation": [ + 0.18699708580970764, + -0.7540050745010376, + 0.6283004879951477, + 0.0417962372303009 + ], + "joints": [ + 0.00424698181450367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000982564641162753, + 0.01660243235528469, + 0.14736030995845795 + ], + "orientation": [ + 0.22551114857196808, + -0.24264152348041534, + 0.6321187615394592, + -0.7004967331886292 + ], + "joints": [ + -0.0002540177956689149 + ] + }, + "fine_grasp": { + "position": [ + 0.0013751478400081396, + 0.01915479078888893, + 0.14406445622444153 + ], + "orientation": [ + 0.23373159766197205, + -0.2524053752422333, + 0.6289432644844055, + -0.6972025632858276 + ], + "joints": [ + 0.005139688029885292 + ] + }, + "final_grasp": { + "position": [ + 0.0013751478400081396, + 0.01915479078888893, + 0.14406445622444153 + ], + "orientation": [ + 0.23373159766197205, + -0.2524053752422333, + 0.6289432644844055, + -0.6972025632858276 + ], + "joints": [ + 0.010533394291996956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07699606567621231, + 0.01260642521083355, + -0.10545933246612549 + ], + "orientation": [ + 0.6099799871444702, + 0.20869016647338867, + 0.3783699870109558, + 0.6642356514930725 + ], + "joints": [ + -0.005652802065014839 + ] + }, + "fine_grasp": { + "position": [ + 0.07629191875457764, + 0.013540200889110565, + -0.10440167039632797 + ], + "orientation": [ + 0.6020936369895935, + 0.2084774225950241, + 0.3855825662612915, + 0.6673428416252136 + ], + "joints": [ + 0.0007239938713610172 + ] + }, + "final_grasp": { + "position": [ + 0.07629191875457764, + 0.013540200889110565, + -0.10440167039632797 + ], + "orientation": [ + 0.6020936369895935, + 0.2084774225950241, + 0.3855825662612915, + 0.6673428416252136 + ], + "joints": [ + 0.007100789807736874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12134109437465668, + 0.03037925250828266, + 0.020215483382344246 + ], + "orientation": [ + 0.128980353474617, + -0.7268108129501343, + -0.6667332649230957, + -0.1028442308306694 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.12377887964248657, + 0.03128210827708244, + 0.020649747923016548 + ], + "orientation": [ + 0.13409894704818726, + -0.7339799404144287, + -0.6572244167327881, + -0.10652180761098862 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + -0.12377887964248657, + 0.03128210827708244, + 0.020649747923016548 + ], + "orientation": [ + 0.13409894704818726, + -0.7339799404144287, + -0.6572244167327881, + -0.10652180761098862 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011478450149297714, + 0.09012580662965775, + -0.11358362436294556 + ], + "orientation": [ + 0.4977361261844635, + 0.8660722374916077, + 0.032394714653491974, + -0.033587414771318436 + ], + "joints": [ + 0.0057429419830441475 + ] + }, + "fine_grasp": { + "position": [ + -0.011067586950957775, + 0.0880718007683754, + -0.11158029735088348 + ], + "orientation": [ + 0.4884493350982666, + 0.8713738322257996, + 0.031317103654146194, + -0.033826615661382675 + ], + "joints": [ + 0.011110079474747181 + ] + }, + "final_grasp": { + "position": [ + -0.011067586950957775, + 0.0880718007683754, + -0.11158029735088348 + ], + "orientation": [ + 0.4884493350982666, + 0.8713738322257996, + 0.031317103654146194, + -0.033826615661382675 + ], + "joints": [ + 0.01647721603512764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12901106476783752, + 0.0012321944814175367, + -0.028745833784341812 + ], + "orientation": [ + 0.7566312551498413, + 0.07525808364152908, + 0.016413917765021324, + 0.6492887735366821 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.12324725836515427, + 0.001817455980926752, + -0.027384022250771523 + ], + "orientation": [ + 0.7553033828735352, + 0.08418422937393188, + 0.0143115920946002, + 0.6497885584831238 + ], + "joints": [ + -0.0018204698571935296 + ] + }, + "final_grasp": { + "position": [ + 0.12324725836515427, + 0.001817455980926752, + -0.027384022250771523 + ], + "orientation": [ + 0.7553033828735352, + 0.08418422937393188, + 0.0143115920946002, + 0.6497885584831238 + ], + "joints": [ + 0.004582895897328854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010791289620101452, + 0.08968319743871689, + -0.11357530206441879 + ], + "orientation": [ + 0.4991243779659271, + 0.8653520941734314, + 0.028890494257211685, + -0.03472524136304855 + ], + "joints": [ + 0.005672459490597248 + ] + }, + "fine_grasp": { + "position": [ + -0.010614058002829552, + 0.08783169090747833, + -0.11165005713701248 + ], + "orientation": [ + 0.48914191126823425, + 0.8710002899169922, + 0.02910594828426838, + -0.03537580743432045 + ], + "joints": [ + 0.011039596982300282 + ] + }, + "final_grasp": { + "position": [ + -0.010614058002829552, + 0.08783169090747833, + -0.11165005713701248 + ], + "orientation": [ + 0.48914191126823425, + 0.8710002899169922, + 0.02910594828426838, + -0.03537580743432045 + ], + "joints": [ + 0.01640673354268074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12190486490726471, + 0.030164118856191635, + 0.01980987749993801 + ], + "orientation": [ + 0.12278252094984055, + -0.7264307737350464, + -0.6689478158950806, + -0.09864939749240875 + ], + "joints": [ + -0.010269168764352798 + ] + }, + "fine_grasp": { + "position": [ + -0.12386468797922134, + 0.031130876392126083, + 0.020475110039114952 + ], + "orientation": [ + 0.12390749156475067, + -0.7339328527450562, + -0.6609067916870117, + -0.09587302803993225 + ], + "joints": [ + -0.004397203214466572 + ] + }, + "final_grasp": { + "position": [ + -0.12386468797922134, + 0.031130876392126083, + 0.020475110039114952 + ], + "orientation": [ + 0.12390749156475067, + -0.7339328527450562, + -0.6609067916870117, + -0.09587302803993225 + ], + "joints": [ + 0.0014747623354196548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023012889549136162, + -0.09257211536169052, + -0.0943465307354927 + ], + "orientation": [ + 0.942471981048584, + 0.23693633079528809, + 0.17714841663837433, + 0.15564753115177155 + ], + "joints": [ + -0.00027939985739067197 + ] + }, + "fine_grasp": { + "position": [ + 0.02353821136057377, + -0.09079131484031677, + -0.09240622073411942 + ], + "orientation": [ + 0.9386433362960815, + 0.2478305995464325, + 0.18321865797042847, + 0.15478889644145966 + ], + "joints": [ + 0.005592565983533859 + ] + }, + "final_grasp": { + "position": [ + 0.02353821136057377, + -0.09079131484031677, + -0.09240622073411942 + ], + "orientation": [ + 0.9386433362960815, + 0.2478305995464325, + 0.18321865797042847, + 0.15478889644145966 + ], + "joints": [ + 0.011464531533420086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09124550223350525, + 0.0649791955947876, + -0.07371339201927185 + ], + "orientation": [ + 0.3086276948451996, + 0.8284208178520203, + -0.4630465805530548, + -0.06368585675954819 + ], + "joints": [ + -0.005930403247475624 + ] + }, + "fine_grasp": { + "position": [ + 0.09137718379497528, + 0.0639929473400116, + -0.07342119514942169 + ], + "orientation": [ + 0.3091994822025299, + 0.8298668265342712, + -0.4614041745662689, + -0.05313083902001381 + ], + "joints": [ + 0.0004729625943582505 + ] + }, + "final_grasp": { + "position": [ + 0.09137718379497528, + 0.0639929473400116, + -0.07342119514942169 + ], + "orientation": [ + 0.3091994822025299, + 0.8298668265342712, + -0.4614041745662689, + -0.05313083902001381 + ], + "joints": [ + 0.006876328494399786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11489938199520111, + 0.020322345197200775, + 0.04042208194732666 + ], + "orientation": [ + 0.690211296081543, + 0.01991267316043377, + 0.16951648890972137, + -0.7031899094581604 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.11510937660932541, + 0.019208820536732674, + 0.03984465450048447 + ], + "orientation": [ + 0.6862434148788452, + 0.03049287758767605, + 0.1770167350769043, + -0.7048441171646118 + ], + "joints": [ + -0.0035868948325514793 + ] + }, + "final_grasp": { + "position": [ + -0.11510937660932541, + 0.019208820536732674, + 0.03984465450048447 + ], + "orientation": [ + 0.6862434148788452, + 0.03049287758767605, + 0.1770167350769043, + -0.7048441171646118 + ], + "joints": [ + 0.0028164703398942947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0911010354757309, + 0.06477722525596619, + -0.07271427661180496 + ], + "orientation": [ + 0.31025955080986023, + 0.8287513256072998, + -0.4619034230709076, + -0.05962773412466049 + ], + "joints": [ + -0.006489773280918598 + ] + }, + "fine_grasp": { + "position": [ + 0.09141985327005386, + 0.06399190425872803, + -0.07242562621831894 + ], + "orientation": [ + 0.30994993448257446, + 0.8301355838775635, + -0.4606834053993225, + -0.0507630854845047 + ], + "joints": [ + 0.00044499229989014566 + ] + }, + "final_grasp": { + "position": [ + 0.09141985327005386, + 0.06399190425872803, + -0.07242562621831894 + ], + "orientation": [ + 0.30994993448257446, + 0.8301355838775635, + -0.4606834053993225, + -0.0507630854845047 + ], + "joints": [ + 0.007379757706075907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1149456799030304, + 0.02072713151574135, + 0.04043857380747795 + ], + "orientation": [ + 0.6890172958374023, + 0.019847355782985687, + 0.16865310072898865, + -0.7045689225196838 + ], + "joints": [ + -0.009680360555648804 + ] + }, + "fine_grasp": { + "position": [ + -0.11497540771961212, + 0.019496267661452293, + 0.040222976356744766 + ], + "orientation": [ + 0.6858366131782532, + 0.028243422508239746, + 0.1761922538280487, + -0.7055400609970093 + ], + "joints": [ + -0.0032769953832030296 + ] + }, + "final_grasp": { + "position": [ + -0.11497540771961212, + 0.019496267661452293, + 0.040222976356744766 + ], + "orientation": [ + 0.6858366131782532, + 0.028243422508239746, + 0.1761922538280487, + -0.7055400609970093 + ], + "joints": [ + 0.0031263697892427444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11498312652111053, + 0.020835870876908302, + 0.04025840759277344 + ], + "orientation": [ + 0.6891210675239563, + 0.020130649209022522, + 0.16778890788555145, + -0.7046656608581543 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.11499536037445068, + 0.019422762095928192, + 0.03984425589442253 + ], + "orientation": [ + 0.6865169405937195, + 0.028643622994422913, + 0.17500515282154083, + -0.7051575779914856 + ], + "joints": [ + -0.0035868948325514793 + ] + }, + "final_grasp": { + "position": [ + -0.11499536037445068, + 0.019422762095928192, + 0.03984425589442253 + ], + "orientation": [ + 0.6865169405937195, + 0.028643622994422913, + 0.17500515282154083, + -0.7051575779914856 + ], + "joints": [ + 0.0028164703398942947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11410335451364517, + -0.012477920390665531, + -0.017305094748735428 + ], + "orientation": [ + 0.09339360147714615, + 0.6096830368041992, + -0.7862260937690735, + 0.037586722522974014 + ], + "joints": [ + -0.005231143906712532 + ] + }, + "fine_grasp": { + "position": [ + 0.11271622031927109, + -0.013948386535048485, + -0.018402494490146637 + ], + "orientation": [ + 0.08294836431741714, + 0.6081039309501648, + -0.7886601090431213, + 0.036667756736278534 + ], + "joints": [ + 0.001172221964225173 + ] + }, + "final_grasp": { + "position": [ + 0.11271622031927109, + -0.013948386535048485, + -0.018402494490146637 + ], + "orientation": [ + 0.08294836431741714, + 0.6081039309501648, + -0.7886601090431213, + 0.036667756736278534 + ], + "joints": [ + 0.007575587835162878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.119389608502388, + 0.04298941791057587, + -0.017814183607697487 + ], + "orientation": [ + 0.13639117777347565, + 0.7729452848434448, + -0.6122511625289917, + 0.0954023152589798 + ], + "joints": [ + -0.006595964543521404 + ] + }, + "fine_grasp": { + "position": [ + 0.1216522678732872, + 0.042413584887981415, + -0.017981868237257004 + ], + "orientation": [ + 0.1295762062072754, + 0.7762107253074646, + -0.6087433695793152, + 0.10068917274475098 + ], + "joints": [ + -0.0007771386299282312 + ] + }, + "final_grasp": { + "position": [ + 0.1216522678732872, + 0.042413584887981415, + -0.017981868237257004 + ], + "orientation": [ + 0.1295762062072754, + 0.7762107253074646, + -0.6087433695793152, + 0.10068917274475098 + ], + "joints": [ + 0.005041687283664942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11045009642839432, + 0.06088912487030029, + 0.024615606293082237 + ], + "orientation": [ + 0.5692540407180786, + 0.04830222204327583, + 0.07988478988409042, + -0.8168447017669678 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.11069943010807037, + 0.06069024279713631, + 0.02426716312766075 + ], + "orientation": [ + 0.5631972551345825, + 0.05770000442862511, + 0.08970638364553452, + -0.8194096684455872 + ], + "joints": [ + -0.003556055948138237 + ] + }, + "final_grasp": { + "position": [ + -0.11069943010807037, + 0.06069024279713631, + 0.02426716312766075 + ], + "orientation": [ + 0.5631972551345825, + 0.05770000442862511, + 0.08970638364553452, + -0.8194096684455872 + ], + "joints": [ + 0.0022893399000167847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10512484610080719, + -0.029591286554932594, + -0.03832405060529709 + ], + "orientation": [ + 0.17882715165615082, + 0.5519428849220276, + -0.8139654994010925, + -0.02898380346596241 + ], + "joints": [ + -0.0059952512383461 + ] + }, + "fine_grasp": { + "position": [ + 0.10272667557001114, + -0.02909286879003048, + -0.03876544535160065 + ], + "orientation": [ + 0.18001429736614227, + 0.5546297430992126, + -0.8120085597038269, + -0.024956874549388885 + ], + "joints": [ + 0.00040811460348777473 + ] + }, + "final_grasp": { + "position": [ + 0.10272667557001114, + -0.02909286879003048, + -0.03876544535160065 + ], + "orientation": [ + 0.18001429736614227, + 0.5546297430992126, + -0.8120085597038269, + -0.024956874549388885 + ], + "joints": [ + 0.00681148050352931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11057516187429428, + 0.06100579351186752, + 0.024717172607779503 + ], + "orientation": [ + 0.5691592693328857, + 0.04757986590266228, + 0.07873820513486862, + -0.8170643448829651 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.11103399097919464, + 0.06074591353535652, + 0.024355484172701836 + ], + "orientation": [ + 0.5635297298431396, + 0.05691132694482803, + 0.08796832710504532, + -0.8194246888160706 + ], + "joints": [ + -0.003556055948138237 + ] + }, + "final_grasp": { + "position": [ + -0.11103399097919464, + 0.06074591353535652, + 0.024355484172701836 + ], + "orientation": [ + 0.5635297298431396, + 0.05691132694482803, + 0.08796832710504532, + -0.8194246888160706 + ], + "joints": [ + 0.0022893399000167847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10343316197395325, + 0.06022480130195618, + -0.06127512827515602 + ], + "orientation": [ + 0.513461172580719, + 0.038374800235033035, + -0.26686468720436096, + -0.8146583437919617 + ], + "joints": [ + -0.0068327318876981735 + ] + }, + "fine_grasp": { + "position": [ + -0.1049564853310585, + 0.05976448580622673, + -0.06283096224069595 + ], + "orientation": [ + 0.5162484645843506, + 0.032248083502054214, + -0.2645321488380432, + -0.8139227628707886 + ], + "joints": [ + 7.54634675104171e-05 + ] + }, + "final_grasp": { + "position": [ + -0.1049564853310585, + 0.05976448580622673, + -0.06283096224069595 + ], + "orientation": [ + 0.5162484645843506, + 0.032248083502054214, + -0.2645321488380432, + -0.8139227628707886 + ], + "joints": [ + 0.006983658764511347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11368071287870407, + 0.057299673557281494, + 0.016243547201156616 + ], + "orientation": [ + 0.5677056312561035, + -0.17741777002811432, + -0.1954701542854309, + -0.7797593474388123 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.1175926923751831, + 0.05917135253548622, + 0.017379023134708405 + ], + "orientation": [ + 0.5712787508964539, + -0.15875335037708282, + -0.18483862280845642, + -0.7837554812431335 + ], + "joints": [ + -0.006026105955243111 + ] + }, + "final_grasp": { + "position": [ + -0.1175926923751831, + 0.05917135253548622, + 0.017379023134708405 + ], + "orientation": [ + 0.5712787508964539, + -0.15875335037708282, + -0.18483862280845642, + -0.7837554812431335 + ], + "joints": [ + 0.0008820891380310059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019012734293937683, + 0.02592269517481327, + 0.15011949837207794 + ], + "orientation": [ + 0.06822197139263153, + -0.20266412198543549, + 0.6587930917739868, + -0.7212936878204346 + ], + "joints": [ + -0.0005861661629751325 + ] + }, + "fine_grasp": { + "position": [ + 0.020032798871397972, + 0.02553335577249527, + 0.14732442796230316 + ], + "orientation": [ + 0.07536391168832779, + -0.21620780229568481, + 0.6616674065589905, + -0.7139822840690613 + ], + "joints": [ + 0.004860679153352976 + ] + }, + "final_grasp": { + "position": [ + 0.020032798871397972, + 0.02553335577249527, + 0.14732442796230316 + ], + "orientation": [ + 0.07536391168832779, + -0.21620780229568481, + 0.6616674065589905, + -0.7139822840690613 + ], + "joints": [ + 0.010307524353265762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10612629354000092, + -0.03619609773159027, + -0.015239554457366467 + ], + "orientation": [ + 0.10017385333776474, + 0.5243794918060303, + -0.8454420566558838, + 0.014803742058575153 + ], + "joints": [ + -0.006348135881125927 + ] + }, + "fine_grasp": { + "position": [ + 0.10544952005147934, + -0.035937126725912094, + -0.016111232340335846 + ], + "orientation": [ + 0.0959564745426178, + 0.5276702046394348, + -0.8437899351119995, + 0.01936662383377552 + ], + "joints": [ + 2.8659822419285774e-05 + ] + }, + "final_grasp": { + "position": [ + 0.10544952005147934, + -0.035937126725912094, + -0.016111232340335846 + ], + "orientation": [ + 0.0959564745426178, + 0.5276702046394348, + -0.8437899351119995, + 0.01936662383377552 + ], + "joints": [ + 0.0064054555259644985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04994341731071472, + 0.14524303376674652, + -0.013642593286931515 + ], + "orientation": [ + 0.17375676333904266, + -0.01784217357635498, + -0.036324094980955124, + 0.9839566946029663 + ], + "joints": [ + 0.000856506172567606 + ] + }, + "fine_grasp": { + "position": [ + 0.048979513347148895, + 0.14096207916736603, + -0.01466764323413372 + ], + "orientation": [ + 0.1676054745912552, + -0.009596702642738819, + -0.04927264526486397, + 0.9845753312110901 + ], + "joints": [ + 0.006755041424185038 + ] + }, + "final_grasp": { + "position": [ + 0.048979513347148895, + 0.14096207916736603, + -0.01466764323413372 + ], + "orientation": [ + 0.1676054745912552, + -0.009596702642738819, + -0.04927264526486397, + 0.9845753312110901 + ], + "joints": [ + 0.012653576210141182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024422436952590942, + 0.08086416125297546, + 0.1395711600780487 + ], + "orientation": [ + 0.3302909731864929, + -0.4236985743045807, + -0.4223042130470276, + 0.7301003932952881 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.02093801461160183, + 0.07858704030513763, + 0.1366250365972519 + ], + "orientation": [ + 0.3396333158016205, + -0.42283377051353455, + -0.3934427797794342, + 0.7423364520072937 + ], + "joints": [ + -0.005153488367795944 + ] + }, + "final_grasp": { + "position": [ + 0.02093801461160183, + 0.07858704030513763, + 0.1366250365972519 + ], + "orientation": [ + 0.3396333158016205, + -0.42283377051353455, + -0.3934427797794342, + 0.7423364520072937 + ], + "joints": [ + 0.0043054260313510895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11719731241464615, + 0.051623933017253876, + 0.022632893174886703 + ], + "orientation": [ + 0.0736348107457161, + -0.7876644730567932, + -0.6090819835662842, + -0.05640611797571182 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.11780883371829987, + 0.05123406648635864, + 0.022130172699689865 + ], + "orientation": [ + 0.07895177602767944, + -0.7911962270736694, + -0.6035537719726562, + -0.0591440312564373 + ], + "joints": [ + -0.003556055948138237 + ] + }, + "final_grasp": { + "position": [ + -0.11780883371829987, + 0.05123406648635864, + 0.022130172699689865 + ], + "orientation": [ + 0.07895177602767944, + -0.7911962270736694, + -0.6035537719726562, + -0.0591440312564373 + ], + "joints": [ + 0.0022893399000167847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07262028008699417, + 0.0048828283324837685, + -0.10636018216609955 + ], + "orientation": [ + 0.3772513270378113, + 0.6331242918968201, + -0.6360596418380737, + -0.22861135005950928 + ], + "joints": [ + -0.005180457606911659 + ] + }, + "fine_grasp": { + "position": [ + 0.07150162756443024, + 0.005120305344462395, + -0.10355997830629349 + ], + "orientation": [ + 0.3823990821838379, + 0.6304486393928528, + -0.6329764723777771, + -0.23589469492435455 + ], + "joints": [ + 0.0006915086414664984 + ] + }, + "final_grasp": { + "position": [ + 0.07150162756443024, + 0.005120305344462395, + -0.10355997830629349 + ], + "orientation": [ + 0.3823990821838379, + 0.6304486393928528, + -0.6329764723777771, + -0.23589469492435455 + ], + "joints": [ + 0.006563474889844656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10921186208724976, + 0.06035715714097023, + 0.026002628728747368 + ], + "orientation": [ + 0.5702146291732788, + 0.033575884997844696, + 0.07491149008274078, + -0.8173837661743164 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.11320330202579498, + 0.06076038256287575, + 0.026807859539985657 + ], + "orientation": [ + 0.5689367055892944, + 0.04003722965717316, + 0.07083121687173843, + -0.8183465003967285 + ], + "joints": [ + -0.0034720776602625847 + ] + }, + "final_grasp": { + "position": [ + -0.11320330202579498, + 0.06076038256287575, + 0.026807859539985657 + ], + "orientation": [ + 0.5689367055892944, + 0.04003722965717316, + 0.07083121687173843, + -0.8183465003967285 + ], + "joints": [ + 0.0018684882670640945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03188787028193474, + -0.10356543213129044, + -0.02900526486337185 + ], + "orientation": [ + 0.0806075930595398, + 0.14103177189826965, + 0.9835013747215271, + 0.07960852235555649 + ], + "joints": [ + -0.0004129388544242829 + ] + }, + "fine_grasp": { + "position": [ + -0.03197105601429939, + -0.1013069897890091, + -0.03042779304087162 + ], + "orientation": [ + 0.0858999565243721, + 0.1397099494934082, + 0.9836782813072205, + 0.0740218460559845 + ], + "joints": [ + 0.005990426987409592 + ] + }, + "final_grasp": { + "position": [ + -0.03197105601429939, + -0.1013069897890091, + -0.03042779304087162 + ], + "orientation": [ + 0.0858999565243721, + 0.1397099494934082, + 0.9836782813072205, + 0.0740218460559845 + ], + "joints": [ + 0.01239379309117794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027901427820324898, + 0.050990380346775055, + -0.13536477088928223 + ], + "orientation": [ + 0.13238315284252167, + -0.01293118018656969, + -0.5104660391807556, + -0.8495481014251709 + ], + "joints": [ + 0.0023117014206945896 + ] + }, + "fine_grasp": { + "position": [ + -0.027791853994131088, + 0.051240067929029465, + -0.1327047348022461 + ], + "orientation": [ + 0.13009122014045715, + -0.019278811290860176, + -0.5236014723777771, + -0.8417518734931946 + ], + "joints": [ + 0.007705409545451403 + ] + }, + "final_grasp": { + "position": [ + -0.027791853994131088, + 0.051240067929029465, + -0.1327047348022461 + ], + "orientation": [ + 0.13009122014045715, + -0.019278811290860176, + -0.5236014723777771, + -0.8417518734931946 + ], + "joints": [ + 0.013099117204546928 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09299670159816742, + 0.0720413327217102, + 0.1041402518749237 + ], + "orientation": [ + 0.08604025095701218, + -0.747791051864624, + 0.5570492148399353, + -0.35085874795913696 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09004875272512436, + 0.0706947073340416, + 0.10164937376976013 + ], + "orientation": [ + 0.09965743124485016, + -0.7490556240081787, + 0.5564396977424622, + -0.3454835116863251 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.09004875272512436, + 0.0706947073340416, + 0.10164937376976013 + ], + "orientation": [ + 0.09965743124485016, + -0.7490556240081787, + 0.5564396977424622, + -0.3454835116863251 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11480642855167389, + 0.03872523456811905, + 0.03229256346821785 + ], + "orientation": [ + 0.16809777915477753, + 0.7175472974777222, + 0.6416563391685486, + -0.21247629821300507 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11992403119802475, + 0.03973580524325371, + 0.033079564571380615 + ], + "orientation": [ + 0.16288945078849792, + 0.7227181792259216, + 0.6402822136878967, + -0.20293870568275452 + ], + "joints": [ + -0.006026105955243111 + ] + }, + "final_grasp": { + "position": [ + -0.11992403119802475, + 0.03973580524325371, + 0.033079564571380615 + ], + "orientation": [ + 0.16288945078849792, + 0.7227181792259216, + 0.6402822136878967, + -0.20293870568275452 + ], + "joints": [ + 0.0008820891380310059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10247768461704254, + 0.03866645693778992, + -0.07288743555545807 + ], + "orientation": [ + 0.2677828073501587, + 0.7501286268234253, + -0.5911980867385864, + -0.1268235594034195 + ], + "joints": [ + -0.006641232408583164 + ] + }, + "fine_grasp": { + "position": [ + 0.10367465764284134, + 0.040241342037916183, + -0.07453805208206177 + ], + "orientation": [ + 0.2672910690307617, + 0.7558773756027222, + -0.585442304611206, + -0.12025875598192215 + ], + "joints": [ + 0.0007983626564964652 + ] + }, + "final_grasp": { + "position": [ + 0.10367465764284134, + 0.040241342037916183, + -0.07453805208206177 + ], + "orientation": [ + 0.2672910690307617, + 0.7558773756027222, + -0.585442304611206, + -0.12025875598192215 + ], + "joints": [ + 0.008237957954406738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11843852698802948, + 0.04878898337483406, + -0.02590683288872242 + ], + "orientation": [ + 0.6234892010688782, + 0.12102818489074707, + 0.07285924255847931, + 0.7689635157585144 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.11781937628984451, + 0.05260271951556206, + -0.023308444768190384 + ], + "orientation": [ + 0.6131736040115356, + 0.14924752712249756, + 0.05667285621166229, + 0.773648202419281 + ], + "joints": [ + -0.00296864565461874 + ] + }, + "final_grasp": { + "position": [ + 0.11781937628984451, + 0.05260271951556206, + -0.023308444768190384 + ], + "orientation": [ + 0.6131736040115356, + 0.14924752712249756, + 0.05667285621166229, + 0.773648202419281 + ], + "joints": [ + 0.003434719517827034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11802399158477783, + 0.06856689602136612, + 0.034105174243450165 + ], + "orientation": [ + 0.5588442087173462, + -0.021563831716775894, + 0.09204424172639847, + -0.8238665461540222 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.11741184443235397, + 0.06845122575759888, + 0.034260042011737823 + ], + "orientation": [ + 0.5593315958976746, + -0.010315436869859695, + 0.09271815419197083, + -0.8236778378486633 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.11741184443235397, + 0.06845122575759888, + 0.034260042011737823 + ], + "orientation": [ + 0.5593315958976746, + -0.010315436869859695, + 0.09271815419197083, + -0.8236778378486633 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11841294169425964, + 0.04842627793550491, + -0.025859907269477844 + ], + "orientation": [ + 0.6245281100273132, + 0.12071311473846436, + 0.0728706493973732, + 0.7681683897972107 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.11791840195655823, + 0.05228705331683159, + -0.023255305364727974 + ], + "orientation": [ + 0.6143413186073303, + 0.14854004979133606, + 0.057494156062603, + 0.7727968692779541 + ], + "joints": [ + -0.00296864565461874 + ] + }, + "final_grasp": { + "position": [ + 0.11791840195655823, + 0.05228705331683159, + -0.023255305364727974 + ], + "orientation": [ + 0.6143413186073303, + 0.14854004979133606, + 0.057494156062603, + 0.7727968692779541 + ], + "joints": [ + 0.003434719517827034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11698754131793976, + 0.016351208090782166, + -0.002979632932692766 + ], + "orientation": [ + 0.009041789919137955, + -0.6787179708480835, + -0.7224774360656738, + -0.13147827982902527 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.11832345277070999, + 0.015208873897790909, + -0.002818493405357003 + ], + "orientation": [ + 0.001990111079066992, + -0.6799398064613342, + -0.7213690876960754, + -0.13154582679271698 + ], + "joints": [ + -0.0019352870294824243 + ] + }, + "final_grasp": { + "position": [ + -0.11832345277070999, + 0.015208873897790909, + -0.002818493405357003 + ], + "orientation": [ + 0.001990111079066992, + -0.6799398064613342, + -0.7213690876960754, + -0.13154582679271698 + ], + "joints": [ + 0.005530877970159054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10804155468940735, + 0.03425109386444092, + 0.06451161205768585 + ], + "orientation": [ + 0.08884035795927048, + 0.664230227470398, + -0.6767330765724182, + 0.30485692620277405 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.10846446454524994, + 0.03402885049581528, + 0.06577335298061371 + ], + "orientation": [ + 0.07680140435695648, + 0.6640380620956421, + -0.6855709552764893, + 0.28835269808769226 + ], + "joints": [ + -0.007119744084775448 + ] + }, + "final_grasp": { + "position": [ + 0.10846446454524994, + 0.03402885049581528, + 0.06577335298061371 + ], + "orientation": [ + 0.07680140435695648, + 0.6640380620956421, + -0.6855709552764893, + 0.28835269808769226 + ], + "joints": [ + -0.0007163789123296738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12110915780067444, + 0.040781524032354355, + -0.022894883528351784 + ], + "orientation": [ + 0.1859220266342163, + 0.7635302543640137, + 0.6149773001670837, + -0.06524983048439026 + ], + "joints": [ + -0.007442309521138668 + ] + }, + "fine_grasp": { + "position": [ + -0.12129456549882889, + 0.042969465255737305, + -0.024599332362413406 + ], + "orientation": [ + 0.18339285254478455, + 0.7679133415222168, + 0.6105152368545532, + -0.06282825022935867 + ], + "joints": [ + -0.001065514050424099 + ] + }, + "final_grasp": { + "position": [ + -0.12129456549882889, + 0.042969465255737305, + -0.024599332362413406 + ], + "orientation": [ + 0.18339285254478455, + 0.7679133415222168, + 0.6105152368545532, + -0.06282825022935867 + ], + "joints": [ + 0.00531128142029047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020716849714517593, + -0.12062551081180573, + -0.008662423118948936 + ], + "orientation": [ + 0.9934269189834595, + 0.0006609185948036611, + 0.08138428628444672, + -0.0804930105805397 + ], + "joints": [ + 0.0005221653264015913 + ] + }, + "fine_grasp": { + "position": [ + -0.021367138251662254, + -0.12164738774299622, + -0.00902724638581276 + ], + "orientation": [ + 0.9915057420730591, + 0.005257987882941961, + 0.10368520766496658, + -0.07834659516811371 + ], + "joints": [ + 0.006925530731678009 + ] + }, + "final_grasp": { + "position": [ + -0.021367138251662254, + -0.12164738774299622, + -0.00902724638581276 + ], + "orientation": [ + 0.9915057420730591, + 0.005257987882941961, + 0.10368520766496658, + -0.07834659516811371 + ], + "joints": [ + 0.013328895904123783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12174426764249802, + 0.04182999208569527, + -0.011502853594720364 + ], + "orientation": [ + 0.09448318928480148, + 0.765839695930481, + 0.6330551505088806, + -0.06167389079928398 + ], + "joints": [ + -0.0061990562826395035 + ] + }, + "fine_grasp": { + "position": [ + -0.12278261035680771, + 0.04325404763221741, + -0.013473980128765106 + ], + "orientation": [ + 0.09450644999742508, + 0.7663542628288269, + 0.6311538219451904, + -0.07358340173959732 + ], + "joints": [ + 0.00017773950821720064 + ] + }, + "final_grasp": { + "position": [ + -0.12278261035680771, + 0.04325404763221741, + -0.013473980128765106 + ], + "orientation": [ + 0.09450644999742508, + 0.7663542628288269, + 0.6311538219451904, + -0.07358340173959732 + ], + "joints": [ + 0.006554535124450922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03358519822359085, + -0.021021230146288872, + -0.14794783294200897 + ], + "orientation": [ + 0.0328122153878212, + -0.13979513943195343, + 0.7809799313545227, + 0.6078248620033264 + ], + "joints": [ + 0.00027487531770020723 + ] + }, + "fine_grasp": { + "position": [ + 0.03331835940480232, + -0.020075390115380287, + -0.14344951510429382 + ], + "orientation": [ + 0.03574575111269951, + -0.13905084133148193, + 0.7789494395256042, + 0.610430121421814 + ], + "joints": [ + 0.006731381174176931 + ] + }, + "final_grasp": { + "position": [ + 0.03331835940480232, + -0.020075390115380287, + -0.14344951510429382 + ], + "orientation": [ + 0.03574575111269951, + -0.13905084133148193, + 0.7789494395256042, + 0.610430121421814 + ], + "joints": [ + 0.013187887147068977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11785738170146942, + 0.02005893737077713, + -0.016943588852882385 + ], + "orientation": [ + 0.7152062654495239, + 0.1121964380145073, + 0.009548618458211422, + 0.6897832155227661 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.11892662197351456, + 0.018716786056756973, + -0.015704380348324776 + ], + "orientation": [ + 0.7168577909469604, + 0.12314014136791229, + 0.007589453831315041, + 0.6862169504165649 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.11892662197351456, + 0.018716786056756973, + -0.015704380348324776 + ], + "orientation": [ + 0.7168577909469604, + 0.12314014136791229, + 0.007589453831315041, + 0.6862169504165649 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10440918058156967, + 0.029553644359111786, + -0.06900002807378769 + ], + "orientation": [ + 0.2758897840976715, + 0.7306554317474365, + -0.6158803701400757, + -0.10353133827447891 + ], + "joints": [ + -0.006851918064057827 + ] + }, + "fine_grasp": { + "position": [ + 0.10585283488035202, + 0.03186895325779915, + -0.07168062776327133 + ], + "orientation": [ + 0.2824355661869049, + 0.7399519681930542, + -0.6029157638549805, + -0.09588480740785599 + ], + "joints": [ + 5.6277262046933174e-05 + ] + }, + "final_grasp": { + "position": [ + 0.10585283488035202, + 0.03186895325779915, + -0.07168062776327133 + ], + "orientation": [ + 0.2824355661869049, + 0.7399519681930542, + -0.6029157638549805, + -0.09588480740785599 + ], + "joints": [ + 0.006964472588151693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10470204055309296, + -0.01974010281264782, + -0.042543310672044754 + ], + "orientation": [ + 0.19467222690582275, + 0.5785980820655823, + 0.7903836369514465, + 0.05119255557656288 + ], + "joints": [ + -0.006285293959081173 + ] + }, + "fine_grasp": { + "position": [ + -0.10536609590053558, + -0.02197289653122425, + -0.043353401124477386 + ], + "orientation": [ + 0.19400446116924286, + 0.571175217628479, + 0.7959679365158081, + 0.05055806040763855 + ], + "joints": [ + 9.15017444640398e-05 + ] + }, + "final_grasp": { + "position": [ + -0.10536609590053558, + -0.02197289653122425, + -0.043353401124477386 + ], + "orientation": [ + 0.19400446116924286, + 0.571175217628479, + 0.7959679365158081, + 0.05055806040763855 + ], + "joints": [ + 0.0064682974480092525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006155614973977208, + -0.04616449028253555, + 0.12772637605667114 + ], + "orientation": [ + 0.1811448484659195, + -0.12274686992168427, + -0.8415502905845642, + 0.4938753545284271 + ], + "joints": [ + -0.0013115305919200182 + ] + }, + "fine_grasp": { + "position": [ + -0.0004278564592823386, + -0.04489333555102348, + 0.12552563846111298 + ], + "orientation": [ + 0.1971159130334854, + -0.1297173649072647, + -0.8381361365318298, + 0.4917789399623871 + ], + "joints": [ + 0.005118404980748892 + ] + }, + "final_grasp": { + "position": [ + -0.0004278564592823386, + -0.04489333555102348, + 0.12552563846111298 + ], + "orientation": [ + 0.1971159130334854, + -0.1297173649072647, + -0.8381361365318298, + 0.4917789399623871 + ], + "joints": [ + 0.011548340320587158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10499151051044464, + -0.020267438143491745, + -0.04250630736351013 + ], + "orientation": [ + 0.19588598608970642, + 0.5776724219322205, + 0.7908864617347717, + 0.049213457852602005 + ], + "joints": [ + -0.0063218167051672935 + ] + }, + "fine_grasp": { + "position": [ + -0.10527884215116501, + -0.02237573266029358, + -0.04304668307304382 + ], + "orientation": [ + 0.1960582137107849, + 0.5701749920845032, + 0.7962833046913147, + 0.048934709280729294 + ], + "joints": [ + 5.4979027481749654e-05 + ] + }, + "final_grasp": { + "position": [ + -0.10527884215116501, + -0.02237573266029358, + -0.04304668307304382 + ], + "orientation": [ + 0.1960582137107849, + 0.5701749920845032, + 0.7962833046913147, + 0.048934709280729294 + ], + "joints": [ + 0.006431774701923132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030913615599274635, + -0.09725552797317505, + 0.019688637927174568 + ], + "orientation": [ + 0.9853706359863281, + -0.08241177350282669, + 0.04975853115320206, + -0.140631303191185 + ], + "joints": [ + -0.001227357890456915 + ] + }, + "fine_grasp": { + "position": [ + -0.031091326847672462, + -0.09165298938751221, + 0.019682401791214943 + ], + "orientation": [ + 0.9840567708015442, + -0.08044587820768356, + 0.06535005569458008, + -0.1445343792438507 + ], + "joints": [ + 0.0051494380459189415 + ] + }, + "final_grasp": { + "position": [ + -0.031091326847672462, + -0.09165298938751221, + 0.019682401791214943 + ], + "orientation": [ + 0.9840567708015442, + -0.08044587820768356, + 0.06535005569458008, + -0.1445343792438507 + ], + "joints": [ + 0.011526234447956085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1082950159907341, + -0.0271440576761961, + -0.013782143592834473 + ], + "orientation": [ + 0.8197609782218933, + -0.03732568770647049, + -0.14157304167747498, + -0.5536749362945557 + ], + "joints": [ + -0.0076009007170796394 + ] + }, + "fine_grasp": { + "position": [ + -0.1085783988237381, + -0.029710182920098305, + -0.013802600093185902 + ], + "orientation": [ + 0.8233377933502197, + -0.04889462888240814, + -0.14370200037956238, + -0.5468764305114746 + ], + "joints": [ + -0.0006927055073902011 + ] + }, + "final_grasp": { + "position": [ + -0.1085783988237381, + -0.029710182920098305, + -0.013802600093185902 + ], + "orientation": [ + 0.8233377933502197, + -0.04889462888240814, + -0.14370200037956238, + -0.5468764305114746 + ], + "joints": [ + 0.006215489469468594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11233209073543549, + 0.033645473420619965, + -0.048941757529973984 + ], + "orientation": [ + 0.20617200434207916, + 0.7460411190986633, + -0.6309067010879517, + -0.05359473451972008 + ], + "joints": [ + -0.0068418486043810844 + ] + }, + "fine_grasp": { + "position": [ + 0.11543669551610947, + 0.033991489559412, + -0.050587236881256104 + ], + "orientation": [ + 0.20450903475284576, + 0.7519256472587585, + -0.6249582767486572, + -0.04702269658446312 + ], + "joints": [ + -0.000491623068228364 + ] + }, + "final_grasp": { + "position": [ + 0.11543669551610947, + 0.033991489559412, + -0.050587236881256104 + ], + "orientation": [ + 0.20450903475284576, + 0.7519256472587585, + -0.6249582767486572, + -0.04702269658446312 + ], + "joints": [ + 0.0058586024679243565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005581898149102926, + -0.046267565339803696, + 0.12846636772155762 + ], + "orientation": [ + 0.17924708127975464, + -0.12144476920366287, + -0.8419966697692871, + 0.4941287934780121 + ], + "joints": [ + -0.001432392979040742 + ] + }, + "fine_grasp": { + "position": [ + -0.0005246843793429434, + -0.04480826482176781, + 0.12608155608177185 + ], + "orientation": [ + 0.19319799542427063, + -0.12837402522563934, + -0.8385218381881714, + 0.4930271506309509 + ], + "joints": [ + 0.005024112295359373 + ] + }, + "final_grasp": { + "position": [ + -0.0005246843793429434, + -0.04480826482176781, + 0.12608155608177185 + ], + "orientation": [ + 0.19319799542427063, + -0.12837402522563934, + -0.8385218381881714, + 0.4930271506309509 + ], + "joints": [ + 0.011480617336928844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027587665244936943, + 0.11222296208143234, + -0.07349826395511627 + ], + "orientation": [ + 0.14308765530586243, + 0.10103649646043777, + 0.23453214764595032, + 0.956196665763855 + ], + "joints": [ + 4.434463335201144e-05 + ] + }, + "fine_grasp": { + "position": [ + 0.02748676761984825, + 0.11147363483905792, + -0.0713479295372963 + ], + "orientation": [ + 0.15459074079990387, + 0.13322138786315918, + 0.22988440096378326, + 0.9515812993049622 + ], + "joints": [ + 0.005916310474276543 + ] + }, + "final_grasp": { + "position": [ + 0.02748676761984825, + 0.11147363483905792, + -0.0713479295372963 + ], + "orientation": [ + 0.15459074079990387, + 0.13322138786315918, + 0.22988440096378326, + 0.9515812993049622 + ], + "joints": [ + 0.01178827602416277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006929805502295494, + -0.05092240869998932, + -0.1224726140499115 + ], + "orientation": [ + 0.1070152074098587, + 0.10072790086269379, + -0.8583064675331116, + -0.4916417598724365 + ], + "joints": [ + 0.001226911903358996 + ] + }, + "fine_grasp": { + "position": [ + 0.007423237897455692, + -0.048216965049505234, + -0.1179385557770729 + ], + "orientation": [ + 0.10655684024095535, + 0.10204176604747772, + -0.8543742895126343, + -0.49827468395233154 + ], + "joints": [ + 0.008666506968438625 + ] + }, + "final_grasp": { + "position": [ + 0.007423237897455692, + -0.048216965049505234, + -0.1179385557770729 + ], + "orientation": [ + 0.10655684024095535, + 0.10204176604747772, + -0.8543742895126343, + -0.49827468395233154 + ], + "joints": [ + 0.016106102615594864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10815795511007309, + -0.027060961350798607, + -0.013885877095162868 + ], + "orientation": [ + 0.8200218677520752, + -0.03420233726501465, + -0.1409856230020523, + -0.5536401867866516 + ], + "joints": [ + -0.007631887681782246 + ] + }, + "fine_grasp": { + "position": [ + -0.10852191597223282, + -0.02952943742275238, + -0.01418294571340084 + ], + "orientation": [ + 0.8231592178344727, + -0.04623812064528465, + -0.14312829077243805, + -0.5475265383720398 + ], + "joints": [ + -0.0007236925885081291 + ] + }, + "final_grasp": { + "position": [ + -0.10852191597223282, + -0.02952943742275238, + -0.01418294571340084 + ], + "orientation": [ + 0.8231592178344727, + -0.04623812064528465, + -0.14312829077243805, + -0.5475265383720398 + ], + "joints": [ + 0.006184502504765987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11907842010259628, + 0.04056239128112793, + 0.035304274410009384 + ], + "orientation": [ + 0.6461667418479919, + -0.013181976042687893, + 0.08301283419132233, + -0.7585536241531372 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.12090861797332764, + 0.04083705693483353, + 0.035651423037052155 + ], + "orientation": [ + 0.6379976868629456, + -0.0022084841039031744, + 0.09227832406759262, + -0.7644858956336975 + ], + "joints": [ + -0.002435848116874695 + ] + }, + "final_grasp": { + "position": [ + -0.12090861797332764, + 0.04083705693483353, + 0.035651423037052155 + ], + "orientation": [ + 0.6379976868629456, + -0.0022084841039031744, + 0.09227832406759262, + -0.7644858956336975 + ], + "joints": [ + 0.003940947353839874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030529890209436417, + -0.11843723058700562, + 0.0048708668909966946 + ], + "orientation": [ + 0.03019745461642742, + 0.12045154720544815, + 0.9917086362838745, + -0.033068347722291946 + ], + "joints": [ + 0.0013308529742062092 + ] + }, + "fine_grasp": { + "position": [ + -0.02986808679997921, + -0.11568544059991837, + 0.004323702771216631 + ], + "orientation": [ + 0.034885093569755554, + 0.11667533963918686, + 0.9917892217636108, + -0.03903956711292267 + ], + "joints": [ + 0.007734219077974558 + ] + }, + "final_grasp": { + "position": [ + -0.02986808679997921, + -0.11568544059991837, + 0.004323702771216631 + ], + "orientation": [ + 0.034885093569755554, + 0.11667533963918686, + 0.9917892217636108, + -0.03903956711292267 + ], + "joints": [ + 0.01413758471608162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11824141442775726, + 0.06291265785694122, + -0.023187262937426567 + ], + "orientation": [ + 0.15612733364105225, + 0.8170015811920166, + 0.554153323173523, + -0.03235247731208801 + ], + "joints": [ + -0.007875015027821064 + ] + }, + "fine_grasp": { + "position": [ + -0.1180504858493805, + 0.06357084959745407, + -0.024791302159428596 + ], + "orientation": [ + 0.15110744535923004, + 0.8191240429878235, + 0.551454484462738, + -0.04583058878779411 + ], + "joints": [ + -0.0009668199345469475 + ] + }, + "final_grasp": { + "position": [ + -0.1180504858493805, + 0.06357084959745407, + -0.024791302159428596 + ], + "orientation": [ + 0.15110744535923004, + 0.8191240429878235, + 0.551454484462738, + -0.04583058878779411 + ], + "joints": [ + 0.005941375158727169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10782551020383835, + -0.02626202441751957, + -0.022780723869800568 + ], + "orientation": [ + 0.12562018632888794, + 0.5560919046401978, + -0.8213176131248474, + -0.020465301349759102 + ], + "joints": [ + -0.007199502550065517 + ] + }, + "fine_grasp": { + "position": [ + 0.10713332146406174, + -0.027734262868762016, + -0.024020859971642494 + ], + "orientation": [ + 0.1228203997015953, + 0.5543257594108582, + -0.8230456709861755, + -0.015297367237508297 + ], + "joints": [ + -0.0002913073112722486 + ] + }, + "final_grasp": { + "position": [ + 0.10713332146406174, + -0.027734262868762016, + -0.024020859971642494 + ], + "orientation": [ + 0.1228203997015953, + 0.5543257594108582, + -0.8230456709861755, + -0.015297367237508297 + ], + "joints": [ + 0.006616888102144003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026370743289589882, + -0.10374078154563904, + 0.02532273344695568 + ], + "orientation": [ + 0.9797731637954712, + -0.10402248054742813, + -0.11873337626457214, + 0.12298876792192459 + ], + "joints": [ + -0.0005339878844097257 + ] + }, + "fine_grasp": { + "position": [ + 0.026092782616615295, + -0.10054564476013184, + 0.025307022035121918 + ], + "orientation": [ + 0.9757986664772034, + -0.10085247457027435, + -0.14659541845321655, + 0.12710478901863098 + ], + "joints": [ + 0.004859718028455973 + ] + }, + "final_grasp": { + "position": [ + 0.026092782616615295, + -0.10054564476013184, + 0.025307022035121918 + ], + "orientation": [ + 0.9757986664772034, + -0.10085247457027435, + -0.14659541845321655, + 0.12710478901863098 + ], + "joints": [ + 0.01025342382490635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12138993293046951, + 0.04180465266108513, + -0.011039549484848976 + ], + "orientation": [ + 0.10199413448572159, + 0.765125036239624, + 0.6332197189331055, + -0.05668748915195465 + ], + "joints": [ + -0.0067518968135118484 + ] + }, + "fine_grasp": { + "position": [ + -0.12260285019874573, + 0.043394554406404495, + -0.01291086059063673 + ], + "orientation": [ + 0.09914276748895645, + 0.7664832472801208, + 0.6306442022323608, + -0.07044266164302826 + ], + "joints": [ + 0.00012972851982340217 + ] + }, + "final_grasp": { + "position": [ + -0.12260285019874573, + 0.043394554406404495, + -0.01291086059063673 + ], + "orientation": [ + 0.09914276748895645, + 0.7664832472801208, + 0.6306442022323608, + -0.07044266164302826 + ], + "joints": [ + 0.007011353969573975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10402990132570267, + 0.062128059566020966, + -0.041600726544857025 + ], + "orientation": [ + 0.21122965216636658, + 0.8229828476905823, + 0.527205228805542, + 0.011656585149466991 + ], + "joints": [ + -0.007853505201637745 + ] + }, + "fine_grasp": { + "position": [ + -0.1079263910651207, + 0.06285366415977478, + -0.04337342083454132 + ], + "orientation": [ + 0.20874027907848358, + 0.8209056854248047, + 0.5315256714820862, + 0.004661196377128363 + ], + "joints": [ + -0.0020081093534827232 + ] + }, + "final_grasp": { + "position": [ + -0.1079263910651207, + 0.06285366415977478, + -0.04337342083454132 + ], + "orientation": [ + 0.20874027907848358, + 0.8209056854248047, + 0.5315256714820862, + 0.004661196377128363 + ], + "joints": [ + 0.0038372864946722984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044694047421216965, + 0.029570963233709335, + 0.1288934350013733 + ], + "orientation": [ + 0.49178677797317505, + -0.30712607502937317, + 0.473840594291687, + -0.662792980670929 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.04531674087047577, + 0.03069133870303631, + 0.13088379800319672 + ], + "orientation": [ + 0.48909369111061096, + -0.3074709177017212, + 0.4676223695278168, + -0.6690130829811096 + ], + "joints": [ + -0.0019618570804595947 + ] + }, + "final_grasp": { + "position": [ + -0.04531674087047577, + 0.03069133870303631, + 0.13088379800319672 + ], + "orientation": [ + 0.48909369111061096, + -0.3074709177017212, + 0.4676223695278168, + -0.6690130829811096 + ], + "joints": [ + 0.005477737635374069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011516643688082695, + -0.12058492004871368, + -0.015619916841387749 + ], + "orientation": [ + 0.08262075483798981, + 0.0432342104613781, + -0.9927750825881958, + 0.07551363855600357 + ], + "joints": [ + 0.0018390337936580181 + ] + }, + "fine_grasp": { + "position": [ + 0.012587957084178925, + -0.12178879976272583, + -0.01618790067732334 + ], + "orientation": [ + 0.09342020004987717, + 0.04613475129008293, + -0.9924802780151367, + 0.06424308568239212 + ], + "joints": [ + 0.008242400363087654 + ] + }, + "final_grasp": { + "position": [ + 0.012587957084178925, + -0.12178879976272583, + -0.01618790067732334 + ], + "orientation": [ + 0.09342020004987717, + 0.04613475129008293, + -0.9924802780151367, + 0.06424308568239212 + ], + "joints": [ + 0.014645766466856003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1154998391866684, + 0.028230009600520134, + -0.03978881239891052 + ], + "orientation": [ + 0.17674408853054047, + 0.7310669422149658, + -0.6576991081237793, + -0.04164589196443558 + ], + "joints": [ + -0.007125205360352993 + ] + }, + "fine_grasp": { + "position": [ + 0.11712269484996796, + 0.028893882408738136, + -0.04173143208026886 + ], + "orientation": [ + 0.16966994106769562, + 0.7368885278701782, + -0.6532177925109863, + -0.03890981525182724 + ], + "joints": [ + -0.00024358005612157285 + ] + }, + "final_grasp": { + "position": [ + 0.11712269484996796, + 0.028893882408738136, + -0.04173143208026886 + ], + "orientation": [ + 0.16966994106769562, + 0.7368885278701782, + -0.6532177925109863, + -0.03890981525182724 + ], + "joints": [ + 0.00663804542273283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019669631496071815, + -0.10650569945573807, + 0.04390795901417732 + ], + "orientation": [ + 0.08672620356082916, + -0.09839677065610886, + -0.976168692111969, + 0.17289093136787415 + ], + "joints": [ + 0.0006404068553820252 + ] + }, + "fine_grasp": { + "position": [ + -0.019843418151140213, + -0.10578085482120514, + 0.044097237288951874 + ], + "orientation": [ + 0.10986805707216263, + -0.09977032244205475, + -0.9733620285987854, + 0.17476099729537964 + ], + "joints": [ + 0.006538942456245422 + ] + }, + "final_grasp": { + "position": [ + -0.019843418151140213, + -0.10578085482120514, + 0.044097237288951874 + ], + "orientation": [ + 0.10986805707216263, + -0.09977032244205475, + -0.9733620285987854, + 0.17476099729537964 + ], + "joints": [ + 0.012437477707862854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11139816790819168, + 0.005254737567156553, + -0.049965571612119675 + ], + "orientation": [ + 0.7139163613319397, + 0.06651759147644043, + 0.2072487324476242, + 0.665542483329773 + ], + "joints": [ + -0.006855984218418598 + ] + }, + "fine_grasp": { + "position": [ + 0.10769389569759369, + 0.005083813797682524, + -0.04846080020070076 + ], + "orientation": [ + 0.7164323925971985, + 0.06734707206487656, + 0.20352871716022491, + 0.6639013886451721 + ], + "joints": [ + 5.2211107686161995e-05 + ] + }, + "final_grasp": { + "position": [ + 0.10769389569759369, + 0.005083813797682524, + -0.04846080020070076 + ], + "orientation": [ + 0.7164323925971985, + 0.06734707206487656, + 0.20352871716022491, + 0.6639013886451721 + ], + "joints": [ + 0.006960406433790922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11128963530063629, + 0.005726159084588289, + -0.04955364018678665 + ], + "orientation": [ + 0.7131964564323425, + 0.06685670465230942, + 0.2060185670852661, + 0.6666613817214966 + ], + "joints": [ + -0.006823652423918247 + ] + }, + "fine_grasp": { + "position": [ + 0.10768282413482666, + 0.005400475114583969, + -0.04806891456246376 + ], + "orientation": [ + 0.7160490155220032, + 0.06843048334121704, + 0.20202018320560455, + 0.6646645665168762 + ], + "joints": [ + 8.454290218651295e-05 + ] + }, + "final_grasp": { + "position": [ + 0.10768282413482666, + 0.005400475114583969, + -0.04806891456246376 + ], + "orientation": [ + 0.7160490155220032, + 0.06843048334121704, + 0.20202018320560455, + 0.6646645665168762 + ], + "joints": [ + 0.006992738228291273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05859409645199776, + 0.03307591751217842, + 0.13243693113327026 + ], + "orientation": [ + 0.18049181997776031, + -0.5301308035850525, + -0.6610386371612549, + 0.49941176176071167 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.05789127200841904, + 0.03467201441526413, + 0.12967261672019958 + ], + "orientation": [ + 0.17311079800128937, + -0.5319680571556091, + -0.6585808396339417, + 0.503303050994873 + ], + "joints": [ + -0.004935339093208313 + ] + }, + "final_grasp": { + "position": [ + -0.05789127200841904, + 0.03467201441526413, + 0.12967261672019958 + ], + "orientation": [ + 0.17311079800128937, + -0.5319680571556091, + -0.6585808396339417, + 0.503303050994873 + ], + "joints": [ + 0.002504255622625351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06846211105585098, + 0.019209198653697968, + 0.12236957997083664 + ], + "orientation": [ + 0.6104861497879028, + -0.27135297656059265, + 0.36629387736320496, + -0.6476904153823853 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.06813262403011322, + 0.02014838717877865, + 0.12156485766172409 + ], + "orientation": [ + 0.6037476658821106, + -0.2772899270057678, + 0.36925724148750305, + -0.6498063206672668 + ], + "joints": [ + -0.0013730488717556 + ] + }, + "final_grasp": { + "position": [ + -0.06813262403011322, + 0.02014838717877865, + 0.12156485766172409 + ], + "orientation": [ + 0.6037476658821106, + -0.2772899270057678, + 0.36925724148750305, + -0.6498063206672668 + ], + "joints": [ + 0.006066545844078064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12212838977575302, + 0.0466730110347271, + 0.0034133687149733305 + ], + "orientation": [ + 0.6266453862190247, + -0.07881663739681244, + -0.054965972900390625, + -0.7733576893806458 + ], + "joints": [ + -0.0077124470844864845 + ] + }, + "fine_grasp": { + "position": [ + -0.12317590415477753, + 0.04789310321211815, + 0.0013220022665336728 + ], + "orientation": [ + 0.6233553886413574, + -0.09442153573036194, + -0.057670194655656815, + -0.774071455001831 + ], + "joints": [ + -0.000804251991212368 + ] + }, + "final_grasp": { + "position": [ + -0.12317590415477753, + 0.04789310321211815, + 0.0013220022665336728 + ], + "orientation": [ + 0.6233553886413574, + -0.09442153573036194, + -0.057670194655656815, + -0.774071455001831 + ], + "joints": [ + 0.0061039431020617485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06840497255325317, + 0.01920611970126629, + 0.12288138270378113 + ], + "orientation": [ + 0.6102955341339111, + -0.2706599533557892, + 0.36609387397766113, + -0.6482730507850647 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.06819187104701996, + 0.020283685997128487, + 0.12202981859445572 + ], + "orientation": [ + 0.6037857532501221, + -0.2775106132030487, + 0.36849018931388855, + -0.6501120924949646 + ], + "joints": [ + -0.0013450812548398972 + ] + }, + "final_grasp": { + "position": [ + -0.06819187104701996, + 0.020283685997128487, + 0.12202981859445572 + ], + "orientation": [ + 0.6037857532501221, + -0.2775106132030487, + 0.36849018931388855, + -0.6501120924949646 + ], + "joints": [ + 0.005563113838434219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028740251436829567, + 0.12419507652521133, + 0.04732106626033783 + ], + "orientation": [ + 0.10691425949335098, + 0.05580681189894676, + 0.17428454756736755, + -0.977281928062439 + ], + "joints": [ + -0.001404421404004097 + ] + }, + "fine_grasp": { + "position": [ + -0.02672949992120266, + 0.11954018473625183, + 0.04506119713187218 + ], + "orientation": [ + 0.10202155262231827, + 0.09433620423078537, + 0.18227532505989075, + -0.9733797311782837 + ], + "joints": [ + 0.005025513935834169 + ] + }, + "final_grasp": { + "position": [ + -0.02672949992120266, + 0.11954018473625183, + 0.04506119713187218 + ], + "orientation": [ + 0.10202155262231827, + 0.09433620423078537, + 0.18227532505989075, + -0.9733797311782837 + ], + "joints": [ + 0.011455449275672436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004920274950563908, + 0.07242605090141296, + -0.11498511582612991 + ], + "orientation": [ + 0.009448223747313023, + 0.05417198687791824, + -0.44305935502052307, + -0.8948041796684265 + ], + "joints": [ + 0.001514142844825983 + ] + }, + "fine_grasp": { + "position": [ + 0.005087989382445812, + 0.07229779660701752, + -0.10963083058595657 + ], + "orientation": [ + 0.013362814672291279, + 0.054263707250356674, + -0.4615176022052765, + -0.8853691220283508 + ], + "joints": [ + 0.007412679493427277 + ] + }, + "final_grasp": { + "position": [ + 0.005087989382445812, + 0.07229779660701752, + -0.10963083058595657 + ], + "orientation": [ + 0.013362814672291279, + 0.054263707250356674, + -0.4615176022052765, + -0.8853691220283508 + ], + "joints": [ + 0.013311216607689857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003528772620484233, + 0.07283719629049301, + -0.11461890488862991 + ], + "orientation": [ + 0.006816187407821417, + 0.03739447146654129, + -0.4420391917228699, + -0.8961899876594543 + ], + "joints": [ + 0.0016250580083578825 + ] + }, + "fine_grasp": { + "position": [ + 0.00389638589695096, + 0.07235148549079895, + -0.10929813235998154 + ], + "orientation": [ + 0.010056525468826294, + 0.036499906331300735, + -0.4566743075847626, + -0.8888279795646667 + ], + "joints": [ + 0.008054994978010654 + ] + }, + "final_grasp": { + "position": [ + 0.00389638589695096, + 0.07235148549079895, + -0.10929813235998154 + ], + "orientation": [ + 0.010056525468826294, + 0.036499906331300735, + -0.4566743075847626, + -0.8888279795646667 + ], + "joints": [ + 0.014484931714832783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029096102342009544, + 0.12398665398359299, + 0.046919435262680054 + ], + "orientation": [ + 0.10929598659276962, + 0.05734403058886528, + 0.17039324343204498, + -0.9776155948638916 + ], + "joints": [ + -0.0008246656507253647 + ] + }, + "fine_grasp": { + "position": [ + -0.02689836360514164, + 0.11939019709825516, + 0.04474397376179695 + ], + "orientation": [ + 0.1035463958978653, + 0.09476174414157867, + 0.17798103392124176, + -0.9739718437194824 + ], + "joints": [ + 0.005073870066553354 + ] + }, + "final_grasp": { + "position": [ + -0.02689836360514164, + 0.11939019709825516, + 0.04474397376179695 + ], + "orientation": [ + 0.1035463958978653, + 0.09476174414157867, + 0.17798103392124176, + -0.9739718437194824 + ], + "joints": [ + 0.010972405783832073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11632607132196426, + 0.05072794482111931, + -0.038727935403585434 + ], + "orientation": [ + 0.5759522318840027, + 0.009005207568407059, + 0.21210579574108124, + 0.789435863494873 + ], + "joints": [ + -0.008192844688892365 + ] + }, + "fine_grasp": { + "position": [ + 0.11611353605985641, + 0.050402842462062836, + -0.03951851278543472 + ], + "orientation": [ + 0.5764895677566528, + -0.0019225249998271465, + 0.21001899242401123, + 0.7896506190299988 + ], + "joints": [ + -0.001284649595618248 + ] + }, + "final_grasp": { + "position": [ + 0.11611353605985641, + 0.050402842462062836, + -0.03951851278543472 + ], + "orientation": [ + 0.5764895677566528, + -0.0019225249998271465, + 0.21001899242401123, + 0.7896506190299988 + ], + "joints": [ + 0.0056235454976558685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11166932433843613, + -0.01229165494441986, + 0.031540244817733765 + ], + "orientation": [ + 0.8023407459259033, + -0.05443243682384491, + 0.12343024462461472, + 0.581421971321106 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.11319825053215027, + -0.013329984620213509, + 0.03133033961057663 + ], + "orientation": [ + 0.8086177110671997, + -0.05135062336921692, + 0.11537874490022659, + 0.5746201872825623 + ], + "joints": [ + -0.003641432151198387 + ] + }, + "final_grasp": { + "position": [ + 0.11319825053215027, + -0.013329984620213509, + 0.03133033961057663 + ], + "orientation": [ + 0.8086177110671997, + -0.05135062336921692, + 0.11537874490022659, + 0.5746201872825623 + ], + "joints": [ + 0.0032667629420757294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012261142022907734, + -0.12106068432331085, + -0.013038159348070621 + ], + "orientation": [ + 0.0666135624051094, + 0.04622868448495865, + -0.9945696592330933, + 0.06524424999952316 + ], + "joints": [ + 0.0018819021061062813 + ] + }, + "fine_grasp": { + "position": [ + 0.01349350530654192, + -0.12166067957878113, + -0.014779032208025455 + ], + "orientation": [ + 0.07979299873113632, + 0.049998123198747635, + -0.9938692450523376, + 0.05794147402048111 + ], + "joints": [ + 0.008816667832434177 + ] + }, + "final_grasp": { + "position": [ + 0.01349350530654192, + -0.12166067957878113, + -0.014779032208025455 + ], + "orientation": [ + 0.07979299873113632, + 0.049998123198747635, + -0.9938692450523376, + 0.05794147402048111 + ], + "joints": [ + 0.0157514326274395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023567764088511467, + -0.1036468967795372, + -0.06917731463909149 + ], + "orientation": [ + 0.9779543280601501, + 0.13107247650623322, + -0.11020950973033905, + -0.11949601769447327 + ], + "joints": [ + 0.002026365138590336 + ] + }, + "fine_grasp": { + "position": [ + -0.022862356156110764, + -0.1068798378109932, + -0.06889010220766068 + ], + "orientation": [ + 0.9780746102333069, + 0.13467878103256226, + -0.11157388985157013, + -0.11306200176477432 + ], + "joints": [ + 0.008403160609304905 + ] + }, + "final_grasp": { + "position": [ + -0.022862356156110764, + -0.1068798378109932, + -0.06889010220766068 + ], + "orientation": [ + 0.9780746102333069, + 0.13467878103256226, + -0.11157388985157013, + -0.11306200176477432 + ], + "joints": [ + 0.014779956080019474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024202434346079826, + -0.11330071091651917, + -0.05043265223503113 + ], + "orientation": [ + 0.9845910668373108, + 0.13281883299350739, + -0.07158277183771133, + 0.08840623497962952 + ], + "joints": [ + 0.0014967734459787607 + ] + }, + "fine_grasp": { + "position": [ + 0.023531103506684303, + -0.11164730042219162, + -0.05006523057818413 + ], + "orientation": [ + 0.9820900559425354, + 0.13508455455303192, + -0.10280528664588928, + 0.08174526691436768 + ], + "joints": [ + 0.0074218809604644775 + ] + }, + "final_grasp": { + "position": [ + 0.023531103506684303, + -0.11164730042219162, + -0.05006523057818413 + ], + "orientation": [ + 0.9820900559425354, + 0.13508455455303192, + -0.10280528664588928, + 0.08174526691436768 + ], + "joints": [ + 0.013346988707780838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010769203305244446, + -0.11873948574066162, + -0.013317764736711979 + ], + "orientation": [ + 0.05800013989210129, + 0.04267638176679611, + -0.9953743815422058, + 0.06359761208295822 + ], + "joints": [ + 0.0018021543510258198 + ] + }, + "fine_grasp": { + "position": [ + 0.011537550948560238, + -0.12208280712366104, + -0.013288632035255432 + ], + "orientation": [ + 0.0665358304977417, + 0.041521284729242325, + -0.9952584505081177, + 0.05752933397889137 + ], + "joints": [ + 0.008710349909961224 + ] + }, + "final_grasp": { + "position": [ + 0.011537550948560238, + -0.12208280712366104, + -0.013288632035255432 + ], + "orientation": [ + 0.0665358304977417, + 0.041521284729242325, + -0.9952584505081177, + 0.05752933397889137 + ], + "joints": [ + 0.015618545934557915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11535835266113281, + 0.039422065019607544, + -0.03948817402124405 + ], + "orientation": [ + 0.6241347193717957, + 0.05296780914068222, + 0.17996202409267426, + 0.758461594581604 + ], + "joints": [ + -0.0078062014654278755 + ] + }, + "fine_grasp": { + "position": [ + 0.11775995045900345, + 0.03920748457312584, + -0.04087157920002937 + ], + "orientation": [ + 0.621303379535675, + 0.04532956704497337, + 0.1763017177581787, + 0.7621319890022278 + ], + "joints": [ + -0.0014294059947133064 + ] + }, + "final_grasp": { + "position": [ + 0.11775995045900345, + 0.03920748457312584, + -0.04087157920002937 + ], + "orientation": [ + 0.621303379535675, + 0.04532956704497337, + 0.1763017177581787, + 0.7621319890022278 + ], + "joints": [ + 0.004947389476001263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01807141676545143, + -0.11268560588359833, + 0.03731635957956314 + ], + "orientation": [ + 0.9896443486213684, + -0.09832287579774857, + -0.06646231561899185, + 0.08074314147233963 + ], + "joints": [ + 0.0007911971770226955 + ] + }, + "fine_grasp": { + "position": [ + 0.017853830009698868, + -0.1163642629981041, + 0.037617433816194534 + ], + "orientation": [ + 0.9875441193580627, + -0.09739705175161362, + -0.09348918497562408, + 0.08081004023551941 + ], + "joints": [ + 0.00719456234946847 + ] + }, + "final_grasp": { + "position": [ + 0.017853830009698868, + -0.1163642629981041, + 0.037617433816194534 + ], + "orientation": [ + 0.9875441193580627, + -0.09739705175161362, + -0.09348918497562408, + 0.08081004023551941 + ], + "joints": [ + 0.013597927987575531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013496380299329758, + -0.10544194281101227, + -0.0033510159701108932 + ], + "orientation": [ + 0.05112392082810402, + -0.06019137427210808, + -0.9968734979629517, + 0.0025581768713891506 + ], + "joints": [ + 0.0013099298812448978 + ] + }, + "fine_grasp": { + "position": [ + -0.012876898050308228, + -0.10653822869062424, + -0.0036755383480340242 + ], + "orientation": [ + 0.06974989920854568, + -0.06009771302342415, + -0.9957524538040161, + -0.0005140776629559696 + ], + "joints": [ + 0.0071818954311311245 + ] + }, + "final_grasp": { + "position": [ + -0.012876898050308228, + -0.10653822869062424, + -0.0036755383480340242 + ], + "orientation": [ + 0.06974989920854568, + -0.06009771302342415, + -0.9957524538040161, + -0.0005140776629559696 + ], + "joints": [ + 0.013053860515356064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017960388213396072, + -0.10123097151517868, + -0.015898335725069046 + ], + "orientation": [ + 0.9909545183181763, + 0.0499296560883522, + 0.09924681484699249, + -0.07527409493923187 + ], + "joints": [ + 0.000446300400653854 + ] + }, + "fine_grasp": { + "position": [ + -0.01813690923154354, + -0.1018306314945221, + -0.014875773340463638 + ], + "orientation": [ + 0.9889451861381531, + 0.04655121639370918, + 0.11914483457803726, + -0.07499855011701584 + ], + "joints": [ + 0.006344835739582777 + ] + }, + "final_grasp": { + "position": [ + -0.01813690923154354, + -0.1018306314945221, + -0.014875773340463638 + ], + "orientation": [ + 0.9889451861381531, + 0.04655121639370918, + 0.11914483457803726, + -0.07499855011701584 + ], + "joints": [ + 0.012243371456861496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017945775762200356, + -0.10130485892295837, + -0.016138313338160515 + ], + "orientation": [ + 0.9911571741104126, + 0.051029808819293976, + 0.09655303508043289, + -0.07537111639976501 + ], + "joints": [ + 0.0003437288396526128 + ] + }, + "fine_grasp": { + "position": [ + -0.01826976239681244, + -0.10186143219470978, + -0.015190898440778255 + ], + "orientation": [ + 0.9890930652618408, + 0.047578372061252594, + 0.11746618151664734, + -0.0750514343380928 + ], + "joints": [ + 0.006242264527827501 + ] + }, + "final_grasp": { + "position": [ + -0.01826976239681244, + -0.10186143219470978, + -0.015190898440778255 + ], + "orientation": [ + 0.9890930652618408, + 0.047578372061252594, + 0.11746618151664734, + -0.0750514343380928 + ], + "joints": [ + 0.01214080024510622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013628947548568249, + -0.10948570817708969, + -0.06823553889989853 + ], + "orientation": [ + 0.06825754791498184, + 0.06929715722799301, + -0.9769371747970581, + -0.19008561968803406 + ], + "joints": [ + 0.0020125394221395254 + ] + }, + "fine_grasp": { + "position": [ + 0.013838876970112324, + -0.1061745285987854, + -0.06761825829744339 + ], + "orientation": [ + 0.0741303488612175, + 0.07096750289201736, + -0.975881040096283, + -0.19267688691616058 + ], + "joints": [ + 0.00788450613617897 + ] + }, + "final_grasp": { + "position": [ + 0.013838876970112324, + -0.1061745285987854, + -0.06761825829744339 + ], + "orientation": [ + 0.0741303488612175, + 0.07096750289201736, + -0.975881040096283, + -0.19267688691616058 + ], + "joints": [ + 0.013756472617387772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0028888408560305834, + -0.10250937938690186, + 0.06996582448482513 + ], + "orientation": [ + 0.9629225730895996, + -0.26520177721977234, + -0.04947105050086975, + -0.0009091066312976182 + ], + "joints": [ + 0.0008065130095928907 + ] + }, + "fine_grasp": { + "position": [ + -0.004442994948476553, + -0.10485459119081497, + 0.06962725520133972 + ], + "orientation": [ + 0.9620120525360107, + -0.2636592984199524, + -0.07080508023500443, + 0.0017953421920537949 + ], + "joints": [ + 0.007183308247476816 + ] + }, + "final_grasp": { + "position": [ + -0.004442994948476553, + -0.10485459119081497, + 0.06962725520133972 + ], + "orientation": [ + 0.9620120525360107, + -0.2636592984199524, + -0.07080508023500443, + 0.0017953421920537949 + ], + "joints": [ + 0.013560103252530098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008333740755915642, + 0.10285892337560654, + -0.07989440113306046 + ], + "orientation": [ + 0.021417057141661644, + -0.05191788077354431, + -0.2897906005382538, + -0.9554408192634583 + ], + "joints": [ + 0.0011021721875295043 + ] + }, + "fine_grasp": { + "position": [ + -0.010192305780947208, + 0.10447241365909576, + -0.07816802710294724 + ], + "orientation": [ + 0.02376832254230976, + -0.07555416971445084, + -0.29222336411476135, + -0.9530646800994873 + ], + "joints": [ + 0.0075055379420518875 + ] + }, + "final_grasp": { + "position": [ + -0.010192305780947208, + 0.10447241365909576, + -0.07816802710294724 + ], + "orientation": [ + 0.02376832254230976, + -0.07555416971445084, + -0.29222336411476135, + -0.9530646800994873 + ], + "joints": [ + 0.013908904045820236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006917976308614016, + -0.10976520925760269, + -0.001588250626809895 + ], + "orientation": [ + 0.0789409652352333, + -0.030640829354524612, + 0.996368944644928, + -0.008856725879013538 + ], + "joints": [ + 0.0006395826349034905 + ] + }, + "fine_grasp": { + "position": [ + 0.007283132988959551, + -0.11519861966371536, + -0.0014297112356871367 + ], + "orientation": [ + 0.09664680063724518, + -0.028623970225453377, + 0.9948817491531372, + -0.00710708973929286 + ], + "joints": [ + 0.007016378454864025 + ] + }, + "final_grasp": { + "position": [ + 0.007283132988959551, + -0.11519861966371536, + -0.0014297112356871367 + ], + "orientation": [ + 0.09664680063724518, + -0.028623970225453377, + 0.9948817491531372, + -0.00710708973929286 + ], + "joints": [ + 0.013393173925578594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10400551557540894, + 0.07724544405937195, + 0.05898871272802353 + ], + "orientation": [ + 0.06653205305337906, + -0.8312946557998657, + -0.5177609324455261, + 0.19090910255908966 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.10474883764982224, + 0.07802042365074158, + 0.05847950652241707 + ], + "orientation": [ + 0.06507652252912521, + -0.8303295373916626, + -0.5178442001342773, + 0.19533348083496094 + ], + "joints": [ + -0.0030863340944051743 + ] + }, + "final_grasp": { + "position": [ + -0.10474883764982224, + 0.07802042365074158, + 0.05847950652241707 + ], + "orientation": [ + 0.06507652252912521, + -0.8303295373916626, + -0.5178442001342773, + 0.19533348083496094 + ], + "joints": [ + 0.0044064000248909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12197425961494446, + 0.04651762917637825, + 0.0038344061467796564 + ], + "orientation": [ + 0.627526044845581, + -0.07558543980121613, + -0.054580286145210266, + -0.7729934453964233 + ], + "joints": [ + -0.007708915043622255 + ] + }, + "fine_grasp": { + "position": [ + -0.12349389493465424, + 0.04788149520754814, + 0.0018553471891209483 + ], + "orientation": [ + 0.624596357345581, + -0.0876600593328476, + -0.05509752780199051, + -0.7740539908409119 + ], + "joints": [ + -0.0013321195729076862 + ] + }, + "final_grasp": { + "position": [ + -0.12349389493465424, + 0.04788149520754814, + 0.0018553471891209483 + ], + "orientation": [ + 0.624596357345581, + -0.0876600593328476, + -0.05509752780199051, + -0.7740539908409119 + ], + "joints": [ + 0.005044675897806883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11190822720527649, + 0.07628103345632553, + 0.004781803116202354 + ], + "orientation": [ + 0.5223820805549622, + -0.05381634086370468, + -0.07475291192531586, + -0.8477221131324768 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.1150815561413765, + 0.07693416625261307, + 0.003956214524805546 + ], + "orientation": [ + 0.530460000038147, + -0.04291383922100067, + -0.056776609271764755, + -0.8447170853614807 + ], + "joints": [ + -0.0024638157337903976 + ] + }, + "final_grasp": { + "position": [ + -0.1150815561413765, + 0.07693416625261307, + 0.003956214524805546 + ], + "orientation": [ + 0.530460000038147, + -0.04291383922100067, + -0.056776609271764755, + -0.8447170853614807 + ], + "joints": [ + 0.004444379359483719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10506187379360199, + 0.08359221369028091, + 0.06253211200237274 + ], + "orientation": [ + 0.13786372542381287, + -0.8557708859443665, + 0.48926985263824463, + -0.09625305235385895 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.10551977902650833, + 0.08344272524118423, + 0.061668477952480316 + ], + "orientation": [ + 0.14188501238822937, + -0.8535629510879517, + 0.4893593490123749, + -0.10874909907579422 + ], + "joints": [ + -0.0014304574579000473 + ] + }, + "final_grasp": { + "position": [ + 0.10551977902650833, + 0.08344272524118423, + 0.061668477952480316 + ], + "orientation": [ + 0.14188501238822937, + -0.8535629510879517, + 0.4893593490123749, + -0.10874909907579422 + ], + "joints": [ + 0.006540536880493164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10237567126750946, + 0.08633546531200409, + 0.038131583482027054 + ], + "orientation": [ + 0.034959759563207626, + -0.8670175075531006, + -0.48141470551490784, + 0.12368631362915039 + ], + "joints": [ + -0.009091552346944809 + ] + }, + "fine_grasp": { + "position": [ + -0.10056887567043304, + 0.08545945584774017, + 0.03685644268989563 + ], + "orientation": [ + 0.05083010345697403, + -0.8675985932350159, + -0.4796554148197174, + 0.12091139703989029 + ], + "joints": [ + -0.0016253876965492964 + ] + }, + "final_grasp": { + "position": [ + -0.10056887567043304, + 0.08545945584774017, + 0.03685644268989563 + ], + "orientation": [ + 0.05083010345697403, + -0.8675985932350159, + -0.4796554148197174, + 0.12091139703989029 + ], + "joints": [ + 0.005840776953846216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12117566168308258, + 0.06161435320973396, + 0.0018821049015969038 + ], + "orientation": [ + 0.08116655051708221, + 0.8096054196357727, + 0.576970100402832, + -0.07110904902219772 + ], + "joints": [ + -0.008657526224851608 + ] + }, + "fine_grasp": { + "position": [ + -0.12079828977584839, + 0.06162434071302414, + 0.0003368876641616225 + ], + "orientation": [ + 0.06994996964931488, + 0.8084952235221863, + 0.5788702368736267, + -0.07969740033149719 + ], + "joints": [ + -0.0017493311315774918 + ] + }, + "final_grasp": { + "position": [ + -0.12079828977584839, + 0.06162434071302414, + 0.0003368876641616225 + ], + "orientation": [ + 0.06994996964931488, + 0.8084952235221863, + 0.5788702368736267, + -0.07969740033149719 + ], + "joints": [ + 0.005158863961696625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013155970722436905, + -0.11056231707334518, + -0.06909289211034775 + ], + "orientation": [ + 0.06272641569375992, + 0.06584925949573517, + -0.9787657856941223, + -0.18370336294174194 + ], + "joints": [ + 0.001778606791049242 + ] + }, + "fine_grasp": { + "position": [ + 0.01350426860153675, + -0.1077646017074585, + -0.06863004714250565 + ], + "orientation": [ + 0.060717321932315826, + 0.06461302936077118, + -0.9788118004798889, + -0.1845698058605194 + ], + "joints": [ + 0.008181973360478878 + ] + }, + "final_grasp": { + "position": [ + 0.01350426860153675, + -0.1077646017074585, + -0.06863004714250565 + ], + "orientation": [ + 0.060717321932315826, + 0.06461302936077118, + -0.9788118004798889, + -0.1845698058605194 + ], + "joints": [ + 0.014585340395569801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10811841487884521, + 0.06274887919425964, + 0.08110719174146652 + ], + "orientation": [ + 0.08906595408916473, + -0.7906695008277893, + 0.5781430602073669, + -0.1807193160057068 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.10875687003135681, + 0.06538449227809906, + 0.08041753619909286 + ], + "orientation": [ + 0.08574017882347107, + -0.788005530834198, + 0.5746219158172607, + -0.20372909307479858 + ], + "joints": [ + -0.003502916544675827 + ] + }, + "final_grasp": { + "position": [ + 0.10875687003135681, + 0.06538449227809906, + 0.08041753619909286 + ], + "orientation": [ + 0.08574017882347107, + -0.788005530834198, + 0.5746219158172607, + -0.20372909307479858 + ], + "joints": [ + 0.0023956187069416046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10809388756752014, + 0.06263801455497742, + 0.08119133859872818 + ], + "orientation": [ + 0.08967755734920502, + -0.7906380295753479, + 0.5780627131462097, + -0.1808118373155594 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.1086946576833725, + 0.06531371921300888, + 0.08051913976669312 + ], + "orientation": [ + 0.08638487756252289, + -0.7878198623657227, + 0.5747424960136414, + -0.20383474230766296 + ], + "joints": [ + -0.003502916544675827 + ] + }, + "final_grasp": { + "position": [ + 0.1086946576833725, + 0.06531371921300888, + 0.08051913976669312 + ], + "orientation": [ + 0.08638487756252289, + -0.7878198623657227, + 0.5747424960136414, + -0.20383474230766296 + ], + "joints": [ + 0.0023956187069416046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10809352248907089, + 0.06272699683904648, + 0.08115727454423904 + ], + "orientation": [ + 0.08957449346780777, + -0.7908341288566589, + 0.5778951644897461, + -0.18054082989692688 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.10869783163070679, + 0.06537626683712006, + 0.08048280328512192 + ], + "orientation": [ + 0.08632820844650269, + -0.7880092859268188, + 0.5745340585708618, + -0.20371390879154205 + ], + "joints": [ + -0.003502916544675827 + ] + }, + "final_grasp": { + "position": [ + 0.10869783163070679, + 0.06537626683712006, + 0.08048280328512192 + ], + "orientation": [ + 0.08632820844650269, + -0.7880092859268188, + 0.5745340585708618, + -0.20371390879154205 + ], + "joints": [ + 0.0023956187069416046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023558901622891426, + 0.1192428320646286, + -0.07287169992923737 + ], + "orientation": [ + 0.084750235080719, + -0.043167516589164734, + -0.2122648060321808, + -0.9725726842880249 + ], + "joints": [ + 0.0008395855547860265 + ] + }, + "fine_grasp": { + "position": [ + -0.022808954119682312, + 0.11443883180618286, + -0.06977243721485138 + ], + "orientation": [ + 0.08425933867692947, + -0.05020929500460625, + -0.22682620584964752, + -0.9689837098121643 + ], + "joints": [ + 0.008252610452473164 + ] + }, + "final_grasp": { + "position": [ + -0.022808954119682312, + 0.11443883180618286, + -0.06977243721485138 + ], + "orientation": [ + 0.08425933867692947, + -0.05020929500460625, + -0.22682620584964752, + -0.9689837098121643 + ], + "joints": [ + 0.015665635466575623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008196387439966202, + -0.07741432636976242, + -0.09796848893165588 + ], + "orientation": [ + 0.02608281932771206, + 0.04684966802597046, + 0.9162828922271729, + 0.39692622423171997 + ], + "joints": [ + 0.0019795570988208055 + ] + }, + "fine_grasp": { + "position": [ + -0.008523454889655113, + -0.07621993124485016, + -0.09899189323186874 + ], + "orientation": [ + 0.02328975684940815, + 0.043179627507925034, + 0.9176790118217468, + 0.39428210258483887 + ], + "joints": [ + 0.008914323523640633 + ] + }, + "final_grasp": { + "position": [ + -0.008523454889655113, + -0.07621993124485016, + -0.09899189323186874 + ], + "orientation": [ + 0.02328975684940815, + 0.043179627507925034, + 0.9176790118217468, + 0.39428210258483887 + ], + "joints": [ + 0.01584908924996853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1191350445151329, + 0.031125273555517197, + -0.02565315179526806 + ], + "orientation": [ + 0.661777138710022, + 0.0211197379976511, + 0.1318739652633667, + 0.7377088069915771 + ], + "joints": [ + -0.007225158624351025 + ] + }, + "fine_grasp": { + "position": [ + 0.1209706962108612, + 0.030278027057647705, + -0.026767218485474586 + ], + "orientation": [ + 0.6631600260734558, + 0.020723378285765648, + 0.12013378739356995, + 0.7384831309318542 + ], + "joints": [ + -0.0008483630372211337 + ] + }, + "final_grasp": { + "position": [ + 0.1209706962108612, + 0.030278027057647705, + -0.026767218485474586 + ], + "orientation": [ + 0.6631600260734558, + 0.020723378285765648, + 0.12013378739356995, + 0.7384831309318542 + ], + "joints": [ + 0.0055284323170781136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017771268263459206, + 0.11055845767259598, + -0.07170294970273972 + ], + "orientation": [ + 0.04701872915029526, + -0.08822223544120789, + -0.2726956307888031, + -0.9568924903869629 + ], + "joints": [ + -0.00035821489291265607 + ] + }, + "fine_grasp": { + "position": [ + -0.018824880942702293, + 0.1106824055314064, + -0.06858871132135391 + ], + "orientation": [ + 0.04306390509009361, + -0.10488109290599823, + -0.28276190161705017, + -0.952465832233429 + ], + "joints": [ + 0.00554032064974308 + ] + }, + "final_grasp": { + "position": [ + -0.018824880942702293, + 0.1106824055314064, + -0.06858871132135391 + ], + "orientation": [ + 0.04306390509009361, + -0.10488109290599823, + -0.28276190161705017, + -0.952465832233429 + ], + "joints": [ + 0.011438855901360512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003008992411196232, + 0.05667964369058609, + 0.1379774510860443 + ], + "orientation": [ + 0.47509342432022095, + -0.5782356262207031, + 0.3708038032054901, + -0.5499402284622192 + ], + "joints": [ + -0.010078582912683487 + ] + }, + "fine_grasp": { + "position": [ + 0.0007384230848401785, + 0.05838189274072647, + 0.13493867218494415 + ], + "orientation": [ + 0.47387969493865967, + -0.5850614905357361, + 0.3631017208099365, + -0.5489064455032349 + ], + "joints": [ + -0.00420661736279726 + ] + }, + "final_grasp": { + "position": [ + 0.0007384230848401785, + 0.05838189274072647, + 0.13493867218494415 + ], + "orientation": [ + 0.47387969493865967, + -0.5850614905357361, + 0.3631017208099365, + -0.5489064455032349 + ], + "joints": [ + 0.0016653481870889664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12137115746736526, + 0.05468763783574104, + -0.023781217634677887 + ], + "orientation": [ + 0.1319229155778885, + 0.7949186563491821, + -0.5919941663742065, + -0.015612807124853134 + ], + "joints": [ + -0.008189501240849495 + ] + }, + "fine_grasp": { + "position": [ + 0.11952761560678482, + 0.056734949350357056, + -0.025619355961680412 + ], + "orientation": [ + 0.13114947080612183, + 0.8022022247314453, + -0.5823625922203064, + -0.011199012398719788 + ], + "joints": [ + -0.001254736096598208 + ] + }, + "final_grasp": { + "position": [ + 0.11952761560678482, + 0.056734949350357056, + -0.025619355961680412 + ], + "orientation": [ + 0.13114947080612183, + 0.8022022247314453, + -0.5823625922203064, + -0.011199012398719788 + ], + "joints": [ + 0.005680029280483723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10806247591972351, + 0.06014096736907959, + -0.020595889538526535 + ], + "orientation": [ + 0.1362932175397873, + 0.8172578811645508, + -0.5597018599510193, + -0.015728039667010307 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.11235193908214569, + 0.0611194372177124, + -0.022799775004386902 + ], + "orientation": [ + 0.11938288062810898, + 0.8202632665634155, + -0.559052586555481, + -0.01939557120203972 + ], + "joints": [ + -0.0029378067702054977 + ] + }, + "final_grasp": { + "position": [ + 0.11235193908214569, + 0.0611194372177124, + -0.022799775004386902 + ], + "orientation": [ + 0.11938288062810898, + 0.8202632665634155, + -0.559052586555481, + -0.01939557120203972 + ], + "joints": [ + 0.002907589077949524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003293269546702504, + -0.10416912287473679, + 0.07374251633882523 + ], + "orientation": [ + 0.9637634754180908, + -0.2556541860103607, + -0.07608944922685623, + 0.003382546128705144 + ], + "joints": [ + 0.0007369047962129116 + ] + }, + "fine_grasp": { + "position": [ + -0.005069349426776171, + -0.106218121945858, + 0.07342709600925446 + ], + "orientation": [ + 0.9621890187263489, + -0.2544422149658203, + -0.09715361893177032, + 0.0035505746491253376 + ], + "joints": [ + 0.006662010680884123 + ] + }, + "final_grasp": { + "position": [ + -0.005069349426776171, + -0.106218121945858, + 0.07342709600925446 + ], + "orientation": [ + 0.9621890187263489, + -0.2544422149658203, + -0.09715361893177032, + 0.0035505746491253376 + ], + "joints": [ + 0.012587117031216621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028708770871162415, + 0.05900619924068451, + 0.13679826259613037 + ], + "orientation": [ + 0.42789745330810547, + -0.6948415040969849, + 0.4145210087299347, + -0.40282928943634033 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.027786076068878174, + 0.06164003163576126, + 0.13653460144996643 + ], + "orientation": [ + 0.4163367450237274, + -0.7041451930999756, + 0.408948689699173, + -0.4044801890850067 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.027786076068878174, + 0.06164003163576126, + 0.13653460144996643 + ], + "orientation": [ + 0.4163367450237274, + -0.7041451930999756, + 0.408948689699173, + -0.4044801890850067 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10832464694976807, + 0.06014004349708557, + -0.020308146253228188 + ], + "orientation": [ + 0.13788269460201263, + 0.8165998458862305, + -0.560213029384613, + -0.01772908680140972 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.11259721219539642, + 0.06138138845562935, + -0.022550048306584358 + ], + "orientation": [ + 0.11969075351953506, + 0.8192877173423767, + -0.5602332353591919, + -0.02409113198518753 + ], + "joints": [ + -0.0029378067702054977 + ] + }, + "final_grasp": { + "position": [ + 0.11259721219539642, + 0.06138138845562935, + -0.022550048306584358 + ], + "orientation": [ + 0.11969075351953506, + 0.8192877173423767, + -0.5602332353591919, + -0.02409113198518753 + ], + "joints": [ + 0.002907589077949524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11913333088159561, + 0.05786650627851486, + -0.018202636390924454 + ], + "orientation": [ + 0.11441155523061752, + 0.8016533851623535, + -0.585853636264801, + -0.03220666944980621 + ], + "joints": [ + -0.008422821760177612 + ] + }, + "fine_grasp": { + "position": [ + 0.11907431483268738, + 0.06043745204806328, + -0.02030942589044571 + ], + "orientation": [ + 0.10804740339517593, + 0.8082008957862854, + -0.5782249569892883, + -0.028155973181128502 + ], + "joints": [ + -0.0009832270443439484 + ] + }, + "final_grasp": { + "position": [ + 0.11907431483268738, + 0.06043745204806328, + -0.02030942589044571 + ], + "orientation": [ + 0.10804740339517593, + 0.8082008957862854, + -0.5782249569892883, + -0.028155973181128502 + ], + "joints": [ + 0.006456367671489716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10829168558120728, + 0.01970503479242325, + -0.05743011459708214 + ], + "orientation": [ + 0.22510027885437012, + 0.6977385878562927, + -0.6703944206237793, + -0.11428897082805634 + ], + "joints": [ + -0.007574716117233038 + ] + }, + "fine_grasp": { + "position": [ + 0.10817085951566696, + 0.020687248557806015, + -0.057881008833646774 + ], + "orientation": [ + 0.23043447732925415, + 0.7022016644477844, + -0.6642125248908997, + -0.11240342259407043 + ], + "joints": [ + -0.0006665209075435996 + ] + }, + "final_grasp": { + "position": [ + 0.10817085951566696, + 0.020687248557806015, + -0.057881008833646774 + ], + "orientation": [ + 0.23043447732925415, + 0.7022016644477844, + -0.6642125248908997, + -0.11240342259407043 + ], + "joints": [ + 0.006241674534976482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10807627439498901, + 0.0601423941552639, + -0.0204581618309021 + ], + "orientation": [ + 0.13739334046840668, + 0.8169178366661072, + -0.5598670244216919, + -0.017809085547924042 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.11239505559206009, + 0.06136660650372505, + -0.022606631740927696 + ], + "orientation": [ + 0.11958963423967361, + 0.8193336725234985, + -0.5601226091384888, + -0.02556096389889717 + ], + "joints": [ + -0.0029378067702054977 + ] + }, + "final_grasp": { + "position": [ + 0.11239505559206009, + 0.06136660650372505, + -0.022606631740927696 + ], + "orientation": [ + 0.11958963423967361, + 0.8193336725234985, + -0.5601226091384888, + -0.02556096389889717 + ], + "joints": [ + 0.002907589077949524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10808580368757248, + 0.019819149747490883, + -0.05818173661828041 + ], + "orientation": [ + 0.22483567893505096, + 0.6975149512290955, + -0.670160710811615, + -0.1175002008676529 + ], + "joints": [ + -0.007580331992357969 + ] + }, + "fine_grasp": { + "position": [ + 0.10787952691316605, + 0.020753979682922363, + -0.058463096618652344 + ], + "orientation": [ + 0.2303367406129837, + 0.7016439437866211, + -0.6642723679542542, + -0.11568514257669449 + ], + "joints": [ + -0.0006721367826685309 + ] + }, + "final_grasp": { + "position": [ + 0.10787952691316605, + 0.020753979682922363, + -0.058463096618652344 + ], + "orientation": [ + 0.2303367406129837, + 0.7016439437866211, + -0.6642723679542542, + -0.11568514257669449 + ], + "joints": [ + 0.006236058659851551 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010748755186796188, + -0.09739162027835846, + 0.06597411632537842 + ], + "orientation": [ + 0.10623867064714432, + -0.07095271348953247, + -0.97648024559021, + 0.17368173599243164 + ], + "joints": [ + -0.0001642079441808164 + ] + }, + "fine_grasp": { + "position": [ + -0.009899117052555084, + -0.10279601067304611, + 0.06720932573080063 + ], + "orientation": [ + 0.11003900319337845, + -0.0747428834438324, + -0.9753572344779968, + 0.17601971328258514 + ], + "joints": [ + 0.005681188311427832 + ] + }, + "final_grasp": { + "position": [ + -0.009899117052555084, + -0.10279601067304611, + 0.06720932573080063 + ], + "orientation": [ + 0.11003900319337845, + -0.0747428834438324, + -0.9753572344779968, + 0.17601971328258514 + ], + "joints": [ + 0.01152658462524414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03431336209177971, + 0.05861218646168709, + 0.13150614500045776 + ], + "orientation": [ + 0.4062773585319519, + -0.6977630853652954, + 0.43286678194999695, + -0.4008636176586151 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.03317246213555336, + 0.06142664700746536, + 0.1337721347808838 + ], + "orientation": [ + 0.39385440945625305, + -0.7091349363327026, + 0.4282029867172241, + -0.398307204246521 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + 0.03317246213555336, + 0.06142664700746536, + 0.1337721347808838 + ], + "orientation": [ + 0.39385440945625305, + -0.7091349363327026, + 0.4282029867172241, + -0.398307204246521 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11457047611474991, + 0.055772822350263596, + 0.0219461377710104 + ], + "orientation": [ + 0.06383408606052399, + 0.7952706813812256, + 0.5925873517990112, + -0.11095114797353745 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.1194099560379982, + 0.05751130357384682, + 0.020795010030269623 + ], + "orientation": [ + 0.06652840971946716, + 0.7931981682777405, + 0.5939660668373108, + -0.11668349802494049 + ], + "joints": [ + -0.0030863340944051743 + ] + }, + "final_grasp": { + "position": [ + -0.1194099560379982, + 0.05751130357384682, + 0.020795010030269623 + ], + "orientation": [ + 0.06652840971946716, + 0.7931981682777405, + 0.5939660668373108, + -0.11668349802494049 + ], + "joints": [ + 0.0044064000248909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034177180379629135, + 0.05846508964896202, + 0.13164621591567993 + ], + "orientation": [ + 0.40722569823265076, + -0.6972728371620178, + 0.4327889382839203, + -0.4008387327194214 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.033016327768564224, + 0.06125227361917496, + 0.13388045132160187 + ], + "orientation": [ + 0.39483416080474854, + -0.7085905075073242, + 0.4281677007675171, + -0.3983440399169922 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + 0.033016327768564224, + 0.06125227361917496, + 0.13388045132160187 + ], + "orientation": [ + 0.39483416080474854, + -0.7085905075073242, + 0.4281677007675171, + -0.3983440399169922 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11937352269887924, + 0.06108029559254646, + 0.04563048481941223 + ], + "orientation": [ + 0.5885062217712402, + -0.100233294069767, + 0.002990249078720808, + -0.8022497892379761 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.12024006247520447, + 0.061734024435281754, + 0.04686344042420387 + ], + "orientation": [ + 0.5877611041069031, + -0.10985517501831055, + -0.012008708901703358, + -0.8014515042304993 + ], + "joints": [ + -0.00296864565461874 + ] + }, + "final_grasp": { + "position": [ + -0.12024006247520447, + 0.061734024435281754, + 0.04686344042420387 + ], + "orientation": [ + 0.5877611041069031, + -0.10985517501831055, + -0.012008708901703358, + -0.8014515042304993 + ], + "joints": [ + 0.003434719517827034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11564452201128006, + 0.042777251452207565, + -0.03995335102081299 + ], + "orientation": [ + 0.604823887348175, + 0.03767083212733269, + 0.2079450935125351, + 0.7678070664405823 + ], + "joints": [ + -0.008160222321748734 + ] + }, + "fine_grasp": { + "position": [ + 0.11693307757377625, + 0.04378938674926758, + -0.04175814613699913 + ], + "orientation": [ + 0.600882351398468, + 0.030654000118374825, + 0.20978768169879913, + 0.7707074284553528 + ], + "joints": [ + -0.0012520273448899388 + ] + }, + "final_grasp": { + "position": [ + 0.11693307757377625, + 0.04378938674926758, + -0.04175814613699913 + ], + "orientation": [ + 0.600882351398468, + 0.030654000118374825, + 0.20978768169879913, + 0.7707074284553528 + ], + "joints": [ + 0.0056561678647994995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12019911408424377, + 0.049325983971357346, + -0.007318281568586826 + ], + "orientation": [ + 0.1652936488389969, + 0.7796177268028259, + 0.6020908951759338, + -0.048586856573820114 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.1202138289809227, + 0.04945848137140274, + -0.007530564442276955 + ], + "orientation": [ + 0.16877418756484985, + 0.7798259854316711, + 0.6002206206321716, + -0.05587439611554146 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.1202138289809227, + 0.04945848137140274, + -0.007530564442276955 + ], + "orientation": [ + 0.16877418756484985, + 0.7798259854316711, + 0.6002206206321716, + -0.05587439611554146 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1038731187582016, + 0.07710585743188858, + 0.058922767639160156 + ], + "orientation": [ + 0.06845277547836304, + -0.8311719298362732, + -0.5177350044250488, + 0.19083456695079803 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.10450062155723572, + 0.07822726666927338, + 0.05809232220053673 + ], + "orientation": [ + 0.06945285946130753, + -0.8304733037948608, + -0.5168468356132507, + 0.19585658609867096 + ], + "joints": [ + -0.0030597641598433256 + ] + }, + "final_grasp": { + "position": [ + -0.10450062155723572, + 0.07822726666927338, + 0.05809232220053673 + ], + "orientation": [ + 0.06945285946130753, + -0.8304733037948608, + -0.5168468356132507, + 0.19585658609867096 + ], + "joints": [ + 0.004459539894014597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12022585421800613, + 0.049106892198324203, + -0.006886927876621485 + ], + "orientation": [ + 0.16819314658641815, + 0.7787046432495117, + 0.6021444797515869, + -0.052462633699178696 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.1203429251909256, + 0.049276188015937805, + -0.007245809771120548 + ], + "orientation": [ + 0.1696757674217224, + 0.779288649559021, + 0.6003761887550354, + -0.05888637155294418 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.1203429251909256, + 0.049276188015937805, + -0.007245809771120548 + ], + "orientation": [ + 0.1696757674217224, + 0.779288649559021, + 0.6003761887550354, + -0.05888637155294418 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1038249209523201, + 0.07708731293678284, + 0.05922701954841614 + ], + "orientation": [ + 0.06854259967803955, + -0.8310146927833557, + -0.517845094203949, + 0.19118846952915192 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.1046476662158966, + 0.07799535244703293, + 0.058539796620607376 + ], + "orientation": [ + 0.06882329285144806, + -0.8294826745986938, + -0.51838618516922, + 0.19620832800865173 + ], + "joints": [ + -0.0030863340944051743 + ] + }, + "final_grasp": { + "position": [ + -0.1046476662158966, + 0.07799535244703293, + 0.058539796620607376 + ], + "orientation": [ + 0.06882329285144806, + -0.8294826745986938, + -0.51838618516922, + 0.19620832800865173 + ], + "joints": [ + 0.0044064000248909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12010446935892105, + 0.04909935221076012, + -0.007147643249481916 + ], + "orientation": [ + 0.16842100024223328, + 0.7791060209274292, + 0.6016585230827332, + -0.05133487656712532 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.12025435268878937, + 0.04922954738140106, + -0.007544083055108786 + ], + "orientation": [ + 0.17022332549095154, + 0.7792299389839172, + 0.6003227233886719, + -0.05862833559513092 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.12025435268878937, + 0.04922954738140106, + -0.007544083055108786 + ], + "orientation": [ + 0.17022332549095154, + 0.7792299389839172, + 0.6003227233886719, + -0.05862833559513092 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10834489017724991, + 0.01889890618622303, + -0.057205766439437866 + ], + "orientation": [ + 0.23051269352436066, + 0.6961706280708313, + -0.670731782913208, + -0.11103712767362595 + ], + "joints": [ + -0.007513375021517277 + ] + }, + "fine_grasp": { + "position": [ + 0.10829678922891617, + 0.01995820179581642, + -0.05774757266044617 + ], + "orientation": [ + 0.2364610731601715, + 0.7008259892463684, + -0.6642396450042725, + -0.10823386162519455 + ], + "joints": [ + -0.0011365795508027077 + ] + }, + "final_grasp": { + "position": [ + 0.10829678922891617, + 0.01995820179581642, + -0.05774757266044617 + ], + "orientation": [ + 0.2364610731601715, + 0.7008259892463684, + -0.6642396450042725, + -0.10823386162519455 + ], + "joints": [ + 0.005240215919911861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023212332278490067, + -0.10479132831096649, + -0.06959252804517746 + ], + "orientation": [ + 0.980187714099884, + 0.1281823217868805, + -0.09799274057149887, + -0.11488620191812515 + ], + "joints": [ + 0.0025545754469931126 + ] + }, + "fine_grasp": { + "position": [ + -0.02196609228849411, + -0.10864502936601639, + -0.06969946622848511 + ], + "orientation": [ + 0.9815001487731934, + 0.12874744832515717, + -0.09501983225345612, + -0.10513234883546829 + ], + "joints": [ + 0.008931371383368969 + ] + }, + "final_grasp": { + "position": [ + -0.02196609228849411, + -0.10864502936601639, + -0.06969946622848511 + ], + "orientation": [ + 0.9815001487731934, + 0.12874744832515717, + -0.09501983225345612, + -0.10513234883546829 + ], + "joints": [ + 0.015308167785406113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12112030386924744, + 0.033295147120952606, + 0.007661755196750164 + ], + "orientation": [ + 0.6661746501922607, + -0.08764132112264633, + 0.05219999700784683, + 0.738786518573761 + ], + "joints": [ + -0.007569032721221447 + ] + }, + "fine_grasp": { + "position": [ + 0.12461431324481964, + 0.034252967685461044, + 0.007003088016062975 + ], + "orientation": [ + 0.6602115035057068, + -0.08552530407905579, + 0.04165356233716011, + 0.7450309991836548 + ], + "joints": [ + -0.001192237250506878 + ] + }, + "final_grasp": { + "position": [ + 0.12461431324481964, + 0.034252967685461044, + 0.007003088016062975 + ], + "orientation": [ + 0.6602115035057068, + -0.08552530407905579, + 0.04165356233716011, + 0.7450309991836548 + ], + "joints": [ + 0.005184558220207691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0711272731423378, + 0.04317374527454376, + 0.12069983780384064 + ], + "orientation": [ + 0.6207056641578674, + -0.40275344252586365, + 0.19084376096725464, + -0.6450524926185608 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + -0.07236543297767639, + 0.04495035484433174, + 0.11910255998373032 + ], + "orientation": [ + 0.6167296767234802, + -0.42361125349998474, + 0.18450778722763062, + -0.637302815914154 + ], + "joints": [ + -0.0035926373675465584 + ] + }, + "final_grasp": { + "position": [ + -0.07236543297767639, + 0.04495035484433174, + 0.11910255998373032 + ], + "orientation": [ + 0.6167296767234802, + -0.42361125349998474, + 0.18450778722763062, + -0.637302815914154 + ], + "joints": [ + 0.0028638672083616257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07112882286310196, + 0.04319755360484123, + 0.12071739137172699 + ], + "orientation": [ + 0.6208361983299255, + -0.4025920629501343, + 0.19097238779067993, + -0.6449894905090332 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + -0.07237398624420166, + 0.044955335557460785, + 0.1191125363111496 + ], + "orientation": [ + 0.6165606379508972, + -0.4235030710697174, + 0.1848047971725464, + -0.637452244758606 + ], + "joints": [ + -0.0035926373675465584 + ] + }, + "final_grasp": { + "position": [ + -0.07237398624420166, + 0.044955335557460785, + 0.1191125363111496 + ], + "orientation": [ + 0.6165606379508972, + -0.4235030710697174, + 0.1848047971725464, + -0.637452244758606 + ], + "joints": [ + 0.0028638672083616257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024312173947691917, + -0.10343367606401443, + -0.07006527483463287 + ], + "orientation": [ + 0.9806872606277466, + 0.1273588240146637, + -0.08834242820739746, + -0.11928091198205948 + ], + "joints": [ + 0.002740734489634633 + ] + }, + "fine_grasp": { + "position": [ + -0.023704130202531815, + -0.10797964036464691, + -0.06970711797475815 + ], + "orientation": [ + 0.9814230799674988, + 0.1299063265323639, + -0.08774731308221817, + -0.11060532182455063 + ], + "joints": [ + 0.008612701669335365 + ] + }, + "final_grasp": { + "position": [ + -0.023704130202531815, + -0.10797964036464691, + -0.06970711797475815 + ], + "orientation": [ + 0.9814230799674988, + 0.1299063265323639, + -0.08774731308221817, + -0.11060532182455063 + ], + "joints": [ + 0.014484669081866741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12177199870347977, + 0.03572021797299385, + -0.009332136251032352 + ], + "orientation": [ + 0.6561741232872009, + -0.02119440771639347, + 0.08998482674360275, + 0.7489252686500549 + ], + "joints": [ + -0.007648835424333811 + ] + }, + "fine_grasp": { + "position": [ + 0.1224469467997551, + 0.03514687716960907, + -0.010105649009346962 + ], + "orientation": [ + 0.6547267436981201, + -0.023339560255408287, + 0.07826214283704758, + 0.7514407634735107 + ], + "joints": [ + -0.0012720399536192417 + ] + }, + "final_grasp": { + "position": [ + 0.1224469467997551, + 0.03514687716960907, + -0.010105649009346962 + ], + "orientation": [ + 0.6547267436981201, + -0.023339560255408287, + 0.07826214283704758, + 0.7514407634735107 + ], + "joints": [ + 0.005104755517095327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12166724354028702, + 0.033171720802783966, + 0.009338964708149433 + ], + "orientation": [ + 0.6669256687164307, + -0.09022688865661621, + 0.050332874059677124, + 0.7379267811775208 + ], + "joints": [ + -0.00753306457772851 + ] + }, + "fine_grasp": { + "position": [ + 0.12477567791938782, + 0.034295517951250076, + 0.00883122906088829 + ], + "orientation": [ + 0.6605348587036133, + -0.0895175114274025, + 0.040583111345767975, + 0.7443342208862305 + ], + "joints": [ + -0.0016876687295734882 + ] + }, + "final_grasp": { + "position": [ + 0.12477567791938782, + 0.034295517951250076, + 0.00883122906088829 + ], + "orientation": [ + 0.6605348587036133, + -0.0895175114274025, + 0.040583111345767975, + 0.7443342208862305 + ], + "joints": [ + 0.004157727118581533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030947795137763023, + 0.058588478714227676, + 0.13624191284179688 + ], + "orientation": [ + 0.4109050929546356, + -0.6597408652305603, + 0.4391302168369293, + -0.45062604546546936 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.02944043278694153, + 0.06072923541069031, + 0.1362953782081604 + ], + "orientation": [ + 0.405839204788208, + -0.666373610496521, + 0.43396586179733276, + -0.4504601061344147 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.02944043278694153, + 0.06072923541069031, + 0.1362953782081604 + ], + "orientation": [ + 0.405839204788208, + -0.666373610496521, + 0.43396586179733276, + -0.4504601061344147 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030940379947423935, + 0.05859309434890747, + 0.13626062870025635 + ], + "orientation": [ + 0.41094568371772766, + -0.6597375273704529, + 0.4390966296195984, + -0.4506266415119171 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.0294283926486969, + 0.060724563896656036, + 0.1363012194633484 + ], + "orientation": [ + 0.40588313341140747, + -0.6663600206375122, + 0.43393707275390625, + -0.4504684805870056 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.0294283926486969, + 0.060724563896656036, + 0.1363012194633484 + ], + "orientation": [ + 0.40588313341140747, + -0.6663600206375122, + 0.43393707275390625, + -0.4504684805870056 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023612836375832558, + -0.1048310175538063, + -0.06994529813528061 + ], + "orientation": [ + 0.9810112714767456, + 0.126246377825737, + -0.09147834777832031, + -0.11537047475576401 + ], + "joints": [ + 0.0025947154499590397 + ] + }, + "fine_grasp": { + "position": [ + -0.022488916292786598, + -0.10902409255504608, + -0.07005749642848969 + ], + "orientation": [ + 0.9822357892990112, + 0.12738136947155, + -0.08834395557641983, + -0.10574574768543243 + ], + "joints": [ + 0.008971511386334896 + ] + }, + "final_grasp": { + "position": [ + -0.022488916292786598, + -0.10902409255504608, + -0.07005749642848969 + ], + "orientation": [ + 0.9822357892990112, + 0.12738136947155, + -0.08834395557641983, + -0.10574574768543243 + ], + "joints": [ + 0.01534830778837204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11955113708972931, + 0.05204928293824196, + 0.0032606066670268774 + ], + "orientation": [ + 0.6101496815681458, + -0.038425710052251816, + 0.05671099200844765, + 0.7893191576004028 + ], + "joints": [ + -0.008455442264676094 + ] + }, + "fine_grasp": { + "position": [ + 0.11988711357116699, + 0.05135800689458847, + 0.002505120588466525 + ], + "orientation": [ + 0.6077662110328674, + -0.03498443588614464, + 0.039754267781972885, + 0.7923482656478882 + ], + "joints": [ + -0.0026100464165210724 + ] + }, + "final_grasp": { + "position": [ + 0.11988711357116699, + 0.05135800689458847, + 0.002505120588466525 + ], + "orientation": [ + 0.6077662110328674, + -0.03498443588614464, + 0.039754267781972885, + 0.7923482656478882 + ], + "joints": [ + 0.0032353494316339493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1167605072259903, + -0.007403843570500612, + 0.012147083878517151 + ], + "orientation": [ + 0.7895466685295105, + -0.046132396906614304, + -0.014078636653721333, + -0.6117920875549316 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.11576180160045624, + -0.008700675331056118, + 0.010807346552610397 + ], + "orientation": [ + 0.7953527569770813, + -0.05563674122095108, + -0.006011316552758217, + -0.6035580039024353 + ], + "joints": [ + -0.001905921963043511 + ] + }, + "final_grasp": { + "position": [ + -0.11576180160045624, + -0.008700675331056118, + 0.010807346552610397 + ], + "orientation": [ + 0.7953527569770813, + -0.05563674122095108, + -0.006011316552758217, + -0.6035580039024353 + ], + "joints": [ + 0.00447087362408638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12093197554349899, + 0.030842093750834465, + -0.0035469657741487026 + ], + "orientation": [ + 0.08283823728561401, + 0.733714759349823, + -0.6742447018623352, + 0.013946427032351494 + ], + "joints": [ + -0.008197417482733727 + ] + }, + "fine_grasp": { + "position": [ + 0.12219078838825226, + 0.03273153305053711, + -0.005482890177518129 + ], + "orientation": [ + 0.07371734082698822, + 0.7424300909042358, + -0.665648877620697, + 0.016581745818257332 + ], + "joints": [ + -0.001820622244849801 + ] + }, + "final_grasp": { + "position": [ + 0.12219078838825226, + 0.03273153305053711, + -0.005482890177518129 + ], + "orientation": [ + 0.07371734082698822, + 0.7424300909042358, + -0.665648877620697, + 0.016581745818257332 + ], + "joints": [ + 0.004556172993034124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1209668517112732, + 0.03040250763297081, + -0.0029860613867640495 + ], + "orientation": [ + 0.08240992575883865, + 0.7323533892631531, + -0.6757410168647766, + 0.015529520809650421 + ], + "joints": [ + -0.008152471855282784 + ] + }, + "fine_grasp": { + "position": [ + 0.12225525081157684, + 0.03215730935335159, + -0.004914151504635811 + ], + "orientation": [ + 0.07254213094711304, + 0.7408235669136047, + -0.6675363183021545, + 0.017704565078020096 + ], + "joints": [ + -0.0017756765009835362 + ] + }, + "final_grasp": { + "position": [ + 0.12225525081157684, + 0.03215730935335159, + -0.004914151504635811 + ], + "orientation": [ + 0.07254213094711304, + 0.7408235669136047, + -0.6675363183021545, + 0.017704565078020096 + ], + "joints": [ + 0.004601119086146355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11193422228097916, + 0.062062960118055344, + -0.0046190363354980946 + ], + "orientation": [ + 0.11974325031042099, + 0.8135106563568115, + 0.5679869055747986, + 0.035397812724113464 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.11463230103254318, + 0.061286263167858124, + -0.005814319010823965 + ], + "orientation": [ + 0.11930492520332336, + 0.8130871057510376, + 0.5692470073699951, + 0.024771641939878464 + ], + "joints": [ + -0.002435848116874695 + ] + }, + "final_grasp": { + "position": [ + -0.11463230103254318, + 0.061286263167858124, + -0.005814319010823965 + ], + "orientation": [ + 0.11930492520332336, + 0.8130871057510376, + 0.5692470073699951, + 0.024771641939878464 + ], + "joints": [ + 0.003940947353839874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11674308776855469, + 0.06482728570699692, + 0.031060785055160522 + ], + "orientation": [ + 0.57215815782547, + -0.05663956329226494, + -0.006290022749453783, + -0.8181610703468323 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.12006793171167374, + 0.06653757393360138, + 0.031595006585121155 + ], + "orientation": [ + 0.5706883072853088, + -0.05811423435807228, + 0.0008150787325575948, + -0.8191074728965759 + ], + "joints": [ + -0.0019618573132902384 + ] + }, + "final_grasp": { + "position": [ + -0.12006793171167374, + 0.06653757393360138, + 0.031595006585121155 + ], + "orientation": [ + 0.5706883072853088, + -0.05811423435807228, + 0.0008150787325575948, + -0.8191074728965759 + ], + "joints": [ + 0.005477737169712782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001508515328168869, + -0.11795026808977127, + 0.014299295842647552 + ], + "orientation": [ + 0.9993501305580139, + -0.03249528631567955, + -0.014632499776780605, + -0.005405724514275789 + ], + "joints": [ + 0.0013282373547554016 + ] + }, + "fine_grasp": { + "position": [ + -0.001985694747418165, + -0.1219242736697197, + 0.015269515104591846 + ], + "orientation": [ + 0.9994876980781555, + -0.029485376551747322, + -0.011829382739961147, + -0.0038942487444728613 + ], + "joints": [ + 0.008688121102750301 + ] + }, + "final_grasp": { + "position": [ + -0.001985694747418165, + -0.1219242736697197, + 0.015269515104591846 + ], + "orientation": [ + 0.9994876980781555, + -0.029485376551747322, + -0.011829382739961147, + -0.0038942487444728613 + ], + "joints": [ + 0.0160480048507452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003743887646123767, + -0.07921969145536423, + 0.11284487694501877 + ], + "orientation": [ + 0.0038904831744730473, + 0.01985485665500164, + 0.9260263442993164, + -0.3769163191318512 + ], + "joints": [ + 0.0013579142978414893 + ] + }, + "fine_grasp": { + "position": [ + -0.004259699024260044, + -0.08141054958105087, + 0.11617903411388397 + ], + "orientation": [ + 0.0023626515176147223, + 0.02076335996389389, + 0.9275508522987366, + -0.3731124699115753 + ], + "joints": [ + 0.008797509595751762 + ] + }, + "final_grasp": { + "position": [ + -0.004259699024260044, + -0.08141054958105087, + 0.11617903411388397 + ], + "orientation": [ + 0.0023626515176147223, + 0.02076335996389389, + 0.9275508522987366, + -0.3731124699115753 + ], + "joints": [ + 0.016237104311585426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0041876561008393764, + -0.07937460392713547, + 0.11331760883331299 + ], + "orientation": [ + 0.005431632045656443, + 0.02077423967421055, + 0.9271202087402344, + -0.3741484582424164 + ], + "joints": [ + 0.0014375310856848955 + ] + }, + "fine_grasp": { + "position": [ + -0.004593417979776859, + -0.08145900815725327, + 0.11623107641935349 + ], + "orientation": [ + 0.0031553348526358604, + 0.02172134816646576, + 0.927636444568634, + -0.37283891439437866 + ], + "joints": [ + 0.00887712650001049 + ] + }, + "final_grasp": { + "position": [ + -0.004593417979776859, + -0.08145900815725327, + 0.11623107641935349 + ], + "orientation": [ + 0.0031553348526358604, + 0.02172134816646576, + 0.927636444568634, + -0.37283891439437866 + ], + "joints": [ + 0.016316721215844154 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2047, + "num_passed": 449 + } +} \ No newline at end of file diff --git a/048_stapler_4/Annotation/piper_grasp_pose.json b/048_stapler_4/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..50995e6ddef0d246c8eb79dfd40fbfcb0b978b2d --- /dev/null +++ b/048_stapler_4/Annotation/piper_grasp_pose.json @@ -0,0 +1,11018 @@ +{ + "type": "048_stapler_4", + "bottom_center": [ + -2.725515514612198e-06, + 0.024147573858499527, + -0.0474899485707283 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.11463185399770737, + 0.07318851351737976, + -0.008896008133888245 + ], + "orientation": [ + 0.672107994556427, + 0.13116830587387085, + -0.7046740651130676, + 0.18574221432209015 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.11128849536180496, + 0.0713893249630928, + -0.008219582960009575 + ], + "orientation": [ + 0.6778988242149353, + 0.1307498663663864, + -0.6995833516120911, + 0.18423032760620117 + ], + "joints": [ + 0.019522998481988907 + ] + }, + "final_grasp": { + "position": [ + 0.11128849536180496, + 0.0713893249630928, + -0.008219582960009575 + ], + "orientation": [ + 0.6778988242149353, + 0.1307498663663864, + -0.6995833516120911, + 0.18423032760620117 + ], + "joints": [ + 0.008677061647176743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12312628328800201, + 0.01700851321220398, + -0.03851911053061485 + ], + "orientation": [ + 0.7769970297813416, + -0.05979374423623085, + -0.6235991716384888, + 0.061841897666454315 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.1193607822060585, + 0.01726478897035122, + -0.03773784637451172 + ], + "orientation": [ + 0.7781643271446228, + -0.059447843581438065, + -0.6221596598625183, + 0.06199664622545242 + ], + "joints": [ + 0.01844041794538498 + ] + }, + "final_grasp": { + "position": [ + 0.1193607822060585, + 0.01726478897035122, + -0.03773784637451172 + ], + "orientation": [ + 0.7781643271446228, + -0.059447843581438065, + -0.6221596598625183, + 0.06199664622545242 + ], + "joints": [ + 0.008827447891235352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11385831981897354, + 0.07248007506132126, + -0.00824083760380745 + ], + "orientation": [ + 0.677720844745636, + 0.1310136616230011, + -0.7005065679550171, + 0.18116378784179688 + ], + "joints": [ + 0.03039209172129631 + ] + }, + "fine_grasp": { + "position": [ + 0.11051630973815918, + 0.07066749036312103, + -0.007607987616211176 + ], + "orientation": [ + 0.6827571988105774, + 0.13028398156166077, + -0.6962618827819824, + 0.1791321039199829 + ], + "joints": [ + 0.020361166447401047 + ] + }, + "final_grasp": { + "position": [ + 0.11051630973815918, + 0.07066749036312103, + -0.007607987616211176 + ], + "orientation": [ + 0.6827571988105774, + 0.13028398156166077, + -0.6962618827819824, + 0.1791321039199829 + ], + "joints": [ + 0.010330241173505783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006291553727351129, + 0.13407929241657257, + -0.05555650591850281 + ], + "orientation": [ + 0.5915163159370422, + 0.394438236951828, + -0.3963906764984131, + 0.5808626413345337 + ], + "joints": [ + 0.017284750938415527 + ] + }, + "fine_grasp": { + "position": [ + 0.0006439044955186546, + 0.13017970323562622, + -0.054001495242118835 + ], + "orientation": [ + 0.5904116034507751, + 0.3961559534072876, + -0.3969135880470276, + 0.5804604291915894 + ], + "joints": [ + 0.009343601763248444 + ] + }, + "final_grasp": { + "position": [ + 0.0006439044955186546, + 0.13017970323562622, + -0.054001495242118835 + ], + "orientation": [ + 0.5904116034507751, + 0.3961559534072876, + -0.3969135880470276, + 0.5804604291915894 + ], + "joints": [ + 0.0014024525880813599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10201320052146912, + 0.061581674963235855, + -0.004318669438362122 + ], + "orientation": [ + 0.1977081596851349, + 0.7428672909736633, + -0.09464702010154724, + 0.6325359344482422 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + -0.10053475201129913, + 0.060214851051568985, + -0.002531997859477997 + ], + "orientation": [ + 0.19190499186515808, + 0.7408704161643982, + -0.09423058480024338, + 0.6367133855819702 + ], + "joints": [ + 0.019716281443834305 + ] + }, + "final_grasp": { + "position": [ + -0.10053475201129913, + 0.060214851051568985, + -0.002531997859477997 + ], + "orientation": [ + 0.19190499186515808, + 0.7408704161643982, + -0.09423058480024338, + 0.6367133855819702 + ], + "joints": [ + 0.010939221829175949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0011020393576472998, + 0.030409734696149826, + -0.1494600772857666 + ], + "orientation": [ + 0.6318649649620056, + 0.1014365628361702, + 0.10289519280195236, + -0.7614918947219849 + ], + "joints": [ + 0.02075016498565674 + ] + }, + "fine_grasp": { + "position": [ + 0.0013591332826763391, + 0.030116619542241096, + -0.14582470059394836 + ], + "orientation": [ + 0.6323119401931763, + 0.09730428457260132, + 0.1000240296125412, + -0.7620424032211304 + ], + "joints": [ + 0.011534251272678375 + ] + }, + "final_grasp": { + "position": [ + 0.0013591332826763391, + 0.030116619542241096, + -0.14582470059394836 + ], + "orientation": [ + 0.6323119401931763, + 0.09730428457260132, + 0.1000240296125412, + -0.7620424032211304 + ], + "joints": [ + 0.002318337559700012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0013717802939936519, + 0.030245790258049965, + -0.14833775162696838 + ], + "orientation": [ + 0.6286731362342834, + 0.09982278943061829, + 0.10123636573553085, + -0.7645630836486816 + ], + "joints": [ + 0.02092977799475193 + ] + }, + "fine_grasp": { + "position": [ + 0.0016573936445638537, + 0.029740450903773308, + -0.14476141333580017 + ], + "orientation": [ + 0.628852367401123, + 0.09695292264223099, + 0.09932511299848557, + -0.7650355100631714 + ], + "joints": [ + 0.011734763160347939 + ] + }, + "final_grasp": { + "position": [ + 0.0016573936445638537, + 0.029740450903773308, + -0.14476141333580017 + ], + "orientation": [ + 0.628852367401123, + 0.09695292264223099, + 0.09932511299848557, + -0.7650355100631714 + ], + "joints": [ + 0.002539748325943947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008272778242826462, + 0.11141589283943176, + 0.08104407787322998 + ], + "orientation": [ + 0.2651381194591522, + 0.6741975545883179, + 0.6218169331550598, + -0.2974950671195984 + ], + "joints": [ + 0.019340023398399353 + ] + }, + "fine_grasp": { + "position": [ + 0.008078453131020069, + 0.11086051911115646, + 0.08038201183080673 + ], + "orientation": [ + 0.27155330777168274, + 0.6792364120483398, + 0.6141865253448486, + -0.2960941791534424 + ], + "joints": [ + 0.009727053344249725 + ] + }, + "final_grasp": { + "position": [ + 0.008078453131020069, + 0.11086051911115646, + 0.08038201183080673 + ], + "orientation": [ + 0.27155330777168274, + 0.6792364120483398, + 0.6141865253448486, + -0.2960941791534424 + ], + "joints": [ + 0.00011408329010009766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0007349853403866291, + 0.03004748746752739, + -0.1508505940437317 + ], + "orientation": [ + 0.6319304704666138, + 0.10573123395442963, + 0.10590486228466034, + -0.760439932346344 + ], + "joints": [ + 0.019966602325439453 + ] + }, + "fine_grasp": { + "position": [ + 0.001114373211748898, + 0.03014030121266842, + -0.14688022434711456 + ], + "orientation": [ + 0.6324287056922913, + 0.09860265254974365, + 0.1009201779961586, + -0.7616603970527649 + ], + "joints": [ + 0.010771587491035461 + ] + }, + "final_grasp": { + "position": [ + 0.001114373211748898, + 0.03014030121266842, + -0.14688022434711456 + ], + "orientation": [ + 0.6324287056922913, + 0.09860265254974365, + 0.1009201779961586, + -0.7616603970527649 + ], + "joints": [ + 0.0015765726566314697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006311440374702215, + -0.10254368931055069, + -0.005356308538466692 + ], + "orientation": [ + 0.4902135133743286, + -0.5130441784858704, + -0.480342298746109, + -0.5155072808265686 + ], + "joints": [ + 0.02340170368552208 + ] + }, + "fine_grasp": { + "position": [ + -0.006395220756530762, + -0.10184154659509659, + -0.00523416418582201 + ], + "orientation": [ + 0.4904276728630066, + -0.5130413174629211, + -0.4796963930130005, + -0.5159075856208801 + ], + "joints": [ + 0.013809632509946823 + ] + }, + "final_grasp": { + "position": [ + -0.006395220756530762, + -0.10184154659509659, + -0.00523416418582201 + ], + "orientation": [ + 0.4904276728630066, + -0.5130413174629211, + -0.4796963930130005, + -0.5159075856208801 + ], + "joints": [ + 0.004217561334371567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00931368675082922, + -0.10483430325984955, + -0.00514510553330183 + ], + "orientation": [ + 0.48540356755256653, + -0.514409601688385, + -0.4721141457557678, + -0.5261884927749634 + ], + "joints": [ + 0.022670932114124298 + ] + }, + "fine_grasp": { + "position": [ + -0.008748813532292843, + -0.1027567982673645, + -0.005089097190648317 + ], + "orientation": [ + 0.4867938756942749, + -0.513172447681427, + -0.47224295139312744, + -0.5259965658187866 + ], + "joints": [ + 0.013893872499465942 + ] + }, + "final_grasp": { + "position": [ + -0.008748813532292843, + -0.1027567982673645, + -0.005089097190648317 + ], + "orientation": [ + 0.4867938756942749, + -0.513172447681427, + -0.47224295139312744, + -0.5259965658187866 + ], + "joints": [ + 0.005116812884807587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00934023316949606, + -0.1038513258099556, + -0.004926247987896204 + ], + "orientation": [ + 0.485044002532959, + -0.5163772106170654, + -0.4718051850795746, + -0.5248683094978333 + ], + "joints": [ + 0.02292749285697937 + ] + }, + "fine_grasp": { + "position": [ + -0.00912126898765564, + -0.10201459378004074, + -0.00484614260494709 + ], + "orientation": [ + 0.4855647385120392, + -0.5160697102546692, + -0.4711838662624359, + -0.5252473950386047 + ], + "joints": [ + 0.014150433242321014 + ] + }, + "final_grasp": { + "position": [ + -0.00912126898765564, + -0.10201459378004074, + -0.00484614260494709 + ], + "orientation": [ + 0.4855647385120392, + -0.5160697102546692, + -0.4711838662624359, + -0.5252473950386047 + ], + "joints": [ + 0.005373373627662659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11704567074775696, + 0.07146263122558594, + 0.04509236291050911 + ], + "orientation": [ + 0.6186621785163879, + 0.1620747447013855, + -0.7596161365509033, + 0.11820396780967712 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.11342015117406845, + 0.0697111040353775, + 0.04454634711146355 + ], + "orientation": [ + 0.620940625667572, + 0.15854792296886444, + -0.7581726908683777, + 0.12028928101062775 + ], + "joints": [ + 0.02345605194568634 + ] + }, + "final_grasp": { + "position": [ + 0.11342015117406845, + 0.0697111040353775, + 0.04454634711146355 + ], + "orientation": [ + 0.620940625667572, + 0.15854792296886444, + -0.7581726908683777, + 0.12028928101062775 + ], + "joints": [ + 0.013069868087768555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11701401323080063, + 0.07154880464076996, + 0.04504707083106041 + ], + "orientation": [ + 0.6183478832244873, + 0.16294124722480774, + -0.759728729724884, + 0.1179334819316864 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + 0.11339426040649414, + 0.06978460401296616, + 0.044497501105070114 + ], + "orientation": [ + 0.6207111477851868, + 0.15937389433383942, + -0.7582210898399353, + 0.12007659673690796 + ], + "joints": [ + 0.023643549531698227 + ] + }, + "final_grasp": { + "position": [ + 0.11339426040649414, + 0.06978460401296616, + 0.044497501105070114 + ], + "orientation": [ + 0.6207111477851868, + 0.15937389433383942, + -0.7582210898399353, + 0.12007659673690796 + ], + "joints": [ + 0.01323646679520607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1122746616601944, + 0.08745856583118439, + 0.06041126698255539 + ], + "orientation": [ + 0.5462733507156372, + 0.21411362290382385, + -0.7979599833488464, + 0.13784275949001312 + ], + "joints": [ + 0.030229996889829636 + ] + }, + "fine_grasp": { + "position": [ + 0.10904529690742493, + 0.08543074131011963, + 0.05965643748641014 + ], + "orientation": [ + 0.552074134349823, + 0.2102111130952835, + -0.7947638630867004, + 0.13919702172279358 + ], + "joints": [ + 0.021411139518022537 + ] + }, + "final_grasp": { + "position": [ + 0.10904529690742493, + 0.08543074131011963, + 0.05965643748641014 + ], + "orientation": [ + 0.552074134349823, + 0.2102111130952835, + -0.7947638630867004, + 0.13919702172279358 + ], + "joints": [ + 0.012592282146215439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016597365960478783, + -0.006748341489583254, + -0.14678917825222015 + ], + "orientation": [ + 0.2492799460887909, + -0.1027751937508583, + -0.0668700784444809, + -0.9606378674507141 + ], + "joints": [ + 0.02707018330693245 + ] + }, + "fine_grasp": { + "position": [ + -0.015710029751062393, + -0.0060517434030771255, + -0.14330855011940002 + ], + "orientation": [ + 0.2522432804107666, + -0.10823427140712738, + -0.06875518709421158, + -0.9591305255889893 + ], + "joints": [ + 0.017854269593954086 + ] + }, + "final_grasp": { + "position": [ + -0.015710029751062393, + -0.0060517434030771255, + -0.14330855011940002 + ], + "orientation": [ + 0.2522432804107666, + -0.10823427140712738, + -0.06875518709421158, + -0.9591305255889893 + ], + "joints": [ + 0.008638355880975723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019853239879012108, + 0.15111616253852844, + 0.04211197793483734 + ], + "orientation": [ + 0.3646727502346039, + 0.6253927946090698, + -0.5328986644744873, + 0.4380829632282257 + ], + "joints": [ + 0.016641002148389816 + ] + }, + "fine_grasp": { + "position": [ + -0.019169732928276062, + 0.14724242687225342, + 0.04174709692597389 + ], + "orientation": [ + 0.3687450885772705, + 0.6215864419937134, + -0.531406044960022, + 0.44188791513442993 + ], + "joints": [ + 0.007445987313985825 + ] + }, + "final_grasp": { + "position": [ + -0.019169732928276062, + 0.14724242687225342, + 0.04174709692597389 + ], + "orientation": [ + 0.3687450885772705, + 0.6215864419937134, + -0.531406044960022, + 0.44188791513442993 + ], + "joints": [ + -0.0017490275204181671 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10945669561624527, + -0.053661976009607315, + -0.019393520429730415 + ], + "orientation": [ + 0.12823933362960815, + -0.6697835326194763, + 0.2555612623691559, + 0.6852979063987732 + ], + "joints": [ + 0.024973707273602486 + ] + }, + "fine_grasp": { + "position": [ + 0.10649015754461288, + -0.05182657018303871, + -0.019219815731048584 + ], + "orientation": [ + 0.12807561457157135, + -0.6670429706573486, + 0.25686413049697876, + 0.6875109076499939 + ], + "joints": [ + 0.016113052144646645 + ] + }, + "final_grasp": { + "position": [ + 0.10649015754461288, + -0.05182657018303871, + -0.019219815731048584 + ], + "orientation": [ + 0.12807561457157135, + -0.6670429706573486, + 0.25686413049697876, + 0.6875109076499939 + ], + "joints": [ + 0.0072523970156908035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10962356626987457, + -0.05385236814618111, + -0.01950329914689064 + ], + "orientation": [ + 0.12515710294246674, + -0.6658898591995239, + 0.25891566276550293, + 0.6883959770202637 + ], + "joints": [ + 0.024973707273602486 + ] + }, + "fine_grasp": { + "position": [ + 0.10670240968465805, + -0.0520731583237648, + -0.01924125663936138 + ], + "orientation": [ + 0.12494128197431564, + -0.6627233028411865, + 0.2597775161266327, + 0.6911607980728149 + ], + "joints": [ + 0.016113052144646645 + ] + }, + "final_grasp": { + "position": [ + 0.10670240968465805, + -0.0520731583237648, + -0.01924125663936138 + ], + "orientation": [ + 0.12494128197431564, + -0.6627233028411865, + 0.2597775161266327, + 0.6911607980728149 + ], + "joints": [ + 0.0072523970156908035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01713995635509491, + -0.0065778521820902824, + -0.14674702286720276 + ], + "orientation": [ + 0.25194329023361206, + -0.0994734913110733, + -0.06442452222108841, + -0.9604576826095581 + ], + "joints": [ + 0.027250373736023903 + ] + }, + "fine_grasp": { + "position": [ + -0.016219379380345345, + -0.0058092959225177765, + -0.1433354616165161 + ], + "orientation": [ + 0.25524601340293884, + -0.10461831092834473, + -0.06586254388093948, + -0.958940327167511 + ], + "joints": [ + 0.01803446002304554 + ] + }, + "final_grasp": { + "position": [ + -0.016219379380345345, + -0.0058092959225177765, + -0.1433354616165161 + ], + "orientation": [ + 0.25524601340293884, + -0.10461831092834473, + -0.06586254388093948, + -0.958940327167511 + ], + "joints": [ + 0.008818546310067177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0019735300447791815, + 0.09428577870130539, + 0.12907414138317108 + ], + "orientation": [ + 0.21410603821277618, + 0.6809846758842468, + -0.6701728105545044, + 0.2031916379928589 + ], + "joints": [ + 0.014183279126882553 + ] + }, + "fine_grasp": { + "position": [ + 0.001771394512616098, + 0.09237203001976013, + 0.12545184791088104 + ], + "orientation": [ + 0.2055678516626358, + 0.6805062294006348, + -0.6773287653923035, + 0.18941769003868103 + ], + "joints": [ + 0.005824174731969833 + ] + }, + "final_grasp": { + "position": [ + 0.001771394512616098, + 0.09237203001976013, + 0.12545184791088104 + ], + "orientation": [ + 0.2055678516626358, + 0.6805062294006348, + -0.6773287653923035, + 0.18941769003868103 + ], + "joints": [ + -0.0025349296629428864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015291963936761022, + 0.09535417705774307, + 0.13002188503742218 + ], + "orientation": [ + 0.21448896825313568, + 0.6881093382835388, + -0.6630086898803711, + 0.20228584110736847 + ], + "joints": [ + 0.014331953600049019 + ] + }, + "fine_grasp": { + "position": [ + 0.0013604580890387297, + 0.0933949202299118, + 0.1264597475528717 + ], + "orientation": [ + 0.2061803936958313, + 0.6879215240478516, + -0.6695929169654846, + 0.18947014212608337 + ], + "joints": [ + 0.005554893985390663 + ] + }, + "final_grasp": { + "position": [ + 0.0013604580890387297, + 0.0933949202299118, + 0.1264597475528717 + ], + "orientation": [ + 0.2061803936958313, + 0.6879215240478516, + -0.6695929169654846, + 0.18947014212608337 + ], + "joints": [ + -0.0032221656292676926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021329432725906372, + 0.13600024580955505, + -0.03592958301305771 + ], + "orientation": [ + 0.5961664915084839, + 0.36612197756767273, + -0.4716935157775879, + 0.5366985201835632 + ], + "joints": [ + 0.02005455270409584 + ] + }, + "fine_grasp": { + "position": [ + 0.020407943055033684, + 0.1326996386051178, + -0.034785348922014236 + ], + "orientation": [ + 0.5965543985366821, + 0.36587926745414734, + -0.47315481305122375, + 0.5351446866989136 + ], + "joints": [ + 0.009208615869283676 + ] + }, + "final_grasp": { + "position": [ + 0.020407943055033684, + 0.1326996386051178, + -0.034785348922014236 + ], + "orientation": [ + 0.5965543985366821, + 0.36587926745414734, + -0.47315481305122375, + 0.5351446866989136 + ], + "joints": [ + -0.0016373209655284882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1118006557226181, + 0.066037617623806, + 0.0415554977953434 + ], + "orientation": [ + 0.6559264063835144, + 0.21109257638454437, + -0.7214499711990356, + 0.06863293796777725 + ], + "joints": [ + 0.031318310648202896 + ] + }, + "fine_grasp": { + "position": [ + 0.10823050141334534, + 0.06415627896785736, + 0.04058440029621124 + ], + "orientation": [ + 0.6495155692100525, + 0.20092110335826874, + -0.7297223806381226, + 0.0725645050406456 + ], + "joints": [ + 0.022959206253290176 + ] + }, + "final_grasp": { + "position": [ + 0.10823050141334534, + 0.06415627896785736, + 0.04058440029621124 + ], + "orientation": [ + 0.6495155692100525, + 0.20092110335826874, + -0.7297223806381226, + 0.0725645050406456 + ], + "joints": [ + 0.014600101858377457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11190222203731537, + 0.06615117937326431, + 0.04149537906050682 + ], + "orientation": [ + 0.6557709574699402, + 0.2121892124414444, + -0.7213048338890076, + 0.06826168298721313 + ], + "joints": [ + 0.031341467052698135 + ] + }, + "fine_grasp": { + "position": [ + 0.10833265632390976, + 0.06428014487028122, + 0.04050604626536369 + ], + "orientation": [ + 0.6491860151290894, + 0.2025429755449295, + -0.7296802401542664, + 0.07141875475645065 + ], + "joints": [ + 0.022982362657785416 + ] + }, + "final_grasp": { + "position": [ + 0.10833265632390976, + 0.06428014487028122, + 0.04050604626536369 + ], + "orientation": [ + 0.6491860151290894, + 0.2025429755449295, + -0.7296802401542664, + 0.07141875475645065 + ], + "joints": [ + 0.014623258262872696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08835173398256302, + -0.05079742148518562, + -0.03730610013008118 + ], + "orientation": [ + 0.7658116221427917, + -0.28912806510925293, + -0.5607820749282837, + -0.12434174120426178 + ], + "joints": [ + 0.028585966676473618 + ] + }, + "fine_grasp": { + "position": [ + 0.08539304882287979, + -0.04879577457904816, + -0.03636421263217926 + ], + "orientation": [ + 0.7725273370742798, + -0.2931225895881653, + -0.5512819886207581, + -0.1156236007809639 + ], + "joints": [ + 0.016945917159318924 + ] + }, + "final_grasp": { + "position": [ + 0.08539304882287979, + -0.04879577457904816, + -0.03636421263217926 + ], + "orientation": [ + 0.7725273370742798, + -0.2931225895881653, + -0.5512819886207581, + -0.1156236007809639 + ], + "joints": [ + 0.00530586764216423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005027865990996361, + 0.02723514661192894, + -0.13844864070415497 + ], + "orientation": [ + 0.7519503831863403, + 0.08897607028484344, + -0.05133657529950142, + 0.6511670351028442 + ], + "joints": [ + 0.023016147315502167 + ] + }, + "fine_grasp": { + "position": [ + -0.005229774862527847, + 0.025861462578177452, + -0.13599759340286255 + ], + "orientation": [ + 0.7398054599761963, + 0.08912307769060135, + -0.052714474499225616, + 0.6648052334785461 + ], + "joints": [ + 0.013403177261352539 + ] + }, + "final_grasp": { + "position": [ + -0.005229774862527847, + 0.025861462578177452, + -0.13599759340286255 + ], + "orientation": [ + 0.7398054599761963, + 0.08912307769060135, + -0.052714474499225616, + 0.6648052334785461 + ], + "joints": [ + 0.0037902072072029114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11170356720685959, + 0.06594899296760559, + 0.04172179847955704 + ], + "orientation": [ + 0.6572085022926331, + 0.21602828800678253, + -0.7191069722175598, + 0.06552787125110626 + ], + "joints": [ + 0.031318310648202896 + ] + }, + "fine_grasp": { + "position": [ + 0.10812912881374359, + 0.0640784204006195, + 0.04064611345529556 + ], + "orientation": [ + 0.6495438814163208, + 0.2069336175918579, + -0.728482723236084, + 0.06770617514848709 + ], + "joints": [ + 0.022959206253290176 + ] + }, + "final_grasp": { + "position": [ + 0.10812912881374359, + 0.0640784204006195, + 0.04064611345529556 + ], + "orientation": [ + 0.6495438814163208, + 0.2069336175918579, + -0.728482723236084, + 0.06770617514848709 + ], + "joints": [ + 0.014600101858377457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04111052677035332, + 0.10057631880044937, + -0.11008861660957336 + ], + "orientation": [ + 0.49640271067619324, + 0.41998472809791565, + 0.2620038092136383, + -0.7131276726722717 + ], + "joints": [ + 0.020388934761285782 + ] + }, + "fine_grasp": { + "position": [ + 0.039960283786058426, + 0.09864965826272964, + -0.1070617213845253 + ], + "orientation": [ + 0.49723020195961, + 0.41388002038002014, + 0.2565056085586548, + -0.7181017994880676 + ], + "joints": [ + 0.009940054267644882 + ] + }, + "final_grasp": { + "position": [ + 0.039960283786058426, + 0.09864965826272964, + -0.1070617213845253 + ], + "orientation": [ + 0.49723020195961, + 0.41388002038002014, + 0.2565056085586548, + -0.7181017994880676 + ], + "joints": [ + -0.0005088262259960175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007441321853548288, + -0.05400017648935318, + 0.1381300836801529 + ], + "orientation": [ + 0.20230361819267273, + -0.716122031211853, + 0.6285574436187744, + 0.22618144750595093 + ], + "joints": [ + 0.0208837129175663 + ] + }, + "fine_grasp": { + "position": [ + 0.006760895252227783, + -0.05278298631310463, + 0.13439466059207916 + ], + "orientation": [ + 0.19129721820354462, + -0.7150593400001526, + 0.6372413039207458, + 0.21452058851718903 + ], + "joints": [ + 0.012942563742399216 + ] + }, + "final_grasp": { + "position": [ + 0.006760895252227783, + -0.05278298631310463, + 0.13439466059207916 + ], + "orientation": [ + 0.19129721820354462, + -0.7150593400001526, + 0.6372413039207458, + 0.21452058851718903 + ], + "joints": [ + 0.005001414567232132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08664942532777786, + -0.0704321339726448, + -0.043450020253658295 + ], + "orientation": [ + 0.7003915309906006, + -0.30546942353248596, + -0.6139683723449707, + -0.19794699549674988 + ], + "joints": [ + 0.023941393941640854 + ] + }, + "fine_grasp": { + "position": [ + 0.08409854769706726, + -0.06788361817598343, + -0.04278632998466492 + ], + "orientation": [ + 0.7036064863204956, + -0.3063534200191498, + -0.6091606616973877, + -0.20002199709415436 + ], + "joints": [ + 0.011904288083314896 + ] + }, + "final_grasp": { + "position": [ + 0.08409854769706726, + -0.06788361817598343, + -0.04278632998466492 + ], + "orientation": [ + 0.7036064863204956, + -0.3063534200191498, + -0.6091606616973877, + -0.20002199709415436 + ], + "joints": [ + -0.00013281777501106262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04899761825799942, + -0.11779028177261353, + 0.02588285133242607 + ], + "orientation": [ + 0.5776574015617371, + -0.40611255168914795, + 0.5914819836616516, + 0.3892732858657837 + ], + "joints": [ + 0.022013433277606964 + ] + }, + "fine_grasp": { + "position": [ + -0.04742316156625748, + -0.11406806111335754, + 0.02587111108005047 + ], + "orientation": [ + 0.5781815052032471, + -0.40583235025405884, + 0.5907977223396301, + 0.3898259103298187 + ], + "joints": [ + 0.012003406882286072 + ] + }, + "final_grasp": { + "position": [ + -0.04742316156625748, + -0.11406806111335754, + 0.02587111108005047 + ], + "orientation": [ + 0.5781815052032471, + -0.40583235025405884, + 0.5907977223396301, + 0.3898259103298187 + ], + "joints": [ + 0.0019933804869651794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020130205899477005, + 0.15341703593730927, + 0.04351849481463432 + ], + "orientation": [ + 0.3666967451572418, + 0.6230838298797607, + -0.5304769277572632, + 0.4425993859767914 + ], + "joints": [ + 0.01663585565984249 + ] + }, + "fine_grasp": { + "position": [ + -0.0194530226290226, + 0.1495506763458252, + 0.04313076287508011 + ], + "orientation": [ + 0.3713393211364746, + 0.6184333562850952, + -0.5291449427604675, + 0.44682517647743225 + ], + "joints": [ + 0.0074408408254384995 + ] + }, + "final_grasp": { + "position": [ + -0.0194530226290226, + 0.1495506763458252, + 0.04313076287508011 + ], + "orientation": [ + 0.3713393211364746, + 0.6184333562850952, + -0.5291449427604675, + 0.44682517647743225 + ], + "joints": [ + -0.0017541740089654922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0156500656157732, + 0.06171213090419769, + -0.1373642385005951 + ], + "orientation": [ + 0.5543511509895325, + 0.18345466256141663, + -0.15840035676956177, + 0.7962088584899902 + ], + "joints": [ + 0.02160569280385971 + ] + }, + "fine_grasp": { + "position": [ + -0.014624543488025665, + 0.05963928624987602, + -0.13418294489383698 + ], + "orientation": [ + 0.5501770973205566, + 0.1893843114376068, + -0.15937349200248718, + 0.7975203394889832 + ], + "joints": [ + 0.01161656528711319 + ] + }, + "final_grasp": { + "position": [ + -0.014624543488025665, + 0.05963928624987602, + -0.13418294489383698 + ], + "orientation": [ + 0.5501770973205566, + 0.1893843114376068, + -0.15937349200248718, + 0.7975203394889832 + ], + "joints": [ + 0.0016274377703666687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11325984448194504, + 0.02855118177831173, + -0.06343530118465424 + ], + "orientation": [ + 0.833868682384491, + -0.01588251441717148, + 0.5436211228370667, + -0.09426987916231155 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + -0.10961493849754333, + 0.0283103808760643, + -0.06191112846136093 + ], + "orientation": [ + 0.8352790474891663, + -0.013909894973039627, + 0.54167240858078, + -0.09330835193395615 + ], + "joints": [ + 0.019321482628583908 + ] + }, + "final_grasp": { + "position": [ + -0.10961493849754333, + 0.0283103808760643, + -0.06191112846136093 + ], + "orientation": [ + 0.8352790474891663, + -0.013909894973039627, + 0.54167240858078, + -0.09330835193395615 + ], + "joints": [ + 0.010126467794179916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015288976952433586, + 0.12311063706874847, + 0.06647445261478424 + ], + "orientation": [ + 0.38480788469314575, + 0.6185788512229919, + -0.6265928149223328, + 0.27688390016555786 + ], + "joints": [ + 0.01866215467453003 + ] + }, + "fine_grasp": { + "position": [ + 0.012814306654036045, + 0.12131587415933609, + 0.06573092937469482 + ], + "orientation": [ + 0.3848591446876526, + 0.6268208026885986, + -0.6152863502502441, + 0.28355222940444946 + ], + "joints": [ + 0.009070083498954773 + ] + }, + "final_grasp": { + "position": [ + 0.012814306654036045, + 0.12131587415933609, + 0.06573092937469482 + ], + "orientation": [ + 0.3848591446876526, + 0.6268208026885986, + -0.6152863502502441, + 0.28355222940444946 + ], + "joints": [ + -0.0005219876766204834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10928359627723694, + 0.07770798355340958, + -0.06506440043449402 + ], + "orientation": [ + 0.36519768834114075, + 0.5811780095100403, + -0.04290920868515968, + 0.7259625196456909 + ], + "joints": [ + 0.025864580646157265 + ] + }, + "fine_grasp": { + "position": [ + -0.10627200454473495, + 0.07581193745136261, + -0.06377264857292175 + ], + "orientation": [ + 0.36533302068710327, + 0.580719530582428, + -0.04368552565574646, + 0.7262150049209595 + ], + "joints": [ + 0.01742188073694706 + ] + }, + "final_grasp": { + "position": [ + -0.10627200454473495, + 0.07581193745136261, + -0.06377264857292175 + ], + "orientation": [ + 0.36533302068710327, + 0.580719530582428, + -0.04368552565574646, + 0.7262150049209595 + ], + "joints": [ + 0.008979180827736855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02486908808350563, + -0.09278656542301178, + -0.10625555366277695 + ], + "orientation": [ + 0.5274722576141357, + -0.3315353989601135, + -0.274416446685791, + -0.7324978113174438 + ], + "joints": [ + 0.022102434188127518 + ] + }, + "fine_grasp": { + "position": [ + -0.02350752055644989, + -0.08939550071954727, + -0.10486201196908951 + ], + "orientation": [ + 0.5242469906806946, + -0.33917006850242615, + -0.276189923286438, + -0.730648934841156 + ], + "joints": [ + 0.011277396231889725 + ] + }, + "final_grasp": { + "position": [ + -0.02350752055644989, + -0.08939550071954727, + -0.10486201196908951 + ], + "orientation": [ + 0.5242469906806946, + -0.33917006850242615, + -0.276189923286438, + -0.730648934841156 + ], + "joints": [ + 0.00045235827565193176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0869157537817955, + 0.03611234575510025, + -0.09777873009443283 + ], + "orientation": [ + 0.08263982087373734, + 0.3884643018245697, + -0.03741313889622688, + 0.9169877767562866 + ], + "joints": [ + 0.030322622507810593 + ] + }, + "fine_grasp": { + "position": [ + -0.0840589851140976, + 0.035288747400045395, + -0.09557169675827026 + ], + "orientation": [ + 0.08018072694540024, + 0.38961127400398254, + -0.041719354689121246, + 0.9165334105491638 + ], + "joints": [ + 0.020709652453660965 + ] + }, + "final_grasp": { + "position": [ + -0.0840589851140976, + 0.035288747400045395, + -0.09557169675827026 + ], + "orientation": [ + 0.08018072694540024, + 0.38961127400398254, + -0.041719354689121246, + 0.9165334105491638 + ], + "joints": [ + 0.011096682399511337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06227237731218338, + -0.05974000319838524, + -0.12143463641405106 + ], + "orientation": [ + 0.2964429259300232, + -0.34032320976257324, + 0.19072769582271576, + 0.8717365860939026 + ], + "joints": [ + 0.021685637533664703 + ] + }, + "fine_grasp": { + "position": [ + 0.06043749675154686, + -0.058007288724184036, + -0.11924700438976288 + ], + "orientation": [ + 0.29869553446769714, + -0.3403002619743347, + 0.18949025869369507, + 0.871246337890625 + ], + "joints": [ + 0.012030869722366333 + ] + }, + "final_grasp": { + "position": [ + 0.06043749675154686, + -0.058007288724184036, + -0.11924700438976288 + ], + "orientation": [ + 0.29869553446769714, + -0.3403002619743347, + 0.18949025869369507, + 0.871246337890625 + ], + "joints": [ + 0.0023761019110679626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.062194906175136566, + -0.05989474803209305, + -0.12155203521251678 + ], + "orientation": [ + 0.2962646484375, + -0.3423021137714386, + 0.1917811632156372, + 0.8707907795906067 + ], + "joints": [ + 0.02191719226539135 + ] + }, + "fine_grasp": { + "position": [ + 0.06046533212065697, + -0.058225974440574646, + -0.11927356570959091 + ], + "orientation": [ + 0.29885390400886536, + -0.34114545583724976, + 0.19013653695583344, + 0.8707204461097717 + ], + "joints": [ + 0.01226242445409298 + ] + }, + "final_grasp": { + "position": [ + 0.06046533212065697, + -0.058225974440574646, + -0.11927356570959091 + ], + "orientation": [ + 0.29885390400886536, + -0.34114545583724976, + 0.19013653695583344, + 0.8707204461097717 + ], + "joints": [ + 0.002607656642794609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11739328503608704, + 0.01545790396630764, + -0.03992731496691704 + ], + "orientation": [ + 0.771216869354248, + -0.08186686784029007, + 0.6253641247749329, + -0.08626829832792282 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + -0.11360970139503479, + 0.015790170058608055, + -0.03887036442756653 + ], + "orientation": [ + 0.7755187749862671, + -0.07963014394044876, + 0.6201108694076538, + -0.08770507574081421 + ], + "joints": [ + 0.017557095736265182 + ] + }, + "final_grasp": { + "position": [ + -0.11360970139503479, + 0.015790170058608055, + -0.03887036442756653 + ], + "orientation": [ + 0.7755187749862671, + -0.07963014394044876, + 0.6201108694076538, + -0.08770507574081421 + ], + "joints": [ + 0.00754706934094429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11780528724193573, + 0.01523854024708271, + -0.03979315981268883 + ], + "orientation": [ + 0.7710274457931519, + -0.08133454620838165, + 0.6259720325469971, + -0.08402597159147263 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + -0.11402566730976105, + 0.015499500557780266, + -0.03883437067270279 + ], + "orientation": [ + 0.7744864821434021, + -0.0792950838804245, + 0.6217499375343323, + -0.08549749851226807 + ], + "joints": [ + 0.017160039395093918 + ] + }, + "final_grasp": { + "position": [ + -0.11402566730976105, + 0.015499500557780266, + -0.03883437067270279 + ], + "orientation": [ + 0.7744864821434021, + -0.0792950838804245, + 0.6217499375343323, + -0.08549749851226807 + ], + "joints": [ + 0.006752956658601761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016279341652989388, + 0.061379287391901016, + -0.1369716376066208 + ], + "orientation": [ + 0.5483985543251038, + 0.1744060218334198, + -0.15433917939662933, + 0.8031318783760071 + ], + "joints": [ + 0.02165200561285019 + ] + }, + "fine_grasp": { + "position": [ + -0.015315068885684013, + 0.059166815131902695, + -0.13416028022766113 + ], + "orientation": [ + 0.5433804988861084, + 0.18133887648582458, + -0.15689441561698914, + 0.8045111298561096 + ], + "joints": [ + 0.01201813668012619 + ] + }, + "final_grasp": { + "position": [ + -0.015315068885684013, + 0.059166815131902695, + -0.13416028022766113 + ], + "orientation": [ + 0.5433804988861084, + 0.18133887648582458, + -0.15689441561698914, + 0.8045111298561096 + ], + "joints": [ + 0.002384267747402191 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12255623936653137, + 0.0445181168615818, + -0.01452789269387722 + ], + "orientation": [ + 0.15949706733226776, + 0.7234789729118347, + -0.0012935677077621222, + -0.6716675162315369 + ], + "joints": [ + 0.026883425191044807 + ] + }, + "fine_grasp": { + "position": [ + 0.11865552514791489, + 0.04358307272195816, + -0.013761709444224834 + ], + "orientation": [ + 0.16050761938095093, + 0.7177874445915222, + -0.00019878112652804703, + -0.677509069442749 + ], + "joints": [ + 0.01810636557638645 + ] + }, + "final_grasp": { + "position": [ + 0.11865552514791489, + 0.04358307272195816, + -0.013761709444224834 + ], + "orientation": [ + 0.16050761938095093, + 0.7177874445915222, + -0.00019878112652804703, + -0.677509069442749 + ], + "joints": [ + 0.009329305961728096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06209397315979004, + -0.010809570550918579, + -0.13557852804660797 + ], + "orientation": [ + 0.9633155465126038, + -0.11746823042631149, + 0.23335117101669312, + -0.061413154006004333 + ], + "joints": [ + 0.02321414090692997 + ] + }, + "fine_grasp": { + "position": [ + -0.06010797992348671, + -0.009896483272314072, + -0.13255193829536438 + ], + "orientation": [ + 0.9630841016769409, + -0.11723943054676056, + 0.2341626137495041, + -0.062383219599723816 + ], + "joints": [ + 0.014395283535122871 + ] + }, + "final_grasp": { + "position": [ + -0.06010797992348671, + -0.009896483272314072, + -0.13255193829536438 + ], + "orientation": [ + 0.9630841016769409, + -0.11723943054676056, + 0.2341626137495041, + -0.062383219599723816 + ], + "joints": [ + 0.005576426163315773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09342065453529358, + 0.06413708627223969, + -0.07374516129493713 + ], + "orientation": [ + 0.36578136682510376, + 0.557845950126648, + -0.043195318430662155, + 0.7437378764152527 + ], + "joints": [ + 0.0236987192183733 + ] + }, + "fine_grasp": { + "position": [ + -0.09026453644037247, + 0.0620201975107193, + -0.07213681191205978 + ], + "orientation": [ + 0.3706233501434326, + 0.5520160794258118, + -0.03911573067307472, + 0.7459132075309753 + ], + "joints": [ + 0.015339614823460579 + ] + }, + "final_grasp": { + "position": [ + -0.09026453644037247, + 0.0620201975107193, + -0.07213681191205978 + ], + "orientation": [ + 0.3706233501434326, + 0.5520160794258118, + -0.03911573067307472, + 0.7459132075309753 + ], + "joints": [ + 0.006980510428547859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12230470031499863, + 0.044138044118881226, + -0.014352875761687756 + ], + "orientation": [ + 0.15856516361236572, + 0.7242622375488281, + -0.0028534347657114267, + -0.671038806438446 + ], + "joints": [ + 0.026420315727591515 + ] + }, + "fine_grasp": { + "position": [ + 0.11845098435878754, + 0.043154291808605194, + -0.013534663245081902 + ], + "orientation": [ + 0.15920977294445038, + 0.7186517119407654, + -0.0021603379864245653, + -0.6768953204154968 + ], + "joints": [ + 0.018040312454104424 + ] + }, + "final_grasp": { + "position": [ + 0.11845098435878754, + 0.043154291808605194, + -0.013534663245081902 + ], + "orientation": [ + 0.15920977294445038, + 0.7186517119407654, + -0.0021603379864245653, + -0.6768953204154968 + ], + "joints": [ + 0.009660309180617332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018151525408029556, + -0.10678492486476898, + -0.014284131117165089 + ], + "orientation": [ + 0.5459311008453369, + -0.46382585167884827, + 0.5314968228340149, + 0.45203542709350586 + ], + "joints": [ + 0.021789466962218285 + ] + }, + "fine_grasp": { + "position": [ + -0.017282774671912193, + -0.102955162525177, + -0.014256834983825684 + ], + "orientation": [ + 0.5481626987457275, + -0.4651922285556793, + 0.5292879939079285, + 0.4505199193954468 + ], + "joints": [ + 0.013012407347559929 + ] + }, + "final_grasp": { + "position": [ + -0.017282774671912193, + -0.102955162525177, + -0.014256834983825684 + ], + "orientation": [ + 0.5481626987457275, + -0.4651922285556793, + 0.5292879939079285, + 0.4505199193954468 + ], + "joints": [ + 0.004235347732901573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1196521669626236, + 0.04829307273030281, + 0.021435504779219627 + ], + "orientation": [ + 0.6543921232223511, + 0.008309655822813511, + 0.7440882325172424, + -0.13429275155067444 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.11572396755218506, + 0.04698776453733444, + 0.02177012711763382 + ], + "orientation": [ + 0.6591561436653137, + 0.011008311994373798, + 0.7388849854469299, + -0.13943062722682953 + ], + "joints": [ + 0.023885417729616165 + ] + }, + "final_grasp": { + "position": [ + -0.11572396755218506, + 0.04698776453733444, + 0.02177012711763382 + ], + "orientation": [ + 0.6591561436653137, + 0.011008311994373798, + 0.7388849854469299, + -0.13943062722682953 + ], + "joints": [ + 0.015526313334703445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11980772763490677, + 0.04825384169816971, + 0.02152389846742153 + ], + "orientation": [ + 0.6544287204742432, + 0.008286436088383198, + 0.7441393733024597, + -0.1338316947221756 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.11587850004434586, + 0.04695243388414383, + 0.0218633022159338 + ], + "orientation": [ + 0.6592411994934082, + 0.01100591104477644, + 0.7388942837715149, + -0.13897882401943207 + ], + "joints": [ + 0.023885417729616165 + ] + }, + "final_grasp": { + "position": [ + -0.11587850004434586, + 0.04695243388414383, + 0.0218633022159338 + ], + "orientation": [ + 0.6592411994934082, + 0.01100591104477644, + 0.7388942837715149, + -0.13897882401943207 + ], + "joints": [ + 0.015526313334703445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11951155215501785, + 0.048351507633924484, + 0.021646780893206596 + ], + "orientation": [ + 0.6544183492660522, + 0.008354448713362217, + 0.7440284490585327, + -0.13449335098266602 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.11558766663074493, + 0.047036927193403244, + 0.021989278495311737 + ], + "orientation": [ + 0.65920490026474, + 0.010983445681631565, + 0.7387856841087341, + -0.13972797989845276 + ], + "joints": [ + 0.023885417729616165 + ] + }, + "final_grasp": { + "position": [ + -0.11558766663074493, + 0.047036927193403244, + 0.021989278495311737 + ], + "orientation": [ + 0.65920490026474, + 0.010983445681631565, + 0.7387856841087341, + -0.13972797989845276 + ], + "joints": [ + 0.015526313334703445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006935915444046259, + 0.015309815295040607, + 0.13782823085784912 + ], + "orientation": [ + 0.021494319662451744, + -0.9783415794372559, + -0.2004041075706482, + 0.04715913161635399 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.007174686063081026, + 0.016969284042716026, + 0.13500471413135529 + ], + "orientation": [ + 0.01775354892015457, + -0.9807302355766296, + -0.19238577783107758, + 0.02899637259542942 + ], + "joints": [ + 0.022728748619556427 + ] + }, + "final_grasp": { + "position": [ + 0.007174686063081026, + 0.016969284042716026, + 0.13500471413135529 + ], + "orientation": [ + 0.01775354892015457, + -0.9807302355766296, + -0.19238577783107758, + 0.02899637259542942 + ], + "joints": [ + 0.0139307901263237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11273281276226044, + -0.006761556025594473, + -0.05707161873579025 + ], + "orientation": [ + 0.8269302845001221, + -0.11969377845525742, + 0.5493777394294739, + 0.0066228886134922504 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + -0.1092052087187767, + -0.005762369837611914, + -0.056209925562143326 + ], + "orientation": [ + 0.8267554044723511, + -0.11725256592035294, + 0.5501917600631714, + 0.00403456250205636 + ], + "joints": [ + 0.018837474286556244 + ] + }, + "final_grasp": { + "position": [ + -0.1092052087187767, + -0.005762369837611914, + -0.056209925562143326 + ], + "orientation": [ + 0.8267554044723511, + -0.11725256592035294, + 0.5501917600631714, + 0.00403456250205636 + ], + "joints": [ + 0.00962156057357788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04725118726491928, + 0.07467681914567947, + -0.11846885830163956 + ], + "orientation": [ + 0.4576234519481659, + 0.3408149480819702, + -0.16897444427013397, + 0.8036626577377319 + ], + "joints": [ + 0.021218109875917435 + ] + }, + "fine_grasp": { + "position": [ + -0.045487504452466965, + 0.07231952995061874, + -0.11560720950365067 + ], + "orientation": [ + 0.44860976934432983, + 0.3370594382286072, + -0.1703532189130783, + 0.8100122213363647 + ], + "joints": [ + 0.012859005481004715 + ] + }, + "final_grasp": { + "position": [ + -0.045487504452466965, + 0.07231952995061874, + -0.11560720950365067 + ], + "orientation": [ + 0.44860976934432983, + 0.3370594382286072, + -0.1703532189130783, + 0.8100122213363647 + ], + "joints": [ + 0.004499901086091995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0178083349019289, + -0.051526956260204315, + -0.14624230563640594 + ], + "orientation": [ + 0.8220412135124207, + -0.15027692914009094, + -0.18578588962554932, + -0.5168642401695251 + ], + "joints": [ + 0.02101045288145542 + ] + }, + "fine_grasp": { + "position": [ + 0.016915174201130867, + -0.04962166026234627, + -0.1429234743118286 + ], + "orientation": [ + 0.8210671544075012, + -0.14975275099277496, + -0.18761803209781647, + -0.5179016590118408 + ], + "joints": [ + 0.01181543804705143 + ] + }, + "final_grasp": { + "position": [ + 0.016915174201130867, + -0.04962166026234627, + -0.1429234743118286 + ], + "orientation": [ + 0.8210671544075012, + -0.14975275099277496, + -0.18761803209781647, + -0.5179016590118408 + ], + "joints": [ + 0.002620423212647438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.094030000269413, + 0.05810326710343361, + -0.07536497712135315 + ], + "orientation": [ + 0.3817506432533264, + 0.5555503368377686, + 0.004304423462599516, + -0.7386554479598999 + ], + "joints": [ + 0.023995649069547653 + ] + }, + "fine_grasp": { + "position": [ + 0.09134472906589508, + 0.05623352527618408, + -0.07291359454393387 + ], + "orientation": [ + 0.3793996274471283, + 0.5470001101493835, + 0.003282280173152685, + -0.7462143301963806 + ], + "joints": [ + 0.015636544674634933 + ] + }, + "final_grasp": { + "position": [ + 0.09134472906589508, + 0.05623352527618408, + -0.07291359454393387 + ], + "orientation": [ + 0.3793996274471283, + 0.5470001101493835, + 0.003282280173152685, + -0.7462143301963806 + ], + "joints": [ + 0.007277440279722214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01763082668185234, + -0.05156572163105011, + -0.14593936502933502 + ], + "orientation": [ + 0.8208987712860107, + -0.15051674842834473, + -0.18570169806480408, + -0.5186375379562378 + ], + "joints": [ + 0.021067894995212555 + ] + }, + "fine_grasp": { + "position": [ + 0.016750264912843704, + -0.04963107779622078, + -0.14263904094696045 + ], + "orientation": [ + 0.8197449445724487, + -0.15020325779914856, + -0.1877795159816742, + -0.5198038220405579 + ], + "joints": [ + 0.011872880160808563 + ] + }, + "final_grasp": { + "position": [ + 0.016750264912843704, + -0.04963107779622078, + -0.14263904094696045 + ], + "orientation": [ + 0.8197449445724487, + -0.15020325779914856, + -0.1877795159816742, + -0.5198038220405579 + ], + "joints": [ + 0.0026778653264045715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10847359895706177, + -0.0065033091232180595, + -0.0721641331911087 + ], + "orientation": [ + 0.8447350263595581, + -0.14792165160179138, + -0.5098669528961182, + 0.06765806674957275 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + 0.10502959042787552, + -0.005845303181558847, + -0.07060601562261581 + ], + "orientation": [ + 0.8456805944442749, + -0.1488863080739975, + -0.5078837275505066, + 0.06863871961832047 + ], + "joints": [ + 0.0170510895550251 + ] + }, + "final_grasp": { + "position": [ + 0.10502959042787552, + -0.005845303181558847, + -0.07060601562261581 + ], + "orientation": [ + 0.8456805944442749, + -0.1488863080739975, + -0.5078837275505066, + 0.06863871961832047 + ], + "joints": [ + 0.007438119500875473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018838007003068924, + 0.1045086532831192, + -0.10776280611753464 + ], + "orientation": [ + 0.7205221652984619, + 0.17335164546966553, + -0.2543429136276245, + 0.6213749647140503 + ], + "joints": [ + 0.0163586288690567 + ] + }, + "fine_grasp": { + "position": [ + 0.018266791477799416, + 0.10145443677902222, + -0.10535386949777603 + ], + "orientation": [ + 0.7188087701797485, + 0.1782563179731369, + -0.256903737783432, + 0.6209180355072021 + ], + "joints": [ + 0.00716361403465271 + ] + }, + "final_grasp": { + "position": [ + 0.018266791477799416, + 0.10145443677902222, + -0.10535386949777603 + ], + "orientation": [ + 0.7188087701797485, + 0.1782563179731369, + -0.256903737783432, + 0.6209180355072021 + ], + "joints": [ + -0.0020314007997512817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019549665972590446, + 0.10327865183353424, + -0.1080726832151413 + ], + "orientation": [ + 0.7122207880020142, + 0.1774338036775589, + -0.26603320240974426, + 0.6248879432678223 + ], + "joints": [ + 0.016813185065984726 + ] + }, + "fine_grasp": { + "position": [ + 0.01891876757144928, + 0.1003461480140686, + -0.10552185028791428 + ], + "orientation": [ + 0.7110171914100647, + 0.18067285418510437, + -0.2678386867046356, + 0.6245592832565308 + ], + "joints": [ + 0.007200215011835098 + ] + }, + "final_grasp": { + "position": [ + 0.01891876757144928, + 0.1003461480140686, + -0.10552185028791428 + ], + "orientation": [ + 0.7110171914100647, + 0.18067285418510437, + -0.2678386867046356, + 0.6245592832565308 + ], + "joints": [ + -0.0024127550423145294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02131272293627262, + 0.1041124239563942, + -0.10839077085256577 + ], + "orientation": [ + 0.7244504690170288, + 0.1723194569349289, + -0.2635639011859894, + 0.6131978034973145 + ], + "joints": [ + 0.01682400330901146 + ] + }, + "fine_grasp": { + "position": [ + 0.020718637853860855, + 0.10115020722150803, + -0.10590455681085587 + ], + "orientation": [ + 0.7229610085487366, + 0.17653916776180267, + -0.2655397653579712, + 0.6129028797149658 + ], + "joints": [ + 0.007211033254861832 + ] + }, + "final_grasp": { + "position": [ + 0.020718637853860855, + 0.10115020722150803, + -0.10590455681085587 + ], + "orientation": [ + 0.7229610085487366, + 0.17653916776180267, + -0.2655397653579712, + 0.6129028797149658 + ], + "joints": [ + -0.002401936799287796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11366945505142212, + -0.016514629125595093, + -0.08798213303089142 + ], + "orientation": [ + 0.09131002426147461, + 0.4550406038761139, + -0.18513523042201996, + -0.866213321685791 + ], + "joints": [ + 0.02390855923295021 + ] + }, + "fine_grasp": { + "position": [ + 0.11029903590679169, + -0.015604039654135704, + -0.08657284826040268 + ], + "orientation": [ + 0.09229123592376709, + 0.45733383297920227, + -0.18630895018577576, + -0.8646485209465027 + ], + "joints": [ + 0.014671746641397476 + ] + }, + "final_grasp": { + "position": [ + 0.11029903590679169, + -0.015604039654135704, + -0.08657284826040268 + ], + "orientation": [ + 0.09229123592376709, + 0.45733383297920227, + -0.18630895018577576, + -0.8646485209465027 + ], + "joints": [ + 0.005434934049844742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10824865102767944, + -0.006196310743689537, + -0.07202062010765076 + ], + "orientation": [ + 0.8450327515602112, + -0.14846359193325043, + -0.5088773369789124, + 0.07015776634216309 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + 0.10483520478010178, + -0.005533319432288408, + -0.07057378441095352 + ], + "orientation": [ + 0.8457168340682983, + -0.14898060262203217, + -0.5074095129966736, + 0.07143817842006683 + ], + "joints": [ + 0.0170510895550251 + ] + }, + "final_grasp": { + "position": [ + 0.10483520478010178, + -0.005533319432288408, + -0.07057378441095352 + ], + "orientation": [ + 0.8457168340682983, + -0.14898060262203217, + -0.5074095129966736, + 0.07143817842006683 + ], + "joints": [ + 0.007438119500875473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025485673919320107, + 0.011666782200336456, + -0.15732884407043457 + ], + "orientation": [ + 0.8597806096076965, + -0.016860492527484894, + -0.11123597621917725, + 0.49811607599258423 + ], + "joints": [ + 0.020643645897507668 + ] + }, + "fine_grasp": { + "position": [ + 0.02475290186703205, + 0.01185246929526329, + -0.15341120958328247 + ], + "orientation": [ + 0.8604639172554016, + -0.020148370414972305, + -0.10813993960618973, + 0.4974954426288605 + ], + "joints": [ + 0.011448631063103676 + ] + }, + "final_grasp": { + "position": [ + 0.02475290186703205, + 0.01185246929526329, + -0.15341120958328247 + ], + "orientation": [ + 0.8604639172554016, + -0.020148370414972305, + -0.10813993960618973, + 0.4974954426288605 + ], + "joints": [ + 0.002253616228699684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025613654404878616, + 0.01162277814000845, + -0.15709471702575684 + ], + "orientation": [ + 0.8597781658172607, + -0.016710322350263596, + -0.11173470318317413, + 0.49801358580589294 + ], + "joints": [ + 0.020643645897507668 + ] + }, + "fine_grasp": { + "position": [ + 0.024858828634023666, + 0.011834649369120598, + -0.1531839817762375 + ], + "orientation": [ + 0.8604733347892761, + -0.02024693228304386, + -0.10863473266363144, + 0.49736732244491577 + ], + "joints": [ + 0.011448631063103676 + ] + }, + "final_grasp": { + "position": [ + 0.024858828634023666, + 0.011834649369120598, + -0.1531839817762375 + ], + "orientation": [ + 0.8604733347892761, + -0.02024693228304386, + -0.10863473266363144, + 0.49736732244491577 + ], + "joints": [ + 0.002253616228699684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09999361634254456, + -0.011081291362643242, + -0.10385248810052872 + ], + "orientation": [ + 0.8910652995109558, + -0.15739522874355316, + 0.4120933413505554, + -0.10681011527776718 + ], + "joints": [ + 0.023758413270115852 + ] + }, + "fine_grasp": { + "position": [ + -0.09689313173294067, + -0.01029503345489502, + -0.10191953182220459 + ], + "orientation": [ + 0.8903664350509644, + -0.15729855000972748, + 0.41351285576820374, + -0.10729369521141052 + ], + "joints": [ + 0.014124544337391853 + ] + }, + "final_grasp": { + "position": [ + -0.09689313173294067, + -0.01029503345489502, + -0.10191953182220459 + ], + "orientation": [ + 0.8903664350509644, + -0.15729855000972748, + 0.41351285576820374, + -0.10729369521141052 + ], + "joints": [ + 0.004490675404667854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01751326024532318, + -0.05083112046122551, + -0.1448698192834854 + ], + "orientation": [ + 0.8209521174430847, + -0.15103134512901306, + -0.1883876621723175, + -0.5174332857131958 + ], + "joints": [ + 0.021380899474024773 + ] + }, + "fine_grasp": { + "position": [ + 0.01667688600718975, + -0.04885903373360634, + -0.1415412575006485 + ], + "orientation": [ + 0.8200253844261169, + -0.15077631175518036, + -0.1901390552520752, + -0.5183357000350952 + ], + "joints": [ + 0.01137087307870388 + ] + }, + "final_grasp": { + "position": [ + 0.01667688600718975, + -0.04885903373360634, + -0.1415412575006485 + ], + "orientation": [ + 0.8200253844261169, + -0.15077631175518036, + -0.1901390552520752, + -0.5183357000350952 + ], + "joints": [ + 0.001360846683382988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025466687977313995, + 0.011608307249844074, + -0.15698057413101196 + ], + "orientation": [ + 0.8597620725631714, + -0.016203733161091805, + -0.11171618849039078, + 0.4980624318122864 + ], + "joints": [ + 0.020666802302002907 + ] + }, + "fine_grasp": { + "position": [ + 0.024728091433644295, + 0.011840153485536575, + -0.15306144952774048 + ], + "orientation": [ + 0.8604757189750671, + -0.01984904520213604, + -0.10845399647951126, + 0.497418612241745 + ], + "joints": [ + 0.01107473112642765 + ] + }, + "final_grasp": { + "position": [ + 0.024728091433644295, + 0.011840153485536575, + -0.15306144952774048 + ], + "orientation": [ + 0.8604757189750671, + -0.01984904520213604, + -0.10845399647951126, + 0.497418612241745 + ], + "joints": [ + 0.001482659950852394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05761827155947685, + -0.0654774010181427, + -0.09628468006849289 + ], + "orientation": [ + 0.17226079106330872, + -0.3800986409187317, + 0.30234086513519287, + 0.8569954633712769 + ], + "joints": [ + 0.02393171563744545 + ] + }, + "fine_grasp": { + "position": [ + 0.05626332759857178, + -0.06311137229204178, + -0.093634694814682 + ], + "orientation": [ + 0.1768719106912613, + -0.3733311593532562, + 0.30330267548561096, + 0.8586894869804382 + ], + "joints": [ + 0.01348283514380455 + ] + }, + "final_grasp": { + "position": [ + 0.05626332759857178, + -0.06311137229204178, + -0.093634694814682 + ], + "orientation": [ + 0.1768719106912613, + -0.3733311593532562, + 0.30330267548561096, + 0.8586894869804382 + ], + "joints": [ + 0.0030339546501636505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06679607182741165, + -0.05888644605875015, + -0.10226011276245117 + ], + "orientation": [ + 0.8516961336135864, + -0.24052083492279053, + -0.4136219620704651, + -0.21372941136360168 + ], + "joints": [ + 0.023664815351366997 + ] + }, + "fine_grasp": { + "position": [ + 0.0649348795413971, + -0.05685579776763916, + -0.09996409714221954 + ], + "orientation": [ + 0.8533328175544739, + -0.239937424659729, + -0.4085135757923126, + -0.21764566004276276 + ], + "joints": [ + 0.011627709493041039 + ] + }, + "final_grasp": { + "position": [ + 0.0649348795413971, + -0.05685579776763916, + -0.09996409714221954 + ], + "orientation": [ + 0.8533328175544739, + -0.239937424659729, + -0.4085135757923126, + -0.21764566004276276 + ], + "joints": [ + -0.00040939636528491974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09882517904043198, + 0.05024091154336929, + -0.07716591656208038 + ], + "orientation": [ + 0.7771394848823547, + -0.025861278176307678, + 0.5161554217338562, + -0.35912272334098816 + ], + "joints": [ + 0.026247262954711914 + ] + }, + "fine_grasp": { + "position": [ + -0.0955742821097374, + 0.048649344593286514, + -0.075120709836483 + ], + "orientation": [ + 0.7790431380271912, + -0.02925558015704155, + 0.5123188495635986, + -0.3602294921875 + ], + "joints": [ + 0.017888158559799194 + ] + }, + "final_grasp": { + "position": [ + -0.0955742821097374, + 0.048649344593286514, + -0.075120709836483 + ], + "orientation": [ + 0.7790431380271912, + -0.02925558015704155, + 0.5123188495635986, + -0.3602294921875 + ], + "joints": [ + 0.009529054164886475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09915745258331299, + 0.05015137791633606, + -0.077114999294281 + ], + "orientation": [ + 0.7766242623329163, + -0.02716975472867489, + 0.5162403583526611, + -0.3600173592567444 + ], + "joints": [ + 0.026247262954711914 + ] + }, + "fine_grasp": { + "position": [ + -0.09601891040802002, + 0.04851633682847023, + -0.07499949634075165 + ], + "orientation": [ + 0.7786597013473511, + -0.030285509303212166, + 0.5122607946395874, + -0.3610548675060272 + ], + "joints": [ + 0.01747020334005356 + ] + }, + "final_grasp": { + "position": [ + -0.09601891040802002, + 0.04851633682847023, + -0.07499949634075165 + ], + "orientation": [ + 0.7786597013473511, + -0.030285509303212166, + 0.5122607946395874, + -0.3610548675060272 + ], + "joints": [ + 0.008693143725395203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09855774790048599, + 0.050066206604242325, + -0.07699820399284363 + ], + "orientation": [ + 0.7772186398506165, + -0.026569100096821785, + 0.5154105424880981, + -0.35996827483177185 + ], + "joints": [ + 0.026247262954711914 + ] + }, + "fine_grasp": { + "position": [ + -0.09533465653657913, + 0.04845264554023743, + -0.0749981552362442 + ], + "orientation": [ + 0.7789817452430725, + -0.030497008934617043, + 0.5116965174674988, + -0.3611428439617157 + ], + "joints": [ + 0.017888158559799194 + ] + }, + "final_grasp": { + "position": [ + -0.09533465653657913, + 0.04845264554023743, + -0.0749981552362442 + ], + "orientation": [ + 0.7789817452430725, + -0.030497008934617043, + 0.5116965174674988, + -0.3611428439617157 + ], + "joints": [ + 0.009529054164886475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09846468269824982, + 0.050122350454330444, + -0.07674453407526016 + ], + "orientation": [ + 0.7768966555595398, + -0.030117513611912727, + 0.5129963159561157, + -0.363812118768692 + ], + "joints": [ + 0.026247262954711914 + ] + }, + "fine_grasp": { + "position": [ + -0.09520623832941055, + 0.04850882664322853, + -0.07487908750772476 + ], + "orientation": [ + 0.7779438495635986, + -0.035363614559173584, + 0.5095851421356201, + -0.3658904433250427 + ], + "joints": [ + 0.01747020334005356 + ] + }, + "final_grasp": { + "position": [ + -0.09520623832941055, + 0.04850882664322853, + -0.07487908750772476 + ], + "orientation": [ + 0.7779438495635986, + -0.035363614559173584, + 0.5095851421356201, + -0.3658904433250427 + ], + "joints": [ + 0.008693143725395203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1359252631664276, + 0.05588607117533684, + 0.0015786810545250773 + ], + "orientation": [ + 0.14580747485160828, + 0.7580702304840088, + -0.043260350823402405, + 0.6341909766197205 + ], + "joints": [ + 0.025737840682268143 + ] + }, + "fine_grasp": { + "position": [ + -0.13183842599391937, + 0.054718125611543655, + 0.0019417520379647613 + ], + "orientation": [ + 0.1461583375930786, + 0.7522034049034119, + -0.04349038749933243, + 0.6410432457923889 + ], + "joints": [ + 0.018214646726846695 + ] + }, + "final_grasp": { + "position": [ + -0.13183842599391937, + 0.054718125611543655, + 0.0019417520379647613 + ], + "orientation": [ + 0.1461583375930786, + 0.7522034049034119, + -0.04349038749933243, + 0.6410432457923889 + ], + "joints": [ + 0.010691452771425247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08794451504945755, + 0.01873583346605301, + -0.0990256741642952 + ], + "orientation": [ + 0.1532398909330368, + 0.41489318013191223, + -0.054688967764377594, + -0.8952040672302246 + ], + "joints": [ + 0.02606583945453167 + ] + }, + "fine_grasp": { + "position": [ + 0.08496937900781631, + 0.018402036279439926, + -0.09713993966579437 + ], + "orientation": [ + 0.14955079555511475, + 0.4063752591609955, + -0.04906203970313072, + -0.9000481963157654 + ], + "joints": [ + 0.015219902619719505 + ] + }, + "final_grasp": { + "position": [ + 0.08496937900781631, + 0.018402036279439926, + -0.09713993966579437 + ], + "orientation": [ + 0.14955079555511475, + 0.4063752591609955, + -0.04906203970313072, + -0.9000481963157654 + ], + "joints": [ + 0.004373965784907341 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08792600780725479, + 0.018659591674804688, + -0.09884000569581985 + ], + "orientation": [ + 0.15126445889472961, + 0.41378989815711975, + -0.054937075823545456, + -0.8960350751876831 + ], + "joints": [ + 0.025957206264138222 + ] + }, + "fine_grasp": { + "position": [ + 0.08496208488941193, + 0.018309010192751884, + -0.09693833440542221 + ], + "orientation": [ + 0.1475386917591095, + 0.4052921235561371, + -0.04919318109750748, + -0.9008611440658569 + ], + "joints": [ + 0.015508325770497322 + ] + }, + "final_grasp": { + "position": [ + 0.08496208488941193, + 0.018309010192751884, + -0.09693833440542221 + ], + "orientation": [ + 0.1475386917591095, + 0.4052921235561371, + -0.04919318109750748, + -0.9008611440658569 + ], + "joints": [ + 0.005059445276856422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0676928460597992, + -0.05847758799791336, + -0.10240235179662704 + ], + "orientation": [ + 0.8536838889122009, + -0.23749668896198273, + -0.41216692328453064, + -0.2119847983121872 + ], + "joints": [ + 0.023782843723893166 + ] + }, + "fine_grasp": { + "position": [ + 0.06580003350973129, + -0.05625520646572113, + -0.10034886747598648 + ], + "orientation": [ + 0.8540648818016052, + -0.2382335066795349, + -0.4094100296497345, + -0.2149449586868286 + ], + "joints": [ + 0.011745737865567207 + ] + }, + "final_grasp": { + "position": [ + 0.06580003350973129, + -0.05625520646572113, + -0.10034886747598648 + ], + "orientation": [ + 0.8540648818016052, + -0.2382335066795349, + -0.4094100296497345, + -0.2149449586868286 + ], + "joints": [ + -0.0002913679927587509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06304705888032913, + -0.010585141368210316, + -0.13650274276733398 + ], + "orientation": [ + 0.9641163945198059, + -0.11768756806850433, + 0.22826379537582397, + -0.0672682449221611 + ], + "joints": [ + 0.023009736090898514 + ] + }, + "fine_grasp": { + "position": [ + -0.06083698943257332, + -0.009683064185082912, + -0.13371938467025757 + ], + "orientation": [ + 0.9632182717323303, + -0.11693322658538818, + 0.23187601566314697, + -0.06907076388597488 + ], + "joints": [ + 0.014190878719091415 + ] + }, + "final_grasp": { + "position": [ + -0.06083698943257332, + -0.009683064185082912, + -0.13371938467025757 + ], + "orientation": [ + 0.9632182717323303, + -0.11693322658538818, + 0.23187601566314697, + -0.06907076388597488 + ], + "joints": [ + 0.005372021347284317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10686612874269485, + 0.0537271723151207, + 0.06440553814172745 + ], + "orientation": [ + 0.11645402759313583, + 0.7964609265327454, + -0.0845450609922409, + 0.5873165130615234 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.10321672260761261, + 0.05225858837366104, + 0.06335390359163284 + ], + "orientation": [ + 0.1292332410812378, + 0.8048062920570374, + -0.05856327712535858, + 0.5763297080993652 + ], + "joints": [ + 0.0243033729493618 + ] + }, + "final_grasp": { + "position": [ + -0.10321672260761261, + 0.05225858837366104, + 0.06335390359163284 + ], + "orientation": [ + 0.1292332410812378, + 0.8048062920570374, + -0.05856327712535858, + 0.5763297080993652 + ], + "joints": [ + 0.016362223774194717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10802613943815231, + 0.055335406213998795, + 0.06484092772006989 + ], + "orientation": [ + 0.11502508074045181, + 0.7939661145210266, + -0.09367650002241135, + 0.589586079120636 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.10475695133209229, + 0.054252393543720245, + 0.06357322633266449 + ], + "orientation": [ + 0.13031238317489624, + 0.8028731346130371, + -0.06962969899177551, + 0.5775508880615234 + ], + "joints": [ + 0.02344430610537529 + ] + }, + "final_grasp": { + "position": [ + -0.10475695133209229, + 0.054252393543720245, + 0.06357322633266449 + ], + "orientation": [ + 0.13031238317489624, + 0.8028731346130371, + -0.06962969899177551, + 0.5775508880615234 + ], + "joints": [ + 0.014667246490716934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10446104407310486, + -0.03975439444184303, + -0.0448981374502182 + ], + "orientation": [ + 0.13544704020023346, + -0.6488000750541687, + 0.17957912385463715, + 0.726955235004425 + ], + "joints": [ + 0.024497535079717636 + ] + }, + "fine_grasp": { + "position": [ + 0.10129758715629578, + -0.037340614944696426, + -0.044065818190574646 + ], + "orientation": [ + 0.14020515978336334, + -0.6441590189933777, + 0.1815595179796219, + 0.7296833992004395 + ], + "joints": [ + 0.012899283319711685 + ] + }, + "final_grasp": { + "position": [ + 0.10129758715629578, + -0.037340614944696426, + -0.044065818190574646 + ], + "orientation": [ + 0.14020515978336334, + -0.6441590189933777, + 0.1815595179796219, + 0.7296833992004395 + ], + "joints": [ + 0.0013010315597057343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04935899004340172, + -0.02025468461215496, + -0.13935396075248718 + ], + "orientation": [ + 0.0246921144425869, + 0.18260714411735535, + -0.14334653317928314, + -0.9723665118217468 + ], + "joints": [ + 0.023319611325860023 + ] + }, + "fine_grasp": { + "position": [ + 0.047894883900880814, + -0.01918472722172737, + -0.13625000417232513 + ], + "orientation": [ + 0.025160416960716248, + 0.1835559457540512, + -0.1432739496231079, + -0.9721866250038147 + ], + "joints": [ + 0.014500753954052925 + ] + }, + "final_grasp": { + "position": [ + 0.047894883900880814, + -0.01918472722172737, + -0.13625000417232513 + ], + "orientation": [ + 0.025160416960716248, + 0.1835559457540512, + -0.1432739496231079, + -0.9721866250038147 + ], + "joints": [ + 0.005681896582245827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008070454001426697, + 0.14443489909172058, + -0.0002394787297816947 + ], + "orientation": [ + 0.4992697536945343, + 0.5118172764778137, + -0.4651438295841217, + 0.5219329595565796 + ], + "joints": [ + 0.01726267859339714 + ] + }, + "fine_grasp": { + "position": [ + -0.008009127341210842, + 0.14046910405158997, + 0.0006598267355002463 + ], + "orientation": [ + 0.5003572106361389, + 0.5126742124557495, + -0.4650660455226898, + 0.5201166868209839 + ], + "joints": [ + 0.008485618978738785 + ] + }, + "final_grasp": { + "position": [ + -0.008009127341210842, + 0.14046910405158997, + 0.0006598267355002463 + ], + "orientation": [ + 0.5003572106361389, + 0.5126742124557495, + -0.4650660455226898, + 0.5201166868209839 + ], + "joints": [ + -0.0002914406359195709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028330788016319275, + 0.14668455719947815, + 0.0834508016705513 + ], + "orientation": [ + 0.4200565218925476, + 0.5990452170372009, + -0.6322696805000305, + 0.2548182010650635 + ], + "joints": [ + 0.016695566475391388 + ] + }, + "fine_grasp": { + "position": [ + 0.02744624949991703, + 0.14331746101379395, + 0.08152352273464203 + ], + "orientation": [ + 0.4205314517021179, + 0.6003829836845398, + -0.629840075969696, + 0.2568948268890381 + ], + "joints": [ + 0.00708259642124176 + ] + }, + "final_grasp": { + "position": [ + 0.02744624949991703, + 0.14331746101379395, + 0.08152352273464203 + ], + "orientation": [ + 0.4205314517021179, + 0.6003829836845398, + -0.629840075969696, + 0.2568948268890381 + ], + "joints": [ + -0.0025303736329078674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029235726222395897, + 0.1472623646259308, + 0.08325158059597015 + ], + "orientation": [ + 0.42026424407958984, + 0.5976463556289673, + -0.6346889734268188, + 0.2517274022102356 + ], + "joints": [ + 0.016436632722616196 + ] + }, + "fine_grasp": { + "position": [ + 0.028371721506118774, + 0.1438940167427063, + 0.08139505982398987 + ], + "orientation": [ + 0.4208955764770508, + 0.5989241003990173, + -0.6318129301071167, + 0.25485146045684814 + ], + "joints": [ + 0.006823662668466568 + ] + }, + "final_grasp": { + "position": [ + 0.028371721506118774, + 0.1438940167427063, + 0.08139505982398987 + ], + "orientation": [ + 0.4208955764770508, + 0.5989241003990173, + -0.6318129301071167, + 0.25485146045684814 + ], + "joints": [ + -0.0027893073856830597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053509607911109924, + -0.00024354127526748925, + 0.15977351367473602 + ], + "orientation": [ + 0.13897965848445892, + 0.6819220781326294, + -0.7019959092140198, + -0.1512243002653122 + ], + "joints": [ + 0.022982340306043625 + ] + }, + "fine_grasp": { + "position": [ + 0.05186520516872406, + -0.0001466449029976502, + 0.15623976290225983 + ], + "orientation": [ + 0.13840840756893158, + 0.6803195476531982, + -0.703688383102417, + -0.1510991007089615 + ], + "joints": [ + 0.014163482934236526 + ] + }, + "final_grasp": { + "position": [ + 0.05186520516872406, + -0.0001466449029976502, + 0.15623976290225983 + ], + "orientation": [ + 0.13840840756893158, + 0.6803195476531982, + -0.703688383102417, + -0.1510991007089615 + ], + "joints": [ + 0.005344625562429428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11924300342798233, + 0.056988514959812164, + 0.04506861791014671 + ], + "orientation": [ + 0.26708394289016724, + 0.7124439477920532, + 0.1252487152814865, + 0.636712372303009 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.1158679649233818, + 0.055140167474746704, + 0.043718334287405014 + ], + "orientation": [ + 0.2713301181793213, + 0.7272148728370667, + 0.11432384699583054, + 0.6200553178787231 + ], + "joints": [ + 0.026232093572616577 + ] + }, + "final_grasp": { + "position": [ + -0.1158679649233818, + 0.055140167474746704, + 0.043718334287405014 + ], + "orientation": [ + 0.2713301181793213, + 0.7272148728370667, + 0.11432384699583054, + 0.6200553178787231 + ], + "joints": [ + 0.019085057079792023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04478050395846367, + 0.009251833893358707, + -0.15501847863197327 + ], + "orientation": [ + 0.9574934840202332, + -0.057875990867614746, + -0.10799406468868256, + 0.26113954186439514 + ], + "joints": [ + 0.021346626803278923 + ] + }, + "fine_grasp": { + "position": [ + 0.042691588401794434, + 0.009036723524332047, + -0.15190179646015167 + ], + "orientation": [ + 0.9569333791732788, + -0.05873742699623108, + -0.11619149893522263, + 0.25947651267051697 + ], + "joints": [ + 0.012485971674323082 + ] + }, + "final_grasp": { + "position": [ + 0.042691588401794434, + 0.009036723524332047, + -0.15190179646015167 + ], + "orientation": [ + 0.9569333791732788, + -0.05873742699623108, + -0.11619149893522263, + 0.25947651267051697 + ], + "joints": [ + 0.003625316545367241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04146471619606018, + -0.09027740359306335, + -0.07177171111106873 + ], + "orientation": [ + 0.7060267925262451, + -0.2866913676261902, + -0.44583553075790405, + -0.46964341402053833 + ], + "joints": [ + 0.021615371108055115 + ] + }, + "fine_grasp": { + "position": [ + 0.04004404693841934, + -0.08685403317213058, + -0.07088059186935425 + ], + "orientation": [ + 0.7031946778297424, + -0.2900579869747162, + -0.44731196761131287, + -0.47042062878608704 + ], + "joints": [ + 0.012420356273651123 + ] + }, + "final_grasp": { + "position": [ + 0.04004404693841934, + -0.08685403317213058, + -0.07088059186935425 + ], + "orientation": [ + 0.7031946778297424, + -0.2900579869747162, + -0.44731196761131287, + -0.47042062878608704 + ], + "joints": [ + 0.0032253414392471313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04458777606487274, + 0.009492512792348862, + -0.1551290601491928 + ], + "orientation": [ + 0.9578792452812195, + -0.05639338120818138, + -0.10809371620416641, + 0.2600056827068329 + ], + "joints": [ + 0.02139543555676937 + ] + }, + "fine_grasp": { + "position": [ + 0.04252031818032265, + 0.009276142343878746, + -0.15199661254882812 + ], + "orientation": [ + 0.9573385119438171, + -0.05726506561040878, + -0.11613752692937851, + 0.2583329379558563 + ], + "joints": [ + 0.01253478042781353 + ] + }, + "final_grasp": { + "position": [ + 0.04252031818032265, + 0.009276142343878746, + -0.15199661254882812 + ], + "orientation": [ + 0.9573385119438171, + -0.05726506561040878, + -0.11613752692937851, + 0.2583329379558563 + ], + "joints": [ + 0.003674125298857689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06736772507429123, + -0.059856947511434555, + -0.10445880144834518 + ], + "orientation": [ + 0.8476972579956055, + -0.24080419540405273, + -0.42268887162208557, + -0.21155758202075958 + ], + "joints": [ + 0.021763619035482407 + ] + }, + "fine_grasp": { + "position": [ + 0.06573712825775146, + -0.05779856815934181, + -0.10184121131896973 + ], + "orientation": [ + 0.8498382568359375, + -0.24051408469676971, + -0.41639989614486694, + -0.21572916209697723 + ], + "joints": [ + 0.010917682200670242 + ] + }, + "final_grasp": { + "position": [ + 0.06573712825775146, + -0.05779856815934181, + -0.10184121131896973 + ], + "orientation": [ + 0.8498382568359375, + -0.24051408469676971, + -0.41639989614486694, + -0.21572916209697723 + ], + "joints": [ + 7.1745365858078e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0048409104347229, + 0.029396548867225647, + -0.13867802917957306 + ], + "orientation": [ + 0.7538190484046936, + 0.08605745434761047, + -0.047372207045555115, + 0.6496975421905518 + ], + "joints": [ + 0.022735202684998512 + ] + }, + "fine_grasp": { + "position": [ + -0.005053448956459761, + 0.02799389697611332, + -0.13660891354084015 + ], + "orientation": [ + 0.7442137002944946, + 0.09378863126039505, + -0.05709850415587425, + 0.6588546633720398 + ], + "joints": [ + 0.01354018785059452 + ] + }, + "final_grasp": { + "position": [ + -0.005053448956459761, + 0.02799389697611332, + -0.13660891354084015 + ], + "orientation": [ + 0.7442137002944946, + 0.09378863126039505, + -0.05709850415587425, + 0.6588546633720398 + ], + "joints": [ + 0.004345173016190529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04123559221625328, + 0.07764271646738052, + 0.14085081219673157 + ], + "orientation": [ + 0.1263040453195572, + -0.10392053425312042, + -0.9578930139541626, + 0.2359844297170639 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + 0.040163058787584305, + 0.07589474320411682, + 0.13728147745132446 + ], + "orientation": [ + 0.12971806526184082, + -0.09737130999565125, + -0.9593724608421326, + 0.2308606505393982 + ], + "joints": [ + 0.026386186480522156 + ] + }, + "final_grasp": { + "position": [ + 0.040163058787584305, + 0.07589474320411682, + 0.13728147745132446 + ], + "orientation": [ + 0.12971806526184082, + -0.09737130999565125, + -0.9593724608421326, + 0.2308606505393982 + ], + "joints": [ + 0.018027082085609436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0048569245263934135, + 0.02106746844947338, + -0.14325830340385437 + ], + "orientation": [ + 0.8076406717300415, + 0.0971558466553688, + 0.06307756900787354, + -0.5781854391098022 + ], + "joints": [ + 0.020820602774620056 + ] + }, + "fine_grasp": { + "position": [ + 0.004108826629817486, + 0.02143745683133602, + -0.14051659405231476 + ], + "orientation": [ + 0.8045288324356079, + 0.08730392158031464, + 0.05148131772875786, + -0.5852015614509583 + ], + "joints": [ + 0.012461498379707336 + ] + }, + "final_grasp": { + "position": [ + 0.004108826629817486, + 0.02143745683133602, + -0.14051659405231476 + ], + "orientation": [ + 0.8045288324356079, + 0.08730392158031464, + 0.05148131772875786, + -0.5852015614509583 + ], + "joints": [ + 0.004102393984794617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007667208556085825, + 0.1457676887512207, + -0.001146591384895146 + ], + "orientation": [ + 0.5007830858230591, + 0.5145457983016968, + -0.46486008167266846, + 0.5180384516716003 + ], + "joints": [ + 0.016816020011901855 + ] + }, + "fine_grasp": { + "position": [ + -0.007781564723700285, + 0.14174693822860718, + -0.0003249213914386928 + ], + "orientation": [ + 0.502842903137207, + 0.5145544409751892, + -0.46471652388572693, + 0.5161601305007935 + ], + "joints": [ + 0.008456915616989136 + ] + }, + "final_grasp": { + "position": [ + -0.007781564723700285, + 0.14174693822860718, + -0.0003249213914386928 + ], + "orientation": [ + 0.502842903137207, + 0.5145544409751892, + -0.46471652388572693, + 0.5161601305007935 + ], + "joints": [ + 9.781122207641602e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00451019499450922, + 0.02111046388745308, + -0.14341211318969727 + ], + "orientation": [ + 0.7971981763839722, + 0.09130245447158813, + 0.05112827569246292, + -0.5945795774459839 + ], + "joints": [ + 0.02298578992486 + ] + }, + "fine_grasp": { + "position": [ + 0.004409448709338903, + 0.020601855590939522, + -0.14090660214424133 + ], + "orientation": [ + 0.7919594049453735, + 0.08362074941396713, + 0.04387523606419563, + -0.6032270789146423 + ], + "joints": [ + 0.013372819870710373 + ] + }, + "final_grasp": { + "position": [ + 0.004409448709338903, + 0.020601855590939522, + -0.14090660214424133 + ], + "orientation": [ + 0.7919594049453735, + 0.08362074941396713, + 0.04387523606419563, + -0.6032270789146423 + ], + "joints": [ + 0.0037598498165607452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038563236594200134, + 0.06797987222671509, + 0.14283831417560577 + ], + "orientation": [ + 0.15402579307556152, + 0.8399192690849304, + 0.4612802565097809, + -0.2408984899520874 + ], + "joints": [ + 0.020608805119991302 + ] + }, + "fine_grasp": { + "position": [ + 0.037199247628450394, + 0.06665416061878204, + 0.1387793868780136 + ], + "orientation": [ + 0.14008073508739471, + 0.8590877652168274, + 0.4358893930912018, + -0.2287924885749817 + ], + "joints": [ + 0.014736533164978027 + ] + }, + "final_grasp": { + "position": [ + 0.037199247628450394, + 0.06665416061878204, + 0.1387793868780136 + ], + "orientation": [ + 0.14008073508739471, + 0.8590877652168274, + 0.4358893930912018, + -0.2287924885749817 + ], + "joints": [ + 0.008864261209964752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007891103625297546, + 0.14757011830806732, + 0.04042896628379822 + ], + "orientation": [ + 0.41589659452438354, + 0.5324855446815491, + 0.6084998250007629, + -0.41619354486465454 + ], + "joints": [ + 0.016683073714375496 + ] + }, + "fine_grasp": { + "position": [ + -0.0077699460089206696, + 0.14375992119312286, + 0.04048050194978714 + ], + "orientation": [ + 0.4161408841609955, + 0.5278511047363281, + 0.6112577319145203, + -0.41780856251716614 + ], + "joints": [ + 0.007488058879971504 + ] + }, + "final_grasp": { + "position": [ + -0.0077699460089206696, + 0.14375992119312286, + 0.04048050194978714 + ], + "orientation": [ + 0.4161408841609955, + 0.5278511047363281, + 0.6112577319145203, + -0.41780856251716614 + ], + "joints": [ + -0.0017069559544324875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07664939761161804, + 0.04772056266665459, + 0.11133028566837311 + ], + "orientation": [ + 0.28018200397491455, + 0.014379186555743217, + 0.9542686343193054, + -0.10326020419597626 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.07345612347126007, + 0.0474739596247673, + 0.10988084971904755 + ], + "orientation": [ + 0.2958536744117737, + 0.013218787498772144, + 0.9491335153579712, + -0.10696463286876678 + ], + "joints": [ + 0.024048663675785065 + ] + }, + "final_grasp": { + "position": [ + -0.07345612347126007, + 0.0474739596247673, + 0.10988084971904755 + ], + "orientation": [ + 0.2958536744117737, + 0.013218787498772144, + 0.9491335153579712, + -0.10696463286876678 + ], + "joints": [ + 0.01610751450061798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12834905087947845, + 0.026823708787560463, + 0.032991450279951096 + ], + "orientation": [ + 0.054985709488391876, + 0.7357469201087952, + -0.04284931719303131, + -0.6736593842506409 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.12431054562330246, + 0.02681160345673561, + 0.032871875911951065 + ], + "orientation": [ + 0.05739316716790199, + 0.734057605266571, + -0.04351833462715149, + -0.6752566695213318 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.12431054562330246, + 0.02681160345673561, + 0.032871875911951065 + ], + "orientation": [ + 0.05739316716790199, + 0.734057605266571, + -0.04351833462715149, + -0.6752566695213318 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02351824939250946, + 0.06327801197767258, + 0.1459493190050125 + ], + "orientation": [ + 0.1672135293483734, + 0.9852002263069153, + -0.009717373177409172, + -0.03641170635819435 + ], + "joints": [ + 0.032939180731773376 + ] + }, + "fine_grasp": { + "position": [ + 0.022834837436676025, + 0.06226713955402374, + 0.14227202534675598 + ], + "orientation": [ + 0.16804461181163788, + 0.9844954013824463, + -0.007260458078235388, + -0.04977155849337578 + ], + "joints": [ + 0.02497713267803192 + ] + }, + "final_grasp": { + "position": [ + 0.022834837436676025, + 0.06226713955402374, + 0.14227202534675598 + ], + "orientation": [ + 0.16804461181163788, + 0.9844954013824463, + -0.007260458078235388, + -0.04977155849337578 + ], + "joints": [ + 0.017015084624290466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07751485705375671, + -0.03255290538072586, + -0.09959394484758377 + ], + "orientation": [ + 0.05507080629467964, + 0.3286343812942505, + -0.2311570793390274, + -0.9140749573707581 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + 0.07525243610143661, + -0.030975341796875, + -0.09779103100299835 + ], + "orientation": [ + 0.06049183011054993, + 0.3300060033798218, + -0.23005546629428864, + -0.9135158658027649 + ], + "joints": [ + 0.018351208418607712 + ] + }, + "final_grasp": { + "position": [ + 0.07525243610143661, + -0.030975341796875, + -0.09779103100299835 + ], + "orientation": [ + 0.06049183011054993, + 0.3300060033798218, + -0.23005546629428864, + -0.9135158658027649 + ], + "joints": [ + 0.009135294705629349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06960747390985489, + 0.086310014128685, + 0.0818532258272171 + ], + "orientation": [ + 0.420044869184494, + 0.22524859011173248, + 0.8492677807807922, + -0.22708949446678162 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.06772008538246155, + 0.08328768610954285, + 0.0827874094247818 + ], + "orientation": [ + 0.4062575101852417, + 0.19816066324710846, + 0.8603066802024841, + -0.23571085929870605 + ], + "joints": [ + 0.024788472801446915 + ] + }, + "final_grasp": { + "position": [ + -0.06772008538246155, + 0.08328768610954285, + 0.0827874094247818 + ], + "orientation": [ + 0.4062575101852417, + 0.19816066324710846, + 0.8603066802024841, + -0.23571085929870605 + ], + "joints": [ + 0.016429368406534195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12833452224731445, + 0.026880038902163506, + 0.03310489282011986 + ], + "orientation": [ + 0.05448122322559357, + 0.7349458336830139, + -0.04198342561721802, + -0.6746286749839783 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.12429575622081757, + 0.026865676045417786, + 0.03301011398434639 + ], + "orientation": [ + 0.05691977217793465, + 0.7330480217933655, + -0.0425850935280323, + -0.6764518618583679 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.12429575622081757, + 0.026865676045417786, + 0.03301011398434639 + ], + "orientation": [ + 0.05691977217793465, + 0.7330480217933655, + -0.0425850935280323, + -0.6764518618583679 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009478074498474598, + 0.14532063901424408, + -0.023165889084339142 + ], + "orientation": [ + 0.5417730808258057, + 0.4138302505016327, + 0.39476385712623596, + -0.6159448623657227 + ], + "joints": [ + 0.016871847212314606 + ] + }, + "fine_grasp": { + "position": [ + 0.008999240584671497, + 0.14150628447532654, + -0.022086527198553085 + ], + "orientation": [ + 0.5388248562812805, + 0.41264045238494873, + 0.39633679389953613, + -0.6183145046234131 + ], + "joints": [ + 0.007676832377910614 + ] + }, + "final_grasp": { + "position": [ + 0.008999240584671497, + 0.14150628447532654, + -0.022086527198553085 + ], + "orientation": [ + 0.5388248562812805, + 0.41264045238494873, + 0.39633679389953613, + -0.6183145046234131 + ], + "joints": [ + -0.0015181824564933777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08707276731729507, + 0.008888727985322475, + 0.09348670393228531 + ], + "orientation": [ + 0.3798522353172302, + -0.19427430629730225, + 0.9039345383644104, + -0.02953197807073593 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.08386848866939545, + 0.010776950046420097, + 0.09241341799497604 + ], + "orientation": [ + 0.3951414227485657, + -0.18461088836193085, + 0.8993622064590454, + -0.030494607985019684 + ], + "joints": [ + 0.023276545107364655 + ] + }, + "final_grasp": { + "position": [ + -0.08386848866939545, + 0.010776950046420097, + 0.09241341799497604 + ], + "orientation": [ + 0.3951414227485657, + -0.18461088836193085, + 0.8993622064590454, + -0.030494607985019684 + ], + "joints": [ + 0.014123328030109406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004846054594963789, + 0.027014825493097305, + -0.13866554200649261 + ], + "orientation": [ + 0.7615760564804077, + 0.09635952115058899, + -0.055945198982954025, + 0.638425350189209 + ], + "joints": [ + 0.023458857089281082 + ] + }, + "fine_grasp": { + "position": [ + -0.004751383326947689, + 0.02570323459804058, + -0.13575953245162964 + ], + "orientation": [ + 0.7527651190757751, + 0.09208822250366211, + -0.05366646870970726, + 0.6496033072471619 + ], + "joints": [ + 0.013845887035131454 + ] + }, + "final_grasp": { + "position": [ + -0.004751383326947689, + 0.02570323459804058, + -0.13575953245162964 + ], + "orientation": [ + 0.7527651190757751, + 0.09208822250366211, + -0.05366646870970726, + 0.6496033072471619 + ], + "joints": [ + 0.004232916980981827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11206291615962982, + 0.05808315798640251, + 0.07875135540962219 + ], + "orientation": [ + 0.24168069660663605, + 0.7990908026695251, + -0.14562146365642548, + -0.5308847427368164 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.10925333201885223, + 0.05658070743083954, + 0.07656924426555634 + ], + "orientation": [ + 0.2434048056602478, + 0.8120738863945007, + -0.13521650433540344, + -0.5128416419029236 + ], + "joints": [ + 0.02742326259613037 + ] + }, + "final_grasp": { + "position": [ + 0.10925333201885223, + 0.05658070743083954, + 0.07656924426555634 + ], + "orientation": [ + 0.2434048056602478, + 0.8120738863945007, + -0.13521650433540344, + -0.5128416419029236 + ], + "joints": [ + 0.02146739512681961 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014224077574908733, + 0.14705726504325867, + -0.019482308998703957 + ], + "orientation": [ + 0.5860211849212646, + 0.4750191867351532, + 0.4704113006591797, + -0.4578746259212494 + ], + "joints": [ + 0.017039626836776733 + ] + }, + "fine_grasp": { + "position": [ + -0.013623848557472229, + 0.1433340162038803, + -0.01841529831290245 + ], + "orientation": [ + 0.591366708278656, + 0.4745340645313263, + 0.4683011472225189, + -0.45364832878112793 + ], + "joints": [ + 0.0074475547298789024 + ] + }, + "final_grasp": { + "position": [ + -0.013623848557472229, + 0.1433340162038803, + -0.01841529831290245 + ], + "orientation": [ + 0.591366708278656, + 0.4745340645313263, + 0.4683011472225189, + -0.45364832878112793 + ], + "joints": [ + -0.0021445173770189285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02259468473494053, + 0.0760643258690834, + 0.15417717397212982 + ], + "orientation": [ + 0.0789601132273674, + 0.2047426700592041, + 0.9596582055091858, + -0.17578911781311035 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + -0.021876223385334015, + 0.0744374543428421, + 0.15043041110038757 + ], + "orientation": [ + 0.09451287239789963, + 0.19177207350730896, + 0.9596526622772217, + -0.18264049291610718 + ], + "joints": [ + 0.023383984342217445 + ] + }, + "final_grasp": { + "position": [ + -0.021876223385334015, + 0.0744374543428421, + 0.15043041110038757 + ], + "orientation": [ + 0.09451287239789963, + 0.19177207350730896, + 0.9596526622772217, + -0.18264049291610718 + ], + "joints": [ + 0.01623694784939289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023322392255067825, + 0.06310782581567764, + 0.14594541490077972 + ], + "orientation": [ + 0.16395102441310883, + 0.9854710102081299, + -0.00947763305157423, + -0.04332686960697174 + ], + "joints": [ + 0.03340228646993637 + ] + }, + "fine_grasp": { + "position": [ + 0.02274749055504799, + 0.06222411245107651, + 0.14228174090385437 + ], + "orientation": [ + 0.16478422284126282, + 0.9848181009292603, + -0.005563247483223677, + -0.05430174618959427 + ], + "joints": [ + 0.025461137294769287 + ] + }, + "final_grasp": { + "position": [ + 0.02274749055504799, + 0.06222411245107651, + 0.14228174090385437 + ], + "orientation": [ + 0.16478422284126282, + 0.9848181009292603, + -0.005563247483223677, + -0.05430174618959427 + ], + "joints": [ + 0.017519988119602203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07712230831384659, + -0.01962370239198208, + -0.1362377256155014 + ], + "orientation": [ + 0.2755590081214905, + 0.22143249213695526, + 0.20354658365249634, + 0.9130190014839172 + ], + "joints": [ + 0.021662481129169464 + ] + }, + "fine_grasp": { + "position": [ + -0.07472261786460876, + -0.01917272061109543, + -0.13350553810596466 + ], + "orientation": [ + 0.2764686346054077, + 0.22436386346817017, + 0.2030821591615677, + 0.9121312499046326 + ], + "joints": [ + 0.013219781219959259 + ] + }, + "final_grasp": { + "position": [ + -0.07472261786460876, + -0.01917272061109543, + -0.13350553810596466 + ], + "orientation": [ + 0.2764686346054077, + 0.22436386346817017, + 0.2030821591615677, + 0.9121312499046326 + ], + "joints": [ + 0.004777081310749054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08738838881254196, + 0.008999950252473354, + 0.09337389469146729 + ], + "orientation": [ + 0.3829563856124878, + -0.19476966559886932, + 0.9024899005889893, + -0.030349524691700935 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.0842309519648552, + 0.010957282036542892, + 0.09234991669654846 + ], + "orientation": [ + 0.3981002867221832, + -0.1850006878376007, + 0.8979500532150269, + -0.03125305473804474 + ], + "joints": [ + 0.02346520498394966 + ] + }, + "final_grasp": { + "position": [ + -0.0842309519648552, + 0.010957282036542892, + 0.09234991669654846 + ], + "orientation": [ + 0.3981002867221832, + -0.1850006878376007, + 0.8979500532150269, + -0.03125305473804474 + ], + "joints": [ + 0.014709044247865677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05739368498325348, + -0.09925255179405212, + 0.01534726656973362 + ], + "orientation": [ + 0.42183566093444824, + -0.5893279910087585, + 0.2870291769504547, + 0.6263875365257263 + ], + "joints": [ + 0.021843431517481804 + ] + }, + "fine_grasp": { + "position": [ + 0.05535144358873367, + -0.09570610523223877, + 0.015597160905599594 + ], + "orientation": [ + 0.426069438457489, + -0.5893405675888062, + 0.2889569401741028, + 0.6226125955581665 + ], + "joints": [ + 0.013463428243994713 + ] + }, + "final_grasp": { + "position": [ + 0.05535144358873367, + -0.09570610523223877, + 0.015597160905599594 + ], + "orientation": [ + 0.426069438457489, + -0.5893405675888062, + 0.2889569401741028, + 0.6226125955581665 + ], + "joints": [ + 0.005083424970507622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007936100475490093, + 0.14884620904922485, + -0.006977801211178303 + ], + "orientation": [ + 0.5178743600845337, + 0.36161166429519653, + -0.49149754643440247, + 0.5995609164237976 + ], + "joints": [ + 0.016640817746520042 + ] + }, + "fine_grasp": { + "position": [ + 0.0077337645925581455, + 0.1449500322341919, + -0.006441875826567411 + ], + "orientation": [ + 0.514492928981781, + 0.35851842164993286, + -0.4961977005004883, + 0.6004577279090881 + ], + "joints": [ + 0.007445802912116051 + ] + }, + "final_grasp": { + "position": [ + 0.0077337645925581455, + 0.1449500322341919, + -0.006441875826567411 + ], + "orientation": [ + 0.514492928981781, + 0.35851842164993286, + -0.4961977005004883, + 0.6004577279090881 + ], + "joints": [ + -0.001749211922287941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02602214924991131, + -0.10815159976482391, + -0.002362097380682826 + ], + "orientation": [ + 0.44670864939689636, + -0.5520172715187073, + 0.4304121136665344, + 0.5572017431259155 + ], + "joints": [ + 0.02322355844080448 + ] + }, + "fine_grasp": { + "position": [ + 0.024700582027435303, + -0.10427601635456085, + -0.0023310009855777025 + ], + "orientation": [ + 0.44852298498153687, + -0.5510860085487366, + 0.43106094002723694, + 0.5561635494232178 + ], + "joints": [ + 0.014446498826146126 + ] + }, + "final_grasp": { + "position": [ + 0.024700582027435303, + -0.10427601635456085, + -0.0023310009855777025 + ], + "orientation": [ + 0.44852298498153687, + -0.5510860085487366, + 0.43106094002723694, + 0.5561635494232178 + ], + "joints": [ + 0.00566943921148777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025937434285879135, + -0.018594233319163322, + 0.14823350310325623 + ], + "orientation": [ + 0.1440529078245163, + -0.8411822319030762, + 0.5211777687072754, + -0.005914126988500357 + ], + "joints": [ + 0.02158864587545395 + ] + }, + "fine_grasp": { + "position": [ + -0.02536272443830967, + -0.017861897125840187, + 0.14446230232715607 + ], + "orientation": [ + 0.1479112207889557, + -0.844229519367218, + 0.514995813369751, + -0.013342943973839283 + ], + "joints": [ + 0.01322954148054123 + ] + }, + "final_grasp": { + "position": [ + -0.02536272443830967, + -0.017861897125840187, + 0.14446230232715607 + ], + "orientation": [ + 0.1479112207889557, + -0.844229519367218, + 0.514995813369751, + -0.013342943973839283 + ], + "joints": [ + 0.0048704370856285095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025072524324059486, + -0.0612822026014328, + -0.12566547095775604 + ], + "orientation": [ + 0.7380378246307373, + -0.17039765417575836, + -0.29005250334739685, + -0.5849224328994751 + ], + "joints": [ + 0.02096264623105526 + ] + }, + "fine_grasp": { + "position": [ + 0.023937270045280457, + -0.05892663449048996, + -0.12301243096590042 + ], + "orientation": [ + 0.7366931438446045, + -0.16515302658081055, + -0.28461337089538574, + -0.5907646417617798 + ], + "joints": [ + 0.011767631396651268 + ] + }, + "final_grasp": { + "position": [ + 0.023937270045280457, + -0.05892663449048996, + -0.12301243096590042 + ], + "orientation": [ + 0.7366931438446045, + -0.16515302658081055, + -0.28461337089538574, + -0.5907646417617798 + ], + "joints": [ + 0.0025726165622472763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02548721618950367, + -0.019352175295352936, + 0.14814378321170807 + ], + "orientation": [ + 0.14551490545272827, + -0.8339763283729553, + 0.5322630405426025, + -0.0022476641461253166 + ], + "joints": [ + 0.02136705256998539 + ] + }, + "fine_grasp": { + "position": [ + -0.024923032149672508, + -0.018849089741706848, + 0.14445021748542786 + ], + "orientation": [ + 0.14961230754852295, + -0.8353151082992554, + 0.5289280414581299, + -0.010000238195061684 + ], + "joints": [ + 0.013425903394818306 + ] + }, + "final_grasp": { + "position": [ + -0.024923032149672508, + -0.018849089741706848, + 0.14445021748542786 + ], + "orientation": [ + 0.14961230754852295, + -0.8353151082992554, + 0.5289280414581299, + -0.010000238195061684 + ], + "joints": [ + 0.005484754219651222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12361541390419006, + 0.022656641900539398, + -0.053811635822057724 + ], + "orientation": [ + 0.7836360335350037, + -0.1288841962814331, + 0.5637993216514587, + -0.2267903834581375 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.11988193541765213, + 0.022488990798592567, + -0.05245369300246239 + ], + "orientation": [ + 0.784373939037323, + -0.13227508962154388, + 0.5619461536407471, + -0.2268858253955841 + ], + "joints": [ + 0.020016146823763847 + ] + }, + "final_grasp": { + "position": [ + -0.11988193541765213, + 0.022488990798592567, + -0.05245369300246239 + ], + "orientation": [ + 0.784373939037323, + -0.13227508962154388, + 0.5619461536407471, + -0.2268858253955841 + ], + "joints": [ + 0.010821131989359856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01825164631009102, + -0.11071773618459702, + -0.02367377281188965 + ], + "orientation": [ + 0.5382818579673767, + -0.5189594626426697, + -0.5381515622138977, + -0.3890073001384735 + ], + "joints": [ + 0.02073397859930992 + ] + }, + "fine_grasp": { + "position": [ + 0.017453616484999657, + -0.106926828622818, + -0.023723477497696877 + ], + "orientation": [ + 0.5413637161254883, + -0.5193553566932678, + -0.5342304110527039, + -0.3896063566207886 + ], + "joints": [ + 0.011956918984651566 + ] + }, + "final_grasp": { + "position": [ + 0.017453616484999657, + -0.106926828622818, + -0.023723477497696877 + ], + "orientation": [ + 0.5413637161254883, + -0.5193553566932678, + -0.5342304110527039, + -0.3896063566207886 + ], + "joints": [ + 0.00317985936999321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032991304993629456, + 0.0441705584526062, + 0.14899024367332458 + ], + "orientation": [ + 0.03102918528020382, + 0.8094258308410645, + -0.5653941631317139, + 0.15555177628993988 + ], + "joints": [ + 0.02003021351993084 + ] + }, + "fine_grasp": { + "position": [ + -0.0319482684135437, + 0.04330527037382126, + 0.1450779289007187 + ], + "orientation": [ + 0.030878182500600815, + 0.8303008079528809, + -0.535890519618988, + 0.149894118309021 + ], + "joints": [ + 0.01167110912501812 + ] + }, + "final_grasp": { + "position": [ + -0.0319482684135437, + 0.04330527037382126, + 0.1450779289007187 + ], + "orientation": [ + 0.030878182500600815, + 0.8303008079528809, + -0.535890519618988, + 0.149894118309021 + ], + "joints": [ + 0.0033120047301054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03931713104248047, + -0.0975981056690216, + -0.07678252458572388 + ], + "orientation": [ + 0.7759913802146912, + -0.44071164727211, + 0.3792572021484375, + 0.24448850750923157 + ], + "joints": [ + 0.023152947425842285 + ] + }, + "fine_grasp": { + "position": [ + -0.0380382277071476, + -0.09443800151348114, + -0.07455851137638092 + ], + "orientation": [ + 0.7792872190475464, + -0.438635915517807, + 0.3726624846458435, + 0.24785614013671875 + ], + "joints": [ + 0.014354988932609558 + ] + }, + "final_grasp": { + "position": [ + -0.0380382277071476, + -0.09443800151348114, + -0.07455851137638092 + ], + "orientation": [ + 0.7792872190475464, + -0.438635915517807, + 0.3726624846458435, + 0.24785614013671875 + ], + "joints": [ + 0.005557030439376831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03968208283185959, + -0.0972885712981224, + -0.07685449719429016 + ], + "orientation": [ + 0.7767348885536194, + -0.43797579407691956, + 0.37905368208885193, + 0.24734289944171906 + ], + "joints": [ + 0.023616056889295578 + ] + }, + "fine_grasp": { + "position": [ + -0.03843766823410988, + -0.09402607381343842, + -0.07478726655244827 + ], + "orientation": [ + 0.7792352437973022, + -0.43670016527175903, + 0.37321656942367554, + 0.25058892369270325 + ], + "joints": [ + 0.014838997274637222 + ] + }, + "final_grasp": { + "position": [ + -0.03843766823410988, + -0.09402607381343842, + -0.07478726655244827 + ], + "orientation": [ + 0.7792352437973022, + -0.43670016527175903, + 0.37321656942367554, + 0.25058892369270325 + ], + "joints": [ + 0.006061937659978867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09770822525024414, + -0.010963375680148602, + -0.08405297994613647 + ], + "orientation": [ + 0.14706599712371826, + 0.43541085720062256, + 0.194909930229187, + 0.866486668586731 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + -0.0946924015879631, + -0.01005732361227274, + -0.08210883289575577 + ], + "orientation": [ + 0.15206436812877655, + 0.43408799171447754, + 0.19485978782176971, + 0.8662988543510437 + ], + "joints": [ + 0.01753619685769081 + ] + }, + "final_grasp": { + "position": [ + -0.0946924015879631, + -0.01005732361227274, + -0.08210883289575577 + ], + "orientation": [ + 0.15206436812877655, + 0.43408799171447754, + 0.19485978782176971, + 0.8662988543510437 + ], + "joints": [ + 0.0075052715837955475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08709543943405151, + 0.09374112635850906, + 0.0977461189031601 + ], + "orientation": [ + 0.3370828628540039, + 0.02257314883172512, + 0.8915001749992371, + -0.30181634426116943 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.0838545560836792, + 0.09141483157873154, + 0.09591355919837952 + ], + "orientation": [ + 0.35135120153427124, + 0.01611398532986641, + 0.8864588737487793, + -0.3008044362068176 + ], + "joints": [ + 0.028270918875932693 + ] + }, + "final_grasp": { + "position": [ + -0.0838545560836792, + 0.09141483157873154, + 0.09591355919837952 + ], + "orientation": [ + 0.35135120153427124, + 0.01611398532986641, + 0.8864588737487793, + -0.3008044362068176 + ], + "joints": [ + 0.021541837602853775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08699708431959152, + 0.09384617209434509, + 0.09751459211111069 + ], + "orientation": [ + 0.33702027797698975, + 0.023527946323156357, + 0.8914571404457092, + -0.30194011330604553 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.08373977243900299, + 0.09151288121938705, + 0.09570345282554626 + ], + "orientation": [ + 0.3517053723335266, + 0.017862122505903244, + 0.8863375186920166, + -0.30064958333969116 + ], + "joints": [ + 0.028270918875932693 + ] + }, + "final_grasp": { + "position": [ + -0.08373977243900299, + 0.09151288121938705, + 0.09570345282554626 + ], + "orientation": [ + 0.3517053723335266, + 0.017862122505903244, + 0.8863375186920166, + -0.30064958333969116 + ], + "joints": [ + 0.021541837602853775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05475788190960884, + 0.1100265383720398, + 0.09912234544754028 + ], + "orientation": [ + 0.4459133744239807, + 0.45464715361595154, + -0.7249340415000916, + 0.26254117488861084 + ], + "joints": [ + 0.02326020784676075 + ] + }, + "fine_grasp": { + "position": [ + 0.053057003766298294, + 0.1071806401014328, + 0.09633423388004303 + ], + "orientation": [ + 0.43489646911621094, + 0.44294458627700806, + -0.741221010684967, + 0.25545376539230347 + ], + "joints": [ + 0.016552025452256203 + ] + }, + "final_grasp": { + "position": [ + 0.053057003766298294, + 0.1071806401014328, + 0.09633423388004303 + ], + "orientation": [ + 0.43489646911621094, + 0.44294458627700806, + -0.741221010684967, + 0.25545376539230347 + ], + "joints": [ + 0.009843843057751656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019295604899525642, + -0.02992379665374756, + -0.15437816083431244 + ], + "orientation": [ + 0.7247239351272583, + -0.04947951063513756, + -0.15178334712982178, + -0.6702900528907776 + ], + "joints": [ + 0.022411810234189034 + ] + }, + "fine_grasp": { + "position": [ + 0.01861206814646721, + -0.02891465835273266, + -0.15066824853420258 + ], + "orientation": [ + 0.7246357202529907, + -0.04935937747359276, + -0.151646226644516, + -0.6704253554344177 + ], + "joints": [ + 0.01238088496029377 + ] + }, + "final_grasp": { + "position": [ + 0.01861206814646721, + -0.02891465835273266, + -0.15066824853420258 + ], + "orientation": [ + 0.7246357202529907, + -0.04935937747359276, + -0.151646226644516, + -0.6704253554344177 + ], + "joints": [ + 0.002349959686398506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0201902873814106, + 0.04893495514988899, + 0.14952018857002258 + ], + "orientation": [ + 0.06171277165412903, + 0.7247598767280579, + 0.6683822274208069, + -0.1554989218711853 + ], + "joints": [ + 0.02259599044919014 + ] + }, + "fine_grasp": { + "position": [ + 0.01947789452970028, + 0.04724273085594177, + 0.14619256556034088 + ], + "orientation": [ + 0.07491065561771393, + 0.7269100546836853, + 0.6609081029891968, + -0.17085273563861847 + ], + "joints": [ + 0.013798031955957413 + ] + }, + "final_grasp": { + "position": [ + 0.01947789452970028, + 0.04724273085594177, + 0.14619256556034088 + ], + "orientation": [ + 0.07491065561771393, + 0.7269100546836853, + 0.6609081029891968, + -0.17085273563861847 + ], + "joints": [ + 0.005000073462724686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1259746551513672, + 0.0018029805505648255, + -0.05700644850730896 + ], + "orientation": [ + 0.7509194016456604, + -0.20129980146884918, + 0.5965778827667236, + -0.1992315948009491 + ], + "joints": [ + 0.022830890491604805 + ] + }, + "fine_grasp": { + "position": [ + -0.12232974916696548, + 0.0024766752030700445, + -0.05580036714673042 + ], + "orientation": [ + 0.7535805702209473, + -0.20395508408546448, + 0.5926099419593811, + -0.19832320511341095 + ], + "joints": [ + 0.013635875657200813 + ] + }, + "final_grasp": { + "position": [ + -0.12232974916696548, + 0.0024766752030700445, + -0.05580036714673042 + ], + "orientation": [ + 0.7535805702209473, + -0.20395508408546448, + 0.5926099419593811, + -0.19832320511341095 + ], + "joints": [ + 0.004440860822796822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12571647763252258, + 0.0019743596203625202, + -0.05680805444717407 + ], + "orientation": [ + 0.7513253092765808, + -0.19859713315963745, + 0.5981072187423706, + -0.19579873979091644 + ], + "joints": [ + 0.022798756137490273 + ] + }, + "fine_grasp": { + "position": [ + -0.12207787483930588, + 0.0026363746728748083, + -0.05560269206762314 + ], + "orientation": [ + 0.7539497017860413, + -0.20103105902671814, + 0.5942703485488892, + -0.1949084997177124 + ], + "joints": [ + 0.01360374130308628 + ] + }, + "final_grasp": { + "position": [ + -0.12207787483930588, + 0.0026363746728748083, + -0.05560269206762314 + ], + "orientation": [ + 0.7539497017860413, + -0.20103105902671814, + 0.5942703485488892, + -0.1949084997177124 + ], + "joints": [ + 0.004408726468682289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02127174288034439, + -0.0037486308719962835, + 0.1448976844549179 + ], + "orientation": [ + 0.08418340235948563, + -0.8418008685112, + 0.5324830412864685, + -0.027322513982653618 + ], + "joints": [ + 0.022589046508073807 + ] + }, + "fine_grasp": { + "position": [ + -0.020694447681307793, + -0.004524005576968193, + 0.1416686624288559 + ], + "orientation": [ + 0.08820317685604095, + -0.8414462208747864, + 0.5320629477500916, + -0.03313007578253746 + ], + "joints": [ + 0.014229942113161087 + ] + }, + "final_grasp": { + "position": [ + -0.020694447681307793, + -0.004524005576968193, + 0.1416686624288559 + ], + "orientation": [ + 0.08820317685604095, + -0.8414462208747864, + 0.5320629477500916, + -0.03313007578253746 + ], + "joints": [ + 0.005870837718248367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01892686076462269, + -0.029491132125258446, + -0.1527123600244522 + ], + "orientation": [ + 0.7243407964706421, + -0.05057128891348839, + -0.15165752172470093, + -0.6706510782241821 + ], + "joints": [ + 0.022313924506306648 + ] + }, + "fine_grasp": { + "position": [ + 0.018137255683541298, + -0.028519686311483383, + -0.1490376740694046 + ], + "orientation": [ + 0.7243014574050903, + -0.04966047406196594, + -0.15194544196128845, + -0.6706965565681458 + ], + "joints": [ + 0.012282999232411385 + ] + }, + "final_grasp": { + "position": [ + 0.018137255683541298, + -0.028519686311483383, + -0.1490376740694046 + ], + "orientation": [ + 0.7243014574050903, + -0.04966047406196594, + -0.15194544196128845, + -0.6706965565681458 + ], + "joints": [ + 0.002252073958516121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018656928092241287, + -0.02962668053805828, + -0.1526504009962082 + ], + "orientation": [ + 0.7248209118843079, + -0.0503811277449131, + -0.14950162172317505, + -0.6706308722496033 + ], + "joints": [ + 0.022492744028568268 + ] + }, + "fine_grasp": { + "position": [ + 0.01790795288980007, + -0.028572438284754753, + -0.1489657312631607 + ], + "orientation": [ + 0.7246827483177185, + -0.050129152834415436, + -0.14992652833461761, + -0.670704185962677 + ], + "joints": [ + 0.012461818754673004 + ] + }, + "final_grasp": { + "position": [ + 0.01790795288980007, + -0.028572438284754753, + -0.1489657312631607 + ], + "orientation": [ + 0.7246827483177185, + -0.050129152834415436, + -0.14992652833461761, + -0.670704185962677 + ], + "joints": [ + 0.0024308934807777405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1183146983385086, + 0.040842022746801376, + 0.024674618616700172 + ], + "orientation": [ + 0.5778616666793823, + -0.06881774961948395, + -0.7944981455802917, + 0.17352978885173798 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.11427944898605347, + 0.040287476032972336, + 0.02452646568417549 + ], + "orientation": [ + 0.5852723717689514, + -0.07107535004615784, + -0.7881283164024353, + 0.1767997443675995 + ], + "joints": [ + 0.02203182876110077 + ] + }, + "final_grasp": { + "position": [ + 0.11427944898605347, + 0.040287476032972336, + 0.02452646568417549 + ], + "orientation": [ + 0.5852723717689514, + -0.07107535004615784, + -0.7881283164024353, + 0.1767997443675995 + ], + "joints": [ + 0.013254769146442413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05356331542134285, + 0.12657800316810608, + -0.024647803977131844 + ], + "orientation": [ + 0.624934196472168, + 0.32541224360466003, + -0.5656228065490723, + 0.4285266101360321 + ], + "joints": [ + 0.02555735595524311 + ] + }, + "fine_grasp": { + "position": [ + 0.052095796912908554, + 0.12363792210817337, + -0.023936187848448753 + ], + "orientation": [ + 0.6252112984657288, + 0.3284818232059479, + -0.5634337663650513, + 0.4286641478538513 + ], + "joints": [ + 0.01636234112083912 + ] + }, + "final_grasp": { + "position": [ + 0.052095796912908554, + 0.12363792210817337, + -0.023936187848448753 + ], + "orientation": [ + 0.6252112984657288, + 0.3284818232059479, + -0.5634337663650513, + 0.4286641478538513 + ], + "joints": [ + 0.007167326286435127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1256427764892578, + 0.04027268663048744, + 0.04218804091215134 + ], + "orientation": [ + 0.6263320446014404, + -0.25149473547935486, + -0.6838881969451904, + 0.2770475149154663 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.12216690182685852, + 0.03917121887207031, + 0.04094584658741951 + ], + "orientation": [ + 0.6130749583244324, + -0.24136221408843994, + -0.6980890035629272, + 0.280276894569397 + ], + "joints": [ + 0.02702285349369049 + ] + }, + "final_grasp": { + "position": [ + 0.12216690182685852, + 0.03917121887207031, + 0.04094584658741951 + ], + "orientation": [ + 0.6130749583244324, + -0.24136221408843994, + -0.6980890035629272, + 0.280276894569397 + ], + "joints": [ + 0.021129682660102844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016044856980443, + 0.09385766834020615, + 0.12820976972579956 + ], + "orientation": [ + 0.1994563192129135, + 0.6774114370346069, + 0.6991788744926453, + -0.11171326786279678 + ], + "joints": [ + 0.016869310289621353 + ] + }, + "fine_grasp": { + "position": [ + -0.015575658529996872, + 0.09210661798715591, + 0.12473247945308685 + ], + "orientation": [ + 0.20109713077545166, + 0.6759846806526184, + 0.69993656873703, + -0.1126645877957344 + ], + "joints": [ + 0.0072563402354717255 + ] + }, + "final_grasp": { + "position": [ + -0.015575658529996872, + 0.09210661798715591, + 0.12473247945308685 + ], + "orientation": [ + 0.20109713077545166, + 0.6759846806526184, + 0.69993656873703, + -0.1126645877957344 + ], + "joints": [ + -0.0023566298186779022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020864181220531464, + -0.003475310280919075, + 0.1443643718957901 + ], + "orientation": [ + 0.08197696506977081, + -0.8402044177055359, + 0.5351549983024597, + -0.03074846975505352 + ], + "joints": [ + 0.023075178265571594 + ] + }, + "fine_grasp": { + "position": [ + -0.02025282382965088, + -0.0043576802127063274, + 0.14106661081314087 + ], + "orientation": [ + 0.08751465380191803, + -0.8398614525794983, + 0.5346435904502869, + -0.03361786529421806 + ], + "joints": [ + 0.014716073870658875 + ] + }, + "final_grasp": { + "position": [ + -0.02025282382965088, + -0.0043576802127063274, + 0.14106661081314087 + ], + "orientation": [ + 0.08751465380191803, + -0.8398614525794983, + 0.5346435904502869, + -0.03361786529421806 + ], + "joints": [ + 0.006356969475746155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012049256823956966, + -0.06128787249326706, + 0.12592139840126038 + ], + "orientation": [ + 0.2695712447166443, + -0.6898254752159119, + -0.6479535698890686, + -0.17784357070922852 + ], + "joints": [ + 0.024611497297883034 + ] + }, + "fine_grasp": { + "position": [ + 0.011756299063563347, + -0.059826504439115524, + 0.12361826747655869 + ], + "orientation": [ + 0.2669316530227661, + -0.6925065517425537, + -0.6471081972122192, + -0.1744510382413864 + ], + "joints": [ + 0.015416482463479042 + ] + }, + "final_grasp": { + "position": [ + 0.011756299063563347, + -0.059826504439115524, + 0.12361826747655869 + ], + "orientation": [ + 0.2669316530227661, + -0.6925065517425537, + -0.6471081972122192, + -0.1744510382413864 + ], + "joints": [ + 0.00622146762907505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04060126841068268, + 0.11252734810113907, + -0.06884516030550003 + ], + "orientation": [ + 0.6667226552963257, + 0.26164937019348145, + -0.4508340656757355, + 0.5326997637748718 + ], + "joints": [ + 0.024235965684056282 + ] + }, + "fine_grasp": { + "position": [ + 0.03974178805947304, + 0.10990852117538452, + -0.06728654354810715 + ], + "orientation": [ + 0.6681713461875916, + 0.2634032964706421, + -0.44875219464302063, + 0.5317773222923279 + ], + "joints": [ + 0.014643894508481026 + ] + }, + "final_grasp": { + "position": [ + 0.03974178805947304, + 0.10990852117538452, + -0.06728654354810715 + ], + "orientation": [ + 0.6681713461875916, + 0.2634032964706421, + -0.44875219464302063, + 0.5317773222923279 + ], + "joints": [ + 0.005051823332905769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03333671763539314, + -0.07556210458278656, + -0.10360332578420639 + ], + "orientation": [ + 0.7282281517982483, + -0.21241818368434906, + -0.3595789074897766, + -0.5433833003044128 + ], + "joints": [ + 0.021033277735114098 + ] + }, + "fine_grasp": { + "position": [ + 0.03201013430953026, + -0.07215730100870132, + -0.10214997828006744 + ], + "orientation": [ + 0.7259901165962219, + -0.21296049654483795, + -0.363908976316452, + -0.5432831645011902 + ], + "joints": [ + 0.012674173340201378 + ] + }, + "final_grasp": { + "position": [ + 0.03201013430953026, + -0.07215730100870132, + -0.10214997828006744 + ], + "orientation": [ + 0.7259901165962219, + -0.21296049654483795, + -0.363908976316452, + -0.5432831645011902 + ], + "joints": [ + 0.004315068945288658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0019752683583647013, + 0.10172441601753235, + -0.11555949598550797 + ], + "orientation": [ + 0.5543850064277649, + 0.21469229459762573, + 0.2845994532108307, + -0.7520423531532288 + ], + "joints": [ + 0.018357452005147934 + ] + }, + "fine_grasp": { + "position": [ + 0.0017543690046295524, + 0.0985439270734787, + -0.11344262212514877 + ], + "orientation": [ + 0.550987958908081, + 0.21922145783901215, + 0.29060032963752747, + -0.7509366273880005 + ], + "joints": [ + 0.008723583072423935 + ] + }, + "final_grasp": { + "position": [ + 0.0017543690046295524, + 0.0985439270734787, + -0.11344262212514877 + ], + "orientation": [ + 0.550987958908081, + 0.21922145783901215, + 0.29060032963752747, + -0.7509366273880005 + ], + "joints": [ + -0.0009102858603000641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05272803083062172, + -0.030499836429953575, + 0.1411701887845993 + ], + "orientation": [ + 0.021525567397475243, + -0.8583902716636658, + -0.45352283120155334, + -0.23878826200962067 + ], + "joints": [ + 0.020221125334501266 + ] + }, + "fine_grasp": { + "position": [ + -0.050348181277513504, + -0.02921956777572632, + 0.13824480772018433 + ], + "orientation": [ + 0.021215079352259636, + -0.8500046730041504, + -0.4586164057254791, + -0.2582884132862091 + ], + "joints": [ + 0.011026110500097275 + ] + }, + "final_grasp": { + "position": [ + -0.050348181277513504, + -0.02921956777572632, + 0.13824480772018433 + ], + "orientation": [ + 0.021215079352259636, + -0.8500046730041504, + -0.4586164057254791, + -0.2582884132862091 + ], + "joints": [ + 0.001831095665693283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019017569720745087, + 0.045994509011507034, + -0.1455165445804596 + ], + "orientation": [ + 0.7036592960357666, + 0.05703815817832947, + -0.1602870672941208, + 0.6898683309555054 + ], + "joints": [ + 0.02204592525959015 + ] + }, + "fine_grasp": { + "position": [ + 0.018407389521598816, + 0.04323272407054901, + -0.14279203116893768 + ], + "orientation": [ + 0.701900064945221, + 0.0646119937300682, + -0.16784808039665222, + 0.6891942024230957 + ], + "joints": [ + 0.01322706788778305 + ] + }, + "final_grasp": { + "position": [ + 0.018407389521598816, + 0.04323272407054901, + -0.14279203116893768 + ], + "orientation": [ + 0.701900064945221, + 0.0646119937300682, + -0.16784808039665222, + 0.6891942024230957 + ], + "joints": [ + 0.004408210515975952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000410356413340196, + -0.03560764342546463, + 0.142325758934021 + ], + "orientation": [ + 0.150668665766716, + -0.7766139507293701, + -0.5995304584503174, + -0.1213800460100174 + ], + "joints": [ + 0.023564334958791733 + ] + }, + "fine_grasp": { + "position": [ + 0.0005644751945510507, + -0.03391394391655922, + 0.13922527432441711 + ], + "orientation": [ + 0.14051413536071777, + -0.7629143595695496, + -0.6204042434692383, + -0.11539561301469803 + ], + "joints": [ + 0.014787275344133377 + ] + }, + "final_grasp": { + "position": [ + 0.0005644751945510507, + -0.03391394391655922, + 0.13922527432441711 + ], + "orientation": [ + 0.14051413536071777, + -0.7629143595695496, + -0.6204042434692383, + -0.11539561301469803 + ], + "joints": [ + 0.006010215729475021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02582046203315258, + -0.04509413614869118, + -0.14843794703483582 + ], + "orientation": [ + 0.5887022614479065, + -0.06870615482330322, + -0.24058394134044647, + -0.7686537504196167 + ], + "joints": [ + 0.02046569436788559 + ] + }, + "fine_grasp": { + "position": [ + 0.02449176087975502, + -0.04442966729402542, + -0.14467363059520721 + ], + "orientation": [ + 0.5909583568572998, + -0.06178043410181999, + -0.23704946041107178, + -0.7686083912849426 + ], + "joints": [ + 0.011270679533481598 + ] + }, + "final_grasp": { + "position": [ + 0.02449176087975502, + -0.04442966729402542, + -0.14467363059520721 + ], + "orientation": [ + 0.5909583568572998, + -0.06178043410181999, + -0.23704946041107178, + -0.7686083912849426 + ], + "joints": [ + 0.002075664699077606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02986672706902027, + 0.07875407487154007, + -0.12512436509132385 + ], + "orientation": [ + 0.7292731404304504, + 0.16188615560531616, + 0.2907106280326843, + -0.5978636741638184 + ], + "joints": [ + 0.02188287116587162 + ] + }, + "fine_grasp": { + "position": [ + -0.028916262090206146, + 0.07598422467708588, + -0.12245869636535645 + ], + "orientation": [ + 0.7290249466896057, + 0.16490061581134796, + 0.29353806376457214, + -0.5959578156471252 + ], + "joints": [ + 0.012687856331467628 + ] + }, + "final_grasp": { + "position": [ + -0.028916262090206146, + 0.07598422467708588, + -0.12245869636535645 + ], + "orientation": [ + 0.7290249466896057, + 0.16490061581134796, + 0.29353806376457214, + -0.5959578156471252 + ], + "joints": [ + 0.0034928414970636368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003090801415964961, + -0.06709931045770645, + 0.12400545179843903 + ], + "orientation": [ + 0.2946816086769104, + -0.800735592842102, + 0.4726910889148712, + 0.22033734619617462 + ], + "joints": [ + 0.021014129742980003 + ] + }, + "fine_grasp": { + "position": [ + 0.0033979485742747784, + -0.06440766900777817, + 0.12068797647953033 + ], + "orientation": [ + 0.2866806089878082, + -0.7961311936378479, + 0.48726391792297363, + 0.2157852202653885 + ], + "joints": [ + 0.01388799212872982 + ] + }, + "final_grasp": { + "position": [ + 0.0033979485742747784, + -0.06440766900777817, + 0.12068797647953033 + ], + "orientation": [ + 0.2866806089878082, + -0.7961311936378479, + 0.48726391792297363, + 0.2157852202653885 + ], + "joints": [ + 0.006761854514479637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014903240837156773, + 0.045473527163267136, + 0.14603270590305328 + ], + "orientation": [ + 0.09617583453655243, + 0.7266532182693481, + 0.6583461165428162, + -0.1711891144514084 + ], + "joints": [ + 0.024309154599905014 + ] + }, + "fine_grasp": { + "position": [ + 0.01421682070940733, + 0.04383416101336479, + 0.14244671165943146 + ], + "orientation": [ + 0.09044567495584488, + 0.71572345495224, + 0.6709224581718445, + -0.17153021693229675 + ], + "joints": [ + 0.015511196106672287 + ] + }, + "final_grasp": { + "position": [ + 0.01421682070940733, + 0.04383416101336479, + 0.14244671165943146 + ], + "orientation": [ + 0.09044567495584488, + 0.71572345495224, + 0.6709224581718445, + -0.17153021693229675 + ], + "joints": [ + 0.00671323761343956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03245606645941734, + 0.02219436503946781, + -0.14960891008377075 + ], + "orientation": [ + 0.7136135697364807, + 0.11574612557888031, + -0.06080362945795059, + -0.6882306337356567 + ], + "joints": [ + 0.02212436869740486 + ] + }, + "fine_grasp": { + "position": [ + 0.03126940131187439, + 0.020233599469065666, + -0.14667433500289917 + ], + "orientation": [ + 0.7134265899658203, + 0.12570513784885406, + -0.05456474795937538, + -0.6871996521949768 + ], + "joints": [ + 0.012511398643255234 + ] + }, + "final_grasp": { + "position": [ + 0.03126940131187439, + 0.020233599469065666, + -0.14667433500289917 + ], + "orientation": [ + 0.7134265899658203, + 0.12570513784885406, + -0.05456474795937538, + -0.6871996521949768 + ], + "joints": [ + 0.002898428589105606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016901763156056404, + -0.0965060442686081, + -0.04582884907722473 + ], + "orientation": [ + 0.6138421297073364, + -0.3583274483680725, + 0.4440332353115082, + 0.5455581545829773 + ], + "joints": [ + 0.022851457819342613 + ] + }, + "fine_grasp": { + "position": [ + -0.01614125818014145, + -0.09430721402168274, + -0.04622570797801018 + ], + "orientation": [ + 0.6126911640167236, + -0.35595032572746277, + 0.4417702853679657, + 0.5502253770828247 + ], + "joints": [ + 0.014074398204684258 + ] + }, + "final_grasp": { + "position": [ + -0.01614125818014145, + -0.09430721402168274, + -0.04622570797801018 + ], + "orientation": [ + 0.6126911640167236, + -0.35595032572746277, + 0.4417702853679657, + 0.5502253770828247 + ], + "joints": [ + 0.005297338590025902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03179134801030159, + 0.08522134274244308, + -0.11402693390846252 + ], + "orientation": [ + 0.6583920121192932, + 0.26521313190460205, + 0.08224059641361237, + -0.6995843648910522 + ], + "joints": [ + 0.017979346215724945 + ] + }, + "fine_grasp": { + "position": [ + 0.03081272542476654, + 0.0826110914349556, + -0.11149882525205612 + ], + "orientation": [ + 0.6596475839614868, + 0.2666277289390564, + 0.08480966091156006, + -0.6975544095039368 + ], + "joints": [ + 0.008784331381320953 + ] + }, + "final_grasp": { + "position": [ + 0.03081272542476654, + 0.0826110914349556, + -0.11149882525205612 + ], + "orientation": [ + 0.6596475839614868, + 0.2666277289390564, + 0.08480966091156006, + -0.6975544095039368 + ], + "joints": [ + -0.00041068345308303833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00821796152740717, + -0.10868927836418152, + 0.015948841348290443 + ], + "orientation": [ + 0.4338263273239136, + -0.5448979139328003, + -0.5219998359680176, + -0.49233826994895935 + ], + "joints": [ + 0.02316397614777088 + ] + }, + "fine_grasp": { + "position": [ + -0.008071573451161385, + -0.10469144582748413, + 0.01572566106915474 + ], + "orientation": [ + 0.4335916340351105, + -0.5426673889160156, + -0.5235692262649536, + -0.4933413565158844 + ], + "joints": [ + 0.01396896131336689 + ] + }, + "final_grasp": { + "position": [ + -0.008071573451161385, + -0.10469144582748413, + 0.01572566106915474 + ], + "orientation": [ + 0.4335916340351105, + -0.5426673889160156, + -0.5235692262649536, + -0.4933413565158844 + ], + "joints": [ + 0.004773946478962898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10850639641284943, + -0.03727784380316734, + 0.01318653766065836 + ], + "orientation": [ + 0.6316457986831665, + -0.03866877034306526, + -0.7157685160636902, + -0.2953028678894043 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.10522700846195221, + -0.03471625596284866, + 0.012875414453446865 + ], + "orientation": [ + 0.6223617196083069, + -0.03266085311770439, + -0.7217676043510437, + -0.30108246207237244 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + 0.10522700846195221, + -0.03471625596284866, + 0.012875414453446865 + ], + "orientation": [ + 0.6223617196083069, + -0.03266085311770439, + -0.7217676043510437, + -0.30108246207237244 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04365525767207146, + 0.1298215091228485, + -0.01141878217458725 + ], + "orientation": [ + 0.5961636304855347, + 0.3760146200656891, + 0.5650982856750488, + -0.42879584431648254 + ], + "joints": [ + 0.025054769590497017 + ] + }, + "fine_grasp": { + "position": [ + -0.04294523596763611, + 0.12727519869804382, + -0.010921147651970387 + ], + "orientation": [ + 0.596781849861145, + 0.37721988558769226, + 0.5635291337966919, + -0.4289425015449524 + ], + "joints": [ + 0.015859754756093025 + ] + }, + "final_grasp": { + "position": [ + -0.04294523596763611, + 0.12727519869804382, + -0.010921147651970387 + ], + "orientation": [ + 0.596781849861145, + 0.37721988558769226, + 0.5635291337966919, + -0.4289425015449524 + ], + "joints": [ + 0.0066647399216890335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11194594204425812, + 0.056632377207279205, + -0.003815197153016925 + ], + "orientation": [ + 0.250823050737381, + 0.6840037107467651, + -0.015588820911943913, + -0.684823751449585 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.10835545510053635, + 0.05470441281795502, + -0.002762105083093047 + ], + "orientation": [ + 0.2591637372970581, + 0.6806960105895996, + -0.028066568076610565, + -0.6846161484718323 + ], + "joints": [ + 0.023817110806703568 + ] + }, + "final_grasp": { + "position": [ + 0.10835545510053635, + 0.05470441281795502, + -0.002762105083093047 + ], + "orientation": [ + 0.2591637372970581, + 0.6806960105895996, + -0.028066568076610565, + -0.6846161484718323 + ], + "joints": [ + 0.015875961631536484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020081032067537308, + 0.06891357898712158, + -0.11869208514690399 + ], + "orientation": [ + 0.5103890895843506, + 0.22765177488327026, + 0.19118201732635498, + -0.8069244027137756 + ], + "joints": [ + 0.022072814404964447 + ] + }, + "fine_grasp": { + "position": [ + 0.019837770611047745, + 0.06780242174863815, + -0.11681249737739563 + ], + "orientation": [ + 0.49847912788391113, + 0.22409072518348694, + 0.19329577684402466, + -0.8148243427276611 + ], + "joints": [ + 0.01245984435081482 + ] + }, + "final_grasp": { + "position": [ + 0.019837770611047745, + 0.06780242174863815, + -0.11681249737739563 + ], + "orientation": [ + 0.49847912788391113, + 0.22409072518348694, + 0.19329577684402466, + -0.8148243427276611 + ], + "joints": [ + 0.0028468742966651917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022019077092409134, + 0.04360130429267883, + 0.13277384638786316 + ], + "orientation": [ + 0.06271572411060333, + 0.819847047328949, + -0.5531956553459167, + 0.13376185297966003 + ], + "joints": [ + 0.02217491716146469 + ] + }, + "fine_grasp": { + "position": [ + -0.021056294441223145, + 0.04324851557612419, + 0.12970541417598724 + ], + "orientation": [ + 0.06051876023411751, + 0.834954023361206, + -0.5311796069145203, + 0.1305270940065384 + ], + "joints": [ + 0.013815812766551971 + ] + }, + "final_grasp": { + "position": [ + -0.021056294441223145, + 0.04324851557612419, + 0.12970541417598724 + ], + "orientation": [ + 0.06051876023411751, + 0.834954023361206, + -0.5311796069145203, + 0.1305270940065384 + ], + "joints": [ + 0.005456708371639252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02552938088774681, + 0.140840545296669, + 0.08309027552604675 + ], + "orientation": [ + 0.2263437807559967, + 0.6101049184799194, + -0.6415830850601196, + 0.40609315037727356 + ], + "joints": [ + 0.0171249657869339 + ] + }, + "fine_grasp": { + "position": [ + -0.024698134511709213, + 0.1374479979276657, + 0.08115919679403305 + ], + "orientation": [ + 0.22841288149356842, + 0.6067136526107788, + -0.6420392394065857, + 0.40928199887275696 + ], + "joints": [ + 0.007929950952529907 + ] + }, + "final_grasp": { + "position": [ + -0.024698134511709213, + 0.1374479979276657, + 0.08115919679403305 + ], + "orientation": [ + 0.22841288149356842, + 0.6067136526107788, + -0.6420392394065857, + 0.40928199887275696 + ], + "joints": [ + -0.0012650638818740845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018086016178131104, + 0.047005511820316315, + -0.14299710094928741 + ], + "orientation": [ + 0.7004907131195068, + 0.04246845468878746, + -0.1420767605304718, + 0.6980853080749512 + ], + "joints": [ + 0.0188369732350111 + ] + }, + "fine_grasp": { + "position": [ + 0.01733933575451374, + 0.04446493834257126, + -0.14010213315486908 + ], + "orientation": [ + 0.6979713439941406, + 0.04795067012310028, + -0.1484275907278061, + 0.6989321112632751 + ], + "joints": [ + 0.01045696996152401 + ] + }, + "final_grasp": { + "position": [ + 0.01733933575451374, + 0.04446493834257126, + -0.14010213315486908 + ], + "orientation": [ + 0.6979713439941406, + 0.04795067012310028, + -0.1484275907278061, + 0.6989321112632751 + ], + "joints": [ + 0.0020769666880369186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0031825534533709288, + 0.09696120023727417, + -0.1152922511100769 + ], + "orientation": [ + 0.5349423885345459, + 0.22006399929523468, + 0.30425214767456055, + -0.7568612098693848 + ], + "joints": [ + 0.021331043913960457 + ] + }, + "fine_grasp": { + "position": [ + 0.0029548602178692818, + 0.09422900527715683, + -0.11287342756986618 + ], + "orientation": [ + 0.5322930216789246, + 0.22100646793842316, + 0.3069370687007904, + -0.7573703527450562 + ], + "joints": [ + 0.01171807385981083 + ] + }, + "final_grasp": { + "position": [ + 0.0029548602178692818, + 0.09422900527715683, + -0.11287342756986618 + ], + "orientation": [ + 0.5322930216789246, + 0.22100646793842316, + 0.3069370687007904, + -0.7573703527450562 + ], + "joints": [ + 0.0021051038056612015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012580695562064648, + 0.110230952501297, + -0.08751068264245987 + ], + "orientation": [ + 0.5034229159355164, + 0.329010009765625, + 0.36597150564193726, + -0.7101991176605225 + ], + "joints": [ + 0.023225607350468636 + ] + }, + "fine_grasp": { + "position": [ + 0.011950581334531307, + 0.10714276134967804, + -0.0853675827383995 + ], + "orientation": [ + 0.4981529414653778, + 0.3290487229824066, + 0.366396427154541, + -0.7136696577072144 + ], + "joints": [ + 0.012797625735402107 + ] + }, + "final_grasp": { + "position": [ + 0.011950581334531307, + 0.10714276134967804, + -0.0853675827383995 + ], + "orientation": [ + 0.4981529414653778, + 0.3290487229824066, + 0.366396427154541, + -0.7136696577072144 + ], + "joints": [ + 0.002369644120335579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07568186521530151, + -0.09483866393566132, + 0.055593255907297134 + ], + "orientation": [ + 0.4139685034751892, + -0.7335894107818604, + 0.17020314931869507, + 0.5113780498504639 + ], + "joints": [ + 0.021128427237272263 + ] + }, + "fine_grasp": { + "position": [ + 0.07361258566379547, + -0.09204621613025665, + 0.05464794859290123 + ], + "orientation": [ + 0.41311535239219666, + -0.7366920113563538, + 0.17147007584571838, + 0.5071671605110168 + ], + "joints": [ + 0.011473659425973892 + ] + }, + "final_grasp": { + "position": [ + 0.07361258566379547, + -0.09204621613025665, + 0.05464794859290123 + ], + "orientation": [ + 0.41311535239219666, + -0.7366920113563538, + 0.17147007584571838, + 0.5071671605110168 + ], + "joints": [ + 0.0018188916146755219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00935895275324583, + -0.039295099675655365, + 0.13951542973518372 + ], + "orientation": [ + 0.10086307674646378, + -0.6274576187133789, + 0.7506818771362305, + 0.18055573105812073 + ], + "joints": [ + 0.024617424234747887 + ] + }, + "fine_grasp": { + "position": [ + 0.008644948713481426, + -0.03828665241599083, + 0.13623328506946564 + ], + "orientation": [ + 0.09644077718257904, + -0.6309892535209656, + 0.7491756081581116, + 0.17688345909118652 + ], + "joints": [ + 0.015422409400343895 + ] + }, + "final_grasp": { + "position": [ + 0.008644948713481426, + -0.03828665241599083, + 0.13623328506946564 + ], + "orientation": [ + 0.09644077718257904, + -0.6309892535209656, + 0.7491756081581116, + 0.17688345909118652 + ], + "joints": [ + 0.006227394565939903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02822890505194664, + 0.059790898114442825, + 0.1319604068994522 + ], + "orientation": [ + 0.18982890248298645, + 0.7186232209205627, + 0.6685070991516113, + -0.025374792516231537 + ], + "joints": [ + 0.014958344399929047 + ] + }, + "fine_grasp": { + "position": [ + -0.02774750255048275, + 0.05906960740685463, + 0.12853436172008514 + ], + "orientation": [ + 0.17809996008872986, + 0.7186318635940552, + 0.672037661075592, + -0.014630448073148727 + ], + "joints": [ + 0.006160386838018894 + ] + }, + "final_grasp": { + "position": [ + -0.02774750255048275, + 0.05906960740685463, + 0.12853436172008514 + ], + "orientation": [ + 0.17809996008872986, + 0.7186318635940552, + 0.672037661075592, + -0.014630448073148727 + ], + "joints": [ + -0.0026375707238912582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01917020045220852, + 0.06956978887319565, + -0.11837836354970932 + ], + "orientation": [ + 0.5159241557121277, + 0.2171604484319687, + 0.1904950886964798, + -0.8064583539962769 + ], + "joints": [ + 0.022314628586173058 + ] + }, + "fine_grasp": { + "position": [ + 0.017699312418699265, + 0.06802379339933395, + -0.11674944311380386 + ], + "orientation": [ + 0.502147376537323, + 0.21518047153949738, + 0.19530698657035828, + -0.8144940137863159 + ], + "joints": [ + 0.013119613751769066 + ] + }, + "final_grasp": { + "position": [ + 0.017699312418699265, + 0.06802379339933395, + -0.11674944311380386 + ], + "orientation": [ + 0.502147376537323, + 0.21518047153949738, + 0.19530698657035828, + -0.8144940137863159 + ], + "joints": [ + 0.003924598917365074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03061351552605629, + -0.08817201107740402, + 0.05979735031723976 + ], + "orientation": [ + 0.4340226650238037, + -0.5002208948135376, + -0.6841598749160767, + -0.30549734830856323 + ], + "joints": [ + 0.02367076836526394 + ] + }, + "fine_grasp": { + "position": [ + 0.02987648732960224, + -0.08498822152614594, + 0.05920666083693504 + ], + "orientation": [ + 0.43368595838546753, + -0.500554084777832, + -0.6847004890441895, + -0.3042158782482147 + ], + "joints": [ + 0.014057798311114311 + ] + }, + "final_grasp": { + "position": [ + 0.02987648732960224, + -0.08498822152614594, + 0.05920666083693504 + ], + "orientation": [ + 0.43368595838546753, + -0.500554084777832, + -0.6847004890441895, + -0.3042158782482147 + ], + "joints": [ + 0.0044448282569646835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01918288879096508, + -0.04267052561044693, + 0.13485614955425262 + ], + "orientation": [ + 0.21124592423439026, + -0.6419388055801392, + -0.7301434278488159, + -0.10089799016714096 + ], + "joints": [ + 0.024290602654218674 + ] + }, + "fine_grasp": { + "position": [ + 0.019497890025377274, + -0.04185381159186363, + 0.1320047676563263 + ], + "orientation": [ + 0.21402189135551453, + -0.6458141207695007, + -0.7264081835746765, + -0.09721095114946365 + ], + "joints": [ + 0.014677632600069046 + ] + }, + "final_grasp": { + "position": [ + 0.019497890025377274, + -0.04185381159186363, + 0.1320047676563263 + ], + "orientation": [ + 0.21402189135551453, + -0.6458141207695007, + -0.7264081835746765, + -0.09721095114946365 + ], + "joints": [ + 0.005064662545919418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031111925840377808, + -0.09688162803649902, + -0.057273928076028824 + ], + "orientation": [ + 0.5052236318588257, + -0.48192891478538513, + 0.33144059777259827, + 0.6345398426055908 + ], + "joints": [ + 0.02184428833425045 + ] + }, + "fine_grasp": { + "position": [ + 0.030056921765208244, + -0.092962846159935, + -0.05680863931775093 + ], + "orientation": [ + 0.507659375667572, + -0.4858871400356293, + 0.3277488946914673, + 0.631487250328064 + ], + "joints": [ + 0.013067228719592094 + ] + }, + "final_grasp": { + "position": [ + 0.030056921765208244, + -0.092962846159935, + -0.05680863931775093 + ], + "orientation": [ + 0.507659375667572, + -0.4858871400356293, + 0.3277488946914673, + 0.631487250328064 + ], + "joints": [ + 0.004290169104933739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019983705133199692, + 0.0008653454133309424, + 0.14279256761074066 + ], + "orientation": [ + 0.04444040730595589, + 0.8399092555046082, + 0.5367620587348938, + 0.066813163459301 + ], + "joints": [ + 0.024102075025439262 + ] + }, + "fine_grasp": { + "position": [ + -0.019207991659641266, + 0.001291003543883562, + 0.13982318341732025 + ], + "orientation": [ + 0.04287837818264961, + 0.8304153084754944, + 0.5507867932319641, + 0.07215040922164917 + ], + "joints": [ + 0.01490706019103527 + ] + }, + "final_grasp": { + "position": [ + -0.019207991659641266, + 0.001291003543883562, + 0.13982318341732025 + ], + "orientation": [ + 0.04287837818264961, + 0.8304153084754944, + 0.5507867932319641, + 0.07215040922164917 + ], + "joints": [ + 0.005712045356631279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012508922256529331, + -0.10520590096712112, + -0.03546026721596718 + ], + "orientation": [ + 0.5515111088752747, + -0.3942330479621887, + 0.4927113354206085, + 0.5455743074417114 + ], + "joints": [ + 0.02196056954562664 + ] + }, + "fine_grasp": { + "position": [ + -0.012549793347716331, + -0.1016048789024353, + -0.035441648215055466 + ], + "orientation": [ + 0.547788143157959, + -0.3879239857196808, + 0.4961642324924469, + 0.5506944060325623 + ], + "joints": [ + 0.013183509930968285 + ] + }, + "final_grasp": { + "position": [ + -0.012549793347716331, + -0.1016048789024353, + -0.035441648215055466 + ], + "orientation": [ + 0.547788143157959, + -0.3879239857196808, + 0.4961642324924469, + 0.5506944060325623 + ], + "joints": [ + 0.004406450316309929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01915052905678749, + 0.0017012651078402996, + 0.14306794106960297 + ], + "orientation": [ + 0.03850633651018143, + 0.8474273681640625, + 0.5230668783187866, + 0.08237147331237793 + ], + "joints": [ + 0.02400323562324047 + ] + }, + "fine_grasp": { + "position": [ + -0.018713535740971565, + 0.0015328197041526437, + 0.13953229784965515 + ], + "orientation": [ + 0.04103602468967438, + 0.8385846614837646, + 0.53711998462677, + 0.08120273798704147 + ], + "joints": [ + 0.014390265569090843 + ] + }, + "final_grasp": { + "position": [ + -0.018713535740971565, + 0.0015328197041526437, + 0.13953229784965515 + ], + "orientation": [ + 0.04103602468967438, + 0.8385846614837646, + 0.53711998462677, + 0.08120273798704147 + ], + "joints": [ + 0.0047772955149412155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014242753386497498, + 0.03893318772315979, + -0.12904267013072968 + ], + "orientation": [ + 0.6967431306838989, + 0.10208912193775177, + 0.012858954258263111, + -0.7099024653434753 + ], + "joints": [ + 0.01856258511543274 + ] + }, + "fine_grasp": { + "position": [ + 0.012984882108867168, + 0.03852566331624985, + -0.1275392472743988 + ], + "orientation": [ + 0.6902368068695068, + 0.10188306868076324, + 0.022255662828683853, + -0.7160290479660034 + ], + "joints": [ + 0.009367570281028748 + ] + }, + "final_grasp": { + "position": [ + 0.012984882108867168, + 0.03852566331624985, + -0.1275392472743988 + ], + "orientation": [ + 0.6902368068695068, + 0.10188306868076324, + 0.022255662828683853, + -0.7160290479660034 + ], + "joints": [ + 0.00017255544662475586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11437521129846573, + 0.0383748784661293, + -0.04192003607749939 + ], + "orientation": [ + 0.8405367136001587, + 0.1039874404668808, + -0.5289190411567688, + -0.05412273108959198 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + 0.11051911860704422, + 0.038234930485486984, + -0.04109324514865875 + ], + "orientation": [ + 0.8363456130027771, + 0.11093199253082275, + -0.5337899923324585, + -0.057343509048223495 + ], + "joints": [ + 0.025669533759355545 + ] + }, + "final_grasp": { + "position": [ + 0.11051911860704422, + 0.038234930485486984, + -0.04109324514865875 + ], + "orientation": [ + 0.8363456130027771, + 0.11093199253082275, + -0.5337899923324585, + -0.057343509048223495 + ], + "joints": [ + 0.01772838458418846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11384262144565582, + 0.07109852135181427, + -0.022258467972278595 + ], + "orientation": [ + 0.7424651980400085, + 0.19752727448940277, + 0.634156346321106, + -0.0870295912027359 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.11042512953281403, + 0.06918513774871826, + -0.021367326378822327 + ], + "orientation": [ + 0.7468249201774597, + 0.20166735351085663, + 0.6284042000770569, + -0.08179864287376404 + ], + "joints": [ + 0.023049507290124893 + ] + }, + "final_grasp": { + "position": [ + -0.11042512953281403, + 0.06918513774871826, + -0.021367326378822327 + ], + "orientation": [ + 0.7468249201774597, + 0.20166735351085663, + 0.6284042000770569, + -0.08179864287376404 + ], + "joints": [ + 0.013854492455720901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03284419700503349, + 0.11034995317459106, + -0.06802020221948624 + ], + "orientation": [ + 0.4143279790878296, + 0.45498454570770264, + -0.3923068344593048, + 0.6836787462234497 + ], + "joints": [ + 0.021443592384457588 + ] + }, + "fine_grasp": { + "position": [ + -0.031683918088674545, + 0.10709119588136673, + -0.06657449901103973 + ], + "orientation": [ + 0.4022752642631531, + 0.4459555149078369, + -0.4007355868816376, + 0.691888153553009 + ], + "joints": [ + 0.013084487989544868 + ] + }, + "final_grasp": { + "position": [ + -0.031683918088674545, + 0.10709119588136673, + -0.06657449901103973 + ], + "orientation": [ + 0.4022752642631531, + 0.4459555149078369, + -0.4007355868816376, + 0.691888153553009 + ], + "joints": [ + 0.004725383594632149 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.094689279794693, + -0.05159653723239899, + -0.005927201826125383 + ], + "orientation": [ + 0.691514253616333, + -0.36652061343193054, + -0.6204236149787903, + -0.05044964700937271 + ], + "joints": [ + 0.03041524812579155 + ] + }, + "fine_grasp": { + "position": [ + 0.0917319506406784, + -0.04920029267668724, + -0.005777402780950069 + ], + "orientation": [ + 0.6968111991882324, + -0.3740653097629547, + -0.6105096340179443, + -0.04251283034682274 + ], + "joints": [ + 0.018796097487211227 + ] + }, + "final_grasp": { + "position": [ + 0.0917319506406784, + -0.04920029267668724, + -0.005777402780950069 + ], + "orientation": [ + 0.6968111991882324, + -0.3740653097629547, + -0.6105096340179443, + -0.04251283034682274 + ], + "joints": [ + 0.007176946848630905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03092542476952076, + -0.08805868774652481, + 0.05925843119621277 + ], + "orientation": [ + 0.43349945545196533, + -0.5028886198997498, + -0.6844075918197632, + -0.30127638578414917 + ], + "joints": [ + 0.02364511601626873 + ] + }, + "fine_grasp": { + "position": [ + 0.030088795349001884, + -0.08475655317306519, + 0.05861682444810867 + ], + "orientation": [ + 0.4339337646961212, + -0.5039971470832825, + -0.6844072937965393, + -0.298789381980896 + ], + "joints": [ + 0.014032145962119102 + ] + }, + "final_grasp": { + "position": [ + 0.030088795349001884, + -0.08475655317306519, + 0.05861682444810867 + ], + "orientation": [ + 0.4339337646961212, + -0.5039971470832825, + -0.6844072937965393, + -0.298789381980896 + ], + "joints": [ + 0.004419175907969475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005526089575141668, + -0.10863851755857468, + -0.029291341081261635 + ], + "orientation": [ + 0.5627797245979309, + -0.5309482216835022, + -0.4114249646663666, + -0.4817701578140259 + ], + "joints": [ + 0.021881846711039543 + ] + }, + "fine_grasp": { + "position": [ + -0.005203204695135355, + -0.1044619157910347, + -0.029009636491537094 + ], + "orientation": [ + 0.5681902170181274, + -0.5341187715530396, + -0.4059722125530243, + -0.47651198506355286 + ], + "joints": [ + 0.01394069753587246 + ] + }, + "final_grasp": { + "position": [ + -0.005203204695135355, + -0.1044619157910347, + -0.029009636491537094 + ], + "orientation": [ + 0.5681902170181274, + -0.5341187715530396, + -0.4059722125530243, + -0.47651198506355286 + ], + "joints": [ + 0.005999548360705376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005447136703878641, + -0.10904405266046524, + -0.029480306431651115 + ], + "orientation": [ + 0.5602573752403259, + -0.5359337329864502, + -0.4065789580345154, + -0.4833015203475952 + ], + "joints": [ + 0.023445449769496918 + ] + }, + "fine_grasp": { + "position": [ + -0.0053909821435809135, + -0.10492108017206192, + -0.029236027970910072 + ], + "orientation": [ + 0.5680391788482666, + -0.5406325459480286, + -0.3987739682197571, + -0.475423127412796 + ], + "joints": [ + 0.015086345374584198 + ] + }, + "final_grasp": { + "position": [ + -0.0053909821435809135, + -0.10492108017206192, + -0.029236027970910072 + ], + "orientation": [ + 0.5680391788482666, + -0.5406325459480286, + -0.3987739682197571, + -0.475423127412796 + ], + "joints": [ + 0.006727240979671478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007151094265282154, + -0.0924823060631752, + 0.07348563522100449 + ], + "orientation": [ + 0.3011757731437683, + -0.5860981941223145, + 0.6437290906906128, + 0.3890951871871948 + ], + "joints": [ + 0.023366255685687065 + ] + }, + "fine_grasp": { + "position": [ + 0.006324101705104113, + -0.08886182308197021, + 0.07385203242301941 + ], + "orientation": [ + 0.29463574290275574, + -0.5719245076179504, + 0.6582078337669373, + 0.3909660875797272 + ], + "joints": [ + 0.01458919607102871 + ] + }, + "final_grasp": { + "position": [ + 0.006324101705104113, + -0.08886182308197021, + 0.07385203242301941 + ], + "orientation": [ + 0.29463574290275574, + -0.5719245076179504, + 0.6582078337669373, + 0.3909660875797272 + ], + "joints": [ + 0.005812136456370354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10410574823617935, + 0.10513880103826523, + 0.06944922357797623 + ], + "orientation": [ + 0.013610240072011948, + -0.6142440438270569, + -0.5200076103210449, + 0.5933894515037537 + ], + "joints": [ + 0.014503782615065575 + ] + }, + "fine_grasp": { + "position": [ + 0.10067444294691086, + 0.10267722606658936, + 0.0675124078989029 + ], + "orientation": [ + 0.014981700107455254, + -0.6208918690681458, + -0.5203213095664978, + 0.586118221282959 + ], + "joints": [ + 0.009070364758372307 + ] + }, + "final_grasp": { + "position": [ + 0.10067444294691086, + 0.10267722606658936, + 0.0675124078989029 + ], + "orientation": [ + 0.014981700107455254, + -0.6208918690681458, + -0.5203213095664978, + 0.586118221282959 + ], + "joints": [ + 0.003636946901679039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04446340352296829, + 0.12240903079509735, + -0.04442199692130089 + ], + "orientation": [ + 0.6430968046188354, + 0.276748925447464, + -0.49701693654060364, + 0.5126506686210632 + ], + "joints": [ + 0.02496057003736496 + ] + }, + "fine_grasp": { + "position": [ + 0.04311663657426834, + 0.12157347053289413, + -0.04375850409269333 + ], + "orientation": [ + 0.6435787081718445, + 0.27578073740005493, + -0.49360719323158264, + 0.5158519744873047 + ], + "joints": [ + 0.014929644763469696 + ] + }, + "final_grasp": { + "position": [ + 0.04311663657426834, + 0.12157347053289413, + -0.04375850409269333 + ], + "orientation": [ + 0.6435787081718445, + 0.27578073740005493, + -0.49360719323158264, + 0.5158519744873047 + ], + "joints": [ + 0.004898719489574432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0029777358286082745, + 0.03651873394846916, + -0.1469583958387375 + ], + "orientation": [ + 0.05026852712035179, + 0.048941466957330704, + -0.08030418306589127, + 0.9942982792854309 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + -0.003241531550884247, + 0.035946186631917953, + -0.14351071417331696 + ], + "orientation": [ + 0.052636366337537766, + 0.047848962247371674, + -0.08081792294979095, + 0.9941873550415039 + ], + "joints": [ + 0.018375463783740997 + ] + }, + "final_grasp": { + "position": [ + -0.003241531550884247, + 0.035946186631917953, + -0.14351071417331696 + ], + "orientation": [ + 0.052636366337537766, + 0.047848962247371674, + -0.08081792294979095, + 0.9941873550415039 + ], + "joints": [ + 0.008720695972442627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07868883013725281, + 0.11983420699834824, + -0.07021979242563248 + ], + "orientation": [ + 0.39050647616386414, + 0.4897141456604004, + 0.18831825256347656, + -0.7564529180526733 + ], + "joints": [ + 0.016899393871426582 + ] + }, + "fine_grasp": { + "position": [ + 0.07640060782432556, + 0.11739789694547653, + -0.06900780647993088 + ], + "orientation": [ + 0.3893642723560333, + 0.4918906092643738, + 0.18954125046730042, + -0.7553232312202454 + ], + "joints": [ + 0.0076416851952672005 + ] + }, + "final_grasp": { + "position": [ + 0.07640060782432556, + 0.11739789694547653, + -0.06900780647993088 + ], + "orientation": [ + 0.3893642723560333, + 0.4918906092643738, + 0.18954125046730042, + -0.7553232312202454 + ], + "joints": [ + -0.0016160234808921814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027950964868068695, + -0.07976426184177399, + 0.08356466144323349 + ], + "orientation": [ + 0.3755335509777069, + -0.5953829884529114, + 0.6772420406341553, + 0.21409538388252258 + ], + "joints": [ + 0.02339784801006317 + ] + }, + "fine_grasp": { + "position": [ + -0.02642934024333954, + -0.07619339972734451, + 0.08420711010694504 + ], + "orientation": [ + 0.3772948980331421, + -0.6115075945854187, + 0.6649999618530273, + 0.20367121696472168 + ], + "joints": [ + 0.015038743615150452 + ] + }, + "final_grasp": { + "position": [ + -0.02642934024333954, + -0.07619339972734451, + 0.08420711010694504 + ], + "orientation": [ + 0.3772948980331421, + -0.6115075945854187, + 0.6649999618530273, + 0.20367121696472168 + ], + "joints": [ + 0.006679639220237732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05868230387568474, + 0.021844077855348587, + -0.1253955066204071 + ], + "orientation": [ + 0.9655934572219849, + 0.02163148671388626, + -0.25768494606018066, + -0.027562981471419334 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.05741246044635773, + 0.022101230919361115, + -0.12293519079685211 + ], + "orientation": [ + 0.9659878015518188, + 0.024291526526212692, + -0.2555902600288391, + -0.030838673934340477 + ], + "joints": [ + 0.0197845920920372 + ] + }, + "final_grasp": { + "position": [ + 0.05741246044635773, + 0.022101230919361115, + -0.12293519079685211 + ], + "orientation": [ + 0.9659878015518188, + 0.024291526526212692, + -0.2555902600288391, + -0.030838673934340477 + ], + "joints": [ + 0.01058957725763321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05876053497195244, + 0.022063570097088814, + -0.12538555264472961 + ], + "orientation": [ + 0.965560793876648, + 0.022557437419891357, + -0.2576647400856018, + -0.028149737045168877 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.05748653784394264, + 0.022316480055451393, + -0.12292610853910446 + ], + "orientation": [ + 0.9659491181373596, + 0.024871764704585075, + -0.2556101381778717, + -0.03141748532652855 + ], + "joints": [ + 0.0197845920920372 + ] + }, + "final_grasp": { + "position": [ + 0.05748653784394264, + 0.022316480055451393, + -0.12292610853910446 + ], + "orientation": [ + 0.9659491181373596, + 0.024871764704585075, + -0.2556101381778717, + -0.03141748532652855 + ], + "joints": [ + 0.01058957725763321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058722276240587234, + 0.021856676787137985, + -0.12530788779258728 + ], + "orientation": [ + 0.9658492803573608, + 0.021129466593265533, + -0.25686919689178467, + -0.0265867430716753 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.05743977427482605, + 0.02211122028529644, + -0.12286373972892761 + ], + "orientation": [ + 0.9662731289863586, + 0.023390360176563263, + -0.25472480058670044, + -0.029739059507846832 + ], + "joints": [ + 0.0197845920920372 + ] + }, + "final_grasp": { + "position": [ + 0.05743977427482605, + 0.02211122028529644, + -0.12286373972892761 + ], + "orientation": [ + 0.9662731289863586, + 0.023390360176563263, + -0.25472480058670044, + -0.029739059507846832 + ], + "joints": [ + 0.01058957725763321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10178528726100922, + 0.10883916169404984, + -0.046394798904657364 + ], + "orientation": [ + 0.36190032958984375, + 0.5508268475532532, + -0.09477692097425461, + 0.7460799813270569 + ], + "joints": [ + 0.01598299853503704 + ] + }, + "fine_grasp": { + "position": [ + -0.09878945350646973, + 0.10670187324285507, + -0.04564683139324188 + ], + "orientation": [ + 0.3604622185230255, + 0.5554181933403015, + -0.09549574553966522, + 0.7432752847671509 + ], + "joints": [ + 0.006725289858877659 + ] + }, + "final_grasp": { + "position": [ + -0.09878945350646973, + 0.10670187324285507, + -0.04564683139324188 + ], + "orientation": [ + 0.3604622185230255, + 0.5554181933403015, + -0.09549574553966522, + 0.7432752847671509 + ], + "joints": [ + -0.002532418817281723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052087873220443726, + -0.04030977562069893, + 0.14139831066131592 + ], + "orientation": [ + 0.1922089159488678, + -0.9535994529724121, + 0.05838126689195633, + 0.22426678240299225 + ], + "joints": [ + 0.019195133820176125 + ] + }, + "fine_grasp": { + "position": [ + 0.05072493478655815, + -0.03900972008705139, + 0.13801385462284088 + ], + "orientation": [ + 0.18490435183048248, + -0.956121563911438, + 0.06352587789297104, + 0.2181888371706009 + ], + "joints": [ + 0.008767152205109596 + ] + }, + "final_grasp": { + "position": [ + 0.05072493478655815, + -0.03900972008705139, + 0.13801385462284088 + ], + "orientation": [ + 0.18490435183048248, + -0.956121563911438, + 0.06352587789297104, + 0.2181888371706009 + ], + "joints": [ + -0.001660829409956932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10700255632400513, + 0.10413839668035507, + -0.042641863226890564 + ], + "orientation": [ + 0.35749438405036926, + 0.5680590271949768, + -0.07109244167804718, + 0.7378702759742737 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + -0.10383591800928116, + 0.10106983780860901, + -0.04170185700058937 + ], + "orientation": [ + 0.36025527119636536, + 0.5712125301361084, + -0.07828974723815918, + 0.7333505749702454 + ], + "joints": [ + 0.012149078771471977 + ] + }, + "final_grasp": { + "position": [ + -0.10383591800928116, + 0.10106983780860901, + -0.04170185700058937 + ], + "orientation": [ + 0.36025527119636536, + 0.5712125301361084, + -0.07828974723815918, + 0.7333505749702454 + ], + "joints": [ + 0.0050438400357961655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00685493741184473, + -0.010037960484623909, + 0.16732600331306458 + ], + "orientation": [ + 0.06377129256725311, + -0.9911346435546875, + -0.0989271029829979, + 0.06163448467850685 + ], + "joints": [ + 0.013423100113868713 + ] + }, + "fine_grasp": { + "position": [ + 0.006563227623701096, + -0.00940959807485342, + 0.1630302518606186 + ], + "orientation": [ + 0.07081468403339386, + -0.991287887096405, + -0.10097185522317886, + 0.046241357922554016 + ], + "joints": [ + 0.006317861378192902 + ] + }, + "final_grasp": { + "position": [ + 0.006563227623701096, + -0.00940959807485342, + 0.1630302518606186 + ], + "orientation": [ + 0.07081468403339386, + -0.991287887096405, + -0.10097185522317886, + 0.046241357922554016 + ], + "joints": [ + -0.0007873773574829102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06326846778392792, + 0.026299873366951942, + 0.15781131386756897 + ], + "orientation": [ + 0.08033159375190735, + 0.9560761451721191, + -0.05712166428565979, + 0.2760479152202606 + ], + "joints": [ + 0.011735140345990658 + ] + }, + "fine_grasp": { + "position": [ + -0.06164919212460518, + 0.025569243356585503, + 0.1540592759847641 + ], + "orientation": [ + 0.0752982646226883, + 0.9612223505973816, + -0.060942862182855606, + 0.25820106267929077 + ], + "joints": [ + 0.003376036649569869 + ] + }, + "final_grasp": { + "position": [ + -0.06164919212460518, + 0.025569243356585503, + 0.1540592759847641 + ], + "orientation": [ + 0.0752982646226883, + 0.9612223505973816, + -0.060942862182855606, + 0.25820106267929077 + ], + "joints": [ + -0.00498306704685092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06645028293132782, + 0.02733580581843853, + 0.16105131804943085 + ], + "orientation": [ + 0.08246032148599625, + 0.9613105058670044, + -0.05242781341075897, + 0.2575533092021942 + ], + "joints": [ + 0.01068347692489624 + ] + }, + "fine_grasp": { + "position": [ + -0.06463950872421265, + 0.026494663208723068, + 0.1571977287530899 + ], + "orientation": [ + 0.08252741396427155, + 0.9639453291893005, + -0.055878445506095886, + 0.24673119187355042 + ], + "joints": [ + 0.0035573411732912064 + ] + }, + "final_grasp": { + "position": [ + -0.06463950872421265, + 0.026494663208723068, + 0.1571977287530899 + ], + "orientation": [ + 0.08252741396427155, + 0.9639453291893005, + -0.055878445506095886, + 0.24673119187355042 + ], + "joints": [ + -0.0035687945783138275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11751819401979446, + 0.028857270255684853, + 0.06388042867183685 + ], + "orientation": [ + 0.6753523945808411, + 0.022323230281472206, + -0.7265715599060059, + 0.12447767704725266 + ], + "joints": [ + 0.010434692725539207 + ] + }, + "fine_grasp": { + "position": [ + 0.11426781862974167, + 0.028484929352998734, + 0.06197191774845123 + ], + "orientation": [ + 0.6568208336830139, + 0.023154977709054947, + -0.7442492246627808, + 0.11892545223236084 + ], + "joints": [ + 0.0037265117280185223 + ] + }, + "final_grasp": { + "position": [ + 0.11426781862974167, + 0.028484929352998734, + 0.06197191774845123 + ], + "orientation": [ + 0.6568208336830139, + 0.023154977709054947, + -0.7442492246627808, + 0.11892545223236084 + ], + "joints": [ + -0.002981669269502163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11582835763692856, + 0.027941253036260605, + 0.06429873406887054 + ], + "orientation": [ + 0.6730188727378845, + 0.020337847992777824, + -0.7283973097801208, + 0.126765176653862 + ], + "joints": [ + 0.012108810245990753 + ] + }, + "fine_grasp": { + "position": [ + 0.11285188049077988, + 0.027725163847208023, + 0.06230673938989639 + ], + "orientation": [ + 0.6549456119537354, + 0.02017381601035595, + -0.7458207011222839, + 0.11996137350797653 + ], + "joints": [ + 0.0045229229144752026 + ] + }, + "final_grasp": { + "position": [ + 0.11285188049077988, + 0.027725163847208023, + 0.06230673938989639 + ], + "orientation": [ + 0.6549456119537354, + 0.02017381601035595, + -0.7458207011222839, + 0.11996137350797653 + ], + "joints": [ + -0.003062964417040348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12044860422611237, + -0.020898373797535896, + 0.09002840518951416 + ], + "orientation": [ + 0.06126466765999794, + -0.8904896378517151, + 0.07257840782403946, + 0.44497981667518616 + ], + "joints": [ + 0.008944584988057613 + ] + }, + "fine_grasp": { + "position": [ + 0.11610588431358337, + -0.01997080072760582, + 0.08888668566942215 + ], + "orientation": [ + 0.06331714242696762, + -0.8817135095596313, + 0.07120402157306671, + 0.4620629847049713 + ], + "joints": [ + 0.0034902701154351234 + ] + }, + "final_grasp": { + "position": [ + 0.11610588431358337, + -0.01997080072760582, + 0.08888668566942215 + ], + "orientation": [ + 0.06331714242696762, + -0.8817135095596313, + 0.07120402157306671, + 0.4620629847049713 + ], + "joints": [ + -0.0019640447571873665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12107432633638382, + -0.020366085693240166, + 0.09076301753520966 + ], + "orientation": [ + 0.06171184405684471, + -0.8874902129173279, + 0.07028986513614655, + 0.4512340724468231 + ], + "joints": [ + 0.009371119551360607 + ] + }, + "fine_grasp": { + "position": [ + 0.11682723462581635, + -0.0195058211684227, + 0.08963504433631897 + ], + "orientation": [ + 0.06332190334796906, + -0.8791596293449402, + 0.06887860596179962, + 0.46725189685821533 + ], + "joints": [ + 0.0034988494589924812 + ] + }, + "final_grasp": { + "position": [ + 0.11682723462581635, + -0.0195058211684227, + 0.08963504433631897 + ], + "orientation": [ + 0.06332190334796906, + -0.8791596293449402, + 0.06887860596179962, + 0.46725189685821533 + ], + "joints": [ + -0.0023734206333756447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14247854053974152, + -0.027225693687796593, + 0.010778974741697311 + ], + "orientation": [ + 0.024670084938406944, + -0.6822666525840759, + -0.1463261991739273, + -0.7158856391906738 + ], + "joints": [ + 0.012549868784844875 + ] + }, + "fine_grasp": { + "position": [ + -0.13835446536540985, + -0.02600463107228279, + 0.01085397507995367 + ], + "orientation": [ + 0.02567705139517784, + -0.6820323467254639, + -0.14823466539382935, + -0.7156807780265808 + ], + "joints": [ + 0.005026674829423428 + ] + }, + "final_grasp": { + "position": [ + -0.13835446536540985, + -0.02600463107228279, + 0.01085397507995367 + ], + "orientation": [ + 0.02567705139517784, + -0.6820323467254639, + -0.14823466539382935, + -0.7156807780265808 + ], + "joints": [ + -0.00249651912599802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08688275516033173, + 0.011863150633871555, + 0.1278134435415268 + ], + "orientation": [ + 0.2557993233203888, + -0.07735693454742432, + -0.9608626365661621, + 0.0729772076010704 + ], + "joints": [ + 0.009552699513733387 + ] + }, + "fine_grasp": { + "position": [ + 0.08329088240861893, + 0.012062585912644863, + 0.1254018247127533 + ], + "orientation": [ + 0.28240782022476196, + -0.0810949057340622, + -0.953741192817688, + 0.06361640244722366 + ], + "joints": [ + 0.003659531706944108 + ] + }, + "final_grasp": { + "position": [ + 0.08329088240861893, + 0.012062585912644863, + 0.1254018247127533 + ], + "orientation": [ + 0.28240782022476196, + -0.0810949057340622, + -0.953741192817688, + 0.06361640244722366 + ], + "joints": [ + -0.002233636099845171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08626019954681396, + 0.011700606904923916, + 0.12762507796287537 + ], + "orientation": [ + 0.2564595937728882, + -0.07909608632326126, + -0.9607082009315491, + 0.07079500705003738 + ], + "joints": [ + 0.00974300503730774 + ] + }, + "fine_grasp": { + "position": [ + 0.0827433243393898, + 0.0118417264893651, + 0.1252225935459137 + ], + "orientation": [ + 0.28192949295043945, + -0.0824747383594513, + -0.9538388252258301, + 0.06249070540070534 + ], + "joints": [ + 0.003452779958024621 + ] + }, + "final_grasp": { + "position": [ + 0.0827433243393898, + 0.0118417264893651, + 0.1252225935459137 + ], + "orientation": [ + 0.28192949295043945, + -0.0824747383594513, + -0.9538388252258301, + 0.06249070540070534 + ], + "joints": [ + -0.0028374451212584972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010933901183307171, + -0.03540767729282379, + -0.14600883424282074 + ], + "orientation": [ + 0.6142668128013611, + -0.20391792058944702, + -0.20834118127822876, + -0.7332718372344971 + ], + "joints": [ + 0.01705455221235752 + ] + }, + "fine_grasp": { + "position": [ + -0.009630275890231133, + -0.03718194365501404, + -0.1426592916250229 + ], + "orientation": [ + 0.6166710257530212, + -0.1966967135667801, + -0.18709179759025574, + -0.738934338092804 + ], + "joints": [ + 0.008277492597699165 + ] + }, + "final_grasp": { + "position": [ + -0.009630275890231133, + -0.03718194365501404, + -0.1426592916250229 + ], + "orientation": [ + 0.6166710257530212, + -0.1966967135667801, + -0.18709179759025574, + -0.738934338092804 + ], + "joints": [ + -0.0004995670169591904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12360608577728271, + 0.0392649881541729, + -0.010045625269412994 + ], + "orientation": [ + 0.6909130811691284, + 0.056855209171772, + -0.7182757258415222, + 0.05904655158519745 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + 0.11964564770460129, + 0.038533199578523636, + -0.009546478278934956 + ], + "orientation": [ + 0.6959598660469055, + 0.06019563600420952, + -0.7132939696311951, + 0.05681498721241951 + ], + "joints": [ + 0.02066565677523613 + ] + }, + "final_grasp": { + "position": [ + 0.11964564770460129, + 0.038533199578523636, + -0.009546478278934956 + ], + "orientation": [ + 0.6959598660469055, + 0.06019563600420952, + -0.7132939696311951, + 0.05681498721241951 + ], + "joints": [ + 0.011888597160577774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05911988019943237, + 0.022350989282131195, + -0.1256565898656845 + ], + "orientation": [ + 0.9657678604125977, + 0.024182239547371864, + -0.2565605938434601, + -0.029737159609794617 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.057789482176303864, + 0.022567017003893852, + -0.12315114587545395 + ], + "orientation": [ + 0.9662044048309326, + 0.026344386860728264, + -0.2543569505214691, + -0.03252282366156578 + ], + "joints": [ + 0.020181648433208466 + ] + }, + "final_grasp": { + "position": [ + 0.057789482176303864, + 0.022567017003893852, + -0.12315114587545395 + ], + "orientation": [ + 0.9662044048309326, + 0.026344386860728264, + -0.2543569505214691, + -0.03252282366156578 + ], + "joints": [ + 0.011383689939975739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0581919327378273, + 0.02200373448431492, + -0.125571608543396 + ], + "orientation": [ + 0.9654991030693054, + 0.021599577739834785, + -0.25856828689575195, + -0.022073719650506973 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.056968435645103455, + 0.022296883165836334, + -0.12306224554777145 + ], + "orientation": [ + 0.9663829207420349, + 0.02423156425356865, + -0.2547305226325989, + -0.02508605271577835 + ], + "joints": [ + 0.020202547311782837 + ] + }, + "final_grasp": { + "position": [ + 0.056968435645103455, + 0.022296883165836334, + -0.12306224554777145 + ], + "orientation": [ + 0.9663829207420349, + 0.02423156425356865, + -0.2547305226325989, + -0.02508605271577835 + ], + "joints": [ + 0.011425487697124481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004784887656569481, + -0.052695032209157944, + -0.12956152856349945 + ], + "orientation": [ + 0.8046741485595703, + -0.20435479283332825, + 0.1116117313504219, + 0.5461516380310059 + ], + "joints": [ + 0.024337437003850937 + ] + }, + "fine_grasp": { + "position": [ + 0.00516687985509634, + -0.049921028316020966, + -0.12742358446121216 + ], + "orientation": [ + 0.7997729778289795, + -0.21150967478752136, + 0.11752554774284363, + 0.5493766069412231 + ], + "joints": [ + 0.015142422169446945 + ] + }, + "final_grasp": { + "position": [ + 0.00516687985509634, + -0.049921028316020966, + -0.12742358446121216 + ], + "orientation": [ + 0.7997729778289795, + -0.21150967478752136, + 0.11752554774284363, + 0.5493766069412231 + ], + "joints": [ + 0.0059474073350429535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012905267998576164, + 0.041302140802145004, + 0.1463237851858139 + ], + "orientation": [ + 0.10806490480899811, + 0.4378393292427063, + -0.8847917318344116, + 0.11731249839067459 + ], + "joints": [ + 0.022218216210603714 + ] + }, + "fine_grasp": { + "position": [ + 0.01240693312138319, + 0.040065113455057144, + 0.1423361748456955 + ], + "orientation": [ + 0.1039821207523346, + 0.4243243932723999, + -0.891426682472229, + 0.12039527297019958 + ], + "joints": [ + 0.013859111815690994 + ] + }, + "final_grasp": { + "position": [ + 0.01240693312138319, + 0.040065113455057144, + 0.1423361748456955 + ], + "orientation": [ + 0.1039821207523346, + 0.4243243932723999, + -0.891426682472229, + 0.12039527297019958 + ], + "joints": [ + 0.0055000074207782745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0019315609242767096, + 0.03413345664739609, + 0.13956159353256226 + ], + "orientation": [ + 0.05011311545968056, + 0.47903093695640564, + -0.8681114912033081, + 0.12000221759080887 + ], + "joints": [ + 0.025331176817417145 + ] + }, + "fine_grasp": { + "position": [ + -0.00346046662889421, + 0.03296738490462303, + 0.13715632259845734 + ], + "orientation": [ + 0.0368235781788826, + 0.4714299738407135, + -0.8733000159263611, + 0.11723855882883072 + ], + "joints": [ + 0.015718206763267517 + ] + }, + "final_grasp": { + "position": [ + -0.00346046662889421, + 0.03296738490462303, + 0.13715632259845734 + ], + "orientation": [ + 0.0368235781788826, + 0.4714299738407135, + -0.8733000159263611, + 0.11723855882883072 + ], + "joints": [ + 0.006105236709117889 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08204109966754913, + 0.035798631608486176, + 0.10430147498846054 + ], + "orientation": [ + 0.40806788206100464, + 0.09410971403121948, + 0.9076126217842102, + -0.02938028983771801 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + -0.08063779026269913, + 0.03791743516921997, + 0.10211073607206345 + ], + "orientation": [ + 0.3981727659702301, + 0.07837890088558197, + 0.9127275347709656, + -0.04736676812171936 + ], + "joints": [ + 0.02342231199145317 + ] + }, + "final_grasp": { + "position": [ + -0.08063779026269913, + 0.03791743516921997, + 0.10211073607206345 + ], + "orientation": [ + 0.3981727659702301, + 0.07837890088558197, + 0.9127275347709656, + -0.04736676812171936 + ], + "joints": [ + 0.015063207596540451 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10726020485162735, + 0.04061925411224365, + 0.08237657696008682 + ], + "orientation": [ + 0.11978154629468918, + 0.8174446821212769, + 0.03818090260028839, + 0.5621197819709778 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.10398935526609421, + 0.04023117199540138, + 0.07971802353858948 + ], + "orientation": [ + 0.12677563726902008, + 0.8282422423362732, + 0.043353188782930374, + 0.5441170334815979 + ], + "joints": [ + 0.024235066026449203 + ] + }, + "final_grasp": { + "position": [ + -0.10398935526609421, + 0.04023117199540138, + 0.07971802353858948 + ], + "orientation": [ + 0.12677563726902008, + 0.8282422423362732, + 0.043353188782930374, + 0.5441170334815979 + ], + "joints": [ + 0.016711872071027756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10022024810314178, + 0.04103937745094299, + 0.08356086164712906 + ], + "orientation": [ + 0.520679235458374, + 0.023989804089069366, + 0.8493309617042542, + -0.08339369297027588 + ], + "joints": [ + 0.03273078426718712 + ] + }, + "fine_grasp": { + "position": [ + -0.09763021022081375, + 0.04178426042199135, + 0.0811370313167572 + ], + "orientation": [ + 0.509893000125885, + 0.007396598346531391, + 0.8544591069221497, + -0.09926764667034149 + ], + "joints": [ + 0.024768736213445663 + ] + }, + "final_grasp": { + "position": [ + -0.09763021022081375, + 0.04178426042199135, + 0.0811370313167572 + ], + "orientation": [ + 0.509893000125885, + 0.007396598346531391, + 0.8544591069221497, + -0.09926764667034149 + ], + "joints": [ + 0.01680668815970421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09997809678316116, + 0.040952980518341064, + 0.08349517732858658 + ], + "orientation": [ + 0.5205133557319641, + 0.0235521849244833, + 0.8494318723678589, + -0.08352618664503098 + ], + "joints": [ + 0.03273078426718712 + ] + }, + "fine_grasp": { + "position": [ + -0.09759660065174103, + 0.04178398475050926, + 0.08111068606376648 + ], + "orientation": [ + 0.5100492835044861, + 0.0075661735609173775, + 0.8543696403503418, + -0.09922170639038086 + ], + "joints": [ + 0.024768736213445663 + ] + }, + "final_grasp": { + "position": [ + -0.09759660065174103, + 0.04178398475050926, + 0.08111068606376648 + ], + "orientation": [ + 0.5100492835044861, + 0.0075661735609173775, + 0.8543696403503418, + -0.09922170639038086 + ], + "joints": [ + 0.01680668815970421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0999779999256134, + 0.04090301692485809, + 0.08347187936306 + ], + "orientation": [ + 0.5206719040870667, + 0.023744147270917892, + 0.8493608832359314, + -0.08320498466491699 + ], + "joints": [ + 0.03273078426718712 + ] + }, + "fine_grasp": { + "position": [ + -0.09761412441730499, + 0.041758012026548386, + 0.08109071105718613 + ], + "orientation": [ + 0.5101919770240784, + 0.0076823048293590546, + 0.8543171286582947, + -0.09893132001161575 + ], + "joints": [ + 0.024768736213445663 + ] + }, + "final_grasp": { + "position": [ + -0.09761412441730499, + 0.041758012026548386, + 0.08109071105718613 + ], + "orientation": [ + 0.5101919770240784, + 0.0076823048293590546, + 0.8543171286582947, + -0.09893132001161575 + ], + "joints": [ + 0.01680668815970421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10017045587301254, + 0.041071753948926926, + 0.08350279182195663 + ], + "orientation": [ + 0.5198578238487244, + 0.024980079382658005, + 0.8498675227165222, + -0.08275936543941498 + ], + "joints": [ + 0.03273078426718712 + ] + }, + "fine_grasp": { + "position": [ + -0.0975814014673233, + 0.04181702435016632, + 0.08119599521160126 + ], + "orientation": [ + 0.5090604424476624, + 0.008690215647220612, + 0.855009913444519, + -0.09869210422039032 + ], + "joints": [ + 0.024768736213445663 + ] + }, + "final_grasp": { + "position": [ + -0.0975814014673233, + 0.04181702435016632, + 0.08119599521160126 + ], + "orientation": [ + 0.5090604424476624, + 0.008690215647220612, + 0.855009913444519, + -0.09869210422039032 + ], + "joints": [ + 0.01680668815970421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009863931685686111, + 0.029353177174925804, + 0.14017587900161743 + ], + "orientation": [ + 0.008819304406642914, + 0.02868673764169216, + 0.9990339875221252, + -0.0321013405919075 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.00876232236623764, + 0.03003564663231373, + 0.13661853969097137 + ], + "orientation": [ + 8.365831308765337e-05, + 0.014711852185428143, + 0.999191403388977, + -0.037416715174913406 + ], + "joints": [ + 0.02363070845603943 + ] + }, + "final_grasp": { + "position": [ + 0.00876232236623764, + 0.03003564663231373, + 0.13661853969097137 + ], + "orientation": [ + 8.365831308765337e-05, + 0.014711852185428143, + 0.999191403388977, + -0.037416715174913406 + ], + "joints": [ + 0.015271604061126709 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 220 + } +} \ No newline at end of file diff --git a/048_stapler_4/Object.usd b/048_stapler_4/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..261680d6e48faa38f67b9bdb925c825b4da1faff --- /dev/null +++ b/048_stapler_4/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a816e8b7cf9057f18fa79ce8a480a8651533827d3921ac7594e6d13869ecfa73 +size 352524 diff --git a/049_shampoo_6/Annotation/dex1_1_grasp_pose.json b/049_shampoo_6/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..66362345ebfa44d256cf449dd96c3721381813a3 --- /dev/null +++ b/049_shampoo_6/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "049_shampoo_6", + "bottom_center": [ + 9.015202522277832e-07, + 0.09504634886980057, + -0.04045350104570389 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2042, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/049_shampoo_6/Annotation/piper_grasp_pose.json b/049_shampoo_6/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4930a22205a5910c208ec60f90416b6dc4b26af8 --- /dev/null +++ b/049_shampoo_6/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "049_shampoo_6", + "bottom_center": [ + 9.015202522277832e-07, + 0.09504634886980057, + -0.04045350104570389 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/049_shampoo_6/Object.usd b/049_shampoo_6/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..4fe324a58b06b43e9d9e7024c1f30b866f966392 --- /dev/null +++ b/049_shampoo_6/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ae3ed59b2cbe6f4de7ce8af872b54c71a0bbb534c112935acd88b057e89ff61 +size 273795 diff --git a/051_candlestick_4/Annotation/dex1_1_grasp_pose.json b/051_candlestick_4/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..64aab78635e63e809827f58b6576b35e9323a3d3 --- /dev/null +++ b/051_candlestick_4/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,418 @@ +{ + "type": "051_candlestick_4", + "bottom_center": [ + 3.620237112045288e-05, + 0.08651284873485565, + -0.034414198249578476 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.03622554615139961, + -0.1069132462143898, + 0.013764575123786926 + ], + "orientation": [ + 0.7078354358673096, + -0.014654441736638546, + 0.7017080783843994, + -0.07974965870380402 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.035603396594524384, + -0.10702209174633026, + 0.016304325312376022 + ], + "orientation": [ + 0.71490877866745, + -0.011026663705706596, + 0.6936845779418945, + -0.0870944932103157 + ], + "joints": [ + -0.008523684926331043 + ] + }, + "final_grasp": { + "position": [ + -0.035603396594524384, + -0.10702209174633026, + 0.016304325312376022 + ], + "orientation": [ + 0.71490877866745, + -0.011026663705706596, + 0.6936845779418945, + -0.0870944932103157 + ], + "joints": [ + -0.004113068804144859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09961086511611938, + 0.28033316135406494, + 0.009896566160023212 + ], + "orientation": [ + 0.08987335115671158, + -0.7579495310783386, + 0.045355185866355896, + 0.6444984674453735 + ], + "joints": [ + -0.0015282963868230581 + ] + }, + "fine_grasp": { + "position": [ + 0.10053086280822754, + 0.2815972566604614, + 0.010546933859586716 + ], + "orientation": [ + 0.07984878867864609, + -0.7553232908248901, + 0.03890649229288101, + 0.6493052244186401 + ], + "joints": [ + 0.005459608510136604 + ] + }, + "final_grasp": { + "position": [ + 0.10053086280822754, + 0.2815972566604614, + 0.010546933859586716 + ], + "orientation": [ + 0.07984878867864609, + -0.7553232908248901, + 0.03890649229288101, + 0.6493052244186401 + ], + "joints": [ + 0.01244751363992691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09844078123569489, + 0.2786085903644562, + 0.010085934773087502 + ], + "orientation": [ + 0.08977844566106796, + -0.7645134329795837, + 0.04353783652186394, + 0.6368386745452881 + ], + "joints": [ + -0.0017990246415138245 + ] + }, + "fine_grasp": { + "position": [ + 0.09961128979921341, + 0.2794038653373718, + 0.011679558083415031 + ], + "orientation": [ + 0.08159139752388, + -0.7625069618225098, + 0.03688822314143181, + 0.6407536268234253 + ], + "joints": [ + 0.005135740619152784 + ] + }, + "final_grasp": { + "position": [ + 0.09961128979921341, + 0.2794038653373718, + 0.011679558083415031 + ], + "orientation": [ + 0.08159139752388, + -0.7625069618225098, + 0.03688822314143181, + 0.6407536268234253 + ], + "joints": [ + 0.012070505879819393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04255976527929306, + -0.11479669064283371, + -0.02417772077023983 + ], + "orientation": [ + 0.759846568107605, + 0.12970390915870667, + 0.6367988586425781, + -0.01723969168961048 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.043071094900369644, + -0.11269370466470718, + -0.023609165102243423 + ], + "orientation": [ + 0.761413037776947, + 0.12317461520433426, + 0.6363456845283508, + -0.011933624744415283 + ], + "joints": [ + -0.007315668277442455 + ] + }, + "final_grasp": { + "position": [ + -0.043071094900369644, + -0.11269370466470718, + -0.023609165102243423 + ], + "orientation": [ + 0.761413037776947, + 0.12317461520433426, + 0.6363456845283508, + -0.011933624744415283 + ], + "joints": [ + 0.0006287563592195511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04297691211104393, + -0.11378675699234009, + -0.02395913191139698 + ], + "orientation": [ + 0.7588821649551392, + 0.12683993577957153, + 0.6385762691497803, + -0.015163823962211609 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.04309505596756935, + -0.11270254850387573, + -0.023148752748966217 + ], + "orientation": [ + 0.7597851753234863, + 0.12399252504110336, + 0.6380701661109924, + -0.014794961549341679 + ], + "joints": [ + -0.007793928496539593 + ] + }, + "final_grasp": { + "position": [ + -0.04309505596756935, + -0.11270254850387573, + -0.023148752748966217 + ], + "orientation": [ + 0.7597851753234863, + 0.12399252504110336, + 0.6380701661109924, + -0.014794961549341679 + ], + "joints": [ + -0.0003277640789747238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027062030509114265, + -0.11126691102981567, + 0.007308304775506258 + ], + "orientation": [ + 0.6127866506576538, + -0.11957835406064987, + 0.7789856195449829, + 0.058095697313547134 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.028500160202383995, + -0.1149483472108841, + 0.008665120229125023 + ], + "orientation": [ + 0.6168495416641235, + -0.11741351336240768, + 0.7757144570350647, + 0.0630706176161766 + ], + "joints": [ + -0.010920420289039612 + ] + }, + "final_grasp": { + "position": [ + 0.028500160202383995, + -0.1149483472108841, + 0.008665120229125023 + ], + "orientation": [ + 0.6168495416641235, + -0.11741351336240768, + 0.7757144570350647, + 0.0630706176161766 + ], + "joints": [ + -0.004490477964282036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027038512751460075, + -0.11130272597074509, + 0.00721777556464076 + ], + "orientation": [ + 0.6137791275978088, + -0.11928709596395493, + 0.7782122492790222, + 0.05857789143919945 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.028441686183214188, + -0.11513334512710571, + 0.008488050661981106 + ], + "orientation": [ + 0.6179361343383789, + -0.1166713684797287, + 0.7749131321907043, + 0.06365934759378433 + ], + "joints": [ + -0.010920420289039612 + ] + }, + "final_grasp": { + "position": [ + 0.028441686183214188, + -0.11513334512710571, + 0.008488050661981106 + ], + "orientation": [ + 0.6179361343383789, + -0.1166713684797287, + 0.7749131321907043, + 0.06365934759378433 + ], + "joints": [ + -0.004490477964282036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027063433080911636, + -0.11132118105888367, + 0.007232219446450472 + ], + "orientation": [ + 0.614024817943573, + -0.1193586140871048, + 0.7780047655105591, + 0.05861283838748932 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.0284441988915205, + -0.11516769975423813, + 0.008478039875626564 + ], + "orientation": [ + 0.6181526780128479, + -0.11664697527885437, + 0.7747370004653931, + 0.06374470889568329 + ], + "joints": [ + -0.010920420289039612 + ] + }, + "final_grasp": { + "position": [ + 0.0284441988915205, + -0.11516769975423813, + 0.008478039875626564 + ], + "orientation": [ + 0.6181526780128479, + -0.11664697527885437, + 0.7747370004653931, + 0.06374470889568329 + ], + "joints": [ + -0.004490477964282036 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2033, + "num_passed": 8 + } +} \ No newline at end of file diff --git a/051_candlestick_4/Annotation/piper_grasp_pose.json b/051_candlestick_4/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..3ce8a117a2226fad7ee8d001d7290f3ae20be904 --- /dev/null +++ b/051_candlestick_4/Annotation/piper_grasp_pose.json @@ -0,0 +1,2268 @@ +{ + "type": "051_candlestick_4", + "bottom_center": [ + 3.620237112045288e-05, + 0.08651284873485565, + -0.034414198249578476 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.1124192550778389, + 0.2616209387779236, + -0.007067546714097261 + ], + "orientation": [ + 0.7065545320510864, + 0.6784057021141052, + -0.10031411051750183, + -0.17459513247013092 + ], + "joints": [ + 0.027737729251384735 + ] + }, + "fine_grasp": { + "position": [ + 0.11189541965723038, + 0.2575937509536743, + -0.006606666836887598 + ], + "orientation": [ + 0.7057797312736511, + 0.6790739893913269, + -0.09185156226158142, + -0.17971311509609222 + ], + "joints": [ + 0.01896066963672638 + ] + }, + "final_grasp": { + "position": [ + 0.11189541965723038, + 0.2575937509536743, + -0.006606666836887598 + ], + "orientation": [ + 0.7057797312736511, + 0.6790739893913269, + -0.09185156226158142, + -0.17971311509609222 + ], + "joints": [ + 0.010183610022068024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.19401314854621887, + 0.13965924084186554, + -0.01997390203177929 + ], + "orientation": [ + 0.6081069707870483, + 0.4992699921131134, + 0.4141656756401062, + 0.4576048254966736 + ], + "joints": [ + 0.009813452139496803 + ] + }, + "fine_grasp": { + "position": [ + -0.1897520273923874, + 0.14079558849334717, + -0.01951245218515396 + ], + "orientation": [ + 0.5994122624397278, + 0.48995471000671387, + 0.42680278420448303, + 0.4674277901649475 + ], + "joints": [ + 0.0035232268273830414 + ] + }, + "final_grasp": { + "position": [ + -0.1897520273923874, + 0.14079558849334717, + -0.01951245218515396 + ], + "orientation": [ + 0.5994122624397278, + 0.48995471000671387, + 0.42680278420448303, + 0.4674277901649475 + ], + "joints": [ + -0.0027669984847307205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10830660164356232, + -0.0001176791702164337, + 0.06871379166841507 + ], + "orientation": [ + 0.14438298344612122, + 0.6410366296768188, + 0.5880973935127258, + 0.4715580344200134 + ], + "joints": [ + 0.018176952376961708 + ] + }, + "fine_grasp": { + "position": [ + -0.10476439446210861, + -0.002346267458051443, + 0.06700242310762405 + ], + "orientation": [ + 0.1760275959968567, + 0.6519070863723755, + 0.5738700032234192, + 0.46336236596107483 + ], + "joints": [ + 0.012325579300522804 + ] + }, + "final_grasp": { + "position": [ + -0.10476439446210861, + -0.002346267458051443, + 0.06700242310762405 + ], + "orientation": [ + 0.1760275959968567, + 0.6519070863723755, + 0.5738700032234192, + 0.46336236596107483 + ], + "joints": [ + 0.0064742062240839005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10288150608539581, + 0.014690207317471504, + -0.07631934434175491 + ], + "orientation": [ + 0.5397046804428101, + 0.274753600358963, + 0.3872072100639343, + 0.6951977014541626 + ], + "joints": [ + 0.019198499619960785 + ] + }, + "fine_grasp": { + "position": [ + -0.10049376636743546, + 0.011944493278861046, + -0.07404715567827225 + ], + "orientation": [ + 0.550180971622467, + 0.2838045656681061, + 0.371284544467926, + 0.6920286417007446 + ], + "joints": [ + 0.011675305664539337 + ] + }, + "final_grasp": { + "position": [ + -0.10049376636743546, + 0.011944493278861046, + -0.07404715567827225 + ], + "orientation": [ + 0.550180971622467, + 0.2838045656681061, + 0.371284544467926, + 0.6920286417007446 + ], + "joints": [ + 0.004152111709117889 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17961716651916504, + 0.06631553173065186, + -0.021521523594856262 + ], + "orientation": [ + 0.2966304421424866, + 0.43780356645584106, + -0.47880709171295166, + -0.7007725238800049 + ], + "joints": [ + 0.013606790453195572 + ] + }, + "fine_grasp": { + "position": [ + 0.17650996148586273, + 0.06911105662584305, + -0.020899061113595963 + ], + "orientation": [ + 0.287956178188324, + 0.4321610629558563, + -0.48474806547164917, + -0.7038020491600037 + ], + "joints": [ + 0.005665641278028488 + ] + }, + "final_grasp": { + "position": [ + 0.17650996148586273, + 0.06911105662584305, + -0.020899061113595963 + ], + "orientation": [ + 0.287956178188324, + 0.4321610629558563, + -0.48474806547164917, + -0.7038020491600037 + ], + "joints": [ + -0.0022755078971385956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.17193162441253662, + 0.06513208150863647, + -0.025555269792675972 + ], + "orientation": [ + 0.4530967175960541, + 0.28303197026252747, + 0.5583098530769348, + 0.6347332000732422 + ], + "joints": [ + 0.01187987718731165 + ] + }, + "fine_grasp": { + "position": [ + -0.16978292167186737, + 0.06863714009523392, + -0.02474874258041382 + ], + "orientation": [ + 0.4420989751815796, + 0.26751235127449036, + 0.5647759437561035, + 0.6434390544891357 + ], + "joints": [ + 0.003938728012144566 + ] + }, + "final_grasp": { + "position": [ + -0.16978292167186737, + 0.06863714009523392, + -0.02474874258041382 + ], + "orientation": [ + 0.4420989751815796, + 0.26751235127449036, + 0.5647759437561035, + 0.6434390544891357 + ], + "joints": [ + -0.004002421163022518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.17313160002231598, + 0.06554434448480606, + -0.025223759934306145 + ], + "orientation": [ + 0.44991937279701233, + 0.26767128705978394, + 0.5615621209144592, + 0.640759289264679 + ], + "joints": [ + 0.01382521353662014 + ] + }, + "fine_grasp": { + "position": [ + -0.1705159693956375, + 0.06860271841287613, + -0.024858340620994568 + ], + "orientation": [ + 0.4403313100337982, + 0.258311927318573, + 0.5699734687805176, + 0.6438271999359131 + ], + "joints": [ + 0.004630198702216148 + ] + }, + "final_grasp": { + "position": [ + -0.1705159693956375, + 0.06860271841287613, + -0.024858340620994568 + ], + "orientation": [ + 0.4403313100337982, + 0.258311927318573, + 0.5699734687805176, + 0.6438271999359131 + ], + "joints": [ + -0.004564816132187843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16438448429107666, + 0.0702798143029213, + -0.057736609131097794 + ], + "orientation": [ + 0.47926634550094604, + 0.21559928357601166, + 0.46007299423217773, + 0.7156490087509155 + ], + "joints": [ + 0.01520492136478424 + ] + }, + "fine_grasp": { + "position": [ + -0.16154168546199799, + 0.07266931980848312, + -0.05620700865983963 + ], + "orientation": [ + 0.4775165915489197, + 0.21368785202503204, + 0.4642675518989563, + 0.7146825790405273 + ], + "joints": [ + 0.006009906530380249 + ] + }, + "final_grasp": { + "position": [ + -0.16154168546199799, + 0.07266931980848312, + -0.05620700865983963 + ], + "orientation": [ + 0.4775165915489197, + 0.21368785202503204, + 0.4642675518989563, + 0.7146825790405273 + ], + "joints": [ + -0.0031851083040237427 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015832871198654175, + 0.2732951045036316, + -0.05116363242268562 + ], + "orientation": [ + 0.021820468828082085, + 0.06403183192014694, + 0.5181052684783936, + -0.852637529373169 + ], + "joints": [ + 0.024969402700662613 + ] + }, + "fine_grasp": { + "position": [ + 0.015130178071558475, + 0.2698230445384979, + -0.049249470233917236 + ], + "orientation": [ + 0.0195524413138628, + 0.06585328280925751, + 0.5202032923698425, + -0.8512752652168274 + ], + "joints": [ + 0.01577438786625862 + ] + }, + "final_grasp": { + "position": [ + 0.015130178071558475, + 0.2698230445384979, + -0.049249470233917236 + ], + "orientation": [ + 0.0195524413138628, + 0.06585328280925751, + 0.5202032923698425, + -0.8512752652168274 + ], + "joints": [ + 0.0065793730318546295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044961534440517426, + 0.2532126009464264, + -0.06621194630861282 + ], + "orientation": [ + 0.8833398222923279, + 0.4305695593357086, + -0.17357920110225677, + -0.06473702937364578 + ], + "joints": [ + 0.027057699859142303 + ] + }, + "fine_grasp": { + "position": [ + 0.043929409235715866, + 0.25042662024497986, + -0.0636754259467125 + ], + "orientation": [ + 0.8822199702262878, + 0.4339291453361511, + -0.17040622234344482, + -0.06599323451519012 + ], + "joints": [ + 0.015020594000816345 + ] + }, + "final_grasp": { + "position": [ + 0.043929409235715866, + 0.25042662024497986, + -0.0636754259467125 + ], + "orientation": [ + 0.8822199702262878, + 0.4339291453361511, + -0.17040622234344482, + -0.06599323451519012 + ], + "joints": [ + 0.002983488142490387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015872685238718987, + 0.06879018247127533, + 0.11973794549703598 + ], + "orientation": [ + 0.1243392676115036, + 0.6387732625007629, + 0.7553593516349792, + -0.07707618921995163 + ], + "joints": [ + 0.021827440708875656 + ] + }, + "fine_grasp": { + "position": [ + -0.015400655567646027, + 0.06664836406707764, + 0.116402268409729 + ], + "orientation": [ + 0.13582448661327362, + 0.6322075724601746, + 0.7570285201072693, + -0.09366425126791 + ], + "joints": [ + 0.013865392655134201 + ] + }, + "final_grasp": { + "position": [ + -0.015400655567646027, + 0.06664836406707764, + 0.116402268409729 + ], + "orientation": [ + 0.13582448661327362, + 0.6322075724601746, + 0.7570285201072693, + -0.09366425126791 + ], + "joints": [ + 0.005903344601392746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13476328551769257, + 0.114120714366436, + 0.10018445551395416 + ], + "orientation": [ + 0.29901257157325745, + -0.0018290197476744652, + -0.9480202198028564, + -0.10883808135986328 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.13298797607421875, + 0.11457351595163345, + 0.09670361131429672 + ], + "orientation": [ + 0.2970048189163208, + -0.00035685001057572663, + -0.947507381439209, + -0.11839736253023148 + ], + "joints": [ + 0.023071501404047012 + ] + }, + "final_grasp": { + "position": [ + 0.13298797607421875, + 0.11457351595163345, + 0.09670361131429672 + ], + "orientation": [ + 0.2970048189163208, + -0.00035685001057572663, + -0.947507381439209, + -0.11839736253023148 + ], + "joints": [ + 0.013458531349897385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013960926793515682, + -0.03349290415644646, + -0.13985392451286316 + ], + "orientation": [ + 0.01899702660739422, + 0.05369115248322487, + 0.17037475109100342, + 0.9837321043014526 + ], + "joints": [ + 0.01787225902080536 + ] + }, + "fine_grasp": { + "position": [ + -0.01377527043223381, + -0.032175224274396896, + -0.13610777258872986 + ], + "orientation": [ + 0.01898208260536194, + 0.0527024082839489, + 0.16835492849349976, + 0.9841335415840149 + ], + "joints": [ + 0.008656345307826996 + ] + }, + "final_grasp": { + "position": [ + -0.01377527043223381, + -0.032175224274396896, + -0.13610777258872986 + ], + "orientation": [ + 0.01898208260536194, + 0.0527024082839489, + 0.16835492849349976, + 0.9841335415840149 + ], + "joints": [ + -0.0005595684051513672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01315476093441248, + -0.03281797468662262, + -0.13608907163143158 + ], + "orientation": [ + 0.025800108909606934, + 0.05734958127140999, + 0.17105093598365784, + 0.9832532405853271 + ], + "joints": [ + 0.01840454712510109 + ] + }, + "fine_grasp": { + "position": [ + -0.012988043949007988, + -0.03140832483768463, + -0.13264213502407074 + ], + "orientation": [ + 0.02578550949692726, + 0.05653325095772743, + 0.16942620277404785, + 0.983582079410553 + ], + "joints": [ + 0.009585689753293991 + ] + }, + "final_grasp": { + "position": [ + -0.012988043949007988, + -0.03140832483768463, + -0.13264213502407074 + ], + "orientation": [ + 0.02578550949692726, + 0.05653325095772743, + 0.16942620277404785, + 0.983582079410553 + ], + "joints": [ + 0.0007668323814868927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12578359246253967, + -0.038182757794857025, + 0.03590480610728264 + ], + "orientation": [ + 0.23066557943820953, + -0.775411069393158, + -0.013930045068264008, + -0.5876538157463074 + ], + "joints": [ + 0.019908759742975235 + ] + }, + "fine_grasp": { + "position": [ + -0.12290246039628983, + -0.03693138062953949, + 0.03485787287354469 + ], + "orientation": [ + 0.23305411636829376, + -0.7783405184745789, + -0.011201310902833939, + -0.5828776359558105 + ], + "joints": [ + 0.0106719471514225 + ] + }, + "final_grasp": { + "position": [ + -0.12290246039628983, + -0.03693138062953949, + 0.03485787287354469 + ], + "orientation": [ + 0.23305411636829376, + -0.7783405184745789, + -0.011201310902833939, + -0.5828776359558105 + ], + "joints": [ + 0.0014351345598697662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018625017255544662, + -0.022048212587833405, + 0.1327112764120102 + ], + "orientation": [ + 0.135658860206604, + -0.9795562624931335, + 0.0947125107049942, + -0.11443684995174408 + ], + "joints": [ + 0.018319690600037575 + ] + }, + "fine_grasp": { + "position": [ + -0.01817908324301243, + -0.020892787724733353, + 0.12951421737670898 + ], + "orientation": [ + 0.13620805740356445, + -0.9805079102516174, + 0.09652439504861832, + -0.10360851883888245 + ], + "joints": [ + 0.009918788447976112 + ] + }, + "final_grasp": { + "position": [ + -0.01817908324301243, + -0.020892787724733353, + 0.12951421737670898 + ], + "orientation": [ + 0.13620805740356445, + -0.9805079102516174, + 0.09652439504861832, + -0.10360851883888245 + ], + "joints": [ + 0.00151788629591465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12417581677436829, + -0.03655993193387985, + 0.036410167813301086 + ], + "orientation": [ + 0.21548336744308472, + -0.7723153829574585, + -0.02669367380440235, + -0.5969785451889038 + ], + "joints": [ + 0.020068198442459106 + ] + }, + "fine_grasp": { + "position": [ + -0.12139163911342621, + -0.03520641103386879, + 0.03550003841519356 + ], + "orientation": [ + 0.21702642738819122, + -0.7741231918334961, + -0.023558951914310455, + -0.5942033529281616 + ], + "joints": [ + 0.010831385850906372 + ] + }, + "final_grasp": { + "position": [ + -0.12139163911342621, + -0.03520641103386879, + 0.03550003841519356 + ], + "orientation": [ + 0.21702642738819122, + -0.7741231918334961, + -0.023558951914310455, + -0.5942033529281616 + ], + "joints": [ + 0.0015945732593536377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01494221854954958, + -0.03181418403983116, + -0.13502487540245056 + ], + "orientation": [ + 0.9834654927253723, + -0.1647653728723526, + -0.05899380147457123, + -0.04656001180410385 + ], + "joints": [ + 0.018979832530021667 + ] + }, + "fine_grasp": { + "position": [ + 0.014514375478029251, + -0.030373647809028625, + -0.13144341111183167 + ], + "orientation": [ + 0.9836675524711609, + -0.16344211995601654, + -0.05939045175909996, + -0.04644966870546341 + ], + "joints": [ + 0.010578930377960205 + ] + }, + "final_grasp": { + "position": [ + 0.014514375478029251, + -0.030373647809028625, + -0.13144341111183167 + ], + "orientation": [ + 0.9836675524711609, + -0.16344211995601654, + -0.05939045175909996, + -0.04644966870546341 + ], + "joints": [ + 0.0021780282258987427 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013827684335410595, + -0.032951805740594864, + -0.1414361447095871 + ], + "orientation": [ + 0.022528596222400665, + 0.05866909772157669, + 0.16738595068454742, + 0.9838863015174866 + ], + "joints": [ + 0.016783706843852997 + ] + }, + "fine_grasp": { + "position": [ + -0.013683076947927475, + -0.0316334068775177, + -0.1378425508737564 + ], + "orientation": [ + 0.022569002583622932, + 0.057868894189596176, + 0.1655043512582779, + 0.9842510223388672 + ], + "joints": [ + 0.008779861964285374 + ] + }, + "final_grasp": { + "position": [ + -0.013683076947927475, + -0.0316334068775177, + -0.1378425508737564 + ], + "orientation": [ + 0.022569002583622932, + 0.057868894189596176, + 0.1655043512582779, + 0.9842510223388672 + ], + "joints": [ + 0.0007760170847177505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10977203398942947, + 0.005129653494805098, + -0.08779826015233994 + ], + "orientation": [ + 0.16039477288722992, + 0.4707340598106384, + -0.09898120164871216, + -0.8619081974029541 + ], + "joints": [ + 0.019504398107528687 + ] + }, + "fine_grasp": { + "position": [ + 0.10714505612850189, + 0.005244477652013302, + -0.08494552969932556 + ], + "orientation": [ + 0.16071932017803192, + 0.46569177508354187, + -0.10276172310113907, + -0.8641415238380432 + ], + "joints": [ + 0.01072733849287033 + ] + }, + "final_grasp": { + "position": [ + 0.10714505612850189, + 0.005244477652013302, + -0.08494552969932556 + ], + "orientation": [ + 0.16071932017803192, + 0.46569177508354187, + -0.10276172310113907, + -0.8641415238380432 + ], + "joints": [ + 0.001950278878211975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018551312386989594, + -0.020693056285381317, + 0.13373401761054993 + ], + "orientation": [ + 0.13085271418094635, + -0.9796203970909119, + 0.0999315083026886, + -0.1150442585349083 + ], + "joints": [ + 0.01788521558046341 + ] + }, + "fine_grasp": { + "position": [ + -0.018028587102890015, + -0.019444182515144348, + 0.13061147928237915 + ], + "orientation": [ + 0.13017022609710693, + -0.9804933071136475, + 0.10278058797121048, + -0.10547400265932083 + ], + "joints": [ + 0.009505212306976318 + ] + }, + "final_grasp": { + "position": [ + -0.018028587102890015, + -0.019444182515144348, + 0.13061147928237915 + ], + "orientation": [ + 0.13017022609710693, + -0.9804933071136475, + 0.10278058797121048, + -0.10547400265932083 + ], + "joints": [ + 0.0011252090334892273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016040639951825142, + -0.033419884741306305, + -0.13534770905971527 + ], + "orientation": [ + 0.9829060435295105, + -0.16829851269721985, + -0.051956187933683395, + -0.05359091982245445 + ], + "joints": [ + 0.018834754824638367 + ] + }, + "fine_grasp": { + "position": [ + 0.015546396374702454, + -0.032177332788705826, + -0.13185177743434906 + ], + "orientation": [ + 0.9827911853790283, + -0.16871391236782074, + -0.05279266834259033, + -0.05357368290424347 + ], + "joints": [ + 0.009994998574256897 + ] + }, + "final_grasp": { + "position": [ + 0.015546396374702454, + -0.032177332788705826, + -0.13185177743434906 + ], + "orientation": [ + 0.9827911853790283, + -0.16871391236782074, + -0.05279266834259033, + -0.05357368290424347 + ], + "joints": [ + 0.0011552423238754272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016001220792531967, + -0.033279046416282654, + -0.13566797971725464 + ], + "orientation": [ + 0.9829482436180115, + -0.16781878471374512, + -0.052994463592767715, + -0.05330418795347214 + ], + "joints": [ + 0.019001707434654236 + ] + }, + "fine_grasp": { + "position": [ + 0.015505325980484486, + -0.03193967416882515, + -0.13213887810707092 + ], + "orientation": [ + 0.9829514026641846, + -0.1675315946340561, + -0.053954362869262695, + -0.05318446084856987 + ], + "joints": [ + 0.009764894843101501 + ] + }, + "final_grasp": { + "position": [ + 0.015505325980484486, + -0.03193967416882515, + -0.13213887810707092 + ], + "orientation": [ + 0.9829514026641846, + -0.1675315946340561, + -0.053954362869262695, + -0.05318446084856987 + ], + "joints": [ + 0.0005280822515487671 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015562363900244236, + -0.03290056064724922, + -0.13528980314731598 + ], + "orientation": [ + 0.9829975366592407, + -0.16704775393009186, + -0.056101854890584946, + -0.05160824581980705 + ], + "joints": [ + 0.019064387306571007 + ] + }, + "fine_grasp": { + "position": [ + 0.015115899965167046, + -0.031565263867378235, + -0.13174690306186676 + ], + "orientation": [ + 0.9830216765403748, + -0.16670027375221252, + -0.056743767112493515, + -0.051569849252700806 + ], + "joints": [ + 0.010224631056189537 + ] + }, + "final_grasp": { + "position": [ + 0.015115899965167046, + -0.031565263867378235, + -0.13174690306186676 + ], + "orientation": [ + 0.9830216765403748, + -0.16670027375221252, + -0.056743767112493515, + -0.051569849252700806 + ], + "joints": [ + 0.0013848748058080673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06632867455482483, + 0.010836363770067692, + 0.12056588381528854 + ], + "orientation": [ + 0.31283414363861084, + 0.1204722672700882, + 0.9417088627815247, + 0.028383450582623482 + ], + "joints": [ + 0.018655242398381233 + ] + }, + "fine_grasp": { + "position": [ + -0.0646594911813736, + 0.011428648605942726, + 0.11754034459590912 + ], + "orientation": [ + 0.3016866445541382, + 0.12109924852848053, + 0.9452438354492188, + 0.028884928673505783 + ], + "joints": [ + 0.010296138003468513 + ] + }, + "final_grasp": { + "position": [ + -0.0646594911813736, + 0.011428648605942726, + 0.11754034459590912 + ], + "orientation": [ + 0.3016866445541382, + 0.12109924852848053, + 0.9452438354492188, + 0.028884928673505783 + ], + "joints": [ + 0.0019370336085557938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01546704676002264, + -0.03310159593820572, + -0.1357753425836563 + ], + "orientation": [ + 0.9829860329627991, + -0.16789191961288452, + -0.05644221231341362, + -0.04863249137997627 + ], + "joints": [ + 0.01884397864341736 + ] + }, + "fine_grasp": { + "position": [ + 0.014976891689002514, + -0.03173242509365082, + -0.13220705091953278 + ], + "orientation": [ + 0.9830602407455444, + -0.16722480952739716, + -0.05749155953526497, + -0.04819929599761963 + ], + "joints": [ + 0.01002512127161026 + ] + }, + "final_grasp": { + "position": [ + 0.014976891689002514, + -0.03173242509365082, + -0.13220705091953278 + ], + "orientation": [ + 0.9830602407455444, + -0.16722480952739716, + -0.05749155953526497, + -0.04819929599761963 + ], + "joints": [ + 0.0012062638998031616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0028530696872621775, + 0.05031071603298187, + 0.13424134254455566 + ], + "orientation": [ + 0.030571354553103447, + 0.44797295331954956, + 0.8799886703491211, + -0.1549367904663086 + ], + "joints": [ + 0.03263815864920616 + ] + }, + "fine_grasp": { + "position": [ + 0.0031412115786224604, + 0.049210868775844574, + 0.1307036578655243 + ], + "orientation": [ + 0.0354144461452961, + 0.4450964331626892, + 0.8815924525260925, + -0.15306781232357025 + ], + "joints": [ + 0.022607233375310898 + ] + }, + "final_grasp": { + "position": [ + 0.0031412115786224604, + 0.049210868775844574, + 0.1307036578655243 + ], + "orientation": [ + 0.0354144461452961, + 0.4450964331626892, + 0.8815924525260925, + -0.15306781232357025 + ], + "joints": [ + 0.012576308101415634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013122713193297386, + 0.05153050273656845, + -0.11916786432266235 + ], + "orientation": [ + 0.7611686587333679, + 0.03677719458937645, + 0.04813443496823311, + 0.6457187533378601 + ], + "joints": [ + 0.013192704878747463 + ] + }, + "fine_grasp": { + "position": [ + -0.012182090431451797, + 0.050284404307603836, + -0.11508931964635849 + ], + "orientation": [ + 0.7641743421554565, + 0.04067416489124298, + 0.04734966531395912, + 0.6419822573661804 + ], + "joints": [ + 0.0060874661430716515 + ] + }, + "final_grasp": { + "position": [ + -0.012182090431451797, + 0.050284404307603836, + -0.11508931964635849 + ], + "orientation": [ + 0.7641743421554565, + 0.04067416489124298, + 0.04734966531395912, + 0.6419822573661804 + ], + "joints": [ + -0.0010177725926041603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012956414371728897, + 0.051584891974925995, + -0.11815972626209259 + ], + "orientation": [ + 0.7596107721328735, + 0.0350588895380497, + 0.0483810156583786, + 0.6476274728775024 + ], + "joints": [ + 0.012681142427027225 + ] + }, + "fine_grasp": { + "position": [ + -0.012026307173073292, + 0.05039183422923088, + -0.11406271159648895 + ], + "orientation": [ + 0.762601912021637, + 0.03828829899430275, + 0.04779147356748581, + 0.6439628005027771 + ], + "joints": [ + 0.005575903691351414 + ] + }, + "final_grasp": { + "position": [ + -0.012026307173073292, + 0.05039183422923088, + -0.11406271159648895 + ], + "orientation": [ + 0.762601912021637, + 0.03828829899430275, + 0.04779147356748581, + 0.6439628005027771 + ], + "joints": [ + -0.001529335044324398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0859517976641655, + 0.13782763481140137, + -0.13035349547863007 + ], + "orientation": [ + 0.21255537867546082, + -0.006301199551671743, + 0.00384223903529346, + -0.9771211743354797 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.08461637794971466, + 0.13778553903102875, + -0.1264914572238922 + ], + "orientation": [ + 0.21112503111362457, + -0.01319392491132021, + 0.0032795851584523916, + -0.9773644804954529 + ], + "joints": [ + 0.02516237273812294 + ] + }, + "final_grasp": { + "position": [ + -0.08461637794971466, + 0.13778553903102875, + -0.1264914572238922 + ], + "orientation": [ + 0.21112503111362457, + -0.01319392491132021, + 0.0032795851584523916, + -0.9773644804954529 + ], + "joints": [ + 0.017200324684381485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013636880554258823, + 0.051797784864902496, + -0.11973677575588226 + ], + "orientation": [ + 0.761055588722229, + 0.034981869161129, + 0.04853135347366333, + 0.645922064781189 + ], + "joints": [ + 0.012701776809990406 + ] + }, + "fine_grasp": { + "position": [ + -0.012625109404325485, + 0.050551217049360275, + -0.11563941836357117 + ], + "orientation": [ + 0.7637129426002502, + 0.040052782744169235, + 0.04793505743145943, + 0.6425267457962036 + ], + "joints": [ + 0.00601449329406023 + ] + }, + "final_grasp": { + "position": [ + -0.012625109404325485, + 0.050551217049360275, + -0.11563941836357117 + ], + "orientation": [ + 0.7637129426002502, + 0.040052782744169235, + 0.04793505743145943, + 0.6425267457962036 + ], + "joints": [ + -0.0006727902218699455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12816780805587769, + -0.04617252200841904, + -0.01660524494946003 + ], + "orientation": [ + 0.2604142725467682, + -0.6226039528846741, + -0.06732311099767685, + -0.7348580360412598 + ], + "joints": [ + 0.01886441558599472 + ] + }, + "fine_grasp": { + "position": [ + -0.12484874576330185, + -0.044431451708078384, + -0.016427330672740936 + ], + "orientation": [ + 0.26074814796447754, + -0.6268578171730042, + -0.0664868876338005, + -0.7311902642250061 + ], + "joints": [ + 0.01002465933561325 + ] + }, + "final_grasp": { + "position": [ + -0.12484874576330185, + -0.044431451708078384, + -0.016427330672740936 + ], + "orientation": [ + 0.26074814796447754, + -0.6268578171730042, + -0.0664868876338005, + -0.7311902642250061 + ], + "joints": [ + 0.001184903085231781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06856803596019745, + -0.029778486117720604, + -0.12117116898298264 + ], + "orientation": [ + 0.9463364481925964, + -0.11483357846736908, + -0.24796558916568756, + -0.172550231218338 + ], + "joints": [ + 0.01876341551542282 + ] + }, + "fine_grasp": { + "position": [ + 0.06679019331932068, + -0.028645142912864685, + -0.11819526553153992 + ], + "orientation": [ + 0.9459323287010193, + -0.11438523232936859, + -0.24899441003799438, + -0.17357909679412842 + ], + "joints": [ + 0.009547501802444458 + ] + }, + "final_grasp": { + "position": [ + 0.06679019331932068, + -0.028645142912864685, + -0.11819526553153992 + ], + "orientation": [ + 0.9459323287010193, + -0.11438523232936859, + -0.24899441003799438, + -0.17357909679412842 + ], + "joints": [ + 0.00033158808946609497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10913069546222687, + -0.001803335384465754, + -0.10974147170782089 + ], + "orientation": [ + 0.922036349773407, + -0.03627963364124298, + -0.3852643072605133, + -0.010209520347416401 + ], + "joints": [ + 0.01614023745059967 + ] + }, + "fine_grasp": { + "position": [ + 0.10653378069400787, + -0.001515186857432127, + -0.1069287583231926 + ], + "orientation": [ + 0.9223958253860474, + -0.036125972867012024, + -0.3844171166419983, + -0.01021895743906498 + ], + "joints": [ + 0.006924324668943882 + ] + }, + "final_grasp": { + "position": [ + 0.10653378069400787, + -0.001515186857432127, + -0.1069287583231926 + ], + "orientation": [ + 0.9223958253860474, + -0.036125972867012024, + -0.3844171166419983, + -0.01021895743906498 + ], + "joints": [ + -0.0022915881127119064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10377267003059387, + -0.0126201706007123, + -0.06949831545352936 + ], + "orientation": [ + 0.10653332620859146, + -0.3939141035079956, + -0.0493297204375267, + -0.9116188287734985 + ], + "joints": [ + 0.018559828400611877 + ] + }, + "fine_grasp": { + "position": [ + -0.10143809020519257, + -0.01217117253690958, + -0.06818725913763046 + ], + "orientation": [ + 0.10252127051353455, + -0.39971214532852173, + -0.05036269500851631, + -0.9094961881637573 + ], + "joints": [ + 0.00894685834646225 + ] + }, + "final_grasp": { + "position": [ + -0.10143809020519257, + -0.01217117253690958, + -0.06818725913763046 + ], + "orientation": [ + 0.10252127051353455, + -0.39971214532852173, + -0.05036269500851631, + -0.9094961881637573 + ], + "joints": [ + -0.0006661117076873779 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10423842072486877, + -0.0025084137450903654, + -0.06692234426736832 + ], + "orientation": [ + 0.8998278975486755, + 0.024570947512984276, + 0.4040811061859131, + 0.16255591809749603 + ], + "joints": [ + 0.018281424418091774 + ] + }, + "fine_grasp": { + "position": [ + -0.10157178342342377, + -0.0015781217953190207, + -0.06564220786094666 + ], + "orientation": [ + 0.8942912817001343, + 0.025247031822800636, + 0.41628333926200867, + 0.1622157245874405 + ], + "joints": [ + 0.009483465924859047 + ] + }, + "final_grasp": { + "position": [ + -0.10157178342342377, + -0.0015781217953190207, + -0.06564220786094666 + ], + "orientation": [ + 0.8942912817001343, + 0.025247031822800636, + 0.41628333926200867, + 0.1622157245874405 + ], + "joints": [ + 0.0006855074316263199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0807565227150917, + 0.0008916154620237648, + -0.09763287752866745 + ], + "orientation": [ + 0.9680283665657043, + -0.014805853366851807, + 0.2435639351606369, + 0.05812438949942589 + ], + "joints": [ + 0.018395934253931046 + ] + }, + "fine_grasp": { + "position": [ + -0.0774945393204689, + 0.001632996485568583, + -0.09571877866983414 + ], + "orientation": [ + 0.9664721488952637, + -0.018757503479719162, + 0.2516508996486664, + 0.047452520579099655 + ], + "joints": [ + 0.008782964199781418 + ] + }, + "final_grasp": { + "position": [ + -0.0774945393204689, + 0.001632996485568583, + -0.09571877866983414 + ], + "orientation": [ + 0.9664721488952637, + -0.018757503479719162, + 0.2516508996486664, + 0.047452520579099655 + ], + "joints": [ + -0.0008300058543682098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.19361643493175507, + 0.07206126302480698, + -0.01790045015513897 + ], + "orientation": [ + 0.43537548184394836, + 0.4111855924129486, + -0.5485280752182007, + -0.5835165977478027 + ], + "joints": [ + 0.014819441363215446 + ] + }, + "fine_grasp": { + "position": [ + 0.191288560628891, + 0.07440940290689468, + -0.016516853123903275 + ], + "orientation": [ + 0.43214741349220276, + 0.399864137172699, + -0.5475456118583679, + -0.5946015119552612 + ], + "joints": [ + 0.005164675414562225 + ] + }, + "final_grasp": { + "position": [ + 0.191288560628891, + 0.07440940290689468, + -0.016516853123903275 + ], + "orientation": [ + 0.43214741349220276, + 0.399864137172699, + -0.5475456118583679, + -0.5946015119552612 + ], + "joints": [ + -0.004490090534090996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08192240446805954, + 0.000545527262147516, + -0.09913939982652664 + ], + "orientation": [ + 0.969319760799408, + -0.019917478784918785, + 0.2399308979511261, + 0.04955551400780678 + ], + "joints": [ + 0.017213623970746994 + ] + }, + "fine_grasp": { + "position": [ + -0.07895231992006302, + 0.0012854664819315076, + -0.09712909907102585 + ], + "orientation": [ + 0.9666020274162292, + -0.021948305889964104, + 0.2517338693141937, + 0.04276597872376442 + ], + "joints": [ + 0.008436564356088638 + ] + }, + "final_grasp": { + "position": [ + -0.07895231992006302, + 0.0012854664819315076, + -0.09712909907102585 + ], + "orientation": [ + 0.9666020274162292, + -0.021948305889964104, + 0.2517338693141937, + 0.04276597872376442 + ], + "joints": [ + -0.0003404952585697174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08201495558023453, + 0.0007532945019192994, + -0.0995580404996872 + ], + "orientation": [ + 0.9691421389579773, + -0.019310681149363518, + 0.24065612256526947, + 0.0497506782412529 + ], + "joints": [ + 0.017602887004613876 + ] + }, + "fine_grasp": { + "position": [ + -0.0792645514011383, + 0.0014705737121403217, + -0.09740660339593887 + ], + "orientation": [ + 0.9664131999015808, + -0.02063939720392227, + 0.25232917070388794, + 0.04415586590766907 + ], + "joints": [ + 0.008407872170209885 + ] + }, + "final_grasp": { + "position": [ + -0.0792645514011383, + 0.0014705737121403217, + -0.09740660339593887 + ], + "orientation": [ + 0.9664131999015808, + -0.02063939720392227, + 0.25232917070388794, + 0.04415586590766907 + ], + "joints": [ + -0.0007871426641941071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043461088091135025, + 0.05209803953766823, + -0.12854543328285217 + ], + "orientation": [ + 0.6584134697914124, + 0.08718197047710419, + -0.12311869859695435, + -0.7373824715614319 + ], + "joints": [ + 0.013035250827670097 + ] + }, + "fine_grasp": { + "position": [ + 0.04205835610628128, + 0.05081413313746452, + -0.12441737204790115 + ], + "orientation": [ + 0.6575689911842346, + 0.09317940473556519, + -0.11745983362197876, + -0.7383250594139099 + ], + "joints": [ + 0.0071838777512311935 + ] + }, + "final_grasp": { + "position": [ + 0.04205835610628128, + 0.05081413313746452, + -0.12441737204790115 + ], + "orientation": [ + 0.6575689911842346, + 0.09317940473556519, + -0.11745983362197876, + -0.7383250594139099 + ], + "joints": [ + 0.0013325046747922897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04356769844889641, + 0.05186545476317406, + -0.12834182381629944 + ], + "orientation": [ + 0.6578251719474792, + 0.0888633131980896, + -0.1225755587220192, + -0.7377971410751343 + ], + "joints": [ + 0.013214372098445892 + ] + }, + "fine_grasp": { + "position": [ + 0.04215225577354431, + 0.05060708150267601, + -0.12417913228273392 + ], + "orientation": [ + 0.6569269299507141, + 0.09467703104019165, + -0.11704911291599274, + -0.7387710213661194 + ], + "joints": [ + 0.0073629990220069885 + ] + }, + "final_grasp": { + "position": [ + 0.04215225577354431, + 0.05060708150267601, + -0.12417913228273392 + ], + "orientation": [ + 0.6569269299507141, + 0.09467703104019165, + -0.11704911291599274, + -0.7387710213661194 + ], + "joints": [ + 0.0015116259455680847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03995906189084053, + 0.08470502495765686, + -0.1162332072854042 + ], + "orientation": [ + 0.7828965783119202, + 0.1745457649230957, + -0.058143340051174164, + -0.5943282246589661 + ], + "joints": [ + 0.015610652044415474 + ] + }, + "fine_grasp": { + "position": [ + 0.03919169679284096, + 0.08515919744968414, + -0.11181403696537018 + ], + "orientation": [ + 0.7848067879676819, + 0.16958977282047272, + -0.05946863815188408, + -0.5931113958358765 + ], + "joints": [ + 0.009738380089402199 + ] + }, + "final_grasp": { + "position": [ + 0.03919169679284096, + 0.08515919744968414, + -0.11181403696537018 + ], + "orientation": [ + 0.7848067879676819, + 0.16958977282047272, + -0.05946863815188408, + -0.5931113958358765 + ], + "joints": [ + 0.0038661081343889236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1392744481563568, + -0.0362752228975296, + 0.00910753570497036 + ], + "orientation": [ + 0.04901650547981262, + -0.7541552186012268, + 0.19577395915985107, + 0.6249159574508667 + ], + "joints": [ + 0.013541962951421738 + ] + }, + "fine_grasp": { + "position": [ + 0.13596640527248383, + -0.03497324511408806, + 0.009156148880720139 + ], + "orientation": [ + 0.04996845871210098, + -0.750069797039032, + 0.1958293616771698, + 0.6297216415405273 + ], + "joints": [ + 0.005120164714753628 + ] + }, + "final_grasp": { + "position": [ + 0.13596640527248383, + -0.03497324511408806, + 0.009156148880720139 + ], + "orientation": [ + 0.04996845871210098, + -0.750069797039032, + 0.1958293616771698, + 0.6297216415405273 + ], + "joints": [ + -0.003301633521914482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12923237681388855, + 0.1577390432357788, + -0.10554246604442596 + ], + "orientation": [ + 0.953640878200531, + 0.088954858481884, + -0.2847592234611511, + -0.0396014004945755 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + 0.12849046289920807, + 0.15669360756874084, + -0.10253587365150452 + ], + "orientation": [ + 0.9550829529762268, + 0.08780533820390701, + -0.28056445717811584, + -0.037288375198841095 + ], + "joints": [ + 0.022088320925831795 + ] + }, + "final_grasp": { + "position": [ + 0.12849046289920807, + 0.15669360756874084, + -0.10253587365150452 + ], + "orientation": [ + 0.9550829529762268, + 0.08780533820390701, + -0.28056445717811584, + -0.037288375198841095 + ], + "joints": [ + 0.01364562101662159 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 45 + } +} \ No newline at end of file diff --git a/051_candlestick_4/Object.usd b/051_candlestick_4/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..0282eb49ad73064fbc5ce6bb37b20f500ab86f73 --- /dev/null +++ b/051_candlestick_4/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52dbcc28e3fab04e7e8c0ca86af7f150a47865396296b9afa43e37910b5303a3 +size 320524 diff --git a/053_teanet_1/Annotation/dex1_1_grasp_pose.json b/053_teanet_1/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..06921c03b49fa5340006e0032611abd107d06bed --- /dev/null +++ b/053_teanet_1/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,668 @@ +{ + "type": "053_teanet_1", + "bottom_center": [ + 3.9950013160705566e-05, + 0.03559739887714386, + -0.09440450370311737 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.0004425714141689241, + -0.11310191452503204, + 0.018073618412017822 + ], + "orientation": [ + 0.9502740502357483, + 0.06831832230091095, + 0.3029768168926239, + 0.022737927734851837 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.00013841281179338694, + -0.11006513237953186, + 0.018879840150475502 + ], + "orientation": [ + 0.9490175247192383, + 0.07148469984531403, + 0.3063264787197113, + 0.020494401454925537 + ], + "joints": [ + -0.012190775014460087 + ] + }, + "final_grasp": { + "position": [ + 0.00013841281179338694, + -0.11006513237953186, + 0.018879840150475502 + ], + "orientation": [ + 0.9490175247192383, + 0.07148469984531403, + 0.3063264787197113, + 0.020494401454925537 + ], + "joints": [ + -0.007355032488703728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029462791979312897, + -0.10954687744379044, + 0.07175817340612411 + ], + "orientation": [ + 0.2738107740879059, + 0.05969461053609848, + 0.9540590643882751, + -0.1059972494840622 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.02876429259777069, + -0.10633769631385803, + 0.07037808746099472 + ], + "orientation": [ + 0.2731764614582062, + 0.060338541865348816, + 0.9538714289665222, + -0.10891793668270111 + ], + "joints": [ + -0.011544562876224518 + ] + }, + "final_grasp": { + "position": [ + -0.02876429259777069, + -0.10633769631385803, + 0.07037808746099472 + ], + "orientation": [ + 0.2731764614582062, + 0.060338541865348816, + 0.9538714289665222, + -0.10891793668270111 + ], + "joints": [ + -0.007240224629640579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029392225667834282, + -0.10941651463508606, + 0.07166729867458344 + ], + "orientation": [ + 0.27404022216796875, + 0.05970937758684158, + 0.9539576172828674, + -0.1063092052936554 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.02873092144727707, + -0.10620846599340439, + 0.07034940272569656 + ], + "orientation": [ + 0.2733767330646515, + 0.06019561365246773, + 0.9538191556930542, + -0.10895320028066635 + ], + "joints": [ + -0.011544562876224518 + ] + }, + "final_grasp": { + "position": [ + -0.02873092144727707, + -0.10620846599340439, + 0.07034940272569656 + ], + "orientation": [ + 0.2733767330646515, + 0.06019561365246773, + 0.9538191556930542, + -0.10895320028066635 + ], + "joints": [ + -0.007240224629640579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007300877943634987, + -0.11147183924913406, + 0.07081522792577744 + ], + "orientation": [ + 0.9915661811828613, + -0.07802435010671616, + 0.10296724736690521, + 0.010316340252757072 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.006985320709645748, + -0.10848280787467957, + 0.06952118873596191 + ], + "orientation": [ + 0.9911866784095764, + -0.0818369910120964, + 0.10356110334396362, + 0.01125563494861126 + ], + "joints": [ + -0.011544562876224518 + ] + }, + "final_grasp": { + "position": [ + 0.006985320709645748, + -0.10848280787467957, + 0.06952118873596191 + ], + "orientation": [ + 0.9911866784095764, + -0.0818369910120964, + 0.10356110334396362, + 0.01125563494861126 + ], + "joints": [ + -0.007240224629640579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02180718258023262, + -0.08522505313158035, + 0.13085561990737915 + ], + "orientation": [ + 0.9360643029212952, + -0.3370772898197174, + 0.08906583487987518, + 0.04722060263156891 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.021207790821790695, + -0.0829191654920578, + 0.12820567190647125 + ], + "orientation": [ + 0.9344316720962524, + -0.3419092297554016, + 0.0875934287905693, + 0.047569308429956436 + ], + "joints": [ + -0.010534904897212982 + ] + }, + "final_grasp": { + "position": [ + 0.021207790821790695, + -0.0829191654920578, + 0.12820567190647125 + ], + "orientation": [ + 0.9344316720962524, + -0.3419092297554016, + 0.0875934287905693, + 0.047569308429956436 + ], + "joints": [ + -0.005220908671617508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030923914164304733, + -0.011955855414271355, + 0.1638975590467453 + ], + "orientation": [ + 0.7864713072776794, + -0.6056819558143616, + -0.09367439150810242, + -0.0764026790857315 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.02996973879635334, + -0.012238645926117897, + 0.1592266708612442 + ], + "orientation": [ + 0.777786910533905, + -0.6167013049125671, + -0.0932387039065361, + -0.07767541706562042 + ], + "joints": [ + -0.00997980497777462 + ] + }, + "final_grasp": { + "position": [ + -0.02996973879635334, + -0.012238645926117897, + 0.1592266708612442 + ], + "orientation": [ + 0.777786910533905, + -0.6167013049125671, + -0.0932387039065361, + -0.07767541706562042 + ], + "joints": [ + -0.004081267863512039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03090742416679859, + -0.011991663835942745, + 0.16396625339984894 + ], + "orientation": [ + 0.7864148616790771, + -0.6057747602462769, + -0.09363599121570587, + -0.07629520446062088 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.03001992776989937, + -0.012309647165238857, + 0.15941672027111053 + ], + "orientation": [ + 0.7779607176780701, + -0.6164552569389343, + -0.09356425702571869, + -0.07749687880277634 + ], + "joints": [ + -0.00997980497777462 + ] + }, + "final_grasp": { + "position": [ + -0.03001992776989937, + -0.012309647165238857, + 0.15941672027111053 + ], + "orientation": [ + 0.7779607176780701, + -0.6164552569389343, + -0.09356425702571869, + -0.07749687880277634 + ], + "joints": [ + -0.004081267863512039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030890272930264473, + -0.011998300440609455, + 0.16388972103595734 + ], + "orientation": [ + 0.786361575126648, + -0.6058418154716492, + -0.09364229440689087, + -0.0763038918375969 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.029934408143162727, + -0.012303521856665611, + 0.15918579697608948 + ], + "orientation": [ + 0.7774355411529541, + -0.6171629428863525, + -0.0931047722697258, + -0.07768769562244415 + ], + "joints": [ + -0.00997980497777462 + ] + }, + "final_grasp": { + "position": [ + -0.029934408143162727, + -0.012303521856665611, + 0.15918579697608948 + ], + "orientation": [ + 0.7774355411529541, + -0.6171629428863525, + -0.0931047722697258, + -0.07768769562244415 + ], + "joints": [ + -0.004081267863512039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028676215559244156, + -0.03026922233402729, + 0.16308297216892242 + ], + "orientation": [ + 0.8182363510131836, + -0.5636940002441406, + 0.08999855816364288, + 0.06810716539621353 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.027440249919891357, + -0.029632078483700752, + 0.15793532133102417 + ], + "orientation": [ + 0.810333788394928, + -0.5748120546340942, + 0.08920859545469284, + 0.07065515965223312 + ], + "joints": [ + -0.007903080433607101 + ] + }, + "final_grasp": { + "position": [ + 0.027440249919891357, + -0.029632078483700752, + 0.15793532133102417 + ], + "orientation": [ + 0.810333788394928, + -0.5748120546340942, + 0.08920859545469284, + 0.07065515965223312 + ], + "joints": [ + -0.0005166269838809967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02177276648581028, + -0.0850212350487709, + 0.1307823210954666 + ], + "orientation": [ + 0.9358088970184326, + -0.337848037481308, + 0.08875998854637146, + 0.047349005937576294 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.021176721900701523, + -0.08273889124393463, + 0.1281881034374237 + ], + "orientation": [ + 0.9342595934867859, + -0.3424795866012573, + 0.08715065568685532, + 0.047660693526268005 + ], + "joints": [ + -0.010534904897212982 + ] + }, + "final_grasp": { + "position": [ + 0.021176721900701523, + -0.08273889124393463, + 0.1281881034374237 + ], + "orientation": [ + 0.9342595934867859, + -0.3424795866012573, + 0.08715065568685532, + 0.047660693526268005 + ], + "joints": [ + -0.005220908671617508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032960858196020126, + 0.17307810485363007, + 0.050125475972890854 + ], + "orientation": [ + 0.059624794870615005, + 0.7773035168647766, + -0.060476403683423996, + 0.6233673095703125 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0324200838804245, + 0.17637698352336884, + 0.05208566412329674 + ], + "orientation": [ + 0.04559773579239845, + 0.7687821984291077, + -0.06841973215341568, + 0.6342031359672546 + ], + "joints": [ + -0.01574878767132759 + ] + }, + "final_grasp": { + "position": [ + -0.0324200838804245, + 0.17637698352336884, + 0.05208566412329674 + ], + "orientation": [ + 0.04559773579239845, + 0.7687821984291077, + -0.06841973215341568, + 0.6342031359672546 + ], + "joints": [ + -0.011497575789690018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06160212680697441, + -0.00024614957510493696, + 0.15361163020133972 + ], + "orientation": [ + 0.6889221668243408, + -0.6669554114341736, + -0.26610267162323, + -0.09872138500213623 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + -0.06172486022114754, + -0.0003191038849763572, + 0.1532716304063797 + ], + "orientation": [ + 0.6845510005950928, + -0.6700011491775513, + -0.27171000838279724, + -0.0930706262588501 + ], + "joints": [ + -0.007733648642897606 + ] + }, + "final_grasp": { + "position": [ + -0.06172486022114754, + -0.0003191038849763572, + 0.1532716304063797 + ], + "orientation": [ + 0.6845510005950928, + -0.6700011491775513, + -0.27171000838279724, + -0.0930706262588501 + ], + "joints": [ + -0.0008254535496234894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06657665967941284, + -0.017079221084713936, + 0.14867240190505981 + ], + "orientation": [ + 0.1844455897808075, + 0.19425246119499207, + -0.7404565215110779, + 0.6164170503616333 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.0648992583155632, + -0.015824628993868828, + 0.14543946087360382 + ], + "orientation": [ + 0.18426072597503662, + 0.19476784765720367, + -0.7416614890098572, + 0.6148592233657837 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + 0.0648992583155632, + -0.015824628993868828, + 0.14543946087360382 + ], + "orientation": [ + 0.18426072597503662, + 0.19476784765720367, + -0.7416614890098572, + 0.6148592233657837 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2031, + "num_passed": 13 + } +} \ No newline at end of file diff --git a/053_teanet_1/Annotation/piper_grasp_pose.json b/053_teanet_1/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..1cce296c2f8f4d5da6271bcb1e31f6c4aa1d99a8 --- /dev/null +++ b/053_teanet_1/Annotation/piper_grasp_pose.json @@ -0,0 +1,9418 @@ +{ + "type": "053_teanet_1", + "bottom_center": [ + 3.9950013160705566e-05, + 0.03559739887714386, + -0.09440450370311737 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.09863070398569107, + -0.017222724854946136, + -0.10139185190200806 + ], + "orientation": [ + 0.7424030900001526, + -0.1012735366821289, + 0.5762931704521179, + 0.32629355788230896 + ], + "joints": [ + 0.015981491655111313 + ] + }, + "fine_grasp": { + "position": [ + -0.09538647532463074, + -0.015080269426107407, + -0.10080034285783768 + ], + "orientation": [ + 0.7394716143608093, + -0.10064054280519485, + 0.580237627029419, + 0.3261559009552002 + ], + "joints": [ + 0.005950566381216049 + ] + }, + "final_grasp": { + "position": [ + -0.09538647532463074, + -0.015080269426107407, + -0.10080034285783768 + ], + "orientation": [ + 0.7394716143608093, + -0.10064054280519485, + 0.580237627029419, + 0.3261559009552002 + ], + "joints": [ + -0.0040803588926792145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09566973149776459, + 0.06296055763959885, + -0.16949325799942017 + ], + "orientation": [ + 0.8988030552864075, + 0.00619278009980917, + -0.42031070590019226, + 0.12431230396032333 + ], + "joints": [ + 0.015284532681107521 + ] + }, + "fine_grasp": { + "position": [ + 0.0926598459482193, + 0.06253883987665176, + -0.16701386868953705 + ], + "orientation": [ + 0.8986453413963318, + 0.005596003029495478, + -0.4207548201084137, + 0.12397797405719757 + ], + "joints": [ + 0.005274505354464054 + ] + }, + "final_grasp": { + "position": [ + 0.0926598459482193, + 0.06253883987665176, + -0.16701386868953705 + ], + "orientation": [ + 0.8986453413963318, + 0.005596003029495478, + -0.4207548201084137, + 0.12397797405719757 + ], + "joints": [ + -0.004735521972179413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01515640877187252, + 0.02912796102464199, + -0.21016983687877655 + ], + "orientation": [ + 0.992483913898468, + -0.03544609621167183, + 0.013669525273144245, + 0.11632849276065826 + ], + "joints": [ + 0.0144148338586092 + ] + }, + "fine_grasp": { + "position": [ + -0.01349552720785141, + 0.030928920954465866, + -0.20708180963993073 + ], + "orientation": [ + 0.9918955564498901, + -0.04490387812256813, + 0.025498080998659134, + 0.11608921736478806 + ], + "joints": [ + 0.004801863804459572 + ] + }, + "final_grasp": { + "position": [ + -0.01349552720785141, + 0.030928920954465866, + -0.20708180963993073 + ], + "orientation": [ + 0.9918955564498901, + -0.04490387812256813, + 0.025498080998659134, + 0.11608921736478806 + ], + "joints": [ + -0.004811106249690056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09749138355255127, + 0.07792063802480698, + -0.11161983758211136 + ], + "orientation": [ + 0.08253809064626694, + 0.4868282079696655, + -0.09648042917251587, + 0.8642205595970154 + ], + "joints": [ + 0.015097918920218945 + ] + }, + "fine_grasp": { + "position": [ + -0.0937654972076416, + 0.07667447626590729, + -0.11075343191623688 + ], + "orientation": [ + 0.08133162558078766, + 0.4895804524421692, + -0.09906375408172607, + 0.8624863028526306 + ], + "joints": [ + 0.005902904085814953 + ] + }, + "final_grasp": { + "position": [ + -0.0937654972076416, + 0.07667447626590729, + -0.11075343191623688 + ], + "orientation": [ + 0.08133162558078766, + 0.4895804524421692, + -0.09906375408172607, + 0.8624863028526306 + ], + "joints": [ + -0.003292110748589039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08601731806993484, + 0.03554116189479828, + -0.14570745825767517 + ], + "orientation": [ + 0.0633019283413887, + -0.4138282239437103, + -0.03370368108153343, + -0.9075258374214172 + ], + "joints": [ + 0.01435612328350544 + ] + }, + "fine_grasp": { + "position": [ + -0.08207553625106812, + 0.03619440644979477, + -0.14525125920772552 + ], + "orientation": [ + 0.06383203715085983, + -0.4139145314693451, + -0.034592945128679276, + -0.9074158668518066 + ], + "joints": [ + 0.00599701888859272 + ] + }, + "final_grasp": { + "position": [ + -0.08207553625106812, + 0.03619440644979477, + -0.14525125920772552 + ], + "orientation": [ + 0.06383203715085983, + -0.4139145314693451, + -0.034592945128679276, + -0.9074158668518066 + ], + "joints": [ + -0.0023620855063199997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10865482687950134, + 0.08546251058578491, + -0.1375783085823059 + ], + "orientation": [ + 0.08605919778347015, + 0.5269872546195984, + 0.11989612877368927, + -0.8369606733322144 + ], + "joints": [ + 0.015331294387578964 + ] + }, + "fine_grasp": { + "position": [ + 0.10516201704740524, + 0.08431032299995422, + -0.13613596558570862 + ], + "orientation": [ + 0.0853051096200943, + 0.5283414125442505, + 0.11950639635324478, + -0.8362395167350769 + ], + "joints": [ + 0.005321267060935497 + ] + }, + "final_grasp": { + "position": [ + 0.10516201704740524, + 0.08431032299995422, + -0.13613596558570862 + ], + "orientation": [ + 0.0853051096200943, + 0.5283414125442505, + 0.11950639635324478, + -0.8362395167350769 + ], + "joints": [ + -0.00468876026570797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11000970751047134, + 0.030967911705374718, + -0.09839464724063873 + ], + "orientation": [ + 0.8641945719718933, + -0.12064511328935623, + 0.48496145009994507, + -0.05852274224162102 + ], + "joints": [ + 0.016554875299334526 + ] + }, + "fine_grasp": { + "position": [ + -0.10614130645990372, + 0.03161066770553589, + -0.09725041687488556 + ], + "orientation": [ + 0.8624836802482605, + -0.12234286218881607, + 0.48755526542663574, + -0.0586865171790123 + ], + "joints": [ + 0.008174872025847435 + ] + }, + "final_grasp": { + "position": [ + -0.10614130645990372, + 0.03161066770553589, + -0.09725041687488556 + ], + "orientation": [ + 0.8624836802482605, + -0.12234286218881607, + 0.48755526542663574, + -0.0586865171790123 + ], + "joints": [ + -0.00020513124763965607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052026767283678055, + 0.049980368465185165, + -0.17881585657596588 + ], + "orientation": [ + 0.18043051660060883, + 0.22344864904880524, + -0.037567269057035446, + -0.957133412361145 + ], + "joints": [ + 0.01663275621831417 + ] + }, + "fine_grasp": { + "position": [ + 0.04949208348989487, + 0.05013056471943855, + -0.1765127182006836 + ], + "orientation": [ + 0.18307636678218842, + 0.22515453398227692, + -0.038139138370752335, + -0.9562079906463623 + ], + "joints": [ + 0.006601830944418907 + ] + }, + "final_grasp": { + "position": [ + 0.04949208348989487, + 0.05013056471943855, + -0.1765127182006836 + ], + "orientation": [ + 0.18307636678218842, + 0.22515453398227692, + -0.038139138370752335, + -0.9562079906463623 + ], + "joints": [ + -0.0034290943294763565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10690250992774963, + 0.025787457823753357, + -0.06333513557910919 + ], + "orientation": [ + 0.01165253110229969, + 0.6188536286354065, + 0.1403912901878357, + 0.7727707624435425 + ], + "joints": [ + 0.01594008505344391 + ] + }, + "fine_grasp": { + "position": [ + -0.10284388810396194, + 0.026445899158716202, + -0.06332837045192719 + ], + "orientation": [ + 0.02391817420721054, + 0.614996612071991, + 0.15332813560962677, + 0.773108959197998 + ], + "joints": [ + 0.007580980658531189 + ] + }, + "final_grasp": { + "position": [ + -0.10284388810396194, + 0.026445899158716202, + -0.06332837045192719 + ], + "orientation": [ + 0.02391817420721054, + 0.614996612071991, + 0.15332813560962677, + 0.773108959197998 + ], + "joints": [ + -0.0007781237363815308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03754687309265137, + 0.14737489819526672, + -0.13701613247394562 + ], + "orientation": [ + 0.6435002684593201, + 0.22480452060699463, + -0.44160687923431396, + 0.5833984017372131 + ], + "joints": [ + 0.015533177182078362 + ] + }, + "fine_grasp": { + "position": [ + 0.036073628813028336, + 0.14394459128379822, + -0.13570290803909302 + ], + "orientation": [ + 0.6419187188148499, + 0.2245476245880127, + -0.4460466802120209, + 0.5818599462509155 + ], + "joints": [ + 0.005920207127928734 + ] + }, + "final_grasp": { + "position": [ + 0.036073628813028336, + 0.14394459128379822, + -0.13570290803909302 + ], + "orientation": [ + 0.6419187188148499, + 0.2245476245880127, + -0.4460466802120209, + 0.5818599462509155 + ], + "joints": [ + -0.003692762926220894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11004307121038437, + 0.09782703220844269, + -0.11612056940793991 + ], + "orientation": [ + 0.7774096727371216, + 0.08733482658863068, + 0.5802644491195679, + -0.226494699716568 + ], + "joints": [ + 0.016531718894839287 + ] + }, + "fine_grasp": { + "position": [ + -0.1063770279288292, + 0.09655864536762238, + -0.11544571071863174 + ], + "orientation": [ + 0.775698721408844, + 0.08343282341957092, + 0.5843749046325684, + -0.22324106097221375 + ], + "joints": [ + 0.005330519750714302 + ] + }, + "final_grasp": { + "position": [ + -0.1063770279288292, + 0.09655864536762238, + -0.11544571071863174 + ], + "orientation": [ + 0.775698721408844, + 0.08343282341957092, + 0.5843749046325684, + -0.22324106097221375 + ], + "joints": [ + -0.005870679393410683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1089610606431961, + 0.08567185699939728, + -0.1379787176847458 + ], + "orientation": [ + 0.08644092828035355, + 0.5273825526237488, + 0.1198422759771347, + -0.836679995059967 + ], + "joints": [ + 0.015450989827513695 + ] + }, + "fine_grasp": { + "position": [ + 0.10549624264240265, + 0.08452629297971725, + -0.13652712106704712 + ], + "orientation": [ + 0.08608008176088333, + 0.5284967422485352, + 0.11983031034469604, + -0.8360156416893005 + ], + "joints": [ + 0.005420064553618431 + ] + }, + "final_grasp": { + "position": [ + 0.10549624264240265, + 0.08452629297971725, + -0.13652712106704712 + ], + "orientation": [ + 0.08608008176088333, + 0.5284967422485352, + 0.11983031034469604, + -0.8360156416893005 + ], + "joints": [ + -0.004610860720276833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09903918206691742, + -0.017655229195952415, + -0.1019582450389862 + ], + "orientation": [ + 0.7408578395843506, + -0.10112651437520981, + 0.5779475569725037, + 0.32692453265190125 + ], + "joints": [ + 0.015903102234005928 + ] + }, + "fine_grasp": { + "position": [ + -0.09581543505191803, + -0.015482406131923199, + -0.10138523578643799 + ], + "orientation": [ + 0.7378097176551819, + -0.1008496880531311, + 0.5818628668785095, + 0.3269585072994232 + ], + "joints": [ + 0.005893074907362461 + ] + }, + "final_grasp": { + "position": [ + -0.09581543505191803, + -0.015482406131923199, + -0.10138523578643799 + ], + "orientation": [ + 0.7378097176551819, + -0.1008496880531311, + 0.5818628668785095, + 0.3269585072994232 + ], + "joints": [ + -0.004116952419281006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10694754123687744, + 0.09231869131326675, + -0.1369461715221405 + ], + "orientation": [ + 0.8147976994514465, + 0.13916142284870148, + 0.5562843680381775, + -0.08536121994256973 + ], + "joints": [ + 0.016335509717464447 + ] + }, + "fine_grasp": { + "position": [ + -0.10424971580505371, + 0.09048682451248169, + -0.13504309952259064 + ], + "orientation": [ + 0.8171504139900208, + 0.14364327490329742, + 0.5510634779930115, + -0.08922312408685684 + ], + "joints": [ + 0.00469545740634203 + ] + }, + "final_grasp": { + "position": [ + -0.10424971580505371, + 0.09048682451248169, + -0.13504309952259064 + ], + "orientation": [ + 0.8171504139900208, + 0.14364327490329742, + 0.5510634779930115, + -0.08922312408685684 + ], + "joints": [ + -0.006944594904780388 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10636031627655029, + 0.0919397622346878, + -0.13663624227046967 + ], + "orientation": [ + 0.8141553401947021, + 0.14166484773159027, + 0.5565794706344604, + -0.08544879406690598 + ], + "joints": [ + 0.01606738567352295 + ] + }, + "fine_grasp": { + "position": [ + -0.1036602109670639, + 0.09034186601638794, + -0.134657084941864 + ], + "orientation": [ + 0.8172649145126343, + 0.14422611892223358, + 0.550919234752655, + -0.08811800181865692 + ], + "joints": [ + 0.004427333362400532 + ] + }, + "final_grasp": { + "position": [ + -0.1036602109670639, + 0.09034186601638794, + -0.134657084941864 + ], + "orientation": [ + 0.8172649145126343, + 0.14422611892223358, + 0.550919234752655, + -0.08811800181865692 + ], + "joints": [ + -0.007212718948721886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11001302301883698, + 0.0978822335600853, + -0.11591663956642151 + ], + "orientation": [ + 0.7787519097328186, + 0.08651011437177658, + 0.5785336494445801, + -0.2266281545162201 + ], + "joints": [ + 0.01624043844640255 + ] + }, + "fine_grasp": { + "position": [ + -0.10637786984443665, + 0.09653681516647339, + -0.11526643484830856 + ], + "orientation": [ + 0.7767497301101685, + 0.0832395926117897, + 0.5828043222427368, + -0.22376364469528198 + ], + "joints": [ + 0.005436296574771404 + ] + }, + "final_grasp": { + "position": [ + -0.10637786984443665, + 0.09653681516647339, + -0.11526643484830856 + ], + "orientation": [ + 0.7767497301101685, + 0.0832395926117897, + 0.5828043222427368, + -0.22376364469528198 + ], + "joints": [ + -0.005367845296859741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025366317480802536, + 0.07072959840297699, + -0.1843644082546234 + ], + "orientation": [ + 0.4632856547832489, + 0.16244465112686157, + -0.04076269268989563, + 0.8702394366264343 + ], + "joints": [ + 0.015584830194711685 + ] + }, + "fine_grasp": { + "position": [ + -0.024797260761260986, + 0.07008497416973114, + -0.18266735970973969 + ], + "orientation": [ + 0.462350070476532, + 0.15633946657180786, + -0.03776909038424492, + 0.8719884753227234 + ], + "joints": [ + 0.0063898153603076935 + ] + }, + "final_grasp": { + "position": [ + -0.024797260761260986, + 0.07008497416973114, + -0.18266735970973969 + ], + "orientation": [ + 0.462350070476532, + 0.15633946657180786, + -0.03776909038424492, + 0.8719884753227234 + ], + "joints": [ + -0.0028051994740962982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10267055034637451, + -0.0027664850931614637, + -0.07762166857719421 + ], + "orientation": [ + 0.2606695592403412, + -0.6097924709320068, + 0.0788826122879982, + 0.7442997694015503 + ], + "joints": [ + 0.015241239219903946 + ] + }, + "fine_grasp": { + "position": [ + 0.09901459515094757, + -0.0009158528409898281, + -0.07710766792297363 + ], + "orientation": [ + 0.2617175877094269, + -0.6119832396507263, + 0.07683102041482925, + 0.7423459887504578 + ], + "joints": [ + 0.006882134824991226 + ] + }, + "final_grasp": { + "position": [ + 0.09901459515094757, + -0.0009158528409898281, + -0.07710766792297363 + ], + "orientation": [ + 0.2617175877094269, + -0.6119832396507263, + 0.07683102041482925, + 0.7423459887504578 + ], + "joints": [ + -0.0014769695699214935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1128411814570427, + 0.026885580271482468, + -0.08343367278575897 + ], + "orientation": [ + 0.8579362034797668, + -0.06644870340824127, + 0.4948525130748749, + 0.1210409626364708 + ], + "joints": [ + 0.023224862292408943 + ] + }, + "fine_grasp": { + "position": [ + -0.10948336869478226, + 0.02819065749645233, + -0.0810747817158699 + ], + "orientation": [ + 0.857614278793335, + -0.06442891061306, + 0.4935266375541687, + 0.1295306235551834 + ], + "joints": [ + 0.015701668336987495 + ] + }, + "final_grasp": { + "position": [ + -0.10948336869478226, + 0.02819065749645233, + -0.0810747817158699 + ], + "orientation": [ + 0.857614278793335, + -0.06442891061306, + 0.4935266375541687, + 0.1295306235551834 + ], + "joints": [ + 0.008178474381566048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09491647779941559, + 0.083318792283535, + -0.129383847117424 + ], + "orientation": [ + 0.09511929750442505, + 0.47746142745018005, + -0.11644802242517471, + 0.8656920790672302 + ], + "joints": [ + 0.014972500503063202 + ] + }, + "fine_grasp": { + "position": [ + -0.09130821377038956, + 0.08182311803102493, + -0.12842132151126862 + ], + "orientation": [ + 0.09388942271471024, + 0.4797471761703491, + -0.11971282958984375, + 0.8641158938407898 + ], + "joints": [ + 0.00577748566865921 + ] + }, + "final_grasp": { + "position": [ + -0.09130821377038956, + 0.08182311803102493, + -0.12842132151126862 + ], + "orientation": [ + 0.09388942271471024, + 0.4797471761703491, + -0.11971282958984375, + 0.8641158938407898 + ], + "joints": [ + -0.0034175291657447815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02918054163455963, + 0.009713973850011826, + -0.18777143955230713 + ], + "orientation": [ + 0.6392102241516113, + -0.20341962575912476, + -0.04601174592971802, + -0.7402119040489197 + ], + "joints": [ + 0.015687204897403717 + ] + }, + "fine_grasp": { + "position": [ + -0.027998844161629677, + 0.011359834112226963, + -0.18446967005729675 + ], + "orientation": [ + 0.6389100551605225, + -0.20644022524356842, + -0.04725859686732292, + -0.7395559549331665 + ], + "joints": [ + 0.006492190062999725 + ] + }, + "final_grasp": { + "position": [ + -0.027998844161629677, + 0.011359834112226963, + -0.18446967005729675 + ], + "orientation": [ + 0.6389100551605225, + -0.20644022524356842, + -0.04725859686732292, + -0.7395559549331665 + ], + "joints": [ + -0.0027028247714042664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0953650251030922, + 0.08371010422706604, + -0.12970753014087677 + ], + "orientation": [ + 0.09586182236671448, + 0.47586023807525635, + -0.11568684875965118, + 0.8665934205055237 + ], + "joints": [ + 0.01476721279323101 + ] + }, + "fine_grasp": { + "position": [ + -0.09177353233098984, + 0.08218570798635483, + -0.12873706221580505 + ], + "orientation": [ + 0.0952390804886818, + 0.4786967635154724, + -0.11931896954774857, + 0.8646050691604614 + ], + "joints": [ + 0.005572197958827019 + ] + }, + "final_grasp": { + "position": [ + -0.09177353233098984, + 0.08218570798635483, + -0.12873706221580505 + ], + "orientation": [ + 0.0952390804886818, + 0.4786967635154724, + -0.11931896954774857, + 0.8646050691604614 + ], + "joints": [ + -0.003622816875576973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014902915805578232, + 0.1558823436498642, + -0.09040602296590805 + ], + "orientation": [ + 0.6009659767150879, + 0.42411088943481445, + 0.46226736903190613, + -0.495256245136261 + ], + "joints": [ + 0.013929473236203194 + ] + }, + "fine_grasp": { + "position": [ + -0.014295761473476887, + 0.15254399180412292, + -0.09099788218736649 + ], + "orientation": [ + 0.605356752872467, + 0.42610588669776917, + 0.45738622546195984, + -0.49272188544273376 + ], + "joints": [ + 0.005152413621544838 + ] + }, + "final_grasp": { + "position": [ + -0.014295761473476887, + 0.15254399180412292, + -0.09099788218736649 + ], + "orientation": [ + 0.605356752872467, + 0.42610588669776917, + 0.45738622546195984, + -0.49272188544273376 + ], + "joints": [ + -0.0036246459931135178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030288279056549072, + -0.016265947371721268, + -0.17361226677894592 + ], + "orientation": [ + 0.7912541031837463, + -0.1460123211145401, + 0.22376836836338043, + 0.5500228404998779 + ], + "joints": [ + 0.017309263348579407 + ] + }, + "fine_grasp": { + "position": [ + -0.028004009276628494, + -0.013731752522289753, + -0.1720312088727951 + ], + "orientation": [ + 0.7900184988975525, + -0.14526447653770447, + 0.24060162901878357, + 0.5448668599128723 + ], + "joints": [ + 0.005293051712214947 + ] + }, + "final_grasp": { + "position": [ + -0.028004009276628494, + -0.013731752522289753, + -0.1720312088727951 + ], + "orientation": [ + 0.7900184988975525, + -0.14526447653770447, + 0.24060162901878357, + 0.5448668599128723 + ], + "joints": [ + -0.006723159924149513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03022114746272564, + -0.0161813423037529, + -0.17356064915657043 + ], + "orientation": [ + 0.7914804220199585, + -0.1458759605884552, + 0.22411653399467468, + 0.5495914220809937 + ], + "joints": [ + 0.01774921640753746 + ] + }, + "fine_grasp": { + "position": [ + -0.028012899681925774, + -0.013682904653251171, + -0.1720014363527298 + ], + "orientation": [ + 0.7902454137802124, + -0.14531153440475464, + 0.24052941799163818, + 0.5445569753646851 + ], + "joints": [ + 0.005315049551427364 + ] + }, + "final_grasp": { + "position": [ + -0.028012899681925774, + -0.013682904653251171, + -0.1720014363527298 + ], + "orientation": [ + 0.7902454137802124, + -0.14531153440475464, + 0.24052941799163818, + 0.5445569753646851 + ], + "joints": [ + -0.007119117304682732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028827186673879623, + 0.00998489186167717, + -0.18658044934272766 + ], + "orientation": [ + 0.6382249593734741, + -0.20003265142440796, + -0.0457698218524456, + -0.741998016834259 + ], + "joints": [ + 0.015807054936885834 + ] + }, + "fine_grasp": { + "position": [ + -0.027639176696538925, + 0.01172986812889576, + -0.18340261280536652 + ], + "orientation": [ + 0.6376442313194275, + -0.2032189518213272, + -0.046767134219408035, + -0.7415691614151001 + ], + "joints": [ + 0.006612040102481842 + ] + }, + "final_grasp": { + "position": [ + -0.027639176696538925, + 0.01172986812889576, + -0.18340261280536652 + ], + "orientation": [ + 0.6376442313194275, + -0.2032189518213272, + -0.046767134219408035, + -0.7415691614151001 + ], + "joints": [ + -0.0025829747319221497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019360244274139404, + 0.11057890951633453, + -0.16949181258678436 + ], + "orientation": [ + 0.6286916136741638, + 0.2663388252258301, + 0.1599053591489792, + -0.7129101157188416 + ], + "joints": [ + 0.01483548991382122 + ] + }, + "fine_grasp": { + "position": [ + 0.01877441257238388, + 0.10795208811759949, + -0.1683432012796402 + ], + "orientation": [ + 0.6321389079093933, + 0.26090994477272034, + 0.1552400439977646, + -0.7129003405570984 + ], + "joints": [ + 0.005640475079417229 + ] + }, + "final_grasp": { + "position": [ + 0.01877441257238388, + 0.10795208811759949, + -0.1683432012796402 + ], + "orientation": [ + 0.6321389079093933, + 0.26090994477272034, + 0.1552400439977646, + -0.7129003405570984 + ], + "joints": [ + -0.003554539754986763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0028801385778933764, + 0.02633899450302124, + -0.1946694552898407 + ], + "orientation": [ + 0.7638714909553528, + -0.06772449612617493, + 0.07245362550020218, + 0.6377021074295044 + ], + "joints": [ + 0.014982285909354687 + ] + }, + "fine_grasp": { + "position": [ + -0.002913328818976879, + 0.02737855166196823, + -0.19084447622299194 + ], + "orientation": [ + 0.7656238079071045, + -0.06776617467403412, + 0.07228711992502213, + 0.6356118321418762 + ], + "joints": [ + 0.005766373127698898 + ] + }, + "final_grasp": { + "position": [ + -0.002913328818976879, + 0.02737855166196823, + -0.19084447622299194 + ], + "orientation": [ + 0.7656238079071045, + -0.06776617467403412, + 0.07228711992502213, + 0.6356118321418762 + ], + "joints": [ + -0.00344953965395689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002783902222290635, + 0.026998164132237434, + -0.19236284494400024 + ], + "orientation": [ + 0.7643202543258667, + -0.06821254640817642, + 0.07280653715133667, + 0.6370720267295837 + ], + "joints": [ + 0.014956879429519176 + ] + }, + "fine_grasp": { + "position": [ + -0.0028003219049423933, + 0.028009865432977676, + -0.18899741768836975 + ], + "orientation": [ + 0.7664153575897217, + -0.06737929582595825, + 0.07218477874994278, + 0.6347100734710693 + ], + "joints": [ + 0.005761864595115185 + ] + }, + "final_grasp": { + "position": [ + -0.0028003219049423933, + 0.028009865432977676, + -0.18899741768836975 + ], + "orientation": [ + 0.7664153575897217, + -0.06737929582595825, + 0.07218477874994278, + 0.6347100734710693 + ], + "joints": [ + -0.003433150239288807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0026731749530881643, + 0.02679489180445671, + -0.19352532923221588 + ], + "orientation": [ + 0.7643231153488159, + -0.07041149586439133, + 0.07547860592603683, + 0.6365181803703308 + ], + "joints": [ + 0.01489860750734806 + ] + }, + "fine_grasp": { + "position": [ + -0.0027433568611741066, + 0.02761981636285782, + -0.1895885020494461 + ], + "orientation": [ + 0.766802191734314, + -0.06940567493438721, + 0.07393636554479599, + 0.6338221430778503 + ], + "joints": [ + 0.005703592672944069 + ] + }, + "final_grasp": { + "position": [ + -0.0027433568611741066, + 0.02761981636285782, + -0.1895885020494461 + ], + "orientation": [ + 0.766802191734314, + -0.06940567493438721, + 0.07393636554479599, + 0.6338221430778503 + ], + "joints": [ + -0.003491422161459923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0508478507399559, + 0.04937632009387016, + -0.17847441136837006 + ], + "orientation": [ + 0.17308790981769562, + 0.22862179577350616, + -0.037867482751607895, + -0.9572558999061584 + ], + "joints": [ + 0.016439929604530334 + ] + }, + "fine_grasp": { + "position": [ + 0.04823211580514908, + 0.049161408096551895, + -0.1763153225183487 + ], + "orientation": [ + 0.17555764317512512, + 0.22327829897403717, + -0.04040409252047539, + -0.9579633474349976 + ], + "joints": [ + 0.006826959550380707 + ] + }, + "final_grasp": { + "position": [ + 0.04823211580514908, + 0.049161408096551895, + -0.1763153225183487 + ], + "orientation": [ + 0.17555764317512512, + 0.22327829897403717, + -0.04040409252047539, + -0.9579633474349976 + ], + "joints": [ + -0.002786010503768921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010242137126624584, + 0.011358619667589664, + -0.18899068236351013 + ], + "orientation": [ + 0.5802338719367981, + -0.14239385724067688, + -0.11405053734779358, + -0.7937537431716919 + ], + "joints": [ + 0.014630106277763844 + ] + }, + "fine_grasp": { + "position": [ + -0.010009017772972584, + 0.012925672344863415, + -0.1852623075246811 + ], + "orientation": [ + 0.577724814414978, + -0.1410650610923767, + -0.11272263526916504, + -0.7960077524185181 + ], + "joints": [ + 0.005435091443359852 + ] + }, + "final_grasp": { + "position": [ + -0.010009017772972584, + 0.012925672344863415, + -0.1852623075246811 + ], + "orientation": [ + 0.577724814414978, + -0.1410650610923767, + -0.11272263526916504, + -0.7960077524185181 + ], + "joints": [ + -0.00375992339104414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01518130861222744, + 0.1578909158706665, + -0.09097644686698914 + ], + "orientation": [ + 0.6011524796485901, + 0.42218276858329773, + 0.46202102303504944, + -0.49690449237823486 + ], + "joints": [ + 0.013294782489538193 + ] + }, + "fine_grasp": { + "position": [ + -0.014528640545904636, + 0.15380147099494934, + -0.09096744656562805 + ], + "orientation": [ + 0.6040500402450562, + 0.42413508892059326, + 0.4595578908920288, + -0.4940035343170166 + ], + "joints": [ + 0.004935678094625473 + ] + }, + "final_grasp": { + "position": [ + -0.014528640545904636, + 0.15380147099494934, + -0.09096744656562805 + ], + "orientation": [ + 0.6040500402450562, + 0.42413508892059326, + 0.4595578908920288, + -0.4940035343170166 + ], + "joints": [ + -0.0034234263002872467 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01095572579652071, + 0.15784816443920135, + -0.107869453728199 + ], + "orientation": [ + 0.5411891937255859, + 0.41318005323410034, + -0.4960178732872009, + 0.5388530492782593 + ], + "joints": [ + 0.01367289200425148 + ] + }, + "fine_grasp": { + "position": [ + 0.010560397990047932, + 0.1539163887500763, + -0.1069759801030159 + ], + "orientation": [ + 0.5412652492523193, + 0.4085438549518585, + -0.49582210183143616, + 0.5424796938896179 + ], + "joints": [ + 0.004895832389593124 + ] + }, + "final_grasp": { + "position": [ + 0.010560397990047932, + 0.1539163887500763, + -0.1069759801030159 + ], + "orientation": [ + 0.5412652492523193, + 0.4085438549518585, + -0.49582210183143616, + 0.5424796938896179 + ], + "joints": [ + -0.0038812272250652313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019460007548332214, + 0.11088255792856216, + -0.1683020442724228 + ], + "orientation": [ + 0.6323707699775696, + 0.2547055184841156, + 0.15170741081237793, + -0.7156934142112732 + ], + "joints": [ + 0.01597686856985092 + ] + }, + "fine_grasp": { + "position": [ + 0.018541259691119194, + 0.10779167711734772, + -0.167295441031456 + ], + "orientation": [ + 0.6344770193099976, + 0.25347211956977844, + 0.14941975474357605, + -0.7147479057312012 + ], + "joints": [ + 0.005945943295955658 + ] + }, + "final_grasp": { + "position": [ + 0.018541259691119194, + 0.10779167711734772, + -0.167295441031456 + ], + "orientation": [ + 0.6344770193099976, + 0.25347211956977844, + 0.14941975474357605, + -0.7147479057312012 + ], + "joints": [ + -0.004084981977939606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008865579962730408, + -0.10428678244352341, + 0.09280173480510712 + ], + "orientation": [ + 0.45160365104675293, + -0.6809186339378357, + -0.44831037521362305, + -0.36252152919769287 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.008467143401503563, + -0.10083875060081482, + 0.09109385311603546 + ], + "orientation": [ + 0.4459257125854492, + -0.6839908957481384, + -0.4562840461730957, + -0.35371097922325134 + ], + "joints": [ + 0.027180299162864685 + ] + }, + "final_grasp": { + "position": [ + -0.008467143401503563, + -0.10083875060081482, + 0.09109385311603546 + ], + "orientation": [ + 0.4459257125854492, + -0.6839908957481384, + -0.4562840461730957, + -0.35371097922325134 + ], + "joints": [ + 0.019615307450294495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019426779821515083, + 0.11075308173894882, + -0.16966134309768677 + ], + "orientation": [ + 0.6323788166046143, + 0.2635306417942047, + 0.15741916000843048, + -0.7112438678741455 + ], + "joints": [ + 0.014955715276300907 + ] + }, + "fine_grasp": { + "position": [ + 0.01873166486620903, + 0.10789443552494049, + -0.1684693694114685 + ], + "orientation": [ + 0.6358140707015991, + 0.25946706533432007, + 0.1528785079717636, + -0.7106656432151794 + ], + "joints": [ + 0.0057607004418969154 + ] + }, + "final_grasp": { + "position": [ + 0.01873166486620903, + 0.10789443552494049, + -0.1684693694114685 + ], + "orientation": [ + 0.6358140707015991, + 0.25946706533432007, + 0.1528785079717636, + -0.7106656432151794 + ], + "joints": [ + -0.0034343143925070763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055241748690605164, + -0.0267937071621418, + 0.1516616940498352 + ], + "orientation": [ + 0.2635919451713562, + -0.662411630153656, + 0.7001652121543884, + -0.03871345892548561 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.05373122915625572, + -0.025480886921286583, + 0.1484163999557495 + ], + "orientation": [ + 0.27007636427879333, + -0.6621706485748291, + 0.6982385516166687, + -0.03242988511919975 + ], + "joints": [ + 0.027224354445934296 + ] + }, + "final_grasp": { + "position": [ + -0.05373122915625572, + -0.025480886921286583, + 0.1484163999557495 + ], + "orientation": [ + 0.27007636427879333, + -0.6621706485748291, + 0.6982385516166687, + -0.03242988511919975 + ], + "joints": [ + 0.019680261611938477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01287629920989275, + 0.010040562599897385, + -0.17284145951271057 + ], + "orientation": [ + 0.3315891921520233, + -0.1168321967124939, + -0.14639738202095032, + -0.9246440529823303 + ], + "joints": [ + 0.017381101846694946 + ] + }, + "fine_grasp": { + "position": [ + -0.01119600422680378, + 0.011997186578810215, + -0.17242485284805298 + ], + "orientation": [ + 0.3260282874107361, + -0.1068311333656311, + -0.14590109884738922, + -0.9279038310050964 + ], + "joints": [ + 0.007768131792545319 + ] + }, + "final_grasp": { + "position": [ + -0.01119600422680378, + 0.011997186578810215, + -0.17242485284805298 + ], + "orientation": [ + 0.3260282874107361, + -0.1068311333656311, + -0.14590109884738922, + -0.9279038310050964 + ], + "joints": [ + -0.001844838261604309 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0021123914048075676, + -0.08100057393312454, + 0.13313055038452148 + ], + "orientation": [ + 0.18389642238616943, + -0.5055113434791565, + 0.7785003185272217, + 0.32338449358940125 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.0024609952233731747, + -0.07792484015226364, + 0.1309577226638794 + ], + "orientation": [ + 0.19907797873020172, + -0.5025467276573181, + 0.77272629737854, + 0.33272942900657654 + ], + "joints": [ + 0.027137406170368195 + ] + }, + "final_grasp": { + "position": [ + 0.0024609952233731747, + -0.07792484015226364, + 0.1309577226638794 + ], + "orientation": [ + 0.19907797873020172, + -0.5025467276573181, + 0.77272629737854, + 0.33272942900657654 + ], + "joints": [ + 0.01996947079896927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007900838740170002, + -0.1054968386888504, + 0.09203692525625229 + ], + "orientation": [ + 0.4486078917980194, + -0.6833705306053162, + -0.45520538091659546, + -0.3529074192047119 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.0074572148732841015, + -0.10184752196073532, + 0.09056740254163742 + ], + "orientation": [ + 0.4466250538825989, + -0.6829420328140259, + -0.460267037153244, + -0.34967225790023804 + ], + "joints": [ + 0.027203455567359924 + ] + }, + "final_grasp": { + "position": [ + -0.0074572148732841015, + -0.10184752196073532, + 0.09056740254163742 + ], + "orientation": [ + 0.4466250538825989, + -0.6829420328140259, + -0.460267037153244, + -0.34967225790023804 + ], + "joints": [ + 0.019638463854789734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01940363459289074, + -0.02487781271338463, + 0.17098334431648254 + ], + "orientation": [ + 0.040243830531835556, + -0.6796212792396545, + 0.7175405025482178, + 0.14707542955875397 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.018754811957478523, + -0.023771127685904503, + 0.16743285953998566 + ], + "orientation": [ + 0.04488882049918175, + -0.6780889630317688, + 0.7178080081939697, + 0.15143318474292755 + ], + "joints": [ + 0.02577008306980133 + ] + }, + "final_grasp": { + "position": [ + 0.018754811957478523, + -0.023771127685904503, + 0.16743285953998566 + ], + "orientation": [ + 0.04488882049918175, + -0.6780889630317688, + 0.7178080081939697, + 0.15143318474292755 + ], + "joints": [ + 0.01818419247865677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02342667430639267, + -0.09946384280920029, + -0.02626822516322136 + ], + "orientation": [ + 0.4779375493526459, + -0.3837602436542511, + 0.36769387125968933, + 0.6993604898452759 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.02265956811606884, + -0.0965118333697319, + -0.02427913062274456 + ], + "orientation": [ + 0.4800947904586792, + -0.38171422481536865, + 0.36715608835220337, + 0.6992851495742798 + ], + "joints": [ + 0.026698552072048187 + ] + }, + "final_grasp": { + "position": [ + 0.02265956811606884, + -0.0965118333697319, + -0.02427913062274456 + ], + "orientation": [ + 0.4800947904586792, + -0.38171422481536865, + 0.36715608835220337, + 0.6992851495742798 + ], + "joints": [ + 0.019091762602329254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10547666996717453, + 0.16280296444892883, + 0.0007886632811278105 + ], + "orientation": [ + 0.7197339534759521, + 0.42593395709991455, + 0.5060140490531921, + -0.21098150312900543 + ], + "joints": [ + 0.01122444961220026 + ] + }, + "fine_grasp": { + "position": [ + -0.10347704589366913, + 0.1592874377965927, + 0.0015275152400135994 + ], + "orientation": [ + 0.7191579937934875, + 0.4269641935825348, + 0.5053661465644836, + -0.2124105542898178 + ], + "joints": [ + 0.0036594609264284372 + ] + }, + "final_grasp": { + "position": [ + -0.10347704589366913, + 0.1592874377965927, + 0.0015275152400135994 + ], + "orientation": [ + 0.7191579937934875, + 0.4269641935825348, + 0.5053661465644836, + -0.2124105542898178 + ], + "joints": [ + -0.0039055277593433857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013903679326176643, + -0.10614466667175293, + 0.006237458437681198 + ], + "orientation": [ + 0.6226612329483032, + -0.5558759570121765, + 0.3417615592479706, + 0.43184947967529297 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.013176411390304565, + -0.10326700657606125, + 0.007851415313780308 + ], + "orientation": [ + 0.6252468228340149, + -0.5521273016929626, + 0.33699825406074524, + 0.4366396367549896 + ], + "joints": [ + 0.02491217851638794 + ] + }, + "final_grasp": { + "position": [ + 0.013176411390304565, + -0.10326700657606125, + 0.007851415313780308 + ], + "orientation": [ + 0.6252468228340149, + -0.5521273016929626, + 0.33699825406074524, + 0.4366396367549896 + ], + "joints": [ + 0.01690833270549774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03556755185127258, + 0.015789227560162544, + -0.19279678165912628 + ], + "orientation": [ + 0.22178800404071808, + -0.18651551008224487, + -0.10166977345943451, + -0.9516749978065491 + ], + "joints": [ + 0.015394486486911774 + ] + }, + "fine_grasp": { + "position": [ + -0.03452304005622864, + 0.016971932724118233, + -0.1892412006855011 + ], + "orientation": [ + 0.22223366796970367, + -0.18507131934165955, + -0.10286947339773178, + -0.9517241716384888 + ], + "joints": [ + 0.00536356121301651 + ] + }, + "final_grasp": { + "position": [ + -0.03452304005622864, + 0.016971932724118233, + -0.1892412006855011 + ], + "orientation": [ + 0.22223366796970367, + -0.18507131934165955, + -0.10286947339773178, + -0.9517241716384888 + ], + "joints": [ + -0.004667364060878754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0024972986429929733, + -0.06848793476819992, + 0.1362735778093338 + ], + "orientation": [ + 0.12892349064350128, + -0.5233885645866394, + -0.7970397472381592, + -0.2723434865474701 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.0030159587040543556, + -0.0657758116722107, + 0.1342548429965973 + ], + "orientation": [ + 0.14497636258602142, + -0.5239315032958984, + -0.7912046313285828, + -0.280129998922348 + ], + "joints": [ + 0.025264084339141846 + ] + }, + "final_grasp": { + "position": [ + -0.0030159587040543556, + -0.0657758116722107, + 0.1342548429965973 + ], + "orientation": [ + 0.14497636258602142, + -0.5239315032958984, + -0.7912046313285828, + -0.280129998922348 + ], + "joints": [ + 0.01807525008916855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01935208961367607, + -0.10859052836894989, + 0.005106128286570311 + ], + "orientation": [ + 0.3910432755947113, + -0.3935773968696594, + 0.4788130223751068, + 0.6803823113441467 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.01854703389108181, + -0.10470572859048843, + 0.006449554115533829 + ], + "orientation": [ + 0.3946423828601837, + -0.39107635617256165, + 0.47903183102607727, + 0.679591953754425 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + 0.01854703389108181, + -0.10470572859048843, + 0.006449554115533829 + ], + "orientation": [ + 0.3946423828601837, + -0.39107635617256165, + 0.47903183102607727, + 0.679591953754425 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05850786715745926, + -0.08906840533018112, + 0.10396824777126312 + ], + "orientation": [ + 0.13341327011585236, + -0.5800233483314514, + 0.6232430934906006, + 0.5072886943817139 + ], + "joints": [ + 0.03449058160185814 + ] + }, + "fine_grasp": { + "position": [ + 0.05667288601398468, + -0.08605527132749557, + 0.10234835743904114 + ], + "orientation": [ + 0.13094554841518402, + -0.5781518816947937, + 0.6263076663017273, + 0.5062927007675171 + ], + "joints": [ + 0.026507634669542313 + ] + }, + "final_grasp": { + "position": [ + 0.05667288601398468, + -0.08605527132749557, + 0.10234835743904114 + ], + "orientation": [ + 0.13094554841518402, + -0.5781518816947937, + 0.6263076663017273, + 0.5062927007675171 + ], + "joints": [ + 0.018524687737226486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006743374397046864, + -0.09923164546489716, + -0.0287032350897789 + ], + "orientation": [ + 0.6025249361991882, + -0.37730106711387634, + -0.37708598375320435, + -0.5936443209648132 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.0006477566785179079, + -0.09643007069826126, + -0.026467129588127136 + ], + "orientation": [ + 0.6041346192359924, + -0.3749886751174927, + -0.37400856614112854, + -0.595417857170105 + ], + "joints": [ + 0.02493307739496231 + ] + }, + "final_grasp": { + "position": [ + 0.0006477566785179079, + -0.09643007069826126, + -0.026467129588127136 + ], + "orientation": [ + 0.6041346192359924, + -0.3749886751174927, + -0.37400856614112854, + -0.595417857170105 + ], + "joints": [ + 0.016950130462646484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012452851049602032, + 0.1057567223906517, + -0.19732415676116943 + ], + "orientation": [ + 0.6874598860740662, + 0.18951280415058136, + -0.08915875107049942, + 0.6953664422035217 + ], + "joints": [ + 0.017517661675810814 + ] + }, + "fine_grasp": { + "position": [ + -0.013015915639698505, + 0.10331496596336365, + -0.19449304044246674 + ], + "orientation": [ + 0.6886298656463623, + 0.18902365863323212, + -0.09973378479480743, + 0.6929012537002563 + ], + "joints": [ + 0.007068781182169914 + ] + }, + "final_grasp": { + "position": [ + -0.013015915639698505, + 0.10331496596336365, + -0.19449304044246674 + ], + "orientation": [ + 0.6886298656463623, + 0.18902365863323212, + -0.09973378479480743, + 0.6929012537002563 + ], + "joints": [ + -0.0033800993114709854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01575840264558792, + -0.09911928325891495, + 0.09926747530698776 + ], + "orientation": [ + 0.17124508321285248, + -0.4567685127258301, + -0.739910900592804, + -0.4632163643836975 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.01579117216169834, + -0.09548021852970123, + 0.09789039939641953 + ], + "orientation": [ + 0.18173609673976898, + -0.4529381990432739, + -0.7356956601142883, + -0.4696497619152069 + ], + "joints": [ + 0.026277244091033936 + ] + }, + "final_grasp": { + "position": [ + -0.01579117216169834, + -0.09548021852970123, + 0.09789039939641953 + ], + "orientation": [ + 0.18173609673976898, + -0.4529381990432739, + -0.7356956601142883, + -0.4696497619152069 + ], + "joints": [ + 0.018712252378463745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000993699417449534, + -0.09899955987930298, + -0.02919580228626728 + ], + "orientation": [ + 0.6037836670875549, + -0.3770158290863037, + -0.3768863081932068, + -0.5926729440689087 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.0009441511938348413, + -0.09620758891105652, + -0.026877647265791893 + ], + "orientation": [ + 0.6057068109512329, + -0.3741495609283447, + -0.3736453652381897, + -0.5945760011672974 + ], + "joints": [ + 0.0248890221118927 + ] + }, + "final_grasp": { + "position": [ + 0.0009441511938348413, + -0.09620758891105652, + -0.026877647265791893 + ], + "orientation": [ + 0.6057068109512329, + -0.3741495609283447, + -0.3736453652381897, + -0.5945760011672974 + ], + "joints": [ + 0.016885176301002502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08439868688583374, + -0.07032659649848938, + 0.09717145562171936 + ], + "orientation": [ + 0.518677294254303, + -0.6608884334564209, + -0.5368738770484924, + 0.07724510133266449 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + 0.08221571147441864, + -0.06747043877840042, + 0.09590393304824829 + ], + "orientation": [ + 0.5263213515281677, + -0.663578450679779, + -0.5274029970169067, + 0.0670483186841011 + ], + "joints": [ + 0.026485640555620193 + ] + }, + "final_grasp": { + "position": [ + 0.08221571147441864, + -0.06747043877840042, + 0.09590393304824829 + ], + "orientation": [ + 0.5263213515281677, + -0.663578450679779, + -0.5274029970169067, + 0.0670483186841011 + ], + "joints": [ + 0.018920648843050003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11210686713457108, + 0.03120352514088154, + -0.09842599183320999 + ], + "orientation": [ + 0.8691685795783997, + -0.11872837692499161, + 0.4768946170806885, + -0.054963428527116776 + ], + "joints": [ + 0.01573469303548336 + ] + }, + "fine_grasp": { + "position": [ + -0.10820670425891876, + 0.03149699419736862, + -0.09740834683179855 + ], + "orientation": [ + 0.8665207028388977, + -0.1180659607052803, + 0.48164650797843933, + -0.05673639848828316 + ], + "joints": [ + 0.007354690693318844 + ] + }, + "final_grasp": { + "position": [ + -0.10820670425891876, + 0.03149699419736862, + -0.09740834683179855 + ], + "orientation": [ + 0.8665207028388977, + -0.1180659607052803, + 0.48164650797843933, + -0.05673639848828316 + ], + "joints": [ + -0.0010253116488456726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08510517328977585, + -0.07000712305307388, + 0.0972805917263031 + ], + "orientation": [ + 0.5227743983268738, + -0.6580012440681458, + -0.5372931361198425, + 0.07111494243144989 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.08269339799880981, + -0.06729244440793991, + 0.09587498754262924 + ], + "orientation": [ + 0.52824467420578, + -0.6601529717445374, + -0.5301241278648376, + 0.06421966850757599 + ], + "joints": [ + 0.026508796960115433 + ] + }, + "final_grasp": { + "position": [ + 0.08269339799880981, + -0.06729244440793991, + 0.09587498754262924 + ], + "orientation": [ + 0.52824467420578, + -0.6601529717445374, + -0.5301241278648376, + 0.06421966850757599 + ], + "joints": [ + 0.018943805247545242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02876865118741989, + 0.010801181197166443, + -0.18703921139240265 + ], + "orientation": [ + 0.6394141912460327, + -0.2054927498102188, + -0.04783851280808449, + -0.7393468022346497 + ], + "joints": [ + 0.015524860471487045 + ] + }, + "fine_grasp": { + "position": [ + -0.027699602767825127, + 0.012267595157027245, + -0.18384389579296112 + ], + "orientation": [ + 0.6390885710716248, + -0.20695964992046356, + -0.04752092808485031, + -0.7392396330833435 + ], + "joints": [ + 0.005911890417337418 + ] + }, + "final_grasp": { + "position": [ + -0.027699602767825127, + 0.012267595157027245, + -0.18384389579296112 + ], + "orientation": [ + 0.6390885710716248, + -0.20695964992046356, + -0.04752092808485031, + -0.7392396330833435 + ], + "joints": [ + -0.00370107963681221 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08453601598739624, + -0.07041329145431519, + 0.09755778312683105 + ], + "orientation": [ + 0.5180135369300842, + -0.6604166626930237, + -0.5382835268974304, + 0.07591176778078079 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.08222508430480957, + -0.06755995005369186, + 0.0963524729013443 + ], + "orientation": [ + 0.5254276990890503, + -0.6632214188575745, + -0.5289025902748108, + 0.0657658725976944 + ], + "joints": [ + 0.0266743004322052 + ] + }, + "final_grasp": { + "position": [ + 0.08222508430480957, + -0.06755995005369186, + 0.0963524729013443 + ], + "orientation": [ + 0.5254276990890503, + -0.6632214188575745, + -0.5289025902748108, + 0.0657658725976944 + ], + "joints": [ + 0.019506365060806274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015155328437685966, + -0.09923303872346878, + 0.0995253324508667 + ], + "orientation": [ + 0.1630016565322876, + -0.4551207721233368, + -0.7448655366897583, + -0.45985978841781616 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.015369727276265621, + -0.09553667157888412, + 0.09846162796020508 + ], + "orientation": [ + 0.17601646482944489, + -0.4491468369960785, + -0.7408956289291382, + -0.4672888517379761 + ], + "joints": [ + 0.02581413835287094 + ] + }, + "final_grasp": { + "position": [ + -0.015369727276265621, + -0.09553667157888412, + 0.09846162796020508 + ], + "orientation": [ + 0.17601646482944489, + -0.4491468369960785, + -0.7408956289291382, + -0.4672888517379761 + ], + "joints": [ + 0.01824914664030075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015665298327803612, + -0.09963644295930862, + 0.09968575090169907 + ], + "orientation": [ + 0.1693762242794037, + -0.455711305141449, + -0.7415094375610352, + -0.4623880386352539 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.015725240111351013, + -0.09594835340976715, + 0.09840722382068634 + ], + "orientation": [ + 0.18086227774620056, + -0.4510217010974884, + -0.7373801469802856, + -0.46918949484825134 + ], + "joints": [ + 0.026254087686538696 + ] + }, + "final_grasp": { + "position": [ + -0.015725240111351013, + -0.09594835340976715, + 0.09840722382068634 + ], + "orientation": [ + 0.18086227774620056, + -0.4510217010974884, + -0.7373801469802856, + -0.46918949484825134 + ], + "joints": [ + 0.018689095973968506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028866754844784737, + 0.010563378222286701, + -0.18662993609905243 + ], + "orientation": [ + 0.6378642916679382, + -0.2077183574438095, + -0.048325639218091965, + -0.7400317192077637 + ], + "joints": [ + 0.015866953879594803 + ] + }, + "fine_grasp": { + "position": [ + -0.027669498696923256, + 0.012015260756015778, + -0.18323765695095062 + ], + "orientation": [ + 0.6367368698120117, + -0.20972934365272522, + -0.04815485700964928, + -0.7404463887214661 + ], + "joints": [ + 0.006253983825445175 + ] + }, + "final_grasp": { + "position": [ + -0.027669498696923256, + 0.012015260756015778, + -0.18323765695095062 + ], + "orientation": [ + 0.6367368698120117, + -0.20972934365272522, + -0.04815485700964928, + -0.7404463887214661 + ], + "joints": [ + -0.0033589862287044525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021348124369978905, + -0.0759245902299881, + -0.055283285677433014 + ], + "orientation": [ + 0.6283613443374634, + -0.35736915469169617, + -0.2495303899049759, + -0.6443477272987366 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + -0.020714448764920235, + -0.07403572648763657, + -0.05238474905490875 + ], + "orientation": [ + 0.6294194459915161, + -0.35394173860549927, + -0.24711662530899048, + -0.6461345553398132 + ], + "joints": [ + 0.02484496682882309 + ] + }, + "final_grasp": { + "position": [ + -0.020714448764920235, + -0.07403572648763657, + -0.05238474905490875 + ], + "orientation": [ + 0.6294194459915161, + -0.35394173860549927, + -0.24711662530899048, + -0.6461345553398132 + ], + "joints": [ + 0.01682022213935852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020939160138368607, + -0.07533179968595505, + -0.055455103516578674 + ], + "orientation": [ + 0.6311091780662537, + -0.35757842659950256, + -0.24988430738449097, + -0.6414021849632263 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + -0.020274793729186058, + -0.0736054852604866, + -0.05247572809457779 + ], + "orientation": [ + 0.6323079466819763, + -0.3534446060657501, + -0.2468799501657486, + -0.6436720490455627 + ], + "joints": [ + 0.02484496682882309 + ] + }, + "final_grasp": { + "position": [ + -0.020274793729186058, + -0.0736054852604866, + -0.05247572809457779 + ], + "orientation": [ + 0.6323079466819763, + -0.3534446060657501, + -0.2468799501657486, + -0.6436720490455627 + ], + "joints": [ + 0.01682022213935852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10404316335916519, + -0.01895645447075367, + -0.08018559962511063 + ], + "orientation": [ + 0.8596554398536682, + -0.2608051896095276, + 0.43480899930000305, + -0.06256415694952011 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + -0.1002529188990593, + -0.0177299901843071, + -0.07695449143648148 + ], + "orientation": [ + 0.8607518672943115, + -0.26490411162376404, + 0.4282847046852112, + -0.07418981194496155 + ], + "joints": [ + 0.0316089503467083 + ] + }, + "final_grasp": { + "position": [ + -0.1002529188990593, + -0.0177299901843071, + -0.07695449143648148 + ], + "orientation": [ + 0.8607518672943115, + -0.26490411162376404, + 0.4282847046852112, + -0.07418981194496155 + ], + "joints": [ + 0.028704162687063217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02410956844687462, + -0.0982319712638855, + 0.10273425281047821 + ], + "orientation": [ + 0.5076634883880615, + -0.7506296634674072, + 0.3894272446632385, + 0.1648615449666977 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.023471064865589142, + -0.09483404457569122, + 0.10082124918699265 + ], + "orientation": [ + 0.5036272406578064, + -0.7503674030303955, + 0.39767706394195557, + 0.15862302482128143 + ], + "joints": [ + 0.026971902698278427 + ] + }, + "final_grasp": { + "position": [ + -0.023471064865589142, + -0.09483404457569122, + 0.10082124918699265 + ], + "orientation": [ + 0.5036272406578064, + -0.7503674030303955, + 0.39767706394195557, + 0.15862302482128143 + ], + "joints": [ + 0.019406910985708237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06981617212295532, + -0.05307351425290108, + 0.1385297328233719 + ], + "orientation": [ + 0.046226732432842255, + 0.5158748030662537, + 0.758442223072052, + 0.3956027626991272 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.06804388761520386, + -0.05124171823263168, + 0.13598328828811646 + ], + "orientation": [ + 0.05335657671093941, + 0.51626056432724, + 0.7598270773887634, + 0.39152365922927856 + ], + "joints": [ + 0.025352127850055695 + ] + }, + "final_grasp": { + "position": [ + -0.06804388761520386, + -0.05124171823263168, + 0.13598328828811646 + ], + "orientation": [ + 0.05335657671093941, + 0.51626056432724, + 0.7598270773887634, + 0.39152365922927856 + ], + "joints": [ + 0.017348282039165497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06939933449029922, + -0.05295104533433914, + 0.13854730129241943 + ], + "orientation": [ + 0.04577765241265297, + 0.5158567428588867, + 0.7589367628097534, + 0.39472922682762146 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + -0.06760222464799881, + -0.051140639930963516, + 0.13593366742134094 + ], + "orientation": [ + 0.052706342190504074, + 0.5162282586097717, + 0.7607331871986389, + 0.38989177346229553 + ], + "joints": [ + 0.025560524314641953 + ] + }, + "final_grasp": { + "position": [ + -0.06760222464799881, + -0.051140639930963516, + 0.13593366742134094 + ], + "orientation": [ + 0.052706342190504074, + 0.5162282586097717, + 0.7607331871986389, + 0.38989177346229553 + ], + "joints": [ + 0.017556678503751755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06979046761989594, + -0.053159259259700775, + 0.13849282264709473 + ], + "orientation": [ + 0.045945703983306885, + 0.515951931476593, + 0.7582813501358032, + 0.3958435356616974 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.06798014789819717, + -0.051299963146448135, + 0.13589178025722504 + ], + "orientation": [ + 0.05323246121406555, + 0.5164044499397278, + 0.7598186135292053, + 0.3913673162460327 + ], + "joints": [ + 0.025538530200719833 + ] + }, + "final_grasp": { + "position": [ + -0.06798014789819717, + -0.051299963146448135, + 0.13589178025722504 + ], + "orientation": [ + 0.05323246121406555, + 0.5164044499397278, + 0.7598186135292053, + 0.3913673162460327 + ], + "joints": [ + 0.01795263960957527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04626083746552467, + -0.11328019946813583, + 0.058635495603084564 + ], + "orientation": [ + 0.1070733368396759, + -0.33119651675224304, + 0.6636918187141418, + 0.6620855331420898 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.045064087957143784, + -0.10963478684425354, + 0.058296699076890945 + ], + "orientation": [ + 0.10524417459964752, + -0.33190491795539856, + 0.6645914316177368, + 0.6611210107803345 + ], + "joints": [ + 0.0248890221118927 + ] + }, + "final_grasp": { + "position": [ + 0.045064087957143784, + -0.10963478684425354, + 0.058296699076890945 + ], + "orientation": [ + 0.10524417459964752, + -0.33190491795539856, + 0.6645914316177368, + 0.6611210107803345 + ], + "joints": [ + 0.016885176301002502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13677512109279633, + 0.153373584151268, + 0.034567106515169144 + ], + "orientation": [ + 0.6549270153045654, + 0.32422196865081787, + -0.6475845575332642, + 0.21583572030067444 + ], + "joints": [ + 0.010739835910499096 + ] + }, + "fine_grasp": { + "position": [ + 0.13390783965587616, + 0.15018945932388306, + 0.034589141607284546 + ], + "orientation": [ + 0.655190110206604, + 0.3247833847999573, + -0.646565318107605, + 0.2172442227602005 + ], + "joints": [ + 0.0035928026773035526 + ] + }, + "final_grasp": { + "position": [ + 0.13390783965587616, + 0.15018945932388306, + 0.034589141607284546 + ], + "orientation": [ + 0.655190110206604, + 0.3247833847999573, + -0.646565318107605, + 0.2172442227602005 + ], + "joints": [ + -0.0035542305558919907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046434611082077026, + -0.11335118114948273, + 0.05873044207692146 + ], + "orientation": [ + 0.10805461555719376, + -0.3297276496887207, + 0.6635788679122925, + 0.6627721786499023 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.04522404074668884, + -0.1097828820347786, + 0.058375753462314606 + ], + "orientation": [ + 0.10552401095628738, + -0.33097681403160095, + 0.6645305752754211, + 0.6616026163101196 + ], + "joints": [ + 0.024491965770721436 + ] + }, + "final_grasp": { + "position": [ + 0.04522404074668884, + -0.1097828820347786, + 0.058375753462314606 + ], + "orientation": [ + 0.10552401095628738, + -0.33097681403160095, + 0.6645305752754211, + 0.6616026163101196 + ], + "joints": [ + 0.016091063618659973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046298958361148834, + -0.11332865804433823, + 0.05866995453834534 + ], + "orientation": [ + 0.10739880055189133, + -0.3309384286403656, + 0.6636552214622498, + 0.6621986031532288 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.04506448656320572, + -0.10965940356254578, + 0.0583200566470623 + ], + "orientation": [ + 0.10528208315372467, + -0.3318766951560974, + 0.6645078063011169, + 0.6612132787704468 + ], + "joints": [ + 0.0248890221118927 + ] + }, + "final_grasp": { + "position": [ + 0.04506448656320572, + -0.10965940356254578, + 0.0583200566470623 + ], + "orientation": [ + 0.10528208315372467, + -0.3318766951560974, + 0.6645078063011169, + 0.6612132787704468 + ], + "joints": [ + 0.016885176301002502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0923207551240921, + 0.16357733309268951, + -0.02373361773788929 + ], + "orientation": [ + 0.1129198670387268, + 0.4096219837665558, + -0.4703201949596405, + 0.7734712362289429 + ], + "joints": [ + 0.011319986544549465 + ] + }, + "fine_grasp": { + "position": [ + -0.090550497174263, + 0.15996932983398438, + -0.02257940173149109 + ], + "orientation": [ + 0.11480794101953506, + 0.40777716040611267, + -0.4733552038669586, + 0.7723159193992615 + ], + "joints": [ + 0.003357940586283803 + ] + }, + "final_grasp": { + "position": [ + -0.090550497174263, + 0.15996932983398438, + -0.02257940173149109 + ], + "orientation": [ + 0.11480794101953506, + 0.40777716040611267, + -0.4733552038669586, + 0.7723159193992615 + ], + "joints": [ + -0.004604105371981859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11576364934444427, + -0.015828853473067284, + 0.10808683931827545 + ], + "orientation": [ + 0.28391528129577637, + 0.5902823805809021, + -0.632028341293335, + -0.41412439942359924 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.11249497532844543, + -0.014937503263354301, + 0.10621818900108337 + ], + "orientation": [ + 0.2793188989162445, + 0.5872520804405212, + -0.6340638399124146, + -0.4184243679046631 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + 0.11249497532844543, + -0.014937503263354301, + 0.10621818900108337 + ], + "orientation": [ + 0.2793188989162445, + 0.5872520804405212, + -0.6340638399124146, + -0.4184243679046631 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026285706087946892, + -0.11052446812391281, + 0.03552137315273285 + ], + "orientation": [ + 0.13354481756687164, + -0.21401213109493256, + 0.6452977061271667, + 0.7210793495178223 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.02500857412815094, + -0.10698006302118301, + 0.03577572479844093 + ], + "orientation": [ + 0.12706635892391205, + -0.21972467005252838, + 0.6490271687507629, + 0.7171741724014282 + ], + "joints": [ + 0.02674034982919693 + ] + }, + "final_grasp": { + "position": [ + 0.02500857412815094, + -0.10698006302118301, + 0.03577572479844093 + ], + "orientation": [ + 0.12706635892391205, + -0.21972467005252838, + 0.6490271687507629, + 0.7171741724014282 + ], + "joints": [ + 0.01917535811662674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07624652981758118, + 0.16258442401885986, + 0.07505770772695541 + ], + "orientation": [ + 0.43066078424453735, + 0.24215130507946014, + 0.7211944460868835, + -0.48556411266326904 + ], + "joints": [ + 0.019589310511946678 + ] + }, + "fine_grasp": { + "position": [ + -0.07497861236333847, + 0.15849356353282928, + 0.0743144303560257 + ], + "orientation": [ + 0.4297294616699219, + 0.2263954132795334, + 0.7298648357391357, + -0.4810144901275635 + ], + "joints": [ + 0.012902026996016502 + ] + }, + "final_grasp": { + "position": [ + -0.07497861236333847, + 0.15849356353282928, + 0.0743144303560257 + ], + "orientation": [ + 0.4297294616699219, + 0.2263954132795334, + 0.7298648357391357, + -0.4810144901275635 + ], + "joints": [ + 0.006214743480086327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11157350242137909, + 0.1513676941394806, + 0.0965244397521019 + ], + "orientation": [ + 0.35048800706863403, + 0.7629455327987671, + 0.2057713270187378, + -0.5027230381965637 + ], + "joints": [ + 0.01079742144793272 + ] + }, + "fine_grasp": { + "position": [ + 0.10900568962097168, + 0.14832887053489685, + 0.0951017513871193 + ], + "orientation": [ + 0.3479180932044983, + 0.7638113498687744, + 0.20892338454723358, + -0.501892626285553 + ], + "joints": [ + 0.003650388214737177 + ] + }, + "final_grasp": { + "position": [ + 0.10900568962097168, + 0.14832887053489685, + 0.0951017513871193 + ], + "orientation": [ + 0.3479180932044983, + 0.7638113498687744, + 0.20892338454723358, + -0.501892626285553 + ], + "joints": [ + -0.0034966450184583664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1260063499212265, + 0.11011338233947754, + 0.11117297410964966 + ], + "orientation": [ + 0.0036446978338062763, + -0.7982668876647949, + 0.44689980149269104, + -0.40377870202064514 + ], + "joints": [ + 0.011805209331214428 + ] + }, + "fine_grasp": { + "position": [ + -0.12283165007829666, + 0.1079917699098587, + 0.11044721305370331 + ], + "orientation": [ + 0.014810346998274326, + -0.7891244888305664, + 0.4604741334915161, + -0.4062349200248718 + ], + "joints": [ + 0.0038431629072874784 + ] + }, + "final_grasp": { + "position": [ + -0.12283165007829666, + 0.1079917699098587, + 0.11044721305370331 + ], + "orientation": [ + 0.014810346998274326, + -0.7891244888305664, + 0.4604741334915161, + -0.4062349200248718 + ], + "joints": [ + -0.004118883516639471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1265588402748108, + 0.1619500368833542, + 0.028837496414780617 + ], + "orientation": [ + 0.6505821347236633, + 0.29487210512161255, + 0.6253131031990051, + -0.31428763270378113 + ], + "joints": [ + 0.010214809328317642 + ] + }, + "fine_grasp": { + "position": [ + -0.12397777289152145, + 0.15852199494838715, + 0.028912346810102463 + ], + "orientation": [ + 0.6491992473602295, + 0.2953795790672302, + 0.625770628452301, + -0.3157568871974945 + ], + "joints": [ + 0.003485731314867735 + ] + }, + "final_grasp": { + "position": [ + -0.12397777289152145, + 0.15852199494838715, + 0.028912346810102463 + ], + "orientation": [ + 0.6491992473602295, + 0.2953795790672302, + 0.625770628452301, + -0.3157568871974945 + ], + "joints": [ + -0.0032433466985821724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07585690915584564, + 0.1677713692188263, + -0.04202982038259506 + ], + "orientation": [ + 0.13260239362716675, + 0.324067085981369, + -0.46921172738075256, + 0.810701847076416 + ], + "joints": [ + 0.011556478217244148 + ] + }, + "fine_grasp": { + "position": [ + -0.07452112436294556, + 0.1642993688583374, + -0.040650758892297745 + ], + "orientation": [ + 0.13330361247062683, + 0.3238607347011566, + -0.4710397720336914, + 0.8096084594726562 + ], + "joints": [ + 0.0035944320261478424 + ] + }, + "final_grasp": { + "position": [ + -0.07452112436294556, + 0.1642993688583374, + -0.040650758892297745 + ], + "orientation": [ + 0.13330361247062683, + 0.3238607347011566, + -0.4710397720336914, + 0.8096084594726562 + ], + "joints": [ + -0.0043676141649484634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12476223707199097, + 0.158061683177948, + 0.03859143704175949 + ], + "orientation": [ + 0.633065938949585, + 0.4651658535003662, + 0.606840968132019, + -0.1207987442612648 + ], + "joints": [ + 0.00973900593817234 + ] + }, + "fine_grasp": { + "position": [ + -0.12223327159881592, + 0.1545768678188324, + 0.03921511024236679 + ], + "orientation": [ + 0.6400361061096191, + 0.4666956067085266, + 0.5983638763427734, + -0.12045615911483765 + ], + "joints": [ + 0.0034278833772987127 + ] + }, + "final_grasp": { + "position": [ + -0.12223327159881592, + 0.1545768678188324, + 0.03921511024236679 + ], + "orientation": [ + 0.6400361061096191, + 0.4666956067085266, + 0.5983638763427734, + -0.12045615911483765 + ], + "joints": [ + -0.002883239183574915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08056487143039703, + 0.15199366211891174, + -0.0399092361330986 + ], + "orientation": [ + 0.8254987001419067, + 0.4077298045158386, + -0.3433929979801178, + 0.1854444444179535 + ], + "joints": [ + 0.011685920879244804 + ] + }, + "fine_grasp": { + "position": [ + 0.07959344983100891, + 0.14951442182064056, + -0.038833942264318466 + ], + "orientation": [ + 0.8258494734764099, + 0.40858229994773865, + -0.3422110378742218, + 0.184186652302742 + ], + "joints": [ + 0.0033268171828240156 + ] + }, + "final_grasp": { + "position": [ + 0.07959344983100891, + 0.14951442182064056, + -0.038833942264318466 + ], + "orientation": [ + 0.8258494734764099, + 0.40858229994773865, + -0.3422110378742218, + 0.184186652302742 + ], + "joints": [ + -0.005032286513596773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07696478068828583, + 0.16622646152973175, + -0.04073590785264969 + ], + "orientation": [ + 0.1806555688381195, + 0.33595597743988037, + 0.4474923014640808, + -0.8088559508323669 + ], + "joints": [ + 0.011363758705556393 + ] + }, + "fine_grasp": { + "position": [ + 0.07571747899055481, + 0.16256831586360931, + -0.03946924954652786 + ], + "orientation": [ + 0.18182320892810822, + 0.3355923891067505, + 0.44993898272514343, + -0.8073865175247192 + ], + "joints": [ + 0.0034017127472907305 + ] + }, + "final_grasp": { + "position": [ + 0.07571747899055481, + 0.16256831586360931, + -0.03946924954652786 + ], + "orientation": [ + 0.18182320892810822, + 0.3355923891067505, + 0.44993898272514343, + -0.8073865175247192 + ], + "joints": [ + -0.004560333210974932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07390254735946655, + 0.14722612500190735, + -0.0419456772506237 + ], + "orientation": [ + 0.06828473508358002, + 0.34248030185699463, + 0.44555091857910156, + -0.8243353962898254 + ], + "joints": [ + 0.01304948702454567 + ] + }, + "fine_grasp": { + "position": [ + 0.07363197207450867, + 0.14526505768299103, + -0.040468744933605194 + ], + "orientation": [ + 0.05894764885306358, + 0.3518473207950592, + 0.4509495496749878, + -0.8181522488594055 + ], + "joints": [ + 0.00469038262963295 + ] + }, + "final_grasp": { + "position": [ + 0.07363197207450867, + 0.14526505768299103, + -0.040468744933605194 + ], + "orientation": [ + 0.05894764885306358, + 0.3518473207950592, + 0.4509495496749878, + -0.8181522488594055 + ], + "joints": [ + -0.00366872176527977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1265275776386261, + 0.16185986995697021, + 0.02890557050704956 + ], + "orientation": [ + 0.6517473459243774, + 0.29505428671836853, + 0.6240753531455994, + -0.314162939786911 + ], + "joints": [ + 0.010175291448831558 + ] + }, + "fine_grasp": { + "position": [ + -0.12393394112586975, + 0.15842729806900024, + 0.028967252001166344 + ], + "orientation": [ + 0.6502330303192139, + 0.2956850826740265, + 0.624721348285675, + -0.3154211938381195 + ], + "joints": [ + 0.0034462136682122946 + ] + }, + "final_grasp": { + "position": [ + -0.12393394112586975, + 0.15842729806900024, + 0.028967252001166344 + ], + "orientation": [ + 0.6502330303192139, + 0.2956850826740265, + 0.624721348285675, + -0.3154211938381195 + ], + "joints": [ + -0.003282864112406969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07580655813217163, + 0.1673847734928131, + -0.04171251878142357 + ], + "orientation": [ + 0.13588377833366394, + 0.3244100511074066, + -0.4682428538799286, + 0.8105814456939697 + ], + "joints": [ + 0.011698947288095951 + ] + }, + "fine_grasp": { + "position": [ + -0.07447057962417603, + 0.1639309525489807, + -0.04031922668218613 + ], + "orientation": [ + 0.13654056191444397, + 0.3239857256412506, + -0.469836950302124, + 0.8097178936004639 + ], + "joints": [ + 0.003318946110084653 + ] + }, + "final_grasp": { + "position": [ + -0.07447057962417603, + 0.1639309525489807, + -0.04031922668218613 + ], + "orientation": [ + 0.13654056191444397, + 0.3239857256412506, + -0.469836950302124, + 0.8097178936004639 + ], + "joints": [ + -0.005061055067926645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12701930105686188, + 0.16250543296337128, + 0.028394702821969986 + ], + "orientation": [ + 0.6476044058799744, + 0.2978152334690094, + 0.6292615532875061, + -0.309749037027359 + ], + "joints": [ + 0.009981841780245304 + ] + }, + "fine_grasp": { + "position": [ + -0.12446936964988708, + 0.1590486317873001, + 0.02860671654343605 + ], + "orientation": [ + 0.6466927528381348, + 0.2989503741264343, + 0.6284045577049255, + -0.3122898042201996 + ], + "joints": [ + 0.0036498212721198797 + ] + }, + "final_grasp": { + "position": [ + -0.12446936964988708, + 0.1590486317873001, + 0.02860671654343605 + ], + "orientation": [ + 0.6466927528381348, + 0.2989503741264343, + 0.6284045577049255, + -0.3122898042201996 + ], + "joints": [ + -0.0026821992360055447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13614660501480103, + 0.152420774102211, + 0.034380387514829636 + ], + "orientation": [ + 0.655375599861145, + 0.32649269700050354, + -0.6473866701126099, + 0.2116028219461441 + ], + "joints": [ + 0.010578727349638939 + ] + }, + "fine_grasp": { + "position": [ + 0.13328103721141815, + 0.14921517670154572, + 0.03443702310323715 + ], + "orientation": [ + 0.6557612419128418, + 0.32720229029655457, + -0.6461328864097595, + 0.21313844621181488 + ], + "joints": [ + 0.0034525918308645487 + ] + }, + "final_grasp": { + "position": [ + 0.13328103721141815, + 0.14921517670154572, + 0.03443702310323715 + ], + "orientation": [ + 0.6557612419128418, + 0.32720229029655457, + -0.6461328864097595, + 0.21313844621181488 + ], + "joints": [ + -0.0036735436879098415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12681524455547333, + 0.1205739825963974, + 0.09713895618915558 + ], + "orientation": [ + 0.45259517431259155, + 0.7164461612701416, + 0.2122281789779663, + 0.4866431951522827 + ], + "joints": [ + 0.01294129528105259 + ] + }, + "fine_grasp": { + "position": [ + -0.12424563616514206, + 0.1182149350643158, + 0.0950222983956337 + ], + "orientation": [ + 0.4602324664592743, + 0.7150049209594727, + 0.22535701096057892, + 0.47557151317596436 + ], + "joints": [ + 0.004561292938888073 + ] + }, + "final_grasp": { + "position": [ + -0.12424563616514206, + 0.1182149350643158, + 0.0950222983956337 + ], + "orientation": [ + 0.4602324664592743, + 0.7150049209594727, + 0.22535701096057892, + 0.47557151317596436 + ], + "joints": [ + -0.0038187094032764435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13600848615169525, + 0.15260367095470428, + 0.03450695425271988 + ], + "orientation": [ + 0.6550168991088867, + 0.32567545771598816, + -0.6475222110748291, + 0.21354959905147552 + ], + "joints": [ + 0.010763186030089855 + ] + }, + "fine_grasp": { + "position": [ + 0.1331656128168106, + 0.1494019627571106, + 0.034564271569252014 + ], + "orientation": [ + 0.655524492263794, + 0.32638120651245117, + -0.6461142301559448, + 0.21517306566238403 + ], + "joints": [ + 0.003616152796894312 + ] + }, + "final_grasp": { + "position": [ + 0.1331656128168106, + 0.1494019627571106, + 0.034564271569252014 + ], + "orientation": [ + 0.655524492263794, + 0.32638120651245117, + -0.6461142301559448, + 0.21517306566238403 + ], + "joints": [ + -0.0035308804363012314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12792538106441498, + 0.14068734645843506, + 0.06801784038543701 + ], + "orientation": [ + 0.2286941409111023, + 0.7287766337394714, + 0.29938891530036926, + -0.5717952847480774 + ], + "joints": [ + 0.011239155195653439 + ] + }, + "fine_grasp": { + "position": [ + 0.12505030632019043, + 0.13783696293830872, + 0.0677531287074089 + ], + "orientation": [ + 0.22700922191143036, + 0.7281368374824524, + 0.2990180253982544, + -0.5734733939170837 + ], + "joints": [ + 0.0036741665098816156 + ] + }, + "final_grasp": { + "position": [ + 0.12505030632019043, + 0.13783696293830872, + 0.0677531287074089 + ], + "orientation": [ + 0.22700922191143036, + 0.7281368374824524, + 0.2990180253982544, + -0.5734733939170837 + ], + "joints": [ + -0.0038908221758902073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09246347099542618, + 0.1637418419122696, + -0.024230318143963814 + ], + "orientation": [ + 0.11281151324510574, + 0.413916677236557, + -0.4680619537830353, + 0.7725701332092285 + ], + "joints": [ + 0.01088403258472681 + ] + }, + "fine_grasp": { + "position": [ + -0.09074151515960693, + 0.16011537611484528, + -0.023063015192747116 + ], + "orientation": [ + 0.11532676964998245, + 0.4120541214942932, + -0.47189560532569885, + 0.7708604335784912 + ], + "joints": [ + 0.003319044364616275 + ] + }, + "final_grasp": { + "position": [ + -0.09074151515960693, + 0.16011537611484528, + -0.023063015192747116 + ], + "orientation": [ + 0.11532676964998245, + 0.4120541214942932, + -0.47189560532569885, + 0.7708604335784912 + ], + "joints": [ + -0.004245943855494261 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07534582167863846, + 0.16625167429447174, + -0.04148354381322861 + ], + "orientation": [ + 0.13309234380722046, + 0.32588618993759155, + -0.46746790409088135, + 0.8108997344970703 + ], + "joints": [ + 0.011682217940688133 + ] + }, + "fine_grasp": { + "position": [ + -0.0739831030368805, + 0.1627725064754486, + -0.04008365795016289 + ], + "orientation": [ + 0.13369633257389069, + 0.325958788394928, + -0.46926677227020264, + 0.8097313046455383 + ], + "joints": [ + 0.003302216762676835 + ] + }, + "final_grasp": { + "position": [ + -0.0739831030368805, + 0.1627725064754486, + -0.04008365795016289 + ], + "orientation": [ + 0.13369633257389069, + 0.325958788394928, + -0.46926677227020264, + 0.8097313046455383 + ], + "joints": [ + -0.005077784415334463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1261257380247116, + 0.14920157194137573, + 0.08311858028173447 + ], + "orientation": [ + 0.5639808177947998, + 0.3589218556880951, + -0.714306652545929, + 0.20704273879528046 + ], + "joints": [ + 0.010938075371086597 + ] + }, + "fine_grasp": { + "position": [ + 0.12307849526405334, + 0.14640669524669647, + 0.08217346668243408 + ], + "orientation": [ + 0.5689922571182251, + 0.3603764772415161, + -0.7107624411582947, + 0.2029615193605423 + ], + "joints": [ + 0.0033939846325665712 + ] + }, + "final_grasp": { + "position": [ + 0.12307849526405334, + 0.14640669524669647, + 0.08217346668243408 + ], + "orientation": [ + 0.5689922571182251, + 0.3603764772415161, + -0.7107624411582947, + 0.2029615193605423 + ], + "joints": [ + -0.004150106105953455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1035710871219635, + -0.002794276224449277, + -0.07745497673749924 + ], + "orientation": [ + 0.25846704840660095, + -0.610456109046936, + 0.08007170259952545, + 0.7443968057632446 + ], + "joints": [ + 0.015242867171764374 + ] + }, + "fine_grasp": { + "position": [ + 0.10001954436302185, + -0.0008882057736627758, + -0.0769578069448471 + ], + "orientation": [ + 0.25947511196136475, + -0.6127561926841736, + 0.07839501649141312, + 0.7423319220542908 + ], + "joints": [ + 0.006047852337360382 + ] + }, + "final_grasp": { + "position": [ + 0.10001954436302185, + -0.0008882057736627758, + -0.0769578069448471 + ], + "orientation": [ + 0.25947511196136475, + -0.6127561926841736, + 0.07839501649141312, + 0.7423319220542908 + ], + "joints": [ + -0.0031471624970436096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13082626461982727, + 0.1508236527442932, + 0.011989515274763107 + ], + "orientation": [ + 0.04152296483516693, + 0.577143132686615, + -0.44526243209838867, + 0.6833175420761108 + ], + "joints": [ + 0.009598970413208008 + ] + }, + "fine_grasp": { + "position": [ + -0.1279698610305786, + 0.14767830073833466, + 0.01284446008503437 + ], + "orientation": [ + 0.04307626932859421, + 0.5714759230613708, + -0.44398483633995056, + 0.688793957233429 + ], + "joints": [ + 0.0032669503707438707 + ] + }, + "final_grasp": { + "position": [ + -0.1279698610305786, + 0.14767830073833466, + 0.01284446008503437 + ], + "orientation": [ + 0.04307626932859421, + 0.5714759230613708, + -0.44398483633995056, + 0.688793957233429 + ], + "joints": [ + -0.0030650696717202663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11419054120779037, + -0.03564300388097763, + 0.09991896152496338 + ], + "orientation": [ + 0.2757720351219177, + 0.46718427538871765, + -0.702927827835083, + -0.4599795937538147 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.11106885224580765, + -0.03425893932580948, + 0.09836181253194809 + ], + "orientation": [ + 0.2755115032196045, + 0.4651380479335785, + -0.7042902112007141, + -0.4601253271102905 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + 0.11106885224580765, + -0.03425893932580948, + 0.09836181253194809 + ], + "orientation": [ + 0.2755115032196045, + 0.4651380479335785, + -0.7042902112007141, + -0.4601253271102905 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06769431382417679, + 0.15444594621658325, + -0.04730762541294098 + ], + "orientation": [ + 0.8229013681411743, + 0.50791996717453, + -0.2544519603252411, + -0.010232580825686455 + ], + "joints": [ + 0.01832425408065319 + ] + }, + "fine_grasp": { + "position": [ + 0.06637272238731384, + 0.15123681724071503, + -0.045976459980010986 + ], + "orientation": [ + 0.8151241540908813, + 0.5212913155555725, + -0.2509694993495941, + -0.02902182564139366 + ], + "joints": [ + 0.011616071686148643 + ] + }, + "final_grasp": { + "position": [ + 0.06637272238731384, + 0.15123681724071503, + -0.045976459980010986 + ], + "orientation": [ + 0.8151241540908813, + 0.5212913155555725, + -0.2509694993495941, + -0.02902182564139366 + ], + "joints": [ + 0.004907889291644096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06720070540904999, + 0.17372022569179535, + -0.034910090267658234 + ], + "orientation": [ + 0.792550265789032, + 0.5101547837257385, + -0.29508039355278015, + 0.15663211047649384 + ], + "joints": [ + 0.013017311692237854 + ] + }, + "fine_grasp": { + "position": [ + 0.06602250784635544, + 0.17036072909832, + -0.033555980771780014 + ], + "orientation": [ + 0.7931146025657654, + 0.5096005201339722, + -0.29464659094810486, + 0.1563970148563385 + ], + "joints": [ + 0.003822297090664506 + ] + }, + "final_grasp": { + "position": [ + 0.06602250784635544, + 0.17036072909832, + -0.033555980771780014 + ], + "orientation": [ + 0.7931146025657654, + 0.5096005201339722, + -0.29464659094810486, + 0.1563970148563385 + ], + "joints": [ + -0.005372717510908842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04839017614722252, + 0.1532495617866516, + -0.03976484388113022 + ], + "orientation": [ + 0.11518938839435577, + 0.2229207307100296, + 0.5044277310371399, + -0.8261903524398804 + ], + "joints": [ + 0.013357503339648247 + ] + }, + "fine_grasp": { + "position": [ + 0.049251988530159, + 0.15223802626132965, + -0.040480490773916245 + ], + "orientation": [ + 0.11090973019599915, + 0.22550363838672638, + 0.5001838803291321, + -0.8286514282226562 + ], + "joints": [ + 0.0033474762458354235 + ] + }, + "final_grasp": { + "position": [ + 0.049251988530159, + 0.15223802626132965, + -0.040480490773916245 + ], + "orientation": [ + 0.11090973019599915, + 0.22550363838672638, + 0.5001838803291321, + -0.8286514282226562 + ], + "joints": [ + -0.0066625508479774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02915550395846367, + 0.16701975464820862, + -0.043170586228370667 + ], + "orientation": [ + 0.8007447123527527, + 0.5255398750305176, + 0.18351776897907257, + -0.2212168574333191 + ], + "joints": [ + 0.015003570355474949 + ] + }, + "fine_grasp": { + "position": [ + -0.028154313564300537, + 0.16458117961883545, + -0.04192309081554413 + ], + "orientation": [ + 0.7986162304878235, + 0.5240868926048279, + 0.1913638710975647, + -0.2256656438112259 + ], + "joints": [ + 0.004993543028831482 + ] + }, + "final_grasp": { + "position": [ + -0.028154313564300537, + 0.16458117961883545, + -0.04192309081554413 + ], + "orientation": [ + 0.7986162304878235, + 0.5240868926048279, + 0.1913638710975647, + -0.2256656438112259 + ], + "joints": [ + -0.005016484297811985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06280259042978287, + -0.0966610312461853, + 0.08395494520664215 + ], + "orientation": [ + 0.08210303634405136, + 0.30369240045547485, + -0.7539854645729065, + -0.5766593813896179 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.06138686463236809, + -0.09325163066387177, + 0.08279675245285034 + ], + "orientation": [ + 0.07473922520875931, + 0.30124631524086, + -0.7536884546279907, + -0.5793259143829346 + ], + "joints": [ + 0.026233188807964325 + ] + }, + "final_grasp": { + "position": [ + 0.06138686463236809, + -0.09325163066387177, + 0.08279675245285034 + ], + "orientation": [ + 0.07473922520875931, + 0.30124631524086, + -0.7536884546279907, + -0.5793259143829346 + ], + "joints": [ + 0.018647298216819763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06561848521232605, + -0.10306860506534576, + 0.05402813479304314 + ], + "orientation": [ + 0.6746976375579834, + -0.6889408826828003, + -0.2580922245979309, + 0.05943110212683678 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.06378653645515442, + -0.09969276934862137, + 0.05372743681073189 + ], + "orientation": [ + 0.6735864281654358, + -0.6887780427932739, + -0.2607928216457367, + 0.062074244022369385 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + 0.06378653645515442, + -0.09969276934862137, + 0.05372743681073189 + ], + "orientation": [ + 0.6735864281654358, + -0.6887780427932739, + -0.2607928216457367, + 0.062074244022369385 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06487876921892166, + -0.08851512521505356, + 0.06615271419286728 + ], + "orientation": [ + 0.10139802098274231, + 0.15134210884571075, + -0.7514842748641968, + -0.6341019868850708 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.06265334784984589, + -0.08628863841295242, + 0.06548509746789932 + ], + "orientation": [ + 0.11246607452630997, + 0.15980370342731476, + -0.7500784993171692, + -0.6318199038505554 + ], + "joints": [ + 0.025309234857559204 + ] + }, + "final_grasp": { + "position": [ + 0.06265334784984589, + -0.08628863841295242, + 0.06548509746789932 + ], + "orientation": [ + 0.11246607452630997, + 0.15980370342731476, + -0.7500784993171692, + -0.6318199038505554 + ], + "joints": [ + 0.01770244538784027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13295069336891174, + -0.01777484267950058, + 0.07538709044456482 + ], + "orientation": [ + 0.461087703704834, + -0.6299427151679993, + -0.47351324558258057, + 0.4078669250011444 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.12946616113185883, + -0.016838807612657547, + 0.07448655366897583 + ], + "orientation": [ + 0.46283623576164246, + -0.6312448382377625, + -0.4721907377243042, + 0.4053992033004761 + ], + "joints": [ + 0.0239187553524971 + ] + }, + "final_grasp": { + "position": [ + 0.12946616113185883, + -0.016838807612657547, + 0.07448655366897583 + ], + "orientation": [ + 0.46283623576164246, + -0.6312448382377625, + -0.4721907377243042, + 0.4053992033004761 + ], + "joints": [ + 0.015894010663032532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13273286819458008, + -0.017873568460345268, + 0.07522890716791153 + ], + "orientation": [ + 0.4610481262207031, + -0.6295744180679321, + -0.47357991337776184, + 0.40840277075767517 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.12924465537071228, + -0.01690465770661831, + 0.07429372519254684 + ], + "orientation": [ + 0.46308693289756775, + -0.6309747695922852, + -0.4719338119029999, + 0.4058324098587036 + ], + "joints": [ + 0.0239187553524971 + ] + }, + "final_grasp": { + "position": [ + 0.12924465537071228, + -0.01690465770661831, + 0.07429372519254684 + ], + "orientation": [ + 0.46308693289756775, + -0.6309747695922852, + -0.4719338119029999, + 0.4058324098587036 + ], + "joints": [ + 0.015894010663032532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10221853852272034, + -0.062331341207027435, + 0.009732294827699661 + ], + "orientation": [ + 0.7180342674255371, + -0.5254986882209778, + -0.3334795832633972, + 0.3115597367286682 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.09993716329336166, + -0.05945577844977379, + 0.01086264755576849 + ], + "orientation": [ + 0.7204530835151672, + -0.5314434170722961, + -0.32340654730796814, + 0.30646923184394836 + ], + "joints": [ + 0.02674034982919693 + ] + }, + "final_grasp": { + "position": [ + 0.09993716329336166, + -0.05945577844977379, + 0.01086264755576849 + ], + "orientation": [ + 0.7204530835151672, + -0.5314434170722961, + -0.32340654730796814, + 0.30646923184394836 + ], + "joints": [ + 0.01917535811662674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10260480642318726, + -0.061930250376462936, + 0.010240375995635986 + ], + "orientation": [ + 0.7165381908416748, + -0.5313063263893127, + -0.3245773911476135, + 0.31454136967658997 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + 0.10006272792816162, + -0.059338074177503586, + 0.011296302080154419 + ], + "orientation": [ + 0.7173518538475037, + -0.5358112454414368, + -0.31793874502182007, + 0.3118135333061218 + ], + "joints": [ + 0.02676234394311905 + ] + }, + "final_grasp": { + "position": [ + 0.10006272792816162, + -0.059338074177503586, + 0.011296302080154419 + ], + "orientation": [ + 0.7173518538475037, + -0.5358112454414368, + -0.31793874502182007, + 0.3118135333061218 + ], + "joints": [ + 0.018779397010803223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11806836724281311, + -0.014377452433109283, + -0.02809733897447586 + ], + "orientation": [ + 0.593120276927948, + 0.24736621975898743, + -0.4417576789855957, + -0.6259939074516296 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.11483962088823318, + -0.013360317796468735, + -0.02622869610786438 + ], + "orientation": [ + 0.5931616425514221, + 0.2463247925043106, + -0.44208553433418274, + -0.626133918762207 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + 0.11483962088823318, + -0.013360317796468735, + -0.02622869610786438 + ], + "orientation": [ + 0.5931616425514221, + 0.2463247925043106, + -0.44208553433418274, + -0.626133918762207 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0577818788588047, + -0.10308651626110077, + 0.05751112103462219 + ], + "orientation": [ + 0.08402141183614731, + 0.3075650632381439, + -0.6941719651222229, + -0.6453444957733154 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.056704990565776825, + -0.09938813745975494, + 0.057268571108579636 + ], + "orientation": [ + 0.07680249214172363, + 0.3000243604183197, + -0.6954559087753296, + -0.6484041213989258 + ], + "joints": [ + 0.025330133736133575 + ] + }, + "final_grasp": { + "position": [ + 0.056704990565776825, + -0.09938813745975494, + 0.057268571108579636 + ], + "orientation": [ + 0.07680249214172363, + 0.3000243604183197, + -0.6954559087753296, + -0.6484041213989258 + ], + "joints": [ + 0.017744243144989014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021785125136375427, + -0.11392854899168015, + 0.04883083328604698 + ], + "orientation": [ + 0.02650112472474575, + -0.10259179770946503, + 0.7174275517463684, + 0.6885274648666382 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.020997462794184685, + -0.11003043502569199, + 0.04850529879331589 + ], + "orientation": [ + 0.021053189411759377, + -0.10786531120538712, + 0.717682957649231, + 0.6876431107521057 + ], + "joints": [ + 0.026277244091033936 + ] + }, + "final_grasp": { + "position": [ + 0.020997462794184685, + -0.11003043502569199, + 0.04850529879331589 + ], + "orientation": [ + 0.021053189411759377, + -0.10786531120538712, + 0.717682957649231, + 0.6876431107521057 + ], + "joints": [ + 0.018712252378463745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11773458868265152, + -0.05100970342755318, + 0.08385781198740005 + ], + "orientation": [ + 0.5185368657112122, + -0.7166372537612915, + 0.3690685033798218, + -0.2852000594139099 + ], + "joints": [ + 0.03192034363746643 + ] + }, + "fine_grasp": { + "position": [ + -0.11469633132219315, + -0.049331020563840866, + 0.08283969014883041 + ], + "orientation": [ + 0.5171977877616882, + -0.7159941792488098, + 0.3707398474216461, + -0.2870727479457855 + ], + "joints": [ + 0.023456744849681854 + ] + }, + "final_grasp": { + "position": [ + -0.11469633132219315, + -0.049331020563840866, + 0.08283969014883041 + ], + "orientation": [ + 0.5171977877616882, + -0.7159941792488098, + 0.3707398474216461, + -0.2870727479457855 + ], + "joints": [ + 0.014993146061897278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03244103118777275, + -0.11723087728023529, + 0.018133247271180153 + ], + "orientation": [ + 0.7553133368492126, + -0.6433624029159546, + 0.0690411776304245, + -0.10401857644319534 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.031932588666677475, + -0.11339572072029114, + 0.0188764538615942 + ], + "orientation": [ + 0.7554416656494141, + -0.6438020467758179, + 0.06591643393039703, + -0.10238075256347656 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + -0.031932588666677475, + -0.11339572072029114, + 0.0188764538615942 + ], + "orientation": [ + 0.7554416656494141, + -0.6438020467758179, + 0.06591643393039703, + -0.10238075256347656 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05800606682896614, + -0.10306216031312943, + 0.05739077180624008 + ], + "orientation": [ + 0.08212456107139587, + 0.30769583582878113, + -0.6935193538665771, + -0.646227240562439 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.056935131549835205, + -0.09923753887414932, + 0.057125501334667206 + ], + "orientation": [ + 0.07439401745796204, + 0.2996770143508911, + -0.6949003338813782, + -0.649440348148346 + ], + "joints": [ + 0.025373026728630066 + ] + }, + "final_grasp": { + "position": [ + 0.056935131549835205, + -0.09923753887414932, + 0.057125501334667206 + ], + "orientation": [ + 0.07439401745796204, + 0.2996770143508911, + -0.6949003338813782, + -0.649440348148346 + ], + "joints": [ + 0.01739007979631424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05774364620447159, + -0.10304611921310425, + 0.05739223212003708 + ], + "orientation": [ + 0.0830593854188919, + 0.30810660123825073, + -0.6937243938446045, + -0.6456918120384216 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.05665332451462746, + -0.0993586927652359, + 0.057140979915857315 + ], + "orientation": [ + 0.07597648352384567, + 0.3007594048976898, + -0.6948938369750977, + -0.6487634181976318 + ], + "joints": [ + 0.025330133736133575 + ] + }, + "final_grasp": { + "position": [ + 0.05665332451462746, + -0.0993586927652359, + 0.057140979915857315 + ], + "orientation": [ + 0.07597648352384567, + 0.3007594048976898, + -0.6948938369750977, + -0.6487634181976318 + ], + "joints": [ + 0.017744243144989014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032567333430051804, + -0.11719077825546265, + 0.018183747306466103 + ], + "orientation": [ + 0.7552438378334045, + -0.6436238884925842, + 0.06803788244724274, + -0.1035657674074173 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.032006993889808655, + -0.11333596706390381, + 0.01892605610191822 + ], + "orientation": [ + 0.7553197741508484, + -0.6440200805664062, + 0.06538274884223938, + -0.10225118696689606 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + -0.032006993889808655, + -0.11333596706390381, + 0.01892605610191822 + ], + "orientation": [ + 0.7553197741508484, + -0.6440200805664062, + 0.06538274884223938, + -0.10225118696689606 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03291650488972664, + -0.11710109561681747, + 0.01850833371281624 + ], + "orientation": [ + 0.7546752691268921, + -0.6447119116783142, + 0.06456661969423294, + -0.10316469520330429 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.03225971385836601, + -0.11324230581521988, + 0.01926080323755741 + ], + "orientation": [ + 0.7543338537216187, + -0.6453299522399902, + 0.06294277310371399, + -0.10280045121908188 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + -0.03225971385836601, + -0.11324230581521988, + 0.01926080323755741 + ], + "orientation": [ + 0.7543338537216187, + -0.6453299522399902, + 0.06294277310371399, + -0.10280045121908188 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.117769256234169, + -0.05108106881380081, + 0.08388710021972656 + ], + "orientation": [ + 0.5184456706047058, + -0.7166648507118225, + 0.3691159188747406, + -0.285235196352005 + ], + "joints": [ + 0.03192034363746643 + ] + }, + "fine_grasp": { + "position": [ + -0.11464695632457733, + -0.049376316368579865, + 0.08280307799577713 + ], + "orientation": [ + 0.5170499086380005, + -0.7159888744354248, + 0.3708226978778839, + -0.2872452139854431 + ], + "joints": [ + 0.023456744849681854 + ] + }, + "final_grasp": { + "position": [ + -0.11464695632457733, + -0.049376316368579865, + 0.08280307799577713 + ], + "orientation": [ + 0.5170499086380005, + -0.7159888744354248, + 0.3708226978778839, + -0.2872452139854431 + ], + "joints": [ + 0.014993146061897278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02882540598511696, + -0.11150411516427994, + 0.0716462954878807 + ], + "orientation": [ + 0.6117910742759705, + -0.7854931354522705, + -0.01948540285229683, + 0.09128274768590927 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.028018532320857048, + -0.10784409940242767, + 0.07041747123003006 + ], + "orientation": [ + 0.6134365200996399, + -0.7839042544364929, + -0.023435398936271667, + 0.09295332431793213 + ], + "joints": [ + 0.026299238204956055 + ] + }, + "final_grasp": { + "position": [ + 0.028018532320857048, + -0.10784409940242767, + 0.07041747123003006 + ], + "orientation": [ + 0.6134365200996399, + -0.7839042544364929, + -0.023435398936271667, + 0.09295332431793213 + ], + "joints": [ + 0.01831629127264023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032572973519563675, + -0.11718373000621796, + 0.0181196928024292 + ], + "orientation": [ + 0.7553621530532837, + -0.6435178518295288, + 0.06739717721939087, + -0.10378073155879974 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.032010048627853394, + -0.11334533989429474, + 0.0188489630818367 + ], + "orientation": [ + 0.7553877234458923, + -0.6439506411552429, + 0.06483294814825058, + -0.10253559052944183 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + -0.032010048627853394, + -0.11334533989429474, + 0.0188489630818367 + ], + "orientation": [ + 0.7553877234458923, + -0.6439506411552429, + 0.06483294814825058, + -0.10253559052944183 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1033703088760376, + -0.06181648373603821, + 0.009794832207262516 + ], + "orientation": [ + 0.7165102958679199, + -0.529951274394989, + -0.32498013973236084, + 0.3164690136909485 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.1008135974407196, + -0.059150949120521545, + 0.010902688838541508 + ], + "orientation": [ + 0.7175683379173279, + -0.5344244241714478, + -0.3180578649044037, + 0.313568651676178 + ], + "joints": [ + 0.02674034982919693 + ] + }, + "final_grasp": { + "position": [ + 0.1008135974407196, + -0.059150949120521545, + 0.010902688838541508 + ], + "orientation": [ + 0.7175683379173279, + -0.5344244241714478, + -0.3180578649044037, + 0.313568651676178 + ], + "joints": [ + 0.01917535811662674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011715457774698734, + -0.11096491664648056, + 0.02872081659734249 + ], + "orientation": [ + 0.058732565492391586, + -0.07125125825405121, + -0.6657507419586182, + -0.74043869972229 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.010836075991392136, + -0.10721812397241592, + 0.029147539287805557 + ], + "orientation": [ + 0.052312083542346954, + -0.07829105854034424, + -0.6677124500274658, + -0.7384402751922607 + ], + "joints": [ + 0.02680639922618866 + ] + }, + "final_grasp": { + "position": [ + -0.010836075991392136, + -0.10721812397241592, + 0.029147539287805557 + ], + "orientation": [ + 0.052312083542346954, + -0.07829105854034424, + -0.6677124500274658, + -0.7384402751922607 + ], + "joints": [ + 0.018844351172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1262742578983307, + -0.02055647037923336, + 0.03182632848620415 + ], + "orientation": [ + 0.33246752619743347, + 0.5488734245300293, + -0.4369880259037018, + -0.6302734613418579 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.12335493415594101, + -0.018525611609220505, + 0.03242651745676994 + ], + "orientation": [ + 0.32678747177124023, + 0.544579267501831, + -0.44268110394477844, + -0.6329904198646545 + ], + "joints": [ + 0.02325790375471115 + ] + }, + "final_grasp": { + "position": [ + 0.12335493415594101, + -0.018525611609220505, + 0.03242651745676994 + ], + "orientation": [ + 0.32678747177124023, + 0.544579267501831, + -0.44268110394477844, + -0.6329904198646545 + ], + "joints": [ + 0.01406288892030716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12222373485565186, + -0.0471373051404953, + 0.02412274107336998 + ], + "orientation": [ + 0.6202458739280701, + -0.5942226052284241, + -0.2978435158729553, + 0.4165140390396118 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.1187874972820282, + -0.04554755240678787, + 0.02452634461224079 + ], + "orientation": [ + 0.619514524936676, + -0.5932126641273499, + -0.2991879880428314, + 0.41807544231414795 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + 0.1187874972820282, + -0.04554755240678787, + 0.02452634461224079 + ], + "orientation": [ + 0.619514524936676, + -0.5932126641273499, + -0.2991879880428314, + 0.41807544231414795 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028468042612075806, + -0.11190295219421387, + 0.07157281786203384 + ], + "orientation": [ + 0.6122747659683228, + -0.7850003838539124, + -0.020687973126769066, + 0.09201150387525558 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.027650903910398483, + -0.10824447870254517, + 0.07034885883331299 + ], + "orientation": [ + 0.6139116287231445, + -0.7833930253982544, + -0.024851813912391663, + 0.09375596791505814 + ], + "joints": [ + 0.02669629454612732 + ] + }, + "final_grasp": { + "position": [ + 0.027650903910398483, + -0.10824447870254517, + 0.07034885883331299 + ], + "orientation": [ + 0.6139116287231445, + -0.7833930253982544, + -0.024851813912391663, + 0.09375596791505814 + ], + "joints": [ + 0.019110403954982758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028784144669771194, + -0.11148834973573685, + 0.07109192758798599 + ], + "orientation": [ + 0.6134090423583984, + -0.7842500805854797, + -0.020600788295269012, + 0.09086679667234421 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.028002355247735977, + -0.1078871414065361, + 0.06989560276269913 + ], + "orientation": [ + 0.6152133941650391, + -0.7825300693511963, + -0.024627981707453728, + 0.09248075634241104 + ], + "joints": [ + 0.02669629454612732 + ] + }, + "final_grasp": { + "position": [ + 0.028002355247735977, + -0.1078871414065361, + 0.06989560276269913 + ], + "orientation": [ + 0.6152133941650391, + -0.7825300693511963, + -0.024627981707453728, + 0.09248075634241104 + ], + "joints": [ + 0.019110403954982758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11407710611820221, + 0.014654736034572124, + -0.09598416090011597 + ], + "orientation": [ + 0.42015647888183594, + 0.45533159375190735, + 0.4261699914932251, + 0.6591818332672119 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.11112575978040695, + 0.017450150102376938, + -0.09397058933973312 + ], + "orientation": [ + 0.41509920358657837, + 0.44159996509552, + 0.434603750705719, + 0.6661844849586487 + ], + "joints": [ + 0.02639314904808998 + ] + }, + "final_grasp": { + "position": [ + -0.11112575978040695, + 0.017450150102376938, + -0.09397058933973312 + ], + "orientation": [ + 0.41509920358657837, + 0.44159996509552, + 0.434603750705719, + 0.6661844849586487 + ], + "joints": [ + 0.020541775971651077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04321625456213951, + -0.09745395183563232, + 0.041940782219171524 + ], + "orientation": [ + 0.1583978831768036, + -0.029214855283498764, + -0.7219747304916382, + -0.6729109883308411 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.041324060410261154, + -0.09498558938503265, + 0.04219406098127365 + ], + "orientation": [ + 0.1680484116077423, + -0.02020978555083275, + -0.7196595668792725, + -0.6733805537223816 + ], + "joints": [ + 0.0257723405957222 + ] + }, + "final_grasp": { + "position": [ + 0.041324060410261154, + -0.09498558938503265, + 0.04219406098127365 + ], + "orientation": [ + 0.1680484116077423, + -0.02020978555083275, + -0.7196595668792725, + -0.6733805537223816 + ], + "joints": [ + 0.018165551126003265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012136360630393028, + -0.11090758442878723, + 0.028995800763368607 + ], + "orientation": [ + 0.06174232438206673, + -0.06988032907247543, + -0.6659018993377686, + -0.7401886582374573 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.01117286179214716, + -0.10709397494792938, + 0.029403967782855034 + ], + "orientation": [ + 0.05421949177980423, + -0.07790718227624893, + -0.6682931184768677, + -0.7378177642822266 + ], + "joints": [ + 0.02678324282169342 + ] + }, + "final_grasp": { + "position": [ + -0.01117286179214716, + -0.10709397494792938, + 0.029403967782855034 + ], + "orientation": [ + 0.05421949177980423, + -0.07790718227624893, + -0.6682931184768677, + -0.7378177642822266 + ], + "joints": [ + 0.018821194767951965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11288010329008102, + 0.01460637990385294, + -0.09569218009710312 + ], + "orientation": [ + 0.42228999733924866, + 0.45436662435531616, + 0.42544007301330566, + 0.6589558720588684 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.10992800444364548, + 0.01741483248770237, + -0.0938178226351738 + ], + "orientation": [ + 0.41711241006851196, + 0.44089099764823914, + 0.43468979001045227, + 0.6653399467468262 + ], + "joints": [ + 0.025952037423849106 + ] + }, + "final_grasp": { + "position": [ + -0.10992800444364548, + 0.01741483248770237, + -0.0938178226351738 + ], + "orientation": [ + 0.41711241006851196, + 0.44089099764823914, + 0.43468979001045227, + 0.6653399467468262 + ], + "joints": [ + 0.019682709127664566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1273038685321808, + -0.02001829817891121, + 0.03222136199474335 + ], + "orientation": [ + 0.32981839776039124, + 0.5502788424491882, + -0.43553492426872253, + -0.6314445734024048 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.12435173243284225, + -0.01806795969605446, + 0.032772548496723175 + ], + "orientation": [ + 0.3235517144203186, + 0.5471341609954834, + -0.4398309886455536, + -0.6344345808029175 + ], + "joints": [ + 0.023654960095882416 + ] + }, + "final_grasp": { + "position": [ + 0.12435173243284225, + -0.01806795969605446, + 0.032772548496723175 + ], + "orientation": [ + 0.3235517144203186, + 0.5471341609954834, + -0.4398309886455536, + -0.6344345808029175 + ], + "joints": [ + 0.014857001602649689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11296489834785461, + 0.014602547511458397, + -0.0954391285777092 + ], + "orientation": [ + 0.4236993193626404, + 0.4541594386100769, + 0.4263506531715393, + 0.6576040983200073 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.1100270226597786, + 0.017417486757040024, + -0.09355498850345612 + ], + "orientation": [ + 0.4185076653957367, + 0.44065576791763306, + 0.43545544147491455, + 0.6641175746917725 + ], + "joints": [ + 0.02639314904808998 + ] + }, + "final_grasp": { + "position": [ + -0.1100270226597786, + 0.017417486757040024, + -0.09355498850345612 + ], + "orientation": [ + 0.4185076653957367, + 0.44065576791763306, + 0.43545544147491455, + 0.6641175746917725 + ], + "joints": [ + 0.020541775971651077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11973891407251358, + -0.05039101839065552, + 0.03207772597670555 + ], + "orientation": [ + 0.6313276290893555, + -0.6112430095672607, + -0.3110826313495636, + 0.361987441778183 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.1162445917725563, + -0.04883997142314911, + 0.032271768897771835 + ], + "orientation": [ + 0.6295492053031921, + -0.609066367149353, + -0.31430649757385254, + 0.3659471571445465 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + 0.1162445917725563, + -0.04883997142314911, + 0.032271768897771835 + ], + "orientation": [ + 0.6295492053031921, + -0.609066367149353, + -0.31430649757385254, + 0.3659471571445465 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1196996420621872, + -0.05052097141742706, + 0.03195549547672272 + ], + "orientation": [ + 0.6320112347602844, + -0.61054927110672, + -0.31172752380371094, + 0.3614101707935333 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.11619684845209122, + -0.04895547777414322, + 0.0321495346724987 + ], + "orientation": [ + 0.6304002404212952, + -0.6084210872650146, + -0.31470420956611633, + 0.36521294713020325 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + 0.11619684845209122, + -0.04895547777414322, + 0.0321495346724987 + ], + "orientation": [ + 0.6304002404212952, + -0.6084210872650146, + -0.31470420956611633, + 0.36521294713020325 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07537264376878738, + -0.10069586336612701, + 0.0094677759334445 + ], + "orientation": [ + 0.5839465260505676, + -0.6321172118186951, + -0.11023039370775223, + -0.4972761869430542 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.07340024411678314, + -0.09769000113010406, + 0.010004919953644276 + ], + "orientation": [ + 0.5851161479949951, + -0.6319420337677002, + -0.11007679998874664, + -0.49615663290023804 + ], + "joints": [ + 0.02299363911151886 + ] + }, + "final_grasp": { + "position": [ + -0.07340024411678314, + -0.09769000113010406, + 0.010004919953644276 + ], + "orientation": [ + 0.5851161479949951, + -0.6319420337677002, + -0.11007679998874664, + -0.49615663290023804 + ], + "joints": [ + 0.014530040323734283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08061147481203079, + -0.07839757204055786, + -0.019509712234139442 + ], + "orientation": [ + 0.4536065459251404, + 0.00942218117415905, + 0.5555148124694824, + 0.6968182325363159 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.07837440073490143, + -0.07642189413309097, + -0.017979774624109268 + ], + "orientation": [ + 0.45667481422424316, + 0.012065157294273376, + 0.5527296662330627, + 0.6969881653785706 + ], + "joints": [ + 0.02301453799009323 + ] + }, + "final_grasp": { + "position": [ + -0.07837440073490143, + -0.07642189413309097, + -0.017979774624109268 + ], + "orientation": [ + 0.45667481422424316, + 0.012065157294273376, + 0.5527296662330627, + 0.6969881653785706 + ], + "joints": [ + 0.014571838080883026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06037498638033867, + -0.09220720827579498, + 0.020255398005247116 + ], + "orientation": [ + 0.2895514667034149, + -0.03519421070814133, + -0.670348048210144, + -0.6823158860206604 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.058312732726335526, + -0.0899566262960434, + 0.021073786541819572 + ], + "orientation": [ + 0.2955702841281891, + -0.029015276581048965, + -0.6676414608955383, + -0.6826795339584351 + ], + "joints": [ + 0.025354385375976562 + ] + }, + "final_grasp": { + "position": [ + 0.058312732726335526, + -0.0899566262960434, + 0.021073786541819572 + ], + "orientation": [ + 0.2955702841281891, + -0.029015276581048965, + -0.6676414608955383, + -0.6826795339584351 + ], + "joints": [ + 0.017329640686511993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0806131586432457, + -0.07837527245283127, + -0.019564231857657433 + ], + "orientation": [ + 0.4523562490940094, + 0.00930777657777071, + 0.5557229518890381, + 0.6974663138389587 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.07829281687736511, + -0.07642590254545212, + -0.01798105239868164 + ], + "orientation": [ + 0.4557275176048279, + 0.012257925234735012, + 0.5526883006095886, + 0.6976373195648193 + ], + "joints": [ + 0.02301453799009323 + ] + }, + "final_grasp": { + "position": [ + -0.07829281687736511, + -0.07642590254545212, + -0.01798105239868164 + ], + "orientation": [ + 0.4557275176048279, + 0.012257925234735012, + 0.5526883006095886, + 0.6976373195648193 + ], + "joints": [ + 0.014571838080883026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14219067990779877, + 0.012385888025164604, + 0.0013720642309635878 + ], + "orientation": [ + 0.5443115234375, + 0.44359251856803894, + -0.4144170880317688, + -0.5789723992347717 + ], + "joints": [ + 0.029604801908135414 + ] + }, + "fine_grasp": { + "position": [ + 0.13866093754768372, + 0.012756412848830223, + 0.0023247257340699434 + ], + "orientation": [ + 0.54306560754776, + 0.4422009587287903, + -0.41450145840644836, + -0.5811425447463989 + ], + "joints": [ + 0.020744146779179573 + ] + }, + "final_grasp": { + "position": [ + 0.13866093754768372, + 0.012756412848830223, + 0.0023247257340699434 + ], + "orientation": [ + 0.54306560754776, + 0.4422009587287903, + -0.41450145840644836, + -0.5811425447463989 + ], + "joints": [ + 0.011883491650223732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06496470421552658, + 0.161053866147995, + 0.09759871661663055 + ], + "orientation": [ + 0.3384866714477539, + 0.25543212890625, + -0.7624144554138184, + 0.4887796640396118 + ], + "joints": [ + 0.013492181897163391 + ] + }, + "fine_grasp": { + "position": [ + 0.0645749643445015, + 0.15954943001270294, + 0.09768624603748322 + ], + "orientation": [ + 0.3336555063724518, + 0.2582109570503235, + -0.7647621035575867, + 0.48697033524513245 + ], + "joints": [ + 0.00390010979026556 + ] + }, + "final_grasp": { + "position": [ + 0.0645749643445015, + 0.15954943001270294, + 0.09768624603748322 + ], + "orientation": [ + 0.3336555063724518, + 0.2582109570503235, + -0.7647621035575867, + 0.48697033524513245 + ], + "joints": [ + -0.005691962316632271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06710974872112274, + 0.16265004873275757, + 0.09878762066364288 + ], + "orientation": [ + 0.34164318442344666, + 0.24976974725723267, + -0.7640354633331299, + 0.48697522282600403 + ], + "joints": [ + 0.013263941742479801 + ] + }, + "fine_grasp": { + "position": [ + 0.06645939499139786, + 0.1608751118183136, + 0.09834487736225128 + ], + "orientation": [ + 0.33942681550979614, + 0.25030750036239624, + -0.7638829350471497, + 0.4884859323501587 + ], + "joints": [ + 0.0040689269080758095 + ] + }, + "final_grasp": { + "position": [ + 0.06645939499139786, + 0.1608751118183136, + 0.09834487736225128 + ], + "orientation": [ + 0.33942681550979614, + 0.25030750036239624, + -0.7638829350471497, + 0.4884859323501587 + ], + "joints": [ + -0.005126087926328182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06646515429019928, + 0.16283725202083588, + 0.09762925654649734 + ], + "orientation": [ + 0.34346434473991394, + 0.2587898075580597, + -0.7603981494903564, + 0.48667725920677185 + ], + "joints": [ + 0.013262593187391758 + ] + }, + "fine_grasp": { + "position": [ + 0.06565137952566147, + 0.16076458990573883, + 0.09717300534248352 + ], + "orientation": [ + 0.33999618887901306, + 0.2619571387767792, + -0.7613871693611145, + 0.4858708381652832 + ], + "joints": [ + 0.004067578352987766 + ] + }, + "final_grasp": { + "position": [ + 0.06565137952566147, + 0.16076458990573883, + 0.09717300534248352 + ], + "orientation": [ + 0.33999618887901306, + 0.2619571387767792, + -0.7613871693611145, + 0.4858708381652832 + ], + "joints": [ + -0.005127436481416225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07672721892595291, + 0.15931731462478638, + 0.09905028343200684 + ], + "orientation": [ + 0.36265674233436584, + 0.17889706790447235, + -0.7750946283340454, + 0.48549365997314453 + ], + "joints": [ + 0.012350820936262608 + ] + }, + "fine_grasp": { + "position": [ + 0.07673852890729904, + 0.15717428922653198, + 0.09883652627468109 + ], + "orientation": [ + 0.362558513879776, + 0.1764913946390152, + -0.7750365734100342, + 0.48653915524482727 + ], + "joints": [ + 0.0035528643056750298 + ] + }, + "final_grasp": { + "position": [ + 0.07673852890729904, + 0.15717428922653198, + 0.09883652627468109 + ], + "orientation": [ + 0.362558513879776, + 0.1764913946390152, + -0.7750365734100342, + 0.48653915524482727 + ], + "joints": [ + -0.005245092324912548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06155596673488617, + 0.15471908450126648, + 0.11682628095149994 + ], + "orientation": [ + 0.2914539873600006, + 0.23742859065532684, + 0.8131409883499146, + -0.4443916380405426 + ], + "joints": [ + 0.011818972416222095 + ] + }, + "fine_grasp": { + "position": [ + -0.060505278408527374, + 0.15284554660320282, + 0.11684144288301468 + ], + "orientation": [ + 0.2868975102901459, + 0.23985634744167328, + 0.8141441345214844, + -0.444216251373291 + ], + "joints": [ + 0.0034389712382107973 + ] + }, + "final_grasp": { + "position": [ + -0.060505278408527374, + 0.15284554660320282, + 0.11684144288301468 + ], + "orientation": [ + 0.2868975102901459, + 0.23985634744167328, + 0.8141441345214844, + -0.444216251373291 + ], + "joints": [ + -0.004941029939800501 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10442662984132767, + 0.14633709192276, + 0.06882556527853012 + ], + "orientation": [ + 0.4545721709728241, + 0.01758807897567749, + -0.7129569053649902, + 0.5336171984672546 + ], + "joints": [ + 0.01330805104225874 + ] + }, + "fine_grasp": { + "position": [ + 0.10499127954244614, + 0.1441865712404251, + 0.06698566675186157 + ], + "orientation": [ + 0.4497711658477783, + 0.002958412282168865, + -0.710723876953125, + 0.5408962368965149 + ], + "joints": [ + 0.004530991427600384 + ] + }, + "final_grasp": { + "position": [ + 0.10499127954244614, + 0.1441865712404251, + 0.06698566675186157 + ], + "orientation": [ + 0.4497711658477783, + 0.002958412282168865, + -0.710723876953125, + 0.5408962368965149 + ], + "joints": [ + -0.004246068187057972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10451491922140121, + 0.14615991711616516, + 0.06852880120277405 + ], + "orientation": [ + 0.45708924531936646, + 0.019299650564789772, + -0.7122079730033875, + 0.5324065685272217 + ], + "joints": [ + 0.01335965283215046 + ] + }, + "fine_grasp": { + "position": [ + 0.1050938218832016, + 0.1440247744321823, + 0.06665877252817154 + ], + "orientation": [ + 0.4523644745349884, + 0.004368629306554794, + -0.7097874283790588, + 0.5399529337882996 + ], + "joints": [ + 0.004582593217492104 + ] + }, + "final_grasp": { + "position": [ + 0.1050938218832016, + 0.1440247744321823, + 0.06665877252817154 + ], + "orientation": [ + 0.4523644745349884, + 0.004368629306554794, + -0.7097874283790588, + 0.5399529337882996 + ], + "joints": [ + -0.004194466397166252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06994272023439407, + 0.15523988008499146, + 0.10215754806995392 + ], + "orientation": [ + 0.35704460740089417, + 0.29823124408721924, + 0.7726839184761047, + -0.4318990707397461 + ], + "joints": [ + 0.012919852510094643 + ] + }, + "fine_grasp": { + "position": [ + -0.07017888873815536, + 0.1532088965177536, + 0.10362782329320908 + ], + "orientation": [ + 0.3536408543586731, + 0.3002201020717621, + 0.7770553231239319, + -0.4254304766654968 + ], + "joints": [ + 0.003306883154436946 + ] + }, + "final_grasp": { + "position": [ + -0.07017888873815536, + 0.1532088965177536, + 0.10362782329320908 + ], + "orientation": [ + 0.3536408543586731, + 0.3002201020717621, + 0.7770553231239319, + -0.4254304766654968 + ], + "joints": [ + -0.006306086201220751 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07890380173921585, + 0.14855119585990906, + 0.0893092155456543 + ], + "orientation": [ + 0.4106421172618866, + 0.24643854796886444, + 0.7567698955535889, + -0.44490495324134827 + ], + "joints": [ + 0.012537889182567596 + ] + }, + "fine_grasp": { + "position": [ + -0.07986956834793091, + 0.14685691893100739, + 0.09127670526504517 + ], + "orientation": [ + 0.4062654674053192, + 0.2427784949541092, + 0.7655993700027466, + -0.43573442101478577 + ], + "joints": [ + 0.0033428750466555357 + ] + }, + "final_grasp": { + "position": [ + -0.07986956834793091, + 0.14685691893100739, + 0.09127670526504517 + ], + "orientation": [ + 0.4062654674053192, + 0.2427784949541092, + 0.7655993700027466, + -0.43573442101478577 + ], + "joints": [ + -0.005852139089256525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04892580956220627, + 0.1622186005115509, + 0.11226814985275269 + ], + "orientation": [ + 0.22861768305301666, + 0.12475140392780304, + -0.8018258810043335, + 0.5378161668777466 + ], + "joints": [ + 0.012863683514297009 + ] + }, + "fine_grasp": { + "position": [ + 0.04863181710243225, + 0.16061072051525116, + 0.1115037277340889 + ], + "orientation": [ + 0.22469446063041687, + 0.12387863546609879, + -0.8021652102470398, + 0.5391636490821838 + ], + "joints": [ + 0.003668669145554304 + ] + }, + "final_grasp": { + "position": [ + 0.04863181710243225, + 0.16061072051525116, + 0.1115037277340889 + ], + "orientation": [ + 0.22469446063041687, + 0.12387863546609879, + -0.8021652102470398, + 0.5391636490821838 + ], + "joints": [ + -0.0055263452231884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0855606347322464, + 0.14180701971054077, + 0.10909734666347504 + ], + "orientation": [ + 0.37836578488349915, + 0.16724759340286255, + 0.8157153129577637, + -0.40432173013687134 + ], + "joints": [ + 0.012160351499915123 + ] + }, + "fine_grasp": { + "position": [ + -0.08499973267316818, + 0.13931502401828766, + 0.10939816385507584 + ], + "orientation": [ + 0.3757764995098114, + 0.1602044254541397, + 0.8197697401046753, + -0.40137800574302673 + ], + "joints": [ + 0.0033832925837486982 + ] + }, + "final_grasp": { + "position": [ + -0.08499973267316818, + 0.13931502401828766, + 0.10939816385507584 + ], + "orientation": [ + 0.3757764995098114, + 0.1602044254541397, + 0.8197697401046753, + -0.40137800574302673 + ], + "joints": [ + -0.0053937663324177265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03685282543301582, + 0.15209855139255524, + 0.15279610455036163 + ], + "orientation": [ + 0.37821781635284424, + 0.8605489134788513, + -0.29361578822135925, + 0.17377157509326935 + ], + "joints": [ + 0.011883838102221489 + ] + }, + "fine_grasp": { + "position": [ + -0.035690631717443466, + 0.14888563752174377, + 0.15046162903308868 + ], + "orientation": [ + 0.3772568106651306, + 0.8544862866401672, + -0.303734689950943, + 0.18781806528568268 + ], + "joints": [ + 0.0035247341729700565 + ] + }, + "final_grasp": { + "position": [ + -0.035690631717443466, + 0.14888563752174377, + 0.15046162903308868 + ], + "orientation": [ + 0.3772568106651306, + 0.8544862866401672, + -0.303734689950943, + 0.18781806528568268 + ], + "joints": [ + -0.004834369756281376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08515167981386185, + 0.1453419029712677, + 0.10903656482696533 + ], + "orientation": [ + 0.3754824697971344, + 0.16045887768268585, + 0.8125442862510681, + -0.41597795486450195 + ], + "joints": [ + 0.012504817917943 + ] + }, + "fine_grasp": { + "position": [ + -0.08433686941862106, + 0.14356008172035217, + 0.10856844484806061 + ], + "orientation": [ + 0.371102511882782, + 0.15390051901340485, + 0.81465744972229, + -0.4182470738887787 + ], + "joints": [ + 0.00330980378203094 + ] + }, + "final_grasp": { + "position": [ + -0.08433686941862106, + 0.14356008172035217, + 0.10856844484806061 + ], + "orientation": [ + 0.371102511882782, + 0.15390051901340485, + 0.81465744972229, + -0.4182470738887787 + ], + "joints": [ + -0.005885210353881121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03448234125971794, + 0.13618136942386627, + 0.15860697627067566 + ], + "orientation": [ + 0.29554975032806396, + 0.8507483601570129, + -0.41829293966293335, + 0.11793442815542221 + ], + "joints": [ + 0.011876387521624565 + ] + }, + "fine_grasp": { + "position": [ + -0.03235490992665291, + 0.13331016898155212, + 0.15686899423599243 + ], + "orientation": [ + 0.29303306341171265, + 0.8371630311012268, + -0.4451833963394165, + 0.12288787215948105 + ], + "joints": [ + 0.0035172835923731327 + ] + }, + "final_grasp": { + "position": [ + -0.03235490992665291, + 0.13331016898155212, + 0.15686899423599243 + ], + "orientation": [ + 0.29303306341171265, + 0.8371630311012268, + -0.4451833963394165, + 0.12288787215948105 + ], + "joints": [ + -0.0048418203368783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03498396649956703, + 0.13565123081207275, + 0.15856698155403137 + ], + "orientation": [ + 0.29874682426452637, + 0.8594446182250977, + -0.39911919832229614, + 0.11317778378725052 + ], + "joints": [ + 0.012413835152983665 + ] + }, + "fine_grasp": { + "position": [ + -0.03376910462975502, + 0.13245949149131775, + 0.1565275490283966 + ], + "orientation": [ + 0.29345759749412537, + 0.8490157723426819, + -0.42410486936569214, + 0.11484818160533905 + ], + "joints": [ + 0.003636776003986597 + ] + }, + "final_grasp": { + "position": [ + -0.03376910462975502, + 0.13245949149131775, + 0.1565275490283966 + ], + "orientation": [ + 0.29345759749412537, + 0.8490157723426819, + -0.42410486936569214, + 0.11484818160533905 + ], + "joints": [ + -0.005140283145010471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07335461676120758, + 0.15705424547195435, + 0.1201678141951561 + ], + "orientation": [ + 0.4054851233959198, + 0.8151785731315613, + 0.25728970766067505, + -0.32383301854133606 + ], + "joints": [ + 0.011573286727070808 + ] + }, + "fine_grasp": { + "position": [ + 0.07131670415401459, + 0.15430709719657898, + 0.11959072202444077 + ], + "orientation": [ + 0.4045564532279968, + 0.8126508593559265, + 0.2641254961490631, + -0.32583823800086975 + ], + "joints": [ + 0.003590343054383993 + ] + }, + "final_grasp": { + "position": [ + 0.07131670415401459, + 0.15430709719657898, + 0.11959072202444077 + ], + "orientation": [ + 0.4045564532279968, + 0.8126508593559265, + 0.2641254961490631, + -0.32583823800086975 + ], + "joints": [ + -0.004392600618302822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07410281896591187, + 0.15785393118858337, + 0.12038305401802063 + ], + "orientation": [ + 0.4055422842502594, + 0.8143560886383057, + 0.2555868923664093, + -0.32716184854507446 + ], + "joints": [ + 0.011745202355086803 + ] + }, + "fine_grasp": { + "position": [ + 0.07207027822732925, + 0.15473473072052002, + 0.11948278546333313 + ], + "orientation": [ + 0.4046509265899658, + 0.81035315990448, + 0.2631002962589264, + -0.3322104215621948 + ], + "joints": [ + 0.0033652011770755053 + ] + }, + "final_grasp": { + "position": [ + 0.07207027822732925, + 0.15473473072052002, + 0.11948278546333313 + ], + "orientation": [ + 0.4046509265899658, + 0.81035315990448, + 0.2631002962589264, + -0.3322104215621948 + ], + "joints": [ + -0.005014800000935793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08095166832208633, + 0.1401311457157135, + 0.12192901223897934 + ], + "orientation": [ + 0.4149353802204132, + 0.8438042402267456, + 0.07956450432538986, + -0.33089640736579895 + ], + "joints": [ + 0.012691671960055828 + ] + }, + "fine_grasp": { + "position": [ + 0.08155036717653275, + 0.1391562819480896, + 0.12042488157749176 + ], + "orientation": [ + 0.416218638420105, + 0.8444818258285522, + 0.06926779448986053, + -0.3298702836036682 + ], + "joints": [ + 0.0034966575913131237 + ] + }, + "final_grasp": { + "position": [ + 0.08155036717653275, + 0.1391562819480896, + 0.12042488157749176 + ], + "orientation": [ + 0.416218638420105, + 0.8444818258285522, + 0.06926779448986053, + -0.3298702836036682 + ], + "joints": [ + -0.005698356777429581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07317381352186203, + 0.15707527101039886, + 0.10157952457666397 + ], + "orientation": [ + 0.3820415437221527, + 0.3972492218017578, + 0.7457289099693298, + -0.3743336796760559 + ], + "joints": [ + 0.013815008103847504 + ] + }, + "fine_grasp": { + "position": [ + -0.07206139713525772, + 0.15464481711387634, + 0.10209392756223679 + ], + "orientation": [ + 0.3819098472595215, + 0.403875470161438, + 0.744591236114502, + -0.369612455368042 + ], + "joints": [ + 0.004202038049697876 + ] + }, + "final_grasp": { + "position": [ + -0.07206139713525772, + 0.15464481711387634, + 0.10209392756223679 + ], + "orientation": [ + 0.3819098472595215, + 0.403875470161438, + 0.744591236114502, + -0.369612455368042 + ], + "joints": [ + -0.005410932004451752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08085218816995621, + 0.14104101061820984, + 0.12326539307832718 + ], + "orientation": [ + 0.4157015383243561, + 0.8425338864326477, + 0.06699719280004501, + -0.3359171152114868 + ], + "joints": [ + 0.012321705929934978 + ] + }, + "fine_grasp": { + "position": [ + 0.08108796924352646, + 0.13920003175735474, + 0.12230794131755829 + ], + "orientation": [ + 0.4174081087112427, + 0.8448877930641174, + 0.053979746997356415, + -0.3301839232444763 + ], + "joints": [ + 0.0035237492993474007 + ] + }, + "final_grasp": { + "position": [ + 0.08108796924352646, + 0.13920003175735474, + 0.12230794131755829 + ], + "orientation": [ + 0.4174081087112427, + 0.8448877930641174, + 0.053979746997356415, + -0.3301839232444763 + ], + "joints": [ + -0.005274207331240177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0910198912024498, + 0.13710923492908478, + 0.11534421145915985 + ], + "orientation": [ + 0.43128547072410583, + 0.8203964233398438, + 0.0059820557944476604, + 0.3753754496574402 + ], + "joints": [ + 0.012486906722187996 + ] + }, + "fine_grasp": { + "position": [ + -0.0931679829955101, + 0.13554705679416656, + 0.11253602057695389 + ], + "orientation": [ + 0.43671512603759766, + 0.8163666129112244, + 0.02177511341869831, + 0.37729495763778687 + ], + "joints": [ + 0.0036889498587697744 + ] + }, + "final_grasp": { + "position": [ + -0.0931679829955101, + 0.13554705679416656, + 0.11253602057695389 + ], + "orientation": [ + 0.43671512603759766, + 0.8163666129112244, + 0.02177511341869831, + 0.37729495763778687 + ], + "joints": [ + -0.005109007004648447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10011357814073563, + -0.016268882900476456, + -0.11690890043973923 + ], + "orientation": [ + 0.16066615283489227, + -0.5669769048690796, + -0.11091162264347076, + -0.8002638816833496 + ], + "joints": [ + 0.03346017748117447 + ] + }, + "fine_grasp": { + "position": [ + -0.09947418421506882, + -0.012669786810874939, + -0.11673951894044876 + ], + "orientation": [ + 0.17823565006256104, + -0.5649465322494507, + -0.13644477725028992, + -0.7940089702606201 + ], + "joints": [ + 0.016658395528793335 + ] + }, + "final_grasp": { + "position": [ + -0.09947418421506882, + -0.012669786810874939, + -0.11673951894044876 + ], + "orientation": [ + 0.17823565006256104, + -0.5649465322494507, + -0.13644477725028992, + -0.7940089702606201 + ], + "joints": [ + -0.00014338642358779907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11572621017694473, + 0.1500946432352066, + 0.07566714286804199 + ], + "orientation": [ + 0.5019811987876892, + 0.09347612410783768, + -0.7355762124061584, + 0.4452018439769745 + ], + "joints": [ + 0.01102757453918457 + ] + }, + "fine_grasp": { + "position": [ + 0.11352412402629852, + 0.1466550976037979, + 0.07453832775354385 + ], + "orientation": [ + 0.4926605224609375, + 0.08185476064682007, + -0.7385009527206421, + 0.4529920518398285 + ], + "joints": [ + 0.0034834835678339005 + ] + }, + "final_grasp": { + "position": [ + 0.11352412402629852, + 0.1466550976037979, + 0.07453832775354385 + ], + "orientation": [ + 0.4926605224609375, + 0.08185476064682007, + -0.7385009527206421, + 0.4529920518398285 + ], + "joints": [ + -0.004060607403516769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11626534909009933, + 0.15089266002178192, + 0.0749799907207489 + ], + "orientation": [ + 0.49939802289009094, + 0.0930035412311554, + -0.7361880540847778, + 0.44719037413597107 + ], + "joints": [ + 0.011022988706827164 + ] + }, + "fine_grasp": { + "position": [ + 0.11389610916376114, + 0.14758946001529694, + 0.07387401908636093 + ], + "orientation": [ + 0.490972101688385, + 0.08025722950696945, + -0.7378569841384888, + 0.4561494290828705 + ], + "joints": [ + 0.003478897735476494 + ] + }, + "final_grasp": { + "position": [ + 0.11389610916376114, + 0.14758946001529694, + 0.07387401908636093 + ], + "orientation": [ + 0.490972101688385, + 0.08025722950696945, + -0.7378569841384888, + 0.4561494290828705 + ], + "joints": [ + -0.004065193235874176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06508401781320572, + 0.1629721224308014, + 0.12063722312450409 + ], + "orientation": [ + 0.2661511301994324, + 0.10994456708431244, + 0.8218488097190857, + -0.49156931042671204 + ], + "joints": [ + 0.012399084866046906 + ] + }, + "fine_grasp": { + "position": [ + -0.06395184248685837, + 0.1593410074710846, + 0.11938528716564178 + ], + "orientation": [ + 0.263739675283432, + 0.10936951637268066, + 0.8217755556106567, + -0.49311718344688416 + ], + "joints": [ + 0.0036011282354593277 + ] + }, + "final_grasp": { + "position": [ + -0.06395184248685837, + 0.1593410074710846, + 0.11938528716564178 + ], + "orientation": [ + 0.263739675283432, + 0.10936951637268066, + 0.8217755556106567, + -0.49311718344688416 + ], + "joints": [ + -0.00519682839512825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06467340886592865, + 0.1638982892036438, + 0.1205306127667427 + ], + "orientation": [ + 0.26397985219955444, + 0.1090066134929657, + 0.8208223581314087, + -0.49465423822402954 + ], + "joints": [ + 0.012395936995744705 + ] + }, + "fine_grasp": { + "position": [ + -0.0634155198931694, + 0.16032947599887848, + 0.11913783848285675 + ], + "orientation": [ + 0.26081132888793945, + 0.0997898131608963, + 0.8200762867927551, + -0.4994940459728241 + ], + "joints": [ + 0.0035979803651571274 + ] + }, + "final_grasp": { + "position": [ + -0.0634155198931694, + 0.16032947599887848, + 0.11913783848285675 + ], + "orientation": [ + 0.26081132888793945, + 0.0997898131608963, + 0.8200762867927551, + -0.4994940459728241 + ], + "joints": [ + -0.0051999762654304504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06170078366994858, + 0.16783711314201355, + 0.12608572840690613 + ], + "orientation": [ + 0.4797479808330536, + 0.8266352415084839, + -0.14329572021961212, + 0.2568706274032593 + ], + "joints": [ + 0.011214484460651875 + ] + }, + "fine_grasp": { + "position": [ + -0.06067889556288719, + 0.16412560641765594, + 0.1245255246758461 + ], + "orientation": [ + 0.48303812742233276, + 0.8254830241203308, + -0.1439080387353897, + 0.25405195355415344 + ], + "joints": [ + 0.0036494960077106953 + ] + }, + "final_grasp": { + "position": [ + -0.06067889556288719, + 0.16412560641765594, + 0.1245255246758461 + ], + "orientation": [ + 0.48303812742233276, + 0.8254830241203308, + -0.1439080387353897, + 0.25405195355415344 + ], + "joints": [ + -0.003915492445230484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06503910571336746, + 0.16523194313049316, + 0.1214660108089447 + ], + "orientation": [ + 0.27239179611206055, + 0.09435612708330154, + 0.8173887133598328, + -0.49877381324768066 + ], + "joints": [ + 0.01224482711404562 + ] + }, + "fine_grasp": { + "position": [ + -0.06383813172578812, + 0.16186121106147766, + 0.11984546482563019 + ], + "orientation": [ + 0.2677294909954071, + 0.09366082400083542, + 0.8165494203567505, + -0.5027878880500793 + ], + "joints": [ + 0.003446870716288686 + ] + }, + "final_grasp": { + "position": [ + -0.06383813172578812, + 0.16186121106147766, + 0.11984546482563019 + ], + "orientation": [ + 0.2677294909954071, + 0.09366082400083542, + 0.8165494203567505, + -0.5027878880500793 + ], + "joints": [ + -0.005351085681468248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08559902757406235, + 0.15599098801612854, + 0.09050732851028442 + ], + "orientation": [ + 0.3423519730567932, + 0.7236411571502686, + -0.39690962433815, + 0.4490003287792206 + ], + "joints": [ + 0.012603530660271645 + ] + }, + "fine_grasp": { + "position": [ + -0.08411186188459396, + 0.15301282703876495, + 0.0911160409450531 + ], + "orientation": [ + 0.33577609062194824, + 0.7216152548789978, + -0.40617185831069946, + 0.44894343614578247 + ], + "joints": [ + 0.0033876190427690744 + ] + }, + "final_grasp": { + "position": [ + -0.08411186188459396, + 0.15301282703876495, + 0.0911160409450531 + ], + "orientation": [ + 0.33577609062194824, + 0.7216152548789978, + -0.40617185831069946, + 0.44894343614578247 + ], + "joints": [ + -0.005828292574733496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12840977311134338, + 0.1496170312166214, + 0.06677625328302383 + ], + "orientation": [ + 0.5442414879798889, + 0.029593752697110176, + -0.6971631646156311, + 0.4657134711742401 + ], + "joints": [ + 0.010851536877453327 + ] + }, + "fine_grasp": { + "position": [ + 0.12579549849033356, + 0.14628300070762634, + 0.06620200723409653 + ], + "orientation": [ + 0.5389971733093262, + 0.03029875084757805, + -0.699647068977356, + 0.46803638339042664 + ], + "joints": [ + 0.003307446138933301 + ] + }, + "final_grasp": { + "position": [ + 0.12579549849033356, + 0.14628300070762634, + 0.06620200723409653 + ], + "orientation": [ + 0.5389971733093262, + 0.03029875084757805, + -0.699647068977356, + 0.46803638339042664 + ], + "joints": [ + -0.004236644599586725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06489220261573792, + 0.16516432166099548, + 0.12151259183883667 + ], + "orientation": [ + 0.27085667848587036, + 0.09081574529409409, + 0.8175474405288696, + -0.500005304813385 + ], + "joints": [ + 0.012073563411831856 + ] + }, + "fine_grasp": { + "position": [ + -0.06369650363922119, + 0.161841481924057, + 0.119886614382267 + ], + "orientation": [ + 0.26708903908729553, + 0.08988747000694275, + 0.8166651129722595, + -0.5036285519599915 + ], + "joints": [ + 0.003296504495665431 + ] + }, + "final_grasp": { + "position": [ + -0.06369650363922119, + 0.161841481924057, + 0.119886614382267 + ], + "orientation": [ + 0.26708903908729553, + 0.08988747000694275, + 0.8166651129722595, + -0.5036285519599915 + ], + "joints": [ + -0.005480554420500994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11034423857927322, + 0.1519603431224823, + 0.08319582790136337 + ], + "orientation": [ + 0.5000443458557129, + 0.5103084444999695, + -0.6833435893058777, + 0.15027478337287903 + ], + "joints": [ + 0.011454764753580093 + ] + }, + "fine_grasp": { + "position": [ + 0.10817640274763107, + 0.14848466217517853, + 0.0822741910815239 + ], + "orientation": [ + 0.5029480457305908, + 0.519344687461853, + -0.6747942566871643, + 0.14824752509593964 + ], + "joints": [ + 0.0034927185624837875 + ] + }, + "final_grasp": { + "position": [ + 0.10817640274763107, + 0.14848466217517853, + 0.0822741910815239 + ], + "orientation": [ + 0.5029480457305908, + 0.519344687461853, + -0.6747942566871643, + 0.14824752509593964 + ], + "joints": [ + -0.004469327628612518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11232466250658035, + 0.15025924146175385, + 0.09488905966281891 + ], + "orientation": [ + 0.351070374250412, + 0.770746648311615, + 0.20755398273468018, + -0.48951035737991333 + ], + "joints": [ + 0.0109383100643754 + ] + }, + "fine_grasp": { + "position": [ + 0.1098971739411354, + 0.1470036655664444, + 0.09375355392694473 + ], + "orientation": [ + 0.3499380350112915, + 0.7691980004310608, + 0.20995767414569855, + -0.4917270839214325 + ], + "joints": [ + 0.0033942193258553743 + ] + }, + "final_grasp": { + "position": [ + 0.1098971739411354, + 0.1470036655664444, + 0.09375355392694473 + ], + "orientation": [ + 0.3499380350112915, + 0.7691980004310608, + 0.20995767414569855, + -0.4917270839214325 + ], + "joints": [ + -0.004149871412664652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02884572744369507, + 0.16199520230293274, + 0.13850516080856323 + ], + "orientation": [ + 0.07786494493484497, + -0.10096149891614914, + -0.8466808795928955, + 0.516599714756012 + ], + "joints": [ + 0.013015680015087128 + ] + }, + "fine_grasp": { + "position": [ + 0.028627337887883186, + 0.15856915712356567, + 0.1369667947292328 + ], + "orientation": [ + 0.07015621662139893, + -0.1121072918176651, + -0.8455591797828674, + 0.5172425508499146 + ], + "joints": [ + 0.003402710659429431 + ] + }, + "final_grasp": { + "position": [ + 0.028627337887883186, + 0.15856915712356567, + 0.1369667947292328 + ], + "orientation": [ + 0.07015621662139893, + -0.1121072918176651, + -0.8455591797828674, + 0.5172425508499146 + ], + "joints": [ + -0.006210258696228266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10614003241062164, + 0.16239207983016968, + 0.0005409070290625095 + ], + "orientation": [ + 0.7193788886070251, + 0.4235366880893707, + 0.5091564059257507, + -0.20945292711257935 + ], + "joints": [ + 0.011508947238326073 + ] + }, + "fine_grasp": { + "position": [ + -0.10418617725372314, + 0.15884020924568176, + 0.0013768557691946626 + ], + "orientation": [ + 0.7182034254074097, + 0.42649686336517334, + 0.5075565576553345, + -0.21135437488555908 + ], + "joints": [ + 0.003546901047229767 + ] + }, + "final_grasp": { + "position": [ + -0.10418617725372314, + 0.15884020924568176, + 0.0013768557691946626 + ], + "orientation": [ + 0.7182034254074097, + 0.42649686336517334, + 0.5075565576553345, + -0.21135437488555908 + ], + "joints": [ + -0.004415145143866539 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09694360941648483, + 0.13385893404483795, + 0.13211791217327118 + ], + "orientation": [ + 0.3878752291202545, + 0.84788578748703, + -0.0547175258398056, + -0.35727936029434204 + ], + "joints": [ + 0.011329959146678448 + ] + }, + "fine_grasp": { + "position": [ + 0.0953407734632492, + 0.13149575889110565, + 0.13044235110282898 + ], + "orientation": [ + 0.3872166872024536, + 0.8513157963752747, + -0.06264765560626984, + -0.3484250605106354 + ], + "joints": [ + 0.0033679131884127855 + ] + }, + "final_grasp": { + "position": [ + 0.0953407734632492, + 0.13149575889110565, + 0.13044235110282898 + ], + "orientation": [ + 0.3872166872024536, + 0.8513157963752747, + -0.06264765560626984, + -0.3484250605106354 + ], + "joints": [ + -0.004594132769852877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13092145323753357, + 0.1352628767490387, + 0.03383060172200203 + ], + "orientation": [ + 0.6425620913505554, + 0.092306949198246, + -0.6454259753227234, + 0.402515709400177 + ], + "joints": [ + 0.012257418595254421 + ] + }, + "fine_grasp": { + "position": [ + 0.1288408637046814, + 0.1332651823759079, + 0.033619705587625504 + ], + "orientation": [ + 0.6349605917930603, + 0.08720846474170685, + -0.650725781917572, + 0.40715569257736206 + ], + "joints": [ + 0.0034803596790879965 + ] + }, + "final_grasp": { + "position": [ + 0.1288408637046814, + 0.1332651823759079, + 0.033619705587625504 + ], + "orientation": [ + 0.6349605917930603, + 0.08720846474170685, + -0.650725781917572, + 0.40715569257736206 + ], + "joints": [ + -0.005296699237078428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12800824642181396, + 0.13971784710884094, + 0.035738229751586914 + ], + "orientation": [ + 0.6626941561698914, + 0.40048089623451233, + -0.6228353977203369, + 0.11192610114812851 + ], + "joints": [ + 0.011308805085718632 + ] + }, + "fine_grasp": { + "position": [ + 0.1247398778796196, + 0.1373336911201477, + 0.03641888126730919 + ], + "orientation": [ + 0.6665034294128418, + 0.4076260030269623, + -0.6152982711791992, + 0.10498698055744171 + ], + "joints": [ + 0.0033467591274529696 + ] + }, + "final_grasp": { + "position": [ + 0.1247398778796196, + 0.1373336911201477, + 0.03641888126730919 + ], + "orientation": [ + 0.6665034294128418, + 0.4076260030269623, + -0.6152982711791992, + 0.10498698055744171 + ], + "joints": [ + -0.004615286830812693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0345003642141819, + 0.15767431259155273, + 0.14041636884212494 + ], + "orientation": [ + 0.4686555862426758, + 0.8642207980155945, + 0.11859866231679916, + -0.1393507421016693 + ], + "joints": [ + 0.012131519615650177 + ] + }, + "fine_grasp": { + "position": [ + 0.033087801188230515, + 0.15497109293937683, + 0.13935284316539764 + ], + "orientation": [ + 0.46952638030052185, + 0.8635985255241394, + 0.12291369587182999, + -0.13650940358638763 + ], + "joints": [ + 0.003333563217893243 + ] + }, + "final_grasp": { + "position": [ + 0.033087801188230515, + 0.15497109293937683, + 0.13935284316539764 + ], + "orientation": [ + 0.46952638030052185, + 0.8635985255241394, + 0.12291369587182999, + -0.13650940358638763 + ], + "joints": [ + -0.005464393179863691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08465743064880371, + 0.14042341709136963, + -0.05463891476392746 + ], + "orientation": [ + 0.827131986618042, + 0.253252774477005, + -0.33633312582969666, + 0.37228459119796753 + ], + "joints": [ + 0.01121491938829422 + ] + }, + "fine_grasp": { + "position": [ + 0.08261758089065552, + 0.13752830028533936, + -0.053037915378808975 + ], + "orientation": [ + 0.8225244283676147, + 0.24764420092105865, + -0.34074124693870544, + 0.38212746381759644 + ], + "joints": [ + 0.00367082841694355 + ] + }, + "final_grasp": { + "position": [ + 0.08261758089065552, + 0.13752830028533936, + -0.053037915378808975 + ], + "orientation": [ + 0.8225244283676147, + 0.24764420092105865, + -0.34074124693870544, + 0.38212746381759644 + ], + "joints": [ + -0.0038732625544071198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1236094981431961, + 0.1555687040090561, + 0.03973542898893356 + ], + "orientation": [ + 0.6439707279205322, + 0.4530217945575714, + 0.6015191674232483, + -0.13508372008800507 + ], + "joints": [ + 0.010199321433901787 + ] + }, + "fine_grasp": { + "position": [ + -0.12108010798692703, + 0.15203845500946045, + 0.03977343067526817 + ], + "orientation": [ + 0.6448029279708862, + 0.459516704082489, + 0.5959993004798889, + -0.13363508880138397 + ], + "joints": [ + 0.003491140902042389 + ] + }, + "final_grasp": { + "position": [ + -0.12108010798692703, + 0.15203845500946045, + 0.03977343067526817 + ], + "orientation": [ + 0.6448029279708862, + 0.459516704082489, + 0.5959993004798889, + -0.13363508880138397 + ], + "joints": [ + -0.003217039629817009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08378971368074417, + 0.14064158499240875, + -0.05546505004167557 + ], + "orientation": [ + 0.8236538171768188, + 0.25258520245552063, + -0.34029197692871094, + 0.376824289560318 + ], + "joints": [ + 0.011462872847914696 + ] + }, + "fine_grasp": { + "position": [ + 0.08169989287853241, + 0.1377592533826828, + -0.05396640673279762 + ], + "orientation": [ + 0.8183817267417908, + 0.24608729779720306, + -0.34467145800590515, + 0.38845086097717285 + ], + "joints": [ + 0.0035217241384088993 + ] + }, + "final_grasp": { + "position": [ + 0.08169989287853241, + 0.1377592533826828, + -0.05396640673279762 + ], + "orientation": [ + 0.8183817267417908, + 0.24608729779720306, + -0.34467145800590515, + 0.38845086097717285 + ], + "joints": [ + -0.004419424571096897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028408801183104515, + 0.15896029770374298, + 0.1405826061964035 + ], + "orientation": [ + 0.09717422723770142, + 0.015257029794156551, + -0.864391028881073, + 0.4931049644947052 + ], + "joints": [ + 0.012245015241205692 + ] + }, + "fine_grasp": { + "position": [ + 0.02814149297773838, + 0.155214324593544, + 0.13915890455245972 + ], + "orientation": [ + 0.08744195103645325, + 0.0037560975179076195, + -0.8649271726608276, + 0.49420735239982605 + ], + "joints": [ + 0.003447058843448758 + ] + }, + "final_grasp": { + "position": [ + 0.02814149297773838, + 0.155214324593544, + 0.13915890455245972 + ], + "orientation": [ + 0.08744195103645325, + 0.0037560975179076195, + -0.8649271726608276, + 0.49420735239982605 + ], + "joints": [ + -0.005350897554308176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11039223521947861, + 0.15917912125587463, + 0.06865713000297546 + ], + "orientation": [ + 0.3713627755641937, + 0.7184159755706787, + -0.2734536826610565, + 0.5207602381706238 + ], + "joints": [ + 0.011725266464054585 + ] + }, + "fine_grasp": { + "position": [ + -0.10851453244686127, + 0.1555897742509842, + 0.06798610836267471 + ], + "orientation": [ + 0.37411338090896606, + 0.7193458676338196, + -0.27352020144462585, + 0.5174623131752014 + ], + "joints": [ + 0.0033452652860432863 + ] + }, + "final_grasp": { + "position": [ + -0.10851453244686127, + 0.1555897742509842, + 0.06798610836267471 + ], + "orientation": [ + 0.37411338090896606, + 0.7193458676338196, + -0.27352020144462585, + 0.5174623131752014 + ], + "joints": [ + -0.005034735891968012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1104215607047081, + 0.15898525714874268, + 0.06862489134073257 + ], + "orientation": [ + 0.37134480476379395, + 0.7181329131126404, + -0.2735981345176697, + 0.5210874080657959 + ], + "joints": [ + 0.011908874846994877 + ] + }, + "fine_grasp": { + "position": [ + -0.10852415859699249, + 0.15541157126426697, + 0.06796013563871384 + ], + "orientation": [ + 0.3738113343715668, + 0.7192345857620239, + -0.2732982337474823, + 0.5179523229598999 + ], + "joints": [ + 0.003528873436152935 + ] + }, + "final_grasp": { + "position": [ + -0.10852415859699249, + 0.15541157126426697, + 0.06796013563871384 + ], + "orientation": [ + 0.3738113343715668, + 0.7192345857620239, + -0.2732982337474823, + 0.5179523229598999 + ], + "joints": [ + -0.004851127974689007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044058267027139664, + 0.16746319830417633, + 0.012766572646796703 + ], + "orientation": [ + 0.5301473736763, + 0.5768755078315735, + 0.27323755621910095, + -0.5581214427947998 + ], + "joints": [ + 0.0010856068693101406 + ] + }, + "fine_grasp": { + "position": [ + 0.044090256094932556, + 0.16388115286827087, + 0.011345961131155491 + ], + "orientation": [ + 0.5277394652366638, + 0.5894484519958496, + 0.2803097367286682, + -0.5435697436332703 + ], + "joints": [ + 0.006142862141132355 + ] + }, + "final_grasp": { + "position": [ + 0.044090256094932556, + 0.16388115286827087, + 0.011345961131155491 + ], + "orientation": [ + 0.5277394652366638, + 0.5894484519958496, + 0.2803097367286682, + -0.5435697436332703 + ], + "joints": [ + 0.011200116947293282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10739600658416748, + 0.15363001823425293, + 0.07483165711164474 + ], + "orientation": [ + 0.31158387660980225, + 0.7109042406082153, + 0.3397982120513916, + -0.5311007499694824 + ], + "joints": [ + 0.011346793733537197 + ] + }, + "fine_grasp": { + "position": [ + 0.10539459437131882, + 0.15120604634284973, + 0.07545667141675949 + ], + "orientation": [ + 0.30377018451690674, + 0.7071616649627686, + 0.3520575761795044, + -0.5326364636421204 + ], + "joints": [ + 0.003384747775271535 + ] + }, + "final_grasp": { + "position": [ + 0.10539459437131882, + 0.15120604634284973, + 0.07545667141675949 + ], + "orientation": [ + 0.30377018451690674, + 0.7071616649627686, + 0.3520575761795044, + -0.5326364636421204 + ], + "joints": [ + -0.004577298182994127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10862934589385986, + 0.15672516822814941, + 0.07568743079900742 + ], + "orientation": [ + 0.3089607059955597, + 0.7091953754425049, + 0.3467378616333008, + -0.530431866645813 + ], + "joints": [ + 0.011118825525045395 + ] + }, + "fine_grasp": { + "position": [ + 0.10609201341867447, + 0.1535128504037857, + 0.07513942569494247 + ], + "orientation": [ + 0.3018854856491089, + 0.7055785059928894, + 0.3538133203983307, + -0.534640371799469 + ], + "joints": [ + 0.0035538370721042156 + ] + }, + "final_grasp": { + "position": [ + 0.10609201341867447, + 0.1535128504037857, + 0.07513942569494247 + ], + "orientation": [ + 0.3018854856491089, + 0.7055785059928894, + 0.3538133203983307, + -0.534640371799469 + ], + "joints": [ + -0.004011151380836964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02023114264011383, + 0.17378218472003937, + 0.052806686609983444 + ], + "orientation": [ + 0.6430718898773193, + 0.7395228147506714, + 0.08879295736551285, + -0.17798933386802673 + ], + "joints": [ + 0.0010612326441332698 + ] + }, + "fine_grasp": { + "position": [ + 0.021008307114243507, + 0.1699337661266327, + 0.05244137719273567 + ], + "orientation": [ + 0.6430394649505615, + 0.7412905693054199, + 0.08750061690807343, + -0.1712663620710373 + ], + "joints": [ + 0.0065991380251944065 + ] + }, + "final_grasp": { + "position": [ + 0.021008307114243507, + 0.1699337661266327, + 0.05244137719273567 + ], + "orientation": [ + 0.6430394649505615, + 0.7412905693054199, + 0.08750061690807343, + -0.1712663620710373 + ], + "joints": [ + 0.012137043289840221 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 188 + } +} \ No newline at end of file diff --git a/053_teanet_1/Object.usd b/053_teanet_1/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..5db3e1b3f663a1c4130b7aa4eb1450faedb97934 --- /dev/null +++ b/053_teanet_1/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:902b4d75c53c6bdc4aaa69b4a8ee7383b1f005379086d9bfb1a1134324e89729 +size 276548 diff --git a/055_small-speaker_2/Annotation/dex1_1_grasp_pose.json b/055_small-speaker_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..519c9963d05a4edf30cbe3a04cb1b3b8e0b26a63 --- /dev/null +++ b/055_small-speaker_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,2118 @@ +{ + "type": "055_small-speaker_2", + "bottom_center": [ + -3.501772880554199e-07, + 0.03500000014901161, + -0.040239498019218445 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.125998854637146, + 0.04357105866074562, + -0.077210433781147 + ], + "orientation": [ + 0.061097823083400726, + 0.6886246204376221, + -0.6883980631828308, + -0.21947996318340302 + ], + "joints": [ + -0.018881265074014664 + ] + }, + "fine_grasp": { + "position": [ + 0.12129109352827072, + 0.04247808828949928, + -0.07447078078985214 + ], + "orientation": [ + 0.051683880388736725, + 0.6818861961364746, + -0.6906367540359497, + -0.23533108830451965 + ], + "joints": [ + -0.014630056917667389 + ] + }, + "final_grasp": { + "position": [ + 0.12129109352827072, + 0.04247808828949928, + -0.07447078078985214 + ], + "orientation": [ + 0.051683880388736725, + 0.6818861961364746, + -0.6906367540359497, + -0.23533108830451965 + ], + "joints": [ + -0.010378848761320114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016611507162451744, + 0.17486031353473663, + -0.03610881417989731 + ], + "orientation": [ + 0.0022504699882119894, + 0.8647371530532837, + 0.15809409320354462, + 0.47668737173080444 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.016101134940981865, + 0.1694170981645584, + -0.03475620970129967 + ], + "orientation": [ + 0.008519814349710941, + 0.863262414932251, + 0.1560714989900589, + 0.4799448847770691 + ], + "joints": [ + -0.015243958681821823 + ] + }, + "final_grasp": { + "position": [ + -0.016101134940981865, + 0.1694170981645584, + -0.03475620970129967 + ], + "orientation": [ + 0.008519814349710941, + 0.863262414932251, + 0.1560714989900589, + 0.4799448847770691 + ], + "joints": [ + -0.010487917810678482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016614092513918877, + 0.17490124702453613, + -0.03611205518245697 + ], + "orientation": [ + 0.002316078171133995, + 0.8645955324172974, + 0.15810777246952057, + 0.4769395589828491 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.016046931967139244, + 0.16943205893039703, + -0.03478625789284706 + ], + "orientation": [ + 0.008638682775199413, + 0.8631715774536133, + 0.15602397918701172, + 0.48012155294418335 + ], + "joints": [ + -0.015480956062674522 + ] + }, + "final_grasp": { + "position": [ + -0.016046931967139244, + 0.16943205893039703, + -0.03478625789284706 + ], + "orientation": [ + 0.008638682775199413, + 0.8631715774536133, + 0.15602397918701172, + 0.48012155294418335 + ], + "joints": [ + -0.011256316676735878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016607340425252914, + 0.17485292255878448, + -0.036105331033468246 + ], + "orientation": [ + 0.0022372002713382244, + 0.864741325378418, + 0.15809136629104614, + 0.47668078541755676 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.01609792932868004, + 0.16941088438034058, + -0.03475217521190643 + ], + "orientation": [ + 0.008461888879537582, + 0.8632872700691223, + 0.15608415007591248, + 0.479897141456604 + ], + "joints": [ + -0.015243958681821823 + ] + }, + "final_grasp": { + "position": [ + -0.01609792932868004, + 0.16941088438034058, + -0.03475217521190643 + ], + "orientation": [ + 0.008461888879537582, + 0.8632872700691223, + 0.15608415007591248, + 0.479897141456604 + ], + "joints": [ + -0.010487917810678482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1255444586277008, + 0.04351378232240677, + -0.07702073454856873 + ], + "orientation": [ + 0.057391390204429626, + 0.6874473094940186, + -0.6894844174385071, + -0.22075720131397247 + ], + "joints": [ + -0.01916094869375229 + ] + }, + "fine_grasp": { + "position": [ + 0.12099141627550125, + 0.04239317774772644, + -0.07425868511199951 + ], + "orientation": [ + 0.05056719854474068, + 0.6816276907920837, + -0.6908687949180603, + -0.23564137518405914 + ], + "joints": [ + -0.014378339983522892 + ] + }, + "final_grasp": { + "position": [ + 0.12099141627550125, + 0.04239317774772644, + -0.07425868511199951 + ], + "orientation": [ + 0.05056719854474068, + 0.6816276907920837, + -0.6908687949180603, + -0.23564137518405914 + ], + "joints": [ + -0.009595731273293495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11603108793497086, + -0.04795464873313904, + -0.01077176071703434 + ], + "orientation": [ + 0.008108573034405708, + 0.45953169465065, + -0.8850095272064209, + 0.07431712001562119 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + 0.1113399863243103, + -0.044764574617147446, + -0.009599125012755394 + ], + "orientation": [ + 0.010987706482410431, + 0.45932963490486145, + -0.885818600654602, + 0.06496952474117279 + ], + "joints": [ + -0.01650533452630043 + ] + }, + "final_grasp": { + "position": [ + 0.1113399863243103, + -0.044764574617147446, + -0.009599125012755394 + ], + "orientation": [ + 0.010987706482410431, + 0.45932963490486145, + -0.885818600654602, + 0.06496952474117279 + ], + "joints": [ + -0.013290353119373322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12168962508440018, + 0.0329752154648304, + -0.06683126837015152 + ], + "orientation": [ + 0.7119015455245972, + 0.08073778450489044, + 0.06712675839662552, + 0.6943856477737427 + ], + "joints": [ + -0.014406321570277214 + ] + }, + "fine_grasp": { + "position": [ + 0.118609718978405, + 0.03286892548203468, + -0.06481403112411499 + ], + "orientation": [ + 0.7067369818687439, + 0.09223615378141403, + 0.07746081799268723, + 0.6971478462219238 + ], + "joints": [ + -0.01119135320186615 + ] + }, + "final_grasp": { + "position": [ + 0.118609718978405, + 0.03286892548203468, + -0.06481403112411499 + ], + "orientation": [ + 0.7067369818687439, + 0.09223615378141403, + 0.07746081799268723, + 0.6971478462219238 + ], + "joints": [ + -0.007976384833455086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08978714048862457, + 0.10598265379667282, + -0.07793504744768143 + ], + "orientation": [ + 0.2285027801990509, + -0.28295713663101196, + 0.3279736340045929, + 0.8718686103820801 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.08706478774547577, + 0.10429580509662628, + -0.07492319494485855 + ], + "orientation": [ + 0.23011505603790283, + -0.2802715599536896, + 0.3318376839160919, + 0.8708494305610657 + ], + "joints": [ + -0.013243413530290127 + ] + }, + "final_grasp": { + "position": [ + 0.08706478774547577, + 0.10429580509662628, + -0.07492319494485855 + ], + "orientation": [ + 0.23011505603790283, + -0.2802715599536896, + 0.3318376839160919, + 0.8708494305610657 + ], + "joints": [ + -0.007929407060146332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08982951939105988, + 0.10603407770395279, + -0.07792530208826065 + ], + "orientation": [ + 0.22860212624073029, + -0.28289562463760376, + 0.3278244137763977, + 0.8719186782836914 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.08710478246212006, + 0.10442827641963959, + -0.07484978437423706 + ], + "orientation": [ + 0.23079240322113037, + -0.27992191910743713, + 0.33231058716773987, + 0.8706021308898926 + ], + "joints": [ + -0.013243413530290127 + ] + }, + "final_grasp": { + "position": [ + 0.08710478246212006, + 0.10442827641963959, + -0.07484978437423706 + ], + "orientation": [ + 0.23079240322113037, + -0.27992191910743713, + 0.33231058716773987, + 0.8706021308898926 + ], + "joints": [ + -0.007929407060146332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12191013991832733, + 0.032845549285411835, + -0.06680922955274582 + ], + "orientation": [ + 0.7128047943115234, + 0.082099549472332, + 0.06568004935979843, + 0.6934371590614319 + ], + "joints": [ + -0.014406321570277214 + ] + }, + "fine_grasp": { + "position": [ + 0.11881697922945023, + 0.03266330063343048, + -0.0647159218788147 + ], + "orientation": [ + 0.707851767539978, + 0.09376232326030731, + 0.07582791894674301, + 0.6959917545318604 + ], + "joints": [ + -0.01119135320186615 + ] + }, + "final_grasp": { + "position": [ + 0.11881697922945023, + 0.03266330063343048, + -0.0647159218788147 + ], + "orientation": [ + 0.707851767539978, + 0.09376232326030731, + 0.07582791894674301, + 0.6959917545318604 + ], + "joints": [ + -0.007976384833455086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09454245120286942, + 0.14826540648937225, + -0.02471831440925598 + ], + "orientation": [ + 0.16013649106025696, + 0.8404503464698792, + -0.2082599699497223, + 0.4739486575126648 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.0914699137210846, + 0.14424611628055573, + -0.023929592221975327 + ], + "orientation": [ + 0.16805583238601685, + 0.8369132280349731, + -0.2095627784729004, + 0.47688254714012146 + ], + "joints": [ + -0.013661395758390427 + ] + }, + "final_grasp": { + "position": [ + 0.0914699137210846, + 0.14424611628055573, + -0.023929592221975327 + ], + "orientation": [ + 0.16805583238601685, + 0.8369132280349731, + -0.2095627784729004, + 0.47688254714012146 + ], + "joints": [ + -0.00938362069427967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0773664191365242, + 0.135630801320076, + -0.0785892903804779 + ], + "orientation": [ + 0.13567185401916504, + 0.9099438786506653, + -0.35758981108665466, + -0.1603897511959076 + ], + "joints": [ + -0.019440632313489914 + ] + }, + "fine_grasp": { + "position": [ + 0.07452064752578735, + 0.13157258927822113, + -0.07550892978906631 + ], + "orientation": [ + 0.14780281484127045, + 0.9078742265701294, + -0.35510843992233276, + -0.16678325831890106 + ], + "joints": [ + -0.016252223402261734 + ] + }, + "final_grasp": { + "position": [ + 0.07452064752578735, + 0.13157258927822113, + -0.07550892978906631 + ], + "orientation": [ + 0.14780281484127045, + 0.9078742265701294, + -0.35510843992233276, + -0.16678325831890106 + ], + "joints": [ + -0.013063814491033554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02995222993195057, + -0.04619716852903366, + -0.13324834406375885 + ], + "orientation": [ + 0.6759732365608215, + 0.28313204646110535, + -0.5544990301132202, + -0.3942427933216095 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.029835108667612076, + -0.04479854181408882, + -0.1315668374300003 + ], + "orientation": [ + 0.676423192024231, + 0.2856142222881317, + -0.5526787638664246, + -0.3942365050315857 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + -0.029835108667612076, + -0.04479854181408882, + -0.1315668374300003 + ], + "orientation": [ + 0.676423192024231, + 0.2856142222881317, + -0.5526787638664246, + -0.3942365050315857 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0853305459022522, + 0.11027420312166214, + -0.08581935614347458 + ], + "orientation": [ + 0.33700045943260193, + -0.050272513180971146, + -0.2378651201725006, + -0.9095733165740967 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.08312013745307922, + 0.10834906250238419, + -0.08338639885187149 + ], + "orientation": [ + 0.3401516377925873, + -0.04445965215563774, + -0.24726106226444244, + -0.9061909914016724 + ], + "joints": [ + -0.012215950526297092 + ] + }, + "final_grasp": { + "position": [ + -0.08312013745307922, + 0.10834906250238419, + -0.08338639885187149 + ], + "orientation": [ + 0.3401516377925873, + -0.04445965215563774, + -0.24726106226444244, + -0.9061909914016724 + ], + "joints": [ + -0.00796475075185299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06632612645626068, + 0.14532196521759033, + -0.06723673641681671 + ], + "orientation": [ + 0.19954031705856323, + 0.9312626123428345, + -0.13620653748512268, + 0.27272963523864746 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.06401229649782181, + 0.14103466272354126, + -0.06434323638677597 + ], + "orientation": [ + 0.20995962619781494, + 0.9287261366844177, + -0.13814382255077362, + 0.2725822329521179 + ], + "joints": [ + -0.012185115367174149 + ] + }, + "final_grasp": { + "position": [ + 0.06401229649782181, + 0.14103466272354126, + -0.06434323638677597 + ], + "orientation": [ + 0.20995962619781494, + 0.9287261366844177, + -0.13814382255077362, + 0.2725822329521179 + ], + "joints": [ + -0.008491888642311096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06605290621519089, + 0.14543011784553528, + -0.0672067180275917 + ], + "orientation": [ + 0.20260977745056152, + 0.929213285446167, + -0.1328487992286682, + 0.27903956174850464 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.06358319520950317, + 0.14147858321666718, + -0.0644383430480957 + ], + "orientation": [ + 0.2124190777540207, + 0.9274086952209473, + -0.13532018661499023, + 0.27654963731765747 + ], + "joints": [ + -0.012185115367174149 + ] + }, + "final_grasp": { + "position": [ + 0.06358319520950317, + 0.14147858321666718, + -0.0644383430480957 + ], + "orientation": [ + 0.2124190777540207, + 0.9274086952209473, + -0.13532018661499023, + 0.27654963731765747 + ], + "joints": [ + -0.008491888642311096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10189475864171982, + 0.07987824827432632, + -0.09338430315256119 + ], + "orientation": [ + 0.6157816052436829, + 0.36718490719795227, + 0.022741101682186127, + 0.6967576146125793 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.09890881925821304, + 0.07823358476161957, + -0.09116392582654953 + ], + "orientation": [ + 0.616570770740509, + 0.3736008107662201, + 0.028263112530112267, + 0.6924334764480591 + ], + "joints": [ + -0.009834149852395058 + ] + }, + "final_grasp": { + "position": [ + 0.09890881925821304, + 0.07823358476161957, + -0.09116392582654953 + ], + "orientation": [ + 0.616570770740509, + 0.3736008107662201, + 0.028263112530112267, + 0.6924334764480591 + ], + "joints": [ + -0.005556382238864899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05763758718967438, + -0.07205309718847275, + -0.06858920305967331 + ], + "orientation": [ + 0.8506792783737183, + 0.01778050884604454, + 0.3711321949958801, + 0.3718729317188263 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.05870361253619194, + -0.07142939418554306, + -0.0675358921289444 + ], + "orientation": [ + 0.8496814370155334, + 0.02844950370490551, + 0.37713202834129333, + 0.36742812395095825 + ], + "joints": [ + -0.008713942021131516 + ] + }, + "final_grasp": { + "position": [ + 0.05870361253619194, + -0.07142939418554306, + -0.0675358921289444 + ], + "orientation": [ + 0.8496814370155334, + 0.02844950370490551, + 0.37713202834129333, + 0.36742812395095825 + ], + "joints": [ + -0.003904774785041809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1256609410047531, + -0.010498967953026295, + -0.061188437044620514 + ], + "orientation": [ + 0.2410503625869751, + 0.6156819462776184, + 0.7475895285606384, + -0.06277323514223099 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.12226081639528275, + -0.008606632240116596, + -0.05951850488781929 + ], + "orientation": [ + 0.24333515763282776, + 0.6172662973403931, + 0.7461045980453491, + -0.05566094443202019 + ], + "joints": [ + -0.008627092465758324 + ] + }, + "final_grasp": { + "position": [ + -0.12226081639528275, + -0.008606632240116596, + -0.05951850488781929 + ], + "orientation": [ + 0.24333515763282776, + 0.6172662973403931, + 0.7461045980453491, + -0.05566094443202019 + ], + "joints": [ + -0.004349324852228165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0012853111838921905, + 0.1695634126663208, + -0.03911542147397995 + ], + "orientation": [ + 0.018410462886095047, + 0.7982882261276245, + -0.15441295504570007, + -0.5818536281585693 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.00039865219150669873, + 0.1701786369085312, + -0.0386439710855484 + ], + "orientation": [ + 0.022382263094186783, + 0.7974287271499634, + -0.1479743868112564, + -0.5845597982406616 + ], + "joints": [ + -0.01000063493847847 + ] + }, + "final_grasp": { + "position": [ + -0.00039865219150669873, + 0.1701786369085312, + -0.0386439710855484 + ], + "orientation": [ + 0.022382263094186783, + 0.7974287271499634, + -0.1479743868112564, + -0.5845597982406616 + ], + "joints": [ + -0.004181809723377228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0947178304195404, + 0.11472533643245697, + -0.06619550287723541 + ], + "orientation": [ + 0.3845829665660858, + -0.03251747041940689, + 0.13966652750968933, + 0.9118837714195251 + ], + "joints": [ + -0.015201210975646973 + ] + }, + "fine_grasp": { + "position": [ + 0.09623830765485764, + 0.11465097218751907, + -0.06526356935501099 + ], + "orientation": [ + 0.3907757103443146, + -0.022551121190190315, + 0.14648497104644775, + 0.9084756374359131 + ], + "joints": [ + -0.009887214750051498 + ] + }, + "final_grasp": { + "position": [ + 0.09623830765485764, + 0.11465097218751907, + -0.06526356935501099 + ], + "orientation": [ + 0.3907757103443146, + -0.022551121190190315, + 0.14648497104644775, + 0.9084756374359131 + ], + "joints": [ + -0.004573218524456024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11358489096164703, + 0.1231655478477478, + -0.039984337985515594 + ], + "orientation": [ + 0.4725813865661621, + 0.153059720993042, + -0.05320770666003227, + 0.8662612438201904 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.10906004905700684, + 0.1201341450214386, + -0.03868856653571129 + ], + "orientation": [ + 0.47068434953689575, + 0.14800670742988586, + -0.04284464195370674, + 0.8687431216239929 + ], + "joints": [ + -0.011627145111560822 + ] + }, + "final_grasp": { + "position": [ + 0.10906004905700684, + 0.1201341450214386, + -0.03868856653571129 + ], + "orientation": [ + 0.47068434953689575, + 0.14800670742988586, + -0.04284464195370674, + 0.8687431216239929 + ], + "joints": [ + -0.007375948131084442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09062016755342484, + -0.06124633550643921, + -0.039351463317871094 + ], + "orientation": [ + 0.8119770884513855, + -0.14057452976703644, + -0.35308724641799927, + -0.4430140256881714 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.0901111364364624, + -0.06019433215260506, + -0.037898674607276917 + ], + "orientation": [ + 0.8150939345359802, + -0.13258367776870728, + -0.3586432933807373, + -0.4352222979068756 + ], + "joints": [ + -0.009129051119089127 + ] + }, + "final_grasp": { + "position": [ + -0.0901111364364624, + -0.06019433215260506, + -0.037898674607276917 + ], + "orientation": [ + 0.8150939345359802, + -0.13258367776870728, + -0.3586432933807373, + -0.4352222979068756 + ], + "joints": [ + -0.005382683128118515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13120876252651215, + 0.00809004157781601, + -0.07594481110572815 + ], + "orientation": [ + 0.15852853655815125, + -0.4893316328525543, + -0.7987509965896606, + -0.3121219575405121 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.12609326839447021, + 0.009138520807027817, + -0.07341888546943665 + ], + "orientation": [ + 0.15599940717220306, + -0.4919757544994354, + -0.795669674873352, + -0.3170706033706665 + ], + "joints": [ + -0.0104803666472435 + ] + }, + "final_grasp": { + "position": [ + -0.12609326839447021, + 0.009138520807027817, + -0.07341888546943665 + ], + "orientation": [ + 0.15599940717220306, + -0.4919757544994354, + -0.795669674873352, + -0.3170706033706665 + ], + "joints": [ + -0.005671199411153793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009163571521639824, + 0.1819944679737091, + -0.04548058286309242 + ], + "orientation": [ + 0.02950603887438774, + 0.9445670247077942, + 0.1121080070734024, + 0.30717143416404724 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.008652067743241787, + 0.17648909986019135, + -0.04403532296419144 + ], + "orientation": [ + 0.033571913838386536, + 0.9429957866668701, + 0.11190307140350342, + 0.31162434816360474 + ], + "joints": [ + -0.009860720485448837 + ] + }, + "final_grasp": { + "position": [ + -0.008652067743241787, + 0.17648909986019135, + -0.04403532296419144 + ], + "orientation": [ + 0.033571913838386536, + 0.9429957866668701, + 0.11190307140350342, + 0.31162434816360474 + ], + "joints": [ + -0.005609523504972458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053609125316143036, + 0.14693595468997955, + -0.07366517186164856 + ], + "orientation": [ + 0.2790699005126953, + 0.17869389057159424, + 0.1009671613574028, + 0.9380800127983093 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.053370919078588486, + 0.14641518890857697, + -0.07223837077617645 + ], + "orientation": [ + 0.2760152518749237, + 0.18541868031024933, + 0.10990221798419952, + 0.9366733431816101 + ], + "joints": [ + -0.00986211746931076 + ] + }, + "final_grasp": { + "position": [ + 0.053370919078588486, + 0.14641518890857697, + -0.07223837077617645 + ], + "orientation": [ + 0.2760152518749237, + 0.18541868031024933, + 0.10990221798419952, + 0.9366733431816101 + ], + "joints": [ + -0.005052950233221054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053399838507175446, + 0.14672701060771942, + -0.07357075810432434 + ], + "orientation": [ + 0.27869582176208496, + 0.1785416305065155, + 0.10087469965219498, + 0.9382301568984985 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.05326162651181221, + 0.1462715119123459, + -0.07221196591854095 + ], + "orientation": [ + 0.2760169208049774, + 0.185812309384346, + 0.1099281832575798, + 0.9365918636322021 + ], + "joints": [ + -0.00986211746931076 + ] + }, + "final_grasp": { + "position": [ + 0.05326162651181221, + 0.1462715119123459, + -0.07221196591854095 + ], + "orientation": [ + 0.2760169208049774, + 0.185812309384346, + 0.1099281832575798, + 0.9365918636322021 + ], + "joints": [ + -0.005052950233221054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11607246845960617, + -0.016756702214479446, + -0.07060772180557251 + ], + "orientation": [ + 0.7865076661109924, + 0.007779076229780912, + -0.1965351700782776, + -0.5854222774505615 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11196136474609375, + -0.014459569938480854, + -0.06839343905448914 + ], + "orientation": [ + 0.7886183261871338, + 0.01419933419674635, + -0.19783122837543488, + -0.5820156931877136 + ], + "joints": [ + -0.007567165419459343 + ] + }, + "final_grasp": { + "position": [ + -0.11196136474609375, + -0.014459569938480854, + -0.06839343905448914 + ], + "orientation": [ + 0.7886183261871338, + 0.01419933419674635, + -0.19783122837543488, + -0.5820156931877136 + ], + "joints": [ + -0.0022000297904014587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10824475437402725, + -0.025523042306303978, + -0.06426520645618439 + ], + "orientation": [ + 0.3157253563404083, + 0.574431300163269, + 0.7518269419670105, + -0.07143080979585648 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.10414190590381622, + -0.024040009826421738, + -0.06166720390319824 + ], + "orientation": [ + 0.3111177384853363, + 0.5650427341461182, + 0.7613129019737244, + -0.0658414363861084 + ], + "joints": [ + -0.009273309260606766 + ] + }, + "final_grasp": { + "position": [ + -0.10414190590381622, + -0.024040009826421738, + -0.06166720390319824 + ], + "orientation": [ + 0.3111177384853363, + 0.5650427341461182, + 0.7613129019737244, + -0.0658414363861084 + ], + "joints": [ + -0.004464142024517059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10824019461870193, + -0.025404291227459908, + -0.06403069943189621 + ], + "orientation": [ + 0.31623023748397827, + 0.5742324590682983, + 0.7517932653427124, + -0.07115132361650467 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.10411364585161209, + -0.02410474792122841, + -0.061424508690834045 + ], + "orientation": [ + 0.3110802173614502, + 0.564372718334198, + 0.7618677020072937, + -0.06534598767757416 + ], + "joints": [ + -0.009273309260606766 + ] + }, + "final_grasp": { + "position": [ + -0.10411364585161209, + -0.02410474792122841, + -0.061424508690834045 + ], + "orientation": [ + 0.3110802173614502, + 0.564372718334198, + 0.7618677020072937, + -0.06534598767757416 + ], + "joints": [ + -0.004464142024517059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028699323534965515, + -0.08985422551631927, + -0.08736211806535721 + ], + "orientation": [ + 0.17482733726501465, + -0.026323042809963226, + 0.958952784538269, + 0.22170273959636688 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.027913790196180344, + -0.0871385931968689, + -0.08515308052301407 + ], + "orientation": [ + 0.17370009422302246, + -0.02666139043867588, + 0.9584872126579285, + 0.22454334795475006 + ], + "joints": [ + -0.012103928253054619 + ] + }, + "final_grasp": { + "position": [ + 0.027913790196180344, + -0.0871385931968689, + -0.08515308052301407 + ], + "orientation": [ + 0.17370009422302246, + -0.02666139043867588, + 0.9584872126579285, + 0.22454334795475006 + ], + "joints": [ + -0.007799588143825531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10087228566408157, + -0.03449174761772156, + -0.07998626679182053 + ], + "orientation": [ + 0.45663321018218994, + 0.5517629981040955, + 0.6965058445930481, + -0.043854545801877975 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.09961455315351486, + -0.031692128628492355, + -0.07803519815206528 + ], + "orientation": [ + 0.4649554491043091, + 0.550925076007843, + 0.6920190453529358, + -0.0375191755592823 + ], + "joints": [ + -0.015817830339074135 + ] + }, + "final_grasp": { + "position": [ + -0.09961455315351486, + -0.031692128628492355, + -0.07803519815206528 + ], + "orientation": [ + 0.4649554491043091, + 0.550925076007843, + 0.6920190453529358, + -0.0375191755592823 + ], + "joints": [ + -0.013107681646943092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10089702159166336, + -0.03448716923594475, + -0.07997391372919083 + ], + "orientation": [ + 0.4566187858581543, + 0.5517504811286926, + 0.6965243220329285, + -0.04387153312563896 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.0996660441160202, + -0.03169234097003937, + -0.07803298532962799 + ], + "orientation": [ + 0.4649721086025238, + 0.5509117245674133, + 0.6920164227485657, + -0.03755678981542587 + ], + "joints": [ + -0.015817830339074135 + ] + }, + "final_grasp": { + "position": [ + -0.0996660441160202, + -0.03169234097003937, + -0.07803298532962799 + ], + "orientation": [ + 0.4649721086025238, + 0.5509117245674133, + 0.6920164227485657, + -0.03755678981542587 + ], + "joints": [ + -0.013107681646943092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06648344546556473, + -0.08611927926540375, + -0.058969590812921524 + ], + "orientation": [ + 0.13080701231956482, + -0.1924024224281311, + 0.9652934670448303, + 0.11865613609552383 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.06406847387552261, + -0.08169043064117432, + -0.05671490728855133 + ], + "orientation": [ + 0.12875662744045258, + -0.1934158056974411, + 0.9647966623306274, + 0.12320523709058762 + ], + "joints": [ + -0.00975017063319683 + ] + }, + "final_grasp": { + "position": [ + 0.06406847387552261, + -0.08169043064117432, + -0.05671490728855133 + ], + "orientation": [ + 0.12875662744045258, + -0.1934158056974411, + 0.9647966623306274, + 0.12320523709058762 + ], + "joints": [ + -0.00597723200917244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06653310358524323, + -0.08610893040895462, + -0.05906004086136818 + ], + "orientation": [ + 0.12989529967308044, + -0.19280825555324554, + 0.965324878692627, + 0.11874394118785858 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.06410224735736847, + -0.08168795704841614, + -0.056807853281497955 + ], + "orientation": [ + 0.12773071229457855, + -0.19383567571640015, + 0.9648391008377075, + 0.12328076362609863 + ], + "joints": [ + -0.00975017063319683 + ] + }, + "final_grasp": { + "position": [ + 0.06410224735736847, + -0.08168795704841614, + -0.056807853281497955 + ], + "orientation": [ + 0.12773071229457855, + -0.19383567571640015, + 0.9648391008377075, + 0.12328076362609863 + ], + "joints": [ + -0.00597723200917244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06666985899209976, + -0.08612865209579468, + -0.05895595997571945 + ], + "orientation": [ + 0.13072077929973602, + -0.19306129217147827, + 0.9651577472686768, + 0.11878549307584763 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.06423379480838776, + -0.08169633895158768, + -0.05670973286032677 + ], + "orientation": [ + 0.12856103479862213, + -0.19401590526103973, + 0.964695394039154, + 0.12325876206159592 + ], + "joints": [ + -0.00975017063319683 + ] + }, + "final_grasp": { + "position": [ + 0.06423379480838776, + -0.08169633895158768, + -0.05670973286032677 + ], + "orientation": [ + 0.12856103479862213, + -0.19401590526103973, + 0.964695394039154, + 0.12325876206159592 + ], + "joints": [ + -0.00597723200917244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09822797775268555, + 0.14047107100486755, + -0.05140845477581024 + ], + "orientation": [ + 0.404758483171463, + 0.1530725359916687, + -0.002547262003645301, + 0.9015170335769653 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.09426449984312057, + 0.13674569129943848, + -0.049909818917512894 + ], + "orientation": [ + 0.40145426988601685, + 0.147814080119133, + 0.00489205215126276, + 0.9038592576980591 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + 0.09426449984312057, + 0.13674569129943848, + -0.049909818917512894 + ], + "orientation": [ + 0.40145426988601685, + 0.147814080119133, + 0.00489205215126276, + 0.9038592576980591 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07141908258199692, + 0.13990391790866852, + -0.0775904580950737 + ], + "orientation": [ + 0.09398357570171356, + -0.3564172387123108, + 0.25543344020843506, + 0.8938050866127014 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.06895666569471359, + 0.13591107726097107, + -0.07477691769599915 + ], + "orientation": [ + 0.09611423313617706, + -0.3551039695739746, + 0.258696049451828, + 0.8931627869606018 + ], + "joints": [ + -0.008797921240329742 + ] + }, + "final_grasp": { + "position": [ + 0.06895666569471359, + 0.13591107726097107, + -0.07477691769599915 + ], + "orientation": [ + 0.09611423313617706, + -0.3551039695739746, + 0.258696049451828, + 0.8931627869606018 + ], + "joints": [ + -0.003483925014734268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07611382752656937, + 0.13144229352474213, + -0.09974625706672668 + ], + "orientation": [ + 0.32521939277648926, + 0.08718565851449966, + 0.2191234529018402, + 0.9157597422599792 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.07325807958841324, + 0.12846650183200836, + -0.09642509371042252 + ], + "orientation": [ + 0.32214927673339844, + 0.08659952133893967, + 0.22642473876476288, + 0.9151241779327393 + ], + "joints": [ + -0.010898346081376076 + ] + }, + "final_grasp": { + "position": [ + 0.07325807958841324, + 0.12846650183200836, + -0.09642509371042252 + ], + "orientation": [ + 0.32214927673339844, + 0.08659952133893967, + 0.22642473876476288, + 0.9151241779327393 + ], + "joints": [ + -0.007125407457351685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1140044778585434, + 0.07977177202701569, + -0.07063312828540802 + ], + "orientation": [ + 0.6303926706314087, + 0.4257933795452118, + -0.14392636716365814, + 0.6329219937324524 + ], + "joints": [ + -0.01393527165055275 + ] + }, + "fine_grasp": { + "position": [ + 0.11466359347105026, + 0.07888702303171158, + -0.06937941163778305 + ], + "orientation": [ + 0.6260010004043579, + 0.4299868941307068, + -0.14056017994880676, + 0.6351982951164246 + ], + "joints": [ + -0.008621275424957275 + ] + }, + "final_grasp": { + "position": [ + 0.11466359347105026, + 0.07888702303171158, + -0.06937941163778305 + ], + "orientation": [ + 0.6260010004043579, + 0.4299868941307068, + -0.14056017994880676, + 0.6351982951164246 + ], + "joints": [ + -0.003307279199361801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02926778420805931, + 0.16494277119636536, + -0.043637581169605255 + ], + "orientation": [ + 0.22142106294631958, + 0.4238203465938568, + -0.014300479553639889, + 0.8781483173370361 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.029604187235236168, + 0.16320301592350006, + -0.04312603175640106 + ], + "orientation": [ + 0.2166784405708313, + 0.42605775594711304, + -0.005086532793939114, + 0.8783503770828247 + ], + "joints": [ + -0.011153151281177998 + ] + }, + "final_grasp": { + "position": [ + 0.029604187235236168, + 0.16320301592350006, + -0.04312603175640106 + ], + "orientation": [ + 0.2166784405708313, + 0.42605775594711304, + -0.005086532793939114, + 0.8783503770828247 + ], + "joints": [ + -0.0058391522616147995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11131203174591064, + 0.03794076666235924, + -0.09089680016040802 + ], + "orientation": [ + 0.7304173707962036, + 0.31782248616218567, + -0.0024925696197897196, + 0.6045436859130859 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.11004561930894852, + 0.03721659258008003, + -0.08986923098564148 + ], + "orientation": [ + 0.7309604287147522, + 0.3239569365978241, + -0.0014264920027926564, + 0.6006218791007996 + ], + "joints": [ + -0.009417567402124405 + ] + }, + "final_grasp": { + "position": [ + 0.11004561930894852, + 0.03721659258008003, + -0.08986923098564148 + ], + "orientation": [ + 0.7309604287147522, + 0.3239569365978241, + -0.0014264920027926564, + 0.6006218791007996 + ], + "joints": [ + -0.0035456009209156036 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2036, + "num_passed": 42 + } +} \ No newline at end of file diff --git a/055_small-speaker_2/Annotation/piper_grasp_pose.json b/055_small-speaker_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e4bc9b76a436946dd2293e9efa5e19505ac19dbb --- /dev/null +++ b/055_small-speaker_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,118 @@ +{ + "type": "055_small-speaker_2", + "bottom_center": [ + -3.501772880554199e-07, + 0.03500000014901161, + -0.040239498019218445 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.014107771217823029, + 0.026039090007543564, + -0.1755736768245697 + ], + "orientation": [ + 0.8747252821922302, + -0.028480835258960724, + 0.01890517771244049, + 0.4834120273590088 + ], + "joints": [ + 0.02464953623712063 + ] + }, + "fine_grasp": { + "position": [ + 0.01360633410513401, + 0.026055382564663887, + -0.17154398560523987 + ], + "orientation": [ + 0.8747631311416626, + -0.029227852821350098, + 0.015543365851044655, + 0.483418732881546 + ], + "joints": [ + 0.015454521402716637 + ] + }, + "final_grasp": { + "position": [ + 0.01360633410513401, + 0.026055382564663887, + -0.17154398560523987 + ], + "orientation": [ + 0.8747631311416626, + -0.029227852821350098, + 0.015543365851044655, + 0.483418732881546 + ], + "joints": [ + 0.006259506568312645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021547578275203705, + 0.013003653846681118, + -0.1724684089422226 + ], + "orientation": [ + 0.7164767384529114, + -0.0070852600038051605, + -0.05789075419306755, + -0.695168673992157 + ], + "joints": [ + 0.024163270369172096 + ] + }, + "fine_grasp": { + "position": [ + 0.020822545513510704, + 0.01368490606546402, + -0.16838978230953217 + ], + "orientation": [ + 0.7164865136146545, + -0.006285279989242554, + -0.06082536652684212, + -0.6949157118797302 + ], + "joints": [ + 0.016222121194005013 + ] + }, + "final_grasp": { + "position": [ + 0.020822545513510704, + 0.01368490606546402, + -0.16838978230953217 + ], + "orientation": [ + 0.7164865136146545, + -0.006285279989242554, + -0.06082536652684212, + -0.6949157118797302 + ], + "joints": [ + 0.008280972018837929 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 2 + } +} \ No newline at end of file diff --git a/055_small-speaker_2/Object.usd b/055_small-speaker_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..9638040bdf7c1037717ea132e6c606c6603b2333 --- /dev/null +++ b/055_small-speaker_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:277e8706b3896ee6eaac937792dc86f85c8530ba41d603c23b7376b729c6491a +size 224667 diff --git a/058_markpen_0/Annotation/dex1_1_grasp_pose.json b/058_markpen_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..b7e0625f2e93467f5c99d0e4ff9e1ec71b24e011 --- /dev/null +++ b/058_markpen_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,19718 @@ +{ + "type": "058_markpen_0", + "bottom_center": [ + 2.5399494916200638e-05, + 0.09497115015983582, + -0.009245200082659721 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.08868534862995148, + 0.15921656787395477, + -0.061805687844753265 + ], + "orientation": [ + 0.4466277062892914, + 0.7717539668083191, + -0.24400345981121063, + 0.38128986954689026 + ], + "joints": [ + 0.008097244426608086 + ] + }, + "fine_grasp": { + "position": [ + 0.08684302866458893, + 0.15786074101924896, + -0.060161199420690536 + ], + "orientation": [ + 0.4422917664051056, + 0.7748672962188721, + -0.23972126841545105, + 0.38274332880973816 + ], + "joints": [ + 0.013969210907816887 + ] + }, + "final_grasp": { + "position": [ + 0.08684302866458893, + 0.15786074101924896, + -0.060161199420690536 + ], + "orientation": [ + 0.4422917664051056, + 0.7748672962188721, + -0.23972126841545105, + 0.38274332880973816 + ], + "joints": [ + 0.019841177389025688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09361308813095093, + 0.14792101085186005, + 0.057720430195331573 + ], + "orientation": [ + 0.2602078914642334, + 0.4139696955680847, + 0.45765984058380127, + -0.7426092624664307 + ], + "joints": [ + 0.008213870227336884 + ] + }, + "fine_grasp": { + "position": [ + -0.09372132271528244, + 0.14829057455062866, + 0.05731367692351341 + ], + "orientation": [ + 0.26380860805511475, + 0.4095747470855713, + 0.4685893952846527, + -0.7369378805160522 + ], + "joints": [ + 0.014085836708545685 + ] + }, + "final_grasp": { + "position": [ + -0.09372132271528244, + 0.14829057455062866, + 0.05731367692351341 + ], + "orientation": [ + 0.26380860805511475, + 0.4095747470855713, + 0.4685893952846527, + -0.7369378805160522 + ], + "joints": [ + 0.019957803189754486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09343359619379044, + 0.14917224645614624, + 0.05794248357415199 + ], + "orientation": [ + 0.25865432620048523, + 0.41337600350379944, + 0.45574596524238586, + -0.7446569204330444 + ], + "joints": [ + 0.008209966123104095 + ] + }, + "fine_grasp": { + "position": [ + -0.09349838644266129, + 0.15002582967281342, + 0.05740921571850777 + ], + "orientation": [ + 0.26293590664863586, + 0.4096945822238922, + 0.4685332477092743, + -0.7372188568115234 + ], + "joints": [ + 0.014081932604312897 + ] + }, + "final_grasp": { + "position": [ + -0.09349838644266129, + 0.15002582967281342, + 0.05740921571850777 + ], + "orientation": [ + 0.26293590664863586, + 0.4096945822238922, + 0.4685332477092743, + -0.7372188568115234 + ], + "joints": [ + 0.019953899085521698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0882536992430687, + 0.16219548881053925, + -0.05886054411530495 + ], + "orientation": [ + 0.2340259552001953, + -0.40949249267578125, + -0.443195104598999, + -0.7623162269592285 + ], + "joints": [ + 0.008336160331964493 + ] + }, + "fine_grasp": { + "position": [ + -0.08933042734861374, + 0.16036753356456757, + -0.05956577509641647 + ], + "orientation": [ + 0.22966411709785461, + -0.41514188051223755, + -0.4317709803581238, + -0.7671281099319458 + ], + "joints": [ + 0.014234697446227074 + ] + }, + "final_grasp": { + "position": [ + -0.08933042734861374, + 0.16036753356456757, + -0.05956577509641647 + ], + "orientation": [ + 0.22966411709785461, + -0.41514188051223755, + -0.4317709803581238, + -0.7671281099319458 + ], + "joints": [ + 0.020133234560489655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09367279708385468, + 0.1478433758020401, + 0.05775747448205948 + ], + "orientation": [ + 0.26075872778892517, + 0.4136008322238922, + 0.45856598019599915, + -0.7420623302459717 + ], + "joints": [ + 0.00825001671910286 + ] + }, + "fine_grasp": { + "position": [ + -0.09377038478851318, + 0.14827367663383484, + 0.05727822333574295 + ], + "orientation": [ + 0.264285683631897, + 0.4096783697605133, + 0.4689475893974304, + -0.7364813685417175 + ], + "joints": [ + 0.01412198320031166 + ] + }, + "final_grasp": { + "position": [ + -0.09377038478851318, + 0.14827367663383484, + 0.05727822333574295 + ], + "orientation": [ + 0.264285683631897, + 0.4096783697605133, + 0.4689475893974304, + -0.7364813685417175 + ], + "joints": [ + 0.019993949681520462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0027558680158108473, + 0.13553686439990997, + 0.11223343014717102 + ], + "orientation": [ + 0.533487856388092, + -0.8457397222518921, + -0.010565727949142456, + -0.0018328909063711762 + ], + "joints": [ + 0.008355392143130302 + ] + }, + "fine_grasp": { + "position": [ + -0.0031777520198374987, + 0.13606667518615723, + 0.11247329413890839 + ], + "orientation": [ + 0.5444442629814148, + -0.8387773036956787, + -0.00506032956764102, + -0.0027447622269392014 + ], + "joints": [ + 0.014253929257392883 + ] + }, + "final_grasp": { + "position": [ + -0.0031777520198374987, + 0.13606667518615723, + 0.11247329413890839 + ], + "orientation": [ + 0.5444442629814148, + -0.8387773036956787, + -0.00506032956764102, + -0.0027447622269392014 + ], + "joints": [ + 0.020152466371655464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10712338984012604, + 0.14278291165828705, + -0.025103293359279633 + ], + "orientation": [ + 0.4081134498119354, + 0.6779320240020752, + -0.33975499868392944, + 0.508348286151886 + ], + "joints": [ + 0.008446075022220612 + ] + }, + "fine_grasp": { + "position": [ + 0.10627801716327667, + 0.1413230001926422, + -0.024660630151629448 + ], + "orientation": [ + 0.4025559425354004, + 0.6828402280807495, + -0.33245861530303955, + 0.511027455329895 + ], + "joints": [ + 0.013813212513923645 + ] + }, + "final_grasp": { + "position": [ + 0.10627801716327667, + 0.1413230001926422, + -0.024660630151629448 + ], + "orientation": [ + 0.4025559425354004, + 0.6828402280807495, + -0.33245861530303955, + 0.511027455329895 + ], + "joints": [ + 0.01918035000562668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10293573141098022, + 0.12230536341667175, + 0.05721340700984001 + ], + "orientation": [ + 0.30630895495414734, + 0.4026131331920624, + 0.509536623954773, + -0.6960242986679077 + ], + "joints": [ + 0.008262969553470612 + ] + }, + "fine_grasp": { + "position": [ + -0.10209916532039642, + 0.1219429299235344, + 0.05663100257515907 + ], + "orientation": [ + 0.30150142312049866, + 0.4055374264717102, + 0.511240541934967, + -0.69517582654953 + ], + "joints": [ + 0.014134936034679413 + ] + }, + "final_grasp": { + "position": [ + -0.10209916532039642, + 0.1219429299235344, + 0.05663100257515907 + ], + "orientation": [ + 0.30150142312049866, + 0.4055374264717102, + 0.511240541934967, + -0.69517582654953 + ], + "joints": [ + 0.020006902515888214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11486969143152237, + 0.08772489428520203, + -0.04115643724799156 + ], + "orientation": [ + 0.39765989780426025, + -0.41654062271118164, + -0.5611081123352051, + -0.5945739150047302 + ], + "joints": [ + 0.008037552237510681 + ] + }, + "fine_grasp": { + "position": [ + -0.11749929934740067, + 0.08889646083116531, + -0.04191439598798752 + ], + "orientation": [ + 0.3987874686717987, + -0.4148116111755371, + -0.5692423582077026, + -0.5872504711151123 + ], + "joints": [ + 0.014945747330784798 + ] + }, + "final_grasp": { + "position": [ + -0.11749929934740067, + 0.08889646083116531, + -0.04191439598798752 + ], + "orientation": [ + 0.3987874686717987, + -0.4148116111755371, + -0.5692423582077026, + -0.5872504711151123 + ], + "joints": [ + 0.021853942424058914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11496120691299438, + 0.09168922901153564, + -0.043370284140110016 + ], + "orientation": [ + 0.5553816556930542, + 0.6059280037879944, + -0.38973283767700195, + 0.41534414887428284 + ], + "joints": [ + 0.008042526431381702 + ] + }, + "fine_grasp": { + "position": [ + 0.11732961237430573, + 0.09157463908195496, + -0.04427453875541687 + ], + "orientation": [ + 0.5555801391601562, + 0.605952799320221, + -0.395234614610672, + 0.40980663895606995 + ], + "joints": [ + 0.014419321902096272 + ] + }, + "final_grasp": { + "position": [ + 0.11732961237430573, + 0.09157463908195496, + -0.04427453875541687 + ], + "orientation": [ + 0.5555801391601562, + 0.605952799320221, + -0.395234614610672, + 0.40980663895606995 + ], + "joints": [ + 0.020796116441488266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10320514440536499, + 0.12251149117946625, + 0.05724141746759415 + ], + "orientation": [ + 0.308165967464447, + 0.40144264698028564, + 0.5107111930847168, + -0.6950191259384155 + ], + "joints": [ + 0.008302666246891022 + ] + }, + "fine_grasp": { + "position": [ + -0.10239459574222565, + 0.12169930338859558, + 0.056688468903303146 + ], + "orientation": [ + 0.30089831352233887, + 0.40650662779808044, + 0.5111637115478516, + -0.6949273347854614 + ], + "joints": [ + 0.014174632728099823 + ] + }, + "final_grasp": { + "position": [ + -0.10239459574222565, + 0.12169930338859558, + 0.056688468903303146 + ], + "orientation": [ + 0.30089831352233887, + 0.40650662779808044, + 0.5111637115478516, + -0.6949273347854614 + ], + "joints": [ + 0.020046599209308624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11494696885347366, + 0.09175191819667816, + -0.04340125620365143 + ], + "orientation": [ + 0.5526916980743408, + 0.6087620854377747, + -0.38964614272117615, + 0.41486936807632446 + ], + "joints": [ + 0.008107854053378105 + ] + }, + "fine_grasp": { + "position": [ + 0.11728896200656891, + 0.09186428785324097, + -0.04432901740074158 + ], + "orientation": [ + 0.5534118413925171, + 0.608380913734436, + -0.395532488822937, + 0.40885448455810547 + ], + "joints": [ + 0.014484649524092674 + ] + }, + "final_grasp": { + "position": [ + 0.11728896200656891, + 0.09186428785324097, + -0.04432901740074158 + ], + "orientation": [ + 0.5534118413925171, + 0.608380913734436, + -0.395532488822937, + 0.40885448455810547 + ], + "joints": [ + 0.020861444994807243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11244754493236542, + 0.10135873407125473, + -0.04513443633913994 + ], + "orientation": [ + 0.52592533826828, + 0.6410235166549683, + -0.3662988841533661, + 0.4222754240036011 + ], + "joints": [ + 0.007857266813516617 + ] + }, + "fine_grasp": { + "position": [ + 0.11494402587413788, + 0.10207432508468628, + -0.04572047293186188 + ], + "orientation": [ + 0.5274635553359985, + 0.6405052542686462, + -0.37359729409217834, + 0.4146808087825775 + ], + "joints": [ + 0.014765461906790733 + ] + }, + "final_grasp": { + "position": [ + 0.11494402587413788, + 0.10207432508468628, + -0.04572047293186188 + ], + "orientation": [ + 0.5274635553359985, + 0.6405052542686462, + -0.37359729409217834, + 0.4146808087825775 + ], + "joints": [ + 0.02167365700006485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08936594426631927, + 0.174102321267128, + -0.05254955589771271 + ], + "orientation": [ + 0.23767055571079254, + -0.431748628616333, + 0.4175202250480652, + 0.7634020447731018 + ], + "joints": [ + 0.008213039487600327 + ] + }, + "fine_grasp": { + "position": [ + 0.09067153185606003, + 0.17371724545955658, + -0.0527997687458992 + ], + "orientation": [ + 0.2442121058702469, + -0.42308205366134644, + 0.4240188002586365, + 0.7626073956489563 + ], + "joints": [ + 0.014616405591368675 + ] + }, + "final_grasp": { + "position": [ + 0.09067153185606003, + 0.17371724545955658, + -0.0527997687458992 + ], + "orientation": [ + 0.2442121058702469, + -0.42308205366134644, + 0.4240188002586365, + 0.7626073956489563 + ], + "joints": [ + 0.021019771695137024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08950531482696533, + 0.17382293939590454, + -0.052510518580675125 + ], + "orientation": [ + 0.23845049738883972, + -0.43147480487823486, + 0.41778188943862915, + 0.7631705403327942 + ], + "joints": [ + 0.008209513500332832 + ] + }, + "fine_grasp": { + "position": [ + 0.09072529524564743, + 0.17350225150585175, + -0.0527949221432209 + ], + "orientation": [ + 0.24456141889095306, + -0.42298296093940735, + 0.4243104159832001, + 0.762388288974762 + ], + "joints": [ + 0.014612879604101181 + ] + }, + "final_grasp": { + "position": [ + 0.09072529524564743, + 0.17350225150585175, + -0.0527949221432209 + ], + "orientation": [ + 0.24456141889095306, + -0.42298296093940735, + 0.4243104159832001, + 0.762388288974762 + ], + "joints": [ + 0.02101624570786953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08910728991031647, + 0.1744360774755478, + -0.05245320498943329 + ], + "orientation": [ + 0.23736929893493652, + -0.4318265914916992, + 0.41703248023986816, + 0.7637181282043457 + ], + "joints": [ + 0.008738068863749504 + ] + }, + "fine_grasp": { + "position": [ + 0.09058722853660583, + 0.17412938177585602, + -0.052848540246486664 + ], + "orientation": [ + 0.24366845190525055, + -0.4233376979827881, + 0.42420458793640137, + 0.7625361084938049 + ], + "joints": [ + 0.014610035344958305 + ] + }, + "final_grasp": { + "position": [ + 0.09058722853660583, + 0.17412938177585602, + -0.052848540246486664 + ], + "orientation": [ + 0.24366845190525055, + -0.4233376979827881, + 0.42420458793640137, + 0.7625361084938049 + ], + "joints": [ + 0.020482001826167107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05440115928649902, + 0.1326419711112976, + -0.09437056630849838 + ], + "orientation": [ + 0.1286012977361679, + -0.22930537164211273, + -0.5019389986991882, + -0.8239769339561462 + ], + "joints": [ + 0.00841510109603405 + ] + }, + "fine_grasp": { + "position": [ + -0.05501622334122658, + 0.13414925336837769, + -0.09609445929527283 + ], + "orientation": [ + 0.13875986635684967, + -0.2240600287914276, + -0.5174489617347717, + -0.8141187429428101 + ], + "joints": [ + 0.014818467199802399 + ] + }, + "final_grasp": { + "position": [ + -0.05501622334122658, + 0.13414925336837769, + -0.09609445929527283 + ], + "orientation": [ + 0.13875986635684967, + -0.2240600287914276, + -0.5174489617347717, + -0.8141187429428101 + ], + "joints": [ + 0.021221833303570747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10177498310804367, + 0.12155508249998093, + 0.05679253861308098 + ], + "orientation": [ + 0.3002631664276123, + 0.40585455298423767, + 0.5019980072975159, + -0.7022265195846558 + ], + "joints": [ + 0.008264519274234772 + ] + }, + "fine_grasp": { + "position": [ + -0.10076043754816055, + 0.12140074372291565, + 0.056107766926288605 + ], + "orientation": [ + 0.2971382439136505, + 0.4083974361419678, + 0.5035134553909302, + -0.7009954452514648 + ], + "joints": [ + 0.014136485755443573 + ] + }, + "final_grasp": { + "position": [ + -0.10076043754816055, + 0.12140074372291565, + 0.056107766926288605 + ], + "orientation": [ + 0.2971382439136505, + 0.4083974361419678, + 0.5035134553909302, + -0.7009954452514648 + ], + "joints": [ + 0.020008452236652374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09692806005477905, + 0.17471274733543396, + 0.055045366287231445 + ], + "orientation": [ + 0.2701283097267151, + 0.4241044223308563, + 0.4525386393070221, + -0.7364611029624939 + ], + "joints": [ + 0.008437016978859901 + ] + }, + "fine_grasp": { + "position": [ + -0.09372732788324356, + 0.17156003415584564, + 0.05303332954645157 + ], + "orientation": [ + 0.26111385226249695, + 0.4285404682159424, + 0.44575735926628113, + -0.7412645220756531 + ], + "joints": [ + 0.014282412827014923 + ] + }, + "final_grasp": { + "position": [ + -0.09372732788324356, + 0.17156003415584564, + 0.05303332954645157 + ], + "orientation": [ + 0.26111385226249695, + 0.4285404682159424, + 0.44575735926628113, + -0.7412645220756531 + ], + "joints": [ + 0.020127808675169945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1093684509396553, + 0.10597951710224152, + 0.04588543623685837 + ], + "orientation": [ + 0.34328052401542664, + 0.431535005569458, + 0.506153404712677, + -0.6631324887275696 + ], + "joints": [ + 0.007708871271461248 + ] + }, + "fine_grasp": { + "position": [ + -0.10957975685596466, + 0.10723654925823212, + 0.04597291722893715 + ], + "orientation": [ + 0.3434288501739502, + 0.4328842759132385, + 0.5138100981712341, + -0.6562522649765015 + ], + "joints": [ + 0.014112237840890884 + ] + }, + "final_grasp": { + "position": [ + -0.10957975685596466, + 0.10723654925823212, + 0.04597291722893715 + ], + "orientation": [ + 0.3434288501739502, + 0.4328842759132385, + 0.5138100981712341, + -0.6562522649765015 + ], + "joints": [ + 0.020515603944659233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08660238981246948, + 0.09424439817667007, + -0.08582895994186401 + ], + "orientation": [ + 0.2588721513748169, + -0.2804219722747803, + 0.5880173444747925, + 0.7131509184837341 + ], + "joints": [ + 0.008133390918374062 + ] + }, + "fine_grasp": { + "position": [ + 0.08802725374698639, + 0.09541436284780502, + -0.08693592250347137 + ], + "orientation": [ + 0.25456252694129944, + -0.28402185440063477, + 0.5942502617835999, + 0.7080933451652527 + ], + "joints": [ + 0.01453675702214241 + ] + }, + "final_grasp": { + "position": [ + 0.08802725374698639, + 0.09541436284780502, + -0.08693592250347137 + ], + "orientation": [ + 0.25456252694129944, + -0.28402185440063477, + 0.5942502617835999, + 0.7080933451652527 + ], + "joints": [ + 0.02094012312591076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11220449954271317, + 0.10231045633554459, + -0.04506904259324074 + ], + "orientation": [ + 0.5221265554428101, + 0.6445924639701843, + -0.3649912476539612, + 0.4226887822151184 + ], + "joints": [ + 0.007852112874388695 + ] + }, + "fine_grasp": { + "position": [ + 0.11435403674840927, + 0.1023184135556221, + -0.045498933643102646 + ], + "orientation": [ + 0.5194895267486572, + 0.6477207541465759, + -0.3682534098625183, + 0.4183034896850586 + ], + "joints": [ + 0.014255478978157043 + ] + }, + "final_grasp": { + "position": [ + 0.11435403674840927, + 0.1023184135556221, + -0.045498933643102646 + ], + "orientation": [ + 0.5194895267486572, + 0.6477207541465759, + -0.3682534098625183, + 0.4183034896850586 + ], + "joints": [ + 0.020658845081925392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08314604312181473, + 0.10359629988670349, + -0.08716987818479538 + ], + "orientation": [ + 0.5722397565841675, + 0.7321064472198486, + -0.23908452689647675, + 0.2817808985710144 + ], + "joints": [ + 0.008219398558139801 + ] + }, + "fine_grasp": { + "position": [ + 0.08367504179477692, + 0.10267839580774307, + -0.08708827197551727 + ], + "orientation": [ + 0.5763881206512451, + 0.7287918329238892, + -0.23764830827713013, + 0.2831297814846039 + ], + "joints": [ + 0.013586536049842834 + ] + }, + "final_grasp": { + "position": [ + 0.08367504179477692, + 0.10267839580774307, + -0.08708827197551727 + ], + "orientation": [ + 0.5763881206512451, + 0.7287918329238892, + -0.23764830827713013, + 0.2831297814846039 + ], + "joints": [ + 0.018953673541545868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09690786153078079, + 0.09332294017076492, + -0.0767839103937149 + ], + "orientation": [ + 0.596141517162323, + 0.6748149991035461, + -0.2984783947467804, + 0.31646591424942017 + ], + "joints": [ + 0.008276918902993202 + ] + }, + "fine_grasp": { + "position": [ + 0.09771420806646347, + 0.0924924835562706, + -0.0769079327583313 + ], + "orientation": [ + 0.5953184366226196, + 0.6754921674728394, + -0.3001879155635834, + 0.314950168132782 + ], + "joints": [ + 0.014680285006761551 + ] + }, + "final_grasp": { + "position": [ + 0.09771420806646347, + 0.0924924835562706, + -0.0769079327583313 + ], + "orientation": [ + 0.5953184366226196, + 0.6754921674728394, + -0.3001879155635834, + 0.314950168132782 + ], + "joints": [ + 0.0210836511105299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07066798210144043, + 0.10740017890930176, + -0.09686534851789474 + ], + "orientation": [ + 0.5790985226631165, + 0.7552894949913025, + -0.19870276749134064, + 0.2338802069425583 + ], + "joints": [ + 0.007873399183154106 + ] + }, + "fine_grasp": { + "position": [ + 0.07187837362289429, + 0.10579536110162735, + -0.09746690839529037 + ], + "orientation": [ + 0.5815534591674805, + 0.752211332321167, + -0.1935218870639801, + 0.2419152408838272 + ], + "joints": [ + 0.013745365664362907 + ] + }, + "final_grasp": { + "position": [ + 0.07187837362289429, + 0.10579536110162735, + -0.09746690839529037 + ], + "orientation": [ + 0.5815534591674805, + 0.752211332321167, + -0.1935218870639801, + 0.2419152408838272 + ], + "joints": [ + 0.01961733214557171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09800928086042404, + 0.08983702212572098, + -0.07436207681894302 + ], + "orientation": [ + 0.297006219625473, + -0.3325060307979584, + -0.6039344668388367, + -0.6606741547584534 + ], + "joints": [ + 0.008187839761376381 + ] + }, + "fine_grasp": { + "position": [ + -0.09894942492246628, + 0.0896156057715416, + -0.07488922029733658 + ], + "orientation": [ + 0.29665976762771606, + -0.33314165472984314, + -0.6008380651473999, + -0.6633273363113403 + ], + "joints": [ + 0.015122605487704277 + ] + }, + "final_grasp": { + "position": [ + -0.09894942492246628, + 0.0896156057715416, + -0.07488922029733658 + ], + "orientation": [ + 0.29665976762771606, + -0.33314165472984314, + -0.6008380651473999, + -0.6633273363113403 + ], + "joints": [ + 0.022057371214032173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09750695526599884, + 0.17590221762657166, + 0.05547858774662018 + ], + "orientation": [ + 0.27300605177879333, + 0.42148032784461975, + 0.45690202713012695, + -0.7342088222503662 + ], + "joints": [ + 0.008319683372974396 + ] + }, + "fine_grasp": { + "position": [ + -0.09445086866617203, + 0.1729322224855423, + 0.053596656769514084 + ], + "orientation": [ + 0.2645170986652374, + 0.4256596565246582, + 0.4522829055786133, + -0.7377565503120422 + ], + "joints": [ + 0.014191649854183197 + ] + }, + "final_grasp": { + "position": [ + -0.09445086866617203, + 0.1729322224855423, + 0.053596656769514084 + ], + "orientation": [ + 0.2645170986652374, + 0.4256596565246582, + 0.4522829055786133, + -0.7377565503120422 + ], + "joints": [ + 0.020063616335392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09704168885946274, + 0.17578034102916718, + 0.05522136762738228 + ], + "orientation": [ + 0.27093327045440674, + 0.4232099652290344, + 0.45436331629753113, + -0.7355559468269348 + ], + "joints": [ + 0.008294209837913513 + ] + }, + "fine_grasp": { + "position": [ + -0.09403946250677109, + 0.17319096624851227, + 0.05334263667464256 + ], + "orientation": [ + 0.26433059573173523, + 0.42595386505126953, + 0.4510851204395294, + -0.7383866906166077 + ], + "joints": [ + 0.014166176319122314 + ] + }, + "final_grasp": { + "position": [ + -0.09403946250677109, + 0.17319096624851227, + 0.05334263667464256 + ], + "orientation": [ + 0.26433059573173523, + 0.42595386505126953, + 0.4510851204395294, + -0.7383866906166077 + ], + "joints": [ + 0.020038142800331116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10579197108745575, + 0.1168937161564827, + -0.04758264124393463 + ], + "orientation": [ + 0.4850139021873474, + 0.6841980814933777, + 0.3093622326850891, + -0.44825172424316406 + ], + "joints": [ + 0.00774076534435153 + ] + }, + "fine_grasp": { + "position": [ + -0.10395500063896179, + 0.11642692238092422, + -0.04668212682008743 + ], + "orientation": [ + 0.48499712347984314, + 0.6835154891014099, + 0.3126941919326782, + -0.44699737429618835 + ], + "joints": [ + 0.014144131913781166 + ] + }, + "final_grasp": { + "position": [ + -0.10395500063896179, + 0.11642692238092422, + -0.04668212682008743 + ], + "orientation": [ + 0.48499712347984314, + 0.6835154891014099, + 0.3126941919326782, + -0.44699737429618835 + ], + "joints": [ + 0.020547498017549515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09707722812891006, + 0.17531421780586243, + 0.05543401092290878 + ], + "orientation": [ + 0.27190372347831726, + 0.4217130243778229, + 0.45620837807655334, + -0.7349151968955994 + ], + "joints": [ + 0.008474791422486305 + ] + }, + "fine_grasp": { + "position": [ + -0.09410611540079117, + 0.17266710102558136, + 0.05356433987617493 + ], + "orientation": [ + 0.26461249589920044, + 0.424904465675354, + 0.4521944224834442, + -0.7382118105888367 + ], + "joints": [ + 0.014346757903695107 + ] + }, + "final_grasp": { + "position": [ + -0.09410611540079117, + 0.17266710102558136, + 0.05356433987617493 + ], + "orientation": [ + 0.26461249589920044, + 0.424904465675354, + 0.4521944224834442, + -0.7382118105888367 + ], + "joints": [ + 0.020218724384903908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09824390709400177, + 0.08890899270772934, + -0.07395039498806 + ], + "orientation": [ + 0.2958233654499054, + -0.3364488184452057, + -0.5997514724731445, + -0.6630150079727173 + ], + "joints": [ + 0.008180409669876099 + ] + }, + "fine_grasp": { + "position": [ + -0.09923781454563141, + 0.08966880291700363, + -0.07443931698799133 + ], + "orientation": [ + 0.29735657572746277, + -0.33511143922805786, + -0.5989024639129639, + -0.6637735366821289 + ], + "joints": [ + 0.015115177258849144 + ] + }, + "final_grasp": { + "position": [ + -0.09923781454563141, + 0.08966880291700363, + -0.07443931698799133 + ], + "orientation": [ + 0.29735657572746277, + -0.33511143922805786, + -0.5989024639129639, + -0.6637735366821289 + ], + "joints": [ + 0.02204994484782219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09288175404071808, + 0.0944184958934784, + -0.07954837381839752 + ], + "orientation": [ + 0.26885518431663513, + -0.3223879039287567, + -0.5908957123756409, + -0.688930332660675 + ], + "joints": [ + 0.008260808885097504 + ] + }, + "fine_grasp": { + "position": [ + -0.09369102120399475, + 0.09547404199838638, + -0.08013774454593658 + ], + "orientation": [ + 0.2715296149253845, + -0.32056519389152527, + -0.5920844078063965, + -0.6877104640007019 + ], + "joints": [ + 0.0151955746114254 + ] + }, + "final_grasp": { + "position": [ + -0.09369102120399475, + 0.09547404199838638, + -0.08013774454593658 + ], + "orientation": [ + 0.2715296149253845, + -0.32056519389152527, + -0.5920844078063965, + -0.6877104640007019 + ], + "joints": [ + 0.022130340337753296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08318259567022324, + 0.10393905639648438, + -0.08698739856481552 + ], + "orientation": [ + 0.5696454048156738, + 0.7339398860931396, + -0.23882333934307098, + 0.2824883759021759 + ], + "joints": [ + 0.008250387385487556 + ] + }, + "fine_grasp": { + "position": [ + 0.0838628038764, + 0.10290168225765228, + -0.0870201587677002 + ], + "orientation": [ + 0.5724520683288574, + 0.731740415096283, + -0.23657049238681793, + 0.2844100594520569 + ], + "joints": [ + 0.014122353866696358 + ] + }, + "final_grasp": { + "position": [ + 0.0838628038764, + 0.10290168225765228, + -0.0870201587677002 + ], + "orientation": [ + 0.5724520683288574, + 0.731740415096283, + -0.23657049238681793, + 0.2844100594520569 + ], + "joints": [ + 0.01999432034790516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09607099741697311, + 0.08851882815361023, + -0.07685098797082901 + ], + "orientation": [ + 0.28904739022254944, + -0.3246431350708008, + -0.6083181500434875, + -0.6640840172767639 + ], + "joints": [ + 0.008248670026659966 + ] + }, + "fine_grasp": { + "position": [ + -0.09697534888982773, + 0.08848047256469727, + -0.0773412436246872 + ], + "orientation": [ + 0.2896955609321594, + -0.3235642910003662, + -0.6042230725288391, + -0.6680547595024109 + ], + "joints": [ + 0.015183435752987862 + ] + }, + "final_grasp": { + "position": [ + -0.09697534888982773, + 0.08848047256469727, + -0.0773412436246872 + ], + "orientation": [ + 0.2896955609321594, + -0.3235642910003662, + -0.6042230725288391, + -0.6680547595024109 + ], + "joints": [ + 0.022118201479315758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0959208607673645, + 0.0886269211769104, + -0.0769752711057663 + ], + "orientation": [ + 0.28984329104423523, + -0.3228836953639984, + -0.6085591912269592, + -0.6643738746643066 + ], + "joints": [ + 0.008354047313332558 + ] + }, + "fine_grasp": { + "position": [ + -0.09698306769132614, + 0.08818824589252472, + -0.07752013951539993 + ], + "orientation": [ + 0.2894459664821625, + -0.32357141375541687, + -0.604361891746521, + -0.6680338382720947 + ], + "joints": [ + 0.015288813039660454 + ] + }, + "final_grasp": { + "position": [ + -0.09698306769132614, + 0.08818824589252472, + -0.07752013951539993 + ], + "orientation": [ + 0.2894459664821625, + -0.32357141375541687, + -0.604361891746521, + -0.6680338382720947 + ], + "joints": [ + 0.02222357876598835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08550731092691422, + 0.10316970199346542, + -0.08467737585306168 + ], + "orientation": [ + 0.5645216107368469, + 0.7315084338188171, + -0.24622879922389984, + 0.29254454374313354 + ], + "joints": [ + 0.008245039731264114 + ] + }, + "fine_grasp": { + "position": [ + 0.08602744340896606, + 0.10261701047420502, + -0.08452847599983215 + ], + "orientation": [ + 0.5696260333061218, + 0.7275365591049194, + -0.2452899068593979, + 0.29334205389022827 + ], + "joints": [ + 0.014117006212472916 + ] + }, + "final_grasp": { + "position": [ + 0.08602744340896606, + 0.10261701047420502, + -0.08452847599983215 + ], + "orientation": [ + 0.5696260333061218, + 0.7275365591049194, + -0.2452899068593979, + 0.29334205389022827 + ], + "joints": [ + 0.019988972693681717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09576649218797684, + 0.08858472853899002, + -0.07698046416044235 + ], + "orientation": [ + 0.29173389077186584, + -0.32019221782684326, + -0.6068378686904907, + -0.6664202213287354 + ], + "joints": [ + 0.008255727589130402 + ] + }, + "fine_grasp": { + "position": [ + -0.09696172177791595, + 0.08833572268486023, + -0.0775315910577774 + ], + "orientation": [ + 0.2892746925354004, + -0.32362329959869385, + -0.6059939861297607, + -0.6666027903556824 + ], + "joints": [ + 0.015190493315458298 + ] + }, + "final_grasp": { + "position": [ + -0.09696172177791595, + 0.08833572268486023, + -0.0775315910577774 + ], + "orientation": [ + 0.2892746925354004, + -0.32362329959869385, + -0.6059939861297607, + -0.6666027903556824 + ], + "joints": [ + 0.022125259041786194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11196892708539963, + 0.10206247866153717, + -0.04525652155280113 + ], + "orientation": [ + 0.5204405784606934, + 0.6469958424568176, + -0.3658295273780823, + 0.42036503553390503 + ], + "joints": [ + 0.007946890778839588 + ] + }, + "fine_grasp": { + "position": [ + 0.11355725675821304, + 0.10155230015516281, + -0.04566771909594536 + ], + "orientation": [ + 0.5200523138046265, + 0.648662269115448, + -0.3672572374343872, + 0.4170191287994385 + ], + "joints": [ + 0.014323686249554157 + ] + }, + "final_grasp": { + "position": [ + 0.11355725675821304, + 0.10155230015516281, + -0.04566771909594536 + ], + "orientation": [ + 0.5200523138046265, + 0.648662269115448, + -0.3672572374343872, + 0.4170191287994385 + ], + "joints": [ + 0.02070048078894615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0767127051949501, + 0.07886713743209839, + -0.09662428498268127 + ], + "orientation": [ + 0.6480253338813782, + 0.6866959929466248, + -0.23621007800102234, + 0.22960123419761658 + ], + "joints": [ + 0.008370485156774521 + ] + }, + "fine_grasp": { + "position": [ + 0.07849489152431488, + 0.07840155065059662, + -0.0983879491686821 + ], + "orientation": [ + 0.6527049541473389, + 0.6809343695640564, + -0.23539234697818756, + 0.2342970073223114 + ], + "joints": [ + 0.01474728062748909 + ] + }, + "final_grasp": { + "position": [ + 0.07849489152431488, + 0.07840155065059662, + -0.0983879491686821 + ], + "orientation": [ + 0.6527049541473389, + 0.6809343695640564, + -0.23539234697818756, + 0.2342970073223114 + ], + "joints": [ + 0.02112407609820366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07532913982868195, + 0.11923258751630783, + 0.08299250900745392 + ], + "orientation": [ + 0.5224699974060059, + -0.7731395363807678, + -0.20609214901924133, + -0.29462915658950806 + ], + "joints": [ + 0.008521836251020432 + ] + }, + "fine_grasp": { + "position": [ + -0.07598776370286942, + 0.1187339574098587, + 0.08318532258272171 + ], + "orientation": [ + 0.5230863690376282, + -0.772786557674408, + -0.20382173359394073, + -0.2960374355316162 + ], + "joints": [ + 0.013862403109669685 + ] + }, + "final_grasp": { + "position": [ + -0.07598776370286942, + 0.1187339574098587, + 0.08318532258272171 + ], + "orientation": [ + 0.5230863690376282, + -0.772786557674408, + -0.20382173359394073, + -0.2960374355316162 + ], + "joints": [ + 0.01920296996831894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09601209312677383, + 0.08855125308036804, + -0.07697145640850067 + ], + "orientation": [ + 0.28913334012031555, + -0.32379403710365295, + -0.6091428995132446, + -0.6637049317359924 + ], + "joints": [ + 0.008361104875802994 + ] + }, + "fine_grasp": { + "position": [ + -0.09687875956296921, + 0.08862827718257904, + -0.07746503502130508 + ], + "orientation": [ + 0.28909507393836975, + -0.3235408067703247, + -0.6059812903404236, + -0.6667324900627136 + ], + "joints": [ + 0.014791041612625122 + ] + }, + "final_grasp": { + "position": [ + -0.09687875956296921, + 0.08862827718257904, + -0.07746503502130508 + ], + "orientation": [ + 0.28909507393836975, + -0.3235408067703247, + -0.6059812903404236, + -0.6667324900627136 + ], + "joints": [ + 0.02122097834944725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08318323642015457, + 0.11303957551717758, + 0.07866125553846359 + ], + "orientation": [ + 0.5369029641151428, + -0.7454527616500854, + -0.23570232093334198, + -0.3169853389263153 + ], + "joints": [ + 0.008145095780491829 + ] + }, + "fine_grasp": { + "position": [ + -0.08326305449008942, + 0.11202920228242874, + 0.0782826840877533 + ], + "orientation": [ + 0.5322965383529663, + -0.7485214471817017, + -0.23114770650863647, + -0.32085326313972473 + ], + "joints": [ + 0.013512233272194862 + ] + }, + "final_grasp": { + "position": [ + -0.08326305449008942, + 0.11202920228242874, + 0.0782826840877533 + ], + "orientation": [ + 0.5322965383529663, + -0.7485214471817017, + -0.23114770650863647, + -0.32085326313972473 + ], + "joints": [ + 0.018879370763897896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0834164246916771, + 0.11274796724319458, + 0.0786474198102951 + ], + "orientation": [ + 0.5376005172729492, + -0.7446518540382385, + -0.2367102950811386, + -0.3169345259666443 + ], + "joints": [ + 0.00816694088280201 + ] + }, + "fine_grasp": { + "position": [ + -0.08347608894109726, + 0.1116853654384613, + 0.07828617095947266 + ], + "orientation": [ + 0.532503068447113, + -0.748166561126709, + -0.23172277212142944, + -0.3209238052368164 + ], + "joints": [ + 0.013534078374505043 + ] + }, + "final_grasp": { + "position": [ + -0.08347608894109726, + 0.1116853654384613, + 0.07828617095947266 + ], + "orientation": [ + 0.532503068447113, + -0.748166561126709, + -0.23172277212142944, + -0.3209238052368164 + ], + "joints": [ + 0.018901215866208076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09236534684896469, + 0.07237306237220764, + 0.07641174644231796 + ], + "orientation": [ + 0.31359025835990906, + 0.28926554322242737, + 0.6589598655700684, + -0.6194825172424316 + ], + "joints": [ + 0.008295558393001556 + ] + }, + "fine_grasp": { + "position": [ + -0.09421490877866745, + 0.0693717822432518, + 0.07770612835884094 + ], + "orientation": [ + 0.3102973699569702, + 0.2963907718658447, + 0.6486319303512573, + -0.6286054849624634 + ], + "joints": [ + 0.01363612525165081 + ] + }, + "final_grasp": { + "position": [ + -0.09421490877866745, + 0.0693717822432518, + 0.07770612835884094 + ], + "orientation": [ + 0.3102973699569702, + 0.2963907718658447, + 0.6486319303512573, + -0.6286054849624634 + ], + "joints": [ + 0.018976692110300064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10174465924501419, + 0.08983390778303146, + -0.06851480156183243 + ], + "orientation": [ + 0.32237184047698975, + -0.3385941982269287, + 0.5707833170890808, + 0.6750087141990662 + ], + "joints": [ + 0.007716687861829996 + ] + }, + "fine_grasp": { + "position": [ + 0.10290667414665222, + 0.09148412942886353, + -0.06912245601415634 + ], + "orientation": [ + 0.3216833472251892, + -0.33941754698753357, + 0.5801125168800354, + 0.6669220924377441 + ], + "joints": [ + 0.014146625064313412 + ] + }, + "final_grasp": { + "position": [ + 0.10290667414665222, + 0.09148412942886353, + -0.06912245601415634 + ], + "orientation": [ + 0.3216833472251892, + -0.33941754698753357, + 0.5801125168800354, + 0.6669220924377441 + ], + "joints": [ + 0.020576562732458115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03966425731778145, + 0.05703398957848549, + 0.11532086879014969 + ], + "orientation": [ + 0.12009891122579575, + 0.1097322404384613, + -0.7494051456451416, + 0.6418153643608093 + ], + "joints": [ + 0.008125368505716324 + ] + }, + "fine_grasp": { + "position": [ + 0.04074489697813988, + 0.0553068071603775, + 0.1182229295372963 + ], + "orientation": [ + 0.11930873990058899, + 0.10807868093252182, + -0.7446454167366028, + 0.6477558016777039 + ], + "joints": [ + 0.01503356359899044 + ] + }, + "final_grasp": { + "position": [ + 0.04074489697813988, + 0.0553068071603775, + 0.1182229295372963 + ], + "orientation": [ + 0.11930873990058899, + 0.10807868093252182, + -0.7446454167366028, + 0.6477558016777039 + ], + "joints": [ + 0.021941758692264557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11170873045921326, + 0.12163770943880081, + -0.009299185127019882 + ], + "orientation": [ + 0.4093112349510193, + 0.6173993945121765, + -0.39694085717201233, + 0.5419597029685974 + ], + "joints": [ + 0.007474952843040228 + ] + }, + "fine_grasp": { + "position": [ + 0.11360068619251251, + 0.12159249931573868, + -0.009131476283073425 + ], + "orientation": [ + 0.40881723165512085, + 0.619480311870575, + -0.3919109106063843, + 0.5436161160469055 + ], + "joints": [ + 0.013373490422964096 + ] + }, + "final_grasp": { + "position": [ + 0.11360068619251251, + 0.12159249931573868, + -0.009131476283073425 + ], + "orientation": [ + 0.40881723165512085, + 0.619480311870575, + -0.3919109106063843, + 0.5436161160469055 + ], + "joints": [ + 0.019272027537226677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11132900416851044, + 0.05226932838559151, + 0.05441594496369362 + ], + "orientation": [ + 0.6282654404640198, + -0.5706869959831238, + -0.39019155502319336, + -0.35686060786247253 + ], + "joints": [ + 0.007998795248568058 + ] + }, + "fine_grasp": { + "position": [ + -0.10842031240463257, + 0.0556117407977581, + 0.05326341092586517 + ], + "orientation": [ + 0.6389745473861694, + -0.5554792284965515, + -0.40216243267059326, + -0.3484535217285156 + ], + "joints": [ + 0.013339362107217312 + ] + }, + "final_grasp": { + "position": [ + -0.10842031240463257, + 0.0556117407977581, + 0.05326341092586517 + ], + "orientation": [ + 0.6389745473861694, + -0.5554792284965515, + -0.40216243267059326, + -0.3484535217285156 + ], + "joints": [ + 0.01867992803454399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08873958140611649, + 0.06806552410125732, + -0.08085047453641891 + ], + "orientation": [ + 0.6720549464225769, + 0.6210322380065918, + 0.29307878017425537, + -0.27706676721572876 + ], + "joints": [ + 0.008096279576420784 + ] + }, + "fine_grasp": { + "position": [ + -0.0915130004286766, + 0.06646645814180374, + -0.08287296444177628 + ], + "orientation": [ + 0.6666236519813538, + 0.627791166305542, + 0.2901762127876282, + -0.27800893783569336 + ], + "joints": [ + 0.014473075047135353 + ] + }, + "final_grasp": { + "position": [ + -0.0915130004286766, + 0.06646645814180374, + -0.08287296444177628 + ], + "orientation": [ + 0.6666236519813538, + 0.627791166305542, + 0.2901762127876282, + -0.27800893783569336 + ], + "joints": [ + 0.020849870517849922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06669881194829941, + 0.04252859950065613, + -0.09769389778375626 + ], + "orientation": [ + 0.7678968906402588, + 0.5699170231819153, + 0.23250849545001984, + -0.1773940920829773 + ], + "joints": [ + 0.008491264656186104 + ] + }, + "fine_grasp": { + "position": [ + -0.06806569546461105, + 0.04118721932172775, + -0.09844361245632172 + ], + "orientation": [ + 0.7658690214157104, + 0.5744130611419678, + 0.22944292426109314, + -0.17564238607883453 + ], + "joints": [ + 0.014921203255653381 + ] + }, + "final_grasp": { + "position": [ + -0.06806569546461105, + 0.04118721932172775, + -0.09844361245632172 + ], + "orientation": [ + 0.7658690214157104, + 0.5744130611419678, + 0.22944292426109314, + -0.17564238607883453 + ], + "joints": [ + 0.02135114185512066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042516015470027924, + 0.1915299892425537, + -0.0921785831451416 + ], + "orientation": [ + 0.0995473563671112, + -0.18772366642951965, + 0.4576972424983978, + 0.8633442521095276 + ], + "joints": [ + 0.008522480726242065 + ] + }, + "fine_grasp": { + "position": [ + 0.042863357812166214, + 0.1908353865146637, + -0.09263640642166138 + ], + "orientation": [ + 0.10071621835231781, + -0.18228454887866974, + 0.4645930528640747, + 0.8606867790222168 + ], + "joints": [ + 0.014394447207450867 + ] + }, + "final_grasp": { + "position": [ + 0.042863357812166214, + 0.1908353865146637, + -0.09263640642166138 + ], + "orientation": [ + 0.10071621835231781, + -0.18228454887866974, + 0.4645930528640747, + 0.8606867790222168 + ], + "joints": [ + 0.020266413688659668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04269203171133995, + 0.19120900332927704, + -0.09202985465526581 + ], + "orientation": [ + 0.10058216750621796, + -0.18828031420707703, + 0.4590066373348236, + 0.8624074459075928 + ], + "joints": [ + 0.008519995957612991 + ] + }, + "fine_grasp": { + "position": [ + 0.04330404847860336, + 0.19079649448394775, + -0.09303313493728638 + ], + "orientation": [ + 0.10138509422540665, + -0.18239885568618774, + 0.4667004644870758, + 0.859443187713623 + ], + "joints": [ + 0.014391962438821793 + ] + }, + "final_grasp": { + "position": [ + 0.04330404847860336, + 0.19079649448394775, + -0.09303313493728638 + ], + "orientation": [ + 0.10138509422540665, + -0.18239885568618774, + 0.4667004644870758, + 0.859443187713623 + ], + "joints": [ + 0.020263928920030594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11137711256742477, + 0.13115207850933075, + 0.018446557223796844 + ], + "orientation": [ + 0.33584919571876526, + 0.565237283706665, + -0.4284606873989105, + 0.6197850108146667 + ], + "joints": [ + 0.007570325862616301 + ] + }, + "fine_grasp": { + "position": [ + 0.10763649642467499, + 0.12839148938655853, + 0.017779363319277763 + ], + "orientation": [ + 0.3408139646053314, + 0.5613958239555359, + -0.41699734330177307, + 0.6283261775970459 + ], + "joints": [ + 0.013947121798992157 + ] + }, + "final_grasp": { + "position": [ + 0.10763649642467499, + 0.12839148938655853, + 0.017779363319277763 + ], + "orientation": [ + 0.3408139646053314, + 0.5613958239555359, + -0.41699734330177307, + 0.6283261775970459 + ], + "joints": [ + 0.020323917269706726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11199883371591568, + 0.10234706103801727, + -0.04531267657876015 + ], + "orientation": [ + 0.5173214077949524, + 0.6506037712097168, + -0.36761078238487244, + 0.41707998514175415 + ], + "joints": [ + 0.007877567782998085 + ] + }, + "fine_grasp": { + "position": [ + 0.11325982958078384, + 0.10136745870113373, + -0.04544960707426071 + ], + "orientation": [ + 0.5151959657669067, + 0.6526187062263489, + -0.36372482776641846, + 0.41995969414711 + ], + "joints": [ + 0.014280933886766434 + ] + }, + "final_grasp": { + "position": [ + 0.11325982958078384, + 0.10136745870113373, + -0.04544960707426071 + ], + "orientation": [ + 0.5151959657669067, + 0.6526187062263489, + -0.36372482776641846, + 0.41995969414711 + ], + "joints": [ + 0.020684299990534782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017635712400078773, + 0.09343377500772476, + 0.12028123438358307 + ], + "orientation": [ + 0.6433367133140564, + -0.7618895173072815, + 0.042618051171302795, + 0.06185401976108551 + ], + "joints": [ + 0.00816476158797741 + ] + }, + "fine_grasp": { + "position": [ + 0.017487648874521255, + 0.09259650856256485, + 0.12196198105812073 + ], + "orientation": [ + 0.6403855681419373, + -0.764320969581604, + 0.04713226482272148, + 0.05914760008454323 + ], + "joints": [ + 0.015099527314305305 + ] + }, + "final_grasp": { + "position": [ + 0.017487648874521255, + 0.09259650856256485, + 0.12196198105812073 + ], + "orientation": [ + 0.6403855681419373, + -0.764320969581604, + 0.04713226482272148, + 0.05914760008454323 + ], + "joints": [ + 0.0220342930406332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06669439375400543, + 0.042352933436632156, + -0.09770133346319199 + ], + "orientation": [ + 0.7676398754119873, + 0.5702507495880127, + 0.23255731165409088, + -0.1773698478937149 + ], + "joints": [ + 0.008529312908649445 + ] + }, + "fine_grasp": { + "position": [ + -0.06823229044675827, + 0.04082787409424782, + -0.09861651062965393 + ], + "orientation": [ + 0.764447033405304, + 0.5761309266090393, + 0.22909536957740784, + -0.1766614317893982 + ], + "joints": [ + 0.014959251508116722 + ] + }, + "final_grasp": { + "position": [ + -0.06823229044675827, + 0.04082787409424782, + -0.09861651062965393 + ], + "orientation": [ + 0.764447033405304, + 0.5761309266090393, + 0.22909536957740784, + -0.1766614317893982 + ], + "joints": [ + 0.021389190107584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10161679238080978, + 0.10990304499864578, + -0.06145406514406204 + ], + "orientation": [ + 0.30365049839019775, + -0.37785351276397705, + 0.5101003646850586, + 0.7105073928833008 + ], + "joints": [ + 0.007826725952327251 + ] + }, + "fine_grasp": { + "position": [ + 0.10251600295305252, + 0.11085476726293564, + -0.061696555465459824 + ], + "orientation": [ + 0.3025974631309509, + -0.37791314721107483, + 0.5165978670120239, + 0.7062174677848816 + ], + "joints": [ + 0.01425666268914938 + ] + }, + "final_grasp": { + "position": [ + 0.10251600295305252, + 0.11085476726293564, + -0.061696555465459824 + ], + "orientation": [ + 0.3025974631309509, + -0.37791314721107483, + 0.5165978670120239, + 0.7062174677848816 + ], + "joints": [ + 0.020686600357294083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11174643039703369, + 0.1245529055595398, + -0.025245314463973045 + ], + "orientation": [ + 0.35751423239707947, + -0.500979483127594, + 0.4248829782009125, + 0.6638355255126953 + ], + "joints": [ + 0.008151236921548843 + ] + }, + "fine_grasp": { + "position": [ + 0.11119724065065384, + 0.1242748498916626, + -0.024920865893363953 + ], + "orientation": [ + 0.3534672260284424, + -0.5020596981048584, + 0.425272673368454, + 0.6649361252784729 + ], + "joints": [ + 0.014049774035811424 + ] + }, + "final_grasp": { + "position": [ + 0.11119724065065384, + 0.1242748498916626, + -0.024920865893363953 + ], + "orientation": [ + 0.3534672260284424, + -0.5020596981048584, + 0.425272673368454, + 0.6649361252784729 + ], + "joints": [ + 0.019948311150074005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031687721610069275, + 0.07732957601547241, + 0.11869845539331436 + ], + "orientation": [ + 0.08583332598209381, + 0.09751135855913162, + -0.6921517252922058, + 0.7099649906158447 + ], + "joints": [ + 0.00846826657652855 + ] + }, + "fine_grasp": { + "position": [ + 0.03207545727491379, + 0.07590028643608093, + 0.12092436850070953 + ], + "orientation": [ + 0.08797117322683334, + 0.09576606005430222, + -0.6847940683364868, + 0.7170405387878418 + ], + "joints": [ + 0.014871632680296898 + ] + }, + "final_grasp": { + "position": [ + 0.03207545727491379, + 0.07590028643608093, + 0.12092436850070953 + ], + "orientation": [ + 0.08797117322683334, + 0.09576606005430222, + -0.6847940683364868, + 0.7170405387878418 + ], + "joints": [ + 0.021274998784065247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01875350996851921, + 0.09131570905447006, + 0.12030491977930069 + ], + "orientation": [ + 0.6479536294937134, + -0.7574908137321472, + 0.045073386281728745, + 0.0658194050192833 + ], + "joints": [ + 0.008292339742183685 + ] + }, + "fine_grasp": { + "position": [ + 0.018596671521663666, + 0.09035565704107285, + 0.12229505926370621 + ], + "orientation": [ + 0.6446442008018494, + -0.7603580355644226, + 0.05009298399090767, + 0.06148286536335945 + ], + "joints": [ + 0.014722276479005814 + ] + }, + "final_grasp": { + "position": [ + 0.018596671521663666, + 0.09035565704107285, + 0.12229505926370621 + ], + "orientation": [ + 0.6446442008018494, + -0.7603580355644226, + 0.05009298399090767, + 0.06148286536335945 + ], + "joints": [ + 0.021152213215827942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07199867814779282, + 0.05337390676140785, + -0.09622896462678909 + ], + "orientation": [ + 0.24169260263442993, + -0.20198167860507965, + -0.733757734298706, + -0.6019864082336426 + ], + "joints": [ + 0.008079606108367443 + ] + }, + "fine_grasp": { + "position": [ + -0.0730171948671341, + 0.052374985069036484, + -0.09610578417778015 + ], + "orientation": [ + 0.23975151777267456, + -0.20313474535942078, + -0.729915201663971, + -0.6070248484611511 + ], + "joints": [ + 0.013978143222630024 + ] + }, + "final_grasp": { + "position": [ + -0.0730171948671341, + 0.052374985069036484, + -0.09610578417778015 + ], + "orientation": [ + 0.23975151777267456, + -0.20313474535942078, + -0.729915201663971, + -0.6070248484611511 + ], + "joints": [ + 0.01987668126821518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03145575523376465, + 0.07628624886274338, + 0.1185339093208313 + ], + "orientation": [ + 0.08488622307777405, + 0.09754680097103119, + -0.6897491812705994, + 0.7124078869819641 + ], + "joints": [ + 0.008539021015167236 + ] + }, + "fine_grasp": { + "position": [ + 0.031862109899520874, + 0.07527165114879608, + 0.12087377905845642 + ], + "orientation": [ + 0.08709175884723663, + 0.09539607167243958, + -0.6841336488723755, + 0.7178272604942322 + ], + "joints": [ + 0.014915816485881805 + ] + }, + "final_grasp": { + "position": [ + 0.031862109899520874, + 0.07527165114879608, + 0.12087377905845642 + ], + "orientation": [ + 0.08709175884723663, + 0.09539607167243958, + -0.6841336488723755, + 0.7178272604942322 + ], + "joints": [ + 0.021292611956596375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08046214282512665, + 0.08001586049795151, + -0.09269513189792633 + ], + "orientation": [ + 0.25226661562919617, + -0.24009817838668823, + 0.6324313879013062, + 0.6919139623641968 + ], + "joints": [ + 0.008343875408172607 + ] + }, + "fine_grasp": { + "position": [ + 0.08324719220399857, + 0.07983408868312836, + -0.09495361149311066 + ], + "orientation": [ + 0.24213404953479767, + -0.24982072412967682, + 0.6345769762992859, + 0.6901252269744873 + ], + "joints": [ + 0.014215841889381409 + ] + }, + "final_grasp": { + "position": [ + 0.08324719220399857, + 0.07983408868312836, + -0.09495361149311066 + ], + "orientation": [ + 0.24213404953479767, + -0.24982072412967682, + 0.6345769762992859, + 0.6901252269744873 + ], + "joints": [ + 0.02008780837059021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10051265358924866, + 0.09132849425077438, + -0.06689079850912094 + ], + "orientation": [ + 0.3232303261756897, + -0.3422086536884308, + 0.5723349452018738, + 0.6714522242546082 + ], + "joints": [ + 0.007565532345324755 + ] + }, + "fine_grasp": { + "position": [ + 0.10306072980165482, + 0.09175754338502884, + -0.0683898776769638 + ], + "orientation": [ + 0.32019472122192383, + -0.34378528594970703, + 0.5738318562507629, + 0.6708233952522278 + ], + "joints": [ + 0.014500298537313938 + ] + }, + "final_grasp": { + "position": [ + 0.10306072980165482, + 0.09175754338502884, + -0.0683898776769638 + ], + "orientation": [ + 0.32019472122192383, + -0.34378528594970703, + 0.5738318562507629, + 0.6708233952522278 + ], + "joints": [ + 0.02143506519496441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034857023507356644, + 0.06610323488712311, + 0.11766809225082397 + ], + "orientation": [ + 0.09896440804004669, + 0.1022617518901825, + -0.724682629108429, + 0.6742282509803772 + ], + "joints": [ + 0.00843920186161995 + ] + }, + "fine_grasp": { + "position": [ + 0.035695262253284454, + 0.06465563178062439, + 0.12067610025405884 + ], + "orientation": [ + 0.10032166540622711, + 0.09967412799596786, + -0.7184915542602539, + 0.6810069680213928 + ], + "joints": [ + 0.015347396954894066 + ] + }, + "final_grasp": { + "position": [ + 0.035695262253284454, + 0.06465563178062439, + 0.12067610025405884 + ], + "orientation": [ + 0.10032166540622711, + 0.09967412799596786, + -0.7184915542602539, + 0.6810069680213928 + ], + "joints": [ + 0.022255592048168182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1065797507762909, + 0.11818328499794006, + -0.04625001549720764 + ], + "orientation": [ + 0.32587671279907227, + -0.4298849105834961, + 0.4675044119358063, + 0.7003162503242493 + ], + "joints": [ + 0.007841069251298904 + ] + }, + "fine_grasp": { + "position": [ + 0.10736305266618729, + 0.1185353547334671, + -0.04635964706540108 + ], + "orientation": [ + 0.3199343681335449, + -0.43369537591934204, + 0.46996864676475525, + 0.6990562677383423 + ], + "joints": [ + 0.014271005988121033 + ] + }, + "final_grasp": { + "position": [ + 0.10736305266618729, + 0.1185353547334671, + -0.04635964706540108 + ], + "orientation": [ + 0.3199343681335449, + -0.43369537591934204, + 0.46996864676475525, + 0.6990562677383423 + ], + "joints": [ + 0.02070094272494316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08950114250183105, + 0.06953554600477219, + 0.07421363145112991 + ], + "orientation": [ + 0.30839115381240845, + 0.2929723858833313, + 0.6494085788726807, + -0.6303417682647705 + ], + "joints": [ + 0.007558177690953016 + ] + }, + "fine_grasp": { + "position": [ + -0.09060785919427872, + 0.06667846441268921, + 0.0748133733868599 + ], + "orientation": [ + 0.30619773268699646, + 0.2995136082172394, + 0.6417198181152344, + -0.63618403673172 + ], + "joints": [ + 0.012925315648317337 + ] + }, + "final_grasp": { + "position": [ + -0.09060785919427872, + 0.06667846441268921, + 0.0748133733868599 + ], + "orientation": [ + 0.30619773268699646, + 0.2995136082172394, + 0.6417198181152344, + -0.63618403673172 + ], + "joints": [ + 0.01829245314002037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06957317143678665, + 0.07113716751337051, + 0.08296418935060501 + ], + "orientation": [ + 0.673326313495636, + -0.654532790184021, + -0.23891772329807281, + -0.2472585290670395 + ], + "joints": [ + 0.008289869874715805 + ] + }, + "fine_grasp": { + "position": [ + -0.07252919673919678, + 0.07041021436452866, + 0.08584453165531158 + ], + "orientation": [ + 0.6718255281448364, + -0.6554349064826965, + -0.2417280524969101, + -0.2462174892425537 + ], + "joints": [ + 0.013630436733365059 + ] + }, + "final_grasp": { + "position": [ + -0.07252919673919678, + 0.07041021436452866, + 0.08584453165531158 + ], + "orientation": [ + 0.6718255281448364, + -0.6554349064826965, + -0.2417280524969101, + -0.2462174892425537 + ], + "joints": [ + 0.018971003592014313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06638836115598679, + 0.04233039170503616, + -0.09770642966032028 + ], + "orientation": [ + 0.7686380743980408, + 0.5692899227142334, + 0.23327499628067017, + -0.17517820000648499 + ], + "joints": [ + 0.008453216403722763 + ] + }, + "fine_grasp": { + "position": [ + -0.06771360337734222, + 0.0413098968565464, + -0.09822461754083633 + ], + "orientation": [ + 0.7680186629295349, + 0.5721843838691711, + 0.2285054326057434, + -0.17475023865699768 + ], + "joints": [ + 0.01488315500319004 + ] + }, + "final_grasp": { + "position": [ + -0.06771360337734222, + 0.0413098968565464, + -0.09822461754083633 + ], + "orientation": [ + 0.7680186629295349, + 0.5721843838691711, + 0.2285054326057434, + -0.17475023865699768 + ], + "joints": [ + 0.021313093602657318 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05335848033428192, + 0.016614241525530815, + 0.09932401776313782 + ], + "orientation": [ + 0.2086227387189865, + 0.13318629562854767, + 0.7977363467216492, + -0.5498678684234619 + ], + "joints": [ + 0.008209966123104095 + ] + }, + "fine_grasp": { + "position": [ + -0.05398721992969513, + 0.015981387346982956, + 0.10175883024930954 + ], + "orientation": [ + 0.2077443152666092, + 0.1384076178073883, + 0.8000452518463135, + -0.5455392599105835 + ], + "joints": [ + 0.014081932604312897 + ] + }, + "final_grasp": { + "position": [ + -0.05398721992969513, + 0.015981387346982956, + 0.10175883024930954 + ], + "orientation": [ + 0.2077443152666092, + 0.1384076178073883, + 0.8000452518463135, + -0.5455392599105835 + ], + "joints": [ + 0.019953899085521698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11708322912454605, + 0.06793314963579178, + 0.015371386893093586 + ], + "orientation": [ + 0.4711187481880188, + 0.46134063601493835, + 0.5456234216690063, + -0.5172107219696045 + ], + "joints": [ + 0.007704096380621195 + ] + }, + "fine_grasp": { + "position": [ + -0.12210028618574142, + 0.0679490938782692, + 0.016290487721562386 + ], + "orientation": [ + 0.4759073257446289, + 0.45911213755607605, + 0.5437753796577454, + -0.5167559385299683 + ], + "joints": [ + 0.014054321683943272 + ] + }, + "final_grasp": { + "position": [ + -0.12210028618574142, + 0.0679490938782692, + 0.016290487721562386 + ], + "orientation": [ + 0.4759073257446289, + 0.45911213755607605, + 0.5437753796577454, + -0.5167559385299683 + ], + "joints": [ + 0.020404547452926636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09046793729066849, + 0.08711522817611694, + -0.07390478253364563 + ], + "orientation": [ + 0.6069990992546082, + 0.6701866984367371, + -0.2966742515563965, + 0.3072238266468048 + ], + "joints": [ + 0.008038558065891266 + ] + }, + "fine_grasp": { + "position": [ + 0.08878311514854431, + 0.08467927575111389, + -0.07350850105285645 + ], + "orientation": [ + 0.6048457026481628, + 0.6744162440299988, + -0.2943534255027771, + 0.30443474650382996 + ], + "joints": [ + 0.01335255429148674 + ] + }, + "final_grasp": { + "position": [ + 0.08878311514854431, + 0.08467927575111389, + -0.07350850105285645 + ], + "orientation": [ + 0.6048457026481628, + 0.6744162440299988, + -0.2943534255027771, + 0.30443474650382996 + ], + "joints": [ + 0.018666550517082214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10429071635007858, + 0.1975022703409195, + -0.0032164764124900103 + ], + "orientation": [ + 0.3299095928668976, + -0.6153324842453003, + -0.3484002947807312, + -0.6254140138626099 + ], + "joints": [ + 0.008452437818050385 + ] + }, + "fine_grasp": { + "position": [ + -0.1028471440076828, + 0.19698002934455872, + -0.003164412686601281 + ], + "orientation": [ + 0.3347565531730652, + -0.6123418807983398, + -0.3492450714111328, + -0.6253025531768799 + ], + "joints": [ + 0.014855804853141308 + ] + }, + "final_grasp": { + "position": [ + -0.1028471440076828, + 0.19698002934455872, + -0.003164412686601281 + ], + "orientation": [ + 0.3347565531730652, + -0.6123418807983398, + -0.3492450714111328, + -0.6253025531768799 + ], + "joints": [ + 0.02125917188823223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004691259004175663, + 0.07284865528345108, + 0.1236991435289383 + ], + "orientation": [ + 0.029767634347081184, + -0.003931679762899876, + -0.7382230162620544, + 0.673888087272644 + ], + "joints": [ + 0.008436398580670357 + ] + }, + "fine_grasp": { + "position": [ + 0.004685403313487768, + 0.07243706285953522, + 0.12602758407592773 + ], + "orientation": [ + 0.04078526422381401, + -0.017564816400408745, + -0.7377265691757202, + 0.6736376881599426 + ], + "joints": [ + 0.014839764684438705 + ] + }, + "final_grasp": { + "position": [ + 0.004685403313487768, + 0.07243706285953522, + 0.12602758407592773 + ], + "orientation": [ + 0.04078526422381401, + -0.017564816400408745, + -0.7377265691757202, + 0.6736376881599426 + ], + "joints": [ + 0.021243130788207054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05233168974518776, + 0.09338892251253128, + 0.11001002788543701 + ], + "orientation": [ + 0.6566396951675415, + -0.7212404608726501, + 0.1639060080051422, + 0.14755046367645264 + ], + "joints": [ + 0.008123289793729782 + ] + }, + "fine_grasp": { + "position": [ + 0.053932320326566696, + 0.09368836134672165, + 0.11329090595245361 + ], + "orientation": [ + 0.6538023948669434, + -0.7234677076339722, + 0.171021968126297, + 0.1410258561372757 + ], + "joints": [ + 0.014500085264444351 + ] + }, + "final_grasp": { + "position": [ + 0.053932320326566696, + 0.09368836134672165, + 0.11329090595245361 + ], + "orientation": [ + 0.6538023948669434, + -0.7234677076339722, + 0.171021968126297, + 0.1410258561372757 + ], + "joints": [ + 0.02087688073515892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051490418612957, + 0.09295273572206497, + 0.11040408909320831 + ], + "orientation": [ + 0.6573393940925598, + -0.7216723561286926, + 0.16330480575561523, + 0.14291764795780182 + ], + "joints": [ + 0.00809437781572342 + ] + }, + "fine_grasp": { + "position": [ + 0.053025100380182266, + 0.09326182305812836, + 0.11370597779750824 + ], + "orientation": [ + 0.6543130874633789, + -0.7238626480102539, + 0.17162460088729858, + 0.1358020305633545 + ], + "joints": [ + 0.014471173286437988 + ] + }, + "final_grasp": { + "position": [ + 0.053025100380182266, + 0.09326182305812836, + 0.11370597779750824 + ], + "orientation": [ + 0.6543130874633789, + -0.7238626480102539, + 0.17162460088729858, + 0.1358020305633545 + ], + "joints": [ + 0.020847968757152557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051938459277153015, + 0.09324609488248825, + 0.11018549650907516 + ], + "orientation": [ + 0.6563915610313416, + -0.7219038605690002, + 0.1668015420436859, + 0.14206361770629883 + ], + "joints": [ + 0.008058233186602592 + ] + }, + "fine_grasp": { + "position": [ + 0.05360569432377815, + 0.09354167431592941, + 0.11357767134904861 + ], + "orientation": [ + 0.6533101201057434, + -0.7242399454116821, + 0.17482402920722961, + 0.13453224301338196 + ], + "joints": [ + 0.014408458024263382 + ] + }, + "final_grasp": { + "position": [ + 0.05360569432377815, + 0.09354167431592941, + 0.11357767134904861 + ], + "orientation": [ + 0.6533101201057434, + -0.7242399454116821, + 0.17482402920722961, + 0.13453224301338196 + ], + "joints": [ + 0.02075868286192417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06129498407244682, + 0.07311892509460449, + 0.10539615899324417 + ], + "orientation": [ + 0.7167391180992126, + -0.6469815969467163, + -0.18081720173358917, + -0.18709591031074524 + ], + "joints": [ + 0.008416354656219482 + ] + }, + "fine_grasp": { + "position": [ + -0.062286294996738434, + 0.07286614179611206, + 0.10801529139280319 + ], + "orientation": [ + 0.7195702791213989, + -0.6436979174613953, + -0.17106996476650238, + -0.19648554921150208 + ], + "joints": [ + 0.014261750504374504 + ] + }, + "final_grasp": { + "position": [ + -0.062286294996738434, + 0.07286614179611206, + 0.10801529139280319 + ], + "orientation": [ + 0.7195702791213989, + -0.6436979174613953, + -0.17106996476650238, + -0.19648554921150208 + ], + "joints": [ + 0.020107146352529526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11234968900680542, + 0.09049667418003082, + 0.05500239506363869 + ], + "orientation": [ + 0.6099909543991089, + -0.5862715244293213, + -0.3391112685203552, + -0.4113396108150482 + ], + "joints": [ + 0.007902037352323532 + ] + }, + "fine_grasp": { + "position": [ + -0.11341214925050735, + 0.09097117185592651, + 0.055729880928993225 + ], + "orientation": [ + 0.6169339418411255, + -0.5786371827125549, + -0.32632508873939514, + -0.42199939489364624 + ], + "joints": [ + 0.013774003833532333 + ] + }, + "final_grasp": { + "position": [ + -0.11341214925050735, + 0.09097117185592651, + 0.055729880928993225 + ], + "orientation": [ + 0.6169339418411255, + -0.5786371827125549, + -0.32632508873939514, + -0.42199939489364624 + ], + "joints": [ + 0.019645970314741135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0624583438038826, + 0.07348360866308212, + 0.1055937111377716 + ], + "orientation": [ + 0.7171540260314941, + -0.6451845765113831, + -0.17962037026882172, + -0.19277819991111755 + ], + "joints": [ + 0.008383549749851227 + ] + }, + "fine_grasp": { + "position": [ + -0.06308557838201523, + 0.07327476143836975, + 0.10762316733598709 + ], + "orientation": [ + 0.7200557589530945, + -0.6416749358177185, + -0.1676192283630371, + -0.2041493058204651 + ], + "joints": [ + 0.01375068724155426 + ] + }, + "final_grasp": { + "position": [ + -0.06308557838201523, + 0.07327476143836975, + 0.10762316733598709 + ], + "orientation": [ + 0.7200557589530945, + -0.6416749358177185, + -0.1676192283630371, + -0.2041493058204651 + ], + "joints": [ + 0.019117824733257294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039081741124391556, + 0.08552827686071396, + 0.11856336891651154 + ], + "orientation": [ + 0.14394544064998627, + 0.07888626307249069, + -0.6923458576202393, + 0.7026476860046387 + ], + "joints": [ + 0.007735321763902903 + ] + }, + "fine_grasp": { + "position": [ + 0.039291344583034515, + 0.08527912199497223, + 0.12022541463375092 + ], + "orientation": [ + 0.15974248945713043, + 0.061968155205249786, + -0.689245343208313, + 0.7039766311645508 + ], + "joints": [ + 0.014138688333332539 + ] + }, + "final_grasp": { + "position": [ + 0.039291344583034515, + 0.08527912199497223, + 0.12022541463375092 + ], + "orientation": [ + 0.15974248945713043, + 0.061968155205249786, + -0.689245343208313, + 0.7039766311645508 + ], + "joints": [ + 0.020542055368423462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03923303633928299, + 0.0859774649143219, + 0.11894404143095016 + ], + "orientation": [ + 0.14737281203269958, + 0.0760791227221489, + -0.6929895281791687, + 0.7016114592552185 + ], + "joints": [ + 0.00776794133707881 + ] + }, + "fine_grasp": { + "position": [ + 0.039360396564006805, + 0.0857144445180893, + 0.12022581696510315 + ], + "orientation": [ + 0.1625993698835373, + 0.05928651615977287, + -0.6899124979972839, + 0.7028992176055908 + ], + "joints": [ + 0.013666478917002678 + ] + }, + "final_grasp": { + "position": [ + 0.039360396564006805, + 0.0857144445180893, + 0.12022581696510315 + ], + "orientation": [ + 0.1625993698835373, + 0.05928651615977287, + -0.6899124979972839, + 0.7028992176055908 + ], + "joints": [ + 0.01956501603126526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08816882967948914, + 0.0933501273393631, + 0.08779792487621307 + ], + "orientation": [ + 0.6456359624862671, + -0.6542025804519653, + -0.21515849232673645, + -0.3299698829650879 + ], + "joints": [ + 0.007758882828056812 + ] + }, + "fine_grasp": { + "position": [ + -0.0895535796880722, + 0.09363988041877747, + 0.08865123987197876 + ], + "orientation": [ + 0.6508781313896179, + -0.6465308666229248, + -0.20146989822387695, + -0.3431697487831116 + ], + "joints": [ + 0.013072879053652287 + ] + }, + "final_grasp": { + "position": [ + -0.0895535796880722, + 0.09363988041877747, + 0.08865123987197876 + ], + "orientation": [ + 0.6508781313896179, + -0.6465308666229248, + -0.20146989822387695, + -0.3431697487831116 + ], + "joints": [ + 0.018386874347925186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11137982457876205, + 0.0951649621129036, + -0.053685594350099564 + ], + "orientation": [ + 0.3895398676395416, + -0.3575523793697357, + -0.5549065470695496, + -0.6422567367553711 + ], + "joints": [ + 0.007728646043688059 + ] + }, + "fine_grasp": { + "position": [ + -0.11316091567277908, + 0.09556599706411362, + -0.054253656417131424 + ], + "orientation": [ + 0.40252548456192017, + -0.3449247181415558, + -0.5449033379554749, + -0.6496771574020386 + ], + "joints": [ + 0.014132012613117695 + ] + }, + "final_grasp": { + "position": [ + -0.11316091567277908, + 0.09556599706411362, + -0.054253656417131424 + ], + "orientation": [ + 0.40252548456192017, + -0.3449247181415558, + -0.5449033379554749, + -0.6496771574020386 + ], + "joints": [ + 0.020535379648208618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09660717844963074, + 0.09361688792705536, + 0.07151340693235397 + ], + "orientation": [ + 0.5698277950286865, + -0.6893904209136963, + -0.29841339588165283, + -0.3331463038921356 + ], + "joints": [ + 0.008019741624593735 + ] + }, + "fine_grasp": { + "position": [ + -0.09799901396036148, + 0.09361463040113449, + 0.07239709794521332 + ], + "orientation": [ + 0.5700774192810059, + -0.6890498399734497, + -0.294971764087677, + -0.3364725708961487 + ], + "joints": [ + 0.014423107728362083 + ] + }, + "final_grasp": { + "position": [ + -0.09799901396036148, + 0.09361463040113449, + 0.07239709794521332 + ], + "orientation": [ + 0.5700774192810059, + -0.6890498399734497, + -0.294971764087677, + -0.3364725708961487 + ], + "joints": [ + 0.020826473832130432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08846624940633774, + 0.09498127549886703, + 0.0875789001584053 + ], + "orientation": [ + 0.6453431248664856, + -0.6534066796302795, + -0.21414780616760254, + -0.33276528120040894 + ], + "joints": [ + 0.007758881896734238 + ] + }, + "fine_grasp": { + "position": [ + -0.08987446129322052, + 0.09526284039020538, + 0.08848989009857178 + ], + "orientation": [ + 0.6509028077125549, + -0.6452546715736389, + -0.19978180527687073, + -0.34649568796157837 + ], + "joints": [ + 0.013072878122329712 + ] + }, + "final_grasp": { + "position": [ + -0.08987446129322052, + 0.09526284039020538, + 0.08848989009857178 + ], + "orientation": [ + 0.6509028077125549, + -0.6452546715736389, + -0.19978180527687073, + -0.34649568796157837 + ], + "joints": [ + 0.018386874347925186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05498987436294556, + 0.08505427092313766, + -0.10917586833238602 + ], + "orientation": [ + 0.1934141218662262, + -0.13158129155635834, + -0.6690469980239868, + -0.7054455876350403 + ], + "joints": [ + 0.0076446388848125935 + ] + }, + "fine_grasp": { + "position": [ + -0.056345030665397644, + 0.0854005515575409, + -0.11134224385023117 + ], + "orientation": [ + 0.21069204807281494, + -0.11349275708198547, + -0.6632677316665649, + -0.7090868353843689 + ], + "joints": [ + 0.013516605831682682 + ] + }, + "final_grasp": { + "position": [ + -0.056345030665397644, + 0.0854005515575409, + -0.11134224385023117 + ], + "orientation": [ + 0.21069204807281494, + -0.11349275708198547, + -0.6632677316665649, + -0.7090868353843689 + ], + "joints": [ + 0.019388573244214058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055678073316812515, + 0.08505887538194656, + -0.10931012034416199 + ], + "orientation": [ + 0.19737492501735687, + -0.13083797693252563, + -0.669040858745575, + -0.7044918537139893 + ], + "joints": [ + 0.0076446388848125935 + ] + }, + "fine_grasp": { + "position": [ + -0.05690016224980354, + 0.08544474840164185, + -0.1111799031496048 + ], + "orientation": [ + 0.2151203453540802, + -0.11247968673706055, + -0.662778377532959, + -0.7083759307861328 + ], + "joints": [ + 0.013516605831682682 + ] + }, + "final_grasp": { + "position": [ + -0.05690016224980354, + 0.08544474840164185, + -0.1111799031496048 + ], + "orientation": [ + 0.2151203453540802, + -0.11247968673706055, + -0.662778377532959, + -0.7083759307861328 + ], + "joints": [ + 0.019388573244214058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08920872211456299, + 0.04893355444073677, + 0.08135752379894257 + ], + "orientation": [ + 0.6927558779716492, + -0.5948986411094666, + 0.3238110840320587, + 0.24765127897262573 + ], + "joints": [ + 0.007851993665099144 + ] + }, + "fine_grasp": { + "position": [ + 0.08984514325857162, + 0.04786656051874161, + 0.08212302625179291 + ], + "orientation": [ + 0.6940889358520508, + -0.5939323306083679, + 0.3277910351753235, + 0.24091067910194397 + ], + "joints": [ + 0.013697389513254166 + ] + }, + "final_grasp": { + "position": [ + 0.08984514325857162, + 0.04786656051874161, + 0.08212302625179291 + ], + "orientation": [ + 0.6940889358520508, + -0.5939323306083679, + 0.3277910351753235, + 0.24091067910194397 + ], + "joints": [ + 0.019542785361409187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10960854589939117, + 0.09139051288366318, + -0.05647093802690506 + ], + "orientation": [ + 0.35978978872299194, + -0.3706384003162384, + 0.5465694069862366, + 0.6591209173202515 + ], + "joints": [ + 0.007761412765830755 + ] + }, + "fine_grasp": { + "position": [ + 0.10969864577054977, + 0.09116329252719879, + -0.056397177278995514 + ], + "orientation": [ + 0.35651883482933044, + -0.3743147552013397, + 0.5480770468711853, + 0.6575670838356018 + ], + "joints": [ + 0.014696178957819939 + ] + }, + "final_grasp": { + "position": [ + 0.10969864577054977, + 0.09116329252719879, + -0.056397177278995514 + ], + "orientation": [ + 0.35651883482933044, + -0.3743147552013397, + 0.5480770468711853, + 0.6575670838356018 + ], + "joints": [ + 0.021630944684147835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08752258121967316, + 0.048817992210388184, + 0.0812527984380722 + ], + "orientation": [ + 0.696496307849884, + -0.5936903953552246, + 0.3180074095726013, + 0.24758009612560272 + ], + "joints": [ + 0.007847171276807785 + ] + }, + "fine_grasp": { + "position": [ + 0.08864694088697433, + 0.04750153794884682, + 0.08263853192329407 + ], + "orientation": [ + 0.6983616948127747, + -0.5927209854125977, + 0.31960684061050415, + 0.24253708124160767 + ], + "joints": [ + 0.013692567124962807 + ] + }, + "final_grasp": { + "position": [ + 0.08864694088697433, + 0.04750153794884682, + 0.08263853192329407 + ], + "orientation": [ + 0.6983616948127747, + -0.5927209854125977, + 0.31960684061050415, + 0.24253708124160767 + ], + "joints": [ + 0.01953796297311783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1246197521686554, + 0.0858457013964653, + 0.009982551448047161 + ], + "orientation": [ + 0.5408244729042053, + -0.49513542652130127, + -0.4523012042045593, + -0.5077139735221863 + ], + "joints": [ + 0.007929742336273193 + ] + }, + "fine_grasp": { + "position": [ + -0.12557335197925568, + 0.08617133647203445, + 0.010366438888013363 + ], + "orientation": [ + 0.5506075620651245, + -0.4848952293395996, + -0.43775779008865356, + -0.5196885466575623 + ], + "joints": [ + 0.013801708817481995 + ] + }, + "final_grasp": { + "position": [ + -0.12557335197925568, + 0.08617133647203445, + 0.010366438888013363 + ], + "orientation": [ + 0.5506075620651245, + -0.4848952293395996, + -0.43775779008865356, + -0.5196885466575623 + ], + "joints": [ + 0.019673675298690796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039631061255931854, + 0.0908128172159195, + 0.11564774811267853 + ], + "orientation": [ + 0.6424508094787598, + -0.7489941716194153, + -0.11260663717985153, + -0.11655163764953613 + ], + "joints": [ + 0.008534740656614304 + ] + }, + "fine_grasp": { + "position": [ + -0.04052290320396423, + 0.09058821201324463, + 0.11782874166965485 + ], + "orientation": [ + 0.6401869058609009, + -0.7512258291244507, + -0.1084756851196289, + -0.11854764819145203 + ], + "joints": [ + 0.01544293761253357 + ] + }, + "final_grasp": { + "position": [ + -0.04052290320396423, + 0.09058821201324463, + 0.11782874166965485 + ], + "orientation": [ + 0.6401869058609009, + -0.7512258291244507, + -0.1084756851196289, + -0.11854764819145203 + ], + "joints": [ + 0.022351134568452835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12186236679553986, + 0.08177341520786285, + 0.008548221550881863 + ], + "orientation": [ + 0.5380257964134216, + -0.49276572465896606, + -0.453849732875824, + -0.5115960240364075 + ], + "joints": [ + 0.007744274102151394 + ] + }, + "fine_grasp": { + "position": [ + -0.1256077140569687, + 0.08202798664569855, + 0.008924281224608421 + ], + "orientation": [ + 0.5467716455459595, + -0.48309457302093506, + -0.44192156195640564, + -0.5218865871429443 + ], + "joints": [ + 0.013589669950306416 + ] + }, + "final_grasp": { + "position": [ + -0.1256077140569687, + 0.08202798664569855, + 0.008924281224608421 + ], + "orientation": [ + 0.5467716455459595, + -0.48309457302093506, + -0.44192156195640564, + -0.5218865871429443 + ], + "joints": [ + 0.019435066729784012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015218691900372505, + 0.08574149012565613, + 0.12212012708187103 + ], + "orientation": [ + 0.6700076460838318, + -0.7398431301116943, + -0.046603377908468246, + -0.03937195613980293 + ], + "joints": [ + 0.008248014375567436 + ] + }, + "fine_grasp": { + "position": [ + -0.015467751771211624, + 0.08517036586999893, + 0.12442012876272202 + ], + "orientation": [ + 0.6644764542579651, + -0.7450081706047058, + -0.042515434324741364, + -0.040328770875930786 + ], + "joints": [ + 0.0156876090914011 + ] + }, + "final_grasp": { + "position": [ + -0.015467751771211624, + 0.08517036586999893, + 0.12442012876272202 + ], + "orientation": [ + 0.6644764542579651, + -0.7450081706047058, + -0.042515434324741364, + -0.040328770875930786 + ], + "joints": [ + 0.023127203807234764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013012753799557686, + 0.08806370943784714, + -0.11989447474479675 + ], + "orientation": [ + 0.041966453194618225, + -0.0314745157957077, + 0.6595040559768677, + 0.7498684525489807 + ], + "joints": [ + 0.008595017716288567 + ] + }, + "fine_grasp": { + "position": [ + 0.013256664387881756, + 0.0883834958076477, + -0.12314500659704208 + ], + "orientation": [ + 0.03609929606318474, + -0.03390815481543541, + 0.656395673751831, + 0.752789318561554 + ], + "joints": [ + 0.015503212809562683 + ] + }, + "final_grasp": { + "position": [ + 0.013256664387881756, + 0.0883834958076477, + -0.12314500659704208 + ], + "orientation": [ + 0.03609929606318474, + -0.03390815481543541, + 0.656395673751831, + 0.752789318561554 + ], + "joints": [ + 0.0224114079028368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03658886253833771, + 0.22650587558746338, + 0.08523246645927429 + ], + "orientation": [ + 0.0864773765206337, + 0.1754220724105835, + -0.4020528197288513, + 0.894484281539917 + ], + "joints": [ + 0.008430121466517448 + ] + }, + "fine_grasp": { + "position": [ + 0.03538477048277855, + 0.22381684184074402, + 0.0815097838640213 + ], + "orientation": [ + 0.08631473779678345, + 0.17422625422477722, + -0.4053035378456116, + 0.8932660222053528 + ], + "joints": [ + 0.015311745926737785 + ] + }, + "final_grasp": { + "position": [ + 0.03538477048277855, + 0.22381684184074402, + 0.0815097838640213 + ], + "orientation": [ + 0.08631473779678345, + 0.17422625422477722, + -0.4053035378456116, + 0.8932660222053528 + ], + "joints": [ + 0.022193370386958122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014826792292296886, + 0.08554191142320633, + 0.12231127917766571 + ], + "orientation": [ + 0.6689333319664001, + -0.740951418876648, + -0.045931167900562286, + -0.037543538957834244 + ], + "joints": [ + 0.008240956813097 + ] + }, + "fine_grasp": { + "position": [ + -0.015094155445694923, + 0.08515901118516922, + 0.12443815916776657 + ], + "orientation": [ + 0.6644147038459778, + -0.7452345490455627, + -0.04146968200802803, + -0.038195811212062836 + ], + "joints": [ + 0.015680551528930664 + ] + }, + "final_grasp": { + "position": [ + -0.015094155445694923, + 0.08515901118516922, + 0.12443815916776657 + ], + "orientation": [ + 0.6644147038459778, + -0.7452345490455627, + -0.04146968200802803, + -0.038195811212062836 + ], + "joints": [ + 0.023120146244764328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030359823256731033, + 0.0850755050778389, + 0.11796073615550995 + ], + "orientation": [ + 0.6671615839004517, + -0.734372615814209, + -0.08977428823709488, + -0.08679283410310745 + ], + "joints": [ + 0.008136523887515068 + ] + }, + "fine_grasp": { + "position": [ + -0.031153498217463493, + 0.08438485115766525, + 0.12144313752651215 + ], + "orientation": [ + 0.6616652607917786, + -0.7397902607917786, + -0.08450733870267868, + -0.08813606202602386 + ], + "joints": [ + 0.015549547970294952 + ] + }, + "final_grasp": { + "position": [ + -0.031153498217463493, + 0.08438485115766525, + 0.12144313752651215 + ], + "orientation": [ + 0.6616652607917786, + -0.7397902607917786, + -0.08450733870267868, + -0.08813606202602386 + ], + "joints": [ + 0.022962572053074837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09017910808324814, + 0.07258220762014389, + -0.07100141793489456 + ], + "orientation": [ + 0.29931411147117615, + -0.3142409026622772, + -0.5911825895309448, + -0.6798285841941833 + ], + "joints": [ + 0.00749432947486639 + ] + }, + "fine_grasp": { + "position": [ + -0.09207505732774734, + 0.0742754116654396, + -0.072603739798069 + ], + "orientation": [ + 0.29549017548561096, + -0.3188844621181488, + -0.6011333465576172, + -0.670549750328064 + ], + "joints": [ + 0.012834896333515644 + ] + }, + "final_grasp": { + "position": [ + -0.09207505732774734, + 0.0742754116654396, + -0.072603739798069 + ], + "orientation": [ + 0.29549017548561096, + -0.3188844621181488, + -0.6011333465576172, + -0.670549750328064 + ], + "joints": [ + 0.018175464123487473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01485484279692173, + 0.08527449518442154, + 0.1223229318857193 + ], + "orientation": [ + 0.6693469882011414, + -0.7405680418014526, + -0.04607626050710678, + -0.037555478513240814 + ], + "joints": [ + 0.008240956813097 + ] + }, + "fine_grasp": { + "position": [ + -0.015118992887437344, + 0.08493868261575699, + 0.12445035576820374 + ], + "orientation": [ + 0.6650443077087402, + -0.7446633577346802, + -0.041816338896751404, + -0.03799764811992645 + ], + "joints": [ + 0.015680551528930664 + ] + }, + "final_grasp": { + "position": [ + -0.015118992887437344, + 0.08493868261575699, + 0.12445035576820374 + ], + "orientation": [ + 0.6650443077087402, + -0.7446633577346802, + -0.041816338896751404, + -0.03799764811992645 + ], + "joints": [ + 0.023120146244764328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030138103291392326, + 0.08505992591381073, + 0.1180223673582077 + ], + "orientation": [ + 0.6648528575897217, + -0.7366539835929871, + -0.08969611674547195, + -0.08524112403392792 + ], + "joints": [ + 0.008216049522161484 + ] + }, + "fine_grasp": { + "position": [ + -0.030881814658641815, + 0.08461914956569672, + 0.12151484936475754 + ], + "orientation": [ + 0.6607890725135803, + -0.7408037185668945, + -0.08503568917512894, + -0.08565455675125122 + ], + "joints": [ + 0.015629073604941368 + ] + }, + "final_grasp": { + "position": [ + -0.030881814658641815, + 0.08461914956569672, + 0.12151484936475754 + ], + "orientation": [ + 0.6607890725135803, + -0.7408037185668945, + -0.08503568917512894, + -0.08565455675125122 + ], + "joints": [ + 0.023042097687721252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.105463907122612, + 0.06947897374629974, + -0.06090673804283142 + ], + "orientation": [ + 0.38198867440223694, + -0.32670971751213074, + 0.6101959347724915, + 0.6123777627944946 + ], + "joints": [ + 0.007869604043662548 + ] + }, + "fine_grasp": { + "position": [ + 0.10720804333686829, + 0.06933147460222244, + -0.06174939125776291 + ], + "orientation": [ + 0.3815389573574066, + -0.3294539153575897, + 0.61020827293396, + 0.6111742854118347 + ], + "joints": [ + 0.01374157052487135 + ] + }, + "final_grasp": { + "position": [ + 0.10720804333686829, + 0.06933147460222244, + -0.06174939125776291 + ], + "orientation": [ + 0.3815389573574066, + -0.3294539153575897, + 0.61020827293396, + 0.6111742854118347 + ], + "joints": [ + 0.019613537937402725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034791264683008194, + 0.06632143259048462, + 0.11731237918138504 + ], + "orientation": [ + 0.09911394119262695, + 0.10257547348737717, + -0.7244131565093994, + 0.6744480729103088 + ], + "joints": [ + 0.008446257561445236 + ] + }, + "fine_grasp": { + "position": [ + 0.03578443080186844, + 0.06481315940618515, + 0.12059585005044937 + ], + "orientation": [ + 0.09959384053945541, + 0.10009948909282684, + -0.7182165384292603, + 0.6813414096832275 + ], + "joints": [ + 0.015327882021665573 + ] + }, + "final_grasp": { + "position": [ + 0.03578443080186844, + 0.06481315940618515, + 0.12059585005044937 + ], + "orientation": [ + 0.09959384053945541, + 0.10009948909282684, + -0.7182165384292603, + 0.6813414096832275 + ], + "joints": [ + 0.02220950648188591 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018404938280582428, + 0.27018409967422485, + -0.03375136852264404 + ], + "orientation": [ + 0.18189381062984467, + 0.9502426385879517, + -0.04741012305021286, + 0.24840682744979858 + ], + "joints": [ + 0.009034272283315659 + ] + }, + "fine_grasp": { + "position": [ + 0.017426002770662308, + 0.264830082654953, + -0.03250241279602051 + ], + "orientation": [ + 0.17028161883354187, + 0.9524900913238525, + -0.04410143196582794, + 0.24863991141319275 + ], + "joints": [ + 0.014906239695847034 + ] + }, + "final_grasp": { + "position": [ + 0.017426002770662308, + 0.264830082654953, + -0.03250241279602051 + ], + "orientation": [ + 0.17028161883354187, + 0.9524900913238525, + -0.04410143196582794, + 0.24863991141319275 + ], + "joints": [ + 0.02077820710837841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10541354864835739, + 0.07655543833971024, + 0.06259532272815704 + ], + "orientation": [ + 0.3298368752002716, + 0.36880627274513245, + -0.619196355342865, + 0.6097421646118164 + ], + "joints": [ + 0.008358193561434746 + ] + }, + "fine_grasp": { + "position": [ + 0.10503211617469788, + 0.07667224109172821, + 0.06254210323095322 + ], + "orientation": [ + 0.3302019238471985, + 0.37122809886932373, + -0.6169522404670715, + 0.6103492975234985 + ], + "joints": [ + 0.014230160042643547 + ] + }, + "final_grasp": { + "position": [ + 0.10503211617469788, + 0.07667224109172821, + 0.06254210323095322 + ], + "orientation": [ + 0.3302019238471985, + 0.37122809886932373, + -0.6169522404670715, + 0.6103492975234985 + ], + "joints": [ + 0.02010212652385235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03646295890212059, + 0.22559630870819092, + 0.08563470095396042 + ], + "orientation": [ + 0.08463789522647858, + 0.1780717372894287, + -0.40969401597976685, + 0.8906614184379578 + ], + "joints": [ + 0.008278538472950459 + ] + }, + "fine_grasp": { + "position": [ + 0.035417281091213226, + 0.22251851856708527, + 0.08200100809335709 + ], + "orientation": [ + 0.08674288541078568, + 0.17384149134159088, + -0.40730181336402893, + 0.8923900127410889 + ], + "joints": [ + 0.015186733566224575 + ] + }, + "final_grasp": { + "position": [ + 0.035417281091213226, + 0.22251851856708527, + 0.08200100809335709 + ], + "orientation": [ + 0.08674288541078568, + 0.17384149134159088, + -0.40730181336402893, + 0.8923900127410889 + ], + "joints": [ + 0.022094927728176117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08044900745153427, + 0.10163986682891846, + 0.08468060940504074 + ], + "orientation": [ + 0.2365117073059082, + 0.28439056873321533, + 0.568122148513794, + -0.7351335883140564 + ], + "joints": [ + 0.008404863998293877 + ] + }, + "fine_grasp": { + "position": [ + -0.08151905983686447, + 0.10135354101657867, + 0.0852336511015892 + ], + "orientation": [ + 0.2301497757434845, + 0.29063719511032104, + 0.5674818754196167, + -0.7352043986320496 + ], + "joints": [ + 0.01374543085694313 + ] + }, + "final_grasp": { + "position": [ + -0.08151905983686447, + 0.10135354101657867, + 0.0852336511015892 + ], + "orientation": [ + 0.2301497757434845, + 0.29063719511032104, + 0.5674818754196167, + -0.7352043986320496 + ], + "joints": [ + 0.019085997715592384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005733722820878029, + 0.08377893269062042, + 0.12408774346113205 + ], + "orientation": [ + 0.7048041224479675, + -0.707899272441864, + -0.04445027559995651, + 0.012414075434207916 + ], + "joints": [ + 0.008238954469561577 + ] + }, + "fine_grasp": { + "position": [ + -0.005560083780437708, + 0.08379042893648148, + 0.1235809177160263 + ], + "orientation": [ + 0.7025354504585266, + -0.7075527310371399, + -0.06728558242321014, + 0.03585609048604965 + ], + "joints": [ + 0.015173720195889473 + ] + }, + "final_grasp": { + "position": [ + -0.005560083780437708, + 0.08379042893648148, + 0.1235809177160263 + ], + "orientation": [ + 0.7025354504585266, + -0.7075527310371399, + -0.06728558242321014, + 0.03585609048604965 + ], + "joints": [ + 0.02210848592221737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005693256389349699, + 0.08391471952199936, + 0.1240985170006752 + ], + "orientation": [ + 0.7044553756713867, + -0.708050012588501, + -0.046745527535676956, + 0.014922899194061756 + ], + "joints": [ + 0.00830772053450346 + ] + }, + "fine_grasp": { + "position": [ + -0.005496347788721323, + 0.08391238749027252, + 0.12344281375408173 + ], + "orientation": [ + 0.70220547914505, + -0.7076951861381531, + -0.06868505477905273, + 0.03684379905462265 + ], + "joints": [ + 0.01524248719215393 + ] + }, + "final_grasp": { + "position": [ + -0.005496347788721323, + 0.08391238749027252, + 0.12344281375408173 + ], + "orientation": [ + 0.70220547914505, + -0.7076951861381531, + -0.06868505477905273, + 0.03684379905462265 + ], + "joints": [ + 0.022177252918481827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06379786878824234, + 0.08874485641717911, + -0.10299628973007202 + ], + "orientation": [ + 0.634459376335144, + 0.7227164506912231, + 0.16932962834835052, + -0.21556834876537323 + ], + "joints": [ + 0.008787555620074272 + ] + }, + "fine_grasp": { + "position": [ + -0.0641106516122818, + 0.08820751309394836, + -0.104031041264534 + ], + "orientation": [ + 0.6329699754714966, + 0.723997950553894, + 0.17323200404644012, + -0.21252398192882538 + ], + "joints": [ + 0.014659522101283073 + ] + }, + "final_grasp": { + "position": [ + -0.0641106516122818, + 0.08820751309394836, + -0.104031041264534 + ], + "orientation": [ + 0.6329699754714966, + 0.723997950553894, + 0.17323200404644012, + -0.21252398192882538 + ], + "joints": [ + 0.020531488582491875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1229885146021843, + 0.0790552869439125, + 0.006299053784459829 + ], + "orientation": [ + 0.5452827215194702, + -0.4765460789203644, + -0.460713267326355, + -0.5131411552429199 + ], + "joints": [ + 0.007376781199127436 + ] + }, + "fine_grasp": { + "position": [ + -0.12545131146907806, + 0.07921578735113144, + 0.006774295587092638 + ], + "orientation": [ + 0.555534303188324, + -0.4652564823627472, + -0.4480188488960266, + -0.5236384272575378 + ], + "joints": [ + 0.013248748145997524 + ] + }, + "final_grasp": { + "position": [ + -0.12545131146907806, + 0.07921578735113144, + 0.006774295587092638 + ], + "orientation": [ + 0.555534303188324, + -0.4652564823627472, + -0.4480188488960266, + -0.5236384272575378 + ], + "joints": [ + 0.0191207155585289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02616129070520401, + 0.10969994217157364, + 0.11971937119960785 + ], + "orientation": [ + 0.08793625980615616, + 0.06017221137881279, + -0.6378332376480103, + 0.7627680897712708 + ], + "joints": [ + 0.007985562086105347 + ] + }, + "fine_grasp": { + "position": [ + 0.025770068168640137, + 0.1094171479344368, + 0.11977507174015045 + ], + "orientation": [ + 0.10215123742818832, + 0.04666741192340851, + -0.6354554295539856, + 0.7639263868331909 + ], + "joints": [ + 0.01335269957780838 + ] + }, + "final_grasp": { + "position": [ + 0.025770068168640137, + 0.1094171479344368, + 0.11977507174015045 + ], + "orientation": [ + 0.10215123742818832, + 0.04666741192340851, + -0.6354554295539856, + 0.7639263868331909 + ], + "joints": [ + 0.018719837069511414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11155638098716736, + 0.12148548662662506, + -0.009394119493663311 + ], + "orientation": [ + 0.4120531380176544, + 0.6157381534576416, + -0.39878255128860474, + 0.5404176115989685 + ], + "joints": [ + 0.007400388363748789 + ] + }, + "fine_grasp": { + "position": [ + 0.1136120930314064, + 0.12136009335517883, + -0.00922341551631689 + ], + "orientation": [ + 0.4102225601673126, + 0.6185027360916138, + -0.3937176764011383, + 0.5423634648323059 + ], + "joints": [ + 0.013272355310618877 + ] + }, + "final_grasp": { + "position": [ + 0.1136120930314064, + 0.12136009335517883, + -0.00922341551631689 + ], + "orientation": [ + 0.4102225601673126, + 0.6185027360916138, + -0.3937176764011383, + 0.5423634648323059 + ], + "joints": [ + 0.019144322723150253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026846570894122124, + 0.25064241886138916, + 0.07102157920598984 + ], + "orientation": [ + 0.055543992668390274, + 0.18162719905376434, + -0.33296582102775574, + 0.9236125946044922 + ], + "joints": [ + 0.008983239531517029 + ] + }, + "fine_grasp": { + "position": [ + 0.026293311268091202, + 0.24692150950431824, + 0.06842218339443207 + ], + "orientation": [ + 0.05531930923461914, + 0.1798754185438156, + -0.32616734504699707, + 0.9263905882835388 + ], + "joints": [ + 0.016396265476942062 + ] + }, + "final_grasp": { + "position": [ + 0.026293311268091202, + 0.24692150950431824, + 0.06842218339443207 + ], + "orientation": [ + 0.05531930923461914, + 0.1798754185438156, + -0.32616734504699707, + 0.9263905882835388 + ], + "joints": [ + 0.023809291422367096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06440378725528717, + 0.0892999917268753, + -0.10237638652324677 + ], + "orientation": [ + 0.6333316564559937, + 0.7224869132041931, + 0.1722596287727356, + -0.217325359582901 + ], + "joints": [ + 0.008791187778115273 + ] + }, + "fine_grasp": { + "position": [ + -0.06471668183803558, + 0.08893660455942154, + -0.10332375019788742 + ], + "orientation": [ + 0.6306069493293762, + 0.7245330214500427, + 0.17443251609802246, + -0.21670274436473846 + ], + "joints": [ + 0.014663154259324074 + ] + }, + "final_grasp": { + "position": [ + -0.06471668183803558, + 0.08893660455942154, + -0.10332375019788742 + ], + "orientation": [ + 0.6306069493293762, + 0.7245330214500427, + 0.17443251609802246, + -0.21670274436473846 + ], + "joints": [ + 0.020535120740532875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032090552151203156, + 0.07701215147972107, + 0.11858884990215302 + ], + "orientation": [ + 0.08704894036054611, + 0.09864485263824463, + -0.6935239434242249, + 0.7083191871643066 + ], + "joints": [ + 0.008540650829672813 + ] + }, + "fine_grasp": { + "position": [ + 0.032556142657995224, + 0.07568817585706711, + 0.12091930955648422 + ], + "orientation": [ + 0.08873879164457321, + 0.09728904068470001, + -0.6868554353713989, + 0.7147656083106995 + ], + "joints": [ + 0.014944016933441162 + ] + }, + "final_grasp": { + "position": [ + 0.032556142657995224, + 0.07568817585706711, + 0.12091930955648422 + ], + "orientation": [ + 0.08873879164457321, + 0.09728904068470001, + -0.6868554353713989, + 0.7147656083106995 + ], + "joints": [ + 0.02134738303720951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040329720824956894, + 0.0946253091096878, + 0.11382581293582916 + ], + "orientation": [ + 0.632978081703186, + -0.754845917224884, + 0.10274460911750793, + 0.13780446350574493 + ], + "joints": [ + 0.008097724989056587 + ] + }, + "fine_grasp": { + "position": [ + 0.04056358337402344, + 0.09407562017440796, + 0.11583507806062698 + ], + "orientation": [ + 0.6281678676605225, + -0.7586894631385803, + 0.10582853108644485, + 0.13636641204357147 + ], + "joints": [ + 0.014501091092824936 + ] + }, + "final_grasp": { + "position": [ + 0.04056358337402344, + 0.09407562017440796, + 0.11583507806062698 + ], + "orientation": [ + 0.6281678676605225, + -0.7586894631385803, + 0.10582853108644485, + 0.13636641204357147 + ], + "joints": [ + 0.020904457196593285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12239392101764679, + 0.07942423224449158, + 0.006460743024945259 + ], + "orientation": [ + 0.5496526956558228, + -0.4725598990917206, + -0.4603196978569031, + -0.5125181674957275 + ], + "joints": [ + 0.007278874516487122 + ] + }, + "fine_grasp": { + "position": [ + -0.12531469762325287, + 0.0794200599193573, + 0.006875693332403898 + ], + "orientation": [ + 0.5591701865196228, + -0.46168598532676697, + -0.4479060173034668, + -0.5230246782302856 + ], + "joints": [ + 0.013150840997695923 + ] + }, + "final_grasp": { + "position": [ + -0.12531469762325287, + 0.0794200599193573, + 0.006875693332403898 + ], + "orientation": [ + 0.5591701865196228, + -0.46168598532676697, + -0.4479060173034668, + -0.5230246782302856 + ], + "joints": [ + 0.019022807478904724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11443397402763367, + 0.07831849902868271, + 0.04304027184844017 + ], + "orientation": [ + 0.3802773058414459, + 0.42265254259109497, + -0.5871461629867554, + 0.5762059688568115 + ], + "joints": [ + 0.007625239435583353 + ] + }, + "fine_grasp": { + "position": [ + 0.11414036899805069, + 0.07781603932380676, + 0.04334757849574089 + ], + "orientation": [ + 0.38175925612449646, + 0.42358097434043884, + -0.5809372663497925, + 0.5808190703392029 + ], + "joints": [ + 0.014028606005012989 + ] + }, + "final_grasp": { + "position": [ + 0.11414036899805069, + 0.07781603932380676, + 0.04334757849574089 + ], + "orientation": [ + 0.38175925612449646, + 0.42358097434043884, + -0.5809372663497925, + 0.5808190703392029 + ], + "joints": [ + 0.020431973040103912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03387000411748886, + 0.08060868084430695, + 0.11832088232040405 + ], + "orientation": [ + 0.08774023503065109, + 0.1082916259765625, + -0.677513837814331, + 0.7221839427947998 + ], + "joints": [ + 0.008203467354178429 + ] + }, + "fine_grasp": { + "position": [ + 0.03411823883652687, + 0.08002225309610367, + 0.11995245516300201 + ], + "orientation": [ + 0.09129799157381058, + 0.10532380640506744, + -0.6742079854011536, + 0.7252689003944397 + ], + "joints": [ + 0.014606833457946777 + ] + }, + "final_grasp": { + "position": [ + 0.03411823883652687, + 0.08002225309610367, + 0.11995245516300201 + ], + "orientation": [ + 0.09129799157381058, + 0.10532380640506744, + -0.6742079854011536, + 0.7252689003944397 + ], + "joints": [ + 0.021010199561715126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.119112528860569, + 0.07038193941116333, + 0.015377682633697987 + ], + "orientation": [ + 0.45939454436302185, + 0.47310811281204224, + 0.5731308460235596, + -0.48646318912506104 + ], + "joints": [ + 0.007723846472799778 + ] + }, + "fine_grasp": { + "position": [ + -0.12333305925130844, + 0.06983095407485962, + 0.015860093757510185 + ], + "orientation": [ + 0.4475518465042114, + 0.4863400459289551, + 0.5823753476142883, + -0.47329655289649963 + ], + "joints": [ + 0.013037842698395252 + ] + }, + "final_grasp": { + "position": [ + -0.12333305925130844, + 0.06983095407485962, + 0.015860093757510185 + ], + "orientation": [ + 0.4475518465042114, + 0.4863400459289551, + 0.5823753476142883, + -0.47329655289649963 + ], + "joints": [ + 0.018351837992668152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034149110317230225, + 0.08048219233751297, + 0.1179211214184761 + ], + "orientation": [ + 0.09043187648057938, + 0.10777244716882706, + -0.6801617741584778, + 0.7194353342056274 + ], + "joints": [ + 0.008206812664866447 + ] + }, + "fine_grasp": { + "position": [ + 0.03451300784945488, + 0.07951577752828598, + 0.11987019330263138 + ], + "orientation": [ + 0.09276644885540009, + 0.10605431348085403, + -0.6744418740272522, + 0.7247586250305176 + ], + "joints": [ + 0.014610178768634796 + ] + }, + "final_grasp": { + "position": [ + 0.03451300784945488, + 0.07951577752828598, + 0.11987019330263138 + ], + "orientation": [ + 0.09276644885540009, + 0.10605431348085403, + -0.6744418740272522, + 0.7247586250305176 + ], + "joints": [ + 0.021013544872403145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07312864065170288, + 0.09949087351560593, + -0.09596288949251175 + ], + "orientation": [ + 0.5865834951400757, + 0.7453123331069946, + -0.2095165252685547, + 0.23776490986347198 + ], + "joints": [ + 0.008365807123482227 + ] + }, + "fine_grasp": { + "position": [ + 0.07437694072723389, + 0.09775650501251221, + -0.09649652242660522 + ], + "orientation": [ + 0.5888404250144958, + 0.7423031330108643, + -0.20491160452365875, + 0.24548760056495667 + ], + "joints": [ + 0.01373294461518526 + ] + }, + "final_grasp": { + "position": [ + 0.07437694072723389, + 0.09775650501251221, + -0.09649652242660522 + ], + "orientation": [ + 0.5888404250144958, + 0.7423031330108643, + -0.20491160452365875, + 0.24548760056495667 + ], + "joints": [ + 0.01910008117556572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06279981136322021, + 0.10188639163970947, + -0.10042615234851837 + ], + "orientation": [ + 0.5948346853256226, + 0.7544546723365784, + 0.16083639860153198, + -0.2260567545890808 + ], + "joints": [ + 0.008431773632764816 + ] + }, + "fine_grasp": { + "position": [ + -0.06277716159820557, + 0.1014704555273056, + -0.1008296012878418 + ], + "orientation": [ + 0.5917870998382568, + 0.7561343908309937, + 0.16373343765735626, + -0.22636282444000244 + ], + "joints": [ + 0.014303740113973618 + ] + }, + "final_grasp": { + "position": [ + -0.06277716159820557, + 0.1014704555273056, + -0.1008296012878418 + ], + "orientation": [ + 0.5917870998382568, + 0.7561343908309937, + 0.16373343765735626, + -0.22636282444000244 + ], + "joints": [ + 0.02017570659518242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05104277655482292, + 0.07508090883493423, + 0.11017224192619324 + ], + "orientation": [ + 0.6829617023468018, + -0.6980587244033813, + -0.1570262908935547, + -0.14703787863254547 + ], + "joints": [ + 0.008475348353385925 + ] + }, + "fine_grasp": { + "position": [ + -0.05197204649448395, + 0.07419823110103607, + 0.11303115636110306 + ], + "orientation": [ + 0.6785914897918701, + -0.7029737234115601, + -0.15490934252738953, + -0.14609764516353607 + ], + "joints": [ + 0.014320744201540947 + ] + }, + "final_grasp": { + "position": [ + -0.05197204649448395, + 0.07419823110103607, + 0.11303115636110306 + ], + "orientation": [ + 0.6785914897918701, + -0.7029737234115601, + -0.15490934252738953, + -0.14609764516353607 + ], + "joints": [ + 0.02016614004969597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053482454270124435, + 0.07259718328714371, + -0.1075860783457756 + ], + "orientation": [ + 0.6972751021385193, + 0.6796199083328247, + -0.1671808511018753, + 0.1548372507095337 + ], + "joints": [ + 0.008491119369864464 + ] + }, + "fine_grasp": { + "position": [ + 0.05438874661922455, + 0.07053735852241516, + -0.1098770797252655 + ], + "orientation": [ + 0.6899682879447937, + 0.6876398921012878, + -0.16258539259433746, + 0.15703873336315155 + ], + "joints": [ + 0.013831686228513718 + ] + }, + "final_grasp": { + "position": [ + 0.05438874661922455, + 0.07053735852241516, + -0.1098770797252655 + ], + "orientation": [ + 0.6899682879447937, + 0.6876398921012878, + -0.16258539259433746, + 0.15703873336315155 + ], + "joints": [ + 0.01917225308716297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027466800063848495, + 0.2522514760494232, + 0.071982242166996 + ], + "orientation": [ + 0.05719500407576561, + 0.18125538527965546, + -0.3364967405796051, + 0.9223042130470276 + ], + "joints": [ + 0.008904671296477318 + ] + }, + "fine_grasp": { + "position": [ + 0.026578139513731003, + 0.24844728410243988, + 0.069297656416893 + ], + "orientation": [ + 0.056528035551309586, + 0.18089301884174347, + -0.3305354714393616, + 0.9245694875717163 + ], + "joints": [ + 0.016317695379257202 + ] + }, + "final_grasp": { + "position": [ + 0.026578139513731003, + 0.24844728410243988, + 0.069297656416893 + ], + "orientation": [ + 0.056528035551309586, + 0.18089301884174347, + -0.3305354714393616, + 0.9245694875717163 + ], + "joints": [ + 0.023730719462037086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06276143342256546, + 0.10154753923416138, + -0.1006130650639534 + ], + "orientation": [ + 0.5956688523292542, + 0.7540574669837952, + 0.16116520762443542, + -0.22494833171367645 + ], + "joints": [ + 0.008408211171627045 + ] + }, + "fine_grasp": { + "position": [ + -0.0627279281616211, + 0.10098947584629059, + -0.10098638385534286 + ], + "orientation": [ + 0.5930116772651672, + 0.7554731369018555, + 0.16317805647850037, + -0.22576627135276794 + ], + "joints": [ + 0.014280177652835846 + ] + }, + "final_grasp": { + "position": [ + -0.0627279281616211, + 0.10098947584629059, + -0.10098638385534286 + ], + "orientation": [ + 0.5930116772651672, + 0.7554731369018555, + 0.16317805647850037, + -0.22576627135276794 + ], + "joints": [ + 0.020152144134044647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11993451416492462, + 0.07767097651958466, + -0.006629802752286196 + ], + "orientation": [ + 0.49507439136505127, + 0.5313242077827454, + -0.49497413635253906, + 0.47707080841064453 + ], + "joints": [ + 0.007544004824012518 + ] + }, + "fine_grasp": { + "position": [ + 0.1210765689611435, + 0.07744688540697098, + -0.007885090075433254 + ], + "orientation": [ + 0.4926394820213318, + 0.5372826457023621, + -0.494322806596756, + 0.47358065843582153 + ], + "joints": [ + 0.012884572148323059 + ] + }, + "final_grasp": { + "position": [ + 0.1210765689611435, + 0.07744688540697098, + -0.007885090075433254 + ], + "orientation": [ + 0.4926394820213318, + 0.5372826457023621, + -0.494322806596756, + 0.47358065843582153 + ], + "joints": [ + 0.018225139006972313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046165645122528076, + 0.09205004572868347, + 0.11289365589618683 + ], + "orientation": [ + 0.6684428453445435, + -0.7161871194839478, + 0.10454445332288742, + 0.17126165330410004 + ], + "joints": [ + 0.008302921429276466 + ] + }, + "fine_grasp": { + "position": [ + 0.04623851925134659, + 0.09206277132034302, + 0.11415712535381317 + ], + "orientation": [ + 0.6690377593040466, + -0.7124505639076233, + 0.07961621880531311, + 0.19612203538417816 + ], + "joints": [ + 0.015237687155604362 + ] + }, + "final_grasp": { + "position": [ + 0.04623851925134659, + 0.09206277132034302, + 0.11415712535381317 + ], + "orientation": [ + 0.6690377593040466, + -0.7124505639076233, + 0.07961621880531311, + 0.19612203538417816 + ], + "joints": [ + 0.02217245288193226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016744039952754974, + 0.07253465801477432, + -0.11972011625766754 + ], + "orientation": [ + 0.041245561093091965, + -0.056950658559799194, + -0.7004437446594238, + -0.7102352380752563 + ], + "joints": [ + 0.008200906217098236 + ] + }, + "fine_grasp": { + "position": [ + -0.017120234668254852, + 0.07203590869903564, + -0.12292112410068512 + ], + "orientation": [ + 0.04451454430818558, + -0.05367925018072128, + -0.6960761547088623, + -0.7145733833312988 + ], + "joints": [ + 0.014604272320866585 + ] + }, + "final_grasp": { + "position": [ + -0.017120234668254852, + 0.07203590869903564, + -0.12292112410068512 + ], + "orientation": [ + 0.04451454430818558, + -0.05367925018072128, + -0.6960761547088623, + -0.7145733833312988 + ], + "joints": [ + 0.021007638424634933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06646283715963364, + 0.0817609578371048, + 0.10403069108724594 + ], + "orientation": [ + 0.670082688331604, + -0.6854370832443237, + -0.23198437690734863, + -0.16537383198738098 + ], + "joints": [ + 0.008653750643134117 + ] + }, + "fine_grasp": { + "position": [ + -0.06667186319828033, + 0.08173825591802597, + 0.10426943749189377 + ], + "orientation": [ + 0.6612663269042969, + -0.6909858584403992, + -0.25554096698760986, + -0.1412949115037918 + ], + "joints": [ + 0.015083689242601395 + ] + }, + "final_grasp": { + "position": [ + -0.06667186319828033, + 0.08173825591802597, + 0.10426943749189377 + ], + "orientation": [ + 0.6612663269042969, + -0.6909858584403992, + -0.25554096698760986, + -0.1412949115037918 + ], + "joints": [ + 0.021513627842068672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05795256793498993, + 0.06041308119893074, + -0.10568444430828094 + ], + "orientation": [ + 0.193720281124115, + -0.1551157385110855, + 0.7185533046722412, + 0.6496867537498474 + ], + "joints": [ + 0.008688082918524742 + ] + }, + "fine_grasp": { + "position": [ + 0.05853983759880066, + 0.06013111397624016, + -0.10759356617927551 + ], + "orientation": [ + 0.19967107474803925, + -0.1502199023962021, + 0.7164211869239807, + 0.6513879299163818 + ], + "joints": [ + 0.014560049399733543 + ] + }, + "final_grasp": { + "position": [ + 0.05853983759880066, + 0.06013111397624016, + -0.10759356617927551 + ], + "orientation": [ + 0.19967107474803925, + -0.1502199023962021, + 0.7164211869239807, + 0.6513879299163818 + ], + "joints": [ + 0.020432015880942345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033692192286252975, + -0.017056267708539963, + -0.10149640589952469 + ], + "orientation": [ + 0.12970025837421417, + -0.0890660285949707, + -0.8365734815597534, + -0.5247761607170105 + ], + "joints": [ + 0.007727703545242548 + ] + }, + "fine_grasp": { + "position": [ + -0.034089889377355576, + -0.014052754268050194, + -0.10143222659826279 + ], + "orientation": [ + 0.13082842528820038, + -0.0829520970582962, + -0.8461928963661194, + -0.5098633170127869 + ], + "joints": [ + 0.013599670492112637 + ] + }, + "final_grasp": { + "position": [ + -0.034089889377355576, + -0.014052754268050194, + -0.10143222659826279 + ], + "orientation": [ + 0.13082842528820038, + -0.0829520970582962, + -0.8461928963661194, + -0.5098633170127869 + ], + "joints": [ + 0.019471637904644012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06616954505443573, + 0.06598462164402008, + 0.10173918306827545 + ], + "orientation": [ + 0.1985141485929489, + 0.2024446427822113, + -0.6978483200073242, + 0.6577355265617371 + ], + "joints": [ + 0.00842958502471447 + ] + }, + "fine_grasp": { + "position": [ + 0.06721863150596619, + 0.06492428481578827, + 0.10349767655134201 + ], + "orientation": [ + 0.1990763396024704, + 0.20052388310432434, + -0.6961736679077148, + 0.6599249839782715 + ], + "joints": [ + 0.013770151883363724 + ] + }, + "final_grasp": { + "position": [ + 0.06721863150596619, + 0.06492428481578827, + 0.10349767655134201 + ], + "orientation": [ + 0.1990763396024704, + 0.20052388310432434, + -0.6961736679077148, + 0.6599249839782715 + ], + "joints": [ + 0.019110718742012978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03701360523700714, + 0.09426290541887283, + -0.11382052302360535 + ], + "orientation": [ + 0.6356147527694702, + 0.7558278441429138, + 0.09397759288549423, + -0.12604089081287384 + ], + "joints": [ + 0.00855659693479538 + ] + }, + "fine_grasp": { + "position": [ + -0.037053659558296204, + 0.09338252246379852, + -0.11503087729215622 + ], + "orientation": [ + 0.6311297416687012, + 0.7592936754226685, + 0.09500294923782349, + -0.1269756704568863 + ], + "joints": [ + 0.014428563416004181 + ] + }, + "final_grasp": { + "position": [ + -0.037053659558296204, + 0.09338252246379852, + -0.11503087729215622 + ], + "orientation": [ + 0.6311297416687012, + 0.7592936754226685, + 0.09500294923782349, + -0.1269756704568863 + ], + "joints": [ + 0.020300529897212982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0697106346487999, + 0.10260957479476929, + 0.0923490822315216 + ], + "orientation": [ + 0.20163628458976746, + 0.24454417824745178, + 0.5738932490348816, + -0.755107581615448 + ], + "joints": [ + 0.008281005546450615 + ] + }, + "fine_grasp": { + "position": [ + -0.07185192406177521, + 0.10222678631544113, + 0.09341660887002945 + ], + "orientation": [ + 0.19736351072788239, + 0.25111499428749084, + 0.573366641998291, + -0.7544795274734497 + ], + "joints": [ + 0.014126401394605637 + ] + }, + "final_grasp": { + "position": [ + -0.07185192406177521, + 0.10222678631544113, + 0.09341660887002945 + ], + "orientation": [ + 0.19736351072788239, + 0.25111499428749084, + 0.573366641998291, + -0.7544795274734497 + ], + "joints": [ + 0.019971797242760658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06602265685796738, + 0.08184992522001266, + 0.1040356308221817 + ], + "orientation": [ + 0.6682234406471252, + -0.6878206133842468, + -0.23175719380378723, + -0.16330590844154358 + ], + "joints": [ + 0.008668040856719017 + ] + }, + "fine_grasp": { + "position": [ + -0.06624353677034378, + 0.0817328542470932, + 0.10433071851730347 + ], + "orientation": [ + 0.6591752767562866, + -0.6934337615966797, + -0.255220502614975, + -0.13964246213436127 + ], + "joints": [ + 0.015097979456186295 + ] + }, + "final_grasp": { + "position": [ + -0.06624353677034378, + 0.0817328542470932, + 0.10433071851730347 + ], + "orientation": [ + 0.6591752767562866, + -0.6934337615966797, + -0.255220502614975, + -0.13964246213436127 + ], + "joints": [ + 0.021527918055653572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02696804516017437, + 0.11147259920835495, + 0.1203717514872551 + ], + "orientation": [ + 0.09632545709609985, + 0.05496468394994736, + -0.6430181264877319, + 0.7577782869338989 + ], + "joints": [ + 0.007938455790281296 + ] + }, + "fine_grasp": { + "position": [ + 0.02653057686984539, + 0.111150361597538, + 0.1203361451625824 + ], + "orientation": [ + 0.11107052117586136, + 0.04047616198658943, + -0.6401893496513367, + 0.7590669393539429 + ], + "joints": [ + 0.01330559328198433 + ] + }, + "final_grasp": { + "position": [ + 0.02653057686984539, + 0.111150361597538, + 0.1203361451625824 + ], + "orientation": [ + 0.11107052117586136, + 0.04047616198658943, + -0.6401893496513367, + 0.7590669393539429 + ], + "joints": [ + 0.018672730773687363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10727086663246155, + 0.1419442594051361, + -0.025092829018831253 + ], + "orientation": [ + 0.40739133954048157, + 0.6784193515777588, + -0.3406986594200134, + 0.5076454281806946 + ], + "joints": [ + 0.00841173529624939 + ] + }, + "fine_grasp": { + "position": [ + 0.10562163591384888, + 0.1406780630350113, + -0.02448808029294014 + ], + "orientation": [ + 0.40163785219192505, + 0.6823291778564453, + -0.3334057331085205, + 0.5118149518966675 + ], + "joints": [ + 0.013778872787952423 + ] + }, + "final_grasp": { + "position": [ + 0.10562163591384888, + 0.1406780630350113, + -0.02448808029294014 + ], + "orientation": [ + 0.40163785219192505, + 0.6823291778564453, + -0.3334057331085205, + 0.5118149518966675 + ], + "joints": [ + 0.019146010279655457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06472883373498917, + 0.08891712129116058, + -0.1023966521024704 + ], + "orientation": [ + 0.6356925368309021, + 0.7200565338134766, + 0.17386962473392487, + -0.21721641719341278 + ], + "joints": [ + 0.00880395621061325 + ] + }, + "fine_grasp": { + "position": [ + -0.06427933275699615, + 0.08826612681150436, + -0.10205646604299545 + ], + "orientation": [ + 0.6325424909591675, + 0.7225913405418396, + 0.17407576739788055, + -0.21782873570919037 + ], + "joints": [ + 0.014171093702316284 + ] + }, + "final_grasp": { + "position": [ + -0.06427933275699615, + 0.08826612681150436, + -0.10205646604299545 + ], + "orientation": [ + 0.6325424909591675, + 0.7225913405418396, + 0.17407576739788055, + -0.21782873570919037 + ], + "joints": [ + 0.019538231194019318 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06498755514621735, + 0.06587167829275131, + 0.10053762048482895 + ], + "orientation": [ + 0.19856411218643188, + 0.2018107771873474, + -0.6977179050445557, + 0.6580535173416138 + ], + "joints": [ + 0.008355198428034782 + ] + }, + "fine_grasp": { + "position": [ + 0.0669654831290245, + 0.06477955728769302, + 0.10356883704662323 + ], + "orientation": [ + 0.19779960811138153, + 0.2007806897163391, + -0.6961586475372314, + 0.6602466106414795 + ], + "joints": [ + 0.014200594276189804 + ] + }, + "final_grasp": { + "position": [ + 0.0669654831290245, + 0.06477955728769302, + 0.10356883704662323 + ], + "orientation": [ + 0.19779960811138153, + 0.2007806897163391, + -0.6961586475372314, + 0.6602466106414795 + ], + "joints": [ + 0.020045990124344826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06325999647378922, + 0.1351417601108551, + -0.0914108008146286 + ], + "orientation": [ + 0.5018199682235718, + 0.8146620392799377, + -0.16725243628025055, + 0.2377583533525467 + ], + "joints": [ + 0.0077546327374875546 + ] + }, + "fine_grasp": { + "position": [ + 0.06317849457263947, + 0.1328781098127365, + -0.09033390134572983 + ], + "orientation": [ + 0.5020495057106018, + 0.8140169978141785, + -0.16325582563877106, + 0.242219477891922 + ], + "joints": [ + 0.013626599684357643 + ] + }, + "final_grasp": { + "position": [ + 0.06317849457263947, + 0.1328781098127365, + -0.09033390134572983 + ], + "orientation": [ + 0.5020495057106018, + 0.8140169978141785, + -0.16325582563877106, + 0.242219477891922 + ], + "joints": [ + 0.019498566165566444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11245114356279373, + 0.06342429667711258, + 0.03049496002495289 + ], + "orientation": [ + 0.4348413646221161, + 0.42182135581970215, + -0.6008899807929993, + 0.5214507579803467 + ], + "joints": [ + 0.007210711017251015 + ] + }, + "fine_grasp": { + "position": [ + 0.11744237691164017, + 0.062215209007263184, + 0.031301286071538925 + ], + "orientation": [ + 0.43135786056518555, + 0.42378100752830505, + -0.6021168231964111, + 0.5213399529457092 + ], + "joints": [ + 0.013056106865406036 + ] + }, + "final_grasp": { + "position": [ + 0.11744237691164017, + 0.062215209007263184, + 0.031301286071538925 + ], + "orientation": [ + 0.43135786056518555, + 0.42378100752830505, + -0.6021168231964111, + 0.5213399529457092 + ], + "joints": [ + 0.018901502713561058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10547789931297302, + 0.09177722781896591, + -0.06494059413671494 + ], + "orientation": [ + 0.5808354020118713, + 0.6526975035667419, + -0.3735273480415344, + 0.3115983009338379 + ], + "joints": [ + 0.008093537762761116 + ] + }, + "fine_grasp": { + "position": [ + 0.10521838068962097, + 0.09185508638620377, + -0.0650821104645729 + ], + "orientation": [ + 0.5670454502105713, + 0.6638659834861755, + -0.3910689949989319, + 0.2912154793739319 + ], + "joints": [ + 0.013992074877023697 + ] + }, + "final_grasp": { + "position": [ + 0.10521838068962097, + 0.09185508638620377, + -0.0650821104645729 + ], + "orientation": [ + 0.5670454502105713, + 0.6638659834861755, + -0.3910689949989319, + 0.2912154793739319 + ], + "joints": [ + 0.019890611991286278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06872106343507767, + 0.05122922733426094, + 0.09572529047727585 + ], + "orientation": [ + 0.29014429450035095, + 0.15056081116199493, + 0.7466093301773071, + -0.5794154405593872 + ], + "joints": [ + 0.00856097787618637 + ] + }, + "fine_grasp": { + "position": [ + -0.06843665987253189, + 0.05214041844010353, + 0.0949854850769043 + ], + "orientation": [ + 0.30885744094848633, + 0.13704584538936615, + 0.7374376058578491, + -0.5848172903060913 + ], + "joints": [ + 0.014432944357395172 + ] + }, + "final_grasp": { + "position": [ + -0.06843665987253189, + 0.05214041844010353, + 0.0949854850769043 + ], + "orientation": [ + 0.30885744094848633, + 0.13704584538936615, + 0.7374376058578491, + -0.5848172903060913 + ], + "joints": [ + 0.020304910838603973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10469842702150345, + 0.10256627202033997, + 0.06346211582422256 + ], + "orientation": [ + 0.3632480502128601, + 0.3242652118206024, + 0.5590060949325562, + -0.6711297631263733 + ], + "joints": [ + 0.008085587993264198 + ] + }, + "fine_grasp": { + "position": [ + -0.10386472195386887, + 0.10241382569074631, + 0.06277269124984741 + ], + "orientation": [ + 0.3740289807319641, + 0.30909261107444763, + 0.5492041707038879, + -0.6803960800170898 + ], + "joints": [ + 0.014488954097032547 + ] + }, + "final_grasp": { + "position": [ + -0.10386472195386887, + 0.10241382569074631, + 0.06277269124984741 + ], + "orientation": [ + 0.3740289807319641, + 0.30909261107444763, + 0.5492041707038879, + -0.6803960800170898 + ], + "joints": [ + 0.020892320200800896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02228335291147232, + 0.09019294381141663, + 0.11987632513046265 + ], + "orientation": [ + 0.07056935876607895, + 0.057885315269231796, + 0.6467751264572144, + -0.7571996450424194 + ], + "joints": [ + 0.008530443534255028 + ] + }, + "fine_grasp": { + "position": [ + -0.022350553423166275, + 0.09036032855510712, + 0.12036842107772827 + ], + "orientation": [ + 0.06904035806655884, + 0.05499694123864174, + 0.6459618210792542, + -0.7582494616508484 + ], + "joints": [ + 0.014402410015463829 + ] + }, + "final_grasp": { + "position": [ + -0.022350553423166275, + 0.09036032855510712, + 0.12036842107772827 + ], + "orientation": [ + 0.06904035806655884, + 0.05499694123864174, + 0.6459618210792542, + -0.7582494616508484 + ], + "joints": [ + 0.02027437649667263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009197643026709557, + 0.09143725037574768, + -0.11846806854009628 + ], + "orientation": [ + 0.6511150598526001, + 0.7580164074897766, + -0.03049439564347267, + 0.023029761388897896 + ], + "joints": [ + 0.008113835006952286 + ] + }, + "fine_grasp": { + "position": [ + 0.009599176235496998, + 0.09057849645614624, + -0.12082725763320923 + ], + "orientation": [ + 0.6457705497741699, + 0.7627145051956177, + -0.027237623929977417, + 0.022474326193332672 + ], + "joints": [ + 0.014517201110720634 + ] + }, + "final_grasp": { + "position": [ + 0.009599176235496998, + 0.09057849645614624, + -0.12082725763320923 + ], + "orientation": [ + 0.6457705497741699, + 0.7627145051956177, + -0.027237623929977417, + 0.022474326193332672 + ], + "joints": [ + 0.020920567214488983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07622802257537842, + 0.1277180314064026, + 0.09090723842382431 + ], + "orientation": [ + 0.5800349712371826, + -0.734113872051239, + -0.1862124353647232, + -0.2999352514743805 + ], + "joints": [ + 0.008559884503483772 + ] + }, + "fine_grasp": { + "position": [ + -0.07663092762231827, + 0.12846943736076355, + 0.0916450098156929 + ], + "orientation": [ + 0.5800949931144714, + -0.7335482239723206, + -0.17194001376628876, + -0.3095698356628418 + ], + "joints": [ + 0.013369051739573479 + ] + }, + "final_grasp": { + "position": [ + -0.07663092762231827, + 0.12846943736076355, + 0.0916450098156929 + ], + "orientation": [ + 0.5800949931144714, + -0.7335482239723206, + -0.17194001376628876, + -0.3095698356628418 + ], + "joints": [ + 0.018178218975663185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06053643673658371, + 0.09283911436796188, + 0.10668686032295227 + ], + "orientation": [ + 0.13999013602733612, + 0.2234874665737152, + -0.6707755923271179, + 0.6931928396224976 + ], + "joints": [ + 0.00838763453066349 + ] + }, + "fine_grasp": { + "position": [ + 0.060296785086393356, + 0.0924508273601532, + 0.10666026175022125 + ], + "orientation": [ + 0.11470544338226318, + 0.2484334111213684, + -0.674728274345398, + 0.6854671239852905 + ], + "joints": [ + 0.014817571267485619 + ] + }, + "final_grasp": { + "position": [ + 0.060296785086393356, + 0.0924508273601532, + 0.10666026175022125 + ], + "orientation": [ + 0.11470544338226318, + 0.2484334111213684, + -0.674728274345398, + 0.6854671239852905 + ], + "joints": [ + 0.021247508004307747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12417518347501755, + 0.08722370117902756, + -0.002150376094505191 + ], + "orientation": [ + 0.5046267509460449, + 0.4974575340747833, + -0.4532896876335144, + 0.5407552719116211 + ], + "joints": [ + 0.006751755718141794 + ] + }, + "fine_grasp": { + "position": [ + 0.1243700161576271, + 0.08642610907554626, + -0.0017866156995296478 + ], + "orientation": [ + 0.5246986746788025, + 0.4750910699367523, + -0.43552154302597046, + 0.5561481714248657 + ], + "joints": [ + 0.011614064686000347 + ] + }, + "final_grasp": { + "position": [ + 0.1243700161576271, + 0.08642610907554626, + -0.0017866156995296478 + ], + "orientation": [ + 0.5246986746788025, + 0.4750910699367523, + -0.43552154302597046, + 0.5561481714248657 + ], + "joints": [ + 0.016476374119520187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060318268835544586, + 0.08791851997375488, + 0.10415560007095337 + ], + "orientation": [ + 0.16018305718898773, + 0.20659662783145905, + -0.6409237384796143, + 0.7217174172401428 + ], + "joints": [ + 0.008347583934664726 + ] + }, + "fine_grasp": { + "position": [ + 0.060461971908807755, + 0.08736614882946014, + 0.10495062172412872 + ], + "orientation": [ + 0.15900176763534546, + 0.20896154642105103, + -0.6407042145729065, + 0.7214927077293396 + ], + "joints": [ + 0.01368815079331398 + ] + }, + "final_grasp": { + "position": [ + 0.060461971908807755, + 0.08736614882946014, + 0.10495062172412872 + ], + "orientation": [ + 0.15900176763534546, + 0.20896154642105103, + -0.6407042145729065, + 0.7214927077293396 + ], + "joints": [ + 0.019028717651963234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06023659557104111, + 0.08800968527793884, + 0.10399270802736282 + ], + "orientation": [ + 0.16008910536766052, + 0.20669271051883698, + -0.6404544711112976, + 0.7221273183822632 + ], + "joints": [ + 0.0083114393055439 + ] + }, + "fine_grasp": { + "position": [ + 0.06042489781975746, + 0.08742500841617584, + 0.104892797768116 + ], + "orientation": [ + 0.15919055044651031, + 0.20923158526420593, + -0.6401287317276001, + 0.7218833565711975 + ], + "joints": [ + 0.013652006164193153 + ] + }, + "final_grasp": { + "position": [ + 0.06042489781975746, + 0.08742500841617584, + 0.104892797768116 + ], + "orientation": [ + 0.15919055044651031, + 0.20923158526420593, + -0.6401287317276001, + 0.7218833565711975 + ], + "joints": [ + 0.018992573022842407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05453074723482132, + 0.04632754623889923, + 0.10468216240406036 + ], + "orientation": [ + 0.7600911855697632, + -0.6049966216087341, + 0.17958220839500427, + 0.15488970279693604 + ], + "joints": [ + 0.00834796391427517 + ] + }, + "fine_grasp": { + "position": [ + 0.055779360234737396, + 0.0448734350502491, + 0.10650387406349182 + ], + "orientation": [ + 0.759670615196228, + -0.6066110730171204, + 0.1785658299922943, + 0.15178240835666656 + ], + "joints": [ + 0.01421993039548397 + ] + }, + "final_grasp": { + "position": [ + 0.055779360234737396, + 0.0448734350502491, + 0.10650387406349182 + ], + "orientation": [ + 0.759670615196228, + -0.6066110730171204, + 0.1785658299922943, + 0.15178240835666656 + ], + "joints": [ + 0.020091896876692772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11684270948171616, + 0.12531344592571259, + 0.023557836189866066 + ], + "orientation": [ + 0.4109957218170166, + 0.46717578172683716, + 0.44292521476745605, + -0.6454816460609436 + ], + "joints": [ + 0.007931670174002647 + ] + }, + "fine_grasp": { + "position": [ + -0.11524161696434021, + 0.12375622987747192, + 0.022876041010022163 + ], + "orientation": [ + 0.41463086009025574, + 0.4571933150291443, + 0.4293844401836395, + -0.6593061089515686 + ], + "joints": [ + 0.01436160784214735 + ] + }, + "final_grasp": { + "position": [ + -0.11524161696434021, + 0.12375622987747192, + 0.022876041010022163 + ], + "orientation": [ + 0.41463086009025574, + 0.4571933150291443, + 0.4293844401836395, + -0.6593061089515686 + ], + "joints": [ + 0.020791545510292053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05888631194829941, + 0.09011173248291016, + 0.10516270250082016 + ], + "orientation": [ + 0.15546748042106628, + 0.20084579288959503, + -0.6323317289352417, + 0.7318793535232544 + ], + "joints": [ + 0.00835910253226757 + ] + }, + "fine_grasp": { + "position": [ + 0.058710977435112, + 0.08931774646043777, + 0.10555721074342728 + ], + "orientation": [ + 0.15877221524715424, + 0.19871418178081512, + -0.6298449635505676, + 0.7338932752609253 + ], + "joints": [ + 0.013699669390916824 + ] + }, + "final_grasp": { + "position": [ + 0.058710977435112, + 0.08931774646043777, + 0.10555721074342728 + ], + "orientation": [ + 0.15877221524715424, + 0.19871418178081512, + -0.6298449635505676, + 0.7338932752609253 + ], + "joints": [ + 0.019040236249566078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11017480492591858, + 0.12486530840396881, + -0.030226942151784897 + ], + "orientation": [ + 0.44695138931274414, + 0.6701481342315674, + 0.37489140033721924, + -0.45890337228775024 + ], + "joints": [ + 0.008093142881989479 + ] + }, + "fine_grasp": { + "position": [ + -0.11101359874010086, + 0.12534840404987335, + -0.030774807557463646 + ], + "orientation": [ + 0.4335671365261078, + 0.6814335584640503, + 0.3849639594554901, + -0.446621298789978 + ], + "joints": [ + 0.012902310118079185 + ] + }, + "final_grasp": { + "position": [ + -0.11101359874010086, + 0.12534840404987335, + -0.030774807557463646 + ], + "orientation": [ + 0.4335671365261078, + 0.6814335584640503, + 0.3849639594554901, + -0.446621298789978 + ], + "joints": [ + 0.017711477354168892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12257618457078934, + 0.07936692237854004, + -0.007122159004211426 + ], + "orientation": [ + 0.4813091456890106, + 0.5484575629234314, + 0.5154265761375427, + -0.4493008553981781 + ], + "joints": [ + 0.007517846301198006 + ] + }, + "fine_grasp": { + "position": [ + -0.1237458884716034, + 0.07952317595481873, + -0.007593987043946981 + ], + "orientation": [ + 0.46452096104621887, + 0.5642381310462952, + 0.5245522260665894, + -0.43669283390045166 + ], + "joints": [ + 0.012353584170341492 + ] + }, + "final_grasp": { + "position": [ + -0.1237458884716034, + 0.07952317595481873, + -0.007593987043946981 + ], + "orientation": [ + 0.46452096104621887, + 0.5642381310462952, + 0.5245522260665894, + -0.43669283390045166 + ], + "joints": [ + 0.017189322039484978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11839640885591507, + 0.09468863904476166, + 0.04192870110273361 + ], + "orientation": [ + 0.6151823401451111, + -0.5356637835502625, + -0.3697665333747864, + -0.44484567642211914 + ], + "joints": [ + 0.007838983088731766 + ] + }, + "fine_grasp": { + "position": [ + -0.11876029521226883, + 0.09525346010923386, + 0.04238273203372955 + ], + "orientation": [ + 0.6220444440841675, + -0.5271482467651367, + -0.3569406270980835, + -0.4558166563510895 + ], + "joints": [ + 0.01317954994738102 + ] + }, + "final_grasp": { + "position": [ + -0.11876029521226883, + 0.09525346010923386, + 0.04238273203372955 + ], + "orientation": [ + 0.6220444440841675, + -0.5271482467651367, + -0.3569406270980835, + -0.4558166563510895 + ], + "joints": [ + 0.018520116806030273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11890819668769836, + 0.1137794628739357, + -0.006005983334034681 + ], + "orientation": [ + 0.4515343904495239, + -0.49487558007240295, + 0.39846929907798767, + 0.6264479756355286 + ], + "joints": [ + 0.0077972025610506535 + ] + }, + "fine_grasp": { + "position": [ + 0.11795490235090256, + 0.1136932522058487, + -0.006074857898056507 + ], + "orientation": [ + 0.4597792625427246, + -0.48418179154396057, + 0.38868045806884766, + 0.6349003911018372 + ], + "joints": [ + 0.013722310774028301 + ] + }, + "final_grasp": { + "position": [ + 0.11795490235090256, + 0.1136932522058487, + -0.006074857898056507 + ], + "orientation": [ + 0.4597792625427246, + -0.48418179154396057, + 0.38868045806884766, + 0.6349003911018372 + ], + "joints": [ + 0.019647419452667236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11441591382026672, + 0.10806504637002945, + -0.01756206341087818 + ], + "orientation": [ + 0.4392792880535126, + 0.6260398626327515, + -0.40720444917678833, + 0.49929186701774597 + ], + "joints": [ + 0.00784477312117815 + ] + }, + "fine_grasp": { + "position": [ + 0.11216670274734497, + 0.10797083377838135, + -0.017625877633690834 + ], + "orientation": [ + 0.43975815176963806, + 0.6271198391914368, + -0.40333932638168335, + 0.5006505250930786 + ], + "joints": [ + 0.013185339979827404 + ] + }, + "final_grasp": { + "position": [ + 0.11216670274734497, + 0.10797083377838135, + -0.017625877633690834 + ], + "orientation": [ + 0.43975815176963806, + 0.6271198391914368, + -0.40333932638168335, + 0.5006505250930786 + ], + "joints": [ + 0.018525905907154083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05969160795211792, + 0.12559179961681366, + 0.09492246061563492 + ], + "orientation": [ + 0.1406458467245102, + 0.24431847035884857, + -0.5216863751411438, + 0.805214524269104 + ], + "joints": [ + 0.007831872440874577 + ] + }, + "fine_grasp": { + "position": [ + 0.05758535489439964, + 0.12321317195892334, + 0.09228844195604324 + ], + "orientation": [ + 0.14667829871177673, + 0.2387292981147766, + -0.5173383951187134, + 0.8086128830909729 + ], + "joints": [ + 0.013703838922083378 + ] + }, + "final_grasp": { + "position": [ + 0.05758535489439964, + 0.12321317195892334, + 0.09228844195604324 + ], + "orientation": [ + 0.14667829871177673, + 0.2387292981147766, + -0.5173383951187134, + 0.8086128830909729 + ], + "joints": [ + 0.019575804471969604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05965646728873253, + 0.1260720044374466, + 0.09523885697126389 + ], + "orientation": [ + 0.14158214628696442, + 0.2415257841348648, + -0.5207496881484985, + 0.8064984083175659 + ], + "joints": [ + 0.008060231804847717 + ] + }, + "fine_grasp": { + "position": [ + 0.05708784610033035, + 0.12352780252695084, + 0.09235769510269165 + ], + "orientation": [ + 0.14596886932849884, + 0.23641005158424377, + -0.5160703659057617, + 0.8102312684059143 + ], + "joints": [ + 0.013400798663496971 + ] + }, + "final_grasp": { + "position": [ + 0.05708784610033035, + 0.12352780252695084, + 0.09235769510269165 + ], + "orientation": [ + 0.14596886932849884, + 0.23641005158424377, + -0.5160703659057617, + 0.8102312684059143 + ], + "joints": [ + 0.018741365522146225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04607102647423744, + 0.06428510695695877, + -0.11174362152814865 + ], + "orientation": [ + 0.7054998874664307, + 0.6816288828849792, + -0.14453120529651642, + 0.12947089970111847 + ], + "joints": [ + 0.008162198588252068 + ] + }, + "fine_grasp": { + "position": [ + 0.04706553742289543, + 0.06257444620132446, + -0.11430643498897552 + ], + "orientation": [ + 0.700484037399292, + 0.687035083770752, + -0.14267106354236603, + 0.1301920861005783 + ], + "joints": [ + 0.014538994058966637 + ] + }, + "final_grasp": { + "position": [ + 0.04706553742289543, + 0.06257444620132446, + -0.11430643498897552 + ], + "orientation": [ + 0.700484037399292, + 0.687035083770752, + -0.14267106354236603, + 0.1301920861005783 + ], + "joints": [ + 0.020915789529681206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015790779143571854, + 0.2814839482307434, + 0.00028959038900211453 + ], + "orientation": [ + 0.0035990718752145767, + -0.7738056778907776, + -0.01755269430577755, + -0.6331694722175598 + ], + "joints": [ + 0.008761669509112835 + ] + }, + "fine_grasp": { + "position": [ + -0.015122276730835438, + 0.2757282555103302, + 0.0005653321277350187 + ], + "orientation": [ + 0.006815105210989714, + -0.7732616066932678, + -0.019436031579971313, + -0.6337525248527527 + ], + "joints": [ + 0.014633635990321636 + ] + }, + "final_grasp": { + "position": [ + -0.015122276730835438, + 0.2757282555103302, + 0.0005653321277350187 + ], + "orientation": [ + 0.006815105210989714, + -0.7732616066932678, + -0.019436031579971313, + -0.6337525248527527 + ], + "joints": [ + 0.020505603402853012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11455493420362473, + 0.10757866501808167, + -0.017011236399412155 + ], + "orientation": [ + 0.4382070302963257, + 0.6251932978630066, + -0.4096735715866089, + 0.49927499890327454 + ], + "joints": [ + 0.00773595692589879 + ] + }, + "fine_grasp": { + "position": [ + 0.1122961938381195, + 0.10762083530426025, + -0.01716541312634945 + ], + "orientation": [ + 0.4384235441684723, + 0.6267790794372559, + -0.4065777063369751, + 0.49962735176086426 + ], + "joints": [ + 0.013076524250209332 + ] + }, + "final_grasp": { + "position": [ + 0.1122961938381195, + 0.10762083530426025, + -0.01716541312634945 + ], + "orientation": [ + 0.4384235441684723, + 0.6267790794372559, + -0.4065777063369751, + 0.49962735176086426 + ], + "joints": [ + 0.01841709204018116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039840422570705414, + 0.11777401715517044, + -0.10529504716396332 + ], + "orientation": [ + 0.5501258969306946, + 0.8165798783302307, + -0.10912215709686279, + 0.1365690529346466 + ], + "joints": [ + 0.008305912837386131 + ] + }, + "fine_grasp": { + "position": [ + 0.039225343614816666, + 0.11654312163591385, + -0.10387954860925674 + ], + "orientation": [ + 0.5489780306816101, + 0.8179683089256287, + -0.10307729989290237, + 0.13757245242595673 + ], + "joints": [ + 0.014177879318594933 + ] + }, + "final_grasp": { + "position": [ + 0.039225343614816666, + 0.11654312163591385, + -0.10387954860925674 + ], + "orientation": [ + 0.5489780306816101, + 0.8179683089256287, + -0.10307729989290237, + 0.13757245242595673 + ], + "joints": [ + 0.020049845799803734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05636214837431908, + 0.1147996261715889, + -0.09919342398643494 + ], + "orientation": [ + 0.15559767186641693, + -0.19341139495372772, + 0.5477937459945679, + 0.7989389300346375 + ], + "joints": [ + 0.008403055369853973 + ] + }, + "fine_grasp": { + "position": [ + 0.05409391596913338, + 0.11385907977819443, + -0.09649098664522171 + ], + "orientation": [ + 0.15159574151039124, + -0.1928400695323944, + 0.5488811135292053, + 0.7991001009941101 + ], + "joints": [ + 0.013743622228503227 + ] + }, + "final_grasp": { + "position": [ + 0.05409391596913338, + 0.11385907977819443, + -0.09649098664522171 + ], + "orientation": [ + 0.15159574151039124, + -0.1928400695323944, + 0.5488811135292053, + 0.7991001009941101 + ], + "joints": [ + 0.01908418908715248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06268759071826935, + 0.10829923301935196, + -0.09775277227163315 + ], + "orientation": [ + 0.17879290878772736, + -0.20805425941944122, + 0.5656272172927856, + 0.7776969075202942 + ], + "joints": [ + 0.008492641150951385 + ] + }, + "fine_grasp": { + "position": [ + 0.06042077764868736, + 0.10763847827911377, + -0.0948387011885643 + ], + "orientation": [ + 0.17658545076847076, + -0.20744863152503967, + 0.566164493560791, + 0.7779719233512878 + ], + "joints": [ + 0.01383320800960064 + ] + }, + "final_grasp": { + "position": [ + 0.06042077764868736, + 0.10763847827911377, + -0.0948387011885643 + ], + "orientation": [ + 0.17658545076847076, + -0.20744863152503967, + 0.566164493560791, + 0.7779719233512878 + ], + "joints": [ + 0.019173774868249893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006264249794185162, + 0.04982837662100792, + -0.1189679428935051 + ], + "orientation": [ + 0.08129657804965973, + 0.032407015562057495, + 0.7807818651199341, + 0.6186439990997314 + ], + "joints": [ + 0.007867863401770592 + ] + }, + "fine_grasp": { + "position": [ + 0.006158814299851656, + 0.05039452016353607, + -0.11804240942001343 + ], + "orientation": [ + 0.09993823617696762, + 0.05012000352144241, + 0.7788029909133911, + 0.6172245740890503 + ], + "joints": [ + 0.01429780013859272 + ] + }, + "final_grasp": { + "position": [ + 0.006158814299851656, + 0.05039452016353607, + -0.11804240942001343 + ], + "orientation": [ + 0.09993823617696762, + 0.05012000352144241, + 0.7788029909133911, + 0.6172245740890503 + ], + "joints": [ + 0.02072773687541485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0459856241941452, + 0.0633070096373558, + -0.11254774779081345 + ], + "orientation": [ + 0.7010123133659363, + 0.6866282820701599, + -0.14438696205615997, + 0.1275760382413864 + ], + "joints": [ + 0.008114896714687347 + ] + }, + "fine_grasp": { + "position": [ + 0.04666946455836296, + 0.062223464250564575, + -0.11446823179721832 + ], + "orientation": [ + 0.698371171951294, + 0.689504086971283, + -0.14380046725273132, + 0.12721340358257294 + ], + "joints": [ + 0.014518262818455696 + ] + }, + "final_grasp": { + "position": [ + 0.04666946455836296, + 0.062223464250564575, + -0.11446823179721832 + ], + "orientation": [ + 0.698371171951294, + 0.689504086971283, + -0.14380046725273132, + 0.12721340358257294 + ], + "joints": [ + 0.020921628922224045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.115277498960495, + 0.06181490421295166, + 0.0380459763109684 + ], + "orientation": [ + 0.4039495885372162, + 0.41175752878189087, + -0.6573746800422668, + 0.4849112629890442 + ], + "joints": [ + 0.007892316207289696 + ] + }, + "fine_grasp": { + "position": [ + 0.11464007943868637, + 0.062459446489810944, + 0.03756333142518997 + ], + "orientation": [ + 0.37834978103637695, + 0.43141064047813416, + -0.6716597676277161, + 0.46862518787384033 + ], + "joints": [ + 0.013312594965100288 + ] + }, + "final_grasp": { + "position": [ + 0.11464007943868637, + 0.062459446489810944, + 0.03756333142518997 + ], + "orientation": [ + 0.37834978103637695, + 0.43141064047813416, + -0.6716597676277161, + 0.46862518787384033 + ], + "joints": [ + 0.01873287372291088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11825042963027954, + 0.11358694732189178, + -0.01728549227118492 + ], + "orientation": [ + 0.44937098026275635, + 0.6199215650558472, + -0.4390227794647217, + 0.4701295793056488 + ], + "joints": [ + 0.008271763101220131 + ] + }, + "fine_grasp": { + "position": [ + 0.11608590930700302, + 0.11315802484750748, + -0.016108965501189232 + ], + "orientation": [ + 0.4265291392803192, + 0.6389292478561401, + -0.45583245158195496, + 0.4495099186897278 + ], + "joints": [ + 0.014143729582428932 + ] + }, + "final_grasp": { + "position": [ + 0.11608590930700302, + 0.11315802484750748, + -0.016108965501189232 + ], + "orientation": [ + 0.4265291392803192, + 0.6389292478561401, + -0.45583245158195496, + 0.4495099186897278 + ], + "joints": [ + 0.020015696063637733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07474331557750702, + 0.03167735040187836, + 0.08784749358892441 + ], + "orientation": [ + 0.7454489469528198, + -0.5645966529846191, + 0.2985309660434723, + 0.19082923233509064 + ], + "joints": [ + 0.008017987944185734 + ] + }, + "fine_grasp": { + "position": [ + 0.07468903064727783, + 0.030448026955127716, + 0.08649628609418869 + ], + "orientation": [ + 0.7458968758583069, + -0.5607931613922119, + 0.3074811100959778, + 0.18602211773395538 + ], + "joints": [ + 0.01282715518027544 + ] + }, + "final_grasp": { + "position": [ + 0.07468903064727783, + 0.030448026955127716, + 0.08649628609418869 + ], + "orientation": [ + 0.7458968758583069, + -0.5607931613922119, + 0.3074811100959778, + 0.18602211773395538 + ], + "joints": [ + 0.017636321485042572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11552160233259201, + 0.06130927428603172, + 0.03801530599594116 + ], + "orientation": [ + 0.40215885639190674, + 0.4132610559463501, + -0.6593623757362366, + 0.4824156165122986 + ], + "joints": [ + 0.008287476375699043 + ] + }, + "fine_grasp": { + "position": [ + 0.11465221643447876, + 0.061970122158527374, + 0.037435900419950485 + ], + "orientation": [ + 0.3770182430744171, + 0.43254604935646057, + -0.6729881167411804, + 0.46674203872680664 + ], + "joints": [ + 0.013176355510950089 + ] + }, + "final_grasp": { + "position": [ + 0.11465221643447876, + 0.061970122158527374, + 0.037435900419950485 + ], + "orientation": [ + 0.3770182430744171, + 0.43254604935646057, + -0.6729881167411804, + 0.46674203872680664 + ], + "joints": [ + 0.018065234646201134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08769527077674866, + 0.13279937207698822, + 0.0681401938199997 + ], + "orientation": [ + 0.49523788690567017, + -0.7546091675758362, + 0.260823518037796, + 0.3424552083015442 + ], + "joints": [ + 0.008020186796784401 + ] + }, + "fine_grasp": { + "position": [ + 0.08673104643821716, + 0.13322749733924866, + 0.06504756957292557 + ], + "orientation": [ + 0.48177218437194824, + -0.7624638080596924, + 0.27474331855773926, + 0.3332575559616089 + ], + "joints": [ + 0.012829354032874107 + ] + }, + "final_grasp": { + "position": [ + 0.08673104643821716, + 0.13322749733924866, + 0.06504756957292557 + ], + "orientation": [ + 0.48177218437194824, + -0.7624638080596924, + 0.27474331855773926, + 0.3332575559616089 + ], + "joints": [ + 0.017638521268963814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03750630468130112, + 0.0993892103433609, + 0.11729756742715836 + ], + "orientation": [ + 0.6652917265892029, + -0.7284282445907593, + -0.15091122686862946, + -0.06328598409891129 + ], + "joints": [ + 0.008403962478041649 + ] + }, + "fine_grasp": { + "position": [ + -0.036952607333660126, + 0.09921439737081528, + 0.11510802060365677 + ], + "orientation": [ + 0.6600764393806458, + -0.7298091053962708, + -0.17364387214183807, + -0.039058100432157516 + ], + "joints": [ + 0.01430249959230423 + ] + }, + "final_grasp": { + "position": [ + -0.036952607333660126, + 0.09921439737081528, + 0.11510802060365677 + ], + "orientation": [ + 0.6600764393806458, + -0.7298091053962708, + -0.17364387214183807, + -0.039058100432157516 + ], + "joints": [ + 0.02020103670656681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09093943983316422, + 0.1049337387084961, + -0.07985347509384155 + ], + "orientation": [ + 0.6115849614143372, + 0.6685471534729004, + 0.23114259541034698, + -0.35437509417533875 + ], + "joints": [ + 0.007875585928559303 + ] + }, + "fine_grasp": { + "position": [ + -0.0900045782327652, + 0.10487046092748642, + -0.07918597012758255 + ], + "orientation": [ + 0.616343080997467, + 0.6588640809059143, + 0.21489514410495758, + -0.3739510476589203 + ], + "joints": [ + 0.013827264308929443 + ] + }, + "final_grasp": { + "position": [ + -0.0900045782327652, + 0.10487046092748642, + -0.07918597012758255 + ], + "orientation": [ + 0.616343080997467, + 0.6588640809059143, + 0.21489514410495758, + -0.3739510476589203 + ], + "joints": [ + 0.019778942689299583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08755363523960114, + 0.08807017654180527, + 0.0853557214140892 + ], + "orientation": [ + 0.6827281713485718, + -0.615635097026825, + 0.22761878371238708, + 0.3210378587245941 + ], + "joints": [ + 0.008434953168034554 + ] + }, + "fine_grasp": { + "position": [ + 0.08602652698755264, + 0.08817470073699951, + 0.08382819592952728 + ], + "orientation": [ + 0.6908185482025146, + -0.6037253141403198, + 0.2039119303226471, + 0.3416215777397156 + ], + "joints": [ + 0.013828661292791367 + ] + }, + "final_grasp": { + "position": [ + 0.08602652698755264, + 0.08817470073699951, + 0.08382819592952728 + ], + "orientation": [ + 0.6908185482025146, + -0.6037253141403198, + 0.2039119303226471, + 0.3416215777397156 + ], + "joints": [ + 0.01922236941754818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09103114157915115, + 0.10524111241102219, + -0.07973554730415344 + ], + "orientation": [ + 0.6109082102775574, + 0.6688195466995239, + 0.23155584931373596, + -0.35475823283195496 + ], + "joints": [ + 0.007918788120150566 + ] + }, + "fine_grasp": { + "position": [ + -0.09002424031496048, + 0.10506949573755264, + -0.07906225323677063 + ], + "orientation": [ + 0.6160041093826294, + 0.6586849689483643, + 0.21446587145328522, + -0.37506985664367676 + ], + "joints": [ + 0.013870466500520706 + ] + }, + "final_grasp": { + "position": [ + -0.09002424031496048, + 0.10506949573755264, + -0.07906225323677063 + ], + "orientation": [ + 0.6160041093826294, + 0.6586849689483643, + 0.21446587145328522, + -0.37506985664367676 + ], + "joints": [ + 0.019822144880890846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06638094037771225, + 0.07247266918420792, + 0.09939245134592056 + ], + "orientation": [ + 0.6806375980377197, + -0.6720986366271973, + 0.1994997262954712, + 0.21263979375362396 + ], + "joints": [ + 0.008228188380599022 + ] + }, + "fine_grasp": { + "position": [ + 0.06487011909484863, + 0.0728844404220581, + 0.09470599889755249 + ], + "orientation": [ + 0.6761186718940735, + -0.6738842725753784, + 0.19406342506408691, + 0.22601518034934998 + ], + "joints": [ + 0.013568755239248276 + ] + }, + "final_grasp": { + "position": [ + 0.06487011909484863, + 0.0728844404220581, + 0.09470599889755249 + ], + "orientation": [ + 0.6761186718940735, + -0.6738842725753784, + 0.19406342506408691, + 0.22601518034934998 + ], + "joints": [ + 0.01890932209789753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.090858593583107, + 0.1052827462553978, + -0.0797860398888588 + ], + "orientation": [ + 0.612720251083374, + 0.6670889854431152, + 0.2291855812072754, + -0.35642680525779724 + ], + "joints": [ + 0.007844595238566399 + ] + }, + "fine_grasp": { + "position": [ + -0.0898708701133728, + 0.10505251586437225, + -0.07914011925458908 + ], + "orientation": [ + 0.6174125075340271, + 0.657389223575592, + 0.21291309595108032, + -0.375911146402359 + ], + "joints": [ + 0.013796273618936539 + ] + }, + "final_grasp": { + "position": [ + -0.0898708701133728, + 0.10505251586437225, + -0.07914011925458908 + ], + "orientation": [ + 0.6174125075340271, + 0.657389223575592, + 0.21291309595108032, + -0.375911146402359 + ], + "joints": [ + 0.01974795199930668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06905665248632431, + 0.019899344071745872, + 0.0844530463218689 + ], + "orientation": [ + 0.32244715094566345, + 0.1542448103427887, + 0.78056401014328, + -0.5127926468849182 + ], + "joints": [ + 0.008197002112865448 + ] + }, + "fine_grasp": { + "position": [ + -0.06867491453886032, + 0.02129843644797802, + 0.0834025964140892 + ], + "orientation": [ + 0.34527915716171265, + 0.13622978329658508, + 0.7688357830047607, + -0.5206874012947083 + ], + "joints": [ + 0.013032739982008934 + ] + }, + "final_grasp": { + "position": [ + -0.06867491453886032, + 0.02129843644797802, + 0.0834025964140892 + ], + "orientation": [ + 0.34527915716171265, + 0.13622978329658508, + 0.7688357830047607, + -0.5206874012947083 + ], + "joints": [ + 0.01786847785115242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11784759908914566, + 0.0447671078145504, + -0.003295712172985077 + ], + "orientation": [ + 0.5329879522323608, + -0.4449261426925659, + 0.5734571814537048, + 0.43486952781677246 + ], + "joints": [ + 0.007441958878189325 + ] + }, + "fine_grasp": { + "position": [ + 0.11809125542640686, + 0.04357018694281578, + -0.0036600965540856123 + ], + "orientation": [ + 0.5263707041740417, + -0.44993069767951965, + 0.5856831669807434, + 0.42127346992492676 + ], + "joints": [ + 0.012251126579940319 + ] + }, + "final_grasp": { + "position": [ + 0.11809125542640686, + 0.04357018694281578, + -0.0036600965540856123 + ], + "orientation": [ + 0.5263707041740417, + -0.44993069767951965, + 0.5856831669807434, + 0.42127346992492676 + ], + "joints": [ + 0.0170602947473526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05862370878458023, + 0.10201209783554077, + -0.10626079142093658 + ], + "orientation": [ + 0.6514843106269836, + 0.710655689239502, + 0.1169157400727272, + -0.2384689301252365 + ], + "joints": [ + 0.008322233334183693 + ] + }, + "fine_grasp": { + "position": [ + -0.05656327307224274, + 0.10152566432952881, + -0.10381112992763519 + ], + "orientation": [ + 0.6576055884361267, + 0.7017748355865479, + 0.09734514355659485, + -0.2561071217060089 + ], + "joints": [ + 0.014247341081500053 + ] + }, + "final_grasp": { + "position": [ + -0.05656327307224274, + 0.10152566432952881, + -0.10381112992763519 + ], + "orientation": [ + 0.6576055884361267, + 0.7017748355865479, + 0.09734514355659485, + -0.2561071217060089 + ], + "joints": [ + 0.020172448828816414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05886120721697807, + 0.10283661633729935, + -0.10626816004514694 + ], + "orientation": [ + 0.65391606092453, + 0.7074022889137268, + 0.11379983276128769, + -0.24295127391815186 + ], + "joints": [ + 0.008360564708709717 + ] + }, + "fine_grasp": { + "position": [ + -0.05676190182566643, + 0.10227018594741821, + -0.10357334464788437 + ], + "orientation": [ + 0.6602346897125244, + 0.6987518668174744, + 0.09524944424629211, + -0.2583863139152527 + ], + "joints": [ + 0.014259101822972298 + ] + }, + "final_grasp": { + "position": [ + -0.05676190182566643, + 0.10227018594741821, + -0.10357334464788437 + ], + "orientation": [ + 0.6602346897125244, + 0.6987518668174744, + 0.09524944424629211, + -0.2583863139152527 + ], + "joints": [ + 0.02015763893723488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09105005860328674, + 0.10564111918210983, + -0.07937457412481308 + ], + "orientation": [ + 0.616651713848114, + 0.6621584296226501, + 0.2284080982208252, + -0.35932809114456177 + ], + "joints": [ + 0.00791715644299984 + ] + }, + "fine_grasp": { + "position": [ + -0.0899280309677124, + 0.10514289140701294, + -0.07875886559486389 + ], + "orientation": [ + 0.6203702092170715, + 0.6529558300971985, + 0.21133019030094147, + -0.3796432614326477 + ], + "joints": [ + 0.01386883482336998 + ] + }, + "final_grasp": { + "position": [ + -0.0899280309677124, + 0.10514289140701294, + -0.07875886559486389 + ], + "orientation": [ + 0.6203702092170715, + 0.6529558300971985, + 0.21133019030094147, + -0.3796432614326477 + ], + "joints": [ + 0.01982051320374012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07045117765665054, + 0.06591853499412537, + 0.09777697175741196 + ], + "orientation": [ + 0.7311029434204102, + -0.6090327501296997, + 0.17583835124969482, + 0.2522866129875183 + ], + "joints": [ + 0.008444011211395264 + ] + }, + "fine_grasp": { + "position": [ + 0.06971737742424011, + 0.06734838336706161, + 0.09620437771081924 + ], + "orientation": [ + 0.7313666939735413, + -0.6051176190376282, + 0.1553594321012497, + 0.27349352836608887 + ], + "joints": [ + 0.014342548325657845 + ] + }, + "final_grasp": { + "position": [ + 0.06971737742424011, + 0.06734838336706161, + 0.09620437771081924 + ], + "orientation": [ + 0.7313666939735413, + -0.6051176190376282, + 0.1553594321012497, + 0.27349352836608887 + ], + "joints": [ + 0.020241085439920425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045596927404403687, + 0.06217274069786072, + -0.11318552494049072 + ], + "orientation": [ + 0.6981068849563599, + 0.6902666687965393, + -0.14230722188949585, + 0.12620383501052856 + ], + "joints": [ + 0.00815243273973465 + ] + }, + "fine_grasp": { + "position": [ + 0.046206239610910416, + 0.0613403245806694, + -0.11460375040769577 + ], + "orientation": [ + 0.6963458061218262, + 0.6922516226768494, + -0.14107942581176758, + 0.12643946707248688 + ], + "joints": [ + 0.014555798843502998 + ] + }, + "final_grasp": { + "position": [ + 0.046206239610910416, + 0.0613403245806694, + -0.11460375040769577 + ], + "orientation": [ + 0.6963458061218262, + 0.6922516226768494, + -0.14107942581176758, + 0.12643946707248688 + ], + "joints": [ + 0.020959164947271347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10730112344026566, + 0.1400405317544937, + 0.03903244435787201 + ], + "orientation": [ + 0.3509238660335541, + 0.4356922209262848, + 0.4405282437801361, + -0.7021108269691467 + ], + "joints": [ + 0.008071603253483772 + ] + }, + "fine_grasp": { + "position": [ + -0.10868577659130096, + 0.13807247579097748, + 0.03845326974987984 + ], + "orientation": [ + 0.36736124753952026, + 0.41120612621307373, + 0.42781949043273926, + -0.716188371181488 + ], + "joints": [ + 0.013996711000800133 + ] + }, + "final_grasp": { + "position": [ + -0.10868577659130096, + 0.13807247579097748, + 0.03845326974987984 + ], + "orientation": [ + 0.36736124753952026, + 0.41120612621307373, + 0.42781949043273926, + -0.716188371181488 + ], + "joints": [ + 0.019921818748116493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04365993291139603, + 0.07707805186510086, + 0.11379517614841461 + ], + "orientation": [ + 0.709696352481842, + -0.6769075989723206, + 0.07880338281393051, + 0.1786540299654007 + ], + "joints": [ + 0.007928404957056046 + ] + }, + "fine_grasp": { + "position": [ + 0.043203189969062805, + 0.07727085053920746, + 0.11213090270757675 + ], + "orientation": [ + 0.7112222909927368, + -0.671231746673584, + 0.0555090457201004, + 0.20131956040859222 + ], + "joints": [ + 0.013853512704372406 + ] + }, + "final_grasp": { + "position": [ + 0.043203189969062805, + 0.07727085053920746, + 0.11213090270757675 + ], + "orientation": [ + 0.7112222909927368, + -0.671231746673584, + 0.0555090457201004, + 0.20131956040859222 + ], + "joints": [ + 0.019778620451688766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043290168046951294, + 0.07815879583358765, + 0.11392324417829514 + ], + "orientation": [ + 0.7084338068962097, + -0.678520143032074, + 0.0770886093378067, + 0.17829613387584686 + ], + "joints": [ + 0.007928403094410896 + ] + }, + "fine_grasp": { + "position": [ + 0.04290250688791275, + 0.07833632826805115, + 0.11224151402711868 + ], + "orientation": [ + 0.7098738551139832, + -0.6728535294532776, + 0.05433351919054985, + 0.2009856104850769 + ], + "joints": [ + 0.013853510841727257 + ] + }, + "final_grasp": { + "position": [ + 0.04290250688791275, + 0.07833632826805115, + 0.11224151402711868 + ], + "orientation": [ + 0.7098738551139832, + -0.6728535294532776, + 0.05433351919054985, + 0.2009856104850769 + ], + "joints": [ + 0.019778618589043617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04824227839708328, + 0.13842613995075226, + -0.10250832885503769 + ], + "orientation": [ + 0.5456077456474304, + 0.8127338886260986, + -0.157085582613945, + 0.13076680898666382 + ], + "joints": [ + 0.008309723809361458 + ] + }, + "fine_grasp": { + "position": [ + 0.04959864541888237, + 0.13740110397338867, + -0.10353666543960571 + ], + "orientation": [ + 0.5413806438446045, + 0.8150568604469299, + -0.17811258137226105, + 0.10423643887042999 + ], + "joints": [ + 0.014713089913129807 + ] + }, + "final_grasp": { + "position": [ + 0.04959864541888237, + 0.13740110397338867, + -0.10353666543960571 + ], + "orientation": [ + 0.5413806438446045, + 0.8150568604469299, + -0.17811258137226105, + 0.10423643887042999 + ], + "joints": [ + 0.021116456016898155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07465656101703644, + 0.030407950282096863, + 0.08805813640356064 + ], + "orientation": [ + 0.7436230778694153, + -0.5675514340400696, + 0.29708561301231384, + 0.19144277274608612 + ], + "joints": [ + 0.008092375472187996 + ] + }, + "fine_grasp": { + "position": [ + 0.07466650754213333, + 0.029421469196677208, + 0.08690369874238968 + ], + "orientation": [ + 0.7438066601753235, + -0.5645766258239746, + 0.30468934774398804, + 0.1875348836183548 + ], + "joints": [ + 0.012901542708277702 + ] + }, + "final_grasp": { + "position": [ + 0.07466650754213333, + 0.029421469196677208, + 0.08690369874238968 + ], + "orientation": [ + 0.7438066601753235, + -0.5645766258239746, + 0.30468934774398804, + 0.1875348836183548 + ], + "joints": [ + 0.01771070994436741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08762332051992416, + 0.08912163972854614, + 0.08528568595647812 + ], + "orientation": [ + 0.6863625645637512, + -0.6116316914558411, + 0.2272559404373169, + 0.3211973011493683 + ], + "joints": [ + 0.008434953168034554 + ] + }, + "fine_grasp": { + "position": [ + 0.0862739086151123, + 0.08938291668891907, + 0.08357130736112595 + ], + "orientation": [ + 0.6938806772232056, + -0.5995134711265564, + 0.20322486758232117, + 0.34323862195014954 + ], + "joints": [ + 0.013828661292791367 + ] + }, + "final_grasp": { + "position": [ + 0.0862739086151123, + 0.08938291668891907, + 0.08357130736112595 + ], + "orientation": [ + 0.6938806772232056, + -0.5995134711265564, + 0.20322486758232117, + 0.34323862195014954 + ], + "joints": [ + 0.01922236941754818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026104658842086792, + 0.09529276937246323, + 0.120737724006176 + ], + "orientation": [ + 0.6396527886390686, + -0.7578651309013367, + 0.12755106389522552, + 0.014678510837256908 + ], + "joints": [ + 0.00663747638463974 + ] + }, + "fine_grasp": { + "position": [ + 0.025913512334227562, + 0.09557140618562698, + 0.12176636606454849 + ], + "orientation": [ + 0.6345429420471191, + -0.7581062912940979, + 0.15017388761043549, + -0.008830882608890533 + ], + "joints": [ + 0.012031184509396553 + ] + }, + "final_grasp": { + "position": [ + 0.025913512334227562, + 0.09557140618562698, + 0.12176636606454849 + ], + "orientation": [ + 0.6345429420471191, + -0.7581062912940979, + 0.15017388761043549, + -0.008830882608890533 + ], + "joints": [ + 0.017424892634153366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11666391044855118, + 0.04204295203089714, + 0.00960188265889883 + ], + "orientation": [ + 0.5938567519187927, + -0.44058504700660706, + 0.5236536860466003, + 0.4230908751487732 + ], + "joints": [ + 0.007335997652262449 + ] + }, + "fine_grasp": { + "position": [ + 0.1186920627951622, + 0.03982866555452347, + 0.009117850102484226 + ], + "orientation": [ + 0.602301836013794, + -0.43644991517066956, + 0.5087419152259827, + 0.43350377678871155 + ], + "joints": [ + 0.013739364221692085 + ] + }, + "final_grasp": { + "position": [ + 0.1186920627951622, + 0.03982866555452347, + 0.009117850102484226 + ], + "orientation": [ + 0.602301836013794, + -0.43644991517066956, + 0.5087419152259827, + 0.43350377678871155 + ], + "joints": [ + 0.020142730325460434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054432157427072525, + 0.04750710353255272, + 0.10692526400089264 + ], + "orientation": [ + 0.7426646947860718, + -0.6201888918876648, + -0.22899015247821808, + -0.1066695898771286 + ], + "joints": [ + 0.007978778332471848 + ] + }, + "fine_grasp": { + "position": [ + -0.05362938717007637, + 0.04838752746582031, + 0.10629753768444061 + ], + "orientation": [ + 0.7332855463027954, + -0.6246773600578308, + -0.25486767292022705, + -0.0843387320637703 + ], + "joints": [ + 0.014382144436240196 + ] + }, + "final_grasp": { + "position": [ + -0.05362938717007637, + 0.04838752746582031, + 0.10629753768444061 + ], + "orientation": [ + 0.7332855463027954, + -0.6246773600578308, + -0.25486767292022705, + -0.0843387320637703 + ], + "joints": [ + 0.020785510540008545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05248899385333061, + 0.03569510579109192, + -0.10534660518169403 + ], + "orientation": [ + 0.18741965293884277, + -0.1330382376909256, + 0.7673484086990356, + 0.5986242890357971 + ], + "joints": [ + 0.008378954604268074 + ] + }, + "fine_grasp": { + "position": [ + 0.05264701694250107, + 0.03530874848365784, + -0.10670015215873718 + ], + "orientation": [ + 0.18824604153633118, + -0.13535423576831818, + 0.7649846076965332, + 0.6008670330047607 + ], + "joints": [ + 0.014250921085476875 + ] + }, + "final_grasp": { + "position": [ + 0.05264701694250107, + 0.03530874848365784, + -0.10670015215873718 + ], + "orientation": [ + 0.18824604153633118, + -0.13535423576831818, + 0.7649846076965332, + 0.6008670330047607 + ], + "joints": [ + 0.020122887566685677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021711353212594986, + 0.03952057659626007, + 0.11390020698308945 + ], + "orientation": [ + 0.7898241877555847, + -0.5990848541259766, + 0.1306171417236328, + 0.014636717736721039 + ], + "joints": [ + 0.007087273057550192 + ] + }, + "fine_grasp": { + "position": [ + 0.022326037287712097, + 0.03871042653918266, + 0.11563827842473984 + ], + "orientation": [ + 0.790049135684967, + -0.5956121683120728, + 0.14512261748313904, + -0.0027986059430986643 + ], + "joints": [ + 0.011923011392354965 + ] + }, + "final_grasp": { + "position": [ + 0.022326037287712097, + 0.03871042653918266, + 0.11563827842473984 + ], + "orientation": [ + 0.790049135684967, + -0.5956121683120728, + 0.14512261748313904, + -0.0027986059430986643 + ], + "joints": [ + 0.01675874926149845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12300466001033783, + 0.07084770500659943, + 0.014101476408541203 + ], + "orientation": [ + 0.5418215394020081, + -0.5132385492324829, + -0.42661330103874207, + -0.5108978152275085 + ], + "joints": [ + 0.0065423049964010715 + ] + }, + "fine_grasp": { + "position": [ + -0.1242719441652298, + 0.07087090611457825, + 0.014894116669893265 + ], + "orientation": [ + 0.5522214770317078, + -0.5004385709762573, + -0.4072783887386322, + -0.5279552936553955 + ], + "joints": [ + 0.01241427194327116 + ] + }, + "final_grasp": { + "position": [ + -0.1242719441652298, + 0.07087090611457825, + 0.014894116669893265 + ], + "orientation": [ + 0.5522214770317078, + -0.5004385709762573, + -0.4072783887386322, + -0.5279552936553955 + ], + "joints": [ + 0.018286239355802536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052128493785858154, + 0.034835781902074814, + -0.10582958161830902 + ], + "orientation": [ + 0.18441736698150635, + -0.13296954333782196, + 0.7649385929107666, + 0.6026428937911987 + ], + "joints": [ + 0.008340908214449883 + ] + }, + "fine_grasp": { + "position": [ + 0.05236753448843956, + 0.03434302285313606, + -0.10724182426929474 + ], + "orientation": [ + 0.185431569814682, + -0.13548286259174347, + 0.7621083855628967, + 0.6053515076637268 + ], + "joints": [ + 0.014212874695658684 + ] + }, + "final_grasp": { + "position": [ + 0.05236753448843956, + 0.03434302285313606, + -0.10724182426929474 + ], + "orientation": [ + 0.185431569814682, + -0.13548286259174347, + 0.7621083855628967, + 0.6053515076637268 + ], + "joints": [ + 0.020084841176867485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12249039858579636, + 0.07312069088220596, + 0.01424311101436615 + ], + "orientation": [ + 0.5466356873512268, + -0.5078548192977905, + -0.4286126494407654, + -0.509474515914917 + ], + "joints": [ + 0.006538672838360071 + ] + }, + "fine_grasp": { + "position": [ + -0.12365788221359253, + 0.072042316198349, + 0.015046496875584126 + ], + "orientation": [ + 0.5551735162734985, + -0.49670642614364624, + -0.40581557154655457, + -0.5295079946517944 + ], + "joints": [ + 0.011905810795724392 + ] + }, + "final_grasp": { + "position": [ + -0.12365788221359253, + 0.072042316198349, + 0.015046496875584126 + ], + "orientation": [ + 0.5551735162734985, + -0.49670642614364624, + -0.40581557154655457, + -0.5295079946517944 + ], + "joints": [ + 0.01727294921875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12123320996761322, + 0.05822467803955078, + 0.029323961585760117 + ], + "orientation": [ + 0.5870723724365234, + -0.5256338119506836, + -0.42424526810646057, + -0.446173757314682 + ], + "joints": [ + 0.006915133446455002 + ] + }, + "fine_grasp": { + "position": [ + -0.11936663836240768, + 0.05918736383318901, + 0.029350347816944122 + ], + "orientation": [ + 0.5935971736907959, + -0.5159695148468018, + -0.4136340618133545, + -0.45861178636550903 + ], + "joints": [ + 0.012255700305104256 + ] + }, + "final_grasp": { + "position": [ + -0.11936663836240768, + 0.05918736383318901, + 0.029350347816944122 + ], + "orientation": [ + 0.5935971736907959, + -0.5159695148468018, + -0.4136340618133545, + -0.45861178636550903 + ], + "joints": [ + 0.01759626716375351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09929360449314117, + 0.07251306623220444, + 0.04687212035059929 + ], + "orientation": [ + 0.5763213038444519, + -0.618046760559082, + 0.40215086936950684, + 0.3523445427417755 + ], + "joints": [ + 0.007441104389727116 + ] + }, + "fine_grasp": { + "position": [ + 0.10036928206682205, + 0.07174108177423477, + 0.04689871892333031 + ], + "orientation": [ + 0.5672324299812317, + -0.6266192197799683, + 0.40890762209892273, + 0.34407907724380493 + ], + "joints": [ + 0.012250271625816822 + ] + }, + "final_grasp": { + "position": [ + 0.10036928206682205, + 0.07174108177423477, + 0.04689871892333031 + ], + "orientation": [ + 0.5672324299812317, + -0.6266192197799683, + 0.40890762209892273, + 0.34407907724380493 + ], + "joints": [ + 0.017059437930583954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12155662477016449, + 0.05820790305733681, + 0.028672898188233376 + ], + "orientation": [ + 0.58774334192276, + -0.5227894186973572, + -0.4218718111515045, + -0.4508584141731262 + ], + "joints": [ + 0.0068841418251395226 + ] + }, + "fine_grasp": { + "position": [ + -0.11959876865148544, + 0.05885978788137436, + 0.028731204569339752 + ], + "orientation": [ + 0.5944252610206604, + -0.5122392177581787, + -0.4128386080265045, + -0.462421715259552 + ], + "joints": [ + 0.012224708683788776 + ] + }, + "final_grasp": { + "position": [ + -0.11959876865148544, + 0.05885978788137436, + 0.028731204569339752 + ], + "orientation": [ + 0.5944252610206604, + -0.5122392177581787, + -0.4128386080265045, + -0.462421715259552 + ], + "joints": [ + 0.017565276473760605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015190867707133293, + 0.24063289165496826, + 0.08533181250095367 + ], + "orientation": [ + 0.015295427292585373, + -0.029718831181526184, + -0.3827691972255707, + 0.9232391715049744 + ], + "joints": [ + 0.00878119096159935 + ] + }, + "fine_grasp": { + "position": [ + 0.0015600855695083737, + 0.23710310459136963, + 0.08217913657426834 + ], + "orientation": [ + 0.012404588982462883, + -0.027033688500523567, + -0.3771939277648926, + 0.9256565570831299 + ], + "joints": [ + 0.016220787540078163 + ] + }, + "final_grasp": { + "position": [ + 0.0015600855695083737, + 0.23710310459136963, + 0.08217913657426834 + ], + "orientation": [ + 0.012404588982462883, + -0.027033688500523567, + -0.3771939277648926, + 0.9256565570831299 + ], + "joints": [ + 0.023660384118556976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022319579496979713, + 0.03871805965900421, + 0.1142769455909729 + ], + "orientation": [ + 0.7849531769752502, + -0.6057420372962952, + 0.12875153124332428, + 0.018657252192497253 + ], + "joints": [ + 0.007018312346190214 + ] + }, + "fine_grasp": { + "position": [ + 0.02304817922413349, + 0.038092199712991714, + 0.11637234687805176 + ], + "orientation": [ + 0.7847594618797302, + -0.6030774116516113, + 0.14300048351287842, + 0.0010197170777246356 + ], + "joints": [ + 0.011854050680994987 + ] + }, + "final_grasp": { + "position": [ + 0.02304817922413349, + 0.038092199712991714, + 0.11637234687805176 + ], + "orientation": [ + 0.7847594618797302, + -0.6030774116516113, + 0.14300048351287842, + 0.0010197170777246356 + ], + "joints": [ + 0.016689788550138474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0573747418820858, + 0.14515294134616852, + 0.0974191352725029 + ], + "orientation": [ + 0.1835792064666748, + 0.16605065762996674, + -0.5316699147224426, + 0.809971034526825 + ], + "joints": [ + 0.007319667376577854 + ] + }, + "fine_grasp": { + "position": [ + 0.0575636625289917, + 0.14577877521514893, + 0.09818267077207565 + ], + "orientation": [ + 0.19895070791244507, + 0.15004068613052368, + -0.5227845311164856, + 0.8152317404747009 + ], + "joints": [ + 0.01215540524572134 + ] + }, + "final_grasp": { + "position": [ + 0.0575636625289917, + 0.14577877521514893, + 0.09818267077207565 + ], + "orientation": [ + 0.19895070791244507, + 0.15004068613052368, + -0.5227845311164856, + 0.8152317404747009 + ], + "joints": [ + 0.01699114218354225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03626900911331177, + 0.2629236578941345, + 0.04131481796503067 + ], + "orientation": [ + 0.10217810422182083, + 0.26716098189353943, + -0.23153972625732422, + 0.9298247694969177 + ], + "joints": [ + 0.009137170389294624 + ] + }, + "fine_grasp": { + "position": [ + 0.035303860902786255, + 0.2603318989276886, + 0.040555041283369064 + ], + "orientation": [ + 0.09836994111537933, + 0.2707877457141876, + -0.2286234200000763, + 0.9299079775810242 + ], + "joints": [ + 0.01607193984091282 + ] + }, + "final_grasp": { + "position": [ + 0.035303860902786255, + 0.2603318989276886, + 0.040555041283369064 + ], + "orientation": [ + 0.09836994111537933, + 0.2707877457141876, + -0.2286234200000763, + 0.9299079775810242 + ], + "joints": [ + 0.023006709292531013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1097845807671547, + 0.08992378413677216, + -0.044719066470861435 + ], + "orientation": [ + 0.6500663757324219, + 0.5234596729278564, + -0.37409305572509766, + 0.40429943799972534 + ], + "joints": [ + 0.007775371894240379 + ] + }, + "fine_grasp": { + "position": [ + 0.11388181149959564, + 0.08954406529664993, + -0.045817818492650986 + ], + "orientation": [ + 0.6590120792388916, + 0.5089372396469116, + -0.36225634813308716, + 0.418875128030777 + ], + "joints": [ + 0.012557968497276306 + ] + }, + "final_grasp": { + "position": [ + 0.11388181149959564, + 0.08954406529664993, + -0.045817818492650986 + ], + "orientation": [ + 0.6590120792388916, + 0.5089372396469116, + -0.36225634813308716, + 0.418875128030777 + ], + "joints": [ + 0.017340565100312233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040798336267471313, + -0.08782005310058594, + 0.010991835035383701 + ], + "orientation": [ + 0.5943108201026917, + 0.12004970759153366, + 0.7788519859313965, + -0.16053740680217743 + ], + "joints": [ + 0.00755809573456645 + ] + }, + "fine_grasp": { + "position": [ + -0.04248782992362976, + -0.0921800285577774, + 0.011430148966610432 + ], + "orientation": [ + 0.5952785015106201, + 0.12484787404537201, + 0.7759701609611511, + -0.16711367666721344 + ], + "joints": [ + 0.01502426341176033 + ] + }, + "final_grasp": { + "position": [ + -0.04248782992362976, + -0.0921800285577774, + 0.011430148966610432 + ], + "orientation": [ + 0.5952785015106201, + 0.12484787404537201, + 0.7759701609611511, + -0.16711367666721344 + ], + "joints": [ + 0.022490430623292923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10964734852313995, + 0.08961796760559082, + -0.0443616583943367 + ], + "orientation": [ + 0.651720404624939, + 0.5206819176673889, + -0.3719717860221863, + 0.40717050433158875 + ], + "joints": [ + 0.007166893687099218 + ] + }, + "fine_grasp": { + "position": [ + 0.11377162486314774, + 0.08934330940246582, + -0.045454587787389755 + ], + "orientation": [ + 0.6609005928039551, + 0.5060169100761414, + -0.3597943186759949, + 0.4215509295463562 + ], + "joints": [ + 0.011976061388850212 + ] + }, + "final_grasp": { + "position": [ + 0.11377162486314774, + 0.08934330940246582, + -0.045454587787389755 + ], + "orientation": [ + 0.6609005928039551, + 0.5060169100761414, + -0.3597943186759949, + 0.4215509295463562 + ], + "joints": [ + 0.01678522862493992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11372218281030655, + 0.12618005275726318, + 0.04358092322945595 + ], + "orientation": [ + 0.329250693321228, + 0.47713232040405273, + 0.5560135245323181, + -0.5956405401229858 + ], + "joints": [ + 0.007838983088731766 + ] + }, + "fine_grasp": { + "position": [ + -0.11450500786304474, + 0.126605823636055, + 0.04344594106078148 + ], + "orientation": [ + 0.3115135431289673, + 0.49237728118896484, + 0.5643438100814819, + -0.584841787815094 + ], + "joints": [ + 0.012648150324821472 + ] + }, + "final_grasp": { + "position": [ + -0.11450500786304474, + 0.126605823636055, + 0.04344594106078148 + ], + "orientation": [ + 0.3115135431289673, + 0.49237728118896484, + 0.5643438100814819, + -0.584841787815094 + ], + "joints": [ + 0.01745731756091118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11871340125799179, + 0.04667825624346733, + -0.026899050921201706 + ], + "orientation": [ + 0.5550523996353149, + 0.5387436151504517, + -0.5124321579933167, + 0.3729417324066162 + ], + "joints": [ + 0.00708000035956502 + ] + }, + "fine_grasp": { + "position": [ + 0.11665862053632736, + 0.04713037237524986, + -0.026867002248764038 + ], + "orientation": [ + 0.5412735939025879, + 0.5491222143173218, + -0.5278345942497253, + 0.3562000095844269 + ], + "joints": [ + 0.013509937562048435 + ] + }, + "final_grasp": { + "position": [ + 0.11665862053632736, + 0.04713037237524986, + -0.026867002248764038 + ], + "orientation": [ + 0.5412735939025879, + 0.5491222143173218, + -0.5278345942497253, + 0.3562000095844269 + ], + "joints": [ + 0.019939875230193138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022774118930101395, + 0.2730488181114197, + 0.023964684456586838 + ], + "orientation": [ + 0.06723131984472275, + 0.28006017208099365, + -0.1468372493982315, + 0.9463008046150208 + ], + "joints": [ + 0.009074036031961441 + ] + }, + "fine_grasp": { + "position": [ + 0.022419244050979614, + 0.2676573097705841, + 0.022730449214577675 + ], + "orientation": [ + 0.06664720177650452, + 0.27490749955177307, + -0.1400410681962967, + 0.948879599571228 + ], + "joints": [ + 0.01545083336532116 + ] + }, + "final_grasp": { + "position": [ + 0.022419244050979614, + 0.2676573097705841, + 0.022730449214577675 + ], + "orientation": [ + 0.06664720177650452, + 0.27490749955177307, + -0.1400410681962967, + 0.948879599571228 + ], + "joints": [ + 0.021827630698680878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11372724920511246, + 0.12647315859794617, + 0.043833982199430466 + ], + "orientation": [ + 0.32747331261634827, + 0.47785496711730957, + 0.5575765371322632, + -0.5945789813995361 + ], + "joints": [ + 0.007762787863612175 + ] + }, + "fine_grasp": { + "position": [ + -0.11447571218013763, + 0.12692077457904816, + 0.043646182864904404 + ], + "orientation": [ + 0.30997803807258606, + 0.49301522970199585, + 0.565660297870636, + -0.58384770154953 + ], + "joints": [ + 0.012571955099701881 + ] + }, + "final_grasp": { + "position": [ + -0.11447571218013763, + 0.12692077457904816, + 0.043646182864904404 + ], + "orientation": [ + 0.30997803807258606, + 0.49301522970199585, + 0.565660297870636, + -0.58384770154953 + ], + "joints": [ + 0.017381122335791588 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12414996325969696, + 0.10739542543888092, + 0.0013262840220704675 + ], + "orientation": [ + 0.5396302938461304, + -0.4625198543071747, + -0.47521308064460754, + -0.5186974406242371 + ], + "joints": [ + 0.008264576084911823 + ] + }, + "fine_grasp": { + "position": [ + -0.1254645437002182, + 0.1077556163072586, + 0.0016485695960000157 + ], + "orientation": [ + 0.5510693788528442, + -0.4495754539966583, + -0.46052709221839905, + -0.5311489701271057 + ], + "joints": [ + 0.013605142943561077 + ] + }, + "final_grasp": { + "position": [ + -0.1254645437002182, + 0.1077556163072586, + 0.0016485695960000157 + ], + "orientation": [ + 0.5510693788528442, + -0.4495754539966583, + -0.46052709221839905, + -0.5311489701271057 + ], + "joints": [ + 0.018945708870887756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060411982238292694, + 0.05779469758272171, + 0.1025017574429512 + ], + "orientation": [ + 0.1773786097764969, + 0.19520553946495056, + -0.6699119210243225, + 0.6940098404884338 + ], + "joints": [ + 0.008162561804056168 + ] + }, + "fine_grasp": { + "position": [ + 0.062318816781044006, + 0.05661117285490036, + 0.10613588243722916 + ], + "orientation": [ + 0.17485906183719635, + 0.19722755253314972, + -0.6654338836669922, + 0.6983718872070312 + ], + "joints": [ + 0.01400795765221119 + ] + }, + "final_grasp": { + "position": [ + 0.062318816781044006, + 0.05661117285490036, + 0.10613588243722916 + ], + "orientation": [ + 0.17485906183719635, + 0.19722755253314972, + -0.6654338836669922, + 0.6983718872070312 + ], + "joints": [ + 0.01985335350036621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046581730246543884, + 0.12380549311637878, + 0.1144229844212532 + ], + "orientation": [ + 0.15126308798789978, + 0.11866658180952072, + -0.6714012026786804, + 0.7157220840454102 + ], + "joints": [ + 0.008395969867706299 + ] + }, + "fine_grasp": { + "position": [ + 0.04711568355560303, + 0.12369725853204727, + 0.11648136377334595 + ], + "orientation": [ + 0.16616983711719513, + 0.10381266474723816, + -0.6691902279853821, + 0.7167947292327881 + ], + "joints": [ + 0.0142679363489151 + ] + }, + "final_grasp": { + "position": [ + 0.04711568355560303, + 0.12369725853204727, + 0.11648136377334595 + ], + "orientation": [ + 0.16616983711719513, + 0.10381266474723816, + -0.6691902279853821, + 0.7167947292327881 + ], + "joints": [ + 0.0201399028301239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11229971051216125, + 0.03797541558742523, + -0.03623248636722565 + ], + "orientation": [ + 0.5877646207809448, + 0.5263496041297913, + -0.5372166037559509, + 0.2981392741203308 + ], + "joints": [ + 0.0072329482063651085 + ] + }, + "fine_grasp": { + "position": [ + 0.11195946484804153, + 0.03848094120621681, + -0.03708062693476677 + ], + "orientation": [ + 0.5642255544662476, + 0.5427947044372559, + -0.5584356188774109, + 0.27417734265327454 + ], + "joints": [ + 0.011112169362604618 + ] + }, + "final_grasp": { + "position": [ + 0.11195946484804153, + 0.03848094120621681, + -0.03708062693476677 + ], + "orientation": [ + 0.5642255544662476, + 0.5427947044372559, + -0.5584356188774109, + 0.27417734265327454 + ], + "joints": [ + 0.014991390518844128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04550337791442871, + 0.15674985945224762, + 0.10311635583639145 + ], + "orientation": [ + 0.5379434823989868, + -0.8046667575836182, + 0.06719586998224258, + 0.24210123717784882 + ], + "joints": [ + 0.00800541415810585 + ] + }, + "fine_grasp": { + "position": [ + 0.04582487419247627, + 0.15545596182346344, + 0.10400163382291794 + ], + "orientation": [ + 0.5418155789375305, + -0.7968939542770386, + 0.05080988630652428, + 0.26232489943504333 + ], + "joints": [ + 0.013903951272368431 + ] + }, + "final_grasp": { + "position": [ + 0.04582487419247627, + 0.15545596182346344, + 0.10400163382291794 + ], + "orientation": [ + 0.5418155789375305, + -0.7968939542770386, + 0.05080988630652428, + 0.26232489943504333 + ], + "joints": [ + 0.019802488386631012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04650184512138367, + 0.12422090023756027, + 0.11433420330286026 + ], + "orientation": [ + 0.15234339237213135, + 0.11746042966842651, + -0.6739479899406433, + 0.7132942080497742 + ], + "joints": [ + 0.008395502343773842 + ] + }, + "fine_grasp": { + "position": [ + 0.047088224440813065, + 0.1241491362452507, + 0.11652354896068573 + ], + "orientation": [ + 0.16705690324306488, + 0.102862648665905, + -0.6714932918548584, + 0.7145684361457825 + ], + "joints": [ + 0.014267468824982643 + ] + }, + "final_grasp": { + "position": [ + 0.047088224440813065, + 0.1241491362452507, + 0.11652354896068573 + ], + "orientation": [ + 0.16705690324306488, + 0.102862648665905, + -0.6714932918548584, + 0.7145684361457825 + ], + "joints": [ + 0.020139435306191444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006906544789671898, + 0.04071075841784477, + -0.12041375041007996 + ], + "orientation": [ + 0.7680019736289978, + 0.6344025135040283, + -0.08205289393663406, + -0.031205905601382256 + ], + "joints": [ + 0.00790438987314701 + ] + }, + "fine_grasp": { + "position": [ + 0.006709816865622997, + 0.04123733937740326, + -0.11836764961481094 + ], + "orientation": [ + 0.7653256058692932, + 0.6333827376365662, + -0.10273423790931702, + -0.05048492178320885 + ], + "joints": [ + 0.013829497620463371 + ] + }, + "final_grasp": { + "position": [ + 0.006709816865622997, + 0.04123733937740326, + -0.11836764961481094 + ], + "orientation": [ + 0.7653256058692932, + 0.6333827376365662, + -0.10273423790931702, + -0.05048492178320885 + ], + "joints": [ + 0.019754605367779732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11961466073989868, + 0.07963534444570541, + -0.025457486510276794 + ], + "orientation": [ + 0.4614480137825012, + -0.4168983995914459, + 0.4709506630897522, + 0.6256731152534485 + ], + "joints": [ + 0.006925923749804497 + ] + }, + "fine_grasp": { + "position": [ + 0.11621259152889252, + 0.07899287343025208, + -0.024768464267253876 + ], + "orientation": [ + 0.4729430675506592, + -0.40264466404914856, + 0.45939961075782776, + 0.6349442005157471 + ], + "joints": [ + 0.012851031497120857 + ] + }, + "final_grasp": { + "position": [ + 0.11621259152889252, + 0.07899287343025208, + -0.024768464267253876 + ], + "orientation": [ + 0.4729430675506592, + -0.40264466404914856, + 0.45939961075782776, + 0.6349442005157471 + ], + "joints": [ + 0.018776139244437218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1194596067070961, + 0.0796857550740242, + -0.02531183511018753 + ], + "orientation": [ + 0.4618111550807953, + -0.41825735569000244, + 0.4751538634300232, + 0.6213051080703735 + ], + "joints": [ + 0.006817392073571682 + ] + }, + "fine_grasp": { + "position": [ + 0.11583705991506577, + 0.07891947031021118, + -0.024447806179523468 + ], + "orientation": [ + 0.4766068160533905, + -0.4004940986633301, + 0.4593283236026764, + 0.6336148977279663 + ], + "joints": [ + 0.012742499820888042 + ] + }, + "final_grasp": { + "position": [ + 0.11583705991506577, + 0.07891947031021118, + -0.024447806179523468 + ], + "orientation": [ + 0.4766068160533905, + -0.4004940986633301, + 0.4593283236026764, + 0.6336148977279663 + ], + "joints": [ + 0.018667608499526978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1214274913072586, + 0.0478200688958168, + -0.024579014629125595 + ], + "orientation": [ + 0.4332715570926666, + -0.46128496527671814, + 0.5637003183364868, + 0.5307862758636475 + ], + "joints": [ + 0.0074942391365766525 + ] + }, + "fine_grasp": { + "position": [ + 0.12224679440259933, + 0.04734667018055916, + -0.024724291637539864 + ], + "orientation": [ + 0.424026221036911, + -0.4730440378189087, + 0.5714129209518433, + 0.5195367336273193 + ], + "joints": [ + 0.012303406372666359 + ] + }, + "final_grasp": { + "position": [ + 0.12224679440259933, + 0.04734667018055916, + -0.024724291637539864 + ], + "orientation": [ + 0.424026221036911, + -0.4730440378189087, + 0.5714129209518433, + 0.5195367336273193 + ], + "joints": [ + 0.017112573608756065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06843280792236328, + 0.17196469008922577, + 0.08451306074857712 + ], + "orientation": [ + 0.1912202388048172, + 0.25855618715286255, + 0.47638046741485596, + -0.8183184266090393 + ], + "joints": [ + 0.008319487795233727 + ] + }, + "fine_grasp": { + "position": [ + -0.06883063912391663, + 0.16941668093204498, + 0.08376108109951019 + ], + "orientation": [ + 0.20532949268817902, + 0.2389833927154541, + 0.4677931070327759, + -0.8257701992988586 + ], + "joints": [ + 0.014191454276442528 + ] + }, + "final_grasp": { + "position": [ + -0.06883063912391663, + 0.16941668093204498, + 0.08376108109951019 + ], + "orientation": [ + 0.20532949268817902, + 0.2389833927154541, + 0.4677931070327759, + -0.8257701992988586 + ], + "joints": [ + 0.02006342075765133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0962931290268898, + 0.16437208652496338, + -0.0506308451294899 + ], + "orientation": [ + 0.4299999177455902, + 0.7586700320243835, + -0.30521509051322937, + 0.3825748562812805 + ], + "joints": [ + 0.008388012647628784 + ] + }, + "fine_grasp": { + "position": [ + 0.09786329418420792, + 0.16367506980895996, + -0.05095384642481804 + ], + "orientation": [ + 0.42369213700294495, + 0.7644505500793457, + -0.31755349040031433, + 0.36777737736701965 + ], + "joints": [ + 0.014259979128837585 + ] + }, + "final_grasp": { + "position": [ + 0.09786329418420792, + 0.16367506980895996, + -0.05095384642481804 + ], + "orientation": [ + 0.42369213700294495, + 0.7644505500793457, + -0.31755349040031433, + 0.36777737736701965 + ], + "joints": [ + 0.020131945610046387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04396609589457512, + 0.1411486268043518, + 0.11250656843185425 + ], + "orientation": [ + 0.13920144736766815, + 0.11465141922235489, + -0.6020150184631348, + 0.7778534293174744 + ], + "joints": [ + 0.008006663993000984 + ] + }, + "fine_grasp": { + "position": [ + 0.043597232550382614, + 0.14085066318511963, + 0.11230591684579849 + ], + "orientation": [ + 0.15397126972675323, + 0.10170014947652817, + -0.5987691283226013, + 0.7793750762939453 + ], + "joints": [ + 0.01284240186214447 + ] + }, + "final_grasp": { + "position": [ + 0.043597232550382614, + 0.14085066318511963, + 0.11230591684579849 + ], + "orientation": [ + 0.15397126972675323, + 0.10170014947652817, + -0.5987691283226013, + 0.7793750762939453 + ], + "joints": [ + 0.017678139731287956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05570826306939125, + 0.17041267454624176, + -0.08990478515625 + ], + "orientation": [ + 0.4822530448436737, + 0.8272252678871155, + 0.11953762173652649, + -0.2623758018016815 + ], + "joints": [ + 0.008103590458631516 + ] + }, + "fine_grasp": { + "position": [ + -0.05310816317796707, + 0.16689476370811462, + -0.08645333349704742 + ], + "orientation": [ + 0.4855964481830597, + 0.8227900266647339, + 0.10469744354486465, + -0.2761361598968506 + ], + "joints": [ + 0.013470727950334549 + ] + }, + "final_grasp": { + "position": [ + -0.05310816317796707, + 0.16689476370811462, + -0.08645333349704742 + ], + "orientation": [ + 0.4855964481830597, + 0.8227900266647339, + 0.10469744354486465, + -0.2761361598968506 + ], + "joints": [ + 0.018837865442037582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04394415766000748, + 0.1413329839706421, + 0.11287034302949905 + ], + "orientation": [ + 0.13961847126483917, + 0.11390169709920883, + -0.6053563356399536, + 0.775291383266449 + ], + "joints": [ + 0.008048616349697113 + ] + }, + "fine_grasp": { + "position": [ + 0.04356704652309418, + 0.14102967083454132, + 0.11263960599899292 + ], + "orientation": [ + 0.15518999099731445, + 0.10016070306301117, + -0.6020418405532837, + 0.7768072485923767 + ], + "joints": [ + 0.012884354218840599 + ] + }, + "final_grasp": { + "position": [ + 0.04356704652309418, + 0.14102967083454132, + 0.11263960599899292 + ], + "orientation": [ + 0.15518999099731445, + 0.10016070306301117, + -0.6020418405532837, + 0.7768072485923767 + ], + "joints": [ + 0.017720092087984085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12152234464883804, + 0.04691966250538826, + -0.024592062458395958 + ], + "orientation": [ + 0.4286724925041199, + -0.46635597944259644, + 0.5563572645187378, + 0.5377905964851379 + ], + "joints": [ + 0.007250426337122917 + ] + }, + "fine_grasp": { + "position": [ + 0.12253551930189133, + 0.046811044216156006, + -0.025208989158272743 + ], + "orientation": [ + 0.4177069365978241, + -0.4773271679878235, + 0.5634541511535645, + 0.5293384194374084 + ], + "joints": [ + 0.012590993195772171 + ] + }, + "final_grasp": { + "position": [ + 0.12253551930189133, + 0.046811044216156006, + -0.025208989158272743 + ], + "orientation": [ + 0.4177069365978241, + -0.4773271679878235, + 0.5634541511535645, + 0.5293384194374084 + ], + "joints": [ + 0.017931560054421425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04408592730760574, + 0.14175812900066376, + 0.11281652003526688 + ], + "orientation": [ + 0.14125069975852966, + 0.11359284818172455, + -0.6070230603218079, + 0.7737364172935486 + ], + "joints": [ + 0.007939526811242104 + ] + }, + "fine_grasp": { + "position": [ + 0.04378783702850342, + 0.1414850354194641, + 0.11272784322500229 + ], + "orientation": [ + 0.1573868840932846, + 0.09923259913921356, + -0.6030596494674683, + 0.7756941318511963 + ], + "joints": [ + 0.013280093669891357 + ] + }, + "final_grasp": { + "position": [ + 0.04378783702850342, + 0.1414850354194641, + 0.11272784322500229 + ], + "orientation": [ + 0.1573868840932846, + 0.09923259913921356, + -0.6030596494674683, + 0.7756941318511963 + ], + "joints": [ + 0.01862066052854061 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0690133348107338, + 0.17350879311561584, + 0.08521310985088348 + ], + "orientation": [ + 0.1950794905424118, + 0.2548586428165436, + 0.48178479075431824, + -0.8153984546661377 + ], + "joints": [ + 0.008235964924097061 + ] + }, + "fine_grasp": { + "position": [ + -0.0689363032579422, + 0.17072878777980804, + 0.08405043929815292 + ], + "orientation": [ + 0.21018947660923004, + 0.23478162288665771, + 0.47322818636894226, + -0.8226500153541565 + ], + "joints": [ + 0.014107931405305862 + ] + }, + "final_grasp": { + "position": [ + -0.0689363032579422, + 0.17072878777980804, + 0.08405043929815292 + ], + "orientation": [ + 0.21018947660923004, + 0.23478162288665771, + 0.47322818636894226, + -0.8226500153541565 + ], + "joints": [ + 0.019979897886514664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08139454573392868, + 0.17104099690914154, + 0.06951067596673965 + ], + "orientation": [ + 0.20113368332386017, + 0.3922402858734131, + 0.48466843366622925, + -0.7555060386657715 + ], + "joints": [ + 0.008103436790406704 + ] + }, + "fine_grasp": { + "position": [ + -0.08185824006795883, + 0.1714046150445938, + 0.06957052648067474 + ], + "orientation": [ + 0.18855923414230347, + 0.40272486209869385, + 0.48441803455352783, + -0.7533905506134033 + ], + "joints": [ + 0.013444003649055958 + ] + }, + "final_grasp": { + "position": [ + -0.08185824006795883, + 0.1714046150445938, + 0.06957052648067474 + ], + "orientation": [ + 0.18855923414230347, + 0.40272486209869385, + 0.48441803455352783, + -0.7533905506134033 + ], + "joints": [ + 0.018784571439027786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034536343067884445, + 0.2572527229785919, + -0.04279627650976181 + ], + "orientation": [ + 0.0607529953122139, + -0.4269445836544037, + 0.24392807483673096, + 0.8686349391937256 + ], + "joints": [ + 0.008907811716198921 + ] + }, + "fine_grasp": { + "position": [ + 0.034501153975725174, + 0.25335660576820374, + -0.04110553115606308 + ], + "orientation": [ + 0.0658659115433693, + -0.4094120264053345, + 0.24153700470924377, + 0.8773274421691895 + ], + "joints": [ + 0.01531117781996727 + ] + }, + "final_grasp": { + "position": [ + 0.034501153975725174, + 0.25335660576820374, + -0.04110553115606308 + ], + "orientation": [ + 0.0658659115433693, + -0.4094120264053345, + 0.24153700470924377, + 0.8773274421691895 + ], + "joints": [ + 0.02171454392373562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08195950090885162, + 0.172178715467453, + 0.07006784528493881 + ], + "orientation": [ + 0.19456525146961212, + 0.40243950486183167, + 0.4928321838378906, + -0.746527373790741 + ], + "joints": [ + 0.008101807907223701 + ] + }, + "fine_grasp": { + "position": [ + -0.08220000565052032, + 0.17238257825374603, + 0.07013868540525436 + ], + "orientation": [ + 0.1805071085691452, + 0.41470664739608765, + 0.49188143014907837, + -0.7439679503440857 + ], + "joints": [ + 0.012910975143313408 + ] + }, + "final_grasp": { + "position": [ + -0.08220000565052032, + 0.17238257825374603, + 0.07013868540525436 + ], + "orientation": [ + 0.1805071085691452, + 0.41470664739608765, + 0.49188143014907837, + -0.7439679503440857 + ], + "joints": [ + 0.017720142379403114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0061849565245211124, + -0.0729125589132309, + 0.08846801519393921 + ], + "orientation": [ + 0.1461854726076126, + -0.08006485551595688, + -0.9023764133453369, + 0.3974118232727051 + ], + "joints": [ + 0.008321072906255722 + ] + }, + "fine_grasp": { + "position": [ + -0.005901535041630268, + -0.06993405520915985, + 0.08717824518680573 + ], + "orientation": [ + 0.1445355862379074, + -0.07779620587825775, + -0.9062671065330505, + 0.38953447341918945 + ], + "joints": [ + 0.015255838632583618 + ] + }, + "final_grasp": { + "position": [ + -0.005901535041630268, + -0.06993405520915985, + 0.08717824518680573 + ], + "orientation": [ + 0.1445355862379074, + -0.07779620587825775, + -0.9062671065330505, + 0.38953447341918945 + ], + "joints": [ + 0.022190604358911514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05450250208377838, + 0.17459481954574585, + 0.09382036328315735 + ], + "orientation": [ + 0.11867351084947586, + 0.2543185353279114, + 0.512751579284668, + -0.8113719820976257 + ], + "joints": [ + 0.008184235543012619 + ] + }, + "fine_grasp": { + "position": [ + -0.05408664792776108, + 0.1737959235906601, + 0.09318739175796509 + ], + "orientation": [ + 0.10679110139608383, + 0.2626570165157318, + 0.5116008520126343, + -0.811092734336853 + ], + "joints": [ + 0.013524802401661873 + ] + }, + "final_grasp": { + "position": [ + -0.05408664792776108, + 0.1737959235906601, + 0.09318739175796509 + ], + "orientation": [ + 0.10679110139608383, + 0.2626570165157318, + 0.5116008520126343, + -0.811092734336853 + ], + "joints": [ + 0.018865369260311127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01577182300388813, + 0.23144783079624176, + -0.09156297892332077 + ], + "orientation": [ + 0.06111902371048927, + -0.020555434748530388, + -0.423808217048645, + -0.9034536480903625 + ], + "joints": [ + 0.009090879932045937 + ] + }, + "fine_grasp": { + "position": [ + -0.015287327580153942, + 0.22948352992534637, + -0.0887717604637146 + ], + "orientation": [ + 0.060010891407728195, + -0.02307708002626896, + -0.4166727662086487, + -0.9067800045013428 + ], + "joints": [ + 0.015494247898459435 + ] + }, + "final_grasp": { + "position": [ + -0.015287327580153942, + 0.22948352992534637, + -0.0887717604637146 + ], + "orientation": [ + 0.060010891407728195, + -0.02307708002626896, + -0.4166727662086487, + -0.9067800045013428 + ], + "joints": [ + 0.021897615864872932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0956958532333374, + 0.18839658796787262, + 0.03801252320408821 + ], + "orientation": [ + 0.3823446035385132, + -0.7429507374763489, + -0.28075700998306274, + -0.4722418487071991 + ], + "joints": [ + 0.00866793654859066 + ] + }, + "fine_grasp": { + "position": [ + -0.09772671014070511, + 0.18657828867435455, + 0.03860880434513092 + ], + "orientation": [ + 0.3776383697986603, + -0.7498736381530762, + -0.28334641456604004, + -0.46345847845077515 + ], + "joints": [ + 0.014539903029799461 + ] + }, + "final_grasp": { + "position": [ + -0.09772671014070511, + 0.18657828867435455, + 0.03860880434513092 + ], + "orientation": [ + 0.3776383697986603, + -0.7498736381530762, + -0.28334641456604004, + -0.46345847845077515 + ], + "joints": [ + 0.020411869511008263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09655416756868362, + 0.18936972320079803, + 0.038509197533130646 + ], + "orientation": [ + 0.38705793023109436, + -0.7398917078971863, + -0.2813495397567749, + -0.47285184264183044 + ], + "joints": [ + 0.008626552298665047 + ] + }, + "fine_grasp": { + "position": [ + -0.09811361879110336, + 0.18691396713256836, + 0.03857046738266945 + ], + "orientation": [ + 0.3815448582172394, + -0.746388852596283, + -0.28298917412757874, + -0.4660947322845459 + ], + "joints": [ + 0.015003347769379616 + ] + }, + "final_grasp": { + "position": [ + -0.09811361879110336, + 0.18691396713256836, + 0.03857046738266945 + ], + "orientation": [ + 0.3815448582172394, + -0.746388852596283, + -0.28298917412757874, + -0.4660947322845459 + ], + "joints": [ + 0.021380143240094185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057907894253730774, + 0.021363554522395134, + 0.10712885111570358 + ], + "orientation": [ + 0.2414642721414566, + 0.10889028757810593, + -0.7311412692070007, + 0.6287052035331726 + ], + "joints": [ + 0.007182558067142963 + ] + }, + "fine_grasp": { + "position": [ + 0.05807287245988846, + 0.02075759507715702, + 0.10914982855319977 + ], + "orientation": [ + 0.25798672437667847, + 0.08586739003658295, + -0.7269940376281738, + 0.6305151581764221 + ], + "joints": [ + 0.012523124925792217 + ] + }, + "final_grasp": { + "position": [ + 0.05807287245988846, + 0.02075759507715702, + 0.10914982855319977 + ], + "orientation": [ + 0.25798672437667847, + 0.08586739003658295, + -0.7269940376281738, + 0.6305151581764221 + ], + "joints": [ + 0.017863690853118896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11026989668607712, + 0.1707543283700943, + -0.006126618944108486 + ], + "orientation": [ + 0.38541796803474426, + -0.5510792136192322, + -0.37363219261169434, + -0.6388769745826721 + ], + "joints": [ + 0.008511288091540337 + ] + }, + "fine_grasp": { + "position": [ + -0.10990864038467407, + 0.17127077281475067, + -0.006207846570760012 + ], + "orientation": [ + 0.3912782073020935, + -0.5442228317260742, + -0.3609175384044647, + -0.6484300494194031 + ], + "joints": [ + 0.01385185495018959 + ] + }, + "final_grasp": { + "position": [ + -0.10990864038467407, + 0.17127077281475067, + -0.006207846570760012 + ], + "orientation": [ + 0.3912782073020935, + -0.5442228317260742, + -0.3609175384044647, + -0.6484300494194031 + ], + "joints": [ + 0.019192421808838844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07636664062738419, + -0.01069419551640749, + 0.07159265875816345 + ], + "orientation": [ + 0.30266666412353516, + 0.2498600035905838, + -0.7514193654060364, + 0.5304073095321655 + ], + "joints": [ + 0.007213488686829805 + ] + }, + "fine_grasp": { + "position": [ + 0.07930053770542145, + -0.012659807689487934, + 0.07365528494119644 + ], + "orientation": [ + 0.2936949133872986, + 0.2629956603050232, + -0.7544485330581665, + 0.5247703194618225 + ], + "joints": [ + 0.013085455633699894 + ] + }, + "final_grasp": { + "position": [ + 0.07930053770542145, + -0.012659807689487934, + 0.07365528494119644 + ], + "orientation": [ + 0.2936949133872986, + 0.2629956603050232, + -0.7544485330581665, + 0.5247703194618225 + ], + "joints": [ + 0.01895742304623127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04323218762874603, + 0.18025219440460205, + 0.09745360910892487 + ], + "orientation": [ + 0.1267687976360321, + 0.1429087370634079, + -0.4929291605949402, + 0.8488389849662781 + ], + "joints": [ + 0.008323466405272484 + ] + }, + "fine_grasp": { + "position": [ + 0.04264133423566818, + 0.1799817830324173, + 0.09644896537065506 + ], + "orientation": [ + 0.13824357092380524, + 0.1306007206439972, + -0.4844604730606079, + 0.8538913130760193 + ], + "joints": [ + 0.01315920427441597 + ] + }, + "final_grasp": { + "position": [ + 0.04264133423566818, + 0.1799817830324173, + 0.09644896537065506 + ], + "orientation": [ + 0.13824357092380524, + 0.1306007206439972, + -0.4844604730606079, + 0.8538913130760193 + ], + "joints": [ + 0.017994942143559456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054035037755966187, + 0.18981428444385529, + 0.08951041102409363 + ], + "orientation": [ + 0.4783537983894348, + -0.8236352801322937, + 0.1009245440363884, + 0.2874314785003662 + ], + "joints": [ + 0.008508961647748947 + ] + }, + "fine_grasp": { + "position": [ + 0.05488460510969162, + 0.18897873163223267, + 0.09146193414926529 + ], + "orientation": [ + 0.4792867600917816, + -0.8187178373336792, + 0.08820896595716476, + 0.30365198850631714 + ], + "joints": [ + 0.014380928128957748 + ] + }, + "final_grasp": { + "position": [ + 0.05488460510969162, + 0.18897873163223267, + 0.09146193414926529 + ], + "orientation": [ + 0.4792867600917816, + -0.8187178373336792, + 0.08820896595716476, + 0.30365198850631714 + ], + "joints": [ + 0.02025289461016655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05819936469197273, + 0.018146829679608345, + 0.10865204781293869 + ], + "orientation": [ + 0.2398657500743866, + 0.10750982910394669, + -0.7184991836547852, + 0.6439449191093445 + ], + "joints": [ + 0.0066536227241158485 + ] + }, + "fine_grasp": { + "position": [ + 0.05856947600841522, + 0.017620716243982315, + 0.11085915565490723 + ], + "orientation": [ + 0.2557779550552368, + 0.08438680320978165, + -0.7138004899024963, + 0.6464869976043701 + ], + "joints": [ + 0.01252558920532465 + ] + }, + "final_grasp": { + "position": [ + 0.05856947600841522, + 0.017620716243982315, + 0.11085915565490723 + ], + "orientation": [ + 0.2557779550552368, + 0.08438680320978165, + -0.7138004899024963, + 0.6464869976043701 + ], + "joints": [ + 0.018397554755210876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003106829011812806, + 0.17496900260448456, + -0.10936648398637772 + ], + "orientation": [ + 0.5332044363021851, + 0.8437929153442383, + -0.021625228226184845, + -0.056912366300821304 + ], + "joints": [ + 0.008076667785644531 + ] + }, + "fine_grasp": { + "position": [ + -0.00242050364613533, + 0.17425668239593506, + -0.11143108457326889 + ], + "orientation": [ + 0.533286988735199, + 0.8408910036087036, + -0.04054127633571625, + -0.08284824341535568 + ], + "joints": [ + 0.01448003388941288 + ] + }, + "final_grasp": { + "position": [ + -0.00242050364613533, + 0.17425668239593506, + -0.11143108457326889 + ], + "orientation": [ + 0.533286988735199, + 0.8408910036087036, + -0.04054127633571625, + -0.08284824341535568 + ], + "joints": [ + 0.02088339999318123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060767002403736115, + 0.001866169972345233, + -0.09978724271059036 + ], + "orientation": [ + 0.762495219707489, + 0.5699647665023804, + -0.2872213125228882, + 0.1060430034995079 + ], + "joints": [ + 0.007374809123575687 + ] + }, + "fine_grasp": { + "position": [ + 0.06050851568579674, + 0.002950957976281643, + -0.09951946884393692 + ], + "orientation": [ + 0.753280520439148, + 0.5757770538330078, + -0.305018812417984, + 0.0895140990614891 + ], + "joints": [ + 0.013326487503945827 + ] + }, + "final_grasp": { + "position": [ + 0.06050851568579674, + 0.002950957976281643, + -0.09951946884393692 + ], + "orientation": [ + 0.753280520439148, + 0.5757770538330078, + -0.305018812417984, + 0.0895140990614891 + ], + "joints": [ + 0.019278164952993393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05825970321893692, + 0.019278472289443016, + 0.10791756212711334 + ], + "orientation": [ + 0.24242843687534332, + 0.10732946544885635, + -0.7217218279838562, + 0.6393954753875732 + ], + "joints": [ + 0.007062406744807959 + ] + }, + "fine_grasp": { + "position": [ + 0.05812974274158478, + 0.018698900938034058, + 0.10972578823566437 + ], + "orientation": [ + 0.2605339288711548, + 0.08210589736700058, + -0.716505765914917, + 0.6418725848197937 + ], + "joints": [ + 0.011871574446558952 + ] + }, + "final_grasp": { + "position": [ + 0.05812974274158478, + 0.018698900938034058, + 0.10972578823566437 + ], + "orientation": [ + 0.2605339288711548, + 0.08210589736700058, + -0.716505765914917, + 0.6418725848197937 + ], + "joints": [ + 0.01668074168264866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11188461631536484, + 0.17254699766635895, + -0.005623037926852703 + ], + "orientation": [ + 0.3976174294948578, + -0.5434399247169495, + -0.38027769327163696, + -0.6340050101280212 + ], + "joints": [ + 0.008695242926478386 + ] + }, + "fine_grasp": { + "position": [ + -0.11223317682743073, + 0.17323319613933563, + -0.005756818223744631 + ], + "orientation": [ + 0.4048618674278259, + -0.5367013216018677, + -0.3663100302219391, + -0.6433159708976746 + ], + "joints": [ + 0.013530980795621872 + ] + }, + "final_grasp": { + "position": [ + -0.11223317682743073, + 0.17323319613933563, + -0.005756818223744631 + ], + "orientation": [ + 0.4048618674278259, + -0.5367013216018677, + -0.3663100302219391, + -0.6433159708976746 + ], + "joints": [ + 0.018366718664765358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0580732598900795, + -0.019183555617928505, + -0.09109120070934296 + ], + "orientation": [ + 0.8068976402282715, + 0.5082923173904419, + 0.27501991391181946, + -0.12214432656764984 + ], + "joints": [ + 0.007567535154521465 + ] + }, + "fine_grasp": { + "position": [ + -0.059580523520708084, + -0.02022307552397251, + -0.0925782099366188 + ], + "orientation": [ + 0.8053584098815918, + 0.5079914927482605, + 0.28543856739997864, + -0.10893675684928894 + ], + "joints": [ + 0.012934672646224499 + ] + }, + "final_grasp": { + "position": [ + -0.059580523520708084, + -0.02022307552397251, + -0.0925782099366188 + ], + "orientation": [ + 0.8053584098815918, + 0.5079914927482605, + 0.28543856739997864, + -0.10893675684928894 + ], + "joints": [ + 0.018301811069250107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1030014157295227, + 0.19173569977283478, + -0.02907051518559456 + ], + "orientation": [ + 0.4089733064174652, + 0.6777998208999634, + 0.2903479039669037, + -0.5376115441322327 + ], + "joints": [ + 0.008428318426012993 + ] + }, + "fine_grasp": { + "position": [ + -0.10067377239465714, + 0.18863460421562195, + -0.028254089877009392 + ], + "orientation": [ + 0.40027520060539246, + 0.679994523525238, + 0.28495436906814575, + -0.5442317128181458 + ], + "joints": [ + 0.014300284907221794 + ] + }, + "final_grasp": { + "position": [ + -0.10067377239465714, + 0.18863460421562195, + -0.028254089877009392 + ], + "orientation": [ + 0.40027520060539246, + 0.679994523525238, + 0.28495436906814575, + -0.5442317128181458 + ], + "joints": [ + 0.020172251388430595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031226757913827896, + 0.002622916828840971, + 0.1148775964975357 + ], + "orientation": [ + 0.08544185012578964, + 0.09755346924066544, + 0.7945532202720642, + -0.593184769153595 + ], + "joints": [ + 0.007528020069003105 + ] + }, + "fine_grasp": { + "position": [ + -0.03139062225818634, + 0.002747060265392065, + 0.1155056580901146 + ], + "orientation": [ + 0.07812872529029846, + 0.10948403924703598, + 0.7952257990837097, + -0.5912063121795654 + ], + "joints": [ + 0.013399986550211906 + ] + }, + "final_grasp": { + "position": [ + -0.03139062225818634, + 0.002747060265392065, + 0.1155056580901146 + ], + "orientation": [ + 0.07812872529029846, + 0.10948403924703598, + 0.7952257990837097, + -0.5912063121795654 + ], + "joints": [ + 0.019271953031420708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054943084716796875, + 0.1790548712015152, + 0.09565722942352295 + ], + "orientation": [ + 0.11392763257026672, + 0.2615688443183899, + 0.5379259586334229, + -0.7932451367378235 + ], + "joints": [ + 0.00818515196442604 + ] + }, + "fine_grasp": { + "position": [ + -0.05554318428039551, + 0.17939580976963043, + 0.09645016491413116 + ], + "orientation": [ + 0.09908617287874222, + 0.2741334140300751, + 0.536721408367157, + -0.7918099164962769 + ], + "joints": [ + 0.012994319200515747 + ] + }, + "final_grasp": { + "position": [ + -0.05554318428039551, + 0.17939580976963043, + 0.09645016491413116 + ], + "orientation": [ + 0.09908617287874222, + 0.2741334140300751, + 0.536721408367157, + -0.7918099164962769 + ], + "joints": [ + 0.017803486436605453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11569718271493912, + 0.05649450793862343, + -0.03855980932712555 + ], + "orientation": [ + 0.5535945296287537, + 0.5770282745361328, + -0.3250633478164673, + 0.5048815011978149 + ], + "joints": [ + 0.005678428336977959 + ] + }, + "fine_grasp": { + "position": [ + 0.11722510308027267, + 0.05634438991546631, + -0.039073552936315536 + ], + "orientation": [ + 0.5619998574256897, + 0.5654506087303162, + -0.30658119916915894, + 0.5200285911560059 + ], + "joints": [ + 0.011045565828680992 + ] + }, + "final_grasp": { + "position": [ + 0.11722510308027267, + 0.05634438991546631, + -0.039073552936315536 + ], + "orientation": [ + 0.5619998574256897, + 0.5654506087303162, + -0.30658119916915894, + 0.5200285911560059 + ], + "joints": [ + 0.016412703320384026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024101359769701958, + 0.17036715149879456, + -0.11055406928062439 + ], + "orientation": [ + 0.574662446975708, + 0.8080392479896545, + -0.03389301896095276, + 0.1252478063106537 + ], + "joints": [ + 0.007875915616750717 + ] + }, + "fine_grasp": { + "position": [ + 0.024190016090869904, + 0.17073839902877808, + -0.11116182804107666 + ], + "orientation": [ + 0.5711802840232849, + 0.8097041249275208, + -0.022091589868068695, + 0.13283158838748932 + ], + "joints": [ + 0.013216482475399971 + ] + }, + "final_grasp": { + "position": [ + 0.024190016090869904, + 0.17073839902877808, + -0.11116182804107666 + ], + "orientation": [ + 0.5711802840232849, + 0.8097041249275208, + -0.022091589868068695, + 0.13283158838748932 + ], + "joints": [ + 0.018557049334049225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051914479583501816, + -0.011670456267893314, + 0.09651152789592743 + ], + "orientation": [ + 0.8324743509292603, + -0.5070594549179077, + 0.13682407140731812, + 0.17651204764842987 + ], + "joints": [ + 0.007472196593880653 + ] + }, + "fine_grasp": { + "position": [ + 0.05267009884119034, + -0.009955129586160183, + 0.09815835952758789 + ], + "orientation": [ + 0.8322966694831848, + -0.5065195560455322, + 0.12133974581956863, + 0.18972823023796082 + ], + "joints": [ + 0.012812763452529907 + ] + }, + "final_grasp": { + "position": [ + 0.05267009884119034, + -0.009955129586160183, + 0.09815835952758789 + ], + "orientation": [ + 0.8322966694831848, + -0.5065195560455322, + 0.12133974581956863, + 0.18972823023796082 + ], + "joints": [ + 0.01815333031117916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02764386683702469, + -0.08756691962480545, + 0.0015900596044957638 + ], + "orientation": [ + 0.6840264797210693, + -0.09854476898908615, + 0.7175174355506897, + 0.086979441344738 + ], + "joints": [ + 0.005899226758629084 + ] + }, + "fine_grasp": { + "position": [ + 0.026372509077191353, + -0.08235746622085571, + 0.0024454682134091854 + ], + "orientation": [ + 0.6819976568222046, + -0.10127583146095276, + 0.7188732028007507, + 0.0885641872882843 + ], + "joints": [ + 0.013365392573177814 + ] + }, + "final_grasp": { + "position": [ + 0.026372509077191353, + -0.08235746622085571, + 0.0024454682134091854 + ], + "orientation": [ + 0.6819976568222046, + -0.10127583146095276, + 0.7188732028007507, + 0.0885641872882843 + ], + "joints": [ + 0.020831558853387833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07848311215639114, + 0.2009279578924179, + 0.06598107516765594 + ], + "orientation": [ + 0.1821110099554062, + 0.4180830717086792, + 0.45366328954696655, + -0.7656577229499817 + ], + "joints": [ + 0.008520461618900299 + ] + }, + "fine_grasp": { + "position": [ + -0.07742933928966522, + 0.19970782101154327, + 0.06520278006792068 + ], + "orientation": [ + 0.1692354381084442, + 0.42947590351104736, + 0.4509149491786957, + -0.7639276385307312 + ], + "joints": [ + 0.013861028477549553 + ] + }, + "final_grasp": { + "position": [ + -0.07742933928966522, + 0.19970782101154327, + 0.06520278006792068 + ], + "orientation": [ + 0.1692354381084442, + 0.42947590351104736, + 0.4509149491786957, + -0.7639276385307312 + ], + "joints": [ + 0.019201595336198807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09580802172422409, + -0.03033931367099285, + -0.008143521845340729 + ], + "orientation": [ + 0.6831586956977844, + 0.3126150667667389, + 0.5802814960479736, + -0.3143872916698456 + ], + "joints": [ + 0.007256040815263987 + ] + }, + "fine_grasp": { + "position": [ + -0.09226830303668976, + -0.0270188357681036, + -0.007387949153780937 + ], + "orientation": [ + 0.6963120698928833, + 0.29728060960769653, + 0.567266047000885, + -0.3240109086036682 + ], + "joints": [ + 0.01209177915006876 + ] + }, + "final_grasp": { + "position": [ + -0.09226830303668976, + -0.0270188357681036, + -0.007387949153780937 + ], + "orientation": [ + 0.6963120698928833, + 0.29728060960769653, + 0.567266047000885, + -0.3240109086036682 + ], + "joints": [ + 0.01692751795053482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09582265466451645, + -0.030937379226088524, + -0.007883555255830288 + ], + "orientation": [ + 0.6825780868530273, + 0.3120497465133667, + 0.5811296701431274, + -0.31464311480522156 + ], + "joints": [ + 0.007332236971706152 + ] + }, + "fine_grasp": { + "position": [ + -0.09226233512163162, + -0.027597270905971527, + -0.007299932651221752 + ], + "orientation": [ + 0.6944442987442017, + 0.29686808586120605, + 0.5699503421783447, + -0.3236868679523468 + ], + "joints": [ + 0.012141404673457146 + ] + }, + "final_grasp": { + "position": [ + -0.09226233512163162, + -0.027597270905971527, + -0.007299932651221752 + ], + "orientation": [ + 0.6944442987442017, + 0.29686808586120605, + 0.5699503421783447, + -0.3236868679523468 + ], + "joints": [ + 0.016950571909546852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0632094144821167, + 0.22323481738567352, + 0.06914190948009491 + ], + "orientation": [ + 0.13651014864444733, + 0.36789679527282715, + -0.41028648614883423, + 0.8232142925262451 + ], + "joints": [ + 0.008981339633464813 + ] + }, + "fine_grasp": { + "position": [ + 0.06170066446065903, + 0.21956481039524078, + 0.06732116639614105 + ], + "orientation": [ + 0.1281467080116272, + 0.3714093863964081, + -0.3986966013908386, + 0.8286581635475159 + ], + "joints": [ + 0.014321906492114067 + ] + }, + "final_grasp": { + "position": [ + 0.06170066446065903, + 0.21956481039524078, + 0.06732116639614105 + ], + "orientation": [ + 0.1281467080116272, + 0.3714093863964081, + -0.3986966013908386, + 0.8286581635475159 + ], + "joints": [ + 0.01966247335076332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09468915313482285, + 0.19838166236877441, + 0.042200639843940735 + ], + "orientation": [ + 0.24052058160305023, + 0.5230119228363037, + 0.41935989260673523, + -0.7019584774971008 + ], + "joints": [ + 0.007925570011138916 + ] + }, + "fine_grasp": { + "position": [ + -0.09149448573589325, + 0.1954420804977417, + 0.04103629291057587 + ], + "orientation": [ + 0.22698551416397095, + 0.5336834788322449, + 0.4186541736125946, + -0.6988478302955627 + ], + "joints": [ + 0.013797536492347717 + ] + }, + "final_grasp": { + "position": [ + -0.09149448573589325, + 0.1954420804977417, + 0.04103629291057587 + ], + "orientation": [ + 0.22698551416397095, + 0.5336834788322449, + 0.4186541736125946, + -0.6988478302955627 + ], + "joints": [ + 0.01966950297355652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03976652771234512, + -0.09288047254085541, + 0.006443963851779699 + ], + "orientation": [ + 0.40553906559944153, + 0.14365878701210022, + -0.8954569697380066, + 0.11426708102226257 + ], + "joints": [ + 0.00627170130610466 + ] + }, + "fine_grasp": { + "position": [ + 0.03952372446656227, + -0.08754599839448929, + 0.006293530110269785 + ], + "orientation": [ + 0.40653282403945923, + 0.14558587968349457, + -0.8948161005973816, + 0.11331239342689514 + ], + "joints": [ + 0.012143667787313461 + ] + }, + "final_grasp": { + "position": [ + 0.03952372446656227, + -0.08754599839448929, + 0.006293530110269785 + ], + "orientation": [ + 0.40653282403945923, + 0.14558587968349457, + -0.8948161005973816, + 0.11331239342689514 + ], + "joints": [ + 0.018015634268522263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0439942330121994, + 0.2635251581668854, + -0.03130079805850983 + ], + "orientation": [ + 0.2369103580713272, + 0.7856166958808899, + -0.09151066839694977, + 0.5641857981681824 + ], + "joints": [ + 0.00888042338192463 + ] + }, + "fine_grasp": { + "position": [ + 0.043676480650901794, + 0.2612951993942261, + -0.03145645558834076 + ], + "orientation": [ + 0.2379206269979477, + 0.7872219681739807, + -0.09078194200992584, + 0.5616351962089539 + ], + "joints": [ + 0.015815190970897675 + ] + }, + "final_grasp": { + "position": [ + 0.043676480650901794, + 0.2612951993942261, + -0.03145645558834076 + ], + "orientation": [ + 0.2379206269979477, + 0.7872219681739807, + -0.09078194200992584, + 0.5616351962089539 + ], + "joints": [ + 0.02274995855987072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12103793770074844, + 0.157866433262825, + 0.01049227174371481 + ], + "orientation": [ + 0.4778139293193817, + 0.45535826683044434, + -0.40737295150756836, + 0.6311814188957214 + ], + "joints": [ + 0.006842103321105242 + ] + }, + "fine_grasp": { + "position": [ + 0.12071115523576736, + 0.1573752909898758, + 0.010858518071472645 + ], + "orientation": [ + 0.4921901226043701, + 0.4373762607574463, + -0.390349417924881, + 0.6434891819953918 + ], + "joints": [ + 0.011146442033350468 + ] + }, + "final_grasp": { + "position": [ + 0.12071115523576736, + 0.1573752909898758, + 0.010858518071472645 + ], + "orientation": [ + 0.4921901226043701, + 0.4373762607574463, + -0.390349417924881, + 0.6434891819953918 + ], + "joints": [ + 0.015450781211256981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12047995626926422, + 0.10935073345899582, + -0.012256248854100704 + ], + "orientation": [ + 0.6226252317428589, + 0.41655969619750977, + 0.38216882944107056, + -0.541075587272644 + ], + "joints": [ + 0.005720478482544422 + ] + }, + "fine_grasp": { + "position": [ + -0.11876483261585236, + 0.11023890972137451, + -0.012737788259983063 + ], + "orientation": [ + 0.6386916637420654, + 0.3908310532569885, + 0.351871132850647, + -0.5617035031318665 + ], + "joints": [ + 0.008085212670266628 + ] + }, + "final_grasp": { + "position": [ + -0.11876483261585236, + 0.11023890972137451, + -0.012737788259983063 + ], + "orientation": [ + 0.6386916637420654, + 0.3908310532569885, + 0.351871132850647, + -0.5617035031318665 + ], + "joints": [ + 0.010449946857988834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06462293118238449, + -0.06856469064950943, + -0.023285211995244026 + ], + "orientation": [ + 0.6657211780548096, + -0.14797797799110413, + -0.6722691059112549, + -0.28804904222488403 + ], + "joints": [ + 0.006172639783471823 + ] + }, + "fine_grasp": { + "position": [ + -0.06639888882637024, + -0.06573265790939331, + -0.025180699303746223 + ], + "orientation": [ + 0.6658135652542114, + -0.1407386213541031, + -0.6710850596427917, + -0.2941596210002899 + ], + "joints": [ + 0.012071177363395691 + ] + }, + "final_grasp": { + "position": [ + -0.06639888882637024, + -0.06573265790939331, + -0.025180699303746223 + ], + "orientation": [ + 0.6658135652542114, + -0.1407386213541031, + -0.6710850596427917, + -0.2941596210002899 + ], + "joints": [ + 0.017969714477658272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12029114365577698, + 0.10983683913946152, + -0.012776859104633331 + ], + "orientation": [ + 0.626277506351471, + 0.4147684574127197, + 0.38004833459854126, + -0.5397284626960754 + ], + "joints": [ + 0.005656867753714323 + ] + }, + "fine_grasp": { + "position": [ + -0.11879359185695648, + 0.11072423309087753, + -0.013346685096621513 + ], + "orientation": [ + 0.6427412629127502, + 0.3885970115661621, + 0.349016398191452, + -0.560413658618927 + ], + "joints": [ + 0.008021602407097816 + ] + }, + "final_grasp": { + "position": [ + -0.11879359185695648, + 0.11072423309087753, + -0.013346685096621513 + ], + "orientation": [ + 0.6427412629127502, + 0.3885970115661621, + 0.349016398191452, + -0.560413658618927 + ], + "joints": [ + 0.010386336594820023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012795992195606232, + -0.09182003885507584, + -0.015388390980660915 + ], + "orientation": [ + 0.6308279037475586, + -0.012325243093073368, + -0.7710632085800171, + -0.08582436293363571 + ], + "joints": [ + 0.004637336824089289 + ] + }, + "fine_grasp": { + "position": [ + -0.012043514288961887, + -0.08791954815387726, + -0.016163861379027367 + ], + "orientation": [ + 0.6278087496757507, + -0.014056237414479256, + -0.772154688835144, + -0.09713772684335709 + ], + "joints": [ + 0.01210350263863802 + ] + }, + "final_grasp": { + "position": [ + -0.012043514288961887, + -0.08791954815387726, + -0.016163861379027367 + ], + "orientation": [ + 0.6278087496757507, + -0.014056237414479256, + -0.772154688835144, + -0.09713772684335709 + ], + "joints": [ + 0.019569668918848038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11512516438961029, + 0.18302659690380096, + -0.013957634568214417 + ], + "orientation": [ + 0.49348437786102295, + 0.5215998291969299, + -0.32170507311820984, + 0.6171811819076538 + ], + "joints": [ + 0.0065957531332969666 + ] + }, + "fine_grasp": { + "position": [ + 0.11478932946920395, + 0.18259422481060028, + -0.01463032141327858 + ], + "orientation": [ + 0.50675368309021, + 0.5056536197662354, + -0.3008235991001129, + 0.6300955414772034 + ], + "joints": [ + 0.010395262390375137 + ] + }, + "final_grasp": { + "position": [ + 0.11478932946920395, + 0.18259422481060028, + -0.01463032141327858 + ], + "orientation": [ + 0.50675368309021, + 0.5056536197662354, + -0.3008235991001129, + 0.6300955414772034 + ], + "joints": [ + 0.014194771647453308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03262629359960556, + 0.2711537480354309, + 0.002624954329803586 + ], + "orientation": [ + 0.13643276691436768, + -0.5321059823036194, + 0.09559366106987, + 0.8301273584365845 + ], + "joints": [ + 0.009631508961319923 + ] + }, + "fine_grasp": { + "position": [ + 0.032713185995817184, + 0.2656686305999756, + 0.0025365990586578846 + ], + "orientation": [ + 0.12875571846961975, + -0.5288034677505493, + 0.08689581602811813, + 0.8344087600708008 + ], + "joints": [ + 0.014998648315668106 + ] + }, + "final_grasp": { + "position": [ + 0.032713185995817184, + 0.2656686305999756, + 0.0025365990586578846 + ], + "orientation": [ + 0.12875571846961975, + -0.5288034677505493, + 0.08689581602811813, + 0.8344087600708008 + ], + "joints": [ + 0.02036578767001629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033111780881881714, + 0.27073347568511963, + 0.0025783104356378317 + ], + "orientation": [ + 0.13830338418483734, + -0.5313056111335754, + 0.09691378474235535, + 0.8301771879196167 + ], + "joints": [ + 0.009562650695443153 + ] + }, + "fine_grasp": { + "position": [ + 0.03307712823152542, + 0.2653074264526367, + 0.002489531645551324 + ], + "orientation": [ + 0.13035039603710175, + -0.527656614780426, + 0.08768727630376816, + 0.8348044157028198 + ], + "joints": [ + 0.014929790049791336 + ] + }, + "final_grasp": { + "position": [ + 0.03307712823152542, + 0.2653074264526367, + 0.002489531645551324 + ], + "orientation": [ + 0.13035039603710175, + -0.527656614780426, + 0.08768727630376816, + 0.8348044157028198 + ], + "joints": [ + 0.02029692940413952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021117044612765312, + 0.27547240257263184, + -0.0028633540496230125 + ], + "orientation": [ + 0.09339652955532074, + 0.5127506852149963, + -0.06199648231267929, + 0.851187527179718 + ], + "joints": [ + 0.00844191201031208 + ] + }, + "fine_grasp": { + "position": [ + 0.020475126802921295, + 0.26984718441963196, + -0.0027123207692056894 + ], + "orientation": [ + 0.08566605299711227, + 0.5111100077629089, + -0.05660446733236313, + 0.8533602952957153 + ], + "joints": [ + 0.014340449124574661 + ] + }, + "final_grasp": { + "position": [ + 0.020475126802921295, + 0.26984718441963196, + -0.0027123207692056894 + ], + "orientation": [ + 0.08566605299711227, + 0.5111100077629089, + -0.05660446733236313, + 0.8533602952957153 + ], + "joints": [ + 0.020238986238837242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12071897834539413, + 0.14778882265090942, + 0.023299654945731163 + ], + "orientation": [ + 0.42348530888557434, + -0.6130281686782837, + -0.6138139367103577, + -0.26093897223472595 + ], + "joints": [ + 0.004371789749711752 + ] + }, + "fine_grasp": { + "position": [ + -0.11683060973882675, + 0.14892825484275818, + 0.02248554304242134 + ], + "orientation": [ + 0.40393495559692383, + -0.6231071949005127, + -0.626874566078186, + -0.2358013093471527 + ], + "joints": [ + 0.007746181916445494 + ] + }, + "final_grasp": { + "position": [ + -0.11683060973882675, + 0.14892825484275818, + 0.02248554304242134 + ], + "orientation": [ + 0.40393495559692383, + -0.6231071949005127, + -0.626874566078186, + -0.2358013093471527 + ], + "joints": [ + 0.011120574548840523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11715185642242432, + 0.023482680320739746, + -0.01195107214152813 + ], + "orientation": [ + 0.6174960136413574, + -0.30435580015182495, + -0.36980563402175903, + -0.6239471435546875 + ], + "joints": [ + -0.001426806440576911 + ] + }, + "fine_grasp": { + "position": [ + -0.11674695461988449, + 0.02501186914741993, + -0.012735451571643353 + ], + "orientation": [ + 0.6336818933486938, + -0.27311328053474426, + -0.345673531293869, + -0.6358979940414429 + ], + "joints": [ + 0.0008050720207393169 + ] + }, + "final_grasp": { + "position": [ + -0.11674695461988449, + 0.02501186914741993, + -0.012735451571643353 + ], + "orientation": [ + 0.6336818933486938, + -0.27311328053474426, + -0.345673531293869, + -0.6358979940414429 + ], + "joints": [ + 0.003036950482055545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11678700149059296, + 0.023826727643609047, + -0.011970891617238522 + ], + "orientation": [ + 0.6199131011962891, + -0.30002912878990173, + -0.3661681115627289, + -0.6257885098457336 + ], + "joints": [ + -0.001721587497740984 + ] + }, + "fine_grasp": { + "position": [ + -0.11658809334039688, + 0.024993382394313812, + -0.012934757396578789 + ], + "orientation": [ + 0.6357702612876892, + -0.269281268119812, + -0.3432890772819519, + -0.6367387771606445 + ], + "joints": [ + 0.000510290963575244 + ] + }, + "final_grasp": { + "position": [ + -0.11658809334039688, + 0.024993382394313812, + -0.012934757396578789 + ], + "orientation": [ + 0.6357702612876892, + -0.269281268119812, + -0.3432890772819519, + -0.6367387771606445 + ], + "joints": [ + 0.002742169424891472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1112234890460968, + 0.021957378834486008, + -0.005481846164911985 + ], + "orientation": [ + 0.30388858914375305, + 0.5805390477180481, + 0.7255869507789612, + -0.21011844277381897 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.11249220371246338, + 0.020640406757593155, + -0.007162309717386961 + ], + "orientation": [ + 0.26705461740493774, + 0.6034147143363953, + 0.7278880476951599, + -0.18641747534275055 + ], + "joints": [ + -0.009774827398359776 + ] + }, + "final_grasp": { + "position": [ + -0.11249220371246338, + 0.020640406757593155, + -0.007162309717386961 + ], + "orientation": [ + 0.26705461740493774, + 0.6034147143363953, + 0.7278880476951599, + -0.18641747534275055 + ], + "joints": [ + -0.009588835760951042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11085814982652664, + 0.040328122675418854, + -0.007069624960422516 + ], + "orientation": [ + 0.6217286586761475, + -0.21919240057468414, + -0.17805175483226776, + -0.7305516004562378 + ], + "joints": [ + -0.006574345752596855 + ] + }, + "fine_grasp": { + "position": [ + -0.11270219087600708, + 0.04147985950112343, + -0.006851536221802235 + ], + "orientation": [ + 0.6343058347702026, + -0.19561733305454254, + -0.16553832590579987, + -0.7293744087219238 + ], + "joints": [ + -0.002827978692948818 + ] + }, + "final_grasp": { + "position": [ + -0.11270219087600708, + 0.04147985950112343, + -0.006851536221802235 + ], + "orientation": [ + 0.6343058347702026, + -0.19561733305454254, + -0.16553832590579987, + -0.7293744087219238 + ], + "joints": [ + 0.0009183883666992188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10175503045320511, + 0.025247683748602867, + -0.0528290756046772 + ], + "orientation": [ + 0.7478349208831787, + 0.06095775216817856, + 0.1271272599697113, + 0.648741602897644 + ], + "joints": [ + -0.01617274060845375 + ] + }, + "fine_grasp": { + "position": [ + 0.10192111879587173, + 0.026199063286185265, + -0.05077015981078148 + ], + "orientation": [ + 0.7459807991981506, + 0.0638776645064354, + 0.1460057646036148, + 0.6466178894042969 + ], + "joints": [ + -0.015535056591033936 + ] + }, + "final_grasp": { + "position": [ + 0.10192111879587173, + 0.026199063286185265, + -0.05077015981078148 + ], + "orientation": [ + 0.7459807991981506, + 0.0638776645064354, + 0.1460057646036148, + 0.6466178894042969 + ], + "joints": [ + -0.01489737257361412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11185279488563538, + 0.03938513994216919, + -0.03625622019171715 + ], + "orientation": [ + 0.6382123231887817, + -0.08061420172452927, + 0.2274944931268692, + 0.7310490012168884 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.1150003969669342, + 0.03900069370865822, + -0.03651224821805954 + ], + "orientation": [ + 0.6451953649520874, + -0.06818609684705734, + 0.22849762439727783, + 0.7258529663085938 + ], + "joints": [ + -0.008182466961443424 + ] + }, + "final_grasp": { + "position": [ + 0.1150003969669342, + 0.03900069370865822, + -0.03651224821805954 + ], + "orientation": [ + 0.6451953649520874, + -0.06818609684705734, + 0.22849762439727783, + 0.7258529663085938 + ], + "joints": [ + -0.0017525311559438705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -3.374122388777323e-05, + 0.2486945390701294, + -0.10174285620450974 + ], + "orientation": [ + 0.2898259162902832, + 0.6564684510231018, + -0.2825736403465271, + -0.636555016040802 + ], + "joints": [ + -0.005349417217075825 + ] + }, + "fine_grasp": { + "position": [ + 0.00017150701023638248, + 0.24361079931259155, + -0.09907891601324081 + ], + "orientation": [ + 0.29552513360977173, + 0.6576846837997437, + -0.273698091506958, + -0.6365571618080139 + ], + "joints": [ + -0.00147019955329597 + ] + }, + "final_grasp": { + "position": [ + 0.00017150701023638248, + 0.24361079931259155, + -0.09907891601324081 + ], + "orientation": [ + 0.29552513360977173, + 0.6576846837997437, + -0.273698091506958, + -0.6365571618080139 + ], + "joints": [ + 0.002409018110483885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10393790900707245, + 0.09525084495544434, + 0.06529699265956879 + ], + "orientation": [ + 0.6007379293441772, + -0.6349712014198303, + -0.3683457672595978, + -0.31661778688430786 + ], + "joints": [ + 0.008687512017786503 + ] + }, + "fine_grasp": { + "position": [ + -0.10396476835012436, + 0.09513392299413681, + 0.06485171616077423 + ], + "orientation": [ + 0.5841512680053711, + -0.6480293273925781, + -0.3912356495857239, + -0.2928479313850403 + ], + "joints": [ + 0.014586049132049084 + ] + }, + "final_grasp": { + "position": [ + -0.10396476835012436, + 0.09513392299413681, + 0.06485171616077423 + ], + "orientation": [ + 0.5841512680053711, + -0.6480293273925781, + -0.3912356495857239, + -0.2928479313850403 + ], + "joints": [ + 0.02048458531498909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07088576257228851, + 0.14547507464885712, + 0.09313252568244934 + ], + "orientation": [ + 0.5595401525497437, + -0.7551528811454773, + 0.1551734358072281, + 0.30427008867263794 + ], + "joints": [ + 0.008633268997073174 + ] + }, + "fine_grasp": { + "position": [ + 0.07049854099750519, + 0.14463664591312408, + 0.0937308743596077 + ], + "orientation": [ + 0.5665313601493835, + -0.7441325783729553, + 0.13568922877311707, + 0.3269515335559845 + ], + "joints": [ + 0.015063207596540451 + ] + }, + "final_grasp": { + "position": [ + 0.07049854099750519, + 0.14463664591312408, + 0.0937308743596077 + ], + "orientation": [ + 0.5665313601493835, + -0.7441325783729553, + 0.13568922877311707, + 0.3269515335559845 + ], + "joints": [ + 0.02149314619600773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10440950840711594, + 0.09446827322244644, + 0.06499666720628738 + ], + "orientation": [ + 0.597640335559845, + -0.6372852325439453, + -0.36635780334472656, + -0.3201179504394531 + ], + "joints": [ + 0.008687511086463928 + ] + }, + "fine_grasp": { + "position": [ + -0.10418134182691574, + 0.09396965056657791, + 0.06472412496805191 + ], + "orientation": [ + 0.5840014219284058, + -0.6492621898651123, + -0.3827306032180786, + -0.30152618885040283 + ], + "joints": [ + 0.01455947756767273 + ] + }, + "final_grasp": { + "position": [ + -0.10418134182691574, + 0.09396965056657791, + 0.06472412496805191 + ], + "orientation": [ + 0.5840014219284058, + -0.6492621898651123, + -0.3827306032180786, + -0.30152618885040283 + ], + "joints": [ + 0.02043144404888153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10315077006816864, + 0.09510628134012222, + 0.06557735055685043 + ], + "orientation": [ + 0.6004648804664612, + -0.6373376250267029, + -0.36418649554252625, + -0.31719207763671875 + ], + "joints": [ + 0.008687511086463928 + ] + }, + "fine_grasp": { + "position": [ + -0.10094351321458817, + 0.09518393874168396, + 0.06440585106611252 + ], + "orientation": [ + 0.583345890045166, + -0.6518082618713379, + -0.3859991431236267, + -0.29301556944847107 + ], + "joints": [ + 0.01455947756767273 + ] + }, + "final_grasp": { + "position": [ + -0.10094351321458817, + 0.09518393874168396, + 0.06440585106611252 + ], + "orientation": [ + 0.583345890045166, + -0.6518082618713379, + -0.3859991431236267, + -0.29301556944847107 + ], + "joints": [ + 0.02043144404888153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07661207765340805, + 0.15337881445884705, + 0.08986096829175949 + ], + "orientation": [ + 0.570704460144043, + -0.7341580390930176, + -0.16788166761398315, + -0.32729846239089966 + ], + "joints": [ + 0.008018183521926403 + ] + }, + "fine_grasp": { + "position": [ + -0.07749965786933899, + 0.15406885743141174, + 0.0906936302781105 + ], + "orientation": [ + 0.5720730423927307, + -0.7317776679992676, + -0.152470663189888, + -0.3376191258430481 + ], + "joints": [ + 0.013358750380575657 + ] + }, + "final_grasp": { + "position": [ + -0.07749965786933899, + 0.15406885743141174, + 0.0906936302781105 + ], + "orientation": [ + 0.5720730423927307, + -0.7317776679992676, + -0.152470663189888, + -0.3376191258430481 + ], + "joints": [ + 0.018699318170547485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07271114736795425, + 0.13973957300186157, + 0.09544216841459274 + ], + "orientation": [ + 0.16487619280815125, + 0.2937116026878357, + -0.6046072840690613, + 0.7218028903007507 + ], + "joints": [ + 0.008640984073281288 + ] + }, + "fine_grasp": { + "position": [ + 0.07172304391860962, + 0.1395847052335739, + 0.09536230564117432 + ], + "orientation": [ + 0.13968952000141144, + 0.32081493735313416, + -0.6103228330612183, + 0.7106831073760986 + ], + "joints": [ + 0.014539523050189018 + ] + }, + "final_grasp": { + "position": [ + 0.07172304391860962, + 0.1395847052335739, + 0.09536230564117432 + ], + "orientation": [ + 0.13968952000141144, + 0.32081493735313416, + -0.6103228330612183, + 0.7106831073760986 + ], + "joints": [ + 0.02043806202709675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06335276365280151, + 0.07366104423999786, + -0.10458608716726303 + ], + "orientation": [ + 0.7123315334320068, + 0.6424338221549988, + 0.25138887763023376, + -0.1290973573923111 + ], + "joints": [ + 0.007847057655453682 + ] + }, + "fine_grasp": { + "position": [ + -0.06466244161128998, + 0.07329115271568298, + -0.10605845600366592 + ], + "orientation": [ + 0.7073673605918884, + 0.6454984545707703, + 0.2648214101791382, + -0.11328164488077164 + ], + "joints": [ + 0.013719024136662483 + ] + }, + "final_grasp": { + "position": [ + -0.06466244161128998, + 0.07329115271568298, + -0.10605845600366592 + ], + "orientation": [ + 0.7073673605918884, + 0.6454984545707703, + 0.2648214101791382, + -0.11328164488077164 + ], + "joints": [ + 0.019590990617871284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0730644017457962, + 0.045791223645210266, + -0.09426259994506836 + ], + "orientation": [ + 0.21688653528690338, + -0.22651749849319458, + -0.7667375206947327, + -0.5601459741592407 + ], + "joints": [ + 0.008275579661130905 + ] + }, + "fine_grasp": { + "position": [ + -0.07413386553525925, + 0.047268133610486984, + -0.09337936341762543 + ], + "orientation": [ + 0.1896108090877533, + -0.25223565101623535, + -0.7723832130432129, + -0.5512250661849976 + ], + "joints": [ + 0.014678945764899254 + ] + }, + "final_grasp": { + "position": [ + -0.07413386553525925, + 0.047268133610486984, + -0.09337936341762543 + ], + "orientation": [ + 0.1896108090877533, + -0.25223565101623535, + -0.7723832130432129, + -0.5512250661849976 + ], + "joints": [ + 0.021082311868667603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05880093201994896, + 0.15093262493610382, + 0.09342198818922043 + ], + "orientation": [ + 0.5109922289848328, + -0.8043289184570312, + 0.11961635947227478, + 0.27862849831581116 + ], + "joints": [ + 0.008214849978685379 + ] + }, + "fine_grasp": { + "position": [ + 0.059442803263664246, + 0.15082955360412598, + 0.09553366899490356 + ], + "orientation": [ + 0.513265073299408, + -0.798711359500885, + 0.10993483662605286, + 0.29416602849960327 + ], + "joints": [ + 0.015123045071959496 + ] + }, + "final_grasp": { + "position": [ + 0.059442803263664246, + 0.15082955360412598, + 0.09553366899490356 + ], + "orientation": [ + 0.513265073299408, + -0.798711359500885, + 0.10993483662605286, + 0.29416602849960327 + ], + "joints": [ + 0.022031240165233612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06925057619810104, + 0.052098363637924194, + -0.09835172444581985 + ], + "orientation": [ + 0.7618939280509949, + 0.5775371789932251, + 0.20369809865951538, + -0.21089188754558563 + ], + "joints": [ + 0.008395249024033546 + ] + }, + "fine_grasp": { + "position": [ + -0.0705820843577385, + 0.05282497778534889, + -0.09751075506210327 + ], + "orientation": [ + 0.7676465511322021, + 0.5682892203330994, + 0.18075592815876007, + -0.23471993207931519 + ], + "joints": [ + 0.014825185760855675 + ] + }, + "final_grasp": { + "position": [ + -0.0705820843577385, + 0.05282497778534889, + -0.09751075506210327 + ], + "orientation": [ + 0.7676465511322021, + 0.5682892203330994, + 0.18075592815876007, + -0.23471993207931519 + ], + "joints": [ + 0.021255122497677803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09622176736593246, + 0.07729782164096832, + -0.06286793947219849 + ], + "orientation": [ + 0.30646881461143494, + -0.36615607142448425, + -0.6155838966369629, + -0.626947283744812 + ], + "joints": [ + 0.007419441360980272 + ] + }, + "fine_grasp": { + "position": [ + -0.100379578769207, + 0.07776697725057602, + -0.0656115859746933 + ], + "orientation": [ + 0.29063111543655396, + -0.3805195689201355, + -0.6240203380584717, + -0.6175249218940735 + ], + "joints": [ + 0.014327636919915676 + ] + }, + "final_grasp": { + "position": [ + -0.100379578769207, + 0.07776697725057602, + -0.0656115859746933 + ], + "orientation": [ + 0.29063111543655396, + -0.3805195689201355, + -0.6240203380584717, + -0.6175249218940735 + ], + "joints": [ + 0.021235832944512367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05345959588885307, + 0.06374577432870865, + 0.10919489711523056 + ], + "orientation": [ + 0.7396938800811768, + -0.6338897347450256, + 0.13278280198574066, + 0.1827712208032608 + ], + "joints": [ + 0.008300859481096268 + ] + }, + "fine_grasp": { + "position": [ + 0.05347543954849243, + 0.06355490535497665, + 0.10833406448364258 + ], + "orientation": [ + 0.7443534731864929, + -0.6267495155334473, + 0.10572140663862228, + 0.20480681955814362 + ], + "joints": [ + 0.014704225584864616 + ] + }, + "final_grasp": { + "position": [ + 0.05347543954849243, + 0.06355490535497665, + 0.10833406448364258 + ], + "orientation": [ + 0.7443534731864929, + -0.6267495155334473, + 0.10572140663862228, + 0.20480681955814362 + ], + "joints": [ + 0.021107591688632965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05727662146091461, + 0.06414321064949036, + -0.1058635339140892 + ], + "orientation": [ + 0.22258657217025757, + -0.12565647065639496, + 0.730638325214386, + 0.6331139206886292 + ], + "joints": [ + 0.008710093796253204 + ] + }, + "fine_grasp": { + "position": [ + 0.05627850443124771, + 0.0642964318394661, + -0.10573969036340714 + ], + "orientation": [ + 0.25158870220184326, + -0.098778635263443, + 0.7220869660377502, + 0.6368173360824585 + ], + "joints": [ + 0.015113459900021553 + ] + }, + "final_grasp": { + "position": [ + 0.05627850443124771, + 0.0642964318394661, + -0.10573969036340714 + ], + "orientation": [ + 0.25158870220184326, + -0.098778635263443, + 0.7220869660377502, + 0.6368173360824585 + ], + "joints": [ + 0.0215168260037899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05624990165233612, + 0.12917017936706543, + -0.09912046045064926 + ], + "orientation": [ + 0.5595657825469971, + 0.7834922671318054, + 0.11999592185020447, + -0.2421298623085022 + ], + "joints": [ + 0.008571295067667961 + ] + }, + "fine_grasp": { + "position": [ + -0.055992789566516876, + 0.1280795931816101, + -0.10078652948141098 + ], + "orientation": [ + 0.5649036765098572, + 0.7743459939956665, + 0.09970781207084656, + -0.26707780361175537 + ], + "joints": [ + 0.01497466117143631 + ] + }, + "final_grasp": { + "position": [ + -0.055992789566516876, + 0.1280795931816101, + -0.10078652948141098 + ], + "orientation": [ + 0.5649036765098572, + 0.7743459939956665, + 0.09970781207084656, + -0.26707780361175537 + ], + "joints": [ + 0.02137802727520466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050976794213056564, + 0.07939369976520538, + 0.11211635172367096 + ], + "orientation": [ + 0.6932899951934814, + -0.6871371269226074, + -0.181854248046875, + -0.11883015930652618 + ], + "joints": [ + 0.008435297757387161 + ] + }, + "fine_grasp": { + "position": [ + -0.05099300295114517, + 0.07931867241859436, + 0.11281344294548035 + ], + "orientation": [ + 0.6868669390678406, + -0.6905210018157959, + -0.20734277367591858, + -0.09167125076055527 + ], + "joints": [ + 0.01486523449420929 + ] + }, + "final_grasp": { + "position": [ + -0.05099300295114517, + 0.07931867241859436, + 0.11281344294548035 + ], + "orientation": [ + 0.6868669390678406, + -0.6905210018157959, + -0.20734277367591858, + -0.09167125076055527 + ], + "joints": [ + 0.021295171231031418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05103747546672821, + 0.07951070368289948, + 0.11211705207824707 + ], + "orientation": [ + 0.6941571831703186, + -0.6862131953239441, + -0.18168829381465912, + -0.11935866624116898 + ], + "joints": [ + 0.00843920186161995 + ] + }, + "fine_grasp": { + "position": [ + -0.05104602128267288, + 0.07944431900978088, + 0.11287599056959152 + ], + "orientation": [ + 0.6876862645149231, + -0.6895442605018616, + -0.2071937471628189, + -0.09320449084043503 + ], + "joints": [ + 0.014869138598442078 + ] + }, + "final_grasp": { + "position": [ + -0.05104602128267288, + 0.07944431900978088, + 0.11287599056959152 + ], + "orientation": [ + 0.6876862645149231, + -0.6895442605018616, + -0.2071937471628189, + -0.09320449084043503 + ], + "joints": [ + 0.021299075335264206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11608397960662842, + 0.09354905039072037, + 0.040541619062423706 + ], + "orientation": [ + 0.5862252712249756, + -0.5589567422866821, + 0.35453081130981445, + 0.4671350121498108 + ], + "joints": [ + 0.0079700518399477 + ] + }, + "fine_grasp": { + "position": [ + 0.11464495956897736, + 0.09348554909229279, + 0.04005192592740059 + ], + "orientation": [ + 0.595329225063324, + -0.5473400354385376, + 0.336460143327713, + 0.48249003291130066 + ], + "joints": [ + 0.013390332460403442 + ] + }, + "final_grasp": { + "position": [ + 0.11464495956897736, + 0.09348554909229279, + 0.04005192592740059 + ], + "orientation": [ + 0.595329225063324, + -0.5473400354385376, + 0.336460143327713, + 0.48249003291130066 + ], + "joints": [ + 0.018810613080859184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06991882622241974, + 0.04860115796327591, + -0.09949691593647003 + ], + "orientation": [ + 0.7527686357498169, + 0.5889158248901367, + 0.18349793553352356, + -0.22988261282444 + ], + "joints": [ + 0.00786534883081913 + ] + }, + "fine_grasp": { + "position": [ + -0.06946368515491486, + 0.04919944331049919, + -0.09792352467775345 + ], + "orientation": [ + 0.7548910975456238, + 0.5841228365898132, + 0.16190826892852783, + -0.2504507005214691 + ], + "joints": [ + 0.014321856200695038 + ] + }, + "final_grasp": { + "position": [ + -0.06946368515491486, + 0.04919944331049919, + -0.09792352467775345 + ], + "orientation": [ + 0.7548910975456238, + 0.5841228365898132, + 0.16190826892852783, + -0.2504507005214691 + ], + "joints": [ + 0.020778363570570946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11573953181505203, + 0.08213980495929718, + 0.044165074825286865 + ], + "orientation": [ + 0.37486955523490906, + 0.426310658454895, + -0.6147821545600891, + 0.5475171208381653 + ], + "joints": [ + 0.008197015151381493 + ] + }, + "fine_grasp": { + "position": [ + 0.11449340730905533, + 0.08208063244819641, + 0.04376921057701111 + ], + "orientation": [ + 0.3546779155731201, + 0.44306376576423645, + -0.6265438795089722, + 0.5341730117797852 + ], + "joints": [ + 0.014122122898697853 + ] + }, + "final_grasp": { + "position": [ + 0.11449340730905533, + 0.08208063244819641, + 0.04376921057701111 + ], + "orientation": [ + 0.3546779155731201, + 0.44306376576423645, + -0.6265438795089722, + 0.5341730117797852 + ], + "joints": [ + 0.020047230646014214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11602551490068436, + 0.08251536637544632, + 0.04419012367725372 + ], + "orientation": [ + 0.3749476373195648, + 0.4267670810222626, + -0.6146960258483887, + 0.5472047924995422 + ], + "joints": [ + 0.008177632465958595 + ] + }, + "fine_grasp": { + "position": [ + 0.11451958864927292, + 0.08242787420749664, + 0.043751053512096405 + ], + "orientation": [ + 0.35451194643974304, + 0.44322603940963745, + -0.6261781454086304, + 0.5345773696899414 + ], + "joints": [ + 0.014102742075920105 + ] + }, + "final_grasp": { + "position": [ + 0.11451958864927292, + 0.08242787420749664, + 0.043751053512096405 + ], + "orientation": [ + 0.35451194643974304, + 0.44322603940963745, + -0.6261781454086304, + 0.5345773696899414 + ], + "joints": [ + 0.020027851685881615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04482544586062431, + 0.056923311203718185, + 0.11252118647098541 + ], + "orientation": [ + 0.19102582335472107, + 0.07989423722028732, + -0.7583037614822388, + 0.6181434988975525 + ], + "joints": [ + 0.007909468375146389 + ] + }, + "fine_grasp": { + "position": [ + 0.04501701146364212, + 0.05603867396712303, + 0.11396079510450363 + ], + "orientation": [ + 0.20718233287334442, + 0.05748886242508888, + -0.7553911209106445, + 0.618994951248169 + ], + "joints": [ + 0.013250035233795643 + ] + }, + "final_grasp": { + "position": [ + 0.04501701146364212, + 0.05603867396712303, + 0.11396079510450363 + ], + "orientation": [ + 0.20718233287334442, + 0.05748886242508888, + -0.7553911209106445, + 0.618994951248169 + ], + "joints": [ + 0.01859060302376747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11619355529546738, + 0.08267892897129059, + 0.04449639841914177 + ], + "orientation": [ + 0.3737948536872864, + 0.4271683394908905, + -0.6133019924163818, + 0.5492407083511353 + ], + "joints": [ + 0.008253812789916992 + ] + }, + "fine_grasp": { + "position": [ + 0.11452722549438477, + 0.08266040682792664, + 0.04401291161775589 + ], + "orientation": [ + 0.3546122610569, + 0.44263312220573425, + -0.624472439289093, + 0.5369918346405029 + ], + "joints": [ + 0.014178920537233353 + ] + }, + "final_grasp": { + "position": [ + 0.11452722549438477, + 0.08266040682792664, + 0.04401291161775589 + ], + "orientation": [ + 0.3546122610569, + 0.44263312220573425, + -0.624472439289093, + 0.5369918346405029 + ], + "joints": [ + 0.020104028284549713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10019667446613312, + 0.06340335309505463, + -0.06559190899133682 + ], + "orientation": [ + 0.6530745625495911, + 0.5883017182350159, + 0.36511096358299255, + -0.3067387044429779 + ], + "joints": [ + 0.007930271327495575 + ] + }, + "fine_grasp": { + "position": [ + -0.10381227731704712, + 0.0640154480934143, + -0.0673862099647522 + ], + "orientation": [ + 0.6637892723083496, + 0.5790706872940063, + 0.36378297209739685, + -0.3028581738471985 + ], + "joints": [ + 0.014811895787715912 + ] + }, + "final_grasp": { + "position": [ + -0.10381227731704712, + 0.0640154480934143, + -0.0673862099647522 + ], + "orientation": [ + 0.6637892723083496, + 0.5790706872940063, + 0.36378297209739685, + -0.3028581738471985 + ], + "joints": [ + 0.02169352024793625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11582142114639282, + 0.08258693665266037, + 0.04410507529973984 + ], + "orientation": [ + 0.37758126854896545, + 0.4241923391819, + -0.6137957572937012, + 0.5484049320220947 + ], + "joints": [ + 0.008151538670063019 + ] + }, + "fine_grasp": { + "position": [ + 0.11452972143888474, + 0.08245840668678284, + 0.04377835616469383 + ], + "orientation": [ + 0.35612162947654724, + 0.4417465925216675, + -0.6258331537246704, + 0.5351357460021973 + ], + "joints": [ + 0.014076648280024529 + ] + }, + "final_grasp": { + "position": [ + 0.11452972143888474, + 0.08245840668678284, + 0.04377835616469383 + ], + "orientation": [ + 0.35612162947654724, + 0.4417465925216675, + -0.6258331537246704, + 0.5351357460021973 + ], + "joints": [ + 0.020001757889986038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10107826441526413, + 0.06456348299980164, + -0.06552854925394058 + ], + "orientation": [ + 0.6609838008880615, + 0.5789015889167786, + 0.36326679587364197, + -0.30985578894615173 + ], + "joints": [ + 0.007893942296504974 + ] + }, + "fine_grasp": { + "position": [ + -0.10387938469648361, + 0.0652289018034935, + -0.06707236170768738 + ], + "orientation": [ + 0.6672835350036621, + 0.5735542178153992, + 0.3671461343765259, + -0.30161553621292114 + ], + "joints": [ + 0.01482870802283287 + ] + }, + "final_grasp": { + "position": [ + -0.10387938469648361, + 0.0652289018034935, + -0.06707236170768738 + ], + "orientation": [ + 0.6672835350036621, + 0.5735542178153992, + 0.3671461343765259, + -0.30161553621292114 + ], + "joints": [ + 0.021763473749160767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11152281612157822, + 0.07881235331296921, + -0.04927847534418106 + ], + "orientation": [ + 0.6376200318336487, + 0.5459576845169067, + 0.3657694160938263, + -0.40197479724884033 + ], + "joints": [ + 0.007715575862675905 + ] + }, + "fine_grasp": { + "position": [ + -0.11031414568424225, + 0.07874961942434311, + -0.048628903925418854 + ], + "orientation": [ + 0.6476796865463257, + 0.5336527824401855, + 0.3453950583934784, + -0.4200332462787628 + ], + "joints": [ + 0.013640684075653553 + ] + }, + "final_grasp": { + "position": [ + -0.11031414568424225, + 0.07874961942434311, + -0.048628903925418854 + ], + "orientation": [ + 0.6476796865463257, + 0.5336527824401855, + 0.3453950583934784, + -0.4200332462787628 + ], + "joints": [ + 0.019565792754292488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04483412951231003, + 0.056370195001363754, + 0.11234614253044128 + ], + "orientation": [ + 0.18869490921497345, + 0.08214572072029114, + -0.7599436044692993, + 0.6165485382080078 + ], + "joints": [ + 0.007940086536109447 + ] + }, + "fine_grasp": { + "position": [ + 0.04490504041314125, + 0.055472150444984436, + 0.11376519501209259 + ], + "orientation": [ + 0.2050228714942932, + 0.059251971542835236, + -0.7572730779647827, + 0.617245614528656 + ], + "joints": [ + 0.013280653394758701 + ] + }, + "final_grasp": { + "position": [ + 0.04490504041314125, + 0.055472150444984436, + 0.11376519501209259 + ], + "orientation": [ + 0.2050228714942932, + 0.059251971542835236, + -0.7572730779647827, + 0.617245614528656 + ], + "joints": [ + 0.01862122118473053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10818954557180405, + 0.049939483404159546, + 0.06100752204656601 + ], + "orientation": [ + 0.4141625463962555, + 0.2999936044216156, + 0.6394410133361816, + -0.5740978717803955 + ], + "joints": [ + 0.007412352599203587 + ] + }, + "fine_grasp": { + "position": [ + -0.10393806546926498, + 0.051261067390441895, + 0.05907488241791725 + ], + "orientation": [ + 0.4250558316707611, + 0.29151323437690735, + 0.6343227624893188, + -0.5761790871620178 + ], + "joints": [ + 0.014347118325531483 + ] + }, + "final_grasp": { + "position": [ + -0.10393806546926498, + 0.051261067390441895, + 0.05907488241791725 + ], + "orientation": [ + 0.4250558316707611, + 0.29151323437690735, + 0.6343227624893188, + -0.5761790871620178 + ], + "joints": [ + 0.021281883120536804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04560086876153946, + 0.155091792345047, + 0.10270954668521881 + ], + "orientation": [ + 0.5345076322555542, + -0.8074761033058167, + 0.07014716416597366, + 0.23950645327568054 + ], + "joints": [ + 0.008043188601732254 + ] + }, + "fine_grasp": { + "position": [ + 0.04589354246854782, + 0.15389159321784973, + 0.10373440384864807 + ], + "orientation": [ + 0.5391143560409546, + -0.7992438673973083, + 0.05337715521454811, + 0.2602229416370392 + ], + "joints": [ + 0.014446554705500603 + ] + }, + "final_grasp": { + "position": [ + 0.04589354246854782, + 0.15389159321784973, + 0.10373440384864807 + ], + "orientation": [ + 0.5391143560409546, + -0.7992438673973083, + 0.05337715521454811, + 0.2602229416370392 + ], + "joints": [ + 0.02084992080926895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04360450431704521, + 0.07787039875984192, + 0.1138283759355545 + ], + "orientation": [ + 0.7094051241874695, + -0.677290678024292, + 0.07875272631645203, + 0.17838113009929657 + ], + "joints": [ + 0.007962742820382118 + ] + }, + "fine_grasp": { + "position": [ + 0.04308994859457016, + 0.07805076241493225, + 0.11224686354398727 + ], + "orientation": [ + 0.7108650207519531, + -0.6718806624412537, + 0.05550820752978325, + 0.2004149854183197 + ], + "joints": [ + 0.013887850567698479 + ] + }, + "final_grasp": { + "position": [ + 0.04308994859457016, + 0.07805076241493225, + 0.11224686354398727 + ], + "orientation": [ + 0.7108650207519531, + -0.6718806624412537, + 0.05550820752978325, + 0.2004149854183197 + ], + "joints": [ + 0.01981295831501484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11687788367271423, + 0.09285075962543488, + 0.03370749205350876 + ], + "orientation": [ + 0.5707823038101196, + -0.5536342263221741, + 0.37759578227996826, + 0.4744661748409271 + ], + "joints": [ + 0.00800351332873106 + ] + }, + "fine_grasp": { + "position": [ + 0.11749909818172455, + 0.09306640177965164, + 0.03404600918292999 + ], + "orientation": [ + 0.5829359889030457, + -0.5389614701271057, + 0.35989972949028015, + 0.4900798499584198 + ], + "joints": [ + 0.013955192640423775 + ] + }, + "final_grasp": { + "position": [ + 0.11749909818172455, + 0.09306640177965164, + 0.03404600918292999 + ], + "orientation": [ + 0.5829359889030457, + -0.5389614701271057, + 0.35989972949028015, + 0.4900798499584198 + ], + "joints": [ + 0.019906871020793915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05070386826992035, + 0.01721283793449402, + 0.10019609332084656 + ], + "orientation": [ + 0.2386036068201065, + 0.09695956110954285, + 0.7999126315116882, + -0.5420397520065308 + ], + "joints": [ + 0.008169915527105331 + ] + }, + "fine_grasp": { + "position": [ + -0.05080524832010269, + 0.017815887928009033, + 0.10303343087434769 + ], + "orientation": [ + 0.26076486706733704, + 0.0780821144580841, + 0.7921883463859558, + -0.5462074875831604 + ], + "joints": [ + 0.01457328163087368 + ] + }, + "final_grasp": { + "position": [ + -0.05080524832010269, + 0.017815887928009033, + 0.10303343087434769 + ], + "orientation": [ + 0.26076486706733704, + 0.0780821144580841, + 0.7921883463859558, + -0.5462074875831604 + ], + "joints": [ + 0.02097664773464203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05308801680803299, + 0.06326624751091003, + 0.10918723046779633 + ], + "orientation": [ + 0.7391576170921326, + -0.6348711252212524, + 0.13012562692165375, + 0.18344470858573914 + ], + "joints": [ + 0.008228473365306854 + ] + }, + "fine_grasp": { + "position": [ + 0.05299932882189751, + 0.06308439373970032, + 0.10841958224773407 + ], + "orientation": [ + 0.7438325881958008, + -0.6277585029602051, + 0.102930948138237, + 0.20503045618534088 + ], + "joints": [ + 0.014631839469075203 + ] + }, + "final_grasp": { + "position": [ + 0.05299932882189751, + 0.06308439373970032, + 0.10841958224773407 + ], + "orientation": [ + 0.7438325881958008, + -0.6277585029602051, + 0.102930948138237, + 0.20503045618534088 + ], + "joints": [ + 0.02103520557284355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04540718346834183, + 0.1559055596590042, + 0.10283706337213516 + ], + "orientation": [ + 0.5352149605751038, + -0.8067547678947449, + 0.06808068603277206, + 0.2409498691558838 + ], + "joints": [ + 0.00801447406411171 + ] + }, + "fine_grasp": { + "position": [ + 0.04567873477935791, + 0.15466563403606415, + 0.10380617529153824 + ], + "orientation": [ + 0.5399541854858398, + -0.7983249425888062, + 0.05053291842341423, + 0.2618648409843445 + ], + "joints": [ + 0.014417840167880058 + ] + }, + "final_grasp": { + "position": [ + 0.04567873477935791, + 0.15466563403606415, + 0.10380617529153824 + ], + "orientation": [ + 0.5399541854858398, + -0.7983249425888062, + 0.05053291842341423, + 0.2618648409843445 + ], + "joints": [ + 0.020821206271648407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11505631357431412, + 0.062234196811914444, + 0.038077473640441895 + ], + "orientation": [ + 0.40633437037467957, + 0.4094696640968323, + -0.6560810208320618, + 0.4866052567958832 + ], + "joints": [ + 0.007959803566336632 + ] + }, + "fine_grasp": { + "position": [ + 0.11367285251617432, + 0.06309758871793747, + 0.03714979067444801 + ], + "orientation": [ + 0.37818366289138794, + 0.42928484082221985, + -0.6707639694213867, + 0.4719822108745575 + ], + "joints": [ + 0.013353511691093445 + ] + }, + "final_grasp": { + "position": [ + 0.11367285251617432, + 0.06309758871793747, + 0.03714979067444801 + ], + "orientation": [ + 0.37818366289138794, + 0.42928484082221985, + -0.6707639694213867, + 0.4719822108745575 + ], + "joints": [ + 0.018747219815850258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11517267674207687, + 0.06179334223270416, + 0.03766680136322975 + ], + "orientation": [ + 0.4083767533302307, + 0.4092552959918976, + -0.6559643149375916, + 0.4852312505245209 + ], + "joints": [ + 0.007996506989002228 + ] + }, + "fine_grasp": { + "position": [ + 0.11379557847976685, + 0.06269124150276184, + 0.036784812808036804 + ], + "orientation": [ + 0.38019922375679016, + 0.4288274943828583, + -0.6708608269691467, + 0.47063934803009033 + ], + "joints": [ + 0.01339021511375904 + ] + }, + "final_grasp": { + "position": [ + 0.11379557847976685, + 0.06269124150276184, + 0.036784812808036804 + ], + "orientation": [ + 0.38019922375679016, + 0.4288274943828583, + -0.6708608269691467, + 0.47063934803009033 + ], + "joints": [ + 0.018783923238515854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11628448218107224, + 0.06664367020130157, + 0.031016003340482712 + ], + "orientation": [ + 0.415434330701828, + 0.4365822374820709, + -0.6342555284500122, + 0.4842832088470459 + ], + "joints": [ + 0.007691608276218176 + ] + }, + "fine_grasp": { + "position": [ + 0.11641903221607208, + 0.06695646792650223, + 0.030457768589258194 + ], + "orientation": [ + 0.3899679183959961, + 0.4556860327720642, + -0.6509131193161011, + 0.4653894901275635 + ], + "joints": [ + 0.013085316866636276 + ] + }, + "final_grasp": { + "position": [ + 0.11641903221607208, + 0.06695646792650223, + 0.030457768589258194 + ], + "orientation": [ + 0.3899679183959961, + 0.4556860327720642, + -0.6509131193161011, + 0.4653894901275635 + ], + "joints": [ + 0.01847902499139309 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10865655541419983, + 0.12634439766407013, + -0.04816329851746559 + ], + "orientation": [ + 0.34372949600219727, + -0.41399818658828735, + 0.5081808567047119, + 0.6724638342857361 + ], + "joints": [ + 0.00904395803809166 + ] + }, + "fine_grasp": { + "position": [ + 0.10901926457881927, + 0.12515921890735626, + -0.04781751334667206 + ], + "orientation": [ + 0.3387722969055176, + -0.4150305986404419, + 0.5030352473258972, + 0.6781876087188721 + ], + "joints": [ + 0.01494249701499939 + ] + }, + "final_grasp": { + "position": [ + 0.10901926457881927, + 0.12515921890735626, + -0.04781751334667206 + ], + "orientation": [ + 0.3387722969055176, + -0.4150305986404419, + 0.5030352473258972, + 0.6781876087188721 + ], + "joints": [ + 0.02084103599190712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12016751617193222, + 0.054503779858350754, + -0.005675553344190121 + ], + "orientation": [ + 0.5317124724388123, + 0.48070353269577026, + 0.5726900696754456, + -0.3977840542793274 + ], + "joints": [ + 0.0074717802926898 + ] + }, + "fine_grasp": { + "position": [ + -0.1206287369132042, + 0.054098471999168396, + -0.0064974320121109486 + ], + "orientation": [ + 0.5178319215774536, + 0.49646303057670593, + 0.5846806764602661, + -0.37884441018104553 + ], + "joints": [ + 0.012307518161833286 + ] + }, + "final_grasp": { + "position": [ + -0.1206287369132042, + 0.054098471999168396, + -0.0064974320121109486 + ], + "orientation": [ + 0.5178319215774536, + 0.49646303057670593, + 0.5846806764602661, + -0.37884441018104553 + ], + "joints": [ + 0.017143256962299347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06445754319429398, + 0.0245597492903471, + 0.0973149836063385 + ], + "orientation": [ + 0.776048481464386, + -0.5656533241271973, + 0.17783164978027344, + 0.21485131978988647 + ], + "joints": [ + 0.00764471897855401 + ] + }, + "fine_grasp": { + "position": [ + 0.06561674177646637, + 0.025477400049567223, + 0.09831460565328598 + ], + "orientation": [ + 0.7781931757926941, + -0.5621073842048645, + 0.16322121024131775, + 0.22761699557304382 + ], + "joints": [ + 0.014579485170543194 + ] + }, + "final_grasp": { + "position": [ + 0.06561674177646637, + 0.025477400049567223, + 0.09831460565328598 + ], + "orientation": [ + 0.7781931757926941, + -0.5621073842048645, + 0.16322121024131775, + 0.22761699557304382 + ], + "joints": [ + 0.021514251828193665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03194057568907738, + 0.10964018106460571, + 0.11861982196569443 + ], + "orientation": [ + 0.6640822887420654, + -0.7328769564628601, + 0.05192787945270538, + 0.13852661848068237 + ], + "joints": [ + 0.00822075828909874 + ] + }, + "fine_grasp": { + "position": [ + 0.031494248658418655, + 0.10957038402557373, + 0.11819618195295334 + ], + "orientation": [ + 0.6646557450294495, + -0.7287169098854065, + 0.028734738007187843, + 0.16241571307182312 + ], + "joints": [ + 0.014650695025920868 + ] + }, + "final_grasp": { + "position": [ + 0.031494248658418655, + 0.10957038402557373, + 0.11819618195295334 + ], + "orientation": [ + 0.6646557450294495, + -0.7287169098854065, + 0.028734738007187843, + 0.16241571307182312 + ], + "joints": [ + 0.021080631762742996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08489672839641571, + 0.1851779967546463, + -0.056023839861154556 + ], + "orientation": [ + 0.2010948359966278, + -0.4567997455596924, + 0.4355073869228363, + 0.7491515874862671 + ], + "joints": [ + 0.008079423569142818 + ] + }, + "fine_grasp": { + "position": [ + 0.08439742773771286, + 0.1843094527721405, + -0.05550723895430565 + ], + "orientation": [ + 0.188067227602005, + -0.46657031774520874, + 0.43565890192985535, + 0.7464208602905273 + ], + "joints": [ + 0.013446561060845852 + ] + }, + "final_grasp": { + "position": [ + 0.08439742773771286, + 0.1843094527721405, + -0.05550723895430565 + ], + "orientation": [ + 0.188067227602005, + -0.46657031774520874, + 0.43565890192985535, + 0.7464208602905273 + ], + "joints": [ + 0.01881369948387146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009163684211671352, + 0.07133306562900543, + 0.12308204919099808 + ], + "orientation": [ + 0.07198421657085419, + -0.014862013049423695, + 0.7355043292045593, + -0.673521101474762 + ], + "joints": [ + 0.008509686216711998 + ] + }, + "fine_grasp": { + "position": [ + -0.008867417462170124, + 0.07166784256696701, + 0.12171623855829239 + ], + "orientation": [ + 0.0920850932598114, + -0.03316020593047142, + 0.7327635884284973, + -0.6734079718589783 + ], + "joints": [ + 0.014913054183125496 + ] + }, + "final_grasp": { + "position": [ + -0.008867417462170124, + 0.07166784256696701, + 0.12171623855829239 + ], + "orientation": [ + 0.0920850932598114, + -0.03316020593047142, + 0.7327635884284973, + -0.6734079718589783 + ], + "joints": [ + 0.021316422149538994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009095448069274426, + 0.07170611619949341, + 0.12314477562904358 + ], + "orientation": [ + 0.07011185586452484, + -0.013445546850562096, + 0.7366790175437927, + -0.6724638938903809 + ], + "joints": [ + 0.008473539724946022 + ] + }, + "fine_grasp": { + "position": [ + -0.008837264031171799, + 0.07206554710865021, + 0.12177736312150955 + ], + "orientation": [ + 0.09053828567266464, + -0.03204335272312164, + 0.7339603900909424, + -0.6723675727844238 + ], + "joints": [ + 0.01487690769135952 + ] + }, + "final_grasp": { + "position": [ + -0.008837264031171799, + 0.07206554710865021, + 0.12177736312150955 + ], + "orientation": [ + 0.09053828567266464, + -0.03204335272312164, + 0.7339603900909424, + -0.6723675727844238 + ], + "joints": [ + 0.021280275657773018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00917641818523407, + 0.07144918292760849, + 0.12306706607341766 + ], + "orientation": [ + 0.06981076300144196, + -0.012524894438683987, + 0.7382392287254333, + -0.6707999110221863 + ], + "joints": [ + 0.008509686216711998 + ] + }, + "fine_grasp": { + "position": [ + -0.008886796422302723, + 0.07180716097354889, + 0.12185659259557724 + ], + "orientation": [ + 0.08995788544416428, + -0.031036032363772392, + 0.7356274724006653, + -0.6706688404083252 + ], + "joints": [ + 0.014913054183125496 + ] + }, + "final_grasp": { + "position": [ + -0.008886796422302723, + 0.07180716097354889, + 0.12185659259557724 + ], + "orientation": [ + 0.08995788544416428, + -0.031036032363772392, + 0.7356274724006653, + -0.6706688404083252 + ], + "joints": [ + 0.021316422149538994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06482759863138199, + 0.023106563836336136, + 0.09769842028617859 + ], + "orientation": [ + 0.7729765176773071, + -0.5693459510803223, + 0.1729271560907364, + 0.22011061012744904 + ], + "joints": [ + 0.007643089164048433 + ] + }, + "fine_grasp": { + "position": [ + 0.06575509160757065, + 0.023893769830465317, + 0.09857787936925888 + ], + "orientation": [ + 0.7752498388290405, + -0.5654922723770142, + 0.15734025835990906, + 0.23334582149982452 + ], + "joints": [ + 0.014073026366531849 + ] + }, + "final_grasp": { + "position": [ + 0.06575509160757065, + 0.023893769830465317, + 0.09857787936925888 + ], + "orientation": [ + 0.7752498388290405, + -0.5654922723770142, + 0.15734025835990906, + 0.23334582149982452 + ], + "joints": [ + 0.020502964034676552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05214538797736168, + 0.018875261768698692, + -0.10631371289491653 + ], + "orientation": [ + 0.24829529225826263, + -0.08067775517702103, + 0.753280520439148, + 0.6036630272865295 + ], + "joints": [ + 0.007790146861225367 + ] + }, + "fine_grasp": { + "position": [ + 0.05195866897702217, + 0.01952892355620861, + -0.10606458783149719 + ], + "orientation": [ + 0.26134347915649414, + -0.06959444284439087, + 0.7488996982574463, + 0.6049838662147522 + ], + "joints": [ + 0.013715255074203014 + ] + }, + "final_grasp": { + "position": [ + 0.05195866897702217, + 0.01952892355620861, + -0.10606458783149719 + ], + "orientation": [ + 0.26134347915649414, + -0.06959444284439087, + 0.7488996982574463, + 0.6049838662147522 + ], + "joints": [ + 0.01964036375284195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11429488658905029, + 0.05424262955784798, + 0.04342353716492653 + ], + "orientation": [ + 0.4492504596710205, + 0.3531232178211212, + 0.5987138152122498, + -0.5612661242485046 + ], + "joints": [ + 0.007546678651124239 + ] + }, + "fine_grasp": { + "position": [ + -0.11225764453411102, + 0.05451411008834839, + 0.043060895055532455 + ], + "orientation": [ + 0.4635336697101593, + 0.3425486981868744, + 0.5870134830474854, + -0.5685173869132996 + ], + "joints": [ + 0.013976615853607655 + ] + }, + "final_grasp": { + "position": [ + -0.11225764453411102, + 0.05451411008834839, + 0.043060895055532455 + ], + "orientation": [ + 0.4635336697101593, + 0.3425486981868744, + 0.5870134830474854, + -0.5685173869132996 + ], + "joints": [ + 0.020406553521752357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10636187344789505, + 0.11817840486764908, + -0.046297185122966766 + ], + "orientation": [ + 0.325286328792572, + -0.4298427402973175, + 0.4671971797943115, + 0.7008213996887207 + ], + "joints": [ + 0.008266609162092209 + ] + }, + "fine_grasp": { + "position": [ + 0.10732316970825195, + 0.1185285747051239, + -0.04630950093269348 + ], + "orientation": [ + 0.3186284005641937, + -0.4346938133239746, + 0.46837884187698364, + 0.7000988721847534 + ], + "joints": [ + 0.014669975265860558 + ] + }, + "final_grasp": { + "position": [ + 0.10732316970825195, + 0.1185285747051239, + -0.04630950093269348 + ], + "orientation": [ + 0.3186284005641937, + -0.4346938133239746, + 0.46837884187698364, + 0.7000988721847534 + ], + "joints": [ + 0.021073341369628906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059541862457990646, + 0.13298723101615906, + -0.10688048601150513 + ], + "orientation": [ + 0.19538065791130066, + -0.15437068045139313, + -0.621918261051178, + -0.7424377202987671 + ], + "joints": [ + 0.00823189690709114 + ] + }, + "fine_grasp": { + "position": [ + -0.060482390224933624, + 0.13331660628318787, + -0.10865199565887451 + ], + "orientation": [ + 0.20774827897548676, + -0.14422756433486938, + -0.6170784831047058, + -0.7451531887054443 + ], + "joints": [ + 0.01463526301085949 + ] + }, + "final_grasp": { + "position": [ + -0.060482390224933624, + 0.13331660628318787, + -0.10865199565887451 + ], + "orientation": [ + 0.20774827897548676, + -0.14422756433486938, + -0.6170784831047058, + -0.7451531887054443 + ], + "joints": [ + 0.021038629114627838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11401719599962234, + 0.05422840639948845, + 0.04373384639620781 + ], + "orientation": [ + 0.4587850570678711, + 0.3424023389816284, + 0.5902771353721619, + -0.5690780282020569 + ], + "joints": [ + 0.007624055724591017 + ] + }, + "fine_grasp": { + "position": [ + -0.111688032746315, + 0.05451767146587372, + 0.04321448132395744 + ], + "orientation": [ + 0.47306525707244873, + 0.32950714230537415, + 0.5783116817474365, + -0.5772260427474976 + ], + "joints": [ + 0.014027422294020653 + ] + }, + "final_grasp": { + "position": [ + -0.111688032746315, + 0.05451767146587372, + 0.04321448132395744 + ], + "orientation": [ + 0.47306525707244873, + 0.32950714230537415, + 0.5783116817474365, + -0.5772260427474976 + ], + "joints": [ + 0.020430788397789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028054432943463326, + 0.1315179020166397, + -0.11050625145435333 + ], + "orientation": [ + 0.5671861171722412, + 0.8111948370933533, + 0.04631827771663666, + -0.1346011608839035 + ], + "joints": [ + 0.008253919892013073 + ] + }, + "fine_grasp": { + "position": [ + -0.027254557237029076, + 0.1302897036075592, + -0.11128370463848114 + ], + "orientation": [ + 0.5710785984992981, + 0.8045132160186768, + 0.02571074292063713, + -0.16114173829555511 + ], + "joints": [ + 0.014657285995781422 + ] + }, + "final_grasp": { + "position": [ + -0.027254557237029076, + 0.1302897036075592, + -0.11128370463848114 + ], + "orientation": [ + 0.5710785984992981, + 0.8045132160186768, + 0.02571074292063713, + -0.16114173829555511 + ], + "joints": [ + 0.021060653030872345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028440013527870178, + 0.1318831592798233, + -0.11041828244924545 + ], + "orientation": [ + 0.56776362657547, + 0.8104689717292786, + 0.04667871817946434, + -0.13640256226062775 + ], + "joints": [ + 0.008290065452456474 + ] + }, + "fine_grasp": { + "position": [ + -0.027661046013236046, + 0.13071590662002563, + -0.11128417402505875 + ], + "orientation": [ + 0.5717604756355286, + 0.8036782741546631, + 0.02662734128534794, + -0.16273298859596252 + ], + "joints": [ + 0.014693431556224823 + ] + }, + "final_grasp": { + "position": [ + -0.027661046013236046, + 0.13071590662002563, + -0.11128417402505875 + ], + "orientation": [ + 0.5717604756355286, + 0.8036782741546631, + 0.02662734128534794, + -0.16273298859596252 + ], + "joints": [ + 0.02109679765999317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006825783755630255, + 0.06732693314552307, + 0.12224408239126205 + ], + "orientation": [ + 0.07533213496208191, + -0.027828380465507507, + 0.755268394947052, + -0.6504769325256348 + ], + "joints": [ + 0.008416730910539627 + ] + }, + "fine_grasp": { + "position": [ + -0.0064614927396178246, + 0.06800838559865952, + 0.12005273997783661 + ], + "orientation": [ + 0.09664692729711533, + -0.04734025150537491, + 0.7520653009414673, + -0.6502431631088257 + ], + "joints": [ + 0.014315268024802208 + ] + }, + "final_grasp": { + "position": [ + -0.0064614927396178246, + 0.06800838559865952, + 0.12005273997783661 + ], + "orientation": [ + 0.09664692729711533, + -0.04734025150537491, + 0.7520653009414673, + -0.6502431631088257 + ], + "joints": [ + 0.02021380513906479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1166498064994812, + 0.12475501000881195, + 0.02348056249320507 + ], + "orientation": [ + 0.4118419587612152, + 0.4657866954803467, + 0.44251900911331177, + -0.6462242603302002 + ], + "joints": [ + 0.007967815734446049 + ] + }, + "fine_grasp": { + "position": [ + -0.11540242284536362, + 0.12343986332416534, + 0.022819677367806435 + ], + "orientation": [ + 0.41578277945518494, + 0.4546396732330322, + 0.43039923906326294, + -0.6596847176551819 + ], + "joints": [ + 0.01389292348176241 + ] + }, + "final_grasp": { + "position": [ + -0.11540242284536362, + 0.12343986332416534, + 0.022819677367806435 + ], + "orientation": [ + 0.41578277945518494, + 0.4546396732330322, + 0.43039923906326294, + -0.6596847176551819 + ], + "joints": [ + 0.019818030297756195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12166550755500793, + 0.06736045330762863, + 0.001537733944132924 + ], + "orientation": [ + 0.5003214478492737, + 0.4854394495487213, + -0.5684297680854797, + 0.43693774938583374 + ], + "joints": [ + 0.008179916068911552 + ] + }, + "fine_grasp": { + "position": [ + 0.1200394481420517, + 0.06746181845664978, + 0.0011823272798210382 + ], + "orientation": [ + 0.47752854228019714, + 0.500056266784668, + -0.5872634053230286, + 0.4207517206668854 + ], + "joints": [ + 0.014051882550120354 + ] + }, + "final_grasp": { + "position": [ + 0.1200394481420517, + 0.06746181845664978, + 0.0011823272798210382 + ], + "orientation": [ + 0.47752854228019714, + 0.500056266784668, + -0.5872634053230286, + 0.4207517206668854 + ], + "joints": [ + 0.019923849031329155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11148274689912796, + 0.03273816034197807, + -0.03686254099011421 + ], + "orientation": [ + 0.5156066417694092, + -0.3126802444458008, + 0.6216139793395996, + 0.49997687339782715 + ], + "joints": [ + 0.007190924137830734 + ] + }, + "fine_grasp": { + "position": [ + 0.11153995990753174, + 0.033725738525390625, + -0.03712715208530426 + ], + "orientation": [ + 0.5329475402832031, + -0.2990410029888153, + 0.6045642495155334, + 0.5109240412712097 + ], + "joints": [ + 0.013620860874652863 + ] + }, + "final_grasp": { + "position": [ + 0.11153995990753174, + 0.033725738525390625, + -0.03712715208530426 + ], + "orientation": [ + 0.5329475402832031, + -0.2990410029888153, + 0.6045642495155334, + 0.5109240412712097 + ], + "joints": [ + 0.02005079761147499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11207027733325958, + 0.0324866883456707, + -0.03645465895533562 + ], + "orientation": [ + 0.5180374979972839, + -0.31353306770324707, + 0.6176357269287109, + 0.501856803894043 + ], + "joints": [ + 0.007619635201990604 + ] + }, + "fine_grasp": { + "position": [ + 0.11177202314138412, + 0.03342048078775406, + -0.03688712418079376 + ], + "orientation": [ + 0.5357958078384399, + -0.298499196767807, + 0.6003966927528381, + 0.513171374797821 + ], + "joints": [ + 0.013518172316253185 + ] + }, + "final_grasp": { + "position": [ + 0.11177202314138412, + 0.03342048078775406, + -0.03688712418079376 + ], + "orientation": [ + 0.5357958078384399, + -0.298499196767807, + 0.6003966927528381, + 0.513171374797821 + ], + "joints": [ + 0.01941670849919319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018423160538077354, + 0.046169463545084, + -0.11627299338579178 + ], + "orientation": [ + 0.7942546606063843, + 0.6001737713813782, + 0.0919882282614708, + -0.022115569561719894 + ], + "joints": [ + 0.007909467443823814 + ] + }, + "fine_grasp": { + "position": [ + -0.018983222544193268, + 0.04582187160849571, + -0.11736270040273666 + ], + "orientation": [ + 0.7945683002471924, + 0.5989300608634949, + 0.09920315444469452, + -0.010136658325791359 + ], + "joints": [ + 0.013781433925032616 + ] + }, + "final_grasp": { + "position": [ + -0.018983222544193268, + 0.04582187160849571, + -0.11736270040273666 + ], + "orientation": [ + 0.7945683002471924, + 0.5989300608634949, + 0.09920315444469452, + -0.010136658325791359 + ], + "joints": [ + 0.019653400406241417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1114678755402565, + 0.14053663611412048, + -0.002416080329567194 + ], + "orientation": [ + 0.41456520557403564, + 0.5727838277816772, + 0.3720749318599701, + -0.6013440489768982 + ], + "joints": [ + 0.008219294250011444 + ] + }, + "fine_grasp": { + "position": [ + -0.10946638882160187, + 0.13729587197303772, + -0.0030434634536504745 + ], + "orientation": [ + 0.4342195987701416, + 0.5560905337333679, + 0.36171671748161316, + -0.6094076633453369 + ], + "joints": [ + 0.013586431741714478 + ] + }, + "final_grasp": { + "position": [ + -0.10946638882160187, + 0.13729587197303772, + -0.0030434634536504745 + ], + "orientation": [ + 0.4342195987701416, + 0.5560905337333679, + 0.36171671748161316, + -0.6094076633453369 + ], + "joints": [ + 0.01895356923341751 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11908669769763947, + 0.12413305789232254, + 0.007153969723731279 + ], + "orientation": [ + 0.4169509708881378, + -0.6075158715248108, + -0.4318484365940094, + -0.5201762914657593 + ], + "joints": [ + 0.008041830733418465 + ] + }, + "fine_grasp": { + "position": [ + -0.11741472035646439, + 0.12339453399181366, + 0.006682510022073984 + ], + "orientation": [ + 0.40675535798072815, + -0.6196426749229431, + -0.43678101897239685, + -0.5097209215164185 + ], + "joints": [ + 0.014498339965939522 + ] + }, + "final_grasp": { + "position": [ + -0.11741472035646439, + 0.12339453399181366, + 0.006682510022073984 + ], + "orientation": [ + 0.40675535798072815, + -0.6196426749229431, + -0.43678101897239685, + -0.5097209215164185 + ], + "joints": [ + 0.02095484919846058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11887158453464508, + 0.044547662138938904, + 0.002478961832821369 + ], + "orientation": [ + 0.5433893799781799, + -0.4496258795261383, + -0.5870028734207153, + -0.397482305765152 + ], + "joints": [ + 0.007656314875930548 + ] + }, + "fine_grasp": { + "position": [ + -0.11644446104764938, + 0.044977981597185135, + 0.003710673889145255 + ], + "orientation": [ + 0.5189067125320435, + -0.47054773569107056, + -0.604519248008728, + -0.3793112635612488 + ], + "joints": [ + 0.014059681445360184 + ] + }, + "final_grasp": { + "position": [ + -0.11644446104764938, + 0.044977981597185135, + 0.003710673889145255 + ], + "orientation": [ + 0.5189067125320435, + -0.47054773569107056, + -0.604519248008728, + -0.3793112635612488 + ], + "joints": [ + 0.020463047549128532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12067106366157532, + 0.06752811372280121, + -0.004432205110788345 + ], + "orientation": [ + 0.5463532209396362, + -0.4334058165550232, + 0.49616485834121704, + 0.5171827673912048 + ], + "joints": [ + 0.007649302948266268 + ] + }, + "fine_grasp": { + "position": [ + 0.1182171106338501, + 0.06828245520591736, + -0.005172360222786665 + ], + "orientation": [ + 0.5603345632553101, + -0.4164300262928009, + 0.475207656621933, + 0.5355269312858582 + ], + "joints": [ + 0.013521269895136356 + ] + }, + "final_grasp": { + "position": [ + 0.1182171106338501, + 0.06828245520591736, + -0.005172360222786665 + ], + "orientation": [ + 0.5603345632553101, + -0.4164300262928009, + 0.475207656621933, + 0.5355269312858582 + ], + "joints": [ + 0.019393237307667732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02664247900247574, + 0.11489183455705643, + -0.11274325102567673 + ], + "orientation": [ + 0.05906321108341217, + -0.10552924126386642, + -0.572434663772583, + -0.8109831213951111 + ], + "joints": [ + 0.008390063419938087 + ] + }, + "fine_grasp": { + "position": [ + -0.02630576491355896, + 0.11447747051715851, + -0.11308270692825317 + ], + "orientation": [ + 0.0674552246928215, + -0.10293331742286682, + -0.5692958831787109, + -0.8128694295883179 + ], + "joints": [ + 0.015324829146265984 + ] + }, + "final_grasp": { + "position": [ + -0.02630576491355896, + 0.11447747051715851, + -0.11308270692825317 + ], + "orientation": [ + 0.0674552246928215, + -0.10293331742286682, + -0.5692958831787109, + -0.8128694295883179 + ], + "joints": [ + 0.02225959487259388 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013925684615969658, + 0.050291430205106735, + -0.1202298179268837 + ], + "orientation": [ + 0.08824009448289871, + 0.0022972470615059137, + 0.751993715763092, + 0.6532332897186279 + ], + "joints": [ + 0.00835367664694786 + ] + }, + "fine_grasp": { + "position": [ + 0.013457794673740864, + 0.050589606165885925, + -0.11923699080944061 + ], + "orientation": [ + 0.11197590082883835, + 0.02276585064828396, + 0.7491645216941833, + 0.652453601360321 + ], + "joints": [ + 0.014252213761210442 + ] + }, + "final_grasp": { + "position": [ + 0.013457794673740864, + 0.050589606165885925, + -0.11923699080944061 + ], + "orientation": [ + 0.11197590082883835, + 0.02276585064828396, + 0.7491645216941833, + 0.652453601360321 + ], + "joints": [ + 0.020150750875473022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11356399953365326, + 0.15055114030838013, + -0.0014068979071453214 + ], + "orientation": [ + 0.394580215215683, + -0.5733004212379456, + 0.39084646105766296, + 0.6023886203765869 + ], + "joints": [ + 0.008517902344465256 + ] + }, + "fine_grasp": { + "position": [ + 0.11352463811635971, + 0.1496187448501587, + -0.0009587189997546375 + ], + "orientation": [ + 0.3952292501926422, + -0.5671184659004211, + 0.3889840245246887, + 0.6089842319488525 + ], + "joints": [ + 0.014921268448233604 + ] + }, + "final_grasp": { + "position": [ + 0.11352463811635971, + 0.1496187448501587, + -0.0009587189997546375 + ], + "orientation": [ + 0.3952292501926422, + -0.5671184659004211, + 0.3889840245246887, + 0.6089842319488525 + ], + "joints": [ + 0.021324634552001953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1134791299700737, + 0.0319056510925293, + -0.03382497280836105 + ], + "orientation": [ + 0.5051597356796265, + -0.33951255679130554, + 0.6131734848022461, + 0.5035504102706909 + ], + "joints": [ + 0.0074589867144823074 + ] + }, + "fine_grasp": { + "position": [ + 0.11313335597515106, + 0.03243657946586609, + -0.03417756408452988 + ], + "orientation": [ + 0.5230057835578918, + -0.3262256979942322, + 0.5972576141357422, + 0.5131521224975586 + ], + "joints": [ + 0.014367181807756424 + ] + }, + "final_grasp": { + "position": [ + 0.11313335597515106, + 0.03243657946586609, + -0.03417756408452988 + ], + "orientation": [ + 0.5230057835578918, + -0.3262256979942322, + 0.5972576141357422, + 0.5131521224975586 + ], + "joints": [ + 0.02127537690103054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015893884003162384, + 0.04385807737708092, + 0.12078765779733658 + ], + "orientation": [ + 0.7618903517723083, + -0.6419859528541565, + -0.0008237393340095878, + 0.0858866423368454 + ], + "joints": [ + 0.007933307439088821 + ] + }, + "fine_grasp": { + "position": [ + 0.015754997730255127, + 0.04411918669939041, + 0.11898287385702133 + ], + "orientation": [ + 0.7613183259963989, + -0.6389098763465881, + -0.02681209146976471, + 0.1070970669388771 + ], + "joints": [ + 0.013858415186405182 + ] + }, + "final_grasp": { + "position": [ + 0.015754997730255127, + 0.04411918669939041, + 0.11898287385702133 + ], + "orientation": [ + 0.7613183259963989, + -0.6389098763465881, + -0.02681209146976471, + 0.1070970669388771 + ], + "joints": [ + 0.019783522933721542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12231765687465668, + 0.08812565356492996, + 0.007802646141499281 + ], + "orientation": [ + 0.5010378360748291, + -0.5278306603431702, + 0.4441636800765991, + 0.5225653648376465 + ], + "joints": [ + 0.007779696956276894 + ] + }, + "fine_grasp": { + "position": [ + 0.12403665482997894, + 0.08716703206300735, + 0.008195392787456512 + ], + "orientation": [ + 0.49397990107536316, + -0.5322870016098022, + 0.446125864982605, + 0.5230928063392639 + ], + "joints": [ + 0.015245862305164337 + ] + }, + "final_grasp": { + "position": [ + 0.12403665482997894, + 0.08716703206300735, + 0.008195392787456512 + ], + "orientation": [ + 0.49397990107536316, + -0.5322870016098022, + 0.446125864982605, + 0.5230928063392639 + ], + "joints": [ + 0.02271202765405178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11873100697994232, + 0.04651457071304321, + -0.026682311668992043 + ], + "orientation": [ + 0.5592113137245178, + 0.5350503325462341, + -0.507798969745636, + 0.3783438205718994 + ], + "joints": [ + 0.007638746406883001 + ] + }, + "fine_grasp": { + "position": [ + 0.11682100594043732, + 0.04700073227286339, + -0.02654491923749447 + ], + "orientation": [ + 0.54269939661026, + 0.5469179749488831, + -0.5265710353851318, + 0.3592785894870758 + ], + "joints": [ + 0.01353728398680687 + ] + }, + "final_grasp": { + "position": [ + 0.11682100594043732, + 0.04700073227286339, + -0.02654491923749447 + ], + "orientation": [ + 0.54269939661026, + 0.5469179749488831, + -0.5265710353851318, + 0.3592785894870758 + ], + "joints": [ + 0.01943582110106945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016341447830200195, + 0.03476111963391304, + 0.11388719081878662 + ], + "orientation": [ + 0.8232704997062683, + -0.5632537603378296, + 0.021976515650749207, + 0.0669931024312973 + ], + "joints": [ + 0.008359014987945557 + ] + }, + "fine_grasp": { + "position": [ + 0.017369121313095093, + 0.036199674010276794, + 0.11489638686180115 + ], + "orientation": [ + 0.8206726312637329, + -0.5643225908279419, + -0.00843783188611269, + 0.08924884349107742 + ], + "joints": [ + 0.014762381091713905 + ] + }, + "final_grasp": { + "position": [ + 0.017369121313095093, + 0.036199674010276794, + 0.11489638686180115 + ], + "orientation": [ + 0.8206726312637329, + -0.5643225908279419, + -0.00843783188611269, + 0.08924884349107742 + ], + "joints": [ + 0.021165747195482254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00696756923571229, + 0.040717482566833496, + -0.12043273448944092 + ], + "orientation": [ + 0.7674313187599182, + 0.6351925134658813, + -0.0815291628241539, + -0.030540434643626213 + ], + "joints": [ + 0.00790438987314701 + ] + }, + "fine_grasp": { + "position": [ + 0.0067269993014633656, + 0.04121961444616318, + -0.11839313060045242 + ], + "orientation": [ + 0.7646077275276184, + 0.6342930793762207, + -0.1029059961438179, + -0.04957503452897072 + ], + "joints": [ + 0.013829497620463371 + ] + }, + "final_grasp": { + "position": [ + 0.0067269993014633656, + 0.04121961444616318, + -0.11839313060045242 + ], + "orientation": [ + 0.7646077275276184, + 0.6342930793762207, + -0.1029059961438179, + -0.04957503452897072 + ], + "joints": [ + 0.019754605367779732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014656188897788525, + 0.08573741465806961, + 0.12264103442430496 + ], + "orientation": [ + 0.6689384579658508, + -0.7410144805908203, + -0.04562500864267349, + -0.03656826540827751 + ], + "joints": [ + 0.008281005546450615 + ] + }, + "fine_grasp": { + "position": [ + -0.014878487214446068, + 0.08555172383785248, + 0.12446286529302597 + ], + "orientation": [ + 0.6652132272720337, + -0.74457848072052, + -0.041297074407339096, + -0.03726840764284134 + ], + "joints": [ + 0.01572060026228428 + ] + }, + "final_grasp": { + "position": [ + -0.014878487214446068, + 0.08555172383785248, + 0.12446286529302597 + ], + "orientation": [ + 0.6652132272720337, + -0.74457848072052, + -0.041297074407339096, + -0.03726840764284134 + ], + "joints": [ + 0.023160194978117943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11301669478416443, + 0.09742384403944016, + -0.015682144090533257 + ], + "orientation": [ + 0.08273875713348389, + -0.7328866124153137, + -0.6752511858940125, + -0.008214020170271397 + ], + "joints": [ + 0.02262938767671585 + ] + }, + "fine_grasp": { + "position": [ + -0.11430786550045013, + 0.09744606912136078, + -0.01373536791652441 + ], + "orientation": [ + 0.05815104395151138, + -0.7395508289337158, + -0.6705839037895203, + 0.0003532374103087932 + ], + "joints": [ + 0.02058349922299385 + ] + }, + "final_grasp": { + "position": [ + -0.11430786550045013, + 0.09744606912136078, + -0.01373536791652441 + ], + "orientation": [ + 0.05815104395151138, + -0.7395508289337158, + -0.6705839037895203, + 0.0003532374103087932 + ], + "joints": [ + 0.01853761076927185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11812584102153778, + 0.055366382002830505, + -0.028100447729229927 + ], + "orientation": [ + 0.48699530959129333, + -0.3864554464817047, + -0.5995469093322754, + -0.5040150880813599 + ], + "joints": [ + 0.00821867398917675 + ] + }, + "fine_grasp": { + "position": [ + -0.11749707162380219, + 0.05704998970031738, + -0.02759798802435398 + ], + "orientation": [ + 0.4817655682563782, + -0.38554680347442627, + -0.6105337738990784, + -0.4964917302131653 + ], + "joints": [ + 0.014090640470385551 + ] + }, + "final_grasp": { + "position": [ + -0.11749707162380219, + 0.05704998970031738, + -0.02759798802435398 + ], + "orientation": [ + 0.4817655682563782, + -0.38554680347442627, + -0.6105337738990784, + -0.4964917302131653 + ], + "joints": [ + 0.019962606951594353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12028461694717407, + 0.04956443980336189, + 0.019872894510626793 + ], + "orientation": [ + 0.4700356721878052, + 0.4416660964488983, + 0.5762662887573242, + -0.501910924911499 + ], + "joints": [ + 0.007310055661946535 + ] + }, + "fine_grasp": { + "position": [ + -0.12265332043170929, + 0.049425914883613586, + 0.021051105111837387 + ], + "orientation": [ + 0.4605062007904053, + 0.4524385929107666, + 0.5835853219032288, + -0.4926068186759949 + ], + "joints": [ + 0.013713422231376171 + ] + }, + "final_grasp": { + "position": [ + -0.12265332043170929, + 0.049425914883613586, + 0.021051105111837387 + ], + "orientation": [ + 0.4605062007904053, + 0.4524385929107666, + 0.5835853219032288, + -0.4926068186759949 + ], + "joints": [ + 0.020116789266467094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11313635110855103, + 0.14996889233589172, + -0.0014792875153943896 + ], + "orientation": [ + 0.3912763297557831, + -0.5755879282951355, + 0.3891253173351288, + 0.6034757494926453 + ], + "joints": [ + 0.008426839485764503 + ] + }, + "fine_grasp": { + "position": [ + 0.11353190243244171, + 0.14961858093738556, + -0.0011587395565584302 + ], + "orientation": [ + 0.39657866954803467, + -0.565764307975769, + 0.39049550890922546, + 0.6083989143371582 + ], + "joints": [ + 0.014830205589532852 + ] + }, + "final_grasp": { + "position": [ + 0.11353190243244171, + 0.14961858093738556, + -0.0011587395565584302 + ], + "orientation": [ + 0.39657866954803467, + -0.565764307975769, + 0.39049550890922546, + 0.6083989143371582 + ], + "joints": [ + 0.0212335716933012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11366334557533264, + 0.03049522638320923, + -0.00880463421344757 + ], + "orientation": [ + 0.5978295207023621, + 0.42033183574676514, + 0.570641279220581, + -0.37455254793167114 + ], + "joints": [ + 0.007880709134042263 + ] + }, + "fine_grasp": { + "position": [ + -0.11341091245412827, + 0.031058594584465027, + -0.008341697044670582 + ], + "orientation": [ + 0.605222225189209, + 0.4180697798728943, + 0.567363440990448, + -0.3701653778553009 + ], + "joints": [ + 0.014257504604756832 + ] + }, + "final_grasp": { + "position": [ + -0.11341091245412827, + 0.031058594584465027, + -0.008341697044670582 + ], + "orientation": [ + 0.605222225189209, + 0.4180697798728943, + 0.567363440990448, + -0.3701653778553009 + ], + "joints": [ + 0.020634301006793976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01732436940073967, + 0.012582646682858467, + -0.11153877526521683 + ], + "orientation": [ + 0.8319262266159058, + 0.5489543080329895, + -0.011440643109381199, + 0.0801062285900116 + ], + "joints": [ + 0.007357156835496426 + ] + }, + "fine_grasp": { + "position": [ + 0.016995886340737343, + 0.012466495856642723, + -0.11159399896860123 + ], + "orientation": [ + 0.8325787782669067, + 0.5459917783737183, + -0.0018036635592579842, + 0.0932864397764206 + ], + "joints": [ + 0.012724294327199459 + ] + }, + "final_grasp": { + "position": [ + 0.016995886340737343, + 0.012466495856642723, + -0.11159399896860123 + ], + "orientation": [ + 0.8325787782669067, + 0.5459917783737183, + -0.0018036635592579842, + 0.0932864397764206 + ], + "joints": [ + 0.018091432750225067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07136833667755127, + -0.0330774299800396, + -0.07548288255929947 + ], + "orientation": [ + 0.8267295360565186, + 0.4472711384296417, + -0.2674741744995117, + 0.21195359528064728 + ], + "joints": [ + 0.007342188619077206 + ] + }, + "fine_grasp": { + "position": [ + 0.07178277522325516, + -0.033976390957832336, + -0.07620831578969955 + ], + "orientation": [ + 0.8303369283676147, + 0.439402312040329, + -0.26210299134254456, + 0.22083500027656555 + ], + "joints": [ + 0.013214155100286007 + ] + }, + "final_grasp": { + "position": [ + 0.07178277522325516, + -0.033976390957832336, + -0.07620831578969955 + ], + "orientation": [ + 0.8303369283676147, + 0.439402312040329, + -0.26210299134254456, + 0.22083500027656555 + ], + "joints": [ + 0.019086122512817383 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11378180980682373, + 0.007667913567274809, + 0.006573407910764217 + ], + "orientation": [ + 0.6152895092964172, + 0.3468230962753296, + 0.5631657242774963, + -0.42892518639564514 + ], + "joints": [ + 0.007210046052932739 + ] + }, + "fine_grasp": { + "position": [ + -0.1132877767086029, + 0.009127487428486347, + 0.007647807244211435 + ], + "orientation": [ + 0.6327041387557983, + 0.3295268714427948, + 0.5420506596565247, + -0.4441606402397156 + ], + "joints": [ + 0.0131351538002491 + ] + }, + "final_grasp": { + "position": [ + -0.1132877767086029, + 0.009127487428486347, + 0.007647807244211435 + ], + "orientation": [ + 0.6327041387557983, + 0.3295268714427948, + 0.5420506596565247, + -0.4441606402397156 + ], + "joints": [ + 0.01906026154756546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02534014731645584, + -0.08229823410511017, + -0.028186483308672905 + ], + "orientation": [ + 0.9558443427085876, + 0.16336296498775482, + 0.23011735081672668, + -0.08197655528783798 + ], + "joints": [ + 0.007136108353734016 + ] + }, + "fine_grasp": { + "position": [ + -0.02516983449459076, + -0.07700828462839127, + -0.027114737778902054 + ], + "orientation": [ + 0.9571589827537537, + 0.15931940078735352, + 0.22558508813381195, + -0.08703640848398209 + ], + "joints": [ + 0.01460227370262146 + ] + }, + "final_grasp": { + "position": [ + -0.02516983449459076, + -0.07700828462839127, + -0.027114737778902054 + ], + "orientation": [ + 0.9571589827537537, + 0.15931940078735352, + 0.22558508813381195, + -0.08703640848398209 + ], + "joints": [ + 0.022068439051508904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11580587178468704, + 0.06525391340255737, + -0.04778803512454033 + ], + "orientation": [ + 0.5224488973617554, + 0.6504762768745422, + -0.39000698924064636, + 0.38964399695396423 + ], + "joints": [ + 0.007177409715950489 + ] + }, + "fine_grasp": { + "position": [ + 0.11258406937122345, + 0.06422178447246552, + -0.04628594592213631 + ], + "orientation": [ + 0.512673556804657, + 0.6602817177772522, + -0.396640419960022, + 0.3793022930622101 + ], + "joints": [ + 0.014138746075332165 + ] + }, + "final_grasp": { + "position": [ + 0.11258406937122345, + 0.06422178447246552, + -0.04628594592213631 + ], + "orientation": [ + 0.512673556804657, + 0.6602817177772522, + -0.396640419960022, + 0.3793022930622101 + ], + "joints": [ + 0.021100081503391266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055179547518491745, + -0.050616126507520676, + -0.06801240891218185 + ], + "orientation": [ + 0.8811363577842712, + 0.3764563798904419, + -0.23389117419719696, + 0.16484585404396057 + ], + "joints": [ + 0.007829174399375916 + ] + }, + "fine_grasp": { + "position": [ + 0.05540784075856209, + -0.05001484230160713, + -0.06774568557739258 + ], + "orientation": [ + 0.8906340599060059, + 0.35957178473472595, + -0.21337589621543884, + 0.17874538898468018 + ], + "joints": [ + 0.01316974125802517 + ] + }, + "final_grasp": { + "position": [ + 0.05540784075856209, + -0.05001484230160713, + -0.06774568557739258 + ], + "orientation": [ + 0.8906340599060059, + 0.35957178473472595, + -0.21337589621543884, + 0.17874538898468018 + ], + "joints": [ + 0.018510308116674423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056058481335639954, + -0.07770583033561707, + 0.004600482061505318 + ], + "orientation": [ + 0.8447065949440002, + -0.1584327667951584, + -0.4661005139350891, + -0.21004803478717804 + ], + "joints": [ + 0.005715085193514824 + ] + }, + "fine_grasp": { + "position": [ + -0.057072561234235764, + -0.07638445496559143, + 0.004183231852948666 + ], + "orientation": [ + 0.8471300601959229, + -0.1564178317785263, + -0.4606681168079376, + -0.21374960243701935 + ], + "joints": [ + 0.012118451297283173 + ] + }, + "final_grasp": { + "position": [ + -0.057072561234235764, + -0.07638445496559143, + 0.004183231852948666 + ], + "orientation": [ + 0.8471300601959229, + -0.1564178317785263, + -0.4606681168079376, + -0.21374960243701935 + ], + "joints": [ + 0.01852181740105152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1021118313074112, + 0.00807126984000206, + 0.054529353976249695 + ], + "orientation": [ + 0.46375080943107605, + 0.26657241582870483, + 0.640827476978302, + -0.5506491661071777 + ], + "joints": [ + 0.007155394181609154 + ] + }, + "fine_grasp": { + "position": [ + -0.1031990572810173, + 0.0078026484698057175, + 0.055255062878131866 + ], + "orientation": [ + 0.4792848527431488, + 0.2521929442882538, + 0.6265046000480652, + -0.5605146288871765 + ], + "joints": [ + 0.012549102306365967 + ] + }, + "final_grasp": { + "position": [ + -0.1031990572810173, + 0.0078026484698057175, + 0.055255062878131866 + ], + "orientation": [ + 0.4792848527431488, + 0.2521929442882538, + 0.6265046000480652, + -0.5605146288871765 + ], + "joints": [ + 0.01794281043112278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014707096852362156, + -0.08870155364274979, + -0.028693918138742447 + ], + "orientation": [ + 0.7168773412704468, + 0.03245186060667038, + -0.6859771013259888, + -0.12028796970844269 + ], + "joints": [ + 0.0033256893511861563 + ] + }, + "fine_grasp": { + "position": [ + -0.014790432527661324, + -0.08671017736196518, + -0.029500911012291908 + ], + "orientation": [ + 0.7172614932060242, + 0.02865605801343918, + -0.6850253939628601, + -0.12431816756725311 + ], + "joints": [ + 0.009755626320838928 + ] + }, + "final_grasp": { + "position": [ + -0.014790432527661324, + -0.08671017736196518, + -0.029500911012291908 + ], + "orientation": [ + 0.7172614932060242, + 0.02865605801343918, + -0.6850253939628601, + -0.12431816756725311 + ], + "joints": [ + 0.016185563057661057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06821222603321075, + -0.07191692292690277, + 0.0017363454680889845 + ], + "orientation": [ + 0.7892314195632935, + 0.17464753985404968, + -0.5294690728187561, + 0.2574385106563568 + ], + "joints": [ + 0.006284601055085659 + ] + }, + "fine_grasp": { + "position": [ + 0.06826063245534897, + -0.06946076452732086, + 0.0018246088875457644 + ], + "orientation": [ + 0.7879735827445984, + 0.1738908886909485, + -0.5312440395355225, + 0.2581459879875183 + ], + "joints": [ + 0.013750766403973103 + ] + }, + "final_grasp": { + "position": [ + 0.06826063245534897, + -0.06946076452732086, + 0.0018246088875457644 + ], + "orientation": [ + 0.7879735827445984, + 0.1738908886909485, + -0.5312440395355225, + 0.2581459879875183 + ], + "joints": [ + 0.02121693268418312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0032923740800470114, + 0.17590145766735077, + -0.11020738631486893 + ], + "orientation": [ + 0.5390739440917969, + 0.8399442434310913, + -0.02241528034210205, + -0.05822790786623955 + ], + "joints": [ + 0.008441843092441559 + ] + }, + "fine_grasp": { + "position": [ + -0.0026627748738974333, + 0.1749110072851181, + -0.11198417097330093 + ], + "orientation": [ + 0.5390596389770508, + 0.8370010852813721, + -0.04105460271239281, + -0.08460808545351028 + ], + "joints": [ + 0.014845209196209908 + ] + }, + "final_grasp": { + "position": [ + -0.0026627748738974333, + 0.1749110072851181, + -0.11198417097330093 + ], + "orientation": [ + 0.5390596389770508, + 0.8370010852813721, + -0.04105460271239281, + -0.08460808545351028 + ], + "joints": [ + 0.021248575299978256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09431982040405273, + -0.03336305543780327, + -0.00359378126449883 + ], + "orientation": [ + 0.6927666664123535, + 0.29151996970176697, + -0.5721392035484314, + 0.32824885845184326 + ], + "joints": [ + 0.006684455554932356 + ] + }, + "fine_grasp": { + "position": [ + 0.09157579392194748, + -0.03098924830555916, + -0.0028156759217381477 + ], + "orientation": [ + 0.7054499983787537, + 0.27949830889701843, + -0.5624866485595703, + 0.32837456464767456 + ], + "joints": [ + 0.013114392757415771 + ] + }, + "final_grasp": { + "position": [ + 0.09157579392194748, + -0.03098924830555916, + -0.0028156759217381477 + ], + "orientation": [ + 0.7054499983787537, + 0.27949830889701843, + -0.5624866485595703, + 0.32837456464767456 + ], + "joints": [ + 0.0195443294942379 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028503481298685074, + -0.052458856254816055, + 0.0859215259552002 + ], + "orientation": [ + 0.8537601232528687, + -0.43181681632995605, + -0.2908979058265686, + -0.002543702023103833 + ], + "joints": [ + 0.007245020940899849 + ] + }, + "fine_grasp": { + "position": [ + -0.029037022963166237, + -0.05245693773031235, + 0.08720815926790237 + ], + "orientation": [ + 0.8580590486526489, + -0.42626839876174927, + -0.28640565276145935, + 0.0013328809291124344 + ], + "joints": [ + 0.01311698742210865 + ] + }, + "final_grasp": { + "position": [ + -0.029037022963166237, + -0.05245693773031235, + 0.08720815926790237 + ], + "orientation": [ + 0.8580590486526489, + -0.42626839876174927, + -0.28640565276145935, + 0.0013328809291124344 + ], + "joints": [ + 0.01898895390331745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014579294249415398, + -0.05195069685578346, + 0.08696528524160385 + ], + "orientation": [ + 0.210978701710701, + -0.023377379402518272, + -0.8859853744506836, + 0.4122759997844696 + ], + "joints": [ + 0.006673768162727356 + ] + }, + "fine_grasp": { + "position": [ + 0.014211311936378479, + -0.0519680455327034, + 0.08749101310968399 + ], + "orientation": [ + 0.2240063101053238, + -0.036222804337739944, + -0.8853393197059631, + 0.40581220388412476 + ], + "joints": [ + 0.012545734643936157 + ] + }, + "final_grasp": { + "position": [ + 0.014211311936378479, + -0.0519680455327034, + 0.08749101310968399 + ], + "orientation": [ + 0.2240063101053238, + -0.036222804337739944, + -0.8853393197059631, + 0.40581220388412476 + ], + "joints": [ + 0.01841770112514496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10494937002658844, + 0.1899024099111557, + 0.001980509841814637 + ], + "orientation": [ + 0.33809706568717957, + -0.6439287066459656, + 0.3674439787864685, + 0.5796818137168884 + ], + "joints": [ + 0.008439892902970314 + ] + }, + "fine_grasp": { + "position": [ + 0.10416197776794434, + 0.18994338810443878, + 0.0019528679549694061 + ], + "orientation": [ + 0.3224991261959076, + -0.6562203168869019, + 0.3732994794845581, + 0.5709787607192993 + ], + "joints": [ + 0.013807030394673347 + ] + }, + "final_grasp": { + "position": [ + 0.10416197776794434, + 0.18994338810443878, + 0.0019528679549694061 + ], + "orientation": [ + 0.3224991261959076, + -0.6562203168869019, + 0.3732994794845581, + 0.5709787607192993 + ], + "joints": [ + 0.01917416788637638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09988734871149063, + -0.027692163363099098, + 0.005928116384893656 + ], + "orientation": [ + 0.6533167362213135, + 0.2928459942340851, + -0.5947991609573364, + 0.36555755138397217 + ], + "joints": [ + 0.006635182537138462 + ] + }, + "fine_grasp": { + "position": [ + 0.09978616237640381, + -0.027056412771344185, + 0.0060101761482656 + ], + "orientation": [ + 0.661041259765625, + 0.28014543652534485, + -0.5880820751190186, + 0.3724277913570404 + ], + "joints": [ + 0.012002320028841496 + ] + }, + "final_grasp": { + "position": [ + 0.09978616237640381, + -0.027056412771344185, + 0.0060101761482656 + ], + "orientation": [ + 0.661041259765625, + 0.28014543652534485, + -0.5880820751190186, + 0.3724277913570404 + ], + "joints": [ + 0.017369456589221954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09943371266126633, + -0.027738461270928383, + 0.006534046493470669 + ], + "orientation": [ + 0.6520389318466187, + 0.29083290696144104, + -0.5966620445251465, + 0.36640945076942444 + ], + "joints": [ + 0.006794923450797796 + ] + }, + "fine_grasp": { + "position": [ + 0.09929152578115463, + -0.027251288294792175, + 0.006747927516698837 + ], + "orientation": [ + 0.6586641669273376, + 0.2785644233226776, + -0.591137170791626, + 0.37298834323883057 + ], + "joints": [ + 0.012135490775108337 + ] + }, + "final_grasp": { + "position": [ + 0.09929152578115463, + -0.027251288294792175, + 0.006747927516698837 + ], + "orientation": [ + 0.6586641669273376, + 0.2785644233226776, + -0.591137170791626, + 0.37298834323883057 + ], + "joints": [ + 0.01747605763375759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09994786232709885, + -0.02792675793170929, + 0.006000545807182789 + ], + "orientation": [ + 0.6511251926422119, + 0.2935478985309601, + -0.5972102880477905, + 0.36497336626052856 + ], + "joints": [ + 0.00694478303194046 + ] + }, + "fine_grasp": { + "position": [ + 0.09997798502445221, + -0.02727181278169155, + 0.006090401206165552 + ], + "orientation": [ + 0.6587042808532715, + 0.28085583448410034, + -0.5904657244682312, + 0.37226206064224243 + ], + "joints": [ + 0.012285349890589714 + ] + }, + "final_grasp": { + "position": [ + 0.09997798502445221, + -0.02727181278169155, + 0.006090401206165552 + ], + "orientation": [ + 0.6587042808532715, + 0.28085583448410034, + -0.5904657244682312, + 0.37226206064224243 + ], + "joints": [ + 0.017625916749238968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004623514600098133, + -0.08634844422340393, + -0.03245304152369499 + ], + "orientation": [ + 0.2115899622440338, + 0.0023223499301820993, + -0.9646722078323364, + -0.1569455862045288 + ], + "joints": [ + 0.007019286509603262 + ] + }, + "fine_grasp": { + "position": [ + -0.0035102353431284428, + -0.08167680352926254, + -0.032569851726293564 + ], + "orientation": [ + 0.2136542797088623, + 0.005148863885551691, + -0.9642282128334045, + -0.15680931508541107 + ], + "joints": [ + 0.013927482068538666 + ] + }, + "final_grasp": { + "position": [ + -0.0035102353431284428, + -0.08167680352926254, + -0.032569851726293564 + ], + "orientation": [ + 0.2136542797088623, + 0.005148863885551691, + -0.9642282128334045, + -0.15680931508541107 + ], + "joints": [ + 0.020835677161812782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033527009189128876, + -0.0396004356443882, + 0.09743358939886093 + ], + "orientation": [ + 0.24141380190849304, + 0.02562066912651062, + 0.838355541229248, + -0.4880806803703308 + ], + "joints": [ + 0.007323180790990591 + ] + }, + "fine_grasp": { + "position": [ + -0.03369921073317528, + -0.039089228957891464, + 0.09858661890029907 + ], + "orientation": [ + 0.2580960690975189, + 0.010980118997395039, + 0.8357418179512024, + -0.4845631420612335 + ], + "joints": [ + 0.012743460014462471 + ] + }, + "final_grasp": { + "position": [ + -0.03369921073317528, + -0.039089228957891464, + 0.09858661890029907 + ], + "orientation": [ + 0.2580960690975189, + 0.010980118997395039, + 0.8357418179512024, + -0.4845631420612335 + ], + "joints": [ + 0.018163738772273064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09681081026792526, + -0.03478340432047844, + 0.0008241166360676289 + ], + "orientation": [ + 0.5713240504264832, + -0.35717952251434326, + -0.6792294979095459, + -0.2909621298313141 + ], + "joints": [ + 0.0065072993747889996 + ] + }, + "fine_grasp": { + "position": [ + -0.09636335074901581, + -0.03232208639383316, + 0.0007659635739400983 + ], + "orientation": [ + 0.5632633566856384, + -0.36138084530830383, + -0.6904709339141846, + -0.2745688855648041 + ], + "joints": [ + 0.011343037709593773 + ] + }, + "final_grasp": { + "position": [ + -0.09636335074901581, + -0.03232208639383316, + 0.0007659635739400983 + ], + "orientation": [ + 0.5632633566856384, + -0.36138084530830383, + -0.6904709339141846, + -0.2745688855648041 + ], + "joints": [ + 0.01617877557873726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08492681384086609, + -0.05403519421815872, + -0.01620260626077652 + ], + "orientation": [ + 0.6050636172294617, + 0.34787532687187195, + 0.6835479736328125, + -0.21364234387874603 + ], + "joints": [ + 0.006370388437062502 + ] + }, + "fine_grasp": { + "position": [ + -0.08497574180364609, + -0.05471155047416687, + -0.01619637943804264 + ], + "orientation": [ + 0.5983213186264038, + 0.34858962893486023, + 0.6932753324508667, + -0.19966533780097961 + ], + "joints": [ + 0.011737526394426823 + ] + }, + "final_grasp": { + "position": [ + -0.08497574180364609, + -0.05471155047416687, + -0.01619637943804264 + ], + "orientation": [ + 0.5983213186264038, + 0.34858962893486023, + 0.6932753324508667, + -0.19966533780097961 + ], + "joints": [ + 0.01710466481745243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05301867052912712, + -0.07542382925748825, + -0.02023213915526867 + ], + "orientation": [ + 0.7168998122215271, + 0.2347717136144638, + -0.6450008153915405, + 0.12211059778928757 + ], + "joints": [ + 0.006281888112425804 + ] + }, + "fine_grasp": { + "position": [ + 0.052947741001844406, + -0.07229060679674149, + -0.02060854248702526 + ], + "orientation": [ + 0.7185580730438232, + 0.22992311418056488, + -0.6470392942428589, + 0.11022581905126572 + ], + "joints": [ + 0.012180425226688385 + ] + }, + "final_grasp": { + "position": [ + 0.052947741001844406, + -0.07229060679674149, + -0.02060854248702526 + ], + "orientation": [ + 0.7185580730438232, + 0.22992311418056488, + -0.6470392942428589, + 0.11022581905126572 + ], + "joints": [ + 0.018078962340950966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10759119689464569, + -0.021624011918902397, + 0.022686898708343506 + ], + "orientation": [ + 0.5978981852531433, + -0.4477127194404602, + -0.5983113646507263, + -0.28999102115631104 + ], + "joints": [ + 0.006878504529595375 + ] + }, + "fine_grasp": { + "position": [ + -0.10869058221578598, + -0.021046213805675507, + 0.023157402873039246 + ], + "orientation": [ + 0.5909240245819092, + -0.4521031081676483, + -0.6052796244621277, + -0.28292763233184814 + ], + "joints": [ + 0.013281870633363724 + ] + }, + "final_grasp": { + "position": [ + -0.10869058221578598, + -0.021046213805675507, + 0.023157402873039246 + ], + "orientation": [ + 0.5909240245819092, + -0.4521031081676483, + -0.6052796244621277, + -0.28292763233184814 + ], + "joints": [ + 0.019685236737132072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0324261300265789, + 0.26294493675231934, + 0.03904641419649124 + ], + "orientation": [ + 0.23556457459926605, + -0.8528992533683777, + 0.05664176866412163, + 0.4624541699886322 + ], + "joints": [ + 0.009342506527900696 + ] + }, + "fine_grasp": { + "position": [ + 0.0334491990506649, + 0.2620304822921753, + 0.03919251263141632 + ], + "orientation": [ + 0.2274797558784485, + -0.8561882972717285, + 0.05283505469560623, + 0.46087193489074707 + ], + "joints": [ + 0.015745874494314194 + ] + }, + "final_grasp": { + "position": [ + 0.0334491990506649, + 0.2620304822921753, + 0.03919251263141632 + ], + "orientation": [ + 0.2274797558784485, + -0.8561882972717285, + 0.05283505469560623, + 0.46087193489074707 + ], + "joints": [ + 0.02214924246072769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0013613705523312092, + -0.056387461721897125, + 0.08063825219869614 + ], + "orientation": [ + 0.9257548451423645, + -0.3689441978931427, + -0.07330593466758728, + 0.038527727127075195 + ], + "joints": [ + 0.006968564819544554 + ] + }, + "fine_grasp": { + "position": [ + 0.0016493367729708552, + -0.05413439869880676, + 0.08045680820941925 + ], + "orientation": [ + 0.9266393780708313, + -0.36335450410842896, + -0.08246336132287979, + 0.0501273013651371 + ], + "joints": [ + 0.012335702776908875 + ] + }, + "final_grasp": { + "position": [ + 0.0016493367729708552, + -0.05413439869880676, + 0.08045680820941925 + ], + "orientation": [ + 0.9266393780708313, + -0.36335450410842896, + -0.08246336132287979, + 0.0501273013651371 + ], + "joints": [ + 0.017702840268611908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011250356212258339, + -0.0582423210144043, + 0.0800950825214386 + ], + "orientation": [ + 0.9210553169250488, + -0.37247398495674133, + 0.11317227780818939, + 0.010590177029371262 + ], + "joints": [ + 0.007352612446993589 + ] + }, + "fine_grasp": { + "position": [ + 0.009912111796438694, + -0.05554074048995972, + 0.08009987324476242 + ], + "orientation": [ + 0.9199840426445007, + -0.3709322214126587, + 0.12662233412265778, + -0.0023481647949665785 + ], + "joints": [ + 0.014287378638982773 + ] + }, + "final_grasp": { + "position": [ + 0.009912111796438694, + -0.05554074048995972, + 0.08009987324476242 + ], + "orientation": [ + 0.9199840426445007, + -0.3709322214126587, + 0.12662233412265778, + -0.0023481647949665785 + ], + "joints": [ + 0.02122214436531067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004756454844027758, + -0.0463295616209507, + -0.09674396365880966 + ], + "orientation": [ + 0.14766880869865417, + 0.053377263247966766, + 0.8733049035072327, + 0.4611760377883911 + ], + "joints": [ + 0.007142635993659496 + ] + }, + "fine_grasp": { + "position": [ + 0.004663622472435236, + -0.04549790918827057, + -0.09814830124378204 + ], + "orientation": [ + 0.14383848011493683, + 0.054111167788505554, + 0.8758171796798706, + 0.45752254128456116 + ], + "joints": [ + 0.013546002097427845 + ] + }, + "final_grasp": { + "position": [ + 0.004663622472435236, + -0.04549790918827057, + -0.09814830124378204 + ], + "orientation": [ + 0.14383848011493683, + 0.054111167788505554, + 0.8758171796798706, + 0.45752254128456116 + ], + "joints": [ + 0.01994936913251877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10730593651533127, + 0.1994023472070694, + -0.004010408651083708 + ], + "orientation": [ + 0.3412109315395355, + -0.6112133264541626, + -0.3737819194793701, + -0.6085067391395569 + ], + "joints": [ + 0.009291121736168861 + ] + }, + "fine_grasp": { + "position": [ + -0.10942751169204712, + 0.20039579272270203, + -0.0040916865691542625 + ], + "orientation": [ + 0.35333237051963806, + -0.6071581840515137, + -0.3770621418952942, + -0.6036052703857422 + ], + "joints": [ + 0.016199318692088127 + ] + }, + "final_grasp": { + "position": [ + -0.10942751169204712, + 0.20039579272270203, + -0.0040916865691542625 + ], + "orientation": [ + 0.35333237051963806, + -0.6071581840515137, + -0.3770621418952942, + -0.6036052703857422 + ], + "joints": [ + 0.023107515648007393 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2023, + "num_passed": 394 + } +} \ No newline at end of file diff --git a/058_markpen_0/Annotation/piper_grasp_pose.json b/058_markpen_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..0fe8817b63cb9ea0cfd1af69b9667077641c5c14 --- /dev/null +++ b/058_markpen_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,14618 @@ +{ + "type": "058_markpen_0", + "bottom_center": [ + 2.5399494916200638e-05, + 0.09497115015983582, + -0.009245200082659721 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.012858247384428978, + 0.0244600810110569, + 0.1117105633020401 + ], + "orientation": [ + 0.16374149918556213, + -0.7034409642219543, + -0.6866651177406311, + -0.08276860415935516 + ], + "joints": [ + 0.016179613769054413 + ] + }, + "fine_grasp": { + "position": [ + 0.012399434112012386, + 0.025292402133345604, + 0.1078687384724617 + ], + "orientation": [ + 0.16165974736213684, + -0.7038201689720154, + -0.6869817972183228, + -0.08099006861448288 + ], + "joints": [ + 0.006566643714904785 + ] + }, + "final_grasp": { + "position": [ + 0.012399434112012386, + 0.025292402133345604, + 0.1078687384724617 + ], + "orientation": [ + 0.16165974736213684, + -0.7038201689720154, + -0.6869817972183228, + -0.08099006861448288 + ], + "joints": [ + -0.0030463263392448425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09981594234704971, + 0.11342921108007431, + 0.03967093303799629 + ], + "orientation": [ + 0.33537381887435913, + -0.5326308608055115, + 0.6270374655723572, + -0.4589691162109375 + ], + "joints": [ + 0.015887852758169174 + ] + }, + "fine_grasp": { + "position": [ + -0.09691795706748962, + 0.11491957306861877, + 0.038579899817705154 + ], + "orientation": [ + 0.32342618703842163, + -0.5316663384437561, + 0.6281439661979675, + -0.4670775532722473 + ], + "joints": [ + 0.0071107931435108185 + ] + }, + "final_grasp": { + "position": [ + -0.09691795706748962, + 0.11491957306861877, + 0.038579899817705154 + ], + "orientation": [ + 0.32342618703842163, + -0.5316663384437561, + 0.6281439661979675, + -0.4670775532722473 + ], + "joints": [ + -0.0016662664711475372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11332181096076965, + 0.07251335680484772, + 0.027592670172452927 + ], + "orientation": [ + 0.4763616919517517, + -0.5787808299064636, + -0.5288102626800537, + 0.3980604410171509 + ], + "joints": [ + 0.015171363949775696 + ] + }, + "fine_grasp": { + "position": [ + 0.10934963077306747, + 0.0727868303656578, + 0.02663082256913185 + ], + "orientation": [ + 0.4762552082538605, + -0.5781217217445374, + -0.529291033744812, + 0.39850643277168274 + ], + "joints": [ + 0.00639430433511734 + ] + }, + "final_grasp": { + "position": [ + 0.10934963077306747, + 0.0727868303656578, + 0.02663082256913185 + ], + "orientation": [ + 0.4762552082538605, + -0.5781217217445374, + -0.529291033744812, + 0.39850643277168274 + ], + "joints": [ + -0.0023827552795410156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09890471398830414, + 0.11357090622186661, + 0.03953247889876366 + ], + "orientation": [ + 0.32897576689720154, + -0.5344855189323425, + 0.6262035369873047, + -0.462568074464798 + ], + "joints": [ + 0.016376622021198273 + ] + }, + "fine_grasp": { + "position": [ + -0.09632132947444916, + 0.11535505950450897, + 0.03831041231751442 + ], + "orientation": [ + 0.3185444176197052, + -0.5318828225135803, + 0.6282580494880676, + -0.4700233042240143 + ], + "joints": [ + 0.007181607186794281 + ] + }, + "final_grasp": { + "position": [ + -0.09632132947444916, + 0.11535505950450897, + 0.03831041231751442 + ], + "orientation": [ + 0.3185444176197052, + -0.5318828225135803, + 0.6282580494880676, + -0.4700233042240143 + ], + "joints": [ + -0.0020134076476097107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06694457679986954, + 0.09220055490732193, + 0.09553796797990799 + ], + "orientation": [ + 0.21996255218982697, + 0.6790822148323059, + -0.668796181678772, + -0.20778729021549225 + ], + "joints": [ + 0.015033997595310211 + ] + }, + "fine_grasp": { + "position": [ + 0.06458982825279236, + 0.09214655309915543, + 0.09214499592781067 + ], + "orientation": [ + 0.21904128789901733, + 0.6805925369262695, + -0.6676030158996582, + -0.20765607059001923 + ], + "joints": [ + 0.0066748932003974915 + ] + }, + "final_grasp": { + "position": [ + 0.06458982825279236, + 0.09214655309915543, + 0.09214499592781067 + ], + "orientation": [ + 0.21904128789901733, + 0.6805925369262695, + -0.6676030158996582, + -0.20765607059001923 + ], + "joints": [ + -0.0016842111945152283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06682517379522324, + 0.09218958765268326, + 0.09569016098976135 + ], + "orientation": [ + 0.2189313769340515, + 0.6791079044342041, + -0.6690329909324646, + -0.20802997052669525 + ], + "joints": [ + 0.01497684046626091 + ] + }, + "fine_grasp": { + "position": [ + 0.06448005884885788, + 0.09213948249816895, + 0.09229089319705963 + ], + "orientation": [ + 0.21790197491645813, + 0.6805768609046936, + -0.6679750680923462, + -0.207709401845932 + ], + "joints": [ + 0.00661773607134819 + ] + }, + "final_grasp": { + "position": [ + 0.06448005884885788, + 0.09213948249816895, + 0.09229089319705963 + ], + "orientation": [ + 0.21790197491645813, + 0.6805768609046936, + -0.6679750680923462, + -0.207709401845932 + ], + "joints": [ + -0.0017413683235645294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004142116755247116, + 0.10724881291389465, + 0.10623649507761002 + ], + "orientation": [ + 0.07577633112668991, + 0.7064099907875061, + -0.7020375728607178, + 0.04884956404566765 + ], + "joints": [ + 0.016745779663324356 + ] + }, + "fine_grasp": { + "position": [ + 0.003930776380002499, + 0.1094990000128746, + 0.10427266359329224 + ], + "orientation": [ + 0.08350367844104767, + 0.7061106562614441, + -0.7007737159729004, + 0.057887088507413864 + ], + "joints": [ + 0.007132809609174728 + ] + }, + "final_grasp": { + "position": [ + 0.003930776380002499, + 0.1094990000128746, + 0.10427266359329224 + ], + "orientation": [ + 0.08350367844104767, + 0.7061106562614441, + -0.7007737159729004, + 0.057887088507413864 + ], + "joints": [ + -0.0024801604449748993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10898946225643158, + 0.09852868318557739, + 0.03703209012746811 + ], + "orientation": [ + 0.44502755999565125, + 0.6004422903060913, + -0.5466999411582947, + -0.3775430917739868 + ], + "joints": [ + 0.015274398028850555 + ] + }, + "fine_grasp": { + "position": [ + 0.10502421855926514, + 0.09871307760477066, + 0.035819973796606064 + ], + "orientation": [ + 0.44724562764167786, + 0.5969513058662415, + -0.5509390830993652, + -0.3742811381816864 + ], + "joints": [ + 0.006915293633937836 + ] + }, + "final_grasp": { + "position": [ + 0.10502421855926514, + 0.09871307760477066, + 0.035819973796606064 + ], + "orientation": [ + 0.44724562764167786, + 0.5969513058662415, + -0.5509390830993652, + -0.3742811381816864 + ], + "joints": [ + -0.001443810760974884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09791205078363419, + 0.1121453270316124, + -0.02530141919851303 + ], + "orientation": [ + 0.6037182211875916, + 0.4972706735134125, + 0.3574211597442627, + 0.5103883743286133 + ], + "joints": [ + 0.016739793121814728 + ] + }, + "fine_grasp": { + "position": [ + -0.09747257083654404, + 0.11344542354345322, + -0.0252840556204319 + ], + "orientation": [ + 0.6059785485267639, + 0.5004197955131531, + 0.353006511926651, + 0.5076972246170044 + ], + "joints": [ + 0.0071268230676651 + ] + }, + "final_grasp": { + "position": [ + -0.09747257083654404, + 0.11344542354345322, + -0.0252840556204319 + ], + "orientation": [ + 0.6059785485267639, + 0.5004197955131531, + 0.353006511926651, + 0.5076972246170044 + ], + "joints": [ + -0.0024861469864845276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0791475847363472, + 0.15229655802249908, + 0.08950906246900558 + ], + "orientation": [ + 0.34246718883514404, + 0.6878865361213684, + -0.6208677291870117, + -0.15508542954921722 + ], + "joints": [ + 0.016248928382992744 + ] + }, + "fine_grasp": { + "position": [ + 0.07657526433467865, + 0.1515313684940338, + 0.0866231694817543 + ], + "orientation": [ + 0.33992090821266174, + 0.6871738433837891, + -0.6224173903465271, + -0.15761518478393555 + ], + "joints": [ + 0.0058209458366036415 + ] + }, + "final_grasp": { + "position": [ + 0.07657526433467865, + 0.1515313684940338, + 0.0866231694817543 + ], + "orientation": [ + 0.33992090821266174, + 0.6871738433837891, + -0.6224173903465271, + -0.15761518478393555 + ], + "joints": [ + -0.004607036709785461 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03793992102146149, + 0.08586940914392471, + 0.10171867907047272 + ], + "orientation": [ + 0.12659940123558044, + 0.6956326961517334, + 0.6960398554801941, + 0.12488463521003723 + ], + "joints": [ + 0.01655573397874832 + ] + }, + "fine_grasp": { + "position": [ + -0.03783729672431946, + 0.08590970188379288, + 0.09987467527389526 + ], + "orientation": [ + 0.1288248747587204, + 0.6951375007629395, + 0.6957743167877197, + 0.12683072686195374 + ], + "joints": [ + 0.006942763924598694 + ] + }, + "final_grasp": { + "position": [ + -0.03783729672431946, + 0.08590970188379288, + 0.09987467527389526 + ], + "orientation": [ + 0.1288248747587204, + 0.6951375007629395, + 0.6957743167877197, + 0.12683072686195374 + ], + "joints": [ + -0.002670206129550934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030064677819609642, + 0.08296282589435577, + 0.1064080074429512 + ], + "orientation": [ + 0.102482870221138, + -0.700251042842865, + -0.7005265355110168, + 0.09169667214155197 + ], + "joints": [ + 0.01622929237782955 + ] + }, + "fine_grasp": { + "position": [ + 0.02918924205005169, + 0.0826759859919548, + 0.10369095951318741 + ], + "orientation": [ + 0.10334108769893646, + -0.7004745006561279, + -0.70027756690979, + 0.09092526137828827 + ], + "joints": [ + 0.00703427754342556 + ] + }, + "final_grasp": { + "position": [ + 0.02918924205005169, + 0.0826759859919548, + 0.10369095951318741 + ], + "orientation": [ + 0.10334108769893646, + -0.7004745006561279, + -0.70027756690979, + 0.09092526137828827 + ], + "joints": [ + -0.0021607372909784317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030209265649318695, + 0.08279284834861755, + 0.10678970813751221 + ], + "orientation": [ + 0.1027102917432785, + -0.7001059651374817, + -0.700710117816925, + 0.09114637970924377 + ], + "joints": [ + 0.01598270796239376 + ] + }, + "fine_grasp": { + "position": [ + 0.029211629182100296, + 0.08249722421169281, + 0.10377037525177002 + ], + "orientation": [ + 0.10384073108434677, + -0.7003267407417297, + -0.7003961801528931, + 0.09057978540658951 + ], + "joints": [ + 0.006787693127989769 + ] + }, + "final_grasp": { + "position": [ + 0.029211629182100296, + 0.08249722421169281, + 0.10377037525177002 + ], + "orientation": [ + 0.10384073108434677, + -0.7003267407417297, + -0.7003961801528931, + 0.09057978540658951 + ], + "joints": [ + -0.0024073217064142227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029761431738734245, + 0.08268517255783081, + 0.1076587364077568 + ], + "orientation": [ + 0.10010810941457748, + -0.7005613446235657, + -0.7008025050163269, + 0.08982214331626892 + ], + "joints": [ + 0.015653708949685097 + ] + }, + "fine_grasp": { + "position": [ + 0.02883368544280529, + 0.08239281177520752, + 0.1042461097240448 + ], + "orientation": [ + 0.10092988610267639, + -0.7010951638221741, + -0.7002432942390442, + 0.08909595757722855 + ], + "joints": [ + 0.006876649335026741 + ] + }, + "final_grasp": { + "position": [ + 0.02883368544280529, + 0.08239281177520752, + 0.1042461097240448 + ], + "orientation": [ + 0.10092988610267639, + -0.7010951638221741, + -0.7002432942390442, + 0.08909595757722855 + ], + "joints": [ + -0.0019004102796316147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11068102717399597, + 0.16464349627494812, + 0.014860746450722218 + ], + "orientation": [ + 0.5585125684738159, + 0.6095998883247375, + 0.43259936571121216, + 0.35959628224372864 + ], + "joints": [ + 0.016147125512361526 + ] + }, + "fine_grasp": { + "position": [ + -0.1069071888923645, + 0.16380463540554047, + 0.01442672684788704 + ], + "orientation": [ + 0.5572695136070251, + 0.6082709431648254, + 0.4343717098236084, + 0.36163297295570374 + ], + "joints": [ + 0.006116200238466263 + ] + }, + "final_grasp": { + "position": [ + -0.1069071888923645, + 0.16380463540554047, + 0.01442672684788704 + ], + "orientation": [ + 0.5572695136070251, + 0.6082709431648254, + 0.4343717098236084, + 0.36163297295570374 + ], + "joints": [ + -0.003914725035429001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11054891347885132, + 0.1649702936410904, + 0.014902685768902302 + ], + "orientation": [ + 0.5559518933296204, + 0.6073520183563232, + 0.4363196790218353, + 0.36285820603370667 + ], + "joints": [ + 0.015779519453644753 + ] + }, + "fine_grasp": { + "position": [ + -0.10673901438713074, + 0.1641383171081543, + 0.014463311992585659 + ], + "orientation": [ + 0.554899275302887, + 0.6061437726020813, + 0.4378404915332794, + 0.3646535575389862 + ], + "joints": [ + 0.006166549399495125 + ] + }, + "final_grasp": { + "position": [ + -0.10673901438713074, + 0.1641383171081543, + 0.014463311992585659 + ], + "orientation": [ + 0.554899275302887, + 0.6061437726020813, + 0.4378404915332794, + 0.3646535575389862 + ], + "joints": [ + -0.003446420654654503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11162295192480087, + 0.16556446254253387, + 0.01487740222364664 + ], + "orientation": [ + 0.55482017993927, + 0.6068344712257385, + 0.43647775053977966, + 0.3652583658695221 + ], + "joints": [ + 0.01597915217280388 + ] + }, + "fine_grasp": { + "position": [ + -0.10784849524497986, + 0.16474419832229614, + 0.01441962644457817 + ], + "orientation": [ + 0.5534234046936035, + 0.6055920124053955, + 0.43827536702156067, + 0.367281436920166 + ], + "joints": [ + 0.005948226898908615 + ] + }, + "final_grasp": { + "position": [ + -0.10784849524497986, + 0.16474419832229614, + 0.01441962644457817 + ], + "orientation": [ + 0.5534234046936035, + 0.6055920124053955, + 0.43827536702156067, + 0.367281436920166 + ], + "joints": [ + -0.0040826983749866486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11164349317550659, + 0.16587711870670319, + 0.014841094613075256 + ], + "orientation": [ + 0.555924654006958, + 0.6067138910293579, + 0.43638545274734497, + 0.3638869822025299 + ], + "joints": [ + 0.015792015939950943 + ] + }, + "fine_grasp": { + "position": [ + -0.10787676274776459, + 0.1650606244802475, + 0.01438231859356165 + ], + "orientation": [ + 0.5545319318771362, + 0.6054069399833679, + 0.43821609020233154, + 0.3659828007221222 + ], + "joints": [ + 0.005761090666055679 + ] + }, + "final_grasp": { + "position": [ + -0.10787676274776459, + 0.1650606244802475, + 0.01438231859356165 + ], + "orientation": [ + 0.5545319318771362, + 0.6054069399833679, + 0.43821609020233154, + 0.3659828007221222 + ], + "joints": [ + -0.004269834607839584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11223326623439789, + 0.1294631063938141, + 0.04237910360097885 + ], + "orientation": [ + 0.39194750785827637, + 0.584171712398529, + 0.59053635597229, + 0.39545851945877075 + ], + "joints": [ + 0.0191153883934021 + ] + }, + "fine_grasp": { + "position": [ + -0.10875115543603897, + 0.1294919103384018, + 0.041656140238046646 + ], + "orientation": [ + 0.3978113830089569, + 0.5800952911376953, + 0.5866097807884216, + 0.4014032483100891 + ], + "joints": [ + 0.006681223399937153 + ] + }, + "final_grasp": { + "position": [ + -0.10875115543603897, + 0.1294919103384018, + 0.041656140238046646 + ], + "orientation": [ + 0.3978113830089569, + 0.5800952911376953, + 0.5866097807884216, + 0.4014032483100891 + ], + "joints": [ + -0.005752941593527794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12753207981586456, + 0.07716235518455505, + 0.0536172091960907 + ], + "orientation": [ + 0.4631825089454651, + -0.5919509530067444, + 0.5632188320159912, + -0.3432793617248535 + ], + "joints": [ + 0.016174646094441414 + ] + }, + "fine_grasp": { + "position": [ + -0.12431405484676361, + 0.07735417783260345, + 0.05191560834646225 + ], + "orientation": [ + 0.4536999464035034, + -0.5935711860656738, + 0.5703266263008118, + -0.3414047956466675 + ], + "joints": [ + 0.004931651055812836 + ] + }, + "final_grasp": { + "position": [ + -0.12431405484676361, + 0.07735417783260345, + 0.05191560834646225 + ], + "orientation": [ + 0.4536999464035034, + -0.5935711860656738, + 0.5703266263008118, + -0.3414047956466675 + ], + "joints": [ + -0.0063113439828157425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1129792332649231, + 0.001204457599669695, + 0.014746074564754963 + ], + "orientation": [ + 0.3797507882118225, + 0.45462456345558167, + -0.5961385369300842, + -0.5419638156890869 + ], + "joints": [ + 0.017257314175367355 + ] + }, + "fine_grasp": { + "position": [ + 0.10914365202188492, + 0.0017539751715958118, + 0.014405529014766216 + ], + "orientation": [ + 0.3824496269226074, + 0.4560474157333374, + -0.5940898060798645, + -0.5411194562911987 + ], + "joints": [ + 0.007226388901472092 + ] + }, + "final_grasp": { + "position": [ + 0.10914365202188492, + 0.0017539751715958118, + 0.014405529014766216 + ], + "orientation": [ + 0.3824496269226074, + 0.4560474157333374, + -0.5940898060798645, + -0.5411194562911987 + ], + "joints": [ + -0.002804536372423172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11276571452617645, + 0.05050436779856682, + 0.03995871916413307 + ], + "orientation": [ + 0.32860496640205383, + 0.5191643834114075, + 0.6159694790840149, + 0.4930199682712555 + ], + "joints": [ + 0.018698591738939285 + ] + }, + "fine_grasp": { + "position": [ + -0.10927116125822067, + 0.05062497407197952, + 0.038529977202415466 + ], + "orientation": [ + 0.3338157534599304, + 0.5289454460144043, + 0.6138303279876709, + 0.48165982961654663 + ], + "joints": [ + 0.006661483086645603 + ] + }, + "final_grasp": { + "position": [ + -0.10927116125822067, + 0.05062497407197952, + 0.038529977202415466 + ], + "orientation": [ + 0.3338157534599304, + 0.5289454460144043, + 0.6138303279876709, + 0.48165982961654663 + ], + "joints": [ + -0.005375625565648079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024157924577593803, + 0.26491326093673706, + 0.02719968557357788 + ], + "orientation": [ + 0.18741627037525177, + 0.3977821469306946, + -0.6781626343727112, + 0.5888463854789734 + ], + "joints": [ + 0.01609974168241024 + ] + }, + "fine_grasp": { + "position": [ + -0.021847588941454887, + 0.26463621854782104, + 0.024448934942483902 + ], + "orientation": [ + 0.19765299558639526, + 0.3931291997432709, + -0.6739688515663147, + 0.5934212803840637 + ], + "joints": [ + 0.0064867716282606125 + ] + }, + "final_grasp": { + "position": [ + -0.021847588941454887, + 0.26463621854782104, + 0.024448934942483902 + ], + "orientation": [ + 0.19765299558639526, + 0.3931291997432709, + -0.6739688515663147, + 0.5934212803840637 + ], + "joints": [ + -0.003126198425889015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028836620971560478, + -0.04018769413232803, + 0.09936076402664185 + ], + "orientation": [ + 0.08942283689975739, + -0.6444973945617676, + 0.7038873434066772, + 0.28490230441093445 + ], + "joints": [ + 0.01660274714231491 + ] + }, + "fine_grasp": { + "position": [ + 0.027824174612760544, + -0.038707513362169266, + 0.09594995528459549 + ], + "orientation": [ + 0.09303192794322968, + -0.643506646156311, + 0.7033270597457886, + 0.2873595058917999 + ], + "joints": [ + 0.006571821868419647 + ] + }, + "final_grasp": { + "position": [ + 0.027824174612760544, + -0.038707513362169266, + 0.09594995528459549 + ], + "orientation": [ + 0.09303192794322968, + -0.643506646156311, + 0.7033270597457886, + 0.2873595058917999 + ], + "joints": [ + -0.0034591034054756165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12737949192523956, + 0.07717355340719223, + 0.053515683859586716 + ], + "orientation": [ + 0.4622707962989807, + -0.5920339822769165, + 0.5641136765480042, + -0.3428955674171448 + ], + "joints": [ + 0.016614599153399467 + ] + }, + "fine_grasp": { + "position": [ + -0.12416054308414459, + 0.07736547291278839, + 0.05183393135666847 + ], + "orientation": [ + 0.45320677757263184, + -0.5934321880340576, + 0.5709677934646606, + -0.3412296772003174 + ], + "joints": [ + 0.00497454684227705 + ] + }, + "final_grasp": { + "position": [ + -0.12416054308414459, + 0.07736547291278839, + 0.05183393135666847 + ], + "orientation": [ + 0.45320677757263184, + -0.5934321880340576, + 0.5709677934646606, + -0.3412296772003174 + ], + "joints": [ + -0.006665505468845367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058592092245817184, + -0.08050893247127533, + 0.022464830428361893 + ], + "orientation": [ + 0.6307554244995117, + -0.7020393013954163, + -0.32368943095207214, + 0.06718461960554123 + ], + "joints": [ + 0.017619647085666656 + ] + }, + "fine_grasp": { + "position": [ + 0.05577734112739563, + -0.07814956456422806, + 0.02144688367843628 + ], + "orientation": [ + 0.6328963041305542, + -0.6994167566299438, + -0.3255952000617981, + 0.06516291201114655 + ], + "joints": [ + 0.007170766592025757 + ] + }, + "final_grasp": { + "position": [ + 0.05577734112739563, + -0.07814956456422806, + 0.02144688367843628 + ], + "orientation": [ + 0.6328963041305542, + -0.6994167566299438, + -0.3255952000617981, + 0.06516291201114655 + ], + "joints": [ + -0.003278113901615143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026203995570540428, + 0.24900829792022705, + 0.06151941791176796 + ], + "orientation": [ + 0.44987815618515015, + 0.7030485272407532, + -0.5242471098899841, + 0.16881151497364044 + ], + "joints": [ + 0.01553979329764843 + ] + }, + "fine_grasp": { + "position": [ + 0.024626607075333595, + 0.24887754023075104, + 0.058135129511356354 + ], + "orientation": [ + 0.4548527002334595, + 0.7053183317184448, + -0.5153828859329224, + 0.17325006425380707 + ], + "joints": [ + 0.006344778463244438 + ] + }, + "final_grasp": { + "position": [ + 0.024626607075333595, + 0.24887754023075104, + 0.058135129511356354 + ], + "orientation": [ + 0.4548527002334595, + 0.7053183317184448, + -0.5153828859329224, + 0.17325006425380707 + ], + "joints": [ + -0.0028502363711595535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05971592292189598, + -0.08163655549287796, + 0.02373003028333187 + ], + "orientation": [ + 0.6290398240089417, + -0.7051499485969543, + -0.3203267753124237, + 0.06680630892515182 + ], + "joints": [ + 0.017779119312763214 + ] + }, + "fine_grasp": { + "position": [ + 0.057198237627744675, + -0.07903387397527695, + 0.022855855524539948 + ], + "orientation": [ + 0.6287037134170532, + -0.7039597630500793, + -0.3230606019496918, + 0.06931298226118088 + ], + "joints": [ + 0.006933181546628475 + ] + }, + "final_grasp": { + "position": [ + 0.057198237627744675, + -0.07903387397527695, + 0.022855855524539948 + ], + "orientation": [ + 0.6287037134170532, + -0.7039597630500793, + -0.3230606019496918, + 0.06931298226118088 + ], + "joints": [ + -0.003912756219506264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0641038566827774, + 0.033889248967170715, + 0.08207331597805023 + ], + "orientation": [ + 0.11804568767547607, + 0.6158846020698547, + -0.7015160918235779, + -0.33856523036956787 + ], + "joints": [ + 0.01634259894490242 + ] + }, + "fine_grasp": { + "position": [ + 0.062126316130161285, + 0.03263312578201294, + 0.07923835515975952 + ], + "orientation": [ + 0.11126049607992172, + 0.6145200133323669, + -0.7008463740348816, + -0.3446749150753021 + ], + "joints": [ + 0.007565539330244064 + ] + }, + "final_grasp": { + "position": [ + 0.062126316130161285, + 0.03263312578201294, + 0.07923835515975952 + ], + "orientation": [ + 0.11126049607992172, + 0.6145200133323669, + -0.7008463740348816, + -0.3446749150753021 + ], + "joints": [ + -0.0012115202844142914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05674939975142479, + 0.179504856467247, + 0.10739752650260925 + ], + "orientation": [ + 0.2907099723815918, + 0.7137928009033203, + -0.6364312767982483, + -0.0307024996727705 + ], + "joints": [ + 0.018698591738939285 + ] + }, + "fine_grasp": { + "position": [ + 0.05487818643450737, + 0.17863436043262482, + 0.10427295416593552 + ], + "orientation": [ + 0.2883043587207794, + 0.712546706199646, + -0.6378023028373718, + -0.048642996698617935 + ], + "joints": [ + 0.0070585403591394424 + ] + }, + "final_grasp": { + "position": [ + 0.05487818643450737, + 0.17863436043262482, + 0.10427295416593552 + ], + "orientation": [ + 0.2883043587207794, + 0.712546706199646, + -0.6378023028373718, + -0.048642996698617935 + ], + "joints": [ + -0.0045815110206604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05709956958889961, + 0.17950107157230377, + 0.10790630429983139 + ], + "orientation": [ + 0.290923148393631, + 0.7141600251197815, + -0.636016309261322, + -0.028678854927420616 + ], + "joints": [ + 0.018235482275485992 + ] + }, + "fine_grasp": { + "position": [ + 0.05516013503074646, + 0.178634375333786, + 0.10473281890153885 + ], + "orientation": [ + 0.2890388071537018, + 0.7122367024421692, + -0.6378465294837952, + -0.04824039340019226 + ], + "joints": [ + 0.006992486771196127 + ] + }, + "final_grasp": { + "position": [ + 0.05516013503074646, + 0.178634375333786, + 0.10473281890153885 + ], + "orientation": [ + 0.2890388071537018, + 0.7122367024421692, + -0.6378465294837952, + -0.04824039340019226 + ], + "joints": [ + -0.0042505087330937386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057152386754751205, + 0.17934758961200714, + 0.10800176113843918 + ], + "orientation": [ + 0.29176846146583557, + 0.7141088843345642, + -0.6357548832893372, + -0.02711956761777401 + ], + "joints": [ + 0.018235482275485992 + ] + }, + "fine_grasp": { + "position": [ + 0.05520237237215042, + 0.17848311364650726, + 0.10483500361442566 + ], + "orientation": [ + 0.28973862528800964, + 0.7120370864868164, + -0.6378216743469238, + -0.04730904847383499 + ], + "joints": [ + 0.006992486771196127 + ] + }, + "final_grasp": { + "position": [ + 0.05520237237215042, + 0.17848311364650726, + 0.10483500361442566 + ], + "orientation": [ + 0.28973862528800964, + 0.7120370864868164, + -0.6378216743469238, + -0.04730904847383499 + ], + "joints": [ + -0.0042505087330937386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057315535843372345, + 0.17931272089481354, + 0.10827334225177765 + ], + "orientation": [ + 0.2927120625972748, + 0.7147752046585083, + -0.6346260905265808, + -0.02580096758902073 + ], + "joints": [ + 0.018235482275485992 + ] + }, + "fine_grasp": { + "position": [ + 0.05533618852496147, + 0.178486630320549, + 0.10512031614780426 + ], + "orientation": [ + 0.28993621468544006, + 0.7126172780990601, + -0.6371035575866699, + -0.04703915864229202 + ], + "joints": [ + 0.006992486771196127 + ] + }, + "final_grasp": { + "position": [ + 0.05533618852496147, + 0.178486630320549, + 0.10512031614780426 + ], + "orientation": [ + 0.28993621468544006, + 0.7126172780990601, + -0.6371035575866699, + -0.04703915864229202 + ], + "joints": [ + -0.0042505087330937386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0650472566485405, + 0.26007428765296936, + -0.0059514036402106285 + ], + "orientation": [ + 0.6710445284843445, + 0.6655972599983215, + -0.16735664010047913, + -0.28048399090766907 + ], + "joints": [ + 0.013828500173985958 + ] + }, + "fine_grasp": { + "position": [ + 0.06193556636571884, + 0.2584220767021179, + -0.005986175499856472 + ], + "orientation": [ + 0.6759227514266968, + 0.666454553604126, + -0.16243034601211548, + -0.2694126069545746 + ], + "joints": [ + 0.00421553011983633 + ] + }, + "final_grasp": { + "position": [ + 0.06193556636571884, + 0.2584220767021179, + -0.005986175499856472 + ], + "orientation": [ + 0.6759227514266968, + 0.666454553604126, + -0.16243034601211548, + -0.2694126069545746 + ], + "joints": [ + -0.005397439934313297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06401429325342178, + 0.25932344794273376, + -0.006404748186469078 + ], + "orientation": [ + 0.6737464070320129, + 0.6628473401069641, + -0.16764281690120697, + -0.2803479731082916 + ], + "joints": [ + 0.013577002100646496 + ] + }, + "fine_grasp": { + "position": [ + 0.061036739498376846, + 0.25799858570098877, + -0.006625881884247065 + ], + "orientation": [ + 0.67863529920578, + 0.6635861992835999, + -0.16083091497421265, + -0.27063074707984924 + ], + "joints": [ + 0.004381987266242504 + ] + }, + "final_grasp": { + "position": [ + 0.061036739498376846, + 0.25799858570098877, + -0.006625881884247065 + ], + "orientation": [ + 0.67863529920578, + 0.6635861992835999, + -0.16083091497421265, + -0.27063074707984924 + ], + "joints": [ + -0.004813027568161488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09769619256258011, + 0.11374088376760483, + 0.07154464721679688 + ], + "orientation": [ + 0.2673352062702179, + 0.5917865037918091, + -0.662513792514801, + -0.37335774302482605 + ], + "joints": [ + 0.016343889757990837 + ] + }, + "fine_grasp": { + "position": [ + 0.09456959366798401, + 0.11417338997125626, + 0.06921274960041046 + ], + "orientation": [ + 0.26947730779647827, + 0.592693567276001, + -0.6625803112983704, + -0.37024804949760437 + ], + "joints": [ + 0.006312964484095573 + ] + }, + "final_grasp": { + "position": [ + 0.09456959366798401, + 0.11417338997125626, + 0.06921274960041046 + ], + "orientation": [ + 0.26947730779647827, + 0.592693567276001, + -0.6625803112983704, + -0.37024804949760437 + ], + "joints": [ + -0.0037179607897996902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017959604039788246, + 0.2780245542526245, + 0.048414446413517 + ], + "orientation": [ + 0.4886626899242401, + 0.6881223917007446, + -0.4859737157821655, + 0.22699280083179474 + ], + "joints": [ + 0.01412434782832861 + ] + }, + "fine_grasp": { + "position": [ + 0.0169660821557045, + 0.27510568499565125, + 0.046259377151727676 + ], + "orientation": [ + 0.4891926944255829, + 0.6895207166671753, + -0.4821756184101105, + 0.22969186305999756 + ], + "joints": [ + 0.0036963652819395065 + ] + }, + "final_grasp": { + "position": [ + 0.0169660821557045, + 0.27510568499565125, + 0.046259377151727676 + ], + "orientation": [ + 0.4891926944255829, + 0.6895207166671753, + -0.4821756184101105, + 0.22969186305999756 + ], + "joints": [ + -0.006731617264449596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006998436525464058, + -0.09786827117204666, + 0.01716218702495098 + ], + "orientation": [ + 0.5398158431053162, + -0.5982041954994202, + -0.4633595645427704, + -0.3688476085662842 + ], + "joints": [ + 0.017202116549015045 + ] + }, + "fine_grasp": { + "position": [ + 0.006619271822273731, + -0.09437359124422073, + 0.016556227579712868 + ], + "orientation": [ + 0.539482057094574, + -0.5981354117393494, + -0.46346163749694824, + -0.36931878328323364 + ], + "joints": [ + 0.007192089222371578 + ] + }, + "final_grasp": { + "position": [ + 0.006619271822273731, + -0.09437359124422073, + 0.016556227579712868 + ], + "orientation": [ + 0.539482057094574, + -0.5981354117393494, + -0.46346163749694824, + -0.36931878328323364 + ], + "joints": [ + -0.0028179381042718887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13447795808315277, + -0.016668178141117096, + -0.0018774117343127728 + ], + "orientation": [ + 0.5018888115882874, + 0.4163772761821747, + 0.5391717553138733, + 0.532945990562439 + ], + "joints": [ + 0.01573469303548336 + ] + }, + "fine_grasp": { + "position": [ + -0.1310398280620575, + -0.01564413122832775, + -0.0023367488756775856 + ], + "orientation": [ + 0.4943688213825226, + 0.417662650346756, + 0.5471714735031128, + 0.5308113694190979 + ], + "joints": [ + 0.004491697996854782 + ] + }, + "final_grasp": { + "position": [ + -0.1310398280620575, + -0.01564413122832775, + -0.0023367488756775856 + ], + "orientation": [ + 0.4943688213825226, + 0.417662650346756, + 0.5471714735031128, + 0.5308113694190979 + ], + "joints": [ + -0.006751297041773796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.088169164955616, + 0.07347029447555542, + -0.09046828001737595 + ], + "orientation": [ + 0.6085686087608337, + 0.2530447542667389, + -0.27817410230636597, + -0.6987358927726746 + ], + "joints": [ + 0.01652444340288639 + ] + }, + "fine_grasp": { + "position": [ + 0.08541163802146912, + 0.0731809064745903, + -0.0876397043466568 + ], + "orientation": [ + 0.6093894243240356, + 0.25539857149124146, + -0.2764536440372467, + -0.6978462934494019 + ], + "joints": [ + 0.006514416076242924 + ] + }, + "final_grasp": { + "position": [ + 0.08541163802146912, + 0.0731809064745903, + -0.0876397043466568 + ], + "orientation": [ + 0.6093894243240356, + 0.25539857149124146, + -0.2764536440372467, + -0.6978462934494019 + ], + "joints": [ + -0.003495611250400543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010103869251906872, + 0.2896193563938141, + 0.01584675721824169 + ], + "orientation": [ + 0.6202281713485718, + 0.702380895614624, + 0.303787499666214, + -0.17231163382530212 + ], + "joints": [ + 0.012523898854851723 + ] + }, + "fine_grasp": { + "position": [ + -0.010209904983639717, + 0.286409854888916, + 0.0157293900847435 + ], + "orientation": [ + 0.6232998967170715, + 0.7000758647918701, + 0.2982155978679657, + -0.18016265332698822 + ], + "joints": [ + 0.003328884718939662 + ] + }, + "final_grasp": { + "position": [ + -0.010209904983639717, + 0.286409854888916, + 0.0157293900847435 + ], + "orientation": [ + 0.6232998967170715, + 0.7000758647918701, + 0.2982155978679657, + -0.18016265332698822 + ], + "joints": [ + -0.005866129416972399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0261447224766016, + 0.27529555559158325, + -0.04291832819581032 + ], + "orientation": [ + 0.5053560733795166, + 0.22522634267807007, + -0.5122796893119812, + 0.6568544507026672 + ], + "joints": [ + 0.014871099963784218 + ] + }, + "fine_grasp": { + "position": [ + 0.025022292509675026, + 0.2722861170768738, + -0.04084980487823486 + ], + "orientation": [ + 0.5046918392181396, + 0.2254549264907837, + -0.5134583115577698, + 0.6563664078712463 + ], + "joints": [ + 0.004443117417395115 + ] + }, + "final_grasp": { + "position": [ + 0.025022292509675026, + 0.2722861170768738, + -0.04084980487823486 + ], + "orientation": [ + 0.5046918392181396, + 0.2254549264907837, + -0.5134583115577698, + 0.6563664078712463 + ], + "joints": [ + -0.005984865128993988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08768507838249207, + 0.07312353700399399, + -0.09004819393157959 + ], + "orientation": [ + 0.6092479825019836, + 0.25557732582092285, + -0.2752360999584198, + -0.6983854174613953 + ], + "joints": [ + 0.016404293477535248 + ] + }, + "fine_grasp": { + "position": [ + 0.08491861075162888, + 0.07288304716348648, + -0.08721424639225006 + ], + "orientation": [ + 0.6098800301551819, + 0.25770482420921326, + -0.2738136947154999, + -0.69761061668396 + ], + "joints": [ + 0.006394266150891781 + ] + }, + "final_grasp": { + "position": [ + 0.08491861075162888, + 0.07288304716348648, + -0.08721424639225006 + ], + "orientation": [ + 0.6098800301551819, + 0.25770482420921326, + -0.2738136947154999, + -0.69761061668396 + ], + "joints": [ + -0.003615761175751686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1258791834115982, + 0.08559846878051758, + 0.03316442295908928 + ], + "orientation": [ + 0.38504141569137573, + -0.5792426466941833, + 0.5405330657958984, + -0.47333407402038574 + ], + "joints": [ + 0.017157094553112984 + ] + }, + "fine_grasp": { + "position": [ + -0.12214576452970505, + 0.08550862967967987, + 0.03223738819360733 + ], + "orientation": [ + 0.3845879137516022, + -0.5814433693885803, + 0.5396032333374023, + -0.47206375002861023 + ], + "joints": [ + 0.008296442218124866 + ] + }, + "final_grasp": { + "position": [ + -0.12214576452970505, + 0.08550862967967987, + 0.03223738819360733 + ], + "orientation": [ + 0.3845879137516022, + -0.5814433693885803, + 0.5396032333374023, + -0.47206375002861023 + ], + "joints": [ + -0.0005642101168632507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12558870017528534, + 0.08544096350669861, + 0.03265675902366638 + ], + "orientation": [ + 0.3886783719062805, + -0.5751309990882874, + 0.5440970659255981, + -0.4712875187397003 + ], + "joints": [ + 0.017148803919553757 + ] + }, + "fine_grasp": { + "position": [ + -0.12183588743209839, + 0.0852772668004036, + 0.031687237322330475 + ], + "orientation": [ + 0.3882047235965729, + -0.5763910412788391, + 0.5435653924942017, + -0.4707515835762024 + ], + "joints": [ + 0.008309049531817436 + ] + }, + "final_grasp": { + "position": [ + -0.12183588743209839, + 0.0852772668004036, + 0.031687237322330475 + ], + "orientation": [ + 0.3882047235965729, + -0.5763910412788391, + 0.5435653924942017, + -0.4707515835762024 + ], + "joints": [ + -0.0005307048559188843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04889928176999092, + 0.06622347235679626, + -0.11731966584920883 + ], + "orientation": [ + 0.73682701587677, + 0.08206290006637573, + 0.186531201004982, + 0.6446376442909241 + ], + "joints": [ + 0.01659596711397171 + ] + }, + "fine_grasp": { + "position": [ + -0.04731722176074982, + 0.06625126302242279, + -0.11370182037353516 + ], + "orientation": [ + 0.7373484969139099, + 0.08329164981842041, + 0.18533030152320862, + 0.6442301273345947 + ], + "joints": [ + 0.0069829970598220825 + ] + }, + "final_grasp": { + "position": [ + -0.04731722176074982, + 0.06625126302242279, + -0.11370182037353516 + ], + "orientation": [ + 0.7373484969139099, + 0.08329164981842041, + 0.18533030152320862, + 0.6442301273345947 + ], + "joints": [ + -0.002629972994327545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06691022217273712, + 0.09208769351243973, + 0.09531385451555252 + ], + "orientation": [ + 0.2189345806837082, + 0.6792123317718506, + -0.6685706377029419, + -0.20916864275932312 + ], + "joints": [ + 0.015035286545753479 + ] + }, + "fine_grasp": { + "position": [ + 0.06455538421869278, + 0.09204129874706268, + 0.09192069619894028 + ], + "orientation": [ + 0.21813736855983734, + 0.6808645129203796, + -0.6671190857887268, + -0.2092650830745697 + ], + "joints": [ + 0.006676182150840759 + ] + }, + "final_grasp": { + "position": [ + 0.06455538421869278, + 0.09204129874706268, + 0.09192069619894028 + ], + "orientation": [ + 0.21813736855983734, + 0.6808645129203796, + -0.6671190857887268, + -0.2092650830745697 + ], + "joints": [ + -0.0016829222440719604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011330300942063332, + 0.2898651361465454, + -0.0018211760325357318 + ], + "orientation": [ + 0.12326544523239136, + 0.21098364889621735, + -0.6752910614013672, + 0.69589763879776 + ], + "joints": [ + 0.013949420303106308 + ] + }, + "fine_grasp": { + "position": [ + -0.011129648424685001, + 0.286723792552948, + -0.00169086130335927 + ], + "orientation": [ + 0.1264886111021042, + 0.2097807675600052, + -0.6745443940162659, + 0.6964069604873657 + ], + "joints": [ + 0.00433645024895668 + ] + }, + "final_grasp": { + "position": [ + -0.011129648424685001, + 0.286723792552948, + -0.00169086130335927 + ], + "orientation": [ + 0.1264886111021042, + 0.2097807675600052, + -0.6745443940162659, + 0.6964069604873657 + ], + "joints": [ + -0.005276519805192947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06583060324192047, + 0.09215058386325836, + 0.09398113191127777 + ], + "orientation": [ + 0.2212030291557312, + 0.6796214580535889, + -0.6682161092758179, + -0.20656970143318176 + ], + "joints": [ + 0.015042056329548359 + ] + }, + "fine_grasp": { + "position": [ + 0.06340701133012772, + 0.09210038930177689, + 0.09059472382068634 + ], + "orientation": [ + 0.22004258632659912, + 0.682481586933136, + -0.6655336022377014, + -0.20703892409801483 + ], + "joints": [ + 0.006682951934635639 + ] + }, + "final_grasp": { + "position": [ + 0.06340701133012772, + 0.09210038930177689, + 0.09059472382068634 + ], + "orientation": [ + 0.22004258632659912, + 0.682481586933136, + -0.6655336022377014, + -0.20703892409801483 + ], + "joints": [ + -0.0016761524602770805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08031176775693893, + 0.20933781564235687, + -0.0767534002661705 + ], + "orientation": [ + 0.7216717004776001, + 0.39275604486465454, + 0.16436313092708588, + 0.5458181500434875 + ], + "joints": [ + 0.015142024494707584 + ] + }, + "fine_grasp": { + "position": [ + -0.07765588164329529, + 0.20824585855007172, + -0.0741274505853653 + ], + "orientation": [ + 0.7220866084098816, + 0.39135268330574036, + 0.165079727768898, + 0.5460612177848816 + ], + "joints": [ + 0.005111099220812321 + ] + }, + "final_grasp": { + "position": [ + -0.07765588164329529, + 0.20824585855007172, + -0.0741274505853653 + ], + "orientation": [ + 0.7220866084098816, + 0.39135268330574036, + 0.165079727768898, + 0.5460612177848816 + ], + "joints": [ + -0.004919826053082943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06353608518838882, + 0.21103732287883759, + -0.08779872953891754 + ], + "orientation": [ + 0.6798615455627441, + 0.35356661677360535, + -0.05799383297562599, + -0.6398559808731079 + ], + "joints": [ + 0.014837721362709999 + ] + }, + "fine_grasp": { + "position": [ + 0.061303794384002686, + 0.20980516076087952, + -0.0847700834274292 + ], + "orientation": [ + 0.6793243288993835, + 0.35347822308540344, + -0.058724913746118546, + -0.6404083967208862 + ], + "joints": [ + 0.005224751308560371 + ] + }, + "final_grasp": { + "position": [ + 0.061303794384002686, + 0.20980516076087952, + -0.0847700834274292 + ], + "orientation": [ + 0.6793243288993835, + 0.35347822308540344, + -0.058724913746118546, + -0.6404083967208862 + ], + "joints": [ + -0.004388218745589256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09846866875886917, + 0.08769842237234116, + -0.04646136611700058 + ], + "orientation": [ + 0.5878552198410034, + 0.4011509120464325, + -0.3508571982383728, + -0.6086076498031616 + ], + "joints": [ + 0.016163118183612823 + ] + }, + "fine_grasp": { + "position": [ + 0.09614874422550201, + 0.08623992651700974, + -0.04521743580698967 + ], + "orientation": [ + 0.5936684012413025, + 0.3994752764701843, + -0.3546164333820343, + -0.6018508672714233 + ], + "joints": [ + 0.006968103349208832 + ] + }, + "final_grasp": { + "position": [ + 0.09614874422550201, + 0.08623992651700974, + -0.04521743580698967 + ], + "orientation": [ + 0.5936684012413025, + 0.3994752764701843, + -0.3546164333820343, + -0.6018508672714233 + ], + "joints": [ + -0.00222691148519516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09030071645975113, + -0.04180740937590599, + -0.05662509799003601 + ], + "orientation": [ + 0.6372969746589661, + -0.4971827268600464, + 0.1315889060497284, + -0.5738869905471802 + ], + "joints": [ + 0.017286106944084167 + ] + }, + "fine_grasp": { + "position": [ + -0.08738519251346588, + -0.040103014558553696, + -0.0547003410756588 + ], + "orientation": [ + 0.6371088027954102, + -0.49794313311576843, + 0.13134634494781494, + -0.573492169380188 + ], + "joints": [ + 0.007255181670188904 + ] + }, + "final_grasp": { + "position": [ + -0.08738519251346588, + -0.040103014558553696, + -0.0547003410756588 + ], + "orientation": [ + 0.6371088027954102, + -0.49794313311576843, + 0.13134634494781494, + -0.573492169380188 + ], + "joints": [ + -0.00277574360370636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041031599044799805, + -0.1029505804181099, + 0.00039649129030294716 + ], + "orientation": [ + 0.2488987296819687, + -0.01629600115120411, + 0.7072494029998779, + 0.6614999175071716 + ], + "joints": [ + 0.017669303342700005 + ] + }, + "fine_grasp": { + "position": [ + -0.039433978497982025, + -0.09946400672197342, + 0.0007105791009962559 + ], + "orientation": [ + 0.25088170170783997, + -0.014437376521527767, + 0.7053759694099426, + 0.6627930998802185 + ], + "joints": [ + 0.007241320330649614 + ] + }, + "final_grasp": { + "position": [ + -0.039433978497982025, + -0.09946400672197342, + 0.0007105791009962559 + ], + "orientation": [ + 0.25088170170783997, + -0.014437376521527767, + 0.7053759694099426, + 0.6627930998802185 + ], + "joints": [ + -0.003186662681400776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01284474041312933, + -0.12026344239711761, + 0.001988822128623724 + ], + "orientation": [ + 0.6663848161697388, + -0.6463338732719421, + 0.2932179868221283, + 0.2284885197877884 + ], + "joints": [ + 0.015413962304592133 + ] + }, + "fine_grasp": { + "position": [ + -0.012518267147243023, + -0.11650726944208145, + 0.0019529511919245124 + ], + "orientation": [ + 0.6657987236976624, + -0.6469810605049133, + 0.29302746057510376, + 0.22860994935035706 + ], + "joints": [ + 0.006198049522936344 + ] + }, + "final_grasp": { + "position": [ + -0.012518267147243023, + -0.11650726944208145, + 0.0019529511919245124 + ], + "orientation": [ + 0.6657987236976624, + -0.6469810605049133, + 0.29302746057510376, + 0.22860994935035706 + ], + "joints": [ + -0.0030178632587194443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012917033396661282, + -0.11947640031576157, + 0.0025767642073333263 + ], + "orientation": [ + 0.6626193523406982, + -0.6449774503707886, + 0.3002780079841614, + 0.23403596878051758 + ], + "joints": [ + 0.01568680815398693 + ] + }, + "fine_grasp": { + "position": [ + -0.012495134957134724, + -0.1156998947262764, + 0.0025065834634006023 + ], + "orientation": [ + 0.6620572805404663, + -0.6454340815544128, + 0.3010808825492859, + 0.23333509266376495 + ], + "joints": [ + 0.006847054697573185 + ] + }, + "final_grasp": { + "position": [ + -0.012495134957134724, + -0.1156998947262764, + 0.0025065834634006023 + ], + "orientation": [ + 0.6620572805404663, + -0.6454340815544128, + 0.3010808825492859, + 0.23333509266376495 + ], + "joints": [ + -0.001992698758840561 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06109160557389259, + 0.09916457533836365, + -0.10537679493427277 + ], + "orientation": [ + 0.6435564160346985, + 0.2465067058801651, + -0.10791494697332382, + -0.7165361642837524 + ], + "joints": [ + 0.016690069809556007 + ] + }, + "fine_grasp": { + "position": [ + 0.059085022658109665, + 0.09838069975376129, + -0.10206840187311172 + ], + "orientation": [ + 0.6437445878982544, + 0.24714967608451843, + -0.10747885704040527, + -0.7162111401557922 + ], + "joints": [ + 0.0062620872631669044 + ] + }, + "final_grasp": { + "position": [ + 0.059085022658109665, + 0.09838069975376129, + -0.10206840187311172 + ], + "orientation": [ + 0.6437445878982544, + 0.24714967608451843, + -0.10747885704040527, + -0.7162111401557922 + ], + "joints": [ + -0.0041658952832221985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061135031282901764, + 0.09919819980859756, + -0.10549918562173843 + ], + "orientation": [ + 0.6436008810997009, + 0.2463853508234024, + -0.10792138427495956, + -0.7165368795394897 + ], + "joints": [ + 0.01689782738685608 + ] + }, + "fine_grasp": { + "position": [ + 0.05913100019097328, + 0.09841352701187134, + -0.1021883487701416 + ], + "orientation": [ + 0.6437950730323792, + 0.24702149629592896, + -0.10746588557958603, + -0.7162119150161743 + ], + "joints": [ + 0.006072787567973137 + ] + }, + "final_grasp": { + "position": [ + 0.05913100019097328, + 0.09841352701187134, + -0.1021883487701416 + ], + "orientation": [ + 0.6437950730323792, + 0.24702149629592896, + -0.10746588557958603, + -0.7162119150161743 + ], + "joints": [ + -0.004752252250909805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06665217131376266, + 0.07320449501276016, + 0.09566361457109451 + ], + "orientation": [ + 0.24267488718032837, + -0.6995567083358765, + 0.6460725665092468, + -0.18525512516498566 + ], + "joints": [ + 0.01533760316669941 + ] + }, + "fine_grasp": { + "position": [ + -0.06430961191654205, + 0.07341931015253067, + 0.09231109172105789 + ], + "orientation": [ + 0.24007494747638702, + -0.7043222188949585, + 0.6414982080459595, + -0.18647858500480652 + ], + "joints": [ + 0.006560543552041054 + ] + }, + "final_grasp": { + "position": [ + -0.06430961191654205, + 0.07341931015253067, + 0.09231109172105789 + ], + "orientation": [ + 0.24007494747638702, + -0.7043222188949585, + 0.6414982080459595, + -0.18647858500480652 + ], + "joints": [ + -0.002216516062617302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11152029037475586, + 0.22434458136558533, + -0.03524158522486687 + ], + "orientation": [ + 0.45058685541152954, + -0.230778306722641, + 0.5703685879707336, + -0.6468326449394226 + ], + "joints": [ + 0.014135744422674179 + ] + }, + "fine_grasp": { + "position": [ + -0.1081833764910698, + 0.2233198583126068, + -0.0336955301463604 + ], + "orientation": [ + 0.45573583245277405, + -0.23377034068107605, + 0.5647093057632446, + -0.6471165418624878 + ], + "joints": [ + 0.004501876421272755 + ] + }, + "final_grasp": { + "position": [ + -0.1081833764910698, + 0.2233198583126068, + -0.0336955301463604 + ], + "orientation": [ + 0.45573583245277405, + -0.23377034068107605, + 0.5647093057632446, + -0.6471165418624878 + ], + "joints": [ + -0.00513199158012867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10682462155818939, + 0.007005561143159866, + 0.02720206044614315 + ], + "orientation": [ + 0.4118461310863495, + -0.595914363861084, + -0.5072698593139648, + 0.466846764087677 + ], + "joints": [ + 0.01652727648615837 + ] + }, + "fine_grasp": { + "position": [ + 0.10461213439702988, + 0.007544948253780603, + 0.025647373870015144 + ], + "orientation": [ + 0.41893190145492554, + -0.6022343635559082, + -0.498803973197937, + 0.46152400970458984 + ], + "joints": [ + 0.007332261651754379 + ] + }, + "final_grasp": { + "position": [ + 0.10461213439702988, + 0.007544948253780603, + 0.025647373870015144 + ], + "orientation": [ + 0.41893190145492554, + -0.6022343635559082, + -0.498803973197937, + 0.46152400970458984 + ], + "joints": [ + -0.0018627531826496124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06121612712740898, + 0.09908769279718399, + -0.10542378574609756 + ], + "orientation": [ + 0.6434413194656372, + 0.24698945879936218, + -0.10778608918190002, + -0.7164925932884216 + ], + "joints": [ + 0.0168094951659441 + ] + }, + "fine_grasp": { + "position": [ + 0.05922182276844978, + 0.09828180074691772, + -0.10212182253599167 + ], + "orientation": [ + 0.6436038017272949, + 0.24772319197654724, + -0.10723650455474854, + -0.7161757349967957 + ], + "joints": [ + 0.0063815126195549965 + ] + }, + "final_grasp": { + "position": [ + 0.05922182276844978, + 0.09828180074691772, + -0.10212182253599167 + ], + "orientation": [ + 0.6436038017272949, + 0.24772319197654724, + -0.10723650455474854, + -0.7161757349967957 + ], + "joints": [ + -0.0040464699268341064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06159524992108345, + 0.06736160069704056, + -0.11251313984394073 + ], + "orientation": [ + 0.7486157417297363, + -0.17730683088302612, + 0.17259705066680908, + -0.6150991916656494 + ], + "joints": [ + 0.016491789370775223 + ] + }, + "fine_grasp": { + "position": [ + -0.05965343117713928, + 0.06729526817798615, + -0.1090574786067009 + ], + "orientation": [ + 0.7486210465431213, + -0.17608892917633057, + 0.17417262494564056, + -0.6149986386299133 + ], + "joints": [ + 0.007275876589119434 + ] + }, + "final_grasp": { + "position": [ + -0.05965343117713928, + 0.06729526817798615, + -0.1090574786067009 + ], + "orientation": [ + 0.7486210465431213, + -0.17608892917633057, + 0.17417262494564056, + -0.6149986386299133 + ], + "joints": [ + -0.001940036192536354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10936198383569717, + 0.09884071350097656, + -0.04759040102362633 + ], + "orientation": [ + 0.5350074768066406, + -0.3440481722354889, + -0.4311891794204712, + 0.6399015188217163 + ], + "joints": [ + 0.017283592373132706 + ] + }, + "fine_grasp": { + "position": [ + 0.10599327087402344, + 0.09828886389732361, + -0.04596484452486038 + ], + "orientation": [ + 0.53524249792099, + -0.34357112646102905, + -0.43004167079925537, + 0.6407327651977539 + ], + "joints": [ + 0.006437654606997967 + ] + }, + "final_grasp": { + "position": [ + 0.10599327087402344, + 0.09828886389732361, + -0.04596484452486038 + ], + "orientation": [ + 0.53524249792099, + -0.34357112646102905, + -0.43004167079925537, + 0.6407327651977539 + ], + "joints": [ + -0.004408283159136772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0614820159971714, + 0.06678500026464462, + -0.11281297355890274 + ], + "orientation": [ + 0.7466595768928528, + -0.17380407452583313, + 0.17454947531223297, + -0.6179190874099731 + ], + "joints": [ + 0.01640540175139904 + ] + }, + "fine_grasp": { + "position": [ + -0.05955933779478073, + 0.06686381250619888, + -0.10935071855783463 + ], + "orientation": [ + 0.7468084692955017, + -0.17353315651416779, + 0.17507275938987732, + -0.6176672577857971 + ], + "joints": [ + 0.007189488969743252 + ] + }, + "final_grasp": { + "position": [ + -0.05955933779478073, + 0.06686381250619888, + -0.10935071855783463 + ], + "orientation": [ + 0.7468084692955017, + -0.17353315651416779, + 0.17507275938987732, + -0.6176672577857971 + ], + "joints": [ + -0.0020264238119125366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061012525111436844, + -0.006986203603446484, + 0.08885825425386429 + ], + "orientation": [ + 0.23978905379772186, + 0.5518404841423035, + -0.7748336791992188, + -0.19392266869544983 + ], + "joints": [ + 0.01288534328341484 + ] + }, + "fine_grasp": { + "position": [ + 0.05975496396422386, + -0.004578717518597841, + 0.08674655854701996 + ], + "orientation": [ + 0.23417900502681732, + 0.5317138433456421, + -0.787794291973114, + -0.2045011818408966 + ], + "joints": [ + 0.005780104547739029 + ] + }, + "final_grasp": { + "position": [ + 0.05975496396422386, + -0.004578717518597841, + 0.08674655854701996 + ], + "orientation": [ + 0.23417900502681732, + 0.5317138433456421, + -0.787794291973114, + -0.2045011818408966 + ], + "joints": [ + -0.0013251341879367828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09063411504030228, + -0.04077761620283127, + -0.05721929296851158 + ], + "orientation": [ + 0.641150176525116, + -0.5015667676925659, + 0.12661752104759216, + -0.5668556690216064 + ], + "joints": [ + 0.017678525298833847 + ] + }, + "fine_grasp": { + "position": [ + -0.08758855611085892, + -0.039284467697143555, + -0.05524427816271782 + ], + "orientation": [ + 0.6407310366630554, + -0.500817060470581, + 0.12867093086242676, + -0.567529559135437 + ], + "joints": [ + 0.007647599559277296 + ] + }, + "final_grasp": { + "position": [ + -0.08758855611085892, + -0.039284467697143555, + -0.05524427816271782 + ], + "orientation": [ + 0.6407310366630554, + -0.500817060470581, + 0.12867093086242676, + -0.567529559135437 + ], + "joints": [ + -0.002383326180279255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030220896005630493, + -0.11339092999696732, + 0.006848426535725594 + ], + "orientation": [ + 0.15690383315086365, + -0.30154985189437866, + 0.6490208506584167, + 0.6806033253669739 + ], + "joints": [ + 0.01638304442167282 + ] + }, + "fine_grasp": { + "position": [ + 0.029080752283334732, + -0.10966479033231735, + 0.0065066092647612095 + ], + "orientation": [ + 0.1539592295885086, + -0.305217444896698, + 0.6501178741455078, + 0.6785909533500671 + ], + "joints": [ + 0.007167131640017033 + ] + }, + "final_grasp": { + "position": [ + 0.029080752283334732, + -0.10966479033231735, + 0.0065066092647612095 + ], + "orientation": [ + 0.1539592295885086, + -0.305217444896698, + 0.6501178741455078, + 0.6785909533500671 + ], + "joints": [ + -0.002048781141638756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10837014019489288, + 0.09896456450223923, + -0.04698147997260094 + ], + "orientation": [ + 0.5358566641807556, + -0.3446274399757385, + -0.43089619278907776, + 0.6390758752822876 + ], + "joints": [ + 0.01708037033677101 + ] + }, + "fine_grasp": { + "position": [ + 0.10496664047241211, + 0.09833995252847672, + -0.04537119343876839 + ], + "orientation": [ + 0.5355732440948486, + -0.34380272030830383, + -0.43023961782455444, + 0.6401990652084351 + ], + "joints": [ + 0.006631489843130112 + ] + }, + "final_grasp": { + "position": [ + 0.10496664047241211, + 0.09833995252847672, + -0.04537119343876839 + ], + "orientation": [ + 0.5355732440948486, + -0.34380272030830383, + -0.43023961782455444, + 0.6401990652084351 + ], + "joints": [ + -0.003817390650510788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016567716374993324, + -0.10213901102542877, + 0.020816827192902565 + ], + "orientation": [ + 0.11720290780067444, + -0.23202215135097504, + 0.7265622615814209, + 0.6360318660736084 + ], + "joints": [ + 0.017713434994220734 + ] + }, + "fine_grasp": { + "position": [ + 0.015911607071757317, + -0.09839695692062378, + 0.020281080156564713 + ], + "orientation": [ + 0.11279120296239853, + -0.2332068532705307, + 0.7278005480766296, + 0.6349794864654541 + ], + "joints": [ + 0.008100464940071106 + ] + }, + "final_grasp": { + "position": [ + 0.015911607071757317, + -0.09839695692062378, + 0.020281080156564713 + ], + "orientation": [ + 0.11279120296239853, + -0.2332068532705307, + 0.7278005480766296, + 0.6349794864654541 + ], + "joints": [ + -0.0015125051140785217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06516542285680771, + 0.07335906475782394, + 0.0942920595407486 + ], + "orientation": [ + 0.2404223382472992, + -0.6983968615531921, + 0.6479267477989197, + -0.1860911101102829 + ], + "joints": [ + 0.015302812680602074 + ] + }, + "fine_grasp": { + "position": [ + -0.06278126686811447, + 0.07352627068758011, + 0.09088218957185745 + ], + "orientation": [ + 0.2372671514749527, + -0.7058980464935303, + 0.6404117941856384, + -0.1878429353237152 + ], + "joints": [ + 0.006943708285689354 + ] + }, + "final_grasp": { + "position": [ + -0.06278126686811447, + 0.07352627068758011, + 0.09088218957185745 + ], + "orientation": [ + 0.2372671514749527, + -0.7058980464935303, + 0.6404117941856384, + -0.1878429353237152 + ], + "joints": [ + -0.0014153961092233658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06506568193435669, + 0.07322888821363449, + 0.09399082511663437 + ], + "orientation": [ + 0.24176029860973358, + -0.69864422082901, + 0.6473836302757263, + -0.1853174865245819 + ], + "joints": [ + 0.015047811903059483 + ] + }, + "fine_grasp": { + "position": [ + -0.06267572194337845, + 0.07338566333055496, + 0.09058479964733124 + ], + "orientation": [ + 0.23834189772605896, + -0.7072233557701111, + 0.6386725902557373, + -0.1874179244041443 + ], + "joints": [ + 0.006688707508146763 + ] + }, + "final_grasp": { + "position": [ + -0.06267572194337845, + 0.07338566333055496, + 0.09058479964733124 + ], + "orientation": [ + 0.23834189772605896, + -0.7072233557701111, + 0.6386725902557373, + -0.1874179244041443 + ], + "joints": [ + -0.0016703968867659569 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10135722905397415, + 0.06698683649301529, + 0.043003518134355545 + ], + "orientation": [ + 0.35015544295310974, + 0.5586563944816589, + 0.6144755482673645, + 0.43325963616371155 + ], + "joints": [ + 0.01537802629172802 + ] + }, + "fine_grasp": { + "position": [ + -0.09802377223968506, + 0.06689052283763885, + 0.04134179651737213 + ], + "orientation": [ + 0.3520532548427582, + 0.5534517168998718, + 0.6188697814941406, + 0.43214571475982666 + ], + "joints": [ + 0.006600966677069664 + ] + }, + "final_grasp": { + "position": [ + -0.09802377223968506, + 0.06689052283763885, + 0.04134179651737213 + ], + "orientation": [ + 0.3520532548427582, + 0.5534517168998718, + 0.6188697814941406, + 0.43214571475982666 + ], + "joints": [ + -0.0021760929375886917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046503741294145584, + 0.273081511259079, + 0.0008244275231845677 + ], + "orientation": [ + 0.7011650204658508, + 0.6670254468917847, + 0.2473035305738449, + 0.04780745133757591 + ], + "joints": [ + 0.015071689151227474 + ] + }, + "fine_grasp": { + "position": [ + -0.04393487796187401, + 0.2708379626274109, + 3.683882823679596e-05 + ], + "orientation": [ + 0.7060647010803223, + 0.6617867350578308, + 0.24845972657203674, + 0.04217395931482315 + ], + "joints": [ + 0.0050407638773322105 + ] + }, + "final_grasp": { + "position": [ + -0.04393487796187401, + 0.2708379626274109, + 3.683882823679596e-05 + ], + "orientation": [ + 0.7060647010803223, + 0.6617867350578308, + 0.24845972657203674, + 0.04217395931482315 + ], + "joints": [ + -0.004990161396563053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06412997096776962, + 0.09219105541706085, + 0.09723410755395889 + ], + "orientation": [ + 0.19591449201107025, + -0.6478104591369629, + -0.704518735408783, + 0.21357101202011108 + ], + "joints": [ + 0.015262339264154434 + ] + }, + "fine_grasp": { + "position": [ + 0.061849888414144516, + 0.09207634627819061, + 0.09376382827758789 + ], + "orientation": [ + 0.1973031908273697, + -0.6415120363235474, + -0.7106139063835144, + 0.21109609305858612 + ], + "joints": [ + 0.0069032348692417145 + ] + }, + "final_grasp": { + "position": [ + 0.061849888414144516, + 0.09207634627819061, + 0.09376382827758789 + ], + "orientation": [ + 0.1973031908273697, + -0.6415120363235474, + -0.7106139063835144, + 0.21109609305858612 + ], + "joints": [ + -0.0014558695256710052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003317633643746376, + -0.10455972701311111, + 0.030023934319615364 + ], + "orientation": [ + 0.6174471378326416, + -0.785899817943573, + 0.033338747918605804, + 0.003047920297831297 + ], + "joints": [ + 0.017772354185581207 + ] + }, + "fine_grasp": { + "position": [ + -0.003186851507052779, + -0.10082300752401352, + 0.02943640947341919 + ], + "orientation": [ + 0.6170810461044312, + -0.7862081527709961, + 0.03273745998740196, + 0.0040046595968306065 + ], + "joints": [ + 0.008577339351177216 + ] + }, + "final_grasp": { + "position": [ + -0.003186851507052779, + -0.10082300752401352, + 0.02943640947341919 + ], + "orientation": [ + 0.6170810461044312, + -0.7862081527709961, + 0.03273745998740196, + 0.0040046595968306065 + ], + "joints": [ + -0.0006176754832267761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10834132134914398, + 0.09852577745914459, + 0.036773353815078735 + ], + "orientation": [ + 0.446545273065567, + 0.5987613201141357, + -0.5487075448036194, + -0.3755025565624237 + ], + "joints": [ + 0.01546214334666729 + ] + }, + "fine_grasp": { + "position": [ + 0.1043519377708435, + 0.09881314635276794, + 0.03563784435391426 + ], + "orientation": [ + 0.4504202902317047, + 0.5932109355926514, + -0.5549359917640686, + -0.3704974353313446 + ], + "joints": [ + 0.00710303895175457 + ] + }, + "final_grasp": { + "position": [ + 0.1043519377708435, + 0.09881314635276794, + 0.03563784435391426 + ], + "orientation": [ + 0.4504202902317047, + 0.5932109355926514, + -0.5549359917640686, + -0.3704974353313446 + ], + "joints": [ + -0.0012560654431581497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06903302669525146, + 0.07506692409515381, + 0.08957573771476746 + ], + "orientation": [ + 0.20918595790863037, + 0.6631404161453247, + 0.6741995215415955, + 0.24887977540493011 + ], + "joints": [ + 0.014933797530829906 + ] + }, + "fine_grasp": { + "position": [ + -0.06646143645048141, + 0.07559194415807724, + 0.08636888116598129 + ], + "orientation": [ + 0.21483349800109863, + 0.6513041257858276, + 0.6853322982788086, + 0.24488568305969238 + ], + "joints": [ + 0.006574693135917187 + ] + }, + "final_grasp": { + "position": [ + -0.06646143645048141, + 0.07559194415807724, + 0.08636888116598129 + ], + "orientation": [ + 0.21483349800109863, + 0.6513041257858276, + 0.6853322982788086, + 0.24488568305969238 + ], + "joints": [ + -0.001784411258995533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10767165571451187, + 0.09784377366304398, + -0.046529922634363174 + ], + "orientation": [ + 0.5283612608909607, + -0.342664510011673, + -0.434646338224411, + 0.6438151001930237 + ], + "joints": [ + 0.017145967110991478 + ] + }, + "fine_grasp": { + "position": [ + 0.10401032865047455, + 0.0974922627210617, + -0.04497894272208214 + ], + "orientation": [ + 0.5283372402191162, + -0.3455102741718292, + -0.432768315076828, + 0.6435790657997131 + ], + "joints": [ + 0.00753299705684185 + ] + }, + "final_grasp": { + "position": [ + 0.10401032865047455, + 0.0974922627210617, + -0.04497894272208214 + ], + "orientation": [ + 0.5283372402191162, + -0.3455102741718292, + -0.432768315076828, + 0.6435790657997131 + ], + "joints": [ + -0.0020799729973077774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003031333675608039, + -0.09696023166179657, + -0.057926423847675323 + ], + "orientation": [ + 0.678856611251831, + -0.3887840807437897, + -0.28765320777893066, + -0.5525000691413879 + ], + "joints": [ + 0.015512380748987198 + ] + }, + "fine_grasp": { + "position": [ + -0.0032778289169073105, + -0.09345409274101257, + -0.056468360126018524 + ], + "orientation": [ + 0.67696613073349, + -0.3912574052810669, + -0.29321572184562683, + -0.5501445531845093 + ], + "joints": [ + 0.0054605575278401375 + ] + }, + "final_grasp": { + "position": [ + -0.0032778289169073105, + -0.09345409274101257, + -0.056468360126018524 + ], + "orientation": [ + 0.67696613073349, + -0.3912574052810669, + -0.29321572184562683, + -0.5501445531845093 + ], + "joints": [ + -0.004591265693306923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06913550198078156, + 0.07434802502393723, + 0.08965069055557251 + ], + "orientation": [ + 0.20976251363754272, + 0.6642079949378967, + 0.6732960343360901, + 0.2479918897151947 + ], + "joints": [ + 0.015067479573190212 + ] + }, + "fine_grasp": { + "position": [ + -0.06657469272613525, + 0.07480349391698837, + 0.08645082265138626 + ], + "orientation": [ + 0.21534347534179688, + 0.6540449261665344, + 0.6826062202453613, + 0.24474726617336273 + ], + "joints": [ + 0.0067083751782774925 + ] + }, + "final_grasp": { + "position": [ + -0.06657469272613525, + 0.07480349391698837, + 0.08645082265138626 + ], + "orientation": [ + 0.21534347534179688, + 0.6540449261665344, + 0.6826062202453613, + 0.24474726617336273 + ], + "joints": [ + -0.0016507292166352272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06115708872675896, + 0.08372356742620468, + 0.09617367386817932 + ], + "orientation": [ + 0.19140656292438507, + -0.6846151351928711, + 0.6721006631851196, + -0.20723487436771393 + ], + "joints": [ + 0.015067855827510357 + ] + }, + "fine_grasp": { + "position": [ + -0.05900196358561516, + 0.08408528566360474, + 0.09273327887058258 + ], + "orientation": [ + 0.18575480580329895, + -0.7010855674743652, + 0.6545991897583008, + -0.21324646472930908 + ], + "joints": [ + 0.006290796212852001 + ] + }, + "final_grasp": { + "position": [ + -0.05900196358561516, + 0.08408528566360474, + 0.09273327887058258 + ], + "orientation": [ + 0.18575480580329895, + -0.7010855674743652, + 0.6545991897583008, + -0.21324646472930908 + ], + "joints": [ + -0.0024862634018063545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10534542053937912, + 0.18216116726398468, + -0.040494855493307114 + ], + "orientation": [ + 0.5153780579566956, + -0.3525375425815582, + 0.44804418087005615, + -0.6398117542266846 + ], + "joints": [ + 0.014899548143148422 + ] + }, + "fine_grasp": { + "position": [ + -0.1016383022069931, + 0.18141110241413116, + -0.03892446309328079 + ], + "orientation": [ + 0.5145660042762756, + -0.3513127863407135, + 0.4472883343696594, + -0.6416653394699097 + ], + "joints": [ + 0.0061224885284900665 + ] + }, + "final_grasp": { + "position": [ + -0.1016383022069931, + 0.18141110241413116, + -0.03892446309328079 + ], + "orientation": [ + 0.5145660042762756, + -0.3513127863407135, + 0.4472883343696594, + -0.6416653394699097 + ], + "joints": [ + -0.002654571086168289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01860344223678112, + -0.10765063762664795, + 0.016002709046006203 + ], + "orientation": [ + 0.22590817511081696, + -0.3805336654186249, + -0.6554238200187683, + -0.6120287775993347 + ], + "joints": [ + 0.017125338315963745 + ] + }, + "fine_grasp": { + "position": [ + -0.01818065345287323, + -0.10386313498020172, + 0.015755990520119667 + ], + "orientation": [ + 0.22976315021514893, + -0.377914160490036, + -0.6540244817733765, + -0.6137115359306335 + ], + "joints": [ + 0.0070944130420684814 + ] + }, + "final_grasp": { + "position": [ + -0.01818065345287323, + -0.10386313498020172, + 0.015755990520119667 + ], + "orientation": [ + 0.22976315021514893, + -0.377914160490036, + -0.6540244817733765, + -0.6137115359306335 + ], + "joints": [ + -0.0029365122318267822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05186433345079422, + 0.053706686943769455, + 0.10908485949039459 + ], + "orientation": [ + 0.21998681128025055, + -0.7340794205665588, + 0.634906530380249, + -0.09811681509017944 + ], + "joints": [ + 0.016622990369796753 + ] + }, + "fine_grasp": { + "position": [ + -0.05015377327799797, + 0.05424109101295471, + 0.10557978600263596 + ], + "orientation": [ + 0.21601536870002747, + -0.7398918271064758, + 0.6290567517280579, + -0.10092093795537949 + ], + "joints": [ + 0.00619500782340765 + ] + }, + "final_grasp": { + "position": [ + -0.05015377327799797, + 0.05424109101295471, + 0.10557978600263596 + ], + "orientation": [ + 0.21601536870002747, + -0.7398918271064758, + 0.6290567517280579, + -0.10092093795537949 + ], + "joints": [ + -0.004232974722981453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06952249258756638, + 0.07382170110940933, + 0.08974321186542511 + ], + "orientation": [ + 0.21177935600280762, + 0.6596512198448181, + 0.6765390038490295, + 0.24960915744304657 + ], + "joints": [ + 0.015510164201259613 + ] + }, + "fine_grasp": { + "position": [ + -0.06711576879024506, + 0.07423163205385208, + 0.0865204930305481 + ], + "orientation": [ + 0.21732382476329803, + 0.6486165523529053, + 0.6869683861732483, + 0.24523743987083435 + ], + "joints": [ + 0.006315149366855621 + ] + }, + "final_grasp": { + "position": [ + -0.06711576879024506, + 0.07423163205385208, + 0.0865204930305481 + ], + "orientation": [ + 0.21732382476329803, + 0.6486165523529053, + 0.6869683861732483, + 0.24523743987083435 + ], + "joints": [ + -0.0028798654675483704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11429409682750702, + 0.10695744305849075, + 0.011093665845692158 + ], + "orientation": [ + 0.4704136848449707, + -0.4967801570892334, + -0.5471078157424927, + 0.48227939009666443 + ], + "joints": [ + 0.014917412772774696 + ] + }, + "fine_grasp": { + "position": [ + 0.11014527827501297, + 0.10684768110513687, + 0.010748892091214657 + ], + "orientation": [ + 0.471991628408432, + -0.49502384662628174, + -0.5481328964233398, + 0.4813789427280426 + ], + "joints": [ + 0.006558308377861977 + ] + }, + "final_grasp": { + "position": [ + 0.11014527827501297, + 0.10684768110513687, + 0.010748892091214657 + ], + "orientation": [ + 0.471991628408432, + -0.49502384662628174, + -0.5481328964233398, + 0.4813789427280426 + ], + "joints": [ + -0.001800796017050743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0280193742364645, + -0.09311060607433319, + -0.05613254755735397 + ], + "orientation": [ + 0.42974546551704407, + -0.11520969867706299, + -0.49379870295524597, + -0.7471334338188171 + ], + "joints": [ + 0.0165253859013319 + ] + }, + "fine_grasp": { + "position": [ + 0.027141474187374115, + -0.089734748005867, + -0.05448471009731293 + ], + "orientation": [ + 0.4282214343547821, + -0.11719214171171188, + -0.4955492913722992, + -0.746540904045105 + ], + "joints": [ + 0.006097403354942799 + ] + }, + "final_grasp": { + "position": [ + 0.027141474187374115, + -0.089734748005867, + -0.05448471009731293 + ], + "orientation": [ + 0.4282214343547821, + -0.11719214171171188, + -0.4955492913722992, + -0.746540904045105 + ], + "joints": [ + -0.004330579191446304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11684729903936386, + 0.05239546298980713, + -0.014908160082995892 + ], + "orientation": [ + 0.5575529336929321, + -0.4933812916278839, + -0.44170141220092773, + 0.5006089210510254 + ], + "joints": [ + 0.01721224933862686 + ] + }, + "fine_grasp": { + "position": [ + 0.11287500709295273, + 0.05264938622713089, + -0.014586085453629494 + ], + "orientation": [ + 0.5578958988189697, + -0.49219682812690735, + -0.44161537289619446, + 0.5014681220054626 + ], + "joints": [ + 0.007599279284477234 + ] + }, + "final_grasp": { + "position": [ + 0.11287500709295273, + 0.05264938622713089, + -0.014586085453629494 + ], + "orientation": [ + 0.5578958988189697, + -0.49219682812690735, + -0.44161537289619446, + 0.5014681220054626 + ], + "joints": [ + -0.002013690769672394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05167965590953827, + 0.05366632714867592, + 0.10794520378112793 + ], + "orientation": [ + 0.21846972405910492, + -0.7290505766868591, + 0.6407015919685364, + -0.10128096491098404 + ], + "joints": [ + 0.01642739214003086 + ] + }, + "fine_grasp": { + "position": [ + -0.05000859126448631, + 0.05415596440434456, + 0.1044689267873764 + ], + "orientation": [ + 0.21461698412895203, + -0.7348555326461792, + 0.6350197196006775, + -0.10332858562469482 + ], + "joints": [ + 0.006396466866135597 + ] + }, + "final_grasp": { + "position": [ + -0.05000859126448631, + 0.05415596440434456, + 0.1044689267873764 + ], + "orientation": [ + 0.21461698412895203, + -0.7348555326461792, + 0.6350197196006775, + -0.10332858562469482 + ], + "joints": [ + -0.0036344584077596664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0142778679728508, + -0.10724613815546036, + 0.04455041512846947 + ], + "orientation": [ + 0.4447766840457916, + -0.52581787109375, + 0.5936517715454102, + 0.41625335812568665 + ], + "joints": [ + 0.016174646094441414 + ] + }, + "fine_grasp": { + "position": [ + -0.01351568941026926, + -0.10426819324493408, + 0.0427575446665287 + ], + "orientation": [ + 0.43932387232780457, + -0.5297024250030518, + 0.6057646870613098, + 0.3993232250213623 + ], + "joints": [ + 0.006519880145788193 + ] + }, + "final_grasp": { + "position": [ + -0.01351568941026926, + -0.10426819324493408, + 0.0427575446665287 + ], + "orientation": [ + 0.43932387232780457, + -0.5297024250030518, + 0.6057646870613098, + 0.3993232250213623 + ], + "joints": [ + -0.0031348858028650284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12757733464241028, + 0.07728370279073715, + 0.05357181653380394 + ], + "orientation": [ + 0.4630086421966553, + -0.5927914381027222, + 0.5627390742301941, + -0.3428499698638916 + ], + "joints": [ + 0.015943091362714767 + ] + }, + "fine_grasp": { + "position": [ + -0.12429990619421005, + 0.0774909034371376, + 0.05185842141509056 + ], + "orientation": [ + 0.4537963569164276, + -0.5943057537078857, + 0.5696741342544556, + -0.3410876989364624 + ], + "joints": [ + 0.0050971535965800285 + ] + }, + "final_grasp": { + "position": [ + -0.12429990619421005, + 0.0774909034371376, + 0.05185842141509056 + ], + "orientation": [ + 0.4537963569164276, + -0.5943057537078857, + 0.5696741342544556, + -0.3410876989364624 + ], + "joints": [ + -0.00574878416955471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014068713411688805, + -0.10716797411441803, + 0.04433636739850044 + ], + "orientation": [ + 0.44417309761047363, + -0.5264971256256104, + 0.595687210559845, + 0.41311952471733093 + ], + "joints": [ + 0.016637755557894707 + ] + }, + "fine_grasp": { + "position": [ + -0.013434888795018196, + -0.10409270226955414, + 0.04253730550408363 + ], + "orientation": [ + 0.4376249313354492, + -0.5311522483825684, + 0.606720507144928, + 0.39780890941619873 + ], + "joints": [ + 0.006982989609241486 + ] + }, + "final_grasp": { + "position": [ + -0.013434888795018196, + -0.10409270226955414, + 0.04253730550408363 + ], + "orientation": [ + 0.4376249313354492, + -0.5311522483825684, + 0.606720507144928, + 0.39780890941619873 + ], + "joints": [ + -0.0026717763394117355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051675423979759216, + 0.05351122468709946, + 0.10782627016305923 + ], + "orientation": [ + 0.2178175300359726, + -0.7291093468666077, + 0.6407238245010376, + -0.10211774706840515 + ], + "joints": [ + 0.016597330570220947 + ] + }, + "fine_grasp": { + "position": [ + -0.04999574273824692, + 0.05399687588214874, + 0.10431279242038727 + ], + "orientation": [ + 0.21415141224861145, + -0.7352359294891357, + 0.6345729827880859, + -0.10432839393615723 + ], + "joints": [ + 0.006566405296325684 + ] + }, + "final_grasp": { + "position": [ + -0.04999574273824692, + 0.05399687588214874, + 0.10431279242038727 + ], + "orientation": [ + 0.21415141224861145, + -0.7352359294891357, + 0.6345729827880859, + -0.10432839393615723 + ], + "joints": [ + -0.00346451997756958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051090627908706665, + 0.053944189101457596, + 0.10702580213546753 + ], + "orientation": [ + 0.21989916265010834, + -0.7268132567405701, + 0.6431130170822144, + -0.09895695000886917 + ], + "joints": [ + 0.016373375430703163 + ] + }, + "fine_grasp": { + "position": [ + -0.04939065873622894, + 0.05443265661597252, + 0.10349564999341965 + ], + "orientation": [ + 0.216323122382164, + -0.7324489951133728, + 0.6376041173934937, + -0.10091400891542435 + ], + "joints": [ + 0.0067604053765535355 + ] + }, + "final_grasp": { + "position": [ + -0.04939065873622894, + 0.05443265661597252, + 0.10349564999341965 + ], + "orientation": [ + 0.216323122382164, + -0.7324489951133728, + 0.6376041173934937, + -0.10091400891542435 + ], + "joints": [ + -0.0028525646775960922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05178041011095047, + 0.05339167267084122, + 0.10867002606391907 + ], + "orientation": [ + 0.2171276956796646, + -0.7312853336334229, + 0.6385742425918579, + -0.10148991644382477 + ], + "joints": [ + 0.016595982015132904 + ] + }, + "fine_grasp": { + "position": [ + -0.05007851496338844, + 0.05387851223349571, + 0.10511601716279984 + ], + "orientation": [ + 0.21288152039051056, + -0.7374894618988037, + 0.6324187517166138, + -0.10410235077142715 + ], + "joints": [ + 0.00656505674123764 + ] + }, + "final_grasp": { + "position": [ + -0.05007851496338844, + 0.05387851223349571, + 0.10511601716279984 + ], + "orientation": [ + 0.21288152039051056, + -0.7374894618988037, + 0.6324187517166138, + -0.10410235077142715 + ], + "joints": [ + -0.0034658685326576233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10512995719909668, + 0.18218986690044403, + -0.040385134518146515 + ], + "orientation": [ + 0.5153223872184753, + -0.35381537675857544, + 0.44772499799728394, + -0.6393744945526123 + ], + "joints": [ + 0.01495085097849369 + ] + }, + "fine_grasp": { + "position": [ + -0.10142878443002701, + 0.1814417690038681, + -0.03880102559924126 + ], + "orientation": [ + 0.5145492553710938, + -0.3523174524307251, + 0.4467603862285614, + -0.6414956450462341 + ], + "joints": [ + 0.006173791363835335 + ] + }, + "final_grasp": { + "position": [ + -0.10142878443002701, + 0.1814417690038681, + -0.03880102559924126 + ], + "orientation": [ + 0.5145492553710938, + -0.3523174524307251, + 0.4467603862285614, + -0.6414956450462341 + ], + "joints": [ + -0.002603268250823021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0767073780298233, + 0.11120201647281647, + 0.0795498862862587 + ], + "orientation": [ + 0.337668776512146, + 0.6741384863853455, + -0.6293895840644836, + -0.1881113499403 + ], + "joints": [ + 0.01582496613264084 + ] + }, + "fine_grasp": { + "position": [ + 0.07393085956573486, + 0.11149623990058899, + 0.07654792815446854 + ], + "orientation": [ + 0.34244856238365173, + 0.6622694134712219, + -0.64157634973526, + -0.18029989302158356 + ], + "joints": [ + 0.007047906517982483 + ] + }, + "final_grasp": { + "position": [ + 0.07393085956573486, + 0.11149623990058899, + 0.07654792815446854 + ], + "orientation": [ + 0.34244856238365173, + 0.6622694134712219, + -0.64157634973526, + -0.18029989302158356 + ], + "joints": [ + -0.0017291530966758728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10843048244714737, + 0.04890681803226471, + -0.020884651690721512 + ], + "orientation": [ + 0.597515881061554, + -0.4936859607696533, + -0.40262576937675476, + 0.4869716167449951 + ], + "joints": [ + 0.016113370656967163 + ] + }, + "fine_grasp": { + "position": [ + 0.1052543893456459, + 0.04910160228610039, + -0.02064218372106552 + ], + "orientation": [ + 0.598199188709259, + -0.494872510433197, + -0.40273305773735046, + 0.4848349690437317 + ], + "joints": [ + 0.006918355822563171 + ] + }, + "final_grasp": { + "position": [ + 0.1052543893456459, + 0.04910160228610039, + -0.02064218372106552 + ], + "orientation": [ + 0.598199188709259, + -0.494872510433197, + -0.40273305773735046, + 0.4848349690437317 + ], + "joints": [ + -0.0022766590118408203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0800856426358223, + 0.08852632343769073, + -0.0779128298163414 + ], + "orientation": [ + 0.653236448764801, + 0.2677789330482483, + -0.2780423164367676, + -0.651359498500824 + ], + "joints": [ + 0.015078154392540455 + ] + }, + "fine_grasp": { + "position": [ + 0.07729179412126541, + 0.08777159452438354, + -0.07507940381765366 + ], + "orientation": [ + 0.6581336259841919, + 0.26820170879364014, + -0.27779000997543335, + -0.6463440656661987 + ], + "joints": [ + 0.006301094777882099 + ] + }, + "final_grasp": { + "position": [ + 0.07729179412126541, + 0.08777159452438354, + -0.07507940381765366 + ], + "orientation": [ + 0.6581336259841919, + 0.26820170879364014, + -0.27779000997543335, + -0.6463440656661987 + ], + "joints": [ + -0.0024759648367762566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04353116825222969, + -0.06309062987565994, + 0.08693831413984299 + ], + "orientation": [ + 0.3813805878162384, + -0.7377609014511108, + 0.5552114248275757, + 0.04469669982790947 + ], + "joints": [ + 0.01675025373697281 + ] + }, + "fine_grasp": { + "position": [ + -0.041919153183698654, + -0.06069458648562431, + 0.08409765362739563 + ], + "orientation": [ + 0.383281946182251, + -0.7381673455238342, + 0.5532095432281494, + 0.04650939628481865 + ], + "joints": [ + 0.006761124357581139 + ] + }, + "final_grasp": { + "position": [ + -0.041919153183698654, + -0.06069458648562431, + 0.08409765362739563 + ], + "orientation": [ + 0.383281946182251, + -0.7381673455238342, + 0.5532095432281494, + 0.04650939628481865 + ], + "joints": [ + -0.0032280050218105316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04417933523654938, + -0.06369304656982422, + 0.08770748972892761 + ], + "orientation": [ + 0.38511916995048523, + -0.7362781763076782, + 0.554204523563385, + 0.04934421926736832 + ], + "joints": [ + 0.017176268622279167 + ] + }, + "fine_grasp": { + "position": [ + -0.04263604059815407, + -0.06129664182662964, + 0.0848073661327362 + ], + "orientation": [ + 0.3840225040912628, + -0.736465334892273, + 0.5548074841499329, + 0.048313114792108536 + ], + "joints": [ + 0.0075632985681295395 + ] + }, + "final_grasp": { + "position": [ + -0.04263604059815407, + -0.06129664182662964, + 0.0848073661327362 + ], + "orientation": [ + 0.3840225040912628, + -0.736465334892273, + 0.5548074841499329, + 0.048313114792108536 + ], + "joints": [ + -0.002049671486020088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06375468522310257, + 0.05571684241294861, + 0.09202539175748825 + ], + "orientation": [ + 0.27210870385169983, + -0.7234405279159546, + 0.6147900819778442, + -0.1569194346666336 + ], + "joints": [ + 0.015799395740032196 + ] + }, + "fine_grasp": { + "position": [ + -0.06143302470445633, + 0.05602860078215599, + 0.08875995874404907 + ], + "orientation": [ + 0.26765602827072144, + -0.7405107617378235, + 0.5938882231712341, + -0.1652298867702484 + ], + "joints": [ + 0.007001438178122044 + ] + }, + "final_grasp": { + "position": [ + -0.06143302470445633, + 0.05602860078215599, + 0.08875995874404907 + ], + "orientation": [ + 0.26765602827072144, + -0.7405107617378235, + 0.5938882231712341, + -0.1652298867702484 + ], + "joints": [ + -0.0017965193837881088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06641088426113129, + 0.13451260328292847, + -0.08597056567668915 + ], + "orientation": [ + 0.6494563817977905, + -0.15290433168411255, + -0.29664790630340576, + 0.6832471489906311 + ], + "joints": [ + 0.01550245750695467 + ] + }, + "fine_grasp": { + "position": [ + 0.0640505775809288, + 0.13476502895355225, + -0.08290782570838928 + ], + "orientation": [ + 0.6507426500320435, + -0.15101021528244019, + -0.29773733019828796, + 0.6819695234298706 + ], + "joints": [ + 0.006725397892296314 + ] + }, + "final_grasp": { + "position": [ + 0.0640505775809288, + 0.13476502895355225, + -0.08290782570838928 + ], + "orientation": [ + 0.6507426500320435, + -0.15101021528244019, + -0.29773733019828796, + 0.6819695234298706 + ], + "joints": [ + -0.0020516617223620415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040619559586048126, + 0.04334569349884987, + -0.11732156574726105 + ], + "orientation": [ + 0.7025082111358643, + 0.0679824948310852, + -0.16383680701255798, + -0.6892154812812805 + ], + "joints": [ + 0.016609102487564087 + ] + }, + "fine_grasp": { + "position": [ + 0.03921647369861603, + 0.04350064694881439, + -0.11358779668807983 + ], + "orientation": [ + 0.7029339671134949, + 0.06897597014904022, + -0.16252686083316803, + -0.6889927983283997 + ], + "joints": [ + 0.006619973108172417 + ] + }, + "final_grasp": { + "position": [ + 0.03921647369861603, + 0.04350064694881439, + -0.11358779668807983 + ], + "orientation": [ + 0.7029339671134949, + 0.06897597014904022, + -0.16252686083316803, + -0.6889927983283997 + ], + "joints": [ + -0.0033691562712192535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11134666204452515, + 0.2246817797422409, + -0.03530353307723999 + ], + "orientation": [ + 0.4523918628692627, + -0.232435941696167, + 0.5703552961349487, + -0.6449882984161377 + ], + "joints": [ + 0.015015650540590286 + ] + }, + "fine_grasp": { + "position": [ + -0.10808531939983368, + 0.22365470230579376, + -0.03373996168375015 + ], + "orientation": [ + 0.4574584364891052, + -0.23491621017456055, + 0.5646085739135742, + -0.6455720663070679 + ], + "joints": [ + 0.004963827319443226 + ] + }, + "final_grasp": { + "position": [ + -0.10808531939983368, + 0.22365470230579376, + -0.03373996168375015 + ], + "orientation": [ + 0.4574584364891052, + -0.23491621017456055, + 0.5646085739135742, + -0.6455720663070679 + ], + "joints": [ + -0.0050879959017038345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043815452605485916, + -0.06308436393737793, + 0.08689050376415253 + ], + "orientation": [ + 0.38539138436317444, + -0.7348208427429199, + 0.5558996200561523, + 0.049872986972332 + ], + "joints": [ + 0.0168696790933609 + ] + }, + "fine_grasp": { + "position": [ + -0.042171988636255264, + -0.06073428690433502, + 0.08405523747205734 + ], + "orientation": [ + 0.3845212757587433, + -0.735029935836792, + 0.5563130378723145, + 0.04888936132192612 + ], + "joints": [ + 0.006880549713969231 + ] + }, + "final_grasp": { + "position": [ + -0.042171988636255264, + -0.06073428690433502, + 0.08405523747205734 + ], + "orientation": [ + 0.3845212757587433, + -0.735029935836792, + 0.5563130378723145, + 0.04888936132192612 + ], + "joints": [ + -0.0031085796654224396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0458671860396862, + -0.0864245668053627, + -0.023858636617660522 + ], + "orientation": [ + 0.6799611449241638, + -0.6272618770599365, + -0.06312109529972076, + -0.37444788217544556 + ], + "joints": [ + 0.017598619684576988 + ] + }, + "fine_grasp": { + "position": [ + -0.04350457713007927, + -0.08370023965835571, + -0.02244277484714985 + ], + "orientation": [ + 0.6810163259506226, + -0.628385066986084, + -0.05577839910984039, + -0.3718034625053406 + ], + "joints": [ + 0.0075676944106817245 + ] + }, + "final_grasp": { + "position": [ + -0.04350457713007927, + -0.08370023965835571, + -0.02244277484714985 + ], + "orientation": [ + 0.6810163259506226, + -0.628385066986084, + -0.05577839910984039, + -0.3718034625053406 + ], + "joints": [ + -0.002463230863213539 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08168768882751465, + 0.07636910676956177, + -0.06798287481069565 + ], + "orientation": [ + 0.6410982608795166, + 0.26121222972869873, + -0.3322056233882904, + -0.6406251788139343 + ], + "joints": [ + 0.016322076320648193 + ] + }, + "fine_grasp": { + "position": [ + 0.08065156638622284, + 0.07553685456514359, + -0.06721537560224533 + ], + "orientation": [ + 0.6444282531738281, + 0.259770929813385, + -0.3335745632648468, + -0.6371493935585022 + ], + "joints": [ + 0.006709106266498566 + ] + }, + "final_grasp": { + "position": [ + 0.08065156638622284, + 0.07553685456514359, + -0.06721537560224533 + ], + "orientation": [ + 0.6444282531738281, + 0.259770929813385, + -0.3335745632648468, + -0.6371493935585022 + ], + "joints": [ + -0.002903863787651062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08070989698171616, + 0.24384698271751404, + 0.05717543512582779 + ], + "orientation": [ + 0.14999091625213623, + -0.43473389744758606, + 0.7342316508293152, + -0.4994125962257385 + ], + "joints": [ + 0.014432406052947044 + ] + }, + "fine_grasp": { + "position": [ + -0.07788893580436707, + 0.2418549805879593, + 0.05530063062906265 + ], + "orientation": [ + 0.1528138369321823, + -0.4355809688568115, + 0.7344344854354858, + -0.497516930103302 + ], + "joints": [ + 0.004025321453809738 + ] + }, + "final_grasp": { + "position": [ + -0.07788893580436707, + 0.2418549805879593, + 0.05530063062906265 + ], + "orientation": [ + 0.1528138369321823, + -0.4355809688568115, + 0.7344344854354858, + -0.497516930103302 + ], + "joints": [ + -0.006381763145327568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11813764274120331, + 0.05135735124349594, + -0.015218677930533886 + ], + "orientation": [ + 0.5537064075469971, + -0.48904910683631897, + -0.44765573740005493, + 0.5038298964500427 + ], + "joints": [ + 0.01793026179075241 + ] + }, + "fine_grasp": { + "position": [ + 0.11415774375200272, + 0.05152900144457817, + -0.014937607571482658 + ], + "orientation": [ + 0.5531988143920898, + -0.48858052492141724, + -0.448482871055603, + 0.504106342792511 + ], + "joints": [ + 0.008317291736602783 + ] + }, + "final_grasp": { + "position": [ + 0.11415774375200272, + 0.05152900144457817, + -0.014937607571482658 + ], + "orientation": [ + 0.5531988143920898, + -0.48858052492141724, + -0.448482871055603, + 0.504106342792511 + ], + "joints": [ + -0.0012956783175468445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03682722523808479, + -0.05715324729681015, + 0.08701418340206146 + ], + "orientation": [ + 0.013122182339429855, + -0.503074049949646, + 0.7879651784896851, + 0.3547605276107788 + ], + "joints": [ + 0.01571512594819069 + ] + }, + "fine_grasp": { + "position": [ + 0.03556323051452637, + -0.05474178120493889, + 0.08400876820087433 + ], + "orientation": [ + 0.02322571724653244, + -0.49294328689575195, + 0.7917704582214355, + 0.3599540889263153 + ], + "joints": [ + 0.006938066333532333 + ] + }, + "final_grasp": { + "position": [ + 0.03556323051452637, + -0.05474178120493889, + 0.08400876820087433 + ], + "orientation": [ + 0.02322571724653244, + -0.49294328689575195, + 0.7917704582214355, + 0.3599540889263153 + ], + "joints": [ + -0.0018389932811260223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08113250881433487, + 0.0765177458524704, + -0.06819900125265121 + ], + "orientation": [ + 0.6357839703559875, + 0.25724074244499207, + -0.3345829248428345, + -0.6462664008140564 + ], + "joints": [ + 0.01628979668021202 + ] + }, + "fine_grasp": { + "position": [ + 0.08005432784557343, + 0.07507167756557465, + -0.06748126447200775 + ], + "orientation": [ + 0.6365257501602173, + 0.254180371761322, + -0.33667269349098206, + -0.645661473274231 + ], + "joints": [ + 0.007115679793059826 + ] + }, + "final_grasp": { + "position": [ + 0.08005432784557343, + 0.07507167756557465, + -0.06748126447200775 + ], + "orientation": [ + 0.6365257501602173, + 0.254180371761322, + -0.33667269349098206, + -0.645661473274231 + ], + "joints": [ + -0.002058437094092369 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10242398828268051, + 0.059689152985811234, + 0.04254302754998207 + ], + "orientation": [ + 0.45843756198883057, + -0.5980368852615356, + 0.5711760520935059, + -0.3254918158054352 + ], + "joints": [ + 0.015096203424036503 + ] + }, + "fine_grasp": { + "position": [ + -0.09927652031183243, + 0.05952246114611626, + 0.04086502641439438 + ], + "orientation": [ + 0.45705413818359375, + -0.5922220945358276, + 0.5761568546295166, + -0.3292686939239502 + ], + "joints": [ + 0.006319143809378147 + ] + }, + "final_grasp": { + "position": [ + -0.09927652031183243, + 0.05952246114611626, + 0.04086502641439438 + ], + "orientation": [ + 0.45705413818359375, + -0.5922220945358276, + 0.5761568546295166, + -0.3292686939239502 + ], + "joints": [ + -0.0024579158052802086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08280964940786362, + 0.08500871062278748, + -0.07811608910560608 + ], + "orientation": [ + 0.5992669463157654, + -0.2370435744524002, + 0.3232765793800354, + -0.692951500415802 + ], + "joints": [ + 0.015255816280841827 + ] + }, + "fine_grasp": { + "position": [ + -0.08041200786828995, + 0.08485127985477448, + -0.07567618787288666 + ], + "orientation": [ + 0.5982491374015808, + -0.23831501603126526, + 0.32249897718429565, + -0.693756639957428 + ], + "joints": [ + 0.006060801446437836 + ] + }, + "final_grasp": { + "position": [ + -0.08041200786828995, + 0.08485127985477448, + -0.07567618787288666 + ], + "orientation": [ + 0.5982491374015808, + -0.23831501603126526, + 0.32249897718429565, + -0.693756639957428 + ], + "joints": [ + -0.003134213387966156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020674917846918106, + -0.0631677508354187, + 0.10433536767959595 + ], + "orientation": [ + 0.3270183205604553, + -0.6118488311767578, + -0.6885594129562378, + -0.21115423738956451 + ], + "joints": [ + 0.014854786917567253 + ] + }, + "fine_grasp": { + "position": [ + 0.0204811692237854, + -0.061358124017715454, + 0.10078175365924835 + ], + "orientation": [ + 0.2975812554359436, + -0.6206450462341309, + -0.69654381275177, + -0.20266175270080566 + ], + "joints": [ + 0.005659772083163261 + ] + }, + "final_grasp": { + "position": [ + 0.0204811692237854, + -0.061358124017715454, + 0.10078175365924835 + ], + "orientation": [ + 0.2975812554359436, + -0.6206450462341309, + -0.69654381275177, + -0.20266175270080566 + ], + "joints": [ + -0.0035352427512407303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020635472610592842, + -0.06316559761762619, + 0.10434456169605255 + ], + "orientation": [ + 0.32661914825439453, + -0.6114397644996643, + -0.6891615986824036, + -0.21099261939525604 + ], + "joints": [ + 0.015294739976525307 + ] + }, + "fine_grasp": { + "position": [ + 0.020457113161683083, + -0.06137606501579285, + 0.10081761330366135 + ], + "orientation": [ + 0.29725849628448486, + -0.6201958656311035, + -0.6970667839050293, + -0.20271264016628265 + ], + "joints": [ + 0.005681769922375679 + ] + }, + "final_grasp": { + "position": [ + 0.020457113161683083, + -0.06137606501579285, + 0.10081761330366135 + ], + "orientation": [ + 0.29725849628448486, + -0.6201958656311035, + -0.6970667839050293, + -0.20271264016628265 + ], + "joints": [ + -0.003931200131773949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07266828417778015, + 0.11223296821117401, + -0.08138057589530945 + ], + "orientation": [ + 0.6719984412193298, + 0.3299989700317383, + 0.16325999796390533, + 0.642545759677887 + ], + "joints": [ + 0.01593928039073944 + ] + }, + "fine_grasp": { + "position": [ + -0.07002260535955429, + 0.11212290823459625, + -0.07826902717351913 + ], + "orientation": [ + 0.6689254641532898, + 0.3319016098976135, + 0.16110040247440338, + 0.6453112363815308 + ], + "joints": [ + 0.007162220776081085 + ] + }, + "final_grasp": { + "position": [ + -0.07002260535955429, + 0.11212290823459625, + -0.07826902717351913 + ], + "orientation": [ + 0.6689254641532898, + 0.3319016098976135, + 0.16110040247440338, + 0.6453112363815308 + ], + "joints": [ + -0.0016148388385772705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02048451267182827, + -0.06314195692539215, + 0.10416524857282639 + ], + "orientation": [ + 0.3245978355407715, + -0.6113461852073669, + -0.6903197169303894, + -0.2105964720249176 + ], + "joints": [ + 0.015294739976525307 + ] + }, + "fine_grasp": { + "position": [ + 0.02033941075205803, + -0.06134048104286194, + 0.10069811344146729 + ], + "orientation": [ + 0.29592591524124146, + -0.61985182762146, + -0.6977556943893433, + -0.20334339141845703 + ], + "joints": [ + 0.005681769922375679 + ] + }, + "final_grasp": { + "position": [ + 0.02033941075205803, + -0.06134048104286194, + 0.10069811344146729 + ], + "orientation": [ + 0.29592591524124146, + -0.61985182762146, + -0.6977556943893433, + -0.20334339141845703 + ], + "joints": [ + -0.003931200131773949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02040185034275055, + -0.06305652111768723, + 0.1041329950094223 + ], + "orientation": [ + 0.3246306777000427, + -0.6113334894180298, + -0.6902567744255066, + -0.21078906953334808 + ], + "joints": [ + 0.01573469303548336 + ] + }, + "fine_grasp": { + "position": [ + 0.02027350477874279, + -0.06127893179655075, + 0.100685715675354 + ], + "orientation": [ + 0.29600420594215393, + -0.6197964549064636, + -0.6976993083953857, + -0.20359160006046295 + ], + "joints": [ + 0.005703767761588097 + ] + }, + "final_grasp": { + "position": [ + 0.02027350477874279, + -0.06127893179655075, + 0.100685715675354 + ], + "orientation": [ + 0.29600420594215393, + -0.6197964549064636, + -0.6976993083953857, + -0.20359160006046295 + ], + "joints": [ + -0.004327157512307167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028225600719451904, + 0.09853505343198776, + -0.10222824662923813 + ], + "orientation": [ + 0.7232656478881836, + -0.04040452837944031, + 0.14355666935443878, + -0.6742743253707886 + ], + "joints": [ + 0.01668570190668106 + ] + }, + "fine_grasp": { + "position": [ + -0.027813782915472984, + 0.0990232601761818, + -0.10056698322296143 + ], + "orientation": [ + 0.7246279120445251, + -0.038673222064971924, + 0.14561598002910614, + -0.6724691987037659 + ], + "joints": [ + 0.007490687072277069 + ] + }, + "final_grasp": { + "position": [ + -0.027813782915472984, + 0.0990232601761818, + -0.10056698322296143 + ], + "orientation": [ + 0.7246279120445251, + -0.038673222064971924, + 0.14561598002910614, + -0.6724691987037659 + ], + "joints": [ + -0.0017043277621269226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06357745081186295, + 0.111887626349926, + -0.08949042111635208 + ], + "orientation": [ + 0.6516969799995422, + 0.1716829091310501, + -0.25496524572372437, + -0.6934037208557129 + ], + "joints": [ + 0.01542663760483265 + ] + }, + "fine_grasp": { + "position": [ + 0.061345018446445465, + 0.11170735210180283, + -0.08638422936201096 + ], + "orientation": [ + 0.6498246788978577, + 0.17170517146587372, + -0.25524386763572693, + -0.6950508952140808 + ], + "joints": [ + 0.007046635262668133 + ] + }, + "final_grasp": { + "position": [ + 0.061345018446445465, + 0.11170735210180283, + -0.08638422936201096 + ], + "orientation": [ + 0.6498246788978577, + 0.17170517146587372, + -0.25524386763572693, + -0.6950508952140808 + ], + "joints": [ + -0.0013333670794963837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04504690319299698, + -0.08147140592336655, + -0.04777909070253372 + ], + "orientation": [ + 0.4334541857242584, + -0.06265074759721756, + 0.5416396260261536, + 0.7175087928771973 + ], + "joints": [ + 0.01682421565055847 + ] + }, + "fine_grasp": { + "position": [ + -0.04302585497498512, + -0.07893287390470505, + -0.04571402072906494 + ], + "orientation": [ + 0.4281289577484131, + -0.05860988050699234, + 0.542867124080658, + 0.7201151847839355 + ], + "joints": [ + 0.005978277884423733 + ] + }, + "final_grasp": { + "position": [ + -0.04302585497498512, + -0.07893287390470505, + -0.04571402072906494 + ], + "orientation": [ + 0.4281289577484131, + -0.05860988050699234, + 0.542867124080658, + 0.7201151847839355 + ], + "joints": [ + -0.004867659881711006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08118262141942978, + 0.08558614552021027, + -0.07758662104606628 + ], + "orientation": [ + 0.6038481593132019, + -0.2395438551902771, + 0.31903964281082153, + -0.6900722980499268 + ], + "joints": [ + 0.01564161106944084 + ] + }, + "fine_grasp": { + "position": [ + -0.0790518969297409, + 0.0854063630104065, + -0.07548853009939194 + ], + "orientation": [ + 0.6025004386901855, + -0.2394750714302063, + 0.3182846009731293, + -0.6916210651397705 + ], + "joints": [ + 0.006801857613027096 + ] + }, + "final_grasp": { + "position": [ + -0.0790518969297409, + 0.0854063630104065, + -0.07548853009939194 + ], + "orientation": [ + 0.6025004386901855, + -0.2394750714302063, + 0.3182846009731293, + -0.6916210651397705 + ], + "joints": [ + -0.00203789584338665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028873151168227196, + 0.09839970618486404, + -0.10247354954481125 + ], + "orientation": [ + 0.7261800169944763, + -0.04187384992837906, + 0.14482052624225616, + -0.6707727909088135 + ], + "joints": [ + 0.016604043543338776 + ] + }, + "fine_grasp": { + "position": [ + -0.02850409783422947, + 0.0988253578543663, + -0.10055365413427353 + ], + "orientation": [ + 0.7280426621437073, + -0.04037747159600258, + 0.14710499346256256, + -0.6683439016342163 + ], + "joints": [ + 0.007409028708934784 + ] + }, + "final_grasp": { + "position": [ + -0.02850409783422947, + 0.0988253578543663, + -0.10055365413427353 + ], + "orientation": [ + 0.7280426621437073, + -0.04037747159600258, + 0.14710499346256256, + -0.6683439016342163 + ], + "joints": [ + -0.0017859861254692078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03323756903409958, + 0.11205489188432693, + 0.11001253873109818 + ], + "orientation": [ + 0.1714470535516739, + 0.7120991349220276, + -0.6797451376914978, + -0.03830615431070328 + ], + "joints": [ + 0.015045495703816414 + ] + }, + "fine_grasp": { + "position": [ + 0.03204425051808357, + 0.1116258054971695, + 0.10609081387519836 + ], + "orientation": [ + 0.1699667125940323, + 0.7147089838981628, + -0.6773471236228943, + -0.03877326846122742 + ], + "joints": [ + 0.006686391308903694 + ] + }, + "final_grasp": { + "position": [ + 0.03204425051808357, + 0.1116258054971695, + 0.10609081387519836 + ], + "orientation": [ + 0.1699667125940323, + 0.7147089838981628, + -0.6773471236228943, + -0.03877326846122742 + ], + "joints": [ + -0.0016727130860090256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06340669095516205, + 0.11178812384605408, + -0.08919402956962585 + ], + "orientation": [ + 0.6517843008041382, + 0.17230968177318573, + -0.25459176301956177, + -0.6933033466339111 + ], + "joints": [ + 0.015619673766195774 + ] + }, + "fine_grasp": { + "position": [ + 0.0613567940890789, + 0.11154066771268845, + -0.08633819967508316 + ], + "orientation": [ + 0.6500649452209473, + 0.17225588858127594, + -0.2549487054347992, + -0.6947981715202332 + ], + "joints": [ + 0.006842614151537418 + ] + }, + "final_grasp": { + "position": [ + 0.0613567940890789, + 0.11154066771268845, + -0.08633819967508316 + ], + "orientation": [ + 0.6500649452209473, + 0.17225588858127594, + -0.2549487054347992, + -0.6947981715202332 + ], + "joints": [ + -0.0019344454631209373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08438711613416672, + 0.12648046016693115, + 0.06301630288362503 + ], + "orientation": [ + 0.22300715744495392, + -0.5533789992332458, + 0.689542829990387, + -0.4105730950832367 + ], + "joints": [ + 0.015688002109527588 + ] + }, + "fine_grasp": { + "position": [ + -0.08164145797491074, + 0.128009632229805, + 0.06115862727165222 + ], + "orientation": [ + 0.22151190042495728, + -0.543677806854248, + 0.6960655450820923, + -0.4133276343345642 + ], + "joints": [ + 0.006910942494869232 + ] + }, + "final_grasp": { + "position": [ + -0.08164145797491074, + 0.128009632229805, + 0.06115862727165222 + ], + "orientation": [ + 0.22151190042495728, + -0.543677806854248, + 0.6960655450820923, + -0.4133276343345642 + ], + "joints": [ + -0.0018661171197891235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09568725526332855, + 0.05991172417998314, + 0.04718945920467377 + ], + "orientation": [ + 0.3278094530105591, + 0.5424438118934631, + -0.650230348110199, + -0.41892242431640625 + ], + "joints": [ + 0.017132950946688652 + ] + }, + "fine_grasp": { + "position": [ + 0.09331515431404114, + 0.05797308683395386, + 0.046091437339782715 + ], + "orientation": [ + 0.3334035873413086, + 0.5355947613716125, + -0.6552610397338867, + -0.4154675602912903 + ], + "joints": [ + 0.007519980892539024 + ] + }, + "final_grasp": { + "position": [ + 0.09331515431404114, + 0.05797308683395386, + 0.046091437339782715 + ], + "orientation": [ + 0.3334035873413086, + 0.5355947613716125, + -0.6552610397338867, + -0.4154675602912903 + ], + "joints": [ + -0.0020929891616106033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0009329782333225012, + 0.07504992187023163, + -0.10994471609592438 + ], + "orientation": [ + 0.7536588907241821, + -0.0339292511343956, + 0.024443181231617928, + 0.6559340953826904 + ], + "joints": [ + 0.015842854976654053 + ] + }, + "fine_grasp": { + "position": [ + 0.0006022662273608148, + 0.07469376176595688, + -0.10687167197465897 + ], + "orientation": [ + 0.7598146796226501, + -0.035816892981529236, + 0.026348941028118134, + 0.6486173868179321 + ], + "joints": [ + 0.006647840142250061 + ] + }, + "final_grasp": { + "position": [ + 0.0006022662273608148, + 0.07469376176595688, + -0.10687167197465897 + ], + "orientation": [ + 0.7598146796226501, + -0.035816892981529236, + 0.026348941028118134, + 0.6486173868179321 + ], + "joints": [ + -0.0025471746921539307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10272527486085892, + 0.07209701091051102, + 0.015512794256210327 + ], + "orientation": [ + 0.5039665699005127, + -0.5473304986953735, + 0.5194137692451477, + -0.4203050136566162 + ], + "joints": [ + 0.016434360295534134 + ] + }, + "fine_grasp": { + "position": [ + -0.10183847695589066, + 0.07075713574886322, + 0.01549006812274456 + ], + "orientation": [ + 0.5070268511772156, + -0.5522277355194092, + 0.5154582262039185, + -0.4150557518005371 + ], + "joints": [ + 0.006821390241384506 + ] + }, + "final_grasp": { + "position": [ + -0.10183847695589066, + 0.07075713574886322, + 0.01549006812274456 + ], + "orientation": [ + 0.5070268511772156, + -0.5522277355194092, + 0.5154582262039185, + -0.4150557518005371 + ], + "joints": [ + -0.0027915798127651215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10916554182767868, + 0.08677468448877335, + 0.007405426353216171 + ], + "orientation": [ + 0.4669257700443268, + 0.5346726179122925, + 0.4943920969963074, + 0.5016790628433228 + ], + "joints": [ + 0.015871841460466385 + ] + }, + "fine_grasp": { + "position": [ + -0.1067381277680397, + 0.08677806705236435, + 0.007153608836233616 + ], + "orientation": [ + 0.46464937925338745, + 0.5369487404823303, + 0.4919074475765228, + 0.5037996172904968 + ], + "joints": [ + 0.007094781845808029 + ] + }, + "final_grasp": { + "position": [ + -0.1067381277680397, + 0.08677806705236435, + 0.007153608836233616 + ], + "orientation": [ + 0.46464937925338745, + 0.5369487404823303, + 0.4919074475765228, + 0.5037996172904968 + ], + "joints": [ + -0.0016822777688503265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12240862846374512, + 0.1310642510652542, + -0.006293401587754488 + ], + "orientation": [ + 0.5272002816200256, + 0.5615476965904236, + 0.39554905891418457, + 0.5002650022506714 + ], + "joints": [ + 0.01684947870671749 + ] + }, + "fine_grasp": { + "position": [ + -0.11850496381521225, + 0.1306699812412262, + -0.006066510453820229 + ], + "orientation": [ + 0.5251654982566833, + 0.5611204504966736, + 0.3963610529899597, + 0.5022379755973816 + ], + "joints": [ + 0.0068185534328222275 + ] + }, + "final_grasp": { + "position": [ + -0.11850496381521225, + 0.1306699812412262, + -0.006066510453820229 + ], + "orientation": [ + 0.5251654982566833, + 0.5611204504966736, + 0.3963610529899597, + 0.5022379755973816 + ], + "joints": [ + -0.003212371841073036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03320954367518425, + 0.11165751516819, + 0.10860691219568253 + ], + "orientation": [ + 0.17041325569152832, + 0.7138623595237732, + -0.6779645681381226, + -0.04152090847492218 + ], + "joints": [ + 0.015209279954433441 + ] + }, + "fine_grasp": { + "position": [ + 0.03201572597026825, + 0.11134885251522064, + 0.10463108122348785 + ], + "orientation": [ + 0.16922813653945923, + 0.7183740735054016, + -0.6734488606452942, + -0.042035993188619614 + ], + "joints": [ + 0.0068501755595207214 + ] + }, + "final_grasp": { + "position": [ + 0.03201572597026825, + 0.11134885251522064, + 0.10463108122348785 + ], + "orientation": [ + 0.16922813653945923, + 0.7183740735054016, + -0.6734488606452942, + -0.042035993188619614 + ], + "joints": [ + -0.0015089288353919983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08107893913984299, + -0.05960015580058098, + 0.04691053926944733 + ], + "orientation": [ + 0.10658679157495499, + 0.4835037291049957, + 0.6792503595352173, + 0.5417400598526001 + ], + "joints": [ + 0.017508074641227722 + ] + }, + "fine_grasp": { + "position": [ + -0.07817576080560684, + -0.0574427954852581, + 0.04535398632287979 + ], + "orientation": [ + 0.10953766107559204, + 0.48556554317474365, + 0.67726069688797, + 0.54179847240448 + ], + "joints": [ + 0.00668303482234478 + ] + }, + "final_grasp": { + "position": [ + -0.07817576080560684, + -0.0574427954852581, + 0.04535398632287979 + ], + "orientation": [ + 0.10953766107559204, + 0.48556554317474365, + 0.67726069688797, + 0.54179847240448 + ], + "joints": [ + -0.004142004996538162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031099725514650345, + 0.06243153661489487, + 0.10285799950361252 + ], + "orientation": [ + 0.16261878609657288, + -0.7206241488456726, + -0.6724156141281128, + 0.04597005620598793 + ], + "joints": [ + 0.01666688546538353 + ] + }, + "fine_grasp": { + "position": [ + 0.03046962060034275, + 0.06009798124432564, + 0.10055079311132431 + ], + "orientation": [ + 0.17113544046878815, + -0.7271942496299744, + -0.6635596752166748, + 0.03987136483192444 + ], + "joints": [ + 0.007053915411233902 + ] + }, + "final_grasp": { + "position": [ + 0.03046962060034275, + 0.06009798124432564, + 0.10055079311132431 + ], + "orientation": [ + 0.17113544046878815, + -0.7271942496299744, + -0.6635596752166748, + 0.03987136483192444 + ], + "joints": [ + -0.0025590546429157257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10822370648384094, + 0.08637502044439316, + 0.006761813536286354 + ], + "orientation": [ + 0.4648531377315521, + 0.5350606441497803, + 0.49119481444358826, + 0.5063093900680542 + ], + "joints": [ + 0.016406379640102386 + ] + }, + "fine_grasp": { + "position": [ + -0.10622779279947281, + 0.08636434376239777, + 0.006527762394398451 + ], + "orientation": [ + 0.46302327513694763, + 0.5368165373802185, + 0.48916545510292053, + 0.5080890655517578 + ], + "joints": [ + 0.007211364805698395 + ] + }, + "final_grasp": { + "position": [ + -0.10622779279947281, + 0.08636434376239777, + 0.006527762394398451 + ], + "orientation": [ + 0.46302327513694763, + 0.5368165373802185, + 0.48916545510292053, + 0.5080890655517578 + ], + "joints": [ + -0.001983650028705597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025433510541915894, + -0.07811657339334488, + -0.07161229848861694 + ], + "orientation": [ + 0.5436162948608398, + -0.1624452918767929, + -0.4129931330680847, + -0.712411105632782 + ], + "joints": [ + 0.016955092549324036 + ] + }, + "fine_grasp": { + "position": [ + 0.024377431720495224, + -0.07546781003475189, + -0.06901136785745621 + ], + "orientation": [ + 0.5433923602104187, + -0.16241562366485596, + -0.412983775138855, + -0.7125940918922424 + ], + "joints": [ + 0.0057120975106954575 + ] + }, + "final_grasp": { + "position": [ + 0.024377431720495224, + -0.07546781003475189, + -0.06901136785745621 + ], + "orientation": [ + 0.5433923602104187, + -0.16241562366485596, + -0.412983775138855, + -0.7125940918922424 + ], + "joints": [ + -0.005530897527933121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032695990055799484, + 0.11125195771455765, + 0.10739752650260925 + ], + "orientation": [ + 0.16949859261512756, + 0.7124706506729126, + -0.6796966195106506, + -0.040846530348062515 + ], + "joints": [ + 0.015131828375160694 + ] + }, + "fine_grasp": { + "position": [ + 0.03145751357078552, + 0.11108485609292984, + 0.10343191772699356 + ], + "orientation": [ + 0.1690850853919983, + 0.7168257236480713, + -0.6752206683158875, + -0.040598973631858826 + ], + "joints": [ + 0.006772723980247974 + ] + }, + "final_grasp": { + "position": [ + 0.03145751357078552, + 0.11108485609292984, + 0.10343191772699356 + ], + "orientation": [ + 0.1690850853919983, + 0.7168257236480713, + -0.6752206683158875, + -0.040598973631858826 + ], + "joints": [ + -0.0015863804146647453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03881252557039261, + -0.04867023602128029, + 0.09505655616521835 + ], + "orientation": [ + 0.054303426295518875, + -0.6027340292930603, + 0.7240977883338928, + 0.33082491159439087 + ], + "joints": [ + 0.017222478985786438 + ] + }, + "fine_grasp": { + "position": [ + 0.03750445693731308, + -0.04672443866729736, + 0.09185448288917542 + ], + "orientation": [ + 0.05616844817996025, + -0.6038780212402344, + 0.7239670753479004, + 0.3287068009376526 + ], + "joints": [ + 0.006794496439397335 + ] + }, + "final_grasp": { + "position": [ + 0.03750445693731308, + -0.04672443866729736, + 0.09185448288917542 + ], + "orientation": [ + 0.05616844817996025, + -0.6038780212402344, + 0.7239670753479004, + 0.3287068009376526 + ], + "joints": [ + -0.003633486106991768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0972837582230568, + 0.10226878523826599, + 0.053263161331415176 + ], + "orientation": [ + 0.37508636713027954, + 0.645517110824585, + -0.5657331347465515, + -0.3500913977622986 + ], + "joints": [ + 0.015669917687773705 + ] + }, + "fine_grasp": { + "position": [ + 0.09421433508396149, + 0.10264477133750916, + 0.05176085978746414 + ], + "orientation": [ + 0.37157997488975525, + 0.6532516479492188, + -0.5570167303085327, + -0.35344448685646057 + ], + "joints": [ + 0.006892858073115349 + ] + }, + "final_grasp": { + "position": [ + 0.09421433508396149, + 0.10264477133750916, + 0.05176085978746414 + ], + "orientation": [ + 0.37157997488975525, + 0.6532516479492188, + -0.5570167303085327, + -0.35344448685646057 + ], + "joints": [ + -0.001884201541543007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03273686394095421, + 0.11158647388219833, + 0.10790760070085526 + ], + "orientation": [ + 0.1698014736175537, + 0.713586688041687, + -0.6785123348236084, + -0.03977975994348526 + ], + "joints": [ + 0.014979049563407898 + ] + }, + "fine_grasp": { + "position": [ + 0.03152400255203247, + 0.11135341972112656, + 0.10393466800451279 + ], + "orientation": [ + 0.16923893988132477, + 0.7182483673095703, + -0.6737023591995239, + -0.04003100469708443 + ], + "joints": [ + 0.006619945168495178 + ] + }, + "final_grasp": { + "position": [ + 0.03152400255203247, + 0.11135341972112656, + 0.10393466800451279 + ], + "orientation": [ + 0.16923893988132477, + 0.7182483673095703, + -0.6737023591995239, + -0.04003100469708443 + ], + "joints": [ + -0.0017391592264175415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10424462705850601, + 0.09155970066785812, + -0.03586851805448532 + ], + "orientation": [ + 0.5613714456558228, + 0.4806957244873047, + -0.3291536569595337, + -0.5877513289451599 + ], + "joints": [ + 0.016550084576010704 + ] + }, + "fine_grasp": { + "position": [ + 0.10105298459529877, + 0.0912594124674797, + -0.035287149250507355 + ], + "orientation": [ + 0.5655654668807983, + 0.47631168365478516, + -0.33160489797592163, + -0.5859190821647644 + ], + "joints": [ + 0.007752127014100552 + ] + }, + "final_grasp": { + "position": [ + 0.10105298459529877, + 0.0912594124674797, + -0.035287149250507355 + ], + "orientation": [ + 0.5655654668807983, + 0.47631168365478516, + -0.33160489797592163, + -0.5859190821647644 + ], + "joints": [ + -0.0010458305478096008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10042697191238403, + 0.12196141481399536, + -0.05309510976076126 + ], + "orientation": [ + 0.6490085124969482, + 0.4158177077770233, + 0.30881133675575256, + 0.5572424530982971 + ], + "joints": [ + 0.015029221773147583 + ] + }, + "fine_grasp": { + "position": [ + -0.09680492430925369, + 0.12160828709602356, + -0.051141928881406784 + ], + "orientation": [ + 0.6492065787315369, + 0.41501450538635254, + 0.3096611499786377, + 0.557138979434967 + ], + "joints": [ + 0.006670117378234863 + ] + }, + "final_grasp": { + "position": [ + -0.09680492430925369, + 0.12160828709602356, + -0.051141928881406784 + ], + "orientation": [ + 0.6492065787315369, + 0.41501450538635254, + 0.3096611499786377, + 0.557138979434967 + ], + "joints": [ + -0.0016889870166778564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10748550295829773, + 0.0774570107460022, + -0.005502894055098295 + ], + "orientation": [ + 0.5640509724617004, + -0.4821968078613281, + -0.4880520701408386, + 0.4594973921775818 + ], + "joints": [ + 0.01649857684969902 + ] + }, + "fine_grasp": { + "position": [ + 0.1054692417383194, + 0.07691431045532227, + -0.0053791175596416 + ], + "orientation": [ + 0.5676954388618469, + -0.48056760430336, + -0.4897567927837372, + 0.4548790752887726 + ], + "joints": [ + 0.006885606795549393 + ] + }, + "final_grasp": { + "position": [ + 0.1054692417383194, + 0.07691431045532227, + -0.0053791175596416 + ], + "orientation": [ + 0.5676954388618469, + -0.48056760430336, + -0.4897567927837372, + 0.4548790752887726 + ], + "joints": [ + -0.002727363258600235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05641515552997589, + 0.054056134074926376, + 0.10417710989713669 + ], + "orientation": [ + 0.10523397475481033, + 0.7385247349739075, + 0.6242636442184448, + 0.23195236921310425 + ], + "joints": [ + 0.016505979001522064 + ] + }, + "fine_grasp": { + "position": [ + -0.054504938423633575, + 0.05437351390719414, + 0.10064556449651718 + ], + "orientation": [ + 0.10023543983697891, + 0.7563058137893677, + 0.6025469899177551, + 0.234289288520813 + ], + "joints": [ + 0.0073109641671180725 + ] + }, + "final_grasp": { + "position": [ + -0.054504938423633575, + 0.05437351390719414, + 0.10064556449651718 + ], + "orientation": [ + 0.10023543983697891, + 0.7563058137893677, + 0.6025469899177551, + 0.234289288520813 + ], + "joints": [ + -0.0018840506672859192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07372772693634033, + 0.022472212091088295, + 0.08414456993341446 + ], + "orientation": [ + 0.3601907193660736, + -0.6830003261566162, + 0.6232513189315796, + -0.12381886690855026 + ], + "joints": [ + 0.01675601489841938 + ] + }, + "fine_grasp": { + "position": [ + -0.07115650177001953, + 0.023234447464346886, + 0.08127037435770035 + ], + "orientation": [ + 0.3598366677761078, + -0.6802560687065125, + 0.625447154045105, + -0.1287834197282791 + ], + "joints": [ + 0.007122146897017956 + ] + }, + "final_grasp": { + "position": [ + -0.07115650177001953, + 0.023234447464346886, + 0.08127037435770035 + ], + "orientation": [ + 0.3598366677761078, + -0.6802560687065125, + 0.625447154045105, + -0.1287834197282791 + ], + "joints": [ + -0.0025117211043834686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01992926374077797, + 0.029661603271961212, + -0.12140756100416183 + ], + "orientation": [ + 0.6822899580001831, + -0.1121106892824173, + -0.01921149156987667, + -0.7221790552139282 + ], + "joints": [ + 0.019972138106822968 + ] + }, + "fine_grasp": { + "position": [ + -0.018511241301894188, + 0.02984660118818283, + -0.11783231794834137 + ], + "orientation": [ + 0.6813609600067139, + -0.11529026925563812, + -0.013113567605614662, + -0.7226917743682861 + ], + "joints": [ + 0.00753797497600317 + ] + }, + "final_grasp": { + "position": [ + -0.018511241301894188, + 0.02984660118818283, + -0.11783231794834137 + ], + "orientation": [ + 0.6813609600067139, + -0.11529026925563812, + -0.013113567605614662, + -0.7226917743682861 + ], + "joints": [ + -0.0048961881548166275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10838854312896729, + 0.07750175893306732, + -0.00569840706884861 + ], + "orientation": [ + 0.5640736818313599, + -0.4834728538990021, + -0.4858973026275635, + 0.4604114890098572 + ], + "joints": [ + 0.016087055206298828 + ] + }, + "fine_grasp": { + "position": [ + 0.1057925596833229, + 0.07707247883081436, + -0.005515737924724817 + ], + "orientation": [ + 0.5703023672103882, + -0.47859078645706177, + -0.4904319941997528, + 0.4529707729816437 + ], + "joints": [ + 0.006892040371894836 + ] + }, + "final_grasp": { + "position": [ + 0.1057925596833229, + 0.07707247883081436, + -0.005515737924724817 + ], + "orientation": [ + 0.5703023672103882, + -0.47859078645706177, + -0.4904319941997528, + 0.4529707729816437 + ], + "joints": [ + -0.0023029744625091553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10734114050865173, + 0.07705480605363846, + -0.005403392016887665 + ], + "orientation": [ + 0.5648204684257507, + -0.4843244254589081, + -0.48636749386787415, + 0.458098441362381 + ], + "joints": [ + 0.016524236649274826 + ] + }, + "fine_grasp": { + "position": [ + 0.1053677648305893, + 0.07650348544120789, + -0.0053115482442080975 + ], + "orientation": [ + 0.5683776140213013, + -0.48294904828071594, + -0.4877554178237915, + 0.45365390181541443 + ], + "joints": [ + 0.006911266595125198 + ] + }, + "final_grasp": { + "position": [ + 0.1053677648305893, + 0.07650348544120789, + -0.0053115482442080975 + ], + "orientation": [ + 0.5683776140213013, + -0.48294904828071594, + -0.4877554178237915, + 0.45365390181541443 + ], + "joints": [ + -0.0027017034590244293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031183697283267975, + 0.061504825949668884, + 0.10453437268733978 + ], + "orientation": [ + 0.16310767829418182, + -0.7252348065376282, + -0.6675390005111694, + 0.042685169726610184 + ], + "joints": [ + 0.01628243923187256 + ] + }, + "fine_grasp": { + "position": [ + 0.03012337163090706, + 0.06017172709107399, + 0.10140461474657059 + ], + "orientation": [ + 0.16777969896793365, + -0.7345776557922363, + -0.6562268137931824, + 0.040151406079530716 + ], + "joints": [ + 0.007087424397468567 + ] + }, + "final_grasp": { + "position": [ + 0.03012337163090706, + 0.06017172709107399, + 0.10140461474657059 + ], + "orientation": [ + 0.16777969896793365, + -0.7345776557922363, + -0.6562268137931824, + 0.040151406079530716 + ], + "joints": [ + -0.002107590436935425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10918839275836945, + 0.048131342977285385, + -0.02083543688058853 + ], + "orientation": [ + 0.5997344851493835, + -0.4949226379394531, + -0.4052707254886627, + 0.48075541853904724 + ], + "joints": [ + 0.01599261909723282 + ] + }, + "fine_grasp": { + "position": [ + 0.10510171949863434, + 0.04799753800034523, + -0.02015869691967964 + ], + "orientation": [ + 0.603118360042572, + -0.4916952848434448, + -0.4081617593765259, + 0.4773760735988617 + ], + "joints": [ + 0.007633514236658812 + ] + }, + "final_grasp": { + "position": [ + 0.10510171949863434, + 0.04799753800034523, + -0.02015869691967964 + ], + "orientation": [ + 0.603118360042572, + -0.4916952848434448, + -0.4081617593765259, + 0.4773760735988617 + ], + "joints": [ + -0.0007255906239151955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10479332506656647, + 0.0748099535703659, + 0.012654522433876991 + ], + "orientation": [ + 0.5210500955581665, + -0.532168984413147, + 0.5220911502838135, + -0.41560041904449463 + ], + "joints": [ + 0.016799625009298325 + ] + }, + "fine_grasp": { + "position": [ + -0.10359898954629898, + 0.07385401427745819, + 0.012419763021171093 + ], + "orientation": [ + 0.524650514125824, + -0.5321469902992249, + 0.522294282913208, + -0.41081637144088745 + ], + "joints": [ + 0.007186654955148697 + ] + }, + "final_grasp": { + "position": [ + -0.10359898954629898, + 0.07385401427745819, + 0.012419763021171093 + ], + "orientation": [ + 0.524650514125824, + -0.5321469902992249, + 0.522294282913208, + -0.41081637144088745 + ], + "joints": [ + -0.002426315099000931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08182533830404282, + 0.12964370846748352, + -0.0846758708357811 + ], + "orientation": [ + 0.712925136089325, + 0.30163025856018066, + -0.2303818166255951, + -0.5896449685096741 + ], + "joints": [ + 0.016000203788280487 + ] + }, + "fine_grasp": { + "position": [ + 0.07912930101156235, + 0.12936945259571075, + -0.08174262940883636 + ], + "orientation": [ + 0.7135864496231079, + 0.29988187551498413, + -0.2310478836297989, + -0.5894761681556702 + ], + "joints": [ + 0.006805188953876495 + ] + }, + "final_grasp": { + "position": [ + 0.07912930101156235, + 0.12936945259571075, + -0.08174262940883636 + ], + "orientation": [ + 0.7135864496231079, + 0.29988187551498413, + -0.2310478836297989, + -0.5894761681556702 + ], + "joints": [ + -0.0023898258805274963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06502941995859146, + -0.021808305755257607, + -0.08732832223176956 + ], + "orientation": [ + 0.6517331004142761, + -0.35570028424263, + -0.07584449648857117, + 0.6655589938163757 + ], + "joints": [ + 0.018675435334444046 + ] + }, + "fine_grasp": { + "position": [ + 0.06358664482831955, + -0.020605089142918587, + -0.08418245613574982 + ], + "orientation": [ + 0.6536566615104675, + -0.3513273298740387, + -0.07324392348527908, + 0.6662864089012146 + ], + "joints": [ + 0.0074324412271380424 + ] + }, + "final_grasp": { + "position": [ + 0.06358664482831955, + -0.020605089142918587, + -0.08418245613574982 + ], + "orientation": [ + 0.6536566615104675, + -0.3513273298740387, + -0.07324392348527908, + 0.6662864089012146 + ], + "joints": [ + -0.003810552880167961 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10021384060382843, + 0.08306658267974854, + -0.056312453001737595 + ], + "orientation": [ + 0.519538402557373, + 0.33960679173469543, + -0.37573152780532837, + -0.6881663799285889 + ], + "joints": [ + 0.015451163053512573 + ] + }, + "fine_grasp": { + "position": [ + 0.09661994874477386, + 0.08334743231534958, + -0.05428491532802582 + ], + "orientation": [ + 0.516895055770874, + 0.34139689803123474, + -0.3727864921092987, + -0.6908674836158752 + ], + "joints": [ + 0.0070920586585998535 + ] + }, + "final_grasp": { + "position": [ + 0.09661994874477386, + 0.08334743231534958, + -0.05428491532802582 + ], + "orientation": [ + 0.516895055770874, + 0.34139689803123474, + -0.3727864921092987, + -0.6908674836158752 + ], + "joints": [ + -0.0012670457363128662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03884202986955643, + -0.09214507043361664, + 0.006060928106307983 + ], + "orientation": [ + 0.18063893914222717, + 0.05545380711555481, + -0.7217565774917603, + -0.6658542156219482 + ], + "joints": [ + 0.01781342551112175 + ] + }, + "fine_grasp": { + "position": [ + 0.037217069417238235, + -0.08935755491256714, + 0.00664463872089982 + ], + "orientation": [ + 0.1784060001373291, + 0.05587777867913246, + -0.7237382531166077, + -0.6642678380012512 + ], + "joints": [ + 0.008200455456972122 + ] + }, + "final_grasp": { + "position": [ + 0.037217069417238235, + -0.08935755491256714, + 0.00664463872089982 + ], + "orientation": [ + 0.1784060001373291, + 0.05587777867913246, + -0.7237382531166077, + -0.6642678380012512 + ], + "joints": [ + -0.0014125145971775055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10383851826190948, + 0.07412663102149963, + 0.014230934903025627 + ], + "orientation": [ + 0.5201281309127808, + -0.5374738574028015, + 0.5240154266357422, + -0.4074263870716095 + ], + "joints": [ + 0.01676812395453453 + ] + }, + "fine_grasp": { + "position": [ + -0.10294165462255478, + 0.07302059233188629, + 0.014161665923893452 + ], + "orientation": [ + 0.5235096216201782, + -0.5381927490234375, + 0.5240136981010437, + -0.4021141529083252 + ], + "joints": [ + 0.007155153900384903 + ] + }, + "final_grasp": { + "position": [ + -0.10294165462255478, + 0.07302059233188629, + 0.014161665923893452 + ], + "orientation": [ + 0.5235096216201782, + -0.5381927490234375, + 0.5240136981010437, + -0.4021141529083252 + ], + "joints": [ + -0.0024578161537647247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10918726772069931, + 0.15894050896167755, + 0.0012644963571801782 + ], + "orientation": [ + 0.5732231140136719, + 0.5963901877403259, + -0.3822154402732849, + -0.4118802845478058 + ], + "joints": [ + 0.01558418944478035 + ] + }, + "fine_grasp": { + "position": [ + 0.10519881546497345, + 0.1581784039735794, + 0.001218432909809053 + ], + "orientation": [ + 0.571354866027832, + 0.5968345403671265, + -0.38267865777015686, + -0.41339951753616333 + ], + "joints": [ + 0.006389174610376358 + ] + }, + "final_grasp": { + "position": [ + 0.10519881546497345, + 0.1581784039735794, + 0.001218432909809053 + ], + "orientation": [ + 0.571354866027832, + 0.5968345403671265, + -0.38267865777015686, + -0.41339951753616333 + ], + "joints": [ + -0.0028058402240276337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029371090233325958, + -0.07419067621231079, + 0.07271511852741241 + ], + "orientation": [ + 0.39769262075424194, + -0.6543706059455872, + -0.6163291335105896, + -0.18378816545009613 + ], + "joints": [ + 0.016447970643639565 + ] + }, + "fine_grasp": { + "position": [ + 0.028371741995215416, + -0.0713978260755539, + 0.0701371282339096 + ], + "orientation": [ + 0.4020995497703552, + -0.6518563032150269, + -0.6150131225585938, + -0.1875055730342865 + ], + "joints": [ + 0.006417045369744301 + ] + }, + "final_grasp": { + "position": [ + 0.028371741995215416, + -0.0713978260755539, + 0.0701371282339096 + ], + "orientation": [ + 0.4020995497703552, + -0.6518563032150269, + -0.6150131225585938, + -0.1875055730342865 + ], + "joints": [ + -0.003613879904150963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010127827525138855, + 0.0658569186925888, + -0.11150786280632019 + ], + "orientation": [ + 0.7164409756660461, + -0.052164364606142044, + 0.012904074043035507, + -0.6955751180648804 + ], + "joints": [ + 0.016389694064855576 + ] + }, + "fine_grasp": { + "position": [ + -0.009540768340229988, + 0.06587672978639603, + -0.10755933821201324 + ], + "orientation": [ + 0.7186391353607178, + -0.0519586056470871, + 0.012517930008471012, + -0.6933264136314392 + ], + "joints": [ + 0.006776724010705948 + ] + }, + "final_grasp": { + "position": [ + -0.009540768340229988, + 0.06587672978639603, + -0.10755933821201324 + ], + "orientation": [ + 0.7186391353607178, + -0.0519586056470871, + 0.012517930008471012, + -0.6933264136314392 + ], + "joints": [ + -0.00283624604344368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.073745496571064, + 0.022394945845007896, + 0.08420181274414062 + ], + "orientation": [ + 0.36069604754447937, + -0.6754026412963867, + 0.6318466663360596, + -0.12041332572698593 + ], + "joints": [ + 0.016709979623556137 + ] + }, + "fine_grasp": { + "position": [ + -0.07117104530334473, + 0.02317281812429428, + 0.08134961128234863 + ], + "orientation": [ + 0.3610379993915558, + -0.6717510223388672, + 0.6346461772918701, + -0.12500566244125366 + ], + "joints": [ + 0.007097009569406509 + ] + }, + "final_grasp": { + "position": [ + -0.07117104530334473, + 0.02317281812429428, + 0.08134961128234863 + ], + "orientation": [ + 0.3610379993915558, + -0.6717510223388672, + 0.6346461772918701, + -0.12500566244125366 + ], + "joints": [ + -0.0025159604847431183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00529091339558363, + 0.04918176308274269, + -0.10976605117321014 + ], + "orientation": [ + 0.669795036315918, + -0.10172665119171143, + -0.07502288371324539, + -0.7317087650299072 + ], + "joints": [ + 0.014568307437002659 + ] + }, + "fine_grasp": { + "position": [ + -0.005221669562160969, + 0.049290817230939865, + -0.10613332688808441 + ], + "orientation": [ + 0.6649749875068665, + -0.10090643912553787, + -0.07489834725856781, + -0.7362176775932312 + ], + "joints": [ + 0.005373292602598667 + ] + }, + "final_grasp": { + "position": [ + -0.005221669562160969, + 0.049290817230939865, + -0.10613332688808441 + ], + "orientation": [ + 0.6649749875068665, + -0.10090643912553787, + -0.07489834725856781, + -0.7362176775932312 + ], + "joints": [ + -0.0038217222318053246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07255436480045319, + 0.022847454994916916, + 0.083157017827034 + ], + "orientation": [ + 0.36172452569007874, + -0.6793480515480042, + 0.6274218559265137, + -0.11825165897607803 + ], + "joints": [ + 0.016556020826101303 + ] + }, + "fine_grasp": { + "position": [ + -0.06997529417276382, + 0.023550095036625862, + 0.08024407178163528 + ], + "orientation": [ + 0.3625664710998535, + -0.6755871176719666, + 0.6302295327186584, + -0.12222246080636978 + ], + "joints": [ + 0.006943050771951675 + ] + }, + "final_grasp": { + "position": [ + -0.06997529417276382, + 0.023550095036625862, + 0.08024407178163528 + ], + "orientation": [ + 0.3625664710998535, + -0.6755871176719666, + 0.6302295327186584, + -0.12222246080636978 + ], + "joints": [ + -0.0026699192821979523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03954434394836426, + 0.052201516926288605, + 0.10656170547008514 + ], + "orientation": [ + 0.04030134901404381, + 0.7285602688789368, + 0.6553310751914978, + 0.19523552060127258 + ], + "joints": [ + 0.01638304442167282 + ] + }, + "fine_grasp": { + "position": [ + -0.0381770059466362, + 0.05269820988178253, + 0.10269216448068619 + ], + "orientation": [ + 0.034253984689712524, + 0.752176821231842, + 0.6276081204414368, + 0.1979004293680191 + ], + "joints": [ + 0.008023940026760101 + ] + }, + "final_grasp": { + "position": [ + -0.0381770059466362, + 0.05269820988178253, + 0.10269216448068619 + ], + "orientation": [ + 0.034253984689712524, + 0.752176821231842, + 0.6276081204414368, + 0.1979004293680191 + ], + "joints": [ + -0.0003351643681526184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008063169196248055, + -0.09548816084861755, + 0.013609107583761215 + ], + "orientation": [ + 0.6631343960762024, + -0.7446744441986084, + -0.03494737669825554, + -0.06701626628637314 + ], + "joints": [ + 0.01815737783908844 + ] + }, + "fine_grasp": { + "position": [ + -0.007681754883378744, + -0.09282572567462921, + 0.013735434040427208 + ], + "orientation": [ + 0.6622611880302429, + -0.7450045943260193, + -0.0341707207262516, + -0.07218468189239502 + ], + "joints": [ + 0.008168250322341919 + ] + }, + "final_grasp": { + "position": [ + -0.007681754883378744, + -0.09282572567462921, + 0.013735434040427208 + ], + "orientation": [ + 0.6622611880302429, + -0.7450045943260193, + -0.0341707207262516, + -0.07218468189239502 + ], + "joints": [ + -0.001820877194404602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07451413571834564, + 0.12326705455780029, + -0.06923658400774002 + ], + "orientation": [ + 0.5522999167442322, + -0.19384971261024475, + -0.37131404876708984, + 0.7207725644111633 + ], + "joints": [ + 0.016570474952459335 + ] + }, + "fine_grasp": { + "position": [ + 0.07282623648643494, + 0.12428738921880722, + -0.06787052750587463 + ], + "orientation": [ + 0.5479478240013123, + -0.19185879826545715, + -0.3738058805465698, + 0.7233343124389648 + ], + "joints": [ + 0.007375460118055344 + ] + }, + "final_grasp": { + "position": [ + 0.07282623648643494, + 0.12428738921880722, + -0.06787052750587463 + ], + "orientation": [ + 0.5479478240013123, + -0.19185879826545715, + -0.3738058805465698, + 0.7233343124389648 + ], + "joints": [ + -0.001819554716348648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06357599794864655, + 0.11176178604364395, + -0.08965229988098145 + ], + "orientation": [ + 0.6506613492965698, + 0.17051884531974792, + -0.2550000548362732, + -0.6946495175361633 + ], + "joints": [ + 0.015762604773044586 + ] + }, + "fine_grasp": { + "position": [ + 0.06129907816648483, + 0.11156676709651947, + -0.08656693249940872 + ], + "orientation": [ + 0.6487664580345154, + 0.17068147659301758, + -0.25512298941612244, + -0.696334719657898 + ], + "joints": [ + 0.0069855451583862305 + ] + }, + "final_grasp": { + "position": [ + 0.06129907816648483, + 0.11156676709651947, + -0.08656693249940872 + ], + "orientation": [ + 0.6487664580345154, + 0.17068147659301758, + -0.25512298941612244, + -0.696334719657898 + ], + "joints": [ + -0.0017915144562721252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11509965360164642, + 0.06119751185178757, + 0.006454645190387964 + ], + "orientation": [ + 0.4558168053627014, + 0.5277284979820251, + -0.49795711040496826, + -0.515531063079834 + ], + "joints": [ + 0.016293685883283615 + ] + }, + "fine_grasp": { + "position": [ + 0.11106539517641068, + 0.061246052384376526, + 0.0061009470373392105 + ], + "orientation": [ + 0.45671793818473816, + 0.5271276235580444, + -0.4950609803199768, + -0.5181311964988708 + ], + "joints": [ + 0.007098671048879623 + ] + }, + "final_grasp": { + "position": [ + 0.11106539517641068, + 0.061246052384376526, + 0.0061009470373392105 + ], + "orientation": [ + 0.45671793818473816, + 0.5271276235580444, + -0.4950609803199768, + -0.5181311964988708 + ], + "joints": [ + -0.0020963437855243683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01304744090884924, + 0.02478414587676525, + 0.11206074804067612 + ], + "orientation": [ + 0.17227061092853546, + -0.7057712078094482, + -0.6813703179359436, + -0.08913078159093857 + ], + "joints": [ + 0.01662105694413185 + ] + }, + "fine_grasp": { + "position": [ + 0.012626717798411846, + 0.025687122717499733, + 0.10830142349004745 + ], + "orientation": [ + 0.16931171715259552, + -0.7071848511695862, + -0.6809775233268738, + -0.08656129240989685 + ], + "joints": [ + 0.0065901316702365875 + ] + }, + "final_grasp": { + "position": [ + 0.012626717798411846, + 0.025687122717499733, + 0.10830142349004745 + ], + "orientation": [ + 0.16931171715259552, + -0.7071848511695862, + -0.6809775233268738, + -0.08656129240989685 + ], + "joints": [ + -0.003440793603658676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07746687531471252, + 0.04439232870936394, + -0.08951997756958008 + ], + "orientation": [ + 0.6457892060279846, + -0.28865087032318115, + -0.19933412969112396, + 0.6781613230705261 + ], + "joints": [ + 0.01651168242096901 + ] + }, + "fine_grasp": { + "position": [ + 0.07484744489192963, + 0.044544968754053116, + -0.0865096002817154 + ], + "orientation": [ + 0.6447344422340393, + -0.288675457239151, + -0.20017790794372559, + 0.6789056062698364 + ], + "joints": [ + 0.006898712366819382 + ] + }, + "final_grasp": { + "position": [ + 0.07484744489192963, + 0.044544968754053116, + -0.0865096002817154 + ], + "orientation": [ + 0.6447344422340393, + -0.288675457239151, + -0.20017790794372559, + 0.6789056062698364 + ], + "joints": [ + -0.002714257687330246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004221727605909109, + -0.10376955568790436, + -0.005922035779803991 + ], + "orientation": [ + 0.7229517698287964, + -0.6880472302436829, + -0.04533445090055466, + -0.043318819254636765 + ], + "joints": [ + 0.017934337258338928 + ] + }, + "fine_grasp": { + "position": [ + 0.003957957960665226, + -0.1001167818903923, + -0.005695822183042765 + ], + "orientation": [ + 0.7219404578208923, + -0.6890708208084106, + -0.048225849866867065, + -0.040716465562582016 + ], + "joints": [ + 0.007924310863018036 + ] + }, + "final_grasp": { + "position": [ + 0.003957957960665226, + -0.1001167818903923, + -0.005695822183042765 + ], + "orientation": [ + 0.7219404578208923, + -0.6890708208084106, + -0.048225849866867065, + -0.040716465562582016 + ], + "joints": [ + -0.0020857155323028564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09520653635263443, + 0.23217332363128662, + -0.05072399228811264 + ], + "orientation": [ + 0.41899803280830383, + -0.22051818668842316, + -0.5047173500061035, + 0.7218537330627441 + ], + "joints": [ + 0.015342231839895248 + ] + }, + "fine_grasp": { + "position": [ + 0.09198643267154694, + 0.23086632788181305, + -0.04890923574566841 + ], + "orientation": [ + 0.4217599630355835, + -0.22376427054405212, + -0.5007075667381287, + 0.7220386862754822 + ], + "joints": [ + 0.004935147240757942 + ] + }, + "final_grasp": { + "position": [ + 0.09198643267154694, + 0.23086632788181305, + -0.04890923574566841 + ], + "orientation": [ + 0.4217599630355835, + -0.22376427054405212, + -0.5007075667381287, + 0.7220386862754822 + ], + "joints": [ + -0.005471937358379364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0065638660453259945, + 0.058426354080438614, + -0.11074960231781006 + ], + "orientation": [ + 0.6430540680885315, + -0.07289768010377884, + 0.040009863674640656, + 0.7612927556037903 + ], + "joints": [ + 0.015248065814375877 + ] + }, + "fine_grasp": { + "position": [ + 0.006400009151548147, + 0.058345649391412735, + -0.10713693499565125 + ], + "orientation": [ + 0.6351458430290222, + -0.07252717763185501, + 0.04080973565578461, + 0.7678958773612976 + ], + "joints": [ + 0.006053050979971886 + ] + }, + "final_grasp": { + "position": [ + 0.006400009151548147, + 0.058345649391412735, + -0.10713693499565125 + ], + "orientation": [ + 0.6351458430290222, + -0.07252717763185501, + 0.04080973565578461, + 0.7678958773612976 + ], + "joints": [ + -0.003141963854432106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12157945334911346, + 0.12907303869724274, + 0.0007813357515260577 + ], + "orientation": [ + 0.4460445046424866, + -0.48657897114753723, + 0.5131920576095581, + -0.5485610365867615 + ], + "joints": [ + 0.016155969351530075 + ] + }, + "fine_grasp": { + "position": [ + -0.11769253760576248, + 0.128807932138443, + 0.0007916680187918246 + ], + "orientation": [ + 0.44642528891563416, + -0.48780474066734314, + 0.5119593739509583, + -0.5483143925666809 + ], + "joints": [ + 0.005727986805140972 + ] + }, + "final_grasp": { + "position": [ + -0.11769253760576248, + 0.128807932138443, + 0.0007916680187918246 + ], + "orientation": [ + 0.44642528891563416, + -0.48780474066734314, + 0.5119593739509583, + -0.5483143925666809 + ], + "joints": [ + -0.004699995741248131 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00390747282654047, + -0.10360969603061676, + -0.006254292093217373 + ], + "orientation": [ + 0.7236840724945068, + -0.6872538924217224, + -0.04704083129763603, + -0.041842445731163025 + ], + "joints": [ + 0.017883017659187317 + ] + }, + "fine_grasp": { + "position": [ + 0.003585226833820343, + -0.0999268889427185, + -0.006130349822342396 + ], + "orientation": [ + 0.7230923771858215, + -0.6878789067268372, + -0.04954627528786659, + -0.038797490298748016 + ], + "joints": [ + 0.00827004760503769 + ] + }, + "final_grasp": { + "position": [ + 0.003585226833820343, + -0.0999268889427185, + -0.006130349822342396 + ], + "orientation": [ + 0.7230923771858215, + -0.6878789067268372, + -0.04954627528786659, + -0.038797490298748016 + ], + "joints": [ + -0.0013429224491119385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06698065996170044, + -0.08213497698307037, + 0.008744614198803902 + ], + "orientation": [ + 0.09857075661420822, + 0.31221967935562134, + -0.6634191870689392, + -0.6728131771087646 + ], + "joints": [ + 0.018143486231565475 + ] + }, + "fine_grasp": { + "position": [ + 0.0642269104719162, + -0.07948455959558487, + 0.008552879095077515 + ], + "orientation": [ + 0.10235201567411423, + 0.3160053491592407, + -0.6619008779525757, + -0.6719760894775391 + ], + "joints": [ + 0.00771550415083766 + ] + }, + "final_grasp": { + "position": [ + 0.0642269104719162, + -0.07948455959558487, + 0.008552879095077515 + ], + "orientation": [ + 0.10235201567411423, + 0.3160053491592407, + -0.6619008779525757, + -0.6719760894775391 + ], + "joints": [ + -0.002712477929890156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08017974346876144, + -0.057116422802209854, + 0.045661501586437225 + ], + "orientation": [ + 0.10485382378101349, + 0.4825686514377594, + 0.6780852675437927, + 0.5443653464317322 + ], + "joints": [ + 0.017485423013567924 + ] + }, + "fine_grasp": { + "position": [ + -0.07741884887218475, + -0.0548199824988842, + 0.04412368685007095 + ], + "orientation": [ + 0.10506487637758255, + 0.48102623224258423, + 0.6770818829536438, + 0.5469326376914978 + ], + "joints": [ + 0.0070574404671788216 + ] + }, + "final_grasp": { + "position": [ + -0.07741884887218475, + -0.0548199824988842, + 0.04412368685007095 + ], + "orientation": [ + 0.10506487637758255, + 0.48102623224258423, + 0.6770818829536438, + 0.5469326376914978 + ], + "joints": [ + -0.0033705420792102814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04752424731850624, + 0.03570568561553955, + -0.11786621063947678 + ], + "orientation": [ + 0.6505663990974426, + 0.17809221148490906, + -0.08191709220409393, + -0.7337139844894409 + ], + "joints": [ + 0.017107322812080383 + ] + }, + "fine_grasp": { + "position": [ + 0.04602784663438797, + 0.0355859138071537, + -0.11423221975564957 + ], + "orientation": [ + 0.649728536605835, + 0.177872896194458, + -0.08344324678182602, + -0.734337329864502 + ], + "joints": [ + 0.007494352757930756 + ] + }, + "final_grasp": { + "position": [ + 0.04602784663438797, + 0.0355859138071537, + -0.11423221975564957 + ], + "orientation": [ + 0.649728536605835, + 0.177872896194458, + -0.08344324678182602, + -0.734337329864502 + ], + "joints": [ + -0.002118617296218872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09781809896230698, + -0.059701286256313324, + -0.029103830456733704 + ], + "orientation": [ + 0.6965572834014893, + -0.5841073393821716, + -0.2345440685749054, + 0.3444064259529114 + ], + "joints": [ + 0.017739910632371902 + ] + }, + "fine_grasp": { + "position": [ + 0.09459613263607025, + -0.05805094167590141, + -0.027856936678290367 + ], + "orientation": [ + 0.6976134777069092, + -0.5788467526435852, + -0.23782168328762054, + 0.34887346625328064 + ], + "joints": [ + 0.0077089848928153515 + ] + }, + "final_grasp": { + "position": [ + 0.09459613263607025, + -0.05805094167590141, + -0.027856936678290367 + ], + "orientation": [ + 0.6976134777069092, + -0.5788467526435852, + -0.23782168328762054, + 0.34887346625328064 + ], + "joints": [ + -0.0023219408467411995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013434933498501778, + -0.10071855783462524, + 0.023477306589484215 + ], + "orientation": [ + 0.5263112783432007, + -0.663201093673706, + -0.42235806584358215, + -0.3236885666847229 + ], + "joints": [ + 0.0159766748547554 + ] + }, + "fine_grasp": { + "position": [ + -0.0013532571028918028, + -0.09711785614490509, + 0.0232054702937603 + ], + "orientation": [ + 0.5291904807090759, + -0.6611534357070923, + -0.41821375489234924, + -0.32852795720100403 + ], + "joints": [ + 0.006363704800605774 + ] + }, + "final_grasp": { + "position": [ + -0.0013532571028918028, + -0.09711785614490509, + 0.0232054702937603 + ], + "orientation": [ + 0.5291904807090759, + -0.6611534357070923, + -0.41821375489234924, + -0.32852795720100403 + ], + "joints": [ + -0.0032492652535438538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03637883439660072, + 0.043193716555833817, + -0.10153259336948395 + ], + "orientation": [ + 0.6654555201530457, + 0.040332674980163574, + 0.20022831857204437, + 0.7179489731788635 + ], + "joints": [ + 0.015780644491314888 + ] + }, + "fine_grasp": { + "position": [ + -0.03557967394590378, + 0.04265280067920685, + -0.09875374287366867 + ], + "orientation": [ + 0.6601566076278687, + 0.040988508611917496, + 0.20232795178890228, + 0.7222025394439697 + ], + "joints": [ + 0.007003584876656532 + ] + }, + "final_grasp": { + "position": [ + -0.03557967394590378, + 0.04265280067920685, + -0.09875374287366867 + ], + "orientation": [ + 0.6601566076278687, + 0.040988508611917496, + 0.20232795178890228, + 0.7222025394439697 + ], + "joints": [ + -0.0017734747380018234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043241407722234726, + 0.007756586652249098, + 0.11742381751537323 + ], + "orientation": [ + 0.041586197912693024, + 0.6860167980194092, + 0.6971057057380676, + 0.20419400930404663 + ], + "joints": [ + 0.016831370070576668 + ] + }, + "fine_grasp": { + "position": [ + -0.04187818244099617, + 0.008419012650847435, + 0.11377263814210892 + ], + "orientation": [ + 0.04502669721841812, + 0.6890342831611633, + 0.6946285367012024, + 0.20173165202140808 + ], + "joints": [ + 0.00721840001642704 + ] + }, + "final_grasp": { + "position": [ + -0.04187818244099617, + 0.008419012650847435, + 0.11377263814210892 + ], + "orientation": [ + 0.04502669721841812, + 0.6890342831611633, + 0.6946285367012024, + 0.20173165202140808 + ], + "joints": [ + -0.0023945700377225876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043159712105989456, + 0.007385977543890476, + 0.1173526793718338 + ], + "orientation": [ + 0.04253290593624115, + 0.6873902082443237, + 0.6960812211036682, + 0.202870711684227 + ], + "joints": [ + 0.01716112345457077 + ] + }, + "fine_grasp": { + "position": [ + -0.041747719049453735, + 0.008047490380704403, + 0.11366098374128342 + ], + "orientation": [ + 0.045470915734767914, + 0.6914348006248474, + 0.6925791501998901, + 0.20046037435531616 + ], + "joints": [ + 0.007130198180675507 + ] + }, + "final_grasp": { + "position": [ + -0.041747719049453735, + 0.008047490380704403, + 0.11366098374128342 + ], + "orientation": [ + 0.045470915734767914, + 0.6914348006248474, + 0.6925791501998901, + 0.20046037435531616 + ], + "joints": [ + -0.002900727093219757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004338815342634916, + 0.05944310873746872, + -0.10707786679267883 + ], + "orientation": [ + 0.6551044583320618, + -0.06880572438240051, + 0.04718295857310295, + 0.7509178519248962 + ], + "joints": [ + 0.01669982448220253 + ] + }, + "fine_grasp": { + "position": [ + 0.004060555715113878, + 0.058976151049137115, + -0.10539218783378601 + ], + "orientation": [ + 0.6520216464996338, + -0.07055286318063736, + 0.05012482404708862, + 0.7532447576522827 + ], + "joints": [ + 0.007086854428052902 + ] + }, + "final_grasp": { + "position": [ + 0.004060555715113878, + 0.058976151049137115, + -0.10539218783378601 + ], + "orientation": [ + 0.6520216464996338, + -0.07055286318063736, + 0.05012482404708862, + 0.7532447576522827 + ], + "joints": [ + -0.0025261156260967255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04312814027070999, + 0.007538860198110342, + 0.11735673993825912 + ], + "orientation": [ + 0.041105736047029495, + 0.6883490681648254, + 0.6949560046195984, + 0.2037694752216339 + ], + "joints": [ + 0.016904553398489952 + ] + }, + "fine_grasp": { + "position": [ + -0.041766777634620667, + 0.008202789351344109, + 0.11366738379001617 + ], + "orientation": [ + 0.04427400231361389, + 0.6921606063842773, + 0.6916340589523315, + 0.20148393511772156 + ], + "joints": [ + 0.007291583344340324 + ] + }, + "final_grasp": { + "position": [ + -0.041766777634620667, + 0.008202789351344109, + 0.11366738379001617 + ], + "orientation": [ + 0.04427400231361389, + 0.6921606063842773, + 0.6916340589523315, + 0.20148393511772156 + ], + "joints": [ + -0.0023213867098093033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019602887332439423, + -0.10164143890142441, + -0.004984611179679632 + ], + "orientation": [ + 0.6323166489601135, + -0.5467599034309387, + -0.4270210564136505, + -0.34479326009750366 + ], + "joints": [ + 0.017236612737178802 + ] + }, + "fine_grasp": { + "position": [ + 0.018700633198022842, + -0.09837095439434052, + -0.004551047924906015 + ], + "orientation": [ + 0.6316187381744385, + -0.5476823449134827, + -0.4254772365093231, + -0.34651273488998413 + ], + "joints": [ + 0.008459553122520447 + ] + }, + "final_grasp": { + "position": [ + 0.018700633198022842, + -0.09837095439434052, + -0.004551047924906015 + ], + "orientation": [ + 0.6316187381744385, + -0.5476823449134827, + -0.4254772365093231, + -0.34651273488998413 + ], + "joints": [ + -0.00031750649213790894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03892359510064125, + -0.09304522722959518, + -0.014681335538625717 + ], + "orientation": [ + 0.41648420691490173, + -0.1458667367696762, + -0.6349814534187317, + -0.6340839266777039 + ], + "joints": [ + 0.016647644340991974 + ] + }, + "fine_grasp": { + "position": [ + 0.037496909499168396, + -0.0903543084859848, + -0.013748879544436932 + ], + "orientation": [ + 0.41428661346435547, + -0.14730848371982574, + -0.6394789218902588, + -0.6306612491607666 + ], + "joints": [ + 0.007870584726333618 + ] + }, + "final_grasp": { + "position": [ + 0.037496909499168396, + -0.0903543084859848, + -0.013748879544436932 + ], + "orientation": [ + 0.41428661346435547, + -0.14730848371982574, + -0.6394789218902588, + -0.6306612491607666 + ], + "joints": [ + -0.0009064748883247375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09185799956321716, + 0.12351196259260178, + 0.05556990206241608 + ], + "orientation": [ + 0.24727541208267212, + -0.5880914330482483, + -0.6334151029586792, + 0.437936931848526 + ], + "joints": [ + 0.015736540779471397 + ] + }, + "fine_grasp": { + "position": [ + 0.08884919434785843, + 0.12464702874422073, + 0.0538741834461689 + ], + "orientation": [ + 0.23771999776363373, + -0.5940395593643188, + -0.6275712251663208, + 0.44357699155807495 + ], + "joints": [ + 0.006959481164813042 + ] + }, + "final_grasp": { + "position": [ + 0.08884919434785843, + 0.12464702874422073, + 0.0538741834461689 + ], + "orientation": [ + 0.23771999776363373, + -0.5940395593643188, + -0.6275712251663208, + 0.44357699155807495 + ], + "joints": [ + -0.001817578449845314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09267382323741913, + 0.12353941798210144, + 0.05530852824449539 + ], + "orientation": [ + 0.2468111366033554, + -0.5850459337234497, + -0.633533775806427, + 0.44208669662475586 + ], + "joints": [ + 0.015320958569645882 + ] + }, + "fine_grasp": { + "position": [ + 0.08949773758649826, + 0.12434663623571396, + 0.053356487303972244 + ], + "orientation": [ + 0.23866936564445496, + -0.5914082527160645, + -0.6272588968276978, + 0.4470116198062897 + ], + "joints": [ + 0.006961854174733162 + ] + }, + "final_grasp": { + "position": [ + 0.08949773758649826, + 0.12434663623571396, + 0.053356487303972244 + ], + "orientation": [ + 0.23866936564445496, + -0.5914082527160645, + -0.6272588968276978, + 0.4470116198062897 + ], + "joints": [ + -0.0013972502201795578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09225986152887344, + 0.12369100749492645, + 0.055590081959962845 + ], + "orientation": [ + 0.24617652595043182, + -0.5887480974197388, + -0.6319361925125122, + 0.43980610370635986 + ], + "joints": [ + 0.015768038108944893 + ] + }, + "fine_grasp": { + "position": [ + 0.08920400589704514, + 0.1246894970536232, + 0.05376968905329704 + ], + "orientation": [ + 0.23706261813640594, + -0.5951398015022278, + -0.6256289482116699, + 0.4451945722103119 + ], + "joints": [ + 0.006990978494286537 + ] + }, + "final_grasp": { + "position": [ + 0.08920400589704514, + 0.1246894970536232, + 0.05376968905329704 + ], + "orientation": [ + 0.23706261813640594, + -0.5951398015022278, + -0.6256289482116699, + 0.4451945722103119 + ], + "joints": [ + -0.0017860811203718185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09255298972129822, + 0.12431522458791733, + 0.05599932745099068 + ], + "orientation": [ + 0.24681471288204193, + -0.5906054377555847, + -0.6309254169464111, + 0.4384072721004486 + ], + "joints": [ + 0.015532995574176311 + ] + }, + "fine_grasp": { + "position": [ + 0.08936437964439392, + 0.12512004375457764, + 0.054080139845609665 + ], + "orientation": [ + 0.23788809776306152, + -0.5979295969009399, + -0.6238391399383545, + 0.44352465867996216 + ], + "joints": [ + 0.006755935959517956 + ] + }, + "final_grasp": { + "position": [ + 0.08936437964439392, + 0.12512004375457764, + 0.054080139845609665 + ], + "orientation": [ + 0.23788809776306152, + -0.5979295969009399, + -0.6238391399383545, + 0.44352465867996216 + ], + "joints": [ + -0.0020211236551404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06388810276985168, + 0.03059905581176281, + 0.08459731936454773 + ], + "orientation": [ + 0.10153557360172272, + 0.640380859375, + -0.6827622652053833, + -0.3368065357208252 + ], + "joints": [ + 0.01594511792063713 + ] + }, + "fine_grasp": { + "position": [ + 0.06155617535114288, + 0.029957616701722145, + 0.0815349742770195 + ], + "orientation": [ + 0.09860371053218842, + 0.6410530805587769, + -0.681567370891571, + -0.3388127088546753 + ], + "joints": [ + 0.007168058305978775 + ] + }, + "final_grasp": { + "position": [ + 0.06155617535114288, + 0.029957616701722145, + 0.0815349742770195 + ], + "orientation": [ + 0.09860371053218842, + 0.6410530805587769, + -0.681567370891571, + -0.3388127088546753 + ], + "joints": [ + -0.0016090013086795807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05773215740919113, + 0.025945596396923065, + 0.08621536195278168 + ], + "orientation": [ + 0.10106320679187775, + 0.6092102527618408, + 0.7209922075271606, + 0.31435564160346985 + ], + "joints": [ + 0.016698747873306274 + ] + }, + "fine_grasp": { + "position": [ + -0.05636429786682129, + 0.025281164795160294, + 0.083195261657238 + ], + "orientation": [ + 0.10302706062793732, + 0.5979125499725342, + 0.7283129692077637, + 0.31850624084472656 + ], + "joints": [ + 0.007085777819156647 + ] + }, + "final_grasp": { + "position": [ + -0.05636429786682129, + 0.025281164795160294, + 0.083195261657238 + ], + "orientation": [ + 0.10302706062793732, + 0.5979125499725342, + 0.7283129692077637, + 0.31850624084472656 + ], + "joints": [ + -0.002527192234992981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01973673142492771, + -0.10150614380836487, + -0.004324203357100487 + ], + "orientation": [ + 0.6317757368087769, + -0.5487926602363586, + -0.4264904260635376, + -0.34320810437202454 + ], + "joints": [ + 0.017240799963474274 + ] + }, + "fine_grasp": { + "position": [ + 0.019034264609217644, + -0.09831350296735764, + -0.004032129421830177 + ], + "orientation": [ + 0.6306425929069519, + -0.550287127494812, + -0.42479023337364197, + -0.3450033962726593 + ], + "joints": [ + 0.00764872832223773 + ] + }, + "final_grasp": { + "position": [ + 0.019034264609217644, + -0.09831350296735764, + -0.004032129421830177 + ], + "orientation": [ + 0.6306425929069519, + -0.550287127494812, + -0.42479023337364197, + -0.3450033962726593 + ], + "joints": [ + -0.0019433433189988136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023489978164434433, + 0.04458805173635483, + -0.10708531737327576 + ], + "orientation": [ + 0.6451319456100464, + -0.16717079281806946, + -0.033551979809999466, + -0.7448040246963501 + ], + "joints": [ + 0.015582054853439331 + ] + }, + "fine_grasp": { + "position": [ + -0.022702345624566078, + 0.04474105313420296, + -0.10304341465234756 + ], + "orientation": [ + 0.6364163756370544, + -0.16855011880397797, + -0.03463120386004448, + -0.7519080638885498 + ], + "joints": [ + 0.007202052511274815 + ] + }, + "final_grasp": { + "position": [ + -0.022702345624566078, + 0.04474105313420296, + -0.10304341465234756 + ], + "orientation": [ + 0.6364163756370544, + -0.16855011880397797, + -0.03463120386004448, + -0.7519080638885498 + ], + "joints": [ + -0.0011779498308897018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00836915336549282, + -0.08785715699195862, + 0.05877058580517769 + ], + "orientation": [ + 0.4108768105506897, + -0.7463996410369873, + 0.44198766350746155, + 0.2805614769458771 + ], + "joints": [ + 0.018258143216371536 + ] + }, + "fine_grasp": { + "position": [ + 0.00787498988211155, + -0.08457638323307037, + 0.05656926706433296 + ], + "orientation": [ + 0.40727511048316956, + -0.7474584579467773, + 0.44292953610420227, + 0.2815072536468506 + ], + "joints": [ + 0.008248116821050644 + ] + }, + "final_grasp": { + "position": [ + 0.00787498988211155, + -0.08457638323307037, + 0.05656926706433296 + ], + "orientation": [ + 0.40727511048316956, + -0.7474584579467773, + 0.44292953610420227, + 0.2815072536468506 + ], + "joints": [ + -0.0017619095742702484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08139469474554062, + -0.04436987265944481, + 0.06891237944364548 + ], + "orientation": [ + 0.3929198980331421, + -0.7984191179275513, + 0.3764837980270386, + -0.25768324732780457 + ], + "joints": [ + 0.015969909727573395 + ] + }, + "fine_grasp": { + "position": [ + -0.07877315580844879, + -0.042537469416856766, + 0.06647413969039917 + ], + "orientation": [ + 0.39105015993118286, + -0.8036443591117859, + 0.37128934264183044, + -0.25175338983535767 + ], + "joints": [ + 0.006774894893169403 + ] + }, + "final_grasp": { + "position": [ + -0.07877315580844879, + -0.042537469416856766, + 0.06647413969039917 + ], + "orientation": [ + 0.39105015993118286, + -0.8036443591117859, + 0.37128934264183044, + -0.25175338983535767 + ], + "joints": [ + -0.0024201199412345886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0107960756868124, + -0.06593647599220276, + 0.07834671437740326 + ], + "orientation": [ + 0.17191176116466522, + -0.5106483101844788, + -0.7633675336837769, + -0.35630714893341064 + ], + "joints": [ + 0.0178617462515831 + ] + }, + "fine_grasp": { + "position": [ + -0.010326540097594261, + -0.06366434693336487, + 0.0752679780125618 + ], + "orientation": [ + 0.17292678356170654, + -0.49744200706481934, + -0.7702998518943787, + -0.35956358909606934 + ], + "joints": [ + 0.007830820977687836 + ] + }, + "final_grasp": { + "position": [ + -0.010326540097594261, + -0.06366434693336487, + 0.0752679780125618 + ], + "orientation": [ + 0.17292678356170654, + -0.49744200706481934, + -0.7702998518943787, + -0.35956358909606934 + ], + "joints": [ + -0.002200104296207428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1062205508351326, + 0.11989343911409378, + -0.006064113695174456 + ], + "orientation": [ + 0.5371803045272827, + 0.5806589126586914, + -0.3648151159286499, + -0.49110347032546997 + ], + "joints": [ + 0.01610480062663555 + ] + }, + "fine_grasp": { + "position": [ + 0.10308769345283508, + 0.12061689049005508, + -0.005559793207794428 + ], + "orientation": [ + 0.5304933190345764, + 0.5880371332168579, + -0.3532571792602539, + -0.4979945123195648 + ], + "joints": [ + 0.007327741011977196 + ] + }, + "final_grasp": { + "position": [ + 0.10308769345283508, + 0.12061689049005508, + -0.005559793207794428 + ], + "orientation": [ + 0.5304933190345764, + 0.5880371332168579, + -0.3532571792602539, + -0.4979945123195648 + ], + "joints": [ + -0.00144931860268116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013502097688615322, + -0.0982549786567688, + -0.011152982711791992 + ], + "orientation": [ + 0.19375266134738922, + -0.07641281932592392, + -0.663889467716217, + -0.7182420492172241 + ], + "joints": [ + 0.017032355070114136 + ] + }, + "fine_grasp": { + "position": [ + 0.013101555407047272, + -0.0943848043680191, + -0.010636761784553528 + ], + "orientation": [ + 0.18566110730171204, + -0.07972288131713867, + -0.6640879511833191, + -0.7198342084884644 + ], + "joints": [ + 0.007419385015964508 + ] + }, + "final_grasp": { + "position": [ + 0.013101555407047272, + -0.0943848043680191, + -0.010636761784553528 + ], + "orientation": [ + 0.18566110730171204, + -0.07972288131713867, + -0.6640879511833191, + -0.7198342084884644 + ], + "joints": [ + -0.0021935850381851196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10633929073810577, + 0.12035928666591644, + -0.005611024796962738 + ], + "orientation": [ + 0.5348426103591919, + 0.582476019859314, + -0.36488810181617737, + -0.49144864082336426 + ], + "joints": [ + 0.016126194968819618 + ] + }, + "fine_grasp": { + "position": [ + 0.10319438576698303, + 0.12108049541711807, + -0.005115340929478407 + ], + "orientation": [ + 0.5279821753501892, + 0.5899934768676758, + -0.353167325258255, + -0.4984129071235657 + ], + "joints": [ + 0.0073491353541612625 + ] + }, + "final_grasp": { + "position": [ + 0.10319438576698303, + 0.12108049541711807, + -0.005115340929478407 + ], + "orientation": [ + 0.5279821753501892, + 0.5899934768676758, + -0.353167325258255, + -0.4984129071235657 + ], + "joints": [ + -0.0014279242604970932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03964388370513916, + -0.09107066690921783, + -0.012483716011047363 + ], + "orientation": [ + 0.41729632019996643, + -0.1532231718301773, + -0.6426604390144348, + -0.6239984631538391 + ], + "joints": [ + 0.01760208234190941 + ] + }, + "fine_grasp": { + "position": [ + 0.03817204013466835, + -0.0889190286397934, + -0.01147716399282217 + ], + "orientation": [ + 0.4183463156223297, + -0.15352581441402435, + -0.6440801620483398, + -0.6217530965805054 + ], + "joints": [ + 0.007633853238075972 + ] + }, + "final_grasp": { + "position": [ + 0.03817204013466835, + -0.0889190286397934, + -0.01147716399282217 + ], + "orientation": [ + 0.4183463156223297, + -0.15352581441402435, + -0.6440801620483398, + -0.6217530965805054 + ], + "joints": [ + -0.0023343758657574654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061011847108602524, + -0.018951183184981346, + -0.09200873225927353 + ], + "orientation": [ + 0.7014774084091187, + -0.35751107335090637, + -0.034032151103019714, + 0.6155949831008911 + ], + "joints": [ + 0.016973622143268585 + ] + }, + "fine_grasp": { + "position": [ + 0.05885888636112213, + -0.01839449442923069, + -0.0887727290391922 + ], + "orientation": [ + 0.7012428641319275, + -0.35459354519844055, + -0.038390617817640305, + 0.6172909140586853 + ], + "joints": [ + 0.0069426968693733215 + ] + }, + "final_grasp": { + "position": [ + 0.05885888636112213, + -0.01839449442923069, + -0.0887727290391922 + ], + "orientation": [ + 0.7012428641319275, + -0.35459354519844055, + -0.038390617817640305, + 0.6172909140586853 + ], + "joints": [ + -0.003088228404521942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012447366490960121, + 0.08838991075754166, + 0.10574758797883987 + ], + "orientation": [ + 0.00824920367449522, + 0.7307133078575134, + 0.6788050532341003, + 0.07220499962568283 + ], + "joints": [ + 0.017092812806367874 + ] + }, + "fine_grasp": { + "position": [ + -0.013354351744055748, + 0.0855230912566185, + 0.10434891283512115 + ], + "orientation": [ + 0.00025041933986358345, + 0.7423974871635437, + 0.6644503474235535, + 0.08574147522449493 + ], + "joints": [ + 0.007876900024712086 + ] + }, + "final_grasp": { + "position": [ + -0.013354351744055748, + 0.0855230912566185, + 0.10434891283512115 + ], + "orientation": [ + 0.00025041933986358345, + 0.7423974871635437, + 0.6644503474235535, + 0.08574147522449493 + ], + "joints": [ + -0.0013390127569437027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011150076054036617, + -0.065452441573143, + 0.07768864184617996 + ], + "orientation": [ + 0.17412397265434265, + -0.5157611966133118, + -0.7594109773635864, + -0.3563232421875 + ], + "joints": [ + 0.017852747812867165 + ] + }, + "fine_grasp": { + "position": [ + -0.010808464139699936, + -0.06349215656518936, + 0.07471928000450134 + ], + "orientation": [ + 0.17573009431362152, + -0.5035547614097595, + -0.7651675343513489, + -0.36065244674682617 + ], + "joints": [ + 0.007821822538971901 + ] + }, + "final_grasp": { + "position": [ + -0.010808464139699936, + -0.06349215656518936, + 0.07471928000450134 + ], + "orientation": [ + 0.17573009431362152, + -0.5035547614097595, + -0.7651675343513489, + -0.36065244674682617 + ], + "joints": [ + -0.0022091027349233627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09639468044042587, + 0.04200282692909241, + 0.03999000042676926 + ], + "orientation": [ + 0.5095327496528625, + -0.60003662109375, + -0.5636655688285828, + 0.2502267062664032 + ], + "joints": [ + 0.01639518514275551 + ] + }, + "fine_grasp": { + "position": [ + 0.09356289356946945, + 0.040642865002155304, + 0.038324784487485886 + ], + "orientation": [ + 0.5093139410018921, + -0.5971809029579163, + -0.5667847394943237, + 0.2504580616950989 + ], + "joints": [ + 0.007618125528097153 + ] + }, + "final_grasp": { + "position": [ + 0.09356289356946945, + 0.040642865002155304, + 0.038324784487485886 + ], + "orientation": [ + 0.5093139410018921, + -0.5971809029579163, + -0.5667847394943237, + 0.2504580616950989 + ], + "joints": [ + -0.001158934086561203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09590864926576614, + -0.05823776125907898, + -0.02825917862355709 + ], + "orientation": [ + 0.6971515417098999, + -0.5820239782333374, + -0.23503611981868744, + 0.3463897705078125 + ], + "joints": [ + 0.017779333516955376 + ] + }, + "fine_grasp": { + "position": [ + 0.09251292794942856, + -0.05649711564183235, + -0.027253156527876854 + ], + "orientation": [ + 0.6967379450798035, + -0.5783724188804626, + -0.23954740166664124, + 0.35022661089897156 + ], + "joints": [ + 0.008166363462805748 + ] + }, + "final_grasp": { + "position": [ + 0.09251292794942856, + -0.05649711564183235, + -0.027253156527876854 + ], + "orientation": [ + 0.6967379450798035, + -0.5783724188804626, + -0.23954740166664124, + 0.35022661089897156 + ], + "joints": [ + -0.0014466065913438797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052494652569293976, + 0.1285325586795807, + -0.09896793216466904 + ], + "orientation": [ + 0.6357089281082153, + -0.12312965840101242, + -0.21967901289463043, + 0.7296947836875916 + ], + "joints": [ + 0.015854891389608383 + ] + }, + "fine_grasp": { + "position": [ + 0.05054227262735367, + 0.12829479575157166, + -0.09533685445785522 + ], + "orientation": [ + 0.6308663487434387, + -0.12420282512903214, + -0.21894851326942444, + 0.7339229583740234 + ], + "joints": [ + 0.0070778317749500275 + ] + }, + "final_grasp": { + "position": [ + 0.05054227262735367, + 0.12829479575157166, + -0.09533685445785522 + ], + "orientation": [ + 0.6308663487434387, + -0.12420282512903214, + -0.21894851326942444, + 0.7339229583740234 + ], + "joints": [ + -0.0016992278397083282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11253112554550171, + 0.02820490673184395, + 0.000989057938568294 + ], + "orientation": [ + 0.607243537902832, + -0.5348289608955383, + -0.4700571298599243, + 0.3525047302246094 + ], + "joints": [ + 0.017706621438264847 + ] + }, + "fine_grasp": { + "position": [ + 0.10850027203559875, + 0.02890606038272381, + 0.0008227944490499794 + ], + "orientation": [ + 0.6090754866600037, + -0.5309414863586426, + -0.4720628559589386, + 0.3525405824184418 + ], + "joints": [ + 0.008929561823606491 + ] + }, + "final_grasp": { + "position": [ + 0.10850027203559875, + 0.02890606038272381, + 0.0008227944490499794 + ], + "orientation": [ + 0.6090754866600037, + -0.5309414863586426, + -0.4720628559589386, + 0.3525405824184418 + ], + "joints": [ + 0.00015250220894813538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04785733297467232, + -0.059624262154102325, + 0.06764761358499527 + ], + "orientation": [ + 0.008204981684684753, + -0.4602944552898407, + 0.7587197422981262, + 0.46087536215782166 + ], + "joints": [ + 0.017448320984840393 + ] + }, + "fine_grasp": { + "position": [ + 0.04601091891527176, + -0.0571381114423275, + 0.06518331170082092 + ], + "orientation": [ + 0.004824432544410229, + -0.4530119299888611, + 0.763420581817627, + 0.46037590503692627 + ], + "joints": [ + 0.007835350930690765 + ] + }, + "final_grasp": { + "position": [ + 0.04601091891527176, + -0.0571381114423275, + 0.06518331170082092 + ], + "orientation": [ + 0.004824432544410229, + -0.4530119299888611, + 0.763420581817627, + 0.46037590503692627 + ], + "joints": [ + -0.0017776191234588623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02491917833685875, + 0.13470113277435303, + 0.10547447949647903 + ], + "orientation": [ + 0.0371251255273819, + 0.6557899117469788, + 0.7255463004112244, + -0.2052895873785019 + ], + "joints": [ + 0.015545224770903587 + ] + }, + "fine_grasp": { + "position": [ + 0.023948609828948975, + 0.13417978584766388, + 0.10146807879209518 + ], + "orientation": [ + 0.03454664722084999, + 0.6462829113006592, + 0.7340896725654602, + -0.20551735162734985 + ], + "joints": [ + 0.007186120375990868 + ] + }, + "final_grasp": { + "position": [ + 0.023948609828948975, + 0.13417978584766388, + 0.10146807879209518 + ], + "orientation": [ + 0.03454664722084999, + 0.6462829113006592, + 0.7340896725654602, + -0.20551735162734985 + ], + "joints": [ + -0.0011729840189218521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014229342341423035, + -0.049310896545648575, + 0.08443674445152283 + ], + "orientation": [ + 0.15012915432453156, + -0.5871549844741821, + -0.7363801598548889, + -0.3007565140724182 + ], + "joints": [ + 0.017819732427597046 + ] + }, + "fine_grasp": { + "position": [ + -0.013467310927808285, + -0.04985294118523598, + 0.08179172873497009 + ], + "orientation": [ + 0.15562954545021057, + -0.5754396915435791, + -0.7404186725616455, + -0.3105299770832062 + ], + "joints": [ + 0.008206762373447418 + ] + }, + "final_grasp": { + "position": [ + -0.013467310927808285, + -0.04985294118523598, + 0.08179172873497009 + ], + "orientation": [ + 0.15562954545021057, + -0.5754396915435791, + -0.7404186725616455, + -0.3105299770832062 + ], + "joints": [ + -0.0014062076807022095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016315437853336334, + 0.12583725154399872, + -0.11525923013687134 + ], + "orientation": [ + 0.7428425550460815, + 0.07179125398397446, + -0.02983599528670311, + -0.6649366021156311 + ], + "joints": [ + 0.01554819941520691 + ] + }, + "fine_grasp": { + "position": [ + 0.015822377055883408, + 0.1257213056087494, + -0.11117041856050491 + ], + "orientation": [ + 0.7438167333602905, + 0.07117003202438354, + -0.02984030544757843, + -0.6639136075973511 + ], + "joints": [ + 0.0067711398005485535 + ] + }, + "final_grasp": { + "position": [ + 0.015822377055883408, + 0.1257213056087494, + -0.11117041856050491 + ], + "orientation": [ + 0.7438167333602905, + 0.07117003202438354, + -0.02984030544757843, + -0.6639136075973511 + ], + "joints": [ + -0.0020059198141098022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03984706103801727, + -0.09004891663789749, + -0.011165914125740528 + ], + "orientation": [ + 0.4341626465320587, + -0.16284404695034027, + -0.6396068930625916, + -0.6130968332290649 + ], + "joints": [ + 0.017092373222112656 + ] + }, + "fine_grasp": { + "position": [ + 0.0385320745408535, + -0.08727344870567322, + -0.010253995656967163 + ], + "orientation": [ + 0.4316989481449127, + -0.16720876097679138, + -0.6432709097862244, + -0.6098194718360901 + ], + "joints": [ + 0.007500301115214825 + ] + }, + "final_grasp": { + "position": [ + 0.0385320745408535, + -0.08727344870567322, + -0.010253995656967163 + ], + "orientation": [ + 0.4316989481449127, + -0.16720876097679138, + -0.6432709097862244, + -0.6098194718360901 + ], + "joints": [ + -0.0020917709916830063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07719270139932632, + 0.14786265790462494, + 0.1026594340801239 + ], + "orientation": [ + 0.2565196752548218, + -0.6370639204978943, + 0.7013553380966187, + -0.1909130960702896 + ], + "joints": [ + 0.015394860878586769 + ] + }, + "fine_grasp": { + "position": [ + -0.07480841130018234, + 0.14795982837677002, + 0.09952710568904877 + ], + "orientation": [ + 0.2543269991874695, + -0.6342384219169617, + 0.7041499614715576, + -0.19295616447925568 + ], + "joints": [ + 0.006178948096930981 + ] + }, + "final_grasp": { + "position": [ + -0.07480841130018234, + 0.14795982837677002, + 0.09952710568904877 + ], + "orientation": [ + 0.2543269991874695, + -0.6342384219169617, + 0.7041499614715576, + -0.19295616447925568 + ], + "joints": [ + -0.0030369646847248077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06983433663845062, + 0.033188268542289734, + -0.09229794144630432 + ], + "orientation": [ + 0.5693256258964539, + 0.19931907951831818, + -0.2579083740711212, + -0.7547339797019958 + ], + "joints": [ + 0.016446977853775024 + ] + }, + "fine_grasp": { + "position": [ + 0.06728082150220871, + 0.0334584042429924, + -0.0889764130115509 + ], + "orientation": [ + 0.5664116144180298, + 0.2010357677936554, + -0.2557179033756256, + -0.7572125196456909 + ], + "joints": [ + 0.00850582867860794 + ] + }, + "final_grasp": { + "position": [ + 0.06728082150220871, + 0.0334584042429924, + -0.0889764130115509 + ], + "orientation": [ + 0.5664116144180298, + 0.2010357677936554, + -0.2557179033756256, + -0.7572125196456909 + ], + "joints": [ + 0.0005646795034408569 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07659153640270233, + 0.14824071526527405, + 0.10163411498069763 + ], + "orientation": [ + 0.25700828433036804, + -0.6344627737998962, + 0.7035098671913147, + -0.19099114835262299 + ], + "joints": [ + 0.01574082300066948 + ] + }, + "fine_grasp": { + "position": [ + -0.07420945167541504, + 0.14834077656269073, + 0.09850876033306122 + ], + "orientation": [ + 0.25529617071151733, + -0.6312732100486755, + 0.7064463496208191, + -0.19300688803195953 + ], + "joints": [ + 0.005730795674026012 + ] + }, + "final_grasp": { + "position": [ + -0.07420945167541504, + 0.14834077656269073, + 0.09850876033306122 + ], + "orientation": [ + 0.25529617071151733, + -0.6312732100486755, + 0.7064463496208191, + -0.19300688803195953 + ], + "joints": [ + -0.0042792316526174545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11147080361843109, + 0.028510989621281624, + 0.0010709629859775305 + ], + "orientation": [ + 0.6096069812774658, + -0.5318889617919922, + -0.4726425111293793, + 0.3494029641151428 + ], + "joints": [ + 0.017676696181297302 + ] + }, + "fine_grasp": { + "position": [ + 0.10744047164916992, + 0.02919989451766014, + 0.0008471290930174291 + ], + "orientation": [ + 0.6116975545883179, + -0.5278444886207581, + -0.47506213188171387, + 0.34860050678253174 + ], + "joints": [ + 0.008899636566638947 + ] + }, + "final_grasp": { + "position": [ + 0.10744047164916992, + 0.02919989451766014, + 0.0008471290930174291 + ], + "orientation": [ + 0.6116975545883179, + -0.5278444886207581, + -0.47506213188171387, + 0.34860050678253174 + ], + "joints": [ + 0.00012257695198059082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037881918251514435, + -0.09475097805261612, + -0.013256884180009365 + ], + "orientation": [ + 0.7323367595672607, + -0.6604129076004028, + 0.10351988673210144, + -0.12969648838043213 + ], + "joints": [ + 0.01770436018705368 + ] + }, + "fine_grasp": { + "position": [ + -0.03626798465847969, + -0.0915888100862503, + -0.012310135178267956 + ], + "orientation": [ + 0.7323082685470581, + -0.6585243344306946, + 0.10817347466945648, + -0.13553161919116974 + ], + "joints": [ + 0.007715232204645872 + ] + }, + "final_grasp": { + "position": [ + -0.03626798465847969, + -0.0915888100862503, + -0.012310135178267956 + ], + "orientation": [ + 0.7323082685470581, + -0.6585243344306946, + 0.10817347466945648, + -0.13553161919116974 + ], + "joints": [ + -0.002273895777761936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0322636142373085, + -0.08325935155153275, + 0.05922984704375267 + ], + "orientation": [ + 0.4923008382320404, + -0.5965366363525391, + 0.573366105556488, + 0.2702502906322479 + ], + "joints": [ + 0.0144148338586092 + ] + }, + "fine_grasp": { + "position": [ + -0.03139737620949745, + -0.08110450208187103, + 0.056221701204776764 + ], + "orientation": [ + 0.47281700372695923, + -0.6050610542297363, + 0.5865402817726135, + 0.25751838088035583 + ], + "joints": [ + 0.007226003333926201 + ] + }, + "final_grasp": { + "position": [ + -0.03139737620949745, + -0.08110450208187103, + 0.056221701204776764 + ], + "orientation": [ + 0.47281700372695923, + -0.6050610542297363, + 0.5865402817726135, + 0.25751838088035583 + ], + "joints": [ + 3.717280924320221e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11163216829299927, + 0.1621789038181305, + 0.0370788611471653 + ], + "orientation": [ + 0.5165244340896606, + 0.6090207099914551, + -0.5252812504768372, + -0.29389792680740356 + ], + "joints": [ + 0.016578309237957 + ] + }, + "fine_grasp": { + "position": [ + 0.10799108445644379, + 0.16143260896205902, + 0.03587004542350769 + ], + "orientation": [ + 0.5147523283958435, + 0.6068944334983826, + -0.5281798839569092, + -0.2962016463279724 + ], + "joints": [ + 0.0057532694190740585 + ] + }, + "final_grasp": { + "position": [ + 0.10799108445644379, + 0.16143260896205902, + 0.03587004542350769 + ], + "orientation": [ + 0.5147523283958435, + 0.6068944334983826, + -0.5281798839569092, + -0.2962016463279724 + ], + "joints": [ + -0.005071770399808884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03398068621754646, + -0.06998623162508011, + 0.0645877867937088 + ], + "orientation": [ + 0.4335084855556488, + -0.6241158246994019, + 0.6190194487571716, + 0.19840574264526367 + ], + "joints": [ + 0.017444651573896408 + ] + }, + "fine_grasp": { + "position": [ + -0.033067043870687485, + -0.06809212267398834, + 0.06138860806822777 + ], + "orientation": [ + 0.4328596591949463, + -0.6115136742591858, + 0.6299306154251099, + 0.2046237289905548 + ], + "joints": [ + 0.00783168151974678 + ] + }, + "final_grasp": { + "position": [ + -0.033067043870687485, + -0.06809212267398834, + 0.06138860806822777 + ], + "orientation": [ + 0.4328596591949463, + -0.6115136742591858, + 0.6299306154251099, + 0.2046237289905548 + ], + "joints": [ + -0.0017812885344028473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03224556893110275, + -0.08312574774026871, + 0.05891743674874306 + ], + "orientation": [ + 0.48964184522628784, + -0.5977724194526672, + 0.5748613476753235, + 0.26917198300361633 + ], + "joints": [ + 0.014854786917567253 + ] + }, + "fine_grasp": { + "position": [ + -0.031284578144550323, + -0.08088532090187073, + 0.0559004470705986 + ], + "orientation": [ + 0.47156861424446106, + -0.605262279510498, + 0.5877875685691833, + 0.2564883530139923 + ], + "joints": [ + 0.007268899120390415 + ] + }, + "final_grasp": { + "position": [ + -0.031284578144550323, + -0.08088532090187073, + 0.0559004470705986 + ], + "orientation": [ + 0.47156861424446106, + -0.605262279510498, + 0.5877875685691833, + 0.2564883530139923 + ], + "joints": [ + -0.00031698867678642273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027583478018641472, + 0.015130405314266682, + 0.10561078041791916 + ], + "orientation": [ + 0.04624614119529724, + -0.6772974133491516, + 0.6996679306030273, + 0.2226976603269577 + ], + "joints": [ + 0.015843715518712997 + ] + }, + "fine_grasp": { + "position": [ + 0.02657872624695301, + 0.01583046466112137, + 0.10174325108528137 + ], + "orientation": [ + 0.0458998903632164, + -0.6803380846977234, + 0.6972867250442505, + 0.22096289694309235 + ], + "joints": [ + 0.006648700684309006 + ] + }, + "final_grasp": { + "position": [ + 0.02657872624695301, + 0.01583046466112137, + 0.10174325108528137 + ], + "orientation": [ + 0.0458998903632164, + -0.6803380846977234, + 0.6972867250442505, + 0.22096289694309235 + ], + "joints": [ + -0.002546314150094986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028767811134457588, + -0.03848525509238243, + 0.09854835271835327 + ], + "orientation": [ + 0.10384295880794525, + -0.6542441844940186, + 0.6902134418487549, + 0.29118120670318604 + ], + "joints": [ + 0.017054438591003418 + ] + }, + "fine_grasp": { + "position": [ + 0.02781854011118412, + -0.0370146706700325, + 0.0950751006603241 + ], + "orientation": [ + 0.10413079708814621, + -0.6569175124168396, + 0.6885008215904236, + 0.28910723328590393 + ], + "joints": [ + 0.007023513317108154 + ] + }, + "final_grasp": { + "position": [ + 0.02781854011118412, + -0.0370146706700325, + 0.0950751006603241 + ], + "orientation": [ + 0.10413079708814621, + -0.6569175124168396, + 0.6885008215904236, + 0.28910723328590393 + ], + "joints": [ + -0.0030074119567871094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058391403406858444, + 0.02904556319117546, + 0.09906408935785294 + ], + "orientation": [ + 0.23509633541107178, + -0.6618414521217346, + -0.6993263959884644, + 0.1328088641166687 + ], + "joints": [ + 0.016167722642421722 + ] + }, + "fine_grasp": { + "position": [ + 0.05632137507200241, + 0.029279056936502457, + 0.09557763487100601 + ], + "orientation": [ + 0.23716342449188232, + -0.6522555947303772, + -0.7079504728317261, + 0.13085216283798218 + ], + "joints": [ + 0.007390663027763367 + ] + }, + "final_grasp": { + "position": [ + 0.05632137507200241, + 0.029279056936502457, + 0.09557763487100601 + ], + "orientation": [ + 0.23716342449188232, + -0.6522555947303772, + -0.7079504728317261, + 0.13085216283798218 + ], + "joints": [ + -0.001386396586894989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11385176330804825, + 0.13930194079875946, + -0.004129072185605764 + ], + "orientation": [ + 0.5752076506614685, + 0.5271422266960144, + -0.4486892521381378, + -0.4358155131340027 + ], + "joints": [ + 0.01490217074751854 + ] + }, + "fine_grasp": { + "position": [ + 0.10975709557533264, + 0.13887549936771393, + -0.003921646159142256 + ], + "orientation": [ + 0.5759440660476685, + 0.5255661606788635, + -0.449966698884964, + -0.435429185628891 + ], + "joints": [ + 0.00654306635260582 + ] + }, + "final_grasp": { + "position": [ + 0.10975709557533264, + 0.13887549936771393, + -0.003921646159142256 + ], + "orientation": [ + 0.5759440660476685, + 0.5255661606788635, + -0.449966698884964, + -0.435429185628891 + ], + "joints": [ + -0.0018160380423069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08828967809677124, + 0.15027517080307007, + -0.05360149219632149 + ], + "orientation": [ + 0.7107461094856262, + 0.45281800627708435, + -0.2351684719324112, + -0.484243243932724 + ], + "joints": [ + 0.015572652220726013 + ] + }, + "fine_grasp": { + "position": [ + 0.0847196951508522, + 0.1500546783208847, + -0.05159154534339905 + ], + "orientation": [ + 0.715408444404602, + 0.45109227299690247, + -0.238990917801857, + -0.477063924074173 + ], + "joints": [ + 0.0072135478258132935 + ] + }, + "final_grasp": { + "position": [ + 0.0847196951508522, + 0.1500546783208847, + -0.05159154534339905 + ], + "orientation": [ + 0.715408444404602, + 0.45109227299690247, + -0.238990917801857, + -0.477063924074173 + ], + "joints": [ + -0.0011455565690994263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045578185468912125, + 0.27217698097229004, + 0.00037803681334480643 + ], + "orientation": [ + 0.7017309665679932, + 0.6637870073318481, + 0.25325438380241394, + 0.053128696978092194 + ], + "joints": [ + 0.014865810051560402 + ] + }, + "fine_grasp": { + "position": [ + -0.04328795149922371, + 0.2708103656768799, + -0.0008556300308555365 + ], + "orientation": [ + 0.7081858515739441, + 0.6576429009437561, + 0.2538002133369446, + 0.039549462497234344 + ], + "joints": [ + 0.004834884777665138 + ] + }, + "final_grasp": { + "position": [ + -0.04328795149922371, + 0.2708103656768799, + -0.0008556300308555365 + ], + "orientation": [ + 0.7081858515739441, + 0.6576429009437561, + 0.2538002133369446, + 0.039549462497234344 + ], + "joints": [ + -0.005196040496230125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05764339491724968, + 0.029633767902851105, + 0.09783418476581573 + ], + "orientation": [ + 0.23623907566070557, + -0.6633673906326294, + -0.6974051594734192, + 0.13327017426490784 + ], + "joints": [ + 0.0163384061306715 + ] + }, + "fine_grasp": { + "position": [ + 0.055655159056186676, + 0.029874663800001144, + 0.09429390728473663 + ], + "orientation": [ + 0.2388230711221695, + -0.6535853147506714, + -0.7062016129493713, + 0.1306486278772354 + ], + "joints": [ + 0.007540448568761349 + ] + }, + "final_grasp": { + "position": [ + 0.055655159056186676, + 0.029874663800001144, + 0.09429390728473663 + ], + "orientation": [ + 0.2388230711221695, + -0.6535853147506714, + -0.7062016129493713, + 0.1306486278772354 + ], + "joints": [ + -0.0012575089931488037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1110440045595169, + 0.028094196692109108, + 0.0008683563792146742 + ], + "orientation": [ + 0.6029871106147766, + -0.5308552980422974, + -0.47544053196907043, + 0.35854631662368774 + ], + "joints": [ + 0.018486760556697845 + ] + }, + "fine_grasp": { + "position": [ + 0.10705965757369995, + 0.028819607570767403, + 0.0005623650504276156 + ], + "orientation": [ + 0.6047841906547546, + -0.5276743173599243, + -0.4771363139152527, + 0.3579620122909546 + ], + "joints": [ + 0.00970970094203949 + ] + }, + "final_grasp": { + "position": [ + 0.10705965757369995, + 0.028819607570767403, + 0.0005623650504276156 + ], + "orientation": [ + 0.6047841906547546, + -0.5276743173599243, + -0.4771363139152527, + 0.3579620122909546 + ], + "joints": [ + 0.000932641327381134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05003754422068596, + 0.16027767956256866, + 0.0996231883764267 + ], + "orientation": [ + 0.05458288639783859, + -0.6352139711380005, + 0.7195704579353333, + -0.2752130925655365 + ], + "joints": [ + 0.015480082482099533 + ] + }, + "fine_grasp": { + "position": [ + -0.0481998547911644, + 0.15946492552757263, + 0.0960555225610733 + ], + "orientation": [ + 0.05620250850915909, + -0.6326203346252441, + 0.7227286696434021, + -0.27257290482521057 + ], + "joints": [ + 0.006703022867441177 + ] + }, + "final_grasp": { + "position": [ + -0.0481998547911644, + 0.15946492552757263, + 0.0960555225610733 + ], + "orientation": [ + 0.05620250850915909, + -0.6326203346252441, + 0.7227286696434021, + -0.27257290482521057 + ], + "joints": [ + -0.0020740367472171783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013793186284601688, + -0.048468999564647675, + 0.08398415893316269 + ], + "orientation": [ + 0.15359418094158173, + -0.5785837173461914, + -0.740050196647644, + -0.30655375123023987 + ], + "joints": [ + 0.017638985067605972 + ] + }, + "fine_grasp": { + "position": [ + -0.012808633968234062, + -0.048992134630680084, + 0.08091150224208832 + ], + "orientation": [ + 0.15926475822925568, + -0.5645650029182434, + -0.7448710203170776, + -0.31791236996650696 + ], + "joints": [ + 0.008026015013456345 + ] + }, + "final_grasp": { + "position": [ + -0.012808633968234062, + -0.048992134630680084, + 0.08091150224208832 + ], + "orientation": [ + 0.15926475822925568, + -0.5645650029182434, + -0.7448710203170776, + -0.31791236996650696 + ], + "joints": [ + -0.001586955040693283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0003136281156912446, + 0.022332485765218735, + -0.12241346389055252 + ], + "orientation": [ + 0.7755619883537292, + -0.029310721904039383, + 0.012261683121323586, + 0.630471408367157 + ], + "joints": [ + 0.018675435334444046 + ] + }, + "fine_grasp": { + "position": [ + 0.000813647115137428, + 0.022432144731283188, + -0.11853478848934174 + ], + "orientation": [ + 0.7767505049705505, + -0.026296840980648994, + 0.014730461873114109, + 0.6290868520736694 + ], + "joints": [ + 0.006659225560724735 + ] + }, + "final_grasp": { + "position": [ + 0.000813647115137428, + 0.022432144731283188, + -0.11853478848934174 + ], + "orientation": [ + 0.7767505049705505, + -0.026296840980648994, + 0.014730461873114109, + 0.6290868520736694 + ], + "joints": [ + -0.0053569842129945755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0636087954044342, + -0.07194104790687561, + -0.03023107908666134 + ], + "orientation": [ + 0.2592688798904419, + 0.16382570564746857, + -0.5873779058456421, + -0.7489513754844666 + ], + "joints": [ + 0.01849433220922947 + ] + }, + "fine_grasp": { + "position": [ + 0.061094459146261215, + -0.06939669698476791, + -0.029174750670790672 + ], + "orientation": [ + 0.2504641115665436, + 0.16354486346244812, + -0.5852555632591248, + -0.7536555528640747 + ], + "joints": [ + 0.00804545171558857 + ] + }, + "final_grasp": { + "position": [ + 0.061094459146261215, + -0.06939669698476791, + -0.029174750670790672 + ], + "orientation": [ + 0.2504641115665436, + 0.16354486346244812, + -0.5852555632591248, + -0.7536555528640747 + ], + "joints": [ + -0.00240342877805233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11768200248479843, + 0.1266118586063385, + 0.027955133467912674 + ], + "orientation": [ + 0.44898083806037903, + -0.592585563659668, + -0.5112520456314087, + 0.4311380088329315 + ], + "joints": [ + 0.015748344361782074 + ] + }, + "fine_grasp": { + "position": [ + 0.11383282393217087, + 0.12672187387943268, + 0.027043141424655914 + ], + "orientation": [ + 0.44685840606689453, + -0.5924208164215088, + -0.5118268728256226, + 0.4328838884830475 + ], + "joints": [ + 0.006135374307632446 + ] + }, + "final_grasp": { + "position": [ + 0.11383282393217087, + 0.12672187387943268, + 0.027043141424655914 + ], + "orientation": [ + 0.44685840606689453, + -0.5924208164215088, + -0.5118268728256226, + 0.4328838884830475 + ], + "joints": [ + -0.0034775957465171814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007103314157575369, + 0.08659669756889343, + -0.10550542920827866 + ], + "orientation": [ + 0.7799718976020813, + 0.10178185999393463, + -0.04030147194862366, + 0.6161656379699707 + ], + "joints": [ + 0.017283495515584946 + ] + }, + "fine_grasp": { + "position": [ + -0.007181394379585981, + 0.08749847114086151, + -0.10384167730808258 + ], + "orientation": [ + 0.7841237783432007, + 0.1045876145362854, + -0.0404890775680542, + 0.6103867292404175 + ], + "joints": [ + 0.007649627514183521 + ] + }, + "final_grasp": { + "position": [ + -0.007181394379585981, + 0.08749847114086151, + -0.10384167730808258 + ], + "orientation": [ + 0.7841237783432007, + 0.1045876145362854, + -0.0404890775680542, + 0.6103867292404175 + ], + "joints": [ + -0.001984240487217903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05723138526082039, + 0.02889365702867508, + 0.09754563122987747 + ], + "orientation": [ + 0.2345028668642044, + -0.6583317518234253, + -0.7027410268783569, + 0.13327699899673462 + ], + "joints": [ + 0.01594977267086506 + ] + }, + "fine_grasp": { + "position": [ + 0.05520431324839592, + 0.029019895941019058, + 0.0939517468214035 + ], + "orientation": [ + 0.23765599727630615, + -0.6435564160346985, + -0.7160462737083435, + 0.12896743416786194 + ], + "joints": [ + 0.007590668275952339 + ] + }, + "final_grasp": { + "position": [ + 0.05520431324839592, + 0.029019895941019058, + 0.0939517468214035 + ], + "orientation": [ + 0.23765599727630615, + -0.6435564160346985, + -0.7160462737083435, + 0.12896743416786194 + ], + "joints": [ + -0.0007684361189603806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050617147237062454, + 0.011293855495750904, + 0.0989747941493988 + ], + "orientation": [ + 0.06444252282381058, + 0.6099121570587158, + -0.740122377872467, + -0.27581390738487244 + ], + "joints": [ + 0.01629534922540188 + ] + }, + "fine_grasp": { + "position": [ + 0.04872379079461098, + 0.011977644637227058, + 0.09548922628164291 + ], + "orientation": [ + 0.06812861561775208, + 0.6029829978942871, + -0.7466027736663818, + -0.27268004417419434 + ], + "joints": [ + 0.007100334390997887 + ] + }, + "final_grasp": { + "position": [ + 0.04872379079461098, + 0.011977644637227058, + 0.09548922628164291 + ], + "orientation": [ + 0.06812861561775208, + 0.6029829978942871, + -0.7466027736663818, + -0.27268004417419434 + ], + "joints": [ + -0.002094680443406105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0927477702498436, + 0.14017042517662048, + 0.06351188570261002 + ], + "orientation": [ + 0.35860034823417664, + 0.6895782351493835, + -0.5503677725791931, + -0.3049311935901642 + ], + "joints": [ + 0.015265312045812607 + ] + }, + "fine_grasp": { + "position": [ + 0.08926151692867279, + 0.14006692171096802, + 0.0612393282353878 + ], + "orientation": [ + 0.35267436504364014, + 0.7013655304908752, + -0.534553050994873, + -0.3129858076572418 + ], + "joints": [ + 0.006906207650899887 + ] + }, + "final_grasp": { + "position": [ + 0.08926151692867279, + 0.14006692171096802, + 0.0612393282353878 + ], + "orientation": [ + 0.35267436504364014, + 0.7013655304908752, + -0.534553050994873, + -0.3129858076572418 + ], + "joints": [ + -0.0014528967440128326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11324332654476166, + 0.0015844246372580528, + 0.014105008915066719 + ], + "orientation": [ + 0.3776881694793701, + 0.45608991384506226, + -0.5924597382545471, + -0.546191394329071 + ], + "joints": [ + 0.016924135386943817 + ] + }, + "fine_grasp": { + "position": [ + 0.10934928804636002, + 0.002054962096735835, + 0.013598489575088024 + ], + "orientation": [ + 0.38096779584884644, + 0.4579281210899353, + -0.5896126627922058, + -0.5454561710357666 + ], + "joints": [ + 0.0073111653327941895 + ] + }, + "final_grasp": { + "position": [ + 0.10934928804636002, + 0.002054962096735835, + 0.013598489575088024 + ], + "orientation": [ + 0.38096779584884644, + 0.4579281210899353, + -0.5896126627922058, + -0.5454561710357666 + ], + "joints": [ + -0.0023018047213554382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10843542963266373, + 0.17104515433311462, + 0.03872372955083847 + ], + "orientation": [ + 0.4419149160385132, + 0.6289476752281189, + 0.5164536833763123, + 0.37737444043159485 + ], + "joints": [ + 0.014080430381000042 + ] + }, + "fine_grasp": { + "position": [ + -0.10452096164226532, + 0.17055444419384003, + 0.037391118705272675 + ], + "orientation": [ + 0.4407854974269867, + 0.6308554410934448, + 0.5147085189819336, + 0.37789517641067505 + ], + "joints": [ + 0.005721325986087322 + ] + }, + "final_grasp": { + "position": [ + -0.10452096164226532, + 0.17055444419384003, + 0.037391118705272675 + ], + "orientation": [ + 0.4407854974269867, + 0.6308554410934448, + 0.5147085189819336, + 0.37789517641067505 + ], + "joints": [ + -0.0026377784088253975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10575404763221741, + 0.15881063044071198, + 0.03202609345316887 + ], + "orientation": [ + 0.3473040759563446, + -0.45340675115585327, + 0.6549927592277527, + -0.49475929141044617 + ], + "joints": [ + 0.01548992469906807 + ] + }, + "fine_grasp": { + "position": [ + -0.1019400954246521, + 0.158101886510849, + 0.030831048265099525 + ], + "orientation": [ + 0.34980055689811707, + -0.4519422650337219, + 0.6564648151397705, + -0.4923836290836334 + ], + "joints": [ + 0.006712865084409714 + ] + }, + "final_grasp": { + "position": [ + -0.1019400954246521, + 0.158101886510849, + 0.030831048265099525 + ], + "orientation": [ + 0.34980055689811707, + -0.4519422650337219, + 0.6564648151397705, + -0.4923836290836334 + ], + "joints": [ + -0.002064194530248642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06312257796525955, + -0.07152744382619858, + -0.02967476285994053 + ], + "orientation": [ + 0.24758842587471008, + 0.1645624190568924, + -0.5896886587142944, + -0.7509238123893738 + ], + "joints": [ + 0.018955733627080917 + ] + }, + "fine_grasp": { + "position": [ + 0.06054580211639404, + -0.06927789002656937, + -0.02857656031847 + ], + "orientation": [ + 0.23774664103984833, + 0.16805820167064667, + -0.5847998261451721, + -0.757127583026886 + ], + "joints": [ + 0.007712739985436201 + ] + }, + "final_grasp": { + "position": [ + 0.06054580211639404, + -0.06927789002656937, + -0.02857656031847 + ], + "orientation": [ + 0.23774664103984833, + 0.16805820167064667, + -0.5847998261451721, + -0.757127583026886 + ], + "joints": [ + -0.003530253656208515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10552817583084106, + 0.15847104787826538, + 0.03210407495498657 + ], + "orientation": [ + 0.344681978225708, + -0.452955424785614, + 0.6554915904998779, + -0.4963432252407074 + ], + "joints": [ + 0.015497256070375443 + ] + }, + "fine_grasp": { + "position": [ + -0.10167226195335388, + 0.1577661633491516, + 0.030925406143069267 + ], + "orientation": [ + 0.3473341464996338, + -0.4514409303665161, + 0.6569852232933044, + -0.49389317631721497 + ], + "joints": [ + 0.006720196455717087 + ] + }, + "final_grasp": { + "position": [ + -0.10167226195335388, + 0.1577661633491516, + 0.030925406143069267 + ], + "orientation": [ + 0.3473341464996338, + -0.4514409303665161, + 0.6569852232933044, + -0.49389317631721497 + ], + "joints": [ + -0.002056863158941269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11001626402139664, + 0.16220203042030334, + -0.031268250197172165 + ], + "orientation": [ + 0.4439842700958252, + -0.3702113926410675, + -0.4798451364040375, + 0.6599773168563843 + ], + "joints": [ + 0.016120050102472305 + ] + }, + "fine_grasp": { + "position": [ + 0.10632458329200745, + 0.16155213117599487, + -0.030106522142887115 + ], + "orientation": [ + 0.44452017545700073, + -0.37186455726623535, + -0.4769844114780426, + 0.6607605218887329 + ], + "joints": [ + 0.006507080048322678 + ] + }, + "final_grasp": { + "position": [ + 0.10632458329200745, + 0.16155213117599487, + -0.030106522142887115 + ], + "orientation": [ + 0.44452017545700073, + -0.37186455726623535, + -0.4769844114780426, + 0.6607605218887329 + ], + "joints": [ + -0.00310589000582695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10923413932323456, + 0.16171911358833313, + -0.031045254319906235 + ], + "orientation": [ + 0.4432496726512909, + -0.36945733428001404, + -0.48078763484954834, + 0.6602077484130859 + ], + "joints": [ + 0.016121476888656616 + ] + }, + "fine_grasp": { + "position": [ + 0.10550453513860703, + 0.16107557713985443, + -0.029893556609749794 + ], + "orientation": [ + 0.4436284601688385, + -0.37114858627319336, + -0.47790229320526123, + 0.6610990166664124 + ], + "joints": [ + 0.0065085068345069885 + ] + }, + "final_grasp": { + "position": [ + 0.10550453513860703, + 0.16107557713985443, + -0.029893556609749794 + ], + "orientation": [ + 0.4436284601688385, + -0.37114858627319336, + -0.47790229320526123, + 0.6610990166664124 + ], + "joints": [ + -0.003104463219642639 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05205567553639412, + 0.019852153956890106, + -0.10382144153118134 + ], + "orientation": [ + 0.7374101281166077, + 0.11703106015920639, + -0.20471540093421936, + -0.632946789264679 + ], + "joints": [ + 0.017182376235723495 + ] + }, + "fine_grasp": { + "position": [ + 0.05025475099682808, + 0.019962696358561516, + -0.10014446824789047 + ], + "orientation": [ + 0.7393454313278198, + 0.1166345626115799, + -0.2039804905653, + -0.6309964656829834 + ], + "joints": [ + 0.00840531662106514 + ] + }, + "final_grasp": { + "position": [ + 0.05025475099682808, + 0.019962696358561516, + -0.10014446824789047 + ], + "orientation": [ + 0.7393454313278198, + 0.1166345626115799, + -0.2039804905653, + -0.6309964656829834 + ], + "joints": [ + -0.00037174299359321594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0014928636373952031, + -0.08824228495359421, + 0.033857814967632294 + ], + "orientation": [ + 0.39732879400253296, + -0.5560219883918762, + 0.5993407368659973, + 0.4168454706668854 + ], + "joints": [ + 0.017687957733869553 + ] + }, + "fine_grasp": { + "position": [ + -0.00203519593924284, + -0.08724306523799896, + 0.03300291672348976 + ], + "orientation": [ + 0.4040181338787079, + -0.5510736703872681, + 0.5968245267868042, + 0.4205799996852875 + ], + "joints": [ + 0.007657031994313002 + ] + }, + "final_grasp": { + "position": [ + -0.00203519593924284, + -0.08724306523799896, + 0.03300291672348976 + ], + "orientation": [ + 0.4040181338787079, + -0.5510736703872681, + 0.5968245267868042, + 0.4205799996852875 + ], + "joints": [ + -0.0023738937452435493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034927330911159515, + -0.06412913650274277, + 0.06434793025255203 + ], + "orientation": [ + 0.10866102576255798, + -0.4916228950023651, + 0.7283050417900085, + 0.46483489871025085 + ], + "joints": [ + 0.0169590525329113 + ] + }, + "fine_grasp": { + "position": [ + 0.03324495255947113, + -0.06255294382572174, + 0.061255477368831635 + ], + "orientation": [ + 0.1119755282998085, + -0.4861873388290405, + 0.730705976486206, + 0.46599578857421875 + ], + "joints": [ + 0.007764037698507309 + ] + }, + "final_grasp": { + "position": [ + 0.03324495255947113, + -0.06255294382572174, + 0.061255477368831635 + ], + "orientation": [ + 0.1119755282998085, + -0.4861873388290405, + 0.730705976486206, + 0.46599578857421875 + ], + "joints": [ + -0.0014309771358966827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05600947141647339, + 0.161463662981987, + 0.08990412205457687 + ], + "orientation": [ + 0.3069640100002289, + 0.6784070730209351, + -0.663765549659729, + -0.07037194073200226 + ], + "joints": [ + 0.01561019942164421 + ] + }, + "fine_grasp": { + "position": [ + 0.054100293666124344, + 0.16222137212753296, + 0.08668185770511627 + ], + "orientation": [ + 0.31158921122550964, + 0.6685718894004822, + -0.6724089980125427, + -0.06156272441148758 + ], + "joints": [ + 0.006833139806985855 + ] + }, + "final_grasp": { + "position": [ + 0.054100293666124344, + 0.16222137212753296, + 0.08668185770511627 + ], + "orientation": [ + 0.31158921122550964, + 0.6685718894004822, + -0.6724089980125427, + -0.06156272441148758 + ], + "joints": [ + -0.0019439198076725006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03119225800037384, + -0.03817746043205261, + 0.09189309179782867 + ], + "orientation": [ + 0.11662168800830841, + -0.6616252660751343, + -0.6695069670677185, + -0.3168781101703644 + ], + "joints": [ + 0.016758035868406296 + ] + }, + "fine_grasp": { + "position": [ + -0.03007538430392742, + -0.03707067668437958, + 0.08823629468679428 + ], + "orientation": [ + 0.1209663525223732, + -0.6693212985992432, + -0.6611598134040833, + -0.31661292910575867 + ], + "joints": [ + 0.007145065814256668 + ] + }, + "final_grasp": { + "position": [ + -0.03007538430392742, + -0.03707067668437958, + 0.08823629468679428 + ], + "orientation": [ + 0.1209663525223732, + -0.6693212985992432, + -0.6611598134040833, + -0.31661292910575867 + ], + "joints": [ + -0.0024679042398929596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017744534416124225, + -0.08813940733671188, + 0.034499067813158035 + ], + "orientation": [ + 0.39909791946411133, + -0.5541523694992065, + 0.5995333790779114, + 0.41736772656440735 + ], + "joints": [ + 0.017638154327869415 + ] + }, + "fine_grasp": { + "position": [ + -0.002256170380860567, + -0.08719466626644135, + 0.0334007553756237 + ], + "orientation": [ + 0.40430012345314026, + -0.5492139458656311, + 0.5982236266136169, + 0.4207538962364197 + ], + "joints": [ + 0.007628127466887236 + ] + }, + "final_grasp": { + "position": [ + -0.002256170380860567, + -0.08719466626644135, + 0.0334007553756237 + ], + "orientation": [ + 0.40430012345314026, + -0.5492139458656311, + 0.5982236266136169, + 0.4207538962364197 + ], + "joints": [ + -0.002381899394094944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020751390606164932, + -0.08262015134096146, + 0.027020763605833054 + ], + "orientation": [ + 0.06984902173280716, + 0.06471075862646103, + 0.7816349864006042, + 0.616425633430481 + ], + "joints": [ + 0.01975882053375244 + ] + }, + "fine_grasp": { + "position": [ + -0.019935423508286476, + -0.08075857162475586, + 0.026944328099489212 + ], + "orientation": [ + 0.07021491229534149, + 0.06417582184076309, + 0.783486008644104, + 0.6140855550765991 + ], + "joints": [ + 0.010145850479602814 + ] + }, + "final_grasp": { + "position": [ + -0.019935423508286476, + -0.08075857162475586, + 0.026944328099489212 + ], + "orientation": [ + 0.07021491229534149, + 0.06417582184076309, + 0.783486008644104, + 0.6140855550765991 + ], + "joints": [ + 0.000532880425453186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026096537709236145, + 0.1754418909549713, + -0.11088136583566666 + ], + "orientation": [ + 0.7466592192649841, + -0.022119054570794106, + -0.12999475002288818, + 0.6520061492919922 + ], + "joints": [ + 0.014633185230195522 + ] + }, + "fine_grasp": { + "position": [ + 0.025176260620355606, + 0.1748696118593216, + -0.10686086863279343 + ], + "orientation": [ + 0.7481526136398315, + -0.020714150741696358, + -0.13109855353832245, + 0.6501167416572571 + ], + "joints": [ + 0.006274080835282803 + ] + }, + "final_grasp": { + "position": [ + 0.025176260620355606, + 0.1748696118593216, + -0.10686086863279343 + ], + "orientation": [ + 0.7481526136398315, + -0.020714150741696358, + -0.13109855353832245, + 0.6501167416572571 + ], + "joints": [ + -0.002085023559629917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05618578568100929, + 0.16208676993846893, + 0.08864286541938782 + ], + "orientation": [ + 0.3077666163444519, + 0.6767595410346985, + -0.6646009087562561, + -0.07471168786287308 + ], + "joints": [ + 0.016015734523534775 + ] + }, + "fine_grasp": { + "position": [ + 0.05457784980535507, + 0.1635504961013794, + 0.08579900860786438 + ], + "orientation": [ + 0.3151474595069885, + 0.6657911539077759, + -0.6733107566833496, + -0.06369365751743317 + ], + "joints": [ + 0.007238674908876419 + ] + }, + "final_grasp": { + "position": [ + 0.05457784980535507, + 0.1635504961013794, + 0.08579900860786438 + ], + "orientation": [ + 0.3151474595069885, + 0.6657911539077759, + -0.6733107566833496, + -0.06369365751743317 + ], + "joints": [ + -0.0015383847057819366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10782851278781891, + 0.05662567541003227, + 0.0040074484422802925 + ], + "orientation": [ + 0.5008507370948792, + -0.4646918475627899, + 0.5518586039543152, + -0.4781864285469055 + ], + "joints": [ + 0.018063828349113464 + ] + }, + "fine_grasp": { + "position": [ + -0.10580796003341675, + 0.056981783360242844, + 0.0031693018972873688 + ], + "orientation": [ + 0.5040503740310669, + -0.4593300223350525, + 0.5543868541717529, + -0.477078914642334 + ], + "joints": [ + 0.008868813514709473 + ] + }, + "final_grasp": { + "position": [ + -0.10580796003341675, + 0.056981783360242844, + 0.0031693018972873688 + ], + "orientation": [ + 0.5040503740310669, + -0.4593300223350525, + 0.5543868541717529, + -0.477078914642334 + ], + "joints": [ + -0.00032620131969451904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03310588747262955, + 0.006771212909370661, + 0.10008396208286285 + ], + "orientation": [ + 0.26008522510528564, + -0.6695265173912048, + -0.6936500072479248, + -0.05421724542975426 + ], + "joints": [ + 0.015715088695287704 + ] + }, + "fine_grasp": { + "position": [ + 0.03193124383687973, + 0.0072867837734520435, + 0.09615116566419601 + ], + "orientation": [ + 0.2585448920726776, + -0.6575802564620972, + -0.705233097076416, + -0.058214832097291946 + ], + "joints": [ + 0.007355984300374985 + ] + }, + "final_grasp": { + "position": [ + 0.03193124383687973, + 0.0072867837734520435, + 0.09615116566419601 + ], + "orientation": [ + 0.2585448920726776, + -0.6575802564620972, + -0.705233097076416, + -0.058214832097291946 + ], + "joints": [ + -0.001003120094537735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034415945410728455, + -0.06348368525505066, + 0.06274625658988953 + ], + "orientation": [ + 0.11292049288749695, + -0.49294015765190125, + 0.725217878818512, + 0.46724504232406616 + ], + "joints": [ + 0.01701214909553528 + ] + }, + "fine_grasp": { + "position": [ + 0.03272285684943199, + -0.06218503788113594, + 0.05961925908923149 + ], + "orientation": [ + 0.11827151477336884, + -0.48773449659347534, + 0.7257985472679138, + 0.4704713523387909 + ], + "joints": [ + 0.007817134261131287 + ] + }, + "final_grasp": { + "position": [ + 0.03272285684943199, + -0.06218503788113594, + 0.05961925908923149 + ], + "orientation": [ + 0.11827151477336884, + -0.48773449659347534, + 0.7257985472679138, + 0.4704713523387909 + ], + "joints": [ + -0.001377880573272705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032803695648908615, + 0.0069769336842000484, + 0.09997496008872986 + ], + "orientation": [ + 0.2561679482460022, + -0.666709840297699, + -0.6980400085449219, + -0.051147833466529846 + ], + "joints": [ + 0.016071811318397522 + ] + }, + "fine_grasp": { + "position": [ + 0.03162532299757004, + 0.007303533609956503, + 0.0960620865225792 + ], + "orientation": [ + 0.25471049547195435, + -0.6528955698013306, + -0.7110771536827087, + -0.05673886835575104 + ], + "joints": [ + 0.007712706923484802 + ] + }, + "final_grasp": { + "position": [ + 0.03162532299757004, + 0.007303533609956503, + 0.0960620865225792 + ], + "orientation": [ + 0.25471049547195435, + -0.6528955698013306, + -0.7110771536827087, + -0.05673886835575104 + ], + "joints": [ + -0.0006463974714279175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020522354170680046, + -0.08226065337657928, + 0.02721366472542286 + ], + "orientation": [ + 0.06587625294923782, + 0.060910213738679886, + 0.7825347185134888, + 0.6161084771156311 + ], + "joints": [ + 0.01992250420153141 + ] + }, + "fine_grasp": { + "position": [ + -0.019453106448054314, + -0.07982247322797775, + 0.02701149880886078 + ], + "orientation": [ + 0.06491808593273163, + 0.05856101214885712, + 0.7841207981109619, + 0.6144191026687622 + ], + "joints": [ + 0.010706590488553047 + ] + }, + "final_grasp": { + "position": [ + -0.019453106448054314, + -0.07982247322797775, + 0.02701149880886078 + ], + "orientation": [ + 0.06491808593273163, + 0.05856101214885712, + 0.7841207981109619, + 0.6144191026687622 + ], + "joints": [ + 0.0014906767755746841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03325328230857849, + 0.006109278649091721, + 0.10018989443778992 + ], + "orientation": [ + 0.2542685568332672, + -0.6657207608222961, + -0.6999897956848145, + -0.04666474089026451 + ], + "joints": [ + 0.01564745604991913 + ] + }, + "fine_grasp": { + "position": [ + 0.03215532377362251, + 0.006511925719678402, + 0.09622462093830109 + ], + "orientation": [ + 0.2532874345779419, + -0.6518754959106445, + -0.7128709554672241, + -0.052142661064863205 + ], + "joints": [ + 0.007685408927500248 + ] + }, + "final_grasp": { + "position": [ + 0.03215532377362251, + 0.006511925719678402, + 0.09622462093830109 + ], + "orientation": [ + 0.2532874345779419, + -0.6518754959106445, + -0.7128709554672241, + -0.052142661064863205 + ], + "joints": [ + -0.0002766381949186325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054501838982105255, + -0.005913455504924059, + 0.08773685246706009 + ], + "orientation": [ + 0.32758164405822754, + -0.659913182258606, + -0.675098180770874, + 0.03804213926196098 + ], + "joints": [ + 0.01653304323554039 + ] + }, + "fine_grasp": { + "position": [ + 0.0528317466378212, + -0.006826417520642281, + 0.08445513248443604 + ], + "orientation": [ + 0.33187949657440186, + -0.6466644406318665, + -0.686185896396637, + 0.028810760006308556 + ], + "joints": [ + 0.007755983155220747 + ] + }, + "final_grasp": { + "position": [ + 0.0528317466378212, + -0.006826417520642281, + 0.08445513248443604 + ], + "orientation": [ + 0.33187949657440186, + -0.6466644406318665, + -0.686185896396637, + 0.028810760006308556 + ], + "joints": [ + -0.001021076925098896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025658315047621727, + 0.1740274727344513, + -0.10903939604759216 + ], + "orientation": [ + 0.7460017800331116, + -0.013054619543254375, + -0.13787364959716797, + 0.6513844132423401 + ], + "joints": [ + 0.014668799005448818 + ] + }, + "fine_grasp": { + "position": [ + 0.024761192500591278, + 0.1735127568244934, + -0.10500695556402206 + ], + "orientation": [ + 0.7493197917938232, + -0.01104374323040247, + -0.139265239238739, + 0.6473045945167542 + ], + "joints": [ + 0.0063096946105360985 + ] + }, + "final_grasp": { + "position": [ + 0.024761192500591278, + 0.1735127568244934, + -0.10500695556402206 + ], + "orientation": [ + 0.7493197917938232, + -0.01104374323040247, + -0.139265239238739, + 0.6473045945167542 + ], + "joints": [ + -0.0020494097843766212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10300353914499283, + 0.004261646885424852, + 0.011829307302832603 + ], + "orientation": [ + 0.39341235160827637, + 0.37451836466789246, + -0.6427435874938965, + -0.5402253270149231 + ], + "joints": [ + 0.016256585717201233 + ] + }, + "fine_grasp": { + "position": [ + 0.1001938134431839, + 0.004603763110935688, + 0.011272572912275791 + ], + "orientation": [ + 0.39758214354515076, + 0.372376024723053, + -0.6428014039993286, + -0.5385821461677551 + ], + "joints": [ + 0.0074586281552910805 + ] + }, + "final_grasp": { + "position": [ + 0.1001938134431839, + 0.004603763110935688, + 0.011272572912275791 + ], + "orientation": [ + 0.39758214354515076, + 0.372376024723053, + -0.6428014039993286, + -0.5385821461677551 + ], + "joints": [ + -0.001339329406619072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03306117653846741, + -0.01099659688770771, + -0.08683101832866669 + ], + "orientation": [ + 0.6610516905784607, + -0.12083330750465393, + -0.33491504192352295, + -0.6604860424995422 + ], + "joints": [ + 0.01655658334493637 + ] + }, + "fine_grasp": { + "position": [ + 0.03201694414019585, + -0.011003394611179829, + -0.08302309364080429 + ], + "orientation": [ + 0.6633903384208679, + -0.12132168561220169, + -0.33622118830680847, + -0.6573809385299683 + ], + "joints": [ + 0.007361568510532379 + ] + }, + "final_grasp": { + "position": [ + 0.03201694414019585, + -0.011003394611179829, + -0.08302309364080429 + ], + "orientation": [ + 0.6633903384208679, + -0.12132168561220169, + -0.33622118830680847, + -0.6573809385299683 + ], + "joints": [ + -0.0018334463238716125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05241457372903824, + 0.1762142777442932, + 0.0892205536365509 + ], + "orientation": [ + 0.32982492446899414, + 0.746718168258667, + -0.5753189921379089, + -0.051338810473680496 + ], + "joints": [ + 0.015947405248880386 + ] + }, + "fine_grasp": { + "position": [ + 0.05022994801402092, + 0.17583611607551575, + 0.08582308888435364 + ], + "orientation": [ + 0.3289239704608917, + 0.7603797912597656, + -0.5569964647293091, + -0.05819316953420639 + ], + "joints": [ + 0.007170345634222031 + ] + }, + "final_grasp": { + "position": [ + 0.05022994801402092, + 0.17583611607551575, + 0.08582308888435364 + ], + "orientation": [ + 0.3289239704608917, + 0.7603797912597656, + -0.5569964647293091, + -0.05819316953420639 + ], + "joints": [ + -0.001606713980436325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05757441744208336, + -0.07081445306539536, + -0.018830202519893646 + ], + "orientation": [ + 0.725287675857544, + -0.6339432597160339, + -0.13813082873821259, + 0.23020312190055847 + ], + "joints": [ + 0.018279798328876495 + ] + }, + "fine_grasp": { + "position": [ + 0.054453685879707336, + -0.06922990083694458, + -0.01772291027009487 + ], + "orientation": [ + 0.7283369302749634, + -0.632011353969574, + -0.13682213425636292, + 0.2266424298286438 + ], + "joints": [ + 0.008666828274726868 + ] + }, + "final_grasp": { + "position": [ + 0.054453685879707336, + -0.06922990083694458, + -0.01772291027009487 + ], + "orientation": [ + 0.7283369302749634, + -0.632011353969574, + -0.13682213425636292, + 0.2266424298286438 + ], + "joints": [ + -0.00094614177942276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045616377145051956, + 0.005236401222646236, + 0.08838248252868652 + ], + "orientation": [ + 0.3132186830043793, + -0.7623010873794556, + 0.5651509761810303, + -0.037357181310653687 + ], + "joints": [ + 0.016804136335849762 + ] + }, + "fine_grasp": { + "position": [ + -0.04392339661717415, + 0.00396346440538764, + 0.08534903824329376 + ], + "orientation": [ + 0.31955042481422424, + -0.7743532657623291, + 0.5446187853813171, + -0.04067865014076233 + ], + "joints": [ + 0.008027076721191406 + ] + }, + "final_grasp": { + "position": [ + -0.04392339661717415, + 0.00396346440538764, + 0.08534903824329376 + ], + "orientation": [ + 0.31955042481422424, + -0.7743532657623291, + 0.5446187853813171, + -0.04067865014076233 + ], + "joints": [ + -0.0007499828934669495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04575193300843239, + -0.036479875445365906, + -0.07313935458660126 + ], + "orientation": [ + 0.5853973031044006, + -0.08104576915502548, + -0.425400972366333, + -0.6854017972946167 + ], + "joints": [ + 0.01660895347595215 + ] + }, + "fine_grasp": { + "position": [ + 0.04420800507068634, + -0.03638799116015434, + -0.06952732801437378 + ], + "orientation": [ + 0.5843594670295715, + -0.07958035171031952, + -0.42689958214759827, + -0.6855273842811584 + ], + "joints": [ + 0.007413938641548157 + ] + }, + "final_grasp": { + "position": [ + 0.04420800507068634, + -0.03638799116015434, + -0.06952732801437378 + ], + "orientation": [ + 0.5843594670295715, + -0.07958035171031952, + -0.42689958214759827, + -0.6855273842811584 + ], + "joints": [ + -0.001781076192855835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05797364190220833, + -0.06961072981357574, + -0.019727498292922974 + ], + "orientation": [ + 0.7283313870429993, + -0.6303145885467529, + -0.14214688539505005, + 0.22810372710227966 + ], + "joints": [ + 0.018507160246372223 + ] + }, + "fine_grasp": { + "position": [ + 0.05495977774262428, + -0.06709063053131104, + -0.019442042335867882 + ], + "orientation": [ + 0.7329003214836121, + -0.6258459687232971, + -0.1439662128686905, + 0.22460587322711945 + ], + "joints": [ + 0.009312145411968231 + ] + }, + "final_grasp": { + "position": [ + 0.05495977774262428, + -0.06709063053131104, + -0.019442042335867882 + ], + "orientation": [ + 0.7329003214836121, + -0.6258459687232971, + -0.1439662128686905, + 0.22460587322711945 + ], + "joints": [ + 0.0001171305775642395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006071679759770632, + -0.07731353491544724, + 0.052598051726818085 + ], + "orientation": [ + 0.3172542452812195, + -0.47815805673599243, + 0.7070580124855042, + 0.41325974464416504 + ], + "joints": [ + 0.019234005361795425 + ] + }, + "fine_grasp": { + "position": [ + -0.0069647012278437614, + -0.07509541511535645, + 0.05030418932437897 + ], + "orientation": [ + 0.3187897801399231, + -0.46945661306381226, + 0.7105908989906311, + 0.41598570346832275 + ], + "joints": [ + 0.009203080087900162 + ] + }, + "final_grasp": { + "position": [ + -0.0069647012278437614, + -0.07509541511535645, + 0.05030418932437897 + ], + "orientation": [ + 0.3187897801399231, + -0.46945661306381226, + 0.7105908989906311, + 0.41598570346832275 + ], + "joints": [ + -0.0008278451859951019 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005070263519883156, + -0.07631640881299973, + 0.05143719166517258 + ], + "orientation": [ + 0.31952929496765137, + -0.48211669921875, + 0.7008700966835022, + 0.4174274802207947 + ], + "joints": [ + 0.019112881273031235 + ] + }, + "fine_grasp": { + "position": [ + -0.00665806420147419, + -0.0752636045217514, + 0.04858659952878952 + ], + "orientation": [ + 0.32348066568374634, + -0.4697846472263336, + 0.7054944634437561, + 0.420642614364624 + ], + "joints": [ + 0.009081955999135971 + ] + }, + "final_grasp": { + "position": [ + -0.00665806420147419, + -0.0752636045217514, + 0.04858659952878952 + ], + "orientation": [ + 0.32348066568374634, + -0.4697846472263336, + 0.7054944634437561, + 0.420642614364624 + ], + "joints": [ + -0.0009489692747592926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0997365415096283, + 0.18672223389148712, + -0.0071723260916769505 + ], + "orientation": [ + 0.65133136510849, + 0.5803902745246887, + 0.3606467843055725, + 0.3299216628074646 + ], + "joints": [ + 0.01593271642923355 + ] + }, + "fine_grasp": { + "position": [ + -0.09585679322481155, + 0.18572741746902466, + -0.006798253860324621 + ], + "orientation": [ + 0.6537309288978577, + 0.577170193195343, + 0.3629879653453827, + 0.32825320959091187 + ], + "joints": [ + 0.006737701594829559 + ] + }, + "final_grasp": { + "position": [ + -0.09585679322481155, + 0.18572741746902466, + -0.006798253860324621 + ], + "orientation": [ + 0.6537309288978577, + 0.577170193195343, + 0.3629879653453827, + 0.32825320959091187 + ], + "joints": [ + -0.0024573132395744324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09991729259490967, + 0.18692117929458618, + -0.007530670613050461 + ], + "orientation": [ + 0.6514412760734558, + 0.5795456171035767, + 0.3602551221847534, + 0.3316134512424469 + ], + "joints": [ + 0.01592409610748291 + ] + }, + "fine_grasp": { + "position": [ + -0.09601479768753052, + 0.18587638437747955, + -0.007175609469413757 + ], + "orientation": [ + 0.6535901427268982, + 0.5764206051826477, + 0.3624350130558014, + 0.3304542005062103 + ], + "joints": [ + 0.0067290812730789185 + ] + }, + "final_grasp": { + "position": [ + -0.09601479768753052, + 0.18587638437747955, + -0.007175609469413757 + ], + "orientation": [ + 0.6535901427268982, + 0.5764206051826477, + 0.3624350130558014, + 0.3304542005062103 + ], + "joints": [ + -0.0024659335613250732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04434408247470856, + -0.03541520610451698, + -0.0720490962266922 + ], + "orientation": [ + 0.595615029335022, + -0.08343221992254257, + -0.4210646450519562, + -0.6789597868919373 + ], + "joints": [ + 0.01663326844573021 + ] + }, + "fine_grasp": { + "position": [ + 0.042863629758358, + -0.03620998188853264, + -0.06852135807275772 + ], + "orientation": [ + 0.5950780510902405, + -0.08756982535123825, + -0.42485329508781433, + -0.6765449643135071 + ], + "joints": [ + 0.007856208831071854 + ] + }, + "final_grasp": { + "position": [ + 0.042863629758358, + -0.03620998188853264, + -0.06852135807275772 + ], + "orientation": [ + 0.5950780510902405, + -0.08756982535123825, + -0.42485329508781433, + -0.6765449643135071 + ], + "joints": [ + -0.0009208507835865021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09879886358976364, + 0.18642622232437134, + -0.007285069674253464 + ], + "orientation": [ + 0.6531657576560974, + 0.5771454572677612, + 0.3635194003582001, + 0.32883304357528687 + ], + "joints": [ + 0.01593271642923355 + ] + }, + "fine_grasp": { + "position": [ + -0.09482704102993011, + 0.18565814197063446, + -0.007086498197168112 + ], + "orientation": [ + 0.6572656035423279, + 0.5729780197143555, + 0.3680853843688965, + 0.3228176236152649 + ], + "joints": [ + 0.007134758867323399 + ] + }, + "final_grasp": { + "position": [ + -0.09482704102993011, + 0.18565814197063446, + -0.007086498197168112 + ], + "orientation": [ + 0.6572656035423279, + 0.5729780197143555, + 0.3680853843688965, + 0.3228176236152649 + ], + "joints": [ + -0.0016631986945867538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09832262992858887, + 0.185954287648201, + -0.007413019891828299 + ], + "orientation": [ + 0.6529473066329956, + 0.5796481966972351, + 0.35868024826049805, + 0.33017611503601074 + ], + "joints": [ + 0.015869800001382828 + ] + }, + "fine_grasp": { + "position": [ + -0.09431774914264679, + 0.18523851037025452, + -0.007221330422908068 + ], + "orientation": [ + 0.6570819020271301, + 0.5756024122238159, + 0.3632323443889618, + 0.32401740550994873 + ], + "joints": [ + 0.007092740386724472 + ] + }, + "final_grasp": { + "position": [ + -0.09431774914264679, + 0.18523851037025452, + -0.007221330422908068 + ], + "orientation": [ + 0.6570819020271301, + 0.5756024122238159, + 0.3632323443889618, + 0.32401740550994873 + ], + "joints": [ + -0.0016843192279338837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09830162674188614, + 0.1862056851387024, + -0.007129512261599302 + ], + "orientation": [ + 0.6521975994110107, + 0.578925609588623, + 0.36055469512939453, + 0.3308831751346588 + ], + "joints": [ + 0.015494190156459808 + ] + }, + "fine_grasp": { + "position": [ + -0.09426990896463394, + 0.18549147248268127, + -0.006969076115638018 + ], + "orientation": [ + 0.656157910823822, + 0.5752096772193909, + 0.3652518689632416, + 0.3243173658847809 + ], + "joints": [ + 0.007135085761547089 + ] + }, + "final_grasp": { + "position": [ + -0.09426990896463394, + 0.18549147248268127, + -0.006969076115638018 + ], + "orientation": [ + 0.656157910823822, + 0.5752096772193909, + 0.3652518689632416, + 0.3243173658847809 + ], + "joints": [ + -0.001224018633365631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10224345326423645, + 0.08910220861434937, + -0.08823894709348679 + ], + "orientation": [ + 0.6191749572753906, + -0.35681453347206116, + -0.2556840181350708, + 0.651100218296051 + ], + "joints": [ + 0.018652278929948807 + ] + }, + "fine_grasp": { + "position": [ + 0.1003265455365181, + 0.08883414417505264, + -0.08518673479557037 + ], + "orientation": [ + 0.6204228401184082, + -0.3496139943599701, + -0.25226375460624695, + 0.6551401019096375 + ], + "joints": [ + 0.007806341629475355 + ] + }, + "final_grasp": { + "position": [ + 0.1003265455365181, + 0.08883414417505264, + -0.08518673479557037 + ], + "orientation": [ + 0.6204228401184082, + -0.3496139943599701, + -0.25226375460624695, + 0.6551401019096375 + ], + "joints": [ + -0.0030395956709980965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1018674224615097, + 0.06893672794103622, + -0.05999131500720978 + ], + "orientation": [ + 0.4669477939605713, + 0.469463586807251, + 0.43328848481178284, + 0.6114121079444885 + ], + "joints": [ + 0.0008205874473787844 + ] + }, + "fine_grasp": { + "position": [ + -0.10299059748649597, + 0.06898873299360275, + -0.0578254759311676 + ], + "orientation": [ + 0.47475919127464294, + 0.4585076570510864, + 0.42143893241882324, + 0.6219032406806946 + ], + "joints": [ + 0.0016355992993339896 + ] + }, + "final_grasp": { + "position": [ + -0.10299059748649597, + 0.06898873299360275, + -0.0578254759311676 + ], + "orientation": [ + 0.47475919127464294, + 0.4585076570510864, + 0.42143893241882324, + 0.6219032406806946 + ], + "joints": [ + 0.0024506112094968557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11841395497322083, + 0.11263744533061981, + -0.05825133994221687 + ], + "orientation": [ + 0.5872544050216675, + 0.43032753467559814, + 0.3387727439403534, + 0.5959727168083191 + ], + "joints": [ + 0.019995294511318207 + ] + }, + "fine_grasp": { + "position": [ + -0.11568375676870346, + 0.11258494108915329, + -0.055662207305431366 + ], + "orientation": [ + 0.5901572108268738, + 0.42343536019325256, + 0.334261417388916, + 0.6005715727806091 + ], + "joints": [ + 0.008752301335334778 + ] + }, + "final_grasp": { + "position": [ + -0.11568375676870346, + 0.11258494108915329, + -0.055662207305431366 + ], + "orientation": [ + 0.5901572108268738, + 0.42343536019325256, + 0.334261417388916, + 0.6005715727806091 + ], + "joints": [ + -0.002490691840648651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11132141947746277, + 0.11899744719266891, + -0.012849290855228901 + ], + "orientation": [ + 0.6382277011871338, + 0.02240743860602379, + 0.7551715970039368, + -0.1479167491197586 + ], + "joints": [ + 0.0025370095390826464 + ] + }, + "fine_grasp": { + "position": [ + -0.1082560196518898, + 0.11834575980901718, + -0.009275367483496666 + ], + "orientation": [ + 0.6558688282966614, + 0.022950192913413048, + 0.7401320934295654, + -0.14667610824108124 + ], + "joints": [ + 0.0033729190472513437 + ] + }, + "final_grasp": { + "position": [ + -0.1082560196518898, + 0.11834575980901718, + -0.009275367483496666 + ], + "orientation": [ + 0.6558688282966614, + 0.022950192913413048, + 0.7401320934295654, + -0.14667610824108124 + ], + "joints": [ + 0.004208828322589397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11589187383651733, + 0.10317660123109818, + -0.024129122495651245 + ], + "orientation": [ + 0.07087112218141556, + 0.7066799998283386, + -0.10986045002937317, + 0.6953498721122742 + ], + "joints": [ + 0.01366742979735136 + ] + }, + "fine_grasp": { + "position": [ + -0.11250950396060944, + 0.10259714722633362, + -0.020356692373752594 + ], + "orientation": [ + 0.06877931207418442, + 0.690567672252655, + -0.10705484449863434, + 0.7119866609573364 + ], + "joints": [ + 0.014085385017096996 + ] + }, + "final_grasp": { + "position": [ + -0.11250950396060944, + 0.10259714722633362, + -0.020356692373752594 + ], + "orientation": [ + 0.06877931207418442, + 0.690567672252655, + -0.10705484449863434, + 0.7119866609573364 + ], + "joints": [ + 0.014503340236842632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09706545621156693, + 0.08591428399085999, + -0.05918226018548012 + ], + "orientation": [ + 0.030661465600132942, + 0.5956279635429382, + -0.068014957010746, + -0.7997881174087524 + ], + "joints": [ + 0.0039156475104391575 + ] + }, + "fine_grasp": { + "position": [ + 0.09676095098257065, + 0.08605487644672394, + -0.055600255727767944 + ], + "orientation": [ + 0.02431471459567547, + 0.5764606595039368, + -0.06172977387905121, + -0.8144268989562988 + ], + "joints": [ + 0.003978341352194548 + ] + }, + "final_grasp": { + "position": [ + 0.09676095098257065, + 0.08605487644672394, + -0.055600255727767944 + ], + "orientation": [ + 0.02431471459567547, + 0.5764606595039368, + -0.06172977387905121, + -0.8144268989562988 + ], + "joints": [ + 0.004041035193949938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11720167100429535, + 0.051350079476833344, + -0.015094665810465813 + ], + "orientation": [ + 0.5538633465766907, + -0.4891704320907593, + -0.44785407185554504, + 0.5033631920814514 + ], + "joints": [ + 0.017723824828863144 + ] + }, + "fine_grasp": { + "position": [ + 0.11318912357091904, + 0.05153040960431099, + -0.014794702641665936 + ], + "orientation": [ + 0.5535023808479309, + -0.48867544531822205, + -0.4485575556755066, + 0.5036144256591797 + ], + "joints": [ + 0.008528809994459152 + ] + }, + "final_grasp": { + "position": [ + 0.11318912357091904, + 0.05153040960431099, + -0.014794702641665936 + ], + "orientation": [ + 0.5535023808479309, + -0.48867544531822205, + -0.4485575556755066, + 0.5036144256591797 + ], + "joints": [ + -0.0006662048399448395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006545448675751686, + 0.15046295523643494, + -0.13186396658420563 + ], + "orientation": [ + 0.6936264634132385, + 0.041547760367393494, + 0.04834025725722313, + -0.7175089716911316 + ], + "joints": [ + 0.019555341452360153 + ] + }, + "fine_grasp": { + "position": [ + -0.005541068501770496, + 0.15023720264434814, + -0.12829388678073883 + ], + "orientation": [ + 0.6938199996948242, + 0.035821568220853806, + 0.05246666073799133, + -0.717340886592865 + ], + "joints": [ + 0.008709404617547989 + ] + }, + "final_grasp": { + "position": [ + -0.005541068501770496, + 0.15023720264434814, + -0.12829388678073883 + ], + "orientation": [ + 0.6938199996948242, + 0.035821568220853806, + 0.05246666073799133, + -0.717340886592865 + ], + "joints": [ + -0.0021365322172641754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006468992214649916, + 0.15049929916858673, + -0.13169556856155396 + ], + "orientation": [ + 0.6936295032501221, + 0.04125792905688286, + 0.047832928597927094, + -0.7175569534301758 + ], + "joints": [ + 0.019555341452360153 + ] + }, + "fine_grasp": { + "position": [ + -0.0054503814317286015, + 0.15025755763053894, + -0.1281314343214035 + ], + "orientation": [ + 0.6938211917877197, + 0.03550732880830765, + 0.052154045552015305, + -0.7173780798912048 + ], + "joints": [ + 0.008709404617547989 + ] + }, + "final_grasp": { + "position": [ + -0.0054503814317286015, + 0.15025755763053894, + -0.1281314343214035 + ], + "orientation": [ + 0.6938211917877197, + 0.03550732880830765, + 0.052154045552015305, + -0.7173780798912048 + ], + "joints": [ + -0.0021365322172641754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0065078772604465485, + 0.15049223601818085, + -0.13167166709899902 + ], + "orientation": [ + 0.6934306025505066, + 0.040892720222473145, + 0.04790880158543587, + -0.7177649736404419 + ], + "joints": [ + 0.019346943125128746 + ] + }, + "fine_grasp": { + "position": [ + -0.0054977829568088055, + 0.15024910867214203, + -0.1280970275402069 + ], + "orientation": [ + 0.6936137080192566, + 0.035172369331121445, + 0.05221976339817047, + -0.7175904512405396 + ], + "joints": [ + 0.008501006290316582 + ] + }, + "final_grasp": { + "position": [ + -0.0054977829568088055, + 0.15024910867214203, + -0.1280970275402069 + ], + "orientation": [ + 0.6936137080192566, + 0.035172369331121445, + 0.05221976339817047, + -0.7175904512405396 + ], + "joints": [ + -0.0023449305444955826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000506846874486655, + -0.09738534688949585, + 0.023196836933493614 + ], + "orientation": [ + 0.5302257537841797, + -0.6546406745910645, + -0.42442119121551514, + -0.3319229781627655 + ], + "joints": [ + 0.01740071177482605 + ] + }, + "fine_grasp": { + "position": [ + 0.00048229191452264786, + -0.09387370944023132, + 0.022470733150839806 + ], + "orientation": [ + 0.5306265950202942, + -0.6528802514076233, + -0.4232228100299835, + -0.33625176548957825 + ], + "joints": [ + 0.008205696940422058 + ] + }, + "final_grasp": { + "position": [ + 0.00048229191452264786, + -0.09387370944023132, + 0.022470733150839806 + ], + "orientation": [ + 0.5306265950202942, + -0.6528802514076233, + -0.4232228100299835, + -0.33625176548957825 + ], + "joints": [ + -0.0009893178939819336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041213348507881165, + 0.2601422667503357, + 0.011607766151428223 + ], + "orientation": [ + 0.6640267968177795, + 0.7216277718544006, + 0.1634666919708252, + 0.10770527273416519 + ], + "joints": [ + 0.016144145280122757 + ] + }, + "fine_grasp": { + "position": [ + -0.037602148950099945, + 0.2602291703224182, + 0.011657977476716042 + ], + "orientation": [ + 0.6628910303115845, + 0.7260392308235168, + 0.15289728343486786, + 0.1003238707780838 + ], + "joints": [ + 0.006531175225973129 + ] + }, + "final_grasp": { + "position": [ + -0.037602148950099945, + 0.2602291703224182, + 0.011657977476716042 + ], + "orientation": [ + 0.6628910303115845, + 0.7260392308235168, + 0.15289728343486786, + 0.1003238707780838 + ], + "joints": [ + -0.0030817948281764984 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 292 + } +} \ No newline at end of file diff --git a/058_markpen_0/Object.usd b/058_markpen_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..66c8a4b8a07655593206b94a6290ea80aeabc9bc --- /dev/null +++ b/058_markpen_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a7f14fa64d0bb50935f3887a9494af631f5bc7d007cd4f1fc6f2204fa90d33a +size 291843 diff --git a/059_pencup_3/Annotation/dex1_1_grasp_pose.json b/059_pencup_3/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..fe0bff4ffcd292f9b948db2ab6a88c0f5ad877b0 --- /dev/null +++ b/059_pencup_3/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,3768 @@ +{ + "type": "059_pencup_3", + "bottom_center": [ + 8.439645171165466e-06, + 0.07597944140434265, + -0.03346800059080124 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.10322226583957672, + 0.07831758260726929, + 0.08951219916343689 + ], + "orientation": [ + 0.5832885503768921, + -0.698261022567749, + 0.27786940336227417, + 0.3082120716571808 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.09937199205160141, + 0.0762467086315155, + 0.08626222610473633 + ], + "orientation": [ + 0.5729278922080994, + -0.7071518301963806, + 0.269459992647171, + 0.3147718012332916 + ], + "joints": [ + -0.012626562267541885 + ] + }, + "final_grasp": { + "position": [ + 0.09937199205160141, + 0.0762467086315155, + 0.08626222610473633 + ], + "orientation": [ + 0.5729278922080994, + -0.7071518301963806, + 0.269459992647171, + 0.3147718012332916 + ], + "joints": [ + -0.006754586473107338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12708178162574768, + -0.04718128591775894, + -0.0041917976923286915 + ], + "orientation": [ + 0.6416881084442139, + 0.34868428111076355, + 0.5833759307861328, + -0.3554265797138214 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.12362715601921082, + -0.04545627906918526, + -0.005114501807838678 + ], + "orientation": [ + 0.6405763030052185, + 0.3521694839000702, + 0.5845466256141663, + -0.35205668210983276 + ], + "joints": [ + -0.012806151993572712 + ] + }, + "final_grasp": { + "position": [ + -0.12362715601921082, + -0.04545627906918526, + -0.005114501807838678 + ], + "orientation": [ + 0.6405763030052185, + 0.3521694839000702, + 0.5845466256141663, + -0.35205668210983276 + ], + "joints": [ + -0.007996978238224983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12700356543064117, + -0.04722874239087105, + -0.004293640144169331 + ], + "orientation": [ + 0.6417748928070068, + 0.34904932975769043, + 0.5830557346343994, + -0.3554372191429138 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.12357431650161743, + -0.04546774923801422, + -0.005236658733338118 + ], + "orientation": [ + 0.6406500935554504, + 0.35260167717933655, + 0.5843311548233032, + -0.35184767842292786 + ], + "joints": [ + -0.012806151993572712 + ] + }, + "final_grasp": { + "position": [ + -0.12357431650161743, + -0.04546774923801422, + -0.005236658733338118 + ], + "orientation": [ + 0.6406500935554504, + 0.35260167717933655, + 0.5843311548233032, + -0.35184767842292786 + ], + "joints": [ + -0.007996978238224983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13371294736862183, + 0.1177273765206337, + 0.027225486934185028 + ], + "orientation": [ + 0.35631945729255676, + 0.5269997119903564, + 0.44534358382225037, + -0.6300609707832336 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.13050015270709991, + 0.11614113301038742, + 0.025403669103980064 + ], + "orientation": [ + 0.3603186309337616, + 0.5267047882080078, + 0.43860411643981934, + -0.6327550411224365 + ], + "joints": [ + -0.012806151993572712 + ] + }, + "final_grasp": { + "position": [ + -0.13050015270709991, + 0.11614113301038742, + 0.025403669103980064 + ], + "orientation": [ + 0.3603186309337616, + 0.5267047882080078, + 0.43860411643981934, + -0.6327550411224365 + ], + "joints": [ + -0.007996978238224983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13404394686222076, + 0.11818856000900269, + 0.027443695813417435 + ], + "orientation": [ + 0.356714129447937, + 0.5255147814750671, + 0.4443117678165436, + -0.6318039298057556 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.1307796686887741, + 0.11656800657510757, + 0.02580450102686882 + ], + "orientation": [ + 0.35913074016571045, + 0.5253655910491943, + 0.4385773837566376, + -0.634559690952301 + ], + "joints": [ + -0.012806151993572712 + ] + }, + "final_grasp": { + "position": [ + -0.1307796686887741, + 0.11656800657510757, + 0.02580450102686882 + ], + "orientation": [ + 0.35913074016571045, + 0.5253655910491943, + 0.4385773837566376, + -0.634559690952301 + ], + "joints": [ + -0.007996978238224983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003931589424610138, + -0.09783345460891724, + -0.03161940351128578 + ], + "orientation": [ + 0.02698923833668232, + -0.01077254954725504, + 0.9986193776130676, + 0.04375910758972168 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.0032074337359517813, + -0.09681645035743713, + -0.03120986558496952 + ], + "orientation": [ + 0.02610844373703003, + -0.008806347846984863, + 0.9986605644226074, + 0.043793629854917526 + ], + "joints": [ + -0.009918129071593285 + ] + }, + "final_grasp": { + "position": [ + 0.0032074337359517813, + -0.09681645035743713, + -0.03120986558496952 + ], + "orientation": [ + 0.02610844373703003, + -0.008806347846984863, + 0.9986605644226074, + 0.043793629854917526 + ], + "joints": [ + -0.005135532468557358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0038842796348035336, + -0.0978802740573883, + -0.031696148216724396 + ], + "orientation": [ + 0.02583199553191662, + -0.010802984237670898, + 0.9986349940299988, + 0.04409351944923401 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.0031517997849732637, + -0.09702667593955994, + -0.03136397898197174 + ], + "orientation": [ + 0.025065148249268532, + -0.008642706088721752, + 0.9987058639526367, + 0.04339958354830742 + ], + "joints": [ + -0.009918129071593285 + ] + }, + "final_grasp": { + "position": [ + 0.0031517997849732637, + -0.09702667593955994, + -0.03136397898197174 + ], + "orientation": [ + 0.025065148249268532, + -0.008642706088721752, + 0.9987058639526367, + 0.04339958354830742 + ], + "joints": [ + -0.005135532468557358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13917089998722076, + 0.11866552382707596, + 0.0224421676248312 + ], + "orientation": [ + 0.37232378125190735, + 0.5354719758033752, + -0.4487149119377136, + 0.6109825968742371 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + 0.13466529548168182, + 0.11726229637861252, + 0.021461106836795807 + ], + "orientation": [ + 0.37929847836494446, + 0.5277975797653198, + -0.4449882209300995, + 0.6160745620727539 + ], + "joints": [ + -0.012776711024343967 + ] + }, + "final_grasp": { + "position": [ + 0.13466529548168182, + 0.11726229637861252, + 0.021461106836795807 + ], + "orientation": [ + 0.37929847836494446, + 0.5277975797653198, + -0.4449882209300995, + 0.6160745620727539 + ], + "joints": [ + -0.007967537268996239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0748303160071373, + 0.023813342675566673, + -0.1118975356221199 + ], + "orientation": [ + 0.13523517549037933, + -0.2653521001338959, + -0.59609055519104, + -0.7456377148628235 + ], + "joints": [ + -0.013994159176945686 + ] + }, + "fine_grasp": { + "position": [ + -0.07163592427968979, + 0.024835290387272835, + -0.10768084228038788 + ], + "orientation": [ + 0.13869886100292206, + -0.2638489902019501, + -0.6076963543891907, + -0.7361055612564087 + ], + "joints": [ + -0.009663250297307968 + ] + }, + "final_grasp": { + "position": [ + -0.07163592427968979, + 0.024835290387272835, + -0.10768084228038788 + ], + "orientation": [ + 0.13869886100292206, + -0.2638489902019501, + -0.6076963543891907, + -0.7361055612564087 + ], + "joints": [ + -0.00533234141767025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0038503750693053007, + -0.09782996028661728, + -0.031684279441833496 + ], + "orientation": [ + 0.02537069283425808, + -0.01076002698391676, + 0.9986511468887329, + 0.04400531202554703 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.003088247962296009, + -0.09694401174783707, + -0.03131073713302612 + ], + "orientation": [ + 0.024380428716540337, + -0.008567148819565773, + 0.9987257719039917, + 0.04334850609302521 + ], + "joints": [ + -0.009918129071593285 + ] + }, + "final_grasp": { + "position": [ + 0.003088247962296009, + -0.09694401174783707, + -0.03131073713302612 + ], + "orientation": [ + 0.024380428716540337, + -0.008567148819565773, + 0.9987257719039917, + 0.04334850609302521 + ], + "joints": [ + -0.005135532468557358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002976421033963561, + -0.09573841840028763, + -0.04945003241300583 + ], + "orientation": [ + 0.0009151423582807183, + -0.009846646338701248, + -0.994379997253418, + -0.10540694743394852 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.0030645676888525486, + -0.09430672228336334, + -0.04854576662182808 + ], + "orientation": [ + 0.0013741424772888422, + -0.010161174461245537, + -0.9940428733825684, + -0.1085064709186554 + ], + "joints": [ + -0.008824491873383522 + ] + }, + "final_grasp": { + "position": [ + -0.0030645676888525486, + -0.09430672228336334, + -0.04854576662182808 + ], + "orientation": [ + 0.0013741424772888422, + -0.010161174461245537, + -0.9940428733825684, + -0.1085064709186554 + ], + "joints": [ + -0.0035370662808418274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0029435583855956793, + -0.09550456702709198, + -0.04951539263129234 + ], + "orientation": [ + 0.002075109165161848, + -0.009382097981870174, + -0.9943421483039856, + -0.10578906536102295 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.0030438099056482315, + -0.09408219158649445, + -0.048679202795028687 + ], + "orientation": [ + 0.0016327996272593737, + -0.010000367648899555, + -0.9940038919448853, + -0.10887502133846283 + ], + "joints": [ + -0.008797921240329742 + ] + }, + "final_grasp": { + "position": [ + -0.0030438099056482315, + -0.09408219158649445, + -0.048679202795028687 + ], + "orientation": [ + 0.0016327996272593737, + -0.010000367648899555, + -0.9940038919448853, + -0.10887502133846283 + ], + "joints": [ + -0.003483925014734268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.083974689245224, + 0.012435127049684525, + -0.10097437351942062 + ], + "orientation": [ + 0.2808064818382263, + -0.19510459899902344, + 0.7518311738967896, + 0.5637657046318054 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.08044639974832535, + 0.014350728131830692, + -0.09651422500610352 + ], + "orientation": [ + 0.27760887145996094, + -0.19757062196731567, + 0.7536717653274536, + 0.5620302557945251 + ], + "joints": [ + -0.012093767523765564 + ] + }, + "final_grasp": { + "position": [ + 0.08044639974832535, + 0.014350728131830692, + -0.09651422500610352 + ], + "orientation": [ + 0.27760887145996094, + -0.19757062196731567, + 0.7536717653274536, + 0.5620302557945251 + ], + "joints": [ + -0.006248364225029945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14222709834575653, + 0.07857030630111694, + -0.01878615841269493 + ], + "orientation": [ + 0.5435535311698914, + 0.5206053853034973, + 0.466487854719162, + -0.46465981006622314 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.13774895668029785, + 0.07831262052059174, + -0.018866248428821564 + ], + "orientation": [ + 0.5418322086334229, + 0.5243633985519409, + 0.4629336893558502, + -0.46599718928337097 + ], + "joints": [ + -0.01286355871707201 + ] + }, + "final_grasp": { + "position": [ + -0.13774895668029785, + 0.07831262052059174, + -0.018866248428821564 + ], + "orientation": [ + 0.5418322086334229, + 0.5243633985519409, + 0.4629336893558502, + -0.46599718928337097 + ], + "joints": [ + -0.007522983476519585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13312683999538422, + 0.04235319793224335, + 0.014650038443505764 + ], + "orientation": [ + 0.5424817204475403, + -0.5086711049079895, + 0.4726426601409912, + 0.4728383421897888 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.12733134627342224, + 0.042761486023664474, + 0.013587426394224167 + ], + "orientation": [ + 0.541233479976654, + -0.5081735253334045, + 0.47475290298461914, + 0.4726896584033966 + ], + "joints": [ + -0.011619774624705315 + ] + }, + "final_grasp": { + "position": [ + 0.12733134627342224, + 0.042761486023664474, + 0.013587426394224167 + ], + "orientation": [ + 0.541233479976654, + -0.5081735253334045, + 0.47475290298461914, + 0.4726896584033966 + ], + "joints": [ + -0.004711570218205452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12410086393356323, + 0.0009263574029318988, + -0.027602089568972588 + ], + "orientation": [ + 0.5075437426567078, + -0.3816518783569336, + -0.4835599958896637, + -0.6024209856987 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.12453797459602356, + 0.001542123151011765, + -0.027614517137408257 + ], + "orientation": [ + 0.5047298669815063, + -0.38724127411842346, + -0.48926275968551636, + -0.5965851545333862 + ], + "joints": [ + -0.010063781403005123 + ] + }, + "final_grasp": { + "position": [ + -0.12453797459602356, + 0.001542123151011765, + -0.027614517137408257 + ], + "orientation": [ + 0.5047298669815063, + -0.38724127411842346, + -0.48926275968551636, + -0.5965851545333862 + ], + "joints": [ + -0.0036604125052690506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08408118784427643, + 0.022039037197828293, + 0.10337667912244797 + ], + "orientation": [ + 0.2747516632080078, + 0.20142321288585663, + -0.70680171251297, + 0.6199771165847778 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + 0.08022879809141159, + 0.023243693634867668, + 0.0989990308880806 + ], + "orientation": [ + 0.271298885345459, + 0.20404700934886932, + -0.7093387246131897, + 0.6177381277084351 + ], + "joints": [ + -0.011591808870434761 + ] + }, + "final_grasp": { + "position": [ + 0.08022879809141159, + 0.023243693634867668, + 0.0989990308880806 + ], + "orientation": [ + 0.271298885345459, + 0.20404700934886932, + -0.7093387246131897, + 0.6177381277084351 + ], + "joints": [ + -0.005215005949139595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13618917763233185, + 0.03610534965991974, + -0.011684413999319077 + ], + "orientation": [ + 0.5638487339019775, + -0.3905320167541504, + 0.544059693813324, + 0.4832788109779358 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.13059382140636444, + 0.03739932179450989, + -0.011395473033189774 + ], + "orientation": [ + 0.5612702965736389, + -0.39269328117370605, + 0.5462937951087952, + 0.4820069968700409 + ], + "joints": [ + -0.01268257386982441 + ] + }, + "final_grasp": { + "position": [ + 0.13059382140636444, + 0.03739932179450989, + -0.011395473033189774 + ], + "orientation": [ + 0.5612702965736389, + -0.39269328117370605, + 0.5462937951087952, + 0.4820069968700409 + ], + "joints": [ + -0.006837168708443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14324824512004852, + 0.07958780229091644, + -0.019254542887210846 + ], + "orientation": [ + 0.5479811429977417, + 0.5172858834266663, + 0.465214341878891, + -0.4644433259963989 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.13855333626270294, + 0.07941435277462006, + -0.019557010382413864 + ], + "orientation": [ + 0.5459962487220764, + 0.5221155285835266, + 0.46491676568984985, + -0.46166640520095825 + ], + "joints": [ + -0.01286355871707201 + ] + }, + "final_grasp": { + "position": [ + -0.13855333626270294, + 0.07941435277462006, + -0.019557010382413864 + ], + "orientation": [ + 0.5459962487220764, + 0.5221155285835266, + 0.46491676568984985, + -0.46166640520095825 + ], + "joints": [ + -0.007522983476519585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14329904317855835, + 0.07914998382329941, + -0.019056051969528198 + ], + "orientation": [ + 0.5462803840637207, + 0.5183603763580322, + 0.4672613739967346, + -0.4631921648979187 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.13876649737358093, + 0.0788763090968132, + -0.019217906519770622 + ], + "orientation": [ + 0.5449917316436768, + 0.5219066739082336, + 0.4651968479156494, + -0.46280595660209656 + ], + "joints": [ + -0.01286355871707201 + ] + }, + "final_grasp": { + "position": [ + -0.13876649737358093, + 0.0788763090968132, + -0.019217906519770622 + ], + "orientation": [ + 0.5449917316436768, + 0.5219066739082336, + 0.4651968479156494, + -0.46280595660209656 + ], + "joints": [ + -0.007522983476519585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13506905734539032, + 0.05853450670838356, + -0.0013198951492086053 + ], + "orientation": [ + 0.4874393343925476, + 0.509056806564331, + -0.4275442659854889, + 0.5661005973815918 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.12921611964702606, + 0.05748143792152405, + -0.0012637622421607375 + ], + "orientation": [ + 0.485178679227829, + 0.5123644471168518, + -0.42866772413253784, + 0.5642059445381165 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + 0.12921611964702606, + 0.05748143792152405, + -0.0012637622421607375 + ], + "orientation": [ + 0.485178679227829, + 0.5123644471168518, + -0.42866772413253784, + 0.5642059445381165 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13516640663146973, + 0.05878274515271187, + -0.0014888736186549067 + ], + "orientation": [ + 0.48801276087760925, + 0.5091288089752197, + -0.42740193009376526, + 0.5656492114067078 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.12930883467197418, + 0.05774366855621338, + -0.0014056998770684004 + ], + "orientation": [ + 0.48553532361984253, + 0.5126141905784607, + -0.42869171500205994, + 0.563653826713562 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + 0.12930883467197418, + 0.05774366855621338, + -0.0014056998770684004 + ], + "orientation": [ + 0.48553532361984253, + 0.5126141905784607, + -0.42869171500205994, + 0.563653826713562 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14321847259998322, + 0.07929874956607819, + -0.019098615273833275 + ], + "orientation": [ + 0.5468742847442627, + 0.5179690718650818, + 0.46684664487838745, + -0.4633474349975586 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.13854561746120453, + 0.07892676442861557, + -0.019332533702254295 + ], + "orientation": [ + 0.5455014705657959, + 0.5218715071678162, + 0.46522432565689087, + -0.4622170627117157 + ], + "joints": [ + -0.01286355871707201 + ] + }, + "final_grasp": { + "position": [ + -0.13854561746120453, + 0.07892676442861557, + -0.019332533702254295 + ], + "orientation": [ + 0.5455014705657959, + 0.5218715071678162, + 0.46522432565689087, + -0.4622170627117157 + ], + "joints": [ + -0.007522983476519585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1168583407998085, + 0.09606428444385529, + 0.03981475904583931 + ], + "orientation": [ + 0.5120639204978943, + -0.6279872059822083, + -0.3514706790447235, + -0.46892550587654114 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.11326941847801208, + 0.0946691557765007, + 0.03877607360482216 + ], + "orientation": [ + 0.5049195289611816, + -0.6365321278572083, + -0.35493382811546326, + -0.4624987542629242 + ], + "joints": [ + -0.011030968278646469 + ] + }, + "final_grasp": { + "position": [ + -0.11326941847801208, + 0.0946691557765007, + 0.03877607360482216 + ], + "orientation": [ + 0.5049195289611816, + -0.6365321278572083, + -0.35493382811546326, + -0.4624987542629242 + ], + "joints": [ + -0.004122765734791756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12279602140188217, + 0.016944488510489464, + 0.0516427606344223 + ], + "orientation": [ + 0.3906325697898865, + 0.39104801416397095, + 0.6371637582778931, + -0.5371311902999878 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.1175406277179718, + 0.017830144613981247, + 0.04914097487926483 + ], + "orientation": [ + 0.3923417627811432, + 0.38926345109939575, + 0.6367950439453125, + -0.5376189351081848 + ], + "joints": [ + -0.011619774624705315 + ] + }, + "final_grasp": { + "position": [ + -0.1175406277179718, + 0.017830144613981247, + 0.04914097487926483 + ], + "orientation": [ + 0.3923417627811432, + 0.38926345109939575, + 0.6367950439453125, + -0.5376189351081848 + ], + "joints": [ + -0.004711570218205452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06976083666086197, + 0.038413576781749725, + 0.11410857737064362 + ], + "orientation": [ + 0.22854140400886536, + 0.15648221969604492, + 0.6681798100471497, + -0.6905200481414795 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.06678897142410278, + 0.03824222460389137, + 0.1089155450463295 + ], + "orientation": [ + 0.2277025729417801, + 0.1590486466884613, + 0.6680245995521545, + -0.6903610229492188 + ], + "joints": [ + -0.011086979880928993 + ] + }, + "final_grasp": { + "position": [ + -0.06678897142410278, + 0.03824222460389137, + 0.1089155450463295 + ], + "orientation": [ + 0.2277025729417801, + 0.1590486466884613, + 0.6680245995521545, + -0.6903610229492188 + ], + "joints": [ + -0.004205347970128059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1227375939488411, + 0.01710154488682747, + 0.05162589251995087 + ], + "orientation": [ + 0.3906814157962799, + 0.39093413949012756, + 0.6373018622398376, + -0.5370148420333862 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.11748815327882767, + 0.01799497753381729, + 0.049123235046863556 + ], + "orientation": [ + 0.39241302013397217, + 0.3891157805919647, + 0.6369529962539673, + -0.5374866127967834 + ], + "joints": [ + -0.011619774624705315 + ] + }, + "final_grasp": { + "position": [ + -0.11748815327882767, + 0.01799497753381729, + 0.049123235046863556 + ], + "orientation": [ + 0.39241302013397217, + 0.3891157805919647, + 0.6369529962539673, + -0.5374866127967834 + ], + "joints": [ + -0.004711570218205452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14681467413902283, + 0.08780086040496826, + 0.0017142872093245387 + ], + "orientation": [ + 0.5154306292533875, + 0.46029597520828247, + -0.40031060576438904, + 0.6018389463424683 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + 0.14381469786167145, + 0.08728674054145813, + 0.001831974252127111 + ], + "orientation": [ + 0.5171783566474915, + 0.45593640208244324, + -0.39665019512176514, + 0.6060670018196106 + ], + "joints": [ + -0.013954323716461658 + ] + }, + "final_grasp": { + "position": [ + 0.14381469786167145, + 0.08728674054145813, + 0.001831974252127111 + ], + "orientation": [ + 0.5171783566474915, + 0.45593640208244324, + -0.39665019512176514, + 0.6060670018196106 + ], + "joints": [ + -0.009145146235823631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06966851651668549, + 0.03836257383227348, + 0.11415611207485199 + ], + "orientation": [ + 0.22873106598854065, + 0.1557619422674179, + 0.6682664155960083, + -0.6905362010002136 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.0667010247707367, + 0.03818604722619057, + 0.10896215587854385 + ], + "orientation": [ + 0.22789637744426727, + 0.15832479298114777, + 0.6680678725242615, + -0.690421462059021 + ], + "joints": [ + -0.011086979880928993 + ] + }, + "final_grasp": { + "position": [ + -0.0667010247707367, + 0.03818604722619057, + 0.10896215587854385 + ], + "orientation": [ + 0.22789637744426727, + 0.15832479298114777, + 0.6680678725242615, + -0.690421462059021 + ], + "joints": [ + -0.004205347970128059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1464213728904724, + 0.08728673309087753, + 0.001804953208193183 + ], + "orientation": [ + 0.5140868425369263, + 0.46114441752433777, + -0.40014517307281494, + 0.602448582649231 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.1434250771999359, + 0.0867248997092247, + 0.0019130103755742311 + ], + "orientation": [ + 0.515537679195404, + 0.4569947421550751, + -0.3961670994758606, + 0.6069831252098083 + ], + "joints": [ + -0.013983764685690403 + ] + }, + "final_grasp": { + "position": [ + 0.1434250771999359, + 0.0867248997092247, + 0.0019130103755742311 + ], + "orientation": [ + 0.515537679195404, + 0.4569947421550751, + -0.3961670994758606, + 0.6069831252098083 + ], + "joints": [ + -0.009174587205052376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10974866151809692, + 0.013520152308046818, + -0.06537547707557678 + ], + "orientation": [ + 0.40743014216423035, + -0.2856786251068115, + -0.686302900314331, + -0.5304495692253113 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.10482481867074966, + 0.01552631612867117, + -0.06278607994318008 + ], + "orientation": [ + 0.4051990807056427, + -0.28629156947135925, + -0.6889002323150635, + -0.5284574627876282 + ], + "joints": [ + -0.011591808870434761 + ] + }, + "final_grasp": { + "position": [ + -0.10482481867074966, + 0.01552631612867117, + -0.06278607994318008 + ], + "orientation": [ + 0.4051990807056427, + -0.28629156947135925, + -0.6889002323150635, + -0.5284574627876282 + ], + "joints": [ + -0.005215005949139595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10973767191171646, + 0.013518527150154114, + -0.0653630867600441 + ], + "orientation": [ + 0.40753665566444397, + -0.28561997413635254, + -0.6861751079559326, + -0.5305646657943726 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.10481972247362137, + 0.015532253310084343, + -0.06277458369731903 + ], + "orientation": [ + 0.4052658975124359, + -0.2862798571586609, + -0.6888114213943481, + -0.5285284519195557 + ], + "joints": [ + -0.011591808870434761 + ] + }, + "final_grasp": { + "position": [ + -0.10481972247362137, + 0.015532253310084343, + -0.06277458369731903 + ], + "orientation": [ + 0.4052658975124359, + -0.2862798571586609, + -0.6888114213943481, + -0.5285284519195557 + ], + "joints": [ + -0.005215005949139595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10967740416526794, + 0.013494942337274551, + -0.06536851078271866 + ], + "orientation": [ + 0.40725231170654297, + -0.28574296832084656, + -0.6859707236289978, + -0.5309807658195496 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.10477986931800842, + 0.015526145696640015, + -0.06278450042009354 + ], + "orientation": [ + 0.40487122535705566, + -0.28650379180908203, + -0.688774585723877, + -0.5287573933601379 + ], + "joints": [ + -0.011591808870434761 + ] + }, + "final_grasp": { + "position": [ + -0.10477986931800842, + 0.015526145696640015, + -0.06278450042009354 + ], + "orientation": [ + 0.40487122535705566, + -0.28650379180908203, + -0.688774585723877, + -0.5287573933601379 + ], + "joints": [ + -0.005215005949139595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0695285052061081, + 0.038633573800325394, + 0.11367359012365341 + ], + "orientation": [ + 0.22922585904598236, + 0.15599797666072845, + 0.6684563755989075, + -0.6901349425315857 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.0665946900844574, + 0.03844839334487915, + 0.10851018875837326 + ], + "orientation": [ + 0.2280486524105072, + 0.15874597430229187, + 0.6685110926628113, + -0.6898452639579773 + ], + "joints": [ + -0.011060409247875214 + ] + }, + "final_grasp": { + "position": [ + -0.0665946900844574, + 0.03844839334487915, + 0.10851018875837326 + ], + "orientation": [ + 0.2280486524105072, + 0.15874597430229187, + 0.6685110926628113, + -0.6898452639579773 + ], + "joints": [ + -0.0041522067040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10477358847856522, + 0.048558805137872696, + -0.07117895781993866 + ], + "orientation": [ + 0.6707220077514648, + 0.5721546411514282, + 0.38093581795692444, + -0.2786734998226166 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.10085249692201614, + 0.04995984211564064, + -0.06884676218032837 + ], + "orientation": [ + 0.6745462417602539, + 0.5692739486694336, + 0.3779331147670746, + -0.2794297933578491 + ], + "joints": [ + -0.011535797268152237 + ] + }, + "final_grasp": { + "position": [ + -0.10085249692201614, + 0.04995984211564064, + -0.06884676218032837 + ], + "orientation": [ + 0.6745462417602539, + 0.5692739486694336, + 0.3779331147670746, + -0.2794297933578491 + ], + "joints": [ + -0.005132423713803291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10494442284107208, + 0.04858590289950371, + -0.0713050365447998 + ], + "orientation": [ + 0.6708407998085022, + 0.5720831751823425, + 0.38075652718544006, + -0.27877920866012573 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.10089933127164841, + 0.04998615011572838, + -0.06888706982135773 + ], + "orientation": [ + 0.6746077537536621, + 0.5692040920257568, + 0.3779200315475464, + -0.2794412672519684 + ], + "joints": [ + -0.011535797268152237 + ] + }, + "final_grasp": { + "position": [ + -0.10089933127164841, + 0.04998615011572838, + -0.06888706982135773 + ], + "orientation": [ + 0.6746077537536621, + 0.5692040920257568, + 0.3779200315475464, + -0.2794412672519684 + ], + "joints": [ + -0.005132423713803291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1069108322262764, + -0.06705600023269653, + -0.014155709184706211 + ], + "orientation": [ + 0.6740863919258118, + -0.24363143742084503, + -0.5928437113761902, + -0.3671342134475708 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.10159999132156372, + -0.06445350497961044, + -0.014003323391079903 + ], + "orientation": [ + 0.671317994594574, + -0.2500479817390442, + -0.5889788269996643, + -0.37404802441596985 + ], + "joints": [ + -0.01327137928456068 + ] + }, + "final_grasp": { + "position": [ + -0.10159999132156372, + -0.06445350497961044, + -0.014003323391079903 + ], + "orientation": [ + 0.671317994594574, + -0.2500479817390442, + -0.5889788269996643, + -0.37404802441596985 + ], + "joints": [ + -0.007425971329212189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10661225020885468, + -0.06690137088298798, + -0.0141924899071455 + ], + "orientation": [ + 0.675279438495636, + -0.2431241124868393, + -0.5909603238105774, + -0.3683128356933594 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + -0.10136781632900238, + -0.06419429928064346, + -0.014067582786083221 + ], + "orientation": [ + 0.6727310419082642, + -0.2489793598651886, + -0.5873510241508484, + -0.37478122115135193 + ], + "joints": [ + -0.013300820253789425 + ] + }, + "final_grasp": { + "position": [ + -0.10136781632900238, + -0.06419429928064346, + -0.014067582786083221 + ], + "orientation": [ + 0.6727310419082642, + -0.2489793598651886, + -0.5873510241508484, + -0.37478122115135193 + ], + "joints": [ + -0.007455412298440933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10712791979312897, + -0.06735774129629135, + -0.014350345358252525 + ], + "orientation": [ + 0.6749385595321655, + -0.24146944284439087, + -0.5934528708457947, + -0.36601120233535767 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.10199777781963348, + -0.06472410261631012, + -0.014189359731972218 + ], + "orientation": [ + 0.6742798089981079, + -0.24632009863853455, + -0.588088870048523, + -0.3725918233394623 + ], + "joints": [ + -0.013299345038831234 + ] + }, + "final_grasp": { + "position": [ + -0.10199777781963348, + -0.06472410261631012, + -0.014189359731972218 + ], + "orientation": [ + 0.6742798089981079, + -0.24632009863853455, + -0.588088870048523, + -0.3725918233394623 + ], + "joints": [ + -0.006922535598278046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10661972314119339, + 0.04607639089226723, + -0.07119707763195038 + ], + "orientation": [ + 0.2607191503047943, + -0.40568646788597107, + -0.5694259405136108, + -0.6657312512397766 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.10196612030267715, + 0.04447200521826744, + -0.0682600885629654 + ], + "orientation": [ + 0.2592981457710266, + -0.40559783577919006, + -0.5661340355873108, + -0.6691390872001648 + ], + "joints": [ + -0.011086979880928993 + ] + }, + "final_grasp": { + "position": [ + -0.10196612030267715, + 0.04447200521826744, + -0.0682600885629654 + ], + "orientation": [ + 0.2592981457710266, + -0.40559783577919006, + -0.5661340355873108, + -0.6691390872001648 + ], + "joints": [ + -0.004205347970128059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11913973093032837, + 0.07065531611442566, + -0.044064559042453766 + ], + "orientation": [ + 0.37547749280929565, + -0.4310119152069092, + -0.5964378118515015, + -0.5634779334068298 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + -0.11498606204986572, + 0.07070941478013992, + -0.04232228919863701 + ], + "orientation": [ + 0.37395089864730835, + -0.43398600816726685, + -0.5965649485588074, + -0.5620740056037903 + ], + "joints": [ + -0.010445032268762589 + ] + }, + "final_grasp": { + "position": [ + -0.11498606204986572, + 0.07070941478013992, + -0.04232228919863701 + ], + "orientation": [ + 0.37395089864730835, + -0.43398600816726685, + -0.5965649485588074, + -0.5620740056037903 + ], + "joints": [ + -0.0035102609544992447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13016581535339355, + 0.07865934818983078, + 0.02458084747195244 + ], + "orientation": [ + 0.44522735476493835, + 0.4484873414039612, + 0.47133317589759827, + -0.6152046322822571 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.12446895241737366, + 0.07746800035238266, + 0.02358098514378071 + ], + "orientation": [ + 0.442598432302475, + 0.44980013370513916, + 0.4696483910083771, + -0.6174275875091553 + ], + "joints": [ + -0.011646345257759094 + ] + }, + "final_grasp": { + "position": [ + -0.12446895241737366, + 0.07746800035238266, + 0.02358098514378071 + ], + "orientation": [ + 0.442598432302475, + 0.44980013370513916, + 0.4696483910083771, + -0.6174275875091553 + ], + "joints": [ + -0.004764711484313011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13013020157814026, + 0.07864546030759811, + 0.024583052843809128 + ], + "orientation": [ + 0.4453064501285553, + 0.4483492076396942, + 0.47129929065704346, + -0.6152739524841309 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.12443093955516815, + 0.07745108753442764, + 0.023589882999658585 + ], + "orientation": [ + 0.44259047508239746, + 0.44976717233657837, + 0.4696456491947174, + -0.6174593567848206 + ], + "joints": [ + -0.011646345257759094 + ] + }, + "final_grasp": { + "position": [ + -0.12443093955516815, + 0.07745108753442764, + 0.023589882999658585 + ], + "orientation": [ + 0.44259047508239746, + 0.44976717233657837, + 0.4696456491947174, + -0.6174593567848206 + ], + "joints": [ + -0.004764711484313011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13011668622493744, + 0.0785520151257515, + 0.024558214470744133 + ], + "orientation": [ + 0.44530197978019714, + 0.4483906030654907, + 0.47105470299720764, + -0.6154344081878662 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.12441688030958176, + 0.07735884189605713, + 0.023566290736198425 + ], + "orientation": [ + 0.44263020157814026, + 0.44978436827659607, + 0.46945104002952576, + -0.6175664663314819 + ], + "joints": [ + -0.011646345257759094 + ] + }, + "final_grasp": { + "position": [ + -0.12441688030958176, + 0.07735884189605713, + 0.023566290736198425 + ], + "orientation": [ + 0.44263020157814026, + 0.44978436827659607, + 0.46945104002952576, + -0.6175664663314819 + ], + "joints": [ + -0.004764711484313011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13012604415416718, + 0.07851693779230118, + 0.024550268426537514 + ], + "orientation": [ + 0.4451855421066284, + 0.44854024052619934, + 0.4709796607494354, + -0.6154668927192688 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.12442836165428162, + 0.07732318341732025, + 0.0235538799315691 + ], + "orientation": [ + 0.4425581097602844, + 0.4498851001262665, + 0.46934735774993896, + -0.617623507976532 + ], + "joints": [ + -0.011646345257759094 + ] + }, + "final_grasp": { + "position": [ + -0.12442836165428162, + 0.07732318341732025, + 0.0235538799315691 + ], + "orientation": [ + 0.4425581097602844, + 0.4498851001262665, + 0.46934735774993896, + -0.617623507976532 + ], + "joints": [ + -0.004764711484313011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07472618669271469, + 0.03335866704583168, + 0.107155442237854 + ], + "orientation": [ + 0.2748352289199829, + 0.15452790260314941, + 0.6813995242118835, + -0.6605160236358643 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.07138007134199142, + 0.033963993191719055, + 0.10226952284574509 + ], + "orientation": [ + 0.2748625874519348, + 0.1550375372171402, + 0.6822949051856995, + -0.659460186958313 + ], + "joints": [ + -0.010555580258369446 + ] + }, + "final_grasp": { + "position": [ + -0.07138007134199142, + 0.033963993191719055, + 0.10226952284574509 + ], + "orientation": [ + 0.2748625874519348, + 0.1550375372171402, + 0.6822949051856995, + -0.659460186958313 + ], + "joints": [ + -0.0031425487250089645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13644224405288696, + 0.033797912299633026, + -0.006706310901790857 + ], + "orientation": [ + 0.5973868370056152, + 0.4253250062465668, + -0.44893181324005127, + 0.5105760097503662 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.13060025870800018, + 0.03442394360899925, + -0.006186624988913536 + ], + "orientation": [ + 0.5965262651443481, + 0.4272080361843109, + -0.44818514585494995, + 0.510666012763977 + ], + "joints": [ + -0.013328786008059978 + ] + }, + "final_grasp": { + "position": [ + 0.13060025870800018, + 0.03442394360899925, + -0.006186624988913536 + ], + "orientation": [ + 0.5965262651443481, + 0.4272080361843109, + -0.44818514585494995, + 0.510666012763977 + ], + "joints": [ + -0.00695197656750679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1364293396472931, + 0.033753737807273865, + -0.006733356975018978 + ], + "orientation": [ + 0.5973505973815918, + 0.4254433810710907, + -0.44870686531066895, + 0.5107173323631287 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.13056236505508423, + 0.034351494163274765, + -0.006205918733030558 + ], + "orientation": [ + 0.5962313413619995, + 0.427521675825119, + -0.44790181517601013, + 0.510996401309967 + ], + "joints": [ + -0.013328786008059978 + ] + }, + "final_grasp": { + "position": [ + 0.13056236505508423, + 0.034351494163274765, + -0.006205918733030558 + ], + "orientation": [ + 0.5962313413619995, + 0.427521675825119, + -0.44790181517601013, + 0.510996401309967 + ], + "joints": [ + -0.00695197656750679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10288182646036148, + 0.02251799963414669, + -0.07616927474737167 + ], + "orientation": [ + 0.2706790566444397, + -0.35617920756340027, + -0.6781306862831116, + -0.5831019878387451 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.0987485870718956, + 0.023213308304548264, + -0.07300347089767456 + ], + "orientation": [ + 0.2707163393497467, + -0.3573397994041443, + -0.6782503128051758, + -0.5822349190711975 + ], + "joints": [ + -0.010529009625315666 + ] + }, + "final_grasp": { + "position": [ + -0.0987485870718956, + 0.023213308304548264, + -0.07300347089767456 + ], + "orientation": [ + 0.2707163393497467, + -0.3573397994041443, + -0.6782503128051758, + -0.5822349190711975 + ], + "joints": [ + -0.0030894074589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05248039960861206, + 0.06732054054737091, + -0.11912015825510025 + ], + "orientation": [ + 0.19081711769104004, + -0.09044184535741806, + 0.6366933584213257, + 0.7416406273841858 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.049998749047517776, + 0.0664687305688858, + -0.11380141228437424 + ], + "orientation": [ + 0.1898403912782669, + -0.08962099999189377, + 0.6349822282791138, + 0.7434555292129517 + ], + "joints": [ + -0.011114945635199547 + ] + }, + "final_grasp": { + "position": [ + 0.049998749047517776, + 0.0664687305688858, + -0.11380141228437424 + ], + "orientation": [ + 0.1898403912782669, + -0.08962099999189377, + 0.6349822282791138, + 0.7434555292129517 + ], + "joints": [ + -0.0037019122391939163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11252995580434799, + 0.045163027942180634, + -0.057825785130262375 + ], + "orientation": [ + 0.5754607915878296, + 0.6243560910224915, + -0.4386577904224396, + 0.2942850589752197 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.11100871860980988, + 0.04590513929724693, + -0.057560887187719345 + ], + "orientation": [ + 0.5704730153083801, + 0.6290730237960815, + -0.4432334303855896, + 0.2870050370693207 + ], + "joints": [ + -0.011593203991651535 + ] + }, + "final_grasp": { + "position": [ + 0.11100871860980988, + 0.04590513929724693, + -0.057560887187719345 + ], + "orientation": [ + 0.5704730153083801, + 0.6290730237960815, + -0.4432334303855896, + 0.2870050370693207 + ], + "joints": [ + -0.004658428952097893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030777882784605026, + -0.11603699624538422, + -0.011188572272658348 + ], + "orientation": [ + 0.7869505882263184, + 0.03158654272556305, + -0.6161651611328125, + 0.007182830013334751 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.02875734679400921, + -0.11743789166212082, + -0.012152478098869324 + ], + "orientation": [ + 0.7883691191673279, + 0.03711337596178055, + -0.6140328049659729, + 0.007769450079649687 + ], + "joints": [ + -0.0081517044454813 + ] + }, + "final_grasp": { + "position": [ + 0.02875734679400921, + -0.11743789166212082, + -0.012152478098869324 + ], + "orientation": [ + 0.7883691191673279, + 0.03711337596178055, + -0.6140328049659729, + 0.007769450079649687 + ], + "joints": [ + -0.0033691078424453735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01075193751603365, + 0.06301433593034744, + -0.12791474163532257 + ], + "orientation": [ + 0.7927389144897461, + 0.5940918326377869, + -0.06629259884357452, + -0.11926945298910141 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.011583964340388775, + 0.06432290375232697, + -0.12491470575332642 + ], + "orientation": [ + 0.7868002653121948, + 0.6004610061645508, + -0.07318072766065598, + -0.12262296676635742 + ], + "joints": [ + -0.011069174855947495 + ] + }, + "final_grasp": { + "position": [ + -0.011583964340388775, + 0.06432290375232697, + -0.12491470575332642 + ], + "orientation": [ + 0.7868002653121948, + 0.6004610061645508, + -0.07318072766065598, + -0.12262296676635742 + ], + "joints": [ + -0.006260007619857788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026402877643704414, + -0.09694654494524002, + -0.04656558483839035 + ], + "orientation": [ + 0.19752533733844757, + -0.047994647175073624, + 0.9714798927307129, + 0.12209468334913254 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.025398295372724533, + -0.09344509989023209, + -0.04618261009454727 + ], + "orientation": [ + 0.20160813629627228, + -0.04280828312039375, + 0.9711005091667175, + 0.12035587430000305 + ], + "joints": [ + -0.009470708668231964 + ] + }, + "final_grasp": { + "position": [ + 0.025398295372724533, + -0.09344509989023209, + -0.04618261009454727 + ], + "orientation": [ + 0.20160813629627228, + -0.04280828312039375, + 0.9711005091667175, + 0.12035587430000305 + ], + "joints": [ + -0.003651883453130722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1367405205965042, + 0.01467036921530962, + -0.0024302261881530285 + ], + "orientation": [ + 0.3692326545715332, + 0.6117164492607117, + -0.5591273307800293, + 0.42053166031837463 + ], + "joints": [ + -0.01573113724589348 + ] + }, + "fine_grasp": { + "position": [ + 0.13912340998649597, + 0.015996407717466354, + -0.003634595312178135 + ], + "orientation": [ + 0.3778454065322876, + 0.6083472967147827, + -0.5516631603240967, + 0.42756786942481995 + ], + "joints": [ + -0.008849512785673141 + ] + }, + "final_grasp": { + "position": [ + 0.13912340998649597, + 0.015996407717466354, + -0.003634595312178135 + ], + "orientation": [ + 0.3778454065322876, + 0.6083472967147827, + -0.5516631603240967, + 0.42756786942481995 + ], + "joints": [ + -0.0019678883254528046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12202873826026917, + 0.11852846294641495, + -0.0649019107222557 + ], + "orientation": [ + 0.0809696614742279, + 0.8494570851325989, + -0.5203424096107483, + -0.03332224115729332 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + 0.12006577104330063, + 0.11479538679122925, + -0.06346841901540756 + ], + "orientation": [ + 0.09180593490600586, + 0.8465211391448975, + -0.5226720571517944, + -0.042281053960323334 + ], + "joints": [ + -0.01666872948408127 + ] + }, + "final_grasp": { + "position": [ + 0.12006577104330063, + 0.11479538679122925, + -0.06346841901540756 + ], + "orientation": [ + 0.09180593490600586, + 0.8465211391448975, + -0.5226720571517944, + -0.042281053960323334 + ], + "joints": [ + -0.013985149562358856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13540370762348175, + 0.11890548467636108, + 0.046683717519044876 + ], + "orientation": [ + 0.48573219776153564, + 0.26191824674606323, + -0.48506981134414673, + 0.6783586144447327 + ], + "joints": [ + -0.010535387322306633 + ] + }, + "fine_grasp": { + "position": [ + 0.13240808248519897, + 0.11839569360017776, + 0.04511336609721184 + ], + "orientation": [ + 0.48608100414276123, + 0.2610361874103546, + -0.48333555459976196, + 0.6796852350234985 + ], + "joints": [ + -0.003069222904741764 + ] + }, + "final_grasp": { + "position": [ + 0.13240808248519897, + 0.11839569360017776, + 0.04511336609721184 + ], + "orientation": [ + 0.48608100414276123, + 0.2610361874103546, + -0.48333555459976196, + 0.6796852350234985 + ], + "joints": [ + 0.004396941512823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12500028312206268, + 0.04614131897687912, + -0.07919127494096756 + ], + "orientation": [ + 0.06674809753894806, + -0.5555182695388794, + 0.7487677931785583, + 0.3553742468357086 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12461406737565994, + 0.04631608724594116, + -0.07775388658046722 + ], + "orientation": [ + 0.06845571100711823, + -0.5531732439994812, + 0.7452791333198547, + 0.365885466337204 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + 0.12461406737565994, + 0.04631608724594116, + -0.07775388658046722 + ], + "orientation": [ + 0.06845571100711823, + -0.5531732439994812, + 0.7452791333198547, + 0.365885466337204 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022718137130141258, + -0.10273787379264832, + -0.022157076746225357 + ], + "orientation": [ + 0.8255922794342041, + 0.046586524695158005, + -0.5616084933280945, + -0.028689386323094368 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.021745774894952774, + -0.10777366161346436, + -0.023019246757030487 + ], + "orientation": [ + 0.8260248899459839, + 0.05296124890446663, + -0.5605282783508301, + -0.02619030885398388 + ], + "joints": [ + -0.008374201133847237 + ] + }, + "final_grasp": { + "position": [ + 0.021745774894952774, + -0.10777366161346436, + -0.023019246757030487 + ], + "orientation": [ + 0.8260248899459839, + 0.05296124890446663, + -0.5605282783508301, + -0.02619030885398388 + ], + "joints": [ + -0.0020771175622940063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01584014482796192, + -0.10675454884767532, + -0.02367677539587021 + ], + "orientation": [ + 0.4048081040382385, + 0.13250575959682465, + 0.9045059680938721, + -0.021011052653193474 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.016828663647174835, + -0.10487520694732666, + -0.02299761027097702 + ], + "orientation": [ + 0.40666845440864563, + 0.13094565272331238, + 0.9039607644081116, + -0.01813403330743313 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + -0.016828663647174835, + -0.10487520694732666, + -0.02299761027097702 + ], + "orientation": [ + 0.40666845440864563, + 0.13094565272331238, + 0.9039607644081116, + -0.01813403330743313 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00713830441236496, + -0.10611014068126678, + -0.020024213939905167 + ], + "orientation": [ + 0.5008716583251953, + 0.06256519258022308, + 0.8632375597953796, + 0.005823478102684021 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.005604290869086981, + -0.10819332301616669, + -0.021564366295933723 + ], + "orientation": [ + 0.4962672293186188, + 0.0656294897198677, + 0.8656255602836609, + 0.010208899155259132 + ], + "joints": [ + -0.008350500836968422 + ] + }, + "final_grasp": { + "position": [ + 0.005604290869086981, + -0.10819332301616669, + -0.021564366295933723 + ], + "orientation": [ + 0.4962672293186188, + 0.0656294897198677, + 0.8656255602836609, + 0.010208899155259132 + ], + "joints": [ + -0.0020002759993076324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007139223162084818, + -0.10545285046100616, + -0.019448546692728996 + ], + "orientation": [ + 0.5023419857025146, + 0.06086226552724838, + 0.8625071048736572, + 0.005455049220472574 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.005860003177076578, + -0.1084083542227745, + -0.02073012664914131 + ], + "orientation": [ + 0.4997834265232086, + 0.06320197135210037, + 0.8637971878051758, + 0.008748248219490051 + ], + "joints": [ + -0.008405039086937904 + ] + }, + "final_grasp": { + "position": [ + 0.005860003177076578, + -0.1084083542227745, + -0.02073012664914131 + ], + "orientation": [ + 0.4997834265232086, + 0.06320197135210037, + 0.8637971878051758, + 0.008748248219490051 + ], + "joints": [ + -0.001549985259771347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0013076646719127893, + -0.1112963855266571, + -0.02086605504155159 + ], + "orientation": [ + 0.7184379696846008, + 0.002923356369137764, + -0.6867811679840088, + -0.11031714081764221 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.0011406043777242303, + -0.11236652731895447, + -0.020073549821972847 + ], + "orientation": [ + 0.7212048172950745, + 0.0028965570963919163, + -0.6846852898597717, + -0.10517261177301407 + ], + "joints": [ + -0.008294489234685898 + ] + }, + "final_grasp": { + "position": [ + 0.0011406043777242303, + -0.11236652731895447, + -0.020073549821972847 + ], + "orientation": [ + 0.7212048172950745, + 0.0028965570963919163, + -0.6846852898597717, + -0.10517261177301407 + ], + "joints": [ + -0.0019176937639713287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043340425938367844, + 0.011444196105003357, + -0.12076140195131302 + ], + "orientation": [ + 0.22845982015132904, + -0.02446553111076355, + -0.637969970703125, + -0.734984278678894 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.044145386666059494, + 0.012174505740404129, + -0.12296286970376968 + ], + "orientation": [ + 0.22351379692554474, + -0.029569435864686966, + -0.6429006457328796, + -0.732015073299408 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + -0.044145386666059494, + 0.012174505740404129, + -0.12296286970376968 + ], + "orientation": [ + 0.22351379692554474, + -0.029569435864686966, + -0.6429006457328796, + -0.732015073299408 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10876914858818054, + 0.07811521738767624, + -0.07308831810951233 + ], + "orientation": [ + 0.21528340876102448, + -0.45625269412994385, + -0.5853084921836853, + -0.6347443461418152 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.10390681028366089, + 0.07645493745803833, + -0.07038439810276031 + ], + "orientation": [ + 0.21188388764858246, + -0.45816677808761597, + -0.583769679069519, + -0.6359257102012634 + ], + "joints": [ + -0.012797386385500431 + ] + }, + "final_grasp": { + "position": [ + -0.10390681028366089, + 0.07645493745803833, + -0.07038439810276031 + ], + "orientation": [ + 0.21188388764858246, + -0.45816677808761597, + -0.583769679069519, + -0.6359257102012634 + ], + "joints": [ + -0.005889177322387695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10877378284931183, + 0.0782313421368599, + -0.0731009915471077 + ], + "orientation": [ + 0.2154398113489151, + -0.45601174235343933, + -0.5857774019241333, + -0.6344318985939026 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.10385558009147644, + 0.07658680528402328, + -0.07043986022472382 + ], + "orientation": [ + 0.21250537037849426, + -0.45820149779319763, + -0.5842366814613342, + -0.6352640986442566 + ], + "joints": [ + -0.012797386385500431 + ] + }, + "final_grasp": { + "position": [ + -0.10385558009147644, + 0.07658680528402328, + -0.07043986022472382 + ], + "orientation": [ + 0.21250537037849426, + -0.45820149779319763, + -0.5842366814613342, + -0.6352640986442566 + ], + "joints": [ + -0.005889177322387695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004243438597768545, + -0.11114244163036346, + -0.018737247213721275 + ], + "orientation": [ + 0.6722589731216431, + 0.12414471060037613, + 0.7295249104499817, + -0.02119971439242363 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.004254329018294811, + -0.11007574200630188, + -0.01865525357425213 + ], + "orientation": [ + 0.676056981086731, + 0.1213601753115654, + 0.7265145182609558, + -0.019881797954440117 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + -0.004254329018294811, + -0.11007574200630188, + -0.01865525357425213 + ], + "orientation": [ + 0.676056981086731, + 0.1213601753115654, + 0.7265145182609558, + -0.019881797954440117 + ], + "joints": [ + -0.0024211257696151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1128426268696785, + 0.04516177624464035, + -0.058013636618852615 + ], + "orientation": [ + 0.5758317112922668, + 0.6241737008094788, + -0.4381931722164154, + 0.2946385145187378 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.11102993041276932, + 0.045874934643507004, + -0.05749227851629257 + ], + "orientation": [ + 0.5709474086761475, + 0.6287103891372681, + -0.4428224265575409, + 0.28749018907546997 + ], + "joints": [ + -0.011593203991651535 + ] + }, + "final_grasp": { + "position": [ + 0.11102993041276932, + 0.045874934643507004, + -0.05749227851629257 + ], + "orientation": [ + 0.5709474086761475, + 0.6287103891372681, + -0.4428224265575409, + 0.28749018907546997 + ], + "joints": [ + -0.004658428952097893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11298535764217377, + 0.04521932452917099, + -0.05809922143816948 + ], + "orientation": [ + 0.5760343670845032, + 0.6240516304969788, + -0.43798941373825073, + 0.2948037087917328 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.11110819876194, + 0.045926280319690704, + -0.057385239750146866 + ], + "orientation": [ + 0.5708694458007812, + 0.6283911466598511, + -0.44311338663101196, + 0.2878943383693695 + ], + "joints": [ + -0.011593203991651535 + ] + }, + "final_grasp": { + "position": [ + 0.11110819876194, + 0.045926280319690704, + -0.057385239750146866 + ], + "orientation": [ + 0.5708694458007812, + 0.6283911466598511, + -0.44311338663101196, + 0.2878943383693695 + ], + "joints": [ + -0.004658428952097893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12411607801914215, + 0.0014307474484667182, + -0.027704445645213127 + ], + "orientation": [ + 0.5100208520889282, + -0.37840017676353455, + -0.4804675281047821, + -0.604849636554718 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.12444908916950226, + 0.0023632002994418144, + -0.0276512298732996 + ], + "orientation": [ + 0.5126365423202515, + -0.3785901963710785, + -0.48267847299575806, + -0.6007452011108398 + ], + "joints": [ + -0.010063781403005123 + ] + }, + "final_grasp": { + "position": [ + -0.12444908916950226, + 0.0023632002994418144, + -0.0276512298732996 + ], + "orientation": [ + 0.5126365423202515, + -0.3785901963710785, + -0.48267847299575806, + -0.6007452011108398 + ], + "joints": [ + -0.0036604125052690506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12053346633911133, + -0.004593792837113142, + -0.016419820487499237 + ], + "orientation": [ + 0.6177967190742493, + 0.45109131932258606, + 0.4345035254955292, + -0.47544771432876587 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + -0.12060099095106125, + -0.005666887853294611, + -0.016224147751927376 + ], + "orientation": [ + 0.6203950643539429, + 0.44685420393943787, + 0.4225258529186249, + -0.48672711849212646 + ], + "joints": [ + -0.010177199728786945 + ] + }, + "final_grasp": { + "position": [ + -0.12060099095106125, + -0.005666887853294611, + -0.016224147751927376 + ], + "orientation": [ + 0.6203950643539429, + 0.44685420393943787, + 0.4225258529186249, + -0.48672711849212646 + ], + "joints": [ + -0.0032689999788999557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12101607024669647, + -0.004617637023329735, + -0.01651766337454319 + ], + "orientation": [ + 0.6177448034286499, + 0.45114070177078247, + 0.4346899390220642, + -0.47529783844947815 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + -0.12060144543647766, + -0.0056663863360881805, + -0.01629193313419819 + ], + "orientation": [ + 0.6195068359375, + 0.44787660241127014, + 0.4231579303741455, + -0.4863693416118622 + ], + "joints": [ + -0.010415591299533844 + ] + }, + "final_grasp": { + "position": [ + -0.12060144543647766, + -0.0056663863360881805, + -0.01629193313419819 + ], + "orientation": [ + 0.6195068359375, + 0.44787660241127014, + 0.4231579303741455, + -0.4863693416118622 + ], + "joints": [ + -0.0034808199852705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009617912583053112, + -0.11001202464103699, + -0.010967675596475601 + ], + "orientation": [ + 0.7166919112205505, + 0.11148253083229065, + 0.686832070350647, + -0.046753108501434326 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.010862890630960464, + -0.1112540066242218, + -0.012187095358967781 + ], + "orientation": [ + 0.7178104519844055, + 0.10979189723730087, + 0.6861185431480408, + -0.0439925491809845 + ], + "joints": [ + -0.008912738412618637 + ] + }, + "final_grasp": { + "position": [ + -0.010862890630960464, + -0.1112540066242218, + -0.012187095358967781 + ], + "orientation": [ + 0.7178104519844055, + 0.10979189723730087, + 0.6861185431480408, + -0.0439925491809845 + ], + "joints": [ + -0.002535942941904068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015654264017939568, + -0.10945645719766617, + 0.01255997084081173 + ], + "orientation": [ + 0.6816001534461975, + 0.060567665845155716, + -0.7184799909591675, + 0.1246570572257042 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.017239917069673538, + -0.11195256561040878, + 0.014083832502365112 + ], + "orientation": [ + 0.6764746904373169, + 0.06041960045695305, + -0.7232565879821777, + 0.12502583861351013 + ], + "joints": [ + -0.008912738412618637 + ] + }, + "final_grasp": { + "position": [ + 0.017239917069673538, + -0.11195256561040878, + 0.014083832502365112 + ], + "orientation": [ + 0.6764746904373169, + 0.06041960045695305, + -0.7232565879821777, + 0.12502583861351013 + ], + "joints": [ + -0.002535942941904068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02704473026096821, + 0.08529616892337799, + -0.12852707505226135 + ], + "orientation": [ + 0.7534040212631226, + 0.6357697248458862, + 0.0044931769371032715, + 0.16780677437782288 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.026229258626699448, + 0.08649128675460815, + -0.12436927855014801 + ], + "orientation": [ + 0.756245493888855, + 0.6336503624916077, + 0.013314332813024521, + 0.1624888777732849 + ], + "joints": [ + -0.011404572054743767 + ] + }, + "final_grasp": { + "position": [ + 0.026229258626699448, + 0.08649128675460815, + -0.12436927855014801 + ], + "orientation": [ + 0.756245493888855, + 0.6336503624916077, + 0.013314332813024521, + 0.1624888777732849 + ], + "joints": [ + -0.007578492164611816 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2034, + "num_passed": 75 + } +} \ No newline at end of file diff --git a/059_pencup_3/Annotation/piper_grasp_pose.json b/059_pencup_3/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e401f10032d242a5673d05504c0a26def4f128f3 --- /dev/null +++ b/059_pencup_3/Annotation/piper_grasp_pose.json @@ -0,0 +1,2118 @@ +{ + "type": "059_pencup_3", + "bottom_center": [ + 8.439645171165466e-06, + 0.07597944140434265, + -0.03346800059080124 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.1384754180908203, + 0.0054199653677642345, + -0.023935256525874138 + ], + "orientation": [ + 0.49040868878364563, + 0.35740235447883606, + -0.5382094979286194, + -0.5848875641822815 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.13477419316768646, + 0.005556497722864151, + -0.02327771857380867 + ], + "orientation": [ + 0.49460864067077637, + 0.3605438768863678, + -0.5353447198867798, + -0.5820450186729431 + ], + "joints": [ + 0.027558714151382446 + ] + }, + "final_grasp": { + "position": [ + 0.13477419316768646, + 0.005556497722864151, + -0.02327771857380867 + ], + "orientation": [ + 0.49460864067077637, + 0.3605438768863678, + -0.5353447198867798, + -0.5820450186729431 + ], + "joints": [ + 0.020348981022834778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13777095079421997, + 0.039340052753686905, + 0.028736097738146782 + ], + "orientation": [ + 0.5203273296356201, + -0.5881507992744446, + -0.5006653070449829, + 0.3642421364784241 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.13390643894672394, + 0.03964460641145706, + 0.02804342843592167 + ], + "orientation": [ + 0.516923725605011, + -0.585551917552948, + -0.5050453543663025, + 0.36721673607826233 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + 0.13390643894672394, + 0.03964460641145706, + 0.02804342843592167 + ], + "orientation": [ + 0.516923725605011, + -0.585551917552948, + -0.5050453543663025, + 0.36721673607826233 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04429106041789055, + -0.012897171080112457, + -0.1292552798986435 + ], + "orientation": [ + 0.6790719628334045, + 0.03223584219813347, + -0.1967906951904297, + -0.7064668536186218 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.04298076033592224, + -0.01290113851428032, + -0.12538515031337738 + ], + "orientation": [ + 0.6799334287643433, + 0.03543597087264061, + -0.19377386569976807, + -0.7063189744949341 + ], + "joints": [ + 0.02948298677802086 + ] + }, + "final_grasp": { + "position": [ + 0.04298076033592224, + -0.01290113851428032, + -0.12538515031337738 + ], + "orientation": [ + 0.6799334287643433, + 0.03543597087264061, + -0.19377386569976807, + -0.7063189744949341 + ], + "joints": [ + 0.023965973407030106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044364359229803085, + -0.012816057540476322, + -0.1294184923171997 + ], + "orientation": [ + 0.6795169115066528, + 0.034466031938791275, + -0.19480690360069275, + -0.7064836025238037 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.043034739792346954, + -0.012794542126357555, + -0.12553738057613373 + ], + "orientation": [ + 0.6803562045097351, + 0.03738166391849518, + -0.1917840987443924, + -0.7063547372817993 + ], + "joints": [ + 0.02948298677802086 + ] + }, + "final_grasp": { + "position": [ + 0.043034739792346954, + -0.012794542126357555, + -0.12553738057613373 + ], + "orientation": [ + 0.6803562045097351, + 0.03738166391849518, + -0.1917840987443924, + -0.7063547372817993 + ], + "joints": [ + 0.023965973407030106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025565624237060547, + 0.01268306840211153, + -0.1404958963394165 + ], + "orientation": [ + 0.697126567363739, + 0.08123433589935303, + 0.04431837424635887, + 0.710951030254364 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.02483607456088066, + 0.012730129063129425, + -0.13639843463897705 + ], + "orientation": [ + 0.6967306137084961, + 0.08088063448667526, + 0.044830720871686935, + 0.7113472819328308 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.02483607456088066, + 0.012730129063129425, + -0.13639843463897705 + ], + "orientation": [ + 0.6967306137084961, + 0.08088063448667526, + 0.044830720871686935, + 0.7113472819328308 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02668696828186512, + 0.012685781344771385, + -0.1401285082101822 + ], + "orientation": [ + 0.6969053745269775, + 0.08273454755544662, + 0.04860667884349823, + 0.7107146382331848 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.025999873876571655, + 0.012730300426483154, + -0.13611309230327606 + ], + "orientation": [ + 0.6964923739433289, + 0.08261603116989136, + 0.049301400780677795, + 0.711085319519043 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.025999873876571655, + 0.012730300426483154, + -0.13611309230327606 + ], + "orientation": [ + 0.6964923739433289, + 0.08261603116989136, + 0.049301400780677795, + 0.711085319519043 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025510039180517197, + 0.012932056561112404, + -0.14051149785518646 + ], + "orientation": [ + 0.6975322365760803, + 0.08012181520462036, + 0.04523022100329399, + 0.7106218338012695 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.024776937440037727, + 0.012953361496329308, + -0.13641542196273804 + ], + "orientation": [ + 0.6971660852432251, + 0.07977215945720673, + 0.04570586234331131, + 0.7109899520874023 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.024776937440037727, + 0.012953361496329308, + -0.13641542196273804 + ], + "orientation": [ + 0.6971660852432251, + 0.07977215945720673, + 0.04570586234331131, + 0.7109899520874023 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13445408642292023, + 0.031769778579473495, + -0.04028572514653206 + ], + "orientation": [ + 0.535982608795166, + -0.41760021448135376, + -0.4241788685321808, + 0.5986692905426025 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.13049539923667908, + 0.03181752189993858, + -0.03901611641049385 + ], + "orientation": [ + 0.5365469455718994, + -0.4192313253879547, + -0.4227626323699951, + 0.5980253219604492 + ], + "joints": [ + 0.02950388565659523 + ] + }, + "final_grasp": { + "position": [ + 0.13049539923667908, + 0.03181752189993858, + -0.03901611641049385 + ], + "orientation": [ + 0.5365469455718994, + -0.4192313253879547, + -0.4227626323699951, + 0.5980253219604492 + ], + "joints": [ + 0.02400777116417885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08159209042787552, + 0.022093500941991806, + 0.11789797991514206 + ], + "orientation": [ + 0.1731368899345398, + 0.63398277759552, + 0.7107686996459961, + 0.25079360604286194 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.07921812683343887, + 0.022470252588391304, + 0.11470885574817657 + ], + "orientation": [ + 0.17878934741020203, + 0.6324695944786072, + 0.7128500938415527, + 0.24466590583324432 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.07921812683343887, + 0.022470252588391304, + 0.11470885574817657 + ], + "orientation": [ + 0.17878934741020203, + 0.6324695944786072, + 0.7128500938415527, + 0.24466590583324432 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10472697019577026, + -0.07171230018138885, + 0.03355385735630989 + ], + "orientation": [ + 0.5801246166229248, + -0.7229180932044983, + 0.30233901739120483, + -0.22234195470809937 + ], + "joints": [ + 0.034780025482177734 + ] + }, + "fine_grasp": { + "position": [ + -0.10144016146659851, + -0.06999097764492035, + 0.03269072249531746 + ], + "orientation": [ + 0.5746921300888062, + -0.7197893261909485, + 0.31260284781455994, + -0.2321888655424118 + ], + "joints": [ + 0.028406202793121338 + ] + }, + "final_grasp": { + "position": [ + -0.10144016146659851, + -0.06999097764492035, + 0.03269072249531746 + ], + "orientation": [ + 0.5746921300888062, + -0.7197893261909485, + 0.31260284781455994, + -0.2321888655424118 + ], + "joints": [ + 0.02203238010406494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0814029797911644, + 0.02188814803957939, + 0.11807134002447128 + ], + "orientation": [ + 0.17376691102981567, + 0.6340284943580627, + 0.7111443877220154, + 0.24917185306549072 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.07899130880832672, + 0.022247860208153725, + 0.11484266072511673 + ], + "orientation": [ + 0.1795426309108734, + 0.6327852606773376, + 0.7129641771316528, + 0.24295936524868011 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.07899130880832672, + 0.022247860208153725, + 0.11484266072511673 + ], + "orientation": [ + 0.1795426309108734, + 0.6327852606773376, + 0.7129641771316528, + 0.24295936524868011 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07349704951047897, + 0.09731202572584152, + -0.11960935592651367 + ], + "orientation": [ + 0.6623848080635071, + 0.15187233686447144, + -0.2220340073108673, + -0.6992010474205017 + ], + "joints": [ + 0.02270219661295414 + ] + }, + "fine_grasp": { + "position": [ + 0.07120688259601593, + 0.09582804143428802, + -0.11598646640777588 + ], + "orientation": [ + 0.6640217304229736, + 0.15808910131454468, + -0.21724170446395874, + -0.6977744698524475 + ], + "joints": [ + 0.0164328683167696 + ] + }, + "final_grasp": { + "position": [ + 0.07120688259601593, + 0.09582804143428802, + -0.11598646640777588 + ], + "orientation": [ + 0.6640217304229736, + 0.15808910131454468, + -0.21724170446395874, + -0.6977744698524475 + ], + "joints": [ + 0.01016354002058506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11365632712841034, + -0.06084418669342995, + 0.042563214898109436 + ], + "orientation": [ + 0.14618852734565735, + 0.4617456793785095, + -0.6428104639053345, + -0.5934765338897705 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.11061010509729385, + -0.05948784574866295, + 0.04139214754104614 + ], + "orientation": [ + 0.1555228978395462, + 0.4694218337535858, + -0.6409290432929993, + -0.5870825052261353 + ], + "joints": [ + 0.026566453278064728 + ] + }, + "final_grasp": { + "position": [ + 0.11061010509729385, + -0.05948784574866295, + 0.04139214754104614 + ], + "orientation": [ + 0.1555228978395462, + 0.4694218337535858, + -0.6409290432929993, + -0.5870825052261353 + ], + "joints": [ + 0.019753776490688324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07327396422624588, + 0.09790709614753723, + -0.11896684020757675 + ], + "orientation": [ + 0.6699425578117371, + 0.1479305773973465, + -0.22738875448703766, + -0.6910772323608398 + ], + "joints": [ + 0.022189270704984665 + ] + }, + "fine_grasp": { + "position": [ + 0.0709027424454689, + 0.09636037796735764, + -0.11546600610017776 + ], + "orientation": [ + 0.6717436909675598, + 0.15450811386108398, + -0.2224060744047165, + -0.6895095109939575 + ], + "joints": [ + 0.015919942408800125 + ] + }, + "final_grasp": { + "position": [ + 0.0709027424454689, + 0.09636037796735764, + -0.11546600610017776 + ], + "orientation": [ + 0.6717436909675598, + 0.15450811386108398, + -0.2224060744047165, + -0.6895095109939575 + ], + "joints": [ + 0.009650614112615585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05267522484064102, + -0.10456965118646622, + -0.022426966577768326 + ], + "orientation": [ + 0.7425431609153748, + -0.6087595224380493, + -0.2213364541530609, + 0.17044556140899658 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.05285004526376724, + -0.10007703304290771, + -0.020970357581973076 + ], + "orientation": [ + 0.7480432391166687, + -0.6116901636123657, + -0.2027496099472046, + 0.1586161106824875 + ], + "joints": [ + 0.031175706535577774 + ] + }, + "final_grasp": { + "position": [ + 0.05285004526376724, + -0.10007703304290771, + -0.020970357581973076 + ], + "orientation": [ + 0.7480432391166687, + -0.6116901636123657, + -0.2027496099472046, + 0.1586161106824875 + ], + "joints": [ + 0.027351412922143936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13257992267608643, + 0.06646205484867096, + 0.047472983598709106 + ], + "orientation": [ + 0.3337624669075012, + -0.5735177993774414, + -0.577949583530426, + 0.4750308096408844 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.1287524402141571, + 0.06633579730987549, + 0.0461583249270916 + ], + "orientation": [ + 0.3377680778503418, + -0.5788171291351318, + -0.5733897686004639, + 0.47128286957740784 + ], + "joints": [ + 0.029065031558275223 + ] + }, + "final_grasp": { + "position": [ + 0.1287524402141571, + 0.06633579730987549, + 0.0461583249270916 + ], + "orientation": [ + 0.3377680778503418, + -0.5788171291351318, + -0.5733897686004639, + 0.47128286957740784 + ], + "joints": [ + 0.023130062967538834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052721209824085236, + -0.10450948774814606, + -0.022151822224259377 + ], + "orientation": [ + 0.7438327670097351, + -0.6089965105056763, + -0.21784865856170654, + 0.16845838725566864 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.052778393030166626, + -0.09981626272201538, + -0.020736608654260635 + ], + "orientation": [ + 0.7486521601676941, + -0.6124669909477234, + -0.19929471611976624, + 0.15711702406406403 + ], + "joints": [ + 0.031217504292726517 + ] + }, + "final_grasp": { + "position": [ + 0.052778393030166626, + -0.09981626272201538, + -0.020736608654260635 + ], + "orientation": [ + 0.7486521601676941, + -0.6124669909477234, + -0.19929471611976624, + 0.15711702406406403 + ], + "joints": [ + 0.02743500843644142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0651826485991478, + 0.041183579713106155, + -0.12990176677703857 + ], + "orientation": [ + 0.6744789481163025, + -0.14039121568202972, + 0.18423159420490265, + -0.7010186314582825 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.06360851973295212, + 0.04116775467991829, + -0.12652970850467682 + ], + "orientation": [ + 0.6744228601455688, + -0.14140278100967407, + 0.1838809698820114, + -0.7009614109992981 + ], + "joints": [ + 0.026677653193473816 + ] + }, + "final_grasp": { + "position": [ + -0.06360851973295212, + 0.04116775467991829, + -0.12652970850467682 + ], + "orientation": [ + 0.6744228601455688, + -0.14140278100967407, + 0.1838809698820114, + -0.7009614109992981 + ], + "joints": [ + 0.01904996484518051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11736585199832916, + 0.09080659598112106, + -0.07454728335142136 + ], + "orientation": [ + 0.614409863948822, + -0.2428562343120575, + 0.42492347955703735, + -0.6188387274742126 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.11395584046840668, + 0.0909464880824089, + -0.07230831682682037 + ], + "orientation": [ + 0.6174528002738953, + -0.24634712934494019, + 0.4213608205318451, + -0.6168633103370667 + ], + "joints": [ + 0.029085930436849594 + ] + }, + "final_grasp": { + "position": [ + -0.11395584046840668, + 0.0909464880824089, + -0.07230831682682037 + ], + "orientation": [ + 0.6174528002738953, + -0.24634712934494019, + 0.4213608205318451, + -0.6168633103370667 + ], + "joints": [ + 0.023171860724687576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10919897258281708, + 0.0051836236380040646, + -0.10164575278759003 + ], + "orientation": [ + 0.646182119846344, + -0.2860148847103119, + 0.27552923560142517, + -0.6517114043235779 + ], + "joints": [ + 0.032383449375629425 + ] + }, + "fine_grasp": { + "position": [ + -0.10640302300453186, + 0.005203372798860073, + -0.09923368692398071 + ], + "orientation": [ + 0.6463719606399536, + -0.28547269105911255, + 0.2751286029815674, + -0.6519301533699036 + ], + "joints": [ + 0.024337805807590485 + ] + }, + "final_grasp": { + "position": [ + -0.10640302300453186, + 0.005203372798860073, + -0.09923368692398071 + ], + "orientation": [ + 0.6463719606399536, + -0.28547269105911255, + 0.2751286029815674, + -0.6519301533699036 + ], + "joints": [ + 0.016292162239551544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027155105024576187, + 0.012373080477118492, + -0.1404680758714676 + ], + "orientation": [ + 0.6951687932014465, + 0.08291858434677124, + 0.050040509551763535, + 0.712292492389679 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.026496846228837967, + 0.012380264699459076, + -0.13655206561088562 + ], + "orientation": [ + 0.6948987245559692, + 0.0829952210187912, + 0.050787754356861115, + 0.7124943137168884 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.026496846228837967, + 0.012380264699459076, + -0.13655206561088562 + ], + "orientation": [ + 0.6948987245559692, + 0.0829952210187912, + 0.050787754356861115, + 0.7124943137168884 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14449429512023926, + 0.01998908631503582, + -0.010570010170340538 + ], + "orientation": [ + 0.46258243918418884, + 0.5080482959747314, + -0.44961878657341003, + -0.5707427859306335 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.14061376452445984, + 0.02003336325287819, + -0.010302461683750153 + ], + "orientation": [ + 0.46152135729789734, + 0.5099890232086182, + -0.44792479276657104, + -0.57120281457901 + ], + "joints": [ + 0.027811165899038315 + ] + }, + "final_grasp": { + "position": [ + 0.14061376452445984, + 0.02003336325287819, + -0.010302461683750153 + ], + "orientation": [ + 0.46152135729789734, + 0.5099890232086182, + -0.44792479276657104, + -0.57120281457901 + ], + "joints": [ + 0.020622331649065018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06431495398283005, + 0.09366811066865921, + -0.12804573774337769 + ], + "orientation": [ + 0.6492529511451721, + 0.22441980242729187, + 0.0946512222290039, + 0.720518946647644 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.06262630224227905, + 0.09367730468511581, + -0.1244998648762703 + ], + "orientation": [ + 0.6477587223052979, + 0.22290945053100586, + 0.0950968936085701, + 0.7222718596458435 + ], + "joints": [ + 0.027811165899038315 + ] + }, + "final_grasp": { + "position": [ + -0.06262630224227905, + 0.09367730468511581, + -0.1244998648762703 + ], + "orientation": [ + 0.6477587223052979, + 0.22290945053100586, + 0.0950968936085701, + 0.7222718596458435 + ], + "joints": [ + 0.020622331649065018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05698368325829506, + 0.06825996190309525, + -0.13002809882164001 + ], + "orientation": [ + 0.7621615529060364, + 0.21382619440555573, + 0.08169074356555939, + 0.6055697202682495 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.055375222116708755, + 0.0681677758693695, + -0.12652400135993958 + ], + "orientation": [ + 0.7631929516792297, + 0.2116556614637375, + 0.08486852794885635, + 0.6045953035354614 + ], + "joints": [ + 0.027558714151382446 + ] + }, + "final_grasp": { + "position": [ + -0.055375222116708755, + 0.0681677758693695, + -0.12652400135993958 + ], + "orientation": [ + 0.7631929516792297, + 0.2116556614637375, + 0.08486852794885635, + 0.6045953035354614 + ], + "joints": [ + 0.020348981022834778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060042545199394226, + -0.025796666741371155, + -0.11576070636510849 + ], + "orientation": [ + 0.5629264712333679, + 0.02399318851530552, + -0.31919822096824646, + -0.7620043158531189 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.058235932141542435, + -0.025797363370656967, + -0.1122952327132225 + ], + "orientation": [ + 0.5648146867752075, + 0.031235652044415474, + -0.31445443630218506, + -0.762316882610321 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + 0.058235932141542435, + -0.025797363370656967, + -0.1122952327132225 + ], + "orientation": [ + 0.5648146867752075, + 0.031235652044415474, + -0.31445443630218506, + -0.762316882610321 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06518363207578659, + 0.04130034148693085, + -0.12991756200790405 + ], + "orientation": [ + 0.6745874285697937, + -0.1405663639307022, + 0.18403343856334686, + -0.7009313106536865 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.0636008232831955, + 0.04129663482308388, + -0.1265457570552826 + ], + "orientation": [ + 0.6745306253433228, + -0.14162592589855194, + 0.18358363211154938, + -0.7008906602859497 + ], + "joints": [ + 0.026677653193473816 + ] + }, + "final_grasp": { + "position": [ + -0.0636008232831955, + 0.04129663482308388, + -0.1265457570552826 + ], + "orientation": [ + 0.6745306253433228, + -0.14162592589855194, + 0.18358363211154938, + -0.7008906602859497 + ], + "joints": [ + 0.01904996484518051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11545796692371368, + 0.060966018587350845, + 0.08663680404424667 + ], + "orientation": [ + 0.22369502484798431, + -0.6290996670722961, + 0.6275993585586548, + -0.40039122104644775 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.11249012500047684, + 0.060495905578136444, + 0.08443107455968857 + ], + "orientation": [ + 0.22681736946105957, + -0.6355212926864624, + 0.6220461130142212, + -0.3971462845802307 + ], + "joints": [ + 0.02663024514913559 + ] + }, + "final_grasp": { + "position": [ + -0.11249012500047684, + 0.060495905578136444, + 0.08443107455968857 + ], + "orientation": [ + 0.22681736946105957, + -0.6355212926864624, + 0.6220461130142212, + -0.3971462845802307 + ], + "joints": [ + 0.019441410899162292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09622402489185333, + 0.048514850437641144, + -0.10931766033172607 + ], + "orientation": [ + 0.7168074250221252, + 0.24223259091377258, + -0.2546444833278656, + -0.6022180914878845 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.09372209012508392, + 0.048535384237766266, + -0.10641250759363174 + ], + "orientation": [ + 0.7174593806266785, + 0.24155396223068237, + -0.25570639967918396, + -0.6012635231018066 + ], + "joints": [ + 0.02716165781021118 + ] + }, + "final_grasp": { + "position": [ + 0.09372209012508392, + 0.048535384237766266, + -0.10641250759363174 + ], + "orientation": [ + 0.7174593806266785, + 0.24155396223068237, + -0.25570639967918396, + -0.6012635231018066 + ], + "joints": [ + 0.01955486834049225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09625199437141418, + 0.048542946577072144, + -0.10929489135742188 + ], + "orientation": [ + 0.7167720198631287, + 0.2420409917831421, + -0.25497934222221375, + -0.602195680141449 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.09375946968793869, + 0.048560723662376404, + -0.10638858377933502 + ], + "orientation": [ + 0.7174297571182251, + 0.24139606952667236, + -0.2559758722782135, + -0.6012476682662964 + ], + "joints": [ + 0.02716165781021118 + ] + }, + "final_grasp": { + "position": [ + 0.09375946968793869, + 0.048560723662376404, + -0.10638858377933502 + ], + "orientation": [ + 0.7174297571182251, + 0.24139606952667236, + -0.2559758722782135, + -0.6012476682662964 + ], + "joints": [ + 0.01955486834049225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10924312472343445, + 0.005328833125531673, + -0.10166773200035095 + ], + "orientation": [ + 0.6464250683784485, + -0.28640690445899963, + 0.27518200874328613, + -0.6514449715614319 + ], + "joints": [ + 0.032383449375629425 + ] + }, + "fine_grasp": { + "position": [ + -0.1064840629696846, + 0.0053485375829041, + -0.09927617758512497 + ], + "orientation": [ + 0.6466620564460754, + -0.2857553958892822, + 0.27469193935394287, + -0.6517027020454407 + ], + "joints": [ + 0.024337805807590485 + ] + }, + "final_grasp": { + "position": [ + -0.1064840629696846, + 0.0053485375829041, + -0.09927617758512497 + ], + "orientation": [ + 0.6466620564460754, + -0.2857553958892822, + 0.27469193935394287, + -0.6517027020454407 + ], + "joints": [ + 0.016292162239551544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06517129391431808, + 0.04131828248500824, + -0.12991613149642944 + ], + "orientation": [ + 0.6745238900184631, + -0.14075815677642822, + 0.1837988644838333, + -0.7010153532028198 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.06356839835643768, + 0.04131832346320152, + -0.1264580339193344 + ], + "orientation": [ + 0.6744763255119324, + -0.14182661473751068, + 0.18330784142017365, + -0.7009742856025696 + ], + "joints": [ + 0.026677653193473816 + ] + }, + "final_grasp": { + "position": [ + -0.06356839835643768, + 0.04131832346320152, + -0.1264580339193344 + ], + "orientation": [ + 0.6744763255119324, + -0.14182661473751068, + 0.18330784142017365, + -0.7009742856025696 + ], + "joints": [ + 0.01904996484518051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0651756078004837, + 0.04135167971253395, + -0.1298985630273819 + ], + "orientation": [ + 0.6744765639305115, + -0.1409456580877304, + 0.1836688220500946, + -0.7010573744773865 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + -0.06357718259096146, + 0.041351500898599625, + -0.12644900381565094 + ], + "orientation": [ + 0.6744278073310852, + -0.14199833571910858, + 0.18319196999073029, + -0.7010166645050049 + ], + "joints": [ + 0.026864055544137955 + ] + }, + "final_grasp": { + "position": [ + -0.06357718259096146, + 0.041351500898599625, + -0.12644900381565094 + ], + "orientation": [ + 0.6744278073310852, + -0.14199833571910858, + 0.18319196999073029, + -0.7010166645050049 + ], + "joints": [ + 0.019654322415590286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14354293048381805, + 0.032307542860507965, + 0.023191077634692192 + ], + "orientation": [ + 0.4527685046195984, + -0.4748210608959198, + -0.5928065776824951, + 0.46703970432281494 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.13986752927303314, + 0.03222726657986641, + 0.022695399820804596 + ], + "orientation": [ + 0.456158846616745, + -0.4750584363937378, + -0.5924623012542725, + 0.46392565965652466 + ], + "joints": [ + 0.02714075893163681 + ] + }, + "final_grasp": { + "position": [ + 0.13986752927303314, + 0.03222726657986641, + 0.022695399820804596 + ], + "orientation": [ + 0.456158846616745, + -0.4750584363937378, + -0.5924623012542725, + 0.46392565965652466 + ], + "joints": [ + 0.019513070583343506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14279906451702118, + 0.031141389161348343, + 0.02500777505338192 + ], + "orientation": [ + 0.4531427323818207, + -0.4804641902446747, + -0.5935558676719666, + 0.45989930629730225 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.13902084529399872, + 0.031028535217046738, + 0.024427346885204315 + ], + "orientation": [ + 0.4561394155025482, + -0.4804389476776123, + -0.5936686992645264, + 0.45680704712867737 + ], + "joints": [ + 0.027558714151382446 + ] + }, + "final_grasp": { + "position": [ + 0.13902084529399872, + 0.031028535217046738, + 0.024427346885204315 + ], + "orientation": [ + 0.4561394155025482, + -0.4804389476776123, + -0.5936686992645264, + 0.45680704712867737 + ], + "joints": [ + 0.020348981022834778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1342754364013672, + 0.06394306570291519, + 0.05988094583153725 + ], + "orientation": [ + 0.32137826085090637, + -0.6273084282875061, + 0.5540732741355896, + -0.44294804334640503 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.13087385892868042, + 0.06381750851869583, + 0.058502115309238434 + ], + "orientation": [ + 0.32043036818504333, + -0.6322597861289978, + 0.5489543080329895, + -0.442968487739563 + ], + "joints": [ + 0.026677653193473816 + ] + }, + "final_grasp": { + "position": [ + -0.13087385892868042, + 0.06381750851869583, + 0.058502115309238434 + ], + "orientation": [ + 0.32043036818504333, + -0.6322597861289978, + 0.5489543080329895, + -0.442968487739563 + ], + "joints": [ + 0.01904996484518051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027390174567699432, + 0.036428920924663544, + -0.14388684928417206 + ], + "orientation": [ + 0.6883574724197388, + 0.11097020655870438, + -0.019193517044186592, + -0.7165759801864624 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.02667136676609516, + 0.036411866545677185, + -0.14025761187076569 + ], + "orientation": [ + 0.6880651116371155, + 0.10966338962316513, + -0.020091015845537186, + -0.7170332670211792 + ], + "joints": [ + 0.025310330092906952 + ] + }, + "final_grasp": { + "position": [ + 0.02667136676609516, + 0.036411866545677185, + -0.14025761187076569 + ], + "orientation": [ + 0.6880651116371155, + 0.10966338962316513, + -0.020091015845537186, + -0.7170332670211792 + ], + "joints": [ + 0.01726468652486801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02766021527349949, + 0.03650432825088501, + -0.1438283622264862 + ], + "orientation": [ + 0.6881839632987976, + 0.1113157570362091, + -0.020051855593919754, + -0.716665506362915 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.026896338909864426, + 0.0364750437438488, + -0.14023061096668243 + ], + "orientation": [ + 0.6879050135612488, + 0.11014338582754135, + -0.02068355679512024, + -0.7170964479446411 + ], + "joints": [ + 0.025310330092906952 + ] + }, + "final_grasp": { + "position": [ + 0.026896338909864426, + 0.0364750437438488, + -0.14023061096668243 + ], + "orientation": [ + 0.6879050135612488, + 0.11014338582754135, + -0.02068355679512024, + -0.7170964479446411 + ], + "joints": [ + 0.01726468652486801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05757888779044151, + 0.01677691750228405, + -0.13371168076992035 + ], + "orientation": [ + 0.6433085799217224, + 0.1425560712814331, + 0.1419207751750946, + 0.7387086153030396 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.05616762116551399, + 0.016791895031929016, + -0.13012029230594635 + ], + "orientation": [ + 0.6422978043556213, + 0.14331373572349548, + 0.14179110527038574, + 0.7394660115242004 + ], + "joints": [ + 0.027095608413219452 + ] + }, + "final_grasp": { + "position": [ + -0.05616762116551399, + 0.016791895031929016, + -0.13012029230594635 + ], + "orientation": [ + 0.6422978043556213, + 0.14331373572349548, + 0.14179110527038574, + 0.7394660115242004 + ], + "joints": [ + 0.019885875284671783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02859402634203434, + 0.08101998269557953, + -0.13765543699264526 + ], + "orientation": [ + 0.6518038511276245, + 0.20512539148330688, + -0.07704176753759384, + 0.7260440587997437 + ], + "joints": [ + 0.032360292971134186 + ] + }, + "fine_grasp": { + "position": [ + -0.02790692076086998, + 0.08081317692995071, + -0.13407772779464722 + ], + "orientation": [ + 0.6515321135520935, + 0.20121119916439056, + -0.07392928749322891, + 0.7277048230171204 + ], + "joints": [ + 0.024293750524520874 + ] + }, + "final_grasp": { + "position": [ + -0.02790692076086998, + 0.08081317692995071, + -0.13407772779464722 + ], + "orientation": [ + 0.6515321135520935, + 0.20121119916439056, + -0.07392928749322891, + 0.7277048230171204 + ], + "joints": [ + 0.016227208077907562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14551226794719696, + 0.03104075789451599, + -0.01902126893401146 + ], + "orientation": [ + 0.5698623657226562, + 0.4299408793449402, + 0.49752435088157654, + 0.49282583594322205 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + -0.14180368185043335, + 0.03103233128786087, + -0.018420234322547913 + ], + "orientation": [ + 0.5711113214492798, + 0.42887550592422485, + 0.4985730051994324, + 0.49124613404273987 + ], + "joints": [ + 0.026864055544137955 + ] + }, + "final_grasp": { + "position": [ + -0.14180368185043335, + 0.03103233128786087, + -0.018420234322547913 + ], + "orientation": [ + 0.5711113214492798, + 0.42887550592422485, + 0.4985730051994324, + 0.49124613404273987 + ], + "joints": [ + 0.019654322415590286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0036699750926345587, + 0.24402669072151184, + -0.06021112948656082 + ], + "orientation": [ + 0.10527481138706207, + 0.06428452581167221, + -0.5725192427635193, + 0.8105593919754028 + ], + "joints": [ + 0.01228918507695198 + ] + }, + "fine_grasp": { + "position": [ + -0.0032722782343626022, + 0.23988795280456543, + -0.058881182223558426 + ], + "orientation": [ + 0.10640209168195724, + 0.0619044303894043, + -0.5747924447059631, + 0.8089871406555176 + ], + "joints": [ + 0.005183946341276169 + ] + }, + "final_grasp": { + "position": [ + -0.0032722782343626022, + 0.23988795280456543, + -0.058881182223558426 + ], + "orientation": [ + 0.10640209168195724, + 0.0619044303894043, + -0.5747924447059631, + 0.8089871406555176 + ], + "joints": [ + -0.001921292394399643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12399899214506149, + 0.14748957753181458, + 0.014051077887415886 + ], + "orientation": [ + 0.5351493954658508, + 0.5697087645530701, + -0.5335164070129395, + -0.32312124967575073 + ], + "joints": [ + 0.014937288127839565 + ] + }, + "fine_grasp": { + "position": [ + 0.1200539618730545, + 0.1471007913351059, + 0.012456346303224564 + ], + "orientation": [ + 0.5430750846862793, + 0.5697757005691528, + -0.5372819304466248, + -0.30290815234184265 + ], + "joints": [ + 0.008229105733335018 + ] + }, + "final_grasp": { + "position": [ + 0.1200539618730545, + 0.1471007913351059, + 0.012456346303224564 + ], + "orientation": [ + 0.5430750846862793, + 0.5697757005691528, + -0.5372819304466248, + -0.30290815234184265 + ], + "joints": [ + 0.001520923338830471 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 42 + } +} \ No newline at end of file diff --git a/059_pencup_3/Object.usd b/059_pencup_3/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..03422e1fa4c7c0ba147fe29be45f63bef14bd3c3 --- /dev/null +++ b/059_pencup_3/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c90f432e903be604941af8d9287a62c1ee98065b19d29e1947c0787fcc35f2db +size 297347 diff --git a/062_plasticbox_3/Annotation/dex1_1_grasp_pose.json b/062_plasticbox_3/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..f19f167dc8394dc1561d7163e707d8c374d1f67d --- /dev/null +++ b/062_plasticbox_3/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "062_plasticbox_3", + "bottom_center": [ + 9.346753358840942e-06, + 0.03577420115470886, + -0.07690680027008057 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/062_plasticbox_3/Annotation/piper_grasp_pose.json b/062_plasticbox_3/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..68c8acaedd598683d584a790e76565427b95f844 --- /dev/null +++ b/062_plasticbox_3/Annotation/piper_grasp_pose.json @@ -0,0 +1,318 @@ +{ + "type": "062_plasticbox_3", + "bottom_center": [ + 9.346753358840942e-06, + 0.03577420115470886, + -0.07690680027008057 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.06425188481807709, + 0.1697944551706314, + 0.05285469815135002 + ], + "orientation": [ + 0.7294427752494812, + 0.674637496471405, + -0.08230248093605042, + -0.07748482376337051 + ], + "joints": [ + 0.019964320585131645 + ] + }, + "fine_grasp": { + "position": [ + 0.06493818014860153, + 0.16546110808849335, + 0.0521867573261261 + ], + "orientation": [ + 0.7267863154411316, + 0.6787630319595337, + -0.08258074522018433, + -0.06513728201389313 + ], + "joints": [ + 0.014112947508692741 + ] + }, + "final_grasp": { + "position": [ + 0.06493818014860153, + 0.16546110808849335, + 0.0521867573261261 + ], + "orientation": [ + 0.7267863154411316, + 0.6787630319595337, + -0.08258074522018433, + -0.06513728201389313 + ], + "joints": [ + 0.008261574432253838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007196178659796715, + 0.16943146288394928, + -0.09919755905866623 + ], + "orientation": [ + 0.03522851690649986, + -0.024213647469878197, + 0.6022801995277405, + -0.7971393465995789 + ], + "joints": [ + 0.012980645522475243 + ] + }, + "fine_grasp": { + "position": [ + -0.007207911927253008, + 0.1663585752248764, + -0.09775160253047943 + ], + "orientation": [ + 0.03493836894631386, + -0.023495104163885117, + 0.6035974621772766, + -0.7961767315864563 + ], + "joints": [ + 0.003785630688071251 + ] + }, + "final_grasp": { + "position": [ + -0.007207911927253008, + 0.1663585752248764, + -0.09775160253047943 + ], + "orientation": [ + 0.03493836894631386, + -0.023495104163885117, + 0.6035974621772766, + -0.7961767315864563 + ], + "joints": [ + -0.005409384146332741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007366325706243515, + 0.1699085831642151, + -0.09988898783922195 + ], + "orientation": [ + 0.03341575339436531, + -0.02519800513982773, + 0.5998837947845459, + -0.798991858959198 + ], + "joints": [ + 0.01319298055022955 + ] + }, + "fine_grasp": { + "position": [ + -0.007351490203291178, + 0.16694825887680054, + -0.09867233037948608 + ], + "orientation": [ + 0.03350885212421417, + -0.02507929503917694, + 0.5990093350410461, + -0.7996473908424377 + ], + "joints": [ + 0.004395022988319397 + ] + }, + "final_grasp": { + "position": [ + -0.007351490203291178, + 0.16694825887680054, + -0.09867233037948608 + ], + "orientation": [ + 0.03350885212421417, + -0.02507929503917694, + 0.5990093350410461, + -0.7996473908424377 + ], + "joints": [ + -0.0044029345735907555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007865488529205322, + 0.17059166729450226, + -0.10140898823738098 + ], + "orientation": [ + 0.03059808723628521, + -0.021978074684739113, + 0.5952790379524231, + -0.8026354312896729 + ], + "joints": [ + 0.012802953831851482 + ] + }, + "fine_grasp": { + "position": [ + -0.00776117667555809, + 0.16719600558280945, + -0.09998757392168045 + ], + "orientation": [ + 0.031058698892593384, + -0.021996868774294853, + 0.5978031158447266, + -0.800739049911499 + ], + "joints": [ + 0.003607939463108778 + ] + }, + "final_grasp": { + "position": [ + -0.00776117667555809, + 0.16719600558280945, + -0.09998757392168045 + ], + "orientation": [ + 0.031058698892593384, + -0.021996868774294853, + 0.5978031158447266, + -0.800739049911499 + ], + "joints": [ + -0.005587074905633926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007584636565297842, + 0.1716768592596054, + 0.03387829661369324 + ], + "orientation": [ + 0.5603697299957275, + 0.5404855012893677, + 0.42942941188812256, + -0.45765888690948486 + ], + "joints": [ + 0.0021725869737565517 + ] + }, + "fine_grasp": { + "position": [ + -0.007720300927758217, + 0.16930940747261047, + 0.03793846443295479 + ], + "orientation": [ + 0.5646954774856567, + 0.5261308550834656, + 0.4273136556148529, + -0.47085893154144287 + ], + "joints": [ + 0.003384656272828579 + ] + }, + "final_grasp": { + "position": [ + -0.007720300927758217, + 0.16930940747261047, + 0.03793846443295479 + ], + "orientation": [ + 0.5646954774856567, + 0.5261308550834656, + 0.4273136556148529, + -0.47085893154144287 + ], + "joints": [ + 0.004596725571900606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015595687553286552, + 0.17187948524951935, + 0.020169612020254135 + ], + "orientation": [ + 0.5484256744384766, + 0.47965142130851746, + -0.42373064160346985, + 0.538159966468811 + ], + "joints": [ + 0.0027141403406858444 + ] + }, + "fine_grasp": { + "position": [ + -0.015407354570925236, + 0.1694771647453308, + 0.02456006035208702 + ], + "orientation": [ + 0.5510627627372742, + 0.467035174369812, + -0.42052096128463745, + 0.5489718317985535 + ], + "joints": [ + 0.003508254885673523 + ] + }, + "final_grasp": { + "position": [ + -0.015407354570925236, + 0.1694771647453308, + 0.02456006035208702 + ], + "orientation": [ + 0.5510627627372742, + 0.467035174369812, + -0.42052096128463745, + 0.5489718317985535 + ], + "joints": [ + 0.0043023694306612015 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 6 + } +} \ No newline at end of file diff --git a/062_plasticbox_3/Object.usd b/062_plasticbox_3/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..1bda57a37e3021f12a97ca2ffb2f66166699e12c --- /dev/null +++ b/062_plasticbox_3/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd83cc17d26f31971d043b34c15fdf05fa30e7dae8656b841ed1a2baec1d1464 +size 428332 diff --git a/063_tabletrashbin_10/Annotation/dex1_1_grasp_pose.json b/063_tabletrashbin_10/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..bf018ae9587b6c0ebb8ded8b204636665459a0c2 --- /dev/null +++ b/063_tabletrashbin_10/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,2468 @@ +{ + "type": "063_tabletrashbin_10", + "bottom_center": [ + 5.941838026046753e-07, + 0.06677930057048798, + -0.0414823479950428 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.015056793577969074, + -0.10013103485107422, + -0.002800300717353821 + ], + "orientation": [ + 0.6833370327949524, + 0.019450919702649117, + -0.72983318567276, + 0.003972177393734455 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.015394446440041065, + -0.09883175045251846, + -0.0029529714956879616 + ], + "orientation": [ + 0.6815571188926697, + 0.016694465652108192, + -0.7315711379051208, + 0.0022039073519408703 + ], + "joints": [ + -0.013215367682278156 + ] + }, + "final_grasp": { + "position": [ + 0.015394446440041065, + -0.09883175045251846, + -0.0029529714956879616 + ], + "orientation": [ + 0.6815571188926697, + 0.016694465652108192, + -0.7315711379051208, + 0.0022039073519408703 + ], + "joints": [ + -0.007343389093875885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015778159722685814, + -0.09996680915355682, + -0.0027669037226587534 + ], + "orientation": [ + 0.6810063123703003, + 0.016799965873360634, + -0.7320830821990967, + 0.0016140135703608394 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.01570175588130951, + -0.09858036041259766, + -0.002990317763760686 + ], + "orientation": [ + 0.6774722337722778, + 0.01629060134291649, + -0.7353666424751282, + 0.0013547806302085519 + ], + "joints": [ + -0.013215367682278156 + ] + }, + "final_grasp": { + "position": [ + 0.01570175588130951, + -0.09858036041259766, + -0.002990317763760686 + ], + "orientation": [ + 0.6774722337722778, + 0.01629060134291649, + -0.7353666424751282, + 0.0013547806302085519 + ], + "joints": [ + -0.007343389093875885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13967619836330414, + 0.0436788909137249, + 0.0066442470997571945 + ], + "orientation": [ + 0.46109965443611145, + 0.5090306997299194, + -0.4549373984336853, + 0.5668393969535828 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.13984718918800354, + 0.042358558624982834, + 0.006428173743188381 + ], + "orientation": [ + 0.4601246118545532, + 0.5074703693389893, + -0.4393710792064667, + 0.5811301469802856 + ], + "joints": [ + -0.01268257386982441 + ] + }, + "final_grasp": { + "position": [ + 0.13984718918800354, + 0.042358558624982834, + 0.006428173743188381 + ], + "orientation": [ + 0.4601246118545532, + 0.5074703693389893, + -0.4393710792064667, + 0.5811301469802856 + ], + "joints": [ + -0.006837168708443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1397971510887146, + 0.0437779426574707, + 0.006763242185115814 + ], + "orientation": [ + 0.4605077803134918, + 0.509040892124176, + -0.4542313516139984, + 0.5678766369819641 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.13993100821971893, + 0.04233315587043762, + 0.006304631009697914 + ], + "orientation": [ + 0.4597474932670593, + 0.5082160830497742, + -0.4384379982948303, + 0.5814815163612366 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + 0.13993100821971893, + 0.04233315587043762, + 0.006304631009697914 + ], + "orientation": [ + 0.4597474932670593, + 0.5082160830497742, + -0.4384379982948303, + 0.5814815163612366 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13971510529518127, + 0.04369615390896797, + 0.006710233632475138 + ], + "orientation": [ + 0.46064573526382446, + 0.5091173648834229, + -0.454336941242218, + 0.5676116347312927 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.139912948012352, + 0.0422762855887413, + 0.006407163571566343 + ], + "orientation": [ + 0.4591175317764282, + 0.5085741877555847, + -0.4387139081954956, + 0.5814579725265503 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + 0.139912948012352, + 0.0422762855887413, + 0.006407163571566343 + ], + "orientation": [ + 0.4591175317764282, + 0.5085741877555847, + -0.4387139081954956, + 0.5814579725265503 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15611673891544342, + 0.07973745465278625, + 0.012942133471369743 + ], + "orientation": [ + 0.49912676215171814, + -0.5440680384635925, + 0.44520121812820435, + 0.5066145658493042 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.15151795744895935, + 0.07909484207630157, + 0.012272601947188377 + ], + "orientation": [ + 0.4947655200958252, + -0.5466881990432739, + 0.44426822662353516, + 0.50888592004776 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + 0.15151795744895935, + 0.07909484207630157, + 0.012272601947188377 + ], + "orientation": [ + 0.4947655200958252, + -0.5466881990432739, + 0.44426822662353516, + 0.50888592004776 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15584641695022583, + 0.08014767616987228, + 0.01291816309094429 + ], + "orientation": [ + 0.49997013807296753, + -0.5432999730110168, + 0.445859432220459, + 0.5060281157493591 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.15131254494190216, + 0.07948927581310272, + 0.011690670624375343 + ], + "orientation": [ + 0.4939570128917694, + -0.5453489422798157, + 0.44623348116874695, + 0.5093884468078613 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + 0.15131254494190216, + 0.07948927581310272, + 0.011690670624375343 + ], + "orientation": [ + 0.4939570128917694, + -0.5453489422798157, + 0.44623348116874695, + 0.5093884468078613 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15356634557247162, + 0.008732923306524754, + -0.021649297326803207 + ], + "orientation": [ + 0.5180513858795166, + -0.4005838632583618, + -0.5628558397293091, + -0.5043298602104187 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.15099304914474487, + 0.008851489052176476, + -0.019793584942817688 + ], + "orientation": [ + 0.5252662897109985, + -0.3999931514263153, + -0.5538632273674011, + -0.5072832703590393 + ], + "joints": [ + -0.013187402859330177 + ] + }, + "final_grasp": { + "position": [ + -0.15099304914474487, + 0.008851489052176476, + -0.019793584942817688 + ], + "orientation": [ + 0.5252662897109985, + -0.3999931514263153, + -0.5538632273674011, + -0.5072832703590393 + ], + "joints": [ + -0.007846826687455177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13265113532543182, + -0.03818005323410034, + -0.007564338855445385 + ], + "orientation": [ + 0.5911180973052979, + 0.4045538604259491, + -0.6009472608566284, + 0.35465192794799805 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.12990348041057587, + -0.037623826414346695, + -0.007423472590744495 + ], + "orientation": [ + 0.5872653722763062, + 0.409073144197464, + -0.5998709797859192, + 0.3576779067516327 + ], + "joints": [ + -0.012835592962801456 + ] + }, + "final_grasp": { + "position": [ + 0.12990348041057587, + -0.037623826414346695, + -0.007423472590744495 + ], + "orientation": [ + 0.5872653722763062, + 0.409073144197464, + -0.5998709797859192, + 0.3576779067516327 + ], + "joints": [ + -0.008026419207453728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0034653134644031525, + -0.10621949285268784, + 0.00016613974003121257 + ], + "orientation": [ + 0.7696190476417542, + -0.009225339628756046, + 0.6383581757545471, + 0.010011428967118263 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.0032199157867580652, + -0.10465226322412491, + 0.000153053886606358 + ], + "orientation": [ + 0.7763779759407043, + -0.010038156993687153, + 0.6300908327102661, + 0.011050388216972351 + ], + "joints": [ + -0.01327137928456068 + ] + }, + "final_grasp": { + "position": [ + 0.0032199157867580652, + -0.10465226322412491, + 0.000153053886606358 + ], + "orientation": [ + 0.7763779759407043, + -0.010038156993687153, + 0.6300908327102661, + 0.011050388216972351 + ], + "joints": [ + -0.007425971329212189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1484304666519165, + 0.02511819638311863, + 0.008302400819957256 + ], + "orientation": [ + 0.48052823543548584, + 0.4864152669906616, + 0.5490990877151489, + -0.48060694336891174 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.14616024494171143, + 0.02488037385046482, + 0.008014380931854248 + ], + "orientation": [ + 0.47866618633270264, + 0.4908331334590912, + 0.5438727736473083, + -0.4839049279689789 + ], + "joints": [ + -0.013187402859330177 + ] + }, + "final_grasp": { + "position": [ + -0.14616024494171143, + 0.02488037385046482, + 0.008014380931854248 + ], + "orientation": [ + 0.47866618633270264, + 0.4908331334590912, + 0.5438727736473083, + -0.4839049279689789 + ], + "joints": [ + -0.007846826687455177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14989158511161804, + 0.0732971578836441, + -0.01716531068086624 + ], + "orientation": [ + 0.4643923044204712, + -0.4671802520751953, + 0.484612375497818, + 0.5755285024642944 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.14537952840328217, + 0.07244931906461716, + -0.016581716015934944 + ], + "orientation": [ + 0.46675580739974976, + -0.4681054651737213, + 0.47694990038871765, + 0.5792537927627563 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.14537952840328217, + 0.07244931906461716, + -0.016581716015934944 + ], + "orientation": [ + 0.46675580739974976, + -0.4681054651737213, + 0.47694990038871765, + 0.5792537927627563 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14991481602191925, + 0.07328817248344421, + -0.01712517999112606 + ], + "orientation": [ + 0.465095579624176, + -0.4667436182498932, + 0.4852035939693451, + 0.5748162865638733 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.14536206424236298, + 0.07239717245101929, + -0.01642872951924801 + ], + "orientation": [ + 0.4684549868106842, + -0.46702101826667786, + 0.4765760600566864, + 0.5790653228759766 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.14536206424236298, + 0.07239717245101929, + -0.01642872951924801 + ], + "orientation": [ + 0.4684549868106842, + -0.46702101826667786, + 0.4765760600566864, + 0.5790653228759766 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026792097836732864, + -0.12071496248245239, + 0.002869678195565939 + ], + "orientation": [ + 0.6493377089500427, + -0.06775034219026566, + 0.7561753392219543, + 0.0443778857588768 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.02606222778558731, + -0.11921511590480804, + 0.002850652439519763 + ], + "orientation": [ + 0.6428530216217041, + -0.07108514755964279, + 0.7613362073898315, + 0.045322246849536896 + ], + "joints": [ + -0.012626562267541885 + ] + }, + "final_grasp": { + "position": [ + 0.02606222778558731, + -0.11921511590480804, + 0.002850652439519763 + ], + "orientation": [ + 0.6428530216217041, + -0.07108514755964279, + 0.7613362073898315, + 0.045322246849536896 + ], + "joints": [ + -0.006754586473107338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0023645861074328423, + -0.01681377924978733, + -0.1399044394493103 + ], + "orientation": [ + 0.049174714833498, + 0.043970879167318344, + -0.8141114115715027, + -0.5769497752189636 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.0018164056818932295, + -0.01543212030082941, + -0.13540947437286377 + ], + "orientation": [ + 0.048501405864953995, + 0.039958059787750244, + -0.8139254450798035, + -0.5775606036186218 + ], + "joints": [ + -0.013299345038831234 + ] + }, + "final_grasp": { + "position": [ + 0.0018164056818932295, + -0.01543212030082941, + -0.13540947437286377 + ], + "orientation": [ + 0.048501405864953995, + 0.039958059787750244, + -0.8139254450798035, + -0.5775606036186218 + ], + "joints": [ + -0.006922535598278046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018957562744617462, + 0.22677454352378845, + -0.06390417367219925 + ], + "orientation": [ + 0.12948888540267944, + 0.6844220757484436, + 0.030051667243242264, + 0.7168653011322021 + ], + "joints": [ + 0.010762479156255722 + ] + }, + "fine_grasp": { + "position": [ + 0.018380988389253616, + 0.22493329644203186, + -0.06215641275048256 + ], + "orientation": [ + 0.12710578739643097, + 0.681857168674469, + 0.024356720969080925, + 0.7199456095695496 + ], + "joints": [ + 0.01663445122539997 + ] + }, + "final_grasp": { + "position": [ + 0.018380988389253616, + 0.22493329644203186, + -0.06215641275048256 + ], + "orientation": [ + 0.12710578739643097, + 0.681857168674469, + 0.024356720969080925, + 0.7199456095695496 + ], + "joints": [ + 0.02250642329454422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1462138593196869, + -0.001238470897078514, + -0.003959085326641798 + ], + "orientation": [ + 0.6245333552360535, + 0.3890468180179596, + 0.5110387206077576, + -0.44434237480163574 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.1432529091835022, + -0.00026493682526052, + -0.0032156885135918856 + ], + "orientation": [ + 0.6215128898620605, + 0.38774821162223816, + 0.5106426477432251, + -0.4501301348209381 + ], + "joints": [ + -0.013830744661390781 + ] + }, + "final_grasp": { + "position": [ + -0.1432529091835022, + -0.00026493682526052, + -0.0032156885135918856 + ], + "orientation": [ + 0.6215128898620605, + 0.38774821162223816, + 0.5106426477432251, + -0.4501301348209381 + ], + "joints": [ + -0.00798533484339714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07154160737991333, + -0.10107380151748657, + 0.004160337150096893 + ], + "orientation": [ + 0.7731083631515503, + -0.14391596615314484, + 0.5962209701538086, + 0.16159240901470184 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.06928322464227676, + -0.09906326979398727, + 0.0035749317612499 + ], + "orientation": [ + 0.7705990672111511, + -0.14671754837036133, + 0.5963388681411743, + 0.17038460075855255 + ], + "joints": [ + -0.013776208274066448 + ] + }, + "final_grasp": { + "position": [ + 0.06928322464227676, + -0.09906326979398727, + 0.0035749317612499 + ], + "orientation": [ + 0.7705990672111511, + -0.14671754837036133, + 0.5963388681411743, + 0.17038460075855255 + ], + "joints": [ + -0.008435629308223724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1473393738269806, + 0.05233320966362953, + -0.020207833498716354 + ], + "orientation": [ + 0.5311614871025085, + 0.539558470249176, + 0.45580482482910156, + -0.4679592549800873 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14342856407165527, + 0.05157991126179695, + -0.01957828924059868 + ], + "orientation": [ + 0.5255652070045471, + 0.5412712693214417, + 0.45607009530067444, + -0.47202396392822266 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.14342856407165527, + 0.05157991126179695, + -0.01957828924059868 + ], + "orientation": [ + 0.5255652070045471, + 0.5412712693214417, + 0.45607009530067444, + -0.47202396392822266 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1350490152835846, + 0.026556288823485374, + 0.01005244068801403 + ], + "orientation": [ + 0.5413134098052979, + -0.4960971176624298, + -0.5018817186355591, + -0.457145631313324 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + -0.13470140099525452, + 0.025668248534202576, + 0.010821559466421604 + ], + "orientation": [ + 0.5402546525001526, + -0.4992940425872803, + -0.49573108553886414, + -0.46160683035850525 + ], + "joints": [ + -0.013805649243295193 + ] + }, + "final_grasp": { + "position": [ + -0.13470140099525452, + 0.025668248534202576, + 0.010821559466421604 + ], + "orientation": [ + 0.5402546525001526, + -0.4992940425872803, + -0.49573108553886414, + -0.46160683035850525 + ], + "joints": [ + -0.008465070277452469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13819006085395813, + 0.01695987768471241, + -0.012494226917624474 + ], + "orientation": [ + 0.5170131325721741, + -0.4281119704246521, + 0.4140227138996124, + 0.6148192286491394 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.13750940561294556, + 0.01618591882288456, + -0.01216837577521801 + ], + "orientation": [ + 0.5056107640266418, + -0.43927085399627686, + 0.4193022549152374, + 0.6128494739532471 + ], + "joints": [ + -0.011125105433166027 + ] + }, + "final_grasp": { + "position": [ + 0.13750940561294556, + 0.01618591882288456, + -0.01216837577521801 + ], + "orientation": [ + 0.5056107640266418, + -0.43927085399627686, + 0.4193022549152374, + 0.6128494739532471 + ], + "joints": [ + -0.005253134295344353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13822680711746216, + 0.016879050061106682, + -0.0124466922134161 + ], + "orientation": [ + 0.5162649154663086, + -0.4292132258415222, + 0.41469600796699524, + 0.614226222038269 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.13725391030311584, + 0.016286559402942657, + -0.01199397724121809 + ], + "orientation": [ + 0.506168782711029, + -0.43911755084991455, + 0.41952648758888245, + 0.6123449802398682 + ], + "joints": [ + -0.011125105433166027 + ] + }, + "final_grasp": { + "position": [ + 0.13725391030311584, + 0.016286559402942657, + -0.01199397724121809 + ], + "orientation": [ + 0.506168782711029, + -0.43911755084991455, + 0.41952648758888245, + 0.6123449802398682 + ], + "joints": [ + -0.005253134295344353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046402476727962494, + 0.23405197262763977, + -0.017755888402462006 + ], + "orientation": [ + 0.02422918751835823, + 0.9975279569625854, + 0.04254315420985222, + 0.05040617659687996 + ], + "joints": [ + 0.011278051882982254 + ] + }, + "fine_grasp": { + "position": [ + -0.04711011052131653, + 0.234296977519989, + -0.016686610877513885 + ], + "orientation": [ + 0.03417031839489937, + 0.9976414442062378, + 0.045882437378168106, + 0.03793223202228546 + ], + "joints": [ + 0.01765485480427742 + ] + }, + "final_grasp": { + "position": [ + -0.04711011052131653, + 0.234296977519989, + -0.016686610877513885 + ], + "orientation": [ + 0.03417031839489937, + 0.9976414442062378, + 0.045882437378168106, + 0.03793223202228546 + ], + "joints": [ + 0.024031657725572586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13062472641468048, + -0.010528295300900936, + 0.005401114467531443 + ], + "orientation": [ + 0.6181910634040833, + -0.40460461378097534, + -0.49668946862220764, + -0.45544981956481934 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.1296367347240448, + -0.010951501317322254, + 0.005724308546632528 + ], + "orientation": [ + 0.6228001713752747, + -0.4022517502307892, + -0.49294179677963257, + -0.45532602071762085 + ], + "joints": [ + -0.013860185630619526 + ] + }, + "final_grasp": { + "position": [ + -0.1296367347240448, + -0.010951501317322254, + 0.005724308546632528 + ], + "orientation": [ + 0.6228001713752747, + -0.4022517502307892, + -0.49294179677963257, + -0.45532602071762085 + ], + "joints": [ + -0.008014775812625885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13385295867919922, + 0.01977340318262577, + -0.02253692038357258 + ], + "orientation": [ + 0.591715931892395, + 0.4772956073284149, + 0.5305439829826355, + -0.37494561076164246 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.13090234994888306, + 0.02064819261431694, + -0.022700635716319084 + ], + "orientation": [ + 0.5939119458198547, + 0.4760926067829132, + 0.526880145072937, + -0.37815579771995544 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.13090234994888306, + 0.02064819261431694, + -0.022700635716319084 + ], + "orientation": [ + 0.5939119458198547, + 0.4760926067829132, + 0.526880145072937, + -0.37815579771995544 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13391253352165222, + 0.020377356559038162, + -0.022196175530552864 + ], + "orientation": [ + 0.5905393958091736, + 0.47731494903564453, + 0.5313844084739685, + -0.3755851089954376 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.13089270889759064, + 0.021209927275776863, + -0.022340882569551468 + ], + "orientation": [ + 0.5926390290260315, + 0.4763059914112091, + 0.5273842215538025, + -0.3791799247264862 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.13089270889759064, + 0.021209927275776863, + -0.022340882569551468 + ], + "orientation": [ + 0.5926390290260315, + 0.4763059914112091, + 0.5273842215538025, + -0.3791799247264862 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014113295823335648, + 0.24041464924812317, + 0.039869457483291626 + ], + "orientation": [ + 0.023246198892593384, + -0.6981680989265442, + 0.004638077691197395, + 0.7155413627624512 + ], + "joints": [ + 0.010863037779927254 + ] + }, + "fine_grasp": { + "position": [ + 0.013427222147583961, + 0.24572625756263733, + 0.04157702997326851 + ], + "orientation": [ + 0.03339448198676109, + -0.7007912397384644, + 0.0070028891786932945, + 0.7125499248504639 + ], + "joints": [ + 0.016735009849071503 + ] + }, + "final_grasp": { + "position": [ + 0.013427222147583961, + 0.24572625756263733, + 0.04157702997326851 + ], + "orientation": [ + 0.03339448198676109, + -0.7007912397384644, + 0.0070028891786932945, + 0.7125499248504639 + ], + "joints": [ + 0.02260698191821575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020917898043990135, + 0.23426544666290283, + 0.0344049371778965 + ], + "orientation": [ + 0.031227055937051773, + 0.7450299859046936, + 0.024062972515821457, + -0.6658650040626526 + ], + "joints": [ + 0.01014617644250393 + ] + }, + "fine_grasp": { + "position": [ + -0.021139971911907196, + 0.23952944576740265, + 0.036197226494550705 + ], + "orientation": [ + 0.024728499352931976, + 0.7371845841407776, + 0.0216719638556242, + -0.6748909950256348 + ], + "joints": [ + 0.015513317659497261 + ] + }, + "final_grasp": { + "position": [ + -0.021139971911907196, + 0.23952944576740265, + 0.036197226494550705 + ], + "orientation": [ + 0.024728499352931976, + 0.7371845841407776, + 0.0216719638556242, + -0.6748909950256348 + ], + "joints": [ + 0.020880458876490593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011718377470970154, + 0.22481492161750793, + 0.05070381239056587 + ], + "orientation": [ + 0.011301415041089058, + -0.7148554921150208, + -0.07417920231819153, + 0.6952348351478577 + ], + "joints": [ + 0.011091521009802818 + ] + }, + "fine_grasp": { + "position": [ + -0.011096020229160786, + 0.2217613160610199, + 0.05042137950658798 + ], + "orientation": [ + 0.006364814005792141, + -0.714333713054657, + -0.07741163671016693, + 0.6954813003540039 + ], + "joints": [ + 0.017494894564151764 + ] + }, + "final_grasp": { + "position": [ + -0.011096020229160786, + 0.2217613160610199, + 0.05042137950658798 + ], + "orientation": [ + 0.006364814005792141, + -0.714333713054657, + -0.07741163671016693, + 0.6954813003540039 + ], + "joints": [ + 0.02389826811850071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02099420875310898, + 0.2362905889749527, + 0.03455401211977005 + ], + "orientation": [ + 0.030983859673142433, + 0.7388705611228943, + 0.023259319365024567, + -0.6727328300476074 + ], + "joints": [ + 0.010115185752511024 + ] + }, + "fine_grasp": { + "position": [ + -0.02066895179450512, + 0.2417016327381134, + 0.03596758469939232 + ], + "orientation": [ + 0.031224112957715988, + 0.728473424911499, + 0.02774115279316902, + -0.6837997436523438 + ], + "joints": [ + 0.015455754473805428 + ] + }, + "final_grasp": { + "position": [ + -0.02066895179450512, + 0.2417016327381134, + 0.03596758469939232 + ], + "orientation": [ + 0.031224112957715988, + 0.728473424911499, + 0.02774115279316902, + -0.6837997436523438 + ], + "joints": [ + 0.02079632319509983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00030365597922354937, + 0.24008145928382874, + 0.030053552240133286 + ], + "orientation": [ + 0.014513779431581497, + -0.7658677697181702, + 0.058119915425777435, + 0.6402015686035156 + ], + "joints": [ + 0.009685777127742767 + ] + }, + "fine_grasp": { + "position": [ + 0.0017470662714913487, + 0.24521128833293915, + 0.03163130208849907 + ], + "orientation": [ + 0.012500069104135036, + -0.7584632039070129, + 0.05009815841913223, + 0.6496672034263611 + ], + "joints": [ + 0.014494944363832474 + ] + }, + "final_grasp": { + "position": [ + 0.0017470662714913487, + 0.24521128833293915, + 0.03163130208849907 + ], + "orientation": [ + 0.012500069104135036, + -0.7584632039070129, + 0.05009815841913223, + 0.6496672034263611 + ], + "joints": [ + 0.01930411159992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02076556161046028, + 0.23570547997951508, + 0.03594871610403061 + ], + "orientation": [ + 0.027232060208916664, + 0.7317126393318176, + 0.027361620217561722, + -0.680519163608551 + ], + "joints": [ + 0.010395903140306473 + ] + }, + "fine_grasp": { + "position": [ + -0.020739827305078506, + 0.24136370420455933, + 0.037142179906368256 + ], + "orientation": [ + 0.024865752086043358, + 0.7209359407424927, + 0.027810918167233467, + -0.6919968724250793 + ], + "joints": [ + 0.015736471861600876 + ] + }, + "final_grasp": { + "position": [ + -0.020739827305078506, + 0.24136370420455933, + 0.037142179906368256 + ], + "orientation": [ + 0.024865752086043358, + 0.7209359407424927, + 0.027810918167233467, + -0.6919968724250793 + ], + "joints": [ + 0.02107704058289528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -4.3446383642731234e-05, + 0.24009506404399872, + 0.03030310943722725 + ], + "orientation": [ + 0.014310351572930813, + -0.7631268501281738, + 0.055959973484277725, + 0.64366215467453 + ], + "joints": [ + 0.009723825380206108 + ] + }, + "fine_grasp": { + "position": [ + 0.0013482815120369196, + 0.24518659710884094, + 0.03190963342785835 + ], + "orientation": [ + 0.012059785425662994, + -0.754726231098175, + 0.04796210676431656, + 0.6541731357574463 + ], + "joints": [ + 0.014532992616295815 + ] + }, + "final_grasp": { + "position": [ + 0.0013482815120369196, + 0.24518659710884094, + 0.03190963342785835 + ], + "orientation": [ + 0.012059785425662994, + -0.754726231098175, + 0.04796210676431656, + 0.6541731357574463 + ], + "joints": [ + 0.01934215985238552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0007701865397393703, + 0.24046486616134644, + 0.029939277097582817 + ], + "orientation": [ + 0.015406168065965176, + -0.76841139793396, + 0.060341887176036835, + 0.6369187831878662 + ], + "joints": [ + 0.009197449311614037 + ] + }, + "fine_grasp": { + "position": [ + 0.002214418724179268, + 0.24552319943904877, + 0.03145234286785126 + ], + "orientation": [ + 0.012685953639447689, + -0.7609671950340271, + 0.051819801330566406, + 0.6465931534767151 + ], + "joints": [ + 0.01453801617026329 + ] + }, + "final_grasp": { + "position": [ + 0.002214418724179268, + 0.24552319943904877, + 0.03145234286785126 + ], + "orientation": [ + 0.012685953639447689, + -0.7609671950340271, + 0.051819801330566406, + 0.6465931534767151 + ], + "joints": [ + 0.019878583028912544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 1.3405896424956154e-05, + 0.24045217037200928, + 0.030195433646440506 + ], + "orientation": [ + 0.01464436948299408, + -0.7714152336120605, + 0.05817161500453949, + 0.6334982514381409 + ], + "joints": [ + 0.009235499426722527 + ] + }, + "fine_grasp": { + "position": [ + 0.001428066287189722, + 0.24547627568244934, + 0.03180510178208351 + ], + "orientation": [ + 0.012828373350203037, + -0.7644532322883606, + 0.050970349460840225, + 0.6425331234931946 + ], + "joints": [ + 0.01457606628537178 + ] + }, + "final_grasp": { + "position": [ + 0.001428066287189722, + 0.24547627568244934, + 0.03180510178208351 + ], + "orientation": [ + 0.012828373350203037, + -0.7644532322883606, + 0.050970349460840225, + 0.6425331234931946 + ], + "joints": [ + 0.019916633144021034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14863470196723938, + 0.02559628151357174, + -0.01828240416944027 + ], + "orientation": [ + 0.5463790893554688, + -0.3868212103843689, + 0.5061755776405334, + 0.5437144637107849 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1440667062997818, + 0.026685375720262527, + -0.017898261547088623 + ], + "orientation": [ + 0.5537012815475464, + -0.382821649312973, + 0.5040679574012756, + 0.5410895347595215 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + 0.1440667062997818, + 0.026685375720262527, + -0.017898261547088623 + ], + "orientation": [ + 0.5537012815475464, + -0.382821649312973, + 0.5040679574012756, + 0.5410895347595215 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0036942032165825367, + -0.11196621507406235, + -0.028269195929169655 + ], + "orientation": [ + 0.7382194399833679, + 0.009670301340520382, + -0.6602253317832947, + -0.13798888027668 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.002836051397025585, + -0.10909472405910492, + -0.0278120506554842 + ], + "orientation": [ + 0.7388918995857239, + 0.0031526924576610327, + -0.6594935059547424, + -0.13819251954555511 + ], + "joints": [ + -0.01268257386982441 + ] + }, + "final_grasp": { + "position": [ + -0.002836051397025585, + -0.10909472405910492, + -0.0278120506554842 + ], + "orientation": [ + 0.7388918995857239, + 0.0031526924576610327, + -0.6594935059547424, + -0.13819251954555511 + ], + "joints": [ + -0.006837168708443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0036788489669561386, + -0.1013578400015831, + -0.005850828252732754 + ], + "orientation": [ + 0.7973031401634216, + -0.07964025437831879, + 0.5896701216697693, + 0.1012629047036171 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + -0.002003873698413372, + -0.10150348395109177, + -0.006854854989796877 + ], + "orientation": [ + 0.7932447791099548, + -0.07913542538881302, + 0.5930864214897156, + 0.11291072517633438 + ], + "joints": [ + -0.008681630715727806 + ] + }, + "final_grasp": { + "position": [ + -0.002003873698413372, + -0.10150348395109177, + -0.006854854989796877 + ], + "orientation": [ + 0.7932447791099548, + -0.07913542538881302, + 0.5930864214897156, + 0.11291072517633438 + ], + "joints": [ + -0.0038990341126918793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13878098130226135, + 0.05485285446047783, + -0.08060761541128159 + ], + "orientation": [ + 0.3823728561401367, + -0.30714669823646545, + -0.6137263774871826, + -0.618701696395874 + ], + "joints": [ + -0.019882235676050186 + ] + }, + "fine_grasp": { + "position": [ + -0.1354135274887085, + 0.05496608093380928, + -0.0787169560790062 + ], + "orientation": [ + 0.3827839195728302, + -0.30531975626945496, + -0.6117792725563049, + -0.6212748289108276 + ], + "joints": [ + -0.01664068177342415 + ] + }, + "final_grasp": { + "position": [ + -0.1354135274887085, + 0.05496608093380928, + -0.0787169560790062 + ], + "orientation": [ + 0.3827839195728302, + -0.30531975626945496, + -0.6117792725563049, + -0.6212748289108276 + ], + "joints": [ + -0.013399127870798111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13882146775722504, + 0.054872065782547, + -0.08051334321498871 + ], + "orientation": [ + 0.38242489099502563, + -0.30745217204093933, + -0.6141714453697205, + -0.6180758476257324 + ], + "joints": [ + -0.019882235676050186 + ] + }, + "fine_grasp": { + "position": [ + -0.13544762134552002, + 0.05499425530433655, + -0.07860063761472702 + ], + "orientation": [ + 0.38271215558052063, + -0.3058515787124634, + -0.6122118830680847, + -0.6206310391426086 + ], + "joints": [ + -0.01664068177342415 + ] + }, + "final_grasp": { + "position": [ + -0.13544762134552002, + 0.05499425530433655, + -0.07860063761472702 + ], + "orientation": [ + 0.38271215558052063, + -0.3058515787124634, + -0.6122118830680847, + -0.6206310391426086 + ], + "joints": [ + -0.013399127870798111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15037596225738525, + 0.06732791662216187, + -0.0718880295753479 + ], + "orientation": [ + 0.614319920539856, + 0.5908675193786621, + 0.3402734398841858, + -0.39711514115333557 + ], + "joints": [ + -0.016319945454597473 + ] + }, + "fine_grasp": { + "position": [ + -0.1472320407629013, + 0.06733536720275879, + -0.06926806271076202 + ], + "orientation": [ + 0.6135789752006531, + 0.5909823179244995, + 0.33881354331970215, + -0.39933231472969055 + ], + "joints": [ + -0.014114633202552795 + ] + }, + "final_grasp": { + "position": [ + -0.1472320407629013, + 0.06733536720275879, + -0.06926806271076202 + ], + "orientation": [ + 0.6135789752006531, + 0.5909823179244995, + 0.33881354331970215, + -0.39933231472969055 + ], + "joints": [ + -0.011909320950508118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15036191046237946, + 0.0676087737083435, + -0.07213863730430603 + ], + "orientation": [ + 0.6152329444885254, + 0.590370237827301, + 0.34090620279312134, + -0.3958969712257385 + ], + "joints": [ + -0.016319945454597473 + ] + }, + "fine_grasp": { + "position": [ + -0.1474975347518921, + 0.06764128059148788, + -0.06973057240247726 + ], + "orientation": [ + 0.614063024520874, + 0.5910452604293823, + 0.33973437547683716, + -0.3977093994617462 + ], + "joints": [ + -0.014114633202552795 + ] + }, + "final_grasp": { + "position": [ + -0.1474975347518921, + 0.06764128059148788, + -0.06973057240247726 + ], + "orientation": [ + 0.614063024520874, + 0.5910452604293823, + 0.33973437547683716, + -0.3977093994617462 + ], + "joints": [ + -0.011909320950508118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15040306746959686, + 0.06757231056690216, + -0.07185126841068268 + ], + "orientation": [ + 0.616631805896759, + 0.5885607600212097, + 0.3418574333190918, + -0.39559459686279297 + ], + "joints": [ + -0.016908753663301468 + ] + }, + "fine_grasp": { + "position": [ + -0.14727339148521423, + 0.06758742779493332, + -0.06937537342309952 + ], + "orientation": [ + 0.6156959533691406, + 0.5890604257583618, + 0.3405197560787201, + -0.3974577486515045 + ], + "joints": [ + -0.014172039926052094 + ] + }, + "final_grasp": { + "position": [ + -0.14727339148521423, + 0.06758742779493332, + -0.06937537342309952 + ], + "orientation": [ + 0.6156959533691406, + 0.5890604257583618, + 0.3405197560787201, + -0.3974577486515045 + ], + "joints": [ + -0.011435326188802719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0677870437502861, + 0.07694502919912338, + -0.15351177752017975 + ], + "orientation": [ + 0.6417533755302429, + 0.7358320355415344, + 0.15749473869800568, + -0.14798416197299957 + ], + "joints": [ + -0.015142329037189484 + ] + }, + "fine_grasp": { + "position": [ + -0.06566183269023895, + 0.07666447013616562, + -0.14986827969551086 + ], + "orientation": [ + 0.641815185546875, + 0.7354893684387207, + 0.15867668390274048, + -0.14815615117549896 + ], + "joints": [ + -0.012883877381682396 + ] + }, + "final_grasp": { + "position": [ + -0.06566183269023895, + 0.07666447013616562, + -0.14986827969551086 + ], + "orientation": [ + 0.641815185546875, + 0.7354893684387207, + 0.15867668390274048, + -0.14815615117549896 + ], + "joints": [ + -0.010625425726175308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14003217220306396, + 0.0504266582429409, + -0.08424536883831024 + ], + "orientation": [ + 0.35855811834335327, + -0.32243719696998596, + -0.6315298676490784, + -0.6071577072143555 + ], + "joints": [ + -0.016938194632530212 + ] + }, + "fine_grasp": { + "position": [ + -0.13743078708648682, + 0.05054265633225441, + -0.08231258392333984 + ], + "orientation": [ + 0.3590141534805298, + -0.32236963510513306, + -0.629504382610321, + -0.6090245246887207 + ], + "joints": [ + -0.014228051528334618 + ] + }, + "final_grasp": { + "position": [ + -0.13743078708648682, + 0.05054265633225441, + -0.08231258392333984 + ], + "orientation": [ + 0.3590141534805298, + -0.32236963510513306, + -0.629504382610321, + -0.6090245246887207 + ], + "joints": [ + -0.011517908424139023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11763662844896317, + -0.0465988852083683, + -0.006987857632339001 + ], + "orientation": [ + 0.6167043447494507, + -0.37068143486976624, + -0.522686243057251, + -0.4572417736053467 + ], + "joints": [ + -0.014553520828485489 + ] + }, + "fine_grasp": { + "position": [ + -0.11730680614709854, + -0.04544975981116295, + -0.006846377160400152 + ], + "orientation": [ + 0.6162446141242981, + -0.37405797839164734, + -0.5221033692359924, + -0.45577549934387207 + ], + "joints": [ + -0.007113926112651825 + ] + }, + "final_grasp": { + "position": [ + -0.11730680614709854, + -0.04544975981116295, + -0.006846377160400152 + ], + "orientation": [ + 0.6162446141242981, + -0.37405797839164734, + -0.5221033692359924, + -0.45577549934387207 + ], + "joints": [ + 0.000325668603181839 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15228013694286346, + 0.09620792418718338, + 0.01246184203773737 + ], + "orientation": [ + 0.4353219270706177, + 0.5176374912261963, + 0.5131279826164246, + -0.5284372568130493 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14779497683048248, + 0.09536027908325195, + 0.011929039843380451 + ], + "orientation": [ + 0.4343752861022949, + 0.5210790038108826, + 0.5090051889419556, + -0.5298192501068115 + ], + "joints": [ + -0.01574878767132759 + ] + }, + "final_grasp": { + "position": [ + -0.14779497683048248, + 0.09536027908325195, + 0.011929039843380451 + ], + "orientation": [ + 0.4343752861022949, + 0.5210790038108826, + 0.5090051889419556, + -0.5298192501068115 + ], + "joints": [ + -0.011497575789690018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15429282188415527, + 0.09576471894979477, + -0.00582922575995326 + ], + "orientation": [ + 0.5085640549659729, + 0.5109294056892395, + 0.4545099437236786, + -0.523196280002594 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.15103323757648468, + 0.09548530727624893, + -0.005449883174151182 + ], + "orientation": [ + 0.5057765245437622, + 0.511391282081604, + 0.4536057412624359, + -0.5262231826782227 + ], + "joints": [ + -0.015217388048768044 + ] + }, + "final_grasp": { + "position": [ + -0.15103323757648468, + 0.09548530727624893, + -0.005449883174151182 + ], + "orientation": [ + 0.5057765245437622, + 0.511391282081604, + 0.4536057412624359, + -0.5262231826782227 + ], + "joints": [ + -0.010434776544570923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13339807093143463, + 0.020747510716319084, + -0.022333504632115364 + ], + "orientation": [ + 0.5925262570381165, + 0.47587141394615173, + 0.5311697721481323, + -0.3745899200439453 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.13064159452915192, + 0.02141614258289337, + -0.02259937860071659 + ], + "orientation": [ + 0.5947389602661133, + 0.47492507100105286, + 0.5272179245948792, + -0.37785300612449646 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.13064159452915192, + 0.02141614258289337, + -0.02259937860071659 + ], + "orientation": [ + 0.5947389602661133, + 0.47492507100105286, + 0.5272179245948792, + -0.37785300612449646 + ], + "joints": [ + -0.011444434523582458 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2037, + "num_passed": 49 + } +} \ No newline at end of file diff --git a/063_tabletrashbin_10/Annotation/piper_grasp_pose.json b/063_tabletrashbin_10/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3f10493f303b04398249409016c26acec56a81 --- /dev/null +++ b/063_tabletrashbin_10/Annotation/piper_grasp_pose.json @@ -0,0 +1,1068 @@ +{ + "type": "063_tabletrashbin_10", + "bottom_center": [ + 5.941838026046753e-07, + 0.06677930057048798, + -0.0414823479950428 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.14842255413532257, + -0.010683177039027214, + 0.01979779079556465 + ], + "orientation": [ + 0.3793685734272003, + 0.4396735429763794, + 0.6119298934936523, + 0.5369437336921692 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.14429159462451935, + -0.010204429738223553, + 0.01922653056681156 + ], + "orientation": [ + 0.38499313592910767, + 0.44442781805992126, + 0.6092329025268555, + 0.5320709347724915 + ], + "joints": [ + 0.02948298677802086 + ] + }, + "final_grasp": { + "position": [ + -0.14429159462451935, + -0.010204429738223553, + 0.01922653056681156 + ], + "orientation": [ + 0.38499313592910767, + 0.44442781805992126, + 0.6092329025268555, + 0.5320709347724915 + ], + "joints": [ + 0.023965973407030106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10078755766153336, + -0.08920403569936752, + 0.00917397253215313 + ], + "orientation": [ + 0.6280107498168945, + -0.6597468256950378, + 0.3182757794857025, + -0.26274925470352173 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.09940172731876373, + -0.08502313494682312, + 0.008930838666856289 + ], + "orientation": [ + 0.6347309350967407, + -0.6647385358810425, + 0.30527061223983765, + -0.2490965723991394 + ], + "joints": [ + 0.029085930436849594 + ] + }, + "final_grasp": { + "position": [ + -0.09940172731876373, + -0.08502313494682312, + 0.008930838666856289 + ], + "orientation": [ + 0.6347309350967407, + -0.6647385358810425, + 0.30527061223983765, + -0.2490965723991394 + ], + "joints": [ + 0.023171860724687576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025191856548190117, + -0.12248260527849197, + -0.00689174048602581 + ], + "orientation": [ + 0.7313674092292786, + -0.6786031126976013, + 0.011250442825257778, + 0.06688003987073898 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.02410752885043621, + -0.11816953122615814, + -0.006816677749156952 + ], + "orientation": [ + 0.7290722131729126, + -0.6819000840187073, + 0.022096343338489532, + 0.0545668751001358 + ], + "joints": [ + 0.027109801769256592 + ] + }, + "final_grasp": { + "position": [ + -0.02410752885043621, + -0.11816953122615814, + -0.006816677749156952 + ], + "orientation": [ + 0.7290722131729126, + -0.6819000840187073, + 0.022096343338489532, + 0.0545668751001358 + ], + "joints": [ + 0.020840473473072052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10159428417682648, + -0.08826159685850143, + 0.008370394818484783 + ], + "orientation": [ + 0.6292020082473755, + -0.6554269790649414, + 0.32501164078712463, + -0.26246482133865356 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.10031907260417938, + -0.08420957624912262, + 0.008189709857106209 + ], + "orientation": [ + 0.6364639401435852, + -0.660076916217804, + 0.31185755133628845, + -0.2489115595817566 + ], + "joints": [ + 0.028667975217103958 + ] + }, + "final_grasp": { + "position": [ + -0.10031907260417938, + -0.08420957624912262, + 0.008189709857106209 + ], + "orientation": [ + 0.6364639401435852, + -0.660076916217804, + 0.31185755133628845, + -0.2489115595817566 + ], + "joints": [ + 0.022335950285196304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031851574778556824, + 0.23809707164764404, + -0.017703743651509285 + ], + "orientation": [ + 0.8385851979255676, + 0.5343915820121765, + 0.09522586315870285, + 0.046180736273527145 + ], + "joints": [ + 0.018923435360193253 + ] + }, + "fine_grasp": { + "position": [ + -0.032463252544403076, + 0.23342493176460266, + -0.01675945706665516 + ], + "orientation": [ + 0.8333227634429932, + 0.5440301895141602, + 0.09165088087320328, + 0.03470397740602493 + ], + "joints": [ + 0.014722984284162521 + ] + }, + "final_grasp": { + "position": [ + -0.032463252544403076, + 0.23342493176460266, + -0.01675945706665516 + ], + "orientation": [ + 0.8333227634429932, + 0.5440301895141602, + 0.09165088087320328, + 0.03470397740602493 + ], + "joints": [ + 0.01052253320813179 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0420447438955307, + 0.23046593368053436, + 0.07927048206329346 + ], + "orientation": [ + 0.4942574203014374, + 0.7934474945068359, + 0.27206823229789734, + -0.22831884026527405 + ], + "joints": [ + 0.016413025557994843 + ] + }, + "fine_grasp": { + "position": [ + 0.04125557839870453, + 0.22668305039405823, + 0.07805868238210678 + ], + "orientation": [ + 0.49135714769363403, + 0.7936679720878601, + 0.2748875916004181, + -0.23042625188827515 + ], + "joints": [ + 0.008053921163082123 + ] + }, + "final_grasp": { + "position": [ + 0.04125557839870453, + 0.22668305039405823, + 0.07805868238210678 + ], + "orientation": [ + 0.49135714769363403, + 0.7936679720878601, + 0.2748875916004181, + -0.23042625188827515 + ], + "joints": [ + -0.0003051832318305969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04790438339114189, + 0.24699127674102783, + 0.008980882354080677 + ], + "orientation": [ + 0.335407555103302, + 0.21619698405265808, + -0.6092526912689209, + 0.6852530241012573 + ], + "joints": [ + 0.016601137816905975 + ] + }, + "fine_grasp": { + "position": [ + 0.0475085973739624, + 0.24263818562030792, + 0.00886745285242796 + ], + "orientation": [ + 0.3339841365814209, + 0.2131989300251007, + -0.614689290523529, + 0.6820248961448669 + ], + "joints": [ + 0.009495899081230164 + ] + }, + "final_grasp": { + "position": [ + 0.0475085973739624, + 0.24263818562030792, + 0.00886745285242796 + ], + "orientation": [ + 0.3339841365814209, + 0.2131989300251007, + -0.614689290523529, + 0.6820248961448669 + ], + "joints": [ + 0.002390660345554352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039767369627952576, + 0.21996720135211945, + -0.09664086252450943 + ], + "orientation": [ + 0.6538019180297852, + 0.27917009592056274, + -0.2638070285320282, + 0.6519302129745483 + ], + "joints": [ + 0.012481437996029854 + ] + }, + "fine_grasp": { + "position": [ + -0.03852035850286484, + 0.21599110960960388, + -0.09601263701915741 + ], + "orientation": [ + 0.6489850878715515, + 0.29722440242767334, + -0.26906535029411316, + 0.6465909481048584 + ], + "joints": [ + 0.006609166972339153 + ] + }, + "final_grasp": { + "position": [ + -0.03852035850286484, + 0.21599110960960388, + -0.09601263701915741 + ], + "orientation": [ + 0.6489850878715515, + 0.29722440242767334, + -0.26906535029411316, + 0.6465909481048584 + ], + "joints": [ + 0.0007368959486484528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04797927662730217, + 0.2475934475660324, + 0.008397547528147697 + ], + "orientation": [ + 0.3360431492328644, + 0.22843310236930847, + -0.6076077818870544, + 0.6824265122413635 + ], + "joints": [ + 0.015826664865016937 + ] + }, + "fine_grasp": { + "position": [ + 0.04800885543227196, + 0.24334442615509033, + 0.008112234063446522 + ], + "orientation": [ + 0.3273388743400574, + 0.23027920722961426, + -0.6158077716827393, + 0.6786763668060303 + ], + "joints": [ + 0.007885515689849854 + ] + }, + "final_grasp": { + "position": [ + 0.04800885543227196, + 0.24334442615509033, + 0.008112234063446522 + ], + "orientation": [ + 0.3273388743400574, + 0.23027920722961426, + -0.6158077716827393, + 0.6786763668060303 + ], + "joints": [ + -5.5633485317230225e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10790667682886124, + 0.21564742922782898, + 0.01266801543533802 + ], + "orientation": [ + 0.6796526312828064, + 0.6013475656509399, + -0.23071829974651337, + -0.35103049874305725 + ], + "joints": [ + 0.01650746539235115 + ] + }, + "fine_grasp": { + "position": [ + 0.10607842355966568, + 0.21153876185417175, + 0.01226078998297453 + ], + "orientation": [ + 0.6795315146446228, + 0.6111435890197754, + -0.22366401553153992, + -0.33869612216949463 + ], + "joints": [ + 0.010656092315912247 + ] + }, + "final_grasp": { + "position": [ + 0.10607842355966568, + 0.21153876185417175, + 0.01226078998297453 + ], + "orientation": [ + 0.6795315146446228, + 0.6111435890197754, + -0.22366401553153992, + -0.33869612216949463 + ], + "joints": [ + 0.004804719239473343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009093253873288631, + 0.24564814567565918, + 0.04572261869907379 + ], + "orientation": [ + 0.2291281670331955, + 0.38569802045822144, + -0.6506317257881165, + 0.6127117872238159 + ], + "joints": [ + 0.019780032336711884 + ] + }, + "fine_grasp": { + "position": [ + 0.008779502473771572, + 0.2414441555738449, + 0.045583609491586685 + ], + "orientation": [ + 0.237556591629982, + 0.38399961590766907, + -0.6508321166038513, + 0.6103512644767761 + ], + "joints": [ + 0.0118388831615448 + ] + }, + "final_grasp": { + "position": [ + 0.008779502473771572, + 0.2414441555738449, + 0.045583609491586685 + ], + "orientation": [ + 0.237556591629982, + 0.38399961590766907, + -0.6508321166038513, + 0.6103512644767761 + ], + "joints": [ + 0.003897733986377716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02115388959646225, + 0.2447364181280136, + 0.02732659876346588 + ], + "orientation": [ + 0.16806748509407043, + 0.1921827793121338, + -0.6626119017601013, + 0.7041054964065552 + ], + "joints": [ + 0.01837385818362236 + ] + }, + "fine_grasp": { + "position": [ + 0.02194857783615589, + 0.2405145764350891, + 0.026510251685976982 + ], + "orientation": [ + 0.16012421250343323, + 0.19294895231723785, + -0.6684396266937256, + 0.7002280950546265 + ], + "joints": [ + 0.011268619447946548 + ] + }, + "final_grasp": { + "position": [ + 0.02194857783615589, + 0.2405145764350891, + 0.026510251685976982 + ], + "orientation": [ + 0.16012421250343323, + 0.19294895231723785, + -0.6684396266937256, + 0.7002280950546265 + ], + "joints": [ + 0.004163380712270737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04154196381568909, + 0.21969357132911682, + -0.09654181450605392 + ], + "orientation": [ + 0.6460282802581787, + 0.28356826305389404, + -0.26293274760246277, + 0.6581055521965027 + ], + "joints": [ + 0.012834066525101662 + ] + }, + "fine_grasp": { + "position": [ + -0.040422383695840836, + 0.2155628353357315, + -0.09572894126176834 + ], + "orientation": [ + 0.6425081491470337, + 0.29942598938941956, + -0.26570063829421997, + 0.6533993482589722 + ], + "joints": [ + 0.006564738228917122 + ] + }, + "final_grasp": { + "position": [ + -0.040422383695840836, + 0.2155628353357315, + -0.09572894126176834 + ], + "orientation": [ + 0.6425081491470337, + 0.29942598938941956, + -0.26570063829421997, + 0.6533993482589722 + ], + "joints": [ + 0.0002954099327325821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0439193956553936, + 0.2298586070537567, + -0.05183188244700432 + ], + "orientation": [ + 0.10135670751333237, + -0.11579708755016327, + 0.6513394713401794, + -0.7430173754692078 + ], + "joints": [ + 0.01387878879904747 + ] + }, + "fine_grasp": { + "position": [ + -0.04609663411974907, + 0.22710111737251282, + -0.0498274601995945 + ], + "orientation": [ + 0.11222454160451889, + -0.11038179695606232, + 0.6521813273429871, + -0.7415395975112915 + ], + "joints": [ + 0.00551968440413475 + ] + }, + "final_grasp": { + "position": [ + -0.04609663411974907, + 0.22710111737251282, + -0.0498274601995945 + ], + "orientation": [ + 0.11222454160451889, + -0.11038179695606232, + 0.6521813273429871, + -0.7415395975112915 + ], + "joints": [ + -0.0028394199907779694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06755680590867996, + 0.228247731924057, + -0.03245919570326805 + ], + "orientation": [ + 0.6266942620277405, + 0.3930482864379883, + 0.49182623624801636, + -0.4592106342315674 + ], + "joints": [ + 0.012016886845231056 + ] + }, + "fine_grasp": { + "position": [ + -0.06714005768299103, + 0.2247600257396698, + -0.03295178338885307 + ], + "orientation": [ + 0.6329697966575623, + 0.3919655680656433, + 0.4899536669254303, + -0.45349499583244324 + ], + "joints": [ + 0.0036368854343891144 + ] + }, + "final_grasp": { + "position": [ + -0.06714005768299103, + 0.2247600257396698, + -0.03295178338885307 + ], + "orientation": [ + 0.6329697966575623, + 0.3919655680656433, + 0.4899536669254303, + -0.45349499583244324 + ], + "joints": [ + -0.0047431159764528275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06793462485074997, + 0.23016737401485443, + -0.033170659095048904 + ], + "orientation": [ + 0.6284863352775574, + 0.3925883173942566, + 0.48969048261642456, + -0.4594373404979706 + ], + "joints": [ + 0.0119111193343997 + ] + }, + "fine_grasp": { + "position": [ + -0.06712507456541061, + 0.2270628660917282, + -0.03391474485397339 + ], + "orientation": [ + 0.6336227655410767, + 0.39239153265953064, + 0.4869598150253296, + -0.45543527603149414 + ], + "joints": [ + 0.0035311179235577583 + ] + }, + "final_grasp": { + "position": [ + -0.06712507456541061, + 0.2270628660917282, + -0.03391474485397339 + ], + "orientation": [ + 0.6336227655410767, + 0.39239153265953064, + 0.4869598150253296, + -0.45543527603149414 + ], + "joints": [ + -0.0048488834872841835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037533000111579895, + 0.23683518171310425, + -0.06632047891616821 + ], + "orientation": [ + 0.7752365469932556, + 0.6164118051528931, + -0.08673347532749176, + -0.10734082013368607 + ], + "joints": [ + 0.012790568172931671 + ] + }, + "fine_grasp": { + "position": [ + 0.03706233948469162, + 0.23305606842041016, + -0.06525012105703354 + ], + "orientation": [ + 0.7767903804779053, + 0.6150596737861633, + -0.08374706655740738, + -0.10623019933700562 + ], + "joints": [ + 0.0035746563225984573 + ] + }, + "final_grasp": { + "position": [ + 0.03706233948469162, + 0.23305606842041016, + -0.06525012105703354 + ], + "orientation": [ + 0.7767903804779053, + 0.6150596737861633, + -0.08374706655740738, + -0.10623019933700562 + ], + "joints": [ + -0.0056412555277347565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0378103107213974, + 0.23694035410881042, + -0.06637544184923172 + ], + "orientation": [ + 0.7747671604156494, + 0.6169430613517761, + -0.08559189736843109, + -0.10858701914548874 + ], + "joints": [ + 0.013322774320840836 + ] + }, + "fine_grasp": { + "position": [ + 0.03735559433698654, + 0.2332548052072525, + -0.06529158353805542 + ], + "orientation": [ + 0.7764545679092407, + 0.6154451966285706, + -0.08249785006046295, + -0.10742177069187164 + ], + "joints": [ + 0.003688907017931342 + ] + }, + "final_grasp": { + "position": [ + 0.03735559433698654, + 0.2332548052072525, + -0.06529158353805542 + ], + "orientation": [ + 0.7764545679092407, + 0.6154451966285706, + -0.08249785006046295, + -0.10742177069187164 + ], + "joints": [ + -0.005944960284978151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03840644657611847, + 0.23741629719734192, + -0.06672587990760803 + ], + "orientation": [ + 0.7777768969535828, + 0.6141279935836792, + -0.08453374356031418, + -0.10374978184700012 + ], + "joints": [ + 0.01272001676261425 + ] + }, + "fine_grasp": { + "position": [ + 0.037946805357933044, + 0.23356521129608154, + -0.0657634362578392 + ], + "orientation": [ + 0.7785589694976807, + 0.6137518286705017, + -0.08158226311206818, + -0.10246513783931732 + ], + "joints": [ + 0.0035041049122810364 + ] + }, + "final_grasp": { + "position": [ + 0.037946805357933044, + 0.23356521129608154, + -0.0657634362578392 + ], + "orientation": [ + 0.7785589694976807, + 0.6137518286705017, + -0.08158226311206818, + -0.10246513783931732 + ], + "joints": [ + -0.005711806938052177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06830976903438568, + 0.24268321692943573, + 0.039410293102264404 + ], + "orientation": [ + 0.46082690358161926, + 0.46077901124954224, + 0.6480506062507629, + -0.3941466212272644 + ], + "joints": [ + 0.011453183367848396 + ] + }, + "fine_grasp": { + "position": [ + -0.06715115159749985, + 0.23876440525054932, + 0.038930706679821014 + ], + "orientation": [ + 0.46442559361457825, + 0.45753297209739685, + 0.6464398503303528, + -0.3963433504104614 + ], + "joints": [ + 0.003470239695161581 + ] + }, + "final_grasp": { + "position": [ + -0.06715115159749985, + 0.23876440525054932, + 0.038930706679821014 + ], + "orientation": [ + 0.46442559361457825, + 0.45753297209739685, + 0.6464398503303528, + -0.3963433504104614 + ], + "joints": [ + -0.004512703977525234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06474147737026215, + 0.23259592056274414, + -0.06464234739542007 + ], + "orientation": [ + 0.754433810710907, + 0.6096588373184204, + -0.15111005306243896, + -0.19055543839931488 + ], + "joints": [ + 0.012333243153989315 + ] + }, + "fine_grasp": { + "position": [ + 0.06426072865724564, + 0.2287577986717224, + -0.0631113201379776 + ], + "orientation": [ + 0.7569608092308044, + 0.6094434857368469, + -0.14337500929832458, + -0.18717002868652344 + ], + "joints": [ + 0.003974138759076595 + ] + }, + "final_grasp": { + "position": [ + 0.06426072865724564, + 0.2287577986717224, + -0.0631113201379776 + ], + "orientation": [ + 0.7569608092308044, + 0.6094434857368469, + -0.14337500929832458, + -0.18717002868652344 + ], + "joints": [ + -0.004384965635836124 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 21 + } +} \ No newline at end of file diff --git a/063_tabletrashbin_10/Object.usd b/063_tabletrashbin_10/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..9db89a549b382d3bc51e54d3f2852d4360b6519b --- /dev/null +++ b/063_tabletrashbin_10/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4fc9122fd24772f86254926e2ce27db8fc86d4713f8df14eceb94d9ac17613d +size 288143 diff --git a/065_soy-sauce_2/Annotation/dex1_1_grasp_pose.json b/065_soy-sauce_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..751de9bd684bcf607768c58e75ceaf1cb67cd559 --- /dev/null +++ b/065_soy-sauce_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,68 @@ +{ + "type": "065_soy-sauce_2", + "bottom_center": [ + -6.9998204708099365e-06, + 0.125, + -0.04034300148487091 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.12661458551883698, + 0.06636054813861847, + -0.10615498572587967 + ], + "orientation": [ + 0.15020549297332764, + 0.7249968647956848, + -0.6591330170631409, + -0.13176335394382477 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + 0.12284836918115616, + 0.06590734422206879, + -0.10232280939817429 + ], + "orientation": [ + 0.17070811986923218, + 0.7249796986579895, + -0.6536439657211304, + -0.1342119723558426 + ], + "joints": [ + -0.016355203464627266 + ] + }, + "final_grasp": { + "position": [ + 0.12284836918115616, + 0.06590734422206879, + -0.10232280939817429 + ], + "orientation": [ + 0.17070811986923218, + 0.7249796986579895, + -0.6536439657211304, + -0.1342119723558426 + ], + "joints": [ + -0.01739143207669258 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2039, + "num_passed": 1 + } +} \ No newline at end of file diff --git a/065_soy-sauce_2/Annotation/piper_grasp_pose.json b/065_soy-sauce_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..98191233c52f37e4523b9aeb7a6a65fb3a78163b --- /dev/null +++ b/065_soy-sauce_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "065_soy-sauce_2", + "bottom_center": [ + -6.9998204708099365e-06, + 0.125, + -0.04034300148487091 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/065_soy-sauce_2/Object.usd b/065_soy-sauce_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..9fc5113805fac69c2c23e7a5dfc1bd36318d6a1a --- /dev/null +++ b/065_soy-sauce_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28402c26a0ce01edc99df51add6883be8b460ca33e26b08015042be170a3d28b +size 276963 diff --git a/068_boxdrink_2/Annotation/dex1_1_grasp_pose.json b/068_boxdrink_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..d3e2bc6772958389748902c7c766a6547e949c7f --- /dev/null +++ b/068_boxdrink_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,168 @@ +{ + "type": "068_boxdrink_2", + "bottom_center": [ + -6.398186087608337e-06, + 0.12000000476837158, + -0.04023199900984764 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.029420753940939903, + 0.13932539522647858, + -0.1463060826063156 + ], + "orientation": [ + 0.7918614745140076, + 0.5937290191650391, + 0.010781089775264263, + 0.14256533980369568 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.02893075719475746, + 0.14036069810390472, + -0.14100410044193268 + ], + "orientation": [ + 0.7850701808929443, + 0.6017981767654419, + 0.015363296493887901, + 0.1458348035812378 + ], + "joints": [ + -0.018910624086856842 + ] + }, + "final_grasp": { + "position": [ + 0.02893075719475746, + 0.14036069810390472, + -0.14100410044193268 + ], + "orientation": [ + 0.7850701808929443, + 0.6017981767654419, + 0.015363296493887901, + 0.1458348035812378 + ], + "joints": [ + -0.01782124862074852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05653811991214752, + 0.08095046132802963, + -0.1400095522403717 + ], + "orientation": [ + 0.18663713335990906, + -0.05682532489299774, + 0.5518404245376587, + 0.8108080625534058 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.05466577783226967, + 0.08005909621715546, + -0.1352088749408722 + ], + "orientation": [ + 0.18545232713222504, + -0.05624892935156822, + 0.5591660141944885, + 0.80608731508255 + ], + "joints": [ + -0.019946854561567307 + ] + }, + "final_grasp": { + "position": [ + 0.05466577783226967, + 0.08005909621715546, + -0.1352088749408722 + ], + "orientation": [ + 0.18545232713222504, + -0.05624892935156822, + 0.5591660141944885, + 0.80608731508255 + ], + "joints": [ + -0.01989370957016945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11726419627666473, + 0.10880077630281448, + -0.09072715044021606 + ], + "orientation": [ + 0.05706588178873062, + 0.7449676394462585, + -0.6530726552009583, + -0.12354336678981781 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + 0.1165710836648941, + 0.10701624304056168, + -0.08842131495475769 + ], + "orientation": [ + 0.09049198776483536, + 0.7417958378791809, + -0.6551881432533264, + -0.1108090728521347 + ], + "joints": [ + -0.017063308507204056 + ] + }, + "final_grasp": { + "position": [ + 0.1165710836648941, + 0.10701624304056168, + -0.08842131495475769 + ], + "orientation": [ + 0.09049198776483536, + 0.7417958378791809, + -0.6551881432533264, + -0.1108090728521347 + ], + "joints": [ + -0.014406301081180573 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2041, + "num_passed": 3 + } +} \ No newline at end of file diff --git a/068_boxdrink_2/Annotation/piper_grasp_pose.json b/068_boxdrink_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..35703cea823035537a8ede80dc402e605c2ba6f8 --- /dev/null +++ b/068_boxdrink_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "068_boxdrink_2", + "bottom_center": [ + -6.398186087608337e-06, + 0.12000000476837158, + -0.04023199900984764 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2047, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/068_boxdrink_2/Object.usd b/068_boxdrink_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..85201b70eb8407f3caa490a52754c5527bc856c7 --- /dev/null +++ b/068_boxdrink_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce76b9c334e24b4d4d670243389e431c510b8d5979e5cdc8548fae6dab7eea6e +size 310628 diff --git a/071_can_2/Annotation/dex1_1_grasp_pose.json b/071_can_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e2dd47b3800b22aa5e51b061c945c289aa1bb1fa --- /dev/null +++ b/071_can_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,13518 @@ +{ + "type": "071_can_2", + "bottom_center": [ + -2.600252628326416e-06, + 0.04753730073571205, + -0.0249643512070179 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.07215752452611923, + 0.1528296321630478, + -0.06693581491708755 + ], + "orientation": [ + 0.1978808492422104, + -0.32385796308517456, + -0.41839638352394104, + -0.8251689672470093 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.07116308063268661, + 0.15177060663700104, + -0.06594634056091309 + ], + "orientation": [ + 0.19246762990951538, + -0.33039042353630066, + -0.41873854398727417, + -0.823684573173523 + ], + "joints": [ + -0.0024652890861034393 + ] + }, + "final_grasp": { + "position": [ + -0.07116308063268661, + 0.15177060663700104, + -0.06594634056091309 + ], + "orientation": [ + 0.19246762990951538, + -0.33039042353630066, + -0.41873854398727417, + -0.823684573173523 + ], + "joints": [ + 0.00391150638461113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01169001404196024, + 0.19583161175251007, + 0.013864872977137566 + ], + "orientation": [ + 0.00889882817864418, + -0.8850369453430176, + -0.013111957348883152, + 0.4652508795261383 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.01037075836211443, + 0.19531136751174927, + 0.013707233592867851 + ], + "orientation": [ + 0.007622533477842808, + -0.8854982852935791, + -0.015228014439344406, + 0.4643305838108063 + ], + "joints": [ + -0.0024624178186059 + ] + }, + "final_grasp": { + "position": [ + 0.01037075836211443, + 0.19531136751174927, + 0.013707233592867851 + ], + "orientation": [ + 0.007622533477842808, + -0.8854982852935791, + -0.015228014439344406, + 0.4643305838108063 + ], + "joints": [ + 0.0038878079503774643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08253645151853561, + 0.14998759329319, + 0.06036808341741562 + ], + "orientation": [ + 0.21726307272911072, + 0.3842785656452179, + -0.41244766116142273, + 0.796877384185791 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.07985573261976242, + 0.14742633700370789, + 0.05768733099102974 + ], + "orientation": [ + 0.218975231051445, + 0.3797116279602051, + -0.4105677902698517, + 0.7995641827583313 + ], + "joints": [ + -0.002606675960123539 + ] + }, + "final_grasp": { + "position": [ + 0.07985573261976242, + 0.14742633700370789, + 0.05768733099102974 + ], + "orientation": [ + 0.218975231051445, + 0.3797116279602051, + -0.4105677902698517, + 0.7995641827583313 + ], + "joints": [ + 0.00480634905397892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08275379240512848, + 0.14999379217624664, + 0.06040339544415474 + ], + "orientation": [ + 0.21536919474601746, + 0.38840770721435547, + -0.41194525361061096, + 0.7956486344337463 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.07972754538059235, + 0.1472940295934677, + 0.05767621845006943 + ], + "orientation": [ + 0.21490289270877838, + 0.3872363865375519, + -0.41092410683631897, + 0.7968727946281433 + ], + "joints": [ + -0.002606675960123539 + ] + }, + "final_grasp": { + "position": [ + 0.07972754538059235, + 0.1472940295934677, + 0.05767621845006943 + ], + "orientation": [ + 0.21490289270877838, + 0.3872363865375519, + -0.41092410683631897, + 0.7968727946281433 + ], + "joints": [ + 0.00480634905397892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12131082266569138, + 0.1100776344537735, + 0.023751787841320038 + ], + "orientation": [ + 0.44081932306289673, + 0.4295397698879242, + -0.45463529229164124, + 0.643801748752594 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.11943554878234863, + 0.10987136512994766, + 0.023057077080011368 + ], + "orientation": [ + 0.43953758478164673, + 0.431289404630661, + -0.4565006494522095, + 0.6421864628791809 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + 0.11943554878234863, + 0.10987136512994766, + 0.023057077080011368 + ], + "orientation": [ + 0.43953758478164673, + 0.431289404630661, + -0.4565006494522095, + 0.6421864628791809 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1214398667216301, + 0.11012030392885208, + 0.023874128237366676 + ], + "orientation": [ + 0.4398910105228424, + 0.4306259751319885, + -0.45572441816329956, + 0.6429402828216553 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.11976870149374008, + 0.10992129147052765, + 0.02293427474796772 + ], + "orientation": [ + 0.4417082667350769, + 0.42964082956314087, + -0.45787912607192993, + 0.6408193111419678 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + 0.11976870149374008, + 0.10992129147052765, + 0.02293427474796772 + ], + "orientation": [ + 0.4417082667350769, + 0.42964082956314087, + -0.45787912607192993, + 0.6408193111419678 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13103091716766357, + 0.09326715767383575, + -0.00915511790663004 + ], + "orientation": [ + 0.49466100335121155, + -0.4597313702106476, + -0.4670604169368744, + -0.5707994699478149 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.12574969232082367, + 0.09279985725879669, + -0.008572536520659924 + ], + "orientation": [ + 0.49254775047302246, + -0.4598023593425751, + -0.46770334243774414, + -0.5720420479774475 + ], + "joints": [ + -0.002606675960123539 + ] + }, + "final_grasp": { + "position": [ + -0.12574969232082367, + 0.09279985725879669, + -0.008572536520659924 + ], + "orientation": [ + 0.49254775047302246, + -0.4598023593425751, + -0.46770334243774414, + -0.5720420479774475 + ], + "joints": [ + 0.00480634905397892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07221328467130661, + 0.12193062901496887, + -0.08217130601406097 + ], + "orientation": [ + 0.5184759497642517, + 0.7837176322937012, + 0.20808285474777222, + -0.2714238166809082 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.07474329322576523, + 0.12251604348421097, + -0.08358301222324371 + ], + "orientation": [ + 0.5177112817764282, + 0.783639132976532, + 0.2096342295408249, + -0.2719157040119171 + ], + "joints": [ + -0.00240927841514349 + ] + }, + "final_grasp": { + "position": [ + -0.07474329322576523, + 0.12251604348421097, + -0.08358301222324371 + ], + "orientation": [ + 0.5177112817764282, + 0.783639132976532, + 0.2096342295408249, + -0.2719157040119171 + ], + "joints": [ + 0.003994086757302284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08864091336727142, + 0.1638849675655365, + -0.0034526598174124956 + ], + "orientation": [ + 0.269491970539093, + -0.6926600933074951, + 0.3265905976295471, + 0.5838959813117981 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + 0.08881154656410217, + 0.16388393938541412, + -0.0031154772732406855 + ], + "orientation": [ + 0.26965558528900146, + -0.6914663910865784, + 0.31985190510749817, + 0.5889437198638916 + ], + "joints": [ + -0.002125948667526245 + ] + }, + "final_grasp": { + "position": [ + 0.08881154656410217, + 0.16388393938541412, + -0.0031154772732406855 + ], + "orientation": [ + 0.26965558528900146, + -0.6914663910865784, + 0.31985190510749817, + 0.5889437198638916 + ], + "joints": [ + 0.004250846803188324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0723305270075798, + 0.12207826226949692, + -0.08222130686044693 + ], + "orientation": [ + 0.5185520648956299, + 0.7834424376487732, + 0.20771242678165436, + -0.27235493063926697 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.074794702231884, + 0.1226695328950882, + -0.08368188142776489 + ], + "orientation": [ + 0.5181953310966492, + 0.7830942273139954, + 0.2099153846502304, + -0.27234652638435364 + ], + "joints": [ + -0.00240927841514349 + ] + }, + "final_grasp": { + "position": [ + -0.074794702231884, + 0.1226695328950882, + -0.08368188142776489 + ], + "orientation": [ + 0.5181953310966492, + 0.7830942273139954, + 0.2099153846502304, + -0.27234652638435364 + ], + "joints": [ + 0.003994086757302284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05761006847023964, + 0.1348818987607956, + -0.08672312647104263 + ], + "orientation": [ + 0.1772046536207199, + -0.19119809567928314, + -0.4804621934890747, + -0.8373757004737854 + ], + "joints": [ + -0.009060561656951904 + ] + }, + "fine_grasp": { + "position": [ + -0.057534728199243546, + 0.1357332020998001, + -0.08700329810380936 + ], + "orientation": [ + 0.16776593029499054, + -0.20235347747802734, + -0.48642000555992126, + -0.8332486152648926 + ], + "joints": [ + -0.0031885961070656776 + ] + }, + "final_grasp": { + "position": [ + -0.057534728199243546, + 0.1357332020998001, + -0.08700329810380936 + ], + "orientation": [ + 0.16776593029499054, + -0.20235347747802734, + -0.48642000555992126, + -0.8332486152648926 + ], + "joints": [ + 0.002683369442820549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05741916969418526, + 0.13453209400177002, + -0.08683568239212036 + ], + "orientation": [ + 0.1751595139503479, + -0.193842813372612, + -0.48115527629852295, + -0.836799681186676 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.05746106430888176, + 0.13545386493206024, + -0.08709447085857391 + ], + "orientation": [ + 0.16740989685058594, + -0.20225177705287933, + -0.48700758814811707, + -0.8330017328262329 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.05746106430888176, + 0.13545386493206024, + -0.08709447085857391 + ], + "orientation": [ + 0.16740989685058594, + -0.20225177705287933, + -0.48700758814811707, + -0.8330017328262329 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0493648424744606, + 0.15836046636104584, + -0.06567177176475525 + ], + "orientation": [ + 0.38114070892333984, + 0.8501683473587036, + 0.10175038129091263, + -0.34870103001594543 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.05089836195111275, + 0.15979823470115662, + -0.06714370101690292 + ], + "orientation": [ + 0.3820951282978058, + 0.8500596880912781, + 0.10258741676807404, + -0.34767481684684753 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.05089836195111275, + 0.15979823470115662, + -0.06714370101690292 + ], + "orientation": [ + 0.3820951282978058, + 0.8500596880912781, + 0.10258741676807404, + -0.34767481684684753 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04944098740816116, + 0.15816590189933777, + -0.06588861346244812 + ], + "orientation": [ + 0.38216736912727356, + 0.8497822284698486, + 0.10169599205255508, + -0.34853440523147583 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.05095496028661728, + 0.15954215824604034, + -0.06730730831623077 + ], + "orientation": [ + 0.3831157386302948, + 0.8496566414833069, + 0.10254113376140594, + -0.347550630569458 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.05095496028661728, + 0.15954215824604034, + -0.06730730831623077 + ], + "orientation": [ + 0.3831157386302948, + 0.8496566414833069, + 0.10254113376140594, + -0.347550630569458 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04978663846850395, + 0.15747666358947754, + -0.06615612655878067 + ], + "orientation": [ + 0.38447052240371704, + 0.8482763171195984, + 0.10223028063774109, + -0.3495120406150818 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.05143825709819794, + 0.1588384211063385, + -0.06753639876842499 + ], + "orientation": [ + 0.38593369722366333, + 0.8480357527732849, + 0.1030982956290245, + -0.34822598099708557 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.05143825709819794, + 0.1588384211063385, + -0.06753639876842499 + ], + "orientation": [ + 0.38593369722366333, + 0.8480357527732849, + 0.1030982956290245, + -0.34822598099708557 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003316665766760707, + 0.19181877374649048, + 0.022600507363677025 + ], + "orientation": [ + 0.012224738486111164, + -0.031447310000658035, + -0.13476935029029846, + 0.9903023838996887 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.0041204895824193954, + 0.1917298436164856, + 0.024464517831802368 + ], + "orientation": [ + 0.014928159303963184, + -0.02667422778904438, + -0.1358831524848938, + 0.990253210067749 + ], + "joints": [ + -0.003054097294807434 + ] + }, + "final_grasp": { + "position": [ + 0.0041204895824193954, + 0.1917298436164856, + 0.024464517831802368 + ], + "orientation": [ + 0.014928159303963184, + -0.02667422778904438, + -0.1358831524848938, + 0.990253210067749 + ], + "joints": [ + 0.003322698175907135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1183243915438652, + 0.12053637951612473, + 0.008885894902050495 + ], + "orientation": [ + 0.43688809871673584, + -0.5729163289070129, + 0.36874866485595703, + 0.587299108505249 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11381904035806656, + 0.11944697797298431, + 0.008613346144557 + ], + "orientation": [ + 0.4437286853790283, + -0.567421555519104, + 0.367210328578949, + 0.5884677171707153 + ], + "joints": [ + -0.002580106258392334 + ] + }, + "final_grasp": { + "position": [ + 0.11381904035806656, + 0.11944697797298431, + 0.008613346144557 + ], + "orientation": [ + 0.4437286853790283, + -0.567421555519104, + 0.367210328578949, + 0.5884677171707153 + ], + "joints": [ + 0.00485948845744133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13347458839416504, + 0.08215342462062836, + 0.004303022287786007 + ], + "orientation": [ + 0.5404878854751587, + 0.43344396352767944, + 0.46393337845802307, + -0.5520552396774292 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.1281096488237381, + 0.08326990157365799, + 0.004147164057940245 + ], + "orientation": [ + 0.5476888418197632, + 0.42429280281066895, + 0.4639592468738556, + -0.552045464515686 + ], + "joints": [ + -0.0021018460392951965 + ] + }, + "final_grasp": { + "position": [ + -0.1281096488237381, + 0.08326990157365799, + 0.004147164057940245 + ], + "orientation": [ + 0.5476888418197632, + 0.42429280281066895, + 0.4639592468738556, + -0.552045464515686 + ], + "joints": [ + 0.005816008895635605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11949989199638367, + 0.12895607948303223, + 0.009158747270703316 + ], + "orientation": [ + 0.38921481370925903, + -0.6529338359832764, + 0.43177351355552673, + 0.4855521619319916 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.11547033488750458, + 0.12855935096740723, + 0.008342938497662544 + ], + "orientation": [ + 0.39302268624305725, + -0.6511343717575073, + 0.4319192171096802, + 0.4847710430622101 + ], + "joints": [ + -0.0024387193843722343 + ] + }, + "final_grasp": { + "position": [ + 0.11547033488750458, + 0.12855935096740723, + 0.008342938497662544 + ], + "orientation": [ + 0.39302268624305725, + -0.6511343717575073, + 0.4319192171096802, + 0.4847710430622101 + ], + "joints": [ + 0.00396464578807354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07605624198913574, + 0.09116245806217194, + -0.10475068539381027 + ], + "orientation": [ + 0.6277291178703308, + 0.7116108536720276, + 0.1791960895061493, + -0.25972092151641846 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.07263535261154175, + 0.09099621325731277, + -0.10016676038503647 + ], + "orientation": [ + 0.6360987424850464, + 0.7037924528121948, + 0.17384211719036102, + -0.2642602324485779 + ], + "joints": [ + -0.0031954841688275337 + ] + }, + "final_grasp": { + "position": [ + -0.07263535261154175, + 0.09099621325731277, + -0.10016676038503647 + ], + "orientation": [ + 0.6360987424850464, + 0.7037924528121948, + 0.17384211719036102, + -0.2642602324485779 + ], + "joints": [ + 0.004217540845274925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0760958194732666, + 0.0911363810300827, + -0.10471761971712112 + ], + "orientation": [ + 0.627724289894104, + 0.7115484476089478, + 0.17941692471504211, + -0.2597508728504181 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.07267390936613083, + 0.09096844494342804, + -0.10013793408870697 + ], + "orientation": [ + 0.636101484298706, + 0.7037246227264404, + 0.17404571175575256, + -0.2643003761768341 + ], + "joints": [ + -0.0031954841688275337 + ] + }, + "final_grasp": { + "position": [ + -0.07267390936613083, + 0.09096844494342804, + -0.10013793408870697 + ], + "orientation": [ + 0.636101484298706, + 0.7037246227264404, + 0.17404571175575256, + -0.2643003761768341 + ], + "joints": [ + 0.004217540845274925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11862009018659592, + 0.12027783691883087, + 0.008862314745783806 + ], + "orientation": [ + 0.4364282786846161, + -0.5728679895401001, + 0.36827972531318665, + 0.5879819393157959 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11406021565198898, + 0.11907747387886047, + 0.008663124404847622 + ], + "orientation": [ + 0.44339290261268616, + -0.5668506026268005, + 0.36595281958580017, + 0.5900521874427795 + ], + "joints": [ + -0.002580106258392334 + ] + }, + "final_grasp": { + "position": [ + 0.11406021565198898, + 0.11907747387886047, + 0.008663124404847622 + ], + "orientation": [ + 0.44339290261268616, + -0.5668506026268005, + 0.36595281958580017, + 0.5900521874427795 + ], + "joints": [ + 0.00485948845744133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06690137833356857, + 0.15847338736057281, + -0.051342856138944626 + ], + "orientation": [ + 0.3373231589794159, + 0.864067018032074, + 0.20434723794460297, + -0.312799334526062 + ], + "joints": [ + -0.009680360555648804 + ] + }, + "fine_grasp": { + "position": [ + -0.06741209328174591, + 0.15910156071186066, + -0.05247301980853081 + ], + "orientation": [ + 0.3432494103908539, + 0.8613972067832947, + 0.20251432061195374, + -0.31490087509155273 + ], + "joints": [ + -0.002772165462374687 + ] + }, + "final_grasp": { + "position": [ + -0.06741209328174591, + 0.15910156071186066, + -0.05247301980853081 + ], + "orientation": [ + 0.3432494103908539, + 0.8613972067832947, + 0.20251432061195374, + -0.31490087509155273 + ], + "joints": [ + 0.004136029630899429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01865208148956299, + 0.19144824147224426, + 0.0001666090392973274 + ], + "orientation": [ + 0.08542917668819427, + -0.6419514417648315, + 0.07941406220197678, + 0.7578216195106506 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.02001369372010231, + 0.1912134885787964, + 0.00012068648356944323 + ], + "orientation": [ + 0.08279997855424881, + -0.6444689631462097, + 0.0767810195684433, + 0.7562464475631714 + ], + "joints": [ + -0.004090326838195324 + ] + }, + "final_grasp": { + "position": [ + 0.02001369372010231, + 0.1912134885787964, + 0.00012068648356944323 + ], + "orientation": [ + 0.08279997855424881, + -0.6444689631462097, + 0.0767810195684433, + 0.7562464475631714 + ], + "joints": [ + 0.0012502390891313553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06965047121047974, + 0.16739852726459503, + -0.030357107520103455 + ], + "orientation": [ + 0.2904278635978699, + 0.8053979277610779, + 0.2040909230709076, + -0.4746924638748169 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.07019071280956268, + 0.1663031131029129, + -0.030160564929246902 + ], + "orientation": [ + 0.28963935375213623, + 0.8050411343574524, + 0.20275916159152985, + -0.4763471186161041 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.07019071280956268, + 0.1663031131029129, + -0.030160564929246902 + ], + "orientation": [ + 0.28963935375213623, + 0.8050411343574524, + 0.20275916159152985, + -0.4763471186161041 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018544182181358337, + 0.19137981534004211, + 0.00024405366275459528 + ], + "orientation": [ + 0.08536932617425919, + -0.6412098407745361, + 0.07895965874195099, + 0.7585034370422363 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.0198933407664299, + 0.1910790652036667, + 0.0001831285480875522 + ], + "orientation": [ + 0.08263526856899261, + -0.6437647342681885, + 0.07628870010375977, + 0.7569137811660767 + ], + "joints": [ + -0.004090326838195324 + ] + }, + "final_grasp": { + "position": [ + 0.0198933407664299, + 0.1910790652036667, + 0.0001831285480875522 + ], + "orientation": [ + 0.08263526856899261, + -0.6437647342681885, + 0.07628870010375977, + 0.7569137811660767 + ], + "joints": [ + 0.0012502390891313553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044616714119911194, + 0.15740150213241577, + -0.08629199862480164 + ], + "orientation": [ + 0.11648717522621155, + -0.17471319437026978, + 0.40686506032943726, + 0.8890257477760315 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.04314131662249565, + 0.15369723737239838, + -0.0821978822350502 + ], + "orientation": [ + 0.12325441837310791, + -0.16689138114452362, + 0.40461668372154236, + 0.8906407952308655 + ], + "joints": [ + -0.0026361169293522835 + ] + }, + "final_grasp": { + "position": [ + 0.04314131662249565, + 0.15369723737239838, + -0.0821978822350502 + ], + "orientation": [ + 0.12325441837310791, + -0.16689138114452362, + 0.40461668372154236, + 0.8906407952308655 + ], + "joints": [ + 0.0047769080847501755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044576846063137054, + 0.15736673772335052, + -0.08628617227077484 + ], + "orientation": [ + 0.11624732613563538, + -0.1749761402606964, + 0.4069611430168152, + 0.8889614939689636 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.043119728565216064, + 0.15365591645240784, + -0.08218327164649963 + ], + "orientation": [ + 0.1227884441614151, + -0.1671021282672882, + 0.40474486351013184, + 0.8906073570251465 + ], + "joints": [ + -0.0026361169293522835 + ] + }, + "final_grasp": { + "position": [ + 0.043119728565216064, + 0.15365591645240784, + -0.08218327164649963 + ], + "orientation": [ + 0.1227884441614151, + -0.1671021282672882, + 0.40474486351013184, + 0.8906073570251465 + ], + "joints": [ + 0.0047769080847501755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06972814351320267, + 0.1671043485403061, + -0.030487125739455223 + ], + "orientation": [ + 0.2908744215965271, + 0.805668294429779, + 0.20433175563812256, + -0.4738558232784271 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.07027596235275269, + 0.16602478921413422, + -0.030242716893553734 + ], + "orientation": [ + 0.28973013162612915, + 0.8055803179740906, + 0.20316046476364136, + -0.4752081334590912 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.07027596235275269, + 0.16602478921413422, + -0.030242716893553734 + ], + "orientation": [ + 0.28973013162612915, + 0.8055803179740906, + 0.20316046476364136, + -0.4752081334590912 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06954734772443771, + 0.16750922799110413, + -0.030392196029424667 + ], + "orientation": [ + 0.28969383239746094, + 0.8063292503356934, + 0.20369292795658112, + -0.47372978925704956 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.07001115381717682, + 0.1662556529045105, + -0.03012092597782612 + ], + "orientation": [ + 0.288523405790329, + 0.8061249852180481, + 0.20240402221679688, + -0.4753413200378418 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.07001115381717682, + 0.1662556529045105, + -0.03012092597782612 + ], + "orientation": [ + 0.288523405790329, + 0.8061249852180481, + 0.20240402221679688, + -0.4753413200378418 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08772385120391846, + 0.13592104613780975, + 0.05872638151049614 + ], + "orientation": [ + 0.2661016583442688, + 0.352939635515213, + 0.42721986770629883, + -0.788737416267395 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.08596581965684891, + 0.13438580930233002, + 0.05764990299940109 + ], + "orientation": [ + 0.268653005361557, + 0.35182619094848633, + 0.42722752690315247, + -0.7883657217025757 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + -0.08596581965684891, + 0.13438580930233002, + 0.05764990299940109 + ], + "orientation": [ + 0.268653005361557, + 0.35182619094848633, + 0.42722752690315247, + -0.7883657217025757 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011885006912052631, + 0.17867839336395264, + -0.06332820653915405 + ], + "orientation": [ + 0.04979020729660988, + 0.01180242095142603, + -0.2962770164012909, + -0.9537304043769836 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.011741061694920063, + 0.17570270597934723, + -0.06232861056923866 + ], + "orientation": [ + 0.04830404743552208, + 0.008678085170686245, + -0.29111793637275696, + -0.9554275274276733 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + -0.011741061694920063, + 0.17570270597934723, + -0.06232861056923866 + ], + "orientation": [ + 0.04830404743552208, + 0.008678085170686245, + -0.29111793637275696, + -0.9554275274276733 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12145919352769852, + -0.017688600346446037, + 0.033070214092731476 + ], + "orientation": [ + 0.4485626220703125, + 0.3978254795074463, + -0.6409438252449036, + 0.47928863763809204 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.11631523817777634, + -0.017567502334713936, + 0.03172333166003227 + ], + "orientation": [ + 0.4426012635231018, + 0.4042721092700958, + -0.6369138956069946, + 0.48477715253829956 + ], + "joints": [ + -0.0026361169293522835 + ] + }, + "final_grasp": { + "position": [ + 0.11631523817777634, + -0.017567502334713936, + 0.03172333166003227 + ], + "orientation": [ + 0.4426012635231018, + 0.4042721092700958, + -0.6369138956069946, + 0.48477715253829956 + ], + "joints": [ + 0.0047769080847501755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0788487121462822, + -0.05433179810643196, + -0.06717582792043686 + ], + "orientation": [ + 0.354173868894577, + -0.2121746838092804, + -0.7979090809822083, + -0.4391855001449585 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.0776747614145279, + -0.05287807434797287, + -0.06580435484647751 + ], + "orientation": [ + 0.34634044766426086, + -0.21881811320781708, + -0.8008984923362732, + -0.4367247521877289 + ], + "joints": [ + -0.0019633304327726364 + ] + }, + "final_grasp": { + "position": [ + -0.0776747614145279, + -0.05287807434797287, + -0.06580435484647751 + ], + "orientation": [ + 0.34634044766426086, + -0.21881811320781708, + -0.8008984923362732, + -0.4367247521877289 + ], + "joints": [ + 0.00494486466050148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07844271510839462, + -0.05439147353172302, + -0.06681407988071442 + ], + "orientation": [ + 0.3546082079410553, + -0.21189099550247192, + -0.7981988191604614, + -0.43844491243362427 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.07752767950296402, + -0.053093165159225464, + -0.06566981971263885 + ], + "orientation": [ + 0.34577739238739014, + -0.21864381432533264, + -0.8019540309906006, + -0.43531885743141174 + ], + "joints": [ + -0.0019633304327726364 + ] + }, + "final_grasp": { + "position": [ + -0.07752767950296402, + -0.053093165159225464, + -0.06566981971263885 + ], + "orientation": [ + 0.34577739238739014, + -0.21864381432533264, + -0.8019540309906006, + -0.43531885743141174 + ], + "joints": [ + 0.00494486466050148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12168190628290176, + 0.060492560267448425, + 0.03894137218594551 + ], + "orientation": [ + 0.566533625125885, + -0.5650063753128052, + 0.5035771727561951, + 0.32591021060943604 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11764759570360184, + 0.06174382194876671, + 0.037617359310388565 + ], + "orientation": [ + 0.5718839764595032, + -0.5640059113502502, + 0.4985215961933136, + 0.32607099413871765 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 0.11764759570360184, + 0.06174382194876671, + 0.037617359310388565 + ], + "orientation": [ + 0.5718839764595032, + -0.5640059113502502, + 0.4985215961933136, + 0.32607099413871765 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12193663418292999, + 0.004833322484046221, + -0.026660315692424774 + ], + "orientation": [ + 0.5817791819572449, + 0.5197491645812988, + 0.43050241470336914, + -0.45393985509872437 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.11805057525634766, + 0.0032168361358344555, + -0.025804618373513222 + ], + "orientation": [ + 0.5801732540130615, + 0.5194922685623169, + 0.4192240536212921, + -0.4666667878627777 + ], + "joints": [ + -0.0024961279705166817 + ] + }, + "final_grasp": { + "position": [ + -0.11805057525634766, + 0.0032168361358344555, + -0.025804618373513222 + ], + "orientation": [ + 0.5801732540130615, + 0.5194922685623169, + 0.4192240536212921, + -0.4666667878627777 + ], + "joints": [ + 0.00443863682448864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02548559568822384, + 0.18635429441928864, + -0.03157058730721474 + ], + "orientation": [ + 0.04514608904719353, + -0.4989248514175415, + 0.19388514757156372, + 0.8434715867042542 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.026273833587765694, + 0.1859198361635208, + -0.03284366428852081 + ], + "orientation": [ + 0.04489245265722275, + -0.4945318102836609, + 0.19103190302848816, + 0.8467170596122742 + ], + "joints": [ + -0.0036134645342826843 + ] + }, + "final_grasp": { + "position": [ + 0.026273833587765694, + 0.1859198361635208, + -0.03284366428852081 + ], + "orientation": [ + 0.04489245265722275, + -0.4945318102836609, + 0.19103190302848816, + 0.8467170596122742 + ], + "joints": [ + 0.0027633309364318848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014316034503281116, + -0.1089911088347435, + 0.008427731692790985 + ], + "orientation": [ + 0.9428657293319702, + -0.09593912959098816, + 0.3132437765598297, + 0.06064874678850174 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.015774942934513092, + -0.10988675057888031, + 0.010377000086009502 + ], + "orientation": [ + 0.9428774118423462, + -0.08733047544956207, + 0.31679388880729675, + 0.054746534675359726 + ], + "joints": [ + -0.004116896539926529 + ] + }, + "final_grasp": { + "position": [ + 0.015774942934513092, + -0.10988675057888031, + 0.010377000086009502 + ], + "orientation": [ + 0.9428774118423462, + -0.08733047544956207, + 0.31679388880729675, + 0.054746534675359726 + ], + "joints": [ + 0.0011970996856689453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09134652465581894, + -0.05474916100502014, + -0.05549801513552666 + ], + "orientation": [ + 0.4571680724620819, + -0.22263909876346588, + 0.7442932724952698, + 0.4329627454280853 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.08756806701421738, + -0.05249214917421341, + -0.0535639189183712 + ], + "orientation": [ + 0.4583416283130646, + -0.2204020917415619, + 0.7408530712127686, + 0.4387284219264984 + ], + "joints": [ + -0.0020752763375639915 + ] + }, + "final_grasp": { + "position": [ + 0.08756806701421738, + -0.05249214917421341, + -0.0535639189183712 + ], + "orientation": [ + 0.4583416283130646, + -0.2204020917415619, + 0.7408530712127686, + 0.4387284219264984 + ], + "joints": [ + 0.005869148299098015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12213019281625748, + 0.005164863541722298, + -0.026701010763645172 + ], + "orientation": [ + 0.5824212431907654, + 0.5192152261734009, + 0.43124616146087646, + -0.4530206024646759 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.11802730709314346, + 0.003583191893994808, + -0.025878004729747772 + ], + "orientation": [ + 0.5810338854789734, + 0.5189484357833862, + 0.4188850522041321, + -0.46650558710098267 + ], + "joints": [ + -0.0024961279705166817 + ] + }, + "final_grasp": { + "position": [ + -0.11802730709314346, + 0.003583191893994808, + -0.025878004729747772 + ], + "orientation": [ + 0.5810338854789734, + 0.5189484357833862, + 0.4188850522041321, + -0.46650558710098267 + ], + "joints": [ + 0.00443863682448864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04262787476181984, + 0.19361363351345062, + -0.012953824363648891 + ], + "orientation": [ + 0.12837575376033783, + 0.7390413284301758, + 0.0759907066822052, + -0.6569345593452454 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.03945630043745041, + 0.1896960288286209, + -0.012796188704669476 + ], + "orientation": [ + 0.15371420979499817, + 0.7325649261474609, + 0.09476151317358017, + -0.6563084721565247 + ], + "joints": [ + -0.004788209684193134 + ] + }, + "final_grasp": { + "position": [ + -0.03945630043745041, + 0.1896960288286209, + -0.012796188704669476 + ], + "orientation": [ + 0.15371420979499817, + 0.7325649261474609, + 0.09476151317358017, + -0.6563084721565247 + ], + "joints": [ + 0.0015620160847902298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08672531694173813, + 0.1469757854938507, + 0.05205443501472473 + ], + "orientation": [ + 0.42186450958251953, + -0.7268539667129517, + -0.19382739067077637, + -0.5061072111129761 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.08425216376781464, + 0.1445976048707962, + 0.05049431324005127 + ], + "orientation": [ + 0.4186171293258667, + -0.7274086475372314, + -0.1955258846282959, + -0.5073519945144653 + ], + "joints": [ + -0.0031115058809518814 + ] + }, + "final_grasp": { + "position": [ + -0.08425216376781464, + 0.1445976048707962, + 0.05049431324005127 + ], + "orientation": [ + 0.4186171293258667, + -0.7274086475372314, + -0.1955258846282959, + -0.5073519945144653 + ], + "joints": [ + 0.003796689212322235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08693841099739075, + 0.14716272056102753, + 0.0521807037293911 + ], + "orientation": [ + 0.422406941652298, + -0.7264845967292786, + -0.19388364255428314, + -0.5061636567115784 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.08428077399730682, + 0.14458324015140533, + 0.050499193370342255 + ], + "orientation": [ + 0.41864344477653503, + -0.7273446917533875, + -0.19552630186080933, + -0.5074216723442078 + ], + "joints": [ + -0.0031115058809518814 + ] + }, + "final_grasp": { + "position": [ + -0.08428077399730682, + 0.14458324015140533, + 0.050499193370342255 + ], + "orientation": [ + 0.41864344477653503, + -0.7273446917533875, + -0.19552630186080933, + -0.5074216723442078 + ], + "joints": [ + 0.003796689212322235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10898903012275696, + -0.061114855110645294, + -0.014831013046205044 + ], + "orientation": [ + 0.6055921912193298, + -0.2919539213180542, + 0.6476355195045471, + 0.35859331488609314 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10377800464630127, + -0.05854170024394989, + -0.014447521418333054 + ], + "orientation": [ + 0.605913519859314, + -0.293395072221756, + 0.6423418521881104, + 0.36631283164024353 + ], + "joints": [ + -0.003754851408302784 + ] + }, + "final_grasp": { + "position": [ + 0.10377800464630127, + -0.05854170024394989, + -0.014447521418333054 + ], + "orientation": [ + 0.605913519859314, + -0.293395072221756, + 0.6423418521881104, + 0.36631283164024353 + ], + "joints": [ + 0.003658173605799675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05488550290465355, + 0.06718221306800842, + 0.11928549408912659 + ], + "orientation": [ + 0.202004536986351, + 0.09999223053455353, + -0.6898559927940369, + 0.6879639625549316 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.052822768688201904, + 0.06869839876890182, + 0.11441641300916672 + ], + "orientation": [ + 0.20388425886631012, + 0.09690773487091064, + -0.6970946788787842, + 0.680513858795166 + ], + "joints": [ + -0.004289122298359871 + ] + }, + "final_grasp": { + "position": [ + 0.052822768688201904, + 0.06869839876890182, + 0.11441641300916672 + ], + "orientation": [ + 0.20388425886631012, + 0.09690773487091064, + -0.6970946788787842, + 0.680513858795166 + ], + "joints": [ + 0.0026190727949142456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10896620899438858, + 0.08093753457069397, + -0.05540068820118904 + ], + "orientation": [ + 0.5909549593925476, + 0.6118788123130798, + 0.33401355147361755, + -0.4059698283672333 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.10843563079833984, + 0.08189710229635239, + -0.05516483262181282 + ], + "orientation": [ + 0.6028570532798767, + 0.5987361669540405, + 0.3232972025871277, + -0.41660216450691223 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + -0.10843563079833984, + 0.08189710229635239, + -0.05516483262181282 + ], + "orientation": [ + 0.6028570532798767, + 0.5987361669540405, + 0.3232972025871277, + -0.41660216450691223 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10906638950109482, + 0.0808945745229721, + -0.055446524173021317 + ], + "orientation": [ + 0.5906295776367188, + 0.6121788024902344, + 0.33388519287109375, + -0.40609651803970337 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.108427032828331, + 0.0819234699010849, + -0.05516396462917328 + ], + "orientation": [ + 0.6025596261024475, + 0.5989821553230286, + 0.32311543822288513, + -0.41681969165802 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + -0.108427032828331, + 0.0819234699010849, + -0.05516396462917328 + ], + "orientation": [ + 0.6025596261024475, + 0.5989821553230286, + 0.32311543822288513, + -0.41681969165802 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04223943501710892, + 0.19322708249092102, + -0.012903247959911823 + ], + "orientation": [ + 0.12823450565338135, + 0.7365139722824097, + 0.0748760923743248, + -0.6599215865135193 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.03900166600942612, + 0.18892547488212585, + -0.012924788519740105 + ], + "orientation": [ + 0.15475726127624512, + 0.72850501537323, + 0.09395290166139603, + -0.6606840491294861 + ], + "joints": [ + -0.004817650653421879 + ] + }, + "final_grasp": { + "position": [ + -0.03900166600942612, + 0.18892547488212585, + -0.012924788519740105 + ], + "orientation": [ + 0.15475726127624512, + 0.72850501537323, + 0.09395290166139603, + -0.6606840491294861 + ], + "joints": [ + 0.0015325751155614853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004218429792672396, + 0.19061279296875, + -0.009512360207736492 + ], + "orientation": [ + 0.07361668348312378, + 0.8620409965515137, + -0.016455356031656265, + 0.5011937618255615 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.004864344839006662, + 0.19178557395935059, + -0.010754797607660294 + ], + "orientation": [ + 0.07243934273719788, + 0.8603460788726807, + -0.013873505406081676, + 0.504345715045929 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + 0.004864344839006662, + 0.19178557395935059, + -0.010754797607660294 + ], + "orientation": [ + 0.07243934273719788, + 0.8603460788726807, + -0.013873505406081676, + 0.504345715045929 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05054035782814026, + -0.0791155993938446, + 0.051812026649713516 + ], + "orientation": [ + 0.8914135694503784, + -0.3080560266971588, + -0.3005342185497284, + -0.1419951319694519 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.05189242959022522, + -0.079792320728302, + 0.05320367589592934 + ], + "orientation": [ + 0.8928928971290588, + -0.3093735873699188, + -0.29445749521255493, + -0.1425662338733673 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.05189242959022522, + -0.079792320728302, + 0.05320367589592934 + ], + "orientation": [ + 0.8928928971290588, + -0.3093735873699188, + -0.29445749521255493, + -0.1425662338733673 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042117491364479065, + 0.1927732527256012, + -0.01278137881308794 + ], + "orientation": [ + 0.12838532030582428, + 0.736391007900238, + 0.07490827888250351, + -0.6600260138511658 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.03890138119459152, + 0.18850171566009521, + -0.0129009410738945 + ], + "orientation": [ + 0.15448978543281555, + 0.7283017039299011, + 0.09373893588781357, + -0.6610011458396912 + ], + "joints": [ + -0.004817650653421879 + ] + }, + "final_grasp": { + "position": [ + -0.03890138119459152, + 0.18850171566009521, + -0.0129009410738945 + ], + "orientation": [ + 0.15448978543281555, + 0.7283017039299011, + 0.09373893588781357, + -0.6610011458396912 + ], + "joints": [ + 0.0015325751155614853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005283985286951065, + 0.19033224880695343, + -0.01000688411295414 + ], + "orientation": [ + 0.07735056430101395, + 0.8614934682846069, + -0.018951645120978355, + 0.5014844536781311 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.005835279822349548, + 0.19121494889259338, + -0.011336153373122215 + ], + "orientation": [ + 0.07608003914356232, + 0.8597924113273621, + -0.01586449332535267, + 0.5046949982643127 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + 0.005835279822349548, + 0.19121494889259338, + -0.011336153373122215 + ], + "orientation": [ + 0.07608003914356232, + 0.8597924113273621, + -0.01586449332535267, + 0.5046949982643127 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08205465227365494, + -0.08272198587656021, + -0.03265762701630592 + ], + "orientation": [ + 0.7936329245567322, + 0.2876294255256653, + 0.4926901161670685, + -0.21135877072811127 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.07836165279150009, + -0.07916601002216339, + -0.030428700149059296 + ], + "orientation": [ + 0.7927979230880737, + 0.29114285111427307, + 0.4886776804924011, + -0.2188640534877777 + ], + "joints": [ + -0.003754851408302784 + ] + }, + "final_grasp": { + "position": [ + -0.07836165279150009, + -0.07916601002216339, + -0.030428700149059296 + ], + "orientation": [ + 0.7927979230880737, + 0.29114285111427307, + 0.4886776804924011, + -0.2188640534877777 + ], + "joints": [ + 0.003658173605799675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08771001547574997, + 0.1576477587223053, + -0.0077514490112662315 + ], + "orientation": [ + 0.2834913730621338, + 0.7132845520973206, + 0.2872842848300934, + -0.5729970932006836 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + -0.0854928269982338, + 0.15455591678619385, + -0.006460973527282476 + ], + "orientation": [ + 0.27478328347206116, + 0.7213895916938782, + 0.29206299781799316, + -0.5646153092384338 + ], + "joints": [ + -0.0030569685623049736 + ] + }, + "final_grasp": { + "position": [ + -0.0854928269982338, + 0.15455591678619385, + -0.006460973527282476 + ], + "orientation": [ + 0.27478328347206116, + 0.7213895916938782, + 0.29206299781799316, + -0.5646153092384338 + ], + "joints": [ + 0.0033463966101408005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12299882620573044, + 0.09598518908023834, + 0.034459181129932404 + ], + "orientation": [ + 0.3493872880935669, + 0.5068677067756653, + -0.5277208685874939, + 0.5852558016777039 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.11857429891824722, + 0.09576775878667831, + 0.03352038189768791 + ], + "orientation": [ + 0.34484437108039856, + 0.5099578499794006, + -0.5389565825462341, + 0.5749356746673584 + ], + "joints": [ + -0.0031954841688275337 + ] + }, + "final_grasp": { + "position": [ + 0.11857429891824722, + 0.09576775878667831, + 0.03352038189768791 + ], + "orientation": [ + 0.34484437108039856, + 0.5099578499794006, + -0.5389565825462341, + 0.5749356746673584 + ], + "joints": [ + 0.004217540845274925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03498314321041107, + 0.16310793161392212, + -0.0829293355345726 + ], + "orientation": [ + 0.027635956183075905, + -0.3096105754375458, + 0.3899112343788147, + 0.8668026924133301 + ], + "joints": [ + -0.011226758360862732 + ] + }, + "fine_grasp": { + "position": [ + 0.03332582861185074, + 0.1590462177991867, + -0.07959968596696854 + ], + "orientation": [ + 0.030687836930155754, + -0.3112523555755615, + 0.386578768491745, + 0.8676041960716248 + ], + "joints": [ + -0.00434513296931982 + ] + }, + "final_grasp": { + "position": [ + 0.03332582861185074, + 0.1590462177991867, + -0.07959968596696854 + ], + "orientation": [ + 0.030687836930155754, + -0.3112523555755615, + 0.386578768491745, + 0.8676041960716248 + ], + "joints": [ + 0.002536492422223091 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04230915755033493, + -0.07727276533842087, + 0.05678936094045639 + ], + "orientation": [ + 0.3462560474872589, + 0.09124370664358139, + -0.8766666650772095, + 0.3213050961494446 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.04279676824808121, + -0.07743295282125473, + 0.05809962749481201 + ], + "orientation": [ + 0.350460410118103, + 0.08789604902267456, + -0.8741382956504822, + 0.324552059173584 + ], + "joints": [ + -0.0029966887086629868 + ] + }, + "final_grasp": { + "position": [ + 0.04279676824808121, + -0.07743295282125473, + 0.05809962749481201 + ], + "orientation": [ + 0.350460410118103, + 0.08789604902267456, + -0.8741382956504822, + 0.324552059173584 + ], + "joints": [ + 0.002848707139492035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0680299699306488, + 0.17794856429100037, + -0.01449511107057333 + ], + "orientation": [ + 0.24420805275440216, + 0.6858951449394226, + -0.17095226049423218, + 0.6638416051864624 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.06546273082494736, + 0.17390482127666473, + -0.014355032704770565 + ], + "orientation": [ + 0.24076643586158752, + 0.6788049340248108, + -0.16573353111743927, + 0.6736376285552979 + ], + "joints": [ + -0.004231713712215424 + ] + }, + "final_grasp": { + "position": [ + 0.06546273082494736, + 0.17390482127666473, + -0.014355032704770565 + ], + "orientation": [ + 0.24076643586158752, + 0.6788049340248108, + -0.16573353111743927, + 0.6736376285552979 + ], + "joints": [ + 0.0021450817584991455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11261890828609467, + 0.016840826719999313, + 0.04878707975149155 + ], + "orientation": [ + 0.602759838104248, + -0.5783109664916992, + 0.3646751642227173, + 0.41139885783195496 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.11099981516599655, + 0.0148801663890481, + 0.04762241616845131 + ], + "orientation": [ + 0.6032217144966125, + -0.5742015242576599, + 0.3437255620956421, + 0.43389976024627686 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + 0.11099981516599655, + 0.0148801663890481, + 0.04762241616845131 + ], + "orientation": [ + 0.6032217144966125, + -0.5742015242576599, + 0.3437255620956421, + 0.43389976024627686 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12932775914669037, + 0.004759063012897968, + -0.012049797922372818 + ], + "orientation": [ + 0.5284711122512817, + -0.42385774850845337, + 0.5130079388618469, + 0.5271487236022949 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.12368199974298477, + 0.004383981227874756, + -0.011632881127297878 + ], + "orientation": [ + 0.5252169370651245, + -0.42529788613319397, + 0.5045254230499268, + 0.5373296141624451 + ], + "joints": [ + -0.0026640845462679863 + ] + }, + "final_grasp": { + "position": [ + 0.12368199974298477, + 0.004383981227874756, + -0.011632881127297878 + ], + "orientation": [ + 0.5252169370651245, + -0.42529788613319397, + 0.5045254230499268, + 0.5373296141624451 + ], + "joints": [ + 0.00528034009039402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08182534575462341, + -0.06654073297977448, + -0.0492609478533268 + ], + "orientation": [ + 0.8175601959228516, + 0.3536291718482971, + 0.39287373423576355, + -0.22845527529716492 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.07911176234483719, + -0.06346321105957031, + -0.04684823751449585 + ], + "orientation": [ + 0.8202429413795471, + 0.3502793312072754, + 0.3866712749004364, + -0.23450230062007904 + ], + "joints": [ + -0.002580106258392334 + ] + }, + "final_grasp": { + "position": [ + -0.07911176234483719, + -0.06346321105957031, + -0.04684823751449585 + ], + "orientation": [ + 0.8202429413795471, + 0.3502793312072754, + 0.3866712749004364, + -0.23450230062007904 + ], + "joints": [ + 0.00485948845744133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013730709441006184, + 0.18197417259216309, + 0.03587384149432182 + ], + "orientation": [ + 0.04303524270653725, + 0.09204701334238052, + -0.18415483832359314, + 0.9776308536529541 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.014390263706445694, + 0.18150706589221954, + 0.036723293364048004 + ], + "orientation": [ + 0.04457719251513481, + 0.09038154780864716, + -0.18237227201461792, + 0.9780513644218445 + ], + "joints": [ + -0.003642905503511429 + ] + }, + "final_grasp": { + "position": [ + 0.014390263706445694, + 0.18150706589221954, + 0.036723293364048004 + ], + "orientation": [ + 0.04457719251513481, + 0.09038154780864716, + -0.18237227201461792, + 0.9780513644218445 + ], + "joints": [ + 0.0027338899672031403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08199074864387512, + -0.0662766546010971, + -0.049313466995954514 + ], + "orientation": [ + 0.8182284832000732, + 0.3524130880832672, + 0.3928585946559906, + -0.227967768907547 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.0790724828839302, + -0.06317373365163803, + -0.046935707330703735 + ], + "orientation": [ + 0.8203967809677124, + 0.3502393066883087, + 0.38635072112083435, + -0.23455201089382172 + ], + "joints": [ + -0.002580106258392334 + ] + }, + "final_grasp": { + "position": [ + -0.0790724828839302, + -0.06317373365163803, + -0.046935707330703735 + ], + "orientation": [ + 0.8203967809677124, + 0.3502393066883087, + 0.38635072112083435, + -0.23455201089382172 + ], + "joints": [ + 0.00485948845744133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0817006453871727, + -0.06630459427833557, + -0.04919465631246567 + ], + "orientation": [ + 0.8177354335784912, + 0.3534280061721802, + 0.39275214076042175, + -0.22834867238998413 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.07901652157306671, + -0.06322184950113297, + -0.04678450897336006 + ], + "orientation": [ + 0.8205479383468628, + 0.3498898446559906, + 0.38630643486976624, + -0.23461748659610748 + ], + "joints": [ + -0.002580106258392334 + ] + }, + "final_grasp": { + "position": [ + -0.07901652157306671, + -0.06322184950113297, + -0.04678450897336006 + ], + "orientation": [ + 0.8205479383468628, + 0.3498898446559906, + 0.38630643486976624, + -0.23461748659610748 + ], + "joints": [ + 0.00485948845744133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08180135488510132, + -0.06623059511184692, + -0.04920462891459465 + ], + "orientation": [ + 0.8182626962661743, + 0.3525383472442627, + 0.392537921667099, + -0.22820377349853516 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.07898332178592682, + -0.06309954077005386, + -0.04666902869939804 + ], + "orientation": [ + 0.820763111114502, + 0.34940358996391296, + 0.38602522015571594, + -0.23505224287509918 + ], + "joints": [ + -0.002580106258392334 + ] + }, + "final_grasp": { + "position": [ + -0.07898332178592682, + -0.06309954077005386, + -0.04666902869939804 + ], + "orientation": [ + 0.820763111114502, + 0.34940358996391296, + 0.38602522015571594, + -0.23505224287509918 + ], + "joints": [ + 0.00485948845744133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04152379184961319, + -0.07615553587675095, + 0.05682063102722168 + ], + "orientation": [ + 0.3507053256034851, + 0.08728291839361191, + -0.8749099373817444, + 0.32236620783805847 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.041285283863544464, + -0.07587722688913345, + 0.057619139552116394 + ], + "orientation": [ + 0.35783931612968445, + 0.08341953903436661, + -0.8710252642631531, + 0.3260478973388672 + ], + "joints": [ + -0.0029966887086629868 + ] + }, + "final_grasp": { + "position": [ + 0.041285283863544464, + -0.07587722688913345, + 0.057619139552116394 + ], + "orientation": [ + 0.35783931612968445, + 0.08341953903436661, + -0.8710252642631531, + 0.3260478973388672 + ], + "joints": [ + 0.002848707139492035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10677939653396606, + -0.06266015022993088, + 0.013219079934060574 + ], + "orientation": [ + 0.6321583390235901, + 0.27503854036331177, + -0.632267951965332, + 0.3535066246986389 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10168404877185822, + -0.059896595776081085, + 0.013139002025127411 + ], + "orientation": [ + 0.6323609352111816, + 0.2785509526729584, + -0.6275113224983215, + 0.35882970690727234 + ], + "joints": [ + -0.004286251030862331 + ] + }, + "final_grasp": { + "position": [ + 0.10168404877185822, + -0.059896595776081085, + 0.013139002025127411 + ], + "orientation": [ + 0.6323609352111816, + 0.2785509526729584, + -0.6275113224983215, + 0.35882970690727234 + ], + "joints": [ + 0.00259537436068058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032095715403556824, + -0.09434063732624054, + 0.018901659175753593 + ], + "orientation": [ + 0.42781734466552734, + 0.10124704986810684, + -0.883792519569397, + 0.16010025143623352 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.033738039433956146, + -0.09556927531957626, + 0.019243966788053513 + ], + "orientation": [ + 0.42689386010169983, + 0.10405661910772324, + -0.8842557072639465, + 0.1581954061985016 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + 0.033738039433956146, + -0.09556927531957626, + 0.019243966788053513 + ], + "orientation": [ + 0.42689386010169983, + 0.10405661910772324, + -0.8842557072639465, + 0.1581954061985016 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013581715524196625, + 0.18117311596870422, + 0.03580565005540848 + ], + "orientation": [ + 0.042377255856990814, + 0.09374483674764633, + -0.18378719687461853, + 0.9775675535202026 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.014553252607584, + 0.17999958992004395, + 0.03660294786095619 + ], + "orientation": [ + 0.045652490109205246, + 0.0915902629494667, + -0.18333928287029266, + 0.9777083992958069 + ], + "joints": [ + -0.003642905503511429 + ] + }, + "final_grasp": { + "position": [ + 0.014553252607584, + 0.17999958992004395, + 0.03660294786095619 + ], + "orientation": [ + 0.045652490109205246, + 0.0915902629494667, + -0.18333928287029266, + 0.9777083992958069 + ], + "joints": [ + 0.0027338899672031403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05549331381917, + 0.02717566303908825, + -0.11495061218738556 + ], + "orientation": [ + 0.696822464466095, + 0.681441068649292, + -0.15008124709129333, + 0.16598835587501526 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.053718093782663345, + 0.02732328325510025, + -0.11165455728769302 + ], + "orientation": [ + 0.6958917379379272, + 0.6829663515090942, + -0.1566305309534073, + 0.15734843909740448 + ], + "joints": [ + -0.003616335801780224 + ] + }, + "final_grasp": { + "position": [ + 0.053718093782663345, + 0.02732328325510025, + -0.11165455728769302 + ], + "orientation": [ + 0.6958917379379272, + 0.6829663515090942, + -0.1566305309534073, + 0.15734843909740448 + ], + "joints": [ + 0.0027870293706655502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045523907989263535, + 0.08393173664808273, + 0.12301154434680939 + ], + "orientation": [ + 0.6409586071968079, + -0.7473208904266357, + 0.13409946858882904, + 0.1126982644200325 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.04333067685365677, + 0.08300073444843292, + 0.11788976192474365 + ], + "orientation": [ + 0.6394636631011963, + -0.7489914894104004, + 0.13188984990119934, + 0.11270730197429657 + ], + "joints": [ + -0.003754851408302784 + ] + }, + "final_grasp": { + "position": [ + 0.04333067685365677, + 0.08300073444843292, + 0.11788976192474365 + ], + "orientation": [ + 0.6394636631011963, + -0.7489914894104004, + 0.13188984990119934, + 0.11270730197429657 + ], + "joints": [ + 0.003658173605799675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04554833844304085, + 0.08393735438585281, + 0.12298984080553055 + ], + "orientation": [ + 0.640917181968689, + -0.7473302483558655, + 0.13418620824813843, + 0.11276876926422119 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.043353140354156494, + 0.08300553262233734, + 0.11787165701389313 + ], + "orientation": [ + 0.6394137740135193, + -0.7490097284317017, + 0.13197080790996552, + 0.11277470737695694 + ], + "joints": [ + -0.003754851408302784 + ] + }, + "final_grasp": { + "position": [ + 0.043353140354156494, + 0.08300553262233734, + 0.11787165701389313 + ], + "orientation": [ + 0.6394137740135193, + -0.7490097284317017, + 0.13197080790996552, + 0.11277470737695694 + ], + "joints": [ + 0.003658173605799675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05548443645238876, + 0.027049019932746887, + -0.11501800268888474 + ], + "orientation": [ + 0.6965274214744568, + 0.6817827820777893, + -0.14981846511363983, + 0.16606110334396362 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.053702209144830704, + 0.027190841734409332, + -0.11168919503688812 + ], + "orientation": [ + 0.6955963373184204, + 0.6833034753799438, + -0.15632808208465576, + 0.1574920415878296 + ], + "joints": [ + -0.003616335801780224 + ] + }, + "final_grasp": { + "position": [ + 0.053702209144830704, + 0.027190841734409332, + -0.11168919503688812 + ], + "orientation": [ + 0.6955963373184204, + 0.6833034753799438, + -0.15632808208465576, + 0.1574920415878296 + ], + "joints": [ + 0.0027870293706655502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10063062608242035, + 0.032885536551475525, + -0.06623898446559906 + ], + "orientation": [ + 0.26007989048957825, + -0.41297560930252075, + -0.6047153472900391, + -0.6293878555297852 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.1011466383934021, + 0.030884744599461555, + -0.0662725642323494 + ], + "orientation": [ + 0.25748613476753235, + -0.41513386368751526, + -0.5999958515167236, + -0.6335375905036926 + ], + "joints": [ + -0.003054097294807434 + ] + }, + "final_grasp": { + "position": [ + -0.1011466383934021, + 0.030884744599461555, + -0.0662725642323494 + ], + "orientation": [ + 0.25748613476753235, + -0.41513386368751526, + -0.5999958515167236, + -0.6335375905036926 + ], + "joints": [ + 0.003322698175907135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03182709217071533, + -0.09396453946828842, + 0.019014060497283936 + ], + "orientation": [ + 0.42804768681526184, + 0.10011991113424301, + -0.8838139772415161, + 0.16007478535175323 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.033583782613277435, + -0.09504663199186325, + 0.019160324707627296 + ], + "orientation": [ + 0.4264262318611145, + 0.10354208201169968, + -0.8846597671508789, + 0.15753400325775146 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + 0.033583782613277435, + -0.09504663199186325, + 0.019160324707627296 + ], + "orientation": [ + 0.4264262318611145, + 0.10354208201169968, + -0.8846597671508789, + 0.15753400325775146 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09344062954187393, + 0.12175522744655609, + 0.05430028960108757 + ], + "orientation": [ + 0.31510043144226074, + 0.33552417159080505, + -0.4425051510334015, + 0.7696262001991272 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.09506676346063614, + 0.12202213704586029, + 0.055383987724781036 + ], + "orientation": [ + 0.32044723629951477, + 0.32731881737709045, + -0.43758171796798706, + 0.7737559080123901 + ], + "joints": [ + -0.004649694077670574 + ] + }, + "final_grasp": { + "position": [ + 0.09506676346063614, + 0.12202213704586029, + 0.055383987724781036 + ], + "orientation": [ + 0.32044723629951477, + 0.32731881737709045, + -0.43758171796798706, + 0.7737559080123901 + ], + "joints": [ + 0.000690871849656105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09352898597717285, + 0.1217459961771965, + 0.05427224561572075 + ], + "orientation": [ + 0.3150036334991455, + 0.3358530104160309, + -0.44245973229408264, + 0.7695484757423401 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.0950993150472641, + 0.12199591845273972, + 0.05533166602253914 + ], + "orientation": [ + 0.32060691714286804, + 0.3273746073246002, + -0.43741002678871155, + 0.7737631797790527 + ], + "joints": [ + -0.004649694077670574 + ] + }, + "final_grasp": { + "position": [ + 0.0950993150472641, + 0.12199591845273972, + 0.05533166602253914 + ], + "orientation": [ + 0.32060691714286804, + 0.3273746073246002, + -0.43741002678871155, + 0.7737631797790527 + ], + "joints": [ + 0.000690871849656105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020786240696907043, + 0.1900702267885208, + 0.03074004501104355 + ], + "orientation": [ + 0.05879035219550133, + 0.23715712130069733, + 0.16539525985717773, + -0.9554813504219055 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + -0.021750558167696, + 0.18570123612880707, + 0.029876727610826492 + ], + "orientation": [ + 0.0588427297770977, + 0.23854835331439972, + 0.15338999032974243, + -0.9571329951286316 + ], + "joints": [ + -0.004708576016128063 + ] + }, + "final_grasp": { + "position": [ + -0.021750558167696, + 0.18570123612880707, + 0.029876727610826492 + ], + "orientation": [ + 0.0588427297770977, + 0.23854835331439972, + 0.15338999032974243, + -0.9571329951286316 + ], + "joints": [ + 0.000631989911198616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10620006173849106, + 0.10888246446847916, + 0.04450058564543724 + ], + "orientation": [ + 0.4690154492855072, + -0.6983513832092285, + -0.3465102016925812, + -0.4150427281856537 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.10607150942087173, + 0.10784758627414703, + 0.04312613233923912 + ], + "orientation": [ + 0.4588371217250824, + -0.7060897350311279, + -0.36140185594558716, + -0.4003679156303406 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + -0.10607150942087173, + 0.10784758627414703, + 0.04312613233923912 + ], + "orientation": [ + 0.4588371217250824, + -0.7060897350311279, + -0.36140185594558716, + -0.4003679156303406 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06359795480966568, + 0.06922674924135208, + -0.11347255855798721 + ], + "orientation": [ + 0.14365899562835693, + -0.21445277333259583, + 0.6120132803916931, + 0.7475372552871704 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.06094289571046829, + 0.06782011687755585, + -0.10858280956745148 + ], + "orientation": [ + 0.1458597332239151, + -0.21313732862472534, + 0.6095366477966309, + 0.7495080828666687 + ], + "joints": [ + -0.003754851408302784 + ] + }, + "final_grasp": { + "position": [ + 0.06094289571046829, + 0.06782011687755585, + -0.10858280956745148 + ], + "orientation": [ + 0.1458597332239151, + -0.21313732862472534, + 0.6095366477966309, + 0.7495080828666687 + ], + "joints": [ + 0.003658173605799675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06366772949695587, + 0.0691356360912323, + -0.11349903792142868 + ], + "orientation": [ + 0.14357970654964447, + -0.21475359797477722, + 0.6111605167388916, + 0.7481635212898254 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.06096717715263367, + 0.06772985309362411, + -0.10860510170459747 + ], + "orientation": [ + 0.14599576592445374, + -0.2132684886455536, + 0.6089104413986206, + 0.7499531507492065 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + 0.06096717715263367, + 0.06772985309362411, + -0.10860510170459747 + ], + "orientation": [ + 0.14599576592445374, + -0.2132684886455536, + 0.6089104413986206, + 0.7499531507492065 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04842688888311386, + -0.0779062956571579, + 0.05535395070910454 + ], + "orientation": [ + 0.21905840933322906, + 0.1515016108751297, + 0.9142526984214783, + -0.3052912652492523 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.05087706074118614, + -0.07775125652551651, + 0.05654088407754898 + ], + "orientation": [ + 0.21884948015213013, + 0.15500566363334656, + 0.913181722164154, + -0.3068830072879791 + ], + "joints": [ + -0.0035868948325514793 + ] + }, + "final_grasp": { + "position": [ + -0.05087706074118614, + -0.07775125652551651, + 0.05654088407754898 + ], + "orientation": [ + 0.21884948015213013, + 0.15500566363334656, + 0.913181722164154, + -0.3068830072879791 + ], + "joints": [ + 0.0028164703398942947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06728808581829071, + -0.09862320125102997, + -0.0018655548337846994 + ], + "orientation": [ + 0.7173922061920166, + -0.1559276580810547, + -0.6538699865341187, + -0.18299978971481323 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.06451748311519623, + -0.09599432349205017, + -0.002787480130791664 + ], + "orientation": [ + 0.7161992192268372, + -0.16298048198223114, + -0.6507402658462524, + -0.19244016706943512 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + -0.06451748311519623, + -0.09599432349205017, + -0.002787480130791664 + ], + "orientation": [ + 0.7161992192268372, + -0.16298048198223114, + -0.6507402658462524, + -0.19244016706943512 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06721923500299454, + -0.09842359274625778, + -0.0019557178020477295 + ], + "orientation": [ + 0.7173142433166504, + -0.15584713220596313, + -0.6538744568824768, + -0.1833581179380417 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.06449524313211441, + -0.09579938650131226, + -0.002895749406889081 + ], + "orientation": [ + 0.7162383198738098, + -0.16266728937625885, + -0.6506971716880798, + -0.19270481169223785 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + -0.06449524313211441, + -0.09579938650131226, + -0.002895749406889081 + ], + "orientation": [ + 0.7162383198738098, + -0.16266728937625885, + -0.6506971716880798, + -0.19270481169223785 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03926490619778633, + -0.09946707636117935, + 0.022579284384846687 + ], + "orientation": [ + 0.8817777037620544, + -0.14915761351585388, + 0.43636253476142883, + 0.09903477877378464 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.03830394521355629, + -0.09565440565347672, + 0.019204439595341682 + ], + "orientation": [ + 0.8835210204124451, + -0.1555577665567398, + 0.4273991286754608, + 0.11190337687730789 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + 0.03830394521355629, + -0.09565440565347672, + 0.019204439595341682 + ], + "orientation": [ + 0.8835210204124451, + -0.1555577665567398, + 0.4273991286754608, + 0.11190337687730789 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0056464956142008305, + 0.1991117000579834, + -0.02784597873687744 + ], + "orientation": [ + 0.022292403504252434, + 0.3749191164970398, + -0.09662695229053497, + -0.9217385649681091 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.004498189780861139, + 0.1959037184715271, + -0.02739330194890499 + ], + "orientation": [ + 0.0172630175948143, + 0.38342902064323425, + -0.11017630249261856, + -0.9168126583099365 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.004498189780861139, + 0.1959037184715271, + -0.02739330194890499 + ], + "orientation": [ + 0.0172630175948143, + 0.38342902064323425, + -0.11017630249261856, + -0.9168126583099365 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04569249227643013, + -0.0997740626335144, + -0.004792460706084967 + ], + "orientation": [ + 0.6790295839309692, + -0.1267184317111969, + 0.7075013518333435, + 0.14934225380420685 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.04331275820732117, + -0.09514965116977692, + -0.006269154138863087 + ], + "orientation": [ + 0.6816890239715576, + -0.12481816112995148, + 0.703639805316925, + 0.15688060224056244 + ], + "joints": [ + -0.003726883791387081 + ] + }, + "final_grasp": { + "position": [ + 0.04331275820732117, + -0.09514965116977692, + -0.006269154138863087 + ], + "orientation": [ + 0.6816890239715576, + -0.12481816112995148, + 0.703639805316925, + 0.15688060224056244 + ], + "joints": [ + 0.0031547416001558304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00039821129757910967, + 0.06369021534919739, + -0.13281968235969543 + ], + "orientation": [ + 0.029552284628152847, + 0.03145560994744301, + -0.6967306137084961, + -0.7160333395004272 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0003797730023507029, + 0.06347813457250595, + -0.12698453664779663 + ], + "orientation": [ + 0.02906849794089794, + 0.031015506014227867, + -0.6965150833129883, + -0.7162818908691406 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + 0.0003797730023507029, + 0.06347813457250595, + -0.12698453664779663 + ], + "orientation": [ + 0.02906849794089794, + 0.031015506014227867, + -0.6965150833129883, + -0.7162818908691406 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11720886826515198, + 0.02346196398139, + 0.05251113697886467 + ], + "orientation": [ + 0.6345922946929932, + -0.5506777763366699, + 0.39566582441329956, + 0.3708033859729767 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.11233698576688766, + 0.02453765645623207, + 0.05007553845643997 + ], + "orientation": [ + 0.6375924944877625, + -0.5469416379928589, + 0.3961460292339325, + 0.3706735074520111 + ], + "joints": [ + -0.003140946850180626 + ] + }, + "final_grasp": { + "position": [ + 0.11233698576688766, + 0.02453765645623207, + 0.05007553845643997 + ], + "orientation": [ + 0.6375924944877625, + -0.5469416379928589, + 0.3961460292339325, + 0.3706735074520111 + ], + "joints": [ + 0.0037672482430934906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004113884177058935, + -0.10905277729034424, + -0.006027934607118368 + ], + "orientation": [ + 0.04151339456439018, + -0.012122984044253826, + -0.9990465044975281, + 0.0059760441072285175 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.00530080683529377, + -0.10747773200273514, + -0.004804939962923527 + ], + "orientation": [ + 0.040112342685461044, + -0.017142552882432938, + -0.9990320801734924, + 0.005657306406646967 + ], + "joints": [ + -0.004736543633043766 + ] + }, + "final_grasp": { + "position": [ + -0.00530080683529377, + -0.10747773200273514, + -0.004804939962923527 + ], + "orientation": [ + 0.040112342685461044, + -0.017142552882432938, + -0.9990320801734924, + 0.005657306406646967 + ], + "joints": [ + 0.0011354219168424606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11709865182638168, + 0.023570198565721512, + 0.05240928754210472 + ], + "orientation": [ + 0.6345134973526001, + -0.5506139993667603, + 0.3957652747631073, + 0.37092655897140503 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.11234591156244278, + 0.024621691554784775, + 0.05000796914100647 + ], + "orientation": [ + 0.6377323865890503, + -0.5465629696846008, + 0.3958500921726227, + 0.37130704522132874 + ], + "joints": [ + -0.003140946850180626 + ] + }, + "final_grasp": { + "position": [ + 0.11234591156244278, + 0.024621691554784775, + 0.05000796914100647 + ], + "orientation": [ + 0.6377323865890503, + -0.5465629696846008, + 0.3958500921726227, + 0.37130704522132874 + ], + "joints": [ + 0.0037672482430934906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08022826164960861, + -0.07019094377756119, + -0.026704415678977966 + ], + "orientation": [ + 0.7993615865707397, + 0.2939424514770508, + -0.45784178376197815, + 0.25495079159736633 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + 0.08080863952636719, + -0.06764151901006699, + -0.025321751832962036 + ], + "orientation": [ + 0.8047472238540649, + 0.2894332706928253, + -0.44591253995895386, + 0.26414430141448975 + ], + "joints": [ + -0.003561798483133316 + ] + }, + "final_grasp": { + "position": [ + 0.08080863952636719, + -0.06764151901006699, + -0.025321751832962036 + ], + "orientation": [ + 0.8047472238540649, + 0.2894332706928253, + -0.44591253995895386, + 0.26414430141448975 + ], + "joints": [ + 0.0023367367684841156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06617102026939392, + -0.07177768647670746, + 0.03598610311746597 + ], + "orientation": [ + 0.7428807616233826, + -0.32639020681381226, + -0.5637719631195068, + -0.15413853526115417 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.06777108460664749, + -0.07206312566995621, + 0.037620946764945984 + ], + "orientation": [ + 0.7386799454689026, + -0.3300856649875641, + -0.5689774751663208, + -0.1471734344959259 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.06777108460664749, + -0.07206312566995621, + 0.037620946764945984 + ], + "orientation": [ + 0.7386799454689026, + -0.3300856649875641, + -0.5689774751663208, + -0.1471734344959259 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12149425595998764, + 0.05308694392442703, + 0.04397512599825859 + ], + "orientation": [ + 0.35933560132980347, + 0.4523601830005646, + -0.5470781326293945, + 0.6057670712471008 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.11636734008789062, + 0.052138857543468475, + 0.04218881204724312 + ], + "orientation": [ + 0.3588632345199585, + 0.45268455147743225, + -0.5456491112709045, + 0.6070922017097473 + ], + "joints": [ + -0.0031689144670963287 + ] + }, + "final_grasp": { + "position": [ + 0.11636734008789062, + 0.052138857543468475, + 0.04218881204724312 + ], + "orientation": [ + 0.3588632345199585, + 0.45268455147743225, + -0.5456491112709045, + 0.6070922017097473 + ], + "joints": [ + 0.004270680248737335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.121455617249012, + 0.05303719639778137, + 0.0439448207616806 + ], + "orientation": [ + 0.3594241142272949, + 0.45233261585235596, + -0.5470113754272461, + 0.6057953238487244 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.11631811410188675, + 0.05208761245012283, + 0.04216381907463074 + ], + "orientation": [ + 0.35904863476753235, + 0.45255449414253235, + -0.5455083847045898, + 0.6072059273719788 + ], + "joints": [ + -0.0031689144670963287 + ] + }, + "final_grasp": { + "position": [ + 0.11631811410188675, + 0.05208761245012283, + 0.04216381907463074 + ], + "orientation": [ + 0.35904863476753235, + 0.45255449414253235, + -0.5455083847045898, + 0.6072059273719788 + ], + "joints": [ + 0.004270680248737335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12146896868944168, + 0.053077735006809235, + 0.043948717415332794 + ], + "orientation": [ + 0.3594941794872284, + 0.4522680938243866, + -0.5471464395523071, + 0.6056800484657288 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.11633437871932983, + 0.05213082209229469, + 0.04216859117150307 + ], + "orientation": [ + 0.35909339785575867, + 0.45251554250717163, + -0.5456619262695312, + 0.6070706844329834 + ], + "joints": [ + -0.0031689144670963287 + ] + }, + "final_grasp": { + "position": [ + 0.11633437871932983, + 0.05213082209229469, + 0.04216859117150307 + ], + "orientation": [ + 0.35909339785575867, + 0.45251554250717163, + -0.5456619262695312, + 0.6070706844329834 + ], + "joints": [ + 0.004270680248737335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10370774567127228, + -0.030725890770554543, + 0.04441767930984497 + ], + "orientation": [ + 0.5324417948722839, + 0.25661203265190125, + -0.6353893280029297, + 0.49692681431770325 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.10276186466217041, + -0.03150903806090355, + 0.04465330392122269 + ], + "orientation": [ + 0.5369240641593933, + 0.2531203031539917, + -0.6337255835533142, + 0.49601873755455017 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 0.10276186466217041, + -0.03150903806090355, + 0.04465330392122269 + ], + "orientation": [ + 0.5369240641593933, + 0.2531203031539917, + -0.6337255835533142, + 0.49601873755455017 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09293266385793686, + -0.054909177124500275, + -0.02954808995127678 + ], + "orientation": [ + 0.7548247575759888, + 0.3484611511230469, + 0.4730718731880188, + -0.29157763719558716 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.09217698127031326, + -0.05334680154919624, + -0.02860594354569912 + ], + "orientation": [ + 0.7625595331192017, + 0.34036770462989807, + 0.46097099781036377, + -0.3002641499042511 + ], + "joints": [ + -0.0024961279705166817 + ] + }, + "final_grasp": { + "position": [ + -0.09217698127031326, + -0.05334680154919624, + -0.02860594354569912 + ], + "orientation": [ + 0.7625595331192017, + 0.34036770462989807, + 0.46097099781036377, + -0.3002641499042511 + ], + "joints": [ + 0.00443863682448864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09310757368803024, + -0.05482081323862076, + -0.029650241136550903 + ], + "orientation": [ + 0.7549079656600952, + 0.3485257029533386, + 0.4728808104991913, + -0.29159459471702576 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.0922158807516098, + -0.05318501591682434, + -0.02861057035624981 + ], + "orientation": [ + 0.7624936699867249, + 0.3404681384563446, + 0.4609278738498688, + -0.3003835082054138 + ], + "joints": [ + -0.0024961279705166817 + ] + }, + "final_grasp": { + "position": [ + -0.0922158807516098, + -0.05318501591682434, + -0.02861057035624981 + ], + "orientation": [ + 0.7624936699867249, + 0.3404681384563446, + 0.4609278738498688, + -0.3003835082054138 + ], + "joints": [ + 0.00443863682448864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09305477142333984, + -0.0549614317715168, + -0.029557816684246063 + ], + "orientation": [ + 0.7549156546592712, + 0.34819895029067993, + 0.47315913438796997, + -0.2915138602256775 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.09217467904090881, + -0.05332043766975403, + -0.028540510684251785 + ], + "orientation": [ + 0.7625171542167664, + 0.34011709690093994, + 0.46123644709587097, + -0.3002481460571289 + ], + "joints": [ + -0.0024961279705166817 + ] + }, + "final_grasp": { + "position": [ + -0.09217467904090881, + -0.05332043766975403, + -0.028540510684251785 + ], + "orientation": [ + 0.7625171542167664, + 0.34011709690093994, + 0.46123644709587097, + -0.3002481460571289 + ], + "joints": [ + 0.00443863682448864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00019237639207858592, + 0.19080522656440735, + -0.004372728057205677 + ], + "orientation": [ + 0.03046148270368576, + 0.5075262188911438, + 0.02011096104979515, + -0.8608627915382385 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.0017865871777758002, + 0.1925297975540161, + -0.0044157071970403194 + ], + "orientation": [ + 0.0254007987678051, + 0.5070084929466248, + 0.009839104488492012, + -0.8615105748176575 + ], + "joints": [ + -0.005238502286374569 + ] + }, + "final_grasp": { + "position": [ + -0.0017865871777758002, + 0.1925297975540161, + -0.0044157071970403194 + ], + "orientation": [ + 0.0254007987678051, + 0.5070084929466248, + 0.009839104488492012, + -0.8615105748176575 + ], + "joints": [ + 0.00010206364095211029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08034242689609528, + -0.07005805522203445, + -0.02676955983042717 + ], + "orientation": [ + 0.7997894287109375, + 0.2935631573200226, + -0.4574681520462036, + 0.25471609830856323 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.08076463639736176, + -0.06740752607584, + -0.025283263996243477 + ], + "orientation": [ + 0.8051933646202087, + 0.28800225257873535, + -0.4459003210067749, + 0.2643696367740631 + ], + "joints": [ + -0.003616335801780224 + ] + }, + "final_grasp": { + "position": [ + 0.08076463639736176, + -0.06740752607584, + -0.025283263996243477 + ], + "orientation": [ + 0.8051933646202087, + 0.28800225257873535, + -0.4459003210067749, + 0.2643696367740631 + ], + "joints": [ + 0.0027870293706655502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01795058883726597, + -0.10292383283376694, + -0.0028539220802485943 + ], + "orientation": [ + 0.8347194194793701, + -0.059540074318647385, + -0.5411975979804993, + -0.08248498290777206 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.019682029262185097, + -0.10442160069942474, + -0.003214701544493437 + ], + "orientation": [ + 0.8362016081809998, + -0.05520510673522949, + -0.5393969416618347, + -0.08228158950805664 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + -0.019682029262185097, + -0.10442160069942474, + -0.003214701544493437 + ], + "orientation": [ + 0.8362016081809998, + -0.05520510673522949, + -0.5393969416618347, + -0.08228158950805664 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10325726121664047, + -0.03047272190451622, + 0.044170573353767395 + ], + "orientation": [ + 0.5338004231452942, + 0.2561323344707489, + -0.6343068480491638, + 0.4970998167991638 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.10278480499982834, + -0.03106916882097721, + 0.044579483568668365 + ], + "orientation": [ + 0.5392864942550659, + 0.25115516781806946, + -0.632134735584259, + 0.4964844584465027 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 0.10278480499982834, + -0.03106916882097721, + 0.044579483568668365 + ], + "orientation": [ + 0.5392864942550659, + 0.25115516781806946, + -0.632134735584259, + 0.4964844584465027 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 1.2977103324374184e-05, + 0.0475924015045166, + -0.12424391508102417 + ], + "orientation": [ + 0.023391081020236015, + 0.022407714277505875, + -0.6933319568634033, + -0.7198899984359741 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 6.980229045439046e-06, + 0.04761386290192604, + -0.12472433596849442 + ], + "orientation": [ + 0.024230167269706726, + 0.024075649678707123, + -0.6930837035179138, + -0.7200475335121155 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 6.980229045439046e-06, + 0.04761386290192604, + -0.12472433596849442 + ], + "orientation": [ + 0.024230167269706726, + 0.024075649678707123, + -0.6930837035179138, + -0.7200475335121155 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 8.195205737138167e-05, + 0.04758010804653168, + -0.12435290217399597 + ], + "orientation": [ + 0.02312050387263298, + 0.02256828546524048, + -0.6933467984199524, + -0.7198794484138489 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.00040667946450412273, + 0.04774751141667366, + -0.1249062642455101 + ], + "orientation": [ + 0.024461057037115097, + 0.026023833081126213, + -0.6926120519638062, + -0.7204256057739258 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 0.00040667946450412273, + 0.04774751141667366, + -0.1249062642455101 + ], + "orientation": [ + 0.024461057037115097, + 0.026023833081126213, + -0.6926120519638062, + -0.7204256057739258 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025932621210813522, + 0.18773725628852844, + -0.01299345400184393 + ], + "orientation": [ + 0.0594458244740963, + -0.6724942922592163, + -0.1271960437297821, + -0.7266626954078674 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.026077646762132645, + 0.18352316319942474, + -0.014200376346707344 + ], + "orientation": [ + 0.057044196873903275, + -0.6717959642410278, + -0.12928777933120728, + -0.7271319627761841 + ], + "joints": [ + -0.004736543633043766 + ] + }, + "final_grasp": { + "position": [ + -0.026077646762132645, + 0.18352316319942474, + -0.014200376346707344 + ], + "orientation": [ + 0.057044196873903275, + -0.6717959642410278, + -0.12928777933120728, + -0.7271319627761841 + ], + "joints": [ + 0.0011354219168424606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02729831077158451, + 0.046301525086164474, + 0.1261879950761795 + ], + "orientation": [ + 0.7224189043045044, + -0.6820339560508728, + 0.1017903983592987, + 0.050788626074790955 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.02605663426220417, + 0.0468209870159626, + 0.12154970318078995 + ], + "orientation": [ + 0.7238489985466003, + -0.6809314489364624, + 0.09935177117586136, + 0.05004185810685158 + ], + "joints": [ + -0.004205144010484219 + ] + }, + "final_grasp": { + "position": [ + 0.02605663426220417, + 0.0468209870159626, + 0.12154970318078995 + ], + "orientation": [ + 0.7238489985466003, + -0.6809314489364624, + 0.09935177117586136, + 0.05004185810685158 + ], + "joints": [ + 0.0021982211619615555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017220862209796906, + -0.10278964787721634, + -0.003041850170120597 + ], + "orientation": [ + 0.8345746397972107, + -0.057492345571517944, + -0.54196697473526, + -0.08032228797674179 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.01899632252752781, + -0.10426851361989975, + -0.0034200523514300585 + ], + "orientation": [ + 0.8360795974731445, + -0.053199153393507004, + -0.5400505065917969, + -0.08053615689277649 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + -0.01899632252752781, + -0.10426851361989975, + -0.0034200523514300585 + ], + "orientation": [ + 0.8360795974731445, + -0.053199153393507004, + -0.5400505065917969, + -0.08053615689277649 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027329446747899055, + 0.04623504728078842, + 0.12615104019641876 + ], + "orientation": [ + 0.722196638584137, + -0.682246208190918, + 0.1019083634018898, + 0.05086218938231468 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.026088470593094826, + 0.046756573021411896, + 0.12153925746679306 + ], + "orientation": [ + 0.7236217260360718, + -0.6811497211456299, + 0.09947367757558823, + 0.05011533200740814 + ], + "joints": [ + -0.004205144010484219 + ] + }, + "final_grasp": { + "position": [ + 0.026088470593094826, + 0.046756573021411896, + 0.12153925746679306 + ], + "orientation": [ + 0.7236217260360718, + -0.6811497211456299, + 0.09947367757558823, + 0.05011533200740814 + ], + "joints": [ + 0.0021982211619615555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11315779387950897, + -0.003659648122265935, + 0.03159628063440323 + ], + "orientation": [ + 0.5498707294464111, + -0.5560354590415955, + 0.5197398066520691, + 0.3440021872520447 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.1153705045580864, + -0.003989454824477434, + 0.032457850873470306 + ], + "orientation": [ + 0.546985387802124, + -0.5546789169311523, + 0.5262023210525513, + 0.3409534990787506 + ], + "joints": [ + -0.0040608858689665794 + ] + }, + "final_grasp": { + "position": [ + 0.1153705045580864, + -0.003989454824477434, + 0.032457850873470306 + ], + "orientation": [ + 0.546985387802124, + -0.5546789169311523, + 0.5262023210525513, + 0.3409534990787506 + ], + "joints": [ + 0.0012796800583600998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08690031617879868, + -0.060587190091609955, + 0.02932749316096306 + ], + "orientation": [ + 0.764751136302948, + -0.3307904899120331, + 0.4851634204387665, + 0.26523557305336 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.08606947958469391, + -0.05806300789117813, + 0.026314320042729378 + ], + "orientation": [ + 0.7753459811210632, + -0.3173777461051941, + 0.46780508756637573, + 0.28154629468917847 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + 0.08606947958469391, + -0.05806300789117813, + 0.026314320042729378 + ], + "orientation": [ + 0.7753459811210632, + -0.3173777461051941, + 0.46780508756637573, + 0.28154629468917847 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00995051022619009, + -0.097208671271801, + 0.022623350843787193 + ], + "orientation": [ + 0.060750965029001236, + 0.03694108501076698, + -0.9889076352119446, + 0.13040819764137268 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.011025818064808846, + -0.09916140139102936, + 0.024244530126452446 + ], + "orientation": [ + 0.06010814756155014, + 0.03817899897694588, + -0.989298403263092, + 0.12735030055046082 + ], + "joints": [ + -0.004118294455111027 + ] + }, + "final_grasp": { + "position": [ + 0.011025818064808846, + -0.09916140139102936, + 0.024244530126452446 + ], + "orientation": [ + 0.06010814756155014, + 0.03817899897694588, + -0.989298403263092, + 0.12735030055046082 + ], + "joints": [ + 0.0017536710947751999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11358149349689484, + -0.0030325278639793396, + -0.03056885488331318 + ], + "orientation": [ + 0.5426792502403259, + 0.5585379600524902, + 0.5268594026565552, + -0.3405196964740753 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.11597738415002823, + -0.004046519752591848, + -0.0309891439974308 + ], + "orientation": [ + 0.5465888381004333, + 0.5528108477592468, + 0.5286585688591003, + -0.340823769569397 + ], + "joints": [ + -0.005154523998498917 + ] + }, + "final_grasp": { + "position": [ + -0.11597738415002823, + -0.004046519752591848, + -0.0309891439974308 + ], + "orientation": [ + 0.5465888381004333, + 0.5528108477592468, + 0.5286585688591003, + -0.340823769569397 + ], + "joints": [ + -0.00031878799200057983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1008758395910263, + 0.052254967391490936, + -0.06696432828903198 + ], + "orientation": [ + 0.3281942307949066, + -0.33776772022247314, + -0.6653597354888916, + -0.5792219042778015 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.10099806636571884, + 0.05293154716491699, + -0.0667199045419693 + ], + "orientation": [ + 0.31849244236946106, + -0.3462119996547699, + -0.6729437708854675, + -0.5708296895027161 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + -0.10099806636571884, + 0.05293154716491699, + -0.0667199045419693 + ], + "orientation": [ + 0.31849244236946106, + -0.3462119996547699, + -0.6729437708854675, + -0.5708296895027161 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030085934326052666, + 0.019788512960076332, + 0.1256554275751114 + ], + "orientation": [ + 0.7329997420310974, + -0.6696714758872986, + 0.06210723891854286, + 0.1019512489438057 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.028890060260891914, + 0.020399466156959534, + 0.12015154957771301 + ], + "orientation": [ + 0.7355453372001648, + -0.6666508316993713, + 0.060367316007614136, + 0.10442925244569778 + ], + "joints": [ + -0.003140946850180626 + ] + }, + "final_grasp": { + "position": [ + 0.028890060260891914, + 0.020399466156959534, + 0.12015154957771301 + ], + "orientation": [ + 0.7355453372001648, + -0.6666508316993713, + 0.060367316007614136, + 0.10442925244569778 + ], + "joints": [ + 0.0037672482430934906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030075693503022194, + 0.01985270343720913, + 0.12558361887931824 + ], + "orientation": [ + 0.7331224083900452, + -0.669535756111145, + 0.06215117499232292, + 0.10193455964326859 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.028895918279886246, + 0.02047145739197731, + 0.12007347494363785 + ], + "orientation": [ + 0.7356921434402466, + -0.6664924025535583, + 0.06042204424738884, + 0.10437487810850143 + ], + "joints": [ + -0.0031394734978675842 + ] + }, + "final_grasp": { + "position": [ + 0.028895918279886246, + 0.02047145739197731, + 0.12007347494363785 + ], + "orientation": [ + 0.7356921434402466, + -0.6664924025535583, + 0.06042204424738884, + 0.10437487810850143 + ], + "joints": [ + 0.00430012121796608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09775664657354355, + 0.05820760130882263, + 0.07487661391496658 + ], + "orientation": [ + 0.31242698431015015, + 0.3084719181060791, + -0.5826422572135925, + 0.6839316487312317 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.09740909934043884, + 0.05765017867088318, + 0.07424324750900269 + ], + "orientation": [ + 0.31098151206970215, + 0.31468185782432556, + -0.5821754336357117, + 0.6821566820144653 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 0.09740909934043884, + 0.05765017867088318, + 0.07424324750900269 + ], + "orientation": [ + 0.31098151206970215, + 0.31468185782432556, + -0.5821754336357117, + 0.6821566820144653 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056091684848070145, + -0.08504677563905716, + -0.03283716365695 + ], + "orientation": [ + 0.5620865821838379, + -0.12002066522836685, + 0.7758280634880066, + 0.26027795672416687 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.05489557608962059, + -0.08169351518154144, + -0.03315718472003937 + ], + "orientation": [ + 0.5655625462532043, + -0.11659861356019974, + 0.7733240127563477, + 0.2617512345314026 + ], + "joints": [ + -0.0036723464727401733 + ] + }, + "final_grasp": { + "position": [ + 0.05489557608962059, + -0.08169351518154144, + -0.03315718472003937 + ], + "orientation": [ + 0.5655625462532043, + -0.11659861356019974, + 0.7733240127563477, + 0.2617512345314026 + ], + "joints": [ + 0.0027044489979743958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0802774503827095, + 0.009730777703225613, + 0.09576225280761719 + ], + "orientation": [ + 0.7087171673774719, + -0.6182786822319031, + 0.22128258645534515, + 0.25784748792648315 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.079839326441288, + 0.010308189317584038, + 0.09433899074792862 + ], + "orientation": [ + 0.7117006778717041, + -0.6126837730407715, + 0.20828039944171906, + 0.27334949374198914 + ], + "joints": [ + -0.0024961279705166817 + ] + }, + "final_grasp": { + "position": [ + 0.079839326441288, + 0.010308189317584038, + 0.09433899074792862 + ], + "orientation": [ + 0.7117006778717041, + -0.6126837730407715, + 0.20828039944171906, + 0.27334949374198914 + ], + "joints": [ + 0.00443863682448864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012252247892320156, + -0.10620684921741486, + -0.008845203556120396 + ], + "orientation": [ + 0.7704944610595703, + 0.02587038092315197, + -0.6368697285652161, + -0.008125112392008305 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.009899916127324104, + -0.11016895622015, + -0.009315570816397667 + ], + "orientation": [ + 0.7671075463294983, + 0.041642919182777405, + -0.6401650309562683, + 0.0007568496512249112 + ], + "joints": [ + -0.005238502286374569 + ] + }, + "final_grasp": { + "position": [ + 0.009899916127324104, + -0.11016895622015, + -0.009315570816397667 + ], + "orientation": [ + 0.7671075463294983, + 0.041642919182777405, + -0.6401650309562683, + 0.0007568496512249112 + ], + "joints": [ + 0.00010206364095211029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12967459857463837, + -0.0007752650999464095, + 0.0021898108534514904 + ], + "orientation": [ + 0.5622282028198242, + 0.4271722733974457, + -0.5257464051246643, + 0.47435641288757324 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.12408310174942017, + 0.0006807679892517626, + 0.002006274415180087 + ], + "orientation": [ + 0.5609445571899414, + 0.4279744327068329, + -0.5295649766921997, + 0.47089269757270813 + ], + "joints": [ + -0.004231713712215424 + ] + }, + "final_grasp": { + "position": [ + 0.12408310174942017, + 0.0006807679892517626, + 0.002006274415180087 + ], + "orientation": [ + 0.5609445571899414, + 0.4279744327068329, + -0.5295649766921997, + 0.47089269757270813 + ], + "joints": [ + 0.0021450817584991455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08016592264175415, + 0.02686985582113266, + -0.10073428601026535 + ], + "orientation": [ + 0.6824224591255188, + 0.6502845883369446, + -0.19704721868038177, + 0.26944780349731445 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.07803139835596085, + 0.026807347312569618, + -0.09896618872880936 + ], + "orientation": [ + 0.682965874671936, + 0.6514195799827576, + -0.19673927128314972, + 0.2655254304409027 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.07803139835596085, + 0.026807347312569618, + -0.09896618872880936 + ], + "orientation": [ + 0.682965874671936, + 0.6514195799827576, + -0.19673927128314972, + 0.2655254304409027 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11752448230981827, + -0.029899606481194496, + -0.022733304649591446 + ], + "orientation": [ + 0.4925418496131897, + 0.5208590030670166, + 0.6343898177146912, + -0.28923681378364563 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + -0.11437191814184189, + -0.02657727524638176, + -0.02186085842549801 + ], + "orientation": [ + 0.5002118349075317, + 0.5124333500862122, + 0.6375197172164917, + -0.28419843316078186 + ], + "joints": [ + -0.005155997350811958 + ] + }, + "final_grasp": { + "position": [ + -0.11437191814184189, + -0.02657727524638176, + -0.02186085842549801 + ], + "orientation": [ + 0.5002118349075317, + 0.5124333500862122, + 0.6375197172164917, + -0.28419843316078186 + ], + "joints": [ + -0.0008516609668731689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12023969739675522, + 0.025164669379591942, + 0.02427453175187111 + ], + "orientation": [ + 0.3514266908168793, + 0.5367159247398376, + 0.5699251890182495, + -0.5134398937225342 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.12058865278959274, + 0.02533942088484764, + 0.023692985996603966 + ], + "orientation": [ + 0.33970820903778076, + 0.5415886640548706, + 0.5779361128807068, + -0.5072177648544312 + ], + "joints": [ + -0.004763113334774971 + ] + }, + "final_grasp": { + "position": [ + -0.12058865278959274, + 0.02533942088484764, + 0.023692985996603966 + ], + "orientation": [ + 0.33970820903778076, + 0.5415886640548706, + 0.5779361128807068, + -0.5072177648544312 + ], + "joints": [ + 0.0010822825133800507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11759839206933975, + -0.029690969735383987, + -0.022643504664301872 + ], + "orientation": [ + 0.49311530590057373, + 0.5200403332710266, + 0.6351692080497742, + -0.28801974654197693 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + -0.11437973380088806, + -0.026500917971134186, + -0.021929992362856865 + ], + "orientation": [ + 0.4997742474079132, + 0.5128331780433655, + 0.6377543210983276, + -0.2837204933166504 + ], + "joints": [ + -0.005155997350811958 + ] + }, + "final_grasp": { + "position": [ + -0.11437973380088806, + -0.026500917971134186, + -0.021929992362856865 + ], + "orientation": [ + 0.4997742474079132, + 0.5128331780433655, + 0.6377543210983276, + -0.2837204933166504 + ], + "joints": [ + -0.0008516609668731689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05869445949792862, + 0.025031698867678642, + -0.10304002463817596 + ], + "orientation": [ + 0.27461767196655273, + -0.0859440341591835, + -0.6196155548095703, + -0.730256974697113 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.05987098067998886, + 0.024394314736127853, + -0.1051100566983223 + ], + "orientation": [ + 0.28122660517692566, + -0.08709452301263809, + -0.6180282831192017, + -0.7289494872093201 + ], + "joints": [ + -0.005265071988105774 + ] + }, + "final_grasp": { + "position": [ + -0.05987098067998886, + 0.024394314736127853, + -0.1051100566983223 + ], + "orientation": [ + 0.28122660517692566, + -0.08709452301263809, + -0.6180282831192017, + -0.7289494872093201 + ], + "joints": [ + 4.892423748970032e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02782272920012474, + 0.19378691911697388, + 0.015848951414227486 + ], + "orientation": [ + 0.03161570429801941, + 0.6701358556747437, + 0.10787270963191986, + -0.7336770296096802 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.0267499927431345, + 0.19126640260219574, + 0.016765151172876358 + ], + "orientation": [ + 0.039038196206092834, + 0.6715378761291504, + 0.11974000930786133, + -0.7301885485649109 + ], + "joints": [ + -0.005350448191165924 + ] + }, + "final_grasp": { + "position": [ + -0.0267499927431345, + 0.19126640260219574, + 0.016765151172876358 + ], + "orientation": [ + 0.039038196206092834, + 0.6715378761291504, + 0.11974000930786133, + -0.7301885485649109 + ], + "joints": [ + 0.001026347279548645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09757489711046219, + 0.05826618894934654, + 0.07471400499343872 + ], + "orientation": [ + 0.31339970231056213, + 0.3075227439403534, + -0.5829083323478699, + 0.6836872100830078 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.09713901579380035, + 0.057528071105480194, + 0.07348504662513733 + ], + "orientation": [ + 0.3139827251434326, + 0.3137035369873047, + -0.5817186832427979, + 0.6816217303276062 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 0.09713901579380035, + 0.057528071105480194, + 0.07348504662513733 + ], + "orientation": [ + 0.3139827251434326, + 0.3137035369873047, + -0.5817186832427979, + 0.6816217303276062 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029897622764110565, + 0.02382313646376133, + -0.1177736297249794 + ], + "orientation": [ + 0.010908737778663635, + -0.16577908396720886, + -0.6888686418533325, + -0.7055907249450684 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.029912080615758896, + 0.021764541044831276, + -0.11806321144104004 + ], + "orientation": [ + 0.002661953680217266, + -0.17001858353614807, + -0.6869060397148132, + -0.7065739035606384 + ], + "joints": [ + -0.0035868948325514793 + ] + }, + "final_grasp": { + "position": [ + -0.029912080615758896, + 0.021764541044831276, + -0.11806321144104004 + ], + "orientation": [ + 0.002661953680217266, + -0.17001858353614807, + -0.6869060397148132, + -0.7065739035606384 + ], + "joints": [ + 0.0028164703398942947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07007227092981339, + 0.059614356607198715, + 0.09626317024230957 + ], + "orientation": [ + 0.6117070317268372, + -0.7252576947212219, + -0.17607001960277557, + -0.2623264193534851 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.07042989134788513, + 0.06009818613529205, + 0.09846238791942596 + ], + "orientation": [ + 0.6095507740974426, + -0.7295675873756409, + -0.1726594865322113, + -0.25761911273002625 + ], + "joints": [ + -0.004116896539926529 + ] + }, + "final_grasp": { + "position": [ + -0.07042989134788513, + 0.06009818613529205, + 0.09846238791942596 + ], + "orientation": [ + 0.6095507740974426, + -0.7295675873756409, + -0.1726594865322113, + -0.25761911273002625 + ], + "joints": [ + 0.0011970996856689453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007773611228913069, + 0.1883249282836914, + 0.016967514529824257 + ], + "orientation": [ + 0.011411324143409729, + 0.5579735040664673, + -0.10825836658477783, + 0.8226879239082336 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.009847722947597504, + 0.18983273208141327, + 0.018450288102030754 + ], + "orientation": [ + 0.008725053630769253, + 0.5512346029281616, + -0.10171937197446823, + 0.8280805349349976 + ], + "joints": [ + -0.005210534669458866 + ] + }, + "final_grasp": { + "position": [ + 0.009847722947597504, + 0.18983273208141327, + 0.018450288102030754 + ], + "orientation": [ + 0.008725053630769253, + 0.5512346029281616, + -0.10171937197446823, + 0.8280805349349976 + ], + "joints": [ + -0.0004013683646917343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05847283825278282, + 0.024895155802369118, + -0.10290275514125824 + ], + "orientation": [ + 0.27836933732032776, + -0.08164765685796738, + -0.6166504621505737, + -0.7318376898765564 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.059425950050354004, + 0.02443237043917179, + -0.10488393902778625 + ], + "orientation": [ + 0.28524088859558105, + -0.0823158472776413, + -0.6152783632278442, + -0.7302701473236084 + ], + "joints": [ + -0.005265071988105774 + ] + }, + "final_grasp": { + "position": [ + -0.059425950050354004, + 0.02443237043917179, + -0.10488393902778625 + ], + "orientation": [ + 0.28524088859558105, + -0.0823158472776413, + -0.6152783632278442, + -0.7302701473236084 + ], + "joints": [ + 4.892423748970032e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05569491907954216, + 0.040737174451351166, + -0.10723037272691727 + ], + "orientation": [ + 0.07618429511785507, + -0.2689078450202942, + -0.638192355632782, + -0.7173528671264648 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.05613186955451965, + 0.038131050765514374, + -0.10821373760700226 + ], + "orientation": [ + 0.07343150675296783, + -0.2688602805137634, + -0.6361779570579529, + -0.7194437980651855 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + -0.05613186955451965, + 0.038131050765514374, + -0.10821373760700226 + ], + "orientation": [ + 0.07343150675296783, + -0.2688602805137634, + -0.6361779570579529, + -0.7194437980651855 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06400170922279358, + 0.004606129601597786, + 0.10592490434646606 + ], + "orientation": [ + 0.18312446773052216, + 0.19052721560001373, + -0.7422813177108765, + 0.6157785654067993 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.0624999925494194, + 0.005983807146549225, + 0.10295981168746948 + ], + "orientation": [ + 0.17607317864894867, + 0.19751685857772827, + -0.7458702325820923, + 0.6112798452377319 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + 0.0624999925494194, + 0.005983807146549225, + 0.10295981168746948 + ], + "orientation": [ + 0.17607317864894867, + 0.19751685857772827, + -0.7458702325820923, + 0.6112798452377319 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0066332886926829815, + -0.09990501403808594, + 0.0356474332511425 + ], + "orientation": [ + 0.975784182548523, + -0.15783041715621948, + -0.15130622684955597, + -0.006419180892407894 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.0039295777678489685, + -0.09731266647577286, + 0.035822343081235886 + ], + "orientation": [ + 0.9741802215576172, + -0.1609424203634262, + -0.1583177000284195, + 0.002444201149046421 + ], + "joints": [ + -0.004736543633043766 + ] + }, + "final_grasp": { + "position": [ + -0.0039295777678489685, + -0.09731266647577286, + 0.035822343081235886 + ], + "orientation": [ + 0.9741802215576172, + -0.1609424203634262, + -0.1583177000284195, + 0.002444201149046421 + ], + "joints": [ + 0.0011354219168424606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0036837663501501083, + 0.19447481632232666, + -0.013576479628682137 + ], + "orientation": [ + 0.014642186462879181, + 0.8476947546005249, + -0.03604704514145851, + -0.5290554761886597 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.0016683274880051613, + 0.19308806955814362, + -0.014176793396472931 + ], + "orientation": [ + 0.026163864880800247, + 0.8453416228294373, + -0.03420456498861313, + -0.5324875116348267 + ], + "joints": [ + -0.005210534669458866 + ] + }, + "final_grasp": { + "position": [ + -0.0016683274880051613, + 0.19308806955814362, + -0.014176793396472931 + ], + "orientation": [ + 0.026163864880800247, + 0.8453416228294373, + -0.03420456498861313, + -0.5324875116348267 + ], + "joints": [ + -0.0004013683646917343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11226347833871841, + 0.05144680663943291, + -0.05637674778699875 + ], + "orientation": [ + 0.5318163633346558, + 0.6679237484931946, + -0.34825971722602844, + 0.3869941532611847 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.10779012739658356, + 0.05002004653215408, + -0.05360877513885498 + ], + "orientation": [ + 0.5276250243186951, + 0.6712899208068848, + -0.35133036971092224, + 0.3841206133365631 + ], + "joints": [ + -0.0030849361792206764 + ] + }, + "final_grasp": { + "position": [ + 0.10779012739658356, + 0.05002004653215408, + -0.05360877513885498 + ], + "orientation": [ + 0.5276250243186951, + 0.6712899208068848, + -0.35133036971092224, + 0.3841206133365631 + ], + "joints": [ + 0.003849828615784645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007709227502346039, + 0.1881498098373413, + 0.017038777470588684 + ], + "orientation": [ + 0.01096583902835846, + 0.5582450032234192, + -0.10817116498947144, + 0.8225212693214417 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.009744716808199883, + 0.18961858749389648, + 0.0185548048466444 + ], + "orientation": [ + 0.007967154495418072, + 0.551842987537384, + -0.10132719576358795, + 0.8277310729026794 + ], + "joints": [ + -0.005238502286374569 + ] + }, + "final_grasp": { + "position": [ + 0.009744716808199883, + 0.18961858749389648, + 0.0185548048466444 + ], + "orientation": [ + 0.007967154495418072, + 0.551842987537384, + -0.10132719576358795, + 0.8277310729026794 + ], + "joints": [ + 0.00010206364095211029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01691410318017006, + -0.101348876953125, + 0.007410156074911356 + ], + "orientation": [ + 0.596316933631897, + 0.013287934474647045, + -0.8019477725028992, + 0.033304307609796524 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.014616645872592926, + -0.10623853653669357, + 0.007001302670687437 + ], + "orientation": [ + 0.5950384736061096, + 0.024404244497418404, + -0.8019140958786011, + 0.047619953751564026 + ], + "joints": [ + -0.005238502286374569 + ] + }, + "final_grasp": { + "position": [ + 0.014616645872592926, + -0.10623853653669357, + 0.007001302670687437 + ], + "orientation": [ + 0.5950384736061096, + 0.024404244497418404, + -0.8019140958786011, + 0.047619953751564026 + ], + "joints": [ + 0.00010206364095211029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00669853063300252, + -0.0999133363366127, + 0.035630594938993454 + ], + "orientation": [ + 0.9757747650146484, + -0.157880038022995, + -0.15130406618118286, + -0.0066783372312784195 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.0038891974836587906, + -0.09736567735671997, + 0.03599708899855614 + ], + "orientation": [ + 0.9742053151130676, + -0.16076679527759552, + -0.15833070874214172, + 0.0030616717413067818 + ], + "joints": [ + -0.004736543633043766 + ] + }, + "final_grasp": { + "position": [ + -0.0038891974836587906, + -0.09736567735671997, + 0.03599708899855614 + ], + "orientation": [ + 0.9742053151130676, + -0.16076679527759552, + -0.15833070874214172, + 0.0030616717413067818 + ], + "joints": [ + 0.0011354219168424606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06394673138856888, + 0.004499947186559439, + 0.10577169060707092 + ], + "orientation": [ + 0.1818069964647293, + 0.1918809860944748, + -0.7422890067100525, + 0.6157392263412476 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.0622905008494854, + 0.0060113887302577496, + 0.10271777957677841 + ], + "orientation": [ + 0.1759120225906372, + 0.19771258533000946, + -0.7451666593551636, + 0.6121203899383545 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + 0.0622905008494854, + 0.0060113887302577496, + 0.10271777957677841 + ], + "orientation": [ + 0.1759120225906372, + 0.19771258533000946, + -0.7451666593551636, + 0.6121203899383545 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0708099901676178, + -0.08342713862657547, + -0.012538922019302845 + ], + "orientation": [ + 0.448237806558609, + -0.24074240028858185, + 0.8355713486671448, + 0.20723557472229004 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.06986131519079208, + -0.07975597679615021, + -0.011565378867089748 + ], + "orientation": [ + 0.4468958377838135, + -0.2432033270597458, + 0.8360126614570618, + 0.2054728865623474 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.06986131519079208, + -0.07975597679615021, + -0.011565378867089748 + ], + "orientation": [ + 0.4468958377838135, + -0.2432033270597458, + 0.8360126614570618, + 0.2054728865623474 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12029857933521271, + 0.01956089958548546, + 0.027868201956152916 + ], + "orientation": [ + 0.4976136386394501, + 0.38123583793640137, + -0.5777487754821777, + 0.5227296948432922 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.1200583279132843, + 0.020249677821993828, + 0.028145361691713333 + ], + "orientation": [ + 0.49836286902427673, + 0.37855491042137146, + -0.5793297290802002, + 0.5222141742706299 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 0.1200583279132843, + 0.020249677821993828, + 0.028145361691713333 + ], + "orientation": [ + 0.49836286902427673, + 0.37855491042137146, + -0.5793297290802002, + 0.5222141742706299 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09688299894332886, + -0.06325829774141312, + 0.001547540188767016 + ], + "orientation": [ + 0.5128466486930847, + -0.34810110926628113, + -0.7468430995941162, + -0.24091342091560364 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.0927337259054184, + -0.05986028164625168, + 0.0018755175406113267 + ], + "orientation": [ + 0.5108139514923096, + -0.35201284289360046, + -0.7459881901741028, + -0.24219371378421783 + ], + "joints": [ + -0.004346530884504318 + ] + }, + "final_grasp": { + "position": [ + -0.0927337259054184, + -0.05986028164625168, + 0.0018755175406113267 + ], + "orientation": [ + 0.5108139514923096, + -0.35201284289360046, + -0.7459881901741028, + -0.24219371378421783 + ], + "joints": [ + 0.0030930638313293457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11847739666700363, + 0.02303997427225113, + -0.03553785756230354 + ], + "orientation": [ + 0.4786861836910248, + -0.3651253581047058, + 0.5990073084831238, + 0.5279520153999329 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11496434360742569, + 0.02424789033830166, + -0.03476369008421898 + ], + "orientation": [ + 0.4864598512649536, + -0.357959508895874, + 0.595916211605072, + 0.5292500853538513 + ], + "joints": [ + -0.0030849361792206764 + ] + }, + "final_grasp": { + "position": [ + 0.11496434360742569, + 0.02424789033830166, + -0.03476369008421898 + ], + "orientation": [ + 0.4864598512649536, + -0.357959508895874, + 0.595916211605072, + 0.5292500853538513 + ], + "joints": [ + 0.003849828615784645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12682749330997467, + 0.05400731787085533, + 0.03648872673511505 + ], + "orientation": [ + 0.44538018107414246, + 0.4008770287036896, + 0.5201534032821655, + -0.6085840463638306 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12120064347982407, + 0.05356734246015549, + 0.034938178956508636 + ], + "orientation": [ + 0.44618529081344604, + 0.39952757954597473, + 0.5183921456336975, + -0.6103818416595459 + ], + "joints": [ + -0.003728281706571579 + ] + }, + "final_grasp": { + "position": [ + -0.12120064347982407, + 0.05356734246015549, + 0.034938178956508636 + ], + "orientation": [ + 0.44618529081344604, + 0.39952757954597473, + 0.5183921456336975, + -0.6103818416595459 + ], + "joints": [ + 0.003711313009262085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1268077939748764, + 0.05408027768135071, + 0.036433205008506775 + ], + "orientation": [ + 0.44609376788139343, + 0.4003986418247223, + 0.5202814340591431, + -0.6082667112350464 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12119828909635544, + 0.0536346472799778, + 0.03484613448381424 + ], + "orientation": [ + 0.44714152812957764, + 0.3989732265472412, + 0.5184473395347595, + -0.6099978089332581 + ], + "joints": [ + -0.003728281706571579 + ] + }, + "final_grasp": { + "position": [ + -0.12119828909635544, + 0.0536346472799778, + 0.03484613448381424 + ], + "orientation": [ + 0.44714152812957764, + 0.3989732265472412, + 0.5184473395347595, + -0.6099978089332581 + ], + "joints": [ + 0.003711313009262085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1267939954996109, + 0.05403284355998039, + 0.03646816685795784 + ], + "orientation": [ + 0.44566866755485535, + 0.4006224274635315, + 0.520107626914978, + -0.6085796356201172 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12116153538227081, + 0.053595010191202164, + 0.03491402789950371 + ], + "orientation": [ + 0.4464244842529297, + 0.39933934807777405, + 0.5183721780776978, + -0.6103471517562866 + ], + "joints": [ + -0.003728281706571579 + ] + }, + "final_grasp": { + "position": [ + -0.12116153538227081, + 0.053595010191202164, + 0.03491402789950371 + ], + "orientation": [ + 0.4464244842529297, + 0.39933934807777405, + 0.5183721780776978, + -0.6103471517562866 + ], + "joints": [ + 0.003711313009262085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03327815979719162, + 0.18699540197849274, + -0.00890432484447956 + ], + "orientation": [ + 0.13604475557804108, + 0.6401546001434326, + -0.07749702781438828, + 0.7521224021911621 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.03311289846897125, + 0.18352095782756805, + -0.009598661214113235 + ], + "orientation": [ + 0.13133475184440613, + 0.6332085132598877, + -0.07067612558603287, + 0.7594755291938782 + ], + "joints": [ + -0.004793952219188213 + ] + }, + "final_grasp": { + "position": [ + 0.03311289846897125, + 0.18352095782756805, + -0.009598661214113235 + ], + "orientation": [ + 0.13133475184440613, + 0.6332085132598877, + -0.07067612558603287, + 0.7594755291938782 + ], + "joints": [ + 0.0016094129532575607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09264529496431351, + 0.05115537717938423, + -0.08710119128227234 + ], + "orientation": [ + 0.30214545130729675, + -0.2545177638530731, + 0.6068063378334045, + 0.6897209286689758 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.08956249058246613, + 0.05060755833983421, + -0.08405689150094986 + ], + "orientation": [ + 0.3045172095298767, + -0.25113025307655334, + 0.6047386527061462, + 0.69173264503479 + ], + "joints": [ + -0.002580106258392334 + ] + }, + "final_grasp": { + "position": [ + 0.08956249058246613, + 0.05060755833983421, + -0.08405689150094986 + ], + "orientation": [ + 0.3045172095298767, + -0.25113025307655334, + 0.6047386527061462, + 0.69173264503479 + ], + "joints": [ + 0.00485948845744133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09264169633388519, + 0.05131879076361656, + -0.08708147704601288 + ], + "orientation": [ + 0.30260518193244934, + -0.25418272614479065, + 0.6074294447898865, + 0.689094066619873 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.08957234770059586, + 0.050790805369615555, + -0.0840318351984024 + ], + "orientation": [ + 0.30522987246513367, + -0.2506541311740875, + 0.6053133606910706, + 0.6910881996154785 + ], + "joints": [ + -0.002580106258392334 + ] + }, + "final_grasp": { + "position": [ + 0.08957234770059586, + 0.050790805369615555, + -0.0840318351984024 + ], + "orientation": [ + 0.30522987246513367, + -0.2506541311740875, + 0.6053133606910706, + 0.6910881996154785 + ], + "joints": [ + 0.00485948845744133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07229023426771164, + -0.07643426954746246, + 0.05252855271100998 + ], + "orientation": [ + 0.542722761631012, + 0.11158335953950882, + -0.7627209424972534, + 0.3335533142089844 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06994500011205673, + -0.07388681173324585, + 0.05216774716973305 + ], + "orientation": [ + 0.5506623983383179, + 0.10837793350219727, + -0.756215512752533, + 0.3363972306251526 + ], + "joints": [ + -0.005968697369098663 + ] + }, + "final_grasp": { + "position": [ + 0.06994500011205673, + -0.07388681173324585, + 0.05216774716973305 + ], + "orientation": [ + 0.5506623983383179, + 0.10837793350219727, + -0.756215512752533, + 0.3363972306251526 + ], + "joints": [ + 0.00040809810161590576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07256617397069931, + -0.07658183574676514, + 0.052614301443099976 + ], + "orientation": [ + 0.54258131980896, + 0.11155766248703003, + -0.7630702257156372, + 0.3329927325248718 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.07020417600870132, + -0.07401096820831299, + 0.0521378293633461 + ], + "orientation": [ + 0.5500820875167847, + 0.10895270109176636, + -0.756896436214447, + 0.3356289863586426 + ], + "joints": [ + -0.005968697369098663 + ] + }, + "final_grasp": { + "position": [ + 0.07020417600870132, + -0.07401096820831299, + 0.0521378293633461 + ], + "orientation": [ + 0.5500820875167847, + 0.10895270109176636, + -0.756896436214447, + 0.3356289863586426 + ], + "joints": [ + 0.00040809810161590576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11064449697732925, + 0.06825727969408035, + 0.04984151944518089 + ], + "orientation": [ + 0.5097062587738037, + -0.6730943322181702, + 0.3725889027118683, + 0.38512468338012695 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11129967868328094, + 0.06735813617706299, + 0.0479518324136734 + ], + "orientation": [ + 0.502516508102417, + -0.672838032245636, + 0.37980204820632935, + 0.38796478509902954 + ], + "joints": [ + -0.004705704748630524 + ] + }, + "final_grasp": { + "position": [ + 0.11129967868328094, + 0.06735813617706299, + 0.0479518324136734 + ], + "orientation": [ + 0.502516508102417, + -0.672838032245636, + 0.37980204820632935, + 0.38796478509902954 + ], + "joints": [ + 0.0006082914769649506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025737473741173744, + 0.05094393342733383, + -0.11899656802415848 + ], + "orientation": [ + 0.6330092549324036, + 0.7662585377693176, + -0.10175841301679611, + 0.04233654588460922 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.025720246136188507, + 0.049322497099637985, + -0.11798147857189178 + ], + "orientation": [ + 0.6321227550506592, + 0.7662619948387146, + -0.11002486199140549, + 0.034029047936201096 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + 0.025720246136188507, + 0.049322497099637985, + -0.11798147857189178 + ], + "orientation": [ + 0.6321227550506592, + 0.7662619948387146, + -0.11002486199140549, + 0.034029047936201096 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12267310172319412, + 0.023954182863235474, + -0.024650782346725464 + ], + "orientation": [ + 0.5043225288391113, + -0.39400914311408997, + -0.5420168042182922, + -0.5446405410766602 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.12161251902580261, + 0.024432744830846786, + -0.024234868586063385 + ], + "orientation": [ + 0.5044459104537964, + -0.3920808434486389, + -0.5437571406364441, + -0.5441829562187195 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.12161251902580261, + 0.024432744830846786, + -0.024234868586063385 + ], + "orientation": [ + 0.5044459104537964, + -0.3920808434486389, + -0.5437571406364441, + -0.5441829562187195 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12249970436096191, + 0.02392502687871456, + -0.024579262360930443 + ], + "orientation": [ + 0.504841148853302, + -0.3936934173107147, + -0.5415343046188354, + -0.5448682904243469 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.12152648717164993, + 0.024272732436656952, + -0.02407926693558693 + ], + "orientation": [ + 0.5054684281349182, + -0.3916322886943817, + -0.543398916721344, + -0.5439147353172302 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + -0.12152648717164993, + 0.024272732436656952, + -0.02407926693558693 + ], + "orientation": [ + 0.5054684281349182, + -0.3916322886943817, + -0.543398916721344, + -0.5439147353172302 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01152840070426464, + -0.09617089480161667, + 0.011289982125163078 + ], + "orientation": [ + 0.7331410646438599, + -0.09538556635379791, + -0.6726045608520508, + -0.031763315200805664 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.01423654705286026, + -0.09960971027612686, + 0.013022634200751781 + ], + "orientation": [ + 0.733523428440094, + -0.08722122758626938, + -0.6736760139465332, + -0.02228327840566635 + ], + "joints": [ + -0.005183964967727661 + ] + }, + "final_grasp": { + "position": [ + -0.01423654705286026, + -0.09960971027612686, + 0.013022634200751781 + ], + "orientation": [ + 0.733523428440094, + -0.08722122758626938, + -0.6736760139465332, + -0.02228327840566635 + ], + "joints": [ + -0.00034822896122932434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0018786657601594925, + 0.19047145545482635, + 0.01032986305654049 + ], + "orientation": [ + 0.013134083710610867, + -0.5230744481086731, + 0.05309193581342697, + -0.8505303263664246 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0016188218723982573, + 0.18984849750995636, + 0.011976578272879124 + ], + "orientation": [ + 0.016306431964039803, + -0.5198403596878052, + 0.05350998044013977, + -0.852429986000061 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + -0.0016188218723982573, + 0.18984849750995636, + 0.011976578272879124 + ], + "orientation": [ + 0.016306431964039803, + -0.5198403596878052, + 0.05350998044013977, + -0.852429986000061 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009792154654860497, + 0.19076994061470032, + -0.002739116782322526 + ], + "orientation": [ + 0.009076439775526524, + -0.9824084639549255, + 0.029446277767419815, + -0.18418487906455994 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.010905646719038486, + 0.19027262926101685, + -0.0006690801819786429 + ], + "orientation": [ + 0.0035717233549803495, + -0.9825067520141602, + 0.03538273274898529, + -0.18280014395713806 + ], + "joints": [ + -0.005322480574250221 + ] + }, + "final_grasp": { + "position": [ + 0.010905646719038486, + 0.19027262926101685, + -0.0006690801819786429 + ], + "orientation": [ + 0.0035717233549803495, + -0.9825067520141602, + 0.03538273274898529, + -0.18280014395713806 + ], + "joints": [ + 0.0005229152739048004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0074830311350524426, + -0.1021207645535469, + -0.015922579914331436 + ], + "orientation": [ + 0.7073996067047119, + 0.0009712898172438145, + -0.7019611597061157, + -0.08267615735530853 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.00822757463902235, + -0.10296303033828735, + -0.018072832375764847 + ], + "orientation": [ + 0.7081207036972046, + 0.004265997093170881, + -0.7007380723953247, + -0.0866781547665596 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + -0.00822757463902235, + -0.10296303033828735, + -0.018072832375764847 + ], + "orientation": [ + 0.7081207036972046, + 0.004265997093170881, + -0.7007380723953247, + -0.0866781547665596 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04743336886167526, + 0.019820472225546837, + -0.1105741634964943 + ], + "orientation": [ + 0.18999159336090088, + -0.09781131893396378, + 0.7332457900047302, + 0.6455128192901611 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.047283004969358444, + 0.020941708236932755, + -0.1112661212682724 + ], + "orientation": [ + 0.1994122415781021, + -0.08630361407995224, + 0.7296120524406433, + 0.6484233736991882 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.047283004969358444, + 0.020941708236932755, + -0.1112661212682724 + ], + "orientation": [ + 0.1994122415781021, + -0.08630361407995224, + 0.7296120524406433, + 0.6484233736991882 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04912634193897247, + 0.014679216779768467, + 0.11801005154848099 + ], + "orientation": [ + 0.20587269961833954, + 0.07819896191358566, + -0.7474152445793152, + 0.6267948746681213 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.04717933014035225, + 0.01644803024828434, + 0.11308614164590836 + ], + "orientation": [ + 0.2058688849210739, + 0.07643844187259674, + -0.7498024702072144, + 0.624156653881073 + ], + "joints": [ + -0.004793952219188213 + ] + }, + "final_grasp": { + "position": [ + 0.04717933014035225, + 0.01644803024828434, + 0.11308614164590836 + ], + "orientation": [ + 0.2058688849210739, + 0.07643844187259674, + -0.7498024702072144, + 0.624156653881073 + ], + "joints": [ + 0.0016094129532575607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02200692519545555, + 0.05337226763367653, + 0.11941204220056534 + ], + "orientation": [ + 0.6801462769508362, + -0.7255860567092896, + -0.1015440821647644, + -0.02479279786348343 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.022378170862793922, + 0.05286858230829239, + 0.11991260945796967 + ], + "orientation": [ + 0.6800740957260132, + -0.723844587802887, + -0.11577434837818146, + -0.012021724134683609 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.022378170862793922, + 0.05286858230829239, + 0.11991260945796967 + ], + "orientation": [ + 0.6800740957260132, + -0.723844587802887, + -0.11577434837818146, + -0.012021724134683609 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014491149224340916, + 0.022003445774316788, + -0.12010155618190765 + ], + "orientation": [ + 0.008159925229847431, + -0.07464557886123657, + -0.7325349450111389, + -0.676575243473053 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.014698154293000698, + 0.022708717733621597, + -0.11907543987035751 + ], + "orientation": [ + 0.002143017714843154, + -0.08275625109672546, + -0.7307846546173096, + -0.6775695085525513 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.014698154293000698, + 0.022708717733621597, + -0.11907543987035751 + ], + "orientation": [ + 0.002143017714843154, + -0.08275625109672546, + -0.7307846546173096, + -0.6775695085525513 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12376991659402847, + 0.09420033544301987, + 0.014253197237849236 + ], + "orientation": [ + 0.5302749276161194, + 0.3725692629814148, + -0.4287058115005493, + 0.629453718662262 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.1208396852016449, + 0.0946834459900856, + 0.013641024939715862 + ], + "orientation": [ + 0.5186258554458618, + 0.381761372089386, + -0.4360624849796295, + 0.6285977363586426 + ], + "joints": [ + -0.0036708731204271317 + ] + }, + "final_grasp": { + "position": [ + 0.1208396852016449, + 0.0946834459900856, + 0.013641024939715862 + ], + "orientation": [ + 0.5186258554458618, + 0.381761372089386, + -0.4360624849796295, + 0.6285977363586426 + ], + "joints": [ + 0.003237321972846985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12003032863140106, + 0.013815909624099731, + 0.01510492991656065 + ], + "orientation": [ + 0.6187953948974609, + -0.43595340847969055, + -0.37091177701950073, + -0.5380160808563232 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.12181182950735092, + 0.013131906278431416, + 0.015497016720473766 + ], + "orientation": [ + 0.6202685236930847, + -0.43837711215019226, + -0.37065139412879944, + -0.5345185399055481 + ], + "joints": [ + -0.006500096991658211 + ] + }, + "final_grasp": { + "position": [ + -0.12181182950735092, + 0.013131906278431416, + 0.015497016720473766 + ], + "orientation": [ + 0.6202685236930847, + -0.43837711215019226, + -0.37065139412879944, + -0.5345185399055481 + ], + "joints": [ + -0.0006547011435031891 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009707821533083916, + -0.09898262470960617, + 0.0031516454182565212 + ], + "orientation": [ + 0.08136901259422302, + -0.035779036581516266, + 0.9948761463165283, + -0.04817021265625954 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.010793974623084068, + -0.10254362225532532, + 0.005295804236084223 + ], + "orientation": [ + 0.07777942717075348, + -0.038414791226387024, + 0.9955512881278992, + -0.03677375242114067 + ], + "joints": [ + -0.005238502286374569 + ] + }, + "final_grasp": { + "position": [ + 0.010793974623084068, + -0.10254362225532532, + 0.005295804236084223 + ], + "orientation": [ + 0.07777942717075348, + -0.038414791226387024, + 0.9955512881278992, + -0.03677375242114067 + ], + "joints": [ + 0.00010206364095211029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09632524847984314, + -0.07434586435556412, + -0.02626693807542324 + ], + "orientation": [ + 0.5842780470848083, + 0.34907177090644836, + -0.716902494430542, + 0.1510588526725769 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.09300974011421204, + -0.07153652608394623, + -0.02577514946460724 + ], + "orientation": [ + 0.5817968249320984, + 0.34808406233787537, + -0.7184010744094849, + 0.1557239294052124 + ], + "joints": [ + -0.007621702738106251 + ] + }, + "final_grasp": { + "position": [ + 0.09300974011421204, + -0.07153652608394623, + -0.02577514946460724 + ], + "orientation": [ + 0.5817968249320984, + 0.34808406233787537, + -0.7184010744094849, + 0.1557239294052124 + ], + "joints": [ + -0.0017497371882200241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053269464522600174, + 0.03265335410833359, + -0.10951220244169235 + ], + "orientation": [ + 0.11444024741649628, + -0.20145069062709808, + -0.7045607566833496, + -0.6707571148872375 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.05324793606996536, + 0.03226333111524582, + -0.10949577391147614 + ], + "orientation": [ + 0.10776302963495255, + -0.20766706764698029, + -0.7076177597045898, + -0.6667371392250061 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.05324793606996536, + 0.03226333111524582, + -0.10949577391147614 + ], + "orientation": [ + 0.10776302963495255, + -0.20766706764698029, + -0.7076177597045898, + -0.6667371392250061 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00042849587043747306, + -0.09081657975912094, + 0.03718293830752373 + ], + "orientation": [ + 0.16152071952819824, + -0.02153545431792736, + 0.9706433415412903, + -0.17691519856452942 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.002447400474920869, + -0.0865098237991333, + 0.03759780526161194 + ], + "orientation": [ + 0.16255180537700653, + -0.028878165408968925, + 0.9706353545188904, + -0.17495717108249664 + ], + "joints": [ + -0.004736543633043766 + ] + }, + "final_grasp": { + "position": [ + 0.002447400474920869, + -0.0865098237991333, + 0.03759780526161194 + ], + "orientation": [ + 0.16255180537700653, + -0.028878165408968925, + 0.9706353545188904, + -0.17495717108249664 + ], + "joints": [ + 0.0011354219168424606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0678429827094078, + -0.08422272652387619, + -0.03809143602848053 + ], + "orientation": [ + 0.6706879138946533, + 0.3030816614627838, + 0.6705138683319092, + -0.09343559294939041 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.06630102545022964, + -0.08134844154119492, + -0.03766071796417236 + ], + "orientation": [ + 0.670072615146637, + 0.3006785809993744, + 0.6723032593727112, + -0.09275456517934799 + ], + "joints": [ + -0.006557505577802658 + ] + }, + "final_grasp": { + "position": [ + -0.06630102545022964, + -0.08134844154119492, + -0.03766071796417236 + ], + "orientation": [ + 0.670072615146637, + 0.3006785809993744, + 0.6723032593727112, + -0.09275456517934799 + ], + "joints": [ + -0.000180710107088089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007577280048280954, + -0.09916524589061737, + 0.010053910315036774 + ], + "orientation": [ + 0.6428907513618469, + -0.024891840294003487, + 0.7650825381278992, + -0.026842551305890083 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.0005527932662516832, + -0.10167822241783142, + 0.013076141476631165 + ], + "orientation": [ + 0.6460033059120178, + -0.028882168233394623, + 0.7618685960769653, + -0.03744019940495491 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.0005527932662516832, + -0.10167822241783142, + 0.013076141476631165 + ], + "orientation": [ + 0.6460033059120178, + -0.028882168233394623, + 0.7618685960769653, + -0.03744019940495491 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10590310394763947, + 0.07766874879598618, + 0.06032493710517883 + ], + "orientation": [ + 0.6176507472991943, + -0.5917192697525024, + 0.2716785967350006, + 0.44109684228897095 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.10696393996477127, + 0.07648475468158722, + 0.060768626630306244 + ], + "orientation": [ + 0.6173511743545532, + -0.5905138254165649, + 0.2664485275745392, + 0.44629165530204773 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + 0.10696393996477127, + 0.07648475468158722, + 0.060768626630306244 + ], + "orientation": [ + 0.6173511743545532, + -0.5905138254165649, + 0.2664485275745392, + 0.44629165530204773 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12079819291830063, + 0.016730012372136116, + -0.0028040679171681404 + ], + "orientation": [ + 0.49102941155433655, + -0.48756253719329834, + -0.5771501660346985, + -0.4336710274219513 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.12217225134372711, + 0.01844799518585205, + -0.0020444970577955246 + ], + "orientation": [ + 0.4802287220954895, + -0.4995875954627991, + -0.5824952125549316, + -0.4248434901237488 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.12217225134372711, + 0.01844799518585205, + -0.0020444970577955246 + ], + "orientation": [ + 0.4802287220954895, + -0.4995875954627991, + -0.5824952125549316, + -0.4248434901237488 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10877011716365814, + 0.045375049114227295, + -0.054253365844488144 + ], + "orientation": [ + 0.573790431022644, + 0.6264467239379883, + -0.40483102202415466, + 0.3382909893989563 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.10911780595779419, + 0.044983331114053726, + -0.05341847613453865 + ], + "orientation": [ + 0.5676270723342896, + 0.6287513971328735, + -0.416767954826355, + 0.32981157302856445 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.10911780595779419, + 0.044983331114053726, + -0.05341847613453865 + ], + "orientation": [ + 0.5676270723342896, + 0.6287513971328735, + -0.416767954826355, + 0.32981157302856445 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016343215480446815, + -0.10148975253105164, + 0.011066669598221779 + ], + "orientation": [ + 0.539195716381073, + -0.05892002210021019, + -0.8397568464279175, + 0.0245902631431818 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.01636337861418724, + -0.10144606977701187, + 0.014004366472363472 + ], + "orientation": [ + 0.5293275713920593, + -0.06573499739170074, + -0.8454117178916931, + 0.027756109833717346 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + -0.01636337861418724, + -0.10144606977701187, + 0.014004366472363472 + ], + "orientation": [ + 0.5293275713920593, + -0.06573499739170074, + -0.8454117178916931, + 0.027756109833717346 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009019028395414352, + 0.03883003070950508, + -0.12266772985458374 + ], + "orientation": [ + 0.07191254943609238, + 0.0206687543541193, + 0.6991072297096252, + 0.7110910415649414 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.008980064652860165, + 0.03871136158704758, + -0.12206833064556122 + ], + "orientation": [ + 0.08464255928993225, + 0.03325881063938141, + 0.6983996033668518, + 0.7099066972732544 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + 0.008980064652860165, + 0.03871136158704758, + -0.12206833064556122 + ], + "orientation": [ + 0.08464255928993225, + 0.03325881063938141, + 0.6983996033668518, + 0.7099066972732544 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1087983176112175, + 0.045494444668293, + -0.054375432431697845 + ], + "orientation": [ + 0.5743324160575867, + 0.6261005401611328, + -0.40556174516677856, + 0.3371351957321167 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.10922621190547943, + 0.04517452418804169, + -0.05364260450005531 + ], + "orientation": [ + 0.5678561925888062, + 0.628907322883606, + -0.41762489080429077, + 0.3280312120914459 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.10922621190547943, + 0.04517452418804169, + -0.05364260450005531 + ], + "orientation": [ + 0.5678561925888062, + 0.628907322883606, + -0.41762489080429077, + 0.3280312120914459 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10896456241607666, + 0.04548599198460579, + -0.053982190787792206 + ], + "orientation": [ + 0.5732858180999756, + 0.6258852481842041, + -0.40607476234436035, + 0.3386949896812439 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.10927038639783859, + 0.04512043297290802, + -0.05315421149134636 + ], + "orientation": [ + 0.5669209957122803, + 0.6283960342407227, + -0.4180808961391449, + 0.3300417363643646 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.10927038639783859, + 0.04512043297290802, + -0.05315421149134636 + ], + "orientation": [ + 0.5669209957122803, + 0.6283960342407227, + -0.4180808961391449, + 0.3300417363643646 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12092266231775284, + 0.016580384224653244, + -0.002726814243942499 + ], + "orientation": [ + 0.48882970213890076, + -0.48986420035362244, + -0.5772647857666016, + -0.43340978026390076 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.12226518243551254, + 0.018355030566453934, + -0.002035880694165826 + ], + "orientation": [ + 0.4772952198982239, + -0.5027282238006592, + -0.5828540325164795, + -0.42395129799842834 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.12226518243551254, + 0.018355030566453934, + -0.002035880694165826 + ], + "orientation": [ + 0.4772952198982239, + -0.5027282238006592, + -0.5828540325164795, + -0.42395129799842834 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0208435021340847, + -0.10087401419878006, + 0.006568988785147667 + ], + "orientation": [ + 0.9641314744949341, + -0.02246570959687233, + 0.25344210863113403, + -0.0755828320980072 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.021374771371483803, + -0.10112082958221436, + 0.006874409969896078 + ], + "orientation": [ + 0.9656565189361572, + -0.02736949734389782, + 0.24736183881759644, + -0.07463476806879044 + ], + "joints": [ + -0.005350448191165924 + ] + }, + "final_grasp": { + "position": [ + -0.021374771371483803, + -0.10112082958221436, + 0.006874409969896078 + ], + "orientation": [ + 0.9656565189361572, + -0.02736949734389782, + 0.24736183881759644, + -0.07463476806879044 + ], + "joints": [ + 0.001026347279548645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005846900399774313, + 0.1850508749485016, + 0.027112696319818497 + ], + "orientation": [ + 0.12218467146158218, + -0.989005446434021, + 0.0290478877723217, + -0.07807201892137527 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.00841471180319786, + 0.1839546114206314, + 0.028447577729821205 + ], + "orientation": [ + 0.11613339185714722, + -0.9881948232650757, + 0.03836183622479439, + -0.09226293116807938 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.00841471180319786, + 0.1839546114206314, + 0.028447577729821205 + ], + "orientation": [ + 0.11613339185714722, + -0.9881948232650757, + 0.03836183622479439, + -0.09226293116807938 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003387688659131527, + 0.18939442932605743, + -0.01897977851331234 + ], + "orientation": [ + 0.06890363991260529, + 0.5761666893959045, + 0.025114495307207108, + 0.8140353560447693 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.004892986733466387, + 0.18883605301380157, + -0.019640516489744186 + ], + "orientation": [ + 0.06649204343557358, + 0.5849539041519165, + 0.03172963112592697, + 0.8077134490013123 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + 0.004892986733466387, + 0.18883605301380157, + -0.019640516489744186 + ], + "orientation": [ + 0.06649204343557358, + 0.5849539041519165, + 0.03172963112592697, + 0.8077134490013123 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004697861615568399, + -0.09852001070976257, + 0.00890688132494688 + ], + "orientation": [ + 0.4268343150615692, + -0.035707708448171616, + 0.9035617709159851, + -0.010654653422534466 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.005693355109542608, + -0.09926796704530716, + 0.00950038805603981 + ], + "orientation": [ + 0.42764291167259216, + -0.03844336047768593, + 0.903069794178009, + -0.010419503785669804 + ], + "joints": [ + -0.005350448191165924 + ] + }, + "final_grasp": { + "position": [ + 0.005693355109542608, + -0.09926796704530716, + 0.00950038805603981 + ], + "orientation": [ + 0.42764291167259216, + -0.03844336047768593, + 0.903069794178009, + -0.010419503785669804 + ], + "joints": [ + 0.001026347279548645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020914211869239807, + -0.10005854070186615, + 0.006844401825219393 + ], + "orientation": [ + 0.9649612307548523, + -0.022556066513061523, + 0.2498357743024826, + -0.07696264237165451 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.021649198606610298, + -0.10052482038736343, + 0.006766028236597776 + ], + "orientation": [ + 0.9656574130058289, + -0.027648871764540672, + 0.24686215817928314, + -0.07616038620471954 + ], + "joints": [ + -0.0058818478137254715 + ] + }, + "final_grasp": { + "position": [ + -0.021649198606610298, + -0.10052482038736343, + 0.006766028236597776 + ], + "orientation": [ + 0.9656574130058289, + -0.027648871764540672, + 0.24686215817928314, + -0.07616038620471954 + ], + "joints": [ + -3.645196557044983e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04309174418449402, + 0.051972124725580215, + 0.11597324907779694 + ], + "orientation": [ + 0.06705772876739502, + 0.18141664564609528, + -0.707660973072052, + 0.6795639395713806 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.04284735769033432, + 0.052028264850378036, + 0.11509845405817032 + ], + "orientation": [ + 0.055188603699207306, + 0.1932302862405777, + -0.7084415555000305, + 0.6765551567077637 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + 0.04284735769033432, + 0.052028264850378036, + 0.11509845405817032 + ], + "orientation": [ + 0.055188603699207306, + 0.1932302862405777, + -0.7084415555000305, + 0.6765551567077637 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04310515150427818, + 0.05201677978038788, + 0.11601294577121735 + ], + "orientation": [ + 0.06771699339151382, + 0.18070724606513977, + -0.7080286145210266, + 0.6793045997619629 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.04276427999138832, + 0.052136898040771484, + 0.11513339728116989 + ], + "orientation": [ + 0.054746225476264954, + 0.19311001896858215, + -0.7086637020111084, + 0.6763927936553955 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + 0.04276427999138832, + 0.052136898040771484, + 0.11513339728116989 + ], + "orientation": [ + 0.054746225476264954, + 0.19311001896858215, + -0.7086637020111084, + 0.6763927936553955 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10976716876029968, + 0.02965359389781952, + 0.05415472388267517 + ], + "orientation": [ + 0.5840790271759033, + -0.6092649102210999, + -0.4391428232192993, + -0.307898610830307 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.1099511981010437, + 0.030405256897211075, + 0.05412527918815613 + ], + "orientation": [ + 0.5762800574302673, + -0.6154751181602478, + -0.4477521479129791, + -0.29767367243766785 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.1099511981010437, + 0.030405256897211075, + 0.05412527918815613 + ], + "orientation": [ + 0.5762800574302673, + -0.6154751181602478, + -0.4477521479129791, + -0.29767367243766785 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08123403787612915, + 0.02747698500752449, + -0.09809787571430206 + ], + "orientation": [ + 0.6537067294120789, + 0.6700678467750549, + -0.3040837347507477, + 0.176662877202034 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.07823116332292557, + 0.028106624260544777, + -0.09445083886384964 + ], + "orientation": [ + 0.650269627571106, + 0.6722226142883301, + -0.3124363124370575, + 0.16628213226795197 + ], + "joints": [ + -0.003114377148449421 + ] + }, + "final_grasp": { + "position": [ + 0.07823116332292557, + 0.028106624260544777, + -0.09445083886384964 + ], + "orientation": [ + 0.650269627571106, + 0.6722226142883301, + -0.3124363124370575, + 0.16628213226795197 + ], + "joints": [ + 0.0038203876465559006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006351813790388405, + -0.09679941833019257, + 0.0132891945540905 + ], + "orientation": [ + 0.6193965077400208, + -0.015278895385563374, + 0.7824971675872803, + -0.06174755096435547 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0001273552916245535, + -0.09766174107789993, + 0.01567857526242733 + ], + "orientation": [ + 0.6162543296813965, + -0.020502375438809395, + 0.7846280336380005, + -0.06456764787435532 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + 0.0001273552916245535, + -0.09766174107789993, + 0.01567857526242733 + ], + "orientation": [ + 0.6162543296813965, + -0.020502375438809395, + 0.7846280336380005, + -0.06456764787435532 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12003989517688751, + 0.024355638772249222, + -0.029155569151043892 + ], + "orientation": [ + 0.4066731929779053, + -0.45726677775382996, + -0.623679518699646, + -0.4863618016242981 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.11955423653125763, + 0.026208139955997467, + -0.028588591143488884 + ], + "orientation": [ + 0.3929864764213562, + -0.47065073251724243, + -0.6304076313972473, + -0.4760625660419464 + ], + "joints": [ + -0.003589766100049019 + ] + }, + "final_grasp": { + "position": [ + -0.11955423653125763, + 0.026208139955997467, + -0.028588591143488884 + ], + "orientation": [ + 0.3929864764213562, + -0.47065073251724243, + -0.6304076313972473, + -0.4760625660419464 + ], + "joints": [ + 0.00284016877412796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026786286383867264, + 0.07374212890863419, + 0.12474802136421204 + ], + "orientation": [ + 0.6935925483703613, + -0.7012063264846802, + -0.012446221895515919, + 0.16457295417785645 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.02504691295325756, + 0.07378101348876953, + 0.1201028898358345 + ], + "orientation": [ + 0.6942312121391296, + -0.6992151737213135, + -0.01989898830652237, + 0.1695437878370285 + ], + "joints": [ + -0.003226323053240776 + ] + }, + "final_grasp": { + "position": [ + 0.02504691295325756, + 0.07378101348876953, + 0.1201028898358345 + ], + "orientation": [ + 0.6942312121391296, + -0.6992151737213135, + -0.01989898830652237, + 0.1695437878370285 + ], + "joints": [ + 0.004744671285152435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13000164926052094, + 0.10792892426252365, + 0.014435755088925362 + ], + "orientation": [ + 0.39681363105773926, + -0.6589717268943787, + -0.48208585381507874, + -0.41939055919647217 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.1245393231511116, + 0.10577639937400818, + 0.013543778099119663 + ], + "orientation": [ + 0.3859463334083557, + -0.6662753224372864, + -0.47753965854644775, + -0.42317676544189453 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.1245393231511116, + 0.10577639937400818, + 0.013543778099119663 + ], + "orientation": [ + 0.3859463334083557, + -0.6662753224372864, + -0.47753965854644775, + -0.42317676544189453 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12010371685028076, + 0.035926684737205505, + -0.0199823509901762 + ], + "orientation": [ + 0.41057485342025757, + -0.4988817274570465, + -0.5865330696105957, + -0.48838940262794495 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.12059621512889862, + 0.03627438843250275, + -0.01984758861362934 + ], + "orientation": [ + 0.39997240900993347, + -0.5089420676231384, + -0.5921769738197327, + -0.47992345690727234 + ], + "joints": [ + -0.003557453863322735 + ] + }, + "final_grasp": { + "position": [ + -0.12059621512889862, + 0.03627438843250275, + -0.01984758861362934 + ], + "orientation": [ + 0.39997240900993347, + -0.5089420676231384, + -0.5921769738197327, + -0.47992345690727234 + ], + "joints": [ + 0.0028459113091230392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11944331228733063, + 0.05519666522741318, + 0.05719972401857376 + ], + "orientation": [ + 0.44379884004592896, + 0.2999759912490845, + 0.5345487594604492, + -0.6536930203437805 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.11426489055156708, + 0.05500435084104538, + 0.05467495322227478 + ], + "orientation": [ + 0.4492570161819458, + 0.293039470911026, + 0.5294067859649658, + -0.6572856903076172 + ], + "joints": [ + -0.004401068203151226 + ] + }, + "final_grasp": { + "position": [ + -0.11426489055156708, + 0.05500435084104538, + 0.05467495322227478 + ], + "orientation": [ + 0.4492570161819458, + 0.293039470911026, + 0.5294067859649658, + -0.6572856903076172 + ], + "joints": [ + 0.0035433564335107803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039805445820093155, + 0.03077315352857113, + -0.11682078242301941 + ], + "orientation": [ + 0.742408812046051, + 0.6439699530601501, + 0.041163310408592224, + -0.18010400235652924 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.03935651481151581, + 0.031963251531124115, + -0.11647110432386398 + ], + "orientation": [ + 0.7428938746452332, + 0.6406142711639404, + 0.02798510156571865, + -0.19219496846199036 + ], + "joints": [ + -0.004149133339524269 + ] + }, + "final_grasp": { + "position": [ + -0.03935651481151581, + 0.031963251531124115, + -0.11647110432386398 + ], + "orientation": [ + 0.7428938746452332, + 0.6406142711639404, + 0.02798510156571865, + -0.19219496846199036 + ], + "joints": [ + 0.00228080153465271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03978381305932999, + 0.03075120784342289, + -0.11677582561969757 + ], + "orientation": [ + 0.7424437999725342, + 0.6438884735107422, + 0.04086994007229805, + -0.1803174763917923 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.039338093250989914, + 0.031929001212120056, + -0.11650267988443375 + ], + "orientation": [ + 0.7429465055465698, + 0.6405118703842163, + 0.027515942230820656, + -0.19240036606788635 + ], + "joints": [ + -0.004149133339524269 + ] + }, + "final_grasp": { + "position": [ + -0.039338093250989914, + 0.031929001212120056, + -0.11650267988443375 + ], + "orientation": [ + 0.7429465055465698, + 0.6405118703842163, + 0.027515942230820656, + -0.19240036606788635 + ], + "joints": [ + 0.00228080153465271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0018659280613064766, + -0.09461227059364319, + 0.01942255161702633 + ], + "orientation": [ + 0.8596183061599731, + -0.08814569562673569, + -0.5028941631317139, + 0.019603751599788666 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.0018024473683908582, + -0.09493903070688248, + 0.020503897219896317 + ], + "orientation": [ + 0.8616312742233276, + -0.08716240525245667, + -0.49957334995269775, + 0.02051328495144844 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.0018024473683908582, + -0.09493903070688248, + 0.020503897219896317 + ], + "orientation": [ + 0.8616312742233276, + -0.08716240525245667, + -0.49957334995269775, + 0.02051328495144844 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09232392907142639, + 0.04882696643471718, + -0.08128345012664795 + ], + "orientation": [ + 0.6002492308616638, + 0.6813631653785706, + -0.3545684814453125, + 0.22299408912658691 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.09235941618680954, + 0.04844279959797859, + -0.08169905841350555 + ], + "orientation": [ + 0.5930544137954712, + 0.685388445854187, + -0.3679558336734772, + 0.20769569277763367 + ], + "joints": [ + -0.004119692370295525 + ] + }, + "final_grasp": { + "position": [ + 0.09235941618680954, + 0.04844279959797859, + -0.08169905841350555 + ], + "orientation": [ + 0.5930544137954712, + 0.685388445854187, + -0.3679558336734772, + 0.20769569277763367 + ], + "joints": [ + 0.0023102425038814545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12200930714607239, + 0.056084927171468735, + -0.00831412523984909 + ], + "orientation": [ + 0.4048977196216583, + -0.5581363439559937, + -0.542556643486023, + -0.47976428270339966 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.12156835198402405, + 0.05537615716457367, + -0.008089623413980007 + ], + "orientation": [ + 0.39645275473594666, + -0.563576877117157, + -0.5517615675926208, + -0.4698568880558014 + ], + "joints": [ + -0.00414626207202673 + ] + }, + "final_grasp": { + "position": [ + -0.12156835198402405, + 0.05537615716457367, + -0.008089623413980007 + ], + "orientation": [ + 0.39645275473594666, + -0.563576877117157, + -0.5517615675926208, + -0.4698568880558014 + ], + "joints": [ + 0.0022571031004190445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003288104897364974, + -0.09310804307460785, + 0.02166798897087574 + ], + "orientation": [ + 0.3023972511291504, + -0.00778451981022954, + -0.9480794072151184, + 0.09818702191114426 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.001063782605342567, + -0.09278643131256104, + 0.02415032871067524 + ], + "orientation": [ + 0.31430771946907043, + -0.017444167286157608, + -0.9437179565429688, + 0.10150157660245895 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.001063782605342567, + -0.09278643131256104, + 0.02415032871067524 + ], + "orientation": [ + 0.31430771946907043, + -0.017444167286157608, + -0.9437179565429688, + 0.10150157660245895 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01789282076060772, + -0.09406841546297073, + -0.0048993113450706005 + ], + "orientation": [ + 0.842989444732666, + -0.021151060238480568, + -0.533351480960846, + -0.06676486134529114 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.019426826387643814, + -0.09463078528642654, + -0.0072219655849039555 + ], + "orientation": [ + 0.8473540544509888, + -0.01352839358150959, + -0.5259225368499756, + -0.07220511883497238 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.019426826387643814, + -0.09463078528642654, + -0.0072219655849039555 + ], + "orientation": [ + 0.8473540544509888, + -0.01352839358150959, + -0.5259225368499756, + -0.07220511883497238 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018100036308169365, + -0.09387020021677017, + -0.00494548911228776 + ], + "orientation": [ + 0.8431580662727356, + -0.017794325947761536, + -0.5333903431892395, + -0.0652879998087883 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.01954975351691246, + -0.09447308629751205, + -0.0079813152551651 + ], + "orientation": [ + 0.8477297425270081, + -0.009208817966282368, + -0.5253682136535645, + -0.07250968366861343 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.01954975351691246, + -0.09447308629751205, + -0.0079813152551651 + ], + "orientation": [ + 0.8477297425270081, + -0.009208817966282368, + -0.5253682136535645, + -0.07250968366861343 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09492065012454987, + 0.15062262117862701, + -0.03928312659263611 + ], + "orientation": [ + 0.45640528202056885, + 0.448100745677948, + 0.10677579790353775, + -0.7612482309341431 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.09280455112457275, + 0.1473674327135086, + -0.03705693036317825 + ], + "orientation": [ + 0.4415969252586365, + 0.46795934438705444, + 0.1078757792711258, + -0.7578713297843933 + ], + "joints": [ + -0.009472105652093887 + ] + }, + "final_grasp": { + "position": [ + -0.09280455112457275, + 0.1473674327135086, + -0.03705693036317825 + ], + "orientation": [ + 0.4415969252586365, + 0.46795934438705444, + 0.1078757792711258, + -0.7578713297843933 + ], + "joints": [ + -0.0030953101813793182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12015892565250397, + 0.11791911721229553, + -0.05174340680241585 + ], + "orientation": [ + 0.06010108441114426, + -0.7609797120094299, + -0.5696524977684021, + -0.3046204745769501 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.1194344013929367, + 0.11546535044908524, + -0.050629060715436935 + ], + "orientation": [ + 0.0494278222322464, + -0.7590884566307068, + -0.5682404041290283, + -0.31375858187675476 + ], + "joints": [ + -0.01378644909709692 + ] + }, + "final_grasp": { + "position": [ + -0.1194344013929367, + 0.11546535044908524, + -0.050629060715436935 + ], + "orientation": [ + 0.0494278222322464, + -0.7590884566307068, + -0.5682404041290283, + -0.31375858187675476 + ], + "joints": [ + -0.0110763069242239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1096646636724472, + 0.026281431317329407, + -0.06418795138597488 + ], + "orientation": [ + 0.21426384150981903, + 0.6940889954566956, + -0.6871935129165649, + 0.009826474823057652 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.11266814917325974, + 0.027423981577157974, + -0.06438060849905014 + ], + "orientation": [ + 0.2225063443183899, + 0.6912505030632019, + -0.6874893307685852, + -0.004726887680590153 + ], + "joints": [ + -0.01645977981388569 + ] + }, + "final_grasp": { + "position": [ + 0.11266814917325974, + 0.027423981577157974, + -0.06438060849905014 + ], + "orientation": [ + 0.2225063443183899, + 0.6912505030632019, + -0.6874893307685852, + -0.004726887680590153 + ], + "joints": [ + -0.013802772387862206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09778030216693878, + 0.14259710907936096, + -0.07285400480031967 + ], + "orientation": [ + 0.47790783643722534, + 0.20265203714370728, + -0.07250137627124786, + -0.851633608341217 + ], + "joints": [ + -0.012814987450838089 + ] + }, + "fine_grasp": { + "position": [ + -0.09426182508468628, + 0.1393507868051529, + -0.07072190195322037 + ], + "orientation": [ + 0.4716990888118744, + 0.20207469165325165, + -0.08315586298704147, + -0.8542546033859253 + ], + "joints": [ + -0.008510650135576725 + ] + }, + "final_grasp": { + "position": [ + -0.09426182508468628, + 0.1393507868051529, + -0.07072190195322037 + ], + "orientation": [ + 0.4716990888118744, + 0.20207469165325165, + -0.08315586298704147, + -0.8542546033859253 + ], + "joints": [ + -0.004206312820315361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10177680104970932, + 0.05496587976813316, + -0.10569538176059723 + ], + "orientation": [ + 0.1259332299232483, + 0.6153973340988159, + -0.7325897216796875, + -0.2621817886829376 + ], + "joints": [ + -0.011432838626205921 + ] + }, + "fine_grasp": { + "position": [ + 0.09931113570928574, + 0.05542265623807907, + -0.10203030705451965 + ], + "orientation": [ + 0.12989561259746552, + 0.6171276569366455, + -0.7251101136207581, + -0.27657899260520935 + ], + "joints": [ + -0.008775840513408184 + ] + }, + "final_grasp": { + "position": [ + 0.09931113570928574, + 0.05542265623807907, + -0.10203030705451965 + ], + "orientation": [ + 0.12989561259746552, + 0.6171276569366455, + -0.7251101136207581, + -0.27657899260520935 + ], + "joints": [ + -0.006118842400610447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10048391669988632, + 0.05482993274927139, + -0.10506554692983627 + ], + "orientation": [ + 0.12887145578861237, + 0.6203966736793518, + -0.7300319075584412, + -0.2560339868068695 + ], + "joints": [ + -0.011989103630185127 + ] + }, + "fine_grasp": { + "position": [ + 0.09763041883707047, + 0.05521029978990555, + -0.1013430655002594 + ], + "orientation": [ + 0.13604094088077545, + 0.6223322749137878, + -0.7229073643684387, + -0.26758211851119995 + ], + "joints": [ + -0.009863505139946938 + ] + }, + "final_grasp": { + "position": [ + 0.09763041883707047, + 0.05521029978990555, + -0.1013430655002594 + ], + "orientation": [ + 0.13604094088077545, + 0.6223322749137878, + -0.7229073643684387, + -0.26758211851119995 + ], + "joints": [ + -0.007737906649708748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10709173232316971, + -0.000789501063991338, + -0.06565537303686142 + ], + "orientation": [ + 0.5286463499069214, + 0.6585261821746826, + 0.4860915243625641, + -0.22492504119873047 + ], + "joints": [ + -0.008217831142246723 + ] + }, + "fine_grasp": { + "position": [ + -0.10653255879878998, + -0.0003452326054684818, + -0.06611383706331253 + ], + "orientation": [ + 0.5294035077095032, + 0.657718300819397, + 0.4853620231151581, + -0.22707343101501465 + ], + "joints": [ + -0.0023724352940917015 + ] + }, + "final_grasp": { + "position": [ + -0.10653255879878998, + -0.0003452326054684818, + -0.06611383706331253 + ], + "orientation": [ + 0.5294035077095032, + 0.657718300819397, + 0.4853620231151581, + -0.22707343101501465 + ], + "joints": [ + 0.00347296055406332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10617732256650925, + -0.05047076568007469, + 0.0034576936159282923 + ], + "orientation": [ + 0.7867956161499023, + -0.25463393330574036, + 0.34659960865974426, + 0.44269952178001404 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.10508108884096146, + -0.048490047454833984, + 0.003073277650400996 + ], + "orientation": [ + 0.7905404567718506, + -0.24486279487609863, + 0.3418261408805847, + 0.44524461030960083 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.10508108884096146, + -0.048490047454833984, + 0.003073277650400996 + ], + "orientation": [ + 0.7905404567718506, + -0.24486279487609863, + 0.3418261408805847, + 0.44524461030960083 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0956723541021347, + 0.0015477980487048626, + -0.09104014188051224 + ], + "orientation": [ + 0.43873101472854614, + -0.13115225732326508, + 0.5785325169563293, + 0.6749919652938843 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.09295573085546494, + 0.002518709748983383, + -0.08845499902963638 + ], + "orientation": [ + 0.44100111722946167, + -0.1266174614429474, + 0.5760149955749512, + 0.6765299439430237 + ], + "joints": [ + -0.0037254104390740395 + ] + }, + "final_grasp": { + "position": [ + 0.09295573085546494, + 0.002518709748983383, + -0.08845499902963638 + ], + "orientation": [ + 0.44100111722946167, + -0.1266174614429474, + 0.5760149955749512, + 0.6765299439430237 + ], + "joints": [ + 0.0036876145750284195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0955205038189888, + 0.001489275018684566, + -0.09097965061664581 + ], + "orientation": [ + 0.4383019804954529, + -0.13133934140205383, + 0.5788238644599915, + 0.6749846339225769 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.09282418340444565, + 0.0024101559538394213, + -0.0883636400103569 + ], + "orientation": [ + 0.4403856694698334, + -0.12718625366687775, + 0.5765174627304077, + 0.6763960719108582 + ], + "joints": [ + -0.0037254104390740395 + ] + }, + "final_grasp": { + "position": [ + 0.09282418340444565, + 0.0024101559538394213, + -0.0883636400103569 + ], + "orientation": [ + 0.4403856694698334, + -0.12718625366687775, + 0.5765174627304077, + 0.6763960719108582 + ], + "joints": [ + 0.0036876145750284195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09569130837917328, + 0.0014712720876559615, + -0.09107794612646103 + ], + "orientation": [ + 0.4380805492401123, + -0.13169829547405243, + 0.5795987248420715, + 0.6743931770324707 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.09280996769666672, + 0.0024430137127637863, + -0.08831967413425446 + ], + "orientation": [ + 0.44016867876052856, + -0.12749247252941132, + 0.5769409537315369, + 0.6761186122894287 + ], + "joints": [ + -0.0037254104390740395 + ] + }, + "final_grasp": { + "position": [ + 0.09280996769666672, + 0.0024430137127637863, + -0.08831967413425446 + ], + "orientation": [ + 0.44016867876052856, + -0.12749247252941132, + 0.5769409537315369, + 0.6761186122894287 + ], + "joints": [ + 0.0036876145750284195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12531454861164093, + 0.03854518383741379, + -0.003348350990563631 + ], + "orientation": [ + 0.30691736936569214, + 0.6703432202339172, + 0.5393249988555908, + -0.4069032371044159 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.12560786306858063, + 0.03979785367846489, + -0.0035806638188660145 + ], + "orientation": [ + 0.30963096022605896, + 0.6663693785667419, + 0.5436229705810547, + -0.4056534171104431 + ], + "joints": [ + -0.005824439227581024 + ] + }, + "final_grasp": { + "position": [ + -0.12560786306858063, + 0.03979785367846489, + -0.0035806638188660145 + ], + "orientation": [ + 0.30963096022605896, + 0.6663693785667419, + 0.5436229705810547, + -0.4056534171104431 + ], + "joints": [ + -0.0005104430019855499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06614953279495239, + -0.0013394361594691873, + -0.10941053926944733 + ], + "orientation": [ + 0.3258988857269287, + -0.06882499903440475, + 0.6549367904663086, + 0.678314745426178 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.06423106789588928, + 0.0004721057484857738, + -0.10528286546468735 + ], + "orientation": [ + 0.3260519802570343, + -0.0671735554933548, + 0.6600375175476074, + 0.6734451651573181 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.06423106789588928, + 0.0004721057484857738, + -0.10528286546468735 + ], + "orientation": [ + 0.3260519802570343, + -0.0671735554933548, + 0.6600375175476074, + 0.6734451651573181 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06614159792661667, + -0.001281519653275609, + -0.10930891335010529 + ], + "orientation": [ + 0.32533732056617737, + -0.06941857933998108, + 0.6551611423492432, + 0.6783072352409363 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.06420397758483887, + 0.00031354904058389366, + -0.10515673458576202 + ], + "orientation": [ + 0.3243759870529175, + -0.06875669956207275, + 0.6593001484870911, + 0.6748156547546387 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.06420397758483887, + 0.00031354904058389366, + -0.10515673458576202 + ], + "orientation": [ + 0.3243759870529175, + -0.06875669956207275, + 0.6593001484870911, + 0.6748156547546387 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08628761768341064, + 0.10057104378938675, + -0.07800246775150299 + ], + "orientation": [ + 0.28967010974884033, + -0.26369914412498474, + 0.5387921929359436, + 0.7458263039588928 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.08715320378541946, + 0.10034218430519104, + -0.07824988663196564 + ], + "orientation": [ + 0.3056555390357971, + -0.24382448196411133, + 0.5302744507789612, + 0.752285361289978 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + 0.08715320378541946, + 0.10034218430519104, + -0.07824988663196564 + ], + "orientation": [ + 0.3056555390357971, + -0.24382448196411133, + 0.5302744507789612, + 0.752285361289978 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09259047359228134, + 0.05648936703801155, + -0.08319681137800217 + ], + "orientation": [ + 0.2486848682165146, + -0.3229946196079254, + -0.6846913695335388, + -0.6041755080223083 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.09124577790498734, + 0.057951830327510834, + -0.08242503553628922 + ], + "orientation": [ + 0.2353326678276062, + -0.33270329236984253, + -0.6930078268051147, + -0.5946993827819824 + ], + "joints": [ + -0.0030849361792206764 + ] + }, + "final_grasp": { + "position": [ + -0.09124577790498734, + 0.057951830327510834, + -0.08242503553628922 + ], + "orientation": [ + 0.2353326678276062, + -0.33270329236984253, + -0.6930078268051147, + -0.5946993827819824 + ], + "joints": [ + 0.003849828615784645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09261252731084824, + 0.05650711432099342, + -0.08320972323417664 + ], + "orientation": [ + 0.24897074699401855, + -0.322754830121994, + -0.6846411228179932, + -0.604242742061615 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.09128909558057785, + 0.057912349700927734, + -0.0823918879032135 + ], + "orientation": [ + 0.23601388931274414, + -0.33227813243865967, + -0.6929958462715149, + -0.5946810245513916 + ], + "joints": [ + -0.0030849361792206764 + ] + }, + "final_grasp": { + "position": [ + -0.09128909558057785, + 0.057912349700927734, + -0.0823918879032135 + ], + "orientation": [ + 0.23601388931274414, + -0.33227813243865967, + -0.6929958462715149, + -0.5946810245513916 + ], + "joints": [ + 0.003849828615784645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08476892113685608, + 0.046173155307769775, + 0.08679716289043427 + ], + "orientation": [ + 0.299630731344223, + 0.23074541985988617, + 0.6151473522186279, + -0.691788911819458 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0852305218577385, + 0.045417167246341705, + 0.08740924298763275 + ], + "orientation": [ + 0.3106851875782013, + 0.21911102533340454, + 0.6130877137184143, + -0.6925232410430908 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.0852305218577385, + 0.045417167246341705, + 0.08740924298763275 + ], + "orientation": [ + 0.3106851875782013, + 0.21911102533340454, + 0.6130877137184143, + -0.6925232410430908 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08473309874534607, + 0.046155765652656555, + 0.08678677678108215 + ], + "orientation": [ + 0.2989789545536041, + 0.23098227381706238, + 0.6145784854888916, + -0.6924969553947449 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.08516859263181686, + 0.045431554317474365, + 0.08737093955278397 + ], + "orientation": [ + 0.3103405237197876, + 0.21929746866226196, + 0.612248420715332, + -0.6933608055114746 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.08516859263181686, + 0.045431554317474365, + 0.08737093955278397 + ], + "orientation": [ + 0.3103405237197876, + 0.21929746866226196, + 0.612248420715332, + -0.6933608055114746 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08473038673400879, + 0.04616836830973625, + 0.0868079662322998 + ], + "orientation": [ + 0.29976511001586914, + 0.2299470156431198, + 0.6139577031135559, + -0.6930521130561829 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.08513141423463821, + 0.04544908180832863, + 0.08739133179187775 + ], + "orientation": [ + 0.3106420934200287, + 0.2187671959400177, + 0.6118577718734741, + -0.6937380433082581 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.08513141423463821, + 0.04544908180832863, + 0.08739133179187775 + ], + "orientation": [ + 0.3106420934200287, + 0.2187671959400177, + 0.6118577718734741, + -0.6937380433082581 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10367254167795181, + 0.06430697441101074, + -0.06492584943771362 + ], + "orientation": [ + 0.5850299000740051, + 0.6468760371208191, + -0.39848217368125916, + 0.2837311029434204 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.1045585572719574, + 0.06497620791196823, + -0.06512328237295151 + ], + "orientation": [ + 0.5796877145767212, + 0.6497911810874939, + -0.4080122709274292, + 0.27433449029922485 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + 0.1045585572719574, + 0.06497620791196823, + -0.06512328237295151 + ], + "orientation": [ + 0.5796877145767212, + 0.6497911810874939, + -0.4080122709274292, + 0.27433449029922485 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10365349054336548, + 0.06417614966630936, + -0.06494013220071793 + ], + "orientation": [ + 0.5853407382965088, + 0.6466168165206909, + -0.39852389693260193, + 0.28362229466438293 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.10460560023784637, + 0.06484322994947433, + -0.06504932045936584 + ], + "orientation": [ + 0.5794163346290588, + 0.649616003036499, + -0.408903568983078, + 0.2739958167076111 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + 0.10460560023784637, + 0.06484322994947433, + -0.06504932045936584 + ], + "orientation": [ + 0.5794163346290588, + 0.649616003036499, + -0.408903568983078, + 0.2739958167076111 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12428764253854752, + 0.09125586599111557, + 0.013717570342123508 + ], + "orientation": [ + 0.4077218472957611, + -0.6401439905166626, + -0.5431355834007263, + -0.35914114117622375 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12177982181310654, + 0.0917021855711937, + 0.013626485131680965 + ], + "orientation": [ + 0.4069612920284271, + -0.6425633430480957, + -0.5432404279708862, + -0.35550612211227417 + ], + "joints": [ + -0.003728281706571579 + ] + }, + "final_grasp": { + "position": [ + -0.12177982181310654, + 0.0917021855711937, + 0.013626485131680965 + ], + "orientation": [ + 0.4069612920284271, + -0.6425633430480957, + -0.5432404279708862, + -0.35550612211227417 + ], + "joints": [ + 0.003711313009262085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09744851291179657, + -0.011057201772928238, + -0.07672119140625 + ], + "orientation": [ + 0.6039012670516968, + 0.6282750368118286, + 0.45269906520843506, + -0.18877850472927094 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.09402503818273544, + -0.009188629686832428, + -0.07473153620958328 + ], + "orientation": [ + 0.6075803637504578, + 0.6231690645217896, + 0.4542711675167084, + -0.19011609256267548 + ], + "joints": [ + -0.004090326838195324 + ] + }, + "final_grasp": { + "position": [ + -0.09402503818273544, + -0.009188629686832428, + -0.07473153620958328 + ], + "orientation": [ + 0.6075803637504578, + 0.6231690645217896, + 0.4542711675167084, + -0.19011609256267548 + ], + "joints": [ + 0.0012502390891313553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024032114073634148, + -0.09893883019685745, + -0.019446877762675285 + ], + "orientation": [ + 0.46804824471473694, + 0.13388510048389435, + 0.8734114170074463, + -0.012568322941660881 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.026065032929182053, + -0.09868837147951126, + -0.019429439678788185 + ], + "orientation": [ + 0.4745945334434509, + 0.13160550594329834, + 0.8702650666236877, + -0.008875482715666294 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.026065032929182053, + -0.09868837147951126, + -0.019429439678788185 + ], + "orientation": [ + 0.4745945334434509, + 0.13160550594329834, + 0.8702650666236877, + -0.008875482715666294 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05858734995126724, + -0.005784893874078989, + -0.10312709957361221 + ], + "orientation": [ + 0.7172937393188477, + 0.6308519840240479, + -0.28049567341804504, + 0.09400919824838638 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.05895568057894707, + -0.006463056895881891, + -0.1035827100276947 + ], + "orientation": [ + 0.7115040421485901, + 0.6363419890403748, + -0.2835801839828491, + 0.09172333776950836 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + 0.05895568057894707, + -0.006463056895881891, + -0.1035827100276947 + ], + "orientation": [ + 0.7115040421485901, + 0.6363419890403748, + -0.2835801839828491, + 0.09172333776950836 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11496017128229141, + 0.10619588941335678, + -0.027636762708425522 + ], + "orientation": [ + 0.5587055087089539, + 0.49183711409568787, + 0.2878951132297516, + -0.6025452017784119 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.11653370410203934, + 0.1057949960231781, + -0.027937157079577446 + ], + "orientation": [ + 0.5613676309585571, + 0.48698845505714417, + 0.28061679005622864, + -0.6074232459068298 + ], + "joints": [ + -0.00414626207202673 + ] + }, + "final_grasp": { + "position": [ + -0.11653370410203934, + 0.1057949960231781, + -0.027937157079577446 + ], + "orientation": [ + 0.5613676309585571, + 0.48698845505714417, + 0.28061679005622864, + -0.6074232459068298 + ], + "joints": [ + 0.0022571031004190445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11508885025978088, + 0.10618133842945099, + -0.027407418936491013 + ], + "orientation": [ + 0.5585439801216125, + 0.49150314927101135, + 0.2891797423362732, + -0.6023522019386292 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.11661528795957565, + 0.10578245669603348, + -0.02786889113485813 + ], + "orientation": [ + 0.5615492463111877, + 0.48679569363594055, + 0.28118664026260376, + -0.6071462631225586 + ], + "joints": [ + -0.00414626207202673 + ] + }, + "final_grasp": { + "position": [ + -0.11661528795957565, + 0.10578245669603348, + -0.02786889113485813 + ], + "orientation": [ + 0.5615492463111877, + 0.48679569363594055, + 0.28118664026260376, + -0.6071462631225586 + ], + "joints": [ + 0.0022571031004190445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1150362491607666, + 0.1062178909778595, + -0.0275921281427145 + ], + "orientation": [ + 0.5585784912109375, + 0.4921795129776001, + 0.28864020109176636, + -0.6020267009735107 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.11648137122392654, + 0.1057291254401207, + -0.028143733739852905 + ], + "orientation": [ + 0.5619226694107056, + 0.4873563349246979, + 0.28091031312942505, + -0.6064784526824951 + ], + "joints": [ + -0.00414626207202673 + ] + }, + "final_grasp": { + "position": [ + -0.11648137122392654, + 0.1057291254401207, + -0.028143733739852905 + ], + "orientation": [ + 0.5619226694107056, + 0.4873563349246979, + 0.28091031312942505, + -0.6064784526824951 + ], + "joints": [ + 0.0022571031004190445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012104173190891743, + -0.10015999525785446, + -0.023498503491282463 + ], + "orientation": [ + 0.8723468780517578, + 0.029416242614388466, + -0.4786248803138733, + -0.09520480036735535 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.013267997652292252, + -0.1003379300236702, + -0.023813074454665184 + ], + "orientation": [ + 0.8677361607551575, + 0.02938510850071907, + -0.48683035373687744, + -0.09574253857135773 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.013267997652292252, + -0.1003379300236702, + -0.023813074454665184 + ], + "orientation": [ + 0.8677361607551575, + 0.02938510850071907, + -0.48683035373687744, + -0.09574253857135773 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10601158440113068, + 0.09041877835988998, + -0.056140098720788956 + ], + "orientation": [ + 0.5793705582618713, + 0.5981351137161255, + 0.2388906329870224, + -0.4994952082633972 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.10572731494903564, + 0.08904833346605301, + -0.055900756269693375 + ], + "orientation": [ + 0.5808772444725037, + 0.593853235244751, + 0.2273680865764618, + -0.5081571936607361 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + -0.10572731494903564, + 0.08904833346605301, + -0.055900756269693375 + ], + "orientation": [ + 0.5808772444725037, + 0.593853235244751, + 0.2273680865764618, + -0.5081571936607361 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07414695620536804, + -0.06795915961265564, + -0.040462516248226166 + ], + "orientation": [ + 0.6782625317573547, + 0.3539971113204956, + -0.63077312707901, + 0.12950386106967926 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07109463959932327, + -0.06430040299892426, + -0.0396772101521492 + ], + "orientation": [ + 0.6752791404724121, + 0.36060047149658203, + -0.6307249069213867, + 0.12708884477615356 + ], + "joints": [ + -0.004317089915275574 + ] + }, + "final_grasp": { + "position": [ + 0.07109463959932327, + -0.06430040299892426, + -0.0396772101521492 + ], + "orientation": [ + 0.6752791404724121, + 0.36060047149658203, + -0.6307249069213867, + 0.12708884477615356 + ], + "joints": [ + 0.00312250480055809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11229931563138962, + 0.034014515578746796, + 0.04619361832737923 + ], + "orientation": [ + 0.29834476113319397, + 0.48876526951789856, + -0.5913733243942261, + 0.5677822232246399 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.11354003846645355, + 0.030844205990433693, + 0.04741136357188225 + ], + "orientation": [ + 0.2973695695400238, + 0.4857688546180725, + -0.5932660102844238, + 0.5688895583152771 + ], + "joints": [ + -0.0036708731204271317 + ] + }, + "final_grasp": { + "position": [ + 0.11354003846645355, + 0.030844205990433693, + 0.04741136357188225 + ], + "orientation": [ + 0.2973695695400238, + 0.4857688546180725, + -0.5932660102844238, + 0.5688895583152771 + ], + "joints": [ + 0.003237321972846985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07485082745552063, + -0.06860250234603882, + -0.04087007790803909 + ], + "orientation": [ + 0.6789624094963074, + 0.35385629534721375, + -0.6301051378250122, + 0.12947317957878113 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07165872305631638, + -0.06468615680932999, + -0.04011700674891472 + ], + "orientation": [ + 0.6760798692703247, + 0.3591139018535614, + -0.6307359933853149, + 0.12698572874069214 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.07165872305631638, + -0.06468615680932999, + -0.04011700674891472 + ], + "orientation": [ + 0.6760798692703247, + 0.3591139018535614, + -0.6307359933853149, + 0.12698572874069214 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05317104235291481, + -0.03385971114039421, + 0.09396133571863174 + ], + "orientation": [ + 0.27490317821502686, + 0.09946835786104202, + 0.7958642840385437, + -0.5302211046218872 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.05344279110431671, + -0.03383005037903786, + 0.09593037515878677 + ], + "orientation": [ + 0.294023722410202, + 0.08351191878318787, + 0.7890971302986145, + -0.5328239798545837 + ], + "joints": [ + -0.0024387193843722343 + ] + }, + "final_grasp": { + "position": [ + -0.05344279110431671, + -0.03383005037903786, + 0.09593037515878677 + ], + "orientation": [ + 0.294023722410202, + 0.08351191878318787, + 0.7890971302986145, + -0.5328239798545837 + ], + "joints": [ + 0.00396464578807354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04771143198013306, + -0.021287603303790092, + -0.10343167930841446 + ], + "orientation": [ + 0.2529442310333252, + -0.06909964233636856, + 0.7709293365478516, + 0.5804415345191956 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.04742968827486038, + -0.021184120327234268, + -0.10344676673412323 + ], + "orientation": [ + 0.26457613706588745, + -0.058618418872356415, + 0.7624350786209106, + 0.5875849723815918 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + 0.04742968827486038, + -0.021184120327234268, + -0.10344676673412323 + ], + "orientation": [ + 0.26457613706588745, + -0.058618418872356415, + 0.7624350786209106, + 0.5875849723815918 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12082421034574509, + 0.02454889938235283, + 0.024228757247328758 + ], + "orientation": [ + 0.34017521142959595, + 0.5442361831665039, + 0.5676521062850952, + -0.5156150460243225 + ], + "joints": [ + -0.009489774703979492 + ] + }, + "fine_grasp": { + "position": [ + -0.12095531076192856, + 0.025618450716137886, + 0.023827796801924706 + ], + "orientation": [ + 0.33416497707366943, + 0.5445243120193481, + 0.5768628120422363, + -0.5089758038520813 + ], + "joints": [ + -0.004149208776652813 + ] + }, + "final_grasp": { + "position": [ + -0.12095531076192856, + 0.025618450716137886, + 0.023827796801924706 + ], + "orientation": [ + 0.33416497707366943, + 0.5445243120193481, + 0.5768628120422363, + -0.5089758038520813 + ], + "joints": [ + 0.0011913571506738663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11674201488494873, + 0.10124794393777847, + 0.04962671548128128 + ], + "orientation": [ + 0.27453309297561646, + 0.5179532766342163, + -0.5941867828369141, + 0.5507249236106873 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11178623139858246, + 0.10066728293895721, + 0.04776396602392197 + ], + "orientation": [ + 0.26519936323165894, + 0.5249757766723633, + -0.6002011299133301, + 0.5420593619346619 + ], + "joints": [ + -0.0031115058809518814 + ] + }, + "final_grasp": { + "position": [ + 0.11178623139858246, + 0.10066728293895721, + 0.04776396602392197 + ], + "orientation": [ + 0.26519936323165894, + 0.5249757766723633, + -0.6002011299133301, + 0.5420593619346619 + ], + "joints": [ + 0.003796689212322235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11668066680431366, + 0.10116561502218246, + 0.04953265190124512 + ], + "orientation": [ + 0.27519187331199646, + 0.5174698829650879, + -0.5939772725105286, + 0.5510765910148621 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11173419654369354, + 0.10057701915502548, + 0.047704584896564484 + ], + "orientation": [ + 0.2655413746833801, + 0.5246115326881409, + -0.5999459028244019, + 0.54252690076828 + ], + "joints": [ + -0.0031115058809518814 + ] + }, + "final_grasp": { + "position": [ + 0.11173419654369354, + 0.10057701915502548, + 0.047704584896564484 + ], + "orientation": [ + 0.2655413746833801, + 0.5246115326881409, + -0.5999459028244019, + 0.54252690076828 + ], + "joints": [ + 0.003796689212322235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1166510209441185, + 0.10118985176086426, + 0.04952304810285568 + ], + "orientation": [ + 0.2752215564250946, + 0.5174473524093628, + -0.5940951704978943, + 0.5509557127952576 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11170528829097748, + 0.10060353577136993, + 0.047700800001621246 + ], + "orientation": [ + 0.26557546854019165, + 0.5246126651763916, + -0.6001121997833252, + 0.5423252582550049 + ], + "joints": [ + -0.0031115058809518814 + ] + }, + "final_grasp": { + "position": [ + 0.11170528829097748, + 0.10060353577136993, + 0.047700800001621246 + ], + "orientation": [ + 0.26557546854019165, + 0.5246126651763916, + -0.6001121997833252, + 0.5423252582550049 + ], + "joints": [ + 0.003796689212322235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06520771235227585, + 0.03099140338599682, + -0.10979766398668289 + ], + "orientation": [ + 0.2299448400735855, + -0.13232970237731934, + 0.614167332649231, + 0.7432447075843811 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.06281264126300812, + 0.029355879873037338, + -0.10575395822525024 + ], + "orientation": [ + 0.22540193796157837, + -0.13571923971176147, + 0.6083846688270569, + 0.7487605214118958 + ], + "joints": [ + -0.0031689144670963287 + ] + }, + "final_grasp": { + "position": [ + 0.06281264126300812, + 0.029355879873037338, + -0.10575395822525024 + ], + "orientation": [ + 0.22540193796157837, + -0.13571923971176147, + 0.6083846688270569, + 0.7487605214118958 + ], + "joints": [ + 0.004270680248737335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06519947946071625, + 0.03093278780579567, + -0.10982000827789307 + ], + "orientation": [ + 0.22986072301864624, + -0.13219864666461945, + 0.6132614016532898, + 0.7440417408943176 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.06278739869594574, + 0.02933172509074211, + -0.10575491189956665 + ], + "orientation": [ + 0.22505386173725128, + -0.13588345050811768, + 0.6079665422439575, + 0.7491748332977295 + ], + "joints": [ + -0.0031689144670963287 + ] + }, + "final_grasp": { + "position": [ + 0.06278739869594574, + 0.02933172509074211, + -0.10575491189956665 + ], + "orientation": [ + 0.22505386173725128, + -0.13588345050811768, + 0.6079665422439575, + 0.7491748332977295 + ], + "joints": [ + 0.004270680248737335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10737288743257523, + 0.10471590608358383, + 0.05322510004043579 + ], + "orientation": [ + 0.38780707120895386, + 0.33240053057670593, + 0.5002588033676147, + -0.69918292760849 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.10609222203493118, + 0.10474903136491776, + 0.05306316912174225 + ], + "orientation": [ + 0.38529735803604126, + 0.3387813866138458, + 0.5049148797988892, + -0.694142758846283 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.10609222203493118, + 0.10474903136491776, + 0.05306316912174225 + ], + "orientation": [ + 0.38529735803604126, + 0.3387813866138458, + 0.5049148797988892, + -0.694142758846283 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10706359148025513, + 0.10458206385374069, + 0.05304701626300812 + ], + "orientation": [ + 0.3868274688720703, + 0.333701491355896, + 0.49845531582832336, + -0.7003927826881409 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.10610425472259521, + 0.10481314361095428, + 0.05295153707265854 + ], + "orientation": [ + 0.3852280080318451, + 0.3393142521381378, + 0.5044577717781067, + -0.6942532062530518 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.10610425472259521, + 0.10481314361095428, + 0.05295153707265854 + ], + "orientation": [ + 0.3852280080318451, + 0.3393142521381378, + 0.5044577717781067, + -0.6942532062530518 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0834781751036644, + -0.05971869081258774, + 0.04166335240006447 + ], + "orientation": [ + 0.395327091217041, + 0.26276203989982605, + 0.8063942790031433, + -0.3527049124240875 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.0847318172454834, + -0.058202944695949554, + 0.04089861363172531 + ], + "orientation": [ + 0.38252806663513184, + 0.27089184522628784, + 0.8115334510803223, + -0.3488599956035614 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + -0.0847318172454834, + -0.058202944695949554, + 0.04089861363172531 + ], + "orientation": [ + 0.38252806663513184, + 0.27089184522628784, + 0.8115334510803223, + -0.3488599956035614 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10169870406389236, + 0.0997866541147232, + -0.05775689706206322 + ], + "orientation": [ + 0.5569057464599609, + 0.6459689140319824, + 0.269825279712677, + -0.4469614326953888 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.10216134786605835, + 0.10000918805599213, + -0.058695513755083084 + ], + "orientation": [ + 0.5657573342323303, + 0.6382529139518738, + 0.26304203271865845, + -0.450955331325531 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.10216134786605835, + 0.10000918805599213, + -0.058695513755083084 + ], + "orientation": [ + 0.5657573342323303, + 0.6382529139518738, + 0.26304203271865845, + -0.450955331325531 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10174361616373062, + 0.09972327202558517, + -0.05773676559329033 + ], + "orientation": [ + 0.5568994283676147, + 0.6460941433906555, + 0.270463764667511, + -0.446401983499527 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.10193531215190887, + 0.09999314695596695, + -0.05869211629033089 + ], + "orientation": [ + 0.5664860010147095, + 0.6375862956047058, + 0.2637600302696228, + -0.4505641460418701 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.10193531215190887, + 0.09999314695596695, + -0.05869211629033089 + ], + "orientation": [ + 0.5664860010147095, + 0.6375862956047058, + 0.2637600302696228, + -0.4505641460418701 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07394489645957947, + 0.14960217475891113, + -0.05250072106719017 + ], + "orientation": [ + 0.4072008728981018, + 0.7502458095550537, + 0.16188645362854004, + -0.4950873851776123 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.07399425655603409, + 0.14887404441833496, + -0.052283529192209244 + ], + "orientation": [ + 0.41010382771492004, + 0.7524312138557434, + 0.16473232209682465, + -0.4883907437324524 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.07399425655603409, + 0.14887404441833496, + -0.052283529192209244 + ], + "orientation": [ + 0.41010382771492004, + 0.7524312138557434, + 0.16473232209682465, + -0.4883907437324524 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09167656302452087, + -0.05466427654027939, + 0.039547476917505264 + ], + "orientation": [ + 0.6094596982002258, + 0.19356586039066315, + -0.6380861401557922, + 0.42887911200523376 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.08977234363555908, + -0.052644629031419754, + 0.03941984847187996 + ], + "orientation": [ + 0.6108181476593018, + 0.19228646159172058, + -0.6387150883674622, + 0.42657965421676636 + ], + "joints": [ + -0.003700314089655876 + ] + }, + "final_grasp": { + "position": [ + 0.08977234363555908, + -0.052644629031419754, + 0.03941984847187996 + ], + "orientation": [ + 0.6108181476593018, + 0.19228646159172058, + -0.6387150883674622, + 0.42657965421676636 + ], + "joints": [ + 0.0032078810036182404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11346829682588577, + 0.05868443101644516, + 0.05320347845554352 + ], + "orientation": [ + 0.29613587260246277, + 0.46292269229888916, + -0.6014247536659241, + 0.5799090266227722 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.11095602065324783, + 0.05718407779932022, + 0.05204924941062927 + ], + "orientation": [ + 0.2853512763977051, + 0.47004538774490356, + -0.6091482639312744, + 0.5714633464813232 + ], + "joints": [ + -0.004178574308753014 + ] + }, + "final_grasp": { + "position": [ + 0.11095602065324783, + 0.05718407779932022, + 0.05204924941062927 + ], + "orientation": [ + 0.2853512763977051, + 0.47004538774490356, + -0.6091482639312744, + 0.5714633464813232 + ], + "joints": [ + 0.0022513605654239655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10433374345302582, + -0.020907623693346977, + -0.060046203434467316 + ], + "orientation": [ + 0.4741660952568054, + -0.24367755651474, + 0.6464728116989136, + 0.5457660555839539 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.10039529204368591, + -0.020110707730054855, + -0.057508908212184906 + ], + "orientation": [ + 0.47461792826652527, + -0.24352580308914185, + 0.6421470046043396, + 0.5505273938179016 + ], + "joints": [ + -0.0020752763375639915 + ] + }, + "final_grasp": { + "position": [ + 0.10039529204368591, + -0.020110707730054855, + -0.057508908212184906 + ], + "orientation": [ + 0.47461792826652527, + -0.24352580308914185, + 0.6421470046043396, + 0.5505273938179016 + ], + "joints": [ + 0.005869148299098015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1229327842593193, + 0.0939861312508583, + 0.014452804811298847 + ], + "orientation": [ + 0.5193303227424622, + 0.38323017954826355, + -0.4283750653266907, + 0.6323966979980469 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.12069845199584961, + 0.09524162858724594, + 0.013785538263618946 + ], + "orientation": [ + 0.5129594802856445, + 0.3869144916534424, + -0.4370864927768707, + 0.6293846964836121 + ], + "joints": [ + -0.0036443034186959267 + ] + }, + "final_grasp": { + "position": [ + 0.12069845199584961, + 0.09524162858724594, + 0.013785538263618946 + ], + "orientation": [ + 0.5129594802856445, + 0.3869144916534424, + -0.4370864927768707, + 0.6293846964836121 + ], + "joints": [ + 0.003290461376309395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01892242580652237, + 0.14154724776744843, + 0.09227854758501053 + ], + "orientation": [ + 0.4479529559612274, + -0.8756025433540344, + 0.0024389319587498903, + 0.18069998919963837 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.01855693757534027, + 0.14059686660766602, + 0.09191317111253738 + ], + "orientation": [ + 0.44822487235069275, + -0.8747904300689697, + -0.003991513513028622, + 0.18390323221683502 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + 0.01855693757534027, + 0.14059686660766602, + 0.09191317111253738 + ], + "orientation": [ + 0.44822487235069275, + -0.8747904300689697, + -0.003991513513028622, + 0.18390323221683502 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026138629764318466, + -0.00023945068824104965, + -0.1162220910191536 + ], + "orientation": [ + 0.7796083688735962, + 0.6138909459114075, + 0.01944061368703842, + -0.12235566973686218 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.025942673906683922, + 0.00026795041048899293, + -0.11668340116739273 + ], + "orientation": [ + 0.7778869867324829, + 0.6125571131706238, + 0.002257874235510826, + -0.14021681249141693 + ], + "joints": [ + -0.004088853485882282 + ] + }, + "final_grasp": { + "position": [ + -0.025942673906683922, + 0.00026795041048899293, + -0.11668340116739273 + ], + "orientation": [ + 0.7778869867324829, + 0.6125571131706238, + 0.002257874235510826, + -0.14021681249141693 + ], + "joints": [ + 0.0017831120640039444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09886543452739716, + 0.12020466476678848, + 0.043910395354032516 + ], + "orientation": [ + 0.47473129630088806, + -0.6663001775741577, + 0.2592529356479645, + 0.5132856965065002 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.09962532669305801, + 0.12026997655630112, + 0.04497099667787552 + ], + "orientation": [ + 0.48243018984794617, + -0.6599524021148682, + 0.2524202764034271, + 0.5176947116851807 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + 0.09962532669305801, + 0.12026997655630112, + 0.04497099667787552 + ], + "orientation": [ + 0.48243018984794617, + -0.6599524021148682, + 0.2524202764034271, + 0.5176947116851807 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05609884113073349, + 0.07696923613548279, + 0.10685635358095169 + ], + "orientation": [ + 0.6070632934570312, + -0.7577832341194153, + -0.20764638483524323, + -0.11883514374494553 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.056435707956552505, + 0.07544636726379395, + 0.10719916224479675 + ], + "orientation": [ + 0.6043870449066162, + -0.7572518587112427, + -0.2253265231847763, + -0.1025366485118866 + ], + "joints": [ + -0.004062283784151077 + ] + }, + "final_grasp": { + "position": [ + -0.056435707956552505, + 0.07544636726379395, + 0.10719916224479675 + ], + "orientation": [ + 0.6043870449066162, + -0.7572518587112427, + -0.2253265231847763, + -0.1025366485118866 + ], + "joints": [ + 0.0018362514674663544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09703601151704788, + 0.1354653388261795, + -0.04154277220368385 + ], + "orientation": [ + 0.4654502272605896, + 0.6476346850395203, + 0.23586562275886536, + -0.5552411675453186 + ], + "joints": [ + -0.009091552346944809 + ] + }, + "fine_grasp": { + "position": [ + -0.09774000942707062, + 0.13545988500118256, + -0.041396889835596085 + ], + "orientation": [ + 0.4651664197444916, + 0.6543605327606201, + 0.2422824651002884, + -0.5447308421134949 + ], + "joints": [ + -0.002688187174499035 + ] + }, + "final_grasp": { + "position": [ + -0.09774000942707062, + 0.13545988500118256, + -0.041396889835596085 + ], + "orientation": [ + 0.4651664197444916, + 0.6543605327606201, + 0.2422824651002884, + -0.5447308421134949 + ], + "joints": [ + 0.003715177997946739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08712466061115265, + 0.15238700807094574, + -0.017610615119338036 + ], + "orientation": [ + 0.22975237667560577, + -0.6512926816940308, + -0.3493528366088867, + -0.6332331299781799 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.08604629337787628, + 0.14944276213645935, + -0.016744665801525116 + ], + "orientation": [ + 0.22899417579174042, + -0.6479501128196716, + -0.34335753321647644, + -0.6401781439781189 + ], + "joints": [ + -0.0025492673739790916 + ] + }, + "final_grasp": { + "position": [ + -0.08604629337787628, + 0.14944276213645935, + -0.016744665801525116 + ], + "orientation": [ + 0.22899417579174042, + -0.6479501128196716, + -0.34335753321647644, + -0.6401781439781189 + ], + "joints": [ + 0.00433235801756382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0966498926281929, + 0.13518117368221283, + -0.04109163582324982 + ], + "orientation": [ + 0.46163052320480347, + 0.6520407199859619, + 0.23804502189159393, + -0.5523356795310974 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.09793519973754883, + 0.1355324685573578, + -0.04119681194424629 + ], + "orientation": [ + 0.46234753727912903, + 0.6569701433181763, + 0.24439774453639984, + -0.5430421829223633 + ], + "joints": [ + -0.0024638157337903976 + ] + }, + "final_grasp": { + "position": [ + -0.09793519973754883, + 0.1355324685573578, + -0.04119681194424629 + ], + "orientation": [ + 0.46234753727912903, + 0.6569701433181763, + 0.24439774453639984, + -0.5430421829223633 + ], + "joints": [ + 0.004444379359483719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10923502594232559, + -0.03284492716193199, + 0.016036154702305794 + ], + "orientation": [ + 0.49331265687942505, + 0.3874051570892334, + -0.6788927912712097, + 0.3816603124141693 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.10958757996559143, + -0.032052356749773026, + 0.01520918682217598 + ], + "orientation": [ + 0.4807228446006775, + 0.39780092239379883, + -0.6869856119155884, + 0.37243884801864624 + ], + "joints": [ + -0.0024961279705166817 + ] + }, + "final_grasp": { + "position": [ + 0.10958757996559143, + -0.032052356749773026, + 0.01520918682217598 + ], + "orientation": [ + 0.4807228446006775, + 0.39780092239379883, + -0.6869856119155884, + 0.37243884801864624 + ], + "joints": [ + 0.00443863682448864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08731795847415924, + 0.1526150107383728, + -0.017596490681171417 + ], + "orientation": [ + 0.22967234253883362, + -0.6516940593719482, + -0.34862953424453735, + -0.6332479119300842 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.08610135316848755, + 0.14947828650474548, + -0.016692213714122772 + ], + "orientation": [ + 0.228987455368042, + -0.6483253240585327, + -0.34263813495635986, + -0.6401859521865845 + ], + "joints": [ + -0.0025772349908947945 + ] + }, + "final_grasp": { + "position": [ + -0.08610135316848755, + 0.14947828650474548, + -0.016692213714122772 + ], + "orientation": [ + 0.228987455368042, + -0.6483253240585327, + -0.34263813495635986, + -0.6401859521865845 + ], + "joints": [ + 0.0048357900232076645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03215132653713226, + 0.06318354606628418, + 0.1195053905248642 + ], + "orientation": [ + 0.03314993530511856, + 0.16101151704788208, + -0.63606858253479, + 0.7539185285568237 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.031183773651719093, + 0.06143888086080551, + 0.11624131351709366 + ], + "orientation": [ + 0.024802450090646744, + 0.16534334421157837, + -0.6366773843765259, + 0.7527870535850525 + ], + "joints": [ + -0.003616335801780224 + ] + }, + "final_grasp": { + "position": [ + 0.031183773651719093, + 0.06143888086080551, + 0.11624131351709366 + ], + "orientation": [ + 0.024802450090646744, + 0.16534334421157837, + -0.6366773843765259, + 0.7527870535850525 + ], + "joints": [ + 0.0027870293706655502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024544471874833107, + 0.027544695883989334, + 0.11766412109136581 + ], + "orientation": [ + 0.022637998685240746, + 0.11423230916261673, + -0.7591803073883057, + 0.6403777599334717 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.02458256296813488, + 0.028206534683704376, + 0.11810528486967087 + ], + "orientation": [ + 0.012646052055060863, + 0.125410258769989, + -0.7589294910430908, + 0.6388570070266724 + ], + "joints": [ + -0.003557453863322735 + ] + }, + "final_grasp": { + "position": [ + 0.02458256296813488, + 0.028206534683704376, + 0.11810528486967087 + ], + "orientation": [ + 0.012646052055060863, + 0.125410258769989, + -0.7589294910430908, + 0.6388570070266724 + ], + "joints": [ + 0.0028459113091230392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12112133204936981, + 0.05435099080204964, + -0.011995218694210052 + ], + "orientation": [ + 0.42502903938293457, + 0.6214339137077332, + -0.4692750871181488, + 0.4614664316177368 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.1192815899848938, + 0.05235207453370094, + -0.011819654144346714 + ], + "orientation": [ + 0.415740966796875, + 0.6269294619560242, + -0.47803711891174316, + 0.4534309506416321 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + 0.1192815899848938, + 0.05235207453370094, + -0.011819654144346714 + ], + "orientation": [ + 0.415740966796875, + 0.6269294619560242, + -0.47803711891174316, + 0.4534309506416321 + ], + "joints": [ + 0.0017242301255464554 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2021, + "num_passed": 270 + } +} \ No newline at end of file diff --git a/071_can_2/Annotation/piper_grasp_pose.json b/071_can_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..444a193edbddd58b43767a9bbfbc758b1582aa99 --- /dev/null +++ b/071_can_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,12718 @@ +{ + "type": "071_can_2", + "bottom_center": [ + -2.600252628326416e-06, + 0.04753730073571205, + -0.0249643512070179 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.10072065144777298, + -0.022092415019869804, + -0.08338034152984619 + ], + "orientation": [ + 0.6691545844078064, + -0.4499408006668091, + -0.1256200671195984, + 0.5779317617416382 + ], + "joints": [ + 0.028169160708785057 + ] + }, + "fine_grasp": { + "position": [ + 0.09798428416252136, + -0.02150033600628376, + -0.08103601634502411 + ], + "orientation": [ + 0.6680539846420288, + -0.4470349848270416, + -0.12888292968273163, + 0.5807347297668457 + ], + "joints": [ + 0.01970556192100048 + ] + }, + "final_grasp": { + "position": [ + 0.09798428416252136, + -0.02150033600628376, + -0.08103601634502411 + ], + "orientation": [ + 0.6680539846420288, + -0.4470349848270416, + -0.12888292968273163, + 0.5807347297668457 + ], + "joints": [ + 0.011241963133215904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.062372591346502304, + 0.17904813587665558, + 0.015431482344865799 + ], + "orientation": [ + 0.02335844375193119, + -0.23178699612617493, + 0.6966347098350525, + -0.6785493493080139 + ], + "joints": [ + 0.028261786326766014 + ] + }, + "fine_grasp": { + "position": [ + -0.06024312227964401, + 0.17731857299804688, + 0.0147163774818182 + ], + "orientation": [ + 0.037195660173892975, + -0.23986725509166718, + 0.6968955397605896, + -0.6748456954956055 + ], + "joints": [ + 0.020257940515875816 + ] + }, + "final_grasp": { + "position": [ + -0.06024312227964401, + 0.17731857299804688, + 0.0147163774818182 + ], + "orientation": [ + 0.037195660173892975, + -0.23986725509166718, + 0.6968955397605896, + -0.6748456954956055 + ], + "joints": [ + 0.012254094704985619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04961185157299042, + 0.16503646969795227, + -0.07011935114860535 + ], + "orientation": [ + 0.7057706117630005, + 0.48121777176856995, + -0.08876452594995499, + 0.5122872591018677 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.04784976691007614, + 0.16331960260868073, + -0.06747990101575851 + ], + "orientation": [ + 0.706165075302124, + 0.4764691889286041, + -0.08243633806705475, + 0.5172159075737 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.04784976691007614, + 0.16331960260868073, + -0.06747990101575851 + ], + "orientation": [ + 0.706165075302124, + 0.4764691889286041, + -0.08243633806705475, + 0.5172159075737 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04984716325998306, + 0.16582225263118744, + -0.07100966572761536 + ], + "orientation": [ + 0.7035233378410339, + 0.48363974690437317, + -0.09632659703493118, + 0.5117311477661133 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.04795079678297043, + 0.1642754077911377, + -0.06829589605331421 + ], + "orientation": [ + 0.7045300006866455, + 0.4780777394771576, + -0.08864935487508774, + 0.5169337391853333 + ], + "joints": [ + 0.023820463567972183 + ] + }, + "final_grasp": { + "position": [ + -0.04795079678297043, + 0.1642754077911377, + -0.06829589605331421 + ], + "orientation": [ + 0.7045300006866455, + 0.4780777394771576, + -0.08864935487508774, + 0.5169337391853333 + ], + "joints": [ + 0.01541956141591072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04949181154370308, + 0.164916530251503, + -0.07038286328315735 + ], + "orientation": [ + 0.7065050005912781, + 0.4795266389846802, + -0.08792629092931747, + 0.5130048394203186 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.04767196252942085, + 0.16316792368888855, + -0.06781594455242157 + ], + "orientation": [ + 0.7073507308959961, + 0.4743180572986603, + -0.08175002038478851, + 0.5176815986633301 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.04767196252942085, + 0.16316792368888855, + -0.06781594455242157 + ], + "orientation": [ + 0.7073507308959961, + 0.4743180572986603, + -0.08175002038478851, + 0.5176815986633301 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04928463324904442, + 0.1656416654586792, + -0.07072518020868301 + ], + "orientation": [ + 0.7089369893074036, + 0.48006701469421387, + -0.08849845826625824, + 0.5090304613113403 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.047504786401987076, + 0.1638556867837906, + -0.06816700100898743 + ], + "orientation": [ + 0.7093157768249512, + 0.4753337800502777, + -0.08267445117235184, + 0.5139006972312927 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.047504786401987076, + 0.1638556867837906, + -0.06816700100898743 + ], + "orientation": [ + 0.7093157768249512, + 0.4753337800502777, + -0.08267445117235184, + 0.5139006972312927 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0019506745738908648, + 0.20383092761039734, + 0.001710421871393919 + ], + "orientation": [ + 0.626327395439148, + 0.6531617045402527, + 0.3301197290420532, + -0.2685416340827942 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.00213528610765934, + 0.20008274912834167, + 0.001970936544239521 + ], + "orientation": [ + 0.6294565796852112, + 0.6505569219589233, + 0.3246518671512604, + -0.2741556763648987 + ], + "joints": [ + 0.02319185435771942 + ] + }, + "final_grasp": { + "position": [ + -0.00213528610765934, + 0.20008274912834167, + 0.001970936544239521 + ], + "orientation": [ + 0.6294565796852112, + 0.6505569219589233, + 0.3246518671512604, + -0.2741556763648987 + ], + "joints": [ + 0.014393895864486694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04121093824505806, + 0.19282695651054382, + -0.007651167921721935 + ], + "orientation": [ + 0.7141053080558777, + 0.6856206059455872, + -0.058549147099256516, + -0.12864679098129272 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.03958161920309067, + 0.1900303065776825, + -0.007405990269035101 + ], + "orientation": [ + 0.7134278416633606, + 0.6843134760856628, + -0.06518061459064484, + -0.1359674483537674 + ], + "joints": [ + 0.02344430610537529 + ] + }, + "final_grasp": { + "position": [ + 0.03958161920309067, + 0.1900303065776825, + -0.007405990269035101 + ], + "orientation": [ + 0.7134278416633606, + 0.6843134760856628, + -0.06518061459064484, + -0.1359674483537674 + ], + "joints": [ + 0.014667246490716934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11210721731185913, + 0.15124677121639252, + -0.0073813218623399734 + ], + "orientation": [ + 0.28773239254951477, + -0.2551702558994293, + 0.6397665143013, + -0.6654298901557922 + ], + "joints": [ + 0.025575755164027214 + ] + }, + "fine_grasp": { + "position": [ + -0.10884447395801544, + 0.14987753331661224, + -0.006949577480554581 + ], + "orientation": [ + 0.292283833026886, + -0.2649032771587372, + 0.6369341015815735, + -0.662352979183197 + ], + "joints": [ + 0.017509212717413902 + ] + }, + "final_grasp": { + "position": [ + -0.10884447395801544, + 0.14987753331661224, + -0.006949577480554581 + ], + "orientation": [ + 0.292283833026886, + -0.2649032771587372, + 0.6369341015815735, + -0.662352979183197 + ], + "joints": [ + 0.00944267027080059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013868603855371475, + -0.10515738278627396, + 0.036392390727996826 + ], + "orientation": [ + 0.32755061984062195, + -0.4680994153022766, + 0.6268236637115479, + 0.5297975540161133 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.01347990520298481, + -0.10151056945323944, + 0.035358525812625885 + ], + "orientation": [ + 0.32193705439567566, + -0.47414565086364746, + 0.6293588876724243, + 0.5248332023620605 + ], + "joints": [ + 0.02323700487613678 + ] + }, + "final_grasp": { + "position": [ + 0.01347990520298481, + -0.10151056945323944, + 0.035358525812625885 + ], + "orientation": [ + 0.32193705439567566, + -0.47414565086364746, + 0.6293588876724243, + 0.5248332023620605 + ], + "joints": [ + 0.014021091163158417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04539075121283531, + -0.10776480287313461, + -0.029927711933851242 + ], + "orientation": [ + 0.3021273612976074, + -0.0944824069738388, + -0.6383007764816284, + -0.701686680316925 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + 0.04396987706422806, + -0.1044350415468216, + -0.02899315394461155 + ], + "orientation": [ + 0.30502593517303467, + -0.09143746644258499, + -0.636816143989563, + -0.702184796333313 + ], + "joints": [ + 0.020437458530068398 + ] + }, + "final_grasp": { + "position": [ + 0.04396987706422806, + -0.1044350415468216, + -0.02899315394461155 + ], + "orientation": [ + 0.30502593517303467, + -0.09143746644258499, + -0.636816143989563, + -0.702184796333313 + ], + "joints": [ + 0.011200645938515663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04568677768111229, + -0.10839461535215378, + -0.029905173927545547 + ], + "orientation": [ + 0.30121079087257385, + -0.0944879874587059, + -0.6389366984367371, + -0.701501190662384 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + 0.044271159917116165, + -0.10506530851125717, + -0.02895977720618248 + ], + "orientation": [ + 0.3040888011455536, + -0.09151482582092285, + -0.6375897526741028, + -0.7018792629241943 + ], + "joints": [ + 0.020414302125573158 + ] + }, + "final_grasp": { + "position": [ + 0.044271159917116165, + -0.10506530851125717, + -0.02895977720618248 + ], + "orientation": [ + 0.3040888011455536, + -0.09151482582092285, + -0.6375897526741028, + -0.7018792629241943 + ], + "joints": [ + 0.011177489534020424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11207211017608643, + 0.1513395458459854, + -0.007470589596778154 + ], + "orientation": [ + 0.28888261318206787, + -0.2547995150089264, + 0.6398988962173462, + -0.6649461984634399 + ], + "joints": [ + 0.025552598759531975 + ] + }, + "fine_grasp": { + "position": [ + -0.1087418720126152, + 0.14995788037776947, + -0.007031712215393782 + ], + "orientation": [ + 0.29387056827545166, + -0.26458558440208435, + 0.6368486285209656, + -0.6618597507476807 + ], + "joints": [ + 0.017486056312918663 + ] + }, + "final_grasp": { + "position": [ + -0.1087418720126152, + 0.14995788037776947, + -0.007031712215393782 + ], + "orientation": [ + 0.29387056827545166, + -0.26458558440208435, + 0.6368486285209656, + -0.6618597507476807 + ], + "joints": [ + 0.009419513866305351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11200296133756638, + 0.15124084055423737, + -0.00738609628751874 + ], + "orientation": [ + 0.2885332703590393, + -0.2553623616695404, + 0.6398025155067444, + -0.6649746894836426 + ], + "joints": [ + 0.025575755164027214 + ] + }, + "fine_grasp": { + "position": [ + -0.10871011018753052, + 0.1498587280511856, + -0.0069555905647575855 + ], + "orientation": [ + 0.29320070147514343, + -0.2649834156036377, + 0.6369010806083679, + -0.6619473695755005 + ], + "joints": [ + 0.017509212717413902 + ] + }, + "final_grasp": { + "position": [ + -0.10871011018753052, + 0.1498587280511856, + -0.0069555905647575855 + ], + "orientation": [ + 0.29320070147514343, + -0.2649834156036377, + 0.6369010806083679, + -0.6619473695755005 + ], + "joints": [ + 0.00944267027080059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1188238188624382, + 0.09037058800458908, + 0.0781402438879013 + ], + "orientation": [ + 0.3906300961971283, + 0.655413031578064, + -0.5833374857902527, + -0.27849462628364563 + ], + "joints": [ + 0.028192317113280296 + ] + }, + "fine_grasp": { + "position": [ + 0.11568459868431091, + 0.08990823477506638, + 0.0761973187327385 + ], + "orientation": [ + 0.38838550448417664, + 0.6546456813812256, + -0.5847975611686707, + -0.2803705036640167 + ], + "joints": [ + 0.01972871832549572 + ] + }, + "final_grasp": { + "position": [ + 0.11568459868431091, + 0.08990823477506638, + 0.0761973187327385 + ], + "orientation": [ + 0.38838550448417664, + 0.6546456813812256, + -0.5847975611686707, + -0.2803705036640167 + ], + "joints": [ + 0.011265119537711143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11880609393119812, + 0.09043939411640167, + 0.07813115417957306 + ], + "orientation": [ + 0.38997942209243774, + 0.6554979681968689, + -0.5833218097686768, + -0.2792385220527649 + ], + "joints": [ + 0.028192317113280296 + ] + }, + "fine_grasp": { + "position": [ + 0.11569742113351822, + 0.08999404311180115, + 0.07620751112699509 + ], + "orientation": [ + 0.38743042945861816, + 0.6549579501152039, + -0.5848178267478943, + -0.2809198498725891 + ], + "joints": [ + 0.01972871832549572 + ] + }, + "final_grasp": { + "position": [ + 0.11569742113351822, + 0.08999404311180115, + 0.07620751112699509 + ], + "orientation": [ + 0.38743042945861816, + 0.6549579501152039, + -0.5848178267478943, + -0.2809198498725891 + ], + "joints": [ + 0.011265119537711143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009636753238737583, + 0.13640353083610535, + -0.11139234900474548 + ], + "orientation": [ + 0.694351077079773, + 0.2414579540491104, + 0.27125027775764465, + -0.6212874054908752 + ], + "joints": [ + 0.02865542657673359 + ] + }, + "fine_grasp": { + "position": [ + -0.009510336443781853, + 0.1355089396238327, + -0.10797124356031418 + ], + "orientation": [ + 0.6958873867988586, + 0.23710377514362335, + 0.26672857999801636, + -0.6232001781463623 + ], + "joints": [ + 0.020191827788949013 + ] + }, + "final_grasp": { + "position": [ + -0.009510336443781853, + 0.1355089396238327, + -0.10797124356031418 + ], + "orientation": [ + 0.6958873867988586, + 0.23710377514362335, + 0.26672857999801636, + -0.6232001781463623 + ], + "joints": [ + 0.011728229001164436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11915653198957443, + 0.08585850894451141, + 0.07129158824682236 + ], + "orientation": [ + 0.3731846511363983, + 0.5526664853096008, + -0.6757497191429138, + -0.31409454345703125 + ], + "joints": [ + 0.02983635663986206 + ] + }, + "fine_grasp": { + "position": [ + 0.11602645367383957, + 0.08564826846122742, + 0.0693851038813591 + ], + "orientation": [ + 0.37511008977890015, + 0.5553645491600037, + -0.6747685670852661, + -0.309111624956131 + ], + "joints": [ + 0.02018158882856369 + ] + }, + "final_grasp": { + "position": [ + 0.11602645367383957, + 0.08564826846122742, + 0.0693851038813591 + ], + "orientation": [ + 0.37511008977890015, + 0.5553645491600037, + -0.6747685670852661, + -0.309111624956131 + ], + "joints": [ + 0.01052682101726532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11218294501304626, + 0.15129074454307556, + -0.007473628036677837 + ], + "orientation": [ + 0.2870197892189026, + -0.25452592968940735, + 0.6398130059242249, + -0.6659396290779114 + ], + "joints": [ + 0.02511264570057392 + ] + }, + "fine_grasp": { + "position": [ + -0.10883388668298721, + 0.14993610978126526, + -0.00704943249002099 + ], + "orientation": [ + 0.29205283522605896, + -0.2645162045955658, + 0.6368194818496704, + -0.6627196073532104 + ], + "joints": [ + 0.017464058473706245 + ] + }, + "final_grasp": { + "position": [ + -0.10883388668298721, + 0.14993610978126526, + -0.00704943249002099 + ], + "orientation": [ + 0.29205283522605896, + -0.2645162045955658, + 0.6368194818496704, + -0.6627196073532104 + ], + "joints": [ + 0.00981547124683857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08793484419584274, + 0.030582116916775703, + -0.11259310692548752 + ], + "orientation": [ + 0.6241289973258972, + 0.1680804044008255, + 0.29146483540534973, + 0.705166757106781 + ], + "joints": [ + 0.02779867686331272 + ] + }, + "fine_grasp": { + "position": [ + -0.08575708419084549, + 0.030837595462799072, + -0.10960621386766434 + ], + "orientation": [ + 0.6241094470024109, + 0.17033278942108154, + 0.2905566692352295, + 0.7050184011459351 + ], + "joints": [ + 0.01893802173435688 + ] + }, + "final_grasp": { + "position": [ + -0.08575708419084549, + 0.030837595462799072, + -0.10960621386766434 + ], + "orientation": [ + 0.6241094470024109, + 0.17033278942108154, + 0.2905566692352295, + 0.7050184011459351 + ], + "joints": [ + 0.010077366605401039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0726938545703888, + -0.0689551904797554, + 0.056047286838293076 + ], + "orientation": [ + 0.040585409849882126, + 0.4522327780723572, + -0.711156964302063, + -0.5367438197135925 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.07030829042196274, + -0.06651312857866287, + 0.05455661565065384 + ], + "orientation": [ + 0.04613246023654938, + 0.4558378756046295, + -0.7114661931991577, + -0.5328221917152405 + ], + "joints": [ + 0.02346630021929741 + ] + }, + "final_grasp": { + "position": [ + 0.07030829042196274, + -0.06651312857866287, + 0.05455661565065384 + ], + "orientation": [ + 0.04613246023654938, + 0.4558378756046295, + -0.7114661931991577, + -0.5328221917152405 + ], + "joints": [ + 0.014271285384893417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0031355260871350765, + 0.2041766345500946, + -0.00898718275129795 + ], + "orientation": [ + 0.05011769384145737, + 0.03393854945898056, + 0.6788163781166077, + -0.7318091988563538 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.0029546134173870087, + 0.2003127932548523, + -0.008565038442611694 + ], + "orientation": [ + 0.04762839898467064, + 0.03629692271351814, + 0.6799663305282593, + -0.7307940125465393 + ], + "joints": [ + 0.023511450737714767 + ] + }, + "final_grasp": { + "position": [ + 0.0029546134173870087, + 0.2003127932548523, + -0.008565038442611694 + ], + "orientation": [ + 0.04762839898467064, + 0.03629692271351814, + 0.6799663305282593, + -0.7307940125465393 + ], + "joints": [ + 0.01389848068356514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07305189222097397, + -0.06851882487535477, + 0.05587688088417053 + ], + "orientation": [ + 0.03612136095762253, + 0.45717763900756836, + -0.7065273523330688, + -0.538983166217804 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.07057033479213715, + -0.06616915762424469, + 0.054472461342811584 + ], + "orientation": [ + 0.04372468590736389, + 0.4607565701007843, + -0.7079549431800842, + -0.5334710478782654 + ], + "joints": [ + 0.02344430610537529 + ] + }, + "final_grasp": { + "position": [ + 0.07057033479213715, + -0.06616915762424469, + 0.054472461342811584 + ], + "orientation": [ + 0.04372468590736389, + 0.4607565701007843, + -0.7079549431800842, + -0.5334710478782654 + ], + "joints": [ + 0.014667246490716934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00471452483907342, + 0.20815470814704895, + -0.0048851980827748775 + ], + "orientation": [ + 0.7144893407821655, + 0.6854793429374695, + -0.026546074077486992, + 0.1375436782836914 + ], + "joints": [ + 0.030623646453022957 + ] + }, + "fine_grasp": { + "position": [ + -0.0049547781236469746, + 0.2043846845626831, + -0.004641771782189608 + ], + "orientation": [ + 0.7156839370727539, + 0.6854807734489441, + -0.03207128122448921, + 0.1299390345811844 + ], + "joints": [ + 0.021407732740044594 + ] + }, + "final_grasp": { + "position": [ + -0.0049547781236469746, + 0.2043846845626831, + -0.004641771782189608 + ], + "orientation": [ + 0.7156839370727539, + 0.6854807734489441, + -0.03207128122448921, + 0.1299390345811844 + ], + "joints": [ + 0.01219181902706623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10499833524227142, + 0.16281116008758545, + -0.010330606251955032 + ], + "orientation": [ + 0.2607009708881378, + -0.37092727422714233, + -0.5714230537414551, + 0.6840494871139526 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.10221840441226959, + 0.16018131375312805, + -0.009944855235517025 + ], + "orientation": [ + 0.26053932309150696, + -0.36692988872528076, + -0.5772258639335632, + 0.6813897490501404 + ], + "joints": [ + 0.022330529987812042 + ] + }, + "final_grasp": { + "position": [ + 0.10221840441226959, + 0.16018131375312805, + -0.009944855235517025 + ], + "orientation": [ + 0.26053932309150696, + -0.36692988872528076, + -0.5772258639335632, + 0.6813897490501404 + ], + "joints": [ + 0.012717559933662415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10461843758821487, + 0.16355590522289276, + -0.01058061234652996 + ], + "orientation": [ + 0.2610069811344147, + -0.3755328059196472, + -0.5684055089950562, + 0.6839338541030884 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + 0.10183237493038177, + 0.16090267896652222, + -0.010084257461130619 + ], + "orientation": [ + 0.2595096528530121, + -0.37035873532295227, + -0.5733770728111267, + 0.6831747889518738 + ], + "joints": [ + 0.022684693336486816 + ] + }, + "final_grasp": { + "position": [ + 0.10183237493038177, + 0.16090267896652222, + -0.010084257461130619 + ], + "orientation": [ + 0.2595096528530121, + -0.37035873532295227, + -0.5733770728111267, + 0.6831747889518738 + ], + "joints": [ + 0.013865835964679718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08784438669681549, + 0.030537892132997513, + -0.11240683495998383 + ], + "orientation": [ + 0.6238542199134827, + 0.16865447163581848, + 0.2911315858364105, + 0.7054105401039124 + ], + "joints": [ + 0.02779867686331272 + ] + }, + "fine_grasp": { + "position": [ + -0.08566422760486603, + 0.03080226294696331, + -0.10939649492502213 + ], + "orientation": [ + 0.6238304376602173, + 0.1709679216146469, + 0.2902229428291321, + 0.705249011516571 + ], + "joints": [ + 0.01893802173435688 + ] + }, + "final_grasp": { + "position": [ + -0.08566422760486603, + 0.03080226294696331, + -0.10939649492502213 + ], + "orientation": [ + 0.6238304376602173, + 0.1709679216146469, + 0.2902229428291321, + 0.705249011516571 + ], + "joints": [ + 0.010077366605401039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10144168138504028, + 0.15989245474338531, + -0.05657190829515457 + ], + "orientation": [ + 0.4253165125846863, + -0.2054152935743332, + -0.5052220821380615, + 0.7222610712051392 + ], + "joints": [ + 0.029604801908135414 + ] + }, + "fine_grasp": { + "position": [ + 0.09873872995376587, + 0.1577688753604889, + -0.05504165217280388 + ], + "orientation": [ + 0.4263855516910553, + -0.20499040186405182, + -0.5065489411354065, + 0.7208206057548523 + ], + "joints": [ + 0.019950034096837044 + ] + }, + "final_grasp": { + "position": [ + 0.09873872995376587, + 0.1577688753604889, + -0.05504165217280388 + ], + "orientation": [ + 0.4263855516910553, + -0.20499040186405182, + -0.5065489411354065, + 0.7208206057548523 + ], + "joints": [ + 0.010295266285538673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04498466104269028, + 0.2025873214006424, + 0.006485774181783199 + ], + "orientation": [ + 0.05658329650759697, + -0.25994062423706055, + -0.6854444742202759, + 0.6777869462966919 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + 0.04417599365115166, + 0.19878606498241425, + 0.006689582485705614 + ], + "orientation": [ + 0.05181533098220825, + -0.2536610960960388, + -0.6883467435836792, + 0.6776061654090881 + ], + "joints": [ + 0.021061554551124573 + ] + }, + "final_grasp": { + "position": [ + 0.04417599365115166, + 0.19878606498241425, + 0.006689582485705614 + ], + "orientation": [ + 0.05181533098220825, + -0.2536610960960388, + -0.6883467435836792, + 0.6776061654090881 + ], + "joints": [ + 0.012263596057891846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00451562600210309, + 0.20847047865390778, + -0.004975348711013794 + ], + "orientation": [ + 0.7149916291236877, + 0.6843810677528381, + -0.02490862086415291, + 0.14067351818084717 + ], + "joints": [ + 0.030160536989569664 + ] + }, + "fine_grasp": { + "position": [ + -0.0048183719627559185, + 0.20465806126594543, + -0.004788191057741642 + ], + "orientation": [ + 0.7161394953727722, + 0.6845312714576721, + -0.03112943097949028, + 0.13263536989688873 + ], + "joints": [ + 0.0209446232765913 + ] + }, + "final_grasp": { + "position": [ + -0.0048183719627559185, + 0.20465806126594543, + -0.004788191057741642 + ], + "orientation": [ + 0.7161394953727722, + 0.6845312714576721, + -0.03112943097949028, + 0.13263536989688873 + ], + "joints": [ + 0.011728709563612938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06482814997434616, + -0.08896376937627792, + 0.0667700469493866 + ], + "orientation": [ + 0.09117629379034042, + -0.5442911386489868, + 0.6510016918182373, + 0.5211820602416992 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.06313574314117432, + -0.08595526218414307, + 0.06525685638189316 + ], + "orientation": [ + 0.08948706090450287, + -0.5451191067695618, + 0.6521191000938416, + 0.5192091464996338 + ], + "joints": [ + 0.02173531986773014 + ] + }, + "final_grasp": { + "position": [ + 0.06313574314117432, + -0.08595526218414307, + 0.06525685638189316 + ], + "orientation": [ + 0.08948706090450287, + -0.5451191067695618, + 0.6521191000938416, + 0.5192091464996338 + ], + "joints": [ + 0.012916462495923042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08245718479156494, + -0.07474468648433685, + 0.06375634670257568 + ], + "orientation": [ + 0.5133327841758728, + -0.7232405543327332, + -0.4543812572956085, + 0.08336813747882843 + ], + "joints": [ + 0.03171194717288017 + ] + }, + "fine_grasp": { + "position": [ + 0.0803765207529068, + -0.07197937369346619, + 0.06211056560277939 + ], + "orientation": [ + 0.5144104361534119, + -0.7224647998809814, + -0.454708069562912, + 0.08165298402309418 + ], + "joints": [ + 0.02249603345990181 + ] + }, + "final_grasp": { + "position": [ + 0.0803765207529068, + -0.07197937369346619, + 0.06211056560277939 + ], + "orientation": [ + 0.5144104361534119, + -0.7224647998809814, + -0.454708069562912, + 0.08165298402309418 + ], + "joints": [ + 0.013280119746923447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06485876441001892, + -0.08910641819238663, + 0.06650100648403168 + ], + "orientation": [ + 0.0887959748506546, + -0.5455105900764465, + 0.6512697339057922, + 0.5199819803237915 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.06315995752811432, + -0.08608929812908173, + 0.06503185629844666 + ], + "orientation": [ + 0.0878615528345108, + -0.545497715473175, + 0.6522351503372192, + 0.5189430117607117 + ], + "joints": [ + 0.02173531986773014 + ] + }, + "final_grasp": { + "position": [ + 0.06315995752811432, + -0.08608929812908173, + 0.06503185629844666 + ], + "orientation": [ + 0.0878615528345108, + -0.545497715473175, + 0.6522351503372192, + 0.5189430117607117 + ], + "joints": [ + 0.012916462495923042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1003999412059784, + 0.16982607543468475, + 0.013015453703701496 + ], + "orientation": [ + 0.6190617084503174, + 0.6723085045814514, + -0.3080902099609375, + -0.2642807960510254 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + 0.09744855016469955, + 0.16785670816898346, + 0.01261437963694334 + ], + "orientation": [ + 0.6178707480430603, + 0.669948935508728, + -0.31240609288215637, + -0.2679675221443176 + ], + "joints": [ + 0.021802470088005066 + ] + }, + "final_grasp": { + "position": [ + 0.09744855016469955, + 0.16785670816898346, + 0.01261437963694334 + ], + "orientation": [ + 0.6178707480430603, + 0.669948935508728, + -0.31240609288215637, + -0.2679675221443176 + ], + "joints": [ + 0.012147702276706696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009678352624177933, + 0.13669954240322113, + -0.11152467876672745 + ], + "orientation": [ + 0.6959660053253174, + 0.24048008024692535, + 0.26988485455513, + -0.6204536557197571 + ], + "joints": [ + 0.02865542657673359 + ] + }, + "fine_grasp": { + "position": [ + -0.009550766088068485, + 0.13582640886306763, + -0.10820633172988892 + ], + "orientation": [ + 0.6974393725395203, + 0.23628801107406616, + 0.26545828580856323, + -0.622316837310791 + ], + "joints": [ + 0.020191827788949013 + ] + }, + "final_grasp": { + "position": [ + -0.009550766088068485, + 0.13582640886306763, + -0.10820633172988892 + ], + "orientation": [ + 0.6974393725395203, + 0.23628801107406616, + 0.26545828580856323, + -0.622316837310791 + ], + "joints": [ + 0.011728229001164436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0190537478774786, + 0.20666395127773285, + -0.021776216104626656 + ], + "orientation": [ + 0.21452696621418, + 0.22469332814216614, + -0.5872019529342651, + 0.7474523782730103 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.01815694198012352, + 0.2030450403690338, + -0.021091831848025322 + ], + "orientation": [ + 0.21216721832752228, + 0.22798842191696167, + -0.5906643867492676, + 0.7443937659263611 + ], + "joints": [ + 0.022331692278385162 + ] + }, + "final_grasp": { + "position": [ + -0.01815694198012352, + 0.2030450403690338, + -0.021091831848025322 + ], + "orientation": [ + 0.21216721832752228, + 0.22798842191696167, + -0.5906643867492676, + 0.7443937659263611 + ], + "joints": [ + 0.01313667744398117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025449952110648155, + 0.20114344358444214, + 0.0079596396535635 + ], + "orientation": [ + 0.18223099410533905, + 0.41930899024009705, + 0.6401108503341675, + -0.6174381971359253 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + 0.025131242349743843, + 0.19744651019573212, + 0.008627276867628098 + ], + "orientation": [ + 0.18783186376094818, + 0.4136480689048767, + 0.6386311054229736, + -0.6210997104644775 + ], + "joints": [ + 0.020158492028713226 + ] + }, + "final_grasp": { + "position": [ + 0.025131242349743843, + 0.19744651019573212, + 0.008627276867628098 + ], + "orientation": [ + 0.18783186376094818, + 0.4136480689048767, + 0.6386311054229736, + -0.6210997104644775 + ], + "joints": [ + 0.0113605335354805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006524549797177315, + 0.2185104787349701, + -0.008169547654688358 + ], + "orientation": [ + 0.0026510548777878284, + 0.025419097393751144, + -0.6848874688148499, + 0.7282005548477173 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + 0.006104378495365381, + 0.21444003283977509, + -0.008010003715753555 + ], + "orientation": [ + 0.006913807243108749, + 0.02130950056016445, + -0.6857556104660034, + 0.7274870872497559 + ], + "joints": [ + 0.01994783617556095 + ] + }, + "final_grasp": { + "position": [ + 0.006104378495365381, + 0.21444003283977509, + -0.008010003715753555 + ], + "orientation": [ + 0.006913807243108749, + 0.02130950056016445, + -0.6857556104660034, + 0.7274870872497559 + ], + "joints": [ + 0.011170776560902596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006471356842666864, + 0.21849602460861206, + -0.007917862385511398 + ], + "orientation": [ + 0.0026514295022934675, + 0.026026364415884018, + -0.6852169036865234, + 0.7278690338134766 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + 0.006010150071233511, + 0.21450361609458923, + -0.0076707894913852215 + ], + "orientation": [ + 0.007184016518294811, + 0.021761564537882805, + -0.6858363747596741, + 0.7273948788642883 + ], + "joints": [ + 0.019529880955815315 + ] + }, + "final_grasp": { + "position": [ + 0.006010150071233511, + 0.21450361609458923, + -0.0076707894913852215 + ], + "orientation": [ + 0.007184016518294811, + 0.021761564537882805, + -0.6858363747596741, + 0.7273948788642883 + ], + "joints": [ + 0.010334866121411324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11973750591278076, + 0.08876734226942062, + 0.03368794545531273 + ], + "orientation": [ + 0.3770163357257843, + -0.6005784869194031, + 0.5291081070899963, + -0.46605679392814636 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.11616484820842743, + 0.08818031847476959, + 0.03265229985117912 + ], + "orientation": [ + 0.3737927973270416, + -0.5938885807991028, + 0.534820556640625, + -0.47068294882774353 + ], + "joints": [ + 0.023026350885629654 + ] + }, + "final_grasp": { + "position": [ + -0.11616484820842743, + 0.08818031847476959, + 0.03265229985117912 + ], + "orientation": [ + 0.3737927973270416, + -0.5938885807991028, + 0.534820556640625, + -0.47068294882774353 + ], + "joints": [ + 0.013831336051225662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0021709499415010214, + -0.11968714743852615, + -0.006385306362062693 + ], + "orientation": [ + 0.07630059868097305, + -0.11610330641269684, + -0.6842378377914429, + -0.7159028649330139 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.002165694022551179, + -0.11573527753353119, + -0.0060864598490297794 + ], + "orientation": [ + 0.07774962484836578, + -0.11382445693016052, + -0.6842984557151794, + -0.7160549759864807 + ], + "joints": [ + 0.02340025082230568 + ] + }, + "final_grasp": { + "position": [ + -0.002165694022551179, + -0.11573527753353119, + -0.0060864598490297794 + ], + "orientation": [ + 0.07774962484836578, + -0.11382445693016052, + -0.6842984557151794, + -0.7160549759864807 + ], + "joints": [ + 0.014602292329072952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11883781850337982, + 0.048528462648391724, + -0.05465349182486534 + ], + "orientation": [ + 0.5349687337875366, + 0.3319748342037201, + 0.42986810207366943, + 0.6471588015556335 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + -0.11532607674598694, + 0.048776861280202866, + -0.05298100784420967 + ], + "orientation": [ + 0.5356552600860596, + 0.33455920219421387, + 0.4278072714805603, + 0.6466253995895386 + ], + "joints": [ + 0.023587748408317566 + ] + }, + "final_grasp": { + "position": [ + -0.11532607674598694, + 0.048776861280202866, + -0.05298100784420967 + ], + "orientation": [ + 0.5356552600860596, + 0.33455920219421387, + 0.4278072714805603, + 0.6466253995895386 + ], + "joints": [ + 0.014768891036510468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05463917553424835, + 0.05356690287590027, + -0.1312471479177475 + ], + "orientation": [ + 0.6977588534355164, + -0.13640499114990234, + -0.12852361798286438, + 0.6913811564445496 + ], + "joints": [ + 0.03082047775387764 + ] + }, + "fine_grasp": { + "position": [ + 0.052681464701890945, + 0.05358158051967621, + -0.1279129534959793 + ], + "orientation": [ + 0.6968634724617004, + -0.14094559848308563, + -0.13334643840789795, + 0.6904594898223877 + ], + "joints": [ + 0.020789552479982376 + ] + }, + "final_grasp": { + "position": [ + 0.052681464701890945, + 0.05358158051967621, + -0.1279129534959793 + ], + "orientation": [ + 0.6968634724617004, + -0.14094559848308563, + -0.13334643840789795, + 0.6904594898223877 + ], + "joints": [ + 0.010758627206087112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04361770302057266, + 0.16194744408130646, + -0.08648225665092468 + ], + "orientation": [ + 0.6457687020301819, + 0.3854372799396515, + -0.12417933344841003, + 0.6473024487495422 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.04223690554499626, + 0.15972253680229187, + -0.08364717662334442 + ], + "orientation": [ + 0.6462372541427612, + 0.38403990864753723, + -0.12337248027324677, + 0.6478193402290344 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + -0.04223690554499626, + 0.15972253680229187, + -0.08364717662334442 + ], + "orientation": [ + 0.6462372541427612, + 0.38403990864753723, + -0.12337248027324677, + 0.6478193402290344 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1373828798532486, + 0.10227855294942856, + -0.006160913500934839 + ], + "orientation": [ + 0.47402423620224, + -0.48686423897743225, + -0.4904170632362366, + 0.5456694960594177 + ], + "joints": [ + 0.027752364054322243 + ] + }, + "fine_grasp": { + "position": [ + 0.13367398083209991, + 0.10158601403236389, + -0.005855535622686148 + ], + "orientation": [ + 0.4717426896095276, + -0.4856403172016144, + -0.49073299765586853, + 0.5484463572502136 + ], + "joints": [ + 0.01851555146276951 + ] + }, + "final_grasp": { + "position": [ + 0.13367398083209991, + 0.10158601403236389, + -0.005855535622686148 + ], + "orientation": [ + 0.4717426896095276, + -0.4856403172016144, + -0.49073299765586853, + 0.5484463572502136 + ], + "joints": [ + 0.009278738871216774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1373445987701416, + 0.10223957896232605, + -0.006189316511154175 + ], + "orientation": [ + 0.47446155548095703, + -0.48654139041900635, + -0.49059832096099854, + 0.5454144477844238 + ], + "joints": [ + 0.027752364054322243 + ] + }, + "fine_grasp": { + "position": [ + 0.13363611698150635, + 0.10155945271253586, + -0.005881089251488447 + ], + "orientation": [ + 0.4722949266433716, + -0.4853324890136719, + -0.4908449053764343, + 0.5481433272361755 + ], + "joints": [ + 0.01851555146276951 + ] + }, + "final_grasp": { + "position": [ + 0.13363611698150635, + 0.10155945271253586, + -0.005881089251488447 + ], + "orientation": [ + 0.4722949266433716, + -0.4853324890136719, + -0.4908449053764343, + 0.5481433272361755 + ], + "joints": [ + 0.009278738871216774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11888648569583893, + 0.04851633310317993, + -0.05448340252041817 + ], + "orientation": [ + 0.5350184440612793, + 0.3327389359474182, + 0.429849237203598, + 0.6467377543449402 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.11538482457399368, + 0.04879982769489288, + -0.05280371382832527 + ], + "orientation": [ + 0.5354927778244019, + 0.3351544141769409, + 0.42817461490631104, + 0.6462087035179138 + ], + "joints": [ + 0.023797307163476944 + ] + }, + "final_grasp": { + "position": [ + -0.11538482457399368, + 0.04879982769489288, + -0.05280371382832527 + ], + "orientation": [ + 0.5354927778244019, + 0.3351544141769409, + 0.42817461490631104, + 0.6462087035179138 + ], + "joints": [ + 0.015396405011415482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07872791588306427, + -0.07713686674833298, + 0.01716129668056965 + ], + "orientation": [ + 0.27478647232055664, + 0.285990446805954, + -0.6990737318992615, + -0.5949770212173462 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.07711665332317352, + -0.07372616976499557, + 0.01651737652719021 + ], + "orientation": [ + 0.2638483941555023, + 0.27794042229652405, + -0.7018244862556458, + -0.6004794239997864 + ], + "joints": [ + 0.02174823358654976 + ] + }, + "final_grasp": { + "position": [ + 0.07711665332317352, + -0.07372616976499557, + 0.01651737652719021 + ], + "orientation": [ + 0.2638483941555023, + 0.27794042229652405, + -0.7018244862556458, + -0.6004794239997864 + ], + "joints": [ + 0.011738207191228867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024907710030674934, + -0.11046087741851807, + -0.04270148277282715 + ], + "orientation": [ + 0.7512422204017639, + -0.5635851621627808, + -0.09852957725524902, + -0.32908788323402405 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.02454238198697567, + -0.10679253190755844, + -0.04148733988404274 + ], + "orientation": [ + 0.7506400942802429, + -0.5645409226417542, + -0.10175994783639908, + -0.32783815264701843 + ], + "joints": [ + 0.023565754294395447 + ] + }, + "final_grasp": { + "position": [ + -0.02454238198697567, + -0.10679253190755844, + -0.04148733988404274 + ], + "orientation": [ + 0.7506400942802429, + -0.5645409226417542, + -0.10175994783639908, + -0.32783815264701843 + ], + "joints": [ + 0.015164852142333984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07832177728414536, + 0.1400107890367508, + -0.08285892009735107 + ], + "orientation": [ + 0.6206520199775696, + -0.048385392874479294, + 0.42906510829925537, + -0.6544867753982544 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.07590193301439285, + 0.13860933482646942, + -0.08005104959011078 + ], + "orientation": [ + 0.6245938539505005, + -0.050215546041727066, + 0.4266585111618042, + -0.6521683931350708 + ], + "joints": [ + 0.02426041290163994 + ] + }, + "final_grasp": { + "position": [ + -0.07590193301439285, + 0.13860933482646942, + -0.08005104959011078 + ], + "orientation": [ + 0.6245938539505005, + -0.050215546041727066, + 0.4266585111618042, + -0.6521683931350708 + ], + "joints": [ + 0.015859510749578476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07459735870361328, + -0.06257294863462448, + -0.07269124686717987 + ], + "orientation": [ + 0.416435182094574, + 0.030560165643692017, + 0.5062682628631592, + 0.7545464038848877 + ], + "joints": [ + 0.02779867686331272 + ] + }, + "fine_grasp": { + "position": [ + -0.07242392003536224, + -0.061410482972860336, + -0.07049043476581573 + ], + "orientation": [ + 0.41823717951774597, + 0.0382818877696991, + 0.5039933323860168, + 0.7547204494476318 + ], + "joints": [ + 0.019376875832676888 + ] + }, + "final_grasp": { + "position": [ + -0.07242392003536224, + -0.061410482972860336, + -0.07049043476581573 + ], + "orientation": [ + 0.41823717951774597, + 0.0382818877696991, + 0.5039933323860168, + 0.7547204494476318 + ], + "joints": [ + 0.010955074802041054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04561059549450874, + 0.18989621102809906, + 0.013322804123163223 + ], + "orientation": [ + 0.05204227939248085, + 0.2290598452091217, + 0.6889788508415222, + -0.6856613159179688 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + 0.04419611021876335, + 0.18737687170505524, + 0.012587406672537327 + ], + "orientation": [ + 0.04303501918911934, + 0.24101032316684723, + 0.688829243183136, + -0.6823315024375916 + ], + "joints": [ + 0.021713322028517723 + ] + }, + "final_grasp": { + "position": [ + 0.04419611021876335, + 0.18737687170505524, + 0.012587406672537327 + ], + "orientation": [ + 0.04303501918911934, + 0.24101032316684723, + 0.688829243183136, + -0.6823315024375916 + ], + "joints": [ + 0.01331241987645626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12968917191028595, + 0.017194563522934914, + 0.005171616096049547 + ], + "orientation": [ + 0.4486945867538452, + 0.6001517176628113, + -0.4154652953147888, + -0.5156353116035461 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + 0.12590834498405457, + 0.017810743302106857, + 0.0052228267304599285 + ], + "orientation": [ + 0.443661093711853, + 0.5944405794143677, + -0.42152148485183716, + -0.5216558575630188 + ], + "joints": [ + 0.022244742140173912 + ] + }, + "final_grasp": { + "position": [ + 0.12590834498405457, + 0.017810743302106857, + 0.0052228267304599285 + ], + "orientation": [ + 0.443661093711853, + 0.5944405794143677, + -0.42152148485183716, + -0.5216558575630188 + ], + "joints": [ + 0.013425884768366814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05994301289319992, + -0.04714467376470566, + -0.11102451384067535 + ], + "orientation": [ + 0.7691347002983093, + -0.30787530541419983, + -0.065920390188694, + 0.5561466217041016 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + 0.05837826430797577, + -0.04524613916873932, + -0.10825978964567184 + ], + "orientation": [ + 0.7685213685035706, + -0.310617595911026, + -0.06462228298187256, + 0.5556219220161438 + ], + "joints": [ + 0.020831098780035973 + ] + }, + "final_grasp": { + "position": [ + 0.05837826430797577, + -0.04524613916873932, + -0.10825978964567184 + ], + "orientation": [ + 0.7685213685035706, + -0.310617595911026, + -0.06462228298187256, + 0.5556219220161438 + ], + "joints": [ + 0.011594286188483238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02466760389506817, + 0.1888347864151001, + -0.04746468737721443 + ], + "orientation": [ + 0.34387221932411194, + 0.16794897615909576, + -0.5586299896240234, + 0.7358515858650208 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.023584436625242233, + 0.18625806272029877, + -0.04595169425010681 + ], + "orientation": [ + 0.34674715995788574, + 0.16423752903938293, + -0.5574853420257568, + 0.7362082004547119 + ], + "joints": [ + 0.023003194481134415 + ] + }, + "final_grasp": { + "position": [ + 0.023584436625242233, + 0.18625806272029877, + -0.04595169425010681 + ], + "orientation": [ + 0.34674715995788574, + 0.16423752903938293, + -0.5574853420257568, + 0.7362082004547119 + ], + "joints": [ + 0.013808179646730423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009050034917891026, + -0.11121895909309387, + -0.048089396208524704 + ], + "orientation": [ + 0.40567803382873535, + -0.30245110392570496, + 0.4699368476867676, + 0.7232620120048523 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.008606310933828354, + -0.10761673748493195, + -0.04682014882564545 + ], + "orientation": [ + 0.4066578447818756, + -0.3032507598400116, + 0.4701644778251648, + 0.7222282290458679 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + 0.008606310933828354, + -0.10761673748493195, + -0.04682014882564545 + ], + "orientation": [ + 0.4066578447818756, + -0.3032507598400116, + 0.4701644778251648, + 0.7222282290458679 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00869689416140318, + -0.11150522530078888, + -0.048282064497470856 + ], + "orientation": [ + 0.40422728657722473, + -0.3037838339805603, + 0.4717021584510803, + 0.7223659753799438 + ], + "joints": [ + 0.03215189650654793 + ] + }, + "fine_grasp": { + "position": [ + 0.008196928538382053, + -0.10790502279996872, + -0.046979185193777084 + ], + "orientation": [ + 0.40544411540031433, + -0.3045952022075653, + 0.47222405672073364, + 0.7210001349449158 + ], + "joints": [ + 0.02333303913474083 + ] + }, + "final_grasp": { + "position": [ + 0.008196928538382053, + -0.10790502279996872, + -0.046979185193777084 + ], + "orientation": [ + 0.40544411540031433, + -0.3045952022075653, + 0.47222405672073364, + 0.7210001349449158 + ], + "joints": [ + 0.014514181762933731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07868582010269165, + -0.07694955170154572, + 0.017170928418636322 + ], + "orientation": [ + 0.27498266100883484, + 0.2867366075515747, + -0.6989123821258545, + -0.5947169065475464 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.07703655958175659, + -0.07354926317930222, + 0.016555652022361755 + ], + "orientation": [ + 0.2645183205604553, + 0.2787068486213684, + -0.7013754844665527, + -0.6003540754318237 + ], + "joints": [ + 0.02174823358654976 + ] + }, + "final_grasp": { + "position": [ + 0.07703655958175659, + -0.07354926317930222, + 0.016555652022361755 + ], + "orientation": [ + 0.2645183205604553, + 0.2787068486213684, + -0.7013754844665527, + -0.6003540754318237 + ], + "joints": [ + 0.011738207191228867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08100085705518723, + 0.1600015014410019, + 0.056977394968271255 + ], + "orientation": [ + 0.5636653900146484, + 0.655017614364624, + 0.5030225515365601, + -0.014195109717547894 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.07900363206863403, + 0.15798717737197876, + 0.05512597784399986 + ], + "orientation": [ + 0.5581435561180115, + 0.6551711559295654, + 0.5091232657432556, + -0.004453038796782494 + ], + "joints": [ + 0.021646110340952873 + ] + }, + "final_grasp": { + "position": [ + -0.07900363206863403, + 0.15798717737197876, + 0.05512597784399986 + ], + "orientation": [ + 0.5581435561180115, + 0.6551711559295654, + 0.5091232657432556, + -0.004453038796782494 + ], + "joints": [ + 0.01322430931031704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08199488371610641, + -0.10474491119384766, + -0.013354850001633167 + ], + "orientation": [ + 0.7121058106422424, + -0.6519460678100586, + -0.17136865854263306, + 0.1962255835533142 + ], + "joints": [ + 0.02712716907262802 + ] + }, + "fine_grasp": { + "position": [ + 0.07976280152797699, + -0.10177791118621826, + -0.013083639554679394 + ], + "orientation": [ + 0.7114206552505493, + -0.6509637236595154, + -0.17461642622947693, + 0.1990879625082016 + ], + "joints": [ + 0.01826651394367218 + ] + }, + "final_grasp": { + "position": [ + 0.07976280152797699, + -0.10177791118621826, + -0.013083639554679394 + ], + "orientation": [ + 0.7114206552505493, + -0.6509637236595154, + -0.17461642622947693, + 0.1990879625082016 + ], + "joints": [ + 0.009405858814716339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027403276413679123, + 0.1999835968017578, + 0.018108129501342773 + ], + "orientation": [ + 0.16600990295410156, + -0.023177823051810265, + -0.7499387860298157, + 0.6399180889129639 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.02670406736433506, + 0.19641324877738953, + 0.017736943438649178 + ], + "orientation": [ + 0.15667344629764557, + -0.01941486820578575, + -0.752109706401825, + 0.6398496031761169 + ], + "joints": [ + 0.023652702569961548 + ] + }, + "final_grasp": { + "position": [ + 0.02670406736433506, + 0.19641324877738953, + 0.017736943438649178 + ], + "orientation": [ + 0.15667344629764557, + -0.01941486820578575, + -0.752109706401825, + 0.6398496031761169 + ], + "joints": [ + 0.014875642955303192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12305590510368347, + 0.05586845055222511, + -0.046335093677043915 + ], + "orientation": [ + 0.6216734051704407, + -0.4266122281551361, + 0.3782810866832733, + -0.5370545387268066 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.11934296041727066, + 0.05604863166809082, + -0.04497746378183365 + ], + "orientation": [ + 0.6214718818664551, + -0.42515552043914795, + 0.3798585832118988, + -0.537329375743866 + ], + "joints": [ + 0.02402886003255844 + ] + }, + "final_grasp": { + "position": [ + -0.11934296041727066, + 0.05604863166809082, + -0.04497746378183365 + ], + "orientation": [ + 0.6214718818664551, + -0.42515552043914795, + 0.3798585832118988, + -0.537329375743866 + ], + "joints": [ + 0.01562795788049698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09667530655860901, + -0.0030844546854496002, + -0.08682909607887268 + ], + "orientation": [ + 0.6495448350906372, + 0.23284275829792023, + 0.3392448425292969, + 0.6393657922744751 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.09374430775642395, + -0.002874185563996434, + -0.08421287685632706 + ], + "orientation": [ + 0.6508952975273132, + 0.23347806930541992, + 0.33784449100494385, + 0.6385015845298767 + ], + "joints": [ + 0.023863356560468674 + ] + }, + "final_grasp": { + "position": [ + -0.09374430775642395, + -0.002874185563996434, + -0.08421287685632706 + ], + "orientation": [ + 0.6508952975273132, + 0.23347806930541992, + 0.33784449100494385, + 0.6385015845298767 + ], + "joints": [ + 0.015065398067235947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013358053751289845, + -0.11008595675230026, + -0.039139069616794586 + ], + "orientation": [ + 0.7320546507835388, + -0.5451335310935974, + 0.17664985358715057, + 0.3684021234512329 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.013402547687292099, + -0.10623256117105484, + -0.038133539259433746 + ], + "orientation": [ + 0.7307795882225037, + -0.547245979309082, + 0.18164364993572235, + 0.36536094546318054 + ], + "joints": [ + 0.023797307163476944 + ] + }, + "final_grasp": { + "position": [ + 0.013402547687292099, + -0.10623256117105484, + -0.038133539259433746 + ], + "orientation": [ + 0.7307795882225037, + -0.547245979309082, + 0.18164364993572235, + 0.36536094546318054 + ], + "joints": [ + 0.015396405011415482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07891327142715454, + -0.07742952555418015, + 0.017810629680752754 + ], + "orientation": [ + 0.286904513835907, + 0.2782881557941437, + -0.7023723125457764, + -0.5889946222305298 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.07743163406848907, + -0.07394269853830338, + 0.01717718504369259 + ], + "orientation": [ + 0.2730858325958252, + 0.26889073848724365, + -0.7067351341247559, + -0.5946826338768005 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + 0.07743163406848907, + -0.07394269853830338, + 0.01717718504369259 + ], + "orientation": [ + 0.2730858325958252, + 0.26889073848724365, + -0.7067351341247559, + -0.5946826338768005 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0488799624145031, + 0.18560272455215454, + -0.022157171741127968 + ], + "orientation": [ + 0.33095309138298035, + 0.07233380526304245, + -0.6521046757698059, + 0.6782310605049133 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.04724353179335594, + 0.1832115799188614, + -0.02078944444656372 + ], + "orientation": [ + 0.3404863178730011, + 0.06433027237653732, + -0.6482890248298645, + 0.6779764294624329 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.04724353179335594, + 0.1832115799188614, + -0.02078944444656372 + ], + "orientation": [ + 0.3404863178730011, + 0.06433027237653732, + -0.6482890248298645, + 0.6779764294624329 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03741179779171944, + -0.04802606627345085, + 0.11381661891937256 + ], + "orientation": [ + 0.27355608344078064, + -0.6923519372940063, + -0.6648098230361938, + -0.061997804790735245 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + 0.036351341754198074, + -0.046115800738334656, + 0.11063029617071152 + ], + "orientation": [ + 0.27212586998939514, + -0.6931965947151184, + -0.6646488308906555, + -0.060563720762729645 + ], + "joints": [ + 0.023565754294395447 + ] + }, + "final_grasp": { + "position": [ + 0.036351341754198074, + -0.046115800738334656, + 0.11063029617071152 + ], + "orientation": [ + 0.27212586998939514, + -0.6931965947151184, + -0.6646488308906555, + -0.060563720762729645 + ], + "joints": [ + 0.015164852142333984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016362274065613747, + -0.11363621801137924, + -0.024669352918863297 + ], + "orientation": [ + 0.7484875917434692, + -0.5670202970504761, + 0.23148077726364136, + 0.2543048560619354 + ], + "joints": [ + 0.03171194717288017 + ] + }, + "fine_grasp": { + "position": [ + -0.015695365145802498, + -0.11000235378742218, + -0.02375492826104164 + ], + "orientation": [ + 0.7471073865890503, + -0.5686815977096558, + 0.23453693091869354, + 0.2518417239189148 + ], + "joints": [ + 0.02247513458132744 + ] + }, + "final_grasp": { + "position": [ + -0.015695365145802498, + -0.11000235378742218, + -0.02375492826104164 + ], + "orientation": [ + 0.7471073865890503, + -0.5686815977096558, + 0.23453693091869354, + 0.2518417239189148 + ], + "joints": [ + 0.013238321989774704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06603538244962692, + 0.007476779632270336, + 0.11100975424051285 + ], + "orientation": [ + 0.1652485430240631, + 0.6956021189689636, + 0.6672960519790649, + 0.20867806673049927 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.06413041055202484, + 0.007518322207033634, + 0.10767089575529099 + ], + "orientation": [ + 0.16595372557640076, + 0.6999531984329224, + 0.6627203226089478, + 0.2081504762172699 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.06413041055202484, + 0.007518322207033634, + 0.10767089575529099 + ], + "orientation": [ + 0.16595372557640076, + 0.6999531984329224, + 0.6627203226089478, + 0.2081504762172699 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07055310904979706, + 0.15261606872081757, + 0.07307665050029755 + ], + "orientation": [ + 0.008500296622514725, + -0.5356232523918152, + 0.6956434845924377, + -0.4786602854728699 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.06834162026643753, + 0.15104947984218597, + 0.07062439620494843 + ], + "orientation": [ + 0.016400525346398354, + -0.5402124524116516, + 0.6954141855239868, + -0.4736037850379944 + ], + "joints": [ + 0.023863356560468674 + ] + }, + "final_grasp": { + "position": [ + -0.06834162026643753, + 0.15104947984218597, + 0.07062439620494843 + ], + "orientation": [ + 0.016400525346398354, + -0.5402124524116516, + 0.6954141855239868, + -0.4736037850379944 + ], + "joints": [ + 0.015065398067235947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09700781106948853, + -0.003064577467739582, + -0.08724609762430191 + ], + "orientation": [ + 0.6496516466140747, + 0.23244081437587738, + 0.33917492628097534, + 0.639440655708313 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.09407283365726471, + -0.0028980576898902655, + -0.08463154733181 + ], + "orientation": [ + 0.6509910225868225, + 0.23310942947864532, + 0.3377973139286041, + 0.6385637521743774 + ], + "joints": [ + 0.023863356560468674 + ] + }, + "final_grasp": { + "position": [ + -0.09407283365726471, + -0.0028980576898902655, + -0.08463154733181 + ], + "orientation": [ + 0.6509910225868225, + 0.23310942947864532, + 0.3377973139286041, + 0.6385637521743774 + ], + "joints": [ + 0.015065398067235947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07569073140621185, + 0.007924570702016354, + -0.11235488951206207 + ], + "orientation": [ + 0.7836593985557556, + -0.16766443848609924, + -0.2543129324913025, + 0.5413793325424194 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.07376112043857574, + 0.0084087448194623, + -0.10927566885948181 + ], + "orientation": [ + 0.7841698527336121, + -0.1691327840089798, + -0.25215861201286316, + 0.541191041469574 + ], + "joints": [ + 0.02173531986773014 + ] + }, + "final_grasp": { + "position": [ + 0.07376112043857574, + 0.0084087448194623, + -0.10927566885948181 + ], + "orientation": [ + 0.7841698527336121, + -0.1691327840089798, + -0.25215861201286316, + 0.541191041469574 + ], + "joints": [ + 0.012916462495923042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04205618426203728, + -0.06319957971572876, + 0.10100581496953964 + ], + "orientation": [ + 0.3427654206752777, + -0.6750407814979553, + 0.6463239789009094, + 0.09537827223539352 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.04079515114426613, + -0.060727547854185104, + 0.09829743206501007 + ], + "orientation": [ + 0.3395957052707672, + -0.6797058582305908, + 0.6437361240386963, + 0.09098642319440842 + ], + "joints": [ + 0.023631803691387177 + ] + }, + "final_grasp": { + "position": [ + -0.04079515114426613, + -0.060727547854185104, + 0.09829743206501007 + ], + "orientation": [ + 0.3395957052707672, + -0.6797058582305908, + 0.6437361240386963, + 0.09098642319440842 + ], + "joints": [ + 0.01483384519815445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11203596740961075, + 0.044090207666158676, + -0.07903812825679779 + ], + "orientation": [ + 0.6318434476852417, + 0.365863174200058, + -0.2825792133808136, + -0.6221470832824707 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + 0.10897023230791092, + 0.043970026075839996, + -0.07686309516429901 + ], + "orientation": [ + 0.6312786340713501, + 0.36519360542297363, + -0.2832232415676117, + -0.6228206753730774 + ], + "joints": [ + 0.02257232926785946 + ] + }, + "final_grasp": { + "position": [ + 0.10897023230791092, + 0.043970026075839996, + -0.07686309516429901 + ], + "orientation": [ + 0.6312786340713501, + 0.36519360542297363, + -0.2832232415676117, + -0.6228206753730774 + ], + "joints": [ + 0.014150528237223625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13519644737243652, + -0.0032269738148897886, + -0.014945931732654572 + ], + "orientation": [ + 0.5934653878211975, + -0.4680829644203186, + -0.47421184182167053, + 0.45146459341049194 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.13151918351650238, + -0.0028121708892285824, + -0.014498615637421608 + ], + "orientation": [ + 0.5938971042633057, + -0.4679739773273468, + -0.4748614728450775, + 0.4503258168697357 + ], + "joints": [ + 0.023058593273162842 + ] + }, + "final_grasp": { + "position": [ + 0.13151918351650238, + -0.0028121708892285824, + -0.014498615637421608 + ], + "orientation": [ + 0.5938971042633057, + -0.4679739773273468, + -0.4748614728450775, + 0.4503258168697357 + ], + "joints": [ + 0.014636792242527008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11204449832439423, + 0.04310713708400726, + -0.07916836440563202 + ], + "orientation": [ + 0.6318485736846924, + 0.3706205189228058, + -0.2765699028968811, + -0.6220263242721558 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + 0.10890773683786392, + 0.04295565187931061, + -0.07692258059978485 + ], + "orientation": [ + 0.630967915058136, + 0.37013089656829834, + -0.277544766664505, + -0.6227772831916809 + ], + "joints": [ + 0.022154374048113823 + ] + }, + "final_grasp": { + "position": [ + 0.10890773683786392, + 0.04295565187931061, + -0.07692258059978485 + ], + "orientation": [ + 0.630967915058136, + 0.37013089656829834, + -0.277544766664505, + -0.6227772831916809 + ], + "joints": [ + 0.013314617797732353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1351693868637085, + -0.003511060494929552, + -0.014981565065681934 + ], + "orientation": [ + 0.5929479002952576, + -0.46366772055625916, + -0.47860828042030334, + 0.4520607888698578 + ], + "joints": [ + 0.03192034363746643 + ] + }, + "fine_grasp": { + "position": [ + 0.13141995668411255, + -0.0028544864617288113, + -0.014501916244626045 + ], + "orientation": [ + 0.5947868824005127, + -0.4647566080093384, + -0.4778195321559906, + 0.4493531882762909 + ], + "joints": [ + 0.02308058738708496 + ] + }, + "final_grasp": { + "position": [ + 0.13141995668411255, + -0.0028544864617288113, + -0.014501916244626045 + ], + "orientation": [ + 0.5947868824005127, + -0.4647566080093384, + -0.4778195321559906, + 0.4493531882762909 + ], + "joints": [ + 0.014240831136703491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11905860900878906, + -0.009859679266810417, + -0.04206445813179016 + ], + "orientation": [ + 0.5058937072753906, + 0.36662229895591736, + -0.44929039478302, + -0.6385903358459473 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.11546241492033005, + -0.00951753556728363, + -0.04070616513490677 + ], + "orientation": [ + 0.5061046481132507, + 0.36934158205986023, + -0.44756507873535156, + -0.6380677223205566 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.11546241492033005, + -0.00951753556728363, + -0.04070616513490677 + ], + "orientation": [ + 0.5061046481132507, + 0.36934158205986023, + -0.44756507873535156, + -0.6380677223205566 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13125723600387573, + 0.03513408452272415, + 0.029723672196269035 + ], + "orientation": [ + 0.44238656759262085, + -0.5438008308410645, + 0.5609604716300964, + -0.44033849239349365 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.12746800482273102, + 0.03516746684908867, + 0.028904611244797707 + ], + "orientation": [ + 0.44309043884277344, + -0.5439232587814331, + 0.561119019985199, + -0.43927663564682007 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + -0.12746800482273102, + 0.03516746684908867, + 0.028904611244797707 + ], + "orientation": [ + 0.44309043884277344, + -0.5439232587814331, + 0.561119019985199, + -0.43927663564682007 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13494031131267548, + -0.0028690053150057793, + -0.014791671186685562 + ], + "orientation": [ + 0.5929648876190186, + -0.4705446660518646, + -0.47225210070610046, + 0.45161744952201843 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.1311914324760437, + -0.0025119269266724586, + -0.014318590983748436 + ], + "orientation": [ + 0.5925962924957275, + -0.46990758180618286, + -0.4736878573894501, + 0.4512607157230377 + ], + "joints": [ + 0.023058593273162842 + ] + }, + "final_grasp": { + "position": [ + 0.1311914324760437, + -0.0025119269266724586, + -0.014318590983748436 + ], + "orientation": [ + 0.5925962924957275, + -0.46990758180618286, + -0.4736878573894501, + 0.4512607157230377 + ], + "joints": [ + 0.014636792242527008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0879310593008995, + 0.1694309115409851, + -0.013382973149418831 + ], + "orientation": [ + 0.7146550416946411, + 0.61586993932724, + 0.25772759318351746, + 0.20868341624736786 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.08525776118040085, + 0.16742554306983948, + -0.013099134899675846 + ], + "orientation": [ + 0.7124046683311462, + 0.6147781610488892, + 0.2630949020385742, + 0.21285809576511383 + ], + "joints": [ + 0.023820463567972183 + ] + }, + "final_grasp": { + "position": [ + -0.08525776118040085, + 0.16742554306983948, + -0.013099134899675846 + ], + "orientation": [ + 0.7124046683311462, + 0.6147781610488892, + 0.2630949020385742, + 0.21285809576511383 + ], + "joints": [ + 0.01541956141591072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13631322979927063, + 0.006841415539383888, + 0.0025497714523226023 + ], + "orientation": [ + 0.5296688675880432, + -0.5695611238479614, + -0.43050047755241394, + 0.4579525291919708 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + 0.1325797736644745, + 0.007231166586279869, + 0.0025213463231921196 + ], + "orientation": [ + 0.5278337597846985, + -0.5689800381660461, + -0.4313673973083496, + 0.4599733054637909 + ], + "joints": [ + 0.022088320925831795 + ] + }, + "final_grasp": { + "position": [ + 0.1325797736644745, + 0.007231166586279869, + 0.0025213463231921196 + ], + "orientation": [ + 0.5278337597846985, + -0.5689800381660461, + -0.4313673973083496, + 0.4599733054637909 + ], + "joints": [ + 0.01364562101662159 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0715656578540802, + 0.06424587965011597, + -0.10900772362947464 + ], + "orientation": [ + 0.6891835331916809, + 0.20757034420967102, + -0.19758853316307068, + -0.665506899356842 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.06932336091995239, + 0.06422287225723267, + -0.10577595233917236 + ], + "orientation": [ + 0.6894243955612183, + 0.20703072845935822, + -0.197635218501091, + -0.6654115915298462 + ], + "joints": [ + 0.023863356560468674 + ] + }, + "final_grasp": { + "position": [ + 0.06932336091995239, + 0.06422287225723267, + -0.10577595233917236 + ], + "orientation": [ + 0.6894243955612183, + 0.20703072845935822, + -0.197635218501091, + -0.6654115915298462 + ], + "joints": [ + 0.015065398067235947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13281996548175812, + 0.06866967678070068, + 0.009884428232908249 + ], + "orientation": [ + 0.4718681573867798, + -0.4881945550441742, + -0.5465620756149292, + 0.49017995595932007 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + 0.12887828052043915, + 0.06853480637073517, + 0.009566955268383026 + ], + "orientation": [ + 0.4732125997543335, + -0.48829013109207153, + -0.5463854670524597, + 0.48898425698280334 + ], + "joints": [ + 0.023587748408317566 + ] + }, + "final_grasp": { + "position": [ + 0.12887828052043915, + 0.06853480637073517, + 0.009566955268383026 + ], + "orientation": [ + 0.4732125997543335, + -0.48829013109207153, + -0.5463854670524597, + 0.48898425698280334 + ], + "joints": [ + 0.014768891036510468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023293862119317055, + -0.10118928551673889, + 0.01634751260280609 + ], + "orientation": [ + 0.64192134141922, + -0.7233368754386902, + -0.25294065475463867, + -0.027233323082327843 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.023202933371067047, + -0.09717147052288055, + 0.015945497900247574 + ], + "orientation": [ + 0.6437221765518188, + -0.7229707837104797, + -0.2484370321035385, + -0.03484315052628517 + ], + "joints": [ + 0.0225180946290493 + ] + }, + "final_grasp": { + "position": [ + 0.023202933371067047, + -0.09717147052288055, + 0.015945497900247574 + ], + "orientation": [ + 0.6437221765518188, + -0.7229707837104797, + -0.2484370321035385, + -0.03484315052628517 + ], + "joints": [ + 0.013741035014390945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021150557324290276, + 0.1156277060508728, + -0.12439554184675217 + ], + "orientation": [ + 0.6635924577713013, + 0.18878722190856934, + 0.08481352776288986, + -0.7188957929611206 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + 0.02058432251214981, + 0.1149396002292633, + -0.12059780955314636 + ], + "orientation": [ + 0.6640831232070923, + 0.18581390380859375, + 0.08254394680261612, + -0.7194812297821045 + ], + "joints": [ + 0.023565754294395447 + ] + }, + "final_grasp": { + "position": [ + 0.02058432251214981, + 0.1149396002292633, + -0.12059780955314636 + ], + "orientation": [ + 0.6640831232070923, + 0.18581390380859375, + 0.08254394680261612, + -0.7194812297821045 + ], + "joints": [ + 0.015164852142333984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12144120037555695, + -0.0029523579869419336, + 0.030978793278336525 + ], + "orientation": [ + 0.408224493265152, + -0.6280617117881775, + -0.47271257638931274, + 0.4641486704349518 + ], + "joints": [ + 0.03247607499361038 + ] + }, + "fine_grasp": { + "position": [ + 0.11802326142787933, + -0.002391141140833497, + 0.030463745817542076 + ], + "orientation": [ + 0.4107707738876343, + -0.6328607201576233, + -0.4689595699310303, + 0.4591640830039978 + ], + "joints": [ + 0.02328106015920639 + ] + }, + "final_grasp": { + "position": [ + 0.11802326142787933, + -0.002391141140833497, + 0.030463745817542076 + ], + "orientation": [ + 0.4107707738876343, + -0.6328607201576233, + -0.4689595699310303, + 0.4591640830039978 + ], + "joints": [ + 0.014086045324802399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08072371035814285, + 0.16002120077610016, + 0.05695943161845207 + ], + "orientation": [ + 0.5637150406837463, + 0.6526889204978943, + 0.5058960318565369, + -0.01707804948091507 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.07851612567901611, + 0.15794149041175842, + 0.05496692657470703 + ], + "orientation": [ + 0.5564928650856018, + 0.6528720259666443, + 0.5138479471206665, + -0.005834723822772503 + ], + "joints": [ + 0.02206406556069851 + ] + }, + "final_grasp": { + "position": [ + -0.07851612567901611, + 0.15794149041175842, + 0.05496692657470703 + ], + "orientation": [ + 0.5564928650856018, + 0.6528720259666443, + 0.5138479471206665, + -0.005834723822772503 + ], + "joints": [ + 0.014060219749808311 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0751078873872757, + 0.1694169044494629, + 0.04425190016627312 + ], + "orientation": [ + 0.5558613538742065, + 0.7534395456314087, + -0.32134073972702026, + -0.14172901213169098 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.07268626987934113, + 0.16684091091156006, + 0.04335791617631912 + ], + "orientation": [ + 0.5539253354072571, + 0.7536220550537109, + -0.32314231991767883, + -0.14422060549259186 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + 0.07268626987934113, + 0.16684091091156006, + 0.04335791617631912 + ], + "orientation": [ + 0.5539253354072571, + 0.7536220550537109, + -0.32314231991767883, + -0.14422060549259186 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07820143550634384, + -0.042236894369125366, + -0.08151314407587051 + ], + "orientation": [ + 0.7307227253913879, + -0.41257330775260925, + -0.11361686885356903, + 0.5319011211395264 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.07564858347177505, + -0.04093068838119507, + -0.0789518877863884 + ], + "orientation": [ + 0.7298373579978943, + -0.410146027803421, + -0.11748310923576355, + 0.5341492891311646 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.07564858347177505, + -0.04093068838119507, + -0.0789518877863884 + ], + "orientation": [ + 0.7298373579978943, + -0.410146027803421, + -0.11748310923576355, + 0.5341492891311646 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13263468444347382, + 0.005536288022994995, + -0.03082137368619442 + ], + "orientation": [ + 0.634463369846344, + -0.38604602217674255, + 0.48975998163223267, + -0.456683486700058 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.12900149822235107, + 0.005764368921518326, + -0.03001035563647747 + ], + "orientation": [ + 0.6355317234992981, + -0.38523069024086, + 0.49065089225769043, + -0.45492684841156006 + ], + "joints": [ + 0.02314779907464981 + ] + }, + "final_grasp": { + "position": [ + -0.12900149822235107, + 0.005764368921518326, + -0.03001035563647747 + ], + "orientation": [ + 0.6355317234992981, + -0.38523069024086, + 0.49065089225769043, + -0.45492684841156006 + ], + "joints": [ + 0.014328941702842712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1358797550201416, + 0.00670471740886569, + 0.0026728115044534206 + ], + "orientation": [ + 0.5286635756492615, + -0.5689401626586914, + -0.4318317472934723, + 0.45863205194473267 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + 0.13205353915691376, + 0.007077918853610754, + 0.002648400142788887 + ], + "orientation": [ + 0.5266071557998657, + -0.5682757496833801, + -0.43284446001052856, + 0.46086129546165466 + ], + "joints": [ + 0.022154374048113823 + ] + }, + "final_grasp": { + "position": [ + 0.13205353915691376, + 0.007077918853610754, + 0.002648400142788887 + ], + "orientation": [ + 0.5266071557998657, + -0.5682757496833801, + -0.43284446001052856, + 0.46086129546165466 + ], + "joints": [ + 0.013314617797732353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08580785989761353, + -0.05026650428771973, + 0.08168420940637589 + ], + "orientation": [ + 0.4591096341609955, + -0.6729783415794373, + -0.5769729614257812, + 0.0584871768951416 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.08327990770339966, + -0.048565369099378586, + 0.07944836467504501 + ], + "orientation": [ + 0.4521578848361969, + -0.6725867986679077, + -0.5820835828781128, + 0.06602155417203903 + ], + "joints": [ + 0.02255033142864704 + ] + }, + "final_grasp": { + "position": [ + 0.08327990770339966, + -0.048565369099378586, + 0.07944836467504501 + ], + "orientation": [ + 0.4521578848361969, + -0.6725867986679077, + -0.5820835828781128, + 0.06602155417203903 + ], + "joints": [ + 0.014546485617756844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06178460270166397, + 0.1802290976047516, + 0.029128750786185265 + ], + "orientation": [ + 0.11212622374296188, + -0.20893247425556183, + 0.7524843811988831, + -0.6144445538520813 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.059455033391714096, + 0.17774131894111633, + 0.028678547590970993 + ], + "orientation": [ + 0.11955402046442032, + -0.21420790255069733, + 0.7522541284561157, + -0.6115027666091919 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.059455033391714096, + 0.17774131894111633, + 0.028678547590970993 + ], + "orientation": [ + 0.11955402046442032, + -0.21420790255069733, + 0.7522541284561157, + -0.6115027666091919 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08582504093647003, + -0.05043666809797287, + 0.08163948357105255 + ], + "orientation": [ + 0.4585399031639099, + -0.6694926619529724, + -0.5815112590789795, + 0.05801164358854294 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.08335074037313461, + -0.04867493733763695, + 0.07936092466115952 + ], + "orientation": [ + 0.4524584412574768, + -0.6691551804542542, + -0.58592689037323, + 0.06482641398906708 + ], + "joints": [ + 0.02255033142864704 + ] + }, + "final_grasp": { + "position": [ + 0.08335074037313461, + -0.04867493733763695, + 0.07936092466115952 + ], + "orientation": [ + 0.4524584412574768, + -0.6691551804542542, + -0.58592689037323, + 0.06482641398906708 + ], + "joints": [ + 0.014546485617756844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07198739051818848, + 0.05484076216816902, + 0.11134598404169083 + ], + "orientation": [ + 0.18285728991031647, + 0.6889811158180237, + -0.6669929623603821, + -0.21676881611347198 + ], + "joints": [ + 0.03263815864920616 + ] + }, + "fine_grasp": { + "position": [ + 0.06990240514278412, + 0.0549236424267292, + 0.10814293473958969 + ], + "orientation": [ + 0.18250465393066406, + 0.6922563314437866, + -0.6636064648628235, + -0.2170247733592987 + ], + "joints": [ + 0.023819301277399063 + ] + }, + "final_grasp": { + "position": [ + 0.06990240514278412, + 0.0549236424267292, + 0.10814293473958969 + ], + "orientation": [ + 0.18250465393066406, + 0.6922563314437866, + -0.6636064648628235, + -0.2170247733592987 + ], + "joints": [ + 0.015000443905591965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11477868258953094, + -0.045865029096603394, + 0.02752935141324997 + ], + "orientation": [ + 0.5895859003067017, + -0.5429162383079529, + -0.5658954977989197, + 0.19337180256843567 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.11179981380701065, + -0.04392675310373306, + 0.026988254860043526 + ], + "orientation": [ + 0.5928330421447754, + -0.5465215444564819, + -0.5594903230667114, + 0.1919213831424713 + ], + "joints": [ + 0.02312580496072769 + ] + }, + "final_grasp": { + "position": [ + 0.11179981380701065, + -0.04392675310373306, + 0.026988254860043526 + ], + "orientation": [ + 0.5928330421447754, + -0.5465215444564819, + -0.5594903230667114, + 0.1919213831424713 + ], + "joints": [ + 0.01472490280866623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13246461749076843, + 0.06862039864063263, + 0.009801685810089111 + ], + "orientation": [ + 0.47150179743766785, + -0.4879082143306732, + -0.5465688109397888, + 0.4908097982406616 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.12852688133716583, + 0.06848905980587006, + 0.009490582160651684 + ], + "orientation": [ + 0.4728476107120514, + -0.4880615770816803, + -0.5464484691619873, + 0.48949486017227173 + ], + "joints": [ + 0.023631803691387177 + ] + }, + "final_grasp": { + "position": [ + 0.12852688133716583, + 0.06848905980587006, + 0.009490582160651684 + ], + "orientation": [ + 0.4728476107120514, + -0.4880615770816803, + -0.5464484691619873, + 0.48949486017227173 + ], + "joints": [ + 0.01483384519815445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0938849225640297, + -0.06086115539073944, + -0.03781041502952576 + ], + "orientation": [ + 0.7424448728561401, + -0.575764536857605, + 0.18487437069416046, + -0.288257360458374 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.09090724587440491, + -0.059454482048749924, + -0.03698480874300003 + ], + "orientation": [ + 0.7402528524398804, + -0.5734066963195801, + 0.18980562686920166, + -0.2953035831451416 + ], + "joints": [ + 0.020722148939967155 + ] + }, + "final_grasp": { + "position": [ + -0.09090724587440491, + -0.059454482048749924, + -0.03698480874300003 + ], + "orientation": [ + 0.7402528524398804, + -0.5734066963195801, + 0.18980562686920166, + -0.2953035831451416 + ], + "joints": [ + 0.01227944903075695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08156768232584, + -0.06931164860725403, + -0.055952444672584534 + ], + "orientation": [ + 0.785503089427948, + -0.4801776707172394, + 0.2400714010000229, + -0.3078635334968567 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.07963602244853973, + -0.06684299558401108, + -0.054382745176553726 + ], + "orientation": [ + 0.7856891751289368, + -0.4827621579170227, + 0.23551972210407257, + -0.30686089396476746 + ], + "joints": [ + 0.022771641612052917 + ] + }, + "final_grasp": { + "position": [ + -0.07963602244853973, + -0.06684299558401108, + -0.054382745176553726 + ], + "orientation": [ + 0.7856891751289368, + -0.4827621579170227, + 0.23551972210407257, + -0.30686089396476746 + ], + "joints": [ + 0.013576626777648926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.101507268846035, + 0.06316470354795456, + -0.07446914911270142 + ], + "orientation": [ + 0.653754711151123, + -0.32119035720825195, + 0.3182041049003601, + -0.6067847013473511 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.09826236218214035, + 0.063208669424057, + -0.07213252782821655 + ], + "orientation": [ + 0.6552435159683228, + -0.3200514614582062, + 0.31946849822998047, + -0.6051138043403625 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + -0.09826236218214035, + 0.063208669424057, + -0.07213252782821655 + ], + "orientation": [ + 0.6552435159683228, + -0.3200514614582062, + 0.31946849822998047, + -0.6051138043403625 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026035724207758904, + 0.03269977495074272, + 0.13642506301403046 + ], + "orientation": [ + 0.08917908370494843, + 0.6665014624595642, + -0.7389840483665466, + -0.04153982922434807 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.025385476648807526, + 0.032552774995565414, + 0.13272146880626678 + ], + "orientation": [ + 0.08915215730667114, + 0.6585824489593506, + -0.7460375428199768, + -0.04182126373052597 + ], + "joints": [ + 0.022132376208901405 + ] + }, + "final_grasp": { + "position": [ + 0.025385476648807526, + 0.032552774995565414, + 0.13272146880626678 + ], + "orientation": [ + 0.08915215730667114, + 0.6585824489593506, + -0.7460375428199768, + -0.04182126373052597 + ], + "joints": [ + 0.013710575178265572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1325918734073639, + 0.06869901716709137, + 0.00989384762942791 + ], + "orientation": [ + 0.47204163670539856, + -0.48822370171546936, + -0.5465939044952393, + 0.48994824290275574 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.12865427136421204, + 0.06856276094913483, + 0.009575298056006432 + ], + "orientation": [ + 0.47334960103034973, + -0.48835328221321106, + -0.5464510321617126, + 0.4887152314186096 + ], + "joints": [ + 0.023610904812812805 + ] + }, + "final_grasp": { + "position": [ + 0.12865427136421204, + 0.06856276094913483, + 0.009575298056006432 + ], + "orientation": [ + 0.47334960103034973, + -0.48835328221321106, + -0.5464510321617126, + 0.4887152314186096 + ], + "joints": [ + 0.014792047441005707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10182471573352814, + 0.06308762729167938, + -0.07472223788499832 + ], + "orientation": [ + 0.6529523730278015, + -0.3213600218296051, + 0.3180137574672699, + -0.6076578497886658 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.09857586026191711, + 0.06312745809555054, + -0.07234571129083633 + ], + "orientation": [ + 0.654093325138092, + -0.3203027546405792, + 0.31896716356277466, + -0.6064882278442383 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + -0.09857586026191711, + 0.06312745809555054, + -0.07234571129083633 + ], + "orientation": [ + 0.654093325138092, + -0.3203027546405792, + 0.31896716356277466, + -0.6064882278442383 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060138002038002014, + -0.056853797286748886, + 0.08402589708566666 + ], + "orientation": [ + 0.030187301337718964, + -0.6211620569229126, + 0.6652275919914246, + 0.41318100690841675 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.05841917172074318, + -0.05473839491605759, + 0.0815315768122673 + ], + "orientation": [ + 0.025360532104969025, + -0.6182059049606323, + 0.6699352860450745, + 0.4103231430053711 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.05841917172074318, + -0.05473839491605759, + 0.0815315768122673 + ], + "orientation": [ + 0.025360532104969025, + -0.6182059049606323, + 0.6699352860450745, + 0.4103231430053711 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09280187636613846, + -0.06757310032844543, + 0.028164710849523544 + ], + "orientation": [ + 0.5972083806991577, + -0.5623029470443726, + -0.5671365261077881, + 0.0742538720369339 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.09040272980928421, + -0.06506866216659546, + 0.027767645195126534 + ], + "orientation": [ + 0.6008711457252502, + -0.5658262372016907, + -0.5601422190666199, + 0.0709589347243309 + ], + "joints": [ + 0.02249719575047493 + ] + }, + "final_grasp": { + "position": [ + 0.09040272980928421, + -0.06506866216659546, + 0.027767645195126534 + ], + "orientation": [ + 0.6008711457252502, + -0.5658262372016907, + -0.5601422190666199, + 0.0709589347243309 + ], + "joints": [ + 0.013699237257242203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10833828151226044, + -0.058091651648283005, + -0.05135849490761757 + ], + "orientation": [ + 0.35312822461128235, + 0.23482172191143036, + -0.5116135478019714, + -0.7472688555717468 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.10539687424898148, + -0.056519508361816406, + -0.049953561276197433 + ], + "orientation": [ + 0.35437098145484924, + 0.23950433731079102, + -0.5111628174781799, + -0.7455007433891296 + ], + "joints": [ + 0.019377974793314934 + ] + }, + "final_grasp": { + "position": [ + 0.10539687424898148, + -0.056519508361816406, + -0.049953561276197433 + ], + "orientation": [ + 0.35437098145484924, + 0.23950433731079102, + -0.5111628174781799, + -0.7455007433891296 + ], + "joints": [ + 0.010517319664359093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030207213014364243, + 0.05507276579737663, + -0.1362261027097702 + ], + "orientation": [ + 0.6368308663368225, + -0.0824168473482132, + -0.0715503841638565, + 0.7632393836975098 + ], + "joints": [ + 0.031248850747942924 + ] + }, + "fine_grasp": { + "position": [ + 0.029253825545310974, + 0.05503269284963608, + -0.13249637186527252 + ], + "orientation": [ + 0.6359752416610718, + -0.08206744492053986, + -0.07112143188714981, + 0.7640302181243896 + ], + "joints": [ + 0.022409094497561455 + ] + }, + "final_grasp": { + "position": [ + 0.029253825545310974, + 0.05503269284963608, + -0.13249637186527252 + ], + "orientation": [ + 0.6359752416610718, + -0.08206744492053986, + -0.07112143188714981, + 0.7640302181243896 + ], + "joints": [ + 0.013569338247179985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07808838784694672, + -0.0424729585647583, + -0.08141405135393143 + ], + "orientation": [ + 0.7306602001190186, + -0.4132818877696991, + -0.11261677742004395, + 0.5316494107246399 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.07554299384355545, + -0.041163813322782516, + -0.07886563241481781 + ], + "orientation": [ + 0.7297603487968445, + -0.4109041690826416, + -0.11654653400182724, + 0.5338767766952515 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.07554299384355545, + -0.041163813322782516, + -0.07886563241481781 + ], + "orientation": [ + 0.7297603487968445, + -0.4109041690826416, + -0.11654653400182724, + 0.5338767766952515 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061281561851501465, + 0.180088609457016, + 0.02902347221970558 + ], + "orientation": [ + 0.1103668287396431, + -0.2071285992860794, + 0.7526959776878357, + -0.6151143908500671 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.05898177996277809, + 0.1776852309703827, + 0.02862183377146721 + ], + "orientation": [ + 0.11770924925804138, + -0.21258147060871124, + 0.7525359392166138, + -0.6120811700820923 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.05898177996277809, + 0.1776852309703827, + 0.02862183377146721 + ], + "orientation": [ + 0.11770924925804138, + -0.21258147060871124, + 0.7525359392166138, + -0.6120811700820923 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1062096580862999, + -0.05967395007610321, + 0.018163558095693588 + ], + "orientation": [ + 0.5528004765510559, + -0.6886767148971558, + -0.3095509707927704, + 0.35258209705352783 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.10353229194879532, + -0.056806888431310654, + 0.017456740140914917 + ], + "orientation": [ + 0.5595906972885132, + -0.6904982924461365, + -0.3058066666126251, + 0.3413981795310974 + ], + "joints": [ + 0.02430446818470955 + ] + }, + "final_grasp": { + "position": [ + 0.10353229194879532, + -0.056806888431310654, + 0.017456740140914917 + ], + "orientation": [ + 0.5595906972885132, + -0.6904982924461365, + -0.3058066666126251, + 0.3413981795310974 + ], + "joints": [ + 0.015924464911222458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08576218783855438, + -0.05049052834510803, + 0.08150696009397507 + ], + "orientation": [ + 0.45771902799606323, + -0.669804036617279, + -0.5816342830657959, + 0.059643492102622986 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + 0.08330798149108887, + -0.048729442059993744, + 0.07926692068576813 + ], + "orientation": [ + 0.45164021849632263, + -0.669613778591156, + -0.585848867893219, + 0.06647983938455582 + ], + "joints": [ + 0.022595485672354698 + ] + }, + "final_grasp": { + "position": [ + 0.08330798149108887, + -0.048729442059993744, + 0.07926692068576813 + ], + "orientation": [ + 0.45164021849632263, + -0.669613778591156, + -0.585848867893219, + 0.06647983938455582 + ], + "joints": [ + 0.014173684641718864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10785369575023651, + -0.06719478219747543, + 0.009643134661018848 + ], + "orientation": [ + 0.6700742840766907, + -0.5870735049247742, + 0.4228396415710449, + -0.16598710417747498 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.10504589229822159, + -0.06471305340528488, + 0.009550963528454304 + ], + "orientation": [ + 0.6674781441688538, + -0.5899980664253235, + 0.4218447506427765, + -0.1685890108346939 + ], + "joints": [ + 0.022706687450408936 + ] + }, + "final_grasp": { + "position": [ + -0.10504589229822159, + -0.06471305340528488, + 0.009550963528454304 + ], + "orientation": [ + 0.6674781441688538, + -0.5899980664253235, + 0.4218447506427765, + -0.1685890108346939 + ], + "joints": [ + 0.013469874858856201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06534703820943832, + 0.17584212124347687, + -0.015029875561594963 + ], + "orientation": [ + 0.673765242099762, + 0.6750353574752808, + 0.027798550203442574, + 0.2993237376213074 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.06289895623922348, + 0.17404764890670776, + -0.01403902843594551 + ], + "orientation": [ + 0.6730421781539917, + 0.6706960797309875, + 0.037732284516096115, + 0.3094468414783478 + ], + "joints": [ + 0.023609809577465057 + ] + }, + "final_grasp": { + "position": [ + -0.06289895623922348, + 0.17404764890670776, + -0.01403902843594551 + ], + "orientation": [ + 0.6730421781539917, + 0.6706960797309875, + 0.037732284516096115, + 0.3094468414783478 + ], + "joints": [ + 0.015229806303977966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02213194966316223, + 0.19449368119239807, + -0.013599037192761898 + ], + "orientation": [ + 0.5499892234802246, + 0.4650534391403198, + -0.5369194746017456, + 0.4392662048339844 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.021403778344392776, + 0.1916007399559021, + -0.012468773871660233 + ], + "orientation": [ + 0.5525148510932922, + 0.4637792706489563, + -0.5320585370063782, + 0.443339467048645 + ], + "joints": [ + 0.021913737058639526 + ] + }, + "final_grasp": { + "position": [ + 0.021403778344392776, + 0.1916007399559021, + -0.012468773871660233 + ], + "orientation": [ + 0.5525148510932922, + 0.4637792706489563, + -0.5320585370063782, + 0.443339467048645 + ], + "joints": [ + 0.012300767004489899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10975485295057297, + 0.03873376548290253, + -0.08984459191560745 + ], + "orientation": [ + 0.6826441287994385, + 0.255201518535614, + -0.3450910151004791, + -0.5914232134819031 + ], + "joints": [ + 0.030044754967093468 + ] + }, + "fine_grasp": { + "position": [ + 0.10683991014957428, + 0.03884359449148178, + -0.08749967813491821 + ], + "orientation": [ + 0.6835525035858154, + 0.2549820840358734, + -0.3449440598487854, + -0.5905536413192749 + ], + "joints": [ + 0.021184099838137627 + ] + }, + "final_grasp": { + "position": [ + 0.10683991014957428, + 0.03884359449148178, + -0.08749967813491821 + ], + "orientation": [ + 0.6835525035858154, + 0.2549820840358734, + -0.3449440598487854, + -0.5905536413192749 + ], + "joints": [ + 0.012323444709181786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06164208799600601, + 0.17984433472156525, + 0.02910681441426277 + ], + "orientation": [ + 0.11008448153734207, + -0.20890703797340393, + 0.7522464394569397, + -0.6151135563850403 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.05937955528497696, + 0.17742222547531128, + 0.02873268909752369 + ], + "orientation": [ + 0.11719460785388947, + -0.21386843919754028, + 0.7523239254951477, + -0.6119921803474426 + ], + "joints": [ + 0.023863356560468674 + ] + }, + "final_grasp": { + "position": [ + -0.05937955528497696, + 0.17742222547531128, + 0.02873268909752369 + ], + "orientation": [ + 0.11719460785388947, + -0.21386843919754028, + 0.7523239254951477, + -0.6119921803474426 + ], + "joints": [ + 0.015065398067235947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11384434998035431, + 0.04419663920998573, + -0.0572536401450634 + ], + "orientation": [ + 0.6165054440498352, + -0.3795267939567566, + 0.3627496361732483, + -0.5867650508880615 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.11025981605052948, + 0.04424881562590599, + -0.05544539913535118 + ], + "orientation": [ + 0.6167277097702026, + -0.37869635224342346, + 0.3632773458957672, + -0.58674156665802 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + -0.11025981605052948, + 0.04424881562590599, + -0.05544539913535118 + ], + "orientation": [ + 0.6167277097702026, + -0.37869635224342346, + 0.3632773458957672, + -0.58674156665802 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050236448645591736, + -0.07243402302265167, + 0.08334994316101074 + ], + "orientation": [ + 0.04903532192111015, + -0.4928315579891205, + -0.7505589723587036, + -0.4374629259109497 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.04876433312892914, + -0.06978432089090347, + 0.08113288879394531 + ], + "orientation": [ + 0.04569416493177414, + -0.49542105197906494, + -0.7503509521484375, + -0.4352511763572693 + ], + "joints": [ + 0.02340025082230568 + ] + }, + "final_grasp": { + "position": [ + -0.04876433312892914, + -0.06978432089090347, + 0.08113288879394531 + ], + "orientation": [ + 0.04569416493177414, + -0.49542105197906494, + -0.7503509521484375, + -0.4352511763572693 + ], + "joints": [ + 0.014602292329072952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06721655279397964, + 0.04905589297413826, + 0.10808373987674713 + ], + "orientation": [ + 0.20144516229629517, + -0.6804987192153931, + 0.6792058944702148, + -0.18713831901550293 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.06499508768320084, + 0.04909630864858627, + 0.10504274070262909 + ], + "orientation": [ + 0.2006193846464157, + -0.6802147030830383, + 0.6798597574234009, + -0.18668264150619507 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + -0.06499508768320084, + 0.04909630864858627, + 0.10504274070262909 + ], + "orientation": [ + 0.2006193846464157, + -0.6802147030830383, + 0.6798597574234009, + -0.18668264150619507 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11928123980760574, + 0.025282930582761765, + 0.049037352204322815 + ], + "orientation": [ + 0.4101804196834564, + -0.4421728849411011, + 0.7112130522727966, + -0.36112478375434875 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + -0.11575077474117279, + 0.025608904659748077, + 0.0477132722735405 + ], + "orientation": [ + 0.42152005434036255, + -0.44356033205986023, + 0.7083501815795898, + -0.35187363624572754 + ], + "joints": [ + 0.023102648556232452 + ] + }, + "final_grasp": { + "position": [ + -0.11575077474117279, + 0.025608904659748077, + 0.0477132722735405 + ], + "orientation": [ + 0.42152005434036255, + -0.44356033205986023, + 0.7083501815795898, + -0.35187363624572754 + ], + "joints": [ + 0.01470174640417099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009675226174294949, + 0.04042816162109375, + 0.1330205649137497 + ], + "orientation": [ + 0.04482916742563248, + 0.7440981864929199, + -0.6606942415237427, + 0.08826825767755508 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.00931552518159151, + 0.040000662207603455, + 0.12922918796539307 + ], + "orientation": [ + 0.04317525774240494, + 0.7496256232261658, + -0.6549234390258789, + 0.0852806568145752 + ], + "joints": [ + 0.023542597889900208 + ] + }, + "final_grasp": { + "position": [ + -0.00931552518159151, + 0.040000662207603455, + 0.12922918796539307 + ], + "orientation": [ + 0.04317525774240494, + 0.7496256232261658, + -0.6549234390258789, + 0.0852806568145752 + ], + "joints": [ + 0.015141695737838745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03033684939146042, + 0.05518817901611328, + -0.13603444397449493 + ], + "orientation": [ + 0.6369674801826477, + -0.0833672508597374, + -0.07132396847009659, + 0.7630434036254883 + ], + "joints": [ + 0.03145724907517433 + ] + }, + "fine_grasp": { + "position": [ + 0.029396651312708855, + 0.05515647679567337, + -0.13234883546829224 + ], + "orientation": [ + 0.6363219022750854, + -0.08285821974277496, + -0.0708133727312088, + 0.7636847496032715 + ], + "joints": [ + 0.02259659394621849 + ] + }, + "final_grasp": { + "position": [ + 0.029396651312708855, + 0.05515647679567337, + -0.13234883546829224 + ], + "orientation": [ + 0.6363219022750854, + -0.08285821974277496, + -0.0708133727312088, + 0.7636847496032715 + ], + "joints": [ + 0.01373593881726265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0777522623538971, + 0.04190221056342125, + -0.09660535305738449 + ], + "orientation": [ + 0.6850975751876831, + 0.2805180251598358, + -0.1888526827096939, + -0.645202100276947 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.07519084215164185, + 0.04175860807299614, + -0.09353183209896088 + ], + "orientation": [ + 0.6850999593734741, + 0.2792481482028961, + -0.19000595808029175, + -0.6454116106033325 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.07519084215164185, + 0.04175860807299614, + -0.09353183209896088 + ], + "orientation": [ + 0.6850999593734741, + 0.2792481482028961, + -0.19000595808029175, + -0.6454116106033325 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030950216576457024, + 0.03707746043801308, + -0.13346469402313232 + ], + "orientation": [ + 0.7518170475959778, + -0.13123394548892975, + -0.03462215140461922, + 0.6452521085739136 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + 0.0300352293998003, + 0.037320803850889206, + -0.12982891499996185 + ], + "orientation": [ + 0.7523319721221924, + -0.12993711233139038, + -0.03519837185740471, + 0.6448829174041748 + ], + "joints": [ + 0.022595485672354698 + ] + }, + "final_grasp": { + "position": [ + 0.0300352293998003, + 0.037320803850889206, + -0.12982891499996185 + ], + "orientation": [ + 0.7523319721221924, + -0.12993711233139038, + -0.03519837185740471, + 0.6448829174041748 + ], + "joints": [ + 0.014173684641718864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050949692726135254, + -0.07300219684839249, + -0.08649014681577682 + ], + "orientation": [ + 0.824009895324707, + -0.41494935750961304, + 0.0491272434592247, + -0.38263723254203796 + ], + "joints": [ + 0.03217505291104317 + ] + }, + "fine_grasp": { + "position": [ + -0.04959355667233467, + -0.07055815309286118, + -0.08403477817773819 + ], + "orientation": [ + 0.8220614194869995, + -0.41540899872779846, + 0.04828653484582901, + -0.3864181637763977 + ], + "joints": [ + 0.022959139198064804 + ] + }, + "final_grasp": { + "position": [ + -0.04959355667233467, + -0.07055815309286118, + -0.08403477817773819 + ], + "orientation": [ + 0.8220614194869995, + -0.41540899872779846, + 0.04828653484582901, + -0.3864181637763977 + ], + "joints": [ + 0.013743225485086441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13742965459823608, + 0.016972370445728302, + 0.012183870188891888 + ], + "orientation": [ + 0.4984932541847229, + -0.6073434352874756, + 0.4193786084651947, + -0.45470866560935974 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.1338150054216385, + 0.01738339103758335, + 0.011880224570631981 + ], + "orientation": [ + 0.49603334069252014, + -0.6068713068962097, + 0.41953182220458984, + -0.45787665247917175 + ], + "joints": [ + 0.021625211462378502 + ] + }, + "final_grasp": { + "position": [ + -0.1338150054216385, + 0.01738339103758335, + 0.011880224570631981 + ], + "orientation": [ + 0.49603334069252014, + -0.6068713068962097, + 0.41953182220458984, + -0.45787665247917175 + ], + "joints": [ + 0.013182511553168297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13720692694187164, + 0.06669232994318008, + 0.009849345311522484 + ], + "orientation": [ + 0.46100011467933655, + -0.4192867577075958, + -0.6011166572570801, + 0.5003361105918884 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + 0.13353562355041504, + 0.06632937490940094, + 0.009563187137246132 + ], + "orientation": [ + 0.4643409252166748, + -0.41947537660598755, + -0.6002181768417358, + 0.49816274642944336 + ], + "joints": [ + 0.02169126458466053 + ] + }, + "final_grasp": { + "position": [ + 0.13353562355041504, + 0.06632937490940094, + 0.009563187137246132 + ], + "orientation": [ + 0.4643409252166748, + -0.41947537660598755, + -0.6002181768417358, + 0.49816274642944336 + ], + "joints": [ + 0.01285150833427906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05270932614803314, + -0.09912390261888504, + -0.012915495783090591 + ], + "orientation": [ + 0.5993369817733765, + -0.6477845907211304, + -0.11948729306459427, + -0.4548549950122833 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.051344189792871475, + -0.0953221395611763, + -0.013011899776756763 + ], + "orientation": [ + 0.6017230749130249, + -0.6493898034095764, + -0.12382886558771133, + -0.4482058882713318 + ], + "joints": [ + 0.024558015167713165 + ] + }, + "final_grasp": { + "position": [ + -0.051344189792871475, + -0.0953221395611763, + -0.013011899776756763 + ], + "orientation": [ + 0.6017230749130249, + -0.6493898034095764, + -0.12382886558771133, + -0.4482058882713318 + ], + "joints": [ + 0.015760056674480438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010338527150452137, + -0.10532952100038528, + 0.0016445998335257173 + ], + "orientation": [ + 0.654186487197876, + -0.6659616231918335, + 0.306498259305954, + 0.1859942525625229 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.010518468916416168, + -0.10162270814180374, + 0.0018678568303585052 + ], + "orientation": [ + 0.6572083830833435, + -0.664175271987915, + 0.3001563251018524, + 0.19197553396224976 + ], + "joints": [ + 0.022145289927721024 + ] + }, + "final_grasp": { + "position": [ + -0.010518468916416168, + -0.10162270814180374, + 0.0018678568303585052 + ], + "orientation": [ + 0.6572083830833435, + -0.664175271987915, + 0.3001563251018524, + 0.19197553396224976 + ], + "joints": [ + 0.012532319873571396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0776706263422966, + 0.04194798320531845, + -0.09646081924438477 + ], + "orientation": [ + 0.685193657875061, + 0.2804039716720581, + -0.18917566537857056, + -0.6450549364089966 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.07515932619571686, + 0.0418236181139946, + -0.09337376058101654 + ], + "orientation": [ + 0.6853201985359192, + 0.2792681157588959, + -0.19036301970481873, + -0.6450638771057129 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.07515932619571686, + 0.0418236181139946, + -0.09337376058101654 + ], + "orientation": [ + 0.6853201985359192, + 0.2792681157588959, + -0.19036301970481873, + -0.6450638771057129 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06038258597254753, + -0.05652754008769989, + 0.0833914503455162 + ], + "orientation": [ + 0.030483638867735863, + -0.626233696937561, + 0.6602389812469482, + 0.41350504755973816 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.05881331115961075, + -0.05436994507908821, + 0.08072583377361298 + ], + "orientation": [ + 0.026721574366092682, + -0.623365044593811, + 0.6638680100440979, + 0.4122879207134247 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.05881331115961075, + -0.05436994507908821, + 0.08072583377361298 + ], + "orientation": [ + 0.026721574366092682, + -0.623365044593811, + 0.6638680100440979, + 0.4122879207134247 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012232113629579544, + 0.21149727702140808, + -0.03766448050737381 + ], + "orientation": [ + 0.7963815331459045, + 0.5955014228820801, + 0.0992758646607399, + -0.03603782504796982 + ], + "joints": [ + 0.03144504874944687 + ] + }, + "fine_grasp": { + "position": [ + -0.011857854202389717, + 0.2079572230577469, + -0.0363166518509388 + ], + "orientation": [ + 0.7964177131652832, + 0.5955790877342224, + 0.09847285598516464, + -0.03615938127040863 + ], + "joints": [ + 0.022981449961662292 + ] + }, + "final_grasp": { + "position": [ + -0.011857854202389717, + 0.2079572230577469, + -0.0363166518509388 + ], + "orientation": [ + 0.7964177131652832, + 0.5955790877342224, + 0.09847285598516464, + -0.03615938127040863 + ], + "joints": [ + 0.014517851173877716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0606723427772522, + -0.05576496198773384, + 0.0837835818529129 + ], + "orientation": [ + 0.034212879836559296, + -0.6289814114570618, + 0.6567184329032898, + 0.41464805603027344 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.05914165452122688, + -0.05368490517139435, + 0.08122459799051285 + ], + "orientation": [ + 0.030220625922083855, + -0.627981424331665, + 0.658818244934082, + 0.41314002871513367 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.05914165452122688, + -0.05368490517139435, + 0.08122459799051285 + ], + "orientation": [ + 0.030220625922083855, + -0.627981424331665, + 0.658818244934082, + 0.41314002871513367 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13022807240486145, + -0.007258341647684574, + -0.011115429922938347 + ], + "orientation": [ + 0.6262322664260864, + -0.4220521152019501, + -0.5380187034606934, + 0.37448781728744507 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.12682846188545227, + -0.0061741722747683525, + -0.010686525143682957 + ], + "orientation": [ + 0.63009113073349, + -0.4239969551563263, + -0.5350742936134338, + 0.3700096607208252 + ], + "joints": [ + 0.023568011820316315 + ] + }, + "final_grasp": { + "position": [ + 0.12682846188545227, + -0.0061741722747683525, + -0.010686525143682957 + ], + "orientation": [ + 0.63009113073349, + -0.4239969551563263, + -0.5350742936134338, + 0.3700096607208252 + ], + "joints": [ + 0.015146210789680481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030288971960544586, + 0.055125970393419266, + -0.13607098162174225 + ], + "orientation": [ + 0.6371208429336548, + -0.08281464874744415, + -0.0716579258441925, + 0.762944221496582 + ], + "joints": [ + 0.031225694343447685 + ] + }, + "fine_grasp": { + "position": [ + 0.02935214154422283, + 0.05509257689118385, + -0.13236232101917267 + ], + "orientation": [ + 0.6362517476081848, + -0.08228480070829391, + -0.07103123515844345, + 0.7637849450111389 + ], + "joints": [ + 0.022385938093066216 + ] + }, + "final_grasp": { + "position": [ + 0.02935214154422283, + 0.05509257689118385, + -0.13236232101917267 + ], + "orientation": [ + 0.6362517476081848, + -0.08228480070829391, + -0.07103123515844345, + 0.7637849450111389 + ], + "joints": [ + 0.013546181842684746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010635791346430779, + -0.10496480762958527, + 0.0014819115167483687 + ], + "orientation": [ + 0.6541601419448853, + -0.6656079292297363, + 0.3088328540325165, + 0.18347424268722534 + ], + "joints": [ + 0.031318310648202896 + ] + }, + "fine_grasp": { + "position": [ + -0.01082431897521019, + -0.10137458890676498, + 0.001742360182106495 + ], + "orientation": [ + 0.6569609642028809, + -0.664295494556427, + 0.30230116844177246, + 0.18901798129081726 + ], + "joints": [ + 0.022102396935224533 + ] + }, + "final_grasp": { + "position": [ + -0.01082431897521019, + -0.10137458890676498, + 0.001742360182106495 + ], + "orientation": [ + 0.6569609642028809, + -0.664295494556427, + 0.30230116844177246, + 0.18901798129081726 + ], + "joints": [ + 0.01288648322224617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0854911208152771, + -0.06679492443799973, + 0.05581170320510864 + ], + "orientation": [ + 0.5177082419395447, + -0.7434098720550537, + 0.3971157371997833, + -0.1470339298248291 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.08318977802991867, + -0.06419291347265244, + 0.054329607635736465 + ], + "orientation": [ + 0.5176747441291809, + -0.7414978742599487, + 0.4002230763435364, + -0.1483752280473709 + ], + "joints": [ + 0.023863356560468674 + ] + }, + "final_grasp": { + "position": [ + -0.08318977802991867, + -0.06419291347265244, + 0.054329607635736465 + ], + "orientation": [ + 0.5176747441291809, + -0.7414978742599487, + 0.4002230763435364, + -0.1483752280473709 + ], + "joints": [ + 0.015065398067235947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10863612592220306, + -0.05790926516056061, + -0.0513533316552639 + ], + "orientation": [ + 0.3525663912296295, + 0.2329261153936386, + -0.5132032036781311, + -0.7470375299453735 + ], + "joints": [ + 0.027775520458817482 + ] + }, + "fine_grasp": { + "position": [ + 0.10576193034648895, + -0.05637943372130394, + -0.049964308738708496 + ], + "orientation": [ + 0.35383373498916626, + 0.23755837976932526, + -0.5128642916679382, + -0.7452099323272705 + ], + "joints": [ + 0.01891486532986164 + ] + }, + "final_grasp": { + "position": [ + 0.10576193034648895, + -0.05637943372130394, + -0.049964308738708496 + ], + "orientation": [ + 0.35383373498916626, + 0.23755837976932526, + -0.5128642916679382, + -0.7452099323272705 + ], + "joints": [ + 0.0100542102009058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03586556762456894, + -0.10052037239074707, + -0.006561926566064358 + ], + "orientation": [ + 0.20826682448387146, + -0.05455154925584793, + -0.6963917016983032, + -0.6846076846122742 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.0348040834069252, + -0.09725839644670486, + -0.005949110258370638 + ], + "orientation": [ + 0.21548552811145782, + -0.046445731073617935, + -0.6945515275001526, + -0.6848407983779907 + ], + "joints": [ + 0.023003194481134415 + ] + }, + "final_grasp": { + "position": [ + 0.0348040834069252, + -0.09725839644670486, + -0.005949110258370638 + ], + "orientation": [ + 0.21548552811145782, + -0.046445731073617935, + -0.6945515275001526, + -0.6848407983779907 + ], + "joints": [ + 0.013808179646730423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09291377663612366, + 0.1604779213666916, + -0.046523697674274445 + ], + "orientation": [ + 0.746265709400177, + 0.494165301322937, + -0.2803579866886139, + -0.3468250334262848 + ], + "joints": [ + 0.031619321554899216 + ] + }, + "fine_grasp": { + "position": [ + 0.09057199209928513, + 0.15806300938129425, + -0.04503052681684494 + ], + "orientation": [ + 0.7453864216804504, + 0.49713557958602905, + -0.27531489729881287, + -0.3485070466995239 + ], + "joints": [ + 0.02238250896334648 + ] + }, + "final_grasp": { + "position": [ + 0.09057199209928513, + 0.15806300938129425, + -0.04503052681684494 + ], + "orientation": [ + 0.7453864216804504, + 0.49713557958602905, + -0.27531489729881287, + -0.3485070466995239 + ], + "joints": [ + 0.013145696371793747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09318193048238754, + 0.16061417758464813, + -0.0465347059071064 + ], + "orientation": [ + 0.7464587688446045, + 0.49440187215805054, + -0.2805355191230774, + -0.34592750668525696 + ], + "joints": [ + 0.031619321554899216 + ] + }, + "fine_grasp": { + "position": [ + 0.09081399440765381, + 0.1582317352294922, + -0.04504697769880295 + ], + "orientation": [ + 0.7455415725708008, + 0.49725762009620667, + -0.27574318647384644, + -0.3476613163948059 + ], + "joints": [ + 0.02238250896334648 + ] + }, + "final_grasp": { + "position": [ + 0.09081399440765381, + 0.1582317352294922, + -0.04504697769880295 + ], + "orientation": [ + 0.7455415725708008, + 0.49725762009620667, + -0.27574318647384644, + -0.3476613163948059 + ], + "joints": [ + 0.013145696371793747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09316649287939072, + 0.16053570806980133, + -0.046619217842817307 + ], + "orientation": [ + 0.7466405630111694, + 0.4943816661834717, + -0.2797696888446808, + -0.346184104681015 + ], + "joints": [ + 0.031619321554899216 + ] + }, + "fine_grasp": { + "position": [ + 0.09079447388648987, + 0.15820258855819702, + -0.04510212689638138 + ], + "orientation": [ + 0.7454941868782043, + 0.4972299337387085, + -0.27526289224624634, + -0.34818267822265625 + ], + "joints": [ + 0.02238250896334648 + ] + }, + "final_grasp": { + "position": [ + 0.09079447388648987, + 0.15820258855819702, + -0.04510212689638138 + ], + "orientation": [ + 0.7454941868782043, + 0.4972299337387085, + -0.27526289224624634, + -0.34818267822265625 + ], + "joints": [ + 0.013145696371793747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09835140407085419, + 0.014508348889648914, + 0.07696729898452759 + ], + "orientation": [ + 0.35645970702171326, + -0.6429201364517212, + 0.6261443495750427, + -0.25987178087234497 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.09540142863988876, + 0.014771267771720886, + 0.07446353137493134 + ], + "orientation": [ + 0.35828572511672974, + -0.6382598280906677, + 0.6306235194206238, + -0.2580110430717468 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.09540142863988876, + 0.014771267771720886, + 0.07446353137493134 + ], + "orientation": [ + 0.35828572511672974, + -0.6382598280906677, + 0.6306235194206238, + -0.2580110430717468 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018323542550206184, + -0.08964740484952927, + 0.06625077873468399 + ], + "orientation": [ + 0.33923259377479553, + -0.5996049046516418, + 0.5783335566520691, + 0.4369501769542694 + ], + "joints": [ + 0.02902591973543167 + ] + }, + "fine_grasp": { + "position": [ + 0.01784519851207733, + -0.08698204904794693, + 0.06419829279184341 + ], + "orientation": [ + 0.32765960693359375, + -0.6032891273498535, + 0.587374210357666, + 0.42857086658477783 + ], + "joints": [ + 0.02144002914428711 + ] + }, + "final_grasp": { + "position": [ + 0.01784519851207733, + -0.08698204904794693, + 0.06419829279184341 + ], + "orientation": [ + 0.32765960693359375, + -0.6032891273498535, + 0.587374210357666, + 0.42857086658477783 + ], + "joints": [ + 0.013854138553142548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021205337718129158, + -0.10647758841514587, + 0.016066759824752808 + ], + "orientation": [ + 0.14420074224472046, + -0.10919886082410812, + 0.7550173997879028, + 0.6302623152732849 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.020488983020186424, + -0.10296919196844101, + 0.015803897753357887 + ], + "orientation": [ + 0.15336818993091583, + -0.10112971812486649, + 0.7515949606895447, + 0.633526623249054 + ], + "joints": [ + 0.022794798016548157 + ] + }, + "final_grasp": { + "position": [ + -0.020488983020186424, + -0.10296919196844101, + 0.015803897753357887 + ], + "orientation": [ + 0.15336818993091583, + -0.10112971812486649, + 0.7515949606895447, + 0.633526623249054 + ], + "joints": [ + 0.013599783182144165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0169683787971735, + 0.007539109792560339, + -0.12656275928020477 + ], + "orientation": [ + 0.7241986393928528, + 0.007460418622940779, + -0.08462882786989212, + -0.6843380331993103 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.01645515114068985, + 0.007583956699818373, + -0.12257751077413559 + ], + "orientation": [ + 0.7251871228218079, + 0.008406095206737518, + -0.08341328799724579, + -0.6834291219711304 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.01645515114068985, + 0.007583956699818373, + -0.12257751077413559 + ], + "orientation": [ + 0.7251871228218079, + 0.008406095206737518, + -0.08341328799724579, + -0.6834291219711304 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1350608766078949, + 0.061492566019296646, + -0.016237569972872734 + ], + "orientation": [ + 0.4523411989212036, + -0.4699111878871918, + 0.4677118957042694, + -0.596503496170044 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + -0.13128623366355896, + 0.0612969808280468, + -0.015701433643698692 + ], + "orientation": [ + 0.4517672657966614, + -0.47231391072273254, + 0.46563780307769775, + -0.5966634750366211 + ], + "joints": [ + 0.023058593273162842 + ] + }, + "final_grasp": { + "position": [ + -0.13128623366355896, + 0.0612969808280468, + -0.015701433643698692 + ], + "orientation": [ + 0.4517672657966614, + -0.47231391072273254, + 0.46563780307769775, + -0.5966634750366211 + ], + "joints": [ + 0.014636792242527008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.134984090924263, + 0.06149893254041672, + -0.01619783788919449 + ], + "orientation": [ + 0.4520549774169922, + -0.47023019194602966, + 0.4674980044364929, + -0.5966368317604065 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + -0.13125625252723694, + 0.06129533424973488, + -0.015620474703609943 + ], + "orientation": [ + 0.4513576328754425, + -0.4727344214916229, + 0.46557560563087463, + -0.5966891050338745 + ], + "joints": [ + 0.023058593273162842 + ] + }, + "final_grasp": { + "position": [ + -0.13125625252723694, + 0.06129533424973488, + -0.015620474703609943 + ], + "orientation": [ + 0.4513576328754425, + -0.4727344214916229, + 0.46557560563087463, + -0.5966891050338745 + ], + "joints": [ + 0.014636792242527008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03422659635543823, + 0.20879164338111877, + -0.024576356634497643 + ], + "orientation": [ + 0.1250130534172058, + 0.22725282609462738, + 0.5847302675247192, + -0.7686471343040466 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.033339790999889374, + 0.20508064329624176, + -0.023734431713819504 + ], + "orientation": [ + 0.12411938607692719, + 0.22730182111263275, + 0.5868667960166931, + -0.7671476006507874 + ], + "joints": [ + 0.022264480590820312 + ] + }, + "final_grasp": { + "position": [ + 0.033339790999889374, + 0.20508064329624176, + -0.023734431713819504 + ], + "orientation": [ + 0.12411938607692719, + 0.22730182111263275, + 0.5868667960166931, + -0.7671476006507874 + ], + "joints": [ + 0.01304856687784195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0358591228723526, + -0.10025791078805923, + -0.0069006686098873615 + ], + "orientation": [ + 0.20113323628902435, + -0.052496809512376785, + -0.6962615251541138, + -0.6870294809341431 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.034532833844423294, + -0.09702295064926147, + -0.0063736713491380215 + ], + "orientation": [ + 0.2091885209083557, + -0.04387201741337776, + -0.6938442587852478, + -0.6876741051673889 + ], + "joints": [ + 0.022960301488637924 + ] + }, + "final_grasp": { + "position": [ + 0.034532833844423294, + -0.09702295064926147, + -0.0063736713491380215 + ], + "orientation": [ + 0.2091885209083557, + -0.04387201741337776, + -0.6938442587852478, + -0.6876741051673889 + ], + "joints": [ + 0.014162342995405197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06210900470614433, + 0.044353194534778595, + -0.11250784993171692 + ], + "orientation": [ + 0.5944161415100098, + 0.12477216869592667, + -0.2363494485616684, + -0.7584459781646729 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.060164082795381546, + 0.04458637163043022, + -0.10911069810390472 + ], + "orientation": [ + 0.5930826663970947, + 0.1276123970746994, + -0.23420175909996033, + -0.7596824765205383 + ], + "joints": [ + 0.024326462298631668 + ] + }, + "final_grasp": { + "position": [ + 0.060164082795381546, + 0.04458637163043022, + -0.10911069810390472 + ], + "orientation": [ + 0.5930826663970947, + 0.1276123970746994, + -0.23420175909996033, + -0.7596824765205383 + ], + "joints": [ + 0.015528503805398941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12290029227733612, + 0.10698208212852478, + 0.0604727640748024 + ], + "orientation": [ + 0.3087373673915863, + -0.48981982469558716, + -0.6876664757728577, + 0.43803271651268005 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.11959463357925415, + 0.10616932064294815, + 0.058923639357089996 + ], + "orientation": [ + 0.3119637072086334, + -0.49140462279319763, + -0.6866105794906616, + 0.43562138080596924 + ], + "joints": [ + 0.020698992535471916 + ] + }, + "final_grasp": { + "position": [ + 0.11959463357925415, + 0.10616932064294815, + 0.058923639357089996 + ], + "orientation": [ + 0.3119637072086334, + -0.49140462279319763, + -0.6866105794906616, + 0.43562138080596924 + ], + "joints": [ + 0.012256292626261711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07041461020708084, + -0.07547759264707565, + -0.04963907599449158 + ], + "orientation": [ + 0.4756682813167572, + -0.008469539694488049, + 0.5641495585441589, + 0.674835741519928 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.06841190904378891, + -0.07295159250497818, + -0.047906067222356796 + ], + "orientation": [ + 0.4785228669643402, + -0.003768976777791977, + 0.5611104965209961, + 0.6753936409950256 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.06841190904378891, + -0.07295159250497818, + -0.047906067222356796 + ], + "orientation": [ + 0.4785228669643402, + -0.003768976777791977, + 0.5611104965209961, + 0.6753936409950256 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12979301810264587, + 0.0021451471839100122, + 0.039655208587646484 + ], + "orientation": [ + 0.39596429467201233, + 0.46691587567329407, + -0.6525834798812866, + -0.446471244096756 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + 0.12616419792175293, + 0.0025493751745671034, + 0.03876322880387306 + ], + "orientation": [ + 0.3991653621196747, + 0.467105895280838, + -0.6531131267547607, + -0.4426310956478119 + ], + "joints": [ + 0.02257232926785946 + ] + }, + "final_grasp": { + "position": [ + 0.12616419792175293, + 0.0025493751745671034, + 0.03876322880387306 + ], + "orientation": [ + 0.3991653621196747, + 0.467105895280838, + -0.6531131267547607, + -0.4426310956478119 + ], + "joints": [ + 0.014150528237223625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13486339151859283, + 0.061506010591983795, + -0.016188591718673706 + ], + "orientation": [ + 0.4522292912006378, + -0.47024276852607727, + 0.4674626886844635, + -0.5965225100517273 + ], + "joints": [ + 0.03192034363746643 + ] + }, + "fine_grasp": { + "position": [ + -0.13118059933185577, + 0.06128469854593277, + -0.015656443312764168 + ], + "orientation": [ + 0.4513225257396698, + -0.47273948788642883, + 0.4658183455467224, + -0.5965220332145691 + ], + "joints": [ + 0.02308058738708496 + ] + }, + "final_grasp": { + "position": [ + -0.13118059933185577, + 0.06128469854593277, + -0.015656443312764168 + ], + "orientation": [ + 0.4513225257396698, + -0.47273948788642883, + 0.4658183455467224, + -0.5965220332145691 + ], + "joints": [ + 0.014240831136703491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039811138063669205, + -0.09932317584753036, + 0.004859783686697483 + ], + "orientation": [ + 0.6916016340255737, + -0.6182936429977417, + -0.3355991542339325, + -0.16362568736076355 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.038741953670978546, + -0.09613068401813507, + 0.004389859735965729 + ], + "orientation": [ + 0.6873452067375183, + -0.6208775043487549, + -0.3425215780735016, + -0.15731044113636017 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.038741953670978546, + -0.09613068401813507, + 0.004389859735965729 + ], + "orientation": [ + 0.6873452067375183, + -0.6208775043487549, + -0.3425215780735016, + -0.15731044113636017 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1171010434627533, + 0.10161478817462921, + 0.03738876432180405 + ], + "orientation": [ + 0.3387642204761505, + -0.4757234752178192, + 0.6470600366592407, + -0.4901421368122101 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.11342275887727737, + 0.10102784633636475, + 0.03679519519209862 + ], + "orientation": [ + 0.34409719705581665, + -0.475269615650177, + 0.649068295955658, + -0.4841758608818054 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + -0.11342275887727737, + 0.10102784633636475, + 0.03679519519209862 + ], + "orientation": [ + 0.34409719705581665, + -0.475269615650177, + 0.649068295955658, + -0.4841758608818054 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12979808449745178, + 0.0021847528405487537, + 0.03969939798116684 + ], + "orientation": [ + 0.39602696895599365, + 0.4664391875267029, + -0.653032660484314, + -0.44625720381736755 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + 0.126165971159935, + 0.002591280033811927, + 0.03880368918180466 + ], + "orientation": [ + 0.3992161154747009, + 0.466586172580719, + -0.6535770297050476, + -0.4424488842487335 + ], + "joints": [ + 0.02257232926785946 + ] + }, + "final_grasp": { + "position": [ + 0.126165971159935, + 0.002591280033811927, + 0.03880368918180466 + ], + "orientation": [ + 0.3992161154747009, + 0.466586172580719, + -0.6535770297050476, + -0.4424488842487335 + ], + "joints": [ + 0.014150528237223625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1373930722475052, + 0.016984406858682632, + 0.012209837324917316 + ], + "orientation": [ + 0.4985181987285614, + -0.6071633100509644, + 0.41965991258621216, + -0.4546625316143036 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.13371695578098297, + 0.017422886565327644, + 0.011879006400704384 + ], + "orientation": [ + 0.49606478214263916, + -0.6068311333656311, + 0.41979193687438965, + -0.4576576352119446 + ], + "joints": [ + 0.021625211462378502 + ] + }, + "final_grasp": { + "position": [ + -0.13371695578098297, + 0.017422886565327644, + 0.011879006400704384 + ], + "orientation": [ + 0.49606478214263916, + -0.6068311333656311, + 0.41979193687438965, + -0.4576576352119446 + ], + "joints": [ + 0.013182511553168297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02143862098455429, + -0.10367757827043533, + 0.011136489920318127 + ], + "orientation": [ + 0.1184941828250885, + -0.07372462004423141, + 0.7431351542472839, + 0.6544265747070312 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.02079007215797901, + -0.1003931388258934, + 0.011289221234619617 + ], + "orientation": [ + 0.12732811272144318, + -0.06469056755304337, + 0.741733193397522, + 0.6553124785423279 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + -0.02079007215797901, + -0.1003931388258934, + 0.011289221234619617 + ], + "orientation": [ + 0.12732811272144318, + -0.06469056755304337, + 0.741733193397522, + 0.6553124785423279 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0060884407721459866, + -0.10533586889505386, + -0.005858366843312979 + ], + "orientation": [ + 0.4347129464149475, + -0.491732120513916, + 0.5318836569786072, + 0.5350925326347351 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.005671909544616938, + -0.10180719196796417, + -0.005145632196217775 + ], + "orientation": [ + 0.4390643835067749, + -0.487796813249588, + 0.5303913950920105, + 0.5366206169128418 + ], + "joints": [ + 0.021913737058639526 + ] + }, + "final_grasp": { + "position": [ + 0.005671909544616938, + -0.10180719196796417, + -0.005145632196217775 + ], + "orientation": [ + 0.4390643835067749, + -0.487796813249588, + 0.5303913950920105, + 0.5366206169128418 + ], + "joints": [ + 0.012300767004489899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08969052135944366, + 0.10016798973083496, + -0.08863655477762222 + ], + "orientation": [ + 0.5374505519866943, + -0.28329384326934814, + 0.27401360869407654, + -0.7455252408981323 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.08690591901540756, + 0.09922616928815842, + -0.08596301823854446 + ], + "orientation": [ + 0.533663272857666, + -0.28147438168525696, + 0.2767215073108673, + -0.7479310631752014 + ], + "joints": [ + 0.023468557745218277 + ] + }, + "final_grasp": { + "position": [ + -0.08690591901540756, + 0.09922616928815842, + -0.08596301823854446 + ], + "orientation": [ + 0.533663272857666, + -0.28147438168525696, + 0.2767215073108673, + -0.7479310631752014 + ], + "joints": [ + 0.014252644032239914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08979127556085587, + 0.09991924464702606, + -0.08865860849618912 + ], + "orientation": [ + 0.5382364988327026, + -0.283839613199234, + 0.27355724573135376, + -0.7449180483818054 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.08702701330184937, + 0.09900873154401779, + -0.08597678691148758 + ], + "orientation": [ + 0.5345032811164856, + -0.28221040964126587, + 0.2761993110179901, + -0.7472466826438904 + ], + "joints": [ + 0.023468557745218277 + ] + }, + "final_grasp": { + "position": [ + -0.08702701330184937, + 0.09900873154401779, + -0.08597678691148758 + ], + "orientation": [ + 0.5345032811164856, + -0.28221040964126587, + 0.2761993110179901, + -0.7472466826438904 + ], + "joints": [ + 0.014252644032239914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044471751898527145, + 0.044954802840948105, + -0.119106724858284 + ], + "orientation": [ + 0.7299674153327942, + 0.16705477237701416, + -0.08700466901063919, + -0.6570164561271667 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.04297309368848801, + 0.04487933963537216, + -0.11536560207605362 + ], + "orientation": [ + 0.7307713627815247, + 0.16525384783744812, + -0.08839741349220276, + -0.6563918590545654 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.04297309368848801, + 0.04487933963537216, + -0.11536560207605362 + ], + "orientation": [ + 0.7307713627815247, + 0.16525384783744812, + -0.08839741349220276, + -0.6563918590545654 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0896947905421257, + 0.10030436515808105, + -0.08889707177877426 + ], + "orientation": [ + 0.539692759513855, + -0.28344041109085083, + 0.2729330360889435, + -0.7442450523376465 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.086973175406456, + 0.09933100640773773, + -0.08619233965873718 + ], + "orientation": [ + 0.5360590219497681, + -0.2809196412563324, + 0.27599912881851196, + -0.7466922402381897 + ], + "joints": [ + 0.023445401340723038 + ] + }, + "final_grasp": { + "position": [ + -0.086973175406456, + 0.09933100640773773, + -0.08619233965873718 + ], + "orientation": [ + 0.5360590219497681, + -0.2809196412563324, + 0.27599912881851196, + -0.7466922402381897 + ], + "joints": [ + 0.014229487627744675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044707152992486954, + 0.045032475143671036, + -0.11912471055984497 + ], + "orientation": [ + 0.7301504611968994, + 0.1670166254043579, + -0.08811379224061966, + -0.6566747426986694 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.043214697390794754, + 0.04493995010852814, + -0.11538108438253403 + ], + "orientation": [ + 0.7308967709541321, + 0.1654079705476761, + -0.08946855366230011, + -0.6560682654380798 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.043214697390794754, + 0.04493995010852814, + -0.11538108438253403 + ], + "orientation": [ + 0.7308967709541321, + 0.1654079705476761, + -0.08946855366230011, + -0.6560682654380798 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10955219715833664, + 0.04352520778775215, + -0.07561374455690384 + ], + "orientation": [ + 0.5312251448631287, + -0.3043392598628998, + 0.3569509983062744, + -0.7055235505104065 + ], + "joints": [ + 0.03236030414700508 + ] + }, + "fine_grasp": { + "position": [ + -0.10623358935117722, + 0.04326620697975159, + -0.07350940257310867 + ], + "orientation": [ + 0.5313067436218262, + -0.3062690198421478, + 0.354277104139328, + -0.7059746980667114 + ], + "joints": [ + 0.023541446775197983 + ] + }, + "final_grasp": { + "position": [ + -0.10623358935117722, + 0.04326620697975159, + -0.07350940257310867 + ], + "orientation": [ + 0.5313067436218262, + -0.3062690198421478, + 0.354277104139328, + -0.7059746980667114 + ], + "joints": [ + 0.014722589403390884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12087684869766235, + 0.04533703625202179, + 0.06372980028390884 + ], + "orientation": [ + 0.398705393075943, + 0.5585667490959167, + 0.6485080122947693, + 0.32935479283332825 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.11741610616445541, + 0.04533456265926361, + 0.06211928650736809 + ], + "orientation": [ + 0.3990806043148041, + 0.5556078553199768, + 0.6518678665161133, + 0.32726579904556274 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + -0.11741610616445541, + 0.04533456265926361, + 0.06211928650736809 + ], + "orientation": [ + 0.3990806043148041, + 0.5556078553199768, + 0.6518678665161133, + 0.32726579904556274 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05691864714026451, + 0.08010364323854446, + -0.11108396202325821 + ], + "orientation": [ + 0.6424520611763, + -0.12701177597045898, + 0.20765039324760437, + -0.7266393899917603 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.055054061114788055, + 0.07991751283407211, + -0.10766353458166122 + ], + "orientation": [ + 0.6395445466041565, + -0.12860244512557983, + 0.2059512585401535, + -0.7294027209281921 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + -0.055054061114788055, + 0.07991751283407211, + -0.10766353458166122 + ], + "orientation": [ + 0.6395445466041565, + -0.12860244512557983, + 0.2059512585401535, + -0.7294027209281921 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02622232213616371, + 0.042420487850904465, + 0.12458562105894089 + ], + "orientation": [ + 0.07880160957574844, + 0.6761130690574646, + -0.729458749294281, + -0.0674639642238617 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.025372883304953575, + 0.04244576394557953, + 0.12079956382513046 + ], + "orientation": [ + 0.0786399394273758, + 0.6712758541107178, + -0.733910322189331, + -0.06767686456441879 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + 0.025372883304953575, + 0.04244576394557953, + 0.12079956382513046 + ], + "orientation": [ + 0.0786399394273758, + 0.6712758541107178, + -0.733910322189331, + -0.06767686456441879 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02134089544415474, + -0.10373115539550781, + 0.010687022469937801 + ], + "orientation": [ + 0.11810208112001419, + -0.07351891696453094, + 0.7419812083244324, + 0.6558284163475037 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.02066003903746605, + -0.10043089836835861, + 0.010757360607385635 + ], + "orientation": [ + 0.1271221786737442, + -0.06399235874414444, + 0.7405404448509216, + 0.6567685008049011 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + -0.02066003903746605, + -0.10043089836835861, + 0.010757360607385635 + ], + "orientation": [ + 0.1271221786737442, + -0.06399235874414444, + 0.7405404448509216, + 0.6567685008049011 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12188524007797241, + 0.04924067482352257, + 0.033052120357751846 + ], + "orientation": [ + 0.43480250239372253, + -0.5369628071784973, + 0.5853986740112305, + -0.4241768717765808 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.1180717721581459, + 0.04916940629482269, + 0.0321047380566597 + ], + "orientation": [ + 0.4384462535381317, + -0.5332090258598328, + 0.5889943242073059, + -0.42016497254371643 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + -0.1180717721581459, + 0.04916940629482269, + 0.0321047380566597 + ], + "orientation": [ + 0.4384462535381317, + -0.5332090258598328, + 0.5889943242073059, + -0.42016497254371643 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0410262830555439, + -0.0974283292889595, + 0.028978221118450165 + ], + "orientation": [ + 0.6381283402442932, + -0.7480776906013489, + -0.17938673496246338, + -0.03150111436843872 + ], + "joints": [ + 0.028261786326766014 + ] + }, + "fine_grasp": { + "position": [ + 0.03974353149533272, + -0.09460660070180893, + 0.028277849778532982 + ], + "orientation": [ + 0.6363193988800049, + -0.747826337814331, + -0.18809348344802856, + -0.021777257323265076 + ], + "joints": [ + 0.01986088417470455 + ] + }, + "final_grasp": { + "position": [ + 0.03974353149533272, + -0.09460660070180893, + 0.028277849778532982 + ], + "orientation": [ + 0.6363193988800049, + -0.747826337814331, + -0.18809348344802856, + -0.021777257323265076 + ], + "joints": [ + 0.01145998202264309 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0571252778172493, + 0.07984646409749985, + -0.11083721369504929 + ], + "orientation": [ + 0.6413337588310242, + -0.12830892205238342, + 0.20801590383052826, + -0.7272945046424866 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.05529903247952461, + 0.07966115325689316, + -0.10742311924695969 + ], + "orientation": [ + 0.6385214328765869, + -0.129770427942276, + 0.20627306401729584, + -0.7300010323524475 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + -0.05529903247952461, + 0.07966115325689316, + -0.10742311924695969 + ], + "orientation": [ + 0.6385214328765869, + -0.129770427942276, + 0.20627306401729584, + -0.7300010323524475 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10255363583564758, + 0.03159568831324577, + 0.09411485493183136 + ], + "orientation": [ + 0.3019982576370239, + -0.7342051267623901, + 0.5449894666671753, + -0.26967811584472656 + ], + "joints": [ + 0.03082047775387764 + ] + }, + "fine_grasp": { + "position": [ + -0.09970279037952423, + 0.031985558569431305, + 0.0916001945734024 + ], + "orientation": [ + 0.29586702585220337, + -0.7399193644523621, + 0.5373621582984924, + -0.27608680725097656 + ], + "joints": [ + 0.02279573306441307 + ] + }, + "final_grasp": { + "position": [ + -0.09970279037952423, + 0.031985558569431305, + 0.0916001945734024 + ], + "orientation": [ + 0.29586702585220337, + -0.7399193644523621, + 0.5373621582984924, + -0.27608680725097656 + ], + "joints": [ + 0.014770988374948502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021332254633307457, + -0.10324554145336151, + 0.011590402573347092 + ], + "orientation": [ + 0.12001006305217743, + -0.07181333005428314, + 0.7439283132553101, + 0.6534608602523804 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.020705582574009895, + -0.10006069391965866, + 0.011875204741954803 + ], + "orientation": [ + 0.12959732115268707, + -0.06343653053045273, + 0.7426132559776306, + 0.6539922952651978 + ], + "joints": [ + 0.023026350885629654 + ] + }, + "final_grasp": { + "position": [ + -0.020705582574009895, + -0.10006069391965866, + 0.011875204741954803 + ], + "orientation": [ + 0.12959732115268707, + -0.06343653053045273, + 0.7426132559776306, + 0.6539922952651978 + ], + "joints": [ + 0.013831336051225662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13738517463207245, + 0.017053375020623207, + 0.0122951315715909 + ], + "orientation": [ + 0.4984094202518463, + -0.6076269149780273, + 0.4193724989891052, + -0.45442748069763184 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.1337013989686966, + 0.0174973476678133, + 0.011971507221460342 + ], + "orientation": [ + 0.49596351385116577, + -0.6072757840156555, + 0.4195379316806793, + -0.45741036534309387 + ], + "joints": [ + 0.021625211462378502 + ] + }, + "final_grasp": { + "position": [ + -0.1337013989686966, + 0.0174973476678133, + 0.011971507221460342 + ], + "orientation": [ + 0.49596351385116577, + -0.6072757840156555, + 0.4195379316806793, + -0.45741036534309387 + ], + "joints": [ + 0.013182511553168297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13739445805549622, + 0.016979539766907692, + 0.012276233173906803 + ], + "orientation": [ + 0.4980914294719696, + -0.6074588298797607, + 0.419527143239975, + -0.45485779643058777 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.1337212324142456, + 0.01742432452738285, + 0.011938969604671001 + ], + "orientation": [ + 0.49571362137794495, + -0.6071731448173523, + 0.419565886259079, + -0.4577917158603668 + ], + "joints": [ + 0.021625211462378502 + ] + }, + "final_grasp": { + "position": [ + -0.1337212324142456, + 0.01742432452738285, + 0.011938969604671001 + ], + "orientation": [ + 0.49571362137794495, + -0.6071731448173523, + 0.419565886259079, + -0.4577917158603668 + ], + "joints": [ + 0.013182511553168297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10111300647258759, + 0.07799192517995834, + -0.07755899429321289 + ], + "orientation": [ + 0.5517935156822205, + -0.2824200689792633, + 0.34671542048454285, + -0.7039538621902466 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.09804122895002365, + 0.07778991758823395, + -0.07521291077136993 + ], + "orientation": [ + 0.5497771501541138, + -0.2859678268432617, + 0.3442229628562927, + -0.705321192741394 + ], + "joints": [ + 0.024326462298631668 + ] + }, + "final_grasp": { + "position": [ + -0.09804122895002365, + 0.07778991758823395, + -0.07521291077136993 + ], + "orientation": [ + 0.5497771501541138, + -0.2859678268432617, + 0.3442229628562927, + -0.705321192741394 + ], + "joints": [ + 0.015528503805398941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05967805162072182, + 0.08942478150129318, + 0.10830058157444 + ], + "orientation": [ + 0.10567859560251236, + -0.6240260601043701, + 0.7322872877120972, + -0.2513540983200073 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.057601448148489, + 0.08901471644639969, + 0.10499746352434158 + ], + "orientation": [ + 0.10934601724147797, + -0.6191874146461487, + 0.736976683139801, + -0.24802398681640625 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + -0.057601448148489, + 0.08901471644639969, + 0.10499746352434158 + ], + "orientation": [ + 0.10934601724147797, + -0.6191874146461487, + 0.736976683139801, + -0.24802398681640625 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13474728167057037, + 0.024533338844776154, + 0.032609570771455765 + ], + "orientation": [ + 0.4553256034851074, + 0.45035412907600403, + 0.6442936658859253, + 0.41802555322647095 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.13113823533058167, + 0.024809909984469414, + 0.031764693558216095 + ], + "orientation": [ + 0.4578894078731537, + 0.44864320755004883, + 0.6454386711120605, + 0.41528943181037903 + ], + "joints": [ + 0.022596582770347595 + ] + }, + "final_grasp": { + "position": [ + -0.13113823533058167, + 0.024809909984469414, + 0.031764693558216095 + ], + "orientation": [ + 0.4578894078731537, + 0.44864320755004883, + 0.6454386711120605, + 0.41528943181037903 + ], + "joints": [ + 0.013735927641391754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001064444542862475, + -0.08044931292533875, + 0.08199349790811539 + ], + "orientation": [ + 0.36136767268180847, + -0.7294502258300781, + -0.5129265189170837, + -0.2724372446537018 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.001295551541261375, + -0.0779615044593811, + 0.07959956675767899 + ], + "orientation": [ + 0.3554365634918213, + -0.7316063046455383, + -0.5184555649757385, + -0.2638576626777649 + ], + "joints": [ + 0.024515122175216675 + ] + }, + "final_grasp": { + "position": [ + -0.001295551541261375, + -0.0779615044593811, + 0.07959956675767899 + ], + "orientation": [ + 0.3554365634918213, + -0.7316063046455383, + -0.5184555649757385, + -0.2638576626777649 + ], + "joints": [ + 0.016114220023155212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13472162187099457, + 0.024463782086968422, + 0.03251767158508301 + ], + "orientation": [ + 0.45618024468421936, + 0.4503926634788513, + 0.6440340876579285, + 0.417451947927475 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.13101555407047272, + 0.02474723942577839, + 0.03168598189949989 + ], + "orientation": [ + 0.45907536149024963, + 0.44856753945350647, + 0.6450788974761963, + 0.41462045907974243 + ], + "joints": [ + 0.02301453799009323 + ] + }, + "final_grasp": { + "position": [ + -0.13101555407047272, + 0.02474723942577839, + 0.03168598189949989 + ], + "orientation": [ + 0.45907536149024963, + 0.44856753945350647, + 0.6450788974761963, + 0.41462045907974243 + ], + "joints": [ + 0.014571838080883026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015429428312927485, + -0.0984758734703064, + 0.0447007454931736 + ], + "orientation": [ + 0.5661665797233582, + -0.7948310375213623, + 0.1435997635126114, + 0.16455449163913727 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.0011852362658828497, + -0.09534545242786407, + 0.04355636239051819 + ], + "orientation": [ + 0.5668054223060608, + -0.7948670983314514, + 0.15344583988189697, + 0.1528806835412979 + ], + "joints": [ + 0.02319185435771942 + ] + }, + "final_grasp": { + "position": [ + -0.0011852362658828497, + -0.09534545242786407, + 0.04355636239051819 + ], + "orientation": [ + 0.5668054223060608, + -0.7948670983314514, + 0.15344583988189697, + 0.1528806835412979 + ], + "joints": [ + 0.014393895864486694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018891099840402603, + 0.027587732300162315, + -0.132196307182312 + ], + "orientation": [ + 0.6371923685073853, + -0.08586346358060837, + 0.007618335075676441, + -0.7658690214157104 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.018435228615999222, + 0.027735836803913116, + -0.12835901975631714 + ], + "orientation": [ + 0.6361109614372253, + -0.08524835854768753, + 0.008185268379747868, + -0.7668302059173584 + ], + "joints": [ + 0.02402886003255844 + ] + }, + "final_grasp": { + "position": [ + -0.018435228615999222, + 0.027735836803913116, + -0.12835901975631714 + ], + "orientation": [ + 0.6361109614372253, + -0.08524835854768753, + 0.008185268379747868, + -0.7668302059173584 + ], + "joints": [ + 0.01562795788049698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11804760247468948, + 0.03683801367878914, + -0.06031051278114319 + ], + "orientation": [ + 0.6563069820404053, + -0.35112378001213074, + 0.3867126703262329, + -0.5444506406784058 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.11456519365310669, + 0.03693350777029991, + -0.05846160650253296 + ], + "orientation": [ + 0.6574044823646545, + -0.35029906034469604, + 0.38797110319137573, + -0.5427600741386414 + ], + "joints": [ + 0.02426041290163994 + ] + }, + "final_grasp": { + "position": [ + -0.11456519365310669, + 0.03693350777029991, + -0.05846160650253296 + ], + "orientation": [ + 0.6574044823646545, + -0.35029906034469604, + 0.38797110319137573, + -0.5427600741386414 + ], + "joints": [ + 0.015859510749578476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1179448589682579, + 0.03683294728398323, + -0.0602026991546154 + ], + "orientation": [ + 0.6566408276557922, + -0.3510955274105072, + 0.38696587085723877, + -0.5438861846923828 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.11444676667451859, + 0.03693019226193428, + -0.05838741734623909 + ], + "orientation": [ + 0.6577664613723755, + -0.3502299189567566, + 0.38821941614151, + -0.5421882271766663 + ], + "joints": [ + 0.02426041290163994 + ] + }, + "final_grasp": { + "position": [ + -0.11444676667451859, + 0.03693019226193428, + -0.05838741734623909 + ], + "orientation": [ + 0.6577664613723755, + -0.3502299189567566, + 0.38821941614151, + -0.5421882271766663 + ], + "joints": [ + 0.015859510749578476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054805558174848557, + -0.08484356105327606, + -0.04471273347735405 + ], + "orientation": [ + 0.7648478746414185, + -0.5654675364494324, + 0.0571654736995697, + -0.303292453289032 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.05316368117928505, + -0.08184798061847687, + -0.043583422899246216 + ], + "orientation": [ + 0.7639307975769043, + -0.5655152797698975, + 0.057247743010520935, + -0.30549126863479614 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + -0.05316368117928505, + -0.08184798061847687, + -0.043583422899246216 + ], + "orientation": [ + 0.7639307975769043, + -0.5655152797698975, + 0.057247743010520935, + -0.30549126863479614 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05516209080815315, + -0.08503108471632004, + -0.04492306336760521 + ], + "orientation": [ + 0.7654601335525513, + -0.5643795728683472, + 0.05959386005997658, + -0.3033066689968109 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.05350949242711067, + -0.08194827288389206, + -0.043829452246427536 + ], + "orientation": [ + 0.7647349238395691, + -0.5644070506095886, + 0.05917522683739662, + -0.30516135692596436 + ], + "joints": [ + 0.024371612817049026 + ] + }, + "final_grasp": { + "position": [ + -0.05350949242711067, + -0.08194827288389206, + -0.043829452246427536 + ], + "orientation": [ + 0.7647349238395691, + -0.5644070506095886, + 0.05917522683739662, + -0.30516135692596436 + ], + "joints": [ + 0.015155699104070663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10136479884386063, + 0.07789754122495651, + -0.07771006226539612 + ], + "orientation": [ + 0.5513715147972107, + -0.28294941782951355, + 0.34629881381988525, + -0.704276978969574 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.09828726202249527, + 0.07770094275474548, + -0.07528441399335861 + ], + "orientation": [ + 0.5493631362915039, + -0.2864765524864197, + 0.34365949034690857, + -0.705712080001831 + ], + "joints": [ + 0.024326462298631668 + ] + }, + "final_grasp": { + "position": [ + -0.09828726202249527, + 0.07770094275474548, + -0.07528441399335861 + ], + "orientation": [ + 0.5493631362915039, + -0.2864765524864197, + 0.34365949034690857, + -0.705712080001831 + ], + "joints": [ + 0.015528503805398941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12329039722681046, + 0.0684087872505188, + -0.05117526277899742 + ], + "orientation": [ + 0.6699755191802979, + 0.3871941566467285, + -0.39896056056022644, + -0.4919794499874115 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.11966653168201447, + 0.06825871765613556, + -0.049774330109357834 + ], + "orientation": [ + 0.670785129070282, + 0.3845711648464203, + -0.4014921188354492, + -0.49087318778038025 + ], + "joints": [ + 0.02426041290163994 + ] + }, + "final_grasp": { + "position": [ + 0.11966653168201447, + 0.06825871765613556, + -0.049774330109357834 + ], + "orientation": [ + 0.670785129070282, + 0.3845711648464203, + -0.4014921188354492, + -0.49087318778038025 + ], + "joints": [ + 0.015859510749578476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07842341810464859, + 0.06829474866390228, + 0.10284373909235 + ], + "orientation": [ + 0.23006421327590942, + -0.6165587306022644, + -0.7191852927207947, + 0.22293072938919067 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.0760449692606926, + 0.06821372359991074, + 0.09973298013210297 + ], + "orientation": [ + 0.2334326207637787, + -0.6061420440673828, + -0.7281937003135681, + 0.21871209144592285 + ], + "joints": [ + 0.024326462298631668 + ] + }, + "final_grasp": { + "position": [ + 0.0760449692606926, + 0.06821372359991074, + 0.09973298013210297 + ], + "orientation": [ + 0.2334326207637787, + -0.6061420440673828, + -0.7281937003135681, + 0.21871209144592285 + ], + "joints": [ + 0.015528503805398941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07488910108804703, + -0.07448363304138184, + 0.05286873131990433 + ], + "orientation": [ + 0.49456217885017395, + -0.8028469681739807, + 0.24085186421871185, + -0.2298593968153 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.07302051037549973, + -0.0720507949590683, + 0.05155280604958534 + ], + "orientation": [ + 0.4960807263851166, + -0.8034812808036804, + 0.24119579792022705, + -0.22393368184566498 + ], + "joints": [ + 0.025164630264043808 + ] + }, + "final_grasp": { + "position": [ + -0.07302051037549973, + -0.0720507949590683, + 0.05155280604958534 + ], + "orientation": [ + 0.4960807263851166, + -0.8034812808036804, + 0.24119579792022705, + -0.22393368184566498 + ], + "joints": [ + 0.01718168333172798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12450991570949554, + -0.026024188846349716, + 0.01940542459487915 + ], + "orientation": [ + 0.48787829279899597, + -0.6772481203079224, + -0.3434351980686188, + 0.4305368661880493 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.1208595559000969, + -0.02496858313679695, + 0.019078008830547333 + ], + "orientation": [ + 0.48534294962882996, + -0.675970733165741, + -0.3445109724998474, + 0.4345320165157318 + ], + "joints": [ + 0.024723518639802933 + ] + }, + "final_grasp": { + "position": [ + 0.1208595559000969, + -0.02496858313679695, + 0.019078008830547333 + ], + "orientation": [ + 0.48534294962882996, + -0.675970733165741, + -0.3445109724998474, + 0.4345320165157318 + ], + "joints": [ + 0.01632261648774147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10071472823619843, + 0.07796575129032135, + -0.07748036831617355 + ], + "orientation": [ + 0.5526201725006104, + -0.28309735655784607, + 0.3452441096305847, + -0.70375657081604 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.09759591519832611, + 0.07775407284498215, + -0.07511213421821594 + ], + "orientation": [ + 0.5505316853523254, + -0.2862916886806488, + 0.3422692120075226, + -0.7055521011352539 + ], + "joints": [ + 0.024326462298631668 + ] + }, + "final_grasp": { + "position": [ + -0.09759591519832611, + 0.07775407284498215, + -0.07511213421821594 + ], + "orientation": [ + 0.5505316853523254, + -0.2862916886806488, + 0.3422692120075226, + -0.7055521011352539 + ], + "joints": [ + 0.015528503805398941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07470869272947311, + -0.07441047579050064, + 0.05290360376238823 + ], + "orientation": [ + 0.4943894147872925, + -0.8026715517044067, + 0.2422635853290558, + -0.22935934364795685 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.07283732295036316, + -0.07196574658155441, + 0.05154291167855263 + ], + "orientation": [ + 0.4960375428199768, + -0.8031814098358154, + 0.24289919435977936, + -0.2232629358768463 + ], + "joints": [ + 0.025164630264043808 + ] + }, + "final_grasp": { + "position": [ + -0.07283732295036316, + -0.07196574658155441, + 0.05154291167855263 + ], + "orientation": [ + 0.4960375428199768, + -0.8031814098358154, + 0.24289919435977936, + -0.2232629358768463 + ], + "joints": [ + 0.01718168333172798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09485474973917007, + 0.07113896310329437, + 0.08391361683607101 + ], + "orientation": [ + 0.2688690721988678, + -0.5774097442626953, + -0.7036742568016052, + 0.31488093733787537 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.09170043468475342, + 0.07085942476987839, + 0.08160589635372162 + ], + "orientation": [ + 0.27387186884880066, + -0.5688318610191345, + -0.7112324237823486, + 0.30914852023124695 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + 0.09170043468475342, + 0.07085942476987839, + 0.08160589635372162 + ], + "orientation": [ + 0.27387186884880066, + -0.5688318610191345, + -0.7112324237823486, + 0.30914852023124695 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03260587900876999, + 0.16981840133666992, + -0.06322285532951355 + ], + "orientation": [ + 0.7711504101753235, + 0.5113278031349182, + -0.10905168205499649, + 0.363288551568985 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.03084191121160984, + 0.16858166456222534, + -0.06100567430257797 + ], + "orientation": [ + 0.7737988829612732, + 0.5069766044616699, + -0.09566029906272888, + 0.3675037920475006 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + -0.03084191121160984, + 0.16858166456222534, + -0.06100567430257797 + ], + "orientation": [ + 0.7737988829612732, + 0.5069766044616699, + -0.09566029906272888, + 0.3675037920475006 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13783055543899536, + 0.015695413574576378, + 0.00172853609547019 + ], + "orientation": [ + 0.3697245419025421, + 0.5143187642097473, + -0.4888888895511627, + -0.5998064279556274 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + 0.13415442407131195, + 0.016147470101714134, + 0.0014907392906025052 + ], + "orientation": [ + 0.3698960542678833, + 0.5170722007751465, + -0.4855649471282959, + -0.6000333428382874 + ], + "joints": [ + 0.022411342710256577 + ] + }, + "final_grasp": { + "position": [ + 0.13415442407131195, + 0.016147470101714134, + 0.0014907392906025052 + ], + "orientation": [ + 0.3698960542678833, + 0.5170722007751465, + -0.4855649471282959, + -0.6000333428382874 + ], + "joints": [ + 0.013550687581300735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09266839921474457, + 0.055827029049396515, + -0.10242754220962524 + ], + "orientation": [ + 0.5568791627883911, + 0.24367371201515198, + 0.26760876178741455, + 0.7475923895835876 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + -0.0900883749127388, + 0.055886317044496536, + -0.09967280179262161 + ], + "orientation": [ + 0.5562877058982849, + 0.24593783915042877, + 0.26568806171417236, + 0.7479763031005859 + ], + "joints": [ + 0.023058593273162842 + ] + }, + "final_grasp": { + "position": [ + -0.0900883749127388, + 0.055886317044496536, + -0.09967280179262161 + ], + "orientation": [ + 0.5562877058982849, + 0.24593783915042877, + 0.26568806171417236, + 0.7479763031005859 + ], + "joints": [ + 0.014636792242527008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09501446038484573, + 0.0713559165596962, + 0.08422686904668808 + ], + "orientation": [ + 0.26884856820106506, + -0.5763862133026123, + -0.7047603726387024, + 0.31434395909309387 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.09186584502458572, + 0.071067214012146, + 0.08190755546092987 + ], + "orientation": [ + 0.27393215894699097, + -0.5677111744880676, + -0.7123855352401733, + 0.30849966406822205 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + 0.09186584502458572, + 0.071067214012146, + 0.08190755546092987 + ], + "orientation": [ + 0.27393215894699097, + -0.5677111744880676, + -0.7123855352401733, + 0.30849966406822205 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042988963425159454, + -0.07093704491853714, + 0.08245410770177841 + ], + "orientation": [ + 0.0831666886806488, + -0.44150081276893616, + -0.769720196723938, + -0.4535318911075592 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + -0.04176262393593788, + -0.06865163892507553, + 0.08023902773857117 + ], + "orientation": [ + 0.07538553327322006, + -0.4468175768852234, + -0.7696672677993774, + -0.4497593641281128 + ], + "joints": [ + 0.022871095687150955 + ] + }, + "final_grasp": { + "position": [ + -0.04176262393593788, + -0.06865163892507553, + 0.08023902773857117 + ], + "orientation": [ + 0.07538553327322006, + -0.4468175768852234, + -0.7696672677993774, + -0.4497593641281128 + ], + "joints": [ + 0.014470193535089493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055155351758003235, + 0.16749846935272217, + -0.056876130402088165 + ], + "orientation": [ + 0.7994859218597412, + 0.4867251217365265, + 0.14413173496723175, + 0.32116490602493286 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.05463685467839241, + 0.16475319862365723, + -0.05503299459815025 + ], + "orientation": [ + 0.7986016273498535, + 0.4900977313518524, + 0.13312000036239624, + 0.32298415899276733 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + -0.05463685467839241, + 0.16475319862365723, + -0.05503299459815025 + ], + "orientation": [ + 0.7986016273498535, + 0.4900977313518524, + 0.13312000036239624, + 0.32298415899276733 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05924499034881592, + -0.09000225365161896, + -0.0424174927175045 + ], + "orientation": [ + 0.8108733892440796, + -0.5237348079681396, + 0.25678130984306335, + -0.047428105026483536 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.05811005458235741, + -0.08676251024007797, + -0.04070006310939789 + ], + "orientation": [ + 0.8120679259300232, + -0.5250949859619141, + 0.2504972815513611, + -0.045519061386585236 + ], + "joints": [ + 0.026256345212459564 + ] + }, + "final_grasp": { + "position": [ + -0.05811005458235741, + -0.08676251024007797, + -0.04070006310939789 + ], + "orientation": [ + 0.8120679259300232, + -0.5250949859619141, + 0.2504972815513611, + -0.045519061386585236 + ], + "joints": [ + 0.018670454621315002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09040376543998718, + 0.06436905264854431, + 0.09312546253204346 + ], + "orientation": [ + 0.33254092931747437, + 0.6110839247703552, + -0.6934846043586731, + -0.18727509677410126 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.08783937245607376, + 0.06404553353786469, + 0.09034644067287445 + ], + "orientation": [ + 0.3329944908618927, + 0.6002761125564575, + -0.7031252384185791, + -0.18546707928180695 + ], + "joints": [ + 0.024723518639802933 + ] + }, + "final_grasp": { + "position": [ + 0.08783937245607376, + 0.06404553353786469, + 0.09034644067287445 + ], + "orientation": [ + 0.3329944908618927, + 0.6002761125564575, + -0.7031252384185791, + -0.18546707928180695 + ], + "joints": [ + 0.01632261648774147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09477385878562927, + 0.07116825878620148, + 0.08374142646789551 + ], + "orientation": [ + 0.26844361424446106, + -0.5758423209190369, + -0.70470130443573, + 0.3158160448074341 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.09161181002855301, + 0.07088952511548996, + 0.08146575838327408 + ], + "orientation": [ + 0.2734453082084656, + -0.567314863204956, + -0.7122439742088318, + 0.3099837005138397 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + 0.09161181002855301, + 0.07088952511548996, + 0.08146575838327408 + ], + "orientation": [ + 0.2734453082084656, + -0.567314863204956, + -0.7122439742088318, + 0.3099837005138397 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07473185658454895, + -0.06965931504964828, + -0.06063584238290787 + ], + "orientation": [ + 0.21941982209682465, + 0.2597765624523163, + -0.45416149497032166, + -0.8234732747077942 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.07377196848392487, + -0.06672956049442291, + -0.0588173046708107 + ], + "orientation": [ + 0.2160445898771286, + 0.2498607635498047, + -0.4594045579433441, + -0.8245251774787903 + ], + "joints": [ + 0.02493307739496231 + ] + }, + "final_grasp": { + "position": [ + 0.07377196848392487, + -0.06672956049442291, + -0.0588173046708107 + ], + "orientation": [ + 0.2160445898771286, + 0.2498607635498047, + -0.4594045579433441, + -0.8245251774787903 + ], + "joints": [ + 0.016950130462646484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09465406090021133, + 0.07085391134023666, + 0.08362831175327301 + ], + "orientation": [ + 0.2675990164279938, + -0.5772444605827332, + -0.7035189270973206, + 0.3166082501411438 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.09150469303131104, + 0.07055150717496872, + 0.08130932599306107 + ], + "orientation": [ + 0.2723623514175415, + -0.5694405436515808, + -0.7104169726371765, + 0.3112298548221588 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + 0.09150469303131104, + 0.07055150717496872, + 0.08130932599306107 + ], + "orientation": [ + 0.2723623514175415, + -0.5694405436515808, + -0.7104169726371765, + 0.3112298548221588 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0035652148071676493, + 0.061962343752384186, + -0.1442141979932785 + ], + "orientation": [ + 0.6968918442726135, + 0.027277762070298195, + 0.005878902040421963, + 0.7166332602500916 + ], + "joints": [ + 0.030380524694919586 + ] + }, + "fine_grasp": { + "position": [ + -0.004141201265156269, + 0.061966028064489365, + -0.14051799476146698 + ], + "orientation": [ + 0.6968680024147034, + 0.021616145968437195, + 0.001076777232810855, + 0.7168728113174438 + ], + "joints": [ + 0.019931644201278687 + ] + }, + "final_grasp": { + "position": [ + -0.004141201265156269, + 0.061966028064489365, + -0.14051799476146698 + ], + "orientation": [ + 0.6968680024147034, + 0.021616145968437195, + 0.001076777232810855, + 0.7168728113174438 + ], + "joints": [ + 0.009482763707637787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0031572477892041206, + -0.06417001783847809, + -0.10178669542074203 + ], + "orientation": [ + 0.768650233745575, + -0.29888394474983215, + -0.23335863649845123, + -0.5151590704917908 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.0030949802603572607, + -0.06261646747589111, + -0.09869657456874847 + ], + "orientation": [ + 0.7685717940330505, + -0.2977440059185028, + -0.22789815068244934, + -0.5183709263801575 + ], + "joints": [ + 0.023610904812812805 + ] + }, + "final_grasp": { + "position": [ + 0.0030949802603572607, + -0.06261646747589111, + -0.09869657456874847 + ], + "orientation": [ + 0.7685717940330505, + -0.2977440059185028, + -0.22789815068244934, + -0.5183709263801575 + ], + "joints": [ + 0.014792047441005707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09305693209171295, + 0.027905026450753212, + -0.08805110305547714 + ], + "orientation": [ + 0.5660452246665955, + 0.26548948884010315, + -0.29760754108428955, + -0.7214831113815308 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.09017133712768555, + 0.028118669986724854, + -0.08536476641893387 + ], + "orientation": [ + 0.5639116168022156, + 0.2678135633468628, + -0.29602643847465515, + -0.722943902015686 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + 0.09017133712768555, + 0.028118669986724854, + -0.08536476641893387 + ], + "orientation": [ + 0.5639116168022156, + 0.2678135633468628, + -0.29602643847465515, + -0.722943902015686 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10292866080999374, + 0.16022275388240814, + 0.019799456000328064 + ], + "orientation": [ + 0.6321590542793274, + 0.5601069331169128, + 0.5202723741531372, + 0.12637966871261597 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.10006866604089737, + 0.15740205347537994, + 0.019511310383677483 + ], + "orientation": [ + 0.6342563033103943, + 0.5668851733207703, + 0.5111346244812012, + 0.12288802862167358 + ], + "joints": [ + 0.023652702569961548 + ] + }, + "final_grasp": { + "position": [ + -0.10006866604089737, + 0.15740205347537994, + 0.019511310383677483 + ], + "orientation": [ + 0.6342563033103943, + 0.5668851733207703, + 0.5111346244812012, + 0.12288802862167358 + ], + "joints": [ + 0.014875642955303192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02305753342807293, + -0.08684653043746948, + -0.06228569522500038 + ], + "orientation": [ + 0.5047547221183777, + -0.4048747420310974, + 0.352944552898407, + 0.6758175492286682 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.02262309566140175, + -0.08482114225625992, + -0.0598541796207428 + ], + "orientation": [ + 0.5103579163551331, + -0.3963440954685211, + 0.3482210636138916, + 0.6791084408760071 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + 0.02262309566140175, + -0.08482114225625992, + -0.0598541796207428 + ], + "orientation": [ + 0.5103579163551331, + -0.3963440954685211, + 0.3482210636138916, + 0.6791084408760071 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11359977722167969, + 0.09050757437944412, + -0.04628518596291542 + ], + "orientation": [ + 0.5828450918197632, + 0.4890742301940918, + 0.27974581718444824, + 0.585525631904602 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.11025086045265198, + 0.09011533111333847, + -0.04440687224268913 + ], + "orientation": [ + 0.5758315920829773, + 0.4906903803348541, + 0.27766621112823486, + 0.5920661091804504 + ], + "joints": [ + 0.024392511695623398 + ] + }, + "final_grasp": { + "position": [ + -0.11025086045265198, + 0.09011533111333847, + -0.04440687224268913 + ], + "orientation": [ + 0.5758315920829773, + 0.4906903803348541, + 0.27766621112823486, + 0.5920661091804504 + ], + "joints": [ + 0.015197496861219406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04754744842648506, + -0.08239364624023438, + 0.0640435591340065 + ], + "orientation": [ + 0.13059890270233154, + 0.20063064992427826, + 0.8419092893600464, + 0.48361143469810486 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.04663356766104698, + -0.0795670747756958, + 0.06196552515029907 + ], + "orientation": [ + 0.11733466386795044, + 0.20043376088142395, + 0.8414231538772583, + 0.4879200756549835 + ], + "joints": [ + 0.026256345212459564 + ] + }, + "final_grasp": { + "position": [ + -0.04663356766104698, + -0.0795670747756958, + 0.06196552515029907 + ], + "orientation": [ + 0.11733466386795044, + 0.20043376088142395, + 0.8414231538772583, + 0.4879200756549835 + ], + "joints": [ + 0.018670454621315002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08961395919322968, + 0.12827937304973602, + -0.08055204153060913 + ], + "orientation": [ + 0.7612689137458801, + 0.38646185398101807, + 0.21081216633319855, + 0.4761042594909668 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.0869770497083664, + 0.1270424872636795, + -0.07828240841627121 + ], + "orientation": [ + 0.7622285485267639, + 0.386094868183136, + 0.2123212367296219, + 0.4741918444633484 + ], + "joints": [ + 0.023863356560468674 + ] + }, + "final_grasp": { + "position": [ + -0.0869770497083664, + 0.1270424872636795, + -0.07828240841627121 + ], + "orientation": [ + 0.7622285485267639, + 0.386094868183136, + 0.2123212367296219, + 0.4741918444633484 + ], + "joints": [ + 0.015065398067235947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10191342234611511, + 0.15887391567230225, + 0.019937530159950256 + ], + "orientation": [ + 0.63132643699646, + 0.5619719624519348, + 0.5190395712852478, + 0.12732769548892975 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.0992371067404747, + 0.15612153708934784, + 0.019545210525393486 + ], + "orientation": [ + 0.6320285797119141, + 0.5704513788223267, + 0.510137677192688, + 0.12200276553630829 + ], + "joints": [ + 0.02330079674720764 + ] + }, + "final_grasp": { + "position": [ + -0.0992371067404747, + 0.15612153708934784, + 0.019545210525393486 + ], + "orientation": [ + 0.6320285797119141, + 0.5704513788223267, + 0.510137677192688, + 0.12200276553630829 + ], + "joints": [ + 0.013708725571632385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02287040650844574, + -0.08628707379102707, + -0.06167956814169884 + ], + "orientation": [ + 0.5019040703773499, + -0.40580299496650696, + 0.35683295130729675, + 0.675341784954071 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.022372201085090637, + -0.08408699184656143, + -0.05923432856798172 + ], + "orientation": [ + 0.5069495439529419, + -0.39773789048194885, + 0.35332778096199036, + 0.6782082319259644 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + 0.022372201085090637, + -0.08408699184656143, + -0.05923432856798172 + ], + "orientation": [ + 0.5069495439529419, + -0.39773789048194885, + 0.35332778096199036, + 0.6782082319259644 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05805814266204834, + 0.02705538459122181, + 0.12955524027347565 + ], + "orientation": [ + 0.13090066611766815, + 0.5891806483268738, + 0.7791266441345215, + 0.16938945651054382 + ], + "joints": [ + 0.030044754967093468 + ] + }, + "fine_grasp": { + "position": [ + -0.056523397564888, + 0.02737945318222046, + 0.12622226774692535 + ], + "orientation": [ + 0.13541141152381897, + 0.5782151222229004, + 0.787447452545166, + 0.16509877145290375 + ], + "joints": [ + 0.02158115617930889 + ] + }, + "final_grasp": { + "position": [ + -0.056523397564888, + 0.02737945318222046, + 0.12622226774692535 + ], + "orientation": [ + 0.13541141152381897, + 0.5782151222229004, + 0.787447452545166, + 0.16509877145290375 + ], + "joints": [ + 0.013117557391524315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11964192986488342, + 0.09797582775354385, + 0.021576935425400734 + ], + "orientation": [ + 0.4350096583366394, + 0.6269097924232483, + 0.4330540895462036, + 0.47980716824531555 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.11591816693544388, + 0.09770544618368149, + 0.021506840363144875 + ], + "orientation": [ + 0.43048420548439026, + 0.6356706619262695, + 0.42256131768226624, + 0.4817138910293579 + ], + "joints": [ + 0.023071501404047012 + ] + }, + "final_grasp": { + "position": [ + -0.11591816693544388, + 0.09770544618368149, + 0.021506840363144875 + ], + "orientation": [ + 0.43048420548439026, + 0.6356706619262695, + 0.42256131768226624, + 0.4817138910293579 + ], + "joints": [ + 0.013458531349897385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04649590700864792, + -0.08220363408327103, + 0.064168281853199 + ], + "orientation": [ + 0.13473090529441833, + 0.19983646273612976, + 0.8426663279533386, + 0.481483519077301 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.04590539634227753, + -0.07943161576986313, + 0.06206987053155899 + ], + "orientation": [ + 0.11905162781476974, + 0.19889581203460693, + 0.8423940539360046, + 0.4864560067653656 + ], + "joints": [ + 0.02642184868454933 + ] + }, + "final_grasp": { + "position": [ + -0.04590539634227753, + -0.07943161576986313, + 0.06206987053155899 + ], + "orientation": [ + 0.11905162781476974, + 0.19889581203460693, + 0.8423940539360046, + 0.4864560067653656 + ], + "joints": [ + 0.019233014434576035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1022234708070755, + 0.15916256606578827, + 0.01944740116596222 + ], + "orientation": [ + 0.626826822757721, + 0.5496708154678345, + 0.5379809737205505, + 0.1246054545044899 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.09968262910842896, + 0.15611153841018677, + 0.019417135044932365 + ], + "orientation": [ + 0.6332760453224182, + 0.5561457276344299, + 0.5251859426498413, + 0.1176573783159256 + ], + "joints": [ + 0.02402886003255844 + ] + }, + "final_grasp": { + "position": [ + -0.09968262910842896, + 0.15611153841018677, + 0.019417135044932365 + ], + "orientation": [ + 0.6332760453224182, + 0.5561457276344299, + 0.5251859426498413, + 0.1176573783159256 + ], + "joints": [ + 0.01562795788049698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12005838751792908, + 0.09804882109165192, + 0.021541709080338478 + ], + "orientation": [ + 0.43577638268470764, + 0.6263450980186462, + 0.43347328901290894, + 0.47947031259536743 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.11634690314531326, + 0.0978044867515564, + 0.021481279283761978 + ], + "orientation": [ + 0.4312664270401001, + 0.6349951028823853, + 0.42323851585388184, + 0.48131033778190613 + ], + "joints": [ + 0.023071501404047012 + ] + }, + "final_grasp": { + "position": [ + -0.11634690314531326, + 0.0978044867515564, + 0.021481279283761978 + ], + "orientation": [ + 0.4312664270401001, + 0.6349951028823853, + 0.42323851585388184, + 0.48131033778190613 + ], + "joints": [ + 0.013458531349897385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10216692835092545, + 0.15929284691810608, + 0.020068280398845673 + ], + "orientation": [ + 0.6322489380836487, + 0.5634630918502808, + 0.5165300965309143, + 0.12636195123195648 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.09951208531856537, + 0.15662457048892975, + 0.01963920146226883 + ], + "orientation": [ + 0.6327131390571594, + 0.5714249014854431, + 0.5083820223808289, + 0.12122451514005661 + ], + "joints": [ + 0.02330079674720764 + ] + }, + "final_grasp": { + "position": [ + -0.09951208531856537, + 0.15662457048892975, + 0.01963920146226883 + ], + "orientation": [ + 0.6327131390571594, + 0.5714249014854431, + 0.5083820223808289, + 0.12122451514005661 + ], + "joints": [ + 0.013708725571632385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03574790805578232, + 0.05241965875029564, + 0.12490280717611313 + ], + "orientation": [ + 0.1187826618552208, + 0.776708722114563, + 0.613146960735321, + 0.08163906633853912 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.034591350704431534, + 0.05229704827070236, + 0.12119785696268082 + ], + "orientation": [ + 0.11582551896572113, + 0.7851274609565735, + 0.6024668216705322, + 0.08481185138225555 + ], + "joints": [ + 0.024789568036794662 + ] + }, + "final_grasp": { + "position": [ + -0.034591350704431534, + 0.05229704827070236, + 0.12119785696268082 + ], + "orientation": [ + 0.11582551896572113, + 0.7851274609565735, + 0.6024668216705322, + 0.08481185138225555 + ], + "joints": [ + 0.015991609543561935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12021993100643158, + 0.045150600373744965, + 0.05064339190721512 + ], + "orientation": [ + 0.40849682688713074, + -0.36321765184402466, + 0.755049467086792, + -0.3620820939540863 + ], + "joints": [ + 0.03340228646993637 + ] + }, + "fine_grasp": { + "position": [ + -0.11659060418605804, + 0.04538728669285774, + 0.049874354153871536 + ], + "orientation": [ + 0.4218798875808716, + -0.36184820532798767, + 0.7532379627227783, + -0.3517324924468994 + ], + "joints": [ + 0.025858193635940552 + ] + }, + "final_grasp": { + "position": [ + -0.11659060418605804, + 0.04538728669285774, + 0.049874354153871536 + ], + "orientation": [ + 0.4218798875808716, + -0.36184820532798767, + 0.7532379627227783, + -0.3517324924468994 + ], + "joints": [ + 0.018314100801944733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11182121187448502, + 0.03696218132972717, + -0.056203220039606094 + ], + "orientation": [ + 0.6661673188209534, + -0.35749515891075134, + 0.385127991437912, + -0.52923983335495 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.10818008333444595, + 0.037113603204488754, + -0.05449264496564865 + ], + "orientation": [ + 0.669784426689148, + -0.35441455245018005, + 0.3877229392528534, + -0.5248333811759949 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + -0.10818008333444595, + 0.037113603204488754, + -0.05449264496564865 + ], + "orientation": [ + 0.669784426689148, + -0.35441455245018005, + 0.3877229392528534, + -0.5248333811759949 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10103993862867355, + 0.14815570414066315, + 0.029222769662737846 + ], + "orientation": [ + 0.5976378321647644, + 0.5438594222068787, + -0.5774211883544922, + -0.11675019562244415 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.0983501523733139, + 0.14597846567630768, + 0.02837364189326763 + ], + "orientation": [ + 0.5989367365837097, + 0.5493137836456299, + -0.5724587440490723, + -0.10872000455856323 + ], + "joints": [ + 0.02343515306711197 + ] + }, + "final_grasp": { + "position": [ + 0.0983501523733139, + 0.14597846567630768, + 0.02837364189326763 + ], + "orientation": [ + 0.5989367365837097, + 0.5493137836456299, + -0.5724587440490723, + -0.10872000455856323 + ], + "joints": [ + 0.013028070330619812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11155654489994049, + 0.03715360909700394, + -0.056243911385536194 + ], + "orientation": [ + 0.6661056876182556, + -0.3576362729072571, + 0.3842456042766571, + -0.5298629403114319 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.1079036220908165, + 0.03730553016066551, + -0.054593849927186966 + ], + "orientation": [ + 0.6708379983901978, + -0.353740930557251, + 0.38751837611198425, + -0.5240926742553711 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + -0.1079036220908165, + 0.03730553016066551, + -0.054593849927186966 + ], + "orientation": [ + 0.6708379983901978, + -0.353740930557251, + 0.38751837611198425, + -0.5240926742553711 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11586909741163254, + 0.057607125490903854, + 0.05809918791055679 + ], + "orientation": [ + 0.38951149582862854, + 0.5013142228126526, + 0.6872117519378662, + 0.3531355559825897 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.11226469278335571, + 0.05776768922805786, + 0.05650528520345688 + ], + "orientation": [ + 0.3960202634334564, + 0.49265649914741516, + 0.6937851905822754, + 0.3451370298862457 + ], + "joints": [ + 0.02502112090587616 + ] + }, + "final_grasp": { + "position": [ + -0.11226469278335571, + 0.05776768922805786, + 0.05650528520345688 + ], + "orientation": [ + 0.3960202634334564, + 0.49265649914741516, + 0.6937851905822754, + 0.3451370298862457 + ], + "joints": [ + 0.016223162412643433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04734443128108978, + -0.08259963989257812, + -0.04782911762595177 + ], + "orientation": [ + 0.1866334229707718, + 0.048709265887737274, + 0.5637053847312927, + 0.8031386137008667 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.04525279998779297, + -0.0805504322052002, + -0.046371884644031525 + ], + "orientation": [ + 0.19230444729328156, + 0.05969405919313431, + 0.5634739398956299, + 0.8012194037437439 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + -0.04525279998779297, + -0.0805504322052002, + -0.046371884644031525 + ], + "orientation": [ + 0.19230444729328156, + 0.05969405919313431, + 0.5634739398956299, + 0.8012194037437439 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10101701319217682, + 0.14847737550735474, + 0.029832420870661736 + ], + "orientation": [ + 0.5978771448135376, + 0.5477944016456604, + -0.5738310217857361, + -0.1148139238357544 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + 0.09844551980495453, + 0.14615894854068756, + 0.028889000415802002 + ], + "orientation": [ + 0.5986682772636414, + 0.5509413480758667, + -0.5714460611343384, + -0.10728159546852112 + ], + "joints": [ + 0.023600656539201736 + ] + }, + "final_grasp": { + "position": [ + 0.09844551980495453, + 0.14615894854068756, + 0.028889000415802002 + ], + "orientation": [ + 0.5986682772636414, + 0.5509413480758667, + -0.5714460611343384, + -0.10728159546852112 + ], + "joints": [ + 0.013590630143880844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029388412833213806, + 0.192955881357193, + -0.04788392782211304 + ], + "orientation": [ + 0.049745723605155945, + 0.12541444599628448, + 0.5392864346504211, + -0.8312440514564514 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.028207877650856972, + 0.18991650640964508, + -0.046420563012361526 + ], + "orientation": [ + 0.04649679362773895, + 0.12854830920696259, + 0.5443034768104553, + -0.8276757001876831 + ], + "joints": [ + 0.02393166348338127 + ] + }, + "final_grasp": { + "position": [ + 0.028207877650856972, + 0.18991650640964508, + -0.046420563012361526 + ], + "orientation": [ + 0.04649679362773895, + 0.12854830920696259, + 0.5443034768104553, + -0.8276757001876831 + ], + "joints": [ + 0.014715749770402908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025817668065428734, + 0.18682275712490082, + -0.06216957047581673 + ], + "orientation": [ + 0.7015777826309204, + 0.33529555797576904, + -0.3776724636554718, + 0.5027216076850891 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.02506854757666588, + 0.18372832238674164, + -0.06040255352854729 + ], + "orientation": [ + 0.7008176445960999, + 0.3353211581707001, + -0.3783183693885803, + 0.5032789707183838 + ], + "joints": [ + 0.024515122175216675 + ] + }, + "final_grasp": { + "position": [ + 0.02506854757666588, + 0.18372832238674164, + -0.06040255352854729 + ], + "orientation": [ + 0.7008176445960999, + 0.3353211581707001, + -0.3783183693885803, + 0.5032789707183838 + ], + "joints": [ + 0.016114220023155212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04639764130115509, + -0.08225785940885544, + -0.04904797300696373 + ], + "orientation": [ + 0.17684273421764374, + 0.047516077756881714, + 0.5597763061523438, + 0.8081579804420471 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.04429003596305847, + -0.08030343800783157, + -0.047597821801900864 + ], + "orientation": [ + 0.18202611804008484, + 0.058372918516397476, + 0.5598836541175842, + 0.806219220161438 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + -0.04429003596305847, + -0.08030343800783157, + -0.047597821801900864 + ], + "orientation": [ + 0.18202611804008484, + 0.058372918516397476, + 0.5598836541175842, + 0.806219220161438 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030412165448069572, + 0.05836574733257294, + 0.12171105295419693 + ], + "orientation": [ + 0.11372359097003937, + -0.7782459855079651, + 0.6141812205314636, + -0.06466470658779144 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.029658375307917595, + 0.05847269669175148, + 0.11801493167877197 + ], + "orientation": [ + 0.11206831783056259, + -0.786220908164978, + 0.6037995219230652, + -0.06872902810573578 + ], + "joints": [ + 0.0248127244412899 + ] + }, + "final_grasp": { + "position": [ + -0.029658375307917595, + 0.05847269669175148, + 0.11801493167877197 + ], + "orientation": [ + 0.11206831783056259, + -0.786220908164978, + 0.6037995219230652, + -0.06872902810573578 + ], + "joints": [ + 0.016014765948057175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06835852563381195, + 0.07803342491388321, + 0.10577942430973053 + ], + "orientation": [ + 0.2043088674545288, + 0.7662515640258789, + 0.5756446719169617, + 0.19937272369861603 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + -0.06614198535680771, + 0.07779094576835632, + 0.10249821841716766 + ], + "orientation": [ + 0.19947336614131927, + 0.7750797867774963, + 0.5639072060585022, + 0.20364254713058472 + ], + "joints": [ + 0.02487877383828163 + ] + }, + "final_grasp": { + "position": [ + -0.06614198535680771, + 0.07779094576835632, + 0.10249821841716766 + ], + "orientation": [ + 0.19947336614131927, + 0.7750797867774963, + 0.5639072060585022, + 0.20364254713058472 + ], + "joints": [ + 0.01568375900387764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10241033881902695, + -0.00366458878852427, + 0.061956170946359634 + ], + "orientation": [ + 0.20103007555007935, + 0.6222239136695862, + 0.599652111530304, + 0.4613475501537323 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.09936900436878204, + -0.0031234242487698793, + 0.05968822166323662 + ], + "orientation": [ + 0.19605684280395508, + 0.6340672373771667, + 0.5877216458320618, + 0.4627133309841156 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + -0.09936900436878204, + -0.0031234242487698793, + 0.05968822166323662 + ], + "orientation": [ + 0.19605684280395508, + 0.6340672373771667, + 0.5877216458320618, + 0.4627133309841156 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006415983662009239, + 0.18974049389362335, + -0.05196018144488335 + ], + "orientation": [ + 0.25786566734313965, + 0.10493762791156769, + 0.5211291313171387, + -0.8067948222160339 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.007130607031285763, + 0.18641218543052673, + -0.050148915499448776 + ], + "orientation": [ + 0.259194552898407, + 0.10817679762840271, + 0.5248873233795166, + -0.8034981489181519 + ], + "joints": [ + 0.024788472801446915 + ] + }, + "final_grasp": { + "position": [ + -0.007130607031285763, + 0.18641218543052673, + -0.050148915499448776 + ], + "orientation": [ + 0.259194552898407, + 0.10817679762840271, + 0.5248873233795166, + -0.8034981489181519 + ], + "joints": [ + 0.016429368406534195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0077760485000908375, + 0.19057613611221313, + -0.05240169167518616 + ], + "orientation": [ + 0.2595764696598053, + 0.11311232298612595, + 0.5242251753807068, + -0.8031274080276489 + ], + "joints": [ + 0.033170733600854874 + ] + }, + "fine_grasp": { + "position": [ + -0.008438622578978539, + 0.1872483491897583, + -0.050725605338811874 + ], + "orientation": [ + 0.260232150554657, + 0.1183171272277832, + 0.5275920033454895, + -0.7999544143676758 + ], + "joints": [ + 0.024811629205942154 + ] + }, + "final_grasp": { + "position": [ + -0.008438622578978539, + 0.1872483491897583, + -0.050725605338811874 + ], + "orientation": [ + 0.260232150554657, + 0.1183171272277832, + 0.5275920033454895, + -0.7999544143676758 + ], + "joints": [ + 0.016452524811029434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06790949404239655, + 0.07781283557415009, + 0.10568545013666153 + ], + "orientation": [ + 0.20339319109916687, + 0.7671816945075989, + 0.5749962329864502, + 0.19860179722309113 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + -0.06563802808523178, + 0.07753836363554001, + 0.10242301225662231 + ], + "orientation": [ + 0.1986001878976822, + 0.7766386270523071, + 0.5623801350593567, + 0.202778160572052 + ], + "joints": [ + 0.02487877383828163 + ] + }, + "final_grasp": { + "position": [ + -0.06563802808523178, + 0.07753836363554001, + 0.10242301225662231 + ], + "orientation": [ + 0.1986001878976822, + 0.7766386270523071, + 0.5623801350593567, + 0.202778160572052 + ], + "joints": [ + 0.01568375900387764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1135348454117775, + 0.12699268758296967, + 0.031207509338855743 + ], + "orientation": [ + 0.58171147108078, + 0.5329239368438721, + 0.584759533405304, + 0.18883906304836273 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.11013385653495789, + 0.1258062720298767, + 0.029990065842866898 + ], + "orientation": [ + 0.5808119177818298, + 0.5271130800247192, + 0.5915889143943787, + 0.18663297593593597 + ], + "joints": [ + 0.024581171572208405 + ] + }, + "final_grasp": { + "position": [ + -0.11013385653495789, + 0.1258062720298767, + 0.029990065842866898 + ], + "orientation": [ + 0.5808119177818298, + 0.5271130800247192, + 0.5915889143943787, + 0.18663297593593597 + ], + "joints": [ + 0.015783213078975677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10187042504549026, + -0.0034293956123292446, + 0.061403848230838776 + ], + "orientation": [ + 0.20176313817501068, + 0.6226990222930908, + 0.5989123582839966, + 0.46134746074676514 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.09910349547863007, + -0.002993730129674077, + 0.05906732752919197 + ], + "orientation": [ + 0.19714201986789703, + 0.6326308250427246, + 0.5875834822654724, + 0.46439090371131897 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + -0.09910349547863007, + -0.002993730129674077, + 0.05906732752919197 + ], + "orientation": [ + 0.19714201986789703, + 0.6326308250427246, + 0.5875834822654724, + 0.46439090371131897 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11332684755325317, + 0.12714336812496185, + 0.031241193413734436 + ], + "orientation": [ + 0.581755518913269, + 0.532783567905426, + 0.5852392315864563, + 0.1876092404127121 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.10992847383022308, + 0.12594261765480042, + 0.03008338063955307 + ], + "orientation": [ + 0.5823537707328796, + 0.5275498032569885, + 0.5908533930778503, + 0.18288667500019073 + ], + "joints": [ + 0.024602070450782776 + ] + }, + "final_grasp": { + "position": [ + -0.10992847383022308, + 0.12594261765480042, + 0.03008338063955307 + ], + "orientation": [ + 0.5823537707328796, + 0.5275498032569885, + 0.5908533930778503, + 0.18288667500019073 + ], + "joints": [ + 0.01582501083612442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02872079610824585, + 0.16971690952777863, + -0.08282092958688736 + ], + "orientation": [ + 0.7243213057518005, + 0.2602403461933136, + 0.34723564982414246, + -0.535780668258667 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.02792302519083023, + 0.16760678589344025, + -0.08011338114738464 + ], + "orientation": [ + 0.7255098819732666, + 0.257551908493042, + 0.3427542746067047, + -0.5383511185646057 + ], + "joints": [ + 0.02497822791337967 + ] + }, + "final_grasp": { + "position": [ + -0.02792302519083023, + 0.16760678589344025, + -0.08011338114738464 + ], + "orientation": [ + 0.7255098819732666, + 0.257551908493042, + 0.3427542746067047, + -0.5383511185646057 + ], + "joints": [ + 0.016577325761318207 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016180967912077904, + 0.11294756829738617, + -0.13126923143863678 + ], + "orientation": [ + 0.6198436617851257, + 0.1821621209383011, + -0.12253531068563461, + 0.7533895969390869 + ], + "joints": [ + 0.029604801908135414 + ] + }, + "fine_grasp": { + "position": [ + -0.015982910990715027, + 0.11228391528129578, + -0.12774474918842316 + ], + "orientation": [ + 0.6201504468917847, + 0.17993506789207458, + -0.11982008814811707, + 0.7541086077690125 + ], + "joints": [ + 0.020744146779179573 + ] + }, + "final_grasp": { + "position": [ + -0.015982910990715027, + 0.11228391528129578, + -0.12774474918842316 + ], + "orientation": [ + 0.6201504468917847, + 0.17993506789207458, + -0.11982008814811707, + 0.7541086077690125 + ], + "joints": [ + 0.011883491650223732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028427235782146454, + 0.16976653039455414, + -0.0827789455652237 + ], + "orientation": [ + 0.725984513759613, + 0.25992119312286377, + 0.3442206382751465, + -0.5356300473213196 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.027604874223470688, + 0.16754929721355438, + -0.08014580607414246 + ], + "orientation": [ + 0.726980984210968, + 0.2571744918823242, + 0.34039193391799927, + -0.5380455851554871 + ], + "joints": [ + 0.024789568036794662 + ] + }, + "final_grasp": { + "position": [ + -0.027604874223470688, + 0.16754929721355438, + -0.08014580607414246 + ], + "orientation": [ + 0.726980984210968, + 0.2571744918823242, + 0.34039193391799927, + -0.5380455851554871 + ], + "joints": [ + 0.015991609543561935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020270537585020065, + 0.11863601952791214, + 0.11943405866622925 + ], + "orientation": [ + 0.12107277661561966, + 0.7794337868690491, + -0.5834057331085205, + 0.19355112314224243 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.019985683262348175, + 0.11773094534873962, + 0.11574777215719223 + ], + "orientation": [ + 0.11750727891921997, + 0.7884958386421204, + -0.5742015242576599, + 0.18643778562545776 + ], + "joints": [ + 0.025627736002206802 + ] + }, + "final_grasp": { + "position": [ + -0.019985683262348175, + 0.11773094534873962, + 0.11574777215719223 + ], + "orientation": [ + 0.11750727891921997, + 0.7884958386421204, + -0.5742015242576599, + 0.18643778562545776 + ], + "joints": [ + 0.017644789069890976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030054926872253418, + 0.17053741216659546, + -0.08138944208621979 + ], + "orientation": [ + 0.7352240085601807, + 0.2619289457798004, + 0.34271806478500366, + -0.522860586643219 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.02917221374809742, + 0.16818077862262726, + -0.07885248214006424 + ], + "orientation": [ + 0.7347041368484497, + 0.26167744398117065, + 0.34174105525016785, + -0.5243546962738037 + ], + "joints": [ + 0.024767573922872543 + ] + }, + "final_grasp": { + "position": [ + -0.02917221374809742, + 0.16818077862262726, + -0.07885248214006424 + ], + "orientation": [ + 0.7347041368484497, + 0.26167744398117065, + 0.34174105525016785, + -0.5243546962738037 + ], + "joints": [ + 0.016387570649385452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06350936740636826, + -0.05769285932183266, + 0.07484869658946991 + ], + "orientation": [ + 0.4835347831249237, + -0.6283887624740601, + 0.601352870464325, + 0.09847021102905273 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.06185023486614227, + -0.05623709410429001, + 0.07225237786769867 + ], + "orientation": [ + 0.4761332869529724, + -0.6281567811965942, + 0.6087531447410583, + 0.09019804000854492 + ], + "joints": [ + 0.02333420142531395 + ] + }, + "final_grasp": { + "position": [ + -0.06185023486614227, + -0.05623709410429001, + 0.07225237786769867 + ], + "orientation": [ + 0.4761332869529724, + -0.6281567811965942, + 0.6087531447410583, + 0.09019804000854492 + ], + "joints": [ + 0.014933299273252487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02620655484497547, + 0.04239079728722572, + 0.12488285452127457 + ], + "orientation": [ + 0.07880162447690964, + 0.6766748428344727, + -0.7289808988571167, + -0.06699461489915848 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.02543746680021286, + 0.04241470620036125, + 0.12104134261608124 + ], + "orientation": [ + 0.07861919701099396, + 0.6713462471961975, + -0.7338967323303223, + -0.06714874505996704 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + 0.02543746680021286, + 0.04241470620036125, + 0.12104134261608124 + ], + "orientation": [ + 0.07861919701099396, + 0.6713462471961975, + -0.7338967323303223, + -0.06714874505996704 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007470586337149143, + 0.022495726123452187, + -0.1473883092403412 + ], + "orientation": [ + 0.7056352496147156, + 0.025075620040297508, + -0.012545417062938213, + -0.7080203294754028 + ], + "joints": [ + 0.026038864627480507 + ] + }, + "fine_grasp": { + "position": [ + 0.007233808748424053, + 0.022390522062778473, + -0.14373350143432617 + ], + "orientation": [ + 0.7056949138641357, + 0.024025795981287956, + -0.01121147908270359, + -0.7080196142196655 + ], + "joints": [ + 0.0167811531573534 + ] + }, + "final_grasp": { + "position": [ + 0.007233808748424053, + 0.022390522062778473, + -0.14373350143432617 + ], + "orientation": [ + 0.7056949138641357, + 0.024025795981287956, + -0.01121147908270359, + -0.7080196142196655 + ], + "joints": [ + 0.0075234416872262955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1359931230545044, + 0.11498783528804779, + -0.012415389530360699 + ], + "orientation": [ + 0.6323196887969971, + 0.4254850745201111, + -0.5454041957855225, + -0.34881019592285156 + ], + "joints": [ + 0.02645566128194332 + ] + }, + "fine_grasp": { + "position": [ + 0.13261361420154572, + 0.11334926635026932, + -0.012014822103083134 + ], + "orientation": [ + 0.6371625661849976, + 0.4299764037132263, + -0.5396974086761475, + -0.3433231711387634 + ], + "joints": [ + 0.017636803910136223 + ] + }, + "final_grasp": { + "position": [ + 0.13261361420154572, + 0.11334926635026932, + -0.012014822103083134 + ], + "orientation": [ + 0.6371625661849976, + 0.4299764037132263, + -0.5396974086761475, + -0.3433231711387634 + ], + "joints": [ + 0.008817946538329124 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 254 + } +} \ No newline at end of file diff --git a/071_can_2/Object.usd b/071_can_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..fc0a048897e723f925ad016222bfd506a3601d24 --- /dev/null +++ b/071_can_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:836dcfac6835733f0c1768d3c8a99534772ef3caad57818194286e0681afe2e1 +size 289011 diff --git a/072_electronicscale_6/Annotation/dex1_1_grasp_pose.json b/072_electronicscale_6/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..67867256fbe8a50f019282c60b9bedd5cebd70fe --- /dev/null +++ b/072_electronicscale_6/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,468 @@ +{ + "type": "072_electronicscale_6", + "bottom_center": [ + 1.0021030902862549e-06, + 0.030298801138997078, + -0.07598239928483963 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.009820445440709591, + 0.004502364434301853, + -0.16995929181575775 + ], + "orientation": [ + 0.5814259648323059, + 0.4888990819454193, + -0.5112031102180481, + -0.4019862711429596 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.010084518231451511, + 0.005723537411540747, + -0.1662212759256363 + ], + "orientation": [ + 0.5827652812004089, + 0.4892011284828186, + -0.5052194595336914, + -0.40721023082733154 + ], + "joints": [ + -0.01062175165861845 + ] + }, + "final_grasp": { + "position": [ + 0.010084518231451511, + 0.005723537411540747, + -0.1662212759256363 + ], + "orientation": [ + 0.5827652812004089, + 0.4892011284828186, + -0.5052194595336914, + -0.40721023082733154 + ], + "joints": [ + -0.004776353016495705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02190152369439602, + -0.001958344830200076, + -0.16223940253257751 + ], + "orientation": [ + 0.5966702103614807, + 0.3897346556186676, + 0.516120970249176, + 0.47509023547172546 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.020846636965870857, + -0.0006825884338468313, + -0.15865133702754974 + ], + "orientation": [ + 0.5957145690917969, + 0.3906005024909973, + 0.5117766857147217, + 0.4802500307559967 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.020846636965870857, + -0.0006825884338468313, + -0.15865133702754974 + ], + "orientation": [ + 0.5957145690917969, + 0.3906005024909973, + 0.5117766857147217, + 0.4802500307559967 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02170848473906517, + -0.001676704385317862, + -0.16185887157917023 + ], + "orientation": [ + 0.5960366725921631, + 0.3905235230922699, + 0.5159720182418823, + 0.47539931535720825 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.02058546617627144, + -0.0004170335887465626, + -0.1583314687013626 + ], + "orientation": [ + 0.5955231189727783, + 0.3904910385608673, + 0.5111522078514099, + 0.48124051094055176 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.02058546617627144, + -0.0004170335887465626, + -0.1583314687013626 + ], + "orientation": [ + 0.5955231189727783, + 0.3904910385608673, + 0.5111522078514099, + 0.48124051094055176 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14383645355701447, + 0.024714916944503784, + 0.06425417959690094 + ], + "orientation": [ + 0.06503810733556747, + -0.6809366941452026, + -0.7228087782859802, + 0.09819772839546204 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.14160002768039703, + 0.024554511532187462, + 0.06474720686674118 + ], + "orientation": [ + 0.05725305527448654, + -0.6813616752624512, + -0.7233116030693054, + 0.09637841582298279 + ], + "joints": [ + -0.009417567402124405 + ] + }, + "final_grasp": { + "position": [ + -0.14160002768039703, + 0.024554511532187462, + 0.06474720686674118 + ], + "orientation": [ + 0.05725305527448654, + -0.6813616752624512, + -0.7233116030693054, + 0.09637841582298279 + ], + "joints": [ + -0.0035456009209156036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14368049800395966, + 0.02460397407412529, + 0.06450103223323822 + ], + "orientation": [ + 0.06575773656368256, + -0.6804614663124084, + -0.722929835319519, + 0.10010304301977158 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.14150376617908478, + 0.02443830296397209, + 0.06504743546247482 + ], + "orientation": [ + 0.05850794538855553, + -0.68085116147995, + -0.7234929203987122, + 0.09785903245210648 + ], + "joints": [ + -0.009445535019040108 + ] + }, + "final_grasp": { + "position": [ + -0.14150376617908478, + 0.02443830296397209, + 0.06504743546247482 + ], + "orientation": [ + 0.05850794538855553, + -0.68085116147995, + -0.7234929203987122, + 0.09785903245210648 + ], + "joints": [ + -0.003042168915271759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017067402601242065, + -0.02934028021991253, + -0.15883763134479523 + ], + "orientation": [ + 0.5435701012611389, + 0.3727288544178009, + -0.6473328471183777, + -0.3828378915786743 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + 0.016874857246875763, + -0.026690302416682243, + -0.15507696568965912 + ], + "orientation": [ + 0.5402748584747314, + 0.37556716799736023, + -0.6453772783279419, + -0.38799554109573364 + ], + "joints": [ + -0.013308110646903515 + ] + }, + "final_grasp": { + "position": [ + 0.016874857246875763, + -0.026690302416682243, + -0.15507696568965912 + ], + "orientation": [ + 0.5402748584747314, + 0.37556716799736023, + -0.6453772783279419, + -0.38799554109573364 + ], + "joints": [ + -0.009030336514115334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003235929412767291, + -0.021820759400725365, + -0.17525477707386017 + ], + "orientation": [ + 0.8306841254234314, + 0.5033826231956482, + -0.1740657091140747, + -0.1620834320783615 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.002315996214747429, + -0.021967226639389992, + -0.17290917038917542 + ], + "orientation": [ + 0.8218272924423218, + 0.513655960559845, + -0.18212798237800598, + -0.1660926342010498 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + 0.002315996214747429, + -0.021967226639389992, + -0.17290917038917542 + ], + "orientation": [ + 0.8218272924423218, + 0.513655960559845, + -0.18212798237800598, + -0.1660926342010498 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02157403528690338, + -0.04853728041052818, + -0.16128069162368774 + ], + "orientation": [ + 0.8244152665138245, + 0.45683565735816956, + 0.2904404401779175, + 0.16518205404281616 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.02064630575478077, + -0.046130165457725525, + -0.15756329894065857 + ], + "orientation": [ + 0.8267228007316589, + 0.45562419295310974, + 0.29250892996788025, + 0.15288737416267395 + ], + "joints": [ + -0.015271495096385479 + ] + }, + "final_grasp": { + "position": [ + -0.02064630575478077, + -0.046130165457725525, + -0.15756329894065857 + ], + "orientation": [ + 0.8267228007316589, + 0.45562419295310974, + 0.29250892996788025, + 0.15288737416267395 + ], + "joints": [ + -0.014075839892029762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0032008846756070852, + -0.02195056341588497, + -0.17523935437202454 + ], + "orientation": [ + 0.8308010697364807, + 0.5029743909835815, + -0.17438232898712158, + -0.16241060197353363 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.0022018759045749903, + -0.022049639374017715, + -0.17295938730239868 + ], + "orientation": [ + 0.8219878673553467, + 0.5133810639381409, + -0.18199115991592407, + -0.16629834473133087 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + 0.0022018759045749903, + -0.022049639374017715, + -0.17295938730239868 + ], + "orientation": [ + 0.8219878673553467, + 0.5133810639381409, + -0.18199115991592407, + -0.16629834473133087 + ], + "joints": [ + -0.009318836033344269 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2033, + "num_passed": 9 + } +} \ No newline at end of file diff --git a/072_electronicscale_6/Annotation/piper_grasp_pose.json b/072_electronicscale_6/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..aa9cef45089cbc995ea16c2944f58141a21c2b62 --- /dev/null +++ b/072_electronicscale_6/Annotation/piper_grasp_pose.json @@ -0,0 +1,868 @@ +{ + "type": "072_electronicscale_6", + "bottom_center": [ + 1.0021030902862549e-06, + 0.030298801138997078, + -0.07598239928483963 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.03339604288339615, + -0.0063663022592663765, + -0.19070041179656982 + ], + "orientation": [ + 0.4841136932373047, + -0.18754543364048004, + -0.1615058034658432, + -0.8392714858055115 + ], + "joints": [ + 0.0199892595410347 + ] + }, + "fine_grasp": { + "position": [ + -0.03231392428278923, + -0.00884850975126028, + -0.18620571494102478 + ], + "orientation": [ + 0.48564761877059937, + -0.1790485829114914, + -0.13740232586860657, + -0.8445167541503906 + ], + "joints": [ + 0.018317438662052155 + ] + }, + "final_grasp": { + "position": [ + -0.03231392428278923, + -0.00884850975126028, + -0.18620571494102478 + ], + "orientation": [ + 0.48564761877059937, + -0.1790485829114914, + -0.13740232586860657, + -0.8445167541503906 + ], + "joints": [ + 0.01664561778306961 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10231936722993851, + -0.008389685302972794, + 0.15714241564273834 + ], + "orientation": [ + 0.29831477999687195, + 0.1424502283334732, + -0.9362872242927551, + -0.11867020279169083 + ], + "joints": [ + 0.016409821808338165 + ] + }, + "fine_grasp": { + "position": [ + 0.09963149577379227, + -0.00812015775591135, + 0.15438391268253326 + ], + "orientation": [ + 0.3088366389274597, + 0.1546332985162735, + -0.9304593205451965, + -0.12228672206401825 + ], + "joints": [ + 0.006817749701440334 + ] + }, + "final_grasp": { + "position": [ + 0.09963149577379227, + -0.00812015775591135, + 0.15438391268253326 + ], + "orientation": [ + 0.3088366389274597, + 0.1546332985162735, + -0.9304593205451965, + -0.12228672206401825 + ], + "joints": [ + -0.0027743224054574966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09049832820892334, + -0.031002560630440712, + -0.14100000262260437 + ], + "orientation": [ + 0.8994067907333374, + -0.18969382345676422, + -0.39282816648483276, + 0.027744987979531288 + ], + "joints": [ + 0.018023258075118065 + ] + }, + "fine_grasp": { + "position": [ + 0.08968695998191833, + -0.029854482039809227, + -0.13834714889526367 + ], + "orientation": [ + 0.9017836451530457, + -0.18951870501041412, + -0.3875666856765747, + 0.02571137249469757 + ], + "joints": [ + 0.00924619846045971 + ] + }, + "final_grasp": { + "position": [ + 0.08968695998191833, + -0.029854482039809227, + -0.13834714889526367 + ], + "orientation": [ + 0.9017836451530457, + -0.18951870501041412, + -0.3875666856765747, + 0.02571137249469757 + ], + "joints": [ + 0.00046913884580135345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09951513260602951, + -0.008626255206763744, + 0.15552884340286255 + ], + "orientation": [ + 0.3149312436580658, + 0.12494876980781555, + -0.9339103698730469, + -0.11409427970647812 + ], + "joints": [ + 0.016907677054405212 + ] + }, + "fine_grasp": { + "position": [ + 0.09721849858760834, + -0.008535883389413357, + 0.1525574028491974 + ], + "orientation": [ + 0.31202420592308044, + 0.13376788794994354, + -0.933128297328949, + -0.11840005218982697 + ], + "joints": [ + 0.0068976497277617455 + ] + }, + "final_grasp": { + "position": [ + 0.09721849858760834, + -0.008535883389413357, + 0.1525574028491974 + ], + "orientation": [ + 0.31202420592308044, + 0.13376788794994354, + -0.933128297328949, + -0.11840005218982697 + ], + "joints": [ + -0.0031123775988817215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007605246268212795, + 7.311181980185211e-05, + -0.1918978989124298 + ], + "orientation": [ + 0.039603881537914276, + 0.028423693031072617, + -0.05075746774673462, + -0.9975205659866333 + ], + "joints": [ + 0.019698359072208405 + ] + }, + "fine_grasp": { + "position": [ + 0.007567975670099258, + 0.0006333349156193435, + -0.18785947561264038 + ], + "orientation": [ + 0.039684414863586426, + 0.027181562036275864, + -0.0520927794277668, + -0.9974831938743591 + ], + "joints": [ + 0.011318355798721313 + ] + }, + "final_grasp": { + "position": [ + 0.007567975670099258, + 0.0006333349156193435, + -0.18785947561264038 + ], + "orientation": [ + 0.039684414863586426, + 0.027181562036275864, + -0.0520927794277668, + -0.9974831938743591 + ], + "joints": [ + 0.0029383525252342224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006646104156970978, + -0.01815284602344036, + 0.1749788373708725 + ], + "orientation": [ + 0.04995410516858101, + 0.0687369853258133, + -0.9886894822120667, + -0.12358389794826508 + ], + "joints": [ + 0.019384022802114487 + ] + }, + "fine_grasp": { + "position": [ + -0.0010807747021317482, + -0.017314068973064423, + 0.1713455617427826 + ], + "orientation": [ + 0.045818816870450974, + 0.07058370858430862, + -0.9880421161651611, + -0.12919503450393677 + ], + "joints": [ + 0.012278784066438675 + ] + }, + "final_grasp": { + "position": [ + -0.0010807747021317482, + -0.017314068973064423, + 0.1713455617427826 + ], + "orientation": [ + 0.045818816870450974, + 0.07058370858430862, + -0.9880421161651611, + -0.12919503450393677 + ], + "joints": [ + 0.005173545330762863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1177772581577301, + -0.03407387435436249, + 0.1264895349740982 + ], + "orientation": [ + 0.24081207811832428, + -0.8762111067771912, + -0.09196261316537857, + 0.40719324350357056 + ], + "joints": [ + 0.01941203512251377 + ] + }, + "fine_grasp": { + "position": [ + 0.1151169091463089, + -0.03287598863244057, + 0.12439706176519394 + ], + "orientation": [ + 0.24310949444770813, + -0.875633716583252, + -0.09714999794960022, + 0.40586358308792114 + ], + "joints": [ + 0.01021702028810978 + ] + }, + "final_grasp": { + "position": [ + 0.1151169091463089, + -0.03287598863244057, + 0.12439706176519394 + ], + "orientation": [ + 0.24310949444770813, + -0.875633716583252, + -0.09714999794960022, + 0.40586358308792114 + ], + "joints": [ + 0.0010220054537057877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025971246883273125, + -0.037296295166015625, + 0.16463732719421387 + ], + "orientation": [ + 0.20608745515346527, + -0.9778056144714355, + -0.021927030757069588, + -0.03071453794836998 + ], + "joints": [ + 0.021563652902841568 + ] + }, + "fine_grasp": { + "position": [ + -0.025803742930293083, + -0.03579206392168999, + 0.16126303374767303 + ], + "orientation": [ + 0.21294930577278137, + -0.9763219952583313, + -0.019501566886901855, + -0.03267795965075493 + ], + "joints": [ + 0.013622503727674484 + ] + }, + "final_grasp": { + "position": [ + -0.025803742930293083, + -0.03579206392168999, + 0.16126303374767303 + ], + "orientation": [ + 0.21294930577278137, + -0.9763219952583313, + -0.019501566886901855, + -0.03267795965075493 + ], + "joints": [ + 0.0056813545525074005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04606465995311737, + -0.00824315007776022, + -0.18049640953540802 + ], + "orientation": [ + 0.10323768854141235, + -0.16311044991016388, + -0.05863029882311821, + -0.9794383645057678 + ], + "joints": [ + 0.018193744122982025 + ] + }, + "fine_grasp": { + "position": [ + -0.04552772641181946, + -0.0068360879085958, + -0.17643465101718903 + ], + "orientation": [ + 0.10588212311267853, + -0.1609601378440857, + -0.06427200883626938, + -0.9791578054428101 + ], + "joints": [ + 0.01150646060705185 + ] + }, + "final_grasp": { + "position": [ + -0.04552772641181946, + -0.0068360879085958, + -0.17643465101718903 + ], + "orientation": [ + 0.10588212311267853, + -0.1609601378440857, + -0.06427200883626938, + -0.9791578054428101 + ], + "joints": [ + 0.004819177091121674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0072525194846093655, + 8.539829286746681e-05, + -0.19167016446590424 + ], + "orientation": [ + 0.04056654870510101, + 0.029384858906269073, + -0.0532023161649704, + -0.997326672077179 + ], + "joints": [ + 0.02056683413684368 + ] + }, + "fine_grasp": { + "position": [ + 0.007222007028758526, + 0.000524136412423104, + -0.1876951903104782 + ], + "orientation": [ + 0.040704499930143356, + 0.028114108368754387, + -0.05362545698881149, + -0.9973349571228027 + ], + "joints": [ + 0.01137181930243969 + ] + }, + "final_grasp": { + "position": [ + 0.007222007028758526, + 0.000524136412423104, + -0.1876951903104782 + ], + "orientation": [ + 0.040704499930143356, + 0.028114108368754387, + -0.05362545698881149, + -0.9973349571228027 + ], + "joints": [ + 0.002176804468035698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008108931593596935, + -0.02304922789335251, + 0.17448990046977997 + ], + "orientation": [ + 0.07382674515247345, + 0.06552011519670486, + 0.9859359860420227, + 0.13485883176326752 + ], + "joints": [ + 0.01728310063481331 + ] + }, + "fine_grasp": { + "position": [ + -0.007731169927865267, + -0.02263651043176651, + 0.17102627456188202 + ], + "orientation": [ + 0.07092803716659546, + 0.0705258846282959, + 0.9855027794837952, + 0.1370384693145752 + ], + "joints": [ + 0.008088085800409317 + ] + }, + "final_grasp": { + "position": [ + -0.007731169927865267, + -0.02263651043176651, + 0.17102627456188202 + ], + "orientation": [ + 0.07092803716659546, + 0.0705258846282959, + 0.9855027794837952, + 0.1370384693145752 + ], + "joints": [ + -0.0011069290339946747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00825284980237484, + -0.023085935041308403, + 0.17556701600551605 + ], + "orientation": [ + 0.0746462419629097, + 0.06038645654916763, + 0.9863294959068298, + 0.1339239627122879 + ], + "joints": [ + 0.016991950571537018 + ] + }, + "fine_grasp": { + "position": [ + -0.007818678393959999, + -0.022726688534021378, + 0.17201319336891174 + ], + "orientation": [ + 0.07169763743877411, + 0.06636013090610504, + 0.9858695268630981, + 0.13607770204544067 + ], + "joints": [ + 0.007796935271471739 + ] + }, + "final_grasp": { + "position": [ + -0.007818678393959999, + -0.022726688534021378, + 0.17201319336891174 + ], + "orientation": [ + 0.07169763743877411, + 0.06636013090610504, + 0.9858695268630981, + 0.13607770204544067 + ], + "joints": [ + -0.0013980800285935402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08206114917993546, + 0.02865951880812645, + -0.16983383893966675 + ], + "orientation": [ + 0.9404786229133606, + 0.0776122659444809, + -0.3303036391735077, + 0.019384082406759262 + ], + "joints": [ + 0.01605553925037384 + ] + }, + "fine_grasp": { + "position": [ + 0.08123522996902466, + 0.028194278478622437, + -0.1661074459552765 + ], + "orientation": [ + 0.9431995153427124, + 0.07492482662200928, + -0.3230704665184021, + 0.019655395299196243 + ], + "joints": [ + 0.006839626468718052 + ] + }, + "final_grasp": { + "position": [ + 0.08123522996902466, + 0.028194278478622437, + -0.1661074459552765 + ], + "orientation": [ + 0.9431995153427124, + 0.07492482662200928, + -0.3230704665184021, + 0.019655395299196243 + ], + "joints": [ + -0.0023762863129377365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08186686784029007, + 0.028694555163383484, + -0.16978494822978973 + ], + "orientation": [ + 0.939807653427124, + 0.07832824438810349, + -0.33215442299842834, + 0.01731700263917446 + ], + "joints": [ + 0.015849631279706955 + ] + }, + "fine_grasp": { + "position": [ + 0.08105941116809845, + 0.02821309305727482, + -0.1660512536764145 + ], + "orientation": [ + 0.942579984664917, + 0.07576353847980499, + -0.3247951567173004, + 0.017634667456150055 + ], + "joints": [ + 0.0066337184980511665 + ] + }, + "final_grasp": { + "position": [ + 0.08105941116809845, + 0.02821309305727482, + -0.1660512536764145 + ], + "orientation": [ + 0.942579984664917, + 0.07576353847980499, + -0.3247951567173004, + 0.017634667456150055 + ], + "joints": [ + -0.002582194283604622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08137081563472748, + 0.028568528592586517, + -0.16942821443080902 + ], + "orientation": [ + 0.9392140507698059, + 0.07897680252790451, + -0.3338409662246704, + 0.013779832050204277 + ], + "joints": [ + 0.016032466664910316 + ] + }, + "fine_grasp": { + "position": [ + 0.0805860236287117, + 0.028103793039917946, + -0.1657385677099228 + ], + "orientation": [ + 0.9419840574264526, + 0.0763486698269844, + -0.3265545964241028, + 0.01410446036607027 + ], + "joints": [ + 0.006795655936002731 + ] + }, + "final_grasp": { + "position": [ + 0.0805860236287117, + 0.028103793039917946, + -0.1657385677099228 + ], + "orientation": [ + 0.9419840574264526, + 0.0763486698269844, + -0.3265545964241028, + 0.01410446036607027 + ], + "joints": [ + -0.002441154792904854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010441581718623638, + -0.006332542281597853, + -0.18579962849617004 + ], + "orientation": [ + 0.6656347513198853, + -0.14562205970287323, + 0.08417238295078278, + 0.7270761132240295 + ], + "joints": [ + 0.026177793741226196 + ] + }, + "fine_grasp": { + "position": [ + -0.009143739938735962, + -0.008382601663470268, + -0.18150988221168518 + ], + "orientation": [ + 0.6688268780708313, + -0.12264376133680344, + 0.07626646012067795, + 0.7292547225952148 + ], + "joints": [ + 0.022416196763515472 + ] + }, + "final_grasp": { + "position": [ + -0.009143739938735962, + -0.008382601663470268, + -0.18150988221168518 + ], + "orientation": [ + 0.6688268780708313, + -0.12264376133680344, + 0.07626646012067795, + 0.7292547225952148 + ], + "joints": [ + 0.01865459978580475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08243167400360107, + 0.028366826474666595, + -0.17027699947357178 + ], + "orientation": [ + 0.940049409866333, + 0.07822000235319138, + -0.3316642940044403, + 0.013689946383237839 + ], + "joints": [ + 0.015770046040415764 + ] + }, + "fine_grasp": { + "position": [ + 0.08163583278656006, + 0.02792978100478649, + -0.16658669710159302 + ], + "orientation": [ + 0.9428097009658813, + 0.07552572339773178, + -0.32436493039131165, + 0.013893341645598412 + ], + "joints": [ + 0.006554133258759975 + ] + }, + "final_grasp": { + "position": [ + 0.08163583278656006, + 0.02792978100478649, + -0.16658669710159302 + ], + "orientation": [ + 0.9428097009658813, + 0.07552572339773178, + -0.32436493039131165, + 0.013893341645598412 + ], + "joints": [ + -0.002661779522895813 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 17 + } +} \ No newline at end of file diff --git a/072_electronicscale_6/Object.usd b/072_electronicscale_6/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..19707be2e505181ff403cc0ec6a0a3780b7f4acb --- /dev/null +++ b/072_electronicscale_6/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55f55790adc58edf805c03505f2b610debe416cbc163d6f8835c77dfc896c759 +size 317024 diff --git a/075_bread_0/Annotation/dex1_1_grasp_pose.json b/075_bread_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e187a5296583c1129450d03b35dbf7bff784c97c --- /dev/null +++ b/075_bread_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,23518 @@ +{ + "type": "075_bread_0", + "bottom_center": [ + -1.9613653421401978e-06, + 0.015992719680070877, + -0.03792827948927879 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.01913009025156498, + -0.09231522679328918, + -0.004597250837832689 + ], + "orientation": [ + 0.7670148611068726, + 0.07922875881195068, + 0.6343222856521606, + -0.05519319698214531 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.02066430263221264, + -0.09786385297775269, + -0.005148319527506828 + ], + "orientation": [ + 0.767688512802124, + 0.07626279443502426, + 0.6337525248527527, + -0.05653505399823189 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.02066430263221264, + -0.09786385297775269, + -0.005148319527506828 + ], + "orientation": [ + 0.767688512802124, + 0.07626279443502426, + 0.6337525248527527, + -0.05653505399823189 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012095581740140915, + -0.09916304051876068, + 0.0011252992553636432 + ], + "orientation": [ + 0.7258707284927368, + -0.03396217152476311, + 0.6863728165626526, + 0.029164429754018784 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.010855893604457378, + -0.10423318296670914, + 0.0016135965706780553 + ], + "orientation": [ + 0.7253366708755493, + -0.04193219915032387, + 0.6862062215805054, + 0.03534784913063049 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.010855893604457378, + -0.10423318296670914, + 0.0016135965706780553 + ], + "orientation": [ + 0.7253366708755493, + -0.04193219915032387, + 0.6862062215805054, + 0.03534784913063049 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011998007073998451, + -0.09886790066957474, + 0.0010729186469689012 + ], + "orientation": [ + 0.7233927845954895, + -0.03415968269109726, + 0.6889678835868835, + 0.029310930520296097 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.010908856056630611, + -0.10387643426656723, + 0.001473059062846005 + ], + "orientation": [ + 0.7234787940979004, + -0.041435327380895615, + 0.6882055997848511, + 0.0351375937461853 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.010908856056630611, + -0.10387643426656723, + 0.001473059062846005 + ], + "orientation": [ + 0.7234787940979004, + -0.041435327380895615, + 0.6882055997848511, + 0.0351375937461853 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023009544238448143, + -0.09697059541940689, + -0.006591356359422207 + ], + "orientation": [ + 0.7641187906265259, + 0.09527565538883209, + -0.6344959735870361, + 0.06678236275911331 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.02481575310230255, + -0.10183177143335342, + -0.0067865969613194466 + ], + "orientation": [ + 0.7655250430107117, + 0.09214397519826889, + -0.6334308981895447, + 0.06516192853450775 + ], + "joints": [ + -0.015164246782660484 + ] + }, + "final_grasp": { + "position": [ + 0.02481575310230255, + -0.10183177143335342, + -0.0067865969613194466 + ], + "orientation": [ + 0.7655250430107117, + 0.09214397519826889, + -0.6334308981895447, + 0.06516192853450775 + ], + "joints": [ + -0.010328494012355804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002799711422994733, + -0.0975043997168541, + -0.004379988182336092 + ], + "orientation": [ + 0.7497541904449463, + 0.03284488990902901, + 0.6608901619911194, + -0.003754866076633334 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.003933949861675501, + -0.10266073793172836, + -0.004521873779594898 + ], + "orientation": [ + 0.7485159635543823, + 0.029102662578225136, + 0.6624763607978821, + -0.001410718890838325 + ], + "joints": [ + -0.015164246782660484 + ] + }, + "final_grasp": { + "position": [ + -0.003933949861675501, + -0.10266073793172836, + -0.004521873779594898 + ], + "orientation": [ + 0.7485159635543823, + 0.029102662578225136, + 0.6624763607978821, + -0.001410718890838325 + ], + "joints": [ + -0.010328494012355804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055202096700668335, + 0.11520437896251678, + -0.007696918211877346 + ], + "orientation": [ + 0.17515051364898682, + -0.5940120220184326, + -0.18048575520515442, + -0.7641313672065735 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.05675157904624939, + 0.11502256244421005, + -0.007945002056658268 + ], + "orientation": [ + 0.17229460179805756, + -0.5933565497398376, + -0.17646481096744537, + -0.7662262320518494 + ], + "joints": [ + -0.014128018170595169 + ] + }, + "final_grasp": { + "position": [ + -0.05675157904624939, + 0.11502256244421005, + -0.007945002056658268 + ], + "orientation": [ + 0.17229460179805756, + -0.5933565497398376, + -0.17646481096744537, + -0.7662262320518494 + ], + "joints": [ + -0.008256036788225174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013517661020159721, + -0.10594917833805084, + -0.00925296638160944 + ], + "orientation": [ + 0.7305321097373962, + -0.013259192928671837, + 0.6788775324821472, + 0.07260990887880325 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.014154096134006977, + -0.10997041314840317, + -0.009308556094765663 + ], + "orientation": [ + 0.7326433062553406, + -0.01387611124664545, + 0.6767638325691223, + 0.07093542069196701 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.014154096134006977, + -0.10997041314840317, + -0.009308556094765663 + ], + "orientation": [ + 0.7326433062553406, + -0.01387611124664545, + 0.6767638325691223, + 0.07093542069196701 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011710332706570625, + 0.15115071833133698, + -0.02416616678237915 + ], + "orientation": [ + 0.09191904217004776, + 0.9663508534431458, + 0.01917649805545807, + -0.23947633802890778 + ], + "joints": [ + -0.019646713510155678 + ] + }, + "fine_grasp": { + "position": [ + -0.011238595470786095, + 0.14593495428562164, + -0.02313048765063286 + ], + "orientation": [ + 0.09587784111499786, + 0.9627950191497803, + 0.018550164997577667, + -0.25197044014930725 + ], + "joints": [ + -0.014306132681667805 + ] + }, + "final_grasp": { + "position": [ + -0.011238595470786095, + 0.14593495428562164, + -0.02313048765063286 + ], + "orientation": [ + 0.09587784111499786, + 0.9627950191497803, + 0.018550164997577667, + -0.25197044014930725 + ], + "joints": [ + -0.008965551853179932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004781372845172882, + -0.09078361839056015, + -0.004894461017102003 + ], + "orientation": [ + 0.8397610187530518, + 0.025950312614440918, + 0.5386744737625122, + 0.06291242688894272 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0019859797321259975, + -0.09231232106685638, + -0.00852571427822113 + ], + "orientation": [ + 0.8403789401054382, + 0.014653968624770641, + 0.5410849452018738, + 0.02784750424325466 + ], + "joints": [ + -0.014194466173648834 + ] + }, + "final_grasp": { + "position": [ + -0.0019859797321259975, + -0.09231232106685638, + -0.00852571427822113 + ], + "orientation": [ + 0.8403789401054382, + 0.014653968624770641, + 0.5410849452018738, + 0.02784750424325466 + ], + "joints": [ + -0.008388932794332504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00462025310844183, + -0.09078208357095718, + -0.004953722469508648 + ], + "orientation": [ + 0.8397128582000732, + 0.025518395006656647, + 0.5387823581695557, + 0.06280718743801117 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0016951076686382294, + -0.09246110916137695, + -0.008659258484840393 + ], + "orientation": [ + 0.8403750658035278, + 0.01482918206602335, + 0.5410864949226379, + 0.027842743322253227 + ], + "joints": [ + -0.01442030817270279 + ] + }, + "final_grasp": { + "position": [ + -0.0016951076686382294, + -0.09246110916137695, + -0.008659258484840393 + ], + "orientation": [ + 0.8403750658035278, + 0.01482918206602335, + 0.5410864949226379, + 0.027842743322253227 + ], + "joints": [ + -0.008840616792440414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001795730902813375, + -0.09789301455020905, + -0.01167279202491045 + ], + "orientation": [ + 0.540229082107544, + 0.05898961424827576, + 0.8394473791122437, + 0.0008497274830006063 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.005042139440774918, + -0.10317560285329819, + -0.010637647472321987 + ], + "orientation": [ + 0.5414511561393738, + 0.047642387449741364, + 0.8392013907432556, + 0.017377974465489388 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.005042139440774918, + -0.10317560285329819, + -0.010637647472321987 + ], + "orientation": [ + 0.5414511561393738, + 0.047642387449741364, + 0.8392013907432556, + 0.017377974465489388 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0018300269730389118, + -0.09789634495973587, + -0.011658106930553913 + ], + "orientation": [ + 0.5402861833572388, + 0.05883711203932762, + 0.8394212126731873, + 0.000998703995719552 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.005068235099315643, + -0.10319121181964874, + -0.010607882402837276 + ], + "orientation": [ + 0.541674017906189, + 0.047476399689912796, + 0.839064359664917, + 0.01749959960579872 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.005068235099315643, + -0.10319121181964874, + -0.010607882402837276 + ], + "orientation": [ + 0.541674017906189, + 0.047476399689912796, + 0.839064359664917, + 0.01749959960579872 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008673202246427536, + -0.11552732437849045, + -0.021167639642953873 + ], + "orientation": [ + 0.8084109425544739, + 0.131870299577713, + 0.573545515537262, + -0.011294038966298103 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.009378965944051743, + -0.11160974949598312, + -0.020043006166815758 + ], + "orientation": [ + 0.8069816827774048, + 0.11909878998994827, + 0.5783267021179199, + -0.011584443040192127 + ], + "joints": [ + -0.015217388048768044 + ] + }, + "final_grasp": { + "position": [ + -0.009378965944051743, + -0.11160974949598312, + -0.020043006166815758 + ], + "orientation": [ + 0.8069816827774048, + 0.11909878998994827, + 0.5783267021179199, + -0.011584443040192127 + ], + "joints": [ + -0.010434776544570923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008679823949933052, + -0.11548759788274765, + -0.02115899696946144 + ], + "orientation": [ + 0.8083885908126831, + 0.13177643716335297, + 0.5735989212989807, + -0.0112686175853014 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.009411065839231014, + -0.11157222092151642, + -0.020042885094881058 + ], + "orientation": [ + 0.8069936037063599, + 0.11880404502153397, + 0.5783747434616089, + -0.011382590979337692 + ], + "joints": [ + -0.015217388048768044 + ] + }, + "final_grasp": { + "position": [ + -0.009411065839231014, + -0.11157222092151642, + -0.020042885094881058 + ], + "orientation": [ + 0.8069936037063599, + 0.11880404502153397, + 0.5783747434616089, + -0.011382590979337692 + ], + "joints": [ + -0.010434776544570923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0249339547008276, + -0.10176216065883636, + 0.0001273878588108346 + ], + "orientation": [ + 0.09136345982551575, + 0.10791019350290298, + -0.9899535775184631, + -0.00018785423890221864 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.02406955696642399, + -0.10515552759170532, + 0.00026239221915602684 + ], + "orientation": [ + 0.07701791822910309, + 0.09966927766799927, + -0.992032527923584, + -0.0023994261864572763 + ], + "joints": [ + -0.011649214662611485 + ] + }, + "final_grasp": { + "position": [ + 0.02406955696642399, + -0.10515552759170532, + 0.00026239221915602684 + ], + "orientation": [ + 0.07701791822910309, + 0.09966927766799927, + -0.992032527923584, + -0.0023994261864572763 + ], + "joints": [ + -0.004741009324789047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010181215591728687, + -0.09858666360378265, + 0.021833157166838646 + ], + "orientation": [ + 0.6944815516471863, + -0.12680816650390625, + -0.7081292271614075, + 0.012968160212039948 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.011663967743515968, + -0.10421579331159592, + 0.021914003416895866 + ], + "orientation": [ + 0.6947930455207825, + -0.12157364189624786, + -0.7087481021881104, + 0.012584253214299679 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.011663967743515968, + -0.10421579331159592, + 0.021914003416895866 + ], + "orientation": [ + 0.6947930455207825, + -0.12157364189624786, + -0.7087481021881104, + 0.012584253214299679 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010162935592234135, + -0.09862076491117477, + 0.021836325526237488 + ], + "orientation": [ + 0.6944640874862671, + -0.12706150114536285, + -0.7081058025360107, + 0.012691677547991276 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.01165762823075056, + -0.10425297170877457, + 0.021915044635534286 + ], + "orientation": [ + 0.6947619915008545, + -0.12178497016429901, + -0.7087466716766357, + 0.012347941286861897 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.01165762823075056, + -0.10425297170877457, + 0.021915044635534286 + ], + "orientation": [ + 0.6947619915008545, + -0.12178497016429901, + -0.7087466716766357, + 0.012347941286861897 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03248726204037666, + -0.08643221110105515, + 0.09483634680509567 + ], + "orientation": [ + 0.9100191593170166, + -0.3370458483695984, + -0.24128928780555725, + -0.006684057414531708 + ], + "joints": [ + -0.01799805276095867 + ] + }, + "fine_grasp": { + "position": [ + -0.03157304227352142, + -0.08297129720449448, + 0.09112679213285446 + ], + "orientation": [ + 0.9080850481987, + -0.34221428632736206, + -0.24107693135738373, + -0.01236090250313282 + ], + "joints": [ + -0.012126078829169273 + ] + }, + "final_grasp": { + "position": [ + -0.03157304227352142, + -0.08297129720449448, + 0.09112679213285446 + ], + "orientation": [ + 0.9080850481987, + -0.34221428632736206, + -0.24107693135738373, + -0.01236090250313282 + ], + "joints": [ + -0.006254104897379875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017835546284914017, + -0.11069254577159882, + -0.01651308871805668 + ], + "orientation": [ + 0.9335123896598816, + 0.07868792861700058, + -0.3405112624168396, + -0.08009320497512817 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.015419211238622665, + -0.11069393903017044, + -0.016139371320605278 + ], + "orientation": [ + 0.9360698461532593, + 0.06649579852819443, + -0.3368569314479828, + -0.076674684882164 + ], + "joints": [ + -0.012151174247264862 + ] + }, + "final_grasp": { + "position": [ + -0.015419211238622665, + -0.11069393903017044, + -0.016139371320605278 + ], + "orientation": [ + 0.9360698461532593, + 0.06649579852819443, + -0.3368569314479828, + -0.076674684882164 + ], + "joints": [ + -0.005774369463324547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005407935939729214, + -0.1251840442419052, + -0.020686786621809006 + ], + "orientation": [ + 0.7568339705467224, + 0.03252919763326645, + 0.6492833495140076, + 0.06764070689678192 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.004987769760191441, + -0.1195485070347786, + -0.018952982500195503 + ], + "orientation": [ + 0.7579593658447266, + 0.035893697291612625, + 0.6479621529579163, + 0.06598765403032303 + ], + "joints": [ + -0.015217388048768044 + ] + }, + "final_grasp": { + "position": [ + -0.004987769760191441, + -0.1195485070347786, + -0.018952982500195503 + ], + "orientation": [ + 0.7579593658447266, + 0.035893697291612625, + 0.6479621529579163, + 0.06598765403032303 + ], + "joints": [ + -0.010434776544570923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005409948527812958, + -0.12513785064220428, + -0.02066608890891075 + ], + "orientation": [ + 0.7567524313926697, + 0.03287846967577934, + 0.6493920683860779, + 0.06734026968479156 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.004991586320102215, + -0.11954847723245621, + -0.019000107422471046 + ], + "orientation": [ + 0.7577980160713196, + 0.03603165224194527, + 0.648216962814331, + 0.06525953114032745 + ], + "joints": [ + -0.015217388048768044 + ] + }, + "final_grasp": { + "position": [ + -0.004991586320102215, + -0.11954847723245621, + -0.019000107422471046 + ], + "orientation": [ + 0.7577980160713196, + 0.03603165224194527, + 0.648216962814331, + 0.06525953114032745 + ], + "joints": [ + -0.010434776544570923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08471996337175369, + -0.04000027850270271, + -0.07317911833524704 + ], + "orientation": [ + 0.7649310827255249, + 0.4838910400867462, + 0.37509098649024963, + -0.20009177923202515 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0866960659623146, + -0.040029577910900116, + -0.07462941110134125 + ], + "orientation": [ + 0.7741945385932922, + 0.47180891036987305, + 0.37239766120910645, + -0.1983412653207779 + ], + "joints": [ + -0.013570047914981842 + ] + }, + "final_grasp": { + "position": [ + -0.0866960659623146, + -0.040029577910900116, + -0.07462941110134125 + ], + "orientation": [ + 0.7741945385932922, + 0.47180891036987305, + 0.37239766120910645, + -0.1983412653207779 + ], + "joints": [ + -0.00714009627699852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041445594280958176, + 0.11756499856710434, + 0.050099194049835205 + ], + "orientation": [ + 0.18988259136676788, + -0.9595024585723877, + 0.12689340114593506, + 0.16491709649562836 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.04122735187411308, + 0.11812485009431839, + 0.051789090037345886 + ], + "orientation": [ + 0.18006309866905212, + -0.9603155255317688, + 0.11908319592475891, + 0.17660845816135406 + ], + "joints": [ + -0.011188252829015255 + ] + }, + "final_grasp": { + "position": [ + 0.04122735187411308, + 0.11812485009431839, + 0.051789090037345886 + ], + "orientation": [ + 0.18006309866905212, + -0.9603155255317688, + 0.11908319592475891, + 0.17660845816135406 + ], + "joints": [ + -0.004731738939881325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05773290619254112, + 0.1268601268529892, + -0.0528402216732502 + ], + "orientation": [ + 0.17941904067993164, + 0.9255684614181519, + -0.12383162975311279, + 0.30951187014579773 + ], + "joints": [ + -0.016231628134846687 + ] + }, + "fine_grasp": { + "position": [ + 0.05533139780163765, + 0.12223313003778458, + -0.051012881100177765 + ], + "orientation": [ + 0.1930912882089615, + 0.9227609038352966, + -0.12462262064218521, + 0.30934977531433105 + ], + "joints": [ + -0.010412801057100296 + ] + }, + "final_grasp": { + "position": [ + 0.05533139780163765, + 0.12223313003778458, + -0.051012881100177765 + ], + "orientation": [ + 0.1930912882089615, + 0.9227609038352966, + -0.12462262064218521, + 0.30934977531433105 + ], + "joints": [ + -0.004593973979353905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08472678810358047, + -0.040005333721637726, + -0.07317641377449036 + ], + "orientation": [ + 0.7649452090263367, + 0.4838491976261139, + 0.37511423230171204, + -0.2000952810049057 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.08670205622911453, + -0.04003505781292915, + -0.0746234729886055 + ], + "orientation": [ + 0.7741976380348206, + 0.4717690646648407, + 0.37243932485580444, + -0.1983449012041092 + ], + "joints": [ + -0.013570047914981842 + ] + }, + "final_grasp": { + "position": [ + -0.08670205622911453, + -0.04003505781292915, + -0.0746234729886055 + ], + "orientation": [ + 0.7741976380348206, + 0.4717690646648407, + 0.37243932485580444, + -0.1983449012041092 + ], + "joints": [ + -0.00714009627699852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06433315575122833, + -0.08572185784578323, + 0.002957636723294854 + ], + "orientation": [ + 0.4814993143081665, + 0.22884592413902283, + -0.8371129035949707, + 0.12259716540575027 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.06518641114234924, + -0.09046514332294464, + 0.0032554338686168194 + ], + "orientation": [ + 0.4812223017215729, + 0.22020943462848663, + -0.8383105993270874, + 0.1310284584760666 + ], + "joints": [ + -0.014250202104449272 + ] + }, + "final_grasp": { + "position": [ + 0.06518641114234924, + -0.09046514332294464, + 0.0032554338686168194 + ], + "orientation": [ + 0.4812223017215729, + 0.22020943462848663, + -0.8383105993270874, + 0.1310284584760666 + ], + "joints": [ + -0.009972425177693367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05773203447461128, + 0.126787468791008, + -0.052794162184000015 + ], + "orientation": [ + 0.17953775823116302, + 0.92549729347229, + -0.12396619468927383, + 0.3096016049385071 + ], + "joints": [ + -0.016231628134846687 + ] + }, + "fine_grasp": { + "position": [ + 0.05531185120344162, + 0.12217537313699722, + -0.05097724124789238 + ], + "orientation": [ + 0.19329756498336792, + 0.9226950407028198, + -0.12461567670106888, + 0.3094199597835541 + ], + "joints": [ + -0.010412801057100296 + ] + }, + "final_grasp": { + "position": [ + 0.05531185120344162, + 0.12217537313699722, + -0.05097724124789238 + ], + "orientation": [ + 0.19329756498336792, + 0.9226950407028198, + -0.12461567670106888, + 0.3094199597835541 + ], + "joints": [ + -0.004593973979353905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05772492289543152, + 0.1269020438194275, + -0.05271375551819801 + ], + "orientation": [ + 0.17928412556648254, + 0.9252220392227173, + -0.12357406318187714, + 0.31072646379470825 + ], + "joints": [ + -0.016231628134846687 + ] + }, + "fine_grasp": { + "position": [ + 0.0553102046251297, + 0.12229867279529572, + -0.05085201933979988 + ], + "orientation": [ + 0.19306571781635284, + 0.922581672668457, + -0.1249290481209755, + 0.309776246547699 + ], + "joints": [ + -0.010412801057100296 + ] + }, + "final_grasp": { + "position": [ + 0.0553102046251297, + 0.12229867279529572, + -0.05085201933979988 + ], + "orientation": [ + 0.19306571781635284, + 0.922581672668457, + -0.1249290481209755, + 0.309776246547699 + ], + "joints": [ + -0.004593973979353905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05360107868909836, + 0.11946123838424683, + 0.03327913582324982 + ], + "orientation": [ + 0.21781021356582642, + -0.7530468106269836, + -0.05420859158039093, + -0.618498682975769 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.05071597546339035, + 0.11611499637365341, + 0.03077339194715023 + ], + "orientation": [ + 0.2312149554491043, + -0.756004273891449, + -0.07310012727975845, + -0.6079913973808289 + ], + "joints": [ + -0.014128018170595169 + ] + }, + "final_grasp": { + "position": [ + -0.05071597546339035, + 0.11611499637365341, + 0.03077339194715023 + ], + "orientation": [ + 0.2312149554491043, + -0.756004273891449, + -0.07310012727975845, + -0.6079913973808289 + ], + "joints": [ + -0.008256036788225174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05366993695497513, + 0.11956365406513214, + 0.03334823250770569 + ], + "orientation": [ + 0.21769572794437408, + -0.7530350089073181, + -0.05383123457431793, + -0.6185863018035889 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.05077720433473587, + 0.11622843146324158, + 0.030894774943590164 + ], + "orientation": [ + 0.231154203414917, + -0.7562264204025269, + -0.07253120839595795, + -0.6078065037727356 + ], + "joints": [ + -0.014128018170595169 + ] + }, + "final_grasp": { + "position": [ + -0.05077720433473587, + 0.11622843146324158, + 0.030894774943590164 + ], + "orientation": [ + 0.231154203414917, + -0.7562264204025269, + -0.07253120839595795, + -0.6078065037727356 + ], + "joints": [ + -0.008256036788225174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02090897411108017, + -0.10313176363706589, + 0.010556541383266449 + ], + "orientation": [ + 0.5774227976799011, + -0.06966660171747208, + 0.8127857446670532, + -0.03329562395811081 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.023213732987642288, + -0.10838238894939423, + 0.009876084513962269 + ], + "orientation": [ + 0.5771949291229248, + -0.06111776456236839, + 0.8131980895996094, + -0.04265478998422623 + ], + "joints": [ + -0.014418155886232853 + ] + }, + "final_grasp": { + "position": [ + 0.023213732987642288, + -0.10838238894939423, + 0.009876084513962269 + ], + "orientation": [ + 0.5771949291229248, + -0.06111776456236839, + 0.8131980895996094, + -0.04265478998422623 + ], + "joints": [ + -0.009130716323852539 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05778270214796066, + 0.1266379952430725, + -0.0529574416577816 + ], + "orientation": [ + 0.17984504997730255, + 0.925676703453064, + -0.1241409033536911, + 0.30881640315055847 + ], + "joints": [ + -0.016202187165617943 + ] + }, + "fine_grasp": { + "position": [ + 0.055361632257699966, + 0.12205702811479568, + -0.051155008375644684 + ], + "orientation": [ + 0.19350983202457428, + 0.9227555990219116, + -0.12397973239421844, + 0.30936235189437866 + ], + "joints": [ + -0.010356789454817772 + ] + }, + "final_grasp": { + "position": [ + 0.055361632257699966, + 0.12205702811479568, + -0.051155008375644684 + ], + "orientation": [ + 0.19350983202457428, + 0.9227555990219116, + -0.12397973239421844, + 0.30936235189437866 + ], + "joints": [ + -0.004511391744017601 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08495747298002243, + -0.0399872288107872, + -0.07329868525266647 + ], + "orientation": [ + 0.7649105787277222, + 0.48372483253479004, + 0.37540799379348755, + -0.1999773234128952 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + -0.08700424432754517, + -0.039984337985515594, + -0.07450196146965027 + ], + "orientation": [ + 0.7741016149520874, + 0.4710385501384735, + 0.37304601073265076, + -0.1993139088153839 + ], + "joints": [ + -0.013316935859620571 + ] + }, + "final_grasp": { + "position": [ + -0.08700424432754517, + -0.039984337985515594, + -0.07450196146965027 + ], + "orientation": [ + 0.7741016149520874, + 0.4710385501384735, + 0.37304601073265076, + -0.1993139088153839 + ], + "joints": [ + -0.006913555786013603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020852981135249138, + -0.103179432451725, + 0.010605084709823132 + ], + "orientation": [ + 0.576795756816864, + -0.06983298063278198, + 0.8132127523422241, + -0.03338943049311638 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.023202119395136833, + -0.10839696228504181, + 0.009909585118293762 + ], + "orientation": [ + 0.5765506029129028, + -0.06115203723311424, + 0.8136360049247742, + -0.04296949878334999 + ], + "joints": [ + -0.014418155886232853 + ] + }, + "final_grasp": { + "position": [ + 0.023202119395136833, + -0.10839696228504181, + 0.009909585118293762 + ], + "orientation": [ + 0.5765506029129028, + -0.06115203723311424, + 0.8136360049247742, + -0.04296949878334999 + ], + "joints": [ + -0.009130716323852539 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0422876738011837, + 0.12204715609550476, + -0.017839623615145683 + ], + "orientation": [ + 0.14973732829093933, + -0.2440098226070404, + -0.087648905813694, + -0.9541255235671997 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.04121493548154831, + 0.122346892952919, + -0.018925020471215248 + ], + "orientation": [ + 0.14463090896606445, + -0.2404930740594864, + -0.10356836020946503, + -0.9542110562324524 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + -0.04121493548154831, + 0.122346892952919, + -0.018925020471215248 + ], + "orientation": [ + 0.14463090896606445, + -0.2404930740594864, + -0.10356836020946503, + -0.9542110562324524 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023736082017421722, + -0.11074970662593842, + 0.021717216819524765 + ], + "orientation": [ + 0.29448068141937256, + -0.12815597653388977, + -0.9467868804931641, + 0.021257560700178146 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.021639550104737282, + -0.10662104934453964, + 0.021046234294772148 + ], + "orientation": [ + 0.2917214035987854, + -0.12471707910299301, + -0.9482222199440002, + 0.014795826748013496 + ], + "joints": [ + -0.011033838614821434 + ] + }, + "final_grasp": { + "position": [ + -0.021639550104737282, + -0.10662104934453964, + 0.021046234294772148 + ], + "orientation": [ + 0.2917214035987854, + -0.12471707910299301, + -0.9482222199440002, + 0.014795826748013496 + ], + "joints": [ + -0.004099065437912941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023450950160622597, + -0.11057495325803757, + 0.02161501906812191 + ], + "orientation": [ + 0.29488199949264526, + -0.12728016078472137, + -0.9467949271202087, + 0.020587751641869545 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.021226825192570686, + -0.1066390722990036, + 0.02105187065899372 + ], + "orientation": [ + 0.2903718650341034, + -0.12359768897294998, + -0.9487865567207336, + 0.014561253599822521 + ], + "joints": [ + -0.01100439764559269 + ] + }, + "final_grasp": { + "position": [ + -0.021226825192570686, + -0.1066390722990036, + 0.02105187065899372 + ], + "orientation": [ + 0.2903718650341034, + -0.12359768897294998, + -0.9487865567207336, + 0.014561253599822521 + ], + "joints": [ + -0.0040696244686841965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004305222071707249, + -0.10142101347446442, + 0.027108384296298027 + ], + "orientation": [ + 0.9684823751449585, + -0.06517594307661057, + 0.23293998837471008, + -0.059438109397888184 + ], + "joints": [ + -0.017320921644568443 + ] + }, + "fine_grasp": { + "position": [ + -0.004087974317371845, + -0.10633978992700577, + 0.02807297743856907 + ], + "orientation": [ + 0.9674282670021057, + -0.06347062438726425, + 0.23771914839744568, + -0.05952855199575424 + ], + "joints": [ + -0.010917549952864647 + ] + }, + "final_grasp": { + "position": [ + -0.004087974317371845, + -0.10633978992700577, + 0.02807297743856907 + ], + "orientation": [ + 0.9674282670021057, + -0.06347062438726425, + 0.23771914839744568, + -0.05952855199575424 + ], + "joints": [ + -0.0045141782611608505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03058888204395771, + -0.10683425515890121, + -0.012902899645268917 + ], + "orientation": [ + 0.970480740070343, + 0.042211439460515976, + -0.19836923480033875, + -0.130517840385437 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.029439542442560196, + -0.10680127888917923, + -0.012284748256206512 + ], + "orientation": [ + 0.9767153263092041, + 0.04255804419517517, + -0.1713610142469406, + -0.12186666578054428 + ], + "joints": [ + -0.012067196890711784 + ] + }, + "final_grasp": { + "position": [ + -0.029439542442560196, + -0.10680127888917923, + -0.012284748256206512 + ], + "orientation": [ + 0.9767153263092041, + 0.04255804419517517, + -0.1713610142469406, + -0.12186666578054428 + ], + "joints": [ + -0.006195222958922386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04660284146666527, + -0.09135475009679794, + 0.01362188532948494 + ], + "orientation": [ + 0.1759960949420929, + 0.178219735622406, + -0.965979814529419, + 0.06439001858234406 + ], + "joints": [ + -0.019440632313489914 + ] + }, + "fine_grasp": { + "position": [ + 0.045540452003479004, + -0.09635281562805176, + 0.013499205932021141 + ], + "orientation": [ + 0.16647742688655853, + 0.1812198907136917, + -0.9666656255722046, + 0.07072573900222778 + ], + "joints": [ + -0.010911654680967331 + ] + }, + "final_grasp": { + "position": [ + 0.045540452003479004, + -0.09635281562805176, + 0.013499205932021141 + ], + "orientation": [ + 0.16647742688655853, + 0.1812198907136917, + -0.9666656255722046, + 0.07072573900222778 + ], + "joints": [ + -0.002382677048444748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04679974168539047, + -0.09112721681594849, + 0.013439544476568699 + ], + "orientation": [ + 0.1756317913532257, + 0.17537254095077515, + -0.9665064215660095, + 0.06529369950294495 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.045441992580890656, + -0.09621027112007141, + 0.013538691215217113 + ], + "orientation": [ + 0.1665884256362915, + 0.18111570179462433, + -0.9666517376899719, + 0.0709206685423851 + ], + "joints": [ + -0.010939620435237885 + ] + }, + "final_grasp": { + "position": [ + 0.045441992580890656, + -0.09621027112007141, + 0.013538691215217113 + ], + "orientation": [ + 0.1665884256362915, + 0.18111570179462433, + -0.9666517376899719, + 0.0709206685423851 + ], + "joints": [ + -0.0018792413175106049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029615508392453194, + 0.12740910053253174, + 0.04421169310808182 + ], + "orientation": [ + 0.0635877475142479, + -0.7042874097824097, + -0.19791513681411743, + 0.6787970066070557 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.027545355260372162, + 0.12283318489789963, + 0.041176386177539825 + ], + "orientation": [ + 0.046725790947675705, + -0.7012951374053955, + -0.2063044011592865, + 0.680764377117157 + ], + "joints": [ + -0.014128018170595169 + ] + }, + "final_grasp": { + "position": [ + -0.027545355260372162, + 0.12283318489789963, + 0.041176386177539825 + ], + "orientation": [ + 0.046725790947675705, + -0.7012951374053955, + -0.2063044011592865, + 0.680764377117157 + ], + "joints": [ + -0.008256036788225174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021953167393803596, + -0.10955241322517395, + -0.02195325680077076 + ], + "orientation": [ + 0.7078824639320374, + 0.16944439709186554, + -0.6843411922454834, + 0.043222080916166306 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.021754246205091476, + -0.10922826826572418, + -0.02101435326039791 + ], + "orientation": [ + 0.7003782987594604, + 0.16399820148944855, + -0.6933703422546387, + 0.04257034510374069 + ], + "joints": [ + -0.013299345038831234 + ] + }, + "final_grasp": { + "position": [ + 0.021754246205091476, + -0.10922826826572418, + -0.02101435326039791 + ], + "orientation": [ + 0.7003782987594604, + 0.16399820148944855, + -0.6933703422546387, + 0.04257034510374069 + ], + "joints": [ + -0.006922535598278046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029697684571146965, + 0.12756648659706116, + 0.04422654211521149 + ], + "orientation": [ + 0.0639813095331192, + -0.704178512096405, + -0.19731618463993073, + 0.6790473461151123 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.027648795396089554, + 0.12303338944911957, + 0.04129105806350708 + ], + "orientation": [ + 0.047805771231651306, + -0.700800359249115, + -0.20567655563354492, + 0.681388795375824 + ], + "joints": [ + -0.014128018170595169 + ] + }, + "final_grasp": { + "position": [ + -0.027648795396089554, + 0.12303338944911957, + 0.04129105806350708 + ], + "orientation": [ + 0.047805771231651306, + -0.700800359249115, + -0.20567655563354492, + 0.681388795375824 + ], + "joints": [ + -0.008256036788225174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012121694162487984, + -0.10228311270475388, + 0.002975784009322524 + ], + "orientation": [ + 0.9672436118125916, + -0.07234374433755875, + 0.23567694425582886, + 0.06051976606249809 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.012385035865008831, + -0.10729701817035675, + 0.0038952422328293324 + ], + "orientation": [ + 0.9690341949462891, + -0.07203780114650726, + 0.22840946912765503, + 0.06010410189628601 + ], + "joints": [ + -0.011769923381507397 + ] + }, + "final_grasp": { + "position": [ + 0.012385035865008831, + -0.10729701817035675, + 0.0038952422328293324 + ], + "orientation": [ + 0.9690341949462891, + -0.07203780114650726, + 0.22840946912765503, + 0.06010410189628601 + ], + "joints": [ + -0.005924521014094353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003933286294341087, + -0.11057771742343903, + 0.0188564695417881 + ], + "orientation": [ + 0.23483635485172272, + -0.01211260911077261, + -0.9708408117294312, + 0.04661771282553673 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.004491120111197233, + -0.10965915769338608, + 0.01966278627514839 + ], + "orientation": [ + 0.22920161485671997, + -0.013016755692660809, + -0.9724392294883728, + 0.04073335975408554 + ], + "joints": [ + -0.011030968278646469 + ] + }, + "final_grasp": { + "position": [ + 0.004491120111197233, + -0.10965915769338608, + 0.01966278627514839 + ], + "orientation": [ + 0.22920161485671997, + -0.013016755692660809, + -0.9724392294883728, + 0.04073335975408554 + ], + "joints": [ + -0.004122765734791756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006185580510646105, + 0.12487015873193741, + 0.06342983990907669 + ], + "orientation": [ + 0.2560761272907257, + -0.8636783361434937, + -0.08465643972158432, + 0.42581450939178467 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + 0.007463209796696901, + 0.12090761959552765, + 0.06033307686448097 + ], + "orientation": [ + 0.2429722249507904, + -0.8684265613555908, + -0.08630964159965515, + 0.42349809408187866 + ], + "joints": [ + -0.013274249620735645 + ] + }, + "final_grasp": { + "position": [ + 0.007463209796696901, + 0.12090761959552765, + 0.06033307686448097 + ], + "orientation": [ + 0.2429722249507904, + -0.8684265613555908, + -0.08630964159965515, + 0.42349809408187866 + ], + "joints": [ + -0.007402271032333374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07485593110322952, + -0.0743294358253479, + -0.04137763753533363 + ], + "orientation": [ + 0.9068076014518738, + 0.23037707805633545, + 0.2108650952577591, + -0.28312933444976807 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.07582761347293854, + -0.07683408260345459, + -0.04171775281429291 + ], + "orientation": [ + 0.9061008095741272, + 0.23669710755348206, + 0.2195105403661728, + -0.273442804813385 + ], + "joints": [ + -0.01168742123991251 + ] + }, + "final_grasp": { + "position": [ + -0.07582761347293854, + -0.07683408260345459, + -0.04171775281429291 + ], + "orientation": [ + 0.9061008095741272, + 0.23669710755348206, + 0.2195105403661728, + -0.273442804813385 + ], + "joints": [ + -0.00687825120985508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07484380155801773, + -0.07435185462236404, + -0.04140250012278557 + ], + "orientation": [ + 0.906810998916626, + 0.2304915487766266, + 0.21085430681705475, + -0.283033162355423 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.0758199617266655, + -0.07683683186769485, + -0.041744083166122437 + ], + "orientation": [ + 0.90609210729599, + 0.23681354522705078, + 0.21951138973236084, + -0.2733699381351471 + ], + "joints": [ + -0.01168742123991251 + ] + }, + "final_grasp": { + "position": [ + -0.0758199617266655, + -0.07683683186769485, + -0.041744083166122437 + ], + "orientation": [ + 0.90609210729599, + 0.23681354522705078, + 0.21951138973236084, + -0.2733699381351471 + ], + "joints": [ + -0.00687825120985508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07487019896507263, + -0.07434797286987305, + -0.04137920215725899 + ], + "orientation": [ + 0.9068262577056885, + 0.2303144633769989, + 0.21080315113067627, + -0.283166766166687 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.07582956552505493, + -0.07683108001947403, + -0.04170878976583481 + ], + "orientation": [ + 0.9061259627342224, + 0.23659968376159668, + 0.2194688320159912, + -0.273477166891098 + ], + "joints": [ + -0.01168742123991251 + ] + }, + "final_grasp": { + "position": [ + -0.07582956552505493, + -0.07683108001947403, + -0.04170878976583481 + ], + "orientation": [ + 0.9061259627342224, + 0.23659968376159668, + 0.2194688320159912, + -0.273477166891098 + ], + "joints": [ + -0.00687825120985508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02481670491397381, + -0.1020708978176117, + 0.02540593594312668 + ], + "orientation": [ + 0.9743114113807678, + -0.024105805903673172, + 0.17297044396400452, + -0.14218762516975403 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.024456104263663292, + -0.10496878623962402, + 0.025663940235972404 + ], + "orientation": [ + 0.9714875221252441, + -0.023394901305437088, + 0.19309188425540924, + -0.13557353615760803 + ], + "joints": [ + -0.010411325842142105 + ] + }, + "final_grasp": { + "position": [ + -0.024456104263663292, + -0.10496878623962402, + 0.025663940235972404 + ], + "orientation": [ + 0.9714875221252441, + -0.023394901305437088, + 0.19309188425540924, + -0.13557353615760803 + ], + "joints": [ + -0.004061097279191017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03929584100842476, + 0.12175500392913818, + 0.017837731167674065 + ], + "orientation": [ + 0.08401790261268616, + 0.787564754486084, + 0.21084164083003998, + -0.5729125142097473 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.037573594599962234, + 0.11805054545402527, + 0.018055036664009094 + ], + "orientation": [ + 0.08950051665306091, + 0.7978313565254211, + 0.216559499502182, + -0.5554787516593933 + ], + "joints": [ + -0.013215367682278156 + ] + }, + "final_grasp": { + "position": [ + -0.037573594599962234, + 0.11805054545402527, + 0.018055036664009094 + ], + "orientation": [ + 0.08950051665306091, + 0.7978313565254211, + 0.216559499502182, + -0.5554787516593933 + ], + "joints": [ + -0.007343389093875885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020504074171185493, + 0.09366970509290695, + -0.09114798158407211 + ], + "orientation": [ + 0.3907144367694855, + 0.9069152474403381, + -0.013931075111031532, + 0.15701279044151306 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.019821936264634132, + 0.09332558512687683, + -0.09013007581233978 + ], + "orientation": [ + 0.3906163275241852, + 0.9078206419944763, + -0.017850803211331367, + 0.15153248608112335 + ], + "joints": [ + -0.011537192389369011 + ] + }, + "final_grasp": { + "position": [ + 0.019821936264634132, + 0.09332558512687683, + -0.09013007581233978 + ], + "orientation": [ + 0.3906163275241852, + 0.9078206419944763, + -0.017850803211331367, + 0.15153248608112335 + ], + "joints": [ + -0.004575846716761589 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0688401311635971, + -0.08377969264984131, + -0.040037255734205246 + ], + "orientation": [ + 0.9245888590812683, + 0.20479781925678253, + -0.19541986286640167, + 0.2549593150615692 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.06676109880208969, + -0.08350086212158203, + -0.04072916507720947 + ], + "orientation": [ + 0.9278690814971924, + 0.20318713784217834, + -0.1945345252752304, + 0.2448064088821411 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.06676109880208969, + -0.08350086212158203, + -0.04072916507720947 + ], + "orientation": [ + 0.9278690814971924, + 0.20318713784217834, + -0.1945345252752304, + 0.2448064088821411 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06886384636163712, + -0.083785779774189, + -0.0400935634970665 + ], + "orientation": [ + 0.9245954751968384, + 0.20491155982017517, + -0.1952076405286789, + 0.2550065815448761 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.06723755598068237, + -0.08379168063402176, + -0.04103034362196922 + ], + "orientation": [ + 0.9275093674659729, + 0.20331616699695587, + -0.19579635560512543, + 0.2450566291809082 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.06723755598068237, + -0.08379168063402176, + -0.04103034362196922 + ], + "orientation": [ + 0.9275093674659729, + 0.20331616699695587, + -0.19579635560512543, + 0.2450566291809082 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06888379156589508, + -0.08380083739757538, + -0.04006457328796387 + ], + "orientation": [ + 0.9245889782905579, + 0.20479388535022736, + -0.19530361890792847, + 0.25505131483078003 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.06725680083036423, + -0.0838063508272171, + -0.040994349867105484 + ], + "orientation": [ + 0.927492618560791, + 0.2032049298286438, + -0.19588185846805573, + 0.24514397978782654 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.06725680083036423, + -0.0838063508272171, + -0.040994349867105484 + ], + "orientation": [ + 0.927492618560791, + 0.2032049298286438, + -0.19588185846805573, + 0.24514397978782654 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06432805955410004, + 0.11916116625070572, + 0.011578020639717579 + ], + "orientation": [ + 0.22621527314186096, + 0.29740551114082336, + 0.05736780911684036, + -0.9257891774177551 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + -0.06272512674331665, + 0.11798618733882904, + 0.01176829356700182 + ], + "orientation": [ + 0.2166041135787964, + 0.30009925365448, + 0.05794732645153999, + -0.9271814227104187 + ], + "joints": [ + -0.010088956914842129 + ] + }, + "final_grasp": { + "position": [ + -0.06272512674331665, + 0.11798618733882904, + 0.01176829356700182 + ], + "orientation": [ + 0.2166041135787964, + 0.30009925365448, + 0.05794732645153999, + -0.9271814227104187 + ], + "joints": [ + -0.004270130768418312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019038712605834007, + -0.11982187628746033, + 0.02031600847840309 + ], + "orientation": [ + 0.9660239219665527, + -0.09104488044977188, + -0.23637846112251282, + -0.05131953954696655 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.018343841657042503, + -0.1142931804060936, + 0.019621578976511955 + ], + "orientation": [ + 0.9645978808403015, + -0.09041064232587814, + -0.24270549416542053, + -0.04970768839120865 + ], + "joints": [ + -0.012292557395994663 + ] + }, + "final_grasp": { + "position": [ + -0.018343841657042503, + -0.1142931804060936, + 0.019621578976511955 + ], + "orientation": [ + 0.9645978808403015, + -0.09041064232587814, + -0.24270549416542053, + -0.04970768839120865 + ], + "joints": [ + -0.00487951934337616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057716891169548035, + 0.11184710264205933, + 0.020309025421738625 + ], + "orientation": [ + 0.2303915023803711, + -0.5534475445747375, + 0.01892620511353016, + 0.800160825252533 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.057502053678035736, + 0.11249463260173798, + 0.019267871975898743 + ], + "orientation": [ + 0.21822385489940643, + -0.5612548589706421, + 0.022484980523586273, + 0.79803866147995 + ], + "joints": [ + -0.012009790167212486 + ] + }, + "final_grasp": { + "position": [ + 0.057502053678035736, + 0.11249463260173798, + 0.019267871975898743 + ], + "orientation": [ + 0.21822385489940643, + -0.5612548589706421, + 0.022484980523586273, + 0.79803866147995 + ], + "joints": [ + -0.006669217720627785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05772699415683746, + 0.11179974675178528, + 0.020383955910801888 + ], + "orientation": [ + 0.23060575127601624, + -0.5540488362312317, + 0.01891937106847763, + 0.7996830344200134 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.05751872807741165, + 0.11243568360805511, + 0.019352082163095474 + ], + "orientation": [ + 0.21860256791114807, + -0.5619316101074219, + 0.02267439290881157, + 0.7974531650543213 + ], + "joints": [ + -0.012009790167212486 + ] + }, + "final_grasp": { + "position": [ + 0.05751872807741165, + 0.11243568360805511, + 0.019352082163095474 + ], + "orientation": [ + 0.21860256791114807, + -0.5619316101074219, + 0.02267439290881157, + 0.7974531650543213 + ], + "joints": [ + -0.006669217720627785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03277629241347313, + -0.09387451410293579, + -0.04421702399849892 + ], + "orientation": [ + 0.9407784342765808, + 0.06537506729364395, + -0.2560460865497589, + -0.2123730331659317 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.03152594342827797, + -0.09403713047504425, + -0.040720127522945404 + ], + "orientation": [ + 0.9440262913703918, + 0.0776887759566307, + -0.2541482448577881, + -0.19541612267494202 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + -0.03152594342827797, + -0.09403713047504425, + -0.040720127522945404 + ], + "orientation": [ + 0.9440262913703918, + 0.0776887759566307, + -0.2541482448577881, + -0.19541612267494202 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03282441198825836, + -0.09382237493991852, + -0.04419535771012306 + ], + "orientation": [ + 0.9407386183738708, + 0.06552539765834808, + -0.255998820066452, + -0.21256020665168762 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.03160803020000458, + -0.09359351545572281, + -0.04076937213540077 + ], + "orientation": [ + 0.943735659122467, + 0.07932279258966446, + -0.25412610173225403, + -0.19619052112102509 + ], + "joints": [ + -0.00885532982647419 + ] + }, + "final_grasp": { + "position": [ + -0.03160803020000458, + -0.09359351545572281, + -0.04076937213540077 + ], + "orientation": [ + 0.943735659122467, + 0.07932279258966446, + -0.25412610173225403, + -0.19619052112102509 + ], + "joints": [ + -0.003009933978319168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07828322798013687, + -0.07682428508996964, + -0.04518594592809677 + ], + "orientation": [ + 0.3167990744113922, + -0.2431478202342987, + 0.8857082724571228, + 0.23672446608543396 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.07713613659143448, + -0.07773792743682861, + -0.04704146459698677 + ], + "orientation": [ + 0.3218265771865845, + -0.22958217561244965, + 0.8870165944099426, + 0.23858202993869781 + ], + "joints": [ + -0.010539169423282146 + ] + }, + "final_grasp": { + "position": [ + 0.07713613659143448, + -0.07773792743682861, + -0.04704146459698677 + ], + "orientation": [ + 0.3218265771865845, + -0.22958217561244965, + 0.8870165944099426, + 0.23858202993869781 + ], + "joints": [ + -0.004640629515051842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020189043134450912, + 0.14578263461589813, + -0.0222410149872303 + ], + "orientation": [ + 0.0660424456000328, + 0.9810405969619751, + -0.08695179224014282, + -0.1601160317659378 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.01923276297748089, + 0.13972121477127075, + -0.020881272852420807 + ], + "orientation": [ + 0.0836791843175888, + 0.9819539189338684, + -0.08479348570108414, + -0.14688193798065186 + ], + "joints": [ + -0.014181159436702728 + ] + }, + "final_grasp": { + "position": [ + 0.01923276297748089, + 0.13972121477127075, + -0.020881272852420807 + ], + "orientation": [ + 0.0836791843175888, + 0.9819539189338684, + -0.08479348570108414, + -0.14688193798065186 + ], + "joints": [ + -0.008362319320440292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02015399932861328, + 0.14582054316997528, + -0.022251633927226067 + ], + "orientation": [ + 0.0660516768693924, + 0.9810751080513, + -0.08679316937923431, + -0.15998698770999908 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.01920170523226261, + 0.1398630291223526, + -0.020954035222530365 + ], + "orientation": [ + 0.08325206488370895, + 0.9820083975791931, + -0.08465465903282166, + -0.14684124290943146 + ], + "joints": [ + -0.014181159436702728 + ] + }, + "final_grasp": { + "position": [ + 0.01920170523226261, + 0.1398630291223526, + -0.020954035222530365 + ], + "orientation": [ + 0.08325206488370895, + 0.9820083975791931, + -0.08465465903282166, + -0.14684124290943146 + ], + "joints": [ + -0.008362319320440292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029010770842432976, + -0.10090454667806625, + -0.03809407725930214 + ], + "orientation": [ + 0.5670687556266785, + 0.15932513773441315, + 0.8000703454017639, + 0.11373685300350189 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.0288818571716547, + -0.09911313652992249, + -0.03519551828503609 + ], + "orientation": [ + 0.5811994075775146, + 0.14121931791305542, + 0.7937406301498413, + 0.11063539981842041 + ], + "joints": [ + -0.013240544125437737 + ] + }, + "final_grasp": { + "position": [ + -0.0288818571716547, + -0.09911313652992249, + -0.03519551828503609 + ], + "orientation": [ + 0.5811994075775146, + 0.14121931791305542, + 0.7937406301498413, + 0.11063539981842041 + ], + "joints": [ + -0.007953109219670296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004237236455082893, + -0.10771799087524414, + -0.04147207736968994 + ], + "orientation": [ + 0.9098618030548096, + 0.07651253044605255, + 0.3927377760410309, + 0.10979290306568146 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.00033924990566447377, + -0.10724742710590363, + -0.040804050862789154 + ], + "orientation": [ + 0.9112057685852051, + 0.05896158143877983, + 0.39475640654563904, + 0.10195519030094147 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + 0.00033924990566447377, + -0.10724742710590363, + -0.040804050862789154 + ], + "orientation": [ + 0.9112057685852051, + 0.05896158143877983, + 0.39475640654563904, + 0.10195519030094147 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018725233152508736, + 0.14293470978736877, + 0.020995164290070534 + ], + "orientation": [ + 0.11186647415161133, + -0.9853552579879761, + 0.06842300295829773, + -0.10899220407009125 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + 0.017859237268567085, + 0.13731519877910614, + 0.020451843738555908 + ], + "orientation": [ + 0.10306644439697266, + -0.9865669012069702, + 0.07241135835647583, + -0.10401692986488342 + ], + "joints": [ + -0.012307277880609035 + ] + }, + "final_grasp": { + "position": [ + 0.017859237268567085, + 0.13731519877910614, + 0.020451843738555908 + ], + "orientation": [ + 0.10306644439697266, + -0.9865669012069702, + 0.07241135835647583, + -0.10401692986488342 + ], + "joints": [ + -0.004894239827990532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01871647872030735, + 0.1427846997976303, + 0.02093406580388546 + ], + "orientation": [ + 0.11198267340660095, + -0.9853929877281189, + 0.06855849921703339, + -0.10844495892524719 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + 0.01788218505680561, + 0.1372210532426834, + 0.02039908990263939 + ], + "orientation": [ + 0.10281137377023697, + -0.9866371154785156, + 0.07246746867895126, + -0.10356448590755463 + ], + "joints": [ + -0.012307277880609035 + ] + }, + "final_grasp": { + "position": [ + 0.01788218505680561, + 0.1372210532426834, + 0.02039908990263939 + ], + "orientation": [ + 0.10281137377023697, + -0.9866371154785156, + 0.07246746867895126, + -0.10356448590755463 + ], + "joints": [ + -0.004894239827990532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018769176676869392, + 0.14307472109794617, + 0.02103644609451294 + ], + "orientation": [ + 0.11133390665054321, + -0.9853406548500061, + 0.06849904358386993, + -0.1096193715929985 + ], + "joints": [ + -0.019440632313489914 + ] + }, + "fine_grasp": { + "position": [ + 0.017897969111800194, + 0.13736732304096222, + 0.02043418027460575 + ], + "orientation": [ + 0.10280479490756989, + -0.9864363074302673, + 0.07265052199363708, + -0.1053401455283165 + ], + "joints": [ + -0.012054165825247765 + ] + }, + "final_grasp": { + "position": [ + 0.017897969111800194, + 0.13736732304096222, + 0.02043418027460575 + ], + "orientation": [ + 0.10280479490756989, + -0.9864363074302673, + 0.07265052199363708, + -0.1053401455283165 + ], + "joints": [ + -0.004667699337005615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08052346855401993, + -0.0938711017370224, + 0.0390685610473156 + ], + "orientation": [ + 0.9198457598686218, + -0.21203012764453888, + -0.18774816393852234, + -0.2714361548423767 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.07776037603616714, + -0.09026148915290833, + 0.03861317038536072 + ], + "orientation": [ + 0.9185813069343567, + -0.20837602019309998, + -0.19361507892608643, + -0.27441027760505676 + ], + "joints": [ + -0.010565740056335926 + ] + }, + "final_grasp": { + "position": [ + -0.07776037603616714, + -0.09026148915290833, + 0.03861317038536072 + ], + "orientation": [ + 0.9185813069343567, + -0.20837602019309998, + -0.19361507892608643, + -0.27441027760505676 + ], + "joints": [ + -0.004693770781159401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10398603975772858, + 0.011324284598231316, + -0.06980136036872864 + ], + "orientation": [ + 0.6869103312492371, + 0.15031744539737701, + -0.21069595217704773, + -0.6790921092033386 + ], + "joints": [ + -0.002444354584440589 + ] + }, + "fine_grasp": { + "position": [ + -0.09892329573631287, + 0.010825096629559994, + -0.06723769009113312 + ], + "orientation": [ + 0.6860929131507874, + 0.1377248615026474, + -0.20777581632137299, + -0.6834746599197388 + ], + "joints": [ + 0.004968671128153801 + ] + }, + "final_grasp": { + "position": [ + -0.09892329573631287, + 0.010825096629559994, + -0.06723769009113312 + ], + "orientation": [ + 0.6860929131507874, + 0.1377248615026474, + -0.20777581632137299, + -0.6834746599197388 + ], + "joints": [ + 0.012381697073578835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045124977827072144, + 0.101980060338974, + -0.07929756492376328 + ], + "orientation": [ + 0.36231860518455505, + 0.6730183959007263, + -0.11105134338140488, + -0.6351684927940369 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.04550229012966156, + 0.10000597685575485, + -0.07568452507257462 + ], + "orientation": [ + 0.35079628229141235, + 0.6851215958595276, + -0.10743223875761032, + -0.6292921900749207 + ], + "joints": [ + -0.01144755445420742 + ] + }, + "final_grasp": { + "position": [ + -0.04550229012966156, + 0.10000597685575485, + -0.07568452507257462 + ], + "orientation": [ + 0.35079628229141235, + 0.6851215958595276, + -0.10743223875761032, + -0.6292921900749207 + ], + "joints": [ + -0.006133554503321648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06972721964120865, + -0.0861968845129013, + 0.0199090875685215 + ], + "orientation": [ + 0.387565553188324, + -0.3021056652069092, + -0.8709335327148438, + -7.82918868935667e-05 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.06696738302707672, + -0.08534703403711319, + 0.01786290854215622 + ], + "orientation": [ + 0.3999212980270386, + -0.2878050208091736, + -0.8701402544975281, + -0.009337113238871098 + ], + "joints": [ + -0.011237128637731075 + ] + }, + "final_grasp": { + "position": [ + -0.06696738302707672, + -0.08534703403711319, + 0.01786290854215622 + ], + "orientation": [ + 0.3999212980270386, + -0.2878050208091736, + -0.8701402544975281, + -0.009337113238871098 + ], + "joints": [ + -0.00541829876601696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04506292566657066, + 0.1020951122045517, + -0.07930596172809601 + ], + "orientation": [ + 0.3615024983882904, + 0.6727386713027954, + -0.11180325597524643, + -0.6357977390289307 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.045510586351156235, + 0.10010972619056702, + -0.0756625235080719 + ], + "orientation": [ + 0.35000789165496826, + 0.6850727796554565, + -0.10867282003164291, + -0.6295713186264038 + ], + "joints": [ + -0.01144755445420742 + ] + }, + "final_grasp": { + "position": [ + -0.045510586351156235, + 0.10010972619056702, + -0.0756625235080719 + ], + "orientation": [ + 0.35000789165496826, + 0.6850727796554565, + -0.10867282003164291, + -0.6295713186264038 + ], + "joints": [ + -0.006133554503321648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037972453981637955, + 0.01232845988124609, + 0.12731167674064636 + ], + "orientation": [ + 0.5509359836578369, + -0.35177716612815857, + 0.4558960199356079, + -0.6040539741516113 + ], + "joints": [ + -0.0027576754800975323 + ] + }, + "fine_grasp": { + "position": [ + -0.03729122504591942, + 0.012578528374433517, + 0.12792208790779114 + ], + "orientation": [ + 0.5503746271133423, + -0.34237197041511536, + 0.4548683166503906, + -0.6107078790664673 + ], + "joints": [ + 0.003619120456278324 + ] + }, + "final_grasp": { + "position": [ + -0.03729122504591942, + 0.012578528374433517, + 0.12792208790779114 + ], + "orientation": [ + 0.5503746271133423, + -0.34237197041511536, + 0.4548683166503906, + -0.6107078790664673 + ], + "joints": [ + 0.009995916858315468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07833891361951828, + -0.03047407977283001, + -0.12474365532398224 + ], + "orientation": [ + 0.36669930815696716, + 0.49446630477905273, + -0.7252770066261292, + -0.3082336485385895 + ], + "joints": [ + -0.002422461984679103 + ] + }, + "fine_grasp": { + "position": [ + 0.07592327892780304, + -0.02916920930147171, + -0.1206505075097084 + ], + "orientation": [ + 0.3644926846027374, + 0.4956984519958496, + -0.7237560749053955, + -0.3124183714389801 + ], + "joints": [ + 0.0029446743428707123 + ] + }, + "final_grasp": { + "position": [ + 0.07592327892780304, + -0.02916920930147171, + -0.1206505075097084 + ], + "orientation": [ + 0.3644926846027374, + 0.4956984519958496, + -0.7237560749053955, + -0.3124183714389801 + ], + "joints": [ + 0.008311810903251171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10019832849502563, + 0.004270130302757025, + 0.08522306382656097 + ], + "orientation": [ + 0.21213564276695251, + -0.6131162643432617, + -0.7053509950637817, + 0.2855992019176483 + ], + "joints": [ + -0.0024819362442940474 + ] + }, + "fine_grasp": { + "position": [ + -0.09669215977191925, + 0.004687033127993345, + 0.08103836327791214 + ], + "orientation": [ + 0.21476225554943085, + -0.6108615398406982, + -0.7023894190788269, + 0.29559147357940674 + ], + "joints": [ + 0.0033900297712534666 + ] + }, + "final_grasp": { + "position": [ + -0.09669215977191925, + 0.004687033127993345, + 0.08103836327791214 + ], + "orientation": [ + 0.21476225554943085, + -0.6108615398406982, + -0.7023894190788269, + 0.29559147357940674 + ], + "joints": [ + 0.009261995553970337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007034528534859419, + -0.07175903022289276, + 0.09890246391296387 + ], + "orientation": [ + 0.31893476843833923, + -0.12997256219387054, + -0.8506184220314026, + 0.39728590846061707 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.007050724700093269, + -0.06963519006967545, + 0.09382353723049164 + ], + "orientation": [ + 0.3170261085033417, + -0.12260393053293228, + -0.8471640348434448, + 0.4083818793296814 + ], + "joints": [ + -0.010060911066830158 + ] + }, + "final_grasp": { + "position": [ + 0.007050724700093269, + -0.06963519006967545, + 0.09382353723049164 + ], + "orientation": [ + 0.3170261085033417, + -0.12260393053293228, + -0.8471640348434448, + 0.4083818793296814 + ], + "joints": [ + -0.0036841128021478653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0416109599173069, + -0.003581929486244917, + -0.12911921739578247 + ], + "orientation": [ + 0.5357063412666321, + 0.20133957266807556, + -0.5134934782981873, + -0.63937908411026 + ], + "joints": [ + -0.00010895557352341712 + ] + }, + "fine_grasp": { + "position": [ + -0.04180211201310158, + -0.003031060565263033, + -0.1273842453956604 + ], + "orientation": [ + 0.5389647483825684, + 0.2032385915517807, + -0.5103726983070374, + -0.6385379433631897 + ], + "joints": [ + 0.005709871184080839 + ] + }, + "final_grasp": { + "position": [ + -0.04180211201310158, + -0.003031060565263033, + -0.1273842453956604 + ], + "orientation": [ + 0.5389647483825684, + 0.2032385915517807, + -0.5103726983070374, + -0.6385379433631897 + ], + "joints": [ + 0.011528697796165943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04556378349661827, + 0.10194743424654007, + -0.07943466305732727 + ], + "orientation": [ + 0.3600480258464813, + 0.6751452088356018, + -0.11331483721733093, + -0.6338013410568237 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.04580869525671005, + 0.09973637014627457, + -0.0755901113152504 + ], + "orientation": [ + 0.3481474816799164, + 0.6880331039428711, + -0.10969258099794388, + -0.6271931529045105 + ], + "joints": [ + -0.011237128637731075 + ] + }, + "final_grasp": { + "position": [ + -0.04580869525671005, + 0.09973637014627457, + -0.0755901113152504 + ], + "orientation": [ + 0.3481474816799164, + 0.6880331039428711, + -0.10969258099794388, + -0.6271931529045105 + ], + "joints": [ + -0.00541829876601696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02038639411330223, + 0.11584334075450897, + 0.06356669962406158 + ], + "orientation": [ + 0.1959584653377533, + -0.8930562138557434, + 0.19393740594387054, + -0.35558295249938965 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.018977776169776917, + 0.11826185882091522, + 0.06173253804445267 + ], + "orientation": [ + 0.19026987254619598, + -0.9026231169700623, + 0.17939257621765137, + -0.3418877124786377 + ], + "joints": [ + -0.011685946024954319 + ] + }, + "final_grasp": { + "position": [ + 0.018977776169776917, + 0.11826185882091522, + 0.06173253804445267 + ], + "orientation": [ + 0.19026987254619598, + -0.9026231169700623, + 0.17939257621765137, + -0.3418877124786377 + ], + "joints": [ + -0.006345374509692192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020382851362228394, + 0.11585567891597748, + 0.06357347220182419 + ], + "orientation": [ + 0.1959364265203476, + -0.8931140899658203, + 0.19389629364013672, + -0.3554721176624298 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.018826240673661232, + 0.1182805597782135, + 0.06174769625067711 + ], + "orientation": [ + 0.18980713188648224, + -0.9029366374015808, + 0.17865097522735596, + -0.34170517325401306 + ], + "joints": [ + -0.011685946024954319 + ] + }, + "final_grasp": { + "position": [ + 0.018826240673661232, + 0.1182805597782135, + 0.06174769625067711 + ], + "orientation": [ + 0.18980713188648224, + -0.9029366374015808, + 0.17865097522735596, + -0.34170517325401306 + ], + "joints": [ + -0.006345374509692192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04951941967010498, + 0.12402728945016861, + -0.05845891311764717 + ], + "orientation": [ + 0.2783007025718689, + 0.659903883934021, + -0.052040945738554, + -0.6959649920463562 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.048190247267484665, + 0.12377738207578659, + -0.05672181025147438 + ], + "orientation": [ + 0.2823573648929596, + 0.6610470414161682, + -0.041722122579813004, + -0.6939383149147034 + ], + "joints": [ + -0.013718802481889725 + ] + }, + "final_grasp": { + "position": [ + -0.048190247267484665, + 0.12377738207578659, + -0.05672181025147438 + ], + "orientation": [ + 0.2823573648929596, + 0.6610470414161682, + -0.041722122579813004, + -0.6939383149147034 + ], + "joints": [ + -0.008909625932574272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04131821170449257, + 0.13256096839904785, + 0.04273026064038277 + ], + "orientation": [ + 0.14430540800094604, + -0.9543824195861816, + 0.18184731900691986, + -0.18778087198734283 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.03953288868069649, + 0.12940968573093414, + 0.04001116380095482 + ], + "orientation": [ + 0.1585746854543686, + -0.9548493027687073, + 0.17796339094638824, + -0.1773301512002945 + ], + "joints": [ + -0.010946990922093391 + ] + }, + "final_grasp": { + "position": [ + 0.03953288868069649, + 0.12940968573093414, + 0.04001116380095482 + ], + "orientation": [ + 0.1585746854543686, + -0.9548493027687073, + 0.17796339094638824, + -0.1773301512002945 + ], + "joints": [ + -0.004543619230389595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0822778046131134, + -0.09990347921848297, + 0.03687348589301109 + ], + "orientation": [ + 0.7719621658325195, + 0.03918886557221413, + 0.5535200834274292, + -0.3100876808166504 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + -0.08059844374656677, + -0.09647522866725922, + 0.03519884869456291 + ], + "orientation": [ + 0.7688949108123779, + 0.03270937129855156, + 0.5574401617050171, + -0.3114338219165802 + ], + "joints": [ + -0.013184532523155212 + ] + }, + "final_grasp": { + "position": [ + -0.08059844374656677, + -0.09647522866725922, + 0.03519884869456291 + ], + "orientation": [ + 0.7688949108123779, + 0.03270937129855156, + 0.5574401617050171, + -0.3114338219165802 + ], + "joints": [ + -0.007870526984333992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048545125871896744, + 0.11678753048181534, + 0.042326100170612335 + ], + "orientation": [ + 0.12433556467294693, + -0.9337919354438782, + 0.2433476746082306, + -0.23098742961883545 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.04659804329276085, + 0.11616916209459305, + 0.03774936497211456 + ], + "orientation": [ + 0.13972195982933044, + -0.9354305863380432, + 0.22707931697368622, + -0.23212602734565735 + ], + "joints": [ + -0.010565740056335926 + ] + }, + "final_grasp": { + "position": [ + 0.04659804329276085, + 0.11616916209459305, + 0.03774936497211456 + ], + "orientation": [ + 0.13972195982933044, + -0.9354305863380432, + 0.22707931697368622, + -0.23212602734565735 + ], + "joints": [ + -0.004693770781159401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003921153489500284, + -0.09701594710350037, + 0.05005764588713646 + ], + "orientation": [ + 0.6755068302154541, + -0.12912720441818237, + 0.7033692002296448, + -0.17968985438346863 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + 0.004445467609912157, + -0.09670301526784897, + 0.04840663820505142 + ], + "orientation": [ + 0.6862479448318481, + -0.115245521068573, + 0.6966740489006042, + -0.17443494498729706 + ], + "joints": [ + -0.013159437105059624 + ] + }, + "final_grasp": { + "position": [ + 0.004445467609912157, + -0.09670301526784897, + 0.04840663820505142 + ], + "orientation": [ + 0.6862479448318481, + -0.115245521068573, + 0.6966740489006042, + -0.17443494498729706 + ], + "joints": [ + -0.00835026241838932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0039244359359145164, + -0.09701954573392868, + 0.05008062720298767 + ], + "orientation": [ + 0.6755027174949646, + -0.12918873131275177, + 0.7033478617668152, + -0.17974509298801422 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + 0.004464350640773773, + -0.09670183807611465, + 0.04840816184878349 + ], + "orientation": [ + 0.686229407787323, + -0.11529616266489029, + 0.6966928243637085, + -0.17439962923526764 + ], + "joints": [ + -0.013159437105059624 + ] + }, + "final_grasp": { + "position": [ + 0.004464350640773773, + -0.09670183807611465, + 0.04840816184878349 + ], + "orientation": [ + 0.686229407787323, + -0.11529616266489029, + 0.6966928243637085, + -0.17439962923526764 + ], + "joints": [ + -0.00835026241838932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04764630272984505, + 0.12324132770299911, + -0.05718359723687172 + ], + "orientation": [ + 0.281279057264328, + 0.65766841173172, + -0.046777721494436264, + -0.6972561478614807 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.04670776054263115, + 0.1221843957901001, + -0.05514943599700928 + ], + "orientation": [ + 0.2804814577102661, + 0.6607058644294739, + -0.039012420922517776, + -0.6951805353164673 + ], + "joints": [ + -0.014278166927397251 + ] + }, + "final_grasp": { + "position": [ + -0.04670776054263115, + 0.1221843957901001, + -0.05514943599700928 + ], + "orientation": [ + 0.2804814577102661, + 0.6607058644294739, + -0.039012420922517776, + -0.6951805353164673 + ], + "joints": [ + -0.009468987584114075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08448459208011627, + -0.06463117152452469, + 0.06119733303785324 + ], + "orientation": [ + 0.6371107697486877, + -0.4426964521408081, + 0.6285956501960754, + 0.05456378310918808 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.08489936590194702, + -0.06124737858772278, + 0.05763886868953705 + ], + "orientation": [ + 0.6528348326683044, + -0.41833287477493286, + 0.6298726797103882, + 0.04543859139084816 + ], + "joints": [ + -0.013157961890101433 + ] + }, + "final_grasp": { + "position": [ + 0.08489936590194702, + -0.06124737858772278, + 0.05763886868953705 + ], + "orientation": [ + 0.6528348326683044, + -0.41833287477493286, + 0.6298726797103882, + 0.04543859139084816 + ], + "joints": [ + -0.007817385718226433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0844273641705513, + -0.0645228773355484, + 0.06117769703269005 + ], + "orientation": [ + 0.6368924975395203, + -0.44310492277145386, + 0.6285086274147034, + 0.05479804426431656 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.08492118120193481, + -0.061110809445381165, + 0.05765090137720108 + ], + "orientation": [ + 0.6524083614349365, + -0.41890281438827515, + 0.6299346685409546, + 0.0454539880156517 + ], + "joints": [ + -0.013157961890101433 + ] + }, + "final_grasp": { + "position": [ + 0.08492118120193481, + -0.061110809445381165, + 0.05765090137720108 + ], + "orientation": [ + 0.6524083614349365, + -0.41890281438827515, + 0.6299346685409546, + 0.0454539880156517 + ], + "joints": [ + -0.007817385718226433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08462540805339813, + -0.06457190215587616, + 0.06138382852077484 + ], + "orientation": [ + 0.637360155582428, + -0.4423193335533142, + 0.6287184953689575, + 0.05327853560447693 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.08477272093296051, + -0.06119076907634735, + 0.057678937911987305 + ], + "orientation": [ + 0.6526219248771667, + -0.4185395836830139, + 0.6299581527709961, + 0.0454094298183918 + ], + "joints": [ + -0.012653132900595665 + ] + }, + "final_grasp": { + "position": [ + 0.08477272093296051, + -0.06119076907634735, + 0.057678937911987305 + ], + "orientation": [ + 0.6526219248771667, + -0.4185395836830139, + 0.6299581527709961, + 0.0454094298183918 + ], + "joints": [ + -0.006807727739214897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04881842061877251, + 0.11679282039403915, + 0.04211922362446785 + ], + "orientation": [ + 0.12522011995315552, + -0.9334631562232971, + 0.24388425052165985, + -0.2312725931406021 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.0470137745141983, + 0.11600799113512039, + 0.037742435932159424 + ], + "orientation": [ + 0.1404183804988861, + -0.9349687695503235, + 0.22904875874519348, + -0.23163065314292908 + ], + "joints": [ + -0.010565740056335926 + ] + }, + "final_grasp": { + "position": [ + 0.0470137745141983, + 0.11600799113512039, + 0.037742435932159424 + ], + "orientation": [ + 0.1404183804988861, + -0.9349687695503235, + 0.22904875874519348, + -0.23163065314292908 + ], + "joints": [ + -0.004693770781159401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07920392602682114, + 0.10468031466007233, + -0.033560264855623245 + ], + "orientation": [ + 0.27745088934898376, + -0.28179672360420227, + -0.18336370587348938, + -0.8999940156936646 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.07999595254659653, + 0.10551688075065613, + -0.03485146164894104 + ], + "orientation": [ + 0.2728555202484131, + -0.28646641969680786, + -0.18227960169315338, + -0.9001449942588806 + ], + "joints": [ + -0.011100010015070438 + ] + }, + "final_grasp": { + "position": [ + -0.07999595254659653, + 0.10551688075065613, + -0.03485146164894104 + ], + "orientation": [ + 0.2728555202484131, + -0.28646641969680786, + -0.18227960169315338, + -0.9001449942588806 + ], + "joints": [ + -0.005732869729399681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07923513650894165, + 0.1046740710735321, + -0.03346571698784828 + ], + "orientation": [ + 0.27766522765159607, + -0.28223827481269836, + -0.18355786800384521, + -0.8997499942779541 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.08005553483963013, + 0.10549487918615341, + -0.03475797176361084 + ], + "orientation": [ + 0.27306509017944336, + -0.28695017099380493, + -0.1820540577173233, + -0.8999730348587036 + ], + "joints": [ + -0.011100010015070438 + ] + }, + "final_grasp": { + "position": [ + -0.08005553483963013, + 0.10549487918615341, + -0.03475797176361084 + ], + "orientation": [ + 0.27306509017944336, + -0.28695017099380493, + -0.1820540577173233, + -0.8999730348587036 + ], + "joints": [ + -0.005732869729399681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07921350747346878, + 0.10465175658464432, + -0.033596474677324295 + ], + "orientation": [ + 0.27725279331207275, + -0.2823408842086792, + -0.18346472084522247, + -0.8998639583587646 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.07999113947153091, + 0.10551635175943375, + -0.034853558987379074 + ], + "orientation": [ + 0.2727018892765045, + -0.2869917154312134, + -0.18244613707065582, + -0.8999905586242676 + ], + "joints": [ + -0.011100010015070438 + ] + }, + "final_grasp": { + "position": [ + -0.07999113947153091, + 0.10551635175943375, + -0.034853558987379074 + ], + "orientation": [ + 0.2727018892765045, + -0.2869917154312134, + -0.18244613707065582, + -0.8999905586242676 + ], + "joints": [ + -0.005732869729399681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03408185392618179, + -0.1036815345287323, + -0.02189810946583748 + ], + "orientation": [ + 0.8547490835189819, + 0.07064180076122284, + -0.49566397070884705, + -0.1368613839149475 + ], + "joints": [ + -0.017909729853272438 + ] + }, + "fine_grasp": { + "position": [ + -0.03346632048487663, + -0.10668158531188965, + -0.019448330625891685 + ], + "orientation": [ + 0.8572763800621033, + 0.0698947086930275, + -0.49640730023384094, + -0.11735311895608902 + ], + "joints": [ + -0.011559497565031052 + ] + }, + "final_grasp": { + "position": [ + -0.03346632048487663, + -0.10668158531188965, + -0.019448330625891685 + ], + "orientation": [ + 0.8572763800621033, + 0.0698947086930275, + -0.49640730023384094, + -0.11735311895608902 + ], + "joints": [ + -0.005209265276789665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024513015523552895, + 0.026281753554940224, + -0.132451593875885 + ], + "orientation": [ + 0.35119274258613586, + 0.5349008440971375, + -0.5817182660102844, + -0.5021440982818604 + ], + "joints": [ + -0.002806023694574833 + ] + }, + "fine_grasp": { + "position": [ + 0.022353652864694595, + 0.027042686939239502, + -0.12762397527694702 + ], + "orientation": [ + 0.33517616987228394, + 0.538411021232605, + -0.5876175761222839, + -0.5024699568748474 + ], + "joints": [ + 0.0035707722418010235 + ] + }, + "final_grasp": { + "position": [ + 0.022353652864694595, + 0.027042686939239502, + -0.12762397527694702 + ], + "orientation": [ + 0.33517616987228394, + 0.538411021232605, + -0.5876175761222839, + -0.5024699568748474 + ], + "joints": [ + 0.00994756817817688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03200778737664223, + 0.12093132734298706, + 0.05609302222728729 + ], + "orientation": [ + 0.23023338615894318, + -0.36447954177856445, + -0.10348708182573318, + 0.896346926689148 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.027465764433145523, + 0.11948339641094208, + 0.05481921508908272 + ], + "orientation": [ + 0.22002653777599335, + -0.3504839837551117, + -0.07688802480697632, + 0.9071040153503418 + ], + "joints": [ + -0.00944126769900322 + ] + }, + "final_grasp": { + "position": [ + 0.027465764433145523, + 0.11948339641094208, + 0.05481921508908272 + ], + "orientation": [ + 0.22002653777599335, + -0.3504839837551117, + -0.07688802480697632, + 0.9071040153503418 + ], + "joints": [ + -0.0036224424839019775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05014606565237045, + 0.11702195554971695, + 0.04049476981163025 + ], + "orientation": [ + 0.13392122089862823, + -0.9325547814369202, + 0.24388596415519714, + -0.23005689680576324 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.047665324062108994, + 0.11509829014539719, + 0.036597877740859985 + ], + "orientation": [ + 0.14725801348686218, + -0.9350313544273376, + 0.22969026863574982, + -0.22643767297267914 + ], + "joints": [ + -0.00952951144427061 + ] + }, + "final_grasp": { + "position": [ + 0.047665324062108994, + 0.11509829014539719, + 0.036597877740859985 + ], + "orientation": [ + 0.14725801348686218, + -0.9350313544273376, + 0.22969026863574982, + -0.22643767297267914 + ], + "joints": [ + -0.0026213135570287704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029504280537366867, + 0.12454801052808762, + 0.04305721074342728 + ], + "orientation": [ + 0.13344575464725494, + -0.11557900160551071, + 0.2055179923772812, + -0.9625986218452454 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.02850141003727913, + 0.12326856702566147, + 0.0418357253074646 + ], + "orientation": [ + 0.131365105509758, + -0.1361694037914276, + 0.20742012560367584, + -0.9597801566123962 + ], + "joints": [ + -0.011214823462069035 + ] + }, + "final_grasp": { + "position": [ + -0.02850141003727913, + 0.12326856702566147, + 0.0418357253074646 + ], + "orientation": [ + 0.131365105509758, + -0.1361694037914276, + 0.20742012560367584, + -0.9597801566123962 + ], + "joints": [ + -0.004784880205988884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10927921533584595, + 0.003589377738535404, + -0.0642324760556221 + ], + "orientation": [ + 0.7053607702255249, + 0.1156923770904541, + -0.2179914116859436, + -0.6645007729530334 + ], + "joints": [ + -0.0023597036488354206 + ] + }, + "fine_grasp": { + "position": [ + -0.10588131099939346, + 0.0036538897547870874, + -0.06305576860904694 + ], + "orientation": [ + 0.7024120092391968, + 0.10587844252586365, + -0.21960854530334473, + -0.6687145829200745 + ], + "joints": [ + 0.004017092287540436 + ] + }, + "final_grasp": { + "position": [ + -0.10588131099939346, + 0.0036538897547870874, + -0.06305576860904694 + ], + "orientation": [ + 0.7024120092391968, + 0.10587844252586365, + -0.21960854530334473, + -0.6687145829200745 + ], + "joints": [ + 0.010393887758255005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050933461636304855, + -0.10660585761070251, + -0.02454667165875435 + ], + "orientation": [ + 0.33646026253700256, + 0.2034655511379242, + 0.9142628908157349, + 0.09756802767515182 + ], + "joints": [ + -0.015583937987685204 + ] + }, + "fine_grasp": { + "position": [ + -0.048374541103839874, + -0.10410692542791367, + -0.022655319422483444 + ], + "orientation": [ + 0.35311609506607056, + 0.1935661882162094, + 0.9104126691818237, + 0.09481454640626907 + ], + "joints": [ + -0.009711971506476402 + ] + }, + "final_grasp": { + "position": [ + -0.048374541103839874, + -0.10410692542791367, + -0.022655319422483444 + ], + "orientation": [ + 0.35311609506607056, + 0.1935661882162094, + 0.9104126691818237, + 0.09481454640626907 + ], + "joints": [ + -0.003840005025267601 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051073066890239716, + 0.1301809847354889, + 0.03238579258322716 + ], + "orientation": [ + 0.21821311116218567, + -0.19459623098373413, + -0.09012909233570099, + 0.9520463347434998 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + 0.048485614359378815, + 0.12676241993904114, + 0.030944908037781715 + ], + "orientation": [ + 0.2126496285200119, + -0.1758134663105011, + -0.09592144936323166, + 0.956383228302002 + ], + "joints": [ + -0.010889584198594093 + ] + }, + "final_grasp": { + "position": [ + 0.048485614359378815, + 0.12676241993904114, + 0.030944908037781715 + ], + "orientation": [ + 0.2126496285200119, + -0.1758134663105011, + -0.09592144936323166, + 0.956383228302002 + ], + "joints": [ + -0.005017613992094994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05109209194779396, + 0.13016650080680847, + 0.03231259062886238 + ], + "orientation": [ + 0.21816329658031464, + -0.19443568587303162, + -0.09015986323356628, + 0.9520875811576843 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + 0.048444245010614395, + 0.12677156925201416, + 0.030868366360664368 + ], + "orientation": [ + 0.21263323724269867, + -0.17581722140312195, + -0.09548294544219971, + 0.9564300775527954 + ], + "joints": [ + -0.010889584198594093 + ] + }, + "final_grasp": { + "position": [ + 0.048444245010614395, + 0.12677156925201416, + 0.030868366360664368 + ], + "orientation": [ + 0.21263323724269867, + -0.17581722140312195, + -0.09548294544219971, + 0.9564300775527954 + ], + "joints": [ + -0.005017613992094994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05936376005411148, + 0.1212393194437027, + 0.022053005173802376 + ], + "orientation": [ + 0.011659522540867329, + 0.9293199181556702, + 0.27036184072494507, + -0.25126275420188904 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.05532778427004814, + 0.11781463027000427, + 0.02106398716568947 + ], + "orientation": [ + 0.019079742953181267, + 0.9344270825386047, + 0.2664177715778351, + -0.23559236526489258 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.05532778427004814, + 0.11781463027000427, + 0.02106398716568947 + ], + "orientation": [ + 0.019079742953181267, + 0.9344270825386047, + 0.2664177715778351, + -0.23559236526489258 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08957565575838089, + -0.046720344573259354, + -0.05647077411413193 + ], + "orientation": [ + 0.6823614239692688, + -0.026140574365854263, + -0.533567488193512, + -0.4990043342113495 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.08886650204658508, + -0.04608878120779991, + -0.05412931367754936 + ], + "orientation": [ + 0.6809720396995544, + -0.03836842253804207, + -0.5407612919807434, + -0.49232327938079834 + ], + "joints": [ + -0.011069174855947495 + ] + }, + "final_grasp": { + "position": [ + -0.08886650204658508, + -0.04608878120779991, + -0.05412931367754936 + ], + "orientation": [ + 0.6809720396995544, + -0.03836842253804207, + -0.5407612919807434, + -0.49232327938079834 + ], + "joints": [ + -0.006260007619857788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08297227323055267, + -0.06823825091123581, + -0.0364585816860199 + ], + "orientation": [ + 0.7561129927635193, + -0.021812913939356804, + -0.5354499220848083, + -0.37564679980278015 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.0814461037516594, + -0.06762445718050003, + -0.03353094682097435 + ], + "orientation": [ + 0.758760392665863, + -0.034627027809619904, + -0.539725124835968, + -0.36301568150520325 + ], + "joints": [ + -0.01064832229167223 + ] + }, + "final_grasp": { + "position": [ + -0.0814461037516594, + -0.06762445718050003, + -0.03353094682097435 + ], + "orientation": [ + 0.758760392665863, + -0.034627027809619904, + -0.539725124835968, + -0.36301568150520325 + ], + "joints": [ + -0.004829494282603264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11839114874601364, + 0.010813170112669468, + -0.04446564242243767 + ], + "orientation": [ + 0.10932362079620361, + 0.6781495809555054, + 0.7115417122840881, + 0.147884339094162 + ], + "joints": [ + -0.0026696070563048124 + ] + }, + "fine_grasp": { + "position": [ + -0.1133134514093399, + 0.010269640013575554, + -0.0425318107008934 + ], + "orientation": [ + 0.1143639087677002, + 0.6759992837905884, + 0.7113974094390869, + 0.154465451836586 + ], + "joints": [ + 0.0037337588146328926 + ] + }, + "final_grasp": { + "position": [ + -0.1133134514093399, + 0.010269640013575554, + -0.0425318107008934 + ], + "orientation": [ + 0.1143639087677002, + 0.6759992837905884, + 0.7113974094390869, + 0.154465451836586 + ], + "joints": [ + 0.010137124918401241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02928837388753891, + 0.13635750114917755, + -0.05829690769314766 + ], + "orientation": [ + 0.17428027093410492, + 0.4690108895301819, + -0.17385366559028625, + -0.8481923341751099 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.02926993928849697, + 0.13315041363239288, + -0.05647293105721474 + ], + "orientation": [ + 0.1753583550453186, + 0.4794728755950928, + -0.17127428948879242, + -0.8426271677017212 + ], + "joints": [ + -0.011952383443713188 + ] + }, + "final_grasp": { + "position": [ + -0.02926993928849697, + 0.13315041363239288, + -0.05647293105721474 + ], + "orientation": [ + 0.1753583550453186, + 0.4794728755950928, + -0.17127428948879242, + -0.8426271677017212 + ], + "joints": [ + -0.007143212482333183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.090045265853405, + -0.0469614639878273, + -0.05670776590704918 + ], + "orientation": [ + 0.6827585101127625, + -0.024634992703795433, + -0.5333354473114014, + -0.49878591299057007 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.08920608460903168, + -0.04624018445611, + -0.05454232916235924 + ], + "orientation": [ + 0.6819098591804504, + -0.03570060804486275, + -0.5392135977745056, + -0.49292314052581787 + ], + "joints": [ + -0.011069174855947495 + ] + }, + "final_grasp": { + "position": [ + -0.08920608460903168, + -0.04624018445611, + -0.05454232916235924 + ], + "orientation": [ + 0.6819098591804504, + -0.03570060804486275, + -0.5392135977745056, + -0.49292314052581787 + ], + "joints": [ + -0.006260007619857788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00309765781275928, + 0.1472792774438858, + -0.012292173691093922 + ], + "orientation": [ + 0.10001115500926971, + 0.9173117280006409, + 0.005848260596394539, + 0.385360449552536 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.00336578325368464, + 0.14154350757598877, + -0.011346990242600441 + ], + "orientation": [ + 0.1039896011352539, + 0.9186980724334717, + 0.0030335679184645414, + 0.38101309537887573 + ], + "joints": [ + -0.011672915890812874 + ] + }, + "final_grasp": { + "position": [ + -0.00336578325368464, + 0.14154350757598877, + -0.011346990242600441 + ], + "orientation": [ + 0.1039896011352539, + 0.9186980724334717, + 0.0030335679184645414, + 0.38101309537887573 + ], + "joints": [ + -0.00481785275042057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003190144430845976, + 0.14724649488925934, + -0.012326959520578384 + ], + "orientation": [ + 0.10019756853580475, + 0.9172865152359009, + 0.0061389608308672905, + 0.38536760210990906 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.003456605365499854, + 0.1415119767189026, + -0.011343405582010746 + ], + "orientation": [ + 0.10439784824848175, + 0.9185258150100708, + 0.0031533283181488514, + 0.3813154697418213 + ], + "joints": [ + -0.011672915890812874 + ] + }, + "final_grasp": { + "position": [ + -0.003456605365499854, + 0.1415119767189026, + -0.011343405582010746 + ], + "orientation": [ + 0.10439784824848175, + 0.9185258150100708, + 0.0031533283181488514, + 0.3813154697418213 + ], + "joints": [ + -0.00481785275042057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11080115288496017, + -0.03711007162928581, + 0.06237190589308739 + ], + "orientation": [ + 0.19043885171413422, + 0.43049511313438416, + 0.816636860370636, + -0.3339329957962036 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.1079070046544075, + -0.03565065935254097, + 0.061674222350120544 + ], + "orientation": [ + 0.189233660697937, + 0.4298717677593231, + 0.8157110810279846, + -0.3376627266407013 + ], + "joints": [ + -0.008772747591137886 + ] + }, + "final_grasp": { + "position": [ + -0.1079070046544075, + -0.03565065935254097, + 0.061674222350120544 + ], + "orientation": [ + 0.189233660697937, + 0.4298717677593231, + 0.8157110810279846, + -0.3376627266407013 + ], + "joints": [ + -0.002874210476875305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03680407255887985, + -0.11653322726488113, + -0.009863343089818954 + ], + "orientation": [ + 0.9107621312141418, + 0.01954663172364235, + 0.4028508961200714, + -0.088551364839077 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + -0.03542592376470566, + -0.11370252817869186, + -0.010440791957080364 + ], + "orientation": [ + 0.9096946120262146, + 0.025390159338712692, + 0.40636494755744934, + -0.08172307163476944 + ], + "joints": [ + -0.01206580176949501 + ] + }, + "final_grasp": { + "position": [ + -0.03542592376470566, + -0.11370252817869186, + -0.010440791957080364 + ], + "orientation": [ + 0.9096946120262146, + 0.025390159338712692, + 0.40636494755744934, + -0.08172307163476944 + ], + "joints": [ + -0.0067517999559640884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030223028734326363, + -0.062136128544807434, + -0.11089500784873962 + ], + "orientation": [ + 0.7762649059295654, + 0.4064731299877167, + -0.45040252804756165, + -0.1712598353624344 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.0308495182543993, + -0.058902207762002945, + -0.10709567368030548 + ], + "orientation": [ + 0.788682222366333, + 0.39679649472236633, + -0.4409483075141907, + -0.16154712438583374 + ], + "joints": [ + -0.0065812040120363235 + ] + }, + "final_grasp": { + "position": [ + 0.0308495182543993, + -0.058902207762002945, + -0.10709567368030548 + ], + "orientation": [ + 0.788682222366333, + 0.39679649472236633, + -0.4409483075141907, + -0.16154712438583374 + ], + "joints": [ + -0.00025754794478416443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08257515728473663, + 0.014015705324709415, + 0.11071662604808807 + ], + "orientation": [ + 0.6830850839614868, + -0.35889777541160583, + -0.20091792941093445, + 0.6035056710243225 + ], + "joints": [ + -0.0034538707695901394 + ] + }, + "fine_grasp": { + "position": [ + 0.07895762473344803, + 0.013858380727469921, + 0.10838553309440613 + ], + "orientation": [ + 0.686772882938385, + -0.3609241843223572, + -0.19187572598457336, + 0.601049542427063 + ], + "joints": [ + 0.002922925166785717 + ] + }, + "final_grasp": { + "position": [ + 0.07895762473344803, + 0.013858380727469921, + 0.10838553309440613 + ], + "orientation": [ + 0.686772882938385, + -0.3609241843223572, + -0.19187572598457336, + 0.601049542427063 + ], + "joints": [ + 0.00929972156882286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025448469445109367, + 0.015295111574232578, + 0.14574101567268372 + ], + "orientation": [ + 0.373725950717926, + -0.4839530289173126, + 0.6019351482391357, + -0.5136072635650635 + ], + "joints": [ + -0.0036820510867983103 + ] + }, + "fine_grasp": { + "position": [ + 0.02463962696492672, + 0.015928637236356735, + 0.1417025923728943 + ], + "orientation": [ + 0.3668290972709656, + -0.4829263687133789, + 0.6036249399185181, + -0.5175474882125854 + ], + "joints": [ + 0.002721314551308751 + ] + }, + "final_grasp": { + "position": [ + 0.02463962696492672, + 0.015928637236356735, + 0.1417025923728943 + ], + "orientation": [ + 0.3668290972709656, + -0.4829263687133789, + 0.6036249399185181, + -0.5175474882125854 + ], + "joints": [ + 0.009124680422246456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10800991952419281, + -0.02928633615374565, + 0.07704899460077286 + ], + "orientation": [ + 0.14319148659706116, + 0.4219340980052948, + 0.8003419041633606, + -0.401149183511734 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.1034223884344101, + -0.027844106778502464, + 0.07537882030010223 + ], + "orientation": [ + 0.14704760909080505, + 0.4211074411869049, + 0.8004716038703918, + -0.4003634750843048 + ], + "joints": [ + -0.00835476815700531 + ] + }, + "final_grasp": { + "position": [ + -0.1034223884344101, + -0.027844106778502464, + 0.07537882030010223 + ], + "orientation": [ + 0.14704760909080505, + 0.4211074411869049, + 0.8004716038703918, + -0.4003634750843048 + ], + "joints": [ + -0.001420002430677414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06705725193023682, + 0.11727911233901978, + 0.0006679252837784588 + ], + "orientation": [ + 0.27361050248146057, + 0.2647881507873535, + 0.1035158634185791, + -0.9188629388809204 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.06420153379440308, + 0.11463523656129837, + 0.0011121694697067142 + ], + "orientation": [ + 0.26550236344337463, + 0.27907323837280273, + 0.11228599399328232, + -0.9159795045852661 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.06420153379440308, + 0.11463523656129837, + 0.0011121694697067142 + ], + "orientation": [ + 0.26550236344337463, + 0.27907323837280273, + 0.11228599399328232, + -0.9159795045852661 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04910673573613167, + 0.050460536032915115, + 0.11857321113348007 + ], + "orientation": [ + 0.6295099258422852, + -0.6987543702125549, + -0.008487888611853123, + -0.3396874964237213 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.04881495609879494, + 0.04838038235902786, + 0.11513931304216385 + ], + "orientation": [ + 0.6205416321754456, + -0.7047633528709412, + 0.0027272675652056932, + -0.34384486079216003 + ], + "joints": [ + -0.01042148470878601 + ] + }, + "final_grasp": { + "position": [ + -0.04881495609879494, + 0.04838038235902786, + 0.11513931304216385 + ], + "orientation": [ + 0.6205416321754456, + -0.7047633528709412, + 0.0027272675652056932, + -0.34384486079216003 + ], + "joints": [ + -0.005612317472696304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04917997866868973, + 0.05051681771874428, + 0.11854423582553864 + ], + "orientation": [ + 0.6293709874153137, + -0.6988095045089722, + -0.008772463537752628, + -0.33982396125793457 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.048929039388895035, + 0.04843850061297417, + 0.11517485231161118 + ], + "orientation": [ + 0.6204752326011658, + -0.7050054669380188, + 0.0017862454988062382, + -0.3434743285179138 + ], + "joints": [ + -0.010394914075732231 + ] + }, + "final_grasp": { + "position": [ + -0.048929039388895035, + 0.04843850061297417, + 0.11517485231161118 + ], + "orientation": [ + 0.6204752326011658, + -0.7050054669380188, + 0.0017862454988062382, + -0.3434743285179138 + ], + "joints": [ + -0.005559176206588745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13643740117549896, + -0.004503344185650349, + 0.009430991485714912 + ], + "orientation": [ + 0.7571164965629578, + -0.050425659865140915, + -0.012798559851944447, + -0.6512051224708557 + ], + "joints": [ + -0.0024823721032589674 + ] + }, + "fine_grasp": { + "position": [ + -0.1324867457151413, + -0.00436866469681263, + 0.009678011760115623 + ], + "orientation": [ + 0.7555064558982849, + -0.04821595922112465, + -0.015948522835969925, + -0.6531698107719421 + ], + "joints": [ + 0.0033895939122885466 + ] + }, + "final_grasp": { + "position": [ + -0.1324867457151413, + -0.00436866469681263, + 0.009678011760115623 + ], + "orientation": [ + 0.7555064558982849, + -0.04821595922112465, + -0.015948522835969925, + -0.6531698107719421 + ], + "joints": [ + 0.009261559695005417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09668508172035217, + -0.049798619002103806, + -0.03863680735230446 + ], + "orientation": [ + 0.17345590889453888, + -0.4213399291038513, + -0.8640050292015076, + -0.2141987681388855 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.0933825895190239, + -0.049783192574977875, + -0.03877951204776764 + ], + "orientation": [ + 0.19039124250411987, + -0.4046964645385742, + -0.8681684136390686, + -0.2150711566209793 + ], + "joints": [ + -0.006613516248762608 + ] + }, + "final_grasp": { + "position": [ + -0.0933825895190239, + -0.049783192574977875, + -0.03877951204776764 + ], + "orientation": [ + 0.19039124250411987, + -0.4046964645385742, + -0.8681684136390686, + -0.2150711566209793 + ], + "joints": [ + -0.00026329047977924347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06174018606543541, + 0.013627304695546627, + -0.1148214042186737 + ], + "orientation": [ + 0.4066874086856842, + 0.6381056904792786, + 0.5840688943862915, + 0.2937515676021576 + ], + "joints": [ + -0.0027977926656603813 + ] + }, + "fine_grasp": { + "position": [ + -0.061520300805568695, + 0.014606677927076817, + -0.11563435941934586 + ], + "orientation": [ + 0.41171833872795105, + 0.6463278532028198, + 0.5773149728775024, + 0.2818792164325714 + ], + "joints": [ + 0.0030741733498871326 + ] + }, + "final_grasp": { + "position": [ + -0.061520300805568695, + 0.014606677927076817, + -0.11563435941934586 + ], + "orientation": [ + 0.41171833872795105, + 0.6463278532028198, + 0.5773149728775024, + 0.2818792164325714 + ], + "joints": [ + 0.008946139365434647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08069296926259995, + -0.02671821415424347, + -0.09274148941040039 + ], + "orientation": [ + 0.8143064975738525, + 0.47182026505470276, + 0.19176538288593292, + -0.2784181535243988 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.08165610581636429, + -0.026401789858937263, + -0.0950668677687645 + ], + "orientation": [ + 0.821472704410553, + 0.46375468373298645, + 0.1874067634344101, + -0.27384817600250244 + ], + "joints": [ + -0.00997406430542469 + ] + }, + "final_grasp": { + "position": [ + -0.08165610581636429, + -0.026401789858937263, + -0.0950668677687645 + ], + "orientation": [ + 0.821472704410553, + 0.46375468373298645, + 0.1874067634344101, + -0.27384817600250244 + ], + "joints": [ + -0.004128668457269669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12692435085773468, + 0.0121196573600173, + -0.017827998846769333 + ], + "orientation": [ + 0.07687317579984665, + 0.6970352530479431, + -0.7128965854644775, + 0.003293293993920088 + ], + "joints": [ + -0.0029509002342820168 + ] + }, + "fine_grasp": { + "position": [ + 0.12159903347492218, + 0.010928933508694172, + -0.016776323318481445 + ], + "orientation": [ + 0.08337964117527008, + 0.6940827965736389, + -0.7146598696708679, + 0.0236272681504488 + ], + "joints": [ + 0.0034524654038250446 + ] + }, + "final_grasp": { + "position": [ + 0.12159903347492218, + 0.010928933508694172, + -0.016776323318481445 + ], + "orientation": [ + 0.08337964117527008, + 0.6940827965736389, + -0.7146598696708679, + 0.0236272681504488 + ], + "joints": [ + 0.009855831041932106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08711690455675125, + -0.07526172697544098, + 0.038762688636779785 + ], + "orientation": [ + 0.35673660039901733, + 0.26784491539001465, + 0.8693850636482239, + -0.21252715587615967 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.08771106600761414, + -0.07684510946273804, + 0.04064735770225525 + ], + "orientation": [ + 0.35956379771232605, + 0.25561752915382385, + 0.8728450536727905, + -0.2086031138896942 + ], + "joints": [ + -0.00896727666258812 + ] + }, + "final_grasp": { + "position": [ + -0.08771106600761414, + -0.07684510946273804, + 0.04064735770225525 + ], + "orientation": [ + 0.35956379771232605, + 0.25561752915382385, + 0.8728450536727905, + -0.2086031138896942 + ], + "joints": [ + -0.0020856522023677826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06204080209136009, + -0.017222395166754723, + 0.11877962946891785 + ], + "orientation": [ + 0.15678660571575165, + 0.17007605731487274, + -0.7998805046081543, + 0.5537900924682617 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.06331443786621094, + -0.018980855122208595, + 0.12213588505983353 + ], + "orientation": [ + 0.16178542375564575, + 0.16509565711021423, + -0.8006132245063782, + 0.552799642086029 + ], + "joints": [ + -0.009553212672472 + ] + }, + "final_grasp": { + "position": [ + 0.06331443786621094, + -0.018980855122208595, + 0.12213588505983353 + ], + "orientation": [ + 0.16178542375564575, + 0.16509565711021423, + -0.8006132245063782, + 0.552799642086029 + ], + "joints": [ + -0.0026981569826602936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04123586788773537, + 0.1459461897611618, + -0.03718658536672592 + ], + "orientation": [ + 0.09826730191707611, + 0.9507527351379395, + 0.1637510061264038, + 0.24412786960601807 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.04016019031405449, + 0.14188653230667114, + -0.03630470857024193 + ], + "orientation": [ + 0.09876925498247147, + 0.952483594417572, + 0.17002251744270325, + 0.23261995613574982 + ], + "joints": [ + -0.011154546402394772 + ] + }, + "final_grasp": { + "position": [ + -0.04016019031405449, + 0.14188653230667114, + -0.03630470857024193 + ], + "orientation": [ + 0.09876925498247147, + 0.952483594417572, + 0.17002251744270325, + 0.23261995613574982 + ], + "joints": [ + -0.005282575264573097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07378043234348297, + 0.10909796506166458, + -0.022896891459822655 + ], + "orientation": [ + 0.14092405140399933, + -0.790113627910614, + -0.3429317772388458, + -0.4881175458431244 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.07305262982845306, + 0.10811980068683624, + -0.021224645897746086 + ], + "orientation": [ + 0.13599364459514618, + -0.79538494348526, + -0.3355652689933777, + -0.4860703945159912 + ], + "joints": [ + -0.012246786616742611 + ] + }, + "final_grasp": { + "position": [ + -0.07305262982845306, + 0.10811980068683624, + -0.021224645897746086 + ], + "orientation": [ + 0.13599364459514618, + -0.79538494348526, + -0.3355652689933777, + -0.4860703945159912 + ], + "joints": [ + -0.007437614724040031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.109264075756073, + 0.030983317643404007, + -0.07017172127962112 + ], + "orientation": [ + 0.6532537341117859, + 0.20042210817337036, + -0.12121547758579254, + -0.7199981212615967 + ], + "joints": [ + -0.0031553313601762056 + ] + }, + "fine_grasp": { + "position": [ + -0.10550464689731598, + 0.03273199126124382, + -0.06914149224758148 + ], + "orientation": [ + 0.6487584710121155, + 0.20272541046142578, + -0.10666149854660034, + -0.7256983518600464 + ], + "joints": [ + 0.003752864198759198 + ] + }, + "final_grasp": { + "position": [ + -0.10550464689731598, + 0.03273199126124382, + -0.06914149224758148 + ], + "orientation": [ + 0.6487584710121155, + 0.20272541046142578, + -0.10666149854660034, + -0.7256983518600464 + ], + "joints": [ + 0.010661059990525246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11812683939933777, + 0.011762196198105812, + -0.04432590678334236 + ], + "orientation": [ + 0.10648003965616226, + 0.6803313493728638, + 0.7093105316162109, + 0.15063150227069855 + ], + "joints": [ + -0.0025811928790062666 + ] + }, + "fine_grasp": { + "position": [ + -0.11308567225933075, + 0.011229812167584896, + -0.042636193335056305 + ], + "orientation": [ + 0.11132504791021347, + 0.6774264574050903, + 0.7096177935600281, + 0.1585649698972702 + ], + "joints": [ + 0.0038221729919314384 + ] + }, + "final_grasp": { + "position": [ + -0.11308567225933075, + 0.011229812167584896, + -0.042636193335056305 + ], + "orientation": [ + 0.11132504791021347, + 0.6774264574050903, + 0.7096177935600281, + 0.1585649698972702 + ], + "joints": [ + 0.010225539095699787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09831023216247559, + -0.009789152070879936, + -0.08041373640298843 + ], + "orientation": [ + 0.41512489318847656, + -0.17547588050365448, + -0.6828458309173584, + -0.5749791264533997 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + -0.0990753173828125, + -0.010403926484286785, + -0.07833576947450638 + ], + "orientation": [ + 0.41006189584732056, + -0.19493721425533295, + -0.6862462162971497, + -0.5682558417320251 + ], + "joints": [ + -0.012567760422825813 + ] + }, + "final_grasp": { + "position": [ + -0.0990753173828125, + -0.010403926484286785, + -0.07833576947450638 + ], + "orientation": [ + 0.41006189584732056, + -0.19493721425533295, + -0.6862462162971497, + -0.5682558417320251 + ], + "joints": [ + -0.007785158231854439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13420502841472626, + 0.0061419266276061535, + 0.0019485859666019678 + ], + "orientation": [ + 0.7294461727142334, + -0.06387258321046829, + 0.044336602091789246, + 0.6796049475669861 + ], + "joints": [ + -0.002802114002406597 + ] + }, + "fine_grasp": { + "position": [ + 0.1283414214849472, + 0.0062356679700315, + 0.0016033393330872059 + ], + "orientation": [ + 0.7298475503921509, + -0.06890220195055008, + 0.04338185116648674, + 0.6787436604499817 + ], + "joints": [ + 0.003069852013140917 + ] + }, + "final_grasp": { + "position": [ + 0.1283414214849472, + 0.0062356679700315, + 0.0016033393330872059 + ], + "orientation": [ + 0.7298475503921509, + -0.06890220195055008, + 0.04338185116648674, + 0.6787436604499817 + ], + "joints": [ + 0.00894181802868843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10705983638763428, + 0.015292152762413025, + -0.07229450345039368 + ], + "orientation": [ + 0.2531748116016388, + 0.6875973343849182, + 0.661158561706543, + 0.16118855774402618 + ], + "joints": [ + -0.0024028215557336807 + ] + }, + "fine_grasp": { + "position": [ + -0.10746964812278748, + 0.015468589030206203, + -0.0734894797205925 + ], + "orientation": [ + 0.2610507905483246, + 0.690496027469635, + 0.6580905914306641, + 0.14827139675617218 + ], + "joints": [ + 0.0034691444598138332 + ] + }, + "final_grasp": { + "position": [ + -0.10746964812278748, + 0.015468589030206203, + -0.0734894797205925 + ], + "orientation": [ + 0.2610507905483246, + 0.690496027469635, + 0.6580905914306641, + 0.14827139675617218 + ], + "joints": [ + 0.009341110475361347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.109206423163414, + 0.030336987227201462, + -0.07036633789539337 + ], + "orientation": [ + 0.6548643708229065, + 0.20038306713104248, + -0.12283045798540115, + -0.7182701826095581 + ], + "joints": [ + -0.003256992669776082 + ] + }, + "fine_grasp": { + "position": [ + -0.10543861985206604, + 0.03187648206949234, + -0.06921318173408508 + ], + "orientation": [ + 0.650566577911377, + 0.20233085751533508, + -0.10974236577749252, + -0.7237279415130615 + ], + "joints": [ + 0.0036512031219899654 + ] + }, + "final_grasp": { + "position": [ + -0.10543861985206604, + 0.03187648206949234, + -0.06921318173408508 + ], + "orientation": [ + 0.650566577911377, + 0.20233085751533508, + -0.10974236577749252, + -0.7237279415130615 + ], + "joints": [ + 0.01055939868092537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09460530430078506, + 0.003057053778320551, + -0.08657506853342056 + ], + "orientation": [ + 0.2831403315067291, + 0.6449301242828369, + -0.6837707161903381, + -0.19066794216632843 + ], + "joints": [ + -0.0026349190156906843 + ] + }, + "fine_grasp": { + "position": [ + 0.09216078370809555, + 0.0028159760404378176, + -0.08500121533870697 + ], + "orientation": [ + 0.2882719933986664, + 0.6481932401657104, + -0.6804641485214233, + -0.18361148238182068 + ], + "joints": [ + 0.0037418771535158157 + ] + }, + "final_grasp": { + "position": [ + 0.09216078370809555, + 0.0028159760404378176, + -0.08500121533870697 + ], + "orientation": [ + 0.2882719933986664, + 0.6481932401657104, + -0.6804641485214233, + -0.18361148238182068 + ], + "joints": [ + 0.01011867355555296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09475429356098175, + 0.0043539125472307205, + -0.08625174313783646 + ], + "orientation": [ + 0.28363335132598877, + 0.6473802328109741, + -0.6801250576972961, + -0.19462993741035461 + ], + "joints": [ + -0.0030989546794444323 + ] + }, + "fine_grasp": { + "position": [ + 0.09262074530124664, + 0.003904871176928282, + -0.08511583507061005 + ], + "orientation": [ + 0.2902156412601471, + 0.6504678726196289, + -0.6769691109657288, + -0.18541651964187622 + ], + "joints": [ + 0.003304410958662629 + ] + }, + "final_grasp": { + "position": [ + 0.09262074530124664, + 0.003904871176928282, + -0.08511583507061005 + ], + "orientation": [ + 0.2902156412601471, + 0.6504678726196289, + -0.6769691109657288, + -0.18541651964187622 + ], + "joints": [ + 0.009707776829600334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06782316416501999, + 0.013336103409528732, + -0.11422824114561081 + ], + "orientation": [ + 0.3972887694835663, + 0.6290554404258728, + 0.592481791973114, + 0.308895081281662 + ], + "joints": [ + -0.00227120378986001 + ] + }, + "fine_grasp": { + "position": [ + -0.06482182443141937, + 0.013745631091296673, + -0.11066191643476486 + ], + "orientation": [ + 0.4011020362377167, + 0.6372234225273132, + 0.5878094434738159, + 0.29587772488594055 + ], + "joints": [ + 0.003600762225687504 + ] + }, + "final_grasp": { + "position": [ + -0.06482182443141937, + 0.013745631091296673, + -0.11066191643476486 + ], + "orientation": [ + 0.4011020362377167, + 0.6372234225273132, + 0.5878094434738159, + 0.29587772488594055 + ], + "joints": [ + 0.00947272777557373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04306889697909355, + 0.02681106887757778, + 0.13452884554862976 + ], + "orientation": [ + 0.42805540561676025, + -0.6059786677360535, + 0.5248334407806396, + -0.4172627925872803 + ], + "joints": [ + -0.0025965708773583174 + ] + }, + "fine_grasp": { + "position": [ + 0.04251973330974579, + 0.028671998530626297, + 0.13366596400737762 + ], + "orientation": [ + 0.4288497269153595, + -0.6106701493263245, + 0.5188015699386597, + -0.4171508550643921 + ], + "joints": [ + 0.0037802252918481827 + ] + }, + "final_grasp": { + "position": [ + 0.04251973330974579, + 0.028671998530626297, + 0.13366596400737762 + ], + "orientation": [ + 0.4288497269153595, + -0.6106701493263245, + 0.5188015699386597, + -0.4171508550643921 + ], + "joints": [ + 0.010157021693885326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1174226850271225, + 0.03166970983147621, + 0.06421349942684174 + ], + "orientation": [ + 0.6151365637779236, + -0.14362406730651855, + -0.25117143988609314, + 0.7334113717079163 + ], + "joints": [ + -0.0032289151567965746 + ] + }, + "fine_grasp": { + "position": [ + 0.11415333300828934, + 0.03283669799566269, + 0.061036188155412674 + ], + "orientation": [ + 0.6083576679229736, + -0.15222498774528503, + -0.2616732120513916, + 0.7336591482162476 + ], + "joints": [ + 0.003147880779579282 + ] + }, + "final_grasp": { + "position": [ + 0.11415333300828934, + 0.03283669799566269, + 0.061036188155412674 + ], + "orientation": [ + 0.6083576679229736, + -0.15222498774528503, + -0.2616732120513916, + 0.7336591482162476 + ], + "joints": [ + 0.009524676948785782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06203274801373482, + -0.017194705083966255, + 0.11875798553228378 + ], + "orientation": [ + 0.156376451253891, + 0.1707618534564972, + -0.7998670935630798, + 0.5537142753601074 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.06336002796888351, + -0.018915941938757896, + 0.12219022959470749 + ], + "orientation": [ + 0.16109612584114075, + 0.16579276323318481, + -0.801177978515625, + 0.5519733428955078 + ], + "joints": [ + -0.009553212672472 + ] + }, + "final_grasp": { + "position": [ + 0.06336002796888351, + -0.018915941938757896, + 0.12219022959470749 + ], + "orientation": [ + 0.16109612584114075, + 0.16579276323318481, + -0.801177978515625, + 0.5519733428955078 + ], + "joints": [ + -0.0026981569826602936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02383490465581417, + 0.014344220981001854, + -0.12584052979946136 + ], + "orientation": [ + 0.42899447679519653, + 0.503498375415802, + 0.5653887987136841, + 0.4927360415458679 + ], + "joints": [ + -0.002826911397278309 + ] + }, + "fine_grasp": { + "position": [ + -0.02265978790819645, + 0.015426990576088428, + -0.12491083145141602 + ], + "orientation": [ + 0.41785550117492676, + 0.506410539150238, + 0.5718605518341064, + 0.4918542206287384 + ], + "joints": [ + 0.003045054618269205 + ] + }, + "final_grasp": { + "position": [ + -0.02265978790819645, + 0.015426990576088428, + -0.12491083145141602 + ], + "orientation": [ + 0.41785550117492676, + 0.506410539150238, + 0.5718605518341064, + 0.4918542206287384 + ], + "joints": [ + 0.008917020633816719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07623955607414246, + 0.029801294207572937, + 0.10753735899925232 + ], + "orientation": [ + 0.5569018125534058, + -0.3182324469089508, + -0.37147289514541626, + 0.6712648272514343 + ], + "joints": [ + -0.00320852710865438 + ] + }, + "fine_grasp": { + "position": [ + 0.07521147280931473, + 0.03100035898387432, + 0.10500939190387726 + ], + "orientation": [ + 0.5468741655349731, + -0.3092804253101349, + -0.383487343788147, + 0.6769134402275085 + ], + "joints": [ + 0.0026634391397237778 + ] + }, + "final_grasp": { + "position": [ + 0.07521147280931473, + 0.03100035898387432, + 0.10500939190387726 + ], + "orientation": [ + 0.5468741655349731, + -0.3092804253101349, + -0.383487343788147, + 0.6769134402275085 + ], + "joints": [ + 0.008535405620932579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09634384512901306, + 0.10348707437515259, + 0.05564379692077637 + ], + "orientation": [ + 0.2743358612060547, + -0.8943121433258057, + -0.33539634943008423, + -0.11160115897655487 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.09327813237905502, + 0.10111103951931, + 0.05404973402619362 + ], + "orientation": [ + 0.26963403820991516, + -0.8947517275810242, + -0.3399520814418793, + -0.10559045523405075 + ], + "joints": [ + -0.008827285841107368 + ] + }, + "final_grasp": { + "position": [ + -0.09327813237905502, + 0.10111103951931, + 0.05404973402619362 + ], + "orientation": [ + 0.26963403820991516, + -0.8947517275810242, + -0.3399520814418793, + -0.10559045523405075 + ], + "joints": [ + -0.0024239197373390198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0474475659430027, + 0.1225263923406601, + 0.04475344344973564 + ], + "orientation": [ + 0.2899768650531769, + -0.4632507264614105, + 0.024248549714684486, + 0.8370927572250366 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + 0.04633740335702896, + 0.12216799706220627, + 0.044442709535360336 + ], + "orientation": [ + 0.2872889041900635, + -0.47222256660461426, + 0.027161961421370506, + 0.8329064249992371 + ], + "joints": [ + -0.007087431848049164 + ] + }, + "final_grasp": { + "position": [ + 0.04633740335702896, + 0.12216799706220627, + 0.044442709535360336 + ], + "orientation": [ + 0.2872889041900635, + -0.47222256660461426, + 0.027161961421370506, + 0.8329064249992371 + ], + "joints": [ + -0.0007106363773345947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11828488111495972, + 0.012701709754765034, + 0.04080040380358696 + ], + "orientation": [ + 0.08644130825996399, + -0.6848387122154236, + -0.7096214294433594, + 0.14128455519676208 + ], + "joints": [ + -0.002288887742906809 + ] + }, + "fine_grasp": { + "position": [ + -0.11338012665510178, + 0.013204609975218773, + 0.03887837380170822 + ], + "orientation": [ + 0.08495930582284927, + -0.6858755350112915, + -0.7073193788528442, + 0.14851272106170654 + ], + "joints": [ + 0.0041144778952002525 + ] + }, + "final_grasp": { + "position": [ + -0.11338012665510178, + 0.013204609975218773, + 0.03887837380170822 + ], + "orientation": [ + 0.08495930582284927, + -0.6858755350112915, + -0.7073193788528442, + 0.14851272106170654 + ], + "joints": [ + 0.010517843067646027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12740378081798553, + 0.01793788932263851, + 0.0160121601074934 + ], + "orientation": [ + 0.02112281136214733, + -0.7045895457267761, + 0.7004441022872925, + -0.11173936724662781 + ], + "joints": [ + -0.002749651437625289 + ] + }, + "fine_grasp": { + "position": [ + 0.12184543162584305, + 0.018010292202234268, + 0.015015274286270142 + ], + "orientation": [ + 0.019514620304107666, + -0.7057130336761475, + 0.6980735063552856, + -0.1195053681731224 + ], + "joints": [ + 0.0041585443541407585 + ] + }, + "final_grasp": { + "position": [ + 0.12184543162584305, + 0.018010292202234268, + 0.015015274286270142 + ], + "orientation": [ + 0.019514620304107666, + -0.7057130336761475, + 0.6980735063552856, + -0.1195053681731224 + ], + "joints": [ + 0.01106674037873745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1278039664030075, + 0.014045408926904202, + -0.017652418464422226 + ], + "orientation": [ + 0.08792955428361893, + 0.7021652460098267, + -0.7065514922142029, + 0.00415796460583806 + ], + "joints": [ + -0.0032313596457242966 + ] + }, + "fine_grasp": { + "position": [ + 0.12395555526018143, + 0.013702225871384144, + -0.016703207045793533 + ], + "orientation": [ + 0.09534777700901031, + 0.7014886140823364, + -0.7061004042625427, + 0.01564748026430607 + ], + "joints": [ + 0.003172005992382765 + ] + }, + "final_grasp": { + "position": [ + 0.12395555526018143, + 0.013702225871384144, + -0.016703207045793533 + ], + "orientation": [ + 0.09534777700901031, + 0.7014886140823364, + -0.7061004042625427, + 0.01564748026430607 + ], + "joints": [ + 0.009575371630489826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03315604478120804, + 0.1438303291797638, + -0.014472216367721558 + ], + "orientation": [ + 0.06604970991611481, + -0.9668903350830078, + 0.1474819928407669, + 0.19750817120075226 + ], + "joints": [ + -0.014995129778981209 + ] + }, + "fine_grasp": { + "position": [ + 0.03149062395095825, + 0.1388184130191803, + -0.013970497995615005 + ], + "orientation": [ + 0.054527781903743744, + -0.96675044298172, + 0.1458892971277237, + 0.2028217315673828 + ], + "joints": [ + -0.01074393279850483 + ] + }, + "final_grasp": { + "position": [ + 0.03149062395095825, + 0.1388184130191803, + -0.013970497995615005 + ], + "orientation": [ + 0.054527781903743744, + -0.96675044298172, + 0.1458892971277237, + 0.2028217315673828 + ], + "joints": [ + -0.00649273581802845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01148910354822874, + 0.14382486045360565, + 0.03088824823498726 + ], + "orientation": [ + 0.004361206665635109, + -0.9803142547607422, + -0.08071811497211456, + 0.1801379919052124 + ], + "joints": [ + -0.015024570748209953 + ] + }, + "fine_grasp": { + "position": [ + -0.010658377781510353, + 0.13886767625808716, + 0.02952396869659424 + ], + "orientation": [ + 0.018292665481567383, + -0.9797012209892273, + -0.07754116505384445, + 0.18395227193832397 + ], + "joints": [ + -0.010746803134679794 + ] + }, + "final_grasp": { + "position": [ + -0.010658377781510353, + 0.13886767625808716, + 0.02952396869659424 + ], + "orientation": [ + 0.018292665481567383, + -0.9797012209892273, + -0.07754116505384445, + 0.18395227193832397 + ], + "joints": [ + -0.006469035521149635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08682135492563248, + 0.031702715903520584, + 0.09774348884820938 + ], + "orientation": [ + 0.6401358842849731, + -0.318501353263855, + 0.173019677400589, + -0.6773825287818909 + ], + "joints": [ + -0.00210299133323133 + ] + }, + "fine_grasp": { + "position": [ + -0.08330930024385452, + 0.032518647611141205, + 0.09457041323184967 + ], + "orientation": [ + 0.6400198340415955, + -0.3245660066604614, + 0.16323593258857727, + -0.6770418882369995 + ], + "joints": [ + 0.004778634756803513 + ] + }, + "final_grasp": { + "position": [ + -0.08330930024385452, + 0.032518647611141205, + 0.09457041323184967 + ], + "orientation": [ + 0.6400198340415955, + -0.3245660066604614, + 0.16323593258857727, + -0.6770418882369995 + ], + "joints": [ + 0.011660261079668999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12635833024978638, + 0.008111073635518551, + -0.016346417367458344 + ], + "orientation": [ + 0.7261080741882324, + 0.052368152886629105, + 0.03850598633289337, + 0.6845011711120605 + ], + "joints": [ + -0.0025595456827431917 + ] + }, + "fine_grasp": { + "position": [ + 0.12486686557531357, + 0.007098101079463959, + -0.016003968194127083 + ], + "orientation": [ + 0.7279549837112427, + 0.05632701888680458, + 0.03684479743242264, + 0.6823132038116455 + ], + "joints": [ + 0.0038172504864633083 + ] + }, + "final_grasp": { + "position": [ + 0.12486686557531357, + 0.007098101079463959, + -0.016003968194127083 + ], + "orientation": [ + 0.7279549837112427, + 0.05632701888680458, + 0.03684479743242264, + 0.6823132038116455 + ], + "joints": [ + 0.010194046422839165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014027162455022335, + 0.14615672826766968, + -0.013054544106125832 + ], + "orientation": [ + 0.007103614509105682, + 0.3611453175544739, + 0.03694290295243263, + -0.9317504167556763 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + 0.013842758722603321, + 0.14076797664165497, + -0.012736888602375984 + ], + "orientation": [ + 0.006404037121683359, + 0.3566116690635681, + 0.0339704230427742, + -0.9336130023002625 + ], + "joints": [ + -0.008942179381847382 + ] + }, + "final_grasp": { + "position": [ + 0.013842758722603321, + 0.14076797664165497, + -0.012736888602375984 + ], + "orientation": [ + 0.006404037121683359, + 0.3566116690635681, + 0.0339704230427742, + -0.9336130023002625 + ], + "joints": [ + -0.0025653839111328125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021014956757426262, + -0.0015357809606939554, + -0.1290770322084427 + ], + "orientation": [ + 0.6484143733978271, + 0.5784016251564026, + 0.390529602766037, + 0.30413347482681274 + ], + "joints": [ + -0.007416298612952232 + ] + }, + "fine_grasp": { + "position": [ + -0.022164316847920418, + -4.468699626158923e-05, + -0.12597666680812836 + ], + "orientation": [ + 0.6590831279754639, + 0.5749911665916443, + 0.3804931044578552, + 0.30036574602127075 + ], + "joints": [ + -0.0020757324527949095 + ] + }, + "final_grasp": { + "position": [ + -0.022164316847920418, + -4.468699626158923e-05, + -0.12597666680812836 + ], + "orientation": [ + 0.6590831279754639, + 0.5749911665916443, + 0.3804931044578552, + 0.30036574602127075 + ], + "joints": [ + 0.0032648337073624134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12330694496631622, + 0.04475248605012894, + 0.03428821638226509 + ], + "orientation": [ + 0.600561797618866, + -0.08473046869039536, + -0.17768815159797668, + 0.7749664783477783 + ], + "joints": [ + -0.003291790373623371 + ] + }, + "fine_grasp": { + "position": [ + 0.11860053241252899, + 0.04585375264286995, + 0.03291763365268707 + ], + "orientation": [ + 0.5938923358917236, + -0.0981636792421341, + -0.17825083434581757, + 0.7783845067024231 + ], + "joints": [ + 0.0030850055627524853 + ] + }, + "final_grasp": { + "position": [ + 0.11860053241252899, + 0.04585375264286995, + 0.03291763365268707 + ], + "orientation": [ + 0.5938923358917236, + -0.0981636792421341, + -0.17825083434581757, + 0.7783845067024231 + ], + "joints": [ + 0.009461801499128342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06969571858644485, + 0.014857960864901543, + -0.11616230756044388 + ], + "orientation": [ + 0.40154868364334106, + 0.6339384913444519, + 0.5842856168746948, + 0.3090161681175232 + ], + "joints": [ + -0.0022802636958658695 + ] + }, + "fine_grasp": { + "position": [ + -0.06856485456228256, + 0.01598985679447651, + -0.11532384902238846 + ], + "orientation": [ + 0.409005731344223, + 0.6412492990493774, + 0.5760257840156555, + 0.2995128035545349 + ], + "joints": [ + 0.003086872398853302 + ] + }, + "final_grasp": { + "position": [ + -0.06856485456228256, + 0.01598985679447651, + -0.11532384902238846 + ], + "orientation": [ + 0.409005731344223, + 0.6412492990493774, + 0.5760257840156555, + 0.2995128035545349 + ], + "joints": [ + 0.008454008027911186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04597872123122215, + -0.11638487130403519, + 0.012342995963990688 + ], + "orientation": [ + 0.7643761038780212, + 0.0054056886583566666, + 0.6357089877128601, + -0.10758195072412491 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.04476102441549301, + -0.11167886853218079, + 0.01172292698174715 + ], + "orientation": [ + 0.7648454308509827, + 0.009947073645889759, + 0.6356657147407532, + -0.10412301123142242 + ], + "joints": [ + -0.012067196890711784 + ] + }, + "final_grasp": { + "position": [ + -0.04476102441549301, + -0.11167886853218079, + 0.01172292698174715 + ], + "orientation": [ + 0.7648454308509827, + 0.009947073645889759, + 0.6356657147407532, + -0.10412301123142242 + ], + "joints": [ + -0.006195222958922386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025328822433948517, + 0.0028732263017445803, + 0.12584058940410614 + ], + "orientation": [ + 0.5798770189285278, + -0.4288572072982788, + -0.4603539705276489, + 0.5175891518592834 + ], + "joints": [ + -0.002634623320773244 + ] + }, + "fine_grasp": { + "position": [ + 0.024867409840226173, + 0.0016322638839483261, + 0.12486903369426727 + ], + "orientation": [ + 0.5791196823120117, + -0.4266042113304138, + -0.46405521035194397, + 0.5169932246208191 + ], + "joints": [ + 0.0032373429276049137 + ] + }, + "final_grasp": { + "position": [ + 0.024867409840226173, + 0.0016322638839483261, + 0.12486903369426727 + ], + "orientation": [ + 0.5791196823120117, + -0.4266042113304138, + -0.46405521035194397, + 0.5169932246208191 + ], + "joints": [ + 0.009109308943152428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02509084902703762, + 0.0028759888373315334, + 0.1256473809480667 + ], + "orientation": [ + 0.5804945826530457, + -0.42955347895622253, + -0.4596029818058014, + 0.5169863700866699 + ], + "joints": [ + -0.002664063824340701 + ] + }, + "fine_grasp": { + "position": [ + 0.024530895054340363, + 0.001449420815333724, + 0.12481698393821716 + ], + "orientation": [ + 0.5802075862884521, + -0.4268730878829956, + -0.4634658992290497, + 0.5160794258117676 + ], + "joints": [ + 0.0032079024240374565 + ] + }, + "final_grasp": { + "position": [ + 0.024530895054340363, + 0.001449420815333724, + 0.12481698393821716 + ], + "orientation": [ + 0.5802075862884521, + -0.4268730878829956, + -0.4634658992290497, + 0.5160794258117676 + ], + "joints": [ + 0.009079868905246258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05279548093676567, + -0.08275119960308075, + 0.04984740540385246 + ], + "orientation": [ + 0.45244115591049194, + -0.33429911732673645, + -0.8258565664291382, + 0.0387573167681694 + ], + "joints": [ + -0.015583937987685204 + ] + }, + "fine_grasp": { + "position": [ + -0.05083630606532097, + -0.08059796690940857, + 0.04675549268722534 + ], + "orientation": [ + 0.4471052587032318, + -0.32823193073272705, + -0.8315495848655701, + 0.029766453430056572 + ], + "joints": [ + -0.009765112772583961 + ] + }, + "final_grasp": { + "position": [ + -0.05083630606532097, + -0.08059796690940857, + 0.04675549268722534 + ], + "orientation": [ + 0.4471052587032318, + -0.32823193073272705, + -0.8315495848655701, + 0.029766453430056572 + ], + "joints": [ + -0.003946287557482719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017026017885655165, + 0.1456218808889389, + 0.028837108984589577 + ], + "orientation": [ + 0.0378061980009079, + -0.9970808029174805, + -0.021251484751701355, + 0.06284058094024658 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.0015262642409652472, + 0.1401892751455307, + 0.027630135416984558 + ], + "orientation": [ + 0.041578955948352814, + -0.9962968230247498, + -0.02294420264661312, + 0.07167566567659378 + ], + "joints": [ + -0.011591808870434761 + ] + }, + "final_grasp": { + "position": [ + -0.0015262642409652472, + 0.1401892751455307, + 0.027630135416984558 + ], + "orientation": [ + 0.041578955948352814, + -0.9962968230247498, + -0.02294420264661312, + 0.07167566567659378 + ], + "joints": [ + -0.005215005949139595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05276551470160484, + -0.0827910304069519, + 0.0499093122780323 + ], + "orientation": [ + 0.45173880457878113, + -0.33440306782722473, + -0.8262163996696472, + 0.03838134557008743 + ], + "joints": [ + -0.015583937987685204 + ] + }, + "fine_grasp": { + "position": [ + -0.05080888047814369, + -0.08054223656654358, + 0.04699741676449776 + ], + "orientation": [ + 0.44716766476631165, + -0.32883119583129883, + -0.8313024044036865, + 0.02910899743437767 + ], + "joints": [ + -0.009765112772583961 + ] + }, + "final_grasp": { + "position": [ + -0.05080888047814369, + -0.08054223656654358, + 0.04699741676449776 + ], + "orientation": [ + 0.44716766476631165, + -0.32883119583129883, + -0.8313024044036865, + 0.02910899743437767 + ], + "joints": [ + -0.003946287557482719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08718482404947281, + 0.10699006915092468, + 0.030142905190587044 + ], + "orientation": [ + 0.08833146840333939, + 0.8338029980659485, + -0.3873788118362427, + 0.3832854926586151 + ], + "joints": [ + -0.014406321570277214 + ] + }, + "fine_grasp": { + "position": [ + 0.08339601010084152, + 0.10462754219770432, + 0.028766021132469177 + ], + "orientation": [ + 0.0901305228471756, + 0.8373121619224548, + -0.38257211446762085, + 0.3800307512283325 + ], + "joints": [ + -0.00800295639783144 + ] + }, + "final_grasp": { + "position": [ + 0.08339601010084152, + 0.10462754219770432, + 0.028766021132469177 + ], + "orientation": [ + 0.0901305228471756, + 0.8373121619224548, + -0.38257211446762085, + 0.3800307512283325 + ], + "joints": [ + -0.001599591225385666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12851640582084656, + 0.0152139812707901, + -0.01782565377652645 + ], + "orientation": [ + 0.0961814895272255, + 0.7053863406181335, + -0.7022191882133484, + 0.008208866231143475 + ], + "joints": [ + -0.003042321652173996 + ] + }, + "fine_grasp": { + "position": [ + 0.12493907660245895, + 0.015462372452020645, + -0.0169555451720953 + ], + "orientation": [ + 0.10854089260101318, + 0.7066720724105835, + -0.6989706158638, + 0.01653602533042431 + ], + "joints": [ + 0.002829644363373518 + ] + }, + "final_grasp": { + "position": [ + 0.12493907660245895, + 0.015462372452020645, + -0.0169555451720953 + ], + "orientation": [ + 0.10854089260101318, + 0.7066720724105835, + -0.6989706158638, + 0.01653602533042431 + ], + "joints": [ + 0.008701610378921032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08718350529670715, + 0.10698628425598145, + 0.030151909217238426 + ], + "orientation": [ + 0.08829746395349503, + 0.8337882161140442, + -0.3873961567878723, + 0.38330793380737305 + ], + "joints": [ + -0.014406321570277214 + ] + }, + "fine_grasp": { + "position": [ + 0.0833156481385231, + 0.10460454970598221, + 0.02878144569694996 + ], + "orientation": [ + 0.08989889919757843, + 0.8372743725776672, + -0.3826531171798706, + 0.38008758425712585 + ], + "joints": [ + -0.008507785387337208 + ] + }, + "final_grasp": { + "position": [ + 0.0833156481385231, + 0.10460454970598221, + 0.02878144569694996 + ], + "orientation": [ + 0.08989889919757843, + 0.8372743725776672, + -0.3826531171798706, + 0.38008758425712585 + ], + "joints": [ + -0.0026092492043972015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09601224958896637, + -0.010791261680424213, + -0.08548560738563538 + ], + "orientation": [ + 0.7500547766685486, + 0.5182084441184998, + -0.29580605030059814, + 0.2852662205696106 + ], + "joints": [ + -0.016938194632530212 + ] + }, + "fine_grasp": { + "position": [ + 0.09686604142189026, + -0.011092076078057289, + -0.08662942796945572 + ], + "orientation": [ + 0.7537109851837158, + 0.5106373429298401, + -0.29880964756011963, + 0.2861504554748535 + ], + "joints": [ + -0.010587966069579124 + ] + }, + "final_grasp": { + "position": [ + 0.09686604142189026, + -0.011092076078057289, + -0.08662942796945572 + ], + "orientation": [ + 0.7537109851837158, + 0.5106373429298401, + -0.29880964756011963, + 0.2861504554748535 + ], + "joints": [ + -0.0042377375066280365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056508101522922516, + 0.00248408573679626, + -0.11439941823482513 + ], + "orientation": [ + 0.6188985705375671, + 0.32867690920829773, + -0.40861085057258606, + -0.584784746170044 + ], + "joints": [ + -0.0029155039228498936 + ] + }, + "fine_grasp": { + "position": [ + -0.055523451417684555, + 0.001579528790898621, + -0.11319389939308167 + ], + "orientation": [ + 0.6164034008979797, + 0.31996607780456543, + -0.4127565324306488, + -0.5893220901489258 + ], + "joints": [ + 0.003487861715257168 + ] + }, + "final_grasp": { + "position": [ + -0.055523451417684555, + 0.001579528790898621, + -0.11319389939308167 + ], + "orientation": [ + 0.6164034008979797, + 0.31996607780456543, + -0.4127565324306488, + -0.5893220901489258 + ], + "joints": [ + 0.009891226887702942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12463289499282837, + 0.023478999733924866, + 0.03108212910592556 + ], + "orientation": [ + 0.05898995324969292, + -0.7152971625328064, + -0.6828064918518066, + 0.13654857873916626 + ], + "joints": [ + -0.002830992918461561 + ] + }, + "fine_grasp": { + "position": [ + -0.12540487945079803, + 0.024799887090921402, + 0.030732998624444008 + ], + "orientation": [ + 0.044557709246873856, + -0.7176688313484192, + -0.6781258583068848, + 0.1520238071680069 + ], + "joints": [ + 0.0030409730970859528 + ] + }, + "final_grasp": { + "position": [ + -0.12540487945079803, + 0.024799887090921402, + 0.030732998624444008 + ], + "orientation": [ + 0.044557709246873856, + -0.7176688313484192, + -0.6781258583068848, + 0.1520238071680069 + ], + "joints": [ + 0.008912939578294754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11569918692111969, + 0.01769949123263359, + -0.059355925768613815 + ], + "orientation": [ + 0.21897687017917633, + 0.7073018550872803, + -0.6665692329406738, + -0.08636486530303955 + ], + "joints": [ + -0.0036156123969703913 + ] + }, + "fine_grasp": { + "position": [ + 0.11133584380149841, + 0.01868084818124771, + -0.057955965399742126 + ], + "orientation": [ + 0.22184905409812927, + 0.7132634520530701, + -0.6603600382804871, + -0.07721926271915436 + ], + "joints": [ + 0.00278775324113667 + ] + }, + "final_grasp": { + "position": [ + 0.11133584380149841, + 0.01868084818124771, + -0.057955965399742126 + ], + "orientation": [ + 0.22184905409812927, + 0.7132634520530701, + -0.6603600382804871, + -0.07721926271915436 + ], + "joints": [ + 0.009191119112074375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04709746316075325, + 0.12287545204162598, + 0.04474937915802002 + ], + "orientation": [ + 0.2927113175392151, + -0.4718812108039856, + 0.03335270285606384, + 0.830984890460968 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.046223483979701996, + 0.12249293178319931, + 0.043964553624391556 + ], + "orientation": [ + 0.2880583703517914, + -0.4833418130874634, + 0.03352384269237518, + 0.8260020017623901 + ], + "joints": [ + -0.007002055644989014 + ] + }, + "final_grasp": { + "position": [ + 0.046223483979701996, + 0.12249293178319931, + 0.043964553624391556 + ], + "orientation": [ + 0.2880583703517914, + -0.4833418130874634, + 0.03352384269237518, + 0.8260020017623901 + ], + "joints": [ + -0.0016880594193935394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12036825716495514, + 0.07762682437896729, + -0.04666529968380928 + ], + "orientation": [ + 0.302188515663147, + 0.805045485496521, + -0.3695032000541687, + 0.35220927000045776 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.1180916577577591, + 0.07614536583423615, + -0.04625479131937027 + ], + "orientation": [ + 0.3082228899002075, + 0.8000310063362122, + -0.3617458939552307, + 0.366181343793869 + ], + "joints": [ + -0.009357288479804993 + ] + }, + "final_grasp": { + "position": [ + 0.1180916577577591, + 0.07614536583423615, + -0.04625479131937027 + ], + "orientation": [ + 0.3082228899002075, + 0.8000310063362122, + -0.3617458939552307, + 0.366181343793869 + ], + "joints": [ + -0.004043292254209518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05486176908016205, + -0.09871774166822433, + 0.0029128282330930233 + ], + "orientation": [ + 0.866843581199646, + 0.009357765316963196, + -0.4679310619831085, + 0.17185790836811066 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.054784368723630905, + -0.10289457440376282, + 0.0019550679717212915 + ], + "orientation": [ + 0.8681784272193909, + 0.0122252581641078, + -0.4687281847000122, + 0.16251341998577118 + ], + "joints": [ + -0.010114052332937717 + ] + }, + "final_grasp": { + "position": [ + 0.054784368723630905, + -0.10289457440376282, + 0.0019550679717212915 + ], + "orientation": [ + 0.8681784272193909, + 0.0122252581641078, + -0.4687281847000122, + 0.16251341998577118 + ], + "joints": [ + -0.0037903953343629837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07962747663259506, + 0.11270689219236374, + -0.053535737097263336 + ], + "orientation": [ + 0.09597465395927429, + -0.7168538570404053, + -0.39901721477508545, + -0.563644289970398 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.07830348610877991, + 0.10942654311656952, + -0.05175831913948059 + ], + "orientation": [ + 0.07687103748321533, + -0.7160142660140991, + -0.39219939708709717, + -0.5723583698272705 + ], + "joints": [ + -0.011462057009339333 + ] + }, + "final_grasp": { + "position": [ + -0.07830348610877991, + 0.10942654311656952, + -0.05175831913948059 + ], + "orientation": [ + 0.07687103748321533, + -0.7160142660140991, + -0.39219939708709717, + -0.5723583698272705 + ], + "joints": [ + -0.00819394737482071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005332383327186108, + -0.007373516913503408, + 0.1320444792509079 + ], + "orientation": [ + 0.5170409083366394, + -0.4039643108844757, + 0.5640639662742615, + -0.5013116598129272 + ], + "joints": [ + -0.0036375669296830893 + ] + }, + "fine_grasp": { + "position": [ + -0.0052864039316773415, + -0.007554371375590563, + 0.1292346864938736 + ], + "orientation": [ + 0.5110134482383728, + -0.4001571834087372, + 0.5689525008201599, + -0.5050073266029358 + ], + "joints": [ + 0.002739229006692767 + ] + }, + "final_grasp": { + "position": [ + -0.0052864039316773415, + -0.007554371375590563, + 0.1292346864938736 + ], + "orientation": [ + 0.5110134482383728, + -0.4001571834087372, + 0.5689525008201599, + -0.5050073266029358 + ], + "joints": [ + 0.00911602471023798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07982737571001053, + 0.1126268282532692, + -0.053703125566244125 + ], + "orientation": [ + 0.09608399122953415, + -0.7157829403877258, + -0.3995913565158844, + -0.5645790696144104 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.0786060243844986, + 0.10929835587739944, + -0.05192100629210472 + ], + "orientation": [ + 0.0768788754940033, + -0.7149942517280579, + -0.3924717605113983, + -0.573444664478302 + ], + "joints": [ + -0.011488627642393112 + ] + }, + "final_grasp": { + "position": [ + -0.0786060243844986, + 0.10929835587739944, + -0.05192100629210472 + ], + "orientation": [ + 0.0768788754940033, + -0.7149942517280579, + -0.3924717605113983, + -0.573444664478302 + ], + "joints": [ + -0.008247088640928268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07974621653556824, + 0.1126808151602745, + -0.05345536395907402 + ], + "orientation": [ + 0.09706077724695206, + -0.7149816751480103, + -0.39896607398986816, + -0.5658679008483887 + ], + "joints": [ + -0.0147596076130867 + ] + }, + "fine_grasp": { + "position": [ + -0.0784599632024765, + 0.1093369796872139, + -0.05164311081171036 + ], + "orientation": [ + 0.07814088463783264, + -0.7140417098999023, + -0.3919394016265869, + -0.5748234987258911 + ], + "joints": [ + -0.011518068611621857 + ] + }, + "final_grasp": { + "position": [ + -0.0784599632024765, + 0.1093369796872139, + -0.05164311081171036 + ], + "orientation": [ + 0.07814088463783264, + -0.7140417098999023, + -0.3919394016265869, + -0.5748234987258911 + ], + "joints": [ + -0.008276529610157013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04822942987084389, + -0.09723379462957382, + 0.005356023088097572 + ], + "orientation": [ + 0.7987861037254333, + 0.02182663045823574, + -0.5871773958206177, + 0.12917841970920563 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.04998555779457092, + -0.10234973579645157, + 0.005100161302834749 + ], + "orientation": [ + 0.7991353869438171, + 0.020158644765615463, + -0.5875684022903442, + 0.1254575252532959 + ], + "joints": [ + -0.012354464270174503 + ] + }, + "final_grasp": { + "position": [ + 0.04998555779457092, + -0.10234973579645157, + 0.005100161302834749 + ], + "orientation": [ + 0.7991353869438171, + 0.020158644765615463, + -0.5875684022903442, + 0.1254575252532959 + ], + "joints": [ + -0.007093602791428566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04815264046192169, + -0.09737451374530792, + 0.005295162089169025 + ], + "orientation": [ + 0.7989122867584229, + 0.021815381944179535, + -0.5871042013168335, + 0.12873178720474243 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.04986949637532234, + -0.10244756937026978, + 0.005012743175029755 + ], + "orientation": [ + 0.799333930015564, + 0.020226014778017998, + -0.5873993635177612, + 0.12497216463088989 + ], + "joints": [ + -0.012354464270174503 + ] + }, + "final_grasp": { + "position": [ + 0.04986949637532234, + -0.10244756937026978, + 0.005012743175029755 + ], + "orientation": [ + 0.799333930015564, + 0.020226014778017998, + -0.5873993635177612, + 0.12497216463088989 + ], + "joints": [ + -0.007093602791428566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027918683364987373, + 0.15185172855854034, + 0.000571452546864748 + ], + "orientation": [ + 0.1270318478345871, + -0.7979258894920349, + -0.12230844050645828, + -0.5763833522796631 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.026963701471686363, + 0.14620620012283325, + 0.0005202115862630308 + ], + "orientation": [ + 0.11620594561100006, + -0.7965255379676819, + -0.11697915941476822, + -0.5816864967346191 + ], + "joints": [ + -0.013783578760921955 + ] + }, + "final_grasp": { + "position": [ + -0.026963701471686363, + 0.14620620012283325, + 0.0005202115862630308 + ], + "orientation": [ + 0.11620594561100006, + -0.7965255379676819, + -0.11697915941476822, + -0.5816864967346191 + ], + "joints": [ + -0.011100007221102715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04820508137345314, + -0.09720747917890549, + 0.005304867867380381 + ], + "orientation": [ + 0.7983700037002563, + 0.02201823517680168, + -0.5878370404243469, + 0.12871722877025604 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.04996585100889206, + -0.10235252231359482, + 0.005063598044216633 + ], + "orientation": [ + 0.7987185120582581, + 0.02030605636537075, + -0.5882053375244141, + 0.12510362267494202 + ], + "joints": [ + -0.012354464270174503 + ] + }, + "final_grasp": { + "position": [ + 0.04996585100889206, + -0.10235252231359482, + 0.005063598044216633 + ], + "orientation": [ + 0.7987185120582581, + 0.02030605636537075, + -0.5882053375244141, + 0.12510362267494202 + ], + "joints": [ + -0.007093602791428566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12059654295444489, + 0.07764320820569992, + -0.04658379405736923 + ], + "orientation": [ + 0.30218714475631714, + 0.8045763969421387, + -0.3695979714393616, + 0.3531813323497772 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.11832491308450699, + 0.0761551484465599, + -0.04613693431019783 + ], + "orientation": [ + 0.3081935942173004, + 0.7995361089706421, + -0.3623194098472595, + 0.3667197823524475 + ], + "joints": [ + -0.009327847510576248 + ] + }, + "final_grasp": { + "position": [ + 0.11832491308450699, + 0.0761551484465599, + -0.04613693431019783 + ], + "orientation": [ + 0.3081935942173004, + 0.7995361089706421, + -0.3623194098472595, + 0.3667197823524475 + ], + "joints": [ + -0.004013851284980774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027902137488126755, + 0.1518886685371399, + 0.0005576825351454318 + ], + "orientation": [ + 0.12682653963565826, + -0.7980603575706482, + -0.1225055456161499, + -0.5762004256248474 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.026886850595474243, + 0.14629261195659637, + 0.0004642939893528819 + ], + "orientation": [ + 0.11686954647302628, + -0.7966684103012085, + -0.1172468289732933, + -0.5813037157058716 + ], + "joints": [ + -0.013278749771416187 + ] + }, + "final_grasp": { + "position": [ + -0.026886850595474243, + 0.14629261195659637, + 0.0004642939893528819 + ], + "orientation": [ + 0.11686954647302628, + -0.7966684103012085, + -0.1172468289732933, + -0.5813037157058716 + ], + "joints": [ + -0.010090349242091179 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12058544158935547, + 0.07762947678565979, + -0.046653538942337036 + ], + "orientation": [ + 0.30232352018356323, + 0.8046481609344482, + -0.3696002960205078, + 0.35289856791496277 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.11834121495485306, + 0.07614409178495407, + -0.046214841306209564 + ], + "orientation": [ + 0.3083893656730652, + 0.7995594143867493, + -0.3622658848762512, + 0.36655715107917786 + ], + "joints": [ + -0.009327847510576248 + ] + }, + "final_grasp": { + "position": [ + 0.11834121495485306, + 0.07614409178495407, + -0.046214841306209564 + ], + "orientation": [ + 0.3083893656730652, + 0.7995594143867493, + -0.3622658848762512, + 0.36655715107917786 + ], + "joints": [ + -0.004013851284980774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10027012974023819, + 0.011624304577708244, + -0.09460902959108353 + ], + "orientation": [ + 0.7359647154808044, + 0.4688589572906494, + 0.12005806714296341, + -0.47340595722198486 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.09877472370862961, + 0.010972224175930023, + -0.09253544360399246 + ], + "orientation": [ + 0.7310721278190613, + 0.48478278517723083, + 0.11818680912256241, + -0.46535050868988037 + ], + "joints": [ + -0.006832701154053211 + ] + }, + "final_grasp": { + "position": [ + -0.09877472370862961, + 0.010972224175930023, + -0.09253544360399246 + ], + "orientation": [ + 0.7310721278190613, + 0.48478278517723083, + 0.11818680912256241, + -0.46535050868988037 + ], + "joints": [ + -0.0030863340944051743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032681018114089966, + -0.0920562595129013, + 0.07240743935108185 + ], + "orientation": [ + 0.7084744572639465, + -0.34061792492866516, + -0.6149430871009827, + 0.06235592067241669 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.03338710218667984, + -0.09129036962985992, + 0.07025811076164246 + ], + "orientation": [ + 0.7054433822631836, + -0.3342828154563904, + -0.6216632723808289, + 0.06433779001235962 + ], + "joints": [ + -0.011952383443713188 + ] + }, + "final_grasp": { + "position": [ + -0.03338710218667984, + -0.09129036962985992, + 0.07025811076164246 + ], + "orientation": [ + 0.7054433822631836, + -0.3342828154563904, + -0.6216632723808289, + 0.06433779001235962 + ], + "joints": [ + -0.007143212482333183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056765735149383545, + 0.13440631330013275, + -0.017612960189580917 + ], + "orientation": [ + 0.2482347935438156, + 0.6693189144134521, + -0.1617070436477661, + 0.6813534498214722 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.0544402077794075, + 0.1296331137418747, + -0.016918307170271873 + ], + "orientation": [ + 0.24205195903778076, + 0.669226348400116, + -0.15344306826591492, + 0.6855669617652893 + ], + "joints": [ + -0.013156566768884659 + ] + }, + "final_grasp": { + "position": [ + 0.0544402077794075, + 0.1296331137418747, + -0.016918307170271873 + ], + "orientation": [ + 0.24205195903778076, + 0.669226348400116, + -0.15344306826591492, + 0.6855669617652893 + ], + "joints": [ + -0.008373962715268135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0153236985206604, + 0.0010641110129654408, + 0.1269320547580719 + ], + "orientation": [ + 0.500127911567688, + -0.5043601393699646, + 0.5523443818092346, + -0.4363580644130707 + ], + "joints": [ + -0.0025427655782550573 + ] + }, + "fine_grasp": { + "position": [ + 0.014951121993362904, + -0.0006464478792622685, + 0.12559185922145844 + ], + "orientation": [ + 0.5013969540596008, + -0.5049682855606079, + 0.5541591048240662, + -0.4318747818470001 + ], + "joints": [ + 0.0033292006701231003 + ] + }, + "final_grasp": { + "position": [ + 0.014951121993362904, + -0.0006464478792622685, + 0.12559185922145844 + ], + "orientation": [ + 0.5013969540596008, + -0.5049682855606079, + 0.5541591048240662, + -0.4318747818470001 + ], + "joints": [ + 0.009201167151331902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03303070738911629, + -0.10740307718515396, + 0.04159799963235855 + ], + "orientation": [ + 0.9749846458435059, + -0.10488221049308777, + -0.17704883217811584, + -0.08401364833116531 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.03377421945333481, + -0.10851545631885529, + 0.042903222143650055 + ], + "orientation": [ + 0.9755356311798096, + -0.09455914795398712, + -0.18119975924491882, + -0.08096559345722198 + ], + "joints": [ + -0.008493282832205296 + ] + }, + "final_grasp": { + "position": [ + -0.03377421945333481, + -0.10851545631885529, + 0.042903222143650055 + ], + "orientation": [ + 0.9755356311798096, + -0.09455914795398712, + -0.18119975924491882, + -0.08096559345722198 + ], + "joints": [ + -0.00054885633289814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03316427022218704, + -0.10720674693584442, + 0.04161054268479347 + ], + "orientation": [ + 0.9752272367477417, + -0.10496276617050171, + -0.17514625191688538, + -0.08507931232452393 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.03413194790482521, + -0.10835880041122437, + 0.0429382249712944 + ], + "orientation": [ + 0.9757984280586243, + -0.09439685195684433, + -0.1789441853761673, + -0.08298014849424362 + ], + "joints": [ + -0.008493282832205296 + ] + }, + "final_grasp": { + "position": [ + -0.03413194790482521, + -0.10835880041122437, + 0.0429382249712944 + ], + "orientation": [ + 0.9757984280586243, + -0.09439685195684433, + -0.1789441853761673, + -0.08298014849424362 + ], + "joints": [ + -0.00054885633289814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0570167675614357, + -0.010022780857980251, + -0.11766310036182404 + ], + "orientation": [ + 0.6372764110565186, + 0.3165282905101776, + -0.4344838559627533, + -0.5521888136863708 + ], + "joints": [ + -0.0031859513837844133 + ] + }, + "fine_grasp": { + "position": [ + -0.056791841983795166, + -0.010379992425441742, + -0.11597289890050888 + ], + "orientation": [ + 0.6359901428222656, + 0.31915339827537537, + -0.43388521671295166, + -0.5526311993598938 + ], + "joints": [ + 0.003217414254322648 + ] + }, + "final_grasp": { + "position": [ + -0.056791841983795166, + -0.010379992425441742, + -0.11597289890050888 + ], + "orientation": [ + 0.6359901428222656, + 0.31915339827537537, + -0.43388521671295166, + -0.5526311993598938 + ], + "joints": [ + 0.009620780125260353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054274607449769974, + -0.025826886296272278, + 0.12126195430755615 + ], + "orientation": [ + 0.7052742838859558, + -0.6257472038269043, + -0.3327926695346832, + -0.016663549467921257 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.054219961166381836, + -0.023968633264303207, + 0.12008281797170639 + ], + "orientation": [ + 0.7143381237983704, + -0.618685245513916, + -0.32682570815086365, + -0.011604941450059414 + ], + "joints": [ + -0.010508334264159203 + ] + }, + "final_grasp": { + "position": [ + -0.054219961166381836, + -0.023968633264303207, + 0.12008281797170639 + ], + "orientation": [ + 0.7143381237983704, + -0.618685245513916, + -0.32682570815086365, + -0.011604941450059414 + ], + "joints": [ + -0.005167767405509949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1209491714835167, + 0.07754316926002502, + -0.046583157032728195 + ], + "orientation": [ + 0.30128949880599976, + 0.8044325709342957, + -0.37014323472976685, + 0.3537044823169708 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.11863838881254196, + 0.07609369605779648, + -0.04604756459593773 + ], + "orientation": [ + 0.3078320622444153, + 0.7990918755531311, + -0.36352404952049255, + 0.36679962277412415 + ], + "joints": [ + -0.009327847510576248 + ] + }, + "final_grasp": { + "position": [ + 0.11863838881254196, + 0.07609369605779648, + -0.04604756459593773 + ], + "orientation": [ + 0.3078320622444153, + 0.7990918755531311, + -0.36352404952049255, + 0.36679962277412415 + ], + "joints": [ + -0.004013851284980774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044655997306108475, + -0.10231057554483414, + -0.05319966748356819 + ], + "orientation": [ + 0.17273147404193878, + -0.12071188539266586, + 0.9675545692443848, + 0.1393938958644867 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.04383840411901474, + -0.10223449766635895, + -0.05308884009718895 + ], + "orientation": [ + 0.18418288230895996, + -0.1134413629770279, + 0.9661973118782043, + 0.1402515172958374 + ], + "joints": [ + -0.007730777841061354 + ] + }, + "final_grasp": { + "position": [ + 0.04383840411901474, + -0.10223449766635895, + -0.05308884009718895 + ], + "orientation": [ + 0.18418288230895996, + -0.1134413629770279, + 0.9661973118782043, + 0.1402515172958374 + ], + "joints": [ + -0.0008491529151797295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021292628720402718, + -0.004278578329831362, + -0.12631474435329437 + ], + "orientation": [ + 0.6005314588546753, + 0.3988547623157501, + -0.4634874761104584, + -0.515224277973175 + ], + "joints": [ + -0.0028726542368531227 + ] + }, + "fine_grasp": { + "position": [ + -0.019648898392915726, + -0.0034684513229876757, + -0.1224604994058609 + ], + "orientation": [ + 0.6052497029304504, + 0.39749184250831604, + -0.45404526591300964, + -0.519149124622345 + ], + "joints": [ + 0.002467912156134844 + ] + }, + "final_grasp": { + "position": [ + -0.019648898392915726, + -0.0034684513229876757, + -0.1224604994058609 + ], + "orientation": [ + 0.6052497029304504, + 0.39749184250831604, + -0.45404526591300964, + -0.519149124622345 + ], + "joints": [ + 0.00780847854912281 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03289417177438736, + 0.022349808365106583, + 0.12420332431793213 + ], + "orientation": [ + 0.5638259053230286, + -0.4511575996875763, + -0.3960726857185364, + 0.5671714544296265 + ], + "joints": [ + -0.0027204907964915037 + ] + }, + "fine_grasp": { + "position": [ + 0.031795650720596313, + 0.02505630999803543, + 0.1217377558350563 + ], + "orientation": [ + 0.5640356540679932, + -0.46132537722587585, + -0.3831002712249756, + 0.5676944255828857 + ], + "joints": [ + 0.0031514752190560102 + ] + }, + "final_grasp": { + "position": [ + 0.031795650720596313, + 0.02505630999803543, + 0.1217377558350563 + ], + "orientation": [ + 0.5640356540679932, + -0.46132537722587585, + -0.3831002712249756, + 0.5676944255828857 + ], + "joints": [ + 0.00902344100177288 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08493779599666595, + -0.08781029284000397, + 0.03001468814909458 + ], + "orientation": [ + 0.8658303618431091, + -0.16162167489528656, + -0.4144015610218048, + -0.22910180687904358 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.0838296189904213, + -0.08759357780218124, + 0.030114231631159782 + ], + "orientation": [ + 0.8637539744377136, + -0.16621680557727814, + -0.41979798674583435, + -0.22376513481140137 + ], + "joints": [ + -0.006612042896449566 + ] + }, + "final_grasp": { + "position": [ + -0.0838296189904213, + -0.08759357780218124, + 0.030114231631159782 + ], + "orientation": [ + 0.8637539744377136, + -0.16621680557727814, + -0.41979798674583435, + -0.22376513481140137 + ], + "joints": [ + 0.00026958249509334564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0029753432609140873, + -0.10107004642486572, + -0.004031632095575333 + ], + "orientation": [ + 0.09354126453399658, + -0.001380828325636685, + -0.9880423545837402, + -0.12255798280239105 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.003806459717452526, + -0.10580360144376755, + -0.0050429534167051315 + ], + "orientation": [ + 0.0863204076886177, + -0.002100271638482809, + -0.9889205098152161, + -0.12075016647577286 + ], + "joints": [ + -0.01156686618924141 + ] + }, + "final_grasp": { + "position": [ + 0.003806459717452526, + -0.10580360144376755, + -0.0050429534167051315 + ], + "orientation": [ + 0.0863204076886177, + -0.002100271638482809, + -0.9889205098152161, + -0.12075016647577286 + ], + "joints": [ + -0.007873639464378357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020499302074313164, + -0.11378401517868042, + -0.03537575155496597 + ], + "orientation": [ + 0.4652004837989807, + 0.03509574010968208, + -0.8816298246383667, + -0.07131370157003403 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.02065391093492508, + -0.11201827228069305, + -0.03482729196548462 + ], + "orientation": [ + 0.4697275459766388, + 0.035350095480680466, + -0.8796246647834778, + -0.06608300656080246 + ], + "joints": [ + -0.007789659779518843 + ] + }, + "final_grasp": { + "position": [ + -0.02065391093492508, + -0.11201827228069305, + -0.03482729196548462 + ], + "orientation": [ + 0.4697275459766388, + 0.035350095480680466, + -0.8796246647834778, + -0.06608300656080246 + ], + "joints": [ + -0.0009080348536372185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0126503212377429, + 0.1515963077545166, + -0.03557199612259865 + ], + "orientation": [ + 0.0887804925441742, + 0.8111032843589783, + -0.09057619422674179, + -0.5709863305091858 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.012550960294902325, + 0.1459254026412964, + -0.03474372625350952 + ], + "orientation": [ + 0.10035098344087601, + 0.8132898211479187, + -0.0938090980052948, + -0.5654107332229614 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + 0.012550960294902325, + 0.1459254026412964, + -0.03474372625350952 + ], + "orientation": [ + 0.10035098344087601, + 0.8132898211479187, + -0.0938090980052948, + -0.5654107332229614 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04304283857345581, + -0.10157176852226257, + -0.0022884313948452473 + ], + "orientation": [ + 0.980104386806488, + -0.07889102399349213, + -0.07092118263244629, + 0.1677551120519638 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.04184344783425331, + -0.10456554591655731, + -0.002380292396992445 + ], + "orientation": [ + 0.9823969602584839, + -0.07772760838270187, + -0.06589186936616898, + 0.15656571090221405 + ], + "joints": [ + -0.00991525873541832 + ] + }, + "final_grasp": { + "position": [ + 0.04184344783425331, + -0.10456554591655731, + -0.002380292396992445 + ], + "orientation": [ + 0.9823969602584839, + -0.07772760838270187, + -0.06589186936616898, + 0.15656571090221405 + ], + "joints": [ + -0.0051592327654361725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04760219156742096, + 0.11950618028640747, + 0.06108333170413971 + ], + "orientation": [ + 0.2344287633895874, + -0.7905631065368652, + -0.040971674025058746, + 0.5642467737197876 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.04781186208128929, + 0.11956117302179337, + 0.05895357206463814 + ], + "orientation": [ + 0.22805382311344147, + -0.792104959487915, + -0.027836589142680168, + 0.5654963850975037 + ], + "joints": [ + -0.011179721914231777 + ] + }, + "final_grasp": { + "position": [ + 0.04781186208128929, + 0.11956117302179337, + 0.05895357206463814 + ], + "orientation": [ + 0.22805382311344147, + -0.792104959487915, + -0.027836589142680168, + 0.5654963850975037 + ], + "joints": [ + -0.005892293527722359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001754153287038207, + 0.1479487270116806, + -0.011806134134531021 + ], + "orientation": [ + 0.039166487753391266, + -0.7229616641998291, + 0.09571985900402069, + 0.6831033229827881 + ], + "joints": [ + -0.016820436343550682 + ] + }, + "fine_grasp": { + "position": [ + 0.0017346073873341084, + 0.142222598195076, + -0.011136848479509354 + ], + "orientation": [ + 0.032778508961200714, + -0.7251744866371155, + 0.0861029103398323, + 0.6823736429214478 + ], + "joints": [ + -0.011559577658772469 + ] + }, + "final_grasp": { + "position": [ + 0.0017346073873341084, + 0.142222598195076, + -0.011136848479509354 + ], + "orientation": [ + 0.032778508961200714, + -0.7251744866371155, + 0.0861029103398323, + 0.6823736429214478 + ], + "joints": [ + -0.006298718973994255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023251909762620926, + -0.11433663964271545, + 0.03179990127682686 + ], + "orientation": [ + 0.8791165947914124, + -0.055927567183971405, + 0.472639262676239, + -0.02526494860649109 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.022923773154616356, + -0.11414415389299393, + 0.03156283125281334 + ], + "orientation": [ + 0.8778476119041443, + -0.05821752920746803, + 0.4748944938182831, + -0.021671898663043976 + ], + "joints": [ + -0.007174281403422356 + ] + }, + "final_grasp": { + "position": [ + 0.022923773154616356, + -0.11414415389299393, + 0.03156283125281334 + ], + "orientation": [ + 0.8778476119041443, + -0.05821752920746803, + 0.4748944938182831, + -0.021671898663043976 + ], + "joints": [ + -0.00026608631014823914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10252363234758377, + 0.010084693320095539, + -0.08133049309253693 + ], + "orientation": [ + 0.6997922658920288, + 0.5566259026527405, + -0.2919297218322754, + 0.3394636809825897 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.10470882803201675, + 0.007877391763031483, + -0.0832805261015892 + ], + "orientation": [ + 0.6968278288841248, + 0.5608893036842346, + -0.29468175768852234, + 0.3361499309539795 + ], + "joints": [ + -0.010618881322443485 + ] + }, + "final_grasp": { + "position": [ + 0.10470882803201675, + 0.007877391763031483, + -0.0832805261015892 + ], + "orientation": [ + 0.6968278288841248, + 0.5608893036842346, + -0.29468175768852234, + 0.3361499309539795 + ], + "joints": [ + -0.004800053313374519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047233276069164276, + -0.08951305598020554, + -0.055176157504320145 + ], + "orientation": [ + 0.9699693322181702, + 0.14478179812431335, + -0.037002988159656525, + 0.19190724194049835 + ], + "joints": [ + -0.013788072392344475 + ] + }, + "fine_grasp": { + "position": [ + 0.04750463366508484, + -0.09294281154870987, + -0.05576861649751663 + ], + "orientation": [ + 0.9702454209327698, + 0.1529436707496643, + -0.04000772535800934, + 0.18338844180107117 + ], + "joints": [ + -0.009536875411868095 + ] + }, + "final_grasp": { + "position": [ + 0.04750463366508484, + -0.09294281154870987, + -0.05576861649751663 + ], + "orientation": [ + 0.9702454209327698, + 0.1529436707496643, + -0.04000772535800934, + 0.18338844180107117 + ], + "joints": [ + -0.005285678431391716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047187648713588715, + -0.08951550722122192, + -0.05514245107769966 + ], + "orientation": [ + 0.9699572920799255, + 0.1449257731437683, + -0.03707842901349068, + 0.19184528291225433 + ], + "joints": [ + -0.013788072392344475 + ] + }, + "fine_grasp": { + "position": [ + 0.04743403196334839, + -0.09290888160467148, + -0.055738601833581924 + ], + "orientation": [ + 0.9703330397605896, + 0.15273480117321014, + -0.040039632469415665, + 0.1830921173095703 + ], + "joints": [ + -0.009536875411868095 + ] + }, + "final_grasp": { + "position": [ + 0.04743403196334839, + -0.09290888160467148, + -0.055738601833581924 + ], + "orientation": [ + 0.9703330397605896, + 0.15273480117321014, + -0.040039632469415665, + 0.1830921173095703 + ], + "joints": [ + -0.005285678431391716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12243229895830154, + 0.02113598957657814, + -0.060275014489889145 + ], + "orientation": [ + 0.6784154176712036, + 0.4566512405872345, + 0.28719863295555115, + -0.4987374246120453 + ], + "joints": [ + -0.01107955351471901 + ] + }, + "fine_grasp": { + "position": [ + -0.12194503843784332, + 0.020276987925171852, + -0.05914397910237312 + ], + "orientation": [ + 0.6715709567070007, + 0.4706725478172302, + 0.28865036368370056, + -0.4941062033176422 + ], + "joints": [ + -0.006296956911683083 + ] + }, + "final_grasp": { + "position": [ + -0.12194503843784332, + 0.020276987925171852, + -0.05914397910237312 + ], + "orientation": [ + 0.6715709567070007, + 0.4706725478172302, + 0.28865036368370056, + -0.4941062033176422 + ], + "joints": [ + -0.0015143603086471558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12242507934570312, + 0.021144691854715347, + -0.060227036476135254 + ], + "orientation": [ + 0.6782301664352417, + 0.45711541175842285, + 0.28792253136634827, + -0.4981463551521301 + ], + "joints": [ + -0.01107955351471901 + ] + }, + "fine_grasp": { + "position": [ + -0.12199818342924118, + 0.020293263718485832, + -0.059125758707523346 + ], + "orientation": [ + 0.6712990999221802, + 0.47105446457862854, + 0.2891281843185425, + -0.49383190274238586 + ], + "joints": [ + -0.006296956911683083 + ] + }, + "final_grasp": { + "position": [ + -0.12199818342924118, + 0.020293263718485832, + -0.059125758707523346 + ], + "orientation": [ + 0.6712990999221802, + 0.47105446457862854, + 0.2891281843185425, + -0.49383190274238586 + ], + "joints": [ + -0.0015143603086471558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05018338933587074, + -0.10239469259977341, + 0.06732070446014404 + ], + "orientation": [ + 0.5010033845901489, + -0.29857319593429565, + 0.8090118765830994, + -0.07313985377550125 + ], + "joints": [ + -0.01431799866259098 + ] + }, + "fine_grasp": { + "position": [ + 0.04966792091727257, + -0.1002371683716774, + 0.06474168598651886 + ], + "orientation": [ + 0.4983770251274109, + -0.2989128530025482, + 0.8094952702522278, + -0.08360020816326141 + ], + "joints": [ + -0.009987089782953262 + ] + }, + "final_grasp": { + "position": [ + 0.04966792091727257, + -0.1002371683716774, + 0.06474168598651886 + ], + "orientation": [ + 0.4983770251274109, + -0.2989128530025482, + 0.8094952702522278, + -0.08360020816326141 + ], + "joints": [ + -0.005656180903315544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13464243710041046, + -0.01596611551940441, + -0.05586337298154831 + ], + "orientation": [ + 0.45344576239585876, + 0.6124297380447388, + -0.6155010461807251, + 0.20118451118469238 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.1301165670156479, + -0.014244569465517998, + -0.052902936935424805 + ], + "orientation": [ + 0.4635811746120453, + 0.6083855628967285, + -0.6124229431152344, + 0.19974413514137268 + ], + "joints": [ + -0.007425778545439243 + ] + }, + "final_grasp": { + "position": [ + 0.1301165670156479, + -0.014244569465517998, + -0.052902936935424805 + ], + "orientation": [ + 0.4635811746120453, + 0.6083855628967285, + -0.6124229431152344, + 0.19974413514137268 + ], + "joints": [ + -0.003094872459769249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.134661003947258, + -0.015970416367053986, + -0.055806707590818405 + ], + "orientation": [ + 0.4527088403701782, + 0.6123823523521423, + -0.6165366768836975, + 0.19981256127357483 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.13009752333164215, + -0.014286156743764877, + -0.05284016951918602 + ], + "orientation": [ + 0.4627408981323242, + 0.6084470748901367, + -0.6133015155792236, + 0.19880755245685577 + ], + "joints": [ + -0.007455219514667988 + ] + }, + "final_grasp": { + "position": [ + 0.13009752333164215, + -0.014286156743764877, + -0.05284016951918602 + ], + "orientation": [ + 0.4627408981323242, + 0.6084470748901367, + -0.6133015155792236, + 0.19880755245685577 + ], + "joints": [ + -0.0031243134289979935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1464449167251587, + 0.0303767342120409, + 0.015114014968276024 + ], + "orientation": [ + 0.35495367646217346, + 0.6242616772651672, + 0.6038365960121155, + -0.3459576368331909 + ], + "joints": [ + -0.009929828345775604 + ] + }, + "fine_grasp": { + "position": [ + -0.14185689389705658, + 0.02977781370282173, + 0.01432767789810896 + ], + "orientation": [ + 0.35281050205230713, + 0.626392126083374, + 0.5965893268585205, + -0.3567053973674774 + ], + "joints": [ + -0.006183461286127567 + ] + }, + "final_grasp": { + "position": [ + -0.14185689389705658, + 0.02977781370282173, + 0.01432767789810896 + ], + "orientation": [ + 0.35281050205230713, + 0.626392126083374, + 0.5965893268585205, + -0.3567053973674774 + ], + "joints": [ + -0.0024370942264795303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03850173205137253, + 0.1397336721420288, + 0.04206615686416626 + ], + "orientation": [ + 0.008342207409441471, + -0.5161604285240173, + -0.11544433236122131, + 0.8486349582672119 + ], + "joints": [ + -0.012993182986974716 + ] + }, + "fine_grasp": { + "position": [ + -0.03763309866189957, + 0.1355426162481308, + 0.04056190326809883 + ], + "orientation": [ + 0.00037340965354815125, + -0.5079635977745056, + -0.11993986368179321, + 0.8529872894287109 + ], + "joints": [ + -0.0071212174370884895 + ] + }, + "final_grasp": { + "position": [ + -0.03763309866189957, + 0.1355426162481308, + 0.04056190326809883 + ], + "orientation": [ + 0.00037340965354815125, + -0.5079635977745056, + -0.11993986368179321, + 0.8529872894287109 + ], + "joints": [ + -0.0012492518872022629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09749095886945724, + -0.07981898635625839, + 0.029612908139824867 + ], + "orientation": [ + 0.6542766094207764, + 0.13289698958396912, + 0.6838328838348389, + -0.29433494806289673 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.09791524708271027, + -0.08151397109031677, + 0.02817857451736927 + ], + "orientation": [ + 0.6519458889961243, + 0.1466875970363617, + 0.6849135160446167, + -0.2904183864593506 + ], + "joints": [ + -0.009972667321562767 + ] + }, + "final_grasp": { + "position": [ + -0.09791524708271027, + -0.08151397109031677, + 0.02817857451736927 + ], + "orientation": [ + 0.6519458889961243, + 0.1466875970363617, + 0.6849135160446167, + -0.2904183864593506 + ], + "joints": [ + -0.004685241729021072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09746718406677246, + -0.07985569536685944, + 0.029629673808813095 + ], + "orientation": [ + 0.6541607975959778, + 0.13318833708763123, + 0.683515191078186, + -0.2951975166797638 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.0979660376906395, + -0.08165286481380463, + 0.028256891295313835 + ], + "orientation": [ + 0.6520266532897949, + 0.14633329212665558, + 0.6847757697105408, + -0.2907406985759735 + ], + "joints": [ + -0.009972667321562767 + ] + }, + "final_grasp": { + "position": [ + -0.0979660376906395, + -0.08165286481380463, + 0.028256891295313835 + ], + "orientation": [ + 0.6520266532897949, + 0.14633329212665558, + 0.6847757697105408, + -0.2907406985759735 + ], + "joints": [ + -0.004685241729021072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041390590369701385, + -0.02788016013801098, + 0.12659385800361633 + ], + "orientation": [ + 0.09138379991054535, + 0.12330863624811172, + 0.8370206356048584, + -0.5252051949501038 + ], + "joints": [ + -0.015171770006418228 + ] + }, + "fine_grasp": { + "position": [ + -0.04336610808968544, + -0.029375320300459862, + 0.12783996760845184 + ], + "orientation": [ + 0.10100604593753815, + 0.12382778525352478, + 0.8367898464202881, + -0.5236862897872925 + ], + "joints": [ + -0.008290145546197891 + ] + }, + "final_grasp": { + "position": [ + -0.04336610808968544, + -0.029375320300459862, + 0.12783996760845184 + ], + "orientation": [ + 0.10100604593753815, + 0.12382778525352478, + 0.8367898464202881, + -0.5236862897872925 + ], + "joints": [ + -0.0014085210859775543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04164372757077217, + -0.027802318334579468, + 0.12641191482543945 + ], + "orientation": [ + 0.09304563701152802, + 0.12318498641252518, + 0.8367809653282166, + -0.5253242254257202 + ], + "joints": [ + -0.015171770006418228 + ] + }, + "fine_grasp": { + "position": [ + -0.04343794658780098, + -0.029412539675831795, + 0.12776699662208557 + ], + "orientation": [ + 0.10228437185287476, + 0.122670479118824, + 0.836124062538147, + -0.524772584438324 + ], + "joints": [ + -0.008290145546197891 + ] + }, + "final_grasp": { + "position": [ + -0.04343794658780098, + -0.029412539675831795, + 0.12776699662208557 + ], + "orientation": [ + 0.10228437185287476, + 0.122670479118824, + 0.836124062538147, + -0.524772584438324 + ], + "joints": [ + -0.0014085210859775543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041638489812612534, + -0.02774226851761341, + 0.12620559334754944 + ], + "orientation": [ + 0.09401662647724152, + 0.12253127247095108, + 0.8366689682006836, + -0.5254826545715332 + ], + "joints": [ + -0.015201210975646973 + ] + }, + "fine_grasp": { + "position": [ + -0.04321451112627983, + -0.029089154675602913, + 0.1275230199098587 + ], + "orientation": [ + 0.10343058407306671, + 0.12133099883794785, + 0.8361464142799377, + -0.5248239040374756 + ], + "joints": [ + -0.008319586515426636 + ] + }, + "final_grasp": { + "position": [ + -0.04321451112627983, + -0.029089154675602913, + 0.1275230199098587 + ], + "orientation": [ + 0.10343058407306671, + 0.12133099883794785, + 0.8361464142799377, + -0.5248239040374756 + ], + "joints": [ + -0.0014379620552062988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11197493225336075, + 0.08719442039728165, + 0.02826545760035515 + ], + "orientation": [ + 0.3344220519065857, + -0.6806702017784119, + 0.19966834783554077, + 0.6204695105552673 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.11249779909849167, + 0.08878050744533539, + 0.026929102838039398 + ], + "orientation": [ + 0.33495527505874634, + -0.6806168556213379, + 0.2149871438741684, + 0.6150984764099121 + ], + "joints": [ + -0.009916655719280243 + ] + }, + "final_grasp": { + "position": [ + 0.11249779909849167, + 0.08878050744533539, + 0.026929102838039398 + ], + "orientation": [ + 0.33495527505874634, + -0.6806168556213379, + 0.2149871438741684, + 0.6150984764099121 + ], + "joints": [ + -0.004602659493684769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0443858839571476, + 0.140079528093338, + -0.0343591570854187 + ], + "orientation": [ + 0.005689459852874279, + 0.9644728899002075, + -0.19652922451496124, + -0.17645420134067535 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.042471349239349365, + 0.1370963752269745, + -0.03367777541279793 + ], + "orientation": [ + 0.009924381971359253, + 0.9646651744842529, + -0.1955873817205429, + -0.17626139521598816 + ], + "joints": [ + -0.008687371388077736 + ] + }, + "final_grasp": { + "position": [ + 0.042471349239349365, + 0.1370963752269745, + -0.03367777541279793 + ], + "orientation": [ + 0.009924381971359253, + 0.9646651744842529, + -0.1955873817205429, + -0.17626139521598816 + ], + "joints": [ + -0.00385163351893425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035275209695100784, + 0.14908646047115326, + -0.008265363983809948 + ], + "orientation": [ + 0.12488444894552231, + 0.03764830902218819, + -0.0651962161064148, + 0.9893108606338501 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.0337153784930706, + 0.14350582659244537, + -0.008850573562085629 + ], + "orientation": [ + 0.12688975036144257, + 0.04873214289546013, + -0.06844598799943924, + 0.9883518218994141 + ], + "joints": [ + -0.007086033467203379 + ] + }, + "final_grasp": { + "position": [ + 0.0337153784930706, + 0.14350582659244537, + -0.008850573562085629 + ], + "orientation": [ + 0.12688975036144257, + 0.04873214289546013, + -0.06844598799943924, + 0.9883518218994141 + ], + "joints": [ + -0.0012672068551182747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035656582564115524, + 0.14884866774082184, + -0.008360098116099834 + ], + "orientation": [ + 0.12582404911518097, + 0.031182877719402313, + -0.06657835096120834, + 0.9893247485160828 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.0341508649289608, + 0.14329010248184204, + -0.008874036371707916 + ], + "orientation": [ + 0.12797582149505615, + 0.039257343858480453, + -0.06737761199474335, + 0.9887068271636963 + ], + "joints": [ + -0.007086033932864666 + ] + }, + "final_grasp": { + "position": [ + 0.0341508649289608, + 0.14329010248184204, + -0.008874036371707916 + ], + "orientation": [ + 0.12797582149505615, + 0.039257343858480453, + -0.06737761199474335, + 0.9887068271636963 + ], + "joints": [ + -0.0012672077864408493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035130567848682404, + -0.10940872877836227, + -0.04752696678042412 + ], + "orientation": [ + 0.9827184081077576, + 0.0669475868344307, + 0.06639505922794342, + 0.15929342806339264 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.03353321552276611, + -0.10571887344121933, + -0.04637228325009346 + ], + "orientation": [ + 0.9831278324127197, + 0.07015597820281982, + 0.06612656265497208, + 0.15545092523097992 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + 0.03353321552276611, + -0.10571887344121933, + -0.04637228325009346 + ], + "orientation": [ + 0.9831278324127197, + 0.07015597820281982, + 0.06612656265497208, + 0.15545092523097992 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12500664591789246, + 0.01830003596842289, + -0.06874265521764755 + ], + "orientation": [ + 0.6661152839660645, + 0.5252618789672852, + 0.3225517272949219, + -0.4199415445327759 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.12069282680749893, + 0.017895393073558807, + -0.06609496474266052 + ], + "orientation": [ + 0.65987229347229, + 0.5348061919212341, + 0.3218317925930023, + -0.4183003008365631 + ], + "joints": [ + -0.00930275022983551 + ] + }, + "final_grasp": { + "position": [ + -0.12069282680749893, + 0.017895393073558807, + -0.06609496474266052 + ], + "orientation": [ + 0.65987229347229, + 0.5348061919212341, + 0.3218317925930023, + -0.4183003008365631 + ], + "joints": [ + -0.004493582993745804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10064869374036789, + -0.05676949769258499, + -0.05611124634742737 + ], + "orientation": [ + 0.8837313055992126, + 0.1843601018190384, + -0.1788249909877777, + 0.3912183940410614 + ], + "joints": [ + -0.006540006026625633 + ] + }, + "fine_grasp": { + "position": [ + 0.1025414690375328, + -0.05860917642712593, + -0.05542651191353798 + ], + "orientation": [ + 0.8822029232978821, + 0.1933085322380066, + -0.17726437747478485, + 0.3910590410232544 + ], + "joints": [ + -0.002288809046149254 + ] + }, + "final_grasp": { + "position": [ + 0.1025414690375328, + -0.05860917642712593, + -0.05542651191353798 + ], + "orientation": [ + 0.8822029232978821, + 0.1933085322380066, + -0.17726437747478485, + 0.3910590410232544 + ], + "joints": [ + 0.0019623879343271255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007108935154974461, + 0.12422631680965424, + -0.07034468650817871 + ], + "orientation": [ + 0.1762060672044754, + 0.9837718605995178, + 0.03327525779604912, + 0.0061057195998728275 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.007160531356930733, + 0.12310098111629486, + -0.06952087581157684 + ], + "orientation": [ + 0.18383419513702393, + 0.9824652671813965, + 0.03099685162305832, + 0.00249081919901073 + ], + "joints": [ + -0.007031496614217758 + ] + }, + "final_grasp": { + "position": [ + -0.007160531356930733, + 0.12310098111629486, + -0.06952087581157684 + ], + "orientation": [ + 0.18383419513702393, + 0.9824652671813965, + 0.03099685162305832, + 0.00249081919901073 + ], + "joints": [ + -0.001717500388622284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009905446320772171, + -0.09522035717964172, + -0.08111804723739624 + ], + "orientation": [ + 0.002884154673665762, + -0.04143911227583885, + 0.973422646522522, + 0.22521719336509705 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.010310442186892033, + -0.09607874602079391, + -0.08075820654630661 + ], + "orientation": [ + 0.009970556013286114, + -0.03687945753335953, + 0.9721013307571411, + 0.23142926394939423 + ], + "joints": [ + -0.006444086320698261 + ] + }, + "final_grasp": { + "position": [ + 0.010310442186892033, + -0.09607874602079391, + -0.08075820654630661 + ], + "orientation": [ + 0.009970556013286114, + -0.03687945753335953, + 0.9721013307571411, + 0.23142926394939423 + ], + "joints": [ + -0.0005721207708120346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0055084372870624065, + -0.07432707399129868, + -0.12213515490293503 + ], + "orientation": [ + 0.9186965823173523, + 0.3829112648963928, + -0.06858038157224655, + -0.06835349649190903 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.004988539963960648, + -0.07102058827877045, + -0.11779355257749557 + ], + "orientation": [ + 0.9167502522468567, + 0.3876658082008362, + -0.06908043473958969, + -0.06717151403427124 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + -0.004988539963960648, + -0.07102058827877045, + -0.11779355257749557 + ], + "orientation": [ + 0.9167502522468567, + 0.3876658082008362, + -0.06908043473958969, + -0.06717151403427124 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005494068376719952, + -0.07431185990571976, + -0.12219878286123276 + ], + "orientation": [ + 0.9185967445373535, + 0.38314008712768555, + -0.0686720535159111, + -0.06832198798656464 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.0049948785454034805, + -0.07105095684528351, + -0.11775323003530502 + ], + "orientation": [ + 0.916386604309082, + 0.3885406255722046, + -0.06902167201042175, + -0.06714120507240295 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + -0.0049948785454034805, + -0.07105095684528351, + -0.11775323003530502 + ], + "orientation": [ + 0.916386604309082, + 0.3885406255722046, + -0.06902167201042175, + -0.06714120507240295 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0051947711035609245, + 0.13728338479995728, + -0.08449394255876541 + ], + "orientation": [ + 0.23393675684928894, + 0.971991777420044, + -0.02125445008277893, + -0.007345883641391993 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.005079000722616911, + 0.13367465138435364, + -0.08202242106199265 + ], + "orientation": [ + 0.2382531762123108, + 0.9709070920944214, + -0.022885799407958984, + -0.0071488008834421635 + ], + "joints": [ + -0.011460583657026291 + ] + }, + "final_grasp": { + "position": [ + 0.005079000722616911, + 0.13367465138435364, + -0.08202242106199265 + ], + "orientation": [ + 0.2382531762123108, + 0.9709070920944214, + -0.022885799407958984, + -0.0071488008834421635 + ], + "joints": [ + -0.00766107439994812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025325290858745575, + 0.10529360920190811, + -0.09320692718029022 + ], + "orientation": [ + 0.29557016491889954, + 0.9511229991912842, + -0.0745060071349144, + 0.049520786851644516 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + 0.0253424234688282, + 0.10747251659631729, + -0.09452077746391296 + ], + "orientation": [ + 0.2983967065811157, + 0.9501031637191772, + -0.07315020263195038, + 0.05396493896842003 + ], + "joints": [ + -0.006610569544136524 + ] + }, + "final_grasp": { + "position": [ + 0.0253424234688282, + 0.10747251659631729, + -0.09452077746391296 + ], + "orientation": [ + 0.2983967065811157, + 0.9501031637191772, + -0.07315020263195038, + 0.05396493896842003 + ], + "joints": [ + 0.0008024554699659348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0014891506871208549, + 0.12972195446491241, + 0.056418322026729584 + ], + "orientation": [ + 0.12217671424150467, + -0.9909587502479553, + 0.01867368258535862, + -0.052200302481651306 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.0019321017898619175, + 0.13145811855793, + 0.05578761175274849 + ], + "orientation": [ + 0.12619255483150482, + -0.9903905987739563, + 0.014183495193719864, + -0.05477993190288544 + ], + "joints": [ + -0.006612042896449566 + ] + }, + "final_grasp": { + "position": [ + -0.0019321017898619175, + 0.13145811855793, + 0.05578761175274849 + ], + "orientation": [ + 0.12619255483150482, + -0.9903905987739563, + 0.014183495193719864, + -0.05477993190288544 + ], + "joints": [ + 0.00026958249509334564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025321949273347855, + 0.10532708466053009, + -0.09323916584253311 + ], + "orientation": [ + 0.29561471939086914, + 0.9511092305183411, + -0.07488422840833664, + 0.04894503206014633 + ], + "joints": [ + -0.013994153589010239 + ] + }, + "fine_grasp": { + "position": [ + 0.025379473343491554, + 0.10747654736042023, + -0.09456220269203186 + ], + "orientation": [ + 0.29836612939834595, + 0.9500983953475952, + -0.07331743091344833, + 0.053991690278053284 + ], + "joints": [ + -0.00658112857490778 + ] + }, + "final_grasp": { + "position": [ + 0.025379473343491554, + 0.10747654736042023, + -0.09456220269203186 + ], + "orientation": [ + 0.29836612939834595, + 0.9500983953475952, + -0.07331743091344833, + 0.053991690278053284 + ], + "joints": [ + 0.0008318964391946793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030715836212038994, + -0.0734434723854065, + -0.1164829209446907 + ], + "orientation": [ + 0.9231337904930115, + 0.3678448796272278, + 0.08360666036605835, + -0.07432436943054199 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.030218057334423065, + -0.07090447843074799, + -0.11266518384218216 + ], + "orientation": [ + 0.9184658527374268, + 0.37859252095222473, + 0.08800644427537918, + -0.07309538125991821 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.030218057334423065, + -0.07090447843074799, + -0.11266518384218216 + ], + "orientation": [ + 0.9184658527374268, + 0.37859252095222473, + 0.08800644427537918, + -0.07309538125991821 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11410009860992432, + 0.07425520569086075, + -0.0463532991707325 + ], + "orientation": [ + 0.24488939344882965, + -0.6391170620918274, + -0.5321990847587585, + -0.49831992387771606 + ], + "joints": [ + -0.008636001497507095 + ] + }, + "fine_grasp": { + "position": [ + -0.11600610613822937, + 0.07251518219709396, + -0.04575071483850479 + ], + "orientation": [ + 0.23517684638500214, + -0.6437268853187561, + -0.5242822170257568, + -0.5054065585136414 + ], + "joints": [ + -0.005394464358687401 + ] + }, + "final_grasp": { + "position": [ + -0.11600610613822937, + 0.07251518219709396, + -0.04575071483850479 + ], + "orientation": [ + 0.23517684638500214, + -0.6437268853187561, + -0.5242822170257568, + -0.5054065585136414 + ], + "joints": [ + -0.0021529272198677063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02307663857936859, + 0.13012784719467163, + -0.0798586755990982 + ], + "orientation": [ + 0.045498307794332504, + -0.10318925231695175, + 0.19087253510951996, + 0.9751151204109192 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.022799938917160034, + 0.12614789605140686, + -0.0772998183965683 + ], + "orientation": [ + 0.04457184672355652, + -0.10945288091897964, + 0.20449990034103394, + 0.9717064499855042 + ], + "joints": [ + -0.006388151086866856 + ] + }, + "final_grasp": { + "position": [ + 0.022799938917160034, + 0.12614789605140686, + -0.0772998183965683 + ], + "orientation": [ + 0.04457184672355652, + -0.10945288091897964, + 0.20449990034103394, + 0.9717064499855042 + ], + "joints": [ + -0.0015789847820997238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05358145758509636, + 0.1469741314649582, + -0.018209949135780334 + ], + "orientation": [ + 0.2299814522266388, + 0.4937383234500885, + -0.14371639490127563, + 0.8262425065040588 + ], + "joints": [ + -0.0077636344358325005 + ] + }, + "fine_grasp": { + "position": [ + 0.05207628756761551, + 0.14255580306053162, + -0.017232580110430717 + ], + "orientation": [ + 0.22427323460578918, + 0.4949663579463959, + -0.1327148675918579, + 0.8289128541946411 + ], + "joints": [ + -0.005531757138669491 + ] + }, + "final_grasp": { + "position": [ + 0.05207628756761551, + 0.14255580306053162, + -0.017232580110430717 + ], + "orientation": [ + 0.22427323460578918, + 0.4949663579463959, + -0.1327148675918579, + 0.8289128541946411 + ], + "joints": [ + -0.003299879841506481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09868156909942627, + -0.058948200196027756, + -0.057752158492803574 + ], + "orientation": [ + 0.8909521102905273, + 0.1745506078004837, + -0.16756455600261688, + 0.3842637836933136 + ], + "joints": [ + -0.005247697699815035 + ] + }, + "fine_grasp": { + "position": [ + 0.10036403685808182, + -0.060827672481536865, + -0.056728437542915344 + ], + "orientation": [ + 0.8884685039520264, + 0.18843600153923035, + -0.16583292186260223, + 0.3842068910598755 + ], + "joints": [ + -0.0015013301745057106 + ] + }, + "final_grasp": { + "position": [ + 0.10036403685808182, + -0.060827672481536865, + -0.056728437542915344 + ], + "orientation": [ + 0.8884685039520264, + 0.18843600153923035, + -0.16583292186260223, + 0.3842068910598755 + ], + "joints": [ + 0.0022450373508036137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09055992215871811, + -0.0017899672966450453, + -0.10607488453388214 + ], + "orientation": [ + 0.30035653710365295, + -0.17940780520439148, + -0.7326752543449402, + -0.5837686657905579 + ], + "joints": [ + -0.013405345380306244 + ] + }, + "fine_grasp": { + "position": [ + -0.09176050871610641, + -0.004724431782960892, + -0.1086999922990799 + ], + "orientation": [ + 0.296518474817276, + -0.18090997636318207, + -0.728747546672821, + -0.5901485085487366 + ], + "joints": [ + -0.0075865196995437145 + ] + }, + "final_grasp": { + "position": [ + -0.09176050871610641, + -0.004724431782960892, + -0.1086999922990799 + ], + "orientation": [ + 0.296518474817276, + -0.18090997636318207, + -0.728747546672821, + -0.5901485085487366 + ], + "joints": [ + -0.0017676940187811852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0014745495282113552, + -0.11772380024194717, + 0.003748212708160281 + ], + "orientation": [ + 0.6438835859298706, + -0.08357652276754379, + -0.7570220828056335, + -0.07311993092298508 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + -0.001998158870264888, + -0.11812981963157654, + 0.0038673446979373693 + ], + "orientation": [ + 0.6435558795928955, + -0.08127771317958832, + -0.757733166217804, + -0.0712052509188652 + ], + "joints": [ + -0.00893496535718441 + ] + }, + "final_grasp": { + "position": [ + -0.001998158870264888, + -0.11812981963157654, + 0.0038673446979373693 + ], + "orientation": [ + 0.6435558795928955, + -0.08127771317958832, + -0.757733166217804, + -0.0712052509188652 + ], + "joints": [ + -0.002079911530017853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007235177792608738, + -0.11107131838798523, + -0.025872571393847466 + ], + "orientation": [ + 0.9978739619255066, + -0.0064079295843839645, + -0.05029817298054695, + -0.04094865545630455 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.006476700771600008, + -0.11184316128492355, + -0.025605197995901108 + ], + "orientation": [ + 0.9977723956108093, + -0.003923302516341209, + -0.05669473111629486, + -0.034936871379613876 + ], + "joints": [ + -0.008741909638047218 + ] + }, + "final_grasp": { + "position": [ + -0.006476700771600008, + -0.11184316128492355, + -0.025605197995901108 + ], + "orientation": [ + 0.9977723956108093, + -0.003923302516341209, + -0.05669473111629486, + -0.034936871379613876 + ], + "joints": [ + -0.0034013427793979645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044320542365312576, + 0.1386004090309143, + -0.03960128128528595 + ], + "orientation": [ + 0.12659846246242523, + 0.8778144121170044, + -0.1799069344997406, + -0.4254975914955139 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.04356761276721954, + 0.13394778966903687, + -0.03709166869521141 + ], + "orientation": [ + 0.13847029209136963, + 0.8776211738586426, + -0.17765265703201294, + -0.4231387972831726 + ], + "joints": [ + -0.0072877006605267525 + ] + }, + "final_grasp": { + "position": [ + 0.04356761276721954, + 0.13394778966903687, + -0.03709166869521141 + ], + "orientation": [ + 0.13847029209136963, + 0.8776211738586426, + -0.17765265703201294, + -0.4231387972831726 + ], + "joints": [ + 0.00012532435357570648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10011687129735947, + 0.06648660451173782, + -0.07454758137464523 + ], + "orientation": [ + 0.4211221933364868, + 0.7907027006149292, + -0.23187226057052612, + 0.379052072763443 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.10176101326942444, + 0.06854917109012604, + -0.07640495151281357 + ], + "orientation": [ + 0.4253632724285126, + 0.7886983752250671, + -0.22791744768619537, + 0.3808864653110504 + ], + "joints": [ + -0.008435877040028572 + ] + }, + "final_grasp": { + "position": [ + 0.10176101326942444, + 0.06854917109012604, + -0.07640495151281357 + ], + "orientation": [ + 0.4253632724285126, + 0.7886983752250671, + -0.22791744768619537, + 0.3808864653110504 + ], + "joints": [ + -0.0010228529572486877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041647769510746, + -0.02802877314388752, + 0.12624408304691315 + ], + "orientation": [ + 0.0946166142821312, + 0.12152180075645447, + 0.8361898064613342, + -0.5263714790344238 + ], + "joints": [ + -0.015760578215122223 + ] + }, + "fine_grasp": { + "position": [ + -0.04332176223397255, + -0.02938006818294525, + 0.12754417955875397 + ], + "orientation": [ + 0.10396512597799301, + 0.12060356140136719, + 0.8360261917114258, + -0.5250771641731262 + ], + "joints": [ + -0.008347554132342339 + ] + }, + "final_grasp": { + "position": [ + -0.04332176223397255, + -0.02938006818294525, + 0.12754417955875397 + ], + "orientation": [ + 0.10396512597799301, + 0.12060356140136719, + 0.8360261917114258, + -0.5250771641731262 + ], + "joints": [ + -0.0009345300495624542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06866337358951569, + 0.1193043664097786, + -0.04547626152634621 + ], + "orientation": [ + 0.11278529465198517, + -0.454706072807312, + 0.1893562376499176, + 0.86294025182724 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.0676811933517456, + 0.11856856197118759, + -0.045824360102415085 + ], + "orientation": [ + 0.1127767413854599, + -0.4511226713657379, + 0.19522300362586975, + 0.8635148406028748 + ], + "joints": [ + -0.007621702738106251 + ] + }, + "final_grasp": { + "position": [ + 0.0676811933517456, + 0.11856856197118759, + -0.045824360102415085 + ], + "orientation": [ + 0.1127767413854599, + -0.4511226713657379, + 0.19522300362586975, + 0.8635148406028748 + ], + "joints": [ + -0.0017497371882200241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013270399533212185, + 0.13420237600803375, + -0.01729436405003071 + ], + "orientation": [ + 0.05608849972486496, + -0.9180354475975037, + -0.11065205931663513, + -0.3765912353992462 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + -0.011759479530155659, + 0.13523350656032562, + -0.01661643572151661 + ], + "orientation": [ + 0.06174986809492111, + -0.9195042848587036, + -0.10839071124792099, + -0.3727603256702423 + ], + "joints": [ + -0.007760218810290098 + ] + }, + "final_grasp": { + "position": [ + -0.011759479530155659, + 0.13523350656032562, + -0.01661643572151661 + ], + "orientation": [ + 0.06174986809492111, + -0.9195042848587036, + -0.10839071124792099, + -0.3727603256702423 + ], + "joints": [ + -0.000878593884408474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004387449938803911, + -0.11104351282119751, + -0.03496859222650528 + ], + "orientation": [ + 0.021590713411569595, + -0.00520069245249033, + -0.999301552772522, + -0.030056366696953773 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.004031368065625429, + -0.10910540074110031, + -0.03473977744579315 + ], + "orientation": [ + 0.0189971961081028, + -0.00264502945356071, + -0.9993451833724976, + -0.030682317912578583 + ], + "joints": [ + -0.008122263476252556 + ] + }, + "final_grasp": { + "position": [ + -0.004031368065625429, + -0.10910540074110031, + -0.03473977744579315 + ], + "orientation": [ + 0.0189971961081028, + -0.00264502945356071, + -0.9993451833724976, + -0.030682317912578583 + ], + "joints": [ + -0.003339666873216629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03509969636797905, + -0.10941881686449051, + -0.047380343079566956 + ], + "orientation": [ + 0.9827508330345154, + 0.06645920127630234, + 0.06658031791448593, + 0.15922026336193085 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.03345414996147156, + -0.1057058796286583, + -0.046145908534526825 + ], + "orientation": [ + 0.9830508232116699, + 0.07040935009717941, + 0.06612929701805115, + 0.1558217704296112 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + 0.03345414996147156, + -0.1057058796286583, + -0.046145908534526825 + ], + "orientation": [ + 0.9830508232116699, + 0.07040935009717941, + 0.06612929701805115, + 0.1558217704296112 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025974493473768234, + 0.1373463273048401, + 0.042923662811517715 + ], + "orientation": [ + 0.04863263666629791, + -0.9892976880073547, + 0.11928710341453552, + -0.06852378696203232 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.02437354438006878, + 0.13320495188236237, + 0.0420398972928524 + ], + "orientation": [ + 0.05052328482270241, + -0.989174485206604, + 0.11651327461004257, + -0.073524609208107 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.02437354438006878, + 0.13320495188236237, + 0.0420398972928524 + ], + "orientation": [ + 0.05052328482270241, + -0.989174485206604, + 0.11651327461004257, + -0.073524609208107 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025924077257514, + 0.1371375173330307, + 0.042825087904930115 + ], + "orientation": [ + 0.04879513010382652, + -0.9894679188728333, + 0.11877497285604477, + -0.06681816279888153 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.024322664365172386, + 0.1331430822610855, + 0.04195566475391388 + ], + "orientation": [ + 0.05065615847706795, + -0.9893730282783508, + 0.11597000062465668, + -0.07159610092639923 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.024322664365172386, + 0.1331430822610855, + 0.04195566475391388 + ], + "orientation": [ + 0.05065615847706795, + -0.9893730282783508, + 0.11597000062465668, + -0.07159610092639923 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03517827391624451, + -0.1094965711236, + -0.04748902469873428 + ], + "orientation": [ + 0.982710599899292, + 0.06679181754589081, + 0.066474549472332, + 0.1593732088804245 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.03356626629829407, + -0.10574530810117722, + -0.046241339296102524 + ], + "orientation": [ + 0.9830484390258789, + 0.07049007713794708, + 0.06607567518949509, + 0.1558234840631485 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + 0.03356626629829407, + -0.10574530810117722, + -0.046241339296102524 + ], + "orientation": [ + 0.9830484390258789, + 0.07049007713794708, + 0.06607567518949509, + 0.1558234840631485 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02552194893360138, + 0.10536694526672363, + -0.09303895384073257 + ], + "orientation": [ + 0.29475218057632446, + 0.9513124823570251, + -0.07593409717082977, + 0.04857789725065231 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + 0.025532187893986702, + 0.10766676813364029, + -0.09402654320001602 + ], + "orientation": [ + 0.2970328629016876, + 0.9505124688148499, + -0.07336711138486862, + 0.05399046465754509 + ], + "joints": [ + -0.006637139245867729 + ] + }, + "final_grasp": { + "position": [ + 0.025532187893986702, + 0.10766676813364029, + -0.09402654320001602 + ], + "orientation": [ + 0.2970328629016876, + 0.9505124688148499, + -0.07336711138486862, + 0.05399046465754509 + ], + "joints": [ + 0.0007493160665035248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003997160121798515, + 0.12712621688842773, + -0.08115219324827194 + ], + "orientation": [ + 0.02483462169766426, + 0.014153697527945042, + -0.1981038600206375, + -0.9797641038894653 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.003894604044035077, + 0.12306588888168335, + -0.0786859467625618 + ], + "orientation": [ + 0.025601861998438835, + 0.01613197848200798, + -0.20700566470623016, + -0.9778716564178467 + ], + "joints": [ + -0.005322480574250221 + ] + }, + "final_grasp": { + "position": [ + -0.003894604044035077, + 0.12306588888168335, + -0.0786859467625618 + ], + "orientation": [ + 0.025601861998438835, + 0.01613197848200798, + -0.20700566470623016, + -0.9778716564178467 + ], + "joints": [ + 0.0005229152739048004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03502384573221207, + -0.10933714359998703, + -0.0474240742623806 + ], + "orientation": [ + 0.9827408194541931, + 0.06653444468975067, + 0.06686662882566452, + 0.15913087129592896 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.033361658453941345, + -0.10565957427024841, + -0.04620606452226639 + ], + "orientation": [ + 0.9830426573753357, + 0.07042010128498077, + 0.06660658866167068, + 0.15566524863243103 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + 0.033361658453941345, + -0.10565957427024841, + -0.04620606452226639 + ], + "orientation": [ + 0.9830426573753357, + 0.07042010128498077, + 0.06660658866167068, + 0.15566524863243103 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025274276733398438, + 0.10528900474309921, + -0.09313936531543732 + ], + "orientation": [ + 0.2953585982322693, + 0.9512033462524414, + -0.074559286236763, + 0.049157287925481796 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + 0.025192871689796448, + 0.10758259892463684, + -0.09408420324325562 + ], + "orientation": [ + 0.2978894114494324, + 0.9503247141838074, + -0.0723850354552269, + 0.05390040576457977 + ], + "joints": [ + -0.007141969166696072 + ] + }, + "final_grasp": { + "position": [ + 0.025192871689796448, + 0.10758259892463684, + -0.09408420324325562 + ], + "orientation": [ + 0.2978894114494324, + 0.9503247141838074, + -0.0723850354552269, + 0.05390040576457977 + ], + "joints": [ + -0.0002603437751531601 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09675635397434235, + -0.07129945605993271, + -0.05328405648469925 + ], + "orientation": [ + 0.39839136600494385, + -0.2380509078502655, + -0.8394599556922913, + -0.28270649909973145 + ], + "joints": [ + -0.014053035527467728 + ] + }, + "fine_grasp": { + "position": [ + -0.0963711068034172, + -0.07210725545883179, + -0.05338036268949509 + ], + "orientation": [ + 0.4011169672012329, + -0.2328922599554062, + -0.8365514874458313, + -0.2916298806667328 + ], + "joints": [ + -0.008207639679312706 + ] + }, + "final_grasp": { + "position": [ + -0.0963711068034172, + -0.07210725545883179, + -0.05338036268949509 + ], + "orientation": [ + 0.4011169672012329, + -0.2328922599554062, + -0.8365514874458313, + -0.2916298806667328 + ], + "joints": [ + -0.0023622438311576843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004316139500588179, + -0.11545009911060333, + -0.014049118384718895 + ], + "orientation": [ + 0.8951902985572815, + -0.034255631268024445, + 0.44152265787124634, + 0.050184208899736404 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + -0.004377204459160566, + -0.11616959422826767, + -0.014251156710088253 + ], + "orientation": [ + 0.894412100315094, + -0.03613597899675369, + 0.4428183436393738, + 0.05131376534700394 + ], + "joints": [ + -0.008376995101571083 + ] + }, + "final_grasp": { + "position": [ + -0.004377204459160566, + -0.11616959422826767, + -0.014251156710088253 + ], + "orientation": [ + 0.894412100315094, + -0.03613597899675369, + 0.4428183436393738, + 0.05131376534700394 + ], + "joints": [ + -0.0009639710187911987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1038191094994545, + -0.029935333877801895, + 0.07768580317497253 + ], + "orientation": [ + 0.7750959396362305, + -0.453850120306015, + 0.34499216079711914, + 0.2724454402923584 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + 0.10581016540527344, + -0.032063115388154984, + 0.0791127160191536 + ], + "orientation": [ + 0.7734630107879639, + -0.4578113555908203, + 0.34698399901390076, + 0.2678918242454529 + ], + "joints": [ + -0.00890839472413063 + ] + }, + "final_grasp": { + "position": [ + 0.10581016540527344, + -0.032063115388154984, + 0.0791127160191536 + ], + "orientation": [ + 0.7734630107879639, + -0.4578113555908203, + 0.34698399901390076, + 0.2678918242454529 + ], + "joints": [ + -0.0020267702639102936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03254374861717224, + 0.13902395963668823, + -0.029841380193829536 + ], + "orientation": [ + 0.19814318418502808, + 0.4852354824542999, + 0.04178280383348465, + -0.8506115674972534 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.030805982649326324, + 0.13401342928409576, + -0.02883915789425373 + ], + "orientation": [ + 0.19729436933994293, + 0.49157193303108215, + 0.040813371539115906, + -0.8472107648849487 + ], + "joints": [ + -0.008970146998763084 + ] + }, + "final_grasp": { + "position": [ + -0.030805982649326324, + 0.13401342928409576, + -0.02883915789425373 + ], + "orientation": [ + 0.19729436933994293, + 0.49157193303108215, + 0.040813371539115906, + -0.8472107648849487 + ], + "joints": [ + -0.002061951905488968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013026737608015537, + 0.1394774168729782, + -0.0038553897757083178 + ], + "orientation": [ + 0.002730152802541852, + -0.38427865505218506, + -0.06407704204320908, + 0.9209867715835571 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.013413574546575546, + 0.13604135811328888, + -0.004349389113485813 + ], + "orientation": [ + 9.583921928424388e-05, + -0.3786948025226593, + -0.06497050821781158, + 0.9232383370399475 + ], + "joints": [ + -0.008912738412618637 + ] + }, + "final_grasp": { + "position": [ + 0.013413574546575546, + 0.13604135811328888, + -0.004349389113485813 + ], + "orientation": [ + 9.583921928424388e-05, + -0.3786948025226593, + -0.06497050821781158, + 0.9232383370399475 + ], + "joints": [ + -0.002535942941904068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019871391355991364, + -0.10407992452383041, + -0.05334755778312683 + ], + "orientation": [ + 0.846288800239563, + 0.12066026777029037, + -0.5096762776374817, + -0.0972953513264656 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.01868109591305256, + -0.10701833665370941, + -0.0537978857755661 + ], + "orientation": [ + 0.8448254466056824, + 0.12425777316093445, + -0.5127832293510437, + -0.0887884721159935 + ], + "joints": [ + -0.008683104068040848 + ] + }, + "final_grasp": { + "position": [ + 0.01868109591305256, + -0.10701833665370941, + -0.0537978857755661 + ], + "orientation": [ + 0.8448254466056824, + 0.12425777316093445, + -0.5127832293510437, + -0.0887884721159935 + ], + "joints": [ + -0.004431907087564468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03416449576616287, + -0.10458219796419144, + -0.0244221743196249 + ], + "orientation": [ + 0.88846355676651, + 0.04491441324353218, + 0.4557383358478546, + -0.03029581531882286 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.03361012414097786, + -0.10745645314455032, + -0.023763177916407585 + ], + "orientation": [ + 0.8903390765190125, + 0.04855145141482353, + 0.45178988575935364, + -0.028721842914819717 + ], + "joints": [ + -0.009299879893660545 + ] + }, + "final_grasp": { + "position": [ + -0.03361012414097786, + -0.10745645314455032, + -0.023763177916407585 + ], + "orientation": [ + 0.8903390765190125, + 0.04855145141482353, + 0.45178988575935364, + -0.028721842914819717 + ], + "joints": [ + -0.0045172832906246185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014925719238817692, + -0.0805504247546196, + -0.09617794305086136 + ], + "orientation": [ + 0.9440287947654724, + 0.28561830520629883, + 0.10218560695648193, + 0.12957622110843658 + ], + "joints": [ + -0.012845978140830994 + ] + }, + "fine_grasp": { + "position": [ + 0.014494769275188446, + -0.08323750644922256, + -0.09558868408203125 + ], + "orientation": [ + 0.9445892572402954, + 0.28762537240982056, + 0.10038787126541138, + 0.12224982678890228 + ], + "joints": [ + -0.005964352749288082 + ] + }, + "final_grasp": { + "position": [ + 0.014494769275188446, + -0.08323750644922256, + -0.09558868408203125 + ], + "orientation": [ + 0.9445892572402954, + 0.28762537240982056, + 0.10038787126541138, + 0.12224982678890228 + ], + "joints": [ + 0.0009172726422548294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10985764116048813, + -0.03832195699214935, + 0.07087044417858124 + ], + "orientation": [ + 0.8048946261405945, + -0.3796449303627014, + -0.31484121084213257, + -0.3299838602542877 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.10980971902608871, + -0.04020705819129944, + 0.07160404324531555 + ], + "orientation": [ + 0.7972185015678406, + -0.39138534665107727, + -0.32331421971321106, + -0.3266926109790802 + ], + "joints": [ + -0.008122263476252556 + ] + }, + "final_grasp": { + "position": [ + -0.10980971902608871, + -0.04020705819129944, + 0.07160404324531555 + ], + "orientation": [ + 0.7972185015678406, + -0.39138534665107727, + -0.32331421971321106, + -0.3266926109790802 + ], + "joints": [ + -0.003339666873216629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06529193371534348, + 0.05401889979839325, + -0.11416330933570862 + ], + "orientation": [ + 0.11240841448307037, + -0.2385498583316803, + 0.512861967086792, + 0.8169645071029663 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.06613494455814362, + 0.054653819650411606, + -0.11541860550642014 + ], + "orientation": [ + 0.11483503878116608, + -0.23595745861530304, + 0.5124493837356567, + 0.8176383972167969 + ], + "joints": [ + -0.008937835693359375 + ] + }, + "final_grasp": { + "position": [ + 0.06613494455814362, + 0.054653819650411606, + -0.11541860550642014 + ], + "orientation": [ + 0.11483503878116608, + -0.23595745861530304, + 0.5124493837356567, + 0.8176383972167969 + ], + "joints": [ + -0.002056211233139038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06532704830169678, + 0.053909000009298325, + -0.11420219391584396 + ], + "orientation": [ + 0.11252567917108536, + -0.23850560188293457, + 0.5132359862327576, + 0.8167263269424438 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.06616450846195221, + 0.05454307794570923, + -0.11545266956090927 + ], + "orientation": [ + 0.11497143656015396, + -0.235890194773674, + 0.5128270983695984, + 0.8174017667770386 + ], + "joints": [ + -0.008937835693359375 + ] + }, + "final_grasp": { + "position": [ + 0.06616450846195221, + 0.05454307794570923, + -0.11545266956090927 + ], + "orientation": [ + 0.11497143656015396, + -0.235890194773674, + 0.5128270983695984, + 0.8174017667770386 + ], + "joints": [ + -0.002056211233139038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011141742579638958, + -0.11199752241373062, + -0.02797400951385498 + ], + "orientation": [ + 0.9975711703300476, + 0.010648517869412899, + -0.062499918043613434, + 0.028846336528658867 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.011655420064926147, + -0.11107297986745834, + -0.027731744572520256 + ], + "orientation": [ + 0.9971724152565002, + 0.012127751484513283, + -0.06597129255533218, + 0.033880021423101425 + ], + "joints": [ + -0.008769877254962921 + ] + }, + "final_grasp": { + "position": [ + 0.011655420064926147, + -0.11107297986745834, + -0.027731744572520256 + ], + "orientation": [ + 0.9971724152565002, + 0.012127751484513283, + -0.06597129255533218, + 0.033880021423101425 + ], + "joints": [ + -0.00289791077375412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013347997330129147, + 0.1343817561864853, + -0.01741766929626465 + ], + "orientation": [ + 0.05633379891514778, + -0.9182938933372498, + -0.1112203374505043, + -0.3757561445236206 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + -0.01214750949293375, + 0.13525693118572235, + -0.01705082319676876 + ], + "orientation": [ + 0.06102200970053673, + -0.9201115369796753, + -0.11006367206573486, + -0.3708869516849518 + ], + "joints": [ + -0.007760218810290098 + ] + }, + "final_grasp": { + "position": [ + -0.01214750949293375, + 0.13525693118572235, + -0.01705082319676876 + ], + "orientation": [ + 0.06102200970053673, + -0.9201115369796753, + -0.11006367206573486, + -0.3708869516849518 + ], + "joints": [ + -0.000878593884408474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03138064965605736, + -0.10154718905687332, + -0.04581518471240997 + ], + "orientation": [ + 0.00395776005461812, + -0.12864263355731964, + -0.9891549944877625, + -0.0707663893699646 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.03148111328482628, + -0.10165739804506302, + -0.045048296451568604 + ], + "orientation": [ + 0.0023602014407515526, + -0.12438464164733887, + -0.9892204403877258, + -0.07723944634199142 + ], + "joints": [ + -0.0069166794419288635 + ] + }, + "final_grasp": { + "position": [ + -0.03148111328482628, + -0.10165739804506302, + -0.045048296451568604 + ], + "orientation": [ + 0.0023602014407515526, + -0.12438464164733887, + -0.9892204403877258, + -0.07723944634199142 + ], + "joints": [ + -0.002665482461452484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01376122236251831, + 0.13128475844860077, + 0.045184068381786346 + ], + "orientation": [ + 0.039391033351421356, + 0.04765980318188667, + -0.08616939932107925, + 0.9943599700927734 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.013942122459411621, + 0.1324699968099594, + 0.04539135470986366 + ], + "orientation": [ + 0.03980047255754471, + 0.05179837718605995, + -0.08717389404773712, + 0.994049072265625 + ], + "joints": [ + -0.008265048265457153 + ] + }, + "final_grasp": { + "position": [ + 0.013942122459411621, + 0.1324699968099594, + 0.04539135470986366 + ], + "orientation": [ + 0.03980047255754471, + 0.05179837718605995, + -0.08717389404773712, + 0.994049072265625 + ], + "joints": [ + -0.0018882527947425842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006544691976159811, + 0.1469140201807022, + -0.03591783344745636 + ], + "orientation": [ + 0.004144048783928156, + -0.0915050208568573, + -0.036281123757362366, + -0.9951348304748535 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.006056534592062235, + 0.1416686624288559, + -0.03489312157034874 + ], + "orientation": [ + 0.002488098805770278, + -0.10248755663633347, + -0.04379328340291977, + -0.993766725063324 + ], + "joints": [ + -0.00885532982647419 + ] + }, + "final_grasp": { + "position": [ + -0.006056534592062235, + 0.1416686624288559, + -0.03489312157034874 + ], + "orientation": [ + 0.002488098805770278, + -0.10248755663633347, + -0.04379328340291977, + -0.993766725063324 + ], + "joints": [ + -0.003009933978319168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006456098984926939, + 0.14710113406181335, + -0.03591141849756241 + ], + "orientation": [ + 0.004428304266184568, + -0.0890081450343132, + -0.036520346999168396, + -0.9953511953353882 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.005970451049506664, + 0.14187422394752502, + -0.0348636619746685 + ], + "orientation": [ + 0.0028655610512942076, + -0.09961826354265213, + -0.04395565390586853, + -0.9940502047538757 + ], + "joints": [ + -0.00885532982647419 + ] + }, + "final_grasp": { + "position": [ + -0.005970451049506664, + 0.14187422394752502, + -0.0348636619746685 + ], + "orientation": [ + 0.0028655610512942076, + -0.09961826354265213, + -0.04395565390586853, + -0.9940502047538757 + ], + "joints": [ + -0.003009933978319168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0452762097120285, + 0.1270337998867035, + -0.048545125871896744 + ], + "orientation": [ + 0.07749685645103455, + 0.9770565032958984, + -0.19310666620731354, + -0.04543934762477875 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.043743524700403214, + 0.1256610006093979, + -0.047676440328359604 + ], + "orientation": [ + 0.08122282475233078, + 0.9788959622383118, + -0.18165551126003265, + -0.04655053839087486 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + 0.043743524700403214, + 0.1256610006093979, + -0.047676440328359604 + ], + "orientation": [ + 0.08122282475233078, + 0.9788959622383118, + -0.18165551126003265, + -0.04655053839087486 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06495174020528793, + 0.12296418845653534, + -0.004353736061602831 + ], + "orientation": [ + 0.192686527967453, + -0.4359312951564789, + -0.02952732890844345, + -0.8786148428916931 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.0641908273100853, + 0.12403222918510437, + -0.00403442420065403 + ], + "orientation": [ + 0.19068358838558197, + -0.4428054988384247, + -0.036549728363752365, + -0.8753440380096436 + ], + "joints": [ + -0.008209113031625748 + ] + }, + "final_grasp": { + "position": [ + -0.0641908273100853, + 0.12403222918510437, + -0.00403442420065403 + ], + "orientation": [ + 0.19068358838558197, + -0.4428054988384247, + -0.036549728363752365, + -0.8753440380096436 + ], + "joints": [ + -0.0028951168060302734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04522576183080673, + 0.12703388929367065, + -0.04852715879678726 + ], + "orientation": [ + 0.07764770835638046, + 0.9770710468292236, + -0.19295839965343475, + -0.04550011828541756 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.043673209846019745, + 0.12570586800575256, + -0.04759380221366882 + ], + "orientation": [ + 0.08133435249328613, + 0.9788363575935364, + -0.18191532790660858, + -0.04659321531653404 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + 0.043673209846019745, + 0.12570586800575256, + -0.04759380221366882 + ], + "orientation": [ + 0.08133435249328613, + 0.9788363575935364, + -0.18191532790660858, + -0.04659321531653404 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0095375282689929, + -0.1036977767944336, + -0.01670350879430771 + ], + "orientation": [ + 0.4285743236541748, + 0.03014836087822914, + -0.8921809792518616, + -0.1393848955631256 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.010040570050477982, + -0.10354812443256378, + -0.016535265371203423 + ], + "orientation": [ + 0.43404433131217957, + 0.021882355213165283, + -0.8888850212097168, + -0.14494891464710236 + ], + "joints": [ + -0.008993847295641899 + ] + }, + "final_grasp": { + "position": [ + 0.010040570050477982, + -0.10354812443256378, + -0.016535265371203423 + ], + "orientation": [ + 0.43404433131217957, + 0.021882355213165283, + -0.8888850212097168, + -0.14494891464710236 + ], + "joints": [ + -0.002138793468475342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039761777967214584, + -0.08837378770112991, + -0.07785411924123764 + ], + "orientation": [ + 0.9593652486801147, + 0.21223002672195435, + 0.024705681949853897, + 0.18429991602897644 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.038593895733356476, + -0.08918651938438416, + -0.07678991556167603 + ], + "orientation": [ + 0.959317684173584, + 0.2183978408575058, + 0.021955739706754684, + 0.17756690084934235 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.038593895733356476, + -0.08918651938438416, + -0.07678991556167603 + ], + "orientation": [ + 0.959317684173584, + 0.2183978408575058, + 0.021955739706754684, + 0.17756690084934235 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03952501341700554, + -0.08820083737373352, + -0.0778629258275032 + ], + "orientation": [ + 0.9595063924789429, + 0.21282972395420074, + 0.0235758014023304, + 0.18301665782928467 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.038272611796855927, + -0.0890967920422554, + -0.07685977965593338 + ], + "orientation": [ + 0.9593831896781921, + 0.21932435035705566, + 0.0215604305267334, + 0.1761130392551422 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.038272611796855927, + -0.0890967920422554, + -0.07685977965593338 + ], + "orientation": [ + 0.9593831896781921, + 0.21932435035705566, + 0.0215604305267334, + 0.1761130392551422 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044341739267110825, + -0.09969460219144821, + -0.05531730502843857 + ], + "orientation": [ + 0.42923155426979065, + -0.027416596189141273, + 0.8836355209350586, + 0.18492382764816284 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.045384347438812256, + -0.10244286805391312, + -0.0555642805993557 + ], + "orientation": [ + 0.4332050085067749, + -0.03368754684925079, + 0.881024181842804, + 0.18706975877285004 + ], + "joints": [ + -0.008852459490299225 + ] + }, + "final_grasp": { + "position": [ + 0.045384347438812256, + -0.10244286805391312, + -0.0555642805993557 + ], + "orientation": [ + 0.4332050085067749, + -0.03368754684925079, + 0.881024181842804, + 0.18706975877285004 + ], + "joints": [ + -0.003033634275197983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013527452014386654, + 0.13423694670200348, + -0.01727881468832493 + ], + "orientation": [ + 0.054351117461919785, + -0.9176125526428223, + -0.11076373606920242, + -0.37784188985824585 + ], + "joints": [ + -0.015201210975646973 + ] + }, + "fine_grasp": { + "position": [ + -0.011952967382967472, + 0.1351078450679779, + -0.0167781300842762 + ], + "orientation": [ + 0.06111868843436241, + -0.9190179109573364, + -0.10928759723901749, + -0.37380048632621765 + ], + "joints": [ + -0.007788186427205801 + ] + }, + "final_grasp": { + "position": [ + -0.011952967382967472, + 0.1351078450679779, + -0.0167781300842762 + ], + "orientation": [ + 0.06111868843436241, + -0.9190179109573364, + -0.10928759723901749, + -0.37380048632621765 + ], + "joints": [ + -0.00037516187876462936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02040937915444374, + -0.12049966305494308, + 0.006993509363383055 + ], + "orientation": [ + 0.8266038298606873, + -0.06440473347902298, + 0.5586245656013489, + -0.022729888558387756 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.019494876265525818, + -0.11714073270559311, + 0.005790195427834988 + ], + "orientation": [ + 0.82498699426651, + -0.05470013990998268, + 0.5622410774230957, + -0.017012231051921844 + ], + "joints": [ + -0.010564345866441727 + ] + }, + "final_grasp": { + "position": [ + -0.019494876265525818, + -0.11714073270559311, + 0.005790195427834988 + ], + "orientation": [ + 0.82498699426651, + -0.05470013990998268, + 0.5622410774230957, + -0.017012231051921844 + ], + "joints": [ + -0.0052503496408462524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08382882922887802, + -0.08456074446439743, + -0.020022796466946602 + ], + "orientation": [ + 0.8609054088592529, + 0.12788592278957367, + -0.42472168803215027, + 0.24919554591178894 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.08307860046625137, + -0.08625084906816483, + -0.020921828225255013 + ], + "orientation": [ + 0.8584401607513428, + 0.13680122792720795, + -0.432941734790802, + 0.23859494924545288 + ], + "joints": [ + -0.0076482719741761684 + ] + }, + "final_grasp": { + "position": [ + 0.08307860046625137, + -0.08625084906816483, + -0.020921828225255013 + ], + "orientation": [ + 0.8584401607513428, + 0.13680122792720795, + -0.432941734790802, + 0.23859494924545288 + ], + "joints": [ + -0.0018028756603598595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0417727455496788, + 0.12460010498762131, + -0.04947570338845253 + ], + "orientation": [ + 0.04552016034722328, + -0.37106677889823914, + 0.15516023337841034, + 0.9144192934036255 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.042681094259023666, + 0.12533828616142273, + -0.05068272352218628 + ], + "orientation": [ + 0.03952355310320854, + -0.3678916096687317, + 0.14818823337554932, + 0.9171335697174072 + ], + "joints": [ + -0.008378468453884125 + ] + }, + "final_grasp": { + "position": [ + 0.042681094259023666, + 0.12533828616142273, + -0.05068272352218628 + ], + "orientation": [ + 0.03952355310320854, + -0.3678916096687317, + 0.14818823337554932, + 0.9171335697174072 + ], + "joints": [ + -0.0014968439936637878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03848206251859665, + -0.10309458523988724, + -0.04807286337018013 + ], + "orientation": [ + 0.8854644894599915, + 0.15025438368320465, + -0.43940022587776184, + 0.017424626275897026 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.038627710193395615, + -0.10467017441987991, + -0.04781675711274147 + ], + "orientation": [ + 0.8816941976547241, + 0.150457501411438, + -0.44673722982406616, + 0.020091557875275612 + ], + "joints": [ + -0.009972667321562767 + ] + }, + "final_grasp": { + "position": [ + 0.038627710193395615, + -0.10467017441987991, + -0.04781675711274147 + ], + "orientation": [ + 0.8816941976547241, + 0.150457501411438, + -0.44673722982406616, + 0.020091557875275612 + ], + "joints": [ + -0.004685241729021072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006693345960229635, + 0.14538167417049408, + 0.0013255600351840258 + ], + "orientation": [ + 0.06538593769073486, + 0.8343400359153748, + 0.029418203979730606, + -0.5465674996376038 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.006533753592520952, + 0.14086362719535828, + 0.001601188792847097 + ], + "orientation": [ + 0.059092290699481964, + 0.8307762742042542, + 0.026975849643349648, + -0.5528031587600708 + ], + "joints": [ + -0.01062175165861845 + ] + }, + "final_grasp": { + "position": [ + 0.006533753592520952, + 0.14086362719535828, + 0.001601188792847097 + ], + "orientation": [ + 0.059092290699481964, + 0.8307762742042542, + 0.026975849643349648, + -0.5528031587600708 + ], + "joints": [ + -0.004776353016495705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03855427727103233, + -0.10306189209222794, + -0.0481543242931366 + ], + "orientation": [ + 0.8856143355369568, + 0.14950285851955414, + -0.4393804967403412, + 0.016758782789111137 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.038572803139686584, + -0.10455583035945892, + -0.04790741577744484 + ], + "orientation": [ + 0.8818073272705078, + 0.15045012533664703, + -0.44653427600860596, + 0.019694045186042786 + ], + "joints": [ + -0.009972667321562767 + ] + }, + "final_grasp": { + "position": [ + 0.038572803139686584, + -0.10455583035945892, + -0.04790741577744484 + ], + "orientation": [ + 0.8818073272705078, + 0.15045012533664703, + -0.44653427600860596, + 0.019694045186042786 + ], + "joints": [ + -0.004685241729021072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06499633938074112, + -0.10367733240127563, + 0.032042402774095535 + ], + "orientation": [ + 0.9110387563705444, + -0.11550938338041306, + 0.36275824904441833, + 0.15834304690361023 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.06384661793708801, + -0.10172959417104721, + 0.032042622566223145 + ], + "orientation": [ + 0.911361813545227, + -0.11861494928598404, + 0.3642405867576599, + 0.15059520304203033 + ], + "joints": [ + -0.00885532982647419 + ] + }, + "final_grasp": { + "position": [ + 0.06384661793708801, + -0.10172959417104721, + 0.032042622566223145 + ], + "orientation": [ + 0.911361813545227, + -0.11861494928598404, + 0.3642405867576599, + 0.15059520304203033 + ], + "joints": [ + -0.003009933978319168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07789664715528488, + 0.1054341271519661, + -0.04617373272776604 + ], + "orientation": [ + 0.18133124709129333, + -0.402351438999176, + 0.21759620308876038, + 0.8705654144287109 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.0781952366232872, + 0.10637874901294708, + -0.045698922127485275 + ], + "orientation": [ + 0.1812838912010193, + -0.40028056502342224, + 0.2236166149377823, + 0.8700041770935059 + ], + "joints": [ + -0.009357288479804993 + ] + }, + "final_grasp": { + "position": [ + 0.0781952366232872, + 0.10637874901294708, + -0.045698922127485275 + ], + "orientation": [ + 0.1812838912010193, + -0.40028056502342224, + 0.2236166149377823, + 0.8700041770935059 + ], + "joints": [ + -0.004043292254209518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09152181446552277, + 0.09983078390359879, + -0.026130886748433113 + ], + "orientation": [ + 0.1735868901014328, + 0.8557185530662537, + 0.28387030959129333, + -0.396271288394928 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.08945228159427643, + 0.09989184141159058, + -0.027603885158896446 + ], + "orientation": [ + 0.18289554119110107, + 0.8542430400848389, + 0.26989585161209106, + -0.4049374759197235 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + -0.08945228159427643, + 0.09989184141159058, + -0.027603885158896446 + ], + "orientation": [ + 0.18289554119110107, + 0.8542430400848389, + 0.26989585161209106, + -0.4049374759197235 + ], + "joints": [ + -0.0024211257696151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025519780814647675, + 0.13993582129478455, + -0.059541620314121246 + ], + "orientation": [ + 0.07269060611724854, + 0.9172734022140503, + 0.19281834363937378, + 0.34080299735069275 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.024778863415122032, + 0.1361696422100067, + -0.05778643861413002 + ], + "orientation": [ + 0.09069783240556717, + 0.9138768911361694, + 0.19282393157482147, + 0.34557482600212097 + ], + "joints": [ + -0.008067725226283073 + ] + }, + "final_grasp": { + "position": [ + -0.024778863415122032, + 0.1361696422100067, + -0.05778643861413002 + ], + "orientation": [ + 0.09069783240556717, + 0.9138768911361694, + 0.19282393157482147, + 0.34557482600212097 + ], + "joints": [ + -0.0037899576127529144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09208247810602188, + 0.0994543582201004, + -0.026749663054943085 + ], + "orientation": [ + 0.17699702084064484, + 0.8552830219268799, + 0.286005437374115, + -0.394162118434906 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.09046352654695511, + 0.1006828248500824, + -0.02850649692118168 + ], + "orientation": [ + 0.18568946421146393, + 0.8540945053100586, + 0.2739656865596771, + -0.4012291729450226 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + -0.09046352654695511, + 0.1006828248500824, + -0.02850649692118168 + ], + "orientation": [ + 0.18568946421146393, + 0.8540945053100586, + 0.2739656865596771, + -0.4012291729450226 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08274055272340775, + 0.08015628904104233, + -0.08056852966547012 + ], + "orientation": [ + 0.2603604793548584, + -0.21699586510658264, + -0.34119176864624023, + -0.8767630457878113 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.0829477459192276, + 0.08122791349887848, + -0.08113846927881241 + ], + "orientation": [ + 0.25460755825042725, + -0.2245108187198639, + -0.3431282043457031, + -0.8758041262626648 + ], + "joints": [ + -0.009411826729774475 + ] + }, + "final_grasp": { + "position": [ + -0.0829477459192276, + 0.08122791349887848, + -0.08113846927881241 + ], + "orientation": [ + 0.25460755825042725, + -0.2245108187198639, + -0.3431282043457031, + -0.8758041262626648 + ], + "joints": [ + -0.003593001514673233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07276789098978043, + 0.08617676794528961, + 0.09052637219429016 + ], + "orientation": [ + 0.3442966938018799, + -0.8935649394989014, + 0.20617732405662537, + 0.20122744143009186 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.0714758113026619, + 0.08622529357671738, + 0.08971166610717773 + ], + "orientation": [ + 0.35031649470329285, + -0.8909668922424316, + 0.19990277290344238, + 0.20855523645877838 + ], + "joints": [ + -0.008852459490299225 + ] + }, + "final_grasp": { + "position": [ + 0.0714758113026619, + 0.08622529357671738, + 0.08971166610717773 + ], + "orientation": [ + 0.35031649470329285, + -0.8909668922424316, + 0.19990277290344238, + 0.20855523645877838 + ], + "joints": [ + -0.003033634275197983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.082590751349926, + 0.08020095527172089, + -0.08047021180391312 + ], + "orientation": [ + 0.2594422698020935, + -0.2179681360721588, + -0.34157848358154297, + -0.8766434788703918 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.08279404789209366, + 0.08127550780773163, + -0.08107452839612961 + ], + "orientation": [ + 0.25362029671669006, + -0.2254284769296646, + -0.3433479368686676, + -0.8757687211036682 + ], + "joints": [ + -0.00944126769900322 + ] + }, + "final_grasp": { + "position": [ + -0.08279404789209366, + 0.08127550780773163, + -0.08107452839612961 + ], + "orientation": [ + 0.25362029671669006, + -0.2254284769296646, + -0.3433479368686676, + -0.8757687211036682 + ], + "joints": [ + -0.0036224424839019775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06352438032627106, + 0.12595419585704803, + -0.01583823747932911 + ], + "orientation": [ + 0.1909203827381134, + -0.31834882497787476, + -0.03771618753671646, + -0.9277827739715576 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.062201667577028275, + 0.1260794699192047, + -0.0161953903734684 + ], + "orientation": [ + 0.18505066633224487, + -0.3229767382144928, + -0.03682326525449753, + -0.9274082779884338 + ], + "joints": [ + -0.007230291608721018 + ] + }, + "final_grasp": { + "position": [ + -0.062201667577028275, + 0.1260794699192047, + -0.0161953903734684 + ], + "orientation": [ + 0.18505066633224487, + -0.3229767382144928, + -0.03682326525449753, + -0.9274082779884338 + ], + "joints": [ + -0.000348665751516819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08915098756551743, + 0.07880454510450363, + 0.07164252549409866 + ], + "orientation": [ + 0.2199455201625824, + 0.34717857837677, + 0.37120702862739563, + -0.8326441645622253 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.09140793234109879, + 0.08193880319595337, + 0.07347454875707626 + ], + "orientation": [ + 0.2127862423658371, + 0.3506624698638916, + 0.37235227227211, + -0.8325332403182983 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.09140793234109879, + 0.08193880319595337, + 0.07347454875707626 + ], + "orientation": [ + 0.2127862423658371, + 0.3506624698638916, + 0.37235227227211, + -0.8325332403182983 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005383071023970842, + 0.14551566541194916, + 0.00037430768134072423 + ], + "orientation": [ + 0.09047575294971466, + 0.7700955867767334, + -0.07998555898666382, + 0.6263938546180725 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.004935102537274361, + 0.14051218330860138, + 0.00010279171692673117 + ], + "orientation": [ + 0.08539697527885437, + 0.7717997431755066, + -0.07650533318519592, + 0.6254433989524841 + ], + "joints": [ + -0.01006238628178835 + ] + }, + "final_grasp": { + "position": [ + 0.004935102537274361, + 0.14051218330860138, + 0.00010279171692673117 + ], + "orientation": [ + 0.08539697527885437, + 0.7717997431755066, + -0.07650533318519592, + 0.6254433989524841 + ], + "joints": [ + -0.004216989502310753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00531120877712965, + 0.14545269310474396, + 0.0003339214308653027 + ], + "orientation": [ + 0.09127901494503021, + 0.7707812786102295, + -0.08020298182964325, + 0.6254053115844727 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.00493359612300992, + 0.1404847353696823, + 6.850929639767855e-05 + ], + "orientation": [ + 0.08564373850822449, + 0.77254718542099, + -0.07647711783647537, + 0.6244894862174988 + ], + "joints": [ + -0.01006238628178835 + ] + }, + "final_grasp": { + "position": [ + 0.00493359612300992, + 0.1404847353696823, + 6.850929639767855e-05 + ], + "orientation": [ + 0.08564373850822449, + 0.77254718542099, + -0.07647711783647537, + 0.6244894862174988 + ], + "joints": [ + -0.004216989502310753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05205247923731804, + -0.09460502862930298, + -0.02747417986392975 + ], + "orientation": [ + 0.08951672911643982, + -0.20050686597824097, + -0.9749252200126648, + -0.03611971065402031 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.052567772567272186, + -0.09554116427898407, + -0.028235265985131264 + ], + "orientation": [ + 0.09326167404651642, + -0.19595178961753845, + -0.9757447838783264, + -0.028764978051185608 + ], + "joints": [ + -0.0070565929636359215 + ] + }, + "final_grasp": { + "position": [ + -0.052567772567272186, + -0.09554116427898407, + -0.028235265985131264 + ], + "orientation": [ + 0.09326167404651642, + -0.19595178961753845, + -0.9757447838783264, + -0.028764978051185608 + ], + "joints": [ + -0.0012377668172121048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00517355278134346, + 0.14550349116325378, + 0.0003918511501979083 + ], + "orientation": [ + 0.08997749537229538, + 0.7712200284004211, + -0.07922834903001785, + 0.6251772046089172 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.0047272611409425735, + 0.14051461219787598, + 0.00012382456043269485 + ], + "orientation": [ + 0.08506491035223007, + 0.773013174533844, + -0.07596050202846527, + 0.624055027961731 + ], + "joints": [ + -0.01006238628178835 + ] + }, + "final_grasp": { + "position": [ + 0.0047272611409425735, + 0.14051461219787598, + 0.00012382456043269485 + ], + "orientation": [ + 0.08506491035223007, + 0.773013174533844, + -0.07596050202846527, + 0.624055027961731 + ], + "joints": [ + -0.004216989502310753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04545295611023903, + 0.11994962394237518, + 0.055672939866781235 + ], + "orientation": [ + 0.19408488273620605, + -0.8904052972793579, + -0.03598126769065857, + -0.4101400077342987 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.04552390053868294, + 0.1195487231016159, + 0.05599150061607361 + ], + "orientation": [ + 0.19707995653152466, + -0.8878157138824463, + -0.032346244901418686, + -0.41460415720939636 + ], + "joints": [ + -0.008912738412618637 + ] + }, + "final_grasp": { + "position": [ + -0.04552390053868294, + 0.1195487231016159, + 0.05599150061607361 + ], + "orientation": [ + 0.19707995653152466, + -0.8878157138824463, + -0.032346244901418686, + -0.41460415720939636 + ], + "joints": [ + -0.002535942941904068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10005328059196472, + 0.09867488592863083, + -0.012061787769198418 + ], + "orientation": [ + 0.24013100564479828, + 0.7268232107162476, + 0.24590054154396057, + -0.5946410298347473 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.10121102631092072, + 0.09985136985778809, + -0.011904214508831501 + ], + "orientation": [ + 0.2356473058462143, + 0.7287044525146484, + 0.24406766891479492, + -0.5948874950408936 + ], + "joints": [ + -0.010202295146882534 + ] + }, + "final_grasp": { + "position": [ + -0.10121102631092072, + 0.09985136985778809, + -0.011904214508831501 + ], + "orientation": [ + 0.2356473058462143, + 0.7287044525146484, + 0.24406766891479492, + -0.5948874950408936 + ], + "joints": [ + -0.0027892645448446274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03158280998468399, + -0.10772334039211273, + -0.008985480293631554 + ], + "orientation": [ + 0.4307970404624939, + -0.06424005329608917, + 0.9000152349472046, + -0.0161159485578537 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.03109017014503479, + -0.10924134403467178, + -0.00870397500693798 + ], + "orientation": [ + 0.4341939389705658, + -0.0674886628985405, + 0.8982235789299011, + -0.010744810104370117 + ], + "joints": [ + -0.009918129071593285 + ] + }, + "final_grasp": { + "position": [ + 0.03109017014503479, + -0.10924134403467178, + -0.00870397500693798 + ], + "orientation": [ + 0.4341939389705658, + -0.0674886628985405, + 0.8982235789299011, + -0.010744810104370117 + ], + "joints": [ + -0.005135532468557358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048540230840444565, + -0.1031990721821785, + 0.006028769537806511 + ], + "orientation": [ + 0.8161215782165527, + -0.05514556169509888, + -0.5660231709480286, + -0.10257864743471146 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + -0.04986497759819031, + -0.10656112432479858, + 0.005344162229448557 + ], + "orientation": [ + 0.817655086517334, + -0.04698001965880394, + -0.5639670491218567, + -0.10570778697729111 + ], + "joints": [ + -0.010730824433267117 + ] + }, + "final_grasp": { + "position": [ + -0.04986497759819031, + -0.10656112432479858, + 0.005344162229448557 + ], + "orientation": [ + 0.817655086517334, + -0.04698001965880394, + -0.5639670491218567, + -0.10570778697729111 + ], + "joints": [ + -0.003875764086842537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06409618258476257, + 0.11275633424520493, + -0.017758280038833618 + ], + "orientation": [ + 0.18423838913440704, + -0.42505979537963867, + 0.09766483306884766, + 0.8808189630508423 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.06562244892120361, + 0.11533249914646149, + -0.017303964123129845 + ], + "orientation": [ + 0.1795632392168045, + -0.4253246784210205, + 0.10216856747865677, + 0.8811456561088562 + ], + "joints": [ + -0.01050693728029728 + ] + }, + "final_grasp": { + "position": [ + 0.06562244892120361, + 0.11533249914646149, + -0.017303964123129845 + ], + "orientation": [ + 0.1795632392168045, + -0.4253246784210205, + 0.10216856747865677, + 0.8811456561088562 + ], + "joints": [ + -0.0057243406772613525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08369205892086029, + -0.019943151623010635, + -0.10354121029376984 + ], + "orientation": [ + 0.301374614238739, + -0.16282576322555542, + -0.765720784664154, + -0.5443645119667053 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.08400916308164597, + -0.022376229986548424, + -0.10560079663991928 + ], + "orientation": [ + 0.29742667078971863, + -0.16093133389949799, + -0.7677550911903381, + -0.5442339181900024 + ], + "joints": [ + -0.00955608207732439 + ] + }, + "final_grasp": { + "position": [ + -0.08400916308164597, + -0.022376229986548424, + -0.10560079663991928 + ], + "orientation": [ + 0.29742667078971863, + -0.16093133389949799, + -0.7677550911903381, + -0.5442339181900024 + ], + "joints": [ + -0.0026744548231363297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05573279410600662, + -0.08071676641702652, + 0.08548891544342041 + ], + "orientation": [ + 0.8348731398582458, + -0.3422071635723114, + 0.4311385154724121, + 0.0008139214478433132 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.05460512265563011, + -0.07804398238658905, + 0.08231038600206375 + ], + "orientation": [ + 0.8376634120941162, + -0.3431343138217926, + 0.4248490631580353, + 0.0090701999142766 + ], + "joints": [ + -0.009948967024683952 + ] + }, + "final_grasp": { + "position": [ + 0.05460512265563011, + -0.07804398238658905, + 0.08231038600206375 + ], + "orientation": [ + 0.8376634120941162, + -0.3431343138217926, + 0.4248490631580353, + 0.0090701999142766 + ], + "joints": [ + -0.0046084001660346985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05576446279883385, + -0.08074444532394409, + 0.08547872304916382 + ], + "orientation": [ + 0.8347744345664978, + -0.3422110378742218, + 0.4313265085220337, + 0.000834407692309469 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.054629355669021606, + -0.07806012779474258, + 0.0823025107383728 + ], + "orientation": [ + 0.8374623656272888, + -0.3432200253009796, + 0.4251786172389984, + 0.008941295556724072 + ], + "joints": [ + -0.009948967024683952 + ] + }, + "final_grasp": { + "position": [ + 0.054629355669021606, + -0.07806012779474258, + 0.0823025107383728 + ], + "orientation": [ + 0.8374623656272888, + -0.3432200253009796, + 0.4251786172389984, + 0.008941295556724072 + ], + "joints": [ + -0.0046084001660346985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06221874803304672, + -0.10982891172170639, + 0.02883184887468815 + ], + "orientation": [ + 0.7792519927024841, + -0.022666947916150093, + -0.5924092531204224, + 0.20323333144187927 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.06021822616457939, + -0.10524489730596542, + 0.02709771692752838 + ], + "orientation": [ + 0.776294469833374, + -0.01914147101342678, + -0.5969403982162476, + 0.2016502022743225 + ], + "joints": [ + -0.010003505274653435 + ] + }, + "final_grasp": { + "position": [ + 0.06021822616457939, + -0.10524489730596542, + 0.02709771692752838 + ], + "orientation": [ + 0.776294469833374, + -0.01914147101342678, + -0.5969403982162476, + 0.2016502022743225 + ], + "joints": [ + -0.004158109426498413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1003856286406517, + -0.06427934765815735, + 0.04347451403737068 + ], + "orientation": [ + 0.7095637321472168, + -0.3572758138179779, + -0.5866270661354065, + -0.157295823097229 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.10251282900571823, + -0.06719070672988892, + 0.04353802278637886 + ], + "orientation": [ + 0.7098105549812317, + -0.35013383626937866, + -0.5891419053077698, + -0.16274894773960114 + ], + "joints": [ + -0.010589441284537315 + ] + }, + "final_grasp": { + "position": [ + -0.10251282900571823, + -0.06719070672988892, + 0.04353802278637886 + ], + "orientation": [ + 0.7098105549812317, + -0.35013383626937866, + -0.5891419053077698, + -0.16274894773960114 + ], + "joints": [ + -0.004770614206790924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004216848872601986, + -0.10832396149635315, + -0.022345298901200294 + ], + "orientation": [ + 0.8061345815658569, + 0.006882044952362776, + 0.5836398005485535, + 0.0972844585776329 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.003917197231203318, + -0.11281910538673401, + -0.022295242175459862 + ], + "orientation": [ + 0.804740309715271, + 0.0061913044191896915, + 0.5859995484352112, + 0.0946529433131218 + ], + "joints": [ + -0.010255436412990093 + ] + }, + "final_grasp": { + "position": [ + -0.003917197231203318, + -0.11281910538673401, + -0.022295242175459862 + ], + "orientation": [ + 0.804740309715271, + 0.0061913044191896915, + 0.5859995484352112, + 0.0946529433131218 + ], + "joints": [ + -0.002895547077059746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05478103831410408, + -0.09829214960336685, + 0.0029805833473801613 + ], + "orientation": [ + 0.8658023476600647, + 0.011068209074437618, + -0.46964848041534424, + 0.1723194271326065 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.05498316138982773, + -0.1026354655623436, + 0.0020959654357284307 + ], + "orientation": [ + 0.8668765425682068, + 0.012867740355432034, + -0.47069159150123596, + 0.1637342870235443 + ], + "joints": [ + -0.010114052332937717 + ] + }, + "final_grasp": { + "position": [ + 0.05498316138982773, + -0.1026354655623436, + 0.0020959654357284307 + ], + "orientation": [ + 0.8668765425682068, + 0.012867740355432034, + -0.47069159150123596, + 0.1637342870235443 + ], + "joints": [ + -0.0037903953343629837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04633086919784546, + 0.12098634243011475, + 0.04643715173006058 + ], + "orientation": [ + 0.15382973849773407, + 0.24050724506378174, + 0.32179611921310425, + -0.9027401804924011 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.04398117959499359, + 0.1169281005859375, + 0.04419746994972229 + ], + "orientation": [ + 0.15227532386779785, + 0.23906747996807098, + 0.3174296021461487, + -0.904929518699646 + ], + "joints": [ + -0.008939309045672417 + ] + }, + "final_grasp": { + "position": [ + -0.04398117959499359, + 0.1169281005859375, + 0.04419746994972229 + ], + "orientation": [ + 0.15227532386779785, + 0.23906747996807098, + 0.3174296021461487, + -0.904929518699646 + ], + "joints": [ + -0.002589084208011627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023192334920167923, + 0.13660965859889984, + -0.05182727798819542 + ], + "orientation": [ + 0.10913526266813278, + 0.9886754751205444, + 0.09895606338977814, + 0.028600212186574936 + ], + "joints": [ + -0.0147596076130867 + ] + }, + "fine_grasp": { + "position": [ + -0.02203613519668579, + 0.13176965713500977, + -0.05003674328327179 + ], + "orientation": [ + 0.1189928948879242, + 0.987574577331543, + 0.09876389056444168, + 0.02797844633460045 + ], + "joints": [ + -0.010508410632610321 + ] + }, + "final_grasp": { + "position": [ + -0.02203613519668579, + 0.13176965713500977, + -0.05003674328327179 + ], + "orientation": [ + 0.1189928948879242, + 0.987574577331543, + 0.09876389056444168, + 0.02797844633460045 + ], + "joints": [ + -0.006257213652133942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023151397705078125, + 0.13659748435020447, + -0.05179640278220177 + ], + "orientation": [ + 0.10900828242301941, + 0.9885711073875427, + 0.09957373887300491, + 0.0304871778935194 + ], + "joints": [ + -0.0147596076130867 + ] + }, + "fine_grasp": { + "position": [ + -0.021970434114336967, + 0.13176575303077698, + -0.04998604208230972 + ], + "orientation": [ + 0.11870565265417099, + 0.9875227212905884, + 0.09914375841617584, + 0.02963874861598015 + ], + "joints": [ + -0.010508410632610321 + ] + }, + "final_grasp": { + "position": [ + -0.021970434114336967, + 0.13176575303077698, + -0.04998604208230972 + ], + "orientation": [ + 0.11870565265417099, + 0.9875227212905884, + 0.09914375841617584, + 0.02963874861598015 + ], + "joints": [ + -0.006257213652133942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0231801588088274, + 0.13658109307289124, + -0.051791392266750336 + ], + "orientation": [ + 0.1091117337346077, + 0.9885843992233276, + 0.09949719905853271, + 0.02993021160364151 + ], + "joints": [ + -0.0147596076130867 + ] + }, + "fine_grasp": { + "position": [ + -0.02198602259159088, + 0.13175246119499207, + -0.049984078854322433 + ], + "orientation": [ + 0.11885417252779007, + 0.987545907497406, + 0.09894390404224396, + 0.028929485008120537 + ], + "joints": [ + -0.010508410632610321 + ] + }, + "final_grasp": { + "position": [ + -0.02198602259159088, + 0.13175246119499207, + -0.049984078854322433 + ], + "orientation": [ + 0.11885417252779007, + 0.987545907497406, + 0.09894390404224396, + 0.028929485008120537 + ], + "joints": [ + -0.006257213652133942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004330816213041544, + -0.10824902355670929, + -0.02181382291018963 + ], + "orientation": [ + 0.805934488773346, + 0.007709851488471031, + 0.5843318700790405, + 0.09469018876552582 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.004091742914170027, + -0.11289297044277191, + -0.02186783216893673 + ], + "orientation": [ + 0.8045289516448975, + 0.006692283786833286, + 0.5866549611091614, + 0.09232791513204575 + ], + "joints": [ + -0.010760265402495861 + ] + }, + "final_grasp": { + "position": [ + -0.004091742914170027, + -0.11289297044277191, + -0.02186783216893673 + ], + "orientation": [ + 0.8045289516448975, + 0.006692283786833286, + 0.5866549611091614, + 0.09232791513204575 + ], + "joints": [ + -0.0039052050560712814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00409558555111289, + -0.10817290097475052, + -0.021887434646487236 + ], + "orientation": [ + 0.8042586445808411, + 0.007158203050494194, + 0.5863720774650574, + 0.09635630249977112 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.0038557262159883976, + -0.11281302571296692, + -0.021924076601862907 + ], + "orientation": [ + 0.8027029633522034, + 0.006326158531010151, + 0.5889137387275696, + 0.09385395050048828 + ], + "joints": [ + -0.010760265402495861 + ] + }, + "final_grasp": { + "position": [ + -0.0038557262159883976, + -0.11281302571296692, + -0.021924076601862907 + ], + "orientation": [ + 0.8027029633522034, + 0.006326158531010151, + 0.5889137387275696, + 0.09385395050048828 + ], + "joints": [ + -0.0039052050560712814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02184072509407997, + -0.10847093164920807, + 0.029620252549648285 + ], + "orientation": [ + 0.5917972326278687, + -0.0515500046312809, + 0.8010114431381226, + -0.07415850460529327 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.022412346675992012, + -0.11052767932415009, + 0.030784256756305695 + ], + "orientation": [ + 0.5987785458564758, + -0.052525073289871216, + 0.796245276927948, + -0.06854806840419769 + ], + "joints": [ + -0.011796494014561176 + ] + }, + "final_grasp": { + "position": [ + -0.022412346675992012, + -0.11052767932415009, + 0.030784256756305695 + ], + "orientation": [ + 0.5987785458564758, + -0.052525073289871216, + 0.796245276927948, + -0.06854806840419769 + ], + "joints": [ + -0.005977662280201912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021836519241333008, + -0.1083894595503807, + 0.029539989307522774 + ], + "orientation": [ + 0.5921812057495117, + -0.05147252604365349, + 0.8007389903068542, + -0.0740887001156807 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.02240603417158127, + -0.11051523685455322, + 0.030738651752471924 + ], + "orientation": [ + 0.5992572903633118, + -0.052504826337099075, + 0.7958926558494568, + -0.06847531348466873 + ], + "joints": [ + -0.011796494014561176 + ] + }, + "final_grasp": { + "position": [ + -0.02240603417158127, + -0.11051523685455322, + 0.030738651752471924 + ], + "orientation": [ + 0.5992572903633118, + -0.052504826337099075, + 0.7958926558494568, + -0.06847531348466873 + ], + "joints": [ + -0.005977662280201912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0029144566506147385, + -0.08422108739614487, + 0.08564325422048569 + ], + "orientation": [ + 0.11828990280628204, + -0.07548388093709946, + 0.9494023323059082, + -0.2809714078903198 + ], + "joints": [ + -0.016378827393054962 + ] + }, + "fine_grasp": { + "position": [ + 0.0023564521688967943, + -0.08711917698383331, + 0.08850663155317307 + ], + "orientation": [ + 0.1275572031736374, + -0.07082731276750565, + 0.9529739022254944, + -0.2656186521053314 + ], + "joints": [ + -0.009497201070189476 + ] + }, + "final_grasp": { + "position": [ + 0.0023564521688967943, + -0.08711917698383331, + 0.08850663155317307 + ], + "orientation": [ + 0.1275572031736374, + -0.07082731276750565, + 0.9529739022254944, + -0.2656186521053314 + ], + "joints": [ + -0.00261557474732399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1258295774459839, + 0.0189084280282259, + 0.04574268311262131 + ], + "orientation": [ + 0.47946661710739136, + 0.3010348975658417, + 0.5647476315498352, + -0.6004581451416016 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.1235833391547203, + 0.018566520884633064, + 0.04513604938983917 + ], + "orientation": [ + 0.48113030195236206, + 0.3053969740867615, + 0.559221088886261, + -0.6020947694778442 + ], + "joints": [ + -0.010481763631105423 + ] + }, + "final_grasp": { + "position": [ + -0.1235833391547203, + 0.018566520884633064, + 0.04513604938983917 + ], + "orientation": [ + 0.48113030195236206, + 0.3053969740867615, + 0.559221088886261, + -0.6020947694778442 + ], + "joints": [ + -0.0051146261394023895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03348483517765999, + -0.10944719612598419, + -0.014000242576003075 + ], + "orientation": [ + 0.3843759298324585, + -0.07770808041095734, + 0.9196984767913818, + 0.019267302006483078 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.033878397196531296, + -0.11078426241874695, + -0.013973760418593884 + ], + "orientation": [ + 0.3772397041320801, + -0.0806126743555069, + 0.9223681688308716, + 0.020709393545985222 + ], + "joints": [ + -0.009528117254376411 + ] + }, + "final_grasp": { + "position": [ + 0.033878397196531296, + -0.11078426241874695, + -0.013973760418593884 + ], + "orientation": [ + 0.3772397041320801, + -0.0806126743555069, + 0.9223681688308716, + 0.020709393545985222 + ], + "joints": [ + -0.003177892416715622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07958005368709564, + -0.08492900431156158, + -0.027762841433286667 + ], + "orientation": [ + 0.5119977593421936, + -0.18176504969596863, + -0.8116117119789124, + -0.2147236466407776 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.08193091303110123, + -0.0873565748333931, + -0.028203250840306282 + ], + "orientation": [ + 0.5110428333282471, + -0.17861424386501312, + -0.8143443465232849, + -0.20922580361366272 + ], + "joints": [ + -0.01182445976883173 + ] + }, + "final_grasp": { + "position": [ + -0.08193091303110123, + -0.0873565748333931, + -0.028203250840306282 + ], + "orientation": [ + 0.5110428333282471, + -0.17861424386501312, + -0.8143443465232849, + -0.20922580361366272 + ], + "joints": [ + -0.005474226549267769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005529254209250212, + -0.11461614817380905, + -0.02217722125351429 + ], + "orientation": [ + 0.673711359500885, + 0.10738769918680191, + -0.731080949306488, + -0.01006680354475975 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.005837206728756428, + -0.11349914222955704, + -0.021784629672765732 + ], + "orientation": [ + 0.6772143840789795, + 0.1088421493768692, + -0.7276545763015747, + -0.007266854867339134 + ], + "joints": [ + -0.009613488800823689 + ] + }, + "final_grasp": { + "position": [ + -0.005837206728756428, + -0.11349914222955704, + -0.021784629672765732 + ], + "orientation": [ + 0.6772143840789795, + 0.1088421493768692, + -0.7276545763015747, + -0.007266854867339134 + ], + "joints": [ + -0.002200460061430931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03258233889937401, + 0.12824437022209167, + -0.04744083061814308 + ], + "orientation": [ + 0.13551583886146545, + 0.9313200116157532, + 0.033560626208782196, + -0.33638080954551697 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.03375343233346939, + 0.12938237190246582, + -0.04838394746184349 + ], + "orientation": [ + 0.12691132724285126, + 0.9332913160324097, + 0.03373901918530464, + -0.33424943685531616 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.03375343233346939, + 0.12938237190246582, + -0.04838394746184349 + ], + "orientation": [ + 0.12691132724285126, + 0.9332913160324097, + 0.03373901918530464, + -0.33424943685531616 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0389985516667366, + -0.09717325121164322, + 0.06641452759504318 + ], + "orientation": [ + 0.2163352519273758, + 0.06981126964092255, + -0.9515092968940735, + 0.20725736021995544 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.039616797119379044, + -0.0993511825799942, + 0.06789744645357132 + ], + "orientation": [ + 0.2215775102376938, + 0.06497910618782043, + -0.951473593711853, + 0.20341861248016357 + ], + "joints": [ + -0.009021813049912453 + ] + }, + "final_grasp": { + "position": [ + 0.039616797119379044, + -0.0993511825799942, + 0.06789744645357132 + ], + "orientation": [ + 0.2215775102376938, + 0.06497910618782043, + -0.951473593711853, + 0.20341861248016357 + ], + "joints": [ + -0.0016353577375411987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03894359990954399, + -0.0971466451883316, + 0.06636937707662582 + ], + "orientation": [ + 0.21595078706741333, + 0.06977363675832748, + -0.9516571164131165, + 0.20699220895767212 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.03944193199276924, + -0.09942232817411423, + 0.0680103749036789 + ], + "orientation": [ + 0.22195181250572205, + 0.06423278898000717, + -0.9513606429100037, + 0.20377585291862488 + ], + "joints": [ + -0.009021813049912453 + ] + }, + "final_grasp": { + "position": [ + 0.03944193199276924, + -0.09942232817411423, + 0.0680103749036789 + ], + "orientation": [ + 0.22195181250572205, + 0.06423278898000717, + -0.9513606429100037, + 0.20377585291862488 + ], + "joints": [ + -0.0016353577375411987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09094082564115524, + 0.10500507801771164, + -0.011160533875226974 + ], + "orientation": [ + 0.20602038502693176, + 0.7495373487472534, + 0.22521132230758667, + -0.5873917937278748 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.09230619668960571, + 0.10546530783176422, + -0.011440463364124298 + ], + "orientation": [ + 0.19905024766921997, + 0.7523174285888672, + 0.2239941507577896, + -0.5867061614990234 + ], + "joints": [ + -0.010733694769442081 + ] + }, + "final_grasp": { + "position": [ + -0.09230619668960571, + 0.10546530783176422, + -0.011440463364124298 + ], + "orientation": [ + 0.19905024766921997, + 0.7523174285888672, + 0.2239941507577896, + -0.5867061614990234 + ], + "joints": [ + -0.0038520637899637222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06381505727767944, + -0.09000367671251297, + 0.03737944737076759 + ], + "orientation": [ + 0.6178398728370667, + 0.04814666137099266, + 0.7524167895317078, + -0.22321434319019318 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + -0.06565374881029129, + -0.09332256019115448, + 0.03843400999903679 + ], + "orientation": [ + 0.6240890622138977, + 0.04696724936366081, + 0.7499400973320007, + -0.21423527598381042 + ], + "joints": [ + -0.011178246699273586 + ] + }, + "final_grasp": { + "position": [ + -0.06565374881029129, + -0.09332256019115448, + 0.03843400999903679 + ], + "orientation": [ + 0.6240890622138977, + 0.04696724936366081, + 0.7499400973320007, + -0.21423527598381042 + ], + "joints": [ + -0.005359416827559471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016334887593984604, + -0.11302639544010162, + 0.011439475230872631 + ], + "orientation": [ + 0.3552018702030182, + -0.04718632623553276, + -0.9275608062744141, + 0.1059999018907547 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.016209503635764122, + -0.11146214604377747, + 0.01123062614351511 + ], + "orientation": [ + 0.3535407781600952, + -0.04262933135032654, + -0.928595781326294, + 0.10441018640995026 + ], + "joints": [ + -0.01003294624388218 + ] + }, + "final_grasp": { + "position": [ + -0.016209503635764122, + -0.11146214604377747, + 0.01123062614351511 + ], + "orientation": [ + 0.3535407781600952, + -0.04262933135032654, + -0.928595781326294, + 0.10441018640995026 + ], + "joints": [ + -0.004187550395727158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016122912988066673, + -0.11135635524988174, + -0.03076442889869213 + ], + "orientation": [ + 0.10466831922531128, + -0.0372435487806797, + 0.9929155707359314, + 0.04214361310005188 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.01667027175426483, + -0.1122969463467598, + -0.03143888711929321 + ], + "orientation": [ + 0.10075163841247559, + -0.0413394421339035, + 0.993415117263794, + 0.035590287297964096 + ], + "joints": [ + -0.00894070602953434 + ] + }, + "final_grasp": { + "position": [ + 0.01667027175426483, + -0.1122969463467598, + -0.03143888711929321 + ], + "orientation": [ + 0.10075163841247559, + -0.0413394421339035, + 0.993415117263794, + 0.035590287297964096 + ], + "joints": [ + -0.0020325109362602234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016253888607025146, + -0.11130881309509277, + 0.038564711809158325 + ], + "orientation": [ + 0.17390196025371552, + 0.014525785110890865, + -0.9819414019584656, + 0.07306259125471115 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + 0.015831172466278076, + -0.11400937288999557, + 0.039999667555093765 + ], + "orientation": [ + 0.18391114473342896, + 0.008975924924015999, + -0.9804415106773376, + 0.06950201839208603 + ], + "joints": [ + -0.009049777872860432 + ] + }, + "final_grasp": { + "position": [ + 0.015831172466278076, + -0.11400937288999557, + 0.039999667555093765 + ], + "orientation": [ + 0.18391114473342896, + 0.008975924924015999, + -0.9804415106773376, + 0.06950201839208603 + ], + "joints": [ + -0.0011319201439619064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016397634521126747, + -0.11147893220186234, + 0.03829535096883774 + ], + "orientation": [ + 0.1701885610818863, + 0.016134755685925484, + -0.9825677275657654, + 0.07304847985506058 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + 0.015763362869620323, + -0.11408980935811996, + 0.03979405015707016 + ], + "orientation": [ + 0.18232879042625427, + 0.009577598422765732, + -0.9807717800140381, + 0.06892897188663483 + ], + "joints": [ + -0.009049777872860432 + ] + }, + "final_grasp": { + "position": [ + 0.015763362869620323, + -0.11408980935811996, + 0.03979405015707016 + ], + "orientation": [ + 0.18232879042625427, + 0.009577598422765732, + -0.9807717800140381, + 0.06892897188663483 + ], + "joints": [ + -0.0011319201439619064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025375304743647575, + 0.13968698680400848, + -0.059302426874637604 + ], + "orientation": [ + 0.08256222307682037, + 0.9174779057502747, + 0.18928220868110657, + 0.3399851620197296 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.024574030190706253, + 0.1358950436115265, + -0.0578606091439724 + ], + "orientation": [ + 0.09587199240922928, + 0.9140889644622803, + 0.1912672072649002, + 0.3444807231426239 + ], + "joints": [ + -0.008713942021131516 + ] + }, + "final_grasp": { + "position": [ + -0.024574030190706253, + 0.1358950436115265, + -0.0578606091439724 + ], + "orientation": [ + 0.09587199240922928, + 0.9140889644622803, + 0.1912672072649002, + 0.3444807231426239 + ], + "joints": [ + -0.003904774785041809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05446059629321098, + -0.001395425177179277, + 0.1264692097902298 + ], + "orientation": [ + 0.7585970759391785, + -0.6196186542510986, + -0.1519470363855362, + -0.1323450356721878 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + -0.055387310683727264, + -0.0019120945362374187, + 0.1282433718442917 + ], + "orientation": [ + 0.7601940631866455, + -0.6169593930244446, + -0.15634284913539886, + -0.13047188520431519 + ], + "joints": [ + -0.0095546068623662 + ] + }, + "final_grasp": { + "position": [ + -0.055387310683727264, + -0.0019120945362374187, + 0.1282433718442917 + ], + "orientation": [ + 0.7601940631866455, + -0.6169593930244446, + -0.15634284913539886, + -0.13047188520431519 + ], + "joints": [ + -0.002141578122973442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05445483699440956, + -0.0014227790525183082, + 0.12646673619747162 + ], + "orientation": [ + 0.7588396668434143, + -0.6193479895591736, + -0.15194061398506165, + -0.1322287768125534 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + -0.05546611174941063, + -0.002011439995840192, + 0.1281927525997162 + ], + "orientation": [ + 0.7603893876075745, + -0.6166064143180847, + -0.15659894049167633, + -0.13069559633731842 + ], + "joints": [ + -0.0095546068623662 + ] + }, + "final_grasp": { + "position": [ + -0.05546611174941063, + -0.002011439995840192, + 0.1281927525997162 + ], + "orientation": [ + 0.7603893876075745, + -0.6166064143180847, + -0.15659894049167633, + -0.13069559633731842 + ], + "joints": [ + -0.002141578122973442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054408956319093704, + -0.0013124140677973628, + 0.1264646202325821 + ], + "orientation": [ + 0.7589384317398071, + -0.6192734837532043, + -0.15144389867782593, + -0.1325802206993103 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + -0.05551445484161377, + -0.0018903377931565046, + 0.12818053364753723 + ], + "orientation": [ + 0.7601768970489502, + -0.616823673248291, + -0.156327024102211, + -0.1312301605939865 + ], + "joints": [ + -0.0095546068623662 + ] + }, + "final_grasp": { + "position": [ + -0.05551445484161377, + -0.0018903377931565046, + 0.12818053364753723 + ], + "orientation": [ + 0.7601768970489502, + -0.616823673248291, + -0.156327024102211, + -0.1312301605939865 + ], + "joints": [ + -0.002141578122973442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06101605296134949, + -0.09904498606920242, + -0.018505198881030083 + ], + "orientation": [ + 0.6140757203102112, + -0.08798449486494064, + -0.7711470127105713, + -0.14318500459194183 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + -0.06144356727600098, + -0.10008031874895096, + -0.020003585144877434 + ], + "orientation": [ + 0.6177650094032288, + -0.07637841999530792, + -0.7688349485397339, + -0.14637508988380432 + ], + "joints": [ + -0.011235653422772884 + ] + }, + "final_grasp": { + "position": [ + -0.06144356727600098, + -0.10008031874895096, + -0.020003585144877434 + ], + "orientation": [ + 0.6177650094032288, + -0.07637841999530792, + -0.7688349485397339, + -0.14637508988380432 + ], + "joints": [ + -0.004885422065854073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06099843233823776, + -0.09944436699151993, + -0.018340611830353737 + ], + "orientation": [ + 0.6145147681236267, + -0.08842320740222931, + -0.7708044052124023, + -0.14287614822387695 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + -0.06127094477415085, + -0.10000161826610565, + -0.019869022071361542 + ], + "orientation": [ + 0.6195313334465027, + -0.0754573717713356, + -0.7674798965454102, + -0.1464986652135849 + ], + "joints": [ + -0.011235653422772884 + ] + }, + "final_grasp": { + "position": [ + -0.06127094477415085, + -0.10000161826610565, + -0.019869022071361542 + ], + "orientation": [ + 0.6195313334465027, + -0.0754573717713356, + -0.7674798965454102, + -0.1464986652135849 + ], + "joints": [ + -0.004885422065854073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05852615460753441, + 0.0437980517745018, + -0.12034191191196442 + ], + "orientation": [ + 0.5183372497558594, + 0.8245446681976318, + -0.2028503268957138, + 0.10150990635156631 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.05955969914793968, + 0.046234168112277985, + -0.12125018984079361 + ], + "orientation": [ + 0.5303732752799988, + 0.8193140625953674, + -0.18629224598407745, + 0.11280031502246857 + ], + "joints": [ + -0.00930275022983551 + ] + }, + "final_grasp": { + "position": [ + 0.05955969914793968, + 0.046234168112277985, + -0.12125018984079361 + ], + "orientation": [ + 0.5303732752799988, + 0.8193140625953674, + -0.18629224598407745, + 0.11280031502246857 + ], + "joints": [ + -0.004493582993745804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05855264142155647, + 0.04385870322585106, + -0.1203213781118393 + ], + "orientation": [ + 0.5181148052215576, + 0.8246680498123169, + -0.20287756621837616, + 0.10158957540988922 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.05961686745285988, + 0.04633107781410217, + -0.12130798399448395 + ], + "orientation": [ + 0.530403196811676, + 0.8192617893218994, + -0.18624313175678253, + 0.1131201833486557 + ], + "joints": [ + -0.00930275022983551 + ] + }, + "final_grasp": { + "position": [ + 0.05961686745285988, + 0.04633107781410217, + -0.12130798399448395 + ], + "orientation": [ + 0.530403196811676, + 0.8192617893218994, + -0.18624313175678253, + 0.1131201833486557 + ], + "joints": [ + -0.004493582993745804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05073712393641472, + -0.07071181386709213, + -0.09496327489614487 + ], + "orientation": [ + 0.20889610052108765, + -0.10325540602207184, + 0.8999648690223694, + 0.3684617877006531 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.05245864763855934, + -0.07223223894834518, + -0.09697022289037704 + ], + "orientation": [ + 0.20796018838882446, + -0.1051657497882843, + 0.9038864374160767, + 0.35872286558151245 + ], + "joints": [ + -0.009024682454764843 + ] + }, + "final_grasp": { + "position": [ + 0.05245864763855934, + -0.07223223894834518, + -0.09697022289037704 + ], + "orientation": [ + 0.20796018838882446, + -0.1051657497882843, + 0.9038864374160767, + 0.35872286558151245 + ], + "joints": [ + -0.0016116555780172348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03795076534152031, + -0.08563900738954544, + 0.08170843869447708 + ], + "orientation": [ + 0.19331911206245422, + 0.06252271682024002, + -0.9382153153419495, + 0.28012630343437195 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.03903144598007202, + -0.08687775582075119, + 0.0831696018576622 + ], + "orientation": [ + 0.1961347460746765, + 0.0602465458214283, + -0.939356803894043, + 0.27479174733161926 + ], + "joints": [ + -0.010060911066830158 + ] + }, + "final_grasp": { + "position": [ + 0.03903144598007202, + -0.08687775582075119, + 0.0831696018576622 + ], + "orientation": [ + 0.1961347460746765, + 0.0602465458214283, + -0.939356803894043, + 0.27479174733161926 + ], + "joints": [ + -0.0036841128021478653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008616151288151741, + -0.11263491958379745, + -0.004123308230191469 + ], + "orientation": [ + 0.9747310280799866, + -0.07822814583778381, + 0.20011886954307556, + 0.06109093502163887 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.007990163750946522, + -0.11377886682748795, + -0.005805567372590303 + ], + "orientation": [ + 0.9733296632766724, + -0.08547083288431168, + 0.20327283442020416, + 0.06328006088733673 + ], + "joints": [ + -0.009584047831594944 + ] + }, + "final_grasp": { + "position": [ + 0.007990163750946522, + -0.11377886682748795, + -0.005805567372590303 + ], + "orientation": [ + 0.9733296632766724, + -0.08547083288431168, + 0.20327283442020416, + 0.06328006088733673 + ], + "joints": [ + -0.0021710190922021866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055929966270923615, + -0.0949990302324295, + -0.012654966674745083 + ], + "orientation": [ + 0.8856552243232727, + -0.0886109247803688, + -0.3779228627681732, + -0.2548280656337738 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.054575592279434204, + -0.09317263960838318, + -0.011585520580410957 + ], + "orientation": [ + 0.8929072618484497, + -0.0946471244096756, + -0.3626336455345154, + -0.24951015412807465 + ], + "joints": [ + -0.010119793005287647 + ] + }, + "final_grasp": { + "position": [ + -0.054575592279434204, + -0.09317263960838318, + -0.011585520580410957 + ], + "orientation": [ + 0.8929072618484497, + -0.0946471244096756, + -0.3626336455345154, + -0.24951015412807465 + ], + "joints": [ + -0.0037429947406053543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07127521932125092, + 0.11842736601829529, + 0.006006390787661076 + ], + "orientation": [ + 0.15333396196365356, + -0.7178459763526917, + -0.13466998934745789, + -0.6656199097633362 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.07229247689247131, + 0.12021534889936447, + 0.006485192570835352 + ], + "orientation": [ + 0.15310347080230713, + -0.7167437076568604, + -0.1295478194952011, + -0.6678735613822937 + ], + "joints": [ + -0.011294535361230373 + ] + }, + "final_grasp": { + "position": [ + -0.07229247689247131, + 0.12021534889936447, + 0.006485192570835352 + ], + "orientation": [ + 0.15310347080230713, + -0.7167437076568604, + -0.1295478194952011, + -0.6678735613822937 + ], + "joints": [ + -0.004944304004311562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022507235407829285, + 0.14130567014217377, + -0.048175595700740814 + ], + "orientation": [ + 0.09529999643564224, + 0.6077712178230286, + -0.12298457324504852, + -0.778721272945404 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + 0.021984262391924858, + 0.1363883763551712, + -0.04632066935300827 + ], + "orientation": [ + 0.09290763735771179, + 0.606137752532959, + -0.13175734877586365, + -0.7788487076759338 + ], + "joints": [ + -0.01144755445420742 + ] + }, + "final_grasp": { + "position": [ + 0.021984262391924858, + 0.1363883763551712, + -0.04632066935300827 + ], + "orientation": [ + 0.09290763735771179, + 0.606137752532959, + -0.13175734877586365, + -0.7788487076759338 + ], + "joints": [ + -0.006133554503321648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09083192050457001, + 0.08927512913942337, + 0.04883897677063942 + ], + "orientation": [ + 0.2055504471063614, + 0.4728570282459259, + -0.3386303186416626, + 0.78707355260849 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.09346254169940948, + 0.09068229794502258, + 0.05012836679816246 + ], + "orientation": [ + 0.2014908790588379, + 0.4784008264541626, + -0.3292618691921234, + 0.788746178150177 + ], + "joints": [ + -0.011914176866412163 + ] + }, + "final_grasp": { + "position": [ + 0.09346254169940948, + 0.09068229794502258, + 0.05012836679816246 + ], + "orientation": [ + 0.2014908790588379, + 0.4784008264541626, + -0.3292618691921234, + 0.788746178150177 + ], + "joints": [ + -0.005005970597267151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08947981148958206, + 0.11691286414861679, + -0.015296481549739838 + ], + "orientation": [ + 0.32270488142967224, + 0.4178568422794342, + -0.05154486000537872, + 0.8477029800415039 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.08810503780841827, + 0.1153528019785881, + -0.013780353590846062 + ], + "orientation": [ + 0.31805771589279175, + 0.4291240870952606, + -0.04937143623828888, + 0.8439515829086304 + ], + "joints": [ + -0.010003505274653435 + ] + }, + "final_grasp": { + "position": [ + 0.08810503780841827, + 0.1153528019785881, + -0.013780353590846062 + ], + "orientation": [ + 0.31805771589279175, + 0.4291240870952606, + -0.04937143623828888, + 0.8439515829086304 + ], + "joints": [ + -0.004158109426498413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09079162776470184, + 0.08930359780788422, + 0.048828933387994766 + ], + "orientation": [ + 0.20532330870628357, + 0.47306740283966064, + -0.3386020362377167, + 0.7870185375213623 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.0934329703450203, + 0.09071986377239227, + 0.05013151094317436 + ], + "orientation": [ + 0.2013157159090042, + 0.47849276661872864, + -0.3291904926300049, + 0.7887649536132812 + ], + "joints": [ + -0.011914176866412163 + ] + }, + "final_grasp": { + "position": [ + 0.0934329703450203, + 0.09071986377239227, + 0.05013151094317436 + ], + "orientation": [ + 0.2013157159090042, + 0.47849276661872864, + -0.3291904926300049, + 0.7887649536132812 + ], + "joints": [ + -0.005005970597267151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0037098778411746025, + -0.1099574938416481, + 0.05215679481625557 + ], + "orientation": [ + 0.23752377927303314, + -0.0889158770442009, + 0.9632418751716614, + -0.08855261653661728 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.0033355357591062784, + -0.10608436167240143, + 0.05070001259446144 + ], + "orientation": [ + 0.23978230357170105, + -0.08367813378572464, + 0.9631839394569397, + -0.08819985389709473 + ], + "joints": [ + -0.010450925678014755 + ] + }, + "final_grasp": { + "position": [ + 0.0033355357591062784, + -0.10608436167240143, + 0.05070001259446144 + ], + "orientation": [ + 0.23978230357170105, + -0.08367813378572464, + 0.9631839394569397, + -0.08819985389709473 + ], + "joints": [ + -0.005641758441925049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07127443701028824, + 0.11840382218360901, + 0.006031608209013939 + ], + "orientation": [ + 0.15366245806217194, + -0.7173638939857483, + -0.13443362712860107, + -0.666111409664154 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.0723055824637413, + 0.12023039162158966, + 0.006518849637359381 + ], + "orientation": [ + 0.15337690711021423, + -0.7163185477256775, + -0.12937119603157043, + -0.6683011651039124 + ], + "joints": [ + -0.011294535361230373 + ] + }, + "final_grasp": { + "position": [ + -0.0723055824637413, + 0.12023039162158966, + 0.006518849637359381 + ], + "orientation": [ + 0.15337690711021423, + -0.7163185477256775, + -0.12937119603157043, + -0.6683011651039124 + ], + "joints": [ + -0.004944304004311562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017738208174705505, + -0.10336153954267502, + -0.05757251754403114 + ], + "orientation": [ + 0.9777693748474121, + 0.16274745762348175, + 0.13062478601932526, + -0.020434357225894928 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + -0.01812390424311161, + -0.10616236180067062, + -0.059950150549411774 + ], + "orientation": [ + 0.9785314202308655, + 0.151866152882576, + 0.13817763328552246, + -0.017888374626636505 + ], + "joints": [ + -0.009023207239806652 + ] + }, + "final_grasp": { + "position": [ + -0.01812390424311161, + -0.10616236180067062, + -0.059950150549411774 + ], + "orientation": [ + 0.9785314202308655, + 0.151866152882576, + 0.13817763328552246, + -0.017888374626636505 + ], + "joints": [ + -0.0010787788778543472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018022999167442322, + -0.10340429097414017, + -0.05781281366944313 + ], + "orientation": [ + 0.9774876832962036, + 0.1629665195941925, + 0.13234636187553406, + -0.02107391506433487 + ], + "joints": [ + -0.016938194632530212 + ] + }, + "fine_grasp": { + "position": [ + -0.018556255847215652, + -0.10617571324110031, + -0.06004979833960533 + ], + "orientation": [ + 0.978150486946106, + 0.15217921137809753, + 0.14044366776943207, + -0.018402675166726112 + ], + "joints": [ + -0.008993767201900482 + ] + }, + "final_grasp": { + "position": [ + -0.018556255847215652, + -0.10617571324110031, + -0.06004979833960533 + ], + "orientation": [ + 0.978150486946106, + 0.15217921137809753, + 0.14044366776943207, + -0.018402675166726112 + ], + "joints": [ + -0.001049339771270752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01868419721722603, + -0.10434000194072723, + 0.022686004638671875 + ], + "orientation": [ + 0.07743547856807709, + 0.056061290204524994, + -0.9954041242599487, + 0.00559689337387681 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.018163029104471207, + -0.10601703077554703, + 0.023217659443616867 + ], + "orientation": [ + 0.07264247536659241, + 0.0467037558555603, + -0.9962619543075562, + 0.0019939648918807507 + ], + "joints": [ + -0.00997406430542469 + ] + }, + "final_grasp": { + "position": [ + 0.018163029104471207, + -0.10601703077554703, + 0.023217659443616867 + ], + "orientation": [ + 0.07264247536659241, + 0.0467037558555603, + -0.9962619543075562, + 0.0019939648918807507 + ], + "joints": [ + -0.004128668457269669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018591128289699554, + -0.1046721488237381, + 0.022652791813015938 + ], + "orientation": [ + 0.076713927090168, + 0.05559298396110535, + -0.9954862594604492, + 0.005617258604615927 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.01787775196135044, + -0.10619349777698517, + 0.023224594071507454 + ], + "orientation": [ + 0.07241407781839371, + 0.04532114788889885, + -0.9963424801826477, + 0.001954818144440651 + ], + "joints": [ + -0.00997406430542469 + ] + }, + "final_grasp": { + "position": [ + 0.01787775196135044, + -0.10619349777698517, + 0.023224594071507454 + ], + "orientation": [ + 0.07241407781839371, + 0.04532114788889885, + -0.9963424801826477, + 0.001954818144440651 + ], + "joints": [ + -0.004128668457269669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0797310471534729, + 0.10793652385473251, + -0.01978057436645031 + ], + "orientation": [ + 0.24748148024082184, + 0.6520074009895325, + 0.10226845741271973, + -0.7093521356582642 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + -0.08206465095281601, + 0.1112651601433754, + -0.01984827034175396 + ], + "orientation": [ + 0.23918558657169342, + 0.6495397090911865, + 0.10027514398097992, + -0.7147259712219238 + ], + "joints": [ + -0.011262224055826664 + ] + }, + "final_grasp": { + "position": [ + -0.08206465095281601, + 0.1112651601433754, + -0.01984827034175396 + ], + "orientation": [ + 0.23918558657169342, + 0.6495397090911865, + 0.10027514398097992, + -0.7147259712219238 + ], + "joints": [ + -0.004938563331961632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0029566746670752764, + -0.10100912302732468, + -0.004045245703309774 + ], + "orientation": [ + 0.09530747681856155, + -0.0016291186911985278, + -0.987899899482727, + -0.12234184145927429 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.003894875990226865, + -0.10575956106185913, + -0.0049908095970749855 + ], + "orientation": [ + 0.08795607089996338, + -0.0029184247832745314, + -0.988715410232544, + -0.12123165279626846 + ], + "joints": [ + -0.01154029555618763 + ] + }, + "final_grasp": { + "position": [ + 0.003894875990226865, + -0.10575956106185913, + -0.0049908095970749855 + ], + "orientation": [ + 0.08795607089996338, + -0.0029184247832745314, + -0.988715410232544, + -0.12123165279626846 + ], + "joints": [ + -0.007820498198270798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052090562880039215, + 0.11584682017564774, + -0.021853141486644745 + ], + "orientation": [ + 0.007034345995634794, + -0.7370555996894836, + -0.17540769279003143, + -0.6526345014572144 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.05358223617076874, + 0.11747027933597565, + -0.022893834859132767 + ], + "orientation": [ + 0.0016592660686001182, + -0.7390835881233215, + -0.16667959094047546, + -0.6526641249656677 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.05358223617076874, + 0.11747027933597565, + -0.022893834859132767 + ], + "orientation": [ + 0.0016592660686001182, + -0.7390835881233215, + -0.16667959094047546, + -0.6526641249656677 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0915202870965004, + 0.10294325649738312, + 0.016094589605927467 + ], + "orientation": [ + 0.22353340685367584, + -0.7530383467674255, + 0.22254788875579834, + 0.5774413347244263 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.09189245849847794, + 0.10301999747753143, + 0.017139360308647156 + ], + "orientation": [ + 0.2189168781042099, + -0.7544345259666443, + 0.2160879373550415, + 0.5798361897468567 + ], + "joints": [ + -0.011351942084729671 + ] + }, + "final_grasp": { + "position": [ + 0.09189245849847794, + 0.10301999747753143, + 0.017139360308647156 + ], + "orientation": [ + 0.2189168781042099, + -0.7544345259666443, + 0.2160879373550415, + 0.5798361897468567 + ], + "joints": [ + -0.004470309242606163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026226604357361794, + 0.13170844316482544, + -0.013012561947107315 + ], + "orientation": [ + 0.025537174195051193, + 0.711483895778656, + 0.046738602221012115, + 0.7006811499595642 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.02682512067258358, + 0.13195793330669403, + -0.01294140238314867 + ], + "orientation": [ + 0.030558614060282707, + 0.7149572372436523, + 0.03617030754685402, + 0.6975628137588501 + ], + "joints": [ + -0.011853900738060474 + ] + }, + "final_grasp": { + "position": [ + -0.02682512067258358, + 0.13195793330669403, + -0.01294140238314867 + ], + "orientation": [ + 0.030558614060282707, + 0.7149572372436523, + 0.03617030754685402, + 0.6975628137588501 + ], + "joints": [ + -0.005503667518496513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02926422469317913, + -0.10349522531032562, + 0.02097422070801258 + ], + "orientation": [ + 0.36608392000198364, + 0.05289265513420105, + -0.9284635782241821, + 0.033767543733119965 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.029838744550943375, + -0.10784898698329926, + 0.020419279113411903 + ], + "orientation": [ + 0.3609405755996704, + 0.051241982728242874, + -0.9303672313690186, + 0.03889523074030876 + ], + "joints": [ + -0.010534904897212982 + ] + }, + "final_grasp": { + "position": [ + 0.029838744550943375, + -0.10784898698329926, + 0.020419279113411903 + ], + "orientation": [ + 0.3609405755996704, + 0.051241982728242874, + -0.9303672313690186, + 0.03889523074030876 + ], + "joints": [ + -0.005220908671617508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01867329142987728, + -0.10460818558931351, + 0.02256372943520546 + ], + "orientation": [ + 0.07770702987909317, + 0.05560677871108055, + -0.9954029321670532, + 0.006540711969137192 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.017955370247364044, + -0.10667338967323303, + 0.023218326270580292 + ], + "orientation": [ + 0.075363889336586, + 0.045014407485723495, + -0.9961351156234741, + 0.0030112112872302532 + ], + "joints": [ + -0.010505463927984238 + ] + }, + "final_grasp": { + "position": [ + 0.017955370247364044, + -0.10667338967323303, + 0.023218326270580292 + ], + "orientation": [ + 0.075363889336586, + 0.045014407485723495, + -0.9961351156234741, + 0.0030112112872302532 + ], + "joints": [ + -0.005191467702388763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024332357570528984, + 0.1337711215019226, + 0.0001909221609821543 + ], + "orientation": [ + 0.05611664801836014, + -0.47928282618522644, + 0.020985309034585953, + -0.8756132125854492 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.02468186989426613, + 0.13397230207920074, + 1.2414415323291905e-05 + ], + "orientation": [ + 0.05242496356368065, + -0.4847807288169861, + 0.02809103950858116, + -0.8726110458374023 + ], + "joints": [ + -0.011351942084729671 + ] + }, + "final_grasp": { + "position": [ + -0.02468186989426613, + 0.13397230207920074, + 1.2414415323291905e-05 + ], + "orientation": [ + 0.05242496356368065, + -0.4847807288169861, + 0.02809103950858116, + -0.8726110458374023 + ], + "joints": [ + -0.004470309242606163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024329349398612976, + 0.13376154005527496, + 0.00021843373542651534 + ], + "orientation": [ + 0.05616359785199165, + -0.47946396470069885, + 0.021000182256102562, + -0.8755107522010803 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.024699028581380844, + 0.1339542716741562, + 4.3276548240100965e-05 + ], + "orientation": [ + 0.05254725366830826, + -0.48497453331947327, + 0.028110258281230927, + -0.8724954128265381 + ], + "joints": [ + -0.011351942084729671 + ] + }, + "final_grasp": { + "position": [ + -0.024699028581380844, + 0.1339542716741562, + 4.3276548240100965e-05 + ], + "orientation": [ + 0.05254725366830826, + -0.48497453331947327, + 0.028110258281230927, + -0.8724954128265381 + ], + "joints": [ + -0.004470309242606163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11376181989908218, + 0.07768258452415466, + -0.010140487924218178 + ], + "orientation": [ + 0.31593701243400574, + 0.6697438359260559, + 0.3019680380821228, + -0.6003684997558594 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.11529481410980225, + 0.07862132787704468, + -0.01042544562369585 + ], + "orientation": [ + 0.3123205304145813, + 0.6714677214622498, + 0.3017321527004242, + -0.600453794002533 + ], + "joints": [ + -0.011853900738060474 + ] + }, + "final_grasp": { + "position": [ + -0.11529481410980225, + 0.07862132787704468, + -0.01042544562369585 + ], + "orientation": [ + 0.3123205304145813, + 0.6714677214622498, + 0.3017321527004242, + -0.600453794002533 + ], + "joints": [ + -0.005503667518496513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.113553985953331, + 0.07780654728412628, + -0.010090920142829418 + ], + "orientation": [ + 0.31761524081230164, + 0.6685431003570557, + 0.303126722574234, + -0.6002373695373535 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + -0.1152786836028099, + 0.0786350890994072, + -0.01046388316899538 + ], + "orientation": [ + 0.3124132752418518, + 0.6714348793029785, + 0.30155953764915466, + -0.6005290150642395 + ], + "joints": [ + -0.011881866492331028 + ] + }, + "final_grasp": { + "position": [ + -0.1152786836028099, + 0.0786350890994072, + -0.01046388316899538 + ], + "orientation": [ + 0.3124132752418518, + 0.6714348793029785, + 0.30155953764915466, + -0.6005290150642395 + ], + "joints": [ + -0.00500023178756237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058921441435813904, + -0.09496656060218811, + -0.04221627861261368 + ], + "orientation": [ + 0.9140016436576843, + 0.17148171365261078, + 0.3374389410018921, + -0.1460471749305725 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.059254325926303864, + -0.0959513708949089, + -0.04272724688053131 + ], + "orientation": [ + 0.9141830205917358, + 0.17114472389221191, + 0.34090015292167664, + -0.13698850572109222 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + -0.059254325926303864, + -0.0959513708949089, + -0.04272724688053131 + ], + "orientation": [ + 0.9141830205917358, + 0.17114472389221191, + 0.34090015292167664, + -0.13698850572109222 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05897665396332741, + -0.09492772817611694, + -0.04225509986281395 + ], + "orientation": [ + 0.9141637086868286, + 0.1712406426668167, + 0.3370692729949951, + -0.14617010951042175 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.05931287631392479, + -0.09592293947935104, + -0.04271556809544563 + ], + "orientation": [ + 0.9141669273376465, + 0.17118188738822937, + 0.3408125042915344, + -0.1372680515050888 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + -0.05931287631392479, + -0.09592293947935104, + -0.04271556809544563 + ], + "orientation": [ + 0.9141669273376465, + 0.17118188738822937, + 0.3408125042915344, + -0.1372680515050888 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004988410044461489, + -0.11478700488805771, + 0.012397321872413158 + ], + "orientation": [ + 0.9600045084953308, + 0.044557541608810425, + 0.2701992690563202, + -0.0582963302731514 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.0049380031414330006, + -0.11460832506418228, + 0.014258353970944881 + ], + "orientation": [ + 0.9583160281181335, + 0.050753191113471985, + 0.2735392451286316, + -0.0650436207652092 + ], + "joints": [ + -0.009500071406364441 + ] + }, + "final_grasp": { + "position": [ + -0.0049380031414330006, + -0.11460832506418228, + 0.014258353970944881 + ], + "orientation": [ + 0.9583160281181335, + 0.050753191113471985, + 0.2735392451286316, + -0.0650436207652092 + ], + "joints": [ + -0.002591874450445175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0017187917837873101, + -0.11424989998340607, + 0.029063638299703598 + ], + "orientation": [ + 0.9891486167907715, + -0.030444879084825516, + 0.1408398151397705, + -0.028677042573690414 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.0013537153135985136, + -0.11388753354549408, + 0.029861003160476685 + ], + "orientation": [ + 0.9882973432540894, + -0.02699330449104309, + 0.1464318335056305, + -0.033128585666418076 + ], + "joints": [ + -0.009500071406364441 + ] + }, + "final_grasp": { + "position": [ + 0.0013537153135985136, + -0.11388753354549408, + 0.029861003160476685 + ], + "orientation": [ + 0.9882973432540894, + -0.02699330449104309, + 0.1464318335056305, + -0.033128585666418076 + ], + "joints": [ + -0.002591874450445175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004988161381334066, + -0.1148902177810669, + 0.012420764192938805 + ], + "orientation": [ + 0.9601507186889648, + 0.044947654008865356, + 0.2695985734462738, + -0.0583682544529438 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.004839207977056503, + -0.11454518884420395, + 0.014355812221765518 + ], + "orientation": [ + 0.9586932063102722, + 0.05087297037243843, + 0.27221474051475525, + -0.0649479404091835 + ], + "joints": [ + -0.009500071406364441 + ] + }, + "final_grasp": { + "position": [ + -0.004839207977056503, + -0.11454518884420395, + 0.014355812221765518 + ], + "orientation": [ + 0.9586932063102722, + 0.05087297037243843, + 0.27221474051475525, + -0.0649479404091835 + ], + "joints": [ + -0.002591874450445175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0017011465970426798, + -0.11419253796339035, + 0.029017373919487 + ], + "orientation": [ + 0.9891332983970642, + -0.030643949285149574, + 0.14089500904083252, + -0.0287213996052742 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.0013054326409474015, + -0.11390349268913269, + 0.02984088845551014 + ], + "orientation": [ + 0.9882622361183167, + -0.027234429493546486, + 0.14658695459365845, + -0.033291954547166824 + ], + "joints": [ + -0.009500071406364441 + ] + }, + "final_grasp": { + "position": [ + 0.0013054326409474015, + -0.11390349268913269, + 0.02984088845551014 + ], + "orientation": [ + 0.9882622361183167, + -0.027234429493546486, + 0.14658695459365845, + -0.033291954547166824 + ], + "joints": [ + -0.002591874450445175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044912535697221756, + 0.12579850852489471, + 0.03544629365205765 + ], + "orientation": [ + 0.13392332196235657, + 0.1983077973127365, + -0.09957918524742126, + 0.9658274054527283 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.043760307133197784, + 0.1270657330751419, + 0.037811096757650375 + ], + "orientation": [ + 0.12360970675945282, + 0.19954043626785278, + -0.08718136698007584, + 0.9681444764137268 + ], + "joints": [ + -0.009024682454764843 + ] + }, + "final_grasp": { + "position": [ + 0.043760307133197784, + 0.1270657330751419, + 0.037811096757650375 + ], + "orientation": [ + 0.12360970675945282, + 0.19954043626785278, + -0.08718136698007584, + 0.9681444764137268 + ], + "joints": [ + -0.0016116555780172348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014078982174396515, + -0.10653766989707947, + -0.004677901975810528 + ], + "orientation": [ + 0.7307875752449036, + -0.009920273907482624, + -0.6819504499435425, + -0.028188899159431458 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.015293572098016739, + -0.10915651172399521, + -0.005940597038716078 + ], + "orientation": [ + 0.7281879186630249, + -0.019957933574914932, + -0.6842159032821655, + -0.03453492000699043 + ], + "joints": [ + -0.01244270708411932 + ] + }, + "final_grasp": { + "position": [ + 0.015293572098016739, + -0.10915651172399521, + -0.005940597038716078 + ], + "orientation": [ + 0.7281879186630249, + -0.019957933574914932, + -0.6842159032821655, + -0.03453492000699043 + ], + "joints": [ + -0.00609247200191021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014187603257596493, + -0.10665611177682877, + -0.004559984430670738 + ], + "orientation": [ + 0.7306022047996521, + -0.010264016687870026, + -0.6821620464324951, + -0.027746981009840965 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.015371317975223064, + -0.10920736938714981, + -0.005786987952888012 + ], + "orientation": [ + 0.7279675602912903, + -0.020197482779622078, + -0.6844730973243713, + -0.033940572291612625 + ], + "joints": [ + -0.01244270708411932 + ] + }, + "final_grasp": { + "position": [ + 0.015371317975223064, + -0.10920736938714981, + -0.005786987952888012 + ], + "orientation": [ + 0.7279675602912903, + -0.020197482779622078, + -0.6844730973243713, + -0.033940572291612625 + ], + "joints": [ + -0.00609247200191021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014078540727496147, + -0.10652176290750504, + -0.0047128647565841675 + ], + "orientation": [ + 0.7311649322509766, + -0.009852545335888863, + -0.6815453171730042, + -0.028225835412740707 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.015309479087591171, + -0.10913866758346558, + -0.005987697746604681 + ], + "orientation": [ + 0.7285910844802856, + -0.019764095544815063, + -0.6837972402572632, + -0.034435149282217026 + ], + "joints": [ + -0.01244270708411932 + ] + }, + "final_grasp": { + "position": [ + 0.015309479087591171, + -0.10913866758346558, + -0.005987697746604681 + ], + "orientation": [ + 0.7285910844802856, + -0.019764095544815063, + -0.6837972402572632, + -0.034435149282217026 + ], + "joints": [ + -0.00609247200191021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014099937863647938, + -0.10657814145088196, + -0.0047903903760015965 + ], + "orientation": [ + 0.7312953472137451, + -0.009515522979199886, + -0.6814077496528625, + -0.02828346937894821 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.015319508500397205, + -0.10909901559352875, + -0.006083209067583084 + ], + "orientation": [ + 0.7287007570266724, + -0.019427446648478508, + -0.6836807727813721, + -0.034616608172655106 + ], + "joints": [ + -0.01244270708411932 + ] + }, + "final_grasp": { + "position": [ + 0.015319508500397205, + -0.10909901559352875, + -0.006083209067583084 + ], + "orientation": [ + 0.7287007570266724, + -0.019427446648478508, + -0.6836807727813721, + -0.034616608172655106 + ], + "joints": [ + -0.00609247200191021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03215270861983299, + 0.12524689733982086, + 0.050759848207235336 + ], + "orientation": [ + 0.1482096016407013, + -0.9717868566513062, + 0.08104187250137329, + 0.16460999846458435 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.03327391296625137, + 0.12602101266384125, + 0.05213988572359085 + ], + "orientation": [ + 0.13367001712322235, + -0.9729845523834229, + 0.08061236888170242, + 0.17010313272476196 + ], + "joints": [ + -0.009613488800823689 + ] + }, + "final_grasp": { + "position": [ + 0.03327391296625137, + 0.12602101266384125, + 0.05213988572359085 + ], + "orientation": [ + 0.13367001712322235, + -0.9729845523834229, + 0.08061236888170242, + 0.17010313272476196 + ], + "joints": [ + -0.002200460061430931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03217205032706261, + 0.12526960670948029, + 0.050718117505311966 + ], + "orientation": [ + 0.1480061113834381, + -0.9717696309089661, + 0.08106415718793869, + 0.16488367319107056 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.03330158069729805, + 0.12604393064975739, + 0.052094653248786926 + ], + "orientation": [ + 0.13346102833747864, + -0.972949743270874, + 0.0806167796254158, + 0.17046339809894562 + ], + "joints": [ + -0.009613488800823689 + ] + }, + "final_grasp": { + "position": [ + 0.03330158069729805, + 0.12604393064975739, + 0.052094653248786926 + ], + "orientation": [ + 0.13346102833747864, + -0.972949743270874, + 0.0806167796254158, + 0.17046339809894562 + ], + "joints": [ + -0.002200460061430931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032179515808820724, + 0.12527479231357574, + 0.05075158551335335 + ], + "orientation": [ + 0.14801521599292755, + -0.9717866778373718, + 0.08108694851398468, + 0.16476386785507202 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.03329973295331001, + 0.12603697180747986, + 0.05210498347878456 + ], + "orientation": [ + 0.13350845873355865, + -0.9729620814323425, + 0.08064451813697815, + 0.1703430712223053 + ], + "joints": [ + -0.009613488800823689 + ] + }, + "final_grasp": { + "position": [ + 0.03329973295331001, + 0.12603697180747986, + 0.05210498347878456 + ], + "orientation": [ + 0.13350845873355865, + -0.9729620814323425, + 0.08064451813697815, + 0.1703430712223053 + ], + "joints": [ + -0.002200460061430931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022350292652845383, + 0.14158515632152557, + -0.04819505289196968 + ], + "orientation": [ + 0.09657169878482819, + 0.6113051772117615, + -0.12250968813896179, + -0.7758680582046509 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + 0.021759146824479103, + 0.1367700695991516, + -0.04627439007163048 + ], + "orientation": [ + 0.09301681816577911, + 0.6106238961219788, + -0.13292084634304047, + -0.7751246690750122 + ], + "joints": [ + -0.01144755445420742 + ] + }, + "final_grasp": { + "position": [ + 0.021759146824479103, + 0.1367700695991516, + -0.04627439007163048 + ], + "orientation": [ + 0.09301681816577911, + 0.6106238961219788, + -0.13292084634304047, + -0.7751246690750122 + ], + "joints": [ + -0.006133554503321648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008862380869686604, + -0.10175233334302902, + -0.057514581829309464 + ], + "orientation": [ + 0.3795078694820404, + 0.08271524310112, + -0.9072464108467102, + -0.16135618090629578 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.009711396880447865, + -0.10210112482309341, + -0.05714183300733566 + ], + "orientation": [ + 0.3721042573451996, + 0.07724691927433014, + -0.9122801423072815, + -0.1526968628168106 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.009711396880447865, + -0.10210112482309341, + -0.05714183300733566 + ], + "orientation": [ + 0.3721042573451996, + 0.07724691927433014, + -0.9122801423072815, + -0.1526968628168106 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03750751540064812, + -0.10273649543523788, + 0.023441025987267494 + ], + "orientation": [ + 0.6534209251403809, + -0.007848566398024559, + 0.7495864629745483, + -0.10535525530576706 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.03785422071814537, + -0.10264936089515686, + 0.02088790386915207 + ], + "orientation": [ + 0.6561932563781738, + -0.0008317258907482028, + 0.7494081854820251, + -0.08830142766237259 + ], + "joints": [ + -0.012301323004066944 + ] + }, + "final_grasp": { + "position": [ + -0.03785422071814537, + -0.10264936089515686, + 0.02088790386915207 + ], + "orientation": [ + 0.6561932563781738, + -0.0008317258907482028, + 0.7494081854820251, + -0.08830142766237259 + ], + "joints": [ + -0.006987320259213448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01979225128889084, + 0.1313897967338562, + 0.035817600786685944 + ], + "orientation": [ + 0.09749384969472885, + -0.9227352738380432, + 0.0043515102006495, + -0.37287473678588867 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.020305141806602478, + 0.1316288858652115, + 0.03669064864516258 + ], + "orientation": [ + 0.09430371224880219, + -0.9238208532333374, + 0.006840209476649761, + -0.37096500396728516 + ], + "joints": [ + -0.010652587749063969 + ] + }, + "final_grasp": { + "position": [ + -0.020305141806602478, + 0.1316288858652115, + 0.03669064864516258 + ], + "orientation": [ + 0.09430371224880219, + -0.9238208532333374, + 0.006840209476649761, + -0.37096500396728516 + ], + "joints": [ + -0.004249216988682747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012836344540119171, + -0.11479941755533218, + -0.0007079174974933267 + ], + "orientation": [ + 0.9418787360191345, + -0.1019342839717865, + 0.3102059066295624, + 0.07903198152780533 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + 0.011631792411208153, + -0.1113285943865776, + -0.0009261515224352479 + ], + "orientation": [ + 0.9428216218948364, + -0.10239461809396744, + 0.3073391318321228, + 0.07839219272136688 + ], + "joints": [ + -0.010119793005287647 + ] + }, + "final_grasp": { + "position": [ + 0.011631792411208153, + -0.1113285943865776, + -0.0009261515224352479 + ], + "orientation": [ + 0.9428216218948364, + -0.10239461809396744, + 0.3073391318321228, + 0.07839219272136688 + ], + "joints": [ + -0.0037429947406053543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07594341784715652, + 0.05983053520321846, + -0.09773421287536621 + ], + "orientation": [ + 0.4766658842563629, + 0.8216408491134644, + -0.19278621673583984, + 0.24602735042572021 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.07809930294752121, + 0.06233026087284088, + -0.10139147937297821 + ], + "orientation": [ + 0.47802165150642395, + 0.8217702507972717, + -0.18118034303188324, + 0.25171956419944763 + ], + "joints": [ + -0.010649717412889004 + ] + }, + "final_grasp": { + "position": [ + 0.07809930294752121, + 0.06233026087284088, + -0.10139147937297821 + ], + "orientation": [ + 0.47802165150642395, + 0.8217702507972717, + -0.18118034303188324, + 0.25171956419944763 + ], + "joints": [ + -0.004272917285561562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0759444311261177, + 0.05986695736646652, + -0.09772641211748123 + ], + "orientation": [ + 0.4765588045120239, + 0.821707546710968, + -0.19288131594657898, + 0.24593733251094818 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.07811328023672104, + 0.06238627806305885, + -0.10137869417667389 + ], + "orientation": [ + 0.47816288471221924, + 0.8216496109962463, + -0.18133330345153809, + 0.2517346441745758 + ], + "joints": [ + -0.010649717412889004 + ] + }, + "final_grasp": { + "position": [ + 0.07811328023672104, + 0.06238627806305885, + -0.10137869417667389 + ], + "orientation": [ + 0.47816288471221924, + 0.8216496109962463, + -0.18133330345153809, + 0.2517346441745758 + ], + "joints": [ + -0.004272917285561562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01864798180758953, + -0.09988574683666229, + 0.02401811070740223 + ], + "orientation": [ + 0.4758658707141876, + -0.09559081494808197, + -0.8678313493728638, + 0.10622026026248932 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.019896315410733223, + -0.09972663223743439, + 0.02186538279056549 + ], + "orientation": [ + 0.48000720143318176, + -0.07963957637548447, + -0.8657042384147644, + 0.11750244349241257 + ], + "joints": [ + -0.011265094392001629 + ] + }, + "final_grasp": { + "position": [ + -0.019896315410733223, + -0.09972663223743439, + 0.02186538279056549 + ], + "orientation": [ + 0.48000720143318176, + -0.07963957637548447, + -0.8657042384147644, + 0.11750244349241257 + ], + "joints": [ + -0.004914863035082817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10114676505327225, + 0.09234029054641724, + -0.06703407317399979 + ], + "orientation": [ + 0.4368179440498352, + 0.6416917443275452, + -0.0559389591217041, + 0.6279272437095642 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.09889940917491913, + 0.09101460874080658, + -0.06554552167654037 + ], + "orientation": [ + 0.4405535161495209, + 0.6452668309211731, + -0.06177286431193352, + 0.6210695505142212 + ], + "joints": [ + -0.01103973388671875 + ] + }, + "final_grasp": { + "position": [ + 0.09889940917491913, + 0.09101460874080658, + -0.06554552167654037 + ], + "orientation": [ + 0.4405535161495209, + 0.6452668309211731, + -0.06177286431193352, + 0.6210695505142212 + ], + "joints": [ + -0.006230566650629044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03963087871670723, + 0.12052232027053833, + 0.05304230749607086 + ], + "orientation": [ + 0.1889941543340683, + -0.9320225119590759, + 0.07330460101366043, + 0.30040243268013 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.04185391217470169, + 0.12217775732278824, + 0.05566903203725815 + ], + "orientation": [ + 0.17424793541431427, + -0.9360464215278625, + 0.07193892449140549, + 0.2971187233924866 + ], + "joints": [ + -0.0101477587595582 + ] + }, + "final_grasp": { + "position": [ + 0.04185391217470169, + 0.12217775732278824, + 0.05566903203725815 + ], + "orientation": [ + 0.17424793541431427, + -0.9360464215278625, + 0.07193892449140549, + 0.2971187233924866 + ], + "joints": [ + -0.0032395590096712112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06649051606655121, + 0.07579341530799866, + -0.09720812737941742 + ], + "orientation": [ + 0.43519315123558044, + 0.8524632453918457, + 0.1500241458415985, + -0.2478024661540985 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.06819037348031998, + 0.07730263471603394, + -0.09992267191410065 + ], + "orientation": [ + 0.4261685311794281, + 0.8567216396331787, + 0.14460478723049164, + -0.2519880533218384 + ], + "joints": [ + -0.009586918167769909 + ] + }, + "final_grasp": { + "position": [ + -0.06819037348031998, + 0.07730263471603394, + -0.09992267191410065 + ], + "orientation": [ + 0.4261685311794281, + 0.8567216396331787, + 0.14460478723049164, + -0.2519880533218384 + ], + "joints": [ + -0.002147318795323372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06646549701690674, + 0.07596233487129211, + -0.09733308851718903 + ], + "orientation": [ + 0.4347304105758667, + 0.8527782559394836, + 0.1491633504629135, + -0.2480504810810089 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.06804517656564713, + 0.07751745730638504, + -0.10015709698200226 + ], + "orientation": [ + 0.42528849840164185, + 0.8572537302970886, + 0.14335231482982635, + -0.2523803114891052 + ], + "joints": [ + -0.009586918167769909 + ] + }, + "final_grasp": { + "position": [ + -0.06804517656564713, + 0.07751745730638504, + -0.10015709698200226 + ], + "orientation": [ + 0.42528849840164185, + 0.8572537302970886, + 0.14335231482982635, + -0.2523803114891052 + ], + "joints": [ + -0.002147318795323372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02972925268113613, + -0.10761762410402298, + 0.034932803362607956 + ], + "orientation": [ + 0.9118139743804932, + -0.12382384389638901, + -0.389631450176239, + -0.03808264806866646 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.03036629408597946, + -0.10882177948951721, + 0.03566605597734451 + ], + "orientation": [ + 0.913541853427887, + -0.1167910248041153, + -0.3876326084136963, + -0.03927100449800491 + ], + "joints": [ + -0.011827330105006695 + ] + }, + "final_grasp": { + "position": [ + -0.03036629408597946, + -0.10882177948951721, + 0.03566605597734451 + ], + "orientation": [ + 0.913541853427887, + -0.1167910248041153, + -0.3876326084136963, + -0.03927100449800491 + ], + "joints": [ + -0.005450526252388954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029739804565906525, + -0.10762181878089905, + 0.03494483605027199 + ], + "orientation": [ + 0.9117924571037292, + -0.12383539974689484, + -0.3896792531013489, + -0.03807228058576584 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.030372200533747673, + -0.10882556438446045, + 0.035672832280397415 + ], + "orientation": [ + 0.913474977016449, + -0.11686436831951141, + -0.38776999711990356, + -0.03925180062651634 + ], + "joints": [ + -0.011827330105006695 + ] + }, + "final_grasp": { + "position": [ + -0.030372200533747673, + -0.10882556438446045, + 0.035672832280397415 + ], + "orientation": [ + 0.913474977016449, + -0.11686436831951141, + -0.38776999711990356, + -0.03925180062651634 + ], + "joints": [ + -0.005450526252388954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03326674923300743, + 0.13925491273403168, + -0.003360617207363248 + ], + "orientation": [ + 0.012088279239833355, + 0.9087299704551697, + -0.10783153027296066, + -0.40303364396095276 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.03197389468550682, + 0.13496802747249603, + -0.0023827708791941404 + ], + "orientation": [ + 0.009198145009577274, + 0.9082093238830566, + -0.10588588565587997, + -0.404795378446579 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + 0.03197389468550682, + 0.13496802747249603, + -0.0023827708791941404 + ], + "orientation": [ + 0.009198145009577274, + 0.9082093238830566, + -0.10588588565587997, + -0.404795378446579 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06555455923080444, + 0.10919962078332901, + -0.012595975771546364 + ], + "orientation": [ + 0.2779003083705902, + 0.3228341042995453, + -0.02540685050189495, + -0.9043804407119751 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.06449730694293976, + 0.11092203110456467, + -0.012492181733250618 + ], + "orientation": [ + 0.2755906283855438, + 0.3157893717288971, + -0.018177200108766556, + -0.9077425599098206 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + -0.06449730694293976, + 0.11092203110456467, + -0.012492181733250618 + ], + "orientation": [ + 0.2755906283855438, + 0.3157893717288971, + -0.018177200108766556, + -0.9077425599098206 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06535506248474121, + -0.09868326038122177, + 0.053788695484399796 + ], + "orientation": [ + 0.9206705689430237, + -0.20196989178657532, + -0.2899899482727051, + -0.16576994955539703 + ], + "joints": [ + -0.016820436343550682 + ] + }, + "fine_grasp": { + "position": [ + -0.06307003647089005, + -0.09544239938259125, + 0.052603188902139664 + ], + "orientation": [ + 0.9190762042999268, + -0.20525279641151428, + -0.29131409525871277, + -0.1682451367378235 + ], + "joints": [ + -0.010443637147545815 + ] + }, + "final_grasp": { + "position": [ + -0.06307003647089005, + -0.09544239938259125, + 0.052603188902139664 + ], + "orientation": [ + 0.9190762042999268, + -0.20525279641151428, + -0.29131409525871277, + -0.1682451367378235 + ], + "joints": [ + -0.004066837951540947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05731107294559479, + -0.061410091817379, + 0.07633467763662338 + ], + "orientation": [ + 0.7220447659492493, + -0.38688138127326965, + -0.5689026713371277, + 0.07296520471572876 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.05777697637677193, + -0.06319788098335266, + 0.07618309557437897 + ], + "orientation": [ + 0.7266772985458374, + -0.3786414861679077, + -0.5693421363830566, + 0.06648590415716171 + ], + "joints": [ + -0.00823708064854145 + ] + }, + "final_grasp": { + "position": [ + -0.05777697637677193, + -0.06319788098335266, + 0.07618309557437897 + ], + "orientation": [ + 0.7266772985458374, + -0.3786414861679077, + -0.5693421363830566, + 0.06648590415716171 + ], + "joints": [ + -0.002391684800386429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0862860232591629, + -0.08360487967729568, + -0.032056499272584915 + ], + "orientation": [ + 0.8728290796279907, + 0.206250861287117, + -0.3443288803100586, + 0.2776104211807251 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.08262626826763153, + -0.0817001536488533, + -0.0316561795771122 + ], + "orientation": [ + 0.87198406457901, + 0.2167331427335739, + -0.34135565161705017, + 0.27594706416130066 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + 0.08262626826763153, + -0.0817001536488533, + -0.0316561795771122 + ], + "orientation": [ + 0.87198406457901, + 0.2167331427335739, + -0.34135565161705017, + 0.27594706416130066 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028608497232198715, + -0.10651364177465439, + 0.03422538563609123 + ], + "orientation": [ + 0.9120438694953918, + -0.12924286723136902, + -0.38727763295173645, + -0.03857751563191414 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.029352564364671707, + -0.1071867123246193, + 0.034963298588991165 + ], + "orientation": [ + 0.9152218103408813, + -0.11880584061145782, + -0.3828604519367218, + -0.04089024290442467 + ], + "joints": [ + -0.012361600063741207 + ] + }, + "final_grasp": { + "position": [ + -0.029352564364671707, + -0.1071867123246193, + 0.034963298588991165 + ], + "orientation": [ + 0.9152218103408813, + -0.11880584061145782, + -0.3828604519367218, + -0.04089024290442467 + ], + "joints": [ + -0.006489625200629234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004245172720402479, + -0.10625093430280685, + 0.011190480552613735 + ], + "orientation": [ + 0.6617063879966736, + 0.033733632415533066, + 0.740981936454773, + -0.10932812839746475 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.004034963436424732, + -0.11141548305749893, + 0.01114040520042181 + ], + "orientation": [ + 0.6604811549186707, + 0.03765881806612015, + 0.7409307360649109, + -0.11562058329582214 + ], + "joints": [ + -0.012790250591933727 + ] + }, + "final_grasp": { + "position": [ + -0.004034963436424732, + -0.11141548305749893, + 0.01114040520042181 + ], + "orientation": [ + 0.6604811549186707, + 0.03765881806612015, + 0.7409307360649109, + -0.11562058329582214 + ], + "joints": [ + -0.006493154913187027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0024530927184969187, + -0.10730364918708801, + 0.02037067338824272 + ], + "orientation": [ + 0.07324305176734924, + -0.024598654359579086, + 0.9970000982284546, + -0.004588209092617035 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.0022006172221153975, + -0.11037847399711609, + 0.020549403503537178 + ], + "orientation": [ + 0.08336231112480164, + -0.02061840333044529, + 0.9963001012802124, + -0.00342033663764596 + ], + "joints": [ + -0.012327893637120724 + ] + }, + "final_grasp": { + "position": [ + 0.0022006172221153975, + -0.11037847399711609, + 0.020549403503537178 + ], + "orientation": [ + 0.08336231112480164, + -0.02061840333044529, + 0.9963001012802124, + -0.00342033663764596 + ], + "joints": [ + -0.007040461525321007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0024873767979443073, + -0.10723474621772766, + 0.02023344300687313 + ], + "orientation": [ + 0.07437562942504883, + -0.024649986997246742, + 0.9969080090522766, + -0.005918658338487148 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.0021325028501451015, + -0.11022898554801941, + 0.020475253462791443 + ], + "orientation": [ + 0.08567465096712112, + -0.020392950624227524, + 0.9961069226264954, + -0.003884307574480772 + ], + "joints": [ + -0.012327893637120724 + ] + }, + "final_grasp": { + "position": [ + 0.0021325028501451015, + -0.11022898554801941, + 0.020475253462791443 + ], + "orientation": [ + 0.08567465096712112, + -0.020392950624227524, + 0.9961069226264954, + -0.003884307574480772 + ], + "joints": [ + -0.007040461525321007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057088933885097504, + 0.10273398458957672, + 0.07546821236610413 + ], + "orientation": [ + 0.2948867082595825, + -0.9167351722717285, + 0.14498300850391388, + 0.22719672322273254 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.057319846004247665, + 0.10302366316318512, + 0.07688366621732712 + ], + "orientation": [ + 0.2816326320171356, + -0.9209701418876648, + 0.13929486274719238, + 0.23042139410972595 + ], + "joints": [ + -0.0101477587595582 + ] + }, + "final_grasp": { + "position": [ + 0.057319846004247665, + 0.10302366316318512, + 0.07688366621732712 + ], + "orientation": [ + 0.2816326320171356, + -0.9209701418876648, + 0.13929486274719238, + 0.23042139410972595 + ], + "joints": [ + -0.0032395590096712112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0050201634876430035, + -0.11626541614532471, + 0.0018176527228206396 + ], + "orientation": [ + 0.9313686490058899, + 0.059843894094228745, + 0.3567773401737213, + -0.04100031033158302 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.0044317604042589664, + -0.11367202550172806, + 0.003165085567161441 + ], + "orientation": [ + 0.9342782497406006, + 0.06049579009413719, + 0.3483627140522003, + -0.045911602675914764 + ], + "joints": [ + -0.011060409247875214 + ] + }, + "final_grasp": { + "position": [ + -0.0044317604042589664, + -0.11367202550172806, + 0.003165085567161441 + ], + "orientation": [ + 0.9342782497406006, + 0.06049579009413719, + 0.3483627140522003, + -0.045911602675914764 + ], + "joints": [ + -0.0041522067040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0050974939949810505, + -0.11640118062496185, + 0.0017933349590748549 + ], + "orientation": [ + 0.9313781261444092, + 0.05954599007964134, + 0.3568030893802643, + -0.04099550470709801 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.004440653137862682, + -0.11353020370006561, + 0.0031560808420181274 + ], + "orientation": [ + 0.9343400001525879, + 0.05917053669691086, + 0.3484519124031067, + -0.04570372775197029 + ], + "joints": [ + -0.011565238237380981 + ] + }, + "final_grasp": { + "position": [ + -0.004440653137862682, + -0.11353020370006561, + 0.0031560808420181274 + ], + "orientation": [ + 0.9343400001525879, + 0.05917053669691086, + 0.3484519124031067, + -0.04570372775197029 + ], + "joints": [ + -0.005161864683032036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04271472617983818, + -0.09875909239053726, + 0.0027472947258502245 + ], + "orientation": [ + 0.3417811989784241, + 0.1759166568517685, + 0.9174097180366516, + -0.10294822603464127 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.042226266115903854, + -0.09870532155036926, + 0.0024362485855817795 + ], + "orientation": [ + 0.3226460814476013, + 0.17593742907047272, + 0.9240394830703735, + -0.10534007102251053 + ], + "joints": [ + -0.01121195312589407 + ] + }, + "final_grasp": { + "position": [ + -0.042226266115903854, + -0.09870532155036926, + 0.0024362485855817795 + ], + "orientation": [ + 0.3226460814476013, + 0.17593742907047272, + 0.9240394830703735, + -0.10534007102251053 + ], + "joints": [ + -0.004808580502867699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044865816831588745, + 0.12569627165794373, + 0.035508573055267334 + ], + "orientation": [ + 0.13430126011371613, + 0.19627875089645386, + -0.09997008740901947, + 0.9661489725112915 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.04362036660313606, + 0.12697623670101166, + 0.03789341449737549 + ], + "orientation": [ + 0.12385104596614838, + 0.197881817817688, + -0.08782283961772919, + 0.968396008014679 + ], + "joints": [ + -0.009024682454764843 + ] + }, + "final_grasp": { + "position": [ + 0.04362036660313606, + 0.12697623670101166, + 0.03789341449737549 + ], + "orientation": [ + 0.12385104596614838, + 0.197881817817688, + -0.08782283961772919, + 0.968396008014679 + ], + "joints": [ + -0.0016116555780172348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057942621409893036, + -0.0603160560131073, + 0.09362474828958511 + ], + "orientation": [ + 0.21840199828147888, + 0.13290199637413025, + -0.8758010268211365, + 0.40940216183662415 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + 0.059595998376607895, + -0.061238475143909454, + 0.09710581600666046 + ], + "orientation": [ + 0.22353015840053558, + 0.12075052410364151, + -0.8830407857894897, + 0.39457881450653076 + ], + "joints": [ + -0.010677683167159557 + ] + }, + "final_grasp": { + "position": [ + 0.059595998376607895, + -0.061238475143909454, + 0.09710581600666046 + ], + "orientation": [ + 0.22353015840053558, + 0.12075052410364151, + -0.8830407857894897, + 0.39457881450653076 + ], + "joints": [ + -0.0037694815546274185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021785706281661987, + 0.09650790691375732, + -0.08795544505119324 + ], + "orientation": [ + 0.4004359245300293, + 0.8284953236579895, + 0.07714531570672989, + 0.38379061222076416 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + 0.022456470876932144, + 0.09536872804164886, + -0.08369561284780502 + ], + "orientation": [ + 0.40272441506385803, + 0.8286817073822021, + 0.06340856850147247, + 0.3835088610649109 + ], + "joints": [ + -0.010471602901816368 + ] + }, + "final_grasp": { + "position": [ + 0.022456470876932144, + 0.09536872804164886, + -0.08369561284780502 + ], + "orientation": [ + 0.40272441506385803, + 0.8286817073822021, + 0.06340856850147247, + 0.3835088610649109 + ], + "joints": [ + -0.003563402220606804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040576107800006866, + -0.10087328404188156, + 0.024367790669202805 + ], + "orientation": [ + 0.6071235537528992, + 0.023656856268644333, + -0.78384929895401, + 0.12814684212207794 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.04234933853149414, + -0.10569220036268234, + 0.02482248656451702 + ], + "orientation": [ + 0.6086404919624329, + 0.020109139382839203, + -0.7834137082099915, + 0.12415830790996552 + ], + "joints": [ + -0.0122322803363204 + ] + }, + "final_grasp": { + "position": [ + 0.04234933853149414, + -0.10569220036268234, + 0.02482248656451702 + ], + "orientation": [ + 0.6086404919624329, + 0.020109139382839203, + -0.7834137082099915, + 0.12415830790996552 + ], + "joints": [ + -0.005377214401960373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04056341201066971, + -0.10084105283021927, + 0.024389417842030525 + ], + "orientation": [ + 0.6070665121078491, + 0.023583607748150826, + -0.7838861346244812, + 0.12820570170879364 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.042335499078035355, + -0.1056862398982048, + 0.02485150471329689 + ], + "orientation": [ + 0.6085439324378967, + 0.020092682912945747, + -0.7834680676460266, + 0.12429095804691315 + ], + "joints": [ + -0.0122322803363204 + ] + }, + "final_grasp": { + "position": [ + 0.042335499078035355, + -0.1056862398982048, + 0.02485150471329689 + ], + "orientation": [ + 0.6085439324378967, + 0.020092682912945747, + -0.7834680676460266, + 0.12429095804691315 + ], + "joints": [ + -0.005377214401960373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04055419936776161, + -0.10082102566957474, + 0.024367140606045723 + ], + "orientation": [ + 0.607268214225769, + 0.023702530190348625, + -0.7837049961090088, + 0.12833470106124878 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.04232384264469147, + -0.10570187866687775, + 0.024849625304341316 + ], + "orientation": [ + 0.6087915897369385, + 0.020176086574792862, + -0.7832298874855042, + 0.12456578016281128 + ], + "joints": [ + -0.0122322803363204 + ] + }, + "final_grasp": { + "position": [ + 0.04232384264469147, + -0.10570187866687775, + 0.024849625304341316 + ], + "orientation": [ + 0.6087915897369385, + 0.020176086574792862, + -0.7832298874855042, + 0.12456578016281128 + ], + "joints": [ + -0.005377214401960373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04049030691385269, + -0.10081221163272858, + 0.024380022659897804 + ], + "orientation": [ + 0.6069276928901672, + 0.023598065599799156, + -0.7839958071708679, + 0.12818971276283264 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.04222807660698891, + -0.10569044947624207, + 0.024858437478542328 + ], + "orientation": [ + 0.6083005666732788, + 0.020188776776194572, + -0.7836080193519592, + 0.12458477169275284 + ], + "joints": [ + -0.0122322803363204 + ] + }, + "final_grasp": { + "position": [ + 0.04222807660698891, + -0.10569044947624207, + 0.024858437478542328 + ], + "orientation": [ + 0.6083005666732788, + 0.020188776776194572, + -0.7836080193519592, + 0.12458477169275284 + ], + "joints": [ + -0.005377214401960373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04052651673555374, + -0.10080397874116898, + 0.024377141147851944 + ], + "orientation": [ + 0.6071586608886719, + 0.02364691160619259, + -0.783793032169342, + 0.12832622230052948 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.042287521064281464, + -0.10567835718393326, + 0.024855148047208786 + ], + "orientation": [ + 0.6086267232894897, + 0.020194977521896362, + -0.7833465337753296, + 0.12463536858558655 + ], + "joints": [ + -0.0122322803363204 + ] + }, + "final_grasp": { + "position": [ + 0.042287521064281464, + -0.10567835718393326, + 0.024855148047208786 + ], + "orientation": [ + 0.6086267232894897, + 0.020194977521896362, + -0.7833465337753296, + 0.12463536858558655 + ], + "joints": [ + -0.005377214401960373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02245781198143959, + -0.10436701774597168, + 0.037676453590393066 + ], + "orientation": [ + 0.9581677913665771, + -0.10679520666599274, + 0.26404261589050293, + 0.02811935916543007 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.022937366738915443, + -0.1082165464758873, + 0.04032714664936066 + ], + "orientation": [ + 0.9607776403427124, + -0.09665326029062271, + 0.25935792922973633, + 0.01726403273642063 + ], + "joints": [ + -0.011183987371623516 + ] + }, + "final_grasp": { + "position": [ + 0.022937366738915443, + -0.1082165464758873, + 0.04032714664936066 + ], + "orientation": [ + 0.9607776403427124, + -0.09665326029062271, + 0.25935792922973633, + 0.01726403273642063 + ], + "joints": [ + -0.005312016233801842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07448884844779968, + -0.08372944593429565, + -0.031144138425588608 + ], + "orientation": [ + 0.7720575928688049, + 0.2508779466152191, + -0.5645681023597717, + 0.14916488528251648 + ], + "joints": [ + -0.019381750375032425 + ] + }, + "fine_grasp": { + "position": [ + 0.07652000337839127, + -0.08196350187063217, + -0.030569327995181084 + ], + "orientation": [ + 0.7757656574249268, + 0.23004268109798431, + -0.568932294845581, + 0.14691519737243652 + ], + "joints": [ + -0.01303151249885559 + ] + }, + "final_grasp": { + "position": [ + 0.07652000337839127, + -0.08196350187063217, + -0.030569327995181084 + ], + "orientation": [ + 0.7757656574249268, + 0.23004268109798431, + -0.568932294845581, + 0.14691519737243652 + ], + "joints": [ + -0.006681274622678757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07447122782468796, + -0.08374132961034775, + -0.031197939068078995 + ], + "orientation": [ + 0.7721163034439087, + 0.2506292462348938, + -0.5647068619728088, + 0.14875376224517822 + ], + "joints": [ + -0.019381750375032425 + ] + }, + "fine_grasp": { + "position": [ + 0.07644423097372055, + -0.08200691640377045, + -0.03059512935578823 + ], + "orientation": [ + 0.7757991552352905, + 0.22992995381355286, + -0.5690333843231201, + 0.146522656083107 + ], + "joints": [ + -0.01303151249885559 + ] + }, + "final_grasp": { + "position": [ + 0.07644423097372055, + -0.08200691640377045, + -0.03059512935578823 + ], + "orientation": [ + 0.7757991552352905, + 0.22992995381355286, + -0.5690333843231201, + 0.146522656083107 + ], + "joints": [ + -0.006681274622678757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021746691316366196, + -0.10998908430337906, + -0.03291822969913483 + ], + "orientation": [ + 0.22957409918308258, + -0.03887607529759407, + 0.9692261815071106, + 0.07990556210279465 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.023421045392751694, + -0.11220753192901611, + -0.03417711332440376 + ], + "orientation": [ + 0.23771527409553528, + -0.038671523332595825, + 0.9681472182273865, + 0.06846121698617935 + ], + "joints": [ + -0.010118317790329456 + ] + }, + "final_grasp": { + "position": [ + 0.023421045392751694, + -0.11220753192901611, + -0.03417711332440376 + ], + "orientation": [ + 0.23771527409553528, + -0.038671523332595825, + 0.9681472182273865, + 0.06846121698617935 + ], + "joints": [ + -0.0032101180404424667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014189286157488823, + -0.1074192151427269, + 0.008751663379371166 + ], + "orientation": [ + 0.8348782062530518, + -0.05358712747693062, + -0.5464763045310974, + 0.03834608569741249 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.015655823051929474, + -0.11181096732616425, + 0.008343624882400036 + ], + "orientation": [ + 0.8353537321090698, + -0.0641796737909317, + -0.5448934435844421, + 0.034004129469394684 + ], + "joints": [ + -0.012289687059819698 + ] + }, + "final_grasp": { + "position": [ + 0.015655823051929474, + -0.11181096732616425, + 0.008343624882400036 + ], + "orientation": [ + 0.8353537321090698, + -0.0641796737909317, + -0.5448934435844421, + 0.034004129469394684 + ], + "joints": [ + -0.004903219640254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014181314036250114, + -0.10745634138584137, + 0.008748645894229412 + ], + "orientation": [ + 0.8350433707237244, + -0.053697459399700165, + -0.5462185740470886, + 0.03826688602566719 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.0156222740188241, + -0.11181817203760147, + 0.008351967670023441 + ], + "orientation": [ + 0.8355028033256531, + -0.06423698365688324, + -0.5446596741676331, + 0.033978644758462906 + ], + "joints": [ + -0.012289687059819698 + ] + }, + "final_grasp": { + "position": [ + 0.0156222740188241, + -0.11181817203760147, + 0.008351967670023441 + ], + "orientation": [ + 0.8355028033256531, + -0.06423698365688324, + -0.5446596741676331, + 0.033978644758462906 + ], + "joints": [ + -0.004903219640254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0014450423186644912, + -0.11434749513864517, + -0.01591271534562111 + ], + "orientation": [ + 0.5438619256019592, + 0.07231038063764572, + -0.8360534310340881, + 0.0003490221279207617 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.0009772272314876318, + -0.11452162265777588, + -0.016045814380049706 + ], + "orientation": [ + 0.5423750281333923, + 0.07389360666275024, + -0.8368731737136841, + 0.003499818965792656 + ], + "joints": [ + -0.012179139070212841 + ] + }, + "final_grasp": { + "position": [ + 0.0009772272314876318, + -0.11452162265777588, + -0.016045814380049706 + ], + "orientation": [ + 0.5423750281333923, + 0.07389360666275024, + -0.8368731737136841, + 0.003499818965792656 + ], + "joints": [ + -0.0052709318697452545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02405400574207306, + -0.11275844275951385, + 0.04339505732059479 + ], + "orientation": [ + 0.18303312361240387, + 0.04498222470283508, + 0.9773350358009338, + -0.09639342129230499 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + -0.023051470518112183, + -0.10886003077030182, + 0.042269278317689896 + ], + "orientation": [ + 0.18629324436187744, + 0.042953964322805405, + 0.9765490293502808, + -0.09900432825088501 + ], + "joints": [ + -0.010945595800876617 + ] + }, + "final_grasp": { + "position": [ + -0.023051470518112183, + -0.10886003077030182, + 0.042269278317689896 + ], + "orientation": [ + 0.18629324436187744, + 0.042953964322805405, + 0.9765490293502808, + -0.09900432825088501 + ], + "joints": [ + -0.005100196227431297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014113936573266983, + -0.10736053436994553, + 0.008760198019444942 + ], + "orientation": [ + 0.8348546028137207, + -0.053225673735141754, + -0.5465364456176758, + 0.03850643336772919 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.0155895771458745, + -0.11188618838787079, + 0.008381125517189503 + ], + "orientation": [ + 0.8354146480560303, + -0.0635795071721077, + -0.5448498129844666, + 0.03433084115386009 + ], + "joints": [ + -0.012316257692873478 + ] + }, + "final_grasp": { + "position": [ + 0.0155895771458745, + -0.11188618838787079, + 0.008381125517189503 + ], + "orientation": [ + 0.8354146480560303, + -0.0635795071721077, + -0.5448498129844666, + 0.03433084115386009 + ], + "joints": [ + -0.004956360906362534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0515579879283905, + 0.11462578177452087, + -0.02163955755531788 + ], + "orientation": [ + 0.22834308445453644, + 0.1404183954000473, + -0.1102423444390297, + -0.9570729732513428 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.05016590282320976, + 0.11531147360801697, + -0.020538754761219025 + ], + "orientation": [ + 0.22029976546764374, + 0.16103766858577728, + -0.1188265010714531, + -0.9546806812286377 + ], + "joints": [ + -0.007849939167499542 + ] + }, + "final_grasp": { + "position": [ + -0.05016590282320976, + 0.11531147360801697, + -0.020538754761219025 + ], + "orientation": [ + 0.22029976546764374, + 0.16103766858577728, + -0.1188265010714531, + -0.9546806812286377 + ], + "joints": [ + -0.0004103444516658783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04117145389318466, + -0.08075330406427383, + 0.08450287580490112 + ], + "orientation": [ + 0.8963314294815063, + -0.33413249254226685, + 0.28911474347114563, + 0.03685333579778671 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.04175896197557449, + -0.08192257583141327, + 0.08580353111028671 + ], + "orientation": [ + 0.9009245038032532, + -0.3239622116088867, + 0.2867581248283386, + 0.03396015986800194 + ], + "joints": [ + -0.00956034753471613 + ] + }, + "final_grasp": { + "position": [ + 0.04175896197557449, + -0.08192257583141327, + 0.08580353111028671 + ], + "orientation": [ + 0.9009245038032532, + -0.3239622116088867, + 0.2867581248283386, + 0.03396015986800194 + ], + "joints": [ + -0.0020941775292158127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04121949523687363, + -0.08075238764286041, + 0.08453669399023056 + ], + "orientation": [ + 0.8963160514831543, + -0.33416643738746643, + 0.2891034781932831, + 0.037006113678216934 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.04167409986257553, + -0.08199288696050644, + 0.08572034537792206 + ], + "orientation": [ + 0.9010985493659973, + -0.32360368967056274, + 0.2866307497024536, + 0.03383794054389 + ], + "joints": [ + -0.00956034753471613 + ] + }, + "final_grasp": { + "position": [ + 0.04167409986257553, + -0.08199288696050644, + 0.08572034537792206 + ], + "orientation": [ + 0.9010985493659973, + -0.32360368967056274, + 0.2866307497024536, + 0.03383794054389 + ], + "joints": [ + -0.0020941775292158127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041250456124544144, + -0.08074779063463211, + 0.08456943929195404 + ], + "orientation": [ + 0.8962806463241577, + -0.3342036306858063, + 0.2891702651977539, + 0.037006132304668427 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.041816383600234985, + -0.08189554512500763, + 0.08582503348588943 + ], + "orientation": [ + 0.9008345603942871, + -0.3241002559661865, + 0.2868691682815552, + 0.0340917706489563 + ], + "joints": [ + -0.00956034753471613 + ] + }, + "final_grasp": { + "position": [ + 0.041816383600234985, + -0.08189554512500763, + 0.08582503348588943 + ], + "orientation": [ + 0.9008345603942871, + -0.3241002559661865, + 0.2868691682815552, + 0.0340917706489563 + ], + "joints": [ + -0.0020941775292158127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002744331257417798, + -0.11120354384183884, + -0.00378928380087018 + ], + "orientation": [ + 0.2354547083377838, + 0.03223208710551262, + -0.9700957536697388, + 0.04935870319604874 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.001207574037835002, + -0.11093773692846298, + -0.006714005954563618 + ], + "orientation": [ + 0.24579663574695587, + 0.045223336666822433, + -0.9655901193618774, + 0.07193466275930405 + ], + "joints": [ + -0.01121195312589407 + ] + }, + "final_grasp": { + "position": [ + 0.001207574037835002, + -0.11093773692846298, + -0.006714005954563618 + ], + "orientation": [ + 0.24579663574695587, + 0.045223336666822433, + -0.9655901193618774, + 0.07193466275930405 + ], + "joints": [ + -0.004808580502867699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025683285668492317, + -0.1056329533457756, + -0.00919225625693798 + ], + "orientation": [ + 0.34738096594810486, + 0.12091727554798126, + 0.9295350313186646, + -0.025889365002512932 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.025573456659913063, + -0.10560136288404465, + -0.00804942287504673 + ], + "orientation": [ + 0.33278506994247437, + 0.11656484752893448, + 0.9353532791137695, + -0.02794474922120571 + ], + "joints": [ + -0.011535797268152237 + ] + }, + "final_grasp": { + "position": [ + -0.025573456659913063, + -0.10560136288404465, + -0.00804942287504673 + ], + "orientation": [ + 0.33278506994247437, + 0.11656484752893448, + 0.9353532791137695, + -0.02794474922120571 + ], + "joints": [ + -0.005132423713803291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02704748325049877, + 0.12687277793884277, + 0.02715238370001316 + ], + "orientation": [ + 0.099720798432827, + -0.793220579624176, + -0.018670201301574707, + 0.6004234552383423 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.02837034873664379, + 0.12970393896102905, + 0.028127649798989296 + ], + "orientation": [ + 0.08855757862329483, + -0.7931976914405823, + -0.020301679149270058, + 0.6021484732627869 + ], + "joints": [ + -0.013003546744585037 + ] + }, + "final_grasp": { + "position": [ + 0.02837034873664379, + 0.12970393896102905, + 0.028127649798989296 + ], + "orientation": [ + 0.08855757862329483, + -0.7931976914405823, + -0.020301679149270058, + 0.6021484732627869 + ], + "joints": [ + -0.0071847103536129 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007455052342265844, + -0.11400691419839859, + -0.007247577421367168 + ], + "orientation": [ + 0.9302365779876709, + 0.07598934322595596, + -0.35792553424835205, + 0.02783505618572235 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.007370988372713327, + -0.1108546257019043, + -0.007398637942969799 + ], + "orientation": [ + 0.9351213574409485, + 0.07364930957555771, + -0.3457377851009369, + 0.024275347590446472 + ], + "joints": [ + -0.012127473019063473 + ] + }, + "final_grasp": { + "position": [ + 0.007370988372713327, + -0.1108546257019043, + -0.007398637942969799 + ], + "orientation": [ + 0.9351213574409485, + 0.07364930957555771, + -0.3457377851009369, + 0.024275347590446472 + ], + "joints": [ + -0.005697526037693024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03141077607870102, + 0.13037797808647156, + 0.020680617541074753 + ], + "orientation": [ + 0.09840825200080872, + -0.7430081963539124, + 0.008182408288121223, + -0.6619574427604675 + ], + "joints": [ + -0.019381750375032425 + ] + }, + "fine_grasp": { + "position": [ + -0.03190133348107338, + 0.13030701875686646, + 0.020583976060152054 + ], + "orientation": [ + 0.09447149187326431, + -0.7429413795471191, + 0.01260430458933115, + -0.6625363230705261 + ], + "joints": [ + -0.012500112876296043 + ] + }, + "final_grasp": { + "position": [ + -0.03190133348107338, + 0.13030701875686646, + 0.020583976060152054 + ], + "orientation": [ + 0.09447149187326431, + -0.7429413795471191, + 0.01260430458933115, + -0.6625363230705261 + ], + "joints": [ + -0.005618475377559662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002932596020400524, + -0.1109553724527359, + -0.003681783564388752 + ], + "orientation": [ + 0.23411715030670166, + 0.03252722695469856, + -0.970432460308075, + 0.048908352851867676 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.001336638699285686, + -0.1107332855463028, + -0.006504191551357508 + ], + "orientation": [ + 0.24466505646705627, + 0.04556594416499138, + -0.9658655524253845, + 0.0718771293759346 + ], + "joints": [ + -0.01121195312589407 + ] + }, + "final_grasp": { + "position": [ + 0.001336638699285686, + -0.1107332855463028, + -0.006504191551357508 + ], + "orientation": [ + 0.24466505646705627, + 0.04556594416499138, + -0.9658655524253845, + 0.0718771293759346 + ], + "joints": [ + -0.004808580502867699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048663195222616196, + 0.09167356789112091, + 0.08212966471910477 + ], + "orientation": [ + 0.36414605379104614, + -0.8707961440086365, + 0.059081245213747025, + 0.3249942660331726 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.04907980188727379, + 0.09349004924297333, + 0.08245926350355148 + ], + "orientation": [ + 0.3600800335407257, + -0.875993013381958, + 0.07462162524461746, + 0.3121061325073242 + ], + "joints": [ + -0.012036360800266266 + ] + }, + "final_grasp": { + "position": [ + 0.04907980188727379, + 0.09349004924297333, + 0.08245926350355148 + ], + "orientation": [ + 0.3600800335407257, + -0.875993013381958, + 0.07462162524461746, + 0.3121061325073242 + ], + "joints": [ + -0.006722358986735344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05409279838204384, + 0.1167488768696785, + -0.017599519342184067 + ], + "orientation": [ + 0.22980061173439026, + 0.2568133771419525, + -0.0828559547662735, + -0.9350793361663818 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.0513501837849617, + 0.11704133450984955, + -0.017456956207752228 + ], + "orientation": [ + 0.22337563335895538, + 0.2557677924633026, + -0.07641438394784927, + -0.937468409538269 + ], + "joints": [ + -0.008326800540089607 + ] + }, + "final_grasp": { + "position": [ + -0.0513501837849617, + 0.11704133450984955, + -0.017456956207752228 + ], + "orientation": [ + 0.22337563335895538, + 0.2557677924633026, + -0.07641438394784927, + -0.937468409538269 + ], + "joints": [ + -0.0019234344363212585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04329020529985428, + -0.09395890682935715, + 0.013896657153964043 + ], + "orientation": [ + 0.19730477035045624, + -0.18654309213161469, + -0.9586294889450073, + 0.08545093238353729 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.04213523864746094, + -0.09444145858287811, + 0.012438599020242691 + ], + "orientation": [ + 0.22338178753852844, + -0.1748434603214264, + -0.9547194242477417, + 0.08967263251543045 + ], + "joints": [ + -0.008325327187776566 + ] + }, + "final_grasp": { + "position": [ + -0.04213523864746094, + -0.09444145858287811, + 0.012438599020242691 + ], + "orientation": [ + 0.22338178753852844, + -0.1748434603214264, + -0.9547194242477417, + 0.08967263251543045 + ], + "joints": [ + -0.0013905614614486694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01198511477559805, + -0.10145337134599686, + -0.03631579875946045 + ], + "orientation": [ + 0.31045129895210266, + 0.02104097232222557, + -0.9459654688835144, + -0.09125086665153503 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.012500882148742676, + -0.10661891102790833, + -0.03718730807304382 + ], + "orientation": [ + 0.30555057525634766, + 0.023080438375473022, + -0.9474807381629944, + -0.09157731384038925 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.012500882148742676, + -0.10661891102790833, + -0.03718730807304382 + ], + "orientation": [ + 0.30555057525634766, + 0.023080438375473022, + -0.9474807381629944, + -0.09157731384038925 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018713554367423058, + 0.1362057775259018, + -0.015128993429243565 + ], + "orientation": [ + 0.06394509971141815, + 0.24664567410945892, + -0.11819872260093689, + -0.9597427248954773 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.018070878461003304, + 0.13357838988304138, + -0.014463539235293865 + ], + "orientation": [ + 0.05807078257203102, + 0.2578040361404419, + -0.11130043119192123, + -0.9580068588256836 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.018070878461003304, + 0.13357838988304138, + -0.014463539235293865 + ], + "orientation": [ + 0.05807078257203102, + 0.2578040361404419, + -0.11130043119192123, + -0.9580068588256836 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06654651463031769, + -0.08237361907958984, + -0.03841956704854965 + ], + "orientation": [ + 0.1753808856010437, + -0.2471696138381958, + -0.942607581615448, + -0.14014092087745667 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.06604275107383728, + -0.08266007155179977, + -0.03818224370479584 + ], + "orientation": [ + 0.1927717924118042, + -0.23513785004615784, + -0.9421584606170654, + -0.14102032780647278 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.06604275107383728, + -0.08266007155179977, + -0.03818224370479584 + ], + "orientation": [ + 0.1927717924118042, + -0.23513785004615784, + -0.9421584606170654, + -0.14102032780647278 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0034960233606398106, + 0.10714546591043472, + -0.0740397721529007 + ], + "orientation": [ + 0.25173866748809814, + 0.9362253546714783, + -0.11091084033250809, + -0.21865122020244598 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.0013540146173909307, + 0.10774950683116913, + -0.07377342134714127 + ], + "orientation": [ + 0.24455825984477997, + 0.9353821277618408, + -0.10066916048526764, + -0.23477047681808472 + ], + "joints": [ + -0.01003294624388218 + ] + }, + "final_grasp": { + "position": [ + 0.0013540146173909307, + 0.10774950683116913, + -0.07377342134714127 + ], + "orientation": [ + 0.24455825984477997, + 0.9353821277618408, + -0.10066916048526764, + -0.23477047681808472 + ], + "joints": [ + -0.004187550395727158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0020380064379423857, + -0.1017000824213028, + 0.000662299629766494 + ], + "orientation": [ + 0.983184814453125, + -0.07954974472522736, + 0.16406255960464478, + 0.010145474225282669 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.002732873195782304, + -0.10639964789152145, + 0.0012290733866393566 + ], + "orientation": [ + 0.9825021028518677, + -0.08037182688713074, + 0.16742269694805145, + 0.014127615839242935 + ], + "joints": [ + -0.012243916280567646 + ] + }, + "final_grasp": { + "position": [ + -0.002732873195782304, + -0.10639964789152145, + 0.0012290733866393566 + ], + "orientation": [ + 0.9825021028518677, + -0.08037182688713074, + 0.16742269694805145, + 0.014127615839242935 + ], + "joints": [ + -0.007461315020918846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055554766207933426, + 0.10784908384084702, + -0.04891093447804451 + ], + "orientation": [ + 0.17591647803783417, + -0.2233259230852127, + 0.20913197100162506, + 0.9356509447097778 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.05741062015295029, + 0.11021994054317474, + -0.05144882947206497 + ], + "orientation": [ + 0.163352370262146, + -0.22211694717407227, + 0.1944422870874405, + 0.9413672685623169 + ], + "joints": [ + -0.011097139678895473 + ] + }, + "final_grasp": { + "position": [ + 0.05741062015295029, + 0.11021994054317474, + -0.05144882947206497 + ], + "orientation": [ + 0.163352370262146, + -0.22211694717407227, + 0.1944422870874405, + 0.9413672685623169 + ], + "joints": [ + -0.005756570026278496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05536811426281929, + 0.10780689865350723, + -0.048624198883771896 + ], + "orientation": [ + 0.17721016705036163, + -0.2201228141784668, + 0.20933330059051514, + 0.9361208081245422 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.056762803345918655, + 0.11006501317024231, + -0.0509246326982975 + ], + "orientation": [ + 0.16325341165065765, + -0.2209319919347763, + 0.19784143567085266, + 0.9409549832344055 + ], + "joints": [ + -0.011097139678895473 + ] + }, + "final_grasp": { + "position": [ + 0.056762803345918655, + 0.11006501317024231, + -0.0509246326982975 + ], + "orientation": [ + 0.16325341165065765, + -0.2209319919347763, + 0.19784143567085266, + 0.9409549832344055 + ], + "joints": [ + -0.005756570026278496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02999730035662651, + -0.09956127405166626, + -0.02577614039182663 + ], + "orientation": [ + 0.14244979619979858, + 0.13779717683792114, + -0.9719876050949097, + -0.1263332962989807 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.029377955943346024, + -0.10254451632499695, + -0.027383772656321526 + ], + "orientation": [ + 0.14231476187705994, + 0.13307565450668335, + -0.9731877446174622, + -0.12224198132753372 + ], + "joints": [ + -0.010652587749063969 + ] + }, + "final_grasp": { + "position": [ + 0.029377955943346024, + -0.10254451632499695, + -0.027383772656321526 + ], + "orientation": [ + 0.14231476187705994, + 0.13307565450668335, + -0.9731877446174622, + -0.12224198132753372 + ], + "joints": [ + -0.004249216988682747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04156952351331711, + -0.10069874674081802, + 0.0048957099206745625 + ], + "orientation": [ + 0.5936182141304016, + 0.0977364107966423, + -0.79459148645401, + 0.0817878246307373 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.0445111021399498, + -0.10388391464948654, + 0.006226131226867437 + ], + "orientation": [ + 0.5930792093276978, + 0.08244344592094421, + -0.797318160533905, + 0.07578811049461365 + ], + "joints": [ + -0.013830744661390781 + ] + }, + "final_grasp": { + "position": [ + 0.0445111021399498, + -0.10388391464948654, + 0.006226131226867437 + ], + "orientation": [ + 0.5930792093276978, + 0.08244344592094421, + -0.797318160533905, + 0.07578811049461365 + ], + "joints": [ + -0.00798533484339714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015076330862939358, + -0.10243374109268188, + 0.014310717582702637 + ], + "orientation": [ + 0.20838674902915955, + -0.09232884645462036, + 0.9736521244049072, + 0.007211329881101847 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.014782355166971684, + -0.10312306135892868, + 0.01670796051621437 + ], + "orientation": [ + 0.21820488572120667, + -0.0913529023528099, + 0.9711955189704895, + 0.028644051402807236 + ], + "joints": [ + -0.011127975769340992 + ] + }, + "final_grasp": { + "position": [ + 0.014782355166971684, + -0.10312306135892868, + 0.01670796051621437 + ], + "orientation": [ + 0.21820488572120667, + -0.0913529023528099, + 0.9711955189704895, + 0.028644051402807236 + ], + "joints": [ + -0.005229433998465538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015066485852003098, + -0.1023104190826416, + 0.014381053857505322 + ], + "orientation": [ + 0.209665909409523, + -0.09274119138717651, + 0.9733328223228455, + 0.007908339612185955 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.014769480563700199, + -0.10317888110876083, + 0.016893023625016212 + ], + "orientation": [ + 0.21819797158241272, + -0.09190414100885391, + 0.9710938930511475, + 0.03033037856221199 + ], + "joints": [ + -0.011127975769340992 + ] + }, + "final_grasp": { + "position": [ + 0.014769480563700199, + -0.10317888110876083, + 0.016893023625016212 + ], + "orientation": [ + 0.21819797158241272, + -0.09190414100885391, + 0.9710938930511475, + 0.03033037856221199 + ], + "joints": [ + -0.005229433998465538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05644097924232483, + 0.09753059595823288, + 0.07033038884401321 + ], + "orientation": [ + 0.32641178369522095, + -0.9031985402107239, + 0.1606699377298355, + 0.22775615751743317 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.05473676696419716, + 0.0980055034160614, + 0.07255464792251587 + ], + "orientation": [ + 0.3229576349258423, + -0.9087652564048767, + 0.15644921362400055, + 0.21299725770950317 + ], + "joints": [ + -0.010683423839509487 + ] + }, + "final_grasp": { + "position": [ + 0.05473676696419716, + 0.0980055034160614, + 0.07255464792251587 + ], + "orientation": [ + 0.3229576349258423, + -0.9087652564048767, + 0.15644921362400055, + 0.21299725770950317 + ], + "joints": [ + -0.003722080960869789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018317122012376785, + -0.1049169972538948, + -0.0005830133450217545 + ], + "orientation": [ + 0.9638249278068542, + 0.03786914423108101, + -0.25595200061798096, + -0.06400030851364136 + ], + "joints": [ + -0.017320921644568443 + ] + }, + "fine_grasp": { + "position": [ + -0.018609432503581047, + -0.10952914506196976, + -4.2457293602637947e-05 + ], + "orientation": [ + 0.9639958739280701, + 0.0450323112308979, + -0.2545686364173889, + -0.06228046864271164 + ], + "joints": [ + -0.010944120585918427 + ] + }, + "final_grasp": { + "position": [ + -0.018609432503581047, + -0.10952914506196976, + -4.2457293602637947e-05 + ], + "orientation": [ + 0.9639958739280701, + 0.0450323112308979, + -0.2545686364173889, + -0.06228046864271164 + ], + "joints": [ + -0.00456731952726841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03117937222123146, + 0.12579090893268585, + 0.011880934238433838 + ], + "orientation": [ + 0.039798151701688766, + -0.9709187150001526, + -0.10884388536214828, + -0.20948977768421173 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.03139202669262886, + 0.12786288559436798, + 0.01184050738811493 + ], + "orientation": [ + 0.035603880882263184, + -0.9710599780082703, + -0.10314516723155975, + -0.21245217323303223 + ], + "joints": [ + -0.011157416738569736 + ] + }, + "final_grasp": { + "position": [ + -0.03139202669262886, + 0.12786288559436798, + 0.01184050738811493 + ], + "orientation": [ + 0.035603880882263184, + -0.9710599780082703, + -0.10314516723155975, + -0.21245217323303223 + ], + "joints": [ + -0.0052588749676942825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01374031975865364, + -0.10419581830501556, + 0.014219336211681366 + ], + "orientation": [ + 0.2723330557346344, + 0.024419346824288368, + -0.9618119597434998, + 0.012498278170824051 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.014413014054298401, + -0.10752683132886887, + 0.01413231436163187 + ], + "orientation": [ + 0.25717592239379883, + 0.020602691918611526, + -0.9660533666610718, + 0.013311132788658142 + ], + "joints": [ + -0.011157416738569736 + ] + }, + "final_grasp": { + "position": [ + 0.014413014054298401, + -0.10752683132886887, + 0.01413231436163187 + ], + "orientation": [ + 0.25717592239379883, + 0.020602691918611526, + -0.9660533666610718, + 0.013311132788658142 + ], + "joints": [ + -0.0052588749676942825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029489364475011826, + 0.14500164985656738, + -4.9048743676394224e-05 + ], + "orientation": [ + 0.11214093118906021, + 0.19330395758152008, + 0.03425810486078262, + -0.9741069078445435 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.02775551751255989, + 0.13992953300476074, + -0.0006182075012475252 + ], + "orientation": [ + 0.11877501010894775, + 0.19002676010131836, + 0.04112792760133743, + -0.9736995697021484 + ], + "joints": [ + -0.01282395701855421 + ] + }, + "final_grasp": { + "position": [ + -0.02775551751255989, + 0.13992953300476074, + -0.0006182075012475252 + ], + "orientation": [ + 0.11877501010894775, + 0.19002676010131836, + 0.04112792760133743, + -0.9736995697021484 + ], + "joints": [ + -0.0059423185884952545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009835350327193737, + -0.1097555086016655, + 0.018763141706585884 + ], + "orientation": [ + 0.966181755065918, + -0.034519802778959274, + 0.255466103553772, + 0.0061791990883648396 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.010564331896603107, + -0.11097338050603867, + 0.02085728757083416 + ], + "orientation": [ + 0.9671335816383362, + -0.023262901231646538, + 0.2531503140926361, + -0.005142791662365198 + ], + "joints": [ + -0.011214823462069035 + ] + }, + "final_grasp": { + "position": [ + 0.010564331896603107, + -0.11097338050603867, + 0.02085728757083416 + ], + "orientation": [ + 0.9671335816383362, + -0.023262901231646538, + 0.2531503140926361, + -0.005142791662365198 + ], + "joints": [ + -0.004784880205988884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010324482806026936, + -0.10266190767288208, + -0.03510349616408348 + ], + "orientation": [ + 0.9614294171333313, + 0.09615260362625122, + -0.2574654817581177, + -0.010939369909465313 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.010450159199535847, + -0.10429663211107254, + -0.037518735975027084 + ], + "orientation": [ + 0.9633288383483887, + 0.08378726243972778, + -0.2547636330127716, + -0.00852860789746046 + ], + "joints": [ + -0.011716782115399837 + ] + }, + "final_grasp": { + "position": [ + 0.010450159199535847, + -0.10429663211107254, + -0.037518735975027084 + ], + "orientation": [ + 0.9633288383483887, + 0.08378726243972778, + -0.2547636330127716, + -0.00852860789746046 + ], + "joints": [ + -0.005818238481879234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009881896898150444, + -0.10973267257213593, + 0.018637411296367645 + ], + "orientation": [ + 0.966141402721405, + -0.03428485617041588, + 0.25564777851104736, + 0.006299068685621023 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.010578135959804058, + -0.1109999492764473, + 0.020742269232869148 + ], + "orientation": [ + 0.9672146439552307, + -0.02340064011514187, + 0.25283652544021606, + -0.004692030604928732 + ], + "joints": [ + -0.011214823462069035 + ] + }, + "final_grasp": { + "position": [ + 0.010578135959804058, + -0.1109999492764473, + 0.020742269232869148 + ], + "orientation": [ + 0.9672146439552307, + -0.02340064011514187, + 0.25283652544021606, + -0.004692030604928732 + ], + "joints": [ + -0.004784880205988884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01013445295393467, + -0.10977743566036224, + 0.018251338973641396 + ], + "orientation": [ + 0.9667637348175049, + -0.034488894045352936, + 0.253193199634552, + 0.008462026715278625 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.010052226483821869, + -0.10975263267755508, + 0.018460188060998917 + ], + "orientation": [ + 0.9671247005462646, + -0.033048056066036224, + 0.25213783979415894, + 0.002039308426901698 + ], + "joints": [ + -0.010709994472563267 + ] + }, + "final_grasp": { + "position": [ + 0.010052226483821869, + -0.10975263267755508, + 0.018460188060998917 + ], + "orientation": [ + 0.9671247005462646, + -0.033048056066036224, + 0.25213783979415894, + 0.002039308426901698 + ], + "joints": [ + -0.0037752222269773483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000615699915215373, + -0.10378147661685944, + -0.029898904263973236 + ], + "orientation": [ + 0.23051387071609497, + 0.03944419324398041, + 0.9692402482032776, + 0.07668749243021011 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.001122417044825852, + -0.10556730628013611, + -0.031546615064144135 + ], + "orientation": [ + 0.24415884912014008, + 0.03511364012956619, + 0.9670531153678894, + 0.06294175237417221 + ], + "joints": [ + -0.01145181991159916 + ] + }, + "final_grasp": { + "position": [ + 0.001122417044825852, + -0.10556730628013611, + -0.031546615064144135 + ], + "orientation": [ + 0.24415884912014008, + 0.03511364012956619, + 0.9670531153678894, + 0.06294175237417221 + ], + "joints": [ + -0.005553277209401131 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010160583071410656, + 0.12989459931850433, + 0.01055825687944889 + ], + "orientation": [ + 0.09424386918544769, + -0.9710521101951599, + -0.04254893586039543, + -0.21532651782035828 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.009330223314464092, + 0.13096179068088531, + 0.011381424032151699 + ], + "orientation": [ + 0.09760181605815887, + -0.9722781181335449, + -0.04166734591126442, + -0.2083580046892166 + ], + "joints": [ + -0.011241394095122814 + ] + }, + "final_grasp": { + "position": [ + -0.009330223314464092, + 0.13096179068088531, + 0.011381424032151699 + ], + "orientation": [ + 0.09760181605815887, + -0.9722781181335449, + -0.04166734591126442, + -0.2083580046892166 + ], + "joints": [ + -0.004838021472096443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03634586185216904, + 0.12094680219888687, + 0.01645612344145775 + ], + "orientation": [ + 0.13132479786872864, + -0.9762480854988098, + 0.15653464198112488, + 0.07204444706439972 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.0365292951464653, + 0.12012185156345367, + 0.015345646068453789 + ], + "orientation": [ + 0.14179039001464844, + -0.9749792814254761, + 0.15667444467544556, + 0.06902162730693817 + ], + "joints": [ + -0.01123852375894785 + ] + }, + "final_grasp": { + "position": [ + 0.0365292951464653, + 0.12012185156345367, + 0.015345646068453789 + ], + "orientation": [ + 0.14179039001464844, + -0.9749792814254761, + 0.15667444467544556, + 0.06902162730693817 + ], + "joints": [ + -0.004861721768975258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036315660923719406, + 0.12092532217502594, + 0.016472741961479187 + ], + "orientation": [ + 0.1309930384159088, + -0.976325273513794, + 0.15645188093185425, + 0.07178100943565369 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.03650783747434616, + 0.12010893225669861, + 0.015337119810283184 + ], + "orientation": [ + 0.14161807298660278, + -0.975032389163971, + 0.15662536025047302, + 0.06873700767755508 + ], + "joints": [ + -0.01123852375894785 + ] + }, + "final_grasp": { + "position": [ + 0.03650783747434616, + 0.12010893225669861, + 0.015337119810283184 + ], + "orientation": [ + 0.14161807298660278, + -0.975032389163971, + 0.15662536025047302, + 0.06873700767755508 + ], + "joints": [ + -0.004861721768975258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036317504942417145, + 0.12092005461454391, + 0.016502367332577705 + ], + "orientation": [ + 0.13108016550540924, + -0.9763118624687195, + 0.15645277500152588, + 0.07180295139551163 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.036509234458208084, + 0.1201019436120987, + 0.015364025719463825 + ], + "orientation": [ + 0.14172068238258362, + -0.9750163555145264, + 0.15662746131420135, + 0.06874731928110123 + ], + "joints": [ + -0.01123852375894785 + ] + }, + "final_grasp": { + "position": [ + 0.036509234458208084, + 0.1201019436120987, + 0.015364025719463825 + ], + "orientation": [ + 0.14172068238258362, + -0.9750163555145264, + 0.15662746131420135, + 0.06874731928110123 + ], + "joints": [ + -0.004861721768975258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052943065762519836, + 0.11902380734682083, + 0.03269112482666969 + ], + "orientation": [ + 0.21460947394371033, + -0.7566904425621033, + -0.05552064627408981, + -0.6150444149971008 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.051735132932662964, + 0.11871538311243057, + 0.031760264188051224 + ], + "orientation": [ + 0.22049330174922943, + -0.7620845437049866, + -0.061366498470306396, + -0.605676531791687 + ], + "joints": [ + -0.014128018170595169 + ] + }, + "final_grasp": { + "position": [ + -0.051735132932662964, + 0.11871538311243057, + 0.031760264188051224 + ], + "orientation": [ + 0.22049330174922943, + -0.7620845437049866, + -0.061366498470306396, + -0.605676531791687 + ], + "joints": [ + -0.008256036788225174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06271549314260483, + 0.11386414617300034, + -0.01073706429451704 + ], + "orientation": [ + 0.16554906964302063, + -0.5995545387268066, + -0.17574279010295868, + -0.7630480527877808 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.06274940818548203, + 0.11426832526922226, + -0.0104848463088274 + ], + "orientation": [ + 0.17132247984409332, + -0.5946763157844543, + -0.17137430608272552, + -0.7665764689445496 + ], + "joints": [ + -0.01410144753754139 + ] + }, + "final_grasp": { + "position": [ + -0.06274940818548203, + 0.11426832526922226, + -0.0104848463088274 + ], + "orientation": [ + 0.17132247984409332, + -0.5946763157844543, + -0.17137430608272552, + -0.7665764689445496 + ], + "joints": [ + -0.008202895522117615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06883363425731659, + -0.08380432426929474, + -0.04005659371614456 + ], + "orientation": [ + 0.9245891571044922, + 0.20490136742591858, + -0.19541294872760773, + 0.2548806369304657 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.06710506230592728, + -0.08360276371240616, + -0.04101547971367836 + ], + "orientation": [ + 0.9280803799629211, + 0.20128004252910614, + -0.1964453011751175, + 0.24405433237552643 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.06710506230592728, + -0.08360276371240616, + -0.04101547971367836 + ], + "orientation": [ + 0.9280803799629211, + 0.20128004252910614, + -0.1964453011751175, + 0.24405433237552643 + ], + "joints": [ + -0.0047232117503881454 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2030, + "num_passed": 470 + } +} \ No newline at end of file diff --git a/075_bread_0/Annotation/piper_grasp_pose.json b/075_bread_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2a50ee27794c40e4a141936eca5533547d0076 --- /dev/null +++ b/075_bread_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,10268 @@ +{ + "type": "075_bread_0", + "bottom_center": [ + -1.9613653421401978e-06, + 0.015992719680070877, + -0.03792827948927879 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.0370180681347847, + -0.0825827419757843, + -0.09997443854808807 + ], + "orientation": [ + 0.7764254808425903, + -0.4073658883571625, + -0.1169867143034935, + -0.4664017856121063 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.03588646277785301, + -0.08003856241703033, + -0.09670883417129517 + ], + "orientation": [ + 0.7772358059883118, + -0.40387681126594543, + -0.11370332539081573, + -0.468891978263855 + ], + "joints": [ + 0.03031889721751213 + ] + }, + "final_grasp": { + "position": [ + -0.03588646277785301, + -0.08003856241703033, + -0.09670883417129517 + ], + "orientation": [ + 0.7772358059883118, + -0.40387681126594543, + -0.11370332539081573, + -0.468891978263855 + ], + "joints": [ + 0.02563779428601265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09344618022441864, + -0.014733857475221157, + 0.11391864717006683 + ], + "orientation": [ + 0.3039045035839081, + -0.6538557410240173, + 0.6729199290275574, + -0.16520769894123077 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.09076786041259766, + -0.013940922915935516, + 0.11057617515325546 + ], + "orientation": [ + 0.3067728579044342, + -0.6570413112640381, + 0.6688775420188904, + -0.16367651522159576 + ], + "joints": [ + 0.030757751315832138 + ] + }, + "final_grasp": { + "position": [ + -0.09076786041259766, + -0.013940922915935516, + 0.11057617515325546 + ], + "orientation": [ + 0.3067728579044342, + -0.6570413112640381, + 0.6688775420188904, + -0.16367651522159576 + ], + "joints": [ + 0.026515502482652664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10377036035060883, + 0.018694976344704628, + 0.10742639005184174 + ], + "orientation": [ + 0.24233748018741608, + 0.7224143147468567, + 0.5723994970321655, + 0.3029007315635681 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.1011153906583786, + 0.017991019412875175, + 0.1043902039527893 + ], + "orientation": [ + 0.25274109840393066, + 0.7281460762023926, + 0.5690198540687561, + 0.2866034507751465 + ], + "joints": [ + 0.029462087899446487 + ] + }, + "final_grasp": { + "position": [ + -0.1011153906583786, + 0.017991019412875175, + 0.1043902039527893 + ], + "orientation": [ + 0.25274109840393066, + 0.7281460762023926, + 0.5690198540687561, + 0.2866034507751465 + ], + "joints": [ + 0.023924175649881363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06436796486377716, + 0.10962112247943878, + 0.06666721403598785 + ], + "orientation": [ + 0.5560782551765442, + 0.6727129220962524, + 0.47566428780555725, + -0.10944323241710663 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.06222640350461006, + 0.10689806938171387, + 0.0645844042301178 + ], + "orientation": [ + 0.5477033257484436, + 0.6747012138366699, + 0.48592084646224976, + -0.09316829591989517 + ], + "joints": [ + 0.028667975217103958 + ] + }, + "final_grasp": { + "position": [ + -0.06222640350461006, + 0.10689806938171387, + 0.0645844042301178 + ], + "orientation": [ + 0.5477033257484436, + 0.6747012138366699, + 0.48592084646224976, + -0.09316829591989517 + ], + "joints": [ + 0.022335950285196304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12472645938396454, + -0.011882085353136063, + -0.07602988928556442 + ], + "orientation": [ + 0.9003323912620544, + -0.02085825987160206, + -0.4107164144515991, + -0.1424030214548111 + ], + "joints": [ + 0.019717426970601082 + ] + }, + "fine_grasp": { + "position": [ + 0.12151966989040375, + -0.010643282905220985, + -0.0744621753692627 + ], + "orientation": [ + 0.8962695002555847, + -0.025583822280168533, + -0.4183870255947113, + -0.14490915834903717 + ], + "joints": [ + 0.010062659159302711 + ] + }, + "final_grasp": { + "position": [ + 0.12151966989040375, + -0.010643282905220985, + -0.0744621753692627 + ], + "orientation": [ + 0.8962695002555847, + -0.025583822280168533, + -0.4183870255947113, + -0.14490915834903717 + ], + "joints": [ + 0.0004078913480043411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08582820743322372, + -0.0069796559400856495, + -0.12375349551439285 + ], + "orientation": [ + 0.9177452921867371, + -0.10192623734474182, + -0.37417832016944885, + 0.08570355921983719 + ], + "joints": [ + 0.018980316817760468 + ] + }, + "fine_grasp": { + "position": [ + 0.08435880392789841, + -0.0059627145528793335, + -0.12028107047080994 + ], + "orientation": [ + 0.9206581711769104, + -0.10485989600419998, + -0.36644986271858215, + 0.08430611342191696 + ], + "joints": [ + 0.01016145944595337 + ] + }, + "final_grasp": { + "position": [ + 0.08435880392789841, + -0.0059627145528793335, + -0.12028107047080994 + ], + "orientation": [ + 0.9206581711769104, + -0.10485989600419998, + -0.36644986271858215, + 0.08430611342191696 + ], + "joints": [ + 0.0013426020741462708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03187788277864456, + -0.10519876331090927, + -0.041495852172374725 + ], + "orientation": [ + 0.6719687581062317, + -0.6082461476325989, + 0.24496708810329437, + 0.3442173898220062 + ], + "joints": [ + 0.03321704640984535 + ] + }, + "fine_grasp": { + "position": [ + 0.029697857797145844, + -0.10226254165172577, + -0.03899012506008148 + ], + "orientation": [ + 0.6763996481895447, + -0.601506233215332, + 0.22991621494293213, + 0.3575085401535034 + ], + "joints": [ + 0.026947718113660812 + ] + }, + "final_grasp": { + "position": [ + 0.029697857797145844, + -0.10226254165172577, + -0.03899012506008148 + ], + "orientation": [ + 0.6763996481895447, + -0.601506233215332, + 0.22991621494293213, + 0.3575085401535034 + ], + "joints": [ + 0.020678389817476273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01186683401465416, + -0.10989236831665039, + -0.04412215203046799 + ], + "orientation": [ + 0.7239231467247009, + -0.5408092141151428, + -0.3466402292251587, + -0.25159698724746704 + ], + "joints": [ + 0.034780025482177734 + ] + }, + "fine_grasp": { + "position": [ + 0.011922307312488556, + -0.10649704188108444, + -0.04190713167190552 + ], + "orientation": [ + 0.7281871438026428, + -0.5367431044578552, + -0.3373529314994812, + -0.26046785712242126 + ], + "joints": [ + 0.028845056891441345 + ] + }, + "final_grasp": { + "position": [ + 0.011922307312488556, + -0.10649704188108444, + -0.04190713167190552 + ], + "orientation": [ + 0.7281871438026428, + -0.5367431044578552, + -0.3373529314994812, + -0.26046785712242126 + ], + "joints": [ + 0.022910088300704956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13909626007080078, + 0.0021090656518936157, + -0.05752215534448624 + ], + "orientation": [ + 0.8485739231109619, + 0.025604022666811943, + 0.5153989791870117, + 0.11675006151199341 + ], + "joints": [ + 0.020782575011253357 + ] + }, + "fine_grasp": { + "position": [ + -0.1355801224708557, + 0.002561122179031372, + -0.05602189153432846 + ], + "orientation": [ + 0.8467095494270325, + 0.02454259619116783, + 0.5182610750198364, + 0.11783965677022934 + ], + "joints": [ + 0.011963717639446259 + ] + }, + "final_grasp": { + "position": [ + -0.1355801224708557, + 0.002561122179031372, + -0.05602189153432846 + ], + "orientation": [ + 0.8467095494270325, + 0.02454259619116783, + 0.5182610750198364, + 0.11783965677022934 + ], + "joints": [ + 0.00314486026763916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11635216325521469, + -0.032737039029598236, + 0.0882117822766304 + ], + "orientation": [ + 0.42921823263168335, + -0.13416679203510284, + 0.883935272693634, + 0.12817753851413727 + ], + "joints": [ + 0.02009887807071209 + ] + }, + "fine_grasp": { + "position": [ + -0.11333880573511124, + -0.031486641615629196, + 0.08635250478982925 + ], + "orientation": [ + 0.43612030148506165, + -0.13230878114700317, + 0.8810197710990906, + 0.12687574326992035 + ], + "joints": [ + 0.010862065479159355 + ] + }, + "final_grasp": { + "position": [ + -0.11333880573511124, + -0.031486641615629196, + 0.08635250478982925 + ], + "orientation": [ + 0.43612030148506165, + -0.13230878114700317, + 0.8810197710990906, + 0.12687574326992035 + ], + "joints": [ + 0.0016252528876066208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14271695911884308, + -0.03280267491936684, + -0.03278732672333717 + ], + "orientation": [ + 0.08850989490747452, + -0.6176962852478027, + 0.1524321436882019, + 0.7664083242416382 + ], + "joints": [ + 0.020157380029559135 + ] + }, + "fine_grasp": { + "position": [ + 0.1392197459936142, + -0.03152688592672348, + -0.03168908506631851 + ], + "orientation": [ + 0.08828717470169067, + -0.6162898540496826, + 0.15083123743534088, + 0.7678815722465515 + ], + "joints": [ + 0.010920567438006401 + ] + }, + "final_grasp": { + "position": [ + 0.1392197459936142, + -0.03152688592672348, + -0.03168908506631851 + ], + "orientation": [ + 0.08828717470169067, + -0.6162898540496826, + 0.15083123743534088, + 0.7678815722465515 + ], + "joints": [ + 0.0016837548464536667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08463166654109955, + 0.02434554323554039, + -0.11967986822128296 + ], + "orientation": [ + 0.5384380221366882, + -0.22730162739753723, + 0.21180111169815063, + -0.7832998633384705 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.08256127685308456, + 0.023560771718621254, + -0.11607582122087479 + ], + "orientation": [ + 0.537604033946991, + -0.22461354732513428, + 0.2130502611398697, + -0.7843087911605835 + ], + "joints": [ + 0.029085930436849594 + ] + }, + "final_grasp": { + "position": [ + -0.08256127685308456, + 0.023560771718621254, + -0.11607582122087479 + ], + "orientation": [ + 0.537604033946991, + -0.22461354732513428, + 0.2130502611398697, + -0.7843087911605835 + ], + "joints": [ + 0.023171860724687576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08637869358062744, + -0.006993405520915985, + -0.12423442304134369 + ], + "orientation": [ + 0.918265700340271, + -0.10080772638320923, + -0.3731251358985901, + 0.08604422211647034 + ], + "joints": [ + 0.019213730469346046 + ] + }, + "fine_grasp": { + "position": [ + 0.08484945446252823, + -0.005944649688899517, + -0.12080522626638412 + ], + "orientation": [ + 0.9209458827972412, + -0.10419367253780365, + -0.3658592998981476, + 0.0845532938838005 + ], + "joints": [ + 0.009976917877793312 + ] + }, + "final_grasp": { + "position": [ + 0.08484945446252823, + -0.005944649688899517, + -0.12080522626638412 + ], + "orientation": [ + 0.9209458827972412, + -0.10419367253780365, + -0.3658592998981476, + 0.0845532938838005 + ], + "joints": [ + 0.0007401052862405777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1033274382352829, + 0.006234748754650354, + 0.09444830566644669 + ], + "orientation": [ + 0.3739476799964905, + -0.07845587283372879, + -0.9241121411323547, + -0.004956160672008991 + ], + "joints": [ + 0.023713426664471626 + ] + }, + "fine_grasp": { + "position": [ + 0.10055438429117203, + 0.007106749806553125, + 0.09198744595050812 + ], + "orientation": [ + 0.38086485862731934, + -0.08111219853162766, + -0.9210622310638428, + -0.0026552046183496714 + ], + "joints": [ + 0.014518411830067635 + ] + }, + "final_grasp": { + "position": [ + 0.10055438429117203, + 0.007106749806553125, + 0.09198744595050812 + ], + "orientation": [ + 0.38086485862731934, + -0.08111219853162766, + -0.9210622310638428, + -0.0026552046183496714 + ], + "joints": [ + 0.005323396995663643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031671568751335144, + -0.006726287771016359, + 0.13728956878185272 + ], + "orientation": [ + 0.12533000111579895, + -0.03709041699767113, + -0.9878514409065247, + -0.08406119048595428 + ], + "joints": [ + 0.02431497350335121 + ] + }, + "fine_grasp": { + "position": [ + 0.030698535963892937, + -0.0057598198764026165, + 0.13366581499576569 + ], + "orientation": [ + 0.12774623930454254, + -0.0373452827334404, + -0.9876635074615479, + -0.08250502496957779 + ], + "joints": [ + 0.015099059790372849 + ] + }, + "final_grasp": { + "position": [ + 0.030698535963892937, + -0.0057598198764026165, + 0.13366581499576569 + ], + "orientation": [ + 0.12774623930454254, + -0.0373452827334404, + -0.9876635074615479, + -0.08250502496957779 + ], + "joints": [ + 0.0058831460773944855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14391423761844635, + 0.008560634218156338, + -0.010244669392704964 + ], + "orientation": [ + 0.022345006465911865, + 0.7109875679016113, + 0.05188499391078949, + 0.7009317278862 + ], + "joints": [ + 0.022179193794727325 + ] + }, + "fine_grasp": { + "position": [ + -0.14024247229099274, + 0.008860265836119652, + -0.009282645769417286 + ], + "orientation": [ + 0.02134101092815399, + 0.7058398127555847, + 0.052100762724876404, + 0.7061305046081543 + ], + "joints": [ + 0.013381235301494598 + ] + }, + "final_grasp": { + "position": [ + -0.14024247229099274, + 0.008860265836119652, + -0.009282645769417286 + ], + "orientation": [ + 0.02134101092815399, + 0.7058398127555847, + 0.052100762724876404, + 0.7061305046081543 + ], + "joints": [ + 0.004583276808261871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14422546327114105, + 0.008121182210743427, + -0.010175531730055809 + ], + "orientation": [ + 0.021380476653575897, + 0.7110954523086548, + 0.05322323366999626, + 0.7007519602775574 + ], + "joints": [ + 0.02246919833123684 + ] + }, + "fine_grasp": { + "position": [ + -0.1405424028635025, + 0.008416274562478065, + -0.009238126687705517 + ], + "orientation": [ + 0.020664306357502937, + 0.7060721516609192, + 0.05319792777299881, + 0.7058363556861877 + ], + "joints": [ + 0.013253284618258476 + ] + }, + "final_grasp": { + "position": [ + -0.1405424028635025, + 0.008416274562478065, + -0.009238126687705517 + ], + "orientation": [ + 0.020664306357502937, + 0.7060721516609192, + 0.05319792777299881, + 0.7058363556861877 + ], + "joints": [ + 0.004037370905280113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14387597143650055, + 0.008187096565961838, + -0.010224641300737858 + ], + "orientation": [ + 0.021634332835674286, + 0.7109725475311279, + 0.05321341007947922, + 0.7008695602416992 + ], + "joints": [ + 0.022470472380518913 + ] + }, + "fine_grasp": { + "position": [ + -0.14022859930992126, + 0.008514199405908585, + -0.009229060262441635 + ], + "orientation": [ + 0.02051115222275257, + 0.7055590748786926, + 0.053391825407743454, + 0.7063391208648682 + ], + "joints": [ + 0.01325455866754055 + ] + }, + "final_grasp": { + "position": [ + -0.14022859930992126, + 0.008514199405908585, + -0.009229060262441635 + ], + "orientation": [ + 0.02051115222275257, + 0.7055590748786926, + 0.053391825407743454, + 0.7063391208648682 + ], + "joints": [ + 0.004038644954562187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1433195173740387, + 0.008314876817166805, + -0.010089810006320477 + ], + "orientation": [ + 0.021858369931578636, + 0.709538459777832, + 0.05355652794241905, + 0.7022884488105774 + ], + "joints": [ + 0.022571612149477005 + ] + }, + "fine_grasp": { + "position": [ + -0.13968831300735474, + 0.008601617068052292, + -0.009231967851519585 + ], + "orientation": [ + 0.021347085013985634, + 0.7050673365592957, + 0.05361972749233246, + 0.7067879438400269 + ], + "joints": [ + 0.013355698436498642 + ] + }, + "final_grasp": { + "position": [ + -0.13968831300735474, + 0.008601617068052292, + -0.009231967851519585 + ], + "orientation": [ + 0.021347085013985634, + 0.7050673365592957, + 0.05361972749233246, + 0.7067879438400269 + ], + "joints": [ + 0.004139784723520279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10968324542045593, + -0.010822799056768417, + -0.0927010253071785 + ], + "orientation": [ + 0.027745423838496208, + -0.43553104996681213, + 0.0973847508430481, + 0.894460141658783 + ], + "joints": [ + 0.02300427481532097 + ] + }, + "fine_grasp": { + "position": [ + 0.1068187952041626, + -0.010093211196362972, + -0.09034234285354614 + ], + "orientation": [ + 0.02829144150018692, + -0.43470123410224915, + 0.09595296531915665, + 0.8950014114379883 + ], + "joints": [ + 0.013788361102342606 + ] + }, + "final_grasp": { + "position": [ + 0.1068187952041626, + -0.010093211196362972, + -0.09034234285354614 + ], + "orientation": [ + 0.02829144150018692, + -0.43470123410224915, + 0.09595296531915665, + 0.8950014114379883 + ], + "joints": [ + 0.0045724473893642426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14313764870166779, + -0.0328073687851429, + -0.033087585121393204 + ], + "orientation": [ + 0.08192084729671478, + -0.6167702674865723, + 0.15770581364631653, + 0.7668195366859436 + ], + "joints": [ + 0.019717426970601082 + ] + }, + "fine_grasp": { + "position": [ + 0.1397005170583725, + -0.03157985210418701, + -0.03181784600019455 + ], + "orientation": [ + 0.08164635300636292, + -0.6141165494918823, + 0.1553838551044464, + 0.7694482803344727 + ], + "joints": [ + 0.010501513257622719 + ] + }, + "final_grasp": { + "position": [ + 0.1397005170583725, + -0.03157985210418701, + -0.03181784600019455 + ], + "orientation": [ + 0.08164635300636292, + -0.6141165494918823, + 0.1553838551044464, + 0.7694482803344727 + ], + "joints": [ + 0.0012855995446443558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11006198823451996, + -0.04945258051156998, + -0.08249174803495407 + ], + "orientation": [ + 0.03651123121380806, + -0.48960793018341064, + -0.24072101712226868, + -0.8372600078582764 + ], + "joints": [ + 0.020203692838549614 + ] + }, + "fine_grasp": { + "position": [ + -0.10779713094234467, + -0.04722719267010689, + -0.08034761995077133 + ], + "orientation": [ + 0.040799640119075775, + -0.4839603304862976, + -0.24567389488220215, + -0.8389053344726562 + ], + "joints": [ + 0.010569823905825615 + ] + }, + "final_grasp": { + "position": [ + -0.10779713094234467, + -0.04722719267010689, + -0.08034761995077133 + ], + "orientation": [ + 0.040799640119075775, + -0.4839603304862976, + -0.24567389488220215, + -0.8389053344726562 + ], + "joints": [ + 0.0009359549731016159 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11567819863557816, + -0.032593484967947006, + 0.088016077876091 + ], + "orientation": [ + 0.43098920583724976, + -0.13971200585365295, + 0.882552981376648, + 0.12581375241279602 + ], + "joints": [ + 0.0207106601446867 + ] + }, + "fine_grasp": { + "position": [ + -0.11258940398693085, + -0.03133871778845787, + 0.08613225817680359 + ], + "orientation": [ + 0.4380241632461548, + -0.1380993127822876, + 0.8795585632324219, + 0.12425840646028519 + ], + "joints": [ + 0.011055892333388329 + ] + }, + "final_grasp": { + "position": [ + -0.11258940398693085, + -0.03133871778845787, + 0.08613225817680359 + ], + "orientation": [ + 0.4380241632461548, + -0.1380993127822876, + 0.8795585632324219, + 0.12425840646028519 + ], + "joints": [ + 0.0014011245220899582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00850652251392603, + -0.04067043587565422, + 0.1424538940191269 + ], + "orientation": [ + 0.023814300075173378, + 0.09977113455533981, + -0.9739610552787781, + -0.20218445360660553 + ], + "joints": [ + 0.018629122525453568 + ] + }, + "fine_grasp": { + "position": [ + -0.008465186692774296, + -0.03916633874177933, + 0.13897675275802612 + ], + "orientation": [ + 0.00991508737206459, + 0.09238270670175552, + -0.9746997952461243, + -0.20329150557518005 + ], + "joints": [ + 0.01062527671456337 + ] + }, + "final_grasp": { + "position": [ + -0.008465186692774296, + -0.03916633874177933, + 0.13897675275802612 + ], + "orientation": [ + 0.00991508737206459, + 0.09238270670175552, + -0.9746997952461243, + -0.20329150557518005 + ], + "joints": [ + 0.002621430903673172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11154476553201675, + 0.008806084282696247, + 0.06288240849971771 + ], + "orientation": [ + 0.005090063437819481, + -0.8825231790542603, + 0.047726407647132874, + 0.46781331300735474 + ], + "joints": [ + 0.024643493816256523 + ] + }, + "fine_grasp": { + "position": [ + 0.10916376858949661, + 0.009226183407008648, + 0.06200264394283295 + ], + "orientation": [ + 0.005267028231173754, + -0.8773028254508972, + 0.042415037751197815, + 0.4780302345752716 + ], + "joints": [ + 0.01461256854236126 + ] + }, + "final_grasp": { + "position": [ + 0.10916376858949661, + 0.009226183407008648, + 0.06200264394283295 + ], + "orientation": [ + 0.005267028231173754, + -0.8773028254508972, + 0.042415037751197815, + 0.4780302345752716 + ], + "joints": [ + 0.004581643268465996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1155930683016777, + -0.03251130133867264, + 0.08842733502388 + ], + "orientation": [ + 0.43129298090934753, + -0.1308598816394806, + 0.8832076787948608, + 0.12963885068893433 + ], + "joints": [ + 0.020396225154399872 + ] + }, + "fine_grasp": { + "position": [ + -0.11261825263500214, + -0.03121446818113327, + 0.08637979626655579 + ], + "orientation": [ + 0.4355557858943939, + -0.13028423488140106, + 0.8814407587051392, + 0.12798157334327698 + ], + "joints": [ + 0.011159412562847137 + ] + }, + "final_grasp": { + "position": [ + -0.11261825263500214, + -0.03121446818113327, + 0.08637979626655579 + ], + "orientation": [ + 0.4355557858943939, + -0.13028423488140106, + 0.8814407587051392, + 0.12798157334327698 + ], + "joints": [ + 0.001922599971294403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11519152671098709, + -0.030348727479577065, + -0.07132481038570404 + ], + "orientation": [ + 0.13295264542102814, + -0.44794753193855286, + -0.12805812060832977, + -0.8747957944869995 + ], + "joints": [ + 0.022886047139763832 + ] + }, + "fine_grasp": { + "position": [ + -0.1123601496219635, + -0.029089033603668213, + -0.06924137473106384 + ], + "orientation": [ + 0.13383087515830994, + -0.4480489194393158, + -0.12665654718875885, + -0.874813973903656 + ], + "joints": [ + 0.013649234548211098 + ] + }, + "final_grasp": { + "position": [ + -0.1123601496219635, + -0.029089033603668213, + -0.06924137473106384 + ], + "orientation": [ + 0.13383087515830994, + -0.4480489194393158, + -0.12665654718875885, + -0.874813973903656 + ], + "joints": [ + 0.004412421956658363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11102070659399033, + 0.008317816071212292, + 0.06318331509828568 + ], + "orientation": [ + 0.008322304114699364, + -0.8810896277427673, + 0.04549494758248329, + 0.4706825315952301 + ], + "joints": [ + 0.024707606062293053 + ] + }, + "fine_grasp": { + "position": [ + 0.10844332724809647, + 0.008834335021674633, + 0.06194973737001419 + ], + "orientation": [ + 0.007506408262997866, + -0.8760541081428528, + 0.04242904856801033, + 0.4802838861942291 + ], + "joints": [ + 0.01469757966697216 + ] + }, + "final_grasp": { + "position": [ + 0.10844332724809647, + 0.008834335021674633, + 0.06194973737001419 + ], + "orientation": [ + 0.007506408262997866, + -0.8760541081428528, + 0.04242904856801033, + 0.4802838861942291 + ], + "joints": [ + 0.004687553271651268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01014868076890707, + 0.012251521460711956, + -0.12991854548454285 + ], + "orientation": [ + 0.052931975573301315, + -0.027293942868709564, + -0.011542899534106255, + -0.9981582760810852 + ], + "joints": [ + 0.02505938522517681 + ] + }, + "fine_grasp": { + "position": [ + -0.010457787662744522, + 0.012380018830299377, + -0.1267305612564087 + ], + "orientation": [ + 0.055712372064590454, + -0.021804075688123703, + -0.010889929719269276, + -0.9981493353843689 + ], + "joints": [ + 0.01507025770843029 + ] + }, + "final_grasp": { + "position": [ + -0.010457787662744522, + 0.012380018830299377, + -0.1267305612564087 + ], + "orientation": [ + 0.055712372064590454, + -0.021804075688123703, + -0.010889929719269276, + -0.9981493353843689 + ], + "joints": [ + 0.005081130191683769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044777169823646545, + 0.021083561703562737, + -0.1349066197872162 + ], + "orientation": [ + 0.03699592873454094, + -0.2714765667915344, + -0.03744739666581154, + 0.961004376411438 + ], + "joints": [ + 0.020134223625063896 + ] + }, + "fine_grasp": { + "position": [ + 0.044793859124183655, + 0.02065960317850113, + -0.131124809384346 + ], + "orientation": [ + 0.03772098571062088, + -0.2611815333366394, + -0.038660235702991486, + 0.9637773633003235 + ], + "joints": [ + 0.011754220351576805 + ] + }, + "final_grasp": { + "position": [ + 0.044793859124183655, + 0.02065960317850113, + -0.131124809384346 + ], + "orientation": [ + 0.03772098571062088, + -0.2611815333366394, + -0.038660235702991486, + 0.9637773633003235 + ], + "joints": [ + 0.003374217078089714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04205656051635742, + -0.022305265069007874, + -0.1397157609462738 + ], + "orientation": [ + 0.16957683861255646, + 0.16350200772285461, + -0.16626906394958496, + -0.9575308561325073 + ], + "joints": [ + 0.02232454903423786 + ] + }, + "fine_grasp": { + "position": [ + 0.04129292815923691, + -0.02104465663433075, + -0.13623856008052826 + ], + "orientation": [ + 0.1693272739648819, + 0.16070754826068878, + -0.16720059514045715, + -0.9578858017921448 + ], + "joints": [ + 0.013087736442685127 + ] + }, + "final_grasp": { + "position": [ + 0.04129292815923691, + -0.02104465663433075, + -0.13623856008052826 + ], + "orientation": [ + 0.1693272739648819, + 0.16070754826068878, + -0.16720059514045715, + -0.9578858017921448 + ], + "joints": [ + 0.003850923851132393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1086864322423935, + -0.02898731268942356, + -0.079833023250103 + ], + "orientation": [ + 0.8601260781288147, + -0.14247483015060425, + -0.47944629192352295, + -0.10007566213607788 + ], + "joints": [ + 0.02398482710123062 + ] + }, + "fine_grasp": { + "position": [ + 0.10579215735197067, + -0.027752485126256943, + -0.07785340398550034 + ], + "orientation": [ + 0.860034704208374, + -0.141100212931633, + -0.47975093126296997, + -0.10134175419807434 + ], + "joints": [ + 0.014748014509677887 + ] + }, + "final_grasp": { + "position": [ + 0.10579215735197067, + -0.027752485126256943, + -0.07785340398550034 + ], + "orientation": [ + 0.860034704208374, + -0.141100212931633, + -0.47975093126296997, + -0.10134175419807434 + ], + "joints": [ + 0.005511201918125153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11529621481895447, + -0.03230208158493042, + 0.08793354779481888 + ], + "orientation": [ + 0.43194952607154846, + -0.13689178228378296, + 0.8823956251144409, + 0.12672051787376404 + ], + "joints": [ + 0.020836178213357925 + ] + }, + "fine_grasp": { + "position": [ + -0.11230473965406418, + -0.031019972637295723, + 0.08599898964166641 + ], + "orientation": [ + 0.43750298023223877, + -0.13579346239566803, + 0.8800408244132996, + 0.125217005610466 + ], + "joints": [ + 0.011181410402059555 + ] + }, + "final_grasp": { + "position": [ + -0.11230473965406418, + -0.031019972637295723, + 0.08599898964166641 + ], + "orientation": [ + 0.43750298023223877, + -0.13579346239566803, + 0.8800408244132996, + 0.125217005610466 + ], + "joints": [ + 0.0015266425907611847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06528294086456299, + -0.004018599633127451, + 0.12235146760940552 + ], + "orientation": [ + 0.03524140641093254, + -0.9689946174621582, + -0.16162481904029846, + -0.18353447318077087 + ], + "joints": [ + 0.0220536757260561 + ] + }, + "fine_grasp": { + "position": [ + -0.06332243978977203, + -0.0030644142534583807, + 0.11930731683969498 + ], + "orientation": [ + 0.03677678480744362, + -0.9653527140617371, + -0.16465899348258972, + -0.19907067716121674 + ], + "joints": [ + 0.014091627672314644 + ] + }, + "final_grasp": { + "position": [ + -0.06332243978977203, + -0.0030644142534583807, + 0.11930731683969498 + ], + "orientation": [ + 0.03677678480744362, + -0.9653527140617371, + -0.16465899348258972, + -0.19907067716121674 + ], + "joints": [ + 0.006129579618573189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0761912614107132, + -0.009870755486190319, + -0.1178700253367424 + ], + "orientation": [ + 0.01609187386929989, + 0.3024955689907074, + 0.10922888666391373, + 0.9467346668243408 + ], + "joints": [ + 0.024164283648133278 + ] + }, + "fine_grasp": { + "position": [ + -0.074021115899086, + -0.009077741764485836, + -0.11469698697328568 + ], + "orientation": [ + 0.01589915156364441, + 0.302852600812912, + 0.108786441385746, + 0.9466747641563416 + ], + "joints": [ + 0.014948369935154915 + ] + }, + "final_grasp": { + "position": [ + -0.074021115899086, + -0.009077741764485836, + -0.11469698697328568 + ], + "orientation": [ + 0.01589915156364441, + 0.302852600812912, + 0.108786441385746, + 0.9466747641563416 + ], + "joints": [ + 0.005732456222176552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11124566942453384, + 0.016552088782191277, + -0.10101515799760818 + ], + "orientation": [ + 0.6432235836982727, + 0.2719461917877197, + 0.30555909872055054, + 0.6472575068473816 + ], + "joints": [ + 0.03409694507718086 + ] + }, + "fine_grasp": { + "position": [ + -0.10876870900392532, + 0.015340118668973446, + -0.09869417548179626 + ], + "orientation": [ + 0.6457850337028503, + 0.2779269218444824, + 0.3001214265823364, + 0.6447057127952576 + ], + "joints": [ + 0.027263369411230087 + ] + }, + "final_grasp": { + "position": [ + -0.10876870900392532, + 0.015340118668973446, + -0.09869417548179626 + ], + "orientation": [ + 0.6457850337028503, + 0.2779269218444824, + 0.3001214265823364, + 0.6447057127952576 + ], + "joints": [ + 0.020429793745279312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10950683802366257, + 0.014311200939118862, + -0.08163419365882874 + ], + "orientation": [ + 0.87337726354599, + -0.047873519361019135, + 0.47845175862312317, + -0.07748567312955856 + ], + "joints": [ + 0.024630533531308174 + ] + }, + "fine_grasp": { + "position": [ + -0.10645023733377457, + 0.014474074356257915, + -0.07922745496034622 + ], + "orientation": [ + 0.875212550163269, + -0.04864501953125, + 0.4745933413505554, + -0.07998569309711456 + ], + "joints": [ + 0.01585347391664982 + ] + }, + "final_grasp": { + "position": [ + -0.10645023733377457, + 0.014474074356257915, + -0.07922745496034622 + ], + "orientation": [ + 0.875212550163269, + -0.04864501953125, + 0.4745933413505554, + -0.07998569309711456 + ], + "joints": [ + 0.007076414301991463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006886612623929977, + -0.08569151908159256, + -0.08508747071027756 + ], + "orientation": [ + 0.8546402454376221, + -0.42762869596481323, + 0.18502512574195862, + 0.22910574078559875 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.006359815131872892, + -0.08365663886070251, + -0.08212674409151077 + ], + "orientation": [ + 0.8550025820732117, + -0.4251502454280853, + 0.17635005712509155, + 0.23899485170841217 + ], + "joints": [ + 0.025624383240938187 + ] + }, + "final_grasp": { + "position": [ + 0.006359815131872892, + -0.08365663886070251, + -0.08212674409151077 + ], + "orientation": [ + 0.8550025820732117, + -0.4251502454280853, + 0.17635005712509155, + 0.23899485170841217 + ], + "joints": [ + 0.01810118928551674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10706768929958344, + -0.02247924543917179, + -0.1032773032784462 + ], + "orientation": [ + 0.9058309197425842, + -0.15926127135753632, + -0.39181727170944214, + 0.024194927886128426 + ], + "joints": [ + 0.021078700199723244 + ] + }, + "fine_grasp": { + "position": [ + 0.10434336215257645, + -0.021454287692904472, + -0.10086092352867126 + ], + "orientation": [ + 0.9056888818740845, + -0.15888720750808716, + -0.3922365605831146, + 0.025158066302537918 + ], + "joints": [ + 0.01184188760817051 + ] + }, + "final_grasp": { + "position": [ + 0.10434336215257645, + -0.021454287692904472, + -0.10086092352867126 + ], + "orientation": [ + 0.9056888818740845, + -0.15888720750808716, + -0.3922365605831146, + 0.025158066302537918 + ], + "joints": [ + 0.002605075016617775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10332988202571869, + 0.0025199376977980137, + 0.09684433043003082 + ], + "orientation": [ + 0.457168847322464, + 0.16254229843616486, + -0.8653355240821838, + -0.12558293342590332 + ], + "joints": [ + 0.022344956174492836 + ] + }, + "fine_grasp": { + "position": [ + 0.10052197426557541, + 0.0031554263550788164, + 0.09435314685106277 + ], + "orientation": [ + 0.4419489800930023, + 0.16654890775680542, + -0.8724460005760193, + -0.12562082707881927 + ], + "joints": [ + 0.013985851779580116 + ] + }, + "final_grasp": { + "position": [ + 0.10052197426557541, + 0.0031554263550788164, + 0.09435314685106277 + ], + "orientation": [ + 0.4419489800930023, + 0.16654890775680542, + -0.8724460005760193, + -0.12562082707881927 + ], + "joints": [ + 0.0056267473846673965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016837602481245995, + -0.022064555436372757, + -0.13510771095752716 + ], + "orientation": [ + 0.0293668694794178, + -0.06677284836769104, + 0.1480809599161148, + 0.9862813949584961 + ], + "joints": [ + 0.0247397068887949 + ] + }, + "fine_grasp": { + "position": [ + 0.016276642680168152, + -0.02091602236032486, + -0.13150808215141296 + ], + "orientation": [ + 0.029261188581585884, + -0.06728820502758026, + 0.14624691009521484, + 0.9865230917930603 + ], + "joints": [ + 0.015523793175816536 + ] + }, + "final_grasp": { + "position": [ + 0.016276642680168152, + -0.02091602236032486, + -0.13150808215141296 + ], + "orientation": [ + 0.029261188581585884, + -0.06728820502758026, + 0.14624691009521484, + 0.9865230917930603 + ], + "joints": [ + 0.006307879462838173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11158931255340576, + 0.01626463793218136, + -0.10117096453905106 + ], + "orientation": [ + 0.6421302556991577, + 0.273873895406723, + 0.3034290075302124, + 0.6485311388969421 + ], + "joints": [ + 0.03432849794626236 + ] + }, + "fine_grasp": { + "position": [ + -0.109047070145607, + 0.01510462537407875, + -0.09881230443716049 + ], + "orientation": [ + 0.6445057988166809, + 0.2795710265636444, + 0.29823291301727295, + 0.646149754524231 + ], + "joints": [ + 0.027494922280311584 + ] + }, + "final_grasp": { + "position": [ + -0.109047070145607, + 0.01510462537407875, + -0.09881230443716049 + ], + "orientation": [ + 0.6445057988166809, + 0.2795710265636444, + 0.29823291301727295, + 0.646149754524231 + ], + "joints": [ + 0.02066134661436081 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10727734863758087, + -0.03270004317164421, + 0.07906298339366913 + ], + "orientation": [ + 0.1691552698612213, + -0.8647133708000183, + -0.08294200152158737, + -0.46559402346611023 + ], + "joints": [ + 0.024110721424221992 + ] + }, + "fine_grasp": { + "position": [ + -0.10437823086977005, + -0.03134216368198395, + 0.07714643329381943 + ], + "orientation": [ + 0.16735360026359558, + -0.8651209473609924, + -0.08259403705596924, + -0.4655499756336212 + ], + "joints": [ + 0.01489480771124363 + ] + }, + "final_grasp": { + "position": [ + -0.10437823086977005, + -0.03134216368198395, + 0.07714643329381943 + ], + "orientation": [ + 0.16735360026359558, + -0.8651209473609924, + -0.08259403705596924, + -0.4655499756336212 + ], + "joints": [ + 0.005678893998265266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06342136859893799, + -0.003085441654548049, + 0.1227426752448082 + ], + "orientation": [ + 0.04480234161019325, + -0.969203770160675, + -0.12458644062280655, + -0.20764195919036865 + ], + "joints": [ + 0.023861024528741837 + ] + }, + "fine_grasp": { + "position": [ + -0.0618385411798954, + -0.0022462927736341953, + 0.11929871141910553 + ], + "orientation": [ + 0.04249337315559387, + -0.9682257175445557, + -0.12890340387821198, + -0.21004119515419006 + ], + "joints": [ + 0.014666009694337845 + ] + }, + "final_grasp": { + "position": [ + -0.0618385411798954, + -0.0022462927736341953, + 0.11929871141910553 + ], + "orientation": [ + 0.04249337315559387, + -0.9682257175445557, + -0.12890340387821198, + -0.21004119515419006 + ], + "joints": [ + 0.005470994859933853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019565289840102196, + -0.0864362120628357, + -0.09069738537073135 + ], + "orientation": [ + 0.3159768581390381, + -0.13795457780361176, + 0.4227065443992615, + 0.838120698928833 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.01892879791557789, + -0.08397720754146576, + -0.08751774579286575 + ], + "orientation": [ + 0.3198411464691162, + -0.13392043113708496, + 0.4186813533306122, + 0.8393288254737854 + ], + "joints": [ + 0.027455907315015793 + ] + }, + "final_grasp": { + "position": [ + -0.01892879791557789, + -0.08397720754146576, + -0.08751774579286575 + ], + "orientation": [ + 0.3198411464691162, + -0.13392043113708496, + 0.4186813533306122, + 0.8393288254737854 + ], + "joints": [ + 0.019911814481019974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019376862794160843, + -0.08612060546875, + -0.09074503928422928 + ], + "orientation": [ + 0.313898503780365, + -0.1387343555688858, + 0.4219798743724823, + 0.8391385674476624 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.01872277446091175, + -0.08373632282018661, + -0.08751770108938217 + ], + "orientation": [ + 0.3180340528488159, + -0.1345665007829666, + 0.4176444113254547, + 0.8404279947280884 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + -0.01872277446091175, + -0.08373632282018661, + -0.08751770108938217 + ], + "orientation": [ + 0.3180340528488159, + -0.1345665007829666, + 0.4176444113254547, + 0.8404279947280884 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10693346709012985, + -0.032435230910778046, + 0.07873086631298065 + ], + "orientation": [ + 0.16757537424564362, + -0.8658011555671692, + -0.08489631861448288, + -0.4637881815433502 + ], + "joints": [ + 0.024335168302059174 + ] + }, + "fine_grasp": { + "position": [ + -0.10401464253664017, + -0.031065920367836952, + 0.07683472335338593 + ], + "orientation": [ + 0.16528570652008057, + -0.865949809551239, + -0.08408825844526291, + -0.46447911858558655 + ], + "joints": [ + 0.014701299369335175 + ] + }, + "final_grasp": { + "position": [ + -0.10401464253664017, + -0.031065920367836952, + 0.07683472335338593 + ], + "orientation": [ + 0.16528570652008057, + -0.865949809551239, + -0.08408825844526291, + -0.46447911858558655 + ], + "joints": [ + 0.0050674304366111755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10693073272705078, + -0.022389577701687813, + -0.10344363749027252 + ], + "orientation": [ + 0.9049760103225708, + -0.15976697206497192, + -0.3934919536113739, + 0.025631947442889214 + ], + "joints": [ + 0.020930025726556778 + ] + }, + "fine_grasp": { + "position": [ + 0.10425767302513123, + -0.021382484585046768, + -0.10087177157402039 + ], + "orientation": [ + 0.905449628829956, + -0.15887750685214996, + -0.39270517230033875, + 0.026487909257411957 + ], + "joints": [ + 0.011714112013578415 + ] + }, + "final_grasp": { + "position": [ + 0.10425767302513123, + -0.021382484585046768, + -0.10087177157402039 + ], + "orientation": [ + 0.905449628829956, + -0.15887750685214996, + -0.39270517230033875, + 0.026487909257411957 + ], + "joints": [ + 0.002498198300600052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1135602593421936, + -0.030220678076148033, + -0.07298799604177475 + ], + "orientation": [ + 0.13118068873882294, + -0.46118003129959106, + -0.129457026720047, + -0.8679547905921936 + ], + "joints": [ + 0.023326000198721886 + ] + }, + "fine_grasp": { + "position": [ + -0.11027549207210541, + -0.028930237516760826, + -0.07141368091106415 + ], + "orientation": [ + 0.1309434324502945, + -0.4659568667411804, + -0.12904572486877441, + -0.8654970526695251 + ], + "joints": [ + 0.014507142826914787 + ] + }, + "final_grasp": { + "position": [ + -0.11027549207210541, + -0.028930237516760826, + -0.07141368091106415 + ], + "orientation": [ + 0.1309434324502945, + -0.4659568667411804, + -0.12904572486877441, + -0.8654970526695251 + ], + "joints": [ + 0.005688285455107689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14476509392261505, + -0.005911332089453936, + 0.049188245087862015 + ], + "orientation": [ + 0.06743974983692169, + -0.8507168292999268, + 0.023433417081832886, + 0.5207527279853821 + ], + "joints": [ + 0.018981296569108963 + ] + }, + "fine_grasp": { + "position": [ + 0.1411544680595398, + -0.005347185768187046, + 0.048015207052230835 + ], + "orientation": [ + 0.06725852936506271, + -0.8475407958030701, + 0.021854620426893234, + 0.5259974598884583 + ], + "joints": [ + 0.009744483977556229 + ] + }, + "final_grasp": { + "position": [ + 0.1411544680595398, + -0.005347185768187046, + 0.048015207052230835 + ], + "orientation": [ + 0.06725852936506271, + -0.8475407958030701, + 0.021854620426893234, + 0.5259974598884583 + ], + "joints": [ + 0.0005076713860034943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05373649299144745, + 0.04743635654449463, + 0.14335520565509796 + ], + "orientation": [ + 0.13330040872097015, + 0.9803739786148071, + 0.014745663851499557, + 0.14450043439865112 + ], + "joints": [ + 0.02161494642496109 + ] + }, + "fine_grasp": { + "position": [ + -0.05248365178704262, + 0.04649602621793747, + 0.13985110819339752 + ], + "orientation": [ + 0.1320003718137741, + 0.9789613485336304, + 0.012516514398157597, + 0.15509352087974548 + ], + "joints": [ + 0.012796089053153992 + ] + }, + "final_grasp": { + "position": [ + -0.05248365178704262, + 0.04649602621793747, + 0.13985110819339752 + ], + "orientation": [ + 0.1320003718137741, + 0.9789613485336304, + 0.012516514398157597, + 0.15509352087974548 + ], + "joints": [ + 0.003977231681346893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025173302739858627, + 0.002983332145959139, + -0.13631296157836914 + ], + "orientation": [ + 0.04328198730945587, + -0.0960356742143631, + -0.04686381667852402, + -0.9933316111564636 + ], + "joints": [ + 0.024534594267606735 + ] + }, + "fine_grasp": { + "position": [ + -0.02426828444004059, + 0.003355917986482382, + -0.13255766034126282 + ], + "orientation": [ + 0.04339131340384483, + -0.09702310711145401, + -0.04580366611480713, + -0.9932803511619568 + ], + "joints": [ + 0.014921624213457108 + ] + }, + "final_grasp": { + "position": [ + -0.02426828444004059, + 0.003355917986482382, + -0.13255766034126282 + ], + "orientation": [ + 0.04339131340384483, + -0.09702310711145401, + -0.04580366611480713, + -0.9932803511619568 + ], + "joints": [ + 0.00530865415930748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15774719417095184, + 0.01750296913087368, + -0.018273301422595978 + ], + "orientation": [ + 0.01509484089910984, + -0.6715455651283264, + -0.038289766758680344, + 0.7398192286491394 + ], + "joints": [ + 0.019516319036483765 + ] + }, + "fine_grasp": { + "position": [ + 0.15403878688812256, + 0.017354311421513557, + -0.017555775120854378 + ], + "orientation": [ + 0.015458895824849606, + -0.6694132089614868, + -0.03787215054035187, + 0.7417632341384888 + ], + "joints": [ + 0.010676562786102295 + ] + }, + "final_grasp": { + "position": [ + 0.15403878688812256, + 0.017354311421513557, + -0.017555775120854378 + ], + "orientation": [ + 0.015458895824849606, + -0.6694132089614868, + -0.03787215054035187, + 0.7417632341384888 + ], + "joints": [ + 0.0018368065357208252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05274919420480728, + 0.014952372759580612, + 0.12075614184141159 + ], + "orientation": [ + 0.00019936839817091823, + 0.9736083149909973, + 0.010845532640814781, + 0.22796736657619476 + ], + "joints": [ + 0.024628037586808205 + ] + }, + "fine_grasp": { + "position": [ + -0.05122753977775574, + 0.014979136176407337, + 0.11763783544301987 + ], + "orientation": [ + 0.0028820193838328123, + 0.9741247296333313, + 0.014147941954433918, + 0.22554950416088104 + ], + "joints": [ + 0.01505686528980732 + ] + }, + "final_grasp": { + "position": [ + -0.05122753977775574, + 0.014979136176407337, + 0.11763783544301987 + ], + "orientation": [ + 0.0028820193838328123, + 0.9741247296333313, + 0.014147941954433918, + 0.22554950416088104 + ], + "joints": [ + 0.005485692992806435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09483734518289566, + 0.009048804640769958, + -0.09234142303466797 + ], + "orientation": [ + 0.13531486690044403, + 0.43249979615211487, + 0.08968519419431686, + 0.8868994116783142 + ], + "joints": [ + 0.024561582133173943 + ] + }, + "fine_grasp": { + "position": [ + -0.09313923865556717, + 0.00928665790706873, + -0.08974938839673996 + ], + "orientation": [ + 0.13743047416210175, + 0.4268586337566376, + 0.09301555156707764, + 0.8889615535736084 + ], + "joints": [ + 0.015387466177344322 + ] + }, + "final_grasp": { + "position": [ + -0.09313923865556717, + 0.00928665790706873, + -0.08974938839673996 + ], + "orientation": [ + 0.13743047416210175, + 0.4268586337566376, + 0.09301555156707764, + 0.8889615535736084 + ], + "joints": [ + 0.006213350221514702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010187572799623013, + 0.030341019853949547, + -0.15047602355480194 + ], + "orientation": [ + 0.9975707530975342, + 0.0637316033244133, + -0.012233310379087925, + 0.02532046288251877 + ], + "joints": [ + 0.0229635089635849 + ] + }, + "fine_grasp": { + "position": [ + -0.009616122581064701, + 0.03017895482480526, + -0.14669984579086304 + ], + "orientation": [ + 0.9976826310157776, + 0.06214045733213425, + -0.009404479525983334, + 0.026067335158586502 + ], + "joints": [ + 0.013726696372032166 + ] + }, + "final_grasp": { + "position": [ + -0.009616122581064701, + 0.03017895482480526, + -0.14669984579086304 + ], + "orientation": [ + 0.9976826310157776, + 0.06214045733213425, + -0.009404479525983334, + 0.026067335158586502 + ], + "joints": [ + 0.004489883780479431 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08620436489582062, + 0.015212245285511017, + -0.10819581151008606 + ], + "orientation": [ + 0.040872327983379364, + 0.31295228004455566, + 0.013932948000729084, + 0.948786735534668 + ], + "joints": [ + 0.024087654426693916 + ] + }, + "fine_grasp": { + "position": [ + -0.08379992842674255, + 0.015249918214976788, + -0.10610143095254898 + ], + "orientation": [ + 0.03913521766662598, + 0.3182530999183655, + 0.013380659744143486, + 0.9471030831336975 + ], + "joints": [ + 0.014432886615395546 + ] + }, + "final_grasp": { + "position": [ + -0.08379992842674255, + 0.015249918214976788, + -0.10610143095254898 + ], + "orientation": [ + 0.03913521766662598, + 0.3182530999183655, + 0.013380659744143486, + 0.9471030831336975 + ], + "joints": [ + 0.004778118804097176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13793057203292847, + 0.012592698447406292, + -0.01984514109790325 + ], + "orientation": [ + 0.02198554389178753, + 0.6507124900817871, + -0.033646903932094574, + -0.7582597136497498 + ], + "joints": [ + 0.02416752465069294 + ] + }, + "fine_grasp": { + "position": [ + 0.13410356640815735, + 0.012705504894256592, + -0.01904497854411602 + ], + "orientation": [ + 0.02234659343957901, + 0.6490598320960999, + -0.03468038886785507, + -0.7596178650856018 + ], + "joints": [ + 0.014972509816288948 + ] + }, + "final_grasp": { + "position": [ + 0.13410356640815735, + 0.012705504894256592, + -0.01904497854411602 + ], + "orientation": [ + 0.02234659343957901, + 0.6490598320960999, + -0.03468038886785507, + -0.7596178650856018 + ], + "joints": [ + 0.005777494981884956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11419841647148132, + -0.02894226275384426, + -0.09006638824939728 + ], + "orientation": [ + 0.03919889032840729, + 0.45001840591430664, + 0.20068562030792236, + 0.8692940473556519 + ], + "joints": [ + 0.020898357033729553 + ] + }, + "fine_grasp": { + "position": [ + -0.11157402396202087, + -0.027597930282354355, + -0.0877135694026947 + ], + "orientation": [ + 0.037747472524642944, + 0.4463481903076172, + 0.20048964023590088, + 0.8712934851646423 + ], + "joints": [ + 0.012455657124519348 + ] + }, + "final_grasp": { + "position": [ + -0.11157402396202087, + -0.027597930282354355, + -0.0877135694026947 + ], + "orientation": [ + 0.037747472524642944, + 0.4463481903076172, + 0.20048964023590088, + 0.8712934851646423 + ], + "joints": [ + 0.004012957215309143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11432790011167526, + -0.028885236009955406, + -0.09003990888595581 + ], + "orientation": [ + 0.03883351758122444, + 0.4493127167224884, + 0.20024843513965607, + 0.8697760701179504 + ], + "joints": [ + 0.020898357033729553 + ] + }, + "fine_grasp": { + "position": [ + -0.1116677075624466, + -0.027578141540288925, + -0.0876975804567337 + ], + "orientation": [ + 0.03749155253171921, + 0.4457935094833374, + 0.1999412328004837, + 0.8717144131660461 + ], + "joints": [ + 0.012058600783348083 + ] + }, + "final_grasp": { + "position": [ + -0.1116677075624466, + -0.027578141540288925, + -0.0876975804567337 + ], + "orientation": [ + 0.03749155253171921, + 0.4457935094833374, + 0.1999412328004837, + 0.8717144131660461 + ], + "joints": [ + 0.0032188445329666138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1115252673625946, + 0.016120905056595802, + -0.10099803656339645 + ], + "orientation": [ + 0.6415616869926453, + 0.2733968496322632, + 0.30424994230270386, + 0.6489103436470032 + ], + "joints": [ + 0.03456005081534386 + ] + }, + "fine_grasp": { + "position": [ + -0.10898681730031967, + 0.014920092187821865, + -0.09864138066768646 + ], + "orientation": [ + 0.644019365310669, + 0.2793422341346741, + 0.29890176653862, + 0.6464245915412903 + ], + "joints": [ + 0.027329418808221817 + ] + }, + "final_grasp": { + "position": [ + -0.10898681730031967, + 0.014920092187821865, + -0.09864138066768646 + ], + "orientation": [ + 0.644019365310669, + 0.2793422341346741, + 0.29890176653862, + 0.6464245915412903 + ], + "joints": [ + 0.020098786801099777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06509378552436829, + 0.008440575562417507, + 0.12847474217414856 + ], + "orientation": [ + 0.017700694501399994, + -0.966090738773346, + 0.03800079971551895, + 0.25477680563926697 + ], + "joints": [ + 0.024091316387057304 + ] + }, + "fine_grasp": { + "position": [ + 0.06310512870550156, + 0.00904376246035099, + 0.12502700090408325 + ], + "orientation": [ + 0.017359033226966858, + -0.9640362858772278, + 0.040285076946020126, + 0.26212549209594727 + ], + "joints": [ + 0.014896301552653313 + ] + }, + "final_grasp": { + "position": [ + 0.06310512870550156, + 0.00904376246035099, + 0.12502700090408325 + ], + "orientation": [ + 0.017359033226966858, + -0.9640362858772278, + 0.040285076946020126, + 0.26212549209594727 + ], + "joints": [ + 0.005701286718249321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05988798663020134, + -0.025201108306646347, + -0.12969350814819336 + ], + "orientation": [ + 0.1433701068162918, + 0.22831326723098755, + -0.18930551409721375, + -0.9441829323768616 + ], + "joints": [ + 0.02334793470799923 + ] + }, + "fine_grasp": { + "position": [ + 0.05883796140551567, + -0.02388591505587101, + -0.12606601417064667 + ], + "orientation": [ + 0.1434662640094757, + 0.22306804358959198, + -0.1894940286874771, + -0.9453835487365723 + ], + "joints": [ + 0.014132020995020866 + ] + }, + "final_grasp": { + "position": [ + 0.05883796140551567, + -0.02388591505587101, + -0.12606601417064667 + ], + "orientation": [ + 0.1434662640094757, + 0.22306804358959198, + -0.1894940286874771, + -0.9453835487365723 + ], + "joints": [ + 0.004916107282042503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032879237085580826, + 0.005601680837571621, + 0.1414439082145691 + ], + "orientation": [ + 0.07099474966526031, + -0.13569267094135284, + 0.9880298972129822, + 0.018558375537395477 + ], + "joints": [ + 0.022285228595137596 + ] + }, + "fine_grasp": { + "position": [ + -0.031432509422302246, + 0.006295028142631054, + 0.137832909822464 + ], + "orientation": [ + 0.0940699577331543, + -0.13880495727062225, + 0.9856393337249756, + 0.01998015120625496 + ], + "joints": [ + 0.014323180541396141 + ] + }, + "final_grasp": { + "position": [ + -0.031432509422302246, + 0.006295028142631054, + 0.137832909822464 + ], + "orientation": [ + 0.0940699577331543, + -0.13880495727062225, + 0.9856393337249756, + 0.01998015120625496 + ], + "joints": [ + 0.006361132487654686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13901041448116302, + 0.013171520084142685, + -0.02000102959573269 + ], + "orientation": [ + 0.025010088458657265, + 0.6482738256454468, + -0.03343069553375244, + -0.7602616548538208 + ], + "joints": [ + 0.024271270260214806 + ] + }, + "fine_grasp": { + "position": [ + 0.13513420522212982, + 0.013278092257678509, + -0.019286656752228737 + ], + "orientation": [ + 0.02494918368756771, + 0.6472725868225098, + -0.03449234366416931, + -0.7610689401626587 + ], + "joints": [ + 0.015076255425810814 + ] + }, + "final_grasp": { + "position": [ + 0.13513420522212982, + 0.013278092257678509, + -0.019286656752228737 + ], + "orientation": [ + 0.02494918368756771, + 0.6472725868225098, + -0.03449234366416931, + -0.7610689401626587 + ], + "joints": [ + 0.005881240591406822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12466351687908173, + 0.022767692804336548, + -0.09325210750102997 + ], + "orientation": [ + 0.033863142132759094, + -0.42505425214767456, + 0.05476881191134453, + -0.9028745293617249 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + -0.12133229523897171, + 0.022598693147301674, + -0.09143073856830597 + ], + "orientation": [ + 0.03462400287389755, + -0.4289188086986542, + 0.05397064611315727, + -0.901064395904541 + ], + "joints": [ + 0.011713521555066109 + ] + }, + "final_grasp": { + "position": [ + -0.12133229523897171, + 0.022598693147301674, + -0.09143073856830597 + ], + "orientation": [ + 0.03462400287389755, + -0.4289188086986542, + 0.05397064611315727, + -0.901064395904541 + ], + "joints": [ + 0.0028528664261102676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10150361806154251, + -0.030900809913873672, + -0.08944343775510788 + ], + "orientation": [ + 0.15615154802799225, + -0.39037445187568665, + 0.12514358758926392, + 0.8986454606056213 + ], + "joints": [ + 0.02317713014781475 + ] + }, + "fine_grasp": { + "position": [ + 0.09855718910694122, + -0.029507072642445564, + -0.08765126764774323 + ], + "orientation": [ + 0.15513823926448822, + -0.395114541053772, + 0.12493524700403214, + 0.8967763781547546 + ], + "joints": [ + 0.014358272776007652 + ] + }, + "final_grasp": { + "position": [ + 0.09855718910694122, + -0.029507072642445564, + -0.08765126764774323 + ], + "orientation": [ + 0.15513823926448822, + -0.395114541053772, + 0.12493524700403214, + 0.8967763781547546 + ], + "joints": [ + 0.005539415404200554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11054100841283798, + 0.010107639245688915, + 0.08585106581449509 + ], + "orientation": [ + 0.4328007102012634, + -0.07946044951677322, + 0.8978230357170105, + -0.016838569194078445 + ], + "joints": [ + 0.023833297193050385 + ] + }, + "fine_grasp": { + "position": [ + -0.10747508704662323, + 0.010846400633454323, + 0.08359771966934204 + ], + "orientation": [ + 0.4360696077346802, + -0.08416633307933807, + 0.8957408666610718, + -0.020191792398691177 + ], + "joints": [ + 0.014659181237220764 + ] + }, + "final_grasp": { + "position": [ + -0.10747508704662323, + 0.010846400633454323, + 0.08359771966934204 + ], + "orientation": [ + 0.4360696077346802, + -0.08416633307933807, + 0.8957408666610718, + -0.020191792398691177 + ], + "joints": [ + 0.005485065281391144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10900476574897766, + 0.011542447842657566, + 0.08691024035215378 + ], + "orientation": [ + 0.4313613474369049, + -0.05624925345182419, + 0.9003701210021973, + -0.009848685003817081 + ], + "joints": [ + 0.02429189160466194 + ] + }, + "fine_grasp": { + "position": [ + -0.10563261806964874, + 0.011804101057350636, + 0.08532042801380157 + ], + "orientation": [ + 0.44313499331474304, + -0.05510621890425682, + 0.8946603536605835, + -0.013330533169209957 + ], + "joints": [ + 0.01430276408791542 + ] + }, + "final_grasp": { + "position": [ + -0.10563261806964874, + 0.011804101057350636, + 0.08532042801380157 + ], + "orientation": [ + 0.44313499331474304, + -0.05510621890425682, + 0.8946603536605835, + -0.013330533169209957 + ], + "joints": [ + 0.0043136365711688995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1258772760629654, + -0.022715426981449127, + -0.020992768928408623 + ], + "orientation": [ + 0.7971263527870178, + -0.08259382098913193, + 0.5824728608131409, + 0.13599002361297607 + ], + "joints": [ + 0.023655952885746956 + ] + }, + "fine_grasp": { + "position": [ + -0.12270749360322952, + -0.0221407487988472, + -0.020977595821022987 + ], + "orientation": [ + 0.7927455306053162, + -0.08461247384548187, + 0.5884897708892822, + 0.134443461894989 + ], + "joints": [ + 0.014440039172768593 + ] + }, + "final_grasp": { + "position": [ + -0.12270749360322952, + -0.0221407487988472, + -0.020977595821022987 + ], + "orientation": [ + 0.7927455306053162, + -0.08461247384548187, + 0.5884897708892822, + 0.134443461894989 + ], + "joints": [ + 0.00522412545979023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14312751591205597, + 0.04467780888080597, + -0.023438934236764908 + ], + "orientation": [ + 0.7360484600067139, + 0.10837234556674957, + -0.6663594245910645, + 0.049530692398548126 + ], + "joints": [ + 0.023677004501223564 + ] + }, + "fine_grasp": { + "position": [ + 0.13953863084316254, + 0.04396951198577881, + -0.022421134635806084 + ], + "orientation": [ + 0.7392330765724182, + 0.1053825244307518, + -0.6632893085479736, + 0.04976237565279007 + ], + "joints": [ + 0.01444019190967083 + ] + }, + "final_grasp": { + "position": [ + 0.13953863084316254, + 0.04396951198577881, + -0.022421134635806084 + ], + "orientation": [ + 0.7392330765724182, + 0.1053825244307518, + -0.6632893085479736, + 0.04976237565279007 + ], + "joints": [ + 0.005203379318118095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1258411705493927, + 0.04478728026151657, + -0.051084842532873154 + ], + "orientation": [ + 0.8598012924194336, + 0.07367520779371262, + 0.49285003542900085, + -0.11141172051429749 + ], + "joints": [ + 0.023930493742227554 + ] + }, + "fine_grasp": { + "position": [ + -0.12224888056516647, + 0.04404903203248978, + -0.05035441741347313 + ], + "orientation": [ + 0.8534677028656006, + 0.07377488166093826, + 0.5039985179901123, + -0.11016212403774261 + ], + "joints": [ + 0.014317523688077927 + ] + }, + "final_grasp": { + "position": [ + -0.12224888056516647, + 0.04404903203248978, + -0.05035441741347313 + ], + "orientation": [ + 0.8534677028656006, + 0.07377488166093826, + 0.5039985179901123, + -0.11016212403774261 + ], + "joints": [ + 0.004704553633928299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14288389682769775, + 0.044628437608480453, + -0.02359837107360363 + ], + "orientation": [ + 0.7360867857933044, + 0.10789860039949417, + -0.6663553714752197, + 0.050047311931848526 + ], + "joints": [ + 0.023445449769496918 + ] + }, + "fine_grasp": { + "position": [ + 0.13928955793380737, + 0.04386986419558525, + -0.022595012560486794 + ], + "orientation": [ + 0.7390289306640625, + 0.10534759610891342, + -0.6634579300880432, + 0.050612203776836395 + ], + "joints": [ + 0.014208637177944183 + ] + }, + "final_grasp": { + "position": [ + 0.13928955793380737, + 0.04386986419558525, + -0.022595012560486794 + ], + "orientation": [ + 0.7390289306640625, + 0.10534759610891342, + -0.6634579300880432, + 0.050612203776836395 + ], + "joints": [ + 0.004971824586391449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1428900957107544, + 0.044680800288915634, + -0.023464053869247437 + ], + "orientation": [ + 0.7360625863075256, + 0.10881747305393219, + -0.6662926077842712, + 0.04924234002828598 + ], + "joints": [ + 0.023677004501223564 + ] + }, + "fine_grasp": { + "position": [ + 0.13928784430027008, + 0.04394356161355972, + -0.022443922236561775 + ], + "orientation": [ + 0.7391980290412903, + 0.10609795153141022, + -0.6632190942764282, + 0.049697890877723694 + ], + "joints": [ + 0.01444019190967083 + ] + }, + "final_grasp": { + "position": [ + 0.13928784430027008, + 0.04394356161355972, + -0.022443922236561775 + ], + "orientation": [ + 0.7391980290412903, + 0.10609795153141022, + -0.6632190942764282, + 0.049697890877723694 + ], + "joints": [ + 0.005203379318118095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14294195175170898, + 0.04472868889570236, + -0.023374101147055626 + ], + "orientation": [ + 0.7361514568328857, + 0.10871287435293198, + -0.6661908626556396, + 0.0495201051235199 + ], + "joints": [ + 0.023677004501223564 + ] + }, + "fine_grasp": { + "position": [ + 0.13934500515460968, + 0.044043753296136856, + -0.022342272102832794 + ], + "orientation": [ + 0.7394871115684509, + 0.10575301200151443, + -0.6629598736763, + 0.04959180951118469 + ], + "joints": [ + 0.01444019190967083 + ] + }, + "final_grasp": { + "position": [ + 0.13934500515460968, + 0.044043753296136856, + -0.022342272102832794 + ], + "orientation": [ + 0.7394871115684509, + 0.10575301200151443, + -0.6629598736763, + 0.04959180951118469 + ], + "joints": [ + 0.005203379318118095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054328836500644684, + 0.047829870134592056, + 0.14369912445545197 + ], + "orientation": [ + 0.13793009519577026, + 0.9814131855964661, + 0.03281133249402046, + 0.1293325573205948 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + -0.05295151472091675, + 0.046839963644742966, + 0.14016200602054596 + ], + "orientation": [ + 0.13736242055892944, + 0.9792212843894958, + 0.03520733863115311, + 0.1449751853942871 + ], + "joints": [ + 0.012570330873131752 + ] + }, + "final_grasp": { + "position": [ + -0.05295151472091675, + 0.046839963644742966, + 0.14016200602054596 + ], + "orientation": [ + 0.13736242055892944, + 0.9792212843894958, + 0.03520733863115311, + 0.1449751853942871 + ], + "joints": [ + 0.004566485062241554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12215784937143326, + 0.04034286364912987, + -0.07471059262752533 + ], + "orientation": [ + 0.8322811126708984, + 0.1315549612045288, + 0.5380622744560242, + 0.022144317626953125 + ], + "joints": [ + 0.024163270369172096 + ] + }, + "fine_grasp": { + "position": [ + -0.11915867030620575, + 0.03967030718922615, + -0.07243015617132187 + ], + "orientation": [ + 0.8357148766517639, + 0.12955069541931152, + 0.533176064491272, + 0.022818172350525856 + ], + "joints": [ + 0.015344412997364998 + ] + }, + "final_grasp": { + "position": [ + -0.11915867030620575, + 0.03967030718922615, + -0.07243015617132187 + ], + "orientation": [ + 0.8357148766517639, + 0.12955069541931152, + 0.533176064491272, + 0.022818172350525856 + ], + "joints": [ + 0.0065255556255578995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12486142665147781, + -0.022035598754882812, + -0.020289039239287376 + ], + "orientation": [ + 0.7975155711174011, + -0.07889954000711441, + 0.5824474692344666, + 0.13601002097129822 + ], + "joints": [ + 0.02334449626505375 + ] + }, + "fine_grasp": { + "position": [ + -0.1218680739402771, + -0.02141500823199749, + -0.02080097794532776 + ], + "orientation": [ + 0.7910236716270447, + -0.08325429260730743, + 0.5916687250137329, + 0.1314474642276764 + ], + "joints": [ + 0.014546537771821022 + ] + }, + "final_grasp": { + "position": [ + -0.1218680739402771, + -0.02141500823199749, + -0.02080097794532776 + ], + "orientation": [ + 0.7910236716270447, + -0.08325429260730743, + 0.5916687250137329, + 0.1314474642276764 + ], + "joints": [ + 0.005748579278588295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13314610719680786, + -0.014459706842899323, + 0.004538622684776783 + ], + "orientation": [ + 0.6811152696609497, + -0.1445433497428894, + 0.7172985076904297, + 0.02592478133738041 + ], + "joints": [ + 0.024715328589081764 + ] + }, + "fine_grasp": { + "position": [ + -0.1296413540840149, + -0.013549065217375755, + 0.0039367699064314365 + ], + "orientation": [ + 0.679994523525238, + -0.1414443999528885, + 0.7189297080039978, + 0.027221299707889557 + ], + "joints": [ + 0.015102358534932137 + ] + }, + "final_grasp": { + "position": [ + -0.1296413540840149, + -0.013549065217375755, + 0.0039367699064314365 + ], + "orientation": [ + 0.679994523525238, + -0.1414443999528885, + 0.7189297080039978, + 0.027221299707889557 + ], + "joints": [ + 0.005489388480782509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12232448160648346, + 0.04032490402460098, + -0.07463442534208298 + ], + "orientation": [ + 0.8322139382362366, + 0.1316356509923935, + 0.5381531715393066, + 0.021980229765176773 + ], + "joints": [ + 0.024163270369172096 + ] + }, + "fine_grasp": { + "position": [ + -0.11932401359081268, + 0.03970981389284134, + -0.07233411818742752 + ], + "orientation": [ + 0.8357290625572205, + 0.12925995886325836, + 0.5332263112068176, + 0.022769400849938393 + ], + "joints": [ + 0.015344412997364998 + ] + }, + "final_grasp": { + "position": [ + -0.11932401359081268, + 0.03970981389284134, + -0.07233411818742752 + ], + "orientation": [ + 0.8357290625572205, + 0.12925995886325836, + 0.5332263112068176, + 0.022769400849938393 + ], + "joints": [ + 0.0065255556255578995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08421685546636581, + 0.015590243972837925, + -0.10825251787900925 + ], + "orientation": [ + 0.04947347939014435, + 0.32261520624160767, + 0.01730090193450451, + 0.9450780153274536 + ], + "joints": [ + 0.024752026423811913 + ] + }, + "fine_grasp": { + "position": [ + -0.08151407539844513, + 0.015549733303487301, + -0.10555301606655121 + ], + "orientation": [ + 0.04982192814350128, + 0.32400670647621155, + 0.01708763837814331, + 0.9445874094963074 + ], + "joints": [ + 0.01555701158940792 + ] + }, + "final_grasp": { + "position": [ + -0.08151407539844513, + 0.015549733303487301, + -0.10555301606655121 + ], + "orientation": [ + 0.04982192814350128, + 0.32400670647621155, + 0.01708763837814331, + 0.9445874094963074 + ], + "joints": [ + 0.006361996755003929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11106719821691513, + 0.008397256955504417, + 0.0625426173210144 + ], + "orientation": [ + 0.005823253653943539, + -0.8812377452850342, + 0.0500321090221405, + 0.469981849193573 + ], + "joints": [ + 0.024702129885554314 + ] + }, + "fine_grasp": { + "position": [ + 0.10884517431259155, + 0.008917925879359245, + 0.06171630695462227 + ], + "orientation": [ + 0.005936544854193926, + -0.876493513584137, + 0.04442676529288292, + 0.47932252287864685 + ], + "joints": [ + 0.01467120461165905 + ] + }, + "final_grasp": { + "position": [ + 0.10884517431259155, + 0.008917925879359245, + 0.06171630695462227 + ], + "orientation": [ + 0.005936544854193926, + -0.876493513584137, + 0.04442676529288292, + 0.47932252287864685 + ], + "joints": [ + 0.004640279337763786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12507838010787964, + -0.022217044606804848, + -0.020545635372400284 + ], + "orientation": [ + 0.7948023676872253, + -0.08020789921283722, + 0.5860235691070557, + 0.13576531410217285 + ], + "joints": [ + 0.023677004501223564 + ] + }, + "fine_grasp": { + "position": [ + -0.1218867152929306, + -0.021572839468717575, + -0.020750433206558228 + ], + "orientation": [ + 0.7886454463005066, + -0.08307819068431854, + 0.5946030020713806, + 0.13260366022586823 + ], + "joints": [ + 0.014461090788245201 + ] + }, + "final_grasp": { + "position": [ + -0.1218867152929306, + -0.021572839468717575, + -0.020750433206558228 + ], + "orientation": [ + 0.7886454463005066, + -0.08307819068431854, + 0.5946030020713806, + 0.13260366022586823 + ], + "joints": [ + 0.005245177075266838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1259937882423401, + -0.002099094446748495, + -0.022657597437500954 + ], + "orientation": [ + 0.019226595759391785, + -0.6575383543968201, + -0.07796257734298706, + -0.7491297721862793 + ], + "joints": [ + 0.024983452633023262 + ] + }, + "fine_grasp": { + "position": [ + -0.12354488670825958, + -0.0016423382330685854, + -0.020998984575271606 + ], + "orientation": [ + 0.019882937893271446, + -0.6527102589607239, + -0.07467944920063019, + -0.7536558508872986 + ], + "joints": [ + 0.014952527359127998 + ] + }, + "final_grasp": { + "position": [ + -0.12354488670825958, + -0.0016423382330685854, + -0.020998984575271606 + ], + "orientation": [ + 0.019882937893271446, + -0.6527102589607239, + -0.07467944920063019, + -0.7536558508872986 + ], + "joints": [ + 0.004921602085232735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11566374450922012, + -0.018634742125868797, + 0.07105989009141922 + ], + "orientation": [ + 0.18178927898406982, + -0.8409221172332764, + -0.04779829829931259, + 0.507462203502655 + ], + "joints": [ + 0.024105312302708626 + ] + }, + "fine_grasp": { + "position": [ + 0.11264050751924515, + -0.017519265413284302, + 0.0691879466176033 + ], + "orientation": [ + 0.18256103992462158, + -0.8447976112365723, + -0.0494852140545845, + 0.5005393624305725 + ], + "joints": [ + 0.015286454930901527 + ] + }, + "final_grasp": { + "position": [ + 0.11264050751924515, + -0.017519265413284302, + 0.0691879466176033 + ], + "orientation": [ + 0.18256103992462158, + -0.8447976112365723, + -0.0494852140545845, + 0.5005393624305725 + ], + "joints": [ + 0.006467597559094429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13775552809238434, + -0.027552420273423195, + 0.017114637419581413 + ], + "orientation": [ + 0.19508567452430725, + -0.7293483018875122, + -0.026522912085056305, + -0.65520179271698 + ], + "joints": [ + 0.022883877158164978 + ] + }, + "fine_grasp": { + "position": [ + -0.13428723812103271, + -0.026523858308792114, + 0.016796091571450233 + ], + "orientation": [ + 0.1943751722574234, + -0.7303699851036072, + -0.02556609734892845, + -0.6543120741844177 + ], + "joints": [ + 0.013667963445186615 + ] + }, + "final_grasp": { + "position": [ + -0.13428723812103271, + -0.026523858308792114, + 0.016796091571450233 + ], + "orientation": [ + 0.1943751722574234, + -0.7303699851036072, + -0.02556609734892845, + -0.6543120741844177 + ], + "joints": [ + 0.004452049732208252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13083332777023315, + 0.05863888934254646, + 0.05244774371385574 + ], + "orientation": [ + 0.15538381040096283, + 0.8603430986404419, + -0.08286777138710022, + 0.4783288538455963 + ], + "joints": [ + 0.02194034866988659 + ] + }, + "fine_grasp": { + "position": [ + -0.1274530589580536, + 0.057277191430330276, + 0.05143417418003082 + ], + "orientation": [ + 0.15517117083072662, + 0.8564262986183167, + -0.07928384840488434, + 0.4859733283519745 + ], + "joints": [ + 0.013079693540930748 + ] + }, + "final_grasp": { + "position": [ + -0.1274530589580536, + 0.057277191430330276, + 0.05143417418003082 + ], + "orientation": [ + 0.15517117083072662, + 0.8564262986183167, + -0.07928384840488434, + 0.4859733283519745 + ], + "joints": [ + 0.004219038411974907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033792439848184586, + 0.029076427221298218, + 0.14148546755313873 + ], + "orientation": [ + 0.11214303225278854, + 0.5152072310447693, + 0.8496261835098267, + 0.010988421738147736 + ], + "joints": [ + 0.034004319459199905 + ] + }, + "fine_grasp": { + "position": [ + -0.03280848637223244, + 0.0286260973662138, + 0.13796117901802063 + ], + "orientation": [ + 0.11515317112207413, + 0.5181708931922913, + 0.8474358320236206, + 0.00954638421535492 + ], + "joints": [ + 0.0255616195499897 + ] + }, + "final_grasp": { + "position": [ + -0.03280848637223244, + 0.0286260973662138, + 0.13796117901802063 + ], + "orientation": [ + 0.11515317112207413, + 0.5181708931922913, + 0.8474358320236206, + 0.00954638421535492 + ], + "joints": [ + 0.017118919640779495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13951091468334198, + -0.027668967843055725, + 0.01753120683133602 + ], + "orientation": [ + 0.18735994398593903, + -0.7356907725334167, + -0.03364681825041771, + -0.6500178575515747 + ], + "joints": [ + 0.02258041501045227 + ] + }, + "fine_grasp": { + "position": [ + -0.1359288990497589, + -0.026361707597970963, + 0.016702909022569656 + ], + "orientation": [ + 0.184864804148674, + -0.7412949204444885, + -0.03530637174844742, + -0.6442517638206482 + ], + "joints": [ + 0.013761557638645172 + ] + }, + "final_grasp": { + "position": [ + -0.1359288990497589, + -0.026361707597970963, + 0.016702909022569656 + ], + "orientation": [ + 0.184864804148674, + -0.7412949204444885, + -0.03530637174844742, + -0.6442517638206482 + ], + "joints": [ + 0.004942700266838074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08073238283395767, + -0.006828195881098509, + 0.10164207965135574 + ], + "orientation": [ + 0.0818677693605423, + -0.932428240776062, + -0.04029605910181999, + -0.34964480996131897 + ], + "joints": [ + 0.025169292464852333 + ] + }, + "fine_grasp": { + "position": [ + -0.07871269434690475, + -0.006678699515759945, + 0.09924077242612839 + ], + "orientation": [ + 0.08170163631439209, + -0.9310218095779419, + -0.03955761343240738, + -0.35349470376968384 + ], + "joints": [ + 0.01513836719095707 + ] + }, + "final_grasp": { + "position": [ + -0.07871269434690475, + -0.006678699515759945, + 0.09924077242612839 + ], + "orientation": [ + 0.08170163631439209, + -0.9310218095779419, + -0.03955761343240738, + -0.35349470376968384 + ], + "joints": [ + 0.005107441917061806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09401988983154297, + 0.022264661267399788, + 0.10479644685983658 + ], + "orientation": [ + 0.37555140256881714, + 0.023835083469748497, + 0.9262994527816772, + -0.019032936543226242 + ], + "joints": [ + 0.024431884288787842 + ] + }, + "fine_grasp": { + "position": [ + -0.09148851037025452, + 0.022587621584534645, + 0.10209623724222183 + ], + "orientation": [ + 0.3776499330997467, + 0.023983241990208626, + 0.9254228472709656, + -0.01994565688073635 + ], + "joints": [ + 0.01523686945438385 + ] + }, + "final_grasp": { + "position": [ + -0.09148851037025452, + 0.022587621584534645, + 0.10209623724222183 + ], + "orientation": [ + 0.3776499330997467, + 0.023983241990208626, + 0.9254228472709656, + -0.01994565688073635 + ], + "joints": [ + 0.006041854619979858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10839046537876129, + -0.028584634885191917, + -0.07966940104961395 + ], + "orientation": [ + 0.8615546822547913, + -0.1423528492450714, + -0.47738006711006165, + -0.09781262278556824 + ], + "joints": [ + 0.024025119841098785 + ] + }, + "fine_grasp": { + "position": [ + 0.1054975837469101, + -0.027401167899370193, + -0.07772035151720047 + ], + "orientation": [ + 0.8613197207450867, + -0.140845388174057, + -0.4780581593513489, + -0.09874799847602844 + ], + "joints": [ + 0.014788307249546051 + ] + }, + "final_grasp": { + "position": [ + 0.1054975837469101, + -0.027401167899370193, + -0.07772035151720047 + ], + "orientation": [ + 0.8613197207450867, + -0.140845388174057, + -0.4780581593513489, + -0.09874799847602844 + ], + "joints": [ + 0.005551494657993317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10721749812364578, + 0.015173557214438915, + -0.08388251811265945 + ], + "orientation": [ + 0.8654667735099792, + 0.02576686255633831, + 0.49801144003868103, + 0.047831956297159195 + ], + "joints": [ + 0.024311784654855728 + ] + }, + "fine_grasp": { + "position": [ + -0.10436394065618515, + 0.015309648588299751, + -0.08131477236747742 + ], + "orientation": [ + 0.8681336641311646, + 0.025306958705186844, + 0.49332112073898315, + 0.04835016652941704 + ], + "joints": [ + 0.015116769820451736 + ] + }, + "final_grasp": { + "position": [ + -0.10436394065618515, + 0.015309648588299751, + -0.08131477236747742 + ], + "orientation": [ + 0.8681336641311646, + 0.025306958705186844, + 0.49332112073898315, + 0.04835016652941704 + ], + "joints": [ + 0.005921754986047745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032267820090055466, + 0.005889303982257843, + 0.14128638803958893 + ], + "orientation": [ + 0.0951518714427948, + -0.13469888269901276, + 0.9861272573471069, + 0.018853263929486275 + ], + "joints": [ + 0.023356566205620766 + ] + }, + "fine_grasp": { + "position": [ + -0.03134328871965408, + 0.0064603714272379875, + 0.137521892786026 + ], + "orientation": [ + 0.10331281274557114, + -0.14117692410945892, + 0.9844083189964294, + 0.018327856436371803 + ], + "joints": [ + 0.014161551371216774 + ] + }, + "final_grasp": { + "position": [ + -0.03134328871965408, + 0.0064603714272379875, + 0.137521892786026 + ], + "orientation": [ + 0.10331281274557114, + -0.14117692410945892, + 0.9844083189964294, + 0.018327856436371803 + ], + "joints": [ + 0.004966536536812782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1180679053068161, + -0.008178338408470154, + -0.041717734187841415 + ], + "orientation": [ + 0.7598800659179688, + -0.046640489250421524, + -0.6415681838989258, + -0.09379281103610992 + ], + "joints": [ + 0.025202816352248192 + ] + }, + "fine_grasp": { + "position": [ + 0.1149137020111084, + -0.008119353093206882, + -0.04084640368819237 + ], + "orientation": [ + 0.7583471536636353, + -0.039689801633358, + -0.6426490545272827, + -0.1016683280467987 + ], + "joints": [ + 0.015171891078352928 + ] + }, + "final_grasp": { + "position": [ + 0.1149137020111084, + -0.008119353093206882, + -0.04084640368819237 + ], + "orientation": [ + 0.7583471536636353, + -0.039689801633358, + -0.6426490545272827, + -0.1016683280467987 + ], + "joints": [ + 0.0051409658044576645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12194749712944031, + 0.03991619125008583, + -0.07404976338148117 + ], + "orientation": [ + 0.8353752493858337, + 0.13035807013511658, + 0.533446729183197, + 0.024282459169626236 + ], + "joints": [ + 0.024834778159856796 + ] + }, + "fine_grasp": { + "position": [ + -0.11891936510801315, + 0.03922702372074127, + -0.07180128991603851 + ], + "orientation": [ + 0.8388006091117859, + 0.12847204506397247, + 0.528446614742279, + 0.025548363104462624 + ], + "joints": [ + 0.015200909227132797 + ] + }, + "final_grasp": { + "position": [ + -0.11891936510801315, + 0.03922702372074127, + -0.07180128991603851 + ], + "orientation": [ + 0.8388006091117859, + 0.12847204506397247, + 0.528446614742279, + 0.025548363104462624 + ], + "joints": [ + 0.005567040294408798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12600597739219666, + 0.043549105525016785, + -0.051710065454244614 + ], + "orientation": [ + 0.8552291989326477, + 0.06443332880735397, + 0.5018303990364075, + -0.11223941296339035 + ], + "joints": [ + 0.02460322342813015 + ] + }, + "fine_grasp": { + "position": [ + -0.12252183258533478, + 0.0426633358001709, + -0.050120845437049866 + ], + "orientation": [ + 0.8516560196876526, + 0.06831522285938263, + 0.5069149732589722, + -0.11424683034420013 + ], + "joints": [ + 0.015826163813471794 + ] + }, + "final_grasp": { + "position": [ + -0.12252183258533478, + 0.0426633358001709, + -0.050120845437049866 + ], + "orientation": [ + 0.8516560196876526, + 0.06831522285938263, + 0.5069149732589722, + -0.11424683034420013 + ], + "joints": [ + 0.007049104198813438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13019171357154846, + -0.053998325020074844, + 0.012429453432559967 + ], + "orientation": [ + 0.6400517225265503, + -0.19005291163921356, + -0.7161881923675537, + -0.2031944990158081 + ], + "joints": [ + 0.025668390095233917 + ] + }, + "fine_grasp": { + "position": [ + 0.12690073251724243, + -0.05256497114896774, + 0.012096918188035488 + ], + "orientation": [ + 0.6427290439605713, + -0.1832735389471054, + -0.7176309823989868, + -0.1957443803548813 + ], + "joints": [ + 0.013631284236907959 + ] + }, + "final_grasp": { + "position": [ + 0.12690073251724243, + -0.05256497114896774, + 0.012096918188035488 + ], + "orientation": [ + 0.6427290439605713, + -0.1832735389471054, + -0.7176309823989868, + -0.1957443803548813 + ], + "joints": [ + 0.0015941783785820007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13026303052902222, + -0.05398919805884361, + 0.012404718436300755 + ], + "orientation": [ + 0.6400448679924011, + -0.1900518238544464, + -0.7163885235786438, + -0.20251034200191498 + ], + "joints": [ + 0.02545999176800251 + ] + }, + "fine_grasp": { + "position": [ + 0.12695978581905365, + -0.05253169313073158, + 0.01207517646253109 + ], + "orientation": [ + 0.6427366137504578, + -0.18342982232570648, + -0.7177308797836304, + -0.19520659744739532 + ], + "joints": [ + 0.013819942250847816 + ] + }, + "final_grasp": { + "position": [ + 0.12695978581905365, + -0.05253169313073158, + 0.01207517646253109 + ], + "orientation": [ + 0.6427366137504578, + -0.18342982232570648, + -0.7177308797836304, + -0.19520659744739532 + ], + "joints": [ + 0.002179892733693123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06354827433824539, + -0.007774392142891884, + 0.11516807228326797 + ], + "orientation": [ + 0.2373637706041336, + 0.015327592380344868, + 0.9660263061523438, + 0.10107681155204773 + ], + "joints": [ + 0.025194944813847542 + ] + }, + "fine_grasp": { + "position": [ + -0.06167127192020416, + -0.00742575665935874, + 0.11222276091575623 + ], + "orientation": [ + 0.24666766822338104, + 0.020107805728912354, + 0.9636393189430237, + 0.10074738413095474 + ], + "joints": [ + 0.015164019539952278 + ] + }, + "final_grasp": { + "position": [ + -0.06167127192020416, + -0.00742575665935874, + 0.11222276091575623 + ], + "orientation": [ + 0.24666766822338104, + 0.020107805728912354, + 0.9636393189430237, + 0.10074738413095474 + ], + "joints": [ + 0.0051330942660570145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11190126091241837, + -0.030246280133724213, + 0.08430159837007523 + ], + "orientation": [ + 0.5203344225883484, + -0.18441812694072723, + -0.8289870619773865, + -0.08956735581159592 + ], + "joints": [ + 0.023224862292408943 + ] + }, + "fine_grasp": { + "position": [ + 0.10895644873380661, + -0.029084544628858566, + 0.08238890767097473 + ], + "orientation": [ + 0.5152289867401123, + -0.18936537206172943, + -0.8312572240829468, + -0.08770062774419785 + ], + "joints": [ + 0.013967150822281837 + ] + }, + "final_grasp": { + "position": [ + 0.10895644873380661, + -0.029084544628858566, + 0.08238890767097473 + ], + "orientation": [ + 0.5152289867401123, + -0.18936537206172943, + -0.8312572240829468, + -0.08770062774419785 + ], + "joints": [ + 0.004709439352154732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07628472149372101, + -0.0483027808368206, + 0.10600882023572922 + ], + "orientation": [ + 0.24282437562942505, + -0.9259514808654785, + -0.055077988654375076, + -0.2839306592941284 + ], + "joints": [ + 0.023739872500300407 + ] + }, + "fine_grasp": { + "position": [ + -0.07420580089092255, + -0.04655057191848755, + 0.10351237654685974 + ], + "orientation": [ + 0.24340474605560303, + -0.924462616443634, + -0.05030599609017372, + -0.28912338614463806 + ], + "joints": [ + 0.014900116249918938 + ] + }, + "final_grasp": { + "position": [ + -0.07420580089092255, + -0.04655057191848755, + 0.10351237654685974 + ], + "orientation": [ + 0.24340474605560303, + -0.924462616443634, + -0.05030599609017372, + -0.28912338614463806 + ], + "joints": [ + 0.006060359999537468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08133921027183533, + 0.046754445880651474, + -0.13087011873722076 + ], + "orientation": [ + 0.9342327117919922, + 0.14859941601753235, + -0.31359708309173584, + -0.08236630260944366 + ], + "joints": [ + 0.021037286147475243 + ] + }, + "fine_grasp": { + "position": [ + 0.07966852933168411, + 0.045515276491642, + -0.12747134268283844 + ], + "orientation": [ + 0.9354649782180786, + 0.1513761281967163, + -0.30886760354042053, + -0.08118646591901779 + ], + "joints": [ + 0.01263638399541378 + ] + }, + "final_grasp": { + "position": [ + 0.07966852933168411, + 0.045515276491642, + -0.12747134268283844 + ], + "orientation": [ + 0.9354649782180786, + 0.1513761281967163, + -0.30886760354042053, + -0.08118646591901779 + ], + "joints": [ + 0.004235481843352318 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13032466173171997, + -0.053999871015548706, + 0.012447593733668327 + ], + "orientation": [ + 0.6402272582054138, + -0.18988634645938873, + -0.7161998748779297, + -0.20275604724884033 + ], + "joints": [ + 0.02545999176800251 + ] + }, + "fine_grasp": { + "position": [ + 0.12702162563800812, + -0.05254000797867775, + 0.012107028625905514 + ], + "orientation": [ + 0.6428024172782898, + -0.183313250541687, + -0.7176588177680969, + -0.19536380469799042 + ], + "joints": [ + 0.013819942250847816 + ] + }, + "final_grasp": { + "position": [ + 0.12702162563800812, + -0.05254000797867775, + 0.012107028625905514 + ], + "orientation": [ + 0.6428024172782898, + -0.183313250541687, + -0.7176588177680969, + -0.19536380469799042 + ], + "joints": [ + 0.002179892733693123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0940173864364624, + 0.024501143023371696, + 0.10193435102701187 + ], + "orientation": [ + 0.4113491475582123, + -0.07547596096992493, + 0.9054447412490845, + -0.07256055623292923 + ], + "joints": [ + 0.02535805106163025 + ] + }, + "fine_grasp": { + "position": [ + -0.09134827554225922, + 0.024616990238428116, + 0.09907220304012299 + ], + "orientation": [ + 0.40932825207710266, + -0.08181119710206985, + 0.905329167842865, + -0.07833537459373474 + ], + "joints": [ + 0.016163036227226257 + ] + }, + "final_grasp": { + "position": [ + -0.09134827554225922, + 0.024616990238428116, + 0.09907220304012299 + ], + "orientation": [ + 0.40932825207710266, + -0.08181119710206985, + 0.905329167842865, + -0.07833537459373474 + ], + "joints": [ + 0.006968021392822266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07405620068311691, + -0.008854935877025127, + 0.10558924823999405 + ], + "orientation": [ + 0.08368612825870514, + -0.9172120094299316, + -0.04719245806336403, + -0.3866412043571472 + ], + "joints": [ + 0.024031631648540497 + ] + }, + "fine_grasp": { + "position": [ + -0.07231214642524719, + -0.008703882806003094, + 0.1028861328959465 + ], + "orientation": [ + 0.08162927627563477, + -0.9202081561088562, + -0.05584857240319252, + -0.3787275552749634 + ], + "joints": [ + 0.01441866159439087 + ] + }, + "final_grasp": { + "position": [ + -0.07231214642524719, + -0.008703882806003094, + 0.1028861328959465 + ], + "orientation": [ + 0.08162927627563477, + -0.9202081561088562, + -0.05584857240319252, + -0.3787275552749634 + ], + "joints": [ + 0.0048056915402412415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009006758220493793, + 0.12550979852676392, + -0.07940278202295303 + ], + "orientation": [ + 0.8330463171005249, + 0.4863206446170807, + 0.16459950804710388, + -0.20599311590194702 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.007880453951656818, + 0.12284442782402039, + -0.07704884558916092 + ], + "orientation": [ + 0.8359179496765137, + 0.48178330063819885, + 0.15556606650352478, + -0.2119557410478592 + ], + "joints": [ + 0.025056783109903336 + ] + }, + "final_grasp": { + "position": [ + 0.007880453951656818, + 0.12284442782402039, + -0.07704884558916092 + ], + "orientation": [ + 0.8359179496765137, + 0.48178330063819885, + 0.15556606650352478, + -0.2119557410478592 + ], + "joints": [ + 0.01742909476161003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010437194257974625, + 0.02234005369246006, + -0.14098770916461945 + ], + "orientation": [ + 0.9817171096801758, + 0.021763328462839127, + -0.09588151425123215, + 0.16298624873161316 + ], + "joints": [ + 0.023911725729703903 + ] + }, + "fine_grasp": { + "position": [ + 0.01067416463047266, + 0.02251514233648777, + -0.13705220818519592 + ], + "orientation": [ + 0.9822270274162292, + 0.021289868280291557, + -0.08978146314620972, + 0.1634507179260254 + ], + "joints": [ + 0.014716710895299911 + ] + }, + "final_grasp": { + "position": [ + 0.01067416463047266, + 0.02251514233648777, + -0.13705220818519592 + ], + "orientation": [ + 0.9822270274162292, + 0.021289868280291557, + -0.08978146314620972, + 0.1634507179260254 + ], + "joints": [ + 0.00552169606089592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12676335871219635, + 0.021961893886327744, + -0.028409309685230255 + ], + "orientation": [ + 0.804207980632782, + -0.047051019966602325, + 0.5824822783470154, + -0.10839826613664627 + ], + "joints": [ + 0.0253920815885067 + ] + }, + "fine_grasp": { + "position": [ + -0.12365612387657166, + 0.02181859500706196, + -0.028004111722111702 + ], + "orientation": [ + 0.8018859028816223, + -0.0523158460855484, + 0.5835977792739868, + -0.11685754358768463 + ], + "joints": [ + 0.015800010412931442 + ] + }, + "final_grasp": { + "position": [ + -0.12365612387657166, + 0.02181859500706196, + -0.028004111722111702 + ], + "orientation": [ + 0.8018859028816223, + -0.0523158460855484, + 0.5835977792739868, + -0.11685754358768463 + ], + "joints": [ + 0.006207939237356186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009406028315424919, + 0.05510151758790016, + 0.14964444935321808 + ], + "orientation": [ + 0.16271239519119263, + 0.9594510197639465, + -0.2287527322769165, + 0.025508925318717957 + ], + "joints": [ + 0.02376595325767994 + ] + }, + "fine_grasp": { + "position": [ + 0.00926105584949255, + 0.05389488860964775, + 0.145890012383461 + ], + "orientation": [ + 0.15960629284381866, + 0.9604058861732483, + -0.22701743245124817, + 0.02468845061957836 + ], + "joints": [ + 0.015344152227044106 + ] + }, + "final_grasp": { + "position": [ + 0.00926105584949255, + 0.05389488860964775, + 0.145890012383461 + ], + "orientation": [ + 0.15960629284381866, + 0.9604058861732483, + -0.22701743245124817, + 0.02468845061957836 + ], + "joints": [ + 0.006922351196408272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03393033519387245, + -0.0041277483105659485, + 0.12258867919445038 + ], + "orientation": [ + 0.1545960158109665, + -0.04860277473926544, + 0.9840419292449951, + 0.07348091155290604 + ], + "joints": [ + 0.025088166818022728 + ] + }, + "fine_grasp": { + "position": [ + -0.03304563835263252, + -0.003740674117580056, + 0.1199754923582077 + ], + "orientation": [ + 0.15714137256145477, + -0.0525115542113781, + 0.98346346616745, + 0.07313577830791473 + ], + "joints": [ + 0.015893151983618736 + ] + }, + "final_grasp": { + "position": [ + -0.03304563835263252, + -0.003740674117580056, + 0.1199754923582077 + ], + "orientation": [ + 0.15714137256145477, + -0.0525115542113781, + 0.98346346616745, + 0.07313577830791473 + ], + "joints": [ + 0.006698137149214745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00465739332139492, + 0.02321283146739006, + 0.13039712607860565 + ], + "orientation": [ + 0.016860341653227806, + -0.08223403245210648, + 0.9958571791648865, + -0.03495208919048309 + ], + "joints": [ + 0.02591872587800026 + ] + }, + "fine_grasp": { + "position": [ + -0.004227085970342159, + 0.023402228951454163, + 0.12801535427570343 + ], + "orientation": [ + 0.019148150458931923, + -0.08715102821588516, + 0.9953364729881287, + -0.03665391355752945 + ], + "joints": [ + 0.015887800604104996 + ] + }, + "final_grasp": { + "position": [ + -0.004227085970342159, + 0.023402228951454163, + 0.12801535427570343 + ], + "orientation": [ + 0.019148150458931923, + -0.08715102821588516, + 0.9953364729881287, + -0.03665391355752945 + ], + "joints": [ + 0.005856875330209732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08750647306442261, + -0.03267481178045273, + -0.10007572919130325 + ], + "orientation": [ + 0.8985205888748169, + -0.14699818193912506, + -0.3887540400028229, + -0.14114758372306824 + ], + "joints": [ + 0.025172127410769463 + ] + }, + "fine_grasp": { + "position": [ + 0.08480484038591385, + -0.03129206597805023, + -0.09773575514554977 + ], + "orientation": [ + 0.8973701000213623, + -0.1448843628168106, + -0.39172324538230896, + -0.14243710041046143 + ], + "joints": [ + 0.015935314819216728 + ] + }, + "final_grasp": { + "position": [ + 0.08480484038591385, + -0.03129206597805023, + -0.09773575514554977 + ], + "orientation": [ + 0.8973701000213623, + -0.1448843628168106, + -0.39172324538230896, + -0.14243710041046143 + ], + "joints": [ + 0.006698502227663994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08066432923078537, + -0.00695257680490613, + 0.10175661742687225 + ], + "orientation": [ + 0.08229940384626389, + -0.9326422810554504, + -0.040096256881952286, + -0.3489948511123657 + ], + "joints": [ + 0.02488866075873375 + ] + }, + "fine_grasp": { + "position": [ + -0.07864192128181458, + -0.006867995951324701, + 0.09933709353208542 + ], + "orientation": [ + 0.08199790865182877, + -0.9316847324371338, + -0.03940502926707268, + -0.3516918420791626 + ], + "joints": [ + 0.015275690704584122 + ] + }, + "final_grasp": { + "position": [ + -0.07864192128181458, + -0.006867995951324701, + 0.09933709353208542 + ], + "orientation": [ + 0.08199790865182877, + -0.9316847324371338, + -0.03940502926707268, + -0.3516918420791626 + ], + "joints": [ + 0.005662720650434494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07596949487924576, + -0.0641673281788826, + 0.08443045616149902 + ], + "orientation": [ + 0.16347986459732056, + -0.7399724721908569, + 0.40184202790260315, + 0.5140409469604492 + ], + "joints": [ + 0.027358723804354668 + ] + }, + "fine_grasp": { + "position": [ + 0.07379472255706787, + -0.0625654086470604, + 0.08215627074241638 + ], + "orientation": [ + 0.1537242829799652, + -0.7438421249389648, + 0.41138026118278503, + 0.5038194060325623 + ], + "joints": [ + 0.019417574629187584 + ] + }, + "final_grasp": { + "position": [ + 0.07379472255706787, + -0.0625654086470604, + 0.08215627074241638 + ], + "orientation": [ + 0.1537242829799652, + -0.7438421249389648, + 0.41138026118278503, + 0.5038194060325623 + ], + "joints": [ + 0.0114764254540205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12127398699522018, + 0.0581744983792305, + -0.06932993978261948 + ], + "orientation": [ + 0.5609368681907654, + 0.5174614787101746, + -0.1491587907075882, + -0.6287567615509033 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + 0.11813198775053024, + 0.05747375637292862, + -0.06731700152158737 + ], + "orientation": [ + 0.5592933297157288, + 0.5145304203033447, + -0.1542958766222, + -0.6313812732696533 + ], + "joints": [ + 0.02650989219546318 + ] + }, + "final_grasp": { + "position": [ + 0.11813198775053024, + 0.05747375637292862, + -0.06731700152158737 + ], + "orientation": [ + 0.5592933297157288, + 0.5145304203033447, + -0.1542958766222, + -0.6313812732696533 + ], + "joints": [ + 0.018506046384572983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04760267958045006, + -0.07778003066778183, + -0.09846319258213043 + ], + "orientation": [ + 0.3586912751197815, + -0.021095091477036476, + 0.4126532971858978, + 0.8370261192321777 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.045887794345617294, + -0.07562277466058731, + -0.09548715502023697 + ], + "orientation": [ + 0.36287423968315125, + -0.015611927956342697, + 0.4098649322986603, + 0.8367133140563965 + ], + "joints": [ + 0.027017053216695786 + ] + }, + "final_grasp": { + "position": [ + -0.045887794345617294, + -0.07562277466058731, + -0.09548715502023697 + ], + "orientation": [ + 0.36287423968315125, + -0.015611927956342697, + 0.4098649322986603, + 0.8367133140563965 + ], + "joints": [ + 0.01903410628437996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13790535926818848, + 0.04006713628768921, + 0.029572509229183197 + ], + "orientation": [ + 0.12545093894004822, + 0.785110354423523, + 0.00019917904864996672, + 0.6065177917480469 + ], + "joints": [ + 0.024742161855101585 + ] + }, + "fine_grasp": { + "position": [ + -0.13411839306354523, + 0.039612650871276855, + 0.02882823348045349 + ], + "orientation": [ + 0.1251077651977539, + 0.784186840057373, + 0.0028775520622730255, + 0.6077752709388733 + ], + "joints": [ + 0.015547147020697594 + ] + }, + "final_grasp": { + "position": [ + -0.13411839306354523, + 0.039612650871276855, + 0.02882823348045349 + ], + "orientation": [ + 0.1251077651977539, + 0.784186840057373, + 0.0028775520622730255, + 0.6077752709388733 + ], + "joints": [ + 0.006352132186293602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1200486570596695, + -0.00843743421137333, + -0.04134298861026764 + ], + "orientation": [ + 0.7728503346443176, + -0.04823404550552368, + -0.6257136464118958, + -0.09411834180355072 + ], + "joints": [ + 0.024874955415725708 + ] + }, + "fine_grasp": { + "position": [ + 0.11695591360330582, + -0.007659348659217358, + -0.039922021329402924 + ], + "orientation": [ + 0.7758653163909912, + -0.038709498941898346, + -0.6212641596794128, + -0.10278826206922531 + ], + "joints": [ + 0.01526198536157608 + ] + }, + "final_grasp": { + "position": [ + 0.11695591360330582, + -0.007659348659217358, + -0.039922021329402924 + ], + "orientation": [ + 0.7758653163909912, + -0.038709498941898346, + -0.6212641596794128, + -0.10278826206922531 + ], + "joints": [ + 0.005649015307426453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019273484125733376, + -0.08651261031627655, + -0.0909067764878273 + ], + "orientation": [ + 0.3142728805541992, + -0.1374811828136444, + 0.4222036302089691, + 0.8390921354293823 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.018628699705004692, + -0.08404382318258286, + -0.08777683973312378 + ], + "orientation": [ + 0.31804749369621277, + -0.13339833915233612, + 0.41828644275665283, + 0.8402899503707886 + ], + "joints": [ + 0.027455907315015793 + ] + }, + "final_grasp": { + "position": [ + -0.018628699705004692, + -0.08404382318258286, + -0.08777683973312378 + ], + "orientation": [ + 0.31804749369621277, + -0.13339833915233612, + 0.41828644275665283, + 0.8402899503707886 + ], + "joints": [ + 0.019911814481019974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06777223199605942, + 0.025944368913769722, + 0.1302432417869568 + ], + "orientation": [ + 0.26617351174354553, + -0.05312376469373703, + -0.9606665968894958, + 0.058729205280542374 + ], + "joints": [ + 0.02433304488658905 + ] + }, + "fine_grasp": { + "position": [ + 0.06602543592453003, + 0.026190686970949173, + 0.12686580419540405 + ], + "orientation": [ + 0.2588379681110382, + -0.0583132766187191, + -0.962328314781189, + 0.059386663138866425 + ], + "joints": [ + 0.015138030052185059 + ] + }, + "final_grasp": { + "position": [ + 0.06602543592453003, + 0.026190686970949173, + 0.12686580419540405 + ], + "orientation": [ + 0.2588379681110382, + -0.0583132766187191, + -0.962328314781189, + 0.059386663138866425 + ], + "joints": [ + 0.005943015217781067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009944435209035873, + 0.02264249697327614, + -0.14048393070697784 + ], + "orientation": [ + 0.9810095429420471, + 0.02448783628642559, + -0.10175498574972153, + 0.16329866647720337 + ], + "joints": [ + 0.023472994565963745 + ] + }, + "fine_grasp": { + "position": [ + 0.010274569503962994, + 0.02289465069770813, + -0.13658180832862854 + ], + "orientation": [ + 0.9816097617149353, + 0.023466594517230988, + -0.09511688351631165, + 0.1638423353433609 + ], + "joints": [ + 0.014675036072731018 + ] + }, + "final_grasp": { + "position": [ + 0.010274569503962994, + 0.02289465069770813, + -0.13658180832862854 + ], + "orientation": [ + 0.9816097617149353, + 0.023466594517230988, + -0.09511688351631165, + 0.1638423353433609 + ], + "joints": [ + 0.005877077579498291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026548175141215324, + -0.023600401356816292, + -0.1427391767501831 + ], + "orientation": [ + 0.9844858646392822, + -0.14986445009708405, + 0.022315289825201035, + -0.08848901093006134 + ], + "joints": [ + 0.02242032252252102 + ] + }, + "fine_grasp": { + "position": [ + -0.02555931732058525, + -0.02254529297351837, + -0.1392296999692917 + ], + "orientation": [ + 0.9844057559967041, + -0.14945709705352783, + 0.025625359266996384, + -0.08916977047920227 + ], + "joints": [ + 0.01360146515071392 + ] + }, + "final_grasp": { + "position": [ + -0.02555931732058525, + -0.02254529297351837, + -0.1392296999692917 + ], + "orientation": [ + 0.9844057559967041, + -0.14945709705352783, + 0.025625359266996384, + -0.08916977047920227 + ], + "joints": [ + 0.004782607778906822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09558437764644623, + 0.011111116968095303, + -0.09802642464637756 + ], + "orientation": [ + 0.17581407725811005, + 0.4431227445602417, + 0.09235908836126328, + 0.8741860389709473 + ], + "joints": [ + 0.023075178265571594 + ] + }, + "fine_grasp": { + "position": [ + -0.09363007545471191, + 0.011696800589561462, + -0.09477508068084717 + ], + "orientation": [ + 0.17537300288677216, + 0.435505747795105, + 0.09544860571622849, + 0.8777635097503662 + ], + "joints": [ + 0.014277219772338867 + ] + }, + "final_grasp": { + "position": [ + -0.09363007545471191, + 0.011696800589561462, + -0.09477508068084717 + ], + "orientation": [ + 0.17537300288677216, + 0.435505747795105, + 0.09544860571622849, + 0.8777635097503662 + ], + "joints": [ + 0.00547926127910614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06416915357112885, + 0.12294187396764755, + 0.04489704966545105 + ], + "orientation": [ + 0.5611776113510132, + 0.3979896903038025, + 0.6519737243652344, + -0.31876978278160095 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.062408655881881714, + 0.11991723626852036, + 0.04343787953257561 + ], + "orientation": [ + 0.5594748258590698, + 0.4075181484222412, + 0.6525816917419434, + -0.3083083927631378 + ], + "joints": [ + 0.02425931766629219 + ] + }, + "final_grasp": { + "position": [ + -0.062408655881881714, + 0.11991723626852036, + 0.04343787953257561 + ], + "orientation": [ + 0.5594748258590698, + 0.4075181484222412, + 0.6525816917419434, + -0.3083083927631378 + ], + "joints": [ + 0.016297269612550735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0452556274831295, + -0.10674282163381577, + -0.05714913457632065 + ], + "orientation": [ + 0.49839216470718384, + -0.5473018288612366, + 0.32640767097473145, + 0.5878128409385681 + ], + "joints": [ + 0.029627958312630653 + ] + }, + "fine_grasp": { + "position": [ + 0.04378007352352142, + -0.10368847101926804, + -0.05543012544512749 + ], + "orientation": [ + 0.49987542629241943, + -0.5445113778114319, + 0.3219994008541107, + 0.5915643572807312 + ], + "joints": [ + 0.02039114572107792 + ] + }, + "final_grasp": { + "position": [ + 0.04378007352352142, + -0.10368847101926804, + -0.05543012544512749 + ], + "orientation": [ + 0.49987542629241943, + -0.5445113778114319, + 0.3219994008541107, + 0.5915643572807312 + ], + "joints": [ + 0.011154333129525185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11277227103710175, + 0.015789121389389038, + -0.08261816948652267 + ], + "orientation": [ + 0.873632550239563, + -0.05027169734239578, + 0.4742354154586792, + -0.09664084017276764 + ], + "joints": [ + 0.024904459714889526 + ] + }, + "fine_grasp": { + "position": [ + -0.10989022254943848, + 0.01599724590778351, + -0.08002013713121414 + ], + "orientation": [ + 0.8761700987815857, + -0.052014559507369995, + 0.4687967896461487, + -0.09924682974815369 + ], + "joints": [ + 0.015709444880485535 + ] + }, + "final_grasp": { + "position": [ + -0.10989022254943848, + 0.01599724590778351, + -0.08002013713121414 + ], + "orientation": [ + 0.8761700987815857, + -0.052014559507369995, + 0.4687967896461487, + -0.09924682974815369 + ], + "joints": [ + 0.006514430046081543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09988892078399658, + 0.008327554911375046, + 0.07923932373523712 + ], + "orientation": [ + 0.04384592920541763, + -0.9079694747924805, + -0.026474103331565857, + 0.4158943295478821 + ], + "joints": [ + 0.024710407480597496 + ] + }, + "fine_grasp": { + "position": [ + 0.09700725227594376, + 0.00867448654025793, + 0.07781663537025452 + ], + "orientation": [ + 0.04468493536114693, + -0.9093517661094666, + -0.03222488611936569, + 0.41236424446105957 + ], + "joints": [ + 0.014700381085276604 + ] + }, + "final_grasp": { + "position": [ + 0.09700725227594376, + 0.00867448654025793, + 0.07781663537025452 + ], + "orientation": [ + 0.04468493536114693, + -0.9093517661094666, + -0.03222488611936569, + 0.41236424446105957 + ], + "joints": [ + 0.004690354689955711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01685161516070366, + 0.015853261575102806, + 0.13325725495815277 + ], + "orientation": [ + 0.0007901992648839951, + -0.9868825078010559, + 0.07956506311893463, + -0.14047011733055115 + ], + "joints": [ + 0.023207591846585274 + ] + }, + "fine_grasp": { + "position": [ + -0.016537904739379883, + 0.01672574318945408, + 0.12996713817119598 + ], + "orientation": [ + 0.0010579085210338235, + -0.9884440302848816, + 0.07762972265481949, + -0.1301957219839096 + ], + "joints": [ + 0.014430532231926918 + ] + }, + "final_grasp": { + "position": [ + -0.016537904739379883, + 0.01672574318945408, + 0.12996713817119598 + ], + "orientation": [ + 0.0010579085210338235, + -0.9884440302848816, + 0.07762972265481949, + -0.1301957219839096 + ], + "joints": [ + 0.005653472617268562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037357550114393234, + -0.016425561159849167, + 0.12831681966781616 + ], + "orientation": [ + 0.19385242462158203, + -0.0712214931845665, + 0.9714081287384033, + 0.11711086332798004 + ], + "joints": [ + 0.024934154003858566 + ] + }, + "fine_grasp": { + "position": [ + -0.03639207035303116, + -0.015865404158830643, + 0.12492964416742325 + ], + "orientation": [ + 0.1909285932779312, + -0.0773550420999527, + 0.971746027469635, + 0.1152043417096138 + ], + "joints": [ + 0.015321183949708939 + ] + }, + "final_grasp": { + "position": [ + -0.03639207035303116, + -0.015865404158830643, + 0.12492964416742325 + ], + "orientation": [ + 0.1909285932779312, + -0.0773550420999527, + 0.971746027469635, + 0.1152043417096138 + ], + "joints": [ + 0.005708213895559311 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11379243433475494, + -0.05047748237848282, + -0.060501571744680405 + ], + "orientation": [ + 0.5903640389442444, + -0.5751704573631287, + 0.10127988457679749, + -0.5571280121803284 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.1106194257736206, + -0.049851369112730026, + -0.05860442295670509 + ], + "orientation": [ + 0.5894269943237305, + -0.5711817145347595, + 0.11038127541542053, + -0.5604848861694336 + ], + "joints": [ + 0.024746675044298172 + ] + }, + "final_grasp": { + "position": [ + -0.1106194257736206, + -0.049851369112730026, + -0.05860442295670509 + ], + "orientation": [ + 0.5894269943237305, + -0.5711817145347595, + 0.11038127541542053, + -0.5604848861694336 + ], + "joints": [ + 0.01634577289223671 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03725222125649452, + -0.016162019222974777, + 0.12807996571063995 + ], + "orientation": [ + 0.19159144163131714, + -0.06934551149606705, + 0.9720417261123657, + 0.11669933795928955 + ], + "joints": [ + 0.02501240186393261 + ] + }, + "fine_grasp": { + "position": [ + -0.0362786203622818, + -0.015570447780191898, + 0.12475697696208954 + ], + "orientation": [ + 0.18995854258537292, + -0.07750321179628372, + 0.9720360040664673, + 0.11425834894180298 + ], + "joints": [ + 0.015399431809782982 + ] + }, + "final_grasp": { + "position": [ + -0.0362786203622818, + -0.015570447780191898, + 0.12475697696208954 + ], + "orientation": [ + 0.18995854258537292, + -0.07750321179628372, + 0.9720360040664673, + 0.11425834894180298 + ], + "joints": [ + 0.005786461755633354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0148739879950881, + 0.023246493190526962, + 0.13388077914714813 + ], + "orientation": [ + 0.028520941734313965, + 0.9948632717132568, + 0.054815713316202164, + -0.08018096536397934 + ], + "joints": [ + 0.025216558948159218 + ] + }, + "fine_grasp": { + "position": [ + 0.015011414885520935, + 0.02307267114520073, + 0.130585178732872 + ], + "orientation": [ + 0.030420072376728058, + 0.9950008988380432, + 0.06022730469703674, + -0.07362401485443115 + ], + "joints": [ + 0.015624487772583961 + ] + }, + "final_grasp": { + "position": [ + 0.015011414885520935, + 0.02307267114520073, + 0.130585178732872 + ], + "orientation": [ + 0.030420072376728058, + 0.9950008988380432, + 0.06022730469703674, + -0.07362401485443115 + ], + "joints": [ + 0.006032416597008705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06959851086139679, + -0.09977556020021439, + 0.06778600066900253 + ], + "orientation": [ + 0.550826370716095, + -0.7126520872116089, + -0.4311862587928772, + -0.05287541449069977 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.06796619296073914, + -0.0965472087264061, + 0.06610918045043945 + ], + "orientation": [ + 0.5482463240623474, + -0.7127428650856018, + -0.43486130237579346, + -0.048158910125494 + ], + "joints": [ + 0.02820822224020958 + ] + }, + "final_grasp": { + "position": [ + 0.06796619296073914, + -0.0965472087264061, + 0.06610918045043945 + ], + "orientation": [ + 0.5482463240623474, + -0.7127428650856018, + -0.43486130237579346, + -0.048158910125494 + ], + "joints": [ + 0.021416444331407547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12179333716630936, + -0.009135114029049873, + -0.03959685191512108 + ], + "orientation": [ + 0.7774619460105896, + -0.041815098375082016, + -0.6183386445045471, + -0.10706014931201935 + ], + "joints": [ + 0.024892445653676987 + ] + }, + "fine_grasp": { + "position": [ + 0.11833460628986359, + -0.008616557344794273, + -0.03861967846751213 + ], + "orientation": [ + 0.7740433216094971, + -0.032543838024139404, + -0.6212334632873535, + -0.11775723099708557 + ], + "joints": [ + 0.015676531940698624 + ] + }, + "final_grasp": { + "position": [ + 0.11833460628986359, + -0.008616557344794273, + -0.03861967846751213 + ], + "orientation": [ + 0.7740433216094971, + -0.032543838024139404, + -0.6212334632873535, + -0.11775723099708557 + ], + "joints": [ + 0.006460618227720261 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021014221012592316, + 0.03201707825064659, + 0.1303238570690155 + ], + "orientation": [ + 0.06370338052511215, + 0.9837335348129272, + -0.07633417099714279, + 0.14961063861846924 + ], + "joints": [ + 0.025162963196635246 + ] + }, + "fine_grasp": { + "position": [ + -0.020563660189509392, + 0.03180255368351936, + 0.12679292261600494 + ], + "orientation": [ + 0.06469158828258514, + 0.9840623736381531, + -0.07370275259017944, + 0.14833800494670868 + ], + "joints": [ + 0.015988847240805626 + ] + }, + "final_grasp": { + "position": [ + -0.020563660189509392, + 0.03180255368351936, + 0.12679292261600494 + ], + "orientation": [ + 0.06469158828258514, + 0.9840623736381531, + -0.07370275259017944, + 0.14833800494670868 + ], + "joints": [ + 0.0068147312849760056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10989617556333542, + 0.015236499719321728, + -0.08009582757949829 + ], + "orientation": [ + 0.8776299953460693, + -0.051512181758880615, + 0.4673977494239807, + -0.09301294386386871 + ], + "joints": [ + 0.025246527045965195 + ] + }, + "fine_grasp": { + "position": [ + -0.10689319670200348, + 0.015356488525867462, + -0.07773946970701218 + ], + "orientation": [ + 0.8797740936279297, + -0.0521053746342659, + 0.4622720777988434, + -0.0979127585887909 + ], + "joints": [ + 0.01565445587038994 + ] + }, + "final_grasp": { + "position": [ + -0.10689319670200348, + 0.015356488525867462, + -0.07773946970701218 + ], + "orientation": [ + 0.8797740936279297, + -0.0521053746342659, + 0.4622720777988434, + -0.0979127585887909 + ], + "joints": [ + 0.006062384694814682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12237764149904251, + 0.06049906089901924, + -0.06975990533828735 + ], + "orientation": [ + 0.5568934679031372, + 0.4941278398036957, + -0.15702369809150696, + -0.6488843560218811 + ], + "joints": [ + 0.03449058160185814 + ] + }, + "fine_grasp": { + "position": [ + 0.11934950947761536, + 0.05888286605477333, + -0.06825590133666992 + ], + "orientation": [ + 0.5578077435493469, + 0.496222585439682, + -0.1563488245010376, + -0.6466597318649292 + ], + "joints": [ + 0.026904691010713577 + ] + }, + "final_grasp": { + "position": [ + 0.11934950947761536, + 0.05888286605477333, + -0.06825590133666992 + ], + "orientation": [ + 0.5578077435493469, + 0.496222585439682, + -0.1563488245010376, + -0.6466597318649292 + ], + "joints": [ + 0.019318800419569016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14066115021705627, + 0.03830360248684883, + 0.003941250499337912 + ], + "orientation": [ + 0.11216820776462555, + 0.7102731466293335, + 0.014971106313169003, + -0.6947705745697021 + ], + "joints": [ + 0.024918098002672195 + ] + }, + "fine_grasp": { + "position": [ + 0.1368209570646286, + 0.037631090730428696, + 0.0037055788561701775 + ], + "orientation": [ + 0.11148012429475784, + 0.7113003134727478, + 0.013582286424934864, + -0.6938584446907043 + ], + "joints": [ + 0.015723083168268204 + ] + }, + "final_grasp": { + "position": [ + 0.1368209570646286, + 0.037631090730428696, + 0.0037055788561701775 + ], + "orientation": [ + 0.11148012429475784, + 0.7113003134727478, + 0.013582286424934864, + -0.6938584446907043 + ], + "joints": [ + 0.006528068333864212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07034177333116531, + 0.03510040417313576, + -0.10311994701623917 + ], + "orientation": [ + 0.9603332281112671, + 0.05930836498737335, + 0.25566843152046204, + -0.09421392530202866 + ], + "joints": [ + 0.026213664561510086 + ] + }, + "fine_grasp": { + "position": [ + -0.0682988092303276, + 0.035315003246068954, + -0.10204662382602692 + ], + "orientation": [ + 0.9599499702453613, + 0.060964807868003845, + 0.2538583278656006, + -0.10166231542825699 + ], + "joints": [ + 0.017018649727106094 + ] + }, + "final_grasp": { + "position": [ + -0.0682988092303276, + 0.035315003246068954, + -0.10204662382602692 + ], + "orientation": [ + 0.9599499702453613, + 0.060964807868003845, + 0.2538583278656006, + -0.10166231542825699 + ], + "joints": [ + 0.007823634892702103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1077202633023262, + 0.021639620885252953, + -0.0972607210278511 + ], + "orientation": [ + 0.11100036650896072, + -0.41106903553009033, + -0.07955051213502884, + 0.9013172388076782 + ], + "joints": [ + 0.025001419708132744 + ] + }, + "fine_grasp": { + "position": [ + 0.10476499795913696, + 0.021298110485076904, + -0.09513907879590988 + ], + "orientation": [ + 0.11124362051486969, + -0.41519176959991455, + -0.08132965862751007, + 0.8992365002632141 + ], + "joints": [ + 0.01415548287332058 + ] + }, + "final_grasp": { + "position": [ + 0.10476499795913696, + 0.021298110485076904, + -0.09513907879590988 + ], + "orientation": [ + 0.11124362051486969, + -0.41519176959991455, + -0.08132965862751007, + 0.8992365002632141 + ], + "joints": [ + 0.0033095460385084152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08841132372617722, + -0.03339846059679985, + -0.10032659769058228 + ], + "orientation": [ + 0.9003965258598328, + -0.1509077548980713, + -0.3845730423927307, + -0.13644272089004517 + ], + "joints": [ + 0.024583088234066963 + ] + }, + "fine_grasp": { + "position": [ + 0.08596625179052353, + -0.032022625207901, + -0.09788110852241516 + ], + "orientation": [ + 0.8997642397880554, + -0.14913193881511688, + -0.3862585723400116, + -0.13779841363430023 + ], + "joints": [ + 0.015764230862259865 + ] + }, + "final_grasp": { + "position": [ + 0.08596625179052353, + -0.032022625207901, + -0.09788110852241516 + ], + "orientation": [ + 0.8997642397880554, + -0.14913193881511688, + -0.3862585723400116, + -0.13779841363430023 + ], + "joints": [ + 0.006945373490452766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051541127264499664, + 0.02787460759282112, + -0.12402142584323883 + ], + "orientation": [ + 0.9917412400245667, + 0.05018626153469086, + 0.11548355966806412, + -0.024374986067414284 + ], + "joints": [ + 0.023468606173992157 + ] + }, + "fine_grasp": { + "position": [ + -0.04967914894223213, + 0.027623368427157402, + -0.12093249708414078 + ], + "orientation": [ + 0.9911227822303772, + 0.04950929060578346, + 0.12102095782756805, + -0.024048486724495888 + ], + "joints": [ + 0.014691546559333801 + ] + }, + "final_grasp": { + "position": [ + -0.04967914894223213, + 0.027623368427157402, + -0.12093249708414078 + ], + "orientation": [ + 0.9911227822303772, + 0.04950929060578346, + 0.12102095782756805, + -0.024048486724495888 + ], + "joints": [ + 0.0059144869446754456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047333791851997375, + -0.07799234986305237, + -0.0986243411898613 + ], + "orientation": [ + 0.36253687739372253, + -0.01777069829404354, + 0.4121231734752655, + 0.8357067108154297 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.045825399458408356, + -0.07569238543510437, + -0.09569084644317627 + ], + "orientation": [ + 0.36568108201026917, + -0.013633284717798233, + 0.4093835949897766, + 0.8357610702514648 + ], + "joints": [ + 0.027017053216695786 + ] + }, + "final_grasp": { + "position": [ + -0.045825399458408356, + -0.07569238543510437, + -0.09569084644317627 + ], + "orientation": [ + 0.36568108201026917, + -0.013633284717798233, + 0.4093835949897766, + 0.8357610702514648 + ], + "joints": [ + 0.01903410628437996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07271302491426468, + -0.04511801525950432, + -0.10449221730232239 + ], + "orientation": [ + 0.04718440771102905, + -0.26141485571861267, + 0.23582717776298523, + 0.9347842335700989 + ], + "joints": [ + 0.025179659947752953 + ] + }, + "fine_grasp": { + "position": [ + 0.07072880864143372, + -0.043485578149557114, + -0.10185264050960541 + ], + "orientation": [ + 0.045303650200366974, + -0.2619188129901886, + 0.23342391848564148, + 0.9353392124176025 + ], + "joints": [ + 0.015545791015028954 + ] + }, + "final_grasp": { + "position": [ + 0.07072880864143372, + -0.043485578149557114, + -0.10185264050960541 + ], + "orientation": [ + 0.045303650200366974, + -0.2619188129901886, + 0.23342391848564148, + 0.9353392124176025 + ], + "joints": [ + 0.0059119220823049545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05171288922429085, + 0.02766774594783783, + -0.1242324560880661 + ], + "orientation": [ + 0.9917425513267517, + 0.0495704784989357, + 0.11605879664421082, + -0.0227989312261343 + ], + "joints": [ + 0.023444227874279022 + ] + }, + "fine_grasp": { + "position": [ + -0.04984285682439804, + 0.02742910012602806, + -0.12110566347837448 + ], + "orientation": [ + 0.9911327362060547, + 0.048852160573005676, + 0.12149400264024734, + -0.022553401067852974 + ], + "joints": [ + 0.014667168259620667 + ] + }, + "final_grasp": { + "position": [ + -0.04984285682439804, + 0.02742910012602806, + -0.12110566347837448 + ], + "orientation": [ + 0.9911327362060547, + 0.048852160573005676, + 0.12149400264024734, + -0.022553401067852974 + ], + "joints": [ + 0.005890108644962311 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10066530853509903, + 0.06439895927906036, + -0.09693840891122818 + ], + "orientation": [ + 0.7812021970748901, + 0.3859342932701111, + -0.1776740849018097, + -0.45739445090293884 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.09805184602737427, + 0.06331552565097809, + -0.09436812251806259 + ], + "orientation": [ + 0.7801619172096252, + 0.3832913637161255, + -0.18104217946529388, + -0.4600641429424286 + ], + "joints": [ + 0.026301495730876923 + ] + }, + "final_grasp": { + "position": [ + 0.09805184602737427, + 0.06331552565097809, + -0.09436812251806259 + ], + "orientation": [ + 0.7801619172096252, + 0.3832913637161255, + -0.18104217946529388, + -0.4600641429424286 + ], + "joints": [ + 0.018297649919986725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07246025651693344, + -0.0448230616748333, + -0.10407702624797821 + ], + "orientation": [ + 0.044536855071783066, + -0.2613826394081116, + 0.23597726225852966, + 0.9348852038383484 + ], + "joints": [ + 0.025007830932736397 + ] + }, + "fine_grasp": { + "position": [ + 0.07049708813428879, + -0.043188173323869705, + -0.10143586993217468 + ], + "orientation": [ + 0.04263967275619507, + -0.26174989342689514, + 0.23313617706298828, + 0.9355834722518921 + ], + "joints": [ + 0.015771018341183662 + ] + }, + "final_grasp": { + "position": [ + 0.07049708813428879, + -0.043188173323869705, + -0.10143586993217468 + ], + "orientation": [ + 0.04263967275619507, + -0.26174989342689514, + 0.23313617706298828, + 0.9355834722518921 + ], + "joints": [ + 0.006534205749630928 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13037356734275818, + -0.05388835817575455, + 0.012423661537468433 + ], + "orientation": [ + 0.6396224498748779, + -0.191542387008667, + -0.7158764600753784, + -0.20424407720565796 + ], + "joints": [ + 0.02545999176800251 + ] + }, + "fine_grasp": { + "position": [ + 0.12697874009609222, + -0.052478328347206116, + 0.012083780951797962 + ], + "orientation": [ + 0.6426206827163696, + -0.18380804359912872, + -0.7176083922386169, + -0.19568222761154175 + ], + "joints": [ + 0.013819942250847816 + ] + }, + "final_grasp": { + "position": [ + 0.12697874009609222, + -0.052478328347206116, + 0.012083780951797962 + ], + "orientation": [ + 0.6426206827163696, + -0.18380804359912872, + -0.7176083922386169, + -0.19568222761154175 + ], + "joints": [ + 0.002179892733693123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1279592365026474, + -0.04226544871926308, + 0.0376293882727623 + ], + "orientation": [ + 0.15890157222747803, + 0.5377174019813538, + 0.5312371253967285, + 0.6351357102394104 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.12449678778648376, + -0.04149019718170166, + 0.03701339289546013 + ], + "orientation": [ + 0.16925321519374847, + 0.5445806980133057, + 0.5302671194076538, + 0.6273770332336426 + ], + "joints": [ + 0.02268359623849392 + ] + }, + "final_grasp": { + "position": [ + -0.12449678778648376, + -0.04149019718170166, + 0.03701339289546013 + ], + "orientation": [ + 0.16925321519374847, + 0.5445806980133057, + 0.5302671194076538, + 0.6273770332336426 + ], + "joints": [ + 0.014303592965006828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0671599954366684, + -0.09011900424957275, + -0.03182772919535637 + ], + "orientation": [ + 0.6674309372901917, + -0.6626806855201721, + -0.06047955900430679, + -0.3342640697956085 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.06438174843788147, + -0.08790820837020874, + -0.03045828826725483 + ], + "orientation": [ + 0.6683444976806641, + -0.6544254422187805, + -0.05171189457178116, + -0.34981265664100647 + ], + "joints": [ + 0.0244666188955307 + ] + }, + "final_grasp": { + "position": [ + -0.06438174843788147, + -0.08790820837020874, + -0.03045828826725483 + ], + "orientation": [ + 0.6683444976806641, + -0.6544254422187805, + -0.05171189457178116, + -0.34981265664100647 + ], + "joints": [ + 0.016943424940109253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00372559973038733, + 0.023723697289824486, + 0.13017523288726807 + ], + "orientation": [ + 0.021860921755433083, + -0.08527971059083939, + 0.9954231977462769, + -0.03717506676912308 + ], + "joints": [ + 0.025812610983848572 + ] + }, + "fine_grasp": { + "position": [ + -0.0035107722505927086, + 0.023550989106297493, + 0.12758591771125793 + ], + "orientation": [ + 0.022323470562696457, + -0.09657646715641022, + 0.994304895401001, + -0.039145052433013916 + ], + "joints": [ + 0.015781685709953308 + ] + }, + "final_grasp": { + "position": [ + -0.0035107722505927086, + 0.023550989106297493, + 0.12758591771125793 + ], + "orientation": [ + 0.022323470562696457, + -0.09657646715641022, + 0.994304895401001, + -0.039145052433013916 + ], + "joints": [ + 0.005750760436058044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02165542170405388, + 0.032301899045705795, + 0.13210779428482056 + ], + "orientation": [ + 0.0626484751701355, + 0.9829607009887695, + -0.08881351351737976, + 0.14824175834655762 + ], + "joints": [ + 0.024839166551828384 + ] + }, + "fine_grasp": { + "position": [ + -0.02089235559105873, + 0.032562725245952606, + 0.1284978985786438 + ], + "orientation": [ + 0.06430289894342422, + 0.9832122325897217, + -0.08671689033508301, + 0.14710237085819244 + ], + "joints": [ + 0.01606210693717003 + ] + }, + "final_grasp": { + "position": [ + -0.02089235559105873, + 0.032562725245952606, + 0.1284978985786438 + ], + "orientation": [ + 0.06430289894342422, + 0.9832122325897217, + -0.08671689033508301, + 0.14710237085819244 + ], + "joints": [ + 0.007285047322511673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13051721453666687, + 0.01545174140483141, + 0.02545621618628502 + ], + "orientation": [ + 0.15361830592155457, + 0.8075928092002869, + 0.18982329964637756, + 0.5368075370788574 + ], + "joints": [ + 0.022223902866244316 + ] + }, + "fine_grasp": { + "position": [ + -0.12713448703289032, + 0.01598086766898632, + 0.025394773110747337 + ], + "orientation": [ + 0.14951497316360474, + 0.8029823899269104, + 0.19346018135547638, + 0.5435418486595154 + ], + "joints": [ + 0.013864798471331596 + ] + }, + "final_grasp": { + "position": [ + -0.12713448703289032, + 0.01598086766898632, + 0.025394773110747337 + ], + "orientation": [ + 0.14951497316360474, + 0.8029823899269104, + 0.19346018135547638, + 0.5435418486595154 + ], + "joints": [ + 0.005505694076418877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07316362112760544, + 0.04550875723361969, + 0.11907633394002914 + ], + "orientation": [ + 0.28523150086402893, + -0.02615528553724289, + 0.9487816095352173, + -0.13331344723701477 + ], + "joints": [ + 0.025356829166412354 + ] + }, + "fine_grasp": { + "position": [ + -0.07127635180950165, + 0.04498448222875595, + 0.11579159647226334 + ], + "orientation": [ + 0.28366124629974365, + -0.028672030195593834, + 0.9486579298973083, + -0.13697583973407745 + ], + "joints": [ + 0.016579769551753998 + ] + }, + "final_grasp": { + "position": [ + -0.07127635180950165, + 0.04498448222875595, + 0.11579159647226334 + ], + "orientation": [ + 0.28366124629974365, + -0.028672030195593834, + 0.9486579298973083, + -0.13697583973407745 + ], + "joints": [ + 0.007802709937095642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12065812200307846, + 0.025762364268302917, + 0.058556701987981796 + ], + "orientation": [ + 0.02037111669778824, + -0.8008944988250732, + 0.10270839929580688, + -0.5895796418190002 + ], + "joints": [ + 0.024149535223841667 + ] + }, + "fine_grasp": { + "position": [ + -0.11733869463205338, + 0.025812465697526932, + 0.05708371475338936 + ], + "orientation": [ + 0.017731377854943275, + -0.8022744059562683, + 0.10186664760112762, + -0.5879325270652771 + ], + "joints": [ + 0.015372475609183311 + ] + }, + "final_grasp": { + "position": [ + -0.11733869463205338, + 0.025812465697526932, + 0.05708371475338936 + ], + "orientation": [ + 0.017731377854943275, + -0.8022744059562683, + 0.10186664760112762, + -0.5879325270652771 + ], + "joints": [ + 0.006595415994524956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02810949832201004, + -0.09102712571620941, + -0.07279963791370392 + ], + "orientation": [ + 0.12344710528850555, + -0.2795015871524811, + 0.44488614797592163, + 0.8418526649475098 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.02806464023888111, + -0.0885409489274025, + -0.07031214982271194 + ], + "orientation": [ + 0.12965193390846252, + -0.27281033992767334, + 0.4421525001525879, + 0.8445507884025574 + ], + "joints": [ + 0.024283569306135178 + ] + }, + "final_grasp": { + "position": [ + 0.02806464023888111, + -0.0885409489274025, + -0.07031214982271194 + ], + "orientation": [ + 0.12965193390846252, + -0.27281033992767334, + 0.4421525001525879, + 0.8445507884025574 + ], + "joints": [ + 0.015882667154073715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13389593362808228, + 0.038341205567121506, + -0.02690190076828003 + ], + "orientation": [ + 0.04520757496356964, + 0.629291832447052, + 0.0815688818693161, + -0.7715532779693604 + ], + "joints": [ + 0.02538120746612549 + ] + }, + "fine_grasp": { + "position": [ + 0.13016119599342346, + 0.037732165306806564, + -0.025851642712950706 + ], + "orientation": [ + 0.046244390308856964, + 0.6274667978286743, + 0.08209531754255295, + -0.7729212641716003 + ], + "joints": [ + 0.016186192631721497 + ] + }, + "final_grasp": { + "position": [ + 0.13016119599342346, + 0.037732165306806564, + -0.025851642712950706 + ], + "orientation": [ + 0.046244390308856964, + 0.6274667978286743, + 0.08209531754255295, + -0.7729212641716003 + ], + "joints": [ + 0.006991177797317505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0393366813659668, + 0.0570160374045372, + 0.14381569623947144 + ], + "orientation": [ + 0.17983883619308472, + 0.9705872535705566, + 0.11841274052858353, + 0.10768833756446838 + ], + "joints": [ + 0.024348512291908264 + ] + }, + "fine_grasp": { + "position": [ + -0.038102272897958755, + 0.055796802043914795, + 0.14046773314476013 + ], + "orientation": [ + 0.18025949597358704, + 0.9685160517692566, + 0.12419237941503525, + 0.11857160180807114 + ], + "joints": [ + 0.015090800821781158 + ] + }, + "final_grasp": { + "position": [ + -0.038102272897958755, + 0.055796802043914795, + 0.14046773314476013 + ], + "orientation": [ + 0.18025949597358704, + 0.9685160517692566, + 0.12419237941503525, + 0.11857160180807114 + ], + "joints": [ + 0.005833089351654053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02771204710006714, + 0.11294176429510117, + 0.0861382931470871 + ], + "orientation": [ + 0.28814858198165894, + 0.6160205602645874, + -0.5854989290237427, + 0.44122567772865295 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.026675701141357422, + 0.11041451245546341, + 0.08369996398687363 + ], + "orientation": [ + 0.27386239171028137, + 0.6238362193107605, + -0.5896567106246948, + 0.43374261260032654 + ], + "joints": [ + 0.022728748619556427 + ] + }, + "final_grasp": { + "position": [ + -0.026675701141357422, + 0.11041451245546341, + 0.08369996398687363 + ], + "orientation": [ + 0.27386239171028137, + 0.6238362193107605, + -0.5896567106246948, + 0.43374261260032654 + ], + "joints": [ + 0.0139307901263237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02848920039832592, + -0.11566507816314697, + 0.029497213661670685 + ], + "orientation": [ + 0.6509568691253662, + -0.7192869186401367, + -0.18598908185958862, + -0.1558510661125183 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.027364371344447136, + -0.11200397461652756, + 0.028521813452243805 + ], + "orientation": [ + 0.6469337940216064, + -0.7213866710662842, + -0.19926530122756958, + -0.14618901908397675 + ], + "joints": [ + 0.026232093572616577 + ] + }, + "final_grasp": { + "position": [ + 0.027364371344447136, + -0.11200397461652756, + 0.028521813452243805 + ], + "orientation": [ + 0.6469337940216064, + -0.7213866710662842, + -0.19926530122756958, + -0.14618901908397675 + ], + "joints": [ + 0.019085057079792023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0762367770075798, + -0.06404417008161545, + 0.08433825522661209 + ], + "orientation": [ + 0.16186776757240295, + -0.7374932169914246, + 0.4039243459701538, + 0.5164762735366821 + ], + "joints": [ + 0.026895614340901375 + ] + }, + "fine_grasp": { + "position": [ + 0.07406076043844223, + -0.06233236938714981, + 0.08210310339927673 + ], + "orientation": [ + 0.15300731360912323, + -0.7405336499214172, + 0.4140767455101013, + 0.5066942572593689 + ], + "joints": [ + 0.019372420385479927 + ] + }, + "final_grasp": { + "position": [ + 0.07406076043844223, + -0.06233236938714981, + 0.08210310339927673 + ], + "orientation": [ + 0.15300731360912323, + -0.7405336499214172, + 0.4140767455101013, + 0.5066942572593689 + ], + "joints": [ + 0.01184922643005848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0482877679169178, + 0.12023771554231644, + -0.049206074327230453 + ], + "orientation": [ + 0.001354690408334136, + 0.3414662480354309, + -0.5152002573013306, + 0.786109209060669 + ], + "joints": [ + 0.03201296925544739 + ] + }, + "fine_grasp": { + "position": [ + -0.04851273074746132, + 0.11751745641231537, + -0.046872757375240326 + ], + "orientation": [ + 0.008761734701693058, + 0.33139821887016296, + -0.5133881568908691, + 0.7915372252464294 + ], + "joints": [ + 0.024406179785728455 + ] + }, + "final_grasp": { + "position": [ + -0.04851273074746132, + 0.11751745641231537, + -0.046872757375240326 + ], + "orientation": [ + 0.008761734701693058, + 0.33139821887016296, + -0.5133881568908691, + 0.7915372252464294 + ], + "joints": [ + 0.01679939031600952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11971244215965271, + -0.05780760571360588, + -0.040705084800720215 + ], + "orientation": [ + 0.5814892053604126, + -0.6215907335281372, + -0.13121965527534485, + 0.5082092881202698 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.1165720596909523, + -0.05658167228102684, + -0.039684925228357315 + ], + "orientation": [ + 0.5808371305465698, + -0.6187772750854492, + -0.13677147030830383, + 0.5109172463417053 + ], + "joints": [ + 0.025838389992713928 + ] + }, + "final_grasp": { + "position": [ + 0.1165720596909523, + -0.05658167228102684, + -0.039684925228357315 + ], + "orientation": [ + 0.5808371305465698, + -0.6187772750854492, + -0.13677147030830383, + 0.5109172463417053 + ], + "joints": [ + 0.01783454418182373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04436652362346649, + -0.08720637857913971, + -0.05426503345370293 + ], + "orientation": [ + 0.5161242485046387, + -0.5590207576751709, + -0.2848139703273773, + -0.583088755607605 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.04326201230287552, + -0.08526412397623062, + -0.05234094336628914 + ], + "orientation": [ + 0.5213263630867004, + -0.5490534901618958, + -0.28037822246551514, + -0.590039849281311 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + -0.04326201230287552, + -0.08526412397623062, + -0.05234094336628914 + ], + "orientation": [ + 0.5213263630867004, + -0.5490534901618958, + -0.28037822246551514, + -0.590039849281311 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13190564513206482, + 0.012370388023555279, + 0.0732312798500061 + ], + "orientation": [ + 0.35847708582878113, + 0.6590903401374817, + -0.5536956787109375, + -0.36126914620399475 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.1286274790763855, + 0.012720946222543716, + 0.07151433825492859 + ], + "orientation": [ + 0.3537418842315674, + 0.6552635431289673, + -0.5567318797111511, + -0.3681658208370209 + ], + "joints": [ + 0.026698552072048187 + ] + }, + "final_grasp": { + "position": [ + 0.1286274790763855, + 0.012720946222543716, + 0.07151433825492859 + ], + "orientation": [ + 0.3537418842315674, + 0.6552635431289673, + -0.5567318797111511, + -0.3681658208370209 + ], + "joints": [ + 0.019091762602329254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02771582454442978, + 0.11317673325538635, + 0.08618263900279999 + ], + "orientation": [ + 0.28779056668281555, + 0.6167713403701782, + -0.5856010317802429, + 0.4402739107608795 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.026708150282502174, + 0.11059688776731491, + 0.08378127962350845 + ], + "orientation": [ + 0.2739429473876953, + 0.6244887113571167, + -0.5894711017608643, + 0.4330044984817505 + ], + "joints": [ + 0.023146703839302063 + ] + }, + "final_grasp": { + "position": [ + -0.026708150282502174, + 0.11059688776731491, + 0.08378127962350845 + ], + "orientation": [ + 0.2739429473876953, + 0.6244887113571167, + -0.5894711017608643, + 0.4330044984817505 + ], + "joints": [ + 0.014766700565814972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006500047631561756, + -0.11027587205171585, + -0.02472880855202675 + ], + "orientation": [ + 0.50162672996521, + -0.4926098585128784, + -0.5242944359779358, + -0.48043903708457947 + ], + "joints": [ + 0.03340228646993637 + ] + }, + "fine_grasp": { + "position": [ + 0.006168554536998272, + -0.10678157955408096, + -0.023030875250697136 + ], + "orientation": [ + 0.5089811086654663, + -0.48546844720840454, + -0.517991840839386, + -0.4867679476737976 + ], + "joints": [ + 0.024604327976703644 + ] + }, + "final_grasp": { + "position": [ + 0.006168554536998272, + -0.10678157955408096, + -0.023030875250697136 + ], + "orientation": [ + 0.5089811086654663, + -0.48546844720840454, + -0.517991840839386, + -0.4867679476737976 + ], + "joints": [ + 0.015806369483470917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1317865252494812, + 0.010138353332877159, + 0.0047456929460167885 + ], + "orientation": [ + 0.16019199788570404, + 0.7542283535003662, + 0.2042541205883026, + 0.6031238436698914 + ], + "joints": [ + 0.02328609675168991 + ] + }, + "fine_grasp": { + "position": [ + -0.12825122475624084, + 0.010699701495468616, + 0.00504264235496521 + ], + "orientation": [ + 0.15959717333316803, + 0.7460994124412537, + 0.20477963984012604, + 0.613131046295166 + ], + "joints": [ + 0.014509037137031555 + ] + }, + "final_grasp": { + "position": [ + -0.12825122475624084, + 0.010699701495468616, + 0.00504264235496521 + ], + "orientation": [ + 0.15959717333316803, + 0.7460994124412537, + 0.20477963984012604, + 0.613131046295166 + ], + "joints": [ + 0.0057319775223731995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1089681014418602, + 0.0683361291885376, + -0.08650916814804077 + ], + "orientation": [ + 0.7572452425956726, + 0.42445138096809387, + -0.2003694325685501, + -0.45417261123657227 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + 0.10616501420736313, + 0.06694886833429337, + -0.084315225481987 + ], + "orientation": [ + 0.7566239833831787, + 0.42247363924980164, + -0.20209309458732605, + -0.4562835693359375 + ], + "joints": [ + 0.026464741677045822 + ] + }, + "final_grasp": { + "position": [ + 0.10616501420736313, + 0.06694886833429337, + -0.084315225481987 + ], + "orientation": [ + 0.7566239833831787, + 0.42247363924980164, + -0.20209309458732605, + -0.4562835693359375 + ], + "joints": [ + 0.01887885108590126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09174460917711258, + -0.080621637403965, + -0.051343884319067 + ], + "orientation": [ + 0.4288020431995392, + 0.02259483002126217, + 0.6065645217895508, + 0.669102132320404 + ], + "joints": [ + 0.03340228646993637 + ] + }, + "fine_grasp": { + "position": [ + -0.08879879117012024, + -0.07888562232255936, + -0.049760930240154266 + ], + "orientation": [ + 0.43513616919517517, + 0.03199941664934158, + 0.6026776432991028, + 0.6681409478187561 + ], + "joints": [ + 0.025398440659046173 + ] + }, + "final_grasp": { + "position": [ + -0.08879879117012024, + -0.07888562232255936, + -0.049760930240154266 + ], + "orientation": [ + 0.43513616919517517, + 0.03199941664934158, + 0.6026776432991028, + 0.6681409478187561 + ], + "joints": [ + 0.017394594848155975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006996179930865765, + -0.023724760860204697, + -0.15080302953720093 + ], + "orientation": [ + 0.7912944555282593, + -0.11091352999210358, + -0.04560220241546631, + -0.5995596647262573 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.0066650668159127235, + -0.02269245684146881, + -0.14739331603050232 + ], + "orientation": [ + 0.7910122871398926, + -0.11233148723840714, + -0.044960323721170425, + -0.5997164249420166 + ], + "joints": [ + 0.022596582770347595 + ] + }, + "final_grasp": { + "position": [ + -0.0066650668159127235, + -0.02269245684146881, + -0.14739331603050232 + ], + "orientation": [ + 0.7910122871398926, + -0.11233148723840714, + -0.044960323721170425, + -0.5997164249420166 + ], + "joints": [ + 0.013735927641391754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12477739155292511, + -0.011940576136112213, + -0.07585969567298889 + ], + "orientation": [ + 0.900810182094574, + -0.02064448595046997, + -0.40985897183418274, + -0.14188122749328613 + ], + "joints": [ + 0.019717426970601082 + ] + }, + "fine_grasp": { + "position": [ + 0.1216026246547699, + -0.010692429728806019, + -0.07430770993232727 + ], + "orientation": [ + 0.8966996073722839, + -0.02552654594182968, + -0.41764384508132935, + -0.1444016993045807 + ], + "joints": [ + 0.009665602818131447 + ] + }, + "final_grasp": { + "position": [ + 0.1216026246547699, + -0.010692429728806019, + -0.07430770993232727 + ], + "orientation": [ + 0.8966996073722839, + -0.02552654594182968, + -0.41764384508132935, + -0.1444016993045807 + ], + "joints": [ + -0.00038622133433818817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029548419639468193, + -0.09032341837882996, + -0.07639822363853455 + ], + "orientation": [ + 0.47633662819862366, + -0.4463820159435272, + -0.3388175368309021, + -0.6775316596031189 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + -0.02901153452694416, + -0.08773256093263626, + -0.07360947132110596 + ], + "orientation": [ + 0.4822084903717041, + -0.43919989466667175, + -0.33507832884788513, + -0.6799272894859314 + ], + "joints": [ + 0.022199587896466255 + ] + }, + "final_grasp": { + "position": [ + -0.02901153452694416, + -0.08773256093263626, + -0.07360947132110596 + ], + "orientation": [ + 0.4822084903717041, + -0.43919989466667175, + -0.33507832884788513, + -0.6799272894859314 + ], + "joints": [ + 0.013798685744404793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02016589790582657, + 0.016858192160725594, + 0.13552553951740265 + ], + "orientation": [ + 0.08474667370319366, + 0.02252618409693241, + 0.9961440563201904, + -0.0027646003291010857 + ], + "joints": [ + 0.024604881182312965 + ] + }, + "fine_grasp": { + "position": [ + -0.019820839166641235, + 0.016676856204867363, + 0.13190723955631256 + ], + "orientation": [ + 0.08201450109481812, + 0.022875098511576653, + 0.9963651299476624, + -0.0026359292678534985 + ], + "joints": [ + 0.015012810006737709 + ] + }, + "final_grasp": { + "position": [ + -0.019820839166641235, + 0.016676856204867363, + 0.13190723955631256 + ], + "orientation": [ + 0.08201450109481812, + 0.022875098511576653, + 0.9963651299476624, + -0.0026359292678534985 + ], + "joints": [ + 0.005420738831162453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017863599583506584, + -0.09323877096176147, + 0.06453422456979752 + ], + "orientation": [ + 0.46807998418807983, + -0.5460136532783508, + 0.5890946984291077, + 0.36842596530914307 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.017123565077781677, + -0.09032454341650009, + 0.06203360855579376 + ], + "orientation": [ + 0.4564265012741089, + -0.5528646111488342, + 0.595883309841156, + 0.3618542551994324 + ], + "joints": [ + 0.023167602717876434 + ] + }, + "final_grasp": { + "position": [ + -0.017123565077781677, + -0.09032454341650009, + 0.06203360855579376 + ], + "orientation": [ + 0.4564265012741089, + -0.5528646111488342, + 0.595883309841156, + 0.3618542551994324 + ], + "joints": [ + 0.014808498322963715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045276422053575516, + -0.10672802478075027, + -0.057165782898664474 + ], + "orientation": [ + 0.49784424901008606, + -0.5472082495689392, + 0.32670968770980835, + 0.5881963968276978 + ], + "joints": [ + 0.029627958312630653 + ] + }, + "fine_grasp": { + "position": [ + 0.043798115104436874, + -0.10367755591869354, + -0.055440425872802734 + ], + "orientation": [ + 0.49937543272972107, + -0.5443504452705383, + 0.32221171259880066, + 0.5920189619064331 + ], + "joints": [ + 0.02039114572107792 + ] + }, + "final_grasp": { + "position": [ + 0.043798115104436874, + -0.10367755591869354, + -0.055440425872802734 + ], + "orientation": [ + 0.49937543272972107, + -0.5443504452705383, + 0.32221171259880066, + 0.5920189619064331 + ], + "joints": [ + 0.011154333129525185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002668632660061121, + -0.03503959998488426, + -0.13990937173366547 + ], + "orientation": [ + 0.6292622685432434, + -0.11651352047920227, + -0.12746255099773407, + -0.7577643990516663 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.0025812098756432533, + -0.03348691388964653, + -0.13623309135437012 + ], + "orientation": [ + 0.6292265057563782, + -0.11699189245700836, + -0.1280525177717209, + -0.7576209902763367 + ], + "joints": [ + 0.027182556688785553 + ] + }, + "final_grasp": { + "position": [ + -0.0025812098756432533, + -0.03348691388964653, + -0.13623309135437012 + ], + "orientation": [ + 0.6292265057563782, + -0.11699189245700836, + -0.1280525177717209, + -0.7576209902763367 + ], + "joints": [ + 0.01959666609764099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04452625662088394, + -0.0875367671251297, + -0.05444476380944252 + ], + "orientation": [ + 0.5104163885116577, + -0.5568823218345642, + -0.28739091753959656, + -0.5888664722442627 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.04340560361742973, + -0.08535562455654144, + -0.05245568975806236 + ], + "orientation": [ + 0.516011655330658, + -0.546705424785614, + -0.28342998027801514, + -0.5954096913337708 + ], + "joints": [ + 0.022145289927721024 + ] + }, + "final_grasp": { + "position": [ + -0.04340560361742973, + -0.08535562455654144, + -0.05245568975806236 + ], + "orientation": [ + 0.516011655330658, + -0.546705424785614, + -0.28342998027801514, + -0.5954096913337708 + ], + "joints": [ + 0.012532319873571396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022482609376311302, + 0.07266240566968918, + -0.13774468004703522 + ], + "orientation": [ + 0.7598719000816345, + 0.1441986858844757, + 0.22283896803855896, + -0.5934173464775085 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.02184593491256237, + 0.07108469307422638, + -0.13447801768779755 + ], + "orientation": [ + 0.7600182890892029, + 0.14280356466770172, + 0.2234390825033188, + -0.5933416485786438 + ], + "joints": [ + 0.023500800132751465 + ] + }, + "final_grasp": { + "position": [ + -0.02184593491256237, + 0.07108469307422638, + -0.13447801768779755 + ], + "orientation": [ + 0.7600182890892029, + 0.14280356466770172, + 0.2234390825033188, + -0.5933416485786438 + ], + "joints": [ + 0.01505810022354126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007017233408987522, + -0.02356933243572712, + -0.1510423719882965 + ], + "orientation": [ + 0.7917263507843018, + -0.11156357824802399, + -0.047399915754795074, + -0.5987288355827332 + ], + "joints": [ + 0.03189718723297119 + ] + }, + "fine_grasp": { + "position": [ + -0.0067000724375247955, + -0.022574186325073242, + -0.14761553704738617 + ], + "orientation": [ + 0.7915136218070984, + -0.11264165490865707, + -0.04680025577545166, + -0.5988553762435913 + ], + "joints": [ + 0.022639475762844086 + ] + }, + "final_grasp": { + "position": [ + -0.0067000724375247955, + -0.022574186325073242, + -0.14761553704738617 + ], + "orientation": [ + 0.7915136218070984, + -0.11264165490865707, + -0.04680025577545166, + -0.5988553762435913 + ], + "joints": [ + 0.01338176429271698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0012477436102926731, + 0.028560776263475418, + -0.15013161301612854 + ], + "orientation": [ + 0.7854207158088684, + 0.05831138789653778, + 0.06185399368405342, + -0.6130971908569336 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.0011193290119990706, + 0.028309306129813194, + -0.14636556804180145 + ], + "orientation": [ + 0.7854894399642944, + 0.056109052151441574, + 0.061864495277404785, + -0.6132135987281799 + ], + "joints": [ + 0.02491101622581482 + ] + }, + "final_grasp": { + "position": [ + -0.0011193290119990706, + 0.028309306129813194, + -0.14636556804180145 + ], + "orientation": [ + 0.7854894399642944, + 0.056109052151441574, + 0.061864495277404785, + -0.6132135987281799 + ], + "joints": [ + 0.016489215195178986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11135200411081314, + 0.015912935137748718, + -0.1008870080113411 + ], + "orientation": [ + 0.6407710313796997, + 0.27241745591163635, + 0.30507728457450867, + 0.6497145891189575 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.10882238298654556, + 0.014704937115311623, + -0.09853773564100266 + ], + "orientation": [ + 0.6432666778564453, + 0.27840861678123474, + 0.2997421622276306, + 0.6471871137619019 + ], + "joints": [ + 0.027306262403726578 + ] + }, + "final_grasp": { + "position": [ + -0.10882238298654556, + 0.014704937115311623, + -0.09853773564100266 + ], + "orientation": [ + 0.6432666778564453, + 0.27840861678123474, + 0.2997421622276306, + 0.6471871137619019 + ], + "joints": [ + 0.020075630396604538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009424470365047455, + -0.09831629693508148, + -0.05117363482713699 + ], + "orientation": [ + 0.37531760334968567, + -0.1643371433019638, + -0.44558361172676086, + -0.79598069190979 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.007436694111675024, + -0.09469159692525864, + -0.05024003982543945 + ], + "orientation": [ + 0.3670465350151062, + -0.18112754821777344, + -0.4506096839904785, + -0.7933602929115295 + ], + "joints": [ + 0.029085930436849594 + ] + }, + "final_grasp": { + "position": [ + -0.007436694111675024, + -0.09469159692525864, + -0.05024003982543945 + ], + "orientation": [ + 0.3670465350151062, + -0.18112754821777344, + -0.4506096839904785, + -0.7933602929115295 + ], + "joints": [ + 0.023171860724687576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15687288343906403, + -0.02275249920785427, + -0.008454874157905579 + ], + "orientation": [ + 0.1116008460521698, + -0.6934185028076172, + 0.061965811997652054, + 0.7091377377510071 + ], + "joints": [ + 0.018860677257180214 + ] + }, + "fine_grasp": { + "position": [ + 0.15343348681926727, + -0.021590258926153183, + -0.00815332680940628 + ], + "orientation": [ + 0.11495572328567505, + -0.6920364499092102, + 0.06498312950134277, + 0.7096815705299377 + ], + "joints": [ + 0.008808853104710579 + ] + }, + "final_grasp": { + "position": [ + 0.15343348681926727, + -0.021590258926153183, + -0.00815332680940628 + ], + "orientation": [ + 0.11495572328567505, + -0.6920364499092102, + 0.06498312950134277, + 0.7096815705299377 + ], + "joints": [ + -0.001242971047759056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02964419312775135, + -0.09608011692762375, + -0.07610699534416199 + ], + "orientation": [ + 0.6687843203544617, + -0.34656408429145813, + -0.4455694556236267, + -0.48382705450057983 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.028785966336727142, + -0.09333399683237076, + -0.07361681759357452 + ], + "orientation": [ + 0.6717581152915955, + -0.34028786420822144, + -0.4412872791290283, + -0.48806828260421753 + ], + "joints": [ + 0.022728748619556427 + ] + }, + "final_grasp": { + "position": [ + 0.028785966336727142, + -0.09333399683237076, + -0.07361681759357452 + ], + "orientation": [ + 0.6717581152915955, + -0.34028786420822144, + -0.4412872791290283, + -0.48806828260421753 + ], + "joints": [ + 0.0139307901263237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013137777568772435, + 0.028719644993543625, + -0.1503371298313141 + ], + "orientation": [ + 0.7855918407440186, + 0.05757320299744606, + 0.06045074760913849, + -0.6130877733230591 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.001171071664430201, + 0.02838200330734253, + -0.1466202586889267 + ], + "orientation": [ + 0.7857021689414978, + 0.05578920990228653, + 0.06097131967544556, + -0.6130597591400146 + ], + "joints": [ + 0.02491101622581482 + ] + }, + "final_grasp": { + "position": [ + -0.001171071664430201, + 0.02838200330734253, + -0.1466202586889267 + ], + "orientation": [ + 0.7857021689414978, + 0.05578920990228653, + 0.06097131967544556, + -0.6130597591400146 + ], + "joints": [ + 0.016489215195178986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08408576250076294, + 0.01590806245803833, + -0.10894425958395004 + ], + "orientation": [ + 0.06289557367563248, + 0.32445359230041504, + 0.019903475418686867, + 0.9435983300209045 + ], + "joints": [ + 0.024337932467460632 + ] + }, + "fine_grasp": { + "position": [ + -0.08162134140729904, + 0.015825388953089714, + -0.10623952001333237 + ], + "orientation": [ + 0.06411823630332947, + 0.3257072865962982, + 0.02138604037463665, + 0.9430516362190247 + ], + "joints": [ + 0.01514291763305664 + ] + }, + "final_grasp": { + "position": [ + -0.08162134140729904, + 0.015825388953089714, + -0.10623952001333237 + ], + "orientation": [ + 0.06411823630332947, + 0.3257072865962982, + 0.02138604037463665, + 0.9430516362190247 + ], + "joints": [ + 0.005947902798652649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.080843485891819, + 0.00404862267896533, + 0.11601576209068298 + ], + "orientation": [ + 0.1142498329281807, + -0.9081198573112488, + 0.21370042860507965, + -0.3414636552333832 + ], + "joints": [ + 0.023604867979884148 + ] + }, + "fine_grasp": { + "position": [ + -0.07840283215045929, + 0.0048540434800088406, + 0.11334311217069626 + ], + "orientation": [ + 0.11681009083986282, + -0.9089928269386292, + 0.21928256750106812, + -0.3346679210662842 + ], + "joints": [ + 0.014430752024054527 + ] + }, + "final_grasp": { + "position": [ + -0.07840283215045929, + 0.0048540434800088406, + 0.11334311217069626 + ], + "orientation": [ + 0.11681009083986282, + -0.9089928269386292, + 0.21928256750106812, + -0.3346679210662842 + ], + "joints": [ + 0.005256636068224907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06304530799388885, + 0.03730284050107002, + -0.12032970041036606 + ], + "orientation": [ + 0.9688116312026978, + 0.10594736784696579, + -0.2142445296049118, + -0.06540889292955399 + ], + "joints": [ + 0.02570684626698494 + ] + }, + "fine_grasp": { + "position": [ + 0.06118889898061752, + 0.03682050108909607, + -0.11718416213989258 + ], + "orientation": [ + 0.9680801630020142, + 0.10701080411672592, + -0.21634377539157867, + -0.06756332516670227 + ], + "joints": [ + 0.016929786652326584 + ] + }, + "final_grasp": { + "position": [ + 0.06118889898061752, + 0.03682050108909607, + -0.11718416213989258 + ], + "orientation": [ + 0.9680801630020142, + 0.10701080411672592, + -0.21634377539157867, + -0.06756332516670227 + ], + "joints": [ + 0.008152727037668228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10115816444158554, + 0.024758564308285713, + -0.08316057175397873 + ], + "orientation": [ + 0.8809852600097656, + 0.03828347474336624, + 0.4714943468570709, + -0.009622263722121716 + ], + "joints": [ + 0.02538120746612549 + ] + }, + "fine_grasp": { + "position": [ + -0.09919340908527374, + 0.02490123175084591, + -0.0808781236410141 + ], + "orientation": [ + 0.8851523399353027, + 0.038562990725040436, + 0.4635712802410126, + -0.010953203774988651 + ], + "joints": [ + 0.015789136290550232 + ] + }, + "final_grasp": { + "position": [ + -0.09919340908527374, + 0.02490123175084591, + -0.0808781236410141 + ], + "orientation": [ + 0.8851523399353027, + 0.038562990725040436, + 0.4635712802410126, + -0.010953203774988651 + ], + "joints": [ + 0.006197065114974976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008475345559418201, + -0.1024332344532013, + -0.025857115164399147 + ], + "orientation": [ + 0.44221818447113037, + -0.5151446461677551, + 0.5131561756134033, + 0.5251092314720154 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + 0.008005833253264427, + -0.0987994521856308, + -0.023912742733955383 + ], + "orientation": [ + 0.45187970995903015, + -0.5089453458786011, + 0.5056806206703186, + 0.5301571488380432 + ], + "joints": [ + 0.02307729609310627 + ] + }, + "final_grasp": { + "position": [ + 0.008005833253264427, + -0.0987994521856308, + -0.023912742733955383 + ], + "orientation": [ + 0.45187970995903015, + -0.5089453458786011, + 0.5056806206703186, + 0.5301571488380432 + ], + "joints": [ + 0.015554102137684822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06637375801801682, + -0.056457724422216415, + -0.10359904915094376 + ], + "orientation": [ + 0.218620166182518, + -0.37745317816734314, + 0.2203635573387146, + 0.872452974319458 + ], + "joints": [ + 0.025909671559929848 + ] + }, + "fine_grasp": { + "position": [ + 0.06488815695047379, + -0.05466431379318237, + -0.10097917914390564 + ], + "orientation": [ + 0.21926604211330414, + -0.37550508975982666, + 0.21768556535243988, + 0.8738028407096863 + ], + "joints": [ + 0.016254903748631477 + ] + }, + "final_grasp": { + "position": [ + 0.06488815695047379, + -0.05466431379318237, + -0.10097917914390564 + ], + "orientation": [ + 0.21926604211330414, + -0.37550508975982666, + 0.21768556535243988, + 0.8738028407096863 + ], + "joints": [ + 0.006600135937333107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09150945395231247, + -0.08034312725067139, + -0.05145563557744026 + ], + "orientation": [ + 0.42767733335494995, + 0.021032119169831276, + 0.6069092750549316, + 0.6695603132247925 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.08854430168867111, + -0.07859800010919571, + -0.04986688867211342 + ], + "orientation": [ + 0.43412959575653076, + 0.030397595837712288, + 0.6028689742088318, + 0.6686975359916687 + ], + "joints": [ + 0.024957329034805298 + ] + }, + "final_grasp": { + "position": [ + -0.08854430168867111, + -0.07859800010919571, + -0.04986688867211342 + ], + "orientation": [ + 0.43412959575653076, + 0.030397595837712288, + 0.6028689742088318, + 0.6686975359916687 + ], + "joints": [ + 0.016535528004169464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019322291016578674, + 0.01305382139980793, + 0.13429851830005646 + ], + "orientation": [ + 0.01335836946964264, + -0.9896796345710754, + 0.06678099930286407, + -0.12608031928539276 + ], + "joints": [ + 0.023379512131214142 + ] + }, + "fine_grasp": { + "position": [ + -0.019029129296541214, + 0.013433840125799179, + 0.13119225203990936 + ], + "orientation": [ + 0.012196657247841358, + -0.9901781678199768, + 0.06909453868865967, + -0.12093231081962585 + ], + "joints": [ + 0.014205396175384521 + ] + }, + "final_grasp": { + "position": [ + -0.019029129296541214, + 0.013433840125799179, + 0.13119225203990936 + ], + "orientation": [ + 0.012196657247841358, + -0.9901781678199768, + 0.06909453868865967, + -0.12093231081962585 + ], + "joints": [ + 0.005031280219554901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11983716487884521, + -0.05808499455451965, + -0.04031721130013466 + ], + "orientation": [ + 0.5792306065559387, + -0.622711718082428, + -0.13000217080116272, + 0.5097268223762512 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.11671707779169083, + -0.05683467164635658, + -0.0393066331744194 + ], + "orientation": [ + 0.5785778760910034, + -0.6201095581054688, + -0.13546380400657654, + 0.5122122168540955 + ], + "joints": [ + 0.025838389992713928 + ] + }, + "final_grasp": { + "position": [ + 0.11671707779169083, + -0.05683467164635658, + -0.0393066331744194 + ], + "orientation": [ + 0.5785778760910034, + -0.6201095581054688, + -0.13546380400657654, + 0.5122122168540955 + ], + "joints": [ + 0.01783454418182373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11396106332540512, + -0.05042756721377373, + -0.06078497692942619 + ], + "orientation": [ + 0.5913220047950745, + -0.5749483704566956, + 0.10110204666852951, + -0.5563732981681824 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.11077841371297836, + -0.04986930266022682, + -0.05890532210469246 + ], + "orientation": [ + 0.5903947949409485, + -0.5702495574951172, + 0.1107233390212059, + -0.5603477954864502 + ], + "joints": [ + 0.024680625647306442 + ] + }, + "final_grasp": { + "position": [ + -0.11077841371297836, + -0.04986930266022682, + -0.05890532210469246 + ], + "orientation": [ + 0.5903947949409485, + -0.5702495574951172, + 0.1107233390212059, + -0.5603477954864502 + ], + "joints": [ + 0.016676779836416245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028496989980340004, + -0.11539313197135925, + 0.029551681131124496 + ], + "orientation": [ + 0.6507084965705872, + -0.7197242379188538, + -0.18551868200302124, + -0.15542948246002197 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.027348089963197708, + -0.11171472817659378, + 0.02856157161295414 + ], + "orientation": [ + 0.6466468572616577, + -0.7218121290206909, + -0.1990479975938797, + -0.14565369486808777 + ], + "joints": [ + 0.026232093572616577 + ] + }, + "final_grasp": { + "position": [ + 0.027348089963197708, + -0.11171472817659378, + 0.02856157161295414 + ], + "orientation": [ + 0.6466468572616577, + -0.7218121290206909, + -0.1990479975938797, + -0.14565369486808777 + ], + "joints": [ + 0.019085057079792023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11981088668107986, + 0.026067137718200684, + 0.05879939720034599 + ], + "orientation": [ + 0.02306579053401947, + -0.7986641526222229, + 0.10963930189609528, + -0.5912553668022156 + ], + "joints": [ + 0.023918896913528442 + ] + }, + "fine_grasp": { + "position": [ + -0.1165771484375, + 0.026132997125387192, + 0.05732530355453491 + ], + "orientation": [ + 0.020461156964302063, + -0.8005106449127197, + 0.10990430414676666, + -0.5887997150421143 + ], + "joints": [ + 0.015559792518615723 + ] + }, + "final_grasp": { + "position": [ + -0.1165771484375, + 0.026132997125387192, + 0.05732530355453491 + ], + "orientation": [ + 0.020461156964302063, + -0.8005106449127197, + 0.10990430414676666, + -0.5887997150421143 + ], + "joints": [ + 0.007200688123703003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10568747669458389, + 0.008983269333839417, + 0.09974680840969086 + ], + "orientation": [ + 0.0661902129650116, + -0.901006817817688, + -0.08885561674833298, + 0.41941654682159424 + ], + "joints": [ + 0.02398531883955002 + ] + }, + "fine_grasp": { + "position": [ + 0.10268718749284744, + 0.009331492707133293, + 0.09717835485935211 + ], + "orientation": [ + 0.0679844543337822, + -0.9019219875335693, + -0.09022834897041321, + 0.4168618619441986 + ], + "joints": [ + 0.014769405126571655 + ] + }, + "final_grasp": { + "position": [ + 0.10268718749284744, + 0.009331492707133293, + 0.09717835485935211 + ], + "orientation": [ + 0.0679844543337822, + -0.9019219875335693, + -0.09022834897041321, + 0.4168618619441986 + ], + "joints": [ + 0.005553491413593292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1014023870229721, + 0.024858251214027405, + -0.08219723403453827 + ], + "orientation": [ + 0.8908337354660034, + 0.046892162412405014, + 0.4518930912017822, + 0.003016201313585043 + ], + "joints": [ + 0.025051480159163475 + ] + }, + "fine_grasp": { + "position": [ + -0.0985020101070404, + 0.025247767567634583, + -0.08039630204439163 + ], + "orientation": [ + 0.8902587890625, + 0.05203922465443611, + 0.4524576663970947, + 0.003674645209684968 + ], + "joints": [ + 0.01627442054450512 + ] + }, + "final_grasp": { + "position": [ + -0.0985020101070404, + 0.025247767567634583, + -0.08039630204439163 + ], + "orientation": [ + 0.8902587890625, + 0.05203922465443611, + 0.4524576663970947, + 0.003674645209684968 + ], + "joints": [ + 0.007497360929846764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10127921402454376, + 0.02583952620625496, + -0.08265338838100433 + ], + "orientation": [ + 0.8819684982299805, + 0.04255407303571701, + 0.4692302644252777, + -0.011985178105533123 + ], + "joints": [ + 0.02546578086912632 + ] + }, + "fine_grasp": { + "position": [ + -0.0989583432674408, + 0.02588663622736931, + -0.08005230128765106 + ], + "orientation": [ + 0.8858303427696228, + 0.04409462586045265, + 0.4616369605064392, + -0.015860669314861298 + ], + "joints": [ + 0.016270766034722328 + ] + }, + "final_grasp": { + "position": [ + -0.0989583432674408, + 0.02588663622736931, + -0.08005230128765106 + ], + "orientation": [ + 0.8858303427696228, + 0.04409462586045265, + 0.4616369605064392, + -0.015860669314861298 + ], + "joints": [ + 0.0070757512003183365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11733401566743851, + 0.02995552308857441, + 0.03607245162129402 + ], + "orientation": [ + 0.051673706620931625, + 0.782749593257904, + -0.035754624754190445, + 0.6191563010215759 + ], + "joints": [ + 0.025794286280870438 + ] + }, + "fine_grasp": { + "position": [ + -0.11537272483110428, + 0.029779555276036263, + 0.034672725945711136 + ], + "orientation": [ + 0.05146315321326256, + 0.7911286354064941, + -0.041560202836990356, + 0.6080622673034668 + ], + "joints": [ + 0.017017226666212082 + ] + }, + "final_grasp": { + "position": [ + -0.11537272483110428, + 0.029779555276036263, + 0.034672725945711136 + ], + "orientation": [ + 0.05146315321326256, + 0.7911286354064941, + -0.041560202836990356, + 0.6080622673034668 + ], + "joints": [ + 0.008240167051553726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1005237028002739, + 0.06444881856441498, + -0.09695851057767868 + ], + "orientation": [ + 0.781018853187561, + 0.38510048389434814, + -0.17971670627593994, + -0.45761242508888245 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.0979156419634819, + 0.06328961998224258, + -0.09437678009271622 + ], + "orientation": [ + 0.7800451517105103, + 0.3828069865703583, + -0.1825478971004486, + -0.4600701630115509 + ], + "joints": [ + 0.026698552072048187 + ] + }, + "final_grasp": { + "position": [ + 0.0979156419634819, + 0.06328961998224258, + -0.09437678009271622 + ], + "orientation": [ + 0.7800451517105103, + 0.3828069865703583, + -0.1825478971004486, + -0.4600701630115509 + ], + "joints": [ + 0.019091762602329254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11679033935070038, + 0.03676744922995567, + -0.09334344416856766 + ], + "orientation": [ + 0.7224709391593933, + -0.15234602987766266, + -0.4355013072490692, + 0.5149416923522949 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.11405970901250839, + 0.03665275126695633, + -0.09089294821023941 + ], + "orientation": [ + 0.7238102555274963, + -0.1576477289199829, + -0.4322679340839386, + 0.5141891241073608 + ], + "joints": [ + 0.023590005934238434 + ] + }, + "final_grasp": { + "position": [ + 0.11405970901250839, + 0.03665275126695633, + -0.09089294821023941 + ], + "orientation": [ + 0.7238102555274963, + -0.1576477289199829, + -0.4322679340839386, + 0.5141891241073608 + ], + "joints": [ + 0.014750249683856964 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 205 + } +} \ No newline at end of file diff --git a/075_bread_0/Object.usd b/075_bread_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..504d360b9ef185a445db3588316c704b6d7ef493 --- /dev/null +++ b/075_bread_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9ed64359a98730792fd94a4d890a64d7e5e00ee5ebd3f132a3919bc7e667f79 +size 297096 diff --git a/076_breadbasket_2/Annotation/dex1_1_grasp_pose.json b/076_breadbasket_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf4fd61547c702631af1283b57b8505e35d75a1 --- /dev/null +++ b/076_breadbasket_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,818 @@ +{ + "type": "076_breadbasket_2", + "bottom_center": [ + 1.16005539894104e-05, + 0.041538551449775696, + -0.07093700021505356 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.032609838992357254, + 0.16760778427124023, + -0.08841769397258759 + ], + "orientation": [ + 0.1139998659491539, + 0.6835553050041199, + -0.047945935279130936, + -0.7193450331687927 + ], + "joints": [ + 0.008955717086791992 + ] + }, + "fine_grasp": { + "position": [ + -0.03301357105374336, + 0.17262211441993713, + -0.0890229344367981 + ], + "orientation": [ + 0.11119020730257034, + 0.6583835482597351, + -0.05225289240479469, + -0.7425883412361145 + ], + "joints": [ + 0.015359083190560341 + ] + }, + "final_grasp": { + "position": [ + -0.03301357105374336, + 0.17262211441993713, + -0.0890229344367981 + ], + "orientation": [ + 0.11119020730257034, + 0.6583835482597351, + -0.05225289240479469, + -0.7425883412361145 + ], + "joints": [ + 0.02176244929432869 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04345179721713066, + 0.16734522581100464, + 0.08415385335683823 + ], + "orientation": [ + 0.09129881113767624, + -0.8228822946548462, + -0.08383284509181976, + 0.5545281171798706 + ], + "joints": [ + 0.01011684164404869 + ] + }, + "fine_grasp": { + "position": [ + -0.042790208011865616, + 0.16577836871147156, + 0.08330370485782623 + ], + "orientation": [ + 0.08699087053537369, + -0.8267537951469421, + -0.08307430893182755, + 0.5495538115501404 + ], + "joints": [ + 0.016520213335752487 + ] + }, + "final_grasp": { + "position": [ + -0.042790208011865616, + 0.16577836871147156, + 0.08330370485782623 + ], + "orientation": [ + 0.08699087053537369, + -0.8267537951469421, + -0.08307430893182755, + 0.5495538115501404 + ], + "joints": [ + 0.022923585027456284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04327011853456497, + 0.1665787249803543, + 0.08433125913143158 + ], + "orientation": [ + 0.09336453676223755, + -0.8247601389884949, + -0.08384782820940018, + 0.5513831973075867 + ], + "joints": [ + 0.010140746831893921 + ] + }, + "fine_grasp": { + "position": [ + -0.04256945103406906, + 0.16554640233516693, + 0.08370974659919739 + ], + "orientation": [ + 0.08941389620304108, + -0.8270987272262573, + -0.08328286558389664, + 0.548613429069519 + ], + "joints": [ + 0.016544118523597717 + ] + }, + "final_grasp": { + "position": [ + -0.04256945103406906, + 0.16554640233516693, + 0.08370974659919739 + ], + "orientation": [ + 0.08941389620304108, + -0.8270987272262573, + -0.08328286558389664, + 0.548613429069519 + ], + "joints": [ + 0.022947490215301514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05566364526748657, + 0.16707584261894226, + 0.08512037247419357 + ], + "orientation": [ + 0.022873224690556526, + -0.7702680826187134, + -0.14923381805419922, + 0.6195911169052124 + ], + "joints": [ + 0.009493065997958183 + ] + }, + "fine_grasp": { + "position": [ + -0.05495680868625641, + 0.1674797385931015, + 0.08293917030096054 + ], + "orientation": [ + 0.028551947325468063, + -0.7930113077163696, + -0.13718055188655853, + 0.5928738117218018 + ], + "joints": [ + 0.015391604974865913 + ] + }, + "final_grasp": { + "position": [ + -0.05495680868625641, + 0.1674797385931015, + 0.08293917030096054 + ], + "orientation": [ + 0.028551947325468063, + -0.7930113077163696, + -0.13718055188655853, + 0.5928738117218018 + ], + "joints": [ + 0.021290143951773643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008854829706251621, + 0.15716533362865448, + -0.09991791099309921 + ], + "orientation": [ + 0.2236679643392563, + 0.8098354935646057, + -0.008988413028419018, + -0.5422715544700623 + ], + "joints": [ + 0.009581470862030983 + ] + }, + "fine_grasp": { + "position": [ + 0.010138656944036484, + 0.15617096424102783, + -0.09682967513799667 + ], + "orientation": [ + 0.21724969148635864, + 0.8003002405166626, + -0.006825882475823164, + -0.5588162541389465 + ], + "joints": [ + 0.016489669680595398 + ] + }, + "final_grasp": { + "position": [ + 0.010138656944036484, + 0.15617096424102783, + -0.09682967513799667 + ], + "orientation": [ + 0.21724969148635864, + 0.8003002405166626, + -0.006825882475823164, + -0.5588162541389465 + ], + "joints": [ + 0.023397868499159813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0047831484116613865, + 0.1831742376089096, + -0.08009437471628189 + ], + "orientation": [ + 0.017290811985731125, + -0.6153163313865662, + -0.11082077026367188, + -0.7802599668502808 + ], + "joints": [ + 0.009675282984972 + ] + }, + "fine_grasp": { + "position": [ + 0.0043744309805333614, + 0.18511344492435455, + -0.08154120296239853 + ], + "orientation": [ + 0.010098589584231377, + -0.6199609041213989, + -0.11129655689001083, + -0.7766334414482117 + ], + "joints": [ + 0.016583481803536415 + ] + }, + "final_grasp": { + "position": [ + 0.0043744309805333614, + 0.18511344492435455, + -0.08154120296239853 + ], + "orientation": [ + 0.010098589584231377, + -0.6199609041213989, + -0.11129655689001083, + -0.7766334414482117 + ], + "joints": [ + 0.02349168062210083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006074830307625234, + 0.1779809296131134, + -0.078211709856987 + ], + "orientation": [ + 0.02747318521142006, + -0.6187139749526978, + 0.11281219124794006, + 0.7769888043403625 + ], + "joints": [ + 0.010101360268890858 + ] + }, + "fine_grasp": { + "position": [ + -0.00040692422771826386, + 0.18176968395709991, + -0.08066322654485703 + ], + "orientation": [ + 0.023117344826459885, + -0.6119201183319092, + 0.11694865673780441, + 0.7818838357925415 + ], + "joints": [ + 0.015946757048368454 + ] + }, + "final_grasp": { + "position": [ + -0.00040692422771826386, + 0.18176968395709991, + -0.08066322654485703 + ], + "orientation": [ + 0.023117344826459885, + -0.6119201183319092, + 0.11694865673780441, + 0.7818838357925415 + ], + "joints": [ + 0.021792154759168625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045870449393987656, + 0.184030681848526, + 0.06421355903148651 + ], + "orientation": [ + 0.06055690720677376, + 0.7730526924133301, + -0.08671325445175171, + 0.6254624724388123 + ], + "joints": [ + 0.010184358805418015 + ] + }, + "fine_grasp": { + "position": [ + 0.04630889371037483, + 0.18429744243621826, + 0.06574881076812744 + ], + "orientation": [ + 0.058563314378261566, + 0.7702882885932922, + -0.09403254091739655, + 0.6279999613761902 + ], + "joints": [ + 0.01658773049712181 + ] + }, + "final_grasp": { + "position": [ + 0.04630889371037483, + 0.18429744243621826, + 0.06574881076812744 + ], + "orientation": [ + 0.058563314378261566, + 0.7702882885932922, + -0.09403254091739655, + 0.6279999613761902 + ], + "joints": [ + 0.022991102188825607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032447587698698044, + 0.18553046882152557, + 0.04665972292423248 + ], + "orientation": [ + 0.056951798498630524, + 0.7829447984695435, + -0.013127784244716167, + -0.619339644908905 + ], + "joints": [ + 0.00840233825147152 + ] + }, + "fine_grasp": { + "position": [ + -0.0336141437292099, + 0.19061502814292908, + 0.047926630824804306 + ], + "orientation": [ + 0.04448292776942253, + 0.7826765179634094, + -0.013252388685941696, + -0.6206955909729004 + ], + "joints": [ + 0.014779133722186089 + ] + }, + "final_grasp": { + "position": [ + -0.0336141437292099, + 0.19061502814292908, + 0.047926630824804306 + ], + "orientation": [ + 0.04448292776942253, + 0.7826765179634094, + -0.013252388685941696, + -0.6206955909729004 + ], + "joints": [ + 0.021155929192900658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03226478025317192, + 0.16917645931243896, + -0.08859188854694366 + ], + "orientation": [ + 0.11432580649852753, + 0.7016342282295227, + -0.04340900853276253, + -0.7019650340080261 + ], + "joints": [ + 0.008554937317967415 + ] + }, + "fine_grasp": { + "position": [ + -0.03312784805893898, + 0.1737380027770996, + -0.08924023061990738 + ], + "orientation": [ + 0.1187523826956749, + 0.683874249458313, + -0.04018630087375641, + -0.718748152256012 + ], + "joints": [ + 0.014958303421735764 + ] + }, + "final_grasp": { + "position": [ + -0.03312784805893898, + 0.1737380027770996, + -0.08924023061990738 + ], + "orientation": [ + 0.1187523826956749, + 0.683874249458313, + -0.04018630087375641, + -0.718748152256012 + ], + "joints": [ + 0.021361669525504112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020513957366347313, + 0.18323084712028503, + 0.07309263944625854 + ], + "orientation": [ + 0.016072575002908707, + 0.743901252746582, + -0.07300500571727753, + 0.6640955805778503 + ], + "joints": [ + 0.009814994409680367 + ] + }, + "fine_grasp": { + "position": [ + 0.020149322226643562, + 0.18490976095199585, + 0.07466071099042892 + ], + "orientation": [ + 0.016548631712794304, + 0.7446098923683167, + -0.08526389300823212, + 0.6618250012397766 + ], + "joints": [ + 0.016218364238739014 + ] + }, + "final_grasp": { + "position": [ + 0.020149322226643562, + 0.18490976095199585, + 0.07466071099042892 + ], + "orientation": [ + 0.016548631712794304, + 0.7446098923683167, + -0.08526389300823212, + 0.6618250012397766 + ], + "joints": [ + 0.02262173406779766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06377249956130981, + 0.16994987428188324, + 0.07560902088880539 + ], + "orientation": [ + 0.09910427778959274, + -0.46179264783859253, + 0.07537136226892471, + -0.8782056570053101 + ], + "joints": [ + 0.009993491694331169 + ] + }, + "fine_grasp": { + "position": [ + -0.06339891254901886, + 0.16582819819450378, + 0.07414943724870682 + ], + "orientation": [ + 0.09572915732860565, + -0.463731974363327, + 0.08053534477949142, + -0.8770989179611206 + ], + "joints": [ + 0.016901690512895584 + ] + }, + "final_grasp": { + "position": [ + -0.06339891254901886, + 0.16582819819450378, + 0.07414943724870682 + ], + "orientation": [ + 0.09572915732860565, + -0.463731974363327, + 0.08053534477949142, + -0.8770989179611206 + ], + "joints": [ + 0.02380988933146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03272010758519173, + 0.1676279455423355, + -0.08763471245765686 + ], + "orientation": [ + 0.1109856516122818, + 0.7110421061515808, + -0.04818366840481758, + -0.6926614046096802 + ], + "joints": [ + 0.00794527493417263 + ] + }, + "fine_grasp": { + "position": [ + -0.03469175845384598, + 0.16890975832939148, + -0.08578453212976456 + ], + "orientation": [ + 0.10500483959913254, + 0.6929705739021301, + -0.052159495651721954, + -0.7113685607910156 + ], + "joints": [ + 0.014348641037940979 + ] + }, + "final_grasp": { + "position": [ + -0.03469175845384598, + 0.16890975832939148, + -0.08578453212976456 + ], + "orientation": [ + 0.10500483959913254, + 0.6929705739021301, + -0.052159495651721954, + -0.7113685607910156 + ], + "joints": [ + 0.020752007141709328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005732634104788303, + 0.1899603009223938, + 0.04384351521730423 + ], + "orientation": [ + 0.032272059470415115, + 0.722543478012085, + -0.0672505721449852, + -0.6872893571853638 + ], + "joints": [ + 0.007469348609447479 + ] + }, + "fine_grasp": { + "position": [ + -0.0059972465969622135, + 0.19576136767864227, + 0.04381890222430229 + ], + "orientation": [ + 0.02018638886511326, + 0.713692307472229, + -0.07150596380233765, + -0.6965076327323914 + ], + "joints": [ + 0.012278515845537186 + ] + }, + "final_grasp": { + "position": [ + -0.0059972465969622135, + 0.19576136767864227, + 0.04381890222430229 + ], + "orientation": [ + 0.02018638886511326, + 0.713692307472229, + -0.07150596380233765, + -0.6965076327323914 + ], + "joints": [ + 0.017087683081626892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04405554011464119, + 0.1886194497346878, + 0.03809187561273575 + ], + "orientation": [ + 0.032839395105838776, + -0.602566123008728, + -0.14094091951847076, + -0.7848384380340576 + ], + "joints": [ + 0.007100197020918131 + ] + }, + "fine_grasp": { + "position": [ + -0.045645177364349365, + 0.19434981048107147, + 0.03779922425746918 + ], + "orientation": [ + 0.04008105769753456, + -0.5858700275421143, + -0.13671712577342987, + -0.7977834343910217 + ], + "joints": [ + 0.010952848009765148 + ] + }, + "final_grasp": { + "position": [ + -0.045645177364349365, + 0.19434981048107147, + 0.03779922425746918 + ], + "orientation": [ + 0.04008105769753456, + -0.5858700275421143, + -0.13671712577342987, + -0.7977834343910217 + ], + "joints": [ + 0.014805499464273453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021092763170599937, + -0.09704728424549103, + -0.07741498947143555 + ], + "orientation": [ + 0.13860633969306946, + 0.019816916435956955, + 0.9896702766418457, + 0.030797135084867477 + ], + "joints": [ + -0.01679098978638649 + ] + }, + "fine_grasp": { + "position": [ + 0.02113140933215618, + -0.09413179755210876, + -0.07599115371704102 + ], + "orientation": [ + 0.13632608950138092, + 0.017766352742910385, + 0.9895851016044617, + 0.04267222806811333 + ], + "joints": [ + -0.014107417315244675 + ] + }, + "final_grasp": { + "position": [ + 0.02113140933215618, + -0.09413179755210876, + -0.07599115371704102 + ], + "orientation": [ + 0.13632608950138092, + 0.017766352742910385, + 0.9895851016044617, + 0.04267222806811333 + ], + "joints": [ + -0.01142384484410286 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2047, + "num_passed": 16 + } +} \ No newline at end of file diff --git a/076_breadbasket_2/Annotation/piper_grasp_pose.json b/076_breadbasket_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..1ab38d69f5d6cfe1501c630cc2e7ca8b37b7cbfd --- /dev/null +++ b/076_breadbasket_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,718 @@ +{ + "type": "076_breadbasket_2", + "bottom_center": [ + 1.16005539894104e-05, + 0.041538551449775696, + -0.07093700021505356 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.060770902782678604, + 0.16182538866996765, + -0.08179579675197601 + ], + "orientation": [ + 0.7772691249847412, + 0.5703800320625305, + -0.22846384346485138, + 0.1353650987148285 + ], + "joints": [ + 0.014249168336391449 + ] + }, + "fine_grasp": { + "position": [ + 0.061313822865486145, + 0.16105899214744568, + -0.08135170489549637 + ], + "orientation": [ + 0.7759771347045898, + 0.5701127052307129, + -0.2326669842004776, + 0.13673757016658783 + ], + "joints": [ + 0.004239141009747982 + ] + }, + "final_grasp": { + "position": [ + 0.061313822865486145, + 0.16105899214744568, + -0.08135170489549637 + ], + "orientation": [ + 0.7759771347045898, + 0.5701127052307129, + -0.2326669842004776, + 0.13673757016658783 + ], + "joints": [ + -0.005770886316895485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01883421465754509, + 0.17550857365131378, + 0.08980493247509003 + ], + "orientation": [ + 0.6080853939056396, + 0.771929919719696, + -0.1673555225133896, + 0.07967804372310638 + ], + "joints": [ + 0.012839159928262234 + ] + }, + "fine_grasp": { + "position": [ + -0.018964780494570732, + 0.17149752378463745, + 0.08884932845830917 + ], + "orientation": [ + 0.6076307892799377, + 0.7695381045341492, + -0.17592701315879822, + 0.08743933588266373 + ], + "joints": [ + 0.004459157586097717 + ] + }, + "final_grasp": { + "position": [ + -0.018964780494570732, + 0.17149752378463745, + 0.08884932845830917 + ], + "orientation": [ + 0.6076307892799377, + 0.7695381045341492, + -0.17592701315879822, + 0.08743933588266373 + ], + "joints": [ + -0.003920844756066799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008359778672456741, + 0.1715117245912552, + 0.06584615260362625 + ], + "orientation": [ + 0.7003127932548523, + 0.7121067643165588, + -0.044477298855781555, + 0.022081170231103897 + ], + "joints": [ + 0.013899294659495354 + ] + }, + "fine_grasp": { + "position": [ + -0.008694848977029324, + 0.1689065545797348, + 0.06640199571847916 + ], + "orientation": [ + 0.6994001269340515, + 0.7133008241653442, + -0.03953523561358452, + 0.02187425270676613 + ], + "joints": [ + 0.004704279825091362 + ] + }, + "final_grasp": { + "position": [ + -0.008694848977029324, + 0.1689065545797348, + 0.06640199571847916 + ], + "orientation": [ + 0.6994001269340515, + 0.7133008241653442, + -0.03953523561358452, + 0.02187425270676613 + ], + "joints": [ + -0.00449073500931263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006329250056296587, + 0.17486469447612762, + 0.06768106669187546 + ], + "orientation": [ + 0.6950643062591553, + 0.7153557538986206, + -0.07177072018384933, + -0.000851548567879945 + ], + "joints": [ + 0.014049606397747993 + ] + }, + "fine_grasp": { + "position": [ + 0.006132029928267002, + 0.1712409257888794, + 0.06812876462936401 + ], + "orientation": [ + 0.6961279511451721, + 0.7142353057861328, + -0.07260172814130783, + 0.00167919194791466 + ], + "joints": [ + 0.004415738396346569 + ] + }, + "final_grasp": { + "position": [ + 0.006132029928267002, + 0.1712409257888794, + 0.06812876462936401 + ], + "orientation": [ + 0.6961279511451721, + 0.7142353057861328, + -0.07260172814130783, + 0.00167919194791466 + ], + "joints": [ + -0.005218129605054855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006772065069526434, + 0.17449188232421875, + 0.06820332258939743 + ], + "orientation": [ + 0.6953588128089905, + 0.7155934572219849, + -0.0662493035197258, + 0.003622685791924596 + ], + "joints": [ + 0.013986129313707352 + ] + }, + "fine_grasp": { + "position": [ + 0.006601205561310053, + 0.17089825868606567, + 0.0687485784292221 + ], + "orientation": [ + 0.6940996646881104, + 0.7166128158569336, + -0.06819333136081696, + 0.006432263646274805 + ], + "joints": [ + 0.0047493185847997665 + ] + }, + "final_grasp": { + "position": [ + 0.006601205561310053, + 0.17089825868606567, + 0.0687485784292221 + ], + "orientation": [ + 0.6940996646881104, + 0.7166128158569336, + -0.06819333136081696, + 0.006432263646274805 + ], + "joints": [ + -0.004487492144107819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027345623821020126, + 0.16689245402812958, + -0.08136233687400818 + ], + "orientation": [ + 0.09151574969291687, + 0.06016107648611069, + -0.6322540044784546, + 0.766981303691864 + ], + "joints": [ + 0.014285488054156303 + ] + }, + "fine_grasp": { + "position": [ + -0.02739776112139225, + 0.1643497198820114, + -0.08119036257266998 + ], + "orientation": [ + 0.08646474778652191, + 0.05284901335835457, + -0.630251407623291, + 0.7697492837905884 + ], + "joints": [ + 0.004672518000006676 + ] + }, + "final_grasp": { + "position": [ + -0.02739776112139225, + 0.1643497198820114, + -0.08119036257266998 + ], + "orientation": [ + 0.08646474778652191, + 0.05284901335835457, + -0.630251407623291, + 0.7697492837905884 + ], + "joints": [ + -0.004940452054142952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008289860561490059, + 0.16467773914337158, + 0.0977325439453125 + ], + "orientation": [ + 0.028162464499473572, + 0.19499526917934418, + -0.785132110118866, + 0.5871553421020508 + ], + "joints": [ + 0.014521055854856968 + ] + }, + "fine_grasp": { + "position": [ + -0.009348581545054913, + 0.16194596886634827, + 0.09740322083234787 + ], + "orientation": [ + 0.0403490774333477, + 0.21439215540885925, + -0.7811007499694824, + 0.5850549936294556 + ], + "joints": [ + 0.0057230982929468155 + ] + }, + "final_grasp": { + "position": [ + -0.009348581545054913, + 0.16194596886634827, + 0.09740322083234787 + ], + "orientation": [ + 0.0403490774333477, + 0.21439215540885925, + -0.7811007499694824, + 0.5850549936294556 + ], + "joints": [ + -0.003074859268963337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03316236287355423, + 0.16494689881801605, + 0.08949138224124908 + ], + "orientation": [ + 0.6186575889587402, + 0.7642443776130676, + 0.16529765725135803, + 0.07661683857440948 + ], + "joints": [ + 0.013560120947659016 + ] + }, + "fine_grasp": { + "position": [ + -0.03353630006313324, + 0.16108159720897675, + 0.0887562707066536 + ], + "orientation": [ + 0.619219183921814, + 0.7614933252334595, + 0.18033097684383392, + 0.06462457776069641 + ], + "joints": [ + 0.00478306133300066 + ] + }, + "final_grasp": { + "position": [ + -0.03353630006313324, + 0.16108159720897675, + 0.0887562707066536 + ], + "orientation": [ + 0.619219183921814, + 0.7614933252334595, + 0.18033097684383392, + 0.06462457776069641 + ], + "joints": [ + -0.003993998281657696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025982661172747612, + 0.15826795995235443, + -0.10358212888240814 + ], + "orientation": [ + 0.22436915338039398, + 0.08492758870124817, + 0.5291341543197632, + -0.8139181733131409 + ], + "joints": [ + 0.014517276547849178 + ] + }, + "fine_grasp": { + "position": [ + 0.025306658819317818, + 0.15681280195713043, + -0.10266541689634323 + ], + "orientation": [ + 0.22930318117141724, + 0.08658602088689804, + 0.5302951335906982, + -0.8116095662117004 + ], + "joints": [ + 0.004904306493699551 + ] + }, + "final_grasp": { + "position": [ + 0.025306658819317818, + 0.15681280195713043, + -0.10266541689634323 + ], + "orientation": [ + 0.22930318117141724, + 0.08658602088689804, + 0.5302951335906982, + -0.8116095662117004 + ], + "joints": [ + -0.004708663560450077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02545486018061638, + 0.1541762351989746, + -0.09154410660266876 + ], + "orientation": [ + 0.7987757921218872, + 0.5897685289382935, + 0.09056007117033005, + -0.07700048387050629 + ], + "joints": [ + 0.014447133988142014 + ] + }, + "fine_grasp": { + "position": [ + -0.02547663077712059, + 0.15486302971839905, + -0.0913633331656456 + ], + "orientation": [ + 0.7979825139045715, + 0.5907033085823059, + 0.0913950651884079, + -0.07707482576370239 + ], + "joints": [ + 0.004834163933992386 + ] + }, + "final_grasp": { + "position": [ + -0.02547663077712059, + 0.15486302971839905, + -0.0913633331656456 + ], + "orientation": [ + 0.7979825139045715, + 0.5907033085823059, + 0.0913950651884079, + -0.07707482576370239 + ], + "joints": [ + -0.004778806120157242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03166559338569641, + 0.1607932299375534, + 0.08893854916095734 + ], + "orientation": [ + 0.09357818961143494, + 0.036828797310590744, + -0.7897148132324219, + 0.605175256729126 + ], + "joints": [ + 0.013888021931052208 + ] + }, + "fine_grasp": { + "position": [ + 0.03267767280340195, + 0.15864306688308716, + 0.08827965706586838 + ], + "orientation": [ + 0.09015408158302307, + 0.02701357565820217, + -0.7897413969039917, + 0.6061774492263794 + ], + "joints": [ + 0.004693007096648216 + ] + }, + "final_grasp": { + "position": [ + 0.03267767280340195, + 0.15864306688308716, + 0.08827965706586838 + ], + "orientation": [ + 0.09015408158302307, + 0.02701357565820217, + -0.7897413969039917, + 0.6061774492263794 + ], + "joints": [ + -0.0045020077377557755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03212938830256462, + 0.16306175291538239, + 0.09076251089572906 + ], + "orientation": [ + 0.09437321871519089, + 0.03459405153989792, + -0.7952687740325928, + 0.5978666543960571 + ], + "joints": [ + 0.013857705518603325 + ] + }, + "fine_grasp": { + "position": [ + 0.03265796974301338, + 0.16111169755458832, + 0.09070998430252075 + ], + "orientation": [ + 0.0900084599852562, + 0.03286843001842499, + -0.7959581613540649, + 0.597719669342041 + ], + "joints": [ + 0.0038685761392116547 + ] + }, + "final_grasp": { + "position": [ + 0.03265796974301338, + 0.16111169755458832, + 0.09070998430252075 + ], + "orientation": [ + 0.0900084599852562, + 0.03286843001842499, + -0.7959581613540649, + 0.597719669342041 + ], + "joints": [ + -0.0061205532401800156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08215167373418808, + 0.16458281874656677, + -0.08913826197385788 + ], + "orientation": [ + 0.8196969032287598, + 0.5270403027534485, + -0.20745834708213806, + 0.08536045253276825 + ], + "joints": [ + 0.014450392685830593 + ] + }, + "fine_grasp": { + "position": [ + 0.08155958354473114, + 0.1612544059753418, + -0.08758623898029327 + ], + "orientation": [ + 0.8198762536048889, + 0.5289387106895447, + -0.2030220925807953, + 0.08251549303531647 + ], + "joints": [ + 0.005276275798678398 + ] + }, + "final_grasp": { + "position": [ + 0.08155958354473114, + 0.1612544059753418, + -0.08758623898029327 + ], + "orientation": [ + 0.8198762536048889, + 0.5289387106895447, + -0.2030220925807953, + 0.08251549303531647 + ], + "joints": [ + -0.003897841088473797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05826186388731003, + 0.1663682907819748, + 0.09321601688861847 + ], + "orientation": [ + 0.14323879778385162, + -0.02852262184023857, + -0.8015567660331726, + 0.5798068642616272 + ], + "joints": [ + 0.014037522487342358 + ] + }, + "fine_grasp": { + "position": [ + 0.05786667764186859, + 0.16282100975513458, + 0.09206832200288773 + ], + "orientation": [ + 0.13397802412509918, + -0.03961706534028053, + -0.8014275431632996, + 0.5815447568893433 + ], + "joints": [ + 0.004842507652938366 + ] + }, + "final_grasp": { + "position": [ + 0.05786667764186859, + 0.16282100975513458, + 0.09206832200288773 + ], + "orientation": [ + 0.13397802412509918, + -0.03961706534028053, + -0.8014275431632996, + 0.5815447568893433 + ], + "joints": [ + -0.004352507181465626 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 14 + } +} \ No newline at end of file diff --git a/076_breadbasket_2/Object.usd b/076_breadbasket_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..82fe82e21272a16515534e877cd738949e911caa --- /dev/null +++ b/076_breadbasket_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bb1f8873ac927a01a8c64d47d841e1e58934519dec2c576cff89042a9906582 +size 385660 diff --git a/078_phonestand_0/Annotation/dex1_1_grasp_pose.json b/078_phonestand_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..9108742a3f050df694b19e86cdff91b2d2cb0578 --- /dev/null +++ b/078_phonestand_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,1818 @@ +{ + "type": "078_phonestand_0", + "bottom_center": [ + 2.6989728212356567e-06, + 0.06179624795913696, + -0.04139960557222366 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.0027615458238869905, + -0.10708720237016678, + -0.035284705460071564 + ], + "orientation": [ + 0.5355445146560669, + 0.05087880790233612, + -0.8300667405128479, + -0.1469445824623108 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.003020670497789979, + -0.1061372235417366, + -0.03589528053998947 + ], + "orientation": [ + 0.5282624363899231, + 0.048903629183769226, + -0.8355931043624878, + -0.1425885111093521 + ], + "joints": [ + -0.012040626257658005 + ] + }, + "final_grasp": { + "position": [ + -0.003020670497789979, + -0.1061372235417366, + -0.03589528053998947 + ], + "orientation": [ + 0.5282624363899231, + 0.048903629183769226, + -0.8355931043624878, + -0.1425885111093521 + ], + "joints": [ + -0.006142081692814827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016777856275439262, + -0.10719632357358932, + -0.02173779346048832 + ], + "orientation": [ + 0.985772430896759, + 0.09166260808706284, + 0.11407297104597092, + 0.08269348740577698 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.019643455743789673, + -0.10934975743293762, + -0.024091428145766258 + ], + "orientation": [ + 0.9863459467887878, + 0.08121281117200851, + 0.11396719515323639, + 0.08681979775428772 + ], + "joints": [ + -0.01244557648897171 + ] + }, + "final_grasp": { + "position": [ + 0.019643455743789673, + -0.10934975743293762, + -0.024091428145766258 + ], + "orientation": [ + 0.9863459467887878, + 0.08121281117200851, + 0.11396719515323639, + 0.08681979775428772 + ], + "joints": [ + -0.006068769842386246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01689651422202587, + -0.10719415545463562, + -0.021782997995615005 + ], + "orientation": [ + 0.9857527613639832, + 0.0918525904417038, + 0.11375106126070023, + 0.08315770328044891 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.01976119913160801, + -0.1092914417386055, + -0.02424568310379982 + ], + "orientation": [ + 0.9863489866256714, + 0.0806693509221077, + 0.11385366320610046, + 0.08743813633918762 + ], + "joints": [ + -0.01268257386982441 + ] + }, + "final_grasp": { + "position": [ + 0.01976119913160801, + -0.1092914417386055, + -0.02424568310379982 + ], + "orientation": [ + 0.9863489866256714, + 0.0806693509221077, + 0.11385366320610046, + 0.08743813633918762 + ], + "joints": [ + -0.006837168708443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016763484105467796, + -0.10703490674495697, + -0.0218211617320776 + ], + "orientation": [ + 0.9856482148170471, + 0.09200469404459, + 0.11478342860937119, + 0.08280929923057556 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.019715437665581703, + -0.10903013497591019, + -0.024293456226587296 + ], + "orientation": [ + 0.9863103032112122, + 0.08108220249414444, + 0.11398865282535553, + 0.08731689304113388 + ], + "joints": [ + -0.01271201390773058 + ] + }, + "final_grasp": { + "position": [ + 0.019715437665581703, + -0.10903013497591019, + -0.024293456226587296 + ], + "orientation": [ + 0.9863103032112122, + 0.08108220249414444, + 0.11398865282535553, + 0.08731689304113388 + ], + "joints": [ + -0.006866607815027237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004617552272975445, + -0.10863358527421951, + -0.011720478534698486 + ], + "orientation": [ + 0.5759081840515137, + 0.04415289685130119, + 0.8162631988525391, + -0.009732428938150406 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.00578845152631402, + -0.10918005555868149, + -0.01223217137157917 + ], + "orientation": [ + 0.5776334404945374, + 0.0524570494890213, + 0.814295768737793, + -0.022590652108192444 + ], + "joints": [ + -0.011907773092389107 + ] + }, + "final_grasp": { + "position": [ + 0.00578845152631402, + -0.10918005555868149, + -0.01223217137157917 + ], + "orientation": [ + 0.5776334404945374, + 0.0524570494890213, + 0.814295768737793, + -0.022590652108192444 + ], + "joints": [ + -0.005876375362277031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0037920165341347456, + -0.10414771735668182, + 0.017877180129289627 + ], + "orientation": [ + 0.2458174228668213, + -0.015904204919934273, + 0.9668914079666138, + -0.06664615869522095 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.0018168595852330327, + -0.10670147091150284, + 0.0218313280493021 + ], + "orientation": [ + 0.24677187204360962, + -0.02616923116147518, + 0.9670955538749695, + -0.056080546230077744 + ], + "joints": [ + -0.01366992574185133 + ] + }, + "final_grasp": { + "position": [ + -0.0018168595852330327, + -0.10670147091150284, + 0.0218313280493021 + ], + "orientation": [ + 0.24677187204360962, + -0.02616923116147518, + 0.9670955538749695, + -0.056080546230077744 + ], + "joints": [ + -0.008223064243793488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003655378706753254, + -0.10417138785123825, + 0.017826862633228302 + ], + "orientation": [ + 0.24580323696136475, + -0.0164045337587595, + 0.9669051766395569, + -0.06637779623270035 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.001715800492092967, + -0.10670345276594162, + 0.021725576370954514 + ], + "orientation": [ + 0.24682727456092834, + -0.026530038565397263, + 0.9671087861061096, + -0.05543466657400131 + ], + "joints": [ + -0.01366992574185133 + ] + }, + "final_grasp": { + "position": [ + -0.001715800492092967, + -0.10670345276594162, + 0.021725576370954514 + ], + "orientation": [ + 0.24682727456092834, + -0.026530038565397263, + 0.9671087861061096, + -0.05543466657400131 + ], + "joints": [ + -0.008223064243793488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013042191043496132, + -0.10475634038448334, + -0.004318749997764826 + ], + "orientation": [ + 0.9602448344230652, + 0.01829538308084011, + 0.2731285095214844, + -0.054735250771045685 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.015012123622000217, + -0.10365577042102814, + -0.001272205845452845 + ], + "orientation": [ + 0.9571509957313538, + 0.039918385446071625, + 0.27967971563339233, + -0.0636213943362236 + ], + "joints": [ + -0.014816702343523502 + ] + }, + "final_grasp": { + "position": [ + -0.015012123622000217, + -0.10365577042102814, + -0.001272205845452845 + ], + "orientation": [ + 0.9571509957313538, + 0.039918385446071625, + 0.27967971563339233, + -0.0636213943362236 + ], + "joints": [ + -0.009927809238433838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 5.920610419707373e-05, + 0.14414432644844055, + 0.1119004338979721 + ], + "orientation": [ + 0.03960248827934265, + -0.06742556393146515, + 0.5072096586227417, + -0.8582679033279419 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.0001724449684843421, + 0.14146284759044647, + 0.10788536816835403 + ], + "orientation": [ + 0.03505614027380943, + -0.06267911940813065, + 0.5065405964851379, + -0.8592200875282288 + ], + "joints": [ + -0.005744730122387409 + ] + }, + "final_grasp": { + "position": [ + -0.0001724449684843421, + 0.14146284759044647, + 0.10788536816835403 + ], + "orientation": [ + 0.03505614027380943, + -0.06267911940813065, + 0.5065405964851379, + -0.8592200875282288 + ], + "joints": [ + -0.00035102479159832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011598615907132626, + 0.2179655283689499, + 0.04571139067411423 + ], + "orientation": [ + 0.07157298922538757, + -0.12610986828804016, + 0.219157874584198, + -0.9648541212081909 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.013233156874775887, + 0.21932032704353333, + 0.04661409184336662 + ], + "orientation": [ + 0.06813281029462814, + -0.09906446188688278, + 0.22087737917900085, + -0.9678623080253601 + ], + "joints": [ + -0.004234509542584419 + ] + }, + "final_grasp": { + "position": [ + -0.013233156874775887, + 0.21932032704353333, + 0.04661409184336662 + ], + "orientation": [ + 0.06813281029462814, + -0.09906446188688278, + 0.22087737917900085, + -0.9678623080253601 + ], + "joints": [ + 0.0032582245767116547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13470619916915894, + 0.017026223242282867, + -0.029235752299427986 + ], + "orientation": [ + 0.35620805621147156, + -0.5335782170295715, + 0.5613324046134949, + 0.5227963328361511 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.13102121651172638, + 0.017644112929701805, + -0.027986755594611168 + ], + "orientation": [ + 0.3539639115333557, + -0.532378077507019, + 0.5670105218887329, + 0.5194055438041687 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.13102121651172638, + 0.017644112929701805, + -0.027986755594611168 + ], + "orientation": [ + 0.3539639115333557, + -0.532378077507019, + 0.5670105218887329, + 0.5194055438041687 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004030199255794287, + -0.10910899937152863, + -0.017600353807210922 + ], + "orientation": [ + 0.6154453158378601, + 0.07730342447757721, + 0.7843733429908752, + -0.0031188884750008583 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.006093327887356281, + -0.10962032526731491, + -0.01585829071700573 + ], + "orientation": [ + 0.6154693365097046, + 0.07611563056707382, + 0.7841212153434753, + -0.023619119077920914 + ], + "joints": [ + -0.010462328791618347 + ] + }, + "final_grasp": { + "position": [ + 0.006093327887356281, + -0.10962032526731491, + -0.01585829071700573 + ], + "orientation": [ + 0.6154693365097046, + 0.07611563056707382, + 0.7841212153434753, + -0.023619119077920914 + ], + "joints": [ + -0.004457507282495499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015954406931996346, + -0.10954204201698303, + -0.0028557474724948406 + ], + "orientation": [ + 0.3457999527454376, + 0.030745552852749825, + -0.9348722100257874, + -0.07410148531198502 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.016405457630753517, + -0.11042291671037674, + -0.0016769320936873555 + ], + "orientation": [ + 0.3497338593006134, + 0.021536121144890785, + -0.932905912399292, + -0.08312129974365234 + ], + "joints": [ + -0.008189607411623001 + ] + }, + "final_grasp": { + "position": [ + 0.016405457630753517, + -0.11042291671037674, + -0.0016769320936873555 + ], + "orientation": [ + 0.3497338593006134, + 0.021536121144890785, + -0.932905912399292, + -0.08312129974365234 + ], + "joints": [ + -0.001148562878370285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032311417162418365, + -0.10613703727722168, + -0.010754132643342018 + ], + "orientation": [ + 0.6735972762107849, + 0.061952631920576096, + -0.7362590432167053, + -0.018738897517323494 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + 0.03152109310030937, + -0.10716614872217178, + -0.008193448185920715 + ], + "orientation": [ + 0.6909081935882568, + 0.0491042323410511, + -0.7212625741958618, + 0.0038665735628455877 + ], + "joints": [ + -0.011875541880726814 + ] + }, + "final_grasp": { + "position": [ + 0.03152109310030937, + -0.10716614872217178, + -0.008193448185920715 + ], + "orientation": [ + 0.6909081935882568, + 0.0491042323410511, + -0.7212625741958618, + 0.0038665735628455877 + ], + "joints": [ + -0.006960088387131691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054439477622509, + -0.06426782160997391, + -0.10533002018928528 + ], + "orientation": [ + 0.23739895224571228, + 0.3721248507499695, + -0.8714568018913269, + -0.21384084224700928 + ], + "joints": [ + -0.01201697252690792 + ] + }, + "fine_grasp": { + "position": [ + 0.05198778212070465, + -0.061552297323942184, + -0.10156098753213882 + ], + "orientation": [ + 0.2371254712343216, + 0.36305102705955505, + -0.8743691444396973, + -0.21781645715236664 + ], + "joints": [ + -0.008775433525443077 + ] + }, + "final_grasp": { + "position": [ + 0.05198778212070465, + -0.061552297323942184, + -0.10156098753213882 + ], + "orientation": [ + 0.2371254712343216, + 0.36305102705955505, + -0.8743691444396973, + -0.21781645715236664 + ], + "joints": [ + -0.005533894523978233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11860371381044388, + 0.0017573360819369555, + -0.0632937029004097 + ], + "orientation": [ + 0.6842755675315857, + -0.013586511835455894, + 0.2684766948223114, + 0.6778661608695984 + ], + "joints": [ + -0.003057080553844571 + ] + }, + "fine_grasp": { + "position": [ + 0.11990854889154434, + 0.0023180872667580843, + -0.06574484705924988 + ], + "orientation": [ + 0.6929599642753601, + -0.028433430939912796, + 0.26765888929367065, + 0.6688473224639893 + ], + "joints": [ + -0.0008783420780673623 + ] + }, + "final_grasp": { + "position": [ + 0.11990854889154434, + 0.0023180872667580843, + -0.06574484705924988 + ], + "orientation": [ + 0.6929599642753601, + -0.028433430939912796, + 0.26765888929367065, + 0.6688473224639893 + ], + "joints": [ + 0.0013003963977098465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11303535103797913, + -0.013023247011005878, + -0.08048273622989655 + ], + "orientation": [ + 0.7053276896476746, + 0.042241230607032776, + 0.31456950306892395, + 0.6338569521903992 + ], + "joints": [ + -0.0029521144460886717 + ] + }, + "fine_grasp": { + "position": [ + 0.10956475138664246, + -0.010423410683870316, + -0.07984272390604019 + ], + "orientation": [ + 0.7118181586265564, + 0.031098492443561554, + 0.3149072527885437, + 0.6270416378974915 + ], + "joints": [ + -0.0023144350852817297 + ] + }, + "final_grasp": { + "position": [ + 0.10956475138664246, + -0.010423410683870316, + -0.07984272390604019 + ], + "orientation": [ + 0.7118181586265564, + 0.031098492443561554, + 0.3149072527885437, + 0.6270416378974915 + ], + "joints": [ + -0.0016767557244747877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015716437250375748, + -0.11396762728691101, + 0.022764237597584724 + ], + "orientation": [ + 0.7445652484893799, + -0.17110414803028107, + -0.6450331807136536, + -0.0166767630726099 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + -0.013532035052776337, + -0.11128455400466919, + 0.021628599613904953 + ], + "orientation": [ + 0.7392834424972534, + -0.17339734733104706, + -0.6499789357185364, + -0.030344316735863686 + ], + "joints": [ + -0.012947536073625088 + ] + }, + "final_grasp": { + "position": [ + -0.013532035052776337, + -0.11128455400466919, + 0.021628599613904953 + ], + "orientation": [ + 0.7392834424972534, + -0.17339734733104706, + -0.6499789357185364, + -0.030344316735863686 + ], + "joints": [ + -0.007102129980921745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007545480038970709, + -0.10213521122932434, + 0.001524858409538865 + ], + "orientation": [ + 0.761679470539093, + -0.09959600120782852, + -0.637045681476593, + -0.06401478499174118 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -9.416666580364108e-05, + -0.10522547364234924, + 0.003339949995279312 + ], + "orientation": [ + 0.7641791701316833, + -0.10475984960794449, + -0.6331308484077454, + -0.06481487303972244 + ], + "joints": [ + -0.010565740056335926 + ] + }, + "final_grasp": { + "position": [ + -9.416666580364108e-05, + -0.10522547364234924, + 0.003339949995279312 + ], + "orientation": [ + 0.7641791701316833, + -0.10475984960794449, + -0.6331308484077454, + -0.06481487303972244 + ], + "joints": [ + -0.004693770781159401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0018025422468781471, + -0.1004367545247078, + 0.04486414045095444 + ], + "orientation": [ + 0.04525905102491379, + 0.0019889462273567915, + -0.9977142214775085, + 0.050140075385570526 + ], + "joints": [ + -0.011411797255277634 + ] + }, + "fine_grasp": { + "position": [ + 0.0020226272754371166, + -0.09750442951917648, + 0.04497835785150528 + ], + "orientation": [ + 0.04627903178334236, + 0.0033202129416167736, + -0.9975073933601379, + 0.05316303297877312 + ], + "joints": [ + -0.006522921845316887 + ] + }, + "final_grasp": { + "position": [ + 0.0020226272754371166, + -0.09750442951917648, + 0.04497835785150528 + ], + "orientation": [ + 0.04627903178334236, + 0.0033202129416167736, + -0.9975073933601379, + 0.05316303297877312 + ], + "joints": [ + -0.0016340464353561401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015953429043293, + -0.10835196077823639, + 0.0072539569810032845 + ], + "orientation": [ + 0.37546294927597046, + 0.02208430878818035, + -0.9265510439872742, + -0.006559664849191904 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.018671201542019844, + -0.11066804081201553, + 0.0050572617910802364 + ], + "orientation": [ + 0.3542455732822418, + 0.03811610862612724, + -0.9340788722038269, + -0.02353237383067608 + ], + "joints": [ + -0.01043715514242649 + ] + }, + "final_grasp": { + "position": [ + 0.018671201542019844, + -0.11066804081201553, + 0.0050572617910802364 + ], + "orientation": [ + 0.3542455732822418, + 0.03811610862612724, + -0.9340788722038269, + -0.02353237383067608 + ], + "joints": [ + -0.0038477927446365356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016288938000798225, + -0.10844264179468155, + 0.007137497887015343 + ], + "orientation": [ + 0.3738907277584076, + 0.02373882383108139, + -0.927148699760437, + -0.0061258249916136265 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.019082434475421906, + -0.11070149391889572, + 0.005020937416702509 + ], + "orientation": [ + 0.3539954125881195, + 0.039644405245780945, + -0.9341278076171875, + -0.02282079868018627 + ], + "joints": [ + -0.01043715514242649 + ] + }, + "final_grasp": { + "position": [ + 0.019082434475421906, + -0.11070149391889572, + 0.005020937416702509 + ], + "orientation": [ + 0.3539954125881195, + 0.039644405245780945, + -0.9341278076171875, + -0.02282079868018627 + ], + "joints": [ + -0.0038477927446365356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001221336773596704, + -0.10078327357769012, + 0.04521024972200394 + ], + "orientation": [ + 0.02758406102657318, + 0.0032076050993055105, + -0.9981303215026855, + 0.054448679089546204 + ], + "joints": [ + -0.011202488094568253 + ] + }, + "fine_grasp": { + "position": [ + 0.0008565815514884889, + -0.09666118025779724, + 0.044606562703847885 + ], + "orientation": [ + 0.03482237830758095, + 0.0011936951195821166, + -0.9977046847343445, + 0.058063630014657974 + ], + "joints": [ + -0.006845012307167053 + ] + }, + "final_grasp": { + "position": [ + 0.0008565815514884889, + -0.09666118025779724, + 0.044606562703847885 + ], + "orientation": [ + 0.03482237830758095, + 0.0011936951195821166, + -0.9977046847343445, + 0.058063630014657974 + ], + "joints": [ + -0.002487536519765854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011936762370169163, + -0.11721473187208176, + 0.016255469992756844 + ], + "orientation": [ + 0.8879472613334656, + -0.05929899960756302, + 0.4559168815612793, + -0.01316006574779749 + ], + "joints": [ + -0.019381750375032425 + ] + }, + "fine_grasp": { + "position": [ + 0.011424250900745392, + -0.11654196679592133, + 0.019325608387589455 + ], + "orientation": [ + 0.8876287341117859, + -0.05199962109327316, + 0.4571470618247986, + -0.020683491602540016 + ], + "joints": [ + -0.014466287568211555 + ] + }, + "final_grasp": { + "position": [ + 0.011424250900745392, + -0.11654196679592133, + 0.019325608387589455 + ], + "orientation": [ + 0.8876287341117859, + -0.05199962109327316, + 0.4571470618247986, + -0.020683491602540016 + ], + "joints": [ + -0.009550824761390686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03626912087202072, + -0.10696307569742203, + 8.325328235514462e-05 + ], + "orientation": [ + 0.4149409830570221, + 0.11045176535844803, + -0.903049111366272, + 0.011254671029746532 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.037256497889757156, + -0.11094861477613449, + -8.401981176575646e-05 + ], + "orientation": [ + 0.4162971079349518, + 0.1088562160730362, + -0.9026505947113037, + 0.008317917585372925 + ], + "joints": [ + -0.010961417108774185 + ] + }, + "final_grasp": { + "position": [ + 0.037256497889757156, + -0.11094861477613449, + -8.401981176575646e-05 + ], + "orientation": [ + 0.4162971079349518, + 0.1088562160730362, + -0.9026505947113037, + 0.008317917585372925 + ], + "joints": [ + -0.005514565855264664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09536813944578171, + -0.06009954959154129, + -0.06018926948308945 + ], + "orientation": [ + 0.5944961905479431, + -0.0736255794763565, + 0.684789776802063, + 0.4149898290634155 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.09342972189188004, + -0.05802265182137489, + -0.06086058169603348 + ], + "orientation": [ + 0.6053905487060547, + -0.07837027311325073, + 0.6799390912055969, + 0.4062550365924835 + ], + "joints": [ + -0.011625228449702263 + ] + }, + "final_grasp": { + "position": [ + 0.09342972189188004, + -0.05802265182137489, + -0.06086058169603348 + ], + "orientation": [ + 0.6053905487060547, + -0.07837027311325073, + 0.6799390912055969, + 0.4062550365924835 + ], + "joints": [ + -0.010934405028820038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02639896422624588, + -0.10255775600671768, + -0.032095637172460556 + ], + "orientation": [ + 0.9221035838127136, + 0.11149805784225464, + -0.36831846833229065, + 0.040433332324028015 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.026238488033413887, + -0.10471606254577637, + -0.0361398383975029 + ], + "orientation": [ + 0.9198988080024719, + 0.09665565192699432, + -0.3798353970050812, + 0.013003647327423096 + ], + "joints": [ + -0.011189647950232029 + ] + }, + "final_grasp": { + "position": [ + 0.026238488033413887, + -0.10471606254577637, + -0.0361398383975029 + ], + "orientation": [ + 0.9198988080024719, + 0.09665565192699432, + -0.3798353970050812, + 0.013003647327423096 + ], + "joints": [ + -0.0041751619428396225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004590767901390791, + -0.10842666774988174, + 0.006332055199891329 + ], + "orientation": [ + 0.9285160303115845, + -0.038998957723379135, + -0.3679090440273285, + 0.031306058168411255 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.006122892256826162, + -0.10510048270225525, + 0.00931810587644577 + ], + "orientation": [ + 0.9277099967002869, + -0.03888808935880661, + -0.36937084794044495, + 0.037512168288230896 + ], + "joints": [ + -0.015615934506058693 + ] + }, + "final_grasp": { + "position": [ + 0.006122892256826162, + -0.10510048270225525, + 0.00931810587644577 + ], + "orientation": [ + 0.9277099967002869, + -0.03888808935880661, + -0.36937084794044495, + 0.037512168288230896 + ], + "joints": [ + -0.011231869459152222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020809534937143326, + -0.1042841300368309, + -0.009354175068438053 + ], + "orientation": [ + 0.5376390218734741, + -0.07879330962896347, + -0.8332372307777405, + -0.10223306715488434 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.01994253881275654, + -0.10567417740821838, + -0.008043414913117886 + ], + "orientation": [ + 0.5380839705467224, + -0.07969823479652405, + -0.8308613300323486, + -0.11740285903215408 + ], + "joints": [ + -0.013165096752345562 + ] + }, + "final_grasp": { + "position": [ + -0.01994253881275654, + -0.10567417740821838, + -0.008043414913117886 + ], + "orientation": [ + 0.5380839705467224, + -0.07969823479652405, + -0.8308613300323486, + -0.11740285903215408 + ], + "joints": [ + -0.007213406264781952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020769502967596054, + -0.10425298660993576, + -0.00938146561384201 + ], + "orientation": [ + 0.5364202260971069, + -0.07942233234643936, + -0.8338796496391296, + -0.10290884226560593 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.019696243107318878, + -0.10564501583576202, + -0.008070578798651695 + ], + "orientation": [ + 0.5360690355300903, + -0.08009780943393707, + -0.8318482637405396, + -0.11934326589107513 + ], + "joints": [ + -0.013165096752345562 + ] + }, + "final_grasp": { + "position": [ + -0.019696243107318878, + -0.10564501583576202, + -0.008070578798651695 + ], + "orientation": [ + 0.5360690355300903, + -0.08009780943393707, + -0.8318482637405396, + -0.11934326589107513 + ], + "joints": [ + -0.007213406264781952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020839858800172806, + -0.10424704849720001, + -0.009510391391813755 + ], + "orientation": [ + 0.5372958779335022, + -0.07910367846488953, + -0.8332886695861816, + -0.10337191820144653 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.019752124324440956, + -0.1056971475481987, + -0.008230668492615223 + ], + "orientation": [ + 0.5372031927108765, + -0.07973317801952362, + -0.8310973644256592, + -0.11971831321716309 + ], + "joints": [ + -0.013165096752345562 + ] + }, + "final_grasp": { + "position": [ + -0.019752124324440956, + -0.1056971475481987, + -0.008230668492615223 + ], + "orientation": [ + 0.5372031927108765, + -0.07973317801952362, + -0.8310973644256592, + -0.11971831321716309 + ], + "joints": [ + -0.007213406264781952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015851987525820732, + -0.10218033939599991, + -0.02616489864885807 + ], + "orientation": [ + 0.29317978024482727, + -0.033676497638225555, + -0.9500413537025452, + -0.10165059566497803 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.017615560442209244, + -0.10750291496515274, + -0.025771819055080414 + ], + "orientation": [ + 0.29093244671821594, + -0.03088587149977684, + -0.9502751231193542, + -0.10668440163135529 + ], + "joints": [ + -0.01327137928456068 + ] + }, + "final_grasp": { + "position": [ + -0.017615560442209244, + -0.10750291496515274, + -0.025771819055080414 + ], + "orientation": [ + 0.29093244671821594, + -0.03088587149977684, + -0.9502751231193542, + -0.10668440163135529 + ], + "joints": [ + -0.007425971329212189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00393539248034358, + -0.10362929850816727, + 0.018146824091672897 + ], + "orientation": [ + 0.24574333429336548, + -0.015499001368880272, + 0.9667924642562866, + -0.06842787563800812 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.002105630235746503, + -0.10562655329704285, + 0.02213851921260357 + ], + "orientation": [ + 0.25139206647872925, + -0.029276948422193527, + 0.9657071232795715, + -0.057919230312108994 + ], + "joints": [ + -0.014201325364410877 + ] + }, + "final_grasp": { + "position": [ + -0.002105630235746503, + -0.10562655329704285, + 0.02213851921260357 + ], + "orientation": [ + 0.25139206647872925, + -0.029276948422193527, + 0.9657071232795715, + -0.057919230312108994 + ], + "joints": [ + -0.009285863488912582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003968989010900259, + -0.10361792892217636, + 0.018098533153533936 + ], + "orientation": [ + 0.24573875963687897, + -0.015312694013118744, + 0.9668081402778625, + -0.068264439702034 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.002149358857423067, + -0.10557249933481216, + 0.02209784835577011 + ], + "orientation": [ + 0.25036710500717163, + -0.028933372348546982, + 0.9660016298294067, + -0.057619646191596985 + ], + "joints": [ + -0.014201325364410877 + ] + }, + "final_grasp": { + "position": [ + -0.002149358857423067, + -0.10557249933481216, + 0.02209784835577011 + ], + "orientation": [ + 0.25036710500717163, + -0.028933372348546982, + 0.9660016298294067, + -0.057619646191596985 + ], + "joints": [ + -0.009285863488912582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005676792934536934, + -0.1088801845908165, + -0.008170031942427158 + ], + "orientation": [ + 0.9714335203170776, + 0.03236252814531326, + -0.2338269203901291, + 0.024384740740060806 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.006139183416962624, + -0.11125709116458893, + -0.009051723405718803 + ], + "orientation": [ + 0.9740801453590393, + 0.02650509960949421, + -0.2234332263469696, + 0.023303328081965446 + ], + "joints": [ + -0.014254466630518436 + ] + }, + "final_grasp": { + "position": [ + 0.006139183416962624, + -0.11125709116458893, + -0.009051723405718803 + ], + "orientation": [ + 0.9740801453590393, + 0.02650509960949421, + -0.2234332263469696, + 0.023303328081965446 + ], + "joints": [ + -0.0093921460211277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005833735223859549, + -0.10874534398317337, + -0.007979422807693481 + ], + "orientation": [ + 0.9712902903556824, + 0.03245636075735092, + -0.23432657122612, + 0.02515430562198162 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.006433288101106882, + -0.11132935434579849, + -0.008810704573988914 + ], + "orientation": [ + 0.9738606810569763, + 0.026476113125681877, + -0.22423525154590607, + 0.024756072089076042 + ], + "joints": [ + -0.014254466630518436 + ] + }, + "final_grasp": { + "position": [ + 0.006433288101106882, + -0.11132935434579849, + -0.008810704573988914 + ], + "orientation": [ + 0.9738606810569763, + 0.026476113125681877, + -0.22423525154590607, + 0.024756072089076042 + ], + "joints": [ + -0.0093921460211277 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2039, + "num_passed": 36 + } +} \ No newline at end of file diff --git a/078_phonestand_0/Annotation/piper_grasp_pose.json b/078_phonestand_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..35fdcf834aecf20e948c7793db1fea4b615f1c16 --- /dev/null +++ b/078_phonestand_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,5518 @@ +{ + "type": "078_phonestand_0", + "bottom_center": [ + 2.6989728212356567e-06, + 0.06179624795913696, + -0.04139960557222366 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.05262952670454979, + 0.05676056817173958, + -0.12962181866168976 + ], + "orientation": [ + 0.7138584852218628, + -0.14033900201320648, + -0.16482891142368317, + 0.665989875793457 + ], + "joints": [ + 0.017464730888605118 + ] + }, + "fine_grasp": { + "position": [ + 0.05152296647429466, + 0.05452171713113785, + -0.1260376274585724 + ], + "orientation": [ + 0.7121819853782654, + -0.1298564374446869, + -0.16803699731826782, + 0.6691020727157593 + ], + "joints": [ + 0.010359492152929306 + ] + }, + "final_grasp": { + "position": [ + 0.05152296647429466, + 0.05452171713113785, + -0.1260376274585724 + ], + "orientation": [ + 0.7121819853782654, + -0.1298564374446869, + -0.16803699731826782, + 0.6691020727157593 + ], + "joints": [ + 0.0032542534172534943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013052853755652905, + 0.22331897914409637, + -0.004512117709964514 + ], + "orientation": [ + 0.5262728333473206, + 0.45811012387275696, + -0.4683069586753845, + 0.5420892238616943 + ], + "joints": [ + 0.031568121165037155 + ] + }, + "fine_grasp": { + "position": [ + -0.001086713746190071, + 0.21950368583202362, + -0.0061666942201554775 + ], + "orientation": [ + 0.5141367316246033, + 0.47358399629592896, + -0.4804605543613434, + 0.5296595692634583 + ], + "joints": [ + 0.025654051452875137 + ] + }, + "final_grasp": { + "position": [ + -0.001086713746190071, + 0.21950368583202362, + -0.0061666942201554775 + ], + "orientation": [ + 0.5141367316246033, + 0.47358399629592896, + -0.4804605543613434, + 0.5296595692634583 + ], + "joints": [ + 0.01973998174071312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0719788670539856, + 0.10188663750886917, + -0.09298262000083923 + ], + "orientation": [ + 0.5919513702392578, + -0.12749642133712769, + 0.2668797969818115, + -0.7497422099113464 + ], + "joints": [ + 0.026883425191044807 + ] + }, + "fine_grasp": { + "position": [ + -0.06952043622732162, + 0.1014864444732666, + -0.08993113040924072 + ], + "orientation": [ + 0.5918735265731812, + -0.1298723667860031, + 0.26548874378204346, + -0.7498897910118103 + ], + "joints": [ + 0.01568222977221012 + ] + }, + "final_grasp": { + "position": [ + -0.06952043622732162, + 0.1014864444732666, + -0.08993113040924072 + ], + "orientation": [ + 0.5918735265731812, + -0.1298723667860031, + 0.26548874378204346, + -0.7498897910118103 + ], + "joints": [ + 0.004481034353375435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029396675527095795, + 0.12400121241807938, + -0.11960028856992722 + ], + "orientation": [ + 0.7455717325210571, + 0.15201909840106964, + 0.017362918704748154, + 0.6486228108406067 + ], + "joints": [ + 0.03263815864920616 + ] + }, + "fine_grasp": { + "position": [ + -0.0278339721262455, + 0.124760203063488, + -0.11630264669656754 + ], + "orientation": [ + 0.7432264685630798, + 0.1510249227285385, + 0.023533746600151062, + 0.6513463854789734 + ], + "joints": [ + 0.023401346057653427 + ] + }, + "final_grasp": { + "position": [ + -0.0278339721262455, + 0.124760203063488, + -0.11630264669656754 + ], + "orientation": [ + 0.7432264685630798, + 0.1510249227285385, + 0.023533746600151062, + 0.6513463854789734 + ], + "joints": [ + 0.014164533466100693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07153936475515366, + 0.10150659829378128, + -0.09294974058866501 + ], + "orientation": [ + 0.5925537347793579, + -0.12913118302822113, + 0.2643697261810303, + -0.7498759031295776 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + -0.06909552216529846, + 0.10106664150953293, + -0.08985612541437149 + ], + "orientation": [ + 0.5924962759017944, + -0.13051840662956238, + 0.262582004070282, + -0.7503091096878052 + ], + "joints": [ + 0.015486020594835281 + ] + }, + "final_grasp": { + "position": [ + -0.06909552216529846, + 0.10106664150953293, + -0.08985612541437149 + ], + "orientation": [ + 0.5924962759017944, + -0.13051840662956238, + 0.262582004070282, + -0.7503091096878052 + ], + "joints": [ + 0.004284825176000595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1313989758491516, + 0.06205621361732483, + 0.01136021874845028 + ], + "orientation": [ + 0.48208290338516235, + 0.5218895673751831, + -0.4364188313484192, + -0.5520559549331665 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + 0.12761230766773224, + 0.0620184950530529, + 0.011253228411078453 + ], + "orientation": [ + 0.4782424867153168, + 0.5284940600395203, + -0.4332006871700287, + -0.5516478419303894 + ], + "joints": [ + 0.01866057515144348 + ] + }, + "final_grasp": { + "position": [ + 0.12761230766773224, + 0.0620184950530529, + 0.011253228411078453 + ], + "orientation": [ + 0.4782424867153168, + 0.5284940600395203, + -0.4332006871700287, + -0.5516478419303894 + ], + "joints": [ + 0.007438480854034424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08306120336055756, + -0.00018212501890957355, + 0.10562298446893692 + ], + "orientation": [ + 0.17439056932926178, + 0.6045085787773132, + 0.7437796592712402, + 0.225719153881073 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.08092531561851501, + -0.001066900324076414, + 0.10304062813520432 + ], + "orientation": [ + 0.1874890923500061, + 0.617233395576477, + 0.7318929433822632, + 0.219553142786026 + ], + "joints": [ + 0.026286397129297256 + ] + }, + "final_grasp": { + "position": [ + -0.08092531561851501, + -0.001066900324076414, + 0.10304062813520432 + ], + "orientation": [ + 0.1874890923500061, + 0.617233395576477, + 0.7318929433822632, + 0.219553142786026 + ], + "joints": [ + 0.020351428538560867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02415015920996666, + 0.06505102664232254, + -0.13017429411411285 + ], + "orientation": [ + 0.4863728880882263, + 0.16846804320812225, + -0.1704828441143036, + 0.8402354121208191 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.023211689665913582, + 0.06316648423671722, + -0.1271083503961563 + ], + "orientation": [ + 0.4869944751262665, + 0.17102038860321045, + -0.17002223432064056, + 0.8394527435302734 + ], + "joints": [ + 0.020052161067724228 + ] + }, + "final_grasp": { + "position": [ + -0.023211689665913582, + 0.06316648423671722, + -0.1271083503961563 + ], + "orientation": [ + 0.4869944751262665, + 0.17102038860321045, + -0.17002223432064056, + 0.8394527435302734 + ], + "joints": [ + 0.008809167891740799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14667059481143951, + -0.01672656089067459, + 0.06012384966015816 + ], + "orientation": [ + 0.0396619476377964, + -0.8456581830978394, + 0.04775892198085785, + 0.5301020741462708 + ], + "joints": [ + 0.014040673151612282 + ] + }, + "fine_grasp": { + "position": [ + 0.14314043521881104, + -0.015711722895503044, + 0.05876145511865616 + ], + "orientation": [ + 0.04788728430867195, + -0.8427523970603943, + 0.05312424153089523, + 0.5335288643836975 + ], + "joints": [ + 0.003612690605223179 + ] + }, + "final_grasp": { + "position": [ + 0.14314043521881104, + -0.015711722895503044, + 0.05876145511865616 + ], + "orientation": [ + 0.04788728430867195, + -0.8427523970603943, + 0.05312424153089523, + 0.5335288643836975 + ], + "joints": [ + -0.006815291941165924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14618054032325745, + -0.01687345840036869, + 0.0603959895670414 + ], + "orientation": [ + 0.038094956427812576, + -0.8446049094200134, + 0.04585357755422592, + 0.5320608019828796 + ], + "joints": [ + 0.015478760004043579 + ] + }, + "fine_grasp": { + "position": [ + 0.14281858503818512, + -0.015772785991430283, + 0.059046633541584015 + ], + "orientation": [ + 0.04809300974011421, + -0.842126727104187, + 0.0523279570043087, + 0.5345760583877563 + ], + "joints": [ + 0.0034416504204273224 + ] + }, + "final_grasp": { + "position": [ + 0.14281858503818512, + -0.015772785991430283, + 0.059046633541584015 + ], + "orientation": [ + 0.04809300974011421, + -0.842126727104187, + 0.0523279570043087, + 0.5345760583877563 + ], + "joints": [ + -0.008595459163188934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08433528989553452, + 0.06740881502628326, + -0.10320185124874115 + ], + "orientation": [ + 0.5295352935791016, + 0.3397333323955536, + -0.012688194401562214, + -0.7771824598312378 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.08204922825098038, + 0.06531865894794464, + -0.10091892629861832 + ], + "orientation": [ + 0.5266289114952087, + 0.34683164954185486, + -0.008932470344007015, + -0.7760734558105469 + ], + "joints": [ + 0.024558015167713165 + ] + }, + "final_grasp": { + "position": [ + 0.08204922825098038, + 0.06531865894794464, + -0.10091892629861832 + ], + "orientation": [ + 0.5266289114952087, + 0.34683164954185486, + -0.008932470344007015, + -0.7760734558105469 + ], + "joints": [ + 0.015760056674480438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13128761947155, + 0.03531675040721893, + -0.048502419143915176 + ], + "orientation": [ + 0.5544549822807312, + -0.36892035603523254, + -0.4478093385696411, + 0.5966106057167053 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.1282162070274353, + 0.03279400244355202, + -0.04715918377041817 + ], + "orientation": [ + 0.5478107333183289, + -0.3615039587020874, + -0.4513433575630188, + 0.6045721769332886 + ], + "joints": [ + 0.024235066026449203 + ] + }, + "final_grasp": { + "position": [ + 0.1282162070274353, + 0.03279400244355202, + -0.04715918377041817 + ], + "orientation": [ + 0.5478107333183289, + -0.3615039587020874, + -0.4513433575630188, + 0.6045721769332886 + ], + "joints": [ + 0.016711872071027756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08423766493797302, + 0.06735694408416748, + -0.10305240005254745 + ], + "orientation": [ + 0.5296449661254883, + 0.33949920535087585, + -0.013000424019992352, + -0.7772049903869629 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.08194717019796371, + 0.0652661994099617, + -0.10078130662441254 + ], + "orientation": [ + 0.5268950462341309, + 0.34649330377578735, + -0.009042086079716682, + -0.7760426998138428 + ], + "joints": [ + 0.024558015167713165 + ] + }, + "final_grasp": { + "position": [ + 0.08194717019796371, + 0.0652661994099617, + -0.10078130662441254 + ], + "orientation": [ + 0.5268950462341309, + 0.34649330377578735, + -0.009042086079716682, + -0.7760426998138428 + ], + "joints": [ + 0.015760056674480438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12475891411304474, + 0.06831186264753342, + -0.0071242921985685825 + ], + "orientation": [ + 0.6192528009414673, + -0.28324103355407715, + -0.5751837491989136, + 0.453281432390213 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + 0.1209990456700325, + 0.0694412961602211, + -0.005870943423360586 + ], + "orientation": [ + 0.6277156472206116, + -0.283003568649292, + -0.5709047317504883, + 0.4471574127674103 + ], + "joints": [ + 0.02013423666357994 + ] + }, + "final_grasp": { + "position": [ + 0.1209990456700325, + 0.0694412961602211, + -0.005870943423360586 + ], + "orientation": [ + 0.6277156472206116, + -0.283003568649292, + -0.5709047317504883, + 0.4471574127674103 + ], + "joints": [ + 0.011775132268667221 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01442558504641056, + 0.16207893192768097, + 0.10350819677114487 + ], + "orientation": [ + 0.15435922145843506, + 0.6169773936271667, + -0.719114363193512, + 0.2799759805202484 + ], + "joints": [ + 0.03456005081534386 + ] + }, + "fine_grasp": { + "position": [ + -0.013520771637558937, + 0.15970319509506226, + 0.1000925600528717 + ], + "orientation": [ + 0.154026061296463, + 0.612423837184906, + -0.7245467901229858, + 0.27612483501434326 + ], + "joints": [ + 0.02542773261666298 + ] + }, + "final_grasp": { + "position": [ + -0.013520771637558937, + 0.15970319509506226, + 0.1000925600528717 + ], + "orientation": [ + 0.154026061296463, + 0.612423837184906, + -0.7245467901229858, + 0.27612483501434326 + ], + "joints": [ + 0.0162954144179821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03293818607926369, + 0.09834526479244232, + -0.11587703227996826 + ], + "orientation": [ + 0.7560394406318665, + 0.07264918833971024, + 0.22854554653167725, + -0.6090101599693298 + ], + "joints": [ + 0.015751108527183533 + ] + }, + "fine_grasp": { + "position": [ + -0.03194183483719826, + 0.09681124985218048, + -0.11235886067152023 + ], + "orientation": [ + 0.7565701007843018, + 0.07405826449394226, + 0.22837533056735992, + -0.6082448959350586 + ], + "joints": [ + 0.006535195745527744 + ] + }, + "final_grasp": { + "position": [ + -0.03194183483719826, + 0.09681124985218048, + -0.11235886067152023 + ], + "orientation": [ + 0.7565701007843018, + 0.07405826449394226, + 0.22837533056735992, + -0.6082448959350586 + ], + "joints": [ + -0.002680717036128044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15109732747077942, + 0.01029159314930439, + 0.05874098837375641 + ], + "orientation": [ + 0.631636917591095, + -0.022264564409852028, + 0.7732985019683838, + -0.05048152431845665 + ], + "joints": [ + 0.0046861255541443825 + ] + }, + "fine_grasp": { + "position": [ + -0.14656022191047668, + 0.009831997565925121, + 0.05630400776863098 + ], + "orientation": [ + 0.6121180653572083, + -0.020087191835045815, + 0.7887938618659973, + -0.0520789697766304 + ], + "joints": [ + 0.003348670667037368 + ] + }, + "final_grasp": { + "position": [ + -0.14656022191047668, + 0.009831997565925121, + 0.05630400776863098 + ], + "orientation": [ + 0.6121180653572083, + -0.020087191835045815, + 0.7887938618659973, + -0.0520789697766304 + ], + "joints": [ + 0.002011215779930353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015036088414490223, + 0.16298581659793854, + 0.10408465564250946 + ], + "orientation": [ + 0.15709759294986725, + 0.6181190609931946, + -0.7163662910461426, + 0.2829637825489044 + ], + "joints": [ + 0.03432849794626236 + ] + }, + "fine_grasp": { + "position": [ + -0.014138908125460148, + 0.16063907742500305, + 0.10066168010234833 + ], + "orientation": [ + 0.15526214241981506, + 0.6133700609207153, + -0.7225357294082642, + 0.2785910367965698 + ], + "joints": [ + 0.026408247649669647 + ] + }, + "final_grasp": { + "position": [ + -0.014138908125460148, + 0.16063907742500305, + 0.10066168010234833 + ], + "orientation": [ + 0.15526214241981506, + 0.6133700609207153, + -0.7225357294082642, + 0.2785910367965698 + ], + "joints": [ + 0.018487997353076935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11346850544214249, + 0.07834802567958832, + -0.05460139364004135 + ], + "orientation": [ + 0.7316545248031616, + -0.1582411378622055, + 0.4566877484321594, + -0.4807056188583374 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + -0.11107216775417328, + 0.07917926460504532, + -0.05176356062293053 + ], + "orientation": [ + 0.737558126449585, + -0.16226579248905182, + 0.4515507221221924, + -0.4751628637313843 + ], + "joints": [ + 0.023917660117149353 + ] + }, + "final_grasp": { + "position": [ + -0.11107216775417328, + 0.07917926460504532, + -0.05176356062293053 + ], + "orientation": [ + 0.737558126449585, + -0.16226579248905182, + 0.4515507221221924, + -0.4751628637313843 + ], + "joints": [ + 0.01633176952600479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0063402000814676285, + 0.1445610374212265, + 0.09692683815956116 + ], + "orientation": [ + 0.22218327224254608, + 0.5678799152374268, + 0.7231529951095581, + -0.32434046268463135 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.005849489476531744, + 0.1411542445421219, + 0.09413077682256699 + ], + "orientation": [ + 0.21337880194187164, + 0.5461676120758057, + 0.7394788861274719, + -0.3306678235530853 + ], + "joints": [ + 0.028312716633081436 + ] + }, + "final_grasp": { + "position": [ + 0.005849489476531744, + 0.1411542445421219, + 0.09413077682256699 + ], + "orientation": [ + 0.21337880194187164, + 0.5461676120758057, + 0.7394788861274719, + -0.3306678235530853 + ], + "joints": [ + 0.02162543311715126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03285932168364525, + 0.11162593215703964, + 0.14082394540309906 + ], + "orientation": [ + 0.2290436327457428, + 0.6724066734313965, + 0.7000592947006226, + -0.07297353446483612 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.03160976991057396, + 0.10969676822423935, + 0.13733705878257751 + ], + "orientation": [ + 0.2326512485742569, + 0.678597092628479, + 0.693348228931427, + -0.06817425787448883 + ], + "joints": [ + 0.023375999182462692 + ] + }, + "final_grasp": { + "position": [ + -0.03160976991057396, + 0.10969676822423935, + 0.13733705878257751 + ], + "orientation": [ + 0.2326512485742569, + 0.678597092628479, + 0.693348228931427, + -0.06817425787448883 + ], + "joints": [ + 0.015016894787549973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1481756865978241, + 0.007919481955468655, + 0.055188316851854324 + ], + "orientation": [ + 0.5997877717018127, + -0.025319131091237068, + 0.7983131408691406, + -0.048058830201625824 + ], + "joints": [ + 0.010960259474813938 + ] + }, + "fine_grasp": { + "position": [ + -0.1442493498325348, + 0.007716413587331772, + 0.05365960672497749 + ], + "orientation": [ + 0.5967519283294678, + -0.02540600299835205, + 0.8006100654602051, + -0.047593049705028534 + ], + "joints": [ + 0.003416168736293912 + ] + }, + "final_grasp": { + "position": [ + -0.1442493498325348, + 0.007716413587331772, + 0.05365960672497749 + ], + "orientation": [ + 0.5967519283294678, + -0.02540600299835205, + 0.8006100654602051, + -0.047593049705028534 + ], + "joints": [ + -0.004127922002226114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01703890785574913, + 0.02996179834008217, + 0.14262418448925018 + ], + "orientation": [ + 0.04208577424287796, + 0.6179141998291016, + -0.7796841263771057, + -0.0922139585018158 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.01683909446001053, + 0.031286824494600296, + 0.13891902565956116 + ], + "orientation": [ + 0.021640921011567116, + 0.6256401538848877, + -0.7738273739814758, + -0.09642238914966583 + ], + "joints": [ + 0.022373490035533905 + ] + }, + "final_grasp": { + "position": [ + 0.01683909446001053, + 0.031286824494600296, + 0.13891902565956116 + ], + "orientation": [ + 0.021640921011567116, + 0.6256401538848877, + -0.7738273739814758, + -0.09642238914966583 + ], + "joints": [ + 0.013220272958278656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02973312698304653, + 0.08281947672367096, + 0.1412898749113083 + ], + "orientation": [ + 0.014081403613090515, + 0.755329966545105, + 0.6300190091133118, + -0.1798732578754425 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.02797083742916584, + 0.08174314349889755, + 0.13768652081489563 + ], + "orientation": [ + 0.016234304755926132, + 0.7512124180793762, + 0.636631429195404, + -0.17354179918766022 + ], + "joints": [ + 0.02520642802119255 + ] + }, + "final_grasp": { + "position": [ + 0.02797083742916584, + 0.08174314349889755, + 0.13768652081489563 + ], + "orientation": [ + 0.016234304755926132, + 0.7512124180793762, + 0.636631429195404, + -0.17354179918766022 + ], + "joints": [ + 0.017265278846025467 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007781441789120436, + 0.045715782791376114, + -0.1429217904806137 + ], + "orientation": [ + 0.7510872483253479, + 0.05467692017555237, + -0.04353010654449463, + 0.6564932465553284 + ], + "joints": [ + 0.026571443304419518 + ] + }, + "fine_grasp": { + "position": [ + -0.007963906042277813, + 0.042546987533569336, + -0.1403954029083252 + ], + "orientation": [ + 0.7470100522041321, + 0.06939037889242172, + -0.058735813945531845, + 0.6585674285888672 + ], + "joints": [ + 0.018985552713274956 + ] + }, + "final_grasp": { + "position": [ + -0.007963906042277813, + 0.042546987533569336, + -0.1403954029083252 + ], + "orientation": [ + 0.7470100522041321, + 0.06939037889242172, + -0.058735813945531845, + 0.6585674285888672 + ], + "joints": [ + 0.011399662122130394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05016246810555458, + 0.11666090786457062, + 0.11060793697834015 + ], + "orientation": [ + 0.3163815140724182, + 0.6000505089759827, + -0.7342076897621155, + 0.027952952310442924 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.04765049368143082, + 0.11461140215396881, + 0.10813894122838974 + ], + "orientation": [ + 0.31066814064979553, + 0.6084681153297424, + -0.729778528213501, + 0.02598322182893753 + ], + "joints": [ + 0.023718751966953278 + ] + }, + "final_grasp": { + "position": [ + 0.04765049368143082, + 0.11461140215396881, + 0.10813894122838974 + ], + "orientation": [ + 0.31066814064979553, + 0.6084681153297424, + -0.729778528213501, + 0.02598322182893753 + ], + "joints": [ + 0.014544636011123657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05077490210533142, + 0.11692967265844345, + 0.1085582748055458 + ], + "orientation": [ + 0.3249511122703552, + 0.5876972079277039, + -0.7402305603027344, + 0.03282448649406433 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.0482955202460289, + 0.11495786905288696, + 0.10599348694086075 + ], + "orientation": [ + 0.31790298223495483, + 0.6030417680740356, + -0.7310152053833008, + 0.029917266219854355 + ], + "joints": [ + 0.02336684614419937 + ] + }, + "final_grasp": { + "position": [ + 0.0482955202460289, + 0.11495786905288696, + 0.10599348694086075 + ], + "orientation": [ + 0.31790298223495483, + 0.6030417680740356, + -0.7310152053833008, + 0.029917266219854355 + ], + "joints": [ + 0.01337771862745285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005682102870196104, + 0.14444482326507568, + 0.10582967102527618 + ], + "orientation": [ + 0.1532984972000122, + 0.6111319065093994, + -0.7446467280387878, + 0.22026948630809784 + ], + "joints": [ + 0.033020228147506714 + ] + }, + "fine_grasp": { + "position": [ + -0.005108322948217392, + 0.14217998087406158, + 0.10222303122282028 + ], + "orientation": [ + 0.15466062724590302, + 0.5971332788467407, + -0.7554839849472046, + 0.22080717980861664 + ], + "joints": [ + 0.025497034192085266 + ] + }, + "final_grasp": { + "position": [ + -0.005108322948217392, + 0.14217998087406158, + 0.10222303122282028 + ], + "orientation": [ + 0.15466062724590302, + 0.5971332788467407, + -0.7554839849472046, + 0.22080717980861664 + ], + "joints": [ + 0.01797384023666382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019716164097189903, + 0.08526298403739929, + 0.1505649983882904 + ], + "orientation": [ + 0.05817210301756859, + 0.5892977118492126, + -0.7877939343452454, + 0.16948463022708893 + ], + "joints": [ + 0.03142189234495163 + ] + }, + "fine_grasp": { + "position": [ + -0.018898440524935722, + 0.08433692157268524, + 0.14677020907402039 + ], + "orientation": [ + 0.050198089331388474, + 0.6038200855255127, + -0.7790319323539734, + 0.16121689975261688 + ], + "joints": [ + 0.022226877510547638 + ] + }, + "final_grasp": { + "position": [ + -0.018898440524935722, + 0.08433692157268524, + 0.14677020907402039 + ], + "orientation": [ + 0.050198089331388474, + 0.6038200855255127, + -0.7790319323539734, + 0.16121689975261688 + ], + "joints": [ + 0.013031862676143646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006064227782189846, + 0.14451870322227478, + 0.10686517506837845 + ], + "orientation": [ + 0.15071354806423187, + 0.6089649200439453, + -0.7452685832977295, + 0.225880429148674 + ], + "joints": [ + 0.033020228147506714 + ] + }, + "fine_grasp": { + "position": [ + -0.005527433939278126, + 0.14222821593284607, + 0.10322584956884384 + ], + "orientation": [ + 0.1520918756723404, + 0.5982604026794434, + -0.7535524368286133, + 0.22607778012752533 + ], + "joints": [ + 0.025914989411830902 + ] + }, + "final_grasp": { + "position": [ + -0.005527433939278126, + 0.14222821593284607, + 0.10322584956884384 + ], + "orientation": [ + 0.1520918756723404, + 0.5982604026794434, + -0.7535524368286133, + 0.22607778012752533 + ], + "joints": [ + 0.01880975067615509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051002223044633865, + 0.11752354353666306, + 0.10835497826337814 + ], + "orientation": [ + 0.31750404834747314, + 0.5810232758522034, + -0.7488678693771362, + 0.028281355276703835 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.04848429560661316, + 0.1154932975769043, + 0.10585363954305649 + ], + "orientation": [ + 0.3182496130466461, + 0.5887629389762878, + -0.742379367351532, + 0.030793964862823486 + ], + "joints": [ + 0.02273823693394661 + ] + }, + "final_grasp": { + "position": [ + 0.04848429560661316, + 0.1154932975769043, + 0.10585363954305649 + ], + "orientation": [ + 0.3182496130466461, + 0.5887629389762878, + -0.742379367351532, + 0.030793964862823486 + ], + "joints": [ + 0.012352053076028824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04550890251994133, + 0.009200952015817165, + 0.12816695868968964 + ], + "orientation": [ + 0.2526401877403259, + -0.7619267106056213, + 0.5907146334648132, + -0.08183515816926956 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.04397539794445038, + 0.011662660166621208, + 0.1257554292678833 + ], + "orientation": [ + 0.25878384709358215, + -0.7610121965408325, + 0.592330813407898, + -0.055096015334129333 + ], + "joints": [ + 0.02136032097041607 + ] + }, + "final_grasp": { + "position": [ + -0.04397539794445038, + 0.011662660166621208, + 0.1257554292678833 + ], + "orientation": [ + 0.25878384709358215, + -0.7610121965408325, + 0.592330813407898, + -0.055096015334129333 + ], + "joints": [ + 0.012583261355757713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04992733150720596, + 0.07006476074457169, + -0.11673030257225037 + ], + "orientation": [ + 0.706089973449707, + 0.1358877420425415, + -0.09000283479690552, + -0.6891087293624878 + ], + "joints": [ + 0.025273509323596954 + ] + }, + "fine_grasp": { + "position": [ + 0.04843350872397423, + 0.06968963146209717, + -0.11264155805110931 + ], + "orientation": [ + 0.708599865436554, + 0.1369161605834961, + -0.09114900976419449, + -0.6861721277236938 + ], + "joints": [ + 0.018168270587921143 + ] + }, + "final_grasp": { + "position": [ + 0.04843350872397423, + 0.06968963146209717, + -0.11264155805110931 + ], + "orientation": [ + 0.708599865436554, + 0.1369161605834961, + -0.09114900976419449, + -0.6861721277236938 + ], + "joints": [ + 0.01106303185224533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0239188801497221, + 0.06464942544698715, + -0.13031809031963348 + ], + "orientation": [ + 0.48722967505455017, + 0.17202410101890564, + -0.17020933330059052, + 0.8390731811523438 + ], + "joints": [ + 0.03108675591647625 + ] + }, + "fine_grasp": { + "position": [ + -0.023155491799116135, + 0.06279616802930832, + -0.1271483451128006 + ], + "orientation": [ + 0.4880026876926422, + 0.17303389310836792, + -0.1698518544435501, + 0.8384885191917419 + ], + "joints": [ + 0.020240819081664085 + ] + }, + "final_grasp": { + "position": [ + -0.023155491799116135, + 0.06279616802930832, + -0.1271483451128006 + ], + "orientation": [ + 0.4880026876926422, + 0.17303389310836792, + -0.1698518544435501, + 0.8384885191917419 + ], + "joints": [ + 0.009394882246851921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02418108470737934, + 0.06485769152641296, + -0.13048967719078064 + ], + "orientation": [ + 0.4849807024002075, + 0.1704772412776947, + -0.1700383424758911, + 0.8407248258590698 + ], + "joints": [ + 0.03108675591647625 + ] + }, + "fine_grasp": { + "position": [ + -0.02336457185447216, + 0.06296678632497787, + -0.127355694770813 + ], + "orientation": [ + 0.4856152832508087, + 0.17214810848236084, + -0.1698290854692459, + 0.8400601148605347 + ], + "joints": [ + 0.020240819081664085 + ] + }, + "final_grasp": { + "position": [ + -0.02336457185447216, + 0.06296678632497787, + -0.127355694770813 + ], + "orientation": [ + 0.4856152832508087, + 0.17214810848236084, + -0.1698290854692459, + 0.8400601148605347 + ], + "joints": [ + 0.009394882246851921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023904360830783844, + 0.06457187980413437, + -0.1308387666940689 + ], + "orientation": [ + 0.4841720461845398, + 0.17672446370124817, + -0.1702931523323059, + 0.8398488163948059 + ], + "joints": [ + 0.030855201184749603 + ] + }, + "fine_grasp": { + "position": [ + -0.02330777421593666, + 0.06278940290212631, + -0.12755560874938965 + ], + "orientation": [ + 0.48464876413345337, + 0.17673945426940918, + -0.16977500915527344, + 0.8396756649017334 + ], + "joints": [ + 0.02000926434993744 + ] + }, + "final_grasp": { + "position": [ + -0.02330777421593666, + 0.06278940290212631, + -0.12755560874938965 + ], + "orientation": [ + 0.48464876413345337, + 0.17673945426940918, + -0.16977500915527344, + 0.8396756649017334 + ], + "joints": [ + 0.009163327515125275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10353805869817734, + 0.04691120237112045, + -0.09294553101062775 + ], + "orientation": [ + 0.4621856212615967, + -0.3142058551311493, + -0.3638087511062622, + 0.7451860904693604 + ], + "joints": [ + 0.02724294178187847 + ] + }, + "fine_grasp": { + "position": [ + 0.10208963602781296, + 0.04408052936196327, + -0.0906771570444107 + ], + "orientation": [ + 0.459799200296402, + -0.3007362484931946, + -0.37263819575309753, + 0.7478524446487427 + ], + "joints": [ + 0.02045116387307644 + ] + }, + "final_grasp": { + "position": [ + 0.10208963602781296, + 0.04408052936196327, + -0.0906771570444107 + ], + "orientation": [ + 0.459799200296402, + -0.3007362484931946, + -0.37263819575309753, + 0.7478524446487427 + ], + "joints": [ + 0.013659385964274406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10167891532182693, + 0.04593013599514961, + -0.09246523678302765 + ], + "orientation": [ + 0.4468819797039032, + -0.32202091813087463, + -0.3586979806423187, + 0.7536144852638245 + ], + "joints": [ + 0.027740174904465675 + ] + }, + "fine_grasp": { + "position": [ + 0.1000077873468399, + 0.043300893157720566, + -0.08999200910329819 + ], + "orientation": [ + 0.4442905783653259, + -0.31079456210136414, + -0.3653261065483093, + 0.7566699981689453 + ], + "joints": [ + 0.020175183191895485 + ] + }, + "final_grasp": { + "position": [ + 0.1000077873468399, + 0.043300893157720566, + -0.08999200910329819 + ], + "orientation": [ + 0.4442905783653259, + -0.31079456210136414, + -0.3653261065483093, + 0.7566699981689453 + ], + "joints": [ + 0.012610191479325294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12681572139263153, + 0.14287932217121124, + -0.03061978705227375 + ], + "orientation": [ + 0.31446313858032227, + -0.47587084770202637, + 0.4115850627422333, + -0.7108147740364075 + ], + "joints": [ + 0.011697068810462952 + ] + }, + "fine_grasp": { + "position": [ + -0.12279587984085083, + 0.14236490428447723, + -0.02981787919998169 + ], + "orientation": [ + 0.31649720668792725, + -0.47428587079048157, + 0.4103626310825348, + -0.711677610874176 + ], + "joints": [ + 0.003337965114042163 + ] + }, + "final_grasp": { + "position": [ + -0.12279587984085083, + 0.14236490428447723, + -0.02981787919998169 + ], + "orientation": [ + 0.31649720668792725, + -0.47428587079048157, + 0.4103626310825348, + -0.711677610874176 + ], + "joints": [ + -0.005021138582378626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015888605266809464, + 0.14004582166671753, + 0.10828705132007599 + ], + "orientation": [ + 0.28646981716156006, + 0.49015823006629944, + 0.7690210938453674, + -0.2937454283237457 + ], + "joints": [ + 0.034780025482177734 + ] + }, + "fine_grasp": { + "position": [ + -0.015113974921405315, + 0.13795994222164154, + 0.104853555560112 + ], + "orientation": [ + 0.2703472673892975, + 0.480594277381897, + 0.7839524745941162, + -0.28523680567741394 + ], + "joints": [ + 0.026400022208690643 + ] + }, + "final_grasp": { + "position": [ + -0.015113974921405315, + 0.13795994222164154, + 0.104853555560112 + ], + "orientation": [ + 0.2703472673892975, + 0.480594277381897, + 0.7839524745941162, + -0.28523680567741394 + ], + "joints": [ + 0.018020018935203552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1329953521490097, + 0.07571559399366379, + 0.006018830928951502 + ], + "orientation": [ + 0.3804861307144165, + -0.5646299719810486, + 0.417796790599823, + -0.6015554666519165 + ], + "joints": [ + 0.020752742886543274 + ] + }, + "fine_grasp": { + "position": [ + -0.12896741926670074, + 0.07471352070569992, + 0.005995480809360743 + ], + "orientation": [ + 0.3724657893180847, + -0.5593835115432739, + 0.42291760444641113, + -0.607865035533905 + ], + "joints": [ + 0.012393638491630554 + ] + }, + "final_grasp": { + "position": [ + -0.12896741926670074, + 0.07471352070569992, + 0.005995480809360743 + ], + "orientation": [ + 0.3724657893180847, + -0.5593835115432739, + 0.42291760444641113, + -0.607865035533905 + ], + "joints": [ + 0.0040345340967178345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012018772773444653, + 0.0753738060593605, + 0.15607105195522308 + ], + "orientation": [ + 0.01716364547610283, + 0.5746490955352783, + -0.812436580657959, + 0.09711170196533203 + ], + "joints": [ + 0.034004319459199905 + ] + }, + "fine_grasp": { + "position": [ + -0.011158587411046028, + 0.07503718137741089, + 0.15292899310588837 + ], + "orientation": [ + 0.0017889576265588403, + 0.5857763886451721, + -0.8056741952896118, + 0.08804503083229065 + ], + "joints": [ + 0.024349551647901535 + ] + }, + "final_grasp": { + "position": [ + -0.011158587411046028, + 0.07503718137741089, + 0.15292899310588837 + ], + "orientation": [ + 0.0017889576265588403, + 0.5857763886451721, + -0.8056741952896118, + 0.08804503083229065 + ], + "joints": [ + 0.014694783836603165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11442182958126068, + 0.12054421007633209, + -0.0011836246121674776 + ], + "orientation": [ + 0.6590471863746643, + 0.4927468001842499, + 0.47416335344314575, + 0.31309184432029724 + ], + "joints": [ + 0.01656290516257286 + ] + }, + "fine_grasp": { + "position": [ + -0.11136942356824875, + 0.11996419727802277, + -0.0010074214078485966 + ], + "orientation": [ + 0.6613497734069824, + 0.4960187077522278, + 0.4689955711364746, + 0.3108457624912262 + ], + "joints": [ + 0.006929037161171436 + ] + }, + "final_grasp": { + "position": [ + -0.11136942356824875, + 0.11996419727802277, + -0.0010074214078485966 + ], + "orientation": [ + 0.6613497734069824, + 0.4960187077522278, + 0.4689955711364746, + 0.3108457624912262 + ], + "joints": [ + -0.002704830840229988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08334268629550934, + 0.016551446169614792, + 0.12843409180641174 + ], + "orientation": [ + 0.05295385420322418, + -0.9302008152008057, + 0.022953003644943237, + -0.3624851107597351 + ], + "joints": [ + 0.03354121372103691 + ] + }, + "fine_grasp": { + "position": [ + -0.08113783597946167, + 0.016629712656140327, + 0.1251438856124878 + ], + "orientation": [ + 0.04465017840266228, + -0.9330488443374634, + 0.02085500955581665, + -0.35635825991630554 + ], + "joints": [ + 0.02353118732571602 + ] + }, + "final_grasp": { + "position": [ + -0.08113783597946167, + 0.016629712656140327, + 0.1251438856124878 + ], + "orientation": [ + 0.04465017840266228, + -0.9330488443374634, + 0.02085500955581665, + -0.35635825991630554 + ], + "joints": [ + 0.013521160930395126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05295885354280472, + -0.017196135595440865, + -0.1291869729757309 + ], + "orientation": [ + 0.5115947127342224, + -0.28314200043678284, + -0.02817578986287117, + 0.8107450604438782 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + 0.051779408007860184, + -0.01728866994380951, + -0.12556970119476318 + ], + "orientation": [ + 0.5136629939079285, + -0.2788824737071991, + -0.03470730036497116, + 0.8106604814529419 + ], + "joints": [ + 0.021336006000638008 + ] + }, + "final_grasp": { + "position": [ + 0.051779408007860184, + -0.01728866994380951, + -0.12556970119476318 + ], + "orientation": [ + 0.5136629939079285, + -0.2788824737071991, + -0.03470730036497116, + 0.8106604814529419 + ], + "joints": [ + 0.012140991166234016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05390690639615059, + -0.018995312973856926, + -0.1291833072900772 + ], + "orientation": [ + 0.5041317939758301, + -0.2705683708190918, + -0.03596455976366997, + 0.8193597197532654 + ], + "joints": [ + 0.028759019449353218 + ] + }, + "fine_grasp": { + "position": [ + 0.05300383269786835, + -0.018261095508933067, + -0.125678151845932 + ], + "orientation": [ + 0.5082828402519226, + -0.2645982801914215, + -0.034678369760513306, + 0.8188000917434692 + ], + "joints": [ + 0.018707195296883583 + ] + }, + "final_grasp": { + "position": [ + 0.05300383269786835, + -0.018261095508933067, + -0.125678151845932 + ], + "orientation": [ + 0.5082828402519226, + -0.2645982801914215, + -0.034678369760513306, + 0.8188000917434692 + ], + "joints": [ + 0.008655371144413948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0935392826795578, + -0.03911884129047394, + -0.0965103879570961 + ], + "orientation": [ + 0.7788930535316467, + 0.005689193960279226, + -0.46914875507354736, + -0.41616424918174744 + ], + "joints": [ + 0.02530929446220398 + ] + }, + "fine_grasp": { + "position": [ + 0.09099302440881729, + -0.037640731781721115, + -0.09420987218618393 + ], + "orientation": [ + 0.776553750038147, + 0.006277989596128464, + -0.4688601493835449, + -0.42082667350769043 + ], + "joints": [ + 0.01649043709039688 + ] + }, + "final_grasp": { + "position": [ + 0.09099302440881729, + -0.037640731781721115, + -0.09420987218618393 + ], + "orientation": [ + 0.776553750038147, + 0.006277989596128464, + -0.4688601493835449, + -0.42082667350769043 + ], + "joints": [ + 0.007671579718589783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020166762173175812, + -0.0005098952678963542, + 0.15680542588233948 + ], + "orientation": [ + 0.01591009832918644, + 0.04971605911850929, + 0.9919191002845764, + 0.11563626676797867 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.019800852984189987, + 0.0003249588480684906, + 0.1524636596441269 + ], + "orientation": [ + 0.022987982258200645, + 0.038207050412893295, + 0.992874264717102, + 0.11051104217767715 + ], + "joints": [ + 0.027455907315015793 + ] + }, + "final_grasp": { + "position": [ + -0.019800852984189987, + 0.0003249588480684906, + 0.1524636596441269 + ], + "orientation": [ + 0.022987982258200645, + 0.038207050412893295, + 0.992874264717102, + 0.11051104217767715 + ], + "joints": [ + 0.019911814481019974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0033398971427232027, + 0.07243713736534119, + -0.16594290733337402 + ], + "orientation": [ + 0.9995132684707642, + 0.02838427945971489, + -0.010909504257142544, + -0.006976776290684938 + ], + "joints": [ + 0.030933767557144165 + ] + }, + "fine_grasp": { + "position": [ + -0.0032903326209634542, + 0.07191835343837738, + -0.16243891417980194 + ], + "orientation": [ + 0.9994289875030518, + 0.03141631558537483, + -0.010463553480803967, + -0.006718226242810488 + ], + "joints": [ + 0.03162502124905586 + ] + }, + "final_grasp": { + "position": [ + -0.0032903326209634542, + 0.07191835343837738, + -0.16243891417980194 + ], + "orientation": [ + 0.9994289875030518, + 0.03141631558537483, + -0.010463553480803967, + -0.006718226242810488 + ], + "joints": [ + 0.03231627494096756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026052791625261307, + 0.01957111805677414, + -0.13945555686950684 + ], + "orientation": [ + 0.8782363533973694, + 0.10777103900909424, + -0.08242906630039215, + -0.4585757851600647 + ], + "joints": [ + 0.02636304497718811 + ] + }, + "fine_grasp": { + "position": [ + 0.024446042254567146, + 0.01887410692870617, + -0.13587981462478638 + ], + "orientation": [ + 0.8732317686080933, + 0.10743852704763412, + -0.08732060343027115, + -0.4672239124774933 + ], + "joints": [ + 0.01716803014278412 + ] + }, + "final_grasp": { + "position": [ + 0.024446042254567146, + 0.01887410692870617, + -0.13587981462478638 + ], + "orientation": [ + 0.8732317686080933, + 0.10743852704763412, + -0.08732060343027115, + -0.4672239124774933 + ], + "joints": [ + 0.007973015308380127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027712220326066017, + 0.16257727146148682, + -0.10850531607866287 + ], + "orientation": [ + 0.9464388489723206, + 0.27793678641319275, + 0.04378887638449669, + -0.15838925540447235 + ], + "joints": [ + 0.022699883207678795 + ] + }, + "fine_grasp": { + "position": [ + 0.02585696056485176, + 0.16068482398986816, + -0.10495225340127945 + ], + "orientation": [ + 0.9464874267578125, + 0.2769094407558441, + 0.03402851149439812, + -0.16224907338619232 + ], + "joints": [ + 0.01601259969174862 + ] + }, + "final_grasp": { + "position": [ + 0.02585696056485176, + 0.16068482398986816, + -0.10495225340127945 + ], + "orientation": [ + 0.9464874267578125, + 0.2769094407558441, + 0.03402851149439812, + -0.16224907338619232 + ], + "joints": [ + 0.009325316175818443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056701723486185074, + 0.03247176855802536, + -0.1251295804977417 + ], + "orientation": [ + 0.512853741645813, + 0.15308745205402374, + -0.17891335487365723, + -0.825551450252533 + ], + "joints": [ + 0.018010124564170837 + ] + }, + "fine_grasp": { + "position": [ + 0.05517959967255592, + 0.03032633103430271, + -0.12178406119346619 + ], + "orientation": [ + 0.5155112147331238, + 0.15849633514881134, + -0.16634562611579895, + -0.8255035877227783 + ], + "joints": [ + 0.010466031730175018 + ] + }, + "final_grasp": { + "position": [ + 0.05517959967255592, + 0.03032633103430271, + -0.12178406119346619 + ], + "orientation": [ + 0.5155112147331238, + 0.15849633514881134, + -0.16634562611579895, + -0.8255035877227783 + ], + "joints": [ + 0.0029219388961791992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003975146450102329, + -0.02008010260760784, + -0.15169692039489746 + ], + "orientation": [ + 0.9866456389427185, + -0.11614701896905899, + 0.033168669790029526, + -0.10927082598209381 + ], + "joints": [ + 0.017469968646764755 + ] + }, + "fine_grasp": { + "position": [ + -0.004129383247345686, + -0.01919868402183056, + -0.14802132546901703 + ], + "orientation": [ + 0.9867095351219177, + -0.11619292944669724, + 0.03097844496369362, + -0.10928754508495331 + ], + "joints": [ + 0.008212259039282799 + ] + }, + "final_grasp": { + "position": [ + -0.004129383247345686, + -0.01919868402183056, + -0.14802132546901703 + ], + "orientation": [ + 0.9867095351219177, + -0.11619292944669724, + 0.03097844496369362, + -0.10928754508495331 + ], + "joints": [ + -0.0010454505681991577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00375382206402719, + -0.01966251991689205, + -0.15129506587982178 + ], + "orientation": [ + 0.9874818325042725, + -0.11485260725021362, + 0.03144652768969536, + -0.10343879461288452 + ], + "joints": [ + 0.01732625812292099 + ] + }, + "fine_grasp": { + "position": [ + -0.003931599203497171, + -0.018825743347406387, + -0.14773617684841156 + ], + "orientation": [ + 0.9875568747520447, + -0.11487370729446411, + 0.029317287728190422, + -0.10332459211349487 + ], + "joints": [ + 0.008486502803862095 + ] + }, + "final_grasp": { + "position": [ + -0.003931599203497171, + -0.018825743347406387, + -0.14773617684841156 + ], + "orientation": [ + 0.9875568747520447, + -0.11487370729446411, + 0.029317287728190422, + -0.10332459211349487 + ], + "joints": [ + -0.00035325251519680023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02885109931230545, + -0.0262699406594038, + -0.1447768360376358 + ], + "orientation": [ + 0.9840041995048523, + -0.1445169895887375, + -0.10344141721725464, + 0.012260342948138714 + ], + "joints": [ + 0.017879808321595192 + ] + }, + "fine_grasp": { + "position": [ + 0.028301099315285683, + -0.025267712771892548, + -0.14101183414459229 + ], + "orientation": [ + 0.9845278859138489, + -0.14211222529411316, + -0.1018013209104538, + 0.012059524655342102 + ], + "joints": [ + 0.009081849828362465 + ] + }, + "final_grasp": { + "position": [ + 0.028301099315285683, + -0.025267712771892548, + -0.14101183414459229 + ], + "orientation": [ + 0.9845278859138489, + -0.14211222529411316, + -0.1018013209104538, + 0.012059524655342102 + ], + "joints": [ + 0.00028389133512973785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11056269705295563, + -0.026898574084043503, + -0.0898854210972786 + ], + "orientation": [ + 0.11071835458278656, + 0.4476039707660675, + 0.21427609026432037, + 0.8610910773277283 + ], + "joints": [ + 0.0182786975055933 + ] + }, + "fine_grasp": { + "position": [ + -0.1080927923321724, + -0.02557353489100933, + -0.08730366080999374 + ], + "orientation": [ + 0.10996728390455246, + 0.4432159960269928, + 0.2150198370218277, + 0.8632689118385315 + ], + "joints": [ + 0.009459840133786201 + ] + }, + "final_grasp": { + "position": [ + -0.1080927923321724, + -0.02557353489100933, + -0.08730366080999374 + ], + "orientation": [ + 0.10996728390455246, + 0.4432159960269928, + 0.2150198370218277, + 0.8632689118385315 + ], + "joints": [ + 0.0006409827619791031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030622996389865875, + -0.026812443509697914, + -0.14252331852912903 + ], + "orientation": [ + 0.9846129417419434, + -0.14739364385604858, + -0.09373927861452103, + 0.005037772003561258 + ], + "joints": [ + 0.01913854107260704 + ] + }, + "fine_grasp": { + "position": [ + 0.030074266716837883, + -0.025731096044182777, + -0.1389986276626587 + ], + "orientation": [ + 0.9847800731658936, + -0.14691601693630219, + -0.09274034202098846, + 0.004786962177604437 + ], + "joints": [ + 0.009901728481054306 + ] + }, + "final_grasp": { + "position": [ + 0.030074266716837883, + -0.025731096044182777, + -0.1389986276626587 + ], + "orientation": [ + 0.9847800731658936, + -0.14691601693630219, + -0.09274034202098846, + 0.004786962177604437 + ], + "joints": [ + 0.0006649158895015717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0032483248505741358, + -0.020330049097537994, + -0.1511828452348709 + ], + "orientation": [ + 0.9862197041511536, + -0.11727882921695709, + 0.03595920279622078, + -0.11100982874631882 + ], + "joints": [ + 0.017489586025476456 + ] + }, + "fine_grasp": { + "position": [ + -0.003568115644156933, + -0.0195138081908226, + -0.14766034483909607 + ], + "orientation": [ + 0.9862746000289917, + -0.11812476068735123, + 0.032252050936222076, + -0.11076448857784271 + ], + "joints": [ + 0.008628932759165764 + ] + }, + "final_grasp": { + "position": [ + -0.003568115644156933, + -0.0195138081908226, + -0.14766034483909607 + ], + "orientation": [ + 0.9862746000289917, + -0.11812476068735123, + 0.032252050936222076, + -0.11076448857784271 + ], + "joints": [ + -0.00023172050714492798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0382893942296505, + -0.046008046716451645, + -0.13323402404785156 + ], + "orientation": [ + 0.832959771156311, + -0.12024224549531937, + -0.2924324870109558, + -0.4540958106517792 + ], + "joints": [ + 0.02731241099536419 + ] + }, + "fine_grasp": { + "position": [ + 0.03790181875228882, + -0.04548625648021698, + -0.12941494584083557 + ], + "orientation": [ + 0.834414541721344, + -0.1148674413561821, + -0.28230154514312744, + -0.4591989517211914 + ], + "joints": [ + 0.018514452502131462 + ] + }, + "final_grasp": { + "position": [ + 0.03790181875228882, + -0.04548625648021698, + -0.12941494584083557 + ], + "orientation": [ + 0.834414541721344, + -0.1148674413561821, + -0.28230154514312744, + -0.4591989517211914 + ], + "joints": [ + 0.009716494008898735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05170242860913277, + 0.009361268021166325, + -0.13623209297657013 + ], + "orientation": [ + 0.17567001283168793, + 0.24876728653907776, + 0.040615107864141464, + 0.9516328573226929 + ], + "joints": [ + 0.018688658252358437 + ] + }, + "fine_grasp": { + "position": [ + -0.05107583478093147, + 0.009581850841641426, + -0.13246135413646698 + ], + "orientation": [ + 0.1772894710302353, + 0.24198734760284424, + 0.04325530305504799, + 0.9529635906219482 + ], + "joints": [ + 0.009911598637700081 + ] + }, + "final_grasp": { + "position": [ + -0.05107583478093147, + 0.009581850841641426, + -0.13246135413646698 + ], + "orientation": [ + 0.1772894710302353, + 0.24198734760284424, + 0.04325530305504799, + 0.9529635906219482 + ], + "joints": [ + 0.0011345390230417252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01506280992180109, + 0.02158430777490139, + -0.15011583268642426 + ], + "orientation": [ + 0.041375014930963516, + -0.03028787672519684, + -0.03798104450106621, + 0.9979620575904846 + ], + "joints": [ + 0.02049129642546177 + ] + }, + "fine_grasp": { + "position": [ + -0.01367710530757904, + 0.021860286593437195, + -0.14602069556713104 + ], + "orientation": [ + 0.04185038059949875, + -0.02105339989066124, + -0.035141170024871826, + 0.9982837438583374 + ], + "joints": [ + 0.012968102470040321 + ] + }, + "final_grasp": { + "position": [ + -0.01367710530757904, + 0.021860286593437195, + -0.14602069556713104 + ], + "orientation": [ + 0.04185038059949875, + -0.02105339989066124, + -0.035141170024871826, + 0.9982837438583374 + ], + "joints": [ + 0.005444908514618874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008260260336101055, + 0.006447572726756334, + -0.14520230889320374 + ], + "orientation": [ + 0.9904422163963318, + -0.014823815785348415, + -0.02539634518325329, + 0.13475722074508667 + ], + "joints": [ + 0.018873244524002075 + ] + }, + "fine_grasp": { + "position": [ + -0.007169328164309263, + 0.007290205918252468, + -0.14129602909088135 + ], + "orientation": [ + 0.9906986355781555, + -0.016934143379330635, + -0.016011254861950874, + 0.13406382501125336 + ], + "joints": [ + 0.010514140129089355 + ] + }, + "final_grasp": { + "position": [ + -0.007169328164309263, + 0.007290205918252468, + -0.14129602909088135 + ], + "orientation": [ + 0.9906986355781555, + -0.016934143379330635, + -0.016011254861950874, + 0.13406382501125336 + ], + "joints": [ + 0.0021550357341766357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09637950360774994, + -0.012065953575074673, + -0.10232225060462952 + ], + "orientation": [ + 0.16657708585262299, + -0.27837902307510376, + 0.010959233157336712, + 0.9458525776863098 + ], + "joints": [ + 0.01181705016642809 + ] + }, + "fine_grasp": { + "position": [ + 0.093014657497406, + -0.011302542872726917, + -0.10013382136821747 + ], + "orientation": [ + 0.16936367750167847, + -0.2866603136062622, + 0.010826577432453632, + 0.9428809881210327 + ], + "joints": [ + 0.003437048988416791 + ] + }, + "final_grasp": { + "position": [ + 0.093014657497406, + -0.011302542872726917, + -0.10013382136821747 + ], + "orientation": [ + 0.16936367750167847, + -0.2866603136062622, + 0.010826577432453632, + 0.9428809881210327 + ], + "joints": [ + -0.004942952189594507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06928040087223053, + 0.0057108053006231785, + -0.12072665989398956 + ], + "orientation": [ + 0.9613177180290222, + 0.046269919723272324, + -0.20456638932228088, + -0.17854957282543182 + ], + "joints": [ + 0.015277493745088577 + ] + }, + "fine_grasp": { + "position": [ + 0.06683775782585144, + 0.005971022881567478, + -0.11737053096294403 + ], + "orientation": [ + 0.9574289917945862, + 0.03743813559412956, + -0.21638716757297516, + -0.18736237287521362 + ], + "joints": [ + 0.008172255009412766 + ] + }, + "final_grasp": { + "position": [ + 0.06683775782585144, + 0.005971022881567478, + -0.11737053096294403 + ], + "orientation": [ + 0.9574289917945862, + 0.03743813559412956, + -0.21638716757297516, + -0.18736237287521362 + ], + "joints": [ + 0.0010670162737369537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13590501248836517, + 0.0487278513610363, + -0.018562497571110725 + ], + "orientation": [ + 0.6248442530632019, + 0.4775325357913971, + -0.5409067273139954, + -0.29824867844581604 + ], + "joints": [ + 0.024554355069994926 + ] + }, + "fine_grasp": { + "position": [ + 0.13226521015167236, + 0.046530745923519135, + -0.016364993527531624 + ], + "orientation": [ + 0.6393635272979736, + 0.4754164218902588, + -0.5271474123001099, + -0.2954813539981842 + ], + "joints": [ + 0.020792758092284203 + ] + }, + "final_grasp": { + "position": [ + 0.13226521015167236, + 0.046530745923519135, + -0.016364993527531624 + ], + "orientation": [ + 0.6393635272979736, + 0.4754164218902588, + -0.5271474123001099, + -0.2954813539981842 + ], + "joints": [ + 0.01703116111457348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01135207898914814, + 0.012309255078434944, + -0.1419803947210312 + ], + "orientation": [ + 0.18978646397590637, + 0.10057836025953293, + 0.00031895123538561165, + 0.9766601920127869 + ], + "joints": [ + 0.018257852643728256 + ] + }, + "fine_grasp": { + "position": [ + -0.011807696893811226, + 0.013099457137286663, + -0.13780201971530914 + ], + "orientation": [ + 0.19014498591423035, + 0.08899695426225662, + 0.0026583916042000055, + 0.9777102470397949 + ], + "joints": [ + 0.010734658688306808 + ] + }, + "final_grasp": { + "position": [ + -0.011807696893811226, + 0.013099457137286663, + -0.13780201971530914 + ], + "orientation": [ + 0.19014498591423035, + 0.08899695426225662, + 0.0026583916042000055, + 0.9777102470397949 + ], + "joints": [ + 0.0032114647328853607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09698258340358734, + -0.0024777641519904137, + 0.1089041456580162 + ], + "orientation": [ + 0.02905501052737236, + -0.9633119702339172, + -0.005924751982092857, + 0.26674118638038635 + ], + "joints": [ + 0.012577684596180916 + ] + }, + "fine_grasp": { + "position": [ + 0.0938621461391449, + -0.0012972551630809903, + 0.1058080792427063 + ], + "orientation": [ + 0.038224488496780396, + -0.9600529074668884, + -0.0031445142813026905, + 0.2771776020526886 + ], + "joints": [ + 0.006726311519742012 + ] + }, + "final_grasp": { + "position": [ + 0.0938621461391449, + -0.0012972551630809903, + 0.1058080792427063 + ], + "orientation": [ + 0.038224488496780396, + -0.9600529074668884, + -0.0031445142813026905, + 0.2771776020526886 + ], + "joints": [ + 0.0008749384433031082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1489167958498001, + 0.012887276709079742, + 0.019381336867809296 + ], + "orientation": [ + 0.610967755317688, + -0.020448239520192146, + -0.7894065380096436, + 0.0560138002038002 + ], + "joints": [ + 0.01409931480884552 + ] + }, + "fine_grasp": { + "position": [ + 0.1446463167667389, + 0.012973855249583721, + 0.01892962120473385 + ], + "orientation": [ + 0.6165528297424316, + -0.025300001725554466, + -0.7852727770805359, + 0.05068697780370712 + ], + "joints": [ + 0.006576120853424072 + ] + }, + "final_grasp": { + "position": [ + 0.1446463167667389, + 0.012973855249583721, + 0.01892962120473385 + ], + "orientation": [ + 0.6165528297424316, + -0.025300001725554466, + -0.7852727770805359, + 0.05068697780370712 + ], + "joints": [ + -0.0009470731019973755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010945836082100868, + 0.012397153303027153, + -0.14268767833709717 + ], + "orientation": [ + 0.19132234156131744, + 0.10209177434444427, + -0.0014342539943754673, + 0.9762022495269775 + ], + "joints": [ + 0.017505276948213577 + ] + }, + "fine_grasp": { + "position": [ + -0.011565511114895344, + 0.01209239475429058, + -0.13893719017505646 + ], + "orientation": [ + 0.19363442063331604, + 0.0916500985622406, + -0.004085976164788008, + 0.9767749309539795 + ], + "joints": [ + 0.007474351674318314 + ] + }, + "final_grasp": { + "position": [ + -0.011565511114895344, + 0.01209239475429058, + -0.13893719017505646 + ], + "orientation": [ + 0.19363442063331604, + 0.0916500985622406, + -0.004085976164788008, + 0.9767749309539795 + ], + "joints": [ + -0.00255657359957695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009184726513922215, + 0.028369486331939697, + -0.14910142123699188 + ], + "orientation": [ + 0.8811858296394348, + 0.04496810585260391, + -0.008020608685910702, + 0.4705580472946167 + ], + "joints": [ + 0.03212874010205269 + ] + }, + "fine_grasp": { + "position": [ + 0.008768596686422825, + 0.02712070196866989, + -0.14540360867977142 + ], + "orientation": [ + 0.8808913826942444, + 0.049864377826452255, + -0.011634872294962406, + 0.4705406129360199 + ], + "joints": [ + 0.022891927510499954 + ] + }, + "final_grasp": { + "position": [ + 0.008768596686422825, + 0.02712070196866989, + -0.14540360867977142 + ], + "orientation": [ + 0.8808913826942444, + 0.049864377826452255, + -0.011634872294962406, + 0.4705406129360199 + ], + "joints": [ + 0.01365511491894722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008807810954749584, + 0.023888980969786644, + -0.1485617607831955 + ], + "orientation": [ + 0.9907220602035522, + 0.08333531767129898, + -0.09003916382789612, + 0.05846302583813667 + ], + "joints": [ + 0.012824255973100662 + ] + }, + "fine_grasp": { + "position": [ + -0.007254847325384617, + 0.024423496797680855, + -0.1445195972919464 + ], + "orientation": [ + 0.9921836256980896, + 0.07813948392868042, + -0.07725901901721954, + 0.05913518741726875 + ], + "joints": [ + 0.0057190172374248505 + ] + }, + "final_grasp": { + "position": [ + -0.007254847325384617, + 0.024423496797680855, + -0.1445195972919464 + ], + "orientation": [ + 0.9921836256980896, + 0.07813948392868042, + -0.07725901901721954, + 0.05913518741726875 + ], + "joints": [ + -0.0013862214982509613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06034521013498306, + 0.018447425216436386, + -0.12114489823579788 + ], + "orientation": [ + 0.0887092798948288, + 0.09063258767127991, + 0.052456777542829514, + -0.9905375838279724 + ], + "joints": [ + 0.00963314063847065 + ] + }, + "fine_grasp": { + "position": [ + 0.05726201832294464, + 0.017010625451803207, + -0.1184830516576767 + ], + "orientation": [ + 0.08596502244472504, + 0.10137991607189178, + 0.05763297155499458, + -0.9894496202468872 + ], + "joints": [ + 0.003322018077597022 + ] + }, + "final_grasp": { + "position": [ + 0.05726201832294464, + 0.017010625451803207, + -0.1184830516576767 + ], + "orientation": [ + 0.08596502244472504, + 0.10137991607189178, + 0.05763297155499458, + -0.9894496202468872 + ], + "joints": [ + -0.0029891044832766056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07762265205383301, + 0.024387316778302193, + -0.1208263486623764 + ], + "orientation": [ + 0.9646307229995728, + 0.09651070088148117, + -0.22287581861019135, + -0.10246710479259491 + ], + "joints": [ + 0.01704517751932144 + ] + }, + "fine_grasp": { + "position": [ + 0.07438340038061142, + 0.024296782910823822, + -0.1182166263461113 + ], + "orientation": [ + 0.9615303874015808, + 0.09258155524730682, + -0.23783038556575775, + -0.10161092877388 + ], + "joints": [ + 0.009104028344154358 + ] + }, + "final_grasp": { + "position": [ + 0.07438340038061142, + 0.024296782910823822, + -0.1182166263461113 + ], + "orientation": [ + 0.9615303874015808, + 0.09258155524730682, + -0.23783038556575775, + -0.10161092877388 + ], + "joints": [ + 0.0011628791689872742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008151482790708542, + 0.024626895785331726, + -0.14872387051582336 + ], + "orientation": [ + 0.991182804107666, + 0.08369045704603195, + -0.08233320713043213, + 0.06143185496330261 + ], + "joints": [ + 0.015224732458591461 + ] + }, + "fine_grasp": { + "position": [ + -0.006427370477467775, + 0.02524072304368019, + -0.1448134481906891 + ], + "orientation": [ + 0.9928438663482666, + 0.07708308845758438, + -0.06730552762746811, + 0.06155788153409958 + ], + "joints": [ + 0.007701538037508726 + ] + }, + "final_grasp": { + "position": [ + -0.006427370477467775, + 0.02524072304368019, + -0.1448134481906891 + ], + "orientation": [ + 0.9928438663482666, + 0.07708308845758438, + -0.06730552762746811, + 0.06155788153409958 + ], + "joints": [ + 0.00017834361642599106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0589740127325058, + 0.08723025768995285, + 0.14859481155872345 + ], + "orientation": [ + 0.19612540304660797, + 0.5624321699142456, + 0.803153932094574, + 0.012200329452753067 + ], + "joints": [ + 0.02029508724808693 + ] + }, + "fine_grasp": { + "position": [ + -0.05722873657941818, + 0.08576551079750061, + 0.14475370943546295 + ], + "orientation": [ + 0.21333055198192596, + 0.5652031898498535, + 0.7968829870223999, + 0.0036016746889799833 + ], + "joints": [ + 0.013607803732156754 + ] + }, + "final_grasp": { + "position": [ + -0.05722873657941818, + 0.08576551079750061, + 0.14475370943546295 + ], + "orientation": [ + 0.21333055198192596, + 0.5652031898498535, + 0.7968829870223999, + 0.0036016746889799833 + ], + "joints": [ + 0.006920520216226578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1366596519947052, + 0.08950510621070862, + 0.03911237046122551 + ], + "orientation": [ + 0.3189404010772705, + -0.6355802416801453, + -0.4732705056667328, + 0.5199323892593384 + ], + "joints": [ + 0.015084633603692055 + ] + }, + "fine_grasp": { + "position": [ + 0.13283555209636688, + 0.08890806138515472, + 0.03852640092372894 + ], + "orientation": [ + 0.3165709972381592, + -0.6307302713394165, + -0.47429487109184265, + 0.5263139605522156 + ], + "joints": [ + 0.005889618769288063 + ] + }, + "final_grasp": { + "position": [ + 0.13283555209636688, + 0.08890806138515472, + 0.03852640092372894 + ], + "orientation": [ + 0.3165709972381592, + -0.6307302713394165, + -0.47429487109184265, + 0.5263139605522156 + ], + "joints": [ + -0.0033053960651159286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05939619243144989, + 0.08641782402992249, + 0.1483152210712433 + ], + "orientation": [ + 0.19215667247772217, + 0.559913158416748, + 0.8059161305427551, + 0.008491448126733303 + ], + "joints": [ + 0.02189403586089611 + ] + }, + "fine_grasp": { + "position": [ + -0.05767568573355675, + 0.08499988913536072, + 0.14468900859355927 + ], + "orientation": [ + 0.21467898786067963, + 0.5589253306388855, + 0.8009366989135742, + 0.004000449553132057 + ], + "joints": [ + 0.014370841905474663 + ] + }, + "final_grasp": { + "position": [ + -0.05767568573355675, + 0.08499988913536072, + 0.14468900859355927 + ], + "orientation": [ + 0.21467898786067963, + 0.5589253306388855, + 0.8009366989135742, + 0.004000449553132057 + ], + "joints": [ + 0.006847647950053215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1369369775056839, + 0.023404037579894066, + -0.00024889528867788613 + ], + "orientation": [ + 0.49387672543525696, + 0.49835091829299927, + 0.5876271724700928, + 0.4030216336250305 + ], + "joints": [ + 0.023607544600963593 + ] + }, + "fine_grasp": { + "position": [ + -0.1335066556930542, + 0.020917020738124847, + 0.00031321923597715795 + ], + "orientation": [ + 0.5114444494247437, + 0.5007362365722656, + 0.5754156112670898, + 0.39570796489715576 + ], + "joints": [ + 0.01731731742620468 + ] + }, + "final_grasp": { + "position": [ + -0.1335066556930542, + 0.020917020738124847, + 0.00031321923597715795 + ], + "orientation": [ + 0.5114444494247437, + 0.5007362365722656, + 0.5754156112670898, + 0.39570796489715576 + ], + "joints": [ + 0.01102709025144577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0007446929230354726, + 0.0662369653582573, + -0.14120323956012726 + ], + "orientation": [ + 0.8398531079292297, + 0.19842930138111115, + -0.07918455451726913, + 0.49900132417678833 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + 0.0007997973007149994, + 0.06431284546852112, + -0.13791075348854065 + ], + "orientation": [ + 0.8393881916999817, + 0.2007998824119568, + -0.07910467684268951, + 0.4988478720188141 + ], + "joints": [ + 0.02030419372022152 + ] + }, + "final_grasp": { + "position": [ + 0.0007997973007149994, + 0.06431284546852112, + -0.13791075348854065 + ], + "orientation": [ + 0.8393881916999817, + 0.2007998824119568, + -0.07910467684268951, + 0.4988478720188141 + ], + "joints": [ + 0.011443538591265678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0954960435628891, + 0.07329265773296356, + 0.14163626730442047 + ], + "orientation": [ + 0.2988077998161316, + 0.6511414051055908, + -0.6860880851745605, + -0.12653829157352448 + ], + "joints": [ + 0.013666998594999313 + ] + }, + "fine_grasp": { + "position": [ + 0.09307658672332764, + 0.07291431725025177, + 0.1381782442331314 + ], + "orientation": [ + 0.2862732410430908, + 0.6486610770225525, + -0.6910990476608276, + -0.14024396240711212 + ], + "joints": [ + 0.006917021237313747 + ] + }, + "final_grasp": { + "position": [ + 0.09307658672332764, + 0.07291431725025177, + 0.1381782442331314 + ], + "orientation": [ + 0.2862732410430908, + 0.6486610770225525, + -0.6910990476608276, + -0.14024396240711212 + ], + "joints": [ + 0.00016704387962818146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03246540203690529, + -0.06020522490143776, + 0.10998402535915375 + ], + "orientation": [ + 0.15754260122776031, + -0.366892009973526, + -0.8063632249832153, + -0.43629002571105957 + ], + "joints": [ + 0.020756002515554428 + ] + }, + "fine_grasp": { + "position": [ + -0.03131100535392761, + -0.05762069299817085, + 0.10665115714073181 + ], + "orientation": [ + 0.13923360407352448, + -0.37072768807411194, + -0.8170971870422363, + -0.4189595580101013 + ], + "joints": [ + 0.014068718999624252 + ] + }, + "final_grasp": { + "position": [ + -0.03131100535392761, + -0.05762069299817085, + 0.10665115714073181 + ], + "orientation": [ + 0.13923360407352448, + -0.37072768807411194, + -0.8170971870422363, + -0.4189595580101013 + ], + "joints": [ + 0.0073814354836940765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1392330378293991, + 0.035984717309474945, + 0.03346174582839012 + ], + "orientation": [ + 0.3591878116130829, + -0.6316534876823425, + 0.30114036798477173, + -0.6175051331520081 + ], + "joints": [ + 0.015811793506145477 + ] + }, + "fine_grasp": { + "position": [ + -0.13543589413166046, + 0.03489738702774048, + 0.032581839710474014 + ], + "orientation": [ + 0.34364053606987, + -0.637200653553009, + 0.311749130487442, + -0.6153851747512817 + ], + "joints": [ + 0.00876925140619278 + ] + }, + "final_grasp": { + "position": [ + -0.13543589413166046, + 0.03489738702774048, + 0.032581839710474014 + ], + "orientation": [ + 0.34364053606987, + -0.637200653553009, + 0.311749130487442, + -0.6153851747512817 + ], + "joints": [ + 0.0017267093062400818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12680669128894806, + 0.0523134283721447, + 0.06671532243490219 + ], + "orientation": [ + 0.2414878010749817, + -0.7235644459724426, + -0.3373804986476898, + 0.5516451597213745 + ], + "joints": [ + 0.017010821029543877 + ] + }, + "fine_grasp": { + "position": [ + 0.123003289103508, + 0.052228014916181564, + 0.06542792171239853 + ], + "orientation": [ + 0.23919187486171722, + -0.723701000213623, + -0.3391667902469635, + 0.5513710975646973 + ], + "joints": [ + 0.007815806195139885 + ] + }, + "final_grasp": { + "position": [ + 0.123003289103508, + 0.052228014916181564, + 0.06542792171239853 + ], + "orientation": [ + 0.23919187486171722, + -0.723701000213623, + -0.3391667902469635, + 0.5513710975646973 + ], + "joints": [ + -0.0013792086392641068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12890192866325378, + 0.08451419323682785, + 0.08858773857355118 + ], + "orientation": [ + 0.5503181219100952, + -0.03205264359712601, + 0.8186497092247009, + -0.1610434353351593 + ], + "joints": [ + 0.008846547454595566 + ] + }, + "fine_grasp": { + "position": [ + -0.1254241019487381, + 0.08352330327033997, + 0.08576894551515579 + ], + "orientation": [ + 0.531433641910553, + -0.03141245245933533, + 0.8314820528030396, + -0.15883664786815643 + ], + "joints": [ + 0.0033922328148037195 + ] + }, + "final_grasp": { + "position": [ + -0.1254241019487381, + 0.08352330327033997, + 0.08576894551515579 + ], + "orientation": [ + 0.531433641910553, + -0.03141245245933533, + 0.8314820528030396, + -0.15883664786815643 + ], + "joints": [ + -0.0020620818249881268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12870927155017853, + 0.08433201164007187, + 0.08857973664999008 + ], + "orientation": [ + 0.5520686507225037, + -0.034401580691337585, + 0.8174251317977905, + -0.16078761219978333 + ], + "joints": [ + 0.008544220589101315 + ] + }, + "fine_grasp": { + "position": [ + -0.125248521566391, + 0.08335026353597641, + 0.08568364381790161 + ], + "orientation": [ + 0.531597912311554, + -0.034000009298324585, + 0.8314366340637207, + -0.1579897105693817 + ], + "joints": [ + 0.003486963454633951 + ] + }, + "final_grasp": { + "position": [ + -0.125248521566391, + 0.08335026353597641, + 0.08568364381790161 + ], + "orientation": [ + 0.531597912311554, + -0.034000009298324585, + 0.8314366340637207, + -0.1579897105693817 + ], + "joints": [ + -0.0015702936798334122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01841326802968979, + 0.08583032339811325, + 0.15857349336147308 + ], + "orientation": [ + 0.121058389544487, + 0.9907959699630737, + -0.03272970765829086, + -0.05096036195755005 + ], + "joints": [ + 0.01742279715836048 + ] + }, + "fine_grasp": { + "position": [ + 0.01815149001777172, + 0.08488309383392334, + 0.1557171493768692 + ], + "orientation": [ + 0.12413166463375092, + 0.9906702637672424, + -0.03777661174535751, + -0.04167555272579193 + ], + "joints": [ + 0.004591573029756546 + ] + }, + "final_grasp": { + "position": [ + 0.01815149001777172, + 0.08488309383392334, + 0.1557171493768692 + ], + "orientation": [ + 0.12413166463375092, + 0.9906702637672424, + -0.03777661174535751, + -0.04167555272579193 + ], + "joints": [ + -0.00823965109884739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12937302887439728, + 0.08904355019330978, + 0.06844840198755264 + ], + "orientation": [ + 0.1925964653491974, + 0.7611407041549683, + 0.02153964526951313, + 0.6189569234848022 + ], + "joints": [ + 0.007190782576799393 + ] + }, + "fine_grasp": { + "position": [ + -0.1256846785545349, + 0.0871138870716095, + 0.06632370501756668 + ], + "orientation": [ + 0.19548746943473816, + 0.7755801677703857, + 0.013315225020051003, + 0.6000689268112183 + ], + "joints": [ + 0.0033664938528090715 + ] + }, + "final_grasp": { + "position": [ + -0.1256846785545349, + 0.0871138870716095, + 0.06632370501756668 + ], + "orientation": [ + 0.19548746943473816, + 0.7755801677703857, + 0.013315225020051003, + 0.6000689268112183 + ], + "joints": [ + -0.0004577948711812496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12819859385490417, + 0.08919820189476013, + 0.06802267581224442 + ], + "orientation": [ + 0.19401608407497406, + 0.7614749073982239, + 0.02348705567419529, + 0.618030846118927 + ], + "joints": [ + 0.007462069392204285 + ] + }, + "fine_grasp": { + "position": [ + -0.12457718700170517, + 0.0871582180261612, + 0.0659499317407608 + ], + "orientation": [ + 0.1988070011138916, + 0.7749296426773071, + 0.01394641399383545, + 0.5998042821884155 + ], + "joints": [ + 0.003637780202552676 + ] + }, + "final_grasp": { + "position": [ + -0.12457718700170517, + 0.0871582180261612, + 0.0659499317407608 + ], + "orientation": [ + 0.1988070011138916, + 0.7749296426773071, + 0.01394641399383545, + 0.5998042821884155 + ], + "joints": [ + -0.00018650898709893227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1296076476573944, + 0.12306754291057587, + -0.007111882790923119 + ], + "orientation": [ + 0.3272097408771515, + -0.49114933609962463, + 0.4608500301837921, + -0.662814736366272 + ], + "joints": [ + 0.013334648683667183 + ] + }, + "fine_grasp": { + "position": [ + -0.12595950067043304, + 0.12242668122053146, + -0.007005046121776104 + ], + "orientation": [ + 0.32820889353752136, + -0.4905916452407837, + 0.46138903498649597, + -0.6623586416244507 + ], + "joints": [ + 0.0037007813807576895 + ] + }, + "final_grasp": { + "position": [ + -0.12595950067043304, + 0.12242668122053146, + -0.007005046121776104 + ], + "orientation": [ + 0.32820889353752136, + -0.4905916452407837, + 0.46138903498649597, + -0.6623586416244507 + ], + "joints": [ + -0.005933085922151804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12889309227466583, + 0.12272094190120697, + -0.007130238693207502 + ], + "orientation": [ + 0.3252810835838318, + -0.4936707317829132, + 0.45859408378601074, + -0.6634552478790283 + ], + "joints": [ + 0.013295240700244904 + ] + }, + "fine_grasp": { + "position": [ + -0.12530124187469482, + 0.12219799309968948, + -0.007047511171549559 + ], + "orientation": [ + 0.32676178216934204, + -0.49341723322868347, + 0.45888176560401917, + -0.6627169847488403 + ], + "joints": [ + 0.0036613736301660538 + ] + }, + "final_grasp": { + "position": [ + -0.12530124187469482, + 0.12219799309968948, + -0.007047511171549559 + ], + "orientation": [ + 0.32676178216934204, + -0.49341723322868347, + 0.45888176560401917, + -0.6627169847488403 + ], + "joints": [ + -0.005972493439912796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12924768030643463, + 0.12242551147937775, + -0.007214656565338373 + ], + "orientation": [ + 0.3194468915462494, + -0.49820929765701294, + 0.4532688856124878, + -0.666549801826477 + ], + "joints": [ + 0.013313829898834229 + ] + }, + "fine_grasp": { + "position": [ + -0.12565618753433228, + 0.12194056063890457, + -0.007135825231671333 + ], + "orientation": [ + 0.32089170813560486, + -0.4981420934200287, + 0.453334242105484, + -0.665861189365387 + ], + "joints": [ + 0.003679962595924735 + ] + }, + "final_grasp": { + "position": [ + -0.12565618753433228, + 0.12194056063890457, + -0.007135825231671333 + ], + "orientation": [ + 0.32089170813560486, + -0.4981420934200287, + 0.453334242105484, + -0.665861189365387 + ], + "joints": [ + -0.005953904706984758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1367999017238617, + 0.003566078143194318, + 0.04871165379881859 + ], + "orientation": [ + 0.05451511964201927, + 0.846258819103241, + -0.0913550853729248, + -0.5220426321029663 + ], + "joints": [ + 0.013419071212410927 + ] + }, + "fine_grasp": { + "position": [ + 0.13266246020793915, + 0.003925032448023558, + 0.047224536538124084 + ], + "orientation": [ + 0.04669757932424545, + 0.8415058851242065, + -0.09734460711479187, + -0.5293498635292053 + ], + "joints": [ + 0.006313832476735115 + ] + }, + "final_grasp": { + "position": [ + 0.13266246020793915, + 0.003925032448023558, + 0.047224536538124084 + ], + "orientation": [ + 0.04669757932424545, + 0.8415058851242065, + -0.09734460711479187, + -0.5293498635292053 + ], + "joints": [ + -0.0007914062589406967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1386372298002243, + 0.00252709724009037, + 0.04998829588294029 + ], + "orientation": [ + 0.04703277722001076, + 0.8429369926452637, + -0.08596546947956085, + -0.5290132761001587 + ], + "joints": [ + 0.013152938336133957 + ] + }, + "fine_grasp": { + "position": [ + 0.1345684826374054, + 0.0029792627319693565, + 0.048539742827415466 + ], + "orientation": [ + 0.04002857580780983, + 0.8388660550117493, + -0.09154501557350159, + -0.5350897908210754 + ], + "joints": [ + 0.006047699600458145 + ] + }, + "final_grasp": { + "position": [ + 0.1345684826374054, + 0.0029792627319693565, + 0.048539742827415466 + ], + "orientation": [ + 0.04002857580780983, + 0.8388660550117493, + -0.09154501557350159, + -0.5350897908210754 + ], + "joints": [ + -0.0010575391352176666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1264672577381134, + -0.00458048190921545, + 0.060575127601623535 + ], + "orientation": [ + 0.4790971577167511, + -0.11514918506145477, + -0.8700618147850037, + 0.01410666573792696 + ], + "joints": [ + 0.01574515923857689 + ] + }, + "fine_grasp": { + "position": [ + 0.12281106412410736, + -0.004169244319200516, + 0.05875442549586296 + ], + "orientation": [ + 0.48597007989883423, + -0.11739793419837952, + -0.8659902215003967, + 0.010573563165962696 + ], + "joints": [ + 0.007386054843664169 + ] + }, + "final_grasp": { + "position": [ + 0.12281106412410736, + -0.004169244319200516, + 0.05875442549586296 + ], + "orientation": [ + 0.48597007989883423, + -0.11739793419837952, + -0.8659902215003967, + 0.010573563165962696 + ], + "joints": [ + -0.0009730495512485504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11165039241313934, + 0.06126818805932999, + -0.08292101323604584 + ], + "orientation": [ + 0.7978945970535278, + 0.17326465249061584, + -0.55301833152771, + -0.16587390005588531 + ], + "joints": [ + 0.03200257197022438 + ] + }, + "fine_grasp": { + "position": [ + 0.11012669652700424, + 0.06084965169429779, + -0.07792185992002487 + ], + "orientation": [ + 0.8098780512809753, + 0.16837099194526672, + -0.5370652079582214, + -0.1652565449476242 + ], + "joints": [ + 0.03171001002192497 + ] + }, + "final_grasp": { + "position": [ + 0.11012669652700424, + 0.06084965169429779, + -0.07792185992002487 + ], + "orientation": [ + 0.8098780512809753, + 0.16837099194526672, + -0.5370652079582214, + -0.1652565449476242 + ], + "joints": [ + 0.031417448073625565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1302320659160614, + -0.004671541508287191, + 0.05780533701181412 + ], + "orientation": [ + 0.01487268041819334, + -0.8702841401100159, + 0.06321538239717484, + 0.4882500171661377 + ], + "joints": [ + 0.015269644558429718 + ] + }, + "fine_grasp": { + "position": [ + 0.1265517920255661, + -0.00419776514172554, + 0.05610298365354538 + ], + "orientation": [ + 0.018098844215273857, + -0.86700439453125, + 0.06351829320192337, + 0.4939040243625641 + ], + "joints": [ + 0.006910540163516998 + ] + }, + "final_grasp": { + "position": [ + 0.1265517920255661, + -0.00419776514172554, + 0.05610298365354538 + ], + "orientation": [ + 0.018098844215273857, + -0.86700439453125, + 0.06351829320192337, + 0.4939040243625641 + ], + "joints": [ + -0.0014485642313957214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1111062690615654, + 0.06520546227693558, + -0.08065737783908844 + ], + "orientation": [ + 0.7994970679283142, + 0.16445311903953552, + -0.5441423654556274, + -0.19408442080020905 + ], + "joints": [ + 0.02071414887905121 + ] + }, + "fine_grasp": { + "position": [ + 0.10982005298137665, + 0.0639631450176239, + -0.07705064862966537 + ], + "orientation": [ + 0.8103156089782715, + 0.16443534195423126, + -0.5306223630905151, + -0.1865195482969284 + ], + "joints": [ + 0.025478847324848175 + ] + }, + "final_grasp": { + "position": [ + 0.10982005298137665, + 0.0639631450176239, + -0.07705064862966537 + ], + "orientation": [ + 0.8103156089782715, + 0.16443534195423126, + -0.5306223630905151, + -0.1865195482969284 + ], + "joints": [ + 0.03024354577064514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12136279046535492, + -0.006827625446021557, + -0.08165661245584488 + ], + "orientation": [ + 0.06796909868717194, + -0.445402055978775, + 0.024494623765349388, + 0.892410933971405 + ], + "joints": [ + 0.015102257952094078 + ] + }, + "fine_grasp": { + "position": [ + 0.11777050793170929, + -0.006187111604958773, + -0.07985922694206238 + ], + "orientation": [ + 0.06868071109056473, + -0.451151579618454, + 0.0279439277946949, + 0.8893616795539856 + ], + "joints": [ + 0.007140210829675198 + ] + }, + "final_grasp": { + "position": [ + 0.11777050793170929, + -0.006187111604958773, + -0.07985922694206238 + ], + "orientation": [ + 0.06868071109056473, + -0.451151579618454, + 0.0279439277946949, + 0.8893616795539856 + ], + "joints": [ + -0.0008218362927436829 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12154705077409744, + -0.007871667854487896, + -0.08168859779834747 + ], + "orientation": [ + 0.06634258478879929, + -0.4428018629550934, + 0.017942486330866814, + 0.8939815759658813 + ], + "joints": [ + 0.012346834875643253 + ] + }, + "fine_grasp": { + "position": [ + 0.11787465214729309, + -0.006892038509249687, + -0.07977072149515152 + ], + "orientation": [ + 0.06895603984594345, + -0.44823142886161804, + 0.024576397612690926, + 0.8909150958061218 + ], + "joints": [ + 0.0056595513597130775 + ] + }, + "final_grasp": { + "position": [ + 0.11787465214729309, + -0.006892038509249687, + -0.07977072149515152 + ], + "orientation": [ + 0.06895603984594345, + -0.44823142886161804, + 0.024576397612690926, + 0.8909150958061218 + ], + "joints": [ + -0.0010277321562170982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12174119055271149, + -0.00725778890773654, + -0.08169364929199219 + ], + "orientation": [ + 0.08114862442016602, + -0.44402754306793213, + 0.01687905378639698, + 0.8921712636947632 + ], + "joints": [ + 0.014527373015880585 + ] + }, + "fine_grasp": { + "position": [ + 0.11818568408489227, + -0.006543416995555162, + -0.07982098311185837 + ], + "orientation": [ + 0.0819648802280426, + -0.44897136092185974, + 0.020289728417992592, + 0.8895474672317505 + ], + "joints": [ + 0.006565325893461704 + ] + }, + "final_grasp": { + "position": [ + 0.11818568408489227, + -0.006543416995555162, + -0.07982098311185837 + ], + "orientation": [ + 0.0819648802280426, + -0.44897136092185974, + 0.020289728417992592, + 0.8895474672317505 + ], + "joints": [ + -0.0013967212289571762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12919889390468597, + -0.012815181165933609, + -0.07623157650232315 + ], + "orientation": [ + 0.8727079629898071, + 0.000491575978230685, + 0.4710991382598877, + 0.12824282050132751 + ], + "joints": [ + 0.011195899918675423 + ] + }, + "fine_grasp": { + "position": [ + -0.12556619942188263, + -0.012017892673611641, + -0.07439153641462326 + ], + "orientation": [ + 0.871029794216156, + -0.0008338176412507892, + 0.4734567701816559, + 0.13093873858451843 + ], + "joints": [ + 0.0036309114657342434 + ] + }, + "final_grasp": { + "position": [ + -0.12556619942188263, + -0.012017892673611641, + -0.07439153641462326 + ], + "orientation": [ + 0.871029794216156, + -0.0008338176412507892, + 0.4734567701816559, + 0.13093873858451843 + ], + "joints": [ + -0.003934076987206936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12104575335979462, + -0.00763546209782362, + -0.08098547905683517 + ], + "orientation": [ + 0.06964483112096786, + -0.44198912382125854, + 0.015732835978269577, + 0.8941742777824402 + ], + "joints": [ + 0.012483465485274792 + ] + }, + "fine_grasp": { + "position": [ + 0.11730747669935226, + -0.006692008581012487, + -0.07918024063110352 + ], + "orientation": [ + 0.07236715406179428, + -0.44852739572525024, + 0.02251802198588848, + 0.8905498385429382 + ], + "joints": [ + 0.005796181969344616 + ] + }, + "final_grasp": { + "position": [ + 0.11730747669935226, + -0.006692008581012487, + -0.07918024063110352 + ], + "orientation": [ + 0.07236715406179428, + -0.44852739572525024, + 0.02251802198588848, + 0.8905498385429382 + ], + "joints": [ + -0.0008911015465855598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11138330399990082, + 0.06296693533658981, + -0.08275261521339417 + ], + "orientation": [ + 0.7991161346435547, + 0.15691348910331726, + -0.559831976890564, + -0.1529039591550827 + ], + "joints": [ + 0.03229489549994469 + ] + }, + "fine_grasp": { + "position": [ + 0.11040712147951126, + 0.06310320645570755, + -0.07912801951169968 + ], + "orientation": [ + 0.8074896931648254, + 0.1510617434978485, + -0.5492088198661804, + -0.15333101153373718 + ], + "joints": [ + 0.03162502124905586 + ] + }, + "final_grasp": { + "position": [ + 0.11040712147951126, + 0.06310320645570755, + -0.07912801951169968 + ], + "orientation": [ + 0.8074896931648254, + 0.1510617434978485, + -0.5492088198661804, + -0.15333101153373718 + ], + "joints": [ + 0.030955146998167038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0842445120215416, + -0.01669093780219555, + 0.10706599801778793 + ], + "orientation": [ + 0.21579106152057648, + -0.020199349150061607, + -0.9733847379684448, + -0.07448840886354446 + ], + "joints": [ + 0.011319433338940144 + ] + }, + "fine_grasp": { + "position": [ + 0.08191181719303131, + -0.016328291967511177, + 0.10420660674571991 + ], + "orientation": [ + 0.2242954969406128, + -0.021150745451450348, + -0.9709985256195068, + -0.08003821969032288 + ], + "joints": [ + 0.0033573873806744814 + ] + }, + "final_grasp": { + "position": [ + 0.08191181719303131, + -0.016328291967511177, + 0.10420660674571991 + ], + "orientation": [ + 0.2242954969406128, + -0.021150745451450348, + -0.9709985256195068, + -0.08003821969032288 + ], + "joints": [ + -0.004604658577591181 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14678677916526794, + -0.01012746337801218, + 0.025864966213703156 + ], + "orientation": [ + 0.06423691660165787, + -0.798563539981842, + -0.002910947659984231, + 0.5984659790992737 + ], + "joints": [ + 0.011165419593453407 + ] + }, + "fine_grasp": { + "position": [ + 0.14269787073135376, + -0.009520494379103184, + 0.025045953691005707 + ], + "orientation": [ + 0.06798437982797623, + -0.7970261573791504, + -0.0013080383650958538, + 0.6001048684120178 + ], + "joints": [ + 0.003600431140512228 + ] + }, + "final_grasp": { + "position": [ + 0.14269787073135376, + -0.009520494379103184, + 0.025045953691005707 + ], + "orientation": [ + 0.06798437982797623, + -0.7970261573791504, + -0.0013080383650958538, + 0.6001048684120178 + ], + "joints": [ + -0.003964557312428951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15030959248542786, + -0.011016723699867725, + -0.03139286860823631 + ], + "orientation": [ + 0.028471818193793297, + -0.6188456416130066, + 0.04892673343420029, + 0.7834702730178833 + ], + "joints": [ + 0.011958080343902111 + ] + }, + "fine_grasp": { + "position": [ + 0.14632225036621094, + -0.010333572514355183, + -0.030678685754537582 + ], + "orientation": [ + 0.029677502810955048, + -0.620164155960083, + 0.0506630577147007, + 0.782271683216095 + ], + "joints": [ + 0.0035780789330601692 + ] + }, + "final_grasp": { + "position": [ + 0.14632225036621094, + -0.010333572514355183, + -0.030678685754537582 + ], + "orientation": [ + 0.029677502810955048, + -0.620164155960083, + 0.0506630577147007, + 0.782271683216095 + ], + "joints": [ + -0.004801922477781773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.145919069647789, + -0.023035705089569092, + -0.0027463044971227646 + ], + "orientation": [ + 0.6815417408943176, + -0.08035888522863388, + 0.7236855626106262, + 0.07295483350753784 + ], + "joints": [ + 0.013136163353919983 + ] + }, + "fine_grasp": { + "position": [ + -0.141957089304924, + -0.02182980813086033, + -0.0027029174380004406 + ], + "orientation": [ + 0.682502806186676, + -0.08299236744642258, + 0.7221603393554688, + 0.07606987655162811 + ], + "joints": [ + 0.0055920714512467384 + ] + }, + "final_grasp": { + "position": [ + -0.141957089304924, + -0.02182980813086033, + -0.0027029174380004406 + ], + "orientation": [ + 0.682502806186676, + -0.08299236744642258, + 0.7221603393554688, + 0.07606987655162811 + ], + "joints": [ + -0.001952020451426506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1455722451210022, + -0.0231010802090168, + -0.00255387625657022 + ], + "orientation": [ + 0.6821382641792297, + -0.08021869510412216, + 0.7230198383331299, + 0.07412589341402054 + ], + "joints": [ + 0.013037063181400299 + ] + }, + "fine_grasp": { + "position": [ + -0.14161215722560883, + -0.02189539186656475, + -0.002519868779927492 + ], + "orientation": [ + 0.6829740405082703, + -0.08293382823467255, + 0.7216044664382935, + 0.07717166841030121 + ], + "joints": [ + 0.005492971278727055 + ] + }, + "final_grasp": { + "position": [ + -0.14161215722560883, + -0.02189539186656475, + -0.002519868779927492 + ], + "orientation": [ + 0.6829740405082703, + -0.08293382823467255, + 0.7216044664382935, + 0.07717166841030121 + ], + "joints": [ + -0.00205112062394619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14570924639701843, + -0.023139454424381256, + -0.002748514525592327 + ], + "orientation": [ + 0.6810253262519836, + -0.08530654013156891, + 0.7237508893013, + 0.07149749994277954 + ], + "joints": [ + 0.013405706733465195 + ] + }, + "fine_grasp": { + "position": [ + -0.14175766706466675, + -0.021931614726781845, + -0.0026654526591300964 + ], + "orientation": [ + 0.6823395490646362, + -0.08796118199825287, + 0.721880316734314, + 0.07459419965744019 + ], + "joints": [ + 0.00586161483079195 + ] + }, + "final_grasp": { + "position": [ + -0.14175766706466675, + -0.021931614726781845, + -0.0026654526591300964 + ], + "orientation": [ + 0.6823395490646362, + -0.08796118199825287, + 0.721880316734314, + 0.07459419965744019 + ], + "joints": [ + -0.0016824770718812943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14249010384082794, + -0.04444190487265587, + 0.011283020488917828 + ], + "orientation": [ + 0.6530429124832153, + -0.1500304788351059, + -0.7304332852363586, + -0.13226066529750824 + ], + "joints": [ + 0.014566130004823208 + ] + }, + "fine_grasp": { + "position": [ + 0.13889138400554657, + -0.04306543990969658, + 0.010902231559157372 + ], + "orientation": [ + 0.6538532972335815, + -0.1476450264453888, + -0.7306828498840332, + -0.12953494489192963 + ], + "joints": [ + 0.004535204730927944 + ] + }, + "final_grasp": { + "position": [ + 0.13889138400554657, + -0.04306543990969658, + 0.010902231559157372 + ], + "orientation": [ + 0.6538532972335815, + -0.1476450264453888, + -0.7306828498840332, + -0.12953494489192963 + ], + "joints": [ + -0.0054957205429673195 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 110 + } +} \ No newline at end of file diff --git a/078_phonestand_0/Object.usd b/078_phonestand_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..4d2f44b978df93923b190b3644dc72e17afd26f1 --- /dev/null +++ b/078_phonestand_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00a163cff331ecd3fc5d5ebacfc38fd6337ced500aeaa16fb4d06496193b6fb0 +size 324448 diff --git a/079_remotecontrol_1/Annotation/dex1_1_grasp_pose.json b/079_remotecontrol_1/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..32cc035fdc68787292d22281ea2562d845b16c29 --- /dev/null +++ b/079_remotecontrol_1/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,5418 @@ +{ + "type": "079_remotecontrol_1", + "bottom_center": [ + -1.1995434761047363e-06, + 0.00931289978325367, + -0.02690269984304905 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.04737941175699234, + -0.11087095737457275, + -0.03329945355653763 + ], + "orientation": [ + 0.6816139817237854, + 0.016537025570869446, + 0.7101302742958069, + 0.1756243109703064 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.04698240011930466, + -0.11040753871202469, + -0.03377702459692955 + ], + "orientation": [ + 0.6705291271209717, + 0.01413660403341055, + 0.7210389971733093, + 0.1740506887435913 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.04698240011930466, + -0.11040753871202469, + -0.03377702459692955 + ], + "orientation": [ + 0.6705291271209717, + 0.01413660403341055, + 0.7210389971733093, + 0.1740506887435913 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04675625264644623, + -0.11074046045541763, + -0.03346795588731766 + ], + "orientation": [ + 0.681050181388855, + 0.015562193468213081, + 0.710239589214325, + 0.17744913697242737 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.04634177312254906, + -0.11028503626585007, + -0.03392628952860832 + ], + "orientation": [ + 0.6701094508171082, + 0.01298570353537798, + 0.7209832668304443, + 0.1759764850139618 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.04634177312254906, + -0.11028503626585007, + -0.03392628952860832 + ], + "orientation": [ + 0.6701094508171082, + 0.01298570353537798, + 0.7209832668304443, + 0.1759764850139618 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04755149036645889, + -0.11093274503946304, + -0.033203378319740295 + ], + "orientation": [ + 0.6804297566413879, + 0.01641872525215149, + 0.7114462852478027, + 0.17490005493164062 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.04719562828540802, + -0.11057313531637192, + -0.03365261107683182 + ], + "orientation": [ + 0.6689234972000122, + 0.013747724704444408, + 0.7227214574813843, + 0.17328007519245148 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.04719562828540802, + -0.11057313531637192, + -0.03365261107683182 + ], + "orientation": [ + 0.6689234972000122, + 0.013747724704444408, + 0.7227214574813843, + 0.17328007519245148 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03798897564411163, + -0.10966082662343979, + -0.026890961453318596 + ], + "orientation": [ + 0.7273640632629395, + 0.14627403020858765, + -0.6704266667366028, + -0.008575018495321274 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.038059767335653305, + -0.11325550079345703, + -0.029695933684706688 + ], + "orientation": [ + 0.7425556778907776, + 0.15041328966617584, + -0.6526135206222534, + -0.009074914269149303 + ], + "joints": [ + -0.006469258107244968 + ] + }, + "final_grasp": { + "position": [ + 0.038059767335653305, + -0.11325550079345703, + -0.029695933684706688 + ], + "orientation": [ + 0.7425556778907776, + 0.15041328966617584, + -0.6526135206222534, + -0.009074914269149303 + ], + "joints": [ + -0.0011818315833806992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023678883910179138, + 0.1266436129808426, + -0.04099535569548607 + ], + "orientation": [ + 0.16706034541130066, + 0.638745903968811, + -0.076127789914608, + -0.7471941709518433 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.02210756577551365, + 0.12193185091018677, + -0.039205554872751236 + ], + "orientation": [ + 0.1661081463098526, + 0.6447100043296814, + -0.07009506970643997, + -0.7428618669509888 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + -0.02210756577551365, + 0.12193185091018677, + -0.039205554872751236 + ], + "orientation": [ + 0.1661081463098526, + 0.6447100043296814, + -0.07009506970643997, + -0.7428618669509888 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013417423702776432, + -0.11173580586910248, + 0.019792232662439346 + ], + "orientation": [ + 0.7277405858039856, + 0.016180874779820442, + -0.671173095703125, + 0.14020906388759613 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.012900488451123238, + -0.110040083527565, + 0.020139215514063835 + ], + "orientation": [ + 0.7419235706329346, + 0.015464244410395622, + -0.6560354828834534, + 0.13757823407649994 + ], + "joints": [ + -0.006920948624610901 + ] + }, + "final_grasp": { + "position": [ + 0.012900488451123238, + -0.110040083527565, + 0.020139215514063835 + ], + "orientation": [ + 0.7419235706329346, + 0.015464244410395622, + -0.6560354828834534, + 0.13757823407649994 + ], + "joints": [ + -0.002085212618112564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0262294951826334, + 0.12517590820789337, + -0.014338803477585316 + ], + "orientation": [ + 0.06103143468499184, + 0.6690277457237244, + 0.026190275326371193, + 0.7402641177177429 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.027198046445846558, + 0.1300487220287323, + -0.016086075454950333 + ], + "orientation": [ + 0.06309927999973297, + 0.6515852808952332, + 0.029148900881409645, + 0.7553842067718506 + ], + "joints": [ + -0.006974088028073311 + ] + }, + "final_grasp": { + "position": [ + 0.027198046445846558, + 0.1300487220287323, + -0.016086075454950333 + ], + "orientation": [ + 0.06309927999973297, + 0.6515852808952332, + 0.029148900881409645, + 0.7553842067718506 + ], + "joints": [ + -0.002191491425037384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02568140998482704, + 0.12484044581651688, + 0.014070900157094002 + ], + "orientation": [ + 0.007451556157320738, + -0.7392757534980774, + -0.08046210557222366, + 0.6685370206832886 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.02695452608168125, + 0.12899722158908844, + 0.016439957544207573 + ], + "orientation": [ + 0.011543795466423035, + -0.7564004063606262, + -0.0841670036315918, + 0.6485685706138611 + ], + "joints": [ + -0.006974088028073311 + ] + }, + "final_grasp": { + "position": [ + -0.02695452608168125, + 0.12899722158908844, + 0.016439957544207573 + ], + "orientation": [ + 0.011543795466423035, + -0.7564004063606262, + -0.0841670036315918, + 0.6485685706138611 + ], + "joints": [ + -0.002191491425037384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0031629411969333887, + -0.11204516887664795, + 0.03348863869905472 + ], + "orientation": [ + 0.6713143587112427, + -0.1179995983839035, + 0.7276763319969177, + -0.0768144428730011 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.004065553657710552, + -0.1102742999792099, + 0.03298237919807434 + ], + "orientation": [ + 0.6488367319107056, + -0.10983783006668091, + 0.7489252090454102, + -0.0778299942612648 + ], + "joints": [ + -0.006386677734553814 + ] + }, + "final_grasp": { + "position": [ + -0.004065553657710552, + -0.1102742999792099, + 0.03298237919807434 + ], + "orientation": [ + 0.6488367319107056, + -0.10983783006668091, + 0.7489252090454102, + -0.0778299942612648 + ], + "joints": [ + -0.0010461118072271347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0028345491737127304, + -0.11491527408361435, + -0.021860741078853607 + ], + "orientation": [ + 0.6555349230766296, + 0.025208767503499985, + 0.7480893731117249, + 0.10000340640544891 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.002227269345894456, + -0.11616314202547073, + -0.023640036582946777 + ], + "orientation": [ + 0.6396835446357727, + 0.02526663988828659, + 0.7615581750869751, + 0.10097388923168182 + ], + "joints": [ + -0.007004926912486553 + ] + }, + "final_grasp": { + "position": [ + 0.002227269345894456, + -0.11616314202547073, + -0.023640036582946777 + ], + "orientation": [ + 0.6396835446357727, + 0.02526663988828659, + 0.7615581750869751, + 0.10097388923168182 + ], + "joints": [ + -0.001664360985159874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06471734493970871, + 0.0079803466796875, + -0.1287875771522522 + ], + "orientation": [ + 0.5681177377700806, + 0.3640749156475067, + 0.4236510396003723, + 0.6043273210525513 + ], + "joints": [ + 0.004012109711766243 + ] + }, + "fine_grasp": { + "position": [ + 0.06398472934961319, + 0.007883804850280285, + -0.12977634370326996 + ], + "orientation": [ + 0.5640309453010559, + 0.3512994050979614, + 0.43095842003822327, + 0.6105183362960815 + ], + "joints": [ + 0.010415475815534592 + ] + }, + "final_grasp": { + "position": [ + 0.06398472934961319, + 0.007883804850280285, + -0.12977634370326996 + ], + "orientation": [ + 0.5640309453010559, + 0.3512994050979614, + 0.43095842003822327, + 0.6105183362960815 + ], + "joints": [ + 0.01681884191930294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06410551071166992, + 0.007704923395067453, + -0.12936429679393768 + ], + "orientation": [ + 0.5689744353294373, + 0.36600324511528015, + 0.4236554801464081, + 0.602350115776062 + ], + "joints": [ + 0.004012109711766243 + ] + }, + "fine_grasp": { + "position": [ + 0.06385299563407898, + 0.007586101535707712, + -0.13033001124858856 + ], + "orientation": [ + 0.5623577237129211, + 0.3561747074127197, + 0.4325127899646759, + 0.6081333756446838 + ], + "joints": [ + 0.01092030480504036 + ] + }, + "final_grasp": { + "position": [ + 0.06385299563407898, + 0.007586101535707712, + -0.13033001124858856 + ], + "orientation": [ + 0.5623577237129211, + 0.3561747074127197, + 0.4325127899646759, + 0.6081333756446838 + ], + "joints": [ + 0.017828499898314476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013716502115130424, + 0.12206900864839554, + -0.0018112214747816324 + ], + "orientation": [ + 0.09888675063848495, + 0.6509581208229065, + -0.07519438862800598, + 0.748879611492157 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.014106537215411663, + 0.12155918776988983, + -0.0030728946439921856 + ], + "orientation": [ + 0.10555143654346466, + 0.6376792192459106, + -0.07122118771076202, + 0.7597050666809082 + ], + "joints": [ + -0.008543114177882671 + ] + }, + "final_grasp": { + "position": [ + 0.014106537215411663, + 0.12155918776988983, + -0.0030728946439921856 + ], + "orientation": [ + 0.10555143654346466, + 0.6376792192459106, + -0.07122118771076202, + 0.7597050666809082 + ], + "joints": [ + -0.004770176485180855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044418029487133026, + -0.005176589358597994, + 0.12649968266487122 + ], + "orientation": [ + 0.5535542368888855, + -0.36600834131240845, + -0.4967879056930542, + 0.5593008995056152 + ], + "joints": [ + 0.0036569382064044476 + ] + }, + "fine_grasp": { + "position": [ + 0.04455006867647171, + -0.005803361535072327, + 0.12506571412086487 + ], + "orientation": [ + 0.5462646484375, + -0.3563677966594696, + -0.5040625929832458, + 0.5661430358886719 + ], + "joints": [ + 0.010060304775834084 + ] + }, + "final_grasp": { + "position": [ + 0.04455006867647171, + -0.005803361535072327, + 0.12506571412086487 + ], + "orientation": [ + 0.5462646484375, + -0.3563677966594696, + -0.5040625929832458, + 0.5661430358886719 + ], + "joints": [ + 0.016463670879602432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11603827029466629, + 0.11807355284690857, + -0.023967193439602852 + ], + "orientation": [ + 0.014077265746891499, + -0.6633792519569397, + 0.1496439129114151, + 0.7330324053764343 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.11783134192228317, + 0.1224551871418953, + -0.025235364213585854 + ], + "orientation": [ + 0.006221747025847435, + -0.6762436628341675, + 0.1524629294872284, + 0.7207017540931702 + ], + "joints": [ + -0.004230240359902382 + ] + }, + "final_grasp": { + "position": [ + 0.11783134192228317, + 0.1224551871418953, + -0.025235364213585854 + ], + "orientation": [ + 0.006221747025847435, + -0.6762436628341675, + 0.1524629294872284, + 0.7207017540931702 + ], + "joints": [ + 0.0026779547333717346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041168417781591415, + 0.11595726758241653, + 0.050227779895067215 + ], + "orientation": [ + 0.13897009193897247, + -0.7334838509559631, + 0.16344022750854492, + -0.6449620723724365 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.039147622883319855, + 0.11777250468730927, + 0.04754873737692833 + ], + "orientation": [ + 0.135287344455719, + -0.7490158081054688, + 0.14719103276729584, + -0.6316704154014587 + ], + "joints": [ + -0.005239900201559067 + ] + }, + "final_grasp": { + "position": [ + 0.039147622883319855, + 0.11777250468730927, + 0.04754873737692833 + ], + "orientation": [ + 0.135287344455719, + -0.7490158081054688, + 0.14719103276729584, + -0.6316704154014587 + ], + "joints": [ + 0.0006586350500583649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04147258773446083, + 0.11609073728322983, + 0.05008086562156677 + ], + "orientation": [ + 0.14032991230487823, + -0.7336493730545044, + 0.16094312071800232, + -0.6451072096824646 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.03942257538437843, + 0.11786570399999619, + 0.04759935662150383 + ], + "orientation": [ + 0.1367783099412918, + -0.7486686110496521, + 0.14505961537361145, + -0.6322537064552307 + ], + "joints": [ + -0.005239900201559067 + ] + }, + "final_grasp": { + "position": [ + 0.03942257538437843, + 0.11786570399999619, + 0.04759935662150383 + ], + "orientation": [ + 0.1367783099412918, + -0.7486686110496521, + 0.14505961537361145, + -0.6322537064552307 + ], + "joints": [ + 0.0006586350500583649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.168387308716774, + 0.09100712835788727, + -0.009134519845247269 + ], + "orientation": [ + 0.19907400012016296, + -0.704624593257904, + -0.2986987233161926, + -0.6120887398719788 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.17086198925971985, + 0.09360910207033157, + -0.009945224039256573 + ], + "orientation": [ + 0.19708579778671265, + -0.7096946835517883, + -0.3029763996601105, + -0.6047278642654419 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.17086198925971985, + 0.09360910207033157, + -0.009945224039256573 + ], + "orientation": [ + 0.19708579778671265, + -0.7096946835517883, + -0.3029763996601105, + -0.6047278642654419 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16832596063613892, + 0.09095454961061478, + -0.009233525954186916 + ], + "orientation": [ + 0.19885675609111786, + -0.7045983672142029, + -0.29923930764198303, + -0.6119255423545837 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.17076857388019562, + 0.0935468077659607, + -0.009996416978538036 + ], + "orientation": [ + 0.19692090153694153, + -0.7098551988601685, + -0.3033834993839264, + -0.6043890714645386 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.17076857388019562, + 0.0935468077659607, + -0.009996416978538036 + ], + "orientation": [ + 0.19692090153694153, + -0.7098551988601685, + -0.3033834993839264, + -0.6043890714645386 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06744138896465302, + 0.12405886501073837, + -0.01999373733997345 + ], + "orientation": [ + 0.15072284638881683, + 0.6543064117431641, + -0.02303164266049862, + 0.7406991124153137 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.06682007014751434, + 0.12285851687192917, + -0.02002335898578167 + ], + "orientation": [ + 0.1474778801202774, + 0.6424548625946045, + -0.02241494692862034, + 0.7516645193099976 + ], + "joints": [ + -0.006920948624610901 + ] + }, + "final_grasp": { + "position": [ + 0.06682007014751434, + 0.12285851687192917, + -0.02002335898578167 + ], + "orientation": [ + 0.1474778801202774, + 0.6424548625946045, + -0.02241494692862034, + 0.7516645193099976 + ], + "joints": [ + -0.002085212618112564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07266281545162201, + -0.1097361296415329, + -0.010269399732351303 + ], + "orientation": [ + 0.6577374935150146, + 0.12994904816150665, + 0.7399095892906189, + -0.05502989515662193 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.0732087790966034, + -0.11050209403038025, + -0.01202348805963993 + ], + "orientation": [ + 0.6482495665550232, + 0.13238584995269775, + 0.7479477524757385, + -0.0531092993915081 + ], + "joints": [ + -0.007004926912486553 + ] + }, + "final_grasp": { + "position": [ + -0.0732087790966034, + -0.11050209403038025, + -0.01202348805963993 + ], + "orientation": [ + 0.6482495665550232, + 0.13238584995269775, + 0.7479477524757385, + -0.0531092993915081 + ], + "joints": [ + -0.001664360985159874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06751749664545059, + 0.12415477633476257, + -0.020140964537858963 + ], + "orientation": [ + 0.1503051072359085, + 0.6538764834403992, + -0.022286366671323776, + 0.7411863207817078 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.06687462329864502, + 0.12289778888225555, + -0.02017245814204216 + ], + "orientation": [ + 0.1466563642024994, + 0.6412525773048401, + -0.022083546966314316, + 0.7528609037399292 + ], + "joints": [ + -0.006948916241526604 + ] + }, + "final_grasp": { + "position": [ + 0.06687462329864502, + 0.12289778888225555, + -0.02017245814204216 + ], + "orientation": [ + 0.1466563642024994, + 0.6412525773048401, + -0.022083546966314316, + 0.7528609037399292 + ], + "joints": [ + -0.0015817806124687195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06785250455141068, + 0.12452790141105652, + -0.020117277279496193 + ], + "orientation": [ + 0.14745885133743286, + 0.6543194055557251, + -0.020023299381136894, + 0.741431713104248 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.06723902374505997, + 0.12320743501186371, + -0.020183827728033066 + ], + "orientation": [ + 0.14361415803432465, + 0.6402000188827515, + -0.019777031615376472, + 0.7544056177139282 + ], + "joints": [ + -0.006948916241526604 + ] + }, + "final_grasp": { + "position": [ + 0.06723902374505997, + 0.12320743501186371, + -0.020183827728033066 + ], + "orientation": [ + 0.14361415803432465, + 0.6402000188827515, + -0.019777031615376472, + 0.7544056177139282 + ], + "joints": [ + -0.0015817806124687195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18284809589385986, + 0.08313272148370743, + -0.014609962701797485 + ], + "orientation": [ + 0.31818822026252747, + -0.4897869825363159, + 0.24447114765644073, + 0.7740147113800049 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.18145234882831573, + 0.08347734808921814, + -0.014447854831814766 + ], + "orientation": [ + 0.31328320503234863, + -0.4965861737728119, + 0.25547125935554504, + 0.7681082487106323 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + 0.18145234882831573, + 0.08347734808921814, + -0.014447854831814766 + ], + "orientation": [ + 0.31328320503234863, + -0.4965861737728119, + 0.25547125935554504, + 0.7681082487106323 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028630593791604042, + 0.1243409737944603, + 0.012412330135703087 + ], + "orientation": [ + 0.01868368312716484, + -0.6628004908561707, + 0.05456659942865372, + -0.74657142162323 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.028938017785549164, + 0.12549011409282684, + 0.014100419357419014 + ], + "orientation": [ + 0.021322157233953476, + -0.6490097641944885, + 0.06060415133833885, + -0.7580625414848328 + ], + "joints": [ + -0.008543114177882671 + ] + }, + "final_grasp": { + "position": [ + -0.028938017785549164, + 0.12549011409282684, + 0.014100419357419014 + ], + "orientation": [ + 0.021322157233953476, + -0.6490097641944885, + 0.06060415133833885, + -0.7580625414848328 + ], + "joints": [ + -0.004770176485180855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02859945222735405, + 0.12433835119009018, + 0.012394091114401817 + ], + "orientation": [ + 0.018591664731502533, + -0.6629691123962402, + 0.054559361189603806, + -0.7464245557785034 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.02891697734594345, + 0.12548618018627167, + 0.014074400998651981 + ], + "orientation": [ + 0.021224746480584145, + -0.6490840315818787, + 0.06054225564002991, + -0.7580066919326782 + ], + "joints": [ + -0.008543114177882671 + ] + }, + "final_grasp": { + "position": [ + -0.02891697734594345, + 0.12548618018627167, + 0.014074400998651981 + ], + "orientation": [ + 0.021224746480584145, + -0.6490840315818787, + 0.06054225564002991, + -0.7580066919326782 + ], + "joints": [ + -0.004770176485180855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028566040098667145, + 0.12432505935430527, + 0.01239307876676321 + ], + "orientation": [ + 0.018195072188973427, + -0.6628386378288269, + 0.05489525943994522, + -0.7465254664421082 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.02887815609574318, + 0.12549205124378204, + 0.014086280949413776 + ], + "orientation": [ + 0.02083720453083515, + -0.6490113735198975, + 0.06093916296958923, + -0.758047878742218 + ], + "joints": [ + -0.008543114177882671 + ] + }, + "final_grasp": { + "position": [ + -0.02887815609574318, + 0.12549205124378204, + 0.014086280949413776 + ], + "orientation": [ + 0.02083720453083515, + -0.6490113735198975, + 0.06093916296958923, + -0.758047878742218 + ], + "joints": [ + -0.004770176485180855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16512364149093628, + 0.09258119016885757, + 0.01607891172170639 + ], + "orientation": [ + 0.3290986120700836, + -0.580658495426178, + -0.15889158844947815, + -0.727518618106842 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.1665656566619873, + 0.09425473213195801, + 0.016209576278924942 + ], + "orientation": [ + 0.3249798119068146, + -0.5848150849342346, + -0.15630097687244415, + -0.726601243019104 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.1665656566619873, + 0.09425473213195801, + 0.016209576278924942 + ], + "orientation": [ + 0.3249798119068146, + -0.5848150849342346, + -0.15630097687244415, + -0.726601243019104 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16494520008563995, + 0.09252406656742096, + 0.01619970053434372 + ], + "orientation": [ + 0.3296854794025421, + -0.5806845426559448, + -0.15820182859897614, + -0.727382481098175 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.1664389669895172, + 0.09422001242637634, + 0.01641637645661831 + ], + "orientation": [ + 0.32535263895988464, + -0.5849123001098633, + -0.15547890961170197, + -0.7265325784683228 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.1664389669895172, + 0.09422001242637634, + 0.01641637645661831 + ], + "orientation": [ + 0.32535263895988464, + -0.5849123001098633, + -0.15547890961170197, + -0.7265325784683228 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07617490738630295, + 0.12245127558708191, + -0.03990696743130684 + ], + "orientation": [ + 0.20414434373378754, + 0.7260837554931641, + -0.0196782685816288, + -0.6563079357147217 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.07574328780174255, + 0.1211194321513176, + -0.03989133983850479 + ], + "orientation": [ + 0.20219668745994568, + 0.7322492599487305, + -0.0169219933450222, + -0.6501085162162781 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.07574328780174255, + 0.1211194321513176, + -0.03989133983850479 + ], + "orientation": [ + 0.20219668745994568, + 0.7322492599487305, + -0.0169219933450222, + -0.6501085162162781 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00268701184540987, + 0.014924867078661919, + 0.1300416737794876 + ], + "orientation": [ + 0.5147017240524292, + -0.5221448540687561, + 0.46098592877388, + -0.4999387562274933 + ], + "joints": [ + 0.003839408978819847 + ] + }, + "fine_grasp": { + "position": [ + -0.003134498605504632, + 0.01630127988755703, + 0.1327529102563858 + ], + "orientation": [ + 0.5161352753639221, + -0.5349430441856384, + 0.45374202728271484, + -0.49148595333099365 + ], + "joints": [ + 0.009711375460028648 + ] + }, + "final_grasp": { + "position": [ + -0.003134498605504632, + 0.01630127988755703, + 0.1327529102563858 + ], + "orientation": [ + 0.5161352753639221, + -0.5349430441856384, + 0.45374202728271484, + -0.49148595333099365 + ], + "joints": [ + 0.01558334194123745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07717624306678772, + -0.11078839004039764, + 0.014323785901069641 + ], + "orientation": [ + 0.7598868608474731, + -0.07394523918628693, + -0.6456577777862549, + 0.015173710882663727 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.0782596543431282, + -0.11071589589118958, + 0.016098277643322945 + ], + "orientation": [ + 0.7594296932220459, + -0.08683356642723083, + -0.6444420218467712, + 0.02051987126469612 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.0782596543431282, + -0.11071589589118958, + 0.016098277643322945 + ], + "orientation": [ + 0.7594296932220459, + -0.08683356642723083, + -0.6444420218467712, + 0.02051987126469612 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034769006073474884, + -0.10884915292263031, + 0.03636402636766434 + ], + "orientation": [ + 0.6515724658966064, + -0.1514444351196289, + -0.7402891516685486, + 0.06700645387172699 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.035691291093826294, + -0.10783486068248749, + 0.0360536053776741 + ], + "orientation": [ + 0.6423890590667725, + -0.14747214317321777, + -0.7489407658576965, + 0.06838016957044601 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + 0.035691291093826294, + -0.10783486068248749, + 0.0360536053776741 + ], + "orientation": [ + 0.6423890590667725, + -0.14747214317321777, + -0.7489407658576965, + 0.06838016957044601 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03477392718195915, + -0.10893571376800537, + 0.036087650805711746 + ], + "orientation": [ + 0.651982843875885, + -0.15120293200016022, + -0.7400992512702942, + 0.06564547121524811 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.03566091135144234, + -0.10791350156068802, + 0.03585655987262726 + ], + "orientation": [ + 0.6425710916519165, + -0.1475396454334259, + -0.7488775849342346, + 0.06720754504203796 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + 0.03566091135144234, + -0.10791350156068802, + 0.03585655987262726 + ], + "orientation": [ + 0.6425710916519165, + -0.1475396454334259, + -0.7488775849342346, + 0.06720754504203796 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1215137243270874, + 0.11881538480520248, + 0.0271115992218256 + ], + "orientation": [ + 0.003522713202983141, + -0.7854744791984558, + -0.19751933217048645, + 0.5865182280540466 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.12043412029743195, + 0.11743620038032532, + 0.026129677891731262 + ], + "orientation": [ + 0.007720750756561756, + -0.7885426878929138, + -0.1908898502588272, + 0.5845526456832886 + ], + "joints": [ + -0.004261079244315624 + ] + }, + "final_grasp": { + "position": [ + -0.12043412029743195, + 0.11743620038032532, + 0.026129677891731262 + ], + "orientation": [ + 0.007720750756561756, + -0.7885426878929138, + -0.1908898502588272, + 0.5845526456832886 + ], + "joints": [ + 0.0032050851732492447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05878661945462227, + 0.13340048491954803, + -0.0019888258539140224 + ], + "orientation": [ + 0.06951536983251572, + -0.6282422542572021, + 0.06489859521389008, + 0.7721835970878601 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.057179827243089676, + 0.13079260289669037, + -0.001855991780757904 + ], + "orientation": [ + 0.07148086279630661, + -0.6228007078170776, + 0.06533980369567871, + 0.7763636708259583 + ], + "joints": [ + -0.0065883444622159 + ] + }, + "final_grasp": { + "position": [ + 0.057179827243089676, + 0.13079260289669037, + -0.001855991780757904 + ], + "orientation": [ + 0.07148086279630661, + -0.6228007078170776, + 0.06533980369567871, + 0.7763636708259583 + ], + "joints": [ + 0.0003464203327894211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.19630727171897888, + 0.06092209741473198, + -0.0038257259875535965 + ], + "orientation": [ + 0.3193218410015106, + 0.6815420389175415, + -0.40956100821495056, + 0.5155518651008606 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.19237303733825684, + 0.060448672622442245, + -0.0039877318777143955 + ], + "orientation": [ + 0.3200250566005707, + 0.6819438934326172, + -0.4166960120201111, + 0.508823037147522 + ], + "joints": [ + -0.007007798179984093 + ] + }, + "final_grasp": { + "position": [ + 0.19237303733825684, + 0.060448672622442245, + -0.0039877318777143955 + ], + "orientation": [ + 0.3200250566005707, + 0.6819438934326172, + -0.4166960120201111, + 0.508823037147522 + ], + "joints": [ + -0.0016406625509262085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18255092203617096, + -0.04712298884987831, + -0.018030786886811256 + ], + "orientation": [ + 0.5976649522781372, + -0.2947075664997101, + 0.626190721988678, + 0.4047582447528839 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.18540476262569427, + -0.04938946291804314, + -0.021107638254761696 + ], + "orientation": [ + 0.5975367426872253, + -0.2861796021461487, + 0.6233149170875549, + 0.4153669476509094 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + 0.18540476262569427, + -0.04938946291804314, + -0.021107638254761696 + ], + "orientation": [ + 0.5975367426872253, + -0.2861796021461487, + 0.6233149170875549, + 0.4153669476509094 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18197233974933624, + -0.04105512052774429, + -0.025382841005921364 + ], + "orientation": [ + 0.5666815042495728, + 0.47006312012672424, + -0.6304107904434204, + 0.2459573596715927 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.18543751537799835, + -0.04275383800268173, + -0.027600396424531937 + ], + "orientation": [ + 0.5769809484481812, + 0.47253134846687317, + -0.6165621280670166, + 0.2523059844970703 + ], + "joints": [ + -0.005266469903290272 + ] + }, + "final_grasp": { + "position": [ + 0.18543751537799835, + -0.04275383800268173, + -0.027600396424531937 + ], + "orientation": [ + 0.5769809484481812, + 0.47253134846687317, + -0.6165621280670166, + 0.2523059844970703 + ], + "joints": [ + 0.0006054956465959549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07479309290647507, + 0.11546723544597626, + 0.03125092759728432 + ], + "orientation": [ + 0.05068124458193779, + -0.6822693347930908, + 0.14066974818706512, + -0.7156478762626648 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0739358440041542, + 0.11367356777191162, + 0.031893376260995865 + ], + "orientation": [ + 0.05636948347091675, + -0.671159565448761, + 0.14754647016525269, + -0.7242909073829651 + ], + "joints": [ + -0.005880449898540974 + ] + }, + "final_grasp": { + "position": [ + 0.0739358440041542, + 0.11367356777191162, + 0.031893376260995865 + ], + "orientation": [ + 0.05636948347091675, + -0.671159565448761, + 0.14754647016525269, + -0.7242909073829651 + ], + "joints": [ + -0.0005930233746767044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05746518447995186, + 0.12716704607009888, + -0.012241264805197716 + ], + "orientation": [ + 0.032021664083004, + 0.7590844631195068, + 0.03997012600302696, + 0.6489745378494263 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.05749199539422989, + 0.12905994057655334, + -0.012418598867952824 + ], + "orientation": [ + 0.03671184182167053, + 0.7683757543563843, + 0.03784940764307976, + 0.6378230452537537 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + -0.05749199539422989, + 0.12905994057655334, + -0.012418598867952824 + ], + "orientation": [ + 0.03671184182167053, + 0.7683757543563843, + 0.03784940764307976, + 0.6378230452537537 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0915868952870369, + 0.13182629644870758, + 0.024090779945254326 + ], + "orientation": [ + 0.0856790840625763, + -0.8535283207893372, + -0.0809926837682724, + 0.5075320601463318 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + -0.09125188738107681, + 0.13013917207717896, + 0.02345236949622631 + ], + "orientation": [ + 0.08475197106599808, + -0.8469200134277344, + -0.07631252706050873, + 0.519345760345459 + ], + "joints": [ + -0.005490361712872982 + ] + }, + "final_grasp": { + "position": [ + -0.09125188738107681, + 0.13013917207717896, + 0.02345236949622631 + ], + "orientation": [ + 0.08475197106599808, + -0.8469200134277344, + -0.07631252706050873, + 0.519345760345459 + ], + "joints": [ + 0.0024540629237890244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05742650479078293, + 0.1271974891424179, + -0.012167880311608315 + ], + "orientation": [ + 0.03222483769059181, + 0.7587379217147827, + 0.039276640862226486, + 0.6494117379188538 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.0574398897588253, + 0.12902767956256866, + -0.012385832145810127 + ], + "orientation": [ + 0.037092551589012146, + 0.7689329385757446, + 0.03713325038552284, + 0.6371714472770691 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + -0.0574398897588253, + 0.12902767956256866, + -0.012385832145810127 + ], + "orientation": [ + 0.037092551589012146, + 0.7689329385757446, + 0.03713325038552284, + 0.6371714472770691 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11767137795686722, + 0.11446269601583481, + -0.003999653272330761 + ], + "orientation": [ + 0.09584145992994308, + 0.7964161038398743, + 0.11804194003343582, + -0.5853222012519836 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11818896234035492, + 0.11516109108924866, + -0.0045236325822770596 + ], + "orientation": [ + 0.09240030497312546, + 0.7884540557861328, + 0.11072685569524765, + -0.5979482531547546 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.11818896234035492, + 0.11516109108924866, + -0.0045236325822770596 + ], + "orientation": [ + 0.09240030497312546, + 0.7884540557861328, + 0.11072685569524765, + -0.5979482531547546 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11738777160644531, + 0.11418143659830093, + -0.003918401896953583 + ], + "orientation": [ + 0.09510693699121475, + 0.7965653538703918, + 0.1177930012345314, + -0.585288941860199 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11797961592674255, + 0.11481451243162155, + -0.004302343353629112 + ], + "orientation": [ + 0.09104812890291214, + 0.7889378070831299, + 0.11087490618228912, + -0.5974899530410767 + ], + "joints": [ + -0.0070889052003622055 + ] + }, + "final_grasp": { + "position": [ + -0.11797961592674255, + 0.11481451243162155, + -0.004302343353629112 + ], + "orientation": [ + 0.09104812890291214, + 0.7889378070831299, + 0.11087490618228912, + -0.5974899530410767 + ], + "joints": [ + -0.0012435093522071838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1290590763092041, + -0.09664837270975113, + 0.007252632640302181 + ], + "orientation": [ + 0.8048343062400818, + 0.0858660638332367, + 0.552322268486023, + -0.1995217204093933 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.13051682710647583, + -0.10049180686473846, + 0.008011867292225361 + ], + "orientation": [ + 0.8028556704521179, + 0.08660267293453217, + 0.5553297400474548, + -0.19882549345493317 + ], + "joints": [ + -0.005912686698138714 + ] + }, + "final_grasp": { + "position": [ + -0.13051682710647583, + -0.10049180686473846, + 0.008011867292225361 + ], + "orientation": [ + 0.8028556704521179, + 0.08660267293453217, + 0.5553297400474548, + -0.19882549345493317 + ], + "joints": [ + 0.0004906784743070602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06609751284122467, + -0.11338741332292557, + 0.0056700618006289005 + ], + "orientation": [ + 0.7469552755355835, + -0.04737582057714462, + 0.6629538536071777, + 0.017476361244916916 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.06477568298578262, + -0.11202952265739441, + 0.008489532396197319 + ], + "orientation": [ + 0.763210117816925, + -0.05222390219569206, + 0.6439874768257141, + 0.007953593507409096 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + 0.06477568298578262, + -0.11202952265739441, + 0.008489532396197319 + ], + "orientation": [ + 0.763210117816925, + -0.05222390219569206, + 0.6439874768257141, + 0.007953593507409096 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.19517014920711517, + 0.012677735649049282, + 0.008401580154895782 + ], + "orientation": [ + 0.3839295506477356, + 0.5692840814590454, + -0.5478038191795349, + 0.4779379963874817 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.1942633092403412, + 0.012529262341558933, + 0.012798415496945381 + ], + "orientation": [ + 0.37689974904060364, + 0.5598673224449158, + -0.5596779584884644, + 0.48089051246643066 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.1942633092403412, + 0.012529262341558933, + 0.012798415496945381 + ], + "orientation": [ + 0.37689974904060364, + 0.5598673224449158, + -0.5596779584884644, + 0.48089051246643066 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1952359676361084, + 0.012838508933782578, + 0.0085066556930542 + ], + "orientation": [ + 0.38343286514282227, + 0.5694226622581482, + -0.5476265549659729, + 0.4783746004104614 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.19428904354572296, + 0.01268213801085949, + 0.012890448793768883 + ], + "orientation": [ + 0.3764512538909912, + 0.5599942207336426, + -0.5594947338104248, + 0.4813070595264435 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.19428904354572296, + 0.01268213801085949, + 0.012890448793768883 + ], + "orientation": [ + 0.3764512538909912, + 0.5599942207336426, + -0.5594947338104248, + 0.4813070595264435 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040049370378255844, + 0.015201018191874027, + 0.1302226036787033 + ], + "orientation": [ + 0.5279784798622131, + -0.43123120069503784, + -0.4435461759567261, + 0.581846296787262 + ], + "joints": [ + 0.003937534987926483 + ] + }, + "fine_grasp": { + "position": [ + 0.03994518890976906, + 0.01578187569975853, + 0.12990880012512207 + ], + "orientation": [ + 0.5242723822593689, + -0.42407533526420593, + -0.4452655017375946, + 0.5890987515449524 + ], + "joints": [ + 0.010340901091694832 + ] + }, + "final_grasp": { + "position": [ + 0.03994518890976906, + 0.01578187569975853, + 0.12990880012512207 + ], + "orientation": [ + 0.5242723822593689, + -0.42407533526420593, + -0.4452655017375946, + 0.5890987515449524 + ], + "joints": [ + 0.01674426719546318 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.19469104707241058, + 0.012486799620091915, + 0.008392293006181717 + ], + "orientation": [ + 0.3846342861652374, + 0.5686326026916504, + -0.5479221343994141, + 0.47801125049591064 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.19378095865249634, + 0.01245213020592928, + 0.012893273495137691 + ], + "orientation": [ + 0.37742364406585693, + 0.558830201625824, + -0.5602455735206604, + 0.4810250699520111 + ], + "joints": [ + -0.005382760427892208 + ] + }, + "final_grasp": { + "position": [ + 0.19378095865249634, + 0.01245213020592928, + 0.012893273495137691 + ], + "orientation": [ + 0.37742364406585693, + 0.558830201625824, + -0.5602455735206604, + 0.4810250699520111 + ], + "joints": [ + 0.001020604744553566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08807608485221863, + -0.1108526736497879, + -0.014812540262937546 + ], + "orientation": [ + 0.5736329555511475, + 0.0007129044970497489, + -0.8164038062095642, + -0.06655523180961609 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.08920728415250778, + -0.11239928752183914, + -0.01494644209742546 + ], + "orientation": [ + 0.5772073268890381, + 0.004306153394281864, + -0.8140953779220581, + -0.06373278051614761 + ], + "joints": [ + -0.0065883444622159 + ] + }, + "final_grasp": { + "position": [ + -0.08920728415250778, + -0.11239928752183914, + -0.01494644209742546 + ], + "orientation": [ + 0.5772073268890381, + 0.004306153394281864, + -0.8140953779220581, + -0.06373278051614761 + ], + "joints": [ + 0.0003464203327894211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060589924454689026, + -0.11463648825883865, + 0.003426232375204563 + ], + "orientation": [ + 0.6553887128829956, + -0.028777074068784714, + -0.7547214031219482, + -0.005760507192462683 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.06044810265302658, + -0.11418285965919495, + 0.0040601203218102455 + ], + "orientation": [ + 0.6310116052627563, + -0.0297701396048069, + -0.7751948833465576, + -0.0033112179953604937 + ], + "joints": [ + -0.005831579677760601 + ] + }, + "final_grasp": { + "position": [ + -0.06044810265302658, + -0.11418285965919495, + 0.0040601203218102455 + ], + "orientation": [ + 0.6310116052627563, + -0.0297701396048069, + -0.7751948833465576, + -0.0033112179953604937 + ], + "joints": [ + 9.352527558803558e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02291395142674446, + 0.12871578335762024, + -0.01421494223177433 + ], + "orientation": [ + 0.0015622980426996946, + -0.7861055135726929, + 0.09816639870405197, + 0.6102451682090759 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.022277681156992912, + 0.12692159414291382, + -0.01609041728079319 + ], + "orientation": [ + 0.0002710241824388504, + -0.8042060732841492, + 0.10315452516078949, + 0.5853303074836731 + ], + "joints": [ + -0.009807579219341278 + ] + }, + "final_grasp": { + "position": [ + -0.022277681156992912, + 0.12692159414291382, + -0.01609041728079319 + ], + "orientation": [ + 0.0002710241824388504, + -0.8042060732841492, + 0.10315452516078949, + 0.5853303074836731 + ], + "joints": [ + -0.0055032409727573395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06936738640069962, + -0.10967310518026352, + -0.00929571408778429 + ], + "orientation": [ + 0.641185998916626, + 0.009826138615608215, + 0.7660961747169495, + 0.04336520656943321 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.06823115050792694, + -0.11138331145048141, + -0.012027629651129246 + ], + "orientation": [ + 0.6241861581802368, + 0.017279624938964844, + 0.7793629169464111, + 0.051831405609846115 + ], + "joints": [ + -0.009663321077823639 + ] + }, + "final_grasp": { + "position": [ + 0.06823115050792694, + -0.11138331145048141, + -0.012027629651129246 + ], + "orientation": [ + 0.6241861581802368, + 0.017279624938964844, + 0.7793629169464111, + 0.051831405609846115 + ], + "joints": [ + -0.006421782076358795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0694597139954567, + -0.10967220366001129, + -0.00926390290260315 + ], + "orientation": [ + 0.6410518884658813, + 0.009507279843091965, + 0.7662070989608765, + 0.043459247797727585 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.06833774596452713, + -0.11142096668481827, + -0.011951513588428497 + ], + "orientation": [ + 0.6234704256057739, + 0.017049912363290787, + 0.7799844145774841, + 0.051169656217098236 + ], + "joints": [ + -0.009663321077823639 + ] + }, + "final_grasp": { + "position": [ + 0.06833774596452713, + -0.11142096668481827, + -0.011951513588428497 + ], + "orientation": [ + 0.6234704256057739, + 0.017049912363290787, + 0.7799844145774841, + 0.051169656217098236 + ], + "joints": [ + -0.006421782076358795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08779029548168182, + 0.12805871665477753, + 0.0034893567208200693 + ], + "orientation": [ + 0.04716124013066292, + 0.6544709205627441, + 0.06092341989278793, + -0.752151608467102 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08666259050369263, + 0.12731227278709412, + 0.0043733930215239525 + ], + "orientation": [ + 0.04426557943224907, + 0.6364610195159912, + 0.06031199172139168, + -0.7676721811294556 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.08666259050369263, + 0.12731227278709412, + 0.0043733930215239525 + ], + "orientation": [ + 0.04426557943224907, + 0.6364610195159912, + 0.06031199172139168, + -0.7676721811294556 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08771238476037979, + 0.12800124287605286, + 0.00354003650136292 + ], + "orientation": [ + 0.04690224304795265, + 0.6554473042488098, + 0.06107281893491745, + -0.7513050436973572 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08639711141586304, + 0.12716518342494965, + 0.00481449905782938 + ], + "orientation": [ + 0.042173873633146286, + 0.6363949775695801, + 0.06125280261039734, + -0.767769992351532 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.08639711141586304, + 0.12716518342494965, + 0.00481449905782938 + ], + "orientation": [ + 0.042173873633146286, + 0.6363949775695801, + 0.06125280261039734, + -0.767769992351532 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03212833032011986, + -0.12032139301300049, + -0.023423949256539345 + ], + "orientation": [ + 0.5026408433914185, + 0.05871234089136124, + -0.8595178723335266, + -0.07165155559778214 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.034590862691402435, + -0.12028913199901581, + -0.021436234936118126 + ], + "orientation": [ + 0.47635722160339355, + 0.04843396693468094, + -0.8751623034477234, + -0.06948988139629364 + ], + "joints": [ + -0.014254466630518436 + ] + }, + "final_grasp": { + "position": [ + -0.034590862691402435, + -0.12028913199901581, + -0.021436234936118126 + ], + "orientation": [ + 0.47635722160339355, + 0.04843396693468094, + -0.8751623034477234, + -0.06948988139629364 + ], + "joints": [ + -0.0093921460211277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012575289234519005, + 0.13841328024864197, + -0.06254109740257263 + ], + "orientation": [ + 0.17113414406776428, + 0.3230346739292145, + -0.12560680508613586, + -0.9222714304924011 + ], + "joints": [ + -0.01885182410478592 + ] + }, + "fine_grasp": { + "position": [ + -0.010704373940825462, + 0.134846031665802, + -0.05991274118423462 + ], + "orientation": [ + 0.15874095261096954, + 0.2857886552810669, + -0.13151539862155914, + -0.9358578324317932 + ], + "joints": [ + -0.01566341519355774 + ] + }, + "final_grasp": { + "position": [ + -0.010704373940825462, + 0.134846031665802, + -0.05991274118423462 + ], + "orientation": [ + 0.15874095261096954, + 0.2857886552810669, + -0.13151539862155914, + -0.9358578324317932 + ], + "joints": [ + -0.01247500628232956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012466847896575928, + 0.13845042884349823, + -0.06259520351886749 + ], + "orientation": [ + 0.17151114344596863, + 0.32337188720703125, + -0.1253661811351776, + -0.9221159219741821 + ], + "joints": [ + -0.01829245686531067 + ] + }, + "fine_grasp": { + "position": [ + -0.010487869381904602, + 0.13498660922050476, + -0.059932891279459 + ], + "orientation": [ + 0.1581210047006607, + 0.2859703004360199, + -0.13179637491703033, + -0.9358677864074707 + ], + "joints": [ + -0.015635449439287186 + ] + }, + "final_grasp": { + "position": [ + -0.010487869381904602, + 0.13498660922050476, + -0.059932891279459 + ], + "orientation": [ + 0.1581210047006607, + 0.2859703004360199, + -0.13179637491703033, + -0.9358677864074707 + ], + "joints": [ + -0.012978442013263702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.062373921275138855, + -0.11544829607009888, + -0.011470395140349865 + ], + "orientation": [ + 0.8520970344543457, + 0.030876386910676956, + 0.5214257836341858, + 0.033053185790777206 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.0630343034863472, + -0.11461331695318222, + -0.012497865594923496 + ], + "orientation": [ + 0.868791401386261, + 0.029124191030859947, + 0.4930780529975891, + 0.035033319145441055 + ], + "joints": [ + -0.012545455247163773 + ] + }, + "final_grasp": { + "position": [ + -0.0630343034863472, + -0.11461331695318222, + -0.012497865594923496 + ], + "orientation": [ + 0.868791401386261, + 0.029124191030859947, + 0.4930780529975891, + 0.035033319145441055 + ], + "joints": [ + -0.007151739671826363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06230207905173302, + -0.1154351532459259, + -0.01153744850307703 + ], + "orientation": [ + 0.8519257307052612, + 0.031118720769882202, + 0.5216770768165588, + 0.033274464309215546 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.0629957839846611, + -0.11461635679006577, + -0.012507501058280468 + ], + "orientation": [ + 0.868674099445343, + 0.029142675921320915, + 0.4932744801044464, + 0.03515990078449249 + ], + "joints": [ + -0.012545455247163773 + ] + }, + "final_grasp": { + "position": [ + -0.0629957839846611, + -0.11461635679006577, + -0.012507501058280468 + ], + "orientation": [ + 0.868674099445343, + 0.029142675921320915, + 0.4932744801044464, + 0.03515990078449249 + ], + "joints": [ + -0.007151739671826363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06211187690496445, + -0.11552129685878754, + -0.011454257182776928 + ], + "orientation": [ + 0.8515583872795105, + 0.03131633624434471, + 0.5222970843315125, + 0.032762303948402405 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.06292558461427689, + -0.11463010311126709, + -0.01242930069565773 + ], + "orientation": [ + 0.8685146570205688, + 0.02929079532623291, + 0.49357035756111145, + 0.03482268005609512 + ], + "joints": [ + -0.012572025880217552 + ] + }, + "final_grasp": { + "position": [ + -0.06292558461427689, + -0.11463010311126709, + -0.01242930069565773 + ], + "orientation": [ + 0.8685146570205688, + 0.02929079532623291, + 0.49357035756111145, + 0.03482268005609512 + ], + "joints": [ + -0.007204880937933922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1050511971116066, + 0.12390141934156418, + 0.03223566338419914 + ], + "orientation": [ + 0.1498694121837616, + -0.49068987369537354, + 0.09091383963823318, + -0.8535205125808716 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.10430009663105011, + 0.12097841501235962, + 0.031093912199139595 + ], + "orientation": [ + 0.146016925573349, + -0.5043363571166992, + 0.08496860414743423, + -0.8468201160430908 + ], + "joints": [ + -0.006558903492987156 + ] + }, + "final_grasp": { + "position": [ + -0.10430009663105011, + 0.12097841501235962, + 0.031093912199139595 + ], + "orientation": [ + 0.146016925573349, + -0.5043363571166992, + 0.08496860414743423, + -0.8468201160430908 + ], + "joints": [ + 0.0003758613020181656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009040841832756996, + 0.11578287929296494, + 0.027607271447777748 + ], + "orientation": [ + 0.06429706513881683, + -0.6651076674461365, + 0.10816981643438339, + -0.7360686659812927 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.00784299336373806, + 0.11482620984315872, + 0.02891070954501629 + ], + "orientation": [ + 0.07328640669584274, + -0.6444873809814453, + 0.11708848178386688, + -0.7520343065261841 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + 0.00784299336373806, + 0.11482620984315872, + 0.02891070954501629 + ], + "orientation": [ + 0.07328640669584274, + -0.6444873809814453, + 0.11708848178386688, + -0.7520343065261841 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00920537393540144, + 0.11567185819149017, + 0.027658460661768913 + ], + "orientation": [ + 0.06576091051101685, + -0.6646186709403992, + 0.10749172419309616, + -0.7364800572395325 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.008017323911190033, + 0.11487139016389847, + 0.02897375077009201 + ], + "orientation": [ + 0.07467150688171387, + -0.6438207626342773, + 0.11642936617136002, + -0.7525711059570312 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + 0.008017323911190033, + 0.11487139016389847, + 0.02897375077009201 + ], + "orientation": [ + 0.07467150688171387, + -0.6438207626342773, + 0.11642936617136002, + -0.7525711059570312 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04652981832623482, + -0.11063450574874878, + -0.012571427971124649 + ], + "orientation": [ + 0.7559073567390442, + -0.00933967623859644, + 0.6483100652694702, + 0.0906137153506279 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.046829041093587875, + -0.11060815304517746, + -0.013188617303967476 + ], + "orientation": [ + 0.772055983543396, + -0.009532093070447445, + 0.6290279626846313, + 0.09034693241119385 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + 0.046829041093587875, + -0.11060815304517746, + -0.013188617303967476 + ], + "orientation": [ + 0.772055983543396, + -0.009532093070447445, + 0.6290279626846313, + 0.09034693241119385 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018320593982934952, + 0.1169678196310997, + -0.05643431097269058 + ], + "orientation": [ + 0.1078633964061737, + 0.7229629158973694, + -0.23073449730873108, + -0.6422240734100342 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.019601671025156975, + 0.11217035353183746, + -0.05336558818817139 + ], + "orientation": [ + 0.11026804894208908, + 0.7297660708427429, + -0.2307555079460144, + -0.6340619921684265 + ], + "joints": [ + -0.004370229318737984 + ] + }, + "final_grasp": { + "position": [ + -0.019601671025156975, + 0.11217035353183746, + -0.05336558818817139 + ], + "orientation": [ + 0.11026804894208908, + 0.7297660708427429, + -0.2307555079460144, + -0.6340619921684265 + ], + "joints": [ + 0.0030162259936332703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1876012682914734, + -0.04230828210711479, + -0.029317690059542656 + ], + "orientation": [ + 0.4403645992279053, + -0.37859204411506653, + 0.7280101180076599, + 0.36434653401374817 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.18629899621009827, + -0.04242453724145889, + -0.029714975506067276 + ], + "orientation": [ + 0.44725653529167175, + -0.37463825941085815, + 0.7244335412979126, + 0.3671565055847168 + ], + "joints": [ + -0.008267918601632118 + ] + }, + "final_grasp": { + "position": [ + 0.18629899621009827, + -0.04242453724145889, + -0.029714975506067276 + ], + "orientation": [ + 0.44725653529167175, + -0.37463825941085815, + 0.7244335412979126, + 0.3671565055847168 + ], + "joints": [ + -0.0018645524978637695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055063068866729736, + 0.11798179149627686, + 0.04732927680015564 + ], + "orientation": [ + 0.18320058286190033, + -0.658552348613739, + 0.10141824930906296, + -0.7228145003318787 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + -0.05377278849482536, + 0.11428514122962952, + 0.04559438303112984 + ], + "orientation": [ + 0.1834951937198639, + -0.6510047316551208, + 0.10323213785886765, + -0.7292910814285278 + ], + "joints": [ + -0.0037297550588846207 + ] + }, + "final_grasp": { + "position": [ + -0.05377278849482536, + 0.11428514122962952, + 0.04559438303112984 + ], + "orientation": [ + 0.1834951937198639, + -0.6510047316551208, + 0.10323213785886765, + -0.7292910814285278 + ], + "joints": [ + 0.003178440034389496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011502713896334171, + 0.12548908591270447, + -0.00558910658583045 + ], + "orientation": [ + 0.0382322259247303, + 0.7618531584739685, + -0.008076286874711514, + 0.6465699672698975 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.012371499091386795, + 0.12632326781749725, + -0.007203515153378248 + ], + "orientation": [ + 0.038864944130182266, + 0.7796339392662048, + -0.003306741826236248, + 0.6250196695327759 + ], + "joints": [ + -0.005888988263905048 + ] + }, + "final_grasp": { + "position": [ + -0.012371499091386795, + 0.12632326781749725, + -0.007203515153378248 + ], + "orientation": [ + 0.038864944130182266, + 0.7796339392662048, + -0.003306741826236248, + 0.6250196695327759 + ], + "joints": [ + 0.0005675163120031357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034041885286569595, + -0.10381277650594711, + -0.046790700405836105 + ], + "orientation": [ + 0.9999142289161682, + -0.008425697684288025, + -0.0031687328591942787, + 0.00951521284878254 + ], + "joints": [ + -0.004139584489166737 + ] + }, + "fine_grasp": { + "position": [ + -0.034033652395009995, + -0.10951294749975204, + -0.04534044861793518 + ], + "orientation": [ + 0.99992835521698, + 0.007227105554193258, + -0.0029700607992708683, + 0.009071093052625656 + ], + "joints": [ + -0.006185473874211311 + ] + }, + "final_grasp": { + "position": [ + -0.034033652395009995, + -0.10951294749975204, + -0.04534044861793518 + ], + "orientation": [ + 0.99992835521698, + 0.007227105554193258, + -0.0029700607992708683, + 0.009071093052625656 + ], + "joints": [ + -0.008231363259255886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03466377034783363, + -0.10327688604593277, + -0.04668808728456497 + ], + "orientation": [ + 0.9999008774757385, + -0.008553409948945045, + -0.002955479547381401, + 0.010794450528919697 + ], + "joints": [ + -0.005609241314232349 + ] + }, + "fine_grasp": { + "position": [ + -0.03465820476412773, + -0.10899907350540161, + -0.04527893662452698 + ], + "orientation": [ + 0.9999203085899353, + 0.0066665117628872395, + -0.0025481025222688913, + 0.010417377576231956 + ], + "joints": [ + -0.007655130699276924 + ] + }, + "final_grasp": { + "position": [ + -0.03465820476412773, + -0.10899907350540161, + -0.04527893662452698 + ], + "orientation": [ + 0.9999203085899353, + 0.0066665117628872395, + -0.0025481025222688913, + 0.010417377576231956 + ], + "joints": [ + -0.009701020084321499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012074231170117855, + -0.11291757225990295, + 0.0034981053322553635 + ], + "orientation": [ + 0.654008686542511, + 0.03733234852552414, + -0.7536495923995972, + 0.05376938730478287 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.013499217107892036, + -0.11274629831314087, + 0.005667254328727722 + ], + "orientation": [ + 0.6328161954879761, + 0.026723209768533707, + -0.7718604803085327, + 0.05532617121934891 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + -0.013499217107892036, + -0.11274629831314087, + 0.005667254328727722 + ], + "orientation": [ + 0.6328161954879761, + 0.026723209768533707, + -0.7718604803085327, + 0.05532617121934891 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013057438656687737, + -0.11281199753284454, + 0.003809964284300804 + ], + "orientation": [ + 0.6559938788414001, + 0.03640538826584816, + -0.7518814206123352, + 0.054964564740657806 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.014635848812758923, + -0.11248190701007843, + 0.006332153454422951 + ], + "orientation": [ + 0.6347446441650391, + 0.024484122171998024, + -0.7701985239982605, + 0.0573933869600296 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + -0.014635848812758923, + -0.11248190701007843, + 0.006332153454422951 + ], + "orientation": [ + 0.6347446441650391, + 0.024484122171998024, + -0.7701985239982605, + 0.0573933869600296 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02312256023287773, + 0.14271536469459534, + -0.017252527177333832 + ], + "orientation": [ + 0.01987089030444622, + -0.8736847639083862, + -0.1545744091272354, + -0.46085432171821594 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.025628963485360146, + 0.1375189572572708, + -0.015160070732235909 + ], + "orientation": [ + 0.01421116292476654, + -0.8794772624969482, + -0.1511463224887848, + -0.45107918977737427 + ], + "joints": [ + -0.015695646405220032 + ] + }, + "final_grasp": { + "position": [ + 0.025628963485360146, + 0.1375189572572708, + -0.015160070732235909 + ], + "orientation": [ + 0.01421116292476654, + -0.8794772624969482, + -0.1511463224887848, + -0.45107918977737427 + ], + "joints": [ + -0.0113912932574749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03572273254394531, + 0.12702533602714539, + 0.012847580946981907 + ], + "orientation": [ + 0.07700274139642715, + -0.8387108445167542, + -0.020835349336266518, + -0.5387027859687805 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.03825325146317482, + 0.12509755790233612, + 0.014558079652488232 + ], + "orientation": [ + 0.07810387015342712, + -0.856219470500946, + -0.010505028069019318, + -0.510565996170044 + ], + "joints": [ + -0.01347113586962223 + ] + }, + "final_grasp": { + "position": [ + 0.03825325146317482, + 0.12509755790233612, + 0.014558079652488232 + ], + "orientation": [ + 0.07810387015342712, + -0.856219470500946, + -0.010505028069019318, + -0.510565996170044 + ], + "joints": [ + -0.009591909125447273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06763318926095963, + -0.11369520425796509, + -0.01040579192340374 + ], + "orientation": [ + 0.8124850988388062, + 0.09526936709880829, + 0.5718713998794556, + -0.06127637252211571 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.06480128318071365, + -0.11251088976860046, + -0.011859922669827938 + ], + "orientation": [ + 0.8285987973213196, + 0.0974045991897583, + 0.5486562252044678, + -0.05396823585033417 + ], + "joints": [ + -0.010344643145799637 + ] + }, + "final_grasp": { + "position": [ + -0.06480128318071365, + -0.11251088976860046, + -0.011859922669827938 + ], + "orientation": [ + 0.8285987973213196, + 0.0974045991897583, + 0.5486562252044678, + -0.05396823585033417 + ], + "joints": [ + -0.005429193377494812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0676674172282219, + -0.11368850618600845, + -0.010419301688671112 + ], + "orientation": [ + 0.812419056892395, + 0.09528515487909317, + 0.571975827217102, + -0.06115240603685379 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.0648522600531578, + -0.11251112818717957, + -0.011821446008980274 + ], + "orientation": [ + 0.828497588634491, + 0.09728875011205673, + 0.5488253831863403, + -0.05401264503598213 + ], + "joints": [ + -0.010344643145799637 + ] + }, + "final_grasp": { + "position": [ + -0.0648522600531578, + -0.11251112818717957, + -0.011821446008980274 + ], + "orientation": [ + 0.828497588634491, + 0.09728875011205673, + 0.5488253831863403, + -0.05401264503598213 + ], + "joints": [ + -0.005429193377494812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035727933049201965, + 0.12704186141490936, + 0.01279508974403143 + ], + "orientation": [ + 0.07764770835638046, + -0.8386651873588562, + -0.022185320034623146, + -0.5386270880699158 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.038331687450408936, + 0.12509463727474213, + 0.014519253745675087 + ], + "orientation": [ + 0.07896765321493149, + -0.8560980558395386, + -0.011255573481321335, + -0.5106207132339478 + ], + "joints": [ + -0.01347113586962223 + ] + }, + "final_grasp": { + "position": [ + 0.038331687450408936, + 0.12509463727474213, + 0.014519253745675087 + ], + "orientation": [ + 0.07896765321493149, + -0.8560980558395386, + -0.011255573481321335, + -0.5106207132339478 + ], + "joints": [ + -0.009591909125447273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0747198536992073, + 0.1201128289103508, + -0.022333068773150444 + ], + "orientation": [ + 0.15948212146759033, + 0.620007336139679, + 0.007769756484776735, + -0.7681770920753479 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.0741887018084526, + 0.12232869863510132, + -0.023350808769464493 + ], + "orientation": [ + 0.15841320157051086, + 0.603955864906311, + 0.005729543510824442, + -0.7810952663421631 + ], + "joints": [ + -0.006975485943257809 + ] + }, + "final_grasp": { + "position": [ + -0.0741887018084526, + 0.12232869863510132, + -0.023350808769464493 + ], + "orientation": [ + 0.15841320157051086, + 0.603955864906311, + 0.005729543510824442, + -0.7810952663421631 + ], + "joints": [ + -0.0016349200159311295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012426943518221378, + -0.09954796731472015, + 0.016519231721758842 + ], + "orientation": [ + 0.751829206943512, + 0.02860279381275177, + -0.6406784653663635, + 0.15318579971790314 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.011503545567393303, + -0.10148601233959198, + 0.01659226231276989 + ], + "orientation": [ + 0.7644864320755005, + 0.02321414276957512, + -0.6232993006706238, + 0.1628483384847641 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.011503545567393303, + -0.10148601233959198, + 0.01659226231276989 + ], + "orientation": [ + 0.7644864320755005, + 0.02321414276957512, + -0.6232993006706238, + 0.1628483384847641 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11814666539430618, + -0.10961242020130157, + -0.00436430936679244 + ], + "orientation": [ + 0.8303102850914001, + 0.08760566264390945, + -0.5347299575805664, + 0.13028395175933838 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.12032582610845566, + -0.11012484133243561, + -0.003723165951669216 + ], + "orientation": [ + 0.8303129076957703, + 0.0784350335597992, + -0.5364812016487122, + 0.12890473008155823 + ], + "joints": [ + -0.006083439104259014 + ] + }, + "final_grasp": { + "position": [ + 0.12032582610845566, + -0.11012484133243561, + -0.003723165951669216 + ], + "orientation": [ + 0.8303129076957703, + 0.0784350335597992, + -0.5364812016487122, + 0.12890473008155823 + ], + "joints": [ + 0.0024455245584249496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07865909487009048, + 0.12225684523582458, + 0.008962268009781837 + ], + "orientation": [ + 0.1288173347711563, + -0.7527177333831787, + -0.09044910222291946, + -0.6392503976821899 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.07624936103820801, + 0.12340911477804184, + 0.011895517818629742 + ], + "orientation": [ + 0.1338725984096527, + -0.7653116583824158, + -0.08004993945360184, + -0.6244744062423706 + ], + "joints": [ + -0.005912686698138714 + ] + }, + "final_grasp": { + "position": [ + -0.07624936103820801, + 0.12340911477804184, + 0.011895517818629742 + ], + "orientation": [ + 0.1338725984096527, + -0.7653116583824158, + -0.08004993945360184, + -0.6244744062423706 + ], + "joints": [ + 0.0004906784743070602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03232056647539139, + -0.11128086596727371, + -0.00309301121160388 + ], + "orientation": [ + 0.633370578289032, + 0.07948204129934311, + -0.768085241317749, + 0.05068916454911232 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.03231137618422508, + -0.11058826744556427, + -0.004591101780533791 + ], + "orientation": [ + 0.6147295236587524, + 0.0809486135840416, + -0.7830004692077637, + 0.049649812281131744 + ], + "joints": [ + -0.006948916241526604 + ] + }, + "final_grasp": { + "position": [ + -0.03231137618422508, + -0.11058826744556427, + -0.004591101780533791 + ], + "orientation": [ + 0.6147295236587524, + 0.0809486135840416, + -0.7830004692077637, + 0.049649812281131744 + ], + "joints": [ + -0.0015817806124687195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06914962828159332, + -0.11002924293279648, + -0.014836214482784271 + ], + "orientation": [ + 0.8288984894752502, + -0.026675252243876457, + -0.5485957264900208, + -0.10610519349575043 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.06818478554487228, + -0.10965114086866379, + -0.01546337828040123 + ], + "orientation": [ + 0.814619243144989, + -0.022966522723436356, + -0.5703765749931335, + -0.10265831649303436 + ], + "joints": [ + -0.005824439227581024 + ] + }, + "final_grasp": { + "position": [ + 0.06818478554487228, + -0.10965114086866379, + -0.01546337828040123 + ], + "orientation": [ + 0.814619243144989, + -0.022966522723436356, + -0.5703765749931335, + -0.10265831649303436 + ], + "joints": [ + -0.0005104430019855499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04440455883741379, + 0.11308109015226364, + 0.05104624107480049 + ], + "orientation": [ + 0.09114497900009155, + -0.6696997284889221, + -0.21548645198345184, + 0.7048124074935913 + ], + "joints": [ + -0.010239727795124054 + ] + }, + "fine_grasp": { + "position": [ + 0.04288330301642418, + 0.11414657533168793, + 0.051112111657857895 + ], + "orientation": [ + 0.08355839550495148, + -0.657403826713562, + -0.21743083000183105, + 0.7166323661804199 + ], + "joints": [ + -0.00383636262267828 + ] + }, + "final_grasp": { + "position": [ + 0.04288330301642418, + 0.11414657533168793, + 0.051112111657857895 + ], + "orientation": [ + 0.08355839550495148, + -0.657403826713562, + -0.21743083000183105, + 0.7166323661804199 + ], + "joints": [ + 0.002567002549767494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08931177854537964, + -0.10611502081155777, + 0.03807997703552246 + ], + "orientation": [ + 0.6174478530883789, + -0.17500925064086914, + -0.7643691301345825, + 0.06220654025673866 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.08810503035783768, + -0.10614726692438126, + 0.03806528076529503 + ], + "orientation": [ + 0.6097583174705505, + -0.17090274393558502, + -0.771471381187439, + 0.0617971196770668 + ], + "joints": [ + -0.005912686698138714 + ] + }, + "final_grasp": { + "position": [ + -0.08810503035783768, + -0.10614726692438126, + 0.03806528076529503 + ], + "orientation": [ + 0.6097583174705505, + -0.17090274393558502, + -0.771471381187439, + 0.0617971196770668 + ], + "joints": [ + 0.0004906784743070602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07258877158164978, + 0.1279745250940323, + 0.004439823795109987 + ], + "orientation": [ + 0.03755927458405495, + -0.7772510647773743, + -0.013008864596486092, + -0.627933919429779 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07348480075597763, + 0.12706898152828217, + 0.005194299388676882 + ], + "orientation": [ + 0.041153885424137115, + -0.7876229286193848, + -0.015162751078605652, + -0.6145948171615601 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.07348480075597763, + 0.12706898152828217, + 0.005194299388676882 + ], + "orientation": [ + 0.041153885424137115, + -0.7876229286193848, + -0.015162751078605652, + -0.6145948171615601 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11533553898334503, + 0.11842077225446701, + -0.01547265239059925 + ], + "orientation": [ + 0.07060249149799347, + -0.6232029795646667, + -0.13508915901184082, + -0.7670620679855347 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.11441675573587418, + 0.12094318121671677, + -0.018424812704324722 + ], + "orientation": [ + 0.06989388167858124, + -0.6093010902404785, + -0.13845954835414886, + -0.7776221036911011 + ], + "joints": [ + -0.006445559673011303 + ] + }, + "final_grasp": { + "position": [ + -0.11441675573587418, + 0.12094318121671677, + -0.018424812704324722 + ], + "orientation": [ + 0.06989388167858124, + -0.6093010902404785, + -0.13845954835414886, + -0.7776221036911011 + ], + "joints": [ + -0.0011049937456846237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07282071560621262, + 0.1276472508907318, + 0.004256929270923138 + ], + "orientation": [ + 0.03885252773761749, + -0.7775697112083435, + -0.014927062205970287, + -0.6274176836013794 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07388195395469666, + 0.12709984183311462, + 0.00512250792235136 + ], + "orientation": [ + 0.042672596871852875, + -0.7857562303543091, + -0.017478929832577705, + -0.6168150305747986 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.07388195395469666, + 0.12709984183311462, + 0.00512250792235136 + ], + "orientation": [ + 0.042672596871852875, + -0.7857562303543091, + -0.017478929832577705, + -0.6168150305747986 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07290596514940262, + 0.12769146263599396, + 0.004413919057697058 + ], + "orientation": [ + 0.03949051350355148, + -0.7765649557113647, + -0.014614351093769073, + -0.6286286115646362 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07408853620290756, + 0.1270407736301422, + 0.005334553774446249 + ], + "orientation": [ + 0.04387779161334038, + -0.7844201326370239, + -0.01745370402932167, + -0.6184297204017639 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.07408853620290756, + 0.1270407736301422, + 0.005334553774446249 + ], + "orientation": [ + 0.04387779161334038, + -0.7844201326370239, + -0.01745370402932167, + -0.6184297204017639 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07668062299489975, + -0.11156173050403595, + -0.004094282630831003 + ], + "orientation": [ + 0.6222423911094666, + 0.03840062394738197, + 0.781687319278717, + -0.017458748072385788 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07610734552145004, + -0.11177600920200348, + -0.006990048103034496 + ], + "orientation": [ + 0.6152642965316772, + 0.043030764907598495, + 0.7869376540184021, + -0.018095681443810463 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + 0.07610734552145004, + -0.11177600920200348, + -0.006990048103034496 + ], + "orientation": [ + 0.6152642965316772, + 0.043030764907598495, + 0.7869376540184021, + -0.018095681443810463 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.19844399392604828, + 0.0035826333332806826, + -0.012711135670542717 + ], + "orientation": [ + 0.4671877324581146, + 0.5738032460212708, + 0.5696535110473633, + -0.3577432632446289 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.20292404294013977, + 0.0018955925479531288, + -0.014654844999313354 + ], + "orientation": [ + 0.4723244607448578, + 0.5766105055809021, + 0.5613451600074768, + -0.35961318016052246 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + -0.20292404294013977, + 0.0018955925479531288, + -0.014654844999313354 + ], + "orientation": [ + 0.4723244607448578, + 0.5766105055809021, + 0.5613451600074768, + -0.35961318016052246 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1087656244635582, + -0.10868066549301147, + -0.024260615929961205 + ], + "orientation": [ + 0.7716096639633179, + 0.14819301664829254, + 0.6180307269096375, + -0.026371873915195465 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.11080502718687057, + -0.10895664244890213, + -0.024703914299607277 + ], + "orientation": [ + 0.7682547569274902, + 0.1439470648765564, + 0.6235160827636719, + -0.017073912546038628 + ], + "joints": [ + -0.0049058981239795685 + ] + }, + "final_grasp": { + "position": [ + -0.11080502718687057, + -0.10895664244890213, + -0.024703914299607277 + ], + "orientation": [ + 0.7682547569274902, + 0.1439470648765564, + 0.6235160827636719, + -0.017073912546038628 + ], + "joints": [ + 0.0025336965918540955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1623493880033493, + -0.07604973763227463, + -0.025137078016996384 + ], + "orientation": [ + 0.6702497601509094, + 0.3343912363052368, + 0.636157214641571, + -0.18507233262062073 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.16350360214710236, + -0.07668071240186691, + -0.026228422299027443 + ], + "orientation": [ + 0.6793874502182007, + 0.3331138491630554, + 0.6269890069961548, + -0.18534480035305023 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + -0.16350360214710236, + -0.07668071240186691, + -0.026228422299027443 + ], + "orientation": [ + 0.6793874502182007, + 0.3331138491630554, + 0.6269890069961548, + -0.18534480035305023 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16253869235515594, + -0.07590736448764801, + -0.02505466900765896 + ], + "orientation": [ + 0.6697738766670227, + 0.33482661843299866, + 0.6362293362617493, + -0.1857590228319168 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.16372285783290863, + -0.07655339688062668, + -0.02603568322956562 + ], + "orientation": [ + 0.6785112619400024, + 0.33343425393104553, + 0.6275307536125183, + -0.18614278733730316 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + -0.16372285783290863, + -0.07655339688062668, + -0.02603568322956562 + ], + "orientation": [ + 0.6785112619400024, + 0.33343425393104553, + 0.6275307536125183, + -0.18614278733730316 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11832188814878464, + -0.10455434024333954, + 0.02101869136095047 + ], + "orientation": [ + 0.7319563031196594, + -0.1555468589067459, + -0.6619859933853149, + -0.04265790060162544 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.11868355423212051, + -0.103314608335495, + 0.022116700187325478 + ], + "orientation": [ + 0.737867534160614, + -0.15023231506347656, + -0.6564837694168091, + -0.04484400525689125 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + -0.11868355423212051, + -0.103314608335495, + 0.022116700187325478 + ], + "orientation": [ + 0.737867534160614, + -0.15023231506347656, + -0.6564837694168091, + -0.04484400525689125 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.20404666662216187, + -0.0178791843354702, + 0.008928053081035614 + ], + "orientation": [ + 0.5143098831176758, + -0.5008273124694824, + 0.6004539132118225, + 0.35229623317718506 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.20545078814029694, + -0.018989188596606255, + 0.009637893177568913 + ], + "orientation": [ + 0.5179357528686523, + -0.5035943388938904, + 0.5939480066299438, + 0.3540635406970978 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + 0.20545078814029694, + -0.018989188596606255, + 0.009637893177568913 + ], + "orientation": [ + 0.5179357528686523, + -0.5035943388938904, + 0.5939480066299438, + 0.3540635406970978 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.2041511833667755, + -0.017928486689925194, + 0.008921299129724503 + ], + "orientation": [ + 0.513858437538147, + -0.5010701417922974, + 0.6009498834609985, + 0.35176339745521545 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.2056351900100708, + -0.01898988150060177, + 0.009776443243026733 + ], + "orientation": [ + 0.5182269811630249, + -0.5037244558334351, + 0.593880295753479, + 0.3535657823085785 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + 0.2056351900100708, + -0.01898988150060177, + 0.009776443243026733 + ], + "orientation": [ + 0.5182269811630249, + -0.5037244558334351, + 0.593880295753479, + 0.3535657823085785 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08778161555528641, + 0.12540310621261597, + -0.019788043573498726 + ], + "orientation": [ + 0.07361076027154922, + 0.7594208717346191, + 0.04654810577630997, + 0.644743800163269 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.0888906717300415, + 0.1243576854467392, + -0.020994963124394417 + ], + "orientation": [ + 0.07843395322561264, + 0.7480519413948059, + 0.038483358919620514, + 0.6578643321990967 + ], + "joints": [ + -0.004203670658171177 + ] + }, + "final_grasp": { + "position": [ + -0.0888906717300415, + 0.1243576854467392, + -0.020994963124394417 + ], + "orientation": [ + 0.07843395322561264, + 0.7480519413948059, + 0.038483358919620514, + 0.6578643321990967 + ], + "joints": [ + 0.0027310941368341446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09781385958194733, + 0.12456795573234558, + -0.011824537068605423 + ], + "orientation": [ + 0.0008847133140079677, + 0.6786235570907593, + 0.06271282583475113, + 0.7318034768104553 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.09775491058826447, + 0.12502208352088928, + -0.013700275681912899 + ], + "orientation": [ + 0.001303980010561645, + 0.6772310137748718, + 0.060702625662088394, + 0.7332609295845032 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + -0.09775491058826447, + 0.12502208352088928, + -0.013700275681912899 + ], + "orientation": [ + 0.001303980010561645, + 0.6772310137748718, + 0.060702625662088394, + 0.7332609295845032 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09761420637369156, + 0.12453820556402206, + -0.012303082272410393 + ], + "orientation": [ + 0.002669211709871888, + 0.6780037879943848, + 0.06365890055894852, + 0.7322918176651001 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.09766191989183426, + 0.12495774775743484, + -0.014123672619462013 + ], + "orientation": [ + 0.003137590130791068, + 0.67662513256073, + 0.061347659677267075, + 0.7337608933448792 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + -0.09766191989183426, + 0.12495774775743484, + -0.014123672619462013 + ], + "orientation": [ + 0.003137590130791068, + 0.67662513256073, + 0.061347659677267075, + 0.7337608933448792 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09769488126039505, + 0.12463197857141495, + -0.011440775357186794 + ], + "orientation": [ + 0.0005284740473143756, + 0.6790727376937866, + 0.061164043843746185, + 0.7315182685852051 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.09771627187728882, + 0.12513236701488495, + -0.013350370340049267 + ], + "orientation": [ + 0.0009449407225474715, + 0.6780907511711121, + 0.05932019650936127, + 0.73257976770401 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + -0.09771627187728882, + 0.12513236701488495, + -0.013350370340049267 + ], + "orientation": [ + 0.0009449407225474715, + 0.6780907511711121, + 0.05932019650936127, + 0.73257976770401 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18090884387493134, + -0.05711190029978752, + 0.0089266961440444 + ], + "orientation": [ + 0.5858620405197144, + -0.3691962659358978, + -0.674555242061615, + -0.2558029294013977 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.18553149700164795, + -0.059930965304374695, + 0.010557305067777634 + ], + "orientation": [ + 0.591960608959198, + -0.3632865250110626, + -0.6726924180984497, + -0.25512850284576416 + ], + "joints": [ + -0.004172831773757935 + ] + }, + "final_grasp": { + "position": [ + -0.18553149700164795, + -0.059930965304374695, + 0.010557305067777634 + ], + "orientation": [ + 0.591960608959198, + -0.3632865250110626, + -0.6726924180984497, + -0.25512850284576416 + ], + "joints": [ + 0.0022039636969566345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.20054039359092712, + 0.05838281288743019, + 0.007397832814604044 + ], + "orientation": [ + 0.3080669343471527, + 0.6408270597457886, + 0.4196132719516754, + -0.5642341375350952 + ], + "joints": [ + -0.011108994483947754 + ] + }, + "fine_grasp": { + "position": [ + -0.204294353723526, + 0.06003587692975998, + 0.008256543427705765 + ], + "orientation": [ + 0.29910263419151306, + 0.6417092084884644, + 0.4168176054954529, + -0.5700965523719788 + ], + "joints": [ + -0.004174229688942432 + ] + }, + "final_grasp": { + "position": [ + -0.204294353723526, + 0.06003587692975998, + 0.008256543427705765 + ], + "orientation": [ + 0.29910263419151306, + 0.6417092084884644, + 0.4168176054954529, + -0.5700965523719788 + ], + "joints": [ + 0.002760535106062889 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.20040284097194672, + 0.05828388035297394, + 0.007042356301099062 + ], + "orientation": [ + 0.31107011437416077, + 0.6380894184112549, + 0.41627249121665955, + -0.568149983882904 + ], + "joints": [ + -0.010799095034599304 + ] + }, + "fine_grasp": { + "position": [ + -0.20433203876018524, + 0.0595366470515728, + 0.007480429019778967 + ], + "orientation": [ + 0.3018050193786621, + 0.6404300332069397, + 0.4097212553024292, + -0.5752317905426025 + ], + "joints": [ + -0.0038643302395939827 + ] + }, + "final_grasp": { + "position": [ + -0.20433203876018524, + 0.0595366470515728, + 0.007480429019778967 + ], + "orientation": [ + 0.3018050193786621, + 0.6404300332069397, + 0.4097212553024292, + -0.5752317905426025 + ], + "joints": [ + 0.003070434555411339 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2034, + "num_passed": 108 + } +} \ No newline at end of file diff --git a/079_remotecontrol_1/Annotation/piper_grasp_pose.json b/079_remotecontrol_1/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..3c8b75c060566fa6d3f227f390899ea5a4833481 --- /dev/null +++ b/079_remotecontrol_1/Annotation/piper_grasp_pose.json @@ -0,0 +1,4768 @@ +{ + "type": "079_remotecontrol_1", + "bottom_center": [ + -1.1995434761047363e-06, + 0.00931289978325367, + -0.02690269984304905 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.028250453993678093, + -0.12290457636117935, + -0.016459036618471146 + ], + "orientation": [ + 0.7450535297393799, + -0.6518628001213074, + -0.13038894534111023, + 0.054487403482198715 + ], + "joints": [ + 0.03377276659011841 + ] + }, + "fine_grasp": { + "position": [ + 0.027861354872584343, + -0.11898385733366013, + -0.015653962269425392 + ], + "orientation": [ + 0.7459712028503418, + -0.6518991589546204, + -0.12637335062026978, + 0.050834331661462784 + ], + "joints": [ + 0.025371864438056946 + ] + }, + "final_grasp": { + "position": [ + 0.027861354872584343, + -0.11898385733366013, + -0.015653962269425392 + ], + "orientation": [ + 0.7459712028503418, + -0.6518991589546204, + -0.12637335062026978, + 0.050834331661462784 + ], + "joints": [ + 0.016970962285995483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04636382311582565, + -0.12186427414417267, + -0.026735659688711166 + ], + "orientation": [ + 0.07865344732999802, + 0.07182081043720245, + 0.6305451393127441, + 0.7688096761703491 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + -0.04606269672513008, + -0.1179407462477684, + -0.025691693648695946 + ], + "orientation": [ + 0.07696352154016495, + 0.06872419267892838, + 0.6306412220001221, + 0.7691847681999207 + ], + "joints": [ + 0.02520526573061943 + ] + }, + "final_grasp": { + "position": [ + -0.04606269672513008, + -0.1179407462477684, + -0.025691693648695946 + ], + "orientation": [ + 0.07696352154016495, + 0.06872419267892838, + 0.6306412220001221, + 0.7691847681999207 + ], + "joints": [ + 0.01684616133570671 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046605199575424194, + -0.12149159610271454, + -0.02604508586227894 + ], + "orientation": [ + 0.07783974707126617, + 0.06939955055713654, + 0.6315168738365173, + 0.7683170437812805 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + -0.04632421210408211, + -0.11765439063310623, + -0.024980982765555382 + ], + "orientation": [ + 0.07622916251420975, + 0.06646819412708282, + 0.6320469975471497, + 0.768301784992218 + ], + "joints": [ + 0.025581423193216324 + ] + }, + "final_grasp": { + "position": [ + -0.04632421210408211, + -0.11765439063310623, + -0.024980982765555382 + ], + "orientation": [ + 0.07622916251420975, + 0.06646819412708282, + 0.6320469975471497, + 0.768301784992218 + ], + "joints": [ + 0.017598476260900497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046354714781045914, + -0.12119878083467484, + -0.02595393732190132 + ], + "orientation": [ + 0.07895959168672562, + 0.07056557387113571, + 0.6313972473144531, + 0.7681949734687805 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + -0.046066585928201675, + -0.11738321185112, + -0.02488178387284279 + ], + "orientation": [ + 0.07739939540624619, + 0.06771987676620483, + 0.6319601535797119, + 0.7681468725204468 + ], + "joints": [ + 0.025581423193216324 + ] + }, + "final_grasp": { + "position": [ + -0.046066585928201675, + -0.11738321185112, + -0.02488178387284279 + ], + "orientation": [ + 0.07739939540624619, + 0.06771987676620483, + 0.6319601535797119, + 0.7681468725204468 + ], + "joints": [ + 0.017598476260900497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046620629727840424, + -0.12148027867078781, + -0.025973323732614517 + ], + "orientation": [ + 0.07966068387031555, + 0.06940346211194992, + 0.6317167282104492, + 0.7679657936096191 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + -0.04635750502347946, + -0.11764711141586304, + -0.024900740012526512 + ], + "orientation": [ + 0.07799169421195984, + 0.06632821261882782, + 0.6322769522666931, + 0.7679476737976074 + ], + "joints": [ + 0.025581423193216324 + ] + }, + "final_grasp": { + "position": [ + -0.04635750502347946, + -0.11764711141586304, + -0.024900740012526512 + ], + "orientation": [ + 0.07799169421195984, + 0.06632821261882782, + 0.6322769522666931, + 0.7679476737976074 + ], + "joints": [ + 0.017598476260900497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1980750411748886, + 0.03863478824496269, + 0.0007640822441317141 + ], + "orientation": [ + 0.5143904089927673, + 0.5351112484931946, + 0.46455174684524536, + 0.4829598665237427 + ], + "joints": [ + 0.031051410362124443 + ] + }, + "fine_grasp": { + "position": [ + -0.1949799656867981, + 0.03588635474443436, + 0.0010908368276432157 + ], + "orientation": [ + 0.5285813212394714, + 0.5452075004577637, + 0.4512040913105011, + 0.4687914252281189 + ], + "joints": [ + 0.024364126846194267 + ] + }, + "final_grasp": { + "position": [ + -0.1949799656867981, + 0.03588635474443436, + 0.0010908368276432157 + ], + "orientation": [ + 0.5285813212394714, + 0.5452075004577637, + 0.4512040913105011, + 0.4687914252281189 + ], + "joints": [ + 0.01767684333026409 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006968430709093809, + -0.11051545292139053, + -0.03635454177856445 + ], + "orientation": [ + 0.07239881157875061, + 0.028547633439302444, + 0.5938761830329895, + 0.8007837533950806 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.006921034771949053, + -0.1068912148475647, + -0.03440894931554794 + ], + "orientation": [ + 0.0724136158823967, + 0.02544819377362728, + 0.5939845442771912, + 0.80080646276474 + ], + "joints": [ + 0.02519727498292923 + ] + }, + "final_grasp": { + "position": [ + -0.006921034771949053, + -0.1068912148475647, + -0.03440894931554794 + ], + "orientation": [ + 0.0724136158823967, + 0.02544819377362728, + 0.5939845442771912, + 0.80080646276474 + ], + "joints": [ + 0.015626102685928345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007921447977423668, + 0.13957664370536804, + 0.0016743614105507731 + ], + "orientation": [ + 0.6992512941360474, + 0.6995698809623718, + -0.13441157341003418, + -0.05985888093709946 + ], + "joints": [ + 0.033516835421323776 + ] + }, + "fine_grasp": { + "position": [ + 0.007582238409668207, + 0.13578693568706512, + 0.001753868069499731 + ], + "orientation": [ + 0.6996256709098816, + 0.7001757621765137, + -0.1312960386276245, + -0.0551278181374073 + ], + "joints": [ + 0.02584734931588173 + ] + }, + "final_grasp": { + "position": [ + 0.007582238409668207, + 0.13578693568706512, + 0.001753868069499731 + ], + "orientation": [ + 0.6996256709098816, + 0.7001757621765137, + -0.1312960386276245, + -0.0551278181374073 + ], + "joints": [ + 0.018177863210439682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02673361822962761, + 0.13511520624160767, + -0.0056562842801213264 + ], + "orientation": [ + 0.015844669193029404, + 0.04296070337295532, + -0.6895859837532043, + 0.722754716873169 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.026600603014230728, + 0.1310259848833084, + -0.005362409166991711 + ], + "orientation": [ + 0.0166199691593647, + 0.04368022456765175, + -0.6904110312461853, + 0.7219061255455017 + ], + "joints": [ + 0.026156891137361526 + ] + }, + "final_grasp": { + "position": [ + -0.026600603014230728, + 0.1310259848833084, + -0.005362409166991711 + ], + "orientation": [ + 0.0166199691593647, + 0.04368022456765175, + -0.6904110312461853, + 0.7219061255455017 + ], + "joints": [ + 0.017776887863874435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037016361951828, + -0.11423630267381668, + -0.02487470582127571 + ], + "orientation": [ + 0.007847237400710583, + 0.12481933832168579, + 0.6219857335090637, + 0.7729763388633728 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.036797359585762024, + -0.11011587083339691, + -0.023442601785063744 + ], + "orientation": [ + 0.004103353247046471, + 0.12181928008794785, + 0.6225461363792419, + 0.7730326652526855 + ], + "joints": [ + 0.025846783071756363 + ] + }, + "final_grasp": { + "position": [ + -0.036797359585762024, + -0.11011587083339691, + -0.023442601785063744 + ], + "orientation": [ + 0.004103353247046471, + 0.12181928008794785, + 0.6225461363792419, + 0.7730326652526855 + ], + "joints": [ + 0.016693565994501114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038370780646800995, + 0.14662185311317444, + -0.0005711832200177014 + ], + "orientation": [ + 0.08014439046382904, + 0.015541830100119114, + -0.7055795192718506, + 0.7039126753807068 + ], + "joints": [ + 0.03263815864920616 + ] + }, + "fine_grasp": { + "position": [ + 0.03818310797214508, + 0.14277730882167816, + -0.0008077047532424331 + ], + "orientation": [ + 0.07941670715808868, + 0.017385827377438545, + -0.7069776058197021, + 0.7025478482246399 + ], + "joints": [ + 0.022607233375310898 + ] + }, + "final_grasp": { + "position": [ + 0.03818310797214508, + 0.14277730882167816, + -0.0008077047532424331 + ], + "orientation": [ + 0.07941670715808868, + 0.017385827377438545, + -0.7069776058197021, + 0.7025478482246399 + ], + "joints": [ + 0.012576308101415634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026869917288422585, + 0.13493190705776215, + -0.005381491966545582 + ], + "orientation": [ + 0.018930155783891678, + 0.043296340852975845, + -0.6902995705604553, + 0.7219789028167725 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.026733193546533585, + 0.13084420561790466, + -0.00510238716378808 + ], + "orientation": [ + 0.019648516550660133, + 0.04397290572524071, + -0.6911527514457703, + 0.7211020588874817 + ], + "joints": [ + 0.026156891137361526 + ] + }, + "final_grasp": { + "position": [ + -0.026733193546533585, + 0.13084420561790466, + -0.00510238716378808 + ], + "orientation": [ + 0.019648516550660133, + 0.04397290572524071, + -0.6911527514457703, + 0.7211020588874817 + ], + "joints": [ + 0.017776887863874435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07607727497816086, + 0.038726430386304855, + -0.1422068178653717 + ], + "orientation": [ + 0.9847804307937622, + 0.12156553566455841, + 0.12208867818117142, + 0.022885166108608246 + ], + "joints": [ + 0.018397070467472076 + ] + }, + "fine_grasp": { + "position": [ + -0.07581235468387604, + 0.037996530532836914, + -0.1384025514125824 + ], + "orientation": [ + 0.9854491353034973, + 0.11919206380844116, + 0.11900633573532104, + 0.022816970944404602 + ], + "joints": [ + 0.008763201534748077 + ] + }, + "final_grasp": { + "position": [ + -0.07581235468387604, + 0.037996530532836914, + -0.1384025514125824 + ], + "orientation": [ + 0.9854491353034973, + 0.11919206380844116, + 0.11900633573532104, + 0.022816970944404602 + ], + "joints": [ + -0.0008706673979759216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06652452796697617, + 0.00604666443541646, + 0.125702366232872 + ], + "orientation": [ + 0.18434186279773712, + 0.014414285309612751, + -0.982629656791687, + -0.01579097844660282 + ], + "joints": [ + 0.017889056354761124 + ] + }, + "fine_grasp": { + "position": [ + 0.06632814556360245, + 0.0059889331459999084, + 0.12230823934078217 + ], + "orientation": [ + 0.17991875112056732, + 0.014553211629390717, + -0.9834750294685364, + -0.013934704475104809 + ], + "joints": [ + 0.007879029959440231 + ] + }, + "final_grasp": { + "position": [ + 0.06632814556360245, + 0.0059889331459999084, + 0.12230823934078217 + ], + "orientation": [ + 0.17991875112056732, + 0.014553211629390717, + -0.9834750294685364, + -0.013934704475104809 + ], + "joints": [ + -0.002130996435880661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15217682719230652, + -0.08343151956796646, + -0.015691213309764862 + ], + "orientation": [ + 0.7378039956092834, + -0.6346998810768127, + -0.1583084613084793, + 0.16655173897743225 + ], + "joints": [ + 0.028447028249502182 + ] + }, + "fine_grasp": { + "position": [ + 0.1483202874660492, + -0.08245816826820374, + -0.013951611705124378 + ], + "orientation": [ + 0.7320734858512878, + -0.6337770819664001, + -0.17553940415382385, + 0.1777101755142212 + ], + "joints": [ + 0.022574756294488907 + ] + }, + "final_grasp": { + "position": [ + 0.1483202874660492, + -0.08245816826820374, + -0.013951611705124378 + ], + "orientation": [ + 0.7320734858512878, + -0.6337770819664001, + -0.17553940415382385, + 0.1777101755142212 + ], + "joints": [ + 0.01670248433947563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03491300344467163, + -0.12283091247081757, + 0.007865340448915958 + ], + "orientation": [ + 0.1244354322552681, + -0.018878690898418427, + -0.7276027202606201, + -0.6743542551994324 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.0346284881234169, + -0.11850570887327194, + 0.007478109560906887 + ], + "orientation": [ + 0.12283049523830414, + -0.023314109072089195, + -0.7274807095527649, + -0.674641489982605 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + 0.0346284881234169, + -0.11850570887327194, + 0.007478109560906887 + ], + "orientation": [ + 0.12283049523830414, + -0.023314109072089195, + -0.7274807095527649, + -0.674641489982605 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036927010864019394, + -0.11461282521486282, + -0.025739531964063644 + ], + "orientation": [ + 0.006823727395385504, + 0.12600629031658173, + 0.619966447353363, + 0.7744143009185791 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.03669743612408638, + -0.11028453707695007, + -0.024629099294543266 + ], + "orientation": [ + 0.00286692613735795, + 0.12293840944766998, + 0.6216427087783813, + 0.7735879421234131 + ], + "joints": [ + 0.0270797498524189 + ] + }, + "final_grasp": { + "position": [ + -0.03669743612408638, + -0.11028453707695007, + -0.024629099294543266 + ], + "orientation": [ + 0.00286692613735795, + 0.12293840944766998, + 0.6216427087783813, + 0.7735879421234131 + ], + "joints": [ + 0.019159499555826187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005261882906779647, + -0.01927734538912773, + 0.1405615210533142 + ], + "orientation": [ + 0.11243438720703125, + -0.9935145974159241, + -0.016138028353452682, + 0.00519287446513772 + ], + "joints": [ + 0.018018916249275208 + ] + }, + "fine_grasp": { + "position": [ + 0.00047710692160762846, + -0.01847654953598976, + 0.1367369145154953 + ], + "orientation": [ + 0.1120714470744133, + -0.9934821724891663, + -0.02023104764521122, + 0.004894157871603966 + ], + "joints": [ + 0.008803002536296844 + ] + }, + "final_grasp": { + "position": [ + 0.00047710692160762846, + -0.01847654953598976, + 0.1367369145154953 + ], + "orientation": [ + 0.1120714470744133, + -0.9934821724891663, + -0.02023104764521122, + 0.004894157871603966 + ], + "joints": [ + -0.00041291117668151855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007153673563152552, + 0.13995321094989777, + 0.0025214196648448706 + ], + "orientation": [ + 0.6971496939659119, + 0.7011875510215759, + -0.13448117673397064, + -0.06506183743476868 + ], + "joints": [ + 0.03327431529760361 + ] + }, + "fine_grasp": { + "position": [ + 0.006607328541576862, + 0.13632555305957794, + 0.0026942684780806303 + ], + "orientation": [ + 0.6964741945266724, + 0.7026335597038269, + -0.13142600655555725, + -0.06290393322706223 + ], + "joints": [ + 0.025207772850990295 + ] + }, + "final_grasp": { + "position": [ + 0.006607328541576862, + 0.13632555305957794, + 0.0026942684780806303 + ], + "orientation": [ + 0.6964741945266724, + 0.7026335597038269, + -0.13142600655555725, + -0.06290393322706223 + ], + "joints": [ + 0.017141230404376984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005597452167421579, + 0.13652442395687103, + -0.018984319642186165 + ], + "orientation": [ + 0.7533398270606995, + 0.6389386057853699, + -0.15563450753688812, + 0.003792013507336378 + ], + "joints": [ + 0.03377276659011841 + ] + }, + "fine_grasp": { + "position": [ + 0.005134164355695248, + 0.13278993964195251, + -0.018138526007533073 + ], + "orientation": [ + 0.7528456449508667, + 0.6397952437400818, + -0.1543859839439392, + 0.007111275568604469 + ], + "joints": [ + 0.025789819657802582 + ] + }, + "final_grasp": { + "position": [ + 0.005134164355695248, + 0.13278993964195251, + -0.018138526007533073 + ], + "orientation": [ + 0.7528456449508667, + 0.6397952437400818, + -0.1543859839439392, + 0.007111275568604469 + ], + "joints": [ + 0.017806872725486755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07533396035432816, + 0.03814036026597023, + -0.14116905629634857 + ], + "orientation": [ + 0.9846192002296448, + 0.12039326131343842, + 0.12462383508682251, + 0.02234766073524952 + ], + "joints": [ + 0.018513264134526253 + ] + }, + "fine_grasp": { + "position": [ + -0.07503850013017654, + 0.03726872429251671, + -0.13740280270576477 + ], + "orientation": [ + 0.9851969480514526, + 0.11887238919734955, + 0.1215273067355156, + 0.0220745038241148 + ], + "joints": [ + 0.00929735042154789 + ] + }, + "final_grasp": { + "position": [ + -0.07503850013017654, + 0.03726872429251671, + -0.13740280270576477 + ], + "orientation": [ + 0.9851969480514526, + 0.11887238919734955, + 0.1215273067355156, + 0.0220745038241148 + ], + "joints": [ + 8.143670856952667e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02425497956573963, + -0.10071687400341034, + -0.053561434149742126 + ], + "orientation": [ + 0.1056552454829216, + 0.009376718662679195, + -0.5222846269607544, + -0.8461489081382751 + ], + "joints": [ + 0.033170733600854874 + ] + }, + "fine_grasp": { + "position": [ + 0.02404520846903324, + -0.09728006273508072, + -0.05135643109679222 + ], + "orientation": [ + 0.10839289426803589, + 0.007360010873526335, + -0.5266620516777039, + -0.8431037068367004 + ], + "joints": [ + 0.024811629205942154 + ] + }, + "final_grasp": { + "position": [ + 0.02404520846903324, + -0.09728006273508072, + -0.05135643109679222 + ], + "orientation": [ + 0.10839289426803589, + 0.007360010873526335, + -0.5266620516777039, + -0.8431037068367004 + ], + "joints": [ + 0.016452524811029434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 9.407792094862089e-05, + -0.01897374913096428, + 0.1398754119873047 + ], + "orientation": [ + 0.11239918321371078, + -0.9935490489006042, + -0.01188788004219532, + 0.009243099950253963 + ], + "joints": [ + 0.017928946763277054 + ] + }, + "fine_grasp": { + "position": [ + 2.3320795662584715e-05, + -0.018314724788069725, + 0.1359693855047226 + ], + "orientation": [ + 0.11085832118988037, + -0.9936856031417847, + -0.014823307283222675, + 0.00892745703458786 + ], + "joints": [ + 0.008733931928873062 + ] + }, + "final_grasp": { + "position": [ + 2.3320795662584715e-05, + -0.018314724788069725, + 0.1359693855047226 + ], + "orientation": [ + 0.11085832118988037, + -0.9936856031417847, + -0.014823307283222675, + 0.00892745703458786 + ], + "joints": [ + -0.00046108290553092957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06516004353761673, + 0.005170972552150488, + 0.12487281858921051 + ], + "orientation": [ + 0.17990311980247498, + 0.01452207937836647, + -0.9833887815475464, + -0.019248535856604576 + ], + "joints": [ + 0.01824149861931801 + ] + }, + "fine_grasp": { + "position": [ + 0.06444910913705826, + 0.005510482005774975, + 0.12099182605743408 + ], + "orientation": [ + 0.1802693009376526, + 0.028311481699347496, + -0.9830108880996704, + -0.01977025717496872 + ], + "joints": [ + 0.009025584906339645 + ] + }, + "final_grasp": { + "position": [ + 0.06444910913705826, + 0.005510482005774975, + 0.12099182605743408 + ], + "orientation": [ + 0.1802693009376526, + 0.028311481699347496, + -0.9830108880996704, + -0.01977025717496872 + ], + "joints": [ + -0.00019032880663871765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005349795334041119, + 0.13560964167118073, + -0.019642174243927002 + ], + "orientation": [ + 0.7547979950904846, + 0.6361286044120789, + -0.1599631905555725, + 0.005684711504727602 + ], + "joints": [ + 0.03379592299461365 + ] + }, + "fine_grasp": { + "position": [ + 0.004952902439981699, + 0.13186530768871307, + -0.018904995173215866 + ], + "orientation": [ + 0.7554007172584534, + 0.6355181932449341, + -0.15935765206813812, + 0.009571093134582043 + ], + "joints": [ + 0.026189133524894714 + ] + }, + "final_grasp": { + "position": [ + 0.004952902439981699, + 0.13186530768871307, + -0.018904995173215866 + ], + "orientation": [ + 0.7554007172584534, + 0.6355181932449341, + -0.15935765206813812, + 0.009571093134582043 + ], + "joints": [ + 0.01858234405517578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042204540222883224, + 0.1327362209558487, + -0.0347195565700531 + ], + "orientation": [ + 0.7929884195327759, + 0.6070908904075623, + 0.014646620489656925, + -0.0489434152841568 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.04226720333099365, + 0.12921741604804993, + -0.03360605239868164 + ], + "orientation": [ + 0.7930083274841309, + 0.6069086194038391, + 0.016397638246417046, + -0.05030779168009758 + ], + "joints": [ + 0.026588447391986847 + ] + }, + "final_grasp": { + "position": [ + -0.04226720333099365, + 0.12921741604804993, + -0.03360605239868164 + ], + "orientation": [ + 0.7930083274841309, + 0.6069086194038391, + 0.016397638246417046, + -0.05030779168009758 + ], + "joints": [ + 0.019357815384864807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07331231236457825, + 0.010488476604223251, + -0.1304778754711151 + ], + "orientation": [ + 0.9811215996742249, + 0.0012289087753742933, + -0.19223754107952118, + 0.021059980615973473 + ], + "joints": [ + 0.01761993020772934 + ] + }, + "fine_grasp": { + "position": [ + 0.07310010492801666, + 0.01050496380776167, + -0.1266515702009201 + ], + "orientation": [ + 0.9821455478668213, + 0.0009887240594252944, + -0.18687625229358673, + 0.021595492959022522 + ], + "joints": [ + 0.008424915373325348 + ] + }, + "final_grasp": { + "position": [ + 0.07310010492801666, + 0.01050496380776167, + -0.1266515702009201 + ], + "orientation": [ + 0.9821455478668213, + 0.0009887240594252944, + -0.18687625229358673, + 0.021595492959022522 + ], + "joints": [ + -0.0007700994610786438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042297299951314926, + -0.11799737811088562, + -0.02195415087044239 + ], + "orientation": [ + 0.7669249176979065, + -0.6409211754798889, + -0.026448016986250877, + -0.018621500581502914 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.04236438125371933, + -0.11383842676877975, + -0.020692840218544006 + ], + "orientation": [ + 0.7648754715919495, + -0.6433297991752625, + -0.02680887095630169, + -0.019329028204083443 + ], + "joints": [ + 0.026661794632673264 + ] + }, + "final_grasp": { + "position": [ + -0.04236438125371933, + -0.11383842676877975, + -0.020692840218544006 + ], + "orientation": [ + 0.7648754715919495, + -0.6433297991752625, + -0.02680887095630169, + -0.019329028204083443 + ], + "joints": [ + 0.018323589116334915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07411652058362961, + 0.01078546978533268, + -0.1308765858411789 + ], + "orientation": [ + 0.9820613265037537, + 0.003443427849560976, + -0.18775668740272522, + 0.017060192301869392 + ], + "joints": [ + 0.017848115414381027 + ] + }, + "fine_grasp": { + "position": [ + 0.07366859167814255, + 0.010907047428190708, + -0.1270684152841568 + ], + "orientation": [ + 0.9826382994651794, + 0.0035889572463929653, + -0.18462257087230682, + 0.017982425168156624 + ], + "joints": [ + 0.008256044238805771 + ] + }, + "final_grasp": { + "position": [ + 0.07366859167814255, + 0.010907047428190708, + -0.1270684152841568 + ], + "orientation": [ + 0.9826382994651794, + 0.0035889572463929653, + -0.18462257087230682, + 0.017982425168156624 + ], + "joints": [ + -0.0013360269367694855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023838583379983902, + 0.025525327771902084, + 0.14140306413173676 + ], + "orientation": [ + 0.06556734442710876, + 0.9950202107429504, + -0.0036681925412267447, + 0.07498135417699814 + ], + "joints": [ + 0.018266934901475906 + ] + }, + "fine_grasp": { + "position": [ + -0.023398229852318764, + 0.025334807112812996, + 0.1373954564332962 + ], + "orientation": [ + 0.06873925030231476, + 0.9948845505714417, + -0.004544232971966267, + 0.0738850012421608 + ], + "joints": [ + 0.009510774165391922 + ] + }, + "final_grasp": { + "position": [ + -0.023398229852318764, + 0.025334807112812996, + 0.1373954564332962 + ], + "orientation": [ + 0.06873925030231476, + 0.9948845505714417, + -0.004544232971966267, + 0.0738850012421608 + ], + "joints": [ + 0.0007546134293079376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16098661720752716, + -0.06921052187681198, + -0.009899822995066643 + ], + "orientation": [ + 0.30150359869003296, + 0.1513364017009735, + -0.6710872054100037, + -0.6601779460906982 + ], + "joints": [ + 0.03171194717288017 + ] + }, + "fine_grasp": { + "position": [ + 0.15895581245422363, + -0.07006565481424332, + -0.009270722977817059 + ], + "orientation": [ + 0.30524951219558716, + 0.1688418686389923, + -0.6631009578704834, + -0.6622782349586487 + ], + "joints": [ + 0.02377079799771309 + ] + }, + "final_grasp": { + "position": [ + 0.15895581245422363, + -0.07006565481424332, + -0.009270722977817059 + ], + "orientation": [ + 0.30524951219558716, + 0.1688418686389923, + -0.6631009578704834, + -0.6622782349586487 + ], + "joints": [ + 0.015829648822546005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007765816058963537, + 0.007007940206676722, + -0.13601602613925934 + ], + "orientation": [ + 0.06226127967238426, + -0.040422409772872925, + 0.0067361751571297646, + 0.9972182512283325 + ], + "joints": [ + 0.018169235438108444 + ] + }, + "fine_grasp": { + "position": [ + -0.007906569167971611, + 0.006969301030039787, + -0.1321941316127777 + ], + "orientation": [ + 0.06358935683965683, + -0.040364377200603485, + 0.006678735371679068, + 0.997137188911438 + ], + "joints": [ + 0.008556265383958817 + ] + }, + "final_grasp": { + "position": [ + -0.007906569167971611, + 0.006969301030039787, + -0.1321941316127777 + ], + "orientation": [ + 0.06358935683965683, + -0.040364377200603485, + 0.006678735371679068, + 0.997137188911438 + ], + "joints": [ + -0.0010567046701908112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09450111538171768, + 0.13416066765785217, + 0.009863337501883507 + ], + "orientation": [ + 0.6617220044136047, + 0.7309162616729736, + -0.042997345328330994, + -0.1613587588071823 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + 0.094058096408844, + 0.1301577389240265, + 0.009180529043078423 + ], + "orientation": [ + 0.6624815464019775, + 0.7316668629646301, + -0.03773561492562294, + -0.15607014298439026 + ], + "joints": [ + 0.026464741677045822 + ] + }, + "final_grasp": { + "position": [ + 0.094058096408844, + 0.1301577389240265, + 0.009180529043078423 + ], + "orientation": [ + 0.6624815464019775, + 0.7316668629646301, + -0.03773561492562294, + -0.15607014298439026 + ], + "joints": [ + 0.01887885108590126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053302913904190063, + -0.011129860766232014, + -0.1281694918870926 + ], + "orientation": [ + 0.98776775598526, + -0.09070499241352081, + 0.10530431568622589, + -0.0706993043422699 + ], + "joints": [ + 0.018483152613043785 + ] + }, + "fine_grasp": { + "position": [ + -0.0529840849339962, + -0.010455719195306301, + -0.1247033104300499 + ], + "orientation": [ + 0.9875754714012146, + -0.09034548699855804, + 0.10427725315093994, + -0.07522457838058472 + ], + "joints": [ + 0.009288137778639793 + ] + }, + "final_grasp": { + "position": [ + -0.0529840849339962, + -0.010455719195306301, + -0.1247033104300499 + ], + "orientation": [ + 0.9875754714012146, + -0.09034548699855804, + 0.10427725315093994, + -0.07522457838058472 + ], + "joints": [ + 9.31229442358017e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10351954400539398, + -0.11512897163629532, + -0.014424926601350307 + ], + "orientation": [ + 0.7396320700645447, + -0.6623083353042603, + 0.05889320746064186, + -0.10403693467378616 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.10320072621107101, + -0.11091595888137817, + -0.013745796866714954 + ], + "orientation": [ + 0.7382234334945679, + -0.6646489500999451, + 0.05447186902165413, + -0.1014922559261322 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + -0.10320072621107101, + -0.11091595888137817, + -0.013745796866714954 + ], + "orientation": [ + 0.7382234334945679, + -0.6646489500999451, + 0.05447186902165413, + -0.1014922559261322 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05164053291082382, + 0.1353229582309723, + 0.018383821472525597 + ], + "orientation": [ + 0.04439058527350426, + -0.08643694221973419, + -0.7511094808578491, + 0.6529874205589294 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + -0.05196177959442139, + 0.1312921643257141, + 0.017542008310556412 + ], + "orientation": [ + 0.03998640924692154, + -0.08489416539669037, + -0.7502166032791138, + 0.6544990539550781 + ], + "joints": [ + 0.02615463361144066 + ] + }, + "final_grasp": { + "position": [ + -0.05196177959442139, + 0.1312921643257141, + 0.017542008310556412 + ], + "orientation": [ + 0.03998640924692154, + -0.08489416539669037, + -0.7502166032791138, + 0.6544990539550781 + ], + "joints": [ + 0.01779552921652794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042744945734739304, + 0.1350502371788025, + 0.0008886813302524388 + ], + "orientation": [ + 0.055854808539152145, + -0.10915657877922058, + -0.7016335725784302, + 0.7019084095954895 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.04312606528401375, + 0.13094429671764374, + 0.0008490848704241216 + ], + "orientation": [ + 0.05180376023054123, + -0.10648652166128159, + -0.7020060420036316, + 0.7022566795349121 + ], + "joints": [ + 0.026386186480522156 + ] + }, + "final_grasp": { + "position": [ + -0.04312606528401375, + 0.13094429671764374, + 0.0008490848704241216 + ], + "orientation": [ + 0.05180376023054123, + -0.10648652166128159, + -0.7020060420036316, + 0.7022566795349121 + ], + "joints": [ + 0.018027082085609436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08989477902650833, + -0.10149963200092316, + -0.02848483808338642 + ], + "orientation": [ + 0.027339864522218704, + 0.07856690138578415, + -0.6075523495674133, + -0.7899113297462463 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.08969643712043762, + -0.09806067496538162, + -0.026013461872935295 + ], + "orientation": [ + 0.02751249447464943, + 0.0798322781920433, + -0.6127967238426208, + -0.7857162356376648 + ], + "joints": [ + 0.026550594717264175 + ] + }, + "final_grasp": { + "position": [ + 0.08969643712043762, + -0.09806067496538162, + -0.026013461872935295 + ], + "orientation": [ + 0.02751249447464943, + 0.0798322781920433, + -0.6127967238426208, + -0.7857162356376648 + ], + "joints": [ + 0.019027400761842728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04299177601933479, + 0.13623298704624176, + 0.0011238137958571315 + ], + "orientation": [ + 0.0564076192677021, + -0.11428490281105042, + -0.7011795043945312, + 0.7015015482902527 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.04339956119656563, + 0.13208907842636108, + 0.001086456119082868 + ], + "orientation": [ + 0.05243167653679848, + -0.11141279339790344, + -0.7019277215003967, + 0.7015238404273987 + ], + "joints": [ + 0.026386186480522156 + ] + }, + "final_grasp": { + "position": [ + -0.04339956119656563, + 0.13208907842636108, + 0.001086456119082868 + ], + "orientation": [ + 0.05243167653679848, + -0.11141279339790344, + -0.7019277215003967, + 0.7015238404273987 + ], + "joints": [ + 0.018027082085609436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07163354009389877, + 0.13252975046634674, + 0.032970130443573 + ], + "orientation": [ + 0.039923351258039474, + 0.1025790274143219, + -0.7846100330352783, + 0.6101399064064026 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.07161752134561539, + 0.12856310606002808, + 0.031643591821193695 + ], + "orientation": [ + 0.045519061386585236, + 0.1052287146449089, + -0.7839527130126953, + 0.6101418137550354 + ], + "joints": [ + 0.02741410955786705 + ] + }, + "final_grasp": { + "position": [ + 0.07161752134561539, + 0.12856310606002808, + 0.031643591821193695 + ], + "orientation": [ + 0.045519061386585236, + 0.1052287146449089, + -0.7839527130126953, + 0.6101418137550354 + ], + "joints": [ + 0.01982821896672249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023820213973522186, + 0.02530287578701973, + 0.1407238394021988 + ], + "orientation": [ + 0.06446107476949692, + 0.9952520132064819, + -0.0027223913930356503, + 0.07287571579217911 + ], + "joints": [ + 0.018229568377137184 + ] + }, + "fine_grasp": { + "position": [ + -0.023448390886187553, + 0.02519228123128414, + 0.1367366462945938 + ], + "orientation": [ + 0.06627106666564941, + 0.9952819347381592, + -0.004259972367435694, + 0.07073841243982315 + ], + "joints": [ + 0.009034553542733192 + ] + }, + "final_grasp": { + "position": [ + -0.023448390886187553, + 0.02519228123128414, + 0.1367366462945938 + ], + "orientation": [ + 0.06627106666564941, + 0.9952819347381592, + -0.004259972367435694, + 0.07073841243982315 + ], + "joints": [ + -0.00016046129167079926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024900564923882484, + -0.0009097681031562388, + -0.139457568526268 + ], + "orientation": [ + 0.05489598959684372, + -0.03804390877485275, + 0.03833755850791931, + 0.9970302581787109 + ], + "joints": [ + 0.018252387642860413 + ] + }, + "fine_grasp": { + "position": [ + -0.024975121021270752, + -0.0008052869816310704, + -0.13550648093223572 + ], + "orientation": [ + 0.055732905864715576, + -0.03744441643357277, + 0.038190871477127075, + 0.997012197971344 + ], + "joints": [ + 0.008221462368965149 + ] + }, + "final_grasp": { + "position": [ + -0.024975121021270752, + -0.0008052869816310704, + -0.13550648093223572 + ], + "orientation": [ + 0.055732905864715576, + -0.03744441643357277, + 0.038190871477127075, + 0.997012197971344 + ], + "joints": [ + -0.0018094629049301147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07147175818681717, + 0.1317184418439865, + 0.03376024588942528 + ], + "orientation": [ + 0.04113202542066574, + 0.10056421905755997, + -0.7869109511375427, + 0.6074259877204895 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.07149924337863922, + 0.12762057781219482, + 0.03255436569452286 + ], + "orientation": [ + 0.0469638966023922, + 0.10484762489795685, + -0.786570131778717, + 0.6067196130752563 + ], + "joints": [ + 0.02741410955786705 + ] + }, + "final_grasp": { + "position": [ + 0.07149924337863922, + 0.12762057781219482, + 0.03255436569452286 + ], + "orientation": [ + 0.0469638966023922, + 0.10484762489795685, + -0.786570131778717, + 0.6067196130752563 + ], + "joints": [ + 0.01982821896672249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06128562241792679, + -0.1131167933344841, + 0.0015772489132359624 + ], + "orientation": [ + 0.011589125730097294, + 0.049341704696416855, + -0.7100250124931335, + -0.7023500800132751 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.06143905594944954, + -0.10899684578180313, + 0.0014107761671766639 + ], + "orientation": [ + 0.00920166727155447, + 0.050039272755384445, + -0.7097081542015076, + -0.7026561498641968 + ], + "joints": [ + 0.02519727498292923 + ] + }, + "final_grasp": { + "position": [ + -0.06143905594944954, + -0.10899684578180313, + 0.0014107761671766639 + ], + "orientation": [ + 0.00920166727155447, + 0.050039272755384445, + -0.7097081542015076, + -0.7026561498641968 + ], + "joints": [ + 0.015626102685928345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022452807053923607, + -0.015082207508385181, + 0.1359192281961441 + ], + "orientation": [ + 0.0983208417892456, + -0.994444727897644, + 0.03704283386468887, + 0.006357958540320396 + ], + "joints": [ + 0.01801999658346176 + ] + }, + "fine_grasp": { + "position": [ + 0.022493597120046616, + -0.014842214994132519, + 0.13216641545295715 + ], + "orientation": [ + 0.09687849134206772, + -0.9942837953567505, + 0.044372349977493286, + 0.006739315111190081 + ], + "joints": [ + 0.00882498174905777 + ] + }, + "final_grasp": { + "position": [ + 0.022493597120046616, + -0.014842214994132519, + 0.13216641545295715 + ], + "orientation": [ + 0.09687849134206772, + -0.9942837953567505, + 0.044372349977493286, + 0.006739315111190081 + ], + "joints": [ + -0.0003700330853462219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022308969870209694, + -0.014941848814487457, + 0.13535211980342865 + ], + "orientation": [ + 0.0974760353565216, + -0.9945588707923889, + 0.03634908050298691, + 0.005464482121169567 + ], + "joints": [ + 0.01824893243610859 + ] + }, + "fine_grasp": { + "position": [ + 0.022359970957040787, + -0.014659425243735313, + 0.1316298246383667 + ], + "orientation": [ + 0.0955696702003479, + -0.994378387928009, + 0.045182984322309494, + 0.00605309521779418 + ], + "joints": [ + 0.008635962381958961 + ] + }, + "final_grasp": { + "position": [ + 0.022359970957040787, + -0.014659425243735313, + 0.1316298246383667 + ], + "orientation": [ + 0.0955696702003479, + -0.994378387928009, + 0.045182984322309494, + 0.00605309521779418 + ], + "joints": [ + -0.0009770076721906662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007157553336583078, + 0.013398249633610249, + -0.14169670641422272 + ], + "orientation": [ + 0.08678023517131805, + -0.06485012173652649, + -0.023624125868082047, + 0.9938337802886963 + ], + "joints": [ + 0.01803242787718773 + ] + }, + "fine_grasp": { + "position": [ + -0.0007213216740638018, + 0.013251056894659996, + -0.1377970576286316 + ], + "orientation": [ + 0.08819594979286194, + -0.06214568018913269, + -0.022133473306894302, + 0.9939162731170654 + ], + "joints": [ + 0.008837413042783737 + ] + }, + "final_grasp": { + "position": [ + -0.0007213216740638018, + 0.013251056894659996, + -0.1377970576286316 + ], + "orientation": [ + 0.08819594979286194, + -0.06214568018913269, + -0.022133473306894302, + 0.9939162731170654 + ], + "joints": [ + -0.0003576017916202545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05590708926320076, + 0.021654527634382248, + 0.1441732496023178 + ], + "orientation": [ + 0.17333248257637024, + 0.030423110350966454, + 0.9829006791114807, + -0.05419154465198517 + ], + "joints": [ + 0.015405479818582535 + ] + }, + "fine_grasp": { + "position": [ + -0.055238720029592514, + 0.02127118594944477, + 0.14032043516635895 + ], + "orientation": [ + 0.15736378729343414, + 0.034041017293930054, + 0.9855401515960693, + -0.05280586704611778 + ], + "joints": [ + 0.006210464984178543 + ] + }, + "final_grasp": { + "position": [ + -0.055238720029592514, + 0.02127118594944477, + 0.14032043516635895 + ], + "orientation": [ + 0.15736378729343414, + 0.034041017293930054, + 0.9855401515960693, + -0.05280586704611778 + ], + "joints": [ + -0.0029845498502254486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07396194338798523, + -0.008047817274928093, + 0.1176951453089714 + ], + "orientation": [ + 0.07116934657096863, + -0.9820684194564819, + -0.0032127059530466795, + -0.17454619705677032 + ], + "joints": [ + 0.01854221522808075 + ] + }, + "fine_grasp": { + "position": [ + -0.07386156916618347, + -0.007899493910372257, + 0.11459627747535706 + ], + "orientation": [ + 0.07163406908512115, + -0.981084406375885, + -0.0023140376433730125, + -0.17982415854930878 + ], + "joints": [ + 0.008929245173931122 + ] + }, + "final_grasp": { + "position": [ + -0.07386156916618347, + -0.007899493910372257, + 0.11459627747535706 + ], + "orientation": [ + 0.07163406908512115, + -0.981084406375885, + -0.0023140376433730125, + -0.17982415854930878 + ], + "joints": [ + -0.0006837248802185059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06248712167143822, + 0.1304761916399002, + -0.013713645748794079 + ], + "orientation": [ + 0.012695985846221447, + 0.07563059777021408, + -0.6633923053741455, + 0.7443315386772156 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.06266243010759354, + 0.12619319558143616, + -0.01333046704530716 + ], + "orientation": [ + 0.015234646387398243, + 0.07613260298967361, + -0.66364985704422, + 0.7440031170845032 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + 0.06266243010759354, + 0.12619319558143616, + -0.01333046704530716 + ], + "orientation": [ + 0.015234646387398243, + 0.07613260298967361, + -0.66364985704422, + 0.7440031170845032 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07811959832906723, + -0.11977863311767578, + 0.0044639878906309605 + ], + "orientation": [ + 0.6943599581718445, + -0.7107950448989868, + -0.11233021318912506, + 0.004073731135576963 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.0778772309422493, + -0.11549891531467438, + 0.004272677469998598 + ], + "orientation": [ + 0.6949369311332703, + -0.7104786038398743, + -0.11082807183265686, + 0.00026562807033769786 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + 0.0778772309422493, + -0.11549891531467438, + 0.004272677469998598 + ], + "orientation": [ + 0.6949369311332703, + -0.7104786038398743, + -0.11082807183265686, + 0.00026562807033769786 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07063803821802139, + -0.008569478057324886, + 0.1177063137292862 + ], + "orientation": [ + 0.07363823056221008, + -0.973936915397644, + 0.005016665905714035, + -0.21447443962097168 + ], + "joints": [ + 0.018322516232728958 + ] + }, + "fine_grasp": { + "position": [ + -0.07053341716527939, + -0.008606979623436928, + 0.11461837589740753 + ], + "orientation": [ + 0.07323257625102997, + -0.9739997386932373, + -0.0011754679726436734, + -0.2143835872411728 + ], + "joints": [ + 0.00870954617857933 + ] + }, + "final_grasp": { + "position": [ + -0.07053341716527939, + -0.008606979623436928, + 0.11461837589740753 + ], + "orientation": [ + 0.07323257625102997, + -0.9739997386932373, + -0.0011754679726436734, + -0.2143835872411728 + ], + "joints": [ + -0.0009034238755702972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007611215580254793, + -0.0025411262176930904, + 0.12476589530706406 + ], + "orientation": [ + 0.046358343213796616, + -0.9985079765319824, + -0.027724137529730797, + -0.00801696814596653 + ], + "joints": [ + 0.018681347370147705 + ] + }, + "fine_grasp": { + "position": [ + -0.007586759515106678, + -0.00190961011685431, + 0.12272734194993973 + ], + "orientation": [ + 0.04515756294131279, + -0.9982351660728455, + -0.036032456904649734, + -0.013744067400693893 + ], + "joints": [ + 0.008650422096252441 + ] + }, + "final_grasp": { + "position": [ + -0.007586759515106678, + -0.00190961011685431, + 0.12272734194993973 + ], + "orientation": [ + 0.04515756294131279, + -0.9982351660728455, + -0.036032456904649734, + -0.013744067400693893 + ], + "joints": [ + -0.0013805031776428223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007749516051262617, + -0.016073105856776237, + 0.1222776249051094 + ], + "orientation": [ + 0.04010826349258423, + -0.007338336203247309, + 0.9935693740844727, + 0.10562852770090103 + ], + "joints": [ + 0.01920256018638611 + ] + }, + "fine_grasp": { + "position": [ + -0.007651293184608221, + -0.015489722602069378, + 0.11967705190181732 + ], + "orientation": [ + 0.04050689935684204, + -0.007796898018568754, + 0.9933463931083679, + 0.10752392560243607 + ], + "joints": [ + 0.010843455791473389 + ] + }, + "final_grasp": { + "position": [ + -0.007651293184608221, + -0.015489722602069378, + 0.11967705190181732 + ], + "orientation": [ + 0.04050689935684204, + -0.007796898018568754, + 0.9933463931083679, + 0.10752392560243607 + ], + "joints": [ + 0.002484351396560669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007612681947648525, + -0.01642664521932602, + 0.12229523062705994 + ], + "orientation": [ + 0.043326880782842636, + -0.008782448247075081, + 0.9932839870452881, + 0.10692362487316132 + ], + "joints": [ + 0.01912711188197136 + ] + }, + "fine_grasp": { + "position": [ + -0.007488667964935303, + -0.01590149477124214, + 0.1195988729596138 + ], + "orientation": [ + 0.043598730117082596, + -0.009554944932460785, + 0.9930626749992371, + 0.10878647863864899 + ], + "joints": [ + 0.01076800748705864 + ] + }, + "final_grasp": { + "position": [ + -0.007488667964935303, + -0.01590149477124214, + 0.1195988729596138 + ], + "orientation": [ + 0.043598730117082596, + -0.009554944932460785, + 0.9930626749992371, + 0.10878647863864899 + ], + "joints": [ + 0.00240890309214592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0076156482100486755, + -0.01488387119024992, + 0.1222001239657402 + ], + "orientation": [ + 0.04338880255818367, + -0.01022731140255928, + 0.9939085841178894, + 0.10078994929790497 + ], + "joints": [ + 0.01950296014547348 + ] + }, + "fine_grasp": { + "position": [ + -0.007519620470702648, + -0.0142980320379138, + 0.11955942958593369 + ], + "orientation": [ + 0.04379533976316452, + -0.011144222691655159, + 0.9937554597854614, + 0.1020190641283989 + ], + "joints": [ + 0.010725900530815125 + ] + }, + "final_grasp": { + "position": [ + -0.007519620470702648, + -0.0142980320379138, + 0.11955942958593369 + ], + "orientation": [ + 0.04379533976316452, + -0.011144222691655159, + 0.9937554597854614, + 0.1020190641283989 + ], + "joints": [ + 0.0019488409161567688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05969388410449028, + 0.01338602602481842, + 0.143818661570549 + ], + "orientation": [ + 0.009935763664543629, + 0.9921360015869141, + 0.0822036862373352, + -0.09386187791824341 + ], + "joints": [ + 0.018066201359033585 + ] + }, + "fine_grasp": { + "position": [ + 0.05919193476438522, + 0.013607022352516651, + 0.1397969126701355 + ], + "orientation": [ + 0.011433296836912632, + 0.9915122985839844, + 0.09262330085039139, + -0.09051880985498428 + ], + "joints": [ + 0.009289141744375229 + ] + }, + "final_grasp": { + "position": [ + 0.05919193476438522, + 0.013607022352516651, + 0.1397969126701355 + ], + "orientation": [ + 0.011433296836912632, + 0.9915122985839844, + 0.09262330085039139, + -0.09051880985498428 + ], + "joints": [ + 0.0005120821297168732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0498693622648716, + 0.03234747797250748, + -0.14331863820552826 + ], + "orientation": [ + 0.9907621145248413, + 0.08967940509319305, + 0.06058793142437935, + -0.08171428740024567 + ], + "joints": [ + 0.01847171038389206 + ] + }, + "fine_grasp": { + "position": [ + -0.049758799374103546, + 0.031612735241651535, + -0.13943985104560852 + ], + "orientation": [ + 0.9909451007843018, + 0.08777914941310883, + 0.05906807631254196, + -0.08266619592905045 + ], + "joints": [ + 0.009276695549488068 + ] + }, + "final_grasp": { + "position": [ + -0.049758799374103546, + 0.031612735241651535, + -0.13943985104560852 + ], + "orientation": [ + 0.9909451007843018, + 0.08777914941310883, + 0.05906807631254196, + -0.08266619592905045 + ], + "joints": [ + 8.168071508407593e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13600321114063263, + -0.09840749204158783, + 0.026416771113872528 + ], + "orientation": [ + 0.19599974155426025, + 0.2652190923690796, + -0.7281925678253174, + -0.6008148789405823 + ], + "joints": [ + 0.03425902873277664 + ] + }, + "fine_grasp": { + "position": [ + 0.13511669635772705, + -0.09452877938747406, + 0.025253307074308395 + ], + "orientation": [ + 0.17690300941467285, + 0.2580302059650421, + -0.7308765053749084, + -0.6065849661827087 + ], + "joints": [ + 0.02669403702020645 + ] + }, + "final_grasp": { + "position": [ + 0.13511669635772705, + -0.09452877938747406, + 0.025253307074308395 + ], + "orientation": [ + 0.17690300941467285, + 0.2580302059650421, + -0.7308765053749084, + -0.6065849661827087 + ], + "joints": [ + 0.01912904530763626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13708899915218353, + -0.0977981761097908, + 0.025764700025320053 + ], + "orientation": [ + 0.17815551161766052, + 0.26400360465049744, + -0.7294299602508545, + -0.6053879261016846 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.13591960072517395, + -0.09398853778839111, + 0.024934034794569016 + ], + "orientation": [ + 0.16128048300743103, + 0.2615146040916443, + -0.7296429872512817, + -0.6109172701835632 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + 0.13591960072517395, + -0.09398853778839111, + 0.024934034794569016 + ], + "orientation": [ + 0.16128048300743103, + 0.2615146040916443, + -0.7296429872512817, + -0.6109172701835632 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06435280293226242, + -0.0011146562173962593, + 0.12287040799856186 + ], + "orientation": [ + 0.03872481361031532, + -0.9983375668525696, + 0.011097053997218609, + -0.0412263497710228 + ], + "joints": [ + 0.017571594566106796 + ] + }, + "fine_grasp": { + "position": [ + -0.06399082392454147, + -0.001178101752884686, + 0.11976054310798645 + ], + "orientation": [ + 0.04186734929680824, + -0.9974493980407715, + 0.031712763011455536, + -0.04833507537841797 + ], + "joints": [ + 0.007958624511957169 + ] + }, + "final_grasp": { + "position": [ + -0.06399082392454147, + -0.001178101752884686, + 0.11976054310798645 + ], + "orientation": [ + 0.04186734929680824, + -0.9974493980407715, + 0.031712763011455536, + -0.04833507537841797 + ], + "joints": [ + -0.001654345542192459 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04557095095515251, + 0.01238655298948288, + -0.1339094191789627 + ], + "orientation": [ + 0.03311247378587723, + 0.042009688913822174, + -0.012073875404894352, + 0.9984952807426453 + ], + "joints": [ + 0.0180272925645113 + ] + }, + "fine_grasp": { + "position": [ + -0.045447710901498795, + 0.011928205378353596, + -0.1306319385766983 + ], + "orientation": [ + 0.03426745906472206, + 0.04204072058200836, + -0.01062474213540554, + 0.9984715580940247 + ], + "joints": [ + 0.008414322510361671 + ] + }, + "final_grasp": { + "position": [ + -0.045447710901498795, + 0.011928205378353596, + -0.1306319385766983 + ], + "orientation": [ + 0.03426745906472206, + 0.04204072058200836, + -0.01062474213540554, + 0.9984715580940247 + ], + "joints": [ + -0.0011986475437879562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04443875327706337, + 0.014241845346987247, + -0.13339409232139587 + ], + "orientation": [ + 0.03005382977426052, + 0.04933135583996773, + -0.01883736066520214, + 0.998152494430542 + ], + "joints": [ + 0.018234334886074066 + ] + }, + "fine_grasp": { + "position": [ + -0.04427395015954971, + 0.01405988447368145, + -0.1297278106212616 + ], + "orientation": [ + 0.031331319361925125, + 0.04937388747930527, + -0.019857291132211685, + 0.9980912804603577 + ], + "joints": [ + 0.008600465953350067 + ] + }, + "final_grasp": { + "position": [ + -0.04427395015954971, + 0.01405988447368145, + -0.1297278106212616 + ], + "orientation": [ + 0.031331319361925125, + 0.04937388747930527, + -0.019857291132211685, + 0.9980912804603577 + ], + "joints": [ + -0.0010334029793739319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044774387031793594, + 0.01415490172803402, + -0.133571058511734 + ], + "orientation": [ + 0.033229582011699677, + 0.04613592475652695, + -0.01837943308055401, + 0.9982131123542786 + ], + "joints": [ + 0.018233254551887512 + ] + }, + "fine_grasp": { + "position": [ + -0.0446123331785202, + 0.014033723622560501, + -0.13000766932964325 + ], + "orientation": [ + 0.03455069288611412, + 0.04622229188680649, + -0.019142283126711845, + 0.9981499314308167 + ], + "joints": [ + 0.008599385619163513 + ] + }, + "final_grasp": { + "position": [ + -0.0446123331785202, + 0.014033723622560501, + -0.13000766932964325 + ], + "orientation": [ + 0.03455069288611412, + 0.04622229188680649, + -0.019142283126711845, + 0.9981499314308167 + ], + "joints": [ + -0.0010344833135604858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08152181655168533, + 0.008866246789693832, + -0.1302832067012787 + ], + "orientation": [ + 0.11473719030618668, + 0.19405074417591095, + 0.024694692343473434, + 0.9739455580711365 + ], + "joints": [ + 0.018543213605880737 + ] + }, + "fine_grasp": { + "position": [ + -0.08094214648008347, + 0.008969615213572979, + -0.12643630802631378 + ], + "orientation": [ + 0.1167612299323082, + 0.1907273232936859, + 0.0237325020134449, + 0.9743852019309998 + ], + "joints": [ + 0.008512288331985474 + ] + }, + "final_grasp": { + "position": [ + -0.08094214648008347, + 0.008969615213572979, + -0.12643630802631378 + ], + "orientation": [ + 0.1167612299323082, + 0.1907273232936859, + 0.0237325020134449, + 0.9743852019309998 + ], + "joints": [ + -0.00151863694190979 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044321779161691666, + 0.014320760034024715, + -0.13323725759983063 + ], + "orientation": [ + 0.02992543764412403, + 0.05042652413249016, + -0.01916315034031868, + 0.9980953931808472 + ], + "joints": [ + 0.01792188175022602 + ] + }, + "fine_grasp": { + "position": [ + -0.044153761118650436, + 0.014166214503347874, + -0.1296112835407257 + ], + "orientation": [ + 0.031018150970339775, + 0.0503835491836071, + -0.020201725885272026, + 0.9980436563491821 + ], + "joints": [ + 0.008685069158673286 + ] + }, + "final_grasp": { + "position": [ + -0.044153761118650436, + 0.014166214503347874, + -0.1296112835407257 + ], + "orientation": [ + 0.031018150970339775, + 0.0503835491836071, + -0.020201725885272026, + 0.9980436563491821 + ], + "joints": [ + -0.0005517434328794479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054616931825876236, + 0.017029529437422752, + 0.13103890419006348 + ], + "orientation": [ + 0.026956921443343163, + 0.9866583943367004, + 0.03820538520812988, + -0.15594518184661865 + ], + "joints": [ + 0.017811231315135956 + ] + }, + "fine_grasp": { + "position": [ + 0.05386045575141907, + 0.017033923417329788, + 0.127272829413414 + ], + "orientation": [ + 0.028687352314591408, + 0.9868043661117554, + 0.04069304093718529, + -0.1540725976228714 + ], + "joints": [ + 0.009452126920223236 + ] + }, + "final_grasp": { + "position": [ + 0.05386045575141907, + 0.017033923417329788, + 0.127272829413414 + ], + "orientation": [ + 0.028687352314591408, + 0.9868043661117554, + 0.04069304093718529, + -0.1540725976228714 + ], + "joints": [ + 0.0010930225253105164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05448340252041817, + 0.017900554463267326, + 0.13046053051948547 + ], + "orientation": [ + 0.028838755562901497, + 0.9850801825523376, + 0.05159234628081322, + -0.1616276055574417 + ], + "joints": [ + 0.018168028444051743 + ] + }, + "fine_grasp": { + "position": [ + 0.05381675064563751, + 0.017778176814317703, + 0.12653951346874237 + ], + "orientation": [ + 0.03187057003378868, + 0.9855982065200806, + 0.056436460465192795, + -0.1561904102563858 + ], + "joints": [ + 0.010226879268884659 + ] + }, + "final_grasp": { + "position": [ + 0.05381675064563751, + 0.017778176814317703, + 0.12653951346874237 + ], + "orientation": [ + 0.03187057003378868, + 0.9855982065200806, + 0.056436460465192795, + -0.1561904102563858 + ], + "joints": [ + 0.002285730093717575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041988909244537354, + 0.030609408393502235, + 0.1264200061559677 + ], + "orientation": [ + 0.12574264407157898, + 0.0266297347843647, + -0.9874533414840698, + 0.09173696488142014 + ], + "joints": [ + 0.019385211169719696 + ] + }, + "fine_grasp": { + "position": [ + 0.04176754876971245, + 0.029280634596943855, + 0.12301623821258545 + ], + "orientation": [ + 0.12436452507972717, + 0.03185064718127251, + -0.9871395230293274, + 0.0952611118555069 + ], + "joints": [ + 0.008581072092056274 + ] + }, + "final_grasp": { + "position": [ + 0.04176754876971245, + 0.029280634596943855, + 0.12301623821258545 + ], + "orientation": [ + 0.12436452507972717, + 0.03185064718127251, + -0.9871395230293274, + 0.0952611118555069 + ], + "joints": [ + -0.002223066985607147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042150914669036865, + 0.032838884741067886, + 0.12478017807006836 + ], + "orientation": [ + 0.1258097141981125, + 0.01605500467121601, + -0.9864248037338257, + 0.10430838912725449 + ], + "joints": [ + 0.01952931098639965 + ] + }, + "fine_grasp": { + "position": [ + 0.04175805673003197, + 0.03228936716914177, + 0.12139447778463364 + ], + "orientation": [ + 0.12374533712863922, + 0.019968045875430107, + -0.9860144853591919, + 0.10983583331108093 + ], + "joints": [ + 0.008704273030161858 + ] + }, + "final_grasp": { + "position": [ + 0.04175805673003197, + 0.03228936716914177, + 0.12139447778463364 + ], + "orientation": [ + 0.12374533712863922, + 0.019968045875430107, + -0.9860144853591919, + 0.10983583331108093 + ], + "joints": [ + -0.0021207649260759354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1893230378627777, + 0.014592519961297512, + 0.03461277857422829 + ], + "orientation": [ + 0.6689879298210144, + -0.007511152885854244, + 0.7413523197174072, + -0.05287342891097069 + ], + "joints": [ + 0.016007212921977043 + ] + }, + "fine_grasp": { + "position": [ + -0.18558280169963837, + 0.014575166627764702, + 0.034110233187675476 + ], + "orientation": [ + 0.6669233441352844, + -0.009656617417931557, + 0.7430936098098755, + -0.05414631962776184 + ], + "joints": [ + 0.0068121980875730515 + ] + }, + "final_grasp": { + "position": [ + -0.18558280169963837, + 0.014575166627764702, + 0.034110233187675476 + ], + "orientation": [ + 0.6669233441352844, + -0.009656617417931557, + 0.7430936098098755, + -0.05414631962776184 + ], + "joints": [ + -0.0023828167468309402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043008435517549515, + 0.03466537222266197, + 0.12327475845813751 + ], + "orientation": [ + 0.1285235732793808, + 0.013669737614691257, + -0.9852919578552246, + 0.1117790937423706 + ], + "joints": [ + 0.019937332719564438 + ] + }, + "fine_grasp": { + "position": [ + 0.04286767542362213, + 0.03436221182346344, + 0.11991092562675476 + ], + "orientation": [ + 0.12198960781097412, + 0.01616334542632103, + -0.9861764311790466, + 0.11096543073654175 + ], + "joints": [ + 0.010742317885160446 + ] + }, + "final_grasp": { + "position": [ + 0.04286767542362213, + 0.03436221182346344, + 0.11991092562675476 + ], + "orientation": [ + 0.12198960781097412, + 0.01616334542632103, + -0.9861764311790466, + 0.11096543073654175 + ], + "joints": [ + 0.0015473030507564545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04192086309194565, + 0.0331183597445488, + 0.12285009026527405 + ], + "orientation": [ + 0.12375963479280472, + 0.020500533282756805, + -0.9865309000015259, + 0.10497637093067169 + ], + "joints": [ + 0.020375626161694527 + ] + }, + "fine_grasp": { + "position": [ + 0.0415906198322773, + 0.03252796083688736, + 0.11943735182285309 + ], + "orientation": [ + 0.12170007824897766, + 0.023715754970908165, + -0.9864648580551147, + 0.10730202496051788 + ], + "joints": [ + 0.010762656107544899 + ] + }, + "final_grasp": { + "position": [ + 0.0415906198322773, + 0.03252796083688736, + 0.11943735182285309 + ], + "orientation": [ + 0.12170007824897766, + 0.023715754970908165, + -0.9864648580551147, + 0.10730202496051788 + ], + "joints": [ + 0.0011496860533952713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04223737493157387, + 0.03325037285685539, + 0.12170913815498352 + ], + "orientation": [ + 0.12481006234884262, + 0.028980031609535217, + -0.9861962199211121, + 0.10487931966781616 + ], + "joints": [ + 0.020249035209417343 + ] + }, + "fine_grasp": { + "position": [ + 0.04205730929970741, + 0.03291800245642662, + 0.11886833608150482 + ], + "orientation": [ + 0.12182490527629852, + 0.033949729055166245, + -0.9863284826278687, + 0.10565237700939178 + ], + "joints": [ + 0.010636065155267715 + ] + }, + "final_grasp": { + "position": [ + 0.04205730929970741, + 0.03291800245642662, + 0.11886833608150482 + ], + "orientation": [ + 0.12182490527629852, + 0.033949729055166245, + -0.9863284826278687, + 0.10565237700939178 + ], + "joints": [ + 0.0010230951011180878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1871885359287262, + 0.012051559053361416, + -0.010522188618779182 + ], + "orientation": [ + 0.029871530830860138, + -0.7157589197158813, + 0.05971604958176613, + -0.6951481103897095 + ], + "joints": [ + 0.016845691949129105 + ] + }, + "fine_grasp": { + "position": [ + -0.18420185148715973, + 0.01348169706761837, + -0.010132420808076859 + ], + "orientation": [ + 0.03716493025422096, + -0.7154517769813538, + 0.07657244056463242, + -0.693458080291748 + ], + "joints": [ + 0.008486587554216385 + ] + }, + "final_grasp": { + "position": [ + -0.18420185148715973, + 0.01348169706761837, + -0.010132420808076859 + ], + "orientation": [ + 0.03716493025422096, + -0.7154517769813538, + 0.07657244056463242, + -0.693458080291748 + ], + "joints": [ + 0.00012748315930366516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18660718202590942, + 0.010303051210939884, + -0.008364427834749222 + ], + "orientation": [ + 0.026506556198000908, + -0.7018132209777832, + 0.05380608141422272, + -0.7098313570022583 + ], + "joints": [ + 0.017277158796787262 + ] + }, + "fine_grasp": { + "position": [ + -0.18406333029270172, + 0.010388937778770924, + -0.008319194428622723 + ], + "orientation": [ + 0.03974312171339989, + -0.7005575299263, + 0.06396039575338364, + -0.7096116542816162 + ], + "joints": [ + 0.00808214396238327 + ] + }, + "final_grasp": { + "position": [ + -0.18406333029270172, + 0.010388937778770924, + -0.008319194428622723 + ], + "orientation": [ + 0.03974312171339989, + -0.7005575299263, + 0.06396039575338364, + -0.7096116542816162 + ], + "joints": [ + -0.0011128708720207214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08126670867204666, + -0.01436541322618723, + 0.11897050589323044 + ], + "orientation": [ + 0.13164743781089783, + -0.05073879286646843, + 0.9857555031776428, + 0.09154567867517471 + ], + "joints": [ + 0.019387613981962204 + ] + }, + "fine_grasp": { + "position": [ + -0.0810949057340622, + -0.013845948502421379, + 0.1165408119559288 + ], + "orientation": [ + 0.13640622794628143, + -0.0561923049390316, + 0.9847358465194702, + 0.0923638716340065 + ], + "joints": [ + 0.010192599147558212 + ] + }, + "final_grasp": { + "position": [ + -0.0810949057340622, + -0.013845948502421379, + 0.1165408119559288 + ], + "orientation": [ + 0.13640622794628143, + -0.0561923049390316, + 0.9847358465194702, + 0.0923638716340065 + ], + "joints": [ + 0.0009975843131542206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04161933809518814, + 0.1499583125114441, + -0.020831868052482605 + ], + "orientation": [ + 0.7490752339363098, + 0.6560222506523132, + 0.0730806365609169, + 0.05639421567320824 + ], + "joints": [ + 0.026468927040696144 + ] + }, + "fine_grasp": { + "position": [ + -0.04135441780090332, + 0.1456141322851181, + -0.02011892944574356 + ], + "orientation": [ + 0.7495789527893066, + 0.656059980392456, + 0.06959386169910431, + 0.053603675216436386 + ], + "joints": [ + 0.019363688305020332 + ] + }, + "final_grasp": { + "position": [ + -0.04135441780090332, + 0.1456141322851181, + -0.02011892944574356 + ], + "orientation": [ + 0.7495789527893066, + 0.656059980392456, + 0.06959386169910431, + 0.053603675216436386 + ], + "joints": [ + 0.01225844956934452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0037204683758318424, + 0.1292162537574768, + 0.06629465520381927 + ], + "orientation": [ + 0.016814708709716797, + -0.021201198920607567, + 0.8487831354141235, + -0.5280484557151794 + ], + "joints": [ + 0.027497652918100357 + ] + }, + "fine_grasp": { + "position": [ + -0.003601208096370101, + 0.1258341521024704, + 0.06465165317058563 + ], + "orientation": [ + 0.01558639295399189, + -0.020959336310625076, + 0.8478203415870667, + -0.5296398997306824 + ], + "joints": [ + 0.018657896667718887 + ] + }, + "final_grasp": { + "position": [ + -0.003601208096370101, + 0.1258341521024704, + 0.06465165317058563 + ], + "orientation": [ + 0.01558639295399189, + -0.020959336310625076, + 0.8478203415870667, + -0.5296398997306824 + ], + "joints": [ + 0.009818140417337418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0036953671369701624, + 0.12981130182743073, + 0.06593716144561768 + ], + "orientation": [ + 0.017821650952100754, + -0.020503513514995575, + 0.8479339480400085, + -0.5294052362442017 + ], + "joints": [ + 0.02793760597705841 + ] + }, + "fine_grasp": { + "position": [ + -0.003568330081179738, + 0.12627877295017242, + 0.06427035480737686 + ], + "orientation": [ + 0.01646994985640049, + -0.020217396318912506, + 0.8466454744338989, + -0.5315181612968445 + ], + "joints": [ + 0.01830373704433441 + ] + }, + "final_grasp": { + "position": [ + -0.003568330081179738, + 0.12627877295017242, + 0.06427035480737686 + ], + "orientation": [ + 0.01646994985640049, + -0.020217396318912506, + 0.8466454744338989, + -0.5315181612968445 + ], + "joints": [ + 0.008669868111610413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09398847073316574, + 0.08755525201559067, + 0.11157853156328201 + ], + "orientation": [ + 0.22131526470184326, + 0.5293333530426025, + -0.7968109846115112, + 0.1895202100276947 + ], + "joints": [ + 0.03122568503022194 + ] + }, + "fine_grasp": { + "position": [ + 0.0929926186800003, + 0.08487440645694733, + 0.10929994285106659 + ], + "orientation": [ + 0.2351839691400528, + 0.5299598574638367, + -0.7900766730308533, + 0.1990225464105606 + ], + "joints": [ + 0.023263636976480484 + ] + }, + "final_grasp": { + "position": [ + 0.0929926186800003, + 0.08487440645694733, + 0.10929994285106659 + ], + "orientation": [ + 0.2351839691400528, + 0.5299598574638367, + -0.7900766730308533, + 0.1990225464105606 + ], + "joints": [ + 0.015301588922739029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0393172986805439, + 0.14828696846961975, + -0.00025801939773373306 + ], + "orientation": [ + 0.0747864842414856, + 0.01993153803050518, + -0.7061723470687866, + 0.7037971019744873 + ], + "joints": [ + 0.031688790768384933 + ] + }, + "fine_grasp": { + "position": [ + 0.0391371063888073, + 0.14440017938613892, + -0.0003268570580985397 + ], + "orientation": [ + 0.0749625638127327, + 0.021165600046515465, + -0.7065008282661438, + 0.703412652015686 + ], + "joints": [ + 0.02165786549448967 + ] + }, + "final_grasp": { + "position": [ + 0.0391371063888073, + 0.14440017938613892, + -0.0003268570580985397 + ], + "orientation": [ + 0.0749625638127327, + 0.021165600046515465, + -0.7065008282661438, + 0.703412652015686 + ], + "joints": [ + 0.011626940220594406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040278661996126175, + 0.14994987845420837, + -0.020416492596268654 + ], + "orientation": [ + 0.7460157871246338, + 0.6569641828536987, + 0.08600971102714539, + 0.06678972393274307 + ], + "joints": [ + 0.025158466771245003 + ] + }, + "fine_grasp": { + "position": [ + -0.040060874074697495, + 0.14544928073883057, + -0.019626440480351448 + ], + "orientation": [ + 0.7467855215072632, + 0.6571143865585327, + 0.08111758530139923, + 0.06270577758550644 + ], + "joints": [ + 0.0193070936948061 + ] + }, + "final_grasp": { + "position": [ + -0.040060874074697495, + 0.14544928073883057, + -0.019626440480351448 + ], + "orientation": [ + 0.7467855215072632, + 0.6571143865585327, + 0.08111758530139923, + 0.06270577758550644 + ], + "joints": [ + 0.013455720618367195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08047693222761154, + 0.03798706829547882, + -0.14607831835746765 + ], + "orientation": [ + 0.7973843812942505, + 0.041486479341983795, + -0.02298020012676716, + 0.601605236530304 + ], + "joints": [ + 0.025273509323596954 + ] + }, + "fine_grasp": { + "position": [ + 0.07889217138290405, + 0.0357089564204216, + -0.14240753650665283 + ], + "orientation": [ + 0.7960284948348999, + 0.04522508755326271, + -0.039914101362228394, + 0.6022458672523499 + ], + "joints": [ + 0.019840091466903687 + ] + }, + "final_grasp": { + "position": [ + 0.07889217138290405, + 0.0357089564204216, + -0.14240753650665283 + ], + "orientation": [ + 0.7960284948348999, + 0.04522508755326271, + -0.039914101362228394, + 0.6022458672523499 + ], + "joints": [ + 0.014406673610210419 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08131178468465805, + 0.03798135742545128, + -0.14623932540416718 + ], + "orientation": [ + 0.7939210534095764, + 0.04362873360514641, + -0.015282104723155499, + 0.6062609553337097 + ], + "joints": [ + 0.02496151812374592 + ] + }, + "fine_grasp": { + "position": [ + 0.0794837474822998, + 0.035778697580099106, + -0.14267897605895996 + ], + "orientation": [ + 0.7931145429611206, + 0.04550948739051819, + -0.033405765891075134, + 0.6064504981040955 + ], + "joints": [ + 0.019110145047307014 + ] + }, + "final_grasp": { + "position": [ + 0.0794837474822998, + 0.035778697580099106, + -0.14267897605895996 + ], + "orientation": [ + 0.7931145429611206, + 0.04550948739051819, + -0.033405765891075134, + 0.6064504981040955 + ], + "joints": [ + 0.01325877197086811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01449409406632185, + 0.01938508450984955, + -0.1587018370628357 + ], + "orientation": [ + 0.3795519173145294, + -0.07353914529085159, + 0.07084158807992935, + -0.9195182919502258 + ], + "joints": [ + 0.022396357730031013 + ] + }, + "fine_grasp": { + "position": [ + -0.014259415678679943, + 0.018849387764930725, + -0.15412381291389465 + ], + "orientation": [ + 0.3807297348976135, + -0.0700497254729271, + 0.0702451840043068, + -0.9193495512008667 + ], + "joints": [ + 0.016942040994763374 + ] + }, + "final_grasp": { + "position": [ + -0.014259415678679943, + 0.018849387764930725, + -0.15412381291389465 + ], + "orientation": [ + 0.3807297348976135, + -0.0700497254729271, + 0.0702451840043068, + -0.9193495512008667 + ], + "joints": [ + 0.011487724259495735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009779421612620354, + -0.10490912944078445, + -0.063448965549469 + ], + "orientation": [ + 0.6077282428741455, + -0.5074491500854492, + 0.427403062582016, + 0.43644940853118896 + ], + "joints": [ + 0.002418284770101309 + ] + }, + "fine_grasp": { + "position": [ + -0.009679287672042847, + -0.10207784920930862, + -0.059359218925237656 + ], + "orientation": [ + 0.6166278123855591, + -0.4956916570663452, + 0.41803354024887085, + 0.4464392364025116 + ], + "joints": [ + 0.0032332967966794968 + ] + }, + "final_grasp": { + "position": [ + -0.009679287672042847, + -0.10207784920930862, + -0.059359218925237656 + ], + "orientation": [ + 0.6166278123855591, + -0.4956916570663452, + 0.41803354024887085, + 0.4464392364025116 + ], + "joints": [ + 0.004048308823257685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00993999745696783, + -0.10484094172716141, + -0.0633687973022461 + ], + "orientation": [ + 0.6068746447563171, + -0.507040798664093, + 0.42785969376564026, + 0.4376627802848816 + ], + "joints": [ + 0.002159611787647009 + ] + }, + "fine_grasp": { + "position": [ + -0.009825482033193111, + -0.10200706869363785, + -0.05926555395126343 + ], + "orientation": [ + 0.6158766150474548, + -0.4951581656932831, + 0.4184768795967102, + 0.4476509094238281 + ], + "joints": [ + 0.0033925785683095455 + ] + }, + "final_grasp": { + "position": [ + -0.009825482033193111, + -0.10200706869363785, + -0.05926555395126343 + ], + "orientation": [ + 0.6158766150474548, + -0.4951581656932831, + 0.4184768795967102, + 0.4476509094238281 + ], + "joints": [ + 0.004625545348972082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008953976444900036, + -0.10555258393287659, + -0.06349381059408188 + ], + "orientation": [ + 0.6056368350982666, + -0.50681471824646, + 0.4289909303188324, + 0.4385312795639038 + ], + "joints": [ + 0.0022690529003739357 + ] + }, + "fine_grasp": { + "position": [ + -0.008881118148565292, + -0.10277148336172104, + -0.0593622662127018 + ], + "orientation": [ + 0.6143010258674622, + -0.4948268532752991, + 0.41995859146118164, + 0.44879332184791565 + ], + "joints": [ + 0.003481122199445963 + ] + }, + "final_grasp": { + "position": [ + -0.008881118148565292, + -0.10277148336172104, + -0.0593622662127018 + ], + "orientation": [ + 0.6143010258674622, + -0.4948268532752991, + 0.41995859146118164, + 0.44879332184791565 + ], + "joints": [ + 0.00469319149851799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009415963664650917, + -0.10519158095121384, + -0.0635446310043335 + ], + "orientation": [ + 0.6071620583534241, + -0.5060377717018127, + 0.4295266270637512, + 0.43679144978523254 + ], + "joints": [ + 0.002231055870652199 + ] + }, + "fine_grasp": { + "position": [ + -0.009348993189632893, + -0.10242224484682083, + -0.05945127084851265 + ], + "orientation": [ + 0.615403950214386, + -0.49443408846855164, + 0.4206591844558716, + 0.4470553696155548 + ], + "joints": [ + 0.003443125169724226 + ] + }, + "final_grasp": { + "position": [ + -0.009348993189632893, + -0.10242224484682083, + -0.05945127084851265 + ], + "orientation": [ + 0.615403950214386, + -0.49443408846855164, + 0.4206591844558716, + 0.4470553696155548 + ], + "joints": [ + 0.004655194468796253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026806684210896492, + 0.01626667007803917, + -0.1283033788204193 + ], + "orientation": [ + 0.992634117603302, + 0.032606035470962524, + 0.11636672168970108, + 0.008557905443012714 + ], + "joints": [ + 0.018309131264686584 + ] + }, + "fine_grasp": { + "position": [ + -0.026753347367048264, + 0.016253704205155373, + -0.12492430955171585 + ], + "orientation": [ + 0.992965579032898, + 0.033110275864601135, + 0.11334320157766342, + 0.008749036118388176 + ], + "joints": [ + 0.009532071650028229 + ] + }, + "final_grasp": { + "position": [ + -0.026753347367048264, + 0.016253704205155373, + -0.12492430955171585 + ], + "orientation": [ + 0.992965579032898, + 0.033110275864601135, + 0.11334320157766342, + 0.008749036118388176 + ], + "joints": [ + 0.000755012035369873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02739790268242359, + 0.014517046511173248, + -0.12213408946990967 + ], + "orientation": [ + 0.9947605133056641, + 0.02781642973423004, + 0.0978456661105156, + 0.01020039152354002 + ], + "joints": [ + 0.019730456173419952 + ] + }, + "fine_grasp": { + "position": [ + -0.02763669565320015, + 0.014014952816069126, + -0.12013214826583862 + ], + "orientation": [ + 0.9945481419563293, + 0.026088856160640717, + 0.10031686723232269, + 0.011401471681892872 + ], + "joints": [ + 0.009699530899524689 + ] + }, + "final_grasp": { + "position": [ + -0.02763669565320015, + 0.014014952816069126, + -0.12013214826583862 + ], + "orientation": [ + 0.9945481419563293, + 0.026088856160640717, + 0.10031686723232269, + 0.011401471681892872 + ], + "joints": [ + -0.00033139437437057495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039495326578617096, + 0.1206262931227684, + -0.05595631152391434 + ], + "orientation": [ + 0.46643829345703125, + 0.538145899772644, + -0.4143061637878418, + 0.5667316317558289 + ], + "joints": [ + 0.0034360894933342934 + ] + }, + "fine_grasp": { + "position": [ + -0.03932693600654602, + 0.11792022734880447, + -0.05160636082291603 + ], + "orientation": [ + 0.47868162393569946, + 0.5246075987815857, + -0.4040948748588562, + 0.5765050053596497 + ], + "joints": [ + 0.0034360894933342934 + ] + }, + "final_grasp": { + "position": [ + -0.03932693600654602, + 0.11792022734880447, + -0.05160636082291603 + ], + "orientation": [ + 0.47868162393569946, + 0.5246075987815857, + -0.4040948748588562, + 0.5765050053596497 + ], + "joints": [ + 0.0034360894933342934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1871871054172516, + 0.007486145012080669, + 0.002819087589159608 + ], + "orientation": [ + 0.6868269443511963, + -0.004664788953959942, + 0.726759135723114, + -0.008243618533015251 + ], + "joints": [ + 0.0159070435911417 + ] + }, + "fine_grasp": { + "position": [ + -0.18325401842594147, + 0.008115503937005997, + 0.002542203990742564 + ], + "orientation": [ + 0.6884214878082275, + -0.003011547727510333, + 0.7252401113510132, + -0.009670997969806194 + ], + "joints": [ + 0.007129983976483345 + ] + }, + "final_grasp": { + "position": [ + -0.18325401842594147, + 0.008115503937005997, + 0.002542203990742564 + ], + "orientation": [ + 0.6884214878082275, + -0.003011547727510333, + 0.7252401113510132, + -0.009670997969806194 + ], + "joints": [ + -0.0016470756381750107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18721021711826324, + 0.00805254839360714, + 0.002563152462244034 + ], + "orientation": [ + 0.6867983341217041, + -0.0028485115617513657, + 0.7267723083496094, + -0.010097767226397991 + ], + "joints": [ + 0.015931686386466026 + ] + }, + "fine_grasp": { + "position": [ + -0.1832745224237442, + 0.008642922155559063, + 0.0022463221102952957 + ], + "orientation": [ + 0.6884806752204895, + -0.0011159630957990885, + 0.7251681685447693, + -0.011145247146487236 + ], + "joints": [ + 0.007154626771807671 + ] + }, + "final_grasp": { + "position": [ + -0.1832745224237442, + 0.008642922155559063, + 0.0022463221102952957 + ], + "orientation": [ + 0.6884806752204895, + -0.0011159630957990885, + 0.7251681685447693, + -0.011145247146487236 + ], + "joints": [ + -0.0016224328428506851 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 95 + } +} \ No newline at end of file diff --git a/079_remotecontrol_1/Object.usd b/079_remotecontrol_1/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..b6a5563d54cc6aee1882b36ece3517957123e770 --- /dev/null +++ b/079_remotecontrol_1/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7afe7527b796f9cb825bd98cbb4c5d8b07923b7e0ebe8c1c8041c799d3911eca +size 370676 diff --git a/080_pillbottle_3/Annotation/dex1_1_grasp_pose.json b/080_pillbottle_3/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..6794f96f2b9e8512e42878ea65438b75484a47e8 --- /dev/null +++ b/080_pillbottle_3/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,68 @@ +{ + "type": "080_pillbottle_3", + "bottom_center": [ + 1.519918441772461e-06, + 0.0760132372379303, + -0.03625456243753433 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.03498031944036484, + 0.031918495893478394, + -0.13382403552532196 + ], + "orientation": [ + 0.2045443058013916, + 0.3202432096004486, + -0.6262083649635315, + -0.680785596370697 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.035742130130529404, + 0.03371397778391838, + -0.13360215723514557 + ], + "orientation": [ + 0.19049949944019318, + 0.32307443022727966, + -0.6333946585655212, + -0.676863431930542 + ], + "joints": [ + -0.01577536016702652 + ] + }, + "final_grasp": { + "position": [ + 0.035742130130529404, + 0.03371397778391838, + -0.13360215723514557 + ], + "orientation": [ + 0.19049949944019318, + 0.32307443022727966, + -0.6333946585655212, + -0.676863431930542 + ], + "joints": [ + -0.011550720781087875 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2040, + "num_passed": 1 + } +} \ No newline at end of file diff --git a/080_pillbottle_3/Annotation/piper_grasp_pose.json b/080_pillbottle_3/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..f71a545fb9eb3f8578e49045fc47da257b1abc1b --- /dev/null +++ b/080_pillbottle_3/Annotation/piper_grasp_pose.json @@ -0,0 +1,268 @@ +{ + "type": "080_pillbottle_3", + "bottom_center": [ + 1.519918441772461e-06, + 0.0760132372379303, + -0.03625456243753433 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.14356917142868042, + 0.051843758672475815, + -0.036359675228595734 + ], + "orientation": [ + 0.5574735403060913, + -0.4133317172527313, + -0.4546138346195221, + 0.5583066344261169 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.13945339620113373, + 0.051862988620996475, + -0.035342276096343994 + ], + "orientation": [ + 0.5582192540168762, + -0.4141533076763153, + -0.4538958966732025, + 0.5575363039970398 + ], + "joints": [ + 0.03031889721751213 + ] + }, + "final_grasp": { + "position": [ + 0.13945339620113373, + 0.051862988620996475, + -0.035342276096343994 + ], + "orientation": [ + 0.5582192540168762, + -0.4141533076763153, + -0.4538958966732025, + 0.5575363039970398 + ], + "joints": [ + 0.02563779428601265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14326415956020355, + 0.05184053257107735, + -0.03628825023770332 + ], + "orientation": [ + 0.557272732257843, + -0.4131815433502197, + -0.4547334909439087, + 0.5585207939147949 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.13919909298419952, + 0.05185927450656891, + -0.03527294099330902 + ], + "orientation": [ + 0.5580865144729614, + -0.41409361362457275, + -0.45404374599456787, + 0.5575932264328003 + ], + "joints": [ + 0.030736852437257767 + ] + }, + "final_grasp": { + "position": [ + 0.13919909298419952, + 0.05185927450656891, + -0.03527294099330902 + ], + "orientation": [ + 0.5580865144729614, + -0.41409361362457275, + -0.45404374599456787, + 0.5575932264328003 + ], + "joints": [ + 0.02647370472550392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06357021629810333, + 0.05748744681477547, + -0.1365426480770111 + ], + "orientation": [ + 0.748925507068634, + -0.12251986563205719, + 0.17983920872211456, + -0.6259051561355591 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.06185838580131531, + 0.05747726187109947, + -0.1327955275774002 + ], + "orientation": [ + 0.749322235584259, + -0.12311925739049911, + 0.1796272099018097, + -0.6253733038902283 + ], + "joints": [ + 0.029462087899446487 + ] + }, + "final_grasp": { + "position": [ + -0.06185838580131531, + 0.05747726187109947, + -0.1327955275774002 + ], + "orientation": [ + 0.749322235584259, + -0.12311925739049911, + 0.1796272099018097, + -0.6253733038902283 + ], + "joints": [ + 0.023924175649881363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029302610084414482, + 0.07384803891181946, + -0.15112373232841492 + ], + "orientation": [ + 0.7651510238647461, + 0.08594632893800735, + -0.050550349056720734, + -0.6360832452774048 + ], + "joints": [ + 0.03434007614850998 + ] + }, + "fine_grasp": { + "position": [ + 0.028787095099687576, + 0.07385646551847458, + -0.14747223258018494 + ], + "orientation": [ + 0.7655541896820068, + 0.08605452626943588, + -0.051826171576976776, + -0.635480523109436 + ], + "joints": [ + 0.026691488921642303 + ] + }, + "final_grasp": { + "position": [ + 0.028787095099687576, + 0.07385646551847458, + -0.14747223258018494 + ], + "orientation": [ + 0.7655541896820068, + 0.08605452626943588, + -0.051826171576976776, + -0.635480523109436 + ], + "joints": [ + 0.019042901694774628 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029268870130181313, + 0.07389160990715027, + -0.15119445323944092 + ], + "orientation": [ + 0.7653666138648987, + 0.08538231253623962, + -0.050390295684337616, + -0.6359124779701233 + ], + "joints": [ + 0.03434007614850998 + ] + }, + "fine_grasp": { + "position": [ + 0.028738221153616905, + 0.07389708608388901, + -0.14755046367645264 + ], + "orientation": [ + 0.7658014893531799, + 0.0853629931807518, + -0.05191459134221077, + -0.63526850938797 + ], + "joints": [ + 0.02629443258047104 + ] + }, + "final_grasp": { + "position": [ + 0.028738221153616905, + 0.07389708608388901, + -0.14755046367645264 + ], + "orientation": [ + 0.7658014893531799, + 0.0853629931807518, + -0.05191459134221077, + -0.63526850938797 + ], + "joints": [ + 0.0182487890124321 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 5 + } +} \ No newline at end of file diff --git a/080_pillbottle_3/Object.usd b/080_pillbottle_3/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..389f08415483184b4364320db79c54959e657b23 --- /dev/null +++ b/080_pillbottle_3/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23b460697e3f2c09eb764c3dae01213518ac8e4bb4914946f6bd1ea3add99e65 +size 294047 diff --git a/082_smallshovel_2/Annotation/dex1_1_grasp_pose.json b/082_smallshovel_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..b4f828d6f9e6e691a2c144ec26734bbc9e654ac1 --- /dev/null +++ b/082_smallshovel_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,1368 @@ +{ + "type": "082_smallshovel_2", + "bottom_center": [ + -4.0978193283081055e-06, + 0.025807848200201988, + -0.09489840269088745 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.11543617397546768, + 0.0363440215587616, + -0.09309999644756317 + ], + "orientation": [ + 0.18487665057182312, + 0.6952139139175415, + -0.6270122528076172, + -0.2989211678504944 + ], + "joints": [ + -0.003570995759218931 + ] + }, + "fine_grasp": { + "position": [ + 0.11559998989105225, + 0.03614199161529541, + -0.09260831773281097 + ], + "orientation": [ + 0.18303708732128143, + 0.690045177936554, + -0.6286269426345825, + -0.30848535895347595 + ], + "joints": [ + 0.002805800177156925 + ] + }, + "final_grasp": { + "position": [ + 0.11559998989105225, + 0.03614199161529541, + -0.09260831773281097 + ], + "orientation": [ + 0.18303708732128143, + 0.690045177936554, + -0.6286269426345825, + -0.30848535895347595 + ], + "joints": [ + 0.009182596579194069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11629519611597061, + 0.03672469034790993, + -0.09415031969547272 + ], + "orientation": [ + 0.18463410437107086, + 0.6983487010002136, + -0.6265333890914917, + -0.2927030622959137 + ], + "joints": [ + -0.0035258918069303036 + ] + }, + "fine_grasp": { + "position": [ + 0.11624539643526077, + 0.036213528364896774, + -0.09323060512542725 + ], + "orientation": [ + 0.18456077575683594, + 0.6921057105064392, + -0.6290914416313171, + -0.3019455075263977 + ], + "joints": [ + 0.0023195045068860054 + ] + }, + "final_grasp": { + "position": [ + 0.11624539643526077, + 0.036213528364896774, + -0.09323060512542725 + ], + "orientation": [ + 0.18456077575683594, + 0.6921057105064392, + -0.6290914416313171, + -0.3019455075263977 + ], + "joints": [ + 0.008164901286363602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13682274520397186, + 0.002318586455658078, + 0.09859492629766464 + ], + "orientation": [ + 0.1551894247531891, + -0.6891007423400879, + -0.7054468989372253, + 0.05831841751933098 + ], + "joints": [ + 0.0059075686149299145 + ] + }, + "fine_grasp": { + "position": [ + -0.1317538172006607, + 0.002027751412242651, + 0.09689594805240631 + ], + "orientation": [ + 0.14600491523742676, + -0.6937132477760315, + -0.7025192975997925, + 0.0625387504696846 + ], + "joints": [ + 0.012948617339134216 + ] + }, + "final_grasp": { + "position": [ + -0.1317538172006607, + 0.002027751412242651, + 0.09689594805240631 + ], + "orientation": [ + 0.14600491523742676, + -0.6937132477760315, + -0.7025192975997925, + 0.0625387504696846 + ], + "joints": [ + 0.01998966559767723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15673476457595825, + 0.01761876977980137, + 0.008809249848127365 + ], + "orientation": [ + 0.05155099928379059, + -0.7174708843231201, + 0.6894256472587585, + 0.08526618778705597 + ], + "joints": [ + 0.001240793615579605 + ] + }, + "fine_grasp": { + "position": [ + 0.1578187495470047, + 0.017845317721366882, + 0.009534688666462898 + ], + "orientation": [ + 0.04850216954946518, + -0.7180472612380981, + 0.6882128119468689, + 0.0917540192604065 + ], + "joints": [ + 0.007617588620632887 + ] + }, + "final_grasp": { + "position": [ + 0.1578187495470047, + 0.017845317721366882, + 0.009534688666462898 + ], + "orientation": [ + 0.04850216954946518, + -0.7180472612380981, + 0.6882128119468689, + 0.0917540192604065 + ], + "joints": [ + 0.013994383625686169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15834613144397736, + 0.017901575192809105, + 0.008654775097966194 + ], + "orientation": [ + 0.05772005394101143, + -0.7168503403663635, + 0.6902534365653992, + 0.07965093851089478 + ], + "joints": [ + 0.0003651691658888012 + ] + }, + "fine_grasp": { + "position": [ + 0.1579667031764984, + 0.018353363499045372, + 0.009503788314759731 + ], + "orientation": [ + 0.0526486374437809, + -0.7188451290130615, + 0.6875028014183044, + 0.08848529309034348 + ], + "joints": [ + 0.007273364812135696 + ] + }, + "final_grasp": { + "position": [ + 0.1579667031764984, + 0.018353363499045372, + 0.009503788314759731 + ], + "orientation": [ + 0.0526486374437809, + -0.7188451290130615, + 0.6875028014183044, + 0.08848529309034348 + ], + "joints": [ + 0.014181560836732388 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16632172465324402, + 0.02683374285697937, + 0.0010651330230757594 + ], + "orientation": [ + 0.6556089520454407, + 0.19869941473007202, + -0.08619006723165512, + 0.7233717441558838 + ], + "joints": [ + 0.0014902709517627954 + ] + }, + "fine_grasp": { + "position": [ + 0.16300147771835327, + 0.027226081117987633, + 0.001454099197871983 + ], + "orientation": [ + 0.6537567377090454, + 0.21283364295959473, + -0.09546957165002823, + 0.7198538780212402 + ], + "joints": [ + 0.007867067120969296 + ] + }, + "final_grasp": { + "position": [ + 0.16300147771835327, + 0.027226081117987633, + 0.001454099197871983 + ], + "orientation": [ + 0.6537567377090454, + 0.21283364295959473, + -0.09546957165002823, + 0.7198538780212402 + ], + "joints": [ + 0.01424386352300644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.145001620054245, + 0.004715403076261282, + 0.07417575269937515 + ], + "orientation": [ + 0.6929329633712769, + 0.024370383471250534, + 0.14416129887104034, + -0.7060224413871765 + ], + "joints": [ + 0.006977546494454145 + ] + }, + "fine_grasp": { + "position": [ + -0.150268092751503, + 0.004029941279441118, + 0.07519611716270447 + ], + "orientation": [ + 0.6985436677932739, + 0.024127887561917305, + 0.14351655542850494, + -0.7006123065948486 + ], + "joints": [ + 0.01178671419620514 + ] + }, + "final_grasp": { + "position": [ + -0.150268092751503, + 0.004029941279441118, + 0.07519611716270447 + ], + "orientation": [ + 0.6985436677932739, + 0.024127887561917305, + 0.14351655542850494, + -0.7006123065948486 + ], + "joints": [ + 0.016595881432294846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008862667717039585, + -0.12522751092910767, + 0.024534104391932487 + ], + "orientation": [ + 0.9875682592391968, + -0.14498384296894073, + -0.052912741899490356, + 0.029812730848789215 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.008705727756023407, + -0.1190887987613678, + 0.02417612634599209 + ], + "orientation": [ + 0.9884525537490845, + -0.1389717012643814, + -0.053163427859544754, + 0.02866995893418789 + ], + "joints": [ + -0.01784782111644745 + ] + }, + "final_grasp": { + "position": [ + 0.008705727756023407, + -0.1190887987613678, + 0.02417612634599209 + ], + "orientation": [ + 0.9884525537490845, + -0.1389717012643814, + -0.053163427859544754, + 0.02866995893418789 + ], + "joints": [ + -0.015695642679929733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008866535499691963, + -0.1252773553133011, + 0.024635011330246925 + ], + "orientation": [ + 0.9876434206962585, + -0.1445799171924591, + -0.05257302150130272, + 0.029886480420827866 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.008661827072501183, + -0.1191086694598198, + 0.02436142973601818 + ], + "orientation": [ + 0.98857581615448, + -0.13814659416675568, + -0.053017619997262955, + 0.02867969311773777 + ], + "joints": [ + -0.018352650105953217 + ] + }, + "final_grasp": { + "position": [ + 0.008661827072501183, + -0.1191086694598198, + 0.02436142973601818 + ], + "orientation": [ + 0.98857581615448, + -0.13814659416675568, + -0.053017619997262955, + 0.02867969311773777 + ], + "joints": [ + -0.01670530065894127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11519445478916168, + 0.023693246766924858, + -0.10679350793361664 + ], + "orientation": [ + 0.6704151630401611, + 0.20318758487701416, + 0.2123170644044876, + 0.6813074350357056 + ], + "joints": [ + -0.0057691847905516624 + ] + }, + "fine_grasp": { + "position": [ + 0.12016671150922775, + 0.02355579286813736, + -0.10912701487541199 + ], + "orientation": [ + 0.6664039492607117, + 0.19694991409778595, + 0.233108788728714, + 0.6802769303321838 + ], + "joints": [ + 0.0017235499108210206 + ] + }, + "final_grasp": { + "position": [ + 0.12016671150922775, + 0.02355579286813736, + -0.10912701487541199 + ], + "orientation": [ + 0.6664039492607117, + 0.19694991409778595, + 0.233108788728714, + 0.6802769303321838 + ], + "joints": [ + 0.00921628437936306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1341424584388733, + -0.0335586816072464, + -0.036806464195251465 + ], + "orientation": [ + 0.6875869631767273, + -0.2361426055431366, + -0.3764345049858093, + -0.5742455720901489 + ], + "joints": [ + 0.0045084478333592415 + ] + }, + "fine_grasp": { + "position": [ + -0.1334974765777588, + -0.03181460499763489, + -0.03633243218064308 + ], + "orientation": [ + 0.6828855872154236, + -0.2494015097618103, + -0.3941507637500763, + -0.5622377395629883 + ], + "joints": [ + 0.0045615872368216515 + ] + }, + "final_grasp": { + "position": [ + -0.1334974765777588, + -0.03181460499763489, + -0.03633243218064308 + ], + "orientation": [ + 0.6828855872154236, + -0.2494015097618103, + -0.3941507637500763, + -0.5622377395629883 + ], + "joints": [ + 0.004614726640284061 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030673876404762268, + -0.10928554087877274, + -0.0020895462948828936 + ], + "orientation": [ + 0.30323001742362976, + -0.05922217294573784, + -0.9453706741333008, + 0.10401208698749542 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.028978195041418076, + -0.10717469453811646, + -0.0007489552954211831 + ], + "orientation": [ + 0.31413933634757996, + -0.06317836046218872, + -0.9427462816238403, + 0.09249024838209152 + ], + "joints": [ + -0.016107968986034393 + ] + }, + "final_grasp": { + "position": [ + -0.028978195041418076, + -0.10717469453811646, + -0.0007489552954211831 + ], + "orientation": [ + 0.31413933634757996, + -0.06317836046218872, + -0.9427462816238403, + 0.09249024838209152 + ], + "joints": [ + -0.013982363045215607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.086459219455719, + -0.006566615309566259, + -0.14841407537460327 + ], + "orientation": [ + 0.45075589418411255, + 0.6006597280502319, + -0.6602845788002014, + 0.007152643520385027 + ], + "joints": [ + -0.005222468636929989 + ] + }, + "fine_grasp": { + "position": [ + 0.08645948022603989, + -0.006457480601966381, + -0.1438470482826233 + ], + "orientation": [ + 0.4563274383544922, + 0.5862283110618591, + -0.6690482497215271, + -0.02181815542280674 + ], + "joints": [ + -0.0014495312934741378 + ] + }, + "final_grasp": { + "position": [ + 0.08645948022603989, + -0.006457480601966381, + -0.1438470482826233 + ], + "orientation": [ + 0.4563274383544922, + 0.5862283110618591, + -0.6690482497215271, + -0.02181815542280674 + ], + "joints": [ + 0.0023234060499817133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004572452511638403, + -0.095989890396595, + -0.026447761803865433 + ], + "orientation": [ + 0.9902369379997253, + -0.055325284600257874, + 0.11025086045265198, + 0.0649191364645958 + ], + "joints": [ + -0.011108994483947754 + ] + }, + "fine_grasp": { + "position": [ + 0.008159284479916096, + -0.0937449038028717, + -0.02733418717980385 + ], + "orientation": [ + 0.9853559732437134, + -0.05264365300536156, + 0.14719454944133759, + 0.0680888295173645 + ], + "joints": [ + -0.013075169175863266 + ] + }, + "final_grasp": { + "position": [ + 0.008159284479916096, + -0.0937449038028717, + -0.02733418717980385 + ], + "orientation": [ + 0.9853559732437134, + -0.05264365300536156, + 0.14719454944133759, + 0.0680888295173645 + ], + "joints": [ + -0.015041343867778778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0046065435744822025, + -0.0959634855389595, + -0.026484018191695213 + ], + "orientation": [ + 0.9901659488677979, + -0.05538569763302803, + 0.11069628596305847, + 0.06519284099340439 + ], + "joints": [ + -0.011108994483947754 + ] + }, + "fine_grasp": { + "position": [ + 0.008230275474488735, + -0.09373066574335098, + -0.027364376932382584 + ], + "orientation": [ + 0.9852385520935059, + -0.05243195593357086, + 0.14791426062583923, + 0.06839103251695633 + ], + "joints": [ + -0.013075169175863266 + ] + }, + "final_grasp": { + "position": [ + 0.008230275474488735, + -0.09373066574335098, + -0.027364376932382584 + ], + "orientation": [ + 0.9852385520935059, + -0.05243195593357086, + 0.14791426062583923, + 0.06839103251695633 + ], + "joints": [ + -0.015041343867778778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007760823704302311, + -0.10555241256952286, + -0.031045762822031975 + ], + "orientation": [ + 0.9793182015419006, + -0.032188139855861664, + 0.19914326071739197, + 0.01554934587329626 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + -0.005831451620906591, + -0.10525889694690704, + -0.030461838468909264 + ], + "orientation": [ + 0.9741747975349426, + -0.018676307052373886, + 0.22353248298168182, + 0.025843577459454536 + ], + "joints": [ + -0.016112232580780983 + ] + }, + "final_grasp": { + "position": [ + -0.005831451620906591, + -0.10525889694690704, + -0.030461838468909264 + ], + "orientation": [ + 0.9741747975349426, + -0.018676307052373886, + 0.22353248298168182, + 0.025843577459454536 + ], + "joints": [ + -0.013402082026004791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007685376796871424, + -0.10554008185863495, + -0.031052982434630394 + ], + "orientation": [ + 0.9790431261062622, + -0.0316474623978138, + 0.20049306750297546, + 0.016600407660007477 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + -0.005744162946939468, + -0.1052720695734024, + -0.03048461489379406 + ], + "orientation": [ + 0.9739178419113159, + -0.018111003562808037, + 0.2245921939611435, + 0.026727735996246338 + ], + "joints": [ + -0.016112232580780983 + ] + }, + "final_grasp": { + "position": [ + -0.005744162946939468, + -0.1052720695734024, + -0.03048461489379406 + ], + "orientation": [ + 0.9739178419113159, + -0.018111003562808037, + 0.2245921939611435, + 0.026727735996246338 + ], + "joints": [ + -0.013402082026004791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005722690839320421, + -0.1044921949505806, + -0.02000265009701252 + ], + "orientation": [ + 0.16585738956928253, + 0.0326923243701458, + -0.982945442199707, + 0.07239269465208054 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.00258344947360456, + -0.10399732738733292, + -0.019761161878705025 + ], + "orientation": [ + 0.19173865020275116, + 0.046052973717451096, + -0.9781579971313477, + 0.06574399024248123 + ], + "joints": [ + -0.015523427166044712 + ] + }, + "final_grasp": { + "position": [ + 0.00258344947360456, + -0.10399732738733292, + -0.019761161878705025 + ], + "orientation": [ + 0.19173865020275116, + 0.046052973717451096, + -0.9781579971313477, + 0.06574399024248123 + ], + "joints": [ + -0.012813279405236244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002543617272749543, + -0.11185911297798157, + -0.0025046661030501127 + ], + "orientation": [ + 0.26449233293533325, + 0.05524653196334839, + -0.9577808380126953, + 0.09822140634059906 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.004486404359340668, + -0.11074523627758026, + -0.003299503121525049 + ], + "orientation": [ + 0.279000848531723, + 0.05892713740468025, + -0.953881025314331, + 0.093791663646698 + ], + "joints": [ + -0.018432367593050003 + ] + }, + "final_grasp": { + "position": [ + 0.004486404359340668, + -0.11074523627758026, + -0.003299503121525049 + ], + "orientation": [ + 0.279000848531723, + 0.05892713740468025, + -0.953881025314331, + 0.093791663646698 + ], + "joints": [ + -0.016864735633134842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0018799862591549754, + -0.10396765172481537, + -0.018126295879483223 + ], + "orientation": [ + 0.16333173215389252, + 0.04505540803074837, + -0.9834385514259338, + 0.06435336917638779 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.0015291959280148149, + -0.103382907807827, + -0.019368017092347145 + ], + "orientation": [ + 0.1893036812543869, + 0.045023731887340546, + -0.9787595868110657, + 0.06455009430646896 + ], + "joints": [ + -0.01447954960167408 + ] + }, + "final_grasp": { + "position": [ + 0.0015291959280148149, + -0.103382907807827, + -0.019368017092347145 + ], + "orientation": [ + 0.1893036812543869, + 0.045023731887340546, + -0.9787595868110657, + 0.06455009430646896 + ], + "joints": [ + -0.014346696436405182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15512602031230927, + 0.0029519423842430115, + 0.03496561944484711 + ], + "orientation": [ + 0.044058170169591904, + -0.6861727833747864, + 0.7259294986724854, + 0.01587914675474167 + ], + "joints": [ + 0.0027925835456699133 + ] + }, + "fine_grasp": { + "position": [ + 0.15509554743766785, + 0.0022431258112192154, + 0.0350288450717926 + ], + "orientation": [ + 0.03355199843645096, + -0.6844388246536255, + 0.7282245755195618, + 0.010326639749109745 + ], + "joints": [ + 0.00815972127020359 + ] + }, + "final_grasp": { + "position": [ + 0.15509554743766785, + 0.0022431258112192154, + 0.0350288450717926 + ], + "orientation": [ + 0.03355199843645096, + -0.6844388246536255, + 0.7282245755195618, + 0.010326639749109745 + ], + "joints": [ + 0.013526858761906624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15996630489826202, + 0.017435716465115547, + 0.014116634614765644 + ], + "orientation": [ + 0.009383266791701317, + -0.7207871675491333, + 0.687975287437439, + 0.08407020568847656 + ], + "joints": [ + 0.0032333696726709604 + ] + }, + "fine_grasp": { + "position": [ + 0.15766064822673798, + 0.018150994554162025, + 0.014981714077293873 + ], + "orientation": [ + 0.004795065149664879, + -0.7250495553016663, + 0.6828792095184326, + 0.08919747173786163 + ], + "joints": [ + 0.010141565464437008 + ] + }, + "final_grasp": { + "position": [ + 0.15766064822673798, + 0.018150994554162025, + 0.014981714077293873 + ], + "orientation": [ + 0.004795065149664879, + -0.7250495553016663, + 0.6828792095184326, + 0.08919747173786163 + ], + "joints": [ + 0.0170497614890337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14858421683311462, + -0.004724763333797455, + 0.05755690112709999 + ], + "orientation": [ + 0.7301623821258545, + -0.10216083377599716, + 0.1903311014175415, + -0.6482284069061279 + ], + "joints": [ + -0.0012070401571691036 + ] + }, + "fine_grasp": { + "position": [ + -0.1467488408088684, + -0.00512673007324338, + 0.05691021308302879 + ], + "orientation": [ + 0.7298303246498108, + -0.10170867294073105, + 0.18452952802181244, + -0.6503475308418274 + ], + "joints": [ + 0.005674585700035095 + ] + }, + "final_grasp": { + "position": [ + -0.1467488408088684, + -0.00512673007324338, + 0.05691021308302879 + ], + "orientation": [ + 0.7298303246498108, + -0.10170867294073105, + 0.18452952802181244, + -0.6503475308418274 + ], + "joints": [ + 0.012556212022900581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1488126665353775, + -0.005010988097637892, + 0.05745011940598488 + ], + "orientation": [ + 0.7309014201164246, + -0.1001613587141037, + 0.19047911465168, + -0.6476640105247498 + ], + "joints": [ + -0.0013161299284547567 + ] + }, + "fine_grasp": { + "position": [ + -0.1467866152524948, + -0.005294774193316698, + 0.05659673735499382 + ], + "orientation": [ + 0.7302372455596924, + -0.09999386966228485, + 0.18512128293514252, + -0.6499883532524109 + ], + "joints": [ + 0.005592065863311291 + ] + }, + "final_grasp": { + "position": [ + -0.1467866152524948, + -0.005294774193316698, + 0.05659673735499382 + ], + "orientation": [ + 0.7302372455596924, + -0.09999386966228485, + 0.18512128293514252, + -0.6499883532524109 + ], + "joints": [ + 0.012500261887907982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1375081092119217, + 0.006687458138912916, + -0.06563864648342133 + ], + "orientation": [ + 0.7188491225242615, + 0.15183843672275543, + -0.16379645466804504, + -0.6583098769187927 + ], + "joints": [ + -0.005224787630140781 + ] + }, + "fine_grasp": { + "position": [ + -0.13694310188293457, + 0.005532534793019295, + -0.06439165771007538 + ], + "orientation": [ + 0.7169410586357117, + 0.1536095142364502, + -0.1695864349603653, + -0.6585135459899902 + ], + "joints": [ + 0.0017099777469411492 + ] + }, + "final_grasp": { + "position": [ + -0.13694310188293457, + 0.005532534793019295, + -0.06439165771007538 + ], + "orientation": [ + 0.7169410586357117, + 0.1536095142364502, + -0.1695864349603653, + -0.6585135459899902 + ], + "joints": [ + 0.008644742891192436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1378907710313797, + 0.006911353673785925, + -0.06545950472354889 + ], + "orientation": [ + 0.7184978723526001, + 0.16077867150306702, + -0.16132968664169312, + -0.6571785807609558 + ], + "joints": [ + -0.0049185967072844505 + ] + }, + "fine_grasp": { + "position": [ + -0.13786357641220093, + 0.005904119461774826, + -0.0643860250711441 + ], + "orientation": [ + 0.7153908610343933, + 0.15924674272537231, + -0.17133301496505737, + -0.6584081649780273 + ], + "joints": [ + 0.0015113388653844595 + ] + }, + "final_grasp": { + "position": [ + -0.13786357641220093, + 0.005904119461774826, + -0.0643860250711441 + ], + "orientation": [ + 0.7153908610343933, + 0.15924674272537231, + -0.17133301496505737, + -0.6584081649780273 + ], + "joints": [ + 0.007941273972392082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12567883729934692, + 0.012489411048591137, + -0.07770583778619766 + ], + "orientation": [ + 0.1452523022890091, + 0.6650516390800476, + 0.7079329490661621, + 0.18825283646583557 + ], + "joints": [ + -0.004907989874482155 + ] + }, + "fine_grasp": { + "position": [ + -0.12823741137981415, + 0.011270697228610516, + -0.07870741933584213 + ], + "orientation": [ + 0.14620797336101532, + 0.6628667712211609, + 0.7096433639526367, + 0.18877826631069183 + ], + "joints": [ + 0.0009639762574806809 + ] + }, + "final_grasp": { + "position": [ + -0.12823741137981415, + 0.011270697228610516, + -0.07870741933584213 + ], + "orientation": [ + 0.14620797336101532, + 0.6628667712211609, + 0.7096433639526367, + 0.18877826631069183 + ], + "joints": [ + 0.006835942156612873 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2034, + "num_passed": 27 + } +} \ No newline at end of file diff --git a/082_smallshovel_2/Annotation/piper_grasp_pose.json b/082_smallshovel_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..9f5e93f0be3a58d294f7b28511b642ffd11b930e --- /dev/null +++ b/082_smallshovel_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,6018 @@ +{ + "type": "082_smallshovel_2", + "bottom_center": [ + -4.0978193283081055e-06, + 0.025807848200201988, + -0.09489840269088745 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.1458284705877304, + 0.019932812079787254, + 0.04106021672487259 + ], + "orientation": [ + 0.5877659916877747, + 0.033025551587343216, + -0.8083555102348328, + 0.0013335857074707747 + ], + "joints": [ + 0.02350439503788948 + ] + }, + "fine_grasp": { + "position": [ + 0.14208804070949554, + 0.019167901948094368, + 0.04031673073768616 + ], + "orientation": [ + 0.5797719359397888, + 0.009390982799232006, + -0.8146375417709351, + 0.011916575953364372 + ], + "joints": [ + 0.014727335423231125 + ] + }, + "final_grasp": { + "position": [ + 0.14208804070949554, + 0.019167901948094368, + 0.04031673073768616 + ], + "orientation": [ + 0.5797719359397888, + 0.009390982799232006, + -0.8146375417709351, + 0.011916575953364372 + ], + "joints": [ + 0.005950275808572769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09194335341453552, + 0.005103327799588442, + 0.16320890188217163 + ], + "orientation": [ + 0.010681116953492165, + -0.9612694382667542, + -0.03511475399136543, + 0.27315542101860046 + ], + "joints": [ + 0.01480776071548462 + ] + }, + "fine_grasp": { + "position": [ + 0.08866683393716812, + 0.003671207930892706, + 0.16388262808322906 + ], + "orientation": [ + 0.009598769247531891, + -0.9663954377174377, + -0.007055914960801601, + 0.25678351521492004 + ], + "joints": [ + 0.0056127458810806274 + ] + }, + "final_grasp": { + "position": [ + 0.08866683393716812, + 0.003671207930892706, + 0.16388262808322906 + ], + "orientation": [ + 0.009598769247531891, + -0.9663954377174377, + -0.007055914960801601, + 0.25678351521492004 + ], + "joints": [ + -0.0035822689533233643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1589520126581192, + 0.01983058452606201, + 0.006734706927090883 + ], + "orientation": [ + 0.034461308270692825, + -0.6980466246604919, + -0.07283652573823929, + 0.7115039825439453 + ], + "joints": [ + 0.023112820461392403 + ] + }, + "fine_grasp": { + "position": [ + 0.15487390756607056, + 0.019560974091291428, + 0.006508705671876669 + ], + "orientation": [ + 0.03651506453752518, + -0.7013020515441895, + -0.06902938336133957, + 0.7085739374160767 + ], + "joints": [ + 0.014335760846734047 + ] + }, + "final_grasp": { + "position": [ + 0.15487390756607056, + 0.019560974091291428, + 0.006508705671876669 + ], + "orientation": [ + 0.03651506453752518, + -0.7013020515441895, + -0.06902938336133957, + 0.7085739374160767 + ], + "joints": [ + 0.005558701232075691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15615291893482208, + 0.017177466303110123, + -0.038789939135313034 + ], + "orientation": [ + 0.7971985340118408, + 0.0747268870472908, + -0.5919044017791748, + -0.09241002053022385 + ], + "joints": [ + 0.02524912916123867 + ] + }, + "fine_grasp": { + "position": [ + 0.1522856503725052, + 0.017011579126119614, + -0.03790644556283951 + ], + "orientation": [ + 0.7957410216331482, + 0.0732404887676239, + -0.5939242243766785, + -0.09319869428873062 + ], + "joints": [ + 0.01605411432683468 + ] + }, + "final_grasp": { + "position": [ + 0.1522856503725052, + 0.017011579126119614, + -0.03790644556283951 + ], + "orientation": [ + 0.7957410216331482, + 0.0732404887676239, + -0.5939242243766785, + -0.09319869428873062 + ], + "joints": [ + 0.006859099492430687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12233302742242813, + 0.0640668123960495, + -0.0918697938323021 + ], + "orientation": [ + 0.8371462821960449, + 0.16698868572711945, + 0.5160987973213196, + 0.07030423730611801 + ], + "joints": [ + 0.011327063664793968 + ] + }, + "fine_grasp": { + "position": [ + -0.11852817982435226, + 0.06280817091464996, + -0.09022895991802216 + ], + "orientation": [ + 0.8362458944320679, + 0.17141149938106537, + 0.5157896876335144, + 0.07260717451572418 + ], + "joints": [ + 0.004221824929118156 + ] + }, + "final_grasp": { + "position": [ + -0.11852817982435226, + 0.06280817091464996, + -0.09022895991802216 + ], + "orientation": [ + 0.8362458944320679, + 0.17141149938106537, + 0.5157896876335144, + 0.07260717451572418 + ], + "joints": [ + -0.0028834138065576553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06501860916614532, + 0.14307355880737305, + 0.04043024405837059 + ], + "orientation": [ + 0.372937947511673, + 0.5972834229469299, + 0.5309015512466431, + -0.4715012311935425 + ], + "joints": [ + 0.010672425851225853 + ] + }, + "fine_grasp": { + "position": [ + 0.06421750038862228, + 0.13908831775188446, + 0.039092835038900375 + ], + "orientation": [ + 0.3722939193248749, + 0.5986118316650391, + 0.5314729809761047, + -0.46967822313308716 + ], + "joints": [ + 0.003546290099620819 + ] + }, + "final_grasp": { + "position": [ + 0.06421750038862228, + 0.13908831775188446, + 0.039092835038900375 + ], + "orientation": [ + 0.3722939193248749, + 0.5986118316650391, + 0.5314729809761047, + -0.46967822313308716 + ], + "joints": [ + -0.0035798456519842148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002550602424889803, + -0.006697777658700943, + 0.18780481815338135 + ], + "orientation": [ + 0.008331415243446827, + 0.016660362482070923, + 0.9989674687385559, + 0.041437506675720215 + ], + "joints": [ + 0.012850224040448666 + ] + }, + "fine_grasp": { + "position": [ + 0.002479477319866419, + -0.006307259202003479, + 0.18606464564800262 + ], + "orientation": [ + 0.008655850775539875, + 0.019550928846001625, + 0.9989194869995117, + 0.04126473888754845 + ], + "joints": [ + 0.003634312190115452 + ] + }, + "final_grasp": { + "position": [ + 0.002479477319866419, + -0.006307259202003479, + 0.18606464564800262 + ], + "orientation": [ + 0.008655850775539875, + 0.019550928846001625, + 0.9989194869995117, + 0.04126473888754845 + ], + "joints": [ + -0.005581599660217762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15599359571933746, + -0.007100445218384266, + 0.01809094287455082 + ], + "orientation": [ + 0.11780960112810135, + -0.721502959728241, + -0.004962624981999397, + 0.6822973489761353 + ], + "joints": [ + 0.022884907200932503 + ] + }, + "fine_grasp": { + "position": [ + 0.15203790366649628, + -0.006450196262449026, + 0.0177334975451231 + ], + "orientation": [ + 0.1184825599193573, + -0.7234039902687073, + -0.003766166279092431, + 0.6801722049713135 + ], + "joints": [ + 0.014107847586274147 + ] + }, + "final_grasp": { + "position": [ + 0.15203790366649628, + -0.006450196262449026, + 0.0177334975451231 + ], + "orientation": [ + 0.1184825599193573, + -0.7234039902687073, + -0.003766166279092431, + 0.6801722049713135 + ], + "joints": [ + 0.005330787971615791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002002467168495059, + -0.008672154508531094, + 0.18885952234268188 + ], + "orientation": [ + 0.013374151661992073, + 0.020246300846338272, + 0.9983050227165222, + 0.05289867892861366 + ], + "joints": [ + 0.013693995773792267 + ] + }, + "fine_grasp": { + "position": [ + 0.0018076029373332858, + -0.00875941477715969, + 0.18707120418548584 + ], + "orientation": [ + 0.014394037425518036, + 0.024219581857323647, + 0.998120129108429, + 0.054428983479738235 + ], + "joints": [ + 0.0036839684471488 + ] + }, + "final_grasp": { + "position": [ + 0.0018076029373332858, + -0.00875941477715969, + 0.18707120418548584 + ], + "orientation": [ + 0.014394037425518036, + 0.024219581857323647, + 0.998120129108429, + 0.054428983479738235 + ], + "joints": [ + -0.006326058879494667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06805991381406784, + -0.012737326323986053, + 0.18405966460704803 + ], + "orientation": [ + 0.06622875481843948, + -0.9842239022254944, + -0.003810826689004898, + -0.1640198975801468 + ], + "joints": [ + 0.01249538455158472 + ] + }, + "fine_grasp": { + "position": [ + -0.06814674288034439, + -0.011367409490048885, + 0.18138054013252258 + ], + "orientation": [ + 0.06057886406779289, + -0.9837774038314819, + -0.014986954629421234, + -0.16818904876708984 + ], + "joints": [ + 0.00330037041567266 + ] + }, + "final_grasp": { + "position": [ + -0.06814674288034439, + -0.011367409490048885, + 0.18138054013252258 + ], + "orientation": [ + 0.06057886406779289, + -0.9837774038314819, + -0.014986954629421234, + -0.16818904876708984 + ], + "joints": [ + -0.005894643720239401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10609781742095947, + 0.005936980247497559, + 0.15654069185256958 + ], + "orientation": [ + 0.3263086676597595, + 0.09486477077007294, + -0.9401803016662598, + -0.024170704185962677 + ], + "joints": [ + 0.013779218308627605 + ] + }, + "fine_grasp": { + "position": [ + 0.10377965122461319, + 0.004576043225824833, + 0.15698114037513733 + ], + "orientation": [ + 0.3169797658920288, + 0.08598464727401733, + -0.9441296458244324, + -0.027384355664253235 + ], + "joints": [ + 0.0037482930347323418 + ] + }, + "final_grasp": { + "position": [ + 0.10377965122461319, + 0.004576043225824833, + 0.15698114037513733 + ], + "orientation": [ + 0.3169797658920288, + 0.08598464727401733, + -0.9441296458244324, + -0.027384355664253235 + ], + "joints": [ + -0.006282632239162922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10427507013082504, + 0.0647570863366127, + -0.10547015070915222 + ], + "orientation": [ + 0.8468672037124634, + 0.14903633296489716, + -0.5088649988174438, + -0.04075084999203682 + ], + "joints": [ + 0.01366631779819727 + ] + }, + "fine_grasp": { + "position": [ + 0.10035698115825653, + 0.06386104226112366, + -0.10479242354631424 + ], + "orientation": [ + 0.8437051773071289, + 0.15484216809272766, + -0.5123130679130554, + -0.041483454406261444 + ], + "joints": [ + 0.003698086366057396 + ] + }, + "final_grasp": { + "position": [ + 0.10035698115825653, + 0.06386104226112366, + -0.10479242354631424 + ], + "orientation": [ + 0.8437051773071289, + 0.15484216809272766, + -0.5123130679130554, + -0.041483454406261444 + ], + "joints": [ + -0.006270145066082478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10744860768318176, + 0.005679671186953783, + 0.1570972204208374 + ], + "orientation": [ + 0.3338160812854767, + 0.09472639113664627, + -0.9375014901161194, + -0.026167070493102074 + ], + "joints": [ + 0.013083677738904953 + ] + }, + "fine_grasp": { + "position": [ + 0.10480675101280212, + 0.004792716819792986, + 0.1565505862236023 + ], + "orientation": [ + 0.32461416721343994, + 0.08731681108474731, + -0.9414110779762268, + -0.027322830632328987 + ], + "joints": [ + 0.0034916058648377657 + ] + }, + "final_grasp": { + "position": [ + 0.10480675101280212, + 0.004792716819792986, + 0.1565505862236023 + ], + "orientation": [ + 0.32461416721343994, + 0.08731681108474731, + -0.9414110779762268, + -0.027322830632328987 + ], + "joints": [ + -0.006100466009229422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0760611817240715, + 0.13266946375370026, + 0.050931233912706375 + ], + "orientation": [ + 0.3468148112297058, + 0.6252888441085815, + -0.5007301568984985, + 0.48785507678985596 + ], + "joints": [ + 0.011841599829494953 + ] + }, + "fine_grasp": { + "position": [ + -0.07505999505519867, + 0.12886056303977966, + 0.04964170604944229 + ], + "orientation": [ + 0.3471694886684418, + 0.6257461309432983, + -0.5012751221656799, + 0.4864547550678253 + ], + "joints": [ + 0.003461598651483655 + ] + }, + "final_grasp": { + "position": [ + -0.07505999505519867, + 0.12886056303977966, + 0.04964170604944229 + ], + "orientation": [ + 0.3471694886684418, + 0.6257461309432983, + -0.5012751221656799, + 0.4864547550678253 + ], + "joints": [ + -0.004918402526527643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044175971299409866, + 0.00026983622228726745, + 0.18953441083431244 + ], + "orientation": [ + 0.01042691059410572, + -0.9980304837226868, + -0.0271505955606699, + 0.05558214336633682 + ], + "joints": [ + 0.012581147253513336 + ] + }, + "fine_grasp": { + "position": [ + 0.04335502162575722, + -0.00014591430954169482, + 0.18592052161693573 + ], + "orientation": [ + 0.015634628012776375, + -0.9988875985145569, + 0.0011248374357819557, + 0.04447444900870323 + ], + "joints": [ + 0.0037831903900951147 + ] + }, + "final_grasp": { + "position": [ + 0.04335502162575722, + -0.00014591430954169482, + 0.18592052161693573 + ], + "orientation": [ + 0.015634628012776375, + -0.9988875985145569, + 0.0011248374357819557, + 0.04447444900870323 + ], + "joints": [ + -0.005014766473323107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0743633583188057, + -0.021564098075032234, + 0.20100513100624084 + ], + "orientation": [ + 0.08853762596845627, + -0.9916914701461792, + 0.028738291934132576, + 0.08878842741250992 + ], + "joints": [ + 0.0093886973336339 + ] + }, + "fine_grasp": { + "position": [ + 0.07173532247543335, + -0.02055000141263008, + 0.1976672261953354 + ], + "orientation": [ + 0.0947185754776001, + -0.9870589375495911, + 0.024792801588773727, + 0.12699811160564423 + ], + "joints": [ + 0.0034955297596752644 + ] + }, + "final_grasp": { + "position": [ + 0.07173532247543335, + -0.02055000141263008, + 0.1976672261953354 + ], + "orientation": [ + 0.0947185754776001, + -0.9870589375495911, + 0.024792801588773727, + 0.12699811160564423 + ], + "joints": [ + -0.002397637814283371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13731501996517181, + 0.004665679298341274, + -0.0981421172618866 + ], + "orientation": [ + 0.8811408281326294, + -0.060823190957307816, + -0.46877148747444153, + -0.012034712359309196 + ], + "joints": [ + 0.02487381175160408 + ] + }, + "fine_grasp": { + "position": [ + 0.13435176014900208, + 0.004972721915692091, + -0.09503865242004395 + ], + "orientation": [ + 0.883714497089386, + -0.05991213768720627, + -0.4640278220176697, + -0.011723271571099758 + ], + "joints": [ + 0.017350617796182632 + ] + }, + "final_grasp": { + "position": [ + 0.13435176014900208, + 0.004972721915692091, + -0.09503865242004395 + ], + "orientation": [ + 0.883714497089386, + -0.05991213768720627, + -0.4640278220176697, + -0.011723271571099758 + ], + "joints": [ + 0.009827423840761185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10272601991891861, + 0.012493083253502846, + 0.15729200839996338 + ], + "orientation": [ + 0.2992771863937378, + 0.1719253659248352, + -0.938298761844635, + -0.0216886717826128 + ], + "joints": [ + 0.014939554035663605 + ] + }, + "fine_grasp": { + "position": [ + 0.09920728951692581, + 0.011287014000117779, + 0.1575840711593628 + ], + "orientation": [ + 0.2870347201824188, + 0.16553762555122375, + -0.9432281851768494, + -0.022998088970780373 + ], + "joints": [ + 0.005326583981513977 + ] + }, + "final_grasp": { + "position": [ + 0.09920728951692581, + 0.011287014000117779, + 0.1575840711593628 + ], + "orientation": [ + 0.2870347201824188, + 0.16553762555122375, + -0.9432281851768494, + -0.022998088970780373 + ], + "joints": [ + -0.004286386072635651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10414359718561172, + 0.011161655187606812, + 0.15787556767463684 + ], + "orientation": [ + 0.30509862303733826, + 0.17882543802261353, + -0.9350733757019043, + -0.02395969070494175 + ], + "joints": [ + 0.0139837097376585 + ] + }, + "fine_grasp": { + "position": [ + 0.1012832447886467, + 0.00964248925447464, + 0.15759237110614777 + ], + "orientation": [ + 0.29664987325668335, + 0.1733051836490631, + -0.9386864900588989, + -0.028840456157922745 + ], + "joints": [ + 0.004370739683508873 + ] + }, + "final_grasp": { + "position": [ + 0.1012832447886467, + 0.00964248925447464, + 0.15759237110614777 + ], + "orientation": [ + 0.29664987325668335, + 0.1733051836490631, + -0.9386864900588989, + -0.028840456157922745 + ], + "joints": [ + -0.005242230370640755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06222843378782272, + -0.0356312170624733, + 0.20527741312980652 + ], + "orientation": [ + 0.1481904834508896, + -0.983915388584137, + -0.040972933173179626, + -0.09094640612602234 + ], + "joints": [ + 0.010975489392876625 + ] + }, + "fine_grasp": { + "position": [ + -0.06153079867362976, + -0.034405190497636795, + 0.2013314962387085 + ], + "orientation": [ + 0.149423286318779, + -0.983272135257721, + -0.04422799497842789, + -0.09430021047592163 + ], + "joints": [ + 0.0034105011727660894 + ] + }, + "final_grasp": { + "position": [ + -0.06153079867362976, + -0.034405190497636795, + 0.2013314962387085 + ], + "orientation": [ + 0.149423286318779, + -0.983272135257721, + -0.04422799497842789, + -0.09430021047592163 + ], + "joints": [ + -0.004154487047344446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10629966109991074, + 0.005542622413486242, + 0.1561427116394043 + ], + "orientation": [ + 0.3330036699771881, + 0.09139387309551239, + -0.9382025599479675, + -0.023060612380504608 + ], + "joints": [ + 0.013467852026224136 + ] + }, + "fine_grasp": { + "position": [ + 0.10483565181493759, + 0.005330574698746204, + 0.15626494586467743 + ], + "orientation": [ + 0.33979907631874084, + 0.09583615511655807, + -0.9352496862411499, + -0.025690801441669464 + ], + "joints": [ + 0.004272837191820145 + ] + }, + "final_grasp": { + "position": [ + 0.10483565181493759, + 0.005330574698746204, + 0.15626494586467743 + ], + "orientation": [ + 0.33979907631874084, + 0.09583615511655807, + -0.9352496862411499, + -0.025690801441669464 + ], + "joints": [ + -0.004922177642583847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10313545167446136, + 0.0070870257914066315, + 0.15575550496578217 + ], + "orientation": [ + 0.3408483564853668, + 0.0690801739692688, + -0.9375597238540649, + -0.005664544180035591 + ], + "joints": [ + 0.014004385098814964 + ] + }, + "fine_grasp": { + "position": [ + 0.10183892399072647, + 0.00698233675211668, + 0.15688152611255646 + ], + "orientation": [ + 0.33897149562835693, + 0.0746830403804779, + -0.9377903938293457, + -0.008358973078429699 + ], + "joints": [ + 0.004391415044665337 + ] + }, + "final_grasp": { + "position": [ + 0.10183892399072647, + 0.00698233675211668, + 0.15688152611255646 + ], + "orientation": [ + 0.33897149562835693, + 0.0746830403804779, + -0.9377903938293457, + -0.008358973078429699 + ], + "joints": [ + -0.005221555009484291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1304691880941391, + 0.005033663474023342, + -0.07139971107244492 + ], + "orientation": [ + 0.11421120911836624, + -0.4473923444747925, + 0.002209537895396352, + -0.8870123624801636 + ], + "joints": [ + 0.026860268786549568 + ] + }, + "fine_grasp": { + "position": [ + -0.12684665620326996, + 0.005633230321109295, + -0.06965499371290207 + ], + "orientation": [ + 0.11490236967802048, + -0.4519558548927307, + 0.0006324970745481551, + -0.8846089243888855 + ], + "joints": [ + 0.018083209171891212 + ] + }, + "final_grasp": { + "position": [ + -0.12684665620326996, + 0.005633230321109295, + -0.06965499371290207 + ], + "orientation": [ + 0.11490236967802048, + -0.4519558548927307, + 0.0006324970745481551, + -0.8846089243888855 + ], + "joints": [ + 0.009306149557232857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04262510687112808, + 0.000594382407143712, + 0.18867357075214386 + ], + "orientation": [ + 0.009737001731991768, + -0.9970642328262329, + -0.022587424144148827, + 0.07251131534576416 + ], + "joints": [ + 0.012335146777331829 + ] + }, + "fine_grasp": { + "position": [ + 0.044498786330223083, + 0.0005311852437444031, + 0.18615230917930603 + ], + "orientation": [ + 0.012843232601881027, + -0.9948511719703674, + -0.057886846363544464, + 0.08219022303819656 + ], + "joints": [ + 0.0035371901467442513 + ] + }, + "final_grasp": { + "position": [ + 0.044498786330223083, + 0.0005311852437444031, + 0.18615230917930603 + ], + "orientation": [ + 0.012843232601881027, + -0.9948511719703674, + -0.057886846363544464, + 0.08219022303819656 + ], + "joints": [ + -0.005260766483843327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1113944724202156, + 0.03796255588531494, + -0.11222298443317413 + ], + "orientation": [ + 0.1750945895910263, + -0.5062001943588257, + -0.09945601969957352, + 0.8385770916938782 + ], + "joints": [ + 0.014751968905329704 + ] + }, + "fine_grasp": { + "position": [ + 0.10752449929714203, + 0.038488052785396576, + -0.11124882102012634 + ], + "orientation": [ + 0.1764770895242691, + -0.511425256729126, + -0.09900081902742386, + 0.8351640105247498 + ], + "joints": [ + 0.005556954070925713 + ] + }, + "final_grasp": { + "position": [ + 0.10752449929714203, + 0.038488052785396576, + -0.11124882102012634 + ], + "orientation": [ + 0.1764770895242691, + -0.511425256729126, + -0.09900081902742386, + 0.8351640105247498 + ], + "joints": [ + -0.003638060763478279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1134214773774147, + 0.07302296906709671, + -0.10187488049268723 + ], + "orientation": [ + 0.08400870114564896, + 0.5742577314376831, + -0.10243911296129227, + 0.807884156703949 + ], + "joints": [ + 0.014902137219905853 + ] + }, + "fine_grasp": { + "position": [ + -0.10959915071725845, + 0.07216951996088028, + -0.10138312727212906 + ], + "orientation": [ + 0.08287801593542099, + 0.579166054725647, + -0.1008778065443039, + 0.8046872019767761 + ], + "joints": [ + 0.005289167165756226 + ] + }, + "final_grasp": { + "position": [ + -0.10959915071725845, + 0.07216951996088028, + -0.10138312727212906 + ], + "orientation": [ + 0.08287801593542099, + 0.579166054725647, + -0.1008778065443039, + 0.8046872019767761 + ], + "joints": [ + -0.004323802888393402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15033377707004547, + -0.006689402740448713, + 0.0664687380194664 + ], + "orientation": [ + 0.7056150436401367, + 0.001983103109523654, + -0.7046614289283752, + -0.07453680038452148 + ], + "joints": [ + 0.016237862408161163 + ] + }, + "fine_grasp": { + "position": [ + 0.1464318484067917, + -0.006123470142483711, + 0.06622081249952316 + ], + "orientation": [ + 0.701923131942749, + -0.002312428317964077, + -0.7083385586738586, + -0.07453233748674393 + ], + "joints": [ + 0.006624892354011536 + ] + }, + "final_grasp": { + "position": [ + 0.1464318484067917, + -0.006123470142483711, + 0.06622081249952316 + ], + "orientation": [ + 0.701923131942749, + -0.002312428317964077, + -0.7083385586738586, + -0.07453233748674393 + ], + "joints": [ + -0.002988077700138092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12566456198692322, + 0.0869247168302536, + -0.044638462364673615 + ], + "orientation": [ + 0.08487755060195923, + -0.5483605265617371, + 0.3444536030292511, + -0.7572636604309082 + ], + "joints": [ + 0.01499949861317873 + ] + }, + "fine_grasp": { + "position": [ + -0.12311577796936035, + 0.08471143245697021, + -0.04336274415254593 + ], + "orientation": [ + 0.08033134043216705, + -0.5436974167823792, + 0.34937989711761475, + -0.7588634490966797 + ], + "joints": [ + 0.004153560847043991 + ] + }, + "final_grasp": { + "position": [ + -0.12311577796936035, + 0.08471143245697021, + -0.04336274415254593 + ], + "orientation": [ + 0.08033134043216705, + -0.5436974167823792, + 0.34937989711761475, + -0.7588634490966797 + ], + "joints": [ + -0.006692376919090748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07655947655439377, + 0.1403334140777588, + -0.005982775706797838 + ], + "orientation": [ + 0.6242529153823853, + 0.4657265543937683, + 0.5011674165725708, + -0.37714484333992004 + ], + "joints": [ + 0.011071030050516129 + ] + }, + "fine_grasp": { + "position": [ + -0.07508109509944916, + 0.13635486364364624, + -0.006465065758675337 + ], + "orientation": [ + 0.6232159733772278, + 0.4640485346317291, + 0.5034009218215942, + -0.3779529929161072 + ], + "joints": [ + 0.0035269390791654587 + ] + }, + "final_grasp": { + "position": [ + -0.07508109509944916, + 0.13635486364364624, + -0.006465065758675337 + ], + "orientation": [ + 0.6232159733772278, + 0.4640485346317291, + 0.5034009218215942, + -0.3779529929161072 + ], + "joints": [ + -0.004017151892185211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10563567280769348, + 0.04088582843542099, + -0.10163089632987976 + ], + "orientation": [ + 0.8471125960350037, + 0.09644724428653717, + 0.5109739899635315, + 0.10956139862537384 + ], + "joints": [ + 0.016588691622018814 + ] + }, + "fine_grasp": { + "position": [ + -0.10167397558689117, + 0.04048924148082733, + -0.10075494647026062 + ], + "orientation": [ + 0.8479865193367004, + 0.10020792484283447, + 0.5094636678695679, + 0.10641437023878098 + ], + "joints": [ + 0.007811632007360458 + ] + }, + "final_grasp": { + "position": [ + -0.10167397558689117, + 0.04048924148082733, + -0.10075494647026062 + ], + "orientation": [ + 0.8479865193367004, + 0.10020792484283447, + 0.5094636678695679, + 0.10641437023878098 + ], + "joints": [ + -0.0009654276072978973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09526058286428452, + 0.007476761471480131, + 0.17467914521694183 + ], + "orientation": [ + 0.006708140484988689, + -0.9505336284637451, + -0.07669390738010406, + 0.3009300231933594 + ], + "joints": [ + 0.014089874923229218 + ] + }, + "fine_grasp": { + "position": [ + 0.09407541155815125, + 0.006900417618453503, + 0.17116780579090118 + ], + "orientation": [ + 0.011119180358946323, + -0.9476948976516724, + -0.09472422301769257, + 0.304595023393631 + ], + "joints": [ + 0.003640994895249605 + ] + }, + "final_grasp": { + "position": [ + 0.09407541155815125, + 0.006900417618453503, + 0.17116780579090118 + ], + "orientation": [ + 0.011119180358946323, + -0.9476948976516724, + -0.09472422301769257, + 0.304595023393631 + ], + "joints": [ + -0.006807885132730007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13149313628673553, + -0.014085107482969761, + -0.0801190659403801 + ], + "orientation": [ + 0.04477408900856972, + 0.5095714330673218, + 0.1730516403913498, + 0.8416563868522644 + ], + "joints": [ + 0.027936384081840515 + ] + }, + "fine_grasp": { + "position": [ + -0.12889613211154938, + -0.012768353335559368, + -0.07737430185079575 + ], + "orientation": [ + 0.0427255854010582, + 0.503203272819519, + 0.17488835752010345, + 0.845207154750824 + ], + "joints": [ + 0.019535481929779053 + ] + }, + "final_grasp": { + "position": [ + -0.12889613211154938, + -0.012768353335559368, + -0.07737430185079575 + ], + "orientation": [ + 0.0427255854010582, + 0.503203272819519, + 0.17488835752010345, + 0.845207154750824 + ], + "joints": [ + 0.01113457977771759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11609075963497162, + 0.022418884560465813, + -0.08595798909664154 + ], + "orientation": [ + 0.17267268896102905, + -0.5439014434814453, + 0.06596511602401733, + -0.818537712097168 + ], + "joints": [ + 0.017543282359838486 + ] + }, + "fine_grasp": { + "position": [ + -0.1130157932639122, + 0.021349282935261726, + -0.08288373798131943 + ], + "orientation": [ + 0.1696980893611908, + -0.531890869140625, + 0.07264439016580582, + -0.8264487385749817 + ], + "joints": [ + 0.011273954063653946 + ] + }, + "final_grasp": { + "position": [ + -0.1130157932639122, + 0.021349282935261726, + -0.08288373798131943 + ], + "orientation": [ + 0.1696980893611908, + -0.531890869140625, + 0.07264439016580582, + -0.8264487385749817 + ], + "joints": [ + 0.005004625767469406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15217551589012146, + -0.005061781033873558, + 0.09930314123630524 + ], + "orientation": [ + 0.02092762663960457, + -0.7274324893951416, + -0.024286018684506416, + -0.6854298114776611 + ], + "joints": [ + 0.012345331721007824 + ] + }, + "fine_grasp": { + "position": [ + -0.14816080033779144, + -0.004698555450886488, + 0.09861285984516144 + ], + "orientation": [ + 0.019434792920947075, + -0.731852114200592, + -0.02799869142472744, + -0.680610716342926 + ], + "joints": [ + 0.0035682725720107555 + ] + }, + "final_grasp": { + "position": [ + -0.14816080033779144, + -0.004698555450886488, + 0.09861285984516144 + ], + "orientation": [ + 0.019434792920947075, + -0.731852114200592, + -0.02799869142472744, + -0.680610716342926 + ], + "joints": [ + -0.005208786576986313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055380724370479584, + 0.00657582376152277, + 0.18987779319286346 + ], + "orientation": [ + 0.13659898936748505, + 0.048404667526483536, + -0.9893854260444641, + 0.010687197558581829 + ], + "joints": [ + 0.01325958501547575 + ] + }, + "fine_grasp": { + "position": [ + 0.056603141129016876, + 0.005379061214625835, + 0.18687346577644348 + ], + "orientation": [ + 0.14276866614818573, + 0.07318475097417831, + -0.9870458841323853, + 0.0012231555301696062 + ], + "joints": [ + 0.0036466154269874096 + ] + }, + "final_grasp": { + "position": [ + 0.056603141129016876, + 0.005379061214625835, + 0.18687346577644348 + ], + "orientation": [ + 0.14276866614818573, + 0.07318475097417831, + -0.9870458841323853, + 0.0012231555301696062 + ], + "joints": [ + -0.005966354161500931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09364742785692215, + 0.04232751950621605, + 0.17659273743629456 + ], + "orientation": [ + 0.2743574380874634, + 0.29496535658836365, + -0.9120486378669739, + 0.07675138115882874 + ], + "joints": [ + 0.015151631087064743 + ] + }, + "fine_grasp": { + "position": [ + 0.09139607101678848, + 0.04063252732157707, + 0.17416144907474518 + ], + "orientation": [ + 0.28792476654052734, + 0.29161909222602844, + -0.9084653258323669, + 0.08214806020259857 + ], + "joints": [ + 0.005099807865917683 + ] + }, + "final_grasp": { + "position": [ + 0.09139607101678848, + 0.04063252732157707, + 0.17416144907474518 + ], + "orientation": [ + 0.28792476654052734, + 0.29161909222602844, + -0.9084653258323669, + 0.08214806020259857 + ], + "joints": [ + -0.004952015355229378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05664297565817833, + 0.02878638356924057, + -0.18725977838039398 + ], + "orientation": [ + 0.42865970730781555, + -0.2272242307662964, + 0.04951438307762146, + -0.8730225563049316 + ], + "joints": [ + 0.016982832923531532 + ] + }, + "fine_grasp": { + "position": [ + -0.0541556291282177, + 0.0299356859177351, + -0.18439120054244995 + ], + "orientation": [ + 0.428677499294281, + -0.2339034378528595, + 0.04824073985219002, + -0.8713195323944092 + ], + "joints": [ + 0.006554850377142429 + ] + }, + "final_grasp": { + "position": [ + -0.0541556291282177, + 0.0299356859177351, + -0.18439120054244995 + ], + "orientation": [ + 0.428677499294281, + -0.2339034378528595, + 0.04824073985219002, + -0.8713195323944092 + ], + "joints": [ + -0.0038731321692466736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1082567498087883, + 0.05308130756020546, + -0.11829418689012527 + ], + "orientation": [ + 0.04610491171479225, + 0.5354660749435425, + -0.029530847445130348, + 0.8427801728248596 + ], + "joints": [ + 0.014635459519922733 + ] + }, + "fine_grasp": { + "position": [ + -0.10431409627199173, + 0.052738726139068604, + -0.1173916608095169 + ], + "orientation": [ + 0.047018252313137054, + 0.5388954877853394, + -0.027150191366672516, + 0.8406211733818054 + ], + "joints": [ + 0.005858399905264378 + ] + }, + "final_grasp": { + "position": [ + -0.10431409627199173, + 0.052738726139068604, + -0.1173916608095169 + ], + "orientation": [ + 0.047018252313137054, + 0.5388954877853394, + -0.027150191366672516, + 0.8406211733818054 + ], + "joints": [ + -0.002918659709393978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13142819702625275, + 0.06479590386152267, + 0.06858323514461517 + ], + "orientation": [ + 0.09450321644544601, + 0.7538201212882996, + 0.30200350284576416, + -0.5758630037307739 + ], + "joints": [ + 0.016578402370214462 + ] + }, + "fine_grasp": { + "position": [ + 0.12844358384609222, + 0.06285527348518372, + 0.06816285103559494 + ], + "orientation": [ + 0.08859194815158844, + 0.7581579089164734, + 0.3018505871295929, + -0.5711692571640015 + ], + "joints": [ + 0.006129521876573563 + ] + }, + "final_grasp": { + "position": [ + 0.12844358384609222, + 0.06285527348518372, + 0.06816285103559494 + ], + "orientation": [ + 0.08859194815158844, + 0.7581579089164734, + 0.3018505871295929, + -0.5711692571640015 + ], + "joints": [ + -0.004319358617067337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10763569921255112, + 0.05340218544006348, + -0.11914804577827454 + ], + "orientation": [ + 0.04913315922021866, + 0.5436102747917175, + -0.025801507756114006, + 0.8375011086463928 + ], + "joints": [ + 0.014541768468916416 + ] + }, + "fine_grasp": { + "position": [ + -0.10365992784500122, + 0.05319790914654732, + -0.11819209158420563 + ], + "orientation": [ + 0.05147569254040718, + 0.5456989407539368, + -0.02239486761391163, + 0.8360989093780518 + ], + "joints": [ + 0.0057647088542580605 + ] + }, + "final_grasp": { + "position": [ + -0.10365992784500122, + 0.05319790914654732, + -0.11819209158420563 + ], + "orientation": [ + 0.05147569254040718, + 0.5456989407539368, + -0.02239486761391163, + 0.8360989093780518 + ], + "joints": [ + -0.0030123507604002953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10791841149330139, + 0.0531349740922451, + -0.11852726340293884 + ], + "orientation": [ + 0.04664672538638115, + 0.5379709601402283, + -0.029126018285751343, + 0.841167688369751 + ], + "joints": [ + 0.01484617218375206 + ] + }, + "fine_grasp": { + "position": [ + -0.10397969186306, + 0.052803777158260345, + -0.11760394275188446 + ], + "orientation": [ + 0.04773907735943794, + 0.5411164164543152, + -0.026419831439852715, + 0.8391757607460022 + ], + "joints": [ + 0.006069112569093704 + ] + }, + "final_grasp": { + "position": [ + -0.10397969186306, + 0.052803777158260345, + -0.11760394275188446 + ], + "orientation": [ + 0.04773907735943794, + 0.5411164164543152, + -0.026419831439852715, + 0.8391757607460022 + ], + "joints": [ + -0.0027079470455646515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005715338978916407, + 0.011707068420946598, + 0.2072543501853943 + ], + "orientation": [ + 0.036859385669231415, + 0.996208667755127, + 0.062383074313402176, + 0.048147063702344894 + ], + "joints": [ + 0.013751698657870293 + ] + }, + "fine_grasp": { + "position": [ + 0.006018750835210085, + 0.011922245845198631, + 0.20351947844028473 + ], + "orientation": [ + 0.03813103586435318, + 0.9951589703559875, + 0.07767125964164734, + 0.0466049425303936 + ], + "joints": [ + 0.004138728603720665 + ] + }, + "final_grasp": { + "position": [ + 0.006018750835210085, + 0.011922245845198631, + 0.20351947844028473 + ], + "orientation": [ + 0.03813103586435318, + 0.9951589703559875, + 0.07767125964164734, + 0.0466049425303936 + ], + "joints": [ + -0.005474241450428963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10788390785455704, + 0.05265216529369354, + -0.11761267483234406 + ], + "orientation": [ + 0.04759735241532326, + 0.5306804776191711, + -0.027878466993570328, + 0.8457750082015991 + ], + "joints": [ + 0.014586717821657658 + ] + }, + "fine_grasp": { + "position": [ + -0.10398830473423004, + 0.052312277257442474, + -0.11683199554681778 + ], + "orientation": [ + 0.04882273077964783, + 0.5350006222724915, + -0.025279246270656586, + 0.8430609703063965 + ], + "joints": [ + 0.00497374776750803 + ] + }, + "final_grasp": { + "position": [ + -0.10398830473423004, + 0.052312277257442474, + -0.11683199554681778 + ], + "orientation": [ + 0.04882273077964783, + 0.5350006222724915, + -0.025279246270656586, + 0.8430609703063965 + ], + "joints": [ + -0.004639222286641598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11321473866701126, + 0.09732447564601898, + -0.0476127490401268 + ], + "orientation": [ + 0.7476181983947754, + 0.46028363704681396, + 0.4506895840167999, + 0.16150827705860138 + ], + "joints": [ + 0.01729954592883587 + ] + }, + "fine_grasp": { + "position": [ + -0.11005056649446487, + 0.09477383643388748, + -0.046748947352170944 + ], + "orientation": [ + 0.7324589490890503, + 0.47382429242134094, + 0.453087717294693, + 0.18359190225601196 + ], + "joints": [ + 0.00975545309484005 + ] + }, + "final_grasp": { + "position": [ + -0.11005056649446487, + 0.09477383643388748, + -0.046748947352170944 + ], + "orientation": [ + 0.7324589490890503, + 0.47382429242134094, + 0.453087717294693, + 0.18359190225601196 + ], + "joints": [ + 0.0022113602608442307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11383844166994095, + 0.08161915093660355, + 0.056487809866666794 + ], + "orientation": [ + 0.5357566475868225, + 0.29930394887924194, + -0.7616524696350098, + 0.20800814032554626 + ], + "joints": [ + 0.017096461728215218 + ] + }, + "fine_grasp": { + "position": [ + 0.11086919903755188, + 0.07920093834400177, + 0.05524144694209099 + ], + "orientation": [ + 0.5330769419670105, + 0.2919095754623413, + -0.7650565505027771, + 0.21285255253314972 + ], + "joints": [ + 0.007901446893811226 + ] + }, + "final_grasp": { + "position": [ + 0.11086919903755188, + 0.07920093834400177, + 0.05524144694209099 + ], + "orientation": [ + 0.5330769419670105, + 0.2919095754623413, + -0.7650565505027771, + 0.21285255253314972 + ], + "joints": [ + -0.0012935679405927658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06402496993541718, + 0.03995989263057709, + -0.173061802983284 + ], + "orientation": [ + 0.9601052403450012, + 0.0017629441572353244, + 0.2757166028022766, + 0.04663769155740738 + ], + "joints": [ + 0.015859462320804596 + ] + }, + "fine_grasp": { + "position": [ + -0.061022158712148666, + 0.04048220068216324, + -0.17110611498355865 + ], + "orientation": [ + 0.9586685299873352, + -0.0004833911661989987, + 0.280886173248291, + 0.04535727947950363 + ], + "joints": [ + 0.005849434994161129 + ] + }, + "final_grasp": { + "position": [ + -0.061022158712148666, + 0.04048220068216324, + -0.17110611498355865 + ], + "orientation": [ + 0.9586685299873352, + -0.0004833911661989987, + 0.280886173248291, + 0.04535727947950363 + ], + "joints": [ + -0.004160592332482338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0639297366142273, + 0.040183790028095245, + -0.17200754582881927 + ], + "orientation": [ + 0.9588576555252075, + 0.005110249388962984, + 0.27862679958343506, + 0.05415564775466919 + ], + "joints": [ + 0.01594199612736702 + ] + }, + "fine_grasp": { + "position": [ + -0.06112680211663246, + 0.04079031944274902, + -0.1701832264661789 + ], + "orientation": [ + 0.9576135873794556, + 0.003173788543790579, + 0.2830584645271301, + 0.05333094298839569 + ], + "joints": [ + 0.005931968800723553 + ] + }, + "final_grasp": { + "position": [ + -0.06112680211663246, + 0.04079031944274902, + -0.1701832264661789 + ], + "orientation": [ + 0.9576135873794556, + 0.003173788543790579, + 0.2830584645271301, + 0.05333094298839569 + ], + "joints": [ + -0.004078058525919914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13379879295825958, + 0.009004173800349236, + 0.12512865662574768 + ], + "orientation": [ + 0.5097044706344604, + -0.020055795088410378, + -0.8593996167182922, + 0.03509015962481499 + ], + "joints": [ + 0.014610924758017063 + ] + }, + "fine_grasp": { + "position": [ + 0.13040709495544434, + 0.009387044236063957, + 0.12577836215496063 + ], + "orientation": [ + 0.49718815088272095, + -0.03686046972870827, + -0.8658036589622498, + 0.042768947780132294 + ], + "joints": [ + 0.006230922415852547 + ] + }, + "final_grasp": { + "position": [ + 0.13040709495544434, + 0.009387044236063957, + 0.12577836215496063 + ], + "orientation": [ + 0.49718815088272095, + -0.03686046972870827, + -0.8658036589622498, + 0.042768947780132294 + ], + "joints": [ + -0.0021490799263119698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09233736246824265, + 0.05705225095152855, + 0.14749562740325928 + ], + "orientation": [ + 0.33039021492004395, + 0.26827704906463623, + 0.8897359371185303, + -0.1650446355342865 + ], + "joints": [ + 0.015538196079432964 + ] + }, + "fine_grasp": { + "position": [ + -0.08992952108383179, + 0.05596667528152466, + 0.1468220353126526 + ], + "orientation": [ + 0.34194958209991455, + 0.2689441442489624, + 0.8842648267745972, + -0.16975091397762299 + ], + "joints": [ + 0.007158193737268448 + ] + }, + "final_grasp": { + "position": [ + -0.08992952108383179, + 0.05596667528152466, + 0.1468220353126526 + ], + "orientation": [ + 0.34194958209991455, + 0.2689441442489624, + 0.8842648267745972, + -0.16975091397762299 + ], + "joints": [ + -0.0012218086048960686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02908232994377613, + 0.10767951607704163, + -0.1641971915960312 + ], + "orientation": [ + 0.3532330393791199, + 0.24349649250507355, + -0.2284599393606186, + 0.8739233016967773 + ], + "joints": [ + 0.017179438844323158 + ] + }, + "fine_grasp": { + "position": [ + -0.02723177894949913, + 0.10465993732213974, + -0.16342350840568542 + ], + "orientation": [ + 0.35047730803489685, + 0.23709101974964142, + -0.2276991456747055, + 0.8769872784614563 + ], + "joints": [ + 0.007566468790173531 + ] + }, + "final_grasp": { + "position": [ + -0.02723177894949913, + 0.10465993732213974, + -0.16342350840568542 + ], + "orientation": [ + 0.35047730803489685, + 0.23709101974964142, + -0.2276991456747055, + 0.8769872784614563 + ], + "joints": [ + -0.002046501263976097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012554274871945381, + -0.04863472655415535, + -0.12895876169204712 + ], + "orientation": [ + 0.7405075430870056, + -0.31943708658218384, + -0.2998530864715576, + -0.5096044540405273 + ], + "joints": [ + 0.017429307103157043 + ] + }, + "fine_grasp": { + "position": [ + 0.011143706738948822, + -0.04481613636016846, + -0.12724286317825317 + ], + "orientation": [ + 0.7465305924415588, + -0.3179283142089844, + -0.2985861599445343, + -0.5024539828300476 + ], + "joints": [ + 0.010742023587226868 + ] + }, + "final_grasp": { + "position": [ + 0.011143706738948822, + -0.04481613636016846, + -0.12724286317825317 + ], + "orientation": [ + 0.7465305924415588, + -0.3179283142089844, + -0.2985861599445343, + -0.5024539828300476 + ], + "joints": [ + 0.004054740071296692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04817064851522446, + -0.0493895560503006, + -0.1351078897714615 + ], + "orientation": [ + 0.7556297779083252, + -0.22583064436912537, + -0.39156150817871094, + -0.4740292727947235 + ], + "joints": [ + 0.016844797879457474 + ] + }, + "fine_grasp": { + "position": [ + 0.04634789004921913, + -0.04615413397550583, + -0.13372427225112915 + ], + "orientation": [ + 0.7529743313789368, + -0.22866366803646088, + -0.3974577486515045, + -0.4719851016998291 + ], + "joints": [ + 0.0064377132803201675 + ] + }, + "final_grasp": { + "position": [ + 0.04634789004921913, + -0.04615413397550583, + -0.13372427225112915 + ], + "orientation": [ + 0.7529743313789368, + -0.22866366803646088, + -0.3974577486515045, + -0.4719851016998291 + ], + "joints": [ + -0.003969371318817139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03235442191362381, + 0.14156611263751984, + -0.09029122442007065 + ], + "orientation": [ + 0.4237028956413269, + 0.4570581912994385, + 0.384379506111145, + -0.6810477375984192 + ], + "joints": [ + 0.016784634441137314 + ] + }, + "fine_grasp": { + "position": [ + 0.030115531757473946, + 0.13836748898029327, + -0.09089866280555725 + ], + "orientation": [ + 0.41564351320266724, + 0.44788897037506104, + 0.3813849091529846, + -0.6936724781990051 + ], + "joints": [ + 0.009679395705461502 + ] + }, + "final_grasp": { + "position": [ + 0.030115531757473946, + 0.13836748898029327, + -0.09089866280555725 + ], + "orientation": [ + 0.41564351320266724, + 0.44788897037506104, + 0.3813849091529846, + -0.6936724781990051 + ], + "joints": [ + 0.0025741569697856903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09284370392560959, + 0.11642428487539291, + -0.0069177886471152306 + ], + "orientation": [ + 0.062413569539785385, + -0.3918924331665039, + -0.6317335963249207, + 0.665911078453064 + ], + "joints": [ + 0.014947398565709591 + ] + }, + "fine_grasp": { + "position": [ + 0.09485956281423569, + 0.1134742945432663, + -0.005227902438491583 + ], + "orientation": [ + 0.07713883370161057, + -0.3949778974056244, + -0.6315302848815918, + 0.6627304553985596 + ], + "joints": [ + 0.006170338951051235 + ] + }, + "final_grasp": { + "position": [ + 0.09485956281423569, + 0.1134742945432663, + -0.005227902438491583 + ], + "orientation": [ + 0.07713883370161057, + -0.3949778974056244, + -0.6315302848815918, + 0.6627304553985596 + ], + "joints": [ + -0.0026067206636071205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11244712024927139, + 0.08028261363506317, + 0.055926937609910965 + ], + "orientation": [ + 0.5387498140335083, + 0.303902268409729, + -0.7589997053146362, + 0.20325212180614471 + ], + "joints": [ + 0.017254110425710678 + ] + }, + "fine_grasp": { + "position": [ + 0.10933595895767212, + 0.07835594564676285, + 0.055082570761442184 + ], + "orientation": [ + 0.5324588418006897, + 0.2909848392009735, + -0.7654995918273926, + 0.214069664478302 + ], + "joints": [ + 0.008059095591306686 + ] + }, + "final_grasp": { + "position": [ + 0.10933595895767212, + 0.07835594564676285, + 0.055082570761442184 + ], + "orientation": [ + 0.5324588418006897, + 0.2909848392009735, + -0.7654995918273926, + 0.214069664478302 + ], + "joints": [ + -0.0011359192430973053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1136968582868576, + 0.081056609749794, + 0.05625394731760025 + ], + "orientation": [ + 0.5352646112442017, + 0.2962428629398346, + -0.7629084587097168, + 0.2090512067079544 + ], + "joints": [ + 0.016621870920062065 + ] + }, + "fine_grasp": { + "position": [ + 0.1106853112578392, + 0.07859012484550476, + 0.05516253039240837 + ], + "orientation": [ + 0.530394434928894, + 0.282062828540802, + -0.7689800262451172, + 0.21861375868320465 + ], + "joints": [ + 0.00784481130540371 + ] + }, + "final_grasp": { + "position": [ + 0.1106853112578392, + 0.07859012484550476, + 0.05516253039240837 + ], + "orientation": [ + 0.530394434928894, + 0.282062828540802, + -0.7689800262451172, + 0.21861375868320465 + ], + "joints": [ + -0.0009322483092546463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020331356674432755, + 0.00045146216871216893, + -0.1917884200811386 + ], + "orientation": [ + 0.7713145613670349, + -0.08816787600517273, + 0.17403995990753174, + 0.6058139204978943 + ], + "joints": [ + 0.016557227820158005 + ] + }, + "fine_grasp": { + "position": [ + -0.019528158009052277, + 0.0026656894478946924, + -0.18866190314292908 + ], + "orientation": [ + 0.7701857089996338, + -0.09236861020326614, + 0.178508460521698, + 0.6053236126899719 + ], + "joints": [ + 0.0061501432210206985 + ] + }, + "final_grasp": { + "position": [ + -0.019528158009052277, + 0.0026656894478946924, + -0.18866190314292908 + ], + "orientation": [ + 0.7701857089996338, + -0.09236861020326614, + 0.178508460521698, + 0.6053236126899719 + ], + "joints": [ + -0.004256941378116608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06134457513689995, + -0.007145958952605724, + -0.16336211562156677 + ], + "orientation": [ + 0.5372146368026733, + -0.40583720803260803, + -0.041629958897829056, + -0.7382165193557739 + ], + "joints": [ + 0.015353361144661903 + ] + }, + "fine_grasp": { + "position": [ + -0.05888504907488823, + -0.005178383085876703, + -0.16081690788269043 + ], + "orientation": [ + 0.5428125262260437, + -0.39886483550071716, + -0.03684264048933983, + -0.738176167011261 + ], + "joints": [ + 0.006994256749749184 + ] + }, + "final_grasp": { + "position": [ + -0.05888504907488823, + -0.005178383085876703, + -0.16081690788269043 + ], + "orientation": [ + 0.5428125262260437, + -0.39886483550071716, + -0.03684264048933983, + -0.738176167011261 + ], + "joints": [ + -0.001364847645163536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03298894315958023, + 0.14171314239501953, + -0.09003201127052307 + ], + "orientation": [ + 0.41718459129333496, + 0.45368802547454834, + 0.3741980195045471, + -0.6928924322128296 + ], + "joints": [ + 0.018899179995059967 + ] + }, + "fine_grasp": { + "position": [ + 0.031301725655794144, + 0.1379576027393341, + -0.09082004427909851 + ], + "orientation": [ + 0.40780311822891235, + 0.4466090500354767, + 0.37643104791641235, + -0.7018094658851624 + ], + "joints": [ + 0.010958030819892883 + ] + }, + "final_grasp": { + "position": [ + 0.031301725655794144, + 0.1379576027393341, + -0.09082004427909851 + ], + "orientation": [ + 0.40780311822891235, + 0.4466090500354767, + 0.37643104791641235, + -0.7018094658851624 + ], + "joints": [ + 0.0030168816447257996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04419555515050888, + 0.14764733612537384, + -0.053690843284130096 + ], + "orientation": [ + 0.6050679087638855, + 0.41640129685401917, + -0.5634223222732544, + 0.37823018431663513 + ], + "joints": [ + 0.016031308099627495 + ] + }, + "fine_grasp": { + "position": [ + 0.043032076209783554, + 0.14343607425689697, + -0.05298648402094841 + ], + "orientation": [ + 0.5933442711830139, + 0.411185085773468, + -0.5744255185127258, + 0.3858817517757416 + ], + "joints": [ + 0.009344024583697319 + ] + }, + "final_grasp": { + "position": [ + 0.043032076209783554, + 0.14343607425689697, + -0.05298648402094841 + ], + "orientation": [ + 0.5933442711830139, + 0.411185085773468, + -0.5744255185127258, + 0.3858817517757416 + ], + "joints": [ + 0.0026567410677671432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04156375676393509, + -0.0690217837691307, + -0.11820805817842484 + ], + "orientation": [ + 0.4943411648273468, + -0.4681123197078705, + 0.2948361337184906, + 0.6704992055892944 + ], + "joints": [ + 0.017559075728058815 + ] + }, + "fine_grasp": { + "position": [ + 0.04052257165312767, + -0.06539273262023926, + -0.11707573384046555 + ], + "orientation": [ + 0.49548792839050293, + -0.4682246446609497, + 0.29898592829704285, + 0.667730987071991 + ], + "joints": [ + 0.007946105673909187 + ] + }, + "final_grasp": { + "position": [ + 0.04052257165312767, + -0.06539273262023926, + -0.11707573384046555 + ], + "orientation": [ + 0.49548792839050293, + -0.4682246446609497, + 0.29898592829704285, + 0.667730987071991 + ], + "joints": [ + -0.0016668643802404404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04147421941161156, + -0.06851160526275635, + -0.11804711818695068 + ], + "orientation": [ + 0.49408674240112305, + -0.4679868221282959, + 0.29570668935775757, + 0.6703911423683167 + ], + "joints": [ + 0.01777966320514679 + ] + }, + "fine_grasp": { + "position": [ + 0.04038523882627487, + -0.06490067392587662, + -0.11690227687358856 + ], + "orientation": [ + 0.4950411915779114, + -0.46823105216026306, + 0.2994453012943268, + 0.6678521633148193 + ], + "joints": [ + 0.00776963634416461 + ] + }, + "final_grasp": { + "position": [ + 0.04038523882627487, + -0.06490067392587662, + -0.11690227687358856 + ], + "orientation": [ + 0.4950411915779114, + -0.46823105216026306, + 0.2994453012943268, + 0.6678521633148193 + ], + "joints": [ + -0.0022403905168175697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04174601659178734, + -0.06846561282873154, + -0.1181008517742157 + ], + "orientation": [ + 0.494805246591568, + -0.46766746044158936, + 0.29671570658683777, + 0.6696377992630005 + ], + "joints": [ + 0.017120344564318657 + ] + }, + "fine_grasp": { + "position": [ + 0.04060850292444229, + -0.06483630836009979, + -0.11695891618728638 + ], + "orientation": [ + 0.49548646807670593, + -0.46819865703582764, + 0.3001883327960968, + 0.6672106981277466 + ], + "joints": [ + 0.007507374510169029 + ] + }, + "final_grasp": { + "position": [ + 0.04060850292444229, + -0.06483630836009979, + -0.11695891618728638 + ], + "orientation": [ + 0.49548646807670593, + -0.46819865703582764, + 0.3001883327960968, + 0.6672106981277466 + ], + "joints": [ + -0.0021055955439805984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04496771842241287, + 0.14746475219726562, + -0.054692864418029785 + ], + "orientation": [ + 0.6042787432670593, + 0.4261859059333801, + -0.5613881945610046, + 0.37155866622924805 + ], + "joints": [ + 0.018588878214359283 + ] + }, + "fine_grasp": { + "position": [ + 0.04370446503162384, + 0.14347268640995026, + -0.054079245775938034 + ], + "orientation": [ + 0.6018415689468384, + 0.420257568359375, + -0.5661092400550842, + 0.3750876188278198 + ], + "joints": [ + 0.0106477290391922 + ] + }, + "final_grasp": { + "position": [ + 0.04370446503162384, + 0.14347268640995026, + -0.054079245775938034 + ], + "orientation": [ + 0.6018415689468384, + 0.420257568359375, + -0.5661092400550842, + 0.3750876188278198 + ], + "joints": [ + 0.002706579864025116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022471101954579353, + -0.06945700198411942, + -0.10569273680448532 + ], + "orientation": [ + 0.693214476108551, + -0.35686197876930237, + 0.3890407383441925, + 0.49066320061683655 + ], + "joints": [ + 0.020021600648760796 + ] + }, + "fine_grasp": { + "position": [ + -0.020616086199879646, + -0.06614907085895538, + -0.10320083796977997 + ], + "orientation": [ + 0.6995734572410583, + -0.35390040278434753, + 0.3883918523788452, + 0.4842553734779358 + ], + "joints": [ + 0.013752272352576256 + ] + }, + "final_grasp": { + "position": [ + -0.020616086199879646, + -0.06614907085895538, + -0.10320083796977997 + ], + "orientation": [ + 0.6995734572410583, + -0.35390040278434753, + 0.3883918523788452, + 0.4842553734779358 + ], + "joints": [ + 0.007482944056391716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022225717082619667, + -0.06897909939289093, + -0.1051325872540474 + ], + "orientation": [ + 0.6918359398841858, + -0.3538307249546051, + 0.3907121419906616, + 0.49346816539764404 + ], + "joints": [ + 0.01991998217999935 + ] + }, + "fine_grasp": { + "position": [ + -0.020430000498890877, + -0.06568910926580429, + -0.10263539850711823 + ], + "orientation": [ + 0.6981145739555359, + -0.35111385583877563, + 0.38978615403175354, + 0.48725950717926025 + ], + "joints": [ + 0.013650653883814812 + ] + }, + "final_grasp": { + "position": [ + -0.020430000498890877, + -0.06568910926580429, + -0.10263539850711823 + ], + "orientation": [ + 0.6981145739555359, + -0.35111385583877563, + 0.38978615403175354, + 0.48725950717926025 + ], + "joints": [ + 0.007381325587630272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008655795827507973, + 0.1452358216047287, + -0.14199496805667877 + ], + "orientation": [ + 0.6032427549362183, + 0.29886677861213684, + 0.37310919165611267, + -0.6384091377258301 + ], + "joints": [ + 0.016762427985668182 + ] + }, + "fine_grasp": { + "position": [ + -0.008263607509434223, + 0.14160330593585968, + -0.14056597650051117 + ], + "orientation": [ + 0.6024873852729797, + 0.29882627725601196, + 0.376211941242218, + -0.6373196840286255 + ], + "joints": [ + 0.006731502711772919 + ] + }, + "final_grasp": { + "position": [ + -0.008263607509434223, + 0.14160330593585968, + -0.14056597650051117 + ], + "orientation": [ + 0.6024873852729797, + 0.29882627725601196, + 0.376211941242218, + -0.6373196840286255 + ], + "joints": [ + -0.003299422562122345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03269636258482933, + -0.0348341166973114, + -0.1509670913219452 + ], + "orientation": [ + 0.7089794874191284, + -0.19983045756816864, + -0.36762359738349915, + -0.5676871538162231 + ], + "joints": [ + 0.014569491147994995 + ] + }, + "fine_grasp": { + "position": [ + 0.03133344277739525, + -0.03140503540635109, + -0.14958487451076508 + ], + "orientation": [ + 0.7070738077163696, + -0.19478090107440948, + -0.36523088812828064, + -0.5733354687690735 + ], + "joints": [ + 0.005792431533336639 + ] + }, + "final_grasp": { + "position": [ + 0.03133344277739525, + -0.03140503540635109, + -0.14958487451076508 + ], + "orientation": [ + 0.7070738077163696, + -0.19478090107440948, + -0.36523088812828064, + -0.5733354687690735 + ], + "joints": [ + -0.0029846280813217163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043766167014837265, + -0.0014823636738583446, + -0.1658148467540741 + ], + "orientation": [ + 0.8658505082130432, + -0.08479007333517075, + 0.25502467155456543, + 0.4219904839992523 + ], + "joints": [ + 0.016044482588768005 + ] + }, + "fine_grasp": { + "position": [ + -0.04151732847094536, + 0.0013622724218294024, + -0.16433969140052795 + ], + "orientation": [ + 0.8646292686462402, + -0.08777894824743271, + 0.25519201159477234, + 0.4237784445285797 + ], + "joints": [ + 0.006849467754364014 + ] + }, + "final_grasp": { + "position": [ + -0.04151732847094536, + 0.0013622724218294024, + -0.16433969140052795 + ], + "orientation": [ + 0.8646292686462402, + -0.08777894824743271, + 0.25519201159477234, + 0.4237784445285797 + ], + "joints": [ + -0.002345547080039978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024680474773049355, + 0.030389586463570595, + -0.18687306344509125 + ], + "orientation": [ + 0.8650482892990112, + 0.008220674470067024, + -0.10906604677438736, + -0.4896206259727478 + ], + "joints": [ + 0.01708127185702324 + ] + }, + "fine_grasp": { + "position": [ + 0.022607965394854546, + 0.03212786465883255, + -0.18428905308246613 + ], + "orientation": [ + 0.8653758764266968, + 0.007173581514507532, + -0.11274725943803787, + -0.48822250962257385 + ], + "joints": [ + 0.0070503465831279755 + ] + }, + "final_grasp": { + "position": [ + 0.022607965394854546, + 0.03212786465883255, + -0.18428905308246613 + ], + "orientation": [ + 0.8653758764266968, + 0.007173581514507532, + -0.11274725943803787, + -0.48822250962257385 + ], + "joints": [ + -0.002980578690767288 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024743467569351196, + 0.03164644539356232, + -0.18304172158241272 + ], + "orientation": [ + 0.860515296459198, + 0.00796572770923376, + -0.1264708787202835, + -0.4934116005897522 + ], + "joints": [ + 0.01653869077563286 + ] + }, + "fine_grasp": { + "position": [ + 0.02356824092566967, + 0.033045947551727295, + -0.18148644268512726 + ], + "orientation": [ + 0.8624060153961182, + 0.010501381941139698, + -0.12098801136016846, + -0.49143409729003906 + ], + "joints": [ + 0.007343675941228867 + ] + }, + "final_grasp": { + "position": [ + 0.02356824092566967, + 0.033045947551727295, + -0.18148644268512726 + ], + "orientation": [ + 0.8624060153961182, + 0.010501381941139698, + -0.12098801136016846, + -0.49143409729003906 + ], + "joints": [ + -0.0018513388931751251 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007818257436156273, + 0.13987477123737335, + -0.1627655178308487 + ], + "orientation": [ + 0.7415968179702759, + 0.3245316445827484, + -0.19308139383792877, + 0.5544662475585938 + ], + "joints": [ + 0.015294475480914116 + ] + }, + "fine_grasp": { + "position": [ + -0.00794484093785286, + 0.13624677062034607, + -0.161099374294281 + ], + "orientation": [ + 0.7393616437911987, + 0.3308722674846649, + -0.20029059052467346, + 0.5511364340782166 + ], + "joints": [ + 0.0069144731387495995 + ] + }, + "final_grasp": { + "position": [ + -0.00794484093785286, + 0.13624677062034607, + -0.161099374294281 + ], + "orientation": [ + 0.7393616437911987, + 0.3308722674846649, + -0.20029059052467346, + 0.5511364340782166 + ], + "joints": [ + -0.001465529203414917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008055361919105053, + 0.14032742381095886, + -0.16322709619998932 + ], + "orientation": [ + 0.7415598034858704, + 0.3250987231731415, + -0.19294025003910065, + 0.5542327165603638 + ], + "joints": [ + 0.01541367918252945 + ] + }, + "fine_grasp": { + "position": [ + -0.0081091970205307, + 0.13668608665466309, + -0.16162754595279694 + ], + "orientation": [ + 0.7391043901443481, + 0.33211007714271545, + -0.1997944563627243, + 0.550917387008667 + ], + "joints": [ + 0.006636619567871094 + ] + }, + "final_grasp": { + "position": [ + -0.0081091970205307, + 0.13668608665466309, + -0.16162754595279694 + ], + "orientation": [ + 0.7391043901443481, + 0.33211007714271545, + -0.1997944563627243, + 0.550917387008667 + ], + "joints": [ + -0.002140440046787262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10667305439710617, + 0.11920274794101715, + -0.0028873439878225327 + ], + "orientation": [ + 0.6485933065414429, + 0.5666515827178955, + 0.5077910423278809, + 0.0195184163749218 + ], + "joints": [ + 0.013304437510669231 + ] + }, + "fine_grasp": { + "position": [ + -0.10448594391345978, + 0.1157441958785057, + -0.002784707583487034 + ], + "orientation": [ + 0.6514483094215393, + 0.564760684967041, + 0.5062968134880066, + 0.017999272793531418 + ], + "joints": [ + 0.004527377896010876 + ] + }, + "final_grasp": { + "position": [ + -0.10448594391345978, + 0.1157441958785057, + -0.002784707583487034 + ], + "orientation": [ + 0.6514483094215393, + 0.564760684967041, + 0.5062968134880066, + 0.017999272793531418 + ], + "joints": [ + -0.00424968171864748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08937130868434906, + 0.11572624742984772, + -0.006954481825232506 + ], + "orientation": [ + 0.07649435847997665, + -0.38895267248153687, + -0.6343773007392883, + 0.6636489033699036 + ], + "joints": [ + 0.016849003732204437 + ] + }, + "fine_grasp": { + "position": [ + 0.08727721869945526, + 0.11215461045503616, + -0.0060622659511864185 + ], + "orientation": [ + 0.07864778488874435, + -0.38455116748809814, + -0.6324971914291382, + 0.6677442193031311 + ], + "joints": [ + 0.00932580977678299 + ] + }, + "final_grasp": { + "position": [ + 0.08727721869945526, + 0.11215461045503616, + -0.0060622659511864185 + ], + "orientation": [ + 0.07864778488874435, + -0.38455116748809814, + -0.6324971914291382, + 0.6677442193031311 + ], + "joints": [ + 0.0018026158213615417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027323074638843536, + -0.09619289636611938, + -0.037663742899894714 + ], + "orientation": [ + 0.4811002016067505, + -0.5428614616394043, + 0.4601472318172455, + 0.511965274810791 + ], + "joints": [ + 0.02779867686331272 + ] + }, + "fine_grasp": { + "position": [ + 0.02631889283657074, + -0.09359428286552429, + -0.03425288200378418 + ], + "orientation": [ + 0.4924241900444031, + -0.5358709692955017, + 0.4467571973800659, + 0.5203543305397034 + ], + "joints": [ + 0.022344360128045082 + ] + }, + "final_grasp": { + "position": [ + 0.02631889283657074, + -0.09359428286552429, + -0.03425288200378418 + ], + "orientation": [ + 0.4924241900444031, + -0.5358709692955017, + 0.4467571973800659, + 0.5203543305397034 + ], + "joints": [ + 0.016890043392777443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05170454457402229, + 0.1344471126794815, + -0.1402096450328827 + ], + "orientation": [ + 0.42547914385795593, + 0.4259292483329773, + 0.2529784142971039, + -0.7573331594467163 + ], + "joints": [ + 0.016982421278953552 + ] + }, + "fine_grasp": { + "position": [ + 0.0495603010058403, + 0.13154777884483337, + -0.13886597752571106 + ], + "orientation": [ + 0.42488640546798706, + 0.429241806268692, + 0.25228410959243774, + -0.7560263276100159 + ], + "joints": [ + 0.006533540785312653 + ] + }, + "final_grasp": { + "position": [ + 0.0495603010058403, + 0.13154777884483337, + -0.13886597752571106 + ], + "orientation": [ + 0.42488640546798706, + 0.429241806268692, + 0.25228410959243774, + -0.7560263276100159 + ], + "joints": [ + -0.003915339708328247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02599850483238697, + -0.019982384517788887, + -0.15898427367210388 + ], + "orientation": [ + 0.6766552329063416, + -0.11542975157499313, + 0.27777981758117676, + 0.6720505952835083 + ], + "joints": [ + 0.01829325221478939 + ] + }, + "fine_grasp": { + "position": [ + -0.025633936747908592, + -0.016842884942889214, + -0.15600232779979706 + ], + "orientation": [ + 0.6740202307701111, + -0.115726999938488, + 0.27630504965782166, + 0.6752477288246155 + ], + "joints": [ + 0.011188013479113579 + ] + }, + "final_grasp": { + "position": [ + -0.025633936747908592, + -0.016842884942889214, + -0.15600232779979706 + ], + "orientation": [ + 0.6740202307701111, + -0.115726999938488, + 0.27630504965782166, + 0.6752477288246155 + ], + "joints": [ + 0.004082774743437767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008702854625880718, + 0.1444481611251831, + -0.14172779023647308 + ], + "orientation": [ + 0.6015095114707947, + 0.3003101944923401, + 0.3754211664199829, + -0.6380119323730469 + ], + "joints": [ + 0.016695916652679443 + ] + }, + "fine_grasp": { + "position": [ + -0.008365719579160213, + 0.14081162214279175, + -0.14020098745822906 + ], + "orientation": [ + 0.601334810256958, + 0.29984578490257263, + 0.37757474184036255, + -0.6371235251426697 + ], + "joints": [ + 0.007082946598529816 + ] + }, + "final_grasp": { + "position": [ + -0.008365719579160213, + 0.14081162214279175, + -0.14020098745822906 + ], + "orientation": [ + 0.601334810256958, + 0.29984578490257263, + 0.37757474184036255, + -0.6371235251426697 + ], + "joints": [ + -0.002530023455619812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0047587985172867775, + -0.015623943880200386, + -0.18991020321846008 + ], + "orientation": [ + 0.6804047226905823, + -0.19036456942558289, + -0.16514474153518677, + -0.688140869140625 + ], + "joints": [ + 0.015807058662176132 + ] + }, + "fine_grasp": { + "position": [ + -0.004641240928322077, + -0.0131804458796978, + -0.1868542730808258 + ], + "orientation": [ + 0.6799510717391968, + -0.19269414246082306, + -0.16738441586494446, + -0.6873993873596191 + ], + "joints": [ + 0.005797031335532665 + ] + }, + "final_grasp": { + "position": [ + -0.004641240928322077, + -0.0131804458796978, + -0.1868542730808258 + ], + "orientation": [ + 0.6799510717391968, + -0.19269414246082306, + -0.16738441586494446, + -0.6873993873596191 + ], + "joints": [ + -0.004212995991110802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004767389968037605, + -0.014512486755847931, + -0.18786559998989105 + ], + "orientation": [ + 0.6799159646034241, + -0.19212810695171356, + -0.1666387915611267, + -0.6877736449241638 + ], + "joints": [ + 0.016003355383872986 + ] + }, + "fine_grasp": { + "position": [ + -0.004631728399544954, + -0.012151278555393219, + -0.18477685749530792 + ], + "orientation": [ + 0.6796618103981018, + -0.19380763173103333, + -0.16810743510723114, + -0.6871959567070007 + ], + "joints": [ + 0.005575372837483883 + ] + }, + "final_grasp": { + "position": [ + -0.004631728399544954, + -0.012151278555393219, + -0.18477685749530792 + ], + "orientation": [ + 0.6796618103981018, + -0.19380763173103333, + -0.16810743510723114, + -0.6871959567070007 + ], + "joints": [ + -0.00485260970890522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09315454959869385, + 0.11692479997873306, + -0.006540526170283556 + ], + "orientation": [ + 0.05964738503098488, + -0.3933764100074768, + -0.6318551898002625, + 0.6651737093925476 + ], + "joints": [ + 0.01499729510396719 + ] + }, + "fine_grasp": { + "position": [ + 0.09481887519359589, + 0.113797128200531, + -0.004982353188097477 + ], + "orientation": [ + 0.0745028704404831, + -0.3949127197265625, + -0.6323180198669434, + 0.6623196005821228 + ], + "joints": [ + 0.006220235489308834 + ] + }, + "final_grasp": { + "position": [ + 0.09481887519359589, + 0.113797128200531, + -0.004982353188097477 + ], + "orientation": [ + 0.0745028704404831, + -0.3949127197265625, + -0.6323180198669434, + 0.6623196005821228 + ], + "joints": [ + -0.0025568241253495216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037797603756189346, + 0.12267135828733444, + -0.1611698418855667 + ], + "orientation": [ + 0.7948595881462097, + 0.22355099022388458, + 0.32788634300231934, + -0.4590356647968292 + ], + "joints": [ + 0.01654331013560295 + ] + }, + "fine_grasp": { + "position": [ + -0.03624383732676506, + 0.11978735029697418, + -0.15907329320907593 + ], + "orientation": [ + 0.7943839430809021, + 0.2240704894065857, + 0.3304342031478882, + -0.4577770233154297 + ], + "joints": [ + 0.006512384861707687 + ] + }, + "final_grasp": { + "position": [ + -0.03624383732676506, + 0.11978735029697418, + -0.15907329320907593 + ], + "orientation": [ + 0.7943839430809021, + 0.2240704894065857, + 0.3304342031478882, + -0.4577770233154297 + ], + "joints": [ + -0.0035185404121875763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07287421077489853, + 0.13038253784179688, + -0.024824129417538643 + ], + "orientation": [ + 0.047442153096199036, + -0.2614303231239319, + 0.639496922492981, + -0.7214202880859375 + ], + "joints": [ + 0.01393377035856247 + ] + }, + "fine_grasp": { + "position": [ + -0.07205671817064285, + 0.12657327950000763, + -0.023262476548552513 + ], + "orientation": [ + 0.04976144805550575, + -0.25219401717185974, + 0.636527419090271, + -0.727155327796936 + ], + "joints": [ + 0.006410576403141022 + ] + }, + "final_grasp": { + "position": [ + -0.07205671817064285, + 0.12657327950000763, + -0.023262476548552513 + ], + "orientation": [ + 0.04976144805550575, + -0.25219401717185974, + 0.636527419090271, + -0.727155327796936 + ], + "joints": [ + -0.001112617552280426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059392474591732025, + 0.13192714750766754, + -0.037748172879219055 + ], + "orientation": [ + 0.7592931985855103, + 0.6061434149742126, + -0.23656590282917023, + 0.010030562058091164 + ], + "joints": [ + 0.015641015022993088 + ] + }, + "fine_grasp": { + "position": [ + 0.05799363553524017, + 0.12823551893234253, + -0.036445923149585724 + ], + "orientation": [ + 0.7626168727874756, + 0.6022841930389404, + -0.23574554920196533, + 0.00966416485607624 + ], + "joints": [ + 0.007281910628080368 + ] + }, + "final_grasp": { + "position": [ + 0.05799363553524017, + 0.12823551893234253, + -0.036445923149585724 + ], + "orientation": [ + 0.7626168727874756, + 0.6022841930389404, + -0.23574554920196533, + 0.00966416485607624 + ], + "joints": [ + -0.0010771937668323517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09955167025327682, + 0.11864513158798218, + 0.036174602806568146 + ], + "orientation": [ + 0.042147163301706314, + 0.546888530254364, + -0.6360255479812622, + 0.5427781343460083 + ], + "joints": [ + 0.013241265900433064 + ] + }, + "fine_grasp": { + "position": [ + -0.09719099849462509, + 0.11522436887025833, + 0.03496124595403671 + ], + "orientation": [ + 0.036207955330610275, + 0.5486165881156921, + -0.6348815560340881, + 0.5428022742271423 + ], + "joints": [ + 0.006136027164757252 + ] + }, + "final_grasp": { + "position": [ + -0.09719099849462509, + 0.11522436887025833, + 0.03496124595403671 + ], + "orientation": [ + 0.036207955330610275, + 0.5486165881156921, + -0.6348815560340881, + 0.5428022742271423 + ], + "joints": [ + -0.00096921157091856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06608135253190994, + 0.14638935029506683, + -0.010525384917855263 + ], + "orientation": [ + 0.673369288444519, + 0.6889092922210693, + 0.2669064402580261, + -0.027179472148418427 + ], + "joints": [ + 0.010714398697018623 + ] + }, + "fine_grasp": { + "position": [ + -0.06522094458341599, + 0.14217232167720795, + -0.01065788697451353 + ], + "orientation": [ + 0.6733238101005554, + 0.6903374195098877, + 0.26315149664878845, + -0.028645573183894157 + ], + "joints": [ + 0.0035882629454135895 + ] + }, + "final_grasp": { + "position": [ + -0.06522094458341599, + 0.14217232167720795, + -0.01065788697451353 + ], + "orientation": [ + 0.6733238101005554, + 0.6903374195098877, + 0.26315149664878845, + -0.028645573183894157 + ], + "joints": [ + -0.0035378728061914444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05030446872115135, + 0.14661069214344025, + -0.04870617389678955 + ], + "orientation": [ + 0.7602918148040771, + 0.5460516810417175, + 0.25824177265167236, + -0.23894564807415009 + ], + "joints": [ + 0.011176764965057373 + ] + }, + "fine_grasp": { + "position": [ + -0.04928801953792572, + 0.14264187216758728, + -0.04771943762898445 + ], + "orientation": [ + 0.760482132434845, + 0.545088529586792, + 0.2604447305202484, + -0.23814676702022552 + ], + "joints": [ + 0.003632673993706703 + ] + }, + "final_grasp": { + "position": [ + -0.04928801953792572, + 0.14264187216758728, + -0.04771943762898445 + ], + "orientation": [ + 0.760482132434845, + 0.545088529586792, + 0.2604447305202484, + -0.23814676702022552 + ], + "joints": [ + -0.003911416977643967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08364474028348923, + 0.12355634570121765, + 0.07164867967367172 + ], + "orientation": [ + 0.35166075825691223, + 0.621464192867279, + -0.43900391459465027, + 0.5453371405601501 + ], + "joints": [ + 0.01607546955347061 + ] + }, + "fine_grasp": { + "position": [ + -0.08229690045118332, + 0.11994454264640808, + 0.07090842723846436 + ], + "orientation": [ + 0.3514021635055542, + 0.621333658695221, + -0.4388038218021393, + 0.5458134412765503 + ], + "joints": [ + 0.006462499499320984 + ] + }, + "final_grasp": { + "position": [ + -0.08229690045118332, + 0.11994454264640808, + 0.07090842723846436 + ], + "orientation": [ + 0.3514021635055542, + 0.621333658695221, + -0.4388038218021393, + 0.5458134412765503 + ], + "joints": [ + -0.003150470554828644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08205898851156235, + 0.12380712479352951, + 0.07293661683797836 + ], + "orientation": [ + 0.35107770562171936, + 0.6146532893180847, + -0.438932865858078, + 0.5534290671348572 + ], + "joints": [ + 0.015401311218738556 + ] + }, + "fine_grasp": { + "position": [ + -0.0802096500992775, + 0.12012290954589844, + 0.07262387871742249 + ], + "orientation": [ + 0.3508221209049225, + 0.6126183271408081, + -0.43737906217575073, + 0.5570656061172485 + ], + "joints": [ + 0.008275173604488373 + ] + }, + "final_grasp": { + "position": [ + -0.0802096500992775, + 0.12012290954589844, + 0.07262387871742249 + ], + "orientation": [ + 0.3508221209049225, + 0.6126183271408081, + -0.43737906217575073, + 0.5570656061172485 + ], + "joints": [ + 0.0011490359902381897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04243631288409233, + 0.09238596260547638, + 0.15015681087970734 + ], + "orientation": [ + 0.1459885984659195, + -0.12398072332143784, + 0.8785032629966736, + -0.4376620352268219 + ], + "joints": [ + 0.01919683814048767 + ] + }, + "fine_grasp": { + "position": [ + -0.04137149080634117, + 0.0891682356595993, + 0.1477736234664917 + ], + "orientation": [ + 0.13932767510414124, + -0.125143900513649, + 0.876818060874939, + -0.44285088777542114 + ], + "joints": [ + 0.010837733745574951 + ] + }, + "final_grasp": { + "position": [ + -0.04137149080634117, + 0.0891682356595993, + 0.1477736234664917 + ], + "orientation": [ + 0.13932767510414124, + -0.125143900513649, + 0.876818060874939, + -0.44285088777542114 + ], + "joints": [ + 0.0024786293506622314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06359817087650299, + 0.14040298759937286, + -0.1001257598400116 + ], + "orientation": [ + 0.4379113018512726, + 0.5434369444847107, + -0.24300654232501984, + 0.6736896634101868 + ], + "joints": [ + 0.017377087846398354 + ] + }, + "fine_grasp": { + "position": [ + -0.0611724816262722, + 0.1373293697834015, + -0.09994364529848099 + ], + "orientation": [ + 0.4363146126270294, + 0.550422728061676, + -0.24063174426555634, + 0.6698960661888123 + ], + "joints": [ + 0.00734616257250309 + ] + }, + "final_grasp": { + "position": [ + -0.0611724816262722, + 0.1373293697834015, + -0.09994364529848099 + ], + "orientation": [ + 0.4363146126270294, + 0.550422728061676, + -0.24063174426555634, + 0.6698960661888123 + ], + "joints": [ + -0.0026847627013921738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05578335002064705, + 0.1420687437057495, + 0.07959362864494324 + ], + "orientation": [ + 0.4307507872581482, + 0.5973495841026306, + -0.5072976350784302, + 0.44752228260040283 + ], + "joints": [ + 0.011114746332168579 + ] + }, + "fine_grasp": { + "position": [ + -0.055113911628723145, + 0.13796287775039673, + 0.07852690666913986 + ], + "orientation": [ + 0.42815539240837097, + 0.5991712212562561, + -0.5052947402000427, + 0.4498378336429596 + ], + "joints": [ + 0.003988610114902258 + ] + }, + "final_grasp": { + "position": [ + -0.055113911628723145, + 0.13796287775039673, + 0.07852690666913986 + ], + "orientation": [ + 0.42815539240837097, + 0.5991712212562561, + -0.5052947402000427, + 0.4498378336429596 + ], + "joints": [ + -0.0031375261023640633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053817376494407654, + 0.1389719694852829, + 0.07968435436487198 + ], + "orientation": [ + 0.42616045475006104, + 0.607641339302063, + -0.4926682710647583, + 0.4543536603450775 + ], + "joints": [ + 0.018182814121246338 + ] + }, + "fine_grasp": { + "position": [ + -0.05285263434052467, + 0.13479141891002655, + 0.07906807214021683 + ], + "orientation": [ + 0.4247225224971771, + 0.6067694425582886, + -0.48880669474601746, + 0.46098777651786804 + ], + "joints": [ + 0.01065962016582489 + ] + }, + "final_grasp": { + "position": [ + -0.05285263434052467, + 0.13479141891002655, + 0.07906807214021683 + ], + "orientation": [ + 0.4247225224971771, + 0.6067694425582886, + -0.48880669474601746, + 0.46098777651786804 + ], + "joints": [ + 0.0031364262104034424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04353836551308632, + 0.09294816851615906, + 0.1506737470626831 + ], + "orientation": [ + 0.14398802816867828, + -0.12252132594585419, + 0.8782587647438049, + -0.4392238259315491 + ], + "joints": [ + 0.018829982727766037 + ] + }, + "fine_grasp": { + "position": [ + -0.042486198246479034, + 0.08971570432186127, + 0.14829155802726746 + ], + "orientation": [ + 0.13673628866672516, + -0.12359215319156647, + 0.8764231204986572, + -0.4448715150356293 + ], + "joints": [ + 0.010888833552598953 + ] + }, + "final_grasp": { + "position": [ + -0.042486198246479034, + 0.08971570432186127, + 0.14829155802726746 + ], + "orientation": [ + 0.13673628866672516, + -0.12359215319156647, + 0.8764231204986572, + -0.4448715150356293 + ], + "joints": [ + 0.0029476843774318695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01670999452471733, + 0.10027103871107101, + -0.17686133086681366 + ], + "orientation": [ + 0.8598056435585022, + 0.21840360760688782, + 0.21204602718353271, + -0.4099639356136322 + ], + "joints": [ + 0.015628458932042122 + ] + }, + "fine_grasp": { + "position": [ + -0.016484737396240234, + 0.09937454760074615, + -0.17446720600128174 + ], + "orientation": [ + 0.86199951171875, + 0.2111271321773529, + 0.20058871805667877, + -0.4149051308631897 + ], + "joints": [ + 0.006851399317383766 + ] + }, + "final_grasp": { + "position": [ + -0.016484737396240234, + 0.09937454760074615, + -0.17446720600128174 + ], + "orientation": [ + 0.86199951171875, + 0.2111271321773529, + 0.20058871805667877, + -0.4149051308631897 + ], + "joints": [ + -0.0019256602972745895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1306566447019577, + 0.06431268900632858, + 0.06785516440868378 + ], + "orientation": [ + 0.09363488852977753, + 0.7546154260635376, + 0.302008718252182, + -0.5749597549438477 + ], + "joints": [ + 0.016232214868068695 + ] + }, + "fine_grasp": { + "position": [ + 0.1273191273212433, + 0.06271453946828842, + 0.06665348261594772 + ], + "orientation": [ + 0.09217965602874756, + 0.7539620399475098, + 0.3039184808731079, + -0.5750458240509033 + ], + "joints": [ + 0.006201289594173431 + ] + }, + "final_grasp": { + "position": [ + 0.1273191273212433, + 0.06271453946828842, + 0.06665348261594772 + ], + "orientation": [ + 0.09217965602874756, + 0.7539620399475098, + 0.3039184808731079, + -0.5750458240509033 + ], + "joints": [ + -0.0038296356797218323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07788717746734619, + 0.13285402953624725, + 0.06529668718576431 + ], + "orientation": [ + 0.3455861508846283, + 0.5731092095375061, + -0.5043025016784668, + 0.5457060933113098 + ], + "joints": [ + 0.0114458492025733 + ] + }, + "fine_grasp": { + "position": [ + -0.07635178416967392, + 0.1288454234600067, + 0.06440962105989456 + ], + "orientation": [ + 0.34117621183395386, + 0.5752725005149841, + -0.5023565888404846, + 0.5479947924613953 + ], + "joints": [ + 0.003922655247151852 + ] + }, + "final_grasp": { + "position": [ + -0.07635178416967392, + 0.1288454234600067, + 0.06440962105989456 + ], + "orientation": [ + 0.34117621183395386, + 0.5752725005149841, + -0.5023565888404846, + 0.5479947924613953 + ], + "joints": [ + -0.003600538708269596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08386053144931793, + 0.12054508924484253, + 0.030955052003264427 + ], + "orientation": [ + 0.15906450152397156, + 0.5601293444633484, + 0.5995771884918213, + -0.5490543842315674 + ], + "joints": [ + 0.01481631025671959 + ] + }, + "fine_grasp": { + "position": [ + 0.08299987763166428, + 0.11666818708181381, + 0.030238190665841103 + ], + "orientation": [ + 0.15318308770656586, + 0.5699644088745117, + 0.594112753868103, + -0.5465396642684937 + ], + "joints": [ + 0.0064572058618068695 + ] + }, + "final_grasp": { + "position": [ + 0.08299987763166428, + 0.11666818708181381, + 0.030238190665841103 + ], + "orientation": [ + 0.15318308770656586, + 0.5699644088745117, + 0.594112753868103, + -0.5465396642684937 + ], + "joints": [ + -0.0019018985331058502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06951837986707687, + 0.1334451138973236, + -0.017608990892767906 + ], + "orientation": [ + 0.6746606826782227, + 0.5054827332496643, + -0.43548139929771423, + 0.31571558117866516 + ], + "joints": [ + 0.01305823028087616 + ] + }, + "fine_grasp": { + "position": [ + 0.06782694160938263, + 0.1299462765455246, + -0.017495328560471535 + ], + "orientation": [ + 0.674285888671875, + 0.504996657371521, + -0.4369930922985077, + 0.31520453095436096 + ], + "joints": [ + 0.005117081105709076 + ] + }, + "final_grasp": { + "position": [ + 0.06782694160938263, + 0.1299462765455246, + -0.017495328560471535 + ], + "orientation": [ + 0.674285888671875, + 0.504996657371521, + -0.4369930922985077, + 0.31520453095436096 + ], + "joints": [ + -0.002824068069458008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09846939146518707, + 0.12354955077171326, + 0.012959078885614872 + ], + "orientation": [ + 0.6158246397972107, + 0.5059516429901123, + -0.5685724020004272, + 0.20371170341968536 + ], + "joints": [ + 0.012385293841362 + ] + }, + "fine_grasp": { + "position": [ + 0.09667875617742538, + 0.12050686776638031, + 0.012341057881712914 + ], + "orientation": [ + 0.6158405542373657, + 0.5057111978530884, + -0.5688827037811279, + 0.20339378714561462 + ], + "joints": [ + 0.0035873372107744217 + ] + }, + "final_grasp": { + "position": [ + 0.09667875617742538, + 0.12050686776638031, + 0.012341057881712914 + ], + "orientation": [ + 0.6158405542373657, + 0.5057111978530884, + -0.5688827037811279, + 0.20339378714561462 + ], + "joints": [ + -0.005210619419813156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10489293932914734, + 0.11507678776979446, + 0.025163765996694565 + ], + "orientation": [ + 0.6011765003204346, + 0.4542504549026489, + -0.6174671649932861, + 0.22578229010105133 + ], + "joints": [ + 0.013588386587798595 + ] + }, + "fine_grasp": { + "position": [ + 0.10319126397371292, + 0.11273273080587387, + 0.024489127099514008 + ], + "orientation": [ + 0.6016743183135986, + 0.4546542763710022, + -0.6163488030433655, + 0.22669750452041626 + ], + "joints": [ + 0.004393371753394604 + ] + }, + "final_grasp": { + "position": [ + 0.10319126397371292, + 0.11273273080587387, + 0.024489127099514008 + ], + "orientation": [ + 0.6016743183135986, + 0.4546542763710022, + -0.6163488030433655, + 0.22669750452041626 + ], + "joints": [ + -0.004801643081009388 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08270445466041565, + 0.1266477108001709, + 0.015387147665023804 + ], + "orientation": [ + 0.5844205617904663, + 0.48073095083236694, + 0.5753140449523926, + -0.31042546033859253 + ], + "joints": [ + 0.014376400038599968 + ] + }, + "fine_grasp": { + "position": [ + -0.08118505775928497, + 0.12305554002523422, + 0.014639651402831078 + ], + "orientation": [ + 0.5859587788581848, + 0.479054719209671, + 0.5755043029785156, + -0.30976396799087524 + ], + "joints": [ + 0.005599340423941612 + ] + }, + "final_grasp": { + "position": [ + -0.08118505775928497, + 0.12305554002523422, + 0.014639651402831078 + ], + "orientation": [ + 0.5859587788581848, + 0.479054719209671, + 0.5755043029785156, + -0.30976396799087524 + ], + "joints": [ + -0.0031777191907167435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09111693501472473, + 0.11839493364095688, + 0.05796954408288002 + ], + "orientation": [ + 0.27419474720954895, + 0.6632868051528931, + -0.48457491397857666, + 0.5000550746917725 + ], + "joints": [ + 0.012019896879792213 + ] + }, + "fine_grasp": { + "position": [ + -0.08898299932479858, + 0.11488521844148636, + 0.05673840269446373 + ], + "orientation": [ + 0.270080029964447, + 0.6634758114814758, + -0.47964563965797424, + 0.5067510008811951 + ], + "joints": [ + 0.004496702924370766 + ] + }, + "final_grasp": { + "position": [ + -0.08898299932479858, + 0.11488521844148636, + 0.05673840269446373 + ], + "orientation": [ + 0.270080029964447, + 0.6634758114814758, + -0.47964563965797424, + 0.5067510008811951 + ], + "joints": [ + -0.003026491031050682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09930460900068283, + 0.11278392374515533, + 0.04369724169373512 + ], + "orientation": [ + 0.5213311314582825, + 0.5919738411903381, + -0.6059099435806274, + 0.10321801900863647 + ], + "joints": [ + 0.01199466735124588 + ] + }, + "fine_grasp": { + "position": [ + 0.09715671092271805, + 0.10944745689630508, + 0.04246346652507782 + ], + "orientation": [ + 0.5216169357299805, + 0.5910078883171082, + -0.6075827479362488, + 0.09730660915374756 + ], + "joints": [ + 0.0036355634219944477 + ] + }, + "final_grasp": { + "position": [ + 0.09715671092271805, + 0.10944745689630508, + 0.04246346652507782 + ], + "orientation": [ + 0.5216169357299805, + 0.5910078883171082, + -0.6075827479362488, + 0.09730660915374756 + ], + "joints": [ + -0.004723540507256985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07705613225698471, + 0.14113177359104156, + -0.006759422831237316 + ], + "orientation": [ + 0.6285878419876099, + 0.4715093672275543, + 0.502109169960022, + -0.3611682951450348 + ], + "joints": [ + 0.01113026961684227 + ] + }, + "fine_grasp": { + "position": [ + -0.0756903737783432, + 0.1371263712644577, + -0.007086950819939375 + ], + "orientation": [ + 0.6267317533493042, + 0.4722384810447693, + 0.5038414001464844, + -0.3610292673110962 + ], + "joints": [ + 0.0035861786454916 + ] + }, + "final_grasp": { + "position": [ + -0.0756903737783432, + 0.1371263712644577, + -0.007086950819939375 + ], + "orientation": [ + 0.6267317533493042, + 0.4722384810447693, + 0.5038414001464844, + -0.3610292673110962 + ], + "joints": [ + -0.00395791232585907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08802930265665054, + 0.12773874402046204, + 0.04642583057284355 + ], + "orientation": [ + 0.28347763419151306, + 0.633130669593811, + 0.5013225674629211, + -0.5171670913696289 + ], + "joints": [ + 0.010801744647324085 + ] + }, + "fine_grasp": { + "position": [ + 0.08642732352018356, + 0.12403072416782379, + 0.04510851576924324 + ], + "orientation": [ + 0.283020555973053, + 0.6329386830329895, + 0.5011754035949707, + -0.5177943706512451 + ], + "joints": [ + 0.0036756088957190514 + ] + }, + "final_grasp": { + "position": [ + 0.08642732352018356, + 0.12403072416782379, + 0.04510851576924324 + ], + "orientation": [ + 0.283020555973053, + 0.6329386830329895, + 0.5011754035949707, + -0.5177943706512451 + ], + "joints": [ + -0.0034505268558859825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08826214075088501, + 0.12931621074676514, + 0.04766670614480972 + ], + "orientation": [ + 0.2844279110431671, + 0.6306214332580566, + 0.5011377334594727, + -0.5198829174041748 + ], + "joints": [ + 0.010731277987360954 + ] + }, + "fine_grasp": { + "position": [ + 0.08632928133010864, + 0.12570667266845703, + 0.04640474542975426 + ], + "orientation": [ + 0.2828236222267151, + 0.6310872435569763, + 0.5005806684494019, + -0.5207288861274719 + ], + "joints": [ + 0.003584244754165411 + ] + }, + "final_grasp": { + "position": [ + 0.08632928133010864, + 0.12570667266845703, + 0.04640474542975426 + ], + "orientation": [ + 0.2828236222267151, + 0.6310872435569763, + 0.5005806684494019, + -0.5207288861274719 + ], + "joints": [ + -0.0035627884790301323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09144064784049988, + 0.11979759484529495, + 0.0779007077217102 + ], + "orientation": [ + 0.22514845430850983, + 0.6317944526672363, + 0.5435857176780701, + -0.5046368837356567 + ], + "joints": [ + 0.01136533822864294 + ] + }, + "fine_grasp": { + "position": [ + 0.08966124802827835, + 0.1162225753068924, + 0.07647876441478729 + ], + "orientation": [ + 0.22371353209018707, + 0.6293367147445679, + 0.5450323820114136, + -0.5067813992500305 + ], + "joints": [ + 0.0034241897519677877 + ] + }, + "final_grasp": { + "position": [ + 0.08966124802827835, + 0.1162225753068924, + 0.07647876441478729 + ], + "orientation": [ + 0.22371353209018707, + 0.6293367147445679, + 0.5450323820114136, + -0.5067813992500305 + ], + "joints": [ + -0.004516958724707365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06782830506563187, + 0.10513702034950256, + 0.12189941853284836 + ], + "orientation": [ + 0.31567248702049255, + 0.6169506907463074, + 0.6906901597976685, + -0.2065664827823639 + ], + "joints": [ + 0.01037918496876955 + ] + }, + "fine_grasp": { + "position": [ + -0.06667856127023697, + 0.10184162110090256, + 0.11946678906679153 + ], + "orientation": [ + 0.32652658224105835, + 0.6147123575210571, + 0.6876166462898254, + -0.2066214680671692 + ], + "joints": [ + 0.0036292094737291336 + ] + }, + "final_grasp": { + "position": [ + -0.06667856127023697, + 0.10184162110090256, + 0.11946678906679153 + ], + "orientation": [ + 0.32652658224105835, + 0.6147123575210571, + 0.6876166462898254, + -0.2066214680671692 + ], + "joints": [ + -0.003120766021311283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02235362119972706, + 0.15754079818725586, + 0.027502847835421562 + ], + "orientation": [ + 0.5435702800750732, + 0.6317288875579834, + 0.33514922857284546, + -0.43945997953414917 + ], + "joints": [ + 0.015757383778691292 + ] + }, + "fine_grasp": { + "position": [ + 0.022143077105283737, + 0.15392538905143738, + 0.02651938609778881 + ], + "orientation": [ + 0.5393092036247253, + 0.6354527473449707, + 0.34021899104118347, + -0.43542665243148804 + ], + "joints": [ + 0.024220982566475868 + ] + }, + "final_grasp": { + "position": [ + 0.022143077105283737, + 0.15392538905143738, + 0.02651938609778881 + ], + "orientation": [ + 0.5393092036247253, + 0.6354527473449707, + 0.34021899104118347, + -0.43542665243148804 + ], + "joints": [ + 0.032684579491615295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02217327058315277, + 0.15834374725818634, + 0.027033742517232895 + ], + "orientation": [ + 0.5427558422088623, + 0.6323537826538086, + 0.33622822165489197, + -0.4387429654598236 + ], + "joints": [ + 0.015885552391409874 + ] + }, + "fine_grasp": { + "position": [ + 0.021968519315123558, + 0.15471725165843964, + 0.026004452258348465 + ], + "orientation": [ + 0.5378274321556091, + 0.6365918517112732, + 0.3414306938648224, + -0.43464645743370056 + ], + "joints": [ + 0.02434915117919445 + ] + }, + "final_grasp": { + "position": [ + 0.021968519315123558, + 0.15471725165843964, + 0.026004452258348465 + ], + "orientation": [ + 0.5378274321556091, + 0.6365918517112732, + 0.3414306938648224, + -0.43464645743370056 + ], + "joints": [ + 0.032812751829624176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05500960722565651, + 0.007186779752373695, + 0.1901254951953888 + ], + "orientation": [ + 0.1207917183637619, + 0.051599521189928055, + -0.9911795258522034, + 0.017613405361771584 + ], + "joints": [ + 0.012830576859414577 + ] + }, + "fine_grasp": { + "position": [ + 0.05497586727142334, + 0.006996337790042162, + 0.18633516132831573 + ], + "orientation": [ + 0.12688922882080078, + 0.0784088745713234, + -0.9887233376502991, + 0.0133082689717412 + ], + "joints": [ + 0.0036146650090813637 + ] + }, + "final_grasp": { + "position": [ + 0.05497586727142334, + 0.006996337790042162, + 0.18633516132831573 + ], + "orientation": [ + 0.12688922882080078, + 0.0784088745713234, + -0.9887233376502991, + 0.0133082689717412 + ], + "joints": [ + -0.00560124684125185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03644151985645294, + 0.005164895672351122, + 0.1973629742860794 + ], + "orientation": [ + 0.025664370507001877, + 0.035076163709163666, + -0.9990103840827942, + 0.009446891956031322 + ], + "joints": [ + 0.013592428527772427 + ] + }, + "fine_grasp": { + "position": [ + 0.03627793490886688, + 0.004973334725946188, + 0.19352617859840393 + ], + "orientation": [ + 0.026874877512454987, + 0.04773903638124466, + -0.9983834624290466, + 0.015137789770960808 + ], + "joints": [ + 0.003540606237947941 + ] + }, + "final_grasp": { + "position": [ + 0.03627793490886688, + 0.004973334725946188, + 0.19352617859840393 + ], + "orientation": [ + 0.026874877512454987, + 0.04773903638124466, + -0.9983834624290466, + 0.015137789770960808 + ], + "joints": [ + -0.006511216051876545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0009341744589619339, + 0.00934930332005024, + 0.1924668252468109 + ], + "orientation": [ + 0.020821522921323776, + 0.025309043005108833, + 0.9988463521003723, + -0.0351007804274559 + ], + "joints": [ + 0.012537334114313126 + ] + }, + "fine_grasp": { + "position": [ + -0.0013589960290119052, + 0.00924382172524929, + 0.1892959624528885 + ], + "orientation": [ + 0.02390318550169468, + 0.03818283975124359, + 0.9984076619148254, + -0.03395631164312363 + ], + "joints": [ + 0.003342319978401065 + ] + }, + "final_grasp": { + "position": [ + -0.0013589960290119052, + 0.00924382172524929, + 0.1892959624528885 + ], + "orientation": [ + 0.02390318550169468, + 0.03818283975124359, + 0.9984076619148254, + -0.03395631164312363 + ], + "joints": [ + -0.005852694157510996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007605163846164942, + 0.010271912440657616, + 0.19047170877456665 + ], + "orientation": [ + 0.01818501576781273, + 0.021890530362725258, + 0.9989131689071655, + -0.03691476583480835 + ], + "joints": [ + 0.01228972990065813 + ] + }, + "fine_grasp": { + "position": [ + -0.0013147664722055197, + 0.009687047451734543, + 0.18820083141326904 + ], + "orientation": [ + 0.02149110659956932, + 0.034869302064180374, + 0.9985350966453552, + -0.03535349667072296 + ], + "joints": [ + 0.0035126707516610622 + ] + }, + "final_grasp": { + "position": [ + -0.0013147664722055197, + 0.009687047451734543, + 0.18820083141326904 + ], + "orientation": [ + 0.02149110659956932, + 0.034869302064180374, + 0.9985350966453552, + -0.03535349667072296 + ], + "joints": [ + -0.005264388397336006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06201539933681488, + -0.03484783694148064, + 0.20496538281440735 + ], + "orientation": [ + 0.14509162306785583, + -0.9835779070854187, + -0.04941929131746292, + -0.09529230743646622 + ], + "joints": [ + 0.011203472502529621 + ] + }, + "fine_grasp": { + "position": [ + -0.061312317848205566, + -0.03358231857419014, + 0.20107629895210266 + ], + "orientation": [ + 0.14752399921417236, + -0.9828014373779297, + -0.054746147245168686, + -0.09664812684059143 + ], + "joints": [ + 0.0036175865679979324 + ] + }, + "final_grasp": { + "position": [ + -0.061312317848205566, + -0.03358231857419014, + 0.20107629895210266 + ], + "orientation": [ + 0.14752399921417236, + -0.9828014373779297, + -0.054746147245168686, + -0.09664812684059143 + ], + "joints": [ + -0.003968299366533756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039841052144765854, + 0.057616885751485825, + -0.18518982827663422 + ], + "orientation": [ + 0.9867316484451294, + 0.0675944983959198, + -0.14683808386325836, + -0.015174215659499168 + ], + "joints": [ + 0.014602575451135635 + ] + }, + "fine_grasp": { + "position": [ + 0.03737745061516762, + 0.05750829353928566, + -0.18207760155200958 + ], + "orientation": [ + 0.9861449003219604, + 0.06633204221725464, + -0.1507158726453781, + -0.02007637731730938 + ], + "joints": [ + 0.005407560616731644 + ] + }, + "final_grasp": { + "position": [ + 0.03737745061516762, + 0.05750829353928566, + -0.18207760155200958 + ], + "orientation": [ + 0.9861449003219604, + 0.06633204221725464, + -0.1507158726453781, + -0.02007637731730938 + ], + "joints": [ + -0.003787454217672348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03927406668663025, + 0.057921942323446274, + -0.18633294105529785 + ], + "orientation": [ + 0.9865938425064087, + 0.06581464409828186, + -0.14895276725292206, + -0.010674659162759781 + ], + "joints": [ + 0.015231341123580933 + ] + }, + "fine_grasp": { + "position": [ + 0.03668200969696045, + 0.05785590037703514, + -0.18342366814613342 + ], + "orientation": [ + 0.9862198233604431, + 0.06501830369234085, + -0.1515660434961319, + -0.013071220368146896 + ], + "joints": [ + 0.005618371069431305 + ] + }, + "final_grasp": { + "position": [ + 0.03668200969696045, + 0.05785590037703514, + -0.18342366814613342 + ], + "orientation": [ + 0.9862198233604431, + 0.06501830369234085, + -0.1515660434961319, + -0.013071220368146896 + ], + "joints": [ + -0.003994598984718323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051385194063186646, + 0.1341206431388855, + -0.1398460865020752 + ], + "orientation": [ + 0.42378848791122437, + 0.4243595004081726, + 0.2533615231513977, + -0.7590324282646179 + ], + "joints": [ + 0.017147351056337357 + ] + }, + "fine_grasp": { + "position": [ + 0.04926036298274994, + 0.13122229278087616, + -0.13856427371501923 + ], + "orientation": [ + 0.42306700348854065, + 0.427722692489624, + 0.2527060806751251, + -0.7577646970748901 + ], + "joints": [ + 0.006698470562696457 + ] + }, + "final_grasp": { + "position": [ + 0.04926036298274994, + 0.13122229278087616, + -0.13856427371501923 + ], + "orientation": [ + 0.42306700348854065, + 0.427722692489624, + 0.2527060806751251, + -0.7577646970748901 + ], + "joints": [ + -0.0037504099309444427 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 120 + } +} \ No newline at end of file diff --git a/082_smallshovel_2/Object.usd b/082_smallshovel_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..006402e03c5ea4c47749b6ec802c7d7503708440 --- /dev/null +++ b/082_smallshovel_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2a3c14027dde7b7a95740e62cfe6ec6a37a6988312b29316c1dbec04015d5e9 +size 311076 diff --git a/084_woodenmallet_2/Annotation/dex1_1_grasp_pose.json b/084_woodenmallet_2/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..00ece572694009688161baea825ee0cf08bd4da7 --- /dev/null +++ b/084_woodenmallet_2/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,1768 @@ +{ + "type": "084_woodenmallet_2", + "bottom_center": [ + -0.004020382650196552, + 0.03800204338040203, + -0.0916123166680336 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.11099803447723389, + 0.0040666693821549416, + 0.014415833167731762 + ], + "orientation": [ + 0.06726396828889847, + 0.6066228747367859, + -0.7919934988021851, + -0.01518202293664217 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + 0.11216647177934647, + 0.0017454969929531217, + 0.01497116219252348 + ], + "orientation": [ + 0.08045115321874619, + 0.607241690158844, + -0.7902984023094177, + -0.014619177207350731 + ], + "joints": [ + -0.01045195758342743 + ] + }, + "final_grasp": { + "position": [ + 0.11216647177934647, + 0.0017454969929531217, + 0.01497116219252348 + ], + "orientation": [ + 0.08045115321874619, + 0.607241690158844, + -0.7902984023094177, + -0.014619177207350731 + ], + "joints": [ + -0.010265965014696121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11100742965936661, + 0.0040416596457362175, + 0.014451796188950539 + ], + "orientation": [ + 0.06722724437713623, + 0.6065629124641418, + -0.7920477986335754, + -0.014909093268215656 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + 0.1121620312333107, + 0.0017182024894282222, + 0.014989892020821571 + ], + "orientation": [ + 0.08045613020658493, + 0.6072066426277161, + -0.790334165096283, + -0.014102283865213394 + ], + "joints": [ + -0.01045195758342743 + ] + }, + "final_grasp": { + "position": [ + 0.1121620312333107, + 0.0017182024894282222, + 0.014989892020821571 + ], + "orientation": [ + 0.08045613020658493, + 0.6072066426277161, + -0.790334165096283, + -0.014102283865213394 + ], + "joints": [ + -0.010265965014696121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11099303513765335, + 0.004035452380776405, + 0.014429043047130108 + ], + "orientation": [ + 0.06743568927049637, + 0.6065545082092285, + -0.7920362949371338, + -0.014918921515345573 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + 0.11215884983539581, + 0.0017254127888008952, + 0.014988432638347149 + ], + "orientation": [ + 0.08053544908761978, + 0.607191264629364, + -0.7903313040733337, + -0.014465877786278725 + ], + "joints": [ + -0.01045195758342743 + ] + }, + "final_grasp": { + "position": [ + 0.11215884983539581, + 0.0017254127888008952, + 0.014988432638347149 + ], + "orientation": [ + 0.08053544908761978, + 0.607191264629364, + -0.7903313040733337, + -0.014465877786278725 + ], + "joints": [ + -0.010265965014696121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12936636805534363, + 0.011743522249162197, + -0.019853074103593826 + ], + "orientation": [ + 0.7703129053115845, + 0.15393012762069702, + -0.1014670729637146, + -0.6104325652122498 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.12382006645202637, + 0.011189795099198818, + -0.017153525725007057 + ], + "orientation": [ + 0.760077178478241, + 0.1569647490978241, + -0.10899390280246735, + -0.6210999488830566 + ], + "joints": [ + -0.009636311791837215 + ] + }, + "final_grasp": { + "position": [ + -0.12382006645202637, + 0.011189795099198818, + -0.017153525725007057 + ], + "orientation": [ + 0.760077178478241, + 0.1569647490978241, + -0.10899390280246735, + -0.6210999488830566 + ], + "joints": [ + -0.010459979996085167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01197681576013565, + -0.08676113188266754, + -0.0037260467652231455 + ], + "orientation": [ + 0.03592657297849655, + -0.0488567054271698, + 0.991229236125946, + 0.11741719394922256 + ], + "joints": [ + -0.005263548344373703 + ] + }, + "fine_grasp": { + "position": [ + 0.011895786039531231, + -0.08840266615152359, + -0.0035071070306003094 + ], + "orientation": [ + 0.04139218106865883, + -0.04955901578068733, + 0.9899606108665466, + 0.12573270499706268 + ], + "joints": [ + -0.0013843310298398137 + ] + }, + "final_grasp": { + "position": [ + 0.011895786039531231, + -0.08840266615152359, + -0.0035071070306003094 + ], + "orientation": [ + 0.04139218106865883, + -0.04955901578068733, + 0.9899606108665466, + 0.12573270499706268 + ], + "joints": [ + 0.0024948862846940756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1031990647315979, + 0.1366833746433258, + 0.0303147342056036 + ], + "orientation": [ + 0.38431718945503235, + -0.06836126744747162, + 0.05436341091990471, + 0.9190601706504822 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.09952352941036224, + 0.13311858475208282, + 0.030798038467764854 + ], + "orientation": [ + 0.3836763799190521, + -0.07896588742733002, + 0.06052985042333603, + 0.9180920720100403 + ], + "joints": [ + -0.009165630675852299 + ] + }, + "final_grasp": { + "position": [ + 0.09952352941036224, + 0.13311858475208282, + 0.030798038467764854 + ], + "orientation": [ + 0.3836763799190521, + -0.07896588742733002, + 0.06052985042333603, + 0.9180920720100403 + ], + "joints": [ + -0.0048081520944833755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1030629426240921, + 0.1364094614982605, + 0.03023834340274334 + ], + "orientation": [ + 0.3844100832939148, + -0.06954493373632431, + 0.05441119149327278, + 0.9189296960830688 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.09938528388738632, + 0.1328430473804474, + 0.03068230114877224 + ], + "orientation": [ + 0.3842189610004425, + -0.0808524414896965, + 0.061096880584955215, + 0.9176632761955261 + ], + "joints": [ + -0.009165630675852299 + ] + }, + "final_grasp": { + "position": [ + 0.09938528388738632, + 0.1328430473804474, + 0.03068230114877224 + ], + "orientation": [ + 0.3842189610004425, + -0.0808524414896965, + 0.061096880584955215, + 0.9176632761955261 + ], + "joints": [ + -0.0048081520944833755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10310753434896469, + 0.13665227591991425, + 0.03000803291797638 + ], + "orientation": [ + 0.3849708139896393, + -0.06644650548696518, + 0.05245143547654152, + 0.9190382361412048 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.09943465143442154, + 0.13305772840976715, + 0.030527731403708458 + ], + "orientation": [ + 0.38405731320381165, + -0.07636084407567978, + 0.059815019369125366, + 0.9182000160217285 + ], + "joints": [ + -0.009165630675852299 + ] + }, + "final_grasp": { + "position": [ + 0.09943465143442154, + 0.13305772840976715, + 0.030527731403708458 + ], + "orientation": [ + 0.38405731320381165, + -0.07636084407567978, + 0.059815019369125366, + 0.9182000160217285 + ], + "joints": [ + -0.0048081520944833755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11948335915803909, + 0.022760868072509766, + 0.027096794918179512 + ], + "orientation": [ + 0.02400023303925991, + 0.6577946543693542, + -0.7507664561271667, + -0.0554976649582386 + ], + "joints": [ + -0.017821406945586205 + ] + }, + "fine_grasp": { + "position": [ + 0.11815782636404037, + 0.02251599170267582, + 0.027317553758621216 + ], + "orientation": [ + 0.026149403303861618, + 0.6600645780563354, + -0.7486763000488281, + -0.055810049176216125 + ], + "joints": [ + -0.012533973902463913 + ] + }, + "final_grasp": { + "position": [ + 0.11815782636404037, + 0.02251599170267582, + 0.027317553758621216 + ], + "orientation": [ + 0.026149403303861618, + 0.6600645780563354, + -0.7486763000488281, + -0.055810049176216125 + ], + "joints": [ + -0.007246540859341621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03180057555437088, + 0.1566268503665924, + -0.021733812987804413 + ], + "orientation": [ + 0.17324860394001007, + 0.9774471521377563, + 0.11855170875787735, + 0.022968778386712074 + ], + "joints": [ + -0.0042979782447218895 + ] + }, + "fine_grasp": { + "position": [ + -0.03128697723150253, + 0.1532551646232605, + -0.020626280456781387 + ], + "orientation": [ + 0.1755593717098236, + 0.9785968065261841, + 0.10690523684024811, + -0.009922708384692669 + ], + "joints": [ + -0.0019332502270117402 + ] + }, + "final_grasp": { + "position": [ + -0.03128697723150253, + 0.1532551646232605, + -0.020626280456781387 + ], + "orientation": [ + 0.1755593717098236, + 0.9785968065261841, + 0.10690523684024811, + -0.009922708384692669 + ], + "joints": [ + 0.0004314777906984091 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006091919727623463, + -0.1047275960445404, + 0.04936319217085838 + ], + "orientation": [ + 0.9983596801757812, + -0.026711922138929367, + 0.032784588634967804, + 0.03859471157193184 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.0059652323834598064, + -0.10233767330646515, + 0.050163861364126205 + ], + "orientation": [ + 0.9985616207122803, + -0.02077692560851574, + 0.03359666094183922, + 0.0362534336745739 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + 0.0059652323834598064, + -0.10233767330646515, + 0.050163861364126205 + ], + "orientation": [ + 0.9985616207122803, + -0.02077692560851574, + 0.03359666094183922, + 0.0362534336745739 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00606965459883213, + -0.10418856143951416, + 0.049487821757793427 + ], + "orientation": [ + 0.9984002113342285, + -0.02426481433212757, + 0.033555325120687485, + 0.038500864058732986 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.006003004964441061, + -0.10192929953336716, + 0.050035856664180756 + ], + "orientation": [ + 0.9985591173171997, + -0.01978260837495327, + 0.033932723104953766, + 0.03656342625617981 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + 0.006003004964441061, + -0.10192929953336716, + 0.050035856664180756 + ], + "orientation": [ + 0.9985591173171997, + -0.01978260837495327, + 0.033932723104953766, + 0.03656342625617981 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037351094186306, + -0.09755270183086395, + 0.06900453567504883 + ], + "orientation": [ + 0.9858547449111938, + -0.11048247665166855, + 0.025256667286157608, + -0.12347506731748581 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.03801143541932106, + -0.0955517515540123, + 0.07027306407690048 + ], + "orientation": [ + 0.9866710305213928, + -0.10126826912164688, + 0.021442588418722153, + -0.1255599856376648 + ], + "joints": [ + -0.006445559673011303 + ] + }, + "final_grasp": { + "position": [ + -0.03801143541932106, + -0.0955517515540123, + 0.07027306407690048 + ], + "orientation": [ + 0.9866710305213928, + -0.10126826912164688, + 0.021442588418722153, + -0.1255599856376648 + ], + "joints": [ + -0.0011049937456846237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037449970841407776, + -0.09815105050802231, + 0.06917249411344528 + ], + "orientation": [ + 0.9856494069099426, + -0.11235259473323822, + 0.026293938979506493, + -0.12321025878190994 + ], + "joints": [ + -0.011226758360862732 + ] + }, + "fine_grasp": { + "position": [ + -0.037576332688331604, + -0.0956120640039444, + 0.07045582681894302 + ], + "orientation": [ + 0.9867492914199829, + -0.10184459388256073, + 0.02406557835638523, + -0.12399352341890335 + ], + "joints": [ + -0.0064175920560956 + ] + }, + "final_grasp": { + "position": [ + -0.037576332688331604, + -0.0956120640039444, + 0.07045582681894302 + ], + "orientation": [ + 0.9867492914199829, + -0.10184459388256073, + 0.02406557835638523, + -0.12399352341890335 + ], + "joints": [ + -0.0016084257513284683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06646427512168884, + 0.07992582023143768, + 0.17571638524532318 + ], + "orientation": [ + 0.5307022929191589, + -0.7920675873756409, + -0.3011437952518463, + 0.01721329055726528 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0649409368634224, + 0.07766193151473999, + 0.17168760299682617 + ], + "orientation": [ + 0.5262199640274048, + -0.7961945533752441, + -0.2984246015548706, + 0.01046060398221016 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.0649409368634224, + 0.07766193151473999, + 0.17168760299682617 + ], + "orientation": [ + 0.5262199640274048, + -0.7961945533752441, + -0.2984246015548706, + 0.01046060398221016 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07687398791313171, + 0.15070021152496338, + -0.009327447973191738 + ], + "orientation": [ + 0.13369101285934448, + 0.9407108426094055, + -0.30823206901550293, + -0.04672086983919144 + ], + "joints": [ + -0.00701677892357111 + ] + }, + "fine_grasp": { + "position": [ + 0.07414955645799637, + 0.1466064602136612, + -0.007207795511931181 + ], + "orientation": [ + 0.14513705670833588, + 0.9403148293495178, + -0.30248814821243286, + -0.05695755034685135 + ], + "joints": [ + -0.00680422130972147 + ] + }, + "final_grasp": { + "position": [ + 0.07414955645799637, + 0.1466064602136612, + -0.007207795511931181 + ], + "orientation": [ + 0.14513705670833588, + 0.9403148293495178, + -0.30248814821243286, + -0.05695755034685135 + ], + "joints": [ + -0.00659166369587183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025906456634402275, + 0.14521023631095886, + -0.0975935161113739 + ], + "orientation": [ + 0.21543850004673004, + 0.5729446411132812, + 0.0036932602524757385, + 0.7907635569572449 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + 0.02581159397959709, + 0.14731983840465546, + -0.0968325063586235 + ], + "orientation": [ + 0.22298604249954224, + 0.5817937254905701, + 0.006455160677433014, + 0.7821454405784607 + ], + "joints": [ + -0.01078205555677414 + ] + }, + "final_grasp": { + "position": [ + 0.02581159397959709, + 0.14731983840465546, + -0.0968325063586235 + ], + "orientation": [ + 0.22298604249954224, + 0.5817937254905701, + 0.006455160677433014, + 0.7821454405784607 + ], + "joints": [ + -0.007540516555309296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02588866651058197, + 0.144875630736351, + -0.09745854139328003 + ], + "orientation": [ + 0.2150435894727707, + 0.5706415176391602, + 0.005577223375439644, + 0.7925233840942383 + ], + "joints": [ + -0.014361385256052017 + ] + }, + "fine_grasp": { + "position": [ + 0.025871753692626953, + 0.14699062705039978, + -0.0967855378985405 + ], + "orientation": [ + 0.22210106253623962, + 0.5793062448501587, + 0.008219359442591667, + 0.7842243313789368 + ], + "joints": [ + -0.011119846254587173 + ] + }, + "final_grasp": { + "position": [ + 0.025871753692626953, + 0.14699062705039978, + -0.0967855378985405 + ], + "orientation": [ + 0.22210106253623962, + 0.5793062448501587, + 0.008219359442591667, + 0.7842243313789368 + ], + "joints": [ + -0.00787830725312233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09712393581867218, + 0.11777166277170181, + -0.07426278293132782 + ], + "orientation": [ + 0.391780287027359, + 0.4746116101741791, + 0.2004622519016266, + -0.7622774243354797 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.09547359496355057, + 0.11793568730354309, + -0.07284271717071533 + ], + "orientation": [ + 0.3972705602645874, + 0.48485150933265686, + 0.20278987288475037, + -0.7523106932640076 + ], + "joints": [ + -0.011372337117791176 + ] + }, + "final_grasp": { + "position": [ + -0.09547359496355057, + 0.11793568730354309, + -0.07284271717071533 + ], + "orientation": [ + 0.3972705602645874, + 0.48485150933265686, + 0.20278987288475037, + -0.7523106932640076 + ], + "joints": [ + -0.00866219773888588 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051991056650877, + 0.11716265976428986, + 0.1656191498041153 + ], + "orientation": [ + 0.36823537945747375, + -0.6207071542739868, + -0.2234237641096115, + 0.6551390290260315 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.05148819461464882, + 0.1147797629237175, + 0.16248410940170288 + ], + "orientation": [ + 0.3666102886199951, + -0.6160643100738525, + -0.22931918501853943, + 0.6583877205848694 + ], + "joints": [ + -0.010060911066830158 + ] + }, + "final_grasp": { + "position": [ + 0.05148819461464882, + 0.1147797629237175, + 0.16248410940170288 + ], + "orientation": [ + 0.3666102886199951, + -0.6160643100738525, + -0.22931918501853943, + 0.6583877205848694 + ], + "joints": [ + -0.0036841128021478653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05173425376415253, + 0.11693229526281357, + 0.16597716510295868 + ], + "orientation": [ + 0.3703247606754303, + -0.6228060126304626, + -0.22160756587982178, + 0.6525812149047852 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.05122190713882446, + 0.11446323990821838, + 0.16302275657653809 + ], + "orientation": [ + 0.3695997893810272, + -0.6164789795875549, + -0.22875715792179108, + 0.6565210223197937 + ], + "joints": [ + -0.010088876821100712 + ] + }, + "final_grasp": { + "position": [ + 0.05122190713882446, + 0.11446323990821838, + 0.16302275657653809 + ], + "orientation": [ + 0.3695997893810272, + -0.6164789795875549, + -0.22875715792179108, + 0.6565210223197937 + ], + "joints": [ + -0.0031806770712137222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021770086139440536, + 0.18225964903831482, + 0.034860946238040924 + ], + "orientation": [ + 0.03710424154996872, + 0.9471455216407776, + 0.09897110611200333, + 0.3028918504714966 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.02150975726544857, + 0.17725162208080292, + 0.03634760528802872 + ], + "orientation": [ + 0.04661533609032631, + 0.9411188960075378, + 0.10044603794813156, + 0.3194257616996765 + ], + "joints": [ + -0.013581683859229088 + ] + }, + "final_grasp": { + "position": [ + -0.02150975726544857, + 0.17725162208080292, + 0.03634760528802872 + ], + "orientation": [ + 0.04661533609032631, + 0.9411188960075378, + 0.10044603794813156, + 0.3194257616996765 + ], + "joints": [ + -0.009224196895956993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045295242220163345, + 0.17429876327514648, + 0.014812947250902653 + ], + "orientation": [ + 0.11057621985673904, + -0.28291815519332886, + 0.1780657023191452, + 0.9359610080718994 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.043947018682956696, + 0.17140419781208038, + 0.01591045968234539 + ], + "orientation": [ + 0.1089017391204834, + -0.2936764657497406, + 0.18456438183784485, + 0.9315742254257202 + ], + "joints": [ + -0.012106797657907009 + ] + }, + "final_grasp": { + "position": [ + 0.043947018682956696, + 0.17140419781208038, + 0.01591045968234539 + ], + "orientation": [ + 0.1089017391204834, + -0.2936764657497406, + 0.18456438183784485, + 0.9315742254257202 + ], + "joints": [ + -0.007775885984301567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054949723184108734, + 0.16478492319583893, + 0.008999033831059933 + ], + "orientation": [ + 0.17260922491550446, + 0.9500508308410645, + -0.16304104030132294, + 0.20255129039287567 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.053540684282779694, + 0.161621555685997, + 0.010392988100647926 + ], + "orientation": [ + 0.17963482439517975, + 0.9473475813865662, + -0.15976062417030334, + 0.21151916682720184 + ], + "joints": [ + -0.010313805192708969 + ] + }, + "final_grasp": { + "position": [ + 0.053540684282779694, + 0.161621555685997, + 0.010392988100647926 + ], + "orientation": [ + 0.17963482439517975, + 0.9473475813865662, + -0.15976062417030334, + 0.21151916682720184 + ], + "joints": [ + -0.005956325680017471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1379510462284088, + 0.09002580493688583, + 0.016026120632886887 + ], + "orientation": [ + 0.5380969047546387, + -0.025440046563744545, + -0.12462711334228516, + -0.8332300782203674 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.1348484456539154, + 0.08901568502187729, + 0.016890259459614754 + ], + "orientation": [ + 0.5343734622001648, + -0.03580585494637489, + -0.1330987811088562, + -0.833935022354126 + ], + "joints": [ + -0.011604839004576206 + ] + }, + "final_grasp": { + "position": [ + -0.1348484456539154, + 0.08901568502187729, + 0.016890259459614754 + ], + "orientation": [ + 0.5343734622001648, + -0.03580585494637489, + -0.1330987811088562, + -0.833935022354126 + ], + "joints": [ + -0.006742527708411217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04259948804974556, + 0.17587415874004364, + 0.02976253442466259 + ], + "orientation": [ + 0.122472383081913, + -0.2476624846458435, + 0.10519591718912125, + 0.9552998542785645 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.04141697287559509, + 0.17233283817768097, + 0.030482882633805275 + ], + "orientation": [ + 0.1213289201259613, + -0.26030218601226807, + 0.1100321114063263, + 0.9515330195426941 + ], + "joints": [ + -0.010929184034466743 + ] + }, + "final_grasp": { + "position": [ + 0.04141697287559509, + 0.17233283817768097, + 0.030482882633805275 + ], + "orientation": [ + 0.1213289201259613, + -0.26030218601226807, + 0.1100321114063263, + 0.9515330195426941 + ], + "joints": [ + -0.006598275154829025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005796134937554598, + -0.10939083248376846, + 0.06378612667322159 + ], + "orientation": [ + 0.24285471439361572, + 0.04244760423898697, + -0.9673264026641846, + 0.059156615287065506 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.006152304820716381, + -0.10396996885538101, + 0.06302116811275482 + ], + "orientation": [ + 0.24865636229515076, + 0.04203052073717117, + -0.9660126566886902, + 0.05677209794521332 + ], + "joints": [ + -0.01249820925295353 + ] + }, + "final_grasp": { + "position": [ + 0.006152304820716381, + -0.10396996885538101, + 0.06302116811275482 + ], + "orientation": [ + 0.24865636229515076, + 0.04203052073717117, + -0.9660126566886902, + 0.05677209794521332 + ], + "joints": [ + -0.009176958352327347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00555450888350606, + -0.10956122726202011, + 0.06401009857654572 + ], + "orientation": [ + 0.24157269299030304, + 0.041437484323978424, + -0.9676524996757507, + 0.059784408658742905 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.005943048745393753, + -0.10412111133337021, + 0.06336309760808945 + ], + "orientation": [ + 0.24671883881092072, + 0.0416731983423233, + -0.9665243029594421, + 0.05677949637174606 + ], + "joints": [ + -0.01249820925295353 + ] + }, + "final_grasp": { + "position": [ + 0.005943048745393753, + -0.10412111133337021, + 0.06336309760808945 + ], + "orientation": [ + 0.24671883881092072, + 0.0416731983423233, + -0.9665243029594421, + 0.05677949637174606 + ], + "joints": [ + -0.009176958352327347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.136678546667099, + 0.030038367956876755, + -0.00957465823739767 + ], + "orientation": [ + 0.1668565720319748, + 0.6868618726730347, + 0.707369327545166, + -0.002854448277503252 + ], + "joints": [ + -0.009489774703979492 + ] + }, + "fine_grasp": { + "position": [ + -0.13211600482463837, + 0.029283858835697174, + -0.007111379876732826 + ], + "orientation": [ + 0.17560330033302307, + 0.6954941749572754, + 0.6967368125915527, + 0.003012957749888301 + ], + "joints": [ + -0.009356923401355743 + ] + }, + "final_grasp": { + "position": [ + -0.13211600482463837, + 0.029283858835697174, + -0.007111379876732826 + ], + "orientation": [ + 0.17560330033302307, + 0.6954941749572754, + 0.6967368125915527, + 0.003012957749888301 + ], + "joints": [ + -0.009224072098731995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030605336651206017, + 0.17216508090496063, + 0.03027014620602131 + ], + "orientation": [ + 0.11214789003133774, + -0.06567217409610748, + 0.016228429973125458, + 0.9913862347602844 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.029418284073472023, + 0.16855351626873016, + 0.031497687101364136 + ], + "orientation": [ + 0.10645882040262222, + -0.07638894021511078, + 0.03723049908876419, + 0.9906790852546692 + ], + "joints": [ + -0.0044817375019192696 + ] + }, + "final_grasp": { + "position": [ + 0.029418284073472023, + 0.16855351626873016, + 0.031497687101364136 + ], + "orientation": [ + 0.10645882040262222, + -0.07638894021511078, + 0.03723049908876419, + 0.9906790852546692 + ], + "joints": [ + -0.0001508314162492752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02062629908323288, + 0.16265061497688293, + -0.011916838586330414 + ], + "orientation": [ + 0.04490010812878609, + -0.13522064685821533, + 0.18836067616939545, + 0.9717096090316772 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.019885996356606483, + 0.15905387699604034, + -0.009135858155786991 + ], + "orientation": [ + 0.044955454766750336, + -0.1389787793159485, + 0.20050640404224396, + 0.9687420725822449 + ], + "joints": [ + -0.006108173169195652 + ] + }, + "final_grasp": { + "position": [ + 0.019885996356606483, + 0.15905387699604034, + -0.009135858155786991 + ], + "orientation": [ + 0.044955454766750336, + -0.1389787793159485, + 0.20050640404224396, + 0.9687420725822449 + ], + "joints": [ + -0.002255527302622795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0027570140082389116, + -0.10593660175800323, + 0.03987634927034378 + ], + "orientation": [ + 0.9959688186645508, + -0.023365817964076996, + -0.08622320741415024, + -0.008105088025331497 + ], + "joints": [ + -0.008312158286571503 + ] + }, + "fine_grasp": { + "position": [ + -0.00288711441680789, + -0.10024487227201462, + 0.0413142628967762 + ], + "orientation": [ + 0.9962154030799866, + -0.014589282684028149, + -0.08543271571397781, + -0.006590271834284067 + ], + "joints": [ + -0.003954682499170303 + ] + }, + "final_grasp": { + "position": [ + -0.00288711441680789, + -0.10024487227201462, + 0.0413142628967762 + ], + "orientation": [ + 0.9962154030799866, + -0.014589282684028149, + -0.08543271571397781, + -0.006590271834284067 + ], + "joints": [ + 0.000402793288230896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01984109729528427, + 0.16225898265838623, + -0.012344195507466793 + ], + "orientation": [ + 0.04465564340353012, + -0.12608730792999268, + 0.1850229799747467, + 0.9735884070396423 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.01919732615351677, + 0.15855099260807037, + -0.009470091201364994 + ], + "orientation": [ + 0.045471783727407455, + -0.126817986369133, + 0.19652803242206573, + 0.9711983799934387 + ], + "joints": [ + -0.005548805929720402 + ] + }, + "final_grasp": { + "position": [ + 0.01919732615351677, + 0.15855099260807037, + -0.009470091201364994 + ], + "orientation": [ + 0.045471783727407455, + -0.126817986369133, + 0.19652803242206573, + 0.9711983799934387 + ], + "joints": [ + -0.0016961600631475449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024798516184091568, + -0.09337998926639557, + 0.017405956983566284 + ], + "orientation": [ + 0.991075336933136, + 0.06105978414416313, + -0.08081042766571045, + 0.08666615933179855 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + 0.024299858137965202, + -0.08857808262109756, + 0.020108355209231377 + ], + "orientation": [ + 0.9901859760284424, + 0.07051990181207657, + -0.07949259132146835, + 0.09077230840921402 + ], + "joints": [ + -0.005413161125034094 + ] + }, + "final_grasp": { + "position": [ + 0.024299858137965202, + -0.08857808262109756, + 0.020108355209231377 + ], + "orientation": [ + 0.9901859760284424, + 0.07051990181207657, + -0.07949259132146835, + 0.09077230840921402 + ], + "joints": [ + -0.0025436049327254295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02465766668319702, + -0.09342727810144424, + 0.017075011506676674 + ], + "orientation": [ + 0.9911808371543884, + 0.060897260904312134, + -0.0799250528216362, + 0.08639507740736008 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.024148494005203247, + -0.08857133239507675, + 0.019611790776252747 + ], + "orientation": [ + 0.9903119206428528, + 0.06929022818803787, + -0.07911696285009384, + 0.09067324548959732 + ], + "joints": [ + -0.005383720155805349 + ] + }, + "final_grasp": { + "position": [ + 0.024148494005203247, + -0.08857133239507675, + 0.019611790776252747 + ], + "orientation": [ + 0.9903119206428528, + 0.06929022818803787, + -0.07911696285009384, + 0.09067324548959732 + ], + "joints": [ + -0.002514163963496685 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2026, + "num_passed": 35 + } +} \ No newline at end of file diff --git a/084_woodenmallet_2/Annotation/piper_grasp_pose.json b/084_woodenmallet_2/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..34e280f8ad03c9010262a409084934897e18270c --- /dev/null +++ b/084_woodenmallet_2/Annotation/piper_grasp_pose.json @@ -0,0 +1,6068 @@ +{ + "type": "084_woodenmallet_2", + "bottom_center": [ + -0.004020382650196552, + 0.03800204338040203, + -0.0916123166680336 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.13234958052635193, + 0.02185041457414627, + 0.0468367338180542 + ], + "orientation": [ + 0.6349499821662903, + -0.13761577010154724, + -0.7593281269073486, + 0.03634747117757797 + ], + "joints": [ + 0.027775520458817482 + ] + }, + "fine_grasp": { + "position": [ + 0.12849897146224976, + 0.022714784368872643, + 0.04818917065858841 + ], + "orientation": [ + 0.6464942693710327, + -0.13756246864795685, + -0.7495611310005188, + 0.03577512875199318 + ], + "joints": [ + 0.02021052874624729 + ] + }, + "final_grasp": { + "position": [ + 0.12849897146224976, + 0.022714784368872643, + 0.04818917065858841 + ], + "orientation": [ + 0.6464942693710327, + -0.13756246864795685, + -0.7495611310005188, + 0.03577512875199318 + ], + "joints": [ + 0.012645537033677101 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023800726979970932, + 0.13477033376693726, + 0.1727938950061798 + ], + "orientation": [ + 0.3348749279975891, + 0.6581153869628906, + 0.639092206954956, + -0.21518349647521973 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.023139087483286858, + 0.13242998719215393, + 0.16988785564899445 + ], + "orientation": [ + 0.32703831791877747, + 0.6613391041755676, + 0.6419444680213928, + -0.20876742899417877 + ], + "joints": [ + 0.027203455567359924 + ] + }, + "final_grasp": { + "position": [ + -0.023139087483286858, + 0.13242998719215393, + 0.16988785564899445 + ], + "orientation": [ + 0.32703831791877747, + 0.6613391041755676, + 0.6419444680213928, + -0.20876742899417877 + ], + "joints": [ + 0.019638463854789734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010451593436300755, + 0.15991266071796417, + -0.016990140080451965 + ], + "orientation": [ + 0.5174910426139832, + 0.4520144760608673, + -0.440780371427536, + 0.5775798559188843 + ], + "joints": [ + 0.017930885776877403 + ] + }, + "fine_grasp": { + "position": [ + -0.010312456637620926, + 0.15704184770584106, + -0.013275629840791225 + ], + "orientation": [ + 0.5257748365402222, + 0.44101834297180176, + -0.43068793416023254, + 0.5861498713493347 + ], + "joints": [ + 0.012915423139929771 + ] + }, + "final_grasp": { + "position": [ + -0.010312456637620926, + 0.15704184770584106, + -0.013275629840791225 + ], + "orientation": [ + 0.5257748365402222, + 0.44101834297180176, + -0.43068793416023254, + 0.5861498713493347 + ], + "joints": [ + 0.00789996050298214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023879995569586754, + 0.1348140686750412, + 0.1728050857782364 + ], + "orientation": [ + 0.33551502227783203, + 0.6578832864761353, + 0.6389220356941223, + -0.21540163457393646 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.023216642439365387, + 0.1324843317270279, + 0.16989226639270782 + ], + "orientation": [ + 0.32774484157562256, + 0.6609437465667725, + 0.6419520974159241, + -0.2088879495859146 + ], + "joints": [ + 0.027203455567359924 + ] + }, + "final_grasp": { + "position": [ + -0.023216642439365387, + 0.1324843317270279, + 0.16989226639270782 + ], + "orientation": [ + 0.32774484157562256, + 0.6609437465667725, + 0.6419520974159241, + -0.2088879495859146 + ], + "joints": [ + 0.019638463854789734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010774744674563408, + 0.1620326191186905, + -0.01734592206776142 + ], + "orientation": [ + 0.5154138207435608, + 0.45378902554512024, + -0.44156956672668457, + 0.5774429440498352 + ], + "joints": [ + 0.019132157787680626 + ] + }, + "fine_grasp": { + "position": [ + -0.010562586598098278, + 0.15873871743679047, + -0.014651932753622532 + ], + "orientation": [ + 0.519832193851471, + 0.44817858934402466, + -0.4360838532447815, + 0.5820148587226868 + ], + "joints": [ + 0.011608963832259178 + ] + }, + "final_grasp": { + "position": [ + -0.010562586598098278, + 0.15873871743679047, + -0.014651932753622532 + ], + "orientation": [ + 0.519832193851471, + 0.44817858934402466, + -0.4360838532447815, + 0.5820148587226868 + ], + "joints": [ + 0.00408576987683773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12204821407794952, + 0.00277765654027462, + 0.004165935795754194 + ], + "orientation": [ + 0.01743564009666443, + -0.6906627416610718, + -0.17406347393989563, + -0.7016998529434204 + ], + "joints": [ + 0.017974935472011566 + ] + }, + "fine_grasp": { + "position": [ + -0.11847514659166336, + 0.004169350024312735, + 0.006309262942522764 + ], + "orientation": [ + 0.01949458010494709, + -0.6806096434593201, + -0.17270003259181976, + -0.711733877658844 + ], + "joints": [ + 0.01128765195608139 + ] + }, + "final_grasp": { + "position": [ + -0.11847514659166336, + 0.004169350024312735, + 0.006309262942522764 + ], + "orientation": [ + 0.01949458010494709, + -0.6806096434593201, + -0.17270003259181976, + -0.711733877658844 + ], + "joints": [ + 0.004600368440151215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010545198805630207, + 0.16121816635131836, + -0.017808955162763596 + ], + "orientation": [ + 0.5095770359039307, + 0.45665207505226135, + -0.4437752962112427, + 0.5786739587783813 + ], + "joints": [ + 0.01872582733631134 + ] + }, + "fine_grasp": { + "position": [ + -0.0101419473066926, + 0.15771843492984772, + -0.015724433586001396 + ], + "orientation": [ + 0.5099136829376221, + 0.4533320963382721, + -0.4410749673843384, + 0.5830361247062683 + ], + "joints": [ + 0.009948767721652985 + ] + }, + "final_grasp": { + "position": [ + -0.0101419473066926, + 0.15771843492984772, + -0.015724433586001396 + ], + "orientation": [ + 0.5099136829376221, + 0.4533320963382721, + -0.4410749673843384, + 0.5830361247062683 + ], + "joints": [ + 0.001171708106994629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10609875619411469, + -0.025821255519986153, + -0.016468819230794907 + ], + "orientation": [ + 0.7477442026138306, + -0.23611271381378174, + 0.6078839898109436, + 0.1249256283044815 + ], + "joints": [ + 0.01815386302769184 + ] + }, + "fine_grasp": { + "position": [ + -0.10259122401475906, + -0.023986423388123512, + -0.01566946879029274 + ], + "orientation": [ + 0.7482024431228638, + -0.23732636868953705, + 0.607733428478241, + 0.12053755670785904 + ], + "joints": [ + 0.00895884819328785 + ] + }, + "final_grasp": { + "position": [ + -0.10259122401475906, + -0.023986423388123512, + -0.01566946879029274 + ], + "orientation": [ + 0.7482024431228638, + -0.23732636868953705, + 0.607733428478241, + 0.12053755670785904 + ], + "joints": [ + -0.00023616664111614227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010932906530797482, + 0.1598038375377655, + -0.017652830109000206 + ], + "orientation": [ + 0.5125919580459595, + 0.4573710560798645, + -0.44362547993659973, + 0.5755497813224792 + ], + "joints": [ + 0.017991969361901283 + ] + }, + "fine_grasp": { + "position": [ + -0.010466271080076694, + 0.15626001358032227, + -0.015458468347787857 + ], + "orientation": [ + 0.5128192901611328, + 0.45440277457237244, + -0.4396168291568756, + 0.5807508826255798 + ], + "joints": [ + 0.009632864966988564 + ] + }, + "final_grasp": { + "position": [ + -0.010466271080076694, + 0.15626001358032227, + -0.015458468347787857 + ], + "orientation": [ + 0.5128192901611328, + 0.45440277457237244, + -0.4396168291568756, + 0.5807508826255798 + ], + "joints": [ + 0.0012737605720758438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030143165960907936, + -0.09662226587533951, + 0.08252181112766266 + ], + "orientation": [ + 0.5823282599449158, + -0.44064396619796753, + 0.5103126168251038, + 0.45421114563941956 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.02942739613354206, + -0.09349456429481506, + 0.08110137283802032 + ], + "orientation": [ + 0.5695411562919617, + -0.4491724371910095, + 0.5228124856948853, + 0.44781023263931274 + ], + "joints": [ + 0.026463646441698074 + ] + }, + "final_grasp": { + "position": [ + -0.02942739613354206, + -0.09349456429481506, + 0.08110137283802032 + ], + "orientation": [ + 0.5695411562919617, + -0.4491724371910095, + 0.5228124856948853, + 0.44781023263931274 + ], + "joints": [ + 0.01931660994887352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031829897314310074, + -0.097259022295475, + 0.08259830623865128 + ], + "orientation": [ + 0.5936183929443359, + -0.4414866864681244, + 0.5024957060813904, + 0.44744253158569336 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.03100973553955555, + -0.09403318911790848, + 0.08107690513134003 + ], + "orientation": [ + 0.5792344212532043, + -0.45000606775283813, + 0.5178787708282471, + 0.4402086138725281 + ], + "joints": [ + 0.026190295815467834 + ] + }, + "final_grasp": { + "position": [ + -0.03100973553955555, + -0.09403318911790848, + 0.08107690513134003 + ], + "orientation": [ + 0.5792344212532043, + -0.45000606775283813, + 0.5178787708282471, + 0.4402086138725281 + ], + "joints": [ + 0.019001461565494537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016619287431240082, + 0.06025964766740799, + 0.2098260372877121 + ], + "orientation": [ + 0.0991002768278122, + 0.6648845076560974, + -0.7403019070625305, + -0.007798380684107542 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.015624821186065674, + 0.05966108292341232, + 0.2058086097240448 + ], + "orientation": [ + 0.09975320100784302, + 0.6633161306381226, + -0.7416541576385498, + -0.003187452908605337 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.015624821186065674, + 0.05966108292341232, + 0.2058086097240448 + ], + "orientation": [ + 0.09975320100784302, + 0.6633161306381226, + -0.7416541576385498, + -0.003187452908605337 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12172813713550568, + 0.07515885680913925, + 0.006974323187023401 + ], + "orientation": [ + 0.6542863845825195, + 0.054501838982105255, + -0.7367671132087708, + 0.1615953892469406 + ], + "joints": [ + 0.01775650680065155 + ] + }, + "fine_grasp": { + "position": [ + 0.11781781911849976, + 0.07416561990976334, + 0.007850534282624722 + ], + "orientation": [ + 0.6592496633529663, + 0.052979499101638794, + -0.7325505018234253, + 0.1610993593931198 + ], + "joints": [ + 0.00939740240573883 + ] + }, + "final_grasp": { + "position": [ + 0.11781781911849976, + 0.07416561990976334, + 0.007850534282624722 + ], + "orientation": [ + 0.6592496633529663, + 0.052979499101638794, + -0.7325505018234253, + 0.1610993593931198 + ], + "joints": [ + 0.0010382980108261108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12094198167324066, + 0.07477854192256927, + 0.006576123181730509 + ], + "orientation": [ + 0.6552205085754395, + 0.05188123881816864, + -0.736133337020874, + 0.1615614891052246 + ], + "joints": [ + 0.017857646569609642 + ] + }, + "fine_grasp": { + "position": [ + 0.1170634776353836, + 0.07379007339477539, + 0.0074715088121593 + ], + "orientation": [ + 0.6606422066688538, + 0.05061667412519455, + -0.7314639091491699, + 0.16109152138233185 + ], + "joints": [ + 0.00866263173520565 + ] + }, + "final_grasp": { + "position": [ + 0.1170634776353836, + 0.07379007339477539, + 0.0074715088121593 + ], + "orientation": [ + 0.6606422066688538, + 0.05061667412519455, + -0.7314639091491699, + 0.16109152138233185 + ], + "joints": [ + -0.0005323830991983414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12257592380046844, + 0.07532523572444916, + 0.006478330120444298 + ], + "orientation": [ + 0.6539415121078491, + 0.05422220379114151, + -0.7375367879867554, + 0.15956178307533264 + ], + "joints": [ + 0.017512762919068336 + ] + }, + "fine_grasp": { + "position": [ + 0.11865977942943573, + 0.07433711737394333, + 0.007348877377808094 + ], + "orientation": [ + 0.6595891714096069, + 0.05303988605737686, + -0.7326388955116272, + 0.15927714109420776 + ], + "joints": [ + 0.00873570330440998 + ] + }, + "final_grasp": { + "position": [ + 0.11865977942943573, + 0.07433711737394333, + 0.007348877377808094 + ], + "orientation": [ + 0.6595891714096069, + 0.05303988605737686, + -0.7326388955116272, + 0.15927714109420776 + ], + "joints": [ + -4.135631024837494e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10403291881084442, + 0.0748324990272522, + -0.046844515949487686 + ], + "orientation": [ + 0.7979503870010376, + 0.06829401850700378, + -0.566325843334198, + 0.1946435272693634 + ], + "joints": [ + 0.017792046070098877 + ] + }, + "fine_grasp": { + "position": [ + 0.10045062750577927, + 0.07345268130302429, + -0.046082090586423874 + ], + "orientation": [ + 0.7964362502098083, + 0.06940125674009323, + -0.5686236023902893, + 0.1937524974346161 + ], + "joints": [ + 0.007761120330542326 + ] + }, + "final_grasp": { + "position": [ + 0.10045062750577927, + 0.07345268130302429, + -0.046082090586423874 + ], + "orientation": [ + 0.7964362502098083, + 0.06940125674009323, + -0.5686236023902893, + 0.1937524974346161 + ], + "joints": [ + -0.002269805409014225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10484541952610016, + 0.07470713555812836, + -0.04819141700863838 + ], + "orientation": [ + 0.7930686473846436, + 0.06986356526613235, + -0.5732466578483582, + 0.19377711415290833 + ], + "joints": [ + 0.01769452914595604 + ] + }, + "fine_grasp": { + "position": [ + 0.1012740209698677, + 0.07325974851846695, + -0.04744734242558479 + ], + "orientation": [ + 0.7916164398193359, + 0.0710873231291771, + -0.5753291845321655, + 0.19309677183628082 + ], + "joints": [ + 0.008081559091806412 + ] + }, + "final_grasp": { + "position": [ + 0.1012740209698677, + 0.07325974851846695, + -0.04744734242558479 + ], + "orientation": [ + 0.7916164398193359, + 0.0710873231291771, + -0.5753291845321655, + 0.19309677183628082 + ], + "joints": [ + -0.001531410962343216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0097515182569623, + 0.16854563355445862, + 0.13250312209129333 + ], + "orientation": [ + 0.44637155532836914, + 0.6511411666870117, + -0.4844715893268585, + 0.37690168619155884 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.009915093891322613, + 0.16549529135227203, + 0.1301042139530182 + ], + "orientation": [ + 0.43193334341049194, + 0.6594399809837341, + -0.496019184589386, + 0.36405718326568604 + ], + "joints": [ + 0.026882696896791458 + ] + }, + "final_grasp": { + "position": [ + -0.009915093891322613, + 0.16549529135227203, + 0.1301042139530182 + ], + "orientation": [ + 0.43193334341049194, + 0.6594399809837341, + -0.496019184589386, + 0.36405718326568604 + ], + "joints": [ + 0.019714761525392532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034701988101005554, + 0.1727181226015091, + 0.020041653886437416 + ], + "orientation": [ + 0.5715891122817993, + 0.4955056309700012, + 0.26278045773506165, + -0.5989211201667786 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.033406734466552734, + 0.16891628503799438, + 0.02132360078394413 + ], + "orientation": [ + 0.5720137357711792, + 0.4955226182937622, + 0.2659253180027008, + -0.5971108078956604 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.033406734466552734, + 0.16891628503799438, + 0.02132360078394413 + ], + "orientation": [ + 0.5720137357711792, + 0.4955226182937622, + 0.2659253180027008, + -0.5971108078956604 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034623757004737854, + 0.1727285385131836, + 0.019891759380698204 + ], + "orientation": [ + 0.5721870064735413, + 0.4957924485206604, + 0.2627926468849182, + -0.5981069207191467 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03333842009305954, + 0.1689356416463852, + 0.021235065534710884 + ], + "orientation": [ + 0.5730865597724915, + 0.4953967034816742, + 0.265328049659729, + -0.596451997756958 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.03333842009305954, + 0.1689356416463852, + 0.021235065534710884 + ], + "orientation": [ + 0.5730865597724915, + 0.4953967034816742, + 0.265328049659729, + -0.596451997756958 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01001746580004692, + 0.16864731907844543, + 0.13223008811473846 + ], + "orientation": [ + 0.4452598989009857, + 0.6512316465377808, + -0.48504018783569336, + 0.37732866406440735 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.01015398371964693, + 0.16550083458423615, + 0.129862442612648 + ], + "orientation": [ + 0.4311206042766571, + 0.6589228510856628, + -0.4964843988418579, + 0.36532050371170044 + ], + "joints": [ + 0.02690359577536583 + ] + }, + "final_grasp": { + "position": [ + -0.01015398371964693, + 0.16550083458423615, + 0.129862442612648 + ], + "orientation": [ + 0.4311206042766571, + 0.6589228510856628, + -0.4964843988418579, + 0.36532050371170044 + ], + "joints": [ + 0.019756559282541275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03463203087449074, + 0.1728355437517166, + 0.020172419026494026 + ], + "orientation": [ + 0.5719302296638489, + 0.4957091212272644, + 0.2628319263458252, + -0.5984042286872864 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03333915397524834, + 0.16899234056472778, + 0.02146761119365692 + ], + "orientation": [ + 0.5723118782043457, + 0.4957001209259033, + 0.26573988795280457, + -0.5967602729797363 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.03333915397524834, + 0.16899234056472778, + 0.02146761119365692 + ], + "orientation": [ + 0.5723118782043457, + 0.4957001209259033, + 0.26573988795280457, + -0.5967602729797363 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03468235954642296, + 0.17286501824855804, + 0.02021997794508934 + ], + "orientation": [ + 0.5724676251411438, + 0.4952206611633301, + 0.2618173062801361, + -0.598739504814148 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03339139372110367, + 0.16899986565113068, + 0.021518005058169365 + ], + "orientation": [ + 0.57291579246521, + 0.4953377842903137, + 0.26465538144111633, + -0.5969635248184204 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.03339139372110367, + 0.16899986565113068, + 0.021518005058169365 + ], + "orientation": [ + 0.57291579246521, + 0.4953377842903137, + 0.26465538144111633, + -0.5969635248184204 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12493765354156494, + 0.024613093584775925, + -0.00994068756699562 + ], + "orientation": [ + 0.015504559502005577, + 0.7161749601364136, + -0.06595339626073837, + -0.6946244835853577 + ], + "joints": [ + 0.018052875995635986 + ] + }, + "fine_grasp": { + "position": [ + 0.12101791054010391, + 0.024879517033696175, + -0.0100857587531209 + ], + "orientation": [ + 0.015062467195093632, + 0.7162394523620605, + -0.06564855575561523, + -0.6945967674255371 + ], + "joints": [ + 0.008042849600315094 + ] + }, + "final_grasp": { + "position": [ + 0.12101791054010391, + 0.024879517033696175, + -0.0100857587531209 + ], + "orientation": [ + 0.015062467195093632, + 0.7162394523620605, + -0.06564855575561523, + -0.6945967674255371 + ], + "joints": [ + -0.0019671767950057983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08197832852602005, + 0.12091639637947083, + -0.04998832568526268 + ], + "orientation": [ + 0.35298851132392883, + 0.5861586928367615, + 0.21360845863819122, + -0.6972722411155701 + ], + "joints": [ + 0.01773262768983841 + ] + }, + "fine_grasp": { + "position": [ + 0.0793299749493599, + 0.1180184856057167, + -0.04936925694346428 + ], + "orientation": [ + 0.3527768552303314, + 0.5871230959892273, + 0.21480108797550201, + -0.6962008476257324 + ], + "joints": [ + 0.0073255435563623905 + ] + }, + "final_grasp": { + "position": [ + 0.0793299749493599, + 0.1180184856057167, + -0.04936925694346428 + ], + "orientation": [ + 0.3527768552303314, + 0.5871230959892273, + 0.21480108797550201, + -0.6962008476257324 + ], + "joints": [ + -0.0030815405771136284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0010313738603144884, + -0.0786973312497139, + 0.1618289202451706 + ], + "orientation": [ + 0.3616958260536194, + -0.7120784521102905, + -0.5468838810920715, + -0.2510748505592346 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.000645981403067708, + -0.07546164840459824, + 0.15915748476982117 + ], + "orientation": [ + 0.3565555810928345, + -0.7135334014892578, + -0.5494392514228821, + -0.24870605766773224 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.000645981403067708, + -0.07546164840459824, + 0.15915748476982117 + ], + "orientation": [ + 0.3565555810928345, + -0.7135334014892578, + -0.5494392514228821, + -0.24870605766773224 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024432020261883736, + 0.1565396785736084, + 0.13867159187793732 + ], + "orientation": [ + 0.26284509897232056, + 0.5435025095939636, + 0.6311429738998413, + -0.4870070219039917 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.023047950118780136, + 0.15395238995552063, + 0.13593612611293793 + ], + "orientation": [ + 0.25041183829307556, + 0.556753396987915, + 0.6373271942138672, + -0.47024840116500854 + ], + "joints": [ + 0.02841552346944809 + ] + }, + "final_grasp": { + "position": [ + 0.023047950118780136, + 0.15395238995552063, + 0.13593612611293793 + ], + "orientation": [ + 0.25041183829307556, + 0.556753396987915, + 0.6373271942138672, + -0.47024840116500854 + ], + "joints": [ + 0.022062599658966064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019662730395793915, + 0.09488659352064133, + 0.20400387048721313 + ], + "orientation": [ + 0.18133743107318878, + 0.7679378390312195, + -0.6138184666633606, + 0.024799538776278496 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.018729737028479576, + 0.09333990514278412, + 0.20029255747795105 + ], + "orientation": [ + 0.1859934777021408, + 0.7741328477859497, + -0.604349672794342, + 0.029769394546747208 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.018729737028479576, + 0.09333990514278412, + 0.20029255747795105 + ], + "orientation": [ + 0.1859934777021408, + 0.7741328477859497, + -0.604349672794342, + 0.029769394546747208 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05685645341873169, + 0.13391165435314178, + -0.061356399208307266 + ], + "orientation": [ + 0.6898673176765442, + 0.2863341271877289, + -0.5153922438621521, + 0.42007920145988464 + ], + "joints": [ + 0.017854565754532814 + ] + }, + "fine_grasp": { + "position": [ + 0.05499035492539406, + 0.13057690858840942, + -0.06052456423640251 + ], + "orientation": [ + 0.6890339255332947, + 0.2877426743507385, + -0.5165813565254211, + 0.4190228581428528 + ], + "joints": [ + 0.007029525935649872 + ] + }, + "final_grasp": { + "position": [ + 0.05499035492539406, + 0.13057690858840942, + -0.06052456423640251 + ], + "orientation": [ + 0.6890339255332947, + 0.2877426743507385, + -0.5165813565254211, + 0.4190228581428528 + ], + "joints": [ + -0.0037955138832330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05694269388914108, + 0.13376981019973755, + -0.061576537787914276 + ], + "orientation": [ + 0.6880039572715759, + 0.28454869985580444, + -0.517223596572876, + 0.42209285497665405 + ], + "joints": [ + 0.017616450786590576 + ] + }, + "fine_grasp": { + "position": [ + 0.0550679937005043, + 0.13044512271881104, + -0.060737136751413345 + ], + "orientation": [ + 0.6871613264083862, + 0.2859173119068146, + -0.5183750987052917, + 0.42112696170806885 + ], + "joints": [ + 0.007188468240201473 + ] + }, + "final_grasp": { + "position": [ + 0.0550679937005043, + 0.13044512271881104, + -0.060737136751413345 + ], + "orientation": [ + 0.6871613264083862, + 0.2859173119068146, + -0.5183750987052917, + 0.42112696170806885 + ], + "joints": [ + -0.0032395143061876297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0931028500199318, + 0.11424665153026581, + -0.05548432469367981 + ], + "orientation": [ + 0.2762158215045929, + 0.5303334593772888, + 0.2002953737974167, + -0.7761011123657227 + ], + "joints": [ + 0.01706484705209732 + ] + }, + "fine_grasp": { + "position": [ + 0.09020161628723145, + 0.1117861345410347, + -0.054741352796554565 + ], + "orientation": [ + 0.2742058038711548, + 0.5337703824043274, + 0.2019408792257309, + -0.7740285396575928 + ], + "joints": [ + 0.008245990611612797 + ] + }, + "final_grasp": { + "position": [ + 0.09020161628723145, + 0.1117861345410347, + -0.054741352796554565 + ], + "orientation": [ + 0.2742058038711548, + 0.5337703824043274, + 0.2019408792257309, + -0.7740285396575928 + ], + "joints": [ + -0.000572865828871727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004495597444474697, + 0.13826699554920197, + 0.17293329536914825 + ], + "orientation": [ + 0.19421744346618652, + 0.4596070945262909, + 0.8021135926246643, + -0.3281077444553375 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.004766538739204407, + 0.1351863294839859, + 0.16953763365745544 + ], + "orientation": [ + 0.19016139209270477, + 0.4659770131111145, + 0.8023398518562317, + -0.32086583971977234 + ], + "joints": [ + 0.03077865019440651 + ] + }, + "final_grasp": { + "position": [ + -0.004766538739204407, + 0.1351863294839859, + 0.16953763365745544 + ], + "orientation": [ + 0.19016139209270477, + 0.4659770131111145, + 0.8023398518562317, + -0.32086583971977234 + ], + "joints": [ + 0.026557300239801407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04457057639956474, + 0.14429642260074615, + -0.05963533744215965 + ], + "orientation": [ + 0.4505784809589386, + 0.5271514654159546, + -0.3485625088214874, + 0.6305509805679321 + ], + "joints": [ + 0.017870469018816948 + ] + }, + "fine_grasp": { + "position": [ + -0.04317273572087288, + 0.1406737118959427, + -0.058928437530994415 + ], + "orientation": [ + 0.4504691958427429, + 0.5273889899253845, + -0.34891897439956665, + 0.630233108997345 + ], + "joints": [ + 0.007442486472427845 + ] + }, + "final_grasp": { + "position": [ + -0.04317273572087288, + 0.1406737118959427, + -0.058928437530994415 + ], + "orientation": [ + 0.4504691958427429, + 0.5273889899253845, + -0.34891897439956665, + 0.630233108997345 + ], + "joints": [ + -0.002985496073961258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04277142882347107, + -0.08122632652521133, + -0.07240817695856094 + ], + "orientation": [ + 0.6757726669311523, + -0.3773449659347534, + 0.484958678483963, + 0.4071328043937683 + ], + "joints": [ + 0.017737597227096558 + ] + }, + "fine_grasp": { + "position": [ + -0.04138243570923805, + -0.07764346152544022, + -0.07220388948917389 + ], + "orientation": [ + 0.6739187836647034, + -0.3794572651386261, + 0.4871352016925812, + 0.4056413471698761 + ], + "joints": [ + 0.007288716733455658 + ] + }, + "final_grasp": { + "position": [ + -0.04138243570923805, + -0.07764346152544022, + -0.07220388948917389 + ], + "orientation": [ + 0.6739187836647034, + -0.3794572651386261, + 0.4871352016925812, + 0.4056413471698761 + ], + "joints": [ + -0.0031601637601852417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05053338035941124, + -0.07437144219875336, + -0.06307541579008102 + ], + "orientation": [ + 0.6554749011993408, + -0.33130964636802673, + -0.5391748547554016, + -0.41216132044792175 + ], + "joints": [ + 0.016994494944810867 + ] + }, + "fine_grasp": { + "position": [ + 0.048697058111429214, + -0.07078804075717926, + -0.06305471807718277 + ], + "orientation": [ + 0.6540457010269165, + -0.33017927408218384, + -0.5415784120559692, + -0.41218799352645874 + ], + "joints": [ + 0.007799479644745588 + ] + }, + "final_grasp": { + "position": [ + 0.048697058111429214, + -0.07078804075717926, + -0.06305471807718277 + ], + "orientation": [ + 0.6540457010269165, + -0.33017927408218384, + -0.5415784120559692, + -0.41218799352645874 + ], + "joints": [ + -0.0013955356553196907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04288075119256973, + -0.08168353885412216, + -0.07191045582294464 + ], + "orientation": [ + 0.6776101589202881, + -0.3760180175304413, + 0.4820641875267029, + 0.40874072909355164 + ], + "joints": [ + 0.01775786280632019 + ] + }, + "fine_grasp": { + "position": [ + -0.04145574942231178, + -0.07810728251934052, + -0.07169896364212036 + ], + "orientation": [ + 0.6756024956703186, + -0.37807926535606384, + 0.484704852104187, + 0.4070364832878113 + ], + "joints": [ + 0.007726937532424927 + ] + }, + "final_grasp": { + "position": [ + -0.04145574942231178, + -0.07810728251934052, + -0.07169896364212036 + ], + "orientation": [ + 0.6756024956703186, + -0.37807926535606384, + 0.484704852104187, + 0.4070364832878113 + ], + "joints": [ + -0.002303987741470337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11414140462875366, + 0.016520841047167778, + -0.050091419368982315 + ], + "orientation": [ + 0.7347676157951355, + -0.0975341796875, + -0.6707555651664734, + 0.026275847107172012 + ], + "joints": [ + 0.016140427440404892 + ] + }, + "fine_grasp": { + "position": [ + 0.10999477654695511, + 0.016795441508293152, + -0.05006086826324463 + ], + "orientation": [ + 0.7343696355819702, + -0.09816881269216537, + -0.6710759997367859, + 0.02685548923909664 + ], + "joints": [ + 0.007781322579830885 + ] + }, + "final_grasp": { + "position": [ + 0.10999477654695511, + 0.016795441508293152, + -0.05006086826324463 + ], + "orientation": [ + 0.7343696355819702, + -0.09816881269216537, + -0.6710759997367859, + 0.02685548923909664 + ], + "joints": [ + -0.0005777822807431221 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05064678564667702, + -0.07487045973539352, + -0.06312551349401474 + ], + "orientation": [ + 0.6571455597877502, + -0.3311518430709839, + -0.536712646484375, + -0.4128410816192627 + ], + "joints": [ + 0.017037279903888702 + ] + }, + "fine_grasp": { + "position": [ + 0.04879400506615639, + -0.07133445888757706, + -0.06307794153690338 + ], + "orientation": [ + 0.6555680632591248, + -0.33042338490486145, + -0.5393656492233276, + -0.4124751389026642 + ], + "joints": [ + 0.00784226506948471 + ] + }, + "final_grasp": { + "position": [ + 0.04879400506615639, + -0.07133445888757706, + -0.06307794153690338 + ], + "orientation": [ + 0.6555680632591248, + -0.33042338490486145, + -0.5393656492233276, + -0.4124751389026642 + ], + "joints": [ + -0.001352749764919281 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06603020429611206, + 0.13828909397125244, + -0.016400521621108055 + ], + "orientation": [ + 0.6571142077445984, + 0.27463340759277344, + 0.5669098496437073, + -0.4139934480190277 + ], + "joints": [ + 0.01983768865466118 + ] + }, + "fine_grasp": { + "position": [ + -0.06433604657649994, + 0.13628771901130676, + -0.012729977257549763 + ], + "orientation": [ + 0.667843759059906, + 0.26695355772972107, + 0.5539537668228149, + -0.4193516671657562 + ], + "joints": [ + 0.01440427079796791 + ] + }, + "final_grasp": { + "position": [ + -0.06433604657649994, + 0.13628771901130676, + -0.012729977257549763 + ], + "orientation": [ + 0.667843759059906, + 0.26695355772972107, + 0.5539537668228149, + -0.4193516671657562 + ], + "joints": [ + 0.008970852941274643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02617156133055687, + -0.10039947926998138, + 0.053182508796453476 + ], + "orientation": [ + 0.49107658863067627, + -0.5733088254928589, + -0.4203324615955353, + -0.5034692883491516 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.02529073879122734, + -0.09690885245800018, + 0.05491475760936737 + ], + "orientation": [ + 0.4964391589164734, + -0.5652064085006714, + -0.4170522689819336, + -0.51005619764328 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + -0.02529073879122734, + -0.09690885245800018, + 0.05491475760936737 + ], + "orientation": [ + 0.4964391589164734, + -0.5652064085006714, + -0.4170522689819336, + -0.51005619764328 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039657168090343475, + 0.15542621910572052, + -0.06241977959871292 + ], + "orientation": [ + 0.4704228937625885, + 0.5585386753082275, + 0.38268712162971497, + -0.5659395456314087 + ], + "joints": [ + 0.0184438806027174 + ] + }, + "fine_grasp": { + "position": [ + 0.03811744973063469, + 0.15199431777000427, + -0.06196886673569679 + ], + "orientation": [ + 0.4674352705478668, + 0.5608879923820496, + 0.3780401349067688, + -0.5692051649093628 + ], + "joints": [ + 0.0079950001090765 + ] + }, + "final_grasp": { + "position": [ + 0.03811744973063469, + 0.15199431777000427, + -0.06196886673569679 + ], + "orientation": [ + 0.4674352705478668, + 0.5608879923820496, + 0.3780401349067688, + -0.5692051649093628 + ], + "joints": [ + -0.0024538803845643997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03952769935131073, + 0.15513122081756592, + -0.06247371807694435 + ], + "orientation": [ + 0.4700419008731842, + 0.5589398145675659, + 0.3825737535953522, + -0.5659365653991699 + ], + "joints": [ + 0.0184438806027174 + ] + }, + "fine_grasp": { + "position": [ + 0.03799436613917351, + 0.15169741213321686, + -0.0620228610932827 + ], + "orientation": [ + 0.4671039879322052, + 0.5612525939941406, + 0.3779475688934326, + -0.5691792964935303 + ], + "joints": [ + 0.0079950001090765 + ] + }, + "final_grasp": { + "position": [ + 0.03799436613917351, + 0.15169741213321686, + -0.0620228610932827 + ], + "orientation": [ + 0.4671039879322052, + 0.5612525939941406, + 0.3779475688934326, + -0.5691792964935303 + ], + "joints": [ + -0.0024538803845643997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06615710258483887, + 0.13921010494232178, + -0.017511632293462753 + ], + "orientation": [ + 0.6533485651016235, + 0.2737722396850586, + 0.571617841720581, + -0.41405004262924194 + ], + "joints": [ + 0.018256042152643204 + ] + }, + "fine_grasp": { + "position": [ + -0.0644451305270195, + 0.1367069035768509, + -0.01411402877420187 + ], + "orientation": [ + 0.6617239713668823, + 0.26727843284606934, + 0.5599347352981567, + -0.42089998722076416 + ], + "joints": [ + 0.0124046690762043 + ] + }, + "final_grasp": { + "position": [ + -0.0644451305270195, + 0.1367069035768509, + -0.01411402877420187 + ], + "orientation": [ + 0.6617239713668823, + 0.26727843284606934, + 0.5599347352981567, + -0.42089998722076416 + ], + "joints": [ + 0.006553295999765396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008398200385272503, + 0.01680425927042961, + -0.18694594502449036 + ], + "orientation": [ + 0.31282538175582886, + 0.012842992320656776, + -0.03310144692659378, + -0.9491468667984009 + ], + "joints": [ + 0.024278080090880394 + ] + }, + "fine_grasp": { + "position": [ + 0.007201815489679575, + 0.01713179610669613, + -0.18581655621528625 + ], + "orientation": [ + 0.3131175935268402, + 0.013439866714179516, + -0.02797846868634224, + -0.9492070078849792 + ], + "joints": [ + 0.014665110036730766 + ] + }, + "final_grasp": { + "position": [ + 0.007201815489679575, + 0.01713179610669613, + -0.18581655621528625 + ], + "orientation": [ + 0.3131175935268402, + 0.013439866714179516, + -0.02797846868634224, + -0.9492070078849792 + ], + "joints": [ + 0.005052139982581139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02845998853445053, + -0.06110932677984238, + 0.17683275043964386 + ], + "orientation": [ + 0.09351137280464172, + -0.5738084316253662, + 0.7409505844116211, + 0.3361424505710602 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.027309130877256393, + -0.058534733951091766, + 0.17377658188343048 + ], + "orientation": [ + 0.09267187863588333, + -0.5727100968360901, + 0.7421253323554993, + 0.3356560170650482 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + 0.027309130877256393, + -0.058534733951091766, + 0.17377658188343048 + ], + "orientation": [ + 0.09267187863588333, + -0.5727100968360901, + 0.7421253323554993, + 0.3356560170650482 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06557093560695648, + 0.13950304687023163, + -0.01737583801150322 + ], + "orientation": [ + 0.6568451523780823, + 0.27403971552848816, + 0.57293301820755, + -0.40645337104797363 + ], + "joints": [ + 0.019431523978710175 + ] + }, + "fine_grasp": { + "position": [ + -0.0637686476111412, + 0.13731588423252106, + -0.014249724335968494 + ], + "orientation": [ + 0.6668263673782349, + 0.26950201392173767, + 0.562116265296936, + -0.40833383798599243 + ], + "joints": [ + 0.012723341584205627 + ] + }, + "final_grasp": { + "position": [ + -0.0637686476111412, + 0.13731588423252106, + -0.014249724335968494 + ], + "orientation": [ + 0.6668263673782349, + 0.26950201392173767, + 0.562116265296936, + -0.40833383798599243 + ], + "joints": [ + 0.00601515918970108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02616444230079651, + 0.14571717381477356, + 0.15649083256721497 + ], + "orientation": [ + 0.2885185778141022, + 0.48357853293418884, + -0.7866504788398743, + 0.25315985083580017 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.024984734132885933, + 0.14237429201602936, + 0.1542683094739914 + ], + "orientation": [ + 0.3035188615322113, + 0.4806903898715973, + -0.7784819006919861, + 0.26604336500167847 + ], + "joints": [ + 0.029106829315423965 + ] + }, + "final_grasp": { + "position": [ + 0.024984734132885933, + 0.14237429201602936, + 0.1542683094739914 + ], + "orientation": [ + 0.3035188615322113, + 0.4806903898715973, + -0.7784819006919861, + 0.26604336500167847 + ], + "joints": [ + 0.02321365848183632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05979102849960327, + 0.13228383660316467, + -0.07031413912773132 + ], + "orientation": [ + 0.41922736167907715, + 0.4654688835144043, + 0.2538277804851532, + -0.7369930148124695 + ], + "joints": [ + 0.01767536625266075 + ] + }, + "fine_grasp": { + "position": [ + 0.05780259519815445, + 0.12902076542377472, + -0.06934615969657898 + ], + "orientation": [ + 0.4176581799983978, + 0.46895161271095276, + 0.25664418935775757, + -0.7346971035003662 + ], + "joints": [ + 0.008041497319936752 + ] + }, + "final_grasp": { + "position": [ + 0.05780259519815445, + 0.12902076542377472, + -0.06934615969657898 + ], + "orientation": [ + 0.4176581799983978, + 0.46895161271095276, + 0.25664418935775757, + -0.7346971035003662 + ], + "joints": [ + -0.0015923716127872467 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06583244353532791, + 0.139613538980484, + -0.017503494396805763 + ], + "orientation": [ + 0.6563798785209656, + 0.2743808627128601, + 0.5719594359397888, + -0.40834182500839233 + ], + "joints": [ + 0.01913345232605934 + ] + }, + "fine_grasp": { + "position": [ + -0.06399249285459518, + 0.13720376789569855, + -0.014620170928537846 + ], + "orientation": [ + 0.6641281247138977, + 0.2695293724536896, + 0.5637004971504211, + -0.41052356362342834 + ], + "joints": [ + 0.011192303150892258 + ] + }, + "final_grasp": { + "position": [ + -0.06399249285459518, + 0.13720376789569855, + -0.014620170928537846 + ], + "orientation": [ + 0.6641281247138977, + 0.2695293724536896, + 0.5637004971504211, + -0.41052356362342834 + ], + "joints": [ + 0.003251153975725174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07674293220043182, + 0.01775244064629078, + -0.16707968711853027 + ], + "orientation": [ + 0.003016604110598564, + -0.3509555757045746, + 0.00921898614615202, + 0.9363418817520142 + ], + "joints": [ + 0.02252829447388649 + ] + }, + "fine_grasp": { + "position": [ + 0.07489865273237228, + 0.01790948025882244, + -0.16479158401489258 + ], + "orientation": [ + 0.00475236726924777, + -0.3470417261123657, + 0.007704147603362799, + 0.9378060102462769 + ], + "joints": [ + 0.012915324419736862 + ] + }, + "final_grasp": { + "position": [ + 0.07489865273237228, + 0.01790948025882244, + -0.16479158401489258 + ], + "orientation": [ + 0.00475236726924777, + -0.3470417261123657, + 0.007704147603362799, + 0.9378060102462769 + ], + "joints": [ + 0.0033023543655872345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0025226811412721872, + 0.025165420025587082, + -0.19890977442264557 + ], + "orientation": [ + 0.015738768503069878, + -0.05386309325695038, + -0.004354757722467184, + 0.9984148740768433 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + -0.0008972207433544099, + 0.024051235988736153, + -0.195175439119339 + ], + "orientation": [ + 0.017502879723906517, + -0.03718740493059158, + -0.010797780938446522, + 0.999096691608429 + ], + "joints": [ + 0.012633027508854866 + ] + }, + "final_grasp": { + "position": [ + -0.0008972207433544099, + 0.024051235988736153, + -0.195175439119339 + ], + "orientation": [ + 0.017502879723906517, + -0.03718740493059158, + -0.010797780938446522, + 0.999096691608429 + ], + "joints": [ + 0.004691878333687782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0460624024271965, + -0.0866718515753746, + 0.11348368972539902 + ], + "orientation": [ + 0.18958355486392975, + -0.6366083025932312, + -0.5961790084838867, + -0.45095294713974 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.04518415778875351, + -0.08331318944692612, + 0.11353898793458939 + ], + "orientation": [ + 0.19744320213794708, + -0.6280295252799988, + -0.5969129800796509, + -0.4585738182067871 + ], + "joints": [ + 0.025309234857559204 + ] + }, + "final_grasp": { + "position": [ + -0.04518415778875351, + -0.08331318944692612, + 0.11353898793458939 + ], + "orientation": [ + 0.19744320213794708, + -0.6280295252799988, + -0.5969129800796509, + -0.4585738182067871 + ], + "joints": [ + 0.01770244538784027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005953014828264713, + -0.10623994469642639, + 0.07576934248209 + ], + "orientation": [ + 0.325716495513916, + -0.4059382379055023, + 0.6479982733726501, + 0.5560765266418457 + ], + "joints": [ + 0.034780025482177734 + ] + }, + "fine_grasp": { + "position": [ + -0.005372350104153156, + -0.10274740308523178, + 0.07677912712097168 + ], + "orientation": [ + 0.33434849977493286, + -0.39864209294319153, + 0.6448855996131897, + 0.5598376393318176 + ], + "joints": [ + 0.02761209011077881 + ] + }, + "final_grasp": { + "position": [ + -0.005372350104153156, + -0.10274740308523178, + 0.07677912712097168 + ], + "orientation": [ + 0.33434849977493286, + -0.39864209294319153, + 0.6448855996131897, + 0.5598376393318176 + ], + "joints": [ + 0.020444154739379883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043268367648124695, + 0.001976462546736002, + -0.1955394297838211 + ], + "orientation": [ + 0.9702501893043518, + -0.0368305929005146, + 0.16037899255752563, + 0.17758505046367645 + ], + "joints": [ + 0.021977992728352547 + ] + }, + "fine_grasp": { + "position": [ + -0.04160698875784874, + 0.0030051840003579855, + -0.19216127693653107 + ], + "orientation": [ + 0.9690832495689392, + -0.03978714719414711, + 0.16646119952201843, + 0.17772288620471954 + ], + "joints": [ + 0.012365022674202919 + ] + }, + "final_grasp": { + "position": [ + -0.04160698875784874, + 0.0030051840003579855, + -0.19216127693653107 + ], + "orientation": [ + 0.9690832495689392, + -0.03978714719414711, + 0.16646119952201843, + 0.17772288620471954 + ], + "joints": [ + 0.0027520526200532913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04357866197824478, + 0.0018009362975135446, + -0.19667913019657135 + ], + "orientation": [ + 0.9705663919448853, + -0.036338724195957184, + 0.15940287709236145, + 0.17683598399162292 + ], + "joints": [ + 0.022515563294291496 + ] + }, + "fine_grasp": { + "position": [ + -0.041925735771656036, + 0.002841175766661763, + -0.19327831268310547 + ], + "orientation": [ + 0.9695463180541992, + -0.03933452069759369, + 0.16488410532474518, + 0.17676545679569244 + ], + "joints": [ + 0.012484638020396233 + ] + }, + "final_grasp": { + "position": [ + -0.041925735771656036, + 0.002841175766661763, + -0.19327831268310547 + ], + "orientation": [ + 0.9695463180541992, + -0.03933452069759369, + 0.16488410532474518, + 0.17676545679569244 + ], + "joints": [ + 0.002453712746500969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1352468878030777, + 0.03290912136435509, + -0.07503803074359894 + ], + "orientation": [ + 0.6676833033561707, + 0.04108520969748497, + -0.742814302444458, + 0.027167875319719315 + ], + "joints": [ + 0.021731950342655182 + ] + }, + "fine_grasp": { + "position": [ + 0.13142956793308258, + 0.03267849236726761, + -0.07516857236623764 + ], + "orientation": [ + 0.6701622009277344, + 0.03879252076148987, + -0.74076908826828, + 0.02527821622788906 + ], + "joints": [ + 0.012077182531356812 + ] + }, + "final_grasp": { + "position": [ + 0.13142956793308258, + 0.03267849236726761, + -0.07516857236623764 + ], + "orientation": [ + 0.6701622009277344, + 0.03879252076148987, + -0.74076908826828, + 0.02527821622788906 + ], + "joints": [ + 0.002422414720058441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1355212777853012, + 0.03293323144316673, + -0.07503386586904526 + ], + "orientation": [ + 0.6689696907997131, + 0.04164253920316696, + -0.7416345477104187, + 0.02690272033214569 + ], + "joints": [ + 0.021500395610928535 + ] + }, + "fine_grasp": { + "position": [ + 0.13171474635601044, + 0.032726362347602844, + -0.07526259869337082 + ], + "orientation": [ + 0.6702945232391357, + 0.039119161665439606, + -0.7406582236289978, + 0.024499503895640373 + ], + "joints": [ + 0.011866526678204536 + ] + }, + "final_grasp": { + "position": [ + 0.13171474635601044, + 0.032726362347602844, + -0.07526259869337082 + ], + "orientation": [ + 0.6702945232391357, + 0.039119161665439606, + -0.7406582236289978, + 0.024499503895640373 + ], + "joints": [ + 0.0022326577454805374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005815877113491297, + -0.10481666028499603, + 0.07576926052570343 + ], + "orientation": [ + 0.31871137022972107, + -0.4079764485359192, + 0.6518234610557556, + 0.5541701316833496 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.005084776785224676, + -0.10161067545413971, + 0.07697738707065582 + ], + "orientation": [ + 0.3284316658973694, + -0.3999241888523102, + 0.6480288505554199, + 0.558795154094696 + ], + "joints": [ + 0.027513563632965088 + ] + }, + "final_grasp": { + "position": [ + -0.005084776785224676, + -0.10161067545413971, + 0.07697738707065582 + ], + "orientation": [ + 0.3284316658973694, + -0.3999241888523102, + 0.6480288505554199, + 0.558795154094696 + ], + "joints": [ + 0.020721785724163055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11672805994749069, + 0.09195974469184875, + 0.01100612711161375 + ], + "orientation": [ + 0.7141770720481873, + 0.1679479479789734, + 0.6702512502670288, + -0.11183837801218033 + ], + "joints": [ + 0.0271734818816185 + ] + }, + "fine_grasp": { + "position": [ + -0.11351992934942245, + 0.09044149518013, + 0.012610409408807755 + ], + "orientation": [ + 0.7224344611167908, + 0.16545338928699493, + 0.6617243885993958, + -0.11328861117362976 + ], + "joints": [ + 0.017560511827468872 + ] + }, + "final_grasp": { + "position": [ + -0.11351992934942245, + 0.09044149518013, + 0.012610409408807755 + ], + "orientation": [ + 0.7224344611167908, + 0.16545338928699493, + 0.6617243885993958, + -0.11328861117362976 + ], + "joints": [ + 0.007947541773319244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10351405292749405, + -0.04234373942017555, + 0.03556674346327782 + ], + "orientation": [ + 0.6085104942321777, + -0.34699100255966187, + 0.7050694823265076, + 0.11040466278791428 + ], + "joints": [ + 0.019642408937215805 + ] + }, + "fine_grasp": { + "position": [ + -0.10009746253490448, + -0.03985060378909111, + 0.03667055815458298 + ], + "orientation": [ + 0.6211404800415039, + -0.34493041038513184, + 0.6956561803817749, + 0.106160469353199 + ], + "joints": [ + 0.01295512542128563 + ] + }, + "final_grasp": { + "position": [ + -0.10009746253490448, + -0.03985060378909111, + 0.03667055815458298 + ], + "orientation": [ + 0.6211404800415039, + -0.34493041038513184, + 0.6956561803817749, + 0.106160469353199 + ], + "joints": [ + 0.0062678419053554535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11524611711502075, + 0.09180442243814468, + 0.0103576285764575 + ], + "orientation": [ + 0.7107852697372437, + 0.16799961030483246, + 0.6749942898750305, + -0.10460981726646423 + ], + "joints": [ + 0.02511264570057392 + ] + }, + "fine_grasp": { + "position": [ + -0.11212428659200668, + 0.08994120359420776, + 0.012350780889391899 + ], + "orientation": [ + 0.7205791473388672, + 0.16782672703266144, + 0.6639922857284546, + -0.10823138803243637 + ], + "joints": [ + 0.0167535413056612 + ] + }, + "final_grasp": { + "position": [ + -0.11212428659200668, + 0.08994120359420776, + 0.012350780889391899 + ], + "orientation": [ + 0.7205791473388672, + 0.16782672703266144, + 0.6639922857284546, + -0.10823138803243637 + ], + "joints": [ + 0.008394436910748482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11652500927448273, + 0.09817907959222794, + 0.0016937452601268888 + ], + "orientation": [ + 0.04418955370783806, + 0.6047269701957703, + -0.23577095568180084, + 0.7594502568244934 + ], + "joints": [ + 0.026860268786549568 + ] + }, + "fine_grasp": { + "position": [ + -0.11377701163291931, + 0.09654678404331207, + 0.0038717479910701513 + ], + "orientation": [ + 0.04433274641633034, + 0.5971394181251526, + -0.23506544530391693, + 0.7656392455101013 + ], + "joints": [ + 0.01724729873239994 + ] + }, + "final_grasp": { + "position": [ + -0.11377701163291931, + 0.09654678404331207, + 0.0038717479910701513 + ], + "orientation": [ + 0.04433274641633034, + 0.5971394181251526, + -0.23506544530391693, + 0.7656392455101013 + ], + "joints": [ + 0.007634328678250313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018797961995005608, + 0.13805963099002838, + -0.06406959891319275 + ], + "orientation": [ + 0.697483479976654, + 0.3465050756931305, + 0.3579328954219818, + -0.5151068568229675 + ], + "joints": [ + 0.017546825110912323 + ] + }, + "fine_grasp": { + "position": [ + -0.018313543871045113, + 0.13437868654727936, + -0.06280029565095901 + ], + "orientation": [ + 0.6965165734291077, + 0.35012030601501465, + 0.3586144745349884, + -0.5134941339492798 + ], + "joints": [ + 0.007933855056762695 + ] + }, + "final_grasp": { + "position": [ + -0.018313543871045113, + 0.13437868654727936, + -0.06280029565095901 + ], + "orientation": [ + 0.6965165734291077, + 0.35012030601501465, + 0.3586144745349884, + -0.5134941339492798 + ], + "joints": [ + -0.0016791149973869324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12365534156560898, + 0.056196268647909164, + -0.014691052958369255 + ], + "orientation": [ + 0.19664566218852997, + 0.6516103148460388, + -0.0601295568048954, + -0.730150043964386 + ], + "joints": [ + 0.020408639684319496 + ] + }, + "fine_grasp": { + "position": [ + 0.11965478956699371, + 0.055205874145030975, + -0.013331493362784386 + ], + "orientation": [ + 0.2042582631111145, + 0.6467650532722473, + -0.06177086755633354, + -0.7322280406951904 + ], + "joints": [ + 0.013303400948643684 + ] + }, + "final_grasp": { + "position": [ + 0.11965478956699371, + 0.055205874145030975, + -0.013331493362784386 + ], + "orientation": [ + 0.2042582631111145, + 0.6467650532722473, + -0.06177086755633354, + -0.7322280406951904 + ], + "joints": [ + 0.006198162212967873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0044369688257575035, + -0.09898238629102707, + -0.01931942068040371 + ], + "orientation": [ + 0.46594637632369995, + -0.4391562044620514, + 0.5127884745597839, + 0.5719122290611267 + ], + "joints": [ + 0.018142856657505035 + ] + }, + "fine_grasp": { + "position": [ + 0.003952914383262396, + -0.09521926939487457, + -0.019606836140155792 + ], + "orientation": [ + 0.4595390260219574, + -0.4436660706996918, + 0.514442503452301, + 0.5721303224563599 + ], + "joints": [ + 0.0080910325050354 + ] + }, + "final_grasp": { + "position": [ + 0.003952914383262396, + -0.09521926939487457, + -0.019606836140155792 + ], + "orientation": [ + 0.4595390260219574, + -0.4436660706996918, + 0.514442503452301, + 0.5721303224563599 + ], + "joints": [ + -0.0019607916474342346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11876792460680008, + 0.03256608918309212, + 0.008571850135922432 + ], + "orientation": [ + 0.09011955559253693, + 0.7161688804626465, + -0.11512002348899841, + -0.6824426651000977 + ], + "joints": [ + 0.018966272473335266 + ] + }, + "fine_grasp": { + "position": [ + 0.11467346549034119, + 0.03272796794772148, + 0.010155612602829933 + ], + "orientation": [ + 0.09543199092149734, + 0.7104124426841736, + -0.11631738394498825, + -0.6875152587890625 + ], + "joints": [ + 0.011861033737659454 + ] + }, + "final_grasp": { + "position": [ + 0.11467346549034119, + 0.03272796794772148, + 0.010155612602829933 + ], + "orientation": [ + 0.09543199092149734, + 0.7104124426841736, + -0.11631738394498825, + -0.6875152587890625 + ], + "joints": [ + 0.004755795001983643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004297288134694099, + -0.09840108454227448, + -0.019590632990002632 + ], + "orientation": [ + 0.4652170240879059, + -0.44201669096946716, + 0.5122268199920654, + 0.5708047151565552 + ], + "joints": [ + 0.018070941790938377 + ] + }, + "fine_grasp": { + "position": [ + 0.003875173395499587, + -0.09462550282478333, + -0.01987140066921711 + ], + "orientation": [ + 0.4593965709209442, + -0.4459730088710785, + 0.514111340045929, + 0.5707472562789917 + ], + "joints": [ + 0.008019117638468742 + ] + }, + "final_grasp": { + "position": [ + 0.003875173395499587, + -0.09462550282478333, + -0.01987140066921711 + ], + "orientation": [ + 0.4593965709209442, + -0.4459730088710785, + 0.514111340045929, + 0.5707472562789917 + ], + "joints": [ + -0.0020327065140008926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07059776037931442, + 0.13981428742408752, + -0.024030745029449463 + ], + "orientation": [ + 0.6431498527526855, + 0.20516975224018097, + -0.5728609561920166, + 0.4648590087890625 + ], + "joints": [ + 0.020129669457674026 + ] + }, + "fine_grasp": { + "position": [ + 0.06848976761102676, + 0.1375877559185028, + -0.02129674144089222 + ], + "orientation": [ + 0.6498938202857971, + 0.2006002962589264, + -0.5649222731590271, + 0.4671834707260132 + ], + "joints": [ + 0.01135260984301567 + ] + }, + "final_grasp": { + "position": [ + 0.06848976761102676, + 0.1375877559185028, + -0.02129674144089222 + ], + "orientation": [ + 0.6498938202857971, + 0.2006002962589264, + -0.5649222731590271, + 0.4671834707260132 + ], + "joints": [ + 0.002575550228357315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12212427705526352, + 0.04611945524811745, + 0.025497160851955414 + ], + "orientation": [ + 0.6833138465881348, + 0.08425524830818176, + -0.7212256789207458, + -0.07626602053642273 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + 0.1184060201048851, + 0.04559372738003731, + 0.02716323919594288 + ], + "orientation": [ + 0.6939157843589783, + 0.08691573888063431, + -0.710810124874115, + -0.07533524185419083 + ], + "joints": [ + 0.018326953053474426 + ] + }, + "final_grasp": { + "position": [ + 0.1184060201048851, + 0.04559372738003731, + 0.02716323919594288 + ], + "orientation": [ + 0.6939157843589783, + 0.08691573888063431, + -0.710810124874115, + -0.07533524185419083 + ], + "joints": [ + 0.00954989343881607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029320942237973213, + 0.15195885300636292, + -0.0435023307800293 + ], + "orientation": [ + 0.398990660905838, + 0.4589158892631531, + -0.4603998064994812, + 0.6467106342315674 + ], + "joints": [ + 0.018641892820596695 + ] + }, + "fine_grasp": { + "position": [ + -0.028438346460461617, + 0.14825420081615448, + -0.04287111014127731 + ], + "orientation": [ + 0.39766165614128113, + 0.45764580368995667, + -0.4614298939704895, + 0.64769446849823 + ], + "joints": [ + 0.007795955520123243 + ] + }, + "final_grasp": { + "position": [ + -0.028438346460461617, + 0.14825420081615448, + -0.04287111014127731 + ], + "orientation": [ + 0.39766165614128113, + 0.45764580368995667, + -0.4614298939704895, + 0.64769446849823 + ], + "joints": [ + -0.0030499817803502083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09080485254526138, + -0.06820521503686905, + -0.08288433402776718 + ], + "orientation": [ + 0.6415315866470337, + -0.20447640120983124, + 0.6671866178512573, + 0.31857267022132874 + ], + "joints": [ + 0.023491762578487396 + ] + }, + "fine_grasp": { + "position": [ + -0.08791953325271606, + -0.06560250371694565, + -0.08296576887369156 + ], + "orientation": [ + 0.6405641436576843, + -0.2026846706867218, + 0.6682822704315186, + 0.319366991519928 + ], + "joints": [ + 0.013063780963420868 + ] + }, + "final_grasp": { + "position": [ + -0.08791953325271606, + -0.06560250371694565, + -0.08296576887369156 + ], + "orientation": [ + 0.6405641436576843, + -0.2026846706867218, + 0.6682822704315186, + 0.319366991519928 + ], + "joints": [ + 0.0026357993483543396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09950125217437744, + -0.03203660622239113, + -0.0366925448179245 + ], + "orientation": [ + 0.12242441624403, + -0.566116988658905, + 0.25626519322395325, + 0.7738552689552307 + ], + "joints": [ + 0.018020326271653175 + ] + }, + "fine_grasp": { + "position": [ + 0.09614036977291107, + -0.0299792792648077, + -0.03651431202888489 + ], + "orientation": [ + 0.12054112553596497, + -0.5693073272705078, + 0.258286714553833, + 0.771133542060852 + ], + "joints": [ + 0.007592343725264072 + ] + }, + "final_grasp": { + "position": [ + 0.09614036977291107, + -0.0299792792648077, + -0.03651431202888489 + ], + "orientation": [ + 0.12054112553596497, + -0.5693073272705078, + 0.258286714553833, + 0.771133542060852 + ], + "joints": [ + -0.0028356388211250305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12268845736980438, + 0.046279773116111755, + 0.02562689036130905 + ], + "orientation": [ + 0.68342125415802, + 0.08700341731309891, + -0.7205437421798706, + -0.07862880080938339 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + 0.11871424317359924, + 0.04598317667841911, + 0.0265508983284235 + ], + "orientation": [ + 0.6878817081451416, + 0.09247405081987381, + -0.7151176333427429, + -0.08290936797857285 + ], + "joints": [ + 0.018326953053474426 + ] + }, + "final_grasp": { + "position": [ + 0.11871424317359924, + 0.04598317667841911, + 0.0265508983284235 + ], + "orientation": [ + 0.6878817081451416, + 0.09247405081987381, + -0.7151176333427429, + -0.08290936797857285 + ], + "joints": [ + 0.00954989343881607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029353344812989235, + 0.15062153339385986, + -0.0424845851957798 + ], + "orientation": [ + 0.39910924434661865, + 0.45642825961112976, + -0.45773595571517944, + 0.6502789855003357 + ], + "joints": [ + 0.01860426366329193 + ] + }, + "fine_grasp": { + "position": [ + -0.028566163033246994, + 0.1468620002269745, + -0.041860248893499374 + ], + "orientation": [ + 0.39738762378692627, + 0.4548114240169525, + -0.4595327079296112, + 0.6511983871459961 + ], + "joints": [ + 0.008573338389396667 + ] + }, + "final_grasp": { + "position": [ + -0.028566163033246994, + 0.1468620002269745, + -0.041860248893499374 + ], + "orientation": [ + 0.39738762378692627, + 0.4548114240169525, + -0.4595327079296112, + 0.6511983871459961 + ], + "joints": [ + -0.0014575868844985962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11581549048423767, + 0.062069956213235855, + -0.022408630698919296 + ], + "orientation": [ + 0.7114299535751343, + -0.061124686151742935, + -0.6585994362831116, + 0.23744064569473267 + ], + "joints": [ + 0.01847989857196808 + ] + }, + "fine_grasp": { + "position": [ + 0.11187752336263657, + 0.06113801524043083, + -0.021403132006525993 + ], + "orientation": [ + 0.711402416229248, + -0.06595136970281601, + -0.6563323736190796, + 0.24245579540729523 + ], + "joints": [ + 0.010120794177055359 + ] + }, + "final_grasp": { + "position": [ + 0.11187752336263657, + 0.06113801524043083, + -0.021403132006525993 + ], + "orientation": [ + 0.711402416229248, + -0.06595136970281601, + -0.6563323736190796, + 0.24245579540729523 + ], + "joints": [ + 0.0017616897821426392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10877033323049545, + 0.0745156928896904, + -0.09022308886051178 + ], + "orientation": [ + 0.7277281284332275, + 0.2106572538614273, + -0.6421294808387756, + 0.11706842482089996 + ], + "joints": [ + 0.023673659190535545 + ] + }, + "fine_grasp": { + "position": [ + 0.10530141741037369, + 0.0728851929306984, + -0.08991427719593048 + ], + "orientation": [ + 0.7317289113998413, + 0.21343985199928284, + -0.6377242207527161, + 0.11101356893777847 + ], + "joints": [ + 0.013224778696894646 + ] + }, + "final_grasp": { + "position": [ + 0.10530141741037369, + 0.0728851929306984, + -0.08991427719593048 + ], + "orientation": [ + 0.7317289113998413, + 0.21343985199928284, + -0.6377242207527161, + 0.11101356893777847 + ], + "joints": [ + 0.002775898203253746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057746630162000656, + 0.0015714627224951982, + -0.17993852496147156 + ], + "orientation": [ + 0.36112645268440247, + -0.32598480582237244, + 0.0073155988939106464, + 0.8736522197723389 + ], + "joints": [ + 0.018814364448189735 + ] + }, + "fine_grasp": { + "position": [ + 0.0561286024749279, + 0.0008123348816297948, + -0.17594295740127563 + ], + "orientation": [ + 0.36254820227622986, + -0.31285831332206726, + 0.0019397845026105642, + 0.8778807520866394 + ], + "joints": [ + 0.01212708093225956 + ] + }, + "final_grasp": { + "position": [ + 0.0561286024749279, + 0.0008123348816297948, + -0.17594295740127563 + ], + "orientation": [ + 0.36254820227622986, + -0.31285831332206726, + 0.0019397845026105642, + 0.8778807520866394 + ], + "joints": [ + 0.005439797416329384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08218396455049515, + -0.011971800588071346, + -0.14537186920642853 + ], + "orientation": [ + 0.2405896782875061, + -0.4697359502315521, + 0.049519333988428116, + 0.8479462265968323 + ], + "joints": [ + 0.023248275741934776 + ] + }, + "fine_grasp": { + "position": [ + 0.08120085299015045, + -0.011711150407791138, + -0.14399859309196472 + ], + "orientation": [ + 0.23987090587615967, + -0.45939797163009644, + 0.04704530909657478, + 0.8539334535598755 + ], + "joints": [ + 0.014053260907530785 + ] + }, + "final_grasp": { + "position": [ + 0.08120085299015045, + -0.011711150407791138, + -0.14399859309196472 + ], + "orientation": [ + 0.23987090587615967, + -0.45939797163009644, + 0.04704530909657478, + 0.8539334535598755 + ], + "joints": [ + 0.004858246073126793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07076727598905563, + 0.13287778198719025, + -0.03386532887816429 + ], + "orientation": [ + 0.4382915198802948, + 0.5529807209968567, + -0.21740461885929108, + 0.6744243502616882 + ], + "joints": [ + 0.017636284232139587 + ] + }, + "fine_grasp": { + "position": [ + -0.06883249431848526, + 0.12982825934886932, + -0.0319376215338707 + ], + "orientation": [ + 0.44360673427581787, + 0.5498877763748169, + -0.21467138826847076, + 0.6743535995483398 + ], + "joints": [ + 0.008859224617481232 + ] + }, + "final_grasp": { + "position": [ + -0.06883249431848526, + 0.12982825934886932, + -0.0319376215338707 + ], + "orientation": [ + 0.44360673427581787, + 0.5498877763748169, + -0.21467138826847076, + 0.6743535995483398 + ], + "joints": [ + 8.216500282287598e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12107913196086884, + 0.07309406250715256, + -0.08122538030147552 + ], + "orientation": [ + 0.2751200199127197, + 0.6254174113273621, + 0.009060819633305073, + 0.7301232218742371 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + -0.11746758967638016, + 0.07140730321407318, + -0.08117907494306564 + ], + "orientation": [ + 0.2785212993621826, + 0.6304495930671692, + 0.009218891151249409, + 0.7244820594787598 + ], + "joints": [ + 0.010059302672743797 + ] + }, + "final_grasp": { + "position": [ + -0.11746758967638016, + 0.07140730321407318, + -0.08117907494306564 + ], + "orientation": [ + 0.2785212993621826, + 0.6304495930671692, + 0.009218891151249409, + 0.7244820594787598 + ], + "joints": [ + 0.0008642878383398056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1308537721633911, + 0.021285682916641235, + -0.04130768030881882 + ], + "orientation": [ + 0.6934414505958557, + -0.09993744641542435, + -0.7058249115943909, + 0.10470262169837952 + ], + "joints": [ + 0.023839108645915985 + ] + }, + "fine_grasp": { + "position": [ + 0.1274602860212326, + 0.022691473364830017, + -0.041633352637290955 + ], + "orientation": [ + 0.6925932168960571, + -0.11583586037158966, + -0.7061703205108643, + 0.09066532552242279 + ], + "joints": [ + 0.009419664740562439 + ] + }, + "final_grasp": { + "position": [ + 0.1274602860212326, + 0.022691473364830017, + -0.041633352637290955 + ], + "orientation": [ + 0.6925932168960571, + -0.11583586037158966, + -0.7061703205108643, + 0.09066532552242279 + ], + "joints": [ + -0.004999779164791107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13044661283493042, + 0.02219177410006523, + -0.04159895330667496 + ], + "orientation": [ + 0.6925596594810486, + -0.10683000087738037, + -0.7067532539367676, + 0.09720253199338913 + ], + "joints": [ + 0.021060451865196228 + ] + }, + "fine_grasp": { + "position": [ + 0.12679141759872437, + 0.023096954450011253, + -0.041871316730976105 + ], + "orientation": [ + 0.6916622519493103, + -0.11721765995025635, + -0.7071142196655273, + 0.08861608803272247 + ], + "joints": [ + 0.008626289665699005 + ] + }, + "final_grasp": { + "position": [ + 0.12679141759872437, + 0.023096954450011253, + -0.041871316730976105 + ], + "orientation": [ + 0.6916622519493103, + -0.11721765995025635, + -0.7071142196655273, + 0.08861608803272247 + ], + "joints": [ + -0.0038078725337982178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08225597441196442, + -0.004094671458005905, + -0.14968658983707428 + ], + "orientation": [ + 0.8413069844245911, + 0.023409925401210785, + -0.43852612376213074, + -0.3151971101760864 + ], + "joints": [ + 0.02343231439590454 + ] + }, + "fine_grasp": { + "position": [ + 0.07954444736242294, + -0.003895823610946536, + -0.14706028997898102 + ], + "orientation": [ + 0.8476176857948303, + 0.021413568407297134, + -0.4323744475841522, + -0.30681949853897095 + ], + "joints": [ + 0.014655254781246185 + ] + }, + "final_grasp": { + "position": [ + 0.07954444736242294, + -0.003895823610946536, + -0.14706028997898102 + ], + "orientation": [ + 0.8476176857948303, + 0.021413568407297134, + -0.4323744475841522, + -0.30681949853897095 + ], + "joints": [ + 0.00587819516658783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005747650284320116, + -0.08236832171678543, + -0.005543129052966833 + ], + "orientation": [ + 0.42754241824150085, + -0.4725603461265564, + -0.5515953302383423, + -0.5381791591644287 + ], + "joints": [ + 0.01674812287092209 + ] + }, + "fine_grasp": { + "position": [ + -0.00558474799618125, + -0.0782652273774147, + -0.005985718686133623 + ], + "orientation": [ + 0.4244292974472046, + -0.4687446355819702, + -0.5553235411643982, + -0.5401425361633301 + ], + "joints": [ + 0.007971063256263733 + ] + }, + "final_grasp": { + "position": [ + -0.00558474799618125, + -0.0782652273774147, + -0.005985718686133623 + ], + "orientation": [ + 0.4244292974472046, + -0.4687446355819702, + -0.5553235411643982, + -0.5401425361633301 + ], + "joints": [ + -0.0008059963583946228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.114969901740551, + 0.03780677914619446, + -0.0015923130558803678 + ], + "orientation": [ + 0.746953547000885, + 0.07083713263273239, + -0.6472555994987488, + -0.13454614579677582 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + 0.1108388900756836, + 0.03762692213058472, + -0.0012630326673388481 + ], + "orientation": [ + 0.7494047284126282, + 0.0827055498957634, + -0.6420963406562805, + -0.13879753649234772 + ], + "joints": [ + 0.018328111618757248 + ] + }, + "final_grasp": { + "position": [ + 0.1108388900756836, + 0.03762692213058472, + -0.0012630326673388481 + ], + "orientation": [ + 0.7494047284126282, + 0.0827055498957634, + -0.6420963406562805, + -0.13879753649234772 + ], + "joints": [ + 0.009969007223844528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04675237089395523, + -0.07917711138725281, + -0.10878796875476837 + ], + "orientation": [ + 0.15972772240638733, + -0.42122283577919006, + -0.48901084065437317, + -0.7469449639320374 + ], + "joints": [ + 0.020310211926698685 + ] + }, + "fine_grasp": { + "position": [ + -0.04629433900117874, + -0.07558812201023102, + -0.10713750123977661 + ], + "orientation": [ + 0.17685119807720184, + -0.41585996747016907, + -0.4811883270740509, + -0.7511603832244873 + ], + "joints": [ + 0.01234816387295723 + ] + }, + "final_grasp": { + "position": [ + -0.04629433900117874, + -0.07558812201023102, + -0.10713750123977661 + ], + "orientation": [ + 0.17685119807720184, + -0.41585996747016907, + -0.4811883270740509, + -0.7511603832244873 + ], + "joints": [ + 0.0043861158192157745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10497341305017471, + 0.06573750078678131, + -0.09902699291706085 + ], + "orientation": [ + 0.27279672026634216, + 0.5628544688224792, + 0.013012553565204144, + -0.780133068561554 + ], + "joints": [ + 0.0181573573499918 + ] + }, + "fine_grasp": { + "position": [ + 0.10133320093154907, + 0.06399748474359512, + -0.09900884330272675 + ], + "orientation": [ + 0.27285659313201904, + 0.5668946504592896, + 0.012546543963253498, + -0.7771887183189392 + ], + "joints": [ + 0.008962342515587807 + ] + }, + "final_grasp": { + "position": [ + 0.10133320093154907, + 0.06399748474359512, + -0.09900884330272675 + ], + "orientation": [ + 0.27285659313201904, + 0.5668946504592896, + 0.012546543963253498, + -0.7771887183189392 + ], + "joints": [ + -0.000232672318816185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016212040558457375, + 0.14922448992729187, + -0.037448443472385406 + ], + "orientation": [ + 0.4838624894618988, + 0.2552544176578522, + -0.47837623953819275, + 0.6869340538978577 + ], + "joints": [ + 0.024758601561188698 + ] + }, + "fine_grasp": { + "position": [ + 0.01563650369644165, + 0.14528438448905945, + -0.03572401404380798 + ], + "orientation": [ + 0.4779622256755829, + 0.24877969920635223, + -0.47835060954093933, + 0.6934274435043335 + ], + "joints": [ + 0.017632463946938515 + ] + }, + "final_grasp": { + "position": [ + 0.01563650369644165, + 0.14528438448905945, + -0.03572401404380798 + ], + "orientation": [ + 0.4779622256755829, + 0.24877969920635223, + -0.47835060954093933, + 0.6934274435043335 + ], + "joints": [ + 0.010506326332688332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015833655372262, + 0.14922940731048584, + -0.03690348565578461 + ], + "orientation": [ + 0.4824207127094269, + 0.253813773393631, + -0.47678399085998535, + 0.6895837187767029 + ], + "joints": [ + 0.024983452633023262 + ] + }, + "fine_grasp": { + "position": [ + 0.015282259322702885, + 0.14519746601581573, + -0.03529609739780426 + ], + "orientation": [ + 0.4754413068294525, + 0.2479444295167923, + -0.47783520817756653, + 0.6958107352256775 + ], + "joints": [ + 0.01787821389734745 + ] + }, + "final_grasp": { + "position": [ + 0.015282259322702885, + 0.14519746601581573, + -0.03529609739780426 + ], + "orientation": [ + 0.4754413068294525, + 0.2479444295167923, + -0.47783520817756653, + 0.6958107352256775 + ], + "joints": [ + 0.010772975161671638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10224085301160812, + 0.06455305218696594, + -0.09791304916143417 + ], + "orientation": [ + 0.275972455739975, + 0.5631667375564575, + 0.010050314478576183, + -0.7788333892822266 + ], + "joints": [ + 0.017713723704218864 + ] + }, + "fine_grasp": { + "position": [ + 0.09852626174688339, + 0.06265237182378769, + -0.09831679612398148 + ], + "orientation": [ + 0.2772868275642395, + 0.5644663572311401, + 0.007630483713001013, + -0.7774519324302673 + ], + "joints": [ + 0.009354619309306145 + ] + }, + "final_grasp": { + "position": [ + 0.09852626174688339, + 0.06265237182378769, + -0.09831679612398148 + ], + "orientation": [ + 0.2772868275642395, + 0.5644663572311401, + 0.007630483713001013, + -0.7774519324302673 + ], + "joints": [ + 0.000995514914393425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0531654953956604, + -0.01071184128522873, + -0.16919144988059998 + ], + "orientation": [ + 0.33886465430259705, + -0.29874104261398315, + -0.04668589308857918, + -0.8909237384796143 + ], + "joints": [ + 0.02440495789051056 + ] + }, + "fine_grasp": { + "position": [ + -0.052099209278821945, + -0.00966215692460537, + -0.16685174405574799 + ], + "orientation": [ + 0.3403056561946869, + -0.2932887077331543, + -0.0423775352537632, + -0.8924000859260559 + ], + "joints": [ + 0.015209943056106567 + ] + }, + "final_grasp": { + "position": [ + -0.052099209278821945, + -0.00966215692460537, + -0.16685174405574799 + ], + "orientation": [ + 0.3403056561946869, + -0.2932887077331543, + -0.0423775352537632, + -0.8924000859260559 + ], + "joints": [ + 0.006014928221702576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05315094441175461, + -0.010634070262312889, + -0.16887463629245758 + ], + "orientation": [ + 0.3422371745109558, + -0.29401957988739014, + -0.045105718076229095, + -0.8912864923477173 + ], + "joints": [ + 0.02504659630358219 + ] + }, + "fine_grasp": { + "position": [ + -0.05188487842679024, + -0.00931474193930626, + -0.16669759154319763 + ], + "orientation": [ + 0.34551307559013367, + -0.28955554962158203, + -0.03983575105667114, + -0.8917350769042969 + ], + "joints": [ + 0.0150365699082613 + ] + }, + "final_grasp": { + "position": [ + -0.05188487842679024, + -0.00931474193930626, + -0.16669759154319763 + ], + "orientation": [ + 0.34551307559013367, + -0.28955554962158203, + -0.03983575105667114, + -0.8917350769042969 + ], + "joints": [ + 0.005026543512940407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11235792934894562, + 0.025346018373966217, + -0.0597546249628067 + ], + "orientation": [ + 0.7601733207702637, + -0.12669800221920013, + 0.6247342228889465, + -0.12566347420215607 + ], + "joints": [ + 0.017462745308876038 + ] + }, + "fine_grasp": { + "position": [ + -0.10818059742450714, + 0.025328503921628, + -0.0593467578291893 + ], + "orientation": [ + 0.7581875324249268, + -0.13712812960147858, + 0.6224672198295593, + -0.13741229474544525 + ], + "joints": [ + 0.009103640913963318 + ] + }, + "final_grasp": { + "position": [ + -0.10818059742450714, + 0.025328503921628, + -0.0593467578291893 + ], + "orientation": [ + 0.7581875324249268, + -0.13712812960147858, + 0.6224672198295593, + -0.13741229474544525 + ], + "joints": [ + 0.0007445365190505981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018106110394001007, + -0.009342329576611519, + -0.1819436103105545 + ], + "orientation": [ + 0.964935839176178, + -0.15247736871242523, + -0.08463206887245178, + 0.19618089497089386 + ], + "joints": [ + 0.023635247722268105 + ] + }, + "fine_grasp": { + "position": [ + 0.018599390983581543, + -0.008393803611397743, + -0.18016089498996735 + ], + "orientation": [ + 0.9653721451759338, + -0.15462717413902283, + -0.07675965130329132, + 0.19558922946453094 + ], + "joints": [ + 0.014022277668118477 + ] + }, + "final_grasp": { + "position": [ + 0.018599390983581543, + -0.008393803611397743, + -0.18016089498996735 + ], + "orientation": [ + 0.9653721451759338, + -0.15462717413902283, + -0.07675965130329132, + 0.19558922946453094 + ], + "joints": [ + 0.004409307613968849 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021118996664881706, + -0.015095493756234646, + -0.17853477597236633 + ], + "orientation": [ + 0.0030950140208005905, + 0.09617364406585693, + -0.17494043707847595, + -0.9798657298088074 + ], + "joints": [ + 0.02394382283091545 + ] + }, + "fine_grasp": { + "position": [ + 0.020146019756793976, + -0.014611521735787392, + -0.17721803486347198 + ], + "orientation": [ + 0.00544795161113143, + 0.09024722874164581, + -0.175424724817276, + -0.9803324937820435 + ], + "joints": [ + 0.013912897557020187 + ] + }, + "final_grasp": { + "position": [ + 0.020146019756793976, + -0.014611521735787392, + -0.17721803486347198 + ], + "orientation": [ + 0.00544795161113143, + 0.09024722874164581, + -0.175424724817276, + -0.9803324937820435 + ], + "joints": [ + 0.0038819722831249237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008175550028681755, + -0.011148260906338692, + -0.1819315403699875 + ], + "orientation": [ + 0.10548315942287445, + -0.002841356908902526, + -0.15814746916294098, + -0.9817610383033752 + ], + "joints": [ + 0.023311862722039223 + ] + }, + "fine_grasp": { + "position": [ + 0.00756561616435647, + -0.011582564562559128, + -0.1798439919948578 + ], + "orientation": [ + 0.10352817177772522, + 0.0020582135766744614, + -0.1634267419576645, + -0.9811062216758728 + ], + "joints": [ + 0.013698892667889595 + ] + }, + "final_grasp": { + "position": [ + 0.00756561616435647, + -0.011582564562559128, + -0.1798439919948578 + ], + "orientation": [ + 0.10352817177772522, + 0.0020582135766744614, + -0.1634267419576645, + -0.9811062216758728 + ], + "joints": [ + 0.004085922613739967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09460478276014328, + 0.11486434936523438, + -0.05639345571398735 + ], + "orientation": [ + 0.2741324305534363, + 0.5298671126365662, + 0.20726092159748077, + -0.7753289937973022 + ], + "joints": [ + 0.017836254090070724 + ] + }, + "fine_grasp": { + "position": [ + 0.09155134111642838, + 0.11268267035484314, + -0.055769819766283035 + ], + "orientation": [ + 0.269839882850647, + 0.5350684523582458, + 0.20673558115959167, + -0.773400604724884 + ], + "joints": [ + 0.007784430403262377 + ] + }, + "final_grasp": { + "position": [ + 0.09155134111642838, + 0.11268267035484314, + -0.055769819766283035 + ], + "orientation": [ + 0.269839882850647, + 0.5350684523582458, + 0.20673558115959167, + -0.773400604724884 + ], + "joints": [ + -0.002267393283545971 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038888830691576004, + -0.06232305243611336, + 0.16625145077705383 + ], + "orientation": [ + 0.05297628790140152, + -0.4124757945537567, + 0.8065809011459351, + 0.4201003909111023 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03743170201778412, + -0.05992339178919792, + 0.16357049345970154 + ], + "orientation": [ + 0.03808777406811714, + -0.41815921664237976, + 0.8087152242660522, + 0.41191238164901733 + ], + "joints": [ + 0.029880043119192123 + ] + }, + "final_grasp": { + "position": [ + 0.03743170201778412, + -0.05992339178919792, + 0.16357049345970154 + ], + "orientation": [ + 0.03808777406811714, + -0.41815921664237976, + 0.8087152242660522, + 0.41191238164901733 + ], + "joints": [ + 0.024760086089372635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12373190373182297, + 0.09837810695171356, + 0.012387682683765888 + ], + "orientation": [ + 0.250697523355484, + 0.691835343837738, + -0.07620811462402344, + 0.6728350520133972 + ], + "joints": [ + 0.025598911568522453 + ] + }, + "fine_grasp": { + "position": [ + -0.12031886726617813, + 0.09703953564167023, + 0.014193106442689896 + ], + "orientation": [ + 0.2545674741268158, + 0.6834563612937927, + -0.07275918126106262, + 0.6802859902381897 + ], + "joints": [ + 0.016821851953864098 + ] + }, + "final_grasp": { + "position": [ + -0.12031886726617813, + 0.09703953564167023, + 0.014193106442689896 + ], + "orientation": [ + 0.2545674741268158, + 0.6834563612937927, + -0.07275918126106262, + 0.6802859902381897 + ], + "joints": [ + 0.008044792339205742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0967424139380455, + 0.12425345927476883, + -0.013842578046023846 + ], + "orientation": [ + 0.09906041622161865, + 0.5293735265731812, + 0.3186277747154236, + -0.7800173759460449 + ], + "joints": [ + 0.027158565819263458 + ] + }, + "fine_grasp": { + "position": [ + 0.09376344829797745, + 0.12167195975780487, + -0.013473817147314548 + ], + "orientation": [ + 0.09487462043762207, + 0.5305792093276978, + 0.32323530316352844, + -0.7778196930885315 + ], + "joints": [ + 0.017942652106285095 + ] + }, + "final_grasp": { + "position": [ + 0.09376344829797745, + 0.12167195975780487, + -0.013473817147314548 + ], + "orientation": [ + 0.09487462043762207, + 0.5305792093276978, + 0.32323530316352844, + -0.7778196930885315 + ], + "joints": [ + 0.008726738393306732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09046339243650436, + 0.14916229248046875, + 0.016138164326548576 + ], + "orientation": [ + 0.694457471370697, + 0.35332077741622925, + 0.5803908109664917, + -0.2367268055677414 + ], + "joints": [ + 0.025227196514606476 + ] + }, + "fine_grasp": { + "position": [ + -0.08808315545320511, + 0.14623130857944489, + 0.017534663900732994 + ], + "orientation": [ + 0.7003644704818726, + 0.3522714376449585, + 0.5742627382278442, + -0.235832080245018 + ], + "joints": [ + 0.016847193241119385 + ] + }, + "final_grasp": { + "position": [ + -0.08808315545320511, + 0.14623130857944489, + 0.017534663900732994 + ], + "orientation": [ + 0.7003644704818726, + 0.3522714376449585, + 0.5742627382278442, + -0.235832080245018 + ], + "joints": [ + 0.008467189967632294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012369201518595219, + 0.07239142805337906, + -0.1979888677597046 + ], + "orientation": [ + 0.9711673259735107, + 0.2041303962469101, + -0.10615646839141846, + 0.062414027750492096 + ], + "joints": [ + 0.019640615209937096 + ] + }, + "fine_grasp": { + "position": [ + 0.01281951554119587, + 0.07091427594423294, + -0.19467973709106445 + ], + "orientation": [ + 0.9713009595870972, + 0.2063196748495102, + -0.09969019144773483, + 0.0637853592634201 + ], + "joints": [ + 0.01038290373980999 + ] + }, + "final_grasp": { + "position": [ + 0.01281951554119587, + 0.07091427594423294, + -0.19467973709106445 + ], + "orientation": [ + 0.9713009595870972, + 0.2063196748495102, + -0.09969019144773483, + 0.0637853592634201 + ], + "joints": [ + 0.0011251922696828842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09837613254785538, + -0.05910578370094299, + 0.11178186535835266 + ], + "orientation": [ + 0.31311818957328796, + 0.0724778026342392, + -0.8226297497749329, + -0.46902504563331604 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.0953393280506134, + -0.057617440819740295, + 0.11138232797384262 + ], + "orientation": [ + 0.3244236707687378, + 0.08030298352241516, + -0.8184532523155212, + -0.4673704206943512 + ], + "joints": [ + 0.02665340155363083 + ] + }, + "final_grasp": { + "position": [ + 0.0953393280506134, + -0.057617440819740295, + 0.11138232797384262 + ], + "orientation": [ + 0.3244236707687378, + 0.08030298352241516, + -0.8184532523155212, + -0.4673704206943512 + ], + "joints": [ + 0.019464567303657532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12935414910316467, + 0.03701140359044075, + 0.1297975480556488 + ], + "orientation": [ + 0.4633125066757202, + -0.49376752972602844, + -0.6779220104217529, + 0.2862810790538788 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.1257474422454834, + 0.036839671432971954, + 0.12837721407413483 + ], + "orientation": [ + 0.4588168263435364, + -0.48997172713279724, + -0.6830467581748962, + 0.28785768151283264 + ], + "joints": [ + 0.02983824536204338 + ] + }, + "final_grasp": { + "position": [ + 0.1257474422454834, + 0.036839671432971954, + 0.12837721407413483 + ], + "orientation": [ + 0.4588168263435364, + -0.48997172713279724, + -0.6830467581748962, + 0.28785768151283264 + ], + "joints": [ + 0.02467649057507515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07138647139072418, + -0.08089566975831985, + 0.13010165095329285 + ], + "orientation": [ + 0.5134782791137695, + -0.7920914888381958, + 0.29415369033813477, + -0.1496816873550415 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.07020372152328491, + -0.07775825262069702, + 0.12869273126125336 + ], + "orientation": [ + 0.5167321562767029, + -0.7940168380737305, + 0.28855055570602417, + -0.1387939453125 + ], + "joints": [ + 0.027050457894802094 + ] + }, + "final_grasp": { + "position": [ + -0.07020372152328491, + -0.07775825262069702, + 0.12869273126125336 + ], + "orientation": [ + 0.5167321562767029, + -0.7940168380737305, + 0.28855055570602417, + -0.1387939453125 + ], + "joints": [ + 0.02025867998600006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11699122935533524, + 0.09830471873283386, + 0.001345369266346097 + ], + "orientation": [ + 0.04258112236857414, + 0.6064271926879883, + -0.23444737493991852, + 0.7585956454277039 + ], + "joints": [ + 0.026348400861024857 + ] + }, + "fine_grasp": { + "position": [ + -0.11401532590389252, + 0.09662896394729614, + 0.003269191598519683 + ], + "orientation": [ + 0.0412433035671711, + 0.6001368761062622, + -0.23439767956733704, + 0.7636703252792358 + ], + "joints": [ + 0.01673543080687523 + ] + }, + "final_grasp": { + "position": [ + -0.11401532590389252, + 0.09662896394729614, + 0.003269191598519683 + ], + "orientation": [ + 0.0412433035671711, + 0.6001368761062622, + -0.23439767956733704, + 0.7636703252792358 + ], + "joints": [ + 0.007122460752725601 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11692202836275101, + 0.09794992208480835, + 0.001468468108214438 + ], + "orientation": [ + 0.040818534791469574, + 0.6060333847999573, + -0.23474222421646118, + 0.7589158415794373 + ], + "joints": [ + 0.02656898833811283 + ] + }, + "fine_grasp": { + "position": [ + -0.11396190524101257, + 0.0962798148393631, + 0.003419763408601284 + ], + "orientation": [ + 0.039396800100803375, + 0.5995556116104126, + -0.23474091291427612, + 0.7641188502311707 + ], + "joints": [ + 0.016956018283963203 + ] + }, + "final_grasp": { + "position": [ + -0.11396190524101257, + 0.0962798148393631, + 0.003419763408601284 + ], + "orientation": [ + 0.039396800100803375, + 0.5995556116104126, + -0.23474091291427612, + 0.7641188502311707 + ], + "joints": [ + 0.007343048229813576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13383617997169495, + 0.05240689218044281, + 0.0961625948548317 + ], + "orientation": [ + 0.5762738585472107, + 0.5019431114196777, + -0.5713870525360107, + -0.29912951588630676 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.12970535457134247, + 0.052523545920848846, + 0.09489362686872482 + ], + "orientation": [ + 0.5665888786315918, + 0.4951126277446747, + -0.5820216536521912, + -0.30836886167526245 + ], + "joints": [ + 0.029921840876340866 + ] + }, + "final_grasp": { + "position": [ + 0.12970535457134247, + 0.052523545920848846, + 0.09489362686872482 + ], + "orientation": [ + 0.5665888786315918, + 0.4951126277446747, + -0.5820216536521912, + -0.30836886167526245 + ], + "joints": [ + 0.02484368160367012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1336197406053543, + 0.05226968601346016, + 0.09594739973545074 + ], + "orientation": [ + 0.5758295655250549, + 0.5023738741874695, + -0.5708630084991455, + -0.3002604842185974 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.12957365810871124, + 0.052358608692884445, + 0.09467805176973343 + ], + "orientation": [ + 0.566173255443573, + 0.49554845690727234, + -0.5810641050338745, + -0.31023213267326355 + ], + "joints": [ + 0.029921840876340866 + ] + }, + "final_grasp": { + "position": [ + 0.12957365810871124, + 0.052358608692884445, + 0.09467805176973343 + ], + "orientation": [ + 0.566173255443573, + 0.49554845690727234, + -0.5810641050338745, + -0.31023213267326355 + ], + "joints": [ + 0.02484368160367012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.133194699883461, + 0.10088659822940826, + 0.10554702579975128 + ], + "orientation": [ + 0.5570212006568909, + 0.5937293171882629, + 0.5277059078216553, + 0.2423621416091919 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.1297110617160797, + 0.09936538338661194, + 0.10457149893045425 + ], + "orientation": [ + 0.5563541650772095, + 0.5948988795280457, + 0.5265446901321411, + 0.2435491383075714 + ], + "joints": [ + 0.028626177459955215 + ] + }, + "final_grasp": { + "position": [ + -0.1297110617160797, + 0.09936538338661194, + 0.10457149893045425 + ], + "orientation": [ + 0.5563541650772095, + 0.5948988795280457, + 0.5265446901321411, + 0.2435491383075714 + ], + "joints": [ + 0.02225235477089882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032470665872097015, + -0.10140477865934372, + 0.10237564891576767 + ], + "orientation": [ + 0.04855944961309433, + -0.12190742790699005, + -0.7704787850379944, + -0.6238133311271667 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.031360775232315063, + -0.09773977100849152, + 0.10150421410799026 + ], + "orientation": [ + 0.03923652321100235, + -0.13164538145065308, + -0.7711018919944763, + -0.6217167377471924 + ], + "joints": [ + 0.028647076338529587 + ] + }, + "final_grasp": { + "position": [ + -0.031360775232315063, + -0.09773977100849152, + 0.10150421410799026 + ], + "orientation": [ + 0.03923652321100235, + -0.13164538145065308, + -0.7711018919944763, + -0.6217167377471924 + ], + "joints": [ + 0.02229415252804756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13827821612358093, + 0.0007587492582388222, + 0.12203899770975113 + ], + "orientation": [ + 0.29911351203918457, + 0.5068482160568237, + 0.6459411978721619, + 0.4862056374549866 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.13503935933113098, + 0.0010862074559554458, + 0.12091321498155594 + ], + "orientation": [ + 0.3083958923816681, + 0.5114481449127197, + 0.6418920755386353, + 0.4809236526489258 + ], + "joints": [ + 0.025122832506895065 + ] + }, + "final_grasp": { + "position": [ + -0.13503935933113098, + 0.0010862074559554458, + 0.12091321498155594 + ], + "orientation": [ + 0.3083958923816681, + 0.5114481449127197, + 0.6418920755386353, + 0.4809236526489258 + ], + "joints": [ + 0.017098087817430496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13829435408115387, + 0.0006755367503501475, + 0.12203869223594666 + ], + "orientation": [ + 0.29908594489097595, + 0.5067920684814453, + 0.646003782749176, + 0.48619821667671204 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.1350339651107788, + 0.000990180647931993, + 0.12093745172023773 + ], + "orientation": [ + 0.30846482515335083, + 0.5112779140472412, + 0.6418655514717102, + 0.4810955822467804 + ], + "joints": [ + 0.024936430156230927 + ] + }, + "final_grasp": { + "position": [ + -0.1350339651107788, + 0.000990180647931993, + 0.12093745172023773 + ], + "orientation": [ + 0.30846482515335083, + 0.5112779140472412, + 0.6418655514717102, + 0.4810955822467804 + ], + "joints": [ + 0.01649373024702072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12722785770893097, + 0.004648461006581783, + 0.1231606975197792 + ], + "orientation": [ + 0.3059789836406708, + 0.5986136794090271, + -0.5813915729522705, + -0.45828190445899963 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.12366592139005661, + 0.005991001613438129, + 0.1217833086848259 + ], + "orientation": [ + 0.29927754402160645, + 0.5925073623657227, + -0.5861891508102417, + -0.46448928117752075 + ], + "joints": [ + 0.029859144240617752 + ] + }, + "final_grasp": { + "position": [ + 0.12366592139005661, + 0.005991001613438129, + 0.1217833086848259 + ], + "orientation": [ + 0.29927754402160645, + 0.5925073623657227, + -0.5861891508102417, + -0.46448928117752075 + ], + "joints": [ + 0.024718288332223892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07127312570810318, + -0.08084648102521896, + 0.13071711361408234 + ], + "orientation": [ + 0.5119422078132629, + -0.7934466600418091, + 0.2935638725757599, + -0.14892244338989258 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.07009904086589813, + -0.07770079374313354, + 0.12930187582969666 + ], + "orientation": [ + 0.5151256322860718, + -0.7954671382904053, + 0.28793859481811523, + -0.13772781193256378 + ], + "joints": [ + 0.027050457894802094 + ] + }, + "final_grasp": { + "position": [ + -0.07009904086589813, + -0.07770079374313354, + 0.12930187582969666 + ], + "orientation": [ + 0.5151256322860718, + -0.7954671382904053, + 0.28793859481811523, + -0.13772781193256378 + ], + "joints": [ + 0.02025867998600006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08544699102640152, + -0.083376944065094, + 0.09554703533649445 + ], + "orientation": [ + 0.564555823802948, + -0.7571070790290833, + 0.10103227943181992, + -0.31282293796539307 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.08371469378471375, + -0.07983898371458054, + 0.09485951066017151 + ], + "orientation": [ + 0.5654594302177429, + -0.7598875164985657, + 0.09556248784065247, + -0.3060954213142395 + ], + "joints": [ + 0.029065031558275223 + ] + }, + "final_grasp": { + "position": [ + -0.08371469378471375, + -0.07983898371458054, + 0.09485951066017151 + ], + "orientation": [ + 0.5654594302177429, + -0.7598875164985657, + 0.09556248784065247, + -0.3060954213142395 + ], + "joints": [ + 0.023130062967538834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09878024458885193, + -0.05975192040205002, + 0.11066500842571259 + ], + "orientation": [ + 0.3165806531906128, + 0.06508782505989075, + -0.8223164677619934, + -0.4683331847190857 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.09559982270002365, + -0.05826915055513382, + 0.11040350794792175 + ], + "orientation": [ + 0.32998523116111755, + 0.07538670301437378, + -0.8169649839401245, + -0.4668993353843689 + ], + "joints": [ + 0.026124246418476105 + ] + }, + "final_grasp": { + "position": [ + 0.09559982270002365, + -0.05826915055513382, + 0.11040350794792175 + ], + "orientation": [ + 0.32998523116111755, + 0.07538670301437378, + -0.8169649839401245, + -0.4668993353843689 + ], + "joints": [ + 0.019332468509674072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1074136346578598, + 0.13550393283367157, + 0.1082916408777237 + ], + "orientation": [ + 0.5664535164833069, + 0.6655439138412476, + -0.4481739103794098, + -0.18794088065624237 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.10469713062047958, + 0.1332406848669052, + 0.10736078023910522 + ], + "orientation": [ + 0.5673573017120361, + 0.6678063869476318, + -0.44386428594589233, + -0.1874164193868637 + ], + "joints": [ + 0.025751441717147827 + ] + }, + "final_grasp": { + "position": [ + 0.10469713062047958, + 0.1332406848669052, + 0.10736078023910522 + ], + "orientation": [ + 0.5673573017120361, + 0.6678063869476318, + -0.44386428594589233, + -0.1874164193868637 + ], + "joints": [ + 0.018123753368854523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13762682676315308, + 0.09820948541164398, + 0.0227402001619339 + ], + "orientation": [ + 0.17557793855667114, + -0.45852774381637573, + 0.35765692591667175, + -0.7943589687347412 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.1338852047920227, + 0.09702527523040771, + 0.023669850081205368 + ], + "orientation": [ + 0.1778806895017624, + -0.46153274178504944, + 0.3573252558708191, + -0.7922529578208923 + ], + "joints": [ + 0.02820822224020958 + ] + }, + "final_grasp": { + "position": [ + -0.1338852047920227, + 0.09702527523040771, + 0.023669850081205368 + ], + "orientation": [ + 0.1778806895017624, + -0.46153274178504944, + 0.3573252558708191, + -0.7922529578208923 + ], + "joints": [ + 0.021416444331407547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05007712170481682, + -0.1079019233584404, + 0.07452159374952316 + ], + "orientation": [ + 0.6954988241195679, + -0.7092654705047607, + -0.10298658162355423, + 0.05116282403469086 + ], + "joints": [ + 0.030044754967093468 + ] + }, + "fine_grasp": { + "position": [ + 0.04872452840209007, + -0.10477448254823685, + 0.0744582861661911 + ], + "orientation": [ + 0.6948103904724121, + -0.7089770436286926, + -0.1076485887169838, + 0.05478956550359726 + ], + "joints": [ + 0.021184099838137627 + ] + }, + "final_grasp": { + "position": [ + 0.04872452840209007, + -0.10477448254823685, + 0.0744582861661911 + ], + "orientation": [ + 0.6948103904724121, + -0.7089770436286926, + -0.1076485887169838, + 0.05478956550359726 + ], + "joints": [ + 0.012323444709181786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023769866675138474, + -0.012474678456783295, + -0.17735345661640167 + ], + "orientation": [ + 0.0181678868830204, + 0.09267843514680862, + -0.1673780381679535, + -0.9813588261604309 + ], + "joints": [ + 0.023334728553891182 + ] + }, + "fine_grasp": { + "position": [ + 0.023086071014404297, + -0.012110266834497452, + -0.17697376012802124 + ], + "orientation": [ + 0.019093183800578117, + 0.0950990542769432, + -0.16801020503044128, + -0.9810016751289368 + ], + "joints": [ + 0.01413971371948719 + ] + }, + "final_grasp": { + "position": [ + 0.023086071014404297, + -0.012110266834497452, + -0.17697376012802124 + ], + "orientation": [ + 0.019093183800578117, + 0.0950990542769432, + -0.16801020503044128, + -0.9810016751289368 + ], + "joints": [ + 0.0049446988850831985 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 121 + } +} \ No newline at end of file diff --git a/084_woodenmallet_2/Object.usd b/084_woodenmallet_2/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..a103dbeb5983a32c47e7246276c67a9eaf57dad0 --- /dev/null +++ b/084_woodenmallet_2/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f0a8e2be2d48443255dfe086fb8d32eea26be031bcb3334f02e438ae406af79 +size 287940 diff --git a/086_woodenblock_0/Annotation/dex1_1_grasp_pose.json b/086_woodenblock_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..0b21b2faed750225ab72b571d636096f0c954699 --- /dev/null +++ b/086_woodenblock_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,168 @@ +{ + "type": "086_woodenblock_0", + "bottom_center": [ + 1.000240445137024e-06, + 0.05000000074505806, + -0.049865998327732086 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.01961020939052105, + 0.06851543486118317, + -0.14901407063007355 + ], + "orientation": [ + 0.717466413974762, + 0.5539186596870422, + -0.2440563589334488, + -0.34474977850914 + ], + "joints": [ + -0.01158003881573677 + ] + }, + "fine_grasp": { + "position": [ + 0.017716066911816597, + 0.06629160046577454, + -0.15313534438610077 + ], + "orientation": [ + 0.7131440043449402, + 0.5626809597015381, + -0.2443615347146988, + -0.3392689526081085 + ], + "joints": [ + -0.010437527671456337 + ] + }, + "final_grasp": { + "position": [ + 0.017716066911816597, + 0.06629160046577454, + -0.15313534438610077 + ], + "orientation": [ + 0.7131440043449402, + 0.5626809597015381, + -0.2443615347146988, + -0.3392689526081085 + ], + "joints": [ + -0.009295016527175903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04893748462200165, + 0.05626329034566879, + -0.14729131758213043 + ], + "orientation": [ + 0.6703442335128784, + 0.5514787435531616, + -0.3784103989601135, + -0.3214271664619446 + ], + "joints": [ + -0.01393527165055275 + ] + }, + "fine_grasp": { + "position": [ + 0.047890931367874146, + 0.054656099528074265, + -0.14990323781967163 + ], + "orientation": [ + 0.6664356589317322, + 0.554846465587616, + -0.38675743341445923, + -0.31373172998428345 + ], + "joints": [ + -0.010746873915195465 + ] + }, + "final_grasp": { + "position": [ + 0.047890931367874146, + 0.054656099528074265, + -0.14990323781967163 + ], + "orientation": [ + 0.6664356589317322, + 0.554846465587616, + -0.38675743341445923, + -0.31373172998428345 + ], + "joints": [ + -0.0075584761798381805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016103528439998627, + 0.1740178018808365, + -0.12720651924610138 + ], + "orientation": [ + 0.23505093157291412, + 0.9713107943534851, + -0.036128003150224686, + -0.0010595211060717702 + ], + "joints": [ + -0.008194394409656525 + ] + }, + "fine_grasp": { + "position": [ + 0.017174459993839264, + 0.172452911734581, + -0.12431737780570984 + ], + "orientation": [ + 0.2522571086883545, + 0.9671769738197327, + -0.020791374146938324, + 0.022422995418310165 + ], + "joints": [ + -0.01345524936914444 + ] + }, + "final_grasp": { + "position": [ + 0.017174459993839264, + 0.172452911734581, + -0.12431737780570984 + ], + "orientation": [ + 0.2522571086883545, + 0.9671769738197327, + -0.020791374146938324, + 0.022422995418310165 + ], + "joints": [ + -0.018716104328632355 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 3 + } +} \ No newline at end of file diff --git a/086_woodenblock_0/Annotation/piper_grasp_pose.json b/086_woodenblock_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..141370aeb04423abab60b06b1dc27650a05a2c09 --- /dev/null +++ b/086_woodenblock_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,68 @@ +{ + "type": "086_woodenblock_0", + "bottom_center": [ + 1.000240445137024e-06, + 0.05000000074505806, + -0.049865998327732086 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.013375326059758663, + 0.07793620228767395, + -0.18649345636367798 + ], + "orientation": [ + 0.02652791514992714, + 0.09672297537326813, + 0.02020585723221302, + -0.9947526454925537 + ], + "joints": [ + 0.022776897996664047 + ] + }, + "fine_grasp": { + "position": [ + 0.013457130640745163, + 0.07770276814699173, + -0.18123243749141693 + ], + "orientation": [ + 0.02662639692425728, + 0.09146451205015182, + 0.02049202285706997, + -0.9952414035797119 + ], + "joints": [ + 0.021105077117681503 + ] + }, + "final_grasp": { + "position": [ + 0.013457130640745163, + 0.07770276814699173, + -0.18123243749141693 + ], + "orientation": [ + 0.02662639692425728, + 0.09146451205015182, + 0.02049202285706997, + -0.9952414035797119 + ], + "joints": [ + 0.01943325623869896 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 1 + } +} \ No newline at end of file diff --git a/086_woodenblock_0/Object.usd b/086_woodenblock_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..cb3f66066c267d5bfe0deea6011d1460646a5cd3 --- /dev/null +++ b/086_woodenblock_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ac2de6e009e995538cbe2fe2b66a4ae9da4d9dbae4b2a96b29806a4b725d224 +size 271387 diff --git a/087_waterer_3/Annotation/dex1_1_grasp_pose.json b/087_waterer_3/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..99d95b41b5273fd4608d4404d3684bb8b3d05abb --- /dev/null +++ b/087_waterer_3/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,368 @@ +{ + "type": "087_waterer_3", + "bottom_center": [ + -1.0251998901367188e-05, + 0.06453800201416016, + -0.09453769773244858 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.01698349416255951, + -0.02044413797557354, + -0.12566950917243958 + ], + "orientation": [ + 0.07774704694747925, + 0.0969238206744194, + -0.9087892770767212, + -0.39832568168640137 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + 0.015648487955331802, + -0.01707546040415764, + -0.1230347603559494 + ], + "orientation": [ + 0.08061755448579788, + 0.12345835566520691, + -0.908123791217804, + -0.3918801248073578 + ], + "joints": [ + -0.016496509313583374 + ] + }, + "final_grasp": { + "position": [ + 0.015648487955331802, + -0.01707546040415764, + -0.1230347603559494 + ], + "orientation": [ + 0.08061755448579788, + 0.12345835566520691, + -0.908123791217804, + -0.3918801248073578 + ], + "joints": [ + -0.015407133847475052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016761744394898415, + -0.020130066201090813, + -0.125754252076149 + ], + "orientation": [ + 0.07850448787212372, + 0.09618721157312393, + -0.9086210131645203, + -0.3987392485141754 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + 0.0155212776735425, + -0.016854308545589447, + -0.12320984899997711 + ], + "orientation": [ + 0.08143569529056549, + 0.12362510710954666, + -0.9077377915382385, + -0.39255210757255554 + ], + "joints": [ + -0.016496509313583374 + ] + }, + "final_grasp": { + "position": [ + 0.0155212776735425, + -0.016854308545589447, + -0.12320984899997711 + ], + "orientation": [ + 0.08143569529056549, + 0.12362510710954666, + -0.9077377915382385, + -0.39255210757255554 + ], + "joints": [ + -0.015407133847475052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04383595660328865, + -0.023379134014248848, + -0.11778613179922104 + ], + "orientation": [ + 0.12469987571239471, + -0.13416926562786102, + 0.9041644334793091, + 0.38592129945755005 + ], + "joints": [ + -0.01941119134426117 + ] + }, + "fine_grasp": { + "position": [ + 0.0431036651134491, + -0.020624471828341484, + -0.11497890204191208 + ], + "orientation": [ + 0.1331477165222168, + -0.11435944586992264, + 0.902470588684082, + 0.3933704197406769 + ], + "joints": [ + -0.016727611422538757 + ] + }, + "final_grasp": { + "position": [ + 0.0431036651134491, + -0.020624471828341484, + -0.11497890204191208 + ], + "orientation": [ + 0.1331477165222168, + -0.11435944586992264, + 0.902470588684082, + 0.3933704197406769 + ], + "joints": [ + -0.014044031500816345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02420743554830551, + -0.0679452121257782, + -0.10389791429042816 + ], + "orientation": [ + 0.025519870221614838, + 0.0830008015036583, + -0.9572943449020386, + -0.2757664918899536 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.02218537963926792, + -0.06637584418058395, + -0.10093497484922409 + ], + "orientation": [ + 0.03227046877145767, + 0.09199236333370209, + -0.9539971351623535, + -0.28352320194244385 + ], + "joints": [ + -0.01667020469903946 + ] + }, + "final_grasp": { + "position": [ + 0.02218537963926792, + -0.06637584418058395, + -0.10093497484922409 + ], + "orientation": [ + 0.03227046877145767, + 0.09199236333370209, + -0.9539971351623535, + -0.28352320194244385 + ], + "joints": [ + -0.014518026262521744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024195639416575432, + -0.06795165687799454, + -0.10390841960906982 + ], + "orientation": [ + 0.025739870965480804, + 0.08315042406320572, + -0.957266092300415, + -0.27579888701438904 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.02218218334019184, + -0.06638190895318985, + -0.1009419858455658 + ], + "orientation": [ + 0.03250160813331604, + 0.09207576513290405, + -0.9539676308631897, + -0.28356900811195374 + ], + "joints": [ + -0.01667020469903946 + ] + }, + "final_grasp": { + "position": [ + 0.02218218334019184, + -0.06638190895318985, + -0.1009419858455658 + ], + "orientation": [ + 0.03250160813331604, + 0.09207576513290405, + -0.9539676308631897, + -0.28356900811195374 + ], + "joints": [ + -0.014518026262521744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02853168174624443, + -0.04277491196990013, + -0.11274658888578415 + ], + "orientation": [ + 0.9254543781280518, + 0.3258950710296631, + -0.1914844959974289, + 0.025691932067275047 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.02647731453180313, + -0.038624394685029984, + -0.10898617655038834 + ], + "orientation": [ + 0.92020583152771, + 0.3369441032409668, + -0.19855506718158722, + 0.016307340934872627 + ], + "joints": [ + -0.01734299212694168 + ] + }, + "final_grasp": { + "position": [ + 0.02647731453180313, + -0.038624394685029984, + -0.10898617655038834 + ], + "orientation": [ + 0.92020583152771, + 0.3369441032409668, + -0.19855506718158722, + 0.016307340934872627 + ], + "joints": [ + -0.014685984700918198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1393137127161026, + 0.04838725924491882, + -0.09112858772277832 + ], + "orientation": [ + 0.747943639755249, + 0.28524088859558105, + 0.01594955287873745, + -0.5991355776786804 + ], + "joints": [ + -0.01720929518342018 + ] + }, + "fine_grasp": { + "position": [ + -0.1373114138841629, + 0.045133136212825775, + -0.09126292169094086 + ], + "orientation": [ + 0.7487328052520752, + 0.27958232164382935, + 0.002662182552739978, + -0.6010205745697021 + ], + "joints": [ + -0.015482239425182343 + ] + }, + "final_grasp": { + "position": [ + -0.1373114138841629, + 0.045133136212825775, + -0.09126292169094086 + ], + "orientation": [ + 0.7487328052520752, + 0.27958232164382935, + 0.002662182552739978, + -0.6010205745697021 + ], + "joints": [ + -0.013755183666944504 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2046, + "num_passed": 7 + } +} \ No newline at end of file diff --git a/087_waterer_3/Annotation/piper_grasp_pose.json b/087_waterer_3/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..59a32bb640ec0e69d272c5ba47a91b85a0191642 --- /dev/null +++ b/087_waterer_3/Annotation/piper_grasp_pose.json @@ -0,0 +1,118 @@ +{ + "type": "087_waterer_3", + "bottom_center": [ + -1.0251998901367188e-05, + 0.06453800201416016, + -0.09453769773244858 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.13125109672546387, + 0.03433271124958992, + -0.06442945450544357 + ], + "orientation": [ + 0.1867189109325409, + -0.6446207165718079, + -0.05766477435827255, + 0.7391042709350586 + ], + "joints": [ + 0.028293756768107414 + ] + }, + "fine_grasp": { + "position": [ + 0.12637145817279816, + 0.035710278898477554, + -0.06330998241901398 + ], + "orientation": [ + 0.1660383939743042, + -0.6460163593292236, + -0.03269927576184273, + 0.7443283796310425 + ], + "joints": [ + 0.026998093351721764 + ] + }, + "final_grasp": { + "position": [ + 0.12637145817279816, + 0.035710278898477554, + -0.06330998241901398 + ], + "orientation": [ + 0.1660383939743042, + -0.6460163593292236, + -0.03269927576184273, + 0.7443283796310425 + ], + "joints": [ + 0.025702429935336113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13309261202812195, + 0.052932009100914, + -0.06602658331394196 + ], + "orientation": [ + 0.7637549042701721, + 0.09283638000488281, + 0.6281971335411072, + 0.11588095128536224 + ], + "joints": [ + 0.027076702564954758 + ] + }, + "fine_grasp": { + "position": [ + -0.12808991968631744, + 0.05306714028120041, + -0.06471247971057892 + ], + "orientation": [ + 0.7672019600868225, + 0.07713951170444489, + 0.6287350654602051, + 0.10071207582950592 + ], + "joints": [ + 0.025383982807397842 + ] + }, + "final_grasp": { + "position": [ + -0.12808991968631744, + 0.05306714028120041, + -0.06471247971057892 + ], + "orientation": [ + 0.7672019600868225, + 0.07713951170444489, + 0.6287350654602051, + 0.10071207582950592 + ], + "joints": [ + 0.023691263049840927 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 2 + } +} \ No newline at end of file diff --git a/087_waterer_3/Object.usd b/087_waterer_3/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..471e95a70af9a14423c3d73301f6bc50e49c5d1a --- /dev/null +++ b/087_waterer_3/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40a831b5dc5e458a181987775caf08654141469f5de386013a7adadab51a054b +size 305480 diff --git a/088_wineglass_3/Annotation/dex1_1_grasp_pose.json b/088_wineglass_3/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4063a8ef74c3c84f8ce4fe434f5ddce1f2f39fee --- /dev/null +++ b/088_wineglass_3/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "088_wineglass_3", + "bottom_center": [ + 3.4999102354049683e-06, + 0.15000000596046448, + -0.054910000413656235 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2035, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/088_wineglass_3/Annotation/piper_grasp_pose.json b/088_wineglass_3/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..6287ba2dd9b38690021d1362d4a694d307248df6 --- /dev/null +++ b/088_wineglass_3/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "088_wineglass_3", + "bottom_center": [ + 3.4999102354049683e-06, + 0.15000000596046448, + -0.054910000413656235 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/088_wineglass_3/Object.usd b/088_wineglass_3/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..012be10e16f3d8b759c01b150e57b254a18edf0a --- /dev/null +++ b/088_wineglass_3/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2d672d2d88cc08852183495044099dc359b266b0703d5dca59d883e3b59441e +size 268284 diff --git a/090_trophy_4/Annotation/dex1_1_grasp_pose.json b/090_trophy_4/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..de315b4cbfe64c8f132a9ae514ff61479540350f --- /dev/null +++ b/090_trophy_4/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,218 @@ +{ + "type": "090_trophy_4", + "bottom_center": [ + -4.649162292480469e-06, + 0.09494824707508087, + -0.03270789980888367 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.02637339197099209, + 0.09662709385156631, + -0.144489124417305 + ], + "orientation": [ + 0.4506334960460663, + 0.5191203951835632, + -0.6310905814170837, + -0.35939982533454895 + ], + "joints": [ + -0.019440632313489914 + ] + }, + "fine_grasp": { + "position": [ + 0.024401452392339706, + 0.10005613416433334, + -0.14025764167308807 + ], + "orientation": [ + 0.4437667727470398, + 0.5150339007377625, + -0.6375243663787842, + -0.3624551296234131 + ], + "joints": [ + -0.015029998496174812 + ] + }, + "final_grasp": { + "position": [ + 0.024401452392339706, + 0.10005613416433334, + -0.14025764167308807 + ], + "orientation": [ + 0.4437667727470398, + 0.5150339007377625, + -0.6375243663787842, + -0.3624551296234131 + ], + "joints": [ + -0.01061936467885971 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026425540447235107, + 0.09669831395149231, + -0.14489483833312988 + ], + "orientation": [ + 0.45092326402664185, + 0.5199534893035889, + -0.6303017139434814, + -0.3592163324356079 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + 0.025591552257537842, + 0.1013077050447464, + -0.1419800966978073 + ], + "orientation": [ + 0.44360893964767456, + 0.5168203115463257, + -0.6335022449493408, + -0.36712774634361267 + ], + "joints": [ + -0.01473559532314539 + ] + }, + "final_grasp": { + "position": [ + 0.025591552257537842, + 0.1013077050447464, + -0.1419800966978073 + ], + "orientation": [ + 0.44360893964767456, + 0.5168203115463257, + -0.6335022449493408, + -0.36712774634361267 + ], + "joints": [ + -0.010324962437152863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11848051100969315, + 0.10777387768030167, + -0.1034156084060669 + ], + "orientation": [ + 0.19774968922138214, + 0.6028847098350525, + 0.7313026189804077, + 0.2502429783344269 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.11826861649751663, + 0.11225949227809906, + -0.10229702293872833 + ], + "orientation": [ + 0.16110634803771973, + 0.5981966853141785, + 0.733238697052002, + 0.2802968919277191 + ], + "joints": [ + -0.01784782111644745 + ] + }, + "final_grasp": { + "position": [ + -0.11826861649751663, + 0.11225949227809906, + -0.10229702293872833 + ], + "orientation": [ + 0.16110634803771973, + 0.5981966853141785, + 0.733238697052002, + 0.2802968919277191 + ], + "joints": [ + -0.015695642679929733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0574912391602993, + 0.109427310526371, + -0.13812986016273499 + ], + "orientation": [ + 0.6870811581611633, + 0.339273601770401, + 0.3244270384311676, + 0.5545810461044312 + ], + "joints": [ + -0.015480119735002518 + ] + }, + "fine_grasp": { + "position": [ + 0.05643757805228233, + 0.11171530932188034, + -0.13530319929122925 + ], + "orientation": [ + 0.6893399953842163, + 0.36094555258750916, + 0.30057987570762634, + 0.5515257120132446 + ], + "joints": [ + -0.015931807458400726 + ] + }, + "final_grasp": { + "position": [ + 0.05643757805228233, + 0.11171530932188034, + -0.13530319929122925 + ], + "orientation": [ + 0.6893399953842163, + 0.36094555258750916, + 0.30057987570762634, + 0.5515257120132446 + ], + "joints": [ + -0.016383495181798935 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2038, + "num_passed": 4 + } +} \ No newline at end of file diff --git a/090_trophy_4/Annotation/piper_grasp_pose.json b/090_trophy_4/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab751d96d271f9ca46a88af9ca18fe1d7ace05c --- /dev/null +++ b/090_trophy_4/Annotation/piper_grasp_pose.json @@ -0,0 +1,468 @@ +{ + "type": "090_trophy_4", + "bottom_center": [ + -4.649162292480469e-06, + 0.09494824707508087, + -0.03270789980888367 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.14484241604804993, + 0.03340509906411171, + 0.016358178108930588 + ], + "orientation": [ + 0.5179229974746704, + -0.6120148301124573, + 0.44844913482666016, + -0.39507856965065 + ], + "joints": [ + 0.024489372968673706 + ] + }, + "fine_grasp": { + "position": [ + -0.14169654250144958, + 0.0346841886639595, + 0.014803639613091946 + ], + "orientation": [ + 0.5208852887153625, + -0.6102398037910461, + 0.44815653562545776, + -0.3942607641220093 + ], + "joints": [ + 0.015294358134269714 + ] + }, + "final_grasp": { + "position": [ + -0.14169654250144958, + 0.0346841886639595, + 0.014803639613091946 + ], + "orientation": [ + 0.5208852887153625, + -0.6102398037910461, + 0.44815653562545776, + -0.3942607641220093 + ], + "joints": [ + 0.006099343299865723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1323678344488144, + 0.04452903941273689, + -0.06260229647159576 + ], + "orientation": [ + 0.6669755578041077, + -0.4090542495250702, + -0.26441046595573425, + 0.5638309717178345 + ], + "joints": [ + 0.024478144943714142 + ] + }, + "fine_grasp": { + "position": [ + 0.12890410423278809, + 0.045424848794937134, + -0.060611333698034286 + ], + "orientation": [ + 0.6663108468055725, + -0.40996089577674866, + -0.26577314734458923, + 0.5633173584938049 + ], + "joints": [ + 0.016536995768547058 + ] + }, + "final_grasp": { + "position": [ + 0.12890410423278809, + 0.045424848794937134, + -0.060611333698034286 + ], + "orientation": [ + 0.6663108468055725, + -0.40996089577674866, + -0.26577314734458923, + 0.5633173584938049 + ], + "joints": [ + 0.008595846593379974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14126257598400116, + -0.022409291937947273, + -0.00804886594414711 + ], + "orientation": [ + 0.6547968983650208, + -0.542319118976593, + 0.4120089113712311, + -0.3276883065700531 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + -0.1367477923631668, + -0.022006211802363396, + -0.007864898070693016 + ], + "orientation": [ + 0.653628408908844, + -0.5341117978096008, + 0.4205314517021179, + -0.33263736963272095 + ], + "joints": [ + 0.02243356965482235 + ] + }, + "final_grasp": { + "position": [ + -0.1367477923631668, + -0.022006211802363396, + -0.007864898070693016 + ], + "orientation": [ + 0.653628408908844, + -0.5341117978096008, + 0.4205314517021179, + -0.33263736963272095 + ], + "joints": [ + 0.016582196578383446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1408742219209671, + 0.0029561659321188927, + -0.003879125928506255 + ], + "orientation": [ + 0.36617207527160645, + 0.49413391947746277, + 0.4862484335899353, + 0.620735228061676 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.13663245737552643, + 0.0037408347707241774, + -0.003474288387224078 + ], + "orientation": [ + 0.35712745785713196, + 0.5067656636238098, + 0.46723705530166626, + 0.630347490310669 + ], + "joints": [ + 0.02460896596312523 + ] + }, + "final_grasp": { + "position": [ + -0.13663245737552643, + 0.0037408347707241774, + -0.003474288387224078 + ], + "orientation": [ + 0.35712745785713196, + 0.5067656636238098, + 0.46723705530166626, + 0.630347490310669 + ], + "joints": [ + 0.017482828348875046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15266205370426178, + 0.09300504624843597, + 0.04277573898434639 + ], + "orientation": [ + 0.4328017234802246, + 0.5627907514572144, + 0.5984153747558594, + 0.37127920985221863 + ], + "joints": [ + 0.02312127873301506 + ] + }, + "fine_grasp": { + "position": [ + -0.14936771988868713, + 0.09246473014354706, + 0.04123000428080559 + ], + "orientation": [ + 0.4316113591194153, + 0.5654760003089905, + 0.6030293703079224, + 0.3609767258167267 + ], + "joints": [ + 0.01267239823937416 + ] + }, + "final_grasp": { + "position": [ + -0.14936771988868713, + 0.09246473014354706, + 0.04123000428080559 + ], + "orientation": [ + 0.4316113591194153, + 0.5654760003089905, + 0.6030293703079224, + 0.3609767258167267 + ], + "joints": [ + 0.002223517745733261 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15229660272598267, + 0.09254325926303864, + 0.042917005717754364 + ], + "orientation": [ + 0.4334564805030823, + 0.5644204616546631, + 0.5970001220703125, + 0.37031862139701843 + ], + "joints": [ + 0.023584388196468353 + ] + }, + "fine_grasp": { + "position": [ + -0.1487874537706375, + 0.09196686744689941, + 0.041732754558324814 + ], + "orientation": [ + 0.4331734776496887, + 0.5661678910255432, + 0.6007807850837708, + 0.361769437789917 + ], + "joints": [ + 0.013929620385169983 + ] + }, + "final_grasp": { + "position": [ + -0.1487874537706375, + 0.09196686744689941, + 0.041732754558324814 + ], + "orientation": [ + 0.4331734776496887, + 0.5661678910255432, + 0.6007807850837708, + 0.361769437789917 + ], + "joints": [ + 0.0042748525738716125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14364850521087646, + 0.05612071976065636, + -0.044756095856428146 + ], + "orientation": [ + 0.5049945712089539, + 0.43274974822998047, + -0.3564465045928955, + -0.6562422513961792 + ], + "joints": [ + 0.023354649543762207 + ] + }, + "fine_grasp": { + "position": [ + 0.14059922099113464, + 0.05771825835108757, + -0.0430789515376091 + ], + "orientation": [ + 0.49813029170036316, + 0.42553824186325073, + -0.3713407814502716, + -0.6579433083534241 + ], + "joints": [ + 0.013323724269866943 + ] + }, + "final_grasp": { + "position": [ + 0.14059922099113464, + 0.05771825835108757, + -0.0430789515376091 + ], + "orientation": [ + 0.49813029170036316, + 0.42553824186325073, + -0.3713407814502716, + -0.6579433083534241 + ], + "joints": [ + 0.0032927989959716797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12297528982162476, + 0.0011416802881285548, + 0.08981447666883469 + ], + "orientation": [ + 0.13821054995059967, + -0.8785159587860107, + 0.12040068209171295, + -0.44114765524864197 + ], + "joints": [ + 0.029325712472200394 + ] + }, + "fine_grasp": { + "position": [ + -0.119904525578022, + 0.0025157234631478786, + 0.08731549233198166 + ], + "orientation": [ + 0.13451620936393738, + -0.8825045228004456, + 0.10593350976705551, + -0.4380287826061249 + ], + "joints": [ + 0.02136366441845894 + ] + }, + "final_grasp": { + "position": [ + -0.119904525578022, + 0.0025157234631478786, + 0.08731549233198166 + ], + "orientation": [ + 0.13451620936393738, + -0.8825045228004456, + 0.10593350976705551, + -0.4380287826061249 + ], + "joints": [ + 0.013401616364717484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01789115183055401, + 0.10668124258518219, + -0.16123871505260468 + ], + "orientation": [ + 0.8319308757781982, + 0.040455128997564316, + 0.09256980568170547, + -0.5456053614616394 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + -0.01783653348684311, + 0.10709874331951141, + -0.1558382213115692 + ], + "orientation": [ + 0.8334554433822632, + 0.03611237555742264, + 0.08786079287528992, + -0.5443606376647949 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "final_grasp": { + "position": [ + -0.01783653348684311, + 0.10709874331951141, + -0.1558382213115692 + ], + "orientation": [ + 0.8334554433822632, + 0.03611237555742264, + 0.08786079287528992, + -0.5443606376647949 + ], + "joints": [ + 0.028030231595039368 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 9 + } +} \ No newline at end of file diff --git a/090_trophy_4/Object.usd b/090_trophy_4/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..5564f533fae2b920cf6bfa914ca7f9a33c7be9ce --- /dev/null +++ b/090_trophy_4/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78ceea6f297ca0beab3bf668e86f2fb116f471d87acc6405279d3f25ee486b2f +size 359384 diff --git a/092_notebook_1/Annotation/dex1_1_grasp_pose.json b/092_notebook_1/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..f81f33c0389cfe243790d011c73250778357f668 --- /dev/null +++ b/092_notebook_1/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,218 @@ +{ + "type": "092_notebook_1", + "bottom_center": [ + -6.102025508880615e-06, + 0.009371300227940083, + -0.06343259662389755 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.008291804231703281, + 0.009611621499061584, + -0.1575940102338791 + ], + "orientation": [ + 0.5026790499687195, + 0.480351984500885, + -0.49183279275894165, + -0.5240957140922546 + ], + "joints": [ + 0.004722717683762312 + ] + }, + "fine_grasp": { + "position": [ + -0.008250068873167038, + 0.01035157311707735, + -0.15268701314926147 + ], + "orientation": [ + 0.502280056476593, + 0.47301581501960754, + -0.4898013472557068, + -0.5329777598381042 + ], + "joints": [ + 0.011126084253191948 + ] + }, + "final_grasp": { + "position": [ + -0.008250068873167038, + 0.01035157311707735, + -0.15268701314926147 + ], + "orientation": [ + 0.502280056476593, + 0.47301581501960754, + -0.4898013472557068, + -0.5329777598381042 + ], + "joints": [ + 0.017529450356960297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008289172314107418, + 0.009600259363651276, + -0.15777365863323212 + ], + "orientation": [ + 0.5029197931289673, + 0.4804898798465729, + -0.49163562059402466, + -0.5239232778549194 + ], + "joints": [ + 0.004722717683762312 + ] + }, + "fine_grasp": { + "position": [ + -0.008167154155671597, + 0.010276388376951218, + -0.1528785079717636 + ], + "orientation": [ + 0.502613365650177, + 0.4727449417114258, + -0.48976805806159973, + -0.5329346060752869 + ], + "joints": [ + 0.011126084253191948 + ] + }, + "final_grasp": { + "position": [ + -0.008167154155671597, + 0.010276388376951218, + -0.1528785079717636 + ], + "orientation": [ + 0.502613365650177, + 0.4727449417114258, + -0.48976805806159973, + -0.5329346060752869 + ], + "joints": [ + 0.017529450356960297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012127399444580078, + -0.10250790417194366, + -0.07870785892009735 + ], + "orientation": [ + 0.9965791702270508, + -0.03119822032749653, + 0.067891925573349, + 0.035317275673151016 + ], + "joints": [ + 0.021966803818941116 + ] + }, + "fine_grasp": { + "position": [ + 0.012470979243516922, + -0.10804412513971329, + -0.07658364623785019 + ], + "orientation": [ + 0.9969610571861267, + -0.015909790992736816, + 0.06663193553686142, + 0.03709076717495918 + ], + "joints": [ + 0.020425744354724884 + ] + }, + "final_grasp": { + "position": [ + 0.012470979243516922, + -0.10804412513971329, + -0.07658364623785019 + ], + "orientation": [ + 0.9969610571861267, + -0.015909790992736816, + 0.06663193553686142, + 0.03709076717495918 + ], + "joints": [ + 0.01888468489050865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012228845618665218, + -0.10313820838928223, + -0.07881665229797363 + ], + "orientation": [ + 0.9964904189109802, + -0.03080335259437561, + 0.06833095848560333, + 0.03726780042052269 + ], + "joints": [ + 0.023182541131973267 + ] + }, + "fine_grasp": { + "position": [ + 0.012580552138388157, + -0.10862725228071213, + -0.07671580463647842 + ], + "orientation": [ + 0.9968061447143555, + -0.014601237140595913, + 0.06800990551710129, + 0.03923209756612778 + ], + "joints": [ + 0.0206318236887455 + ] + }, + "final_grasp": { + "position": [ + 0.012580552138388157, + -0.10862725228071213, + -0.07671580463647842 + ], + "orientation": [ + 0.9968061447143555, + -0.014601237140595913, + 0.06800990551710129, + 0.03923209756612778 + ], + "joints": [ + 0.01808110624551773 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2043, + "num_passed": 4 + } +} \ No newline at end of file diff --git a/092_notebook_1/Annotation/piper_grasp_pose.json b/092_notebook_1/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..346867a14ba1bdc78f4250b25e0b8d55ee0afb90 --- /dev/null +++ b/092_notebook_1/Annotation/piper_grasp_pose.json @@ -0,0 +1,468 @@ +{ + "type": "092_notebook_1", + "bottom_center": [ + -6.102025508880615e-06, + 0.009371300227940083, + -0.06343259662389755 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.044394999742507935, + 0.010000530630350113, + 0.1658066213130951 + ], + "orientation": [ + 0.11848381161689758, + 0.010037044063210487, + 0.992900550365448, + -0.0030731563456356525 + ], + "joints": [ + 0.017858564853668213 + ] + }, + "fine_grasp": { + "position": [ + -0.044109657406806946, + 0.009762635454535484, + 0.16176974773406982 + ], + "orientation": [ + 0.11721554398536682, + 0.02647494524717331, + 0.9927533864974976, + -0.0005579317803494632 + ], + "joints": [ + 0.008663550019264221 + ] + }, + "final_grasp": { + "position": [ + -0.044109657406806946, + 0.009762635454535484, + 0.16176974773406982 + ], + "orientation": [ + 0.11721554398536682, + 0.02647494524717331, + 0.9927533864974976, + -0.0005579317803494632 + ], + "joints": [ + -0.0005314648151397705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04546677693724632, + 0.010229900479316711, + 0.1645999401807785 + ], + "orientation": [ + 0.10681875795125961, + 0.017328938469290733, + 0.994124174118042, + -0.0025554124731570482 + ], + "joints": [ + 0.01793452352285385 + ] + }, + "fine_grasp": { + "position": [ + -0.04543761909008026, + 0.010168088600039482, + 0.1605217605829239 + ], + "orientation": [ + 0.1082804799079895, + 0.0284111425280571, + 0.9937134981155396, + -0.0012168906396254897 + ], + "joints": [ + 0.009157463908195496 + ] + }, + "final_grasp": { + "position": [ + -0.04543761909008026, + 0.010168088600039482, + 0.1605217605829239 + ], + "orientation": [ + 0.1082804799079895, + 0.0284111425280571, + 0.9937134981155396, + -0.0012168906396254897 + ], + "joints": [ + 0.0003804042935371399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044606391340494156, + 0.009171378798782825, + 0.18047088384628296 + ], + "orientation": [ + 0.003878170857205987, + 0.9959371089935303, + 0.07072926312685013, + 0.05560379475355148 + ], + "joints": [ + 0.018189169466495514 + ] + }, + "fine_grasp": { + "position": [ + -0.04429234564304352, + 0.009127379395067692, + 0.17648573219776154 + ], + "orientation": [ + 0.003932751249521971, + 0.9928832650184631, + 0.10626488924026489, + 0.05362049862742424 + ], + "joints": [ + 0.008973255753517151 + ] + }, + "final_grasp": { + "position": [ + -0.04429234564304352, + 0.009127379395067692, + 0.17648573219776154 + ], + "orientation": [ + 0.003932751249521971, + 0.9928832650184631, + 0.10626488924026489, + 0.05362049862742424 + ], + "joints": [ + -0.00024265795946121216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04107611998915672, + -0.004220551811158657, + 0.15838974714279175 + ], + "orientation": [ + 0.10523711889982224, + 0.006089723203331232, + 0.9925928115844727, + 0.060396354645490646 + ], + "joints": [ + 0.019276894629001617 + ] + }, + "fine_grasp": { + "position": [ + -0.04116130620241165, + -0.0039108991622924805, + 0.15594646334648132 + ], + "orientation": [ + 0.10669197142124176, + 0.007214859593659639, + 0.9924652576446533, + 0.059811245650053024 + ], + "joints": [ + 0.00966392457485199 + ] + }, + "final_grasp": { + "position": [ + -0.04116130620241165, + -0.0039108991622924805, + 0.15594646334648132 + ], + "orientation": [ + 0.10669197142124176, + 0.007214859593659639, + 0.9924652576446533, + 0.059811245650053024 + ], + "joints": [ + 5.095452070236206e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04174714908003807, + -0.0068770297802984715, + 0.15856845676898956 + ], + "orientation": [ + 0.10440021753311157, + 0.012290650978684425, + 0.9918068647384644, + 0.07258506119251251 + ], + "joints": [ + 0.01981884241104126 + ] + }, + "fine_grasp": { + "position": [ + -0.04162432998418808, + -0.006795606110244989, + 0.15559449791908264 + ], + "orientation": [ + 0.10461727529764175, + 0.01355835236608982, + 0.9917814135551453, + 0.07239498943090439 + ], + "joints": [ + 0.009787917137145996 + ] + }, + "final_grasp": { + "position": [ + -0.04162432998418808, + -0.006795606110244989, + 0.15559449791908264 + ], + "orientation": [ + 0.10461727529764175, + 0.01355835236608982, + 0.9917814135551453, + 0.07239498943090439 + ], + "joints": [ + -0.00024300813674926758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0044390968978405, + -0.017177442088723183, + 0.1632721722126007 + ], + "orientation": [ + 0.04040342941880226, + -0.006747127044945955, + 0.9927682280540466, + 0.11284210532903671 + ], + "joints": [ + 0.02008984237909317 + ] + }, + "fine_grasp": { + "position": [ + -0.004360801074653864, + -0.016756925731897354, + 0.16011792421340942 + ], + "orientation": [ + 0.04011944681406021, + -0.007407253608107567, + 0.9925162196159363, + 0.11509568989276886 + ], + "joints": [ + 0.011312782764434814 + ] + }, + "final_grasp": { + "position": [ + -0.004360801074653864, + -0.016756925731897354, + 0.16011792421340942 + ], + "orientation": [ + 0.04011944681406021, + -0.007407253608107567, + 0.9925162196159363, + 0.11509568989276886 + ], + "joints": [ + 0.0025357231497764587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00751308212056756, + 0.028847457841038704, + -0.16133759915828705 + ], + "orientation": [ + 0.9952122569084167, + 0.0898517593741417, + -0.03598611429333687, + -0.013571766205132008 + ], + "joints": [ + 0.018924739211797714 + ] + }, + "fine_grasp": { + "position": [ + -0.007467968389391899, + 0.028638703748583794, + -0.15856215357780457 + ], + "orientation": [ + 0.9951537847518921, + 0.09009174257516861, + -0.03594588115811348, + -0.016136405989527702 + ], + "joints": [ + 0.009311769157648087 + ] + }, + "final_grasp": { + "position": [ + -0.007467968389391899, + 0.028638703748583794, + -0.15856215357780457 + ], + "orientation": [ + 0.9951537847518921, + 0.09009174257516861, + -0.03594588115811348, + -0.016136405989527702 + ], + "joints": [ + -0.00030120089650154114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05505974963307381, + 0.03892112895846367, + 0.1486208438873291 + ], + "orientation": [ + 0.13539807498455048, + 0.9831290245056152, + 0.014282820746302605, + -0.1221507117152214 + ], + "joints": [ + 0.021148212254047394 + ] + }, + "fine_grasp": { + "position": [ + 0.05541560426354408, + 0.03870977461338043, + 0.14711272716522217 + ], + "orientation": [ + 0.13690689206123352, + 0.9824615716934204, + 0.02167084626853466, + -0.12472499161958694 + ], + "joints": [ + 0.011535242199897766 + ] + }, + "final_grasp": { + "position": [ + 0.05541560426354408, + 0.03870977461338043, + 0.14711272716522217 + ], + "orientation": [ + 0.13690689206123352, + 0.9824615716934204, + 0.02167084626853466, + -0.12472499161958694 + ], + "joints": [ + 0.0019222721457481384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0076577733270823956, + 0.027912970632314682, + -0.16116711497306824 + ], + "orientation": [ + 0.9954218864440918, + 0.08751221001148224, + -0.03736235573887825, + -0.009004599414765835 + ], + "joints": [ + 0.01950029283761978 + ] + }, + "fine_grasp": { + "position": [ + -0.007619291543960571, + 0.027467912063002586, + -0.15821494162082672 + ], + "orientation": [ + 0.9953661561012268, + 0.08779758960008621, + -0.03777281567454338, + -0.010544194839894772 + ], + "joints": [ + 0.009887322783470154 + ] + }, + "final_grasp": { + "position": [ + -0.007619291543960571, + 0.027467912063002586, + -0.15821494162082672 + ], + "orientation": [ + 0.9953661561012268, + 0.08779758960008621, + -0.03777281567454338, + -0.010544194839894772 + ], + "joints": [ + 0.0002743527293205261 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 9 + } +} \ No newline at end of file diff --git a/092_notebook_1/Object.usd b/092_notebook_1/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..23015a8d3240bdee8986bf4508fd8c5e990a637f --- /dev/null +++ b/092_notebook_1/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6da385d131213bda4cfcf80621b1af6c88a023ff916dd071a5b02a681c091c63 +size 316039 diff --git a/094_rest_0/Annotation/dex1_1_grasp_pose.json b/094_rest_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..386be58adedafe5ba6b56f2906802ee91f448111 --- /dev/null +++ b/094_rest_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,5918 @@ +{ + "type": "094_rest_0", + "bottom_center": [ + -1.7508864402770996e-06, + 0.04359705001115799, + -0.010208199732005596 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0753483921289444, + -0.10111834108829498, + 0.0038465012330561876 + ], + "orientation": [ + 0.7054253220558167, + 0.1290682554244995, + -0.6794636845588684, + 0.1550658941268921 + ], + "joints": [ + 0.003038938157260418 + ] + }, + "fine_grasp": { + "position": [ + 0.07304105907678604, + -0.09601219743490219, + 0.003928467631340027 + ], + "orientation": [ + 0.7065403461456299, + 0.1294620931148529, + -0.6780058145523071, + 0.15603969991207123 + ], + "joints": [ + 0.009415733627974987 + ] + }, + "final_grasp": { + "position": [ + 0.07304105907678604, + -0.09601219743490219, + 0.003928467631340027 + ], + "orientation": [ + 0.7065403461456299, + 0.1294620931148529, + -0.6780058145523071, + 0.15603969991207123 + ], + "joints": [ + 0.01579253003001213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04792254418134689, + -0.09837362170219421, + 0.009311137720942497 + ], + "orientation": [ + 0.6835501790046692, + -0.1414048671722412, + -0.7108883857727051, + -0.08603177964687347 + ], + "joints": [ + 0.0034187862183898687 + ] + }, + "fine_grasp": { + "position": [ + -0.046458058059215546, + -0.09334874153137207, + 0.009701493196189404 + ], + "orientation": [ + 0.6806608438491821, + -0.14289085566997528, + -0.7132388949394226, + -0.08702465146780014 + ], + "joints": [ + 0.009290752932429314 + ] + }, + "final_grasp": { + "position": [ + -0.046458058059215546, + -0.09334874153137207, + 0.009701493196189404 + ], + "orientation": [ + 0.6806608438491821, + -0.14289085566997528, + -0.7132388949394226, + -0.08702465146780014 + ], + "joints": [ + 0.015162719413638115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07722508162260056, + 0.15051688253879547, + -0.008982478640973568 + ], + "orientation": [ + 0.12724493443965912, + -0.7121772170066833, + 0.18670065701007843, + 0.6646467447280884 + ], + "joints": [ + 0.003102018963545561 + ] + }, + "fine_grasp": { + "position": [ + 0.07503912597894669, + 0.1456397920846939, + -0.008720633573830128 + ], + "orientation": [ + 0.12547940015792847, + -0.7166498303413391, + 0.1849663257598877, + 0.6606478095054626 + ], + "joints": [ + 0.00897398591041565 + ] + }, + "final_grasp": { + "position": [ + 0.07503912597894669, + 0.1456397920846939, + -0.008720633573830128 + ], + "orientation": [ + 0.12547940015792847, + -0.7166498303413391, + 0.1849663257598877, + 0.6606478095054626 + ], + "joints": [ + 0.01484595239162445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008587073534727097, + -0.09784286469221115, + -0.005561934318393469 + ], + "orientation": [ + 0.6941003799438477, + 0.03787915036082268, + 0.7188556790351868, + -0.006029294803738594 + ], + "joints": [ + 0.003032227512449026 + ] + }, + "fine_grasp": { + "position": [ + -0.008502974174916744, + -0.09380055963993073, + -0.0057409037835896015 + ], + "orientation": [ + 0.6871989369392395, + 0.04023856669664383, + 0.7253162264823914, + -0.007395870052278042 + ], + "joints": [ + 0.009435594081878662 + ] + }, + "final_grasp": { + "position": [ + -0.008502974174916744, + -0.09380055963993073, + -0.0057409037835896015 + ], + "orientation": [ + 0.6871989369392395, + 0.04023856669664383, + 0.7253162264823914, + -0.007395870052278042 + ], + "joints": [ + 0.01583896018564701 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008622096851468086, + -0.0980265736579895, + 0.008317023515701294 + ], + "orientation": [ + 0.721859335899353, + -0.0006811519269831479, + 0.6905190348625183, + -0.04584730416536331 + ], + "joints": [ + 0.0034207829739898443 + ] + }, + "fine_grasp": { + "position": [ + -0.009168612770736217, + -0.09561192244291306, + 0.008471623063087463 + ], + "orientation": [ + 0.7310307621955872, + -0.00043090246617794037, + 0.6806095838546753, + -0.04862496629357338 + ], + "joints": [ + 0.00929274968802929 + ] + }, + "final_grasp": { + "position": [ + -0.009168612770736217, + -0.09561192244291306, + 0.008471623063087463 + ], + "orientation": [ + 0.7310307621955872, + -0.00043090246617794037, + 0.6806095838546753, + -0.04862496629357338 + ], + "joints": [ + 0.01516471616923809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00939575582742691, + -0.09781721979379654, + 0.00856061652302742 + ], + "orientation": [ + 0.7224616408348083, + -0.0002939464757218957, + 0.6897594332695007, + -0.04775911569595337 + ], + "joints": [ + 0.003118231426924467 + ] + }, + "fine_grasp": { + "position": [ + -0.009861968457698822, + -0.09543976187705994, + 0.00857744924724102 + ], + "orientation": [ + 0.730758011341095, + 0.0002933904470410198, + 0.6808001399040222, + -0.050038132816553116 + ], + "joints": [ + 0.009016769006848335 + ] + }, + "final_grasp": { + "position": [ + -0.009861968457698822, + -0.09543976187705994, + 0.00857744924724102 + ], + "orientation": [ + 0.730758011341095, + 0.0002933904470410198, + 0.6808001399040222, + -0.050038132816553116 + ], + "joints": [ + 0.014915306121110916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00857079029083252, + -0.0977654904127121, + 0.008480825461447239 + ], + "orientation": [ + 0.7225292921066284, + -0.0014877368230372667, + 0.6898009777069092, + -0.046084266155958176 + ], + "joints": [ + 0.003118231426924467 + ] + }, + "fine_grasp": { + "position": [ + -0.009088455699384212, + -0.09549178928136826, + 0.008656577207148075 + ], + "orientation": [ + 0.731084406375885, + -0.0012343202251940966, + 0.6805642247200012, + -0.048438433557748795 + ], + "joints": [ + 0.009016769006848335 + ] + }, + "final_grasp": { + "position": [ + -0.009088455699384212, + -0.09549178928136826, + 0.008656577207148075 + ], + "orientation": [ + 0.731084406375885, + -0.0012343202251940966, + 0.6805642247200012, + -0.048438433557748795 + ], + "joints": [ + 0.014915306121110916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00998766254633665, + -0.09816209226846695, + -0.00030364689882844687 + ], + "orientation": [ + 0.6864528059959412, + 0.025685623288154602, + 0.7263805270195007, + -0.022232448682188988 + ], + "joints": [ + 0.003312581917271018 + ] + }, + "fine_grasp": { + "position": [ + -0.009862899780273438, + -0.09760943800210953, + -0.0002808269637171179 + ], + "orientation": [ + 0.675107479095459, + 0.026011932641267776, + 0.7369416952133179, + -0.021685544401407242 + ], + "joints": [ + 0.00968937762081623 + ] + }, + "final_grasp": { + "position": [ + -0.009862899780273438, + -0.09760943800210953, + -0.0002808269637171179 + ], + "orientation": [ + 0.675107479095459, + 0.026011932641267776, + 0.7369416952133179, + -0.021685544401407242 + ], + "joints": [ + 0.0160661730915308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00990584772080183, + -0.0981825441122055, + -0.00031187216518446803 + ], + "orientation": [ + 0.6865270733833313, + 0.025067701935768127, + 0.726350724697113, + -0.021608002483844757 + ], + "joints": [ + 0.003312581917271018 + ] + }, + "fine_grasp": { + "position": [ + -0.009795774705708027, + -0.09761836379766464, + -0.00039205746725201607 + ], + "orientation": [ + 0.6749910712242126, + 0.025549044832587242, + 0.7370856404304504, + -0.020955141633749008 + ], + "joints": [ + 0.00968937762081623 + ] + }, + "final_grasp": { + "position": [ + -0.009795774705708027, + -0.09761836379766464, + -0.00039205746725201607 + ], + "orientation": [ + 0.6749910712242126, + 0.025549044832587242, + 0.7370856404304504, + -0.020955141633749008 + ], + "joints": [ + 0.0160661730915308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028233353048563004, + -0.09689799696207047, + -0.007509230170398951 + ], + "orientation": [ + 0.7296770811080933, + -0.050480786710977554, + -0.6750416159629822, + -0.09665346890687943 + ], + "joints": [ + 0.002897269558161497 + ] + }, + "fine_grasp": { + "position": [ + -0.027620382606983185, + -0.09348469972610474, + -0.007691086269915104 + ], + "orientation": [ + 0.7384070158004761, + -0.05073852837085724, + -0.6646140813827515, + -0.10231702774763107 + ], + "joints": [ + 0.008769236505031586 + ] + }, + "final_grasp": { + "position": [ + -0.027620382606983185, + -0.09348469972610474, + -0.007691086269915104 + ], + "orientation": [ + 0.7384070158004761, + -0.05073852837085724, + -0.6646140813827515, + -0.10231702774763107 + ], + "joints": [ + 0.014641202986240387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027932388707995415, + -0.09681368619203568, + -0.007530788891017437 + ], + "orientation": [ + 0.7298427224159241, + -0.05053935945034027, + -0.6748238801956177, + -0.09689189493656158 + ], + "joints": [ + 0.002895462792366743 + ] + }, + "fine_grasp": { + "position": [ + -0.02731412462890148, + -0.09336789697408676, + -0.007698620669543743 + ], + "orientation": [ + 0.7384899258613586, + -0.05086231231689453, + -0.6644717454910278, + -0.10258118808269501 + ], + "joints": [ + 0.008767429739236832 + ] + }, + "final_grasp": { + "position": [ + -0.02731412462890148, + -0.09336789697408676, + -0.007698620669543743 + ], + "orientation": [ + 0.7384899258613586, + -0.05086231231689453, + -0.6644717454910278, + -0.10258118808269501 + ], + "joints": [ + 0.014639396220445633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02758559212088585, + -0.09690585732460022, + -0.0073067788034677505 + ], + "orientation": [ + 0.730390191078186, + -0.050704311579465866, + -0.6743645668029785, + -0.09587325900793076 + ], + "joints": [ + 0.002897269558161497 + ] + }, + "fine_grasp": { + "position": [ + -0.026889033615589142, + -0.09310061484575272, + -0.007483212277293205 + ], + "orientation": [ + 0.7385581731796265, + -0.05125514790415764, + -0.6644657850265503, + -0.10193142294883728 + ], + "joints": [ + 0.008769236505031586 + ] + }, + "final_grasp": { + "position": [ + -0.026889033615589142, + -0.09310061484575272, + -0.007483212277293205 + ], + "orientation": [ + 0.7385581731796265, + -0.05125514790415764, + -0.6644657850265503, + -0.10193142294883728 + ], + "joints": [ + 0.014641202986240387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006393098272383213, + -0.09499257057905197, + -0.002712264657020569 + ], + "orientation": [ + 0.679402768611908, + -0.009400062263011932, + -0.7333344221115112, + -0.02332782745361328 + ], + "joints": [ + 0.003272531321272254 + ] + }, + "fine_grasp": { + "position": [ + -0.005560007877647877, + -0.09354261308908463, + -0.002388231921941042 + ], + "orientation": [ + 0.6696834564208984, + -0.007597627118229866, + -0.7423312067985535, + -0.020265743136405945 + ], + "joints": [ + 0.009675897657871246 + ] + }, + "final_grasp": { + "position": [ + -0.005560007877647877, + -0.09354261308908463, + -0.002388231921941042 + ], + "orientation": [ + 0.6696834564208984, + -0.007597627118229866, + -0.7423312067985535, + -0.020265743136405945 + ], + "joints": [ + 0.016079263761639595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008088304661214352, + -0.09644516557455063, + 0.007214850280433893 + ], + "orientation": [ + 0.7297409176826477, + -0.039762623608112335, + 0.6825657486915588, + 0.0010533083695918322 + ], + "joints": [ + 0.0035985149443149567 + ] + }, + "fine_grasp": { + "position": [ + 0.007241359446197748, + -0.09674188494682312, + 0.007343537639826536 + ], + "orientation": [ + 0.7381100654602051, + -0.03930497169494629, + 0.6735338568687439, + 0.0009661851217970252 + ], + "joints": [ + 0.00896565243601799 + ] + }, + "final_grasp": { + "position": [ + 0.007241359446197748, + -0.09674188494682312, + 0.007343537639826536 + ], + "orientation": [ + 0.7381100654602051, + -0.03930497169494629, + 0.6735338568687439, + 0.0009661851217970252 + ], + "joints": [ + 0.014332789927721024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06121721863746643, + -0.0964449793100357, + 0.01393372006714344 + ], + "orientation": [ + 0.6799536943435669, + -0.15048930048942566, + 0.7143591046333313, + 0.06860749423503876 + ], + "joints": [ + 0.0029041352681815624 + ] + }, + "fine_grasp": { + "position": [ + 0.060921136289834976, + -0.09454302489757538, + 0.013699100352823734 + ], + "orientation": [ + 0.6748397946357727, + -0.14749360084533691, + 0.7204068899154663, + 0.06205466389656067 + ], + "joints": [ + 0.009307501837611198 + ] + }, + "final_grasp": { + "position": [ + 0.060921136289834976, + -0.09454302489757538, + 0.013699100352823734 + ], + "orientation": [ + 0.6748397946357727, + -0.14749360084533691, + 0.7204068899154663, + 0.06205466389656067 + ], + "joints": [ + 0.015710867941379547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014371161349117756, + -0.09903807193040848, + 0.014114313758909702 + ], + "orientation": [ + 0.7239996790885925, + 0.0007991416496224701, + -0.685064435005188, + 0.0806874930858612 + ], + "joints": [ + 0.0027543113101273775 + ] + }, + "fine_grasp": { + "position": [ + 0.014181253500282764, + -0.09553560614585876, + 0.014352042227983475 + ], + "orientation": [ + 0.7294605374336243, + -0.002022515283897519, + -0.6791867017745972, + 0.08117097616195679 + ], + "joints": [ + 0.00862627848982811 + ] + }, + "final_grasp": { + "position": [ + 0.014181253500282764, + -0.09553560614585876, + 0.014352042227983475 + ], + "orientation": [ + 0.7294605374336243, + -0.002022515283897519, + -0.6791867017745972, + 0.08117097616195679 + ], + "joints": [ + 0.014498245902359486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0056327641941607, + -0.09518354386091232, + 0.008201920427381992 + ], + "orientation": [ + 0.6677635908126831, + -0.04825224727392197, + 0.7428067326545715, + 0.0013222717680037022 + ], + "joints": [ + 0.002937035169452429 + ] + }, + "fine_grasp": { + "position": [ + 0.005771965719759464, + -0.09299373626708984, + 0.008064327761530876 + ], + "orientation": [ + 0.6582646369934082, + -0.05345912650227547, + 0.7508816123008728, + 0.0025527349207550287 + ], + "joints": [ + 0.008809002116322517 + ] + }, + "final_grasp": { + "position": [ + 0.005771965719759464, + -0.09299373626708984, + 0.008064327761530876 + ], + "orientation": [ + 0.6582646369934082, + -0.05345912650227547, + 0.7508816123008728, + 0.0025527349207550287 + ], + "joints": [ + 0.014680968597531319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00584140419960022, + -0.096127949655056, + -0.013689513318240643 + ], + "orientation": [ + 0.6950501799583435, + 0.04333939030766487, + 0.7168967127799988, + 0.03295677527785301 + ], + "joints": [ + 0.002977085765451193 + ] + }, + "fine_grasp": { + "position": [ + -0.00640506949275732, + -0.09266939014196396, + -0.014665693044662476 + ], + "orientation": [ + 0.6876442432403564, + 0.04521872475743294, + 0.7237445116043091, + 0.035979967564344406 + ], + "joints": [ + 0.008849052712321281 + ] + }, + "final_grasp": { + "position": [ + -0.00640506949275732, + -0.09266939014196396, + -0.014665693044662476 + ], + "orientation": [ + 0.6876442432403564, + 0.04521872475743294, + 0.7237445116043091, + 0.035979967564344406 + ], + "joints": [ + 0.014721019193530083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025658588856458664, + -0.09989193826913834, + 0.0044074649922549725 + ], + "orientation": [ + 0.6421862840652466, + -0.05487034097313881, + -0.7642043232917786, + -0.024038655683398247 + ], + "joints": [ + 0.002969650086015463 + ] + }, + "fine_grasp": { + "position": [ + -0.026178598403930664, + -0.10001466423273087, + 0.003300687065348029 + ], + "orientation": [ + 0.623698353767395, + -0.05560765415430069, + -0.779200553894043, + -0.02746807597577572 + ], + "joints": [ + 0.008841617032885551 + ] + }, + "final_grasp": { + "position": [ + -0.026178598403930664, + -0.10001466423273087, + 0.003300687065348029 + ], + "orientation": [ + 0.623698353767395, + -0.05560765415430069, + -0.779200553894043, + -0.02746807597577572 + ], + "joints": [ + 0.014713583514094353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0207615215331316, + -0.09927953779697418, + 0.005391571205109358 + ], + "orientation": [ + 0.7811804413795471, + -0.06379885226488113, + -0.6192662119865417, + -0.04686152562499046 + ], + "joints": [ + 0.0019623544067144394 + ] + }, + "fine_grasp": { + "position": [ + -0.02024800330400467, + -0.09956042468547821, + 0.005255002528429031 + ], + "orientation": [ + 0.795678973197937, + -0.06325829774141312, + -0.6006596088409424, + -0.04584154486656189 + ], + "joints": [ + 0.006798089947551489 + ] + }, + "final_grasp": { + "position": [ + -0.02024800330400467, + -0.09956042468547821, + 0.005255002528429031 + ], + "orientation": [ + 0.795678973197937, + -0.06325829774141312, + -0.6006596088409424, + -0.04584154486656189 + ], + "joints": [ + 0.011633825488388538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0010404278291389346, + -0.09668329358100891, + -0.01784956268966198 + ], + "orientation": [ + 0.661478579044342, + 0.05545467138290405, + 0.746628999710083, + 0.0437723770737648 + ], + "joints": [ + 0.002538212575018406 + ] + }, + "fine_grasp": { + "position": [ + -0.0011903317645192146, + -0.0921001136302948, + -0.018045512959361076 + ], + "orientation": [ + 0.6539755463600159, + 0.057896729558706284, + 0.7528650760650635, + 0.04645577818155289 + ], + "joints": [ + 0.00787877943366766 + ] + }, + "final_grasp": { + "position": [ + -0.0011903317645192146, + -0.0921001136302948, + -0.018045512959361076 + ], + "orientation": [ + 0.6539755463600159, + 0.057896729558706284, + 0.7528650760650635, + 0.04645577818155289 + ], + "joints": [ + 0.013219346292316914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0058378553949296474, + -0.0960504338145256, + -0.013700335286557674 + ], + "orientation": [ + 0.6946741938591003, + 0.04293874651193619, + 0.7172627449035645, + 0.033440638333559036 + ], + "joints": [ + 0.002977085765451193 + ] + }, + "fine_grasp": { + "position": [ + -0.006362327840179205, + -0.09238248318433762, + -0.014554477296769619 + ], + "orientation": [ + 0.6878330707550049, + 0.04539557918906212, + 0.7235128283500671, + 0.036798298358917236 + ], + "joints": [ + 0.008849052712321281 + ] + }, + "final_grasp": { + "position": [ + -0.006362327840179205, + -0.09238248318433762, + -0.014554477296769619 + ], + "orientation": [ + 0.6878330707550049, + 0.04539557918906212, + 0.7235128283500671, + 0.036798298358917236 + ], + "joints": [ + 0.014721019193530083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006228094454854727, + -0.09591153264045715, + -0.0138438381254673 + ], + "orientation": [ + 0.6939985752105713, + 0.04221593216061592, + 0.717886209487915, + 0.03497476503252983 + ], + "joints": [ + 0.002977085765451193 + ] + }, + "fine_grasp": { + "position": [ + -0.006700036581605673, + -0.09203813970088959, + -0.01468613464385271 + ], + "orientation": [ + 0.6870228052139282, + 0.044669851660728455, + 0.7242907285690308, + 0.03751238435506821 + ], + "joints": [ + 0.008849052712321281 + ] + }, + "final_grasp": { + "position": [ + -0.006700036581605673, + -0.09203813970088959, + -0.01468613464385271 + ], + "orientation": [ + 0.6870228052139282, + 0.044669851660728455, + 0.7242907285690308, + 0.03751238435506821 + ], + "joints": [ + 0.014721019193530083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01421824935823679, + -0.09574347734451294, + 0.016810361295938492 + ], + "orientation": [ + 0.7223146557807922, + -0.01731337048113346, + 0.6871199011802673, + -0.07634180784225464 + ], + "joints": [ + 0.0029028388671576977 + ] + }, + "fine_grasp": { + "position": [ + -0.014896081760525703, + -0.09544336795806885, + 0.016911478713154793 + ], + "orientation": [ + 0.7286228537559509, + -0.022140074521303177, + 0.6805194020271301, + -0.07424186170101166 + ], + "joints": [ + 0.008243406191468239 + ] + }, + "final_grasp": { + "position": [ + -0.014896081760525703, + -0.09544336795806885, + 0.016911478713154793 + ], + "orientation": [ + 0.7286228537559509, + -0.022140074521303177, + 0.6805194020271301, + -0.07424186170101166 + ], + "joints": [ + 0.013583973050117493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14027899503707886, + 0.1141408234834671, + -0.005254549439996481 + ], + "orientation": [ + 0.3317203223705292, + 0.6122154593467712, + -0.27948376536369324, + 0.6610921621322632 + ], + "joints": [ + 0.0031384374015033245 + ] + }, + "fine_grasp": { + "position": [ + 0.1358879953622818, + 0.11020012199878693, + -0.005522394552826881 + ], + "orientation": [ + 0.3347633481025696, + 0.6102718114852905, + -0.2784125506877899, + 0.6618067622184753 + ], + "joints": [ + 0.009010404348373413 + ] + }, + "final_grasp": { + "position": [ + 0.1358879953622818, + 0.11020012199878693, + -0.005522394552826881 + ], + "orientation": [ + 0.3347633481025696, + 0.6102718114852905, + -0.2784125506877899, + 0.6618067622184753 + ], + "joints": [ + 0.014882370829582214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00039607801591046154, + 0.08211145550012589, + -0.10531695187091827 + ], + "orientation": [ + 0.34748128056526184, + 0.4713476896286011, + -0.4097725450992584, + -0.6994102597236633 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0021058234851807356, + 0.08343247324228287, + -0.11006493121385574 + ], + "orientation": [ + 0.3431580662727356, + 0.4728599190711975, + -0.4294876456260681, + -0.6886119842529297 + ], + "joints": [ + -0.016306761652231216 + ] + }, + "final_grasp": { + "position": [ + -0.0021058234851807356, + 0.08343247324228287, + -0.11006493121385574 + ], + "orientation": [ + 0.3431580662727356, + 0.4728599190711975, + -0.4294876456260681, + -0.6886119842529297 + ], + "joints": [ + -0.012613523751497269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006964260246604681, + 0.08194123208522797, + -0.10481613129377365 + ], + "orientation": [ + 0.34742000699043274, + 0.47163769602775574, + -0.4106011986732483, + -0.6987587213516235 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.002327823545783758, + 0.08322155475616455, + -0.10958485305309296 + ], + "orientation": [ + 0.34438708424568176, + 0.4731740951538086, + -0.4292532503604889, + -0.6879283785820007 + ], + "joints": [ + -0.016306761652231216 + ] + }, + "final_grasp": { + "position": [ + -0.002327823545783758, + 0.08322155475616455, + -0.10958485305309296 + ], + "orientation": [ + 0.34438708424568176, + 0.4731740951538086, + -0.4292532503604889, + -0.6879283785820007 + ], + "joints": [ + -0.012613523751497269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021975789219141006, + -0.09723302721977234, + -0.00680876150727272 + ], + "orientation": [ + 0.6402052044868469, + -0.022411832585930824, + -0.7659769654273987, + -0.05398370698094368 + ], + "joints": [ + 0.002817894099280238 + ] + }, + "fine_grasp": { + "position": [ + -0.020325610414147377, + -0.09490491449832916, + -0.006322865374386311 + ], + "orientation": [ + 0.6253719925880432, + -0.01785687915980816, + -0.778500497341156, + -0.05027876794338226 + ], + "joints": [ + 0.008158461190760136 + ] + }, + "final_grasp": { + "position": [ + -0.020325610414147377, + -0.09490491449832916, + -0.006322865374386311 + ], + "orientation": [ + 0.6253719925880432, + -0.01785687915980816, + -0.778500497341156, + -0.05027876794338226 + ], + "joints": [ + 0.01349902804940939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14019939303398132, + 0.11377159506082535, + -0.005284484475851059 + ], + "orientation": [ + 0.3313133120536804, + 0.6107800006866455, + -0.2772151827812195, + 0.6635743975639343 + ], + "joints": [ + 0.0028720307163894176 + ] + }, + "fine_grasp": { + "position": [ + 0.13586972653865814, + 0.10981395840644836, + -0.005500764586031437 + ], + "orientation": [ + 0.33286696672439575, + 0.608151376247406, + -0.27418792247772217, + 0.666462779045105 + ], + "joints": [ + 0.008743997663259506 + ] + }, + "final_grasp": { + "position": [ + 0.13586972653865814, + 0.10981395840644836, + -0.005500764586031437 + ], + "orientation": [ + 0.33286696672439575, + 0.608151376247406, + -0.27418792247772217, + 0.666462779045105 + ], + "joints": [ + 0.014615964144468307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060268793255090714, + -0.09708020836114883, + -0.01448783278465271 + ], + "orientation": [ + 0.6922294497489929, + -0.08320698887109756, + -0.698604166507721, + -0.16077058017253876 + ], + "joints": [ + 0.0025790692307054996 + ] + }, + "fine_grasp": { + "position": [ + -0.05902307480573654, + -0.09556598216295242, + -0.014655501581728458 + ], + "orientation": [ + 0.6895086169242859, + -0.08698013424873352, + -0.7003043293952942, + -0.16305246949195862 + ], + "joints": [ + 0.008955865167081356 + ] + }, + "final_grasp": { + "position": [ + -0.05902307480573654, + -0.09556598216295242, + -0.014655501581728458 + ], + "orientation": [ + 0.6895086169242859, + -0.08698013424873352, + -0.7003043293952942, + -0.16305246949195862 + ], + "joints": [ + 0.0153326615691185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09793901443481445, + 0.14115238189697266, + -0.010009906254708767 + ], + "orientation": [ + 0.24219052493572235, + 0.6033704876899719, + -0.1490980088710785, + 0.7450219392776489 + ], + "joints": [ + 0.0020859523210674524 + ] + }, + "fine_grasp": { + "position": [ + 0.09842558205127716, + 0.14055036008358002, + -0.009951489046216011 + ], + "orientation": [ + 0.2502243220806122, + 0.583977222442627, + -0.1449158638715744, + 0.7585233449935913 + ], + "joints": [ + 0.007957919500768185 + ] + }, + "final_grasp": { + "position": [ + 0.09842558205127716, + 0.14055036008358002, + -0.009951489046216011 + ], + "orientation": [ + 0.2502243220806122, + 0.583977222442627, + -0.1449158638715744, + 0.7585233449935913 + ], + "joints": [ + 0.01382988691329956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06022888422012329, + -0.09680896997451782, + -0.014417235739529133 + ], + "orientation": [ + 0.6922484636306763, + -0.08145101368427277, + -0.6992692947387695, + -0.15868301689624786 + ], + "joints": [ + 0.0026191200595349073 + ] + }, + "fine_grasp": { + "position": [ + -0.05898868665099144, + -0.09527535736560822, + -0.014709585346281528 + ], + "orientation": [ + 0.6897557377815247, + -0.0847388207912445, + -0.7007432579994202, + -0.16129185259342194 + ], + "joints": [ + 0.00899591576308012 + ] + }, + "final_grasp": { + "position": [ + -0.05898868665099144, + -0.09527535736560822, + -0.014709585346281528 + ], + "orientation": [ + 0.6897557377815247, + -0.0847388207912445, + -0.7007432579994202, + -0.16129185259342194 + ], + "joints": [ + 0.01537271123379469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013436345383524895, + -0.0946749895811081, + -0.01786436140537262 + ], + "orientation": [ + 0.6907207369804382, + 0.03188074752688408, + 0.7193139791488647, + 0.0669020265340805 + ], + "joints": [ + 0.0027648929972201586 + ] + }, + "fine_grasp": { + "position": [ + 0.012648840434849262, + -0.09316372126340866, + -0.018680479377508163 + ], + "orientation": [ + 0.6820331811904907, + 0.030191732570528984, + 0.7271623611450195, + 0.07179245352745056 + ], + "joints": [ + 0.008105460554361343 + ] + }, + "final_grasp": { + "position": [ + 0.012648840434849262, + -0.09316372126340866, + -0.018680479377508163 + ], + "orientation": [ + 0.6820331811904907, + 0.030191732570528984, + 0.7271623611450195, + 0.07179245352745056 + ], + "joints": [ + 0.013446028344333172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036855436861515045, + -0.10238777846097946, + 0.005923507735133171 + ], + "orientation": [ + 0.8034620881080627, + 0.03018789552152157, + 0.5890478491783142, + -0.08099372684955597 + ], + "joints": [ + 0.0020024050027132034 + ] + }, + "fine_grasp": { + "position": [ + -0.03648142144083977, + -0.10371768474578857, + 0.005589515436440706 + ], + "orientation": [ + 0.8234438300132751, + 0.029618365690112114, + 0.5604097247123718, + -0.08368951082229614 + ], + "joints": [ + 0.00683814100921154 + ] + }, + "final_grasp": { + "position": [ + -0.03648142144083977, + -0.10371768474578857, + 0.005589515436440706 + ], + "orientation": [ + 0.8234438300132751, + 0.029618365690112114, + 0.5604097247123718, + -0.08368951082229614 + ], + "joints": [ + 0.011673877015709877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037200525403022766, + -0.10230473428964615, + 0.006003977730870247 + ], + "orientation": [ + 0.8032243251800537, + 0.03085087612271309, + 0.589184045791626, + -0.08210306614637375 + ], + "joints": [ + 0.0020073025953024626 + ] + }, + "fine_grasp": { + "position": [ + -0.036966145038604736, + -0.10374855995178223, + 0.005655127111822367 + ], + "orientation": [ + 0.8236498236656189, + 0.02983374521136284, + 0.559969425201416, + -0.08452925086021423 + ], + "joints": [ + 0.006843038834631443 + ] + }, + "final_grasp": { + "position": [ + -0.036966145038604736, + -0.10374855995178223, + 0.005655127111822367 + ], + "orientation": [ + 0.8236498236656189, + 0.02983374521136284, + 0.559969425201416, + -0.08452925086021423 + ], + "joints": [ + 0.01167877484112978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032685570418834686, + -0.09503006190061569, + -0.016562456265091896 + ], + "orientation": [ + 0.6917953491210938, + 0.014034532941877842, + -0.7174645662307739, + -0.08041674643754959 + ], + "joints": [ + 0.0033969322685152292 + ] + }, + "fine_grasp": { + "position": [ + -0.03078838437795639, + -0.09297337383031845, + -0.017024163156747818 + ], + "orientation": [ + 0.6925846934318542, + 0.017371278256177902, + -0.716429591178894, + -0.08217938244342804 + ], + "joints": [ + 0.008790641091763973 + ] + }, + "final_grasp": { + "position": [ + -0.03078838437795639, + -0.09297337383031845, + -0.017024163156747818 + ], + "orientation": [ + 0.6925846934318542, + 0.017371278256177902, + -0.716429591178894, + -0.08217938244342804 + ], + "joints": [ + 0.014184350147843361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03246907889842987, + -0.0950135588645935, + -0.016766905784606934 + ], + "orientation": [ + 0.6914495229721069, + 0.012847919017076492, + -0.7176293134689331, + -0.08210142701864243 + ], + "joints": [ + 0.0028756125830113888 + ] + }, + "fine_grasp": { + "position": [ + -0.030801281332969666, + -0.09303183108568192, + -0.017033979296684265 + ], + "orientation": [ + 0.6931080222129822, + 0.01536044105887413, + -0.7158989906311035, + -0.08278897404670715 + ], + "joints": [ + 0.008800720795989037 + ] + }, + "final_grasp": { + "position": [ + -0.030801281332969666, + -0.09303183108568192, + -0.017033979296684265 + ], + "orientation": [ + 0.6931080222129822, + 0.01536044105887413, + -0.7158989906311035, + -0.08278897404670715 + ], + "joints": [ + 0.014725828543305397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032392751425504684, + -0.09515246748924255, + -0.01726093515753746 + ], + "orientation": [ + 0.6906470656394958, + 0.016989869996905327, + -0.7184059619903564, + -0.0813080221414566 + ], + "joints": [ + 0.0033969322685152292 + ] + }, + "fine_grasp": { + "position": [ + -0.030991002917289734, + -0.09180803596973419, + -0.01747388020157814 + ], + "orientation": [ + 0.6888352632522583, + 0.022154418751597404, + -0.7197107076644897, + -0.08385545760393143 + ], + "joints": [ + 0.009295470081269741 + ] + }, + "final_grasp": { + "position": [ + -0.030991002917289734, + -0.09180803596973419, + -0.01747388020157814 + ], + "orientation": [ + 0.6888352632522583, + 0.022154418751597404, + -0.7197107076644897, + -0.08385545760393143 + ], + "joints": [ + 0.015194008126854897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04827941954135895, + -0.09665554016828537, + -0.005072713829576969 + ], + "orientation": [ + 0.6886131167411804, + -0.018061241135001183, + 0.7235046625137329, + 0.045020006597042084 + ], + "joints": [ + 0.0035829879343509674 + ] + }, + "fine_grasp": { + "position": [ + 0.047877855598926544, + -0.09282434731721878, + -0.0054360306821763515 + ], + "orientation": [ + 0.6794883608818054, + -0.014569341205060482, + 0.7322171926498413, + 0.044060733169317245 + ], + "joints": [ + 0.009454954415559769 + ] + }, + "final_grasp": { + "position": [ + 0.047877855598926544, + -0.09282434731721878, + -0.0054360306821763515 + ], + "orientation": [ + 0.6794883608818054, + -0.014569341205060482, + 0.7322171926498413, + 0.044060733169317245 + ], + "joints": [ + 0.01532692089676857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05590537190437317, + 0.0699278861284256, + -0.10967414826154709 + ], + "orientation": [ + 0.4883016347885132, + 0.7121011018753052, + -0.29449376463890076, + -0.40956923365592957 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.05317794904112816, + 0.06941863149404526, + -0.11328018456697464 + ], + "orientation": [ + 0.4874917268753052, + 0.7022425532341003, + -0.28146111965179443, + -0.43587496876716614 + ], + "joints": [ + -0.010434791445732117 + ] + }, + "final_grasp": { + "position": [ + -0.05317794904112816, + 0.06941863149404526, + -0.11328018456697464 + ], + "orientation": [ + 0.4874917268753052, + 0.7022425532341003, + -0.28146111965179443, + -0.43587496876716614 + ], + "joints": [ + -0.0008695833384990692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04615437239408493, + 0.07222792506217957, + -0.11091892421245575 + ], + "orientation": [ + 0.3895278573036194, + 0.49243077635765076, + -0.38876795768737793, + -0.6742694973945618 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.04568653926253319, + 0.0721314325928688, + -0.10957256704568863 + ], + "orientation": [ + 0.40279629826545715, + 0.49969682097435, + -0.38941675424575806, + -0.6606155037879944 + ], + "joints": [ + -0.005655084736645222 + ] + }, + "final_grasp": { + "position": [ + 0.04568653926253319, + 0.0721314325928688, + -0.10957256704568863 + ], + "orientation": [ + 0.40279629826545715, + 0.49969682097435, + -0.38941675424575806, + -0.6606155037879944 + ], + "joints": [ + -0.0019087176769971848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026393083855509758, + -0.09571263939142227, + -0.020837249234318733 + ], + "orientation": [ + 0.6877273321151733, + 0.012081845663487911, + 0.718766987323761, + 0.10128725320100784 + ], + "joints": [ + 0.0024786358699202538 + ] + }, + "fine_grasp": { + "position": [ + 0.025490691885352135, + -0.09466861188411713, + -0.021418463438749313 + ], + "orientation": [ + 0.679664671421051, + 0.00882972963154316, + 0.7257488965988159, + 0.10614482313394547 + ], + "joints": [ + 0.007819202728569508 + ] + }, + "final_grasp": { + "position": [ + 0.025490691885352135, + -0.09466861188411713, + -0.021418463438749313 + ], + "orientation": [ + 0.679664671421051, + 0.00882972963154316, + 0.7257488965988159, + 0.10614482313394547 + ], + "joints": [ + 0.013159769587218761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018316222354769707, + -0.09726273268461227, + 0.02054694853723049 + ], + "orientation": [ + 0.6991872787475586, + -0.06057668477296829, + -0.7102371454238892, + 0.055053628981113434 + ], + "joints": [ + 0.0029368549585342407 + ] + }, + "fine_grasp": { + "position": [ + 0.01827402412891388, + -0.09294787049293518, + 0.019835153594613075 + ], + "orientation": [ + 0.6995763182640076, + -0.06005001813173294, + -0.7096307277679443, + 0.05840582400560379 + ], + "joints": [ + 0.008835392072796822 + ] + }, + "final_grasp": { + "position": [ + 0.01827402412891388, + -0.09294787049293518, + 0.019835153594613075 + ], + "orientation": [ + 0.6995763182640076, + -0.06005001813173294, + -0.7096307277679443, + 0.05840582400560379 + ], + "joints": [ + 0.014733929187059402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09728427976369858, + -0.09888411313295364, + -0.01118460576981306 + ], + "orientation": [ + 0.696958601474762, + 0.1908789575099945, + 0.6779873371124268, + -0.13471080362796783 + ], + "joints": [ + 0.002905643545091152 + ] + }, + "fine_grasp": { + "position": [ + -0.09546281397342682, + -0.09605919569730759, + -0.01154467836022377 + ], + "orientation": [ + 0.6994225978851318, + 0.19238561391830444, + 0.6743317246437073, + -0.138103187084198 + ], + "joints": [ + 0.009282439015805721 + ] + }, + "final_grasp": { + "position": [ + -0.09546281397342682, + -0.09605919569730759, + -0.01154467836022377 + ], + "orientation": [ + 0.6994225978851318, + 0.19238561391830444, + 0.6743317246437073, + -0.138103187084198 + ], + "joints": [ + 0.015659235417842865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018352769315242767, + -0.09677407890558243, + 0.020100675523281097 + ], + "orientation": [ + 0.6988533139228821, + -0.05919810011982918, + -0.7107431888580322, + 0.05425569415092468 + ], + "joints": [ + 0.0029368549585342407 + ] + }, + "fine_grasp": { + "position": [ + 0.01829206943511963, + -0.09252656251192093, + 0.0194917693734169 + ], + "orientation": [ + 0.6991449594497681, + -0.058654479682445526, + -0.7102158069610596, + 0.05787452682852745 + ], + "joints": [ + 0.008835392072796822 + ] + }, + "final_grasp": { + "position": [ + 0.01829206943511963, + -0.09252656251192093, + 0.0194917693734169 + ], + "orientation": [ + 0.6991449594497681, + -0.058654479682445526, + -0.7102158069610596, + 0.05787452682852745 + ], + "joints": [ + 0.014733929187059402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1254485845565796, + 0.12695834040641785, + -0.0027781075332313776 + ], + "orientation": [ + 0.2617025077342987, + 0.6655830144882202, + 0.2492605298757553, + -0.6529778838157654 + ], + "joints": [ + 0.0032085140701383352 + ] + }, + "fine_grasp": { + "position": [ + -0.12229817360639572, + 0.12426789104938507, + -0.002932641888037324 + ], + "orientation": [ + 0.2641252279281616, + 0.665081262588501, + 0.2541409134864807, + -0.6506282687187195 + ], + "joints": [ + 0.00908048078417778 + ] + }, + "final_grasp": { + "position": [ + -0.12229817360639572, + 0.12426789104938507, + -0.002932641888037324 + ], + "orientation": [ + 0.2641252279281616, + 0.665081262588501, + 0.2541409134864807, + -0.6506282687187195 + ], + "joints": [ + 0.014952447265386581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018396105617284775, + -0.09638310968875885, + 0.01996258646249771 + ], + "orientation": [ + 0.6988480091094971, + -0.05884157866239548, + -0.7107906937599182, + 0.05408957973122597 + ], + "joints": [ + 0.0029368549585342407 + ] + }, + "fine_grasp": { + "position": [ + 0.018139636144042015, + -0.09213707596063614, + 0.0194072425365448 + ], + "orientation": [ + 0.6995822787284851, + -0.05745728313922882, + -0.709891676902771, + 0.057768430560827255 + ], + "joints": [ + 0.008861962705850601 + ] + }, + "final_grasp": { + "position": [ + 0.018139636144042015, + -0.09213707596063614, + 0.0194072425365448 + ], + "orientation": [ + 0.6995822787284851, + -0.05745728313922882, + -0.709891676902771, + 0.057768430560827255 + ], + "joints": [ + 0.014787070453166962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09798412770032883, + -0.09863389283418655, + -0.011545183137059212 + ], + "orientation": [ + 0.6972013115882874, + 0.1931305080652237, + 0.6769756078720093, + -0.13533300161361694 + ], + "joints": [ + 0.002873022807762027 + ] + }, + "fine_grasp": { + "position": [ + -0.09618301689624786, + -0.09587544202804565, + -0.011866406537592411 + ], + "orientation": [ + 0.6994099617004395, + 0.19438694417476654, + 0.673573911190033, + -0.139060378074646 + ], + "joints": [ + 0.00924981851130724 + ] + }, + "final_grasp": { + "position": [ + -0.09618301689624786, + -0.09587544202804565, + -0.011866406537592411 + ], + "orientation": [ + 0.6994099617004395, + 0.19438694417476654, + 0.673573911190033, + -0.139060378074646 + ], + "joints": [ + 0.015626614913344383 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12606815993785858, + 0.12661796808242798, + -0.002817454282194376 + ], + "orientation": [ + 0.2631082236766815, + 0.6652036309242249, + 0.250573992729187, + -0.6522966623306274 + ], + "joints": [ + 0.0032085140701383352 + ] + }, + "fine_grasp": { + "position": [ + -0.1229301318526268, + 0.12395378202199936, + -0.0032343161292374134 + ], + "orientation": [ + 0.2664286494255066, + 0.665009081363678, + 0.2546960413455963, + -0.6495450735092163 + ], + "joints": [ + 0.00908048078417778 + ] + }, + "final_grasp": { + "position": [ + -0.1229301318526268, + 0.12395378202199936, + -0.0032343161292374134 + ], + "orientation": [ + 0.2664286494255066, + 0.665009081363678, + 0.2546960413455963, + -0.6495450735092163 + ], + "joints": [ + 0.014952447265386581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026448499411344528, + -0.0954718291759491, + -0.02192552387714386 + ], + "orientation": [ + 0.6834635734558105, + 0.01656205765902996, + 0.7225890159606934, + 0.10231556743383408 + ], + "joints": [ + 0.0024712057784199715 + ] + }, + "fine_grasp": { + "position": [ + 0.02542993612587452, + -0.09467964619398117, + -0.022582106292247772 + ], + "orientation": [ + 0.6763508915901184, + 0.014087111689150333, + 0.7285004258155823, + 0.10788106173276901 + ], + "joints": [ + 0.007811772171407938 + ] + }, + "final_grasp": { + "position": [ + 0.02542993612587452, + -0.09467964619398117, + -0.022582106292247772 + ], + "orientation": [ + 0.6763508915901184, + 0.014087111689150333, + 0.7285004258155823, + 0.10788106173276901 + ], + "joints": [ + 0.013152338564395905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059475645422935486, + -0.09575019776821136, + 0.006303740199655294 + ], + "orientation": [ + 0.7356746196746826, + -0.06969431787729263, + 0.6726125478744507, + 0.03896045312285423 + ], + "joints": [ + 0.0032363866921514273 + ] + }, + "fine_grasp": { + "position": [ + 0.058943524956703186, + -0.09023216366767883, + 0.005644963122904301 + ], + "orientation": [ + 0.7411288022994995, + -0.06701455265283585, + 0.6670421957969666, + 0.035942304879426956 + ], + "joints": [ + 0.00963975302875042 + ] + }, + "final_grasp": { + "position": [ + 0.058943524956703186, + -0.09023216366767883, + 0.005644963122904301 + ], + "orientation": [ + 0.7411288022994995, + -0.06701455265283585, + 0.6670421957969666, + 0.035942304879426956 + ], + "joints": [ + 0.01604311913251877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0007200787658803165, + -0.09295549243688583, + -0.031970951706171036 + ], + "orientation": [ + 0.7140546441078186, + 0.0896679162979126, + 0.6884975433349609, + 0.08975932747125626 + ], + "joints": [ + 0.0010484510567039251 + ] + }, + "fine_grasp": { + "position": [ + 0.0021067424677312374, + -0.09306608885526657, + -0.03288338705897331 + ], + "orientation": [ + 0.7206770777702332, + 0.09668313711881638, + 0.6807436347007751, + 0.08868547528982162 + ], + "joints": [ + 0.005857617594301701 + ] + }, + "final_grasp": { + "position": [ + 0.0021067424677312374, + -0.09306608885526657, + -0.03288338705897331 + ], + "orientation": [ + 0.7206770777702332, + 0.09668313711881638, + 0.6807436347007751, + 0.08868547528982162 + ], + "joints": [ + 0.010666783899068832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0009228691924363375, + -0.09266496449708939, + -0.033201754093170166 + ], + "orientation": [ + 0.7108843326568604, + 0.09929216653108597, + 0.6907618045806885, + 0.08736546337604523 + ], + "joints": [ + 0.0004890828859061003 + ] + }, + "fine_grasp": { + "position": [ + 0.0025053871795535088, + -0.09273229539394379, + -0.03422517701983452 + ], + "orientation": [ + 0.7136610150337219, + 0.10452288389205933, + 0.6870365142822266, + 0.08799925446510315 + ], + "joints": [ + 0.005829649046063423 + ] + }, + "final_grasp": { + "position": [ + 0.0025053871795535088, + -0.09273229539394379, + -0.03422517701983452 + ], + "orientation": [ + 0.7136610150337219, + 0.10452288389205933, + 0.6870365142822266, + 0.08799925446510315 + ], + "joints": [ + 0.011170214973390102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047594986855983734, + -0.09696071594953537, + -0.02555004693567753 + ], + "orientation": [ + 0.6862929463386536, + -0.031064139679074287, + 0.7071499824523926, + 0.1672603189945221 + ], + "joints": [ + 0.0022632430773228407 + ] + }, + "fine_grasp": { + "position": [ + 0.04622845724225044, + -0.09576006233692169, + -0.026356104761362076 + ], + "orientation": [ + 0.6798055768013, + -0.03306366503238678, + 0.7121310234069824, + 0.17216411232948303 + ], + "joints": [ + 0.007603809703141451 + ] + }, + "final_grasp": { + "position": [ + 0.04622845724225044, + -0.09576006233692169, + -0.026356104761362076 + ], + "orientation": [ + 0.6798055768013, + -0.03306366503238678, + 0.7121310234069824, + 0.17216411232948303 + ], + "joints": [ + 0.012944376096129417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1386507749557495, + 0.12585991621017456, + -0.0018380976980552077 + ], + "orientation": [ + 0.26536592841148376, + 0.6879031658172607, + -0.2859184145927429, + 0.6120628118515015 + ], + "joints": [ + 0.003288451349362731 + ] + }, + "fine_grasp": { + "position": [ + 0.13540413975715637, + 0.12391267716884613, + -0.0037797896657139063 + ], + "orientation": [ + 0.26368868350982666, + 0.7032670378684998, + -0.28935548663139343, + 0.5934283137321472 + ], + "joints": [ + 0.008655589073896408 + ] + }, + "final_grasp": { + "position": [ + 0.13540413975715637, + 0.12391267716884613, + -0.0037797896657139063 + ], + "orientation": [ + 0.26368868350982666, + 0.7032670378684998, + -0.28935548663139343, + 0.5934283137321472 + ], + "joints": [ + 0.014022726565599442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02405427023768425, + -0.09476669877767563, + -0.03709263727068901 + ], + "orientation": [ + 0.7138800621032715, + 0.15599872171878815, + -0.6810258030891418, + -0.047366540879011154 + ], + "joints": [ + 0.0003406972682569176 + ] + }, + "fine_grasp": { + "position": [ + 0.02291933074593544, + -0.09328660368919373, + -0.038304299116134644 + ], + "orientation": [ + 0.7258813381195068, + 0.16370856761932373, + -0.6665773987770081, + -0.04438912495970726 + ], + "joints": [ + 0.0056812637485563755 + ] + }, + "final_grasp": { + "position": [ + 0.02291933074593544, + -0.09328660368919373, + -0.038304299116134644 + ], + "orientation": [ + 0.7258813381195068, + 0.16370856761932373, + -0.6665773987770081, + -0.04438912495970726 + ], + "joints": [ + 0.011021830141544342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06084964796900749, + -0.09647808223962784, + 0.0070233880542218685 + ], + "orientation": [ + 0.7417778372764587, + -0.06571487337350845, + 0.6666837334632874, + 0.031305376440286636 + ], + "joints": [ + 0.003314485540613532 + ] + }, + "fine_grasp": { + "position": [ + 0.05966750532388687, + -0.09193093329668045, + 0.007137517910450697 + ], + "orientation": [ + 0.7545418739318848, + -0.06420388072729111, + 0.6526006460189819, + 0.025631602853536606 + ], + "joints": [ + 0.00868162326514721 + ] + }, + "final_grasp": { + "position": [ + 0.05966750532388687, + -0.09193093329668045, + 0.007137517910450697 + ], + "orientation": [ + 0.7545418739318848, + -0.06420388072729111, + 0.6526006460189819, + 0.025631602853536606 + ], + "joints": [ + 0.014048760756850243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1772002875804901, + 0.09674916416406631, + -0.007791013922542334 + ], + "orientation": [ + 0.31081047654151917, + -0.5427172780036926, + -0.26334843039512634, + -0.7345082759857178 + ], + "joints": [ + 0.0028367433696985245 + ] + }, + "fine_grasp": { + "position": [ + -0.17689968645572662, + 0.09840013831853867, + -0.008216029033064842 + ], + "orientation": [ + 0.31981027126312256, + -0.5237172245979309, + -0.2597866654396057, + -0.7456222176551819 + ], + "joints": [ + 0.008203880861401558 + ] + }, + "final_grasp": { + "position": [ + -0.17689968645572662, + 0.09840013831853867, + -0.008216029033064842 + ], + "orientation": [ + 0.31981027126312256, + -0.5237172245979309, + -0.2597866654396057, + -0.7456222176551819 + ], + "joints": [ + 0.013571018353104591 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14817477762699127, + 0.1245095506310463, + 0.011766023002564907 + ], + "orientation": [ + 0.30809223651885986, + -0.5765419006347656, + -0.18272919952869415, + -0.734362781047821 + ], + "joints": [ + 0.0015272682067006826 + ] + }, + "fine_grasp": { + "position": [ + -0.1469184011220932, + 0.12405122071504593, + 0.01173727959394455 + ], + "orientation": [ + 0.3151639997959137, + -0.5545775890350342, + -0.17579059302806854, + -0.749808669090271 + ], + "joints": [ + 0.0074258046224713326 + ] + }, + "final_grasp": { + "position": [ + -0.1469184011220932, + 0.12405122071504593, + 0.01173727959394455 + ], + "orientation": [ + 0.3151639997959137, + -0.5545775890350342, + -0.17579059302806854, + -0.749808669090271 + ], + "joints": [ + 0.013324340805411339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030284691601991653, + -0.09467852115631104, + -0.022252483293414116 + ], + "orientation": [ + 0.6742246150970459, + 0.040469493716955185, + 0.7323214411735535, + 0.08653827011585236 + ], + "joints": [ + 0.0026163116563111544 + ] + }, + "fine_grasp": { + "position": [ + 0.027770545333623886, + -0.09345484524965286, + -0.02395319752395153 + ], + "orientation": [ + 0.666290283203125, + 0.027273351326584816, + 0.7381159067153931, + 0.10246149450540543 + ], + "joints": [ + 0.007452049292623997 + ] + }, + "final_grasp": { + "position": [ + 0.027770545333623886, + -0.09345484524965286, + -0.02395319752395153 + ], + "orientation": [ + 0.666290283203125, + 0.027273351326584816, + 0.7381159067153931, + 0.10246149450540543 + ], + "joints": [ + 0.012287787161767483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07590220868587494, + 0.15931719541549683, + -0.020411914214491844 + ], + "orientation": [ + 0.15100690722465515, + -0.6635895371437073, + 0.25322890281677246, + 0.6875470280647278 + ], + "joints": [ + 0.003968767821788788 + ] + }, + "fine_grasp": { + "position": [ + 0.07324882596731186, + 0.15622079372406006, + -0.021222973242402077 + ], + "orientation": [ + 0.15759368240833282, + -0.6542056798934937, + 0.2567143142223358, + 0.6937413215637207 + ], + "joints": [ + 0.009309334680438042 + ] + }, + "final_grasp": { + "position": [ + 0.07324882596731186, + 0.15622079372406006, + -0.021222973242402077 + ], + "orientation": [ + 0.15759368240833282, + -0.6542056798934937, + 0.2567143142223358, + 0.6937413215637207 + ], + "joints": [ + 0.014649901539087296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09971611946821213, + 0.14312492311000824, + -0.014055072329938412 + ], + "orientation": [ + 0.15004929900169373, + -0.6671555638313293, + 0.21982069313526154, + 0.6957495808601379 + ], + "joints": [ + 0.0028355466201901436 + ] + }, + "fine_grasp": { + "position": [ + 0.09786134958267212, + 0.14128924906253815, + -0.014562571421265602 + ], + "orientation": [ + 0.15595117211341858, + -0.659177839756012, + 0.22291003167629242, + 0.701052725315094 + ], + "joints": [ + 0.008707513101398945 + ] + }, + "final_grasp": { + "position": [ + 0.09786134958267212, + 0.14128924906253815, + -0.014562571421265602 + ], + "orientation": [ + 0.15595117211341858, + -0.659177839756012, + 0.22291003167629242, + 0.701052725315094 + ], + "joints": [ + 0.014579479582607746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14996777474880219, + 0.12585046887397766, + 0.011327877640724182 + ], + "orientation": [ + 0.3083207309246063, + -0.5611981749534607, + -0.17657862603664398, + -0.7475391626358032 + ], + "joints": [ + 0.0014508275780826807 + ] + }, + "fine_grasp": { + "position": [ + -0.14869756996631622, + 0.12582631409168243, + 0.01144489273428917 + ], + "orientation": [ + 0.31440025568008423, + -0.5378810167312622, + -0.16826732456684113, + -0.763886570930481 + ], + "joints": [ + 0.006817963905632496 + ] + }, + "final_grasp": { + "position": [ + -0.14869756996631622, + 0.12582631409168243, + 0.01144489273428917 + ], + "orientation": [ + 0.31440025568008423, + -0.5378810167312622, + -0.16826732456684113, + -0.763886570930481 + ], + "joints": [ + 0.012185100466012955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13496585190296173, + -0.08236898481845856, + 0.011397024616599083 + ], + "orientation": [ + 0.7970242500305176, + 0.1162894070148468, + -0.5327745676040649, + 0.25957727432250977 + ], + "joints": [ + 6.997381569817662e-05 + ] + }, + "fine_grasp": { + "position": [ + 0.13747915625572205, + -0.07879006862640381, + 0.014243796467781067 + ], + "orientation": [ + 0.8020423054695129, + 0.10205352306365967, + -0.5232868194580078, + 0.2692287564277649 + ], + "joints": [ + 0.0038429107517004013 + ] + }, + "final_grasp": { + "position": [ + 0.13747915625572205, + -0.07879006862640381, + 0.014243796467781067 + ], + "orientation": [ + 0.8020423054695129, + 0.10205352306365967, + -0.5232868194580078, + 0.2692287564277649 + ], + "joints": [ + 0.007615847513079643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10007594525814056, + 0.14264614880084991, + -0.013826943933963776 + ], + "orientation": [ + 0.14783766865730286, + -0.663821816444397, + 0.21384721994400024, + 0.7012516856193542 + ], + "joints": [ + 0.003178488230332732 + ] + }, + "fine_grasp": { + "position": [ + 0.09871341288089752, + 0.14120768010616302, + -0.014807597734034061 + ], + "orientation": [ + 0.1524065136909485, + -0.6529904007911682, + 0.215627983212471, + 0.709845244884491 + ], + "joints": [ + 0.00854562595486641 + ] + }, + "final_grasp": { + "position": [ + 0.09871341288089752, + 0.14120768010616302, + -0.014807597734034061 + ], + "orientation": [ + 0.1524065136909485, + -0.6529904007911682, + 0.215627983212471, + 0.709845244884491 + ], + "joints": [ + 0.013912763446569443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0827251523733139, + -0.09713321924209595, + -0.0033519973512738943 + ], + "orientation": [ + 0.75782710313797, + 0.05933302640914917, + -0.6475631594657898, + 0.05328887701034546 + ], + "joints": [ + 0.003068243619054556 + ] + }, + "fine_grasp": { + "position": [ + 0.08246748894453049, + -0.09847129136323929, + -0.0029427832923829556 + ], + "orientation": [ + 0.769192636013031, + 0.059110794216394424, + -0.6341960430145264, + 0.0514189787209034 + ], + "joints": [ + 0.008408810943365097 + ] + }, + "final_grasp": { + "position": [ + 0.08246748894453049, + -0.09847129136323929, + -0.0029427832923829556 + ], + "orientation": [ + 0.769192636013031, + 0.059110794216394424, + -0.6341960430145264, + 0.0514189787209034 + ], + "joints": [ + 0.013749377802014351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0999462679028511, + 0.14267052710056305, + -0.014029353857040405 + ], + "orientation": [ + 0.1495313048362732, + -0.6646514534950256, + 0.21721197664737701, + 0.6990692615509033 + ], + "joints": [ + 0.0030054147355258465 + ] + }, + "fine_grasp": { + "position": [ + 0.09848654270172119, + 0.14101850986480713, + -0.014963344670832157 + ], + "orientation": [ + 0.1548333317041397, + -0.654193103313446, + 0.220831036567688, + 0.7066056728363037 + ], + "joints": [ + 0.008372552692890167 + ] + }, + "final_grasp": { + "position": [ + 0.09848654270172119, + 0.14101850986480713, + -0.014963344670832157 + ], + "orientation": [ + 0.1548333317041397, + -0.654193103313446, + 0.220831036567688, + 0.7066056728363037 + ], + "joints": [ + 0.0137396901845932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10020434111356735, + 0.14262573421001434, + -0.014043943956494331 + ], + "orientation": [ + 0.1453152298927307, + -0.6629899144172668, + 0.2115916609764099, + 0.7032472491264343 + ], + "joints": [ + 0.00310744671151042 + ] + }, + "fine_grasp": { + "position": [ + 0.09853474795818329, + 0.14085270464420319, + -0.01518648024648428 + ], + "orientation": [ + 0.15036550164222717, + -0.6512875556945801, + 0.2141074687242508, + 0.7123010158538818 + ], + "joints": [ + 0.008979413658380508 + ] + }, + "final_grasp": { + "position": [ + 0.09853474795818329, + 0.14085270464420319, + -0.01518648024648428 + ], + "orientation": [ + 0.15036550164222717, + -0.6512875556945801, + 0.2141074687242508, + 0.7123010158538818 + ], + "joints": [ + 0.01485138013958931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0801461711525917, + -0.10033907741308212, + 0.01965518109500408 + ], + "orientation": [ + 0.8058186769485474, + -0.0473022423684597, + 0.5864991545677185, + -0.06661436706781387 + ], + "joints": [ + 0.0008331649005413055 + ] + }, + "fine_grasp": { + "position": [ + -0.08189693838357925, + -0.10607967525720596, + 0.020148422569036484 + ], + "orientation": [ + 0.8110763430595398, + -0.050403084605932236, + 0.5791222453117371, + -0.06505405157804489 + ], + "joints": [ + 0.005642331205308437 + ] + }, + "final_grasp": { + "position": [ + -0.08189693838357925, + -0.10607967525720596, + 0.020148422569036484 + ], + "orientation": [ + 0.8110763430595398, + -0.050403084605932236, + 0.5791222453117371, + -0.06505405157804489 + ], + "joints": [ + 0.01045149751007557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07525850832462311, + -0.09581752121448517, + -0.027560673654079437 + ], + "orientation": [ + 0.6890318393707275, + -0.040892649441957474, + 0.6982602477073669, + 0.1897248923778534 + ], + "joints": [ + 0.0022709525655955076 + ] + }, + "fine_grasp": { + "position": [ + 0.07387812435626984, + -0.09459810703992844, + -0.028309816494584084 + ], + "orientation": [ + 0.6827692985534668, + -0.043236393481492996, + 0.7029622793197632, + 0.19442389905452728 + ], + "joints": [ + 0.007611519191414118 + ] + }, + "final_grasp": { + "position": [ + 0.07387812435626984, + -0.09459810703992844, + -0.028309816494584084 + ], + "orientation": [ + 0.6827692985534668, + -0.043236393481492996, + 0.7029622793197632, + 0.19442389905452728 + ], + "joints": [ + 0.012952085584402084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02175290696322918, + 0.171423077583313, + -0.02622300200164318 + ], + "orientation": [ + 0.11818713694810867, + 0.7401203513145447, + 0.012135952711105347, + 0.6618961691856384 + ], + "joints": [ + 0.002871033502742648 + ] + }, + "fine_grasp": { + "position": [ + 0.02036822773516178, + 0.16975566744804382, + -0.027493279427289963 + ], + "orientation": [ + 0.12196681648492813, + 0.7513579726219177, + 0.00861280132085085, + 0.6484684348106384 + ], + "joints": [ + 0.008743000216782093 + ] + }, + "final_grasp": { + "position": [ + 0.02036822773516178, + 0.16975566744804382, + -0.027493279427289963 + ], + "orientation": [ + 0.12196681648492813, + 0.7513579726219177, + 0.00861280132085085, + 0.6484684348106384 + ], + "joints": [ + 0.014614966697990894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07950074970722198, + -0.10005450993776321, + 0.019720256328582764 + ], + "orientation": [ + 0.8110386729240417, + -0.0457916259765625, + 0.578956663608551, + -0.07020410895347595 + ], + "joints": [ + 0.0007518358761444688 + ] + }, + "fine_grasp": { + "position": [ + -0.08214534819126129, + -0.10190656781196594, + 0.0195337925106287 + ], + "orientation": [ + 0.820318341255188, + -0.04533453658223152, + 0.5650922060012817, + -0.07545438408851624 + ], + "joints": [ + 0.005056172609329224 + ] + }, + "final_grasp": { + "position": [ + -0.08214534819126129, + -0.10190656781196594, + 0.0195337925106287 + ], + "orientation": [ + 0.820318341255188, + -0.04533453658223152, + 0.5650922060012817, + -0.07545438408851624 + ], + "joints": [ + 0.009360508993268013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1916039139032364, + 0.017318325117230415, + 0.007914143614470959 + ], + "orientation": [ + 0.4476233422756195, + 0.5159626603126526, + 0.5659617781639099, + -0.46163126826286316 + ], + "joints": [ + 0.0024410979822278023 + ] + }, + "fine_grasp": { + "position": [ + -0.18943239748477936, + 0.016734803095459938, + 0.008433959446847439 + ], + "orientation": [ + 0.4412539601325989, + 0.518101155757904, + 0.573306143283844, + -0.45627447962760925 + ], + "joints": [ + 0.007781664375215769 + ] + }, + "final_grasp": { + "position": [ + -0.18943239748477936, + 0.016734803095459938, + 0.008433959446847439 + ], + "orientation": [ + 0.4412539601325989, + 0.518101155757904, + 0.573306143283844, + -0.45627447962760925 + ], + "joints": [ + 0.013122230768203735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12256878614425659, + 0.14032655954360962, + -0.010768601670861244 + ], + "orientation": [ + 0.15530091524124146, + -0.629159152507782, + 0.1882726401090622, + 0.7379658818244934 + ], + "joints": [ + 0.002586685586720705 + ] + }, + "fine_grasp": { + "position": [ + 0.11966213583946228, + 0.13574717938899994, + -0.010100327432155609 + ], + "orientation": [ + 0.1621565967798233, + -0.6194821000099182, + 0.18944783508777618, + 0.7443497776985168 + ], + "joints": [ + 0.007422422990202904 + ] + }, + "final_grasp": { + "position": [ + 0.11966213583946228, + 0.13574717938899994, + -0.010100327432155609 + ], + "orientation": [ + 0.1621565967798233, + -0.6194821000099182, + 0.18944783508777618, + 0.7443497776985168 + ], + "joints": [ + 0.01225816085934639 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10421209782361984, + 0.13702385127544403, + -0.0060428958386182785 + ], + "orientation": [ + 0.1833314746618271, + 0.8029145002365112, + 0.2354028820991516, + -0.5160458087921143 + ], + "joints": [ + -0.00011294474825263023 + ] + }, + "fine_grasp": { + "position": [ + -0.09981147944927216, + 0.13355959951877594, + -0.006575478706508875 + ], + "orientation": [ + 0.17802201211452484, + 0.8232908844947815, + 0.23724398016929626, + -0.4839582145214081 + ], + "joints": [ + 0.003659992478787899 + ] + }, + "final_grasp": { + "position": [ + -0.09981147944927216, + 0.13355959951877594, + -0.006575478706508875 + ], + "orientation": [ + 0.17802201211452484, + 0.8232908844947815, + 0.23724398016929626, + -0.4839582145214081 + ], + "joints": [ + 0.007432929705828428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08855793625116348, + 0.14430546760559082, + -0.022653112187981606 + ], + "orientation": [ + 0.23165421187877655, + 0.6999995708465576, + -0.1166391596198082, + 0.6653813719749451 + ], + "joints": [ + 0.002515162341296673 + ] + }, + "fine_grasp": { + "position": [ + 0.08642710000276566, + 0.1443772166967392, + -0.02367333322763443 + ], + "orientation": [ + 0.23737911880016327, + 0.7003626823425293, + -0.1174657866358757, + 0.6628311276435852 + ], + "joints": [ + 0.007350899279117584 + ] + }, + "final_grasp": { + "position": [ + 0.08642710000276566, + 0.1443772166967392, + -0.02367333322763443 + ], + "orientation": [ + 0.23737911880016327, + 0.7003626823425293, + -0.1174657866358757, + 0.6628311276435852 + ], + "joints": [ + 0.012186636216938496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08840379118919373, + 0.1444634348154068, + -0.022040313109755516 + ], + "orientation": [ + 0.2305244654417038, + 0.7047013640403748, + -0.12128282338380814, + 0.6599583029747009 + ], + "joints": [ + 0.002582297893241048 + ] + }, + "fine_grasp": { + "position": [ + 0.08621186017990112, + 0.1442173719406128, + -0.023005250841379166 + ], + "orientation": [ + 0.23621249198913574, + 0.7059011459350586, + -0.12254787236452103, + 0.6564215421676636 + ], + "joints": [ + 0.00741803552955389 + ] + }, + "final_grasp": { + "position": [ + 0.08621186017990112, + 0.1442173719406128, + -0.023005250841379166 + ], + "orientation": [ + 0.23621249198913574, + 0.7059011459350586, + -0.12254787236452103, + 0.6564215421676636 + ], + "joints": [ + 0.012253773398697376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11953035742044449, + 0.1301376074552536, + 0.01700097694993019 + ], + "orientation": [ + 0.1779354214668274, + 0.6612261533737183, + -0.26890695095062256, + 0.6773536205291748 + ], + "joints": [ + 0.0024267775006592274 + ] + }, + "fine_grasp": { + "position": [ + 0.1180257722735405, + 0.12982358038425446, + 0.017773987725377083 + ], + "orientation": [ + 0.1818029135465622, + 0.6579272747039795, + -0.27293387055397034, + 0.6779282093048096 + ], + "joints": [ + 0.008298744447529316 + ] + }, + "final_grasp": { + "position": [ + 0.1180257722735405, + 0.12982358038425446, + 0.017773987725377083 + ], + "orientation": [ + 0.1818029135465622, + 0.6579272747039795, + -0.27293387055397034, + 0.6779282093048096 + ], + "joints": [ + 0.014170711860060692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11916473507881165, + 0.1305209994316101, + 0.016220903024077415 + ], + "orientation": [ + 0.1777183711528778, + 0.6624213457107544, + -0.2644810676574707, + 0.6779851317405701 + ], + "joints": [ + 0.002464825753122568 + ] + }, + "fine_grasp": { + "position": [ + 0.11771616339683533, + 0.13017317652702332, + 0.016980238258838654 + ], + "orientation": [ + 0.18112978339195251, + 0.6594218611717224, + -0.26787665486335754, + 0.6786729693412781 + ], + "joints": [ + 0.008336792699992657 + ] + }, + "final_grasp": { + "position": [ + 0.11771616339683533, + 0.13017317652702332, + 0.016980238258838654 + ], + "orientation": [ + 0.18112978339195251, + 0.6594218611717224, + -0.26787665486335754, + 0.6786729693412781 + ], + "joints": [ + 0.014208760112524033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.19107598066329956, + -0.010428020730614662, + -0.02217445708811283 + ], + "orientation": [ + 0.6251111626625061, + 0.44154444336891174, + -0.5363532900810242, + 0.3558083474636078 + ], + "joints": [ + 0.0027850933838635683 + ] + }, + "fine_grasp": { + "position": [ + 0.19130851328372955, + -0.011960029602050781, + -0.022916041314601898 + ], + "orientation": [ + 0.6245726346969604, + 0.4483349919319153, + -0.5403544306755066, + 0.3419383764266968 + ], + "joints": [ + 0.008630489930510521 + ] + }, + "final_grasp": { + "position": [ + 0.19130851328372955, + -0.011960029602050781, + -0.022916041314601898 + ], + "orientation": [ + 0.6245726346969604, + 0.4483349919319153, + -0.5403544306755066, + 0.3419383764266968 + ], + "joints": [ + 0.014475886709988117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04332837089896202, + 0.16803288459777832, + -0.0445437878370285 + ], + "orientation": [ + 0.16592641174793243, + 0.8581663370132446, + -0.04296295717358589, + -0.48391449451446533 + ], + "joints": [ + -0.003649222431704402 + ] + }, + "fine_grasp": { + "position": [ + -0.041119836270809174, + 0.16567368805408478, + -0.04430517554283142 + ], + "orientation": [ + 0.18121252954006195, + 0.8710087537765503, + -0.031348831951618195, + -0.45554691553115845 + ], + "joints": [ + -0.0008859442314133048 + ] + }, + "final_grasp": { + "position": [ + -0.041119836270809174, + 0.16567368805408478, + -0.04430517554283142 + ], + "orientation": [ + 0.18121252954006195, + 0.8710087537765503, + -0.031348831951618195, + -0.45554691553115845 + ], + "joints": [ + 0.0018773339688777924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043447837233543396, + 0.17168840765953064, + -0.047060854732990265 + ], + "orientation": [ + 0.17154201865196228, + 0.8593961000442505, + -0.04749196022748947, + -0.47932887077331543 + ], + "joints": [ + -0.002970183501020074 + ] + }, + "fine_grasp": { + "position": [ + -0.04207783564925194, + 0.1676260232925415, + -0.046041183173656464 + ], + "orientation": [ + 0.1806815266609192, + 0.8737192749977112, + -0.03631213307380676, + -0.4501667320728302 + ], + "joints": [ + 0.0004042038635816425 + ] + }, + "final_grasp": { + "position": [ + -0.04207783564925194, + 0.1676260232925415, + -0.046041183173656464 + ], + "orientation": [ + 0.1806815266609192, + 0.8737192749977112, + -0.03631213307380676, + -0.4501667320728302 + ], + "joints": [ + 0.00377859128639102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.19428889453411102, + -0.007818087004125118, + -0.04662681370973587 + ], + "orientation": [ + 0.4476962685585022, + -0.34881582856178284, + 0.6446174383163452, + 0.5122146606445312 + ], + "joints": [ + 7.595610804855824e-05 + ] + }, + "fine_grasp": { + "position": [ + 0.1914350986480713, + -0.006929525639861822, + -0.04749027639627457 + ], + "orientation": [ + 0.44104963541030884, + -0.35049954056739807, + 0.6463689208030701, + 0.5146187543869019 + ], + "joints": [ + 0.004885122645646334 + ] + }, + "final_grasp": { + "position": [ + 0.1914350986480713, + -0.006929525639861822, + -0.04749027639627457 + ], + "orientation": [ + 0.44104963541030884, + -0.35049954056739807, + 0.6463689208030701, + 0.5146187543869019 + ], + "joints": [ + 0.009694289416074753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17214277386665344, + 0.0763435885310173, + 0.01029318105429411 + ], + "orientation": [ + 0.34322676062583923, + 0.6064363121986389, + -0.4311235249042511, + 0.573203980922699 + ], + "joints": [ + 0.0030983868055045605 + ] + }, + "fine_grasp": { + "position": [ + 0.17055407166481018, + 0.07502663880586624, + 0.012036912143230438 + ], + "orientation": [ + 0.33774158358573914, + 0.6079723834991455, + -0.4349914491176605, + 0.5719113945960999 + ], + "joints": [ + 0.008970353752374649 + ] + }, + "final_grasp": { + "position": [ + 0.17055407166481018, + 0.07502663880586624, + 0.012036912143230438 + ], + "orientation": [ + 0.33774158358573914, + 0.6079723834991455, + -0.4349914491176605, + 0.5719113945960999 + ], + "joints": [ + 0.01484232023358345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12933221459388733, + 0.12535110116004944, + -0.009259970858693123 + ], + "orientation": [ + 0.21957221627235413, + -0.6277723908424377, + -0.24594153463840485, + -0.7051259279251099 + ], + "joints": [ + 0.002840166911482811 + ] + }, + "fine_grasp": { + "position": [ + -0.12644346058368683, + 0.12272991985082626, + -0.00983249768614769 + ], + "orientation": [ + 0.22370456159114838, + -0.6180468797683716, + -0.2480069100856781, + -0.7116648554801941 + ], + "joints": [ + 0.008180733770132065 + ] + }, + "final_grasp": { + "position": [ + -0.12644346058368683, + 0.12272991985082626, + -0.00983249768614769 + ], + "orientation": [ + 0.22370456159114838, + -0.6180468797683716, + -0.2480069100856781, + -0.7116648554801941 + ], + "joints": [ + 0.013521300628781319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17508982121944427, + 0.07488830387592316, + 0.01179964654147625 + ], + "orientation": [ + 0.3455032706260681, + 0.5926191806793213, + -0.4225965142250061, + 0.5923193693161011 + ], + "joints": [ + 0.0027178351301699877 + ] + }, + "fine_grasp": { + "position": [ + 0.1750001460313797, + 0.07536039501428604, + 0.012983758933842182 + ], + "orientation": [ + 0.35035592317581177, + 0.5855981111526489, + -0.42358022928237915, + 0.5957393646240234 + ], + "joints": [ + 0.00858980230987072 + ] + }, + "final_grasp": { + "position": [ + 0.1750001460313797, + 0.07536039501428604, + 0.012983758933842182 + ], + "orientation": [ + 0.35035592317581177, + 0.5855981111526489, + -0.42358022928237915, + 0.5957393646240234 + ], + "joints": [ + 0.014461769722402096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16928869485855103, + 0.09182075411081314, + -0.03752702847123146 + ], + "orientation": [ + 0.41550055146217346, + 0.6728766560554504, + 0.24139250814914703, + -0.5624286532402039 + ], + "joints": [ + -0.00015116765280254185 + ] + }, + "fine_grasp": { + "position": [ + -0.1666850745677948, + 0.09020960330963135, + -0.038032352924346924 + ], + "orientation": [ + 0.4097965657711029, + 0.6883330941200256, + 0.24825119972229004, + -0.5446427464485168 + ], + "joints": [ + 0.005189398769289255 + ] + }, + "final_grasp": { + "position": [ + -0.1666850745677948, + 0.09020960330963135, + -0.038032352924346924 + ], + "orientation": [ + 0.4097965657711029, + 0.6883330941200256, + 0.24825119972229004, + -0.5446427464485168 + ], + "joints": [ + 0.010529965162277222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12607982754707336, + 0.1235901415348053, + -0.03005422279238701 + ], + "orientation": [ + 0.1244555115699768, + -0.5520856976509094, + -0.23744747042655945, + -0.789513111114502 + ], + "joints": [ + -0.0005073371576145291 + ] + }, + "fine_grasp": { + "position": [ + -0.1229356899857521, + 0.12064235657453537, + -0.030172137543559074 + ], + "orientation": [ + 0.12040325254201889, + -0.5381559729576111, + -0.2376682311296463, + -0.7996280193328857 + ], + "joints": [ + 0.004328399430960417 + ] + }, + "final_grasp": { + "position": [ + -0.1229356899857521, + 0.12064235657453537, + -0.030172137543559074 + ], + "orientation": [ + 0.12040325254201889, + -0.5381559729576111, + -0.2376682311296463, + -0.7996280193328857 + ], + "joints": [ + 0.009164135903120041 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13157214224338531, + -0.07990369200706482, + -0.008411508984863758 + ], + "orientation": [ + 0.6303543448448181, + -0.18800300359725952, + 0.7236563563346863, + 0.20887742936611176 + ], + "joints": [ + 0.002625133143737912 + ] + }, + "fine_grasp": { + "position": [ + 0.12834444642066956, + -0.07735437154769897, + -0.009115833789110184 + ], + "orientation": [ + 0.6189746856689453, + -0.1872226595878601, + 0.7338162660598755, + 0.20816293358802795 + ], + "joints": [ + 0.007992271333932877 + ] + }, + "final_grasp": { + "position": [ + 0.12834444642066956, + -0.07735437154769897, + -0.009115833789110184 + ], + "orientation": [ + 0.6189746856689453, + -0.1872226595878601, + 0.7338162660598755, + 0.20816293358802795 + ], + "joints": [ + 0.013359409756958485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18899692595005035, + -0.013288662768900394, + -0.021100535988807678 + ], + "orientation": [ + 0.606722354888916, + 0.4586503803730011, + -0.5340611934661865, + 0.3691970109939575 + ], + "joints": [ + 0.0016388201620429754 + ] + }, + "fine_grasp": { + "position": [ + 0.1892196387052536, + -0.013342088088393211, + -0.02160702273249626 + ], + "orientation": [ + 0.6079603433609009, + 0.45625555515289307, + -0.5416407585144043, + 0.3589436709880829 + ], + "joints": [ + 0.007510785944759846 + ] + }, + "final_grasp": { + "position": [ + 0.1892196387052536, + -0.013342088088393211, + -0.02160702273249626 + ], + "orientation": [ + 0.6079603433609009, + 0.45625555515289307, + -0.5416407585144043, + 0.3589436709880829 + ], + "joints": [ + 0.013382751494646072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14461441338062286, + 0.11313515901565552, + -0.011899827979505062 + ], + "orientation": [ + 0.2495477795600891, + -0.608982503414154, + -0.28318867087364197, + -0.697617769241333 + ], + "joints": [ + 0.0026947923470288515 + ] + }, + "fine_grasp": { + "position": [ + -0.14234526455402374, + 0.11310988664627075, + -0.012640062719583511 + ], + "orientation": [ + 0.2536401152610779, + -0.5986981391906738, + -0.28484830260276794, + -0.7043355703353882 + ], + "joints": [ + 0.008035359904170036 + ] + }, + "final_grasp": { + "position": [ + -0.14234526455402374, + 0.11310988664627075, + -0.012640062719583511 + ], + "orientation": [ + 0.2536401152610779, + -0.5986981391906738, + -0.28484830260276794, + -0.7043355703353882 + ], + "joints": [ + 0.013375927694141865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13140639662742615, + 0.12413697689771652, + -0.023314397782087326 + ], + "orientation": [ + 0.31441935896873474, + 0.6770514249801636, + 0.19729571044445038, + -0.6354652047157288 + ], + "joints": [ + 0.002244849456474185 + ] + }, + "fine_grasp": { + "position": [ + -0.1290319561958313, + 0.12326635420322418, + -0.024570992216467857 + ], + "orientation": [ + 0.3182677626609802, + 0.6806939244270325, + 0.19815412163734436, + -0.6293619275093079 + ], + "joints": [ + 0.007585416082292795 + ] + }, + "final_grasp": { + "position": [ + -0.1290319561958313, + 0.12326635420322418, + -0.024570992216467857 + ], + "orientation": [ + 0.3182677626609802, + 0.6806939244270325, + 0.19815412163734436, + -0.6293619275093079 + ], + "joints": [ + 0.012925982475280762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18853704631328583, + -0.013783286325633526, + -0.022639717906713486 + ], + "orientation": [ + 0.593454122543335, + 0.47761568427085876, + -0.5305969715118408, + 0.37170177698135376 + ], + "joints": [ + 0.0015792043413966894 + ] + }, + "fine_grasp": { + "position": [ + 0.18831485509872437, + -0.013827274553477764, + -0.024340633302927017 + ], + "orientation": [ + 0.5979738831520081, + 0.47810041904449463, + -0.5278847217559814, + 0.3676750361919403 + ], + "joints": [ + 0.00745117012411356 + ] + }, + "final_grasp": { + "position": [ + 0.18831485509872437, + -0.013827274553477764, + -0.024340633302927017 + ], + "orientation": [ + 0.5979738831520081, + 0.47810041904449463, + -0.5278847217559814, + 0.3676750361919403 + ], + "joints": [ + 0.013323135673999786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14711777865886688, + 0.11349627375602722, + -0.008676903322339058 + ], + "orientation": [ + 0.2660588026046753, + -0.6230748295783997, + 0.29637423157691956, + 0.6731662154197693 + ], + "joints": [ + 0.0029232401866465807 + ] + }, + "fine_grasp": { + "position": [ + 0.14544658362865448, + 0.11325328797101974, + -0.009216614067554474 + ], + "orientation": [ + 0.2730109989643097, + -0.6136967539787292, + 0.2984369397163391, + 0.6780684590339661 + ], + "joints": [ + 0.008290378376841545 + ] + }, + "final_grasp": { + "position": [ + 0.14544658362865448, + 0.11325328797101974, + -0.009216614067554474 + ], + "orientation": [ + 0.2730109989643097, + -0.6136967539787292, + 0.2984369397163391, + 0.6780684590339661 + ], + "joints": [ + 0.013657516799867153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1878398060798645, + -0.014244690537452698, + -0.020688248798251152 + ], + "orientation": [ + 0.5920000672340393, + 0.47252750396728516, + -0.5329233407974243, + 0.3771559000015259 + ], + "joints": [ + 0.0022363353054970503 + ] + }, + "fine_grasp": { + "position": [ + 0.18768252432346344, + -0.014326543547213078, + -0.022364379838109016 + ], + "orientation": [ + 0.5951961874961853, + 0.4740813374519348, + -0.5304790735244751, + 0.37360453605651855 + ], + "joints": [ + 0.0075769019313156605 + ] + }, + "final_grasp": { + "position": [ + 0.18768252432346344, + -0.014326543547213078, + -0.022364379838109016 + ], + "orientation": [ + 0.5951961874961853, + 0.4740813374519348, + -0.5304790735244751, + 0.37360453605651855 + ], + "joints": [ + 0.012917468324303627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14739681780338287, + 0.1130724772810936, + -0.009207707829773426 + ], + "orientation": [ + 0.26435723900794983, + -0.621865451335907, + 0.2967592775821686, + 0.6747832894325256 + ], + "joints": [ + 0.0025387259665876627 + ] + }, + "fine_grasp": { + "position": [ + 0.1446085423231125, + 0.11178602278232574, + -0.009633875451982021 + ], + "orientation": [ + 0.27184605598449707, + -0.6126552820205688, + 0.2993466258049011, + 0.6790764927864075 + ], + "joints": [ + 0.008410693146288395 + ] + }, + "final_grasp": { + "position": [ + 0.1446085423231125, + 0.11178602278232574, + -0.009633875451982021 + ], + "orientation": [ + 0.27184605598449707, + -0.6126552820205688, + 0.2993466258049011, + 0.6790764927864075 + ], + "joints": [ + 0.01428266055881977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1451212465763092, + 0.11570189893245697, + -0.013480688445270061 + ], + "orientation": [ + 0.2553802728652954, + -0.6064502596855164, + -0.29788413643836975, + -0.6915663480758667 + ], + "joints": [ + 0.0025218194350600243 + ] + }, + "fine_grasp": { + "position": [ + -0.14413250982761383, + 0.11657889932394028, + -0.014207309111952782 + ], + "orientation": [ + 0.2601798176765442, + -0.5958623290061951, + -0.30058056116104126, + -0.6977863907814026 + ], + "joints": [ + 0.007862386293709278 + ] + }, + "final_grasp": { + "position": [ + -0.14413250982761383, + 0.11657889932394028, + -0.014207309111952782 + ], + "orientation": [ + 0.2601798176765442, + -0.5958623290061951, + -0.30058056116104126, + -0.6977863907814026 + ], + "joints": [ + 0.013202953152358532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12460269033908844, + 0.13206174969673157, + -0.019632764160633087 + ], + "orientation": [ + 0.2759213447570801, + 0.7501848340034485, + 0.23936150968074799, + -0.5511772036552429 + ], + "joints": [ + 0.0014258564915508032 + ] + }, + "fine_grasp": { + "position": [ + -0.12248867750167847, + 0.13165178894996643, + -0.020728645846247673 + ], + "orientation": [ + 0.2777285575866699, + 0.7624017596244812, + 0.2420743703842163, + -0.5319872498512268 + ], + "joints": [ + 0.005730193108320236 + ] + }, + "final_grasp": { + "position": [ + -0.12248867750167847, + 0.13165178894996643, + -0.020728645846247673 + ], + "orientation": [ + 0.2777285575866699, + 0.7624017596244812, + 0.2420743703842163, + -0.5319872498512268 + ], + "joints": [ + 0.010034529492259026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03277489170432091, + 0.1709900051355362, + -0.0448637418448925 + ], + "orientation": [ + 0.2836548984050751, + 0.4516233503818512, + -0.027025874704122543, + -0.8454856276512146 + ], + "joints": [ + -0.00019116653129458427 + ] + }, + "fine_grasp": { + "position": [ + -0.030062422156333923, + 0.16660986840724945, + -0.04317689687013626 + ], + "orientation": [ + 0.27323803305625916, + 0.4285748302936554, + -0.036219991743564606, + -0.8604375123977661 + ], + "joints": [ + 0.00427258899435401 + ] + }, + "final_grasp": { + "position": [ + -0.030062422156333923, + 0.16660986840724945, + -0.04317689687013626 + ], + "orientation": [ + 0.27323803305625916, + 0.4285748302936554, + -0.036219991743564606, + -0.8604375123977661 + ], + "joints": [ + 0.008736344054341316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18168024718761444, + 0.07037632912397385, + -0.008319101296365261 + ], + "orientation": [ + 0.38627418875694275, + 0.6443981528282166, + 0.4307979345321655, + -0.4999564588069916 + ], + "joints": [ + 0.0020168928895145655 + ] + }, + "fine_grasp": { + "position": [ + -0.18007686734199524, + 0.07153189927339554, + -0.009416669607162476 + ], + "orientation": [ + 0.3841867744922638, + 0.6523391008377075, + 0.43563228845596313, + -0.4869071841239929 + ], + "joints": [ + 0.007357459515333176 + ] + }, + "final_grasp": { + "position": [ + -0.18007686734199524, + 0.07153189927339554, + -0.009416669607162476 + ], + "orientation": [ + 0.3841867744922638, + 0.6523391008377075, + 0.43563228845596313, + -0.4869071841239929 + ], + "joints": [ + 0.01269802637398243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03297633305191994, + 0.17063221335411072, + -0.045513421297073364 + ], + "orientation": [ + 0.2873319983482361, + 0.45410823822021484, + -0.0271623395383358, + -0.8429046869277954 + ], + "joints": [ + 0.00038487554411403835 + ] + }, + "fine_grasp": { + "position": [ + -0.030253106728196144, + 0.16618430614471436, + -0.043907515704631805 + ], + "orientation": [ + 0.27604183554649353, + 0.4287583827972412, + -0.03750511258840561, + -0.8593953847885132 + ], + "joints": [ + 0.00429066177457571 + ] + }, + "final_grasp": { + "position": [ + -0.030253106728196144, + 0.16618430614471436, + -0.043907515704631805 + ], + "orientation": [ + 0.27604183554649353, + 0.4287583827972412, + -0.03750511258840561, + -0.8593953847885132 + ], + "joints": [ + 0.008196447975933552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15880422294139862, + -0.05785056948661804, + 0.01322459802031517 + ], + "orientation": [ + 0.6373223066329956, + -0.34112292528152466, + -0.6402291059494019, + -0.2599273920059204 + ], + "joints": [ + 0.002620670245960355 + ] + }, + "fine_grasp": { + "position": [ + -0.1579229086637497, + -0.058239925652742386, + 0.01429377868771553 + ], + "orientation": [ + 0.6396718621253967, + -0.3433576822280884, + -0.6348527073860168, + -0.26436227560043335 + ], + "joints": [ + 0.008997466415166855 + ] + }, + "final_grasp": { + "position": [ + -0.1579229086637497, + -0.058239925652742386, + 0.01429377868771553 + ], + "orientation": [ + 0.6396718621253967, + -0.3433576822280884, + -0.6348527073860168, + -0.26436227560043335 + ], + "joints": [ + 0.015374262817203999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025391951203346252, + -0.10673066973686218, + -0.024831727147102356 + ], + "orientation": [ + 0.9313933849334717, + 0.0698905810713768, + 0.34621286392211914, + 0.08808143436908722 + ], + "joints": [ + -0.016319945454597473 + ] + }, + "fine_grasp": { + "position": [ + -0.024515420198440552, + -0.10185800492763519, + -0.024052193388342857 + ], + "orientation": [ + 0.9456065893173218, + 0.07713675498962402, + 0.3036991357803345, + 0.0874348133802414 + ], + "joints": [ + -0.014460038393735886 + ] + }, + "final_grasp": { + "position": [ + -0.024515420198440552, + -0.10185800492763519, + -0.024052193388342857 + ], + "orientation": [ + 0.9456065893173218, + 0.07713675498962402, + 0.3036991357803345, + 0.0874348133802414 + ], + "joints": [ + -0.012600131332874298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11375971883535385, + 0.13323640823364258, + -0.031582772731781006 + ], + "orientation": [ + 0.2234669029712677, + -0.3316841721534729, + -0.23116204142570496, + -0.8869116306304932 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + -0.11009307205677032, + 0.13222579658031464, + -0.03264183923602104 + ], + "orientation": [ + 0.2247944325208664, + -0.2915518879890442, + -0.2305072546005249, + -0.900739312171936 + ], + "joints": [ + -0.012415627017617226 + ] + }, + "final_grasp": { + "position": [ + -0.11009307205677032, + 0.13222579658031464, + -0.03264183923602104 + ], + "orientation": [ + 0.2247944325208664, + -0.2915518879890442, + -0.2305072546005249, + -0.900739312171936 + ], + "joints": [ + -0.009041234850883484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14263838529586792, + -0.011348992586135864, + -0.11488151550292969 + ], + "orientation": [ + 0.7318595051765442, + 0.611566424369812, + -0.2638348639011383, + 0.14408107101917267 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.13871458172798157, + -0.010550991632044315, + -0.11152482032775879 + ], + "orientation": [ + 0.7278826832771301, + 0.6105301976203918, + -0.2724974453449249, + 0.15226611495018005 + ], + "joints": [ + -0.0069768838584423065 + ] + }, + "final_grasp": { + "position": [ + 0.13871458172798157, + -0.010550991632044315, + -0.11152482032775879 + ], + "orientation": [ + 0.7278826832771301, + 0.6105301976203918, + -0.2724974453449249, + 0.15226611495018005 + ], + "joints": [ + -0.0010783486068248749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14247213304042816, + -0.011456935666501522, + -0.11467066407203674 + ], + "orientation": [ + 0.7310998439788818, + 0.6120050549507141, + -0.2647024095058441, + 0.14448344707489014 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.13865825533866882, + -0.010634751059114933, + -0.11139921098947525 + ], + "orientation": [ + 0.727701723575592, + 0.6106014847755432, + -0.2726748585700989, + 0.15252727270126343 + ], + "joints": [ + -0.0069768838584423065 + ] + }, + "final_grasp": { + "position": [ + 0.13865825533866882, + -0.010634751059114933, + -0.11139921098947525 + ], + "orientation": [ + 0.727701723575592, + 0.6106014847755432, + -0.2726748585700989, + 0.15252727270126343 + ], + "joints": [ + -0.0010783486068248749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017981020733714104, + 0.05270657688379288, + -0.11116650700569153 + ], + "orientation": [ + 0.38020074367523193, + 0.327055960893631, + 0.48933178186416626, + 0.7134677767753601 + ], + "joints": [ + -0.01799805276095867 + ] + }, + "fine_grasp": { + "position": [ + -0.017044145613908768, + 0.05415942892432213, + -0.11384155601263046 + ], + "orientation": [ + 0.38012510538101196, + 0.3262315094470978, + 0.49888017773628235, + 0.7072457671165466 + ], + "joints": [ + -0.013188878074288368 + ] + }, + "final_grasp": { + "position": [ + -0.017044145613908768, + 0.05415942892432213, + -0.11384155601263046 + ], + "orientation": [ + 0.38012510538101196, + 0.3262315094470978, + 0.49888017773628235, + 0.7072457671165466 + ], + "joints": [ + -0.008379703387618065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16552430391311646, + -0.015015683136880398, + -0.09458612650632858 + ], + "orientation": [ + 0.6879106163978577, + 0.603992760181427, + 0.3419995605945587, + -0.21215102076530457 + ], + "joints": [ + -0.006789807230234146 + ] + }, + "fine_grasp": { + "position": [ + -0.1606294810771942, + -0.013198649510741234, + -0.09195768088102341 + ], + "orientation": [ + 0.6895220875740051, + 0.5988183617591858, + 0.3455129563808441, + -0.21586287021636963 + ], + "joints": [ + -0.0019275007070973516 + ] + }, + "final_grasp": { + "position": [ + -0.1606294810771942, + -0.013198649510741234, + -0.09195768088102341 + ], + "orientation": [ + 0.6895220875740051, + 0.5988183617591858, + 0.3455129563808441, + -0.21586287021636963 + ], + "joints": [ + 0.002934805816039443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039463017135858536, + 0.012987274676561356, + -0.11638037115335464 + ], + "orientation": [ + 0.47407177090644836, + 0.33731263875961304, + 0.5609082579612732, + 0.5889464616775513 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.03980701044201851, + 0.013123397715389729, + -0.11874742805957794 + ], + "orientation": [ + 0.4717246890068054, + 0.33206889033317566, + 0.5629999041557312, + 0.5918084979057312 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + -0.03980701044201851, + 0.013123397715389729, + -0.11874742805957794 + ], + "orientation": [ + 0.4717246890068054, + 0.33206889033317566, + 0.5629999041557312, + 0.5918084979057312 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05285114049911499, + -0.001878697657957673, + -0.11642007529735565 + ], + "orientation": [ + 0.4038473069667816, + 0.31143712997436523, + -0.6579099297523499, + -0.5541380047798157 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.05289101600646973, + -0.0035402411594986916, + -0.11579708009958267 + ], + "orientation": [ + 0.39662742614746094, + 0.29510998725891113, + -0.6621352434158325, + -0.5631818175315857 + ], + "joints": [ + -0.007180023938417435 + ] + }, + "final_grasp": { + "position": [ + 0.05289101600646973, + -0.0035402411594986916, + -0.11579708009958267 + ], + "orientation": [ + 0.39662742614746094, + 0.29510998725891113, + -0.6621352434158325, + -0.5631818175315857 + ], + "joints": [ + -0.0002186894416809082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08232893794775009, + 0.0988335832953453, + -0.09307064861059189 + ], + "orientation": [ + 0.27038925886154175, + 0.6363583207130432, + 0.33062395453453064, + 0.6423593759536743 + ], + "joints": [ + -0.004687884822487831 + ] + }, + "fine_grasp": { + "position": [ + -0.08316521346569061, + 0.09575272351503372, + -0.09121843427419662 + ], + "orientation": [ + 0.2908422648906708, + 0.6362566351890564, + 0.33258622884750366, + 0.6324355006217957 + ], + "joints": [ + 0.00017442199168726802 + ] + }, + "final_grasp": { + "position": [ + -0.08316521346569061, + 0.09575272351503372, + -0.09121843427419662 + ], + "orientation": [ + 0.2908422648906708, + 0.6362566351890564, + 0.33258622884750366, + 0.6324355006217957 + ], + "joints": [ + 0.005036728922277689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02391834929585457, + 0.09440910816192627, + -0.10309933871030807 + ], + "orientation": [ + 0.22864939272403717, + 0.5331311821937561, + 0.439864844083786, + 0.6855723261833191 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.02092851884663105, + 0.09187102317810059, + -0.10497942566871643 + ], + "orientation": [ + 0.23503553867340088, + 0.5365867614746094, + 0.46256062388420105, + 0.6654852628707886 + ], + "joints": [ + -0.01734299212694168 + ] + }, + "final_grasp": { + "position": [ + -0.02092851884663105, + 0.09187102317810059, + -0.10497942566871643 + ], + "orientation": [ + 0.23503553867340088, + 0.5365867614746094, + 0.46256062388420105, + 0.6654852628707886 + ], + "joints": [ + -0.014685984700918198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02393822930753231, + 0.09445780515670776, + -0.1030741035938263 + ], + "orientation": [ + 0.2284475415945053, + 0.5333486199378967, + 0.4398181736469269, + 0.6855005025863647 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.020967191085219383, + 0.09184736758470535, + -0.10493654757738113 + ], + "orientation": [ + 0.23496487736701965, + 0.5367208123207092, + 0.4626004695892334, + 0.6653743386268616 + ], + "joints": [ + -0.01734299212694168 + ] + }, + "final_grasp": { + "position": [ + -0.020967191085219383, + 0.09184736758470535, + -0.10493654757738113 + ], + "orientation": [ + 0.23496487736701965, + 0.5367208123207092, + 0.4626004695892334, + 0.6653743386268616 + ], + "joints": [ + -0.014685984700918198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06394882500171661, + 0.171235591173172, + -0.0399576835334301 + ], + "orientation": [ + 0.02989308163523674, + -0.6550606489181519, + 0.22082851827144623, + 0.7219672799110413 + ], + "joints": [ + 0.004012197256088257 + ] + }, + "fine_grasp": { + "position": [ + 0.06128204986453056, + 0.16657130420207977, + -0.03999549522995949 + ], + "orientation": [ + 0.041304025799036026, + -0.6401391625404358, + 0.22884230315685272, + 0.7322206497192383 + ], + "joints": [ + 0.008874505758285522 + ] + }, + "final_grasp": { + "position": [ + 0.06128204986453056, + 0.16657130420207977, + -0.03999549522995949 + ], + "orientation": [ + 0.041304025799036026, + -0.6401391625404358, + 0.22884230315685272, + 0.7322206497192383 + ], + "joints": [ + 0.013736814260482788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10837102681398392, + 0.12930928170681, + -0.03717995062470436 + ], + "orientation": [ + 0.3148135840892792, + 0.7519437670707703, + 0.1690247505903244, + -0.5539888143539429 + ], + "joints": [ + -0.0008127213222905993 + ] + }, + "fine_grasp": { + "position": [ + -0.10656152665615082, + 0.1296016126871109, + -0.03884593024849892 + ], + "orientation": [ + 0.31858134269714355, + 0.7667633295059204, + 0.1724736988544464, + -0.5299366116523743 + ], + "joints": [ + 0.002986785490065813 + ] + }, + "final_grasp": { + "position": [ + -0.10656152665615082, + 0.1296016126871109, + -0.03884593024849892 + ], + "orientation": [ + 0.31858134269714355, + 0.7667633295059204, + 0.1724736988544464, + -0.5299366116523743 + ], + "joints": [ + 0.006786292418837547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0837097242474556, + 0.14842934906482697, + 0.02596292831003666 + ], + "orientation": [ + 0.23189058899879456, + -0.6359249949455261, + -0.07058164477348328, + -0.7326967120170593 + ], + "joints": [ + 0.0021706062834709883 + ] + }, + "fine_grasp": { + "position": [ + -0.08364051580429077, + 0.14581646025180817, + 0.026930907741189003 + ], + "orientation": [ + 0.23052430152893066, + -0.6232645511627197, + -0.061390165239572525, + -0.7447356581687927 + ], + "joints": [ + 0.008042572997510433 + ] + }, + "final_grasp": { + "position": [ + -0.08364051580429077, + 0.14581646025180817, + 0.026930907741189003 + ], + "orientation": [ + 0.23052430152893066, + -0.6232645511627197, + -0.061390165239572525, + -0.7447356581687927 + ], + "joints": [ + 0.013914539478719234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10573337227106094, + 0.1562785506248474, + -0.023179255425930023 + ], + "orientation": [ + 0.15540197491645813, + 0.8174025416374207, + -0.0757226049900055, + 0.5495173335075378 + ], + "joints": [ + 0.0007472289726138115 + ] + }, + "fine_grasp": { + "position": [ + 0.10372155159711838, + 0.15094853937625885, + -0.022735096514225006 + ], + "orientation": [ + 0.14875000715255737, + 0.8297953605651855, + -0.07580525428056717, + 0.5325098633766174 + ], + "joints": [ + 0.006140934303402901 + ] + }, + "final_grasp": { + "position": [ + 0.10372155159711838, + 0.15094853937625885, + -0.022735096514225006 + ], + "orientation": [ + 0.14875000715255737, + 0.8297953605651855, + -0.07580525428056717, + 0.5325098633766174 + ], + "joints": [ + 0.01153463963419199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10456494987010956, + 0.14384561777114868, + 0.03339632973074913 + ], + "orientation": [ + 0.20622800290584564, + -0.6427441239356995, + 0.009367777034640312, + 0.7377414107322693 + ], + "joints": [ + 0.001322062686085701 + ] + }, + "fine_grasp": { + "position": [ + 0.10566843301057816, + 0.1428249478340149, + 0.035771943628787994 + ], + "orientation": [ + 0.21782879531383514, + -0.6280771493911743, + 0.005603777710348368, + 0.7470195889472961 + ], + "joints": [ + 0.006689197849482298 + ] + }, + "final_grasp": { + "position": [ + 0.10566843301057816, + 0.1428249478340149, + 0.035771943628787994 + ], + "orientation": [ + 0.21782879531383514, + -0.6280771493911743, + 0.005603777710348368, + 0.7470195889472961 + ], + "joints": [ + 0.012056333012878895 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2031, + "num_passed": 118 + } +} \ No newline at end of file diff --git a/094_rest_0/Annotation/piper_grasp_pose.json b/094_rest_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..bd72e7f9ecaf8eab37721557523f86acccfe837b --- /dev/null +++ b/094_rest_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,2918 @@ +{ + "type": "094_rest_0", + "bottom_center": [ + -1.7508864402770996e-06, + 0.04359705001115799, + -0.010208199732005596 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0678521990776062, + 0.15007825195789337, + -0.00016376726853195578 + ], + "orientation": [ + 0.6841642260551453, + 0.6834880709648132, + -0.18018954992294312, + -0.17970865964889526 + ], + "joints": [ + 0.018560100346803665 + ] + }, + "fine_grasp": { + "position": [ + 0.068036288022995, + 0.14731770753860474, + -0.00020431225129868835 + ], + "orientation": [ + 0.6846328377723694, + 0.6829866766929626, + -0.18039503693580627, + -0.17962375283241272 + ], + "joints": [ + 0.008926231414079666 + ] + }, + "final_grasp": { + "position": [ + 0.068036288022995, + 0.14731770753860474, + -0.00020431225129868835 + ], + "orientation": [ + 0.6846328377723694, + 0.6829866766929626, + -0.18039503693580627, + -0.17962375283241272 + ], + "joints": [ + -0.0007076375186443329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06797776371240616, + 0.15024320781230927, + -0.0004344288900028914 + ], + "orientation": [ + 0.684592604637146, + 0.682682454586029, + -0.1802501380443573, + -0.1810734122991562 + ], + "joints": [ + 0.018534157425165176 + ] + }, + "fine_grasp": { + "position": [ + 0.06805728375911713, + 0.147457554936409, + -0.00045516688260249794 + ], + "orientation": [ + 0.6848493814468384, + 0.6825575232505798, + -0.1800108253955841, + -0.18081121146678925 + ], + "joints": [ + 0.008921187371015549 + ] + }, + "final_grasp": { + "position": [ + 0.06805728375911713, + 0.147457554936409, + -0.00045516688260249794 + ], + "orientation": [ + 0.6848493814468384, + 0.6825575232505798, + -0.1800108253955841, + -0.18081121146678925 + ], + "joints": [ + -0.000691782683134079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04679310321807861, + 0.18364812433719635, + -0.004391410853713751 + ], + "orientation": [ + 0.09224659949541092, + -0.0989505797624588, + 0.6900686025619507, + -0.7109885811805725 + ], + "joints": [ + 0.016207709908485413 + ] + }, + "fine_grasp": { + "position": [ + -0.04426891356706619, + 0.180696502327919, + -0.004113729111850262 + ], + "orientation": [ + 0.10221720486879349, + -0.10809314996004105, + 0.6871076226234436, + -0.7111613750457764 + ], + "joints": [ + 0.006594739854335785 + ] + }, + "final_grasp": { + "position": [ + -0.04426891356706619, + 0.180696502327919, + -0.004113729111850262 + ], + "orientation": [ + 0.10221720486879349, + -0.10809314996004105, + 0.6871076226234436, + -0.7111613750457764 + ], + "joints": [ + -0.0030182301998138428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02457279898226261, + 0.17368529736995697, + 0.0054506477899849415 + ], + "orientation": [ + 0.06846332550048828, + -0.0553516186773777, + -0.7199184894561768, + 0.6884520649909973 + ], + "joints": [ + 0.017885997891426086 + ] + }, + "fine_grasp": { + "position": [ + 0.02336757443845272, + 0.1718994528055191, + 0.005636217072606087 + ], + "orientation": [ + 0.06901480257511139, + -0.05202437937259674, + -0.721100926399231, + 0.6874182224273682 + ], + "joints": [ + 0.007875971496105194 + ] + }, + "final_grasp": { + "position": [ + 0.02336757443845272, + 0.1718994528055191, + 0.005636217072606087 + ], + "orientation": [ + 0.06901480257511139, + -0.05202437937259674, + -0.721100926399231, + 0.6874182224273682 + ], + "joints": [ + -0.0021340548992156982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012151425704360008, + 0.18434709310531616, + 0.018956772983074188 + ], + "orientation": [ + 0.06256908923387527, + -0.06319688260555267, + -0.7544287443161011, + 0.6503295302391052 + ], + "joints": [ + 0.014503782615065575 + ] + }, + "fine_grasp": { + "position": [ + -0.011105065234005451, + 0.18067359924316406, + 0.0186002254486084 + ], + "orientation": [ + 0.053537894040346146, + -0.05600783973932266, + -0.7545706033706665, + 0.651628851890564 + ], + "joints": [ + 0.0056849271059036255 + ] + }, + "final_grasp": { + "position": [ + -0.011105065234005451, + 0.18067359924316406, + 0.0186002254486084 + ], + "orientation": [ + 0.053537894040346146, + -0.05600783973932266, + -0.7545706033706665, + 0.651628851890564 + ], + "joints": [ + -0.0031339284032583237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01608123816549778, + 0.1764598786830902, + -0.001534107606858015 + ], + "orientation": [ + 0.7002492547035217, + 0.7022712230682373, + 0.020253464579582214, + -0.12671206891536713 + ], + "joints": [ + 0.01800227165222168 + ] + }, + "fine_grasp": { + "position": [ + 0.015646206215023994, + 0.17438024282455444, + -0.001660286565311253 + ], + "orientation": [ + 0.6984641551971436, + 0.7014269828796387, + 0.032677773386240005, + -0.13813041150569916 + ], + "joints": [ + 0.007971346378326416 + ] + }, + "final_grasp": { + "position": [ + 0.015646206215023994, + 0.17438024282455444, + -0.001660286565311253 + ], + "orientation": [ + 0.6984641551971436, + 0.7014269828796387, + 0.032677773386240005, + -0.13813041150569916 + ], + "joints": [ + -0.0020595788955688477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053738005459308624, + 0.17038100957870483, + 0.007592038717120886 + ], + "orientation": [ + 0.18295572698116302, + -0.13439717888832092, + -0.7159615755081177, + 0.6601997017860413 + ], + "joints": [ + 0.017109215259552002 + ] + }, + "fine_grasp": { + "position": [ + 0.051688455045223236, + 0.16750165820121765, + 0.00784179288893938 + ], + "orientation": [ + 0.1816534399986267, + -0.1299380213022232, + -0.7176657915115356, + 0.6596013307571411 + ], + "joints": [ + 0.007496245205402374 + ] + }, + "final_grasp": { + "position": [ + 0.051688455045223236, + 0.16750165820121765, + 0.00784179288893938 + ], + "orientation": [ + 0.1816534399986267, + -0.1299380213022232, + -0.7176657915115356, + 0.6596013307571411 + ], + "joints": [ + -0.0021167248487472534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005014339927583933, + -0.10306260734796524, + -0.014653761871159077 + ], + "orientation": [ + 0.7481550574302673, + -0.6633630990982056, + 0.007786114234477282, + -0.012364727444946766 + ], + "joints": [ + 0.019691400229930878 + ] + }, + "fine_grasp": { + "position": [ + 0.005077836103737354, + -0.09935913234949112, + -0.013973291963338852 + ], + "orientation": [ + 0.747507631778717, + -0.6640872955322266, + 0.007540584541857243, + -0.01279117725789547 + ], + "joints": [ + 0.01007843017578125 + ] + }, + "final_grasp": { + "position": [ + 0.005077836103737354, + -0.09935913234949112, + -0.013973291963338852 + ], + "orientation": [ + 0.747507631778717, + -0.6640872955322266, + 0.007540584541857243, + -0.01279117725789547 + ], + "joints": [ + 0.0004654601216316223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05517619103193283, + 0.17305545508861542, + -0.006897006183862686 + ], + "orientation": [ + 0.682465672492981, + 0.6778630614280701, + -0.11133097857236862, + -0.2496950626373291 + ], + "joints": [ + 0.01648307964205742 + ] + }, + "fine_grasp": { + "position": [ + 0.0532597191631794, + 0.17021161317825317, + -0.0067528109066188335 + ], + "orientation": [ + 0.6817429065704346, + 0.6792013645172119, + -0.10721612721681595, + -0.24983389675617218 + ], + "joints": [ + 0.006870109587907791 + ] + }, + "final_grasp": { + "position": [ + 0.0532597191631794, + 0.17021161317825317, + -0.0067528109066188335 + ], + "orientation": [ + 0.6817429065704346, + 0.6792013645172119, + -0.10721612721681595, + -0.24983389675617218 + ], + "joints": [ + -0.0027428604662418365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.21222244203090668, + 0.017402032390236855, + -0.003148485906422138 + ], + "orientation": [ + 0.501255214214325, + -0.48589470982551575, + -0.5025526881217957, + 0.5099905729293823 + ], + "joints": [ + 0.019200563430786133 + ] + }, + "fine_grasp": { + "position": [ + 0.20823273062705994, + 0.017230508849024773, + -0.0031783583108335733 + ], + "orientation": [ + 0.5011888742446899, + -0.4860984981060028, + -0.5025998950004578, + 0.5098150968551636 + ], + "joints": [ + 0.009587593376636505 + ] + }, + "final_grasp": { + "position": [ + 0.20823273062705994, + 0.017230508849024773, + -0.0031783583108335733 + ], + "orientation": [ + 0.5011888742446899, + -0.4860984981060028, + -0.5025998950004578, + 0.5098150968551636 + ], + "joints": [ + -2.537667751312256e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.21084073185920715, + 0.01785554550588131, + -0.002912326017394662 + ], + "orientation": [ + 0.5037757754325867, + -0.4880940318107605, + -0.501232922077179, + 0.5066947937011719 + ], + "joints": [ + 0.01901266910135746 + ] + }, + "fine_grasp": { + "position": [ + 0.20685026049613953, + 0.017701972275972366, + -0.0029608923941850662 + ], + "orientation": [ + 0.5036560893058777, + -0.48818105459213257, + -0.5014392137527466, + 0.5065260529518127 + ], + "joints": [ + 0.009817654266953468 + ] + }, + "final_grasp": { + "position": [ + 0.20685026049613953, + 0.017701972275972366, + -0.0029608923941850662 + ], + "orientation": [ + 0.5036560893058777, + -0.48818105459213257, + -0.5014392137527466, + 0.5065260529518127 + ], + "joints": [ + 0.0006226394325494766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03379059210419655, + -0.10205964744091034, + -0.018217671662569046 + ], + "orientation": [ + 0.7571821808815002, + -0.6483299732208252, + -0.06890832632780075, + 0.039937570691108704 + ], + "joints": [ + 0.019750334322452545 + ] + }, + "fine_grasp": { + "position": [ + 0.03349858894944191, + -0.09833386540412903, + -0.017274731770157814 + ], + "orientation": [ + 0.7558627128601074, + -0.6498475670814514, + -0.0698050856590271, + 0.03869297355413437 + ], + "joints": [ + 0.010158263146877289 + ] + }, + "final_grasp": { + "position": [ + 0.03349858894944191, + -0.09833386540412903, + -0.017274731770157814 + ], + "orientation": [ + 0.7558627128601074, + -0.6498475670814514, + -0.0698050856590271, + 0.03869297355413437 + ], + "joints": [ + 0.0005661919713020325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033841513097286224, + -0.10193102061748505, + -0.018157213926315308 + ], + "orientation": [ + 0.7571137547492981, + -0.6485134959220886, + -0.0689464882016182, + 0.038147468119859695 + ], + "joints": [ + 0.019750334322452545 + ] + }, + "fine_grasp": { + "position": [ + 0.03355809673666954, + -0.09822947531938553, + -0.017251480370759964 + ], + "orientation": [ + 0.7558892369270325, + -0.6499144434928894, + -0.06990154087543488, + 0.03683068975806236 + ], + "joints": [ + 0.010158263146877289 + ] + }, + "final_grasp": { + "position": [ + 0.03355809673666954, + -0.09822947531938553, + -0.017251480370759964 + ], + "orientation": [ + 0.7558892369270325, + -0.6499144434928894, + -0.06990154087543488, + 0.03683068975806236 + ], + "joints": [ + 0.0005661919713020325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.21273201704025269, + 0.01725810207426548, + -0.0024668113328516483 + ], + "orientation": [ + 0.5037938356399536, + -0.48715564608573914, + -0.5041495561599731, + 0.5046824216842651 + ], + "joints": [ + 0.018611639738082886 + ] + }, + "fine_grasp": { + "position": [ + 0.20872773230075836, + 0.017109306529164314, + -0.00252632237970829 + ], + "orientation": [ + 0.5038638114929199, + -0.48719942569732666, + -0.5041530728340149, + 0.5045667290687561 + ], + "joints": [ + 0.009416624903678894 + ] + }, + "final_grasp": { + "position": [ + 0.20872773230075836, + 0.017109306529164314, + -0.00252632237970829 + ], + "orientation": [ + 0.5038638114929199, + -0.48719942569732666, + -0.5041530728340149, + 0.5045667290687561 + ], + "joints": [ + 0.00022161006927490234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1510653793811798, + -0.0613119900226593, + 0.00448246207088232 + ], + "orientation": [ + 0.6189894676208496, + -0.6581480503082275, + 0.29596906900405884, + -0.3099929392337799 + ], + "joints": [ + 0.019752822816371918 + ] + }, + "fine_grasp": { + "position": [ + -0.15111525356769562, + -0.05882000923156738, + 0.003941008821129799 + ], + "orientation": [ + 0.6186133027076721, + -0.6572495102882385, + 0.29328957200050354, + -0.3151540458202362 + ], + "joints": [ + 0.009721897542476654 + ] + }, + "final_grasp": { + "position": [ + -0.15111525356769562, + -0.05882000923156738, + 0.003941008821129799 + ], + "orientation": [ + 0.6186133027076721, + -0.6572495102882385, + 0.29328957200050354, + -0.3151540458202362 + ], + "joints": [ + -0.0003090277314186096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1766757071018219, + 0.052312444895505905, + -0.00015856772370170802 + ], + "orientation": [ + 0.5562371611595154, + 0.5371080636978149, + 0.45682471990585327, + 0.4398026168346405 + ], + "joints": [ + 0.019638322293758392 + ] + }, + "fine_grasp": { + "position": [ + -0.17512257397174835, + 0.050075680017471313, + 0.0012537698494270444 + ], + "orientation": [ + 0.5535785555839539, + 0.5344292521476746, + 0.46775221824645996, + 0.4349069595336914 + ], + "joints": [ + 0.0104433074593544 + ] + }, + "final_grasp": { + "position": [ + -0.17512257397174835, + 0.050075680017471313, + 0.0012537698494270444 + ], + "orientation": [ + 0.5535785555839539, + 0.5344292521476746, + 0.46775221824645996, + 0.4349069595336914 + ], + "joints": [ + 0.001248292624950409 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17740996181964874, + -0.06383716315031052, + 0.014829779975116253 + ], + "orientation": [ + 0.6057674884796143, + -0.7137631773948669, + -0.23018382489681244, + 0.26571279764175415 + ], + "joints": [ + 0.01810481958091259 + ] + }, + "fine_grasp": { + "position": [ + 0.1737498939037323, + -0.062373142689466476, + 0.014776451513171196 + ], + "orientation": [ + 0.600336492061615, + -0.7096940279006958, + -0.24006257951259613, + 0.27982231974601746 + ], + "joints": [ + 0.010163670405745506 + ] + }, + "final_grasp": { + "position": [ + 0.1737498939037323, + -0.062373142689466476, + 0.014776451513171196 + ], + "orientation": [ + 0.600336492061615, + -0.7096940279006958, + -0.24006257951259613, + 0.27982231974601746 + ], + "joints": [ + 0.0022225212305784225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15128134191036224, + -0.06825356185436249, + -0.004124838393181562 + ], + "orientation": [ + 0.6741849184036255, + -0.6260545253753662, + -0.3001055121421814, + 0.25192683935165405 + ], + "joints": [ + 0.019905684515833855 + ] + }, + "fine_grasp": { + "position": [ + 0.15241925418376923, + -0.0648776963353157, + -0.0034547930117696524 + ], + "orientation": [ + 0.6725158095359802, + -0.6223261952400208, + -0.3115498721599579, + 0.2517324984073639 + ], + "joints": [ + 0.009874759241938591 + ] + }, + "final_grasp": { + "position": [ + 0.15241925418376923, + -0.0648776963353157, + -0.0034547930117696524 + ], + "orientation": [ + 0.6725158095359802, + -0.6223261952400208, + -0.3115498721599579, + 0.2517324984073639 + ], + "joints": [ + -0.00015616603195667267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059133175760507584, + -0.12042387574911118, + -0.022996077314019203 + ], + "orientation": [ + 0.0927448645234108, + 0.04430845379829407, + 0.6556777358055115, + 0.7480118870735168 + ], + "joints": [ + 0.022264529019594193 + ] + }, + "fine_grasp": { + "position": [ + -0.058933962136507034, + -0.11697442084550858, + -0.02134852297604084 + ], + "orientation": [ + 0.09190941601991653, + 0.041422128677368164, + 0.6489283442497253, + 0.754141092300415 + ], + "joints": [ + 0.00983036682009697 + ] + }, + "final_grasp": { + "position": [ + -0.058933962136507034, + -0.11697442084550858, + -0.02134852297604084 + ], + "orientation": [ + 0.09190941601991653, + 0.041422128677368164, + 0.6489283442497253, + 0.754141092300415 + ], + "joints": [ + -0.0026037953794002533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.20676898956298828, + 0.04174387454986572, + 0.016650652512907982 + ], + "orientation": [ + 0.44167229533195496, + -0.43152061104774475, + 0.6201468706130981, + -0.48387330770492554 + ], + "joints": [ + 0.020085763186216354 + ] + }, + "fine_grasp": { + "position": [ + -0.20292514562606812, + 0.04097959026694298, + 0.01605996862053871 + ], + "orientation": [ + 0.44339534640312195, + -0.43105795979499817, + 0.6194820404052734, + -0.48356133699417114 + ], + "joints": [ + 0.010472793132066727 + ] + }, + "final_grasp": { + "position": [ + -0.20292514562606812, + 0.04097959026694298, + 0.01605996862053871 + ], + "orientation": [ + 0.44339534640312195, + -0.43105795979499817, + 0.6194820404052734, + -0.48356133699417114 + ], + "joints": [ + 0.000859823077917099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.2052885890007019, + 0.041635580360889435, + 0.01678437739610672 + ], + "orientation": [ + 0.44349199533462524, + -0.4312795400619507, + 0.6193792223930359, + -0.48340681195259094 + ], + "joints": [ + 0.019747182726860046 + ] + }, + "fine_grasp": { + "position": [ + -0.2013830691576004, + 0.04088328406214714, + 0.016166802495718002 + ], + "orientation": [ + 0.44458869099617004, + -0.43121540546417236, + 0.6198830008506775, + -0.4818083941936493 + ], + "joints": [ + 0.010552167892456055 + ] + }, + "final_grasp": { + "position": [ + -0.2013830691576004, + 0.04088328406214714, + 0.016166802495718002 + ], + "orientation": [ + 0.44458869099617004, + -0.43121540546417236, + 0.6198830008506775, + -0.4818083941936493 + ], + "joints": [ + 0.001357153058052063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03994356095790863, + -0.11305337399244308, + 0.013068520464003086 + ], + "orientation": [ + 0.027691861614584923, + -0.08751553297042847, + 0.7388262748718262, + 0.6676151752471924 + ], + "joints": [ + 0.019716035574674606 + ] + }, + "fine_grasp": { + "position": [ + -0.04012409970164299, + -0.10913515090942383, + 0.012651277706027031 + ], + "orientation": [ + 0.03007517009973526, + -0.08911784738302231, + 0.7379508018493652, + 0.668268084526062 + ], + "joints": [ + 0.010103065520524979 + ] + }, + "final_grasp": { + "position": [ + -0.04012409970164299, + -0.10913515090942383, + 0.012651277706027031 + ], + "orientation": [ + 0.03007517009973526, + -0.08911784738302231, + 0.7379508018493652, + 0.668268084526062 + ], + "joints": [ + 0.000490095466375351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11369623988866806, + 0.13355661928653717, + 0.0032752002589404583 + ], + "orientation": [ + 0.18809400498867035, + -0.2963363528251648, + 0.6525830626487732, + -0.6715212464332581 + ], + "joints": [ + 0.01864764466881752 + ] + }, + "fine_grasp": { + "position": [ + -0.11170227825641632, + 0.13126172125339508, + 0.003687765682116151 + ], + "orientation": [ + 0.1846834421157837, + -0.3024250566959381, + 0.651247501373291, + -0.6710497140884399 + ], + "joints": [ + 0.009034674614667892 + ] + }, + "final_grasp": { + "position": [ + -0.11170227825641632, + 0.13126172125339508, + 0.003687765682116151 + ], + "orientation": [ + 0.1846834421157837, + -0.3024250566959381, + 0.651247501373291, + -0.6710497140884399 + ], + "joints": [ + -0.0005782954394817352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08958523720502853, + 0.14958758652210236, + -0.01440347544848919 + ], + "orientation": [ + 0.18259350955486298, + -0.1315118372440338, + -0.6524472832679749, + 0.7236550450325012 + ], + "joints": [ + 0.01855073682963848 + ] + }, + "fine_grasp": { + "position": [ + 0.08825850486755371, + 0.147231787443161, + -0.014359726570546627 + ], + "orientation": [ + 0.18598027527332306, + -0.1324968934059143, + -0.6506803631782532, + 0.7242036461830139 + ], + "joints": [ + 0.00935572199523449 + ] + }, + "final_grasp": { + "position": [ + 0.08825850486755371, + 0.147231787443161, + -0.014359726570546627 + ], + "orientation": [ + 0.18598027527332306, + -0.1324968934059143, + -0.6506803631782532, + 0.7242036461830139 + ], + "joints": [ + 0.00016070716083049774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07345447689294815, + -0.10655154287815094, + 0.027211567386984825 + ], + "orientation": [ + 0.020902246236801147, + -0.04234738275408745, + -0.7795021533966064, + -0.6246166825294495 + ], + "joints": [ + 0.019912322983145714 + ] + }, + "fine_grasp": { + "position": [ + 0.0734478160738945, + -0.10275819152593613, + 0.026592575013637543 + ], + "orientation": [ + 0.022895261645317078, + -0.04436943307518959, + -0.7801162004470825, + -0.6236393451690674 + ], + "joints": [ + 0.010717308148741722 + ] + }, + "final_grasp": { + "position": [ + 0.0734478160738945, + -0.10275819152593613, + 0.026592575013637543 + ], + "orientation": [ + 0.022895261645317078, + -0.04436943307518959, + -0.7801162004470825, + -0.6236393451690674 + ], + "joints": [ + 0.0015222933143377304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1737137883901596, + 0.08004672825336456, + 0.015605226159095764 + ], + "orientation": [ + 0.39304205775260925, + -0.38211551308631897, + -0.647993266582489, + 0.5287820100784302 + ], + "joints": [ + 0.020459001883864403 + ] + }, + "fine_grasp": { + "position": [ + 0.17183639109134674, + 0.07827449589967728, + 0.015531463548541069 + ], + "orientation": [ + 0.3895243704319, + -0.37832146883010864, + -0.6507685780525208, + 0.530701220035553 + ], + "joints": [ + 0.01044897548854351 + ] + }, + "final_grasp": { + "position": [ + 0.17183639109134674, + 0.07827449589967728, + 0.015531463548541069 + ], + "orientation": [ + 0.3895243704319, + -0.37832146883010864, + -0.6507685780525208, + 0.530701220035553 + ], + "joints": [ + 0.0004389490932226181 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18226195871829987, + 0.08699417859315872, + 0.007728123106062412 + ], + "orientation": [ + 0.29831182956695557, + -0.3857135772705078, + -0.6187986135482788, + 0.6158922910690308 + ], + "joints": [ + 0.019115077331662178 + ] + }, + "fine_grasp": { + "position": [ + 0.17899735271930695, + 0.08509884774684906, + 0.007660034578293562 + ], + "orientation": [ + 0.29640308022499084, + -0.389202356338501, + -0.6186051368713379, + 0.6148124933242798 + ], + "joints": [ + 0.010338017717003822 + ] + }, + "final_grasp": { + "position": [ + 0.17899735271930695, + 0.08509884774684906, + 0.007660034578293562 + ], + "orientation": [ + 0.29640308022499084, + -0.389202356338501, + -0.6186051368713379, + 0.6148124933242798 + ], + "joints": [ + 0.0015609581023454666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18214760720729828, + 0.0870363786816597, + 0.007061431650072336 + ], + "orientation": [ + 0.30185404419898987, + -0.3852003514766693, + -0.6182850003242493, + 0.6150028705596924 + ], + "joints": [ + 0.019530659541487694 + ] + }, + "fine_grasp": { + "position": [ + 0.17886535823345184, + 0.08509818464517593, + 0.006824365351349115 + ], + "orientation": [ + 0.2999172806739807, + -0.38750964403152466, + -0.6176971793174744, + 0.6150902509689331 + ], + "joints": [ + 0.010335644707083702 + ] + }, + "final_grasp": { + "position": [ + 0.17886535823345184, + 0.08509818464517593, + 0.006824365351349115 + ], + "orientation": [ + 0.2999172806739807, + -0.38750964403152466, + -0.6176971793174744, + 0.6150902509689331 + ], + "joints": [ + 0.0011406298726797104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04962253198027611, + 0.17503760755062103, + 0.022927897050976753 + ], + "orientation": [ + 0.07658526301383972, + -0.22645272314548492, + 0.7342677116394043, + -0.6353776454925537 + ], + "joints": [ + 0.016721349209547043 + ] + }, + "fine_grasp": { + "position": [ + -0.04779643565416336, + 0.1723911017179489, + 0.02308465912938118 + ], + "orientation": [ + 0.07782737910747528, + -0.23055629432201385, + 0.73440021276474, + -0.63359534740448 + ], + "joints": [ + 0.007129277102649212 + ] + }, + "final_grasp": { + "position": [ + -0.04779643565416336, + 0.1723911017179489, + 0.02308465912938118 + ], + "orientation": [ + 0.07782737910747528, + -0.23055629432201385, + 0.73440021276474, + -0.63359534740448 + ], + "joints": [ + -0.002462795004248619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18242178857326508, + 0.08795423060655594, + 0.007510722614824772 + ], + "orientation": [ + 0.3017295300960541, + -0.3895265460014343, + -0.6153461337089539, + 0.6152865290641785 + ], + "joints": [ + 0.019044531509280205 + ] + }, + "fine_grasp": { + "position": [ + 0.17920389771461487, + 0.08607923239469528, + 0.007551546208560467 + ], + "orientation": [ + 0.2994743287563324, + -0.39270004630088806, + -0.6154114603996277, + 0.6143050193786621 + ], + "joints": [ + 0.009870415553450584 + ] + }, + "final_grasp": { + "position": [ + 0.17920389771461487, + 0.08607923239469528, + 0.007551546208560467 + ], + "orientation": [ + 0.2994743287563324, + -0.39270004630088806, + -0.6154114603996277, + 0.6143050193786621 + ], + "joints": [ + 0.000696299597620964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16850298643112183, + 0.09099099785089493, + 0.00037264713319018483 + ], + "orientation": [ + 0.6014123558998108, + 0.6348146796226501, + -0.31118929386138916, + -0.3721219599246979 + ], + "joints": [ + 0.01981581747531891 + ] + }, + "fine_grasp": { + "position": [ + 0.16712674498558044, + 0.08895004540681839, + 0.0009164209477603436 + ], + "orientation": [ + 0.5948023796081543, + 0.6394148468971252, + -0.30550721287727356, + -0.37950509786605835 + ], + "joints": [ + 0.010620802640914917 + ] + }, + "final_grasp": { + "position": [ + 0.16712674498558044, + 0.08895004540681839, + 0.0009164209477603436 + ], + "orientation": [ + 0.5948023796081543, + 0.6394148468971252, + -0.30550721287727356, + -0.37950509786605835 + ], + "joints": [ + 0.0014257878065109253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18342657387256622, + -0.03842178359627724, + 0.0219215489923954 + ], + "orientation": [ + 0.3279417157173157, + 0.42385369539260864, + 0.6428175568580627, + 0.547346293926239 + ], + "joints": [ + 0.020435892045497894 + ] + }, + "fine_grasp": { + "position": [ + -0.18082718551158905, + -0.037093374878168106, + 0.022086532786488533 + ], + "orientation": [ + 0.3245607912540436, + 0.4238063395023346, + 0.6447374224662781, + 0.5471398830413818 + ], + "joints": [ + 0.011240877211093903 + ] + }, + "final_grasp": { + "position": [ + -0.18082718551158905, + -0.037093374878168106, + 0.022086532786488533 + ], + "orientation": [ + 0.3245607912540436, + 0.4238063395023346, + 0.6447374224662781, + 0.5471398830413818 + ], + "joints": [ + 0.002045862376689911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16816958785057068, + 0.08985582739114761, + 0.00045064330333843827 + ], + "orientation": [ + 0.6028606295585632, + 0.6363323330879211, + -0.3082994520664215, + -0.3695831596851349 + ], + "joints": [ + 0.01992226392030716 + ] + }, + "fine_grasp": { + "position": [ + 0.16674895584583282, + 0.0880545899271965, + 0.0009889507200568914 + ], + "orientation": [ + 0.5962797999382019, + 0.6412780284881592, + -0.302436500787735, + -0.3764903247356415 + ], + "joints": [ + 0.010727249085903168 + ] + }, + "final_grasp": { + "position": [ + 0.16674895584583282, + 0.0880545899271965, + 0.0009889507200568914 + ], + "orientation": [ + 0.5962797999382019, + 0.6412780284881592, + -0.302436500787735, + -0.3764903247356415 + ], + "joints": [ + 0.001532234251499176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1908806562423706, + 0.06749746203422546, + -0.0029700424056500196 + ], + "orientation": [ + 0.5707913041114807, + 0.5825312733650208, + -0.38629886507987976, + -0.4308456480503082 + ], + "joints": [ + 0.018750160932540894 + ] + }, + "fine_grasp": { + "position": [ + 0.1876610368490219, + 0.06614920496940613, + -0.002586428541690111 + ], + "orientation": [ + 0.5690089464187622, + 0.5851902365684509, + -0.3844067454338074, + -0.4312918484210968 + ], + "joints": [ + 0.009555146098136902 + ] + }, + "final_grasp": { + "position": [ + 0.1876610368490219, + 0.06614920496940613, + -0.002586428541690111 + ], + "orientation": [ + 0.5690089464187622, + 0.5851902365684509, + -0.3844067454338074, + -0.4312918484210968 + ], + "joints": [ + 0.00036013126373291016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12857356667518616, + 0.13184311985969543, + 0.01972941868007183 + ], + "orientation": [ + 0.15603473782539368, + -0.2366943061351776, + 0.7268133163452148, + -0.625596821308136 + ], + "joints": [ + 0.020906204357743263 + ] + }, + "fine_grasp": { + "position": [ + -0.12714923918247223, + 0.1288999766111374, + 0.019793957471847534 + ], + "orientation": [ + 0.15196798741817474, + -0.2369157373905182, + 0.7289629578590393, + -0.6240109801292419 + ], + "joints": [ + 0.011711189523339272 + ] + }, + "final_grasp": { + "position": [ + -0.12714923918247223, + 0.1288999766111374, + 0.019793957471847534 + ], + "orientation": [ + 0.15196798741817474, + -0.2369157373905182, + 0.7289629578590393, + -0.6240109801292419 + ], + "joints": [ + 0.00251617468893528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00816148892045021, + -0.08808760344982147, + 0.027173658832907677 + ], + "orientation": [ + 0.011557959951460361, + 0.05665570870041847, + -0.7859076261520386, + -0.615634560585022 + ], + "joints": [ + 0.022337397560477257 + ] + }, + "fine_grasp": { + "position": [ + 0.00822792761027813, + -0.08690977096557617, + 0.026963571086525917 + ], + "orientation": [ + 0.009346738457679749, + 0.0600753016769886, + -0.7854741811752319, + -0.6159008145332336 + ], + "joints": [ + 0.012745326384902 + ] + }, + "final_grasp": { + "position": [ + 0.00822792761027813, + -0.08690977096557617, + 0.026963571086525917 + ], + "orientation": [ + 0.009346738457679749, + 0.0600753016769886, + -0.7854741811752319, + -0.6159008145332336 + ], + "joints": [ + 0.003153255209326744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16317936778068542, + -0.04325168579816818, + 0.020812321454286575 + ], + "orientation": [ + 0.5433228611946106, + -0.6691290736198425, + -0.3750067949295044, + 0.34122803807258606 + ], + "joints": [ + 0.0205698162317276 + ] + }, + "fine_grasp": { + "position": [ + 0.16201651096343994, + -0.04152325913310051, + 0.020941566675901413 + ], + "orientation": [ + 0.540703296661377, + -0.6723811030387878, + -0.3757719099521637, + 0.3381407856941223 + ], + "joints": [ + 0.011792756617069244 + ] + }, + "final_grasp": { + "position": [ + 0.16201651096343994, + -0.04152325913310051, + 0.020941566675901413 + ], + "orientation": [ + 0.540703296661377, + -0.6723811030387878, + -0.3757719099521637, + 0.3381407856941223 + ], + "joints": [ + 0.0030156970024108887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12022936344146729, + 0.13285037875175476, + -0.024068966507911682 + ], + "orientation": [ + 0.694318413734436, + 0.6053146123886108, + -0.18959414958953857, + -0.3399563133716583 + ], + "joints": [ + 0.0187117550522089 + ] + }, + "fine_grasp": { + "position": [ + 0.11786039173603058, + 0.13090577721595764, + -0.02283327654004097 + ], + "orientation": [ + 0.6919289231300354, + 0.6076151728630066, + -0.19023247063159943, + -0.3403668999671936 + ], + "joints": [ + 0.009516740217804909 + ] + }, + "final_grasp": { + "position": [ + 0.11786039173603058, + 0.13090577721595764, + -0.02283327654004097 + ], + "orientation": [ + 0.6919289231300354, + 0.6076151728630066, + -0.19023247063159943, + -0.3403668999671936 + ], + "joints": [ + 0.00032172538340091705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09729285538196564, + -0.09680035710334778, + 0.021373972296714783 + ], + "orientation": [ + 0.6357694864273071, + -0.7400290369987488, + -0.2010115683078766, + 0.08802533894777298 + ], + "joints": [ + 0.020057829096913338 + ] + }, + "fine_grasp": { + "position": [ + 0.09648915380239487, + -0.09342475235462189, + 0.021306950598955154 + ], + "orientation": [ + 0.6330537796020508, + -0.7415781021118164, + -0.20657846331596375, + 0.08142558485269547 + ], + "joints": [ + 0.011280769482254982 + ] + }, + "final_grasp": { + "position": [ + 0.09648915380239487, + -0.09342475235462189, + 0.021306950598955154 + ], + "orientation": [ + 0.6330537796020508, + -0.7415781021118164, + -0.20657846331596375, + 0.08142558485269547 + ], + "joints": [ + 0.0025037098675966263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09734651446342468, + -0.09663711488246918, + 0.02143850177526474 + ], + "orientation": [ + 0.6357504725456238, + -0.7400321364402771, + -0.20135599374771118, + 0.08734722435474396 + ], + "joints": [ + 0.02027577906847 + ] + }, + "fine_grasp": { + "position": [ + 0.09654658287763596, + -0.09327800571918488, + 0.02140177972614765 + ], + "orientation": [ + 0.6330068707466125, + -0.7416035532951355, + -0.20690549910068512, + 0.08072416484355927 + ], + "joints": [ + 0.011498719453811646 + ] + }, + "final_grasp": { + "position": [ + 0.09654658287763596, + -0.09327800571918488, + 0.02140177972614765 + ], + "orientation": [ + 0.6330068707466125, + -0.7416035532951355, + -0.20690549910068512, + 0.08072416484355927 + ], + "joints": [ + 0.00272165983915329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11112592369318008, + -0.08116260170936584, + 0.028725093230605125 + ], + "orientation": [ + 0.2084261029958725, + 0.23191821575164795, + -0.7516814470291138, + -0.5811605453491211 + ], + "joints": [ + 0.02070470154285431 + ] + }, + "fine_grasp": { + "position": [ + 0.1101635992527008, + -0.07820671051740646, + 0.0285209808498621 + ], + "orientation": [ + 0.20316584408283234, + 0.23561625182628632, + -0.7540908455848694, + -0.578407883644104 + ], + "joints": [ + 0.01234559714794159 + ] + }, + "final_grasp": { + "position": [ + 0.1101635992527008, + -0.07820671051740646, + 0.0285209808498621 + ], + "orientation": [ + 0.20316584408283234, + 0.23561625182628632, + -0.7540908455848694, + -0.578407883644104 + ], + "joints": [ + 0.00398649275302887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06705830991268158, + -0.05882713571190834, + -0.09965796023607254 + ], + "orientation": [ + 0.7084112763404846, + -0.1806439459323883, + 0.454284131526947, + 0.5090651512145996 + ], + "joints": [ + 0.025927938520908356 + ] + }, + "fine_grasp": { + "position": [ + -0.06637018173933029, + -0.057629916816949844, + -0.09504628926515579 + ], + "orientation": [ + 0.7167016267776489, + -0.1833098828792572, + 0.43817806243896484, + 0.5106233954429626 + ], + "joints": [ + 0.02645038813352585 + ] + }, + "final_grasp": { + "position": [ + -0.06637018173933029, + -0.057629916816949844, + -0.09504628926515579 + ], + "orientation": [ + 0.7167016267776489, + -0.1833098828792572, + 0.43817806243896484, + 0.5106233954429626 + ], + "joints": [ + 0.02697283774614334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0068658157251775265, + 0.007218734361231327, + -0.13563674688339233 + ], + "orientation": [ + 0.9858800172805786, + -0.05308593437075615, + -0.1455497145652771, + -0.06354366987943649 + ], + "joints": [ + 0.02983635663986206 + ] + }, + "fine_grasp": { + "position": [ + 0.006796041037887335, + 0.007480552885681391, + -0.13165587186813354 + ], + "orientation": [ + 0.9866546988487244, + -0.051421158015728, + -0.1405855119228363, + -0.06406266242265701 + ], + "joints": [ + 0.021435454487800598 + ] + }, + "final_grasp": { + "position": [ + 0.006796041037887335, + 0.007480552885681391, + -0.13165587186813354 + ], + "orientation": [ + 0.9866546988487244, + -0.051421158015728, + -0.1405855119228363, + -0.06406266242265701 + ], + "joints": [ + 0.013034552335739136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027612702921032906, + 0.059898924082517624, + -0.1442294865846634 + ], + "orientation": [ + 0.9956977367401123, + 0.04701049625873566, + -0.07743126153945923, + -0.019506311044096947 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.026979222893714905, + 0.059522904455661774, + -0.1393701583147049 + ], + "orientation": [ + 0.9957625269889832, + 0.046799469739198685, + -0.07701140642166138, + -0.018336515873670578 + ], + "joints": [ + 0.02957122027873993 + ] + }, + "final_grasp": { + "position": [ + 0.026979222893714905, + 0.059522904455661774, + -0.1393701583147049 + ], + "orientation": [ + 0.9957625269889832, + 0.046799469739198685, + -0.07701140642166138, + -0.018336515873670578 + ], + "joints": [ + 0.025809623301029205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014494135044515133, + 0.06406205892562866, + -0.14357979595661163 + ], + "orientation": [ + 0.9492650628089905, + 0.09059672057628632, + 0.12623797357082367, + -0.2734081447124481 + ], + "joints": [ + 0.03192034363746643 + ] + }, + "fine_grasp": { + "position": [ + -0.014543939381837845, + 0.06339666247367859, + -0.13867443799972534 + ], + "orientation": [ + 0.9497379660606384, + 0.08945304900407791, + 0.12116188555955887, + -0.2744373083114624 + ], + "joints": [ + 0.028576701879501343 + ] + }, + "final_grasp": { + "position": [ + -0.014543939381837845, + 0.06339666247367859, + -0.13867443799972534 + ], + "orientation": [ + 0.9497379660606384, + 0.08945304900407791, + 0.12116188555955887, + -0.2744373083114624 + ], + "joints": [ + 0.025233060121536255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01505495049059391, + 0.06456118822097778, + -0.14372000098228455 + ], + "orientation": [ + 0.9502625465393066, + 0.08777330815792084, + 0.12852607667446136, + -0.2697737514972687 + ], + "joints": [ + 0.03081495687365532 + ] + }, + "fine_grasp": { + "position": [ + -0.015062722377479076, + 0.06389563530683517, + -0.1388399302959442 + ], + "orientation": [ + 0.9507011771202087, + 0.08635137975215912, + 0.12379778176546097, + -0.2708964943885803 + ], + "joints": [ + 0.02663540467619896 + ] + }, + "final_grasp": { + "position": [ + -0.015062722377479076, + 0.06389563530683517, + -0.1388399302959442 + ], + "orientation": [ + 0.9507011771202087, + 0.08635137975215912, + 0.12379778176546097, + -0.2708964943885803 + ], + "joints": [ + 0.0224558524787426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030270302668213844, + 0.17122632265090942, + 0.01594153791666031 + ], + "orientation": [ + 0.07554871588945389, + -0.08577674627304077, + -0.7471082806587219, + 0.6548008322715759 + ], + "joints": [ + 0.018411897122859955 + ] + }, + "fine_grasp": { + "position": [ + 0.02902410365641117, + 0.16947239637374878, + 0.01619715616106987 + ], + "orientation": [ + 0.07545280456542969, + -0.08176827430725098, + -0.7503167390823364, + 0.6516483426094055 + ], + "joints": [ + 0.009634837508201599 + ] + }, + "final_grasp": { + "position": [ + 0.02902410365641117, + 0.16947239637374878, + 0.01619715616106987 + ], + "orientation": [ + 0.07545280456542969, + -0.08176827430725098, + -0.7503167390823364, + 0.6516483426094055 + ], + "joints": [ + 0.0008577778935432434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02988508716225624, + 0.17049001157283783, + 0.01607131026685238 + ], + "orientation": [ + 0.07648815214633942, + -0.08556573837995529, + -0.7477351427078247, + 0.6540032029151917 + ], + "joints": [ + 0.01889059692621231 + ] + }, + "fine_grasp": { + "position": [ + 0.028731945902109146, + 0.16877104341983795, + 0.016267213970422745 + ], + "orientation": [ + 0.07636081427335739, + -0.08243194967508316, + -0.7504945993423462, + 0.6512539982795715 + ], + "joints": [ + 0.009695582091808319 + ] + }, + "final_grasp": { + "position": [ + 0.028731945902109146, + 0.16877104341983795, + 0.016267213970422745 + ], + "orientation": [ + 0.07636081427335739, + -0.08243194967508316, + -0.7504945993423462, + 0.6512539982795715 + ], + "joints": [ + 0.0005005672574043274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02020384557545185, + 0.019654350355267525, + -0.1541089415550232 + ], + "orientation": [ + 0.8019753098487854, + -0.07396233826875687, + 0.022800235077738762, + -0.5923221707344055 + ], + "joints": [ + 0.02090775966644287 + ] + }, + "fine_grasp": { + "position": [ + -0.01971534453332424, + 0.019714899361133575, + -0.14933256804943085 + ], + "orientation": [ + 0.8018491268157959, + -0.07126721739768982, + 0.022843513637781143, + -0.592821478843689 + ], + "joints": [ + 0.023060232400894165 + ] + }, + "final_grasp": { + "position": [ + -0.01971534453332424, + 0.019714899361133575, + -0.14933256804943085 + ], + "orientation": [ + 0.8018491268157959, + -0.07126721739768982, + 0.022843513637781143, + -0.592821478843689 + ], + "joints": [ + 0.02521270513534546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020750775933265686, + 0.018548106774687767, + -0.15310125052928925 + ], + "orientation": [ + 0.7977859377861023, + -0.08494690805673599, + 0.03432043641805649, + -0.5959394574165344 + ], + "joints": [ + 0.011438463814556599 + ] + }, + "fine_grasp": { + "position": [ + -0.0203538965433836, + 0.018625983968377113, + -0.1483432501554489 + ], + "orientation": [ + 0.7978159785270691, + -0.08193834871053696, + 0.03369565308094025, + -0.5963560342788696 + ], + "joints": [ + 0.014823902398347855 + ] + }, + "final_grasp": { + "position": [ + -0.0203538965433836, + 0.018625983968377113, + -0.1483432501554489 + ], + "orientation": [ + 0.7978159785270691, + -0.08193834871053696, + 0.03369565308094025, + -0.5963560342788696 + ], + "joints": [ + 0.018209341913461685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005745254922658205, + -0.10016092658042908, + -0.014362803660333157 + ], + "orientation": [ + 0.7479615807533264, + -0.6635322570800781, + 0.00902572087943554, + -0.014036431908607483 + ], + "joints": [ + 0.019715771079063416 + ] + }, + "fine_grasp": { + "position": [ + 0.005783163011074066, + -0.09694638848304749, + -0.014016672968864441 + ], + "orientation": [ + 0.7492436766624451, + -0.6620747447013855, + 0.008708938956260681, + -0.014667244628071785 + ], + "joints": [ + 0.010520756244659424 + ] + }, + "final_grasp": { + "position": [ + 0.005783163011074066, + -0.09694638848304749, + -0.014016672968864441 + ], + "orientation": [ + 0.7492436766624451, + -0.6620747447013855, + 0.008708938956260681, + -0.014667244628071785 + ], + "joints": [ + 0.0013257414102554321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03668399155139923, + -0.09115578979253769, + -0.006318637635558844 + ], + "orientation": [ + 0.7225388884544373, + -0.681727409362793, + -0.08011173456907272, + 0.08226384222507477 + ], + "joints": [ + 0.020265962928533554 + ] + }, + "fine_grasp": { + "position": [ + 0.03760184720158577, + -0.08980301022529602, + -0.006025112234055996 + ], + "orientation": [ + 0.721309244632721, + -0.6822577714920044, + -0.08345595002174377, + 0.08527806401252747 + ], + "joints": [ + 0.01023503765463829 + ] + }, + "final_grasp": { + "position": [ + 0.03760184720158577, + -0.08980301022529602, + -0.006025112234055996 + ], + "orientation": [ + 0.721309244632721, + -0.6822577714920044, + -0.08345595002174377, + 0.08527806401252747 + ], + "joints": [ + 0.00020411238074302673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15123461186885834, + -0.060213491320610046, + 0.004996562842279673 + ], + "orientation": [ + 0.6145365834236145, + -0.6614738702774048, + 0.290518581867218, + -0.31685319542884827 + ], + "joints": [ + 0.019757088273763657 + ] + }, + "fine_grasp": { + "position": [ + -0.1526952087879181, + -0.05682089179754257, + 0.0044177221134305 + ], + "orientation": [ + 0.60999596118927, + -0.6588417291641235, + 0.2935650646686554, + -0.3281037211418152 + ], + "joints": [ + 0.010144118219614029 + ] + }, + "final_grasp": { + "position": [ + -0.1526952087879181, + -0.05682089179754257, + 0.0044177221134305 + ], + "orientation": [ + 0.60999596118927, + -0.6588417291641235, + 0.2935650646686554, + -0.3281037211418152 + ], + "joints": [ + 0.0005311481654644012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1518181711435318, + -0.06035160645842552, + 0.004717899486422539 + ], + "orientation": [ + 0.6162983775138855, + -0.6614459156990051, + 0.288644015789032, + -0.3151988685131073 + ], + "joints": [ + 0.019748330116271973 + ] + }, + "fine_grasp": { + "position": [ + -0.1530929058790207, + -0.056963276118040085, + 0.004059252329170704 + ], + "orientation": [ + 0.6118762493133545, + -0.659138560295105, + 0.2901906371116638, + -0.3270062506198883 + ], + "joints": [ + 0.010135360062122345 + ] + }, + "final_grasp": { + "position": [ + -0.1530929058790207, + -0.056963276118040085, + 0.004059252329170704 + ], + "orientation": [ + 0.6118762493133545, + -0.659138560295105, + 0.2901906371116638, + -0.3270062506198883 + ], + "joints": [ + 0.0005223900079727173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12987500429153442, + 0.131585493683815, + 0.019277609884738922 + ], + "orientation": [ + 0.14777326583862305, + -0.22938555479049683, + 0.7278868556022644, + -0.6290675401687622 + ], + "joints": [ + 0.020715808495879173 + ] + }, + "fine_grasp": { + "position": [ + -0.12830102443695068, + 0.1287725418806076, + 0.019101226702332497 + ], + "orientation": [ + 0.14405612647533417, + -0.23172277212142944, + 0.7289894223213196, + -0.6277952790260315 + ], + "joints": [ + 0.011938748881220818 + ] + }, + "final_grasp": { + "position": [ + -0.12830102443695068, + 0.1287725418806076, + 0.019101226702332497 + ], + "orientation": [ + 0.14405612647533417, + -0.23172277212142944, + 0.7289894223213196, + -0.6277952790260315 + ], + "joints": [ + 0.003161689266562462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14430490136146545, + -0.07632404565811157, + -0.002837581094354391 + ], + "orientation": [ + 0.6696943044662476, + -0.6907928586006165, + 0.10977943986654282, + -0.24952605366706848 + ], + "joints": [ + 0.02028992399573326 + ] + }, + "fine_grasp": { + "position": [ + -0.14208683371543884, + -0.07560522109270096, + -0.002591413678601384 + ], + "orientation": [ + 0.6694947481155396, + -0.6910861134529114, + 0.10517722368240356, + -0.251226007938385 + ], + "joints": [ + 0.010676953941583633 + ] + }, + "final_grasp": { + "position": [ + -0.14208683371543884, + -0.07560522109270096, + -0.002591413678601384 + ], + "orientation": [ + 0.6694947481155396, + -0.6910861134529114, + 0.10517722368240356, + -0.251226007938385 + ], + "joints": [ + 0.0010639838874340057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1836424171924591, + 0.002232733415439725, + 0.009891742840409279 + ], + "orientation": [ + 0.5059299468994141, + -0.5555745959281921, + 0.48729434609413147, + -0.4448772966861725 + ], + "joints": [ + 0.02112661302089691 + ] + }, + "fine_grasp": { + "position": [ + -0.18274150788784027, + 0.0015792015474289656, + 0.008620016276836395 + ], + "orientation": [ + 0.5099146366119385, + -0.5559325218200684, + 0.48225799202919006, + -0.44536882638931274 + ], + "joints": [ + 0.011095687747001648 + ] + }, + "final_grasp": { + "position": [ + -0.18274150788784027, + 0.0015792015474289656, + 0.008620016276836395 + ], + "orientation": [ + 0.5099146366119385, + -0.5559325218200684, + 0.48225799202919006, + -0.44536882638931274 + ], + "joints": [ + 0.0010647624731063843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06449169665575027, + -0.10544806718826294, + -0.0290018692612648 + ], + "orientation": [ + 0.7493194341659546, + -0.6380391716957092, + 0.17560774087905884, + -0.024251867085695267 + ], + "joints": [ + 0.023306529968976974 + ] + }, + "fine_grasp": { + "position": [ + 0.06357977539300919, + -0.10334734618663788, + -0.026653537526726723 + ], + "orientation": [ + 0.7590551972389221, + -0.6291717290878296, + 0.16638658940792084, + -0.01713472045958042 + ], + "joints": [ + 0.009681198745965958 + ] + }, + "final_grasp": { + "position": [ + 0.06357977539300919, + -0.10334734618663788, + -0.026653537526726723 + ], + "orientation": [ + 0.7590551972389221, + -0.6291717290878296, + 0.16638658940792084, + -0.01713472045958042 + ], + "joints": [ + -0.003944132477045059 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 58 + } +} \ No newline at end of file diff --git a/094_rest_0/Object.usd b/094_rest_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..4fdb74986269b794eee8c1e3abab4034a98f9c23 --- /dev/null +++ b/094_rest_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:997f631acc2c78ed3e1318ea98836d1177a6ecaac572b8f64264207b31494c8b +size 379500 diff --git a/095_glue_5/Annotation/dex1_1_grasp_pose.json b/095_glue_5/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..9e0f148a6451e5fac80828301187181142222766 --- /dev/null +++ b/095_glue_5/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,5218 @@ +{ + "type": "095_glue_5", + "bottom_center": [ + -5.19677996635437e-07, + 0.07603516429662704, + -0.023724401369690895 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.08267221599817276, + 0.0937124714255333, + 0.08398943394422531 + ], + "orientation": [ + 0.24042262136936188, + 0.2861785292625427, + -0.571341335773468, + 0.7306625843048096 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.0831359401345253, + 0.09522782266139984, + 0.08566571027040482 + ], + "orientation": [ + 0.2405937761068344, + 0.2785138189792633, + -0.578618586063385, + 0.7278358936309814 + ], + "joints": [ + -0.005468136630952358 + ] + }, + "final_grasp": { + "position": [ + 0.0831359401345253, + 0.09522782266139984, + 0.08566571027040482 + ], + "orientation": [ + 0.2405937761068344, + 0.2785138189792633, + -0.578618586063385, + 0.7278358936309814 + ], + "joints": [ + 0.0019980277866125107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08297491073608398, + 0.0936686173081398, + 0.08370108902454376 + ], + "orientation": [ + 0.2414526641368866, + 0.2873149514198303, + -0.5706360936164856, + 0.7304279804229736 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.0833761915564537, + 0.09518501907587051, + 0.08544480800628662 + ], + "orientation": [ + 0.2411581575870514, + 0.2796839475631714, + -0.5777369737625122, + 0.7279008626937866 + ], + "joints": [ + -0.005468136630952358 + ] + }, + "final_grasp": { + "position": [ + 0.0833761915564537, + 0.09518501907587051, + 0.08544480800628662 + ], + "orientation": [ + 0.2411581575870514, + 0.2796839475631714, + -0.5777369737625122, + 0.7279008626937866 + ], + "joints": [ + 0.0019980277866125107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08496930450201035, + 0.10133370012044907, + 0.08912529796361923 + ], + "orientation": [ + 0.5648625493049622, + -0.7331929802894592, + -0.2096918374300003, + -0.31525784730911255 + ], + "joints": [ + -0.013581991195678711 + ] + }, + "fine_grasp": { + "position": [ + -0.08173157274723053, + 0.10082333534955978, + 0.08602215349674225 + ], + "orientation": [ + 0.5677949786186218, + -0.7290067672729492, + -0.21523107588291168, + -0.3159645199775696 + ], + "joints": [ + -0.0056109968572855 + ] + }, + "final_grasp": { + "position": [ + -0.08173157274723053, + 0.10082333534955978, + 0.08602215349674225 + ], + "orientation": [ + 0.5677949786186218, + -0.7290067672729492, + -0.21523107588291168, + -0.3159645199775696 + ], + "joints": [ + 0.002359997481107712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10813312977552414, + 0.06409798562526703, + -0.05944327637553215 + ], + "orientation": [ + 0.3570287823677063, + -0.3658139407634735, + 0.6361652612686157, + 0.57793128490448 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.1077805906534195, + 0.06450352817773819, + -0.0596080981194973 + ], + "orientation": [ + 0.3626634180545807, + -0.3550765812397003, + 0.6371543407440186, + 0.5800260305404663 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.1077805906534195, + 0.06450352817773819, + -0.0596080981194973 + ], + "orientation": [ + 0.3626634180545807, + -0.3550765812397003, + 0.6371543407440186, + 0.5800260305404663 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10807880759239197, + 0.06383340805768967, + -0.059628166258335114 + ], + "orientation": [ + 0.35682621598243713, + -0.3649015724658966, + 0.6376144886016846, + 0.5770351886749268 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10777512937784195, + 0.06415947526693344, + -0.059655580669641495 + ], + "orientation": [ + 0.36263057589530945, + -0.3549061417579651, + 0.6384806632995605, + 0.5786909461021423 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.10777512937784195, + 0.06415947526693344, + -0.059655580669641495 + ], + "orientation": [ + 0.36263057589530945, + -0.3549061417579651, + 0.6384806632995605, + 0.5786909461021423 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10816313326358795, + 0.06425522267818451, + -0.05968264862895012 + ], + "orientation": [ + 0.35558122396469116, + -0.3665437400341034, + 0.637634813785553, + 0.576740562915802 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.1077478751540184, + 0.06464840471744537, + -0.05975695699453354 + ], + "orientation": [ + 0.3600156605243683, + -0.3573710322380066, + 0.6396135687828064, + 0.5775545239448547 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.1077478751540184, + 0.06464840471744537, + -0.05975695699453354 + ], + "orientation": [ + 0.3600156605243683, + -0.3573710322380066, + 0.6396135687828064, + 0.5775545239448547 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007453485857695341, + 0.11171657592058182, + 0.1229056790471077 + ], + "orientation": [ + 0.5620129108428955, + -0.8241555690765381, + -0.05850282683968544, + 0.038553956896066666 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.007357618305832148, + 0.11004094034433365, + 0.11725068092346191 + ], + "orientation": [ + 0.5716899633407593, + -0.8177028894424438, + -0.056836578994989395, + 0.03608563914895058 + ], + "joints": [ + -0.004172831773757935 + ] + }, + "final_grasp": { + "position": [ + -0.007357618305832148, + 0.11004094034433365, + 0.11725068092346191 + ], + "orientation": [ + 0.5716899633407593, + -0.8177028894424438, + -0.056836578994989395, + 0.03608563914895058 + ], + "joints": [ + 0.0022039636969566345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10785453021526337, + 0.14898930490016937, + 0.005770997144281864 + ], + "orientation": [ + 0.3755479156970978, + -0.6267233490943909, + -0.3610801696777344, + -0.5794849395751953 + ], + "joints": [ + -0.00023505493300035596 + ] + }, + "fine_grasp": { + "position": [ + -0.1046738252043724, + 0.1462877243757248, + 0.0061304764822125435 + ], + "orientation": [ + 0.3673405647277832, + -0.6345759630203247, + -0.3564336597919464, + -0.5790762901306152 + ], + "joints": [ + 0.0035910215228796005 + ] + }, + "final_grasp": { + "position": [ + -0.1046738252043724, + 0.1462877243757248, + 0.0061304764822125435 + ], + "orientation": [ + 0.3673405647277832, + -0.6345759630203247, + -0.3564336597919464, + -0.5790762901306152 + ], + "joints": [ + 0.00741709815338254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10941527038812637, + 0.16323870420455933, + 0.0014253619592636824 + ], + "orientation": [ + 0.3481527268886566, + -0.6223467588424683, + -0.34556135535240173, + -0.6099684238433838 + ], + "joints": [ + -0.00030445895390585065 + ] + }, + "fine_grasp": { + "position": [ + -0.10444767028093338, + 0.16100364923477173, + 0.0013233289355412126 + ], + "orientation": [ + 0.352063924074173, + -0.6203556060791016, + -0.35100626945495605, + -0.6066337823867798 + ], + "joints": [ + 0.006125475745648146 + ] + }, + "final_grasp": { + "position": [ + -0.10444767028093338, + 0.16100364923477173, + 0.0013233289355412126 + ], + "orientation": [ + 0.352063924074173, + -0.6203556060791016, + -0.35100626945495605, + -0.6066337823867798 + ], + "joints": [ + 0.012555410154163837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11937542259693146, + 0.09823086857795715, + -0.01709325611591339 + ], + "orientation": [ + 0.367296427488327, + -0.5572249889373779, + -0.45653191208839417, + -0.5883641839027405 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.11420153826475143, + 0.09693552553653717, + -0.017445050179958344 + ], + "orientation": [ + 0.36972519755363464, + -0.5533754229545593, + -0.4677298367023468, + -0.5816421508789062 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + -0.11420153826475143, + 0.09693552553653717, + -0.017445050179958344 + ], + "orientation": [ + 0.36972519755363464, + -0.5533754229545593, + -0.4677298367023468, + -0.5816421508789062 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11825375258922577, + 0.07481465488672256, + -0.03878657519817352 + ], + "orientation": [ + 0.33946818113327026, + -0.4984726905822754, + -0.5553436875343323, + -0.5726077556610107 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.11374082416296005, + 0.07305896282196045, + -0.03891203552484512 + ], + "orientation": [ + 0.34189489483833313, + -0.4860655963420868, + -0.5595070719718933, + -0.5777541399002075 + ], + "joints": [ + -0.005968697369098663 + ] + }, + "final_grasp": { + "position": [ + -0.11374082416296005, + 0.07305896282196045, + -0.03891203552484512 + ], + "orientation": [ + 0.34189489483833313, + -0.4860655963420868, + -0.5595070719718933, + -0.5777541399002075 + ], + "joints": [ + 0.00040809810161590576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11943168938159943, + 0.09816569834947586, + -0.017099179327487946 + ], + "orientation": [ + 0.3680770695209503, + -0.5564969182014465, + -0.45703771710395813, + -0.5881726145744324 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.11425109207630157, + 0.09689436852931976, + -0.017440233379602432 + ], + "orientation": [ + 0.37082234025001526, + -0.5522397756576538, + -0.46807432174682617, + -0.5817461013793945 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + -0.11425109207630157, + 0.09689436852931976, + -0.017440233379602432 + ], + "orientation": [ + 0.37082234025001526, + -0.5522397756576538, + -0.46807432174682617, + -0.5817461013793945 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.124402716755867, + 0.08568885922431946, + -0.015832485631108284 + ], + "orientation": [ + 0.48838597536087036, + 0.5597894787788391, + 0.3972117304801941, + -0.5388298630714417 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.11921533197164536, + 0.08549719303846359, + -0.016178788617253304 + ], + "orientation": [ + 0.49500834941864014, + 0.5563898682594299, + 0.4012587070465088, + -0.5332810282707214 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + -0.11921533197164536, + 0.08549719303846359, + -0.016178788617253304 + ], + "orientation": [ + 0.49500834941864014, + 0.5563898682594299, + 0.4012587070465088, + -0.5332810282707214 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11785425990819931, + 0.0958578884601593, + -0.0017452799947932363 + ], + "orientation": [ + 0.4615097641944885, + 0.5147980451583862, + -0.381748229265213, + 0.6134004592895508 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.1161886528134346, + 0.097564697265625, + -0.00011271581752225757 + ], + "orientation": [ + 0.4620670974254608, + 0.510023832321167, + -0.3885378837585449, + 0.6127054691314697 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.1161886528134346, + 0.097564697265625, + -0.00011271581752225757 + ], + "orientation": [ + 0.4620670974254608, + 0.510023832321167, + -0.3885378837585449, + 0.6127054691314697 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12382533401250839, + 0.08483566343784332, + -0.01558864675462246 + ], + "orientation": [ + 0.48772767186164856, + 0.5591769218444824, + 0.3958459496498108, + -0.541062593460083 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.11843037605285645, + 0.08462072163820267, + -0.01615656353533268 + ], + "orientation": [ + 0.49550941586494446, + 0.5550299882888794, + 0.3986927568912506, + -0.5361495018005371 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + -0.11843037605285645, + 0.08462072163820267, + -0.01615656353533268 + ], + "orientation": [ + 0.49550941586494446, + 0.5550299882888794, + 0.3986927568912506, + -0.5361495018005371 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06246855854988098, + 0.06297223269939423, + 0.10255920141935349 + ], + "orientation": [ + 0.6566018462181091, + -0.6975969672203064, + 0.1332620233297348, + 0.25391697883605957 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.06275949627161026, + 0.0660802349448204, + 0.10224895924329758 + ], + "orientation": [ + 0.661430299282074, + -0.6905316710472107, + 0.1332516372203827, + 0.2606147527694702 + ], + "joints": [ + -0.0060540735721588135 + ] + }, + "final_grasp": { + "position": [ + 0.06275949627161026, + 0.0660802349448204, + 0.10224895924329758 + ], + "orientation": [ + 0.661430299282074, + -0.6905316710472107, + 0.1332516372203827, + 0.2606147527694702 + ], + "joints": [ + 0.0013855211436748505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11638113111257553, + 0.09656627476215363, + -0.014630033634603024 + ], + "orientation": [ + 0.38238808512687683, + -0.5500126481056213, + 0.4554952383041382, + 0.5863357782363892 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.11277629435062408, + 0.09566012769937515, + -0.015595362521708012 + ], + "orientation": [ + 0.38686564564704895, + -0.5402705669403076, + 0.46426787972450256, + 0.5855749845504761 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.11277629435062408, + 0.09566012769937515, + -0.015595362521708012 + ], + "orientation": [ + 0.38686564564704895, + -0.5402705669403076, + 0.46426787972450256, + 0.5855749845504761 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11596652120351791, + 0.0958552211523056, + -0.014616982080042362 + ], + "orientation": [ + 0.38101473450660706, + -0.551888644695282, + 0.4578402042388916, + 0.5836343169212341 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.11144953966140747, + 0.09450620412826538, + -0.01580338552594185 + ], + "orientation": [ + 0.3847581744194031, + -0.5403987169265747, + 0.46925267577171326, + 0.5828654170036316 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.11144953966140747, + 0.09450620412826538, + -0.01580338552594185 + ], + "orientation": [ + 0.3847581744194031, + -0.5403987169265747, + 0.46925267577171326, + 0.5828654170036316 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11599400639533997, + 0.09618233889341354, + -0.014726714231073856 + ], + "orientation": [ + 0.38027116656303406, + -0.5519675016403198, + 0.456951379776001, + 0.5847402811050415 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.11139228194952011, + 0.09485480934381485, + -0.01587376557290554 + ], + "orientation": [ + 0.3838571310043335, + -0.5409782528877258, + 0.4683001935482025, + 0.5836874842643738 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.11139228194952011, + 0.09485480934381485, + -0.01587376557290554 + ], + "orientation": [ + 0.3838571310043335, + -0.5409782528877258, + 0.4683001935482025, + 0.5836874842643738 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11955151706933975, + 0.09821514040231705, + -0.01699025370180607 + ], + "orientation": [ + 0.3710724711418152, + -0.5492579936981201, + -0.4424888789653778, + -0.6040068864822388 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.11583895981311798, + 0.09665141999721527, + -0.016817186027765274 + ], + "orientation": [ + 0.3760620951652527, + -0.5432666540145874, + -0.44420742988586426, + -0.6050772070884705 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.11583895981311798, + 0.09665141999721527, + -0.016817186027765274 + ], + "orientation": [ + 0.3760620951652527, + -0.5432666540145874, + -0.44420742988586426, + -0.6050772070884705 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11575013399124146, + 0.09579943120479584, + -0.014629025012254715 + ], + "orientation": [ + 0.379229336977005, + -0.553659975528717, + 0.4578340947628021, + 0.5831241011619568 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.11108808219432831, + 0.09431268274784088, + -0.015845229849219322 + ], + "orientation": [ + 0.3823931813240051, + -0.5425195097923279, + 0.4699562191963196, + 0.5818841457366943 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.11108808219432831, + 0.09431268274784088, + -0.015845229849219322 + ], + "orientation": [ + 0.3823931813240051, + -0.5425195097923279, + 0.4699562191963196, + 0.5818841457366943 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11477641016244888, + 0.10373976081609726, + 0.02048560418188572 + ], + "orientation": [ + 0.4312421679496765, + 0.4365139603614807, + -0.4071214199066162, + 0.6765633225440979 + ], + "joints": [ + -0.011697802692651749 + ] + }, + "fine_grasp": { + "position": [ + 0.1101476326584816, + 0.10320562869310379, + 0.020540665835142136 + ], + "orientation": [ + 0.4248858690261841, + 0.433043509721756, + -0.4159286618232727, + 0.6774575114250183 + ], + "joints": [ + -0.0053741466253995895 + ] + }, + "final_grasp": { + "position": [ + 0.1101476326584816, + 0.10320562869310379, + 0.020540665835142136 + ], + "orientation": [ + 0.4248858690261841, + 0.433043509721756, + -0.4159286618232727, + 0.6774575114250183 + ], + "joints": [ + 0.0009495094418525696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11428890377283096, + 0.10266749560832977, + 0.020486902445554733 + ], + "orientation": [ + 0.42361781001091003, + 0.4442618191242218, + -0.4019978642463684, + 0.6793946623802185 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.10949532687664032, + 0.10212109237909317, + 0.020697228610515594 + ], + "orientation": [ + 0.4210217297077179, + 0.4352678656578064, + -0.41307657957077026, + 0.6801839470863342 + ], + "joints": [ + -0.005909815430641174 + ] + }, + "final_grasp": { + "position": [ + 0.10949532687664032, + 0.10212109237909317, + 0.020697228610515594 + ], + "orientation": [ + 0.4210217297077179, + 0.4352678656578064, + -0.41307657957077026, + 0.6801839470863342 + ], + "joints": [ + 0.0004669800400733948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005891880020499229, + 0.09027190506458282, + 0.11939530074596405 + ], + "orientation": [ + 0.032783400267362595, + -0.005272331181913614, + 0.593639612197876, + -0.8040456771850586 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.008917173370718956, + 0.08923337608575821, + 0.11499574035406113 + ], + "orientation": [ + 0.04882306233048439, + -0.008955784142017365, + 0.6005529165267944, + -0.7980427145957947 + ], + "joints": [ + -0.0036708731204271317 + ] + }, + "final_grasp": { + "position": [ + -0.008917173370718956, + 0.08923337608575821, + 0.11499574035406113 + ], + "orientation": [ + 0.04882306233048439, + -0.008955784142017365, + 0.6005529165267944, + -0.7980427145957947 + ], + "joints": [ + 0.003237321972846985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11940906941890717, + 0.09486041218042374, + -0.0008568078046664596 + ], + "orientation": [ + 0.448906272649765, + 0.527854859828949, + -0.38830921053886414, + 0.6075098514556885 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.12071552872657776, + 0.09586086124181747, + -0.0002658822340890765 + ], + "orientation": [ + 0.4470262825489044, + 0.5309738516807556, + -0.3924853503704071, + 0.6034812331199646 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.12071552872657776, + 0.09586086124181747, + -0.0002658822340890765 + ], + "orientation": [ + 0.4470262825489044, + 0.5309738516807556, + -0.3924853503704071, + 0.6034812331199646 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12753544747829437, + 0.06670408695936203, + -0.03216196969151497 + ], + "orientation": [ + 0.37942981719970703, + -0.49292853474617004, + 0.5569801330566406, + 0.5502976775169373 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.12366065382957458, + 0.06645248830318451, + -0.03222052380442619 + ], + "orientation": [ + 0.3748875856399536, + -0.49400219321250916, + 0.5605218410491943, + 0.5488499402999878 + ], + "joints": [ + -0.006975485943257809 + ] + }, + "final_grasp": { + "position": [ + 0.12366065382957458, + 0.06645248830318451, + -0.03222052380442619 + ], + "orientation": [ + 0.3748875856399536, + -0.49400219321250916, + 0.5605218410491943, + 0.5488499402999878 + ], + "joints": [ + -0.0016349200159311295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12746216356754303, + 0.06691590696573257, + -0.03212529048323631 + ], + "orientation": [ + 0.37941595911979675, + -0.4931482970714569, + 0.5573979616165161, + 0.5496869683265686 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.12363486737012863, + 0.06665962189435959, + -0.032202184200286865 + ], + "orientation": [ + 0.37529411911964417, + -0.4939389228820801, + 0.5605623126029968, + 0.5485876798629761 + ], + "joints": [ + -0.006948916241526604 + ] + }, + "final_grasp": { + "position": [ + 0.12363486737012863, + 0.06665962189435959, + -0.032202184200286865 + ], + "orientation": [ + 0.37529411911964417, + -0.4939389228820801, + 0.5605623126029968, + 0.5485876798629761 + ], + "joints": [ + -0.0015817806124687195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13421140611171722, + 0.03077065758407116, + 0.009744614362716675 + ], + "orientation": [ + 0.5551490783691406, + -0.48090076446533203, + -0.4855378270149231, + -0.4741276800632477 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.1306670904159546, + 0.030462214723229408, + 0.010051650926470757 + ], + "orientation": [ + 0.5533537268638611, + -0.482507586479187, + -0.4835737347602844, + -0.47659459710121155 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.1306670904159546, + 0.030462214723229408, + 0.010051650926470757 + ], + "orientation": [ + 0.5533537268638611, + -0.482507586479187, + -0.4835737347602844, + -0.47659459710121155 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1337616741657257, + 0.030718524008989334, + 0.00978001020848751 + ], + "orientation": [ + 0.5561485886573792, + -0.48015305399894714, + -0.48357948660850525, + -0.47571277618408203 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.1301010549068451, + 0.03044874779880047, + 0.010168184526264668 + ], + "orientation": [ + 0.5555415749549866, + -0.4811357259750366, + -0.4808022975921631, + -0.47823745012283325 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.1301010549068451, + 0.03044874779880047, + 0.010168184526264668 + ], + "orientation": [ + 0.5555415749549866, + -0.4811357259750366, + -0.4808022975921631, + -0.47823745012283325 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016353502869606018, + 0.08336322754621506, + -0.12072531133890152 + ], + "orientation": [ + 0.6583317518234253, + 0.7473830580711365, + -0.08913569152355194, + -0.008532390929758549 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.017323845997452736, + 0.08257662504911423, + -0.11639507859945297 + ], + "orientation": [ + 0.6650862693786621, + 0.7416805028915405, + -0.08667881041765213, + 0.0075551350601017475 + ], + "joints": [ + -0.003108634613454342 + ] + }, + "final_grasp": { + "position": [ + 0.017323845997452736, + 0.08257662504911423, + -0.11639507859945297 + ], + "orientation": [ + 0.6650862693786621, + 0.7416805028915405, + -0.08667881041765213, + 0.0075551350601017475 + ], + "joints": [ + 0.0037729907780885696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12750913202762604, + 0.051944054663181305, + 0.02232748083770275 + ], + "orientation": [ + 0.4908290505409241, + 0.4210799038410187, + 0.5332168936729431, + -0.5453974604606628 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.12746068835258484, + 0.05381699278950691, + 0.022625498473644257 + ], + "orientation": [ + 0.49553900957107544, + 0.4189995527267456, + 0.5372758507728577, + -0.5387163162231445 + ], + "joints": [ + -0.004761639982461929 + ] + }, + "final_grasp": { + "position": [ + -0.12746068835258484, + 0.05381699278950691, + 0.022625498473644257 + ], + "orientation": [ + 0.49553900957107544, + 0.4189995527267456, + 0.5372758507728577, + -0.5387163162231445 + ], + "joints": [ + 0.0016151554882526398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12718887627124786, + 0.05184967815876007, + 0.02217360958456993 + ], + "orientation": [ + 0.49066877365112305, + 0.4219612181186676, + 0.53019779920578, + -0.5477985739707947 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.12679512798786163, + 0.05386416241526604, + 0.022620972245931625 + ], + "orientation": [ + 0.4923465847969055, + 0.4212965965270996, + 0.535814106464386, + -0.5413015484809875 + ], + "joints": [ + -0.004761639982461929 + ] + }, + "final_grasp": { + "position": [ + -0.12679512798786163, + 0.05386416241526604, + 0.022620972245931625 + ], + "orientation": [ + 0.4923465847969055, + 0.4212965965270996, + 0.535814106464386, + -0.5413015484809875 + ], + "joints": [ + 0.0016151554882526398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12266955524682999, + 0.07021854817867279, + 0.006136557552963495 + ], + "orientation": [ + 0.4520576596260071, + 0.5125572085380554, + 0.43643051385879517, + -0.5851986408233643 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.11807122826576233, + 0.07078876346349716, + 0.006883187685161829 + ], + "orientation": [ + 0.44467300176620483, + 0.5162349939346313, + 0.4378822147846222, + -0.586537778377533 + ], + "joints": [ + -0.00414626207202673 + ] + }, + "final_grasp": { + "position": [ + -0.11807122826576233, + 0.07078876346349716, + 0.006883187685161829 + ], + "orientation": [ + 0.44467300176620483, + 0.5162349939346313, + 0.4378822147846222, + -0.586537778377533 + ], + "joints": [ + 0.0022571031004190445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12209393829107285, + 0.07029445469379425, + 0.006177818868309259 + ], + "orientation": [ + 0.45305147767066956, + 0.5112558603286743, + 0.43661803007125854, + -0.5854284763336182 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.11802602559328079, + 0.07094158232212067, + 0.007174878381192684 + ], + "orientation": [ + 0.44601067900657654, + 0.5130826830863953, + 0.43803441524505615, + -0.5881721377372742 + ], + "joints": [ + -0.00414626207202673 + ] + }, + "final_grasp": { + "position": [ + -0.11802602559328079, + 0.07094158232212067, + 0.007174878381192684 + ], + "orientation": [ + 0.44601067900657654, + 0.5130826830863953, + 0.43803441524505615, + -0.5881721377372742 + ], + "joints": [ + 0.0022571031004190445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0937594324350357, + 0.03326798975467682, + 0.07911559194326401 + ], + "orientation": [ + 0.2557855248451233, + 0.34084850549697876, + -0.6301588416099548, + 0.6490731239318848 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.09471925348043442, + 0.03240735083818436, + 0.08002790063619614 + ], + "orientation": [ + 0.2607165575027466, + 0.33425813913345337, + -0.625981330871582, + 0.6545577049255371 + ], + "joints": [ + -0.0065883444622159 + ] + }, + "final_grasp": { + "position": [ + 0.09471925348043442, + 0.03240735083818436, + 0.08002790063619614 + ], + "orientation": [ + 0.2607165575027466, + 0.33425813913345337, + -0.625981330871582, + 0.6545577049255371 + ], + "joints": [ + 0.0003464203327894211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12371203303337097, + 0.08738435059785843, + 0.0003194668679498136 + ], + "orientation": [ + 0.40517693758010864, + 0.593403697013855, + 0.4608910083770752, + -0.5208485722541809 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.12277516722679138, + 0.08755248039960861, + 0.000107412131910678 + ], + "orientation": [ + 0.40126582980155945, + 0.5973391532897949, + 0.4649362564086914, + -0.5157577395439148 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.12277516722679138, + 0.08755248039960861, + 0.000107412131910678 + ], + "orientation": [ + 0.40126582980155945, + 0.5973391532897949, + 0.4649362564086914, + -0.5157577395439148 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11709821224212646, + 0.07311920076608658, + -0.016322758048772812 + ], + "orientation": [ + 0.4932486414909363, + 0.5607672333717346, + -0.39851391315460205, + 0.5323837399482727 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.11313187330961227, + 0.07260837405920029, + -0.01803361065685749 + ], + "orientation": [ + 0.5087426900863647, + 0.5533199310302734, + -0.38711777329444885, + 0.5340015888214111 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.11313187330961227, + 0.07260837405920029, + -0.01803361065685749 + ], + "orientation": [ + 0.5087426900863647, + 0.5533199310302734, + -0.38711777329444885, + 0.5340015888214111 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12253954261541367, + 0.08663065731525421, + 0.0005992887890897691 + ], + "orientation": [ + 0.4027017056941986, + 0.5956124067306519, + 0.4653640687465668, + -0.5162493586540222 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.1227652058005333, + 0.08707146346569061, + 0.00014243804616853595 + ], + "orientation": [ + 0.4020526111125946, + 0.5964367389678955, + 0.4674805998802185, + -0.513886034488678 + ], + "joints": [ + -0.004735070280730724 + ] + }, + "final_grasp": { + "position": [ + -0.1227652058005333, + 0.08707146346569061, + 0.00014243804616853595 + ], + "orientation": [ + 0.4020526111125946, + 0.5964367389678955, + 0.4674805998802185, + -0.513886034488678 + ], + "joints": [ + 0.0016682948917150497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041601721197366714, + -0.09615898877382278, + 0.002830317709594965 + ], + "orientation": [ + 0.3485976755619049, + 0.16366982460021973, + 0.9169357419013977, + -0.10450249910354614 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.04382438212633133, + -0.0958675667643547, + 0.003947120159864426 + ], + "orientation": [ + 0.3662921190261841, + 0.16493847966194153, + 0.9091242551803589, + -0.11008355766534805 + ], + "joints": [ + -0.00838133879005909 + ] + }, + "final_grasp": { + "position": [ + -0.04382438212633133, + -0.0958675667643547, + 0.003947120159864426 + ], + "orientation": [ + 0.3662921190261841, + 0.16493847966194153, + 0.9091242551803589, + -0.11008355766534805 + ], + "joints": [ + -0.0014731436967849731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11767919361591339, + 0.11089590191841125, + 0.011368218809366226 + ], + "orientation": [ + 0.406428724527359, + -0.6415635347366333, + 0.42838147282600403, + 0.48959293961524963 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.11295241117477417, + 0.10924562811851501, + 0.011840390972793102 + ], + "orientation": [ + 0.4044189155101776, + -0.6506664156913757, + 0.4247143864631653, + 0.48238587379455566 + ], + "joints": [ + -0.004171433858573437 + ] + }, + "final_grasp": { + "position": [ + 0.11295241117477417, + 0.10924562811851501, + 0.011840390972793102 + ], + "orientation": [ + 0.4044189155101776, + -0.6506664156913757, + 0.4247143864631653, + 0.48238587379455566 + ], + "joints": [ + 0.00164739228785038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12145619094371796, + 0.07645025104284286, + -0.024387259036302567 + ], + "orientation": [ + 0.5551699995994568, + 0.5202856659889221, + -0.37662503123283386, + 0.5284340977668762 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.11852347105741501, + 0.07580932974815369, + -0.025753695517778397 + ], + "orientation": [ + 0.5618240237236023, + 0.5230646133422852, + -0.3773336112499237, + 0.5180506110191345 + ], + "joints": [ + -0.005239900201559067 + ] + }, + "final_grasp": { + "position": [ + 0.11852347105741501, + 0.07580932974815369, + -0.025753695517778397 + ], + "orientation": [ + 0.5618240237236023, + 0.5230646133422852, + -0.3773336112499237, + 0.5180506110191345 + ], + "joints": [ + 0.0006586350500583649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1215854287147522, + 0.07640330493450165, + -0.024508163332939148 + ], + "orientation": [ + 0.5555941462516785, + 0.5203001499176025, + -0.3767673075199127, + 0.5278724431991577 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.1184895783662796, + 0.07560048997402191, + -0.025555089116096497 + ], + "orientation": [ + 0.5611481070518494, + 0.52262943983078, + -0.37790074944496155, + 0.5188086032867432 + ], + "joints": [ + -0.005239900201559067 + ] + }, + "final_grasp": { + "position": [ + 0.1184895783662796, + 0.07560048997402191, + -0.025555089116096497 + ], + "orientation": [ + 0.5611481070518494, + 0.52262943983078, + -0.37790074944496155, + 0.5188086032867432 + ], + "joints": [ + 0.0006586350500583649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10904800891876221, + -0.03708687424659729, + 0.01904643326997757 + ], + "orientation": [ + 0.5352704524993896, + 0.3510898947715759, + -0.6567676067352295, + 0.3985947072505951 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10919301956892014, + -0.03850880637764931, + 0.019932478666305542 + ], + "orientation": [ + 0.5369215607643127, + 0.3470469117164612, + -0.6592979431152344, + 0.39572715759277344 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.10919301956892014, + -0.03850880637764931, + 0.019932478666305542 + ], + "orientation": [ + 0.5369215607643127, + 0.3470469117164612, + -0.6592979431152344, + 0.39572715759277344 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10881208628416061, + -0.03688104450702667, + 0.018987273797392845 + ], + "orientation": [ + 0.5350298881530762, + 0.35111379623413086, + -0.6573356986045837, + 0.39795979857444763 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.1091245785355568, + -0.038393426686525345, + 0.01983978971838951 + ], + "orientation": [ + 0.536924421787262, + 0.3471815884113312, + -0.6594298481941223, + 0.3953852355480194 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.1091245785355568, + -0.038393426686525345, + 0.01983978971838951 + ], + "orientation": [ + 0.536924421787262, + 0.3471815884113312, + -0.6594298481941223, + 0.3953852355480194 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04914209619164467, + -0.07771608978509903, + -0.0506686232984066 + ], + "orientation": [ + 0.826064944267273, + 0.314445823431015, + 0.4581677317619324, + -0.09393056482076645 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.04858379811048508, + -0.07611538469791412, + -0.05410078167915344 + ], + "orientation": [ + 0.8304827213287354, + 0.3248487412929535, + 0.44365164637565613, + -0.08913355320692062 + ], + "joints": [ + -0.007119744084775448 + ] + }, + "final_grasp": { + "position": [ + -0.04858379811048508, + -0.07611538469791412, + -0.05410078167915344 + ], + "orientation": [ + 0.8304827213287354, + 0.3248487412929535, + 0.44365164637565613, + -0.08913355320692062 + ], + "joints": [ + -0.0007163789123296738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1246587336063385, + 0.07576580345630646, + -0.023260649293661118 + ], + "orientation": [ + 0.5377882122993469, + 0.5308966040611267, + 0.36677253246307373, + -0.5425961017608643 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12011314183473587, + 0.07521278411149979, + -0.02383045293390751 + ], + "orientation": [ + 0.543261706829071, + 0.5279438495635986, + 0.36495259404182434, + -0.5412500500679016 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + -0.12011314183473587, + 0.07521278411149979, + -0.02383045293390751 + ], + "orientation": [ + 0.543261706829071, + 0.5279438495635986, + 0.36495259404182434, + -0.5412500500679016 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04938339814543724, + -0.07762063294649124, + -0.05055667459964752 + ], + "orientation": [ + 0.8249516487121582, + 0.3144890367984772, + 0.4600333869457245, + -0.09445047378540039 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.04845866933465004, + -0.07509999722242355, + -0.05363692715764046 + ], + "orientation": [ + 0.8286988735198975, + 0.32552585005760193, + 0.44674181938171387, + -0.08782315999269485 + ], + "joints": [ + -0.007119744084775448 + ] + }, + "final_grasp": { + "position": [ + -0.04845866933465004, + -0.07509999722242355, + -0.05363692715764046 + ], + "orientation": [ + 0.8286988735198975, + 0.32552585005760193, + 0.44674181938171387, + -0.08782315999269485 + ], + "joints": [ + -0.0007163789123296738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12479366362094879, + 0.07545549422502518, + -0.023196829482913017 + ], + "orientation": [ + 0.5378062725067139, + 0.5308013558387756, + 0.36727234721183777, + -0.5423333644866943 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12024582177400589, + 0.07460788637399673, + -0.023802345618605614 + ], + "orientation": [ + 0.542015552520752, + 0.5286398530006409, + 0.36468666791915894, + -0.5419987440109253 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + -0.12024582177400589, + 0.07460788637399673, + -0.023802345618605614 + ], + "orientation": [ + 0.542015552520752, + 0.5286398530006409, + 0.36468666791915894, + -0.5419987440109253 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1117226704955101, + 0.17278006672859192, + 0.003974687773734331 + ], + "orientation": [ + 0.38806530833244324, + -0.6088478565216064, + -0.38269585371017456, + -0.5764143466949463 + ], + "joints": [ + 0.00422946410253644 + ] + }, + "fine_grasp": { + "position": [ + -0.1114945113658905, + 0.17130711674690247, + 0.0026533235795795918 + ], + "orientation": [ + 0.3835793733596802, + -0.6018319725990295, + -0.37836483120918274, + -0.5894957780838013 + ], + "joints": [ + 0.010659401305019855 + ] + }, + "final_grasp": { + "position": [ + -0.1114945113658905, + 0.17130711674690247, + 0.0026533235795795918 + ], + "orientation": [ + 0.3835793733596802, + -0.6018319725990295, + -0.37836483120918274, + -0.5894957780838013 + ], + "joints": [ + 0.01708933897316456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009933916851878166, + -0.108518585562706, + -0.006456350442022085 + ], + "orientation": [ + 0.614997148513794, + 0.09669586271047592, + 0.7802908420562744, + -0.05978946387767792 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.01143106259405613, + -0.1069197803735733, + -0.007244376465678215 + ], + "orientation": [ + 0.6037404537200928, + 0.09897563606500626, + 0.7888311743736267, + -0.05870826914906502 + ], + "joints": [ + -0.0030246563255786896 + ] + }, + "final_grasp": { + "position": [ + -0.01143106259405613, + -0.1069197803735733, + -0.007244376465678215 + ], + "orientation": [ + 0.6037404537200928, + 0.09897563606500626, + 0.7888311743736267, + -0.05870826914906502 + ], + "joints": [ + 0.0033521391451358795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13296248018741608, + 0.03660152852535248, + -0.009189892560243607 + ], + "orientation": [ + 0.5362527966499329, + 0.4946100115776062, + 0.4450010359287262, + -0.5193917751312256 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.129203662276268, + 0.035871658474206924, + -0.010224695317447186 + ], + "orientation": [ + 0.5414629578590393, + 0.4910898506641388, + 0.437045156955719, + -0.5240612626075745 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.129203662276268, + 0.035871658474206924, + -0.010224695317447186 + ], + "orientation": [ + 0.5414629578590393, + 0.4910898506641388, + 0.437045156955719, + -0.5240612626075745 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13217423856258392, + 0.036962609738111496, + -0.009281957522034645 + ], + "orientation": [ + 0.5350967049598694, + 0.4960516691207886, + 0.44296160340309143, + -0.5209503173828125 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.12869155406951904, + 0.0362108051776886, + -0.010230622254312038 + ], + "orientation": [ + 0.5407346487045288, + 0.4917440414428711, + 0.43569228053092957, + -0.5253247618675232 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.12869155406951904, + 0.0362108051776886, + -0.010230622254312038 + ], + "orientation": [ + 0.5407346487045288, + 0.4917440414428711, + 0.43569228053092957, + -0.5253247618675232 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1319221705198288, + 0.03699421510100365, + -0.009314799681305885 + ], + "orientation": [ + 0.5351095199584961, + 0.49619120359420776, + 0.4426625370979309, + -0.5210584998130798 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.12855929136276245, + 0.03628529608249664, + -0.010192673653364182 + ], + "orientation": [ + 0.5406934022903442, + 0.491690456867218, + 0.4355720579624176, + -0.5255170464515686 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.12855929136276245, + 0.03628529608249664, + -0.010192673653364182 + ], + "orientation": [ + 0.5406934022903442, + 0.491690456867218, + 0.4355720579624176, + -0.5255170464515686 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11010469496250153, + -0.013009310699999332, + 0.01808837801218033 + ], + "orientation": [ + 0.6468630433082581, + -0.4325779676437378, + -0.43318721652030945, + -0.4547453820705414 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.10979648679494858, + -0.013662577606737614, + 0.020473267883062363 + ], + "orientation": [ + 0.6596196293830872, + -0.4351733922958374, + -0.415305495262146, + -0.4506077170372009 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + -0.10979648679494858, + -0.013662577606737614, + 0.020473267883062363 + ], + "orientation": [ + 0.6596196293830872, + -0.4351733922958374, + -0.415305495262146, + -0.4506077170372009 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12794622778892517, + 0.011499928310513496, + -0.025076404213905334 + ], + "orientation": [ + 0.5123031735420227, + -0.38719823956489563, + 0.5065874457359314, + 0.5753191709518433 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.12279631942510605, + 0.01154529768973589, + -0.025436120107769966 + ], + "orientation": [ + 0.512406587600708, + -0.38430455327033997, + 0.49696579575538635, + 0.5854693651199341 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.12279631942510605, + 0.01154529768973589, + -0.025436120107769966 + ], + "orientation": [ + 0.512406587600708, + -0.38430455327033997, + 0.49696579575538635, + 0.5854693651199341 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12352261692285538, + 0.01734655350446701, + 0.010774928145110607 + ], + "orientation": [ + 0.6233147978782654, + -0.4158823788166046, + 0.4836222231388092, + 0.45236045122146606 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.1187351644039154, + 0.018587933853268623, + 0.011406371369957924 + ], + "orientation": [ + 0.6366413235664368, + -0.4076678156852722, + 0.47556647658348083, + 0.44981250166893005 + ], + "joints": [ + -0.005239900201559067 + ] + }, + "final_grasp": { + "position": [ + 0.1187351644039154, + 0.018587933853268623, + 0.011406371369957924 + ], + "orientation": [ + 0.6366413235664368, + -0.4076678156852722, + 0.47556647658348083, + 0.44981250166893005 + ], + "joints": [ + 0.0006586350500583649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08866211026906967, + -0.05906416475772858, + -0.007141122128814459 + ], + "orientation": [ + 0.7366012334823608, + -0.2420046478509903, + -0.5013487935066223, + -0.3840593695640564 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.08911871910095215, + -0.059817273169755936, + -0.006304377689957619 + ], + "orientation": [ + 0.7403765320777893, + -0.2441512495279312, + -0.49968457221984863, + -0.3775555193424225 + ], + "joints": [ + -0.005266469903290272 + ] + }, + "final_grasp": { + "position": [ + -0.08911871910095215, + -0.059817273169755936, + -0.006304377689957619 + ], + "orientation": [ + 0.7403765320777893, + -0.2441512495279312, + -0.49968457221984863, + -0.3775555193424225 + ], + "joints": [ + 0.0006054956465959549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0012982501648366451, + -0.10529354959726334, + -0.018425965681672096 + ], + "orientation": [ + 0.5469914674758911, + 0.07707982510328293, + 0.833398163318634, + 0.01750960573554039 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.002792228478938341, + -0.10344130545854568, + -0.019041696563363075 + ], + "orientation": [ + 0.5424108505249023, + 0.07804975658655167, + 0.8361797332763672, + 0.022410620003938675 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + -0.002792228478938341, + -0.10344130545854568, + -0.019041696563363075 + ], + "orientation": [ + 0.5424108505249023, + 0.07804975658655167, + 0.8361797332763672, + 0.022410620003938675 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11964359879493713, + 0.02348994091153145, + -0.02073781006038189 + ], + "orientation": [ + 0.563083827495575, + 0.5082934498786926, + -0.5179963707923889, + 0.395289808511734 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.11449092626571655, + 0.02501077577471733, + -0.021014098078012466 + ], + "orientation": [ + 0.5633242130279541, + 0.5159221887588501, + -0.5163093209266663, + 0.387188196182251 + ], + "joints": [ + -0.005322480574250221 + ] + }, + "final_grasp": { + "position": [ + 0.11449092626571655, + 0.02501077577471733, + -0.021014098078012466 + ], + "orientation": [ + 0.5633242130279541, + 0.5159221887588501, + -0.5163093209266663, + 0.387188196182251 + ], + "joints": [ + 0.0005229152739048004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11965558677911758, + 0.023432325571775436, + -0.020726781338453293 + ], + "orientation": [ + 0.5630141496658325, + 0.5083211660385132, + -0.5180137753486633, + 0.395330548286438 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.1144990548491478, + 0.02495117485523224, + -0.02100300043821335 + ], + "orientation": [ + 0.5632601380348206, + 0.5159448385238647, + -0.5163175463676453, + 0.38724014163017273 + ], + "joints": [ + -0.005322480574250221 + ] + }, + "final_grasp": { + "position": [ + 0.1144990548491478, + 0.02495117485523224, + -0.02100300043821335 + ], + "orientation": [ + 0.5632601380348206, + 0.5159448385238647, + -0.5163175463676453, + 0.38724014163017273 + ], + "joints": [ + 0.0005229152739048004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11964792013168335, + 0.023514844477176666, + -0.020726466551423073 + ], + "orientation": [ + 0.5629859566688538, + 0.5083460211753845, + -0.5180423855781555, + 0.39530155062675476 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.11449462920427322, + 0.025035161525011063, + -0.02100239135324955 + ], + "orientation": [ + 0.5632259845733643, + 0.5159755349159241, + -0.5163527131080627, + 0.3872022330760956 + ], + "joints": [ + -0.005322480574250221 + ] + }, + "final_grasp": { + "position": [ + 0.11449462920427322, + 0.025035161525011063, + -0.02100239135324955 + ], + "orientation": [ + 0.5632259845733643, + 0.5159755349159241, + -0.5163527131080627, + 0.3872022330760956 + ], + "joints": [ + 0.0005229152739048004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013475579908117652, + -0.10536231845617294, + -0.018427254632115364 + ], + "orientation": [ + 0.5460386276245117, + 0.07720810174942017, + 0.8340153098106384, + 0.017296774312853813 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.0027605402283370495, + -0.10358876734972, + -0.018904466181993484 + ], + "orientation": [ + 0.5421976447105408, + 0.07750700414180756, + 0.8363749384880066, + 0.022164644673466682 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + -0.0027605402283370495, + -0.10358876734972, + -0.018904466181993484 + ], + "orientation": [ + 0.5421976447105408, + 0.07750700414180756, + 0.8363749384880066, + 0.022164644673466682 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025980327278375626, + -0.10699955374002457, + 0.015963096171617508 + ], + "orientation": [ + 0.6820890307426453, + -0.12954889237880707, + -0.7185723185539246, + -0.04031570628285408 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.025078676640987396, + -0.10399942100048065, + 0.016026677563786507 + ], + "orientation": [ + 0.6747500896453857, + -0.12849272787570953, + -0.7256242632865906, + -0.0408845990896225 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.025078676640987396, + -0.10399942100048065, + 0.016026677563786507 + ], + "orientation": [ + 0.6747500896453857, + -0.12849272787570953, + -0.7256242632865906, + -0.0408845990896225 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1334684193134308, + -0.0046011111699044704, + -0.018019193783402443 + ], + "orientation": [ + 0.42629149556159973, + 0.592613160610199, + 0.5850309133529663, + -0.3533044755458832 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.13082075119018555, + -0.0023139321710914373, + -0.01824546977877617 + ], + "orientation": [ + 0.415257066488266, + 0.5980003476142883, + 0.5941630601882935, + -0.34194645285606384 + ], + "joints": [ + -0.0029995599761605263 + ] + }, + "final_grasp": { + "position": [ + -0.13082075119018555, + -0.0023139321710914373, + -0.01824546977877617 + ], + "orientation": [ + 0.415257066488266, + 0.5980003476142883, + 0.5941630601882935, + -0.34194645285606384 + ], + "joints": [ + 0.0028724055737257004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13295072317123413, + -0.004299634601920843, + -0.01793086901307106 + ], + "orientation": [ + 0.42844703793525696, + 0.59166419506073, + 0.5843373537063599, + -0.3534352481365204 + ], + "joints": [ + -0.009489774703979492 + ] + }, + "fine_grasp": { + "position": [ + -0.13075341284275055, + -0.0020337968599051237, + -0.018349558115005493 + ], + "orientation": [ + 0.41409242153167725, + 0.59901362657547, + 0.5947647094726562, + -0.34053659439086914 + ], + "joints": [ + -0.003086409531533718 + ] + }, + "final_grasp": { + "position": [ + -0.13075341284275055, + -0.0020337968599051237, + -0.018349558115005493 + ], + "orientation": [ + 0.41409242153167725, + 0.59901362657547, + 0.5947647094726562, + -0.34053659439086914 + ], + "joints": [ + 0.003316955640912056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11930966377258301, + -0.024202873930335045, + -0.017040962353348732 + ], + "orientation": [ + 0.6599739789962769, + -0.27691593766212463, + 0.48988431692123413, + 0.4977603554725647 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.11636468768119812, + -0.024427421391010284, + -0.016607847064733505 + ], + "orientation": [ + 0.648216187953949, + -0.2915024161338806, + 0.48707351088523865, + 0.5075446367263794 + ], + "joints": [ + -0.006530935876071453 + ] + }, + "final_grasp": { + "position": [ + 0.11636468768119812, + -0.024427421391010284, + -0.016607847064733505 + ], + "orientation": [ + 0.648216187953949, + -0.2915024161338806, + 0.48707351088523865, + 0.5075446367263794 + ], + "joints": [ + -0.00012757070362567902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13018271327018738, + 0.029883386567234993, + 0.01614518091082573 + ], + "orientation": [ + 0.5895266532897949, + -0.4605920910835266, + 0.3953993320465088, + 0.532890796661377 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.12457045912742615, + 0.02884254977107048, + 0.016706177964806557 + ], + "orientation": [ + 0.5994813442230225, + -0.4566568434238434, + 0.38645580410957336, + 0.5317316055297852 + ], + "joints": [ + -0.007453746162354946 + ] + }, + "final_grasp": { + "position": [ + 0.12457045912742615, + 0.02884254977107048, + 0.016706177964806557 + ], + "orientation": [ + 0.5994813442230225, + -0.4566568434238434, + 0.38645580410957336, + 0.5317316055297852 + ], + "joints": [ + -0.0025914404541254044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11889566481113434, + 0.1009865403175354, + -0.01920461840927601 + ], + "orientation": [ + 0.5245519280433655, + 0.5046379566192627, + 0.3394821584224701, + -0.5957664251327515 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + -0.11407046765089035, + 0.09827221930027008, + -0.019211338832974434 + ], + "orientation": [ + 0.5269675254821777, + 0.5025720596313477, + 0.324887752532959, + -0.6034687161445618 + ], + "joints": [ + -0.003588368184864521 + ] + }, + "final_grasp": { + "position": [ + -0.11407046765089035, + 0.09827221930027008, + -0.019211338832974434 + ], + "orientation": [ + 0.5269675254821777, + 0.5025720596313477, + 0.324887752532959, + -0.6034687161445618 + ], + "joints": [ + 0.0022835973650217056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03415798768401146, + -0.08933044970035553, + -0.017210615798830986 + ], + "orientation": [ + 0.7244806289672852, + -0.03421078622341156, + -0.6751319169998169, + -0.13473795354366302 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.03576665744185448, + -0.08948225528001785, + -0.01777949184179306 + ], + "orientation": [ + 0.7238924503326416, + -0.033578451722860336, + -0.6754754781723022, + -0.13632741570472717 + ], + "joints": [ + -0.0058818478137254715 + ] + }, + "final_grasp": { + "position": [ + -0.03576665744185448, + -0.08948225528001785, + -0.01777949184179306 + ], + "orientation": [ + 0.7238924503326416, + -0.033578451722860336, + -0.6754754781723022, + -0.13632741570472717 + ], + "joints": [ + -3.645196557044983e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06014320254325867, + -0.079136922955513, + -0.028922876343131065 + ], + "orientation": [ + 0.7065184712409973, + 0.2166673243045807, + 0.6705883145332336, + -0.06479397416114807 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.05925827473402023, + -0.07920753955841064, + -0.03138133883476257 + ], + "orientation": [ + 0.697257936000824, + 0.22272680699825287, + 0.6792235970497131, + -0.053660888224840164 + ], + "joints": [ + -0.007480315864086151 + ] + }, + "final_grasp": { + "position": [ + -0.05925827473402023, + -0.07920753955841064, + -0.03138133883476257 + ], + "orientation": [ + 0.697257936000824, + 0.22272680699825287, + 0.6792235970497131, + -0.053660888224840164 + ], + "joints": [ + -0.0026445798575878143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11914482712745667, + 0.06992806494235992, + -0.06730929017066956 + ], + "orientation": [ + 0.004855831153690815, + 0.7035902738571167, + 0.6957240700721741, + 0.14458630979061127 + ], + "joints": [ + 0.007093468215316534 + ] + }, + "fine_grasp": { + "position": [ + -0.11783982813358307, + 0.06912826001644135, + -0.06448919326066971 + ], + "orientation": [ + 0.02625967003405094, + 0.7052144408226013, + 0.6935427188873291, + 0.1448502391576767 + ], + "joints": [ + 0.005021009594202042 + ] + }, + "final_grasp": { + "position": [ + -0.11783982813358307, + 0.06912826001644135, + -0.06448919326066971 + ], + "orientation": [ + 0.02625967003405094, + 0.7052144408226013, + 0.6935427188873291, + 0.1448502391576767 + ], + "joints": [ + 0.002948550973087549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.120940662920475, + 0.06852884590625763, + -0.06807056069374084 + ], + "orientation": [ + 0.014866289682686329, + 0.7084557414054871, + 0.6917060017585754, + 0.13932843506336212 + ], + "joints": [ + 0.004577752202749252 + ] + }, + "fine_grasp": { + "position": [ + -0.11869452893733978, + 0.06828174740076065, + -0.06492892652750015 + ], + "orientation": [ + 0.03172413632273674, + 0.7094599604606628, + 0.6894378662109375, + 0.1426030844449997 + ], + "joints": [ + 0.0025584325194358826 + ] + }, + "final_grasp": { + "position": [ + -0.11869452893733978, + 0.06828174740076065, + -0.06492892652750015 + ], + "orientation": [ + 0.03172413632273674, + 0.7094599604606628, + 0.6894378662109375, + 0.1426030844449997 + ], + "joints": [ + 0.0005391128361225128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11967942118644714, + 0.0690690279006958, + -0.06771080940961838 + ], + "orientation": [ + 0.012882307171821594, + 0.7093150019645691, + 0.6908265352249146, + 0.1395171731710434 + ], + "joints": [ + 0.0043236445635557175 + ] + }, + "fine_grasp": { + "position": [ + -0.11802960187196732, + 0.06864752620458603, + -0.0649724081158638 + ], + "orientation": [ + 0.03261682763695717, + 0.7100198268890381, + 0.6890087723731995, + 0.1416858434677124 + ], + "joints": [ + 0.0023043248802423477 + ] + }, + "final_grasp": { + "position": [ + -0.11802960187196732, + 0.06864752620458603, + -0.0649724081158638 + ], + "orientation": [ + 0.03261682763695717, + 0.7100198268890381, + 0.6890087723731995, + 0.1416858434677124 + ], + "joints": [ + 0.00028500519692897797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1141326054930687, + 0.14696639776229858, + -0.02694658935070038 + ], + "orientation": [ + 0.5774993300437927, + 0.439982533454895, + -0.24579551815986633, + 0.6422573924064636 + ], + "joints": [ + -0.004217967391014099 + ] + }, + "fine_grasp": { + "position": [ + 0.11381760984659195, + 0.14679020643234253, + -0.02867942489683628 + ], + "orientation": [ + 0.5974956750869751, + 0.4170463979244232, + -0.22358345985412598, + 0.647365152835846 + ], + "joints": [ + -0.0014812593581154943 + ] + }, + "final_grasp": { + "position": [ + 0.11381760984659195, + 0.14679020643234253, + -0.02867942489683628 + ], + "orientation": [ + 0.5974956750869751, + 0.4170463979244232, + -0.22358345985412598, + 0.647365152835846 + ], + "joints": [ + 0.0012554486747831106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12807032465934753, + 0.10216496884822845, + -0.03496794030070305 + ], + "orientation": [ + 0.19771191477775574, + -0.636521577835083, + -0.6603617072105408, + -0.3459372818470001 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.12806041538715363, + 0.10398611426353455, + -0.03255986422300339 + ], + "orientation": [ + 0.17137424647808075, + -0.6544613242149353, + -0.6638154983520508, + -0.3188420534133911 + ], + "joints": [ + -0.01432777475565672 + ] + }, + "final_grasp": { + "position": [ + -0.12806041538715363, + 0.10398611426353455, + -0.03255986422300339 + ], + "orientation": [ + 0.17137424647808075, + -0.6544613242149353, + -0.6638154983520508, + -0.3188420534133911 + ], + "joints": [ + -0.010421974584460258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0026688550133258104, + -0.014361889101564884, + -0.14634095132350922 + ], + "orientation": [ + 0.5782614946365356, + 0.41518640518188477, + 0.5826130509376526, + 0.3921682834625244 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.002190888859331608, + -0.0115670096129179, + -0.14425049722194672 + ], + "orientation": [ + 0.5746012926101685, + 0.420332133769989, + 0.5816887021064758, + 0.39343681931495667 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + -0.002190888859331608, + -0.0115670096129179, + -0.14425049722194672 + ], + "orientation": [ + 0.5746012926101685, + 0.420332133769989, + 0.5816887021064758, + 0.39343681931495667 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12707096338272095, + 0.015758799389004707, + -0.07953013479709625 + ], + "orientation": [ + 0.24646246433258057, + 0.6603463888168335, + -0.7064191699028015, + -0.06458233296871185 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + 0.12923923134803772, + 0.015491152182221413, + -0.07992546260356903 + ], + "orientation": [ + 0.24436764419078827, + 0.6621406078338623, + -0.7051522135734558, + -0.06793071329593658 + ], + "joints": [ + -0.011883261613547802 + ] + }, + "final_grasp": { + "position": [ + 0.12923923134803772, + 0.015491152182221413, + -0.07992546260356903 + ], + "orientation": [ + 0.24436764419078827, + 0.6621406078338623, + -0.7051522135734558, + -0.06793071329593658 + ], + "joints": [ + -0.004443654790520668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11135704815387726, + 0.03423835337162018, + -0.058353241533041 + ], + "orientation": [ + 0.1723606139421463, + 0.7143397927284241, + -0.6781347990036011, + -0.01197952963411808 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + 0.1102355346083641, + 0.03428146243095398, + -0.05942365527153015 + ], + "orientation": [ + 0.15806753933429718, + 0.7156521677970886, + -0.6800084710121155, + -0.02109260857105255 + ], + "joints": [ + -0.012441231869161129 + ] + }, + "final_grasp": { + "position": [ + 0.1102355346083641, + 0.03428146243095398, + -0.05942365527153015 + ], + "orientation": [ + 0.15806753933429718, + 0.7156521677970886, + -0.6800084710121155, + -0.02109260857105255 + ], + "joints": [ + -0.005559595301747322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1260848045349121, + 0.04440119490027428, + -0.06036724895238876 + ], + "orientation": [ + 0.648942768573761, + -0.0036422887351363897, + -0.17135363817214966, + -0.741281270980835 + ], + "joints": [ + -0.018704619258642197 + ] + }, + "fine_grasp": { + "position": [ + -0.12309229373931885, + 0.045818425714969635, + -0.06118893623352051 + ], + "orientation": [ + 0.6455087065696716, + 0.009617081843316555, + -0.1588931530714035, + -0.7469800114631653 + ], + "joints": [ + -0.011291584931313992 + ] + }, + "final_grasp": { + "position": [ + -0.12309229373931885, + 0.045818425714969635, + -0.06118893623352051 + ], + "orientation": [ + 0.6455087065696716, + 0.009617081843316555, + -0.1588931530714035, + -0.7469800114631653 + ], + "joints": [ + -0.0038785506039857864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12228512763977051, + 0.022386793047189713, + -0.043768260627985 + ], + "orientation": [ + 0.6843955516815186, + -0.09627214819192886, + 0.19416044652462006, + 0.6961581110954285 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.12443462014198303, + 0.025384055450558662, + -0.04439163953065872 + ], + "orientation": [ + 0.679183840751648, + -0.078508161008358, + 0.195158913731575, + 0.7031777501106262 + ], + "joints": [ + -0.010361205786466599 + ] + }, + "final_grasp": { + "position": [ + 0.12443462014198303, + 0.025384055450558662, + -0.04439163953065872 + ], + "orientation": [ + 0.679183840751648, + -0.078508161008358, + 0.195158913731575, + 0.7031777501106262 + ], + "joints": [ + -0.006110008805990219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11593646556138992, + 0.017887335270643234, + -0.08865730464458466 + ], + "orientation": [ + 0.2243213802576065, + 0.6768212914466858, + 0.6959047913551331, + 0.08549497276544571 + ], + "joints": [ + -0.014053035527467728 + ] + }, + "fine_grasp": { + "position": [ + -0.11161540448665619, + 0.019380569458007812, + -0.08553969115018845 + ], + "orientation": [ + 0.22059084475040436, + 0.6740738749504089, + 0.6979808211326599, + 0.09892894327640533 + ], + "joints": [ + -0.010784925892949104 + ] + }, + "final_grasp": { + "position": [ + -0.11161540448665619, + 0.019380569458007812, + -0.08553969115018845 + ], + "orientation": [ + 0.22059084475040436, + 0.6740738749504089, + 0.6979808211326599, + 0.09892894327640533 + ], + "joints": [ + -0.007516816258430481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11570905148983002, + 0.017768986523151398, + -0.08853977918624878 + ], + "orientation": [ + 0.22398047149181366, + 0.6765547394752502, + 0.6963074207305908, + 0.08521974831819534 + ], + "joints": [ + -0.014053035527467728 + ] + }, + "fine_grasp": { + "position": [ + -0.11132541298866272, + 0.019341295585036278, + -0.08540043979883194 + ], + "orientation": [ + 0.2201363742351532, + 0.6737261414527893, + 0.6985346078872681, + 0.09839928150177002 + ], + "joints": [ + -0.010784925892949104 + ] + }, + "final_grasp": { + "position": [ + -0.11132541298866272, + 0.019341295585036278, + -0.08540043979883194 + ], + "orientation": [ + 0.2201363742351532, + 0.6737261414527893, + 0.6985346078872681, + 0.09839928150177002 + ], + "joints": [ + -0.007516816258430481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1159859150648117, + 0.017702825367450714, + -0.08886764943599701 + ], + "orientation": [ + 0.22156073153018951, + 0.6780287027359009, + 0.6956295967102051, + 0.08536531031131744 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.11167281121015549, + 0.019407734274864197, + -0.08556534349918365 + ], + "orientation": [ + 0.21921497583389282, + 0.673791766166687, + 0.6986021995544434, + 0.09952130168676376 + ], + "joints": [ + -0.010730387642979622 + ] + }, + "final_grasp": { + "position": [ + -0.11167281121015549, + 0.019407734274864197, + -0.08556534349918365 + ], + "orientation": [ + 0.21921497583389282, + 0.673791766166687, + 0.6986021995544434, + 0.09952130168676376 + ], + "joints": [ + -0.007967106997966766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11153215914964676, + 0.03443141654133797, + -0.058360856026411057 + ], + "orientation": [ + 0.17369414865970612, + 0.7147530913352966, + -0.6773727536201477, + -0.011161662638187408 + ], + "joints": [ + -0.019322868436574936 + ] + }, + "fine_grasp": { + "position": [ + 0.11036688834428787, + 0.03441055491566658, + -0.05929518863558769 + ], + "orientation": [ + 0.16048942506313324, + 0.716079831123352, + -0.6790173649787903, + -0.020203985273838043 + ], + "joints": [ + -0.012467802502214909 + ] + }, + "final_grasp": { + "position": [ + 0.11036688834428787, + 0.03441055491566658, + -0.05929518863558769 + ], + "orientation": [ + 0.16048942506313324, + 0.716079831123352, + -0.6790173649787903, + -0.020203985273838043 + ], + "joints": [ + -0.005612736567854881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12987014651298523, + 0.014341398142278194, + 0.016645798459649086 + ], + "orientation": [ + 0.7492315769195557, + -0.2122725397348404, + 0.024719057604670525, + 0.6268823146820068 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1284727305173874, + 0.016624407842755318, + 0.01735937036573887 + ], + "orientation": [ + 0.7478204965591431, + -0.2054375857114792, + 0.03733878210186958, + 0.6302109956741333 + ], + "joints": [ + -0.016280189156532288 + ] + }, + "final_grasp": { + "position": [ + 0.1284727305173874, + 0.016624407842755318, + 0.01735937036573887 + ], + "orientation": [ + 0.7478204965591431, + -0.2054375857114792, + 0.03733878210186958, + 0.6302109956741333 + ], + "joints": [ + -0.012560378760099411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11939526349306107, + 0.04258018732070923, + -0.026520710438489914 + ], + "orientation": [ + 0.13407732546329498, + 0.7306878566741943, + -0.6591249108314514, + 0.11693110316991806 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12173587828874588, + 0.04482964798808098, + -0.026389140635728836 + ], + "orientation": [ + 0.1556994915008545, + 0.7361198663711548, + -0.6491815447807312, + 0.1115727499127388 + ], + "joints": [ + -0.01736956462264061 + ] + }, + "final_grasp": { + "position": [ + 0.12173587828874588, + 0.04482964798808098, + -0.026389140635728836 + ], + "orientation": [ + 0.1556994915008545, + 0.7361198663711548, + -0.6491815447807312, + 0.1115727499127388 + ], + "joints": [ + -0.014739129692316055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11939074844121933, + 0.04258769750595093, + -0.02651377208530903 + ], + "orientation": [ + 0.13414300978183746, + 0.7306891083717346, + -0.6591216921806335, + 0.116866834461689 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12173241376876831, + 0.04483230784535408, + -0.026386624202132225 + ], + "orientation": [ + 0.15574485063552856, + 0.7361273169517517, + -0.6491562724113464, + 0.11160843074321747 + ], + "joints": [ + -0.01736956462264061 + ] + }, + "final_grasp": { + "position": [ + 0.12173241376876831, + 0.04483230784535408, + -0.026386624202132225 + ], + "orientation": [ + 0.15574485063552856, + 0.7361273169517517, + -0.6491562724113464, + 0.11160843074321747 + ], + "joints": [ + -0.014739129692316055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0893622487783432, + 0.10792049020528793, + 0.07193297892808914 + ], + "orientation": [ + 0.19563047587871552, + 0.4493345618247986, + 0.5590502023696899, + -0.6687974333763123 + ], + "joints": [ + -0.011668361723423004 + ] + }, + "fine_grasp": { + "position": [ + -0.08823079615831375, + 0.10814444720745087, + 0.07226158678531647 + ], + "orientation": [ + 0.19875939190387726, + 0.44534218311309814, + 0.5664414763450623, + -0.6643110513687134 + ], + "joints": [ + -0.00422876700758934 + ] + }, + "final_grasp": { + "position": [ + -0.08823079615831375, + 0.10814444720745087, + 0.07226158678531647 + ], + "orientation": [ + 0.19875939190387726, + 0.44534218311309814, + 0.5664414763450623, + -0.6643110513687134 + ], + "joints": [ + 0.0032108277082443237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12739978730678558, + 0.10734550654888153, + -0.04367552697658539 + ], + "orientation": [ + 0.2094995677471161, + -0.6213148832321167, + 0.6115610599517822, + 0.44279882311820984 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.1229189932346344, + 0.10608206689357758, + -0.04276207834482193 + ], + "orientation": [ + 0.19260169565677643, + -0.6326455473899841, + 0.6142678260803223, + 0.4305102825164795 + ], + "joints": [ + -0.009136189706623554 + ] + }, + "final_grasp": { + "position": [ + 0.1229189932346344, + 0.10608206689357758, + -0.04276207834482193 + ], + "orientation": [ + 0.19260169565677643, + -0.6326455473899841, + 0.6142678260803223, + 0.4305102825164795 + ], + "joints": [ + -0.004778711125254631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08379147201776505, + 0.012969382107257843, + -0.08718099445104599 + ], + "orientation": [ + 0.3181624412536621, + -0.2124367654323578, + 0.6879140734672546, + 0.6167798638343811 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.083263099193573, + 0.012828129343688488, + -0.08715667575597763 + ], + "orientation": [ + 0.32998281717300415, + -0.20237182080745697, + 0.6839085221290588, + 0.6184061169624329 + ], + "joints": [ + -0.007119744084775448 + ] + }, + "final_grasp": { + "position": [ + 0.083263099193573, + 0.012828129343688488, + -0.08715667575597763 + ], + "orientation": [ + 0.32998281717300415, + -0.20237182080745697, + 0.6839085221290588, + 0.6184061169624329 + ], + "joints": [ + -0.0007163789123296738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1321626901626587, + 0.11069690436124802, + -0.008965673856437206 + ], + "orientation": [ + 0.5683972239494324, + 0.3707291781902313, + -0.2996487319469452, + 0.6705931425094604 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.13180705904960632, + 0.10985117405653, + -0.009527976624667645 + ], + "orientation": [ + 0.5774828791618347, + 0.3459646701812744, + -0.2735104560852051, + 0.6870328187942505 + ], + "joints": [ + -0.008460533805191517 + ] + }, + "final_grasp": { + "position": [ + 0.13180705904960632, + 0.10985117405653, + -0.009527976624667645 + ], + "orientation": [ + 0.5774828791618347, + 0.3459646701812744, + -0.2735104560852051, + 0.6870328187942505 + ], + "joints": [ + -0.00463445670902729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08851499110460281, + 0.13434143364429474, + 0.06700094789266586 + ], + "orientation": [ + 0.18849436938762665, + 0.4891808032989502, + 0.4882030785083771, + -0.6977319121360779 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.08491982519626617, + 0.13238847255706787, + 0.06544684618711472 + ], + "orientation": [ + 0.18561358749866486, + 0.4901639521121979, + 0.4931820333003998, + -0.6943041682243347 + ], + "joints": [ + -0.0036708731204271317 + ] + }, + "final_grasp": { + "position": [ + -0.08491982519626617, + 0.13238847255706787, + 0.06544684618711472 + ], + "orientation": [ + 0.18561358749866486, + 0.4901639521121979, + 0.4931820333003998, + -0.6943041682243347 + ], + "joints": [ + 0.003237321972846985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08892051875591278, + 0.13468873500823975, + 0.06697044521570206 + ], + "orientation": [ + 0.18743912875652313, + 0.49147382378578186, + 0.48605409264564514, + -0.6979050636291504 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.08492344617843628, + 0.13288162648677826, + 0.06531067937612534 + ], + "orientation": [ + 0.18493567407131195, + 0.4917045533657074, + 0.4919200837612152, + -0.6942911744117737 + ], + "joints": [ + -0.0036708731204271317 + ] + }, + "final_grasp": { + "position": [ + -0.08492344617843628, + 0.13288162648677826, + 0.06531067937612534 + ], + "orientation": [ + 0.18493567407131195, + 0.4917045533657074, + 0.4919200837612152, + -0.6942911744117737 + ], + "joints": [ + 0.003237321972846985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1199803501367569, + 0.10878406465053558, + 0.02670453116297722 + ], + "orientation": [ + 0.44492247700691223, + 0.37114742398262024, + -0.411080002784729, + 0.7037804126739502 + ], + "joints": [ + -0.01052018627524376 + ] + }, + "fine_grasp": { + "position": [ + 0.11539710313081741, + 0.10754313319921494, + 0.026555461809039116 + ], + "orientation": [ + 0.43198198080062866, + 0.37484586238861084, + -0.4107652008533478, + 0.7100381255149841 + ], + "joints": [ + -0.005711019970476627 + ] + }, + "final_grasp": { + "position": [ + 0.11539710313081741, + 0.10754313319921494, + 0.026555461809039116 + ], + "orientation": [ + 0.43198198080062866, + 0.37484586238861084, + -0.4107652008533478, + 0.7100381255149841 + ], + "joints": [ + -0.0009018536657094955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06726473569869995, + 0.10865399986505508, + 0.08886021375656128 + ], + "orientation": [ + 0.19278670847415924, + 0.23723098635673523, + -0.5340564846992493, + 0.7882501482963562 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06840037554502487, + 0.10989145934581757, + 0.08901718258857727 + ], + "orientation": [ + 0.1919616013765335, + 0.24384675920009613, + -0.5489940643310547, + 0.7760767936706543 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + 0.06840037554502487, + 0.10989145934581757, + 0.08901718258857727 + ], + "orientation": [ + 0.1919616013765335, + 0.24384675920009613, + -0.5489940643310547, + 0.7760767936706543 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06671611964702606, + 0.10735397040843964, + 0.0886959582567215 + ], + "orientation": [ + 0.18842516839504242, + 0.24240894615650177, + -0.5322032570838928, + 0.788982629776001 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06798133999109268, + 0.1089290902018547, + 0.08886417746543884 + ], + "orientation": [ + 0.19025705754756927, + 0.24409344792366028, + -0.5462744832038879, + 0.7783347964286804 + ], + "joints": [ + -0.005384158343076706 + ] + }, + "final_grasp": { + "position": [ + 0.06798133999109268, + 0.1089290902018547, + 0.08886417746543884 + ], + "orientation": [ + 0.19025705754756927, + 0.24409344792366028, + -0.5462744832038879, + 0.7783347964286804 + ], + "joints": [ + 0.0015771761536598206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06672267615795135, + 0.1074209064245224, + 0.08866310864686966 + ], + "orientation": [ + 0.18880322575569153, + 0.24182695150375366, + -0.5318354964256287, + 0.7893187999725342 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06793855130672455, + 0.10882426798343658, + 0.0887862965464592 + ], + "orientation": [ + 0.18982066214084625, + 0.24470290541648865, + -0.5449655055999756, + 0.7791670560836792 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + 0.06793855130672455, + 0.10882426798343658, + 0.0887862965464592 + ], + "orientation": [ + 0.18982066214084625, + 0.24470290541648865, + -0.5449655055999756, + 0.7791670560836792 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10815642029047012, + 0.14986881613731384, + -0.014990776777267456 + ], + "orientation": [ + 0.4205862581729889, + 0.6050467491149902, + -0.3358149826526642, + 0.5867316722869873 + ], + "joints": [ + 0.0005881331162527204 + ] + }, + "fine_grasp": { + "position": [ + 0.10887056589126587, + 0.15040895342826843, + -0.016253894194960594 + ], + "orientation": [ + 0.4217682480812073, + 0.6095007061958313, + -0.32901549339294434, + 0.5851233005523682 + ], + "joints": [ + 0.005423869471997023 + ] + }, + "final_grasp": { + "position": [ + 0.10887056589126587, + 0.15040895342826843, + -0.016253894194960594 + ], + "orientation": [ + 0.4217682480812073, + 0.6095007061958313, + -0.32901549339294434, + 0.5851233005523682 + ], + "joints": [ + 0.010259605944156647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11681142449378967, + 0.06967806816101074, + -0.05874565243721008 + ], + "orientation": [ + 0.03720930218696594, + 0.7229158282279968, + -0.6885541677474976, + -0.04360417276620865 + ], + "joints": [ + 0.010282708331942558 + ] + }, + "fine_grasp": { + "position": [ + 0.11479437351226807, + 0.07168156653642654, + -0.056105632334947586 + ], + "orientation": [ + 0.018412737175822258, + 0.7184982895851135, + -0.6894166469573975, + -0.09014332294464111 + ], + "joints": [ + 0.006164361257106066 + ] + }, + "final_grasp": { + "position": [ + 0.11479437351226807, + 0.07168156653642654, + -0.056105632334947586 + ], + "orientation": [ + 0.018412737175822258, + 0.7184982895851135, + -0.6894166469573975, + -0.09014332294464111 + ], + "joints": [ + 0.002046014182269573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1325267106294632, + 0.060325928032398224, + -0.021726412698626518 + ], + "orientation": [ + 0.4838050901889801, + -0.4237337112426758, + 0.4716596007347107, + 0.6032575368881226 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.12855935096740723, + 0.06074639782309532, + -0.02164273150265217 + ], + "orientation": [ + 0.492785781621933, + -0.4164552390575409, + 0.46743160486221313, + 0.604346752166748 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.12855935096740723, + 0.06074639782309532, + -0.02164273150265217 + ], + "orientation": [ + 0.492785781621933, + -0.4164552390575409, + 0.46743160486221313, + 0.604346752166748 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13252876698970795, + 0.06035066768527031, + -0.02180498279631138 + ], + "orientation": [ + 0.48371002078056335, + -0.42353349924087524, + 0.4718787968158722, + 0.6033028960227966 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.1285630315542221, + 0.060839708894491196, + -0.021804416552186012 + ], + "orientation": [ + 0.49238044023513794, + -0.41630494594573975, + 0.4679587483406067, + 0.6043726205825806 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.1285630315542221, + 0.060839708894491196, + -0.021804416552186012 + ], + "orientation": [ + 0.49238044023513794, + -0.41630494594573975, + 0.4679587483406067, + 0.6043726205825806 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10385633260011673, + 0.1495882123708725, + -0.028482889756560326 + ], + "orientation": [ + 0.47033146023750305, + 0.47757482528686523, + -0.19168439507484436, + 0.7169155478477478 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.10307584702968597, + 0.14606866240501404, + -0.029071949422359467 + ], + "orientation": [ + 0.4857054650783539, + 0.45244917273521423, + -0.17183449864387512, + 0.7279098629951477 + ], + "joints": [ + -0.007982274517416954 + ] + }, + "final_grasp": { + "position": [ + 0.10307584702968597, + 0.14606866240501404, + -0.029071949422359467 + ], + "orientation": [ + 0.4857054650783539, + 0.45244917273521423, + -0.17183449864387512, + 0.7279098629951477 + ], + "joints": [ + -0.0036779381334781647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1178932711482048, + 0.09637270122766495, + -0.04592984914779663 + ], + "orientation": [ + 0.6925293803215027, + 0.08048518747091293, + 0.034491658210754395, + -0.7160555720329285 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.11717992275953293, + 0.09737154096364975, + -0.04436131566762924 + ], + "orientation": [ + 0.6926613450050354, + 0.0908992737531662, + 0.018983447924256325, + -0.7152602672576904 + ], + "joints": [ + -0.016440577805042267 + ] + }, + "final_grasp": { + "position": [ + -0.11717992275953293, + 0.09737154096364975, + -0.04436131566762924 + ], + "orientation": [ + 0.6926613450050354, + 0.0908992737531662, + 0.018983447924256325, + -0.7152602672576904 + ], + "joints": [ + -0.016414005309343338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11367370933294296, + 0.15444542467594147, + 0.0163184255361557 + ], + "orientation": [ + 0.3750760555267334, + 0.5424113273620605, + 0.43611159920692444, + -0.6123026013374329 + ], + "joints": [ + 0.0023106923326849937 + ] + }, + "fine_grasp": { + "position": [ + -0.11277668923139572, + 0.1539936065673828, + 0.01648802123963833 + ], + "orientation": [ + 0.3771459460258484, + 0.5412060618400574, + 0.4341377317905426, + -0.6134992837905884 + ], + "joints": [ + 0.008182658813893795 + ] + }, + "final_grasp": { + "position": [ + -0.11277668923139572, + 0.1539936065673828, + 0.01648802123963833 + ], + "orientation": [ + 0.3771459460258484, + 0.5412060618400574, + 0.4341377317905426, + -0.6134992837905884 + ], + "joints": [ + 0.014054625295102596 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2033, + "num_passed": 104 + } +} \ No newline at end of file diff --git a/095_glue_5/Annotation/piper_grasp_pose.json b/095_glue_5/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..23e366bf6a9e15eb875fe544cd2e7b496470fd5b --- /dev/null +++ b/095_glue_5/Annotation/piper_grasp_pose.json @@ -0,0 +1,6418 @@ +{ + "type": "095_glue_5", + "bottom_center": [ + -5.19677996635437e-07, + 0.07603516429662704, + -0.023724401369690895 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.12782886624336243, + 0.07519764453172684, + -0.001136829610913992 + ], + "orientation": [ + 0.5139617919921875, + -0.48172882199287415, + -0.5105202794075012, + 0.4931020140647888 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + 0.12448439002037048, + 0.07460863888263702, + -0.0011013693874701858 + ], + "orientation": [ + 0.506597638130188, + -0.4761895537376404, + -0.5165910124778748, + 0.499735951423645 + ], + "joints": [ + 0.021405475214123726 + ] + }, + "final_grasp": { + "position": [ + 0.12448439002037048, + 0.07460863888263702, + -0.0011013693874701858 + ], + "orientation": [ + 0.506597638130188, + -0.4761895537376404, + -0.5165910124778748, + 0.499735951423645 + ], + "joints": [ + 0.012210460379719734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13248111307621002, + 0.09314712136983871, + 0.004542633891105652 + ], + "orientation": [ + 0.4833972454071045, + -0.4487307071685791, + 0.556185781955719, + -0.5055938363075256 + ], + "joints": [ + 0.028701739385724068 + ] + }, + "fine_grasp": { + "position": [ + -0.12907862663269043, + 0.09174485504627228, + 0.004358735866844654 + ], + "orientation": [ + 0.4774613380432129, + -0.4424344599246979, + 0.5618261694908142, + -0.5105230212211609 + ], + "joints": [ + 0.020300837233662605 + ] + }, + "final_grasp": { + "position": [ + -0.12907862663269043, + 0.09174485504627228, + 0.004358735866844654 + ], + "orientation": [ + 0.4774613380432129, + -0.4424344599246979, + 0.5618261694908142, + -0.5105230212211609 + ], + "joints": [ + 0.011899935081601143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027109866961836815, + 0.07675950974225998, + 0.1437441110610962 + ], + "orientation": [ + 0.08149036020040512, + 0.682536244392395, + -0.7242711186408997, + -0.0541762076318264 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.026342306286096573, + 0.07649967074394226, + 0.13997237384319305 + ], + "orientation": [ + 0.09146849066019058, + 0.6840595602989197, + -0.7222398519515991, + -0.045449137687683105 + ], + "joints": [ + 0.020719891414046288 + ] + }, + "final_grasp": { + "position": [ + 0.026342306286096573, + 0.07649967074394226, + 0.13997237384319305 + ], + "orientation": [ + 0.09146849066019058, + 0.6840595602989197, + -0.7222398519515991, + -0.045449137687683105 + ], + "joints": [ + 0.012298090383410454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007226556073874235, + 0.12203671038150787, + 0.12543503940105438 + ], + "orientation": [ + 0.10405895113945007, + 0.6909300088882446, + 0.7000943422317505, + -0.14715737104415894 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.007019516080617905, + 0.12005864828824997, + 0.12220466136932373 + ], + "orientation": [ + 0.11708169430494308, + 0.6884033679962158, + 0.697824239730835, + -0.15948010981082916 + ], + "joints": [ + 0.021049795672297478 + ] + }, + "final_grasp": { + "position": [ + 0.007019516080617905, + 0.12005864828824997, + 0.12220466136932373 + ], + "orientation": [ + 0.11708169430494308, + 0.6884033679962158, + 0.697824239730835, + -0.15948010981082916 + ], + "joints": [ + 0.01386096142232418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013012534007430077, + 0.09906227141618729, + 0.14154623448848724 + ], + "orientation": [ + 0.13108892738819122, + 0.7371557354927063, + 0.6608081459999084, + -0.05243859440088272 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + -0.012668246403336525, + 0.09803992509841919, + 0.13775339722633362 + ], + "orientation": [ + 0.1321215182542801, + 0.732455313205719, + 0.6656965017318726, + -0.05386366695165634 + ], + "joints": [ + 0.022154374048113823 + ] + }, + "final_grasp": { + "position": [ + -0.012668246403336525, + 0.09803992509841919, + 0.13775339722633362 + ], + "orientation": [ + 0.1321215182542801, + 0.732455313205719, + 0.6656965017318726, + -0.05386366695165634 + ], + "joints": [ + 0.013314617797732353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1296422779560089, + 0.07344870269298553, + -0.014852484688162804 + ], + "orientation": [ + 0.516969621181488, + -0.5160460472106934, + 0.4264450669288635, + -0.5334635376930237 + ], + "joints": [ + 0.02580195665359497 + ] + }, + "fine_grasp": { + "position": [ + -0.12565481662750244, + 0.07195635885000229, + -0.014133757911622524 + ], + "orientation": [ + 0.5082550048828125, + -0.5101783871650696, + 0.4342629909515381, + -0.5411196947097778 + ], + "joints": [ + 0.018278762698173523 + ] + }, + "final_grasp": { + "position": [ + -0.12565481662750244, + 0.07195635885000229, + -0.014133757911622524 + ], + "orientation": [ + 0.5082550048828125, + -0.5101783871650696, + 0.4342629909515381, + -0.5411196947097778 + ], + "joints": [ + 0.010755568742752075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13995060324668884, + 0.04656233265995979, + -0.010541257448494434 + ], + "orientation": [ + 0.5296507477760315, + -0.5117985606193542, + -0.4442192614078522, + 0.5100994110107422 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + 0.13599732518196106, + 0.04672510176897049, + -0.010175146162509918 + ], + "orientation": [ + 0.5285481810569763, + -0.5115686058998108, + -0.4448716640472412, + 0.5109046101570129 + ], + "joints": [ + 0.022750742733478546 + ] + }, + "final_grasp": { + "position": [ + 0.13599732518196106, + 0.04672510176897049, + -0.010175146162509918 + ], + "orientation": [ + 0.5285481810569763, + -0.5115686058998108, + -0.4448716640472412, + 0.5109046101570129 + ], + "joints": [ + 0.013534829020500183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012906019575893879, + 0.09898427873849869, + 0.14136873185634613 + ], + "orientation": [ + 0.13198423385620117, + 0.7346602082252502, + 0.6632111668586731, + -0.05482213571667671 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + -0.012577089481055737, + 0.09798184782266617, + 0.13760970532894135 + ], + "orientation": [ + 0.13200490176677704, + 0.7306825518608093, + 0.6675812005996704, + -0.054891664534807205 + ], + "joints": [ + 0.022154374048113823 + ] + }, + "final_grasp": { + "position": [ + -0.012577089481055737, + 0.09798184782266617, + 0.13760970532894135 + ], + "orientation": [ + 0.13200490176677704, + 0.7306825518608093, + 0.6675812005996704, + -0.054891664534807205 + ], + "joints": [ + 0.013314617797732353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1395837962627411, + 0.04663235694169998, + -0.010513006709516048 + ], + "orientation": [ + 0.5293125510215759, + -0.5123321413993835, + -0.44364669919013977, + 0.5104131102561951 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + 0.13556833565235138, + 0.046789687126874924, + -0.01016944833099842 + ], + "orientation": [ + 0.5278626084327698, + -0.5123413801193237, + -0.44451454281806946, + 0.5111498236656189 + ], + "joints": [ + 0.022750742733478546 + ] + }, + "final_grasp": { + "position": [ + 0.13556833565235138, + 0.046789687126874924, + -0.01016944833099842 + ], + "orientation": [ + 0.5278626084327698, + -0.5123413801193237, + -0.44451454281806946, + 0.5111498236656189 + ], + "joints": [ + 0.013534829020500183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08702575415372849, + 0.10510969907045364, + -0.09502032399177551 + ], + "orientation": [ + 0.6474312543869019, + 0.2983332872390747, + 0.20962786674499512, + 0.6692430377006531 + ], + "joints": [ + 0.02354268729686737 + ] + }, + "fine_grasp": { + "position": [ + -0.08441417664289474, + 0.10434121638536453, + -0.09220203757286072 + ], + "orientation": [ + 0.6463173627853394, + 0.2993595004081726, + 0.20806527137756348, + 0.6703481674194336 + ], + "joints": [ + 0.013929717242717743 + ] + }, + "final_grasp": { + "position": [ + -0.08441417664289474, + 0.10434121638536453, + -0.09220203757286072 + ], + "orientation": [ + 0.6463173627853394, + 0.2993595004081726, + 0.20806527137756348, + 0.6703481674194336 + ], + "joints": [ + 0.004316747188568115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12460684031248093, + 0.08421742916107178, + -0.010447555221617222 + ], + "orientation": [ + 0.5484544038772583, + 0.47097164392471313, + -0.4958058297634125, + -0.4812068045139313 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + 0.12115121632814407, + 0.0821794643998146, + -0.00988849438726902 + ], + "orientation": [ + 0.5563349723815918, + 0.4766729772090912, + -0.49076807498931885, + -0.47161513566970825 + ], + "joints": [ + 0.01946272887289524 + ] + }, + "final_grasp": { + "position": [ + 0.12115121632814407, + 0.0821794643998146, + -0.00988849438726902 + ], + "orientation": [ + 0.5563349723815918, + 0.4766729772090912, + -0.49076807498931885, + -0.47161513566970825 + ], + "joints": [ + 0.011103624477982521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06079806387424469, + -0.09431899338960648, + 0.006865653675049543 + ], + "orientation": [ + 0.6878858208656311, + -0.6951796412467957, + -0.20033013820648193, + 0.05836227536201477 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.058955468237400055, + -0.09132032841444016, + 0.006275850348174572 + ], + "orientation": [ + 0.6867393255233765, + -0.694317102432251, + -0.2038220316171646, + 0.06906180828809738 + ], + "joints": [ + 0.023026350885629654 + ] + }, + "final_grasp": { + "position": [ + 0.058955468237400055, + -0.09132032841444016, + 0.006275850348174572 + ], + "orientation": [ + 0.6867393255233765, + -0.694317102432251, + -0.2038220316171646, + 0.06906180828809738 + ], + "joints": [ + 0.013831336051225662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.076752208173275, + 0.08307301253080368, + 0.1109248697757721 + ], + "orientation": [ + 0.15371690690517426, + -0.6423133015632629, + -0.6978192329406738, + 0.27722376585006714 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.07442294806241989, + 0.08251025527715683, + 0.1083618775010109 + ], + "orientation": [ + 0.15792816877365112, + -0.6441547870635986, + -0.6972931623458862, + 0.2718559503555298 + ], + "joints": [ + 0.025331228971481323 + ] + }, + "final_grasp": { + "position": [ + 0.07442294806241989, + 0.08251025527715683, + 0.1083618775010109 + ], + "orientation": [ + 0.15792816877365112, + -0.6441547870635986, + -0.6972931623458862, + 0.2718559503555298 + ], + "joints": [ + 0.017306484282016754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00796818733215332, + -0.10374796390533447, + 0.01550895906984806 + ], + "orientation": [ + 0.4338144361972809, + -0.4471184015274048, + 0.5334837436676025, + 0.5720884799957275 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.007487937808036804, + -0.1002746969461441, + 0.014826951548457146 + ], + "orientation": [ + 0.4313608407974243, + -0.45464658737182617, + 0.5359349846839905, + 0.5656835436820984 + ], + "joints": [ + 0.022352591156959534 + ] + }, + "final_grasp": { + "position": [ + 0.007487937808036804, + -0.1002746969461441, + 0.014826951548457146 + ], + "orientation": [ + 0.4313608407974243, + -0.45464658737182617, + 0.5359349846839905, + 0.5656835436820984 + ], + "joints": [ + 0.013178475201129913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008082590997219086, + -0.10385821759700775, + 0.01586967147886753 + ], + "orientation": [ + 0.4333235025405884, + -0.44854041934013367, + 0.5337119698524475, + 0.5711338520050049 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.007607771083712578, + -0.10039117187261581, + 0.015177730470895767 + ], + "orientation": [ + 0.43084844946861267, + -0.4561502933502197, + 0.5362920165061951, + 0.5645241141319275 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.007607771083712578, + -0.10039117187261581, + 0.015177730470895767 + ], + "orientation": [ + 0.43084844946861267, + -0.4561502933502197, + 0.5362920165061951, + 0.5645241141319275 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07718176394701004, + 0.0832635760307312, + 0.11100423336029053 + ], + "orientation": [ + 0.15327751636505127, + -0.6412352323532104, + -0.6981882452964783, + 0.2790276110172272 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.07482925802469254, + 0.08270152658224106, + 0.10835225880146027 + ], + "orientation": [ + 0.1577560156583786, + -0.6429082155227661, + -0.6977385878562927, + 0.2737572491168976 + ], + "joints": [ + 0.025288335978984833 + ] + }, + "final_grasp": { + "position": [ + 0.07482925802469254, + 0.08270152658224106, + 0.10835225880146027 + ], + "orientation": [ + 0.1577560156583786, + -0.6429082155227661, + -0.6977385878562927, + 0.2737572491168976 + ], + "joints": [ + 0.01766064763069153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07669476419687271, + 0.08291016519069672, + 0.11089026182889938 + ], + "orientation": [ + 0.15242424607276917, + -0.6413413882255554, + -0.6985363364219666, + 0.27837929129600525 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.07435626536607742, + 0.08234741538763046, + 0.10826430469751358 + ], + "orientation": [ + 0.15662427246570587, + -0.6430778503417969, + -0.6981663703918457, + 0.27291634678840637 + ], + "joints": [ + 0.025331228971481323 + ] + }, + "final_grasp": { + "position": [ + 0.07435626536607742, + 0.08234741538763046, + 0.10826430469751358 + ], + "orientation": [ + 0.15662427246570587, + -0.6430778503417969, + -0.6981663703918457, + 0.27291634678840637 + ], + "joints": [ + 0.017306484282016754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015768855810165405, + 0.06789218634366989, + -0.13698551058769226 + ], + "orientation": [ + 0.6929290294647217, + -0.05238863453269005, + 0.03671177849173546, + -0.7181622385978699 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.01529698632657528, + 0.06747963279485703, + -0.13317984342575073 + ], + "orientation": [ + 0.6928825378417969, + -0.049888726323843, + 0.03788941726088524, + -0.7183240652084351 + ], + "joints": [ + 0.022122133523225784 + ] + }, + "final_grasp": { + "position": [ + -0.01529698632657528, + 0.06747963279485703, + -0.13317984342575073 + ], + "orientation": [ + 0.6928825378417969, + -0.049888726323843, + 0.03788941726088524, + -0.7183240652084351 + ], + "joints": [ + 0.012509163469076157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12779182195663452, + 0.07524202764034271, + -0.014633692800998688 + ], + "orientation": [ + 0.5231556296348572, + -0.5357397198677063, + 0.3977155089378357, + -0.5302013754844666 + ], + "joints": [ + 0.023556264117360115 + ] + }, + "fine_grasp": { + "position": [ + -0.12397454679012299, + 0.07412708550691605, + -0.01402500830590725 + ], + "orientation": [ + 0.5153594613075256, + -0.5344575047492981, + 0.4022620618343353, + -0.535672664642334 + ], + "joints": [ + 0.01477920450270176 + ] + }, + "final_grasp": { + "position": [ + -0.12397454679012299, + 0.07412708550691605, + -0.01402500830590725 + ], + "orientation": [ + 0.5153594613075256, + -0.5344575047492981, + 0.4022620618343353, + -0.535672664642334 + ], + "joints": [ + 0.006002144888043404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14531250298023224, + 0.0291131641715765, + -0.010577681474387646 + ], + "orientation": [ + 0.5512892603874207, + 0.5452624559402466, + -0.4079313576221466, + -0.4820384979248047 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + 0.14141543209552765, + 0.028834884986281395, + -0.010191824287176132 + ], + "orientation": [ + 0.549457848072052, + 0.5430580973625183, + -0.4103457033634186, + -0.48456206917762756 + ], + "joints": [ + 0.021228155121207237 + ] + }, + "final_grasp": { + "position": [ + 0.14141543209552765, + 0.028834884986281395, + -0.010191824287176132 + ], + "orientation": [ + 0.549457848072052, + 0.5430580973625183, + -0.4103457033634186, + -0.48456206917762756 + ], + "joints": [ + 0.012388398870825768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12806281447410583, + 0.07526944577693939, + -0.015011727809906006 + ], + "orientation": [ + 0.522233247756958, + -0.5299628376960754, + 0.4042493999004364, + -0.5319721102714539 + ], + "joints": [ + 0.024007253348827362 + ] + }, + "fine_grasp": { + "position": [ + -0.12413851916790009, + 0.0742645412683487, + -0.014570372179150581 + ], + "orientation": [ + 0.514072835445404, + -0.529712438583374, + 0.408637136220932, + -0.5367956161499023 + ], + "joints": [ + 0.015648148953914642 + ] + }, + "final_grasp": { + "position": [ + -0.12413851916790009, + 0.0742645412683487, + -0.014570372179150581 + ], + "orientation": [ + 0.514072835445404, + -0.529712438583374, + 0.408637136220932, + -0.5367956161499023 + ], + "joints": [ + 0.007289044559001923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027919825166463852, + 0.04375627636909485, + -0.12973131239414215 + ], + "orientation": [ + 0.6996728777885437, + -0.04593600332736969, + -0.11250759661197662, + 0.7040523886680603 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.027043666690587997, + 0.04363568499684334, + -0.12596465647220612 + ], + "orientation": [ + 0.7002059817314148, + -0.04419156536459923, + -0.10950443148612976, + 0.7041075229644775 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.027043666690587997, + 0.04363568499684334, + -0.12596465647220612 + ], + "orientation": [ + 0.7002059817314148, + -0.04419156536459923, + -0.10950443148612976, + 0.7041075229644775 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0012803019490092993, + 0.02387254871428013, + -0.14123806357383728 + ], + "orientation": [ + 0.703984260559082, + -0.03177642822265625, + 0.03885829076170921, + 0.7084394097328186 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.0012349413009360433, + 0.023975497111678123, + -0.13724015653133392 + ], + "orientation": [ + 0.7040250897407532, + -0.030826633796095848, + 0.03797795623540878, + 0.7084886431694031 + ], + "joints": [ + 0.02254008874297142 + ] + }, + "final_grasp": { + "position": [ + -0.0012349413009360433, + 0.023975497111678123, + -0.13724015653133392 + ], + "orientation": [ + 0.7040250897407532, + -0.030826633796095848, + 0.03797795623540878, + 0.7084886431694031 + ], + "joints": [ + 0.013345073908567429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12683247029781342, + 0.04811444878578186, + -0.005702775437384844 + ], + "orientation": [ + 0.43570080399513245, + 0.4477311372756958, + -0.5213520526885986, + -0.5812862515449524 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + 0.12283776700496674, + 0.04781704768538475, + -0.005423304159194231 + ], + "orientation": [ + 0.4432254731655121, + 0.4525538980960846, + -0.5184211134910583, + -0.5744438767433167 + ], + "joints": [ + 0.02136032097041607 + ] + }, + "final_grasp": { + "position": [ + 0.12283776700496674, + 0.04781704768538475, + -0.005423304159194231 + ], + "orientation": [ + 0.4432254731655121, + 0.4525538980960846, + -0.5184211134910583, + -0.5744438767433167 + ], + "joints": [ + 0.012583261355757713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12475687265396118, + 0.1157633438706398, + -0.012382636778056622 + ], + "orientation": [ + 0.5881134867668152, + 0.5843402147293091, + -0.3288692235946655, + -0.4522322714328766 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.12128356099128723, + 0.11389072239398956, + -0.01197681576013565 + ], + "orientation": [ + 0.5893826484680176, + 0.5862433910369873, + -0.3287111818790436, + -0.4482140839099884 + ], + "joints": [ + 0.022794798016548157 + ] + }, + "final_grasp": { + "position": [ + 0.12128356099128723, + 0.11389072239398956, + -0.01197681576013565 + ], + "orientation": [ + 0.5893826484680176, + 0.5862433910369873, + -0.3287111818790436, + -0.4482140839099884 + ], + "joints": [ + 0.013599783182144165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12705634534358978, + 0.04823680594563484, + -0.005665356293320656 + ], + "orientation": [ + 0.4356100261211395, + 0.44662049412727356, + -0.5223508477210999, + -0.5813119411468506 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + 0.12303958088159561, + 0.04789113253355026, + -0.00539829907938838 + ], + "orientation": [ + 0.44371455907821655, + 0.4519437253475189, + -0.5190770030021667, + -0.5739542245864868 + ], + "joints": [ + 0.02136032097041607 + ] + }, + "final_grasp": { + "position": [ + 0.12303958088159561, + 0.04789113253355026, + -0.00539829907938838 + ], + "orientation": [ + 0.44371455907821655, + 0.4519437253475189, + -0.5190770030021667, + -0.5739542245864868 + ], + "joints": [ + 0.012583261355757713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11083494126796722, + 0.09850430488586426, + 0.03815482556819916 + ], + "orientation": [ + 0.41121453046798706, + -0.45192205905914307, + 0.6612863540649414, + -0.4351661205291748 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + -0.10872773826122284, + 0.09674302488565445, + 0.03731146454811096 + ], + "orientation": [ + 0.3982439339160919, + -0.45066267251968384, + 0.6642071008682251, + -0.4439975917339325 + ], + "joints": [ + 0.022494938224554062 + ] + }, + "final_grasp": { + "position": [ + -0.10872773826122284, + 0.09674302488565445, + 0.03731146454811096 + ], + "orientation": [ + 0.3982439339160919, + -0.45066267251968384, + 0.6642071008682251, + -0.4439975917339325 + ], + "joints": [ + 0.013717878609895706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12477756291627884, + 0.08397247642278671, + -0.010227036662399769 + ], + "orientation": [ + 0.5500766634941101, + 0.47424572706222534, + -0.4921724796295166, + -0.4798676371574402 + ], + "joints": [ + 0.028748052194714546 + ] + }, + "fine_grasp": { + "position": [ + 0.12159547209739685, + 0.08228477835655212, + -0.009741448797285557 + ], + "orientation": [ + 0.5559310913085938, + 0.48179930448532104, + -0.484713613986969, + -0.47314152121543884 + ], + "joints": [ + 0.020388947799801826 + ] + }, + "final_grasp": { + "position": [ + 0.12159547209739685, + 0.08228477835655212, + -0.009741448797285557 + ], + "orientation": [ + 0.5559310913085938, + 0.48179930448532104, + -0.484713613986969, + -0.47314152121543884 + ], + "joints": [ + 0.012029843404889107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12353917211294174, + -0.04838623106479645, + -0.018552199006080627 + ], + "orientation": [ + 0.6555463671684265, + -0.5884143114089966, + -0.2921006679534912, + 0.3724307715892792 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + 0.11989393830299377, + -0.04717788100242615, + -0.017800280824303627 + ], + "orientation": [ + 0.6537132263183594, + -0.585015058517456, + -0.29809537529945374, + 0.37623894214630127 + ], + "joints": [ + 0.022198429331183434 + ] + }, + "final_grasp": { + "position": [ + 0.11989393830299377, + -0.04717788100242615, + -0.017800280824303627 + ], + "orientation": [ + 0.6537132263183594, + -0.585015058517456, + -0.29809537529945374, + 0.37623894214630127 + ], + "joints": [ + 0.013379571959376335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12714184820652008, + 0.048175148665905, + -0.005210429895669222 + ], + "orientation": [ + 0.43321722745895386, + 0.44879281520843506, + -0.5217358469963074, + -0.581978976726532 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + 0.12316807359457016, + 0.04780523106455803, + -0.004862504079937935 + ], + "orientation": [ + 0.4409640431404114, + 0.4545513391494751, + -0.5182748436927795, + -0.5747390985488892 + ], + "joints": [ + 0.020942365750670433 + ] + }, + "final_grasp": { + "position": [ + 0.12316807359457016, + 0.04780523106455803, + -0.004862504079937935 + ], + "orientation": [ + 0.4409640431404114, + 0.4545513391494751, + -0.5182748436927795, + -0.5747390985488892 + ], + "joints": [ + 0.011747350916266441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11266016215085983, + -0.06863684952259064, + -0.0053824735805392265 + ], + "orientation": [ + 0.38386914134025574, + 0.30668967962265015, + -0.6173272728919983, + -0.6144044399261475 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + 0.1100723147392273, + -0.06588203459978104, + -0.005335022695362568 + ], + "orientation": [ + 0.37668922543525696, + 0.3009597659111023, + -0.6216636300086975, + -0.6173027753829956 + ], + "joints": [ + 0.022109219804406166 + ] + }, + "final_grasp": { + "position": [ + 0.1100723147392273, + -0.06588203459978104, + -0.005335022695362568 + ], + "orientation": [ + 0.37668922543525696, + 0.3009597659111023, + -0.6216636300086975, + -0.6173027753829956 + ], + "joints": [ + 0.013687418773770332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12849947810173035, + 0.09855793416500092, + -0.0054612490348517895 + ], + "orientation": [ + 0.5293471217155457, + 0.5823540687561035, + -0.36875081062316895, + -0.4946494996547699 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.12493453174829483, + 0.09722729027271271, + -0.005292095709592104 + ], + "orientation": [ + 0.5315969586372375, + 0.5848608016967773, + -0.3680903911590576, + -0.489747017621994 + ], + "joints": [ + 0.022982295602560043 + ] + }, + "final_grasp": { + "position": [ + 0.12493453174829483, + 0.09722729027271271, + -0.005292095709592104 + ], + "orientation": [ + 0.5315969586372375, + 0.5848608016967773, + -0.3680903911590576, + -0.489747017621994 + ], + "joints": [ + 0.01376638188958168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1285037100315094, + 0.09856506437063217, + -0.005478173494338989 + ], + "orientation": [ + 0.5293405055999756, + 0.5823500156402588, + -0.3686560392379761, + -0.4947320222854614 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.12493891268968582, + 0.0972343385219574, + -0.0053085447289049625 + ], + "orientation": [ + 0.531590461730957, + 0.5848588347434998, + -0.3679977357387543, + -0.4898257553577423 + ], + "joints": [ + 0.022982295602560043 + ] + }, + "final_grasp": { + "position": [ + 0.12493891268968582, + 0.0972343385219574, + -0.0053085447289049625 + ], + "orientation": [ + 0.531590461730957, + 0.5848588347434998, + -0.3679977357387543, + -0.4898257553577423 + ], + "joints": [ + 0.01376638188958168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11086247861385345, + 0.09870275855064392, + 0.03821977600455284 + ], + "orientation": [ + 0.4111652970314026, + -0.45006299018859863, + 0.6626660823822021, + -0.43504053354263306 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + -0.10864458978176117, + 0.09684636443853378, + 0.037459596991539 + ], + "orientation": [ + 0.4031093418598175, + -0.44772252440452576, + 0.6660689115524292, + -0.4397721290588379 + ], + "joints": [ + 0.022494938224554062 + ] + }, + "final_grasp": { + "position": [ + -0.10864458978176117, + 0.09684636443853378, + 0.037459596991539 + ], + "orientation": [ + 0.4031093418598175, + -0.44772252440452576, + 0.6660689115524292, + -0.4397721290588379 + ], + "joints": [ + 0.013717878609895706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12845581769943237, + 0.09872937202453613, + -0.005376385059207678 + ], + "orientation": [ + 0.5272886157035828, + 0.5817514061927795, + -0.3692050278186798, + -0.49721187353134155 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.12490358203649521, + 0.09744706004858017, + -0.00522797042503953 + ], + "orientation": [ + 0.5295554995536804, + 0.5844215750694275, + -0.3682752549648285, + -0.4923369288444519 + ], + "joints": [ + 0.022773899137973785 + ] + }, + "final_grasp": { + "position": [ + 0.12490358203649521, + 0.09744706004858017, + -0.00522797042503953 + ], + "orientation": [ + 0.5295554995536804, + 0.5844215750694275, + -0.3682752549648285, + -0.4923369288444519 + ], + "joints": [ + 0.013557985424995422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13144436478614807, + 0.05385509878396988, + -0.03723011538386345 + ], + "orientation": [ + 0.5947346687316895, + -0.47006547451019287, + 0.3689831793308258, + -0.5377551913261414 + ], + "joints": [ + 0.03057733364403248 + ] + }, + "fine_grasp": { + "position": [ + -0.127894788980484, + 0.05371561646461487, + -0.03598597273230553 + ], + "orientation": [ + 0.5925990343093872, + -0.46844789385795593, + 0.37408357858657837, + -0.5380002856254578 + ], + "joints": [ + 0.02094346471130848 + ] + }, + "final_grasp": { + "position": [ + -0.127894788980484, + 0.05371561646461487, + -0.03598597273230553 + ], + "orientation": [ + 0.5925990343093872, + -0.46844789385795593, + 0.37408357858657837, + -0.5380002856254578 + ], + "joints": [ + 0.01130959577858448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13513007760047913, + 0.01805066503584385, + 0.003388174343854189 + ], + "orientation": [ + 0.49537408351898193, + 0.5630040168762207, + -0.44587504863739014, + -0.48869872093200684 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.13120990991592407, + 0.018024593591690063, + 0.0033077977132052183 + ], + "orientation": [ + 0.4925891160964966, + 0.5608212351799011, + -0.44770705699920654, + -0.49233508110046387 + ], + "joints": [ + 0.022542346268892288 + ] + }, + "final_grasp": { + "position": [ + 0.13120990991592407, + 0.018024593591690063, + 0.0033077977132052183 + ], + "orientation": [ + 0.4925891160964966, + 0.5608212351799011, + -0.44770705699920654, + -0.49233508110046387 + ], + "joints": [ + 0.013326432555913925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11857308447360992, + -0.04713737964630127, + -0.04191795736551285 + ], + "orientation": [ + 0.48503637313842773, + 0.2588529884815216, + -0.5217617154121399, + -0.6523030996322632 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.11533068120479584, + -0.04551710560917854, + -0.04038263112306595 + ], + "orientation": [ + 0.4836457073688507, + 0.2612399458885193, + -0.5223405957221985, + -0.6519209742546082 + ], + "joints": [ + 0.02402886003255844 + ] + }, + "final_grasp": { + "position": [ + 0.11533068120479584, + -0.04551710560917854, + -0.04038263112306595 + ], + "orientation": [ + 0.4836457073688507, + 0.2612399458885193, + -0.5223405957221985, + -0.6519209742546082 + ], + "joints": [ + 0.01562795788049698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05496444180607796, + -0.11375027894973755, + -0.04101048782467842 + ], + "orientation": [ + 0.0716485008597374, + 0.11090995371341705, + 0.5816693305969238, + 0.8026371002197266 + ], + "joints": [ + 0.02867858298122883 + ] + }, + "fine_grasp": { + "position": [ + -0.053708765655756, + -0.11044816672801971, + -0.03987367823719978 + ], + "orientation": [ + 0.07362224161624908, + 0.11250080168247223, + 0.5822728872299194, + 0.8017989993095398 + ], + "joints": [ + 0.019817927852272987 + ] + }, + "final_grasp": { + "position": [ + -0.053708765655756, + -0.11044816672801971, + -0.03987367823719978 + ], + "orientation": [ + 0.07362224161624908, + 0.11250080168247223, + 0.5822728872299194, + 0.8017989993095398 + ], + "joints": [ + 0.010957272723317146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13187038898468018, + -0.02161335200071335, + 0.012340904213488102 + ], + "orientation": [ + 0.458132803440094, + 0.4200240969657898, + -0.6088708639144897, + -0.4929201602935791 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.12805183231830597, + -0.020649434998631477, + 0.011921496130526066 + ], + "orientation": [ + 0.4550267159938812, + 0.41818293929100037, + -0.6098201870918274, + -0.49617841839790344 + ], + "joints": [ + 0.023005452007055283 + ] + }, + "final_grasp": { + "position": [ + 0.12805183231830597, + -0.020649434998631477, + 0.011921496130526066 + ], + "orientation": [ + 0.4550267159938812, + 0.41818293929100037, + -0.6098201870918274, + -0.49617841839790344 + ], + "joints": [ + 0.01378953829407692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02820931002497673, + -0.11487323045730591, + 0.011791471391916275 + ], + "orientation": [ + 0.6734926104545593, + -0.736579954624176, + -0.06062501296401024, + 0.013504435308277607 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.027672600001096725, + -0.11095241457223892, + 0.011376147158443928 + ], + "orientation": [ + 0.6744663119316101, + -0.7355169653892517, + -0.062221333384513855, + 0.015440025366842747 + ], + "joints": [ + 0.022608395665884018 + ] + }, + "final_grasp": { + "position": [ + 0.027672600001096725, + -0.11095241457223892, + 0.011376147158443928 + ], + "orientation": [ + 0.6744663119316101, + -0.7355169653892517, + -0.062221333384513855, + 0.015440025366842747 + ], + "joints": [ + 0.01299542561173439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1316446214914322, + -0.021732309833168983, + 0.012289437465369701 + ], + "orientation": [ + 0.45813971757888794, + 0.4207576811313629, + -0.608135998249054, + -0.4931952953338623 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.12786118686199188, + -0.020789168775081635, + 0.01184537447988987 + ], + "orientation": [ + 0.4549175202846527, + 0.4193838834762573, + -0.6089239716529846, + -0.49636542797088623 + ], + "joints": [ + 0.023005452007055283 + ] + }, + "final_grasp": { + "position": [ + 0.12786118686199188, + -0.020789168775081635, + 0.01184537447988987 + ], + "orientation": [ + 0.4549175202846527, + 0.4193838834762573, + -0.6089239716529846, + -0.49636542797088623 + ], + "joints": [ + 0.01378953829407692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13147003948688507, + -0.021643465384840965, + 0.012260615825653076 + ], + "orientation": [ + 0.4583926498889923, + 0.4205745756626129, + -0.6081852912902832, + -0.493055522441864 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.12766721844673157, + -0.020684674382209778, + 0.011838355101644993 + ], + "orientation": [ + 0.45527389645576477, + 0.4189782738685608, + -0.6089621782302856, + -0.4963344633579254 + ], + "joints": [ + 0.023005452007055283 + ] + }, + "final_grasp": { + "position": [ + 0.12766721844673157, + -0.020684674382209778, + 0.011838355101644993 + ], + "orientation": [ + 0.45527389645576477, + 0.4189782738685608, + -0.6089621782302856, + -0.4963344633579254 + ], + "joints": [ + 0.01378953829407692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10742304474115372, + -0.07527107000350952, + -0.01413013320416212 + ], + "orientation": [ + 0.6190770864486694, + -0.631077766418457, + 0.20413729548454285, + -0.4204905033111572 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.10479611903429031, + -0.07250170409679413, + -0.013847142457962036 + ], + "orientation": [ + 0.62049400806427, + -0.6336891651153564, + 0.2035277634859085, + -0.4147310256958008 + ], + "joints": [ + 0.023565754294395447 + ] + }, + "final_grasp": { + "position": [ + -0.10479611903429031, + -0.07250170409679413, + -0.013847142457962036 + ], + "orientation": [ + 0.62049400806427, + -0.6336891651153564, + 0.2035277634859085, + -0.4147310256958008 + ], + "joints": [ + 0.015164852142333984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009265751577913761, + -0.10430718213319778, + 0.016697965562343597 + ], + "orientation": [ + 0.42982912063598633, + -0.4469689428806305, + 0.5337744355201721, + 0.5749351978302002 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.008842173963785172, + -0.1008126512169838, + 0.015933915972709656 + ], + "orientation": [ + 0.42667707800865173, + -0.45564454793930054, + 0.536509096622467, + 0.5678843259811401 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + 0.008842173963785172, + -0.1008126512169838, + 0.015933915972709656 + ], + "orientation": [ + 0.42667707800865173, + -0.45564454793930054, + 0.536509096622467, + 0.5678843259811401 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02383560501039028, + 0.03505842760205269, + 0.13147500157356262 + ], + "orientation": [ + 0.019503964111208916, + 0.6944005489349365, + 0.7099028825759888, + 0.11604103446006775 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.023123694583773613, + 0.035356637090444565, + 0.12774565815925598 + ], + "orientation": [ + 0.019607901573181152, + 0.6943565011024475, + 0.7104756236076355, + 0.11273358017206192 + ], + "joints": [ + 0.02325790375471115 + ] + }, + "final_grasp": { + "position": [ + -0.023123694583773613, + 0.035356637090444565, + 0.12774565815925598 + ], + "orientation": [ + 0.019607901573181152, + 0.6943565011024475, + 0.7104756236076355, + 0.11273358017206192 + ], + "joints": [ + 0.01406288892030716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1252145916223526, + 0.06993572413921356, + -0.03902445361018181 + ], + "orientation": [ + 0.5751501321792603, + 0.4146521985530853, + -0.41637325286865234, + -0.5691213607788086 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.1217445433139801, + 0.0693783238530159, + -0.03762821853160858 + ], + "orientation": [ + 0.5747544169425964, + 0.4206045866012573, + -0.41570085287094116, + -0.5656341314315796 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.1217445433139801, + 0.0693783238530159, + -0.03762821853160858 + ], + "orientation": [ + 0.5747544169425964, + 0.4206045866012573, + -0.41570085287094116, + -0.5656341314315796 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028201047331094742, + 0.04374232143163681, + -0.12968741357326508 + ], + "orientation": [ + 0.6994327902793884, + -0.046609509736299515, + -0.11330918967723846, + 0.7041181921958923 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.02730928547680378, + 0.043615009635686874, + -0.1258774846792221 + ], + "orientation": [ + 0.6999574899673462, + -0.044935472309589386, + -0.11041781306266785, + 0.7041649222373962 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.02730928547680378, + 0.043615009635686874, + -0.1258774846792221 + ], + "orientation": [ + 0.6999574899673462, + -0.044935472309589386, + -0.11041781306266785, + 0.7041649222373962 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1025506928563118, + 0.11372917890548706, + 0.0704435408115387 + ], + "orientation": [ + 0.49241015315055847, + 0.6005037426948547, + 0.6218575239181519, + 0.10109754651784897 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.09995011240243912, + 0.11239733546972275, + 0.06857205182313919 + ], + "orientation": [ + 0.4865029454231262, + 0.598287045955658, + 0.6275516748428345, + 0.10745406150817871 + ], + "joints": [ + 0.025730542838573456 + ] + }, + "final_grasp": { + "position": [ + -0.09995011240243912, + 0.11239733546972275, + 0.06857205182313919 + ], + "orientation": [ + 0.4865029454231262, + 0.598287045955658, + 0.6275516748428345, + 0.10745406150817871 + ], + "joints": [ + 0.01808195561170578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1203124150633812, + 0.0999176874756813, + 0.0225848201662302 + ], + "orientation": [ + 0.31676697731018066, + -0.4427363872528076, + 0.627296507358551, + -0.5569042563438416 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.11670936644077301, + 0.0990295261144638, + 0.022025277838110924 + ], + "orientation": [ + 0.3221864104270935, + -0.4442215859889984, + 0.6249219179153442, + -0.5552798509597778 + ], + "joints": [ + 0.023468557745218277 + ] + }, + "final_grasp": { + "position": [ + -0.11670936644077301, + 0.0990295261144638, + 0.022025277838110924 + ], + "orientation": [ + 0.3221864104270935, + -0.4442215859889984, + 0.6249219179153442, + -0.5552798509597778 + ], + "joints": [ + 0.014252644032239914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13071881234645844, + 0.06841219216585159, + -0.03206736966967583 + ], + "orientation": [ + 0.5840663313865662, + 0.4405224621295929, + 0.4267768859863281, + 0.5316652059555054 + ], + "joints": [ + 0.03258027881383896 + ] + }, + "fine_grasp": { + "position": [ + -0.12679754197597504, + 0.06826125085353851, + -0.030925722792744637 + ], + "orientation": [ + 0.5839083194732666, + 0.4402824938297272, + 0.4275997281074524, + 0.5313764214515686 + ], + "joints": [ + 0.023385263979434967 + ] + }, + "final_grasp": { + "position": [ + -0.12679754197597504, + 0.06826125085353851, + -0.030925722792744637 + ], + "orientation": [ + 0.5839083194732666, + 0.4402824938297272, + 0.4275997281074524, + 0.5313764214515686 + ], + "joints": [ + 0.014190249145030975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11507230252027512, + -0.036695510149002075, + 0.016328472644090652 + ], + "orientation": [ + 0.4079208970069885, + 0.4182024300098419, + 0.6225118041038513, + 0.5207556486129761 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.11243494600057602, + -0.03467477485537529, + 0.016249241307377815 + ], + "orientation": [ + 0.39753684401512146, + 0.4153757691383362, + 0.6259070634841919, + 0.5269419550895691 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + -0.11243494600057602, + -0.03467477485537529, + 0.016249241307377815 + ], + "orientation": [ + 0.39753684401512146, + 0.4153757691383362, + 0.6259070634841919, + 0.5269419550895691 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04191792011260986, + 0.11272154003381729, + -0.11744527518749237 + ], + "orientation": [ + 0.7446271181106567, + 0.1721181720495224, + 0.07542918622493744, + 0.640481173992157 + ], + "joints": [ + 0.023843009024858475 + ] + }, + "fine_grasp": { + "position": [ + -0.04046696051955223, + 0.11178120225667953, + -0.1138290986418724 + ], + "orientation": [ + 0.7465425133705139, + 0.17202244699001312, + 0.07628165930509567, + 0.6381721496582031 + ], + "joints": [ + 0.014250937849283218 + ] + }, + "final_grasp": { + "position": [ + -0.04046696051955223, + 0.11178120225667953, + -0.1138290986418724 + ], + "orientation": [ + 0.7465425133705139, + 0.17202244699001312, + 0.07628165930509567, + 0.6381721496582031 + ], + "joints": [ + 0.004658866673707962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13067775964736938, + 0.06843122839927673, + -0.03204568475484848 + ], + "orientation": [ + 0.5840822458267212, + 0.44037064909935, + 0.42682528495788574, + 0.5317347049713135 + ], + "joints": [ + 0.033020228147506714 + ] + }, + "fine_grasp": { + "position": [ + -0.12682294845581055, + 0.06827576458454132, + -0.03093443252146244 + ], + "orientation": [ + 0.5839160084724426, + 0.4402092695236206, + 0.4276425242424011, + 0.5313941836357117 + ], + "joints": [ + 0.023407258093357086 + ] + }, + "final_grasp": { + "position": [ + -0.12682294845581055, + 0.06827576458454132, + -0.03093443252146244 + ], + "orientation": [ + 0.5839160084724426, + 0.4402092695236206, + 0.4276425242424011, + 0.5313941836357117 + ], + "joints": [ + 0.013794288039207458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12611311674118042, + -0.004573100246489048, + 0.027684804052114487 + ], + "orientation": [ + 0.4896294176578522, + -0.5922269821166992, + 0.5092931985855103, + -0.3874928951263428 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.12248058617115021, + -0.0041859811171889305, + 0.027457525953650475 + ], + "orientation": [ + 0.48819804191589355, + -0.5915390849113464, + 0.5100564360618591, + -0.38934120535850525 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.12248058617115021, + -0.0041859811171889305, + 0.027457525953650475 + ], + "orientation": [ + 0.48819804191589355, + -0.5915390849113464, + 0.5100564360618591, + -0.38934120535850525 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12602290511131287, + -0.004726802464574575, + 0.027703413739800453 + ], + "orientation": [ + 0.49051135778427124, + -0.5929602980613708, + 0.5085095167160034, + -0.3862832486629486 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.12238377332687378, + -0.004331309348344803, + 0.027464939281344414 + ], + "orientation": [ + 0.489088773727417, + -0.5922320485115051, + 0.5092828869819641, + -0.3881808817386627 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.12238377332687378, + -0.004331309348344803, + 0.027464939281344414 + ], + "orientation": [ + 0.489088773727417, + -0.5922320485115051, + 0.5092828869819641, + -0.3881808817386627 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012602686183527112, + 0.09746288508176804, + -0.1282162219285965 + ], + "orientation": [ + 0.645581066608429, + 0.13417702913284302, + -0.1594274491071701, + 0.7347139120101929 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.001080574351362884, + 0.09682884812355042, + -0.12429501116275787 + ], + "orientation": [ + 0.6459136009216309, + 0.13138999044895172, + -0.15613053739070892, + 0.7356327772140503 + ], + "joints": [ + 0.022816792130470276 + ] + }, + "final_grasp": { + "position": [ + 0.001080574351362884, + 0.09682884812355042, + -0.12429501116275787 + ], + "orientation": [ + 0.6459136009216309, + 0.13138999044895172, + -0.15613053739070892, + 0.7356327772140503 + ], + "joints": [ + 0.013203822076320648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11766013503074646, + -0.031630754470825195, + 0.006666743662208319 + ], + "orientation": [ + 0.26483771204948425, + 0.3948306739330292, + -0.6072432398796082, + -0.6365732550621033 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.11390991508960724, + -0.030644861981272697, + 0.0061567542143166065 + ], + "orientation": [ + 0.2712874412536621, + 0.40171751379966736, + -0.6024057865142822, + -0.6341400146484375 + ], + "joints": [ + 0.023234747350215912 + ] + }, + "final_grasp": { + "position": [ + 0.11390991508960724, + -0.030644861981272697, + 0.0061567542143166065 + ], + "orientation": [ + 0.2712874412536621, + 0.40171751379966736, + -0.6024057865142822, + -0.6341400146484375 + ], + "joints": [ + 0.01403973251581192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041365448385477066, + 0.11255813390016556, + -0.11748284101486206 + ], + "orientation": [ + 0.7475188970565796, + 0.1699398010969162, + 0.07510458678007126, + 0.6377265453338623 + ], + "joints": [ + 0.023869935423135757 + ] + }, + "fine_grasp": { + "position": [ + -0.03994788974523544, + 0.11161668598651886, + -0.11386160552501678 + ], + "orientation": [ + 0.7494778037071228, + 0.16975989937782288, + 0.07591076195240021, + 0.6353756785392761 + ], + "joints": [ + 0.014277864247560501 + ] + }, + "final_grasp": { + "position": [ + -0.03994788974523544, + 0.11161668598651886, + -0.11386160552501678 + ], + "orientation": [ + 0.7494778037071228, + 0.16975989937782288, + 0.07591076195240021, + 0.6353756785392761 + ], + "joints": [ + 0.004685793071985245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019242575392127037, + 0.13872253894805908, + 0.12050770968198776 + ], + "orientation": [ + 0.08002202212810516, + 0.686612606048584, + -0.6977137327194214, + 0.1880297213792801 + ], + "joints": [ + 0.02284141071140766 + ] + }, + "fine_grasp": { + "position": [ + -0.018831809982657433, + 0.13757845759391785, + 0.1166931763291359 + ], + "orientation": [ + 0.07912436872720718, + 0.6780858039855957, + -0.7052137851715088, + 0.19134344160556793 + ], + "joints": [ + 0.014022553339600563 + ] + }, + "final_grasp": { + "position": [ + -0.018831809982657433, + 0.13757845759391785, + 0.1166931763291359 + ], + "orientation": [ + 0.07912436872720718, + 0.6780858039855957, + -0.7052137851715088, + 0.19134344160556793 + ], + "joints": [ + 0.005203695967793465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07332324236631393, + 0.025046249851584435, + 0.10816644877195358 + ], + "orientation": [ + 0.26610082387924194, + -0.7403172254562378, + 0.5955608487129211, + -0.16256721317768097 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.07058721035718918, + 0.025537198409438133, + 0.10519430786371231 + ], + "orientation": [ + 0.256084680557251, + -0.745252788066864, + 0.5922021269798279, + -0.16827265918254852 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.07058721035718918, + 0.025537198409438133, + 0.10519430786371231 + ], + "orientation": [ + 0.256084680557251, + -0.745252788066864, + 0.5922021269798279, + -0.16827265918254852 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07326508313417435, + 0.024907713755965233, + 0.10819105803966522 + ], + "orientation": [ + 0.2660921514034271, + -0.740384042263031, + 0.5955573916435242, + -0.1622895449399948 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.0705486461520195, + 0.02539394050836563, + 0.10520785301923752 + ], + "orientation": [ + 0.2560644745826721, + -0.7454042434692383, + 0.592054009437561, + -0.16815344989299774 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + -0.0705486461520195, + 0.02539394050836563, + 0.10520785301923752 + ], + "orientation": [ + 0.2560644745826721, + -0.7454042434692383, + 0.592054009437561, + -0.16815344989299774 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013145367614924908, + 0.0929032638669014, + 0.13902442157268524 + ], + "orientation": [ + 0.11085174232721329, + 0.7706181406974792, + -0.6272711753845215, + 0.019757987931370735 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.012625124305486679, + 0.0921313539147377, + 0.13526198267936707 + ], + "orientation": [ + 0.11525165289640427, + 0.7666656970977783, + -0.6310189366340637, + 0.027492335066199303 + ], + "joints": [ + 0.022661536931991577 + ] + }, + "final_grasp": { + "position": [ + 0.012625124305486679, + 0.0921313539147377, + 0.13526198267936707 + ], + "orientation": [ + 0.11525165289640427, + 0.7666656970977783, + -0.6310189366340637, + 0.027492335066199303 + ], + "joints": [ + 0.013842679560184479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13658173382282257, + -0.009088275022804737, + -0.01401477213948965 + ], + "orientation": [ + 0.6080605983734131, + -0.4567122757434845, + 0.487548828125, + -0.42892006039619446 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.13273613154888153, + -0.008457561023533344, + -0.013486038893461227 + ], + "orientation": [ + 0.6089735627174377, + -0.4582926630973816, + 0.4866875410079956, + -0.42691224813461304 + ], + "joints": [ + 0.023445401340723038 + ] + }, + "final_grasp": { + "position": [ + -0.13273613154888153, + -0.008457561023533344, + -0.013486038893461227 + ], + "orientation": [ + 0.6089735627174377, + -0.4582926630973816, + 0.4866875410079956, + -0.42691224813461304 + ], + "joints": [ + 0.014229487627744675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06518800556659698, + -0.09721919149160385, + 0.022789277136325836 + ], + "orientation": [ + 0.050613533705472946, + 0.2735193073749542, + 0.7152251601219177, + 0.6411539316177368 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.0633469969034195, + -0.09392566233873367, + 0.02222556062042713 + ], + "orientation": [ + 0.0601358488202095, + 0.2781921327114105, + 0.714504599571228, + 0.6391211748123169 + ], + "joints": [ + 0.023907411843538284 + ] + }, + "final_grasp": { + "position": [ + -0.0633469969034195, + -0.09392566233873367, + 0.02222556062042713 + ], + "orientation": [ + 0.0601358488202095, + 0.2781921327114105, + 0.714504599571228, + 0.6391211748123169 + ], + "joints": [ + 0.015130352228879929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0645621046423912, + -0.09700776636600494, + 0.022598862648010254 + ], + "orientation": [ + 0.05202149972319603, + 0.2722468078136444, + 0.7155796885490417, + 0.6411873698234558 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.06281698495149612, + -0.09372786432504654, + 0.0220873411744833 + ], + "orientation": [ + 0.06095605343580246, + 0.2759894132614136, + 0.715126097202301, + 0.6393033862113953 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + -0.06281698495149612, + -0.09372786432504654, + 0.0220873411744833 + ], + "orientation": [ + 0.06095605343580246, + 0.2759894132614136, + 0.715126097202301, + 0.6393033862113953 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11815274506807327, + 0.11871693283319473, + 0.008547850884497166 + ], + "orientation": [ + 0.5952645540237427, + 0.5538148283958435, + 0.4904617667198181, + 0.3136822283267975 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + -0.11511479318141937, + 0.11689168214797974, + 0.008641296997666359 + ], + "orientation": [ + 0.6008815169334412, + 0.5550264716148376, + 0.4862501919269562, + 0.3073234558105469 + ], + "joints": [ + 0.020898310467600822 + ] + }, + "final_grasp": { + "position": [ + -0.11511479318141937, + 0.11689168214797974, + 0.008641296997666359 + ], + "orientation": [ + 0.6008815169334412, + 0.5550264716148376, + 0.4862501919269562, + 0.3073234558105469 + ], + "joints": [ + 0.01168239675462246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013164406642317772, + 0.09353430569171906, + 0.13917791843414307 + ], + "orientation": [ + 0.11046970635652542, + 0.7737642526626587, + -0.6235309839248657, + 0.017163923010230064 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + 0.012556063942611217, + 0.09275668859481812, + 0.13542594015598297 + ], + "orientation": [ + 0.1147691011428833, + 0.7682979702949524, + -0.6291853189468384, + 0.025927722454071045 + ], + "joints": [ + 0.022219328209757805 + ] + }, + "final_grasp": { + "position": [ + 0.012556063942611217, + 0.09275668859481812, + 0.13542594015598297 + ], + "orientation": [ + 0.1147691011428833, + 0.7682979702949524, + -0.6291853189468384, + 0.025927722454071045 + ], + "joints": [ + 0.013421369716525078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1180451437830925, + 0.11854298412799835, + 0.008593236096203327 + ], + "orientation": [ + 0.5956538915634155, + 0.5527777075767517, + 0.49185553193092346, + 0.312588095664978 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + -0.11503686755895615, + 0.11674745380878448, + 0.00868880096822977 + ], + "orientation": [ + 0.6012241244316101, + 0.5539754629135132, + 0.48778703808784485, + 0.3061118721961975 + ], + "joints": [ + 0.020898310467600822 + ] + }, + "final_grasp": { + "position": [ + -0.11503686755895615, + 0.11674745380878448, + 0.00868880096822977 + ], + "orientation": [ + 0.6012241244316101, + 0.5539754629135132, + 0.48778703808784485, + 0.3061118721961975 + ], + "joints": [ + 0.01168239675462246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12362124770879745, + 0.004779670853167772, + -0.024562938138842583 + ], + "orientation": [ + 0.5785412788391113, + -0.3995193839073181, + -0.49931952357292175, + 0.5063143968582153 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.12063589692115784, + 0.005568129010498524, + -0.02344006672501564 + ], + "orientation": [ + 0.581366240978241, + -0.40759336948394775, + -0.49150350689888, + 0.5042870044708252 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + 0.12063589692115784, + 0.005568129010498524, + -0.02344006672501564 + ], + "orientation": [ + 0.581366240978241, + -0.40759336948394775, + -0.49150350689888, + 0.5042870044708252 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10969752073287964, + 0.10711470991373062, + -0.039922092109918594 + ], + "orientation": [ + 0.5839666724205017, + 0.460361123085022, + -0.33948037028312683, + -0.5760239362716675 + ], + "joints": [ + 0.02420828677713871 + ] + }, + "fine_grasp": { + "position": [ + 0.10643381625413895, + 0.10531501471996307, + -0.03774825111031532 + ], + "orientation": [ + 0.5742973685264587, + 0.470177561044693, + -0.3194355368614197, + -0.5891319513320923 + ], + "joints": [ + 0.017103048041462898 + ] + }, + "final_grasp": { + "position": [ + 0.10643381625413895, + 0.10531501471996307, + -0.03774825111031532 + ], + "orientation": [ + 0.5742973685264587, + 0.470177561044693, + -0.3194355368614197, + -0.5891319513320923 + ], + "joints": [ + 0.009997809305787086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11569026857614517, + 0.12781614065170288, + -0.03869902715086937 + ], + "orientation": [ + 0.49502336978912354, + -0.32703226804733276, + 0.4917622208595276, + -0.637316107749939 + ], + "joints": [ + 0.023869730532169342 + ] + }, + "fine_grasp": { + "position": [ + -0.1119915321469307, + 0.12716269493103027, + -0.03748749941587448 + ], + "orientation": [ + 0.49606573581695557, + -0.3289457857608795, + 0.49024784564971924, + -0.6366870999336243 + ], + "joints": [ + 0.014235861599445343 + ] + }, + "final_grasp": { + "position": [ + -0.1119915321469307, + 0.12716269493103027, + -0.03748749941587448 + ], + "orientation": [ + 0.49606573581695557, + -0.3289457857608795, + 0.49024784564971924, + -0.6366870999336243 + ], + "joints": [ + 0.004601992666721344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11853968352079391, + 0.1181478500366211, + 0.008835273794829845 + ], + "orientation": [ + 0.5971914529800415, + 0.5561506152153015, + 0.48611295223236084, + 0.3126547932624817 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + -0.11569531261920929, + 0.1160946637392044, + 0.008993849158287048 + ], + "orientation": [ + 0.603306233882904, + 0.5599188804626465, + 0.4772462546825409, + 0.3078121840953827 + ], + "joints": [ + 0.022199587896466255 + ] + }, + "final_grasp": { + "position": [ + -0.11569531261920929, + 0.1160946637392044, + 0.008993849158287048 + ], + "orientation": [ + 0.603306233882904, + 0.5599188804626465, + 0.4772462546825409, + 0.3078121840953827 + ], + "joints": [ + 0.013798685744404793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13098886609077454, + 0.07487544417381287, + -0.014979593455791473 + ], + "orientation": [ + 0.5320839881896973, + -0.5171162486076355, + 0.4207248389720917, + -0.5219846367835999 + ], + "joints": [ + 0.023174704983830452 + ] + }, + "fine_grasp": { + "position": [ + -0.12701177597045898, + 0.0733334869146347, + -0.014280922710895538 + ], + "orientation": [ + 0.5267797112464905, + -0.509785532951355, + 0.4281282424926758, + -0.5285149812698364 + ], + "joints": [ + 0.01606946624815464 + ] + }, + "final_grasp": { + "position": [ + -0.12701177597045898, + 0.0733334869146347, + -0.014280922710895538 + ], + "orientation": [ + 0.5267797112464905, + -0.509785532951355, + 0.4281282424926758, + -0.5285149812698364 + ], + "joints": [ + 0.008964227512478828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027338892221450806, + 0.07260197401046753, + 0.1454085111618042 + ], + "orientation": [ + 0.02400561235845089, + 0.7638795971870422, + 0.6280204653739929, + -0.14663571119308472 + ], + "joints": [ + 0.029558489099144936 + ] + }, + "fine_grasp": { + "position": [ + 0.026697253808379173, + 0.07199738174676895, + 0.14176008105278015 + ], + "orientation": [ + 0.02049490250647068, + 0.7748816609382629, + 0.615929901599884, + -0.14060114324092865 + ], + "joints": [ + 0.020697833970189095 + ] + }, + "final_grasp": { + "position": [ + 0.026697253808379173, + 0.07199738174676895, + 0.14176008105278015 + ], + "orientation": [ + 0.02049490250647068, + 0.7748816609382629, + 0.615929901599884, + -0.14060114324092865 + ], + "joints": [ + 0.011837178841233253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004721676930785179, + -0.07718095183372498, + 0.09774184226989746 + ], + "orientation": [ + 0.19862335920333862, + -0.5715286135673523, + 0.7397603988647461, + 0.29437753558158875 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.005094556603580713, + -0.07422389090061188, + 0.09526100754737854 + ], + "orientation": [ + 0.20809903740882874, + -0.5753399729728699, + 0.731711745262146, + 0.30046096444129944 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.005094556603580713, + -0.07422389090061188, + 0.09526100754737854 + ], + "orientation": [ + 0.20809903740882874, + -0.5753399729728699, + 0.731711745262146, + 0.30046096444129944 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1395930051803589, + -0.002479822840541601, + -0.0031494430731981993 + ], + "orientation": [ + 0.5151875615119934, + 0.42065340280532837, + -0.5576553344726562, + -0.49664175510406494 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.13563601672649384, + -0.0021648877300322056, + -0.002998889656737447 + ], + "orientation": [ + 0.5162580609321594, + 0.4208098351955414, + -0.5576086044311523, + -0.4954485297203064 + ], + "joints": [ + 0.023005452007055283 + ] + }, + "final_grasp": { + "position": [ + 0.13563601672649384, + -0.0021648877300322056, + -0.002998889656737447 + ], + "orientation": [ + 0.5162580609321594, + 0.4208098351955414, + -0.5576086044311523, + -0.4954485297203064 + ], + "joints": [ + 0.01378953829407692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12747737765312195, + 0.08576817810535431, + -0.04378052055835724 + ], + "orientation": [ + 0.5388996005058289, + -0.49363604187965393, + -0.32994744181632996, + 0.5975328087806702 + ], + "joints": [ + 0.023050587624311447 + ] + }, + "fine_grasp": { + "position": [ + 0.12407626956701279, + 0.08506636321544647, + -0.0421646349132061 + ], + "orientation": [ + 0.5326999425888062, + -0.48923006653785706, + -0.3316216766834259, + 0.6057324409484863 + ], + "joints": [ + 0.01504674181342125 + ] + }, + "final_grasp": { + "position": [ + 0.12407626956701279, + 0.08506636321544647, + -0.0421646349132061 + ], + "orientation": [ + 0.5326999425888062, + -0.48923006653785706, + -0.3316216766834259, + 0.6057324409484863 + ], + "joints": [ + 0.007042896002531052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14325560629367828, + 0.016740817576646805, + -0.005108815152198076 + ], + "orientation": [ + 0.45095542073249817, + 0.5674301981925964, + -0.4016256332397461, + -0.5597848296165466 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.13929860293865204, + 0.01690859906375408, + -0.004771583713591099 + ], + "orientation": [ + 0.44795018434524536, + 0.5655702352523804, + -0.4030637741088867, + -0.5630369782447815 + ], + "joints": [ + 0.02321384847164154 + ] + }, + "final_grasp": { + "position": [ + 0.13929860293865204, + 0.01690859906375408, + -0.004771583713591099 + ], + "orientation": [ + 0.44795018434524536, + 0.5655702352523804, + -0.4030637741088867, + -0.5630369782447815 + ], + "joints": [ + 0.013997934758663177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026906555518507957, + 0.07223165035247803, + 0.1455228179693222 + ], + "orientation": [ + 0.028900541365146637, + 0.7635531425476074, + 0.6277232766151428, + -0.1487101912498474 + ], + "joints": [ + 0.029095379635691643 + ] + }, + "fine_grasp": { + "position": [ + 0.026221172884106636, + 0.07161659747362137, + 0.14184503257274628 + ], + "orientation": [ + 0.02394864335656166, + 0.7746360898017883, + 0.6158420443534851, + -0.1417882740497589 + ], + "joints": [ + 0.020631780847907066 + ] + }, + "final_grasp": { + "position": [ + 0.026221172884106636, + 0.07161659747362137, + 0.14184503257274628 + ], + "orientation": [ + 0.02394864335656166, + 0.7746360898017883, + 0.6158420443534851, + -0.1417882740497589 + ], + "joints": [ + 0.01216818206012249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1092744693160057, + 0.14255693554878235, + 0.04659780114889145 + ], + "orientation": [ + 0.49768590927124023, + 0.6764318346977234, + 0.47029852867126465, + 0.2712341248989105 + ], + "joints": [ + 0.02343863621354103 + ] + }, + "fine_grasp": { + "position": [ + -0.10586404800415039, + 0.14137613773345947, + 0.04517824202775955 + ], + "orientation": [ + 0.4949485659599304, + 0.6753884553909302, + 0.4716247618198395, + 0.27648961544036865 + ], + "joints": [ + 0.014201823621988297 + ] + }, + "final_grasp": { + "position": [ + -0.10586404800415039, + 0.14137613773345947, + 0.04517824202775955 + ], + "orientation": [ + 0.4949485659599304, + 0.6753884553909302, + 0.4716247618198395, + 0.27648961544036865 + ], + "joints": [ + 0.004965011030435562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06611192226409912, + -0.0879509299993515, + 0.009699647314846516 + ], + "orientation": [ + 0.6803675293922424, + -0.6805009841918945, + -0.2676756680011749, + 0.048664212226867676 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.06409167498350143, + -0.08524539321660995, + 0.00896445196121931 + ], + "orientation": [ + 0.6793203949928284, + -0.678382158279419, + -0.27372005581855774, + 0.05829809978604317 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.06409167498350143, + -0.08524539321660995, + 0.00896445196121931 + ], + "orientation": [ + 0.6793203949928284, + -0.678382158279419, + -0.27372005581855774, + 0.05829809978604317 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11854242533445358, + 0.11812048405408859, + 0.008978466503322124 + ], + "orientation": [ + 0.5975034236907959, + 0.5567652583122253, + 0.48554372787475586, + 0.311848521232605 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + -0.11563076078891754, + 0.11611802875995636, + 0.009075472131371498 + ], + "orientation": [ + 0.6031227707862854, + 0.5603786110877991, + 0.4770820438861847, + 0.30758967995643616 + ], + "joints": [ + 0.022010929882526398 + ] + }, + "final_grasp": { + "position": [ + -0.11563076078891754, + 0.11611802875995636, + 0.009075472131371498 + ], + "orientation": [ + 0.6031227707862854, + 0.5603786110877991, + 0.4770820438861847, + 0.30758967995643616 + ], + "joints": [ + 0.01321297138929367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11849256604909897, + 0.11803795397281647, + 0.008890096098184586 + ], + "orientation": [ + 0.5981471538543701, + 0.5557969212532043, + 0.48643094301223755, + 0.3109574317932129 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + -0.11560507118701935, + 0.11605556309223175, + 0.009020829573273659 + ], + "orientation": [ + 0.6038687825202942, + 0.5593989491462708, + 0.47791385650634766, + 0.30661627650260925 + ], + "joints": [ + 0.022242484614253044 + ] + }, + "final_grasp": { + "position": [ + -0.11560507118701935, + 0.11605556309223175, + 0.009020829573273659 + ], + "orientation": [ + 0.6038687825202942, + 0.5593989491462708, + 0.47791385650634766, + 0.30661627650260925 + ], + "joints": [ + 0.013444526121020317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004750845488160849, + -0.07727934420108795, + 0.09763218462467194 + ], + "orientation": [ + 0.19812436401844025, + -0.5707080960273743, + 0.7403845191001892, + 0.29473674297332764 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.005075366701930761, + -0.07430552691221237, + 0.09515533596277237 + ], + "orientation": [ + 0.20822292566299438, + -0.5752274394035339, + 0.731724202632904, + 0.30055996775627136 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.005075366701930761, + -0.07430552691221237, + 0.09515533596277237 + ], + "orientation": [ + 0.20822292566299438, + -0.5752274394035339, + 0.731724202632904, + 0.30055996775627136 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007007177919149399, + -0.033061567693948746, + -0.1329568773508072 + ], + "orientation": [ + 0.7727458477020264, + -0.18312470614910126, + -0.1120220199227333, + -0.5973109006881714 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.0065182833932340145, + -0.032212816178798676, + -0.12916620075702667 + ], + "orientation": [ + 0.7729353308677673, + -0.18085968494415283, + -0.10884784907102585, + -0.5983417630195618 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + -0.0065182833932340145, + -0.032212816178798676, + -0.12916620075702667 + ], + "orientation": [ + 0.7729353308677673, + -0.18085968494415283, + -0.10884784907102585, + -0.5983417630195618 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006920086685568094, + -0.03305850923061371, + -0.13300581276416779 + ], + "orientation": [ + 0.7725871801376343, + -0.18303290009498596, + -0.11240633577108383, + -0.5974719524383545 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + -0.006427572574466467, + -0.03221457824110985, + -0.1291978508234024 + ], + "orientation": [ + 0.7728187441825867, + -0.18069258332252502, + -0.10921608656644821, + -0.5984757542610168 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + -0.006427572574466467, + -0.03221457824110985, + -0.1291978508234024 + ], + "orientation": [ + 0.7728187441825867, + -0.18069258332252502, + -0.10921608656644821, + -0.5984757542610168 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0034838763531297445, + -0.10657984763383865, + 0.04031316563487053 + ], + "orientation": [ + 0.5126186609268188, + -0.6243226528167725, + -0.4617167115211487, + -0.36641642451286316 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.0032138931564986706, + -0.10285544395446777, + 0.03930535539984703 + ], + "orientation": [ + 0.5060049295425415, + -0.6275796294212341, + -0.4689891040325165, + -0.3607662320137024 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.0032138931564986706, + -0.10285544395446777, + 0.03930535539984703 + ], + "orientation": [ + 0.5060049295425415, + -0.6275796294212341, + -0.4689891040325165, + -0.3607662320137024 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.122441865503788, + 0.09999990463256836, + -0.053300678730010986 + ], + "orientation": [ + 0.654517412185669, + 0.4952270984649658, + 0.24802255630493164, + 0.5146280527114868 + ], + "joints": [ + 0.03050786443054676 + ] + }, + "fine_grasp": { + "position": [ + -0.11937277019023895, + 0.09934928268194199, + -0.05161294713616371 + ], + "orientation": [ + 0.6536505818367004, + 0.4935716688632965, + 0.25152507424354553, + 0.515619158744812 + ], + "joints": [ + 0.022065164521336555 + ] + }, + "final_grasp": { + "position": [ + -0.11937277019023895, + 0.09934928268194199, + -0.05161294713616371 + ], + "orientation": [ + 0.6536505818367004, + 0.4935716688632965, + 0.25152507424354553, + 0.515619158744812 + ], + "joints": [ + 0.01362246461212635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0282074436545372, + 0.009223789907991886, + -0.12649638950824738 + ], + "orientation": [ + 0.6672303080558777, + 0.04267086461186409, + -0.12159717828035355, + -0.7336191534996033 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.027262117713689804, + 0.009410152211785316, + -0.12277324497699738 + ], + "orientation": [ + 0.6659562587738037, + 0.04102037474513054, + -0.11836022138595581, + -0.7353981733322144 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.027262117713689804, + 0.009410152211785316, + -0.12277324497699738 + ], + "orientation": [ + 0.6659562587738037, + 0.04102037474513054, + -0.11836022138595581, + -0.7353981733322144 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04373886436223984, + 0.03798419237136841, + 0.12339939177036285 + ], + "orientation": [ + 0.08532238006591797, + -0.7001662254333496, + -0.6898272633552551, + 0.1631738692522049 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.042663611471652985, + 0.03781388700008392, + 0.1200680062174797 + ], + "orientation": [ + 0.08411070704460144, + -0.7030665874481201, + -0.6878364682197571, + 0.1596989780664444 + ], + "joints": [ + 0.024581171572208405 + ] + }, + "final_grasp": { + "position": [ + 0.042663611471652985, + 0.03781388700008392, + 0.1200680062174797 + ], + "orientation": [ + 0.08411070704460144, + -0.7030665874481201, + -0.6878364682197571, + 0.1596989780664444 + ], + "joints": [ + 0.015783213078975677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12747493386268616, + 0.050653643906116486, + 0.01849641278386116 + ], + "orientation": [ + 0.540111243724823, + 0.5551713705062866, + -0.515090823173523, + -0.36707741022109985 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.12387411296367645, + 0.05020787939429283, + 0.018239015713334084 + ], + "orientation": [ + 0.5420343279838562, + 0.5498239994049072, + -0.5202209949493408, + -0.3650512099266052 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.12387411296367645, + 0.05020787939429283, + 0.018239015713334084 + ], + "orientation": [ + 0.5420343279838562, + 0.5498239994049072, + -0.5202209949493408, + -0.3650512099266052 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07376386225223541, + -0.08881893754005432, + 0.011324763298034668 + ], + "orientation": [ + 0.21739445626735687, + 0.10893536359071732, + -0.7319800853729248, + -0.6364572644233704 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.07149577885866165, + -0.08629559725522995, + 0.011717204004526138 + ], + "orientation": [ + 0.22356128692626953, + 0.11904137581586838, + -0.731442928314209, + -0.6331198215484619 + ], + "joints": [ + 0.023675858974456787 + ] + }, + "final_grasp": { + "position": [ + 0.07149577885866165, + -0.08629559725522995, + 0.011717204004526138 + ], + "orientation": [ + 0.22356128692626953, + 0.11904137581586838, + -0.731442928314209, + -0.6331198215484619 + ], + "joints": [ + 0.014898799359798431 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 4.821272523258813e-05, + 0.019063709303736687, + 0.13233299553394318 + ], + "orientation": [ + 0.06174252927303314, + -0.636690616607666, + -0.7651119232177734, + -0.07359782606363297 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.00043005714542232454, + 0.01945912092924118, + 0.12847284972667694 + ], + "orientation": [ + 0.05966922640800476, + -0.623637855052948, + -0.7761389017105103, + -0.07158082723617554 + ], + "joints": [ + 0.023468557745218277 + ] + }, + "final_grasp": { + "position": [ + 0.00043005714542232454, + 0.01945912092924118, + 0.12847284972667694 + ], + "orientation": [ + 0.05966922640800476, + -0.623637855052948, + -0.7761389017105103, + -0.07158082723617554 + ], + "joints": [ + 0.014252644032239914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007757524028420448, + 0.09426213800907135, + -0.12966695427894592 + ], + "orientation": [ + 0.6045877933502197, + 0.09950539469718933, + 0.0824044942855835, + -0.7859909534454346 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.0074184974655508995, + 0.09292932599782944, + -0.1260058879852295 + ], + "orientation": [ + 0.6054427623748779, + 0.10178264230489731, + 0.08477385342121124, + -0.7847884297370911 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.0074184974655508995, + 0.09292932599782944, + -0.1260058879852295 + ], + "orientation": [ + 0.6054427623748779, + 0.10178264230489731, + 0.08477385342121124, + -0.7847884297370911 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 3.117729283985682e-05, + 0.018980860710144043, + 0.13215196132659912 + ], + "orientation": [ + 0.06161602959036827, + -0.6369394659996033, + -0.7649229168891907, + -0.07351511716842651 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.0004039421328343451, + 0.019370101392269135, + 0.128282368183136 + ], + "orientation": [ + 0.05954752117395401, + -0.6238011121749878, + -0.776016354560852, + -0.07158847898244858 + ], + "joints": [ + 0.023468557745218277 + ] + }, + "final_grasp": { + "position": [ + 0.0004039421328343451, + 0.019370101392269135, + 0.128282368183136 + ], + "orientation": [ + 0.05954752117395401, + -0.6238011121749878, + -0.776016354560852, + -0.07158847898244858 + ], + "joints": [ + 0.014252644032239914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007831337861716747, + 0.09434445947408676, + -0.13028107583522797 + ], + "orientation": [ + 0.605487048625946, + 0.09977786988019943, + 0.08206658065319061, + -0.7852992415428162 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.007524414453655481, + 0.09307746589183807, + -0.1266019642353058 + ], + "orientation": [ + 0.6062878370285034, + 0.10190879553556442, + 0.08391064405441284, + -0.7842121720314026 + ], + "joints": [ + 0.023468557745218277 + ] + }, + "final_grasp": { + "position": [ + 0.007524414453655481, + 0.09307746589183807, + -0.1266019642353058 + ], + "orientation": [ + 0.6062878370285034, + 0.10190879553556442, + 0.08391064405441284, + -0.7842121720314026 + ], + "joints": [ + 0.014252644032239914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12246357649564743, + 0.09993044286966324, + -0.05309634655714035 + ], + "orientation": [ + 0.6545910835266113, + 0.4952908158302307, + 0.24870139360427856, + 0.514145016670227 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + -0.11941659450531006, + 0.0992518812417984, + -0.0514007993042469 + ], + "orientation": [ + 0.6537841558456421, + 0.493953675031662, + 0.2521173655986786, + 0.5147941708564758 + ], + "joints": [ + 0.022088320925831795 + ] + }, + "final_grasp": { + "position": [ + -0.11941659450531006, + 0.0992518812417984, + -0.0514007993042469 + ], + "orientation": [ + 0.6537841558456421, + 0.493953675031662, + 0.2521173655986786, + 0.5147941708564758 + ], + "joints": [ + 0.01364562101662159 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024428145959973335, + 0.035389918833971024, + 0.13276006281375885 + ], + "orientation": [ + 0.019427871331572533, + 0.6932977437973022, + 0.7105066776275635, + 0.11891604959964752 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.023635607212781906, + 0.035716600716114044, + 0.12903010845184326 + ], + "orientation": [ + 0.020043928176164627, + 0.6929522156715393, + 0.7114109396934509, + 0.1153685674071312 + ], + "joints": [ + 0.023445401340723038 + ] + }, + "final_grasp": { + "position": [ + -0.023635607212781906, + 0.035716600716114044, + 0.12903010845184326 + ], + "orientation": [ + 0.020043928176164627, + 0.6929522156715393, + 0.7114109396934509, + 0.1153685674071312 + ], + "joints": [ + 0.014229487627744675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043912723660469055, + 0.03803981468081474, + 0.12356167286634445 + ], + "orientation": [ + 0.08716045320034027, + -0.7014041543006897, + -0.6886144280433655, + 0.162004292011261 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + 0.0426243431866169, + 0.03786146640777588, + 0.12014243751764297 + ], + "orientation": [ + 0.08545786142349243, + -0.7044285535812378, + -0.6865827441215515, + 0.15837155282497406 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + 0.0426243431866169, + 0.03786146640777588, + 0.12014243751764297 + ], + "orientation": [ + 0.08545786142349243, + -0.7044285535812378, + -0.6865827441215515, + 0.15837155282497406 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09200061112642288, + 0.05153649300336838, + -0.09659357368946075 + ], + "orientation": [ + 0.531386137008667, + 0.27685627341270447, + -0.24250467121601105, + -0.7630012035369873 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08927681297063828, + 0.05110369250178337, + -0.09406132996082306 + ], + "orientation": [ + 0.529427170753479, + 0.28078487515449524, + -0.23890738189220428, + -0.7640615105628967 + ], + "joints": [ + 0.028647076338529587 + ] + }, + "final_grasp": { + "position": [ + 0.08927681297063828, + 0.05110369250178337, + -0.09406132996082306 + ], + "orientation": [ + 0.529427170753479, + 0.28078487515449524, + -0.23890738189220428, + -0.7640615105628967 + ], + "joints": [ + 0.02229415252804756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09194173663854599, + 0.051390115171670914, + -0.09661780297756195 + ], + "orientation": [ + 0.5317913293838501, + 0.27723193168640137, + -0.24205639958381653, + -0.7627246975898743 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08918753266334534, + 0.050888389348983765, + -0.0940568596124649 + ], + "orientation": [ + 0.5302796959877014, + 0.28161120414733887, + -0.23831920325756073, + -0.7633495926856995 + ], + "joints": [ + 0.02904413267970085 + ] + }, + "final_grasp": { + "position": [ + 0.08918753266334534, + 0.050888389348983765, + -0.0940568596124649 + ], + "orientation": [ + 0.5302796959877014, + 0.28161120414733887, + -0.23831920325756073, + -0.7633495926856995 + ], + "joints": [ + 0.02308826521039009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00011534950317582116, + 0.01899855025112629, + 0.1320616453886032 + ], + "orientation": [ + 0.06238282471895218, + -0.6361464858055115, + -0.765468418598175, + -0.07405497133731842 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.0004713474481832236, + 0.019396109506487846, + 0.12813502550125122 + ], + "orientation": [ + 0.06022422015666962, + -0.6226404905319214, + -0.7768405675888062, + -0.07218407094478607 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.0004713474481832236, + 0.019396109506487846, + 0.12813502550125122 + ], + "orientation": [ + 0.06022422015666962, + -0.6226404905319214, + -0.7768405675888062, + -0.07218407094478607 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08752477914094925, + -0.07460983842611313, + -0.024993162602186203 + ], + "orientation": [ + 0.7214935421943665, + -0.5788673758506775, + -0.2554719150066376, + 0.2812361419200897 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.08577851206064224, + -0.07198163866996765, + -0.02426725998520851 + ], + "orientation": [ + 0.720817506313324, + -0.5829906463623047, + -0.24985161423683167, + 0.2794964015483856 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + 0.08577851206064224, + -0.07198163866996765, + -0.02426725998520851 + ], + "orientation": [ + 0.720817506313324, + -0.5829906463623047, + -0.24985161423683167, + 0.2794964015483856 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09193132817745209, + 0.0513865128159523, + -0.09655920416116714 + ], + "orientation": [ + 0.5318429470062256, + 0.2772228419780731, + -0.24220457673072815, + -0.7626450061798096 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08915359526872635, + 0.05092265456914902, + -0.0939805805683136 + ], + "orientation": [ + 0.5299627780914307, + 0.2813478708267212, + -0.23859579861164093, + -0.7635802030563354 + ], + "joints": [ + 0.02904413267970085 + ] + }, + "final_grasp": { + "position": [ + 0.08915359526872635, + 0.05092265456914902, + -0.0939805805683136 + ], + "orientation": [ + 0.5299627780914307, + 0.2813478708267212, + -0.23859579861164093, + -0.7635802030563354 + ], + "joints": [ + 0.02308826521039009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13227316737174988, + 0.05244044214487076, + -0.0274958573281765 + ], + "orientation": [ + 0.6107457280158997, + 0.3886123299598694, + 0.4903560280799866, + 0.48530495166778564 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.1284330189228058, + 0.05245112255215645, + -0.02656562626361847 + ], + "orientation": [ + 0.6115805506706238, + 0.3883737027645111, + 0.4931212067604065, + 0.48162898421287537 + ], + "joints": [ + 0.023974556475877762 + ] + }, + "final_grasp": { + "position": [ + -0.1284330189228058, + 0.05245112255215645, + -0.02656562626361847 + ], + "orientation": [ + 0.6115805506706238, + 0.3883737027645111, + 0.4931212067604065, + 0.48162898421287537 + ], + "joints": [ + 0.014361586421728134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06716008484363556, + -0.08545463532209396, + -0.035197969526052475 + ], + "orientation": [ + 0.1824903041124344, + 0.20968379080295563, + -0.5619550347328186, + -0.7790613770484924 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + 0.06610201299190521, + -0.0822066068649292, + -0.03345203399658203 + ], + "orientation": [ + 0.18333210051059723, + 0.20582479238510132, + -0.5686014294624329, + -0.7750601172447205 + ], + "joints": [ + 0.024415668100118637 + ] + }, + "final_grasp": { + "position": [ + 0.06610201299190521, + -0.0822066068649292, + -0.03345203399658203 + ], + "orientation": [ + 0.18333210051059723, + 0.20582479238510132, + -0.5686014294624329, + -0.7750601172447205 + ], + "joints": [ + 0.015220653265714645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02603662572801113, + 0.07850801944732666, + -0.1291843205690384 + ], + "orientation": [ + 0.7835643291473389, + -0.044654276221990585, + -0.07406189292669296, + 0.6152622699737549 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + 0.025086354464292526, + 0.07701830565929413, + -0.125880166888237 + ], + "orientation": [ + 0.7815863490104675, + -0.03725025802850723, + -0.08101919293403625, + 0.6173906326293945 + ], + "joints": [ + 0.020366890355944633 + ] + }, + "final_grasp": { + "position": [ + 0.025086354464292526, + 0.07701830565929413, + -0.125880166888237 + ], + "orientation": [ + 0.7815863490104675, + -0.03725025802850723, + -0.08101919293403625, + 0.6173906326293945 + ], + "joints": [ + 0.011568931862711906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14191113412380219, + 0.06289701163768768, + -0.015132886357605457 + ], + "orientation": [ + 0.6110437512397766, + 0.3659880459308624, + -0.5664491653442383, + -0.41450387239456177 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + 0.13824014365673065, + 0.06238463521003723, + -0.014502611942589283 + ], + "orientation": [ + 0.6156376600265503, + 0.36695048213005066, + -0.5632702112197876, + -0.41117414832115173 + ], + "joints": [ + 0.022684693336486816 + ] + }, + "final_grasp": { + "position": [ + 0.13824014365673065, + 0.06238463521003723, + -0.014502611942589283 + ], + "orientation": [ + 0.6156376600265503, + 0.36695048213005066, + -0.5632702112197876, + -0.41117414832115173 + ], + "joints": [ + 0.013865835964679718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12396739423274994, + -0.01844659075140953, + 0.012390186078846455 + ], + "orientation": [ + 0.5422362685203552, + -0.6541842818260193, + 0.34888604283332825, + -0.39534956216812134 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.12032037228345871, + -0.017608139663934708, + 0.01260820496827364 + ], + "orientation": [ + 0.5363771319389343, + -0.655326783657074, + 0.3486015796661377, + -0.40165063738822937 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.12032037228345871, + -0.017608139663934708, + 0.01260820496827364 + ], + "orientation": [ + 0.5363771319389343, + -0.655326783657074, + 0.3486015796661377, + -0.40165063738822937 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03667537122964859, + 0.10467299818992615, + 0.1304435282945633 + ], + "orientation": [ + 0.17319808900356293, + 0.5580741167068481, + 0.810671329498291, + -0.036982566118240356 + ], + "joints": [ + 0.028447028249502182 + ] + }, + "fine_grasp": { + "position": [ + -0.035831600427627563, + 0.10380598902702332, + 0.12669587135314941 + ], + "orientation": [ + 0.18015927076339722, + 0.5540118217468262, + 0.8116631507873535, + -0.042619556188583374 + ], + "joints": [ + 0.019669968634843826 + ] + }, + "final_grasp": { + "position": [ + -0.035831600427627563, + 0.10380598902702332, + 0.12669587135314941 + ], + "orientation": [ + 0.18015927076339722, + 0.5540118217468262, + 0.8116631507873535, + -0.042619556188583374 + ], + "joints": [ + 0.01089290902018547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13265399634838104, + 0.07642357796430588, + -0.021810241043567657 + ], + "orientation": [ + 0.6385183930397034, + 0.37569043040275574, + -0.5412650108337402, + -0.3977225720882416 + ], + "joints": [ + 0.03057733364403248 + ] + }, + "fine_grasp": { + "position": [ + 0.1292177140712738, + 0.07537496089935303, + -0.020910292863845825 + ], + "orientation": [ + 0.6429142355918884, + 0.3796439468860626, + -0.5356808304786682, + -0.39443346858024597 + ], + "joints": [ + 0.021361419931054115 + ] + }, + "final_grasp": { + "position": [ + 0.1292177140712738, + 0.07537496089935303, + -0.020910292863845825 + ], + "orientation": [ + 0.6429142355918884, + 0.3796439468860626, + -0.5356808304786682, + -0.39443346858024597 + ], + "joints": [ + 0.012145506218075752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10712632536888123, + 0.12567034363746643, + -0.07086168229579926 + ], + "orientation": [ + 0.7613716721534729, + 0.40083637833595276, + -0.3008362948894501, + -0.41126736998558044 + ], + "joints": [ + 0.02798391878604889 + ] + }, + "fine_grasp": { + "position": [ + 0.10414046794176102, + 0.12475086748600006, + -0.06882275640964508 + ], + "orientation": [ + 0.7627376317977905, + 0.398145467042923, + -0.3039744198322296, + -0.40903669595718384 + ], + "joints": [ + 0.01753503829240799 + ] + }, + "final_grasp": { + "position": [ + 0.10414046794176102, + 0.12475086748600006, + -0.06882275640964508 + ], + "orientation": [ + 0.7627376317977905, + 0.398145467042923, + -0.3039744198322296, + -0.40903669595718384 + ], + "joints": [ + 0.00708615779876709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10601459443569183, + 0.09843180328607559, + -0.0839264914393425 + ], + "orientation": [ + 0.6459580659866333, + 0.33243295550346375, + 0.2825397849082947, + 0.6264166235923767 + ], + "joints": [ + 0.02183661051094532 + ] + }, + "fine_grasp": { + "position": [ + -0.10320963710546494, + 0.09722825884819031, + -0.08170966058969498 + ], + "orientation": [ + 0.6467293500900269, + 0.33533889055252075, + 0.2804369032382965, + 0.625015377998352 + ], + "joints": [ + 0.01299685426056385 + ] + }, + "final_grasp": { + "position": [ + -0.10320963710546494, + 0.09722825884819031, + -0.08170966058969498 + ], + "orientation": [ + 0.6467293500900269, + 0.33533889055252075, + 0.2804369032382965, + 0.625015377998352 + ], + "joints": [ + 0.004157098010182381 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02008655294775963, + -0.10022103786468506, + -0.006972102914005518 + ], + "orientation": [ + 0.5858479142189026, + -0.5699306726455688, + 0.4867500364780426, + 0.3082781434059143 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + -0.01984858699142933, + -0.09664513915777206, + -0.005395474843680859 + ], + "orientation": [ + 0.5882576107978821, + -0.5635203719139099, + 0.482578307390213, + 0.3217388391494751 + ], + "joints": [ + 0.02238263189792633 + ] + }, + "final_grasp": { + "position": [ + -0.01984858699142933, + -0.09664513915777206, + -0.005395474843680859 + ], + "orientation": [ + 0.5882576107978821, + -0.5635203719139099, + 0.482578307390213, + 0.3217388391494751 + ], + "joints": [ + 0.014859437942504883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04475313425064087, + 0.11711753904819489, + 0.11535944789648056 + ], + "orientation": [ + 0.23189516365528107, + 0.5685374140739441, + -0.7881016731262207, + 0.04342413693666458 + ], + "joints": [ + 0.030091067776083946 + ] + }, + "fine_grasp": { + "position": [ + 0.04358815774321556, + 0.11604972183704376, + 0.11189401894807816 + ], + "orientation": [ + 0.23389498889446259, + 0.5554619431495667, + -0.7962697148323059, + 0.05205449461936951 + ], + "joints": [ + 0.020896052941679955 + ] + }, + "final_grasp": { + "position": [ + 0.04358815774321556, + 0.11604972183704376, + 0.11189401894807816 + ], + "orientation": [ + 0.23389498889446259, + 0.5554619431495667, + -0.7962697148323059, + 0.05205449461936951 + ], + "joints": [ + 0.011701038107275963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020953837782144547, + -0.05786532536149025, + 0.10841813683509827 + ], + "orientation": [ + 0.2515772879123688, + -0.7157512903213501, + 0.6424872279167175, + 0.10779113322496414 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.020819591358304024, + -0.0555507093667984, + 0.10566268116235733 + ], + "orientation": [ + 0.2575933635234833, + -0.7132763266563416, + 0.6416433453559875, + 0.11478805541992188 + ], + "joints": [ + 0.02330079674720764 + ] + }, + "final_grasp": { + "position": [ + -0.020819591358304024, + -0.0555507093667984, + 0.10566268116235733 + ], + "orientation": [ + 0.2575933635234833, + -0.7132763266563416, + 0.6416433453559875, + 0.11478805541992188 + ], + "joints": [ + 0.013708725571632385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10664286464452744, + 0.10917594283819199, + -0.07541350275278091 + ], + "orientation": [ + 0.795665979385376, + 0.21112817525863647, + 0.5627334117889404, + -0.07531070709228516 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.10444118082523346, + 0.10806215554475784, + -0.07070519775152206 + ], + "orientation": [ + 0.808521568775177, + 0.2035897821187973, + 0.5465556979179382, + -0.0782359391450882 + ], + "joints": [ + 0.02795729599893093 + ] + }, + "final_grasp": { + "position": [ + -0.10444118082523346, + 0.10806215554475784, + -0.07070519775152206 + ], + "orientation": [ + 0.808521568775177, + 0.2035897821187973, + 0.5465556979179382, + -0.0782359391450882 + ], + "joints": [ + 0.026703430339694023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07382761687040329, + 0.1444626897573471, + -0.10444241017103195 + ], + "orientation": [ + 0.5793450474739075, + -0.09862399846315384, + 0.3322299122810364, + -0.7377370595932007 + ], + "joints": [ + 0.020931249484419823 + ] + }, + "fine_grasp": { + "position": [ + -0.0716363936662674, + 0.14366821944713593, + -0.10149360448122025 + ], + "orientation": [ + 0.5799393653869629, + -0.10126905143260956, + 0.3308165669441223, + -0.7375467419624329 + ], + "joints": [ + 0.012112392112612724 + ] + }, + "final_grasp": { + "position": [ + -0.0716363936662674, + 0.14366821944713593, + -0.10149360448122025 + ], + "orientation": [ + 0.5799393653869629, + -0.10126905143260956, + 0.3308165669441223, + -0.7375467419624329 + ], + "joints": [ + 0.003293534740805626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07375416159629822, + 0.14433297514915466, + -0.10438098758459091 + ], + "orientation": [ + 0.5792918801307678, + -0.09734930098056793, + 0.33362826704978943, + -0.7373168468475342 + ], + "joints": [ + 0.02100800909101963 + ] + }, + "fine_grasp": { + "position": [ + -0.07155512273311615, + 0.1435634344816208, + -0.1013752743601799 + ], + "orientation": [ + 0.5800794363021851, + -0.10024283826351166, + 0.33167564868927, + -0.7371909618377686 + ], + "joints": [ + 0.01216825284063816 + ] + }, + "final_grasp": { + "position": [ + -0.07155512273311615, + 0.1435634344816208, + -0.1013752743601799 + ], + "orientation": [ + 0.5800794363021851, + -0.10024283826351166, + 0.33167564868927, + -0.7371909618377686 + ], + "joints": [ + 0.003328496590256691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03853156790137291, + -0.11874370276927948, + -0.04475624859333038 + ], + "orientation": [ + 0.10744357109069824, + 0.004158455412834883, + 0.5897786021232605, + 0.8003747463226318 + ], + "joints": [ + 0.02733556739985943 + ] + }, + "fine_grasp": { + "position": [ + -0.037577781826257706, + -0.11509418487548828, + -0.04334084317088127 + ], + "orientation": [ + 0.10918392986059189, + 0.007333668880164623, + 0.5906273722648621, + 0.7994901537895203 + ], + "joints": [ + 0.018119653686881065 + ] + }, + "final_grasp": { + "position": [ + -0.037577781826257706, + -0.11509418487548828, + -0.04334084317088127 + ], + "orientation": [ + 0.10918392986059189, + 0.007333668880164623, + 0.5906273722648621, + 0.7994901537895203 + ], + "joints": [ + 0.008903739973902702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038598835468292236, + -0.11874394863843918, + -0.04478547349572182 + ], + "orientation": [ + 0.10731227695941925, + 0.00427304208278656, + 0.5897571444511414, + 0.8004076480865479 + ], + "joints": [ + 0.02733556739985943 + ] + }, + "fine_grasp": { + "position": [ + -0.037643980234861374, + -0.1151033341884613, + -0.0433674082159996 + ], + "orientation": [ + 0.10907246172428131, + 0.0074499864131212234, + 0.5905112624168396, + 0.7995900511741638 + ], + "joints": [ + 0.018119653686881065 + ] + }, + "final_grasp": { + "position": [ + -0.037643980234861374, + -0.1151033341884613, + -0.0433674082159996 + ], + "orientation": [ + 0.10907246172428131, + 0.0074499864131212234, + 0.5905112624168396, + 0.7995900511741638 + ], + "joints": [ + 0.008903739973902702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03847498074173927, + -0.11872704327106476, + -0.044698528945446014 + ], + "orientation": [ + 0.10759298503398895, + 0.0038824165239930153, + 0.5898399949073792, + 0.8003107905387878 + ], + "joints": [ + 0.02733556739985943 + ] + }, + "fine_grasp": { + "position": [ + -0.03753189742565155, + -0.11509330570697784, + -0.04329026862978935 + ], + "orientation": [ + 0.10926792770624161, + 0.0070175668224692345, + 0.5907393097877502, + 0.7993987202644348 + ], + "joints": [ + 0.018140552565455437 + ] + }, + "final_grasp": { + "position": [ + -0.03753189742565155, + -0.11509330570697784, + -0.04329026862978935 + ], + "orientation": [ + 0.10926792770624161, + 0.0070175668224692345, + 0.5907393097877502, + 0.7993987202644348 + ], + "joints": [ + 0.008945537731051445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10289040952920914, + 0.08448410034179688, + -0.08080194890499115 + ], + "orientation": [ + 0.02112887240946293, + 0.5542518496513367, + 0.13971000909805298, + -0.820267915725708 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.10152824968099594, + 0.0840456411242485, + -0.07567547261714935 + ], + "orientation": [ + 0.023608960211277008, + 0.5341498851776123, + 0.13320159912109375, + -0.8344961404800415 + ], + "joints": [ + 0.031406354159116745 + ] + }, + "final_grasp": { + "position": [ + 0.10152824968099594, + 0.0840456411242485, + -0.07567547261714935 + ], + "orientation": [ + 0.023608960211277008, + 0.5341498851776123, + 0.13320159912109375, + -0.8344961404800415 + ], + "joints": [ + 0.030591342598199844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10445535182952881, + 0.08466397970914841, + -0.08076126128435135 + ], + "orientation": [ + 0.018605301156640053, + 0.5561707615852356, + 0.132017120718956, + -0.8203044533729553 + ], + "joints": [ + 0.03128793090581894 + ] + }, + "fine_grasp": { + "position": [ + 0.10293890535831451, + 0.08420419692993164, + -0.07584796100854874 + ], + "orientation": [ + 0.02128266915678978, + 0.538026750087738, + 0.12612728774547577, + -0.8331663608551025 + ], + "joints": [ + 0.03130882978439331 + ] + }, + "final_grasp": { + "position": [ + 0.10293890535831451, + 0.08420419692993164, + -0.07584796100854874 + ], + "orientation": [ + 0.02128266915678978, + 0.538026750087738, + 0.12612728774547577, + -0.8331663608551025 + ], + "joints": [ + 0.03132972866296768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11878568679094315, + 0.06885776668787003, + -0.05905803292989731 + ], + "orientation": [ + 0.7579163908958435, + 0.08931253850460052, + -0.6397304534912109, + 0.09127374738454819 + ], + "joints": [ + 0.03197762370109558 + ] + }, + "fine_grasp": { + "position": [ + 0.11683164536952972, + 0.06795112788677216, + -0.05518609285354614 + ], + "orientation": [ + 0.7708168625831604, + 0.08804052323102951, + -0.6241663694381714, + 0.09223067760467529 + ], + "joints": [ + 0.028174228966236115 + ] + }, + "final_grasp": { + "position": [ + 0.11683164536952972, + 0.06795112788677216, + -0.05518609285354614 + ], + "orientation": [ + 0.7708168625831604, + 0.08804052323102951, + -0.6241663694381714, + 0.09223067760467529 + ], + "joints": [ + 0.024370834231376648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11805431544780731, + 0.06775576621294022, + -0.05871037393808365 + ], + "orientation": [ + 0.7574365139007568, + 0.0857921689748764, + -0.6404061317443848, + 0.09385959059000015 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.11620388925075531, + 0.0668611153960228, + -0.054755933582782745 + ], + "orientation": [ + 0.7706185579299927, + 0.08351089060306549, + -0.6246421337127686, + 0.09484364092350006 + ], + "joints": [ + 0.02864726632833481 + ] + }, + "final_grasp": { + "position": [ + 0.11620388925075531, + 0.0668611153960228, + -0.054755933582782745 + ], + "orientation": [ + 0.7706185579299927, + 0.08351089060306549, + -0.6246421337127686, + 0.09484364092350006 + ], + "joints": [ + 0.024864770472049713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11800338327884674, + 0.06800681352615356, + -0.05902193486690521 + ], + "orientation": [ + 0.7583945393562317, + 0.08705218881368637, + -0.639519453048706, + 0.09096495062112808 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.116150863468647, + 0.06714848428964615, + -0.05509180575609207 + ], + "orientation": [ + 0.771492600440979, + 0.08502022922039032, + -0.6237999200820923, + 0.09189413487911224 + ], + "joints": [ + 0.028207316994667053 + ] + }, + "final_grasp": { + "position": [ + 0.116150863468647, + 0.06714848428964615, + -0.05509180575609207 + ], + "orientation": [ + 0.771492600440979, + 0.08502022922039032, + -0.6237999200820923, + 0.09189413487911224 + ], + "joints": [ + 0.024424821138381958 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 128 + } +} \ No newline at end of file diff --git a/095_glue_5/Object.usd b/095_glue_5/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..225792a7b357a1cf857ae96aa92fbcef7aa7fe3e --- /dev/null +++ b/095_glue_5/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab55d2c7d1eb5fffce7039e5963135c35ce3c8c56622856dfb54ab4f9253842a +size 349132 diff --git a/099_fan_4/Annotation/dex1_1_grasp_pose.json b/099_fan_4/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..ee5e962bc129a7d2c33c925089c0c44759c298bc --- /dev/null +++ b/099_fan_4/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,168 @@ +{ + "type": "099_fan_4", + "bottom_center": [ + 7.078051567077637e-06, + 0.07599472254514694, + -0.041048239916563034 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.009141768328845501, + 0.018284862861037254, + -0.13630543649196625 + ], + "orientation": [ + 0.0031100567430257797, + 0.005705317482352257, + -0.8352866172790527, + -0.5497762560844421 + ], + "joints": [ + -0.01730542629957199 + ] + }, + "fine_grasp": { + "position": [ + -0.005771492142230272, + 0.01878594048321247, + -0.13557541370391846 + ], + "orientation": [ + 0.0017705793725326657, + -0.019070470705628395, + -0.8362034559249878, + -0.5480847358703613 + ], + "joints": [ + -0.01730542629957199 + ] + }, + "final_grasp": { + "position": [ + -0.005771492142230272, + 0.01878594048321247, + -0.13557541370391846 + ], + "orientation": [ + 0.0017705793725326657, + -0.019070470705628395, + -0.8362034559249878, + -0.5480847358703613 + ], + "joints": [ + -0.01730542629957199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06163487955927849, + -0.10547211021184921, + -0.012879256159067154 + ], + "orientation": [ + 0.7192890048027039, + 0.09830617904663086, + 0.6874803304672241, + -0.018169479444622993 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.06041641905903816, + -0.1048155352473259, + -0.01493234746158123 + ], + "orientation": [ + 0.7136263847351074, + 0.1096065491437912, + 0.6917418241500854, + -0.014728386886417866 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.06041641905903816, + -0.1048155352473259, + -0.01493234746158123 + ], + "orientation": [ + 0.7136263847351074, + 0.1096065491437912, + 0.6917418241500854, + -0.014728386886417866 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15310129523277283, + 0.019546840339899063, + -0.00747512374073267 + ], + "orientation": [ + 0.47945836186408997, + -0.4887249171733856, + 0.5672096014022827, + 0.45775631070137024 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.15051409602165222, + 0.0187270175665617, + -0.009605973958969116 + ], + "orientation": [ + 0.4658590257167816, + -0.49404236674308777, + 0.5771381258964539, + 0.4536619186401367 + ], + "joints": [ + -0.0162004753947258 + ] + }, + "final_grasp": { + "position": [ + 0.15051409602165222, + 0.0187270175665617, + -0.009605973958969116 + ], + "orientation": [ + 0.4658590257167816, + -0.49404236674308777, + 0.5771381258964539, + 0.4536619186401367 + ], + "joints": [ + -0.012400951236486435 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2047, + "num_passed": 3 + } +} \ No newline at end of file diff --git a/099_fan_4/Annotation/piper_grasp_pose.json b/099_fan_4/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..c9e1536554e33e07612319c9bcc599929a60b74e --- /dev/null +++ b/099_fan_4/Annotation/piper_grasp_pose.json @@ -0,0 +1,318 @@ +{ + "type": "099_fan_4", + "bottom_center": [ + 7.078051567077637e-06, + 0.07599472254514694, + -0.041048239916563034 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.11899460852146149, + 0.20185130834579468, + 0.0350831113755703 + ], + "orientation": [ + 0.1766909956932068, + -0.34195512533187866, + -0.6495276689529419, + 0.6557139158248901 + ], + "joints": [ + 0.021143749356269836 + ] + }, + "fine_grasp": { + "position": [ + 0.11600463837385178, + 0.19964736700057983, + 0.034773003309965134 + ], + "orientation": [ + 0.17449325323104858, + -0.3472190201282501, + -0.6449427604675293, + 0.658057689666748 + ], + "joints": [ + 0.011530779302120209 + ] + }, + "final_grasp": { + "position": [ + 0.11600463837385178, + 0.19964736700057983, + 0.034773003309965134 + ], + "orientation": [ + 0.17449325323104858, + -0.3472190201282501, + -0.6449427604675293, + 0.658057689666748 + ], + "joints": [ + 0.001917809247970581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11944586038589478, + 0.19999608397483826, + 0.0359019972383976 + ], + "orientation": [ + 0.1898021399974823, + -0.31121090054512024, + -0.6680058240890503, + 0.6487612724304199 + ], + "joints": [ + 0.0212953370064497 + ] + }, + "fine_grasp": { + "position": [ + 0.11641455441713333, + 0.19815000891685486, + 0.03589585795998573 + ], + "orientation": [ + 0.19376018643379211, + -0.31774193048477173, + -0.6650065183639526, + 0.6475055813789368 + ], + "joints": [ + 0.011264411732554436 + ] + }, + "final_grasp": { + "position": [ + 0.11641455441713333, + 0.19815000891685486, + 0.03589585795998573 + ], + "orientation": [ + 0.19376018643379211, + -0.31774193048477173, + -0.6650065183639526, + 0.6475055813789368 + ], + "joints": [ + 0.001233486458659172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16339707374572754, + 0.10540071874856949, + 0.042111415416002274 + ], + "orientation": [ + 0.3947165608406067, + -0.4920390248298645, + 0.5708970427513123, + -0.5255215167999268 + ], + "joints": [ + 0.02073809877038002 + ] + }, + "fine_grasp": { + "position": [ + -0.15960098803043365, + 0.10537999868392944, + 0.041929151862859726 + ], + "orientation": [ + 0.4011194407939911, + -0.49725958704948425, + 0.5652861595153809, + -0.5218120217323303 + ], + "joints": [ + 0.011543083935976028 + ] + }, + "final_grasp": { + "position": [ + -0.15960098803043365, + 0.10537999868392944, + 0.041929151862859726 + ], + "orientation": [ + 0.4011194407939911, + -0.49725958704948425, + 0.5652861595153809, + -0.5218120217323303 + ], + "joints": [ + 0.0023480691015720367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1053001657128334, + -0.030536025762557983, + 0.11602523922920227 + ], + "orientation": [ + 0.22405274212360382, + -0.8999691605567932, + -0.10984034091234207, + 0.3574787974357605 + ], + "joints": [ + 0.022201061248779297 + ] + }, + "fine_grasp": { + "position": [ + 0.10317293554544449, + -0.02884138748049736, + 0.11316751688718796 + ], + "orientation": [ + 0.22130048274993896, + -0.9062707424163818, + -0.10154956579208374, + 0.34552431106567383 + ], + "joints": [ + 0.013779260218143463 + ] + }, + "final_grasp": { + "position": [ + 0.10317293554544449, + -0.02884138748049736, + 0.11316751688718796 + ], + "orientation": [ + 0.22130048274993896, + -0.9062707424163818, + -0.10154956579208374, + 0.34552431106567383 + ], + "joints": [ + 0.005357459187507629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16369660198688507, + 0.0185756403952837, + -0.00876059290021658 + ], + "orientation": [ + 0.6910201907157898, + 0.01511599775403738, + 0.7225258350372314, + -0.014797627925872803 + ], + "joints": [ + 0.021898752078413963 + ] + }, + "fine_grasp": { + "position": [ + -0.15974514186382294, + 0.018560368567705154, + -0.00887166429311037 + ], + "orientation": [ + 0.691209614276886, + 0.014915230683982372, + 0.7223539352416992, + -0.014550666324794292 + ], + "joints": [ + 0.012285782024264336 + ] + }, + "final_grasp": { + "position": [ + -0.15974514186382294, + 0.018560368567705154, + -0.00887166429311037 + ], + "orientation": [ + 0.691209614276886, + 0.014915230683982372, + 0.7223539352416992, + -0.014550666324794292 + ], + "joints": [ + 0.002672811970114708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1572381556034088, + 0.06454306840896606, + 0.03963017091155052 + ], + "orientation": [ + 0.4498538076877594, + -0.548201858997345, + -0.5060312151908875, + 0.4909568727016449 + ], + "joints": [ + 0.019511770457029343 + ] + }, + "fine_grasp": { + "position": [ + 0.1535484343767166, + 0.06530878692865372, + 0.03915064409375191 + ], + "orientation": [ + 0.4548066258430481, + -0.5503484606742859, + -0.5038130283355713, + 0.48625096678733826 + ], + "joints": [ + 0.00747466366738081 + ] + }, + "final_grasp": { + "position": [ + 0.1535484343767166, + 0.06530878692865372, + 0.03915064409375191 + ], + "orientation": [ + 0.4548066258430481, + -0.5503484606742859, + -0.5038130283355713, + 0.48625096678733826 + ], + "joints": [ + -0.004562443122267723 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 6 + } +} \ No newline at end of file diff --git a/099_fan_4/Object.usd b/099_fan_4/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..863b2ac3c79a9e9a671c008cc6d45c1a79ff140b --- /dev/null +++ b/099_fan_4/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:722cd1f77f1dc10a75ce242cebba6845dcbcf815760e6cd01b4e537e6cc9de50 +size 428916 diff --git a/100_seal_6/Annotation/dex1_1_grasp_pose.json b/100_seal_6/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c83e794d41dc011529a0e8cb900f413a0c91ea --- /dev/null +++ b/100_seal_6/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,28368 @@ +{ + "type": "100_seal_6", + "bottom_center": [ + 2.3795291781425476e-06, + 0.037995219230651855, + -0.023513318970799446 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.029887160286307335, + -0.10819106549024582, + -0.003916243091225624 + ], + "orientation": [ + 0.6599107384681702, + -0.06332167237997055, + 0.7451549768447876, + 0.07247212529182434 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.027315139770507812, + -0.1032477393746376, + -0.00335063342936337 + ], + "orientation": [ + 0.658909797668457, + -0.06922893971204758, + 0.74482661485672, + 0.07923829555511475 + ], + "joints": [ + -0.0019073194125667214 + ] + }, + "final_grasp": { + "position": [ + 0.027315139770507812, + -0.1032477393746376, + -0.00335063342936337 + ], + "orientation": [ + 0.658909797668457, + -0.06922893971204758, + 0.74482661485672, + 0.07923829555511475 + ], + "joints": [ + 0.005027445964515209 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030318334698677063, + -0.10800495743751526, + -0.003954832907766104 + ], + "orientation": [ + 0.6608765721321106, + -0.06407898664474487, + 0.7441353797912598, + 0.07347431033849716 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.02801244519650936, + -0.10283412784337997, + -0.0034349369816482067 + ], + "orientation": [ + 0.660107433795929, + -0.06891530007123947, + 0.7438687682151794, + 0.07853744179010391 + ], + "joints": [ + -0.0019073192961513996 + ] + }, + "final_grasp": { + "position": [ + 0.02801244519650936, + -0.10283412784337997, + -0.0034349369816482067 + ], + "orientation": [ + 0.660107433795929, + -0.06891530007123947, + 0.7438687682151794, + 0.07853744179010391 + ], + "joints": [ + 0.005027445964515209 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029951469972729683, + -0.10783211886882782, + -0.0038718124851584435 + ], + "orientation": [ + 0.6597066521644592, + -0.06361449509859085, + 0.745305597782135, + 0.07252523303031921 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.027279598638415337, + -0.10288793593645096, + -0.003334189299494028 + ], + "orientation": [ + 0.6587496995925903, + -0.06970881670713425, + 0.7448621392250061, + 0.07981174439191818 + ], + "joints": [ + -0.0019073194125667214 + ] + }, + "final_grasp": { + "position": [ + 0.027279598638415337, + -0.10288793593645096, + -0.003334189299494028 + ], + "orientation": [ + 0.6587496995925903, + -0.06970881670713425, + 0.7448621392250061, + 0.07981174439191818 + ], + "joints": [ + 0.005027445964515209 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11498238146305084, + -0.0050656916573643684, + 0.0197449941188097 + ], + "orientation": [ + 0.5099522471427917, + 0.3961787819862366, + 0.6041730046272278, + -0.4668683707714081 + ], + "joints": [ + -0.006903518922626972 + ] + }, + "fine_grasp": { + "position": [ + -0.1180281937122345, + -0.005593561101704836, + 0.019802913069725037 + ], + "orientation": [ + 0.5145853161811829, + 0.39691853523254395, + 0.6014456152915955, + -0.46467283368110657 + ], + "joints": [ + -0.0010581230744719505 + ] + }, + "final_grasp": { + "position": [ + -0.1180281937122345, + -0.005593561101704836, + 0.019802913069725037 + ], + "orientation": [ + 0.5145853161811829, + 0.39691853523254395, + 0.6014456152915955, + -0.46467283368110657 + ], + "joints": [ + 0.004787272773683071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07274498790502548, + 0.0701272264122963, + -0.09204962104558945 + ], + "orientation": [ + 0.5249080657958984, + 0.7845333218574524, + -0.18195149302482605, + 0.2754499912261963 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.06989118456840515, + 0.06817948073148727, + -0.08834110200405121 + ], + "orientation": [ + 0.5250188112258911, + 0.7833875417709351, + -0.18333084881305695, + 0.2775771915912628 + ], + "joints": [ + -0.0008976601529866457 + ] + }, + "final_grasp": { + "position": [ + 0.06989118456840515, + 0.06817948073148727, + -0.08834110200405121 + ], + "orientation": [ + 0.5250188112258911, + 0.7833875417709351, + -0.18333084881305695, + 0.2775771915912628 + ], + "joints": [ + 0.007046764250844717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07065598666667938, + 0.023934166878461838, + -0.09787695109844208 + ], + "orientation": [ + 0.2164747565984726, + -0.21722540259361267, + -0.676600992679596, + -0.6694498062133789 + ], + "joints": [ + -0.007044668309390545 + ] + }, + "fine_grasp": { + "position": [ + -0.07051828503608704, + 0.02275807037949562, + -0.09718705713748932 + ], + "orientation": [ + 0.21325980126857758, + -0.21721240878105164, + -0.6699965000152588, + -0.6770848035812378 + ], + "joints": [ + -0.0011727025266736746 + ] + }, + "final_grasp": { + "position": [ + -0.07051828503608704, + 0.02275807037949562, + -0.09718705713748932 + ], + "orientation": [ + 0.21325980126857758, + -0.21721240878105164, + -0.6699965000152588, + -0.6770848035812378 + ], + "joints": [ + 0.004699263256043196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0698893815279007, + 0.024934975430369377, + -0.0982053205370903 + ], + "orientation": [ + 0.2134694755077362, + -0.21567706763744354, + -0.6743370294570923, + -0.6731892824172974 + ], + "joints": [ + -0.0069777099415659904 + ] + }, + "fine_grasp": { + "position": [ + -0.07012759894132614, + 0.0242520272731781, + -0.09764853864908218 + ], + "orientation": [ + 0.21119841933250427, + -0.2152397334575653, + -0.669258177280426, + -0.6790880560874939 + ], + "joints": [ + -0.0011057440424337983 + ] + }, + "final_grasp": { + "position": [ + -0.07012759894132614, + 0.0242520272731781, + -0.09764853864908218 + ], + "orientation": [ + 0.21119841933250427, + -0.2152397334575653, + -0.669258177280426, + -0.6790880560874939 + ], + "joints": [ + 0.0047662220895290375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11405922472476959, + -0.0033795058261603117, + 0.026551295071840286 + ], + "orientation": [ + 0.483029305934906, + 0.38947468996047974, + -0.6093737483024597, + 0.49361491203308105 + ], + "joints": [ + -0.007044668309390545 + ] + }, + "fine_grasp": { + "position": [ + 0.11703614145517349, + -0.0038139717653393745, + 0.027461325749754906 + ], + "orientation": [ + 0.4774458110332489, + 0.39072346687316895, + -0.6110861301422119, + 0.4959377348423004 + ], + "joints": [ + -0.0011727025266736746 + ] + }, + "final_grasp": { + "position": [ + 0.11703614145517349, + -0.0038139717653393745, + 0.027461325749754906 + ], + "orientation": [ + 0.4774458110332489, + 0.39072346687316895, + -0.6110861301422119, + 0.4959377348423004 + ], + "joints": [ + 0.004699263256043196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004707261919975281, + -0.09966631233692169, + 0.027793889865279198 + ], + "orientation": [ + 0.07765413075685501, + 0.010271965526044369, + 0.9912240505218506, + -0.10648582130670547 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.0045540668070316315, + -0.09591329097747803, + 0.025438303127884865 + ], + "orientation": [ + 0.07243918627500534, + 0.010265474207699299, + 0.9907761812210083, + -0.11406097561120987 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + -0.0045540668070316315, + -0.09591329097747803, + 0.025438303127884865 + ], + "orientation": [ + 0.07243918627500534, + 0.010265474207699299, + 0.9907761812210083, + -0.11406097561120987 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014393758960068226, + 0.07096222788095474, + -0.11987859755754471 + ], + "orientation": [ + 0.35383841395378113, + 0.5052781105041504, + -0.4680565297603607, + -0.632783830165863 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.008919542655348778, + 0.07121546566486359, + -0.11909949034452438 + ], + "orientation": [ + 0.33245015144348145, + 0.5239524245262146, + -0.4968372583389282, + -0.6067153811454773 + ], + "joints": [ + -0.017316419631242752 + ] + }, + "final_grasp": { + "position": [ + 0.008919542655348778, + 0.07121546566486359, + -0.11909949034452438 + ], + "orientation": [ + 0.33245015144348145, + 0.5239524245262146, + -0.4968372583389282, + -0.6067153811454773 + ], + "joints": [ + -0.01463283970952034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1098342314362526, + 0.08394419401884079, + 0.0027086306363344193 + ], + "orientation": [ + 0.11301165819168091, + -0.8331905603408813, + 0.5309317708015442, + 0.1055145263671875 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.110410176217556, + 0.08081267774105072, + 0.0026148634497076273 + ], + "orientation": [ + 0.09324507415294647, + -0.828751802444458, + 0.5453850030899048, + 0.08385168015956879 + ], + "joints": [ + -0.016280189156532288 + ] + }, + "final_grasp": { + "position": [ + 0.110410176217556, + 0.08081267774105072, + 0.0026148634497076273 + ], + "orientation": [ + 0.09324507415294647, + -0.828751802444458, + 0.5453850030899048, + 0.08385168015956879 + ], + "joints": [ + -0.012560378760099411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0860312432050705, + 0.08011533319950104, + 0.06558585911989212 + ], + "orientation": [ + 0.22400279343128204, + -0.8110026717185974, + 0.5036741495132446, + -0.1959839165210724 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.08817239105701447, + 0.08051462471485138, + 0.06637296825647354 + ], + "orientation": [ + 0.22884203493595123, + -0.8082233667373657, + 0.5032045245170593, + -0.20295681059360504 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.08817239105701447, + 0.08051462471485138, + 0.06637296825647354 + ], + "orientation": [ + 0.22884203493595123, + -0.8082233667373657, + 0.5032045245170593, + -0.20295681059360504 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08000830560922623, + 0.0733141079545021, + -0.07057158648967743 + ], + "orientation": [ + 0.08421887457370758, + 0.6984912157058716, + 0.5624450445175171, + 0.43436458706855774 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.08383288979530334, + 0.07547233253717422, + -0.0752105563879013 + ], + "orientation": [ + 0.07886087894439697, + 0.7052925825119019, + 0.5725803971290588, + 0.41048145294189453 + ], + "joints": [ + -0.016838163137435913 + ] + }, + "final_grasp": { + "position": [ + -0.08383288979530334, + 0.07547233253717422, + -0.0752105563879013 + ], + "orientation": [ + 0.07886087894439697, + 0.7052925825119019, + 0.5725803971290588, + 0.41048145294189453 + ], + "joints": [ + -0.013676326721906662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08603315055370331, + 0.08011449128389359, + 0.06557692587375641 + ], + "orientation": [ + 0.2240118533372879, + -0.8110136389732361, + 0.5036566257476807, + -0.19597306847572327 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.08820115774869919, + 0.0804915800690651, + 0.06635251641273499 + ], + "orientation": [ + 0.22877773642539978, + -0.8081769347190857, + 0.5033479332923889, + -0.2028583139181137 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.08820115774869919, + 0.0804915800690651, + 0.06635251641273499 + ], + "orientation": [ + 0.22877773642539978, + -0.8081769347190857, + 0.5033479332923889, + -0.2028583139181137 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08611512184143066, + 0.057695791125297546, + 0.07651949673891068 + ], + "orientation": [ + 0.23076850175857544, + 0.3549253046512604, + 0.5576063990592957, + -0.7140370011329651 + ], + "joints": [ + -0.007540423423051834 + ] + }, + "fine_grasp": { + "position": [ + -0.08637961000204086, + 0.05846241116523743, + 0.07681861519813538 + ], + "orientation": [ + 0.24511747062206268, + 0.3413533568382263, + 0.5557405948638916, + -0.717319905757904 + ], + "joints": [ + -0.0006056582788005471 + ] + }, + "final_grasp": { + "position": [ + -0.08637961000204086, + 0.05846241116523743, + 0.07681861519813538 + ], + "orientation": [ + 0.24511747062206268, + 0.3413533568382263, + 0.5557405948638916, + -0.717319905757904 + ], + "joints": [ + 0.0063291070982813835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07527634501457214, + 0.08044533431529999, + -0.09560441970825195 + ], + "orientation": [ + 0.5322445631027222, + 0.4361977279186249, + -0.19208452105522156, + -0.6996789574623108 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.07411745935678482, + 0.07975491881370544, + -0.09493988752365112 + ], + "orientation": [ + 0.5321900248527527, + 0.4296710193157196, + -0.19689823687076569, + -0.7024156451225281 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.07411745935678482, + 0.07975491881370544, + -0.09493988752365112 + ], + "orientation": [ + 0.5321900248527527, + 0.4296710193157196, + -0.19689823687076569, + -0.7024156451225281 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00834481418132782, + -0.01973334513604641, + 0.12797811627388 + ], + "orientation": [ + 0.024449476972222328, + 0.02196681872010231, + 0.7708879709243774, + -0.6361220479011536 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.007962027564644814, + -0.02008534036576748, + 0.12265297770500183 + ], + "orientation": [ + 0.023587245494127274, + 0.021047212183475494, + 0.7620159983634949, + -0.646786093711853 + ], + "joints": [ + -0.0014864684781059623 + ] + }, + "final_grasp": { + "position": [ + -0.007962027564644814, + -0.02008534036576748, + 0.12265297770500183 + ], + "orientation": [ + 0.023587245494127274, + 0.021047212183475494, + 0.7620159983634949, + -0.646786093711853 + ], + "joints": [ + 0.006457955576479435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10415899008512497, + 0.03285757452249527, + 0.07551844418048859 + ], + "orientation": [ + 0.34033849835395813, + 0.2917786240577698, + -0.6036884188652039, + 0.659238338470459 + ], + "joints": [ + -0.007972817867994308 + ] + }, + "fine_grasp": { + "position": [ + 0.10038775205612183, + 0.03258823603391647, + 0.07226177304983139 + ], + "orientation": [ + 0.33873483538627625, + 0.2920854091644287, + -0.6036022901535034, + 0.6600069403648376 + ], + "joints": [ + -0.001064622774720192 + ] + }, + "final_grasp": { + "position": [ + 0.10038775205612183, + 0.03258823603391647, + 0.07226177304983139 + ], + "orientation": [ + 0.33873483538627625, + 0.2920854091644287, + -0.6036022901535034, + 0.6600069403648376 + ], + "joints": [ + 0.0058435723185539246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0038702168967574835, + 0.10297628492116928, + 0.11073306947946548 + ], + "orientation": [ + 0.3743930757045746, + -0.5714524984359741, + -0.3005179166793823, + 0.6655530333518982 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.005311235785484314, + 0.10009291023015976, + 0.10667365789413452 + ], + "orientation": [ + 0.37007519602775574, + -0.580069363117218, + -0.31745946407318115, + 0.6525207757949829 + ], + "joints": [ + -0.016811590641736984 + ] + }, + "final_grasp": { + "position": [ + 0.005311235785484314, + 0.10009291023015976, + 0.10667365789413452 + ], + "orientation": [ + 0.37007519602775574, + -0.580069363117218, + -0.31745946407318115, + 0.6525207757949829 + ], + "joints": [ + -0.013623181730508804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10482959449291229, + 0.03231845796108246, + 0.07584534585475922 + ], + "orientation": [ + 0.3384419083595276, + 0.29717835783958435, + -0.6020293831825256, + 0.6593199968338013 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + 0.10097087174654007, + 0.032323822379112244, + 0.07276096194982529 + ], + "orientation": [ + 0.336117148399353, + 0.298710435628891, + -0.6028967499732971, + 0.659024178981781 + ], + "joints": [ + -0.0013745223404839635 + ] + }, + "final_grasp": { + "position": [ + 0.10097087174654007, + 0.032323822379112244, + 0.07276096194982529 + ], + "orientation": [ + 0.336117148399353, + 0.298710435628891, + -0.6028967499732971, + 0.659024178981781 + ], + "joints": [ + 0.005533672869205475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003790464950725436, + 0.10323614627122879, + 0.1111634224653244 + ], + "orientation": [ + 0.3755555748939514, + -0.5705013275146484, + -0.29946720600128174, + 0.6661874651908875 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.005377365741878748, + 0.1002642959356308, + 0.10684896260499954 + ], + "orientation": [ + 0.37014642357826233, + -0.5795822143554688, + -0.31697148084640503, + 0.6531501412391663 + ], + "joints": [ + -0.016838163137435913 + ] + }, + "final_grasp": { + "position": [ + 0.005377365741878748, + 0.1002642959356308, + 0.10684896260499954 + ], + "orientation": [ + 0.37014642357826233, + -0.5795822143554688, + -0.31697148084640503, + 0.6531501412391663 + ], + "joints": [ + -0.013676326721906662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003878655843436718, + 0.10320364683866501, + 0.11107194423675537 + ], + "orientation": [ + 0.3748316466808319, + -0.5711498856544495, + -0.30017393827438354, + 0.66572105884552 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.005374547094106674, + 0.1002252995967865, + 0.10679560899734497 + ], + "orientation": [ + 0.369584858417511, + -0.5795737504959106, + -0.31759750843048096, + 0.6531715393066406 + ], + "joints": [ + -0.016838163137435913 + ] + }, + "final_grasp": { + "position": [ + 0.005374547094106674, + 0.1002252995967865, + 0.10679560899734497 + ], + "orientation": [ + 0.369584858417511, + -0.5795737504959106, + -0.31759750843048096, + 0.6531715393066406 + ], + "joints": [ + -0.013676326721906662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005789448972791433, + -0.10485866665840149, + -0.0256656501442194 + ], + "orientation": [ + 0.4537679851055145, + 0.07235031574964523, + 0.8839682936668396, + 0.0863712802529335 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + -0.005882463417947292, + -0.10503824800252914, + -0.02794363535940647 + ], + "orientation": [ + 0.4554635286331177, + 0.07721120864152908, + 0.8821932077407837, + 0.09125031530857086 + ], + "joints": [ + -0.0009791709017008543 + ] + }, + "final_grasp": { + "position": [ + -0.005882463417947292, + -0.10503824800252914, + -0.02794363535940647 + ], + "orientation": [ + 0.4554635286331177, + 0.07721120864152908, + 0.8821932077407837, + 0.09125031530857086 + ], + "joints": [ + 0.005955594126135111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022559015080332756, + -0.10448770970106125, + -0.00843148585408926 + ], + "orientation": [ + 0.30710679292678833, + 0.10150469839572906, + 0.946150541305542, + 0.013468082062900066 + ], + "joints": [ + -0.0078666340559721 + ] + }, + "fine_grasp": { + "position": [ + -0.023218687623739243, + -0.10572493076324463, + -0.011208378709852695 + ], + "orientation": [ + 0.2993279993534088, + 0.10905154049396515, + 0.9477919340133667, + 0.014172416180372238 + ], + "joints": [ + -0.0014632685342803597 + ] + }, + "final_grasp": { + "position": [ + -0.023218687623739243, + -0.10572493076324463, + -0.011208378709852695 + ], + "orientation": [ + 0.2993279993534088, + 0.10905154049396515, + 0.9477919340133667, + 0.014172416180372238 + ], + "joints": [ + 0.0049400972202420235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10884194821119308, + 0.021464921534061432, + 0.0611049085855484 + ], + "orientation": [ + 0.6157713532447815, + -0.5961821675300598, + 0.29074859619140625, + 0.42527368664741516 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + 0.10477587580680847, + 0.020597387105226517, + 0.059099290519952774 + ], + "orientation": [ + 0.6195605397224426, + -0.5901085138320923, + 0.27538177371025085, + 0.43827110528945923 + ], + "joints": [ + -0.0008431224268861115 + ] + }, + "final_grasp": { + "position": [ + 0.10477587580680847, + 0.020597387105226517, + 0.059099290519952774 + ], + "orientation": [ + 0.6195605397224426, + -0.5901085138320923, + 0.27538177371025085, + 0.43827110528945923 + ], + "joints": [ + 0.006596472579985857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012463221792131662, + 0.06753767281770706, + 0.13038145005702972 + ], + "orientation": [ + 0.04016998037695885, + -0.0513748861849308, + -0.5785424709320068, + 0.8130410313606262 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.0013357289135456085, + 0.06588877737522125, + 0.12481879442930222 + ], + "orientation": [ + 0.03972360119223595, + -0.052353471517562866, + -0.5813669562339783, + 0.8109830617904663 + ], + "joints": [ + -0.0036134645342826843 + ] + }, + "final_grasp": { + "position": [ + 0.0013357289135456085, + 0.06588877737522125, + 0.12481879442930222 + ], + "orientation": [ + 0.03972360119223595, + -0.052353471517562866, + -0.5813669562339783, + 0.8109830617904663 + ], + "joints": [ + 0.0027633309364318848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0014839856885373592, + -0.10804802924394608, + -0.036522600799798965 + ], + "orientation": [ + 0.3611625134944916, + 0.07664231956005096, + -0.9238344430923462, + -0.10108160972595215 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.0032095888163894415, + -0.10541145503520966, + -0.0342339463531971 + ], + "orientation": [ + 0.3644661605358124, + 0.07488980144262314, + -0.9211658835411072, + -0.11405783146619797 + ], + "joints": [ + -0.0028861407190561295 + ] + }, + "final_grasp": { + "position": [ + 0.0032095888163894415, + -0.10541145503520966, + -0.0342339463531971 + ], + "orientation": [ + 0.3644661605358124, + 0.07488980144262314, + -0.9211658835411072, + -0.11405783146619797 + ], + "joints": [ + 0.0024809949100017548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011697622947394848, + -0.10394929349422455, + 0.036730654537677765 + ], + "orientation": [ + 0.4834640622138977, + -0.04489680379629135, + -0.8626653552055359, + 0.14161628484725952 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.00964348204433918, + -0.10456052422523499, + 0.036375731229782104 + ], + "orientation": [ + 0.4852766990661621, + -0.038810327649116516, + -0.8591892123222351, + 0.15746234357357025 + ], + "joints": [ + -0.0018499108264222741 + ] + }, + "final_grasp": { + "position": [ + 0.00964348204433918, + -0.10456052422523499, + 0.036375731229782104 + ], + "orientation": [ + 0.4852766990661621, + -0.038810327649116516, + -0.8591892123222351, + 0.15746234357357025 + ], + "joints": [ + 0.004553454928100109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10570745170116425, + 0.03218170255422592, + 0.07279030233621597 + ], + "orientation": [ + 0.2405603975057602, + 0.4235965311527252, + -0.6039555072784424, + 0.6308205723762512 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + 0.10144241154193878, + 0.03031974658370018, + 0.06982097029685974 + ], + "orientation": [ + 0.23220683634281158, + 0.4314088821411133, + -0.5952756404876709, + 0.6368778944015503 + ], + "joints": [ + -0.0020207390189170837 + ] + }, + "final_grasp": { + "position": [ + 0.10144241154193878, + 0.03031974658370018, + 0.06982097029685974 + ], + "orientation": [ + 0.23220683634281158, + 0.4314088821411133, + -0.5952756404876709, + 0.6368778944015503 + ], + "joints": [ + 0.00541885569691658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022863760590553284, + -0.10438237339258194, + -0.008151954971253872 + ], + "orientation": [ + 0.3126159906387329, + 0.10151196271181107, + 0.9443535804748535, + 0.012760800309479237 + ], + "joints": [ + -0.008192842826247215 + ] + }, + "fine_grasp": { + "position": [ + -0.023560160771012306, + -0.10558509826660156, + -0.010680788196623325 + ], + "orientation": [ + 0.30997276306152344, + 0.11043072491884232, + 0.9441881775856018, + 0.015183174051344395 + ], + "joints": [ + -0.0017629072535783052 + ] + }, + "final_grasp": { + "position": [ + -0.023560160771012306, + -0.10558509826660156, + -0.010680788196623325 + ], + "orientation": [ + 0.30997276306152344, + 0.11043072491884232, + 0.9441881775856018, + 0.015183174051344395 + ], + "joints": [ + 0.004667028319090605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025531496852636337, + -0.1042875126004219, + 0.01032629981637001 + ], + "orientation": [ + 0.3975061774253845, + -0.11988692730665207, + -0.909704327583313, + -0.007345526944845915 + ], + "joints": [ + -0.007571409922093153 + ] + }, + "fine_grasp": { + "position": [ + -0.02660062350332737, + -0.10750823467969894, + 0.010311204940080643 + ], + "orientation": [ + 0.39820459485054016, + -0.1208668202161789, + -0.9092798829078674, + -0.005861658602952957 + ], + "joints": [ + -0.0011680445168167353 + ] + }, + "final_grasp": { + "position": [ + -0.02660062350332737, + -0.10750823467969894, + 0.010311204940080643 + ], + "orientation": [ + 0.39820459485054016, + -0.1208668202161789, + -0.9092798829078674, + -0.005861658602952957 + ], + "joints": [ + 0.0052353208884596825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026443272829055786, + -0.10840728133916855, + 0.021698419004678726 + ], + "orientation": [ + 0.8986496925354004, + -0.061439190059900284, + -0.4333763122558594, + -0.028964271768927574 + ], + "joints": [ + -0.006486850790679455 + ] + }, + "fine_grasp": { + "position": [ + -0.027377542108297348, + -0.11030097305774689, + 0.020765403285622597 + ], + "orientation": [ + 0.898431122303009, + -0.05774224177002907, + -0.4335942268371582, + -0.038515906780958176 + ], + "joints": [ + -0.0006148847751319408 + ] + }, + "final_grasp": { + "position": [ + -0.027377542108297348, + -0.11030097305774689, + 0.020765403285622597 + ], + "orientation": [ + 0.898431122303009, + -0.05774224177002907, + -0.4335942268371582, + -0.038515906780958176 + ], + "joints": [ + 0.005257081240415573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10449472814798355, + 0.032293643802404404, + 0.0752880647778511 + ], + "orientation": [ + 0.3395999073982239, + 0.297233521938324, + -0.5996169447898865, + 0.6608961820602417 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + 0.10047779977321625, + 0.0323229655623436, + 0.07206255197525024 + ], + "orientation": [ + 0.3358643054962158, + 0.2997633218765259, + -0.6015896797180176, + 0.6598688364028931 + ], + "joints": [ + -0.0013745223404839635 + ] + }, + "final_grasp": { + "position": [ + 0.10047779977321625, + 0.0323229655623436, + 0.07206255197525024 + ], + "orientation": [ + 0.3358643054962158, + 0.2997633218765259, + -0.6015896797180176, + 0.6598688364028931 + ], + "joints": [ + 0.005533672869205475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0815577283501625, + 0.12655827403068542, + -0.009141270071268082 + ], + "orientation": [ + 0.30083900690078735, + 0.5762194991111755, + -0.21275867521762848, + 0.729520857334137 + ], + "joints": [ + -0.006545731332153082 + ] + }, + "fine_grasp": { + "position": [ + 0.07838106900453568, + 0.12235481292009354, + -0.008939641527831554 + ], + "orientation": [ + 0.2934889793395996, + 0.5776973366737366, + -0.20175467431545258, + 0.7344556450843811 + ], + "joints": [ + -0.0012317349901422858 + ] + }, + "final_grasp": { + "position": [ + 0.07838106900453568, + 0.12235481292009354, + -0.008939641527831554 + ], + "orientation": [ + 0.2934889793395996, + 0.5776973366737366, + -0.20175467431545258, + 0.7344556450843811 + ], + "joints": [ + 0.004082261584699154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003803326515480876, + 0.10300066322088242, + 0.11076948791742325 + ], + "orientation": [ + 0.37475401163101196, + -0.5712065696716309, + -0.3001406192779541, + 0.6657312512397766 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.005226354114711285, + 0.10011719167232513, + 0.10668082535266876 + ], + "orientation": [ + 0.3705507814884186, + -0.5796261429786682, + -0.316927433013916, + 0.6529033184051514 + ], + "joints": [ + -0.016838163137435913 + ] + }, + "final_grasp": { + "position": [ + 0.005226354114711285, + 0.10011719167232513, + 0.10668082535266876 + ], + "orientation": [ + 0.3705507814884186, + -0.5796261429786682, + -0.316927433013916, + 0.6529033184051514 + ], + "joints": [ + -0.013676326721906662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008358410559594631, + -0.10510718077421188, + -0.022604146972298622 + ], + "orientation": [ + 0.8309054374694824, + 0.060723062604665756, + 0.5466905236244202, + 0.08389417082071304 + ], + "joints": [ + -0.0078666340559721 + ] + }, + "fine_grasp": { + "position": [ + 0.010430958122015, + -0.10567174851894379, + -0.023223301395773888 + ], + "orientation": [ + 0.8297175765037537, + 0.0608343705534935, + 0.547686755657196, + 0.0889221802353859 + ], + "joints": [ + -0.0009318689117208123 + ] + }, + "final_grasp": { + "position": [ + 0.010430958122015, + -0.10567174851894379, + -0.023223301395773888 + ], + "orientation": [ + 0.8297175765037537, + 0.0608343705534935, + 0.547686755657196, + 0.0889221802353859 + ], + "joints": [ + 0.006002896465361118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021124577149748802, + -0.10538040846586227, + 0.01031413022428751 + ], + "orientation": [ + 0.17102894186973572, + -0.0972815454006195, + -0.980087399482727, + 0.02672288380563259 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.02352193556725979, + -0.1057049036026001, + 0.009802227839827538 + ], + "orientation": [ + 0.18109525740146637, + -0.104940265417099, + -0.9775373935699463, + 0.02475336752831936 + ], + "joints": [ + -0.0012890702346339822 + ] + }, + "final_grasp": { + "position": [ + -0.02352193556725979, + -0.1057049036026001, + 0.009802227839827538 + ], + "orientation": [ + 0.18109525740146637, + -0.104940265417099, + -0.9775373935699463, + 0.02475336752831936 + ], + "joints": [ + 0.0056456951424479485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01903945952653885, + -0.10278724133968353, + 0.03146214410662651 + ], + "orientation": [ + 0.12969905138015747, + -0.09707587212324142, + 0.9797412157058716, + -0.11773449182510376 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.019556555896997452, + -0.10340501368045807, + 0.030874252319335938 + ], + "orientation": [ + 0.13388095796108246, + -0.095846988260746, + 0.9788748621940613, + -0.12121613323688507 + ], + "joints": [ + -0.0023016007617115974 + ] + }, + "final_grasp": { + "position": [ + 0.019556555896997452, + -0.10340501368045807, + 0.030874252319335938 + ], + "orientation": [ + 0.13388095796108246, + -0.095846988260746, + 0.9788748621940613, + -0.12121613323688507 + ], + "joints": [ + 0.003650074824690819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027219031006097794, + -0.10376418381929398, + 0.02905334159731865 + ], + "orientation": [ + 0.7564378380775452, + -0.1539924293756485, + -0.6356773972511292, + 0.0015348246088251472 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.025557439774274826, + -0.10228314995765686, + 0.029345721006393433 + ], + "orientation": [ + 0.7464522123336792, + -0.16430343687534332, + -0.6448359489440918, + 0.0003577308089006692 + ], + "joints": [ + -0.0007871115813031793 + ] + }, + "final_grasp": { + "position": [ + -0.025557439774274826, + -0.10228314995765686, + 0.029345721006393433 + ], + "orientation": [ + 0.7464522123336792, + -0.16430343687534332, + -0.6448359489440918, + 0.0003577308089006692 + ], + "joints": [ + 0.006679053418338299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022950749844312668, + -0.09953251481056213, + 0.033626656979322433 + ], + "orientation": [ + 0.5442618727684021, + -0.0028281824197620153, + -0.8216735124588013, + 0.169185072183609 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.021505286917090416, + -0.1008097231388092, + 0.03451204672455788 + ], + "orientation": [ + 0.5464981198310852, + -0.013761287555098534, + -0.8202003836631775, + 0.16858753561973572 + ], + "joints": [ + -0.0018204698571935296 + ] + }, + "final_grasp": { + "position": [ + 0.021505286917090416, + -0.1008097231388092, + 0.03451204672455788 + ], + "orientation": [ + 0.5464981198310852, + -0.013761287555098534, + -0.8202003836631775, + 0.16858753561973572 + ], + "joints": [ + 0.004582895897328854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022991875186562538, + -0.09939577430486679, + 0.03365305811166763 + ], + "orientation": [ + 0.5450291037559509, + -0.0033708312548696995, + -0.8212278485298157, + 0.16886863112449646 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.02146782912313938, + -0.10076789557933807, + 0.03462281450629234 + ], + "orientation": [ + 0.5467573404312134, + -0.013997267000377178, + -0.8198631405830383, + 0.1693662852048874 + ], + "joints": [ + -0.0018204698571935296 + ] + }, + "final_grasp": { + "position": [ + 0.02146782912313938, + -0.10076789557933807, + 0.03462281450629234 + ], + "orientation": [ + 0.5467573404312134, + -0.013997267000377178, + -0.8198631405830383, + 0.1693662852048874 + ], + "joints": [ + 0.004582895897328854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0072540235705673695, + -0.105061836540699, + -0.02150133065879345 + ], + "orientation": [ + 0.8320345878601074, + 0.05852310359477997, + 0.5460385084152222, + 0.0783286765217781 + ], + "joints": [ + -0.0078666340559721 + ] + }, + "fine_grasp": { + "position": [ + 0.009291514754295349, + -0.10580337047576904, + -0.022415179759263992 + ], + "orientation": [ + 0.830763578414917, + 0.060061290860176086, + 0.5471055507659912, + 0.08306664228439331 + ], + "joints": [ + -0.0009318688535131514 + ] + }, + "final_grasp": { + "position": [ + 0.009291514754295349, + -0.10580337047576904, + -0.022415179759263992 + ], + "orientation": [ + 0.830763578414917, + 0.060061290860176086, + 0.5471055507659912, + 0.08306664228439331 + ], + "joints": [ + 0.006002896465361118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12757490575313568, + -0.005939435679465532, + 0.010168744251132011 + ], + "orientation": [ + 0.5582919716835022, + 0.4008985161781311, + -0.4938012957572937, + 0.5326825976371765 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.12294799834489822, + -0.004811988677829504, + 0.009730641730129719 + ], + "orientation": [ + 0.5640666484832764, + 0.39592358469963074, + -0.4919918179512024, + 0.5319938063621521 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + 0.12294799834489822, + -0.004811988677829504, + 0.009730641730129719 + ], + "orientation": [ + 0.5640666484832764, + 0.39592358469963074, + -0.4919918179512024, + 0.5319938063621521 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018191087990999222, + -0.1059337854385376, + 0.0196299459785223 + ], + "orientation": [ + 0.7520323395729065, + -0.00979177188128233, + 0.6491759419441223, + -0.11367538571357727 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.01909065991640091, + -0.1039453074336052, + 0.021726509556174278 + ], + "orientation": [ + 0.7536570429801941, + -0.01793050579726696, + 0.6456246376037598, + -0.1218540146946907 + ], + "joints": [ + -0.0007871115813031793 + ] + }, + "final_grasp": { + "position": [ + -0.01909065991640091, + -0.1039453074336052, + 0.021726509556174278 + ], + "orientation": [ + 0.7536570429801941, + -0.01793050579726696, + 0.6456246376037598, + -0.1218540146946907 + ], + "joints": [ + 0.006679053418338299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04144664481282234, + -0.09388476610183716, + -0.027981648221611977 + ], + "orientation": [ + 0.6699194312095642, + -0.04267716780304909, + -0.7117315530776978, + -0.20694153010845184 + ], + "joints": [ + -0.007834011688828468 + ] + }, + "fine_grasp": { + "position": [ + -0.040866974741220474, + -0.0983140841126442, + -0.028870150446891785 + ], + "orientation": [ + 0.6685298085212708, + -0.05142323672771454, + -0.7099183797836304, + -0.21549853682518005 + ], + "joints": [ + -0.002493445761501789 + ] + }, + "final_grasp": { + "position": [ + -0.040866974741220474, + -0.0983140841126442, + -0.028870150446891785 + ], + "orientation": [ + 0.6685298085212708, + -0.05142323672771454, + -0.7099183797836304, + -0.21549853682518005 + ], + "joints": [ + 0.00284712016582489 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11850618571043015, + -0.010361481457948685, + 0.01029452309012413 + ], + "orientation": [ + 0.6050068736076355, + -0.43782225251197815, + 0.46581706404685974, + 0.47465038299560547 + ], + "joints": [ + -0.008089739829301834 + ] + }, + "fine_grasp": { + "position": [ + 0.11897020041942596, + -0.008798663504421711, + 0.009669894352555275 + ], + "orientation": [ + 0.6160573959350586, + -0.4234943687915802, + 0.4525332450866699, + 0.48614755272865295 + ], + "joints": [ + -0.0006501449970528483 + ] + }, + "final_grasp": { + "position": [ + 0.11897020041942596, + -0.008798663504421711, + 0.009669894352555275 + ], + "orientation": [ + 0.6160573959350586, + -0.4234943687915802, + 0.4525332450866699, + 0.48614755272865295 + ], + "joints": [ + 0.006789449602365494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05365128815174103, + -0.09242329001426697, + -0.05863003060221672 + ], + "orientation": [ + 0.924835741519928, + 0.28904592990875244, + -0.18218328058719635, + 0.16715411841869354 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.05161881819367409, + -0.08812272548675537, + -0.05527925863862038 + ], + "orientation": [ + 0.9240336418151855, + 0.29219311475753784, + -0.17978380620479584, + 0.16870896518230438 + ], + "joints": [ + -0.0026361169293522835 + ] + }, + "final_grasp": { + "position": [ + 0.05161881819367409, + -0.08812272548675537, + -0.05527925863862038 + ], + "orientation": [ + 0.9240336418151855, + 0.29219311475753784, + -0.17978380620479584, + 0.16870896518230438 + ], + "joints": [ + 0.0047769080847501755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12313583493232727, + 0.025225050747394562, + -0.03743691369891167 + ], + "orientation": [ + 0.3521583378314972, + -0.4916006624698639, + -0.5681347250938416, + -0.5581543445587158 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.11765171587467194, + 0.024792641401290894, + -0.03605980426073074 + ], + "orientation": [ + 0.34435003995895386, + -0.4986817240715027, + -0.5752317309379578, + -0.5494069457054138 + ], + "joints": [ + -0.0014864683616906404 + ] + }, + "final_grasp": { + "position": [ + -0.11765171587467194, + 0.024792641401290894, + -0.03605980426073074 + ], + "orientation": [ + 0.34435003995895386, + -0.4986817240715027, + -0.5752317309379578, + -0.5494069457054138 + ], + "joints": [ + 0.006457956042140722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10376744717359543, + 0.08084411919116974, + -0.04375926032662392 + ], + "orientation": [ + 0.49120232462882996, + 0.624075710773468, + 0.25576016306877136, + -0.5512136816978455 + ], + "joints": [ + -0.005498272366821766 + ] + }, + "fine_grasp": { + "position": [ + -0.10182768106460571, + 0.07846737653017044, + -0.04214012622833252 + ], + "orientation": [ + 0.4801878333091736, + 0.6369193196296692, + 0.2480776309967041, + -0.5497371554374695 + ], + "joints": [ + -0.0012205054517835379 + ] + }, + "final_grasp": { + "position": [ + -0.10182768106460571, + 0.07846737653017044, + -0.04214012622833252 + ], + "orientation": [ + 0.4801878333091736, + 0.6369193196296692, + 0.2480776309967041, + -0.5497371554374695 + ], + "joints": [ + 0.00305726146325469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021168043836951256, + -0.10310624539852142, + -0.0077061583288013935 + ], + "orientation": [ + 0.9902647733688354, + 0.028805216774344444, + -0.09890001267194748, + -0.09361996501684189 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + -0.022836586460471153, + -0.10530875623226166, + -0.009586991742253304 + ], + "orientation": [ + 0.9895394444465637, + 0.027289096266031265, + -0.100053571164608, + -0.1002807766199112 + ], + "joints": [ + -0.0009791709017008543 + ] + }, + "final_grasp": { + "position": [ + -0.022836586460471153, + -0.10530875623226166, + -0.009586991742253304 + ], + "orientation": [ + 0.9895394444465637, + 0.027289096266031265, + -0.100053571164608, + -0.1002807766199112 + ], + "joints": [ + 0.005955594126135111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11805463582277298, + -0.008432977832853794, + 0.01826230064034462 + ], + "orientation": [ + 0.5347452759742737, + 0.3875758647918701, + 0.538847804069519, + -0.522948682308197 + ], + "joints": [ + -0.007955644279718399 + ] + }, + "fine_grasp": { + "position": [ + -0.11806593090295792, + -0.00695917010307312, + 0.018438654020428658 + ], + "orientation": [ + 0.5542455315589905, + 0.3670726418495178, + 0.5277304649353027, + -0.5287440419197083 + ], + "joints": [ + -0.0010208792518824339 + ] + }, + "final_grasp": { + "position": [ + -0.11806593090295792, + -0.00695917010307312, + 0.018438654020428658 + ], + "orientation": [ + 0.5542455315589905, + 0.3670726418495178, + 0.5277304649353027, + -0.5287440419197083 + ], + "joints": [ + 0.005913885775953531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12261928617954254, + 0.02526019513607025, + -0.03722846880555153 + ], + "orientation": [ + 0.35361701250076294, + -0.49033820629119873, + -0.5680306553840637, + -0.5584485530853271 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.11708682030439377, + 0.024912945926189423, + -0.03591098263859749 + ], + "orientation": [ + 0.3458884358406067, + -0.49744531512260437, + -0.5756229162216187, + -0.5491517782211304 + ], + "joints": [ + -0.0009271013550460339 + ] + }, + "final_grasp": { + "position": [ + -0.11708682030439377, + 0.024912945926189423, + -0.03591098263859749 + ], + "orientation": [ + 0.3458884358406067, + -0.49744531512260437, + -0.5756229162216187, + -0.5491517782211304 + ], + "joints": [ + 0.007017322815954685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05275678634643555, + -0.09079091250896454, + -0.023666860535740852 + ], + "orientation": [ + 0.8905653953552246, + 0.19760024547576904, + 0.368452787399292, + -0.1791369616985321 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.053685422986745834, + -0.08856750279664993, + -0.022607630118727684 + ], + "orientation": [ + 0.8924331665039062, + 0.18952806293964386, + 0.3634684681892395, + -0.18850131332874298 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + -0.053685422986745834, + -0.08856750279664993, + -0.022607630118727684 + ], + "orientation": [ + 0.8924331665039062, + 0.18952806293964386, + 0.3634684681892395, + -0.18850131332874298 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0037719798274338245, + -0.10204137116670609, + -0.02201334945857525 + ], + "orientation": [ + 0.5962556004524231, + 0.04957973584532738, + -0.797505259513855, + -0.07750140130519867 + ], + "joints": [ + -0.007882945239543915 + ] + }, + "fine_grasp": { + "position": [ + -0.0023519855458289385, + -0.10538975149393082, + -0.0233275406062603 + ], + "orientation": [ + 0.5958732962608337, + 0.0540132038295269, + -0.7968156933784485, + -0.0842757523059845 + ], + "joints": [ + -0.0014530097832903266 + ] + }, + "final_grasp": { + "position": [ + -0.0023519855458289385, + -0.10538975149393082, + -0.0233275406062603 + ], + "orientation": [ + 0.5958732962608337, + 0.0540132038295269, + -0.7968156933784485, + -0.0842757523059845 + ], + "joints": [ + 0.004976925440132618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009444769471883774, + -0.1118045523762703, + 0.002201040042564273 + ], + "orientation": [ + 0.5208247900009155, + -0.01091809757053852, + -0.8530445098876953, + -0.030618274584412575 + ], + "joints": [ + -0.006457410752773285 + ] + }, + "fine_grasp": { + "position": [ + 0.008673734962940216, + -0.11705111712217331, + 0.0015852414071559906 + ], + "orientation": [ + 0.5223851203918457, + -0.011753029190003872, + -0.8522124290466309, + -0.026635296642780304 + ], + "joints": [ + -0.0011168443597853184 + ] + }, + "final_grasp": { + "position": [ + 0.008673734962940216, + -0.11705111712217331, + 0.0015852414071559906 + ], + "orientation": [ + 0.5223851203918457, + -0.011753029190003872, + -0.8522124290466309, + -0.026635296642780304 + ], + "joints": [ + 0.004223722033202648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007836299017071724, + -0.10127736628055573, + -0.03247129172086716 + ], + "orientation": [ + 0.9662001729011536, + 0.11999861896038055, + 0.2181534618139267, + 0.06683272123336792 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + 0.010611354373395443, + -0.10339922457933426, + -0.03173452243208885 + ], + "orientation": [ + 0.9648885726928711, + 0.12396685779094696, + 0.21938085556030273, + 0.074124276638031 + ], + "joints": [ + -0.001510570291429758 + ] + }, + "final_grasp": { + "position": [ + 0.010611354373395443, + -0.10339922457933426, + -0.03173452243208885 + ], + "orientation": [ + 0.9648885726928711, + 0.12396685779094696, + 0.21938085556030273, + 0.074124276638031 + ], + "joints": [ + 0.004892795346677303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03650929033756256, + -0.08809801191091537, + 0.07020270824432373 + ], + "orientation": [ + 0.36219027638435364, + 0.024661891162395477, + 0.8788517117500305, + -0.30956360697746277 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.03336210176348686, + -0.08520840853452682, + 0.06714757531881332 + ], + "orientation": [ + 0.36397799849510193, + 0.025641798973083496, + 0.8730159997940063, + -0.32358214259147644 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + -0.03336210176348686, + -0.08520840853452682, + 0.06714757531881332 + ], + "orientation": [ + 0.36397799849510193, + 0.025641798973083496, + 0.8730159997940063, + -0.32358214259147644 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05286528915166855, + -0.07095424830913544, + -0.06001438573002815 + ], + "orientation": [ + 0.8265048265457153, + 0.35615861415863037, + 0.4266553521156311, + -0.08947630226612091 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.05007760226726532, + -0.068837471306324, + -0.059626273810863495 + ], + "orientation": [ + 0.8191951513290405, + 0.3665887415409088, + 0.4342009425163269, + -0.07747059315443039 + ], + "joints": [ + -0.0012876723194494843 + ] + }, + "final_grasp": { + "position": [ + -0.05007760226726532, + -0.068837471306324, + -0.059626273810863495 + ], + "orientation": [ + 0.8191951513290405, + 0.3665887415409088, + 0.4342009425163269, + -0.07747059315443039 + ], + "joints": [ + 0.005089122802019119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008428388275206089, + -0.10047832876443863, + -0.04189381003379822 + ], + "orientation": [ + 0.9271800518035889, + 0.16888421773910522, + 0.33282068371772766, + 0.03233674541115761 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.005458177533000708, + -0.10076229274272919, + -0.04093291237950325 + ], + "orientation": [ + 0.9222918748855591, + 0.172345370054245, + 0.34347105026245117, + 0.041261084377765656 + ], + "joints": [ + -0.0018499108264222741 + ] + }, + "final_grasp": { + "position": [ + -0.005458177533000708, + -0.10076229274272919, + -0.04093291237950325 + ], + "orientation": [ + 0.9222918748855591, + 0.172345370054245, + 0.34347105026245117, + 0.041261084377765656 + ], + "joints": [ + 0.004553454928100109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03626968711614609, + -0.08801402896642685, + 0.06992615014314651 + ], + "orientation": [ + 0.3613628149032593, + 0.02571091055870056, + 0.8785478472709656, + -0.31130316853523254 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.03317728266119957, + -0.08514359593391418, + 0.06675774604082108 + ], + "orientation": [ + 0.36321449279785156, + 0.02688724920153618, + 0.8725706934928894, + -0.3255346417427063 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + -0.03317728266119957, + -0.08514359593391418, + 0.06675774604082108 + ], + "orientation": [ + 0.36321449279785156, + 0.02688724920153618, + 0.8725706934928894, + -0.3255346417427063 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021430009976029396, + -0.10446127504110336, + -0.0002515593951102346 + ], + "orientation": [ + 0.9855777621269226, + 0.004060210194438696, + -0.14259646832942963, + 0.09102882444858551 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + 0.02323385886847973, + -0.10607978701591492, + 0.0023242810275405645 + ], + "orientation": [ + 0.9847948551177979, + 0.005660658236593008, + -0.14235074818134308, + 0.09941437095403671 + ], + "joints": [ + -0.001484000589698553 + ] + }, + "final_grasp": { + "position": [ + 0.02323385886847973, + -0.10607978701591492, + 0.0023242810275405645 + ], + "orientation": [ + 0.9847948551177979, + 0.005660658236593008, + -0.14235074818134308, + 0.09941437095403671 + ], + "joints": [ + 0.004945934750139713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03681592643260956, + -0.009982353076338768, + 0.11223156750202179 + ], + "orientation": [ + 0.07269600033760071, + 0.140268474817276, + 0.7498078346252441, + -0.64251708984375 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.03790248557925224, + -0.007655241992324591, + 0.11193671077489853 + ], + "orientation": [ + 0.045567478984594345, + 0.1643655151128769, + 0.7589151859283447, + -0.6284548044204712 + ], + "joints": [ + -0.0023239017464220524 + ] + }, + "final_grasp": { + "position": [ + -0.03790248557925224, + -0.007655241992324591, + 0.11193671077489853 + ], + "orientation": [ + 0.045567478984594345, + 0.1643655151128769, + 0.7589151859283447, + -0.6284548044204712 + ], + "joints": [ + 0.003016664180904627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010548018850386143, + -0.10306639224290848, + 0.017414754256606102 + ], + "orientation": [ + 0.5170180201530457, + -0.07267545163631439, + 0.8514688014984131, + -0.04910705238580704 + ], + "joints": [ + -0.007882945239543915 + ] + }, + "fine_grasp": { + "position": [ + 0.009917591698467731, + -0.10575127601623535, + 0.020248660817742348 + ], + "orientation": [ + 0.5173550248146057, + -0.08222703635692596, + 0.8506033420562744, + -0.04534786939620972 + ], + "joints": [ + -0.0014530097832903266 + ] + }, + "final_grasp": { + "position": [ + 0.009917591698467731, + -0.10575127601623535, + 0.020248660817742348 + ], + "orientation": [ + 0.5173550248146057, + -0.08222703635692596, + 0.8506033420562744, + -0.04534786939620972 + ], + "joints": [ + 0.004976925440132618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024259809404611588, + 0.02705100178718567, + -0.12423747777938843 + ], + "orientation": [ + 0.04596233740448952, + -0.0919383317232132, + -0.6939374208450317, + -0.7126609086990356 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.023994697257876396, + 0.028127603232860565, + -0.11937816441059113 + ], + "orientation": [ + 0.04343072324991226, + -0.0914497822523117, + -0.6990214586257935, + -0.7078981995582581 + ], + "joints": [ + -0.0008136815158650279 + ] + }, + "final_grasp": { + "position": [ + -0.023994697257876396, + 0.028127603232860565, + -0.11937816441059113 + ], + "orientation": [ + 0.04343072324991226, + -0.0914497822523117, + -0.6990214586257935, + -0.7078981995582581 + ], + "joints": [ + 0.006625913083553314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01067375298589468, + -0.10300882905721664, + 0.017583634704351425 + ], + "orientation": [ + 0.517411470413208, + -0.07350198924541473, + 0.8511300683021545, + -0.04960352182388306 + ], + "joints": [ + -0.007537079509347677 + ] + }, + "fine_grasp": { + "position": [ + 0.009951161220669746, + -0.10575617849826813, + 0.02048737369477749 + ], + "orientation": [ + 0.5174620151519775, + -0.08369936794042587, + 0.8503581285476685, + -0.046027328819036484 + ], + "joints": [ + -0.0011337141040712595 + ] + }, + "final_grasp": { + "position": [ + 0.009951161220669746, + -0.10575617849826813, + 0.02048737369477749 + ], + "orientation": [ + 0.5174620151519775, + -0.08369936794042587, + 0.8503581285476685, + -0.046027328819036484 + ], + "joints": [ + 0.005269651301205158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0045969318598508835, + -0.10203064978122711, + -0.021428769454360008 + ], + "orientation": [ + 0.5970650911331177, + 0.045468926429748535, + -0.7970998287200928, + -0.07796045392751694 + ], + "joints": [ + -0.007457170635461807 + ] + }, + "fine_grasp": { + "position": [ + -0.003192226868122816, + -0.10537981986999512, + -0.022954296320676804 + ], + "orientation": [ + 0.5966876745223999, + 0.05011038854718208, + -0.7963868379592896, + -0.08497539907693863 + ], + "joints": [ + -0.0010538052301853895 + ] + }, + "final_grasp": { + "position": [ + -0.003192226868122816, + -0.10537981986999512, + -0.022954296320676804 + ], + "orientation": [ + 0.5966876745223999, + 0.05011038854718208, + -0.7963868379592896, + -0.08497539907693863 + ], + "joints": [ + 0.005349560175091028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028714343905448914, + -0.10244980454444885, + -0.009157691150903702 + ], + "orientation": [ + 0.541439950466156, + 0.12280403822660446, + 0.8312202095985413, + -0.028895288705825806 + ], + "joints": [ + -0.007897624745965004 + ] + }, + "fine_grasp": { + "position": [ + -0.028221042826771736, + -0.10447130352258682, + -0.01188842486590147 + ], + "orientation": [ + 0.5440778732299805, + 0.12867863476276398, + 0.8287842273712158, + -0.02319095842540264 + ], + "joints": [ + -0.0014942592242732644 + ] + }, + "final_grasp": { + "position": [ + -0.028221042826771736, + -0.10447130352258682, + -0.01188842486590147 + ], + "orientation": [ + 0.5440778732299805, + 0.12867863476276398, + 0.8287842273712158, + -0.02319095842540264 + ], + "joints": [ + 0.004909106530249119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0017665557097643614, + -0.10503233224153519, + -0.019859490916132927 + ], + "orientation": [ + 0.565247654914856, + 0.05620783194899559, + -0.8205739855766296, + -0.06319767236709595 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.0035209746565669775, + -0.10558287799358368, + -0.02210826613008976 + ], + "orientation": [ + 0.5636082887649536, + 0.06541352719068527, + -0.8205099105834961, + -0.06950061768293381 + ], + "joints": [ + -0.001263973186723888 + ] + }, + "final_grasp": { + "position": [ + 0.0035209746565669775, + -0.10558287799358368, + -0.02210826613008976 + ], + "orientation": [ + 0.5636082887649536, + 0.06541352719068527, + -0.8205099105834961, + -0.06950061768293381 + ], + "joints": [ + 0.005165962502360344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02267722599208355, + -0.10272768139839172, + -0.01570812612771988 + ], + "orientation": [ + 0.6473339200019836, + 0.12265557795763016, + -0.7520685195922852, + 0.017531078308820724 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.02418920211493969, + -0.10292208194732666, + -0.01911955699324608 + ], + "orientation": [ + 0.6410194635391235, + 0.1306341290473938, + -0.7563188672065735, + 0.003251653863117099 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + 0.02418920211493969, + -0.10292208194732666, + -0.01911955699324608 + ], + "orientation": [ + 0.6410194635391235, + 0.1306341290473938, + -0.7563188672065735, + 0.003251653863117099 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03691689297556877, + -0.009900011122226715, + 0.11218173056840897 + ], + "orientation": [ + 0.07390028238296509, + 0.14039117097854614, + 0.7496014833450317, + -0.6425936818122864 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + -0.0379306934773922, + -0.0076825059950351715, + 0.11171988397836685 + ], + "orientation": [ + 0.04667302966117859, + 0.16300185024738312, + 0.7585310339927673, + -0.6291921138763428 + ], + "joints": [ + -0.0025468000676482916 + ] + }, + "final_grasp": { + "position": [ + -0.0379306934773922, + -0.0076825059950351715, + 0.11171988397836685 + ], + "orientation": [ + 0.04667302966117859, + 0.16300185024738312, + 0.7585310339927673, + -0.6291921138763428 + ], + "joints": [ + 0.0028203357942402363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022873109206557274, + -0.10349265486001968, + 0.011210178025066853 + ], + "orientation": [ + 0.9873872399330139, + -0.04865100607275963, + -0.12023486942052841, + -0.09079250693321228 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.024989867582917213, + -0.10492869466543198, + 0.00893263891339302 + ], + "orientation": [ + 0.9860511422157288, + -0.05127313733100891, + -0.12151824682950974, + -0.10152541846036911 + ], + "joints": [ + -0.0012890702346339822 + ] + }, + "final_grasp": { + "position": [ + -0.024989867582917213, + -0.10492869466543198, + 0.00893263891339302 + ], + "orientation": [ + 0.9860511422157288, + -0.05127313733100891, + -0.12151824682950974, + -0.10152541846036911 + ], + "joints": [ + 0.0056456951424479485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09865018725395203, + 0.07114953547716141, + 0.06600125879049301 + ], + "orientation": [ + 0.28944480419158936, + 0.34685713052749634, + -0.4780198037624359, + 0.7532654404640198 + ], + "joints": [ + -0.009120993316173553 + ] + }, + "fine_grasp": { + "position": [ + 0.09449377655982971, + 0.06967894732952118, + 0.06307324022054672 + ], + "orientation": [ + 0.28834372758865356, + 0.34571078419685364, + -0.48321598768234253, + 0.7508956789970398 + ], + "joints": [ + -0.0011765692615881562 + ] + }, + "final_grasp": { + "position": [ + 0.09449377655982971, + 0.06967894732952118, + 0.06307324022054672 + ], + "orientation": [ + 0.28834372758865356, + 0.34571078419685364, + -0.48321598768234253, + 0.7508956789970398 + ], + "joints": [ + 0.006767855025827885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040753357112407684, + 0.06470390409231186, + 0.11665502935647964 + ], + "orientation": [ + 0.039408907294273376, + 0.21982350945472717, + -0.5468376278877258, + 0.8069034218788147 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.03855570778250694, + 0.06282847374677658, + 0.1116974949836731 + ], + "orientation": [ + 0.03531279414892197, + 0.22439353168010712, + -0.5541216135025024, + 0.8008432388305664 + ], + "joints": [ + -0.0031394734978675842 + ] + }, + "final_grasp": { + "position": [ + 0.03855570778250694, + 0.06282847374677658, + 0.1116974949836731 + ], + "orientation": [ + 0.03531279414892197, + 0.22439353168010712, + -0.5541216135025024, + 0.8008432388305664 + ], + "joints": [ + 0.00430012121796608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021792272105813026, + -0.10422278195619583, + 0.017939869314432144 + ], + "orientation": [ + 0.031519945710897446, + 0.08947493135929108, + -0.9927686452865601, + 0.07356072217226028 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.023644689470529556, + -0.10330619663000107, + 0.01759321801364422 + ], + "orientation": [ + 0.021586911752820015, + 0.09886299818754196, + -0.9919283390045166, + 0.07640811055898666 + ], + "joints": [ + -0.0007871115813031793 + ] + }, + "final_grasp": { + "position": [ + 0.023644689470529556, + -0.10330619663000107, + 0.01759321801364422 + ], + "orientation": [ + 0.021586911752820015, + 0.09886299818754196, + -0.9919283390045166, + 0.07640811055898666 + ], + "joints": [ + 0.006679053418338299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022750983014702797, + -0.1024719700217247, + -0.015525590628385544 + ], + "orientation": [ + 0.6472015976905823, + 0.12296875566244125, + -0.7521021962165833, + 0.01873667724430561 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.024367066100239754, + -0.10288187116384506, + -0.01878548413515091 + ], + "orientation": [ + 0.6414645910263062, + 0.13031859695911407, + -0.7559871077537537, + 0.004882031586021185 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + 0.024367066100239754, + -0.10288187116384506, + -0.01878548413515091 + ], + "orientation": [ + 0.6414645910263062, + 0.13031859695911407, + -0.7559871077537537, + 0.004882031586021185 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010666620917618275, + -0.10296902805566788, + 0.016765164211392403 + ], + "orientation": [ + 0.5207962393760681, + -0.0719870924949646, + 0.8494088649749756, + -0.04575598984956741 + ], + "joints": [ + -0.007834011688828468 + ] + }, + "fine_grasp": { + "position": [ + 0.010119725950062275, + -0.10579877346754074, + 0.019532926380634308 + ], + "orientation": [ + 0.5205210447311401, + -0.08191382139921188, + 0.8488094806671143, + -0.043248701840639114 + ], + "joints": [ + -0.0014040762325748801 + ] + }, + "final_grasp": { + "position": [ + 0.010119725950062275, + -0.10579877346754074, + 0.019532926380634308 + ], + "orientation": [ + 0.5205210447311401, + -0.08191382139921188, + 0.8488094806671143, + -0.043248701840639114 + ], + "joints": [ + 0.005025858990848064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02839961089193821, + -0.10518510639667511, + 0.004746029619127512 + ], + "orientation": [ + 0.3462052047252655, + 0.1017611101269722, + -0.931084156036377, + 0.053561847656965256 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.029825981706380844, + -0.10302700847387314, + 0.001974049024283886 + ], + "orientation": [ + 0.33809894323349, + 0.11642033606767654, + -0.9324976205825806, + 0.050829268991947174 + ], + "joints": [ + -0.0007871114648878574 + ] + }, + "final_grasp": { + "position": [ + 0.029825981706380844, + -0.10302700847387314, + 0.001974049024283886 + ], + "orientation": [ + 0.33809894323349, + 0.11642033606767654, + -0.9324976205825806, + 0.050829268991947174 + ], + "joints": [ + 0.006679053418338299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09870077669620514, + 0.07103025168180466, + 0.06587386876344681 + ], + "orientation": [ + 0.2894541025161743, + 0.34780368208885193, + -0.47812381386756897, + 0.7527593374252319 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.09458258002996445, + 0.06953532993793488, + 0.0630149096250534 + ], + "orientation": [ + 0.2885324954986572, + 0.34646177291870117, + -0.48296058177948, + 0.7506413459777832 + ], + "joints": [ + -0.0014290600083768368 + ] + }, + "final_grasp": { + "position": [ + 0.09458258002996445, + 0.06953532993793488, + 0.0630149096250534 + ], + "orientation": [ + 0.2885324954986572, + 0.34646177291870117, + -0.48296058177948, + 0.7506413459777832 + ], + "joints": [ + 0.005983964540064335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002308391500264406, + -0.005437319166958332, + -0.12009496241807938 + ], + "orientation": [ + 0.05600069835782051, + 0.03614252433180809, + 0.7526484131813049, + 0.6550403833389282 + ], + "joints": [ + -0.008160220459103584 + ] + }, + "fine_grasp": { + "position": [ + 0.002092598471790552, + -0.004493006970733404, + -0.11990185081958771 + ], + "orientation": [ + 0.07949092239141464, + 0.05664711818099022, + 0.754493772983551, + 0.6490080952644348 + ], + "joints": [ + -0.0012254554312676191 + ] + }, + "final_grasp": { + "position": [ + 0.002092598471790552, + -0.004493006970733404, + -0.11990185081958771 + ], + "orientation": [ + 0.07949092239141464, + 0.05664711818099022, + 0.754493772983551, + 0.6490080952644348 + ], + "joints": [ + 0.005709309596568346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02264508232474327, + -0.10351336002349854, + -0.015138765797019005 + ], + "orientation": [ + 0.6498172879219055, + 0.11836396157741547, + -0.75062096118927, + 0.017192553728818893 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.02368892915546894, + -0.10297965258359909, + -0.01858598180115223 + ], + "orientation": [ + 0.6440451145172119, + 0.12748382985591888, + -0.7542761564254761, + 0.004603371024131775 + ], + "joints": [ + -0.0007591434987261891 + ] + }, + "final_grasp": { + "position": [ + 0.02368892915546894, + -0.10297965258359909, + -0.01858598180115223 + ], + "orientation": [ + 0.6440451145172119, + 0.12748382985591888, + -0.7542761564254761, + 0.004603371024131775 + ], + "joints": [ + 0.006175621412694454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022591974586248398, + 0.038098666816949844, + 0.12091513723134995 + ], + "orientation": [ + 0.10295140743255615, + 0.01499101985245943, + 0.624976634979248, + -0.7736798524856567 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.022433383390307426, + 0.0364779531955719, + 0.11787710338830948 + ], + "orientation": [ + 0.11895856261253357, + -0.0024206526577472687, + 0.6201527118682861, + -0.7754054665565491 + ], + "joints": [ + -0.001347952289506793 + ] + }, + "final_grasp": { + "position": [ + -0.022433383390307426, + 0.0364779531955719, + 0.11787710338830948 + ], + "orientation": [ + 0.11895856261253357, + -0.0024206526577472687, + 0.6201527118682861, + -0.7754054665565491 + ], + "joints": [ + 0.005586812738329172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054360281676054, + -0.07118862867355347, + -0.060992997139692307 + ], + "orientation": [ + 0.8278435468673706, + 0.3555436432361603, + 0.4243490993976593, + -0.09050718694925308 + ], + "joints": [ + -0.007600854616612196 + ] + }, + "fine_grasp": { + "position": [ + -0.055554453283548355, + -0.07274635136127472, + -0.06345278024673462 + ], + "orientation": [ + 0.8274016380310059, + 0.35460835695266724, + 0.42933258414268494, + -0.07302829623222351 + ], + "joints": [ + -0.0022602886892855167 + ] + }, + "final_grasp": { + "position": [ + -0.055554453283548355, + -0.07274635136127472, + -0.06345278024673462 + ], + "orientation": [ + 0.8274016380310059, + 0.35460835695266724, + 0.42933258414268494, + -0.07302829623222351 + ], + "joints": [ + 0.0030802772380411625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03245142847299576, + -0.09890592098236084, + 0.0029944656416773796 + ], + "orientation": [ + 0.4979709982872009, + -0.12284638732671738, + 0.8569287657737732, + 0.051054880023002625 + ], + "joints": [ + -0.007422834634780884 + ] + }, + "fine_grasp": { + "position": [ + 0.03309131786227226, + -0.103020578622818, + 0.003792548319324851 + ], + "orientation": [ + 0.49245738983154297, + -0.1281367689371109, + 0.8595999479293823, + 0.04641817510128021 + ], + "joints": [ + -0.0015508687356486917 + ] + }, + "final_grasp": { + "position": [ + 0.03309131786227226, + -0.103020578622818, + 0.003792548319324851 + ], + "orientation": [ + 0.49245738983154297, + -0.1281367689371109, + 0.8595999479293823, + 0.04641817510128021 + ], + "joints": [ + 0.004321097396314144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1269591599702835, + -0.022657563909888268, + 0.00048321537906304 + ], + "orientation": [ + 0.6075159907341003, + -0.3943619728088379, + 0.5091084241867065, + 0.4649856388568878 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.12155348807573318, + -0.02119884453713894, + 0.0003073399420827627 + ], + "orientation": [ + 0.6124314665794373, + -0.38923850655555725, + 0.5028309226036072, + 0.4696617126464844 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + 0.12155348807573318, + -0.02119884453713894, + 0.0003073399420827627 + ], + "orientation": [ + 0.6124314665794373, + -0.38923850655555725, + 0.5028309226036072, + 0.4696617126464844 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005817485507577658, + -0.10373198240995407, + -0.032274290919303894 + ], + "orientation": [ + 0.9131842851638794, + 0.12932005524635315, + -0.3851279616355896, + -0.032361023128032684 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.003471393371000886, + -0.10197224467992783, + -0.03339707851409912 + ], + "orientation": [ + 0.9118695259094238, + 0.1352320909500122, + -0.3852299749851227, + -0.042472850531339645 + ], + "joints": [ + -0.0007871115813031793 + ] + }, + "final_grasp": { + "position": [ + 0.003471393371000886, + -0.10197224467992783, + -0.03339707851409912 + ], + "orientation": [ + 0.9118695259094238, + 0.1352320909500122, + -0.3852299749851227, + -0.042472850531339645 + ], + "joints": [ + 0.006679053418338299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08581200987100601, + 0.12294702231884003, + 0.002344285137951374 + ], + "orientation": [ + 0.29722344875335693, + 0.5200769305229187, + 0.23349492251873016, + -0.7659363150596619 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.08253510296344757, + 0.11855830252170563, + 0.002269921824336052 + ], + "orientation": [ + 0.291583389043808, + 0.5239304304122925, + 0.22441379725933075, + -0.7681891322135925 + ], + "joints": [ + -0.0023504714481532574 + ] + }, + "final_grasp": { + "position": [ + -0.08253510296344757, + 0.11855830252170563, + 0.002269921824336052 + ], + "orientation": [ + 0.291583389043808, + 0.5239304304122925, + 0.22441379725933075, + -0.7681891322135925 + ], + "joints": [ + 0.002963524777442217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02273119054734707, + 0.037993669509887695, + 0.12087453156709671 + ], + "orientation": [ + 0.10323965549468994, + 0.01553651038557291, + 0.6243515014648438, + -0.7741352915763855 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.02269323170185089, + 0.0365266352891922, + 0.11840955168008804 + ], + "orientation": [ + 0.1178295686841011, + 0.0015216992469504476, + 0.620525062084198, + -0.7752822637557983 + ], + "joints": [ + -0.0013745222240686417 + ] + }, + "final_grasp": { + "position": [ + -0.02269323170185089, + 0.0365266352891922, + 0.11840955168008804 + ], + "orientation": [ + 0.1178295686841011, + 0.0015216992469504476, + 0.620525062084198, + -0.7752822637557983 + ], + "joints": [ + 0.005533672869205475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09941092133522034, + 0.07094498723745346, + 0.06647386401891708 + ], + "orientation": [ + 0.28827381134033203, + 0.348225861787796, + -0.4756571650505066, + 0.7545774579048157 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.09507020562887192, + 0.06938926130533218, + 0.0633171945810318 + ], + "orientation": [ + 0.2895200848579407, + 0.3450716435909271, + -0.4809613823890686, + 0.7521833181381226 + ], + "joints": [ + -0.0014864684781059623 + ] + }, + "final_grasp": { + "position": [ + 0.09507020562887192, + 0.06938926130533218, + 0.0633171945810318 + ], + "orientation": [ + 0.2895200848579407, + 0.3450716435909271, + -0.4809613823890686, + 0.7521833181381226 + ], + "joints": [ + 0.006457955576479435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03899475559592247, + -0.09025407582521439, + -0.04304558411240578 + ], + "orientation": [ + 0.836600124835968, + 0.24882827699184418, + 0.48510876297950745, + -0.05342468246817589 + ], + "joints": [ + -0.008051693439483643 + ] + }, + "fine_grasp": { + "position": [ + -0.03815396502614021, + -0.0939231738448143, + -0.04447437450289726 + ], + "orientation": [ + 0.8318716287612915, + 0.2531977593898773, + 0.49170711636543274, + -0.04587654024362564 + ], + "joints": [ + -0.0021797276567667723 + ] + }, + "final_grasp": { + "position": [ + -0.03815396502614021, + -0.0939231738448143, + -0.04447437450289726 + ], + "orientation": [ + 0.8318716287612915, + 0.2531977593898773, + 0.49170711636543274, + -0.04587654024362564 + ], + "joints": [ + 0.003692238125950098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029831789433956146, + -0.09757485240697861, + 0.02656826190650463 + ], + "orientation": [ + 0.9697636961936951, + -0.12991607189178467, + -0.1778978407382965, + -0.10503558814525604 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.031217841431498528, + -0.1009221002459526, + 0.026486771181225777 + ], + "orientation": [ + 0.970527172088623, + -0.12629926204681396, + -0.1709350049495697, + -0.11360809952020645 + ], + "joints": [ + -0.0017925017746165395 + ] + }, + "final_grasp": { + "position": [ + -0.031217841431498528, + -0.1009221002459526, + 0.026486771181225777 + ], + "orientation": [ + 0.970527172088623, + -0.12629926204681396, + -0.1709350049495697, + -0.11360809952020645 + ], + "joints": [ + 0.004079463891685009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039119407534599304, + -0.08124242722988129, + 0.06318219006061554 + ], + "orientation": [ + 0.1462322473526001, + 0.1288953274488449, + 0.9280075430870056, + -0.3174968361854553 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.04212034493684769, + -0.08355452865362167, + 0.0644732266664505 + ], + "orientation": [ + 0.13342860341072083, + 0.1399550586938858, + 0.9298818111419678, + -0.31293657422065735 + ], + "joints": [ + -0.0013422102201730013 + ] + }, + "final_grasp": { + "position": [ + -0.04212034493684769, + -0.08355452865362167, + 0.0644732266664505 + ], + "orientation": [ + 0.13342860341072083, + 0.1399550586938858, + 0.9298818111419678, + -0.31293657422065735 + ], + "joints": [ + 0.005539414938539267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01349148154258728, + -0.10478396713733673, + -0.020066827535629272 + ], + "orientation": [ + 0.7126311659812927, + 0.09701559692621231, + 0.694355309009552, + 0.024810779839754105 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.011456894688308239, + -0.10579397529363632, + -0.021642280742526054 + ], + "orientation": [ + 0.7156161665916443, + 0.101845383644104, + 0.6905136704444885, + 0.02668248489499092 + ], + "joints": [ + -0.001261102152056992 + ] + }, + "final_grasp": { + "position": [ + -0.011456894688308239, + -0.10579397529363632, + -0.021642280742526054 + ], + "orientation": [ + 0.7156161665916443, + 0.101845383644104, + 0.6905136704444885, + 0.02668248489499092 + ], + "joints": [ + 0.005142263136804104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09447348862886429, + 0.06559839844703674, + -0.0591929592192173 + ], + "orientation": [ + 0.24382349848747253, + -0.4498522877693176, + 0.5160250663757324, + 0.68695068359375 + ], + "joints": [ + -0.007263146340847015 + ] + }, + "fine_grasp": { + "position": [ + 0.0939563661813736, + 0.06607979536056519, + -0.05954999849200249 + ], + "orientation": [ + 0.25393015146255493, + -0.4401985704898834, + 0.511949896812439, + 0.6925690770149231 + ], + "joints": [ + -0.0008863508701324463 + ] + }, + "final_grasp": { + "position": [ + 0.0939563661813736, + 0.06607979536056519, + -0.05954999849200249 + ], + "orientation": [ + 0.25393015146255493, + -0.4401985704898834, + 0.511949896812439, + 0.6925690770149231 + ], + "joints": [ + 0.005490444600582123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10840870440006256, + 0.031847868114709854, + 0.0756658986210823 + ], + "orientation": [ + 0.2241521179676056, + 0.43637511134147644, + -0.6086853742599487, + 0.6235660314559937 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.10379236936569214, + 0.030512502416968346, + 0.0724794790148735 + ], + "orientation": [ + 0.2230721116065979, + 0.4385000765323639, + -0.6043022274971008, + 0.6267179846763611 + ], + "joints": [ + -0.0031689144670963287 + ] + }, + "final_grasp": { + "position": [ + 0.10379236936569214, + 0.030512502416968346, + 0.0724794790148735 + ], + "orientation": [ + 0.2230721116065979, + 0.4385000765323639, + -0.6043022274971008, + 0.6267179846763611 + ], + "joints": [ + 0.004270680248737335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03868335857987404, + -0.0900338813662529, + -0.04321649670600891 + ], + "orientation": [ + 0.8377559185028076, + 0.24845166504383087, + 0.48344871401786804, + -0.05209596827626228 + ], + "joints": [ + -0.008022253401577473 + ] + }, + "fine_grasp": { + "position": [ + -0.03782009333372116, + -0.09404794871807098, + -0.04472075030207634 + ], + "orientation": [ + 0.8321824669837952, + 0.2534494400024414, + 0.4911709427833557, + -0.04457345977425575 + ], + "joints": [ + -0.0021502876188606024 + ] + }, + "final_grasp": { + "position": [ + -0.03782009333372116, + -0.09404794871807098, + -0.04472075030207634 + ], + "orientation": [ + 0.8321824669837952, + 0.2534494400024414, + 0.4911709427833557, + -0.04457345977425575 + ], + "joints": [ + 0.003721678163856268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11449995636940002, + -0.0325949527323246, + 0.02980678342282772 + ], + "orientation": [ + 0.49491822719573975, + -0.5417739748954773, + 0.6234551072120667, + 0.26989030838012695 + ], + "joints": [ + -0.008442064747214317 + ] + }, + "fine_grasp": { + "position": [ + 0.11446613073348999, + -0.030748605728149414, + 0.02913350984454155 + ], + "orientation": [ + 0.5116299390792847, + -0.5318143367767334, + 0.6178998351097107, + 0.2713080048561096 + ], + "joints": [ + -0.0036328984424471855 + ] + }, + "final_grasp": { + "position": [ + 0.11446613073348999, + -0.030748605728149414, + 0.02913350984454155 + ], + "orientation": [ + 0.5116299390792847, + -0.5318143367767334, + 0.6178998351097107, + 0.2713080048561096 + ], + "joints": [ + 0.0011762678623199463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020841948688030243, + -0.012825668789446354, + 0.12494353204965591 + ], + "orientation": [ + 0.7580530643463135, + -0.6403918266296387, + 0.12339509278535843, + 0.005250134505331516 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.019798265770077705, + -0.011836371384561062, + 0.11997182667255402 + ], + "orientation": [ + 0.7571693062782288, + -0.6392879486083984, + 0.13418063521385193, + -0.0010429371614009142 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + 0.019798265770077705, + -0.011836371384561062, + 0.11997182667255402 + ], + "orientation": [ + 0.7571693062782288, + -0.6392879486083984, + 0.13418063521385193, + -0.0010429371614009142 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02087118849158287, + -0.01276689488440752, + 0.12458302825689316 + ], + "orientation": [ + 0.7577263116836548, + -0.6407525539398193, + 0.12351161241531372, + 0.00565901817753911 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.019905932247638702, + -0.01174814160913229, + 0.11983378231525421 + ], + "orientation": [ + 0.7572800517082214, + -0.6390522122383118, + 0.13468053936958313, + -0.000576191465370357 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + 0.019905932247638702, + -0.01174814160913229, + 0.11983378231525421 + ], + "orientation": [ + 0.7572800517082214, + -0.6390522122383118, + 0.13468053936958313, + -0.000576191465370357 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014425800181925297, + -0.10375092178583145, + 0.019870460033416748 + ], + "orientation": [ + 0.7711577415466309, + -0.09374570101499557, + 0.6295084357261658, + -0.015710601583123207 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.012056277133524418, + -0.10479733347892761, + 0.022005921229720116 + ], + "orientation": [ + 0.7625901699066162, + -0.10481798648834229, + 0.6379693746566772, + -0.021548213437199593 + ], + "joints": [ + -0.001261102152056992 + ] + }, + "final_grasp": { + "position": [ + 0.012056277133524418, + -0.10479733347892761, + 0.022005921229720116 + ], + "orientation": [ + 0.7625901699066162, + -0.10481798648834229, + 0.6379693746566772, + -0.021548213437199593 + ], + "joints": [ + 0.005142263136804104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02404140681028366, + 0.0266419630497694, + -0.12428700923919678 + ], + "orientation": [ + 0.04437084123492241, + -0.09212762117385864, + -0.692170262336731, + -0.7144536972045898 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.0236939936876297, + 0.027671126648783684, + -0.11906663328409195 + ], + "orientation": [ + 0.0411028228700161, + -0.09363751858472824, + -0.6974631547927856, + -0.7092867493629456 + ], + "joints": [ + -0.0008431224850937724 + ] + }, + "final_grasp": { + "position": [ + -0.0236939936876297, + 0.027671126648783684, + -0.11906663328409195 + ], + "orientation": [ + 0.0411028228700161, + -0.09363751858472824, + -0.6974631547927856, + -0.7092867493629456 + ], + "joints": [ + 0.00659647211432457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11464124172925949, + -0.032243017107248306, + 0.030346404761075974 + ], + "orientation": [ + 0.4945317804813385, + -0.5442675352096558, + 0.6212243437767029, + 0.2707239091396332 + ], + "joints": [ + -0.008319900371134281 + ] + }, + "fine_grasp": { + "position": [ + 0.11440560221672058, + -0.030222972854971886, + 0.029660506173968315 + ], + "orientation": [ + 0.5105510950088501, + -0.5342493057250977, + 0.617573082447052, + 0.2692929208278656 + ], + "joints": [ + -0.0035107340663671494 + ] + }, + "final_grasp": { + "position": [ + 0.11440560221672058, + -0.030222972854971886, + 0.029660506173968315 + ], + "orientation": [ + 0.5105510950088501, + -0.5342493057250977, + 0.617573082447052, + 0.2692929208278656 + ], + "joints": [ + 0.0012984322383999825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014597374945878983, + -0.0982658788561821, + -0.0393759086728096 + ], + "orientation": [ + 0.9821183681488037, + 0.1748620867729187, + -0.02051760070025921, + -0.06667700409889221 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.017843620851635933, + -0.0973692461848259, + -0.03982117772102356 + ], + "orientation": [ + 0.9814228415489197, + 0.1708935648202896, + -0.028676290065050125, + -0.0823553130030632 + ], + "joints": [ + -0.0007576704956591129 + ] + }, + "final_grasp": { + "position": [ + -0.017843620851635933, + -0.0973692461848259, + -0.03982117772102356 + ], + "orientation": [ + 0.9814228415489197, + 0.1708935648202896, + -0.028676290065050125, + -0.0823553130030632 + ], + "joints": [ + 0.006708494387567043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008606747724115849, + -0.1042124480009079, + 0.02057965286076069 + ], + "orientation": [ + 0.9612283706665039, + -0.0804067924618721, + -0.25713106989860535, + 0.05880892276763916 + ], + "joints": [ + -0.007897624745965004 + ] + }, + "fine_grasp": { + "position": [ + 0.009597864001989365, + -0.1053350642323494, + 0.022039063274860382 + ], + "orientation": [ + 0.9586978554725647, + -0.08196049928665161, + -0.2645705044269562, + 0.06467875838279724 + ], + "joints": [ + -0.000962859601713717 + ] + }, + "final_grasp": { + "position": [ + 0.009597864001989365, + -0.1053350642323494, + 0.022039063274860382 + ], + "orientation": [ + 0.9586978554725647, + -0.08196049928665161, + -0.2645705044269562, + 0.06467875838279724 + ], + "joints": [ + 0.005971905775368214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014505825005471706, + -0.09819526970386505, + -0.03926149383187294 + ], + "orientation": [ + 0.9820270538330078, + 0.17545968294143677, + -0.020481232553720474, + -0.0664621889591217 + ], + "joints": [ + -0.007943376898765564 + ] + }, + "fine_grasp": { + "position": [ + -0.017740320414304733, + -0.09733928740024567, + -0.039739448577165604 + ], + "orientation": [ + 0.9813987016677856, + 0.17088139057159424, + -0.029627082869410515, + -0.08233138918876648 + ], + "joints": [ + -0.0010086116380989552 + ] + }, + "final_grasp": { + "position": [ + -0.017740320414304733, + -0.09733928740024567, + -0.039739448577165604 + ], + "orientation": [ + 0.9813987016677856, + 0.17088139057159424, + -0.029627082869410515, + -0.08233138918876648 + ], + "joints": [ + 0.005926153622567654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008601504378020763, + -0.10418860614299774, + 0.02100648358464241 + ], + "orientation": [ + 0.9614498615264893, + -0.08219685405492783, + -0.25565725564956665, + 0.0591360479593277 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + 0.009490587748587132, + -0.10528071969747543, + 0.022366642951965332 + ], + "orientation": [ + 0.9588431119918823, + -0.08382847160100937, + -0.26350486278533936, + 0.0644812285900116 + ], + "joints": [ + -0.0009791707852855325 + ] + }, + "final_grasp": { + "position": [ + 0.009490587748587132, + -0.10528071969747543, + 0.022366642951965332 + ], + "orientation": [ + 0.9588431119918823, + -0.08382847160100937, + -0.26350486278533936, + 0.0644812285900116 + ], + "joints": [ + 0.005955594591796398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009640006348490715, + -0.10635826736688614, + 0.01906968466937542 + ], + "orientation": [ + 0.7244511842727661, + -0.09485534578561783, + 0.6825831532478333, + -0.015911133959889412 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.010668317787349224, + -0.10528495162725449, + 0.020498313009738922 + ], + "orientation": [ + 0.7235966920852661, + -0.09532210230827332, + 0.6831002235412598, + -0.02637709677219391 + ], + "joints": [ + -0.0013185113202780485 + ] + }, + "final_grasp": { + "position": [ + 0.010668317787349224, + -0.10528495162725449, + 0.020498313009738922 + ], + "orientation": [ + 0.7235966920852661, + -0.09532210230827332, + 0.6831002235412598, + -0.02637709677219391 + ], + "joints": [ + 0.005616253707557917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11442448198795319, + -0.032441746443510056, + 0.029947170987725258 + ], + "orientation": [ + 0.4950263202190399, + -0.5429860949516296, + 0.6220754384994507, + 0.27043893933296204 + ], + "joints": [ + -0.008505674079060555 + ] + }, + "fine_grasp": { + "position": [ + 0.11410116404294968, + -0.030400177463889122, + 0.029358452185988426 + ], + "orientation": [ + 0.5115952491760254, + -0.5324534773826599, + 0.61794114112854, + 0.2700229585170746 + ], + "joints": [ + -0.0036965077742934227 + ] + }, + "final_grasp": { + "position": [ + 0.11410116404294968, + -0.030400177463889122, + 0.029358452185988426 + ], + "orientation": [ + 0.5115952491760254, + -0.5324534773826599, + 0.61794114112854, + 0.2700229585170746 + ], + "joints": [ + 0.001112658530473709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032537173479795456, + -0.02323424257338047, + 0.11010613292455673 + ], + "orientation": [ + 0.15970578789710999, + 0.0527353473007679, + 0.785295844078064, + -0.5958384871482849 + ], + "joints": [ + -0.007633476983755827 + ] + }, + "fine_grasp": { + "position": [ + -0.03203831613063812, + -0.022465787827968597, + 0.1106986254453659 + ], + "orientation": [ + 0.18440373241901398, + 0.030371474102139473, + 0.7865869998931885, + -0.5885183215141296 + ], + "joints": [ + -0.0012301114620640874 + ] + }, + "final_grasp": { + "position": [ + -0.03203831613063812, + -0.022465787827968597, + 0.1106986254453659 + ], + "orientation": [ + 0.18440373241901398, + 0.030371474102139473, + 0.7865869998931885, + -0.5885183215141296 + ], + "joints": [ + 0.0051732538267970085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11975731700658798, + 0.03001531772315502, + -0.04955707862973213 + ], + "orientation": [ + 0.5014082193374634, + 0.6718137264251709, + 0.42209330201148987, + -0.34509900212287903 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.11470624804496765, + 0.028736522421240807, + -0.04725367948412895 + ], + "orientation": [ + 0.49323150515556335, + 0.6778283715248108, + 0.4213901162147522, + -0.3459792733192444 + ], + "joints": [ + -0.0031380755826830864 + ] + }, + "final_grasp": { + "position": [ + -0.11470624804496765, + 0.028736522421240807, + -0.04725367948412895 + ], + "orientation": [ + 0.49323150515556335, + 0.6778283715248108, + 0.4213901162147522, + -0.3459792733192444 + ], + "joints": [ + 0.003743549808859825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056370969861745834, + -0.07428870350122452, + -0.058529891073703766 + ], + "orientation": [ + 0.2704586088657379, + -0.17080889642238617, + -0.8832087516784668, + -0.3429560661315918 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + -0.05811573937535286, + -0.07409574091434479, + -0.05883680656552315 + ], + "orientation": [ + 0.254801869392395, + -0.18174441158771515, + -0.8892505764961243, + -0.3335842788219452 + ], + "joints": [ + -0.0009791707852855325 + ] + }, + "final_grasp": { + "position": [ + -0.05811573937535286, + -0.07409574091434479, + -0.05883680656552315 + ], + "orientation": [ + 0.254801869392395, + -0.18174441158771515, + -0.8892505764961243, + -0.3335842788219452 + ], + "joints": [ + 0.005955594591796398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004331039730459452, + -0.10359162092208862, + 0.02935272827744484 + ], + "orientation": [ + 0.9625582098960876, + -0.12408744543790817, + 0.23670512437820435, + -0.04532642662525177 + ], + "joints": [ + -0.008222285658121109 + ] + }, + "fine_grasp": { + "position": [ + -0.00654623145237565, + -0.10343930870294571, + 0.030974069610238075 + ], + "orientation": [ + 0.9636839628219604, + -0.1209893450140953, + 0.23063816130161285, + -0.05899868533015251 + ], + "joints": [ + -0.0012875203974545002 + ] + }, + "final_grasp": { + "position": [ + -0.00654623145237565, + -0.10343930870294571, + 0.030974069610238075 + ], + "orientation": [ + 0.9636839628219604, + -0.1209893450140953, + 0.23063816130161285, + -0.05899868533015251 + ], + "joints": [ + 0.005647244863212109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047427840530872345, + -0.09920971095561981, + 0.03251910209655762 + ], + "orientation": [ + 0.7827661037445068, + -0.2024572640657425, + -0.5853469967842102, + -0.0604754202067852 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.04345996305346489, + -0.09633313864469528, + 0.032345134764909744 + ], + "orientation": [ + 0.7736089825630188, + -0.22397370636463165, + -0.5893392562866211, + -0.0635930746793747 + ], + "joints": [ + -0.0008976601529866457 + ] + }, + "final_grasp": { + "position": [ + -0.04345996305346489, + -0.09633313864469528, + 0.032345134764909744 + ], + "orientation": [ + 0.7736089825630188, + -0.22397370636463165, + -0.5893392562866211, + -0.0635930746793747 + ], + "joints": [ + 0.007046764250844717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02007649466395378, + -0.10461980849504471, + -0.008821905590593815 + ], + "orientation": [ + 0.053823988884687424, + -0.08528075367212296, + -0.9938849806785583, + -0.044976335018873215 + ], + "joints": [ + -0.008091550320386887 + ] + }, + "fine_grasp": { + "position": [ + -0.02154414728283882, + -0.10526315122842789, + -0.01006785687059164 + ], + "orientation": [ + 0.05160973593592644, + -0.08745265007019043, + -0.9940745830535889, + -0.038786061108112335 + ], + "joints": [ + -0.0011302153579890728 + ] + }, + "final_grasp": { + "position": [ + -0.02154414728283882, + -0.10526315122842789, + -0.01006785687059164 + ], + "orientation": [ + 0.05160973593592644, + -0.08745265007019043, + -0.9940745830535889, + -0.038786061108112335 + ], + "joints": [ + 0.005831119604408741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00918285921216011, + 0.03282319754362106, + -0.12720933556556702 + ], + "orientation": [ + 0.07777204364538193, + 0.03704008832573891, + 0.647960364818573, + 0.756787121295929 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.008784312754869461, + 0.03278901055455208, + -0.12162242084741592 + ], + "orientation": [ + 0.08192972093820572, + 0.042144354432821274, + 0.6525406837463379, + 0.7521316409111023 + ], + "joints": [ + -0.0014864683616906404 + ] + }, + "final_grasp": { + "position": [ + 0.008784312754869461, + 0.03278901055455208, + -0.12162242084741592 + ], + "orientation": [ + 0.08192972093820572, + 0.042144354432821274, + 0.6525406837463379, + 0.7521316409111023 + ], + "joints": [ + 0.006457956042140722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004161148797720671, + -0.1036064475774765, + 0.029527246952056885 + ], + "orientation": [ + 0.962596595287323, + -0.12561538815498352, + 0.2359110414981842, + -0.0444365032017231 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.006089122500270605, + -0.10341464728116989, + 0.03105769492685795 + ], + "orientation": [ + 0.9636796712875366, + -0.12146513909101486, + 0.23071277141571045, + -0.05778612568974495 + ], + "joints": [ + -0.0015414090594276786 + ] + }, + "final_grasp": { + "position": [ + -0.006089122500270605, + -0.10341464728116989, + 0.03105769492685795 + ], + "orientation": [ + 0.9636796712875366, + -0.12146513909101486, + 0.23071277141571045, + -0.05778612568974495 + ], + "joints": [ + 0.005419925786554813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1197933629155159, + 0.030135197564959526, + -0.04960829019546509 + ], + "orientation": [ + 0.5011846423149109, + 0.6720917820930481, + 0.422207772731781, + -0.3447423279285431 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.11469220370054245, + 0.028833460062742233, + -0.047303300350904465 + ], + "orientation": [ + 0.49270930886268616, + 0.6784039735794067, + 0.4214596450328827, + -0.3455102741718292 + ], + "joints": [ + -0.0031380755826830864 + ] + }, + "final_grasp": { + "position": [ + -0.11469220370054245, + 0.028833460062742233, + -0.047303300350904465 + ], + "orientation": [ + 0.49270930886268616, + 0.6784039735794067, + 0.4214596450328827, + -0.3455102741718292 + ], + "joints": [ + 0.003743549808859825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08020462095737457, + 0.05304943397641182, + -0.08656041324138641 + ], + "orientation": [ + 0.5662424564361572, + 0.7366043329238892, + 0.20722346007823944, + -0.3063364624977112 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.07854265719652176, + 0.05247024819254875, + -0.08447901904582977 + ], + "orientation": [ + 0.5670069456100464, + 0.7372555732727051, + 0.2049286663532257, + -0.3048960864543915 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + -0.07854265719652176, + 0.05247024819254875, + -0.08447901904582977 + ], + "orientation": [ + 0.5670069456100464, + 0.7372555732727051, + 0.2049286663532257, + -0.3048960864543915 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004427417181432247, + -0.10401339828968048, + 0.029053907841444016 + ], + "orientation": [ + 0.9629804491996765, + -0.12627044320106506, + 0.2341541200876236, + -0.043545808643102646 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.005743530113250017, + -0.1033921092748642, + 0.031177151948213577 + ], + "orientation": [ + 0.964301586151123, + -0.12029904127120972, + 0.22874470055103302, + -0.05767475441098213 + ], + "joints": [ + -0.0015414091758430004 + ] + }, + "final_grasp": { + "position": [ + -0.005743530113250017, + -0.1033921092748642, + 0.031177151948213577 + ], + "orientation": [ + 0.964301586151123, + -0.12029904127120972, + 0.22874470055103302, + -0.05767475441098213 + ], + "joints": [ + 0.005419925786554813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11954914033412933, + 0.029916416853666306, + -0.04941346496343613 + ], + "orientation": [ + 0.5019700527191162, + 0.6712743043899536, + 0.4209969937801361, + -0.346667617559433 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.11451786011457443, + 0.028704937547445297, + -0.047124385833740234 + ], + "orientation": [ + 0.49435877799987793, + 0.6767717599868774, + 0.4207471013069153, + -0.3472195863723755 + ], + "joints": [ + -0.0031115058809518814 + ] + }, + "final_grasp": { + "position": [ + -0.11451786011457443, + 0.028704937547445297, + -0.047124385833740234 + ], + "orientation": [ + 0.49435877799987793, + 0.6767717599868774, + 0.4207471013069153, + -0.3472195863723755 + ], + "joints": [ + 0.003796689212322235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0674474760890007, + 0.03241245076060295, + -0.09931977838277817 + ], + "orientation": [ + 0.2125762403011322, + -0.20023520290851593, + 0.6342623233795166, + 0.7158411145210266 + ], + "joints": [ + -0.007500931620597839 + ] + }, + "fine_grasp": { + "position": [ + 0.06810970604419708, + 0.033449336886405945, + -0.09858331084251404 + ], + "orientation": [ + 0.21671591699123383, + -0.2063109576702118, + 0.6353314518928528, + 0.7119156718254089 + ], + "joints": [ + -0.0010975662153214216 + ] + }, + "final_grasp": { + "position": [ + 0.06810970604419708, + 0.033449336886405945, + -0.09858331084251404 + ], + "orientation": [ + 0.21671591699123383, + -0.2063109576702118, + 0.6353314518928528, + 0.7119156718254089 + ], + "joints": [ + 0.005305799189954996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11510912328958511, + 0.019370870664715767, + -0.05770343169569969 + ], + "orientation": [ + 0.5564988851547241, + 0.6453959345817566, + -0.3658014237880707, + 0.3741154968738556 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.11064953356981277, + 0.017506185919046402, + -0.05543503910303116 + ], + "orientation": [ + 0.5445941686630249, + 0.6573017835617065, + -0.3615648150444031, + 0.3750232458114624 + ], + "joints": [ + -0.0014290596591308713 + ] + }, + "final_grasp": { + "position": [ + 0.11064953356981277, + 0.017506185919046402, + -0.05543503910303116 + ], + "orientation": [ + 0.5445941686630249, + 0.6573017835617065, + -0.3615648150444031, + 0.3750232458114624 + ], + "joints": [ + 0.0059839654713869095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06253815442323685, + -0.07581067830324173, + 0.047626715153455734 + ], + "orientation": [ + 0.7925445437431335, + -0.34544995427131653, + -0.4831928610801697, + -0.13806559145450592 + ], + "joints": [ + -0.007338256575167179 + ] + }, + "fine_grasp": { + "position": [ + -0.06329283863306046, + -0.07580800354480743, + 0.05018984526395798 + ], + "orientation": [ + 0.7851673364639282, + -0.34705859422683716, + -0.498389333486557, + -0.12112294882535934 + ], + "joints": [ + -0.0009348910534754395 + ] + }, + "final_grasp": { + "position": [ + -0.06329283863306046, + -0.07580800354480743, + 0.05018984526395798 + ], + "orientation": [ + 0.7851673364639282, + -0.34705859422683716, + -0.498389333486557, + -0.12112294882535934 + ], + "joints": [ + 0.005468474701046944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005906315520405769, + -0.10267733782529831, + -0.029407793655991554 + ], + "orientation": [ + 0.16623073816299438, + 0.04659237712621689, + -0.9779528379440308, + -0.11749380826950073 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.009053920395672321, + -0.10347728431224823, + -0.029736995697021484 + ], + "orientation": [ + 0.1733422428369522, + 0.061975859105587006, + -0.9759514331817627, + -0.11674844473600388 + ], + "joints": [ + -0.0018233408918604255 + ] + }, + "final_grasp": { + "position": [ + 0.009053920395672321, + -0.10347728431224823, + -0.029736995697021484 + ], + "orientation": [ + 0.1733422428369522, + 0.061975859105587006, + -0.9759514331817627, + -0.11674844473600388 + ], + "joints": [ + 0.004606594331562519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05552274361252785, + -0.07448197156190872, + -0.05934959277510643 + ], + "orientation": [ + 0.2718852162361145, + -0.16587620973587036, + -0.882523238658905, + -0.3460003137588501 + ], + "joints": [ + -0.007633476983755827 + ] + }, + "fine_grasp": { + "position": [ + -0.057269178330898285, + -0.07401768118143082, + -0.05941222608089447 + ], + "orientation": [ + 0.25483444333076477, + -0.17751865088939667, + -0.8891493082046509, + -0.33609527349472046 + ], + "joints": [ + -0.0007252817740663886 + ] + }, + "final_grasp": { + "position": [ + -0.057269178330898285, + -0.07401768118143082, + -0.05941222608089447 + ], + "orientation": [ + 0.25483444333076477, + -0.17751865088939667, + -0.8891493082046509, + -0.33609527349472046 + ], + "joints": [ + 0.006182913668453693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006781070493161678, + -0.10454415529966354, + -0.01410389132797718 + ], + "orientation": [ + 0.8037241101264954, + 0.027266817167401314, + 0.5908551216125488, + 0.06460791081190109 + ], + "joints": [ + -0.008029305376112461 + ] + }, + "fine_grasp": { + "position": [ + 0.007944072596728802, + -0.10673994570970535, + -0.015679797157645226 + ], + "orientation": [ + 0.8039402365684509, + 0.031640443950891495, + 0.5896532535552979, + 0.07062646001577377 + ], + "joints": [ + -0.0010679701808840036 + ] + }, + "final_grasp": { + "position": [ + 0.007944072596728802, + -0.10673994570970535, + -0.015679797157645226 + ], + "orientation": [ + 0.8039402365684509, + 0.031640443950891495, + 0.5896532535552979, + 0.07062646001577377 + ], + "joints": [ + 0.005893365014344454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12150873988866806, + 0.059541553258895874, + -0.012218743562698364 + ], + "orientation": [ + 0.37096595764160156, + -0.5763351321220398, + -0.461955726146698, + -0.5628666877746582 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.11670850962400436, + 0.058622654527425766, + -0.01182376965880394 + ], + "orientation": [ + 0.3728863000869751, + -0.5740921497344971, + -0.46620628237724304, + -0.5603799819946289 + ], + "joints": [ + -0.0008976600365713239 + ] + }, + "final_grasp": { + "position": [ + -0.11670850962400436, + 0.058622654527425766, + -0.01182376965880394 + ], + "orientation": [ + 0.3728863000869751, + -0.5740921497344971, + -0.46620628237724304, + -0.5603799819946289 + ], + "joints": [ + 0.007046764716506004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015878425911068916, + -0.1039605662226677, + 0.014963813126087189 + ], + "orientation": [ + 0.09065882116556168, + -0.0747251808643341, + -0.9913134574890137, + 0.059116180986166 + ], + "joints": [ + -0.008132413029670715 + ] + }, + "fine_grasp": { + "position": [ + -0.017341764643788338, + -0.10624857246875763, + 0.014819260686635971 + ], + "orientation": [ + 0.09113123267889023, + -0.07737976312637329, + -0.9908722043037415, + 0.06228891387581825 + ], + "joints": [ + -0.0011976480018347502 + ] + }, + "final_grasp": { + "position": [ + -0.017341764643788338, + -0.10624857246875763, + 0.014819260686635971 + ], + "orientation": [ + 0.09113123267889023, + -0.07737976312637329, + -0.9908722043037415, + 0.06228891387581825 + ], + "joints": [ + 0.005737117026001215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005884283222258091, + -0.10190819203853607, + -0.0296230036765337 + ], + "orientation": [ + 0.16568578779697418, + 0.047456271946430206, + -0.9783158898353577, + -0.1148657500743866 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.009066798724234104, + -0.1034722700715065, + -0.029849037528038025 + ], + "orientation": [ + 0.17306944727897644, + 0.06274956464767456, + -0.976051390171051, + -0.11590180546045303 + ], + "joints": [ + -0.0018233407754451036 + ] + }, + "final_grasp": { + "position": [ + 0.009066798724234104, + -0.1034722700715065, + -0.029849037528038025 + ], + "orientation": [ + 0.17306944727897644, + 0.06274956464767456, + -0.976051390171051, + -0.11590180546045303 + ], + "joints": [ + 0.004606594797223806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0505504347383976, + -0.0036027131136506796, + 0.11832915246486664 + ], + "orientation": [ + 0.04796840623021126, + 0.2203102707862854, + -0.746073842048645, + 0.6265271306037903 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.04831958934664726, + -0.0037302591372281313, + 0.11308850347995758 + ], + "orientation": [ + 0.0462404228746891, + 0.22310622036457062, + -0.74080491065979, + 0.6318967342376709 + ], + "joints": [ + -0.002104717306792736 + ] + }, + "final_grasp": { + "position": [ + 0.04831958934664726, + -0.0037302591372281313, + 0.11308850347995758 + ], + "orientation": [ + 0.0462404228746891, + 0.22310622036457062, + -0.74080491065979, + 0.6318967342376709 + ], + "joints": [ + 0.00583970732986927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05034666508436203, + -0.0036143807228654623, + 0.11827345937490463 + ], + "orientation": [ + 0.04878050461411476, + 0.2186715304851532, + -0.7464393377304077, + 0.6266031265258789 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.04810097813606262, + -0.003753051394596696, + 0.11297658830881119 + ], + "orientation": [ + 0.04697573557496071, + 0.2215023636817932, + -0.7410396933555603, + 0.6321314573287964 + ], + "joints": [ + -0.0020752763375639915 + ] + }, + "final_grasp": { + "position": [ + 0.04810097813606262, + -0.003753051394596696, + 0.11297658830881119 + ], + "orientation": [ + 0.04697573557496071, + 0.2215023636817932, + -0.7410396933555603, + 0.6321314573287964 + ], + "joints": [ + 0.005869148299098015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015258909203112125, + -0.10406792908906937, + -0.009399735368788242 + ], + "orientation": [ + 0.856444239616394, + -0.003680678317323327, + 0.5096545815467834, + 0.08210891485214233 + ], + "joints": [ + -0.007813498377799988 + ] + }, + "fine_grasp": { + "position": [ + 0.017147595062851906, + -0.10590698570013046, + -0.011138304136693478 + ], + "orientation": [ + 0.8596630692481995, + 0.0015071374364197254, + 0.5027214288711548, + 0.09081989526748657 + ], + "joints": [ + -0.0008787332335487008 + ] + }, + "final_grasp": { + "position": [ + 0.017147595062851906, + -0.10590698570013046, + -0.011138304136693478 + ], + "orientation": [ + 0.8596630692481995, + 0.0015071374364197254, + 0.5027214288711548, + 0.09081989526748657 + ], + "joints": [ + 0.00605603214353323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1143914982676506, + 0.019330870360136032, + -0.05746902525424957 + ], + "orientation": [ + 0.5576783418655396, + 0.6446467041969299, + -0.3662513494491577, + 0.37320977449417114 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.11005502194166183, + 0.01719355396926403, + -0.05522063374519348 + ], + "orientation": [ + 0.5438728928565979, + 0.65861976146698, + -0.3633640706539154, + 0.37200650572776794 + ], + "joints": [ + -0.0008976603858172894 + ] + }, + "final_grasp": { + "position": [ + 0.11005502194166183, + 0.01719355396926403, + -0.05522063374519348 + ], + "orientation": [ + 0.5438728928565979, + 0.65861976146698, + -0.3633640706539154, + 0.37200650572776794 + ], + "joints": [ + 0.00704676378518343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08059437572956085, + 0.0530426986515522, + -0.08668562769889832 + ], + "orientation": [ + 0.5652692914009094, + 0.7369592189788818, + 0.20734313130378723, + -0.30719810724258423 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.07851475477218628, + 0.05234870687127113, + -0.08456256240606308 + ], + "orientation": [ + 0.5659576058387756, + 0.7378787398338318, + 0.20419611036777496, + -0.3058285117149353 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + -0.07851475477218628, + 0.05234870687127113, + -0.08456256240606308 + ], + "orientation": [ + 0.5659576058387756, + 0.7378787398338318, + 0.20419611036777496, + -0.3058285117149353 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014035646803677082, + -0.10263615101575851, + 0.01295854989439249 + ], + "orientation": [ + 0.7602524757385254, + 0.0037354130763560534, + 0.6434910297393799, + -0.08900298923254013 + ], + "joints": [ + -0.007787399925291538 + ] + }, + "fine_grasp": { + "position": [ + -0.015042483806610107, + -0.10431955009698868, + 0.015182727947831154 + ], + "orientation": [ + 0.7612221837043762, + -0.00641820952296257, + 0.6415087580680847, + -0.09468914568424225 + ], + "joints": [ + -0.0008526347810402513 + ] + }, + "final_grasp": { + "position": [ + -0.015042483806610107, + -0.10431955009698868, + 0.015182727947831154 + ], + "orientation": [ + 0.7612221837043762, + -0.00641820952296257, + 0.6415087580680847, + -0.09468914568424225 + ], + "joints": [ + 0.006082130596041679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018641924485564232, + -0.10458912700414658, + -0.009006462059915066 + ], + "orientation": [ + 0.052244093269109726, + -0.07968024909496307, + -0.9944117665290833, + -0.045464083552360535 + ], + "joints": [ + -0.007882945239543915 + ] + }, + "fine_grasp": { + "position": [ + -0.020436454564332962, + -0.10548193007707596, + -0.010214726440608501 + ], + "orientation": [ + 0.05074490234255791, + -0.08259446173906326, + -0.9945014119148254, + -0.039623767137527466 + ], + "joints": [ + -0.0009481802117079496 + ] + }, + "final_grasp": { + "position": [ + -0.020436454564332962, + -0.10548193007707596, + -0.010214726440608501 + ], + "orientation": [ + 0.05074490234255791, + -0.08259446173906326, + -0.9945014119148254, + -0.039623767137527466 + ], + "joints": [ + 0.0059865848161280155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11670584231615067, + 0.020782947540283203, + 0.04622727259993553 + ], + "orientation": [ + 0.38253071904182434, + 0.41474348306655884, + 0.5857136249542236, + -0.5818914175033569 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.11265353858470917, + 0.02208116091787815, + 0.04503658413887024 + ], + "orientation": [ + 0.3876262605190277, + 0.4143913984298706, + 0.592553973197937, + -0.5717563629150391 + ], + "joints": [ + -0.0008136816322803497 + ] + }, + "final_grasp": { + "position": [ + -0.11265353858470917, + 0.02208116091787815, + 0.04503658413887024 + ], + "orientation": [ + 0.3876262605190277, + 0.4143913984298706, + 0.592553973197937, + -0.5717563629150391 + ], + "joints": [ + 0.006625913083553314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020420201122760773, + -0.10180778056383133, + 0.0037635841872543097 + ], + "orientation": [ + 0.959333598613739, + -0.0335906445980072, + -0.26887398958206177, + -0.07910490036010742 + ], + "joints": [ + -0.007428551092743874 + ] + }, + "fine_grasp": { + "position": [ + -0.022051293402910233, + -0.10511484742164612, + 0.0023114331997931004 + ], + "orientation": [ + 0.9578048586845398, + -0.03353757783770561, + -0.27157771587371826, + -0.08792430907487869 + ], + "joints": [ + -0.0010251856874674559 + ] + }, + "final_grasp": { + "position": [ + -0.022051293402910233, + -0.10511484742164612, + 0.0023114331997931004 + ], + "orientation": [ + 0.9578048586845398, + -0.03353757783770561, + -0.27157771587371826, + -0.08792430907487869 + ], + "joints": [ + 0.005378179717808962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009168143384158611, + -0.10435900092124939, + 0.01599423587322235 + ], + "orientation": [ + 0.9577323794364929, + -0.06028357520699501, + -0.2753678560256958, + 0.05733441561460495 + ], + "joints": [ + -0.007635026704519987 + ] + }, + "fine_grasp": { + "position": [ + 0.010159083642065525, + -0.10607420653104782, + 0.017597731202840805 + ], + "orientation": [ + 0.9560545682907104, + -0.061762064695358276, + -0.2795940041542053, + 0.06302569806575775 + ], + "joints": [ + -0.0007002615602687001 + ] + }, + "final_grasp": { + "position": [ + 0.010159083642065525, + -0.10607420653104782, + 0.017597731202840805 + ], + "orientation": [ + 0.9560545682907104, + -0.061762064695358276, + -0.2795940041542053, + 0.06302569806575775 + ], + "joints": [ + 0.006234503351151943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008624022826552391, + -0.1038983091711998, + 0.015771836042404175 + ], + "orientation": [ + 0.9580978751182556, + -0.060669150203466415, + -0.27458205819129944, + 0.05451877415180206 + ], + "joints": [ + -0.0078666340559721 + ] + }, + "fine_grasp": { + "position": [ + 0.00974054541438818, + -0.10610977560281754, + 0.01739414967596531 + ], + "orientation": [ + 0.9563546776771545, + -0.06205843389034271, + -0.27887943387031555, + 0.061324432492256165 + ], + "joints": [ + -0.0009318689117208123 + ] + }, + "final_grasp": { + "position": [ + 0.00974054541438818, + -0.10610977560281754, + 0.01739414967596531 + ], + "orientation": [ + 0.9563546776771545, + -0.06205843389034271, + -0.27887943387031555, + 0.061324432492256165 + ], + "joints": [ + 0.006002896465361118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1175955981016159, + -0.012107421644032001, + -0.04902070760726929 + ], + "orientation": [ + 0.4297870397567749, + -0.3536938428878784, + 0.618780791759491, + 0.554341197013855 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.11270518600940704, + -0.012275784276425838, + -0.046853017061948776 + ], + "orientation": [ + 0.42994874715805054, + -0.35235723853111267, + 0.6111570596694946, + 0.5634497404098511 + ], + "joints": [ + -0.0008976601529866457 + ] + }, + "final_grasp": { + "position": [ + 0.11270518600940704, + -0.012275784276425838, + -0.046853017061948776 + ], + "orientation": [ + 0.42994874715805054, + -0.35235723853111267, + 0.6111570596694946, + 0.5634497404098511 + ], + "joints": [ + 0.007046764250844717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11766356229782104, + -0.012161222286522388, + -0.048974309116601944 + ], + "orientation": [ + 0.4299216866493225, + -0.35389119386672974, + 0.6185051798820496, + 0.5544183254241943 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.112761490046978, + -0.012328719720244408, + -0.046800293028354645 + ], + "orientation": [ + 0.429922878742218, + -0.35271841287612915, + 0.6109746694564819, + 0.5634413361549377 + ], + "joints": [ + -0.0008976601529866457 + ] + }, + "final_grasp": { + "position": [ + 0.112761490046978, + -0.012328719720244408, + -0.046800293028354645 + ], + "orientation": [ + 0.429922878742218, + -0.35271841287612915, + 0.6109746694564819, + 0.5634413361549377 + ], + "joints": [ + 0.007046764250844717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000885029265191406, + -0.09925022721290588, + -0.032728567719459534 + ], + "orientation": [ + 0.2378326952457428, + 0.03868367522954941, + -0.9615187644958496, + -0.1319884955883026 + ], + "joints": [ + -0.007882945239543915 + ] + }, + "fine_grasp": { + "position": [ + 0.003066600300371647, + -0.10261176526546478, + -0.03342178091406822 + ], + "orientation": [ + 0.23459649085998535, + 0.047119565308094025, + -0.9614400267601013, + -0.13556352257728577 + ], + "joints": [ + -0.0014795797178521752 + ] + }, + "final_grasp": { + "position": [ + 0.003066600300371647, + -0.10261176526546478, + -0.03342178091406822 + ], + "orientation": [ + 0.23459649085998535, + 0.047119565308094025, + -0.9614400267601013, + -0.13556352257728577 + ], + "joints": [ + 0.004923786036670208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01406165398657322, + -0.10242770612239838, + -0.009523417800664902 + ], + "orientation": [ + 0.8597956299781799, + 0.012573773972690105, + -0.5059043169021606, + -0.06822183728218079 + ], + "joints": [ + -0.0076988460496068 + ] + }, + "fine_grasp": { + "position": [ + -0.014604415744543076, + -0.105489082634449, + -0.011597735807299614 + ], + "orientation": [ + 0.8608065843582153, + 0.017295973375439644, + -0.5026493072509766, + -0.07782427221536636 + ], + "joints": [ + -0.0012689105933532119 + ] + }, + "final_grasp": { + "position": [ + -0.014604415744543076, + -0.105489082634449, + -0.011597735807299614 + ], + "orientation": [ + 0.8608065843582153, + 0.017295973375439644, + -0.5026493072509766, + -0.07782427221536636 + ], + "joints": [ + 0.005161024630069733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11407852917909622, + 0.019472697749733925, + -0.0572032667696476 + ], + "orientation": [ + 0.557813286781311, + 0.6442825198173523, + -0.36693862080574036, + 0.37296169996261597 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.10985323041677475, + 0.017242543399333954, + -0.05498509109020233 + ], + "orientation": [ + 0.5424137711524963, + 0.6598414778709412, + -0.36511826515197754, + 0.3702501058578491 + ], + "joints": [ + -0.0014024898409843445 + ] + }, + "final_grasp": { + "position": [ + 0.10985323041677475, + 0.017242543399333954, + -0.05498509109020233 + ], + "orientation": [ + 0.5424137711524963, + 0.6598414778709412, + -0.36511826515197754, + 0.3702501058578491 + ], + "joints": [ + 0.0060371048748493195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0003678607172332704, + -0.09959153831005096, + -0.03303198143839836 + ], + "orientation": [ + 0.23519347608089447, + 0.03769269585609436, + -0.9624417424201965, + -0.13026651740074158 + ], + "joints": [ + -0.0076040360145270824 + ] + }, + "fine_grasp": { + "position": [ + 0.0029885955154895782, + -0.1026248186826706, + -0.03340675309300423 + ], + "orientation": [ + 0.23249751329421997, + 0.04683602601289749, + -0.9619373083114624, + -0.13574932515621185 + ], + "joints": [ + -0.0017055002972483635 + ] + }, + "final_grasp": { + "position": [ + 0.0029885955154895782, + -0.1026248186826706, + -0.03340675309300423 + ], + "orientation": [ + 0.23249751329421997, + 0.04683602601289749, + -0.9619373083114624, + -0.13574932515621185 + ], + "joints": [ + 0.0041930354200303555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12117361277341843, + 0.05925675109028816, + -0.012083712965250015 + ], + "orientation": [ + 0.3706561326980591, + -0.576939046382904, + -0.46119457483291626, + -0.5630762577056885 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.11643510311841965, + 0.05832664296030998, + -0.011675002053380013 + ], + "orientation": [ + 0.3720538318157196, + -0.5752325654029846, + -0.4658154249191284, + -0.5600889325141907 + ], + "joints": [ + -0.0008976600365713239 + ] + }, + "final_grasp": { + "position": [ + -0.11643510311841965, + 0.05832664296030998, + -0.011675002053380013 + ], + "orientation": [ + 0.3720538318157196, + -0.5752325654029846, + -0.4658154249191284, + -0.5600889325141907 + ], + "joints": [ + 0.007046764716506004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11684255301952362, + 0.020704148337244987, + 0.046210259199142456 + ], + "orientation": [ + 0.3826923370361328, + 0.41482484340667725, + 0.5852699279785156, + -0.5821735262870789 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.11266651749610901, + 0.02197280526161194, + 0.044994037598371506 + ], + "orientation": [ + 0.3875117599964142, + 0.4147222340106964, + 0.5920219421386719, + -0.5721451640129089 + ], + "joints": [ + -0.0008136816322803497 + ] + }, + "final_grasp": { + "position": [ + -0.11266651749610901, + 0.02197280526161194, + 0.044994037598371506 + ], + "orientation": [ + 0.3875117599964142, + 0.4147222340106964, + 0.5920219421386719, + -0.5721451640129089 + ], + "joints": [ + 0.006625913083553314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023505860939621925, + -0.09927867352962494, + -0.026004979386925697 + ], + "orientation": [ + 0.8223482370376587, + 0.15146097540855408, + 0.5479934811592102, + -0.022496620193123817 + ], + "joints": [ + -0.007462885230779648 + ] + }, + "fine_grasp": { + "position": [ + -0.022777562960982323, + -0.10217101126909256, + -0.027698278427124023 + ], + "orientation": [ + 0.8197484612464905, + 0.15657295286655426, + 0.5506118535995483, + -0.01800200343132019 + ], + "joints": [ + -0.0015643495135009289 + ] + }, + "final_grasp": { + "position": [ + -0.022777562960982323, + -0.10217101126909256, + -0.027698278427124023 + ], + "orientation": [ + 0.8197484612464905, + 0.15657295286655426, + 0.5506118535995483, + -0.01800200343132019 + ], + "joints": [ + 0.00433418620377779 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013845573179423809, + 0.06667444854974747, + -0.11304020881652832 + ], + "orientation": [ + 0.04651481285691261, + -0.03192789480090141, + 0.5580361485481262, + 0.8278965353965759 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.01328336726874113, + 0.06688857078552246, + -0.11034435778856277 + ], + "orientation": [ + 0.06132633611559868, + -0.013395384885370731, + 0.5598602890968323, + 0.826205849647522 + ], + "joints": [ + -0.0007297024712897837 + ] + }, + "final_grasp": { + "position": [ + 0.01328336726874113, + 0.06688857078552246, + -0.11034435778856277 + ], + "orientation": [ + 0.06132633611559868, + -0.013395384885370731, + 0.5598602890968323, + 0.826205849647522 + ], + "joints": [ + 0.006205062847584486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015671629458665848, + -0.0998389795422554, + -0.045230139046907425 + ], + "orientation": [ + 0.935793936252594, + 0.17705050110816956, + 0.3047555983066559, + 0.008184943348169327 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.012963274493813515, + -0.09909365326166153, + -0.043690312653779984 + ], + "orientation": [ + 0.9308803081512451, + 0.19027112424373627, + 0.3116246163845062, + 0.012199093587696552 + ], + "joints": [ + -0.0018793519120663404 + ] + }, + "final_grasp": { + "position": [ + -0.012963274493813515, + -0.09909365326166153, + -0.043690312653779984 + ], + "orientation": [ + 0.9308803081512451, + 0.19027112424373627, + 0.3116246163845062, + 0.012199093587696552 + ], + "joints": [ + 0.004524013493210077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01815599948167801, + -0.015263795852661133, + 0.1287340521812439 + ], + "orientation": [ + 0.7599363923072815, + -0.6461089849472046, + 0.03271611034870148, + 0.06300541013479233 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.017139948904514313, + -0.015142750926315784, + 0.12303943932056427 + ], + "orientation": [ + 0.7540413737297058, + -0.652611255645752, + 0.02638006955385208, + 0.06945621222257614 + ], + "joints": [ + -0.0019912980496883392 + ] + }, + "final_grasp": { + "position": [ + 0.017139948904514313, + -0.015142750926315784, + 0.12303943932056427 + ], + "orientation": [ + 0.7540413737297058, + -0.652611255645752, + 0.02638006955385208, + 0.06945621222257614 + ], + "joints": [ + 0.005448296666145325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08148963004350662, + -0.07080653309822083, + 0.025050975382328033 + ], + "orientation": [ + 0.4961186945438385, + 0.2604290843009949, + -0.7663735747337341, + 0.3141886293888092 + ], + "joints": [ + -0.007043036632239819 + ] + }, + "fine_grasp": { + "position": [ + 0.08270318061113358, + -0.06934096664190292, + 0.02370203100144863 + ], + "orientation": [ + 0.4792157709598541, + 0.27680253982543945, + -0.7758289575576782, + 0.3030213713645935 + ], + "joints": [ + -0.0006662410451099277 + ] + }, + "final_grasp": { + "position": [ + 0.08270318061113358, + -0.06934096664190292, + 0.02370203100144863 + ], + "orientation": [ + 0.4792157709598541, + 0.27680253982543945, + -0.7758289575576782, + 0.3030213713645935 + ], + "joints": [ + 0.00571055430918932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02012459747493267, + -0.10230664908885956, + 0.04272296652197838 + ], + "orientation": [ + 0.9850165247917175, + -0.14399971067905426, + -0.06079250946640968, + -0.07287473231554031 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.02139880135655403, + -0.09964628517627716, + 0.039901938289403915 + ], + "orientation": [ + 0.9826915264129639, + -0.15418851375579834, + -0.057199425995349884, + -0.08527322858572006 + ], + "joints": [ + -0.0024107517674565315 + ] + }, + "final_grasp": { + "position": [ + -0.02139880135655403, + -0.09964628517627716, + 0.039901938289403915 + ], + "orientation": [ + 0.9826915264129639, + -0.15418851375579834, + -0.057199425995349884, + -0.08527322858572006 + ], + "joints": [ + 0.003461213782429695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009157674387097359, + 0.044505830854177475, + 0.11683622747659683 + ], + "orientation": [ + 0.6285690069198608, + -0.776458740234375, + 0.044790126383304596, + 0.0025814424734562635 + ], + "joints": [ + -0.007506087422370911 + ] + }, + "fine_grasp": { + "position": [ + 0.008646132424473763, + 0.04620638117194176, + 0.11621091514825821 + ], + "orientation": [ + 0.6344770193099976, + -0.7720456719398499, + 0.03719096630811691, + -0.001160977641120553 + ], + "joints": [ + -0.0011292919516563416 + ] + }, + "final_grasp": { + "position": [ + 0.008646132424473763, + 0.04620638117194176, + 0.11621091514825821 + ], + "orientation": [ + 0.6344770193099976, + -0.7720456719398499, + 0.03719096630811691, + -0.001160977641120553 + ], + "joints": [ + 0.0052475035190582275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015507976524531841, + -0.09970442205667496, + -0.04439060762524605 + ], + "orientation": [ + 0.9352351427078247, + 0.18019768595695496, + 0.30468860268592834, + 0.005374093074351549 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.013154975138604641, + -0.09920656681060791, + -0.04316764697432518 + ], + "orientation": [ + 0.9311022162437439, + 0.1888209879398346, + 0.311908483505249, + 0.010413974523544312 + ], + "joints": [ + -0.0018793519120663404 + ] + }, + "final_grasp": { + "position": [ + -0.013154975138604641, + -0.09920656681060791, + -0.04316764697432518 + ], + "orientation": [ + 0.9311022162437439, + 0.1888209879398346, + 0.311908483505249, + 0.010413974523544312 + ], + "joints": [ + 0.004524013493210077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11662373691797256, + 0.020656852051615715, + 0.04606511816382408 + ], + "orientation": [ + 0.38275864720344543, + 0.41503283381462097, + 0.5853633284568787, + -0.5818877220153809 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.11263615638017654, + 0.021858416497707367, + 0.044907547533512115 + ], + "orientation": [ + 0.38701868057250977, + 0.4156709313392639, + 0.5921245217323303, + -0.5716841220855713 + ], + "joints": [ + -0.0008136816322803497 + ] + }, + "final_grasp": { + "position": [ + -0.11263615638017654, + 0.021858416497707367, + 0.044907547533512115 + ], + "orientation": [ + 0.38701868057250977, + 0.4156709313392639, + 0.5921245217323303, + -0.5716841220855713 + ], + "joints": [ + 0.006625913083553314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018105819821357727, + -0.015211748890578747, + 0.12869639694690704 + ], + "orientation": [ + 0.7599630355834961, + -0.6460814476013184, + 0.03215879201889038, + 0.06325184553861618 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.0170942023396492, + -0.015100682154297829, + 0.12300954759120941 + ], + "orientation": [ + 0.7541552186012268, + -0.6524824500083923, + 0.02595381624996662, + 0.06959149986505508 + ], + "joints": [ + -0.0019912980496883392 + ] + }, + "final_grasp": { + "position": [ + 0.0170942023396492, + -0.015100682154297829, + 0.12300954759120941 + ], + "orientation": [ + 0.7541552186012268, + -0.6524824500083923, + 0.02595381624996662, + 0.06959149986505508 + ], + "joints": [ + 0.005448296666145325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020236993208527565, + -0.10205249488353729, + 0.042861100286245346 + ], + "orientation": [ + 0.9845508933067322, + -0.14674870669841766, + -0.0613008551299572, + -0.07325618714094162 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.021272432059049606, + -0.09948119521141052, + 0.0400967001914978 + ], + "orientation": [ + 0.9824529886245728, + -0.1560448855161667, + -0.057035792618989944, + -0.08475236594676971 + ], + "joints": [ + -0.001905921963043511 + ] + }, + "final_grasp": { + "position": [ + -0.021272432059049606, + -0.09948119521141052, + 0.0400967001914978 + ], + "orientation": [ + 0.9824529886245728, + -0.1560448855161667, + -0.057035792618989944, + -0.08475236594676971 + ], + "joints": [ + 0.00447087362408638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004875320475548506, + -0.10448196530342102, + -0.012772254645824432 + ], + "orientation": [ + 0.8038169145584106, + 0.028132975101470947, + 0.5917246341705322, + 0.05430462956428528 + ], + "joints": [ + -0.007769330404698849 + ] + }, + "fine_grasp": { + "position": [ + 0.005852910690009594, + -0.10713309049606323, + -0.014185579493641853 + ], + "orientation": [ + 0.8040046095848083, + 0.03126143291592598, + 0.5907352566719055, + 0.06025896593928337 + ], + "joints": [ + -0.0008345652604475617 + ] + }, + "final_grasp": { + "position": [ + 0.005852910690009594, + -0.10713309049606323, + -0.014185579493641853 + ], + "orientation": [ + 0.8040046095848083, + 0.03126143291592598, + 0.5907352566719055, + 0.06025896593928337 + ], + "joints": [ + 0.006100200116634369 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02608645334839821, + -0.106516033411026, + 0.029855331405997276 + ], + "orientation": [ + 0.9770163893699646, + -0.1288284957408905, + -0.1470109522342682, + -0.08502870053052902 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.025406165048480034, + -0.10146165639162064, + 0.027880482375621796 + ], + "orientation": [ + 0.9769177436828613, + -0.1295502781867981, + -0.14323897659778595, + -0.09127350151538849 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + -0.025406165048480034, + -0.10146165639162064, + 0.027880482375621796 + ], + "orientation": [ + 0.9769177436828613, + -0.1295502781867981, + -0.14323897659778595, + -0.09127350151538849 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019760914146900177, + -0.10206358134746552, + 0.04167706519365311 + ], + "orientation": [ + 0.9843367338180542, + -0.14841382205486298, + -0.06313997507095337, + -0.0711883082985878 + ], + "joints": [ + -0.008312158286571503 + ] + }, + "fine_grasp": { + "position": [ + -0.021208053454756737, + -0.09959068149328232, + 0.03925104811787605 + ], + "orientation": [ + 0.9826053380966187, + -0.15492063760757446, + -0.05850932002067566, + -0.08404192328453064 + ], + "joints": [ + -0.0019353629322722554 + ] + }, + "final_grasp": { + "position": [ + -0.021208053454756737, + -0.09959068149328232, + 0.03925104811787605 + ], + "orientation": [ + 0.9826053380966187, + -0.15492063760757446, + -0.05850932002067566, + -0.08404192328453064 + ], + "joints": [ + 0.0044414326548576355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015035634860396385, + -0.10488498955965042, + -0.004736658185720444 + ], + "orientation": [ + 0.9678508043289185, + 0.0031882666517049074, + 0.24170994758605957, + 0.06950612366199493 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.0168905109167099, + -0.10662984102964401, + -0.0050538391806185246 + ], + "orientation": [ + 0.968311607837677, + 0.004053753800690174, + 0.23810692131519318, + 0.07524166256189346 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + 0.0168905109167099, + -0.10662984102964401, + -0.0050538391806185246 + ], + "orientation": [ + 0.968311607837677, + 0.004053753800690174, + 0.23810692131519318, + 0.07524166256189346 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014042857103049755, + 0.06697311997413635, + -0.11314394325017929 + ], + "orientation": [ + 0.053141139447689056, + -0.02270142175257206, + 0.556999921798706, + 0.8284996747970581 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.01343166921287775, + 0.06705312430858612, + -0.11065907776355743 + ], + "orientation": [ + 0.06501638889312744, + -0.007403506897389889, + 0.5587285161018372, + 0.8267650604248047 + ], + "joints": [ + -0.0007591434987261891 + ] + }, + "final_grasp": { + "position": [ + 0.01343166921287775, + 0.06705312430858612, + -0.11065907776355743 + ], + "orientation": [ + 0.06501638889312744, + -0.007403506897389889, + 0.5587285161018372, + 0.8267650604248047 + ], + "joints": [ + 0.006175621412694454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021584635600447655, + -0.10192879289388657, + 0.007449020631611347 + ], + "orientation": [ + 0.3593791127204895, + 0.07866407930850983, + -0.9271659851074219, + 0.07086475938558578 + ], + "joints": [ + -0.00783719215542078 + ] + }, + "fine_grasp": { + "position": [ + 0.024266479536890984, + -0.10293146222829819, + 0.005041718948632479 + ], + "orientation": [ + 0.3476440906524658, + 0.09402365982532501, + -0.9308674335479736, + 0.061554599553346634 + ], + "joints": [ + -0.0009024270111694932 + ] + }, + "final_grasp": { + "position": [ + 0.024266479536890984, + -0.10293146222829819, + 0.005041718948632479 + ], + "orientation": [ + 0.3476440906524658, + 0.09402365982532501, + -0.9308674335479736, + 0.061554599553346634 + ], + "joints": [ + 0.0060323383659124374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1177312582731247, + -0.012036635540425777, + 0.010683495551347733 + ], + "orientation": [ + 0.6061667799949646, + -0.43850985169410706, + 0.4699396789073944, + 0.46843117475509644 + ], + "joints": [ + -0.007573045324534178 + ] + }, + "fine_grasp": { + "position": [ + 0.11800507456064224, + -0.011276859790086746, + 0.010596762411296368 + ], + "orientation": [ + 0.6207765340805054, + -0.4233119785785675, + 0.4499882757663727, + 0.4826531410217285 + ], + "joints": [ + -0.0011696798028424382 + ] + }, + "final_grasp": { + "position": [ + 0.11800507456064224, + -0.011276859790086746, + 0.010596762411296368 + ], + "orientation": [ + 0.6207765340805054, + -0.4233119785785675, + 0.4499882757663727, + 0.4826531410217285 + ], + "joints": [ + 0.005233685486018658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11485981941223145, + -0.0068266079761087894, + 0.020253922790288925 + ], + "orientation": [ + 0.5180246233940125, + 0.3874996602535248, + 0.5898081064224243, + -0.4833434224128723 + ], + "joints": [ + -0.007462883368134499 + ] + }, + "fine_grasp": { + "position": [ + -0.11835609376430511, + -0.0068489983677864075, + 0.02049199491739273 + ], + "orientation": [ + 0.5274786353111267, + 0.38210761547088623, + 0.5849350690841675, + -0.48333337903022766 + ], + "joints": [ + -0.0010860878974199295 + ] + }, + "final_grasp": { + "position": [ + -0.11835609376430511, + -0.0068489983677864075, + 0.02049199491739273 + ], + "orientation": [ + 0.5274786353111267, + 0.38210761547088623, + 0.5849350690841675, + -0.48333337903022766 + ], + "joints": [ + 0.00529070757329464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011048284359276295, + -0.1071162298321724, + 0.008160088211297989 + ], + "orientation": [ + 0.9786619544029236, + -0.03458154574036598, + 0.19637331366539001, + -0.04962383583188057 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.012290108948946, + -0.10544376075267792, + 0.0107595669105649 + ], + "orientation": [ + 0.9784445762634277, + -0.03146641328930855, + 0.19423900544643402, + -0.06266769766807556 + ], + "joints": [ + -0.0007871115230955184 + ] + }, + "final_grasp": { + "position": [ + -0.012290108948946, + -0.10544376075267792, + 0.0107595669105649 + ], + "orientation": [ + 0.9784445762634277, + -0.03146641328930855, + 0.19423900544643402, + -0.06266769766807556 + ], + "joints": [ + 0.006679053418338299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11532475799322128, + 0.04125891625881195, + 0.028345609083771706 + ], + "orientation": [ + 0.37458884716033936, + 0.50178062915802, + 0.5173514485359192, + -0.5833067893981934 + ], + "joints": [ + -0.00740298256278038 + ] + }, + "fine_grasp": { + "position": [ + -0.11729094386100769, + 0.042513519525527954, + 0.028946528211236 + ], + "orientation": [ + 0.38101276755332947, + 0.4958823323249817, + 0.51497882604599, + -0.5862822532653809 + ], + "joints": [ + -0.0009996171575039625 + ] + }, + "final_grasp": { + "position": [ + -0.11729094386100769, + 0.042513519525527954, + 0.028946528211236 + ], + "orientation": [ + 0.38101276755332947, + 0.4958823323249817, + 0.51497882604599, + -0.5862822532653809 + ], + "joints": [ + 0.005403748247772455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007585255894809961, + -0.102367103099823, + 0.013968546874821186 + ], + "orientation": [ + 0.663031280040741, + -0.011547663249075413, + 0.7450421452522278, + -0.07189133018255234 + ], + "joints": [ + -0.007245203480124474 + ] + }, + "fine_grasp": { + "position": [ + -0.007322657387703657, + -0.10456295311450958, + 0.015424198471009731 + ], + "orientation": [ + 0.6635633111000061, + -0.018136419355869293, + 0.744031548500061, + -0.07597270607948303 + ], + "joints": [ + -0.000841837958432734 + ] + }, + "final_grasp": { + "position": [ + -0.007322657387703657, + -0.10456295311450958, + 0.015424198471009731 + ], + "orientation": [ + 0.6635633111000061, + -0.018136419355869293, + 0.744031548500061, + -0.07597270607948303 + ], + "joints": [ + 0.005561527796089649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1147468239068985, + -0.0072512757033109665, + 0.020449284464120865 + ], + "orientation": [ + 0.5183882117271423, + 0.3860304653644562, + 0.5909531116485596, + -0.48273032903671265 + ], + "joints": [ + -0.007462885230779648 + ] + }, + "fine_grasp": { + "position": [ + -0.11826543509960175, + -0.007317661307752132, + 0.020694702863693237 + ], + "orientation": [ + 0.5277592539787292, + 0.38075295090675354, + 0.5859873294830322, + -0.4828210473060608 + ], + "joints": [ + -0.0010860897600650787 + ] + }, + "final_grasp": { + "position": [ + -0.11826543509960175, + -0.007317661307752132, + 0.020694702863693237 + ], + "orientation": [ + 0.5277592539787292, + 0.38075295090675354, + 0.5859873294830322, + -0.4828210473060608 + ], + "joints": [ + 0.00529070571064949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0396394208073616, + 0.06936833262443542, + 0.10381399095058441 + ], + "orientation": [ + 0.5187186002731323, + -0.8395211100578308, + 0.1295735090970993, + 0.0966741219162941 + ], + "joints": [ + -0.008222285658121109 + ] + }, + "fine_grasp": { + "position": [ + 0.03941349685192108, + 0.0680057555437088, + 0.10052374005317688 + ], + "orientation": [ + 0.5141657590866089, + -0.8426434397697449, + 0.1349598616361618, + 0.08585689961910248 + ], + "joints": [ + -0.0018189201364293694 + ] + }, + "final_grasp": { + "position": [ + 0.03941349685192108, + 0.0680057555437088, + 0.10052374005317688 + ], + "orientation": [ + 0.5141657590866089, + -0.8426434397697449, + 0.1349598616361618, + 0.08585689961910248 + ], + "joints": [ + 0.004584445618093014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010529088787734509, + -0.10204499214887619, + 0.014683300629258156 + ], + "orientation": [ + 0.651135265827179, + -0.0023361979983747005, + 0.7543531060218811, + -0.08347951620817184 + ], + "joints": [ + -0.007190939038991928 + ] + }, + "fine_grasp": { + "position": [ + -0.010239843279123306, + -0.10415048152208328, + 0.01599009893834591 + ], + "orientation": [ + 0.6552335619926453, + -0.009726864285767078, + 0.7504053711891174, + -0.08640623092651367 + ], + "joints": [ + -0.0007875735173001885 + ] + }, + "final_grasp": { + "position": [ + -0.010239843279123306, + -0.10415048152208328, + 0.01599009893834591 + ], + "orientation": [ + 0.6552335619926453, + -0.009726864285767078, + 0.7504053711891174, + -0.08640623092651367 + ], + "joints": [ + 0.005615792237222195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09117815643548965, + 0.008843273855745792, + -0.0816282331943512 + ], + "orientation": [ + 0.6745092272758484, + 0.6146499514579773, + 0.2547122836112976, + -0.3199441432952881 + ], + "joints": [ + -0.008065459318459034 + ] + }, + "fine_grasp": { + "position": [ + -0.09233855456113815, + 0.00968127604573965, + -0.08281730860471725 + ], + "orientation": [ + 0.6823403835296631, + 0.6066988706588745, + 0.2453915774822235, + -0.325747013092041 + ], + "joints": [ + -0.0011306942906230688 + ] + }, + "final_grasp": { + "position": [ + -0.09233855456113815, + 0.00968127604573965, + -0.08281730860471725 + ], + "orientation": [ + 0.6823403835296631, + 0.6066988706588745, + 0.2453915774822235, + -0.325747013092041 + ], + "joints": [ + 0.005804070737212896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05266232043504715, + 0.08995989710092545, + -0.09422092139720917 + ], + "orientation": [ + 0.3160560429096222, + 0.82723468542099, + 0.3842158615589142, + 0.26109302043914795 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.05388281121850014, + 0.09079106897115707, + -0.09378442913293839 + ], + "orientation": [ + 0.3255364000797272, + 0.8237354755401611, + 0.3849741816520691, + 0.259385347366333 + ], + "joints": [ + -0.01574878767132759 + ] + }, + "final_grasp": { + "position": [ + -0.05388281121850014, + 0.09079106897115707, + -0.09378442913293839 + ], + "orientation": [ + 0.3255364000797272, + 0.8237354755401611, + 0.3849741816520691, + 0.259385347366333 + ], + "joints": [ + -0.011497575789690018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008103086613118649, + -0.10678926855325699, + -0.01076385285705328 + ], + "orientation": [ + 0.621586799621582, + 0.06820357590913773, + -0.7803694009780884, + 0.0013455487787723541 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.01010147389024496, + -0.10472995787858963, + -0.013103887438774109 + ], + "orientation": [ + 0.620238721370697, + 0.07485873997211456, + -0.7807223200798035, + -0.013143878430128098 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + 0.01010147389024496, + -0.10472995787858963, + -0.013103887438774109 + ], + "orientation": [ + 0.620238721370697, + 0.07485873997211456, + -0.7807223200798035, + -0.013143878430128098 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007674118038266897, + -0.1023881733417511, + 0.013539901934564114 + ], + "orientation": [ + 0.6618738174438477, + -0.009977535344660282, + 0.746228039264679, + -0.07047881931066513 + ], + "joints": [ + -0.007543605752289295 + ] + }, + "fine_grasp": { + "position": [ + -0.007405902724713087, + -0.10455652326345444, + 0.015128359198570251 + ], + "orientation": [ + 0.6625277996063232, + -0.016781799495220184, + 0.7450647354125977, + -0.07519180327653885 + ], + "joints": [ + -0.0006088404916226864 + ] + }, + "final_grasp": { + "position": [ + -0.007405902724713087, + -0.10455652326345444, + 0.015128359198570251 + ], + "orientation": [ + 0.6625277996063232, + -0.016781799495220184, + 0.7450647354125977, + -0.07519180327653885 + ], + "joints": [ + 0.006325924769043922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02247762121260166, + -0.10145089775323868, + 0.008030395954847336 + ], + "orientation": [ + 0.3665425181388855, + 0.07935147732496262, + -0.9242474436759949, + 0.07153116166591644 + ], + "joints": [ + -0.0075714136473834515 + ] + }, + "fine_grasp": { + "position": [ + 0.025128096342086792, + -0.10282013565301895, + 0.0057307640090584755 + ], + "orientation": [ + 0.3599683940410614, + 0.09396015107631683, + -0.9260209798812866, + 0.06387053430080414 + ], + "joints": [ + -0.001168048125691712 + ] + }, + "final_grasp": { + "position": [ + 0.025128096342086792, + -0.10282013565301895, + 0.0057307640090584755 + ], + "orientation": [ + 0.3599683940410614, + 0.09396015107631683, + -0.9260209798812866, + 0.06387053430080414 + ], + "joints": [ + 0.005235317163169384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005175528582185507, + -0.10305211693048477, + -0.011889641173183918 + ], + "orientation": [ + 0.9304802417755127, + 0.049677375704050064, + -0.36123520135879517, + -0.03532598912715912 + ], + "joints": [ + -0.007537078112363815 + ] + }, + "fine_grasp": { + "position": [ + -0.006550689227879047, + -0.10514149814844131, + -0.013466251082718372 + ], + "orientation": [ + 0.9314591288566589, + 0.04921829327940941, + -0.35745033621788025, + -0.04680568352341652 + ], + "joints": [ + -0.0011337125906720757 + ] + }, + "final_grasp": { + "position": [ + -0.006550689227879047, + -0.10514149814844131, + -0.013466251082718372 + ], + "orientation": [ + 0.9314591288566589, + 0.04921829327940941, + -0.35745033621788025, + -0.04680568352341652 + ], + "joints": [ + 0.0052696531638503075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09406726807355881, + 0.05144580081105232, + -0.06595004349946976 + ], + "orientation": [ + 0.527672290802002, + 0.7188897728919983, + -0.30398598313331604, + 0.3351893126964569 + ], + "joints": [ + -0.007175624370574951 + ] + }, + "fine_grasp": { + "position": [ + 0.09443480521440506, + 0.051896627992391586, + -0.06691489368677139 + ], + "orientation": [ + 0.5306549668312073, + 0.7156347036361694, + -0.3059014081954956, + 0.3357031047344208 + ], + "joints": [ + -0.0007722588488832116 + ] + }, + "final_grasp": { + "position": [ + 0.09443480521440506, + 0.051896627992391586, + -0.06691489368677139 + ], + "orientation": [ + 0.5306549668312073, + 0.7156347036361694, + -0.3059014081954956, + 0.3357031047344208 + ], + "joints": [ + 0.005631106905639172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009121564216911793, + -0.10401429235935211, + -0.007711426820605993 + ], + "orientation": [ + 0.8576732873916626, + 0.018042389303445816, + -0.511911928653717, + -0.044913019984960556 + ], + "joints": [ + -0.007354567758738995 + ] + }, + "fine_grasp": { + "position": [ + -0.009998715482652187, + -0.1054297536611557, + -0.010719630867242813 + ], + "orientation": [ + 0.8595017194747925, + 0.023312721401453018, + -0.5072143077850342, + -0.058710865676403046 + ], + "joints": [ + -0.0009512023534625769 + ] + }, + "final_grasp": { + "position": [ + -0.009998715482652187, + -0.1054297536611557, + -0.010719630867242813 + ], + "orientation": [ + 0.8595017194747925, + 0.023312721401453018, + -0.5072143077850342, + -0.058710865676403046 + ], + "joints": [ + 0.005452163051813841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009393907152116299, + -0.10290497541427612, + -0.018968505784869194 + ], + "orientation": [ + 0.8962422013282776, + 0.09410233795642853, + 0.43346667289733887, + -0.001160310348495841 + ], + "joints": [ + -0.007462887093424797 + ] + }, + "fine_grasp": { + "position": [ + -0.008400055579841137, + -0.1058068796992302, + -0.021150799468159676 + ], + "orientation": [ + 0.8924283981323242, + 0.09603921324014664, + 0.4407430589199066, + 0.009674412198364735 + ], + "joints": [ + -0.0010595216881483793 + ] + }, + "final_grasp": { + "position": [ + -0.008400055579841137, + -0.1058068796992302, + -0.021150799468159676 + ], + "orientation": [ + 0.8924283981323242, + 0.09603921324014664, + 0.4407430589199066, + 0.009674412198364735 + ], + "joints": [ + 0.005343843717128038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07027745246887207, + 0.021211648359894753, + -0.09717048704624176 + ], + "orientation": [ + 0.22738417983055115, + -0.2076123207807541, + -0.6590543985366821, + -0.68617844581604 + ], + "joints": [ + -0.007569700013846159 + ] + }, + "fine_grasp": { + "position": [ + -0.07041724771261215, + 0.021326329559087753, + -0.09618767350912094 + ], + "orientation": [ + 0.2192428857088089, + -0.21219609677791595, + -0.6613701581954956, + -0.6851970553398132 + ], + "joints": [ + -0.0016977342311292887 + ] + }, + "final_grasp": { + "position": [ + -0.07041724771261215, + 0.021326329559087753, + -0.09618767350912094 + ], + "orientation": [ + 0.2192428857088089, + -0.21219609677791595, + -0.6613701581954956, + -0.6851970553398132 + ], + "joints": [ + 0.004174231551587582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10950517654418945, + -0.04439167305827141, + 0.04323519393801689 + ], + "orientation": [ + 0.44755497574806213, + 0.32327428460121155, + -0.704192578792572, + 0.4464316666126251 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.10503643751144409, + -0.04299135133624077, + 0.04113650694489479 + ], + "orientation": [ + 0.44151562452316284, + 0.3309042155742645, + -0.7043017148971558, + 0.4466826021671295 + ], + "joints": [ + -0.0008976601529866457 + ] + }, + "final_grasp": { + "position": [ + 0.10503643751144409, + -0.04299135133624077, + 0.04113650694489479 + ], + "orientation": [ + 0.44151562452316284, + 0.3309042155742645, + -0.7043017148971558, + 0.4466826021671295 + ], + "joints": [ + 0.007046764250844717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03897658362984657, + -0.0967886820435524, + -0.017908215522766113 + ], + "orientation": [ + 0.7402732372283936, + 0.17301711440086365, + 0.6448554992675781, + -0.078880175948143 + ], + "joints": [ + -0.0075714136473834515 + ] + }, + "fine_grasp": { + "position": [ + -0.039199478924274445, + -0.09966117143630981, + -0.019827330484986305 + ], + "orientation": [ + 0.7336873412132263, + 0.1763562113046646, + 0.6526033878326416, + -0.0686303973197937 + ], + "joints": [ + -0.0016728779301047325 + ] + }, + "final_grasp": { + "position": [ + -0.039199478924274445, + -0.09966117143630981, + -0.019827330484986305 + ], + "orientation": [ + 0.7336873412132263, + 0.1763562113046646, + 0.6526033878326416, + -0.0686303973197937 + ], + "joints": [ + 0.0042256577871739864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00904631707817316, + -0.10390153527259827, + -0.007682406809180975 + ], + "orientation": [ + 0.8577818274497986, + 0.018219731748104095, + -0.511763870716095, + -0.044453155249357224 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.009910911321640015, + -0.10545264929533005, + -0.01077345386147499 + ], + "orientation": [ + 0.8597568273544312, + 0.023569857701659203, + -0.506840705871582, + -0.05809697508811951 + ], + "joints": [ + -0.0012345322174951434 + ] + }, + "final_grasp": { + "position": [ + -0.009910911321640015, + -0.10545264929533005, + -0.01077345386147499 + ], + "orientation": [ + 0.8597568273544312, + 0.023569857701659203, + -0.506840705871582, + -0.05809697508811951 + ], + "joints": [ + 0.0051954034715890884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0035705515183508396, + -0.10377539694309235, + -0.010475489310920238 + ], + "orientation": [ + 0.7277888655662537, + 0.02981170453131199, + -0.684242844581604, + -0.035305194556713104 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.003236921736970544, + -0.1052635982632637, + -0.0137382373213768 + ], + "orientation": [ + 0.729901909828186, + 0.03769207000732422, + -0.6808410882949829, + -0.04772820696234703 + ], + "joints": [ + -0.0007297025294974446 + ] + }, + "final_grasp": { + "position": [ + -0.003236921736970544, + -0.1052635982632637, + -0.0137382373213768 + ], + "orientation": [ + 0.729901909828186, + 0.03769207000732422, + -0.6808410882949829, + -0.04772820696234703 + ], + "joints": [ + 0.006205062381923199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006042067427188158, + -0.10346457362174988, + -0.016133204102516174 + ], + "orientation": [ + 0.8971959948539734, + 0.07561209797859192, + 0.43504783511161804, + 0.007463901303708553 + ], + "joints": [ + -0.007428551092743874 + ] + }, + "fine_grasp": { + "position": [ + -0.004841340705752373, + -0.10650783032178879, + -0.018328215926885605 + ], + "orientation": [ + 0.8941958546638489, + 0.07801840454339981, + 0.44043609499931335, + 0.018517842516303062 + ], + "joints": [ + -0.0010251856874674559 + ] + }, + "final_grasp": { + "position": [ + -0.004841340705752373, + -0.10650783032178879, + -0.018328215926885605 + ], + "orientation": [ + 0.8941958546638489, + 0.07801840454339981, + 0.44043609499931335, + 0.018517842516303062 + ], + "joints": [ + 0.005378179717808962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07366721332073212, + 0.03096676990389824, + 0.09300251305103302 + ], + "orientation": [ + 0.5790944695472717, + -0.7465111017227173, + -0.2874215543270111, + -0.15735220909118652 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.0729667991399765, + 0.0293099507689476, + 0.0924241691827774 + ], + "orientation": [ + 0.573644757270813, + -0.7504124045372009, + -0.28944090008735657, + -0.15503792464733124 + ], + "joints": [ + -0.0015414090594276786 + ] + }, + "final_grasp": { + "position": [ + -0.0729667991399765, + 0.0293099507689476, + 0.0924241691827774 + ], + "orientation": [ + 0.573644757270813, + -0.7504124045372009, + -0.28944090008735657, + -0.15503792464733124 + ], + "joints": [ + 0.005419925786554813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023640591651201248, + -0.09453434497117996, + -0.05609806627035141 + ], + "orientation": [ + 0.10739106684923172, + -0.07107286155223846, + -0.9666216969490051, + -0.22149114310741425 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.024164186790585518, + -0.09290358424186707, + -0.05257343500852585 + ], + "orientation": [ + 0.09573478251695633, + -0.08330252021551132, + -0.9626707434654236, + -0.23908273875713348 + ], + "joints": [ + -0.0008976601529866457 + ] + }, + "final_grasp": { + "position": [ + -0.024164186790585518, + -0.09290358424186707, + -0.05257343500852585 + ], + "orientation": [ + 0.09573478251695633, + -0.08330252021551132, + -0.9626707434654236, + -0.23908273875713348 + ], + "joints": [ + 0.007046764250844717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01985614374279976, + -0.10091286152601242, + -0.017575401812791824 + ], + "orientation": [ + 0.32489755749702454, + -0.05864645168185234, + -0.9387486577033997, + -0.09875840693712234 + ], + "joints": [ + -0.007504461333155632 + ] + }, + "fine_grasp": { + "position": [ + -0.0217939093708992, + -0.10414543002843857, + -0.01613479293882847 + ], + "orientation": [ + 0.3130148649215698, + -0.07303009182214737, + -0.9416277408599854, + -0.10012796521186829 + ], + "joints": [ + -0.0011010958114638925 + ] + }, + "final_grasp": { + "position": [ + -0.0217939093708992, + -0.10414543002843857, + -0.01613479293882847 + ], + "orientation": [ + 0.3130148649215698, + -0.07303009182214737, + -0.9416277408599854, + -0.10012796521186829 + ], + "joints": [ + 0.005302269943058491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028928933665156364, + -0.10091003775596619, + -0.008695479482412338 + ], + "orientation": [ + 0.45364105701446533, + -0.10039549320936203, + -0.8801532983779907, + -0.09726599603891373 + ], + "joints": [ + -0.007537077646702528 + ] + }, + "fine_grasp": { + "position": [ + -0.031063852831721306, + -0.1031414046883583, + -0.007177392952144146 + ], + "orientation": [ + 0.4456571340560913, + -0.11157619208097458, + -0.8833703994750977, + -0.0927216112613678 + ], + "joints": [ + -0.000602312502451241 + ] + }, + "final_grasp": { + "position": [ + -0.031063852831721306, + -0.1031414046883583, + -0.007177392952144146 + ], + "orientation": [ + 0.4456571340560913, + -0.11157619208097458, + -0.8833703994750977, + -0.0927216112613678 + ], + "joints": [ + 0.006332452408969402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028670530766248703, + -0.10098831355571747, + -0.008557258173823357 + ], + "orientation": [ + 0.4531041979789734, + -0.09983634203672409, + -0.8805896639823914, + -0.09639071673154831 + ], + "joints": [ + -0.007537077646702528 + ] + }, + "fine_grasp": { + "position": [ + -0.030839646235108376, + -0.10321146994829178, + -0.0070608132518827915 + ], + "orientation": [ + 0.44528013467788696, + -0.11097399890422821, + -0.8837348818778992, + -0.09177704900503159 + ], + "joints": [ + -0.000602312502451241 + ] + }, + "final_grasp": { + "position": [ + -0.030839646235108376, + -0.10321146994829178, + -0.0070608132518827915 + ], + "orientation": [ + 0.44528013467788696, + -0.11097399890422821, + -0.8837348818778992, + -0.09177704900503159 + ], + "joints": [ + 0.006332452408969402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0036275836173444986, + -0.10307330638170242, + -0.010392773896455765 + ], + "orientation": [ + 0.7288253903388977, + 0.028316859155893326, + -0.6831590533256531, + -0.03613213449716568 + ], + "joints": [ + -0.0076040360145270824 + ] + }, + "fine_grasp": { + "position": [ + -0.0035302627366036177, + -0.10523932427167892, + -0.013280990533530712 + ], + "orientation": [ + 0.730637788772583, + 0.03586983680725098, + -0.6801465749740601, + -0.047774963080883026 + ], + "joints": [ + -0.0006692707538604736 + ] + }, + "final_grasp": { + "position": [ + -0.0035302627366036177, + -0.10523932427167892, + -0.013280990533530712 + ], + "orientation": [ + 0.730637788772583, + 0.03586983680725098, + -0.6801465749740601, + -0.047774963080883026 + ], + "joints": [ + 0.006265494506806135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011739836074411869, + -0.10005311667919159, + -0.0318397581577301 + ], + "orientation": [ + 0.3191683292388916, + -0.0026023173704743385, + 0.935454785823822, + 0.1518196165561676 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.010360721498727798, + -0.10293500125408173, + -0.03371160104870796 + ], + "orientation": [ + 0.32549166679382324, + 0.006867868825793266, + 0.932624876499176, + 0.15562425553798676 + ], + "joints": [ + -0.0012345322174951434 + ] + }, + "final_grasp": { + "position": [ + 0.010360721498727798, + -0.10293500125408173, + -0.03371160104870796 + ], + "orientation": [ + 0.32549166679382324, + 0.006867868825793266, + 0.932624876499176, + 0.15562425553798676 + ], + "joints": [ + 0.0051954034715890884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012615733779966831, + -0.1110668033361435, + 0.02652750350534916 + ], + "orientation": [ + 0.3232193887233734, + -0.06752123683691025, + 0.9341350793838501, + -0.135506272315979 + ], + "joints": [ + -0.008164954371750355 + ] + }, + "fine_grasp": { + "position": [ + 0.012125394307076931, + -0.10738971084356308, + 0.025773359462618828 + ], + "orientation": [ + 0.3170919418334961, + -0.071345753967762, + 0.935272216796875, + -0.14010120928287506 + ], + "joints": [ + -0.0027978187426924706 + ] + }, + "final_grasp": { + "position": [ + 0.012125394307076931, + -0.10738971084356308, + 0.025773359462618828 + ], + "orientation": [ + 0.3170919418334961, + -0.071345753967762, + 0.935272216796875, + -0.14010120928287506 + ], + "joints": [ + 0.0025693168863654137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046373266726732254, + 0.02000138722360134, + 0.10930697619915009 + ], + "orientation": [ + 0.6969917416572571, + -0.688105583190918, + -0.12567415833473206, + -0.1578586846590042 + ], + "joints": [ + -0.007500931620597839 + ] + }, + "fine_grasp": { + "position": [ + -0.045763008296489716, + 0.0202952791005373, + 0.1104530394077301 + ], + "orientation": [ + 0.7020612955093384, + -0.6821179389953613, + -0.12163335829973221, + -0.1644088327884674 + ], + "joints": [ + -0.0016289657214656472 + ] + }, + "final_grasp": { + "position": [ + -0.045763008296489716, + 0.0202952791005373, + 0.1104530394077301 + ], + "orientation": [ + 0.7020612955093384, + -0.6821179389953613, + -0.12163335829973221, + -0.1644088327884674 + ], + "joints": [ + 0.004243000410497189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018448494374752045, + -0.09148160368204117, + -0.0502200685441494 + ], + "orientation": [ + 0.10558705031871796, + -0.059753142297267914, + -0.9654250144958496, + -0.23072776198387146 + ], + "joints": [ + -0.008060297928750515 + ] + }, + "fine_grasp": { + "position": [ + -0.022394290193915367, + -0.09405583143234253, + -0.05032980069518089 + ], + "orientation": [ + 0.09178219735622406, + -0.07849030941724777, + -0.9660882949829102, + -0.22822970151901245 + ], + "joints": [ + -0.001125532784499228 + ] + }, + "final_grasp": { + "position": [ + -0.022394290193915367, + -0.09405583143234253, + -0.05032980069518089 + ], + "orientation": [ + 0.09178219735622406, + -0.07849030941724777, + -0.9660882949829102, + -0.22822970151901245 + ], + "joints": [ + 0.005809232592582703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06405235826969147, + -0.08771739900112152, + -0.0014703465858474374 + ], + "orientation": [ + 0.5232246518135071, + 0.2431671917438507, + -0.8017148375511169, + 0.15607360005378723 + ], + "joints": [ + -0.007862381637096405 + ] + }, + "fine_grasp": { + "position": [ + 0.06603597104549408, + -0.09021785855293274, + -0.0015370335895568132 + ], + "orientation": [ + 0.5220269560813904, + 0.2416376769542694, + -0.8028154969215393, + 0.15680095553398132 + ], + "joints": [ + -0.001963845919817686 + ] + }, + "final_grasp": { + "position": [ + 0.06603597104549408, + -0.09021785855293274, + -0.0015370335895568132 + ], + "orientation": [ + 0.5220269560813904, + 0.2416376769542694, + -0.8028154969215393, + 0.15680095553398132 + ], + "joints": [ + 0.003934689797461033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007178103551268578, + -0.10409106314182281, + 0.010674596764147282 + ], + "orientation": [ + 0.9783627390861511, + -0.04746377468109131, + -0.19740338623523712, + 0.039816971868276596 + ], + "joints": [ + -0.0076040360145270824 + ] + }, + "fine_grasp": { + "position": [ + 0.009191860444843769, + -0.10648908466100693, + 0.012206640094518661 + ], + "orientation": [ + 0.9781856536865234, + -0.05019205063581467, + -0.19531120359897614, + 0.049871776252985 + ], + "joints": [ + -0.0006958408048376441 + ] + }, + "final_grasp": { + "position": [ + 0.009191860444843769, + -0.10648908466100693, + 0.012206640094518661 + ], + "orientation": [ + 0.9781856536865234, + -0.05019205063581467, + -0.19531120359897614, + 0.049871776252985 + ], + "joints": [ + 0.006212354637682438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1110568717122078, + 0.03887578845024109, + -0.057174645364284515 + ], + "orientation": [ + 0.5574250817298889, + 0.6423638463020325, + -0.32427895069122314, + 0.4141124188899994 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.10606950521469116, + 0.03879636526107788, + -0.055273547768592834 + ], + "orientation": [ + 0.5652869343757629, + 0.6323689222335815, + -0.32606619596481323, + 0.41742193698883057 + ], + "joints": [ + -0.0008136816322803497 + ] + }, + "final_grasp": { + "position": [ + 0.10606950521469116, + 0.03879636526107788, + -0.055273547768592834 + ], + "orientation": [ + 0.5652869343757629, + 0.6323689222335815, + -0.32606619596481323, + 0.41742193698883057 + ], + "joints": [ + 0.006625913083553314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0465194396674633, + 0.02059314399957657, + 0.10915502160787582 + ], + "orientation": [ + 0.6949321031570435, + -0.6900432705879211, + -0.12790895998477936, + -0.15668071806430817 + ], + "joints": [ + -0.0072735752910375595 + ] + }, + "fine_grasp": { + "position": [ + -0.04582473263144493, + 0.020852917805314064, + 0.11015170812606812 + ], + "orientation": [ + 0.6993679404258728, + -0.6849104762077332, + -0.12389248609542847, + -0.16258147358894348 + ], + "joints": [ + -0.0014281794428825378 + ] + }, + "final_grasp": { + "position": [ + -0.04582473263144493, + 0.020852917805314064, + 0.11015170812606812 + ], + "orientation": [ + 0.6993679404258728, + -0.6849104762077332, + -0.12389248609542847, + -0.16258147358894348 + ], + "joints": [ + 0.004417216405272484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08779280632734299, + 0.1233537420630455, + 0.0033467202447354794 + ], + "orientation": [ + 0.27533286809921265, + 0.5265585780143738, + 0.20441745221614838, + -0.7779083251953125 + ], + "joints": [ + -0.01021028682589531 + ] + }, + "fine_grasp": { + "position": [ + -0.08397054672241211, + 0.11990255862474442, + 0.0035487888380885124 + ], + "orientation": [ + 0.2803744375705719, + 0.5216359496116638, + 0.21577264368534088, + -0.7763558030128479 + ], + "joints": [ + -0.0038600610569119453 + ] + }, + "final_grasp": { + "position": [ + -0.08397054672241211, + 0.11990255862474442, + 0.0035487888380885124 + ], + "orientation": [ + 0.2803744375705719, + 0.5216359496116638, + 0.21577264368534088, + -0.7763558030128479 + ], + "joints": [ + 0.0024901647120714188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011838233098387718, + -0.10012128204107285, + -0.032060153782367706 + ], + "orientation": [ + 0.3193013370037079, + -0.00170396757312119, + 0.9357072710990906, + 0.14998584985733032 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.0102780656889081, + -0.10297901928424835, + -0.03370826691389084 + ], + "orientation": [ + 0.32552018761634827, + 0.0072267367504537106, + 0.9326760172843933, + 0.15524163842201233 + ], + "joints": [ + -0.0012345322174951434 + ] + }, + "final_grasp": { + "position": [ + 0.0102780656889081, + -0.10297901928424835, + -0.03370826691389084 + ], + "orientation": [ + 0.32552018761634827, + 0.0072267367504537106, + 0.9326760172843933, + 0.15524163842201233 + ], + "joints": [ + 0.0051954034715890884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00281285447999835, + -0.10733649134635925, + 0.016172992065548897 + ], + "orientation": [ + 0.9018211960792542, + -0.04917492717504501, + -0.4283996820449829, + 0.02782442979514599 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 3.6124045436736196e-05, + -0.10685425251722336, + 0.016542881727218628 + ], + "orientation": [ + 0.8973861336708069, + -0.06931440532207489, + -0.43467608094215393, + 0.03082851879298687 + ], + "joints": [ + -0.0007871115813031793 + ] + }, + "final_grasp": { + "position": [ + 3.6124045436736196e-05, + -0.10685425251722336, + 0.016542881727218628 + ], + "orientation": [ + 0.8973861336708069, + -0.06931440532207489, + -0.43467608094215393, + 0.03082851879298687 + ], + "joints": [ + 0.006679053418338299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11105764657258987, + 0.038830485194921494, + -0.057172756642103195 + ], + "orientation": [ + 0.5570741295814514, + 0.642681896686554, + -0.32417309284210205, + 0.41417422890663147 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.10607777535915375, + 0.038755692541599274, + -0.055257052183151245 + ], + "orientation": [ + 0.5650394558906555, + 0.6324949264526367, + -0.32580089569091797, + 0.4177730083465576 + ], + "joints": [ + -0.0008136816322803497 + ] + }, + "final_grasp": { + "position": [ + 0.10607777535915375, + 0.038755692541599274, + -0.055257052183151245 + ], + "orientation": [ + 0.5650394558906555, + 0.6324949264526367, + -0.32580089569091797, + 0.4177730083465576 + ], + "joints": [ + 0.006625913083553314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08551019430160522, + -0.03013235703110695, + 0.07237459719181061 + ], + "orientation": [ + 0.729036271572113, + -0.5316499471664429, + -0.3670792877674103, + -0.22606906294822693 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.08458038419485092, + -0.028002940118312836, + 0.07578520476818085 + ], + "orientation": [ + 0.7269411683082581, + -0.535431981086731, + -0.37990060448646545, + -0.20135724544525146 + ], + "joints": [ + -0.0012876722030341625 + ] + }, + "final_grasp": { + "position": [ + -0.08458038419485092, + -0.028002940118312836, + 0.07578520476818085 + ], + "orientation": [ + 0.7269411683082581, + -0.535431981086731, + -0.37990060448646545, + -0.20135724544525146 + ], + "joints": [ + 0.005089123267680407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017878584563732147, + -0.0912368968129158, + -0.050660643726587296 + ], + "orientation": [ + 0.10074123740196228, + -0.05837281420826912, + -0.9656878709793091, + -0.2321438044309616 + ], + "joints": [ + -0.007849466055631638 + ] + }, + "fine_grasp": { + "position": [ + -0.022059081122279167, + -0.09413059800863266, + -0.05151323229074478 + ], + "orientation": [ + 0.09274851530790329, + -0.07440423220396042, + -0.9667710661888123, + -0.22630855441093445 + ], + "joints": [ + -0.001419530832208693 + ] + }, + "final_grasp": { + "position": [ + -0.022059081122279167, + -0.09413059800863266, + -0.05151323229074478 + ], + "orientation": [ + 0.09274851530790329, + -0.07440423220396042, + -0.9667710661888123, + -0.22630855441093445 + ], + "joints": [ + 0.005010404624044895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045572128146886826, + 0.0196914691478014, + 0.10987235605716705 + ], + "orientation": [ + 0.697555422782898, + -0.6886786818504333, + -0.12327184528112411, + -0.15473242104053497 + ], + "joints": [ + -0.0072735752910375595 + ] + }, + "fine_grasp": { + "position": [ + -0.044764839112758636, + 0.02009705826640129, + 0.1106206551194191 + ], + "orientation": [ + 0.7019423246383667, + -0.6835191249847412, + -0.11899793148040771, + -0.16099143028259277 + ], + "joints": [ + -0.0014281794428825378 + ] + }, + "final_grasp": { + "position": [ + -0.044764839112758636, + 0.02009705826640129, + 0.1106206551194191 + ], + "orientation": [ + 0.7019423246383667, + -0.6835191249847412, + -0.11899793148040771, + -0.16099143028259277 + ], + "joints": [ + 0.004417216405272484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002648166613653302, + -0.10747047513723373, + 0.016292287036776543 + ], + "orientation": [ + 0.9002127051353455, + -0.048202984035015106, + -0.43177902698516846, + 0.029333490878343582 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 8.405416156165302e-05, + -0.10688352584838867, + 0.016378073021769524 + ], + "orientation": [ + 0.8961736559867859, + -0.06842785328626633, + -0.4373052716255188, + 0.030894286930561066 + ], + "joints": [ + -0.0007871115813031793 + ] + }, + "final_grasp": { + "position": [ + 8.405416156165302e-05, + -0.10688352584838867, + 0.016378073021769524 + ], + "orientation": [ + 0.8961736559867859, + -0.06842785328626633, + -0.4373052716255188, + 0.030894286930561066 + ], + "joints": [ + 0.006679053418338299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04819301515817642, + -0.0915057361125946, + -0.026024803519248962 + ], + "orientation": [ + 0.7831107974052429, + 0.2198653221130371, + 0.57198566198349, + -0.10596740990877151 + ], + "joints": [ + -0.007502740249037743 + ] + }, + "fine_grasp": { + "position": [ + -0.049514442682266235, + -0.0933651477098465, + -0.027284102514386177 + ], + "orientation": [ + 0.7814933061599731, + 0.2196497768163681, + 0.575775682926178, + -0.09749110788106918 + ], + "joints": [ + -0.0016307743499055505 + ] + }, + "final_grasp": { + "position": [ + -0.049514442682266235, + -0.0933651477098465, + -0.027284102514386177 + ], + "orientation": [ + 0.7814933061599731, + 0.2196497768163681, + 0.575775682926178, + -0.09749110788106918 + ], + "joints": [ + 0.004241191782057285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00312860868871212, + -0.0977252647280693, + 0.037118058651685715 + ], + "orientation": [ + 0.9720327854156494, + -0.14989136159420013, + 0.17990440130233765, + -0.017867455258965492 + ], + "joints": [ + -0.007354567758738995 + ] + }, + "fine_grasp": { + "position": [ + 0.0012488688807934523, + -0.10060536861419678, + 0.037091489881277084 + ], + "orientation": [ + 0.9696861505508423, + -0.1554632931947708, + 0.1866912990808487, + -0.026196880266070366 + ], + "joints": [ + -0.0014826018596068025 + ] + }, + "final_grasp": { + "position": [ + 0.0012488688807934523, + -0.10060536861419678, + 0.037091489881277084 + ], + "orientation": [ + 0.9696861505508423, + -0.1554632931947708, + 0.1866912990808487, + -0.026196880266070366 + ], + "joints": [ + 0.004389364272356033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003193641547113657, + -0.09788820147514343, + 0.03703181445598602 + ], + "orientation": [ + 0.972247302532196, + -0.14924736320972443, + 0.17932921648025513, + -0.017361078411340714 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.0012399367988109589, + -0.1006346046924591, + 0.0369168296456337 + ], + "orientation": [ + 0.9698845744132996, + -0.15476252138614655, + 0.1862834244966507, + -0.025903228670358658 + ], + "joints": [ + -0.001261102152056992 + ] + }, + "final_grasp": { + "position": [ + 0.0012399367988109589, + -0.1006346046924591, + 0.0369168296456337 + ], + "orientation": [ + 0.9698845744132996, + -0.15476252138614655, + 0.1862834244966507, + -0.025903228670358658 + ], + "joints": [ + 0.005142263136804104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023452989757061005, + -0.10167790949344635, + -0.05464925616979599 + ], + "orientation": [ + 0.11427004635334015, + -0.06544097512960434, + 0.974044144153595, + 0.18411411345005035 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.02295003831386566, + -0.09765193611383438, + -0.05186719074845314 + ], + "orientation": [ + 0.10871285200119019, + -0.07257532328367233, + 0.9733226299285889, + 0.18856725096702576 + ], + "joints": [ + -0.0024652890861034393 + ] + }, + "final_grasp": { + "position": [ + 0.02295003831386566, + -0.09765193611383438, + -0.05186719074845314 + ], + "orientation": [ + 0.10871285200119019, + -0.07257532328367233, + 0.9733226299285889, + 0.18856725096702576 + ], + "joints": [ + 0.00391150638461113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045832835137844086, + 0.020127704367041588, + 0.10951005667448044 + ], + "orientation": [ + 0.6964306235313416, + -0.6893907189369202, + -0.12441448122262955, + -0.15571090579032898 + ], + "joints": [ + -0.0072735752910375595 + ] + }, + "fine_grasp": { + "position": [ + -0.04509928077459335, + 0.020414330065250397, + 0.11040203273296356 + ], + "orientation": [ + 0.7003360390663147, + -0.6847374439239502, + -0.12050960958003998, + -0.16168376803398132 + ], + "joints": [ + -0.0014281794428825378 + ] + }, + "final_grasp": { + "position": [ + -0.04509928077459335, + 0.020414330065250397, + 0.11040203273296356 + ], + "orientation": [ + 0.7003360390663147, + -0.6847374439239502, + -0.12050960958003998, + -0.16168376803398132 + ], + "joints": [ + 0.004417216405272484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012979076243937016, + -0.11122588068246841, + 0.026138518005609512 + ], + "orientation": [ + 0.32350751757621765, + -0.06662767380475998, + 0.9335564970970154, + -0.13919788599014282 + ], + "joints": [ + -0.007576146628707647 + ] + }, + "fine_grasp": { + "position": [ + 0.01220725942403078, + -0.1100086122751236, + 0.0265728197991848 + ], + "orientation": [ + 0.3195474445819855, + -0.07261360436677933, + 0.934459924697876, + -0.13928824663162231 + ], + "joints": [ + -0.002235580701380968 + ] + }, + "final_grasp": { + "position": [ + 0.01220725942403078, + -0.1100086122751236, + 0.0265728197991848 + ], + "orientation": [ + 0.3195474445819855, + -0.07261360436677933, + 0.934459924697876, + -0.13928824663162231 + ], + "joints": [ + 0.003104985225945711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039180148392915726, + -0.09804429113864899, + -0.0031653251498937607 + ], + "orientation": [ + 0.6274555921554565, + 0.1412569135427475, + 0.7593088150024414, + -0.09897471964359283 + ], + "joints": [ + -0.007753065787255764 + ] + }, + "fine_grasp": { + "position": [ + -0.040263209491968155, + -0.10077572613954544, + -0.0048301247879862785 + ], + "orientation": [ + 0.6260078549385071, + 0.14584331214427948, + 0.7606955766677856, + -0.0904775857925415 + ], + "joints": [ + -0.0013497002655640244 + ] + }, + "final_grasp": { + "position": [ + -0.040263209491968155, + -0.10077572613954544, + -0.0048301247879862785 + ], + "orientation": [ + 0.6260078549385071, + 0.14584331214427948, + 0.7606955766677856, + -0.0904775857925415 + ], + "joints": [ + 0.005053665488958359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0875338688492775, + -0.020162148401141167, + -0.08072599023580551 + ], + "orientation": [ + 0.7488356828689575, + 0.5393749475479126, + -0.1871316134929657, + 0.336603045463562 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.08494094014167786, + -0.017487553879618645, + -0.07956661283969879 + ], + "orientation": [ + 0.7586958408355713, + 0.5268462896347046, + -0.18447981774806976, + 0.3358282744884491 + ], + "joints": [ + -0.0029378067702054977 + ] + }, + "final_grasp": { + "position": [ + 0.08494094014167786, + -0.017487553879618645, + -0.07956661283969879 + ], + "orientation": [ + 0.7586958408355713, + 0.5268462896347046, + -0.18447981774806976, + 0.3358282744884491 + ], + "joints": [ + 0.002907589077949524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04816460236907005, + -0.09155583381652832, + -0.025551727041602135 + ], + "orientation": [ + 0.7829841375350952, + 0.21816690266132355, + 0.5726265907287598, + -0.10694779455661774 + ], + "joints": [ + -0.007502743974328041 + ] + }, + "fine_grasp": { + "position": [ + -0.049440860748291016, + -0.09348466992378235, + -0.02682550437748432 + ], + "orientation": [ + 0.7813694477081299, + 0.21860109269618988, + 0.5761176943778992, + -0.09881173074245453 + ], + "joints": [ + -0.001630778075195849 + ] + }, + "final_grasp": { + "position": [ + -0.049440860748291016, + -0.09348466992378235, + -0.02682550437748432 + ], + "orientation": [ + 0.7813694477081299, + 0.21860109269618988, + 0.5761176943778992, + -0.09881173074245453 + ], + "joints": [ + 0.004241188056766987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11385484039783478, + -0.0033440692350268364, + 0.0272396057844162 + ], + "orientation": [ + 0.4947962760925293, + 0.37729784846305847, + -0.5915173292160034, + 0.5127671957015991 + ], + "joints": [ + -0.007144474424421787 + ] + }, + "fine_grasp": { + "position": [ + 0.11607704311609268, + -0.003401047084480524, + 0.027497515082359314 + ], + "orientation": [ + 0.49533629417419434, + 0.3714563250541687, + -0.5940031409263611, + 0.5136364698410034 + ], + "joints": [ + -0.0012990785762667656 + ] + }, + "final_grasp": { + "position": [ + 0.11607704311609268, + -0.003401047084480524, + 0.027497515082359314 + ], + "orientation": [ + 0.49533629417419434, + 0.3714563250541687, + -0.5940031409263611, + 0.5136364698410034 + ], + "joints": [ + 0.004546317271888256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039047155529260635, + -0.09813453257083893, + -0.0028055005241185427 + ], + "orientation": [ + 0.6285107731819153, + 0.13989636301994324, + 0.7585533261299133, + -0.10000064224004745 + ], + "joints": [ + -0.007537077646702528 + ] + }, + "fine_grasp": { + "position": [ + -0.040180228650569916, + -0.10075344145298004, + -0.004687049891799688 + ], + "orientation": [ + 0.6267390251159668, + 0.14494605362415314, + 0.7602300643920898, + -0.09076971560716629 + ], + "joints": [ + -0.001638541929423809 + ] + }, + "final_grasp": { + "position": [ + -0.040180228650569916, + -0.10075344145298004, + -0.004687049891799688 + ], + "orientation": [ + 0.6267390251159668, + 0.14494605362415314, + 0.7602300643920898, + -0.09076971560716629 + ], + "joints": [ + 0.00425999378785491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08533593267202377, + -0.030499571934342384, + 0.07161714136600494 + ], + "orientation": [ + 0.7317786812782288, + -0.5272345542907715, + -0.368083119392395, + -0.2259170114994049 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.08375822752714157, + -0.029049137607216835, + 0.0720209851861 + ], + "orientation": [ + 0.7263393998146057, + -0.5302862524986267, + -0.3850788474082947, + -0.20722417533397675 + ], + "joints": [ + -0.0017925018910318613 + ] + }, + "final_grasp": { + "position": [ + -0.08375822752714157, + -0.029049137607216835, + 0.0720209851861 + ], + "orientation": [ + 0.7263393998146057, + -0.5302862524986267, + -0.3850788474082947, + -0.20722417533397675 + ], + "joints": [ + 0.004079463891685009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011895375326275826, + -0.10385307669639587, + 0.0029322891496121883 + ], + "orientation": [ + 0.9522887468338013, + -0.03662126138806343, + 0.2988274395465851, + 0.05007244274020195 + ], + "joints": [ + -0.007469942793250084 + ] + }, + "fine_grasp": { + "position": [ + 0.014275296591222286, + -0.10711060464382172, + 0.002070740796625614 + ], + "orientation": [ + 0.9513028860092163, + -0.03303629159927368, + 0.30038031935691833, + 0.060852039605379105 + ], + "joints": [ + -0.0010665773879736662 + ] + }, + "final_grasp": { + "position": [ + 0.014275296591222286, + -0.10711060464382172, + 0.002070740796625614 + ], + "orientation": [ + 0.9513028860092163, + -0.03303629159927368, + 0.30038031935691833, + 0.060852039605379105 + ], + "joints": [ + 0.0053367880173027515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010509975254535675, + -0.10347183793783188, + 0.008219568990170956 + ], + "orientation": [ + 0.990248441696167, + -0.04226259887218475, + 0.1256677508354187, + 0.04277319833636284 + ], + "joints": [ + -0.007506087422370911 + ] + }, + "fine_grasp": { + "position": [ + 0.013401305302977562, + -0.10635624080896378, + 0.007425971329212189 + ], + "orientation": [ + 0.9893990755081177, + -0.045379843562841415, + 0.12576104700565338, + 0.056693755090236664 + ], + "joints": [ + -0.001102721900679171 + ] + }, + "final_grasp": { + "position": [ + 0.013401305302977562, + -0.10635624080896378, + 0.007425971329212189 + ], + "orientation": [ + 0.9893990755081177, + -0.045379843562841415, + 0.12576104700565338, + 0.056693755090236664 + ], + "joints": [ + 0.005300643853843212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0003266457060817629, + -0.10382714122533798, + 0.011697637848556042 + ], + "orientation": [ + 0.2806621491909027, + -0.016523176804184914, + -0.9583926796913147, + 0.049387335777282715 + ], + "joints": [ + -0.0077159712091088295 + ] + }, + "fine_grasp": { + "position": [ + -0.0022983397357165813, + -0.10738066583871841, + 0.013593331910669804 + ], + "orientation": [ + 0.2922590374946594, + -0.02814413420855999, + -0.9544960260391235, + 0.05224773287773132 + ], + "joints": [ + -0.00131260568741709 + ] + }, + "final_grasp": { + "position": [ + -0.0022983397357165813, + -0.10738066583871841, + 0.013593331910669804 + ], + "orientation": [ + 0.2922590374946594, + -0.02814413420855999, + -0.9544960260391235, + 0.05224773287773132 + ], + "joints": [ + 0.005090760067105293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08717638999223709, + -0.01972202956676483, + -0.08051546663045883 + ], + "orientation": [ + 0.749869704246521, + 0.5380382537841797, + -0.1846807450056076, + 0.3377918004989624 + ], + "joints": [ + -0.009062111377716064 + ] + }, + "fine_grasp": { + "position": [ + 0.08467664569616318, + -0.017115304246544838, + -0.07940623164176941 + ], + "orientation": [ + 0.7584354281425476, + 0.5269747376441956, + -0.1838795393705368, + 0.33654341101646423 + ], + "joints": [ + -0.0026853159070014954 + ] + }, + "final_grasp": { + "position": [ + 0.08467664569616318, + -0.017115304246544838, + -0.07940623164176941 + ], + "orientation": [ + 0.7584354281425476, + 0.5269747376441956, + -0.1838795393705368, + 0.33654341101646423 + ], + "joints": [ + 0.0036914795637130737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03925582021474838, + -0.098028764128685, + -0.0025683888234198093 + ], + "orientation": [ + 0.6287693977355957, + 0.14001606404781342, + 0.758102536201477, + -0.1016116738319397 + ], + "joints": [ + -0.007504452019929886 + ] + }, + "fine_grasp": { + "position": [ + -0.040443290024995804, + -0.10065552592277527, + -0.004396944772452116 + ], + "orientation": [ + 0.6267313361167908, + 0.14486609399318695, + 0.7600058317184448, + -0.09280521422624588 + ], + "joints": [ + -0.001605916302651167 + ] + }, + "final_grasp": { + "position": [ + -0.040443290024995804, + -0.10065552592277527, + -0.004396944772452116 + ], + "orientation": [ + 0.6267313361167908, + 0.14486609399318695, + 0.7600058317184448, + -0.09280521422624588 + ], + "joints": [ + 0.004292619414627552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023281825706362724, + -0.10198059678077698, + -0.053475335240364075 + ], + "orientation": [ + 0.11419922858476639, + -0.06540730595588684, + 0.9730241298675537, + 0.18948481976985931 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.02313804067671299, + -0.09805319458246231, + -0.05004900321364403 + ], + "orientation": [ + 0.10977520048618317, + -0.07151111960411072, + 0.9715248942375183, + 0.19742074608802795 + ], + "joints": [ + -0.003054097294807434 + ] + }, + "final_grasp": { + "position": [ + 0.02313804067671299, + -0.09805319458246231, + -0.05004900321364403 + ], + "orientation": [ + 0.10977520048618317, + -0.07151111960411072, + 0.9715248942375183, + 0.19742074608802795 + ], + "joints": [ + 0.003322698175907135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01744828000664711, + -0.09138257801532745, + -0.05055181309580803 + ], + "orientation": [ + 0.09977193921804428, + -0.056712038815021515, + -0.9660638570785522, + -0.23140864074230194 + ], + "joints": [ + -0.008096447214484215 + ] + }, + "fine_grasp": { + "position": [ + -0.021603088825941086, + -0.09425345808267593, + -0.05147484317421913 + ], + "orientation": [ + 0.092619888484478, + -0.07247357070446014, + -0.9669795632362366, + -0.22609621286392212 + ], + "joints": [ + -0.0011616821866482496 + ] + }, + "final_grasp": { + "position": [ + -0.021603088825941086, + -0.09425345808267593, + -0.05147484317421913 + ], + "orientation": [ + 0.092619888484478, + -0.07247357070446014, + -0.9669795632362366, + -0.22609621286392212 + ], + "joints": [ + 0.0057730828411877155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -6.884596950840205e-05, + -0.10379064083099365, + 0.011907204985618591 + ], + "orientation": [ + 0.28099513053894043, + -0.015673942863941193, + -0.9582407474517822, + 0.050702646374702454 + ], + "joints": [ + -0.0077159712091088295 + ] + }, + "fine_grasp": { + "position": [ + -0.0019952035509049892, + -0.10731478780508041, + 0.01385523285716772 + ], + "orientation": [ + 0.29215487837791443, + -0.027359874919056892, + -0.9545007348060608, + 0.05315311625599861 + ], + "joints": [ + -0.00131260568741709 + ] + }, + "final_grasp": { + "position": [ + -0.0019952035509049892, + -0.10731478780508041, + 0.01385523285716772 + ], + "orientation": [ + 0.29215487837791443, + -0.027359874919056892, + -0.9545007348060608, + 0.05315311625599861 + ], + "joints": [ + 0.005090760067105293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00020431392476893961, + -0.10380104184150696, + 0.012055031023919582 + ], + "orientation": [ + 0.2811965048313141, + -0.016433637589216232, + -0.9581475257873535, + 0.051106568425893784 + ], + "joints": [ + -0.00771596934646368 + ] + }, + "fine_grasp": { + "position": [ + -0.0022587974090129137, + -0.10739355534315109, + 0.014044350944459438 + ], + "orientation": [ + 0.292757123708725, + -0.02831362932920456, + -0.9542335867881775, + 0.0541289821267128 + ], + "joints": [ + -0.0013126038247719407 + ] + }, + "final_grasp": { + "position": [ + -0.0022587974090129137, + -0.10739355534315109, + 0.014044350944459438 + ], + "orientation": [ + 0.292757123708725, + -0.02831362932920456, + -0.9542335867881775, + 0.0541289821267128 + ], + "joints": [ + 0.0050907619297504425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018097907304763794, + -0.1017286479473114, + 0.013676603324711323 + ], + "orientation": [ + 0.8160927295684814, + -0.09788135439157486, + -0.5687817335128784, + -0.029989654198288918 + ], + "joints": [ + -0.00747346505522728 + ] + }, + "fine_grasp": { + "position": [ + -0.017404479905962944, + -0.10461370646953583, + 0.01716643013060093 + ], + "orientation": [ + 0.8089052438735962, + -0.11074402928352356, + -0.5771082043647766, + -0.018816232681274414 + ], + "joints": [ + -0.0005652698455378413 + ] + }, + "final_grasp": { + "position": [ + -0.017404479905962944, + -0.10461370646953583, + 0.01716643013060093 + ], + "orientation": [ + 0.8089052438735962, + -0.11074402928352356, + -0.5771082043647766, + -0.018816232681274414 + ], + "joints": [ + 0.006342925131320953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007738545071333647, + -0.10082943737506866, + 0.03169352933764458 + ], + "orientation": [ + 0.9919295310974121, + -0.12050435692071915, + 0.01555739063769579, + -0.03622749075293541 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.01020952221006155, + -0.10188337415456772, + 0.03012496791779995 + ], + "orientation": [ + 0.9906813502311707, + -0.12558521330356598, + 0.023481279611587524, + -0.047195352613925934 + ], + "joints": [ + -0.001261102152056992 + ] + }, + "final_grasp": { + "position": [ + -0.01020952221006155, + -0.10188337415456772, + 0.03012496791779995 + ], + "orientation": [ + 0.9906813502311707, + -0.12558521330356598, + 0.023481279611587524, + -0.047195352613925934 + ], + "joints": [ + 0.005142263136804104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004958536941558123, + -0.10380512475967407, + -0.013308247551321983 + ], + "orientation": [ + 0.890354335308075, + 0.06327741593122482, + 0.4507938325405121, + 0.007088460959494114 + ], + "joints": [ + -0.007571411784738302 + ] + }, + "fine_grasp": { + "position": [ + -0.0033740748185664415, + -0.10731372237205505, + -0.01582944206893444 + ], + "orientation": [ + 0.889301061630249, + 0.06974641978740692, + 0.45167478919029236, + 0.01639598421752453 + ], + "joints": [ + -0.0011680462630465627 + ] + }, + "final_grasp": { + "position": [ + -0.0033740748185664415, + -0.10731372237205505, + -0.01582944206893444 + ], + "orientation": [ + 0.889301061630249, + 0.06974641978740692, + 0.45167478919029236, + 0.01639598421752453 + ], + "joints": [ + 0.005235319025814533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00770035944879055, + -0.10084119439125061, + 0.03175579383969307 + ], + "orientation": [ + 0.9919402599334717, + -0.12049591541290283, + 0.015327328816056252, + -0.03606081008911133 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.010189790278673172, + -0.10187014937400818, + 0.030155673623085022 + ], + "orientation": [ + 0.99067223072052, + -0.12573355436325073, + 0.023287909105420113, + -0.04708872362971306 + ], + "joints": [ + -0.001261102152056992 + ] + }, + "final_grasp": { + "position": [ + -0.010189790278673172, + -0.10187014937400818, + 0.030155673623085022 + ], + "orientation": [ + 0.99067223072052, + -0.12573355436325073, + 0.023287909105420113, + -0.04708872362971306 + ], + "joints": [ + 0.005142263136804104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023159291595220566, + -0.10206350684165955, + -0.05292385071516037 + ], + "orientation": [ + 0.11413238942623138, + -0.06532378494739532, + 0.9723920822143555, + 0.19276957213878632 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.023134874179959297, + -0.09823229908943176, + -0.04945363104343414 + ], + "orientation": [ + 0.11104300618171692, + -0.0713658481836319, + 0.9704940319061279, + 0.20178638398647308 + ], + "joints": [ + -0.003054097294807434 + ] + }, + "final_grasp": { + "position": [ + 0.023134874179959297, + -0.09823229908943176, + -0.04945363104343414 + ], + "orientation": [ + 0.11104300618171692, + -0.0713658481836319, + 0.9704940319061279, + 0.20178638398647308 + ], + "joints": [ + 0.003322698175907135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07576262950897217, + 0.014791024848818779, + 0.08821983635425568 + ], + "orientation": [ + 0.15255224704742432, + 0.33617523312568665, + 0.6765744686126709, + -0.637150764465332 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.0762103796005249, + 0.014498988166451454, + 0.08830222487449646 + ], + "orientation": [ + 0.14645761251449585, + 0.34012365341186523, + 0.6771743297576904, + -0.6358466744422913 + ], + "joints": [ + -0.0017702009063214064 + ] + }, + "final_grasp": { + "position": [ + -0.0762103796005249, + 0.014498988166451454, + 0.08830222487449646 + ], + "orientation": [ + 0.14645761251449585, + 0.34012365341186523, + 0.6771743297576904, + -0.6358466744422913 + ], + "joints": [ + 0.004712874535471201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004239719361066818, + -0.10381674766540527, + -0.012222608551383018 + ], + "orientation": [ + 0.8905999660491943, + 0.05808717757463455, + 0.45100048184394836, + 0.007503772620111704 + ], + "joints": [ + -0.0072778258472681046 + ] + }, + "fine_grasp": { + "position": [ + -0.002648385474458337, + -0.10739534348249435, + -0.014847389422357082 + ], + "orientation": [ + 0.8895541429519653, + 0.06466714292764664, + 0.4518906772136688, + 0.017506472766399384 + ], + "joints": [ + -0.000874460325576365 + ] + }, + "final_grasp": { + "position": [ + -0.002648385474458337, + -0.10739534348249435, + -0.014847389422357082 + ], + "orientation": [ + 0.8895541429519653, + 0.06466714292764664, + 0.4518906772136688, + 0.017506472766399384 + ], + "joints": [ + 0.005528905428946018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12468118965625763, + 0.034610990434885025, + -0.04171578958630562 + ], + "orientation": [ + 0.57317054271698, + 0.5610230565071106, + -0.3364260494709015, + 0.493504136800766 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11916451156139374, + 0.034418921917676926, + -0.04040646180510521 + ], + "orientation": [ + 0.5770159363746643, + 0.5563488602638245, + -0.33644095063209534, + 0.49430373311042786 + ], + "joints": [ + -0.0021018460392951965 + ] + }, + "final_grasp": { + "position": [ + 0.11916451156139374, + 0.034418921917676926, + -0.04040646180510521 + ], + "orientation": [ + 0.5770159363746643, + 0.5563488602638245, + -0.33644095063209534, + 0.49430373311042786 + ], + "joints": [ + 0.005816008895635605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016535229980945587, + -0.10197435319423676, + -0.011484704911708832 + ], + "orientation": [ + 0.5892835855484009, + -0.02911420725286007, + 0.8026503324508667, + 0.08746188133955002 + ], + "joints": [ + -0.00722803920507431 + ] + }, + "fine_grasp": { + "position": [ + 0.016448799520730972, + -0.10518265515565872, + -0.014051507227122784 + ], + "orientation": [ + 0.5949682593345642, + -0.021512838080525398, + 0.7974794507026672, + 0.09785933792591095 + ], + "joints": [ + -0.0008246736833825707 + ] + }, + "final_grasp": { + "position": [ + 0.016448799520730972, + -0.10518265515565872, + -0.014051507227122784 + ], + "orientation": [ + 0.5949682593345642, + -0.021512838080525398, + 0.7974794507026672, + 0.09785933792591095 + ], + "joints": [ + 0.0055786920711398125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08562500029802322, + -0.029196590185165405, + 0.07124131917953491 + ], + "orientation": [ + 0.7296857833862305, + -0.52899169921875, + -0.36796680092811584, + -0.22875086963176727 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + -0.08420012146234512, + -0.02823854424059391, + 0.07053036242723465 + ], + "orientation": [ + 0.7239469289779663, + -0.5308730006217957, + -0.38457638025283813, + -0.21488504111766815 + ], + "joints": [ + -0.0015371403424069285 + ] + }, + "final_grasp": { + "position": [ + -0.08420012146234512, + -0.02823854424059391, + 0.07053036242723465 + ], + "orientation": [ + 0.7239469289779663, + -0.5308730006217957, + -0.38457638025283813, + -0.21488504111766815 + ], + "joints": [ + 0.004839655011892319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007744173984974623, + -0.10082197934389114, + 0.0317198745906353 + ], + "orientation": [ + 0.9919186234474182, + -0.12059589475393295, + 0.01549575850367546, + -0.03624631464481354 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.010206198319792747, + -0.10186927020549774, + 0.030181031674146652 + ], + "orientation": [ + 0.990659773349762, + -0.1258045881986618, + 0.02325465716421604, + -0.047175999730825424 + ], + "joints": [ + -0.001261102152056992 + ] + }, + "final_grasp": { + "position": [ + -0.010206198319792747, + -0.10186927020549774, + 0.030181031674146652 + ], + "orientation": [ + 0.990659773349762, + -0.1258045881986618, + 0.02325465716421604, + -0.047175999730825424 + ], + "joints": [ + 0.005142263136804104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010348615236580372, + -0.10394859313964844, + 0.002477524569258094 + ], + "orientation": [ + 0.9537367820739746, + -0.030186831951141357, + 0.2959538400173187, + 0.04343147575855255 + ], + "joints": [ + -0.007765986956655979 + ] + }, + "fine_grasp": { + "position": [ + 0.01227310299873352, + -0.1072230190038681, + 0.0015535237034782767 + ], + "orientation": [ + 0.9523460865020752, + -0.027944311499595642, + 0.298990398645401, + 0.05348711460828781 + ], + "joints": [ + -0.0013626214349642396 + ] + }, + "final_grasp": { + "position": [ + 0.01227310299873352, + -0.1072230190038681, + 0.0015535237034782767 + ], + "orientation": [ + 0.9523460865020752, + -0.027944311499595642, + 0.298990398645401, + 0.05348711460828781 + ], + "joints": [ + 0.005040744319558144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0042688436806201935, + -0.10382609814405441, + -0.012292245402932167 + ], + "orientation": [ + 0.8907539248466492, + 0.05837680399417877, + 0.45066067576408386, + 0.007392195984721184 + ], + "joints": [ + -0.007571414113044739 + ] + }, + "fine_grasp": { + "position": [ + -0.0028011095710098743, + -0.10738665610551834, + -0.014895380474627018 + ], + "orientation": [ + 0.8896628618240356, + 0.06481578946113586, + 0.4516814947128296, + 0.016811341047286987 + ], + "joints": [ + -0.0011680485913529992 + ] + }, + "final_grasp": { + "position": [ + -0.0028011095710098743, + -0.10738665610551834, + -0.014895380474627018 + ], + "orientation": [ + 0.8896628618240356, + 0.06481578946113586, + 0.4516814947128296, + 0.016811341047286987 + ], + "joints": [ + 0.005235317163169384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0022709148470312357, + 0.015723098069429398, + -0.12085587531328201 + ], + "orientation": [ + 0.6999690532684326, + 0.7069030404090881, + 0.06153319031000137, + 0.08090067654848099 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.00241737044416368, + 0.014281307347118855, + -0.1176864504814148 + ], + "orientation": [ + 0.6931286454200745, + 0.7105828523635864, + 0.07756370306015015, + 0.0928901806473732 + ], + "joints": [ + -0.0018247385742142797 + ] + }, + "final_grasp": { + "position": [ + 0.00241737044416368, + 0.014281307347118855, + -0.1176864504814148 + ], + "orientation": [ + 0.6931286454200745, + 0.7105828523635864, + 0.07756370306015015, + 0.0928901806473732 + ], + "joints": [ + 0.005163166671991348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01644846424460411, + -0.10191436111927032, + -0.0016441366169601679 + ], + "orientation": [ + 0.7885321378707886, + -0.0329594686627388, + -0.6115484833717346, + -0.05602722615003586 + ], + "joints": [ + -0.007281124591827393 + ] + }, + "fine_grasp": { + "position": [ + -0.016703976318240166, + -0.1043296754360199, + -0.004696547985076904 + ], + "orientation": [ + 0.7945600748062134, + -0.026266181841492653, + -0.6027304530143738, + -0.06855781376361847 + ], + "joints": [ + -0.0008777589537203312 + ] + }, + "final_grasp": { + "position": [ + -0.016703976318240166, + -0.1043296754360199, + -0.004696547985076904 + ], + "orientation": [ + 0.7945600748062134, + -0.026266181841492653, + -0.6027304530143738, + -0.06855781376361847 + ], + "joints": [ + 0.00552560668438673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002126217819750309, + -0.10440397262573242, + 0.007802404463291168 + ], + "orientation": [ + 0.5826265811920166, + -0.014915059320628643, + -0.8119843006134033, + 0.03170953691005707 + ], + "joints": [ + -0.007422834634780884 + ] + }, + "fine_grasp": { + "position": [ + 0.0015081517631188035, + -0.10761207342147827, + 0.010516053065657616 + ], + "orientation": [ + 0.583341121673584, + -0.02598891779780388, + -0.8109544515609741, + 0.03729287162423134 + ], + "joints": [ + -0.001019469229504466 + ] + }, + "final_grasp": { + "position": [ + 0.0015081517631188035, + -0.10761207342147827, + 0.010516053065657616 + ], + "orientation": [ + 0.583341121673584, + -0.02598891779780388, + -0.8109544515609741, + 0.03729287162423134 + ], + "joints": [ + 0.005383896175771952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016397720202803612, + -0.1019660010933876, + -0.001528069144114852 + ], + "orientation": [ + 0.7885708808898926, + -0.03330497071146965, + -0.6115198731422424, + -0.05558991804718971 + ], + "joints": [ + -0.007281124591827393 + ] + }, + "fine_grasp": { + "position": [ + -0.01666620373725891, + -0.10434262454509735, + -0.004596638958901167 + ], + "orientation": [ + 0.7946763634681702, + -0.026678118854761124, + -0.6025953888893127, + -0.06823883950710297 + ], + "joints": [ + -0.0008777589537203312 + ] + }, + "final_grasp": { + "position": [ + -0.01666620373725891, + -0.10434262454509735, + -0.004596638958901167 + ], + "orientation": [ + 0.7946763634681702, + -0.026678118854761124, + -0.6025953888893127, + -0.06823883950710297 + ], + "joints": [ + 0.00552560668438673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00820537842810154, + -0.10470011830329895, + -0.0021580690518021584 + ], + "orientation": [ + 0.4700854420661926, + 0.0376225970685482, + 0.8817712068557739, + -0.009157055988907814 + ], + "joints": [ + -0.007820026017725468 + ] + }, + "fine_grasp": { + "position": [ + -0.010267655365169048, + -0.10757043212652206, + -0.004391294438391924 + ], + "orientation": [ + 0.4696241617202759, + 0.047844890505075455, + 0.8815687298774719, + -0.0008279885514639318 + ], + "joints": [ + -0.0008852608734741807 + ] + }, + "final_grasp": { + "position": [ + -0.010267655365169048, + -0.10757043212652206, + -0.004391294438391924 + ], + "orientation": [ + 0.4696241617202759, + 0.047844890505075455, + 0.8815687298774719, + -0.0008279885514639318 + ], + "joints": [ + 0.00604950450360775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09069187194108963, + 0.012690682895481586, + -0.07864494621753693 + ], + "orientation": [ + 0.6716780662536621, + 0.607197642326355, + -0.23774871230125427, + 0.35161781311035156 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.08860138058662415, + 0.011199097149074078, + -0.07620228826999664 + ], + "orientation": [ + 0.6735789179801941, + 0.6028335690498352, + -0.21619772911071777, + 0.36897382140159607 + ], + "joints": [ + -0.001291941269300878 + ] + }, + "final_grasp": { + "position": [ + 0.08860138058662415, + 0.011199097149074078, + -0.07620228826999664 + ], + "orientation": [ + 0.6735789179801941, + 0.6028335690498352, + -0.21619772911071777, + 0.36897382140159607 + ], + "joints": [ + 0.005669393576681614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10994365811347961, + -0.016198070719838142, + -0.07719513028860092 + ], + "orientation": [ + 0.6605801582336426, + 0.5831588506698608, + 0.39590343832969666, + -0.2584955394268036 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.10530781745910645, + -0.01561127882450819, + -0.07405757904052734 + ], + "orientation": [ + 0.654962956905365, + 0.5881729125976562, + 0.39789295196533203, + -0.25837457180023193 + ], + "joints": [ + -0.0036134645342826843 + ] + }, + "final_grasp": { + "position": [ + -0.10530781745910645, + -0.01561127882450819, + -0.07405757904052734 + ], + "orientation": [ + 0.654962956905365, + 0.5881729125976562, + 0.39789295196533203, + -0.25837457180023193 + ], + "joints": [ + 0.0027633309364318848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028887031599879265, + -0.09948322921991348, + -0.001619943999685347 + ], + "orientation": [ + 0.5790119171142578, + -0.09564712643623352, + 0.8059796690940857, + 0.07741808891296387 + ], + "joints": [ + -0.007193699479103088 + ] + }, + "fine_grasp": { + "position": [ + 0.02971530891954899, + -0.10226555913686752, + -0.00018961427849717438 + ], + "orientation": [ + 0.57820725440979, + -0.10263768583536148, + 0.806136965751648, + 0.07269778847694397 + ], + "joints": [ + -0.0007903339574113488 + ] + }, + "final_grasp": { + "position": [ + 0.02971530891954899, + -0.10226555913686752, + -0.00018961427849717438 + ], + "orientation": [ + 0.57820725440979, + -0.10263768583536148, + 0.806136965751648, + 0.07269778847694397 + ], + "joints": [ + 0.005613031797111034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03445335477590561, + 0.014109928160905838, + -0.11983530223369598 + ], + "orientation": [ + 0.6829672455787659, + 0.7164336442947388, + 0.07941746711730957, + -0.11820058524608612 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.03379246965050697, + 0.012109239585697651, + -0.11663957685232162 + ], + "orientation": [ + 0.6770448088645935, + 0.7198984026908875, + 0.06259168684482574, + -0.13942313194274902 + ], + "joints": [ + -0.0013185112038627267 + ] + }, + "final_grasp": { + "position": [ + -0.03379246965050697, + 0.012109239585697651, + -0.11663957685232162 + ], + "orientation": [ + 0.6770448088645935, + 0.7198984026908875, + 0.06259168684482574, + -0.13942313194274902 + ], + "joints": [ + 0.005616254173219204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02605605497956276, + -0.11368145793676376, + -0.02225351333618164 + ], + "orientation": [ + 0.8978883624076843, + 0.04470686614513397, + 0.43778538703918457, + -0.011908936314284801 + ], + "joints": [ + -0.00477930624037981 + ] + }, + "fine_grasp": { + "position": [ + -0.024655677378177643, + -0.11140715330839157, + -0.021536944434046745 + ], + "orientation": [ + 0.8966402411460876, + 0.05387873202562332, + 0.43936267495155334, + -0.009693767875432968 + ], + "joints": [ + -2.3279280867427588e-05 + ] + }, + "final_grasp": { + "position": [ + -0.024655677378177643, + -0.11140715330839157, + -0.021536944434046745 + ], + "orientation": [ + 0.8966402411460876, + 0.05387873202562332, + 0.43936267495155334, + -0.009693767875432968 + ], + "joints": [ + 0.004732747562229633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11968836188316345, + 0.02241874299943447, + -0.0007694270461797714 + ], + "orientation": [ + 0.5122804641723633, + -0.48143354058265686, + 0.47519388794898987, + 0.5291326642036438 + ], + "joints": [ + -0.007149721495807171 + ] + }, + "fine_grasp": { + "position": [ + 0.12104452401399612, + 0.02292126789689064, + -0.0012696445919573307 + ], + "orientation": [ + 0.5202895998954773, + -0.47376880049705505, + 0.46981239318847656, + 0.5330273509025574 + ], + "joints": [ + -0.0012777555966749787 + ] + }, + "final_grasp": { + "position": [ + 0.12104452401399612, + 0.02292126789689064, + -0.0012696445919573307 + ], + "orientation": [ + 0.5202895998954773, + -0.47376880049705505, + 0.46981239318847656, + 0.5330273509025574 + ], + "joints": [ + 0.004594210535287857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0056165968999266624, + 0.017332514747977257, + -0.12006722390651703 + ], + "orientation": [ + 0.06936473399400711, + 0.03989289328455925, + 0.7095999717712402, + 0.7000464797019958 + ], + "joints": [ + -0.008056589402258396 + ] + }, + "fine_grasp": { + "position": [ + 0.005072924308478832, + 0.01873164437711239, + -0.12200262397527695 + ], + "orientation": [ + 0.07162967324256897, + 0.04231990501284599, + 0.7130864262580872, + 0.6961221694946289 + ], + "joints": [ + -0.001121824374422431 + ] + }, + "final_grasp": { + "position": [ + 0.005072924308478832, + 0.01873164437711239, + -0.12200262397527695 + ], + "orientation": [ + 0.07162967324256897, + 0.04231990501284599, + 0.7130864262580872, + 0.6961221694946289 + ], + "joints": [ + 0.005812940653413534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022410539910197258, + 0.026123957708477974, + 0.1270899772644043 + ], + "orientation": [ + 0.08049571514129639, + 0.04118030518293381, + 0.6733760833740234, + -0.7337502241134644 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.021189343184232712, + 0.02677181549370289, + 0.12177636474370956 + ], + "orientation": [ + 0.08622197061777115, + 0.03569170460104942, + 0.6796852350234985, + -0.7275435924530029 + ], + "joints": [ + -0.0014290600083768368 + ] + }, + "final_grasp": { + "position": [ + -0.021189343184232712, + 0.02677181549370289, + 0.12177636474370956 + ], + "orientation": [ + 0.08622197061777115, + 0.03569170460104942, + 0.6796852350234985, + -0.7275435924530029 + ], + "joints": [ + 0.005983964540064335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00841683428734541, + -0.10437126457691193, + -0.0033735528122633696 + ], + "orientation": [ + 0.8045223951339722, + -0.009594833478331566, + 0.592494547367096, + 0.040021803230047226 + ], + "joints": [ + -0.007635026704519987 + ] + }, + "fine_grasp": { + "position": [ + 0.009150299243628979, + -0.10751096159219742, + -0.00603228434920311 + ], + "orientation": [ + 0.8060734272003174, + -0.0031173350289463997, + 0.5896342396736145, + 0.05066879838705063 + ], + "joints": [ + -0.0012316611828282475 + ] + }, + "final_grasp": { + "position": [ + 0.009150299243628979, + -0.10751096159219742, + -0.00603228434920311 + ], + "orientation": [ + 0.8060734272003174, + -0.0031173350289463997, + 0.5896342396736145, + 0.05066879838705063 + ], + "joints": [ + 0.005171704106032848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011656982824206352, + -0.10342806577682495, + 0.004092880990356207 + ], + "orientation": [ + 0.7665799260139465, + 0.017527829855680466, + -0.6398975253105164, + 0.05078554153442383 + ], + "joints": [ + -0.007679819129407406 + ] + }, + "fine_grasp": { + "position": [ + 0.012555313296616077, + -0.10670021176338196, + 0.006496897898614407 + ], + "orientation": [ + 0.7666710615158081, + 0.008824105374515057, + -0.639293372631073, + 0.058665286749601364 + ], + "joints": [ + -0.0012764536077156663 + ] + }, + "final_grasp": { + "position": [ + 0.012555313296616077, + -0.10670021176338196, + 0.006496897898614407 + ], + "orientation": [ + 0.7666710615158081, + 0.008824105374515057, + -0.639293372631073, + 0.058665286749601364 + ], + "joints": [ + 0.005126912146806717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029946735128760338, + -0.10763616114854813, + 0.004671365953981876 + ], + "orientation": [ + 0.686445415019989, + -0.07723523676395416, + -0.7216720581054688, + -0.04491075873374939 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.02645282819867134, + -0.10521740466356277, + 0.007013512775301933 + ], + "orientation": [ + 0.6785275936126709, + -0.10218903422355652, + -0.7256026864051819, + -0.051561109721660614 + ], + "joints": [ + -0.0013450812548398972 + ] + }, + "final_grasp": { + "position": [ + -0.02645282819867134, + -0.10521740466356277, + 0.007013512775301933 + ], + "orientation": [ + 0.6785275936126709, + -0.10218903422355652, + -0.7256026864051819, + -0.051561109721660614 + ], + "joints": [ + 0.005563113838434219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028187060728669167, + -0.09965208917856216, + -0.0015847659669816494 + ], + "orientation": [ + 0.5797426104545593, + -0.09326761960983276, + 0.805902898311615, + 0.07563132792711258 + ], + "joints": [ + -0.007471755146980286 + ] + }, + "fine_grasp": { + "position": [ + 0.029111213982105255, + -0.10241926461458206, + -7.1523872975376435e-06 + ], + "orientation": [ + 0.5789458751678467, + -0.10042735934257507, + 0.8060541749000549, + 0.0707998275756836 + ], + "joints": [ + -0.001068389741703868 + ] + }, + "final_grasp": { + "position": [ + 0.029111213982105255, + -0.10241926461458206, + -7.1523872975376435e-06 + ], + "orientation": [ + 0.5789458751678467, + -0.10042735934257507, + 0.8060541749000549, + 0.0707998275756836 + ], + "joints": [ + 0.00533497566357255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09091535955667496, + 0.0125901373103261, + -0.07866489887237549 + ], + "orientation": [ + 0.6715207099914551, + 0.60704106092453, + -0.23741792142391205, + 0.35241129994392395 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.0886436253786087, + 0.011211453936994076, + -0.07607848942279816 + ], + "orientation": [ + 0.6734665632247925, + 0.60252845287323, + -0.21654942631721497, + 0.3694708049297333 + ], + "joints": [ + -0.0012919413857161999 + ] + }, + "final_grasp": { + "position": [ + 0.0886436253786087, + 0.011211453936994076, + -0.07607848942279816 + ], + "orientation": [ + 0.6734665632247925, + 0.60252845287323, + -0.21654942631721497, + 0.3694708049297333 + ], + "joints": [ + 0.005669393576681614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016974791884422302, + -0.10075169056653976, + -0.022874055430293083 + ], + "orientation": [ + 0.9718016386032104, + 0.11339695751667023, + -0.19983148574829102, + 0.053010471165180206 + ], + "joints": [ + -0.0075714136473834515 + ] + }, + "fine_grasp": { + "position": [ + 0.01950284279882908, + -0.10388659685850143, + -0.022702571004629135 + ], + "orientation": [ + 0.9734732508659363, + 0.10916352272033691, + -0.19077061116695404, + 0.06355892866849899 + ], + "joints": [ + -0.0011680482421070337 + ] + }, + "final_grasp": { + "position": [ + 0.01950284279882908, + -0.10388659685850143, + -0.022702571004629135 + ], + "orientation": [ + 0.9734732508659363, + 0.10916352272033691, + -0.19077061116695404, + 0.06355892866849899 + ], + "joints": [ + 0.005235317163169384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015726644545793533, + -0.10287375748157501, + -0.007293918170034885 + ], + "orientation": [ + 0.7293936014175415, + 0.07050406187772751, + 0.679883599281311, + -0.027793072164058685 + ], + "joints": [ + -0.007506085559725761 + ] + }, + "fine_grasp": { + "position": [ + -0.016172846779227257, + -0.10600066184997559, + -0.009937405586242676 + ], + "orientation": [ + 0.7269131541252136, + 0.07749762386083603, + 0.6820979118347168, + -0.018273429945111275 + ], + "joints": [ + -0.0011027201544493437 + ] + }, + "final_grasp": { + "position": [ + -0.016172846779227257, + -0.10600066184997559, + -0.009937405586242676 + ], + "orientation": [ + 0.7269131541252136, + 0.07749762386083603, + 0.6820979118347168, + -0.018273429945111275 + ], + "joints": [ + 0.005300645250827074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0051827882416546345, + -0.10111890733242035, + -0.018740210682153702 + ], + "orientation": [ + 0.03763284161686897, + 0.02504921145737171, + -0.9960678219795227, + -0.07619158923625946 + ], + "joints": [ + -0.0072778258472681046 + ] + }, + "fine_grasp": { + "position": [ + 0.008215012960135937, + -0.10398369282484055, + -0.018653491511940956 + ], + "orientation": [ + 0.03854469954967499, + 0.0385170504450798, + -0.9955026507377625, + -0.07749388366937637 + ], + "joints": [ + -0.000874460325576365 + ] + }, + "final_grasp": { + "position": [ + 0.008215012960135937, + -0.10398369282484055, + -0.018653491511940956 + ], + "orientation": [ + 0.03854469954967499, + 0.0385170504450798, + -0.9955026507377625, + -0.07749388366937637 + ], + "joints": [ + 0.005528905428946018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10843101888895035, + -0.022307241335511208, + 0.02486107498407364 + ], + "orientation": [ + 0.5300660729408264, + 0.34155744314193726, + -0.6251084208488464, + 0.4600085914134979 + ], + "joints": [ + -0.007500931620597839 + ] + }, + "fine_grasp": { + "position": [ + 0.10857497900724411, + -0.023085100576281548, + 0.026649804785847664 + ], + "orientation": [ + 0.5242426991462708, + 0.3358738124370575, + -0.6264119744300842, + 0.46900585293769836 + ], + "joints": [ + -0.00216036569327116 + ] + }, + "final_grasp": { + "position": [ + 0.10857497900724411, + -0.023085100576281548, + 0.026649804785847664 + ], + "orientation": [ + 0.5242426991462708, + 0.3358738124370575, + -0.6264119744300842, + 0.46900585293769836 + ], + "joints": [ + 0.003180200234055519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017422782257199287, + -0.09717249125242233, + -0.031706709414720535 + ], + "orientation": [ + 0.15314801037311554, + -0.051756829023361206, + 0.9767821431159973, + 0.1405826210975647 + ], + "joints": [ + -0.00750608928501606 + ] + }, + "fine_grasp": { + "position": [ + 0.01902676187455654, + -0.10030084103345871, + -0.030823834240436554 + ], + "orientation": [ + 0.14408737421035767, + -0.061704762279987335, + 0.9774454236030579, + 0.14153416454792023 + ], + "joints": [ + -0.0011027238797396421 + ] + }, + "final_grasp": { + "position": [ + 0.01902676187455654, + -0.10030084103345871, + -0.030823834240436554 + ], + "orientation": [ + 0.14408737421035767, + -0.061704762279987335, + 0.9774454236030579, + 0.14153416454792023 + ], + "joints": [ + 0.005300641525536776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016976838931441307, + -0.10072632879018784, + -0.023171495646238327 + ], + "orientation": [ + 0.9714612364768982, + 0.1149391457438469, + -0.20070253312587738, + 0.05263689532876015 + ], + "joints": [ + -0.007834009826183319 + ] + }, + "fine_grasp": { + "position": [ + 0.01949520781636238, + -0.10382849723100662, + -0.023047441616654396 + ], + "orientation": [ + 0.9730953574180603, + 0.11090601980686188, + -0.19189806282520294, + 0.06293360143899918 + ], + "joints": [ + -0.0014306443044915795 + ] + }, + "final_grasp": { + "position": [ + 0.01949520781636238, + -0.10382849723100662, + -0.023047441616654396 + ], + "orientation": [ + 0.9730953574180603, + 0.11090601980686188, + -0.19189806282520294, + 0.06293360143899918 + ], + "joints": [ + 0.004972721450030804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005156298633664846, + -0.10113433003425598, + -0.018510425463318825 + ], + "orientation": [ + 0.037229057401418686, + 0.024894189089536667, + -0.9961634874343872, + -0.07518287003040314 + ], + "joints": [ + -0.007540425285696983 + ] + }, + "fine_grasp": { + "position": [ + 0.007955877110362053, + -0.10396109521389008, + -0.0184377022087574 + ], + "orientation": [ + 0.03838977962732315, + 0.0372990258038044, + -0.9956475496292114, + -0.07629470527172089 + ], + "joints": [ + -0.0011370597640052438 + ] + }, + "final_grasp": { + "position": [ + 0.007955877110362053, + -0.10396109521389008, + -0.0184377022087574 + ], + "orientation": [ + 0.03838977962732315, + 0.0372990258038044, + -0.9956475496292114, + -0.07629470527172089 + ], + "joints": [ + 0.0052663059905171394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10927096754312515, + -0.022714324295520782, + 0.02368088625371456 + ], + "orientation": [ + 0.5373349189758301, + 0.3392113447189331, + -0.6247071623802185, + 0.4538147747516632 + ], + "joints": [ + -0.007469940930604935 + ] + }, + "fine_grasp": { + "position": [ + 0.11030363291501999, + -0.02249915897846222, + 0.02332528494298458 + ], + "orientation": [ + 0.5477595329284668, + 0.3267911970615387, + -0.6216784715652466, + 0.454623818397522 + ], + "joints": [ + -0.002102804835885763 + ] + }, + "final_grasp": { + "position": [ + 0.11030363291501999, + -0.02249915897846222, + 0.02332528494298458 + ], + "orientation": [ + 0.5477595329284668, + 0.3267911970615387, + -0.6216784715652466, + 0.454623818397522 + ], + "joints": [ + 0.0032643312588334084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12222376465797424, + -0.030642779543995857, + 0.014512945897877216 + ], + "orientation": [ + 0.5649299621582031, + 0.3658277690410614, + -0.5910295844078064, + 0.44464394450187683 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.11717364937067032, + -0.028116336092352867, + 0.013965330086648464 + ], + "orientation": [ + 0.5674570202827454, + 0.36153581738471985, + -0.5924924612045288, + 0.44298648834228516 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + 0.11717364937067032, + -0.028116336092352867, + 0.013965330086648464 + ], + "orientation": [ + 0.5674570202827454, + 0.36153581738471985, + -0.5924924612045288, + 0.44298648834228516 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00807057972997427, + -0.10283846408128738, + -0.0003527105727698654 + ], + "orientation": [ + 0.376585990190506, + 0.03344359248876572, + -0.9256811141967773, + 0.013375595211982727 + ], + "joints": [ + -0.007510981522500515 + ] + }, + "fine_grasp": { + "position": [ + 0.009792156517505646, + -0.10486694425344467, + -0.0020935775246471167 + ], + "orientation": [ + 0.373369425535202, + 0.04404410347342491, + -0.9266092777252197, + 0.0071151768788695335 + ], + "joints": [ + -0.0011076160008087754 + ] + }, + "final_grasp": { + "position": [ + 0.009792156517505646, + -0.10486694425344467, + -0.0020935775246471167 + ], + "orientation": [ + 0.373369425535202, + 0.04404410347342491, + -0.9266092777252197, + 0.0071151768788695335 + ], + "joints": [ + 0.005295749753713608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049788981676101685, + -0.023371489718556404, + -0.10997450351715088 + ], + "orientation": [ + 0.7764092087745667, + 0.5963596701622009, + 0.13405537605285645, + -0.1535351574420929 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.04821423441171646, + -0.02354813925921917, + -0.10721074789762497 + ], + "orientation": [ + 0.7754672765731812, + 0.5970965623855591, + 0.11505109071731567, + -0.16996851563453674 + ], + "joints": [ + -0.0008136816322803497 + ] + }, + "final_grasp": { + "position": [ + -0.04821423441171646, + -0.02354813925921917, + -0.10721074789762497 + ], + "orientation": [ + 0.7754672765731812, + 0.5970965623855591, + 0.11505109071731567, + -0.16996851563453674 + ], + "joints": [ + 0.006625913083553314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008115077391266823, + -0.1028519719839096, + -9.550862159812823e-05 + ], + "orientation": [ + 0.3758126497268677, + 0.03300345316529274, + -0.9260029196739197, + 0.013932549394667149 + ], + "joints": [ + -0.007510983385145664 + ] + }, + "fine_grasp": { + "position": [ + 0.009749909862875938, + -0.10467850416898727, + -0.0018750621238723397 + ], + "orientation": [ + 0.37311333417892456, + 0.04372222721576691, + -0.9267131686210632, + 0.008809298276901245 + ], + "joints": [ + -0.0011076178634539247 + ] + }, + "final_grasp": { + "position": [ + 0.009749909862875938, + -0.10467850416898727, + -0.0018750621238723397 + ], + "orientation": [ + 0.37311333417892456, + 0.04372222721576691, + -0.9267131686210632, + 0.008809298276901245 + ], + "joints": [ + 0.0052957478910684586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0016398192383348942, + -0.10490353405475616, + 0.004544460214674473 + ], + "orientation": [ + 0.8902416229248047, + -0.009606593288481236, + -0.4549838900566101, + 0.01916605234146118 + ], + "joints": [ + -0.0077159712091088295 + ] + }, + "fine_grasp": { + "position": [ + 0.0038335572462528944, + -0.10783755779266357, + 0.006412378512322903 + ], + "orientation": [ + 0.8889560699462891, + -0.018723931163549423, + -0.456718385219574, + 0.028545284643769264 + ], + "joints": [ + -0.00131260568741709 + ] + }, + "final_grasp": { + "position": [ + 0.0038335572462528944, + -0.10783755779266357, + 0.006412378512322903 + ], + "orientation": [ + 0.8889560699462891, + -0.018723931163549423, + -0.456718385219574, + 0.028545284643769264 + ], + "joints": [ + 0.005090760067105293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03715003281831741, + 0.027813050895929337, + -0.11272034049034119 + ], + "orientation": [ + 0.6496295928955078, + 0.702704131603241, + 0.04942726343870163, + 0.2859112024307251 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.037802547216415405, + 0.027126464992761612, + -0.11325067281723022 + ], + "orientation": [ + 0.6430738568305969, + 0.7105118036270142, + 0.05197127163410187, + 0.2809414565563202 + ], + "joints": [ + -0.0017702009063214064 + ] + }, + "final_grasp": { + "position": [ + 0.037802547216415405, + 0.027126464992761612, + -0.11325067281723022 + ], + "orientation": [ + 0.6430738568305969, + 0.7105118036270142, + 0.05197127163410187, + 0.2809414565563202 + ], + "joints": [ + 0.004712874535471201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001118480577133596, + -0.11072936654090881, + 0.010660155676305294 + ], + "orientation": [ + 0.26407545804977417, + -0.02712864615023136, + -0.9640920162200928, + 0.00739885913208127 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.0039402456022799015, + -0.10776273906230927, + 0.0091758593916893 + ], + "orientation": [ + 0.2705615758895874, + -0.03195307031273842, + -0.9618803262710571, + 0.023698637261986732 + ], + "joints": [ + -0.0014024900738149881 + ] + }, + "final_grasp": { + "position": [ + -0.0039402456022799015, + -0.10776273906230927, + 0.0091758593916893 + ], + "orientation": [ + 0.2705615758895874, + -0.03195307031273842, + -0.9618803262710571, + 0.023698637261986732 + ], + "joints": [ + 0.006037104409188032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11214081943035126, + 0.0567719005048275, + 0.043389443308115005 + ], + "orientation": [ + 0.30029764771461487, + 0.5001649856567383, + -0.4999353289604187, + 0.6400943994522095 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + 0.10718616098165512, + 0.055624205619096756, + 0.0417446605861187 + ], + "orientation": [ + 0.29580050706863403, + 0.5035269856452942, + -0.5106669068336487, + 0.6310165524482727 + ], + "joints": [ + -0.0008696925360709429 + ] + }, + "final_grasp": { + "position": [ + 0.10718616098165512, + 0.055624205619096756, + 0.0417446605861187 + ], + "orientation": [ + 0.29580050706863403, + 0.5035269856452942, + -0.5106669068336487, + 0.6310165524482727 + ], + "joints": [ + 0.006543332245200872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017538178944960237, + -0.10345133394002914, + -0.00749508710578084 + ], + "orientation": [ + 0.24939663708209991, + 0.015921955928206444, + 0.9676436185836792, + 0.034835245460271835 + ], + "joints": [ + -0.0076798247173428535 + ] + }, + "fine_grasp": { + "position": [ + -0.0038697158452123404, + -0.10524333268404007, + -0.00891401432454586 + ], + "orientation": [ + 0.2500079274177551, + 0.0273029413074255, + 0.9670472741127014, + 0.039624039083719254 + ], + "joints": [ + -0.0007450595730915666 + ] + }, + "final_grasp": { + "position": [ + -0.0038697158452123404, + -0.10524333268404007, + -0.00891401432454586 + ], + "orientation": [ + 0.2500079274177551, + 0.0273029413074255, + 0.9670472741127014, + 0.039624039083719254 + ], + "joints": [ + 0.006189705803990364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11061741411685944, + 0.0190440583974123, + 0.047024957835674286 + ], + "orientation": [ + 0.6087088584899902, + -0.5666252374649048, + 0.35303157567977905, + 0.4286932945251465 + ], + "joints": [ + -0.007709268480539322 + ] + }, + "fine_grasp": { + "position": [ + 0.11234958469867706, + 0.019547680392861366, + 0.04720393940806389 + ], + "orientation": [ + 0.616735577583313, + -0.558304488658905, + 0.3496789038181305, + 0.4308803081512451 + ], + "joints": [ + -0.0013059029588475823 + ] + }, + "final_grasp": { + "position": [ + 0.11234958469867706, + 0.019547680392861366, + 0.04720393940806389 + ], + "orientation": [ + 0.616735577583313, + -0.558304488658905, + 0.3496789038181305, + 0.4308803081512451 + ], + "joints": [ + 0.005097462795674801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11190206557512283, + -0.024119814857840538, + -0.003796106204390526 + ], + "orientation": [ + 0.5738884210586548, + 0.41975125670433044, + -0.5925095677375793, + 0.3786732852458954 + ], + "joints": [ + -0.0077196694910526276 + ] + }, + "fine_grasp": { + "position": [ + 0.11445748805999756, + -0.02421323023736477, + -0.004388714674860239 + ], + "orientation": [ + 0.570507824420929, + 0.42210328578948975, + -0.5996417999267578, + 0.3698367178440094 + ], + "joints": [ + -0.0018477035919204354 + ] + }, + "final_grasp": { + "position": [ + 0.11445748805999756, + -0.02421323023736477, + -0.004388714674860239 + ], + "orientation": [ + 0.570507824420929, + 0.42210328578948975, + -0.5996417999267578, + 0.3698367178440094 + ], + "joints": [ + 0.0040242625400424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005243145395070314, + -0.009053056128323078, + 0.12685775756835938 + ], + "orientation": [ + 0.043062981218099594, + -0.06390539556741714, + -0.7815729379653931, + 0.6190358996391296 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.0044591184705495834, + -0.007487111259251833, + 0.12169938534498215 + ], + "orientation": [ + 0.0399663932621479, + -0.06409367173910141, + -0.7827067971229553, + 0.6177901029586792 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + -0.0044591184705495834, + -0.007487111259251833, + 0.12169938534498215 + ], + "orientation": [ + 0.0399663932621479, + -0.06409367173910141, + -0.7827067971229553, + 0.6177901029586792 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005389811471104622, + -0.008838643319904804, + 0.1265215277671814 + ], + "orientation": [ + 0.042442601174116135, + -0.06443054974079132, + -0.7819274067878723, + 0.6185765266418457 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.0046065025962889194, + -0.007319964934140444, + 0.12147000432014465 + ], + "orientation": [ + 0.039238233119249344, + -0.06448481231927872, + -0.7829043865203857, + 0.6175457835197449 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + -0.0046065025962889194, + -0.007319964934140444, + 0.12147000432014465 + ], + "orientation": [ + 0.039238233119249344, + -0.06448481231927872, + -0.7829043865203857, + 0.6175457835197449 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04996153339743614, + 0.04128911718726158, + 0.11329721659421921 + ], + "orientation": [ + 0.1798442006111145, + 0.09354779869318008, + -0.6118281483650208, + 0.7645725011825562 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.04831378534436226, + 0.04138069599866867, + 0.10902687162160873 + ], + "orientation": [ + 0.17556633055210114, + 0.09157507121562958, + -0.6177417635917664, + 0.7610424757003784 + ], + "joints": [ + -0.0019338895799592137 + ] + }, + "final_grasp": { + "position": [ + 0.04831378534436226, + 0.04138069599866867, + 0.10902687162160873 + ], + "orientation": [ + 0.17556633055210114, + 0.09157507121562958, + -0.6177417635917664, + 0.7610424757003784 + ], + "joints": [ + 0.004974305629730225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04856431111693382, + -0.06415046006441116, + 0.09875254333019257 + ], + "orientation": [ + 0.1850617378950119, + 0.11455734819173813, + 0.8636692762374878, + -0.4546473026275635 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.04669017344713211, + -0.06101962924003601, + 0.09443803876638412 + ], + "orientation": [ + 0.18286415934562683, + 0.11392384767532349, + 0.863692581653595, + -0.4556501805782318 + ], + "joints": [ + -0.003054097294807434 + ] + }, + "final_grasp": { + "position": [ + -0.04669017344713211, + -0.06101962924003601, + 0.09443803876638412 + ], + "orientation": [ + 0.18286415934562683, + 0.11392384767532349, + 0.863692581653595, + -0.4556501805782318 + ], + "joints": [ + 0.003322698175907135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004344884306192398, + -0.10346342623233795, + -0.0010819426970556378 + ], + "orientation": [ + 0.2440914511680603, + 0.01957656443119049, + 0.9695441126823425, + 0.0045004356652498245 + ], + "joints": [ + -0.007500931620597839 + ] + }, + "fine_grasp": { + "position": [ + -0.006573446094989777, + -0.10527659207582474, + -0.0026112522464245558 + ], + "orientation": [ + 0.24436698853969574, + 0.03144483640789986, + 0.9691203236579895, + 0.010090443305671215 + ], + "joints": [ + -0.0010975662153214216 + ] + }, + "final_grasp": { + "position": [ + -0.006573446094989777, + -0.10527659207582474, + -0.0026112522464245558 + ], + "orientation": [ + 0.24436698853969574, + 0.03144483640789986, + 0.9691203236579895, + 0.010090443305671215 + ], + "joints": [ + 0.005305799189954996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03258853778243065, + -0.09182945638895035, + 0.046115148812532425 + ], + "orientation": [ + 0.2544666528701782, + 0.08877945691347122, + -0.9315400123596191, + 0.24412700533866882 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.03539150580763817, + -0.09253516048192978, + 0.04672819375991821 + ], + "orientation": [ + 0.25032538175582886, + 0.09502015262842178, + -0.9335055947303772, + 0.23848606646060944 + ], + "joints": [ + -0.0012905431212857366 + ] + }, + "final_grasp": { + "position": [ + 0.03539150580763817, + -0.09253516048192978, + 0.04672819375991821 + ], + "orientation": [ + 0.25032538175582886, + 0.09502015262842178, + -0.9335055947303772, + 0.23848606646060944 + ], + "joints": [ + 0.005112822167575359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015342931263148785, + 0.027820345014333725, + -0.11928069591522217 + ], + "orientation": [ + 0.012304713018238544, + -0.0832764208316803, + 0.6774790287017822, + 0.7307090759277344 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.012735949829220772, + 0.02837110497057438, + -0.1176469549536705 + ], + "orientation": [ + 0.006865473464131355, + -0.08367256075143814, + 0.6811525821685791, + 0.7273122072219849 + ], + "joints": [ + -0.0018190719420090318 + ] + }, + "final_grasp": { + "position": [ + 0.012735949829220772, + 0.02837110497057438, + -0.1176469549536705 + ], + "orientation": [ + 0.006865473464131355, + -0.08367256075143814, + 0.6811525821685791, + 0.7273122072219849 + ], + "joints": [ + 0.004026323556900024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04968942701816559, + 0.04095778241753578, + 0.11279446631669998 + ], + "orientation": [ + 0.17812024056911469, + 0.0947108119726181, + -0.6113215088844299, + 0.7652379274368286 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.048185985535383224, + 0.041200798004865646, + 0.10883072018623352 + ], + "orientation": [ + 0.17471158504486084, + 0.09231074899435043, + -0.6179377436637878, + 0.760991096496582 + ], + "joints": [ + -0.001907319645397365 + ] + }, + "final_grasp": { + "position": [ + 0.048185985535383224, + 0.041200798004865646, + 0.10883072018623352 + ], + "orientation": [ + 0.17471158504486084, + 0.09231074899435043, + -0.6179377436637878, + 0.760991096496582 + ], + "joints": [ + 0.005027445033192635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04986487701535225, + 0.04100921005010605, + 0.11311863362789154 + ], + "orientation": [ + 0.17796553671360016, + 0.09553468972444534, + -0.6113401055335999, + 0.7651566863059998 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.04828013852238655, + 0.04118306562304497, + 0.10900609940290451 + ], + "orientation": [ + 0.1746513545513153, + 0.09302294999361038, + -0.6178815364837646, + 0.7609639167785645 + ], + "joints": [ + -0.0019338895799592137 + ] + }, + "final_grasp": { + "position": [ + 0.04828013852238655, + 0.04118306562304497, + 0.10900609940290451 + ], + "orientation": [ + 0.1746513545513153, + 0.09302294999361038, + -0.6178815364837646, + 0.7609639167785645 + ], + "joints": [ + 0.004974305629730225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09964985400438309, + -0.0175254475325346, + -0.05696655064821243 + ], + "orientation": [ + 0.7051960229873657, + 0.5064104199409485, + 0.3854557275772095, + -0.31252321600914 + ], + "joints": [ + -0.007422834634780884 + ] + }, + "fine_grasp": { + "position": [ + -0.10210904479026794, + -0.01804005168378353, + -0.05782891437411308 + ], + "orientation": [ + 0.7086718082427979, + 0.5025508999824524, + 0.3854118287563324, + -0.31094154715538025 + ], + "joints": [ + -0.0015774387866258621 + ] + }, + "final_grasp": { + "position": [ + -0.10210904479026794, + -0.01804005168378353, + -0.05782891437411308 + ], + "orientation": [ + 0.7086718082427979, + 0.5025508999824524, + 0.3854118287563324, + -0.31094154715538025 + ], + "joints": [ + 0.0042679570615291595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02889365516602993, + -0.10626490414142609, + -0.03138379380106926 + ], + "orientation": [ + 0.9054700136184692, + 0.16088944673538208, + -0.3885006904602051, + 0.05749650299549103 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.026328369975090027, + -0.10155374556779861, + -0.03035607747733593 + ], + "orientation": [ + 0.9043070077896118, + 0.16796402633190155, + -0.3884931206703186, + 0.05558791756629944 + ], + "joints": [ + -0.0014864683616906404 + ] + }, + "final_grasp": { + "position": [ + 0.026328369975090027, + -0.10155374556779861, + -0.03035607747733593 + ], + "orientation": [ + 0.9043070077896118, + 0.16796402633190155, + -0.3884931206703186, + 0.05558791756629944 + ], + "joints": [ + 0.006457956042140722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02904888242483139, + -0.1052829697728157, + -0.03185649961233139 + ], + "orientation": [ + 0.9064518213272095, + 0.15856730937957764, + -0.38739269971847534, + 0.05593292787671089 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.026489870622754097, + -0.10144871473312378, + -0.030628377571702003 + ], + "orientation": [ + 0.9048525094985962, + 0.1678529679775238, + -0.38724005222320557, + 0.05579005554318428 + ], + "joints": [ + -0.0014864682452753186 + ] + }, + "final_grasp": { + "position": [ + 0.026489870622754097, + -0.10144871473312378, + -0.030628377571702003 + ], + "orientation": [ + 0.9048525094985962, + 0.1678529679775238, + -0.38724005222320557, + 0.05579005554318428 + ], + "joints": [ + 0.00645795650780201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02968219481408596, + -0.1060277596116066, + -0.03228863701224327 + ], + "orientation": [ + 0.9068959951400757, + 0.15434642136096954, + -0.3882313668727875, + 0.05471012368798256 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.026958085596561432, + -0.10183507204055786, + -0.030962785705924034 + ], + "orientation": [ + 0.9044182896614075, + 0.16338510811328888, + -0.39028415083885193, + 0.05487274378538132 + ], + "joints": [ + -0.0014864684781059623 + ] + }, + "final_grasp": { + "position": [ + 0.026958085596561432, + -0.10183507204055786, + -0.030962785705924034 + ], + "orientation": [ + 0.9044182896614075, + 0.16338510811328888, + -0.39028415083885193, + 0.05487274378538132 + ], + "joints": [ + 0.006457955576479435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029070600867271423, + -0.10600502043962479, + -0.03147666156291962 + ], + "orientation": [ + 0.9064380526542664, + 0.16256949305534363, + -0.3853076100349426, + 0.058985091745853424 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.026458747684955597, + -0.10191638767719269, + -0.03015737049281597 + ], + "orientation": [ + 0.905168890953064, + 0.17103999853134155, + -0.3848769962787628, + 0.057308368384838104 + ], + "joints": [ + -0.0014864683616906404 + ] + }, + "final_grasp": { + "position": [ + 0.026458747684955597, + -0.10191638767719269, + -0.03015737049281597 + ], + "orientation": [ + 0.905168890953064, + 0.17103999853134155, + -0.3848769962787628, + 0.057308368384838104 + ], + "joints": [ + 0.006457956042140722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028874743729829788, + -0.10616546124219894, + -0.031170658767223358 + ], + "orientation": [ + 0.9065144062042236, + 0.16365839540958405, + -0.38454753160476685, + 0.05975600332021713 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.02632073126733303, + -0.10213097184896469, + -0.02998238243162632 + ], + "orientation": [ + 0.9052138924598694, + 0.17171066999435425, + -0.384459912776947, + 0.05739254876971245 + ], + "joints": [ + -0.0014864683616906404 + ] + }, + "final_grasp": { + "position": [ + 0.02632073126733303, + -0.10213097184896469, + -0.02998238243162632 + ], + "orientation": [ + 0.9052138924598694, + 0.17171066999435425, + -0.384459912776947, + 0.05739254876971245 + ], + "joints": [ + 0.006457956042140722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011328135151416063, + -0.10393528640270233, + -0.03225831314921379 + ], + "orientation": [ + 0.9905126094818115, + 0.11471208930015564, + 0.07511230558156967, + 0.009170997887849808 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + 0.0016219883691519499, + -0.10314925014972687, + -0.030802540481090546 + ], + "orientation": [ + 0.9879809617996216, + 0.12843166291713715, + 0.08374254405498505, + 0.019648689776659012 + ], + "joints": [ + -0.001347952289506793 + ] + }, + "final_grasp": { + "position": [ + 0.0016219883691519499, + -0.10314925014972687, + -0.030802540481090546 + ], + "orientation": [ + 0.9879809617996216, + 0.12843166291713715, + 0.08374254405498505, + 0.019648689776659012 + ], + "joints": [ + 0.005586812738329172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12367154657840729, + 0.013154786080121994, + 0.0052825678139925 + ], + "orientation": [ + 0.510420560836792, + 0.4682144820690155, + 0.49858027696609497, + -0.521213710308075 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.12198235094547272, + 0.014494388364255428, + 0.0049704681150615215 + ], + "orientation": [ + 0.528322696685791, + 0.45221176743507385, + 0.492026150226593, + -0.5237268209457397 + ], + "joints": [ + -0.001261102152056992 + ] + }, + "final_grasp": { + "position": [ + -0.12198235094547272, + 0.014494388364255428, + 0.0049704681150615215 + ], + "orientation": [ + 0.528322696685791, + 0.45221176743507385, + 0.492026150226593, + -0.5237268209457397 + ], + "joints": [ + 0.005142263136804104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12774686515331268, + 0.030692026019096375, + -0.025939488783478737 + ], + "orientation": [ + 0.4579312801361084, + -0.4285631775856018, + -0.47967466711997986, + -0.613632321357727 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.12280646711587906, + 0.031220577657222748, + -0.024675078690052032 + ], + "orientation": [ + 0.4647655189037323, + -0.4195103347301483, + -0.4840923249721527, + -0.6112764477729797 + ], + "joints": [ + -0.0025772349908947945 + ] + }, + "final_grasp": { + "position": [ + -0.12280646711587906, + 0.031220577657222748, + -0.024675078690052032 + ], + "orientation": [ + 0.4647655189037323, + -0.4195103347301483, + -0.4840923249721527, + -0.6112764477729797 + ], + "joints": [ + 0.0048357900232076645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00798380933701992, + 0.02286367490887642, + -0.1206042543053627 + ], + "orientation": [ + 0.026598840951919556, + 0.07822848856449127, + 0.687713086605072, + 0.7212652564048767 + ], + "joints": [ + -0.00816340371966362 + ] + }, + "fine_grasp": { + "position": [ + -0.008004263043403625, + 0.024179594591259956, + -0.12184559553861618 + ], + "orientation": [ + 0.03764428198337555, + 0.08712423592805862, + 0.693952739238739, + 0.7137379050254822 + ], + "joints": [ + -0.0012286386918276548 + ] + }, + "final_grasp": { + "position": [ + -0.008004263043403625, + 0.024179594591259956, + -0.12184559553861618 + ], + "orientation": [ + 0.03764428198337555, + 0.08712423592805862, + 0.693952739238739, + 0.7137379050254822 + ], + "joints": [ + 0.00570612633600831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12783026695251465, + 0.030706005170941353, + -0.02595611661672592 + ], + "orientation": [ + 0.45737528800964355, + -0.4291006922721863, + -0.479449063539505, + -0.6138477325439453 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.12276921421289444, + 0.031164711341261864, + -0.024676311761140823 + ], + "orientation": [ + 0.4647838771343231, + -0.4194491505622864, + -0.4840752184391022, + -0.6113178730010986 + ], + "joints": [ + -0.0025772349908947945 + ] + }, + "final_grasp": { + "position": [ + -0.12276921421289444, + 0.031164711341261864, + -0.024676311761140823 + ], + "orientation": [ + 0.4647838771343231, + -0.4194491505622864, + -0.4840752184391022, + -0.6113178730010986 + ], + "joints": [ + 0.0048357900232076645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03687848150730133, + 0.06863071769475937, + -0.11151548475027084 + ], + "orientation": [ + 0.11112087219953537, + -0.09451717883348465, + -0.529784619808197, + -0.8354920744895935 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.03567378222942352, + 0.06661589443683624, + -0.10651025176048279 + ], + "orientation": [ + 0.11760098487138748, + -0.08534353971481323, + -0.5326029658317566, + -0.8337989449501038 + ], + "joints": [ + -0.0020178677514195442 + ] + }, + "final_grasp": { + "position": [ + -0.03567378222942352, + 0.06661589443683624, + -0.10651025176048279 + ], + "orientation": [ + 0.11760098487138748, + -0.08534353971481323, + -0.5326029658317566, + -0.8337989449501038 + ], + "joints": [ + 0.005395157262682915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015516049461439252, + -0.10602141916751862, + -0.014763073064386845 + ], + "orientation": [ + 0.1256929188966751, + 0.004547777585685253, + -0.9912314414978027, + -0.04050832241773605 + ], + "joints": [ + -0.007943376898765564 + ] + }, + "fine_grasp": { + "position": [ + 0.0021820422261953354, + -0.10443468391895294, + -0.013796192593872547 + ], + "orientation": [ + 0.12719915807247162, + 0.017632288858294487, + -0.9902876019477844, + -0.0532902330160141 + ], + "joints": [ + -0.0010351818054914474 + ] + }, + "final_grasp": { + "position": [ + 0.0021820422261953354, + -0.10443468391895294, + -0.013796192593872547 + ], + "orientation": [ + 0.12719915807247162, + 0.017632288858294487, + -0.9902876019477844, + -0.0532902330160141 + ], + "joints": [ + 0.005873013287782669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015703148674219847, + -0.10679681599140167, + -0.015099761076271534 + ], + "orientation": [ + 0.11906275898218155, + 0.004283385816961527, + -0.9920384883880615, + -0.04080981761217117 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.001910457736812532, + -0.10428556799888611, + -0.013960122130811214 + ], + "orientation": [ + 0.12214986979961395, + 0.01679532788693905, + -0.9909390807151794, + -0.05326319858431816 + ], + "joints": [ + -0.0008402515668421984 + ] + }, + "final_grasp": { + "position": [ + 0.001910457736812532, + -0.10428556799888611, + -0.013960122130811214 + ], + "orientation": [ + 0.12214986979961395, + 0.01679532788693905, + -0.9909390807151794, + -0.05326319858431816 + ], + "joints": [ + 0.006572773214429617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020325837656855583, + -0.00011760968482121825, + -0.1267457753419876 + ], + "orientation": [ + 0.7602133750915527, + 0.6344537138938904, + 0.029802965000271797, + 0.13658607006072998 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + 0.020311467349529266, + -0.0012663681991398335, + -0.12224645912647247 + ], + "orientation": [ + 0.7488160133361816, + 0.6432639956474304, + 0.047071460634469986, + 0.15254607796669006 + ], + "joints": [ + -0.0030835382640361786 + ] + }, + "final_grasp": { + "position": [ + 0.020311467349529266, + -0.0012663681991398335, + -0.12224645912647247 + ], + "orientation": [ + 0.7488160133361816, + 0.6432639956474304, + 0.047071460634469986, + 0.15254607796669006 + ], + "joints": [ + 0.0032932572066783905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12342071533203125, + 0.012937464751303196, + 0.005237597972154617 + ], + "orientation": [ + 0.5103108286857605, + 0.4682456851005554, + 0.4966582655906677, + -0.5231244564056396 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + -0.1214328184723854, + 0.014523734338581562, + 0.005140142515301704 + ], + "orientation": [ + 0.528564989566803, + 0.4503459632396698, + 0.49044865369796753, + -0.5265622138977051 + ], + "joints": [ + -0.001261102152056992 + ] + }, + "final_grasp": { + "position": [ + -0.1214328184723854, + 0.014523734338581562, + 0.005140142515301704 + ], + "orientation": [ + 0.528564989566803, + 0.4503459632396698, + 0.49044865369796753, + -0.5265622138977051 + ], + "joints": [ + 0.005142263136804104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.099579356610775, + -0.018287505954504013, + -0.057033147662878036 + ], + "orientation": [ + 0.7062187194824219, + 0.5054255723953247, + 0.3852611780166626, + -0.3120478093624115 + ], + "joints": [ + -0.007982202805578709 + ] + }, + "fine_grasp": { + "position": [ + -0.10242853313684464, + -0.01906566321849823, + -0.057594336569309235 + ], + "orientation": [ + 0.7104002833366394, + 0.49964582920074463, + 0.38336464762687683, + -0.3141929507255554 + ], + "joints": [ + -0.0016054073348641396 + ] + }, + "final_grasp": { + "position": [ + -0.10242853313684464, + -0.01906566321849823, + -0.057594336569309235 + ], + "orientation": [ + 0.7104002833366394, + 0.49964582920074463, + 0.38336464762687683, + -0.3141929507255554 + ], + "joints": [ + 0.0047713881358504295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09965004026889801, + -0.018022380769252777, + -0.057325683534145355 + ], + "orientation": [ + 0.7061184048652649, + 0.5069015026092529, + 0.3827473223209381, + -0.31297311186790466 + ], + "joints": [ + -0.007823335006833076 + ] + }, + "fine_grasp": { + "position": [ + -0.10255733877420425, + -0.01873049885034561, + -0.058105163276195526 + ], + "orientation": [ + 0.7101154923439026, + 0.501535177230835, + 0.3814011514186859, + -0.3142158091068268 + ], + "joints": [ + -0.0014465395361185074 + ] + }, + "final_grasp": { + "position": [ + -0.10255733877420425, + -0.01873049885034561, + -0.058105163276195526 + ], + "orientation": [ + 0.7101154923439026, + 0.501535177230835, + 0.3814011514186859, + -0.3142158091068268 + ], + "joints": [ + 0.004930255934596062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005775917787104845, + -0.10709898918867111, + 0.0021420542616397142 + ], + "orientation": [ + 0.8296445608139038, + 0.007255429867655039, + 0.5576278567314148, + -0.026239760220050812 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.006205675192177296, + -0.10816998034715652, + 0.003106274176388979 + ], + "orientation": [ + 0.8286398649215698, + 0.008630769327282906, + 0.558990478515625, + -0.028480974957346916 + ], + "joints": [ + -0.001849910942837596 + ] + }, + "final_grasp": { + "position": [ + -0.006205675192177296, + -0.10816998034715652, + 0.003106274176388979 + ], + "orientation": [ + 0.8286398649215698, + 0.008630769327282906, + 0.558990478515625, + -0.028480974957346916 + ], + "joints": [ + 0.004553454462438822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005946523044258356, + -0.1072908490896225, + 0.002063062507659197 + ], + "orientation": [ + 0.8294947147369385, + 0.006888859905302525, + 0.5578737258911133, + -0.025846676900982857 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.006313469726592302, + -0.10901312530040741, + 0.002826375188305974 + ], + "orientation": [ + 0.8286167979240417, + 0.010398482903838158, + 0.5589924454689026, + -0.028522830456495285 + ], + "joints": [ + -0.0018499108264222741 + ] + }, + "final_grasp": { + "position": [ + -0.006313469726592302, + -0.10901312530040741, + 0.002826375188305974 + ], + "orientation": [ + 0.8286167979240417, + 0.010398482903838158, + 0.5589924454689026, + -0.028522830456495285 + ], + "joints": [ + 0.004553454928100109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12325304001569748, + 0.03957899287343025, + -0.02890348620712757 + ], + "orientation": [ + 0.46310117840766907, + 0.6439110636711121, + -0.45645615458488464, + 0.4031916856765747 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.11812753975391388, + 0.038924749940633774, + -0.027835503220558167 + ], + "orientation": [ + 0.46506354212760925, + 0.6417639851570129, + -0.4558176100254059, + 0.4050741195678711 + ], + "joints": [ + -0.0014864684781059623 + ] + }, + "final_grasp": { + "position": [ + 0.11812753975391388, + 0.038924749940633774, + -0.027835503220558167 + ], + "orientation": [ + 0.46506354212760925, + 0.6417639851570129, + -0.4558176100254059, + 0.4050741195678711 + ], + "joints": [ + 0.006457955576479435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07799217104911804, + -0.06863358616828918, + -0.01274506188929081 + ], + "orientation": [ + 0.6069929599761963, + -0.22196142375469208, + 0.7168909311294556, + 0.2614573836326599 + ], + "joints": [ + -0.006941565312445164 + ] + }, + "fine_grasp": { + "position": [ + 0.07540072500705719, + -0.06624259054660797, + -0.011981076560914516 + ], + "orientation": [ + 0.6058832406997681, + -0.22584110498428345, + 0.7150488495826721, + 0.26571857929229736 + ], + "joints": [ + -0.0016275690868496895 + ] + }, + "final_grasp": { + "position": [ + 0.07540072500705719, + -0.06624259054660797, + -0.011981076560914516 + ], + "orientation": [ + 0.6058832406997681, + -0.22584110498428345, + 0.7150488495826721, + 0.26571857929229736 + ], + "joints": [ + 0.0036864271387457848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02009510062634945, + 0.0007213823846541345, + -0.1271398961544037 + ], + "orientation": [ + 0.7641658782958984, + 0.6294033527374268, + 0.028733041137456894, + 0.13811662793159485 + ], + "joints": [ + -0.008341599255800247 + ] + }, + "fine_grasp": { + "position": [ + 0.02105090394616127, + -0.0007391623803414404, + -0.12363198399543762 + ], + "orientation": [ + 0.7500400543212891, + 0.6415485739707947, + 0.04430202394723892, + 0.15457241237163544 + ], + "joints": [ + -0.0035324329510331154 + ] + }, + "final_grasp": { + "position": [ + 0.02105090394616127, + -0.0007391623803414404, + -0.12363198399543762 + ], + "orientation": [ + 0.7500400543212891, + 0.6415485739707947, + 0.04430202394723892, + 0.15457241237163544 + ], + "joints": [ + 0.0012767333537340164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02748989313840866, + 0.02340659126639366, + -0.1275293529033661 + ], + "orientation": [ + 0.6797102093696594, + 0.7223449945449829, + -0.031112095341086388, + 0.12346506118774414 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.026057995855808258, + 0.023855097591876984, + -0.12221577018499374 + ], + "orientation": [ + 0.6882822513580322, + 0.7136315107345581, + -0.026864435523748398, + 0.12757781147956848 + ], + "joints": [ + -0.0025226976722478867 + ] + }, + "final_grasp": { + "position": [ + 0.026057995855808258, + 0.023855097591876984, + -0.12221577018499374 + ], + "orientation": [ + 0.6882822513580322, + 0.7136315107345581, + -0.026864435523748398, + 0.12757781147956848 + ], + "joints": [ + 0.00438549742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061569150537252426, + 0.012937866151332855, + -0.10246932506561279 + ], + "orientation": [ + 0.1681632548570633, + -0.2110697627067566, + -0.7003567218780518, + -0.6608109474182129 + ], + "joints": [ + -0.007338256575167179 + ] + }, + "fine_grasp": { + "position": [ + -0.06340108066797256, + 0.013639360666275024, + -0.10312940925359726 + ], + "orientation": [ + 0.15959185361862183, + -0.22177359461784363, + -0.7040044069290161, + -0.6555339097976685 + ], + "joints": [ + -0.0014662907924503088 + ] + }, + "final_grasp": { + "position": [ + -0.06340108066797256, + 0.013639360666275024, + -0.10312940925359726 + ], + "orientation": [ + 0.15959185361862183, + -0.22177359461784363, + -0.7040044069290161, + -0.6555339097976685 + ], + "joints": [ + 0.0044056749902665615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01925565116107464, + -0.10197217017412186, + 0.03127582371234894 + ], + "orientation": [ + 0.13299670815467834, + -0.09773791581392288, + 0.9782677292823792, + -0.125504732131958 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.019552081823349, + -0.10317445546388626, + 0.03185997158288956 + ], + "orientation": [ + 0.1372995227575302, + -0.09685138612985611, + 0.977878212928772, + -0.12459083646535873 + ], + "joints": [ + -0.002272159792482853 + ] + }, + "final_grasp": { + "position": [ + 0.019552081823349, + -0.10317445546388626, + 0.03185997158288956 + ], + "orientation": [ + 0.1372995227575302, + -0.09685138612985611, + 0.977878212928772, + -0.12459083646535873 + ], + "joints": [ + 0.0036795157939195633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009141908027231693, + 0.03329865261912346, + -0.1269233226776123 + ], + "orientation": [ + 0.07615908235311508, + 0.03470268473029137, + 0.6508323550224304, + 0.7545945048332214 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + 0.008737444877624512, + 0.0333060659468174, + -0.12141367793083191 + ], + "orientation": [ + 0.07925581932067871, + 0.038571856915950775, + 0.6555773019790649, + 0.7499660849571228 + ], + "joints": [ + -0.0009271013550460339 + ] + }, + "final_grasp": { + "position": [ + 0.008737444877624512, + 0.0333060659468174, + -0.12141367793083191 + ], + "orientation": [ + 0.07925581932067871, + 0.038571856915950775, + 0.6555773019790649, + 0.7499660849571228 + ], + "joints": [ + 0.007017322815954685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010584601201117039, + -0.004054877441376448, + -0.12138281017541885 + ], + "orientation": [ + 0.2121848165988922, + 0.11990353465080261, + -0.7065865397453308, + -0.6643313765525818 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.011111403815448284, + -0.002779571572318673, + -0.11862825602293015 + ], + "orientation": [ + 0.2087438702583313, + 0.11617979407310486, + -0.7136795520782471, + -0.6584751605987549 + ], + "joints": [ + -0.001963254762813449 + ] + }, + "final_grasp": { + "position": [ + -0.011111403815448284, + -0.002779571572318673, + -0.11862825602293015 + ], + "orientation": [ + 0.2087438702583313, + 0.11617979407310486, + -0.7136795520782471, + -0.6584751605987549 + ], + "joints": [ + 0.006034309510141611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01956719160079956, + -0.10202335566282272, + 0.031030572950839996 + ], + "orientation": [ + 0.1319451779127121, + -0.09874766319990158, + 0.9784414768218994, + -0.12446506321430206 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.019874993711709976, + -0.10312822461128235, + 0.03160211071372032 + ], + "orientation": [ + 0.1362094283103943, + -0.09805156290531158, + 0.9781463742256165, + -0.12272927910089493 + ], + "joints": [ + -0.002272159792482853 + ] + }, + "final_grasp": { + "position": [ + 0.019874993711709976, + -0.10312822461128235, + 0.03160211071372032 + ], + "orientation": [ + 0.1362094283103943, + -0.09805156290531158, + 0.9781463742256165, + -0.12272927910089493 + ], + "joints": [ + 0.0036795157939195633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01075480692088604, + -0.0038222172297537327, + -0.12093377858400345 + ], + "orientation": [ + 0.21409763395786285, + 0.1219969317317009, + -0.7078151106834412, + -0.6620247960090637 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.011412389576435089, + -0.0030462914146482944, + -0.11825080960988998 + ], + "orientation": [ + 0.21154648065567017, + 0.11667168885469437, + -0.71458899974823, + -0.6565046310424805 + ], + "joints": [ + -0.0019661257974803448 + ] + }, + "final_grasp": { + "position": [ + -0.011412389576435089, + -0.0030462914146482944, + -0.11825080960988998 + ], + "orientation": [ + 0.21154648065567017, + 0.11667168885469437, + -0.71458899974823, + -0.6565046310424805 + ], + "joints": [ + 0.006058008410036564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05491839721798897, + -0.07368354499340057, + 0.08518113195896149 + ], + "orientation": [ + 0.07919967919588089, + 0.1963542252779007, + 0.9168608784675598, + -0.33843541145324707 + ], + "joints": [ + -0.009489774703979492 + ] + }, + "fine_grasp": { + "position": [ + -0.052919596433639526, + -0.0712326169013977, + 0.0809113085269928 + ], + "orientation": [ + 0.0745062604546547, + 0.19863919913768768, + 0.9135488271713257, + -0.3470155894756317 + ], + "joints": [ + -0.003086409531533718 + ] + }, + "final_grasp": { + "position": [ + -0.052919596433639526, + -0.0712326169013977, + 0.0809113085269928 + ], + "orientation": [ + 0.0745062604546547, + 0.19863919913768768, + 0.9135488271713257, + -0.3470155894756317 + ], + "joints": [ + 0.003316955640912056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031184207648038864, + 0.04315895587205887, + 0.12522415816783905 + ], + "orientation": [ + 0.6452546119689941, + -0.7383586764335632, + 0.002497598994523287, + -0.1961294710636139 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + -0.029912106692790985, + 0.04093250259757042, + 0.12013581395149231 + ], + "orientation": [ + 0.6347032189369202, + -0.7457831501960754, + 0.008420013822615147, + -0.20220878720283508 + ], + "joints": [ + -0.003588368184864521 + ] + }, + "final_grasp": { + "position": [ + -0.029912106692790985, + 0.04093250259757042, + 0.12013581395149231 + ], + "orientation": [ + 0.6347032189369202, + -0.7457831501960754, + 0.008420013822615147, + -0.20220878720283508 + ], + "joints": [ + 0.0022835973650217056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05510297417640686, + -0.07390525192022324, + 0.08531864732503891 + ], + "orientation": [ + 0.07845671474933624, + 0.1968068927526474, + 0.9170967936515808, + -0.33770573139190674 + ], + "joints": [ + -0.009489774703979492 + ] + }, + "fine_grasp": { + "position": [ + -0.05306580290198326, + -0.07137200236320496, + 0.08108910918235779 + ], + "orientation": [ + 0.07408975064754486, + 0.1991209238767624, + 0.9139301180839539, + -0.34582242369651794 + ], + "joints": [ + -0.003086409531533718 + ] + }, + "final_grasp": { + "position": [ + -0.05306580290198326, + -0.07137200236320496, + 0.08108910918235779 + ], + "orientation": [ + 0.07408975064754486, + 0.1991209238767624, + 0.9139301180839539, + -0.34582242369651794 + ], + "joints": [ + 0.003316955640912056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024651292711496353, + -0.10597915202379227, + 0.014284505508840084 + ], + "orientation": [ + 0.4057600796222687, + -0.11889471113681793, + -0.9060994982719421, + 0.01437489315867424 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.025670679286122322, + -0.10947664082050323, + 0.014081369154155254 + ], + "orientation": [ + 0.40905889868736267, + -0.11747987568378448, + -0.904861330986023, + 0.009759483858942986 + ], + "joints": [ + -0.0022987297270447016 + ] + }, + "final_grasp": { + "position": [ + -0.025670679286122322, + -0.10947664082050323, + 0.014081369154155254 + ], + "orientation": [ + 0.40905889868736267, + -0.11747987568378448, + -0.904861330986023, + 0.009759483858942986 + ], + "joints": [ + 0.003626375924795866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10806527733802795, + 0.011880632489919662, + -0.07906495034694672 + ], + "orientation": [ + 0.4225618839263916, + -0.19862070679664612, + -0.6070956587791443, + -0.6429821848869324 + ], + "joints": [ + -0.007163981441408396 + ] + }, + "fine_grasp": { + "position": [ + -0.104213185608387, + 0.01061134971678257, + -0.07692459225654602 + ], + "orientation": [ + 0.4263613522052765, + -0.19702671468257904, + -0.5902407169342041, + -0.65651535987854 + ], + "joints": [ + -0.0028065049555152655 + ] + }, + "final_grasp": { + "position": [ + -0.104213185608387, + 0.01061134971678257, + -0.07692459225654602 + ], + "orientation": [ + 0.4263613522052765, + -0.19702671468257904, + -0.5902407169342041, + -0.65651535987854 + ], + "joints": [ + 0.0015509715303778648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12183930724859238, + 0.05152316763997078, + 0.024280905723571777 + ], + "orientation": [ + 0.4128936529159546, + -0.6816412806510925, + -0.457633376121521, + -0.3942788243293762 + ], + "joints": [ + -0.009150434285402298 + ] + }, + "fine_grasp": { + "position": [ + -0.11676885932683945, + 0.0490533672273159, + 0.023456355556845665 + ], + "orientation": [ + 0.39572858810424805, + -0.6953924298286438, + -0.45216330885887146, + -0.39417845010757446 + ], + "joints": [ + -0.0022422391921281815 + ] + }, + "final_grasp": { + "position": [ + -0.11676885932683945, + 0.0490533672273159, + 0.023456355556845665 + ], + "orientation": [ + 0.39572858810424805, + -0.6953924298286438, + -0.45216330885887146, + -0.39417845010757446 + ], + "joints": [ + 0.004665955901145935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10822360217571259, + 0.011835713870823383, + -0.07917749881744385 + ], + "orientation": [ + 0.4228000342845917, + -0.19841019809246063, + -0.6067028641700745, + -0.643261194229126 + ], + "joints": [ + -0.007163981441408396 + ] + }, + "fine_grasp": { + "position": [ + -0.10427451878786087, + 0.010578276589512825, + -0.07690009474754333 + ], + "orientation": [ + 0.4265305995941162, + -0.19712111353874207, + -0.5906639695167542, + -0.6559960842132568 + ], + "joints": [ + -0.0028065049555152655 + ] + }, + "final_grasp": { + "position": [ + -0.10427451878786087, + 0.010578276589512825, + -0.07690009474754333 + ], + "orientation": [ + 0.4265305995941162, + -0.19712111353874207, + -0.5906639695167542, + -0.6559960842132568 + ], + "joints": [ + 0.0015509715303778648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10460082441568375, + -0.041065286844968796, + 0.026474228128790855 + ], + "orientation": [ + 0.5234047770500183, + -0.47770261764526367, + -0.6763924360275269, + -0.20085060596466064 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.10432026535272598, + -0.04076617211103439, + 0.027139516547322273 + ], + "orientation": [ + 0.5163216590881348, + -0.4808240234851837, + -0.6792486906051636, + -0.2020927369594574 + ], + "joints": [ + -0.002272159792482853 + ] + }, + "final_grasp": { + "position": [ + -0.10432026535272598, + -0.04076617211103439, + 0.027139516547322273 + ], + "orientation": [ + 0.5163216590881348, + -0.4808240234851837, + -0.6792486906051636, + -0.2020927369594574 + ], + "joints": [ + 0.0036795157939195633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01138009037822485, + 0.004011971410363913, + -0.12769512832164764 + ], + "orientation": [ + 0.16713063418865204, + 0.10635218769311905, + 0.7403359413146973, + 0.6423856019973755 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.009742284193634987, + 0.002894497476518154, + -0.1226205825805664 + ], + "orientation": [ + 0.17650730907917023, + 0.11036602407693863, + 0.7235121130943298, + 0.6581752896308899 + ], + "joints": [ + -0.0023267727810889482 + ] + }, + "final_grasp": { + "position": [ + 0.009742284193634987, + 0.002894497476518154, + -0.1226205825805664 + ], + "orientation": [ + 0.17650730907917023, + 0.11036602407693863, + 0.7235121130943298, + 0.6581752896308899 + ], + "joints": [ + 0.0030403630807995796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1160488948225975, + -0.016346052289009094, + -0.062164317816495895 + ], + "orientation": [ + 0.2741904556751251, + -0.413944274187088, + -0.7604675889015198, + -0.4185197055339813 + ], + "joints": [ + -0.006516290828585625 + ] + }, + "fine_grasp": { + "position": [ + -0.11216644942760468, + -0.01621638797223568, + -0.058945704251527786 + ], + "orientation": [ + 0.26312777400016785, + -0.42008477449417114, + -0.7544813752174377, + -0.4301747977733612 + ], + "joints": [ + -0.0021588141098618507 + ] + }, + "final_grasp": { + "position": [ + -0.11216644942760468, + -0.01621638797223568, + -0.058945704251527786 + ], + "orientation": [ + 0.26312777400016785, + -0.42008477449417114, + -0.7544813752174377, + -0.4301747977733612 + ], + "joints": [ + 0.0021986626088619232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011266161687672138, + 0.00387396733276546, + -0.12911351025104523 + ], + "orientation": [ + 0.164969801902771, + 0.1060156375169754, + 0.7412540912628174, + 0.641940712928772 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.00979023240506649, + 0.0029522853437811136, + -0.12395188212394714 + ], + "orientation": [ + 0.17532669007778168, + 0.11063697189092636, + 0.725846529006958, + 0.6558710336685181 + ], + "joints": [ + -0.0023267725482583046 + ] + }, + "final_grasp": { + "position": [ + 0.00979023240506649, + 0.0029522853437811136, + -0.12395188212394714 + ], + "orientation": [ + 0.17532669007778168, + 0.11063697189092636, + 0.725846529006958, + 0.6558710336685181 + ], + "joints": [ + 0.003040363546460867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.106407530605793, + -0.02707829140126705, + -0.028907816857099533 + ], + "orientation": [ + 0.7544469833374023, + 0.35186609625816345, + 0.33110642433166504, + -0.4442618191242218 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.10986194759607315, + -0.027951722964644432, + -0.02893577143549919 + ], + "orientation": [ + 0.7573323845863342, + 0.34794893860816956, + 0.3239360451698303, + -0.44771042466163635 + ], + "joints": [ + -0.0025510687846690416 + ] + }, + "final_grasp": { + "position": [ + -0.10986194759607315, + -0.027951722964644432, + -0.02893577143549919 + ], + "orientation": [ + 0.7573323845863342, + 0.34794893860816956, + 0.3239360451698303, + -0.44771042466163635 + ], + "joints": [ + 0.003400606568902731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031240399926900864, + -0.10390673577785492, + 0.018411027267575264 + ], + "orientation": [ + 0.7879041433334351, + 0.006305400747805834, + 0.5993510484695435, + -0.14122912287712097 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.030735602602362633, + -0.10506350547075272, + 0.01999565027654171 + ], + "orientation": [ + 0.7901479601860046, + 0.006384590640664101, + 0.596104085445404, + -0.14242680370807648 + ], + "joints": [ + -0.002328170696273446 + ] + }, + "final_grasp": { + "position": [ + -0.030735602602362633, + -0.10506350547075272, + 0.01999565027654171 + ], + "orientation": [ + 0.7901479601860046, + 0.006384590640664101, + 0.596104085445404, + -0.14242680370807648 + ], + "joints": [ + 0.0035969349555671215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09255404025316238, + -0.053925834596157074, + -0.02926861308515072 + ], + "orientation": [ + 0.8363208174705505, + 0.27199244499206543, + -0.29272428154945374, + 0.3753666579723358 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.09280139207839966, + -0.05371079593896866, + -0.028091229498386383 + ], + "orientation": [ + 0.8383492827415466, + 0.27509868144989014, + -0.2859581410884857, + 0.37379035353660583 + ], + "joints": [ + -0.0027532908134162426 + ] + }, + "final_grasp": { + "position": [ + 0.09280139207839966, + -0.05371079593896866, + -0.028091229498386383 + ], + "orientation": [ + 0.8383492827415466, + 0.27509868144989014, + -0.2859581410884857, + 0.37379035353660583 + ], + "joints": [ + 0.0027466947212815285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06780388951301575, + -0.004573642276227474, + -0.09934533387422562 + ], + "orientation": [ + 0.40680959820747375, + -0.013355445116758347, + 0.6496425867080688, + 0.6420998573303223 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.06610887497663498, + -0.005309778731316328, + -0.09839651733636856 + ], + "orientation": [ + 0.40876898169517517, + -0.020170865580439568, + 0.6425286531448364, + 0.6478100419044495 + ], + "joints": [ + -0.002916979370638728 + ] + }, + "final_grasp": { + "position": [ + 0.06610887497663498, + -0.005309778731316328, + -0.09839651733636856 + ], + "orientation": [ + 0.40876898169517517, + -0.020170865580439568, + 0.6425286531448364, + 0.6478100419044495 + ], + "joints": [ + 0.003008125815540552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020113514736294746, + -0.10280707478523254, + -0.03196102753281593 + ], + "orientation": [ + 0.7134864330291748, + 0.15726257860660553, + -0.6821363568305969, + -0.029925573617219925 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.021327698603272438, + -0.10340923815965652, + -0.03346378356218338 + ], + "orientation": [ + 0.7157069444656372, + 0.15881986916065216, + -0.6793534159660339, + -0.03191882744431496 + ], + "joints": [ + -0.002301600994542241 + ] + }, + "final_grasp": { + "position": [ + 0.021327698603272438, + -0.10340923815965652, + -0.03346378356218338 + ], + "orientation": [ + 0.7157069444656372, + 0.15881986916065216, + -0.6793534159660339, + -0.03191882744431496 + ], + "joints": [ + 0.0036500743590295315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005179449915885925, + -0.10354889184236526, + -0.04663240537047386 + ], + "orientation": [ + 0.6851993203163147, + 0.13863515853881836, + 0.7029656767845154, + 0.13084860146045685 + ], + "joints": [ + -0.008194394409656525 + ] + }, + "fine_grasp": { + "position": [ + 0.005038075149059296, + -0.10364008694887161, + -0.046823229640722275 + ], + "orientation": [ + 0.6884945034980774, + 0.1380654275417328, + 0.7003350853919983, + 0.12823469936847687 + ], + "joints": [ + -0.0012596292654052377 + ] + }, + "final_grasp": { + "position": [ + 0.005038075149059296, + -0.10364008694887161, + -0.046823229640722275 + ], + "orientation": [ + 0.6884945034980774, + 0.1380654275417328, + 0.7003350853919983, + 0.12823469936847687 + ], + "joints": [ + 0.005675136111676693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004994446411728859, + -0.10324918478727341, + -0.04666830226778984 + ], + "orientation": [ + 0.6853119134902954, + 0.1379360407590866, + 0.7026585936546326, + 0.13263551890850067 + ], + "joints": [ + -0.008194394409656525 + ] + }, + "fine_grasp": { + "position": [ + 0.005164763890206814, + -0.10325868427753448, + -0.04695969820022583 + ], + "orientation": [ + 0.6885735988616943, + 0.13833317160606384, + 0.7000830173492432, + 0.12889555096626282 + ], + "joints": [ + -0.0012596292654052377 + ] + }, + "final_grasp": { + "position": [ + 0.005164763890206814, + -0.10325868427753448, + -0.04695969820022583 + ], + "orientation": [ + 0.6885735988616943, + 0.13833317160606384, + 0.7000830173492432, + 0.12889555096626282 + ], + "joints": [ + 0.005675136111676693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10234180092811584, + -0.020334485918283463, + 0.03826509416103363 + ], + "orientation": [ + 0.28820985555648804, + 0.4482547640800476, + 0.7503059506416321, + -0.39120805263519287 + ], + "joints": [ + -0.007943376898765564 + ] + }, + "fine_grasp": { + "position": [ + -0.10386881232261658, + -0.020155811682343483, + 0.03742709010839462 + ], + "orientation": [ + 0.27319538593292236, + 0.452549546957016, + 0.7573368549346924, + -0.3834110498428345 + ], + "joints": [ + -0.0030013611540198326 + ] + }, + "final_grasp": { + "position": [ + -0.10386881232261658, + -0.020155811682343483, + 0.03742709010839462 + ], + "orientation": [ + 0.27319538593292236, + 0.452549546957016, + 0.7573368549346924, + -0.3834110498428345 + ], + "joints": [ + 0.0019406545907258987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033625662326812744, + -0.06866669654846191, + 0.10042726248502731 + ], + "orientation": [ + 0.8306427001953125, + -0.40248697996139526, + -0.37817370891571045, + 0.07086322456598282 + ], + "joints": [ + -0.007163981441408396 + ] + }, + "fine_grasp": { + "position": [ + -0.03160081058740616, + -0.06668244302272797, + 0.09726908802986145 + ], + "orientation": [ + 0.8263171911239624, + -0.4096378982067108, + -0.38101133704185486, + 0.06501621007919312 + ], + "joints": [ + -0.002275105332955718 + ] + }, + "final_grasp": { + "position": [ + -0.03160081058740616, + -0.06668244302272797, + 0.09726908802986145 + ], + "orientation": [ + 0.8263171911239624, + -0.4096378982067108, + -0.38101133704185486, + 0.06501621007919312 + ], + "joints": [ + 0.0026137707754969597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08017861098051071, + -0.08961033076047897, + -0.02506500482559204 + ], + "orientation": [ + 0.5832245349884033, + 0.2898350954055786, + -0.7544337511062622, + 0.08169687539339066 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + 0.07675383985042572, + -0.08665409684181213, + -0.02508099004626274 + ], + "orientation": [ + 0.5789458751678467, + 0.29485955834388733, + -0.755158543586731, + 0.08726484328508377 + ], + "joints": [ + -0.0024107517674565315 + ] + }, + "final_grasp": { + "position": [ + 0.07675383985042572, + -0.08665409684181213, + -0.02508099004626274 + ], + "orientation": [ + 0.5789458751678467, + 0.29485955834388733, + -0.755158543586731, + 0.08726484328508377 + ], + "joints": [ + 0.003461213782429695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03330255299806595, + 0.059944767504930496, + 0.10721646249294281 + ], + "orientation": [ + 0.5483121871948242, + -0.7540189623832703, + 0.0761544331908226, + -0.3535667955875397 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.03366275504231453, + 0.05903790146112442, + 0.1065298393368721 + ], + "orientation": [ + 0.5462620258331299, + -0.7537919282913208, + 0.08674386888742447, + -0.35478341579437256 + ], + "joints": [ + -0.0034218092914670706 + ] + }, + "final_grasp": { + "position": [ + -0.03366275504231453, + 0.05903790146112442, + 0.1065298393368721 + ], + "orientation": [ + 0.5462620258331299, + -0.7537919282913208, + 0.08674386888742447, + -0.35478341579437256 + ], + "joints": [ + 0.0019984659738838673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053389303386211395, + -0.09894747287034988, + -0.040488045662641525 + ], + "orientation": [ + 0.5953834652900696, + 0.23859699070453644, + -0.7663465738296509, + -0.03609491139650345 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.051075514405965805, + -0.0961577370762825, + -0.040215421468019485 + ], + "orientation": [ + 0.5897243022918701, + 0.24335028231143951, + -0.7693987488746643, + -0.032115381211042404 + ], + "joints": [ + -0.0018233411246910691 + ] + }, + "final_grasp": { + "position": [ + 0.051075514405965805, + -0.0961577370762825, + -0.040215421468019485 + ], + "orientation": [ + 0.5897243022918701, + 0.24335028231143951, + -0.7693987488746643, + -0.032115381211042404 + ], + "joints": [ + 0.004606594331562519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05277277156710625, + -0.022816583514213562, + -0.10863068699836731 + ], + "orientation": [ + 0.00877446960657835, + 0.2738475501537323, + 0.818615198135376, + 0.5047770142555237 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.05206696689128876, + -0.02103642001748085, + -0.10360432416200638 + ], + "orientation": [ + 0.02066921256482601, + 0.2784182131290436, + 0.8146412372589111, + 0.5083461999893188 + ], + "joints": [ + -0.0036404384300112724 + ] + }, + "final_grasp": { + "position": [ + -0.05206696689128876, + -0.02103642001748085, + -0.10360432416200638 + ], + "orientation": [ + 0.02066921256482601, + 0.2784182131290436, + 0.8146412372589111, + 0.5083461999893188 + ], + "joints": [ + 0.0012218672782182693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11175519227981567, + 0.055422343313694, + -0.02586464397609234 + ], + "orientation": [ + 0.5370696783065796, + 0.44817793369293213, + -0.19426679611206055, + 0.6877158284187317 + ], + "joints": [ + -0.00847175344824791 + ] + }, + "fine_grasp": { + "position": [ + 0.11226845532655716, + 0.05482058227062225, + -0.02516898699104786 + ], + "orientation": [ + 0.5370644927024841, + 0.4579615592956543, + -0.1909860372543335, + 0.6821709871292114 + ], + "joints": [ + -0.003556308103725314 + ] + }, + "final_grasp": { + "position": [ + 0.11226845532655716, + 0.05482058227062225, + -0.02516898699104786 + ], + "orientation": [ + 0.5370644927024841, + 0.4579615592956543, + -0.1909860372543335, + 0.6821709871292114 + ], + "joints": [ + 0.0013591372407972813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06621254980564117, + 0.03167013078927994, + -0.1002698615193367 + ], + "orientation": [ + 0.6484234929084778, + 0.6153117418289185, + 0.03132704645395279, + 0.44716569781303406 + ], + "joints": [ + -0.008752211928367615 + ] + }, + "fine_grasp": { + "position": [ + 0.06723090261220932, + 0.031823039054870605, + -0.10016972571611404 + ], + "orientation": [ + 0.6474213004112244, + 0.6222264170646667, + 0.034097496420145035, + 0.4387681186199188 + ], + "joints": [ + -0.0038101966492831707 + ] + }, + "final_grasp": { + "position": [ + 0.06723090261220932, + 0.031823039054870605, + -0.10016972571611404 + ], + "orientation": [ + 0.6474213004112244, + 0.6222264170646667, + 0.034097496420145035, + 0.4387681186199188 + ], + "joints": [ + 0.0011318186298012733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053421489894390106, + -0.023220377042889595, + -0.11137215793132782 + ], + "orientation": [ + 0.015198753215372562, + 0.2779052257537842, + 0.8198039531707764, + 0.5004590153694153 + ], + "joints": [ + -0.00847330316901207 + ] + }, + "fine_grasp": { + "position": [ + -0.052650365978479385, + -0.02172766998410225, + -0.10624651610851288 + ], + "orientation": [ + 0.027565844357013702, + 0.27889665961265564, + 0.815877377986908, + 0.5057676434516907 + ], + "joints": [ + -0.003610997460782528 + ] + }, + "final_grasp": { + "position": [ + -0.052650365978479385, + -0.02172766998410225, + -0.10624651610851288 + ], + "orientation": [ + 0.027565844357013702, + 0.27889665961265564, + 0.815877377986908, + 0.5057676434516907 + ], + "joints": [ + 0.0012513082474470139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013396288268268108, + -0.09931336343288422, + -0.05849355831742287 + ], + "orientation": [ + 0.82895427942276, + 0.2010158896446228, + -0.5125666856765747, + -0.09850290417671204 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.011292164213955402, + -0.09681705385446548, + -0.05685316398739815 + ], + "orientation": [ + 0.8248326182365417, + 0.2096540629863739, + -0.5167614817619324, + -0.09302601218223572 + ], + "joints": [ + -0.0018233410082757473 + ] + }, + "final_grasp": { + "position": [ + 0.011292164213955402, + -0.09681705385446548, + -0.05685316398739815 + ], + "orientation": [ + 0.8248326182365417, + 0.2096540629863739, + -0.5167614817619324, + -0.09302601218223572 + ], + "joints": [ + 0.004606594331562519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04537375271320343, + -0.1020999625325203, + 0.018259743228554726 + ], + "orientation": [ + 0.9704545140266418, + -0.02447647973895073, + -0.13372166454792023, + 0.19934232532978058 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.04532486945390701, + -0.09947908669710159, + 0.019117070361971855 + ], + "orientation": [ + 0.9705326557159424, + -0.019454117864370346, + -0.13609226047992706, + 0.19790618121623993 + ], + "joints": [ + -0.001848437706939876 + ] + }, + "final_grasp": { + "position": [ + 0.04532486945390701, + -0.09947908669710159, + 0.019117070361971855 + ], + "orientation": [ + 0.9705326557159424, + -0.019454117864370346, + -0.13609226047992706, + 0.19790618121623993 + ], + "joints": [ + 0.005086326971650124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04641585797071457, + -0.0703512504696846, + -0.07112397998571396 + ], + "orientation": [ + 0.9224337339401245, + 0.29930615425109863, + -0.06582147628068924, + -0.23494558036327362 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.0462154857814312, + -0.06601228564977646, + -0.0679381787776947 + ], + "orientation": [ + 0.921387255191803, + 0.30034253001213074, + -0.0723443329334259, + -0.2358098179101944 + ], + "joints": [ + -0.003923768177628517 + ] + }, + "final_grasp": { + "position": [ + -0.0462154857814312, + -0.06601228564977646, + -0.0679381787776947 + ], + "orientation": [ + 0.921387255191803, + 0.30034253001213074, + -0.0723443329334259, + -0.2358098179101944 + ], + "joints": [ + 0.0009651072323322296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02931487187743187, + -0.05105217546224594, + -0.10147766023874283 + ], + "orientation": [ + 0.7897128462791443, + 0.46658676862716675, + -0.3868010342121124, + -0.09505491703748703 + ], + "joints": [ + -0.009091552346944809 + ] + }, + "fine_grasp": { + "position": [ + 0.02686474658548832, + -0.04773625358939171, + -0.09782201051712036 + ], + "orientation": [ + 0.7858548164367676, + 0.46752771735191345, + -0.39368459582328796, + -0.09414108842611313 + ], + "joints": [ + -0.00417610676959157 + ] + }, + "final_grasp": { + "position": [ + 0.02686474658548832, + -0.04773625358939171, + -0.09782201051712036 + ], + "orientation": [ + 0.7858548164367676, + 0.46752771735191345, + -0.39368459582328796, + -0.09414108842611313 + ], + "joints": [ + 0.0007393388077616692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09748880565166473, + -0.04530557245016098, + 0.028127245604991913 + ], + "orientation": [ + 0.2841247022151947, + 0.4110923409461975, + 0.8210683465003967, + -0.2759040296077728 + ], + "joints": [ + -0.008192844688892365 + ] + }, + "fine_grasp": { + "position": [ + -0.09975747764110565, + -0.044200263917446136, + 0.026910588145256042 + ], + "orientation": [ + 0.27518782019615173, + 0.4098598062992096, + 0.8267615437507629, + -0.26972585916519165 + ], + "joints": [ + -0.004287058487534523 + ] + }, + "final_grasp": { + "position": [ + -0.09975747764110565, + -0.044200263917446136, + 0.026910588145256042 + ], + "orientation": [ + 0.27518782019615173, + 0.4098598062992096, + 0.8267615437507629, + -0.26972585916519165 + ], + "joints": [ + -0.0003812722861766815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04193677753210068, + -0.09861490875482559, + 0.019060783088207245 + ], + "orientation": [ + 0.9738489985466003, + -0.09083987027406693, + 0.1271471232175827, + 0.16492387652397156 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.04365990310907364, + -0.09726246446371078, + 0.018702149391174316 + ], + "orientation": [ + 0.9740831851959229, + -0.09042004495859146, + 0.11846882104873657, + 0.17015106976032257 + ], + "joints": [ + -0.0017939001554623246 + ] + }, + "final_grasp": { + "position": [ + 0.04365990310907364, + -0.09726246446371078, + 0.018702149391174316 + ], + "orientation": [ + 0.9740831851959229, + -0.09042004495859146, + 0.11846882104873657, + 0.17015106976032257 + ], + "joints": [ + 0.004636035300791264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04178909584879875, + -0.09838507324457169, + 0.018951907753944397 + ], + "orientation": [ + 0.9735917448997498, + -0.09157230705022812, + 0.1291685402393341, + 0.16446633636951447 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.04362228140234947, + -0.09703361243009567, + 0.018558450043201447 + ], + "orientation": [ + 0.9740140438079834, + -0.09004378318786621, + 0.11955009400844574, + 0.16998998820781708 + ], + "joints": [ + -0.0017939001554623246 + ] + }, + "final_grasp": { + "position": [ + 0.04362228140234947, + -0.09703361243009567, + 0.018558450043201447 + ], + "orientation": [ + 0.9740140438079834, + -0.09004378318786621, + 0.11955009400844574, + 0.16998998820781708 + ], + "joints": [ + 0.004636035300791264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042609382420778275, + -0.08592256903648376, + -0.060693349689245224 + ], + "orientation": [ + 0.9568804502487183, + 0.23041009902954102, + 0.023761143907904625, + -0.17528972029685974 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.0429113395512104, + -0.08426970988512039, + -0.059695642441511154 + ], + "orientation": [ + 0.9564540386199951, + 0.23019079864025116, + 0.007953589782118797, + -0.17928943037986755 + ], + "joints": [ + -0.0018233408918604255 + ] + }, + "final_grasp": { + "position": [ + -0.0429113395512104, + -0.08426970988512039, + -0.059695642441511154 + ], + "orientation": [ + 0.9564540386199951, + 0.23019079864025116, + 0.007953589782118797, + -0.17928943037986755 + ], + "joints": [ + 0.004606594331562519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10932978242635727, + 0.03201397508382797, + 0.052414003759622574 + ], + "orientation": [ + 0.5182971358299255, + 0.15523096919059753, + -0.3899945020675659, + 0.7451011538505554 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.10851075500249863, + 0.032897427678108215, + 0.053138840943574905 + ], + "orientation": [ + 0.5195874571800232, + 0.1647048145532608, + -0.3893073797225952, + 0.7425234317779541 + ], + "joints": [ + -0.004372586961835623 + ] + }, + "final_grasp": { + "position": [ + 0.10851075500249863, + 0.032897427678108215, + 0.053138840943574905 + ], + "orientation": [ + 0.5195874571800232, + 0.1647048145532608, + -0.3893073797225952, + 0.7425234317779541 + ], + "joints": [ + 3.8028694689273834e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0016746618784964085, + 0.022268520668148994, + -0.12623503804206848 + ], + "orientation": [ + 0.6446418762207031, + 0.6916465163230896, + 0.22345031797885895, + 0.23692183196544647 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + -0.0009680726798251271, + 0.02260214276611805, + -0.12306370586156845 + ], + "orientation": [ + 0.6391513347625732, + 0.6895360350608826, + 0.24335940182209015, + 0.23833110928535461 + ], + "joints": [ + -0.004598028026521206 + ] + }, + "final_grasp": { + "position": [ + -0.0009680726798251271, + 0.02260214276611805, + -0.12306370586156845 + ], + "orientation": [ + 0.6391513347625732, + 0.6895360350608826, + 0.24335940182209015, + 0.23833110928535461 + ], + "joints": [ + 0.0002642776817083359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09602852165699005, + -0.03690028190612793, + 0.042553141713142395 + ], + "orientation": [ + 0.20453695952892303, + 0.4238266050815582, + 0.8231887817382812, + -0.31764110922813416 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.09745192527770996, + -0.036008428782224655, + 0.04221506416797638 + ], + "orientation": [ + 0.1994256228208542, + 0.4171537160873413, + 0.8284866809844971, + -0.3159463703632355 + ], + "joints": [ + -0.004318049643188715 + ] + }, + "final_grasp": { + "position": [ + -0.09745192527770996, + -0.036008428782224655, + 0.04221506416797638 + ], + "orientation": [ + 0.1994256228208542, + 0.4171537160873413, + 0.8284866809844971, + -0.3159463703632355 + ], + "joints": [ + -0.0004122639074921608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07824289053678513, + -0.08213090151548386, + 0.022014865651726723 + ], + "orientation": [ + 0.888628363609314, + -0.17227159440517426, + 0.32644838094711304, + 0.2722015082836151 + ], + "joints": [ + -0.008194394409656525 + ] + }, + "fine_grasp": { + "position": [ + 0.07817922532558441, + -0.07942219078540802, + 0.020956477150321007 + ], + "orientation": [ + 0.8918994665145874, + -0.16544991731643677, + 0.3207433819770813, + 0.2725169062614441 + ], + "joints": [ + -0.0022958586923778057 + ] + }, + "final_grasp": { + "position": [ + 0.07817922532558441, + -0.07942219078540802, + 0.020956477150321007 + ], + "orientation": [ + 0.8918994665145874, + -0.16544991731643677, + 0.3207433819770813, + 0.2725169062614441 + ], + "joints": [ + 0.0036026770249009132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12381932139396667, + 0.04474096745252609, + -0.013260077685117722 + ], + "orientation": [ + 0.3949936330318451, + -0.5679536461830139, + -0.5495492815971375, + -0.4684060513973236 + ], + "joints": [ + -0.003767674323171377 + ] + }, + "fine_grasp": { + "position": [ + -0.12257977575063705, + 0.0411609448492527, + -0.011693255044519901 + ], + "orientation": [ + 0.3819303810596466, + -0.5731264352798462, + -0.5320075154304504, + -0.4925680458545685 + ], + "joints": [ + -0.0010309661738574505 + ] + }, + "final_grasp": { + "position": [ + -0.12257977575063705, + 0.0411609448492527, + -0.011693255044519901 + ], + "orientation": [ + 0.3819303810596466, + -0.5731264352798462, + -0.5320075154304504, + -0.4925680458545685 + ], + "joints": [ + 0.0017057419754564762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04151443764567375, + -0.08621783554553986, + 0.07690736651420593 + ], + "orientation": [ + 0.6229414343833923, + -0.11463883519172668, + 0.7072864174842834, + -0.31392326951026917 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.03953868895769119, + -0.08226921409368515, + 0.07523807883262634 + ], + "orientation": [ + 0.624106228351593, + -0.10605205595493317, + 0.7083742618560791, + -0.31217023730278015 + ], + "joints": [ + -0.003898671828210354 + ] + }, + "final_grasp": { + "position": [ + -0.03953868895769119, + -0.08226921409368515, + 0.07523807883262634 + ], + "orientation": [ + 0.624106228351593, + -0.10605205595493317, + 0.7083742618560791, + -0.31217023730278015 + ], + "joints": [ + 0.0004853736609220505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04158343747258186, + -0.08620424568653107, + 0.07663438469171524 + ], + "orientation": [ + 0.6240155696868896, + -0.11419912427663803, + 0.7067121267318726, + -0.31324273347854614 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.03959338366985321, + -0.08226921409368515, + 0.07497197389602661 + ], + "orientation": [ + 0.6252400875091553, + -0.1058281734585762, + 0.7076044082641602, + -0.3117230236530304 + ], + "joints": [ + -0.003898671828210354 + ] + }, + "final_grasp": { + "position": [ + -0.03959338366985321, + -0.08226921409368515, + 0.07497197389602661 + ], + "orientation": [ + 0.6252400875091553, + -0.1058281734585762, + 0.7076044082641602, + -0.3117230236530304 + ], + "joints": [ + 0.0004853736609220505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07295997440814972, + -0.07758571207523346, + 0.04002314433455467 + ], + "orientation": [ + 0.44355663657188416, + -0.36738064885139465, + 0.8173947334289551, + 0.012444629333913326 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.07098327577114105, + -0.07357189059257507, + 0.039355091750621796 + ], + "orientation": [ + 0.4451792240142822, + -0.3630293607711792, + 0.8183885812759399, + 0.016282590106129646 + ], + "joints": [ + -0.00443286681547761 + ] + }, + "final_grasp": { + "position": [ + 0.07098327577114105, + -0.07357189059257507, + 0.039355091750621796 + ], + "orientation": [ + 0.4451792240142822, + -0.3630293607711792, + 0.8183885812759399, + 0.016282590106129646 + ], + "joints": [ + 0.0005357181653380394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08775398135185242, + -0.060635264962911606, + -0.002755987923592329 + ], + "orientation": [ + 0.4099746346473694, + 0.3768640160560608, + -0.8129161596298218, + 0.17047476768493652 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.09076923877000809, + -0.059662625193595886, + -0.0036911277566105127 + ], + "orientation": [ + 0.40793344378471375, + 0.376308798789978, + -0.8167985081672668, + 0.15755057334899902 + ], + "joints": [ + -0.0038971982430666685 + ] + }, + "final_grasp": { + "position": [ + 0.09076923877000809, + -0.059662625193595886, + -0.0036911277566105127 + ], + "orientation": [ + 0.40793344378471375, + 0.376308798789978, + -0.8167985081672668, + 0.15755057334899902 + ], + "joints": [ + 0.001018247101455927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1193193569779396, + 0.06041213497519493, + -0.040030185133218765 + ], + "orientation": [ + 0.5249226689338684, + 0.5800933241844177, + -0.2872837781906128, + 0.5526443719863892 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + 0.11428992450237274, + 0.057876598089933395, + -0.03878968209028244 + ], + "orientation": [ + 0.5199835300445557, + 0.5828802585601807, + -0.2786727547645569, + 0.5587567687034607 + ], + "joints": [ + -0.003588368184864521 + ] + }, + "final_grasp": { + "position": [ + 0.11428992450237274, + 0.057876598089933395, + -0.03878968209028244 + ], + "orientation": [ + 0.5199835300445557, + 0.5828802585601807, + -0.2786727547645569, + 0.5587567687034607 + ], + "joints": [ + 0.0022835973650217056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08677612245082855, + -0.05940498784184456, + -0.003258989192545414 + ], + "orientation": [ + 0.413282185792923, + 0.3797776699066162, + -0.8092683553695679, + 0.1733533889055252 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.08992466330528259, + -0.05735137313604355, + -0.00506454985588789 + ], + "orientation": [ + 0.408866822719574, + 0.3830985724925995, + -0.8127719759941101, + 0.15957823395729065 + ], + "joints": [ + -0.004347490146756172 + ] + }, + "final_grasp": { + "position": [ + 0.08992466330528259, + -0.05735137313604355, + -0.00506454985588789 + ], + "orientation": [ + 0.408866822719574, + 0.3830985724925995, + -0.8127719759941101, + 0.15957823395729065 + ], + "joints": [ + -0.0004417039453983307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0563727505505085, + 0.048505403101444244, + -0.11395569145679474 + ], + "orientation": [ + 0.665787398815155, + 0.6874392628669739, + 0.08099409192800522, + -0.27855753898620605 + ], + "joints": [ + -0.003477727063000202 + ] + }, + "fine_grasp": { + "position": [ + -0.054936934262514114, + 0.04679076746106148, + -0.10981209576129913 + ], + "orientation": [ + 0.6563923954963684, + 0.6942646503448486, + 0.06306653469800949, + -0.2883889079093933 + ], + "joints": [ + 0.00037492005503736436 + ] + }, + "final_grasp": { + "position": [ + -0.054936934262514114, + 0.04679076746106148, + -0.10981209576129913 + ], + "orientation": [ + 0.6563923954963684, + 0.6942646503448486, + 0.06306653469800949, + -0.2883889079093933 + ], + "joints": [ + 0.004227566998451948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05597223713994026, + 0.048241809010505676, + -0.11404401063919067 + ], + "orientation": [ + 0.6662741303443909, + 0.6863032579421997, + 0.076468825340271, + -0.28145885467529297 + ], + "joints": [ + -0.003926721401512623 + ] + }, + "fine_grasp": { + "position": [ + -0.054601382464170456, + 0.04664549604058266, + -0.10993671417236328 + ], + "orientation": [ + 0.6582136750221252, + 0.6922922134399414, + 0.058617960661649704, + -0.28991445899009705 + ], + "joints": [ + 0.00043075563735328615 + ] + }, + "final_grasp": { + "position": [ + -0.054601382464170456, + 0.04664549604058266, + -0.10993671417236328 + ], + "orientation": [ + 0.6582136750221252, + 0.6922922134399414, + 0.058617960661649704, + -0.28991445899009705 + ], + "joints": [ + 0.004788232501596212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08705656230449677, + -0.06051632761955261, + -0.002484810072928667 + ], + "orientation": [ + 0.40947288274765015, + 0.3756203353404999, + -0.8134950995445251, + 0.1716594099998474 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.09068871289491653, + -0.05943923816084862, + -0.003545386716723442 + ], + "orientation": [ + 0.4079984724521637, + 0.3750302791595459, + -0.8177000284194946, + 0.155744269490242 + ], + "joints": [ + -0.00387062830850482 + ] + }, + "final_grasp": { + "position": [ + 0.09068871289491653, + -0.05943923816084862, + -0.003545386716723442 + ], + "orientation": [ + 0.4079984724521637, + 0.3750302791595459, + -0.8177000284194946, + 0.155744269490242 + ], + "joints": [ + 0.0010713869705796242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06063908338546753, + -0.07807238399982452, + -0.0397411547601223 + ], + "orientation": [ + 0.39903536438941956, + 0.3436099886894226, + 0.8501149415969849, + 0.0027433293871581554 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.06056059151887894, + -0.07392251491546631, + -0.03923986107110977 + ], + "orientation": [ + 0.40067043900489807, + 0.3373335301876068, + 0.8518320322036743, + 0.007175280712544918 + ], + "joints": [ + -0.00490685785189271 + ] + }, + "final_grasp": { + "position": [ + -0.06056059151887894, + -0.07392251491546631, + -0.03923986107110977 + ], + "orientation": [ + 0.40067043900489807, + 0.3373335301876068, + 0.8518320322036743, + 0.007175280712544918 + ], + "joints": [ + -0.0010010721161961555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12343379855155945, + 0.05848889797925949, + -0.00564975431188941 + ], + "orientation": [ + 0.5092593431472778, + 0.4637575149536133, + 0.38305142521858215, + -0.6155124306678772 + ], + "joints": [ + -0.003929056227207184 + ] + }, + "fine_grasp": { + "position": [ + -0.11937002092599869, + 0.056821029633283615, + -0.0050223818980157375 + ], + "orientation": [ + 0.5115488767623901, + 0.4619470238685608, + 0.3672730624675751, + -0.6245264410972595 + ], + "joints": [ + 0.0004549903969746083 + ] + }, + "final_grasp": { + "position": [ + -0.11937002092599869, + 0.056821029633283615, + -0.0050223818980157375 + ], + "orientation": [ + 0.5115488767623901, + 0.4619470238685608, + 0.3672730624675751, + -0.6245264410972595 + ], + "joints": [ + 0.004839037079364061 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053439248353242874, + -0.09436330199241638, + -0.0056721121072769165 + ], + "orientation": [ + 0.15520285069942474, + -0.21943382918834686, + -0.9620183706283569, + -0.04776526987552643 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.05351598933339119, + -0.09108083695173264, + -0.005555504932999611 + ], + "orientation": [ + 0.1519450843334198, + -0.21754831075668335, + -0.9630992412567139, + -0.04500254616141319 + ], + "joints": [ + -0.0034469058737158775 + ] + }, + "final_grasp": { + "position": [ + -0.05351598933339119, + -0.09108083695173264, + -0.005555504932999611 + ], + "orientation": [ + 0.1519450843334198, + -0.21754831075668335, + -0.9630992412567139, + -0.04500254616141319 + ], + "joints": [ + 0.002478199079632759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048197776079177856, + -0.09300237894058228, + -0.014127543196082115 + ], + "orientation": [ + 0.9131479859352112, + -0.012886039912700653, + 0.34560176730155945, + 0.2157640904188156 + ], + "joints": [ + -0.009062111377716064 + ] + }, + "fine_grasp": { + "position": [ + 0.04953987896442413, + -0.09133750945329666, + -0.014057501219213009 + ], + "orientation": [ + 0.9178609848022461, + -0.004474080167710781, + 0.3341887593269348, + 0.2140774428844452 + ], + "joints": [ + -0.003137006424367428 + ] + }, + "final_grasp": { + "position": [ + 0.04953987896442413, + -0.09133750945329666, + -0.014057501219213009 + ], + "orientation": [ + 0.9178609848022461, + -0.004474080167710781, + 0.3341887593269348, + 0.2140774428844452 + ], + "joints": [ + 0.002788098528981209 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00028186687268316746, + -0.0865577980875969, + -0.06306333094835281 + ], + "orientation": [ + 0.6130038499832153, + 0.21113485097885132, + 0.7432053089141846, + 0.1652093231678009 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.001721717999316752, + -0.08385258913040161, + -0.06299806386232376 + ], + "orientation": [ + 0.6134236454963684, + 0.20493032038211823, + 0.7436645030975342, + 0.16934606432914734 + ], + "joints": [ + -0.004990836605429649 + ] + }, + "final_grasp": { + "position": [ + -0.001721717999316752, + -0.08385258913040161, + -0.06299806386232376 + ], + "orientation": [ + 0.6134236454963684, + 0.20493032038211823, + 0.7436645030975342, + 0.16934606432914734 + ], + "joints": [ + -0.00058022141456604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11936409026384354, + 0.063076451420784, + -0.01611153595149517 + ], + "orientation": [ + 0.3146786093711853, + -0.6396430134773254, + -0.5183659195899963, + -0.4723673164844513 + ], + "joints": [ + -0.00613419059664011 + ] + }, + "fine_grasp": { + "position": [ + -0.11622060090303421, + 0.06136666238307953, + -0.015713529661297798 + ], + "orientation": [ + 0.2997637093067169, + -0.6448861360549927, + -0.5278213620185852, + -0.4644007980823517 + ], + "joints": [ + -0.0022549733985215425 + ] + }, + "final_grasp": { + "position": [ + -0.11622060090303421, + 0.06136666238307953, + -0.015713529661297798 + ], + "orientation": [ + 0.2997637093067169, + -0.6448861360549927, + -0.5278213620185852, + -0.4644007980823517 + ], + "joints": [ + 0.001624243799597025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018756894394755363, + -0.023023029789328575, + -0.13265344500541687 + ], + "orientation": [ + 0.6357344388961792, + 0.376899391412735, + -0.5377270579338074, + -0.40575647354125977 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.018438147380948067, + -0.021926216781139374, + -0.1306285262107849 + ], + "orientation": [ + 0.635574996471405, + 0.3750443756580353, + -0.5393077731132507, + -0.4056271016597748 + ], + "joints": [ + -0.017289847135543823 + ] + }, + "final_grasp": { + "position": [ + -0.018438147380948067, + -0.021926216781139374, + -0.1306285262107849 + ], + "orientation": [ + 0.635574996471405, + 0.3750443756580353, + -0.5393077731132507, + -0.4056271016597748 + ], + "joints": [ + -0.014579694718122482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12379548698663712, + 0.016244998201727867, + -0.06815018504858017 + ], + "orientation": [ + 0.7276691794395447, + 0.09269589930772781, + -0.1791868954896927, + -0.6555891633033752 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.12005770206451416, + 0.017389867454767227, + -0.06581525504589081 + ], + "orientation": [ + 0.7226678729057312, + 0.09164774417877197, + -0.18882647156715393, + -0.658556342124939 + ], + "joints": [ + -0.015137676149606705 + ] + }, + "final_grasp": { + "position": [ + -0.12005770206451416, + 0.017389867454767227, + -0.06581525504589081 + ], + "orientation": [ + 0.7226678729057312, + 0.09164774417877197, + -0.18882647156715393, + -0.658556342124939 + ], + "joints": [ + -0.010275352746248245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04153171926736832, + 0.15008382499217987, + 0.003645531600341201 + ], + "orientation": [ + 0.14597822725772858, + 0.27924853563308716, + -0.07714921236038208, + 0.9459168314933777 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.039339471608400345, + 0.1454353630542755, + 0.0037176888436079025 + ], + "orientation": [ + 0.13671953976154327, + 0.29369768500328064, + -0.06920687854290009, + 0.9435358643531799 + ], + "joints": [ + -0.004676263779401779 + ] + }, + "final_grasp": { + "position": [ + 0.039339471608400345, + 0.1454353630542755, + 0.0037176888436079025 + ], + "orientation": [ + 0.13671953976154327, + 0.29369768500328064, + -0.06920687854290009, + 0.9435358643531799 + ], + "joints": [ + 0.0006377324461936951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1214045062661171, + 0.06284239888191223, + -0.0656367763876915 + ], + "orientation": [ + 0.6856170892715454, + 0.33255672454833984, + -0.0765858143568039, + 0.6430162191390991 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.11882618814706802, + 0.06190887838602066, + -0.06351064890623093 + ], + "orientation": [ + 0.6785523891448975, + 0.3334837257862091, + -0.059769656509160995, + 0.6517537236213684 + ], + "joints": [ + -0.009129051119089127 + ] + }, + "final_grasp": { + "position": [ + 0.11882618814706802, + 0.06190887838602066, + -0.06351064890623093 + ], + "orientation": [ + 0.6785523891448975, + 0.3334837257862091, + -0.059769656509160995, + 0.6517537236213684 + ], + "joints": [ + -0.005382683128118515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13674680888652802, + 0.09398540109395981, + 0.002188561949878931 + ], + "orientation": [ + 0.5450125932693481, + 0.12101107090711594, + -0.11418557167053223, + 0.8217537999153137 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.13100779056549072, + 0.09252671897411346, + 0.0010112730087712407 + ], + "orientation": [ + 0.5452515482902527, + 0.11117056012153625, + -0.12247202545404434, + 0.8217921853065491 + ], + "joints": [ + -0.01736956462264061 + ] + }, + "final_grasp": { + "position": [ + 0.13100779056549072, + 0.09252671897411346, + 0.0010112730087712407 + ], + "orientation": [ + 0.5452515482902527, + 0.11117056012153625, + -0.12247202545404434, + 0.8217921853065491 + ], + "joints": [ + -0.014739129692316055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11539305001497269, + 0.028769640251994133, + -0.06116046383976936 + ], + "orientation": [ + 0.22122901678085327, + 0.7562692165374756, + 0.6156740188598633, + -0.007753477431833744 + ], + "joints": [ + -0.0013894010335206985 + ] + }, + "fine_grasp": { + "position": [ + -0.11946753412485123, + 0.031147165223956108, + -0.06336373835802078 + ], + "orientation": [ + 0.22449429333209991, + 0.7497046589851379, + 0.6225311160087585, + -0.00033632482518441975 + ], + "joints": [ + 0.001852136687375605 + ] + }, + "final_grasp": { + "position": [ + -0.11946753412485123, + 0.031147165223956108, + -0.06336373835802078 + ], + "orientation": [ + 0.22449429333209991, + 0.7497046589851379, + 0.6225311160087585, + -0.00033632482518441975 + ], + "joints": [ + 0.005093674175441265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12327897548675537, + 0.0395980179309845, + -0.07483791559934616 + ], + "orientation": [ + 0.3477083146572113, + 0.6808708906173706, + -0.626818060874939, + -0.15037548542022705 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.11829616129398346, + 0.03919073939323425, + -0.07207383215427399 + ], + "orientation": [ + 0.33617520332336426, + 0.6830225586891174, + -0.6313275694847107, + -0.14795932173728943 + ], + "joints": [ + -0.01537040714174509 + ] + }, + "final_grasp": { + "position": [ + 0.11829616129398346, + 0.03919073939323425, + -0.07207383215427399 + ], + "orientation": [ + 0.33617520332336426, + 0.6830225586891174, + -0.6313275694847107, + -0.14795932173728943 + ], + "joints": [ + -0.011624027043581009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12614212930202484, + 0.057451460510492325, + -0.0683450996875763 + ], + "orientation": [ + 0.6833095550537109, + 0.2142842710018158, + -0.00066954834619537, + 0.6979755163192749 + ], + "joints": [ + -0.01281653717160225 + ] + }, + "fine_grasp": { + "position": [ + 0.12206832319498062, + 0.056294701993465424, + -0.06572789698839188 + ], + "orientation": [ + 0.675737202167511, + 0.2194022685289383, + 0.011567535810172558, + 0.7036392688751221 + ], + "joints": [ + -0.010106397792696953 + ] + }, + "final_grasp": { + "position": [ + 0.12206832319498062, + 0.056294701993465424, + -0.06572789698839188 + ], + "orientation": [ + 0.675737202167511, + 0.2194022685289383, + 0.011567535810172558, + 0.7036392688751221 + ], + "joints": [ + -0.0073962584137916565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12615123391151428, + 0.05741195008158684, + -0.06848476082086563 + ], + "orientation": [ + 0.6832453608512878, + 0.2138780802488327, + 9.521713946014643e-05, + 0.6981633305549622 + ], + "joints": [ + -0.012787096202373505 + ] + }, + "fine_grasp": { + "position": [ + 0.12220746278762817, + 0.056193217635154724, + -0.06594372540712357 + ], + "orientation": [ + 0.6754885911941528, + 0.21926824748516083, + 0.012245438061654568, + 0.7039080858230591 + ], + "joints": [ + -0.010076956823468208 + ] + }, + "final_grasp": { + "position": [ + 0.12220746278762817, + 0.056193217635154724, + -0.06594372540712357 + ], + "orientation": [ + 0.6754885911941528, + 0.21926824748516083, + 0.012245438061654568, + 0.7039080858230591 + ], + "joints": [ + -0.007366817444562912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12614452838897705, + 0.057388342916965485, + -0.06849555671215057 + ], + "orientation": [ + 0.6832799911499023, + 0.2137993425130844, + 0.0001647642202442512, + 0.6981534361839294 + ], + "joints": [ + -0.012787096202373505 + ] + }, + "fine_grasp": { + "position": [ + 0.12222380191087723, + 0.056166548281908035, + -0.06594879925251007 + ], + "orientation": [ + 0.675706684589386, + 0.2189536839723587, + 0.012469702400267124, + 0.7037928104400635 + ], + "joints": [ + -0.010076956823468208 + ] + }, + "final_grasp": { + "position": [ + 0.12222380191087723, + 0.056166548281908035, + -0.06594879925251007 + ], + "orientation": [ + 0.675706684589386, + 0.2189536839723587, + 0.012469702400267124, + 0.7037928104400635 + ], + "joints": [ + -0.007366817444562912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12619659304618835, + 0.05734541267156601, + -0.068534716963768 + ], + "orientation": [ + 0.6833133101463318, + 0.21358653903007507, + 0.00043283074046485126, + 0.6981858611106873 + ], + "joints": [ + -0.012787096202373505 + ] + }, + "fine_grasp": { + "position": [ + 0.12228850275278091, + 0.056108392775058746, + -0.06600024551153183 + ], + "orientation": [ + 0.6756532192230225, + 0.21890436112880707, + 0.012616917490959167, + 0.7038568258285522 + ], + "joints": [ + -0.010076956823468208 + ] + }, + "final_grasp": { + "position": [ + 0.12228850275278091, + 0.056108392775058746, + -0.06600024551153183 + ], + "orientation": [ + 0.6756532192230225, + 0.21890436112880707, + 0.012616917490959167, + 0.7038568258285522 + ], + "joints": [ + -0.007366817444562912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12209254503250122, + 0.00010339468281017616, + -0.057191990315914154 + ], + "orientation": [ + 0.27391549944877625, + 0.6763932704925537, + 0.6829864978790283, + -0.03149477764964104 + ], + "joints": [ + -0.0011877287179231644 + ] + }, + "fine_grasp": { + "position": [ + -0.120818592607975, + 0.0022133078891783953, + -0.058333620429039 + ], + "orientation": [ + 0.2678760290145874, + 0.6769881844520569, + 0.6847419738769531, + -0.03252425044775009 + ], + "joints": [ + 0.0031166081316769123 + ] + }, + "final_grasp": { + "position": [ + -0.120818592607975, + 0.0022133078891783953, + -0.058333620429039 + ], + "orientation": [ + 0.2678760290145874, + 0.6769881844520569, + 0.6847419738769531, + -0.03252425044775009 + ], + "joints": [ + 0.007420944981276989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12275662273168564, + 0.00044125650310888886, + -0.05777568370103836 + ], + "orientation": [ + 0.2807207703590393, + 0.6770411133766174, + 0.6795117855072021, + -0.03278534114360809 + ], + "joints": [ + -0.0013404377968981862 + ] + }, + "fine_grasp": { + "position": [ + -0.1216159537434578, + 0.002940792590379715, + -0.05881531909108162 + ], + "orientation": [ + 0.27443453669548035, + 0.6774911880493164, + 0.6815207004547119, + -0.03494274988770485 + ], + "joints": [ + 0.00245906924828887 + ] + }, + "final_grasp": { + "position": [ + -0.1216159537434578, + 0.002940792590379715, + -0.05881531909108162 + ], + "orientation": [ + 0.27443453669548035, + 0.6774911880493164, + 0.6815207004547119, + -0.03494274988770485 + ], + "joints": [ + 0.006258576177060604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11869722604751587, + -0.022970378398895264, + -0.061255939304828644 + ], + "orientation": [ + 0.6750788688659668, + -0.10933893173933029, + -0.394992470741272, + -0.6134284734725952 + ], + "joints": [ + -0.0028826699126511812 + ] + }, + "fine_grasp": { + "position": [ + -0.11706963926553726, + -0.02037801966071129, + -0.05950562283396721 + ], + "orientation": [ + 0.6787710785865784, + -0.08807779848575592, + -0.3892059326171875, + -0.6164663434028625 + ], + "joints": [ + 0.0019264969741925597 + ] + }, + "final_grasp": { + "position": [ + -0.11706963926553726, + -0.02037801966071129, + -0.05950562283396721 + ], + "orientation": [ + 0.6787710785865784, + -0.08807779848575592, + -0.3892059326171875, + -0.6164663434028625 + ], + "joints": [ + 0.006735663861036301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11740696430206299, + -0.020743636414408684, + -0.059133775532245636 + ], + "orientation": [ + 0.6759388446807861, + -0.08501076698303223, + -0.3962865471839905, + -0.6154972910881042 + ], + "joints": [ + -0.005136348307132721 + ] + }, + "fine_grasp": { + "position": [ + -0.11532590538263321, + -0.018402133136987686, + -0.05916152149438858 + ], + "orientation": [ + 0.6758334040641785, + -0.08133964240550995, + -0.38939332962036133, + -0.6204883456230164 + ], + "joints": [ + 0.0007887576939538121 + ] + }, + "final_grasp": { + "position": [ + -0.11532590538263321, + -0.018402133136987686, + -0.05916152149438858 + ], + "orientation": [ + 0.6758334040641785, + -0.08133964240550995, + -0.38939332962036133, + -0.6204883456230164 + ], + "joints": [ + 0.0067138634622097015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10396098345518112, + 0.014746880158782005, + -0.07383006811141968 + ], + "orientation": [ + 0.37205469608306885, + 0.7280873656272888, + -0.5729658603668213, + 0.05633959546685219 + ], + "joints": [ + -0.0024090262595564127 + ] + }, + "fine_grasp": { + "position": [ + 0.10688096284866333, + 0.01656348444521427, + -0.07656200975179672 + ], + "orientation": [ + 0.3616566061973572, + 0.7274656295776367, + -0.5822182893753052, + 0.03194060176610947 + ], + "joints": [ + 0.0002745422243606299 + ] + }, + "final_grasp": { + "position": [ + 0.10688096284866333, + 0.01656348444521427, + -0.07656200975179672 + ], + "orientation": [ + 0.3616566061973572, + 0.7274656295776367, + -0.5822182893753052, + 0.03194060176610947 + ], + "joints": [ + 0.0029581107664853334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1039380431175232, + 0.01611674576997757, + -0.07243367284536362 + ], + "orientation": [ + 0.37150925397872925, + 0.7269333004951477, + -0.5758605003356934, + 0.04397362098097801 + ], + "joints": [ + -0.004424340091645718 + ] + }, + "fine_grasp": { + "position": [ + 0.10711774230003357, + 0.017442144453525543, + -0.07587224990129471 + ], + "orientation": [ + 0.35908690094947815, + 0.7286259531974792, + -0.5825291275978088, + 0.02864653430879116 + ], + "joints": [ + -0.00014657288556918502 + ] + }, + "final_grasp": { + "position": [ + 0.10711774230003357, + 0.017442144453525543, + -0.07587224990129471 + ], + "orientation": [ + 0.35908690094947815, + 0.7286259531974792, + -0.5825291275978088, + 0.02864653430879116 + ], + "joints": [ + 0.004131194204092026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11394599080085754, + 0.001118247862905264, + -0.05620497837662697 + ], + "orientation": [ + 0.28922927379608154, + 0.6802465319633484, + -0.6721463799476624, + 0.04278247430920601 + ], + "joints": [ + -0.0017703818157315254 + ] + }, + "fine_grasp": { + "position": [ + 0.11593114584684372, + 0.001591757871210575, + -0.057206377387046814 + ], + "orientation": [ + 0.2853289544582367, + 0.6705498695373535, + -0.6839452981948853, + 0.03419176861643791 + ], + "joints": [ + 0.00040835700929164886 + ] + }, + "final_grasp": { + "position": [ + 0.11593114584684372, + 0.001591757871210575, + -0.057206377387046814 + ], + "orientation": [ + 0.2853289544582367, + 0.6705498695373535, + -0.6839452981948853, + 0.03419176861643791 + ], + "joints": [ + 0.002587095834314823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11286003887653351, + -0.036151815205812454, + 0.008154685609042645 + ], + "orientation": [ + 0.8109864592552185, + -0.190889373421669, + -0.1383526623249054, + -0.5354630947113037 + ], + "joints": [ + -0.0044075846672058105 + ] + }, + "fine_grasp": { + "position": [ + -0.10901426523923874, + -0.03339579701423645, + 0.007031629793345928 + ], + "orientation": [ + 0.8169344067573547, + -0.1951315701007843, + -0.13293880224227905, + -0.5261836051940918 + ], + "joints": [ + -0.0011394768953323364 + ] + }, + "final_grasp": { + "position": [ + -0.10901426523923874, + -0.03339579701423645, + 0.007031629793345928 + ], + "orientation": [ + 0.8169344067573547, + -0.1951315701007843, + -0.13293880224227905, + -0.5261836051940918 + ], + "joints": [ + 0.0021286308765411377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058673687279224396, + 0.015424652956426144, + -0.11824913322925568 + ], + "orientation": [ + 0.4519355893135071, + 0.12656541168689728, + 0.5191301107406616, + 0.7143104076385498 + ], + "joints": [ + -0.0059056407772004604 + ] + }, + "fine_grasp": { + "position": [ + 0.061975594609975815, + 0.017031414434313774, + -0.12222287803888321 + ], + "orientation": [ + 0.44788822531700134, + 0.14177168905735016, + 0.5309207439422607, + 0.7052802443504333 + ], + "joints": [ + -0.0005916444351896644 + ] + }, + "final_grasp": { + "position": [ + 0.061975594609975815, + 0.017031414434313774, + -0.12222287803888321 + ], + "orientation": [ + 0.44788822531700134, + 0.14177168905735016, + 0.5309207439422607, + 0.7052802443504333 + ], + "joints": [ + 0.004722352139651775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10253968834877014, + -0.058855265378952026, + -0.012729075737297535 + ], + "orientation": [ + 0.835517168045044, + -0.12277907878160477, + 0.258512943983078, + 0.469049334526062 + ], + "joints": [ + -0.00782251451164484 + ] + }, + "fine_grasp": { + "position": [ + 0.09824880212545395, + -0.055525485426187515, + -0.012862822972238064 + ], + "orientation": [ + 0.8390413522720337, + -0.1267620325088501, + 0.25269538164138794, + 0.4648507237434387 + ], + "joints": [ + -0.003491608425974846 + ] + }, + "final_grasp": { + "position": [ + 0.09824880212545395, + -0.055525485426187515, + -0.012862822972238064 + ], + "orientation": [ + 0.8390413522720337, + -0.1267620325088501, + 0.25269538164138794, + 0.4648507237434387 + ], + "joints": [ + 0.0008392976596951485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08933372050523758, + -0.08950989693403244, + -0.05064621940255165 + ], + "orientation": [ + 0.9312002062797546, + 0.15587258338928223, + -0.11643055081367493, + 0.30824312567710876 + ], + "joints": [ + -0.0061996132135391235 + ] + }, + "fine_grasp": { + "position": [ + 0.08628583699464798, + -0.08610879629850388, + -0.04821222275495529 + ], + "orientation": [ + 0.9296668171882629, + 0.16461902856826782, + -0.11537762731313705, + 0.30872032046318054 + ], + "joints": [ + -0.0013107367558404803 + ] + }, + "final_grasp": { + "position": [ + 0.08628583699464798, + -0.08610879629850388, + -0.04821222275495529 + ], + "orientation": [ + 0.9296668171882629, + 0.16461902856826782, + -0.11537762731313705, + 0.30872032046318054 + ], + "joints": [ + 0.003578139701858163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12999847531318665, + 0.0010901166824623942, + -0.03358796238899231 + ], + "orientation": [ + 0.6352943181991577, + -0.1841195523738861, + -0.36681291460990906, + -0.6541785001754761 + ], + "joints": [ + -0.008192844688892365 + ] + }, + "fine_grasp": { + "position": [ + -0.12907180190086365, + 0.0028501925989985466, + -0.03527563810348511 + ], + "orientation": [ + 0.6401693224906921, + -0.1809292882680893, + -0.356597363948822, + -0.6559619903564453 + ], + "joints": [ + -0.0027991391252726316 + ] + }, + "final_grasp": { + "position": [ + -0.12907180190086365, + 0.0028501925989985466, + -0.03527563810348511 + ], + "orientation": [ + 0.6401693224906921, + -0.1809292882680893, + -0.356597363948822, + -0.6559619903564453 + ], + "joints": [ + 0.002594566438347101 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13060276210308075, + 0.001350299920886755, + -0.033481527119874954 + ], + "orientation": [ + 0.6352059841156006, + -0.1810951679944992, + -0.3671579360961914, + -0.6549144387245178 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.12883444130420685, + 0.003248636145144701, + -0.03483638912439346 + ], + "orientation": [ + 0.6411309242248535, + -0.17993007600307465, + -0.3545514941215515, + -0.6564064621925354 + ], + "joints": [ + -0.003109038807451725 + ] + }, + "final_grasp": { + "position": [ + -0.12883444130420685, + 0.003248636145144701, + -0.03483638912439346 + ], + "orientation": [ + 0.6411309242248535, + -0.17993007600307465, + -0.3545514941215515, + -0.6564064621925354 + ], + "joints": [ + 0.002284666523337364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1310008466243744, + 0.0012220897478982806, + -0.033472705632448196 + ], + "orientation": [ + 0.6354374885559082, + -0.1812313348054886, + -0.36761748790740967, + -0.6543941497802734 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.12883828580379486, + 0.003144754795357585, + -0.03477604687213898 + ], + "orientation": [ + 0.641651451587677, + -0.17984095215797424, + -0.35435089468955994, + -0.6560305953025818 + ], + "joints": [ + -0.003390970639884472 + ] + }, + "final_grasp": { + "position": [ + -0.12883828580379486, + 0.003144754795357585, + -0.03477604687213898 + ], + "orientation": [ + 0.641651451587677, + -0.17984095215797424, + -0.35435089468955994, + -0.6560305953025818 + ], + "joints": [ + 0.0014713350683450699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12088530510663986, + 0.03830277919769287, + -0.043709006160497665 + ], + "orientation": [ + 0.11464085429906845, + -0.6560416221618652, + 0.6189880967140198, + 0.4163179397583008 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.12251389771699905, + 0.040375206619501114, + -0.04402043670415878 + ], + "orientation": [ + 0.1109309121966362, + -0.6563227772712708, + 0.6242467761039734, + 0.4089631736278534 + ], + "joints": [ + -0.0049305567517876625 + ] + }, + "final_grasp": { + "position": [ + 0.12251389771699905, + 0.040375206619501114, + -0.04402043670415878 + ], + "orientation": [ + 0.1109309121966362, + -0.6563227772712708, + 0.6242467761039734, + 0.4089631736278534 + ], + "joints": [ + -0.0010779108852148056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0930737555027008, + 0.07213157415390015, + 0.0639188140630722 + ], + "orientation": [ + 0.3214026689529419, + -0.8548920750617981, + -0.3954062759876251, + -0.09753815829753876 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.0933448076248169, + 0.07283060252666473, + 0.06387486308813095 + ], + "orientation": [ + 0.3145179748535156, + -0.8527283668518066, + -0.40779465436935425, + -0.08738565444946289 + ], + "joints": [ + -0.005074814893305302 + ] + }, + "final_grasp": { + "position": [ + -0.0933448076248169, + 0.07283060252666473, + 0.06387486308813095 + ], + "orientation": [ + 0.3145179748535156, + -0.8527283668518066, + -0.40779465436935425, + -0.08738565444946289 + ], + "joints": [ + -0.00015936978161334991 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11219186335802078, + -0.014677882194519043, + -0.06697589159011841 + ], + "orientation": [ + 0.1329888105392456, + -0.47768375277519226, + 0.7590265870094299, + 0.421913206577301 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.10906793922185898, + -0.013350284658372402, + -0.06555181741714478 + ], + "orientation": [ + 0.1406836360692978, + -0.4799475371837616, + 0.7565332055091858, + 0.42132651805877686 + ], + "joints": [ + -0.0030568931251764297 + ] + }, + "final_grasp": { + "position": [ + 0.10906793922185898, + -0.013350284658372402, + -0.06555181741714478 + ], + "orientation": [ + 0.1406836360692978, + -0.4799475371837616, + 0.7565332055091858, + 0.42132651805877686 + ], + "joints": [ + 0.004435840994119644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01304178312420845, + 0.028626568615436554, + -0.13097377121448517 + ], + "orientation": [ + 0.627733051776886, + 0.682158350944519, + -0.21477021276950836, + -0.30738410353660583 + ], + "joints": [ + -0.009399902075529099 + ] + }, + "fine_grasp": { + "position": [ + -0.013443998992443085, + 0.02907400205731392, + -0.12778353691101074 + ], + "orientation": [ + 0.6225444674491882, + 0.685710072517395, + -0.22121098637580872, + -0.3054599165916443 + ], + "joints": [ + -0.003979627043008804 + ] + }, + "final_grasp": { + "position": [ + -0.013443998992443085, + 0.02907400205731392, + -0.12778353691101074 + ], + "orientation": [ + 0.6225444674491882, + 0.685710072517395, + -0.22121098637580872, + -0.3054599165916443 + ], + "joints": [ + 0.0014406479895114899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012776563875377178, + 0.028571542352437973, + -0.13092289865016937 + ], + "orientation": [ + 0.6274494528770447, + 0.6819480657577515, + -0.21620118618011475, + -0.3074268102645874 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.013054408133029938, + 0.029038140550255775, + -0.1273180991411209 + ], + "orientation": [ + 0.62298983335495, + 0.6848490238189697, + -0.22247298061847687, + -0.30556720495224 + ], + "joints": [ + -0.004010617733001709 + ] + }, + "final_grasp": { + "position": [ + -0.013054408133029938, + 0.029038140550255775, + -0.1273180991411209 + ], + "orientation": [ + 0.62298983335495, + 0.6848490238189697, + -0.22247298061847687, + -0.30556720495224 + ], + "joints": [ + 0.0014096572995185852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12432291358709335, + 0.035886432975530624, + -0.02870851382613182 + ], + "orientation": [ + 0.6099965572357178, + 0.4004211723804474, + 0.19846075773239136, + -0.654354989528656 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.12205342203378677, + 0.036403462290763855, + -0.028199879452586174 + ], + "orientation": [ + 0.6146934032440186, + 0.3940010368824005, + 0.18149177730083466, + -0.6587685942649841 + ], + "joints": [ + -0.004569984972476959 + ] + }, + "final_grasp": { + "position": [ + -0.12205342203378677, + 0.036403462290763855, + -0.028199879452586174 + ], + "orientation": [ + 0.6146934032440186, + 0.3940010368824005, + 0.18149177730083466, + -0.6587685942649841 + ], + "joints": [ + 0.000850290060043335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06813232600688934, + -0.004385789390653372, + -0.09981191903352737 + ], + "orientation": [ + 0.40748900175094604, + -0.011226983740925789, + 0.6501550078392029, + 0.6411903500556946 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.06613514572381973, + -0.004907981492578983, + -0.09851901978254318 + ], + "orientation": [ + 0.41200974583625793, + -0.015354068949818611, + 0.6419000029563904, + 0.6465111374855042 + ], + "joints": [ + -0.003421809058636427 + ] + }, + "final_grasp": { + "position": [ + 0.06613514572381973, + -0.004907981492578983, + -0.09851901978254318 + ], + "orientation": [ + 0.41200974583625793, + -0.015354068949818611, + 0.6419000029563904, + 0.6465111374855042 + ], + "joints": [ + 0.0019984664395451546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09582696110010147, + 0.010830866172909737, + 0.07331886887550354 + ], + "orientation": [ + 0.4947598874568939, + -0.6986837387084961, + 0.510384202003479, + 0.08100428432226181 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.09458789229393005, + 0.011531982570886612, + 0.07303985953330994 + ], + "orientation": [ + 0.508220374584198, + -0.6895275712013245, + 0.5073704719543457, + 0.09401596337556839 + ], + "joints": [ + -0.004400630481541157 + ] + }, + "final_grasp": { + "position": [ + 0.09458789229393005, + 0.011531982570886612, + 0.07303985953330994 + ], + "orientation": [ + 0.508220374584198, + -0.6895275712013245, + 0.5073704719543457, + 0.09401596337556839 + ], + "joints": [ + -0.0005479846149682999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08832528442144394, + 0.026809997856616974, + -0.08325330913066864 + ], + "orientation": [ + 0.6519759893417358, + 0.5885235071182251, + 0.08764130622148514, + -0.4699854254722595 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.08724450320005417, + 0.026206985116004944, + -0.08279675990343094 + ], + "orientation": [ + 0.6540929079055786, + 0.5911783576011658, + 0.09028836339712143, + -0.4631616473197937 + ], + "joints": [ + -0.0024638157337903976 + ] + }, + "final_grasp": { + "position": [ + -0.08724450320005417, + 0.026206985116004944, + -0.08279675990343094 + ], + "orientation": [ + 0.6540929079055786, + 0.5911783576011658, + 0.09028836339712143, + -0.4631616473197937 + ], + "joints": [ + 0.004444379359483719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09590224921703339, + 0.010600989684462547, + 0.07307252287864685 + ], + "orientation": [ + 0.49604320526123047, + -0.6976488828659058, + 0.510257363319397, + 0.0828535333275795 + ], + "joints": [ + -0.008222285658121109 + ] + }, + "fine_grasp": { + "position": [ + 0.09463123977184296, + 0.011056807823479176, + 0.07297534495592117 + ], + "orientation": [ + 0.5084121823310852, + -0.6897573471069336, + 0.5061624646186829, + 0.09773099422454834 + ], + "joints": [ + -0.0038648098707199097 + ] + }, + "final_grasp": { + "position": [ + 0.09463123977184296, + 0.011056807823479176, + 0.07297534495592117 + ], + "orientation": [ + 0.5084121823310852, + -0.6897573471069336, + 0.5061624646186829, + 0.09773099422454834 + ], + "joints": [ + 0.0004926659166812897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09575813263654709, + 0.010815354995429516, + 0.07336936891078949 + ], + "orientation": [ + 0.4953879117965698, + -0.6987759470939636, + 0.5096514225006104, + 0.08098448812961578 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + 0.09462031722068787, + 0.011372918263077736, + 0.07322469353675842 + ], + "orientation": [ + 0.5095426440238953, + -0.6900585293769836, + 0.505013644695282, + 0.0956394150853157 + ], + "joints": [ + -0.004145268350839615 + ] + }, + "final_grasp": { + "position": [ + 0.09462031722068787, + 0.011372918263077736, + 0.07322469353675842 + ], + "orientation": [ + 0.5095426440238953, + -0.6900585293769836, + 0.505013644695282, + 0.0956394150853157 + ], + "joints": [ + 0.00021220743656158447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04941123351454735, + 0.022689715027809143, + 0.1285131275653839 + ], + "orientation": [ + 0.2669093906879425, + -0.009859238751232624, + 0.5858196020126343, + -0.7651650309562683 + ], + "joints": [ + -0.006575172301381826 + ] + }, + "fine_grasp": { + "position": [ + -0.04791092500090599, + 0.02348143979907036, + 0.12298461049795151 + ], + "orientation": [ + 0.2664574384689331, + -0.01332120131701231, + 0.5953481793403625, + -0.7578808665275574 + ], + "joints": [ + -0.0012346062576398253 + ] + }, + "final_grasp": { + "position": [ + -0.04791092500090599, + 0.02348143979907036, + 0.12298461049795151 + ], + "orientation": [ + 0.2664574384689331, + -0.01332120131701231, + 0.5953481793403625, + -0.7578808665275574 + ], + "joints": [ + 0.004105960018932819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08858427405357361, + 0.02686268463730812, + -0.08319946378469467 + ], + "orientation": [ + 0.6510230898857117, + 0.5895934104919434, + 0.0890212208032608, + -0.46970611810684204 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.08717414736747742, + 0.026248222216963768, + -0.08252910524606705 + ], + "orientation": [ + 0.6532081365585327, + 0.5922357439994812, + 0.09158176928758621, + -0.4628053605556488 + ], + "joints": [ + -0.0024372460320591927 + ] + }, + "final_grasp": { + "position": [ + -0.08717414736747742, + 0.026248222216963768, + -0.08252910524606705 + ], + "orientation": [ + 0.6532081365585327, + 0.5922357439994812, + 0.09158176928758621, + -0.4628053605556488 + ], + "joints": [ + 0.004497518762946129 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07203146070241928, + 0.01766073890030384, + -0.09420011937618256 + ], + "orientation": [ + 0.00661481311544776, + -0.43522676825523376, + -0.7057480216026306, + -0.5589755177497864 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0731201097369194, + 0.016957633197307587, + -0.0942874550819397 + ], + "orientation": [ + 0.012523848563432693, + -0.42396652698516846, + -0.7031967639923096, + -0.5706222653388977 + ], + "joints": [ + -0.0039811767637729645 + ] + }, + "final_grasp": { + "position": [ + -0.0731201097369194, + 0.016957633197307587, + -0.0942874550819397 + ], + "orientation": [ + 0.012523848563432693, + -0.42396652698516846, + -0.7031967639923096, + -0.5706222653388977 + ], + "joints": [ + 0.0014390982687473297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08836323767900467, + 0.02671968750655651, + -0.08296573162078857 + ], + "orientation": [ + 0.6519760489463806, + 0.5893147587776184, + 0.09102534502744675, + -0.46834784746170044 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.0874103233218193, + 0.026108624413609505, + -0.08268250524997711 + ], + "orientation": [ + 0.6545965671539307, + 0.5911668539047241, + 0.09261022508144379, + -0.4620048701763153 + ], + "joints": [ + -0.0024638157337903976 + ] + }, + "final_grasp": { + "position": [ + -0.0874103233218193, + 0.026108624413609505, + -0.08268250524997711 + ], + "orientation": [ + 0.6545965671539307, + 0.5911668539047241, + 0.09261022508144379, + -0.4620048701763153 + ], + "joints": [ + 0.004444379359483719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10689539462327957, + -0.007088495418429375, + -0.08111906051635742 + ], + "orientation": [ + 0.5176613330841064, + 0.6481689214706421, + -0.5561508536338806, + 0.05099038407206535 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10332181304693222, + -0.0048045809380710125, + -0.07802660018205643 + ], + "orientation": [ + 0.5254716873168945, + 0.6394055485725403, + -0.5589635968208313, + 0.05098748207092285 + ], + "joints": [ + -0.005743332207202911 + ] + }, + "final_grasp": { + "position": [ + 0.10332181304693222, + -0.0048045809380710125, + -0.07802660018205643 + ], + "orientation": [ + 0.5254716873168945, + 0.6394055485725403, + -0.5589635968208313, + 0.05098748207092285 + ], + "joints": [ + -0.0009075962007045746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09561850875616074, + -0.06136695668101311, + -0.0022403413895517588 + ], + "orientation": [ + 0.3020058274269104, + -0.4145165681838989, + 0.842046856880188, + 0.16710951924324036 + ], + "joints": [ + -0.008532185107469559 + ] + }, + "fine_grasp": { + "position": [ + 0.09528280794620514, + -0.059614844620227814, + -0.0019332522060722113 + ], + "orientation": [ + 0.30588027834892273, + -0.40897488594055176, + 0.8424285054206848, + 0.17172907292842865 + ], + "joints": [ + -0.003590169595554471 + ] + }, + "final_grasp": { + "position": [ + 0.09528280794620514, + -0.059614844620227814, + -0.0019332522060722113 + ], + "orientation": [ + 0.30588027834892273, + -0.40897488594055176, + 0.8424285054206848, + 0.17172907292842865 + ], + "joints": [ + 0.0013518459163606167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05986235290765762, + 0.05324350297451019, + -0.09575378149747849 + ], + "orientation": [ + 0.5867058634757996, + 0.6831809282302856, + 0.0041945879347622395, + -0.4347671568393707 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.06068200618028641, + 0.05363057553768158, + -0.09649739414453506 + ], + "orientation": [ + 0.5874833464622498, + 0.6784461140632629, + -0.008795216679573059, + -0.4410179555416107 + ], + "joints": [ + -0.00456711370497942 + ] + }, + "final_grasp": { + "position": [ + -0.06068200618028641, + 0.05363057553768158, + -0.09649739414453506 + ], + "orientation": [ + 0.5874833464622498, + 0.6784461140632629, + -0.008795216679573059, + -0.4410179555416107 + ], + "joints": [ + 0.0008265916258096695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06500505656003952, + -0.010488889180123806, + 0.10500042885541916 + ], + "orientation": [ + 0.3994477391242981, + 0.021810682490468025, + 0.6228198409080505, + -0.6723551154136658 + ], + "joints": [ + -0.008197612129151821 + ] + }, + "fine_grasp": { + "position": [ + -0.06650743633508682, + -0.00902192760258913, + 0.10519417375326157 + ], + "orientation": [ + 0.38094109296798706, + 0.02908719889819622, + 0.6398336291313171, + -0.6668214797973633 + ], + "joints": [ + -0.0023522162809967995 + ] + }, + "final_grasp": { + "position": [ + -0.06650743633508682, + -0.00902192760258913, + 0.10519417375326157 + ], + "orientation": [ + 0.38094109296798706, + 0.02908719889819622, + 0.6398336291313171, + -0.6668214797973633 + ], + "joints": [ + 0.003493179567158222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03544636070728302, + -0.09740177541971207, + -0.0394192710518837 + ], + "orientation": [ + 0.35566845536231995, + 0.20403361320495605, + -0.9073919057846069, + -0.09225094318389893 + ], + "joints": [ + -0.00934102013707161 + ] + }, + "fine_grasp": { + "position": [ + 0.03489771485328674, + -0.09428941458463669, + -0.03920998424291611 + ], + "orientation": [ + 0.3626925051212311, + 0.20960204303264618, + -0.9039290547370911, + -0.08621713519096375 + ], + "joints": [ + -0.00498354434967041 + ] + }, + "final_grasp": { + "position": [ + 0.03489771485328674, + -0.09428941458463669, + -0.03920998424291611 + ], + "orientation": [ + 0.3626925051212311, + 0.20960204303264618, + -0.9039290547370911, + -0.08621713519096375 + ], + "joints": [ + -0.0006260685622692108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04342322424054146, + -0.10755535215139389, + 0.06519588083028793 + ], + "orientation": [ + 0.4648926258087158, + -0.2594640851020813, + -0.8383376598358154, + 0.11723066866397858 + ], + "joints": [ + -0.011050112545490265 + ] + }, + "fine_grasp": { + "position": [ + -0.04154364764690399, + -0.10311467200517654, + 0.06238847225904465 + ], + "orientation": [ + 0.4640842080116272, + -0.2626721262931824, + -0.8374624848365784, + 0.11952278763055801 + ], + "joints": [ + -0.005204716697335243 + ] + }, + "final_grasp": { + "position": [ + -0.04154364764690399, + -0.10311467200517654, + 0.06238847225904465 + ], + "orientation": [ + 0.4640842080116272, + -0.2626721262931824, + -0.8374624848365784, + 0.11952278763055801 + ], + "joints": [ + 0.0006406791508197784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04340428486466408, + -0.10759928822517395, + 0.06517554074525833 + ], + "orientation": [ + 0.46261122822761536, + -0.2587287724018097, + -0.8396872282028198, + 0.11821857839822769 + ], + "joints": [ + -0.011050112545490265 + ] + }, + "fine_grasp": { + "position": [ + -0.04154917597770691, + -0.10316118597984314, + 0.06232839450240135 + ], + "orientation": [ + 0.4618481695652008, + -0.26182863116264343, + -0.8387943506240845, + 0.12069056183099747 + ], + "joints": [ + -0.005204716697335243 + ] + }, + "final_grasp": { + "position": [ + -0.04154917597770691, + -0.10316118597984314, + 0.06232839450240135 + ], + "orientation": [ + 0.4618481695652008, + -0.26182863116264343, + -0.8387943506240845, + 0.12069056183099747 + ], + "joints": [ + 0.0006406791508197784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06603170931339264, + -0.012027110904455185, + -0.10687600821256638 + ], + "orientation": [ + 0.6449429988861084, + 0.6623607873916626, + 0.3790709376335144, + -0.04039856791496277 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.0639612227678299, + -0.01004068460315466, + -0.10325676947832108 + ], + "orientation": [ + 0.6508072018623352, + 0.6569893956184387, + 0.3785550594329834, + -0.038872767239809036 + ], + "joints": [ + -0.0019044488435611129 + ] + }, + "final_grasp": { + "position": [ + -0.0639612227678299, + -0.01004068460315466, + -0.10325676947832108 + ], + "orientation": [ + 0.6508072018623352, + 0.6569893956184387, + 0.3785550594329834, + -0.038872767239809036 + ], + "joints": [ + 0.0050037456676363945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09382885694503784, + 0.056028787046670914, + 0.08812490105628967 + ], + "orientation": [ + 0.37002211809158325, + 0.09640830010175705, + -0.48395997285842896, + 0.7871288061141968 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.09060532599687576, + 0.05458636209368706, + 0.08510849624872208 + ], + "orientation": [ + 0.37405556440353394, + 0.09611287713050842, + -0.48363441228866577, + 0.7854568958282471 + ], + "joints": [ + -0.004682006314396858 + ] + }, + "final_grasp": { + "position": [ + 0.09060532599687576, + 0.05458636209368706, + 0.08510849624872208 + ], + "orientation": [ + 0.37405556440353394, + 0.09611287713050842, + -0.48363441228866577, + 0.7854568958282471 + ], + "joints": [ + 0.000685129314661026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07206593453884125, + -0.07702049612998962, + 0.04017869383096695 + ], + "orientation": [ + 0.4439907670021057, + -0.36895668506622314, + 0.816421389579773, + 0.014111771248281002 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.06982611864805222, + -0.0730564296245575, + 0.03938676416873932 + ], + "orientation": [ + 0.4440249800682068, + -0.36574503779411316, + 0.8177758455276489, + 0.017747046425938606 + ], + "joints": [ + -0.004404899198561907 + ] + }, + "final_grasp": { + "position": [ + 0.06982611864805222, + -0.0730564296245575, + 0.03938676416873932 + ], + "orientation": [ + 0.4440249800682068, + -0.36574503779411316, + 0.8177758455276489, + 0.017747046425938606 + ], + "joints": [ + 3.2286159694194794e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07629487663507462, + 0.07983436435461044, + -0.09610389918088913 + ], + "orientation": [ + 0.5568581223487854, + 0.7227709293365479, + 0.12959226965904236, + -0.3882227838039398 + ], + "joints": [ + -0.004567023366689682 + ] + }, + "fine_grasp": { + "position": [ + -0.07330913096666336, + 0.07693304121494293, + -0.0926714763045311 + ], + "orientation": [ + 0.5469433665275574, + 0.7305647134780884, + 0.11883003264665604, + -0.39116179943084717 + ], + "joints": [ + 0.0008001133101060987 + ] + }, + "final_grasp": { + "position": [ + -0.07330913096666336, + 0.07693304121494293, + -0.0926714763045311 + ], + "orientation": [ + 0.5469433665275574, + 0.7305647134780884, + 0.11883003264665604, + -0.39116179943084717 + ], + "joints": [ + 0.006167249754071236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10630015283823013, + 0.053774572908878326, + -0.04198801890015602 + ], + "orientation": [ + 0.46351590752601624, + -0.21158364415168762, + 0.34378111362457275, + 0.7887964248657227 + ], + "joints": [ + -0.009709801524877548 + ] + }, + "fine_grasp": { + "position": [ + 0.10694412142038345, + 0.054499831050634384, + -0.04188584163784981 + ], + "orientation": [ + 0.46609702706336975, + -0.21853803098201752, + 0.36087650060653687, + 0.7776648998260498 + ], + "joints": [ + -0.004874065518379211 + ] + }, + "final_grasp": { + "position": [ + 0.10694412142038345, + 0.054499831050634384, + -0.04188584163784981 + ], + "orientation": [ + 0.46609702706336975, + -0.21853803098201752, + 0.36087650060653687, + 0.7776648998260498 + ], + "joints": [ + -3.8329511880874634e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09598566591739655, + -0.00035696339909918606, + 0.07323749363422394 + ], + "orientation": [ + 0.17147433757781982, + 0.4255090355873108, + 0.7192320823669434, + -0.5217698812484741 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.09397898614406586, + -4.5839420636184514e-05, + 0.07155011594295502 + ], + "orientation": [ + 0.17512181401252747, + 0.4245874881744385, + 0.718654215335846, + -0.5221052765846252 + ], + "joints": [ + -0.0019647283479571342 + ] + }, + "final_grasp": { + "position": [ + -0.09397898614406586, + -4.5839420636184514e-05, + 0.07155011594295502 + ], + "orientation": [ + 0.17512181401252747, + 0.4245874881744385, + 0.718654215335846, + -0.5221052765846252 + ], + "joints": [ + 0.005501436069607735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10431230068206787, + 0.022295381873846054, + -0.07400021702051163 + ], + "orientation": [ + 0.4586990475654602, + -0.14033648371696472, + -0.5315645933151245, + -0.698097288608551 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.09938863664865494, + 0.02208181470632553, + -0.07202430069446564 + ], + "orientation": [ + 0.4764670729637146, + -0.13206951320171356, + -0.5139500498771667, + -0.7009935975074768 + ], + "joints": [ + -0.004676667973399162 + ] + }, + "final_grasp": { + "position": [ + -0.09938863664865494, + 0.02208181470632553, + -0.07202430069446564 + ], + "orientation": [ + 0.4764670729637146, + -0.13206951320171356, + -0.5139500498771667, + -0.7009935975074768 + ], + "joints": [ + -0.0008505918085575104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09531989693641663, + 0.0011817816412076354, + 0.07390115410089493 + ], + "orientation": [ + 0.1768168956041336, + 0.42366743087768555, + 0.7264213562011719, + -0.5114232897758484 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.09380241483449936, + 0.0006187678663991392, + 0.07197936624288559 + ], + "orientation": [ + 0.17526498436927795, + 0.4231393337249756, + 0.7221300005912781, + -0.5184240937232971 + ], + "joints": [ + -0.002415020251646638 + ] + }, + "final_grasp": { + "position": [ + -0.09380241483449936, + 0.0006187678663991392, + 0.07197936624288559 + ], + "orientation": [ + 0.17526498436927795, + 0.4231393337249756, + 0.7221300005912781, + -0.5184240937232971 + ], + "joints": [ + 0.004041485022753477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10451729595661163, + 0.08219417929649353, + -0.06914089620113373 + ], + "orientation": [ + 0.4380176067352295, + 0.800603449344635, + -0.33420079946517944, + 0.235551655292511 + ], + "joints": [ + -0.00589804258197546 + ] + }, + "fine_grasp": { + "position": [ + 0.10035690665245056, + 0.07907334715127945, + -0.06649142503738403 + ], + "orientation": [ + 0.42363476753234863, + 0.8077049255371094, + -0.3359018862247467, + 0.23519417643547058 + ], + "joints": [ + -0.0020453953184187412 + ] + }, + "final_grasp": { + "position": [ + 0.10035690665245056, + 0.07907334715127945, + -0.06649142503738403 + ], + "orientation": [ + 0.42363476753234863, + 0.8077049255371094, + -0.3359018862247467, + 0.23519417643547058 + ], + "joints": [ + 0.0018072519451379776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1048453152179718, + 0.0817175880074501, + -0.06940741837024689 + ], + "orientation": [ + 0.4380504786968231, + 0.8005953431129456, + -0.3357664942741394, + 0.23328068852424622 + ], + "joints": [ + -0.0061165206134319305 + ] + }, + "fine_grasp": { + "position": [ + 0.10062899440526962, + 0.07859710603952408, + -0.0667153000831604 + ], + "orientation": [ + 0.4243336319923401, + 0.8074452877044678, + -0.3366200029850006, + 0.2337949573993683 + ], + "joints": [ + -0.0022638733498752117 + ] + }, + "final_grasp": { + "position": [ + 0.10062899440526962, + 0.07859710603952408, + -0.0667153000831604 + ], + "orientation": [ + 0.4243336319923401, + 0.8074452877044678, + -0.3366200029850006, + 0.2337949573993683 + ], + "joints": [ + 0.0015887739136815071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06809213012456894, + 0.06229148805141449, + 0.0969925969839096 + ], + "orientation": [ + 0.5733493566513062, + -0.7094222903251648, + 0.06552070379257202, + 0.4045954644680023 + ], + "joints": [ + -0.009489774703979492 + ] + }, + "fine_grasp": { + "position": [ + 0.0652889683842659, + 0.059146273881196976, + 0.09367966651916504 + ], + "orientation": [ + 0.5621185898780823, + -0.7176411747932434, + 0.05877344310283661, + 0.40689027309417725 + ], + "joints": [ + -0.0025550099089741707 + ] + }, + "final_grasp": { + "position": [ + 0.0652889683842659, + 0.059146273881196976, + 0.09367966651916504 + ], + "orientation": [ + 0.5621185898780823, + -0.7176411747932434, + 0.05877344310283661, + 0.40689027309417725 + ], + "joints": [ + 0.004379754886031151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10325351357460022, + -0.0024047046899795532, + -0.0730549693107605 + ], + "orientation": [ + 0.5757380127906799, + 0.6284634470939636, + 0.5107061266899109, + -0.11286536604166031 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + -0.09833591431379318, + -0.0012648162664845586, + -0.07119310647249222 + ], + "orientation": [ + 0.5596590042114258, + 0.6293785572052002, + 0.5284695625305176, + -0.10669669508934021 + ], + "joints": [ + -0.0049571264535188675 + ] + }, + "final_grasp": { + "position": [ + -0.09833591431379318, + -0.0012648162664845586, + -0.07119310647249222 + ], + "orientation": [ + 0.5596590042114258, + 0.6293785572052002, + 0.5284695625305176, + -0.10669669508934021 + ], + "joints": [ + -0.0011310502886772156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03284892439842224, + -0.0949527844786644, + 0.02098766155540943 + ], + "orientation": [ + 0.34989506006240845, + -0.1712634116411209, + -0.9205820560455322, + 0.02776763215661049 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + -0.03538322448730469, + -0.0946437418460846, + 0.021565502509474754 + ], + "orientation": [ + 0.3384323716163635, + -0.17701664566993713, + -0.9235765933990479, + 0.03368930146098137 + ], + "joints": [ + -0.0029112370684742928 + ] + }, + "final_grasp": { + "position": [ + -0.03538322448730469, + -0.0946437418460846, + 0.021565502509474754 + ], + "orientation": [ + 0.3384323716163635, + -0.17701664566993713, + -0.9235765933990479, + 0.03368930146098137 + ], + "joints": [ + 0.002960728481411934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02754982002079487, + -0.10677787661552429, + -0.009054355323314667 + ], + "orientation": [ + 0.34119340777397156, + 0.13096556067466736, + 0.9300379157066345, + -0.03826937451958656 + ], + "joints": [ + -0.007576146628707647 + ] + }, + "fine_grasp": { + "position": [ + -0.02775948867201805, + -0.10621088743209839, + -0.01091072615236044 + ], + "orientation": [ + 0.349285364151001, + 0.1340520828962326, + 0.9261516332626343, + -0.04767552390694618 + ], + "joints": [ + -0.000667951419018209 + ] + }, + "final_grasp": { + "position": [ + -0.02775948867201805, + -0.10621088743209839, + -0.01091072615236044 + ], + "orientation": [ + 0.349285364151001, + 0.1340520828962326, + 0.9261516332626343, + -0.04767552390694618 + ], + "joints": [ + 0.006240244023501873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10387302935123444, + -0.026745924726128578, + 0.054664578288793564 + ], + "orientation": [ + 0.48699647188186646, + -0.5902076363563538, + -0.6327444911003113, + -0.11884374916553497 + ], + "joints": [ + -0.009336570277810097 + ] + }, + "fine_grasp": { + "position": [ + -0.10576971620321274, + -0.0255308635532856, + 0.05372590944170952 + ], + "orientation": [ + 0.5148512721061707, + -0.5775033831596375, + -0.6209833025932312, + -0.12568886578083038 + ], + "joints": [ + -0.00341146532446146 + ] + }, + "final_grasp": { + "position": [ + -0.10576971620321274, + -0.0255308635532856, + 0.05372590944170952 + ], + "orientation": [ + 0.5148512721061707, + -0.5775033831596375, + -0.6209833025932312, + -0.12568886578083038 + ], + "joints": [ + 0.0025136396288871765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03219447284936905, + -0.09517411142587662, + 0.020960278809070587 + ], + "orientation": [ + 0.3504489064216614, + -0.16790229082107544, + -0.9209246039390564, + 0.029869044199585915 + ], + "joints": [ + -0.008752211928367615 + ] + }, + "fine_grasp": { + "position": [ + -0.03449102118611336, + -0.09467440843582153, + 0.021647067740559578 + ], + "orientation": [ + 0.338434100151062, + -0.1747981756925583, + -0.9239011406898499, + 0.03625795245170593 + ], + "joints": [ + -0.002880246378481388 + ] + }, + "final_grasp": { + "position": [ + -0.03449102118611336, + -0.09467440843582153, + 0.021647067740559578 + ], + "orientation": [ + 0.338434100151062, + -0.1747981756925583, + -0.9239011406898499, + 0.03625795245170593 + ], + "joints": [ + 0.0029917191714048386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031153133139014244, + -0.08921819925308228, + -0.07074032723903656 + ], + "orientation": [ + 0.423537015914917, + 0.03292503207921982, + 0.8583635091781616, + 0.2876535654067993 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + 0.02876785770058632, + -0.08770446479320526, + -0.06868831068277359 + ], + "orientation": [ + 0.42851385474205017, + 0.029585300013422966, + 0.8519064784049988, + 0.2995932698249817 + ], + "joints": [ + -0.0012905431212857366 + ] + }, + "final_grasp": { + "position": [ + 0.02876785770058632, + -0.08770446479320526, + -0.06868831068277359 + ], + "orientation": [ + 0.42851385474205017, + 0.029585300013422966, + 0.8519064784049988, + 0.2995932698249817 + ], + "joints": [ + 0.005112822167575359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06853696703910828, + 0.021915320307016373, + -0.1063450276851654 + ], + "orientation": [ + 0.3200032711029053, + -0.07244247943162918, + -0.5692939162254333, + -0.7538266181945801 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.06631328910589218, + 0.022569820284843445, + -0.10238081216812134 + ], + "orientation": [ + 0.32841387391090393, + -0.06381693482398987, + -0.5686439275741577, + -0.7514758110046387 + ], + "joints": [ + -0.0018778786761686206 + ] + }, + "final_grasp": { + "position": [ + -0.06631328910589218, + 0.022569820284843445, + -0.10238081216812134 + ], + "orientation": [ + 0.32841387391090393, + -0.06381693482398987, + -0.5686439275741577, + -0.7514758110046387 + ], + "joints": [ + 0.005056886002421379 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02247481606900692, + -0.09881269931793213, + -0.02710740640759468 + ], + "orientation": [ + 0.9299391508102417, + 0.06555857509374619, + 0.33508920669555664, + 0.13649410009384155 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.023421360179781914, + -0.09738702327013016, + -0.02802671305835247 + ], + "orientation": [ + 0.9258629679679871, + 0.06687720119953156, + 0.3422401547431946, + 0.14552326500415802 + ], + "joints": [ + -0.002325299894437194 + ] + }, + "final_grasp": { + "position": [ + 0.023421360179781914, + -0.09738702327013016, + -0.02802671305835247 + ], + "orientation": [ + 0.9258629679679871, + 0.06687720119953156, + 0.3422401547431946, + 0.14552326500415802 + ], + "joints": [ + 0.0035732355900108814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12383013218641281, + 0.027334319427609444, + -0.040992509573698044 + ], + "orientation": [ + 0.5400727987289429, + -0.22199422121047974, + 0.42927324771881104, + 0.6890314817428589 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.1197507232427597, + 0.026902057230472565, + -0.040685493499040604 + ], + "orientation": [ + 0.5456950664520264, + -0.2255658656358719, + 0.4205430746078491, + 0.688825249671936 + ], + "joints": [ + -0.004542017355561256 + ] + }, + "final_grasp": { + "position": [ + 0.1197507232427597, + 0.026902057230472565, + -0.040685493499040604 + ], + "orientation": [ + 0.5456950664520264, + -0.2255658656358719, + 0.4205430746078491, + 0.688825249671936 + ], + "joints": [ + 0.00034685805439949036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12368473410606384, + 0.02724817581474781, + -0.04088986665010452 + ], + "orientation": [ + 0.5407736897468567, + -0.2224780023097992, + 0.43017148971557617, + 0.6877644658088684 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.11906474083662033, + 0.026833105832338333, + -0.04022108018398285 + ], + "orientation": [ + 0.5482803583145142, + -0.22422297298908234, + 0.41979092359542847, + 0.6876687407493591 + ], + "joints": [ + -0.005046847276389599 + ] + }, + "final_grasp": { + "position": [ + 0.11906474083662033, + 0.026833105832338333, + -0.04022108018398285 + ], + "orientation": [ + 0.5482803583145142, + -0.22422297298908234, + 0.41979092359542847, + 0.6876687407493591 + ], + "joints": [ + -0.0006628017872571945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0029181058052927256, + -0.09568290412425995, + -0.03643149510025978 + ], + "orientation": [ + 0.40198007225990295, + 0.08267077058553696, + -0.9027361273765564, + -0.1290156990289688 + ], + "joints": [ + -0.008160222321748734 + ] + }, + "fine_grasp": { + "position": [ + 0.005173060577362776, + -0.094814732670784, + -0.038339633494615555 + ], + "orientation": [ + 0.40343183279037476, + 0.09498307853937149, + -0.899713933467865, + -0.13687874376773834 + ], + "joints": [ + -0.001730287098325789 + ] + }, + "final_grasp": { + "position": [ + 0.005173060577362776, + -0.094814732670784, + -0.038339633494615555 + ], + "orientation": [ + 0.40343183279037476, + 0.09498307853937149, + -0.899713933467865, + -0.13687874376773834 + ], + "joints": [ + 0.004699648357927799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023975476622581482, + -0.0923636332154274, + -0.03923365846276283 + ], + "orientation": [ + 0.9148163795471191, + 0.13679474592208862, + -0.34688547253608704, + -0.15514089167118073 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.02471826784312725, + -0.0910838171839714, + -0.041630424559116364 + ], + "orientation": [ + 0.9136409759521484, + 0.13123269379138947, + -0.3483785092830658, + -0.16331104934215546 + ], + "joints": [ + -0.0034455079585313797 + ] + }, + "final_grasp": { + "position": [ + -0.02471826784312725, + -0.0910838171839714, + -0.041630424559116364 + ], + "orientation": [ + 0.9136409759521484, + 0.13123269379138947, + -0.3483785092830658, + -0.16331104934215546 + ], + "joints": [ + 0.0019216276705265045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0892258808016777, + 0.06402712315320969, + 0.08117984235286713 + ], + "orientation": [ + 0.24629928171634674, + 0.34157320857048035, + 0.5872076749801636, + -0.6912680268287659 + ], + "joints": [ + -0.00252690352499485 + ] + }, + "fine_grasp": { + "position": [ + -0.08994467556476593, + 0.061903100460767746, + 0.08168121427297592 + ], + "orientation": [ + 0.23982471227645874, + 0.3466452360153198, + 0.5753268599510193, + -0.7009424567222595 + ], + "joints": [ + 0.0007146347779780626 + ] + }, + "final_grasp": { + "position": [ + -0.08994467556476593, + 0.061903100460767746, + 0.08168121427297592 + ], + "orientation": [ + 0.23982471227645874, + 0.3466452360153198, + 0.5753268599510193, + -0.7009424567222595 + ], + "joints": [ + 0.003956173080950975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07543277740478516, + 0.01608961820602417, + 0.08912089467048645 + ], + "orientation": [ + 0.14118050038814545, + 0.34783822298049927, + 0.6821677684783936, + -0.6274740695953369 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.07560211420059204, + 0.01493822317570448, + 0.08906307071447372 + ], + "orientation": [ + 0.1331883668899536, + 0.3544064164161682, + 0.680320680141449, + -0.6275513768196106 + ], + "joints": [ + -0.0012653712183237076 + ] + }, + "final_grasp": { + "position": [ + -0.07560211420059204, + 0.01493822317570448, + 0.08906307071447372 + ], + "orientation": [ + 0.1331883668899536, + 0.3544064164161682, + 0.680320680141449, + -0.6275513768196106 + ], + "joints": [ + 0.0057225339114665985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0029535910580307245, + -0.09495014697313309, + -0.03597543016076088 + ], + "orientation": [ + 0.4046562910079956, + 0.08327523618936539, + -0.9016925692558289, + -0.12755011022090912 + ], + "joints": [ + -0.008160222321748734 + ] + }, + "fine_grasp": { + "position": [ + 0.0051957666873931885, + -0.09414807707071304, + -0.03807155415415764 + ], + "orientation": [ + 0.40641453862190247, + 0.09576434642076492, + -0.898364245891571, + -0.136374831199646 + ], + "joints": [ + -0.0017302869819104671 + ] + }, + "final_grasp": { + "position": [ + 0.0051957666873931885, + -0.09414807707071304, + -0.03807155415415764 + ], + "orientation": [ + 0.40641453862190247, + 0.09576434642076492, + -0.898364245891571, + -0.136374831199646 + ], + "joints": [ + 0.004699648357927799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12748682498931885, + 0.027865147218108177, + -0.028833283111453056 + ], + "orientation": [ + 0.26505374908447266, + -0.6116100549697876, + 0.626281201839447, + 0.4042915105819702 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + 0.12244409322738647, + 0.027469659224152565, + -0.027351219207048416 + ], + "orientation": [ + 0.2661968767642975, + -0.6049835681915283, + 0.628646969795227, + 0.4098014235496521 + ], + "joints": [ + -0.005076288245618343 + ] + }, + "final_grasp": { + "position": [ + 0.12244409322738647, + 0.027469659224152565, + -0.027351219207048416 + ], + "orientation": [ + 0.2661968767642975, + -0.6049835681915283, + 0.628646969795227, + 0.4098014235496521 + ], + "joints": [ + -0.000692242756485939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023826053366065025, + -0.0927349254488945, + -0.038868341594934464 + ], + "orientation": [ + 0.916474461555481, + 0.13624881207942963, + -0.34350883960723877, + -0.15333737432956696 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.024508705362677574, + -0.09139149636030197, + -0.0411367230117321 + ], + "orientation": [ + 0.9156337380409241, + 0.1314602941274643, + -0.3436177372932434, + -0.1620490849018097 + ], + "joints": [ + -0.0034455079585313797 + ] + }, + "final_grasp": { + "position": [ + -0.024508705362677574, + -0.09139149636030197, + -0.0411367230117321 + ], + "orientation": [ + 0.9156337380409241, + 0.1314602941274643, + -0.3436177372932434, + -0.1620490849018097 + ], + "joints": [ + 0.0019216276705265045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.127375528216362, + 0.027827437967061996, + -0.028878692537546158 + ], + "orientation": [ + 0.26799502968788147, + -0.6091941595077515, + 0.6264225244522095, + 0.40577825903892517 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.12237580865621567, + 0.02742597460746765, + -0.027332240715622902 + ], + "orientation": [ + 0.26702389121055603, + -0.6037930846214294, + 0.6292430758476257, + 0.4101041555404663 + ], + "joints": [ + -0.005073416978120804 + ] + }, + "final_grasp": { + "position": [ + 0.12237580865621567, + 0.02742597460746765, + -0.027332240715622902 + ], + "orientation": [ + 0.26702389121055603, + -0.6037930846214294, + 0.6292430758476257, + 0.4101041555404663 + ], + "joints": [ + -0.0007159411907196045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022915806621313095, + -0.09302689135074615, + -0.03779875487089157 + ], + "orientation": [ + 0.9166168570518494, + 0.1324988305568695, + -0.3466624319553375, + -0.14860238134860992 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.024009060114622116, + -0.0919869914650917, + -0.04002334922552109 + ], + "orientation": [ + 0.9155319929122925, + 0.12835760414600372, + -0.34683698415756226, + -0.15820768475532532 + ], + "joints": [ + -0.00313560850918293 + ] + }, + "final_grasp": { + "position": [ + -0.024009060114622116, + -0.0919869914650917, + -0.04002334922552109 + ], + "orientation": [ + 0.9155319929122925, + 0.12835760414600372, + -0.34683698415756226, + -0.15820768475532532 + ], + "joints": [ + 0.0022315271198749542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1273907721042633, + 0.02789076790213585, + -0.028866348788142204 + ], + "orientation": [ + 0.26928892731666565, + -0.6084105372428894, + 0.6262326240539551, + 0.40639016032218933 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.12247230857610703, + 0.027503727003932, + -0.027318473905324936 + ], + "orientation": [ + 0.26750093698501587, + -0.6034940481185913, + 0.6292893290519714, + 0.4101623594760895 + ], + "joints": [ + -0.005073416978120804 + ] + }, + "final_grasp": { + "position": [ + 0.12247230857610703, + 0.027503727003932, + -0.027318473905324936 + ], + "orientation": [ + 0.26750093698501587, + -0.6034940481185913, + 0.6292893290519714, + 0.4101623594760895 + ], + "joints": [ + -0.0007159411907196045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0756847932934761, + 0.016483116894960403, + 0.08956100046634674 + ], + "orientation": [ + 0.14899103343486786, + 0.3411983549594879, + 0.6812057495117188, + -0.630352258682251 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.07565861940383911, + 0.015262595377862453, + 0.08931542932987213 + ], + "orientation": [ + 0.13688234984874725, + 0.35051625967025757, + 0.6802205443382263, + -0.629048228263855 + ], + "joints": [ + -0.0012653714511543512 + ] + }, + "final_grasp": { + "position": [ + -0.07565861940383911, + 0.015262595377862453, + 0.08931542932987213 + ], + "orientation": [ + 0.13688234984874725, + 0.35051625967025757, + 0.6802205443382263, + -0.629048228263855 + ], + "joints": [ + 0.005722533445805311 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024017510935664177, + -0.10120051354169846, + -0.027927951887249947 + ], + "orientation": [ + 0.929470419883728, + 0.07106124609708786, + 0.3340323269367218, + 0.13948999345302582 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.025598052889108658, + -0.09971704334020615, + -0.027996057644486427 + ], + "orientation": [ + 0.9247065782546997, + 0.06919454783201218, + 0.34339234232902527, + 0.14903531968593597 + ], + "joints": [ + -0.0023518698289990425 + ] + }, + "final_grasp": { + "position": [ + 0.025598052889108658, + -0.09971704334020615, + -0.027996057644486427 + ], + "orientation": [ + 0.9247065782546997, + 0.06919454783201218, + 0.34339234232902527, + 0.14903531968593597 + ], + "joints": [ + 0.003520095720887184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027679704129695892, + -0.10663340240716934, + -0.008763816207647324 + ], + "orientation": [ + 0.34286969900131226, + 0.13044245541095734, + 0.9295424222946167, + -0.037098050117492676 + ], + "joints": [ + -0.008135514333844185 + ] + }, + "fine_grasp": { + "position": [ + -0.027956737205386162, + -0.10610946267843246, + -0.010323974303901196 + ], + "orientation": [ + 0.3532924950122833, + 0.13225212693214417, + 0.9249572157859802, + -0.04634673520922661 + ], + "joints": [ + -0.0006959195015951991 + ] + }, + "final_grasp": { + "position": [ + -0.027956737205386162, + -0.10610946267843246, + -0.010323974303901196 + ], + "orientation": [ + 0.3532924950122833, + 0.13225212693214417, + 0.9249572157859802, + -0.04634673520922661 + ], + "joints": [ + 0.006743675097823143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027644600719213486, + -0.10664767026901245, + -0.0088338702917099 + ], + "orientation": [ + 0.34291186928749084, + 0.1304091215133667, + 0.9295427203178406, + -0.03681424632668495 + ], + "joints": [ + -0.008135514333844185 + ] + }, + "fine_grasp": { + "position": [ + -0.027899160981178284, + -0.10614725202322006, + -0.010413956828415394 + ], + "orientation": [ + 0.3542468249797821, + 0.1320592164993286, + 0.9246540665626526, + -0.04565705358982086 + ], + "joints": [ + -0.0006959195015951991 + ] + }, + "final_grasp": { + "position": [ + -0.027899160981178284, + -0.10614725202322006, + -0.010413956828415394 + ], + "orientation": [ + 0.3542468249797821, + 0.1320592164993286, + 0.9246540665626526, + -0.04565705358982086 + ], + "joints": [ + 0.006743675097823143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1330687403678894, + 0.009889233857393265, + -0.03732676059007645 + ], + "orientation": [ + 0.6808736324310303, + 0.38857826590538025, + 0.27823036909103394, + -0.5549829006195068 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.12796643376350403, + 0.010540001094341278, + -0.03543878719210625 + ], + "orientation": [ + 0.6856470704078674, + 0.39065349102020264, + 0.27325907349586487, + -0.550097644329071 + ], + "joints": [ + -0.00442859809845686 + ] + }, + "final_grasp": { + "position": [ + -0.12796643376350403, + 0.010540001094341278, + -0.03543878719210625 + ], + "orientation": [ + 0.6856470704078674, + 0.39065349102020264, + 0.27325907349586487, + -0.550097644329071 + ], + "joints": [ + -4.455260932445526e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023482464253902435, + -0.09239838272333145, + -0.03777163848280907 + ], + "orientation": [ + 0.9194141626358032, + 0.13858824968338013, + -0.3366512656211853, + -0.14878450334072113 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.023785075172781944, + -0.09161610156297684, + -0.039638273417949677 + ], + "orientation": [ + 0.9188287854194641, + 0.13235947489738464, + -0.3374702036380768, + -0.15603986382484436 + ], + "joints": [ + -0.00313560850918293 + ] + }, + "final_grasp": { + "position": [ + -0.023785075172781944, + -0.09161610156297684, + -0.039638273417949677 + ], + "orientation": [ + 0.9188287854194641, + 0.13235947489738464, + -0.3374702036380768, + -0.15603986382484436 + ], + "joints": [ + 0.0022315271198749542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041594911366701126, + -0.08678454160690308, + 0.07730545848608017 + ], + "orientation": [ + 0.6227333545684814, + -0.11522801220417023, + 0.7071384787559509, + -0.3144533336162567 + ], + "joints": [ + -0.008312158286571503 + ] + }, + "fine_grasp": { + "position": [ + -0.039766211062669754, + -0.08262282609939575, + 0.0754573717713356 + ], + "orientation": [ + 0.6238216161727905, + -0.10762213170528412, + 0.7085980772972107, + -0.3116939067840576 + ], + "joints": [ + -0.003928112331777811 + ] + }, + "final_grasp": { + "position": [ + -0.039766211062669754, + -0.08262282609939575, + 0.0754573717713356 + ], + "orientation": [ + 0.6238216161727905, + -0.10762213170528412, + 0.7085980772972107, + -0.3116939067840576 + ], + "joints": [ + 0.0004559336230158806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024479512125253677, + -0.10331223905086517, + -0.026949429884552956 + ], + "orientation": [ + 0.932979166507721, + 0.07379178702831268, + 0.3252272307872772, + 0.13539551198482513 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + 0.02544441632926464, + -0.10539700090885162, + -0.027012920007109642 + ], + "orientation": [ + 0.9278558492660522, + 0.06763327121734619, + 0.3379442095756531, + 0.14248792827129364 + ], + "joints": [ + -0.0020993787329643965 + ] + }, + "final_grasp": { + "position": [ + 0.02544441632926464, + -0.10539700090885162, + -0.027012920007109642 + ], + "orientation": [ + 0.9278558492660522, + 0.06763327121734619, + 0.3379442095756531, + 0.14248792827129364 + ], + "joints": [ + 0.004303986672312021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024581199511885643, + -0.10312484204769135, + -0.026857461780309677 + ], + "orientation": [ + 0.9330342411994934, + 0.07286684960126877, + 0.3251306712627411, + 0.13574761152267456 + ], + "joints": [ + -0.008192844688892365 + ] + }, + "fine_grasp": { + "position": [ + 0.02540724352002144, + -0.10446750372648239, + -0.026485906913876534 + ], + "orientation": [ + 0.9278451800346375, + 0.06609717011451721, + 0.33829644322395325, + 0.14244338870048523 + ], + "joints": [ + -0.0022943089716136456 + ] + }, + "final_grasp": { + "position": [ + 0.02540724352002144, + -0.10446750372648239, + -0.026485906913876534 + ], + "orientation": [ + 0.9278451800346375, + 0.06609717011451721, + 0.33829644322395325, + 0.14244338870048523 + ], + "joints": [ + 0.0036042267456650734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014598291367292404, + -0.09683840721845627, + -0.03310655802488327 + ], + "orientation": [ + 0.9175331592559814, + 0.11866097152233124, + -0.3632830083370209, + -0.1098988950252533 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.017190666869282722, + -0.09512127935886383, + -0.034611500799655914 + ], + "orientation": [ + 0.9144986867904663, + 0.12153014540672302, + -0.3653695583343506, + -0.12420794367790222 + ], + "joints": [ + -0.002325299894437194 + ] + }, + "final_grasp": { + "position": [ + -0.017190666869282722, + -0.09512127935886383, + -0.034611500799655914 + ], + "orientation": [ + 0.9144986867904663, + 0.12153014540672302, + -0.3653695583343506, + -0.12420794367790222 + ], + "joints": [ + 0.0035732355900108814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02769811637699604, + -0.10054074227809906, + -0.022671127691864967 + ], + "orientation": [ + 0.9294464588165283, + 0.052826281636953354, + -0.3356308043003082, + -0.1438426673412323 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.029212186112999916, + -0.09954912960529327, + -0.023951618000864983 + ], + "orientation": [ + 0.9288480281829834, + 0.05705598369240761, + -0.33256056904792786, + -0.1529359072446823 + ], + "joints": [ + -0.0023518698289990425 + ] + }, + "final_grasp": { + "position": [ + -0.029212186112999916, + -0.09954912960529327, + -0.023951618000864983 + ], + "orientation": [ + 0.9288480281829834, + 0.05705598369240761, + -0.33256056904792786, + -0.1529359072446823 + ], + "joints": [ + 0.003520095720887184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10676153004169464, + -0.02719144895672798, + -0.02775617130100727 + ], + "orientation": [ + 0.7562645673751831, + 0.3442123234272003, + 0.32839250564575195, + -0.449154794216156 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.1101909652352333, + -0.027863388881087303, + -0.02764054946601391 + ], + "orientation": [ + 0.7597242593765259, + 0.33917656540870667, + 0.3208150863647461, + -0.45260998606681824 + ], + "joints": [ + -0.0030824686400592327 + ] + }, + "final_grasp": { + "position": [ + -0.1101909652352333, + -0.027863388881087303, + -0.02764054946601391 + ], + "orientation": [ + 0.7597242593765259, + 0.33917656540870667, + 0.3208150863647461, + -0.45260998606681824 + ], + "joints": [ + 0.002337806858122349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10620195418596268, + -0.009541246108710766, + 0.04417944326996803 + ], + "orientation": [ + 0.5922673940658569, + 0.1845906376838684, + 0.510648250579834, + -0.5953015685081482 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.10741206258535385, + -0.0086783766746521, + 0.04760073870420456 + ], + "orientation": [ + 0.5999752283096313, + 0.1715376079082489, + 0.4993472695350647, + -0.6010463833808899 + ], + "joints": [ + -0.00442859809845686 + ] + }, + "final_grasp": { + "position": [ + -0.10741206258535385, + -0.0086783766746521, + 0.04760073870420456 + ], + "orientation": [ + 0.5999752283096313, + 0.1715376079082489, + 0.4993472695350647, + -0.6010463833808899 + ], + "joints": [ + -4.455260932445526e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05060987174510956, + -0.07601959258317947, + 0.06932201236486435 + ], + "orientation": [ + 0.7192102670669556, + -0.3605777323246002, + -0.5929005146026611, + 0.034487415105104446 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + -0.048717156052589417, + -0.07180874794721603, + 0.06797363609075546 + ], + "orientation": [ + 0.7171404361724854, + -0.35604265332221985, + -0.5980700850486755, + 0.03542955219745636 + ], + "joints": [ + -0.004399157129228115 + ] + }, + "final_grasp": { + "position": [ + -0.048717156052589417, + -0.07180874794721603, + 0.06797363609075546 + ], + "orientation": [ + 0.7171404361724854, + -0.35604265332221985, + -0.5980700850486755, + 0.03542955219745636 + ], + "joints": [ + -1.5111640095710754e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07764992117881775, + 0.014277367852628231, + -0.09340080618858337 + ], + "orientation": [ + 0.3287683427333832, + -0.14699114859104156, + -0.6158685088157654, + -0.7007217407226562 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.07531802356243134, + 0.01393715851008892, + -0.0909571722149849 + ], + "orientation": [ + 0.33507323265075684, + -0.1426192969083786, + -0.6089483499526978, + -0.7046756744384766 + ], + "joints": [ + -0.0013493498554453254 + ] + }, + "final_grasp": { + "position": [ + -0.07531802356243134, + 0.01393715851008892, + -0.0909571722149849 + ], + "orientation": [ + 0.33507323265075684, + -0.1426192969083786, + -0.6089483499526978, + -0.7046756744384766 + ], + "joints": [ + 0.006143384613096714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017509136348962784, + -0.0976085439324379, + -0.07032980769872665 + ], + "orientation": [ + 0.9151317477226257, + 0.24755004048347473, + 0.28093117475509644, + 0.14943380653858185 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + 0.016933001577854156, + -0.09376811236143112, + -0.06695892661809921 + ], + "orientation": [ + 0.9139994382858276, + 0.2519778609275818, + 0.2813478410243988, + 0.14817441999912262 + ], + "joints": [ + -0.002693525515496731 + ] + }, + "final_grasp": { + "position": [ + 0.016933001577854156, + -0.09376811236143112, + -0.06695892661809921 + ], + "orientation": [ + 0.9139994382858276, + 0.2519778609275818, + 0.2813478410243988, + 0.14817441999912262 + ], + "joints": [ + 0.005250899121165276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10629367083311081, + -0.009807726368308067, + 0.04384174197912216 + ], + "orientation": [ + 0.5903317928314209, + 0.1891622394323349, + 0.5120847821235657, + -0.5945545434951782 + ], + "joints": [ + -0.008532185107469559 + ] + }, + "fine_grasp": { + "position": [ + -0.10753988474607468, + -0.008900073356926441, + 0.047204628586769104 + ], + "orientation": [ + 0.5973188281059265, + 0.17700211703777313, + 0.501716136932373, + -0.6001344919204712 + ], + "joints": [ + -0.004148139152675867 + ] + }, + "final_grasp": { + "position": [ + -0.10753988474607468, + -0.008900073356926441, + 0.047204628586769104 + ], + "orientation": [ + 0.5973188281059265, + 0.17700211703777313, + 0.501716136932373, + -0.6001344919204712 + ], + "joints": [ + 0.00023590680211782455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041578855365514755, + -0.08645074814558029, + 0.07680274546146393 + ], + "orientation": [ + 0.6244949102401733, + -0.11528881639242172, + 0.7062857747077942, + -0.312849760055542 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.039696939289569855, + -0.08242321014404297, + 0.07511057704687119 + ], + "orientation": [ + 0.6259963512420654, + -0.10757101327180862, + 0.7071992754936218, + -0.3105257451534271 + ], + "joints": [ + -0.003898671828210354 + ] + }, + "final_grasp": { + "position": [ + -0.039696939289569855, + -0.08242321014404297, + 0.07511057704687119 + ], + "orientation": [ + 0.6259963512420654, + -0.10757101327180862, + 0.7071992754936218, + -0.3105257451534271 + ], + "joints": [ + 0.0004853736609220505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037299755960702896, + -0.0676775798201561, + 0.07992866635322571 + ], + "orientation": [ + 0.901188313961029, + -0.330120712518692, + 0.1569909304380417, + -0.2328818440437317 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.03813162073493004, + -0.0640009418129921, + 0.07997153699398041 + ], + "orientation": [ + 0.9024276733398438, + -0.32220253348350525, + 0.16281460225582123, + -0.2351619005203247 + ], + "joints": [ + -0.00490685785189271 + ] + }, + "final_grasp": { + "position": [ + -0.03813162073493004, + -0.0640009418129921, + 0.07997153699398041 + ], + "orientation": [ + 0.9024276733398438, + -0.32220253348350525, + 0.16281460225582123, + -0.2351619005203247 + ], + "joints": [ + -0.0010010721161961555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037018999457359314, + -0.06772524863481522, + 0.08002057671546936 + ], + "orientation": [ + 0.9010700583457947, + -0.33057767152786255, + 0.15823028981685638, + -0.231849804520607 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.03785169497132301, + -0.06433388590812683, + 0.0804140493273735 + ], + "orientation": [ + 0.90298992395401, + -0.32218992710113525, + 0.1622675210237503, + -0.23339268565177917 + ], + "joints": [ + -0.00459695840254426 + ] + }, + "final_grasp": { + "position": [ + -0.03785169497132301, + -0.06433388590812683, + 0.0804140493273735 + ], + "orientation": [ + 0.90298992395401, + -0.32218992710113525, + 0.1622675210237503, + -0.23339268565177917 + ], + "joints": [ + -0.0006911726668477058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036672186106443405, + -0.06767547875642776, + 0.07994496822357178 + ], + "orientation": [ + 0.9010857939720154, + -0.33061841130256653, + 0.15893641114234924, + -0.23124676942825317 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.037786636501550674, + -0.06458308547735214, + 0.08072030544281006 + ], + "orientation": [ + 0.9033367037773132, + -0.3212009370326996, + 0.1625014692544937, + -0.23325122892856598 + ], + "joints": [ + -0.004880288150161505 + ] + }, + "final_grasp": { + "position": [ + -0.037786636501550674, + -0.06458308547735214, + 0.08072030544281006 + ], + "orientation": [ + 0.9033367037773132, + -0.3212009370326996, + 0.1625014692544937, + -0.23325122892856598 + ], + "joints": [ + -0.0009479327127337456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11799557507038116, + 0.03408133238554001, + 0.03149671107530594 + ], + "orientation": [ + 0.6183984279632568, + -0.4384666085243225, + 0.27798956632614136, + 0.5899595022201538 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.1179257482290268, + 0.03332431614398956, + 0.030221018940210342 + ], + "orientation": [ + 0.6188656091690063, + -0.4377994239330292, + 0.25676053762435913, + 0.599509060382843 + ], + "joints": [ + -0.005017406307160854 + ] + }, + "final_grasp": { + "position": [ + 0.1179257482290268, + 0.03332431614398956, + 0.030221018940210342 + ], + "orientation": [ + 0.6188656091690063, + -0.4377994239330292, + 0.25676053762435913, + 0.599509060382843 + ], + "joints": [ + -0.00063336081802845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0367116741836071, + -0.06858476251363754, + 0.08058682829141617 + ], + "orientation": [ + 0.9018567800521851, + -0.327842116355896, + 0.16157521307468414, + -0.23036368191242218 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.03780558332800865, + -0.06529805064201355, + 0.08110132813453674 + ], + "orientation": [ + 0.9048478007316589, + -0.31841129064559937, + 0.161502406001091, + -0.23190872371196747 + ], + "joints": [ + -0.004880288150161505 + ] + }, + "final_grasp": { + "position": [ + -0.03780558332800865, + -0.06529805064201355, + 0.08110132813453674 + ], + "orientation": [ + 0.9048478007316589, + -0.31841129064559937, + 0.161502406001091, + -0.23190872371196747 + ], + "joints": [ + -0.0009479327127337456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11698875576257706, + 0.05589943006634712, + -0.006367224734276533 + ], + "orientation": [ + 0.5089834928512573, + -0.35703355073928833, + 0.30932363867759705, + 0.7195704579353333 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11670112609863281, + 0.05530514195561409, + -0.007060041185468435 + ], + "orientation": [ + 0.5161956548690796, + -0.3514965772628784, + 0.3017326295375824, + 0.7203816771507263 + ], + "joints": [ + -0.005104255862534046 + ] + }, + "final_grasp": { + "position": [ + 0.11670112609863281, + 0.05530514195561409, + -0.007060041185468435 + ], + "orientation": [ + 0.5161956548690796, + -0.3514965772628784, + 0.3017326295375824, + 0.7203816771507263 + ], + "joints": [ + -0.00018881075084209442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047875795513391495, + 0.018093209713697433, + 0.10916361212730408 + ], + "orientation": [ + 0.6216659545898438, + -0.7250182032585144, + -0.29551711678504944, + 0.023445140570402145 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.047593433409929276, + 0.01697634346783161, + 0.10950329899787903 + ], + "orientation": [ + 0.6239556670188904, + -0.7263265252113342, + -0.2879761755466461, + 0.014103026129305363 + ], + "joints": [ + -0.0023855792824178934 + ] + }, + "final_grasp": { + "position": [ + -0.047593433409929276, + 0.01697634346783161, + 0.10950329899787903 + ], + "orientation": [ + 0.6239556670188904, + -0.7263265252113342, + -0.2879761755466461, + 0.014103026129305363 + ], + "joints": [ + 0.004070925991982222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03677958995103836, + -0.09451517462730408, + -0.012599374167621136 + ], + "orientation": [ + 0.27356329560279846, + 0.1753278523683548, + -0.9457306861877441, + 0.004112796392291784 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.039225805550813675, + -0.09398389607667923, + -0.012480595149099827 + ], + "orientation": [ + 0.27270132303237915, + 0.18270771205425262, + -0.9445907473564148, + 0.00031150964787229896 + ], + "joints": [ + -0.002856699749827385 + ] + }, + "final_grasp": { + "position": [ + 0.039225805550813675, + -0.09398389607667923, + -0.012480595149099827 + ], + "orientation": [ + 0.27270132303237915, + 0.18270771205425262, + -0.9445907473564148, + 0.00031150964787229896 + ], + "joints": [ + 0.0025104358792304993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1192898079752922, + -0.00038843194488435984, + -0.04589521139860153 + ], + "orientation": [ + 0.31322091817855835, + -0.46460551023483276, + -0.7052650451660156, + -0.4343220293521881 + ], + "joints": [ + -0.007635026704519987 + ] + }, + "fine_grasp": { + "position": [ + -0.11640690267086029, + -0.0009585911175236106, + -0.04360612481832504 + ], + "orientation": [ + 0.2898010313510895, + -0.4810204803943634, + -0.7041453719139099, + -0.4345272183418274 + ], + "joints": [ + -0.0027992904651910067 + ] + }, + "final_grasp": { + "position": [ + -0.11640690267086029, + -0.0009585911175236106, + -0.04360612481832504 + ], + "orientation": [ + 0.2898010313510895, + -0.4810204803943634, + -0.7041453719139099, + -0.4345272183418274 + ], + "joints": [ + 0.002036445774137974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052799541503190994, + 0.038458701223134995, + -0.10318707674741745 + ], + "orientation": [ + 0.2815757393836975, + 0.0005396786727942526, + 0.5660650730133057, + 0.7747807502746582 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.05241956561803818, + 0.03789743036031723, + -0.1038224995136261 + ], + "orientation": [ + 0.28759676218032837, + 0.005993626546114683, + 0.5616576075553894, + 0.7757532596588135 + ], + "joints": [ + -0.0029169791378080845 + ] + }, + "final_grasp": { + "position": [ + 0.05241956561803818, + 0.03789743036031723, + -0.1038224995136261 + ], + "orientation": [ + 0.28759676218032837, + 0.005993626546114683, + 0.5616576075553894, + 0.7757532596588135 + ], + "joints": [ + 0.0030081262812018394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04797955974936485, + 0.018118837848305702, + 0.10909049212932587 + ], + "orientation": [ + 0.6215085983276367, + -0.7260876297950745, + -0.2934495508670807, + 0.020275838673114777 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.047683633863925934, + 0.017116837203502655, + 0.10927914083003998 + ], + "orientation": [ + 0.6226398348808289, + -0.7280631065368652, + -0.2865407466888428, + 0.01175742968916893 + ], + "joints": [ + -0.0023855792824178934 + ] + }, + "final_grasp": { + "position": [ + -0.047683633863925934, + 0.017116837203502655, + 0.10927914083003998 + ], + "orientation": [ + 0.6226398348808289, + -0.7280631065368652, + -0.2865407466888428, + 0.01175742968916893 + ], + "joints": [ + 0.004070925991982222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014300085604190826, + -0.09486062824726105, + -0.04958163946866989 + ], + "orientation": [ + 0.47798657417297363, + 0.05690343305468559, + 0.8521246910095215, + 0.2053639441728592 + ], + "joints": [ + -0.007882945239543915 + ] + }, + "fine_grasp": { + "position": [ + 0.013419720344245434, + -0.09278779476881027, + -0.05169694870710373 + ], + "orientation": [ + 0.4849410057067871, + 0.06433730572462082, + 0.8475706577301025, + 0.2057107388973236 + ], + "joints": [ + -0.0014530097832903266 + ] + }, + "final_grasp": { + "position": [ + 0.013419720344245434, + -0.09278779476881027, + -0.05169694870710373 + ], + "orientation": [ + 0.4849410057067871, + 0.06433730572462082, + 0.8475706577301025, + 0.2057107388973236 + ], + "joints": [ + 0.004976925440132618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12099478393793106, + 0.0735921636223793, + -0.005326743237674236 + ], + "orientation": [ + 0.1533019244670868, + 0.793376088142395, + -0.5891004800796509, + -0.003681954462081194 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.11884893476963043, + 0.07043691724538803, + -0.005305214319378138 + ], + "orientation": [ + 0.14226488769054413, + 0.7855921387672424, + -0.6019718050956726, + -0.015352305956184864 + ], + "joints": [ + -0.01577536016702652 + ] + }, + "final_grasp": { + "position": [ + 0.11884893476963043, + 0.07043691724538803, + -0.005305214319378138 + ], + "orientation": [ + 0.14226488769054413, + 0.7855921387672424, + -0.6019718050956726, + -0.015352305956184864 + ], + "joints": [ + -0.011550720781087875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11262961477041245, + 0.05833948403596878, + 0.040844790637493134 + ], + "orientation": [ + 0.42013344168663025, + 0.33208245038986206, + -0.46154576539993286, + 0.7072373628616333 + ], + "joints": [ + -0.005884382873773575 + ] + }, + "fine_grasp": { + "position": [ + 0.11336318403482437, + 0.059071701020002365, + 0.04127354919910431 + ], + "orientation": [ + 0.43243005871772766, + 0.3130846321582794, + -0.44616466760635376, + 0.7182753086090088 + ], + "joints": [ + -0.0015534760896116495 + ] + }, + "final_grasp": { + "position": [ + 0.11336318403482437, + 0.059071701020002365, + 0.04127354919910431 + ], + "orientation": [ + 0.43243005871772766, + 0.3130846321582794, + -0.44616466760635376, + 0.7182753086090088 + ], + "joints": [ + 0.002777430694550276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1251833736896515, + 0.015014196746051311, + -0.03710605204105377 + ], + "orientation": [ + 0.6628226041793823, + 0.4256797134876251, + -0.31529101729393005, + 0.5292018055915833 + ], + "joints": [ + -0.007075658533722162 + ] + }, + "fine_grasp": { + "position": [ + 0.12138853222131729, + 0.014315635897219181, + -0.03472314402461052 + ], + "orientation": [ + 0.6597301959991455, + 0.42925986647605896, + -0.29066187143325806, + 0.5440658330917358 + ], + "joints": [ + -0.0037809819914400578 + ] + }, + "final_grasp": { + "position": [ + 0.12138853222131729, + 0.014315635897219181, + -0.03472314402461052 + ], + "orientation": [ + 0.6597301959991455, + 0.42925986647605896, + -0.29066187143325806, + 0.5440658330917358 + ], + "joints": [ + -0.00048630544915795326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07752040028572083, + -0.05801863223314285, + 0.05714629590511322 + ], + "orientation": [ + 0.3228311240673065, + 0.23800420761108398, + 0.8438160419464111, + -0.35652270913124084 + ], + "joints": [ + -0.00780138885602355 + ] + }, + "fine_grasp": { + "position": [ + -0.08093083649873734, + -0.05958741158246994, + 0.05756927654147148 + ], + "orientation": [ + 0.3198460042476654, + 0.25502440333366394, + 0.8443891406059265, + -0.3459308445453644 + ], + "joints": [ + -0.0019559930078685284 + ] + }, + "final_grasp": { + "position": [ + -0.08093083649873734, + -0.05958741158246994, + 0.05756927654147148 + ], + "orientation": [ + 0.3198460042476654, + 0.25502440333366394, + 0.8443891406059265, + -0.3459308445453644 + ], + "joints": [ + 0.0038894028402864933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1180419847369194, + 0.03449296951293945, + 0.03168885037302971 + ], + "orientation": [ + 0.6181256175041199, + -0.4426259994506836, + 0.28532204031944275, + 0.5836044549942017 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.11760877817869186, + 0.03381013125181198, + 0.030531208962202072 + ], + "orientation": [ + 0.6182430386543274, + -0.44039276242256165, + 0.2669069468975067, + 0.5937932729721069 + ], + "joints": [ + -0.0049628689885139465 + ] + }, + "final_grasp": { + "position": [ + 0.11760877817869186, + 0.03381013125181198, + 0.030531208962202072 + ], + "orientation": [ + 0.6182430386543274, + -0.44039276242256165, + 0.2669069468975067, + 0.5937932729721069 + ], + "joints": [ + -0.0010836534202098846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10329116880893707, + 0.08982851356267929, + -0.06936810165643692 + ], + "orientation": [ + 0.5152159333229065, + 0.14956124126911163, + 0.12489540874958038, + 0.8346167802810669 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.10111700743436813, + 0.08711648732423782, + -0.0669928565621376 + ], + "orientation": [ + 0.5248479247093201, + 0.1674751490354538, + 0.12900756299495697, + 0.8245264291763306 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + 0.10111700743436813, + 0.08711648732423782, + -0.0669928565621376 + ], + "orientation": [ + 0.5248479247093201, + 0.1674751490354538, + 0.12900756299495697, + 0.8245264291763306 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11629056185483932, + -0.0007101132650859654, + -0.0001629972830414772 + ], + "orientation": [ + 0.3836401700973511, + 0.5725215077400208, + 0.6485379934310913, + -0.32316854596138 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.11557487398386002, + 4.806505603482947e-05, + -0.0011002785759046674 + ], + "orientation": [ + 0.3683605194091797, + 0.5730301737785339, + 0.662926435470581, + -0.3106050193309784 + ], + "joints": [ + -0.004374060779809952 + ] + }, + "final_grasp": { + "position": [ + -0.11557487398386002, + 4.806505603482947e-05, + -0.0011002785759046674 + ], + "orientation": [ + 0.3683605194091797, + 0.5730301737785339, + 0.662926435470581, + -0.3106050193309784 + ], + "joints": [ + -0.0004948452115058899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08125181496143341, + -0.020609967410564423, + -0.08283957093954086 + ], + "orientation": [ + 0.359428733587265, + -0.184922993183136, + 0.7038414478302002, + 0.5841417908668518 + ], + "joints": [ + -0.007633476983755827 + ] + }, + "fine_grasp": { + "position": [ + 0.08152011036872864, + -0.018706073984503746, + -0.08355390280485153 + ], + "orientation": [ + 0.3800344169139862, + -0.16431516408920288, + 0.7024467587471008, + 0.5789154171943665 + ], + "joints": [ + -0.0007252817740663886 + ] + }, + "final_grasp": { + "position": [ + 0.08152011036872864, + -0.018706073984503746, + -0.08355390280485153 + ], + "orientation": [ + 0.3800344169139862, + -0.16431516408920288, + 0.7024467587471008, + 0.5789154171943665 + ], + "joints": [ + 0.006182913668453693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05300728231668472, + 0.03866461291909218, + -0.10371123254299164 + ], + "orientation": [ + 0.27657797932624817, + -0.0061702425591647625, + 0.568331241607666, + 0.7748975157737732 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.05202135071158409, + 0.03773143142461777, + -0.10360293835401535 + ], + "orientation": [ + 0.2789829671382904, + -0.002598133869469166, + 0.5626549124717712, + 0.7781910300254822 + ], + "joints": [ + -0.0024121494498103857 + ] + }, + "final_grasp": { + "position": [ + 0.05202135071158409, + 0.03773143142461777, + -0.10360293835401535 + ], + "orientation": [ + 0.2789829671382904, + -0.002598133869469166, + 0.5626549124717712, + 0.7781910300254822 + ], + "joints": [ + 0.004017785657197237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12470220029354095, + 0.01493788231164217, + -0.03752246871590614 + ], + "orientation": [ + 0.6631658673286438, + 0.4289054870605469, + -0.3180883824825287, + 0.5244720578193665 + ], + "joints": [ + -0.007075658533722162 + ] + }, + "fine_grasp": { + "position": [ + 0.12104306370019913, + 0.013911258429288864, + -0.035297691822052 + ], + "orientation": [ + 0.6581481695175171, + 0.43338292837142944, + -0.2933335602283478, + 0.5412722229957581 + ], + "joints": [ + -0.0037809819914400578 + ] + }, + "final_grasp": { + "position": [ + 0.12104306370019913, + 0.013911258429288864, + -0.035297691822052 + ], + "orientation": [ + 0.6581481695175171, + 0.43338292837142944, + -0.2933335602283478, + 0.5412722229957581 + ], + "joints": [ + -0.00048630544915795326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034706730395555496, + 0.0035598098766058683, + -0.1215701699256897 + ], + "orientation": [ + 0.08843346685171127, + 0.251542866230011, + -0.7045288681983948, + -0.6576813459396362 + ], + "joints": [ + -0.009488681331276894 + ] + }, + "fine_grasp": { + "position": [ + 0.0344233475625515, + 0.004570595920085907, + -0.12053283303976059 + ], + "orientation": [ + 0.07926096022129059, + 0.24298369884490967, + -0.7039771676063538, + -0.6626407504081726 + ], + "joints": [ + -0.002553916536271572 + ] + }, + "final_grasp": { + "position": [ + 0.0344233475625515, + 0.004570595920085907, + -0.12053283303976059 + ], + "orientation": [ + 0.07926096022129059, + 0.24298369884490967, + -0.7039771676063538, + -0.6626407504081726 + ], + "joints": [ + 0.004380848258733749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12089411914348602, + 0.026614271104335785, + -0.05172517150640488 + ], + "orientation": [ + 0.4686984419822693, + -0.2832271456718445, + 0.5337689518928528, + 0.6443560719490051 + ], + "joints": [ + -0.006486850790679455 + ] + }, + "fine_grasp": { + "position": [ + 0.11638250946998596, + 0.02562662959098816, + -0.05035187676548958 + ], + "orientation": [ + 0.4704173803329468, + -0.2853039801120758, + 0.518894374370575, + 0.6542612314224243 + ], + "joints": [ + -0.001146284630522132 + ] + }, + "final_grasp": { + "position": [ + 0.11638250946998596, + 0.02562662959098816, + -0.05035187676548958 + ], + "orientation": [ + 0.4704173803329468, + -0.2853039801120758, + 0.518894374370575, + 0.6542612314224243 + ], + "joints": [ + 0.004194281529635191 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03443333879113197, + 0.0033737223129719496, + -0.12160162627696991 + ], + "orientation": [ + 0.08987762778997421, + 0.2508200407028198, + -0.7045714855194092, + -0.6577160954475403 + ], + "joints": [ + -0.00951567105948925 + ] + }, + "fine_grasp": { + "position": [ + 0.03415637090802193, + 0.004419173579663038, + -0.12047749012708664 + ], + "orientation": [ + 0.08031181991100311, + 0.24217160046100616, + -0.7045397758483887, + -0.6622135043144226 + ], + "joints": [ + -0.0025543360970914364 + ] + }, + "final_grasp": { + "position": [ + 0.03415637090802193, + 0.004419173579663038, + -0.12047749012708664 + ], + "orientation": [ + 0.08031181991100311, + 0.24217160046100616, + -0.7045397758483887, + -0.6622135043144226 + ], + "joints": [ + 0.004406998865306377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05249173194169998, + -0.022599317133426666, + -0.10899080336093903 + ], + "orientation": [ + 0.008184684440493584, + 0.2722407877445221, + 0.8192017078399658, + 0.5047043561935425 + ], + "joints": [ + -0.00847330316901207 + ] + }, + "fine_grasp": { + "position": [ + -0.05168931558728218, + -0.020956309512257576, + -0.10391867905855179 + ], + "orientation": [ + 0.02049444429576397, + 0.2775014340877533, + 0.8149147033691406, + 0.5084161758422852 + ], + "joints": [ + -0.00411582738161087 + ] + }, + "final_grasp": { + "position": [ + -0.05168931558728218, + -0.020956309512257576, + -0.10391867905855179 + ], + "orientation": [ + 0.02049444429576397, + 0.2775014340877533, + 0.8149147033691406, + 0.5084161758422852 + ], + "joints": [ + 0.00024164840579032898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05441363528370857, + 0.048178669065237045, + -0.10956498235464096 + ], + "orientation": [ + 0.23394675552845, + -0.039663054049015045, + -0.6107810735702515, + -0.7554086446762085 + ], + "joints": [ + -0.005904840305447578 + ] + }, + "fine_grasp": { + "position": [ + -0.05412790924310684, + 0.04809322580695152, + -0.10831183195114136 + ], + "orientation": [ + 0.24679668247699738, + -0.02609202079474926, + -0.6030233502388, + -0.7581381797790527 + ], + "joints": [ + -0.002105332911014557 + ] + }, + "final_grasp": { + "position": [ + -0.05412790924310684, + 0.04809322580695152, + -0.10831183195114136 + ], + "orientation": [ + 0.24679668247699738, + -0.02609202079474926, + -0.6030233502388, + -0.7581381797790527 + ], + "joints": [ + 0.0016941744834184647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021454788744449615, + -0.09787826985120773, + -0.02191830798983574 + ], + "orientation": [ + 0.9436175227165222, + 0.07415114343166351, + -0.300932377576828, + -0.11630682647228241 + ], + "joints": [ + -0.00842600129544735 + ] + }, + "fine_grasp": { + "position": [ + -0.023423170670866966, + -0.0993008092045784, + -0.02373826503753662 + ], + "orientation": [ + 0.940727710723877, + 0.07017356157302856, + -0.30641332268714905, + -0.12734951078891754 + ], + "joints": [ + -0.001996065955609083 + ] + }, + "final_grasp": { + "position": [ + -0.023423170670866966, + -0.0993008092045784, + -0.02373826503753662 + ], + "orientation": [ + 0.940727710723877, + 0.07017356157302856, + -0.30641332268714905, + -0.12734951078891754 + ], + "joints": [ + 0.004433869384229183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04946895316243172, + -0.09714794903993607, + -0.006604114081710577 + ], + "orientation": [ + 0.18642757833003998, + -0.20049455761909485, + -0.9598445892333984, + -0.061196379363536835 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.04959719628095627, + -0.09454362839460373, + -0.00606406619772315 + ], + "orientation": [ + 0.18272170424461365, + -0.202448308467865, + -0.9601505994796753, + -0.06114182621240616 + ], + "joints": [ + -0.0023827082477509975 + ] + }, + "final_grasp": { + "position": [ + -0.04959719628095627, + -0.09454362839460373, + -0.00606406619772315 + ], + "orientation": [ + 0.18272170424461365, + -0.202448308467865, + -0.9601505994796753, + -0.06114182621240616 + ], + "joints": [ + 0.004047227092087269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08766689151525497, + 0.07973886281251907, + -0.06257663667201996 + ], + "orientation": [ + 0.16373667120933533, + -0.5387029647827148, + 0.5097190141677856, + 0.6505197286605835 + ], + "joints": [ + -0.006955024786293507 + ] + }, + "fine_grasp": { + "position": [ + 0.08977089822292328, + 0.08007106184959412, + -0.0642174482345581 + ], + "orientation": [ + 0.14109773933887482, + -0.5583150386810303, + 0.514857828617096, + 0.6350567936897278 + ], + "joints": [ + -0.0025975480675697327 + ] + }, + "final_grasp": { + "position": [ + 0.08977089822292328, + 0.08007106184959412, + -0.0642174482345581 + ], + "orientation": [ + 0.14109773933887482, + -0.5583150386810303, + 0.514857828617096, + 0.6350567936897278 + ], + "joints": [ + 0.0017599286511540413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015744367614388466, + -0.09343867003917694, + -0.055315401405096054 + ], + "orientation": [ + 0.715813934803009, + 0.12132144719362259, + 0.651924729347229, + 0.21882787346839905 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.016257546842098236, + -0.08943536877632141, + -0.05375707894563675 + ], + "orientation": [ + 0.7133964896202087, + 0.11715205758810043, + 0.656753659248352, + 0.21451203525066376 + ], + "joints": [ + -0.005097115412354469 + ] + }, + "final_grasp": { + "position": [ + 0.016257546842098236, + -0.08943536877632141, + -0.05375707894563675 + ], + "orientation": [ + 0.7133964896202087, + 0.11715205758810043, + 0.656753659248352, + 0.21451203525066376 + ], + "joints": [ + -0.0007927790284156799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015686336904764175, + -0.09292778372764587, + -0.05497732758522034 + ], + "orientation": [ + 0.7162628769874573, + 0.12084836512804031, + 0.65193772315979, + 0.2175784707069397 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.016038576140999794, + -0.08878722041845322, + -0.05367866903543472 + ], + "orientation": [ + 0.7134384512901306, + 0.11625363677740097, + 0.656480073928833, + 0.21569564938545227 + ], + "joints": [ + -0.005097115412354469 + ] + }, + "final_grasp": { + "position": [ + 0.016038576140999794, + -0.08878722041845322, + -0.05367866903543472 + ], + "orientation": [ + 0.7134384512901306, + 0.11625363677740097, + 0.656480073928833, + 0.21569564938545227 + ], + "joints": [ + -0.0007927790284156799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05063310265541077, + 0.09429628401994705, + -0.10854115337133408 + ], + "orientation": [ + 0.47320643067359924, + 0.8606691360473633, + -0.18761815130710602, + 0.011125833727419376 + ], + "joints": [ + -0.006486850790679455 + ] + }, + "fine_grasp": { + "position": [ + 0.04860812798142433, + 0.09079769253730774, + -0.10412038117647171 + ], + "orientation": [ + 0.46023890376091003, + 0.866920530796051, + -0.19104021787643433, + 0.011512904427945614 + ], + "joints": [ + -0.0026342039927840233 + ] + }, + "final_grasp": { + "position": [ + 0.04860812798142433, + 0.09079769253730774, + -0.10412038117647171 + ], + "orientation": [ + 0.46023890376091003, + 0.866920530796051, + -0.19104021787643433, + 0.011512904427945614 + ], + "joints": [ + 0.0012184428051114082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1231900155544281, + 0.0012667215196415782, + 0.016911186277866364 + ], + "orientation": [ + 0.3993074297904968, + -0.6157490015029907, + 0.5910329818725586, + 0.33479344844818115 + ], + "joints": [ + -0.00886361300945282 + ] + }, + "fine_grasp": { + "position": [ + 0.12118970602750778, + 0.0029793193098157644, + 0.01731587015092373 + ], + "orientation": [ + 0.4078478217124939, + -0.6125208139419556, + 0.5848753452301025, + 0.3411734104156494 + ], + "joints": [ + -0.0024602478370070457 + ] + }, + "final_grasp": { + "position": [ + 0.12118970602750778, + 0.0029793193098157644, + 0.01731587015092373 + ], + "orientation": [ + 0.4078478217124939, + -0.6125208139419556, + 0.5848753452301025, + 0.3411734104156494 + ], + "joints": [ + 0.003943117335438728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010326634161174297, + -0.003719506785273552, + -0.1216159388422966 + ], + "orientation": [ + 0.21296106278896332, + 0.12240453064441681, + -0.7052595615386963, + -0.6650364995002747 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.010781397111713886, + -0.0023048168513923883, + -0.11929043382406235 + ], + "orientation": [ + 0.2078619748353958, + 0.11943060904741287, + -0.7130440473556519, + -0.6588611602783203 + ], + "joints": [ + -0.00249465461820364 + ] + }, + "final_grasp": { + "position": [ + -0.010781397111713886, + -0.0023048168513923883, + -0.11929043382406235 + ], + "orientation": [ + 0.2078619748353958, + 0.11943060904741287, + -0.7130440473556519, + -0.6588611602783203 + ], + "joints": [ + 0.004971509799361229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013269951567053795, + -0.09606991708278656, + 0.05877625569701195 + ], + "orientation": [ + 0.759263813495636, + -0.21299400925636292, + 0.6027211546897888, + -0.12198087573051453 + ], + "joints": [ + -0.008752211928367615 + ] + }, + "fine_grasp": { + "position": [ + 0.012793997302651405, + -0.09386931359767914, + 0.061106786131858826 + ], + "orientation": [ + 0.7574194073677063, + -0.21388623118400574, + 0.6038649678230286, + -0.12615761160850525 + ], + "joints": [ + -0.0033053667284548283 + ] + }, + "final_grasp": { + "position": [ + 0.012793997302651405, + -0.09386931359767914, + 0.061106786131858826 + ], + "orientation": [ + 0.7574194073677063, + -0.21388623118400574, + 0.6038649678230286, + -0.12615761160850525 + ], + "joints": [ + 0.0021414784714579582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07779872417449951, + -0.007821593433618546, + 0.09400556981563568 + ], + "orientation": [ + 0.730698823928833, + -0.595915675163269, + -0.1822720170021057, + -0.2788200080394745 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.07608555257320404, + -0.006500591989606619, + 0.0901433452963829 + ], + "orientation": [ + 0.7350594401359558, + -0.5902664065361023, + -0.1685415655374527, + -0.2878665030002594 + ], + "joints": [ + -0.0018807495944201946 + ] + }, + "final_grasp": { + "position": [ + -0.07608555257320404, + -0.006500591989606619, + 0.0901433452963829 + ], + "orientation": [ + 0.7350594401359558, + -0.5902664065361023, + -0.1685415655374527, + -0.2878665030002594 + ], + "joints": [ + 0.005080585367977619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053086116909980774, + -0.09876196831464767, + -0.04047088697552681 + ], + "orientation": [ + 0.5945298671722412, + 0.23928231000900269, + -0.7668077349662781, + -0.03583403304219246 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.0504753477871418, + -0.0958838164806366, + -0.040211714804172516 + ], + "orientation": [ + 0.5882691740989685, + 0.2452400028705597, + -0.7699732780456543, + -0.03062528744339943 + ], + "joints": [ + -0.0023281709291040897 + ] + }, + "final_grasp": { + "position": [ + 0.0504753477871418, + -0.0958838164806366, + -0.040211714804172516 + ], + "orientation": [ + 0.5882691740989685, + 0.2452400028705597, + -0.7699732780456543, + -0.03062528744339943 + ], + "joints": [ + 0.003596934489905834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12338201701641083, + 0.0006655914476141334, + 0.016717802733182907 + ], + "orientation": [ + 0.3995163142681122, + -0.6142324805259705, + 0.5919858813285828, + 0.3356453776359558 + ], + "joints": [ + -0.00907076895236969 + ] + }, + "fine_grasp": { + "position": [ + 0.12156365811824799, + 0.002535723615437746, + 0.017335031181573868 + ], + "orientation": [ + 0.4071950614452362, + -0.611952006816864, + 0.5861860513687134, + 0.34072408080101013 + ], + "joints": [ + -0.002640834078192711 + ] + }, + "final_grasp": { + "position": [ + 0.12156365811824799, + 0.002535723615437746, + 0.017335031181573868 + ], + "orientation": [ + 0.4071950614452362, + -0.611952006816864, + 0.5861860513687134, + 0.34072408080101013 + ], + "joints": [ + 0.003789100795984268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01225578784942627, + 0.021647050976753235, + -0.12875472009181976 + ], + "orientation": [ + 0.6315962672233582, + 0.7454454898834229, + 0.18014205992221832, + 0.113780178129673 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + -0.011922089383006096, + 0.021882101893424988, + -0.12374915927648544 + ], + "orientation": [ + 0.6365799307823181, + 0.7420021295547485, + 0.17873410880565643, + 0.11069298535585403 + ], + "joints": [ + -0.0018218676559627056 + ] + }, + "final_grasp": { + "position": [ + -0.011922089383006096, + 0.021882101893424988, + -0.12374915927648544 + ], + "orientation": [ + 0.6365799307823181, + 0.7420021295547485, + 0.17873410880565643, + 0.11069298535585403 + ], + "joints": [ + 0.005139467306435108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12156250327825546, + 0.021413784474134445, + -0.03211760148406029 + ], + "orientation": [ + 0.6334118843078613, + 0.4569752812385559, + -0.3582748472690582, + 0.5114706754684448 + ], + "joints": [ + -0.006454309448599815 + ] + }, + "fine_grasp": { + "position": [ + 0.11916565895080566, + 0.020759273320436478, + -0.03153533115983009 + ], + "orientation": [ + 0.6392046213150024, + 0.44398772716522217, + -0.3330022394657135, + 0.5323551297187805 + ], + "joints": [ + -0.0031596324406564236 + ] + }, + "final_grasp": { + "position": [ + 0.11916565895080566, + 0.020759273320436478, + -0.03153533115983009 + ], + "orientation": [ + 0.6392046213150024, + 0.44398772716522217, + -0.3330022394657135, + 0.5323551297187805 + ], + "joints": [ + 0.00013504456728696823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06983783841133118, + 0.020318591967225075, + 0.0999799445271492 + ], + "orientation": [ + 0.14225122332572937, + 0.2838469445705414, + -0.7047724723815918, + 0.6344220042228699 + ], + "joints": [ + -0.007600898388773203 + ] + }, + "fine_grasp": { + "position": [ + 0.07095292210578918, + 0.021388400346040726, + 0.10107474029064178 + ], + "orientation": [ + 0.1432560235261917, + 0.2793416976928711, + -0.7118085026741028, + 0.6283107995986938 + ], + "joints": [ + -0.0011975328670814633 + ] + }, + "final_grasp": { + "position": [ + 0.07095292210578918, + 0.021388400346040726, + 0.10107474029064178 + ], + "orientation": [ + 0.1432560235261917, + 0.2793416976928711, + -0.7118085026741028, + 0.6283107995986938 + ], + "joints": [ + 0.005205832421779633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012468019500374794, + 0.021488526836037636, + -0.13026198744773865 + ], + "orientation": [ + 0.6298073530197144, + 0.7467596530914307, + 0.18126799166202545, + 0.11328979581594467 + ], + "joints": [ + -0.008194394409656525 + ] + }, + "fine_grasp": { + "position": [ + -0.012319158762693405, + 0.021837567910552025, + -0.12634919583797455 + ], + "orientation": [ + 0.6357038617134094, + 0.743569016456604, + 0.17757534980773926, + 0.10701799392700195 + ], + "joints": [ + -0.001791029004380107 + ] + }, + "final_grasp": { + "position": [ + -0.012319158762693405, + 0.021837567910552025, + -0.12634919583797455 + ], + "orientation": [ + 0.6357038617134094, + 0.743569016456604, + 0.17757534980773926, + 0.10701799392700195 + ], + "joints": [ + 0.004612336400896311 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10222740471363068, + 0.0017322611529380083, + 0.05884720757603645 + ], + "orientation": [ + 0.6735791563987732, + -0.5469836592674255, + -0.27630648016929626, + -0.41322487592697144 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.10278254747390747, + 0.00219864584505558, + 0.05918915569782257 + ], + "orientation": [ + 0.6777669191360474, + -0.5442630052566528, + -0.26977092027664185, + -0.41428691148757935 + ], + "joints": [ + -0.0017702009063214064 + ] + }, + "final_grasp": { + "position": [ + -0.10278254747390747, + 0.00219864584505558, + 0.05918915569782257 + ], + "orientation": [ + 0.6777669191360474, + -0.5442630052566528, + -0.26977092027664185, + -0.41428691148757935 + ], + "joints": [ + 0.004712874535471201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11584995687007904, + 0.04043087363243103, + -0.045197248458862305 + ], + "orientation": [ + 0.3115330636501312, + -0.5077629089355469, + 0.6067323684692383, + 0.5263078808784485 + ], + "joints": [ + -0.005338658578693867 + ] + }, + "fine_grasp": { + "position": [ + 0.11141708493232727, + 0.039863258600234985, + -0.04463152214884758 + ], + "orientation": [ + 0.30583447217941284, + -0.5102039575576782, + 0.6116527915000916, + 0.5215728878974915 + ], + "joints": [ + -0.001539151300676167 + ] + }, + "final_grasp": { + "position": [ + 0.11141708493232727, + 0.039863258600234985, + -0.04463152214884758 + ], + "orientation": [ + 0.30583447217941284, + -0.5102039575576782, + 0.6116527915000916, + 0.5215728878974915 + ], + "joints": [ + 0.0022603559773415327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06457765400409698, + 0.05785991996526718, + -0.09262487292289734 + ], + "orientation": [ + 0.15417148172855377, + -0.27375832200050354, + -0.5635331273078918, + -0.7640143632888794 + ], + "joints": [ + -0.007012045942246914 + ] + }, + "fine_grasp": { + "position": [ + -0.06508547812700272, + 0.05781710892915726, + -0.09244845807552338 + ], + "orientation": [ + 0.14920218288898468, + -0.2778879404067993, + -0.5663585066795349, + -0.7614164352416992 + ], + "joints": [ + -0.0006086804205551744 + ] + }, + "final_grasp": { + "position": [ + -0.06508547812700272, + 0.05781710892915726, + -0.09244845807552338 + ], + "orientation": [ + 0.14920218288898468, + -0.2778879404067993, + -0.5663585066795349, + -0.7614164352416992 + ], + "joints": [ + 0.005794685333967209 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0503111332654953, + 0.09382729232311249, + -0.10807148367166519 + ], + "orientation": [ + 0.4731126129627228, + 0.8603851199150085, + -0.18930429220199585, + 0.008111502043902874 + ], + "joints": [ + -0.006486850790679455 + ] + }, + "fine_grasp": { + "position": [ + 0.04840940237045288, + 0.09039269387722015, + -0.10367285460233688 + ], + "orientation": [ + 0.4610966444015503, + 0.8661496043205261, + -0.19266562163829803, + 0.007397623732686043 + ], + "joints": [ + -0.0026342039927840233 + ] + }, + "final_grasp": { + "position": [ + 0.04840940237045288, + 0.09039269387722015, + -0.10367285460233688 + ], + "orientation": [ + 0.4610966444015503, + 0.8661496043205261, + -0.19266562163829803, + 0.007397623732686043 + ], + "joints": [ + 0.0012184428051114082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11376616358757019, + 0.009717119857668877, + 0.019520487636327744 + ], + "orientation": [ + 0.5573928952217102, + 0.3356936573982239, + -0.44898802042007446, + 0.6123990416526794 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.11569765210151672, + 0.009007950313389301, + 0.019565949216485023 + ], + "orientation": [ + 0.5667700171470642, + 0.32856637239456177, + -0.4434899389743805, + 0.6116636991500854 + ], + "joints": [ + -0.002272159792482853 + ] + }, + "final_grasp": { + "position": [ + 0.11569765210151672, + 0.009007950313389301, + 0.019565949216485023 + ], + "orientation": [ + 0.5667700171470642, + 0.32856637239456177, + -0.4434899389743805, + 0.6116636991500854 + ], + "joints": [ + 0.0036795157939195633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0620681531727314, + 0.035115063190460205, + -0.1015327051281929 + ], + "orientation": [ + 0.11737251281738281, + -0.2764938473701477, + -0.6360043883323669, + -0.7108257412910461 + ], + "joints": [ + -0.007832381874322891 + ] + }, + "fine_grasp": { + "position": [ + -0.06304071098566055, + 0.03635377064347267, + -0.10270284861326218 + ], + "orientation": [ + 0.11030928045511246, + -0.2836318016052246, + -0.6436192393302917, + -0.7022386789321899 + ], + "joints": [ + -0.0008976167300716043 + ] + }, + "final_grasp": { + "position": [ + -0.06304071098566055, + 0.03635377064347267, + -0.10270284861326218 + ], + "orientation": [ + 0.11030928045511246, + -0.2836318016052246, + -0.6436192393302917, + -0.7022386789321899 + ], + "joints": [ + 0.006037148647010326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11585438996553421, + 0.007374811451882124, + -0.047194432467222214 + ], + "orientation": [ + 0.3156026303768158, + -0.46249404549598694, + -0.6480997800827026, + -0.516198456287384 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.11158154904842377, + 0.006837036926299334, + -0.045352187007665634 + ], + "orientation": [ + 0.30746790766716003, + -0.47041788697242737, + -0.6444354057312012, + -0.5185302495956421 + ], + "joints": [ + -0.0014053608756512403 + ] + }, + "final_grasp": { + "position": [ + -0.11158154904842377, + 0.006837036926299334, + -0.045352187007665634 + ], + "orientation": [ + 0.30746790766716003, + -0.47041788697242737, + -0.6444354057312012, + -0.5185302495956421 + ], + "joints": [ + 0.006060803774744272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04650433734059334, + -0.08668690919876099, + -0.0340275913476944 + ], + "orientation": [ + 0.7406100630760193, + -0.005780982319265604, + -0.6239540576934814, + -0.24928809702396393 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.04518213868141174, + -0.08298875391483307, + -0.034245412796735764 + ], + "orientation": [ + 0.7470423579216003, + 0.0015481789596378803, + -0.6165561079978943, + -0.2485639899969101 + ], + "joints": [ + -0.0034189382568001747 + ] + }, + "final_grasp": { + "position": [ + -0.04518213868141174, + -0.08298875391483307, + -0.034245412796735764 + ], + "orientation": [ + 0.7470423579216003, + 0.0015481789596378803, + -0.6165561079978943, + -0.2485639899969101 + ], + "joints": [ + 0.0019747670739889145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12303026765584946, + 0.0573107935488224, + 0.023967072367668152 + ], + "orientation": [ + 0.042770013213157654, + -0.7495444416999817, + 0.6316320896148682, + -0.19337724149227142 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1251251995563507, + 0.058856114745140076, + 0.0248126070946455 + ], + "orientation": [ + 0.04501277208328247, + -0.7583828568458557, + 0.6256734132766724, + -0.17709290981292725 + ], + "joints": [ + -0.016280189156532288 + ] + }, + "final_grasp": { + "position": [ + 0.1251251995563507, + 0.058856114745140076, + 0.0248126070946455 + ], + "orientation": [ + 0.04501277208328247, + -0.7583828568458557, + 0.6256734132766724, + -0.17709290981292725 + ], + "joints": [ + -0.012560378760099411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004690608009696007, + 0.002904097782447934, + 0.12319645285606384 + ], + "orientation": [ + 0.7591632008552551, + -0.6286312341690063, + 0.10329446196556091, + -0.13350780308246613 + ], + "joints": [ + -0.008192844688892365 + ] + }, + "fine_grasp": { + "position": [ + -0.00624000234529376, + 0.0003436680999584496, + 0.12052512168884277 + ], + "orientation": [ + 0.7404438853263855, + -0.642906904220581, + 0.1271793246269226, + -0.14912797510623932 + ], + "joints": [ + -0.0028522787615656853 + ] + }, + "final_grasp": { + "position": [ + -0.00624000234529376, + 0.0003436680999584496, + 0.12052512168884277 + ], + "orientation": [ + 0.7404438853263855, + -0.642906904220581, + 0.1271793246269226, + -0.14912797510623932 + ], + "joints": [ + 0.002488287165760994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10944864898920059, + -0.011610236950218678, + 0.040386565029621124 + ], + "orientation": [ + 0.6787821650505066, + -0.4822631776332855, + -0.3504464328289032, + -0.4287937879562378 + ], + "joints": [ + -0.00847175344824791 + ] + }, + "fine_grasp": { + "position": [ + -0.11029071360826492, + -0.010773537680506706, + 0.040325380861759186 + ], + "orientation": [ + 0.6842812895774841, + -0.47828975319862366, + -0.3438979685306549, + -0.42980480194091797 + ], + "joints": [ + -0.001510418369434774 + ] + }, + "final_grasp": { + "position": [ + -0.11029071360826492, + -0.010773537680506706, + 0.040325380861759186 + ], + "orientation": [ + 0.6842812895774841, + -0.47828975319862366, + -0.3438979685306549, + -0.42980480194091797 + ], + "joints": [ + 0.005450916476547718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10130591690540314, + 0.02316916175186634, + 0.06348634511232376 + ], + "orientation": [ + 0.3140229880809784, + 0.3748758137226105, + 0.6165090799331665, + -0.6170689463615417 + ], + "joints": [ + -0.007308816537261009 + ] + }, + "fine_grasp": { + "position": [ + -0.10187729448080063, + 0.02278706058859825, + 0.06435984373092651 + ], + "orientation": [ + 0.315430223941803, + 0.37890416383743286, + 0.6115700602531433, + -0.6188031435012817 + ], + "joints": [ + -0.0009054510155692697 + ] + }, + "final_grasp": { + "position": [ + -0.10187729448080063, + 0.02278706058859825, + 0.06435984373092651 + ], + "orientation": [ + 0.315430223941803, + 0.37890416383743286, + 0.6115700602531433, + -0.6188031435012817 + ], + "joints": [ + 0.0054979147389531136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05588817223906517, + -0.00048369631986133754, + -0.10946083068847656 + ], + "orientation": [ + 0.10336250811815262, + -0.215177521109581, + 0.7267260551452637, + 0.6441150307655334 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.05466774106025696, + 0.0005180834559723735, + -0.10558871179819107 + ], + "orientation": [ + 0.08485738933086395, + -0.22680000960826874, + 0.7302263379096985, + 0.6388508677482605 + ], + "joints": [ + -0.0013759199064224958 + ] + }, + "final_grasp": { + "position": [ + 0.05466774106025696, + 0.0005180834559723735, + -0.10558871179819107 + ], + "orientation": [ + 0.08485738933086395, + -0.22680000960826874, + 0.7302263379096985, + 0.6388508677482605 + ], + "joints": [ + 0.006090244743973017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11741321533918381, + 0.006671618204563856, + -0.03161640837788582 + ], + "orientation": [ + 0.5316376686096191, + 0.5801815390586853, + 0.5321167707443237, + -0.3124140799045563 + ], + "joints": [ + -0.007882945239543915 + ] + }, + "fine_grasp": { + "position": [ + -0.11786722391843796, + 0.005617538932710886, + -0.0318240262567997 + ], + "orientation": [ + 0.5177814364433289, + 0.5947650671005249, + 0.5363019108772278, + -0.30089399218559265 + ], + "joints": [ + -0.003525468986481428 + ] + }, + "final_grasp": { + "position": [ + -0.11786722391843796, + 0.005617538932710886, + -0.0318240262567997 + ], + "orientation": [ + 0.5177814364433289, + 0.5947650671005249, + 0.5363019108772278, + -0.30089399218559265 + ], + "joints": [ + 0.0008320072665810585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03766452148556709, + -0.10683921724557877, + 0.0019755815155804157 + ], + "orientation": [ + 0.8189793229103088, + -0.049021437764167786, + 0.5645310878753662, + 0.09041289240121841 + ], + "joints": [ + -0.00704621896147728 + ] + }, + "fine_grasp": { + "position": [ + 0.03842787444591522, + -0.1064252182841301, + -0.00035938050132244825 + ], + "orientation": [ + 0.8237083554267883, + -0.04454721882939339, + 0.5572376847267151, + 0.09490126371383667 + ], + "joints": [ + -0.0006694233743473887 + ] + }, + "final_grasp": { + "position": [ + 0.03842787444591522, + -0.1064252182841301, + -0.00035938050132244825 + ], + "orientation": [ + 0.8237083554267883, + -0.04454721882939339, + 0.5572376847267151, + 0.09490126371383667 + ], + "joints": [ + 0.0057073719799518585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037715282291173935, + -0.1068505346775055, + 0.0019844570197165012 + ], + "orientation": [ + 0.8191841244697571, + -0.049088723957538605, + 0.5642000436782837, + 0.0905868262052536 + ], + "joints": [ + -0.00704621896147728 + ] + }, + "fine_grasp": { + "position": [ + 0.03845324367284775, + -0.10640710592269897, + -0.00033922246075235307 + ], + "orientation": [ + 0.8238894939422607, + -0.044681888073682785, + 0.5569366812705994, + 0.09503240138292313 + ], + "joints": [ + -0.0006694233743473887 + ] + }, + "final_grasp": { + "position": [ + 0.03845324367284775, + -0.10640710592269897, + -0.00033922246075235307 + ], + "orientation": [ + 0.8238894939422607, + -0.044681888073682785, + 0.5569366812705994, + 0.09503240138292313 + ], + "joints": [ + 0.0057073719799518585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03798879683017731, + 0.029190773144364357, + 0.11713534593582153 + ], + "orientation": [ + 0.6644732356071472, + -0.7202621698379517, + 0.19917692244052887, + -0.005141128320246935 + ], + "joints": [ + -0.007635026704519987 + ] + }, + "fine_grasp": { + "position": [ + 0.037740692496299744, + 0.028133058920502663, + 0.11461973190307617 + ], + "orientation": [ + 0.6577792167663574, + -0.7254143953323364, + 0.20240353047847748, + -0.011544501408934593 + ], + "joints": [ + -0.002799290232360363 + ] + }, + "final_grasp": { + "position": [ + 0.037740692496299744, + 0.028133058920502663, + 0.11461973190307617 + ], + "orientation": [ + 0.6577792167663574, + -0.7254143953323364, + 0.20240353047847748, + -0.011544501408934593 + ], + "joints": [ + 0.002036446239799261 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09278365969657898, + 0.10965210199356079, + -0.02331482246518135 + ], + "orientation": [ + 0.20857112109661102, + -0.6936489939689636, + 0.3879045844078064, + 0.5699818730354309 + ], + "joints": [ + -0.00704621896147728 + ] + }, + "fine_grasp": { + "position": [ + 0.09313862770795822, + 0.10688906162977219, + -0.024151824414730072 + ], + "orientation": [ + 0.1980019509792328, + -0.7056906223297119, + 0.4032512903213501, + 0.547890841960907 + ], + "joints": [ + -0.0021573423873633146 + ] + }, + "final_grasp": { + "position": [ + 0.09313862770795822, + 0.10688906162977219, + -0.024151824414730072 + ], + "orientation": [ + 0.1980019509792328, + -0.7056906223297119, + 0.4032512903213501, + 0.547890841960907 + ], + "joints": [ + 0.0027315341867506504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055423952639102936, + -0.0005005255225114524, + -0.10871396213769913 + ], + "orientation": [ + 0.10171253979206085, + -0.21616972982883453, + 0.7260867953300476, + 0.6447659730911255 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.05454011633992195, + 0.0006744458223693073, + -0.10542220622301102 + ], + "orientation": [ + 0.08277887105941772, + -0.22871851921081543, + 0.7298932671546936, + 0.638820230960846 + ], + "joints": [ + -0.0018807495944201946 + ] + }, + "final_grasp": { + "position": [ + 0.05454011633992195, + 0.0006744458223693073, + -0.10542220622301102 + ], + "orientation": [ + 0.08277887105941772, + -0.22871851921081543, + 0.7298932671546936, + 0.638820230960846 + ], + "joints": [ + 0.005080585367977619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0019765396136790514, + -0.10798940807580948, + 0.03779444843530655 + ], + "orientation": [ + 0.6969465613365173, + -0.09102489799261093, + -0.7002190351486206, + 0.1251925826072693 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.002731006359681487, + -0.10699127614498138, + 0.03885030373930931 + ], + "orientation": [ + 0.6912205815315247, + -0.09512601792812347, + -0.7046264410018921, + 0.12910044193267822 + ], + "joints": [ + -0.0013759200228378177 + ] + }, + "final_grasp": { + "position": [ + 0.002731006359681487, + -0.10699127614498138, + 0.03885030373930931 + ], + "orientation": [ + 0.6912205815315247, + -0.09512601792812347, + -0.7046264410018921, + 0.12910044193267822 + ], + "joints": [ + 0.006090244278311729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0021259142085909843, + -0.03493703529238701, + -0.11629899591207504 + ], + "orientation": [ + 0.7983104586601257, + 0.5736315250396729, + -0.1486223340034485, + -0.10751088708639145 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.0022357574198395014, + -0.03337595984339714, + -0.11416347324848175 + ], + "orientation": [ + 0.8021110892295837, + 0.5712588429450989, + -0.13891278207302094, + -0.10480621457099915 + ], + "joints": [ + -0.0014024898409843445 + ] + }, + "final_grasp": { + "position": [ + -0.0022357574198395014, + -0.03337595984339714, + -0.11416347324848175 + ], + "orientation": [ + 0.8021110892295837, + 0.5712588429450989, + -0.13891278207302094, + -0.10480621457099915 + ], + "joints": [ + 0.0060371048748493195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0019533061422407627, + -0.035234276205301285, + -0.11626048386096954 + ], + "orientation": [ + 0.7993842363357544, + 0.5729765892028809, + -0.14687858521938324, + -0.10540115088224411 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.0020995845552533865, + -0.03369542211294174, + -0.114012211561203 + ], + "orientation": [ + 0.803117573261261, + 0.5699792504310608, + -0.13885052502155304, + -0.10414618998765945 + ], + "joints": [ + -0.0014024898409843445 + ] + }, + "final_grasp": { + "position": [ + -0.0020995845552533865, + -0.03369542211294174, + -0.114012211561203 + ], + "orientation": [ + 0.803117573261261, + 0.5699792504310608, + -0.13885052502155304, + -0.10414618998765945 + ], + "joints": [ + 0.0060371048748493195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02418474107980728, + 0.06097414344549179, + 0.11507727205753326 + ], + "orientation": [ + 0.0043637994676828384, + 0.18554922938346863, + 0.6172719597816467, + -0.7645440697669983 + ], + "joints": [ + -0.005648404359817505 + ] + }, + "fine_grasp": { + "position": [ + -0.024350807070732117, + 0.06065818667411804, + 0.11611174046993256 + ], + "orientation": [ + 0.005790344905108213, + 0.18565145134925842, + 0.6167163848876953, + -0.7649581432342529 + ], + "joints": [ + 0.00019699177937582135 + ] + }, + "final_grasp": { + "position": [ + -0.024350807070732117, + 0.06065818667411804, + 0.11611174046993256 + ], + "orientation": [ + 0.005790344905108213, + 0.18565145134925842, + 0.6167163848876953, + -0.7649581432342529 + ], + "joints": [ + 0.006042387802153826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0021184226498007774, + -0.10814636945724487, + 0.0379018634557724 + ], + "orientation": [ + 0.6965398192405701, + -0.09040316194295883, + -0.7005618810653687, + 0.12598635256290436 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.0029830022249370813, + -0.10720280557870865, + 0.03900999575853348 + ], + "orientation": [ + 0.6912086606025696, + -0.0949784517288208, + -0.7045873999595642, + 0.1294841170310974 + ], + "joints": [ + -0.0013759200228378177 + ] + }, + "final_grasp": { + "position": [ + 0.0029830022249370813, + -0.10720280557870865, + 0.03900999575853348 + ], + "orientation": [ + 0.6912086606025696, + -0.0949784517288208, + -0.7045873999595642, + 0.1294841170310974 + ], + "joints": [ + 0.006090244278311729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002059701830148697, + -0.10820239037275314, + 0.03786709904670715 + ], + "orientation": [ + 0.6968551278114319, + -0.09081397950649261, + -0.7003186941146851, + 0.12529772520065308 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + 0.0028884862549602985, + -0.10714679211378098, + 0.03895249590277672 + ], + "orientation": [ + 0.6911672353744507, + -0.09496352821588516, + -0.704709529876709, + 0.12905120849609375 + ], + "joints": [ + -0.0014053609920665622 + ] + }, + "final_grasp": { + "position": [ + 0.0028884862549602985, + -0.10714679211378098, + 0.03895249590277672 + ], + "orientation": [ + 0.6911672353744507, + -0.09496352821588516, + -0.704709529876709, + 0.12905120849609375 + ], + "joints": [ + 0.006060803309082985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002037528669461608, + -0.10820283740758896, + 0.03787843510508537 + ], + "orientation": [ + 0.6967445611953735, + -0.09029419720172882, + -0.7004036903381348, + 0.12581197917461395 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.002944710198789835, + -0.10721097141504288, + 0.03897363692522049 + ], + "orientation": [ + 0.691328227519989, + -0.0951191782951355, + -0.7045086622238159, + 0.12917082011699677 + ], + "joints": [ + -0.0013759200228378177 + ] + }, + "final_grasp": { + "position": [ + 0.002944710198789835, + -0.10721097141504288, + 0.03897363692522049 + ], + "orientation": [ + 0.691328227519989, + -0.0951191782951355, + -0.7045086622238159, + 0.12917082011699677 + ], + "joints": [ + 0.006090244278311729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10877419263124466, + 0.04017987847328186, + 0.046850550919771194 + ], + "orientation": [ + 0.3994717299938202, + 0.3561696708202362, + 0.49554502964019775, + -0.6841058135032654 + ], + "joints": [ + -0.008099792525172234 + ] + }, + "fine_grasp": { + "position": [ + -0.10948267579078674, + 0.04202757775783539, + 0.04748948663473129 + ], + "orientation": [ + 0.40227562189102173, + 0.3578212261199951, + 0.5031660199165344, + -0.6759898662567139 + ], + "joints": [ + -0.0006601976929232478 + ] + }, + "final_grasp": { + "position": [ + -0.10948267579078674, + 0.04202757775783539, + 0.04748948663473129 + ], + "orientation": [ + 0.40227562189102173, + 0.3578212261199951, + 0.5031660199165344, + -0.6759898662567139 + ], + "joints": [ + 0.006779396906495094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023992864415049553, + 0.0782177671790123, + 0.11131825298070908 + ], + "orientation": [ + 0.32433056831359863, + -0.5542668104171753, + -0.4472840428352356, + 0.6225230097770691 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.02418563701212406, + 0.08052805811166763, + 0.11561369895935059 + ], + "orientation": [ + 0.32762083411216736, + -0.5534735321998596, + -0.4570004940032959, + 0.6143957376480103 + ], + "joints": [ + -0.016811590641736984 + ] + }, + "final_grasp": { + "position": [ + -0.02418563701212406, + 0.08052805811166763, + 0.11561369895935059 + ], + "orientation": [ + 0.32762083411216736, + -0.5534735321998596, + -0.4570004940032959, + 0.6143957376480103 + ], + "joints": [ + -0.013623181730508804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02409794181585312, + 0.07820995151996613, + 0.11140069365501404 + ], + "orientation": [ + 0.32414567470550537, + -0.5537492036819458, + -0.4471871554851532, + 0.6231493353843689 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.024342099204659462, + 0.08064211905002594, + 0.1157776489853859 + ], + "orientation": [ + 0.3279111683368683, + -0.5531961917877197, + -0.4564570486545563, + 0.6148943901062012 + ], + "joints": [ + -0.016306761652231216 + ] + }, + "final_grasp": { + "position": [ + -0.024342099204659462, + 0.08064211905002594, + 0.1157776489853859 + ], + "orientation": [ + 0.3279111683368683, + -0.5531961917877197, + -0.4564570486545563, + 0.6148943901062012 + ], + "joints": [ + -0.012613523751497269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11613713949918747, + 0.018760422244668007, + 0.040644656866788864 + ], + "orientation": [ + 0.5399647951126099, + -0.6093802452087402, + -0.47425633668899536, + -0.3349250853061676 + ], + "joints": [ + -0.007401490584015846 + ] + }, + "fine_grasp": { + "position": [ + -0.11661680787801743, + 0.02059880457818508, + 0.04110296070575714 + ], + "orientation": [ + 0.548859179019928, + -0.5982096791267395, + -0.4798862934112549, + -0.3325776755809784 + ], + "joints": [ + -0.0009981251787394285 + ] + }, + "final_grasp": { + "position": [ + -0.11661680787801743, + 0.02059880457818508, + 0.04110296070575714 + ], + "orientation": [ + 0.548859179019928, + -0.5982096791267395, + -0.4798862934112549, + -0.3325776755809784 + ], + "joints": [ + 0.005405240226536989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07528278231620789, + 0.08057752996683121, + -0.09579562395811081 + ], + "orientation": [ + 0.5321083068847656, + 0.4361690580844879, + -0.19214873015880585, + -0.6997829675674438 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.07411439716815948, + 0.07978032529354095, + -0.09508423507213593 + ], + "orientation": [ + 0.5318544507026672, + 0.42997992038726807, + -0.19752086699008942, + -0.7023060321807861 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.07411439716815948, + 0.07978032529354095, + -0.09508423507213593 + ], + "orientation": [ + 0.5318544507026672, + 0.42997992038726807, + -0.19752086699008942, + -0.7023060321807861 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016365187242627144, + -0.08259144425392151, + 0.09231738746166229 + ], + "orientation": [ + 0.9429656863212585, + -0.3138306140899658, + 0.05444909259676933, + -0.09675498306751251 + ], + "joints": [ + -0.007105099502950907 + ] + }, + "fine_grasp": { + "position": [ + -0.01720414124429226, + -0.08169135451316833, + 0.09003792703151703 + ], + "orientation": [ + 0.9383053779602051, + -0.32392099499702454, + 0.06162312254309654, + -0.10421484708786011 + ], + "joints": [ + -0.001206563669256866 + ] + }, + "final_grasp": { + "position": [ + -0.01720414124429226, + -0.08169135451316833, + 0.09003792703151703 + ], + "orientation": [ + 0.9383053779602051, + -0.32392099499702454, + 0.06162312254309654, + -0.10421484708786011 + ], + "joints": [ + 0.0046919723972678185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03392944112420082, + -0.09452203661203384, + 0.002244794275611639 + ], + "orientation": [ + 0.04413889721035957, + 0.15042071044445038, + 0.9876046776771545, + -0.007896091789007187 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.035250622779130936, + -0.09475548565387726, + 0.0017570089548826218 + ], + "orientation": [ + 0.04170942306518555, + 0.15726323425769806, + 0.9866463541984558, + -0.007585488725453615 + ], + "joints": [ + -0.0023518698289990425 + ] + }, + "final_grasp": { + "position": [ + -0.035250622779130936, + -0.09475548565387726, + 0.0017570089548826218 + ], + "orientation": [ + 0.04170942306518555, + 0.15726323425769806, + 0.9866463541984558, + -0.007585488725453615 + ], + "joints": [ + 0.003520095720887184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034106943756341934, + -0.09528523683547974, + 0.0024799108505249023 + ], + "orientation": [ + 0.041163332760334015, + 0.15010829269886017, + 0.9877964854240417, + -0.005589018110185862 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.0350765697658062, + -0.09491871297359467, + 0.0027269399724900723 + ], + "orientation": [ + 0.03938237205147743, + 0.15618790686130524, + 0.9868997931480408, + -0.009118854999542236 + ], + "joints": [ + -0.00232529966160655 + ] + }, + "final_grasp": { + "position": [ + -0.0350765697658062, + -0.09491871297359467, + 0.0027269399724900723 + ], + "orientation": [ + 0.03938237205147743, + 0.15618790686130524, + 0.9868997931480408, + -0.009118854999542236 + ], + "joints": [ + 0.0035732360556721687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12294641137123108, + 0.05734148621559143, + 0.02394203655421734 + ], + "orientation": [ + 0.04325658082962036, + -0.7497035264968872, + 0.6317000985145569, + -0.19242778420448303 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12513668835163116, + 0.05896276235580444, + 0.024989228695631027 + ], + "orientation": [ + 0.045418720692396164, + -0.7586868405342102, + 0.6257556080818176, + -0.17538884282112122 + ], + "joints": [ + -0.016280189156532288 + ] + }, + "final_grasp": { + "position": [ + 0.12513668835163116, + 0.05896276235580444, + 0.024989228695631027 + ], + "orientation": [ + 0.045418720692396164, + -0.7586868405342102, + 0.6257556080818176, + -0.17538884282112122 + ], + "joints": [ + -0.012560378760099411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11591068655252457, + 0.024019239470362663, + 0.04012010246515274 + ], + "orientation": [ + 0.5427029132843018, + -0.6116043329238892, + 0.45595911145210266, + 0.351447194814682 + ], + "joints": [ + -0.007190265692770481 + ] + }, + "fine_grasp": { + "position": [ + 0.11619320511817932, + 0.024578753858804703, + 0.03970571234822273 + ], + "orientation": [ + 0.5532520413398743, + -0.6042923927307129, + 0.44942453503608704, + 0.35603445768356323 + ], + "joints": [ + -0.0007869001710787416 + ] + }, + "final_grasp": { + "position": [ + 0.11619320511817932, + 0.024578753858804703, + 0.03970571234822273 + ], + "orientation": [ + 0.5532520413398743, + -0.6042923927307129, + 0.44942453503608704, + 0.35603445768356323 + ], + "joints": [ + 0.005616465583443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11655181646347046, + 0.03408928960561752, + -0.041234783828258514 + ], + "orientation": [ + 0.43163543939590454, + -0.37021657824516296, + -0.5292321443557739, + -0.6297174692153931 + ], + "joints": [ + -0.007074108812958002 + ] + }, + "fine_grasp": { + "position": [ + -0.11465837061405182, + 0.033280424773693085, + -0.04013536125421524 + ], + "orientation": [ + 0.4262135326862335, + -0.37011200189590454, + -0.5291680097579956, + -0.6335142850875854 + ], + "joints": [ + -0.0006707432912662625 + ] + }, + "final_grasp": { + "position": [ + -0.11465837061405182, + 0.033280424773693085, + -0.04013536125421524 + ], + "orientation": [ + 0.4262135326862335, + -0.37011200189590454, + -0.5291680097579956, + -0.6335142850875854 + ], + "joints": [ + 0.005732621997594833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11592362821102142, + 0.034110523760318756, + -0.04086689278483391 + ], + "orientation": [ + 0.4324033260345459, + -0.3696138560771942, + -0.5267071723937988, + -0.6316585540771484 + ], + "joints": [ + -0.006764208897948265 + ] + }, + "fine_grasp": { + "position": [ + -0.11468587815761566, + 0.033442918211221695, + -0.04000816494226456 + ], + "orientation": [ + 0.4266210198402405, + -0.371035099029541, + -0.5276842713356018, + -0.6339375972747803 + ], + "joints": [ + -0.0008922428824007511 + ] + }, + "final_grasp": { + "position": [ + -0.11468587815761566, + 0.033442918211221695, + -0.04000816494226456 + ], + "orientation": [ + 0.4266210198402405, + -0.371035099029541, + -0.5276842713356018, + -0.6339375972747803 + ], + "joints": [ + 0.004979723133146763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0027641390915960073, + 0.015088296495378017, + -0.12297897785902023 + ], + "orientation": [ + 0.6958653926849365, + 0.7068793773651123, + 0.07837997376918793, + 0.09974745661020279 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.002560287481173873, + 0.014342180453240871, + -0.11817923933267593 + ], + "orientation": [ + 0.6917349696159363, + 0.7102070450782776, + 0.08230262249708176, + 0.10166114568710327 + ], + "joints": [ + -0.0014333284925669432 + ] + }, + "final_grasp": { + "position": [ + 0.002560287481173873, + 0.014342180453240871, + -0.11817923933267593 + ], + "orientation": [ + 0.6917349696159363, + 0.7102070450782776, + 0.08230262249708176, + 0.10166114568710327 + ], + "joints": [ + 0.006564235780388117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08926118910312653, + -0.06377594918012619, + 0.03431185334920883 + ], + "orientation": [ + 0.6521276235580444, + -0.40042567253112793, + 0.6097734570503235, + 0.20631319284439087 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.0893821194767952, + -0.06330126523971558, + 0.03466382622718811 + ], + "orientation": [ + 0.6455299854278564, + -0.3994356095790863, + 0.6190237402915955, + 0.2013746052980423 + ], + "joints": [ + -0.001851308741606772 + ] + }, + "final_grasp": { + "position": [ + 0.0893821194767952, + -0.06330126523971558, + 0.03466382622718811 + ], + "orientation": [ + 0.6455299854278564, + -0.3994356095790863, + 0.6190237402915955, + 0.2013746052980423 + ], + "joints": [ + 0.005110026337206364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10098922997713089, + 0.059081196784973145, + 0.0606367327272892 + ], + "orientation": [ + 0.1600453406572342, + -0.7211129665374756, + 0.60829758644104, + -0.2904403805732727 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.10378704965114594, + 0.06058457866311073, + 0.0654257982969284 + ], + "orientation": [ + 0.14271222054958344, + -0.7345207929611206, + 0.6096323728561401, + -0.2616504728794098 + ], + "joints": [ + -0.016811590641736984 + ] + }, + "final_grasp": { + "position": [ + 0.10378704965114594, + 0.06058457866311073, + 0.0654257982969284 + ], + "orientation": [ + 0.14271222054958344, + -0.7345207929611206, + 0.6096323728561401, + -0.2616504728794098 + ], + "joints": [ + -0.013623181730508804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10103516280651093, + 0.05908726155757904, + 0.060637589544057846 + ], + "orientation": [ + 0.1601860076189041, + -0.7210813760757446, + 0.6082370281219482, + -0.2905679941177368 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.10386817157268524, + 0.06060288846492767, + 0.06540685147047043 + ], + "orientation": [ + 0.14290523529052734, + -0.7345209717750549, + 0.6095077395439148, + -0.2618345320224762 + ], + "joints": [ + -0.016811590641736984 + ] + }, + "final_grasp": { + "position": [ + 0.10386817157268524, + 0.06060288846492767, + 0.06540685147047043 + ], + "orientation": [ + 0.14290523529052734, + -0.7345209717750549, + 0.6095077395439148, + -0.2618345320224762 + ], + "joints": [ + -0.013623181730508804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02143518626689911, + 0.04660283401608467, + 0.11347711086273193 + ], + "orientation": [ + 0.10595296323299408, + 0.00027340315864421427, + -0.6047579646110535, + 0.7893298268318176 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.021411476656794548, + 0.04430905357003212, + 0.11267999559640884 + ], + "orientation": [ + 0.1228465810418129, + -0.022791901603341103, + -0.5891892313957214, + 0.7982765436172485 + ], + "joints": [ + -0.0018233408918604255 + ] + }, + "final_grasp": { + "position": [ + 0.021411476656794548, + 0.04430905357003212, + 0.11267999559640884 + ], + "orientation": [ + 0.1228465810418129, + -0.022791901603341103, + -0.5891892313957214, + 0.7982765436172485 + ], + "joints": [ + 0.004606594331562519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03342141956090927, + 0.05425173416733742, + -0.11038345843553543 + ], + "orientation": [ + 0.12037764489650726, + -0.06947299093008041, + -0.601821780204773, + -0.7864434123039246 + ], + "joints": [ + -0.00721421092748642 + ] + }, + "fine_grasp": { + "position": [ + -0.03447403758764267, + 0.05485832318663597, + -0.11169935762882233 + ], + "orientation": [ + 0.11103147268295288, + -0.07622955739498138, + -0.6069486141204834, + -0.7832460999488831 + ], + "joints": [ + -0.0008108454057946801 + ] + }, + "final_grasp": { + "position": [ + -0.03447403758764267, + 0.05485832318663597, + -0.11169935762882233 + ], + "orientation": [ + 0.11103147268295288, + -0.07622955739498138, + -0.6069486141204834, + -0.7832460999488831 + ], + "joints": [ + 0.005592520348727703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03415777161717415, + 0.054862912744283676, + -0.11212588846683502 + ], + "orientation": [ + 0.11112111806869507, + -0.0845678523182869, + -0.6094854474067688, + -0.7804023027420044 + ], + "joints": [ + -0.0070756589993834496 + ] + }, + "fine_grasp": { + "position": [ + -0.034525901079177856, + 0.05489274486899376, + -0.11196701228618622 + ], + "orientation": [ + 0.1018889993429184, + -0.08972562104463577, + -0.6106330752372742, + -0.7801892161369324 + ], + "joints": [ + -0.00067229347769171 + ] + }, + "final_grasp": { + "position": [ + -0.034525901079177856, + 0.05489274486899376, + -0.11196701228618622 + ], + "orientation": [ + 0.1018889993429184, + -0.08972562104463577, + -0.6106330752372742, + -0.7801892161369324 + ], + "joints": [ + 0.005731072276830673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12651486694812775, + 0.04579796642065048, + 0.004595658276230097 + ], + "orientation": [ + 0.6698997616767883, + -0.12029340863227844, + 0.004332945682108402, + 0.7326288223266602 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12764571607112885, + 0.047916948795318604, + 0.006207698490470648 + ], + "orientation": [ + 0.664790689945221, + -0.10316868126392365, + 0.015119894407689571, + 0.7397167086601257 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.12764571607112885, + 0.047916948795318604, + 0.006207698490470648 + ], + "orientation": [ + 0.664790689945221, + -0.10316868126392365, + 0.015119894407689571, + 0.7397167086601257 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11982575058937073, + 0.01453502755612135, + 0.02245452255010605 + ], + "orientation": [ + 0.42785367369651794, + 0.47707533836364746, + 0.5658295154571533, + -0.5188230276107788 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.1182527020573616, + 0.014291091822087765, + 0.02256097085773945 + ], + "orientation": [ + 0.4152691960334778, + 0.4958077073097229, + 0.5707903504371643, + -0.5058898329734802 + ], + "joints": [ + -0.0018233407754451036 + ] + }, + "final_grasp": { + "position": [ + -0.1182527020573616, + 0.014291091822087765, + 0.02256097085773945 + ], + "orientation": [ + 0.4152691960334778, + 0.4958077073097229, + 0.5707903504371643, + -0.5058898329734802 + ], + "joints": [ + 0.004606594797223806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034492481499910355, + 0.04067063331604004, + 0.12103141844272614 + ], + "orientation": [ + 0.5751498341560364, + -0.5381962656974792, + -0.3653343617916107, + 0.49606257677078247 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.03315596282482147, + 0.043406106531620026, + 0.12195092439651489 + ], + "orientation": [ + 0.5792156457901001, + -0.5275135040283203, + -0.3483739197254181, + 0.5146594047546387 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + 0.03315596282482147, + 0.043406106531620026, + 0.12195092439651489 + ], + "orientation": [ + 0.5792156457901001, + -0.5275135040283203, + -0.3483739197254181, + 0.5146594047546387 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03446980193257332, + 0.0406695231795311, + 0.12101615220308304 + ], + "orientation": [ + 0.5752044320106506, + -0.5380786061286926, + -0.3653367757797241, + 0.49612537026405334 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.03312533721327782, + 0.04339760169386864, + 0.12192431092262268 + ], + "orientation": [ + 0.5793682932853699, + -0.5274121165275574, + -0.34825247526168823, + 0.51467365026474 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + 0.03312533721327782, + 0.04339760169386864, + 0.12192431092262268 + ], + "orientation": [ + 0.5793682932853699, + -0.5274121165275574, + -0.34825247526168823, + 0.51467365026474 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016849983483552933, + -0.10143422335386276, + 0.00758728664368391 + ], + "orientation": [ + 0.02552265301346779, + -0.07353127002716064, + 0.9956802129745483, + -0.05062323808670044 + ], + "joints": [ + -0.007635027170181274 + ] + }, + "fine_grasp": { + "position": [ + 0.01885260082781315, + -0.10464242845773697, + 0.009024489670991898 + ], + "orientation": [ + 0.028496434912085533, + -0.0843387246131897, + 0.9950503706932068, + -0.04415426030755043 + ], + "joints": [ + -0.0007268321933224797 + ] + }, + "final_grasp": { + "position": [ + 0.01885260082781315, + -0.10464242845773697, + 0.009024489670991898 + ], + "orientation": [ + 0.028496434912085533, + -0.0843387246131897, + 0.9950503706932068, + -0.04415426030755043 + ], + "joints": [ + 0.006181363016366959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011483541689813137, + -0.10443586856126785, + 0.004168614279478788 + ], + "orientation": [ + 0.9973745346069336, + -0.01903628744184971, + -0.04658469557762146, + 0.05207239091396332 + ], + "joints": [ + -0.007633476983755827 + ] + }, + "fine_grasp": { + "position": [ + 0.013746489770710468, + -0.10678762942552567, + 0.004458014853298664 + ], + "orientation": [ + 0.9969481825828552, + -0.022818826138973236, + -0.04271555319428444, + 0.061229802668094635 + ], + "joints": [ + -0.0007252817740663886 + ] + }, + "final_grasp": { + "position": [ + 0.013746489770710468, + -0.10678762942552567, + 0.004458014853298664 + ], + "orientation": [ + 0.9969481825828552, + -0.022818826138973236, + -0.04271555319428444, + 0.061229802668094635 + ], + "joints": [ + 0.006182913668453693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017665700986981392, + -0.1018778458237648, + -0.013202104717493057 + ], + "orientation": [ + 0.6825538277626038, + 0.1029372587800026, + -0.7232990264892578, + 0.019046848639845848 + ], + "joints": [ + -0.007325127720832825 + ] + }, + "fine_grasp": { + "position": [ + 0.01814178191125393, + -0.10317434370517731, + -0.016272589564323425 + ], + "orientation": [ + 0.6784594058990479, + 0.11329338699579239, + -0.7258188724517822, + 0.006671717390418053 + ], + "joints": [ + -0.0004169324820395559 + ] + }, + "final_grasp": { + "position": [ + 0.01814178191125393, + -0.10317434370517731, + -0.016272589564323425 + ], + "orientation": [ + 0.6784594058990479, + 0.11329338699579239, + -0.7258188724517822, + 0.006671717390418053 + ], + "joints": [ + 0.006491262931376696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010836404748260975, + -0.10442502051591873, + 0.003957782406359911 + ], + "orientation": [ + 0.9976063370704651, + -0.01805703341960907, + -0.045082058757543564, + 0.04922576993703842 + ], + "joints": [ + -0.007664467673748732 + ] + }, + "fine_grasp": { + "position": [ + 0.013318842276930809, + -0.10684328526258469, + 0.004219758324325085 + ], + "orientation": [ + 0.9971290826797485, + -0.022042814642190933, + -0.04128853976726532, + 0.059523556381464005 + ], + "joints": [ + -0.0007562724640592933 + ] + }, + "final_grasp": { + "position": [ + 0.013318842276930809, + -0.10684328526258469, + 0.004219758324325085 + ], + "orientation": [ + 0.9971290826797485, + -0.022042814642190933, + -0.04128853976726532, + 0.059523556381464005 + ], + "joints": [ + 0.006151922978460789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10298319160938263, + 0.08044665306806564, + -0.04291623458266258 + ], + "orientation": [ + 0.4899753928184509, + 0.6225376129150391, + 0.25426697731018066, + -0.5547246336936951 + ], + "joints": [ + -0.0055587030947208405 + ] + }, + "fine_grasp": { + "position": [ + -0.10129344463348389, + 0.07795938849449158, + -0.04127773642539978 + ], + "orientation": [ + 0.4768320322036743, + 0.6375807523727417, + 0.24756044149398804, + -0.5521193742752075 + ], + "joints": [ + -0.0012809361796826124 + ] + }, + "final_grasp": { + "position": [ + -0.10129344463348389, + 0.07795938849449158, + -0.04127773642539978 + ], + "orientation": [ + 0.4768320322036743, + 0.6375807523727417, + 0.24756044149398804, + -0.5521193742752075 + ], + "joints": [ + 0.0029968307353556156 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2021, + "num_passed": 567 + } +} \ No newline at end of file diff --git a/100_seal_6/Annotation/piper_grasp_pose.json b/100_seal_6/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..545ae091b9dbc56f0d6055483c5824a63151413f --- /dev/null +++ b/100_seal_6/Annotation/piper_grasp_pose.json @@ -0,0 +1,32218 @@ +{ + "type": "100_seal_6", + "bottom_center": [ + 2.3795291781425476e-06, + 0.037995219230651855, + -0.023513318970799446 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.01618031971156597, + -0.10478170961141586, + 0.00983054842799902 + ], + "orientation": [ + 0.2045939713716507, + -0.2576134502887726, + -0.6709434986114502, + -0.6645385026931763 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.015374453738331795, + -0.10115285962820053, + 0.009526065550744534 + ], + "orientation": [ + 0.1974300593137741, + -0.2628209888935089, + -0.6738693714141846, + -0.6616997122764587 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + -0.015374453738331795, + -0.10115285962820053, + 0.009526065550744534 + ], + "orientation": [ + 0.1974300593137741, + -0.2628209888935089, + -0.6738693714141846, + -0.6616997122764587 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01621725596487522, + -0.10482338070869446, + 0.009468330070376396 + ], + "orientation": [ + 0.2048257440328598, + -0.25345173478126526, + -0.6700217127799988, + -0.6669929027557373 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.01534236315637827, + -0.10114137828350067, + 0.009024658240377903 + ], + "orientation": [ + 0.19682787358760834, + -0.259640634059906, + -0.6733905076980591, + -0.6636193990707397 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + -0.01534236315637827, + -0.10114137828350067, + 0.009024658240377903 + ], + "orientation": [ + 0.19682787358760834, + -0.259640634059906, + -0.6733905076980591, + -0.6636193990707397 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016323069110512733, + -0.10434027761220932, + 0.009904546663165092 + ], + "orientation": [ + 0.20288430154323578, + -0.2522030472755432, + -0.6717364192008972, + -0.6663346290588379 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.015514858067035675, + -0.10072382539510727, + 0.009439793415367603 + ], + "orientation": [ + 0.19517897069454193, + -0.2585354447364807, + -0.6751712560653687, + -0.6627280116081238 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + -0.015514858067035675, + -0.10072382539510727, + 0.009439793415367603 + ], + "orientation": [ + 0.19517897069454193, + -0.2585354447364807, + -0.6751712560653687, + -0.6627280116081238 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0033570609521120787, + -0.07477225363254547, + 0.08489762991666794 + ], + "orientation": [ + 0.3393438458442688, + -0.6390517354011536, + -0.6155100464820862, + -0.31241974234580994 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + 0.003180487547069788, + -0.0732877105474472, + 0.08174993097782135 + ], + "orientation": [ + 0.3280324339866638, + -0.6452521085739136, + -0.6205081343650818, + -0.3016853928565979 + ], + "joints": [ + 0.01955639384686947 + ] + }, + "final_grasp": { + "position": [ + 0.003180487547069788, + -0.0732877105474472, + 0.08174993097782135 + ], + "orientation": [ + 0.3280324339866638, + -0.6452521085739136, + -0.6205081343650818, + -0.3016853928565979 + ], + "joints": [ + 0.009901626035571098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11746950447559357, + -0.03680460527539253, + 0.04206981137394905 + ], + "orientation": [ + 0.5575801134109497, + -0.6595304012298584, + -0.4520913064479828, + 0.22301878035068512 + ], + "joints": [ + 0.024533754214644432 + ] + }, + "fine_grasp": { + "position": [ + 0.11388134211301804, + -0.036030057817697525, + 0.04083526134490967 + ], + "orientation": [ + 0.5506241917610168, + -0.654690682888031, + -0.46091166138648987, + 0.2361219823360443 + ], + "joints": [ + 0.0161119531840086 + ] + }, + "final_grasp": { + "position": [ + 0.11388134211301804, + -0.036030057817697525, + 0.04083526134490967 + ], + "orientation": [ + 0.5506241917610168, + -0.654690682888031, + -0.46091166138648987, + 0.2361219823360443 + ], + "joints": [ + 0.007690152153372765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11748551577329636, + -0.03676402196288109, + 0.04184909164905548 + ], + "orientation": [ + 0.5580957531929016, + -0.6606280207633972, + -0.4497685730457306, + 0.2231772094964981 + ], + "joints": [ + 0.024140113964676857 + ] + }, + "fine_grasp": { + "position": [ + 0.1138547956943512, + -0.03598792105913162, + 0.04054487124085426 + ], + "orientation": [ + 0.5501968860626221, + -0.6562426686286926, + -0.45898136496543884, + 0.2365691363811493 + ], + "joints": [ + 0.01613626815378666 + ] + }, + "final_grasp": { + "position": [ + 0.1138547956943512, + -0.03598792105913162, + 0.04054487124085426 + ], + "orientation": [ + 0.5501968860626221, + -0.6562426686286926, + -0.45898136496543884, + 0.2365691363811493 + ], + "joints": [ + 0.008132422342896461 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11831403523683548, + 0.09201277792453766, + 0.012992790900170803 + ], + "orientation": [ + 0.5671682357788086, + 0.6318278312683105, + -0.3719247579574585, + -0.37521427869796753 + ], + "joints": [ + 0.022479332983493805 + ] + }, + "fine_grasp": { + "position": [ + 0.11412765830755234, + 0.09084668755531311, + 0.01254243217408657 + ], + "orientation": [ + 0.563324511051178, + 0.6357287168502808, + -0.37022170424461365, + -0.3760991096496582 + ], + "joints": [ + 0.015374094247817993 + ] + }, + "final_grasp": { + "position": [ + 0.11412765830755234, + 0.09084668755531311, + 0.01254243217408657 + ], + "orientation": [ + 0.563324511051178, + 0.6357287168502808, + -0.37022170424461365, + -0.3760991096496582 + ], + "joints": [ + 0.008268855512142181 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013063745573163033, + -0.10721667855978012, + 0.014175876043736935 + ], + "orientation": [ + 0.5793057680130005, + -0.6422751545906067, + -0.42467713356018066, + -0.2674635350704193 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + 0.013087897561490536, + -0.10352171212434769, + 0.014119385741651058 + ], + "orientation": [ + 0.5837658047676086, + -0.6397148370742798, + -0.4183000326156616, + -0.27387502789497375 + ], + "joints": [ + 0.021637029945850372 + ] + }, + "final_grasp": { + "position": [ + 0.013087897561490536, + -0.10352171212434769, + 0.014119385741651058 + ], + "orientation": [ + 0.5837658047676086, + -0.6397148370742798, + -0.4183000326156616, + -0.27387502789497375 + ], + "joints": [ + 0.01244201511144638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06795115768909454, + 0.004610717296600342, + 0.1151156798005104 + ], + "orientation": [ + 0.172724187374115, + 0.6776852011680603, + 0.6861981153488159, + 0.2001029998064041 + ], + "joints": [ + 0.03124884143471718 + ] + }, + "fine_grasp": { + "position": [ + -0.06607726216316223, + 0.004734696354717016, + 0.11186924576759338 + ], + "orientation": [ + 0.1737751066684723, + 0.6780141592025757, + 0.6859781742095947, + 0.19882863759994507 + ], + "joints": [ + 0.02242998406291008 + ] + }, + "final_grasp": { + "position": [ + -0.06607726216316223, + 0.004734696354717016, + 0.11186924576759338 + ], + "orientation": [ + 0.1737751066684723, + 0.6780141592025757, + 0.6859781742095947, + 0.19882863759994507 + ], + "joints": [ + 0.013611126691102982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030067088082432747, + -0.0996810719370842, + -0.042874932289123535 + ], + "orientation": [ + 0.6965481042861938, + -0.5258445143699646, + 0.14316397905349731, + 0.4667035937309265 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.029420269653201103, + -0.09567734599113464, + -0.04214433953166008 + ], + "orientation": [ + 0.6959742903709412, + -0.529346227645874, + 0.14776690304279327, + 0.4621444046497345 + ], + "joints": [ + 0.022936049848794937 + ] + }, + "final_grasp": { + "position": [ + 0.029420269653201103, + -0.09567734599113464, + -0.04214433953166008 + ], + "orientation": [ + 0.6959742903709412, + -0.529346227645874, + 0.14776690304279327, + 0.4621444046497345 + ], + "joints": [ + 0.014576945453882217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029991140589118004, + -0.09972269088029861, + -0.04286330193281174 + ], + "orientation": [ + 0.6960689425468445, + -0.5260393619537354, + 0.14517545700073242, + 0.46657755970954895 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.029306409880518913, + -0.09572864323854446, + -0.04210754483938217 + ], + "orientation": [ + 0.6955026388168335, + -0.5292564034461975, + 0.14940376579761505, + 0.4624309837818146 + ], + "joints": [ + 0.022936049848794937 + ] + }, + "final_grasp": { + "position": [ + 0.029306409880518913, + -0.09572864323854446, + -0.04210754483938217 + ], + "orientation": [ + 0.6955026388168335, + -0.5292564034461975, + 0.14940376579761505, + 0.4624309837818146 + ], + "joints": [ + 0.014576945453882217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017747769132256508, + -0.08982093632221222, + 0.06856861710548401 + ], + "orientation": [ + 0.4414823353290558, + -0.6403196454048157, + 0.5560437440872192, + 0.2930862605571747 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + -0.017148170620203018, + -0.08752653747797012, + 0.06642750650644302 + ], + "orientation": [ + 0.4329361319541931, + -0.6442282795906067, + 0.5625462532043457, + 0.2847420573234558 + ], + "joints": [ + 0.02125021256506443 + ] + }, + "final_grasp": { + "position": [ + -0.017148170620203018, + -0.08752653747797012, + 0.06642750650644302 + ], + "orientation": [ + 0.4329361319541931, + -0.6442282795906067, + 0.5625462532043457, + 0.2847420573234558 + ], + "joints": [ + 0.012849310413002968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03017742931842804, + -0.0996885821223259, + -0.04305310919880867 + ], + "orientation": [ + 0.6960049867630005, + -0.5257741212844849, + 0.1449798196554184, + 0.4670327305793762 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.029483381658792496, + -0.09569596499204636, + -0.04229741543531418 + ], + "orientation": [ + 0.6953690052032471, + -0.5289954543113708, + 0.14918869733810425, + 0.46299949288368225 + ], + "joints": [ + 0.022936049848794937 + ] + }, + "final_grasp": { + "position": [ + 0.029483381658792496, + -0.09569596499204636, + -0.04229741543531418 + ], + "orientation": [ + 0.6953690052032471, + -0.5289954543113708, + 0.14918869733810425, + 0.46299949288368225 + ], + "joints": [ + 0.014576945453882217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005171912722289562, + -0.08907150477170944, + -0.06928354501724243 + ], + "orientation": [ + 0.6074825525283813, + -0.3324032723903656, + 0.37049758434295654, + 0.6190351843833923 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.005058486945927143, + -0.08639658242464066, + -0.06695253401994705 + ], + "orientation": [ + 0.6100437641143799, + -0.32752934098243713, + 0.3659117519855499, + 0.6218358874320984 + ], + "joints": [ + 0.022542346268892288 + ] + }, + "final_grasp": { + "position": [ + -0.005058486945927143, + -0.08639658242464066, + -0.06695253401994705 + ], + "orientation": [ + 0.6100437641143799, + -0.32752934098243713, + 0.3659117519855499, + 0.6218358874320984 + ], + "joints": [ + 0.013326432555913925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01744948700070381, + -0.09013795852661133, + 0.0686265379190445 + ], + "orientation": [ + 0.4438525140285492, + -0.6409873366355896, + 0.5521593689918518, + 0.2953813970088959 + ], + "joints": [ + 0.0291880052536726 + ] + }, + "fine_grasp": { + "position": [ + -0.01683991216123104, + -0.08793067932128906, + 0.0666079893708229 + ], + "orientation": [ + 0.43674445152282715, + -0.6438634395599365, + 0.5579873323440552, + 0.2886940836906433 + ], + "joints": [ + 0.020787103101611137 + ] + }, + "final_grasp": { + "position": [ + -0.01683991216123104, + -0.08793067932128906, + 0.0666079893708229 + ], + "orientation": [ + 0.43674445152282715, + -0.6438634395599365, + 0.5579873323440552, + 0.2886940836906433 + ], + "joints": [ + 0.012386200949549675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06834465265274048, + 0.004499081056565046, + 0.11570733040571213 + ], + "orientation": [ + 0.17387041449546814, + 0.6782346367835999, + 0.6858146786689758, + 0.19855716824531555 + ], + "joints": [ + 0.030785731971263885 + ] + }, + "fine_grasp": { + "position": [ + -0.06645961850881577, + 0.004600692540407181, + 0.1125282570719719 + ], + "orientation": [ + 0.1749853938817978, + 0.6785193085670471, + 0.6855124235153198, + 0.1976473480463028 + ], + "joints": [ + 0.022363930940628052 + ] + }, + "final_grasp": { + "position": [ + -0.06645961850881577, + 0.004600692540407181, + 0.1125282570719719 + ], + "orientation": [ + 0.1749853938817978, + 0.6785193085670471, + 0.6855124235153198, + 0.1976473480463028 + ], + "joints": [ + 0.013942129909992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005279421340674162, + -0.0891840010881424, + -0.06957768648862839 + ], + "orientation": [ + 0.6085250377655029, + -0.3313450813293457, + 0.3695985972881317, + 0.6191160678863525 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.005211129784584045, + -0.0864892303943634, + -0.0673498809337616 + ], + "orientation": [ + 0.6109657287597656, + -0.32681161165237427, + 0.36498400568962097, + 0.6218534111976624 + ], + "joints": [ + 0.022750742733478546 + ] + }, + "final_grasp": { + "position": [ + -0.005211129784584045, + -0.0864892303943634, + -0.0673498809337616 + ], + "orientation": [ + 0.6109657287597656, + -0.32681161165237427, + 0.36498400568962097, + 0.6218534111976624 + ], + "joints": [ + 0.013534829020500183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017249511554837227, + -0.09035753458738327, + 0.06897789239883423 + ], + "orientation": [ + 0.4445086121559143, + -0.639846682548523, + 0.5513197779655457, + 0.2984204888343811 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + -0.01665479689836502, + -0.08811946213245392, + 0.06692273169755936 + ], + "orientation": [ + 0.43660902976989746, + -0.6429154872894287, + 0.5580646991729736, + 0.29085421562194824 + ], + "joints": [ + 0.020323993638157845 + ] + }, + "final_grasp": { + "position": [ + -0.01665479689836502, + -0.08811946213245392, + 0.06692273169755936 + ], + "orientation": [ + 0.43660902976989746, + -0.6429154872894287, + 0.5580646991729736, + 0.29085421562194824 + ], + "joints": [ + 0.011923091486096382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05434376373887062, + 0.05935307592153549, + -0.10633577406406403 + ], + "orientation": [ + 0.6871469616889954, + 0.22370466589927673, + -0.11985817551612854, + -0.6807491183280945 + ], + "joints": [ + 0.019994499161839485 + ] + }, + "fine_grasp": { + "position": [ + 0.05252659320831299, + 0.05725603923201561, + -0.10287541151046753 + ], + "orientation": [ + 0.6897738575935364, + 0.22647210955619812, + -0.11785352230072021, + -0.6775197386741638 + ], + "joints": [ + 0.01330721564590931 + ] + }, + "final_grasp": { + "position": [ + 0.05252659320831299, + 0.05725603923201561, + -0.10287541151046753 + ], + "orientation": [ + 0.6897738575935364, + 0.22647210955619812, + -0.11785352230072021, + -0.6775197386741638 + ], + "joints": [ + 0.006619932129979134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06833261996507645, + 0.004192021209746599, + 0.11556487530469894 + ], + "orientation": [ + 0.17612901329994202, + 0.6788074374198914, + 0.6851060390472412, + 0.19705018401145935 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.0665590688586235, + 0.004287542309612036, + 0.11238552629947662 + ], + "orientation": [ + 0.17691917717456818, + 0.679068922996521, + 0.6848555207252502, + 0.19631047546863556 + ], + "joints": [ + 0.022198429331183434 + ] + }, + "final_grasp": { + "position": [ + -0.0665590688586235, + 0.004287542309612036, + 0.11238552629947662 + ], + "orientation": [ + 0.17691917717456818, + 0.679068922996521, + 0.6848555207252502, + 0.19631047546863556 + ], + "joints": [ + 0.013379571959376335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01878953166306019, + -0.09105832129716873, + 0.06822480261325836 + ], + "orientation": [ + 0.4356934130191803, + -0.6346235871315002, + 0.5690575838088989, + 0.28913259506225586 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.018275994807481766, + -0.08838650584220886, + 0.06650099158287048 + ], + "orientation": [ + 0.43047356605529785, + -0.6375104188919067, + 0.572517991065979, + 0.28371843695640564 + ], + "joints": [ + 0.021339422091841698 + ] + }, + "final_grasp": { + "position": [ + -0.018275994807481766, + -0.08838650584220886, + 0.06650099158287048 + ], + "orientation": [ + 0.43047356605529785, + -0.6375104188919067, + 0.572517991065979, + 0.28371843695640564 + ], + "joints": [ + 0.01254146359860897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12492426484823227, + 0.015866577625274658, + 0.053001344203948975 + ], + "orientation": [ + 0.35613617300987244, + 0.5642600059509277, + -0.612666130065918, + -0.42357736825942993 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + 0.12171392142772675, + 0.015761468559503555, + 0.05162626504898071 + ], + "orientation": [ + 0.3621883690357208, + 0.5705022811889648, + -0.6075282692909241, + -0.41743987798690796 + ], + "joints": [ + 0.01657884009182453 + ] + }, + "final_grasp": { + "position": [ + 0.12171392142772675, + 0.015761468559503555, + 0.05162626504898071 + ], + "orientation": [ + 0.3621883690357208, + 0.5705022811889648, + -0.6075282692909241, + -0.41743987798690796 + ], + "joints": [ + 0.005335846915841103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06730972230434418, + 0.012462696991860867, + -0.11289634555578232 + ], + "orientation": [ + 0.713988721370697, + -0.22817574441432953, + 0.13957251608371735, + -0.6470513343811035 + ], + "joints": [ + 0.028771208599209785 + ] + }, + "fine_grasp": { + "position": [ + -0.0654153972864151, + 0.011851630173623562, + -0.10986698418855667 + ], + "orientation": [ + 0.7128337025642395, + -0.22353962063789368, + 0.14431023597717285, + -0.6489012241363525 + ], + "joints": [ + 0.01792527176439762 + ] + }, + "final_grasp": { + "position": [ + -0.0654153972864151, + 0.011851630173623562, + -0.10986698418855667 + ], + "orientation": [ + 0.7128337025642395, + -0.22353962063789368, + 0.14431023597717285, + -0.6489012241363525 + ], + "joints": [ + 0.007079334929585457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12268669158220291, + 0.0476897694170475, + -0.011265505105257034 + ], + "orientation": [ + 0.545890212059021, + 0.5008604526519775, + -0.45461803674697876, + -0.49443402886390686 + ], + "joints": [ + 0.024297386407852173 + ] + }, + "fine_grasp": { + "position": [ + 0.11932459473609924, + 0.0456291101872921, + -0.010891562327742577 + ], + "orientation": [ + 0.5544784069061279, + 0.5069875121116638, + -0.45079854130744934, + -0.48197290301322937 + ], + "joints": [ + 0.016335338354110718 + ] + }, + "final_grasp": { + "position": [ + 0.11932459473609924, + 0.0456291101872921, + -0.010891562327742577 + ], + "orientation": [ + 0.5544784069061279, + 0.5069875121116638, + -0.45079854130744934, + -0.48197290301322937 + ], + "joints": [ + 0.008373290300369263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006569072604179382, + -0.11464809626340866, + 0.0012322834227234125 + ], + "orientation": [ + 0.6590823531150818, + -0.6462315320968628, + 0.28244566917419434, + 0.26118895411491394 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.006505448371171951, + -0.1105903908610344, + 0.0010623856214806437 + ], + "orientation": [ + 0.658176839351654, + -0.6468451023101807, + 0.2834540009498596, + 0.26086124777793884 + ], + "joints": [ + 0.023026350885629654 + ] + }, + "final_grasp": { + "position": [ + -0.006505448371171951, + -0.1105903908610344, + 0.0010623856214806437 + ], + "orientation": [ + 0.658176839351654, + -0.6468451023101807, + 0.2834540009498596, + 0.26086124777793884 + ], + "joints": [ + 0.013831336051225662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05598536133766174, + -0.08907471597194672, + 0.029812045395374298 + ], + "orientation": [ + 0.08820183575153351, + 0.36909258365631104, + 0.7153918147087097, + 0.5866905450820923 + ], + "joints": [ + 0.030125191435217857 + ] + }, + "fine_grasp": { + "position": [ + -0.05513710528612137, + -0.08513487875461578, + 0.02861854061484337 + ], + "orientation": [ + 0.08008516579866409, + 0.3673343062400818, + 0.712531566619873, + 0.5924108624458313 + ], + "joints": [ + 0.022184042260050774 + ] + }, + "final_grasp": { + "position": [ + -0.05513710528612137, + -0.08513487875461578, + 0.02861854061484337 + ], + "orientation": [ + 0.08008516579866409, + 0.3673343062400818, + 0.712531566619873, + 0.5924108624458313 + ], + "joints": [ + 0.01424289308488369 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0001452667056582868, + -0.11476267129182816, + 0.0030631348490715027 + ], + "orientation": [ + 0.15868082642555237, + -0.21502472460269928, + 0.69645094871521, + 0.6659886240959167 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.00015803783026058227, + -0.11072058975696564, + 0.003190127434208989 + ], + "orientation": [ + 0.164123997092247, + -0.21012230217456818, + 0.6945499777793884, + 0.668215811252594 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + 0.00015803783026058227, + -0.11072058975696564, + 0.003190127434208989 + ], + "orientation": [ + 0.164123997092247, + -0.21012230217456818, + 0.6945499777793884, + 0.668215811252594 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08396140486001968, + -0.06409609317779541, + -0.060448020696640015 + ], + "orientation": [ + 0.46999895572662354, + 0.068130724132061, + 0.5304574966430664, + 0.7021923661231995 + ], + "joints": [ + 0.030091067776083946 + ] + }, + "fine_grasp": { + "position": [ + -0.08132806420326233, + -0.06267586350440979, + -0.058468375355005264 + ], + "orientation": [ + 0.4721953868865967, + 0.07193345576524734, + 0.5281219482421875, + 0.7020998597145081 + ], + "joints": [ + 0.021669266745448112 + ] + }, + "final_grasp": { + "position": [ + -0.08132806420326233, + -0.06267586350440979, + -0.058468375355005264 + ], + "orientation": [ + 0.4721953868865967, + 0.07193345576524734, + 0.5281219482421875, + 0.7020998597145081 + ], + "joints": [ + 0.013247465714812279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12514497339725494, + 0.04868675768375397, + -0.011648193933069706 + ], + "orientation": [ + 0.5393772125244141, + 0.507271945476532, + -0.45048436522483826, + -0.498809814453125 + ], + "joints": [ + 0.02491484396159649 + ] + }, + "fine_grasp": { + "position": [ + 0.12190382927656174, + 0.04600777477025986, + -0.01094044465571642 + ], + "orientation": [ + 0.5519726872444153, + 0.5165361762046814, + -0.4367147386074066, + -0.4876440167427063 + ], + "joints": [ + 0.017788706347346306 + ] + }, + "final_grasp": { + "position": [ + 0.12190382927656174, + 0.04600777477025986, + -0.01094044465571642 + ], + "orientation": [ + 0.5519726872444153, + 0.5165361762046814, + -0.4367147386074066, + -0.4876440167427063 + ], + "joints": [ + 0.010662568733096123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08334503322839737, + -0.06328530609607697, + -0.060293544083833694 + ], + "orientation": [ + 0.46652382612228394, + 0.07139777392148972, + 0.5286730527877808, + 0.7055230736732483 + ], + "joints": [ + 0.030322622507810593 + ] + }, + "fine_grasp": { + "position": [ + -0.08068615198135376, + -0.06192312389612198, + -0.05833182856440544 + ], + "orientation": [ + 0.46936601400375366, + 0.0759437307715416, + 0.5259338617324829, + 0.7052103281021118 + ], + "joints": [ + 0.02192172035574913 + ] + }, + "final_grasp": { + "position": [ + -0.08068615198135376, + -0.06192312389612198, + -0.05833182856440544 + ], + "orientation": [ + 0.46936601400375366, + 0.0759437307715416, + 0.5259338617324829, + 0.7052103281021118 + ], + "joints": [ + 0.013520818203687668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06601780652999878, + -0.07009992003440857, + 0.04861912131309509 + ], + "orientation": [ + 0.50320965051651, + -0.6980855464935303, + 0.49991923570632935, + -0.0976606085896492 + ], + "joints": [ + 0.03057733364403248 + ] + }, + "fine_grasp": { + "position": [ + -0.06603756546974182, + -0.06625247746706009, + 0.04768197983503342 + ], + "orientation": [ + 0.5083124041557312, + -0.6986557841300964, + 0.4940401613712311, + -0.09707090258598328 + ], + "joints": [ + 0.02221822924911976 + ] + }, + "final_grasp": { + "position": [ + -0.06603756546974182, + -0.06625247746706009, + 0.04768197983503342 + ], + "orientation": [ + 0.5083124041557312, + -0.6986557841300964, + 0.4940401613712311, + -0.09707090258598328 + ], + "joints": [ + 0.013859124854207039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06626605242490768, + -0.06978046894073486, + 0.04945339635014534 + ], + "orientation": [ + 0.49835309386253357, + -0.7000070810317993, + 0.5010947585105896, + -0.10265646129846573 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + -0.0661235824227333, + -0.06582236289978027, + 0.048486143350601196 + ], + "orientation": [ + 0.5036566257476807, + -0.7010698318481445, + 0.4946121275424957, + -0.100945383310318 + ], + "joints": [ + 0.021964676678180695 + ] + }, + "final_grasp": { + "position": [ + -0.0661235824227333, + -0.06582236289978027, + 0.048486143350601196 + ], + "orientation": [ + 0.5036566257476807, + -0.7010698318481445, + 0.4946121275424957, + -0.100945383310318 + ], + "joints": [ + 0.01402352750301361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010474086739122868, + -0.1057903915643692, + 0.05077727511525154 + ], + "orientation": [ + 0.4250096380710602, + -0.6508232355117798, + -0.5593025088310242, + -0.2880568504333496 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + 0.010286041535437107, + -0.10189378261566162, + 0.0496714822947979 + ], + "orientation": [ + 0.43073999881744385, + -0.6481982469558716, + -0.5546433329582214, + -0.2944028079509735 + ], + "joints": [ + 0.02254008874297142 + ] + }, + "final_grasp": { + "position": [ + 0.010286041535437107, + -0.10189378261566162, + 0.0496714822947979 + ], + "orientation": [ + 0.43073999881744385, + -0.6481982469558716, + -0.5546433329582214, + -0.2944028079509735 + ], + "joints": [ + 0.013345073908567429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12559014558792114, + 0.06712619215250015, + -0.0011050333268940449 + ], + "orientation": [ + 0.35438382625579834, + -0.4944291114807129, + -0.5211880207061768, + 0.598594069480896 + ], + "joints": [ + 0.025506285950541496 + ] + }, + "fine_grasp": { + "position": [ + 0.1218746080994606, + 0.06587735563516617, + -0.0005516148521564901 + ], + "orientation": [ + 0.35494089126586914, + -0.4899285137653351, + -0.5211259126663208, + 0.6020088791847229 + ], + "joints": [ + 0.018296552821993828 + ] + }, + "final_grasp": { + "position": [ + 0.1218746080994606, + 0.06587735563516617, + -0.0005516148521564901 + ], + "orientation": [ + 0.35494089126586914, + -0.4899285137653351, + -0.5211259126663208, + 0.6020088791847229 + ], + "joints": [ + 0.01108681969344616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04694994166493416, + 0.058650534600019455, + 0.11756272614002228 + ], + "orientation": [ + 0.2117343693971634, + 0.6984584331512451, + 0.681958794593811, + 0.04750250279903412 + ], + "joints": [ + 0.029438234865665436 + ] + }, + "fine_grasp": { + "position": [ + -0.04575968161225319, + 0.057378605008125305, + 0.11465664952993393 + ], + "orientation": [ + 0.21389490365982056, + 0.697037935256958, + 0.6833482384681702, + 0.03771284967660904 + ], + "joints": [ + 0.019407309591770172 + ] + }, + "final_grasp": { + "position": [ + -0.04575968161225319, + 0.057378605008125305, + 0.11465664952993393 + ], + "orientation": [ + 0.21389490365982056, + 0.697037935256958, + 0.6833482384681702, + 0.03771284967660904 + ], + "joints": [ + 0.009376384317874908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009999045170843601, + -0.10574477165937424, + 0.052108556032180786 + ], + "orientation": [ + 0.42194825410842896, + -0.6624486446380615, + -0.5540194511413574, + -0.2760142385959625 + ], + "joints": [ + 0.030855201184749603 + ] + }, + "fine_grasp": { + "position": [ + 0.009918678551912308, + -0.10186336934566498, + 0.05159307271242142 + ], + "orientation": [ + 0.4288640022277832, + -0.6579433679580688, + -0.5490066409111023, + -0.2859685719013214 + ], + "joints": [ + 0.02166018635034561 + ] + }, + "final_grasp": { + "position": [ + 0.009918678551912308, + -0.10186336934566498, + 0.05159307271242142 + ], + "orientation": [ + 0.4288640022277832, + -0.6579433679580688, + -0.5490066409111023, + -0.2859685719013214 + ], + "joints": [ + 0.01246517151594162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020816689357161522, + 0.014055446721613407, + -0.13438725471496582 + ], + "orientation": [ + 0.7631024122238159, + 0.012596785090863705, + 0.1361849159002304, + 0.6316404342651367 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + -0.02102583274245262, + 0.012579986825585365, + -0.13050630688667297 + ], + "orientation": [ + 0.7646504044532776, + 0.016871580854058266, + 0.12222787737846375, + 0.6325230002403259 + ], + "joints": [ + 0.015364212915301323 + ] + }, + "final_grasp": { + "position": [ + -0.02102583274245262, + 0.012579986825585365, + -0.13050630688667297 + ], + "orientation": [ + 0.7646504044532776, + 0.016871580854058266, + 0.12222787737846375, + 0.6325230002403259 + ], + "joints": [ + 0.007005108520388603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05418764799833298, + 0.15745621919631958, + 0.034022342413663864 + ], + "orientation": [ + 0.6033801436424255, + 0.7341235876083374, + 0.3103705644607544, + 0.02578987367451191 + ], + "joints": [ + 0.01970534957945347 + ] + }, + "fine_grasp": { + "position": [ + -0.05235988274216652, + 0.1549689620733261, + 0.03228486701846123 + ], + "orientation": [ + 0.6011141538619995, + 0.7328373789787292, + 0.316874235868454, + 0.03466656804084778 + ], + "joints": [ + 0.010928289964795113 + ] + }, + "final_grasp": { + "position": [ + -0.05235988274216652, + 0.1549689620733261, + 0.03228486701846123 + ], + "orientation": [ + 0.6011141538619995, + 0.7328373789787292, + 0.316874235868454, + 0.03466656804084778 + ], + "joints": [ + 0.002151230350136757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0314008854329586, + -0.11232256144285202, + 0.003437495557591319 + ], + "orientation": [ + 0.07641441375017166, + 0.061187535524368286, + 0.7144351005554199, + 0.6928197145462036 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.030532853677868843, + -0.10853847116231918, + 0.003275324823334813 + ], + "orientation": [ + 0.07937682420015335, + 0.06415711343288422, + 0.7136322855949402, + 0.6930454969406128 + ], + "joints": [ + 0.022079240530729294 + ] + }, + "final_grasp": { + "position": [ + -0.030532853677868843, + -0.10853847116231918, + 0.003275324823334813 + ], + "orientation": [ + 0.07937682420015335, + 0.06415711343288422, + 0.7136322855949402, + 0.6930454969406128 + ], + "joints": [ + 0.01286332681775093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10352523624897003, + 0.08228384703397751, + 0.022289302200078964 + ], + "orientation": [ + 0.5301734209060669, + 0.6211909055709839, + 0.4705761671066284, + 0.3340601921081543 + ], + "joints": [ + 0.02200588956475258 + ] + }, + "fine_grasp": { + "position": [ + -0.09960219264030457, + 0.08339791744947433, + 0.021247560158371925 + ], + "orientation": [ + 0.5393638610839844, + 0.6214843988418579, + 0.4627287685871124, + 0.3297359347343445 + ], + "joints": [ + 0.014482695609331131 + ] + }, + "final_grasp": { + "position": [ + -0.09960219264030457, + 0.08339791744947433, + 0.021247560158371925 + ], + "orientation": [ + 0.5393638610839844, + 0.6214843988418579, + 0.4627287685871124, + 0.3297359347343445 + ], + "joints": [ + 0.006959501653909683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01942695677280426, + 0.07982189953327179, + -0.12803682684898376 + ], + "orientation": [ + 0.7294178605079651, + 0.14656008780002594, + -0.05659068003296852, + 0.6657831072807312 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + -0.01838243193924427, + 0.0792485848069191, + -0.12372706830501556 + ], + "orientation": [ + 0.7290503978729248, + 0.14874224364757538, + -0.05404312536120415, + 0.6659133434295654 + ], + "joints": [ + 0.012567033991217613 + ] + }, + "final_grasp": { + "position": [ + -0.01838243193924427, + 0.0792485848069191, + -0.12372706830501556 + ], + "orientation": [ + 0.7290503978729248, + 0.14874224364757538, + -0.05404312536120415, + 0.6659133434295654 + ], + "joints": [ + 0.0058797504752874374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022296350449323654, + -0.025196852162480354, + 0.13315145671367645 + ], + "orientation": [ + 0.14005032181739807, + -0.7074534893035889, + 0.6923355460166931, + 0.02381083182990551 + ], + "joints": [ + 0.029604801908135414 + ] + }, + "fine_grasp": { + "position": [ + -0.021600354462862015, + -0.024424558505415916, + 0.12950782477855682 + ], + "orientation": [ + 0.14205966889858246, + -0.7087630033493042, + 0.6905238628387451, + 0.025509564206004143 + ], + "joints": [ + 0.020785944536328316 + ] + }, + "final_grasp": { + "position": [ + -0.021600354462862015, + -0.024424558505415916, + 0.12950782477855682 + ], + "orientation": [ + 0.14205966889858246, + -0.7087630033493042, + 0.6905238628387451, + 0.025509564206004143 + ], + "joints": [ + 0.011967087164521217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06806620955467224, + 0.004586750641465187, + 0.11541295051574707 + ], + "orientation": [ + 0.17277522385120392, + 0.6780428290367126, + 0.6860504746437073, + 0.19935227930545807 + ], + "joints": [ + 0.030785731971263885 + ] + }, + "fine_grasp": { + "position": [ + -0.0662519633769989, + 0.0047067394480109215, + 0.11210167407989502 + ], + "orientation": [ + 0.1743522733449936, + 0.6780492663383484, + 0.6858868598937988, + 0.19851866364479065 + ], + "joints": [ + 0.022363930940628052 + ] + }, + "final_grasp": { + "position": [ + -0.0662519633769989, + 0.0047067394480109215, + 0.11210167407989502 + ], + "orientation": [ + 0.1743522733449936, + 0.6780492663383484, + 0.6858868598937988, + 0.19851866364479065 + ], + "joints": [ + 0.013942129909992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030888665467500687, + -0.11325224488973618, + 0.003219389822334051 + ], + "orientation": [ + 0.07615067064762115, + 0.06434968113899231, + 0.7134560942649841, + 0.6935708522796631 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.030173853039741516, + -0.10945992916822433, + 0.003051087725907564 + ], + "orientation": [ + 0.07787832617759705, + 0.0662827119231224, + 0.7128400802612305, + 0.6938303709030151 + ], + "joints": [ + 0.022145289927721024 + ] + }, + "final_grasp": { + "position": [ + -0.030173853039741516, + -0.10945992916822433, + 0.003051087725907564 + ], + "orientation": [ + 0.07787832617759705, + 0.0662827119231224, + 0.7128400802612305, + 0.6938303709030151 + ], + "joints": [ + 0.012532319873571396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0987568199634552, + -0.028514230623841286, + 0.06696150451898575 + ], + "orientation": [ + 0.37165939807891846, + -0.651268720626831, + 0.5949901938438416, + -0.2893180251121521 + ], + "joints": [ + 0.02645566128194332 + ] + }, + "fine_grasp": { + "position": [ + -0.096181221306324, + -0.026351401582360268, + 0.06533698737621307 + ], + "orientation": [ + 0.386321485042572, + -0.6530373692512512, + 0.5910755395889282, + -0.2737288773059845 + ], + "joints": [ + 0.019329523667693138 + ] + }, + "final_grasp": { + "position": [ + -0.096181221306324, + -0.026351401582360268, + 0.06533698737621307 + ], + "orientation": [ + 0.386321485042572, + -0.6530373692512512, + 0.5910755395889282, + -0.2737288773059845 + ], + "joints": [ + 0.012203386053442955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01983821950852871, + 0.07965241372585297, + -0.12892179191112518 + ], + "orientation": [ + 0.7266741991043091, + 0.14717060327529907, + -0.0588872954249382, + 0.6684441566467285 + ], + "joints": [ + 0.019855134189128876 + ] + }, + "fine_grasp": { + "position": [ + -0.01853291131556034, + 0.07833929359912872, + -0.12477663904428482 + ], + "orientation": [ + 0.7265868186950684, + 0.15329471230506897, + -0.057835035026073456, + 0.6672537326812744 + ], + "joints": [ + 0.013585805892944336 + ] + }, + "final_grasp": { + "position": [ + -0.01853291131556034, + 0.07833929359912872, + -0.12477663904428482 + ], + "orientation": [ + 0.7265868186950684, + 0.15329471230506897, + -0.057835035026073456, + 0.6672537326812744 + ], + "joints": [ + 0.007316477596759796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030590688809752464, + 0.17267128825187683, + -0.02641034685075283 + ], + "orientation": [ + 0.4242314398288727, + 0.21807825565338135, + -0.6003718972206116, + 0.6418903470039368 + ], + "joints": [ + 0.020496143028140068 + ] + }, + "fine_grasp": { + "position": [ + 0.029489556327462196, + 0.1689070165157318, + -0.025196323171257973 + ], + "orientation": [ + 0.4272911250591278, + 0.21089841425418854, + -0.5987789034843445, + 0.6437451839447021 + ], + "joints": [ + 0.012137038633227348 + ] + }, + "final_grasp": { + "position": [ + 0.029489556327462196, + 0.1689070165157318, + -0.025196323171257973 + ], + "orientation": [ + 0.4272911250591278, + 0.21089841425418854, + -0.5987789034843445, + 0.6437451839447021 + ], + "joints": [ + 0.0037779342383146286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0191660076379776, + 0.07938289642333984, + -0.12792468070983887 + ], + "orientation": [ + 0.7261440753936768, + 0.149545818567276, + -0.05532054975628853, + 0.6687976717948914 + ], + "joints": [ + 0.019805101677775383 + ] + }, + "fine_grasp": { + "position": [ + -0.01805664412677288, + 0.07802741229534149, + -0.12366227805614471 + ], + "orientation": [ + 0.7263168096542358, + 0.1548038274049759, + -0.0555560328066349, + 0.667392909526825 + ], + "joints": [ + 0.01395372860133648 + ] + }, + "final_grasp": { + "position": [ + -0.01805664412677288, + 0.07802741229534149, + -0.12366227805614471 + ], + "orientation": [ + 0.7263168096542358, + 0.1548038274049759, + -0.0555560328066349, + 0.667392909526825 + ], + "joints": [ + 0.008102355524897575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05902227759361267, + 0.046703800559043884, + -0.10462929308414459 + ], + "orientation": [ + 0.6286749243736267, + 0.2694742679595947, + 0.06741688400506973, + 0.7263651490211487 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.05725732818245888, + 0.045628082007169724, + -0.10130202025175095 + ], + "orientation": [ + 0.6273729801177979, + 0.27192097902297974, + 0.06324564665555954, + 0.7269540429115295 + ], + "joints": [ + 0.023071501404047012 + ] + }, + "final_grasp": { + "position": [ + -0.05725732818245888, + 0.045628082007169724, + -0.10130202025175095 + ], + "orientation": [ + 0.6273729801177979, + 0.27192097902297974, + 0.06324564665555954, + 0.7269540429115295 + ], + "joints": [ + 0.013458531349897385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10053534805774689, + -0.07505503296852112, + 0.051136314868927 + ], + "orientation": [ + 0.5535622239112854, + -0.7113116383552551, + 0.4073612689971924, + -0.1471785604953766 + ], + "joints": [ + 0.026339879259467125 + ] + }, + "fine_grasp": { + "position": [ + -0.09790907055139542, + -0.07294271141290665, + 0.04980359598994255 + ], + "orientation": [ + 0.5515530705451965, + -0.7090318202972412, + 0.4126727879047394, + -0.15087784826755524 + ], + "joints": [ + 0.01787628047168255 + ] + }, + "final_grasp": { + "position": [ + -0.09790907055139542, + -0.07294271141290665, + 0.04980359598994255 + ], + "orientation": [ + 0.5515530705451965, + -0.7090318202972412, + 0.4126727879047394, + -0.15087784826755524 + ], + "joints": [ + 0.009412681683897972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004214324988424778, + 0.16988332569599152, + -0.03653985261917114 + ], + "orientation": [ + 0.5846050381660461, + 0.42910563945770264, + -0.4301356077194214, + 0.5376696586608887 + ], + "joints": [ + 0.020690642297267914 + ] + }, + "fine_grasp": { + "position": [ + 0.004338172730058432, + 0.16675622761249542, + -0.03467007353901863 + ], + "orientation": [ + 0.5900145769119263, + 0.42478302121162415, + -0.4249984920024872, + 0.5392757654190063 + ], + "joints": [ + 0.011913582682609558 + ] + }, + "final_grasp": { + "position": [ + 0.004338172730058432, + 0.16675622761249542, + -0.03467007353901863 + ], + "orientation": [ + 0.5900145769119263, + 0.42478302121162415, + -0.4249984920024872, + 0.5392757654190063 + ], + "joints": [ + 0.0031365230679512024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022003449499607086, + -0.025728851556777954, + 0.13332511484622955 + ], + "orientation": [ + 0.13898146152496338, + -0.7040370106697083, + 0.6959815621376038, + 0.02501584403216839 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.021458076313138008, + -0.02495906874537468, + 0.12964263558387756 + ], + "orientation": [ + 0.13960790634155273, + -0.7055129408836365, + 0.6943414807319641, + 0.025514056906104088 + ], + "joints": [ + 0.020763946697115898 + ] + }, + "final_grasp": { + "position": [ + -0.021458076313138008, + -0.02495906874537468, + 0.12964263558387756 + ], + "orientation": [ + 0.13960790634155273, + -0.7055129408836365, + 0.6943414807319641, + 0.025514056906104088 + ], + "joints": [ + 0.012363044545054436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04704813286662102, + 0.16952624917030334, + 0.0025285566225647926 + ], + "orientation": [ + 0.18666335940361023, + -0.08975066989660263, + 0.7099136114120483, + -0.6731449961662292 + ], + "joints": [ + 0.021268703043460846 + ] + }, + "fine_grasp": { + "position": [ + -0.04514511302113533, + 0.16595155000686646, + 0.0022015832364559174 + ], + "orientation": [ + 0.1919037103652954, + -0.09619775414466858, + 0.708789050579071, + -0.6719650626182556 + ], + "joints": [ + 0.01249164342880249 + ] + }, + "final_grasp": { + "position": [ + -0.04514511302113533, + 0.16595155000686646, + 0.0022015832364559174 + ], + "orientation": [ + 0.1919037103652954, + -0.09619775414466858, + 0.708789050579071, + -0.6719650626182556 + ], + "joints": [ + 0.0037145838141441345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030759816989302635, + 0.053408969193696976, + -0.11326639354228973 + ], + "orientation": [ + 0.7198941707611084, + -0.0742599368095398, + 0.10797911882400513, + -0.6815999150276184 + ], + "joints": [ + 0.02002953551709652 + ] + }, + "fine_grasp": { + "position": [ + -0.030014365911483765, + 0.053170379251241684, + -0.10916897654533386 + ], + "orientation": [ + 0.7287915945053101, + -0.08025777339935303, + 0.10201338678598404, + -0.6723204851150513 + ], + "joints": [ + 0.012088386341929436 + ] + }, + "final_grasp": { + "position": [ + -0.030014365911483765, + 0.053170379251241684, + -0.10916897654533386 + ], + "orientation": [ + 0.7287915945053101, + -0.08025777339935303, + 0.10201338678598404, + -0.6723204851150513 + ], + "joints": [ + 0.004147237166762352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10042021423578262, + -0.06519468128681183, + 0.06911089271306992 + ], + "orientation": [ + 0.13524067401885986, + 0.48474904894828796, + 0.7066341638565063, + 0.4973895847797394 + ], + "joints": [ + 0.026316722854971886 + ] + }, + "fine_grasp": { + "position": [ + -0.09780938178300858, + -0.06325901299715042, + 0.06732121855020523 + ], + "orientation": [ + 0.13670285046100616, + 0.48801377415657043, + 0.7049054503440857, + 0.4962490499019623 + ], + "joints": [ + 0.01787402294576168 + ] + }, + "final_grasp": { + "position": [ + -0.09780938178300858, + -0.06325901299715042, + 0.06732121855020523 + ], + "orientation": [ + 0.13670285046100616, + 0.48801377415657043, + 0.7049054503440857, + 0.4962490499019623 + ], + "joints": [ + 0.009431323036551476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10419871658086777, + 0.03494980186223984, + 0.050453778356313705 + ], + "orientation": [ + 0.5122078061103821, + 0.5563589930534363, + 0.6198427677154541, + 0.20953015983104706 + ], + "joints": [ + 0.029928982257843018 + ] + }, + "fine_grasp": { + "position": [ + -0.1011112853884697, + 0.034905046224594116, + 0.048564452677965164 + ], + "orientation": [ + 0.5021838545799255, + 0.5534812808036804, + 0.6293704509735107, + 0.21298524737358093 + ], + "joints": [ + 0.021151922643184662 + ] + }, + "final_grasp": { + "position": [ + -0.1011112853884697, + 0.034905046224594116, + 0.048564452677965164 + ], + "orientation": [ + 0.5021838545799255, + 0.5534812808036804, + 0.6293704509735107, + 0.21298524737358093 + ], + "joints": [ + 0.012374863028526306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0066106985323131084, + -0.0005562410806305707, + -0.1295524686574936 + ], + "orientation": [ + 0.538985550403595, + -0.005332056432962418, + -0.001974082086235285, + -0.8422958850860596 + ], + "joints": [ + 0.028771208599209785 + ] + }, + "fine_grasp": { + "position": [ + -0.006080035585910082, + 0.0005682422779500484, + -0.1260681450366974 + ], + "orientation": [ + 0.5423638820648193, + -0.010557214729487896, + -0.0065746852196753025, + -0.8400515913963318 + ], + "joints": [ + 0.020391205325722694 + ] + }, + "final_grasp": { + "position": [ + -0.006080035585910082, + 0.0005682422779500484, + -0.1260681450366974 + ], + "orientation": [ + 0.5423638820648193, + -0.010557214729487896, + -0.0065746852196753025, + -0.8400515913963318 + ], + "joints": [ + 0.012011202052235603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08676574379205704, + 0.12479812651872635, + 0.03800590708851814 + ], + "orientation": [ + 0.5717043280601501, + 0.6682298183441162, + -0.45650628209114075, + -0.1349998563528061 + ], + "joints": [ + 0.01896919682621956 + ] + }, + "fine_grasp": { + "position": [ + 0.08339228481054306, + 0.12286380678415298, + 0.03602419048547745 + ], + "orientation": [ + 0.5685855150222778, + 0.6673401594161987, + -0.46236974000930786, + -0.13259686529636383 + ], + "joints": [ + 0.011863958090543747 + ] + }, + "final_grasp": { + "position": [ + 0.08339228481054306, + 0.12286380678415298, + 0.03602419048547745 + ], + "orientation": [ + 0.5685855150222778, + 0.6673401594161987, + -0.46236974000930786, + -0.13259686529636383 + ], + "joints": [ + 0.004758719354867935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09885325282812119, + -0.028666716068983078, + 0.06705784797668457 + ], + "orientation": [ + 0.3725948631763458, + -0.6490410566329956, + 0.5984002351760864, + -0.28606992959976196 + ], + "joints": [ + 0.02645566128194332 + ] + }, + "fine_grasp": { + "position": [ + -0.09634847193956375, + -0.026437679305672646, + 0.06535454839468002 + ], + "orientation": [ + 0.3865012228488922, + -0.6507219672203064, + 0.5951246619224548, + -0.2701931595802307 + ], + "joints": [ + 0.019308624789118767 + ] + }, + "final_grasp": { + "position": [ + -0.09634847193956375, + -0.026437679305672646, + 0.06535454839468002 + ], + "orientation": [ + 0.3865012228488922, + -0.6507219672203064, + 0.5951246619224548, + -0.2701931595802307 + ], + "joints": [ + 0.012161588296294212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06955470889806747, + 0.05929233133792877, + 0.0804276093840599 + ], + "orientation": [ + 0.24384495615959167, + 0.7160170674324036, + 0.6087393760681152, + 0.23936492204666138 + ], + "joints": [ + 0.021177487447857857 + ] + }, + "fine_grasp": { + "position": [ + -0.0683373436331749, + 0.06101737171411514, + 0.080091692507267 + ], + "orientation": [ + 0.2391202449798584, + 0.7193353176116943, + 0.6046947240829468, + 0.2443818300962448 + ], + "joints": [ + 0.0115854162722826 + ] + }, + "final_grasp": { + "position": [ + -0.0683373436331749, + 0.06101737171411514, + 0.080091692507267 + ], + "orientation": [ + 0.2391202449798584, + 0.7193353176116943, + 0.6046947240829468, + 0.2443818300962448 + ], + "joints": [ + 0.001993345096707344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01945675164461136, + -0.05561752989888191, + -0.11699741333723068 + ], + "orientation": [ + 0.8090013265609741, + -0.24309708178043365, + -0.06820222735404968, + -0.5308191776275635 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + -0.018624132499098778, + -0.05391038581728935, + -0.11390244215726852 + ], + "orientation": [ + 0.8079279661178589, + -0.244688481092453, + -0.06449612975120544, + -0.5321842432022095 + ], + "joints": [ + 0.021009517833590508 + ] + }, + "final_grasp": { + "position": [ + -0.018624132499098778, + -0.05391038581728935, + -0.11390244215726852 + ], + "orientation": [ + 0.8079279661178589, + -0.244688481092453, + -0.06449612975120544, + -0.5321842432022095 + ], + "joints": [ + 0.010978592559695244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10263405740261078, + 0.03499127924442291, + -0.07593732327222824 + ], + "orientation": [ + 0.6158459186553955, + 0.35877910256385803, + 0.27233895659446716, + 0.6464076042175293 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.09978461265563965, + 0.03472452983260155, + -0.07350179553031921 + ], + "orientation": [ + 0.6164628267288208, + 0.3567923903465271, + 0.2727518081665039, + 0.6467450261116028 + ], + "joints": [ + 0.022122133523225784 + ] + }, + "final_grasp": { + "position": [ + -0.09978461265563965, + 0.03472452983260155, + -0.07350179553031921 + ], + "orientation": [ + 0.6164628267288208, + 0.3567923903465271, + 0.2727518081665039, + 0.6467450261116028 + ], + "joints": [ + 0.012509163469076157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11518439650535583, + 0.05209129676222801, + -0.06722472608089447 + ], + "orientation": [ + 0.5744646787643433, + -0.3322002589702606, + 0.357407808303833, + -0.6571857333183289 + ], + "joints": [ + 0.022843411192297935 + ] + }, + "fine_grasp": { + "position": [ + -0.11225374042987823, + 0.05005069077014923, + -0.06552349030971527 + ], + "orientation": [ + 0.5703283548355103, + -0.3278687596321106, + 0.36438682675361633, + -0.6591281294822693 + ], + "joints": [ + 0.013230441138148308 + ] + }, + "final_grasp": { + "position": [ + -0.11225374042987823, + 0.05005069077014923, + -0.06552349030971527 + ], + "orientation": [ + 0.5703283548355103, + -0.3278687596321106, + 0.36438682675361633, + -0.6591281294822693 + ], + "joints": [ + 0.00361747108399868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08728814125061035, + 0.12455292791128159, + 0.036938346922397614 + ], + "orientation": [ + 0.5805221796035767, + 0.6616916656494141, + -0.4574897289276123, + -0.12594139575958252 + ], + "joints": [ + 0.019796382635831833 + ] + }, + "fine_grasp": { + "position": [ + 0.08377016335725784, + 0.12222450971603394, + 0.0353672131896019 + ], + "orientation": [ + 0.5834000110626221, + 0.662813663482666, + -0.45232638716697693, + -0.12539273500442505 + ], + "joints": [ + 0.013527054339647293 + ] + }, + "final_grasp": { + "position": [ + 0.08377016335725784, + 0.12222450971603394, + 0.0353672131896019 + ], + "orientation": [ + 0.5834000110626221, + 0.662813663482666, + -0.45232638716697693, + -0.12539273500442505 + ], + "joints": [ + 0.007257726043462753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03399510681629181, + 0.16995897889137268, + -0.003273292910307646 + ], + "orientation": [ + 0.30430594086647034, + 0.09641072154045105, + -0.6932704448699951, + 0.6461259722709656 + ], + "joints": [ + 0.021973533555865288 + ] + }, + "fine_grasp": { + "position": [ + 0.03303929418325424, + 0.16706013679504395, + -0.003347565419971943 + ], + "orientation": [ + 0.3113912343978882, + 0.09983531385660172, + -0.6915217041969299, + 0.6441009044647217 + ], + "joints": [ + 0.013196473941206932 + ] + }, + "final_grasp": { + "position": [ + 0.03303929418325424, + 0.16706013679504395, + -0.003347565419971943 + ], + "orientation": [ + 0.3113912343978882, + 0.09983531385660172, + -0.6915217041969299, + 0.6441009044647217 + ], + "joints": [ + 0.004419414326548576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07519815862178802, + -0.07995548099279404, + -0.06629742681980133 + ], + "orientation": [ + 0.6993525624275208, + -0.5271732211112976, + -0.00018966155766975135, + -0.48269492387771606 + ], + "joints": [ + 0.028701739385724068 + ] + }, + "fine_grasp": { + "position": [ + -0.07296521961688995, + -0.07781938463449478, + -0.06439467519521713 + ], + "orientation": [ + 0.69969242811203, + -0.5245548486709595, + 0.0017128749750554562, + -0.4850461483001709 + ], + "joints": [ + 0.01988288201391697 + ] + }, + "final_grasp": { + "position": [ + -0.07296521961688995, + -0.07781938463449478, + -0.06439467519521713 + ], + "orientation": [ + 0.69969242811203, + -0.5245548486709595, + 0.0017128749750554562, + -0.4850461483001709 + ], + "joints": [ + 0.011064024642109871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046924058347940445, + 0.16947919130325317, + 0.004463881719857454 + ], + "orientation": [ + 0.6791037321090698, + 0.712928831577301, + -0.1118490993976593, + -0.13431501388549805 + ], + "joints": [ + 0.02046799473464489 + ] + }, + "fine_grasp": { + "position": [ + 0.045013315975666046, + 0.16598360240459442, + 0.004218976013362408 + ], + "orientation": [ + 0.6766591668128967, + 0.7127281427383423, + -0.11398071050643921, + -0.14546245336532593 + ], + "joints": [ + 0.011272979900240898 + ] + }, + "final_grasp": { + "position": [ + 0.045013315975666046, + 0.16598360240459442, + 0.004218976013362408 + ], + "orientation": [ + 0.6766591668128967, + 0.7127281427383423, + -0.11398071050643921, + -0.14546245336532593 + ], + "joints": [ + 0.0020779650658369064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021069198846817017, + -0.031191004440188408, + 0.11029922217130661 + ], + "orientation": [ + 0.06993000209331512, + -0.8238623142242432, + 0.5477288365364075, + 0.12788192927837372 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + 0.019858308136463165, + -0.029297657310962677, + 0.10795531421899796 + ], + "orientation": [ + 0.07541660964488983, + -0.8174501061439514, + 0.5534107685089111, + 0.1407986581325531 + ], + "joints": [ + 0.02062160149216652 + ] + }, + "final_grasp": { + "position": [ + 0.019858308136463165, + -0.029297657310962677, + 0.10795531421899796 + ], + "orientation": [ + 0.07541660964488983, + -0.8174501061439514, + 0.5534107685089111, + 0.1407986581325531 + ], + "joints": [ + 0.011823642998933792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08487290889024734, + -0.05572573468089104, + -0.08284176886081696 + ], + "orientation": [ + 0.5867844820022583, + -0.4388772249221802, + 0.029551858082413673, + -0.6798510551452637 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.0825134739279747, + -0.05421573296189308, + -0.08056940883398056 + ], + "orientation": [ + 0.5894225835800171, + -0.43611449003219604, + 0.031557515263557434, + -0.6792564988136292 + ], + "joints": [ + 0.022220425307750702 + ] + }, + "final_grasp": { + "position": [ + -0.0825134739279747, + -0.05421573296189308, + -0.08056940883398056 + ], + "orientation": [ + 0.5894225835800171, + -0.43611449003219604, + 0.031557515263557434, + -0.6792564988136292 + ], + "joints": [ + 0.012983612716197968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030314059928059578, + -0.06829654425382614, + -0.10010558366775513 + ], + "orientation": [ + 0.7265321612358093, + -0.1452104151248932, + 0.28240975737571716, + 0.6093518733978271 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.029189614579081535, + -0.06526008248329163, + -0.09782636165618896 + ], + "orientation": [ + 0.7213913798332214, + -0.15064319968223572, + 0.2895934581756592, + 0.6107673645019531 + ], + "joints": [ + 0.02312580496072769 + ] + }, + "final_grasp": { + "position": [ + -0.029189614579081535, + -0.06526008248329163, + -0.09782636165618896 + ], + "orientation": [ + 0.7213913798332214, + -0.15064319968223572, + 0.2895934581756592, + 0.6107673645019531 + ], + "joints": [ + 0.01472490280866623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0002843723923433572, + 0.1813470870256424, + -0.005063401535153389 + ], + "orientation": [ + 0.16435568034648895, + 0.1486583650112152, + 0.6732226610183716, + -0.7054494619369507 + ], + "joints": [ + 0.021473189815878868 + ] + }, + "fine_grasp": { + "position": [ + 0.00020753114949911833, + 0.1772872805595398, + -0.005009887274354696 + ], + "orientation": [ + 0.16378571093082428, + 0.15140178799629211, + 0.6732954382896423, + -0.7049290537834167 + ], + "joints": [ + 0.012696130201220512 + ] + }, + "final_grasp": { + "position": [ + 0.00020753114949911833, + 0.1772872805595398, + -0.005009887274354696 + ], + "orientation": [ + 0.16378571093082428, + 0.15140178799629211, + 0.6732954382896423, + -0.7049290537834167 + ], + "joints": [ + 0.003919070586562157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10354134440422058, + -0.043370313942432404, + 0.08681024610996246 + ], + "orientation": [ + 0.17886799573898315, + 0.5503932237625122, + -0.7034867405891418, + -0.4125288426876068 + ], + "joints": [ + 0.026339879259467125 + ] + }, + "fine_grasp": { + "position": [ + 0.10090123862028122, + -0.0420880950987339, + 0.08468374609947205 + ], + "orientation": [ + 0.1784408539533615, + 0.5500882863998413, + -0.7038756012916565, + -0.41245704889297485 + ], + "joints": [ + 0.017479224130511284 + ] + }, + "final_grasp": { + "position": [ + 0.10090123862028122, + -0.0420880950987339, + 0.08468374609947205 + ], + "orientation": [ + 0.1784408539533615, + 0.5500882863998413, + -0.7038756012916565, + -0.41245704889297485 + ], + "joints": [ + 0.008618569001555443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12898971140384674, + 0.06263559311628342, + -0.028341516852378845 + ], + "orientation": [ + 0.4988877773284912, + -0.41055938601493835, + -0.4683939814567566, + 0.6026268005371094 + ], + "joints": [ + 0.016498146578669548 + ] + }, + "fine_grasp": { + "position": [ + 0.12483987212181091, + 0.061080772429704666, + -0.027523815631866455 + ], + "orientation": [ + 0.495857834815979, + -0.4119407534599304, + -0.46900323033332825, + 0.6037099957466125 + ], + "joints": [ + 0.010228818282485008 + ] + }, + "final_grasp": { + "position": [ + 0.12483987212181091, + 0.061080772429704666, + -0.027523815631866455 + ], + "orientation": [ + 0.495857834815979, + -0.4119407534599304, + -0.46900323033332825, + 0.6037099957466125 + ], + "joints": [ + 0.0039594899863004684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11583977937698364, + -0.04474692419171333, + -0.028040189296007156 + ], + "orientation": [ + 0.45259642601013184, + 0.21799543499946594, + 0.6015489101409912, + 0.621106743812561 + ], + "joints": [ + 0.028331255540251732 + ] + }, + "fine_grasp": { + "position": [ + -0.11227399855852127, + -0.04380233213305473, + -0.027338877320289612 + ], + "orientation": [ + 0.4586493968963623, + 0.2212514579296112, + 0.6006246209144592, + 0.6163915395736694 + ], + "joints": [ + 0.01911534182727337 + ] + }, + "final_grasp": { + "position": [ + -0.11227399855852127, + -0.04380233213305473, + -0.027338877320289612 + ], + "orientation": [ + 0.4586493968963623, + 0.2212514579296112, + 0.6006246209144592, + 0.6163915395736694 + ], + "joints": [ + 0.009899428114295006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005039803800173104, + 0.18238577246665955, + -0.004715246148407459 + ], + "orientation": [ + 0.16258268058300018, + 0.1444508135318756, + 0.6743212938308716, + -0.7056851387023926 + ], + "joints": [ + 0.021530186757445335 + ] + }, + "fine_grasp": { + "position": [ + 0.0003388923068996519, + 0.17836444079875946, + -0.004753953777253628 + ], + "orientation": [ + 0.16040921211242676, + 0.1477774828672409, + 0.674953818321228, + -0.7048887610435486 + ], + "joints": [ + 0.012335171923041344 + ] + }, + "final_grasp": { + "position": [ + 0.0003388923068996519, + 0.17836444079875946, + -0.004753953777253628 + ], + "orientation": [ + 0.16040921211242676, + 0.1477774828672409, + 0.674953818321228, + -0.7048887610435486 + ], + "joints": [ + 0.003140157088637352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11574139446020126, + -0.04359252750873566, + -0.028136806562542915 + ], + "orientation": [ + 0.44778093695640564, + 0.21509550511837006, + 0.6061668395996094, + 0.6211182475090027 + ], + "joints": [ + 0.027451349422335625 + ] + }, + "fine_grasp": { + "position": [ + -0.11231493949890137, + -0.0432632714509964, + -0.027413293719291687 + ], + "orientation": [ + 0.45675647258758545, + 0.2226608544588089, + 0.6029340624809265, + 0.6150335073471069 + ], + "joints": [ + 0.01819363795220852 + ] + }, + "final_grasp": { + "position": [ + -0.11231493949890137, + -0.0432632714509964, + -0.027413293719291687 + ], + "orientation": [ + 0.45675647258758545, + 0.2226608544588089, + 0.6029340624809265, + 0.6150335073471069 + ], + "joints": [ + 0.008935926482081413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021230844780802727, + -0.031887754797935486, + 0.11085718125104904 + ], + "orientation": [ + 0.0705358013510704, + -0.8214749097824097, + 0.5508682131767273, + 0.12941384315490723 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + 0.020077157765626907, + -0.030051637440919876, + 0.10843018442392349 + ], + "orientation": [ + 0.07636960595846176, + -0.8149697184562683, + 0.5566766858100891, + 0.1417853981256485 + ], + "joints": [ + 0.020224545150995255 + ] + }, + "final_grasp": { + "position": [ + 0.020077157765626907, + -0.030051637440919876, + 0.10843018442392349 + ], + "orientation": [ + 0.07636960595846176, + -0.8149697184562683, + 0.5566766858100891, + 0.1417853981256485 + ], + "joints": [ + 0.011029530316591263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026135120540857315, + -0.0679241493344307, + -0.09558472782373428 + ], + "orientation": [ + 0.6477174758911133, + -0.07245462387800217, + -0.2650451362133026, + -0.7106077075004578 + ], + "joints": [ + 0.027314739301800728 + ] + }, + "fine_grasp": { + "position": [ + 0.025751382112503052, + -0.06398465484380722, + -0.0937136635184288 + ], + "orientation": [ + 0.6418200135231018, + -0.0867835283279419, + -0.2772134840488434, + -0.7097100019454956 + ], + "joints": [ + 0.020627455785870552 + ] + }, + "final_grasp": { + "position": [ + 0.025751382112503052, + -0.06398465484380722, + -0.0937136635184288 + ], + "orientation": [ + 0.6418200135231018, + -0.0867835283279419, + -0.2772134840488434, + -0.7097100019454956 + ], + "joints": [ + 0.013940172269940376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02062452957034111, + -0.03128141164779663, + 0.11082093417644501 + ], + "orientation": [ + 0.07219188660383224, + -0.8185886144638062, + 0.5534239411354065, + 0.1357315480709076 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + 0.019476668909192085, + -0.029502805322408676, + 0.10817508399486542 + ], + "orientation": [ + 0.07547283917665482, + -0.8122816681861877, + 0.5598078966140747, + 0.14531877636909485 + ], + "joints": [ + 0.021404316648840904 + ] + }, + "final_grasp": { + "position": [ + 0.019476668909192085, + -0.029502805322408676, + 0.10817508399486542 + ], + "orientation": [ + 0.07547283917665482, + -0.8122816681861877, + 0.5598078966140747, + 0.14531877636909485 + ], + "joints": [ + 0.011791346594691277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0985216572880745, + -0.027719125151634216, + 0.06705751270055771 + ], + "orientation": [ + 0.3699962794780731, + -0.6550210118293762, + 0.5863669514656067, + -0.3003731667995453 + ], + "joints": [ + 0.025529442355036736 + ] + }, + "fine_grasp": { + "position": [ + -0.0961088016629219, + -0.025458620861172676, + 0.06569160521030426 + ], + "orientation": [ + 0.38391032814979553, + -0.66029292345047, + 0.5794002413749695, + -0.2844671905040741 + ], + "joints": [ + 0.019218316301703453 + ] + }, + "final_grasp": { + "position": [ + -0.0961088016629219, + -0.025458620861172676, + 0.06569160521030426 + ], + "orientation": [ + 0.38391032814979553, + -0.66029292345047, + 0.5794002413749695, + -0.2844671905040741 + ], + "joints": [ + 0.01290719024837017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07075145840644836, + 0.009592339396476746, + -0.10175594687461853 + ], + "orientation": [ + 0.7642807364463806, + -0.15054234862327576, + 0.2771398425102234, + -0.5624993443489075 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.06887880712747574, + 0.010857018642127514, + -0.09872106462717056 + ], + "orientation": [ + 0.7671478986740112, + -0.15904799103736877, + 0.26787805557250977, + -0.5607398748397827 + ], + "joints": [ + 0.020755965262651443 + ] + }, + "final_grasp": { + "position": [ + -0.06887880712747574, + 0.010857018642127514, + -0.09872106462717056 + ], + "orientation": [ + 0.7671478986740112, + -0.15904799103736877, + 0.26787805557250977, + -0.5607398748397827 + ], + "joints": [ + 0.011142995208501816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02507610060274601, + -0.09605802595615387, + -0.006977378856390715 + ], + "orientation": [ + 0.5733540058135986, + -0.5720856189727783, + -0.26679527759552, + -0.5223057270050049 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.024687714874744415, + -0.09379789978265762, + -0.007872823625802994 + ], + "orientation": [ + 0.569758951663971, + -0.5795352458953857, + -0.2760525345802307, + -0.513136088848114 + ], + "joints": [ + 0.020620502531528473 + ] + }, + "final_grasp": { + "position": [ + -0.024687714874744415, + -0.09379789978265762, + -0.007872823625802994 + ], + "orientation": [ + 0.569758951663971, + -0.5795352458953857, + -0.2760525345802307, + -0.513136088848114 + ], + "joints": [ + 0.012261398136615753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005805436056107283, + -0.007687600329518318, + 0.13874009251594543 + ], + "orientation": [ + 0.010451158508658409, + -0.6120367050170898, + -0.7892643213272095, + -0.04861874505877495 + ], + "joints": [ + 0.029604801908135414 + ] + }, + "fine_grasp": { + "position": [ + -0.005636413116008043, + -0.007157605141401291, + 0.1350470632314682 + ], + "orientation": [ + 0.01968378573656082, + -0.6006634831428528, + -0.7971668243408203, + -0.0578017421066761 + ], + "joints": [ + 0.021580057218670845 + ] + }, + "final_grasp": { + "position": [ + -0.005636413116008043, + -0.007157605141401291, + 0.1350470632314682 + ], + "orientation": [ + 0.01968378573656082, + -0.6006634831428528, + -0.7971668243408203, + -0.0578017421066761 + ], + "joints": [ + 0.013555312529206276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060135617852211, + -0.008802201598882675, + -0.12555831670761108 + ], + "orientation": [ + 0.7773423194885254, + -0.18482136726379395, + 0.13383392989635468, + -0.5862324237823486 + ], + "joints": [ + 0.030044754967093468 + ] + }, + "fine_grasp": { + "position": [ + -0.058446966111660004, + -0.008236009627580643, + -0.12222187221050262 + ], + "orientation": [ + 0.7779428958892822, + -0.1852538138628006, + 0.13309603929519653, + -0.5854668617248535 + ], + "joints": [ + 0.021184099838137627 + ] + }, + "final_grasp": { + "position": [ + -0.058446966111660004, + -0.008236009627580643, + -0.12222187221050262 + ], + "orientation": [ + 0.7779428958892822, + -0.1852538138628006, + 0.13309603929519653, + -0.5854668617248535 + ], + "joints": [ + 0.012323444709181786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0936393216252327, + 0.034213997423648834, + -0.09364435821771622 + ], + "orientation": [ + 0.6098051071166992, + 0.28009122610092163, + 0.3009549081325531, + 0.6775786876678467 + ], + "joints": [ + 0.02298234961926937 + ] + }, + "fine_grasp": { + "position": [ + -0.09164313971996307, + 0.031735800206661224, + -0.0914241373538971 + ], + "orientation": [ + 0.6179001927375793, + 0.28947803378105164, + 0.2874904274940491, + 0.6721243262290955 + ], + "joints": [ + 0.012951424345374107 + ] + }, + "final_grasp": { + "position": [ + -0.09164313971996307, + 0.031735800206661224, + -0.0914241373538971 + ], + "orientation": [ + 0.6179001927375793, + 0.28947803378105164, + 0.2874904274940491, + 0.6721243262290955 + ], + "joints": [ + 0.0029204990714788437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08808879554271698, + -0.08316905796527863, + -0.04045647382736206 + ], + "orientation": [ + 0.3055727481842041, + 0.19131019711494446, + 0.5579292178153992, + 0.7474895119667053 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.08578340709209442, + -0.08037431538105011, + -0.0392712838947773 + ], + "orientation": [ + 0.30577796697616577, + 0.1913950890302658, + 0.5596176385879517, + 0.7461205124855042 + ], + "joints": [ + 0.02180137299001217 + ] + }, + "final_grasp": { + "position": [ + -0.08578340709209442, + -0.08037431538105011, + -0.0392712838947773 + ], + "orientation": [ + 0.30577796697616577, + 0.1913950890302658, + 0.5596176385879517, + 0.7461205124855042 + ], + "joints": [ + 0.012585459277033806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005866930354386568, + -0.05848126485943794, + -0.11059268563985825 + ], + "orientation": [ + 0.7016412615776062, + -0.1300591677427292, + 0.1538146734237671, + 0.6834656000137329 + ], + "joints": [ + 0.027729207649827003 + ] + }, + "fine_grasp": { + "position": [ + -0.005653990898281336, + -0.055308472365140915, + -0.10832677781581879 + ], + "orientation": [ + 0.6990985870361328, + -0.13993507623672485, + 0.16414625942707062, + 0.6817150115966797 + ], + "joints": [ + 0.020561272278428078 + ] + }, + "final_grasp": { + "position": [ + -0.005653990898281336, + -0.055308472365140915, + -0.10832677781581879 + ], + "orientation": [ + 0.6990985870361328, + -0.13993507623672485, + 0.16414625942707062, + 0.6817150115966797 + ], + "joints": [ + 0.013393336907029152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06451427936553955, + -0.026849422603845596, + 0.11156817525625229 + ], + "orientation": [ + 0.13298632204532623, + 0.5499807596206665, + -0.7853977084159851, + -0.25097066164016724 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.0626220777630806, + -0.025783367455005646, + 0.10837965458631516 + ], + "orientation": [ + 0.12586277723312378, + 0.5498320460319519, + -0.7846715450286865, + -0.2571645975112915 + ], + "joints": [ + 0.02312464267015457 + ] + }, + "final_grasp": { + "position": [ + 0.0626220777630806, + -0.025783367455005646, + 0.10837965458631516 + ], + "orientation": [ + 0.12586277723312378, + 0.5498320460319519, + -0.7846715450286865, + -0.2571645975112915 + ], + "joints": [ + 0.014305785298347473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033707063645124435, + -0.0417000949382782, + 0.10443788021802902 + ], + "orientation": [ + 0.20903819799423218, + -0.7299624085426331, + -0.6502506136894226, + 0.02514384128153324 + ], + "joints": [ + 0.028342580422759056 + ] + }, + "fine_grasp": { + "position": [ + 0.033419545739889145, + -0.03868177533149719, + 0.10210998356342316 + ], + "orientation": [ + 0.22336381673812866, + -0.7262537479400635, + -0.6501151323318481, + 0.0037808658089488745 + ], + "joints": [ + 0.0203805323690176 + ] + }, + "final_grasp": { + "position": [ + 0.033419545739889145, + -0.03868177533149719, + 0.10210998356342316 + ], + "orientation": [ + 0.22336381673812866, + -0.7262537479400635, + -0.6501151323318481, + 0.0037808658089488745 + ], + "joints": [ + 0.012418484315276146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1259467601776123, + 0.1026902124285698, + -0.00578747782856226 + ], + "orientation": [ + 0.5823742151260376, + 0.5999370813369751, + -0.3719600737094879, + -0.4031890332698822 + ], + "joints": [ + 0.021569864824414253 + ] + }, + "fine_grasp": { + "position": [ + 0.12231775373220444, + 0.10252458602190018, + -0.004894326440989971 + ], + "orientation": [ + 0.5824610590934753, + 0.5908480882644653, + -0.3746916651725769, + -0.41381630301475525 + ], + "joints": [ + 0.011518040671944618 + ] + }, + "final_grasp": { + "position": [ + 0.12231775373220444, + 0.10252458602190018, + -0.004894326440989971 + ], + "orientation": [ + 0.5824610590934753, + 0.5908480882644653, + -0.3746916651725769, + -0.41381630301475525 + ], + "joints": [ + 0.0014662165194749832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031384844332933426, + 0.15848785638809204, + 0.03922673687338829 + ], + "orientation": [ + 0.14566273987293243, + 0.40132156014442444, + -0.6990843415260315, + 0.5735890865325928 + ], + "joints": [ + 0.023237133398652077 + ] + }, + "fine_grasp": { + "position": [ + -0.029126187786459923, + 0.15551605820655823, + 0.037652891129255295 + ], + "orientation": [ + 0.14344154298305511, + 0.4028248190879822, + -0.7009937763214111, + 0.5707577466964722 + ], + "joints": [ + 0.014460073783993721 + ] + }, + "final_grasp": { + "position": [ + -0.029126187786459923, + 0.15551605820655823, + 0.037652891129255295 + ], + "orientation": [ + 0.14344154298305511, + 0.4028248190879822, + -0.7009937763214111, + 0.5707577466964722 + ], + "joints": [ + 0.005683014169335365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12610800564289093, + 0.10267610847949982, + -0.005655733868479729 + ], + "orientation": [ + 0.5835554003715515, + 0.5989400744438171, + -0.3704183101654053, + -0.40438106656074524 + ], + "joints": [ + 0.020666802302002907 + ] + }, + "fine_grasp": { + "position": [ + 0.12247933447360992, + 0.1025162786245346, + -0.004870132077485323 + ], + "orientation": [ + 0.5828401446342468, + 0.5901505351066589, + -0.3737485706806183, + -0.41512855887413025 + ], + "joints": [ + 0.011012034490704536 + ] + }, + "final_grasp": { + "position": [ + 0.12247933447360992, + 0.1025162786245346, + -0.004870132077485323 + ], + "orientation": [ + 0.5828401446342468, + 0.5901505351066589, + -0.3737485706806183, + -0.41512855887413025 + ], + "joints": [ + 0.001357266679406166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0030724445823580027, + 0.177396759390831, + -0.019093124195933342 + ], + "orientation": [ + 0.04043516144156456, + 0.07505308091640472, + -0.6433842778205872, + 0.7607815861701965 + ], + "joints": [ + 0.021988220512866974 + ] + }, + "fine_grasp": { + "position": [ + -0.0032914967741817236, + 0.17351995408535004, + -0.018344148993492126 + ], + "orientation": [ + 0.039329346269369125, + 0.07067031413316727, + -0.6425487399101257, + 0.7619646191596985 + ], + "joints": [ + 0.012375250458717346 + ] + }, + "final_grasp": { + "position": [ + -0.0032914967741817236, + 0.17351995408535004, + -0.018344148993492126 + ], + "orientation": [ + 0.039329346269369125, + 0.07067031413316727, + -0.6425487399101257, + 0.7619646191596985 + ], + "joints": [ + 0.0027622804045677185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03198717162013054, + 0.17149339616298676, + -0.03197024017572403 + ], + "orientation": [ + 0.5083346366882324, + 0.28284767270088196, + -0.5688430070877075, + 0.5813868045806885 + ], + "joints": [ + 0.020782575011253357 + ] + }, + "fine_grasp": { + "position": [ + 0.03047868050634861, + 0.1683710217475891, + -0.030001558363437653 + ], + "orientation": [ + 0.5157852172851562, + 0.27590513229370117, + -0.5626721978187561, + 0.5841591358184814 + ], + "joints": [ + 0.011587560176849365 + ] + }, + "final_grasp": { + "position": [ + 0.03047868050634861, + 0.1683710217475891, + -0.030001558363437653 + ], + "orientation": [ + 0.5157852172851562, + 0.27590513229370117, + -0.5626721978187561, + 0.5841591358184814 + ], + "joints": [ + 0.0023925453424453735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07445397973060608, + -0.07313691824674606, + 0.08455704152584076 + ], + "orientation": [ + 0.044982943683862686, + 0.5284772515296936, + 0.7245171666145325, + 0.4401853084564209 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + -0.07251513004302979, + -0.07060861587524414, + 0.08233697712421417 + ], + "orientation": [ + 0.040156107395887375, + 0.5288441777229309, + 0.7224479913711548, + 0.4435993432998657 + ], + "joints": [ + 0.020831098780035973 + ] + }, + "final_grasp": { + "position": [ + -0.07251513004302979, + -0.07060861587524414, + 0.08233697712421417 + ], + "orientation": [ + 0.040156107395887375, + 0.5288441777229309, + 0.7224479913711548, + 0.4435993432998657 + ], + "joints": [ + 0.011594286188483238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06008866801857948, + -0.00876482855528593, + -0.12551872432231903 + ], + "orientation": [ + 0.7770707607269287, + -0.18485809862613678, + 0.13369905948638916, + -0.5866115093231201 + ], + "joints": [ + 0.02983635663986206 + ] + }, + "fine_grasp": { + "position": [ + -0.05842294916510582, + -0.00822635367512703, + -0.12221827358007431 + ], + "orientation": [ + 0.7777315378189087, + -0.1851768046617508, + 0.1330856829881668, + -0.5857741236686707 + ], + "joints": [ + 0.02097570151090622 + ] + }, + "final_grasp": { + "position": [ + -0.05842294916510582, + -0.00822635367512703, + -0.12221827358007431 + ], + "orientation": [ + 0.7777315378189087, + -0.1851768046617508, + 0.1330856829881668, + -0.5857741236686707 + ], + "joints": [ + 0.012115046381950378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08702759444713593, + 0.08375761657953262, + -0.07651125639677048 + ], + "orientation": [ + 0.6918714046478271, + 0.3458360731601715, + 0.23586738109588623, + 0.5882839560508728 + ], + "joints": [ + 0.021263185888528824 + ] + }, + "fine_grasp": { + "position": [ + -0.08416088670492172, + 0.08345983177423477, + -0.07380668073892593 + ], + "orientation": [ + 0.6915823817253113, + 0.34238648414611816, + 0.23820802569389343, + 0.5896968841552734 + ], + "joints": [ + 0.011650215834379196 + ] + }, + "final_grasp": { + "position": [ + -0.08416088670492172, + 0.08345983177423477, + -0.07380668073892593 + ], + "orientation": [ + 0.6915823817253113, + 0.34238648414611816, + 0.23820802569389343, + 0.5896968841552734 + ], + "joints": [ + 0.0020372457802295685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08635446429252625, + 0.08360828459262848, + -0.07592006772756577 + ], + "orientation": [ + 0.7017314434051514, + 0.34308382868766785, + 0.23816372454166412, + 0.5771867632865906 + ], + "joints": [ + 0.021236177533864975 + ] + }, + "fine_grasp": { + "position": [ + -0.08331357687711716, + 0.0835665613412857, + -0.07330264151096344 + ], + "orientation": [ + 0.7015149593353271, + 0.338451623916626, + 0.24331794679164886, + 0.5780342817306519 + ], + "joints": [ + 0.012041162699460983 + ] + }, + "final_grasp": { + "position": [ + -0.08331357687711716, + 0.0835665613412857, + -0.07330264151096344 + ], + "orientation": [ + 0.7015149593353271, + 0.338451623916626, + 0.24331794679164886, + 0.5780342817306519 + ], + "joints": [ + 0.0028461478650569916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0022984647657722235, + 0.17620231211185455, + -0.018460026010870934 + ], + "orientation": [ + 0.038044705986976624, + 0.08222825080156326, + -0.6449883580207825, + 0.7588023543357849 + ], + "joints": [ + 0.02124253287911415 + ] + }, + "fine_grasp": { + "position": [ + -0.002726025879383087, + 0.1722981333732605, + -0.017764467746019363 + ], + "orientation": [ + 0.039175961166620255, + 0.07265467196702957, + -0.6445698142051697, + 0.7600765228271484 + ], + "joints": [ + 0.01204751804471016 + ] + }, + "final_grasp": { + "position": [ + -0.002726025879383087, + 0.1722981333732605, + -0.017764467746019363 + ], + "orientation": [ + 0.039175961166620255, + 0.07265467196702957, + -0.6445698142051697, + 0.7600765228271484 + ], + "joints": [ + 0.0028525032103061676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0030252982396632433, + 0.1742449402809143, + -0.018687285482883453 + ], + "orientation": [ + 0.06957057863473892, + 0.08848891407251358, + -0.640369713306427, + 0.7597739100456238 + ], + "joints": [ + 0.02192801795899868 + ] + }, + "fine_grasp": { + "position": [ + -0.002987790619954467, + 0.17100933194160461, + -0.018475748598575592 + ], + "orientation": [ + 0.06976554542779922, + 0.08940497040748596, + -0.6392319202423096, + 0.7606064081192017 + ], + "joints": [ + 0.012733003124594688 + ] + }, + "final_grasp": { + "position": [ + -0.002987790619954467, + 0.17100933194160461, + -0.018475748598575592 + ], + "orientation": [ + 0.06976554542779922, + 0.08940497040748596, + -0.6392319202423096, + 0.7606064081192017 + ], + "joints": [ + 0.0035379882901906967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061982057988643646, + 0.0756295919418335, + 0.08970319479703903 + ], + "orientation": [ + 0.12531161308288574, + -0.6121771931648254, + 0.7164731621742249, + -0.3101651668548584 + ], + "joints": [ + 0.020589929074048996 + ] + }, + "fine_grasp": { + "position": [ + -0.0598735474050045, + 0.07742636650800705, + 0.08641228824853897 + ], + "orientation": [ + 0.11240904778242111, + -0.6146524548530579, + 0.7142581343650818, + -0.31528088450431824 + ], + "joints": [ + 0.01390264555811882 + ] + }, + "final_grasp": { + "position": [ + -0.0598735474050045, + 0.07742636650800705, + 0.08641228824853897 + ], + "orientation": [ + 0.11240904778242111, + -0.6146524548530579, + 0.7142581343650818, + -0.31528088450431824 + ], + "joints": [ + 0.007215362042188644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009278516285121441, + 0.16451086103916168, + 0.03757181018590927 + ], + "orientation": [ + 0.5171434879302979, + 0.6661691069602966, + 0.4445796310901642, + -0.30187785625457764 + ], + "joints": [ + 0.02166319265961647 + ] + }, + "fine_grasp": { + "position": [ + -0.007971259765326977, + 0.16075991094112396, + 0.0360647551715374 + ], + "orientation": [ + 0.5202859044075012, + 0.6702595353126526, + 0.4400610327720642, + -0.2939407229423523 + ], + "joints": [ + 0.014139998704195023 + ] + }, + "final_grasp": { + "position": [ + -0.007971259765326977, + 0.16075991094112396, + 0.0360647551715374 + ], + "orientation": [ + 0.5202859044075012, + 0.6702595353126526, + 0.4400610327720642, + -0.2939407229423523 + ], + "joints": [ + 0.006616804748773575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05285406485199928, + 0.17346537113189697, + -0.003989880904555321 + ], + "orientation": [ + 0.10295002907514572, + -0.22396138310432434, + -0.6600132584571838, + 0.7096654772758484 + ], + "joints": [ + 0.022195059806108475 + ] + }, + "fine_grasp": { + "position": [ + 0.05136888474225998, + 0.1699015200138092, + -0.0038462006486952305 + ], + "orientation": [ + 0.10056829452514648, + -0.2218722254037857, + -0.6602922677993774, + 0.7104033827781677 + ], + "joints": [ + 0.011767078191041946 + ] + }, + "final_grasp": { + "position": [ + 0.05136888474225998, + 0.1699015200138092, + -0.0038462006486952305 + ], + "orientation": [ + 0.10056829452514648, + -0.2218722254037857, + -0.6602922677993774, + 0.7104033827781677 + ], + "joints": [ + 0.001339096575975418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0526496060192585, + 0.17349162697792053, + -0.004047175869345665 + ], + "orientation": [ + 0.10420871526002884, + -0.22400519251823425, + -0.6600981950759888, + 0.7093888521194458 + ], + "joints": [ + 0.022195059806108475 + ] + }, + "fine_grasp": { + "position": [ + 0.051185980439186096, + 0.16992011666297913, + -0.003909742459654808 + ], + "orientation": [ + 0.10153281688690186, + -0.221241295337677, + -0.660516619682312, + 0.710254430770874 + ], + "joints": [ + 0.011767078191041946 + ] + }, + "final_grasp": { + "position": [ + 0.051185980439186096, + 0.16992011666297913, + -0.003909742459654808 + ], + "orientation": [ + 0.10153281688690186, + -0.221241295337677, + -0.660516619682312, + 0.710254430770874 + ], + "joints": [ + 0.001339096575975418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03499757871031761, + 0.17724139988422394, + -0.036564137786626816 + ], + "orientation": [ + 0.33744487166404724, + 0.1251671314239502, + 0.6028345227241516, + -0.7120776772499084 + ], + "joints": [ + 0.021454082801938057 + ] + }, + "fine_grasp": { + "position": [ + -0.03331530839204788, + 0.17415466904640198, + -0.034830670803785324 + ], + "orientation": [ + 0.34351927042007446, + 0.11889754235744476, + 0.5984453558921814, + -0.7139475345611572 + ], + "joints": [ + 0.01184111274778843 + ] + }, + "final_grasp": { + "position": [ + -0.03331530839204788, + 0.17415466904640198, + -0.034830670803785324 + ], + "orientation": [ + 0.34351927042007446, + 0.11889754235744476, + 0.5984453558921814, + -0.7139475345611572 + ], + "joints": [ + 0.0022281426936388016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11477507650852203, + -0.03275030106306076, + -0.04083054140210152 + ], + "orientation": [ + 0.6551516652107239, + -0.44060420989990234, + 0.39961233735084534, + -0.4657832980155945 + ], + "joints": [ + 0.0278449896723032 + ] + }, + "fine_grasp": { + "position": [ + -0.11214230209589005, + -0.030461858958005905, + -0.039444539695978165 + ], + "orientation": [ + 0.6593001484870911, + -0.44889184832572937, + 0.38877928256988525, + -0.46116167306900024 + ], + "joints": [ + 0.01948588527739048 + ] + }, + "final_grasp": { + "position": [ + -0.11214230209589005, + -0.030461858958005905, + -0.039444539695978165 + ], + "orientation": [ + 0.6593001484870911, + -0.44889184832572937, + 0.38877928256988525, + -0.46116167306900024 + ], + "joints": [ + 0.01112678088247776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12414459884166718, + 0.0796315148472786, + 0.05333185940980911 + ], + "orientation": [ + 0.48013952374458313, + 0.5851792693138123, + -0.5863062143325806, + -0.28857627511024475 + ], + "joints": [ + 0.0161721371114254 + ] + }, + "fine_grasp": { + "position": [ + 0.12067654728889465, + 0.07957121729850769, + 0.051814429461956024 + ], + "orientation": [ + 0.47289636731147766, + 0.5818337202072144, + -0.5928752422332764, + -0.29383227229118347 + ], + "joints": [ + 0.008147395215928555 + ] + }, + "final_grasp": { + "position": [ + 0.12067654728889465, + 0.07957121729850769, + 0.051814429461956024 + ], + "orientation": [ + 0.47289636731147766, + 0.5818337202072144, + -0.5928752422332764, + -0.29383227229118347 + ], + "joints": [ + 0.0001226533204317093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06392112374305725, + 0.14794214069843292, + -0.056582119315862656 + ], + "orientation": [ + 0.7435194849967957, + 0.5209261775016785, + 0.046082235872745514, + 0.41676273941993713 + ], + "joints": [ + 0.021322444081306458 + ] + }, + "fine_grasp": { + "position": [ + -0.061475127935409546, + 0.14569230377674103, + -0.05451706424355507 + ], + "orientation": [ + 0.7431584000587463, + 0.5175049901008606, + 0.05059712380170822, + 0.42112258076667786 + ], + "joints": [ + 0.01170947402715683 + ] + }, + "final_grasp": { + "position": [ + -0.061475127935409546, + 0.14569230377674103, + -0.05451706424355507 + ], + "orientation": [ + 0.7431584000587463, + 0.5175049901008606, + 0.05059712380170822, + 0.42112258076667786 + ], + "joints": [ + 0.002096503973007202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09038709104061127, + -0.08518587052822113, + -0.010498439893126488 + ], + "orientation": [ + 0.41092661023139954, + 0.05819253623485565, + -0.6895163655281067, + -0.5935657024383545 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.08770955353975296, + -0.08253897726535797, + -0.010282806120812893 + ], + "orientation": [ + 0.41253069043159485, + 0.06469196081161499, + -0.6844485998153687, + -0.597631573677063 + ], + "joints": [ + 0.022542346268892288 + ] + }, + "final_grasp": { + "position": [ + 0.08770955353975296, + -0.08253897726535797, + -0.010282806120812893 + ], + "orientation": [ + 0.41253069043159485, + 0.06469196081161499, + -0.6844485998153687, + -0.597631573677063 + ], + "joints": [ + 0.013326432555913925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009067798964679241, + 0.16380953788757324, + 0.03701081871986389 + ], + "orientation": [ + 0.517596960067749, + 0.6675904989242554, + 0.442721962928772, + -0.30068841576576233 + ], + "joints": [ + 0.022070176899433136 + ] + }, + "fine_grasp": { + "position": [ + -0.007289969362318516, + 0.16031748056411743, + 0.035545941442251205 + ], + "orientation": [ + 0.5208038091659546, + 0.6733353734016418, + 0.4360083341598511, + -0.2920268774032593 + ], + "joints": [ + 0.014129027724266052 + ] + }, + "final_grasp": { + "position": [ + -0.007289969362318516, + 0.16031748056411743, + 0.035545941442251205 + ], + "orientation": [ + 0.5208038091659546, + 0.6733353734016418, + 0.4360083341598511, + -0.2920268774032593 + ], + "joints": [ + 0.0061878785490989685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023956531658768654, + -0.10979637503623962, + -0.027952097356319427 + ], + "orientation": [ + 0.7545114755630493, + -0.5967957377433777, + -0.2667756676673889, + -0.05812092870473862 + ], + "joints": [ + 0.02837756834924221 + ] + }, + "fine_grasp": { + "position": [ + 0.024146880954504013, + -0.10604443401098251, + -0.026598436757922173 + ], + "orientation": [ + 0.7568634748458862, + -0.5970867276191711, + -0.25654610991477966, + -0.06949353218078613 + ], + "joints": [ + 0.01918255351483822 + ] + }, + "final_grasp": { + "position": [ + 0.024146880954504013, + -0.10604443401098251, + -0.026598436757922173 + ], + "orientation": [ + 0.7568634748458862, + -0.5970867276191711, + -0.25654610991477966, + -0.06949353218078613 + ], + "joints": [ + 0.009987538680434227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02151968702673912, + -0.0715697705745697, + -0.104118213057518 + ], + "orientation": [ + 0.5418407320976257, + -0.29013434052467346, + -0.238182932138443, + -0.7519970536231995 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + -0.021061118692159653, + -0.06961875408887863, + -0.1012164056301117 + ], + "orientation": [ + 0.5444408655166626, + -0.28759241104125977, + -0.23795175552368164, + -0.7511682510375977 + ], + "joints": [ + 0.021736418828368187 + ] + }, + "final_grasp": { + "position": [ + -0.021061118692159653, + -0.06961875408887863, + -0.1012164056301117 + ], + "orientation": [ + 0.5444408655166626, + -0.28759241104125977, + -0.23795175552368164, + -0.7511682510375977 + ], + "joints": [ + 0.012478707358241081 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07232578843832016, + -0.08299244940280914, + -0.06552514433860779 + ], + "orientation": [ + 0.2972685694694519, + 0.1844860166311264, + -0.4770517647266388, + -0.8062368631362915 + ], + "joints": [ + 0.02867858298122883 + ] + }, + "fine_grasp": { + "position": [ + 0.07138415426015854, + -0.07989409565925598, + -0.0638432577252388 + ], + "orientation": [ + 0.2953985631465912, + 0.1763453632593155, + -0.4809983968734741, + -0.8064010143280029 + ], + "joints": [ + 0.020256781950592995 + ] + }, + "final_grasp": { + "position": [ + 0.07138415426015854, + -0.07989409565925598, + -0.0638432577252388 + ], + "orientation": [ + 0.2953985631465912, + 0.1763453632593155, + -0.4809983968734741, + -0.8064010143280029 + ], + "joints": [ + 0.011834980919957161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1035068929195404, + 0.12547750771045685, + 0.018209127709269524 + ], + "orientation": [ + 0.6122779250144958, + 0.6163217425346375, + 0.4352543354034424, + 0.2362556904554367 + ], + "joints": [ + 0.02183431200683117 + ] + }, + "fine_grasp": { + "position": [ + -0.10003359615802765, + 0.1239374428987503, + 0.0174849983304739 + ], + "orientation": [ + 0.6072310209274292, + 0.6150555610656738, + 0.4415549039840698, + 0.24084535241127014 + ], + "joints": [ + 0.011009274050593376 + ] + }, + "final_grasp": { + "position": [ + -0.10003359615802765, + 0.1239374428987503, + 0.0174849983304739 + ], + "orientation": [ + 0.6072310209274292, + 0.6150555610656738, + 0.4415549039840698, + 0.24084535241127014 + ], + "joints": [ + 0.0001842360943555832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03672682121396065, + 0.15996962785720825, + 0.03785168007016182 + ], + "orientation": [ + 0.06905685365200043, + 0.2989063560962677, + 0.7375463247299194, + -0.6015908718109131 + ], + "joints": [ + 0.02252163365483284 + ] + }, + "fine_grasp": { + "position": [ + 0.034760188311338425, + 0.15672653913497925, + 0.0364312119781971 + ], + "orientation": [ + 0.06187604367733002, + 0.30107447504997253, + 0.7394892573356628, + -0.5989000201225281 + ], + "joints": [ + 0.013326618820428848 + ] + }, + "final_grasp": { + "position": [ + 0.034760188311338425, + 0.15672653913497925, + 0.0364312119781971 + ], + "orientation": [ + 0.06187604367733002, + 0.30107447504997253, + 0.7394892573356628, + -0.5989000201225281 + ], + "joints": [ + 0.004131603986024857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028667934238910675, + -0.10330581665039062, + -0.02928425930440426 + ], + "orientation": [ + 0.40634411573410034, + -0.36391299962997437, + 0.4261225759983063, + 0.7217141389846802 + ], + "joints": [ + 0.029118545353412628 + ] + }, + "fine_grasp": { + "position": [ + 0.027256609871983528, + -0.09953314065933228, + -0.02909979782998562 + ], + "orientation": [ + 0.40016797184944153, + -0.3717940151691437, + 0.43589842319488525, + 0.7152813076972961 + ], + "joints": [ + 0.020341485738754272 + ] + }, + "final_grasp": { + "position": [ + 0.027256609871983528, + -0.09953314065933228, + -0.02909979782998562 + ], + "orientation": [ + 0.40016797184944153, + -0.3717940151691437, + 0.43589842319488525, + 0.7152813076972961 + ], + "joints": [ + 0.011564426124095917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01304682157933712, + -0.10194005817174911, + 0.01700735092163086 + ], + "orientation": [ + 0.10888282209634781, + -0.14022162556648254, + 0.76091068983078, + 0.6240970492362976 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.01202574372291565, + -0.09829839318990707, + 0.015816928818821907 + ], + "orientation": [ + 0.11234589666128159, + -0.12406344711780548, + 0.7604653835296631, + 0.6274385452270508 + ], + "joints": [ + 0.021637029945850372 + ] + }, + "final_grasp": { + "position": [ + -0.01202574372291565, + -0.09829839318990707, + 0.015816928818821907 + ], + "orientation": [ + 0.11234589666128159, + -0.12406344711780548, + 0.7604653835296631, + 0.6274385452270508 + ], + "joints": [ + 0.01244201511144638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021997330710291862, + -0.08986100554466248, + -0.09078705310821533 + ], + "orientation": [ + 0.6967173218727112, + -0.193674236536026, + -0.2867412269115448, + -0.6283747553825378 + ], + "joints": [ + 0.027330240234732628 + ] + }, + "fine_grasp": { + "position": [ + 0.021387886255979538, + -0.08597151190042496, + -0.08913853019475937 + ], + "orientation": [ + 0.6912592649459839, + -0.20318731665611267, + -0.29666125774383545, + -0.6267915964126587 + ], + "joints": [ + 0.020225001499056816 + ] + }, + "final_grasp": { + "position": [ + 0.021387886255979538, + -0.08597151190042496, + -0.08913853019475937 + ], + "orientation": [ + 0.6912592649459839, + -0.20318731665611267, + -0.29666125774383545, + -0.6267915964126587 + ], + "joints": [ + 0.013119762763381004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07091708481311798, + 0.00954168476164341, + -0.10184342414140701 + ], + "orientation": [ + 0.7649562358856201, + -0.15131588280200958, + 0.27619314193725586, + -0.561838686466217 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.06902604550123215, + 0.01079095434397459, + -0.09879425168037415 + ], + "orientation": [ + 0.7681350708007812, + -0.15937857329845428, + 0.2667676508426666, + -0.5598230957984924 + ], + "joints": [ + 0.02082201838493347 + ] + }, + "final_grasp": { + "position": [ + -0.06902604550123215, + 0.01079095434397459, + -0.09879425168037415 + ], + "orientation": [ + 0.7681350708007812, + -0.15937857329845428, + 0.2667676508426666, + -0.5598230957984924 + ], + "joints": [ + 0.01081199198961258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07169609516859055, + -0.08279013633728027, + -0.06589596718549728 + ], + "orientation": [ + 0.28534260392189026, + 0.1936429738998413, + -0.4741029143333435, + -0.8101286888122559 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.07094604521989822, + -0.07967124879360199, + -0.06419537961483002 + ], + "orientation": [ + 0.2819261848926544, + 0.18464124202728271, + -0.4776560068130493, + -0.811338484287262 + ], + "joints": [ + 0.01981682889163494 + ] + }, + "final_grasp": { + "position": [ + 0.07094604521989822, + -0.07967124879360199, + -0.06419537961483002 + ], + "orientation": [ + 0.2819261848926544, + 0.18464124202728271, + -0.4776560068130493, + -0.811338484287262 + ], + "joints": [ + 0.011395027860999107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033270470798015594, + 0.17977185547351837, + -0.014775308780372143 + ], + "orientation": [ + 0.7394660711288452, + 0.6578121185302734, + -0.07698865979909897, + -0.1206064224243164 + ], + "joints": [ + 0.022516785189509392 + ] + }, + "fine_grasp": { + "position": [ + 0.03223444148898125, + 0.1760912835597992, + -0.014333531260490417 + ], + "orientation": [ + 0.7392789721488953, + 0.658044159412384, + -0.07707194983959198, + -0.12043417245149612 + ], + "joints": [ + 0.012067904695868492 + ] + }, + "final_grasp": { + "position": [ + 0.03223444148898125, + 0.1760912835597992, + -0.014333531260490417 + ], + "orientation": [ + 0.7392789721488953, + 0.658044159412384, + -0.07707194983959198, + -0.12043417245149612 + ], + "joints": [ + 0.0016190242022275925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09970611333847046, + -0.035157203674316406, + -0.06270477920770645 + ], + "orientation": [ + 0.49817946553230286, + 0.2710016667842865, + -0.4183279871940613, + -0.7094905972480774 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.09663645178079605, + -0.03370865434408188, + -0.06076882779598236 + ], + "orientation": [ + 0.495001882314682, + 0.2678009271621704, + -0.42181146144866943, + -0.7108662724494934 + ], + "joints": [ + 0.022608395665884018 + ] + }, + "final_grasp": { + "position": [ + 0.09663645178079605, + -0.03370865434408188, + -0.06076882779598236 + ], + "orientation": [ + 0.495001882314682, + 0.2678009271621704, + -0.42181146144866943, + -0.7108662724494934 + ], + "joints": [ + 0.01299542561173439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11640876531600952, + -0.02041488327085972, + -0.04920784756541252 + ], + "orientation": [ + 0.3740687072277069, + 0.4529668390750885, + 0.35670730471611023, + 0.7263975739479065 + ], + "joints": [ + 0.028933294117450714 + ] + }, + "fine_grasp": { + "position": [ + -0.11358529329299927, + -0.018551470711827278, + -0.047407254576683044 + ], + "orientation": [ + 0.3725103437900543, + 0.44501060247421265, + 0.3638681471347809, + 0.728561282157898 + ], + "joints": [ + 0.020135335624217987 + ] + }, + "final_grasp": { + "position": [ + -0.11358529329299927, + -0.018551470711827278, + -0.047407254576683044 + ], + "orientation": [ + 0.3725103437900543, + 0.44501060247421265, + 0.3638681471347809, + 0.728561282157898 + ], + "joints": [ + 0.01133737713098526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07231062650680542, + -0.08263618499040604, + -0.06537318974733353 + ], + "orientation": [ + 0.2990038990974426, + 0.18320654332637787, + -0.4765469431877136, + -0.8061854839324951 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.07143724709749222, + -0.07938273996114731, + -0.0636313334107399 + ], + "orientation": [ + 0.2966929078102112, + 0.1740608662366867, + -0.48128625750541687, + -0.8062504529953003 + ], + "joints": [ + 0.020322835072875023 + ] + }, + "final_grasp": { + "position": [ + 0.07143724709749222, + -0.07938273996114731, + -0.0636313334107399 + ], + "orientation": [ + 0.2966929078102112, + 0.1740608662366867, + -0.48128625750541687, + -0.8062504529953003 + ], + "joints": [ + 0.011503977701067924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02912900783121586, + -0.1032470166683197, + -0.029444685205817223 + ], + "orientation": [ + 0.4049321115016937, + -0.3632487654685974, + 0.4257698357105255, + 0.7230492830276489 + ], + "joints": [ + 0.028863834217190742 + ] + }, + "fine_grasp": { + "position": [ + 0.027894767001271248, + -0.0995202586054802, + -0.029326485469937325 + ], + "orientation": [ + 0.3989162743091583, + -0.3714401423931122, + 0.436718612909317, + 0.7156640291213989 + ], + "joints": [ + 0.01966881938278675 + ] + }, + "final_grasp": { + "position": [ + 0.027894767001271248, + -0.0995202586054802, + -0.029326485469937325 + ], + "orientation": [ + 0.3989162743091583, + -0.3714401423931122, + 0.436718612909317, + 0.7156640291213989 + ], + "joints": [ + 0.010473804548382759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052470091730356216, + -0.0063268868252635, + -0.11356703191995621 + ], + "orientation": [ + 0.7874820232391357, + -0.16414672136306763, + 0.14931386709213257, + -0.5750072598457336 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.05117017775774002, + -0.004883963149040937, + -0.11012591421604156 + ], + "orientation": [ + 0.7914188504219055, + -0.16863228380680084, + 0.14422723650932312, + -0.5695768594741821 + ], + "joints": [ + 0.023909669369459152 + ] + }, + "final_grasp": { + "position": [ + -0.05117017775774002, + -0.004883963149040937, + -0.11012591421604156 + ], + "orientation": [ + 0.7914188504219055, + -0.16863228380680084, + 0.14422723650932312, + -0.5695768594741821 + ], + "joints": [ + 0.015111710876226425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0638919398188591, + 0.14817911386489868, + -0.056115761399269104 + ], + "orientation": [ + 0.7449370622634888, + 0.5220802426338196, + 0.048152804374694824, + 0.41253143548965454 + ], + "joints": [ + 0.021594837307929993 + ] + }, + "fine_grasp": { + "position": [ + -0.06146709993481636, + 0.1459677666425705, + -0.05392120033502579 + ], + "orientation": [ + 0.7453426718711853, + 0.5181874632835388, + 0.05350591242313385, + 0.4160328209400177 + ], + "joints": [ + 0.011981867253780365 + ] + }, + "final_grasp": { + "position": [ + -0.06146709993481636, + 0.1459677666425705, + -0.05392120033502579 + ], + "orientation": [ + 0.7453426718711853, + 0.5181874632835388, + 0.05350591242313385, + 0.4160328209400177 + ], + "joints": [ + 0.0023688971996307373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05165862664580345, + 0.16772930324077606, + -0.001441634027287364 + ], + "orientation": [ + 0.31581366062164307, + 0.011256925761699677, + 0.7042084336280823, + -0.635787308216095 + ], + "joints": [ + 0.021848319098353386 + ] + }, + "fine_grasp": { + "position": [ + -0.04980092868208885, + 0.1642092615365982, + -0.0012068420182913542 + ], + "orientation": [ + 0.3224700689315796, + 0.011004148982465267, + 0.7042970657348633, + -0.6323428750038147 + ], + "joints": [ + 0.012632405385375023 + ] + }, + "final_grasp": { + "position": [ + -0.04980092868208885, + 0.1642092615365982, + -0.0012068420182913542 + ], + "orientation": [ + 0.3224700689315796, + 0.011004148982465267, + 0.7042970657348633, + -0.6323428750038147 + ], + "joints": [ + 0.00341649167239666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0215621255338192, + -0.07185117900371552, + -0.10440576076507568 + ], + "orientation": [ + 0.5406188368797302, + -0.289971262216568, + -0.23832476139068604, + -0.7528937458992004 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + -0.02110057696700096, + -0.06984884291887283, + -0.10154229402542114 + ], + "orientation": [ + 0.5432586073875427, + -0.2876931428909302, + -0.23840218782424927, + -0.7518425583839417 + ], + "joints": [ + 0.021339362487196922 + ] + }, + "final_grasp": { + "position": [ + -0.02110057696700096, + -0.06984884291887283, + -0.10154229402542114 + ], + "orientation": [ + 0.5432586073875427, + -0.2876931428909302, + -0.23840218782424927, + -0.7518425583839417 + ], + "joints": [ + 0.011684594675898552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00026125196018256247, + -0.10291987657546997, + 0.021087901666760445 + ], + "orientation": [ + 0.6403019428253174, + -0.7533606290817261, + -0.050997041165828705, + -0.14092674851417542 + ], + "joints": [ + 0.0291880052536726 + ] + }, + "fine_grasp": { + "position": [ + -0.0006159723270684481, + -0.09986171126365662, + 0.01935572735965252 + ], + "orientation": [ + 0.6405020952224731, + -0.7540103793144226, + -0.06577623635530472, + -0.12999559938907623 + ], + "joints": [ + 0.02082890085875988 + ] + }, + "final_grasp": { + "position": [ + -0.0006159723270684481, + -0.09986171126365662, + 0.01935572735965252 + ], + "orientation": [ + 0.6405020952224731, + -0.7540103793144226, + -0.06577623635530472, + -0.12999559938907623 + ], + "joints": [ + 0.01246979646384716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09967971593141556, + -0.035061854869127274, + -0.06228077411651611 + ], + "orientation": [ + 0.4993673264980316, + 0.2693294584751129, + -0.4211956560611725, + -0.7075931429862976 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.09661295264959335, + -0.03367257118225098, + -0.060354359447956085 + ], + "orientation": [ + 0.49549004435539246, + 0.26654738187789917, + -0.4246746003627777, + -0.7092909216880798 + ], + "joints": [ + 0.022608395665884018 + ] + }, + "final_grasp": { + "position": [ + 0.09661295264959335, + -0.03367257118225098, + -0.060354359447956085 + ], + "orientation": [ + 0.49549004435539246, + 0.26654738187789917, + -0.4246746003627777, + -0.7092909216880798 + ], + "joints": [ + 0.01299542561173439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00830113422125578, + 0.1636720895767212, + 0.03700898215174675 + ], + "orientation": [ + 0.5175789594650269, + 0.6616864800453186, + 0.45016956329345703, + -0.3027048707008362 + ], + "joints": [ + 0.02364354021847248 + ] + }, + "fine_grasp": { + "position": [ + -0.006910249590873718, + 0.1602005660533905, + 0.03543061763048172 + ], + "orientation": [ + 0.5195552110671997, + 0.6693260669708252, + 0.44131192564964294, + -0.29548072814941406 + ], + "joints": [ + 0.014866480603814125 + ] + }, + "final_grasp": { + "position": [ + -0.006910249590873718, + 0.1602005660533905, + 0.03543061763048172 + ], + "orientation": [ + 0.5195552110671997, + 0.6693260669708252, + 0.44131192564964294, + -0.29548072814941406 + ], + "joints": [ + 0.006089420989155769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08502548187971115, + -0.06362275779247284, + -0.06098150089383125 + ], + "orientation": [ + 0.7397827506065369, + -0.46630164980888367, + 0.19082117080688477, + -0.44595009088516235 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.08297468721866608, + -0.06068732962012291, + -0.059259768575429916 + ], + "orientation": [ + 0.7394668459892273, + -0.47263774275779724, + 0.1813139170408249, + -0.44376522302627563 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + -0.08297468721866608, + -0.06068732962012291, + -0.059259768575429916 + ], + "orientation": [ + 0.7394668459892273, + -0.47263774275779724, + 0.1813139170408249, + -0.44376522302627563 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02697828970849514, + -0.09486032277345657, + -0.04119379073381424 + ], + "orientation": [ + 0.548713207244873, + -0.3401566445827484, + -0.5277805924415588, + -0.5519553422927856 + ], + "joints": [ + 0.02923431806266308 + ] + }, + "fine_grasp": { + "position": [ + 0.02487247809767723, + -0.09236408770084381, + -0.0392693355679512 + ], + "orientation": [ + 0.5531436800956726, + -0.33076804876327515, + -0.5213215947151184, + -0.559328556060791 + ], + "joints": [ + 0.020039303228259087 + ] + }, + "final_grasp": { + "position": [ + 0.02487247809767723, + -0.09236408770084381, + -0.0392693355679512 + ], + "orientation": [ + 0.5531436800956726, + -0.33076804876327515, + -0.5213215947151184, + -0.559328556060791 + ], + "joints": [ + 0.010844288393855095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10318728536367416, + 0.10560080409049988, + -0.0398559644818306 + ], + "orientation": [ + 0.4416380822658539, + -0.3125607967376709, + -0.48398101329803467, + 0.6877672672271729 + ], + "joints": [ + 0.021309465169906616 + ] + }, + "fine_grasp": { + "position": [ + 0.09951463341712952, + 0.1047227755188942, + -0.0385015569627285 + ], + "orientation": [ + 0.4450315237045288, + -0.3165561556816101, + -0.48078444600105286, + 0.6859923601150513 + ], + "joints": [ + 0.012114450335502625 + ] + }, + "final_grasp": { + "position": [ + 0.09951463341712952, + 0.1047227755188942, + -0.0385015569627285 + ], + "orientation": [ + 0.4450315237045288, + -0.3165561556816101, + -0.48078444600105286, + 0.6859923601150513 + ], + "joints": [ + 0.002919435501098633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06204240396618843, + 0.13957861065864563, + 0.07397805154323578 + ], + "orientation": [ + 0.46023693680763245, + 0.6388528347015381, + -0.6138460636138916, + 0.05693959444761276 + ], + "joints": [ + 0.021654382348060608 + ] + }, + "fine_grasp": { + "position": [ + 0.060110364109277725, + 0.13720598816871643, + 0.07147478312253952 + ], + "orientation": [ + 0.45417195558547974, + 0.6397577524185181, + -0.6178451180458069, + 0.052012670785188675 + ], + "joints": [ + 0.011644355952739716 + ] + }, + "final_grasp": { + "position": [ + 0.060110364109277725, + 0.13720598816871643, + 0.07147478312253952 + ], + "orientation": [ + 0.45417195558547974, + 0.6397577524185181, + -0.6178451180458069, + 0.052012670785188675 + ], + "joints": [ + 0.0016343295574188232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08688047528266907, + 0.0004688680055551231, + 0.08601026982069016 + ], + "orientation": [ + 0.29821038246154785, + -0.5072344541549683, + 0.7838889360427856, + -0.19824716448783875 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + -0.08378905057907104, + 0.0017815401079133153, + 0.0840504914522171 + ], + "orientation": [ + 0.31380096077919006, + -0.5119024515151978, + 0.7769056558609009, + -0.18947888910770416 + ], + "joints": [ + 0.019880684092640877 + ] + }, + "final_grasp": { + "position": [ + -0.08378905057907104, + 0.0017815401079133153, + 0.0840504914522171 + ], + "orientation": [ + 0.31380096077919006, + -0.5119024515151978, + 0.7769056558609009, + -0.18947888910770416 + ], + "joints": [ + 0.011939534917473793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10045424848794937, + 0.026181429624557495, + -0.07429073005914688 + ], + "orientation": [ + 0.5084455609321594, + 0.4496769905090332, + 0.1736348420381546, + 0.7135297060012817 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + -0.09777479618787766, + 0.026998067274689674, + -0.07128071784973145 + ], + "orientation": [ + 0.5046131610870361, + 0.43904706835746765, + 0.1791178286075592, + 0.721470832824707 + ], + "joints": [ + 0.02034379355609417 + ] + }, + "final_grasp": { + "position": [ + -0.09777479618787766, + 0.026998067274689674, + -0.07128071784973145 + ], + "orientation": [ + 0.5046131610870361, + 0.43904706835746765, + 0.1791178286075592, + 0.721470832824707 + ], + "joints": [ + 0.012402644380927086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0004834597057197243, + -0.08964532613754272, + 0.06741365790367126 + ], + "orientation": [ + 0.4020296037197113, + -0.695401668548584, + -0.5130338668823242, + -0.3026299774646759 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.00013883301289752126, + -0.08667374402284622, + 0.06552035361528397 + ], + "orientation": [ + 0.39628610014915466, + -0.6970462203025818, + -0.5171435475349426, + -0.29941028356552124 + ], + "joints": [ + 0.02265019342303276 + ] + }, + "final_grasp": { + "position": [ + 0.00013883301289752126, + -0.08667374402284622, + 0.06552035361528397 + ], + "orientation": [ + 0.39628610014915466, + -0.6970462203025818, + -0.5171435475349426, + -0.29941028356552124 + ], + "joints": [ + 0.013079021126031876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04897090420126915, + 0.17232902348041534, + 0.03437468782067299 + ], + "orientation": [ + 0.1675349771976471, + 0.4231216013431549, + -0.6497838497161865, + 0.6088359355926514 + ], + "joints": [ + 0.01992582529783249 + ] + }, + "fine_grasp": { + "position": [ + -0.04662991687655449, + 0.16971658170223236, + 0.03301776573061943 + ], + "orientation": [ + 0.14679373800754547, + 0.43623507022857666, + -0.6499863266944885, + 0.6047051548957825 + ], + "joints": [ + 0.010689012706279755 + ] + }, + "final_grasp": { + "position": [ + -0.04662991687655449, + 0.16971658170223236, + 0.03301776573061943 + ], + "orientation": [ + 0.14679373800754547, + 0.43623507022857666, + -0.6499863266944885, + 0.6047051548957825 + ], + "joints": [ + 0.0014522001147270203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021173613145947456, + -0.06165134161710739, + -0.10676614195108414 + ], + "orientation": [ + 0.4525150954723358, + -0.02223867177963257, + -0.2846086323261261, + -0.8448274731636047 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.02144389972090721, + -0.05897963047027588, + -0.1045350506901741 + ], + "orientation": [ + 0.4524495303630829, + -0.031107889488339424, + -0.2902100086212158, + -0.8426742553710938 + ], + "joints": [ + 0.020512651652097702 + ] + }, + "final_grasp": { + "position": [ + 0.02144389972090721, + -0.05897963047027588, + -0.1045350506901741 + ], + "orientation": [ + 0.4524495303630829, + -0.031107889488339424, + -0.2902100086212158, + -0.8426742553710938 + ], + "joints": [ + 0.012508805841207504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13016511499881744, + 0.05286256596446037, + 0.017435533925890923 + ], + "orientation": [ + 0.3438303470611572, + -0.5307014584541321, + -0.534185528755188, + 0.5610548853874207 + ], + "joints": [ + 0.030276309698820114 + ] + }, + "fine_grasp": { + "position": [ + 0.12654007971286774, + 0.05185453221201897, + 0.01677611470222473 + ], + "orientation": [ + 0.3427159786224365, + -0.5322284698486328, + -0.538091242313385, + 0.5565397143363953 + ], + "joints": [ + 0.019848328083753586 + ] + }, + "final_grasp": { + "position": [ + 0.12654007971286774, + 0.05185453221201897, + 0.01677611470222473 + ], + "orientation": [ + 0.3427159786224365, + -0.5322284698486328, + -0.538091242313385, + 0.5565397143363953 + ], + "joints": [ + 0.009420346468687057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041537318378686905, + -0.01344318687915802, + -0.11881859600543976 + ], + "orientation": [ + 0.706354022026062, + -0.16336582601070404, + 0.07325194031000137, + -0.6848428249359131 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.040178265422582626, + -0.012936010956764221, + -0.1151110902428627 + ], + "orientation": [ + 0.7065446972846985, + -0.1646069884300232, + 0.07171443104743958, + -0.6845116019248962 + ], + "joints": [ + 0.02258523926138878 + ] + }, + "final_grasp": { + "position": [ + -0.040178265422582626, + -0.012936010956764221, + -0.1151110902428627 + ], + "orientation": [ + 0.7065446972846985, + -0.1646069884300232, + 0.07171443104743958, + -0.6845116019248962 + ], + "joints": [ + 0.012972269207239151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08452652394771576, + -0.06352125108242035, + -0.060854461044073105 + ], + "orientation": [ + 0.7420580983161926, + -0.46432429552078247, + 0.19468775391578674, + -0.4425486922264099 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.08254186064004898, + -0.06058758869767189, + -0.05910942703485489 + ], + "orientation": [ + 0.7420372366905212, + -0.4707842469215393, + 0.18461106717586517, + -0.44007012248039246 + ], + "joints": [ + 0.022771641612052917 + ] + }, + "final_grasp": { + "position": [ + -0.08254186064004898, + -0.06058758869767189, + -0.05910942703485489 + ], + "orientation": [ + 0.7420372366905212, + -0.4707842469215393, + 0.18461106717586517, + -0.44007012248039246 + ], + "joints": [ + 0.013576626777648926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10410703718662262, + 0.050627321004867554, + -0.06617708504199982 + ], + "orientation": [ + 0.5559535622596741, + 0.36714309453964233, + -0.32266804575920105, + -0.6723145246505737 + ], + "joints": [ + 0.021611278876662254 + ] + }, + "fine_grasp": { + "position": [ + 0.100925013422966, + 0.05063946917653084, + -0.06387985497713089 + ], + "orientation": [ + 0.5532131195068359, + 0.36621665954589844, + -0.3215307295322418, + -0.6756172776222229 + ], + "joints": [ + 0.011998308822512627 + ] + }, + "final_grasp": { + "position": [ + 0.100925013422966, + 0.05063946917653084, + -0.06387985497713089 + ], + "orientation": [ + 0.5532131195068359, + 0.36621665954589844, + -0.3215307295322418, + -0.6756172776222229 + ], + "joints": [ + 0.002385338768362999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04823888838291168, + 0.0872369334101677, + 0.11217503249645233 + ], + "orientation": [ + 0.22091913223266602, + 0.713055431842804, + -0.6622968316078186, + -0.06410496681928635 + ], + "joints": [ + 0.021806197240948677 + ] + }, + "fine_grasp": { + "position": [ + 0.046622492372989655, + 0.08662499487400055, + 0.10868239402770996 + ], + "orientation": [ + 0.21354037523269653, + 0.7132970690727234, + -0.6636815071105957, + -0.07165668904781342 + ], + "joints": [ + 0.011796170845627785 + ] + }, + "final_grasp": { + "position": [ + 0.046622492372989655, + 0.08662499487400055, + 0.10868239402770996 + ], + "orientation": [ + 0.21354037523269653, + 0.7132970690727234, + -0.6636815071105957, + -0.07165668904781342 + ], + "joints": [ + 0.0017861444503068924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018918324261903763, + 0.17692552506923676, + 0.046841099858284 + ], + "orientation": [ + 0.31114864349365234, + 0.5610628128051758, + -0.6060892939567566, + 0.47016051411628723 + ], + "joints": [ + 0.02235041745007038 + ] + }, + "fine_grasp": { + "position": [ + -0.01830395683646202, + 0.17341120541095734, + 0.04524402320384979 + ], + "orientation": [ + 0.3081876039505005, + 0.5645029544830322, + -0.6076812148094177, + 0.4659188389778137 + ], + "joints": [ + 0.011922435835003853 + ] + }, + "final_grasp": { + "position": [ + -0.01830395683646202, + 0.17341120541095734, + 0.04524402320384979 + ], + "orientation": [ + 0.3081876039505005, + 0.5645029544830322, + -0.6076812148094177, + 0.4659188389778137 + ], + "joints": [ + 0.0014944542199373245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0465974397957325, + 0.05887976661324501, + 0.11751178652048111 + ], + "orientation": [ + 0.2152891457080841, + 0.6994971036911011, + 0.6800181865692139, + 0.04392609745264053 + ], + "joints": [ + 0.03066830337047577 + ] + }, + "fine_grasp": { + "position": [ + -0.04522865265607834, + 0.056905802339315414, + 0.11436492949724197 + ], + "orientation": [ + 0.23232240974903107, + 0.6975529789924622, + 0.677287220954895, + 0.026985952630639076 + ], + "joints": [ + 0.02266445755958557 + ] + }, + "final_grasp": { + "position": [ + -0.04522865265607834, + 0.056905802339315414, + 0.11436492949724197 + ], + "orientation": [ + 0.23232240974903107, + 0.6975529789924622, + 0.677287220954895, + 0.026985952630639076 + ], + "joints": [ + 0.014660611748695374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06884866207838058, + 0.1037689819931984, + -0.08352860063314438 + ], + "orientation": [ + 0.5431569814682007, + -0.14464594423770905, + 0.34473326802253723, + -0.7518091797828674 + ], + "joints": [ + 0.020887907594442368 + ] + }, + "fine_grasp": { + "position": [ + -0.06651443243026733, + 0.10278739780187607, + -0.08031618595123291 + ], + "orientation": [ + 0.5413826704025269, + -0.1478419154882431, + 0.34233543276786804, + -0.7535609602928162 + ], + "joints": [ + 0.012110847979784012 + ] + }, + "final_grasp": { + "position": [ + -0.06651443243026733, + 0.10278739780187607, + -0.08031618595123291 + ], + "orientation": [ + 0.5413826704025269, + -0.1478419154882431, + 0.34233543276786804, + -0.7535609602928162 + ], + "joints": [ + 0.003333788365125656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09015604853630066, + -0.08486797660589218, + -0.010468983091413975 + ], + "orientation": [ + 0.4110153913497925, + 0.05743938684463501, + -0.6895275115966797, + -0.5935646295547485 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.08753713220357895, + -0.08223612606525421, + -0.010263493284583092 + ], + "orientation": [ + 0.41277724504470825, + 0.06383076310157776, + -0.6844925284385681, + -0.5975036025047302 + ], + "joints": [ + 0.02231079339981079 + ] + }, + "final_grasp": { + "position": [ + 0.08753713220357895, + -0.08223612606525421, + -0.010263493284583092 + ], + "orientation": [ + 0.41277724504470825, + 0.06383076310157776, + -0.6844925284385681, + -0.5975036025047302 + ], + "joints": [ + 0.013094879686832428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03598087653517723, + 0.1602865755558014, + 0.03713098540902138 + ], + "orientation": [ + 0.07324676960706711, + 0.30626681447029114, + 0.7353445291519165, + -0.6000865697860718 + ], + "joints": [ + 0.022454921156167984 + ] + }, + "fine_grasp": { + "position": [ + 0.03397788107395172, + 0.15699177980422974, + 0.03567693755030632 + ], + "orientation": [ + 0.06644299626350403, + 0.30723920464515686, + 0.7370249629020691, + -0.5983175039291382 + ], + "joints": [ + 0.014095816761255264 + ] + }, + "final_grasp": { + "position": [ + 0.03397788107395172, + 0.15699177980422974, + 0.03567693755030632 + ], + "orientation": [ + 0.06644299626350403, + 0.30723920464515686, + 0.7370249629020691, + -0.5983175039291382 + ], + "joints": [ + 0.0057367123663425446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04099058732390404, + -0.10124598443508148, + 0.01462914701551199 + ], + "orientation": [ + 0.2308204174041748, + -0.44203007221221924, + 0.583344042301178, + 0.6411249041557312 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.0392887257039547, + -0.09767747670412064, + 0.014378253370523453 + ], + "orientation": [ + 0.22285684943199158, + -0.44523686170578003, + 0.5858615040779114, + 0.6394256949424744 + ], + "joints": [ + 0.022232238203287125 + ] + }, + "final_grasp": { + "position": [ + 0.0392887257039547, + -0.09767747670412064, + 0.014378253370523453 + ], + "orientation": [ + 0.22285684943199158, + -0.44523686170578003, + 0.5858615040779114, + 0.6394256949424744 + ], + "joints": [ + 0.012243110686540604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04267551749944687, + 0.00040324803558178246, + -0.11590307950973511 + ], + "orientation": [ + 0.6027024388313293, + 0.04464281350374222, + 0.18696869909763336, + 0.7744672298431396 + ], + "joints": [ + 0.02779867686331272 + ] + }, + "fine_grasp": { + "position": [ + -0.041104137897491455, + -0.00016312346269842237, + -0.11253636330366135 + ], + "orientation": [ + 0.6063545346260071, + 0.05411490052938461, + 0.18353833258152008, + 0.7718285918235779 + ], + "joints": [ + 0.0194395724684 + ] + }, + "final_grasp": { + "position": [ + -0.041104137897491455, + -0.00016312346269842237, + -0.11253636330366135 + ], + "orientation": [ + 0.6063545346260071, + 0.05411490052938461, + 0.18353833258152008, + 0.7718285918235779 + ], + "joints": [ + 0.011080468073487282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01383380126208067, + 0.18019764125347137, + 0.01710360310971737 + ], + "orientation": [ + 0.044727735221385956, + -0.11481005698442459, + -0.7482806444168091, + 0.651839017868042 + ], + "joints": [ + 0.01992582529783249 + ] + }, + "fine_grasp": { + "position": [ + 0.014158816076815128, + 0.17611895501613617, + 0.01657431200146675 + ], + "orientation": [ + 0.03421489894390106, + -0.10324227809906006, + -0.749552845954895, + 0.6529479026794434 + ], + "joints": [ + 0.01156672090291977 + ] + }, + "final_grasp": { + "position": [ + 0.014158816076815128, + 0.17611895501613617, + 0.01657431200146675 + ], + "orientation": [ + 0.03421489894390106, + -0.10324227809906006, + -0.749552845954895, + 0.6529479026794434 + ], + "joints": [ + 0.0032076165080070496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11156832426786423, + 0.05476183444261551, + 0.049551982432603836 + ], + "orientation": [ + 0.40392765402793884, + 0.6396446228027344, + -0.5418934226036072, + -0.3661266565322876 + ], + "joints": [ + 0.023617280647158623 + ] + }, + "fine_grasp": { + "position": [ + 0.10820580273866653, + 0.05290659889578819, + 0.04813947528600693 + ], + "orientation": [ + 0.39483389258384705, + 0.6494556069374084, + -0.5265610218048096, + -0.38085034489631653 + ], + "joints": [ + 0.014840221032500267 + ] + }, + "final_grasp": { + "position": [ + 0.10820580273866653, + 0.05290659889578819, + 0.04813947528600693 + ], + "orientation": [ + 0.39483389258384705, + 0.6494556069374084, + -0.5265610218048096, + -0.38085034489631653 + ], + "joints": [ + 0.006063161417841911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027005547657608986, + -0.09500648826360703, + -0.041255559772253036 + ], + "orientation": [ + 0.5501236319541931, + -0.34191054105758667, + -0.5272672176361084, + -0.5499550104141235 + ], + "joints": [ + 0.029002763330936432 + ] + }, + "fine_grasp": { + "position": [ + 0.025022070854902267, + -0.09241670370101929, + -0.039253149181604385 + ], + "orientation": [ + 0.5539990663528442, + -0.3326871991157532, + -0.5213854908943176, + -0.5572803020477295 + ], + "joints": [ + 0.01980774849653244 + ] + }, + "final_grasp": { + "position": [ + 0.025022070854902267, + -0.09241670370101929, + -0.039253149181604385 + ], + "orientation": [ + 0.5539990663528442, + -0.3326871991157532, + -0.5213854908943176, + -0.5572803020477295 + ], + "joints": [ + 0.010612733662128448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007845970802009106, + 0.028251025825738907, + 0.13147228956222534 + ], + "orientation": [ + 0.05873943120241165, + 0.6285487413406372, + 0.7681546807289124, + -0.1068388894200325 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + 0.007984430529177189, + 0.02784820832312107, + 0.12778300046920776 + ], + "orientation": [ + 0.051569536328315735, + 0.6250603199005127, + 0.7728477120399475, + -0.09667804837226868 + ], + "joints": [ + 0.020061301067471504 + ] + }, + "final_grasp": { + "position": [ + 0.007984430529177189, + 0.02784820832312107, + 0.12778300046920776 + ], + "orientation": [ + 0.051569536328315735, + 0.6250603199005127, + 0.7728477120399475, + -0.09667804837226868 + ], + "joints": [ + 0.010448331013321877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03570609167218208, + 0.15947271883487701, + 0.03720783069729805 + ], + "orientation": [ + 0.06579582393169403, + 0.3081911504268646, + 0.7377032041549683, + -0.5970619916915894 + ], + "joints": [ + 0.02374035306274891 + ] + }, + "fine_grasp": { + "position": [ + 0.03386440873146057, + 0.1561785340309143, + 0.03581007570028305 + ], + "orientation": [ + 0.06093066558241844, + 0.3070726692676544, + 0.7398021221160889, + -0.5955559611320496 + ], + "joints": [ + 0.014545338228344917 + ] + }, + "final_grasp": { + "position": [ + 0.03386440873146057, + 0.1561785340309143, + 0.03581007570028305 + ], + "orientation": [ + 0.06093066558241844, + 0.3070726692676544, + 0.7398021221160889, + -0.5955559611320496 + ], + "joints": [ + 0.005350323393940926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06292617321014404, + 0.14062613248825073, + 0.07591159641742706 + ], + "orientation": [ + 0.4618690609931946, + 0.6359179615974426, + -0.6150058507919312, + 0.06366469711065292 + ], + "joints": [ + 0.021173391491174698 + ] + }, + "fine_grasp": { + "position": [ + 0.06092715635895729, + 0.13831953704357147, + 0.07341233640909195 + ], + "orientation": [ + 0.4544684886932373, + 0.6370964050292969, + -0.6198253035545349, + 0.058165449649095535 + ], + "joints": [ + 0.011581320315599442 + ] + }, + "final_grasp": { + "position": [ + 0.06092715635895729, + 0.13831953704357147, + 0.07341233640909195 + ], + "orientation": [ + 0.4544684886932373, + 0.6370964050292969, + -0.6198253035545349, + 0.058165449649095535 + ], + "joints": [ + 0.001989249140024185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11694774776697159, + -0.03281782194972038, + -0.04118209704756737 + ], + "orientation": [ + 0.6595430970191956, + -0.4432511031627655, + 0.39092516899108887, + -0.464444637298584 + ], + "joints": [ + 0.029257474467158318 + ] + }, + "fine_grasp": { + "position": [ + -0.11406069993972778, + -0.030707987025380135, + -0.03996548429131508 + ], + "orientation": [ + 0.6633307933807373, + -0.4516097605228424, + 0.38310083746910095, + -0.457465261220932 + ], + "joints": [ + 0.020062459632754326 + ] + }, + "final_grasp": { + "position": [ + -0.11406069993972778, + -0.030707987025380135, + -0.03996548429131508 + ], + "orientation": [ + 0.6633307933807373, + -0.4516097605228424, + 0.38310083746910095, + -0.457465261220932 + ], + "joints": [ + 0.010867444798350334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11722325533628464, + -0.03327091410756111, + 0.06178029254078865 + ], + "orientation": [ + 0.14664606750011444, + 0.6982502341270447, + 0.49720191955566406, + 0.4936920702457428 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + -0.11435675621032715, + -0.0317024327814579, + 0.0604577399790287 + ], + "orientation": [ + 0.13856445252895355, + 0.6939636468887329, + 0.49971333146095276, + 0.49950066208839417 + ], + "joints": [ + 0.01904813013970852 + ] + }, + "final_grasp": { + "position": [ + -0.11435675621032715, + -0.0317024327814579, + 0.0604577399790287 + ], + "orientation": [ + 0.13856445252895355, + 0.6939636468887329, + 0.49971333146095276, + 0.49950066208839417 + ], + "joints": [ + 0.009811317548155785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07540164142847061, + -0.004505434073507786, + -0.10950053483247757 + ], + "orientation": [ + 0.8158766031265259, + 0.11986023187637329, + 0.25359946489334106, + 0.5056344270706177 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + -0.07351382821798325, + -0.0031603346578776836, + -0.10664092004299164 + ], + "orientation": [ + 0.81288081407547, + 0.11398860067129135, + 0.2582947909832001, + 0.5094262361526489 + ], + "joints": [ + 0.020643599331378937 + ] + }, + "final_grasp": { + "position": [ + -0.07351382821798325, + -0.0031603346578776836, + -0.10664092004299164 + ], + "orientation": [ + 0.81288081407547, + 0.11398860067129135, + 0.2582947909832001, + 0.5094262361526489 + ], + "joints": [ + 0.011427685618400574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022169381380081177, + -0.06128467246890068, + -0.10758031159639359 + ], + "orientation": [ + 0.4570589065551758, + -0.026491336524486542, + -0.2838233411312103, + -0.8425198197364807 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + 0.022248459979891777, + -0.05862073600292206, + -0.10532380640506744 + ], + "orientation": [ + 0.45841339230537415, + -0.03344225138425827, + -0.28945064544677734, + -0.839617133140564 + ], + "joints": [ + 0.020643599331378937 + ] + }, + "final_grasp": { + "position": [ + 0.022248459979891777, + -0.05862073600292206, + -0.10532380640506744 + ], + "orientation": [ + 0.45841339230537415, + -0.03344225138425827, + -0.28945064544677734, + -0.839617133140564 + ], + "joints": [ + 0.011427685618400574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03748279809951782, + 0.16042746603488922, + 0.03943663835525513 + ], + "orientation": [ + 0.08209428191184998, + 0.3029616177082062, + 0.7325124144554138, + -0.6040697693824768 + ], + "joints": [ + 0.021014129742980003 + ] + }, + "fine_grasp": { + "position": [ + 0.03513971343636513, + 0.15745532512664795, + 0.03763217478990555 + ], + "orientation": [ + 0.07193205505609512, + 0.3103266954421997, + 0.7360251545906067, + -0.5973191261291504 + ], + "joints": [ + 0.01307298056781292 + ] + }, + "final_grasp": { + "position": [ + 0.03513971343636513, + 0.15745532512664795, + 0.03763217478990555 + ], + "orientation": [ + 0.07193205505609512, + 0.3103266954421997, + 0.7360251545906067, + -0.5973191261291504 + ], + "joints": [ + 0.005131831392645836 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07543087750673294, + -0.00447342311963439, + -0.10946203023195267 + ], + "orientation": [ + 0.8159196972846985, + 0.1199789047241211, + 0.25368747115135193, + 0.5054924488067627 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + -0.07352828979492188, + -0.0031165105756372213, + -0.10658051818609238 + ], + "orientation": [ + 0.8129081130027771, + 0.11404567211866379, + 0.2584215998649597, + 0.5093056559562683 + ], + "joints": [ + 0.020643599331378937 + ] + }, + "final_grasp": { + "position": [ + -0.07352828979492188, + -0.0031165105756372213, + -0.10658051818609238 + ], + "orientation": [ + 0.8129081130027771, + 0.11404567211866379, + 0.2584215998649597, + 0.5093056559562683 + ], + "joints": [ + 0.011427685618400574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09246069192886353, + 0.14955967664718628, + 0.029361821711063385 + ], + "orientation": [ + 0.6088699698448181, + 0.6474843621253967, + -0.4377334713935852, + -0.13576020300388336 + ], + "joints": [ + 0.022297421470284462 + ] + }, + "fine_grasp": { + "position": [ + 0.08975976705551147, + 0.14689317345619202, + 0.028502680361270905 + ], + "orientation": [ + 0.6090706586837769, + 0.6474517583847046, + -0.43767213821411133, + -0.13521239161491394 + ], + "joints": [ + 0.012684451416134834 + ] + }, + "final_grasp": { + "position": [ + 0.08975976705551147, + 0.14689317345619202, + 0.028502680361270905 + ], + "orientation": [ + 0.6090706586837769, + 0.6474517583847046, + -0.43767213821411133, + -0.13521239161491394 + ], + "joints": [ + 0.0030714813619852066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05257334187626839, + 0.16954925656318665, + -0.02043559029698372 + ], + "orientation": [ + 0.7329654693603516, + 0.6318855285644531, + 0.11757475137710571, + 0.2228417843580246 + ], + "joints": [ + 0.022038158029317856 + ] + }, + "fine_grasp": { + "position": [ + -0.050997067242860794, + 0.1660536229610443, + -0.019779039546847343 + ], + "orientation": [ + 0.7331461906433105, + 0.632233738899231, + 0.11643441766500473, + 0.22185641527175903 + ], + "joints": [ + 0.012007232755422592 + ] + }, + "final_grasp": { + "position": [ + -0.050997067242860794, + 0.1660536229610443, + -0.019779039546847343 + ], + "orientation": [ + 0.7331461906433105, + 0.632233738899231, + 0.11643441766500473, + 0.22185641527175903 + ], + "joints": [ + 0.0019763074815273285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05252842605113983, + -0.005651305895298719, + -0.11362021416425705 + ], + "orientation": [ + 0.7854225039482117, + -0.1653769612312317, + 0.14682921767234802, + -0.5781030654907227 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.051126282662153244, + -0.004183687269687653, + -0.11019230633974075 + ], + "orientation": [ + 0.7887150049209595, + -0.17021673917770386, + 0.142617866396904, + -0.5732496380805969 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + -0.051126282662153244, + -0.004183687269687653, + -0.11019230633974075 + ], + "orientation": [ + 0.7887150049209595, + -0.17021673917770386, + 0.142617866396904, + -0.5732496380805969 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09542596340179443, + 0.13009515404701233, + -0.0073913028463721275 + ], + "orientation": [ + 0.6647687554359436, + 0.5971620082855225, + 0.3319239318370819, + 0.3021697998046875 + ], + "joints": [ + 0.021274909377098083 + ] + }, + "fine_grasp": { + "position": [ + -0.09202302247285843, + 0.12801934778690338, + -0.00726217171177268 + ], + "orientation": [ + 0.664728581905365, + 0.5948056578636169, + 0.333246111869812, + 0.3054329752922058 + ], + "joints": [ + 0.012079894542694092 + ] + }, + "final_grasp": { + "position": [ + -0.09202302247285843, + 0.12801934778690338, + -0.00726217171177268 + ], + "orientation": [ + 0.664728581905365, + 0.5948056578636169, + 0.333246111869812, + 0.3054329752922058 + ], + "joints": [ + 0.0028848797082901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05086818337440491, + 0.08720490336418152, + 0.10416125506162643 + ], + "orientation": [ + 0.06403914093971252, + -0.7099984288215637, + 0.6571259498596191, + -0.24492210149765015 + ], + "joints": [ + 0.021329009905457497 + ] + }, + "fine_grasp": { + "position": [ + -0.049199771136045456, + 0.0865536481142044, + 0.10071411728858948 + ], + "orientation": [ + 0.06840024143457413, + -0.7151969075202942, + 0.6519560217857361, + -0.242421492934227 + ], + "joints": [ + 0.011298084631562233 + ] + }, + "final_grasp": { + "position": [ + -0.049199771136045456, + 0.0865536481142044, + 0.10071411728858948 + ], + "orientation": [ + 0.06840024143457413, + -0.7151969075202942, + 0.6519560217857361, + -0.242421492934227 + ], + "joints": [ + 0.0012671593576669693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02181420288980007, + -0.09522813558578491, + -0.006783460266888142 + ], + "orientation": [ + 0.5802057385444641, + -0.5715954899787903, + -0.27459824085235596, + -0.5111122131347656 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + -0.021161729469895363, + -0.09361761808395386, + -0.008652624674141407 + ], + "orientation": [ + 0.5807743072509766, + -0.5742834806442261, + -0.2844187021255493, + -0.5020016431808472 + ], + "joints": [ + 0.021128766238689423 + ] + }, + "final_grasp": { + "position": [ + -0.021161729469895363, + -0.09361761808395386, + -0.008652624674141407 + ], + "orientation": [ + 0.5807743072509766, + -0.5742834806442261, + -0.2844187021255493, + -0.5020016431808472 + ], + "joints": [ + 0.012351706624031067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02193055860698223, + -0.09515947848558426, + -0.0067355637438595295 + ], + "orientation": [ + 0.5798915028572083, + -0.5718492269515991, + -0.27463245391845703, + -0.5111666321754456 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + -0.021167956292629242, + -0.09356198459863663, + -0.008686589077115059 + ], + "orientation": [ + 0.5800360441207886, + -0.5749982595443726, + -0.2846103608608246, + -0.5019283294677734 + ], + "joints": [ + 0.021128766238689423 + ] + }, + "final_grasp": { + "position": [ + -0.021167956292629242, + -0.09356198459863663, + -0.008686589077115059 + ], + "orientation": [ + 0.5800360441207886, + -0.5749982595443726, + -0.2846103608608246, + -0.5019283294677734 + ], + "joints": [ + 0.012351706624031067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019555775448679924, + 0.06457434594631195, + -0.1110910177230835 + ], + "orientation": [ + 0.6637812256813049, + 0.11405612528324127, + -0.007310958579182625, + -0.739142894744873 + ], + "joints": [ + 0.017844414338469505 + ] + }, + "fine_grasp": { + "position": [ + 0.018923966214060783, + 0.06599009782075882, + -0.10703520476818085 + ], + "orientation": [ + 0.65317302942276, + 0.10913471132516861, + 0.0006439858698286116, + -0.7493025660514832 + ], + "joints": [ + 0.011554187163710594 + ] + }, + "final_grasp": { + "position": [ + 0.018923966214060783, + 0.06599009782075882, + -0.10703520476818085 + ], + "orientation": [ + 0.65317302942276, + 0.10913471132516861, + 0.0006439858698286116, + -0.7493025660514832 + ], + "joints": [ + 0.005263959988951683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10107409209012985, + 0.10349132120609283, + -0.058207616209983826 + ], + "orientation": [ + 0.5539790987968445, + -0.2573859393596649, + -0.44174036383628845, + 0.6570580005645752 + ], + "joints": [ + 0.022529415786266327 + ] + }, + "fine_grasp": { + "position": [ + 0.09796293079853058, + 0.10210203379392624, + -0.056396860629320145 + ], + "orientation": [ + 0.5528849959373474, + -0.2564554512500763, + -0.4427368938922882, + 0.6576722264289856 + ], + "joints": [ + 0.011683478951454163 + ] + }, + "final_grasp": { + "position": [ + 0.09796293079853058, + 0.10210203379392624, + -0.056396860629320145 + ], + "orientation": [ + 0.5528849959373474, + -0.2564554512500763, + -0.4427368938922882, + 0.6576722264289856 + ], + "joints": [ + 0.0008375421166419983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0482424721121788, + 0.17163921892642975, + 0.03432353585958481 + ], + "orientation": [ + 0.1599980741739273, + 0.4286574125289917, + -0.6472128033638, + 0.6097286343574524 + ], + "joints": [ + 0.02012203447520733 + ] + }, + "fine_grasp": { + "position": [ + -0.046188753098249435, + 0.16869650781154633, + 0.032861173152923584 + ], + "orientation": [ + 0.14416249096393585, + 0.44029536843299866, + -0.6489458084106445, + 0.6035117506980896 + ], + "joints": [ + 0.010509064421057701 + ] + }, + "final_grasp": { + "position": [ + -0.046188753098249435, + 0.16869650781154633, + 0.032861173152923584 + ], + "orientation": [ + 0.14416249096393585, + 0.44029536843299866, + -0.6489458084106445, + 0.6035117506980896 + ], + "joints": [ + 0.0008960943669080734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11589366942644119, + 0.10520829260349274, + -0.006798268295824528 + ], + "orientation": [ + 0.4834119975566864, + -0.316453754901886, + -0.6123307347297668, + 0.5396488904953003 + ], + "joints": [ + 0.022653654217720032 + ] + }, + "fine_grasp": { + "position": [ + 0.11212893575429916, + 0.10411617904901505, + -0.006475300993770361 + ], + "orientation": [ + 0.4854237139225006, + -0.318021684885025, + -0.6106343269348145, + 0.5388429760932922 + ], + "joints": [ + 0.011828616261482239 + ] + }, + "final_grasp": { + "position": [ + 0.11212893575429916, + 0.10411617904901505, + -0.006475300993770361 + ], + "orientation": [ + 0.4854237139225006, + -0.318021684885025, + -0.6106343269348145, + 0.5388429760932922 + ], + "joints": [ + 0.0010035783052444458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0434596948325634, + 0.07065241783857346, + -0.11431219428777695 + ], + "orientation": [ + 0.7585179209709167, + 0.2600383162498474, + -0.014329985715448856, + -0.5973483324050903 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + 0.04211915656924248, + 0.06921985745429993, + -0.1112217977643013 + ], + "orientation": [ + 0.7578094601631165, + 0.25887641310691833, + -0.01604391820728779, + -0.5987073183059692 + ], + "joints": [ + 0.021823368966579437 + ] + }, + "final_grasp": { + "position": [ + 0.04211915656924248, + 0.06921985745429993, + -0.1112217977643013 + ], + "orientation": [ + 0.7578094601631165, + 0.25887641310691833, + -0.01604391820728779, + -0.5987073183059692 + ], + "joints": [ + 0.012189500033855438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02966327778995037, + 0.17033763229846954, + -0.06924845278263092 + ], + "orientation": [ + 0.6075221300125122, + 0.2249075174331665, + -0.42373383045196533, + 0.6330742835998535 + ], + "joints": [ + 0.022470472380518913 + ] + }, + "fine_grasp": { + "position": [ + 0.02876702882349491, + 0.16702283918857574, + -0.06724002957344055 + ], + "orientation": [ + 0.6068520545959473, + 0.2252519130706787, + -0.4246021509170532, + 0.6330128312110901 + ], + "joints": [ + 0.012836603447794914 + ] + }, + "final_grasp": { + "position": [ + 0.02876702882349491, + 0.16702283918857574, + -0.06724002957344055 + ], + "orientation": [ + 0.6068520545959473, + 0.2252519130706787, + -0.4246021509170532, + 0.6330128312110901 + ], + "joints": [ + 0.0032027345150709152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022197604179382324, + 0.06384040415287018, + -0.11180716753005981 + ], + "orientation": [ + 0.6706691384315491, + 0.11876314878463745, + -0.01834208332002163, + -0.7319576144218445 + ], + "joints": [ + 0.017609702423214912 + ] + }, + "fine_grasp": { + "position": [ + 0.02145903743803501, + 0.06525266170501709, + -0.10771994292736053 + ], + "orientation": [ + 0.659464418888092, + 0.11304011940956116, + -0.010098437778651714, + -0.7431195378303528 + ], + "joints": [ + 0.011340374127030373 + ] + }, + "final_grasp": { + "position": [ + 0.02145903743803501, + 0.06525266170501709, + -0.10771994292736053 + ], + "orientation": [ + 0.659464418888092, + 0.11304011940956116, + -0.010098437778651714, + -0.7431195378303528 + ], + "joints": [ + 0.005071045830845833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024995479732751846, + 0.09275399893522263, + 0.1120423972606659 + ], + "orientation": [ + 0.03492541238665581, + 0.7465948462486267, + -0.6412370800971985, + 0.17375661432743073 + ], + "joints": [ + 0.021738644689321518 + ] + }, + "fine_grasp": { + "position": [ + -0.024314476177096367, + 0.09192365407943726, + 0.10827013105154037 + ], + "orientation": [ + 0.032653987407684326, + 0.7526581883430481, + -0.6352195143699646, + 0.17010432481765747 + ], + "joints": [ + 0.01212567463517189 + ] + }, + "final_grasp": { + "position": [ + -0.024314476177096367, + 0.09192365407943726, + 0.10827013105154037 + ], + "orientation": [ + 0.032653987407684326, + 0.7526581883430481, + -0.6352195143699646, + 0.17010432481765747 + ], + "joints": [ + 0.0025127045810222626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007714690174907446, + -0.1020066887140274, + -0.017833594232797623 + ], + "orientation": [ + 0.2665000855922699, + -0.3545847535133362, + -0.5953924655914307, + -0.669891893863678 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + -0.007814132608473301, + -0.09893833845853806, + -0.01626591570675373 + ], + "orientation": [ + 0.27402767539024353, + -0.34617379307746887, + -0.5915419459342957, + -0.6746487021446228 + ], + "joints": [ + 0.020874055102467537 + ] + }, + "final_grasp": { + "position": [ + -0.007814132608473301, + -0.09893833845853806, + -0.01626591570675373 + ], + "orientation": [ + 0.27402767539024353, + -0.34617379307746887, + -0.5915419459342957, + -0.6746487021446228 + ], + "joints": [ + 0.012096995487809181 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11610393226146698, + 0.10564529895782471, + -0.00675318343564868 + ], + "orientation": [ + 0.48436489701271057, + -0.31651782989501953, + -0.6123084425926208, + 0.538781464099884 + ], + "joints": [ + 0.02238493598997593 + ] + }, + "fine_grasp": { + "position": [ + 0.11229191720485687, + 0.10455326735973358, + -0.006431812420487404 + ], + "orientation": [ + 0.48651525378227234, + -0.3183687925338745, + -0.6105219125747681, + 0.5377797484397888 + ], + "joints": [ + 0.011977853253483772 + ] + }, + "final_grasp": { + "position": [ + 0.11229191720485687, + 0.10455326735973358, + -0.006431812420487404 + ], + "orientation": [ + 0.48651525378227234, + -0.3183687925338745, + -0.6105219125747681, + 0.5377797484397888 + ], + "joints": [ + 0.0015707705169916153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.081148661673069, + -0.07003023475408554, + -0.06464140117168427 + ], + "orientation": [ + 0.7404234409332275, + -0.4910217523574829, + 0.11674724519252777, + -0.4438929855823517 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.07889122515916824, + -0.06758188456296921, + -0.062902070581913 + ], + "orientation": [ + 0.7394119501113892, + -0.4920854866504669, + 0.11575312912464142, + -0.4446604549884796 + ], + "joints": [ + 0.022707849740982056 + ] + }, + "final_grasp": { + "position": [ + -0.07889122515916824, + -0.06758188456296921, + -0.062902070581913 + ], + "orientation": [ + 0.7394119501113892, + -0.4920854866504669, + 0.11575312912464142, + -0.4446604549884796 + ], + "joints": [ + 0.013888992369174957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028052430599927902, + 0.16752757132053375, + 0.04343284294009209 + ], + "orientation": [ + 0.5831637382507324, + 0.7614469528198242, + 0.266661137342453, + -0.09492338448762894 + ], + "joints": [ + 0.02219190075993538 + ] + }, + "fine_grasp": { + "position": [ + -0.026667941361665726, + 0.16394302248954773, + 0.0418478362262249 + ], + "orientation": [ + 0.5794776678085327, + 0.7639026045799255, + 0.27051207423210144, + -0.08649776875972748 + ], + "joints": [ + 0.01383279636502266 + ] + }, + "final_grasp": { + "position": [ + -0.026667941361665726, + 0.16394302248954773, + 0.0418478362262249 + ], + "orientation": [ + 0.5794776678085327, + 0.7639026045799255, + 0.27051207423210144, + -0.08649776875972748 + ], + "joints": [ + 0.00547369197010994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014342131093144417, + 0.18396130204200745, + -0.024993618950247765 + ], + "orientation": [ + 0.7086983919143677, + 0.5591831207275391, + -0.3278391659259796, + 0.2785358428955078 + ], + "joints": [ + 0.02165200561285019 + ] + }, + "fine_grasp": { + "position": [ + 0.014240180142223835, + 0.18026919662952423, + -0.0239487923681736 + ], + "orientation": [ + 0.709587812423706, + 0.5590466856956482, + -0.322887659072876, + 0.2823041081428528 + ], + "joints": [ + 0.011621080338954926 + ] + }, + "final_grasp": { + "position": [ + 0.014240180142223835, + 0.18026919662952423, + -0.0239487923681736 + ], + "orientation": [ + 0.709587812423706, + 0.5590466856956482, + -0.322887659072876, + 0.2823041081428528 + ], + "joints": [ + 0.0015901550650596619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08623675256967545, + 0.0014375154860317707, + 0.0857444703578949 + ], + "orientation": [ + 0.2965790331363678, + -0.5065383911132812, + 0.7843955159187317, + -0.2004581242799759 + ], + "joints": [ + 0.028308099135756493 + ] + }, + "fine_grasp": { + "position": [ + -0.08322398364543915, + 0.002996219554916024, + 0.08387863636016846 + ], + "orientation": [ + 0.31493422389030457, + -0.5082002878189087, + 0.7790600061416626, + -0.18871821463108063 + ], + "joints": [ + 0.02036694996058941 + ] + }, + "final_grasp": { + "position": [ + -0.08322398364543915, + 0.002996219554916024, + 0.08387863636016846 + ], + "orientation": [ + 0.31493422389030457, + -0.5082002878189087, + 0.7790600061416626, + -0.18871821463108063 + ], + "joints": [ + 0.012425800785422325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01560875866562128, + -0.09990373253822327, + -0.046231675893068314 + ], + "orientation": [ + 0.6075799465179443, + -0.42927414178848267, + -0.4577092230319977, + -0.4869008958339691 + ], + "joints": [ + 0.026895614340901375 + ] + }, + "fine_grasp": { + "position": [ + 0.01513343770056963, + -0.09707272052764893, + -0.04354172572493553 + ], + "orientation": [ + 0.6135311722755432, + -0.4203830659389496, + -0.4525759518146515, + -0.4919681251049042 + ], + "joints": [ + 0.017700599506497383 + ] + }, + "final_grasp": { + "position": [ + 0.01513343770056963, + -0.09707272052764893, + -0.04354172572493553 + ], + "orientation": [ + 0.6135311722755432, + -0.4203830659389496, + -0.4525759518146515, + -0.4919681251049042 + ], + "joints": [ + 0.008505584672093391 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025318650528788567, + 0.11393679678440094, + 0.10156206786632538 + ], + "orientation": [ + 0.25090086460113525, + 0.7707338333129883, + 0.5834212303161621, + -0.05136045068502426 + ], + "joints": [ + 0.021553166210651398 + ] + }, + "fine_grasp": { + "position": [ + -0.024379495531320572, + 0.11253178864717484, + 0.09793637692928314 + ], + "orientation": [ + 0.24793076515197754, + 0.7760413885116577, + 0.5779125094413757, + -0.04803391918540001 + ], + "joints": [ + 0.012358151376247406 + ] + }, + "final_grasp": { + "position": [ + -0.024379495531320572, + 0.11253178864717484, + 0.09793637692928314 + ], + "orientation": [ + 0.24793076515197754, + 0.7760413885116577, + 0.5779125094413757, + -0.04803391918540001 + ], + "joints": [ + 0.0031631365418434143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10384588688611984, + 0.051666852086782455, + -0.06020607799291611 + ], + "orientation": [ + 0.7704929113388062, + 0.4088325798511505, + 0.29897502064704895, + 0.38705357909202576 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.10059767216444016, + 0.05128023400902748, + -0.05830308049917221 + ], + "orientation": [ + 0.7689908742904663, + 0.40093284845352173, + 0.30898115038871765, + 0.39043116569519043 + ], + "joints": [ + 0.021053573116660118 + ] + }, + "final_grasp": { + "position": [ + -0.10059767216444016, + 0.05128023400902748, + -0.05830308049917221 + ], + "orientation": [ + 0.7689908742904663, + 0.40093284845352173, + 0.30898115038871765, + 0.39043116569519043 + ], + "joints": [ + 0.011043546721339226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02587519772350788, + 0.11197558790445328, + 0.09971644729375839 + ], + "orientation": [ + 0.25961026549339294, + 0.7792387008666992, + 0.5681142807006836, + -0.05133744701743126 + ], + "joints": [ + 0.02130834385752678 + ] + }, + "fine_grasp": { + "position": [ + -0.024388231337070465, + 0.11093743145465851, + 0.09610023349523544 + ], + "orientation": [ + 0.2540689706802368, + 0.7808362245559692, + 0.5687289834022522, + -0.04786630719900131 + ], + "joints": [ + 0.012531284242868423 + ] + }, + "final_grasp": { + "position": [ + -0.024388231337070465, + 0.11093743145465851, + 0.09610023349523544 + ], + "orientation": [ + 0.2540689706802368, + 0.7808362245559692, + 0.5687289834022522, + -0.04786630719900131 + ], + "joints": [ + 0.0037542246282100677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007587050553411245, + -0.10218402743339539, + -0.018228773027658463 + ], + "orientation": [ + 0.26918941736221313, + -0.3545777201652527, + -0.5941118597984314, + -0.6699572801589966 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + -0.007661574520170689, + -0.09919138252735138, + -0.016639480367302895 + ], + "orientation": [ + 0.27662214636802673, + -0.34667858481407166, + -0.5898389220237732, + -0.6748215556144714 + ], + "joints": [ + 0.02050015516579151 + ] + }, + "final_grasp": { + "position": [ + -0.007661574520170689, + -0.09919138252735138, + -0.016639480367302895 + ], + "orientation": [ + 0.27662214636802673, + -0.34667858481407166, + -0.5898389220237732, + -0.6748215556144714 + ], + "joints": [ + 0.011326039209961891 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005239630583673716, + -0.0987083911895752, + -0.016263319179415703 + ], + "orientation": [ + 0.27784475684165955, + -0.3567500710487366, + -0.5963815450668335, + -0.6632200479507446 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.005669264122843742, + -0.09685809165239334, + -0.01495163980871439 + ], + "orientation": [ + 0.28610023856163025, + -0.34900718927383423, + -0.5940470695495605, + -0.6659195423126221 + ], + "joints": [ + 0.0197845920920372 + ] + }, + "final_grasp": { + "position": [ + -0.005669264122843742, + -0.09685809165239334, + -0.01495163980871439 + ], + "orientation": [ + 0.28610023856163025, + -0.34900718927383423, + -0.5940470695495605, + -0.6659195423126221 + ], + "joints": [ + 0.01058957725763321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03853601589798927, + 0.15375865995883942, + 0.07598882913589478 + ], + "orientation": [ + 0.42224133014678955, + 0.63981693983078, + 0.6191920042037964, + -0.1701400727033615 + ], + "joints": [ + 0.021962417289614677 + ] + }, + "fine_grasp": { + "position": [ + -0.03733652085065842, + 0.1510254591703415, + 0.07350669801235199 + ], + "orientation": [ + 0.41528570652008057, + 0.6416511535644531, + 0.6233566403388977, + -0.1650700569152832 + ], + "joints": [ + 0.011952390894293785 + ] + }, + "final_grasp": { + "position": [ + -0.03733652085065842, + 0.1510254591703415, + 0.07350669801235199 + ], + "orientation": [ + 0.41528570652008057, + 0.6416511535644531, + 0.6233566403388977, + -0.1650700569152832 + ], + "joints": [ + 0.0019423644989728928 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06722264736890793, + 0.01421018410474062, + 0.11819560825824738 + ], + "orientation": [ + 0.16863276064395905, + 0.7671334743499756, + -0.588374674320221, + -0.19205331802368164 + ], + "joints": [ + 0.031688790768384933 + ] + }, + "fine_grasp": { + "position": [ + 0.06535343825817108, + 0.014101542532444, + 0.11498032510280609 + ], + "orientation": [ + 0.1641114354133606, + 0.7784470915794373, + -0.5733069777488708, + -0.195976123213768 + ], + "joints": [ + 0.022849034518003464 + ] + }, + "final_grasp": { + "position": [ + 0.06535343825817108, + 0.014101542532444, + 0.11498032510280609 + ], + "orientation": [ + 0.1641114354133606, + 0.7784470915794373, + -0.5733069777488708, + -0.195976123213768 + ], + "joints": [ + 0.014009278267621994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11566150933504105, + 0.10563872009515762, + -0.006726210471242666 + ], + "orientation": [ + 0.48551374673843384, + -0.3159237802028656, + -0.6123799681663513, + 0.5380143523216248 + ], + "joints": [ + 0.02255231887102127 + ] + }, + "fine_grasp": { + "position": [ + 0.11188878118991852, + 0.1045348271727562, + -0.006406493950635195 + ], + "orientation": [ + 0.4874756336212158, + -0.3176778256893158, + -0.6106874346733093, + 0.5371304750442505 + ], + "joints": [ + 0.011727280914783478 + ] + }, + "final_grasp": { + "position": [ + 0.11188878118991852, + 0.1045348271727562, + -0.006406493950635195 + ], + "orientation": [ + 0.4874756336212158, + -0.3176778256893158, + -0.6106874346733093, + 0.5371304750442505 + ], + "joints": [ + 0.0009022429585456848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009645783342421055, + 0.1954842507839203, + -0.0132182901725173 + ], + "orientation": [ + 0.6727197170257568, + 0.6351684927940369, + -0.23618388175964355, + 0.2970292568206787 + ], + "joints": [ + 0.022009817883372307 + ] + }, + "fine_grasp": { + "position": [ + -0.009420099668204784, + 0.1915876865386963, + -0.012760228477418423 + ], + "orientation": [ + 0.6738806962966919, + 0.6337704062461853, + -0.2367478758096695, + 0.2969348132610321 + ], + "joints": [ + 0.01239684782922268 + ] + }, + "final_grasp": { + "position": [ + -0.009420099668204784, + 0.1915876865386963, + -0.012760228477418423 + ], + "orientation": [ + 0.6738806962966919, + 0.6337704062461853, + -0.2367478758096695, + 0.2969348132610321 + ], + "joints": [ + 0.0027838777750730515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08103848993778229, + -0.06987469643354416, + -0.06431028246879578 + ], + "orientation": [ + 0.7414336204528809, + -0.49109748005867004, + 0.11872712522745132, + -0.4415918290615082 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.07866384088993073, + -0.0674237310886383, + -0.06248614564538002 + ], + "orientation": [ + 0.7403143644332886, + -0.49190211296081543, + 0.11855819076299667, + -0.4426184296607971 + ], + "joints": [ + 0.02251918986439705 + ] + }, + "final_grasp": { + "position": [ + -0.07866384088993073, + -0.0674237310886383, + -0.06248614564538002 + ], + "orientation": [ + 0.7403143644332886, + -0.49190211296081543, + 0.11855819076299667, + -0.4426184296607971 + ], + "joints": [ + 0.013303276151418686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06700529903173447, + 0.014186559244990349, + 0.1181970089673996 + ], + "orientation": [ + 0.1684529036283493, + 0.7671063542366028, + -0.5886985659599304, + -0.19132541120052338 + ], + "joints": [ + 0.031688790768384933 + ] + }, + "fine_grasp": { + "position": [ + 0.06507925689220428, + 0.014081673696637154, + 0.11496531963348389 + ], + "orientation": [ + 0.16349074244499207, + 0.7785274982452393, + -0.5737221837043762, + -0.1949576437473297 + ], + "joints": [ + 0.022849034518003464 + ] + }, + "final_grasp": { + "position": [ + 0.06507925689220428, + 0.014081673696637154, + 0.11496531963348389 + ], + "orientation": [ + 0.16349074244499207, + 0.7785274982452393, + -0.5737221837043762, + -0.1949576437473297 + ], + "joints": [ + 0.014009278267621994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03717943653464317, + 0.16566678881645203, + 0.0012877300614491105 + ], + "orientation": [ + 0.14031633734703064, + 0.3484043478965759, + 0.6135169863700867, + -0.6946383714675903 + ], + "joints": [ + 0.023362159729003906 + ] + }, + "fine_grasp": { + "position": [ + 0.0360257513821125, + 0.16173222661018372, + 0.000970894587226212 + ], + "orientation": [ + 0.15065525472164154, + 0.35481947660446167, + 0.6102714538574219, + -0.6920801401138306 + ], + "joints": [ + 0.015003055334091187 + ] + }, + "final_grasp": { + "position": [ + 0.0360257513821125, + 0.16173222661018372, + 0.000970894587226212 + ], + "orientation": [ + 0.15065525472164154, + 0.35481947660446167, + 0.6102714538574219, + -0.6920801401138306 + ], + "joints": [ + 0.006643950939178467 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09585735946893692, + 0.014992059208452702, + -0.09249929338693619 + ], + "orientation": [ + 0.5277405977249146, + -0.2543383240699768, + 0.27584677934646606, + -0.7620435953140259 + ], + "joints": [ + 0.02664090320467949 + ] + }, + "fine_grasp": { + "position": [ + -0.09328746050596237, + 0.015994703397154808, + -0.08981212973594666 + ], + "orientation": [ + 0.5314530730247498, + -0.26235756278038025, + 0.269072562456131, + -0.7591614723205566 + ], + "joints": [ + 0.017842944711446762 + ] + }, + "final_grasp": { + "position": [ + -0.09328746050596237, + 0.015994703397154808, + -0.08981212973594666 + ], + "orientation": [ + 0.5314530730247498, + -0.26235756278038025, + 0.269072562456131, + -0.7591614723205566 + ], + "joints": [ + 0.009044986218214035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020728981122374535, + -0.08524303138256073, + 0.07738043367862701 + ], + "orientation": [ + 0.00028494090656749904, + -0.3301214873790741, + -0.8486957550048828, + -0.41320136189460754 + ], + "joints": [ + 0.028261786326766014 + ] + }, + "fine_grasp": { + "position": [ + -0.021091124042868614, + -0.08246373385190964, + 0.0752873569726944 + ], + "orientation": [ + 0.021311210468411446, + -0.3301677405834198, + -0.8455488085746765, + -0.41902539134025574 + ], + "joints": [ + 0.021887963637709618 + ] + }, + "final_grasp": { + "position": [ + -0.021091124042868614, + -0.08246373385190964, + 0.0752873569726944 + ], + "orientation": [ + 0.021311210468411446, + -0.3301677405834198, + -0.8455488085746765, + -0.41902539134025574 + ], + "joints": [ + 0.015514140948653221 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009413395076990128, + -0.09822461009025574, + 0.017052363604307175 + ], + "orientation": [ + 0.4267871081829071, + -0.33509308099746704, + 0.6274673342704773, + 0.558435320854187 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + -0.00962043832987547, + -0.09631136804819107, + 0.015315455384552479 + ], + "orientation": [ + 0.41614264249801636, + -0.3429003655910492, + 0.6321730017662048, + 0.5564188361167908 + ], + "joints": [ + 0.02015739306807518 + ] + }, + "final_grasp": { + "position": [ + -0.00962043832987547, + -0.09631136804819107, + 0.015315455384552479 + ], + "orientation": [ + 0.41614264249801636, + -0.3429003655910492, + 0.6321730017662048, + 0.5564188361167908 + ], + "joints": [ + 0.01179828867316246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09536291658878326, + 0.11923806369304657, + -0.04395817592740059 + ], + "orientation": [ + 0.5336353778839111, + -0.22223131358623505, + 0.5077674388885498, + -0.6387635469436646 + ], + "joints": [ + 0.021345600485801697 + ] + }, + "fine_grasp": { + "position": [ + -0.09227227419614792, + 0.1170039102435112, + -0.042687516659498215 + ], + "orientation": [ + 0.5292980670928955, + -0.21852046251296997, + 0.5115054249763489, + -0.6406672596931458 + ], + "joints": [ + 0.012150585651397705 + ] + }, + "final_grasp": { + "position": [ + -0.09227227419614792, + 0.1170039102435112, + -0.042687516659498215 + ], + "orientation": [ + 0.5292980670928955, + -0.21852046251296997, + 0.5115054249763489, + -0.6406672596931458 + ], + "joints": [ + 0.0029555708169937134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013465085998177528, + -0.030496802181005478, + -0.12020494788885117 + ], + "orientation": [ + 0.6183053851127625, + -0.20756010711193085, + -0.1421043872833252, + -0.7445961833000183 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + -0.01299988105893135, + -0.030872538685798645, + -0.11645163595676422 + ], + "orientation": [ + 0.6181259751319885, + -0.20100228488445282, + -0.13259461522102356, + -0.7482894062995911 + ], + "joints": [ + 0.018419519066810608 + ] + }, + "final_grasp": { + "position": [ + -0.01299988105893135, + -0.030872538685798645, + -0.11645163595676422 + ], + "orientation": [ + 0.6181259751319885, + -0.20100228488445282, + -0.13259461522102356, + -0.7482894062995911 + ], + "joints": [ + 0.008785650134086609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06718078255653381, + 0.014304425567388535, + 0.11829085648059845 + ], + "orientation": [ + 0.1673528105020523, + 0.7681117057800293, + -0.587239682674408, + -0.19273579120635986 + ], + "joints": [ + 0.031688790768384933 + ] + }, + "fine_grasp": { + "position": [ + 0.06521046906709671, + 0.014208121225237846, + 0.11515352129936218 + ], + "orientation": [ + 0.16322188079357147, + 0.7784388661384583, + -0.5735692381858826, + -0.19598491489887238 + ], + "joints": [ + 0.022849034518003464 + ] + }, + "final_grasp": { + "position": [ + 0.06521046906709671, + 0.014208121225237846, + 0.11515352129936218 + ], + "orientation": [ + 0.16322188079357147, + 0.7784388661384583, + -0.5735692381858826, + -0.19598491489887238 + ], + "joints": [ + 0.014009278267621994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11869008839130402, + 0.090804822742939, + -0.03429325670003891 + ], + "orientation": [ + 0.567543089389801, + 0.5012350678443909, + -0.33480602502822876, + -0.5608593225479126 + ], + "joints": [ + 0.022594768553972244 + ] + }, + "fine_grasp": { + "position": [ + 0.11500810831785202, + 0.0899144858121872, + -0.03322337940335274 + ], + "orientation": [ + 0.5681439638137817, + 0.5017440319061279, + -0.3344001770019531, + -0.56003737449646 + ], + "joints": [ + 0.01256384328007698 + ] + }, + "final_grasp": { + "position": [ + 0.11500810831785202, + 0.0899144858121872, + -0.03322337940335274 + ], + "orientation": [ + 0.5681439638137817, + 0.5017440319061279, + -0.3344001770019531, + -0.56003737449646 + ], + "joints": [ + 0.002532918006181717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04458294436335564, + 0.17954298853874207, + -0.03758513182401657 + ], + "orientation": [ + 0.2730594277381897, + 0.011686917394399643, + 0.6009329557418823, + -0.7511201500892639 + ], + "joints": [ + 0.021708793938159943 + ] + }, + "fine_grasp": { + "position": [ + -0.043175846338272095, + 0.17611132562160492, + -0.03649212419986725 + ], + "orientation": [ + 0.27395281195640564, + 0.010760447010397911, + 0.6007248163223267, + -0.7509751319885254 + ], + "joints": [ + 0.012095823884010315 + ] + }, + "final_grasp": { + "position": [ + -0.043175846338272095, + 0.17611132562160492, + -0.03649212419986725 + ], + "orientation": [ + 0.27395281195640564, + 0.010760447010397911, + 0.6007248163223267, + -0.7509751319885254 + ], + "joints": [ + 0.0024828538298606873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04755391180515289, + -0.11008874326944351, + -0.0010084930108860135 + ], + "orientation": [ + 0.5967641472816467, + -0.3324003517627716, + -0.5725827813148499, + -0.4533557891845703 + ], + "joints": [ + 0.02969742752611637 + ] + }, + "fine_grasp": { + "position": [ + 0.04583783075213432, + -0.10662289708852768, + -0.001225205953232944 + ], + "orientation": [ + 0.590327262878418, + -0.33970028162002563, + -0.5781991481781006, + -0.44922518730163574 + ], + "joints": [ + 0.022090638056397438 + ] + }, + "final_grasp": { + "position": [ + 0.04583783075213432, + -0.10662289708852768, + -0.001225205953232944 + ], + "orientation": [ + 0.590327262878418, + -0.33970028162002563, + -0.5781991481781006, + -0.44922518730163574 + ], + "joints": [ + 0.014483848586678505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00799589417874813, + 0.028813617303967476, + 0.13094358146190643 + ], + "orientation": [ + 0.0583987683057785, + 0.6244828104972839, + 0.7713019847869873, + -0.10818569362163544 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.008157621137797832, + 0.028467919677495956, + 0.12730403244495392 + ], + "orientation": [ + 0.05178745090961456, + 0.6200739145278931, + 0.7766542434692383, + -0.0981563925743103 + ], + "joints": [ + 0.02029285579919815 + ] + }, + "final_grasp": { + "position": [ + 0.008157621137797832, + 0.028467919677495956, + 0.12730403244495392 + ], + "orientation": [ + 0.05178745090961456, + 0.6200739145278931, + 0.7766542434692383, + -0.0981563925743103 + ], + "joints": [ + 0.010679885745048523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01599177159368992, + 0.1704111248254776, + 0.020947063341736794 + ], + "orientation": [ + 0.37107259035110474, + 0.31940940022468567, + -0.6874022483825684, + 0.5364334583282471 + ], + "joints": [ + 0.022305523976683617 + ] + }, + "fine_grasp": { + "position": [ + 0.016147632151842117, + 0.16621822118759155, + 0.020153328776359558 + ], + "orientation": [ + 0.3659191131591797, + 0.3238812983036041, + -0.6872040033340454, + 0.5375451445579529 + ], + "joints": [ + 0.014782330021262169 + ] + }, + "final_grasp": { + "position": [ + 0.016147632151842117, + 0.16621822118759155, + 0.020153328776359558 + ], + "orientation": [ + 0.3659191131591797, + 0.3238812983036041, + -0.6872040033340454, + 0.5375451445579529 + ], + "joints": [ + 0.007259136065840721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11964545398950577, + 0.09086944162845612, + -0.0346631221473217 + ], + "orientation": [ + 0.5682013034820557, + 0.5014049410820007, + -0.3343963027000427, + -0.5602852702140808 + ], + "joints": [ + 0.02257039025425911 + ] + }, + "fine_grasp": { + "position": [ + 0.11593379080295563, + 0.08998080343008041, + -0.03356724604964256 + ], + "orientation": [ + 0.5687140226364136, + 0.501789927482605, + -0.3339826166629791, + -0.5596668720245361 + ], + "joints": [ + 0.012957420200109482 + ] + }, + "final_grasp": { + "position": [ + 0.11593379080295563, + 0.08998080343008041, + -0.03356724604964256 + ], + "orientation": [ + 0.5687140226364136, + 0.501789927482605, + -0.3339826166629791, + -0.5596668720245361 + ], + "joints": [ + 0.003344450145959854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11062467843294144, + -0.040079839527606964, + -0.04593879356980324 + ], + "orientation": [ + 0.360848069190979, + 0.3760908544063568, + 0.4293431341648102, + 0.7375695109367371 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.10789716988801956, + -0.03813236206769943, + -0.04454100877046585 + ], + "orientation": [ + 0.3563386797904968, + 0.37237852811813354, + 0.4307742118835449, + 0.7408039569854736 + ], + "joints": [ + 0.02405201643705368 + ] + }, + "final_grasp": { + "position": [ + -0.10789716988801956, + -0.03813236206769943, + -0.04454100877046585 + ], + "orientation": [ + 0.3563386797904968, + 0.37237852811813354, + 0.4307742118835449, + 0.7408039569854736 + ], + "joints": [ + 0.015651114284992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00965740717947483, + 0.1954546719789505, + -0.013164649717509747 + ], + "orientation": [ + 0.672788679599762, + 0.6349970698356628, + -0.2359251230955124, + 0.29744505882263184 + ], + "joints": [ + 0.021986661478877068 + ] + }, + "fine_grasp": { + "position": [ + -0.009453294798731804, + 0.19155900180339813, + -0.012744628824293613 + ], + "orientation": [ + 0.6737627983093262, + 0.6338199377059937, + -0.2367808222770691, + 0.2970704734325409 + ], + "joints": [ + 0.01237369142472744 + ] + }, + "final_grasp": { + "position": [ + -0.009453294798731804, + 0.19155900180339813, + -0.012744628824293613 + ], + "orientation": [ + 0.6737627983093262, + 0.6338199377059937, + -0.2367808222770691, + 0.2970704734325409 + ], + "joints": [ + 0.002760721370577812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1195448711514473, + 0.09099510312080383, + -0.03447653725743294 + ], + "orientation": [ + 0.5686068534851074, + 0.501271665096283, + -0.3352546691894531, + -0.5594794154167175 + ], + "joints": [ + 0.022375402972102165 + ] + }, + "fine_grasp": { + "position": [ + 0.11587292701005936, + 0.09010075032711029, + -0.03340277448296547 + ], + "orientation": [ + 0.5692551136016846, + 0.5015484094619751, + -0.33506396412849426, + -0.5586859583854675 + ], + "joints": [ + 0.012762432917952538 + ] + }, + "final_grasp": { + "position": [ + 0.11587292701005936, + 0.09010075032711029, + -0.03340277448296547 + ], + "orientation": [ + 0.5692551136016846, + 0.5015484094619751, + -0.33506396412849426, + -0.5586859583854675 + ], + "joints": [ + 0.00314946286380291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04455377534031868, + 0.17952938377857208, + -0.037579212337732315 + ], + "orientation": [ + 0.2728392779827118, + 0.011065470986068249, + 0.6008023619651794, + -0.751314103603363 + ], + "joints": [ + 0.021708793938159943 + ] + }, + "fine_grasp": { + "position": [ + -0.04317578673362732, + 0.17608724534511566, + -0.036498066037893295 + ], + "orientation": [ + 0.2735472321510315, + 0.010400282219052315, + 0.6006709337234497, + -0.7511711120605469 + ], + "joints": [ + 0.012095823884010315 + ] + }, + "final_grasp": { + "position": [ + -0.04317578673362732, + 0.17608724534511566, + -0.036498066037893295 + ], + "orientation": [ + 0.2735472321510315, + 0.010400282219052315, + 0.6006709337234497, + -0.7511711120605469 + ], + "joints": [ + 0.0024828538298606873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08404019474983215, + 0.12560054659843445, + -0.055665262043476105 + ], + "orientation": [ + 0.4492853283882141, + -0.20872652530670166, + 0.4671517610549927, + -0.7323558926582336 + ], + "joints": [ + 0.021298065781593323 + ] + }, + "fine_grasp": { + "position": [ + -0.08119434118270874, + 0.12342195957899094, + -0.054003968834877014 + ], + "orientation": [ + 0.4488730728626251, + -0.20746612548828125, + 0.46862199902534485, + -0.7320274710655212 + ], + "joints": [ + 0.011685095727443695 + ] + }, + "final_grasp": { + "position": [ + -0.08119434118270874, + 0.12342195957899094, + -0.054003968834877014 + ], + "orientation": [ + 0.4488730728626251, + -0.20746612548828125, + 0.46862199902534485, + -0.7320274710655212 + ], + "joints": [ + 0.0020721256732940674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007895047776401043, + 0.028696494176983833, + 0.1311267614364624 + ], + "orientation": [ + 0.06160479038953781, + 0.6177694797515869, + 0.7763044238090515, + -0.10916618257761002 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + 0.007974457927048206, + 0.0284673273563385, + 0.1274573653936386 + ], + "orientation": [ + 0.05168244242668152, + 0.6143280863761902, + 0.7814387083053589, + -0.09635008126497269 + ], + "joints": [ + 0.020061301067471504 + ] + }, + "final_grasp": { + "position": [ + 0.007974457927048206, + 0.0284673273563385, + 0.1274573653936386 + ], + "orientation": [ + 0.05168244242668152, + 0.6143280863761902, + 0.7814387083053589, + -0.09635008126497269 + ], + "joints": [ + 0.010448331013321877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028285294771194458, + 0.17012546956539154, + 0.04537434130907059 + ], + "orientation": [ + 0.5849629640579224, + 0.7592324614524841, + 0.26505258679389954, + -0.10550619661808014 + ], + "joints": [ + 0.021454082801938057 + ] + }, + "fine_grasp": { + "position": [ + -0.026801809668540955, + 0.1665555089712143, + 0.04359591752290726 + ], + "orientation": [ + 0.5786383152008057, + 0.762817919254303, + 0.2724367082118988, + -0.09521018713712692 + ], + "joints": [ + 0.013512933626770973 + ] + }, + "final_grasp": { + "position": [ + -0.026801809668540955, + 0.1665555089712143, + 0.04359591752290726 + ], + "orientation": [ + 0.5786383152008057, + 0.762817919254303, + 0.2724367082118988, + -0.09521018713712692 + ], + "joints": [ + 0.0055717844516038895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020543918013572693, + -0.09774982929229736, + -0.07283753901720047 + ], + "orientation": [ + 0.5044723153114319, + -0.3838823139667511, + -0.3493056297302246, + -0.6900200247764587 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + -0.020024040713906288, + -0.09482399374246597, + -0.07068382948637009 + ], + "orientation": [ + 0.5083274245262146, + -0.3810681700706482, + -0.3493640422821045, + -0.6887197494506836 + ], + "joints": [ + 0.020480355247855186 + ] + }, + "final_grasp": { + "position": [ + -0.020024040713906288, + -0.09482399374246597, + -0.07068382948637009 + ], + "orientation": [ + 0.5083274245262146, + -0.3810681700706482, + -0.3493640422821045, + -0.6887197494506836 + ], + "joints": [ + 0.010846486315131187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051454540342092514, + -0.05486249551177025, + 0.098081074655056 + ], + "orientation": [ + 0.010174493305385113, + 0.5833974480628967, + -0.739666759967804, + -0.33531609177589417 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.049730703234672546, + -0.053026482462882996, + 0.09527458250522614 + ], + "orientation": [ + 0.004904633387923241, + 0.5827022194862366, + -0.7385880351066589, + -0.33900102972984314 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.049730703234672546, + -0.053026482462882996, + 0.09527458250522614 + ], + "orientation": [ + 0.004904633387923241, + 0.5827022194862366, + -0.7385880351066589, + -0.33900102972984314 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01733400672674179, + 0.18582718074321747, + 0.025073640048503876 + ], + "orientation": [ + 0.2998880445957184, + 0.5115931034088135, + -0.6109842658042908, + 0.5244404077529907 + ], + "joints": [ + 0.021616177633404732 + ] + }, + "fine_grasp": { + "position": [ + -0.017072943970561028, + 0.18199612200260162, + 0.025034131482243538 + ], + "orientation": [ + 0.3073127865791321, + 0.5045378804206848, + -0.6090996265411377, + 0.5291484594345093 + ], + "joints": [ + 0.011188196018338203 + ] + }, + "final_grasp": { + "position": [ + -0.017072943970561028, + 0.18199612200260162, + 0.025034131482243538 + ], + "orientation": [ + 0.3073127865791321, + 0.5045378804206848, + -0.6090996265411377, + 0.5291484594345093 + ], + "joints": [ + 0.0007602144032716751 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038812026381492615, + -0.10641586780548096, + 0.03443942591547966 + ], + "orientation": [ + 0.4104171693325043, + -0.7369239926338196, + -0.3729587495326996, + -0.3865260183811188 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.037086110562086105, + -0.10313069820404053, + 0.03355799615383148 + ], + "orientation": [ + 0.4133318364620209, + -0.7336673140525818, + -0.3733173906803131, + -0.38925960659980774 + ], + "joints": [ + 0.02219952642917633 + ] + }, + "final_grasp": { + "position": [ + -0.037086110562086105, + -0.10313069820404053, + 0.03355799615383148 + ], + "orientation": [ + 0.4133318364620209, + -0.7336673140525818, + -0.3733173906803131, + -0.38925960659980774 + ], + "joints": [ + 0.012941814959049225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00793339405208826, + -0.09976954013109207, + 0.019733509048819542 + ], + "orientation": [ + 0.637913703918457, + -0.7228296399116516, + -0.17697866261005402, + -0.19814664125442505 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + 0.007562641054391861, + -0.09701593220233917, + 0.01758180744946003 + ], + "orientation": [ + 0.6370596885681152, + -0.7221397161483765, + -0.19199301302433014, + -0.1892298310995102 + ], + "joints": [ + 0.021315166726708412 + ] + }, + "final_grasp": { + "position": [ + 0.007562641054391861, + -0.09701593220233917, + 0.01758180744946003 + ], + "orientation": [ + 0.6370596885681152, + -0.7221397161483765, + -0.19199301302433014, + -0.1892298310995102 + ], + "joints": [ + 0.012956062331795692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11284985393285751, + 0.01934293657541275, + -0.05608287453651428 + ], + "orientation": [ + 0.6897087097167969, + -0.2427625209093094, + -0.48486605286598206, + 0.47986793518066406 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + 0.10973053425550461, + 0.020251888781785965, + -0.05414597690105438 + ], + "orientation": [ + 0.6963177919387817, + -0.250043660402298, + -0.47925814986228943, + 0.47215595841407776 + ], + "joints": [ + 0.021750491112470627 + ] + }, + "final_grasp": { + "position": [ + 0.10973053425550461, + 0.020251888781785965, + -0.05414597690105438 + ], + "orientation": [ + 0.6963177919387817, + -0.250043660402298, + -0.47925814986228943, + 0.47215595841407776 + ], + "joints": [ + 0.011719565838575363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0070749009028077126, + -0.10006322711706161, + 0.020648490637540817 + ], + "orientation": [ + 0.6363562941551208, + -0.7264896035194397, + -0.17058642208576202, + -0.19535548985004425 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + 0.005800312384963036, + -0.09750525653362274, + 0.019293127581477165 + ], + "orientation": [ + 0.6330299377441406, + -0.7290453314781189, + -0.18144260346889496, + -0.18666742742061615 + ], + "joints": [ + 0.020434102043509483 + ] + }, + "final_grasp": { + "position": [ + 0.005800312384963036, + -0.09750525653362274, + 0.019293127581477165 + ], + "orientation": [ + 0.6330299377441406, + -0.7290453314781189, + -0.18144260346889496, + -0.18666742742061615 + ], + "joints": [ + 0.011657042428851128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10381873697042465, + -0.06127077713608742, + 0.033874958753585815 + ], + "orientation": [ + 0.5303394198417664, + -0.6909210681915283, + -0.396144837141037, + 0.29058122634887695 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.10100413113832474, + -0.05871743708848953, + 0.03313925489783287 + ], + "orientation": [ + 0.5369114875793457, + -0.6909458041191101, + -0.3944590985774994, + 0.2805742621421814 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.10100413113832474, + -0.05871743708848953, + 0.03313925489783287 + ], + "orientation": [ + 0.5369114875793457, + -0.6909458041191101, + -0.3944590985774994, + 0.2805742621421814 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11972105503082275, + 0.09169178456068039, + -0.0343623012304306 + ], + "orientation": [ + 0.5655667185783386, + 0.497452974319458, + -0.3390875458717346, + -0.5636439919471741 + ], + "joints": [ + 0.022202350199222565 + ] + }, + "fine_grasp": { + "position": [ + 0.11607824265956879, + 0.09068721532821655, + -0.03328528255224228 + ], + "orientation": [ + 0.5662569403648376, + 0.49882397055625916, + -0.3381025195121765, + -0.5623295307159424 + ], + "joints": [ + 0.012568481266498566 + ] + }, + "final_grasp": { + "position": [ + 0.11607824265956879, + 0.09068721532821655, + -0.03328528255224228 + ], + "orientation": [ + 0.5662569403648376, + 0.49882397055625916, + -0.3381025195121765, + -0.5623295307159424 + ], + "joints": [ + 0.0029346123337745667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06400866061449051, + -0.06311473995447159, + -0.09244880080223083 + ], + "orientation": [ + 0.6925919055938721, + -0.013055779039859772, + 0.3596291244029999, + 0.6251503825187683 + ], + "joints": [ + 0.029274405911564827 + ] + }, + "fine_grasp": { + "position": [ + -0.062401171773672104, + -0.0601789616048336, + -0.09036678820848465 + ], + "orientation": [ + 0.6854907870292664, + -0.01884022355079651, + 0.3657820224761963, + 0.6292464137077332 + ], + "joints": [ + 0.02049734629690647 + ] + }, + "final_grasp": { + "position": [ + -0.062401171773672104, + -0.0601789616048336, + -0.09036678820848465 + ], + "orientation": [ + 0.6854907870292664, + -0.01884022355079651, + 0.3657820224761963, + 0.6292464137077332 + ], + "joints": [ + 0.011720286682248116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10036153346300125, + -0.0034218989312648773, + 0.06754635274410248 + ], + "orientation": [ + 0.3090081810951233, + -0.6819535493850708, + -0.5565168857574463, + 0.3601975739002228 + ], + "joints": [ + 0.031318310648202896 + ] + }, + "fine_grasp": { + "position": [ + 0.09719206392765045, + -0.003124870592728257, + 0.06586039811372757 + ], + "orientation": [ + 0.3158136010169983, + -0.683648407459259, + -0.5570170879364014, + 0.35016921162605286 + ], + "joints": [ + 0.021308284252882004 + ] + }, + "final_grasp": { + "position": [ + 0.09719206392765045, + -0.003124870592728257, + 0.06586039811372757 + ], + "orientation": [ + 0.3158136010169983, + -0.683648407459259, + -0.5570170879364014, + 0.35016921162605286 + ], + "joints": [ + 0.011298257857561111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10995613783597946, + -0.05945600941777229, + 0.06347651779651642 + ], + "orientation": [ + 0.5142123699188232, + -0.6416497230529785, + 0.5491161942481995, + -0.14947517216205597 + ], + "joints": [ + 0.02724294178187847 + ] + }, + "fine_grasp": { + "position": [ + -0.10710760951042175, + -0.057628002017736435, + 0.06190691143274307 + ], + "orientation": [ + 0.5137507319450378, + -0.6420688033103943, + 0.5493070483207703, + -0.1485583782196045 + ], + "joints": [ + 0.01838228665292263 + ] + }, + "final_grasp": { + "position": [ + -0.10710760951042175, + -0.057628002017736435, + 0.06190691143274307 + ], + "orientation": [ + 0.5137507319450378, + -0.6420688033103943, + 0.5493070483207703, + -0.1485583782196045 + ], + "joints": [ + 0.00952163152396679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1263904720544815, + 0.09303165227174759, + -0.023497309535741806 + ], + "orientation": [ + 0.5570862293243408, + 0.5207965970039368, + -0.3743515610694885, + -0.5275288224220276 + ], + "joints": [ + 0.021731950342655182 + ] + }, + "fine_grasp": { + "position": [ + 0.12270022183656693, + 0.09199393540620804, + -0.02273746021091938 + ], + "orientation": [ + 0.5591099262237549, + 0.5208785533905029, + -0.37213578820228577, + -0.5268745422363281 + ], + "joints": [ + 0.012516036629676819 + ] + }, + "final_grasp": { + "position": [ + 0.12270022183656693, + 0.09199393540620804, + -0.02273746021091938 + ], + "orientation": [ + 0.5591099262237549, + 0.5208785533905029, + -0.37213578820228577, + -0.5268745422363281 + ], + "joints": [ + 0.003300122916698456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07408715039491653, + 0.16547691822052002, + 0.01100917998701334 + ], + "orientation": [ + 0.04499708116054535, + -0.2969442903995514, + 0.6692011952400208, + -0.6796832084655762 + ], + "joints": [ + 0.01943833753466606 + ] + }, + "fine_grasp": { + "position": [ + -0.07081042230129242, + 0.1634712666273117, + 0.010856122709810734 + ], + "orientation": [ + 0.06239018589258194, + -0.30952733755111694, + 0.6626990437507629, + -0.6790657043457031 + ], + "joints": [ + 0.010222423821687698 + ] + }, + "final_grasp": { + "position": [ + -0.07081042230129242, + 0.1634712666273117, + 0.010856122709810734 + ], + "orientation": [ + 0.06239018589258194, + -0.30952733755111694, + 0.6626990437507629, + -0.6790657043457031 + ], + "joints": [ + 0.0010065101087093353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03603462502360344, + -0.09283458441495895, + 0.04695682227611542 + ], + "orientation": [ + 0.5651403069496155, + -0.7254745364189148, + 0.3718450665473938, + 0.12662743031978607 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.034593939781188965, + -0.08956383168697357, + 0.04581884294748306 + ], + "orientation": [ + 0.5583586096763611, + -0.7287591695785522, + 0.37728261947631836, + 0.12166991829872131 + ], + "joints": [ + 0.021723981946706772 + ] + }, + "final_grasp": { + "position": [ + -0.034593939781188965, + -0.08956383168697357, + 0.04581884294748306 + ], + "orientation": [ + 0.5583586096763611, + -0.7287591695785522, + 0.37728261947631836, + 0.12166991829872131 + ], + "joints": [ + 0.012152809649705887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11707895994186401, + -0.04126806929707527, + -0.04524562135338783 + ], + "orientation": [ + 0.5293003916740417, + 0.19702903926372528, + -0.5532536506652832, + -0.6123161911964417 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.11390472948551178, + -0.04035019874572754, + -0.043830908834934235 + ], + "orientation": [ + 0.5318658947944641, + 0.1992303431034088, + -0.5511102080345154, + -0.6113129258155823 + ], + "joints": [ + 0.020719891414046288 + ] + }, + "final_grasp": { + "position": [ + 0.11390472948551178, + -0.04035019874572754, + -0.043830908834934235 + ], + "orientation": [ + 0.5318658947944641, + 0.1992303431034088, + -0.5511102080345154, + -0.6113129258155823 + ], + "joints": [ + 0.012298090383410454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018965184688568115, + -0.1051948219537735, + 0.00040137951145879924 + ], + "orientation": [ + 0.2242709994316101, + -0.2751701772212982, + -0.6329779624938965, + -0.6879845857620239 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.0179965291172266, + -0.1017717570066452, + 0.0006364357541315258 + ], + "orientation": [ + 0.21644815802574158, + -0.2803044319152832, + -0.635347306728363, + -0.686231255531311 + ], + "joints": [ + 0.02251918986439705 + ] + }, + "final_grasp": { + "position": [ + -0.0179965291172266, + -0.1017717570066452, + 0.0006364357541315258 + ], + "orientation": [ + 0.21644815802574158, + -0.2803044319152832, + -0.635347306728363, + -0.686231255531311 + ], + "joints": [ + 0.013303276151418686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07512615621089935, + -0.030287273228168488, + -0.11251232773065567 + ], + "orientation": [ + 0.7464410066604614, + 0.07200318574905396, + 0.2998672425746918, + 0.5896785259246826 + ], + "joints": [ + 0.02867858298122883 + ] + }, + "fine_grasp": { + "position": [ + -0.07352691888809204, + -0.02894304133951664, + -0.10939148813486099 + ], + "orientation": [ + 0.7451415657997131, + 0.06759791076183319, + 0.29891934990882874, + 0.5923188924789429 + ], + "joints": [ + 0.018647657707333565 + ] + }, + "final_grasp": { + "position": [ + -0.07352691888809204, + -0.02894304133951664, + -0.10939148813486099 + ], + "orientation": [ + 0.7451415657997131, + 0.06759791076183319, + 0.29891934990882874, + 0.5923188924789429 + ], + "joints": [ + 0.008616732433438301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026317572221159935, + 0.11239210516214371, + 0.0996798649430275 + ], + "orientation": [ + 0.2621856927871704, + 0.7844428420066833, + 0.5598409175872803, + -0.04986124113202095 + ], + "joints": [ + 0.021187622100114822 + ] + }, + "fine_grasp": { + "position": [ + -0.025246329605579376, + 0.11183075606822968, + 0.09593898057937622 + ], + "orientation": [ + 0.258249968290329, + 0.7835121750831604, + 0.5632652044296265, + -0.04634371027350426 + ], + "joints": [ + 0.01199260726571083 + ] + }, + "final_grasp": { + "position": [ + -0.025246329605579376, + 0.11183075606822968, + 0.09593898057937622 + ], + "orientation": [ + 0.258249968290329, + 0.7835121750831604, + 0.5632652044296265, + -0.04634371027350426 + ], + "joints": [ + 0.002797592431306839 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08442604541778564, + -0.09521856904029846, + 0.004450834821909666 + ], + "orientation": [ + 0.26048558950424194, + 0.21176138520240784, + -0.6887918710708618, + -0.6425496935844421 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + 0.08230169862508774, + -0.09188317507505417, + 0.004218690097332001 + ], + "orientation": [ + 0.25724470615386963, + 0.21121302247047424, + -0.6877086162567139, + -0.6451907157897949 + ], + "joints": [ + 0.022308535873889923 + ] + }, + "final_grasp": { + "position": [ + 0.08230169862508774, + -0.09188317507505417, + 0.004218690097332001 + ], + "orientation": [ + 0.25724470615386963, + 0.21121302247047424, + -0.6877086162567139, + -0.6451907157897949 + ], + "joints": [ + 0.013113521039485931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07717982679605484, + -0.08871720731258392, + 0.04408889636397362 + ], + "orientation": [ + 0.18792389333248138, + -0.6233716607093811, + -0.4731904864311218, + -0.5934501886367798 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + -0.07491139322519302, + -0.08580411225557327, + 0.04316838085651398 + ], + "orientation": [ + 0.18313996493816376, + -0.6240789890289307, + -0.47887349128723145, + -0.5896315574645996 + ], + "joints": [ + 0.020919209346175194 + ] + }, + "final_grasp": { + "position": [ + -0.07491139322519302, + -0.08580411225557327, + 0.04316838085651398 + ], + "orientation": [ + 0.18313996493816376, + -0.6240789890289307, + -0.47887349128723145, + -0.5896315574645996 + ], + "joints": [ + 0.011724194511771202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007503316272050142, + -0.11187653988599777, + -0.01702045649290085 + ], + "orientation": [ + 0.42899930477142334, + -0.36943820118904114, + 0.5127981305122375, + 0.6453781723976135 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.006839719135314226, + -0.10781484842300415, + -0.016746990382671356 + ], + "orientation": [ + 0.42545291781425476, + -0.3738771677017212, + 0.5151374936103821, + 0.6433032751083374 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + 0.006839719135314226, + -0.10781484842300415, + -0.016746990382671356 + ], + "orientation": [ + 0.42545291781425476, + -0.3738771677017212, + 0.5151374936103821, + 0.6433032751083374 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009455522522330284, + -0.11374112218618393, + -0.015214423649013042 + ], + "orientation": [ + 0.6173491477966309, + -0.5908981561660767, + -0.39388084411621094, + -0.33849260210990906 + ], + "joints": [ + 0.03368015214800835 + ] + }, + "fine_grasp": { + "position": [ + 0.008366825059056282, + -0.11046599596738815, + -0.013354268856346607 + ], + "orientation": [ + 0.6272726058959961, + -0.5784928798675537, + -0.3935648500919342, + -0.34202611446380615 + ], + "joints": [ + 0.022081900388002396 + ] + }, + "final_grasp": { + "position": [ + 0.008366825059056282, + -0.11046599596738815, + -0.013354268856346607 + ], + "orientation": [ + 0.6272726058959961, + -0.5784928798675537, + -0.3935648500919342, + -0.34202611446380615 + ], + "joints": [ + 0.010483648627996445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018838996067643166, + -0.10529574006795883, + 4.847044328926131e-05 + ], + "orientation": [ + 0.22555100917816162, + -0.27572107315063477, + -0.6318797469139099, + -0.6883549094200134 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.017925940454006195, + -0.10188048332929611, + 0.0002892139891628176 + ], + "orientation": [ + 0.2179540991783142, + -0.2810452878475189, + -0.63413006067276, + -0.6865773797035217 + ], + "joints": [ + 0.02251918986439705 + ] + }, + "final_grasp": { + "position": [ + -0.017925940454006195, + -0.10188048332929611, + 0.0002892139891628176 + ], + "orientation": [ + 0.2179540991783142, + -0.2810452878475189, + -0.63413006067276, + -0.6865773797035217 + ], + "joints": [ + 0.013303276151418686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11882545799016953, + 0.04648228734731674, + -0.06615918129682541 + ], + "orientation": [ + 0.6013373732566833, + -0.24254323542118073, + 0.4560244381427765, + -0.609596312046051 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + -0.11580589413642883, + 0.045893434435129166, + -0.06429865956306458 + ], + "orientation": [ + 0.6018432974815369, + -0.24381659924983978, + 0.4554973244667053, + -0.6089829206466675 + ], + "joints": [ + 0.02028103731572628 + ] + }, + "final_grasp": { + "position": [ + -0.11580589413642883, + 0.045893434435129166, + -0.06429865956306458 + ], + "orientation": [ + 0.6018432974815369, + -0.24381659924983978, + 0.4554973244667053, + -0.6089829206466675 + ], + "joints": [ + 0.01142038218677044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11750318109989166, + -0.03305163234472275, + 0.06209323927760124 + ], + "orientation": [ + 0.15134818851947784, + 0.6839765906333923, + 0.507866382598877, + 0.5013397932052612 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + -0.11476273834705353, + -0.03191562741994858, + 0.06048783287405968 + ], + "orientation": [ + 0.1468297690153122, + 0.6862009763717651, + 0.5086726546287537, + 0.49882006645202637 + ], + "joints": [ + 0.019202234223484993 + ] + }, + "final_grasp": { + "position": [ + -0.11476273834705353, + -0.03191562741994858, + 0.06048783287405968 + ], + "orientation": [ + 0.1468297690153122, + 0.6862009763717651, + 0.5086726546287537, + 0.49882006645202637 + ], + "joints": [ + 0.008753353729844093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035569772124290466, + -0.09827855229377747, + 0.035496391355991364 + ], + "orientation": [ + 0.5629995465278625, + -0.7339668869972229, + 0.37843963503837585, + 0.033279016613960266 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.035335782915353775, + -0.09428777545690536, + 0.034318067133426666 + ], + "orientation": [ + 0.5693907141685486, + -0.7304745316505432, + 0.3745799958705902, + 0.0434846393764019 + ], + "joints": [ + 0.02200983092188835 + ] + }, + "final_grasp": { + "position": [ + -0.035335782915353775, + -0.09428777545690536, + 0.034318067133426666 + ], + "orientation": [ + 0.5693907141685486, + -0.7304745316505432, + 0.3745799958705902, + 0.0434846393764019 + ], + "joints": [ + 0.013650726526975632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09689431637525558, + -0.025786932557821274, + 0.0975772887468338 + ], + "orientation": [ + 0.15933938324451447, + 0.6916288733482361, + -0.6076207756996155, + -0.35645121335983276 + ], + "joints": [ + 0.028447028249502182 + ] + }, + "fine_grasp": { + "position": [ + 0.09454812109470367, + -0.02520320937037468, + 0.09491373598575592 + ], + "orientation": [ + 0.15578152239322662, + 0.695550799369812, + -0.6043946146965027, + -0.3558771014213562 + ], + "joints": [ + 0.019189316779375076 + ] + }, + "final_grasp": { + "position": [ + 0.09454812109470367, + -0.02520320937037468, + 0.09491373598575592 + ], + "orientation": [ + 0.15578152239322662, + 0.695550799369812, + -0.6043946146965027, + -0.3558771014213562 + ], + "joints": [ + 0.00993160530924797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11056779325008392, + 0.01829889602959156, + -0.05842802673578262 + ], + "orientation": [ + 0.6563097834587097, + -0.34741368889808655, + 0.37922415137290955, + -0.5520418882369995 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.10724324733018875, + 0.018160494044423103, + -0.05655979737639427 + ], + "orientation": [ + 0.6552250981330872, + -0.34371790289878845, + 0.38349393010139465, + -0.5526938438415527 + ], + "joints": [ + 0.022145289927721024 + ] + }, + "final_grasp": { + "position": [ + -0.10724324733018875, + 0.018160494044423103, + -0.05655979737639427 + ], + "orientation": [ + 0.6552250981330872, + -0.34371790289878845, + 0.38349393010139465, + -0.5526938438415527 + ], + "joints": [ + 0.012532319873571396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007311571389436722, + 0.02385396510362625, + -0.12721197307109833 + ], + "orientation": [ + 0.6092198491096497, + 0.07390066981315613, + 0.07823560386896133, + -0.7856646776199341 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + -0.0006537481094710529, + 0.024652592837810516, + -0.12346649169921875 + ], + "orientation": [ + 0.6089357733726501, + 0.06757064163684845, + 0.06947552412748337, + -0.787276566028595 + ], + "joints": [ + 0.02047925628721714 + ] + }, + "final_grasp": { + "position": [ + -0.0006537481094710529, + 0.024652592837810516, + -0.12346649169921875 + ], + "orientation": [ + 0.6089357733726501, + 0.06757064163684845, + 0.06947552412748337, + -0.787276566028595 + ], + "joints": [ + 0.011284241452813148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036508265882730484, + -0.0918017104268074, + 0.046401090919971466 + ], + "orientation": [ + 0.561913251876831, + -0.720228910446167, + 0.3872877061367035, + 0.124627985060215 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.03496353328227997, + -0.08875110000371933, + 0.045186545699834824 + ], + "orientation": [ + 0.5556880831718445, + -0.7238537073135376, + 0.391071617603302, + 0.1196231096982956 + ], + "joints": [ + 0.022187087684869766 + ] + }, + "final_grasp": { + "position": [ + -0.03496353328227997, + -0.08875110000371933, + 0.045186545699834824 + ], + "orientation": [ + 0.5556880831718445, + -0.7238537073135376, + 0.391071617603302, + 0.1196231096982956 + ], + "joints": [ + 0.012615915387868881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03860710188746452, + -0.09001772105693817, + -0.04994763061404228 + ], + "orientation": [ + 0.5040002465248108, + -0.1981661468744278, + -0.534500777721405, + -0.6488627791404724 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.03737546131014824, + -0.08730953186750412, + -0.04799840226769447 + ], + "orientation": [ + 0.5103598237037659, + -0.19045640528202057, + -0.530387282371521, + -0.6495757102966309 + ], + "joints": [ + 0.02258414402604103 + ] + }, + "final_grasp": { + "position": [ + 0.03737546131014824, + -0.08730953186750412, + -0.04799840226769447 + ], + "orientation": [ + 0.5103598237037659, + -0.19045640528202057, + -0.530387282371521, + -0.6495757102966309 + ], + "joints": [ + 0.01341002807021141 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056872617453336716, + -0.07436501234769821, + -0.07959365844726562 + ], + "orientation": [ + 0.8417883515357971, + -0.4221784174442291, + 0.12347432225942612, + -0.312908798456192 + ], + "joints": [ + 0.03210558369755745 + ] + }, + "fine_grasp": { + "position": [ + -0.05569912865757942, + -0.07189873605966568, + -0.07744039595127106 + ], + "orientation": [ + 0.8387120366096497, + -0.425870418548584, + 0.12057201564311981, + -0.3172679841518402 + ], + "joints": [ + 0.02249261364340782 + ] + }, + "final_grasp": { + "position": [ + -0.05569912865757942, + -0.07189873605966568, + -0.07744039595127106 + ], + "orientation": [ + 0.8387120366096497, + -0.425870418548584, + 0.12057201564311981, + -0.3172679841518402 + ], + "joints": [ + 0.012879643589258194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09776195138692856, + 0.1359037309885025, + -0.017667878419160843 + ], + "orientation": [ + 0.4343716502189636, + -0.28353551030158997, + 0.5730779767036438, + -0.6344372034072876 + ], + "joints": [ + 0.020203692838549614 + ] + }, + "fine_grasp": { + "position": [ + -0.09560653567314148, + 0.1326732635498047, + -0.017549589276313782 + ], + "orientation": [ + 0.4228449761867523, + -0.27249449491500854, + 0.5843700170516968, + -0.6367577314376831 + ], + "joints": [ + 0.010590722784399986 + ] + }, + "final_grasp": { + "position": [ + -0.09560653567314148, + 0.1326732635498047, + -0.017549589276313782 + ], + "orientation": [ + 0.4228449761867523, + -0.27249449491500854, + 0.5843700170516968, + -0.6367577314376831 + ], + "joints": [ + 0.0009777527302503586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016113385558128357, + 0.11366325616836548, + 0.0928262248635292 + ], + "orientation": [ + 0.25780144333839417, + 0.6502862572669983, + 0.6915221810340881, + -0.1801755279302597 + ], + "joints": [ + 0.022446777671575546 + ] + }, + "fine_grasp": { + "position": [ + -0.01585566997528076, + 0.11445131152868271, + 0.08897224068641663 + ], + "orientation": [ + 0.25495457649230957, + 0.6376969218254089, + 0.7031550407409668, + -0.18415749073028564 + ], + "joints": [ + 0.01366971805691719 + ] + }, + "final_grasp": { + "position": [ + -0.01585566997528076, + 0.11445131152868271, + 0.08897224068641663 + ], + "orientation": [ + 0.25495457649230957, + 0.6376969218254089, + 0.7031550407409668, + -0.18415749073028564 + ], + "joints": [ + 0.004892658442258835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09586434066295624, + -0.08158491551876068, + 0.032113216817379 + ], + "orientation": [ + 0.19848278164863586, + 0.34600692987442017, + -0.7060302495956421, + -0.5851539969444275 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.09335117787122726, + -0.07878348231315613, + 0.03133275359869003 + ], + "orientation": [ + 0.1974325180053711, + 0.34672778844833374, + -0.7050826549530029, + -0.5862240195274353 + ], + "joints": [ + 0.021338263526558876 + ] + }, + "final_grasp": { + "position": [ + 0.09335117787122726, + -0.07878348231315613, + 0.03133275359869003 + ], + "orientation": [ + 0.1974325180053711, + 0.34672778844833374, + -0.7050826549530029, + -0.5862240195274353 + ], + "joints": [ + 0.012122349813580513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04019666090607643, + -0.08807174861431122, + -0.04920542240142822 + ], + "orientation": [ + 0.5139861106872559, + -0.20212557911872864, + -0.5391987562179565, + -0.6357894539833069 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.03833724558353424, + -0.0855482965707779, + -0.04707034304738045 + ], + "orientation": [ + 0.5190356373786926, + -0.19016505777835846, + -0.5366413593292236, + -0.637538492679596 + ], + "joints": [ + 0.021098725497722626 + ] + }, + "final_grasp": { + "position": [ + 0.03833724558353424, + -0.0855482965707779, + -0.04707034304738045 + ], + "orientation": [ + 0.5190356373786926, + -0.19016505777835846, + -0.5366413593292236, + -0.637538492679596 + ], + "joints": [ + 0.010670743882656097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10101114958524704, + -0.0029708892107009888, + 0.06752682477235794 + ], + "orientation": [ + 0.2969081401824951, + -0.6943629384040833, + -0.5348682403564453, + 0.37897443771362305 + ], + "joints": [ + 0.03039209172129631 + ] + }, + "fine_grasp": { + "position": [ + 0.09805255383253098, + -0.002025226131081581, + 0.06605545431375504 + ], + "orientation": [ + 0.30486631393432617, + -0.6992170214653015, + -0.5341087579727173, + 0.36452704668045044 + ], + "joints": [ + 0.02119707688689232 + ] + }, + "final_grasp": { + "position": [ + 0.09805255383253098, + -0.002025226131081581, + 0.06605545431375504 + ], + "orientation": [ + 0.30486631393432617, + -0.6992170214653015, + -0.5341087579727173, + 0.36452704668045044 + ], + "joints": [ + 0.012002062052488327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00743517093360424, + 0.1895856112241745, + 0.036490339785814285 + ], + "orientation": [ + 0.19185635447502136, + 0.2977336645126343, + -0.7420156598091125, + 0.5691735744476318 + ], + "joints": [ + 0.021979214623570442 + ] + }, + "fine_grasp": { + "position": [ + -0.007350226864218712, + 0.1857932060956955, + 0.03548260033130646 + ], + "orientation": [ + 0.1931455284357071, + 0.2969619333744049, + -0.7416460514068604, + 0.569622278213501 + ], + "joints": [ + 0.01276330091059208 + ] + }, + "final_grasp": { + "position": [ + -0.007350226864218712, + 0.1857932060956955, + 0.03548260033130646 + ], + "orientation": [ + 0.1931455284357071, + 0.2969619333744049, + -0.7416460514068604, + 0.569622278213501 + ], + "joints": [ + 0.003547387197613716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13076411187648773, + 0.008919104002416134, + 0.03524065762758255 + ], + "orientation": [ + 0.4744104743003845, + 0.4636303186416626, + -0.6452298164367676, + -0.3790253698825836 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.12699493765830994, + 0.008875343017280102, + 0.034281108528375626 + ], + "orientation": [ + 0.47823113203048706, + 0.462560772895813, + -0.6453152894973755, + -0.37536731362342834 + ], + "joints": [ + 0.0231037437915802 + ] + }, + "final_grasp": { + "position": [ + 0.12699493765830994, + 0.008875343017280102, + 0.034281108528375626 + ], + "orientation": [ + 0.47823113203048706, + 0.462560772895813, + -0.6453152894973755, + -0.37536731362342834 + ], + "joints": [ + 0.01426398754119873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09261976927518845, + -0.07214584201574326, + 0.0418616458773613 + ], + "orientation": [ + 0.14572811126708984, + 0.46494990587234497, + -0.6677975654602051, + -0.5627001523971558 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.08987392485141754, + -0.0695352703332901, + 0.040627069771289825 + ], + "orientation": [ + 0.14402751624584198, + 0.46231895685195923, + -0.6689498424530029, + -0.5639356374740601 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.08987392485141754, + -0.0695352703332901, + 0.040627069771289825 + ], + "orientation": [ + 0.14402751624584198, + 0.46231895685195923, + -0.6689498424530029, + -0.5639356374740601 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12154316157102585, + 0.04701101779937744, + -0.006780239753425121 + ], + "orientation": [ + 0.258719801902771, + -0.5046664476394653, + -0.43921956419944763, + 0.6967509984970093 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + 0.11802640557289124, + 0.04639933630824089, + -0.006365304812788963 + ], + "orientation": [ + 0.2613096535205841, + -0.5149744749069214, + -0.436775803565979, + 0.689742922782898 + ], + "joints": [ + 0.021339422091841698 + ] + }, + "final_grasp": { + "position": [ + 0.11802640557289124, + 0.04639933630824089, + -0.006365304812788963 + ], + "orientation": [ + 0.2613096535205841, + -0.5149744749069214, + -0.436775803565979, + 0.689742922782898 + ], + "joints": [ + 0.01254146359860897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12149086594581604, + 0.0470317080616951, + -0.0068534184247255325 + ], + "orientation": [ + 0.25957754254341125, + -0.5046262145042419, + -0.43985554575920105, + 0.69605952501297 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.1179530918598175, + 0.046396829187870026, + -0.006440135184675455 + ], + "orientation": [ + 0.26202815771102905, + -0.5149915814399719, + -0.4373954236507416, + 0.6890648007392883 + ], + "joints": [ + 0.02115076407790184 + ] + }, + "final_grasp": { + "position": [ + 0.1179530918598175, + 0.046396829187870026, + -0.006440135184675455 + ], + "orientation": [ + 0.26202815771102905, + -0.5149915814399719, + -0.4373954236507416, + 0.6890648007392883 + ], + "joints": [ + 0.011955749243497849 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018647020682692528, + -0.10849474370479584, + -0.011975955218076706 + ], + "orientation": [ + 0.7363608479499817, + -0.6678171753883362, + -0.0792715847492218, + 0.07422181218862534 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.01846957765519619, + -0.10437989234924316, + -0.011418608017265797 + ], + "orientation": [ + 0.7374006509780884, + -0.6677098870277405, + -0.07404544949531555, + 0.07015027105808258 + ], + "joints": [ + 0.02339915558695793 + ] + }, + "final_grasp": { + "position": [ + 0.01846957765519619, + -0.10437989234924316, + -0.011418608017265797 + ], + "orientation": [ + 0.7374006509780884, + -0.6677098870277405, + -0.07404544949531555, + 0.07015027105808258 + ], + "joints": [ + 0.015040051192045212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04315408691763878, + -0.10207822173833847, + -0.022913705557584763 + ], + "orientation": [ + 0.36190566420555115, + -0.12766854465007782, + 0.6424409747123718, + 0.6633208990097046 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.041979286819696426, + -0.09891139715909958, + -0.022072723135352135 + ], + "orientation": [ + 0.36800912022590637, + -0.12096753716468811, + 0.6400367021560669, + 0.6635429263114929 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + -0.041979286819696426, + -0.09891139715909958, + -0.022072723135352135 + ], + "orientation": [ + 0.36800912022590637, + -0.12096753716468811, + 0.6400367021560669, + 0.6635429263114929 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12158180773258209, + 0.04697546362876892, + -0.006808520760387182 + ], + "orientation": [ + 0.2598533034324646, + -0.5038647651672363, + -0.4403630197048187, + 0.696187436580658 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.11802329123020172, + 0.046361375600099564, + -0.006426381412893534 + ], + "orientation": [ + 0.2622297704219818, + -0.5146791338920593, + -0.43802347779273987, + 0.688822329044342 + ], + "joints": [ + 0.021525822579860687 + ] + }, + "final_grasp": { + "position": [ + 0.11802329123020172, + 0.046361375600099564, + -0.006426381412893534 + ], + "orientation": [ + 0.2622297704219818, + -0.5146791338920593, + -0.43802347779273987, + 0.688822329044342 + ], + "joints": [ + 0.013145819306373596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02386142872273922, + 0.14100775122642517, + -0.07601521164178848 + ], + "orientation": [ + 0.760358452796936, + 0.41500744223594666, + -0.13735325634479523, + 0.4803726077079773 + ], + "joints": [ + 0.022722506895661354 + ] + }, + "fine_grasp": { + "position": [ + -0.02264433540403843, + 0.13857199251651764, + -0.0729595199227333 + ], + "orientation": [ + 0.7620047330856323, + 0.4147448241710663, + -0.13384602963924408, + 0.47897884249687195 + ], + "joints": [ + 0.013945447281002998 + ] + }, + "final_grasp": { + "position": [ + -0.02264433540403843, + 0.13857199251651764, + -0.0729595199227333 + ], + "orientation": [ + 0.7620047330856323, + 0.4147448241710663, + -0.13384602963924408, + 0.47897884249687195 + ], + "joints": [ + 0.005168387666344643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043933309614658356, + -0.10237694531679153, + -0.0224201250821352 + ], + "orientation": [ + 0.3738613426685333, + -0.13402296602725983, + 0.642528772354126, + 0.6553032398223877 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.04264628514647484, + -0.09903978556394577, + -0.021560857072472572 + ], + "orientation": [ + 0.3778786361217499, + -0.12794801592826843, + 0.6394219398498535, + 0.6572490930557251 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + -0.04264628514647484, + -0.09903978556394577, + -0.021560857072472572 + ], + "orientation": [ + 0.3778786361217499, + -0.12794801592826843, + 0.6394219398498535, + 0.6572490930557251 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03840772062540054, + -0.07758066803216934, + -0.08919108659029007 + ], + "orientation": [ + 0.31762149930000305, + -0.03510410711169243, + 0.4201563000679016, + 0.8493250012397766 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.03725355491042137, + -0.07541672885417938, + -0.08643657714128494 + ], + "orientation": [ + 0.3212445080280304, + -0.03267646208405495, + 0.4177021086215973, + 0.849269688129425 + ], + "joints": [ + 0.020052161067724228 + ] + }, + "final_grasp": { + "position": [ + -0.03725355491042137, + -0.07541672885417938, + -0.08643657714128494 + ], + "orientation": [ + 0.3212445080280304, + -0.03267646208405495, + 0.4177021086215973, + 0.849269688129425 + ], + "joints": [ + 0.008809167891740799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043391793966293335, + -0.10256166756153107, + -0.023179098963737488 + ], + "orientation": [ + 0.3612278699874878, + -0.12257817387580872, + 0.6414542198181152, + 0.6656016111373901 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.042148739099502563, + -0.09927428513765335, + -0.022350259125232697 + ], + "orientation": [ + 0.36663299798965454, + -0.11639310419559479, + 0.6391971707344055, + 0.6659278273582458 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + -0.042148739099502563, + -0.09927428513765335, + -0.022350259125232697 + ], + "orientation": [ + 0.36663299798965454, + -0.11639310419559479, + 0.6391971707344055, + 0.6659278273582458 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003707112744450569, + -0.10496002435684204, + -0.050634607672691345 + ], + "orientation": [ + 0.7191837430000305, + -0.4873225688934326, + 0.3088904321193695, + 0.38714101910591125 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.003471626900136471, + -0.10163359344005585, + -0.049110736697912216 + ], + "orientation": [ + 0.7175368070602417, + -0.48856544494628906, + 0.3068362772464752, + 0.3902515172958374 + ], + "joints": [ + 0.022122133523225784 + ] + }, + "final_grasp": { + "position": [ + -0.003471626900136471, + -0.10163359344005585, + -0.049110736697912216 + ], + "orientation": [ + 0.7175368070602417, + -0.48856544494628906, + 0.3068362772464752, + 0.3902515172958374 + ], + "joints": [ + 0.012509163469076157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020859450101852417, + -0.10984549671411514, + 0.06010117009282112 + ], + "orientation": [ + 0.06051566079258919, + -0.31082186102867126, + 0.8004312515258789, + 0.5089573264122009 + ], + "joints": [ + 0.028701739385724068 + ] + }, + "fine_grasp": { + "position": [ + 0.020601537078619003, + -0.1061825230717659, + 0.05824720114469528 + ], + "orientation": [ + 0.07218094915151596, + -0.3092179596424103, + 0.7979010939598083, + 0.5123750567436218 + ], + "joints": [ + 0.020739691331982613 + ] + }, + "final_grasp": { + "position": [ + 0.020601537078619003, + -0.1061825230717659, + 0.05824720114469528 + ], + "orientation": [ + 0.07218094915151596, + -0.3092179596424103, + 0.7979010939598083, + 0.5123750567436218 + ], + "joints": [ + 0.012777643278241158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07117938250303268, + -0.082443468272686, + 0.03231262415647507 + ], + "orientation": [ + 0.6084405183792114, + -0.7224639654159546, + 0.31429144740104675, + -0.09521897882223129 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.0688423216342926, + -0.08005429059267044, + 0.03215939924120903 + ], + "orientation": [ + 0.604178249835968, + -0.7234559059143066, + 0.31878265738487244, + -0.09978894144296646 + ], + "joints": [ + 0.022331692278385162 + ] + }, + "final_grasp": { + "position": [ + -0.0688423216342926, + -0.08005429059267044, + 0.03215939924120903 + ], + "orientation": [ + 0.604178249835968, + -0.7234559059143066, + 0.31878265738487244, + -0.09978894144296646 + ], + "joints": [ + 0.01313667744398117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11010558158159256, + -0.010393895208835602, + -0.08841535449028015 + ], + "orientation": [ + 0.6463237404823303, + 0.20287998020648956, + 0.3937135338783264, + 0.6213653683662415 + ], + "joints": [ + 0.02726609818637371 + ] + }, + "fine_grasp": { + "position": [ + -0.10733190178871155, + -0.010098493658006191, + -0.08611411601305008 + ], + "orientation": [ + 0.6478433609008789, + 0.20473138988018036, + 0.39236000180244446, + 0.6200302243232727 + ], + "joints": [ + 0.018008386716246605 + ] + }, + "final_grasp": { + "position": [ + -0.10733190178871155, + -0.010098493658006191, + -0.08611411601305008 + ], + "orientation": [ + 0.6478433609008789, + 0.20473138988018036, + 0.39236000180244446, + 0.6200302243232727 + ], + "joints": [ + 0.0087506752461195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012876593507826328, + -0.10556702315807343, + -0.012316103093326092 + ], + "orientation": [ + 0.48797035217285156, + -0.3979302942752838, + 0.5505379438400269, + 0.548128068447113 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.012303395196795464, + -0.10182181745767593, + -0.012045525945723057 + ], + "orientation": [ + 0.49053433537483215, + -0.397239089012146, + 0.5496310591697693, + 0.5472503304481506 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.012303395196795464, + -0.10182181745767593, + -0.012045525945723057 + ], + "orientation": [ + 0.49053433537483215, + -0.397239089012146, + 0.5496310591697693, + 0.5472503304481506 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06369025260210037, + -0.08663976937532425, + 0.043996576219797134 + ], + "orientation": [ + 0.4630095660686493, + -0.4513448476791382, + -0.7326192855834961, + -0.21255332231521606 + ], + "joints": [ + 0.02847018465399742 + ] + }, + "fine_grasp": { + "position": [ + 0.06179751828312874, + -0.08395260572433472, + 0.04373932257294655 + ], + "orientation": [ + 0.4726656973361969, + -0.4504241347312927, + -0.7255280017852783, + -0.21751907467842102 + ], + "joints": [ + 0.02040364220738411 + ] + }, + "final_grasp": { + "position": [ + 0.06179751828312874, + -0.08395260572433472, + 0.04373932257294655 + ], + "orientation": [ + 0.4726656973361969, + -0.4504241347312927, + -0.7255280017852783, + -0.21751907467842102 + ], + "joints": [ + 0.012337099760770798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020146790891885757, + -0.09501464664936066, + -0.06815307587385178 + ], + "orientation": [ + 0.7667890191078186, + -0.38793206214904785, + 0.31955984234809875, + 0.39928022027015686 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.01933777518570423, + -0.09178625792264938, + -0.0659898892045021 + ], + "orientation": [ + 0.764634370803833, + -0.3883630633354187, + 0.31673678755760193, + 0.4051991105079651 + ], + "joints": [ + 0.02418411523103714 + ] + }, + "final_grasp": { + "position": [ + -0.01933777518570423, + -0.09178625792264938, + -0.0659898892045021 + ], + "orientation": [ + 0.764634370803833, + -0.3883630633354187, + 0.31673678755760193, + 0.4051991105079651 + ], + "joints": [ + 0.014989100396633148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017181608825922012, + 0.057985544204711914, + 0.11646279692649841 + ], + "orientation": [ + 0.1714158058166504, + 0.7114110589027405, + 0.6782159805297852, + -0.06733421981334686 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.016585739329457283, + 0.05689463019371033, + 0.11276867240667343 + ], + "orientation": [ + 0.17005661129951477, + 0.7115716934204102, + 0.6785740256309509, + -0.06545130163431168 + ], + "joints": [ + 0.02237684279680252 + ] + }, + "final_grasp": { + "position": [ + -0.016585739329457283, + 0.05689463019371033, + 0.11276867240667343 + ], + "orientation": [ + 0.17005661129951477, + 0.7115716934204102, + 0.6785740256309509, + -0.06545130163431168 + ], + "joints": [ + 0.012763872742652893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0032878045458346605, + -0.10562148690223694, + 0.07472193241119385 + ], + "orientation": [ + 0.4608539342880249, + -0.8011789917945862, + 0.31522440910339355, + 0.21531251072883606 + ], + "joints": [ + 0.027752364054322243 + ] + }, + "fine_grasp": { + "position": [ + -0.0035546731669455767, + -0.10261885821819305, + 0.07273352146148682 + ], + "orientation": [ + 0.4590710699558258, + -0.8001260161399841, + 0.32249417901039124, + 0.21224913001060486 + ], + "joints": [ + 0.019309664145112038 + ] + }, + "final_grasp": { + "position": [ + -0.0035546731669455767, + -0.10261885821819305, + 0.07273352146148682 + ], + "orientation": [ + 0.4590710699558258, + -0.8001260161399841, + 0.32249417901039124, + 0.21224913001060486 + ], + "joints": [ + 0.010866964235901833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09232041984796524, + -0.07222138345241547, + 0.042333681136369705 + ], + "orientation": [ + 0.14245843887329102, + 0.46783873438835144, + -0.6671549081802368, + -0.5619046688079834 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.08959729969501495, + -0.06961403042078018, + 0.04111376032233238 + ], + "orientation": [ + 0.14077728986740112, + 0.46531498432159424, + -0.6684163212776184, + -0.5629238486289978 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.08959729969501495, + -0.06961403042078018, + 0.04111376032233238 + ], + "orientation": [ + 0.14077728986740112, + 0.46531498432159424, + -0.6684163212776184, + -0.5629238486289978 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10327133536338806, + -0.06246620789170265, + 0.0341971255838871 + ], + "orientation": [ + 0.5234897136688232, + -0.6920227408409119, + -0.3932974636554718, + 0.30394086241722107 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + 0.10072526335716248, + -0.05959228053689003, + 0.03312276676297188 + ], + "orientation": [ + 0.5315942764282227, + -0.6952752470970154, + -0.3876008689403534, + 0.28942257165908813 + ], + "joints": [ + 0.022871095687150955 + ] + }, + "final_grasp": { + "position": [ + 0.10072526335716248, + -0.05959228053689003, + 0.03312276676297188 + ], + "orientation": [ + 0.5315942764282227, + -0.6952752470970154, + -0.3876008689403534, + 0.28942257165908813 + ], + "joints": [ + 0.014470193535089493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08325415849685669, + -0.09180548042058945, + 0.047218210995197296 + ], + "orientation": [ + 0.598189115524292, + -0.6589949727058411, + -0.4559534788131714, + -0.0013875574804842472 + ], + "joints": [ + 0.027034543454647064 + ] + }, + "fine_grasp": { + "position": [ + 0.08108920603990555, + -0.0890832245349884, + 0.046082478016614914 + ], + "orientation": [ + 0.5944337248802185, + -0.6592727303504944, + -0.460440993309021, + 0.0014547015307471156 + ], + "joints": [ + 0.018194787204265594 + ] + }, + "final_grasp": { + "position": [ + 0.08108920603990555, + -0.0890832245349884, + 0.046082478016614914 + ], + "orientation": [ + 0.5944337248802185, + -0.6592727303504944, + -0.460440993309021, + 0.0014547015307471156 + ], + "joints": [ + 0.009355030953884125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11056189984083176, + 0.018141765147447586, + -0.05858750268816948 + ], + "orientation": [ + 0.6524004936218262, + -0.34642165899276733, + 0.3807465732097626, + -0.5562351942062378 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.10715219378471375, + 0.018180521205067635, + -0.05674312263727188 + ], + "orientation": [ + 0.6517114043235779, + -0.3442057967185974, + 0.38350799679756165, + -0.5565215349197388 + ], + "joints": [ + 0.02258523926138878 + ] + }, + "final_grasp": { + "position": [ + -0.10715219378471375, + 0.018180521205067635, + -0.05674312263727188 + ], + "orientation": [ + 0.6517114043235779, + -0.3442057967185974, + 0.38350799679756165, + -0.5565215349197388 + ], + "joints": [ + 0.012972269207239151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12170810997486115, + 0.046968214213848114, + -0.0067849247716367245 + ], + "orientation": [ + 0.2596006393432617, + -0.5041261911392212, + -0.44008344411849976, + 0.696269154548645 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.11816297471523285, + 0.04634827747941017, + -0.006390812341123819 + ], + "orientation": [ + 0.261933833360672, + -0.5148437023162842, + -0.43767908215522766, + 0.6890310049057007 + ], + "joints": [ + 0.021128766238689423 + ] + }, + "final_grasp": { + "position": [ + 0.11816297471523285, + 0.04634827747941017, + -0.006390812341123819 + ], + "orientation": [ + 0.261933833360672, + -0.5148437023162842, + -0.43767908215522766, + 0.6890310049057007 + ], + "joints": [ + 0.012351706624031067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0477096289396286, + 0.18646107614040375, + -0.02186312898993492 + ], + "orientation": [ + 0.6142817139625549, + 0.642844021320343, + -0.21500740945339203, + 0.4039570689201355 + ], + "joints": [ + 0.019300630316138268 + ] + }, + "fine_grasp": { + "position": [ + -0.045558150857686996, + 0.18353036046028137, + -0.0206751711666584 + ], + "orientation": [ + 0.6137040257453918, + 0.6416137218475342, + -0.2048834264278412, + 0.41197311878204346 + ], + "joints": [ + 0.009645862504839897 + ] + }, + "final_grasp": { + "position": [ + -0.045558150857686996, + 0.18353036046028137, + -0.0206751711666584 + ], + "orientation": [ + 0.6137040257453918, + 0.6416137218475342, + -0.2048834264278412, + 0.41197311878204346 + ], + "joints": [ + -8.905306458473206e-06 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07213348895311356, + 0.15500904619693756, + -0.002447122009471059 + ], + "orientation": [ + 0.3850840628147125, + -0.16821536421775818, + 0.6509197354316711, + -0.6322320699691772 + ], + "joints": [ + 0.018814364448189735 + ] + }, + "fine_grasp": { + "position": [ + -0.07082246989011765, + 0.15129882097244263, + -0.003271720139309764 + ], + "orientation": [ + 0.37111833691596985, + -0.15075674653053284, + 0.6655077934265137, + -0.6297959089279175 + ], + "joints": [ + 0.010455260053277016 + ] + }, + "final_grasp": { + "position": [ + -0.07082246989011765, + 0.15129882097244263, + -0.003271720139309764 + ], + "orientation": [ + 0.37111833691596985, + -0.15075674653053284, + 0.6655077934265137, + -0.6297959089279175 + ], + "joints": [ + 0.002096155658364296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.073379747569561, + -0.0834900289773941, + 0.039237722754478455 + ], + "orientation": [ + 0.05062170699238777, + 0.4285966157913208, + -0.6848888397216797, + -0.5870856046676636 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.07105392217636108, + -0.08056595176458359, + 0.038288891315460205 + ], + "orientation": [ + 0.05233805626630783, + 0.4262654781341553, + -0.6873303651809692, + -0.585777759552002 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.07105392217636108, + -0.08056595176458359, + 0.038288891315460205 + ], + "orientation": [ + 0.05233805626630783, + 0.4262654781341553, + -0.6873303651809692, + -0.585777759552002 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02975619025528431, + 0.0023151084315031767, + -0.12872430682182312 + ], + "orientation": [ + 0.8004819750785828, + -0.06613083183765411, + 0.10397603362798691, + -0.5865528583526611 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.028820892795920372, + 0.0035661705769598484, + -0.12530383467674255 + ], + "orientation": [ + 0.8012787699699402, + -0.074611596763134, + 0.10066834092140198, + -0.5850223898887634 + ], + "joints": [ + 0.020755965262651443 + ] + }, + "final_grasp": { + "position": [ + -0.028820892795920372, + 0.0035661705769598484, + -0.12530383467674255 + ], + "orientation": [ + 0.8012787699699402, + -0.074611596763134, + 0.10066834092140198, + -0.5850223898887634 + ], + "joints": [ + 0.011142995208501816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05404093861579895, + 0.16140557825565338, + 0.03134405240416527 + ], + "orientation": [ + 0.6029197573661804, + 0.6795527935028076, + 0.41712337732315063, + -0.026528121903538704 + ], + "joints": [ + 0.021252252161502838 + ] + }, + "fine_grasp": { + "position": [ + -0.05216711759567261, + 0.15794013440608978, + 0.030355237424373627 + ], + "orientation": [ + 0.603369414806366, + 0.6774294376373291, + 0.41970011591911316, + -0.029774067923426628 + ], + "joints": [ + 0.012475192546844482 + ] + }, + "final_grasp": { + "position": [ + -0.05216711759567261, + 0.15794013440608978, + 0.030355237424373627 + ], + "orientation": [ + 0.603369414806366, + 0.6774294376373291, + 0.41970011591911316, + -0.029774067923426628 + ], + "joints": [ + 0.0036981329321861267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03906776010990143, + -0.09798604249954224, + -0.04153979569673538 + ], + "orientation": [ + 0.008303819224238396, + -0.27205538749694824, + -0.5331582427024841, + -0.8010364174842834 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + -0.03852897137403488, + -0.09459923952817917, + -0.039831507951021194 + ], + "orientation": [ + 0.012874841690063477, + -0.2657981812953949, + -0.5358890295028687, + -0.801254391670227 + ], + "joints": [ + 0.021427473053336143 + ] + }, + "final_grasp": { + "position": [ + -0.03852897137403488, + -0.09459923952817917, + -0.039831507951021194 + ], + "orientation": [ + 0.012874841690063477, + -0.2657981812953949, + -0.5358890295028687, + -0.801254391670227 + ], + "joints": [ + 0.011814502999186516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09458605945110321, + 0.03519001975655556, + -0.07597490400075912 + ], + "orientation": [ + 0.5198845863342285, + -0.28760164976119995, + 0.33099880814552307, + -0.7331064343452454 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.09151198714971542, + 0.03459600359201431, + -0.07379063218832016 + ], + "orientation": [ + 0.5178347229957581, + -0.2906215786933899, + 0.328532874584198, + -0.7344743013381958 + ], + "joints": [ + 0.02309465780854225 + ] + }, + "final_grasp": { + "position": [ + -0.09151198714971542, + 0.03459600359201431, + -0.07379063218832016 + ], + "orientation": [ + 0.5178347229957581, + -0.2906215786933899, + 0.328532874584198, + -0.7344743013381958 + ], + "joints": [ + 0.013481687754392624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08316575735807419, + -0.09169401973485947, + 0.047169122844934464 + ], + "orientation": [ + 0.5983932614326477, + -0.6585735082626343, + -0.456291139125824, + -0.002173692686483264 + ], + "joints": [ + 0.026826145127415657 + ] + }, + "fine_grasp": { + "position": [ + 0.08100046962499619, + -0.0889771431684494, + 0.04604043439030647 + ], + "orientation": [ + 0.5945898294448853, + -0.6588535904884338, + -0.46084073185920715, + 0.000784275121986866 + ], + "joints": [ + 0.017986388877034187 + ] + }, + "final_grasp": { + "position": [ + 0.08100046962499619, + -0.0889771431684494, + 0.04604043439030647 + ], + "orientation": [ + 0.5945898294448853, + -0.6588535904884338, + -0.46084073185920715, + 0.000784275121986866 + ], + "joints": [ + 0.009146632626652718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08634372800588608, + 0.16075964272022247, + 0.014614492654800415 + ], + "orientation": [ + 0.6485755443572998, + 0.6695436239242554, + -0.3227231800556183, + -0.164045512676239 + ], + "joints": [ + 0.021911071613430977 + ] + }, + "fine_grasp": { + "position": [ + 0.08372632414102554, + 0.15789493918418884, + 0.014162976294755936 + ], + "orientation": [ + 0.6477057933807373, + 0.6690441966056824, + -0.32431283593177795, + -0.16636787354946136 + ], + "joints": [ + 0.012277202680706978 + ] + }, + "final_grasp": { + "position": [ + 0.08372632414102554, + 0.15789493918418884, + 0.014162976294755936 + ], + "orientation": [ + 0.6477057933807373, + 0.6690441966056824, + -0.32431283593177795, + -0.16636787354946136 + ], + "joints": [ + 0.002643333747982979 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04227618873119354, + -0.10038868337869644, + -0.03909466415643692 + ], + "orientation": [ + 0.7806175351142883, + -0.5214865207672119, + -0.33754491806030273, + -0.06893150508403778 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + 0.04160132259130478, + -0.09711073338985443, + -0.03722120821475983 + ], + "orientation": [ + 0.7820804119110107, + -0.5234478116035461, + -0.3297213315963745, + -0.07507551461458206 + ], + "joints": [ + 0.020789360627532005 + ] + }, + "final_grasp": { + "position": [ + 0.04160132259130478, + -0.09711073338985443, + -0.03722120821475983 + ], + "orientation": [ + 0.7820804119110107, + -0.5234478116035461, + -0.3297213315963745, + -0.07507551461458206 + ], + "joints": [ + 0.012367559596896172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08230803906917572, + 0.1578221321105957, + -0.017543580383062363 + ], + "orientation": [ + 0.37266260385513306, + -0.09304758161306381, + -0.6586565971374512, + 0.6470209956169128 + ], + "joints": [ + 0.021827632561326027 + ] + }, + "fine_grasp": { + "position": [ + 0.07948515564203262, + 0.15529362857341766, + -0.016746411100029945 + ], + "orientation": [ + 0.3774583041667938, + -0.0967676043510437, + -0.6554927825927734, + 0.6469084024429321 + ], + "joints": [ + 0.011796707287430763 + ] + }, + "final_grasp": { + "position": [ + 0.07948515564203262, + 0.15529362857341766, + -0.016746411100029945 + ], + "orientation": [ + 0.3774583041667938, + -0.0967676043510437, + -0.6554927825927734, + 0.6469084024429321 + ], + "joints": [ + 0.0017657820135354996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038891471922397614, + -0.09805022180080414, + -0.04135743901133537 + ], + "orientation": [ + 0.010467998683452606, + -0.27073919773101807, + -0.5337884426116943, + -0.8010373115539551 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + -0.03836362808942795, + -0.09464497119188309, + -0.039596933871507645 + ], + "orientation": [ + 0.015174231491982937, + -0.2639259994029999, + -0.5369452238082886, + -0.8011258840560913 + ], + "joints": [ + 0.02147262543439865 + ] + }, + "final_grasp": { + "position": [ + -0.03836362808942795, + -0.09464497119188309, + -0.039596933871507645 + ], + "orientation": [ + 0.015174231491982937, + -0.2639259994029999, + -0.5369452238082886, + -0.8011258840560913 + ], + "joints": [ + 0.011441700160503387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08310969173908234, + -0.09166298806667328, + 0.047229450196027756 + ], + "orientation": [ + 0.5982250571250916, + -0.6586305499076843, + -0.45642799139022827, + -0.0024602729827165604 + ], + "joints": [ + 0.026826145127415657 + ] + }, + "fine_grasp": { + "position": [ + 0.08094704151153564, + -0.08894694596529007, + 0.04609762504696846 + ], + "orientation": [ + 0.5944228768348694, + -0.658901035785675, + -0.460988849401474, + 0.0004974394687451422 + ], + "joints": [ + 0.017986388877034187 + ] + }, + "final_grasp": { + "position": [ + 0.08094704151153564, + -0.08894694596529007, + 0.04609762504696846 + ], + "orientation": [ + 0.5944228768348694, + -0.658901035785675, + -0.460988849401474, + 0.0004974394687451422 + ], + "joints": [ + 0.009146632626652718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10153096914291382, + -0.07490819692611694, + 0.031529173254966736 + ], + "orientation": [ + 0.02433360181748867, + -0.6224015355110168, + 0.4911949634552002, + 0.6088938117027283 + ], + "joints": [ + 0.028192317113280296 + ] + }, + "fine_grasp": { + "position": [ + 0.09909014403820038, + -0.0723550021648407, + 0.03130156174302101 + ], + "orientation": [ + 0.026005541905760765, + -0.6159512996673584, + 0.4957081377506256, + 0.6117197871208191 + ], + "joints": [ + 0.019373459741473198 + ] + }, + "final_grasp": { + "position": [ + 0.09909014403820038, + -0.0723550021648407, + 0.03130156174302101 + ], + "orientation": [ + 0.026005541905760765, + -0.6159512996673584, + 0.4957081377506256, + 0.6117197871208191 + ], + "joints": [ + 0.0105546023696661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03851249814033508, + -0.07733114808797836, + -0.08901671320199966 + ], + "orientation": [ + 0.31471604108810425, + -0.03680216893553734, + 0.4213111698627472, + 0.849762499332428 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.03714825585484505, + -0.07538595795631409, + -0.0861642062664032 + ], + "orientation": [ + 0.31926754117012024, + -0.03251798450946808, + 0.4178581237792969, + 0.8499443531036377 + ], + "joints": [ + 0.0199861079454422 + ] + }, + "final_grasp": { + "position": [ + -0.03714825585484505, + -0.07538595795631409, + -0.0861642062664032 + ], + "orientation": [ + 0.31926754117012024, + -0.03251798450946808, + 0.4178581237792969, + 0.8499443531036377 + ], + "joints": [ + 0.009140171110630035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03798188641667366, + -0.10164798051118851, + 0.02078835293650627 + ], + "orientation": [ + 0.6459638476371765, + -0.677924394607544, + -0.3296363949775696, + -0.12037105113267899 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.036990221589803696, + -0.09814049303531647, + 0.02033429592847824 + ], + "orientation": [ + 0.6432787179946899, + -0.6794560551643372, + -0.33382222056388855, + -0.11443231999874115 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.036990221589803696, + -0.09814049303531647, + 0.02033429592847824 + ], + "orientation": [ + 0.6432787179946899, + -0.6794560551643372, + -0.33382222056388855, + -0.11443231999874115 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09424702823162079, + 0.12010592967271805, + -0.002542349509894848 + ], + "orientation": [ + 0.1746654361486435, + -0.3747543394565582, + 0.6042749285697937, + -0.6811041235923767 + ], + "joints": [ + 0.027274619787931442 + ] + }, + "fine_grasp": { + "position": [ + -0.09091413766145706, + 0.11836766451597214, + -0.0020280482713133097 + ], + "orientation": [ + 0.1765875369310379, + -0.3758702874183655, + 0.5989111065864563, + -0.6847217082977295 + ], + "joints": [ + 0.01724369451403618 + ] + }, + "final_grasp": { + "position": [ + -0.09091413766145706, + 0.11836766451597214, + -0.0020280482713133097 + ], + "orientation": [ + 0.1765875369310379, + -0.3758702874183655, + 0.5989111065864563, + -0.6847217082977295 + ], + "joints": [ + 0.007212769240140915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08315584808588028, + -0.09166071563959122, + 0.04732237756252289 + ], + "orientation": [ + 0.5987455248832703, + -0.6586753129959106, + -0.4556722640991211, + -0.003648685524240136 + ], + "joints": [ + 0.026802988722920418 + ] + }, + "fine_grasp": { + "position": [ + 0.08100979775190353, + -0.08896495401859283, + 0.04619370028376579 + ], + "orientation": [ + 0.5947998762130737, + -0.6589840054512024, + -0.46038344502449036, + -0.0005343139637261629 + ], + "joints": [ + 0.017963232472538948 + ] + }, + "final_grasp": { + "position": [ + 0.08100979775190353, + -0.08896495401859283, + 0.04619370028376579 + ], + "orientation": [ + 0.5947998762130737, + -0.6589840054512024, + -0.46038344502449036, + -0.0005343139637261629 + ], + "joints": [ + 0.009123476222157478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006368997972458601, + 0.11557885259389877, + -0.12168359011411667 + ], + "orientation": [ + 0.6267057657241821, + 0.06747754663228989, + -0.11602873355150223, + 0.767609179019928 + ], + "joints": [ + 0.020134223625063896 + ] + }, + "fine_grasp": { + "position": [ + 0.005987468641251326, + 0.11305505037307739, + -0.11886808276176453 + ], + "orientation": [ + 0.6262766718864441, + 0.0725928321480751, + -0.12589381635189056, + 0.7659363746643066 + ], + "joints": [ + 0.010479455813765526 + ] + }, + "final_grasp": { + "position": [ + 0.005987468641251326, + 0.11305505037307739, + -0.11886808276176453 + ], + "orientation": [ + 0.6262766718864441, + 0.0725928321480751, + -0.12589381635189056, + 0.7659363746643066 + ], + "joints": [ + 0.0008246880024671555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029981272295117378, + 0.003002143930643797, + -0.1286720186471939 + ], + "orientation": [ + 0.8001871109008789, + -0.0674474835395813, + 0.10072215646505356, + -0.5873724222183228 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + -0.028972866013646126, + 0.00388189940713346, + -0.12516936659812927 + ], + "orientation": [ + 0.8011350631713867, + -0.07304158061742783, + 0.09951038658618927, + -0.5856152772903442 + ], + "joints": [ + 0.021427473053336143 + ] + }, + "final_grasp": { + "position": [ + -0.028972866013646126, + 0.00388189940713346, + -0.12516936659812927 + ], + "orientation": [ + 0.8011350631713867, + -0.07304158061742783, + 0.09951038658618927, + -0.5856152772903442 + ], + "joints": [ + 0.011814502999186516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05437149479985237, + -0.030862199142575264, + -0.11986415088176727 + ], + "orientation": [ + 0.7767715454101562, + -0.01923922449350357, + 0.27222567796707153, + 0.5675817131996155 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.05314607173204422, + -0.029719293117523193, + -0.11676997691392899 + ], + "orientation": [ + 0.7764517664909363, + -0.019937219098210335, + 0.2720124423503876, + 0.5680971145629883 + ], + "joints": [ + 0.02219952642917633 + ] + }, + "final_grasp": { + "position": [ + -0.05314607173204422, + -0.029719293117523193, + -0.11676997691392899 + ], + "orientation": [ + 0.7764517664909363, + -0.019937219098210335, + 0.2720124423503876, + 0.5680971145629883 + ], + "joints": [ + 0.012941814959049225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09518781304359436, + 0.03543293848633766, + -0.07616886496543884 + ], + "orientation": [ + 0.5180709362030029, + -0.2882569432258606, + 0.33154258131980896, + -0.7338869571685791 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.09213779866695404, + 0.03487503156065941, + -0.07392561435699463 + ], + "orientation": [ + 0.5169239044189453, + -0.2912060618400574, + 0.32946211099624634, + -0.7344682216644287 + ], + "joints": [ + 0.02311665192246437 + ] + }, + "final_grasp": { + "position": [ + -0.09213779866695404, + 0.03487503156065941, + -0.07392561435699463 + ], + "orientation": [ + 0.5169239044189453, + -0.2912060618400574, + 0.32946211099624634, + -0.7344682216644287 + ], + "joints": [ + 0.013085726648569107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07011545449495316, + -0.08497340232133865, + -0.058319415897130966 + ], + "orientation": [ + 0.6737499237060547, + -0.07189064472913742, + 0.47174137830734253, + 0.5642277598381042 + ], + "joints": [ + 0.02786814607679844 + ] + }, + "fine_grasp": { + "position": [ + -0.06818283349275589, + -0.08156725019216537, + -0.057728610932826996 + ], + "orientation": [ + 0.6609395146369934, + -0.07927166670560837, + 0.4836040735244751, + 0.5683326721191406 + ], + "joints": [ + 0.02030315436422825 + ] + }, + "final_grasp": { + "position": [ + -0.06818283349275589, + -0.08156725019216537, + -0.057728610932826996 + ], + "orientation": [ + 0.6609395146369934, + -0.07927166670560837, + 0.4836040735244751, + 0.5683326721191406 + ], + "joints": [ + 0.012738162651658058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08217300474643707, + 0.162221759557724, + 0.019991280511021614 + ], + "orientation": [ + 0.6112080812454224, + 0.727135419845581, + -0.22448135912418365, + -0.21750138700008392 + ], + "joints": [ + 0.021249067038297653 + ] + }, + "fine_grasp": { + "position": [ + 0.07957082241773605, + 0.1594395637512207, + 0.019433055073022842 + ], + "orientation": [ + 0.6104888916015625, + 0.725504994392395, + -0.2275276631116867, + -0.22175894677639008 + ], + "joints": [ + 0.012012254446744919 + ] + }, + "final_grasp": { + "position": [ + 0.07957082241773605, + 0.1594395637512207, + 0.019433055073022842 + ], + "orientation": [ + 0.6104888916015625, + 0.725504994392395, + -0.2275276631116867, + -0.22175894677639008 + ], + "joints": [ + 0.0027754418551921844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015146409161388874, + -0.029346942901611328, + 0.1292053610086441 + ], + "orientation": [ + 0.18668606877326965, + -0.610872209072113, + 0.7588059306144714, + 0.12726734578609467 + ], + "joints": [ + 0.02733556739985943 + ] + }, + "fine_grasp": { + "position": [ + -0.014627134427428246, + -0.028350697830319405, + 0.12568306922912598 + ], + "orientation": [ + 0.17557871341705322, + -0.607589066028595, + 0.765497624874115, + 0.11841051280498505 + ], + "joints": [ + 0.01933172158896923 + ] + }, + "final_grasp": { + "position": [ + -0.014627134427428246, + -0.028350697830319405, + 0.12568306922912598 + ], + "orientation": [ + 0.17557871341705322, + -0.607589066028595, + 0.765497624874115, + 0.11841051280498505 + ], + "joints": [ + 0.011327875778079033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015968473628163338, + 0.12684224545955658, + -0.09184408187866211 + ], + "orientation": [ + 0.5556727647781372, + 0.13919204473495483, + 0.3172040283679962, + -0.7558008432388306 + ], + "joints": [ + 0.023328403010964394 + ] + }, + "fine_grasp": { + "position": [ + -0.015000410377979279, + 0.12528330087661743, + -0.08810922503471375 + ], + "orientation": [ + 0.5523350238800049, + 0.1363048255443573, + 0.3157041370868683, + -0.7593931555747986 + ], + "joints": [ + 0.014969298616051674 + ] + }, + "final_grasp": { + "position": [ + -0.015000410377979279, + 0.12528330087661743, + -0.08810922503471375 + ], + "orientation": [ + 0.5523350238800049, + 0.1363048255443573, + 0.3157041370868683, + -0.7593931555747986 + ], + "joints": [ + 0.006610194221138954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02151205576956272, + 0.08442191779613495, + 0.10410833358764648 + ], + "orientation": [ + 0.22126734256744385, + 0.7642648816108704, + -0.6052417159080505, + 0.02495213784277439 + ], + "joints": [ + 0.024498064070940018 + ] + }, + "fine_grasp": { + "position": [ + 0.020045368000864983, + 0.0847436785697937, + 0.10024998337030411 + ], + "orientation": [ + 0.21877123415470123, + 0.7825148701667786, + -0.5824915766716003, + 0.02265317551791668 + ], + "joints": [ + 0.016556914895772934 + ] + }, + "final_grasp": { + "position": [ + 0.020045368000864983, + 0.0847436785697937, + 0.10024998337030411 + ], + "orientation": [ + 0.21877123415470123, + 0.7825148701667786, + -0.5824915766716003, + 0.02265317551791668 + ], + "joints": [ + 0.00861576572060585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01459675095975399, + -0.06820758432149887, + -0.10181637108325958 + ], + "orientation": [ + 0.6953534483909607, + -0.2904813289642334, + -0.18613971769809723, + -0.6304411888122559 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.014061843045055866, + -0.06623924523591995, + -0.09842981398105621 + ], + "orientation": [ + 0.6959729790687561, + -0.287899374961853, + -0.18302960693836212, + -0.6318510174751282 + ], + "joints": [ + 0.02251918986439705 + ] + }, + "final_grasp": { + "position": [ + -0.014061843045055866, + -0.06623924523591995, + -0.09842981398105621 + ], + "orientation": [ + 0.6959729790687561, + -0.287899374961853, + -0.18302960693836212, + -0.6318510174751282 + ], + "joints": [ + 0.013303276151418686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020125946030020714, + -0.09485964477062225, + -0.06828077882528305 + ], + "orientation": [ + 0.7662226557731628, + -0.38722291588783264, + 0.3201495110988617, + 0.40058156847953796 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.01932370848953724, + -0.09163399040699005, + -0.06611224263906479 + ], + "orientation": [ + 0.7640537619590759, + -0.3873295783996582, + 0.31760865449905396, + 0.4065985083580017 + ], + "joints": [ + 0.023974556475877762 + ] + }, + "final_grasp": { + "position": [ + -0.01932370848953724, + -0.09163399040699005, + -0.06611224263906479 + ], + "orientation": [ + 0.7640537619590759, + -0.3873295783996582, + 0.31760865449905396, + 0.4065985083580017 + ], + "joints": [ + 0.014361586421728134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05441925674676895, + -0.030993018299341202, + -0.12002766132354736 + ], + "orientation": [ + 0.7764445543289185, + -0.01885516569018364, + 0.2719746232032776, + 0.5681621432304382 + ], + "joints": [ + 0.031665634363889694 + ] + }, + "fine_grasp": { + "position": [ + -0.053167931735515594, + -0.029808271676301956, + -0.11685661971569061 + ], + "orientation": [ + 0.7761540412902832, + -0.019624177366495132, + 0.27168816328048706, + 0.5686699151992798 + ], + "joints": [ + 0.02240792289376259 + ] + }, + "final_grasp": { + "position": [ + -0.053167931735515594, + -0.029808271676301956, + -0.11685661971569061 + ], + "orientation": [ + 0.7761540412902832, + -0.019624177366495132, + 0.27168816328048706, + 0.5686699151992798 + ], + "joints": [ + 0.013150211423635483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02930494211614132, + -0.10546283423900604, + 0.008985035121440887 + ], + "orientation": [ + 0.04786987975239754, + 0.0697631686925888, + 0.7278690338134766, + 0.6804764866828918 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.02850453369319439, + -0.10210153460502625, + 0.009297715499997139 + ], + "orientation": [ + 0.05271252617239952, + 0.07620305567979813, + 0.7284172177314758, + 0.6788393259048462 + ], + "joints": [ + 0.02186858467757702 + ] + }, + "final_grasp": { + "position": [ + -0.02850453369319439, + -0.10210153460502625, + 0.009297715499997139 + ], + "orientation": [ + 0.05271252617239952, + 0.07620305567979813, + 0.7284172177314758, + 0.6788393259048462 + ], + "joints": [ + 0.012673569843173027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015544784255325794, + 0.12655308842658997, + -0.09124457836151123 + ], + "orientation": [ + 0.5587170124053955, + 0.14292854070663452, + 0.31680846214294434, + -0.7530199885368347 + ], + "joints": [ + 0.023332392796874046 + ] + }, + "fine_grasp": { + "position": [ + -0.01452794298529625, + 0.12515079975128174, + -0.08746267110109329 + ], + "orientation": [ + 0.5519968271255493, + 0.1392003744840622, + 0.3162592351436615, + -0.7588825821876526 + ], + "joints": [ + 0.014973288401961327 + ] + }, + "final_grasp": { + "position": [ + -0.01452794298529625, + 0.12515079975128174, + -0.08746267110109329 + ], + "orientation": [ + 0.5519968271255493, + 0.1392003744840622, + 0.3162592351436615, + -0.7588825821876526 + ], + "joints": [ + 0.006614184007048607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03195912763476372, + 0.1658664494752884, + -0.07893898338079453 + ], + "orientation": [ + 0.7564338445663452, + 0.44624024629592896, + 0.13010041415691376, + -0.4601645767688751 + ], + "joints": [ + 0.02098235674202442 + ] + }, + "fine_grasp": { + "position": [ + 0.031034370884299278, + 0.16301418840885162, + -0.07665874063968658 + ], + "orientation": [ + 0.7565608024597168, + 0.4458606243133545, + 0.1297653764486313, + -0.4604182839393616 + ], + "joints": [ + 0.011327588930726051 + ] + }, + "final_grasp": { + "position": [ + 0.031034370884299278, + 0.16301418840885162, + -0.07665874063968658 + ], + "orientation": [ + 0.7565608024597168, + 0.4458606243133545, + 0.1297653764486313, + -0.4604182839393616 + ], + "joints": [ + 0.001672821119427681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020141633227467537, + -0.09496591240167618, + -0.06836740672588348 + ], + "orientation": [ + 0.7668389678001404, + -0.3875419795513153, + 0.3196180462837219, + 0.39951658248901367 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.01933487132191658, + -0.09172572195529938, + -0.06621051579713821 + ], + "orientation": [ + 0.7645663619041443, + -0.3877636194229126, + 0.3172261714935303, + 0.4055183529853821 + ], + "joints": [ + 0.023974556475877762 + ] + }, + "final_grasp": { + "position": [ + -0.01933487132191658, + -0.09172572195529938, + -0.06621051579713821 + ], + "orientation": [ + 0.7645663619041443, + -0.3877636194229126, + 0.3172261714935303, + 0.4055183529853821 + ], + "joints": [ + 0.014361586421728134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08149503916501999, + -0.07706467062234879, + 0.053396183997392654 + ], + "orientation": [ + 0.20854370296001434, + 0.16041533648967743, + -0.8311893939971924, + -0.4897966682910919 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + 0.07876602560281754, + -0.07489898055791855, + 0.05195791274309158 + ], + "orientation": [ + 0.21704426407814026, + 0.17505626380443573, + -0.8294594883918762, + -0.48398759961128235 + ], + "joints": [ + 0.018693970516324043 + ] + }, + "final_grasp": { + "position": [ + 0.07876602560281754, + -0.07489898055791855, + 0.05195791274309158 + ], + "orientation": [ + 0.21704426407814026, + 0.17505626380443573, + -0.8294594883918762, + -0.48398759961128235 + ], + "joints": [ + 0.00866304524242878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014858853071928024, + -0.06845557689666748, + -0.10192848742008209 + ], + "orientation": [ + 0.6926883459091187, + -0.290005087852478, + -0.18611440062522888, + -0.6335939764976501 + ], + "joints": [ + 0.03171194717288017 + ] + }, + "fine_grasp": { + "position": [ + -0.014386600814759731, + -0.06639258563518524, + -0.09859171509742737 + ], + "orientation": [ + 0.6929847002029419, + -0.28793972730636597, + -0.18395496904850006, + -0.63484126329422 + ], + "joints": [ + 0.02249603345990181 + ] + }, + "final_grasp": { + "position": [ + -0.014386600814759731, + -0.06639258563518524, + -0.09859171509742737 + ], + "orientation": [ + 0.6929847002029419, + -0.28793972730636597, + -0.18395496904850006, + -0.63484126329422 + ], + "joints": [ + 0.013280119746923447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015714704990386963, + -0.06388947367668152, + -0.11018233001232147 + ], + "orientation": [ + 0.6283386945724487, + -0.16838707029819489, + 0.2761753797531128, + 0.7075051069259644 + ], + "joints": [ + 0.030322622507810593 + ] + }, + "fine_grasp": { + "position": [ + -0.015220284461975098, + -0.062217313796281815, + -0.10696298629045486 + ], + "orientation": [ + 0.629450261592865, + -0.1665424406528473, + 0.27465730905532837, + 0.7075445652008057 + ], + "joints": [ + 0.021503765136003494 + ] + }, + "final_grasp": { + "position": [ + -0.015220284461975098, + -0.062217313796281815, + -0.10696298629045486 + ], + "orientation": [ + 0.629450261592865, + -0.1665424406528473, + 0.27465730905532837, + 0.7075445652008057 + ], + "joints": [ + 0.012684907764196396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06301625072956085, + -0.07169005274772644, + 0.05625399947166443 + ], + "orientation": [ + 0.3054670989513397, + 0.15617698431015015, + 0.8282926082611084, + 0.4429785907268524 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + -0.06214292347431183, + -0.06894320249557495, + 0.05381273105740547 + ], + "orientation": [ + 0.2856210470199585, + 0.1510312855243683, + 0.8359362483024597, + 0.4436449408531189 + ], + "joints": [ + 0.020853156223893166 + ] + }, + "final_grasp": { + "position": [ + -0.06214292347431183, + -0.06894320249557495, + 0.05381273105740547 + ], + "orientation": [ + 0.2856210470199585, + 0.1510312855243683, + 0.8359362483024597, + 0.4436449408531189 + ], + "joints": [ + 0.012055197730660439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0033702608197927475, + 0.05674995109438896, + -0.12248215079307556 + ], + "orientation": [ + 0.8486394882202148, + 0.15305249392986298, + 0.11307725310325623, + -0.49355795979499817 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.0027681365609169006, + 0.055326249450445175, + -0.11889984458684921 + ], + "orientation": [ + 0.850177526473999, + 0.15055957436561584, + 0.11654220521450043, + -0.49086445569992065 + ], + "joints": [ + 0.022969789803028107 + ] + }, + "final_grasp": { + "position": [ + -0.0027681365609169006, + 0.055326249450445175, + -0.11889984458684921 + ], + "orientation": [ + 0.850177526473999, + 0.15055957436561584, + 0.11654220521450043, + -0.49086445569992065 + ], + "joints": [ + 0.012583605945110321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08787348121404648, + 0.047340277582407, + 0.0784544050693512 + ], + "orientation": [ + 0.05019424110651016, + -0.7471362352371216, + 0.4747030735015869, + -0.4625203609466553 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + -0.08557729423046112, + 0.04689892753958702, + 0.07591158896684647 + ], + "orientation": [ + 0.05551585927605629, + -0.7541674971580505, + 0.4759991466999054, + -0.44897007942199707 + ], + "joints": [ + 0.0206865556538105 + ] + }, + "final_grasp": { + "position": [ + -0.08557729423046112, + 0.04689892753958702, + 0.07591158896684647 + ], + "orientation": [ + 0.05551585927605629, + -0.7541674971580505, + 0.4759991466999054, + -0.44897007942199707 + ], + "joints": [ + 0.011930394917726517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0039368984289467335, + -0.07284974306821823, + -0.10737074911594391 + ], + "orientation": [ + 0.43767938017845154, + -0.1871257871389389, + -0.31807273626327515, + -0.8199087381362915 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + 0.003511811839416623, + -0.07068387418985367, + -0.10443015396595001 + ], + "orientation": [ + 0.4399920701980591, + -0.18425796926021576, + -0.319299578666687, + -0.8188429474830627 + ], + "joints": [ + 0.020459456369280815 + ] + }, + "final_grasp": { + "position": [ + 0.003511811839416623, + -0.07068387418985367, + -0.10443015396595001 + ], + "orientation": [ + 0.4399920701980591, + -0.18425796926021576, + -0.319299578666687, + -0.8188429474830627 + ], + "joints": [ + 0.010804688557982445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015830649062991142, + -0.0644955262541771, + -0.11016567796468735 + ], + "orientation": [ + 0.6293409466743469, + -0.16653302311897278, + 0.2748500108718872, + 0.7075691819190979 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + -0.01535070315003395, + -0.06271228939294815, + -0.10709463059902191 + ], + "orientation": [ + 0.6300980448722839, + -0.1654224693775177, + 0.27392226457595825, + 0.7075157165527344 + ], + "joints": [ + 0.021317364647984505 + ] + }, + "final_grasp": { + "position": [ + -0.01535070315003395, + -0.06271228939294815, + -0.10709463059902191 + ], + "orientation": [ + 0.6300980448722839, + -0.1654224693775177, + 0.27392226457595825, + 0.7075157165527344 + ], + "joints": [ + 0.01208055205643177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047546662390232086, + -0.08968467265367508, + -0.0635499656200409 + ], + "orientation": [ + 0.0869097113609314, + -0.20663771033287048, + -0.4373834431171417, + -0.8708863854408264 + ], + "joints": [ + 0.03124884143471718 + ] + }, + "fine_grasp": { + "position": [ + -0.04554223269224167, + -0.08737841248512268, + -0.0616644062101841 + ], + "orientation": [ + 0.08061542361974716, + -0.21232829988002777, + -0.4334714710712433, + -0.8720781207084656 + ], + "joints": [ + 0.020402904599905014 + ] + }, + "final_grasp": { + "position": [ + -0.04554223269224167, + -0.08737841248512268, + -0.0616644062101841 + ], + "orientation": [ + 0.08061542361974716, + -0.21232829988002777, + -0.4334714710712433, + -0.8720781207084656 + ], + "joints": [ + 0.00955696776509285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11451973021030426, + -0.0044226935133337975, + 0.04120572283864021 + ], + "orientation": [ + 0.37328413128852844, + 0.49761146306991577, + -0.6468039751052856, + -0.4412328004837036 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.11089174449443817, + -0.00392142916098237, + 0.0405130498111248 + ], + "orientation": [ + 0.37837231159210205, + 0.49332016706466675, + -0.6517485976219177, + -0.4343886077404022 + ], + "joints": [ + 0.022211339324712753 + ] + }, + "final_grasp": { + "position": [ + 0.11089174449443817, + -0.00392142916098237, + 0.0405130498111248 + ], + "orientation": [ + 0.37837231159210205, + 0.49332016706466675, + -0.6517485976219177, + -0.4343886077404022 + ], + "joints": [ + 0.012201312929391861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09463144093751907, + 0.035299982875585556, + -0.0759504958987236 + ], + "orientation": [ + 0.5188313722610474, + -0.2886795997619629, + 0.3301891088485718, + -0.7337936758995056 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.09159398078918457, + 0.034715935587882996, + -0.07375943660736084 + ], + "orientation": [ + 0.5175530910491943, + -0.2913341224193573, + 0.3279627561569214, + -0.7346451878547668 + ], + "joints": [ + 0.02311665192246437 + ] + }, + "final_grasp": { + "position": [ + -0.09159398078918457, + 0.034715935587882996, + -0.07375943660736084 + ], + "orientation": [ + 0.5175530910491943, + -0.2913341224193573, + 0.3279627561569214, + -0.7346451878547668 + ], + "joints": [ + 0.013085726648569107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036492720246315, + -0.10071197897195816, + -0.042746443301439285 + ], + "orientation": [ + 0.13588523864746094, + 0.027274316176772118, + -0.580159068107605, + -0.8026249408721924 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.03507932648062706, + -0.09748032689094543, + -0.04110809415578842 + ], + "orientation": [ + 0.14226287603378296, + 0.03162505850195885, + -0.5811404585838318, + -0.8006478548049927 + ], + "joints": [ + 0.02237684279680252 + ] + }, + "final_grasp": { + "position": [ + 0.03507932648062706, + -0.09748032689094543, + -0.04110809415578842 + ], + "orientation": [ + 0.14226287603378296, + 0.03162505850195885, + -0.5811404585838318, + -0.8006478548049927 + ], + "joints": [ + 0.012763872742652893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036432694643735886, + 0.05729786679148674, + -0.11971326172351837 + ], + "orientation": [ + 0.7614957094192505, + 0.015217372216284275, + -0.1862129122018814, + 0.6206587553024292 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + 0.0356450192630291, + 0.05533311143517494, + -0.11654791235923767 + ], + "orientation": [ + 0.7581129670143127, + 0.021955547854304314, + -0.18984170258045197, + 0.6234925389289856 + ], + "joints": [ + 0.020524410530924797 + ] + }, + "final_grasp": { + "position": [ + 0.0356450192630291, + 0.05533311143517494, + -0.11654791235923767 + ], + "orientation": [ + 0.7581129670143127, + 0.021955547854304314, + -0.18984170258045197, + 0.6234925389289856 + ], + "joints": [ + 0.01091144047677517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09272710233926773, + -0.07701615989208221, + -0.031069811433553696 + ], + "orientation": [ + 0.8040773272514343, + -0.44692713022232056, + 0.3918629288673401, + -0.012614983133971691 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + -0.0899277999997139, + -0.07502743601799011, + -0.029763448983430862 + ], + "orientation": [ + 0.8044577836990356, + -0.4444023370742798, + 0.3935968279838562, + -0.02087777853012085 + ], + "joints": [ + 0.02084401622414589 + ] + }, + "final_grasp": { + "position": [ + -0.0899277999997139, + -0.07502743601799011, + -0.029763448983430862 + ], + "orientation": [ + 0.8044577836990356, + -0.4444023370742798, + 0.3935968279838562, + -0.02087777853012085 + ], + "joints": [ + 0.010416034609079361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06779417395591736, + -0.08519411832094193, + -0.04696065932512283 + ], + "orientation": [ + 0.6278882622718811, + -0.22028733789920807, + 0.5786445736885071, + 0.4715932309627533 + ], + "joints": [ + 0.028794365003705025 + ] + }, + "fine_grasp": { + "position": [ + -0.06528924405574799, + -0.08322148025035858, + -0.044913288205862045 + ], + "orientation": [ + 0.6349366307258606, + -0.21039527654647827, + 0.5712770223617554, + 0.4756383001804352 + ], + "joints": [ + 0.018345484510064125 + ] + }, + "final_grasp": { + "position": [ + -0.06528924405574799, + -0.08322148025035858, + -0.044913288205862045 + ], + "orientation": [ + 0.6349366307258606, + -0.21039527654647827, + 0.5712770223617554, + 0.4756383001804352 + ], + "joints": [ + 0.007896604016423225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016181811690330505, + 0.12669135630130768, + -0.0911221131682396 + ], + "orientation": [ + 0.5555423498153687, + 0.13529489934444427, + 0.31364837288856506, + -0.7580848336219788 + ], + "joints": [ + 0.024216165766119957 + ] + }, + "fine_grasp": { + "position": [ + -0.01524683739989996, + 0.12497995048761368, + -0.087521031498909 + ], + "orientation": [ + 0.550495445728302, + 0.13280640542507172, + 0.31418195366859436, + -0.7619756460189819 + ], + "joints": [ + 0.015439106151461601 + ] + }, + "final_grasp": { + "position": [ + -0.01524683739989996, + 0.12497995048761368, + -0.087521031498909 + ], + "orientation": [ + 0.550495445728302, + 0.13280640542507172, + 0.31418195366859436, + -0.7619756460189819 + ], + "joints": [ + 0.0066620465368032455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13881826400756836, + 0.03494414687156677, + 0.034256525337696075 + ], + "orientation": [ + 0.44720014929771423, + 0.6140714287757874, + -0.49258214235305786, + -0.42460715770721436 + ], + "joints": [ + 0.026895614340901375 + ] + }, + "fine_grasp": { + "position": [ + 0.13525605201721191, + 0.03459465131163597, + 0.033451344817876816 + ], + "orientation": [ + 0.4463720917701721, + 0.6136440634727478, + -0.49351072311401367, + -0.4250178635120392 + ], + "joints": [ + 0.0184320155531168 + ] + }, + "final_grasp": { + "position": [ + 0.13525605201721191, + 0.03459465131163597, + 0.033451344817876816 + ], + "orientation": [ + 0.4463720917701721, + 0.6136440634727478, + -0.49351072311401367, + -0.4250178635120392 + ], + "joints": [ + 0.009968416765332222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.062121663242578506, + -0.07118954509496689, + 0.056214556097984314 + ], + "orientation": [ + 0.303690105676651, + 0.15976440906524658, + 0.8285024762153625, + 0.4425286054611206 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.0612473338842392, + -0.0683867484331131, + 0.05378507450222969 + ], + "orientation": [ + 0.28223487734794617, + 0.15488985180854797, + 0.8363407254219055, + 0.44371941685676575 + ], + "joints": [ + 0.020434102043509483 + ] + }, + "final_grasp": { + "position": [ + -0.0612473338842392, + -0.0683867484331131, + 0.05378507450222969 + ], + "orientation": [ + 0.28223487734794617, + 0.15488985180854797, + 0.8363407254219055, + 0.44371941685676575 + ], + "joints": [ + 0.011657042428851128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019675815477967262, + 0.013077016919851303, + 0.13229162991046906 + ], + "orientation": [ + 0.038181547075510025, + -0.8296651840209961, + -0.5534285306930542, + 0.06256773322820663 + ], + "joints": [ + 0.033101264387369156 + ] + }, + "fine_grasp": { + "position": [ + 0.019256072118878365, + 0.013366120867431164, + 0.12856778502464294 + ], + "orientation": [ + 0.039879146963357925, + -0.8402600884437561, + -0.5374528765678406, + 0.05930517986416817 + ], + "joints": [ + 0.02430330589413643 + ] + }, + "final_grasp": { + "position": [ + 0.019256072118878365, + 0.013366120867431164, + 0.12856778502464294 + ], + "orientation": [ + 0.039879146963357925, + -0.8402600884437561, + -0.5374528765678406, + 0.05930517986416817 + ], + "joints": [ + 0.015505347400903702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012983706779778004, + -0.10658720880746841, + 0.012600436806678772 + ], + "orientation": [ + 0.5779122710227966, + -0.6385518312454224, + -0.4302303194999695, + -0.27050110697746277 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + 0.012951868586242199, + -0.10265528410673141, + 0.01259582955390215 + ], + "orientation": [ + 0.5831742882728577, + -0.6363852024078369, + -0.42346858978271484, + -0.2749471366405487 + ], + "joints": [ + 0.022472940385341644 + ] + }, + "final_grasp": { + "position": [ + 0.012951868586242199, + -0.10265528410673141, + 0.01259582955390215 + ], + "orientation": [ + 0.5831742882728577, + -0.6363852024078369, + -0.42346858978271484, + -0.2749471366405487 + ], + "joints": [ + 0.014113835990428925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12559863924980164, + 0.026173925027251244, + 0.05588773638010025 + ], + "orientation": [ + 0.1859482228755951, + -0.7407020926475525, + -0.3828352987766266, + 0.5198276042938232 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + 0.12222994118928909, + 0.025640983134508133, + 0.05408445745706558 + ], + "orientation": [ + 0.18829025328159332, + -0.7442646026611328, + -0.38225075602531433, + 0.5142968893051147 + ], + "joints": [ + 0.019751137122511864 + ] + }, + "final_grasp": { + "position": [ + 0.12222994118928909, + 0.025640983134508133, + 0.05408445745706558 + ], + "orientation": [ + 0.18829025328159332, + -0.7442646026611328, + -0.38225075602531433, + 0.5142968893051147 + ], + "joints": [ + 0.008508143946528435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03226888179779053, + 0.1672004908323288, + -0.08071479946374893 + ], + "orientation": [ + 0.7535369992256165, + 0.4510750472545624, + 0.13096879422664642, + -0.4599570631980896 + ], + "joints": [ + 0.02122252807021141 + ] + }, + "fine_grasp": { + "position": [ + 0.0313945971429348, + 0.16463206708431244, + -0.0780152678489685 + ], + "orientation": [ + 0.7553303837776184, + 0.44684240221977234, + 0.1294560730457306, + -0.4615722894668579 + ], + "joints": [ + 0.01156776025891304 + ] + }, + "final_grasp": { + "position": [ + 0.0313945971429348, + 0.16463206708431244, + -0.0780152678489685 + ], + "orientation": [ + 0.7553303837776184, + 0.44684240221977234, + 0.1294560730457306, + -0.4615722894668579 + ], + "joints": [ + 0.0019129924476146698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031098267063498497, + 0.17148977518081665, + 0.0133433872833848 + ], + "orientation": [ + 0.24875691533088684, + 0.04624458774924278, + 0.7423614859580994, + -0.6203876733779907 + ], + "joints": [ + 0.02195940725505352 + ] + }, + "fine_grasp": { + "position": [ + -0.030631715431809425, + 0.1679578572511673, + 0.013054477982223034 + ], + "orientation": [ + 0.24208402633666992, + 0.04824170842766762, + 0.7444319725036621, + -0.6203943490982056 + ], + "joints": [ + 0.012346437200903893 + ] + }, + "final_grasp": { + "position": [ + -0.030631715431809425, + 0.1679578572511673, + 0.013054477982223034 + ], + "orientation": [ + 0.24208402633666992, + 0.04824170842766762, + 0.7444319725036621, + -0.6203943490982056 + ], + "joints": [ + 0.002733467146754265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.078637033700943, + -0.08378218859434128, + 0.06345093995332718 + ], + "orientation": [ + 0.5182324051856995, + -0.7864253520965576, + 0.3212188482284546, + -0.09893835335969925 + ], + "joints": [ + 0.027752364054322243 + ] + }, + "fine_grasp": { + "position": [ + -0.07656383514404297, + -0.08141664415597916, + 0.061823900789022446 + ], + "orientation": [ + 0.516635537147522, + -0.7836872339248657, + 0.328559935092926, + -0.10473989695310593 + ], + "joints": [ + 0.0188917089253664 + ] + }, + "final_grasp": { + "position": [ + -0.07656383514404297, + -0.08141664415597916, + 0.061823900789022446 + ], + "orientation": [ + 0.516635537147522, + -0.7836872339248657, + 0.328559935092926, + -0.10473989695310593 + ], + "joints": [ + 0.01003105379641056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06830428540706635, + 0.18226191401481628, + 0.0050395168364048 + ], + "orientation": [ + 0.6115336418151855, + 0.7476866245269775, + -0.028480513021349907, + -0.2572551369667053 + ], + "joints": [ + 0.020226849243044853 + ] + }, + "fine_grasp": { + "position": [ + 0.06606131047010422, + 0.17948445677757263, + 0.005720307119190693 + ], + "orientation": [ + 0.6167077422142029, + 0.7403866648674011, + -0.03224926069378853, + -0.2654414176940918 + ], + "joints": [ + 0.010175025090575218 + ] + }, + "final_grasp": { + "position": [ + 0.06606131047010422, + 0.17948445677757263, + 0.005720307119190693 + ], + "orientation": [ + 0.6167077422142029, + 0.7403866648674011, + -0.03224926069378853, + -0.2654414176940918 + ], + "joints": [ + 0.0001232009381055832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01660418137907982, + 0.19285857677459717, + -0.044428639113903046 + ], + "orientation": [ + 0.7273252010345459, + 0.4456687867641449, + -0.3202156126499176, + 0.41211575269699097 + ], + "joints": [ + 0.019694270566105843 + ] + }, + "fine_grasp": { + "position": [ + 0.01606077328324318, + 0.189019575715065, + -0.04378804937005043 + ], + "orientation": [ + 0.7229270339012146, + 0.4517882764339447, + -0.3246416747570038, + 0.4097214937210083 + ], + "joints": [ + 0.010081300511956215 + ] + }, + "final_grasp": { + "position": [ + 0.01606077328324318, + 0.189019575715065, + -0.04378804937005043 + ], + "orientation": [ + 0.7229270339012146, + 0.4517882764339447, + -0.3246416747570038, + 0.4097214937210083 + ], + "joints": [ + 0.0004683304578065872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0913674533367157, + -0.0760354995727539, + -0.02921088971197605 + ], + "orientation": [ + 0.8031068444252014, + -0.44781941175460815, + 0.39289596676826477, + -0.01047525368630886 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.08859175443649292, + -0.07380742579698563, + -0.027845900505781174 + ], + "orientation": [ + 0.8021876215934753, + -0.44838985800743103, + 0.3938412070274353, + -0.018184887245297432 + ], + "joints": [ + 0.021285127848386765 + ] + }, + "final_grasp": { + "position": [ + -0.08859175443649292, + -0.07380742579698563, + -0.027845900505781174 + ], + "orientation": [ + 0.8021876215934753, + -0.44838985800743103, + 0.3938412070274353, + -0.018184887245297432 + ], + "joints": [ + 0.011275101453065872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016610821709036827, + 0.19285167753696442, + -0.04450152814388275 + ], + "orientation": [ + 0.7269620895385742, + 0.44618117809295654, + -0.3199700117111206, + 0.4123927056789398 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + 0.01607026904821396, + 0.18899992108345032, + -0.04383302479982376 + ], + "orientation": [ + 0.7226321697235107, + 0.45217931270599365, + -0.3241969048976898, + 0.41016197204589844 + ], + "joints": [ + 0.010059302672743797 + ] + }, + "final_grasp": { + "position": [ + 0.01607026904821396, + 0.18899992108345032, + -0.04383302479982376 + ], + "orientation": [ + 0.7226321697235107, + 0.45217931270599365, + -0.3241969048976898, + 0.41016197204589844 + ], + "joints": [ + 0.0008642878383398056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042125292122364044, + -0.10022410750389099, + 0.01462625339627266 + ], + "orientation": [ + 0.2345605194568634, + -0.4459134042263031, + 0.5767152905464172, + 0.6430723071098328 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.04030163586139679, + -0.0966428592801094, + 0.014307362958788872 + ], + "orientation": [ + 0.223565936088562, + -0.45069369673728943, + 0.5792310237884521, + 0.6413930058479309 + ], + "joints": [ + 0.022232238203287125 + ] + }, + "final_grasp": { + "position": [ + 0.04030163586139679, + -0.0966428592801094, + 0.014307362958788872 + ], + "orientation": [ + 0.223565936088562, + -0.45069369673728943, + 0.5792310237884521, + 0.6413930058479309 + ], + "joints": [ + 0.012243110686540604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026973560452461243, + -0.10445920377969742, + 0.027094244956970215 + ], + "orientation": [ + 0.3056268095970154, + -0.1504436433315277, + -0.7485869526863098, + -0.5688378810882568 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + 0.02588074281811714, + -0.1008305624127388, + 0.025737030431628227 + ], + "orientation": [ + 0.2987012267112732, + -0.1587199717760086, + -0.7543278932571411, + -0.5626499056816101 + ], + "joints": [ + 0.0243033729493618 + ] + }, + "final_grasp": { + "position": [ + 0.02588074281811714, + -0.1008305624127388, + 0.025737030431628227 + ], + "orientation": [ + 0.2987012267112732, + -0.1587199717760086, + -0.7543278932571411, + -0.5626499056816101 + ], + "joints": [ + 0.016362223774194717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01785138063132763, + -0.07378597557544708, + 0.08856898546218872 + ], + "orientation": [ + 0.17273913323879242, + -0.462915301322937, + -0.7779147028923035, + -0.3882259130477905 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.01756437122821808, + -0.07201894372701645, + 0.08559782803058624 + ], + "orientation": [ + 0.1644437611103058, + -0.4701763987541199, + -0.7807674407958984, + -0.3772197961807251 + ], + "joints": [ + 0.019688500091433525 + ] + }, + "final_grasp": { + "position": [ + -0.01756437122821808, + -0.07201894372701645, + 0.08559782803058624 + ], + "orientation": [ + 0.1644437611103058, + -0.4701763987541199, + -0.7807674407958984, + -0.3772197961807251 + ], + "joints": [ + 0.009239619597792625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0038026482798159122, + -0.05880963057279587, + -0.11396186053752899 + ], + "orientation": [ + 0.8770673871040344, + -0.24833834171295166, + 0.10766726732254028, + 0.3968484401702881 + ], + "joints": [ + 0.029662081971764565 + ] + }, + "fine_grasp": { + "position": [ + -0.0029436254408210516, + -0.05614437535405159, + -0.11147832870483398 + ], + "orientation": [ + 0.8747599124908447, + -0.2522802948951721, + 0.11705957353115082, + 0.39679577946662903 + ], + "joints": [ + 0.021658236160874367 + ] + }, + "final_grasp": { + "position": [ + -0.0029436254408210516, + -0.05614437535405159, + -0.11147832870483398 + ], + "orientation": [ + 0.8747599124908447, + -0.2522802948951721, + 0.11705957353115082, + 0.39679577946662903 + ], + "joints": [ + 0.013654390349984169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0163367111235857, + 0.19187110662460327, + -0.046025730669498444 + ], + "orientation": [ + 0.7162081599235535, + 0.45194342732429504, + -0.3355412185192108, + 0.4125593900680542 + ], + "joints": [ + 0.020134223625063896 + ] + }, + "fine_grasp": { + "position": [ + 0.015879962593317032, + 0.1883154958486557, + -0.044919453561306 + ], + "orientation": [ + 0.7146977186203003, + 0.453805536031723, + -0.3363793194293976, + 0.41245198249816895 + ], + "joints": [ + 0.010897411033511162 + ] + }, + "final_grasp": { + "position": [ + 0.015879962593317032, + 0.1883154958486557, + -0.044919453561306 + ], + "orientation": [ + 0.7146977186203003, + 0.453805536031723, + -0.3363793194293976, + 0.41245198249816895 + ], + "joints": [ + 0.0016605984419584274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1102600246667862, + 0.011454442515969276, + 0.0738167017698288 + ], + "orientation": [ + 0.1978883445262909, + -0.8080024719238281, + 0.37139493227005005, + -0.4123567044734955 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.10708626359701157, + 0.011067336425185204, + 0.07182696461677551 + ], + "orientation": [ + 0.19848856329917908, + -0.8027603030204773, + 0.3738059103488922, + -0.4200563430786133 + ], + "joints": [ + 0.019423549994826317 + ] + }, + "final_grasp": { + "position": [ + -0.10708626359701157, + 0.011067336425185204, + 0.07182696461677551 + ], + "orientation": [ + 0.19848856329917908, + -0.8027603030204773, + 0.3738059103488922, + -0.4200563430786133 + ], + "joints": [ + 0.007783500477671623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017764858901500702, + -0.07508298009634018, + 0.08825399726629257 + ], + "orientation": [ + 0.1653294414281845, + -0.45275959372520447, + -0.7847220301628113, + -0.38972601294517517 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.01752293109893799, + -0.07305396348237991, + 0.08542346954345703 + ], + "orientation": [ + 0.15972495079040527, + -0.45678192377090454, + -0.7879018783569336, + -0.3808526396751404 + ], + "joints": [ + 0.0199861079454422 + ] + }, + "final_grasp": { + "position": [ + -0.01752293109893799, + -0.07305396348237991, + 0.08542346954345703 + ], + "orientation": [ + 0.15972495079040527, + -0.45678192377090454, + -0.7879018783569336, + -0.3808526396751404 + ], + "joints": [ + 0.009140171110630035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005361178889870644, + -0.1043318659067154, + 0.037799008190631866 + ], + "orientation": [ + 0.5921052694320679, + -0.8029448390007019, + -0.02283937856554985, + -0.06456885486841202 + ], + "joints": [ + 0.030623646453022957 + ] + }, + "fine_grasp": { + "position": [ + 0.005020840093493462, + -0.10076141357421875, + 0.03610631078481674 + ], + "orientation": [ + 0.5897216796875, + -0.8049773573875427, + -0.033081695437431335, + -0.05608406290411949 + ], + "joints": [ + 0.021867485716938972 + ] + }, + "final_grasp": { + "position": [ + 0.005020840093493462, + -0.10076141357421875, + 0.03610631078481674 + ], + "orientation": [ + 0.5897216796875, + -0.8049773573875427, + -0.033081695437431335, + -0.05608406290411949 + ], + "joints": [ + 0.013111324980854988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04364689067006111, + -0.08967409282922745, + 0.04948223754763603 + ], + "orientation": [ + 0.26259103417396545, + -0.61822509765625, + -0.5390623807907104, + -0.5081884860992432 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.04138605296611786, + -0.0869525745511055, + 0.04807697609066963 + ], + "orientation": [ + 0.24956080317497253, + -0.6178907752037048, + -0.5468823313713074, + -0.5068038105964661 + ], + "joints": [ + 0.020978372544050217 + ] + }, + "final_grasp": { + "position": [ + -0.04138605296611786, + -0.0869525745511055, + 0.04807697609066963 + ], + "orientation": [ + 0.24956080317497253, + -0.6178907752037048, + -0.5468823313713074, + -0.5068038105964661 + ], + "joints": [ + 0.009735379368066788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03909091278910637, + 0.16663146018981934, + -0.002264356007799506 + ], + "orientation": [ + 0.12270372360944748, + 0.326857328414917, + 0.6093834638595581, + -0.7118706107139587 + ], + "joints": [ + 0.022734260186553 + ] + }, + "fine_grasp": { + "position": [ + 0.037792906165122986, + 0.16266722977161407, + -0.002563734306022525 + ], + "orientation": [ + 0.12787003815174103, + 0.3303042948246002, + 0.6096116900444031, + -0.7091699838638306 + ], + "joints": [ + 0.014793111011385918 + ] + }, + "final_grasp": { + "position": [ + 0.037792906165122986, + 0.16266722977161407, + -0.002563734306022525 + ], + "orientation": [ + 0.12787003815174103, + 0.3303042948246002, + 0.6096116900444031, + -0.7091699838638306 + ], + "joints": [ + 0.006851961836218834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03954180330038071, + -0.09262911230325699, + 0.04312380775809288 + ], + "orientation": [ + 0.305938720703125, + -0.5842906832695007, + -0.523612916469574, + -0.5392916202545166 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.03760062903165817, + -0.09030871093273163, + 0.041346047073602676 + ], + "orientation": [ + 0.2922949194908142, + -0.5902330875396729, + -0.5292909741401672, + -0.5348268151283264 + ], + "joints": [ + 0.01876228116452694 + ] + }, + "final_grasp": { + "position": [ + -0.03760062903165817, + -0.09030871093273163, + 0.041346047073602676 + ], + "orientation": [ + 0.2922949194908142, + -0.5902330875396729, + -0.5292909741401672, + -0.5348268151283264 + ], + "joints": [ + 0.00831340067088604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019661881029605865, + 0.01468691136687994, + 0.1318487972021103 + ], + "orientation": [ + 0.053106825798749924, + -0.8232980966567993, + -0.563527524471283, + 0.042386312037706375 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.019303303211927414, + 0.014468883164227009, + 0.12822479009628296 + ], + "orientation": [ + 0.042899906635284424, + -0.8308897018432617, + -0.5527705550193787, + 0.047187406569719315 + ], + "joints": [ + 0.02149578183889389 + ] + }, + "final_grasp": { + "position": [ + 0.019303303211927414, + 0.014468883164227009, + 0.12822479009628296 + ], + "orientation": [ + 0.042899906635284424, + -0.8308897018432617, + -0.5527705550193787, + 0.047187406569719315 + ], + "joints": [ + 0.011464856564998627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06118941679596901, + -0.06932010501623154, + 0.058160487562417984 + ], + "orientation": [ + 0.32132014632225037, + 0.1259811669588089, + 0.8366049528121948, + 0.42541080713272095 + ], + "joints": [ + 0.028688328340649605 + ] + }, + "fine_grasp": { + "position": [ + -0.060063403099775314, + -0.06642843037843704, + 0.05590510740876198 + ], + "orientation": [ + 0.30569127202033997, + 0.1215313971042633, + 0.8428499698638916, + 0.4258953332901001 + ], + "joints": [ + 0.01991126872599125 + ] + }, + "final_grasp": { + "position": [ + -0.060063403099775314, + -0.06642843037843704, + 0.05590510740876198 + ], + "orientation": [ + 0.30569127202033997, + 0.1215313971042633, + 0.8428499698638916, + 0.4258953332901001 + ], + "joints": [ + 0.011134209111332893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09893640130758286, + -0.0806528851389885, + 0.0347878597676754 + ], + "orientation": [ + 0.5358258485794067, + -0.7716972827911377, + 0.20372046530246735, + -0.2754485011100769 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + -0.09654153138399124, + -0.07823623716831207, + 0.03385321423411369 + ], + "orientation": [ + 0.5386777520179749, + -0.7686405181884766, + 0.20733049511909485, + -0.2757393419742584 + ], + "joints": [ + 0.01948692463338375 + ] + }, + "final_grasp": { + "position": [ + -0.09654153138399124, + -0.07823623716831207, + 0.03385321423411369 + ], + "orientation": [ + 0.5386777520179749, + -0.7686405181884766, + 0.20733049511909485, + -0.2757393419742584 + ], + "joints": [ + 0.00983215682208538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09912167489528656, + -0.08065004646778107, + 0.03476506471633911 + ], + "orientation": [ + 0.5367013812065125, + -0.7716060876846313, + 0.20407269895076752, + -0.27373358607292175 + ], + "joints": [ + 0.02867858298122883 + ] + }, + "fine_grasp": { + "position": [ + -0.09668620675802231, + -0.0782959833741188, + 0.033863380551338196 + ], + "orientation": [ + 0.5393792390823364, + -0.7684130072593689, + 0.20783185958862305, + -0.27462238073349 + ], + "joints": [ + 0.019023815169930458 + ] + }, + "final_grasp": { + "position": [ + -0.09668620675802231, + -0.0782959833741188, + 0.033863380551338196 + ], + "orientation": [ + 0.5393792390823364, + -0.7684130072593689, + 0.20783185958862305, + -0.27462238073349 + ], + "joints": [ + 0.009369047358632088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023467062041163445, + -0.10146574676036835, + 0.026953553780913353 + ], + "orientation": [ + 0.5077652931213379, + -0.7190248966217041, + 0.31864359974861145, + 0.35163015127182007 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + 0.021483207121491432, + -0.0982588678598404, + 0.02553982101380825 + ], + "orientation": [ + 0.5065397024154663, + -0.7193886041641235, + 0.317715048789978, + 0.35348913073539734 + ], + "joints": [ + 0.023512613028287888 + ] + }, + "final_grasp": { + "position": [ + 0.021483207121491432, + -0.0982588678598404, + 0.02553982101380825 + ], + "orientation": [ + 0.5065397024154663, + -0.7193886041641235, + 0.317715048789978, + 0.35348913073539734 + ], + "joints": [ + 0.014317598193883896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11516190320253372, + -0.06799620389938354, + -0.026182599365711212 + ], + "orientation": [ + 0.5700892210006714, + 0.08755000680685043, + -0.6303317546844482, + -0.5196298956871033 + ], + "joints": [ + 0.02731241099536419 + ] + }, + "fine_grasp": { + "position": [ + 0.11233352869749069, + -0.06562919914722443, + -0.025674572214484215 + ], + "orientation": [ + 0.5641360282897949, + 0.08702483773231506, + -0.6311278343200684, + -0.5252189040184021 + ], + "joints": [ + 0.018075598403811455 + ] + }, + "final_grasp": { + "position": [ + 0.11233352869749069, + -0.06562919914722443, + -0.025674572214484215 + ], + "orientation": [ + 0.5641360282897949, + 0.08702483773231506, + -0.6311278343200684, + -0.5252189040184021 + ], + "joints": [ + 0.00883878581225872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03229299560189247, + -0.09970355778932571, + -0.039028946310281754 + ], + "orientation": [ + 0.8199111223220825, + -0.5259512066841125, + -0.16864880919456482, + -0.15059445798397064 + ], + "joints": [ + 0.028748052194714546 + ] + }, + "fine_grasp": { + "position": [ + 0.030485529452562332, + -0.09647434949874878, + -0.037718597799539566 + ], + "orientation": [ + 0.8177630305290222, + -0.5279390811920166, + -0.18098731338977814, + -0.14066845178604126 + ], + "joints": [ + 0.01913508214056492 + ] + }, + "final_grasp": { + "position": [ + 0.030485529452562332, + -0.09647434949874878, + -0.037718597799539566 + ], + "orientation": [ + 0.8177630305290222, + -0.5279390811920166, + -0.18098731338977814, + -0.14066845178604126 + ], + "joints": [ + 0.00952211208641529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01807550899684429, + -0.07508666068315506, + 0.0880938172340393 + ], + "orientation": [ + 0.1669936627149582, + -0.4558470845222473, + -0.7819387912750244, + -0.39100953936576843 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.017873134464025497, + -0.0731060653924942, + 0.08533863723278046 + ], + "orientation": [ + 0.1611589640378952, + -0.4597106873989105, + -0.7853078842163086, + -0.3820805251598358 + ], + "joints": [ + 0.019589051604270935 + ] + }, + "final_grasp": { + "position": [ + -0.017873134464025497, + -0.0731060653924942, + 0.08533863723278046 + ], + "orientation": [ + 0.1611589640378952, + -0.4597106873989105, + -0.7853078842163086, + -0.3820805251598358 + ], + "joints": [ + 0.008346058428287506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00791210401803255, + -0.09590476006269455, + 0.039927586913108826 + ], + "orientation": [ + 0.5499176979064941, + -0.8207303881645203, + -0.14169690012931824, + -0.06256254762411118 + ], + "joints": [ + 0.030855201184749603 + ] + }, + "fine_grasp": { + "position": [ + -0.006788171362131834, + -0.09320041537284851, + 0.03712160885334015 + ], + "orientation": [ + 0.5564229488372803, + -0.8176621794700623, + -0.13099248707294464, + -0.06828749179840088 + ], + "joints": [ + 0.022078141570091248 + ] + }, + "final_grasp": { + "position": [ + -0.006788171362131834, + -0.09320041537284851, + 0.03712160885334015 + ], + "orientation": [ + 0.5564229488372803, + -0.8176621794700623, + -0.13099248707294464, + -0.06828749179840088 + ], + "joints": [ + 0.013301081955432892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010103044100105762, + 0.16476304829120636, + -0.039099905639886856 + ], + "orientation": [ + 0.3686535954475403, + 0.3045606315135956, + 0.48986366391181946, + -0.7289519309997559 + ], + "joints": [ + 0.025469204410910606 + ] + }, + "fine_grasp": { + "position": [ + 0.010250604711472988, + 0.16094006597995758, + -0.037739742547273636 + ], + "orientation": [ + 0.36907222867012024, + 0.3036780059337616, + 0.4894808828830719, + -0.7293652892112732 + ], + "joints": [ + 0.016274189576506615 + ] + }, + "final_grasp": { + "position": [ + 0.010250604711472988, + 0.16094006597995758, + -0.037739742547273636 + ], + "orientation": [ + 0.36907222867012024, + 0.3036780059337616, + 0.4894808828830719, + -0.7293652892112732 + ], + "joints": [ + 0.007079174742102623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01705591194331646, + 0.004894645418971777, + -0.12894129753112793 + ], + "orientation": [ + 0.8045451045036316, + -0.003408085322007537, + 0.08942485600709915, + 0.5871104598045349 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.01638656109571457, + 0.004962970037013292, + -0.12523502111434937 + ], + "orientation": [ + 0.8059885501861572, + -0.0021519684232771397, + 0.08918968588113785, + 0.5851691365242004 + ], + "joints": [ + 0.02258523926138878 + ] + }, + "final_grasp": { + "position": [ + -0.01638656109571457, + 0.004962970037013292, + -0.12523502111434937 + ], + "orientation": [ + 0.8059885501861572, + -0.0021519684232771397, + 0.08918968588113785, + 0.5851691365242004 + ], + "joints": [ + 0.012972269207239151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09744158387184143, + -0.06910836696624756, + -0.028306810185313225 + ], + "orientation": [ + 0.4637037217617035, + -0.6057024002075195, + -0.0399298258125782, + -0.6453750729560852 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.0947861596941948, + -0.06626948714256287, + -0.028580477461218834 + ], + "orientation": [ + 0.4633421003818512, + -0.6154916882514954, + -0.03975065425038338, + -0.6363205909729004 + ], + "joints": [ + 0.022219328209757805 + ] + }, + "final_grasp": { + "position": [ + -0.0947861596941948, + -0.06626948714256287, + -0.028580477461218834 + ], + "orientation": [ + 0.4633421003818512, + -0.6154916882514954, + -0.03975065425038338, + -0.6363205909729004 + ], + "joints": [ + 0.013421369716525078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09765138477087021, + -0.06907422095537186, + -0.028242135420441628 + ], + "orientation": [ + 0.4642936885356903, + -0.6063774228096008, + -0.038573723286390305, + -0.6443988680839539 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.09501828253269196, + -0.06619738787412643, + -0.028514068573713303 + ], + "orientation": [ + 0.46417924761772156, + -0.6160948276519775, + -0.03861392289400101, + -0.6351959109306335 + ], + "joints": [ + 0.022219328209757805 + ] + }, + "final_grasp": { + "position": [ + -0.09501828253269196, + -0.06619738787412643, + -0.028514068573713303 + ], + "orientation": [ + 0.46417924761772156, + -0.6160948276519775, + -0.03861392289400101, + -0.6351959109306335 + ], + "joints": [ + 0.013421369716525078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07871589064598083, + -0.059791628271341324, + -0.07469628751277924 + ], + "orientation": [ + 0.33910903334617615, + 0.11597520858049393, + 0.4542698264122009, + 0.8155940771102905 + ], + "joints": [ + 0.026849301531910896 + ] + }, + "fine_grasp": { + "position": [ + -0.07595225423574448, + -0.05896640196442604, + -0.07213684171438217 + ], + "orientation": [ + 0.34389981627464294, + 0.12597185373306274, + 0.4459908902645111, + 0.8166738748550415 + ], + "joints": [ + 0.017215432599186897 + ] + }, + "final_grasp": { + "position": [ + -0.07595225423574448, + -0.05896640196442604, + -0.07213684171438217 + ], + "orientation": [ + 0.34389981627464294, + 0.12597185373306274, + 0.4459908902645111, + 0.8166738748550415 + ], + "joints": [ + 0.007581563666462898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09563136100769043, + -0.007114998996257782, + 0.0887233093380928 + ], + "orientation": [ + 0.4131515920162201, + -0.4617476761341095, + -0.7752721309661865, + 0.12267086654901505 + ], + "joints": [ + 0.030762575566768646 + ] + }, + "fine_grasp": { + "position": [ + 0.0926702469587326, + -0.0072444286197423935, + 0.0864643082022667 + ], + "orientation": [ + 0.4018312692642212, + -0.458003968000412, + -0.7820984721183777, + 0.13071374595165253 + ], + "joints": [ + 0.021567560732364655 + ] + }, + "final_grasp": { + "position": [ + 0.0926702469587326, + -0.0072444286197423935, + 0.0864643082022667 + ], + "orientation": [ + 0.4018312692642212, + -0.458003968000412, + -0.7820984721183777, + 0.13071374595165253 + ], + "joints": [ + 0.012372545897960663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022537022829055786, + 0.17703482508659363, + 0.027234649285674095 + ], + "orientation": [ + 0.0377323143184185, + 0.284311980009079, + -0.7443132400512695, + 0.6031091809272766 + ], + "joints": [ + 0.019147057086229324 + ] + }, + "fine_grasp": { + "position": [ + -0.0224931500852108, + 0.1728999763727188, + 0.026580313220620155 + ], + "orientation": [ + 0.050242092460393906, + 0.274539589881897, + -0.7448345422744751, + 0.6060736775398254 + ], + "joints": [ + 0.01120590791106224 + ] + }, + "final_grasp": { + "position": [ + -0.0224931500852108, + 0.1728999763727188, + 0.026580313220620155 + ], + "orientation": [ + 0.050242092460393906, + 0.274539589881897, + -0.7448345422744751, + 0.6060736775398254 + ], + "joints": [ + 0.003264758735895157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13854266703128815, + 0.008691307157278061, + -0.02363259345293045 + ], + "orientation": [ + 0.6683007478713989, + 0.2767726480960846, + 0.5957179069519043, + 0.3491291403770447 + ], + "joints": [ + 0.02983635663986206 + ] + }, + "fine_grasp": { + "position": [ + -0.13481131196022034, + 0.008230455219745636, + -0.02298812009394169 + ], + "orientation": [ + 0.6703599095344543, + 0.281226247549057, + 0.5941591262817383, + 0.34424465894699097 + ], + "joints": [ + 0.019805431365966797 + ] + }, + "final_grasp": { + "position": [ + -0.13481131196022034, + 0.008230455219745636, + -0.02298812009394169 + ], + "orientation": [ + 0.6703599095344543, + 0.281226247549057, + 0.5941591262817383, + 0.34424465894699097 + ], + "joints": [ + 0.009774506092071533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038601040840148926, + 0.1662779301404953, + -0.0013568901922553778 + ], + "orientation": [ + 0.13156378269195557, + 0.3409276604652405, + 0.6076086759567261, + -0.7051745057106018 + ], + "joints": [ + 0.023133637383580208 + ] + }, + "fine_grasp": { + "position": [ + 0.03740048408508301, + 0.16242749989032745, + -0.001550276530906558 + ], + "orientation": [ + 0.13858787715435028, + 0.3417162597179413, + 0.6073643565177917, + -0.7036560773849487 + ], + "joints": [ + 0.014774532988667488 + ] + }, + "final_grasp": { + "position": [ + 0.03740048408508301, + 0.16242749989032745, + -0.001550276530906558 + ], + "orientation": [ + 0.13858787715435028, + 0.3417162597179413, + 0.6073643565177917, + -0.7036560773849487 + ], + "joints": [ + 0.006415428593754768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03885863348841667, + -0.09989405423402786, + -0.018550345674157143 + ], + "orientation": [ + 0.13908782601356506, + -0.22209899127483368, + 0.5792756080627441, + 0.7718589901924133 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + 0.03659370541572571, + -0.0966378003358841, + -0.018008412793278694 + ], + "orientation": [ + 0.12371892482042313, + -0.23134145140647888, + 0.5827550888061523, + 0.7691367268562317 + ], + "joints": [ + 0.01944182999432087 + ] + }, + "final_grasp": { + "position": [ + 0.03659370541572571, + -0.0966378003358841, + -0.018008412793278694 + ], + "orientation": [ + 0.12371892482042313, + -0.23134145140647888, + 0.5827550888061523, + 0.7691367268562317 + ], + "joints": [ + 0.011061826720833778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05702371522784233, + -0.04212505370378494, + 0.10509692132472992 + ], + "orientation": [ + 0.31641876697540283, + -0.8424103260040283, + 0.43076691031455994, + -0.06829309463500977 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.05522407963871956, + -0.04081450775265694, + 0.10193247348070145 + ], + "orientation": [ + 0.3060348331928253, + -0.8447033166885376, + 0.4325404465198517, + -0.07568307220935822 + ], + "joints": [ + 0.021330278366804123 + ] + }, + "final_grasp": { + "position": [ + -0.05522407963871956, + -0.04081450775265694, + 0.10193247348070145 + ], + "orientation": [ + 0.3060348331928253, + -0.8447033166885376, + 0.4325404465198517, + -0.07568307220935822 + ], + "joints": [ + 0.010902296751737595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007926146499812603, + 0.16466866433620453, + -0.03893205150961876 + ], + "orientation": [ + 0.3740648925304413, + 0.30414798855781555, + 0.49486666917800903, + -0.7229636311531067 + ], + "joints": [ + 0.025033170357346535 + ] + }, + "fine_grasp": { + "position": [ + 0.008259385824203491, + 0.16086962819099426, + -0.03755771368741989 + ], + "orientation": [ + 0.3694579601287842, + 0.2995983064174652, + 0.4962563216686249, + -0.7262721657752991 + ], + "joints": [ + 0.01625611074268818 + ] + }, + "final_grasp": { + "position": [ + 0.008259385824203491, + 0.16086962819099426, + -0.03755771368741989 + ], + "orientation": [ + 0.3694579601287842, + 0.2995983064174652, + 0.4962563216686249, + -0.7262721657752991 + ], + "joints": [ + 0.007479051128029823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008067701943218708, + -0.022837596014142036, + 0.12891392409801483 + ], + "orientation": [ + 0.1420840322971344, + -0.8693819642066956, + 0.4684925079345703, + 0.06709691882133484 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.008126817643642426, + -0.022014856338500977, + 0.1253092885017395 + ], + "orientation": [ + 0.1329026222229004, + -0.869290292263031, + 0.47216978669166565, + 0.0610487274825573 + ], + "joints": [ + 0.02151668071746826 + ] + }, + "final_grasp": { + "position": [ + -0.008126817643642426, + -0.022014856338500977, + 0.1253092885017395 + ], + "orientation": [ + 0.1329026222229004, + -0.869290292263031, + 0.47216978669166565, + 0.0610487274825573 + ], + "joints": [ + 0.01150665432214737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09565262496471405, + -0.006350870709866285, + -0.08740897476673126 + ], + "orientation": [ + 0.31647777557373047, + 0.3524762690067291, + 0.21249955892562866, + 0.8546615242958069 + ], + "joints": [ + 0.030102035030722618 + ] + }, + "fine_grasp": { + "position": [ + -0.09340116381645203, + -0.005606252234429121, + -0.08462801575660706 + ], + "orientation": [ + 0.31998229026794434, + 0.34774741530418396, + 0.2137327790260315, + 0.8549861311912537 + ], + "joints": [ + 0.018461985513567924 + ] + }, + "final_grasp": { + "position": [ + -0.09340116381645203, + -0.005606252234429121, + -0.08462801575660706 + ], + "orientation": [ + 0.31998229026794434, + 0.34774741530418396, + 0.2137327790260315, + 0.8549861311912537 + ], + "joints": [ + 0.006821935996413231 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08225290477275848, + 0.010000308975577354, + -0.10305622220039368 + ], + "orientation": [ + 0.45688220858573914, + -0.3280521333217621, + 0.14487823843955994, + -0.8140335083007812 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + -0.08042863011360168, + 0.00898232776671648, + -0.09991426020860672 + ], + "orientation": [ + 0.4549041986465454, + -0.3212486207485199, + 0.1507529318332672, + -0.8167834281921387 + ], + "joints": [ + 0.020811358466744423 + ] + }, + "final_grasp": { + "position": [ + -0.08042863011360168, + 0.00898232776671648, + -0.09991426020860672 + ], + "orientation": [ + 0.4549041986465454, + -0.3212486207485199, + 0.1507529318332672, + -0.8167834281921387 + ], + "joints": [ + 0.011971602216362953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07406385987997055, + 0.13194166123867035, + 0.08174645155668259 + ], + "orientation": [ + 0.04069935157895088, + -0.4966473877429962, + -0.7395398616790771, + 0.45251044631004333 + ], + "joints": [ + 0.017703339457511902 + ] + }, + "fine_grasp": { + "position": [ + 0.0716170072555542, + 0.13028205931186676, + 0.07939811050891876 + ], + "orientation": [ + 0.05691118538379669, + -0.5041459202766418, + -0.7388001084327698, + 0.4435904026031494 + ], + "joints": [ + 0.009699493646621704 + ] + }, + "final_grasp": { + "position": [ + 0.0716170072555542, + 0.13028205931186676, + 0.07939811050891876 + ], + "orientation": [ + 0.05691118538379669, + -0.5041459202766418, + -0.7388001084327698, + 0.4435904026031494 + ], + "joints": [ + 0.0016956478357315063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056817714124917984, + -0.0420861542224884, + 0.10516779869794846 + ], + "orientation": [ + 0.31574416160583496, + -0.8430301547050476, + 0.4301201105117798, + -0.06784140318632126 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.055045098066329956, + -0.04079103469848633, + 0.10199800133705139 + ], + "orientation": [ + 0.30519574880599976, + -0.8452022671699524, + 0.4322640597820282, + -0.07507658004760742 + ], + "joints": [ + 0.021330278366804123 + ] + }, + "final_grasp": { + "position": [ + -0.055045098066329956, + -0.04079103469848633, + 0.10199800133705139 + ], + "orientation": [ + 0.30519574880599976, + -0.8452022671699524, + 0.4322640597820282, + -0.07507658004760742 + ], + "joints": [ + 0.010902296751737595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08992542326450348, + -0.014876386150717735, + 0.08940114825963974 + ], + "orientation": [ + 0.27904608845710754, + 0.34307584166526794, + 0.863038957118988, + 0.2441227287054062 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.0871918573975563, + -0.014729950577020645, + 0.08683290332555771 + ], + "orientation": [ + 0.28972309827804565, + 0.3475620448589325, + 0.8575009703636169, + 0.24485358595848083 + ], + "joints": [ + 0.02115076407790184 + ] + }, + "final_grasp": { + "position": [ + -0.0871918573975563, + -0.014729950577020645, + 0.08683290332555771 + ], + "orientation": [ + 0.28972309827804565, + 0.3475620448589325, + 0.8575009703636169, + 0.24485358595848083 + ], + "joints": [ + 0.011955749243497849 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05499602481722832, + 0.0913192629814148, + 0.12145107984542847 + ], + "orientation": [ + 0.2045549899339676, + 0.7862805128097534, + 0.5731784105300903, + 0.10670933127403259 + ], + "joints": [ + 0.020538831129670143 + ] + }, + "fine_grasp": { + "position": [ + -0.05338931456208229, + 0.09057960659265518, + 0.11799192428588867 + ], + "orientation": [ + 0.2032615691423416, + 0.786043643951416, + 0.5737392902374268, + 0.10790462046861649 + ], + "joints": [ + 0.011699074879288673 + ] + }, + "final_grasp": { + "position": [ + -0.05338931456208229, + 0.09057960659265518, + 0.11799192428588867 + ], + "orientation": [ + 0.2032615691423416, + 0.786043643951416, + 0.5737392902374268, + 0.10790462046861649 + ], + "joints": [ + 0.0028593186289072037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09018375724554062, + -0.014946903102099895, + 0.08742605149745941 + ], + "orientation": [ + 0.2828613817691803, + 0.34534913301467896, + 0.8593037724494934, + 0.2496408224105835 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.0876045897603035, + -0.0145318154245615, + 0.08473843336105347 + ], + "orientation": [ + 0.29070359468460083, + 0.34973835945129395, + 0.8542068600654602, + 0.2520022690296173 + ], + "joints": [ + 0.022472940385341644 + ] + }, + "final_grasp": { + "position": [ + -0.0876045897603035, + -0.0145318154245615, + 0.08473843336105347 + ], + "orientation": [ + 0.29070359468460083, + 0.34973835945129395, + 0.8542068600654602, + 0.2520022690296173 + ], + "joints": [ + 0.014113835990428925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01380546111613512, + -0.049128007143735886, + -0.12135021388530731 + ], + "orientation": [ + 0.7800155878067017, + -0.20145700871944427, + 0.22835202515125275, + 0.546668291091919 + ], + "joints": [ + 0.026293566450476646 + ] + }, + "fine_grasp": { + "position": [ + -0.01337423175573349, + -0.04857105389237404, + -0.1175178736448288 + ], + "orientation": [ + 0.7828912138938904, + -0.19403234124183655, + 0.2232082039117813, + 0.5473672747612 + ], + "joints": [ + 0.01668059639632702 + ] + }, + "final_grasp": { + "position": [ + -0.01337423175573349, + -0.04857105389237404, + -0.1175178736448288 + ], + "orientation": [ + 0.7828912138938904, + -0.19403234124183655, + 0.2232082039117813, + 0.5473672747612 + ], + "joints": [ + 0.007067626342177391 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.090207539498806, + -0.015048638917505741, + 0.08886310458183289 + ], + "orientation": [ + 0.2796631455421448, + 0.3438732326030731, + 0.8618999719619751, + 0.2463090568780899 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.08749803900718689, + -0.014837229624390602, + 0.086229108273983 + ], + "orientation": [ + 0.2899780571460724, + 0.34877637028694153, + 0.8565175533294678, + 0.24626293778419495 + ], + "joints": [ + 0.02117166295647621 + ] + }, + "final_grasp": { + "position": [ + -0.08749803900718689, + -0.014837229624390602, + 0.086229108273983 + ], + "orientation": [ + 0.2899780571460724, + 0.34877637028694153, + 0.8565175533294678, + 0.24626293778419495 + ], + "joints": [ + 0.011997547000646591 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04806792363524437, + 0.1741090714931488, + -0.0018569872481748462 + ], + "orientation": [ + 0.06854293495416641, + -0.29571497440338135, + -0.6466068029403687, + 0.6998244524002075 + ], + "joints": [ + 0.019694270566105843 + ] + }, + "fine_grasp": { + "position": [ + 0.04752207547426224, + 0.17005318403244019, + -0.0015551013639196754 + ], + "orientation": [ + 0.05844060331583023, + -0.28352174162864685, + -0.6492624878883362, + 0.7033195495605469 + ], + "joints": [ + 0.010917210951447487 + ] + }, + "final_grasp": { + "position": [ + 0.04752207547426224, + 0.17005318403244019, + -0.0015551013639196754 + ], + "orientation": [ + 0.05844060331583023, + -0.28352174162864685, + -0.6492624878883362, + 0.7033195495605469 + ], + "joints": [ + 0.002140151336789131 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048136524856090546, + 0.17468290030956268, + -0.0018181722844019532 + ], + "orientation": [ + 0.06940209120512009, + -0.296714186668396, + -0.6461370587348938, + 0.6997506618499756 + ], + "joints": [ + 0.019694270566105843 + ] + }, + "fine_grasp": { + "position": [ + 0.04766819253563881, + 0.17061474919319153, + -0.0015314392512664199 + ], + "orientation": [ + 0.05858588218688965, + -0.2840726673603058, + -0.6492306590080261, + 0.7031144499778748 + ], + "joints": [ + 0.010917210951447487 + ] + }, + "final_grasp": { + "position": [ + 0.04766819253563881, + 0.17061474919319153, + -0.0015314392512664199 + ], + "orientation": [ + 0.05858588218688965, + -0.2840726673603058, + -0.6492306590080261, + 0.7031144499778748 + ], + "joints": [ + 0.002140151336789131 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046995118260383606, + -0.09173490107059479, + 0.03548363968729973 + ], + "orientation": [ + 0.5627931952476501, + -0.49085095524787903, + 0.5953943729400635, + 0.29636940360069275 + ], + "joints": [ + 0.029928982257843018 + ] + }, + "fine_grasp": { + "position": [ + -0.04439321532845497, + -0.08910688012838364, + 0.03435012325644493 + ], + "orientation": [ + 0.558413565158844, + -0.5022373199462891, + 0.5961235165596008, + 0.283846378326416 + ], + "joints": [ + 0.020733967423439026 + ] + }, + "final_grasp": { + "position": [ + -0.04439321532845497, + -0.08910688012838364, + 0.03435012325644493 + ], + "orientation": [ + 0.558413565158844, + -0.5022373199462891, + 0.5961235165596008, + 0.283846378326416 + ], + "joints": [ + 0.011538952589035034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0303180068731308, + -0.0712101086974144, + 0.07954099774360657 + ], + "orientation": [ + 0.32381290197372437, + -0.45111316442489624, + 0.7873647809028625, + 0.26776638627052307 + ], + "joints": [ + 0.03229083493351936 + ] + }, + "fine_grasp": { + "position": [ + -0.028461292386054993, + -0.06899647414684296, + 0.07719849050045013 + ], + "orientation": [ + 0.3201703131198883, + -0.4701095521450043, + 0.7798136472702026, + 0.2614930272102356 + ], + "joints": [ + 0.021841954439878464 + ] + }, + "final_grasp": { + "position": [ + -0.028461292386054993, + -0.06899647414684296, + 0.07719849050045013 + ], + "orientation": [ + 0.3201703131198883, + -0.4701095521450043, + 0.7798136472702026, + 0.2614930272102356 + ], + "joints": [ + 0.011393073946237564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03209148347377777, + 0.0419781468808651, + 0.11870478838682175 + ], + "orientation": [ + 0.15368878841400146, + 0.8329272866249084, + -0.526863694190979, + -0.07089852541685104 + ], + "joints": [ + 0.03217505291104317 + ] + }, + "fine_grasp": { + "position": [ + 0.03103954903781414, + 0.040960799902677536, + 0.11554111540317535 + ], + "orientation": [ + 0.15825623273849487, + 0.829950749874115, + -0.5313768982887268, + -0.061443984508514404 + ], + "joints": [ + 0.022980038076639175 + ] + }, + "final_grasp": { + "position": [ + 0.03103954903781414, + 0.040960799902677536, + 0.11554111540317535 + ], + "orientation": [ + 0.15825623273849487, + 0.829950749874115, + -0.5313768982887268, + -0.061443984508514404 + ], + "joints": [ + 0.013785023242235184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01688842661678791, + -0.09620887041091919, + 0.04901513457298279 + ], + "orientation": [ + 0.2388116866350174, + -0.11906539648771286, + 0.8097733855247498, + 0.5225510597229004 + ], + "joints": [ + 0.02969742752611637 + ] + }, + "fine_grasp": { + "position": [ + -0.01612124964594841, + -0.09321824461221695, + 0.04664420336484909 + ], + "orientation": [ + 0.23355798423290253, + -0.13942945003509521, + 0.812465488910675, + 0.5156645774841309 + ], + "joints": [ + 0.020084457471966743 + ] + }, + "final_grasp": { + "position": [ + -0.01612124964594841, + -0.09321824461221695, + 0.04664420336484909 + ], + "orientation": [ + 0.23355798423290253, + -0.13942945003509521, + 0.812465488910675, + 0.5156645774841309 + ], + "joints": [ + 0.010471487417817116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022853882983326912, + -0.09279844909906387, + -0.05346185714006424 + ], + "orientation": [ + 0.8138794898986816, + -0.4788109064102173, + -0.27207687497138977, + -0.18524155020713806 + ], + "joints": [ + 0.03157301992177963 + ] + }, + "fine_grasp": { + "position": [ + 0.021957792341709137, + -0.09005433320999146, + -0.05100949481129646 + ], + "orientation": [ + 0.8133403062820435, + -0.47915875911712646, + -0.2654776871204376, + -0.19597479701042175 + ], + "joints": [ + 0.021521195769309998 + ] + }, + "final_grasp": { + "position": [ + 0.021957792341709137, + -0.09005433320999146, + -0.05100949481129646 + ], + "orientation": [ + 0.8133403062820435, + -0.47915875911712646, + -0.2654776871204376, + -0.19597479701042175 + ], + "joints": [ + 0.011469371616840363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08987786620855331, + -0.014646774157881737, + 0.08815519511699677 + ], + "orientation": [ + 0.28167039155960083, + 0.3437051773071289, + 0.8614264130592346, + 0.2459130734205246 + ], + "joints": [ + 0.03057733364403248 + ] + }, + "fine_grasp": { + "position": [ + -0.08723451942205429, + -0.014099827967584133, + 0.08537363260984421 + ], + "orientation": [ + 0.2875700294971466, + 0.34715715050697327, + 0.8579625487327576, + 0.2463446855545044 + ], + "joints": [ + 0.021800274029374123 + ] + }, + "final_grasp": { + "position": [ + -0.08723451942205429, + -0.014099827967584133, + 0.08537363260984421 + ], + "orientation": [ + 0.2875700294971466, + 0.34715715050697327, + 0.8579625487327576, + 0.2463446855545044 + ], + "joints": [ + 0.013023214414715767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04708634689450264, + -0.091717928647995, + 0.03417710214853287 + ], + "orientation": [ + 0.559820294380188, + -0.4894866645336151, + 0.59980309009552, + 0.2953645884990692 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.04450531676411629, + -0.08907942473888397, + 0.03323943912982941 + ], + "orientation": [ + 0.5567905902862549, + -0.5024129152297974, + 0.5983622670173645, + 0.28200727701187134 + ], + "joints": [ + 0.021219074726104736 + ] + }, + "final_grasp": { + "position": [ + -0.04450531676411629, + -0.08907942473888397, + 0.03323943912982941 + ], + "orientation": [ + 0.5567905902862549, + -0.5024129152297974, + 0.5983622670173645, + 0.28200727701187134 + ], + "joints": [ + 0.011606104671955109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030960550531744957, + 0.041576117277145386, + 0.11927369236946106 + ], + "orientation": [ + 0.1521778702735901, + 0.8565161824226379, + -0.4849405288696289, + -0.0897471234202385 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + 0.03047030232846737, + 0.04008952155709267, + 0.11627285927534103 + ], + "orientation": [ + 0.1614568829536438, + 0.8553199768066406, + -0.486904114484787, + -0.07269062101840973 + ], + "joints": [ + 0.021712223067879677 + ] + }, + "final_grasp": { + "position": [ + 0.03047030232846737, + 0.04008952155709267, + 0.11627285927534103 + ], + "orientation": [ + 0.1614568829536438, + 0.8553199768066406, + -0.486904114484787, + -0.07269062101840973 + ], + "joints": [ + 0.013750175014138222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09555208683013916, + -0.006460536736994982, + -0.0872945636510849 + ], + "orientation": [ + 0.3177179992198944, + 0.351982980966568, + 0.21368296444416046, + 0.8541094064712524 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + -0.09327062964439392, + -0.005687617231160402, + -0.08450847119092941 + ], + "orientation": [ + 0.32116228342056274, + 0.34735843539237976, + 0.21493831276893616, + 0.8543994426727295 + ], + "joints": [ + 0.018871231004595757 + ] + }, + "final_grasp": { + "position": [ + -0.09327062964439392, + -0.005687617231160402, + -0.08450847119092941 + ], + "orientation": [ + 0.32116228342056274, + 0.34735843539237976, + 0.21493831276893616, + 0.8543994426727295 + ], + "joints": [ + 0.007628237828612328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07049863040447235, + -0.08254437148571014, + 0.0643358826637268 + ], + "orientation": [ + 0.229472354054451, + -0.7066243290901184, + 0.4167649447917938, + 0.5237665772438049 + ], + "joints": [ + 0.028261786326766014 + ] + }, + "fine_grasp": { + "position": [ + 0.06825143843889236, + -0.07999119162559509, + 0.06248161196708679 + ], + "orientation": [ + 0.22219717502593994, + -0.7112060189247131, + 0.42253145575523376, + 0.5160248279571533 + ], + "joints": [ + 0.018648816272616386 + ] + }, + "final_grasp": { + "position": [ + 0.06825143843889236, + -0.07999119162559509, + 0.06248161196708679 + ], + "orientation": [ + 0.22219717502593994, + -0.7112060189247131, + 0.42253145575523376, + 0.5160248279571533 + ], + "joints": [ + 0.009035846218466759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02122446335852146, + -0.05522960051894188, + -0.11000688374042511 + ], + "orientation": [ + 0.28613266348838806, + -0.061772435903549194, + 0.2882564663887024, + 0.9117130041122437 + ], + "joints": [ + 0.028308099135756493 + ] + }, + "fine_grasp": { + "position": [ + -0.02041804976761341, + -0.05296025425195694, + -0.10710141807794571 + ], + "orientation": [ + 0.2911338806152344, + -0.06001485884189606, + 0.29053744673728943, + 0.9095203876495361 + ], + "joints": [ + 0.019510140642523766 + ] + }, + "final_grasp": { + "position": [ + -0.02041804976761341, + -0.05296025425195694, + -0.10710141807794571 + ], + "orientation": [ + 0.2911338806152344, + -0.06001485884189606, + 0.29053744673728943, + 0.9095203876495361 + ], + "joints": [ + 0.010712182149291039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09936483949422836, + -0.04605992138385773, + -0.0538591668009758 + ], + "orientation": [ + 0.571043074131012, + -0.5560042858123779, + 0.07714483886957169, + -0.5990139842033386 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.09622122347354889, + -0.04530962184071541, + -0.05199948325753212 + ], + "orientation": [ + 0.5673825144767761, + -0.5524542927742004, + 0.08688518404960632, + -0.604418933391571 + ], + "joints": [ + 0.020338010042905807 + ] + }, + "final_grasp": { + "position": [ + -0.09622122347354889, + -0.04530962184071541, + -0.05199948325753212 + ], + "orientation": [ + 0.5673825144767761, + -0.5524542927742004, + 0.08688518404960632, + -0.604418933391571 + ], + "joints": [ + 0.010307084769010544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0627373605966568, + 0.05147089436650276, + -0.11961415410041809 + ], + "orientation": [ + 0.5354387164115906, + 0.3105919659137726, + 0.02175547368824482, + -0.7850890159606934 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.061122264713048935, + 0.05082166939973831, + -0.11620581150054932 + ], + "orientation": [ + 0.534357488155365, + 0.30801814794540405, + 0.01855645515024662, + -0.7869195938110352 + ], + "joints": [ + 0.01839636266231537 + ] + }, + "final_grasp": { + "position": [ + 0.061122264713048935, + 0.05082166939973831, + -0.11620581150054932 + ], + "orientation": [ + 0.534357488155365, + 0.30801814794540405, + 0.01855645515024662, + -0.7869195938110352 + ], + "joints": [ + 0.00876249372959137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004162908997386694, + 0.05893079563975334, + -0.12226970493793488 + ], + "orientation": [ + 0.8507859110832214, + 0.14701929688453674, + 0.09678158164024353, + -0.49515843391418457 + ], + "joints": [ + 0.032939180731773376 + ] + }, + "fine_grasp": { + "position": [ + -0.004438961390405893, + 0.0574813187122345, + -0.11910630762577057 + ], + "orientation": [ + 0.8522443771362305, + 0.14930978417396545, + 0.09439242631196976, + -0.4924187660217285 + ], + "joints": [ + 0.022908255457878113 + ] + }, + "final_grasp": { + "position": [ + -0.004438961390405893, + 0.0574813187122345, + -0.11910630762577057 + ], + "orientation": [ + 0.8522443771362305, + 0.14930978417396545, + 0.09439242631196976, + -0.4924187660217285 + ], + "joints": [ + 0.012877330183982849 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07039927691221237, + -0.01369643583893776, + -0.10121078044176102 + ], + "orientation": [ + 0.8078801035881042, + 0.047130417078733444, + -0.34596365690231323, + -0.4747817814350128 + ], + "joints": [ + 0.030322622507810593 + ] + }, + "fine_grasp": { + "position": [ + 0.06893765181303024, + -0.01364952139556408, + -0.09802248328924179 + ], + "orientation": [ + 0.8107584714889526, + 0.05024651065468788, + -0.33767905831336975, + -0.4755195677280426 + ], + "joints": [ + 0.020709652453660965 + ] + }, + "final_grasp": { + "position": [ + 0.06893765181303024, + -0.01364952139556408, + -0.09802248328924179 + ], + "orientation": [ + 0.8107584714889526, + 0.05024651065468788, + -0.33767905831336975, + -0.4755195677280426 + ], + "joints": [ + 0.011096682399511337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030128678306937218, + -0.07670076936483383, + 0.07933186739683151 + ], + "orientation": [ + 0.31370288133621216, + -0.28351905941963196, + 0.8404513001441956, + 0.3388940095901489 + ], + "joints": [ + 0.029928982257843018 + ] + }, + "fine_grasp": { + "position": [ + -0.02898678183555603, + -0.07404381036758423, + 0.07689469307661057 + ], + "orientation": [ + 0.30706945061683655, + -0.30423256754875183, + 0.835797905921936, + 0.3385155200958252 + ], + "joints": [ + 0.01952189952135086 + ] + }, + "final_grasp": { + "position": [ + -0.02898678183555603, + -0.07404381036758423, + 0.07689469307661057 + ], + "orientation": [ + 0.30706945061683655, + -0.30423256754875183, + 0.835797905921936, + 0.3385155200958252 + ], + "joints": [ + 0.009114816784858704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009146039374172688, + -0.08135819435119629, + 0.07885977625846863 + ], + "orientation": [ + 0.10709032416343689, + -0.15255169570446014, + -0.8966314792633057, + -0.4016363024711609 + ], + "joints": [ + 0.032267678529024124 + ] + }, + "fine_grasp": { + "position": [ + 0.008250422775745392, + -0.07901511341333389, + 0.07586338371038437 + ], + "orientation": [ + 0.11314286291599274, + -0.15847332775592804, + -0.8942869305610657, + -0.4029092490673065 + ], + "joints": [ + 0.023072663694620132 + ] + }, + "final_grasp": { + "position": [ + 0.008250422775745392, + -0.07901511341333389, + 0.07586338371038437 + ], + "orientation": [ + 0.11314286291599274, + -0.15847332775592804, + -0.8942869305610657, + -0.4029092490673065 + ], + "joints": [ + 0.01387764886021614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1226443499326706, + 0.001736498437821865, + 0.05885668843984604 + ], + "orientation": [ + 0.1711006909608841, + 0.770937442779541, + 0.3352189064025879, + 0.5138172507286072 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + -0.11913919448852539, + 0.0021659350022673607, + 0.05728747323155403 + ], + "orientation": [ + 0.16706302762031555, + 0.7694292664527893, + 0.33504366874694824, + 0.517507791519165 + ], + "joints": [ + 0.019388634711503983 + ] + }, + "final_grasp": { + "position": [ + -0.11913919448852539, + 0.0021659350022673607, + 0.05728747323155403 + ], + "orientation": [ + 0.16706302762031555, + 0.7694292664527893, + 0.33504366874694824, + 0.517507791519165 + ], + "joints": [ + 0.009357709437608719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13754355907440186, + 0.058918219059705734, + -0.0013684082077816129 + ], + "orientation": [ + 0.23172500729560852, + -0.5657466053962708, + 0.4269369840621948, + -0.666302502155304 + ], + "joints": [ + 0.02645566128194332 + ] + }, + "fine_grasp": { + "position": [ + -0.1335252970457077, + 0.0579824261367321, + -0.0010130705777555704 + ], + "orientation": [ + 0.22956892848014832, + -0.565208911895752, + 0.4246020019054413, + -0.6689919829368591 + ], + "joints": [ + 0.018493613228201866 + ] + }, + "final_grasp": { + "position": [ + -0.1335252970457077, + 0.0579824261367321, + -0.0010130705777555704 + ], + "orientation": [ + 0.22956892848014832, + -0.565208911895752, + 0.4246020019054413, + -0.6689919829368591 + ], + "joints": [ + 0.010531565174460411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022502856329083443, + 0.17809638381004333, + 0.02721458673477173 + ], + "orientation": [ + 0.03614794462919235, + 0.2889477014541626, + -0.7448922991752625, + 0.6002816557884216 + ], + "joints": [ + 0.018374411389231682 + ] + }, + "fine_grasp": { + "position": [ + -0.022671032696962357, + 0.17384792864322662, + 0.026658572256565094 + ], + "orientation": [ + 0.05089458078145981, + 0.27794015407562256, + -0.7447984218597412, + 0.6045116186141968 + ], + "joints": [ + 0.010851217433810234 + ] + }, + "final_grasp": { + "position": [ + -0.022671032696962357, + 0.17384792864322662, + 0.026658572256565094 + ], + "orientation": [ + 0.05089458078145981, + 0.27794015407562256, + -0.7447984218597412, + 0.6045116186141968 + ], + "joints": [ + 0.0033280234783887863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10759205371141434, + 0.014468810521066189, + -0.06651323288679123 + ], + "orientation": [ + 0.285429447889328, + -0.44609206914901733, + 0.16787762939929962, + -0.8314740061759949 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + -0.10409720987081528, + 0.014441456645727158, + -0.06453743577003479 + ], + "orientation": [ + 0.2923847436904907, + -0.44721806049346924, + 0.17667606472969055, + -0.8266152739524841 + ], + "joints": [ + 0.018372107297182083 + ] + }, + "final_grasp": { + "position": [ + -0.10409720987081528, + 0.014441456645727158, + -0.06453743577003479 + ], + "orientation": [ + 0.2923847436904907, + -0.44721806049346924, + 0.17667606472969055, + -0.8266152739524841 + ], + "joints": [ + 0.009177092462778091 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13422580063343048, + 0.016044391319155693, + 0.04698896035552025 + ], + "orientation": [ + 0.4557237923145294, + 0.48259612917900085, + 0.6598878502845764, + 0.35208624601364136 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + -0.13062256574630737, + 0.01588653028011322, + 0.04586919769644737 + ], + "orientation": [ + 0.46020668745040894, + 0.4811672568321228, + 0.6601718664169312, + 0.3476508855819702 + ], + "joints": [ + 0.01979593001306057 + ] + }, + "final_grasp": { + "position": [ + -0.13062256574630737, + 0.01588653028011322, + 0.04586919769644737 + ], + "orientation": [ + 0.46020668745040894, + 0.4811672568321228, + 0.6601718664169312, + 0.3476508855819702 + ], + "joints": [ + 0.011353230103850365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06630206853151321, + -0.07690714299678802, + 0.04577673599123955 + ], + "orientation": [ + 0.1634095162153244, + 0.18132105469703674, + 0.8149716258049011, + 0.5255866050720215 + ], + "joints": [ + 0.029257474467158318 + ] + }, + "fine_grasp": { + "position": [ + -0.06442026048898697, + -0.07514562457799911, + 0.04384732246398926 + ], + "orientation": [ + 0.16875237226486206, + 0.19752568006515503, + 0.8096317648887634, + 0.5263104438781738 + ], + "joints": [ + 0.020062459632754326 + ] + }, + "final_grasp": { + "position": [ + -0.06442026048898697, + -0.07514562457799911, + 0.04384732246398926 + ], + "orientation": [ + 0.16875237226486206, + 0.19752568006515503, + 0.8096317648887634, + 0.5263104438781738 + ], + "joints": [ + 0.010867444798350334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0914318859577179, + 0.13832376897335052, + 0.015198417007923126 + ], + "orientation": [ + 0.5366690158843994, + 0.7072274684906006, + -0.2336815446615219, + -0.39649543166160583 + ], + "joints": [ + 0.020764265209436417 + ] + }, + "fine_grasp": { + "position": [ + 0.08859855681657791, + 0.13558173179626465, + 0.014524398371577263 + ], + "orientation": [ + 0.5394027829170227, + 0.710492730140686, + -0.22944660484790802, + -0.3893570601940155 + ], + "joints": [ + 0.011569250375032425 + ] + }, + "final_grasp": { + "position": [ + 0.08859855681657791, + 0.13558173179626465, + 0.014524398371577263 + ], + "orientation": [ + 0.5394027829170227, + 0.710492730140686, + -0.22944660484790802, + -0.3893570601940155 + ], + "joints": [ + 0.0023742355406284332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08776921033859253, + -0.04149381071329117, + -0.07968241721391678 + ], + "orientation": [ + 0.3444443941116333, + 0.20999419689178467, + 0.3756435215473175, + 0.834357500076294 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + -0.08508122712373734, + -0.04064229503273964, + -0.07725270837545395 + ], + "orientation": [ + 0.34750381112098694, + 0.21662673354148865, + 0.3709469437599182, + 0.8334940671920776 + ], + "joints": [ + 0.020083298906683922 + ] + }, + "final_grasp": { + "position": [ + -0.08508122712373734, + -0.04064229503273964, + -0.07725270837545395 + ], + "orientation": [ + 0.34750381112098694, + 0.21662673354148865, + 0.3709469437599182, + 0.8334940671920776 + ], + "joints": [ + 0.010052373632788658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1313142031431198, + -0.03100062534213066, + 0.017282303422689438 + ], + "orientation": [ + 0.20062951743602753, + 0.5580490231513977, + -0.47311097383499146, + -0.651532769203186 + ], + "joints": [ + 0.028192317113280296 + ] + }, + "fine_grasp": { + "position": [ + 0.1277202069759369, + -0.030292583629488945, + 0.016835732385516167 + ], + "orientation": [ + 0.20681273937225342, + 0.5651766061782837, + -0.46746084094047546, + -0.6475216746330261 + ], + "joints": [ + 0.018537549301981926 + ] + }, + "final_grasp": { + "position": [ + 0.1277202069759369, + -0.030292583629488945, + 0.016835732385516167 + ], + "orientation": [ + 0.20681273937225342, + 0.5651766061782837, + -0.46746084094047546, + -0.6475216746330261 + ], + "joints": [ + 0.008882781490683556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06234544888138771, + -0.08462489396333694, + 0.012524842284619808 + ], + "orientation": [ + 0.6039020419120789, + -0.7606230974197388, + -0.05621228367090225, + 0.23150634765625 + ], + "joints": [ + 0.028748052194714546 + ] + }, + "fine_grasp": { + "position": [ + 0.06015660986304283, + -0.0834808349609375, + 0.011763324029743671 + ], + "orientation": [ + 0.6063071489334106, + -0.754941999912262, + -0.06284509599208832, + 0.24187767505645752 + ], + "joints": [ + 0.019553037360310555 + ] + }, + "final_grasp": { + "position": [ + 0.06015660986304283, + -0.0834808349609375, + 0.011763324029743671 + ], + "orientation": [ + 0.6063071489334106, + -0.754941999912262, + -0.06284509599208832, + 0.24187767505645752 + ], + "joints": [ + 0.010358022525906563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048206839710474014, + -0.011144300922751427, + 0.12553304433822632 + ], + "orientation": [ + 0.21028248965740204, + -0.7850871086120605, + 0.5800070762634277, + -0.05487557873129845 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.04722429811954498, + -0.010336674749851227, + 0.12198715656995773 + ], + "orientation": [ + 0.20188581943511963, + -0.7904734015464783, + 0.5750419497489929, + -0.060998156666755676 + ], + "joints": [ + 0.019551878795027733 + ] + }, + "final_grasp": { + "position": [ + -0.04722429811954498, + -0.010336674749851227, + 0.12198715656995773 + ], + "orientation": [ + 0.20188581943511963, + -0.7904734015464783, + 0.5750419497489929, + -0.060998156666755676 + ], + "joints": [ + 0.009938908740878105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08704061806201935, + -0.0410098060965538, + -0.07949835807085037 + ], + "orientation": [ + 0.3498723804950714, + 0.20768997073173523, + 0.37625160813331604, + 0.8323994278907776 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.08441302180290222, + -0.04020421952009201, + -0.07705210149288177 + ], + "orientation": [ + 0.3530566692352295, + 0.21447215974330902, + 0.3713443875312805, + 0.8315383195877075 + ], + "joints": [ + 0.02010645531117916 + ] + }, + "final_grasp": { + "position": [ + -0.08441302180290222, + -0.04020421952009201, + -0.07705210149288177 + ], + "orientation": [ + 0.3530566692352295, + 0.21447215974330902, + 0.3713443875312805, + 0.8315383195877075 + ], + "joints": [ + 0.010075530037283897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06219171732664108, + -0.0851888582110405, + 0.012217562645673752 + ], + "orientation": [ + 0.6066126823425293, + -0.7601146697998047, + -0.05314496159553528, + 0.22676484286785126 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + 0.05919567123055458, + -0.08442229777574539, + 0.010728227905929089 + ], + "orientation": [ + 0.6109329462051392, + -0.7529295682907104, + -0.05709327757358551, + 0.23790380358695984 + ], + "joints": [ + 0.019925838336348534 + ] + }, + "final_grasp": { + "position": [ + 0.05919567123055458, + -0.08442229777574539, + 0.010728227905929089 + ], + "orientation": [ + 0.6109329462051392, + -0.7529295682907104, + -0.05709327757358551, + 0.23790380358695984 + ], + "joints": [ + 0.011566733941435814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08997242152690887, + 0.07187846302986145, + -0.0800788477063179 + ], + "orientation": [ + 0.7262099385261536, + 0.275401771068573, + 0.3024742901325226, + 0.552523672580719 + ], + "joints": [ + 0.02220439910888672 + ] + }, + "fine_grasp": { + "position": [ + -0.08710993826389313, + 0.07157234102487564, + -0.07746909558773041 + ], + "orientation": [ + 0.7262738347053528, + 0.27546384930610657, + 0.30202117562294006, + 0.5526564121246338 + ], + "joints": [ + 0.011379361152648926 + ] + }, + "final_grasp": { + "position": [ + -0.08710993826389313, + 0.07157234102487564, + -0.07746909558773041 + ], + "orientation": [ + 0.7262738347053528, + 0.27546384930610657, + 0.30202117562294006, + 0.5526564121246338 + ], + "joints": [ + 0.0005543231964111328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0016756518743932247, + -0.07393398135900497, + 0.0871986672282219 + ], + "orientation": [ + 0.3732096552848816, + -0.8965239524841309, + -0.20043215155601501, + -0.12956225872039795 + ], + "joints": [ + 0.030855201184749603 + ] + }, + "fine_grasp": { + "position": [ + 0.001898683258332312, + -0.07135112583637238, + 0.08428647369146347 + ], + "orientation": [ + 0.3775613009929657, + -0.8910865187644958, + -0.2170020192861557, + -0.12775929272174835 + ], + "joints": [ + 0.020448118448257446 + ] + }, + "final_grasp": { + "position": [ + 0.001898683258332312, + -0.07135112583637238, + 0.08428647369146347 + ], + "orientation": [ + 0.3775613009929657, + -0.8910865187644958, + -0.2170020192861557, + -0.12775929272174835 + ], + "joints": [ + 0.01004103571176529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08950237929821014, + -0.07035939395427704, + -0.016456928104162216 + ], + "orientation": [ + 0.7652274370193481, + -0.49791523814201355, + 0.40184006094932556, + -0.07093611359596252 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + -0.0869063213467598, + -0.06816920638084412, + -0.015615807846188545 + ], + "orientation": [ + 0.7607239484786987, + -0.5030660033226013, + 0.402418851852417, + -0.07926357537508011 + ], + "joints": [ + 0.020162265747785568 + ] + }, + "final_grasp": { + "position": [ + -0.0869063213467598, + -0.06816920638084412, + -0.015615807846188545 + ], + "orientation": [ + 0.7607239484786987, + -0.5030660033226013, + 0.402418851852417, + -0.07926357537508011 + ], + "joints": [ + 0.008543115109205246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08965890109539032, + -0.07030395418405533, + -0.01636728085577488 + ], + "orientation": [ + 0.7648082971572876, + -0.49988362193107605, + 0.399755597114563, + -0.07334843277931213 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + -0.08702445030212402, + -0.06811308860778809, + -0.015475917607545853 + ], + "orientation": [ + 0.7599626779556274, + -0.5051679611206055, + 0.40054404735565186, + -0.08262252807617188 + ], + "joints": [ + 0.020162265747785568 + ] + }, + "final_grasp": { + "position": [ + -0.08702445030212402, + -0.06811308860778809, + -0.015475917607545853 + ], + "orientation": [ + 0.7599626779556274, + -0.5051679611206055, + 0.40054404735565186, + -0.08262252807617188 + ], + "joints": [ + 0.008543115109205246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013782987371087074, + -0.04894917458295822, + -0.1203969195485115 + ], + "orientation": [ + 0.7799260020256042, + -0.20002365112304688, + 0.22678826749324799, + 0.547971785068512 + ], + "joints": [ + 0.027207596227526665 + ] + }, + "fine_grasp": { + "position": [ + -0.013267402537167072, + -0.04836633428931236, + -0.11668317764997482 + ], + "orientation": [ + 0.7827320694923401, + -0.19259048998355865, + 0.2224559485912323, + 0.5484093427658081 + ], + "joints": [ + 0.0171766709536314 + ] + }, + "final_grasp": { + "position": [ + -0.013267402537167072, + -0.04836633428931236, + -0.11668317764997482 + ], + "orientation": [ + 0.7827320694923401, + -0.19259048998355865, + 0.2224559485912323, + 0.5484093427658081 + ], + "joints": [ + 0.007145745679736137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06638447195291519, + -0.07668793946504593, + 0.045324791222810745 + ], + "orientation": [ + 0.14968250691890717, + 0.19186833500862122, + 0.8120226860046387, + 0.5304722189903259 + ], + "joints": [ + 0.028794365003705025 + ] + }, + "fine_grasp": { + "position": [ + -0.06410767883062363, + -0.07454003393650055, + 0.04297947138547897 + ], + "orientation": [ + 0.15879476070404053, + 0.20845776796340942, + 0.8058533668518066, + 0.5309708118438721 + ], + "joints": [ + 0.020435260608792305 + ] + }, + "final_grasp": { + "position": [ + -0.06410767883062363, + -0.07454003393650055, + 0.04297947138547897 + ], + "orientation": [ + 0.15879476070404053, + 0.20845776796340942, + 0.8058533668518066, + 0.5309708118438721 + ], + "joints": [ + 0.012076156213879585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001647474244236946, + -0.07411923259496689, + 0.08713320642709732 + ], + "orientation": [ + 0.3732946813106537, + -0.8964037895202637, + -0.20195022225379944, + -0.12777894735336304 + ], + "joints": [ + 0.030855201184749603 + ] + }, + "fine_grasp": { + "position": [ + 0.001886093057692051, + -0.07150048017501831, + 0.08412904292345047 + ], + "orientation": [ + 0.3773632049560547, + -0.8908693194389343, + -0.21895797550678253, + -0.12651574611663818 + ], + "joints": [ + 0.020866073668003082 + ] + }, + "final_grasp": { + "position": [ + 0.001886093057692051, + -0.07150048017501831, + 0.08412904292345047 + ], + "orientation": [ + 0.3773632049560547, + -0.8908693194389343, + -0.21895797550678253, + -0.12651574611663818 + ], + "joints": [ + 0.010876946151256561 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06488115340471268, + -0.07736437022686005, + 0.04656786844134331 + ], + "orientation": [ + 0.17446847259998322, + 0.16737371683120728, + 0.8205641508102417, + 0.517900824546814 + ], + "joints": [ + 0.030160536989569664 + ] + }, + "fine_grasp": { + "position": [ + -0.06284035742282867, + -0.07577329874038696, + 0.04504022002220154 + ], + "orientation": [ + 0.17750805616378784, + 0.1789514273405075, + 0.8160078525543213, + 0.5201907157897949 + ], + "joints": [ + 0.019732555374503136 + ] + }, + "final_grasp": { + "position": [ + -0.06284035742282867, + -0.07577329874038696, + 0.04504022002220154 + ], + "orientation": [ + 0.17750805616378784, + 0.1789514273405075, + 0.8160078525543213, + 0.5201907157897949 + ], + "joints": [ + 0.009304573759436607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10437452793121338, + 0.01212000846862793, + -0.0937466025352478 + ], + "orientation": [ + 0.5226624608039856, + 0.31270110607147217, + -0.25399407744407654, + -0.7513514757156372 + ], + "joints": [ + 0.02914169244468212 + ] + }, + "fine_grasp": { + "position": [ + 0.10166691988706589, + 0.01206884067505598, + -0.09118713438510895 + ], + "orientation": [ + 0.5220906138420105, + 0.3130236864089966, + -0.25266170501708984, + -0.752063512802124 + ], + "joints": [ + 0.019904879853129387 + ] + }, + "final_grasp": { + "position": [ + 0.10166691988706589, + 0.01206884067505598, + -0.09118713438510895 + ], + "orientation": [ + 0.5220906138420105, + 0.3130236864089966, + -0.25266170501708984, + -0.752063512802124 + ], + "joints": [ + 0.010668067261576653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031345050781965256, + 0.04248841851949692, + 0.11913152784109116 + ], + "orientation": [ + 0.15721751749515533, + 0.8599259853363037, + -0.47863665223121643, + -0.08195731043815613 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + 0.030262652784585953, + 0.04158956930041313, + 0.11556405574083328 + ], + "orientation": [ + 0.159831240773201, + 0.8642983436584473, + -0.47099706530570984, + -0.0748613178730011 + ], + "joints": [ + 0.022912893444299698 + ] + }, + "final_grasp": { + "position": [ + 0.030262652784585953, + 0.04158956930041313, + 0.11556405574083328 + ], + "orientation": [ + 0.159831240773201, + 0.8642983436584473, + -0.47099706530570984, + -0.0748613178730011 + ], + "joints": [ + 0.014553789049386978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06646651774644852, + -0.07654367387294769, + 0.0450504869222641 + ], + "orientation": [ + 0.1503317952156067, + 0.19344325363636017, + 0.8110092282295227, + 0.531266450881958 + ], + "joints": [ + 0.028794365003705025 + ] + }, + "fine_grasp": { + "position": [ + -0.06417139619588852, + -0.07443434745073318, + 0.04270350560545921 + ], + "orientation": [ + 0.15996462106704712, + 0.20989464223384857, + 0.8048200607299805, + 0.5316203832626343 + ], + "joints": [ + 0.02083231694996357 + ] + }, + "final_grasp": { + "position": [ + -0.06417139619588852, + -0.07443434745073318, + 0.04270350560545921 + ], + "orientation": [ + 0.15996462106704712, + 0.20989464223384857, + 0.8048200607299805, + 0.5316203832626343 + ], + "joints": [ + 0.012870268896222115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030941324308514595, + 0.042439427226781845, + 0.11846280843019485 + ], + "orientation": [ + 0.15578176081180573, + 0.8564074635505676, + -0.4855954945087433, + -0.08059410005807877 + ], + "joints": [ + 0.03127199783921242 + ] + }, + "fine_grasp": { + "position": [ + 0.030119484290480614, + 0.04150916635990143, + 0.1146981343626976 + ], + "orientation": [ + 0.15811678767204285, + 0.8609580993652344, + -0.47778424620628357, + -0.07397671788930893 + ], + "joints": [ + 0.022912893444299698 + ] + }, + "final_grasp": { + "position": [ + 0.030119484290480614, + 0.04150916635990143, + 0.1146981343626976 + ], + "orientation": [ + 0.15811678767204285, + 0.8609580993652344, + -0.47778424620628357, + -0.07397671788930893 + ], + "joints": [ + 0.014553789049386978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09675808995962143, + -0.06317684054374695, + 0.03792676329612732 + ], + "orientation": [ + 0.47759079933166504, + -0.0857422947883606, + 0.81354820728302, + 0.32046014070510864 + ], + "joints": [ + 0.027763331308960915 + ] + }, + "fine_grasp": { + "position": [ + -0.09415924549102783, + -0.06111908331513405, + 0.036568447947502136 + ], + "orientation": [ + 0.474611759185791, + -0.0808284804224968, + 0.8153994679450989, + 0.32145631313323975 + ], + "joints": [ + 0.018150361254811287 + ] + }, + "final_grasp": { + "position": [ + -0.09415924549102783, + -0.06111908331513405, + 0.036568447947502136 + ], + "orientation": [ + 0.474611759185791, + -0.0808284804224968, + 0.8153994679450989, + 0.32145631313323975 + ], + "joints": [ + 0.00853739120066166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07840725034475327, + -0.07413676381111145, + 0.032046426087617874 + ], + "orientation": [ + 0.512753427028656, + -0.14701375365257263, + -0.7660807371139526, + -0.3585962653160095 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.07595346868038177, + -0.07193130999803543, + 0.03076137974858284 + ], + "orientation": [ + 0.5093939900398254, + -0.14723551273345947, + -0.7685425877571106, + -0.35802486538887024 + ], + "joints": [ + 0.02203182876110077 + ] + }, + "final_grasp": { + "position": [ + 0.07595346868038177, + -0.07193130999803543, + 0.03076137974858284 + ], + "orientation": [ + 0.5093939900398254, + -0.14723551273345947, + -0.7685425877571106, + -0.35802486538887024 + ], + "joints": [ + 0.013254769146442413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10545100271701813, + 0.10245458781719208, + -0.05814402177929878 + ], + "orientation": [ + 0.7002816200256348, + -0.17331969738006592, + 0.46813535690307617, + -0.5103089809417725 + ], + "joints": [ + 0.020828887820243835 + ] + }, + "fine_grasp": { + "position": [ + -0.10229488462209702, + 0.1008550301194191, + -0.05675133317708969 + ], + "orientation": [ + 0.6967936754226685, + -0.16987034678459167, + 0.4741581380367279, + -0.5106826424598694 + ], + "joints": [ + 0.011174120008945465 + ] + }, + "final_grasp": { + "position": [ + -0.10229488462209702, + 0.1008550301194191, + -0.05675133317708969 + ], + "orientation": [ + 0.6967936754226685, + -0.16987034678459167, + 0.4741581380367279, + -0.5106826424598694 + ], + "joints": [ + 0.0015193521976470947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10372891277074814, + 0.011971876956522465, + -0.0931851863861084 + ], + "orientation": [ + 0.5223652124404907, + 0.3139926493167877, + -0.25310802459716797, + -0.7513184547424316 + ], + "joints": [ + 0.02983635663986206 + ] + }, + "fine_grasp": { + "position": [ + 0.10103419423103333, + 0.011984051205217838, + -0.09060703217983246 + ], + "orientation": [ + 0.5212500095367432, + 0.31394919753074646, + -0.25214821100234985, + -0.7524332404136658 + ], + "joints": [ + 0.020599544048309326 + ] + }, + "final_grasp": { + "position": [ + 0.10103419423103333, + 0.011984051205217838, + -0.09060703217983246 + ], + "orientation": [ + 0.5212500095367432, + 0.31394919753074646, + -0.25214821100234985, + -0.7524332404136658 + ], + "joints": [ + 0.011362731456756592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11898808181285858, + 0.09227730333805084, + -0.025429382920265198 + ], + "orientation": [ + 0.3897925317287445, + -0.4556927978992462, + -0.4349423050880432, + 0.6717373728752136 + ], + "joints": [ + 0.022760530933737755 + ] + }, + "fine_grasp": { + "position": [ + 0.11523555964231491, + 0.09134342521429062, + -0.024703126400709152 + ], + "orientation": [ + 0.3892648220062256, + -0.45594027638435364, + -0.4351910650730133, + 0.6717142462730408 + ], + "joints": [ + 0.012729605659842491 + ] + }, + "final_grasp": { + "position": [ + 0.11523555964231491, + 0.09134342521429062, + -0.024703126400709152 + ], + "orientation": [ + 0.3892648220062256, + -0.45594027638435364, + -0.4351910650730133, + 0.6717142462730408 + ], + "joints": [ + 0.0026986803859472275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014751344919204712, + -0.07106486707925797, + 0.08540735393762589 + ], + "orientation": [ + 0.39286988973617554, + -0.8655946254730225, + 0.28437939286231995, + 0.12460946291685104 + ], + "joints": [ + 0.028076544404029846 + ] + }, + "fine_grasp": { + "position": [ + -0.014698567800223827, + -0.06865973025560379, + 0.08221356570720673 + ], + "orientation": [ + 0.3890977203845978, + -0.8615721464157104, + 0.3038325309753418, + 0.11824598908424377 + ], + "joints": [ + 0.020135395228862762 + ] + }, + "final_grasp": { + "position": [ + -0.014698567800223827, + -0.06865973025560379, + 0.08221356570720673 + ], + "orientation": [ + 0.3890977203845978, + -0.8615721464157104, + 0.3038325309753418, + 0.11824598908424377 + ], + "joints": [ + 0.012194246053695679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033446669578552246, + 0.18219004571437836, + -0.012072001583874226 + ], + "orientation": [ + 0.6850774884223938, + 0.49379491806030273, + -0.4188835918903351, + 0.3337242305278778 + ], + "joints": [ + 0.021662481129169464 + ] + }, + "fine_grasp": { + "position": [ + 0.03223976120352745, + 0.17847971618175507, + -0.012227511964738369 + ], + "orientation": [ + 0.6799667477607727, + 0.49734070897102356, + -0.4253893494606018, + 0.33066803216934204 + ], + "joints": [ + 0.012028612196445465 + ] + }, + "final_grasp": { + "position": [ + 0.03223976120352745, + 0.17847971618175507, + -0.012227511964738369 + ], + "orientation": [ + 0.6799667477607727, + 0.49734070897102356, + -0.4253893494606018, + 0.33066803216934204 + ], + "joints": [ + 0.002394743263721466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03041170910000801, + 0.04280255362391472, + 0.11923974007368088 + ], + "orientation": [ + 0.15619251132011414, + 0.8627058267593384, + -0.4730262756347656, + -0.08711285889148712 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + 0.029491452500224113, + 0.04185641556978226, + 0.11566729843616486 + ], + "orientation": [ + 0.15669722855091095, + 0.8672371506690979, + -0.4663357734680176, + -0.07665932178497314 + ], + "joints": [ + 0.02233857661485672 + ] + }, + "final_grasp": { + "position": [ + 0.029491452500224113, + 0.04185641556978226, + 0.11566729843616486 + ], + "orientation": [ + 0.15669722855091095, + 0.8672371506690979, + -0.4663357734680176, + -0.07665932178497314 + ], + "joints": [ + 0.014794483780860901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03620411828160286, + -0.04810003563761711, + -0.10137538611888885 + ], + "orientation": [ + 0.49786993861198425, + -0.3149493932723999, + 0.1614493578672409, + 0.7917489409446716 + ], + "joints": [ + 0.028748052194714546 + ] + }, + "fine_grasp": { + "position": [ + 0.03571905195713043, + -0.04665052518248558, + -0.0975940003991127 + ], + "orientation": [ + 0.5038005113601685, + -0.303747296333313, + 0.15581785142421722, + 0.7935007810592651 + ], + "joints": [ + 0.020388947799801826 + ] + }, + "final_grasp": { + "position": [ + 0.03571905195713043, + -0.04665052518248558, + -0.0975940003991127 + ], + "orientation": [ + 0.5038005113601685, + -0.303747296333313, + 0.15581785142421722, + 0.7935007810592651 + ], + "joints": [ + 0.012029843404889107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05891400948166847, + 0.09801673889160156, + -0.09135445207357407 + ], + "orientation": [ + 0.7761082649230957, + 0.28920337557792664, + -0.12456990033388138, + -0.5463511943817139 + ], + "joints": [ + 0.021088510751724243 + ] + }, + "fine_grasp": { + "position": [ + 0.05683305487036705, + 0.09728996455669403, + -0.08833940327167511 + ], + "orientation": [ + 0.7773480415344238, + 0.28779828548431396, + -0.12805280089378357, + -0.5445224642753601 + ], + "joints": [ + 0.012311451137065887 + ] + }, + "final_grasp": { + "position": [ + 0.05683305487036705, + 0.09728996455669403, + -0.08833940327167511 + ], + "orientation": [ + 0.7773480415344238, + 0.28779828548431396, + -0.12805280089378357, + -0.5445224642753601 + ], + "joints": [ + 0.0035343915224075317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09109993278980255, + 0.05679309740662575, + -0.062053196132183075 + ], + "orientation": [ + 0.5186452269554138, + 0.3641749918460846, + -0.2993321120738983, + -0.7132910490036011 + ], + "joints": [ + 0.02196384407579899 + ] + }, + "fine_grasp": { + "position": [ + 0.0893961638212204, + 0.05719272792339325, + -0.06092226505279541 + ], + "orientation": [ + 0.5162017345428467, + 0.3640722632408142, + -0.2976132035255432, + -0.7158306241035461 + ], + "joints": [ + 0.01235087402164936 + ] + }, + "final_grasp": { + "position": [ + 0.0893961638212204, + 0.05719272792339325, + -0.06092226505279541 + ], + "orientation": [ + 0.5162017345428467, + 0.3640722632408142, + -0.2976132035255432, + -0.7158306241035461 + ], + "joints": [ + 0.002737903967499733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05919434875249863, + 0.09781757742166519, + -0.09078822284936905 + ], + "orientation": [ + 0.7742166519165039, + 0.2909613847732544, + -0.12481247633695602, + -0.5480437278747559 + ], + "joints": [ + 0.021334534510970116 + ] + }, + "fine_grasp": { + "position": [ + 0.057289160788059235, + 0.09708576649427414, + -0.08788023144006729 + ], + "orientation": [ + 0.7747991681098938, + 0.28993821144104004, + -0.12860117852687836, + -0.5468853712081909 + ], + "joints": [ + 0.01255747489631176 + ] + }, + "final_grasp": { + "position": [ + 0.057289160788059235, + 0.09708576649427414, + -0.08788023144006729 + ], + "orientation": [ + 0.7747991681098938, + 0.28993821144104004, + -0.12860117852687836, + -0.5468853712081909 + ], + "joints": [ + 0.0037804152816534042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05849096551537514, + 0.0980776771903038, + -0.09067918360233307 + ], + "orientation": [ + 0.7849065661430359, + 0.28747421503067017, + -0.12869025766849518, + -0.5335906744003296 + ], + "joints": [ + 0.02137569524347782 + ] + }, + "fine_grasp": { + "position": [ + 0.05660821869969368, + 0.09754539281129837, + -0.0878516286611557 + ], + "orientation": [ + 0.7867509126663208, + 0.28728070855140686, + -0.13139435648918152, + -0.5303096771240234 + ], + "joints": [ + 0.012598635628819466 + ] + }, + "final_grasp": { + "position": [ + 0.05660821869969368, + 0.09754539281129837, + -0.0878516286611557 + ], + "orientation": [ + 0.7867509126663208, + 0.28728070855140686, + -0.13139435648918152, + -0.5303096771240234 + ], + "joints": [ + 0.00382157601416111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08566194027662277, + -0.06931045651435852, + 0.02460826374590397 + ], + "orientation": [ + 0.6567608714103699, + -0.5580976009368896, + 0.5071377754211426, + 0.0018523689359426498 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.08299971371889114, + -0.06746453791856766, + 0.024268435314297676 + ], + "orientation": [ + 0.65018230676651, + -0.5624732375144958, + 0.5107438564300537, + -0.005247961729764938 + ], + "joints": [ + 0.020524410530924797 + ] + }, + "final_grasp": { + "position": [ + -0.08299971371889114, + -0.06746453791856766, + 0.024268435314297676 + ], + "orientation": [ + 0.65018230676651, + -0.5624732375144958, + 0.5107438564300537, + -0.005247961729764938 + ], + "joints": [ + 0.01091144047677517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12153001129627228, + 0.04722950607538223, + -0.03626669570803642 + ], + "orientation": [ + 0.5348402857780457, + 0.4974385201931, + -0.3088666498661041, + -0.6091816425323486 + ], + "joints": [ + 0.028398269787430763 + ] + }, + "fine_grasp": { + "position": [ + 0.11836925148963928, + 0.04546809196472168, + -0.035199180245399475 + ], + "orientation": [ + 0.5416618585586548, + 0.50272136926651, + -0.30432772636413574, + -0.6010476350784302 + ], + "joints": [ + 0.019621210172772408 + ] + }, + "final_grasp": { + "position": [ + 0.11836925148963928, + 0.04546809196472168, + -0.035199180245399475 + ], + "orientation": [ + 0.5416618585586548, + 0.50272136926651, + -0.30432772636413574, + -0.6010476350784302 + ], + "joints": [ + 0.010844150558114052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08581218868494034, + -0.06913129985332489, + 0.0246085487306118 + ], + "orientation": [ + 0.6569522023200989, + -0.5556737184524536, + 0.5095439553260803, + 0.0023418471682816744 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.08308867365121841, + -0.06715911626815796, + 0.024201223626732826 + ], + "orientation": [ + 0.6509122252464294, + -0.5601692795753479, + 0.512350857257843, + -0.004493625368922949 + ], + "joints": [ + 0.020524410530924797 + ] + }, + "final_grasp": { + "position": [ + -0.08308867365121841, + -0.06715911626815796, + 0.024201223626732826 + ], + "orientation": [ + 0.6509122252464294, + -0.5601692795753479, + 0.512350857257843, + -0.004493625368922949 + ], + "joints": [ + 0.01091144047677517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019279252737760544, + 0.10872787237167358, + 0.0997215285897255 + ], + "orientation": [ + 0.21925632655620575, + 0.7961426377296448, + 0.5619687438011169, + -0.047692906111478806 + ], + "joints": [ + 0.02211732417345047 + ] + }, + "fine_grasp": { + "position": [ + -0.0182582288980484, + 0.10955259948968887, + 0.0968746468424797 + ], + "orientation": [ + 0.2249690741300583, + 0.7967525124549866, + 0.5583792328834534, + -0.05279288440942764 + ], + "joints": [ + 0.012922309339046478 + ] + }, + "final_grasp": { + "position": [ + -0.0182582288980484, + 0.10955259948968887, + 0.0968746468424797 + ], + "orientation": [ + 0.2249690741300583, + 0.7967525124549866, + 0.5583792328834534, + -0.05279288440942764 + ], + "joints": [ + 0.0037272945046424866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0961139127612114, + -0.06436377018690109, + 0.019502384588122368 + ], + "orientation": [ + 0.2057609260082245, + -0.6699158549308777, + 0.27319514751434326, + 0.6589686274528503 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + 0.09330526739358902, + -0.06193123757839203, + 0.018857505172491074 + ], + "orientation": [ + 0.19709964096546173, + -0.6750330328941345, + 0.2746606469154358, + 0.655777096748352 + ], + "joints": [ + 0.021336006000638008 + ] + }, + "final_grasp": { + "position": [ + 0.09330526739358902, + -0.06193123757839203, + 0.018857505172491074 + ], + "orientation": [ + 0.19709964096546173, + -0.6750330328941345, + 0.2746606469154358, + 0.655777096748352 + ], + "joints": [ + 0.012140991166234016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06864321231842041, + -0.07009457796812057, + 0.05045757815241814 + ], + "orientation": [ + 0.1465146541595459, + 0.25384625792503357, + 0.8076823353767395, + 0.5116100907325745 + ], + "joints": [ + 0.030160536989569664 + ] + }, + "fine_grasp": { + "position": [ + -0.06712687015533447, + -0.06915818899869919, + 0.04790755361318588 + ], + "orientation": [ + 0.15758571028709412, + 0.2659900188446045, + 0.8012444376945496, + 0.5122729539871216 + ], + "joints": [ + 0.02138347737491131 + ] + }, + "final_grasp": { + "position": [ + -0.06712687015533447, + -0.06915818899869919, + 0.04790755361318588 + ], + "orientation": [ + 0.15758571028709412, + 0.2659900188446045, + 0.8012444376945496, + 0.5122729539871216 + ], + "joints": [ + 0.012606417760252953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10169483721256256, + -0.056105174124240875, + -0.013759501278400421 + ], + "orientation": [ + 0.10197750478982925, + 0.44483333826065063, + -0.456722229719162, + -0.7636286616325378 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + 0.09871961921453476, + -0.053348109126091, + -0.013910128735005856 + ], + "orientation": [ + 0.09640836715698242, + 0.4493674635887146, + -0.4573022127151489, + -0.7613468766212463 + ], + "joints": [ + 0.020664498209953308 + ] + }, + "final_grasp": { + "position": [ + 0.09871961921453476, + -0.053348109126091, + -0.013910128735005856 + ], + "orientation": [ + 0.09640836715698242, + 0.4493674635887146, + -0.4573022127151489, + -0.7613468766212463 + ], + "joints": [ + 0.011469483375549316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13557133078575134, + 0.04062027484178543, + -0.025858324021100998 + ], + "orientation": [ + 0.3531278967857361, + 0.6239454746246338, + -0.15695877373218536, + -0.6792323589324951 + ], + "joints": [ + 0.028933294117450714 + ] + }, + "fine_grasp": { + "position": [ + 0.13208527863025665, + 0.03961711749434471, + -0.025144897401332855 + ], + "orientation": [ + 0.35312026739120483, + 0.6244158744812012, + -0.1569005846977234, + -0.6788173913955688 + ], + "joints": [ + 0.01808735728263855 + ] + }, + "final_grasp": { + "position": [ + 0.13208527863025665, + 0.03961711749434471, + -0.025144897401332855 + ], + "orientation": [ + 0.35312026739120483, + 0.6244158744812012, + -0.1569005846977234, + -0.6788173913955688 + ], + "joints": [ + 0.0072414204478263855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0924016460776329, + 0.044685035943984985, + -0.07638915628194809 + ], + "orientation": [ + 0.7673975825309753, + -0.12969312071800232, + 0.3822125494480133, + -0.4981907606124878 + ], + "joints": [ + 0.02853965386748314 + ] + }, + "fine_grasp": { + "position": [ + -0.08925235271453857, + 0.04326360672712326, + -0.07437094300985336 + ], + "orientation": [ + 0.7647743821144104, + -0.12661488354206085, + 0.3927322030067444, + -0.49482330679893494 + ], + "joints": [ + 0.020598504692316055 + ] + }, + "final_grasp": { + "position": [ + -0.08925235271453857, + 0.04326360672712326, + -0.07437094300985336 + ], + "orientation": [ + 0.7647743821144104, + -0.12661488354206085, + 0.3927322030067444, + -0.49482330679893494 + ], + "joints": [ + 0.012657355517148972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10276917368173599, + 0.1122106984257698, + -0.054528266191482544 + ], + "orientation": [ + 0.7643747925758362, + 0.4186193346977234, + -0.3258211612701416, + -0.3665098547935486 + ], + "joints": [ + 0.02285189740359783 + ] + }, + "fine_grasp": { + "position": [ + 0.09948934614658356, + 0.11076068133115768, + -0.0529288649559021 + ], + "orientation": [ + 0.7635492086410522, + 0.41889047622680664, + -0.326931893825531, + -0.36693182587623596 + ], + "joints": [ + 0.013238927349448204 + ] + }, + "final_grasp": { + "position": [ + 0.09948934614658356, + 0.11076068133115768, + -0.0529288649559021 + ], + "orientation": [ + 0.7635492086410522, + 0.41889047622680664, + -0.326931893825531, + -0.36693182587623596 + ], + "joints": [ + 0.0036259572952985764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11085430532693863, + 0.0794275626540184, + 0.05795978754758835 + ], + "orientation": [ + 0.3857881724834442, + -0.4729982614517212, + -0.7120974063873291, + 0.3469255268573761 + ], + "joints": [ + 0.022712798789143562 + ] + }, + "fine_grasp": { + "position": [ + 0.10739391297101974, + 0.07886385172605515, + 0.05619925260543823 + ], + "orientation": [ + 0.3840775489807129, + -0.4738308787345886, + -0.71197110414505, + 0.34794506430625916 + ], + "joints": [ + 0.01270277239382267 + ] + }, + "final_grasp": { + "position": [ + 0.10739391297101974, + 0.07886385172605515, + 0.05619925260543823 + ], + "orientation": [ + 0.3840775489807129, + -0.4738308787345886, + -0.71197110414505, + 0.34794506430625916 + ], + "joints": [ + 0.0026927459985017776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027113355696201324, + 0.17798282206058502, + -0.016217006370425224 + ], + "orientation": [ + 0.7383412718772888, + 0.5834057927131653, + 0.28016290068626404, + -0.1897328495979309 + ], + "joints": [ + 0.02159900963306427 + ] + }, + "fine_grasp": { + "position": [ + -0.025989612564444542, + 0.17422619462013245, + -0.015699997544288635 + ], + "orientation": [ + 0.7375561594963074, + 0.5833075642585754, + 0.2845390737056732, + -0.1865493804216385 + ], + "joints": [ + 0.012006938457489014 + ] + }, + "final_grasp": { + "position": [ + -0.025989612564444542, + 0.17422619462013245, + -0.015699997544288635 + ], + "orientation": [ + 0.7375561594963074, + 0.5833075642585754, + 0.2845390737056732, + -0.1865493804216385 + ], + "joints": [ + 0.0024148672819137573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027677960693836212, + 0.01972375623881817, + 0.12061131745576859 + ], + "orientation": [ + 0.05942847952246666, + 0.5319786667823792, + -0.8424994945526123, + -0.06051085889339447 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.026465430855751038, + 0.018582861870527267, + 0.11696843802928925 + ], + "orientation": [ + 0.06791633367538452, + 0.5200563669204712, + -0.8490508794784546, + -0.06357154250144958 + ], + "joints": [ + 0.020112238824367523 + ] + }, + "final_grasp": { + "position": [ + 0.026465430855751038, + 0.018582861870527267, + 0.11696843802928925 + ], + "orientation": [ + 0.06791633367538452, + 0.5200563669204712, + -0.8490508794784546, + -0.06357154250144958 + ], + "joints": [ + 0.01217108964920044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02502201870083809, + -0.0740906223654747, + 0.07279212027788162 + ], + "orientation": [ + 0.44448548555374146, + -0.8651174306869507, + 0.22410383820533752, + 0.06149744614958763 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.024363745003938675, + -0.07211967557668686, + 0.07101354002952576 + ], + "orientation": [ + 0.4405384659767151, + -0.862725555896759, + 0.24282772839069366, + 0.05162425339221954 + ], + "joints": [ + 0.021502666175365448 + ] + }, + "final_grasp": { + "position": [ + -0.024363745003938675, + -0.07211967557668686, + 0.07101354002952576 + ], + "orientation": [ + 0.4405384659767151, + -0.862725555896759, + 0.24282772839069366, + 0.05162425339221954 + ], + "joints": [ + 0.013122662901878357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06554736942052841, + -0.05634479969739914, + -0.0772157683968544 + ], + "orientation": [ + 0.7474614977836609, + -0.1367807239294052, + -0.46308574080467224, + -0.45622795820236206 + ], + "joints": [ + 0.028748052194714546 + ] + }, + "fine_grasp": { + "position": [ + 0.0636807456612587, + -0.05447757616639137, + -0.07422250509262085 + ], + "orientation": [ + 0.7498381733894348, + -0.12686564028263092, + -0.45243459939956665, + -0.4657796621322632 + ], + "joints": [ + 0.020388947799801826 + ] + }, + "final_grasp": { + "position": [ + 0.0636807456612587, + -0.05447757616639137, + -0.07422250509262085 + ], + "orientation": [ + 0.7498381733894348, + -0.12686564028263092, + -0.45243459939956665, + -0.4657796621322632 + ], + "joints": [ + 0.012029843404889107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03841068595647812, + -0.06684659421443939, + -0.10238935798406601 + ], + "orientation": [ + 0.8299004435539246, + -0.24587279558181763, + 0.3334028124809265, + 0.37370333075523376 + ], + "joints": [ + 0.026941927149891853 + ] + }, + "fine_grasp": { + "position": [ + -0.03770960122346878, + -0.06515313684940338, + -0.09916717559099197 + ], + "orientation": [ + 0.8317155838012695, + -0.2420627921819687, + 0.3274509012699127, + 0.3773999512195587 + ], + "joints": [ + 0.01689010299742222 + ] + }, + "final_grasp": { + "position": [ + -0.03770960122346878, + -0.06515313684940338, + -0.09916717559099197 + ], + "orientation": [ + 0.8317155838012695, + -0.2420627921819687, + 0.3274509012699127, + 0.3773999512195587 + ], + "joints": [ + 0.006838278844952583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09143337607383728, + 0.07079744338989258, + -0.08001410216093063 + ], + "orientation": [ + 0.7409470081329346, + 0.2780965566635132, + 0.3026936948299408, + 0.5310710072517395 + ], + "joints": [ + 0.02216104045510292 + ] + }, + "fine_grasp": { + "position": [ + -0.0884246751666069, + 0.07092826068401337, + -0.07748738676309586 + ], + "orientation": [ + 0.7404134273529053, + 0.27580270171165466, + 0.30533596873283386, + 0.5314987897872925 + ], + "joints": [ + 0.011733058840036392 + ] + }, + "final_grasp": { + "position": [ + -0.0884246751666069, + 0.07092826068401337, + -0.07748738676309586 + ], + "orientation": [ + 0.7404134273529053, + 0.27580270171165466, + 0.30533596873283386, + 0.5314987897872925 + ], + "joints": [ + 0.001305077224969864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09245191514492035, + 0.045131318271160126, + -0.07665066421031952 + ], + "orientation": [ + 0.7658105492591858, + -0.13204139471054077, + 0.3803834319114685, + -0.5014057159423828 + ], + "joints": [ + 0.02853965386748314 + ] + }, + "fine_grasp": { + "position": [ + -0.0892103761434555, + 0.04370590299367905, + -0.07464145869016647 + ], + "orientation": [ + 0.7631350159645081, + -0.129039466381073, + 0.3905511796474457, + -0.4984409213066101 + ], + "joints": [ + 0.020598504692316055 + ] + }, + "final_grasp": { + "position": [ + -0.0892103761434555, + 0.04370590299367905, + -0.07464145869016647 + ], + "orientation": [ + 0.7631350159645081, + -0.129039466381073, + 0.3905511796474457, + -0.4984409213066101 + ], + "joints": [ + 0.012657355517148972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08639159798622131, + -0.06693026423454285, + 0.02373165264725685 + ], + "orientation": [ + 0.6607837080955505, + -0.5459812879562378, + 0.5150388479232788, + -0.0020945866126567125 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + -0.08390428870916367, + -0.06524147093296051, + 0.023432346060872078 + ], + "orientation": [ + 0.6540111303329468, + -0.55165696144104, + 0.5175642371177673, + -0.0084436796605587 + ], + "joints": [ + 0.02066565677523613 + ] + }, + "final_grasp": { + "position": [ + -0.08390428870916367, + -0.06524147093296051, + 0.023432346060872078 + ], + "orientation": [ + 0.6540111303329468, + -0.55165696144104, + 0.5175642371177673, + -0.0084436796605587 + ], + "joints": [ + 0.011888597160577774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06552694737911224, + -0.05650574341416359, + -0.07686146348714828 + ], + "orientation": [ + 0.7469500303268433, + -0.13950137794017792, + -0.4644235074520111, + -0.4548799395561218 + ], + "joints": [ + 0.028748052194714546 + ] + }, + "fine_grasp": { + "position": [ + 0.06368792057037354, + -0.054734501987695694, + -0.07375645637512207 + ], + "orientation": [ + 0.7486591935157776, + -0.1296231746673584, + -0.45358115434646606, + -0.46580183506011963 + ], + "joints": [ + 0.020388947799801826 + ] + }, + "final_grasp": { + "position": [ + 0.06368792057037354, + -0.054734501987695694, + -0.07375645637512207 + ], + "orientation": [ + 0.7486591935157776, + -0.1296231746673584, + -0.45358115434646606, + -0.46580183506011963 + ], + "joints": [ + 0.012029843404889107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10500244796276093, + 0.06348802149295807, + -0.052126988768577576 + ], + "orientation": [ + 0.5014529228210449, + -0.4164103865623474, + 0.31636756658554077, + -0.6892451047897339 + ], + "joints": [ + 0.021642472594976425 + ] + }, + "fine_grasp": { + "position": [ + -0.10142963379621506, + 0.06379786878824234, + -0.050540704280138016 + ], + "orientation": [ + 0.5002040863037109, + -0.41938096284866333, + 0.31234943866729736, + -0.690183699131012 + ], + "joints": [ + 0.012029502540826797 + ] + }, + "final_grasp": { + "position": [ + -0.10142963379621506, + 0.06379786878824234, + -0.050540704280138016 + ], + "orientation": [ + 0.5002040863037109, + -0.41938096284866333, + 0.31234943866729736, + -0.690183699131012 + ], + "joints": [ + 0.00241653248667717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027652842923998833, + 0.17434363067150116, + -0.04926135390996933 + ], + "orientation": [ + 0.21777628362178802, + 0.041378624737262726, + -0.5547091960906982, + 0.801971971988678 + ], + "joints": [ + 0.02188059128820896 + ] + }, + "fine_grasp": { + "position": [ + 0.026500213891267776, + 0.17095419764518738, + -0.047743335366249084 + ], + "orientation": [ + 0.21984036266803741, + 0.03794684633612633, + -0.5560940504074097, + 0.8006182312965393 + ], + "joints": [ + 0.01187056489288807 + ] + }, + "final_grasp": { + "position": [ + 0.026500213891267776, + 0.17095419764518738, + -0.047743335366249084 + ], + "orientation": [ + 0.21984036266803741, + 0.03794684633612633, + -0.5560940504074097, + 0.8006182312965393 + ], + "joints": [ + 0.0018605384975671768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11030761152505875, + 0.016077907755970955, + 0.07547379285097122 + ], + "orientation": [ + 0.14605137705802917, + -0.8256354928016663, + 0.3132499158382416, + -0.4459477365016937 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + -0.10719259083271027, + 0.01570354402065277, + 0.07344107329845428 + ], + "orientation": [ + 0.148345485329628, + -0.8231598138809204, + 0.32074785232543945, + -0.44443488121032715 + ], + "joints": [ + 0.017207451164722443 + ] + }, + "final_grasp": { + "position": [ + -0.10719259083271027, + 0.01570354402065277, + 0.07344107329845428 + ], + "orientation": [ + 0.148345485329628, + -0.8231598138809204, + 0.32074785232543945, + -0.44443488121032715 + ], + "joints": [ + 0.006361514329910278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07170457392930984, + -0.07386703044176102, + -0.015917561948299408 + ], + "orientation": [ + 0.5178719162940979, + -0.6959392428398132, + 0.11196459084749222, + 0.4847072660923004 + ], + "joints": [ + 0.0291880052536726 + ] + }, + "fine_grasp": { + "position": [ + 0.0702110081911087, + -0.07358861714601517, + -0.014888769015669823 + ], + "orientation": [ + 0.5230622887611389, + -0.686697244644165, + 0.10024287551641464, + 0.49477681517601013 + ], + "joints": [ + 0.020410945639014244 + ] + }, + "final_grasp": { + "position": [ + 0.0702110081911087, + -0.07358861714601517, + -0.014888769015669823 + ], + "orientation": [ + 0.5230622887611389, + -0.686697244644165, + 0.10024287551641464, + 0.49477681517601013 + ], + "joints": [ + 0.011633886024355888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04599026218056679, + 0.10828263312578201, + 0.09875243902206421 + ], + "orientation": [ + 0.042101405560970306, + 0.7816867232322693, + -0.5555339455604553, + 0.28031280636787415 + ], + "joints": [ + 0.022304052487015724 + ] + }, + "fine_grasp": { + "position": [ + -0.044556763023138046, + 0.10674472898244858, + 0.09543883055448532 + ], + "orientation": [ + 0.04341666400432587, + 0.7826400399208069, + -0.5520700812339783, + 0.2842680513858795 + ], + "joints": [ + 0.012691082432866096 + ] + }, + "final_grasp": { + "position": [ + -0.044556763023138046, + 0.10674472898244858, + 0.09543883055448532 + ], + "orientation": [ + 0.04341666400432587, + 0.7826400399208069, + -0.5520700812339783, + 0.2842680513858795 + ], + "joints": [ + 0.003078112378716469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11104532331228256, + 0.016259310767054558, + 0.07563291490077972 + ], + "orientation": [ + 0.145297572016716, + -0.8255522847175598, + 0.31305450201034546, + -0.4464849829673767 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + -0.10794506967067719, + 0.01587439700961113, + 0.07357346266508102 + ], + "orientation": [ + 0.14740560948848724, + -0.8232265114784241, + 0.3200780749320984, + -0.44510626792907715 + ], + "joints": [ + 0.017207451164722443 + ] + }, + "final_grasp": { + "position": [ + -0.10794506967067719, + 0.01587439700961113, + 0.07357346266508102 + ], + "orientation": [ + 0.14740560948848724, + -0.8232265114784241, + 0.3200780749320984, + -0.44510626792907715 + ], + "joints": [ + 0.006361514329910278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12062042206525803, + 0.023312587291002274, + 0.042946573346853256 + ], + "orientation": [ + 0.46567434072494507, + -0.4781358540058136, + 0.6575655341148376, + -0.34948694705963135 + ], + "joints": [ + 0.0314340814948082 + ] + }, + "fine_grasp": { + "position": [ + -0.11702504009008408, + 0.023049987852573395, + 0.04242643341422081 + ], + "orientation": [ + 0.45711609721183777, + -0.4836169481277466, + 0.655174732208252, + -0.3576391041278839 + ], + "joints": [ + 0.021424055099487305 + ] + }, + "final_grasp": { + "position": [ + -0.11702504009008408, + 0.023049987852573395, + 0.04242643341422081 + ], + "orientation": [ + 0.45711609721183777, + -0.4836169481277466, + 0.655174732208252, + -0.3576391041278839 + ], + "joints": [ + 0.011414028704166412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08602384477853775, + -0.0633573904633522, + 0.03352910280227661 + ], + "orientation": [ + 0.6320070028305054, + -0.4666396379470825, + -0.613895833492279, + -0.07711228728294373 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + 0.08380255103111267, + -0.06132263317704201, + 0.03245110437273979 + ], + "orientation": [ + 0.6234785318374634, + -0.47462278604507446, + -0.6176413297653198, + -0.06728184968233109 + ], + "joints": [ + 0.020524410530924797 + ] + }, + "final_grasp": { + "position": [ + 0.08380255103111267, + -0.06132263317704201, + 0.03245110437273979 + ], + "orientation": [ + 0.6234785318374634, + -0.47462278604507446, + -0.6176413297653198, + -0.06728184968233109 + ], + "joints": [ + 0.01091144047677517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09227024763822556, + 0.02261463552713394, + -0.09417345374822617 + ], + "orientation": [ + 0.7450348138809204, + 0.22334308922290802, + -0.3247936964035034, + -0.5380984544754028 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + 0.08974209427833557, + 0.02140766568481922, + -0.09158491343259811 + ], + "orientation": [ + 0.746467649936676, + 0.23093673586845398, + -0.31963953375816345, + -0.5359896421432495 + ], + "joints": [ + 0.01929832622408867 + ] + }, + "final_grasp": { + "position": [ + 0.08974209427833557, + 0.02140766568481922, + -0.09158491343259811 + ], + "orientation": [ + 0.746467649936676, + 0.23093673586845398, + -0.31963953375816345, + -0.5359896421432495 + ], + "joints": [ + 0.010103311389684677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021181292831897736, + 0.10827380418777466, + 0.1006954237818718 + ], + "orientation": [ + 0.23254035413265228, + 0.7894762754440308, + 0.5649592876434326, + -0.05893390625715256 + ], + "joints": [ + 0.02120175212621689 + ] + }, + "fine_grasp": { + "position": [ + -0.020374927669763565, + 0.10796612501144409, + 0.09697254747152328 + ], + "orientation": [ + 0.23263812065124512, + 0.7937244772911072, + 0.5594264268875122, + -0.054065149277448654 + ], + "joints": [ + 0.012821748852729797 + ] + }, + "final_grasp": { + "position": [ + -0.020374927669763565, + 0.10796612501144409, + 0.09697254747152328 + ], + "orientation": [ + 0.23263812065124512, + 0.7937244772911072, + 0.5594264268875122, + -0.054065149277448654 + ], + "joints": [ + 0.004441745579242706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09902799874544144, + 0.059975072741508484, + -0.08178387582302094 + ], + "orientation": [ + 0.3883003890514374, + 0.4563445746898651, + -0.011743230745196342, + 0.8005214929580688 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + -0.09557817131280899, + 0.06011136621236801, + -0.07890553027391434 + ], + "orientation": [ + 0.37782517075538635, + 0.4549018144607544, + -0.0031631896272301674, + 0.8064132928848267 + ], + "joints": [ + 0.02363649755716324 + ] + }, + "final_grasp": { + "position": [ + -0.09557817131280899, + 0.06011136621236801, + -0.07890553027391434 + ], + "orientation": [ + 0.37782517075538635, + 0.4549018144607544, + -0.0031631896272301674, + 0.8064132928848267 + ], + "joints": [ + 0.0173671692609787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06782171130180359, + 0.1644696593284607, + 0.020742589607834816 + ], + "orientation": [ + 0.5969108939170837, + 0.7561784386634827, + 0.1306181102991104, + 0.23415875434875488 + ], + "joints": [ + 0.02203051932156086 + ] + }, + "fine_grasp": { + "position": [ + -0.06537704169750214, + 0.16146309673786163, + 0.020456936210393906 + ], + "orientation": [ + 0.5967251062393188, + 0.7534342408180237, + 0.13482025265693665, + 0.24099698662757874 + ], + "joints": [ + 0.012438448145985603 + ] + }, + "final_grasp": { + "position": [ + -0.06537704169750214, + 0.16146309673786163, + 0.020456936210393906 + ], + "orientation": [ + 0.5967251062393188, + 0.7534342408180237, + 0.13482025265693665, + 0.24099698662757874 + ], + "joints": [ + 0.002846376970410347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09150918573141098, + 0.02351127378642559, + -0.0939602255821228 + ], + "orientation": [ + 0.7434564828872681, + 0.22350400686264038, + -0.3309791386127472, + -0.5364430546760559 + ], + "joints": [ + 0.026918770745396614 + ] + }, + "fine_grasp": { + "position": [ + 0.08914737403392792, + 0.022214781492948532, + -0.09108024835586548 + ], + "orientation": [ + 0.746242105960846, + 0.23044294118881226, + -0.3233085572719574, + -0.534312903881073 + ], + "joints": [ + 0.018538767471909523 + ] + }, + "final_grasp": { + "position": [ + 0.08914737403392792, + 0.022214781492948532, + -0.09108024835586548 + ], + "orientation": [ + 0.746242105960846, + 0.23044294118881226, + -0.3233085572719574, + -0.534312903881073 + ], + "joints": [ + 0.010158764198422432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007859393954277039, + 0.05865408480167389, + 0.1284153312444687 + ], + "orientation": [ + 0.022194689139723778, + 0.42848390340805054, + -0.8886656165122986, + 0.16181012988090515 + ], + "joints": [ + 0.030299466103315353 + ] + }, + "fine_grasp": { + "position": [ + -0.007237623445689678, + 0.05802024528384209, + 0.12444579601287842 + ], + "orientation": [ + 0.02249901182949543, + 0.4110272526741028, + -0.8983415961265564, + 0.1534041464328766 + ], + "joints": [ + 0.02317332848906517 + ] + }, + "final_grasp": { + "position": [ + -0.007237623445689678, + 0.05802024528384209, + 0.12444579601287842 + ], + "orientation": [ + 0.02249901182949543, + 0.4110272526741028, + -0.8983415961265564, + 0.1534041464328766 + ], + "joints": [ + 0.016047190874814987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025262823328375816, + 0.056835416704416275, + 0.12127861380577087 + ], + "orientation": [ + 0.026749538257718086, + -0.5837070941925049, + 0.7943595051765442, + -0.16602247953414917 + ], + "joints": [ + 0.028665171936154366 + ] + }, + "fine_grasp": { + "position": [ + -0.024173639714717865, + 0.05581700801849365, + 0.11759345978498459 + ], + "orientation": [ + 0.02054518833756447, + -0.5828167796134949, + 0.795403242111206, + -0.1650339961051941 + ], + "joints": [ + 0.01988811232149601 + ] + }, + "final_grasp": { + "position": [ + -0.024173639714717865, + 0.05581700801849365, + 0.11759345978498459 + ], + "orientation": [ + 0.02054518833756447, + -0.5828167796134949, + 0.795403242111206, + -0.1650339961051941 + ], + "joints": [ + 0.011111052706837654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10850121080875397, + 0.09746957570314407, + 0.005753226578235626 + ], + "orientation": [ + 0.27983468770980835, + -0.5313481688499451, + 0.48789918422698975, + -0.6334951519966125 + ], + "joints": [ + 0.02134004421532154 + ] + }, + "fine_grasp": { + "position": [ + -0.1046643927693367, + 0.09681805223226547, + 0.0055983480997383595 + ], + "orientation": [ + 0.2748013734817505, + -0.5369179248809814, + 0.48241955041885376, + -0.6351965069770813 + ], + "joints": [ + 0.01214502938091755 + ] + }, + "final_grasp": { + "position": [ + -0.1046643927693367, + 0.09681805223226547, + 0.0055983480997383595 + ], + "orientation": [ + 0.2748013734817505, + -0.5369179248809814, + 0.48241955041885376, + -0.6351965069770813 + ], + "joints": [ + 0.0029500145465135574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11959795653820038, + 0.059270620346069336, + 0.03050086833536625 + ], + "orientation": [ + 0.48344188928604126, + -0.24196185171604156, + -0.7417126893997192, + 0.39698946475982666 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.11567702144384384, + 0.05910560488700867, + 0.029962796717882156 + ], + "orientation": [ + 0.4909745752811432, + -0.24124695360660553, + -0.7432623505592346, + 0.3851039707660675 + ], + "joints": [ + 0.025744736194610596 + ] + }, + "final_grasp": { + "position": [ + 0.11567702144384384, + 0.05910560488700867, + 0.029962796717882156 + ], + "orientation": [ + 0.4909745752811432, + -0.24124695360660553, + -0.7432623505592346, + 0.3851039707660675 + ], + "joints": [ + 0.01903655380010605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015043151564896107, + 0.1777675598859787, + -0.0720674991607666 + ], + "orientation": [ + 0.8315243124961853, + 0.4316673278808594, + 0.18597809970378876, + -0.2960454225540161 + ], + "joints": [ + 0.02057417668402195 + ] + }, + "fine_grasp": { + "position": [ + -0.013947097584605217, + 0.1748024821281433, + -0.07020112127065659 + ], + "orientation": [ + 0.8324328064918518, + 0.4295848309993744, + 0.19161926209926605, + -0.2929069697856903 + ], + "joints": [ + 0.010522352531552315 + ] + }, + "final_grasp": { + "position": [ + -0.013947097584605217, + 0.1748024821281433, + -0.07020112127065659 + ], + "orientation": [ + 0.8324328064918518, + 0.4295848309993744, + 0.19161926209926605, + -0.2929069697856903 + ], + "joints": [ + 0.00047052837908267975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03940147906541824, + 0.17337225377559662, + -0.004716574680060148 + ], + "orientation": [ + 0.1634792685508728, + 0.3935421109199524, + -0.5811026692390442, + 0.6933388113975525 + ], + "joints": [ + 0.02158096805214882 + ] + }, + "fine_grasp": { + "position": [ + -0.038267284631729126, + 0.16956669092178345, + -0.004152708221226931 + ], + "orientation": [ + 0.16658779978752136, + 0.3889696002006531, + -0.5785712599754333, + 0.6972851753234863 + ], + "joints": [ + 0.012385953217744827 + ] + }, + "final_grasp": { + "position": [ + -0.038267284631729126, + 0.16956669092178345, + -0.004152708221226931 + ], + "orientation": [ + 0.16658779978752136, + 0.3889696002006531, + -0.5785712599754333, + 0.6972851753234863 + ], + "joints": [ + 0.0031909383833408356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03915310278534889, + 0.1722550094127655, + -0.003306536003947258 + ], + "orientation": [ + 0.17535045742988586, + 0.3749050796031952, + -0.5811114311218262, + 0.7007195353507996 + ], + "joints": [ + 0.02209646999835968 + ] + }, + "fine_grasp": { + "position": [ + -0.03768642619252205, + 0.1687120795249939, + -0.003411537269130349 + ], + "orientation": [ + 0.1712496429681778, + 0.37603238224983215, + -0.5797306895256042, + 0.7022716403007507 + ], + "joints": [ + 0.012483499944210052 + ] + }, + "final_grasp": { + "position": [ + -0.03768642619252205, + 0.1687120795249939, + -0.003411537269130349 + ], + "orientation": [ + 0.1712496429681778, + 0.37603238224983215, + -0.5797306895256042, + 0.7022716403007507 + ], + "joints": [ + 0.002870529890060425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03140184283256531, + 0.1689978837966919, + 0.044639281928539276 + ], + "orientation": [ + 0.07098802179098129, + -0.15039972960948944, + 0.8157001733779907, + -0.5540521144866943 + ], + "joints": [ + 0.022392520681023598 + ] + }, + "fine_grasp": { + "position": [ + -0.030384773388504982, + 0.16543444991111755, + 0.04317061975598335 + ], + "orientation": [ + 0.06526269018650055, + -0.14964275062084198, + 0.8166760802268982, + -0.5535231232643127 + ], + "joints": [ + 0.012800449505448341 + ] + }, + "final_grasp": { + "position": [ + -0.030384773388504982, + 0.16543444991111755, + 0.04317061975598335 + ], + "orientation": [ + 0.06526269018650055, + -0.14964275062084198, + 0.8166760802268982, + -0.5535231232643127 + ], + "joints": [ + 0.003208378329873085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03276284784078598, + 0.17181342840194702, + -0.03133947774767876 + ], + "orientation": [ + 0.3129478394985199, + 0.4223726689815521, + -0.4686944782733917, + 0.7099227905273438 + ], + "joints": [ + 0.021589752286672592 + ] + }, + "fine_grasp": { + "position": [ + -0.03196018561720848, + 0.16846880316734314, + -0.02953614480793476 + ], + "orientation": [ + 0.3157428205013275, + 0.4159506857395172, + -0.46742063760757446, + 0.7133086919784546 + ], + "joints": [ + 0.011976782232522964 + ] + }, + "final_grasp": { + "position": [ + -0.03196018561720848, + 0.16846880316734314, + -0.02953614480793476 + ], + "orientation": [ + 0.3157428205013275, + 0.4159506857395172, + -0.46742063760757446, + 0.7133086919784546 + ], + "joints": [ + 0.002363812178373337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024082371965050697, + 0.16962578892707825, + 0.05879377946257591 + ], + "orientation": [ + 0.04786507785320282, + 0.23143024742603302, + 0.8234846591949463, + -0.5157731771469116 + ], + "joints": [ + 0.02266181819140911 + ] + }, + "fine_grasp": { + "position": [ + 0.02310323901474476, + 0.16620910167694092, + 0.05723286420106888 + ], + "orientation": [ + 0.04171000048518181, + 0.2337239682674408, + 0.8240975737571716, + -0.5142922401428223 + ], + "joints": [ + 0.013048848137259483 + ] + }, + "final_grasp": { + "position": [ + 0.02310323901474476, + 0.16620910167694092, + 0.05723286420106888 + ], + "orientation": [ + 0.04171000048518181, + 0.2337239682674408, + 0.8240975737571716, + -0.5142922401428223 + ], + "joints": [ + 0.0034358780831098557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054339099675416946, + 0.07953008264303207, + -0.12241102755069733 + ], + "orientation": [ + 0.5061438679695129, + -0.14451690018177032, + 0.15017598867416382, + -0.8368873000144958 + ], + "joints": [ + 0.022368112578988075 + ] + }, + "fine_grasp": { + "position": [ + -0.05252057686448097, + 0.07895420491695404, + -0.1191265732049942 + ], + "orientation": [ + 0.5056286454200745, + -0.1462145298719406, + 0.1530448943376541, + -0.8363840579986572 + ], + "joints": [ + 0.01231628842651844 + ] + }, + "final_grasp": { + "position": [ + -0.05252057686448097, + 0.07895420491695404, + -0.1191265732049942 + ], + "orientation": [ + 0.5056286454200745, + -0.1462145298719406, + 0.1530448943376541, + -0.8363840579986572 + ], + "joints": [ + 0.0022644642740488052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11296918988227844, + 0.08564697951078415, + 0.023194819688796997 + ], + "orientation": [ + 0.5721535086631775, + 0.5213010907173157, + 0.5580907464027405, + 0.299032062292099 + ], + "joints": [ + 0.021917201578617096 + ] + }, + "fine_grasp": { + "position": [ + -0.10910507291555405, + 0.08546796441078186, + 0.02244236320257187 + ], + "orientation": [ + 0.5697178840637207, + 0.5139622688293457, + 0.5651536583900452, + 0.30309349298477173 + ], + "joints": [ + 0.011113062500953674 + ] + }, + "final_grasp": { + "position": [ + -0.10910507291555405, + 0.08546796441078186, + 0.02244236320257187 + ], + "orientation": [ + 0.5697178840637207, + 0.5139622688293457, + 0.5651536583900452, + 0.30309349298477173 + ], + "joints": [ + 0.0003089234232902527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054969992488622665, + 0.0924941673874855, + -0.12114778906106949 + ], + "orientation": [ + 0.8539130687713623, + 0.17933183908462524, + 0.1403794288635254, + 0.4679381251335144 + ], + "joints": [ + 0.021708793938159943 + ] + }, + "fine_grasp": { + "position": [ + -0.0533156655728817, + 0.09124989062547684, + -0.11798103153705597 + ], + "orientation": [ + 0.8533957600593567, + 0.1842106580734253, + 0.14026744663715363, + 0.4670194387435913 + ], + "joints": [ + 0.011656969785690308 + ] + }, + "final_grasp": { + "position": [ + -0.0533156655728817, + 0.09124989062547684, + -0.11798103153705597 + ], + "orientation": [ + 0.8533957600593567, + 0.1842106580734253, + 0.14026744663715363, + 0.4670194387435913 + ], + "joints": [ + 0.0016051456332206726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10343156009912491, + 0.12529923021793365, + 0.03197168558835983 + ], + "orientation": [ + 0.10647490620613098, + -0.6079871654510498, + 0.5129152536392212, + -0.5966007709503174 + ], + "joints": [ + 0.022933047264814377 + ] + }, + "fine_grasp": { + "position": [ + -0.10027039051055908, + 0.12320410460233688, + 0.03102542646229267 + ], + "orientation": [ + 0.10485967993736267, + -0.6053376197814941, + 0.5144663453102112, + -0.5982433557510376 + ], + "joints": [ + 0.012902121990919113 + ] + }, + "final_grasp": { + "position": [ + -0.10027039051055908, + 0.12320410460233688, + 0.03102542646229267 + ], + "orientation": [ + 0.10485967993736267, + -0.6053376197814941, + 0.5144663453102112, + -0.5982433557510376 + ], + "joints": [ + 0.0028711967170238495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038437940180301666, + 0.13672399520874023, + -0.08769893646240234 + ], + "orientation": [ + 0.8224426507949829, + 0.37676137685775757, + -0.010494270361959934, + 0.42606207728385925 + ], + "joints": [ + 0.02276175282895565 + ] + }, + "fine_grasp": { + "position": [ + -0.036946095526218414, + 0.1346876621246338, + -0.08475358039140701 + ], + "orientation": [ + 0.8223533630371094, + 0.37547874450683594, + -0.007502280175685883, + 0.4274277985095978 + ], + "joints": [ + 0.012333771213889122 + ] + }, + "final_grasp": { + "position": [ + -0.036946095526218414, + 0.1346876621246338, + -0.08475358039140701 + ], + "orientation": [ + 0.8223533630371094, + 0.37547874450683594, + -0.007502280175685883, + 0.4274277985095978 + ], + "joints": [ + 0.0019057895988225937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008892646059393883, + 0.169107124209404, + -0.05786199867725372 + ], + "orientation": [ + 0.8307352662086487, + 0.507638156414032, + -0.09491277486085892, + 0.20778338611125946 + ], + "joints": [ + 0.022864272817969322 + ] + }, + "fine_grasp": { + "position": [ + -0.008434111252427101, + 0.1657363623380661, + -0.056100018322467804 + ], + "orientation": [ + 0.8298002481460571, + 0.5086857676506042, + -0.09266629815101624, + 0.20996053516864777 + ], + "joints": [ + 0.01285424642264843 + ] + }, + "final_grasp": { + "position": [ + -0.008434111252427101, + 0.1657363623380661, + -0.056100018322467804 + ], + "orientation": [ + 0.8298002481460571, + 0.5086857676506042, + -0.09266629815101624, + 0.20996053516864777 + ], + "joints": [ + 0.0028442200273275375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01656833291053772, + 0.17270295321941376, + 0.04156756401062012 + ], + "orientation": [ + 0.5719842910766602, + 0.8125092387199402, + 0.11246393620967865, + -0.0038184986915439367 + ], + "joints": [ + 0.022469250485301018 + ] + }, + "fine_grasp": { + "position": [ + -0.01605331152677536, + 0.16901157796382904, + 0.04030439257621765 + ], + "orientation": [ + 0.5693081021308899, + 0.8143264651298523, + 0.11294431239366531, + -0.0020859541837126017 + ], + "joints": [ + 0.013274235650897026 + ] + }, + "final_grasp": { + "position": [ + -0.01605331152677536, + 0.16901157796382904, + 0.04030439257621765 + ], + "orientation": [ + 0.5693081021308899, + 0.8143264651298523, + 0.11294431239366531, + -0.0020859541837126017 + ], + "joints": [ + 0.004079220816493034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018013112246990204, + 0.16894398629665375, + 0.0611373707652092 + ], + "orientation": [ + 0.041448578238487244, + 0.20962107181549072, + -0.8386031985282898, + 0.501084566116333 + ], + "joints": [ + 0.02297639101743698 + ] + }, + "fine_grasp": { + "position": [ + -0.01740594394505024, + 0.16543658077716827, + 0.05941837653517723 + ], + "orientation": [ + 0.043977268040180206, + 0.21117325127124786, + -0.8379099369049072, + 0.5013768672943115 + ], + "joints": [ + 0.013363420963287354 + ] + }, + "final_grasp": { + "position": [ + -0.01740594394505024, + 0.16543658077716827, + 0.05941837653517723 + ], + "orientation": [ + 0.043977268040180206, + 0.21117325127124786, + -0.8379099369049072, + 0.5013768672943115 + ], + "joints": [ + 0.003750450909137726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10332999378442764, + 0.12472236156463623, + 0.031949982047080994 + ], + "orientation": [ + 0.10435256361961365, + -0.6078888177871704, + 0.5111491680145264, + -0.5985885262489319 + ], + "joints": [ + 0.022973548620939255 + ] + }, + "fine_grasp": { + "position": [ + -0.10011561959981918, + 0.1226784884929657, + 0.03102865256369114 + ], + "orientation": [ + 0.1025182232260704, + -0.6060876846313477, + 0.5127642154693604, + -0.599350094795227 + ], + "joints": [ + 0.012963522225618362 + ] + }, + "final_grasp": { + "position": [ + -0.10011561959981918, + 0.1226784884929657, + 0.03102865256369114 + ], + "orientation": [ + 0.1025182232260704, + -0.6060876846313477, + 0.5127642154693604, + -0.599350094795227 + ], + "joints": [ + 0.00295349583029747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1121194064617157, + 0.08524831384420395, + 0.02317437157034874 + ], + "orientation": [ + 0.5706311464309692, + 0.5196009874343872, + 0.5592656135559082, + 0.3026828169822693 + ], + "joints": [ + 0.022635022178292274 + ] + }, + "fine_grasp": { + "position": [ + -0.10852799564599991, + 0.08486912399530411, + 0.022237814962863922 + ], + "orientation": [ + 0.5686811804771423, + 0.5134761929512024, + 0.5660075545310974, + 0.30426859855651855 + ], + "joints": [ + 0.01178908534348011 + ] + }, + "final_grasp": { + "position": [ + -0.10852799564599991, + 0.08486912399530411, + 0.022237814962863922 + ], + "orientation": [ + 0.5686811804771423, + 0.5134761929512024, + 0.5660075545310974, + 0.30426859855651855 + ], + "joints": [ + 0.0009431485086679459 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10533127933740616, + 0.11998732388019562, + 0.03315730392932892 + ], + "orientation": [ + 0.441271036863327, + 0.7521267533302307, + 0.25834447145462036, + 0.41574451327323914 + ], + "joints": [ + 0.02310541272163391 + ] + }, + "fine_grasp": { + "position": [ + -0.10196765512228012, + 0.11825691908597946, + 0.03223780170083046 + ], + "orientation": [ + 0.4419699013233185, + 0.7518633604049683, + 0.25839269161224365, + 0.41544824838638306 + ], + "joints": [ + 0.012677431106567383 + ] + }, + "final_grasp": { + "position": [ + -0.10196765512228012, + 0.11825691908597946, + 0.03223780170083046 + ], + "orientation": [ + 0.4419699013233185, + 0.7518633604049683, + 0.25839269161224365, + 0.41544824838638306 + ], + "joints": [ + 0.0022494494915008545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09528892487287521, + 0.10061775892972946, + 0.05167418718338013 + ], + "orientation": [ + 0.5139284133911133, + 0.5271987915039062, + -0.6619000434875488, + -0.1408095359802246 + ], + "joints": [ + 0.02166249044239521 + ] + }, + "fine_grasp": { + "position": [ + 0.09256356954574585, + 0.09928683191537857, + 0.05009440705180168 + ], + "orientation": [ + 0.5182961821556091, + 0.5213556885719299, + -0.6636486649513245, + -0.13830339908599854 + ], + "joints": [ + 0.011652464047074318 + ] + }, + "final_grasp": { + "position": [ + 0.09256356954574585, + 0.09928683191537857, + 0.05009440705180168 + ], + "orientation": [ + 0.5182961821556091, + 0.5213556885719299, + -0.6636486649513245, + -0.13830339908599854 + ], + "joints": [ + 0.0016424376517534256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0386764258146286, + 0.13650210201740265, + -0.08761918544769287 + ], + "orientation": [ + 0.8244911432266235, + 0.37766793370246887, + -0.008684433996677399, + 0.4213145971298218 + ], + "joints": [ + 0.022689837962388992 + ] + }, + "fine_grasp": { + "position": [ + -0.037109702825546265, + 0.13458390533924103, + -0.0846543163061142 + ], + "orientation": [ + 0.8244213461875916, + 0.3759898841381073, + -0.004476767964661121, + 0.42301422357559204 + ], + "joints": [ + 0.01188569888472557 + ] + }, + "final_grasp": { + "position": [ + -0.037109702825546265, + 0.13458390533924103, + -0.0846543163061142 + ], + "orientation": [ + 0.8244213461875916, + 0.3759898841381073, + -0.004476767964661121, + 0.42301422357559204 + ], + "joints": [ + 0.001081559807062149 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12474307417869568, + -0.005821829661726952, + 0.02110465057194233 + ], + "orientation": [ + 0.589486300945282, + -0.4980182945728302, + -0.5595719814300537, + 0.302263081073761 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.12106622010469437, + -0.0060066585429012775, + 0.020767129957675934 + ], + "orientation": [ + 0.5802205204963684, + -0.4933895170688629, + -0.5690733790397644, + 0.3099457025527954 + ], + "joints": [ + 0.02013649418950081 + ] + }, + "final_grasp": { + "position": [ + 0.12106622010469437, + -0.0060066585429012775, + 0.020767129957675934 + ], + "orientation": [ + 0.5802205204963684, + -0.4933895170688629, + -0.5690733790397644, + 0.3099457025527954 + ], + "joints": [ + 0.011756490916013718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03623072803020477, + 0.1738566905260086, + 0.029606342315673828 + ], + "orientation": [ + 0.3040609061717987, + 0.2579631507396698, + 0.7647879123687744, + -0.5060645937919617 + ], + "joints": [ + 0.023711128160357475 + ] + }, + "fine_grasp": { + "position": [ + -0.03457731753587723, + 0.17013439536094666, + 0.029237085953354836 + ], + "orientation": [ + 0.3126297891139984, + 0.25111785531044006, + 0.7620426416397095, + -0.5084225535392761 + ], + "joints": [ + 0.01493406854569912 + ] + }, + "final_grasp": { + "position": [ + -0.03457731753587723, + 0.17013439536094666, + 0.029237085953354836 + ], + "orientation": [ + 0.3126297891139984, + 0.25111785531044006, + 0.7620426416397095, + -0.5084225535392761 + ], + "joints": [ + 0.006157008931040764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03384321555495262, + 0.1748889982700348, + 0.020038751885294914 + ], + "orientation": [ + 0.4698784649372101, + 0.6354493498802185, + 0.3537536859512329, + -0.500276505947113 + ], + "joints": [ + 0.019694270566105843 + ] + }, + "fine_grasp": { + "position": [ + 0.03303147479891777, + 0.1706777960062027, + 0.018844284117221832 + ], + "orientation": [ + 0.46611154079437256, + 0.6414042711257935, + 0.36246827244758606, + -0.4898545742034912 + ], + "joints": [ + 0.013424942269921303 + ] + }, + "final_grasp": { + "position": [ + 0.03303147479891777, + 0.1706777960062027, + 0.018844284117221832 + ], + "orientation": [ + 0.46611154079437256, + 0.6414042711257935, + 0.36246827244758606, + -0.4898545742034912 + ], + "joints": [ + 0.007155613973736763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1055818572640419, + 0.12015997618436813, + 0.033464428037405014 + ], + "orientation": [ + 0.4402688145637512, + 0.7538282871246338, + 0.255715548992157, + 0.4153502881526947 + ], + "joints": [ + 0.02342229336500168 + ] + }, + "fine_grasp": { + "position": [ + -0.10225491970777512, + 0.1184152290225029, + 0.03250990808010101 + ], + "orientation": [ + 0.4405370354652405, + 0.7536146640777588, + 0.25565439462661743, + 0.4154911935329437 + ], + "joints": [ + 0.01299431174993515 + ] + }, + "final_grasp": { + "position": [ + -0.10225491970777512, + 0.1184152290225029, + 0.03250990808010101 + ], + "orientation": [ + 0.4405370354652405, + 0.7536146640777588, + 0.25565439462661743, + 0.4154911935329437 + ], + "joints": [ + 0.002566330134868622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12092245370149612, + 0.09455804526805878, + 0.012945928610861301 + ], + "orientation": [ + 0.5256602764129639, + -0.2957453429698944, + -0.6823906898498535, + 0.412987619638443 + ], + "joints": [ + 0.023305760696530342 + ] + }, + "fine_grasp": { + "position": [ + 0.11711591482162476, + 0.09357306361198425, + 0.012646010145545006 + ], + "orientation": [ + 0.5261489152908325, + -0.2952842712402344, + -0.6822680234909058, + 0.4128982126712799 + ], + "joints": [ + 0.01329573430120945 + ] + }, + "final_grasp": { + "position": [ + 0.11711591482162476, + 0.09357306361198425, + 0.012646010145545006 + ], + "orientation": [ + 0.5261489152908325, + -0.2952842712402344, + -0.6822680234909058, + 0.4128982126712799 + ], + "joints": [ + 0.0032857079058885574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08330602198839188, + 0.055612340569496155, + -0.08825039863586426 + ], + "orientation": [ + 0.8299227952957153, + 0.02279219962656498, + 0.40176308155059814, + -0.3863871097564697 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + -0.08049976080656052, + 0.055901482701301575, + -0.08472596108913422 + ], + "orientation": [ + 0.8362565040588379, + 0.016767876222729683, + 0.3994224965572357, + -0.37530720233917236 + ], + "joints": [ + 0.025443781167268753 + ] + }, + "final_grasp": { + "position": [ + -0.08049976080656052, + 0.055901482701301575, + -0.08472596108913422 + ], + "orientation": [ + 0.8362565040588379, + 0.016767876222729683, + 0.3994224965572357, + -0.37530720233917236 + ], + "joints": [ + 0.01959240809082985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10136278718709946, + -0.0835929811000824, + 0.04817764461040497 + ], + "orientation": [ + 0.24268178641796112, + 0.3280235528945923, + 0.7446647882461548, + 0.5281859636306763 + ], + "joints": [ + 0.02542462758719921 + ] + }, + "fine_grasp": { + "position": [ + -0.09897538274526596, + -0.08082503080368042, + 0.047007784247398376 + ], + "orientation": [ + 0.23517516255378723, + 0.3245154917240143, + 0.7458921074867249, + 0.5320031642913818 + ], + "joints": [ + 0.016187814995646477 + ] + }, + "final_grasp": { + "position": [ + -0.09897538274526596, + -0.08082503080368042, + 0.047007784247398376 + ], + "orientation": [ + 0.23517516255378723, + 0.3245154917240143, + 0.7458921074867249, + 0.5320031642913818 + ], + "joints": [ + 0.006951002404093742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05338484048843384, + 0.1668485552072525, + 0.021890435367822647 + ], + "orientation": [ + 0.5724585652351379, + 0.777062714099884, + -0.0154964504763484, + 0.26119837164878845 + ], + "joints": [ + 0.021274909377098083 + ] + }, + "fine_grasp": { + "position": [ + -0.05136125162243843, + 0.16381408274173737, + 0.02174726314842701 + ], + "orientation": [ + 0.5699185132980347, + 0.7752081751823425, + -0.008081242442131042, + 0.2723599076271057 + ], + "joints": [ + 0.012497849762439728 + ] + }, + "final_grasp": { + "position": [ + -0.05136125162243843, + 0.16381408274173737, + 0.02174726314842701 + ], + "orientation": [ + 0.5699185132980347, + 0.7752081751823425, + -0.008081242442131042, + 0.2723599076271057 + ], + "joints": [ + 0.003720790147781372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03869219496846199, + 0.1704631745815277, + -0.003099175402894616 + ], + "orientation": [ + 0.17460587620735168, + 0.3721843659877777, + -0.5820077061653137, + 0.7016113996505737 + ], + "joints": [ + 0.02208934724330902 + ] + }, + "fine_grasp": { + "position": [ + -0.037086956202983856, + 0.1667753905057907, + -0.0032528224401175976 + ], + "orientation": [ + 0.16950438916683197, + 0.3738672733306885, + -0.581893265247345, + 0.7020624279975891 + ], + "joints": [ + 0.012476377189159393 + ] + }, + "final_grasp": { + "position": [ + -0.037086956202983856, + 0.1667753905057907, + -0.0032528224401175976 + ], + "orientation": [ + 0.16950438916683197, + 0.3738672733306885, + -0.581893265247345, + 0.7020624279975891 + ], + "joints": [ + 0.0028634071350097656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10371692478656769, + 0.1250479370355606, + 0.03154832124710083 + ], + "orientation": [ + 0.10450402647256851, + -0.6077626943588257, + 0.5098292231559753, + -0.5998145341873169 + ], + "joints": [ + 0.022664953023195267 + ] + }, + "fine_grasp": { + "position": [ + -0.10051735490560532, + 0.12298766523599625, + 0.0306671392172575 + ], + "orientation": [ + 0.10241296887397766, + -0.6056357026100159, + 0.5115763545036316, + -0.600838303565979 + ], + "joints": [ + 0.013051982969045639 + ] + }, + "final_grasp": { + "position": [ + -0.10051735490560532, + 0.12298766523599625, + 0.0306671392172575 + ], + "orientation": [ + 0.10241296887397766, + -0.6056357026100159, + 0.5115763545036316, + -0.600838303565979 + ], + "joints": [ + 0.0034390129148960114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0550495944917202, + 0.09277595579624176, + -0.1214103177189827 + ], + "orientation": [ + 0.8528437614440918, + 0.1780286431312561, + 0.14108505845069885, + 0.47016844153404236 + ], + "joints": [ + 0.02124568447470665 + ] + }, + "fine_grasp": { + "position": [ + -0.05336647853255272, + 0.0914727970957756, + -0.11822889000177383 + ], + "orientation": [ + 0.8522743582725525, + 0.18331247568130493, + 0.14093554019927979, + 0.46921437978744507 + ], + "joints": [ + 0.01161181554198265 + ] + }, + "final_grasp": { + "position": [ + -0.05336647853255272, + 0.0914727970957756, + -0.11822889000177383 + ], + "orientation": [ + 0.8522743582725525, + 0.18331247568130493, + 0.14093554019927979, + 0.46921437978744507 + ], + "joints": [ + 0.0019779466092586517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07243771106004715, + 0.11095502227544785, + -0.07882147282361984 + ], + "orientation": [ + 0.826026439666748, + 0.3382360637187958, + 0.22291234135627747, + 0.3919014036655426 + ], + "joints": [ + 0.022012505680322647 + ] + }, + "fine_grasp": { + "position": [ + -0.07040268927812576, + 0.10897129774093628, + -0.07612761110067368 + ], + "orientation": [ + 0.8279595971107483, + 0.3388347625732422, + 0.2175809144973755, + 0.39029785990715027 + ], + "joints": [ + 0.01239953562617302 + ] + }, + "final_grasp": { + "position": [ + -0.07040268927812576, + 0.10897129774093628, + -0.07612761110067368 + ], + "orientation": [ + 0.8279595971107483, + 0.3388347625732422, + 0.2175809144973755, + 0.39029785990715027 + ], + "joints": [ + 0.0027865655720233917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1244785338640213, + 0.07027553766965866, + 0.023963483050465584 + ], + "orientation": [ + 0.3400397002696991, + -0.5950961112976074, + -0.4850770831108093, + 0.5430782437324524 + ], + "joints": [ + 0.022546011954545975 + ] + }, + "fine_grasp": { + "position": [ + 0.12053494900465012, + 0.06955061852931976, + 0.022977737709879875 + ], + "orientation": [ + 0.33638548851013184, + -0.6024580001831055, + -0.4790113866329193, + 0.5426207184791565 + ], + "joints": [ + 0.014186907559633255 + ] + }, + "final_grasp": { + "position": [ + 0.12053494900465012, + 0.06955061852931976, + 0.022977737709879875 + ], + "orientation": [ + 0.33638548851013184, + -0.6024580001831055, + -0.4790113866329193, + 0.5426207184791565 + ], + "joints": [ + 0.005827803164720535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043334610760211945, + 0.0852927416563034, + -0.11401762068271637 + ], + "orientation": [ + 0.5116148591041565, + 0.1962204873561859, + 0.0204482302069664, + 0.8362593650817871 + ], + "joints": [ + 0.022905098274350166 + ] + }, + "fine_grasp": { + "position": [ + -0.04188169166445732, + 0.08434509485960007, + -0.1104639321565628 + ], + "orientation": [ + 0.5114701390266418, + 0.19771964848041534, + 0.018697595223784447, + 0.8360357284545898 + ], + "joints": [ + 0.01249801553785801 + ] + }, + "final_grasp": { + "position": [ + -0.04188169166445732, + 0.08434509485960007, + -0.1104639321565628 + ], + "orientation": [ + 0.5114701390266418, + 0.19771964848041534, + 0.018697595223784447, + 0.8360357284545898 + ], + "joints": [ + 0.0020909328013658524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05234771594405174, + 0.0944337248802185, + 0.096259206533432 + ], + "orientation": [ + 0.23209774494171143, + 0.8385425806045532, + 0.46933144330978394, + 0.15068143606185913 + ], + "joints": [ + 0.0215713232755661 + ] + }, + "fine_grasp": { + "position": [ + -0.05056847259402275, + 0.09326642006635666, + 0.09277771413326263 + ], + "orientation": [ + 0.23407305777072906, + 0.8465595245361328, + 0.45429518818855286, + 0.14887091517448425 + ], + "joints": [ + 0.012794263660907745 + ] + }, + "final_grasp": { + "position": [ + -0.05056847259402275, + 0.09326642006635666, + 0.09277771413326263 + ], + "orientation": [ + 0.23407305777072906, + 0.8465595245361328, + 0.45429518818855286, + 0.14887091517448425 + ], + "joints": [ + 0.00401720404624939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019680548459291458, + 0.17061156034469604, + -0.052884481847286224 + ], + "orientation": [ + 0.7945712804794312, + 0.46193116903305054, + -0.2732803225517273, + 0.28389033675193787 + ], + "joints": [ + 0.02319669909775257 + ] + }, + "fine_grasp": { + "position": [ + 0.01904943585395813, + 0.16712696850299835, + -0.05113283544778824 + ], + "orientation": [ + 0.7941297888755798, + 0.46262025833129883, + -0.2719780504703522, + 0.28525158762931824 + ], + "joints": [ + 0.013583729043602943 + ] + }, + "final_grasp": { + "position": [ + 0.01904943585395813, + 0.16712696850299835, + -0.05113283544778824 + ], + "orientation": [ + 0.7941297888755798, + 0.46262025833129883, + -0.2719780504703522, + 0.28525158762931824 + ], + "joints": [ + 0.003970758989453316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035831425338983536, + 0.173197939991951, + 0.029291294515132904 + ], + "orientation": [ + 0.3071344792842865, + 0.2583386301994324, + 0.7630639672279358, + -0.5066192150115967 + ], + "joints": [ + 0.023700160905718803 + ] + }, + "fine_grasp": { + "position": [ + -0.03418302908539772, + 0.1694774329662323, + 0.028883473947644234 + ], + "orientation": [ + 0.3154216408729553, + 0.2517797648906708, + 0.7605826258659363, + -0.5085570216178894 + ], + "joints": [ + 0.014923101291060448 + ] + }, + "final_grasp": { + "position": [ + -0.03418302908539772, + 0.1694774329662323, + 0.028883473947644234 + ], + "orientation": [ + 0.3154216408729553, + 0.2517797648906708, + 0.7605826258659363, + -0.5085570216178894 + ], + "joints": [ + 0.006146041676402092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035882532596588135, + 0.17317454516887665, + 0.029282255098223686 + ], + "orientation": [ + 0.30369293689727783, + 0.2580798864364624, + 0.7642318606376648, + -0.5070649981498718 + ], + "joints": [ + 0.02326020784676075 + ] + }, + "fine_grasp": { + "position": [ + -0.0341881699860096, + 0.1694333851337433, + 0.028921514749526978 + ], + "orientation": [ + 0.3124326467514038, + 0.25102171301841736, + 0.7615704536437988, + -0.5092979669570923 + ], + "joints": [ + 0.01490110345184803 + ] + }, + "final_grasp": { + "position": [ + -0.0341881699860096, + 0.1694333851337433, + 0.028921514749526978 + ], + "orientation": [ + 0.3124326467514038, + 0.25102171301841736, + 0.7615704536437988, + -0.5092979669570923 + ], + "joints": [ + 0.00654199905693531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11344005912542343, + 0.1240479126572609, + -0.016336927190423012 + ], + "orientation": [ + 0.7174752354621887, + 0.4527680575847626, + 0.48687392473220825, + 0.20780853927135468 + ], + "joints": [ + 0.022107280790805817 + ] + }, + "fine_grasp": { + "position": [ + -0.11009551584720612, + 0.12221409380435944, + -0.015803303569555283 + ], + "orientation": [ + 0.7182178497314453, + 0.45312371850013733, + 0.485596239566803, + 0.20745696127414703 + ], + "joints": [ + 0.012891367077827454 + ] + }, + "final_grasp": { + "position": [ + -0.11009551584720612, + 0.12221409380435944, + -0.015803303569555283 + ], + "orientation": [ + 0.7182178497314453, + 0.45312371850013733, + 0.485596239566803, + 0.20745696127414703 + ], + "joints": [ + 0.0036754533648490906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09418745338916779, + 0.15238668024539948, + -0.04630383104085922 + ], + "orientation": [ + 0.8093276023864746, + 0.49241214990615845, + -0.2581339478492737, + -0.18943580985069275 + ], + "joints": [ + 0.017833268269896507 + ] + }, + "fine_grasp": { + "position": [ + 0.09086628258228302, + 0.15023654699325562, + -0.04539167881011963 + ], + "orientation": [ + 0.8051615953445435, + 0.49254751205444336, + -0.26740995049476624, + -0.19391675293445587 + ], + "joints": [ + 0.009056208655238152 + ] + }, + "final_grasp": { + "position": [ + 0.09086628258228302, + 0.15023654699325562, + -0.04539167881011963 + ], + "orientation": [ + 0.8051615953445435, + 0.49254751205444336, + -0.26740995049476624, + -0.19391675293445587 + ], + "joints": [ + 0.00027914904057979584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10276056081056595, + 0.12080106884241104, + 0.026543816551566124 + ], + "orientation": [ + 0.43930187821388245, + 0.7407858967781067, + -0.22849412262439728, + -0.4539167582988739 + ], + "joints": [ + 0.022297421470284462 + ] + }, + "fine_grasp": { + "position": [ + 0.09970572590827942, + 0.11867555975914001, + 0.025442024692893028 + ], + "orientation": [ + 0.44085657596588135, + 0.745309054851532, + -0.22526028752326965, + -0.44656214118003845 + ], + "joints": [ + 0.012266496196389198 + ] + }, + "final_grasp": { + "position": [ + 0.09970572590827942, + 0.11867555975914001, + 0.025442024692893028 + ], + "orientation": [ + 0.44085657596588135, + 0.745309054851532, + -0.22526028752326965, + -0.44656214118003845 + ], + "joints": [ + 0.0022355709224939346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10312968492507935, + 0.120510034263134, + 0.025923172011971474 + ], + "orientation": [ + 0.44862237572669983, + 0.7452556490898132, + -0.22396539151668549, + -0.439512699842453 + ], + "joints": [ + 0.02353004366159439 + ] + }, + "fine_grasp": { + "position": [ + 0.09984681010246277, + 0.11871352046728134, + 0.025139592587947845 + ], + "orientation": [ + 0.448529452085495, + 0.7462608218193054, + -0.2233514040708542, + -0.43821272253990173 + ], + "joints": [ + 0.012684106826782227 + ] + }, + "final_grasp": { + "position": [ + 0.09984681010246277, + 0.11871352046728134, + 0.025139592587947845 + ], + "orientation": [ + 0.448529452085495, + 0.7462608218193054, + -0.2233514040708542, + -0.43821272253990173 + ], + "joints": [ + 0.0018381699919700623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04821165278553963, + 0.16277700662612915, + -0.04832591861486435 + ], + "orientation": [ + 0.1305195689201355, + -0.13215085864067078, + -0.5311996340751648, + 0.8266364336013794 + ], + "joints": [ + 0.022797098383307457 + ] + }, + "fine_grasp": { + "position": [ + 0.04618064686655998, + 0.15980999171733856, + -0.046733297407627106 + ], + "orientation": [ + 0.13319353759288788, + -0.13795782625675201, + -0.5302162766456604, + 0.8258921504020691 + ], + "joints": [ + 0.0132050272077322 + ] + }, + "final_grasp": { + "position": [ + 0.04618064686655998, + 0.15980999171733856, + -0.046733297407627106 + ], + "orientation": [ + 0.13319353759288788, + -0.13795782625675201, + -0.5302162766456604, + 0.8258921504020691 + ], + "joints": [ + 0.0036129560321569443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12732845544815063, + 0.09296189248561859, + -0.023641658946871758 + ], + "orientation": [ + 0.558696448802948, + 0.5229968428611755, + -0.37141209840774536, + -0.5257239937782288 + ], + "joints": [ + 0.021488206461071968 + ] + }, + "fine_grasp": { + "position": [ + 0.12359728664159775, + 0.09201029688119888, + -0.02290557138621807 + ], + "orientation": [ + 0.560022234916687, + 0.5229167938232422, + -0.3701869249343872, + -0.5252569317817688 + ], + "joints": [ + 0.01266934908926487 + ] + }, + "final_grasp": { + "position": [ + 0.12359728664159775, + 0.09201029688119888, + -0.02290557138621807 + ], + "orientation": [ + 0.560022234916687, + 0.5229167938232422, + -0.3701869249343872, + -0.5252569317817688 + ], + "joints": [ + 0.0038504917174577713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0014621650334447622, + 0.1402556449174881, + 0.07293710112571716 + ], + "orientation": [ + 0.22250337898731232, + 0.5113557577133179, + 0.7659206986427307, + -0.3199579119682312 + ], + "joints": [ + 0.02302277833223343 + ] + }, + "fine_grasp": { + "position": [ + -0.0028228876180946827, + 0.1382584422826767, + 0.07096872478723526 + ], + "orientation": [ + 0.22475947439670563, + 0.5008208751678467, + 0.7677776217460632, + -0.33042284846305847 + ], + "joints": [ + 0.015081629157066345 + ] + }, + "final_grasp": { + "position": [ + -0.0028228876180946827, + 0.1382584422826767, + 0.07096872478723526 + ], + "orientation": [ + 0.22475947439670563, + 0.5008208751678467, + 0.7677776217460632, + -0.33042284846305847 + ], + "joints": [ + 0.0071404799818992615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08999137580394745, + 0.05715075507760048, + 0.08087141811847687 + ], + "orientation": [ + 0.0032912204042077065, + -0.8007844686508179, + 0.4190220236778259, + -0.4279648959636688 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.08694606274366379, + 0.056894756853580475, + 0.07785606384277344 + ], + "orientation": [ + 0.008251211605966091, + -0.8164365291595459, + 0.38786062598228455, + -0.4277002513408661 + ], + "joints": [ + 0.025137025862932205 + ] + }, + "final_grasp": { + "position": [ + -0.08694606274366379, + 0.056894756853580475, + 0.07785606384277344 + ], + "orientation": [ + 0.008251211605966091, + -0.8164365291595459, + 0.38786062598228455, + -0.4277002513408661 + ], + "joints": [ + 0.018052686005830765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04854109510779381, + 0.16255365312099457, + -0.048440344631671906 + ], + "orientation": [ + 0.127242311835289, + -0.12651218473911285, + -0.5319916009902954, + 0.8275198340415955 + ], + "joints": [ + 0.022357145324349403 + ] + }, + "fine_grasp": { + "position": [ + 0.04633403569459915, + 0.1596776843070984, + -0.04696519300341606 + ], + "orientation": [ + 0.13055391609668732, + -0.13349010050296783, + -0.5328420996665955, + 0.8253577947616577 + ], + "joints": [ + 0.012744175270199776 + ] + }, + "final_grasp": { + "position": [ + 0.04633403569459915, + 0.1596776843070984, + -0.04696519300341606 + ], + "orientation": [ + 0.13055391609668732, + -0.13349010050296783, + -0.5328420996665955, + 0.8253577947616577 + ], + "joints": [ + 0.003131205216050148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012058970518410206, + 0.03770677000284195, + 0.123283751308918 + ], + "orientation": [ + 0.08671020716428757, + 0.31739291548728943, + 0.9411415457725525, + -0.07743117958307266 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.01166576985269785, + 0.038650572299957275, + 0.11894528567790985 + ], + "orientation": [ + 0.0731392651796341, + 0.28781571984291077, + 0.9520522952079773, + -0.07354790717363358 + ], + "joints": [ + 0.025257378816604614 + ] + }, + "final_grasp": { + "position": [ + -0.01166576985269785, + 0.038650572299957275, + 0.11894528567790985 + ], + "orientation": [ + 0.0731392651796341, + 0.28781571984291077, + 0.9520522952079773, + -0.07354790717363358 + ], + "joints": [ + 0.018988050520420074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046951886266469955, + 0.1614706963300705, + 0.04864180460572243 + ], + "orientation": [ + 0.5138879418373108, + 0.8304678797721863, + 0.10373914241790771, + 0.18836241960525513 + ], + "joints": [ + 0.02280651219189167 + ] + }, + "fine_grasp": { + "position": [ + -0.04567820206284523, + 0.15803328156471252, + 0.04709561541676521 + ], + "orientation": [ + 0.5141660571098328, + 0.8323581218719482, + 0.10119761526584625, + 0.18047821521759033 + ], + "joints": [ + 0.013611497357487679 + ] + }, + "final_grasp": { + "position": [ + -0.04567820206284523, + 0.15803328156471252, + 0.04709561541676521 + ], + "orientation": [ + 0.5141660571098328, + 0.8323581218719482, + 0.10119761526584625, + 0.18047821521759033 + ], + "joints": [ + 0.004416482523083687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07331380993127823, + 0.1463019698858261, + 0.015264409594237804 + ], + "orientation": [ + 0.6604326367378235, + 0.5918822884559631, + 0.46087220311164856, + 0.033180106431245804 + ], + "joints": [ + 0.022024307399988174 + ] + }, + "fine_grasp": { + "position": [ + -0.07093091309070587, + 0.1442517787218094, + 0.014313513413071632 + ], + "orientation": [ + 0.6600112915039062, + 0.5884830951690674, + 0.46602481603622437, + 0.02989550493657589 + ], + "joints": [ + 0.013247247785329819 + ] + }, + "final_grasp": { + "position": [ + -0.07093091309070587, + 0.1442517787218094, + 0.014313513413071632 + ], + "orientation": [ + 0.6600112915039062, + 0.5884830951690674, + 0.46602481603622437, + 0.02989550493657589 + ], + "joints": [ + 0.004470188170671463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05402987450361252, + 0.16669544577598572, + 0.022064536809921265 + ], + "orientation": [ + 0.5769236087799072, + 0.7764114737510681, + 0.0027003930881619453, + 0.2536473870277405 + ], + "joints": [ + 0.021567409858107567 + ] + }, + "fine_grasp": { + "position": [ + -0.05198320001363754, + 0.16292983293533325, + 0.02173571102321148 + ], + "orientation": [ + 0.5787473917007446, + 0.7737026810646057, + 0.003565040184184909, + 0.257726788520813 + ], + "joints": [ + 0.014044215902686119 + ] + }, + "final_grasp": { + "position": [ + -0.05198320001363754, + 0.16292983293533325, + 0.02173571102321148 + ], + "orientation": [ + 0.5787473917007446, + 0.7737026810646057, + 0.003565040184184909, + 0.257726788520813 + ], + "joints": [ + 0.006521021947264671 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1175888180732727, + 0.05405523255467415, + -0.03940034285187721 + ], + "orientation": [ + 0.1635199338197708, + -0.49225375056266785, + 0.30031856894493103, + -0.8004724383354187 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.11324005573987961, + 0.05416053533554077, + -0.038292914628982544 + ], + "orientation": [ + 0.15907473862171173, + -0.502168595790863, + 0.2903253734111786, + -0.7988949418067932 + ], + "joints": [ + 0.02548893168568611 + ] + }, + "final_grasp": { + "position": [ + -0.11324005573987961, + 0.05416053533554077, + -0.038292914628982544 + ], + "orientation": [ + 0.15907473862171173, + -0.502168595790863, + 0.2903253734111786, + -0.7988949418067932 + ], + "joints": [ + 0.01921960338950157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04713477939367294, + 0.16262301802635193, + -0.04838983714580536 + ], + "orientation": [ + 0.14137329161167145, + -0.13799095153808594, + -0.5293739438056946, + 0.8250668048858643 + ], + "joints": [ + 0.02310541272163391 + ] + }, + "fine_grasp": { + "position": [ + 0.0456412211060524, + 0.15940165519714355, + -0.046764735132455826 + ], + "orientation": [ + 0.14229582250118256, + -0.13847248256206512, + -0.5292085409164429, + 0.824933648109436 + ], + "joints": [ + 0.013492442667484283 + ] + }, + "final_grasp": { + "position": [ + 0.0456412211060524, + 0.15940165519714355, + -0.046764735132455826 + ], + "orientation": [ + 0.14229582250118256, + -0.13847248256206512, + -0.5292085409164429, + 0.824933648109436 + ], + "joints": [ + 0.0038794726133346558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04973674193024635, + 0.16636812686920166, + -0.012662330642342567 + ], + "orientation": [ + 0.7544407248497009, + 0.5924792289733887, + -0.2746289372444153, + 0.06607941538095474 + ], + "joints": [ + 0.02106015756726265 + ] + }, + "fine_grasp": { + "position": [ + 0.04757385700941086, + 0.16261516511440277, + -0.01266274880617857 + ], + "orientation": [ + 0.7516218423843384, + 0.5928876996040344, + -0.28194278478622437, + 0.06369555741548538 + ], + "joints": [ + 0.013536963611841202 + ] + }, + "final_grasp": { + "position": [ + 0.04757385700941086, + 0.16261516511440277, + -0.01266274880617857 + ], + "orientation": [ + 0.7516218423843384, + 0.5928876996040344, + -0.28194278478622437, + 0.06369555741548538 + ], + "joints": [ + 0.006013769656419754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03706276789307594, + 0.16958566009998322, + 0.03025355376303196 + ], + "orientation": [ + 0.3718404769897461, + 0.19279706478118896, + -0.7507758140563965, + 0.5107831954956055 + ], + "joints": [ + 0.021134424954652786 + ] + }, + "fine_grasp": { + "position": [ + 0.036129847168922424, + 0.1654786914587021, + 0.02911362797021866 + ], + "orientation": [ + 0.3660542666912079, + 0.19807596504688263, + -0.7511922717094421, + 0.5123284459114075 + ], + "joints": [ + 0.014029186218976974 + ] + }, + "final_grasp": { + "position": [ + 0.036129847168922424, + 0.1654786914587021, + 0.02911362797021866 + ], + "orientation": [ + 0.3660542666912079, + 0.19807596504688263, + -0.7511922717094421, + 0.5123284459114075 + ], + "joints": [ + 0.006923947483301163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09222008287906647, + 0.055031366646289825, + -0.0634172186255455 + ], + "orientation": [ + 0.5096614956855774, + 0.3676871657371521, + -0.28810346126556396, + -0.7225287556648254 + ], + "joints": [ + 0.023246852681040764 + ] + }, + "fine_grasp": { + "position": [ + 0.0903598815202713, + 0.052789460867643356, + -0.061886876821517944 + ], + "orientation": [ + 0.4986373782157898, + 0.3674996793270111, + -0.282879501581192, + -0.7323141098022461 + ], + "joints": [ + 0.015723658725619316 + ] + }, + "final_grasp": { + "position": [ + 0.0903598815202713, + 0.052789460867643356, + -0.061886876821517944 + ], + "orientation": [ + 0.4986373782157898, + 0.3674996793270111, + -0.282879501581192, + -0.7323141098022461 + ], + "joints": [ + 0.008200464770197868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0800643116235733, + 0.15879930555820465, + 0.026518292725086212 + ], + "orientation": [ + 0.357279896736145, + -0.004674865398555994, + -0.7863527536392212, + 0.5039628148078918 + ], + "joints": [ + 0.02410985715687275 + ] + }, + "fine_grasp": { + "position": [ + 0.077471062541008, + 0.1557047963142395, + 0.02608553133904934 + ], + "orientation": [ + 0.36156609654426575, + -0.005168570205569267, + -0.7826903462409973, + 0.5065957903862 + ], + "joints": [ + 0.014914842322468758 + ] + }, + "final_grasp": { + "position": [ + 0.077471062541008, + 0.1557047963142395, + 0.02608553133904934 + ], + "orientation": [ + 0.36156609654426575, + -0.005168570205569267, + -0.7826903462409973, + 0.5065957903862 + ], + "joints": [ + 0.005719827488064766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02803121693432331, + 0.13308893144130707, + -0.09603626281023026 + ], + "orientation": [ + 0.4282595217227936, + 0.041019927710294724, + 0.3329998850822449, + -0.8390602469444275 + ], + "joints": [ + 0.023246796801686287 + ] + }, + "fine_grasp": { + "position": [ + -0.02666320465505123, + 0.13041628897190094, + -0.09315471351146698 + ], + "orientation": [ + 0.42658549547195435, + 0.03979407250881195, + 0.3379685580730438, + -0.8379848003387451 + ], + "joints": [ + 0.014887692406773567 + ] + }, + "final_grasp": { + "position": [ + -0.02666320465505123, + 0.13041628897190094, + -0.09315471351146698 + ], + "orientation": [ + 0.42658549547195435, + 0.03979407250881195, + 0.3379685580730438, + -0.8379848003387451 + ], + "joints": [ + 0.0065285880118608475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10111186653375626, + 0.04572536051273346, + -0.057608090341091156 + ], + "orientation": [ + 0.6885833144187927, + -0.22096645832061768, + 0.4340452253818512, + -0.5372444987297058 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + -0.0975811704993248, + 0.04465736821293831, + -0.055948346853256226 + ], + "orientation": [ + 0.6840522289276123, + -0.2231389284133911, + 0.4394623637199402, + -0.537730872631073 + ], + "joints": [ + 0.019739437848329544 + ] + }, + "final_grasp": { + "position": [ + -0.0975811704993248, + 0.04465736821293831, + -0.055948346853256226 + ], + "orientation": [ + 0.6840522289276123, + -0.2231389284133911, + 0.4394623637199402, + -0.537730872631073 + ], + "joints": [ + 0.010962378233671188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11704551428556442, + 0.06854323297739029, + 0.05426894128322601 + ], + "orientation": [ + 0.2522529065608978, + -0.7249121069908142, + 0.43319010734558105, + -0.47245851159095764 + ], + "joints": [ + 0.023783160373568535 + ] + }, + "fine_grasp": { + "position": [ + -0.11342019587755203, + 0.06758370995521545, + 0.052715692669153214 + ], + "orientation": [ + 0.24332894384860992, + -0.7250329852104187, + 0.4307394325733185, + -0.4791469871997833 + ], + "joints": [ + 0.015403157100081444 + ] + }, + "final_grasp": { + "position": [ + -0.11342019587755203, + 0.06758370995521545, + 0.052715692669153214 + ], + "orientation": [ + 0.24332894384860992, + -0.7250329852104187, + 0.4307394325733185, + -0.4791469871997833 + ], + "joints": [ + 0.007023153826594353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07859019935131073, + 0.16791664063930511, + -0.0005320539930835366 + ], + "orientation": [ + 0.7081494331359863, + 0.42342230677604675, + -0.518214225769043, + 0.22514863312244415 + ], + "joints": [ + 0.02108359895646572 + ] + }, + "fine_grasp": { + "position": [ + 0.07613570988178253, + 0.16475337743759155, + -0.0010802196338772774 + ], + "orientation": [ + 0.701759934425354, + 0.42694610357284546, + -0.5262891054153442, + 0.21970374882221222 + ], + "joints": [ + 0.013100652024149895 + ] + }, + "final_grasp": { + "position": [ + 0.07613570988178253, + 0.16475337743759155, + -0.0010802196338772774 + ], + "orientation": [ + 0.701759934425354, + 0.42694610357284546, + -0.5262891054153442, + 0.21970374882221222 + ], + "joints": [ + 0.005117705091834068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016892176121473312, + 0.09419681876897812, + 0.10867086052894592 + ], + "orientation": [ + 0.0750214159488678, + 0.8600539565086365, + 0.488973468542099, + -0.12483558803796768 + ], + "joints": [ + 0.021479712799191475 + ] + }, + "fine_grasp": { + "position": [ + 0.016405818983912468, + 0.09323376417160034, + 0.1049162968993187 + ], + "orientation": [ + 0.08009278029203415, + 0.8705976009368896, + 0.46789926290512085, + -0.12928779423236847 + ], + "joints": [ + 0.012284697964787483 + ] + }, + "final_grasp": { + "position": [ + 0.016405818983912468, + 0.09323376417160034, + 0.1049162968993187 + ], + "orientation": [ + 0.08009278029203415, + 0.8705976009368896, + 0.46789926290512085, + -0.12928779423236847 + ], + "joints": [ + 0.0030896831303834915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08611558377742767, + 0.1149432435631752, + -0.055298708379268646 + ], + "orientation": [ + 0.8069934844970703, + 0.3848523199558258, + 0.34262827038764954, + 0.2885410785675049 + ], + "joints": [ + 0.021306786686182022 + ] + }, + "fine_grasp": { + "position": [ + -0.08318839222192764, + 0.11200132220983505, + -0.05361117422580719 + ], + "orientation": [ + 0.8090527653694153, + 0.39377784729003906, + 0.33677586913108826, + 0.277407169342041 + ], + "joints": [ + 0.015455413609743118 + ] + }, + "final_grasp": { + "position": [ + -0.08318839222192764, + 0.11200132220983505, + -0.05361117422580719 + ], + "orientation": [ + 0.8090527653694153, + 0.39377784729003906, + 0.33677586913108826, + 0.277407169342041 + ], + "joints": [ + 0.009604040533304214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09147869050502777, + 0.14547348022460938, + 0.022690560668706894 + ], + "orientation": [ + 0.0051777176558971405, + 0.5404318571090698, + 0.5276540517807007, + -0.6553531885147095 + ], + "joints": [ + 0.02239229343831539 + ] + }, + "fine_grasp": { + "position": [ + 0.08869584649801254, + 0.14263881742954254, + 0.0214630588889122 + ], + "orientation": [ + 0.008025716990232468, + 0.543114423751831, + 0.5323807597160339, + -0.6492557525634766 + ], + "joints": [ + 0.014033189043402672 + ] + }, + "final_grasp": { + "position": [ + 0.08869584649801254, + 0.14263881742954254, + 0.0214630588889122 + ], + "orientation": [ + 0.008025716990232468, + 0.543114423751831, + 0.5323807597160339, + -0.6492557525634766 + ], + "joints": [ + 0.005674084648489952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04473152011632919, + 0.16912488639354706, + 0.008319452404975891 + ], + "orientation": [ + 0.4711763560771942, + 0.6750286221504211, + 0.30865857005119324, + -0.47650694847106934 + ], + "joints": [ + 0.023837868124246597 + ] + }, + "fine_grasp": { + "position": [ + 0.04314292594790459, + 0.16524922847747803, + 0.00839441642165184 + ], + "orientation": [ + 0.47239014506340027, + 0.672801673412323, + 0.3055359721183777, + -0.4804510772228241 + ], + "joints": [ + 0.015896718949079514 + ] + }, + "final_grasp": { + "position": [ + 0.04314292594790459, + 0.16524922847747803, + 0.00839441642165184 + ], + "orientation": [ + 0.47239014506340027, + 0.672801673412323, + 0.3055359721183777, + -0.4804510772228241 + ], + "joints": [ + 0.00795556977391243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02122800424695015, + 0.16803954541683197, + 0.05447859689593315 + ], + "orientation": [ + 0.09187392145395279, + 0.002175907837226987, + 0.8509604334831238, + -0.5171273946762085 + ], + "joints": [ + 0.02407916635274887 + ] + }, + "fine_grasp": { + "position": [ + -0.02046828716993332, + 0.1642274558544159, + 0.052816059440374374 + ], + "orientation": [ + 0.0943678617477417, + 0.0019264457514509559, + 0.8479077816009521, + -0.5216736793518066 + ], + "joints": [ + 0.016138017177581787 + ] + }, + "final_grasp": { + "position": [ + -0.02046828716993332, + 0.1642274558544159, + 0.052816059440374374 + ], + "orientation": [ + 0.0943678617477417, + 0.0019264457514509559, + 0.8479077816009521, + -0.5216736793518066 + ], + "joints": [ + 0.008196868002414703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11750409752130508, + 0.0690450593829155, + 0.054497454315423965 + ], + "orientation": [ + 0.24925272166728973, + -0.726224422454834, + 0.43182969093322754, + -0.47328025102615356 + ], + "joints": [ + 0.02388647198677063 + ] + }, + "fine_grasp": { + "position": [ + -0.11389538645744324, + 0.06812573224306107, + 0.05302392691373825 + ], + "orientation": [ + 0.24132513999938965, + -0.7257866859436035, + 0.42938944697380066, + -0.4802297055721283 + ], + "joints": [ + 0.015109412372112274 + ] + }, + "final_grasp": { + "position": [ + -0.11389538645744324, + 0.06812573224306107, + 0.05302392691373825 + ], + "orientation": [ + 0.24132513999938965, + -0.7257866859436035, + 0.42938944697380066, + -0.4802297055721283 + ], + "joints": [ + 0.0063323527574539185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06919354200363159, + 0.1523832529783249, + -0.04747951775789261 + ], + "orientation": [ + 0.6540605425834656, + 0.15121208131313324, + -0.543658971786499, + 0.503760576248169 + ], + "joints": [ + 0.023291585966944695 + ] + }, + "fine_grasp": { + "position": [ + 0.06744305044412613, + 0.14907921850681305, + -0.04564957693219185 + ], + "orientation": [ + 0.6535100936889648, + 0.15504726767539978, + -0.5410506725311279, + 0.506111741065979 + ], + "joints": [ + 0.014932481572031975 + ] + }, + "final_grasp": { + "position": [ + 0.06744305044412613, + 0.14907921850681305, + -0.04564957693219185 + ], + "orientation": [ + 0.6535100936889648, + 0.15504726767539978, + -0.5410506725311279, + 0.506111741065979 + ], + "joints": [ + 0.006573377177119255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08536218851804733, + 0.14087726175785065, + 0.003152266377583146 + ], + "orientation": [ + 0.551967203617096, + 0.7071364521980286, + 0.10563623905181885, + 0.429105281829834 + ], + "joints": [ + 0.022953195497393608 + ] + }, + "fine_grasp": { + "position": [ + -0.08228646218776703, + 0.13788527250289917, + 0.0033303152304142714 + ], + "orientation": [ + 0.5528441071510315, + 0.7074130773544312, + 0.0989198163151741, + 0.4291212558746338 + ], + "joints": [ + 0.01543000154197216 + ] + }, + "final_grasp": { + "position": [ + -0.08228646218776703, + 0.13788527250289917, + 0.0033303152304142714 + ], + "orientation": [ + 0.5528441071510315, + 0.7074130773544312, + 0.0989198163151741, + 0.4291212558746338 + ], + "joints": [ + 0.007906807586550713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11738472431898117, + 0.06923993676900864, + 0.05428103730082512 + ], + "orientation": [ + 0.244731143116951, + -0.7250689268112183, + 0.4309786856174469, + -0.4781621992588043 + ], + "joints": [ + 0.024029003456234932 + ] + }, + "fine_grasp": { + "position": [ + -0.11376394331455231, + 0.06842377036809921, + 0.05278216674923897 + ], + "orientation": [ + 0.23822280764579773, + -0.7260141968727112, + 0.42733901739120483, + -0.48325419425964355 + ], + "joints": [ + 0.015251943841576576 + ] + }, + "final_grasp": { + "position": [ + -0.11376394331455231, + 0.06842377036809921, + 0.05278216674923897 + ], + "orientation": [ + 0.23822280764579773, + -0.7260141968727112, + 0.42733901739120483, + -0.48325419425964355 + ], + "joints": [ + 0.0064748842269182205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025898516178131104, + 0.11211387813091278, + 0.10152235627174377 + ], + "orientation": [ + 0.27783453464508057, + 0.7955842018127441, + 0.5364107489585876, + -0.04601462557911873 + ], + "joints": [ + 0.024041909724473953 + ] + }, + "fine_grasp": { + "position": [ + -0.024789219722151756, + 0.11084873974323273, + 0.09771601855754852 + ], + "orientation": [ + 0.2770495116710663, + 0.8118159770965576, + 0.5127344727516174, + -0.036078035831451416 + ], + "joints": [ + 0.015682805329561234 + ] + }, + "final_grasp": { + "position": [ + -0.024789219722151756, + 0.11084873974323273, + 0.09771601855754852 + ], + "orientation": [ + 0.2770495116710663, + 0.8118159770965576, + 0.5127344727516174, + -0.036078035831451416 + ], + "joints": [ + 0.007323700934648514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10865002870559692, + 0.09653215110301971, + 0.0036711692810058594 + ], + "orientation": [ + 0.26853829622268677, + -0.5359408259391785, + 0.4832397401332855, + -0.6380704641342163 + ], + "joints": [ + 0.024118749424815178 + ] + }, + "fine_grasp": { + "position": [ + -0.10461296141147614, + 0.09572955965995789, + 0.0034522241912782192 + ], + "orientation": [ + 0.2479093074798584, + -0.5445071458816528, + 0.47540462017059326, + -0.645014226436615 + ], + "joints": [ + 0.016156701371073723 + ] + }, + "final_grasp": { + "position": [ + -0.10461296141147614, + 0.09572955965995789, + 0.0034522241912782192 + ], + "orientation": [ + 0.2479093074798584, + -0.5445071458816528, + 0.47540462017059326, + -0.645014226436615 + ], + "joints": [ + 0.008194653317332268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022547347471117973, + 0.08619411289691925, + 0.10618089139461517 + ], + "orientation": [ + 0.2061213105916977, + 0.7655461430549622, + -0.6089192032814026, + 0.02589447982609272 + ], + "joints": [ + 0.02210400253534317 + ] + }, + "fine_grasp": { + "position": [ + 0.021042736247181892, + 0.08552666753530502, + 0.10206829756498337 + ], + "orientation": [ + 0.21236425638198853, + 0.785379946231842, + -0.5810869932174683, + 0.020434636622667313 + ], + "joints": [ + 0.015416719019412994 + ] + }, + "final_grasp": { + "position": [ + 0.021042736247181892, + 0.08552666753530502, + 0.10206829756498337 + ], + "orientation": [ + 0.21236425638198853, + 0.785379946231842, + -0.5810869932174683, + 0.020434636622667313 + ], + "joints": [ + 0.008729435503482819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12049907445907593, + 0.09347508102655411, + 0.013457692228257656 + ], + "orientation": [ + 0.5285632014274597, + -0.27916449308395386, + -0.6897497773170471, + 0.4085747301578522 + ], + "joints": [ + 0.024990949779748917 + ] + }, + "fine_grasp": { + "position": [ + 0.11675345152616501, + 0.09222705662250519, + 0.013228188268840313 + ], + "orientation": [ + 0.5284299254417419, + -0.27251872420310974, + -0.6907496452331543, + 0.41153383255004883 + ], + "joints": [ + 0.01539887860417366 + ] + }, + "final_grasp": { + "position": [ + 0.11675345152616501, + 0.09222705662250519, + 0.013228188268840313 + ], + "orientation": [ + 0.5284299254417419, + -0.27251872420310974, + -0.6907496452331543, + 0.41153383255004883 + ], + "joints": [ + 0.005806807428598404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013299575075507164, + 0.15554112195968628, + 0.0736546441912651 + ], + "orientation": [ + 0.43009406328201294, + 0.835539698600769, + 0.32605329155921936, + -0.10286741703748703 + ], + "joints": [ + 0.02321297489106655 + ] + }, + "fine_grasp": { + "position": [ + -0.012638173066079617, + 0.15209192037582397, + 0.07130789756774902 + ], + "orientation": [ + 0.4376593828201294, + 0.8332498073577881, + 0.3217812180519104, + -0.10298517346382141 + ], + "joints": [ + 0.015271825715899467 + ] + }, + "final_grasp": { + "position": [ + -0.012638173066079617, + 0.15209192037582397, + 0.07130789756774902 + ], + "orientation": [ + 0.4376593828201294, + 0.8332498073577881, + 0.3217812180519104, + -0.10298517346382141 + ], + "joints": [ + 0.007330676540732384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04804208129644394, + 0.1644333004951477, + 0.028428664430975914 + ], + "orientation": [ + 0.32294413447380066, + 0.05955224111676216, + 0.7746339440345764, + -0.5404653549194336 + ], + "joints": [ + 0.02367391251027584 + ] + }, + "fine_grasp": { + "position": [ + -0.04668848589062691, + 0.16057313978672028, + 0.027248697355389595 + ], + "orientation": [ + 0.3170698583126068, + 0.06460926681756973, + 0.7764772772789001, + -0.5407174825668335 + ], + "joints": [ + 0.015732763335108757 + ] + }, + "final_grasp": { + "position": [ + -0.04668848589062691, + 0.16057313978672028, + 0.027248697355389595 + ], + "orientation": [ + 0.3170698583126068, + 0.06460926681756973, + 0.7764772772789001, + -0.5407174825668335 + ], + "joints": [ + 0.007791614159941673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11076407879590988, + 0.04161575064063072, + -0.0122623136267066 + ], + "orientation": [ + 0.6059027314186096, + 0.4337853491306305, + 0.5388214588165283, + 0.39291656017303467 + ], + "joints": [ + 0.026200950145721436 + ] + }, + "fine_grasp": { + "position": [ + -0.10783354938030243, + 0.0402006059885025, + -0.010834974236786366 + ], + "orientation": [ + 0.6128990054130554, + 0.4339296519756317, + 0.5303968191146851, + 0.39336875081062317 + ], + "joints": [ + 0.019116610288619995 + ] + }, + "final_grasp": { + "position": [ + -0.10783354938030243, + 0.0402006059885025, + -0.010834974236786366 + ], + "orientation": [ + 0.6128990054130554, + 0.4339296519756317, + 0.5303968191146851, + 0.39336875081062317 + ], + "joints": [ + 0.012032270431518555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07923444360494614, + 0.09625837951898575, + -0.09451940655708313 + ], + "orientation": [ + 0.8577507734298706, + 0.244949609041214, + 0.27544403076171875, + 0.35832077264785767 + ], + "joints": [ + 0.022195059806108475 + ] + }, + "fine_grasp": { + "position": [ + -0.0771126002073288, + 0.09522303193807602, + -0.09165281802415848 + ], + "orientation": [ + 0.8581455945968628, + 0.2455510050058365, + 0.2736286520957947, + 0.3583548367023468 + ], + "joints": [ + 0.012164134532213211 + ] + }, + "final_grasp": { + "position": [ + -0.0771126002073288, + 0.09522303193807602, + -0.09165281802415848 + ], + "orientation": [ + 0.8581455945968628, + 0.2455510050058365, + 0.2736286520957947, + 0.3583548367023468 + ], + "joints": [ + 0.0021332092583179474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05909310281276703, + 0.16026632487773895, + -0.05667148530483246 + ], + "orientation": [ + 0.08432929962873459, + 0.2856048345565796, + 0.4240390956401825, + -0.855283260345459 + ], + "joints": [ + 0.02256554365158081 + ] + }, + "fine_grasp": { + "position": [ + 0.057161930948495865, + 0.15700848400592804, + -0.055206794291734695 + ], + "orientation": [ + 0.0833372101187706, + 0.28790050745010376, + 0.4276782274246216, + -0.8527950644493103 + ], + "joints": [ + 0.01418554037809372 + ] + }, + "final_grasp": { + "position": [ + 0.057161930948495865, + 0.15700848400592804, + -0.055206794291734695 + ], + "orientation": [ + 0.0833372101187706, + 0.28790050745010376, + 0.4276782274246216, + -0.8527950644493103 + ], + "joints": [ + 0.005805537104606628 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09137196838855743, + 0.14557893574237823, + 0.02312835492193699 + ], + "orientation": [ + 0.010940011590719223, + 0.550561785697937, + 0.5211326479911804, + -0.6520605683326721 + ], + "joints": [ + 0.02285141684114933 + ] + }, + "fine_grasp": { + "position": [ + 0.08860577642917633, + 0.14273199439048767, + 0.02198256365954876 + ], + "orientation": [ + 0.014875897206366062, + 0.5527817010879517, + 0.5252164006233215, + -0.6468067169189453 + ], + "joints": [ + 0.01449231244623661 + ] + }, + "final_grasp": { + "position": [ + 0.08860577642917633, + 0.14273199439048767, + 0.02198256365954876 + ], + "orientation": [ + 0.014875897206366062, + 0.5527817010879517, + 0.5252164006233215, + -0.6468067169189453 + ], + "joints": [ + 0.006133208051323891 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045280713587999344, + 0.1673794686794281, + 0.009054726921021938 + ], + "orientation": [ + 0.47509506344795227, + 0.6709360480308533, + 0.3050476014614105, + -0.4807031452655792 + ], + "joints": [ + 0.026494527235627174 + ] + }, + "fine_grasp": { + "position": [ + 0.04366612061858177, + 0.16373084485530853, + 0.008842546492815018 + ], + "orientation": [ + 0.4732639789581299, + 0.6715115904808044, + 0.30174317955970764, + -0.48378145694732666 + ], + "joints": [ + 0.016881557181477547 + ] + }, + "final_grasp": { + "position": [ + 0.04366612061858177, + 0.16373084485530853, + 0.008842546492815018 + ], + "orientation": [ + 0.4732639789581299, + 0.6715115904808044, + 0.30174317955970764, + -0.48378145694732666 + ], + "joints": [ + 0.007268587127327919 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07246696203947067, + 0.14449980854988098, + 0.013647155836224556 + ], + "orientation": [ + 0.6547842025756836, + 0.6009485125541687, + 0.4564914107322693, + 0.04164252057671547 + ], + "joints": [ + 0.025033237412571907 + ] + }, + "fine_grasp": { + "position": [ + -0.06995285302400589, + 0.14148078858852386, + 0.01266099326312542 + ], + "orientation": [ + 0.6576133370399475, + 0.5973668694496155, + 0.45798802375793457, + 0.030734920874238014 + ], + "joints": [ + 0.01625617779791355 + ] + }, + "final_grasp": { + "position": [ + -0.06995285302400589, + 0.14148078858852386, + 0.01266099326312542 + ], + "orientation": [ + 0.6576133370399475, + 0.5973668694496155, + 0.45798802375793457, + 0.030734920874238014 + ], + "joints": [ + 0.007479118183255196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08628608286380768, + 0.10287877917289734, + -0.0862686038017273 + ], + "orientation": [ + 0.8490843772888184, + 0.2844664752483368, + -0.294700562953949, + -0.33359572291374207 + ], + "joints": [ + 0.022220898419618607 + ] + }, + "fine_grasp": { + "position": [ + 0.08381014317274094, + 0.10156495124101639, + -0.08362501114606857 + ], + "orientation": [ + 0.8494358062744141, + 0.28482958674430847, + -0.293669193983078, + -0.3333006799221039 + ], + "joints": [ + 0.013004984706640244 + ] + }, + "final_grasp": { + "position": [ + 0.08381014317274094, + 0.10156495124101639, + -0.08362501114606857 + ], + "orientation": [ + 0.8494358062744141, + 0.28482958674430847, + -0.293669193983078, + -0.3333006799221039 + ], + "joints": [ + 0.0037890709936618805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05147596821188927, + 0.1270493119955063, + -0.07268884032964706 + ], + "orientation": [ + 0.7474911212921143, + 0.11852490901947021, + 0.3840945065021515, + -0.5288480520248413 + ], + "joints": [ + 0.02535555511713028 + ] + }, + "fine_grasp": { + "position": [ + -0.04976826533675194, + 0.12500689923763275, + -0.06993257999420166 + ], + "orientation": [ + 0.7498597502708435, + 0.1306963711977005, + 0.38807347416877747, + -0.5196419358253479 + ], + "joints": [ + 0.016578495502471924 + ] + }, + "final_grasp": { + "position": [ + -0.04976826533675194, + 0.12500689923763275, + -0.06993257999420166 + ], + "orientation": [ + 0.7498597502708435, + 0.1306963711977005, + 0.38807347416877747, + -0.5196419358253479 + ], + "joints": [ + 0.007801435887813568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017440469935536385, + 0.09393668919801712, + 0.10944142937660217 + ], + "orientation": [ + 0.08060912787914276, + 0.8639999628067017, + 0.4797908663749695, + -0.12964121997356415 + ], + "joints": [ + 0.022069424390792847 + ] + }, + "fine_grasp": { + "position": [ + 0.016842922195792198, + 0.09303856641054153, + 0.1052258089184761 + ], + "orientation": [ + 0.09997466206550598, + 0.8755326867103577, + 0.4541062116622925, + -0.13128195703029633 + ], + "joints": [ + 0.015382140874862671 + ] + }, + "final_grasp": { + "position": [ + 0.016842922195792198, + 0.09303856641054153, + 0.1052258089184761 + ], + "orientation": [ + 0.09997466206550598, + 0.8755326867103577, + 0.4541062116622925, + -0.13128195703029633 + ], + "joints": [ + 0.008694857358932495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01497009675949812, + 0.04550845921039581, + 0.14408007264137268 + ], + "orientation": [ + 0.00762553047388792, + 0.6884334683418274, + -0.7201164960861206, + 0.08621807396411896 + ], + "joints": [ + 0.024116957560181618 + ] + }, + "fine_grasp": { + "position": [ + -0.014535029418766499, + 0.04498273879289627, + 0.14036402106285095 + ], + "orientation": [ + 0.01549863163381815, + 0.6823790073394775, + -0.7246896028518677, + 0.09457161277532578 + ], + "joints": [ + 0.01529810018837452 + ] + }, + "final_grasp": { + "position": [ + -0.014535029418766499, + 0.04498273879289627, + 0.14036402106285095 + ], + "orientation": [ + 0.01549863163381815, + 0.6823790073394775, + -0.7246896028518677, + 0.09457161277532578 + ], + "joints": [ + 0.006479242816567421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07222539931535721, + 0.14409860968589783, + 0.013668586499989033 + ], + "orientation": [ + 0.6550686955451965, + 0.6015700101852417, + 0.4552498459815979, + 0.04178660362958908 + ], + "joints": [ + 0.02529963105916977 + ] + }, + "fine_grasp": { + "position": [ + -0.06961482763290405, + 0.141230508685112, + 0.012714000418782234 + ], + "orientation": [ + 0.6576942801475525, + 0.5977805256843567, + 0.4573606252670288, + 0.030301321297883987 + ], + "joints": [ + 0.016104616224765778 + ] + }, + "final_grasp": { + "position": [ + -0.06961482763290405, + 0.141230508685112, + 0.012714000418782234 + ], + "orientation": [ + 0.6576942801475525, + 0.5977805256843567, + 0.4573606252670288, + 0.030301321297883987 + ], + "joints": [ + 0.006909601390361786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022949151694774628, + 0.13756148517131805, + -0.08315015584230423 + ], + "orientation": [ + 0.49457061290740967, + 0.2705819010734558, + -0.2524580955505371, + 0.7864160537719727 + ], + "joints": [ + 0.024868685752153397 + ] + }, + "fine_grasp": { + "position": [ + -0.022196320816874504, + 0.13470855355262756, + -0.0803079754114151 + ], + "orientation": [ + 0.49049898982048035, + 0.2726183533668518, + -0.25662824511528015, + 0.7869129180908203 + ], + "joints": [ + 0.016509581357240677 + ] + }, + "final_grasp": { + "position": [ + -0.022196320816874504, + 0.13470855355262756, + -0.0803079754114151 + ], + "orientation": [ + 0.49049898982048035, + 0.2726183533668518, + -0.25662824511528015, + 0.7869129180908203 + ], + "joints": [ + 0.008150476962327957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06841562688350677, + 0.16390617191791534, + -0.012048956006765366 + ], + "orientation": [ + 0.3309897482395172, + 0.5737618803977966, + -0.3504341244697571, + 0.6621472239494324 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + -0.06625388562679291, + 0.16070514917373657, + -0.011714954860508442 + ], + "orientation": [ + 0.3306134045124054, + 0.574340283870697, + -0.35005709528923035, + 0.6620333194732666 + ], + "joints": [ + 0.016742084175348282 + ] + }, + "final_grasp": { + "position": [ + -0.06625388562679291, + 0.16070514917373657, + -0.011714954860508442 + ], + "orientation": [ + 0.3306134045124054, + 0.574340283870697, + -0.35005709528923035, + 0.6620333194732666 + ], + "joints": [ + 0.005917046219110489 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.079542376101017, + 0.09630661457777023, + -0.09470073133707047 + ], + "orientation": [ + 0.858075737953186, + 0.24497923254966736, + 0.2757071852684021, + 0.3573189675807953 + ], + "joints": [ + 0.022195059806108475 + ] + }, + "fine_grasp": { + "position": [ + -0.07737307995557785, + 0.09527085721492767, + -0.09181571751832962 + ], + "orientation": [ + 0.8584533333778381, + 0.24553661048412323, + 0.2739575505256653, + 0.3573749363422394 + ], + "joints": [ + 0.012164134532213211 + ] + }, + "final_grasp": { + "position": [ + -0.07737307995557785, + 0.09527085721492767, + -0.09181571751832962 + ], + "orientation": [ + 0.8584533333778381, + 0.24553661048412323, + 0.2739575505256653, + 0.3573749363422394 + ], + "joints": [ + 0.0021332092583179474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08618319034576416, + 0.14352260529994965, + -0.015697216615080833 + ], + "orientation": [ + 0.512177586555481, + 0.6535547971725464, + 0.004153914749622345, + -0.5572459697723389 + ], + "joints": [ + 0.023835422471165657 + ] + }, + "fine_grasp": { + "position": [ + 0.08358942717313766, + 0.14025448262691498, + -0.015027061104774475 + ], + "orientation": [ + 0.5149723887443542, + 0.6535919904708862, + 0.011298916302621365, + -0.5545207858085632 + ], + "joints": [ + 0.015894273295998573 + ] + }, + "final_grasp": { + "position": [ + 0.08358942717313766, + 0.14025448262691498, + -0.015027061104774475 + ], + "orientation": [ + 0.5149723887443542, + 0.6535919904708862, + 0.011298916302621365, + -0.5545207858085632 + ], + "joints": [ + 0.00795312412083149 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003995866514742374, + 0.09573516249656677, + 0.10744596272706985 + ], + "orientation": [ + 0.15689238905906677, + 0.5742202401161194, + -0.774925172328949, + 0.21247796714305878 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.004179595969617367, + 0.09376976639032364, + 0.10420247167348862 + ], + "orientation": [ + 0.16008032858371735, + 0.5617635846138, + -0.7821824550628662, + 0.2167636752128601 + ], + "joints": [ + 0.020993303507566452 + ] + }, + "final_grasp": { + "position": [ + 0.004179595969617367, + 0.09376976639032364, + 0.10420247167348862 + ], + "orientation": [ + 0.16008032858371735, + 0.5617635846138, + -0.7821824550628662, + 0.2167636752128601 + ], + "joints": [ + 0.013470109552145004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07842555642127991, + -0.09404756873846054, + -0.05147206410765648 + ], + "orientation": [ + 0.8173607587814331, + -0.5116971135139465, + -0.22295020520687103, + 0.14276045560836792 + ], + "joints": [ + 0.028146004304289818 + ] + }, + "fine_grasp": { + "position": [ + 0.07674827426671982, + -0.09130463004112244, + -0.05020681023597717 + ], + "orientation": [ + 0.8156089186668396, + -0.5147242546081543, + -0.22181743383407593, + 0.14365945756435394 + ], + "joints": [ + 0.017697123810648918 + ] + }, + "final_grasp": { + "position": [ + 0.07674827426671982, + -0.09130463004112244, + -0.05020681023597717 + ], + "orientation": [ + 0.8156089186668396, + -0.5147242546081543, + -0.22181743383407593, + 0.14365945756435394 + ], + "joints": [ + 0.0072482433170080185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10717228055000305, + 0.13388276100158691, + 0.010539541020989418 + ], + "orientation": [ + 0.6818327307701111, + 0.4761475622653961, + 0.5507226586341858, + 0.07136032730340958 + ], + "joints": [ + 0.022905433550477028 + ] + }, + "fine_grasp": { + "position": [ + -0.10398806631565094, + 0.13149799406528473, + 0.010268144309520721 + ], + "orientation": [ + 0.6816760897636414, + 0.4779101312160492, + 0.5498412251472473, + 0.06778169423341751 + ], + "joints": [ + 0.014128373935818672 + ] + }, + "final_grasp": { + "position": [ + -0.10398806631565094, + 0.13149799406528473, + 0.010268144309520721 + ], + "orientation": [ + 0.6816760897636414, + 0.4779101312160492, + 0.5498412251472473, + 0.06778169423341751 + ], + "joints": [ + 0.0053513143211603165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06344811618328094, + 0.15434835851192474, + 0.023278197273612022 + ], + "orientation": [ + 0.6381179094314575, + 0.5991138815879822, + 0.47358065843582153, + -0.09792543947696686 + ], + "joints": [ + 0.024517422541975975 + ] + }, + "fine_grasp": { + "position": [ + -0.06106862053275108, + 0.15126891434192657, + 0.021994398906826973 + ], + "orientation": [ + 0.6360161304473877, + 0.5969825983047485, + 0.47968167066574097, + -0.09487263858318329 + ], + "joints": [ + 0.015322407707571983 + ] + }, + "final_grasp": { + "position": [ + -0.06106862053275108, + 0.15126891434192657, + 0.021994398906826973 + ], + "orientation": [ + 0.6360161304473877, + 0.5969825983047485, + 0.47968167066574097, + -0.09487263858318329 + ], + "joints": [ + 0.006127392873167992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08677142858505249, + 0.14358359575271606, + -0.016235381364822388 + ], + "orientation": [ + 0.5122060775756836, + 0.6546736359596252, + 0.005880346056073904, + -0.5558891892433167 + ], + "joints": [ + 0.0236635934561491 + ] + }, + "fine_grasp": { + "position": [ + 0.0841379463672638, + 0.1403617113828659, + -0.015454857610166073 + ], + "orientation": [ + 0.5152727961540222, + 0.6540747880935669, + 0.012153342366218567, + -0.5536538362503052 + ], + "joints": [ + 0.015722444280982018 + ] + }, + "final_grasp": { + "position": [ + 0.0841379463672638, + 0.1403617113828659, + -0.015454857610166073 + ], + "orientation": [ + 0.5152727961540222, + 0.6540747880935669, + 0.012153342366218567, + -0.5536538362503052 + ], + "joints": [ + 0.007781295105814934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13381892442703247, + 0.04936469346284866, + 0.003150693839415908 + ], + "orientation": [ + 0.3098714053630829, + 0.6965409517288208, + 0.16318632662296295, + 0.6262431740760803 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.1293909251689911, + 0.050175078213214874, + 0.003983086906373501 + ], + "orientation": [ + 0.29439643025398254, + 0.689843475818634, + 0.1672806292772293, + 0.6398937106132507 + ], + "joints": [ + 0.030360694974660873 + ] + }, + "final_grasp": { + "position": [ + -0.1293909251689911, + 0.050175078213214874, + 0.003983086906373501 + ], + "orientation": [ + 0.29439643025398254, + 0.689843475818634, + 0.1672806292772293, + 0.6398937106132507 + ], + "joints": [ + 0.025721389800310135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05280556157231331, + 0.09422225505113602, + 0.09879113733768463 + ], + "orientation": [ + 0.24593432247638702, + 0.8517497777938843, + 0.43706879019737244, + 0.15168830752372742 + ], + "joints": [ + 0.02584907039999962 + ] + }, + "fine_grasp": { + "position": [ + -0.05083078891038895, + 0.0932818278670311, + 0.09534767270088196 + ], + "orientation": [ + 0.24959009885787964, + 0.8633976578712463, + 0.41165533661842346, + 0.15096089243888855 + ], + "joints": [ + 0.017072010785341263 + ] + }, + "final_grasp": { + "position": [ + -0.05083078891038895, + 0.0932818278670311, + 0.09534767270088196 + ], + "orientation": [ + 0.24959009885787964, + 0.8633976578712463, + 0.41165533661842346, + 0.15096089243888855 + ], + "joints": [ + 0.008294951170682907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027664324268698692, + 0.16109180450439453, + -0.08958129584789276 + ], + "orientation": [ + 0.23082685470581055, + 0.19071029126644135, + 0.36279645562171936, + -0.8824552297592163 + ], + "joints": [ + 0.02261185646057129 + ] + }, + "fine_grasp": { + "position": [ + 0.026564359664916992, + 0.15812847018241882, + -0.08728834986686707 + ], + "orientation": [ + 0.22922314703464508, + 0.19415688514709473, + 0.3630647361278534, + -0.882011353969574 + ], + "joints": [ + 0.01458711177110672 + ] + }, + "final_grasp": { + "position": [ + 0.026564359664916992, + 0.15812847018241882, + -0.08728834986686707 + ], + "orientation": [ + 0.22922314703464508, + 0.19415688514709473, + 0.3630647361278534, + -0.882011353969574 + ], + "joints": [ + 0.006562367081642151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11249901354312897, + 0.11191991716623306, + 0.006582274101674557 + ], + "orientation": [ + 0.6611300110816956, + 0.42429274320602417, + -0.6021608114242554, + -0.14242620766162872 + ], + "joints": [ + 0.025209719315171242 + ] + }, + "fine_grasp": { + "position": [ + 0.10916725546121597, + 0.1097295805811882, + 0.006620160304009914 + ], + "orientation": [ + 0.6653732657432556, + 0.4273361265659332, + -0.5973441004753113, + -0.13357530534267426 + ], + "joints": [ + 0.01601470448076725 + ] + }, + "final_grasp": { + "position": [ + 0.10916725546121597, + 0.1097295805811882, + 0.006620160304009914 + ], + "orientation": [ + 0.6653732657432556, + 0.4273361265659332, + -0.5973441004753113, + -0.13357530534267426 + ], + "joints": [ + 0.006819689646363258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07813891023397446, + -0.09355290234088898, + -0.051263660192489624 + ], + "orientation": [ + 0.8161658048629761, + -0.5106185674667358, + -0.23034389317035675, + 0.14171692728996277 + ], + "joints": [ + 0.028169160708785057 + ] + }, + "fine_grasp": { + "position": [ + 0.0766596645116806, + -0.09067016839981079, + -0.04991178587079048 + ], + "orientation": [ + 0.8155429363250732, + -0.5132083296775818, + -0.22710192203521729, + 0.14117971062660217 + ], + "joints": [ + 0.018514392897486687 + ] + }, + "final_grasp": { + "position": [ + 0.0766596645116806, + -0.09067016839981079, + -0.04991178587079048 + ], + "orientation": [ + 0.8155429363250732, + -0.5132083296775818, + -0.22710192203521729, + 0.14117971062660217 + ], + "joints": [ + 0.008859625086188316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10505092144012451, + 0.13260594010353088, + 0.00939262192696333 + ], + "orientation": [ + 0.67896968126297, + 0.479671448469162, + 0.5513879060745239, + 0.06990664452314377 + ], + "joints": [ + 0.02522347681224346 + ] + }, + "fine_grasp": { + "position": [ + -0.10183356702327728, + 0.13020610809326172, + 0.008907516486942768 + ], + "orientation": [ + 0.6775769591331482, + 0.48205000162124634, + 0.5515465140342712, + 0.06567814201116562 + ], + "joints": [ + 0.01602846197783947 + ] + }, + "final_grasp": { + "position": [ + -0.10183356702327728, + 0.13020610809326172, + 0.008907516486942768 + ], + "orientation": [ + 0.6775769591331482, + 0.48205000162124634, + 0.5515465140342712, + 0.06567814201116562 + ], + "joints": [ + 0.006833447143435478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027545636519789696, + 0.16064153611660004, + -0.08901025354862213 + ], + "orientation": [ + 0.22939833998680115, + 0.1904052346944809, + 0.36181262135505676, + -0.8832971453666687 + ], + "joints": [ + 0.022380301728844643 + ] + }, + "fine_grasp": { + "position": [ + 0.02640574797987938, + 0.15761256217956543, + -0.08671779930591583 + ], + "orientation": [ + 0.2277417629957199, + 0.19416019320487976, + 0.3624824583530426, + -0.8826335668563843 + ], + "joints": [ + 0.014376455917954445 + ] + }, + "final_grasp": { + "position": [ + 0.02640574797987938, + 0.15761256217956543, + -0.08671779930591583 + ], + "orientation": [ + 0.2277417629957199, + 0.19416019320487976, + 0.3624824583530426, + -0.8826335668563843 + ], + "joints": [ + 0.006372610107064247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1122802123427391, + 0.11192493140697479, + 0.006432307418435812 + ], + "orientation": [ + 0.6613972783088684, + 0.42357584834098816, + -0.6024776697158813, + -0.14197827875614166 + ], + "joints": [ + 0.025359325110912323 + ] + }, + "fine_grasp": { + "position": [ + 0.10893763601779938, + 0.10975395143032074, + 0.006487342528998852 + ], + "orientation": [ + 0.6655357480049133, + 0.42654475569725037, + -0.597834587097168, + -0.13309989869594574 + ], + "joints": [ + 0.01616431027650833 + ] + }, + "final_grasp": { + "position": [ + 0.10893763601779938, + 0.10975395143032074, + 0.006487342528998852 + ], + "orientation": [ + 0.6655357480049133, + 0.42654475569725037, + -0.597834587097168, + -0.13309989869594574 + ], + "joints": [ + 0.00696929544210434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03706333413720131, + 0.15608571469783783, + -0.0807894915342331 + ], + "orientation": [ + 0.9010136127471924, + 0.4104055166244507, + -0.1336563676595688, + -0.04333319514989853 + ], + "joints": [ + 0.02309812232851982 + ] + }, + "fine_grasp": { + "position": [ + 0.03617526590824127, + 0.1528506875038147, + -0.0785529613494873 + ], + "orientation": [ + 0.8995402455329895, + 0.414186954498291, + -0.1323348432779312, + -0.04199998080730438 + ], + "joints": [ + 0.015554029494524002 + ] + }, + "final_grasp": { + "position": [ + 0.03617526590824127, + 0.1528506875038147, + -0.0785529613494873 + ], + "orientation": [ + 0.8995402455329895, + 0.414186954498291, + -0.1323348432779312, + -0.04199998080730438 + ], + "joints": [ + 0.008009936660528183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04129508510231972, + 0.08528836816549301, + 0.12623253464698792 + ], + "orientation": [ + 0.0041709705255925655, + 0.887940526008606, + -0.4274127185344696, + 0.16988952457904816 + ], + "joints": [ + 0.021805832162499428 + ] + }, + "fine_grasp": { + "position": [ + -0.03984277322888374, + 0.08428935706615448, + 0.1224275454878807 + ], + "orientation": [ + 0.015400324948132038, + 0.8928515315055847, + -0.4138905704021454, + 0.17684370279312134 + ], + "joints": [ + 0.01428263820707798 + ] + }, + "final_grasp": { + "position": [ + -0.03984277322888374, + 0.08428935706615448, + 0.1224275454878807 + ], + "orientation": [ + 0.015400324948132038, + 0.8928515315055847, + -0.4138905704021454, + 0.17684370279312134 + ], + "joints": [ + 0.006759444251656532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05496368184685707, + 0.1495397984981537, + 0.0532342866063118 + ], + "orientation": [ + 0.4789474606513977, + 0.5169956684112549, + 0.6816117167472839, + -0.1968003809452057 + ], + "joints": [ + 0.024945374578237534 + ] + }, + "fine_grasp": { + "position": [ + -0.053265251219272614, + 0.14633135497570038, + 0.05119548365473747 + ], + "orientation": [ + 0.4793091118335724, + 0.5141167044639587, + 0.6825314164161682, + -0.20024415850639343 + ], + "joints": [ + 0.016586270183324814 + ] + }, + "final_grasp": { + "position": [ + -0.053265251219272614, + 0.14633135497570038, + 0.05119548365473747 + ], + "orientation": [ + 0.4793091118335724, + 0.5141167044639587, + 0.6825314164161682, + -0.20024415850639343 + ], + "joints": [ + 0.008227165788412094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06438067555427551, + 0.1469852477312088, + -0.023194847628474236 + ], + "orientation": [ + 0.5642452836036682, + 0.08116965740919113, + 0.6033820509910583, + -0.5576456785202026 + ], + "joints": [ + 0.025630032643675804 + ] + }, + "fine_grasp": { + "position": [ + -0.06263560056686401, + 0.14396288990974426, + -0.022387834265828133 + ], + "orientation": [ + 0.562619686126709, + 0.09115002304315567, + 0.6081675887107849, + -0.552524209022522 + ], + "joints": [ + 0.016435017809271812 + ] + }, + "final_grasp": { + "position": [ + -0.06263560056686401, + 0.14396288990974426, + -0.022387834265828133 + ], + "orientation": [ + 0.562619686126709, + 0.09115002304315567, + 0.6081675887107849, + -0.552524209022522 + ], + "joints": [ + 0.007240002974867821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0679389014840126, + 0.07787256687879562, + 0.1152937188744545 + ], + "orientation": [ + 0.07073540985584259, + -0.867653489112854, + -0.4246726930141449, + 0.2486507147550583 + ], + "joints": [ + 0.02136075310409069 + ] + }, + "fine_grasp": { + "position": [ + 0.06568031013011932, + 0.07704295963048935, + 0.11184947192668915 + ], + "orientation": [ + 0.05863918364048004, + -0.8689777255058289, + -0.4179002046585083, + 0.25845447182655334 + ], + "joints": [ + 0.014255514368414879 + ] + }, + "final_grasp": { + "position": [ + 0.06568031013011932, + 0.07704295963048935, + 0.11184947192668915 + ], + "orientation": [ + 0.05863918364048004, + -0.8689777255058289, + -0.4179002046585083, + 0.25845447182655334 + ], + "joints": [ + 0.007150275632739067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04302672669291496, + 0.15399831533432007, + 0.04533557966351509 + ], + "orientation": [ + 0.4956526756286621, + 0.5554779767990112, + 0.6279758214950562, + -0.22675742208957672 + ], + "joints": [ + 0.025163186714053154 + ] + }, + "fine_grasp": { + "position": [ + -0.04173581302165985, + 0.15063436329364777, + 0.043399374932050705 + ], + "orientation": [ + 0.4938431978225708, + 0.5512986779212952, + 0.6311250925064087, + -0.23209835588932037 + ], + "joints": [ + 0.0163861270993948 + ] + }, + "final_grasp": { + "position": [ + -0.04173581302165985, + 0.15063436329364777, + 0.043399374932050705 + ], + "orientation": [ + 0.4938431978225708, + 0.5512986779212952, + 0.6311250925064087, + -0.23209835588932037 + ], + "joints": [ + 0.0076090674847364426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05097568780183792, + -0.09334921836853027, + 0.04225051403045654 + ], + "orientation": [ + 0.518833577632904, + -0.2762468457221985, + 0.7002087235450745, + 0.40522462129592896 + ], + "joints": [ + 0.024255895987153053 + ] + }, + "fine_grasp": { + "position": [ + -0.049096446484327316, + -0.09037933498620987, + 0.040012672543525696 + ], + "orientation": [ + 0.4984252452850342, + -0.2886638045310974, + 0.715088427066803, + 0.39609837532043457 + ], + "joints": [ + 0.01631474681198597 + ] + }, + "final_grasp": { + "position": [ + -0.049096446484327316, + -0.09037933498620987, + 0.040012672543525696 + ], + "orientation": [ + 0.4984252452850342, + -0.2886638045310974, + 0.715088427066803, + 0.39609837532043457 + ], + "joints": [ + 0.008373597636818886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06507209688425064, + 0.1477772295475006, + -0.024052495136857033 + ], + "orientation": [ + 0.5698248744010925, + 0.09006121754646301, + 0.6014257073402405, + -0.5526983737945557 + ], + "joints": [ + 0.02588433399796486 + ] + }, + "fine_grasp": { + "position": [ + -0.06312301754951477, + 0.14459919929504395, + -0.02329704724252224 + ], + "orientation": [ + 0.5676290392875671, + 0.09898649156093597, + 0.6060711145401001, + -0.5483399033546448 + ], + "joints": [ + 0.016689319163560867 + ] + }, + "final_grasp": { + "position": [ + -0.06312301754951477, + 0.14459919929504395, + -0.02329704724252224 + ], + "orientation": [ + 0.5676290392875671, + 0.09898649156093597, + 0.6060711145401001, + -0.5483399033546448 + ], + "joints": [ + 0.007494304329156876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07306452095508575, + 0.14637534320354462, + -0.015791835263371468 + ], + "orientation": [ + 0.06802532076835632, + -0.40592679381370544, + -0.5342627167701721, + 0.7383490800857544 + ], + "joints": [ + 0.024985291063785553 + ] + }, + "fine_grasp": { + "position": [ + 0.07068943977355957, + 0.1431904286146164, + -0.015181286260485649 + ], + "orientation": [ + 0.056053075939416885, + -0.40308213233947754, + -0.532321035861969, + 0.7423052787780762 + ], + "joints": [ + 0.016208231449127197 + ] + }, + "final_grasp": { + "position": [ + 0.07068943977355957, + 0.1431904286146164, + -0.015181286260485649 + ], + "orientation": [ + 0.056053075939416885, + -0.40308213233947754, + -0.532321035861969, + 0.7423052787780762 + ], + "joints": [ + 0.0074311718344688416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05087555944919586, + -0.09343594312667847, + 0.042301565408706665 + ], + "orientation": [ + 0.5163809657096863, + -0.27234748005867004, + 0.7027671933174133, + 0.40656596422195435 + ], + "joints": [ + 0.024695849046111107 + ] + }, + "fine_grasp": { + "position": [ + -0.04911253601312637, + -0.09046486765146255, + 0.04011822119355202 + ], + "orientation": [ + 0.4965798556804657, + -0.2833689749240875, + 0.7174386978149414, + 0.39798519015312195 + ], + "joints": [ + 0.016336744651198387 + ] + }, + "final_grasp": { + "position": [ + -0.04911253601312637, + -0.09046486765146255, + 0.04011822119355202 + ], + "orientation": [ + 0.4965798556804657, + -0.2833689749240875, + 0.7174386978149414, + 0.39798519015312195 + ], + "joints": [ + 0.007977640256285667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052614785730838776, + 0.12131955474615097, + 0.08640963584184647 + ], + "orientation": [ + 0.11038114875555038, + 0.8264018893241882, + 0.44882604479789734, + -0.3216070830821991 + ], + "joints": [ + 0.022098634392023087 + ] + }, + "fine_grasp": { + "position": [ + 0.05073613300919533, + 0.11881452053785324, + 0.08342929929494858 + ], + "orientation": [ + 0.13155345618724823, + 0.82668137550354, + 0.43875545263290405, + -0.32678017020225525 + ], + "joints": [ + 0.01541135087609291 + ] + }, + "final_grasp": { + "position": [ + 0.05073613300919533, + 0.11881452053785324, + 0.08342929929494858 + ], + "orientation": [ + 0.13155345618724823, + 0.82668137550354, + 0.43875545263290405, + -0.32678017020225525 + ], + "joints": [ + 0.008724067360162735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09527268260717392, + 0.11599645018577576, + -0.07415842264890671 + ], + "orientation": [ + 0.369251012802124, + -0.23171408474445343, + -0.4013364613056183, + 0.8055378198623657 + ], + "joints": [ + 0.02012203447520733 + ] + }, + "fine_grasp": { + "position": [ + 0.0920732393860817, + 0.11506925523281097, + -0.07216941565275192 + ], + "orientation": [ + 0.3709707260131836, + -0.23902268707752228, + -0.40058398246765137, + 0.8029828071594238 + ], + "joints": [ + 0.011679334565997124 + ] + }, + "final_grasp": { + "position": [ + 0.0920732393860817, + 0.11506925523281097, + -0.07216941565275192 + ], + "orientation": [ + 0.3709707260131836, + -0.23902268707752228, + -0.40058398246765137, + 0.8029828071594238 + ], + "joints": [ + 0.0032366346567869186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1235252395272255, + 0.07554974406957626, + 0.009823249652981758 + ], + "orientation": [ + 0.6127344965934753, + 0.3197999596595764, + -0.6791675686836243, + -0.2470136284828186 + ], + "joints": [ + 0.022718941792845726 + ] + }, + "fine_grasp": { + "position": [ + 0.11965153366327286, + 0.07365189492702484, + 0.00975365936756134 + ], + "orientation": [ + 0.6212815046310425, + 0.32344669103622437, + -0.6730214357376099, + -0.23755772411823273 + ], + "joints": [ + 0.015195747837424278 + ] + }, + "final_grasp": { + "position": [ + 0.11965153366327286, + 0.07365189492702484, + 0.00975365936756134 + ], + "orientation": [ + 0.6212815046310425, + 0.32344669103622437, + -0.6730214357376099, + -0.23755772411823273 + ], + "joints": [ + 0.0076725538820028305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09548235684633255, + 0.11655448377132416, + -0.07411793619394302 + ], + "orientation": [ + 0.36776748299598694, + -0.23312239348888397, + -0.4022066295146942, + 0.8053762912750244 + ], + "joints": [ + 0.019717426970601082 + ] + }, + "fine_grasp": { + "position": [ + 0.09234031289815903, + 0.11566894501447678, + -0.07208283245563507 + ], + "orientation": [ + 0.3692918121814728, + -0.24042020738124847, + -0.4014629125595093, + 0.8029004335403442 + ], + "joints": [ + 0.011274727061390877 + ] + }, + "final_grasp": { + "position": [ + 0.09234031289815903, + 0.11566894501447678, + -0.07208283245563507 + ], + "orientation": [ + 0.3692918121814728, + -0.24042020738124847, + -0.4014629125595093, + 0.8029004335403442 + ], + "joints": [ + 0.0028320271521806717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13617758452892303, + -0.028554225340485573, + 0.03420007973909378 + ], + "orientation": [ + 0.4516841173171997, + 0.27022847533226013, + 0.7534536123275757, + 0.3940375745296478 + ], + "joints": [ + 0.025506285950541496 + ] + }, + "fine_grasp": { + "position": [ + -0.13232171535491943, + -0.02762373350560665, + 0.03346221148967743 + ], + "orientation": [ + 0.4586416482925415, + 0.2722095251083374, + 0.7498069405555725, + 0.39158567786216736 + ], + "joints": [ + 0.01672922633588314 + ] + }, + "final_grasp": { + "position": [ + -0.13232171535491943, + -0.02762373350560665, + 0.03346221148967743 + ], + "orientation": [ + 0.4586416482925415, + 0.2722095251083374, + 0.7498069405555725, + 0.39158567786216736 + ], + "joints": [ + 0.007952166721224785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0956810861825943, + 0.014745178632438183, + -0.09245913475751877 + ], + "orientation": [ + 0.5372132062911987, + -0.24824316799640656, + 0.2815242111682892, + -0.7553286552429199 + ], + "joints": [ + 0.026409348472952843 + ] + }, + "fine_grasp": { + "position": [ + -0.09310731291770935, + 0.01564015820622444, + -0.08976491540670395 + ], + "orientation": [ + 0.5409177541732788, + -0.2557431161403656, + 0.2753971815109253, + -0.7524359822273254 + ], + "joints": [ + 0.017611389979720116 + ] + }, + "final_grasp": { + "position": [ + -0.09310731291770935, + 0.01564015820622444, + -0.08976491540670395 + ], + "orientation": [ + 0.5409177541732788, + -0.2557431161403656, + 0.2753971815109253, + -0.7524359822273254 + ], + "joints": [ + 0.008813431486487389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0056593348272144794, + 0.1371256709098816, + 0.0829356238245964 + ], + "orientation": [ + 0.06148071587085724, + 0.34582918882369995, + -0.8686844110488892, + 0.34929895401000977 + ], + "joints": [ + 0.02612377516925335 + ] + }, + "fine_grasp": { + "position": [ + -0.006082693114876747, + 0.13432826101779938, + 0.08024846017360687 + ], + "orientation": [ + 0.07597073167562485, + 0.33526647090911865, + -0.8700471520423889, + 0.35333123803138733 + ], + "joints": [ + 0.016928760334849358 + ] + }, + "final_grasp": { + "position": [ + -0.006082693114876747, + 0.13432826101779938, + 0.08024846017360687 + ], + "orientation": [ + 0.07597073167562485, + 0.33526647090911865, + -0.8700471520423889, + 0.35333123803138733 + ], + "joints": [ + 0.007733745500445366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12619827687740326, + 0.07435571402311325, + 0.009209546260535717 + ], + "orientation": [ + 0.6169660687446594, + 0.3145041763782501, + -0.6787717342376709, + -0.24435389041900635 + ], + "joints": [ + 0.023702727630734444 + ] + }, + "fine_grasp": { + "position": [ + 0.12238278985023499, + 0.07284175604581833, + 0.009280259720981121 + ], + "orientation": [ + 0.6243892908096313, + 0.3156222403049469, + -0.673740029335022, + -0.23789717257022858 + ], + "joints": [ + 0.01574067957699299 + ] + }, + "final_grasp": { + "position": [ + 0.12238278985023499, + 0.07284175604581833, + 0.009280259720981121 + ], + "orientation": [ + 0.6243892908096313, + 0.3156222403049469, + -0.673740029335022, + -0.23789717257022858 + ], + "joints": [ + 0.0077786315232515335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025828469544649124, + 0.056891586631536484, + 0.13681747019290924 + ], + "orientation": [ + 0.032998520880937576, + -0.44160300493240356, + -0.8810821175575256, + 0.16610898077487946 + ], + "joints": [ + 0.02592308260500431 + ] + }, + "fine_grasp": { + "position": [ + 0.024840261787176132, + 0.05628891661763191, + 0.13246694207191467 + ], + "orientation": [ + 0.034093283116817474, + -0.42168402671813965, + -0.8927192687988281, + 0.15515337884426117 + ], + "joints": [ + 0.020050810649991035 + ] + }, + "final_grasp": { + "position": [ + 0.024840261787176132, + 0.05628891661763191, + 0.13246694207191467 + ], + "orientation": [ + 0.034093283116817474, + -0.42168402671813965, + -0.8927192687988281, + 0.15515337884426117 + ], + "joints": [ + 0.01417853869497776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11036490648984909, + 0.13367590308189392, + 0.013066453859210014 + ], + "orientation": [ + 0.6833032965660095, + 0.4888884425163269, + 0.5413879156112671, + 0.031365249305963516 + ], + "joints": [ + 0.026397159323096275 + ] + }, + "fine_grasp": { + "position": [ + -0.10708430409431458, + 0.13111940026283264, + 0.012280686758458614 + ], + "orientation": [ + 0.6806098222732544, + 0.4880038797855377, + 0.5456681847572327, + 0.02947535738348961 + ], + "joints": [ + 0.01845601014792919 + ] + }, + "final_grasp": { + "position": [ + -0.10708430409431458, + 0.13111940026283264, + 0.012280686758458614 + ], + "orientation": [ + 0.6806098222732544, + 0.4880038797855377, + 0.5456681847572327, + 0.02947535738348961 + ], + "joints": [ + 0.010514860972762108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13602885603904724, + -0.014573771506547928, + 0.03258644789457321 + ], + "orientation": [ + 0.6430342793464661, + 0.022230779752135277, + -0.7500885128974915, + -0.15290488302707672 + ], + "joints": [ + 0.020336657762527466 + ] + }, + "fine_grasp": { + "position": [ + 0.13227912783622742, + -0.013615786097943783, + 0.031367458403110504 + ], + "orientation": [ + 0.6356682777404785, + 0.021772582083940506, + -0.7567001581192017, + -0.1511850208044052 + ], + "joints": [ + 0.011162541806697845 + ] + }, + "final_grasp": { + "position": [ + 0.13227912783622742, + -0.013615786097943783, + 0.031367458403110504 + ], + "orientation": [ + 0.6356682777404785, + 0.021772582083940506, + -0.7567001581192017, + -0.1511850208044052 + ], + "joints": [ + 0.001988425850868225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14166507124900818, + -0.006937186699360609, + 0.039690904319286346 + ], + "orientation": [ + 0.6445498466491699, + 0.10422346740961075, + 0.7392625212669373, + 0.16487549245357513 + ], + "joints": [ + 0.017126023769378662 + ] + }, + "fine_grasp": { + "position": [ + -0.13770334422588348, + -0.005974649451673031, + 0.0380416177213192 + ], + "orientation": [ + 0.6309289932250977, + 0.10099834948778152, + 0.7511741518974304, + 0.16572625935077667 + ], + "joints": [ + 0.010438740253448486 + ] + }, + "final_grasp": { + "position": [ + -0.13770334422588348, + -0.005974649451673031, + 0.0380416177213192 + ], + "orientation": [ + 0.6309289932250977, + 0.10099834948778152, + 0.7511741518974304, + 0.16572625935077667 + ], + "joints": [ + 0.0037514567375183105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09940116107463837, + 0.003913760185241699, + 0.10944336652755737 + ], + "orientation": [ + 0.0037244949489831924, + -0.9434117674827576, + -0.07746048271656036, + -0.3224286437034607 + ], + "joints": [ + 0.019931312650442123 + ] + }, + "fine_grasp": { + "position": [ + -0.09664464741945267, + 0.004230850376188755, + 0.10661649703979492 + ], + "orientation": [ + 0.004035681951791048, + -0.9395357370376587, + -0.07687093317508698, + -0.3336870074272156 + ], + "joints": [ + 0.01071539893746376 + ] + }, + "final_grasp": { + "position": [ + -0.09664464741945267, + 0.004230850376188755, + 0.10661649703979492 + ], + "orientation": [ + 0.004035681951791048, + -0.9395357370376587, + -0.07687093317508698, + -0.3336870074272156 + ], + "joints": [ + 0.0014994852244853973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12196872383356094, + -0.000509792473167181, + -0.08528526872396469 + ], + "orientation": [ + 0.8905651569366455, + -0.04789912328124046, + 0.4522744417190552, + 0.006875636987388134 + ], + "joints": [ + 0.019613582640886307 + ] + }, + "fine_grasp": { + "position": [ + -0.1185179352760315, + -9.5646086265333e-05, + -0.08318856358528137 + ], + "orientation": [ + 0.8895129561424255, + -0.048723217099905014, + 0.45424893498420715, + 0.007107462268322706 + ], + "joints": [ + 0.010836523026227951 + ] + }, + "final_grasp": { + "position": [ + -0.1185179352760315, + -9.5646086265333e-05, + -0.08318856358528137 + ], + "orientation": [ + 0.8895129561424255, + -0.048723217099905014, + 0.45424893498420715, + 0.007107462268322706 + ], + "joints": [ + 0.0020594634115695953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.131996288895607, + -0.019402669742703438, + 0.055782515555620193 + ], + "orientation": [ + 0.5529329180717468, + -0.045143842697143555, + 0.8237503170967102, + 0.11688694357872009 + ], + "joints": [ + 0.02041049115359783 + ] + }, + "fine_grasp": { + "position": [ + -0.12843897938728333, + -0.018398642539978027, + 0.05416329950094223 + ], + "orientation": [ + 0.5509192943572998, + -0.04439038038253784, + 0.8253580927848816, + 0.11533170193433762 + ], + "joints": [ + 0.01121547631919384 + ] + }, + "final_grasp": { + "position": [ + -0.12843897938728333, + -0.018398642539978027, + 0.05416329950094223 + ], + "orientation": [ + 0.5509192943572998, + -0.04439038038253784, + 0.8253580927848816, + 0.11533170193433762 + ], + "joints": [ + 0.0020204614847898483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09853285551071167, + -0.024097464978694916, + 0.09946249425411224 + ], + "orientation": [ + 0.12608788907527924, + -0.9154738783836365, + -0.08437758684158325, + -0.3726792335510254 + ], + "joints": [ + 0.02264292538166046 + ] + }, + "fine_grasp": { + "position": [ + -0.09569121152162552, + -0.02252250164747238, + 0.09667926281690598 + ], + "orientation": [ + 0.12839935719966888, + -0.9137519001960754, + -0.08584596961736679, + -0.37576788663864136 + ], + "joints": [ + 0.015098832547664642 + ] + }, + "final_grasp": { + "position": [ + -0.09569121152162552, + -0.02252250164747238, + 0.09667926281690598 + ], + "orientation": [ + 0.12839935719966888, + -0.9137519001960754, + -0.08584596961736679, + -0.37576788663864136 + ], + "joints": [ + 0.007554739713668823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1209993064403534, + -6.897927960380912e-05, + -0.08707702159881592 + ], + "orientation": [ + 0.8835762739181519, + -0.047985125333070755, + 0.46580955386161804, + 0.003448975970968604 + ], + "joints": [ + 0.019811168313026428 + ] + }, + "fine_grasp": { + "position": [ + -0.11798200756311417, + 0.00032742219627834857, + -0.0844184085726738 + ], + "orientation": [ + 0.885120689868927, + -0.04863164573907852, + 0.4627968370914459, + 0.00395017396658659 + ], + "joints": [ + 0.010616153478622437 + ] + }, + "final_grasp": { + "position": [ + -0.11798200756311417, + 0.00032742219627834857, + -0.0844184085726738 + ], + "orientation": [ + 0.885120689868927, + -0.04863164573907852, + 0.4627968370914459, + 0.00395017396658659 + ], + "joints": [ + 0.0014211386442184448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14315728843212128, + 0.0023413419257849455, + -0.03409799933433533 + ], + "orientation": [ + 0.27585914731025696, + 0.5720998644828796, + 0.25523367524147034, + 0.7290123701095581 + ], + "joints": [ + 0.026200950145721436 + ] + }, + "fine_grasp": { + "position": [ + -0.13951514661312103, + 0.0027592801488935947, + -0.03301367163658142 + ], + "orientation": [ + 0.274513304233551, + 0.5700184106826782, + 0.25741103291511536, + 0.7303841710090637 + ], + "joints": [ + 0.01694323867559433 + ] + }, + "final_grasp": { + "position": [ + -0.13951514661312103, + 0.0027592801488935947, + -0.03301367163658142 + ], + "orientation": [ + 0.274513304233551, + 0.5700184106826782, + 0.25741103291511536, + 0.7303841710090637 + ], + "joints": [ + 0.007685527205467224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0991150438785553, + 0.0031759892590343952, + 0.10985510796308517 + ], + "orientation": [ + 0.008781065233051777, + -0.9443835616111755, + -0.07051686197519302, + -0.3210762143135071 + ], + "joints": [ + 0.019930526614189148 + ] + }, + "fine_grasp": { + "position": [ + -0.09633607417345047, + 0.003456299426034093, + 0.10695429146289825 + ], + "orientation": [ + 0.010202035307884216, + -0.9406289458274841, + -0.06987572461366653, + -0.3320096731185913 + ], + "joints": [ + 0.010735511779785156 + ] + }, + "final_grasp": { + "position": [ + -0.09633607417345047, + 0.003456299426034093, + 0.10695429146289825 + ], + "orientation": [ + 0.010202035307884216, + -0.9406289458274841, + -0.06987572461366653, + -0.3320096731185913 + ], + "joints": [ + 0.0015404969453811646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13207541406154633, + 0.0021508701611310244, + -0.001747125992551446 + ], + "orientation": [ + 0.05724027380347252, + 0.7515885829925537, + 0.11911237239837646, + 0.6462588906288147 + ], + "joints": [ + 0.02031824365258217 + ] + }, + "fine_grasp": { + "position": [ + -0.1283383071422577, + 0.0028621680103242397, + -0.0006603130605071783 + ], + "orientation": [ + 0.05729396268725395, + 0.743145763874054, + 0.11769982427358627, + 0.6562000513076782 + ], + "joints": [ + 0.011123228818178177 + ] + }, + "final_grasp": { + "position": [ + -0.1283383071422577, + 0.0028621680103242397, + -0.0006603130605071783 + ], + "orientation": [ + 0.05729396268725395, + 0.743145763874054, + 0.11769982427358627, + 0.6562000513076782 + ], + "joints": [ + 0.0019282139837741852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04663924127817154, + -0.007398402784019709, + -0.12793932855129242 + ], + "orientation": [ + 0.9890797734260559, + -0.06682314723730087, + 0.1062714084982872, + 0.07721659541130066 + ], + "joints": [ + 0.020041607320308685 + ] + }, + "fine_grasp": { + "position": [ + -0.04427724704146385, + -0.006730145309120417, + -0.12481129914522171 + ], + "orientation": [ + 0.988137423992157, + -0.06488525867462158, + 0.11615847796201706, + 0.07669112086296082 + ], + "joints": [ + 0.010846592485904694 + ] + }, + "final_grasp": { + "position": [ + -0.04427724704146385, + -0.006730145309120417, + -0.12481129914522171 + ], + "orientation": [ + 0.988137423992157, + -0.06488525867462158, + 0.11615847796201706, + 0.07669112086296082 + ], + "joints": [ + 0.001651577651500702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1027575358748436, + 0.011497555300593376, + 0.06981097906827927 + ], + "orientation": [ + 0.06781895458698273, + -0.8338645696640015, + 0.10759178549051285, + -0.5371168255805969 + ], + "joints": [ + 0.020910872146487236 + ] + }, + "fine_grasp": { + "position": [ + -0.09976675361394882, + 0.012037234380841255, + 0.06722568720579147 + ], + "orientation": [ + 0.059616316109895706, + -0.8385275602340698, + 0.09936360269784927, + -0.5323950052261353 + ], + "joints": [ + 0.011715857312083244 + ] + }, + "final_grasp": { + "position": [ + -0.09976675361394882, + 0.012037234380841255, + 0.06722568720579147 + ], + "orientation": [ + 0.059616316109895706, + -0.8385275602340698, + 0.09936360269784927, + -0.5323950052261353 + ], + "joints": [ + 0.0025208424776792526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1144651398062706, + -0.011642524972558022, + -0.06383958458900452 + ], + "orientation": [ + 0.04986405745148659, + -0.5899631381034851, + -0.07959383726119995, + -0.8019487857818604 + ], + "joints": [ + 0.019811145961284637 + ] + }, + "fine_grasp": { + "position": [ + -0.11237291246652603, + -0.0101958978921175, + -0.06058255210518837 + ], + "orientation": [ + 0.05632491037249565, + -0.5773131251335144, + -0.08172966539859772, + -0.8104673027992249 + ], + "joints": [ + 0.01389707624912262 + ] + }, + "final_grasp": { + "position": [ + -0.11237291246652603, + -0.0101958978921175, + -0.06058255210518837 + ], + "orientation": [ + 0.05632491037249565, + -0.5773131251335144, + -0.08172966539859772, + -0.8104673027992249 + ], + "joints": [ + 0.007983006536960602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012933159247040749, + 0.025653351098299026, + -0.1245986744761467 + ], + "orientation": [ + 0.9750567674636841, + 0.04653114452958107, + -0.16649532318115234, + 0.13920657336711884 + ], + "joints": [ + 0.019556790590286255 + ] + }, + "fine_grasp": { + "position": [ + 0.014047154225409031, + 0.025990379974246025, + -0.12149926275014877 + ], + "orientation": [ + 0.9765911102294922, + 0.0458793044090271, + -0.15355953574180603, + 0.14347276091575623 + ], + "joints": [ + 0.011950001120567322 + ] + }, + "final_grasp": { + "position": [ + 0.014047154225409031, + 0.025990379974246025, + -0.12149926275014877 + ], + "orientation": [ + 0.9765911102294922, + 0.0458793044090271, + -0.15355953574180603, + 0.14347276091575623 + ], + "joints": [ + 0.004343211650848389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11473285406827927, + -0.010526632890105247, + -0.06499288231134415 + ], + "orientation": [ + 0.013930268585681915, + -0.5935205221176147, + -0.09204377979040146, + -0.7994167804718018 + ], + "joints": [ + 0.018087113276124 + ] + }, + "fine_grasp": { + "position": [ + -0.11276835203170776, + -0.0096859410405159, + -0.06182965636253357 + ], + "orientation": [ + 0.015582562424242496, + -0.5828442573547363, + -0.09178483486175537, + -0.8072331547737122 + ], + "joints": [ + 0.010480323806405067 + ] + }, + "final_grasp": { + "position": [ + -0.11276835203170776, + -0.0096859410405159, + -0.06182965636253357 + ], + "orientation": [ + 0.015582562424242496, + -0.5828442573547363, + -0.09178483486175537, + -0.8072331547737122 + ], + "joints": [ + 0.0028735343366861343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09367486089468002, + 0.015517600812017918, + 0.10056060552597046 + ], + "orientation": [ + 0.0017029382288455963, + -0.8911669254302979, + -0.04919016733765602, + 0.45099765062332153 + ], + "joints": [ + 0.019807597622275352 + ] + }, + "fine_grasp": { + "position": [ + 0.0912521481513977, + 0.01529920194298029, + 0.09728913754224777 + ], + "orientation": [ + 0.004671142902225256, + -0.9014484882354736, + -0.05202186480164528, + 0.4297237992286682 + ], + "joints": [ + 0.011448493227362633 + ] + }, + "final_grasp": { + "position": [ + 0.0912521481513977, + 0.01529920194298029, + 0.09728913754224777 + ], + "orientation": [ + 0.004671142902225256, + -0.9014484882354736, + -0.05202186480164528, + 0.4297237992286682 + ], + "joints": [ + 0.003089388832449913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1265685260295868, + 0.03152589499950409, + -0.024495763704180717 + ], + "orientation": [ + 0.8278964757919312, + 0.11526947468519211, + -0.548629105091095, + -0.0175053421407938 + ], + "joints": [ + 0.021085958927869797 + ] + }, + "fine_grasp": { + "position": [ + 0.12261439114809036, + 0.03096279874444008, + -0.02440108358860016 + ], + "orientation": [ + 0.8194559216499329, + 0.11481025815010071, + -0.5611962080001831, + -0.01922357827425003 + ], + "joints": [ + 0.012726854532957077 + ] + }, + "final_grasp": { + "position": [ + 0.12261439114809036, + 0.03096279874444008, + -0.02440108358860016 + ], + "orientation": [ + 0.8194559216499329, + 0.11481025815010071, + -0.5611962080001831, + -0.01922357827425003 + ], + "joints": [ + 0.004367750138044357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007126277312636375, + 0.029947808012366295, + -0.12161191552877426 + ], + "orientation": [ + 0.9896676540374756, + 0.07629916816949844, + 0.08633298426866531, + -0.08534063398838043 + ], + "joints": [ + 0.02026177942752838 + ] + }, + "fine_grasp": { + "position": [ + 0.00615939823910594, + 0.02976395934820175, + -0.11842546612024307 + ], + "orientation": [ + 0.9904343485832214, + 0.0772845447063446, + 0.07524623721837997, + -0.08605210483074188 + ], + "joints": [ + 0.01188177615404129 + ] + }, + "final_grasp": { + "position": [ + 0.00615939823910594, + 0.02976395934820175, + -0.11842546612024307 + ], + "orientation": [ + 0.9904343485832214, + 0.0772845447063446, + 0.07524623721837997, + -0.08605210483074188 + ], + "joints": [ + 0.0035017728805541992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0456366166472435, + 0.024290304630994797, + 0.14256972074508667 + ], + "orientation": [ + 0.059558574110269547, + 0.9944416284561157, + 0.04511290416121483, + 0.07418566942214966 + ], + "joints": [ + 0.016652490943670273 + ] + }, + "fine_grasp": { + "position": [ + -0.044201795011758804, + 0.023993046954274178, + 0.13875408470630646 + ], + "orientation": [ + 0.05528680980205536, + 0.9922589659690857, + 0.049190036952495575, + 0.0997287780046463 + ], + "joints": [ + 0.010299567133188248 + ] + }, + "final_grasp": { + "position": [ + -0.044201795011758804, + 0.023993046954274178, + 0.13875408470630646 + ], + "orientation": [ + 0.05528680980205536, + 0.9922589659690857, + 0.049190036952495575, + 0.0997287780046463 + ], + "joints": [ + 0.0039466433227062225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06956224888563156, + 0.023576879873871803, + 0.1312563419342041 + ], + "orientation": [ + 0.05814112722873688, + 0.9442667365074158, + -0.006884423550218344, + -0.3239330053329468 + ], + "joints": [ + 0.01822018064558506 + ] + }, + "fine_grasp": { + "position": [ + 0.06782872974872589, + 0.02324352040886879, + 0.12752480804920197 + ], + "orientation": [ + 0.05060884356498718, + 0.9528396725654602, + -0.004279254004359245, + -0.2991938889026642 + ], + "joints": [ + 0.010634290054440498 + ] + }, + "final_grasp": { + "position": [ + 0.06782872974872589, + 0.02324352040886879, + 0.12752480804920197 + ], + "orientation": [ + 0.05060884356498718, + 0.9528396725654602, + -0.004279254004359245, + -0.2991938889026642 + ], + "joints": [ + 0.0030483994632959366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08210793137550354, + 0.033220916986465454, + -0.1137327328324318 + ], + "orientation": [ + 0.12845860421657562, + 0.3986005187034607, + -0.04582253471016884, + 0.9069267511367798 + ], + "joints": [ + 0.018487650901079178 + ] + }, + "fine_grasp": { + "position": [ + -0.0809321179986, + 0.03277972713112831, + -0.1100211888551712 + ], + "orientation": [ + 0.12970609962940216, + 0.3905189335346222, + -0.042994093149900436, + 0.9103970527648926 + ], + "joints": [ + 0.01127791777253151 + ] + }, + "final_grasp": { + "position": [ + -0.0809321179986, + 0.03277972713112831, + -0.1100211888551712 + ], + "orientation": [ + 0.12970609962940216, + 0.3905189335346222, + -0.042994093149900436, + 0.9103970527648926 + ], + "joints": [ + 0.004068184643983841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0445704311132431, + 0.13493581116199493, + -0.07279761135578156 + ], + "orientation": [ + 0.4102877974510193, + 0.44756951928138733, + 0.33595433831214905, + -0.7200556397438049 + ], + "joints": [ + 0.025506285950541496 + ] + }, + "fine_grasp": { + "position": [ + 0.043767187744379044, + 0.13232113420963287, + -0.06926501542329788 + ], + "orientation": [ + 0.4130633771419525, + 0.4385111927986145, + 0.3293057382106781, + -0.7270793914794922 + ], + "joints": [ + 0.019236957654356956 + ] + }, + "final_grasp": { + "position": [ + 0.043767187744379044, + 0.13232113420963287, + -0.06926501542329788 + ], + "orientation": [ + 0.4130633771419525, + 0.4385111927986145, + 0.3293057382106781, + -0.7270793914794922 + ], + "joints": [ + 0.012967629358172417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043829962611198425, + -0.06655282527208328, + -0.08484795689582825 + ], + "orientation": [ + 0.9232915639877319, + -0.3712707757949829, + -0.0631805807352066, + 0.075492262840271 + ], + "joints": [ + 0.026200950145721436 + ] + }, + "fine_grasp": { + "position": [ + 0.04171386733651161, + -0.06391441822052002, + -0.08277373015880585 + ], + "orientation": [ + 0.9201509952545166, + -0.37505432963371277, + -0.07567127794027328, + 0.08324841409921646 + ], + "joints": [ + 0.016587980091571808 + ] + }, + "final_grasp": { + "position": [ + 0.04171386733651161, + -0.06391441822052002, + -0.08277373015880585 + ], + "orientation": [ + 0.9201509952545166, + -0.37505432963371277, + -0.07567127794027328, + 0.08324841409921646 + ], + "joints": [ + 0.00697501003742218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06961821019649506, + 0.023768188431859016, + 0.13068997859954834 + ], + "orientation": [ + 0.05686691775918007, + 0.9454881548881531, + -0.011073513887822628, + -0.32046183943748474 + ], + "joints": [ + 0.01842503435909748 + ] + }, + "fine_grasp": { + "position": [ + 0.0678727775812149, + 0.02330905944108963, + 0.12696510553359985 + ], + "orientation": [ + 0.051586735993623734, + 0.9535989761352539, + -0.008124622516334057, + -0.29651597142219543 + ], + "joints": [ + 0.010839143767952919 + ] + }, + "final_grasp": { + "position": [ + 0.0678727775812149, + 0.02330905944108963, + 0.12696510553359985 + ], + "orientation": [ + 0.051586735993623734, + 0.9535989761352539, + -0.008124622516334057, + -0.29651597142219543 + ], + "joints": [ + 0.0032532531768083572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12688635289669037, + 0.05177253857254982, + 0.06192438304424286 + ], + "orientation": [ + 0.1528397500514984, + 0.7807492017745972, + 0.05452356114983559, + -0.6034051179885864 + ], + "joints": [ + 0.016570575535297394 + ] + }, + "fine_grasp": { + "position": [ + 0.12351863831281662, + 0.05042162537574768, + 0.059388693422079086 + ], + "orientation": [ + 0.14714044332504272, + 0.7988203763961792, + 0.05771661922335625, + -0.5804347395896912 + ], + "joints": [ + 0.010280348360538483 + ] + }, + "final_grasp": { + "position": [ + 0.12351863831281662, + 0.05042162537574768, + 0.059388693422079086 + ], + "orientation": [ + 0.14714044332504272, + 0.7988203763961792, + 0.05771661922335625, + -0.5804347395896912 + ], + "joints": [ + 0.0039901211857795715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1336485743522644, + 0.027355587109923363, + 0.060464926064014435 + ], + "orientation": [ + 0.16416803002357483, + -0.7626474499702454, + -0.3537420928478241, + 0.5160272717475891 + ], + "joints": [ + 0.026439154520630836 + ] + }, + "fine_grasp": { + "position": [ + 0.13031291961669922, + 0.026788746938109398, + 0.05884115770459175 + ], + "orientation": [ + 0.16160880029201508, + -0.7639086842536926, + -0.35297420620918274, + 0.5154951214790344 + ], + "joints": [ + 0.0163873303681612 + ] + }, + "final_grasp": { + "position": [ + 0.13031291961669922, + 0.026788746938109398, + 0.05884115770459175 + ], + "orientation": [ + 0.16160880029201508, + -0.7639086842536926, + -0.35297420620918274, + 0.5154951214790344 + ], + "joints": [ + 0.0063355062156915665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1154734268784523, + -0.010371160693466663, + -0.06666437536478043 + ], + "orientation": [ + 0.02297396771609783, + -0.6036815643310547, + -0.08312691003084183, + -0.7925468683242798 + ], + "joints": [ + 0.013864237815141678 + ] + }, + "fine_grasp": { + "position": [ + -0.11337292194366455, + -0.00928564090281725, + -0.06300493329763412 + ], + "orientation": [ + 0.02624526433646679, + -0.5906987190246582, + -0.0825076624751091, + -0.8022335767745972 + ], + "joints": [ + 0.009204033762216568 + ] + }, + "final_grasp": { + "position": [ + -0.11337292194366455, + -0.00928564090281725, + -0.06300493329763412 + ], + "orientation": [ + 0.02624526433646679, + -0.5906987190246582, + -0.0825076624751091, + -0.8022335767745972 + ], + "joints": [ + 0.004543829709291458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01606140285730362, + 0.0405891127884388, + -0.13043130934238434 + ], + "orientation": [ + 0.08005909621715546, + -0.06984817981719971, + -0.12502950429916382, + 0.9864479303359985 + ], + "joints": [ + 0.017206896096467972 + ] + }, + "fine_grasp": { + "position": [ + -0.013236712664365768, + 0.04053979367017746, + -0.1264224648475647 + ], + "orientation": [ + 0.07638052850961685, + -0.04870610684156418, + -0.1196138858795166, + 0.9886791110038757 + ], + "joints": [ + 0.013445299118757248 + ] + }, + "final_grasp": { + "position": [ + -0.013236712664365768, + 0.04053979367017746, + -0.1264224648475647 + ], + "orientation": [ + 0.07638052850961685, + -0.04870610684156418, + -0.1196138858795166, + 0.9886791110038757 + ], + "joints": [ + 0.009683702141046524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048172760754823685, + 0.03927455097436905, + 0.14790301024913788 + ], + "orientation": [ + 0.09013582766056061, + 0.9697253704071045, + -0.11747415363788605, + 0.1941852867603302 + ], + "joints": [ + 0.018517915159463882 + ] + }, + "fine_grasp": { + "position": [ + -0.04686149209737778, + 0.0383392795920372, + 0.14398415386676788 + ], + "orientation": [ + 0.0873788520693779, + 0.9713224768638611, + -0.11995904892683029, + 0.1857621669769287 + ], + "joints": [ + 0.010576765984296799 + ] + }, + "final_grasp": { + "position": [ + -0.04686149209737778, + 0.0383392795920372, + 0.14398415386676788 + ], + "orientation": [ + 0.0873788520693779, + 0.9713224768638611, + -0.11995904892683029, + 0.1857621669769287 + ], + "joints": [ + 0.002635616809129715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04898245632648468, + 0.039458468556404114, + 0.1486252397298813 + ], + "orientation": [ + 0.08841122686862946, + 0.9723244905471802, + -0.10881838947534561, + 0.18688803911209106 + ], + "joints": [ + 0.018969709053635597 + ] + }, + "fine_grasp": { + "position": [ + -0.04761584848165512, + 0.038520582020282745, + 0.14463044703006744 + ], + "orientation": [ + 0.08486555516719818, + 0.9735150933265686, + -0.11062224954366684, + 0.18118759989738464 + ], + "joints": [ + 0.01144651509821415 + ] + }, + "final_grasp": { + "position": [ + -0.04761584848165512, + 0.038520582020282745, + 0.14463044703006744 + ], + "orientation": [ + 0.08486555516719818, + 0.9735150933265686, + -0.11062224954366684, + 0.18118759989738464 + ], + "joints": [ + 0.003923321142792702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13736023008823395, + 0.026914728805422783, + 0.060933783650398254 + ], + "orientation": [ + 0.1623607724905014, + -0.7661195993423462, + -0.3430910110473633, + 0.5186408162117004 + ], + "joints": [ + 0.024609269574284554 + ] + }, + "fine_grasp": { + "position": [ + 0.13372138142585754, + 0.026318030431866646, + 0.05931241437792778 + ], + "orientation": [ + 0.1610734611749649, + -0.7657734155654907, + -0.34218013286590576, + 0.5201528668403625 + ], + "joints": [ + 0.01539335586130619 + ] + }, + "final_grasp": { + "position": [ + 0.13372138142585754, + 0.026318030431866646, + 0.05931241437792778 + ], + "orientation": [ + 0.1610734611749649, + -0.7657734155654907, + -0.34218013286590576, + 0.5201528668403625 + ], + "joints": [ + 0.0061774421483278275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12116188555955887, + 0.030805902555584908, + -0.04894052818417549 + ], + "orientation": [ + 0.05251561850309372, + 0.45234596729278564, + 0.07201272249221802, + -0.8873777389526367 + ], + "joints": [ + 0.020540285855531693 + ] + }, + "fine_grasp": { + "position": [ + 0.11733701825141907, + 0.030626719817519188, + -0.04854371398687363 + ], + "orientation": [ + 0.047961462289094925, + 0.4683586061000824, + 0.06882575899362564, + -0.8795469403266907 + ], + "joints": [ + 0.012118484824895859 + ] + }, + "final_grasp": { + "position": [ + 0.11733701825141907, + 0.030626719817519188, + -0.04854371398687363 + ], + "orientation": [ + 0.047961462289094925, + 0.4683586061000824, + 0.06882575899362564, + -0.8795469403266907 + ], + "joints": [ + 0.003696683794260025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006410778500139713, + -0.11498153954744339, + 0.0015903143212199211 + ], + "orientation": [ + 0.658728837966919, + -0.647126317024231, + 0.28148606419563293, + 0.2609015107154846 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.006198160815984011, + -0.11082256585359573, + 0.001555189723148942 + ], + "orientation": [ + 0.658388614654541, + -0.6472374796867371, + 0.28273117542266846, + 0.26013681292533875 + ], + "joints": [ + 0.023862261325120926 + ] + }, + "final_grasp": { + "position": [ + -0.006198160815984011, + -0.11082256585359573, + 0.001555189723148942 + ], + "orientation": [ + 0.658388614654541, + -0.6472374796867371, + 0.28273117542266846, + 0.26013681292533875 + ], + "joints": [ + 0.015503156930208206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00869913399219513, + -0.10502057522535324, + 0.020886190235614777 + ], + "orientation": [ + 0.5794333815574646, + -0.6890248656272888, + 0.3692081868648529, + 0.23062318563461304 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.009206830523908138, + -0.10099512338638306, + 0.020168505609035492 + ], + "orientation": [ + 0.5813838243484497, + -0.6872669458389282, + 0.3674670159816742, + 0.233719602227211 + ], + "joints": [ + 0.02339915558695793 + ] + }, + "final_grasp": { + "position": [ + -0.009206830523908138, + -0.10099512338638306, + 0.020168505609035492 + ], + "orientation": [ + 0.5813838243484497, + -0.6872669458389282, + 0.3674670159816742, + 0.233719602227211 + ], + "joints": [ + 0.015040051192045212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015887126326560974, + -0.10834691673517227, + 0.016401320695877075 + ], + "orientation": [ + 0.636244535446167, + -0.722194254398346, + 0.2558169960975647, + 0.09047643840312958 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.015929073095321655, + -0.1042836531996727, + 0.015720583498477936 + ], + "orientation": [ + 0.6385137438774109, + -0.7207757830619812, + 0.25188785791397095, + 0.09661796689033508 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + -0.015929073095321655, + -0.1042836531996727, + 0.015720583498477936 + ], + "orientation": [ + 0.6385137438774109, + -0.7207757830619812, + 0.25188785791397095, + 0.09661796689033508 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0064016361720860004, + -0.10523515194654465, + 0.005506482906639576 + ], + "orientation": [ + 0.6896291375160217, + -0.7120910286903381, + 0.0847257524728775, + 0.10079478472471237 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.006178752053529024, + -0.10137816518545151, + 0.0044388547539711 + ], + "orientation": [ + 0.6897778511047363, + -0.7110094428062439, + 0.09453125298023224, + 0.09867032617330551 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + -0.006178752053529024, + -0.10137816518545151, + 0.0044388547539711 + ], + "orientation": [ + 0.6897778511047363, + -0.7110094428062439, + 0.09453125298023224, + 0.09867032617330551 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06835905462503433, + 0.1822993904352188, + 0.0048325564712285995 + ], + "orientation": [ + 0.6110133528709412, + 0.7483296394348145, + -0.027658935636281967, + -0.2567107081413269 + ], + "joints": [ + 0.020226849243044853 + ] + }, + "fine_grasp": { + "position": [ + 0.06613697111606598, + 0.17953288555145264, + 0.005484225694090128 + ], + "orientation": [ + 0.6160412430763245, + 0.7411792874336243, + -0.03135275840759277, + -0.26488378643989563 + ], + "joints": [ + 0.010175025090575218 + ] + }, + "final_grasp": { + "position": [ + 0.06613697111606598, + 0.17953288555145264, + 0.005484225694090128 + ], + "orientation": [ + 0.6160412430763245, + 0.7411792874336243, + -0.03135275840759277, + -0.26488378643989563 + ], + "joints": [ + 0.0001232009381055832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012340473011136055, + -0.10243204981088638, + 0.006261189468204975 + ], + "orientation": [ + 0.5152786374092102, + -0.6135299801826477, + 0.41852569580078125, + 0.42767417430877686 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.010740342549979687, + -0.09886826574802399, + 0.006259550806134939 + ], + "orientation": [ + 0.5170051455497742, + -0.6073556542396545, + 0.4185730814933777, + 0.4343056082725525 + ], + "joints": [ + 0.02351035550236702 + ] + }, + "final_grasp": { + "position": [ + 0.010740342549979687, + -0.09886826574802399, + 0.006259550806134939 + ], + "orientation": [ + 0.5170051455497742, + -0.6073556542396545, + 0.4185730814933777, + 0.4343056082725525 + ], + "joints": [ + 0.0143362395465374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040612492710351944, + -0.10429824143648148, + 0.014414113946259022 + ], + "orientation": [ + 0.10909242182970047, + 0.115847148001194, + 0.7380566000938416, + 0.6557062268257141 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.039589300751686096, + -0.10076208412647247, + 0.01415281742811203 + ], + "orientation": [ + 0.11040959507226944, + 0.11704101413488388, + 0.7402740716934204, + 0.6527674198150635 + ], + "joints": [ + 0.023862261325120926 + ] + }, + "final_grasp": { + "position": [ + -0.039589300751686096, + -0.10076208412647247, + 0.01415281742811203 + ], + "orientation": [ + 0.11040959507226944, + 0.11704101413488388, + 0.7402740716934204, + 0.6527674198150635 + ], + "joints": [ + 0.015503156930208206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039931781589984894, + -0.10542701184749603, + 0.014453445561230183 + ], + "orientation": [ + 0.12105584144592285, + 0.11769858747720718, + 0.7380617260932922, + 0.6532666683197021 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.03899579867720604, + -0.10183174163103104, + 0.014219465665519238 + ], + "orientation": [ + 0.11930882185697556, + 0.1170487254858017, + 0.7403513193130493, + 0.6511105895042419 + ], + "joints": [ + 0.023862261325120926 + ] + }, + "final_grasp": { + "position": [ + -0.03899579867720604, + -0.10183174163103104, + 0.014219465665519238 + ], + "orientation": [ + 0.11930882185697556, + 0.1170487254858017, + 0.7403513193130493, + 0.6511105895042419 + ], + "joints": [ + 0.015503156930208206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012933417223393917, + -0.10563051700592041, + -0.012252341024577618 + ], + "orientation": [ + 0.4877259135246277, + -0.3978564739227295, + 0.5509214401245117, + 0.5480139851570129 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.012246059253811836, + -0.10180918127298355, + -0.011999128386378288 + ], + "orientation": [ + 0.4904713034629822, + -0.3973018527030945, + 0.5498494505882263, + 0.547041654586792 + ], + "joints": [ + 0.02348719909787178 + ] + }, + "final_grasp": { + "position": [ + -0.012246059253811836, + -0.10180918127298355, + -0.011999128386378288 + ], + "orientation": [ + 0.4904713034629822, + -0.3973018527030945, + 0.5498494505882263, + 0.547041654586792 + ], + "joints": [ + 0.01431308314204216 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 644 + } +} \ No newline at end of file diff --git a/100_seal_6/Object.usd b/100_seal_6/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..2e461bda3dacea9690b22d6df59f7886dcd9050e --- /dev/null +++ b/100_seal_6/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d14af58ba9ccdc43eaff24b4b13b9da182214046ff1a69c7eb8467a388c31b9b +size 249047 diff --git a/102_roller_1/Annotation/dex1_1_grasp_pose.json b/102_roller_1/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..c4db71321756bd55fe428da5073f9f79908b27c1 --- /dev/null +++ b/102_roller_1/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,12368 @@ +{ + "type": "102_roller_1", + "bottom_center": [ + 2.3655593395233154e-06, + 0.01777099445462227, + -0.11389344185590744 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.09986255317926407, + -0.05091992765665054, + -0.004906387999653816 + ], + "orientation": [ + 0.8848100304603577, + -0.03658362478017807, + 0.006981114856898785, + -0.4644613265991211 + ], + "joints": [ + -0.0021994933485984802 + ] + }, + "fine_grasp": { + "position": [ + -0.1016770601272583, + -0.052346862852573395, + -0.0028601321391761303 + ], + "orientation": [ + 0.8863293528556824, + -0.022364117205142975, + 0.010453340597450733, + -0.4623968303203583 + ], + "joints": [ + 0.0031410730443894863 + ] + }, + "final_grasp": { + "position": [ + -0.1016770601272583, + -0.052346862852573395, + -0.0028601321391761303 + ], + "orientation": [ + 0.8863293528556824, + -0.022364117205142975, + 0.010453340597450733, + -0.4623968303203583 + ], + "joints": [ + 0.008481639437377453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09560087323188782, + 0.0863519236445427, + 0.01602127216756344 + ], + "orientation": [ + 0.4521409571170807, + -0.03653032332658768, + -0.10817784816026688, + 0.8846082091331482 + ], + "joints": [ + -0.002640715567395091 + ] + }, + "fine_grasp": { + "position": [ + 0.09565292298793793, + 0.08806236833333969, + 0.017620431259274483 + ], + "orientation": [ + 0.4450058937072754, + -0.05485783517360687, + -0.10829609632492065, + 0.8872612714767456 + ], + "joints": [ + 0.003231250448152423 + ] + }, + "final_grasp": { + "position": [ + 0.09565292298793793, + 0.08806236833333969, + 0.017620431259274483 + ], + "orientation": [ + 0.4450058937072754, + -0.05485783517360687, + -0.10829609632492065, + 0.8872612714767456 + ], + "joints": [ + 0.009103216230869293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12076505273580551, + 0.022877275943756104, + 0.022735638543963432 + ], + "orientation": [ + 0.6919239163398743, + -0.029784906655550003, + 0.010695732198655605, + -0.7212764620780945 + ], + "joints": [ + -0.00184895028360188 + ] + }, + "fine_grasp": { + "position": [ + -0.12396036833524704, + 0.02340094745159149, + 0.021862385794520378 + ], + "orientation": [ + 0.690985381603241, + -0.019989315420389175, + 0.01954716257750988, + -0.7223278880119324 + ], + "joints": [ + 0.0040230159647762775 + ] + }, + "final_grasp": { + "position": [ + -0.12396036833524704, + 0.02340094745159149, + 0.021862385794520378 + ], + "orientation": [ + 0.690985381603241, + -0.019989315420389175, + 0.01954716257750988, + -0.7223278880119324 + ], + "joints": [ + 0.009894981980323792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07413778454065323, + 0.11347247660160065, + -0.033671069890260696 + ], + "orientation": [ + 0.07077974826097488, + 0.9426662921905518, + -0.3242434561252594, + -0.03516632318496704 + ], + "joints": [ + -0.003421864937990904 + ] + }, + "fine_grasp": { + "position": [ + 0.07419296354055405, + 0.11501427739858627, + -0.032801102846860886 + ], + "orientation": [ + 0.0735778957605362, + 0.9445775151252747, + -0.3190634548664093, + -0.023625146597623825 + ], + "joints": [ + 0.00245010107755661 + ] + }, + "final_grasp": { + "position": [ + 0.07419296354055405, + 0.11501427739858627, + -0.032801102846860886 + ], + "orientation": [ + 0.0735778957605362, + 0.9445775151252747, + -0.3190634548664093, + -0.023625146597623825 + ], + "joints": [ + 0.008322067558765411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07309488952159882, + 0.11269870400428772, + -0.029369352385401726 + ], + "orientation": [ + 0.10788866877555847, + 0.9411797523498535, + -0.31991031765937805, + -0.0140711460262537 + ], + "joints": [ + -0.0034164409153163433 + ] + }, + "fine_grasp": { + "position": [ + 0.07329811155796051, + 0.11547784507274628, + -0.03084215521812439 + ], + "orientation": [ + 0.10758914053440094, + 0.9430534243583679, + -0.3141045868396759, + -0.02032504975795746 + ], + "joints": [ + 0.0024289553984999657 + ] + }, + "final_grasp": { + "position": [ + 0.07329811155796051, + 0.11547784507274628, + -0.03084215521812439 + ], + "orientation": [ + 0.10758914053440094, + 0.9430534243583679, + -0.3141045868396759, + -0.02032504975795746 + ], + "joints": [ + 0.008274352177977562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1191987693309784, + 0.03391043096780777, + -0.006837338209152222 + ], + "orientation": [ + 0.6566898226737976, + 0.00736110657453537, + 0.02791656367480755, + 0.753607988357544 + ], + "joints": [ + -0.0021121541503816843 + ] + }, + "fine_grasp": { + "position": [ + 0.12133108079433441, + 0.035366665571928024, + -0.007319176569581032 + ], + "orientation": [ + 0.6539062857627869, + 0.015835346654057503, + 0.020958295091986656, + 0.7561193704605103 + ], + "joints": [ + 0.0037332423962652683 + ] + }, + "final_grasp": { + "position": [ + 0.12133108079433441, + 0.035366665571928024, + -0.007319176569581032 + ], + "orientation": [ + 0.6539062857627869, + 0.015835346654057503, + 0.020958295091986656, + 0.7561193704605103 + ], + "joints": [ + 0.009578638710081577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07388658821582794, + 0.113652303814888, + -0.032943420112133026 + ], + "orientation": [ + 0.070918008685112, + 0.9426962733268738, + -0.3236209750175476, + -0.03954615071415901 + ], + "joints": [ + -0.0033476720564067364 + ] + }, + "fine_grasp": { + "position": [ + 0.07452405989170074, + 0.11452487856149673, + -0.03202084079384804 + ], + "orientation": [ + 0.07485643774271011, + 0.9435359835624695, + -0.3216168284416199, + -0.02643727883696556 + ], + "joints": [ + 0.0025242939591407776 + ] + }, + "final_grasp": { + "position": [ + 0.07452405989170074, + 0.11452487856149673, + -0.03202084079384804 + ], + "orientation": [ + 0.07485643774271011, + 0.9435359835624695, + -0.3216168284416199, + -0.02643727883696556 + ], + "joints": [ + 0.008396260440349579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12081083655357361, + 0.02280491031706333, + 0.02280551940202713 + ], + "orientation": [ + 0.6921589970588684, + -0.029511261731386185, + 0.009735306724905968, + -0.7210757732391357 + ], + "joints": [ + -0.0018850958440452814 + ] + }, + "fine_grasp": { + "position": [ + -0.12393774837255478, + 0.023208610713481903, + 0.022006075829267502 + ], + "orientation": [ + 0.69166499376297, + -0.021691376343369484, + 0.017321184277534485, + -0.7216849327087402 + ], + "joints": [ + 0.003986870404332876 + ] + }, + "final_grasp": { + "position": [ + -0.12393774837255478, + 0.023208610713481903, + 0.022006075829267502 + ], + "orientation": [ + 0.69166499376297, + -0.021691376343369484, + 0.017321184277534485, + -0.7216849327087402 + ], + "joints": [ + 0.00985883641988039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09741341322660446, + -0.054639533162117004, + -0.031453363597393036 + ], + "orientation": [ + 0.8928917646408081, + 0.024748802185058594, + -0.02998351864516735, + -0.44858959317207336 + ], + "joints": [ + -0.002680764300748706 + ] + }, + "fine_grasp": { + "position": [ + -0.09940443933010101, + -0.056956641376018524, + -0.030698811635375023 + ], + "orientation": [ + 0.8944503664970398, + 0.029867108911275864, + -0.019421052187681198, + -0.4457457363605499 + ], + "joints": [ + 0.0031912019476294518 + ] + }, + "final_grasp": { + "position": [ + -0.09940443933010101, + -0.056956641376018524, + -0.030698811635375023 + ], + "orientation": [ + 0.8944503664970398, + 0.029867108911275864, + -0.019421052187681198, + -0.4457457363605499 + ], + "joints": [ + 0.009063168428838253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09722813218832016, + -0.054879456758499146, + -0.03096623346209526 + ], + "orientation": [ + 0.8927774429321289, + 0.02604139968752861, + -0.04251128435134888, + -0.44773101806640625 + ], + "joints": [ + -0.002716910792514682 + ] + }, + "fine_grasp": { + "position": [ + -0.09852410107851028, + -0.05678347498178482, + -0.03014526329934597 + ], + "orientation": [ + 0.8943986892700195, + 0.02642834186553955, + -0.04035307466983795, + -0.44466206431388855 + ], + "joints": [ + 0.0036864550784230232 + ] + }, + "final_grasp": { + "position": [ + -0.09852410107851028, + -0.05678347498178482, + -0.03014526329934597 + ], + "orientation": [ + 0.8943986892700195, + 0.02642834186553955, + -0.04035307466983795, + -0.44466206431388855 + ], + "joints": [ + 0.010089821182191372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06287359446287155, + -0.08315897732973099, + -0.0170085821300745 + ], + "orientation": [ + 0.045347001403570175, + 0.27580004930496216, + -0.9578977227210999, + -0.06565094739198685 + ], + "joints": [ + -0.003543008118867874 + ] + }, + "fine_grasp": { + "position": [ + 0.06326832622289658, + -0.08547327667474747, + -0.017495550215244293 + ], + "orientation": [ + 0.06787876784801483, + 0.2710472643375397, + -0.9580048322677612, + -0.06444122642278671 + ], + "joints": [ + 0.0012661591172218323 + ] + }, + "final_grasp": { + "position": [ + 0.06326832622289658, + -0.08547327667474747, + -0.017495550215244293 + ], + "orientation": [ + 0.06787876784801483, + 0.2710472643375397, + -0.9580048322677612, + -0.06444122642278671 + ], + "joints": [ + 0.006075326353311539 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11797875165939331, + 0.04118216037750244, + -0.024115726351737976 + ], + "orientation": [ + 0.08537595719099045, + 0.7721128463745117, + 0.6295998096466064, + 0.012522733770310879 + ], + "joints": [ + -0.001795661635696888 + ] + }, + "fine_grasp": { + "position": [ + -0.11968173831701279, + 0.04079587757587433, + -0.024322792887687683 + ], + "orientation": [ + 0.10309217870235443, + 0.7709808945655823, + 0.6283734440803528, + -0.01036021951586008 + ], + "joints": [ + 0.004607704002410173 + ] + }, + "final_grasp": { + "position": [ + -0.11968173831701279, + 0.04079587757587433, + -0.024322792887687683 + ], + "orientation": [ + 0.10309217870235443, + 0.7709808945655823, + 0.6283734440803528, + -0.01036021951586008 + ], + "joints": [ + 0.011011069640517235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023546749725937843, + -0.10251162201166153, + -0.011523417197167873 + ], + "orientation": [ + 0.9938104152679443, + 0.026157649233937263, + 0.05242748558521271, + -0.09438173472881317 + ], + "joints": [ + -0.004336577374488115 + ] + }, + "fine_grasp": { + "position": [ + -0.023395871743559837, + -0.10589704662561417, + -0.01179856900125742 + ], + "orientation": [ + 0.9917758107185364, + 0.02912011928856373, + 0.08451347053050995, + -0.0915980115532875 + ], + "joints": [ + 0.000472589599667117 + ] + }, + "final_grasp": { + "position": [ + -0.023395871743559837, + -0.10589704662561417, + -0.01179856900125742 + ], + "orientation": [ + 0.9917758107185364, + 0.02912011928856373, + 0.08451347053050995, + -0.0915980115532875 + ], + "joints": [ + 0.00528175663203001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10190990567207336, + -0.04258420318365097, + 0.04391786456108093 + ], + "orientation": [ + 0.8644228577613831, + -0.11586034297943115, + 0.02438272163271904, + -0.48862579464912415 + ], + "joints": [ + -0.0023482763208448887 + ] + }, + "fine_grasp": { + "position": [ + -0.10270373523235321, + -0.04265619069337845, + 0.04402589797973633 + ], + "orientation": [ + 0.8652835488319397, + -0.12488879263401031, + 0.008469415828585625, + -0.48540252447128296 + ], + "joints": [ + 0.004055089317262173 + ] + }, + "final_grasp": { + "position": [ + -0.10270373523235321, + -0.04265619069337845, + 0.04402589797973633 + ], + "orientation": [ + 0.8652835488319397, + -0.12488879263401031, + 0.008469415828585625, + -0.48540252447128296 + ], + "joints": [ + 0.010458454489707947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12075911462306976, + 0.02932848036289215, + -0.011890623718500137 + ], + "orientation": [ + 0.05747194588184357, + 0.7401944398880005, + 0.6698790788650513, + -0.00843800138682127 + ], + "joints": [ + -0.0018942507449537516 + ] + }, + "fine_grasp": { + "position": [ + -0.12191037833690643, + 0.028931457549333572, + -0.012019259855151176 + ], + "orientation": [ + 0.07987626641988754, + 0.7381722331047058, + 0.6689462661743164, + -0.03510577231645584 + ], + "joints": [ + 0.005013945046812296 + ] + }, + "final_grasp": { + "position": [ + -0.12191037833690643, + 0.028931457549333572, + -0.012019259855151176 + ], + "orientation": [ + 0.07987626641988754, + 0.7381722331047058, + 0.6689462661743164, + -0.03510577231645584 + ], + "joints": [ + 0.0119221406057477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06216903775930405, + 0.12051291763782501, + -0.039697565138339996 + ], + "orientation": [ + 0.08337755501270294, + 0.956443727016449, + -0.2712579369544983, + -0.06842958182096481 + ], + "joints": [ + -0.003461915533989668 + ] + }, + "fine_grasp": { + "position": [ + 0.06183954328298569, + 0.12089145928621292, + -0.03870951011776924 + ], + "orientation": [ + 0.0764380618929863, + 0.9562087059020996, + -0.26954343914985657, + -0.08466727286577225 + ], + "joints": [ + 0.002410050481557846 + ] + }, + "final_grasp": { + "position": [ + 0.06183954328298569, + 0.12089145928621292, + -0.03870951011776924 + ], + "orientation": [ + 0.0764380618929863, + 0.9562087059020996, + -0.26954343914985657, + -0.08466727286577225 + ], + "joints": [ + 0.008282016962766647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11281813681125641, + -0.024278922006487846, + -0.018049225211143494 + ], + "orientation": [ + 0.818219006061554, + 0.015938255935907364, + -0.06811357289552689, + -0.5706349611282349 + ], + "joints": [ + -0.002336807083338499 + ] + }, + "fine_grasp": { + "position": [ + -0.11397585272789001, + -0.02562398836016655, + -0.017124855890870094 + ], + "orientation": [ + 0.8190063834190369, + 0.004521041177213192, + -0.08377539366483688, + -0.567617654800415 + ], + "joints": [ + 0.004066558554768562 + ] + }, + "final_grasp": { + "position": [ + -0.11397585272789001, + -0.02562398836016655, + -0.017124855890870094 + ], + "orientation": [ + 0.8190063834190369, + 0.004521041177213192, + -0.08377539366483688, + -0.567617654800415 + ], + "joints": [ + 0.010469924658536911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.111579529941082, + -0.02425515465438366, + -0.03806357458233833 + ], + "orientation": [ + 0.8167490363121033, + 0.05839761719107628, + -0.08175268024206161, + -0.5681787133216858 + ], + "joints": [ + -0.002043297281488776 + ] + }, + "fine_grasp": { + "position": [ + -0.11271671205759048, + -0.026026921346783638, + -0.03704063221812248 + ], + "orientation": [ + 0.817973256111145, + 0.046388160437345505, + -0.09788283705711365, + -0.5649661421775818 + ], + "joints": [ + 0.0038286689668893814 + ] + }, + "final_grasp": { + "position": [ + -0.11271671205759048, + -0.026026921346783638, + -0.03704063221812248 + ], + "orientation": [ + 0.817973256111145, + 0.046388160437345505, + -0.09788283705711365, + -0.5649661421775818 + ], + "joints": [ + 0.009700635448098183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0949333906173706, + -0.05093037709593773, + 0.05757469683885574 + ], + "orientation": [ + 0.8818711638450623, + -0.13834749162197113, + 0.0496341772377491, + -0.4479951560497284 + ], + "joints": [ + -0.0025161823723465204 + ] + }, + "fine_grasp": { + "position": [ + -0.09333629161119461, + -0.05000646784901619, + 0.057096585631370544 + ], + "orientation": [ + 0.8835114240646362, + -0.15029561519622803, + 0.03827377408742905, + -0.4419887065887451 + ], + "joints": [ + 0.003355783876031637 + ] + }, + "final_grasp": { + "position": [ + -0.09333629161119461, + -0.05000646784901619, + 0.057096585631370544 + ], + "orientation": [ + 0.8835114240646362, + -0.15029561519622803, + 0.03827377408742905, + -0.4419887065887451 + ], + "joints": [ + 0.009227749891579151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0954928919672966, + 0.09094320982694626, + -0.032922714948654175 + ], + "orientation": [ + 0.4387211501598358, + -0.017899641767144203, + -0.08130183070898056, + -0.8947587609291077 + ], + "joints": [ + -0.0030944079626351595 + ] + }, + "fine_grasp": { + "position": [ + -0.09440872073173523, + 0.09036041796207428, + -0.03308027237653732 + ], + "orientation": [ + 0.4352984130382538, + -0.02879825234413147, + -0.08590340614318848, + -0.8957156538963318 + ], + "joints": [ + 0.0033089579083025455 + ] + }, + "final_grasp": { + "position": [ + -0.09440872073173523, + 0.09036041796207428, + -0.03308027237653732 + ], + "orientation": [ + 0.4352984130382538, + -0.02879825234413147, + -0.08590340614318848, + -0.8957156538963318 + ], + "joints": [ + 0.009712323546409607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11753364652395248, + -0.011468562297523022, + 0.011908385902643204 + ], + "orientation": [ + 0.05436529591679573, + -0.6155762076377869, + 0.7861590385437012, + 0.008011476136744022 + ], + "joints": [ + -0.0019123854581266642 + ] + }, + "fine_grasp": { + "position": [ + 0.11815327405929565, + -0.012439632788300514, + 0.011003189720213413 + ], + "orientation": [ + 0.07270312309265137, + -0.6120982766151428, + 0.7871140241622925, + 0.02239370346069336 + ], + "joints": [ + 0.004490980412811041 + ] + }, + "final_grasp": { + "position": [ + 0.11815327405929565, + -0.012439632788300514, + 0.011003189720213413 + ], + "orientation": [ + 0.07270312309265137, + -0.6120982766151428, + 0.7871140241622925, + 0.02239370346069336 + ], + "joints": [ + 0.010894346050918102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11754792183637619, + -0.011373183690011501, + 0.010145344771444798 + ], + "orientation": [ + 0.055837903171777725, + -0.6159055829048157, + 0.785794198513031, + 0.008365215733647346 + ], + "joints": [ + -0.001879765884950757 + ] + }, + "fine_grasp": { + "position": [ + 0.11810709536075592, + -0.012410733848810196, + 0.009232224896550179 + ], + "orientation": [ + 0.07376046478748322, + -0.6122124791145325, + 0.7869253754615784, + 0.02244594134390354 + ], + "joints": [ + 0.004497030284255743 + ] + }, + "final_grasp": { + "position": [ + 0.11810709536075592, + -0.012410733848810196, + 0.009232224896550179 + ], + "orientation": [ + 0.07376046478748322, + -0.6122124791145325, + 0.7869253754615784, + 0.02244594134390354 + ], + "joints": [ + 0.0108738262206316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12015850096940994, + 0.0022223086562007666, + 0.015848830342292786 + ], + "orientation": [ + 0.0073001147247850895, + 0.6579810976982117, + 0.7503657341003418, + -0.06291957944631577 + ], + "joints": [ + -0.00191590772010386 + ] + }, + "fine_grasp": { + "position": [ + -0.12043891102075577, + 0.00217575510032475, + 0.015949446707963943 + ], + "orientation": [ + 0.02813863940536976, + 0.6558979153633118, + 0.7502129077911377, + -0.07865636795759201 + ], + "joints": [ + 0.004487458150833845 + ] + }, + "final_grasp": { + "position": [ + -0.12043891102075577, + 0.00217575510032475, + 0.015949446707963943 + ], + "orientation": [ + 0.02813863940536976, + 0.6558979153633118, + 0.7502129077911377, + -0.07865636795759201 + ], + "joints": [ + 0.010890823788940907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02076690085232258, + -0.10137844830751419, + -0.030154773965477943 + ], + "orientation": [ + 0.9930887818336487, + 0.07488687336444855, + -0.0332513228058815, + 0.08403068780899048 + ], + "joints": [ + -0.004039418417960405 + ] + }, + "fine_grasp": { + "position": [ + 0.021069973707199097, + -0.1011950820684433, + -0.030081747099757195 + ], + "orientation": [ + 0.9920123815536499, + 0.07725001871585846, + -0.05745164304971695, + 0.08150516450405121 + ], + "joints": [ + 0.0028687771409749985 + ] + }, + "final_grasp": { + "position": [ + 0.021069973707199097, + -0.1011950820684433, + -0.030081747099757195 + ], + "orientation": [ + 0.9920123815536499, + 0.07725001871585846, + -0.05745164304971695, + 0.08150516450405121 + ], + "joints": [ + 0.009776972234249115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020698310807347298, + -0.10154348611831665, + -0.029582971706986427 + ], + "orientation": [ + 0.9933668375015259, + 0.07099021971225739, + -0.03412078320980072, + 0.08377756178379059 + ], + "joints": [ + -0.004041133914142847 + ] + }, + "fine_grasp": { + "position": [ + 0.020994046702980995, + -0.10130807012319565, + -0.029544269666075706 + ], + "orientation": [ + 0.9922522306442261, + 0.07330210506916046, + -0.058905404061079025, + 0.08119520545005798 + ], + "joints": [ + 0.0028670616447925568 + ] + }, + "final_grasp": { + "position": [ + 0.020994046702980995, + -0.10130807012319565, + -0.029544269666075706 + ], + "orientation": [ + 0.9922522306442261, + 0.07330210506916046, + -0.058905404061079025, + 0.08119520545005798 + ], + "joints": [ + 0.009775256738066673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12031225115060806, + 0.0024325530976057053, + 0.015015007928013802 + ], + "orientation": [ + 0.01125764288008213, + 0.6589607000350952, + 0.7497633099555969, + -0.059152454137802124 + ], + "joints": [ + -0.0019139081705361605 + ] + }, + "fine_grasp": { + "position": [ + -0.12055211514234543, + 0.002406487474218011, + 0.015155266970396042 + ], + "orientation": [ + 0.0320470817387104, + 0.6564854979515076, + 0.7498393654823303, + -0.07576784491539001 + ], + "joints": [ + 0.004489457700401545 + ] + }, + "final_grasp": { + "position": [ + -0.12055211514234543, + 0.002406487474218011, + 0.015155266970396042 + ], + "orientation": [ + 0.0320470817387104, + 0.6564854979515076, + 0.7498393654823303, + -0.07576784491539001 + ], + "joints": [ + 0.010892823338508606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12024974822998047, + 0.0020521986298263073, + 0.015537025406956673 + ], + "orientation": [ + 0.009497996419668198, + 0.6575806736946106, + 0.7508806586265564, + -0.06062910333275795 + ], + "joints": [ + -0.00195395783521235 + ] + }, + "fine_grasp": { + "position": [ + -0.12039609998464584, + 0.0020475538913160563, + 0.015619912184774876 + ], + "orientation": [ + 0.030179228633642197, + 0.6556981205940247, + 0.7505614757537842, + -0.07620054483413696 + ], + "joints": [ + 0.004449408035725355 + ] + }, + "final_grasp": { + "position": [ + -0.12039609998464584, + 0.0020475538913160563, + 0.015619912184774876 + ], + "orientation": [ + 0.030179228633642197, + 0.6556981205940247, + 0.7505614757537842, + -0.07620054483413696 + ], + "joints": [ + 0.010852773673832417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1175633892416954, + -0.011471278965473175, + 0.009978082031011581 + ], + "orientation": [ + 0.05603839457035065, + -0.6155728697776794, + 0.7860241532325745, + 0.009785330854356289 + ], + "joints": [ + -0.0019178122747689486 + ] + }, + "fine_grasp": { + "position": [ + 0.11807993799448013, + -0.012424452230334282, + 0.009029732085764408 + ], + "orientation": [ + 0.07359705865383148, + -0.6118003726005554, + 0.7872162461280823, + 0.023962343111634254 + ], + "joints": [ + 0.0044855535961687565 + ] + }, + "final_grasp": { + "position": [ + 0.11807993799448013, + -0.012424452230334282, + 0.009029732085764408 + ], + "orientation": [ + 0.07359705865383148, + -0.6118003726005554, + 0.7872162461280823, + 0.023962343111634254 + ], + "joints": [ + 0.010888919234275818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02072802558541298, + -0.10147369652986526, + -0.02925085835158825 + ], + "orientation": [ + 0.9932860732078552, + 0.0714581236243248, + -0.03490518406033516, + 0.08401187509298325 + ], + "joints": [ + -0.0035559567622840405 + ] + }, + "fine_grasp": { + "position": [ + 0.02099515125155449, + -0.10137135535478592, + -0.029165569692850113 + ], + "orientation": [ + 0.9921579957008362, + 0.07380189746618271, + -0.06008201465010643, + 0.08103101700544357 + ], + "joints": [ + 0.002820839174091816 + ] + }, + "final_grasp": { + "position": [ + 0.02099515125155449, + -0.10137135535478592, + -0.029165569692850113 + ], + "orientation": [ + 0.9921579957008362, + 0.07380189746618271, + -0.06008201465010643, + 0.08103101700544357 + ], + "joints": [ + 0.00919763557612896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12091555446386337, + 0.009483476169407368, + 0.0022464462090283632 + ], + "orientation": [ + 0.02862579934298992, + 0.682242751121521, + 0.729823112487793, + -0.03292118385434151 + ], + "joints": [ + -0.001971893711015582 + ] + }, + "fine_grasp": { + "position": [ + -0.1210484430193901, + 0.007995760068297386, + 0.0027485215105116367 + ], + "orientation": [ + 0.05186622589826584, + 0.6756245493888855, + 0.7334429025650024, + -0.05387886241078377 + ], + "joints": [ + 0.004936302080750465 + ] + }, + "final_grasp": { + "position": [ + -0.1210484430193901, + 0.007995760068297386, + 0.0027485215105116367 + ], + "orientation": [ + 0.05186622589826584, + 0.6756245493888855, + 0.7334429025650024, + -0.05387886241078377 + ], + "joints": [ + 0.011844498105347157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1208941861987114, + 0.009100709110498428, + 0.0022174955811351538 + ], + "orientation": [ + 0.029792996123433113, + 0.6809718012809753, + 0.7310763597488403, + -0.03028775565326214 + ], + "joints": [ + -0.001957861939445138 + ] + }, + "fine_grasp": { + "position": [ + -0.12101849913597107, + 0.007689254824072123, + 0.002777655376121402 + ], + "orientation": [ + 0.05290110409259796, + 0.6746196150779724, + 0.7344713807106018, + -0.051398102194070816 + ], + "joints": [ + 0.0049503338523209095 + ] + }, + "final_grasp": { + "position": [ + -0.12101849913597107, + 0.007689254824072123, + 0.002777655376121402 + ], + "orientation": [ + 0.05290110409259796, + 0.6746196150779724, + 0.7344713807106018, + -0.051398102194070816 + ], + "joints": [ + 0.011858529411256313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12089832872152328, + 0.009288189932703972, + 0.002538405591621995 + ], + "orientation": [ + 0.028424352407455444, + 0.6815980076789856, + 0.7303838133811951, + -0.03399442508816719 + ], + "joints": [ + -0.0019699919503182173 + ] + }, + "fine_grasp": { + "position": [ + -0.12103529274463654, + 0.007840120233595371, + 0.003044326789677143 + ], + "orientation": [ + 0.05173258110880852, + 0.6748916506767273, + 0.734049379825592, + -0.05492272973060608 + ], + "joints": [ + 0.00493820384144783 + ] + }, + "final_grasp": { + "position": [ + -0.12103529274463654, + 0.007840120233595371, + 0.003044326789677143 + ], + "orientation": [ + 0.05173258110880852, + 0.6748916506767273, + 0.734049379825592, + -0.05492272973060608 + ], + "joints": [ + 0.011846399866044521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12091965228319168, + 0.00910799391567707, + 0.0024770675227046013 + ], + "orientation": [ + 0.028956402093172073, + 0.6808050274848938, + 0.7310709953308105, + -0.03465823456645012 + ], + "joints": [ + -0.00196844176389277 + ] + }, + "fine_grasp": { + "position": [ + -0.12100683897733688, + 0.007583805825561285, + 0.0029682465828955173 + ], + "orientation": [ + 0.051653988659381866, + 0.6745813488960266, + 0.7343341708183289, + -0.05500149726867676 + ], + "joints": [ + 0.004939754027873278 + ] + }, + "final_grasp": { + "position": [ + -0.12100683897733688, + 0.007583805825561285, + 0.0029682465828955173 + ], + "orientation": [ + 0.051653988659381866, + 0.6745813488960266, + 0.7343341708183289, + -0.05500149726867676 + ], + "joints": [ + 0.011847949586808681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02079091966152191, + -0.10144933313131332, + -0.02974729612469673 + ], + "orientation": [ + 0.9933098554611206, + 0.07118736207485199, + -0.033938366919755936, + 0.08435747027397156 + ], + "joints": [ + -0.0035272384993731976 + ] + }, + "fine_grasp": { + "position": [ + 0.02105235867202282, + -0.10130693763494492, + -0.029695861041545868 + ], + "orientation": [ + 0.9921881556510925, + 0.07353042811155319, + -0.05871985852718353, + 0.08190158754587173 + ], + "joints": [ + 0.002849557437002659 + ] + }, + "final_grasp": { + "position": [ + 0.02105235867202282, + -0.10130693763494492, + -0.029695861041545868 + ], + "orientation": [ + 0.9921881556510925, + 0.07353042811155319, + -0.05871985852718353, + 0.08190158754587173 + ], + "joints": [ + 0.009226353839039803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09546252340078354, + 0.0908694937825203, + -0.03216136619448662 + ], + "orientation": [ + 0.4385952055454254, + -0.016980644315481186, + -0.08460675179958344, + -0.8945320248603821 + ], + "joints": [ + -0.0030869797337800264 + ] + }, + "fine_grasp": { + "position": [ + -0.09412987530231476, + 0.09011811763048172, + -0.032251086086034775 + ], + "orientation": [ + 0.4351220726966858, + -0.028042681515216827, + -0.09005501866340637, + -0.8954175114631653 + ], + "joints": [ + 0.0033163861371576786 + ] + }, + "final_grasp": { + "position": [ + -0.09412987530231476, + 0.09011811763048172, + -0.032251086086034775 + ], + "orientation": [ + 0.4351220726966858, + -0.028042681515216827, + -0.09005501866340637, + -0.8954175114631653 + ], + "joints": [ + 0.00971975177526474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02471661940217018, + -0.09922565519809723, + 0.04168184846639633 + ], + "orientation": [ + 0.034225210547447205, + -0.10644921660423279, + -0.9894141554832458, + 0.09250262379646301 + ], + "joints": [ + -0.004110770300030708 + ] + }, + "fine_grasp": { + "position": [ + -0.02485143393278122, + -0.10065042972564697, + 0.041822705417871475 + ], + "orientation": [ + 0.04700741916894913, + -0.1034139096736908, + -0.989158570766449, + 0.0930657759308815 + ], + "joints": [ + 0.0006983968196436763 + ] + }, + "final_grasp": { + "position": [ + -0.02485143393278122, + -0.10065042972564697, + 0.041822705417871475 + ], + "orientation": [ + 0.04700741916894913, + -0.1034139096736908, + -0.989158570766449, + 0.0930657759308815 + ], + "joints": [ + 0.0055075641721487045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11129651963710785, + -0.024807346984744072, + -0.03894945979118347 + ], + "orientation": [ + 0.8183538317680359, + 0.05604502931237221, + -0.08132179826498032, + -0.5661649703979492 + ], + "joints": [ + -0.0025665208231657743 + ] + }, + "fine_grasp": { + "position": [ + -0.11259710043668747, + -0.026520971208810806, + -0.0380130261182785 + ], + "orientation": [ + 0.8194330930709839, + 0.04499374330043793, + -0.09641808271408081, + -0.5632126331329346 + ], + "joints": [ + 0.0038368450477719307 + ] + }, + "final_grasp": { + "position": [ + -0.11259710043668747, + -0.026520971208810806, + -0.0380130261182785 + ], + "orientation": [ + 0.8194330930709839, + 0.04499374330043793, + -0.09641808271408081, + -0.5632126331329346 + ], + "joints": [ + 0.01024021115154028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07832485437393188, + -0.07499684393405914, + 0.005743001122027636 + ], + "orientation": [ + 0.9377894401550293, + -0.00539912935346365, + -0.04742980748414993, + 0.3439074456691742 + ], + "joints": [ + -0.003458404913544655 + ] + }, + "fine_grasp": { + "position": [ + 0.07772383838891983, + -0.07565745711326599, + 0.0045578028075397015 + ], + "orientation": [ + 0.937678873538971, + 0.0062578218057751656, + -0.07399272173643112, + 0.3394765257835388 + ], + "joints": [ + 0.0029449607245624065 + ] + }, + "final_grasp": { + "position": [ + 0.07772383838891983, + -0.07565745711326599, + 0.0045578028075397015 + ], + "orientation": [ + 0.937678873538971, + 0.0062578218057751656, + -0.07399272173643112, + 0.3394765257835388 + ], + "joints": [ + 0.009348326362669468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12047001719474792, + 0.0013177740620449185, + -0.0011069796746596694 + ], + "orientation": [ + 0.035606302320957184, + 0.6574340462684631, + 0.7522678971290588, + -0.024613678455352783 + ], + "joints": [ + -0.0018147081136703491 + ] + }, + "fine_grasp": { + "position": [ + -0.12068330496549606, + 0.0010799658484756947, + -0.0003390316851437092 + ], + "orientation": [ + 0.06034982576966286, + 0.6549862027168274, + 0.7517024874687195, + -0.04789925739169121 + ], + "joints": [ + 0.004588657524436712 + ] + }, + "final_grasp": { + "position": [ + -0.12068330496549606, + 0.0010799658484756947, + -0.0003390316851437092 + ], + "orientation": [ + 0.06034982576966286, + 0.6549862027168274, + 0.7517024874687195, + -0.04789925739169121 + ], + "joints": [ + 0.010992023162543774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1195106953382492, + 0.020431000739336014, + -0.03480326756834984 + ], + "orientation": [ + 0.6947736740112305, + 0.03637949749827385, + -0.08502160012722015, + -0.7132582664489746 + ], + "joints": [ + -0.001817129086703062 + ] + }, + "fine_grasp": { + "position": [ + -0.11903419345617294, + 0.02059243433177471, + -0.03464221581816673 + ], + "orientation": [ + 0.6918298006057739, + 0.025606881827116013, + -0.09892930090427399, + -0.7147928476333618 + ], + "joints": [ + 0.004054836928844452 + ] + }, + "final_grasp": { + "position": [ + -0.11903419345617294, + 0.02059243433177471, + -0.03464221581816673 + ], + "orientation": [ + 0.6918298006057739, + 0.025606881827116013, + -0.09892930090427399, + -0.7147928476333618 + ], + "joints": [ + 0.009926803410053253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11675699800252914, + 0.04914996400475502, + -0.02112836018204689 + ], + "orientation": [ + 0.6061078906059265, + -0.00336215877905488, + -0.06559590250253677, + -0.7926658987998962 + ], + "joints": [ + -0.0020721035543829203 + ] + }, + "fine_grasp": { + "position": [ + -0.11630304157733917, + 0.048809729516506195, + -0.02114064432680607 + ], + "orientation": [ + 0.6039258241653442, + -0.019065774977207184, + -0.07686922699213028, + -0.7930960655212402 + ], + "joints": [ + 0.004331262316554785 + ] + }, + "final_grasp": { + "position": [ + -0.11630304157733917, + 0.048809729516506195, + -0.02114064432680607 + ], + "orientation": [ + 0.6039258241653442, + -0.019065774977207184, + -0.07686922699213028, + -0.7930960655212402 + ], + "joints": [ + 0.010734627954661846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04765975847840309, + 0.11930716782808304, + 0.1009499803185463 + ], + "orientation": [ + 0.1708313524723053, + -0.9608046412467957, + -0.21444684267044067, + 0.04103332757949829 + ], + "joints": [ + -0.0039918078109622 + ] + }, + "fine_grasp": { + "position": [ + -0.04858527332544327, + 0.12057789415121078, + 0.10103103518486023 + ], + "orientation": [ + 0.17760315537452698, + -0.9596702456474304, + -0.21432991325855255, + 0.03940577805042267 + ], + "joints": [ + 0.0019067280227318406 + ] + }, + "final_grasp": { + "position": [ + -0.04858527332544327, + 0.12057789415121078, + 0.10103103518486023 + ], + "orientation": [ + 0.17760315537452698, + -0.9596702456474304, + -0.21432991325855255, + 0.03940577805042267 + ], + "joints": [ + 0.007805263623595238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11943663656711578, + 0.020870773121714592, + -0.03421750292181969 + ], + "orientation": [ + 0.693325936794281, + 0.03337710723280907, + -0.08611854910850525, + -0.7146808505058289 + ], + "joints": [ + -0.001882457872852683 + ] + }, + "fine_grasp": { + "position": [ + -0.11893989890813828, + 0.021157287061214447, + -0.034114643931388855 + ], + "orientation": [ + 0.6901394724845886, + 0.021946167573332787, + -0.10002367943525314, + -0.7163946628570557 + ], + "joints": [ + 0.0039895083755254745 + ] + }, + "final_grasp": { + "position": [ + -0.11893989890813828, + 0.021157287061214447, + -0.034114643931388855 + ], + "orientation": [ + 0.6901394724845886, + 0.021946167573332787, + -0.10002367943525314, + -0.7163946628570557 + ], + "joints": [ + 0.009861474856734276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09559869766235352, + -0.05701255053281784, + -0.00012931118544656783 + ], + "orientation": [ + 0.040916189551353455, + 0.4377710521221161, + 0.8979164958000183, + -0.02069397084414959 + ], + "joints": [ + -0.0029670214280486107 + ] + }, + "fine_grasp": { + "position": [ + -0.09334325790405273, + -0.057406701147556305, + 0.0010646480368450284 + ], + "orientation": [ + 0.0596645213663578, + 0.42834147810935974, + 0.9008446931838989, + -0.03798124939203262 + ], + "joints": [ + 0.0034363442100584507 + ] + }, + "final_grasp": { + "position": [ + -0.09334325790405273, + -0.057406701147556305, + 0.0010646480368450284 + ], + "orientation": [ + 0.0596645213663578, + 0.42834147810935974, + 0.9008446931838989, + -0.03798124939203262 + ], + "joints": [ + 0.009839709848165512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08845986425876617, + -0.06337875127792358, + -0.01992889866232872 + ], + "orientation": [ + 0.07418903708457947, + 0.4037451446056366, + 0.9108129143714905, + 0.04365263134241104 + ], + "joints": [ + -0.003269574837759137 + ] + }, + "fine_grasp": { + "position": [ + -0.08815044164657593, + -0.06401443481445312, + -0.018781082704663277 + ], + "orientation": [ + 0.09170642495155334, + 0.3996342718601227, + 0.9114846587181091, + 0.032835934311151505 + ], + "joints": [ + 0.0031337908003479242 + ] + }, + "final_grasp": { + "position": [ + -0.08815044164657593, + -0.06401443481445312, + -0.018781082704663277 + ], + "orientation": [ + 0.09170642495155334, + 0.3996342718601227, + 0.9114846587181091, + 0.032835934311151505 + ], + "joints": [ + 0.00953715667128563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04055323079228401, + 0.13036496937274933, + -0.039510276168584824 + ], + "orientation": [ + 0.1660843938589096, + -0.041763775050640106, + -0.10887175053358078, + -0.9791929125785828 + ], + "joints": [ + -0.0036360598169267178 + ] + }, + "fine_grasp": { + "position": [ + -0.04104868322610855, + 0.13104137778282166, + -0.03942351043224335 + ], + "orientation": [ + 0.16325858235359192, + -0.0625053197145462, + -0.11205732077360153, + -0.9782039523124695 + ], + "joints": [ + 0.0027673058211803436 + ] + }, + "final_grasp": { + "position": [ + -0.04104868322610855, + 0.13104137778282166, + -0.03942351043224335 + ], + "orientation": [ + 0.16325858235359192, + -0.0625053197145462, + -0.11205732077360153, + -0.9782039523124695 + ], + "joints": [ + 0.009170671924948692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11967349797487259, + 0.006947041489183903, + 0.02107064425945282 + ], + "orientation": [ + 0.7334842681884766, + -0.016574807465076447, + -0.08034465461969376, + 0.6747374534606934 + ], + "joints": [ + -0.0020039959345012903 + ] + }, + "fine_grasp": { + "position": [ + 0.11947034299373627, + 0.006932130083441734, + 0.020225122570991516 + ], + "orientation": [ + 0.7330132722854614, + -0.0005157047417014837, + -0.0966665968298912, + 0.6733102798461914 + ], + "joints": [ + 0.0038945400156080723 + ] + }, + "final_grasp": { + "position": [ + 0.11947034299373627, + 0.006932130083441734, + 0.020225122570991516 + ], + "orientation": [ + 0.7330132722854614, + -0.0005157047417014837, + -0.0966665968298912, + 0.6733102798461914 + ], + "joints": [ + 0.009793075732886791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06440867483615875, + -0.08471927791833878, + 0.011724120005965233 + ], + "orientation": [ + 0.06733403354883194, + -0.277715265750885, + 0.9578959345817566, + -0.027851762250065804 + ], + "joints": [ + -0.0032931372988969088 + ] + }, + "fine_grasp": { + "position": [ + 0.0641724020242691, + -0.08552408218383789, + 0.010747167281806469 + ], + "orientation": [ + 0.0881788432598114, + -0.2755899131298065, + 0.9569854736328125, + -0.021298782899975777 + ], + "joints": [ + 0.0031102283392101526 + ] + }, + "final_grasp": { + "position": [ + 0.0641724020242691, + -0.08552408218383789, + 0.010747167281806469 + ], + "orientation": [ + 0.0881788432598114, + -0.2755899131298065, + 0.9569854736328125, + -0.021298782899975777 + ], + "joints": [ + 0.009513594210147858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0476510189473629, + -0.09089185297489166, + -0.04345700517296791 + ], + "orientation": [ + 0.030121710151433945, + -0.1971626728773117, + 0.971316397190094, + 0.1294756382703781 + ], + "joints": [ + -0.003779159625992179 + ] + }, + "fine_grasp": { + "position": [ + 0.04820198565721512, + -0.09217721968889236, + -0.04306413233280182 + ], + "orientation": [ + 0.055106475949287415, + -0.19284997880458832, + 0.9705069065093994, + 0.13374780118465424 + ], + "joints": [ + 0.0026242060121148825 + ] + }, + "final_grasp": { + "position": [ + 0.04820198565721512, + -0.09217721968889236, + -0.04306413233280182 + ], + "orientation": [ + 0.055106475949287415, + -0.19284997880458832, + 0.9705069065093994, + 0.13374780118465424 + ], + "joints": [ + 0.0090275714173913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01479638833552599, + 0.03020966611802578, + -0.20351019501686096 + ], + "orientation": [ + 0.08304004371166229, + 0.15231196582317352, + 0.6362335681915283, + 0.7517395615577698 + ], + "joints": [ + -0.0036311298608779907 + ] + }, + "fine_grasp": { + "position": [ + -0.013749518431723118, + 0.03047366440296173, + -0.1981319785118103 + ], + "orientation": [ + 0.08267321437597275, + 0.15323102474212646, + 0.6434162259101868, + 0.7454535961151123 + ], + "joints": [ + 0.00016837770817801356 + ] + }, + "final_grasp": { + "position": [ + -0.013749518431723118, + 0.03047366440296173, + -0.1981319785118103 + ], + "orientation": [ + 0.08267321437597275, + 0.15323102474212646, + 0.6434162259101868, + 0.7454535961151123 + ], + "joints": [ + 0.00396788539364934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012478613294661045, + 0.13817943632602692, + -0.021717092022299767 + ], + "orientation": [ + 0.05358036607503891, + 0.9960341453552246, + -0.05380288138985634, + -0.046373702585697174 + ], + "joints": [ + -0.0038624180015176535 + ] + }, + "fine_grasp": { + "position": [ + 0.011996520683169365, + 0.13828949630260468, + -0.021435212343931198 + ], + "orientation": [ + 0.05290219560265541, + 0.9945003390312195, + -0.05353386700153351, + -0.07283312827348709 + ], + "joints": [ + 0.002540947636589408 + ] + }, + "final_grasp": { + "position": [ + 0.011996520683169365, + 0.13828949630260468, + -0.021435212343931198 + ], + "orientation": [ + 0.05290219560265541, + 0.9945003390312195, + -0.05353386700153351, + -0.07283312827348709 + ], + "joints": [ + 0.008944313041865826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012440378777682781, + 0.13799794018268585, + -0.022316396236419678 + ], + "orientation": [ + 0.05989448353648186, + 0.9957043528556824, + -0.05428442731499672, + -0.045151472091674805 + ], + "joints": [ + -0.003851275658234954 + ] + }, + "fine_grasp": { + "position": [ + 0.011948997154831886, + 0.1376912146806717, + -0.021967947483062744 + ], + "orientation": [ + 0.05898198485374451, + 0.9942308068275452, + -0.054000891745090485, + -0.07148511707782745 + ], + "joints": [ + 0.0025255202781409025 + ] + }, + "final_grasp": { + "position": [ + 0.011948997154831886, + 0.1376912146806717, + -0.021967947483062744 + ], + "orientation": [ + 0.05898198485374451, + 0.9942308068275452, + -0.054000891745090485, + -0.07148511707782745 + ], + "joints": [ + 0.008902315981686115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11835943907499313, + -0.007525240071117878, + -0.019005030393600464 + ], + "orientation": [ + 0.06242906302213669, + 0.6293107867240906, + 0.7745890617370605, + 0.009074038825929165 + ], + "joints": [ + -0.0018454252276569605 + ] + }, + "fine_grasp": { + "position": [ + -0.11738336831331253, + -0.008473074994981289, + -0.01778377592563629 + ], + "orientation": [ + 0.07911129295825958, + 0.6238036751747131, + 0.7774853110313416, + -0.011272715404629707 + ], + "joints": [ + 0.004026541020721197 + ] + }, + "final_grasp": { + "position": [ + -0.11738336831331253, + -0.008473074994981289, + -0.01778377592563629 + ], + "orientation": [ + 0.07911129295825958, + 0.6238036751747131, + 0.7774853110313416, + -0.011272715404629707 + ], + "joints": [ + 0.009898507036268711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0199853777885437, + 0.1376097947359085, + 0.007085499353706837 + ], + "orientation": [ + 0.017881251871585846, + -0.9954005479812622, + -0.08268358558416367, + 0.04496002569794655 + ], + "joints": [ + -0.003691676538437605 + ] + }, + "fine_grasp": { + "position": [ + -0.019302373751997948, + 0.13688267767429352, + 0.006871309597045183 + ], + "orientation": [ + 0.016103358939290047, + -0.9937258958816528, + -0.08150457590818405, + 0.07487723976373672 + ], + "joints": [ + 0.0026851193979382515 + ] + }, + "final_grasp": { + "position": [ + -0.019302373751997948, + 0.13688267767429352, + 0.006871309597045183 + ], + "orientation": [ + 0.016103358939290047, + -0.9937258958816528, + -0.08150457590818405, + 0.07487723976373672 + ], + "joints": [ + 0.009061915799975395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11307322233915329, + 0.06268787384033203, + 0.0011017578653991222 + ], + "orientation": [ + 0.5615569949150085, + -0.04575692117214203, + -0.017414454370737076, + -0.8259883522987366 + ], + "joints": [ + -0.002354456577450037 + ] + }, + "fine_grasp": { + "position": [ + -0.11291339993476868, + 0.06254760921001434, + 0.00011037271906388924 + ], + "orientation": [ + 0.5598070025444031, + -0.06944096088409424, + -0.0355212427675724, + -0.8249439001083374 + ], + "joints": [ + 0.004048909060657024 + ] + }, + "final_grasp": { + "position": [ + -0.11291339993476868, + 0.06254760921001434, + 0.00011037271906388924 + ], + "orientation": [ + 0.5598070025444031, + -0.06944096088409424, + -0.0355212427675724, + -0.8249439001083374 + ], + "joints": [ + 0.010452274233102798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1130695641040802, + -0.02675747312605381, + -0.0053037977777421474 + ], + "orientation": [ + 0.8253037333488464, + 0.03704380989074707, + -0.03754851967096329, + 0.5622202157974243 + ], + "joints": [ + -0.0024046082980930805 + ] + }, + "fine_grasp": { + "position": [ + 0.11253587156534195, + -0.02642117626965046, + -0.005950411316007376 + ], + "orientation": [ + 0.8248564600944519, + 0.0530349463224411, + -0.060127705335617065, + 0.5596283078193665 + ], + "joints": [ + 0.003998757340013981 + ] + }, + "final_grasp": { + "position": [ + 0.11253587156534195, + -0.02642117626965046, + -0.005950411316007376 + ], + "orientation": [ + 0.8248564600944519, + 0.0530349463224411, + -0.060127705335617065, + 0.5596283078193665 + ], + "joints": [ + 0.010402122512459755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09188130497932434, + 0.09752500802278519, + -0.003414491191506386 + ], + "orientation": [ + 0.4137820899486542, + -0.0390251986682415, + -0.03628922998905182, + -0.9088148474693298 + ], + "joints": [ + -0.0027588633820414543 + ] + }, + "fine_grasp": { + "position": [ + -0.09124261885881424, + 0.09729261696338654, + -0.004347792360931635 + ], + "orientation": [ + 0.4108140468597412, + -0.06476639211177826, + -0.04992908984422684, + -0.9080442190170288 + ], + "joints": [ + 0.003617932554334402 + ] + }, + "final_grasp": { + "position": [ + -0.09124261885881424, + 0.09729261696338654, + -0.004347792360931635 + ], + "orientation": [ + 0.4108140468597412, + -0.06476639211177826, + -0.04992908984422684, + -0.9080442190170288 + ], + "joints": [ + 0.009994728490710258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11860451847314835, + -0.007657073438167572, + -0.019758928567171097 + ], + "orientation": [ + 0.05986404791474342, + 0.6290764212608337, + 0.7750338912010193, + 0.0013069728156551719 + ], + "joints": [ + -0.0018508539069443941 + ] + }, + "fine_grasp": { + "position": [ + -0.11758100241422653, + -0.008443820290267467, + -0.01854581944644451 + ], + "orientation": [ + 0.07568664848804474, + 0.6237838864326477, + 0.7776973247528076, + -0.018761150538921356 + ], + "joints": [ + 0.0040211123414337635 + ] + }, + "final_grasp": { + "position": [ + -0.11758100241422653, + -0.008443820290267467, + -0.01854581944644451 + ], + "orientation": [ + 0.07568664848804474, + 0.6237838864326477, + 0.7776973247528076, + -0.018761150538921356 + ], + "joints": [ + 0.009893078356981277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11819092184305191, + -0.007838268764317036, + -0.019388824701309204 + ], + "orientation": [ + 0.0643143504858017, + 0.6283385157585144, + 0.7751941680908203, + 0.011336229741573334 + ], + "joints": [ + -0.0021461700089275837 + ] + }, + "fine_grasp": { + "position": [ + -0.11719893664121628, + -0.008760887198150158, + -0.01822345331311226 + ], + "orientation": [ + 0.08100925385951996, + 0.6226394176483154, + 0.7782579660415649, + -0.008486139588057995 + ], + "joints": [ + 0.0037523657083511353 + ] + }, + "final_grasp": { + "position": [ + -0.11719893664121628, + -0.008760887198150158, + -0.01822345331311226 + ], + "orientation": [ + 0.08100925385951996, + 0.6226394176483154, + 0.7782579660415649, + -0.008486139588057995 + ], + "joints": [ + 0.009650900959968567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04059124365448952, + 0.13039958477020264, + -0.03947485238313675 + ], + "orientation": [ + 0.16647371649742126, + -0.042405277490615845, + -0.10822251439094543, + -0.9791712164878845 + ], + "joints": [ + -0.003862412180751562 + ] + }, + "fine_grasp": { + "position": [ + -0.041111402213573456, + 0.13107936084270477, + -0.039378173649311066 + ], + "orientation": [ + 0.16385836899280548, + -0.06395471841096878, + -0.11126203835010529, + -0.9781006574630737 + ], + "joints": [ + 0.0025409534573554993 + ] + }, + "final_grasp": { + "position": [ + -0.041111402213573456, + 0.13107936084270477, + -0.039378173649311066 + ], + "orientation": [ + 0.16385836899280548, + -0.06395471841096878, + -0.11126203835010529, + -0.9781006574630737 + ], + "joints": [ + 0.008944319561123848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11821836233139038, + 0.03532133251428604, + 0.03345620632171631 + ], + "orientation": [ + 0.08759953826665878, + -0.7558322548866272, + 0.648505687713623, + -0.022006981074810028 + ], + "joints": [ + -0.0020258037839084864 + ] + }, + "fine_grasp": { + "position": [ + 0.1175413504242897, + 0.034684810787439346, + 0.03242979943752289 + ], + "orientation": [ + 0.0965823158621788, + -0.7549704909324646, + 0.6485792398452759, + -0.006017965264618397 + ], + "joints": [ + 0.0038727321662008762 + ] + }, + "final_grasp": { + "position": [ + 0.1175413504242897, + 0.034684810787439346, + 0.03242979943752289 + ], + "orientation": [ + 0.0965823158621788, + -0.7549704909324646, + 0.6485792398452759, + -0.006017965264618397 + ], + "joints": [ + 0.009771267883479595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09144467860460281, + 0.09799423813819885, + -0.0037812734954059124 + ], + "orientation": [ + 0.41130128502845764, + -0.038615334779024124, + -0.037910494953393936, + -0.9098917841911316 + ], + "joints": [ + -0.002758859656751156 + ] + }, + "fine_grasp": { + "position": [ + -0.09087761491537094, + 0.09768287092447281, + -0.004753452260047197 + ], + "orientation": [ + 0.4083700478076935, + -0.06334681063890457, + -0.05131934955716133, + -0.9091686010360718 + ], + "joints": [ + 0.0036179362796247005 + ] + }, + "final_grasp": { + "position": [ + -0.09087761491537094, + 0.09768287092447281, + -0.004753452260047197 + ], + "orientation": [ + 0.4083700478076935, + -0.06334681063890457, + -0.05131934955716133, + -0.9091686010360718 + ], + "joints": [ + 0.009994732216000557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09923074394464493, + 0.08524226397275925, + -0.0044256034307181835 + ], + "orientation": [ + 0.4672750234603882, + 0.045028071850538254, + -0.008910495787858963, + 0.8829196691513062 + ], + "joints": [ + -0.002680764300748706 + ] + }, + "fine_grasp": { + "position": [ + 0.0981888398528099, + 0.08551011979579926, + -0.0029172298964112997 + ], + "orientation": [ + 0.4620731770992279, + 0.06258434057235718, + -0.024159027263522148, + 0.884300708770752 + ], + "joints": [ + 0.0031912019476294518 + ] + }, + "final_grasp": { + "position": [ + 0.0981888398528099, + 0.08551011979579926, + -0.0029172298964112997 + ], + "orientation": [ + 0.4620731770992279, + 0.06258434057235718, + -0.024159027263522148, + 0.884300708770752 + ], + "joints": [ + 0.009063168428838253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11851816624403, + -0.007719298359006643, + -0.019911041483283043 + ], + "orientation": [ + 0.06231109797954559, + 0.6289489269256592, + 0.7749383449554443, + 0.0033361907117068768 + ], + "joints": [ + -0.0021461700089275837 + ] + }, + "fine_grasp": { + "position": [ + -0.11743496358394623, + -0.00839265901595354, + -0.01866358146071434 + ], + "orientation": [ + 0.07773660868406296, + 0.6236450672149658, + 0.7776572704315186, + -0.016522523015737534 + ], + "joints": [ + 0.0037523657083511353 + ] + }, + "final_grasp": { + "position": [ + -0.11743496358394623, + -0.00839265901595354, + -0.01866358146071434 + ], + "orientation": [ + 0.07773660868406296, + 0.6236450672149658, + 0.7776572704315186, + -0.016522523015737534 + ], + "joints": [ + 0.009650900959968567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05612534284591675, + 0.12319403141736984, + 0.05580723658204079 + ], + "orientation": [ + 0.23937907814979553, + -0.0022486604284495115, + 0.11978023499250412, + -0.9635068774223328 + ], + "joints": [ + -0.003843235783278942 + ] + }, + "fine_grasp": { + "position": [ + -0.05581991374492645, + 0.12310342490673065, + 0.056241173297166824 + ], + "orientation": [ + 0.23881560564041138, + -0.007864364422857761, + 0.12039990723133087, + -0.9635399580001831 + ], + "joints": [ + 0.0014707609079778194 + ] + }, + "final_grasp": { + "position": [ + -0.05581991374492645, + 0.12310342490673065, + 0.056241173297166824 + ], + "orientation": [ + 0.23881560564041138, + -0.007864364422857761, + 0.12039990723133087, + -0.9635399580001831 + ], + "joints": [ + 0.006784757599234581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09748880565166473, + 0.08741004019975662, + 0.027423135936260223 + ], + "orientation": [ + 0.0791698470711708, + -0.8874241709709167, + 0.45400670170783997, + 0.009401724673807621 + ], + "joints": [ + -0.002997832139953971 + ] + }, + "fine_grasp": { + "position": [ + 0.09593643993139267, + 0.08691977709531784, + 0.02776964195072651 + ], + "orientation": [ + 0.08914400637149811, + -0.8887479901313782, + 0.44908517599105835, + 0.022426212206482887 + ], + "joints": [ + 0.003405533730983734 + ] + }, + "final_grasp": { + "position": [ + 0.09593643993139267, + 0.08691977709531784, + 0.02776964195072651 + ], + "orientation": [ + 0.08914400637149811, + -0.8887479901313782, + 0.44908517599105835, + 0.022426212206482887 + ], + "joints": [ + 0.009808899834752083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1129627376794815, + -0.02699706330895424, + -0.0055463421158492565 + ], + "orientation": [ + 0.8260669708251953, + 0.040481697767972946, + -0.03539157286286354, + 0.5610010623931885 + ], + "joints": [ + -0.002123974496498704 + ] + }, + "fine_grasp": { + "position": [ + 0.1123700886964798, + -0.026654833927750587, + -0.0061276075430214405 + ], + "orientation": [ + 0.8257810473442078, + 0.05649283155798912, + -0.0581653006374836, + 0.558131754398346 + ], + "joints": [ + 0.0037479917518794537 + ] + }, + "final_grasp": { + "position": [ + 0.1123700886964798, + -0.026654833927750587, + -0.0061276075430214405 + ], + "orientation": [ + 0.8257810473442078, + 0.05649283155798912, + -0.0581653006374836, + 0.558131754398346 + ], + "joints": [ + 0.009619957767426968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11852017045021057, + -0.007630639243870974, + -0.019587725400924683 + ], + "orientation": [ + 0.062108881771564484, + 0.629229724407196, + 0.7747239470481873, + 0.003904605284333229 + ], + "joints": [ + -0.0021461700089275837 + ] + }, + "fine_grasp": { + "position": [ + -0.11745375394821167, + -0.008330769836902618, + -0.018283510580658913 + ], + "orientation": [ + 0.07806485146284103, + 0.6238375902175903, + 0.7774680852890015, + -0.01660810597240925 + ], + "joints": [ + 0.0037523657083511353 + ] + }, + "final_grasp": { + "position": [ + -0.11745375394821167, + -0.008330769836902618, + -0.018283510580658913 + ], + "orientation": [ + 0.07806485146284103, + 0.6238375902175903, + 0.7774680852890015, + -0.01660810597240925 + ], + "joints": [ + 0.009650900959968567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09112686663866043, + 0.09828466176986694, + -0.0037704280111938715 + ], + "orientation": [ + 0.40964576601982117, + -0.03906427323818207, + -0.03836222365498543, + -0.9106003046035767 + ], + "joints": [ + -0.0027931975200772285 + ] + }, + "fine_grasp": { + "position": [ + -0.09036954492330551, + 0.09776103496551514, + -0.0045803990215063095 + ], + "orientation": [ + 0.4071314036846161, + -0.06344055384397507, + -0.051307760179042816, + -0.9097180962562561 + ], + "joints": [ + 0.003583598416298628 + ] + }, + "final_grasp": { + "position": [ + -0.09036954492330551, + 0.09776103496551514, + -0.0045803990215063095 + ], + "orientation": [ + 0.4071314036846161, + -0.06344055384397507, + -0.051307760179042816, + -0.9097180962562561 + ], + "joints": [ + 0.009960394352674484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10048261284828186, + 0.08282406628131866, + 0.02724539116024971 + ], + "orientation": [ + 0.0935283750295639, + -0.8763096928596497, + 0.47223731875419617, + 0.018042949959635735 + ], + "joints": [ + -0.0027534393593668938 + ] + }, + "fine_grasp": { + "position": [ + 0.09994993358850479, + 0.08202985674142838, + 0.026756349951028824 + ], + "orientation": [ + 0.09782140702009201, + -0.8756551146507263, + 0.4717569351196289, + 0.03323214501142502 + ], + "joints": [ + 0.0036499262787401676 + ] + }, + "final_grasp": { + "position": [ + 0.09994993358850479, + 0.08202985674142838, + 0.026756349951028824 + ], + "orientation": [ + 0.09782140702009201, + -0.8756551146507263, + 0.4717569351196289, + 0.03323214501142502 + ], + "joints": [ + 0.010053291916847229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030931837856769562, + 0.13477608561515808, + 0.017716974020004272 + ], + "orientation": [ + 0.13268890976905823, + -0.06838078796863556, + 0.06395126134157181, + -0.986725926399231 + ], + "joints": [ + -0.004001083318144083 + ] + }, + "fine_grasp": { + "position": [ + -0.030679112300276756, + 0.13483822345733643, + 0.016734080389142036 + ], + "orientation": [ + 0.13140355050563812, + -0.08754541724920273, + 0.05874396488070488, + -0.9857069253921509 + ], + "joints": [ + 0.0024022823199629784 + ] + }, + "final_grasp": { + "position": [ + -0.030679112300276756, + 0.13483822345733643, + 0.016734080389142036 + ], + "orientation": [ + 0.13140355050563812, + -0.08754541724920273, + 0.05874396488070488, + -0.9857069253921509 + ], + "joints": [ + 0.008805647492408752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02458605356514454, + -0.09927719831466675, + 0.04317986220121384 + ], + "orientation": [ + 0.032827846705913544, + -0.10604795068502426, + -0.989744246006012, + 0.08990351110696793 + ], + "joints": [ + -0.0037344424054026604 + ] + }, + "fine_grasp": { + "position": [ + -0.024959146976470947, + -0.10080737620592117, + 0.043349578976631165 + ], + "orientation": [ + 0.0474051758646965, + -0.10309838503599167, + -0.9894354343414307, + 0.0902274027466774 + ], + "joints": [ + 0.0010747247142717242 + ] + }, + "final_grasp": { + "position": [ + -0.024959146976470947, + -0.10080737620592117, + 0.043349578976631165 + ], + "orientation": [ + 0.0474051758646965, + -0.10309838503599167, + -0.9894354343414307, + 0.0902274027466774 + ], + "joints": [ + 0.0058838920667767525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12013421952724457, + 0.007893783040344715, + -0.013083826750516891 + ], + "orientation": [ + 0.0029099564999341965, + -0.6747666001319885, + 0.7354347109794617, + 0.06178547814488411 + ], + "joints": [ + -0.0018016640096902847 + ] + }, + "fine_grasp": { + "position": [ + 0.12010972946882248, + 0.007842515595257282, + -0.012401626445353031 + ], + "orientation": [ + 0.028566163033246994, + -0.673633337020874, + 0.7342380881309509, + 0.07935088872909546 + ], + "joints": [ + 0.004070302005857229 + ] + }, + "final_grasp": { + "position": [ + 0.12010972946882248, + 0.007842515595257282, + -0.012401626445353031 + ], + "orientation": [ + 0.028566163033246994, + -0.673633337020874, + 0.7342380881309509, + 0.07935088872909546 + ], + "joints": [ + 0.009942268021404743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10067186504602432, + 0.08263564854860306, + 0.026542190462350845 + ], + "orientation": [ + 0.09309408068656921, + -0.8758094906806946, + 0.47326311469078064, + 0.017696961760520935 + ], + "joints": [ + -0.00272081489674747 + ] + }, + "fine_grasp": { + "position": [ + 0.09996789693832397, + 0.08210380375385284, + 0.025989795103669167 + ], + "orientation": [ + 0.09808643907308578, + -0.8754671812057495, + 0.47192615270614624, + 0.03495563194155693 + ], + "joints": [ + 0.003682550974190235 + ] + }, + "final_grasp": { + "position": [ + 0.09996789693832397, + 0.08210380375385284, + 0.025989795103669167 + ], + "orientation": [ + 0.09808643907308578, + -0.8754671812057495, + 0.47192615270614624, + 0.03495563194155693 + ], + "joints": [ + 0.010085917077958584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012662927620112896, + 0.13939377665519714, + 0.012864897958934307 + ], + "orientation": [ + 0.016675809398293495, + -0.9972579479217529, + 0.05157865211367607, + 0.05038012936711311 + ], + "joints": [ + -0.004010141361504793 + ] + }, + "fine_grasp": { + "position": [ + 0.012633051723241806, + 0.13923487067222595, + 0.013124871999025345 + ], + "orientation": [ + 0.01868317648768425, + -0.9950333833694458, + 0.050458308309316635, + 0.08374632149934769 + ], + "joints": [ + 0.0023932242766022682 + ] + }, + "final_grasp": { + "position": [ + 0.012633051723241806, + 0.13923487067222595, + 0.013124871999025345 + ], + "orientation": [ + 0.01868317648768425, + -0.9950333833694458, + 0.050458308309316635, + 0.08374632149934769 + ], + "joints": [ + 0.008796589449048042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0012555908178910613, + 0.139789879322052, + 0.00808807834982872 + ], + "orientation": [ + 0.03223361074924469, + -0.9983993172645569, + -0.006059957668185234, + 0.046076178550720215 + ], + "joints": [ + -0.0039063673466444016 + ] + }, + "fine_grasp": { + "position": [ + -0.0011780125787481666, + 0.1403050720691681, + 0.007814526557922363 + ], + "orientation": [ + 0.032220643013715744, + -0.9965004920959473, + -0.007219064515084028, + 0.07678800821304321 + ], + "joints": [ + 0.00249699829146266 + ] + }, + "final_grasp": { + "position": [ + -0.0011780125787481666, + 0.1403050720691681, + 0.007814526557922363 + ], + "orientation": [ + 0.032220643013715744, + -0.9965004920959473, + -0.007219064515084028, + 0.07678800821304321 + ], + "joints": [ + 0.008900363929569721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11910583823919296, + 0.025513997301459312, + -0.03685145080089569 + ], + "orientation": [ + 0.6779276728630066, + 0.036201197654008865, + -0.09728201478719711, + -0.7277635931968689 + ], + "joints": [ + -0.0017454377375543118 + ] + }, + "fine_grasp": { + "position": [ + -0.12030970305204391, + 0.025012541562318802, + -0.036609139293432236 + ], + "orientation": [ + 0.6765755414962769, + 0.021279599517583847, + -0.11093080043792725, + -0.7276585698127747 + ], + "joints": [ + 0.004631358198821545 + ] + }, + "final_grasp": { + "position": [ + -0.12030970305204391, + 0.025012541562318802, + -0.036609139293432236 + ], + "orientation": [ + 0.6765755414962769, + 0.021279599517583847, + -0.11093080043792725, + -0.7276585698127747 + ], + "joints": [ + 0.011008154600858688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03182559087872505, + 0.13474196195602417, + 0.015615337528288364 + ], + "orientation": [ + 0.12832388281822205, + 0.04701162874698639, + -0.0721253976225853, + 0.987988293170929 + ], + "joints": [ + -0.004001083318144083 + ] + }, + "fine_grasp": { + "position": [ + 0.03245440125465393, + 0.13463899493217468, + 0.015498334541916847 + ], + "orientation": [ + 0.12856099009513855, + 0.07142677158117294, + -0.07605116069316864, + 0.9861981272697449 + ], + "joints": [ + 0.002933681942522526 + ] + }, + "final_grasp": { + "position": [ + 0.03245440125465393, + 0.13463899493217468, + 0.015498334541916847 + ], + "orientation": [ + 0.12856099009513855, + 0.07142677158117294, + -0.07605116069316864, + 0.9861981272697449 + ], + "joints": [ + 0.009868446737527847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12008307874202728, + 0.007184397894889116, + -0.01375143975019455 + ], + "orientation": [ + 0.003548849606886506, + -0.6725009679794312, + 0.7374097108840942, + 0.06290318816900253 + ], + "joints": [ + -0.0018034707754850388 + ] + }, + "fine_grasp": { + "position": [ + 0.1200486421585083, + 0.007106018252670765, + -0.013101693242788315 + ], + "orientation": [ + 0.028604235500097275, + -0.6713005304336548, + 0.7363077998161316, + 0.0799260064959526 + ], + "joints": [ + 0.004068495240062475 + ] + }, + "final_grasp": { + "position": [ + 0.1200486421585083, + 0.007106018252670765, + -0.013101693242788315 + ], + "orientation": [ + 0.028604235500097275, + -0.6713005304336548, + 0.7363077998161316, + 0.0799260064959526 + ], + "joints": [ + 0.00994046125560999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1139681413769722, + -0.02299349196255207, + 0.00429392559453845 + ], + "orientation": [ + 0.05328833684325218, + -0.5750934481620789, + 0.8160195350646973, + 0.023238899186253548 + ], + "joints": [ + -0.0020820966456085443 + ] + }, + "fine_grasp": { + "position": [ + 0.11391216516494751, + -0.023807337507605553, + 0.0032139867544174194 + ], + "orientation": [ + 0.07218225300312042, + -0.5697234869003296, + 0.8176281452178955, + 0.04109809175133705 + ], + "joints": [ + 0.0038164393045008183 + ] + }, + "final_grasp": { + "position": [ + 0.11391216516494751, + -0.023807337507605553, + 0.0032139867544174194 + ], + "orientation": [ + 0.07218225300312042, + -0.5697234869003296, + 0.8176281452178955, + 0.04109809175133705 + ], + "joints": [ + 0.009714975021779537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11981456726789474, + 0.03574672341346741, + -0.012229560874402523 + ], + "orientation": [ + 0.6502145528793335, + -0.01825953833758831, + -0.059177011251449585, + -0.7572224736213684 + ], + "joints": [ + -0.002230972982943058 + ] + }, + "fine_grasp": { + "position": [ + -0.11947564780712128, + 0.036118537187576294, + -0.012036413885653019 + ], + "orientation": [ + 0.6470236778259277, + -0.0377344936132431, + -0.07427500188350677, + -0.7579048275947571 + ], + "joints": [ + 0.004172392655164003 + ] + }, + "final_grasp": { + "position": [ + -0.11947564780712128, + 0.036118537187576294, + -0.012036413885653019 + ], + "orientation": [ + 0.6470236778259277, + -0.0377344936132431, + -0.07427500188350677, + -0.7579048275947571 + ], + "joints": [ + 0.010575758293271065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1151629090309143, + 0.05649009346961975, + -0.004185793921351433 + ], + "orientation": [ + 0.010958893224596977, + -0.8108859062194824, + 0.5835837721824646, + 0.04211707040667534 + ], + "joints": [ + -0.0020320529583841562 + ] + }, + "fine_grasp": { + "position": [ + 0.11437758058309555, + 0.05716037377715111, + -0.0032943757250905037 + ], + "orientation": [ + 0.03160875290632248, + -0.8126125335693359, + 0.5783476829528809, + 0.06462064385414124 + ], + "joints": [ + 0.0038399132899940014 + ] + }, + "final_grasp": { + "position": [ + 0.11437758058309555, + 0.05716037377715111, + -0.0032943757250905037 + ], + "orientation": [ + 0.03160875290632248, + -0.8126125335693359, + 0.5783476829528809, + 0.06462064385414124 + ], + "joints": [ + 0.009711879305541515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10911613702774048, + 0.06764505058526993, + -0.025455499067902565 + ], + "orientation": [ + 0.5365858674049377, + -0.008425555191934109, + -0.08149309456348419, + -0.8398592472076416 + ], + "joints": [ + -0.0025091327261179686 + ] + }, + "fine_grasp": { + "position": [ + -0.10782837122678757, + 0.06751448661088943, + -0.025799933820962906 + ], + "orientation": [ + 0.5323193073272705, + -0.01948070153594017, + -0.09082600474357605, + -0.841431736946106 + ], + "joints": [ + 0.0038942331448197365 + ] + }, + "final_grasp": { + "position": [ + -0.10782837122678757, + 0.06751448661088943, + -0.025799933820962906 + ], + "orientation": [ + 0.5323193073272705, + -0.01948070153594017, + -0.09082600474357605, + -0.841431736946106 + ], + "joints": [ + 0.010297599248588085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0049074203707277775, + 0.1382599174976349, + -0.028135577216744423 + ], + "orientation": [ + 0.024032093584537506, + 0.06120116263628006, + 0.07466766238212585, + 0.9950385093688965 + ], + "joints": [ + -0.00416109012439847 + ] + }, + "fine_grasp": { + "position": [ + 0.00469623226672411, + 0.13898397982120514, + -0.02746930904686451 + ], + "orientation": [ + 0.02479664236307144, + 0.08392434567213058, + 0.07370542734861374, + 0.9934331774711609 + ], + "joints": [ + 0.002773675136268139 + ] + }, + "final_grasp": { + "position": [ + 0.00469623226672411, + 0.13898397982120514, + -0.02746930904686451 + ], + "orientation": [ + 0.02479664236307144, + 0.08392434567213058, + 0.07370542734861374, + 0.9934331774711609 + ], + "joints": [ + 0.00970843993127346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007350643631070852, + 0.13973760604858398, + 0.017381513491272926 + ], + "orientation": [ + 0.011490138247609138, + -0.998444139957428, + -0.030235152691602707, + 0.045422375202178955 + ], + "joints": [ + -0.0039130751974880695 + ] + }, + "fine_grasp": { + "position": [ + -0.007142222486436367, + 0.1397503912448883, + 0.01731344684958458 + ], + "orientation": [ + 0.011185141280293465, + -0.9964247941970825, + -0.030478594824671745, + 0.07799728214740753 + ], + "joints": [ + 0.002490290440618992 + ] + }, + "final_grasp": { + "position": [ + -0.007142222486436367, + 0.1397503912448883, + 0.01731344684958458 + ], + "orientation": [ + 0.011185141280293465, + -0.9964247941970825, + -0.030478594824671745, + 0.07799728214740753 + ], + "joints": [ + 0.008893655613064766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10063769668340683, + 0.08267942816019058, + 0.026961585506796837 + ], + "orientation": [ + 0.0942261591553688, + -0.8757833242416382, + 0.4730566740036011, + 0.018505660817027092 + ], + "joints": [ + -0.0030192022677510977 + ] + }, + "fine_grasp": { + "position": [ + 0.0999535322189331, + 0.08203697204589844, + 0.026471491903066635 + ], + "orientation": [ + 0.09929320216178894, + -0.8753727078437805, + 0.47183841466903687, + 0.03509947285056114 + ], + "joints": [ + 0.0033841636031866074 + ] + }, + "final_grasp": { + "position": [ + 0.0999535322189331, + 0.08203697204589844, + 0.026471491903066635 + ], + "orientation": [ + 0.09929320216178894, + -0.8753727078437805, + 0.47183841466903687, + 0.03509947285056114 + ], + "joints": [ + 0.009787529706954956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1014789342880249, + 0.08048805594444275, + -0.04996512085199356 + ], + "orientation": [ + 0.48691847920417786, + 0.09194484353065491, + 0.08310084789991379, + 0.8646101951599121 + ], + "joints": [ + -0.003041216405108571 + ] + }, + "fine_grasp": { + "position": [ + 0.10122983157634735, + 0.08059778064489365, + -0.048599258065223694 + ], + "orientation": [ + 0.48550742864608765, + 0.10492607951164246, + 0.07614054530858994, + 0.8645667433738708 + ], + "joints": [ + 0.0033621492329984903 + ] + }, + "final_grasp": { + "position": [ + 0.10122983157634735, + 0.08059778064489365, + -0.048599258065223694 + ], + "orientation": [ + 0.48550742864608765, + 0.10492607951164246, + 0.07614054530858994, + 0.8645667433738708 + ], + "joints": [ + 0.009765515103936195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11832709610462189, + 0.03544028475880623, + 0.03336113318800926 + ], + "orientation": [ + 0.08554540574550629, + -0.7562211155891418, + 0.6483941078186035, + -0.01991494745016098 + ], + "joints": [ + -0.002025801921263337 + ] + }, + "fine_grasp": { + "position": [ + 0.11751679331064224, + 0.03473328426480293, + 0.03245505690574646 + ], + "orientation": [ + 0.09574554860591888, + -0.7548912167549133, + 0.6488158702850342, + -0.003137592226266861 + ], + "joints": [ + 0.0038727340288460255 + ] + }, + "final_grasp": { + "position": [ + 0.11751679331064224, + 0.03473328426480293, + 0.03245505690574646 + ], + "orientation": [ + 0.09574554860591888, + -0.7548912167549133, + 0.6488158702850342, + -0.003137592226266861 + ], + "joints": [ + 0.009771269746124744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11796274781227112, + -0.00826318934559822, + 0.012657903134822845 + ], + "orientation": [ + 0.7790842652320862, + -0.07029936462640762, + -0.0009086541831493378, + -0.6229645609855652 + ], + "joints": [ + -0.0018092812970280647 + ] + }, + "fine_grasp": { + "position": [ + -0.11658965051174164, + -0.008433920331299305, + 0.012456616386771202 + ], + "orientation": [ + 0.7798060774803162, + -0.08545614778995514, + -0.018962988629937172, + -0.6198710799217224 + ], + "joints": [ + 0.004062684718519449 + ] + }, + "final_grasp": { + "position": [ + -0.11658965051174164, + -0.008433920331299305, + 0.012456616386771202 + ], + "orientation": [ + 0.7798060774803162, + -0.08545614778995514, + -0.018962988629937172, + -0.6198710799217224 + ], + "joints": [ + 0.009934650734066963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10913614183664322, + 0.06784961372613907, + -0.024820096790790558 + ], + "orientation": [ + 0.5361468195915222, + -0.009944440796971321, + -0.07928947359323502, + -0.840333878993988 + ], + "joints": [ + -0.002510650781914592 + ] + }, + "fine_grasp": { + "position": [ + -0.10797592252492905, + 0.06761997938156128, + -0.025165345519781113 + ], + "orientation": [ + 0.5323470234870911, + -0.022464623674750328, + -0.08964376896619797, + -0.8414666056632996 + ], + "joints": [ + 0.0038927150890231133 + ] + }, + "final_grasp": { + "position": [ + -0.10797592252492905, + 0.06761997938156128, + -0.025165345519781113 + ], + "orientation": [ + 0.5323470234870911, + -0.022464623674750328, + -0.08964376896619797, + -0.8414666056632996 + ], + "joints": [ + 0.010296081192791462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07561568170785904, + 0.10901191085577011, + 0.031893350183963776 + ], + "orientation": [ + 0.3315518796443939, + 0.013018854893743992, + -0.11924886703491211, + 0.9357796907424927 + ], + "joints": [ + -0.0034856870770454407 + ] + }, + "fine_grasp": { + "position": [ + 0.07482997328042984, + 0.10838716477155685, + 0.03116651065647602 + ], + "orientation": [ + 0.32882633805274963, + 0.030882837250828743, + -0.1221701055765152, + 0.9359455108642578 + ], + "joints": [ + 0.0029176785610616207 + ] + }, + "final_grasp": { + "position": [ + 0.07482997328042984, + 0.10838716477155685, + 0.03116651065647602 + ], + "orientation": [ + 0.32882633805274963, + 0.030882837250828743, + -0.1221701055765152, + 0.9359455108642578 + ], + "joints": [ + 0.009321044199168682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09572422504425049, + 0.09096584469079971, + -0.03360265493392944 + ], + "orientation": [ + 0.4395410418510437, + -0.023040829226374626, + -0.07520353049039841, + -0.8947721719741821 + ], + "joints": [ + -0.0030663085635751486 + ] + }, + "fine_grasp": { + "position": [ + -0.09445291012525558, + 0.09006503969430923, + -0.033586837351322174 + ], + "orientation": [ + 0.4367710053920746, + -0.03503835201263428, + -0.08345204591751099, + -0.8950079679489136 + ], + "joints": [ + 0.0033370573073625565 + ] + }, + "final_grasp": { + "position": [ + -0.09445291012525558, + 0.09006503969430923, + -0.033586837351322174 + ], + "orientation": [ + 0.4367710053920746, + -0.03503835201263428, + -0.08345204591751099, + -0.8950079679489136 + ], + "joints": [ + 0.009740423411130905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0050387573428452015, + 0.13836924731731415, + -0.02794325351715088 + ], + "orientation": [ + 0.024400368332862854, + 0.06128501892089844, + 0.07176995277404785, + 0.9952375888824463 + ], + "joints": [ + -0.004222704563289881 + ] + }, + "fine_grasp": { + "position": [ + 0.004661974962800741, + 0.13906370103359222, + -0.027279583737254143 + ], + "orientation": [ + 0.024598918855190277, + 0.0856592133641243, + 0.07093104720115662, + 0.9934919476509094 + ], + "joints": [ + 0.002712060697376728 + ] + }, + "final_grasp": { + "position": [ + 0.004661974962800741, + 0.13906370103359222, + -0.027279583737254143 + ], + "orientation": [ + 0.024598918855190277, + 0.0856592133641243, + 0.07093104720115662, + 0.9934919476509094 + ], + "joints": [ + 0.00964682549238205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11824024468660355, + 0.03546079248189926, + 0.03401516005396843 + ], + "orientation": [ + 0.08689910173416138, + -0.7562199234962463, + 0.648163914680481, + -0.02152944542467594 + ], + "joints": [ + -0.002063850173726678 + ] + }, + "fine_grasp": { + "position": [ + 0.11749617755413055, + 0.03474915400147438, + 0.03302215784788132 + ], + "orientation": [ + 0.09746033698320389, + -0.7548424005508423, + 0.6486139297485352, + -0.003790902905166149 + ], + "joints": [ + 0.0038346857763826847 + ] + }, + "final_grasp": { + "position": [ + 0.11749617755413055, + 0.03474915400147438, + 0.03302215784788132 + ], + "orientation": [ + 0.09746033698320389, + -0.7548424005508423, + 0.6486139297485352, + -0.003790902905166149 + ], + "joints": [ + 0.009733221493661404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11598753929138184, + 0.05361419916152954, + 0.001648550620302558 + ], + "orientation": [ + 0.5933124423027039, + -0.044538889080286026, + -0.024105045944452286, + -0.8033775687217712 + ], + "joints": [ + -0.002311074174940586 + ] + }, + "fine_grasp": { + "position": [ + -0.11531950533390045, + 0.05381929129362106, + 0.000411622371757403 + ], + "orientation": [ + 0.5889965891838074, + -0.0636509507894516, + -0.043549831956624985, + -0.8044470548629761 + ], + "joints": [ + 0.004092291463166475 + ] + }, + "final_grasp": { + "position": [ + -0.11531950533390045, + 0.05381929129362106, + 0.000411622371757403 + ], + "orientation": [ + 0.5889965891838074, + -0.0636509507894516, + -0.043549831956624985, + -0.8044470548629761 + ], + "joints": [ + 0.010495657101273537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032014086842536926, + 0.1347092241048813, + 0.01516813412308693 + ], + "orientation": [ + 0.12905938923358917, + 0.04772717505693436, + -0.0717829093337059, + 0.9878831505775452 + ], + "joints": [ + -0.003966743592172861 + ] + }, + "fine_grasp": { + "position": [ + 0.03261980041861534, + 0.1346656233072281, + 0.015046492218971252 + ], + "orientation": [ + 0.12870654463768005, + 0.07242442667484283, + -0.0756472647190094, + 0.986137330532074 + ], + "joints": [ + 0.0024631917476654053 + ] + }, + "final_grasp": { + "position": [ + 0.03261980041861534, + 0.1346656233072281, + 0.015046492218971252 + ], + "orientation": [ + 0.12870654463768005, + 0.07242442667484283, + -0.0756472647190094, + 0.986137330532074 + ], + "joints": [ + 0.008893126621842384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12021427601575851, + 0.015336702577769756, + -0.0146454107016325 + ], + "orientation": [ + 0.7137060165405273, + 0.06622975319623947, + -0.0027953176759183407, + 0.6973015666007996 + ], + "joints": [ + -0.002007704460993409 + ] + }, + "fine_grasp": { + "position": [ + 0.11985454708337784, + 0.014416513033211231, + -0.014797056093811989 + ], + "orientation": [ + 0.7153810262680054, + 0.08311126381158829, + -0.0183371864259243, + 0.6935318112373352 + ], + "joints": [ + 0.004395661409944296 + ] + }, + "final_grasp": { + "position": [ + 0.11985454708337784, + 0.014416513033211231, + -0.014797056093811989 + ], + "orientation": [ + 0.7153810262680054, + 0.08311126381158829, + -0.0183371864259243, + 0.6935318112373352 + ], + "joints": [ + 0.010799027048051357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014668055810034275, + 0.13755790889263153, + -0.01725078746676445 + ], + "orientation": [ + 0.06815607100725174, + 0.9950975179672241, + 0.05768348276615143, + -0.042524877935647964 + ], + "joints": [ + -0.00396103085950017 + ] + }, + "fine_grasp": { + "position": [ + -0.015135662630200386, + 0.13650347292423248, + -0.016578949987888336 + ], + "orientation": [ + 0.06665237247943878, + 0.993789792060852, + 0.05904258415102959, + -0.0667332112789154 + ], + "joints": [ + 0.0024423347786068916 + ] + }, + "final_grasp": { + "position": [ + -0.015135662630200386, + 0.13650347292423248, + -0.016578949987888336 + ], + "orientation": [ + 0.06665237247943878, + 0.993789792060852, + 0.05904258415102959, + -0.0667332112789154 + ], + "joints": [ + 0.008845699951052666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12018416821956635, + 0.03289056569337845, + 0.016042720526456833 + ], + "orientation": [ + 0.050059810280799866, + -0.7493071556091309, + 0.6599811911582947, + 0.02139253355562687 + ], + "joints": [ + -0.0018402710556983948 + ] + }, + "fine_grasp": { + "position": [ + 0.12026967108249664, + 0.03286590799689293, + 0.016298066824674606 + ], + "orientation": [ + 0.06674083322286606, + -0.7488284111022949, + 0.6581959128379822, + 0.03974661976099014 + ], + "joints": [ + 0.004563094582408667 + ] + }, + "final_grasp": { + "position": [ + 0.12026967108249664, + 0.03286590799689293, + 0.016298066824674606 + ], + "orientation": [ + 0.06674083322286606, + -0.7488284111022949, + 0.6581959128379822, + 0.03974661976099014 + ], + "joints": [ + 0.010966460220515728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09899400174617767, + -0.049650561064481735, + 0.04373848810791969 + ], + "orientation": [ + 0.8756962418556213, + -0.07827126979827881, + -0.08669362962245941, + 0.4685230851173401 + ], + "joints": [ + -0.003088814439252019 + ] + }, + "fine_grasp": { + "position": [ + 0.09892241656780243, + -0.04971681535243988, + 0.04284991696476936 + ], + "orientation": [ + 0.8751238584518433, + -0.06892680376768112, + -0.10108136385679245, + 0.4681771695613861 + ], + "joints": [ + 0.0028097215108573437 + ] + }, + "final_grasp": { + "position": [ + 0.09892241656780243, + -0.04971681535243988, + 0.04284991696476936 + ], + "orientation": [ + 0.8751238584518433, + -0.06892680376768112, + -0.10108136385679245, + 0.4681771695613861 + ], + "joints": [ + 0.008708257228136063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12211060523986816, + 0.018119458109140396, + -0.0010671049822121859 + ], + "orientation": [ + 0.026922592893242836, + -0.7068036198616028, + 0.7056026458740234, + 0.042763061821460724 + ], + "joints": [ + -0.002078681020066142 + ] + }, + "fine_grasp": { + "position": [ + 0.12302827835083008, + 0.01840047724545002, + -0.0008531970670446754 + ], + "orientation": [ + 0.049940407276153564, + -0.705559492111206, + 0.7037610411643982, + 0.0664249137043953 + ], + "joints": [ + 0.00485608447343111 + ] + }, + "final_grasp": { + "position": [ + 0.12302827835083008, + 0.01840047724545002, + -0.0008531970670446754 + ], + "orientation": [ + 0.049940407276153564, + -0.705559492111206, + 0.7037610411643982, + 0.0664249137043953 + ], + "joints": [ + 0.011790850199759007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05140075087547302, + -0.09262249618768692, + 0.016702132299542427 + ], + "orientation": [ + 0.9727399349212646, + -0.04671289026737213, + -0.061467815190553665, + 0.2186703234910965 + ], + "joints": [ + -0.0033675204031169415 + ] + }, + "fine_grasp": { + "position": [ + 0.05044464021921158, + -0.09232794493436813, + 0.01571003906428814 + ], + "orientation": [ + 0.9717869758605957, + -0.03818684443831444, + -0.08879552781581879, + 0.21514485776424408 + ], + "joints": [ + 0.0025044456124305725 + ] + }, + "final_grasp": { + "position": [ + 0.05044464021921158, + -0.09232794493436813, + 0.01571003906428814 + ], + "orientation": [ + 0.9717869758605957, + -0.03818684443831444, + -0.08879552781581879, + 0.21514485776424408 + ], + "joints": [ + 0.008376412093639374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12082303315401077, + 0.021918391808867455, + 0.010493895970284939 + ], + "orientation": [ + 0.6918442845344543, + 0.0002729038242250681, + -0.0638599768280983, + 0.7192173004150391 + ], + "joints": [ + -0.0021167295053601265 + ] + }, + "fine_grasp": { + "position": [ + 0.12090058624744415, + 0.022098924964666367, + 0.010523947887122631 + ], + "orientation": [ + 0.6897782683372498, + 0.01948011852800846, + -0.08461121469736099, + 0.7187957763671875 + ], + "joints": [ + 0.004286636132746935 + ] + }, + "final_grasp": { + "position": [ + 0.12090058624744415, + 0.022098924964666367, + 0.010523947887122631 + ], + "orientation": [ + 0.6897782683372498, + 0.01948011852800846, + -0.08461121469736099, + 0.7187957763671875 + ], + "joints": [ + 0.010690001770853996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09425805509090424, + -0.0506865568459034, + 0.061120785772800446 + ], + "orientation": [ + 0.8826487064361572, + -0.137087881565094, + 0.04607831686735153, + -0.44723033905029297 + ], + "joints": [ + -0.0025161842349916697 + ] + }, + "fine_grasp": { + "position": [ + -0.09296081215143204, + -0.05060495808720589, + 0.061047039926052094 + ], + "orientation": [ + 0.885125994682312, + -0.14857544004917145, + 0.03263702243566513, + -0.4397863447666168 + ], + "joints": [ + 0.003355782013386488 + ] + }, + "final_grasp": { + "position": [ + -0.09296081215143204, + -0.05060495808720589, + 0.061047039926052094 + ], + "orientation": [ + 0.885125994682312, + -0.14857544004917145, + 0.03263702243566513, + -0.4397863447666168 + ], + "joints": [ + 0.009227748028934002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12034613639116287, + 0.015179308131337166, + -0.015290780924260616 + ], + "orientation": [ + 0.714019238948822, + 0.06919572502374649, + -0.006641690619289875, + 0.6966667175292969 + ], + "joints": [ + -0.0017357589676976204 + ] + }, + "fine_grasp": { + "position": [ + 0.11990021169185638, + 0.014370429329574108, + -0.015337683260440826 + ], + "orientation": [ + 0.7152966856956482, + 0.08552045375108719, + -0.022931508719921112, + 0.6931889653205872 + ], + "joints": [ + 0.004136207047849894 + ] + }, + "final_grasp": { + "position": [ + 0.11990021169185638, + 0.014370429329574108, + -0.015337683260440826 + ], + "orientation": [ + 0.7152966856956482, + 0.08552045375108719, + -0.022931508719921112, + 0.6931889653205872 + ], + "joints": [ + 0.010008173063397408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05859500542283058, + 0.12389814108610153, + 0.004328334238380194 + ], + "orientation": [ + 0.021915603429079056, + -0.9674643278121948, + 0.2489621639251709, + 0.039374783635139465 + ], + "joints": [ + -0.003441713284701109 + ] + }, + "fine_grasp": { + "position": [ + 0.05818752944469452, + 0.12286385148763657, + 0.004610634408891201 + ], + "orientation": [ + 0.030588023364543915, + -0.9659113883972168, + 0.24743534624576569, + 0.06968089938163757 + ], + "joints": [ + 0.0029616523534059525 + ] + }, + "final_grasp": { + "position": [ + 0.05818752944469452, + 0.12286385148763657, + 0.004610634408891201 + ], + "orientation": [ + 0.030588023364543915, + -0.9659113883972168, + 0.24743534624576569, + 0.06968089938163757 + ], + "joints": [ + 0.009365018457174301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07830137014389038, + -0.017893681302666664, + 0.1597234457731247 + ], + "orientation": [ + 0.3165837824344635, + -0.5620586276054382, + 0.7315659523010254, + -0.22062663733959198 + ], + "joints": [ + -0.0011966954916715622 + ] + }, + "fine_grasp": { + "position": [ + 0.0756693184375763, + -0.017023595049977303, + 0.15601074695587158 + ], + "orientation": [ + 0.32209664583206177, + -0.5589505434036255, + 0.7314755916595459, + -0.22084291279315948 + ], + "joints": [ + 0.005180100444704294 + ] + }, + "final_grasp": { + "position": [ + 0.0756693184375763, + -0.017023595049977303, + 0.15601074695587158 + ], + "orientation": [ + 0.32209664583206177, + -0.5589505434036255, + 0.7314755916595459, + -0.22084291279315948 + ], + "joints": [ + 0.01155689638108015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008692939765751362, + 0.13915522396564484, + -0.014176524244248867 + ], + "orientation": [ + 0.04850340262055397, + 0.9971957802772522, + 0.033441510051488876, + -0.04614918678998947 + ], + "joints": [ + -0.0035639400593936443 + ] + }, + "fine_grasp": { + "position": [ + -0.009171339683234692, + 0.1388355791568756, + -0.014102148823440075 + ], + "orientation": [ + 0.04825171083211899, + 0.9951121211051941, + 0.03381555527448654, + -0.07924757152795792 + ], + "joints": [ + 0.0023345956578850746 + ] + }, + "final_grasp": { + "position": [ + -0.009171339683234692, + 0.1388355791568756, + -0.014102148823440075 + ], + "orientation": [ + 0.04825171083211899, + 0.9951121211051941, + 0.03381555527448654, + -0.07924757152795792 + ], + "joints": [ + 0.008233131840825081 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04488186910748482, + 0.13063719868659973, + 0.0048660836182534695 + ], + "orientation": [ + 0.18664661049842834, + 0.05133824795484543, + -0.028599625453352928, + 0.9806678891181946 + ], + "joints": [ + -0.003742458065971732 + ] + }, + "fine_grasp": { + "position": [ + 0.04436340928077698, + 0.1291874647140503, + 0.004919468425214291 + ], + "orientation": [ + 0.1852043867111206, + 0.07241524010896683, + -0.03427203744649887, + 0.979428768157959 + ], + "joints": [ + 0.0026609075721353292 + ] + }, + "final_grasp": { + "position": [ + 0.04436340928077698, + 0.1291874647140503, + 0.004919468425214291 + ], + "orientation": [ + 0.1852043867111206, + 0.07241524010896683, + -0.03427203744649887, + 0.979428768157959 + ], + "joints": [ + 0.009064272977411747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048942480236291885, + -0.09240232408046722, + -0.0266512930393219 + ], + "orientation": [ + 0.9734792709350586, + 0.09755577147006989, + -0.04562538489699364, + 0.20183990895748138 + ], + "joints": [ + -0.0036019845865666866 + ] + }, + "fine_grasp": { + "position": [ + 0.0491432249546051, + -0.0923890471458435, + -0.026312483474612236 + ], + "orientation": [ + 0.9721469283103943, + 0.10234515368938446, + -0.06973067671060562, + 0.19898103177547455 + ], + "joints": [ + 0.0022965511307120323 + ] + }, + "final_grasp": { + "position": [ + 0.0491432249546051, + -0.0923890471458435, + -0.026312483474612236 + ], + "orientation": [ + 0.9721469283103943, + 0.10234515368938446, + -0.06973067671060562, + 0.19898103177547455 + ], + "joints": [ + 0.008195087313652039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056042201817035675, + 0.12546779215335846, + 0.023310517892241478 + ], + "orientation": [ + 0.04473968222737312, + -0.9697919487953186, + 0.2358984351158142, + 0.04305747151374817 + ], + "joints": [ + -0.003402517642825842 + ] + }, + "fine_grasp": { + "position": [ + 0.055061470717191696, + 0.12400997430086136, + 0.02355995588004589 + ], + "orientation": [ + 0.05199017748236656, + -0.9687556028366089, + 0.23290807008743286, + 0.0675540491938591 + ], + "joints": [ + 0.0029742782935500145 + ] + }, + "final_grasp": { + "position": [ + 0.055061470717191696, + 0.12400997430086136, + 0.02355995588004589 + ], + "orientation": [ + 0.05199017748236656, + -0.9687556028366089, + 0.23290807008743286, + 0.0675540491938591 + ], + "joints": [ + 0.009351074695587158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01969033107161522, + -0.1029675155878067, + 0.005274288356304169 + ], + "orientation": [ + 0.056542862206697464, + 0.07962508499622345, + 0.9948174357414246, + -0.028302008286118507 + ], + "joints": [ + -0.004046846646815538 + ] + }, + "fine_grasp": { + "position": [ + -0.019688855856657028, + -0.10251934826374054, + 0.00515731330960989 + ], + "orientation": [ + 0.08589290827512741, + 0.07839500904083252, + 0.9927367568016052, + -0.030830390751361847 + ], + "joints": [ + 0.002383088693022728 + ] + }, + "final_grasp": { + "position": [ + -0.019688855856657028, + -0.10251934826374054, + 0.00515731330960989 + ], + "orientation": [ + 0.08589290827512741, + 0.07839500904083252, + 0.9927367568016052, + -0.030830390751361847 + ], + "joints": [ + 0.008813023567199707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06742110848426819, + -0.0834769681096077, + -0.01365169882774353 + ], + "orientation": [ + 0.9552631378173828, + 0.018992403522133827, + -0.06056240200996399, + 0.28886649012565613 + ], + "joints": [ + -0.0035019642673432827 + ] + }, + "fine_grasp": { + "position": [ + 0.06692816317081451, + -0.08308479189872742, + -0.014270026236772537 + ], + "orientation": [ + 0.9541930556297302, + 0.027882641181349754, + -0.08429074287414551, + 0.28571534156799316 + ], + "joints": [ + 0.0029014013707637787 + ] + }, + "final_grasp": { + "position": [ + 0.06692816317081451, + -0.08308479189872742, + -0.014270026236772537 + ], + "orientation": [ + 0.9541930556297302, + 0.027882641181349754, + -0.08429074287414551, + 0.28571534156799316 + ], + "joints": [ + 0.009304767474532127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003572392277419567, + 0.13847167789936066, + -0.023322390392422676 + ], + "orientation": [ + 0.011524849571287632, + -0.05937270447611809, + -0.06640022248029709, + -0.9959583878517151 + ], + "joints": [ + -0.004041130188852549 + ] + }, + "fine_grasp": { + "position": [ + -0.004723523743450642, + 0.1389322280883789, + -0.02228047326207161 + ], + "orientation": [ + 0.014663773588836193, + -0.084513358771801, + -0.06361589580774307, + -0.9942814707756042 + ], + "joints": [ + 0.002362235449254513 + ] + }, + "final_grasp": { + "position": [ + -0.004723523743450642, + 0.1389322280883789, + -0.02228047326207161 + ], + "orientation": [ + 0.014663773588836193, + -0.084513358771801, + -0.06361589580774307, + -0.9942814707756042 + ], + "joints": [ + 0.008765600621700287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04490942880511284, + 0.13062222301959991, + 0.005162057001143694 + ], + "orientation": [ + 0.18636593222618103, + 0.052801359444856644, + -0.02979406900703907, + 0.9806080460548401 + ], + "joints": [ + -0.003670071717351675 + ] + }, + "fine_grasp": { + "position": [ + 0.0443977490067482, + 0.12931524217128754, + 0.0051873777993023396 + ], + "orientation": [ + 0.18554985523223877, + 0.07502315193414688, + -0.03528589755296707, + 0.9791311025619507 + ], + "joints": [ + 0.0027332939207553864 + ] + }, + "final_grasp": { + "position": [ + 0.0443977490067482, + 0.12931524217128754, + 0.0051873777993023396 + ], + "orientation": [ + 0.18554985523223877, + 0.07502315193414688, + -0.03528589755296707, + 0.9791311025619507 + ], + "joints": [ + 0.009136660024523735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005548659828491509, + 0.14023108780384064, + -0.0027000310365110636 + ], + "orientation": [ + 0.0024852079804986715, + 0.06049933284521103, + 0.011871934868395329, + 0.9980946183204651 + ], + "joints": [ + -0.003663699608296156 + ] + }, + "fine_grasp": { + "position": [ + 0.0004567996074911207, + 0.14063811302185059, + -0.0025187726132571697 + ], + "orientation": [ + 0.0026621236465871334, + 0.09303339570760727, + 0.01177205890417099, + 0.9955897927284241 + ], + "joints": [ + 0.002234836108982563 + ] + }, + "final_grasp": { + "position": [ + 0.0004567996074911207, + 0.14063811302185059, + -0.0025187726132571697 + ], + "orientation": [ + 0.0026621236465871334, + 0.09303339570760727, + 0.01177205890417099, + 0.9955897927284241 + ], + "joints": [ + 0.00813337229192257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07954568415880203, + -0.01722661592066288, + 0.15958158671855927 + ], + "orientation": [ + 0.31935906410217285, + -0.5603467226028442, + 0.7284823060035706, + -0.23094366490840912 + ], + "joints": [ + -0.002412367146462202 + ] + }, + "fine_grasp": { + "position": [ + 0.07693474739789963, + -0.01599191129207611, + 0.15589119493961334 + ], + "orientation": [ + 0.3209564685821533, + -0.5583513975143433, + 0.7287116646766663, + -0.23283006250858307 + ], + "joints": [ + 0.003964428789913654 + ] + }, + "final_grasp": { + "position": [ + 0.07693474739789963, + -0.01599191129207611, + 0.15589119493961334 + ], + "orientation": [ + 0.3209564685821533, + -0.5583513975143433, + 0.7287116646766663, + -0.23283006250858307 + ], + "joints": [ + 0.010341225191950798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09903336316347122, + -0.04972364380955696, + 0.04505082219839096 + ], + "orientation": [ + 0.8760215640068054, + -0.07615769654512405, + -0.08658277243375778, + 0.46828383207321167 + ], + "joints": [ + -0.0027719521895051003 + ] + }, + "fine_grasp": { + "position": [ + 0.09895677119493484, + -0.049756307154893875, + 0.044001784175634384 + ], + "orientation": [ + 0.875596821308136, + -0.06592929363250732, + -0.10159959644079208, + 0.46761202812194824 + ], + "joints": [ + 0.0031000138260424137 + ] + }, + "final_grasp": { + "position": [ + 0.09895677119493484, + -0.049756307154893875, + 0.044001784175634384 + ], + "orientation": [ + 0.875596821308136, + -0.06592929363250732, + -0.10159959644079208, + 0.46761202812194824 + ], + "joints": [ + 0.008971979841589928 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10361358523368835, + -0.005278158001601696, + 0.1374734342098236 + ], + "orientation": [ + 0.7070234417915344, + -0.1062438040971756, + 0.27831536531448364, + -0.6413818001747131 + ], + "joints": [ + -0.0009502025786787271 + ] + }, + "fine_grasp": { + "position": [ + -0.1004304438829422, + -0.005319117568433285, + 0.1345922201871872 + ], + "orientation": [ + 0.7048101425170898, + -0.10543233156204224, + 0.2827560305595398, + -0.6420091986656189 + ], + "joints": [ + 0.005426593590527773 + ] + }, + "final_grasp": { + "position": [ + -0.1004304438829422, + -0.005319117568433285, + 0.1345922201871872 + ], + "orientation": [ + 0.7048101425170898, + -0.10543233156204224, + 0.2827560305595398, + -0.6420091986656189 + ], + "joints": [ + 0.01180338952690363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11937238276004791, + 0.01094976719468832, + 0.0418163500726223 + ], + "orientation": [ + 0.08713313937187195, + -0.6851744055747986, + 0.7221075892448425, + -0.038788989186286926 + ], + "joints": [ + -0.0020882452372461557 + ] + }, + "fine_grasp": { + "position": [ + 0.12020798027515411, + 0.009566470049321651, + 0.04036517068743706 + ], + "orientation": [ + 0.10017580538988113, + -0.6822086572647095, + 0.723817765712738, + -0.02537624165415764 + ], + "joints": [ + 0.004315120633691549 + ] + }, + "final_grasp": { + "position": [ + 0.12020798027515411, + 0.009566470049321651, + 0.04036517068743706 + ], + "orientation": [ + 0.10017580538988113, + -0.6822086572647095, + 0.723817765712738, + -0.02537624165415764 + ], + "joints": [ + 0.01071848627179861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04936224967241287, + -0.09204798936843872, + -0.027328375726938248 + ], + "orientation": [ + 0.9724352955818176, + 0.10317195951938629, + -0.05029803887009621, + 0.20296579599380493 + ], + "joints": [ + -0.0036400328390300274 + ] + }, + "fine_grasp": { + "position": [ + 0.04985329136252403, + -0.09215563535690308, + -0.026870599016547203 + ], + "orientation": [ + 0.9704170823097229, + 0.10855751484632492, + -0.07762176543474197, + 0.2011985033750534 + ], + "joints": [ + 0.0022585028782486916 + ] + }, + "final_grasp": { + "position": [ + 0.04985329136252403, + -0.09215563535690308, + -0.026870599016547203 + ], + "orientation": [ + 0.9704170823097229, + 0.10855751484632492, + -0.07762176543474197, + 0.2011985033750534 + ], + "joints": [ + 0.008157039061188698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12110242247581482, + 0.01983482763171196, + 0.03522244840860367 + ], + "orientation": [ + 0.010450372472405434, + -0.7130250334739685, + -0.7003635168075562, + 0.031257882714271545 + ], + "joints": [ + -0.0020069724414497614 + ] + }, + "fine_grasp": { + "position": [ + -0.12359870225191116, + 0.020757094025611877, + 0.03435180336236954 + ], + "orientation": [ + 0.015688348561525345, + -0.7150202393531799, + -0.6984981894493103, + 0.024499759078025818 + ], + "joints": [ + 0.0038649938069283962 + ] + }, + "final_grasp": { + "position": [ + -0.12359870225191116, + 0.020757094025611877, + 0.03435180336236954 + ], + "orientation": [ + 0.015688348561525345, + -0.7150202393531799, + -0.6984981894493103, + 0.024499759078025818 + ], + "joints": [ + 0.00973695982247591 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049097735434770584, + -0.09233465790748596, + -0.02773188054561615 + ], + "orientation": [ + 0.97287917137146, + 0.10100821405649185, + -0.051578495651483536, + 0.2016012966632843 + ], + "joints": [ + -0.004159454721957445 + ] + }, + "fine_grasp": { + "position": [ + 0.04950477555394173, + -0.0923445075750351, + -0.027288397774100304 + ], + "orientation": [ + 0.9708901643753052, + 0.10613895952701569, + -0.07870083302259445, + 0.19978241622447968 + ], + "joints": [ + 0.0022704806178808212 + ] + }, + "final_grasp": { + "position": [ + 0.04950477555394173, + -0.0923445075750351, + -0.027288397774100304 + ], + "orientation": [ + 0.9708901643753052, + 0.10613895952701569, + -0.07870083302259445, + 0.19978241622447968 + ], + "joints": [ + 0.0087004154920578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01654546894133091, + -0.102763332426548, + 0.013062185607850552 + ], + "orientation": [ + 0.9963119626045227, + 0.002588446019217372, + -0.052153486758470535, + -0.06808751821517944 + ], + "joints": [ + -0.003899311413988471 + ] + }, + "fine_grasp": { + "position": [ + -0.015824973583221436, + -0.10144270956516266, + 0.013786831870675087 + ], + "orientation": [ + 0.9944416284561157, + -0.0019336094846948981, + -0.08262743800878525, + -0.0652289092540741 + ], + "joints": [ + 0.0025040542241185904 + ] + }, + "final_grasp": { + "position": [ + -0.015824973583221436, + -0.10144270956516266, + 0.013786831870675087 + ], + "orientation": [ + 0.9944416284561157, + -0.0019336094846948981, + -0.08262743800878525, + -0.0652289092540741 + ], + "joints": [ + 0.008907419629395008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015132699627429247, + 0.14016112685203552, + -0.007008654531091452 + ], + "orientation": [ + 0.005112098529934883, + -0.06360486894845963, + -0.02204326167702675, + -0.9977185726165771 + ], + "joints": [ + -0.004081184510141611 + ] + }, + "fine_grasp": { + "position": [ + -0.0015500106383115053, + 0.14037728309631348, + -0.00689514447003603 + ], + "orientation": [ + 0.004353262949734926, + -0.09490875154733658, + -0.02218557894229889, + -0.9952292442321777 + ], + "joints": [ + 0.0018439210252836347 + ] + }, + "final_grasp": { + "position": [ + -0.0015500106383115053, + 0.14037728309631348, + -0.00689514447003603 + ], + "orientation": [ + 0.004353262949734926, + -0.09490875154733658, + -0.02218557894229889, + -0.9952292442321777 + ], + "joints": [ + 0.007769026793539524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015444679884240031, + 0.14015540480613708, + -0.007060258183628321 + ], + "orientation": [ + 0.005091521423310041, + -0.06558583676815033, + -0.023244159296154976, + -0.9975631833076477 + ], + "joints": [ + -0.004045038018375635 + ] + }, + "fine_grasp": { + "position": [ + -0.001589709660038352, + 0.14037595689296722, + -0.0069208163768053055 + ], + "orientation": [ + 0.004505525343120098, + -0.09608840942382812, + -0.0234315674751997, + -0.9950868487358093 + ], + "joints": [ + 0.0018800675170496106 + ] + }, + "final_grasp": { + "position": [ + -0.001589709660038352, + 0.14037595689296722, + -0.0069208163768053055 + ], + "orientation": [ + 0.004505525343120098, + -0.09608840942382812, + -0.0234315674751997, + -0.9950868487358093 + ], + "joints": [ + 0.0078051732853055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12115427106618881, + 0.019479092210531235, + 0.035550255328416824 + ], + "orientation": [ + 0.009360818192362785, + -0.7122266888618469, + -0.7012547254562378, + 0.02978648990392685 + ], + "joints": [ + -0.002030246192589402 + ] + }, + "fine_grasp": { + "position": [ + -0.12378265708684921, + 0.02037694677710533, + 0.034722331911325455 + ], + "orientation": [ + 0.014745413325726986, + -0.7139619588851929, + -0.6996396780014038, + 0.023346679285168648 + ], + "joints": [ + 0.0038417200557887554 + ] + }, + "final_grasp": { + "position": [ + -0.12378265708684921, + 0.02037694677710533, + 0.034722331911325455 + ], + "orientation": [ + 0.014745413325726986, + -0.7139619588851929, + -0.6996396780014038, + 0.023346679285168648 + ], + "joints": [ + 0.00971368607133627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002612929092720151, + 0.0011050697648897767, + -0.2029639333486557 + ], + "orientation": [ + 0.4283214509487152, + 0.40733101963996887, + 0.6168168187141418, + 0.5197684168815613 + ], + "joints": [ + -0.004161057993769646 + ] + }, + "fine_grasp": { + "position": [ + -0.0019118218915537, + 0.002157897222787142, + -0.1982382982969284 + ], + "orientation": [ + 0.4234268367290497, + 0.4108552038669586, + 0.6194242835044861, + 0.5179008841514587 + ], + "joints": [ + 0.0016843384364619851 + ] + }, + "final_grasp": { + "position": [ + -0.0019118218915537, + 0.002157897222787142, + -0.1982382982969284 + ], + "orientation": [ + 0.4234268367290497, + 0.4108552038669586, + 0.6194242835044861, + 0.5179008841514587 + ], + "joints": [ + 0.007529734633862972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06706739962100983, + -0.08379027247428894, + -0.01604682207107544 + ], + "orientation": [ + 0.9549051523208618, + 0.007270003203302622, + -0.0725630447268486, + 0.28781577944755554 + ], + "joints": [ + -0.0035400106571614742 + ] + }, + "fine_grasp": { + "position": [ + 0.06670556962490082, + -0.08344803005456924, + -0.016928235068917274 + ], + "orientation": [ + 0.9537217617034912, + 0.015059735625982285, + -0.09334228932857513, + 0.2854386568069458 + ], + "joints": [ + 0.0023585250601172447 + ] + }, + "final_grasp": { + "position": [ + 0.06670556962490082, + -0.08344803005456924, + -0.016928235068917274 + ], + "orientation": [ + 0.9537217617034912, + 0.015059735625982285, + -0.09334228932857513, + 0.2854386568069458 + ], + "joints": [ + 0.008257061243057251 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08764109015464783, + 0.06382988393306732, + 0.13925445079803467 + ], + "orientation": [ + 0.3197908103466034, + -0.8438112139701843, + 0.4308478832244873, + 0.009309152141213417 + ], + "joints": [ + -0.0020288785453885794 + ] + }, + "fine_grasp": { + "position": [ + 0.08775351196527481, + 0.06401555240154266, + 0.13847769796848297 + ], + "orientation": [ + 0.32747623324394226, + -0.842928946018219, + 0.42645636200904846, + 0.019108785316348076 + ], + "joints": [ + 0.004374487325549126 + ] + }, + "final_grasp": { + "position": [ + 0.08775351196527481, + 0.06401555240154266, + 0.13847769796848297 + ], + "orientation": [ + 0.32747623324394226, + -0.842928946018219, + 0.42645636200904846, + 0.019108785316348076 + ], + "joints": [ + 0.010777853429317474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011679683811962605, + 0.016083858907222748, + -0.20783045887947083 + ], + "orientation": [ + 0.021672416478395462, + 0.08077920973300934, + 0.7377395033836365, + 0.6698846220970154 + ], + "joints": [ + -0.004161057993769646 + ] + }, + "fine_grasp": { + "position": [ + -0.011104009114205837, + 0.01596882939338684, + -0.20188456773757935 + ], + "orientation": [ + 0.021207094192504883, + 0.08007679134607315, + 0.7339173555374146, + 0.6741686463356018 + ], + "joints": [ + 0.00011670924141071737 + ] + }, + "final_grasp": { + "position": [ + -0.011104009114205837, + 0.01596882939338684, + -0.20188456773757935 + ], + "orientation": [ + 0.021207094192504883, + 0.08007679134607315, + 0.7339173555374146, + 0.6741686463356018 + ], + "joints": [ + 0.004394476301968098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06950418651103973, + 0.10799932479858398, + 0.07796620577573776 + ], + "orientation": [ + 0.3086622953414917, + -0.011285831220448017, + 0.19581075012683868, + -0.9307300448417664 + ], + "joints": [ + -0.004179099574685097 + ] + }, + "fine_grasp": { + "position": [ + -0.06943809241056442, + 0.10968989878892899, + 0.08051297068595886 + ], + "orientation": [ + 0.30654215812683105, + -0.015548505820333958, + 0.20406532287597656, + -0.929595410823822 + ], + "joints": [ + 0.0016662966227158904 + ] + }, + "final_grasp": { + "position": [ + -0.06943809241056442, + 0.10968989878892899, + 0.08051297068595886 + ], + "orientation": [ + 0.30654215812683105, + -0.015548505820333958, + 0.20406532287597656, + -0.929595410823822 + ], + "joints": [ + 0.007511693052947521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11912347376346588, + 0.011001120321452618, + 0.04242287576198578 + ], + "orientation": [ + 0.08844217658042908, + -0.6854971647262573, + 0.721828043460846, + -0.035154789686203 + ], + "joints": [ + -0.002159093040972948 + ] + }, + "fine_grasp": { + "position": [ + 0.12009536474943161, + 0.009519561193883419, + 0.041148245334625244 + ], + "orientation": [ + 0.10084767639636993, + -0.6816213726997375, + 0.7244037389755249, + -0.021479088813066483 + ], + "joints": [ + 0.004244272597134113 + ] + }, + "final_grasp": { + "position": [ + 0.12009536474943161, + 0.009519561193883419, + 0.041148245334625244 + ], + "orientation": [ + 0.10084767639636993, + -0.6816213726997375, + 0.7244037389755249, + -0.021479088813066483 + ], + "joints": [ + 0.010647637769579887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07869820296764374, + 0.10791824758052826, + -0.03735406696796417 + ], + "orientation": [ + 0.3414371907711029, + -0.043603163212537766, + -0.12126896530389786, + -0.9310281276702881 + ], + "joints": [ + -0.003608690807595849 + ] + }, + "fine_grasp": { + "position": [ + -0.0786144956946373, + 0.10797236114740372, + -0.03647922724485397 + ], + "orientation": [ + 0.33987998962402344, + -0.0616142638027668, + -0.12392034381628036, + -0.9302306175231934 + ], + "joints": [ + 0.0027946748305112123 + ] + }, + "final_grasp": { + "position": [ + -0.0786144956946373, + 0.10797236114740372, + -0.03647922724485397 + ], + "orientation": [ + 0.33987998962402344, + -0.0616142638027668, + -0.12392034381628036, + -0.9302306175231934 + ], + "joints": [ + 0.009198040701448917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05475432425737381, + 0.12299458682537079, + 0.055461570620536804 + ], + "orientation": [ + 0.24015584588050842, + -0.07028860598802567, + 0.09465666860342026, + -0.9635480046272278 + ], + "joints": [ + -0.003976853564381599 + ] + }, + "fine_grasp": { + "position": [ + -0.05531945079565048, + 0.12395236641168594, + 0.05424081161618233 + ], + "orientation": [ + 0.2405189424753189, + -0.06757374107837677, + 0.09034847468137741, + -0.9640651345252991 + ], + "joints": [ + 0.002399942371994257 + ] + }, + "final_grasp": { + "position": [ + -0.05531945079565048, + 0.12395236641168594, + 0.05424081161618233 + ], + "orientation": [ + 0.2405189424753189, + -0.06757374107837677, + 0.09034847468137741, + -0.9640651345252991 + ], + "joints": [ + 0.008776738308370113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020375140011310577, + 0.1335143744945526, + 0.054515961557626724 + ], + "orientation": [ + 0.11967828124761581, + -0.986878514289856, + -0.09094706922769547, + 0.0589623861014843 + ], + "joints": [ + -0.004103200510144234 + ] + }, + "fine_grasp": { + "position": [ + -0.021031269803643227, + 0.13452556729316711, + 0.05336742475628853 + ], + "orientation": [ + 0.11506526917219162, + -0.9860941767692566, + -0.09432336688041687, + 0.07403643429279327 + ], + "joints": [ + 0.001768765621818602 + ] + }, + "final_grasp": { + "position": [ + -0.021031269803643227, + 0.13452556729316711, + 0.05336742475628853 + ], + "orientation": [ + 0.11506526917219162, + -0.9860941767692566, + -0.09432336688041687, + 0.07403643429279327 + ], + "joints": [ + 0.007640731520950794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1173463687300682, + 0.005926595535129309, + -0.05463197082281113 + ], + "orientation": [ + 0.0519416518509388, + 0.661865770816803, + -0.7385501861572266, + -0.11738547682762146 + ], + "joints": [ + -0.0017799981869757175 + ] + }, + "fine_grasp": { + "position": [ + 0.11964251101016998, + 0.005539892707020044, + -0.054354384541511536 + ], + "orientation": [ + 0.03493690490722656, + 0.6580811738967896, + -0.7403847575187683, + -0.1324349194765091 + ], + "joints": [ + 0.004596797749400139 + ] + }, + "final_grasp": { + "position": [ + 0.11964251101016998, + 0.005539892707020044, + -0.054354384541511536 + ], + "orientation": [ + 0.03493690490722656, + 0.6580811738967896, + -0.7403847575187683, + -0.1324349194765091 + ], + "joints": [ + 0.010973593220114708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10252584517002106, + 0.0784955620765686, + -0.05456465482711792 + ], + "orientation": [ + 0.4946705996990204, + 0.08573804050683975, + 0.07460203766822815, + 0.8616173267364502 + ], + "joints": [ + -0.0029670195654034615 + ] + }, + "fine_grasp": { + "position": [ + 0.1029830202460289, + 0.07924852520227432, + -0.05342058464884758 + ], + "orientation": [ + 0.49309173226356506, + 0.10006818175315857, + 0.06546459347009659, + 0.8617199063301086 + ], + "joints": [ + 0.0034363460727036 + ] + }, + "final_grasp": { + "position": [ + 0.1029830202460289, + 0.07924852520227432, + -0.05342058464884758 + ], + "orientation": [ + 0.49309173226356506, + 0.10006818175315857, + 0.06546459347009659, + 0.8617199063301086 + ], + "joints": [ + 0.009839711710810661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10251601785421371, + 0.0782046765089035, + -0.05449936166405678 + ], + "orientation": [ + 0.49565762281417847, + 0.08845604956150055, + 0.07444261014461517, + 0.8607888221740723 + ], + "joints": [ + -0.0030087782070040703 + ] + }, + "fine_grasp": { + "position": [ + 0.10293025523424149, + 0.07896555215120316, + -0.05332425236701965 + ], + "orientation": [ + 0.49376705288887024, + 0.10318127274513245, + 0.06496226787567139, + 0.8610038757324219 + ], + "joints": [ + 0.003394587431102991 + ] + }, + "final_grasp": { + "position": [ + 0.10293025523424149, + 0.07896555215120316, + -0.05332425236701965 + ], + "orientation": [ + 0.49376705288887024, + 0.10318127274513245, + 0.06496226787567139, + 0.8610038757324219 + ], + "joints": [ + 0.009797953069210052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09261525422334671, + 0.05921806022524834, + -0.12662245333194733 + ], + "orientation": [ + 0.5037316083908081, + 0.10121503472328186, + 0.26528099179267883, + 0.8158650994300842 + ], + "joints": [ + -0.0031138870399445295 + ] + }, + "fine_grasp": { + "position": [ + 0.09254977852106094, + 0.05850813165307045, + -0.12646733224391937 + ], + "orientation": [ + 0.4990434944629669, + 0.09204396605491638, + 0.27325913310050964, + 0.8171983361244202 + ], + "joints": [ + 0.0032894788309931755 + ] + }, + "final_grasp": { + "position": [ + 0.09254977852106094, + 0.05850813165307045, + -0.12646733224391937 + ], + "orientation": [ + 0.4990434944629669, + 0.09204396605491638, + 0.27325913310050964, + 0.8171983361244202 + ], + "joints": [ + 0.009692844934761524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11742445081472397, + 0.005924772471189499, + -0.05513954907655716 + ], + "orientation": [ + 0.045404404401779175, + 0.66139817237854, + -0.7389978170394897, + -0.11988776177167892 + ], + "joints": [ + -0.002004351234063506 + ] + }, + "fine_grasp": { + "position": [ + 0.11976547539234161, + 0.0054845744743943214, + -0.05503854155540466 + ], + "orientation": [ + 0.029323140159249306, + 0.6578593850135803, + -0.740627646446228, + -0.13353575766086578 + ], + "joints": [ + 0.004399014636874199 + ] + }, + "final_grasp": { + "position": [ + 0.11976547539234161, + 0.0054845744743943214, + -0.05503854155540466 + ], + "orientation": [ + 0.029323140159249306, + 0.6578593850135803, + -0.740627646446228, + -0.13353575766086578 + ], + "joints": [ + 0.010802380740642548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058734387159347534, + 0.12454133480787277, + 0.02885255590081215 + ], + "orientation": [ + 0.24874410033226013, + -0.06860171258449554, + -0.002677647862583399, + -0.9661330580711365 + ], + "joints": [ + -0.003631079103797674 + ] + }, + "fine_grasp": { + "position": [ + -0.05840006470680237, + 0.1240764856338501, + 0.027925804257392883 + ], + "orientation": [ + 0.24633513391017914, + -0.08589216321706772, + -0.011136720888316631, + -0.9653069972991943 + ], + "joints": [ + 0.002772286534309387 + ] + }, + "final_grasp": { + "position": [ + -0.05840006470680237, + 0.1240764856338501, + 0.027925804257392883 + ], + "orientation": [ + 0.24633513391017914, + -0.08589216321706772, + -0.011136720888316631, + -0.9653069972991943 + ], + "joints": [ + 0.009175652638077736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06946071982383728, + 0.10804304480552673, + 0.07823744416236877 + ], + "orientation": [ + 0.30819863080978394, + -0.009215027093887329, + 0.19519151747226715, + -0.9310365319252014 + ], + "joints": [ + -0.0041464827954769135 + ] + }, + "fine_grasp": { + "position": [ + -0.06942497938871384, + 0.10943091660737991, + 0.0806526392698288 + ], + "orientation": [ + 0.30590444803237915, + -0.00915106013417244, + 0.2058325558900833, + -0.9295007586479187 + ], + "joints": [ + 0.001167513895779848 + ] + }, + "final_grasp": { + "position": [ + -0.06942497938871384, + 0.10943091660737991, + 0.0806526392698288 + ], + "orientation": [ + 0.30590444803237915, + -0.00915106013417244, + 0.2058325558900833, + -0.9295007586479187 + ], + "joints": [ + 0.00648151058703661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020244495943188667, + 0.1325138956308365, + -0.0635395422577858 + ], + "orientation": [ + 0.14791597425937653, + 0.9830840826034546, + -0.09235136955976486, + -0.05601666495203972 + ], + "joints": [ + -0.0041358210146427155 + ] + }, + "fine_grasp": { + "position": [ + 0.020090235397219658, + 0.13404133915901184, + -0.06277458369731903 + ], + "orientation": [ + 0.14301706850528717, + 0.9824530482292175, + -0.09223499149084091, + -0.07632139325141907 + ], + "joints": [ + 0.0017361451173201203 + ] + }, + "final_grasp": { + "position": [ + 0.020090235397219658, + 0.13404133915901184, + -0.06277458369731903 + ], + "orientation": [ + 0.14301706850528717, + 0.9824530482292175, + -0.09223499149084091, + -0.07632139325141907 + ], + "joints": [ + 0.0076081110164523125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09717564284801483, + 0.07125978916883469, + 0.08438614755868912 + ], + "orientation": [ + 0.49105989933013916, + -0.07174800336360931, + -0.1994456797838211, + 0.844946026802063 + ], + "joints": [ + -0.0027298612985759974 + ] + }, + "fine_grasp": { + "position": [ + 0.09628738462924957, + 0.07124028354883194, + 0.08300206810235977 + ], + "orientation": [ + 0.486858069896698, + -0.06141512095928192, + -0.20817644894123077, + 0.8460851311683655 + ], + "joints": [ + 0.0031421049498021603 + ] + }, + "final_grasp": { + "position": [ + 0.09628738462924957, + 0.07124028354883194, + 0.08300206810235977 + ], + "orientation": [ + 0.486858069896698, + -0.06141512095928192, + -0.20817644894123077, + 0.8460851311683655 + ], + "joints": [ + 0.009014070965349674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01129922829568386, + 0.11777402460575104, + 0.14015236496925354 + ], + "orientation": [ + 0.29116731882095337, + -0.9202607870101929, + 0.1362420916557312, + -0.2231137901544571 + ], + "joints": [ + -0.006364438682794571 + ] + }, + "fine_grasp": { + "position": [ + 0.010588265024125576, + 0.11454810947179794, + 0.1371961086988449 + ], + "orientation": [ + 0.2908630967140198, + -0.9199184775352478, + 0.1384701430797577, + -0.2235502302646637 + ], + "joints": [ + 0.0010485864477232099 + ] + }, + "final_grasp": { + "position": [ + 0.010588265024125576, + 0.11454810947179794, + 0.1371961086988449 + ], + "orientation": [ + 0.2908630967140198, + -0.9199184775352478, + 0.1384701430797577, + -0.2235502302646637 + ], + "joints": [ + 0.008461611345410347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08606527745723724, + 0.10343943536281586, + 0.0241903867572546 + ], + "orientation": [ + 0.3844653367996216, + 0.0753728374838829, + 0.0036915247328579426, + 0.920049786567688 + ], + "joints": [ + -0.003506859764456749 + ] + }, + "fine_grasp": { + "position": [ + 0.08590194582939148, + 0.10477277636528015, + 0.026313047856092453 + ], + "orientation": [ + 0.37984219193458557, + 0.09780015796422958, + -0.0092478571459651, + 0.9198203682899475 + ], + "joints": [ + 0.0028965058736503124 + ] + }, + "final_grasp": { + "position": [ + 0.08590194582939148, + 0.10477277636528015, + 0.026313047856092453 + ], + "orientation": [ + 0.37984219193458557, + 0.09780015796422958, + -0.0092478571459651, + 0.9198203682899475 + ], + "joints": [ + 0.009299871511757374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06027844548225403, + 0.11880620568990707, + 0.06395977735519409 + ], + "orientation": [ + 0.14103585481643677, + -0.9556081295013428, + 0.2584690451622009, + 0.010758021846413612 + ], + "joints": [ + -0.00354925449937582 + ] + }, + "fine_grasp": { + "position": [ + 0.060867972671985626, + 0.1186894029378891, + 0.06342867761850357 + ], + "orientation": [ + 0.14399221539497375, + -0.9555490016937256, + 0.2561490535736084, + 0.02408539690077305 + ], + "joints": [ + 0.002322711516171694 + ] + }, + "final_grasp": { + "position": [ + 0.060867972671985626, + 0.1186894029378891, + 0.06342867761850357 + ], + "orientation": [ + 0.14399221539497375, + -0.9555490016937256, + 0.2561490535736084, + 0.02408539690077305 + ], + "joints": [ + 0.008194677531719208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11572939157485962, + 0.04823971912264824, + -0.04765559732913971 + ], + "orientation": [ + 0.6053393483161926, + 0.01737137697637081, + -0.09488983452320099, + -0.7901003360748291 + ], + "joints": [ + -0.0022260514087975025 + ] + }, + "fine_grasp": { + "position": [ + -0.11554238200187683, + 0.04777907580137253, + -0.0471394807100296 + ], + "orientation": [ + 0.6041162014007568, + 0.002996080555021763, + -0.1027432307600975, + -0.7902393937110901 + ], + "joints": [ + 0.004177314229309559 + ] + }, + "final_grasp": { + "position": [ + -0.11554238200187683, + 0.04777907580137253, + -0.0471394807100296 + ], + "orientation": [ + 0.6041162014007568, + 0.002996080555021763, + -0.1027432307600975, + -0.7902393937110901 + ], + "joints": [ + 0.010580679401755333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019933151081204414, + 0.13240399956703186, + -0.06440234929323196 + ], + "orientation": [ + 0.15119804441928864, + 0.9826436042785645, + -0.09118055552244186, + -0.056894294917583466 + ], + "joints": [ + -0.004104910418391228 + ] + }, + "fine_grasp": { + "position": [ + 0.01955972984433174, + 0.1334843635559082, + -0.0634608194231987 + ], + "orientation": [ + 0.14642378687858582, + 0.9821714758872986, + -0.09047582000494003, + -0.07558754086494446 + ], + "joints": [ + 0.001767055713571608 + ] + }, + "final_grasp": { + "position": [ + 0.01955972984433174, + 0.1334843635559082, + -0.0634608194231987 + ], + "orientation": [ + 0.14642378687858582, + 0.9821714758872986, + -0.09047582000494003, + -0.07558754086494446 + ], + "joints": [ + 0.0076390216127038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020192110911011696, + 0.1324031949043274, + -0.06549255549907684 + ], + "orientation": [ + 0.1510256677865982, + 0.9825957417488098, + -0.09242285043001175, + -0.056169815361499786 + ], + "joints": [ + -0.0040687620639801025 + ] + }, + "fine_grasp": { + "position": [ + 0.019724324345588684, + 0.13363350927829742, + -0.06463467329740524 + ], + "orientation": [ + 0.14653143286705017, + 0.9822151064872742, + -0.0908266231417656, + -0.07438039034605026 + ], + "joints": [ + 0.0018032040679827332 + ] + }, + "final_grasp": { + "position": [ + 0.019724324345588684, + 0.13363350927829742, + -0.06463467329740524 + ], + "orientation": [ + 0.14653143286705017, + 0.9822151064872742, + -0.0908266231417656, + -0.07438039034605026 + ], + "joints": [ + 0.007675169967114925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0786237120628357, + -0.06726407259702682, + -0.07475553452968597 + ], + "orientation": [ + 0.9211568832397461, + 0.16313806176185608, + 0.00499354861676693, + 0.35331428050994873 + ], + "joints": [ + -0.003765683388337493 + ] + }, + "fine_grasp": { + "position": [ + 0.07949844002723694, + -0.06860531121492386, + -0.0745072066783905 + ], + "orientation": [ + 0.9219879508018494, + 0.1708986908197403, + -0.021469000726938248, + 0.34680110216140747 + ], + "joints": [ + 0.0026376822497695684 + ] + }, + "final_grasp": { + "position": [ + 0.07949844002723694, + -0.06860531121492386, + -0.0745072066783905 + ], + "orientation": [ + 0.9219879508018494, + 0.1708986908197403, + -0.021469000726938248, + 0.34680110216140747 + ], + "joints": [ + 0.009041047655045986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0981704592704773, + 0.03246408700942993, + 0.1421300321817398 + ], + "orientation": [ + 0.3547344505786896, + -0.7512908577919006, + -0.552823007106781, + 0.06412651389837265 + ], + "joints": [ + -0.0045126015320420265 + ] + }, + "fine_grasp": { + "position": [ + -0.0941757783293724, + 0.03193311020731926, + 0.13881365954875946 + ], + "orientation": [ + 0.3597492575645447, + -0.7525542378425598, + -0.5476890802383423, + 0.06541755795478821 + ], + "joints": [ + 0.0029004239477217197 + ] + }, + "final_grasp": { + "position": [ + -0.0941757783293724, + 0.03193311020731926, + 0.13881365954875946 + ], + "orientation": [ + 0.3597492575645447, + -0.7525542378425598, + -0.5476890802383423, + 0.06541755795478821 + ], + "joints": [ + 0.010313449427485466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11761429905891418, + 0.0062775094993412495, + -0.05695447325706482 + ], + "orientation": [ + 0.039997514337301254, + 0.6626546382904053, + -0.7383021116256714, + -0.11915946006774902 + ], + "joints": [ + -0.0021771606989204884 + ] + }, + "fine_grasp": { + "position": [ + 0.1198723316192627, + 0.005808989051729441, + -0.05698642134666443 + ], + "orientation": [ + 0.022489868104457855, + 0.6596048474311829, + -0.7392106056213379, + -0.13410142064094543 + ], + "joints": [ + 0.004226204939186573 + ] + }, + "final_grasp": { + "position": [ + 0.1198723316192627, + 0.005808989051729441, + -0.05698642134666443 + ], + "orientation": [ + 0.022489868104457855, + 0.6596048474311829, + -0.7392106056213379, + -0.13410142064094543 + ], + "joints": [ + 0.010629570111632347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04339280724525452, + -0.022156929597258568, + -0.18440914154052734 + ], + "orientation": [ + 0.4105868339538574, + 0.4695900082588196, + -0.690617561340332, + -0.3659932017326355 + ], + "joints": [ + -0.004079802893102169 + ] + }, + "fine_grasp": { + "position": [ + 0.04170408844947815, + -0.020798182114958763, + -0.1797744780778885 + ], + "orientation": [ + 0.4080747365951538, + 0.4710914194583893, + -0.6899006366729736, + -0.3682187795639038 + ], + "joints": [ + 0.00176559342071414 + ] + }, + "final_grasp": { + "position": [ + 0.04170408844947815, + -0.020798182114958763, + -0.1797744780778885 + ], + "orientation": [ + 0.4080747365951538, + 0.4710914194583893, + -0.6899006366729736, + -0.3682187795639038 + ], + "joints": [ + 0.007610989734530449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08241502940654755, + -0.04103800654411316, + -0.12188903987407684 + ], + "orientation": [ + 0.08765055239200592, + 0.42654097080230713, + -0.8576120734214783, + -0.2736454904079437 + ], + "joints": [ + -0.003092017024755478 + ] + }, + "fine_grasp": { + "position": [ + 0.0823603942990303, + -0.039453357458114624, + -0.12103108316659927 + ], + "orientation": [ + 0.06301546841859818, + 0.4207506477832794, + -0.8582717180252075, + -0.286997526884079 + ], + "joints": [ + 0.003842748235911131 + ] + }, + "final_grasp": { + "position": [ + 0.0823603942990303, + -0.039453357458114624, + -0.12103108316659927 + ], + "orientation": [ + 0.06301546841859818, + 0.4207506477832794, + -0.8582717180252075, + -0.286997526884079 + ], + "joints": [ + 0.01077751349657774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06475710868835449, + 0.10588270425796509, + -0.09280293434858322 + ], + "orientation": [ + 0.2943290174007416, + 0.02310160920023918, + -0.23019397258758545, + -0.9272796511650085 + ], + "joints": [ + -0.0038736602291464806 + ] + }, + "fine_grasp": { + "position": [ + -0.06601539999246597, + 0.10720320791006088, + -0.0922328382730484 + ], + "orientation": [ + 0.29039084911346436, + 0.01015685498714447, + -0.2363944947719574, + -0.9271934628486633 + ], + "joints": [ + 0.0019983057864010334 + ] + }, + "final_grasp": { + "position": [ + -0.06601539999246597, + 0.10720320791006088, + -0.0922328382730484 + ], + "orientation": [ + 0.29039084911346436, + 0.01015685498714447, + -0.2363944947719574, + -0.9271934628486633 + ], + "joints": [ + 0.007870271801948547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1119127944111824, + 0.01944444701075554, + -0.10042896121740341 + ], + "orientation": [ + 0.19110295176506042, + 0.7159727811813354, + -0.6707105040550232, + -0.031779900193214417 + ], + "joints": [ + -0.00230166083201766 + ] + }, + "fine_grasp": { + "position": [ + 0.11028653383255005, + 0.019482331350445747, + -0.10100220143795013 + ], + "orientation": [ + 0.18842045962810516, + 0.7205498814582825, + -0.666343092918396, + -0.03595132380723953 + ], + "joints": [ + 0.003570305183529854 + ] + }, + "final_grasp": { + "position": [ + 0.11028653383255005, + 0.019482331350445747, + -0.10100220143795013 + ], + "orientation": [ + 0.18842045962810516, + 0.7205498814582825, + -0.666343092918396, + -0.03595132380723953 + ], + "joints": [ + 0.009442271664738655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06650061905384064, + 0.11313492059707642, + 0.0721656084060669 + ], + "orientation": [ + 0.1602403074502945, + -0.9438475370407104, + 0.2885793447494507, + 0.014029399491846561 + ], + "joints": [ + -0.004070572555065155 + ] + }, + "fine_grasp": { + "position": [ + 0.06787782907485962, + 0.11394350975751877, + 0.07222703099250793 + ], + "orientation": [ + 0.1660570502281189, + -0.9429097175598145, + 0.28678902983665466, + 0.03314276784658432 + ], + "joints": [ + 0.0023327930830419064 + ] + }, + "final_grasp": { + "position": [ + 0.06787782907485962, + 0.11394350975751877, + 0.07222703099250793 + ], + "orientation": [ + 0.1660570502281189, + -0.9429097175598145, + 0.28678902983665466, + 0.03314276784658432 + ], + "joints": [ + 0.008736158721148968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044323015958070755, + -0.09172344952821732, + -0.06784724444150925 + ], + "orientation": [ + 0.07970179617404938, + 0.19640789926052094, + 0.9683026671409607, + 0.13214163482189178 + ], + "joints": [ + -0.00403052382171154 + ] + }, + "fine_grasp": { + "position": [ + -0.0441778227686882, + -0.09185344725847244, + -0.06693688035011292 + ], + "orientation": [ + 0.09514963626861572, + 0.19450892508029938, + 0.9682089686393738, + 0.12523725628852844 + ], + "joints": [ + 0.0018414424266666174 + ] + }, + "final_grasp": { + "position": [ + -0.0441778227686882, + -0.09185344725847244, + -0.06693688035011292 + ], + "orientation": [ + 0.09514963626861572, + 0.19450892508029938, + 0.9682089686393738, + 0.12523725628852844 + ], + "joints": [ + 0.007713408675044775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04420211911201477, + -0.09158464521169662, + -0.06847791373729706 + ], + "orientation": [ + 0.07933778315782547, + 0.19616103172302246, + 0.9679726362228394, + 0.13511228561401367 + ], + "joints": [ + -0.004061512649059296 + ] + }, + "fine_grasp": { + "position": [ + -0.04406072571873665, + -0.09164175391197205, + -0.067605160176754 + ], + "orientation": [ + 0.09491820633411407, + 0.19433866441249847, + 0.967860221862793, + 0.12833432853221893 + ], + "joints": [ + 0.001810453599318862 + ] + }, + "final_grasp": { + "position": [ + -0.04406072571873665, + -0.09164175391197205, + -0.067605160176754 + ], + "orientation": [ + 0.09491820633411407, + 0.19433866441249847, + 0.967860221862793, + 0.12833432853221893 + ], + "joints": [ + 0.00768241984769702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014193251729011536, + 0.13697053492069244, + -0.05001523345708847 + ], + "orientation": [ + 0.10646837949752808, + 0.9898722767829895, + 0.05148389935493469, + -0.07852905988693237 + ], + "joints": [ + -0.004429972264915705 + ] + }, + "fine_grasp": { + "position": [ + -0.01426567044109106, + 0.13738347589969635, + -0.04957883432507515 + ], + "orientation": [ + 0.10622729361057281, + 0.9877244234085083, + 0.04978075996041298, + -0.10314120352268219 + ], + "joints": [ + 0.0014685636851936579 + ] + }, + "final_grasp": { + "position": [ + -0.01426567044109106, + 0.13738347589969635, + -0.04957883432507515 + ], + "orientation": [ + 0.10622729361057281, + 0.9877244234085083, + 0.04978075996041298, + -0.10314120352268219 + ], + "joints": [ + 0.0073670996353030205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0591624490916729, + 0.11810467392206192, + 0.08752179890871048 + ], + "orientation": [ + 0.2508038282394409, + 0.03314724192023277, + -0.15181025862693787, + 0.9554854035377502 + ], + "joints": [ + -0.004194095730781555 + ] + }, + "fine_grasp": { + "position": [ + 0.06016441807150841, + 0.11825092881917953, + 0.08803308010101318 + ], + "orientation": [ + 0.24586771428585052, + 0.06712934374809265, + -0.15595337748527527, + 0.9543172121047974 + ], + "joints": [ + 0.0027406695298850536 + ] + }, + "final_grasp": { + "position": [ + 0.06016441807150841, + 0.11825092881917953, + 0.08803308010101318 + ], + "orientation": [ + 0.24586771428585052, + 0.06712934374809265, + -0.15595337748527527, + 0.9543172121047974 + ], + "joints": [ + 0.009675434790551662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04556426405906677, + -0.09351465851068497, + -0.0574670284986496 + ], + "orientation": [ + 0.9758092761039734, + 0.07684717327356339, + -0.0628521665930748, + -0.1947835236787796 + ], + "joints": [ + -0.003935463726520538 + ] + }, + "fine_grasp": { + "position": [ + -0.04573233798146248, + -0.0954400822520256, + -0.05726074054837227 + ], + "orientation": [ + 0.9748685956001282, + 0.07166560739278793, + -0.08020581305027008, + -0.19509555399417877 + ], + "joints": [ + 0.002467901911586523 + ] + }, + "final_grasp": { + "position": [ + -0.04573233798146248, + -0.0954400822520256, + -0.05726074054837227 + ], + "orientation": [ + 0.9748685956001282, + 0.07166560739278793, + -0.08020581305027008, + -0.19509555399417877 + ], + "joints": [ + 0.008871267549693584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07896371930837631, + 0.10685010254383087, + -0.06878643482923508 + ], + "orientation": [ + 0.0936972126364708, + 0.9244235157966614, + -0.35730305314064026, + -0.09484966844320297 + ], + "joints": [ + -0.00374817056581378 + ] + }, + "fine_grasp": { + "position": [ + 0.07806789129972458, + 0.10808739811182022, + -0.06725989282131195 + ], + "orientation": [ + 0.08062034100294113, + 0.9260271787643433, + -0.35054323077201843, + -0.11442683637142181 + ], + "joints": [ + 0.0016189656453207135 + ] + }, + "final_grasp": { + "position": [ + 0.07806789129972458, + 0.10808739811182022, + -0.06725989282131195 + ], + "orientation": [ + 0.08062034100294113, + 0.9260271787643433, + -0.35054323077201843, + -0.11442683637142181 + ], + "joints": [ + 0.0069861020892858505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020492538809776306, + 0.13408388197422028, + -0.06527242809534073 + ], + "orientation": [ + 0.12692198157310486, + 0.9851540327072144, + -0.09295851737260818, + -0.06871053576469421 + ], + "joints": [ + -0.004224868491292 + ] + }, + "fine_grasp": { + "position": [ + 0.020181261003017426, + 0.13466987013816833, + -0.0644419938325882 + ], + "orientation": [ + 0.12173119932413101, + 0.9842162132263184, + -0.09122765809297562, + -0.09042988717556 + ], + "joints": [ + 0.0011422683019191027 + ] + }, + "final_grasp": { + "position": [ + 0.020181261003017426, + 0.13466987013816833, + -0.0644419938325882 + ], + "orientation": [ + 0.12173119932413101, + 0.9842162132263184, + -0.09122765809297562, + -0.09042988717556 + ], + "joints": [ + 0.006509405095130205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09771900624036789, + -0.039049457758665085, + -0.08389609307050705 + ], + "orientation": [ + 0.8550186157226562, + 0.17956863343715668, + 0.047605980187654495, + 0.48418182134628296 + ], + "joints": [ + -0.0029150554910302162 + ] + }, + "fine_grasp": { + "position": [ + 0.09953490644693375, + -0.03949994221329689, + -0.0836414247751236 + ], + "orientation": [ + 0.8553012013435364, + 0.19203412532806396, + 0.022787198424339294, + 0.48069068789482117 + ], + "joints": [ + 0.0029569105245172977 + ] + }, + "final_grasp": { + "position": [ + 0.09953490644693375, + -0.03949994221329689, + -0.0836414247751236 + ], + "orientation": [ + 0.8553012013435364, + 0.19203412532806396, + 0.022787198424339294, + 0.48069068789482117 + ], + "joints": [ + 0.008828876540064812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07783403992652893, + -0.05192301422357559, + 0.11135457456111908 + ], + "orientation": [ + 0.8804564476013184, + -0.2034258246421814, + -0.13727052509784698, + 0.4056737422943115 + ], + "joints": [ + -0.0034731579944491386 + ] + }, + "fine_grasp": { + "position": [ + 0.07712722569704056, + -0.05413055419921875, + 0.10984780639410019 + ], + "orientation": [ + 0.8769512176513672, + -0.19166982173919678, + -0.17289982736110687, + 0.40537014603614807 + ], + "joints": [ + 0.0029036379419267178 + ] + }, + "final_grasp": { + "position": [ + 0.07712722569704056, + -0.05413055419921875, + 0.10984780639410019 + ], + "orientation": [ + 0.8769512176513672, + -0.19166982173919678, + -0.17289982736110687, + 0.40537014603614807 + ], + "joints": [ + 0.009280433878302574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08174093067646027, + 0.08624099940061569, + 0.10617116838693619 + ], + "orientation": [ + 0.24265381693840027, + -0.8816771507263184, + 0.4003903865814209, + -0.058754388242959976 + ], + "joints": [ + -0.0037674657069146633 + ] + }, + "fine_grasp": { + "position": [ + 0.08174092322587967, + 0.08642102032899857, + 0.10438850522041321 + ], + "orientation": [ + 0.24958950281143188, + -0.8818362355232239, + 0.39702650904655457, + -0.04939652606844902 + ], + "joints": [ + 0.0021045003086328506 + ] + }, + "final_grasp": { + "position": [ + 0.08174092322587967, + 0.08642102032899857, + 0.10438850522041321 + ], + "orientation": [ + 0.24958950281143188, + -0.8818362355232239, + 0.39702650904655457, + -0.04939652606844902 + ], + "joints": [ + 0.007976466789841652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06122547388076782, + 0.1149234026670456, + -0.09566669166088104 + ], + "orientation": [ + 0.2561464309692383, + -0.04265742376446724, + 0.17765644192695618, + 0.9492142796516418 + ], + "joints": [ + -0.004985714331269264 + ] + }, + "fine_grasp": { + "position": [ + 0.06319411844015121, + 0.11623308807611465, + -0.09545762836933136 + ], + "orientation": [ + 0.25097569823265076, + -0.06667882949113846, + 0.19433128833770752, + 0.9459389448165894 + ], + "joints": [ + 0.0014176517724990845 + ] + }, + "final_grasp": { + "position": [ + 0.06319411844015121, + 0.11623308807611465, + -0.09545762836933136 + ], + "orientation": [ + 0.25097569823265076, + -0.06667882949113846, + 0.19433128833770752, + 0.9459389448165894 + ], + "joints": [ + 0.007821017876267433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03200509399175644, + 0.12314625829458237, + 0.0881054624915123 + ], + "orientation": [ + 0.13356472551822662, + 0.018038898706436157, + 0.22236323356628418, + -0.965603232383728 + ], + "joints": [ + -0.0047699157148599625 + ] + }, + "fine_grasp": { + "position": [ + -0.032688889652490616, + 0.1239827424287796, + 0.08941277116537094 + ], + "orientation": [ + 0.13714814186096191, + 0.02881636470556259, + 0.22966545820236206, + -0.9631271362304688 + ], + "joints": [ + 0.0005440808599814773 + ] + }, + "final_grasp": { + "position": [ + -0.032688889652490616, + 0.1239827424287796, + 0.08941277116537094 + ], + "orientation": [ + 0.13714814186096191, + 0.02881636470556259, + 0.22966545820236206, + -0.9631271362304688 + ], + "joints": [ + 0.005858077667653561 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02451535500586033, + -0.08545174449682236, + 0.11103653907775879 + ], + "orientation": [ + 0.0916156992316246, + -0.128529354929924, + 0.9600651264190674, + -0.23100155591964722 + ], + "joints": [ + -0.004486526362597942 + ] + }, + "fine_grasp": { + "position": [ + 0.02352694794535637, + -0.08580860495567322, + 0.10991080850362778 + ], + "orientation": [ + 0.12302037328481674, + -0.13373486697673798, + 0.9563732147216797, + -0.2287600189447403 + ], + "joints": [ + 0.0019168393919244409 + ] + }, + "final_grasp": { + "position": [ + 0.02352694794535637, + -0.08580860495567322, + 0.10991080850362778 + ], + "orientation": [ + 0.12302037328481674, + -0.13373486697673798, + 0.9563732147216797, + -0.2287600189447403 + ], + "joints": [ + 0.00832020491361618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09787631034851074, + -0.039007578045129776, + -0.08437364548444748 + ], + "orientation": [ + 0.8551216125488281, + 0.18354995548725128, + 0.04110247641801834, + 0.4831015169620514 + ], + "joints": [ + -0.0031664178241044283 + ] + }, + "fine_grasp": { + "position": [ + 0.09948215633630753, + -0.039413679391145706, + -0.08412469923496246 + ], + "orientation": [ + 0.8550419211387634, + 0.19454191625118256, + 0.016539109870791435, + 0.480398952960968 + ], + "joints": [ + 0.0027321181260049343 + ] + }, + "final_grasp": { + "position": [ + 0.09948215633630753, + -0.039413679391145706, + -0.08412469923496246 + ], + "orientation": [ + 0.8550419211387634, + 0.19454191625118256, + 0.016539109870791435, + 0.480398952960968 + ], + "joints": [ + 0.008630653843283653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04700462147593498, + 0.11946112662553787, + -0.09512723237276077 + ], + "orientation": [ + 0.15676385164260864, + 0.9550987482070923, + -0.2238956242799759, + -0.11437772959470749 + ], + "joints": [ + -0.004822281189262867 + ] + }, + "fine_grasp": { + "position": [ + 0.04346850886940956, + 0.1198590025305748, + -0.0936947837471962 + ], + "orientation": [ + 0.14771638810634613, + 0.9523804187774658, + -0.21743667125701904, + -0.15450796484947205 + ], + "joints": [ + 0.002112484071403742 + ] + }, + "final_grasp": { + "position": [ + 0.04346850886940956, + 0.1198590025305748, + -0.0936947837471962 + ], + "orientation": [ + 0.14771638810634613, + 0.9523804187774658, + -0.21743667125701904, + -0.15450796484947205 + ], + "joints": [ + 0.00904724933207035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02041243016719818, + 0.13489247858524323, + -0.06672027707099915 + ], + "orientation": [ + 0.1118122786283493, + 0.986956000328064, + -0.09172085672616959, + -0.07073289901018143 + ], + "joints": [ + -0.004527417942881584 + ] + }, + "fine_grasp": { + "position": [ + 0.02001388929784298, + 0.13529203832149506, + -0.06587538123130798 + ], + "orientation": [ + 0.10663604736328125, + 0.9860982894897461, + -0.08956657350063324, + -0.09064602851867676 + ], + "joints": [ + 0.001344548538327217 + ] + }, + "final_grasp": { + "position": [ + 0.02001388929784298, + 0.13529203832149506, + -0.06587538123130798 + ], + "orientation": [ + 0.10663604736328125, + 0.9860982894897461, + -0.08956657350063324, + -0.09064602851867676 + ], + "joints": [ + 0.007216515019536018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09923730790615082, + -0.01047450676560402, + -0.12600474059581757 + ], + "orientation": [ + 0.2613838016986847, + 0.6019078493118286, + 0.7351484298706055, + 0.17012451589107513 + ], + "joints": [ + -0.0036022039130330086 + ] + }, + "fine_grasp": { + "position": [ + -0.09576721489429474, + -0.009621578268706799, + -0.12283118814229965 + ], + "orientation": [ + 0.26850783824920654, + 0.6023693680763245, + 0.7339115738868713, + 0.1625678688287735 + ], + "joints": [ + 0.00436879089102149 + ] + }, + "final_grasp": { + "position": [ + -0.09576721489429474, + -0.009621578268706799, + -0.12283118814229965 + ], + "orientation": [ + 0.26850783824920654, + 0.6023693680763245, + 0.7339115738868713, + 0.1625678688287735 + ], + "joints": [ + 0.012339785695075989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11273318529129028, + -0.018292879685759544, + -0.06633670628070831 + ], + "orientation": [ + 0.7978130578994751, + 0.05209827050566673, + -0.11476531624794006, + -0.5895837545394897 + ], + "joints": [ + -0.002872978337109089 + ] + }, + "fine_grasp": { + "position": [ + -0.11371415853500366, + -0.0191568024456501, + -0.065313421189785 + ], + "orientation": [ + 0.7990366816520691, + 0.040957797318696976, + -0.12724053859710693, + -0.5862360596656799 + ], + "joints": [ + 0.002998987678438425 + ] + }, + "final_grasp": { + "position": [ + -0.11371415853500366, + -0.0191568024456501, + -0.065313421189785 + ], + "orientation": [ + 0.7990366816520691, + 0.040957797318696976, + -0.12724053859710693, + -0.5862360596656799 + ], + "joints": [ + 0.008870953693985939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027698656544089317, + 0.13467435538768768, + -0.06040063872933388 + ], + "orientation": [ + 0.10886258631944656, + -0.07223442941904068, + -0.10244347900152206, + -0.9861220121383667 + ], + "joints": [ + -0.004614123143255711 + ] + }, + "fine_grasp": { + "position": [ + -0.027596645057201385, + 0.13521914184093475, + -0.05970349907875061 + ], + "orientation": [ + 0.106944739818573, + -0.099913589656353, + -0.10116974264383316, + -0.9840452075004578 + ], + "joints": [ + 0.0017892426112666726 + ] + }, + "final_grasp": { + "position": [ + -0.027596645057201385, + 0.13521914184093475, + -0.05970349907875061 + ], + "orientation": [ + 0.106944739818573, + -0.099913589656353, + -0.10116974264383316, + -0.9840452075004578 + ], + "joints": [ + 0.008192608132958412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10669632256031036, + -0.020566649734973907, + -0.0906781330704689 + ], + "orientation": [ + 0.1606229990720749, + 0.5768302083015442, + 0.7967771887779236, + 0.081322081387043 + ], + "joints": [ + -0.002651852322742343 + ] + }, + "fine_grasp": { + "position": [ + -0.10705611109733582, + -0.02301468513906002, + -0.0900939553976059 + ], + "orientation": [ + 0.18545128405094147, + 0.5721961855888367, + 0.7962632179260254, + 0.06453132629394531 + ], + "joints": [ + 0.003751513548195362 + ] + }, + "final_grasp": { + "position": [ + -0.10705611109733582, + -0.02301468513906002, + -0.0900939553976059 + ], + "orientation": [ + 0.18545128405094147, + 0.5721961855888367, + 0.7962632179260254, + 0.06453132629394531 + ], + "joints": [ + 0.01015487965196371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027753163129091263, + 0.13500140607357025, + -0.059878863394260406 + ], + "orientation": [ + 0.10918518155813217, + -0.07676193863153458, + -0.09685087949037552, + -0.986309289932251 + ], + "joints": [ + -0.0046037063002586365 + ] + }, + "fine_grasp": { + "position": [ + -0.027590474113821983, + 0.13553211092948914, + -0.05920528620481491 + ], + "orientation": [ + 0.10705696791410446, + -0.10359900444746017, + -0.09579246491193771, + -0.984190046787262 + ], + "joints": [ + 0.001294829766266048 + ] + }, + "final_grasp": { + "position": [ + -0.027590474113821983, + 0.13553211092948914, + -0.05920528620481491 + ], + "orientation": [ + 0.10705696791410446, + -0.10359900444746017, + -0.09579246491193771, + -0.984190046787262 + ], + "joints": [ + 0.007193366065621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04406862333416939, + 0.11608914285898209, + 0.09271592646837234 + ], + "orientation": [ + 0.21020889282226562, + -0.9507279992103577, + -0.2107257843017578, + 0.08673545718193054 + ], + "joints": [ + -0.0045511797070503235 + ] + }, + "fine_grasp": { + "position": [ + -0.04121499881148338, + 0.1124562993645668, + 0.09029354900121689 + ], + "orientation": [ + 0.203913614153862, + -0.9517623782157898, + -0.20477795600891113, + 0.10312027484178543 + ], + "joints": [ + 0.0007893869187682867 + ] + }, + "final_grasp": { + "position": [ + -0.04121499881148338, + 0.1124562993645668, + 0.09029354900121689 + ], + "orientation": [ + 0.203913614153862, + -0.9517623782157898, + -0.20477795600891113, + 0.10312027484178543 + ], + "joints": [ + 0.006129953544586897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07657621800899506, + -0.05741603299975395, + 0.13443687558174133 + ], + "orientation": [ + 0.06564556807279587, + 0.3080235719680786, + -0.9027291536331177, + 0.2930738627910614 + ], + "joints": [ + -0.0031206831336021423 + ] + }, + "fine_grasp": { + "position": [ + 0.07592546194791794, + -0.05579883232712746, + 0.13162270188331604 + ], + "orientation": [ + 0.08089955151081085, + 0.3014095425605774, + -0.9001309275627136, + 0.3039272129535675 + ], + "joints": [ + 0.0027512828819453716 + ] + }, + "final_grasp": { + "position": [ + 0.07592546194791794, + -0.05579883232712746, + 0.13162270188331604 + ], + "orientation": [ + 0.08089955151081085, + 0.3014095425605774, + -0.9001309275627136, + 0.3039272129535675 + ], + "joints": [ + 0.008623248897492886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11978189647197723, + -0.008946244604885578, + -0.09329390525817871 + ], + "orientation": [ + 0.7835947275161743, + 0.20614434778690338, + 0.11056980490684509, + -0.5755503177642822 + ], + "joints": [ + -0.0031421103049069643 + ] + }, + "fine_grasp": { + "position": [ + -0.11911890655755997, + -0.009644539095461369, + -0.09347826987504959 + ], + "orientation": [ + 0.7799854278564453, + 0.23410211503505707, + 0.1383608728647232, + -0.5636267066001892 + ], + "joints": [ + 0.0001525675761513412 + ] + }, + "final_grasp": { + "position": [ + -0.11911890655755997, + -0.009644539095461369, + -0.09347826987504959 + ], + "orientation": [ + 0.7799854278564453, + 0.23410211503505707, + 0.1383608728647232, + -0.5636267066001892 + ], + "joints": [ + 0.003447245340794325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10118715465068817, + -0.0260340366512537, + -0.12253236025571823 + ], + "orientation": [ + 0.756098210811615, + 0.04069877788424492, + -0.3000248968601227, + -0.5802104473114014 + ], + "joints": [ + -0.0025653380434960127 + ] + }, + "fine_grasp": { + "position": [ + -0.10084182024002075, + -0.026524972170591354, + -0.11915623396635056 + ], + "orientation": [ + 0.7520900368690491, + 0.017723893746733665, + -0.32614773511886597, + -0.5724282264709473 + ], + "joints": [ + 0.0017655688570812345 + ] + }, + "final_grasp": { + "position": [ + -0.10084182024002075, + -0.026524972170591354, + -0.11915623396635056 + ], + "orientation": [ + 0.7520900368690491, + 0.017723893746733665, + -0.32614773511886597, + -0.5724282264709473 + ], + "joints": [ + 0.006096475757658482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049048665910959244, + -0.08853413909673691, + -0.10261206328868866 + ], + "orientation": [ + 0.9463016986846924, + 0.19085776805877686, + 0.21709281206130981, + -0.14476563036441803 + ], + "joints": [ + -0.006087080575525761 + ] + }, + "fine_grasp": { + "position": [ + -0.05017543211579323, + -0.09020604193210602, + -0.10346000641584396 + ], + "orientation": [ + 0.936564564704895, + 0.19734890758991241, + 0.25121644139289856, + -0.14418897032737732 + ], + "joints": [ + -0.0022610032465308905 + ] + }, + "final_grasp": { + "position": [ + -0.05017543211579323, + -0.09020604193210602, + -0.10346000641584396 + ], + "orientation": [ + 0.936564564704895, + 0.19734890758991241, + 0.25121644139289856, + -0.14418897032737732 + ], + "joints": [ + 0.0015650740824639797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01577766239643097, + -0.11757075786590576, + -0.06888439506292343 + ], + "orientation": [ + 0.9115598201751709, + 0.07747004926204681, + -0.40375879406929016, + 0.006006551440805197 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.014560055918991566, + -0.11217645555734634, + -0.06778458505868912 + ], + "orientation": [ + 0.9047771096229553, + 0.08000930398702621, + -0.4181234836578369, + 0.01223504263907671 + ], + "joints": [ + -0.012923326343297958 + ] + }, + "final_grasp": { + "position": [ + 0.014560055918991566, + -0.11217645555734634, + -0.06778458505868912 + ], + "orientation": [ + 0.9047771096229553, + 0.08000930398702621, + -0.4181234836578369, + 0.01223504263907671 + ], + "joints": [ + -0.010027192533016205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09614101052284241, + -0.05725404992699623, + -0.06532084196805954 + ], + "orientation": [ + 0.8374670743942261, + 0.2396245002746582, + -0.3458802402019501, + 0.3487061858177185 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.09430693835020065, + -0.055642250925302505, + -0.06417062878608704 + ], + "orientation": [ + 0.8191400766372681, + 0.2533572316169739, + -0.3850281238555908, + 0.3414278030395508 + ], + "joints": [ + -0.016743510961532593 + ] + }, + "final_grasp": { + "position": [ + 0.09430693835020065, + -0.055642250925302505, + -0.06417062878608704 + ], + "orientation": [ + 0.8191400766372681, + 0.2533572316169739, + -0.3850281238555908, + 0.3414278030395508 + ], + "joints": [ + -0.015547851100564003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03526454046368599, + 0.14714014530181885, + -0.0382595919072628 + ], + "orientation": [ + 0.008917917497456074, + 0.6603257656097412, + -0.014683961868286133, + -0.7507827281951904 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.0332978330552578, + 0.14697134494781494, + -0.03824670612812042 + ], + "orientation": [ + 0.001641501090489328, + -0.6606202721595764, + 0.028308575972914696, + 0.7501844763755798 + ], + "joints": [ + -0.01644197292625904 + ] + }, + "final_grasp": { + "position": [ + 0.0332978330552578, + 0.14697134494781494, + -0.03824670612812042 + ], + "orientation": [ + 0.001641501090489328, + -0.6606202721595764, + 0.028308575972914696, + 0.7501844763755798 + ], + "joints": [ + -0.015857428312301636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12908188998699188, + -0.03168569132685661, + -0.1049366369843483 + ], + "orientation": [ + 0.7518777847290039, + 0.43407583236694336, + -0.29565152525901794, + 0.3985576927661896 + ], + "joints": [ + -0.016349386423826218 + ] + }, + "fine_grasp": { + "position": [ + 0.12601226568222046, + -0.02958991751074791, + -0.10407104343175888 + ], + "orientation": [ + 0.7471648454666138, + 0.43469804525375366, + -0.31684383749961853, + 0.3903743624687195 + ], + "joints": [ + -0.015100590884685516 + ] + }, + "final_grasp": { + "position": [ + 0.12601226568222046, + -0.02958991751074791, + -0.10407104343175888 + ], + "orientation": [ + 0.7471648454666138, + 0.43469804525375366, + -0.31684383749961853, + 0.3903743624687195 + ], + "joints": [ + -0.013851795345544815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1290348619222641, + -0.031608182936906815, + -0.10494714975357056 + ], + "orientation": [ + 0.7524446249008179, + 0.4331512153148651, + -0.29466769099235535, + 0.39922183752059937 + ], + "joints": [ + -0.016349386423826218 + ] + }, + "fine_grasp": { + "position": [ + 0.1259564757347107, + -0.029515424743294716, + -0.10406839102506638 + ], + "orientation": [ + 0.7474603056907654, + 0.4341835379600525, + -0.31627342104911804, + 0.39084362983703613 + ], + "joints": [ + -0.015100590884685516 + ] + }, + "final_grasp": { + "position": [ + 0.1259564757347107, + -0.029515424743294716, + -0.10406839102506638 + ], + "orientation": [ + 0.7474603056907654, + 0.4341835379600525, + -0.31627342104911804, + 0.39084362983703613 + ], + "joints": [ + -0.013851795345544815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12898246943950653, + -0.031604666262865067, + -0.10504903644323349 + ], + "orientation": [ + 0.7530639171600342, + 0.43222615122795105, + -0.29385626316070557, + 0.3996546268463135 + ], + "joints": [ + -0.016349386423826218 + ] + }, + "fine_grasp": { + "position": [ + 0.12588314712047577, + -0.029474681243300438, + -0.10418674349784851 + ], + "orientation": [ + 0.7478933930397034, + 0.43334007263183594, + -0.31580492854118347, + 0.39132994413375854 + ], + "joints": [ + -0.015100590884685516 + ] + }, + "final_grasp": { + "position": [ + 0.12588314712047577, + -0.029474681243300438, + -0.10418674349784851 + ], + "orientation": [ + 0.7478933930397034, + 0.43334007263183594, + -0.31580492854118347, + 0.39132994413375854 + ], + "joints": [ + -0.013851795345544815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14111736416816711, + -0.007280765566974878, + -0.029961127787828445 + ], + "orientation": [ + 0.664124608039856, + 0.27558204531669617, + -0.4168289601802826, + 0.5560994744300842 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1359284520149231, + -0.006675024516880512, + -0.0314151830971241 + ], + "orientation": [ + 0.6619647145271301, + 0.2817656099796295, + -0.41574567556381226, + 0.5563868284225464 + ], + "joints": [ + -0.01734299212694168 + ] + }, + "final_grasp": { + "position": [ + 0.1359284520149231, + -0.006675024516880512, + -0.0314151830971241 + ], + "orientation": [ + 0.6619647145271301, + 0.2817656099796295, + -0.41574567556381226, + 0.5563868284225464 + ], + "joints": [ + -0.014685984700918198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06893795728683472, + 0.13913977146148682, + -0.06818684935569763 + ], + "orientation": [ + 0.17243459820747375, + -0.4136454164981842, + 0.18604376912117004, + 0.8743864297866821 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + 0.06609349697828293, + 0.13474158942699432, + -0.06596267968416214 + ], + "orientation": [ + 0.16872836649417877, + -0.4277459383010864, + 0.2008589506149292, + 0.8649970293045044 + ], + "joints": [ + -0.01647876389324665 + ] + }, + "final_grasp": { + "position": [ + 0.06609349697828293, + 0.13474158942699432, + -0.06596267968416214 + ], + "orientation": [ + 0.16872836649417877, + -0.4277459383010864, + 0.2008589506149292, + 0.8649970293045044 + ], + "joints": [ + -0.013237211853265762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1397794634103775, + 0.020289022475481033, + -0.048115797340869904 + ], + "orientation": [ + 0.3749784529209137, + 0.6424340009689331, + -0.5787802934646606, + 0.3341904282569885 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.13502442836761475, + 0.02050858922302723, + -0.047074560075998306 + ], + "orientation": [ + 0.37384819984436035, + 0.6434064507484436, + -0.5827934741973877, + 0.3265233039855957 + ], + "joints": [ + -0.01893719658255577 + ] + }, + "final_grasp": { + "position": [ + 0.13502442836761475, + 0.02050858922302723, + -0.047074560075998306 + ], + "orientation": [ + 0.37384819984436035, + 0.6434064507484436, + -0.5827934741973877, + 0.3265233039855957 + ], + "joints": [ + -0.017874393612146378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08104899525642395, + -0.07091392576694489, + 0.02053755335509777 + ], + "orientation": [ + 0.9272195100784302, + -0.03361010551452637, + -0.08324137330055237, + 0.36360037326812744 + ], + "joints": [ + -0.003461915533989668 + ] + }, + "fine_grasp": { + "position": [ + 0.08118214458227158, + -0.07124967873096466, + 0.019444255158305168 + ], + "orientation": [ + 0.9265472888946533, + -0.025142991915345192, + -0.1030813455581665, + 0.3609045743942261 + ], + "joints": [ + 0.002410050481557846 + ] + }, + "final_grasp": { + "position": [ + 0.08118214458227158, + -0.07124967873096466, + 0.019444255158305168 + ], + "orientation": [ + 0.9265472888946533, + -0.025142991915345192, + -0.1030813455581665, + 0.3609045743942261 + ], + "joints": [ + 0.008282016962766647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08465975522994995, + -0.0674777403473854, + 0.019552865996956825 + ], + "orientation": [ + 0.06805246323347092, + -0.38165760040283203, + 0.9210906624794006, + -0.036031659692525864 + ], + "joints": [ + -0.0028990386053919792 + ] + }, + "fine_grasp": { + "position": [ + 0.08476572483778, + -0.06921344995498657, + 0.018213285133242607 + ], + "orientation": [ + 0.0855996310710907, + -0.37716788053512573, + 0.9217846393585205, + -0.027022486552596092 + ], + "joints": [ + 0.003477757330983877 + ] + }, + "final_grasp": { + "position": [ + 0.08476572483778, + -0.06921344995498657, + 0.018213285133242607 + ], + "orientation": [ + 0.0855996310710907, + -0.37716788053512573, + 0.9217846393585205, + -0.027022486552596092 + ], + "joints": [ + 0.009854553267359734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0946970134973526, + 0.0910387635231018, + 0.02268780954182148 + ], + "orientation": [ + 0.43518850207328796, + 0.008347698487341404, + -0.09245678037405014, + 0.8955406546592712 + ], + "joints": [ + -0.002751433290541172 + ] + }, + "fine_grasp": { + "position": [ + 0.09442867338657379, + 0.09042346477508545, + 0.022488681599497795 + ], + "orientation": [ + 0.43345922231674194, + 0.028313716873526573, + -0.10144967585802078, + 0.8949968814849854 + ], + "joints": [ + 0.0036519323475658894 + ] + }, + "final_grasp": { + "position": [ + 0.09442867338657379, + 0.09042346477508545, + 0.022488681599497795 + ], + "orientation": [ + 0.43345922231674194, + 0.028313716873526573, + -0.10144967585802078, + 0.8949968814849854 + ], + "joints": [ + 0.01005529798567295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09455060213804245, + 0.09107042849063873, + 0.023399734869599342 + ], + "orientation": [ + 0.4344238340854645, + 0.007215280085802078, + -0.09503564238548279, + 0.8956518769264221 + ], + "joints": [ + -0.002644619671627879 + ] + }, + "fine_grasp": { + "position": [ + 0.09434022754430771, + 0.09058275073766708, + 0.023166991770267487 + ], + "orientation": [ + 0.4327540695667267, + 0.026669679209589958, + -0.10350281000137329, + 0.8951535224914551 + ], + "joints": [ + 0.003758746199309826 + ] + }, + "final_grasp": { + "position": [ + 0.09434022754430771, + 0.09058275073766708, + 0.023166991770267487 + ], + "orientation": [ + 0.4327540695667267, + 0.026669679209589958, + -0.10350281000137329, + 0.8951535224914551 + ], + "joints": [ + 0.010162112303078175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0917554721236229, + 0.09639417380094528, + -0.013498862273991108 + ], + "orientation": [ + 0.4149239957332611, + -0.026739755645394325, + -0.06617600470781326, + -0.9070522785186768 + ], + "joints": [ + -0.002828371711075306 + ] + }, + "fine_grasp": { + "position": [ + -0.09091787785291672, + 0.09583408385515213, + -0.01394976582378149 + ], + "orientation": [ + 0.41189369559288025, + -0.04461762309074402, + -0.07500934600830078, + -0.9070427417755127 + ], + "joints": [ + 0.0035749939270317554 + ] + }, + "final_grasp": { + "position": [ + -0.09091787785291672, + 0.09583408385515213, + -0.01394976582378149 + ], + "orientation": [ + 0.41189369559288025, + -0.04461762309074402, + -0.07500934600830078, + -0.9070427417755127 + ], + "joints": [ + 0.009978359565138817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09139170497655869, + 0.09674149751663208, + -0.013526621274650097 + ], + "orientation": [ + 0.4132660925388336, + -0.026606915518641472, + -0.06545976549386978, + -0.9078646302223206 + ], + "joints": [ + -0.0031467003282159567 + ] + }, + "fine_grasp": { + "position": [ + -0.09065068513154984, + 0.09608831256628036, + -0.013883572071790695 + ], + "orientation": [ + 0.41039571166038513, + -0.04496048763394356, + -0.07425613701343536, + -0.9077665209770203 + ], + "joints": [ + 0.0032566655427217484 + ] + }, + "final_grasp": { + "position": [ + -0.09065068513154984, + 0.09608831256628036, + -0.013883572071790695 + ], + "orientation": [ + 0.41039571166038513, + -0.04496048763394356, + -0.07425613701343536, + -0.9077665209770203 + ], + "joints": [ + 0.009660031646490097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09052965044975281, + 0.09837125241756439, + -0.0034333604853600264 + ], + "orientation": [ + 0.40796247124671936, + -0.04059160500764847, + -0.03566889464855194, + -0.9113982915878296 + ], + "joints": [ + -0.002791483886539936 + ] + }, + "fine_grasp": { + "position": [ + -0.08996298909187317, + 0.09777086973190308, + -0.003971714526414871 + ], + "orientation": [ + 0.4055318236351013, + -0.06377942860126495, + -0.046793483197689056, + -0.9106517434120178 + ], + "joints": [ + 0.0035853120498359203 + ] + }, + "final_grasp": { + "position": [ + -0.08996298909187317, + 0.09777086973190308, + -0.003971714526414871 + ], + "orientation": [ + 0.4055318236351013, + -0.06377942860126495, + -0.046793483197689056, + -0.9106517434120178 + ], + "joints": [ + 0.009962107986211777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07666889578104019, + 0.11146022379398346, + 0.010229329578578472 + ], + "orientation": [ + 0.049502354115247726, + -0.9406765103340149, + 0.3346720039844513, + 0.025919953361153603 + ], + "joints": [ + -0.0033887140452861786 + ] + }, + "fine_grasp": { + "position": [ + 0.07538492977619171, + 0.11034802347421646, + 0.010674277320504189 + ], + "orientation": [ + 0.06193564832210541, + -0.9405325055122375, + 0.33017590641975403, + 0.050464414060115814 + ], + "joints": [ + 0.003014651592820883 + ] + }, + "final_grasp": { + "position": [ + 0.07538492977619171, + 0.11034802347421646, + 0.010674277320504189 + ], + "orientation": [ + 0.06193564832210541, + -0.9405325055122375, + 0.33017590641975403, + 0.050464414060115814 + ], + "joints": [ + 0.009418017230927944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08824126422405243, + 0.0631856843829155, + 0.13935360312461853 + ], + "orientation": [ + 0.31848523020744324, + -0.8419846296310425, + 0.435409814119339, + 0.006883237045258284 + ], + "joints": [ + -0.0016350760124623775 + ] + }, + "fine_grasp": { + "position": [ + 0.08831091970205307, + 0.06334279477596283, + 0.13841527700424194 + ], + "orientation": [ + 0.3269931972026825, + -0.841087281703949, + 0.43050479888916016, + 0.01769866794347763 + ], + "joints": [ + 0.004768289625644684 + ] + }, + "final_grasp": { + "position": [ + 0.08831091970205307, + 0.06334279477596283, + 0.13841527700424194 + ], + "orientation": [ + 0.3269931972026825, + -0.841087281703949, + 0.43050479888916016, + 0.01769866794347763 + ], + "joints": [ + 0.011171655729413033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04306231066584587, + 0.13273976743221283, + -0.0862351506948471 + ], + "orientation": [ + 0.21186840534210205, + 0.2614477872848511, + 0.01020321249961853, + 0.9416223764419556 + ], + "joints": [ + -0.004652073141187429 + ] + }, + "fine_grasp": { + "position": [ + 0.042627643793821335, + 0.13127118349075317, + -0.08476051688194275 + ], + "orientation": [ + 0.20784327387809753, + 0.29758137464523315, + 0.005428307689726353, + 0.9317817091941833 + ], + "joints": [ + -0.0017825153190642595 + ] + }, + "final_grasp": { + "position": [ + 0.042627643793821335, + 0.13127118349075317, + -0.08476051688194275 + ], + "orientation": [ + 0.20784327387809753, + 0.29758137464523315, + 0.005428307689726353, + 0.9317817091941833 + ], + "joints": [ + 0.0010870425030589104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07205983251333237, + 0.09248491376638412, + 0.12716761231422424 + ], + "orientation": [ + 0.22099348902702332, + -0.8607815504074097, + 0.3982996344566345, + -0.22709964215755463 + ], + "joints": [ + -0.005084489472210407 + ] + }, + "fine_grasp": { + "position": [ + 0.06842648237943649, + 0.0912986695766449, + 0.12404389679431915 + ], + "orientation": [ + 0.21775299310684204, + -0.8592353463172913, + 0.3976277709007263, + -0.23704536259174347 + ], + "joints": [ + 0.002355105709284544 + ] + }, + "final_grasp": { + "position": [ + 0.06842648237943649, + 0.0912986695766449, + 0.12404389679431915 + ], + "orientation": [ + 0.21775299310684204, + -0.8592353463172913, + 0.3976277709007263, + -0.23704536259174347 + ], + "joints": [ + 0.009794700890779495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09733202308416367, + 0.08949293941259384, + -0.007680244743824005 + ], + "orientation": [ + 0.048317667096853256, + 0.8921003937721252, + 0.44885873794555664, + -0.018654722720384598 + ], + "joints": [ + -0.002873969729989767 + ] + }, + "fine_grasp": { + "position": [ + -0.09628748148679733, + 0.0895293802022934, + -0.008150129579007626 + ], + "orientation": [ + 0.06633774191141129, + 0.8927551507949829, + 0.4431737959384918, + -0.04673903062939644 + ], + "joints": [ + 0.0035293959081172943 + ] + }, + "final_grasp": { + "position": [ + -0.09628748148679733, + 0.0895293802022934, + -0.008150129579007626 + ], + "orientation": [ + 0.06633774191141129, + 0.8927551507949829, + 0.4431737959384918, + -0.04673903062939644 + ], + "joints": [ + 0.009932762011885643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10197746008634567, + 0.08265939354896545, + 0.009878752753138542 + ], + "orientation": [ + 0.4784635901451111, + 0.02136361598968506, + -0.058903422206640244, + 0.87586909532547 + ], + "joints": [ + -0.0026026673149317503 + ] + }, + "fine_grasp": { + "position": [ + 0.10157256573438644, + 0.08240799605846405, + 0.010238615795969963 + ], + "orientation": [ + 0.47532469034194946, + 0.04912087693810463, + -0.07294853776693344, + 0.8754039406776428 + ], + "joints": [ + 0.0038006985560059547 + ] + }, + "final_grasp": { + "position": [ + 0.10157256573438644, + 0.08240799605846405, + 0.010238615795969963 + ], + "orientation": [ + 0.47532469034194946, + 0.04912087693810463, + -0.07294853776693344, + 0.8754039406776428 + ], + "joints": [ + 0.010204064659774303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03894612565636635, + -0.07992362231016159, + 0.11765400320291519 + ], + "orientation": [ + 0.923079252243042, + -0.20289184153079987, + 0.22667089104652405, + -0.23532907664775848 + ], + "joints": [ + -0.005206695757806301 + ] + }, + "fine_grasp": { + "position": [ + -0.03851990029215813, + -0.07996287196874619, + 0.11695952713489532 + ], + "orientation": [ + 0.9248571395874023, + -0.20617903769016266, + 0.21807964146137238, + -0.2336038500070572 + ], + "joints": [ + 0.0017280696192756295 + ] + }, + "final_grasp": { + "position": [ + -0.03851990029215813, + -0.07996287196874619, + 0.11695952713489532 + ], + "orientation": [ + 0.9248571395874023, + -0.20617903769016266, + 0.21807964146137238, + -0.2336038500070572 + ], + "joints": [ + 0.008662834763526917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06187628209590912, + 0.12179110944271088, + -0.03588278219103813 + ], + "orientation": [ + 0.26106980443000793, + -0.037720974534749985, + -0.07846488058567047, + -0.9613859057426453 + ], + "joints": [ + -0.0035979109816253185 + ] + }, + "fine_grasp": { + "position": [ + -0.06170004978775978, + 0.12076593935489655, + -0.03555671125650406 + ], + "orientation": [ + 0.25925368070602417, + -0.056847862899303436, + -0.08141421526670456, + -0.9606912136077881 + ], + "joints": [ + 0.002805454656481743 + ] + }, + "final_grasp": { + "position": [ + -0.06170004978775978, + 0.12076593935489655, + -0.03555671125650406 + ], + "orientation": [ + 0.25925368070602417, + -0.056847862899303436, + -0.08141421526670456, + -0.9606912136077881 + ], + "joints": [ + 0.009208820760250092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05808815732598305, + 0.12309788167476654, + -0.020411361008882523 + ], + "orientation": [ + 0.0530746765434742, + 0.9645745158195496, + -0.25103524327278137, + -0.061322834342718124 + ], + "joints": [ + -0.0038388839457184076 + ] + }, + "fine_grasp": { + "position": [ + 0.057547423988580704, + 0.12371192872524261, + -0.019449396058917046 + ], + "orientation": [ + 0.04461964964866638, + 0.9640400409698486, + -0.24810948967933655, + -0.08412748575210571 + ], + "joints": [ + 0.0025644816923886538 + ] + }, + "final_grasp": { + "position": [ + 0.057547423988580704, + 0.12371192872524261, + -0.019449396058917046 + ], + "orientation": [ + 0.04461964964866638, + 0.9640400409698486, + -0.24810948967933655, + -0.08412748575210571 + ], + "joints": [ + 0.008967847563326359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09921205043792725, + 0.08736101537942886, + 0.046260636299848557 + ], + "orientation": [ + 0.06140199676156044, + -0.8856574296951294, + 0.45872870087623596, + 0.03753269463777542 + ], + "joints": [ + -0.00313579966314137 + ] + }, + "fine_grasp": { + "position": [ + 0.09777854382991791, + 0.08738429844379425, + 0.047363024204969406 + ], + "orientation": [ + 0.0748957172036171, + -0.8869225978851318, + 0.4520861804485321, + 0.05811163783073425 + ], + "joints": [ + 0.0032675662077963352 + ] + }, + "final_grasp": { + "position": [ + 0.09777854382991791, + 0.08738429844379425, + 0.047363024204969406 + ], + "orientation": [ + 0.0748957172036171, + -0.8869225978851318, + 0.4520861804485321, + 0.05811163783073425 + ], + "joints": [ + 0.009670931845903397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05496228113770485, + 0.12361689656972885, + -0.032901111990213394 + ], + "orientation": [ + 0.10684989392757416, + 0.9666372537612915, + 0.23024658858776093, + -0.03437952324748039 + ], + "joints": [ + -0.0035946625284850597 + ] + }, + "fine_grasp": { + "position": [ + -0.05422038957476616, + 0.12252232432365417, + -0.03214586526155472 + ], + "orientation": [ + 0.1095256432890892, + 0.9655294418334961, + 0.2286311537027359, + -0.05903344973921776 + ], + "joints": [ + 0.002303873188793659 + ] + }, + "final_grasp": { + "position": [ + -0.05422038957476616, + 0.12252232432365417, + -0.03214586526155472 + ], + "orientation": [ + 0.1095256432890892, + 0.9655294418334961, + 0.2286311537027359, + -0.05903344973921776 + ], + "joints": [ + 0.008202409371733665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048065658658742905, + 0.1024896502494812, + -0.14364460110664368 + ], + "orientation": [ + 0.3315204083919525, + 0.9236243963241577, + -0.15382930636405945, + 0.11553710699081421 + ], + "joints": [ + -0.002809139434248209 + ] + }, + "fine_grasp": { + "position": [ + 0.048428505659103394, + 0.10308019816875458, + -0.1430305689573288 + ], + "orientation": [ + 0.3400798439979553, + 0.9198174476623535, + -0.14636042714118958, + 0.12984620034694672 + ], + "joints": [ + 0.0030362568795681 + ] + }, + "final_grasp": { + "position": [ + 0.048428505659103394, + 0.10308019816875458, + -0.1430305689573288 + ], + "orientation": [ + 0.3400798439979553, + 0.9198174476623535, + -0.14636042714118958, + 0.12984620034694672 + ], + "joints": [ + 0.008881652727723122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019402578473091125, + 0.1162756010890007, + -0.1351519674062729 + ], + "orientation": [ + 0.2797970771789551, + 0.9452333450317383, + 0.01849197782576084, + -0.16704945266246796 + ], + "joints": [ + -0.0034597162157297134 + ] + }, + "fine_grasp": { + "position": [ + -0.018855953589081764, + 0.117665596306324, + -0.1339259147644043 + ], + "orientation": [ + 0.29452115297317505, + 0.9394845366477966, + 0.018348608165979385, + -0.17403888702392578 + ], + "joints": [ + 0.0019074202282354236 + ] + }, + "final_grasp": { + "position": [ + -0.018855953589081764, + 0.117665596306324, + -0.1339259147644043 + ], + "orientation": [ + 0.29452115297317505, + 0.9394845366477966, + 0.018348608165979385, + -0.17403888702392578 + ], + "joints": [ + 0.007274556905031204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1073618084192276, + 0.07143403589725494, + -0.06521037220954895 + ], + "orientation": [ + 0.5302412509918213, + 0.09150279313325882, + 0.02851777896285057, + -0.8424120545387268 + ], + "joints": [ + -0.002974927891045809 + ] + }, + "fine_grasp": { + "position": [ + -0.10731805115938187, + 0.07324843108654022, + -0.06450626254081726 + ], + "orientation": [ + 0.529014527797699, + 0.11382029205560684, + 0.035213395953178406, + -0.8402075171470642 + ], + "joints": [ + 0.00292360782623291 + ] + }, + "final_grasp": { + "position": [ + -0.10731805115938187, + 0.07324843108654022, + -0.06450626254081726 + ], + "orientation": [ + 0.529014527797699, + 0.11382029205560684, + 0.035213395953178406, + -0.8402075171470642 + ], + "joints": [ + 0.008822143077850342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039900023490190506, + 0.12932917475700378, + 0.07734355330467224 + ], + "orientation": [ + 0.09693405032157898, + -0.9755182862281799, + -0.17588630318641663, + 0.08962149918079376 + ], + "joints": [ + -0.0049598971381783485 + ] + }, + "fine_grasp": { + "position": [ + -0.03939652815461159, + 0.13035713136196136, + 0.07736233621835709 + ], + "orientation": [ + 0.08591340482234955, + -0.9724205136299133, + -0.1775314211845398, + 0.12449793517589569 + ], + "joints": [ + 0.0019748681224882603 + ] + }, + "final_grasp": { + "position": [ + -0.03939652815461159, + 0.13035713136196136, + 0.07736233621835709 + ], + "orientation": [ + 0.08591340482234955, + -0.9724205136299133, + -0.1775314211845398, + 0.12449793517589569 + ], + "joints": [ + 0.008909633383154869 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04798904433846474, + 0.12703736126422882, + -0.056787118315696716 + ], + "orientation": [ + 0.19812871515750885, + -0.0459020771086216, + -0.11423928290605545, + -0.972413182258606 + ], + "joints": [ + -0.004159281495958567 + ] + }, + "fine_grasp": { + "position": [ + -0.047967106103897095, + 0.12657755613327026, + -0.0557597316801548 + ], + "orientation": [ + 0.19766439497470856, + -0.06447657942771912, + -0.11362391710281372, + -0.971525251865387 + ], + "joints": [ + 0.0022440841421484947 + ] + }, + "final_grasp": { + "position": [ + -0.047967106103897095, + 0.12657755613327026, + -0.0557597316801548 + ], + "orientation": [ + 0.19766439497470856, + -0.06447657942771912, + -0.11362391710281372, + -0.971525251865387 + ], + "joints": [ + 0.008647449314594269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046201191842556, + 0.12856712937355042, + -0.05271873250603676 + ], + "orientation": [ + 0.05743963643908501, + 0.975210964679718, + -0.1987718790769577, + -0.07844677567481995 + ], + "joints": [ + -0.004427690524607897 + ] + }, + "fine_grasp": { + "position": [ + 0.046203628182411194, + 0.12915587425231934, + -0.05179807171225548 + ], + "orientation": [ + 0.04827091097831726, + 0.9739322662353516, + -0.19616450369358063, + -0.10317635536193848 + ], + "joints": [ + 0.0014442759566009045 + ] + }, + "final_grasp": { + "position": [ + 0.046203628182411194, + 0.12915587425231934, + -0.05179807171225548 + ], + "orientation": [ + 0.04827091097831726, + 0.9739322662353516, + -0.19616450369358063, + -0.10317635536193848 + ], + "joints": [ + 0.007316242437809706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014721949584782124, + 0.12327306717634201, + -0.1290024071931839 + ], + "orientation": [ + 0.1334817111492157, + 0.19346514344215393, + -0.21680107712745667, + -0.9474973678588867 + ], + "joints": [ + -0.0035093254409730434 + ] + }, + "fine_grasp": { + "position": [ + -0.014374605379998684, + 0.12383081763982773, + -0.12889361381530762 + ], + "orientation": [ + 0.1340692788362503, + 0.20181244611740112, + -0.2203449159860611, + -0.9448520541191101 + ], + "joints": [ + 0.002894040197134018 + ] + }, + "final_grasp": { + "position": [ + -0.014374605379998684, + 0.12383081763982773, + -0.12889361381530762 + ], + "orientation": [ + 0.1340692788362503, + 0.20181244611740112, + -0.2203449159860611, + -0.9448520541191101 + ], + "joints": [ + 0.009297406300902367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0260165948420763, + 0.13363967835903168, + 0.037177957594394684 + ], + "orientation": [ + 0.11516742408275604, + -0.06814531236886978, + 0.09967054426670074, + -0.9859809875488281 + ], + "joints": [ + -0.003999531269073486 + ] + }, + "fine_grasp": { + "position": [ + -0.025918051600456238, + 0.13417984545230865, + 0.035457223653793335 + ], + "orientation": [ + 0.11372896283864975, + -0.08511713147163391, + 0.09165380150079727, + -0.9856066107749939 + ], + "joints": [ + 0.0018724348628893495 + ] + }, + "final_grasp": { + "position": [ + -0.025918051600456238, + 0.13417984545230865, + 0.035457223653793335 + ], + "orientation": [ + 0.11372896283864975, + -0.08511713147163391, + 0.09165380150079727, + -0.9856066107749939 + ], + "joints": [ + 0.007744400762021542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12089905142784119, + 0.02840370312333107, + -0.01951443962752819 + ], + "orientation": [ + 0.6749446392059326, + 0.08418943732976913, + -0.012354113161563873, + 0.7329456806182861 + ], + "joints": [ + -0.0023656105622649193 + ] + }, + "fine_grasp": { + "position": [ + 0.1216185986995697, + 0.028557971119880676, + -0.018566636368632317 + ], + "orientation": [ + 0.6729032397270203, + 0.09875055402517319, + -0.02837676741182804, + 0.7325600981712341 + ], + "joints": [ + 0.0045691546984016895 + ] + }, + "final_grasp": { + "position": [ + 0.1216185986995697, + 0.028557971119880676, + -0.018566636368632317 + ], + "orientation": [ + 0.6729032397270203, + 0.09875055402517319, + -0.02837676741182804, + 0.7325600981712341 + ], + "joints": [ + 0.011503919959068298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11124592274427414, + 0.00800737738609314, + 0.11098837107419968 + ], + "orientation": [ + 0.7350446581840515, + -0.2484598606824875, + 0.04774712026119232, + -0.6290447115898132 + ], + "joints": [ + -0.0031459543388336897 + ] + }, + "fine_grasp": { + "position": [ + -0.10859405249357224, + 0.008433415554463863, + 0.11007361859083176 + ], + "orientation": [ + 0.73563152551651, + -0.2562336325645447, + 0.04018918424844742, + -0.6257598400115967 + ], + "joints": [ + 0.004825040698051453 + ] + }, + "final_grasp": { + "position": [ + -0.10859405249357224, + 0.008433415554463863, + 0.11007361859083176 + ], + "orientation": [ + 0.73563152551651, + -0.2562336325645447, + 0.04018918424844742, + -0.6257598400115967 + ], + "joints": [ + 0.012796035967767239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0388546846807003, + 0.11667387932538986, + -0.12701477110385895 + ], + "orientation": [ + 0.25606784224510193, + 0.9503062963485718, + -0.11336702853441238, + 0.1359972506761551 + ], + "joints": [ + -0.0030453477520495653 + ] + }, + "fine_grasp": { + "position": [ + 0.03975941985845566, + 0.1185462698340416, + -0.12771718204021454 + ], + "orientation": [ + 0.25883880257606506, + 0.9487539529800415, + -0.10953952372074127, + 0.14446300268173218 + ], + "joints": [ + 0.0028000485617667437 + ] + }, + "final_grasp": { + "position": [ + 0.03975941985845566, + 0.1185462698340416, + -0.12771718204021454 + ], + "orientation": [ + 0.25883880257606506, + 0.9487539529800415, + -0.10953952372074127, + 0.14446300268173218 + ], + "joints": [ + 0.008645445108413696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11667409539222717, + -0.019563918933272362, + 0.03413818031549454 + ], + "orientation": [ + 0.799443781375885, + -0.0006815011147409678, + -0.10905977338552475, + 0.5907582640647888 + ], + "joints": [ + -0.0025035685393959284 + ] + }, + "fine_grasp": { + "position": [ + 0.1152796670794487, + -0.018887996673583984, + 0.03242497891187668 + ], + "orientation": [ + 0.7988696694374084, + 0.016359083354473114, + -0.1281537413597107, + 0.5874659419059753 + ], + "joints": [ + 0.002863567788153887 + ] + }, + "final_grasp": { + "position": [ + 0.1152796670794487, + -0.018887996673583984, + 0.03242497891187668 + ], + "orientation": [ + 0.7988696694374084, + 0.016359083354473114, + -0.1281537413597107, + 0.5874659419059753 + ], + "joints": [ + 0.008230703882873058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11476588994264603, + 0.021076738834381104, + -0.08365953713655472 + ], + "orientation": [ + 0.6789329051971436, + 0.014623940922319889, + 0.14489834010601044, + 0.7196115255355835 + ], + "joints": [ + -0.002903536893427372 + ] + }, + "fine_grasp": { + "position": [ + 0.11610935628414154, + 0.020257625728845596, + -0.08339127898216248 + ], + "orientation": [ + 0.6694730520248413, + -0.011599548161029816, + 0.17155945301055908, + 0.7226607203483582 + ], + "joints": [ + 0.002994998823851347 + ] + }, + "final_grasp": { + "position": [ + 0.11610935628414154, + 0.020257625728845596, + -0.08339127898216248 + ], + "orientation": [ + 0.6694730520248413, + -0.011599548161029816, + 0.17155945301055908, + 0.7226607203483582 + ], + "joints": [ + 0.008893534541130066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04537605494260788, + -0.09351006895303726, + -0.05678944289684296 + ], + "orientation": [ + 0.9756621718406677, + 0.07883668690919876, + -0.06424783170223236, + -0.19426895678043365 + ], + "joints": [ + -0.00424879789352417 + ] + }, + "fine_grasp": { + "position": [ + -0.045461539179086685, + -0.0953742042183876, + -0.05653335526585579 + ], + "orientation": [ + 0.9749163389205933, + 0.07387518137693405, + -0.08114530146121979, + -0.19363857805728912 + ], + "joints": [ + 0.002659397665411234 + ] + }, + "final_grasp": { + "position": [ + -0.045461539179086685, + -0.0953742042183876, + -0.05653335526585579 + ], + "orientation": [ + 0.9749163389205933, + 0.07387518137693405, + -0.08114530146121979, + -0.19363857805728912 + ], + "joints": [ + 0.009567593224346638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04721120372414589, + 0.12704992294311523, + -0.05518360435962677 + ], + "orientation": [ + 0.1941993236541748, + -0.0482148714363575, + -0.12038843333721161, + -0.972352147102356 + ], + "joints": [ + -0.004125108942389488 + ] + }, + "fine_grasp": { + "position": [ + -0.04689212143421173, + 0.1254773736000061, + -0.05362863466143608 + ], + "orientation": [ + 0.19650821387767792, + -0.06645851582288742, + -0.11540426313877106, + -0.9714164137840271 + ], + "joints": [ + 0.0017734268913045526 + ] + }, + "final_grasp": { + "position": [ + -0.04689212143421173, + 0.1254773736000061, + -0.05362863466143608 + ], + "orientation": [ + 0.19650821387767792, + -0.06645851582288742, + -0.11540426313877106, + -0.9714164137840271 + ], + "joints": [ + 0.00767196249216795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020414670929312706, + 0.13727883994579315, + 0.006438263226300478 + ], + "orientation": [ + 0.015375957824289799, + -0.9952958822250366, + -0.08476468920707703, + 0.04432396963238716 + ], + "joints": [ + -0.0037570050917565823 + ] + }, + "fine_grasp": { + "position": [ + -0.02013758197426796, + 0.13599589467048645, + 0.006328999530524015 + ], + "orientation": [ + 0.013647382147610188, + -0.9936999678611755, + -0.08488047122955322, + 0.07189871370792389 + ], + "joints": [ + 0.0021149609237909317 + ] + }, + "final_grasp": { + "position": [ + -0.02013758197426796, + 0.13599589467048645, + 0.006328999530524015 + ], + "orientation": [ + 0.013647382147610188, + -0.9936999678611755, + -0.08488047122955322, + 0.07189871370792389 + ], + "joints": [ + 0.007986927404999733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05045860633254051, + -0.09255674481391907, + 0.061637572944164276 + ], + "orientation": [ + 0.09202545881271362, + -0.21562546491622925, + 0.9708595871925354, + -0.04968684911727905 + ], + "joints": [ + -0.004825758747756481 + ] + }, + "fine_grasp": { + "position": [ + 0.05034223943948746, + -0.09293226152658463, + 0.06054118275642395 + ], + "orientation": [ + 0.10876819491386414, + -0.2128811627626419, + 0.9700847268104553, + -0.04227140545845032 + ], + "joints": [ + 0.0015776072395965457 + ] + }, + "final_grasp": { + "position": [ + 0.05034223943948746, + -0.09293226152658463, + 0.06054118275642395 + ], + "orientation": [ + 0.10876819491386414, + -0.2128811627626419, + 0.9700847268104553, + -0.04227140545845032 + ], + "joints": [ + 0.007980973459780216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049632418900728226, + -0.0771765261888504, + 0.11958657205104828 + ], + "orientation": [ + 0.03635723143815994, + 0.19955512881278992, + 0.9374567270278931, + -0.28289714455604553 + ], + "joints": [ + -0.005180457606911659 + ] + }, + "fine_grasp": { + "position": [ + -0.04807649925351143, + -0.07328638434410095, + 0.11710241436958313 + ], + "orientation": [ + 0.04657825455069542, + 0.19873666763305664, + 0.9371407628059387, + -0.2830221951007843 + ], + "joints": [ + 0.002259137574583292 + ] + }, + "final_grasp": { + "position": [ + -0.04807649925351143, + -0.07328638434410095, + 0.11710241436958313 + ], + "orientation": [ + 0.04657825455069542, + 0.19873666763305664, + 0.9371407628059387, + -0.2830221951007843 + ], + "joints": [ + 0.009698732756078243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01763702929019928, + 0.12822085618972778, + 0.09423615038394928 + ], + "orientation": [ + 0.09629238396883011, + -0.11744851619005203, + 0.15418671071529388, + -0.9762991070747375 + ], + "joints": [ + -0.005035866983234882 + ] + }, + "fine_grasp": { + "position": [ + -0.016435468569397926, + 0.1257140338420868, + 0.09295179694890976 + ], + "orientation": [ + 0.09679999202489853, + -0.13756804168224335, + 0.14821095764636993, + -0.9745451807975769 + ], + "joints": [ + 0.0013940687058493495 + ] + }, + "final_grasp": { + "position": [ + -0.016435468569397926, + 0.1257140338420868, + 0.09295179694890976 + ], + "orientation": [ + 0.09679999202489853, + -0.13756804168224335, + 0.14821095764636993, + -0.9745451807975769 + ], + "joints": [ + 0.007824004627764225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018401747569441795, + 0.1278167963027954, + 0.0940953716635704 + ], + "orientation": [ + 0.09966147691011429, + -0.11532411724328995, + 0.15197651088237762, + -0.9765607714653015 + ], + "joints": [ + -0.005010776221752167 + ] + }, + "fine_grasp": { + "position": [ + -0.017232686281204224, + 0.1256708800792694, + 0.09278488159179688 + ], + "orientation": [ + 0.09993389248847961, + -0.13671991229057312, + 0.14732429385185242, + -0.9744825959205627 + ], + "joints": [ + 0.001419159467332065 + ] + }, + "final_grasp": { + "position": [ + -0.017232686281204224, + 0.1256708800792694, + 0.09278488159179688 + ], + "orientation": [ + 0.09993389248847961, + -0.13671991229057312, + 0.14732429385185242, + -0.9744825959205627 + ], + "joints": [ + 0.00784909538924694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04848502203822136, + -0.07527860999107361, + 0.11930558830499649 + ], + "orientation": [ + 0.03474193066358566, + 0.20094148814678192, + 0.9387542009353638, + -0.2777697443962097 + ], + "joints": [ + -0.004493698477745056 + ] + }, + "fine_grasp": { + "position": [ + -0.04786115884780884, + -0.07276022434234619, + 0.11772830039262772 + ], + "orientation": [ + 0.04854457825422287, + 0.19862228631973267, + 0.9377871155738831, + -0.28062063455581665 + ], + "joints": [ + 0.0024410667829215527 + ] + }, + "final_grasp": { + "position": [ + -0.04786115884780884, + -0.07276022434234619, + 0.11772830039262772 + ], + "orientation": [ + 0.04854457825422287, + 0.19862228631973267, + 0.9377871155738831, + -0.28062063455581665 + ], + "joints": [ + 0.009375832043588161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024724500253796577, + -0.0970430076122284, + 0.08308058232069016 + ], + "orientation": [ + 0.09207943081855774, + 0.09159164130687714, + 0.9833493828773499, + -0.12710781395435333 + ], + "joints": [ + -0.00505647249519825 + ] + }, + "fine_grasp": { + "position": [ + -0.024902500212192535, + -0.09681756049394608, + 0.08318781852722168 + ], + "orientation": [ + 0.11572571098804474, + 0.0877545028924942, + 0.9814450740814209, + -0.1251886785030365 + ], + "joints": [ + 0.0018782928818836808 + ] + }, + "final_grasp": { + "position": [ + -0.024902500212192535, + -0.09681756049394608, + 0.08318781852722168 + ], + "orientation": [ + 0.11572571098804474, + 0.0877545028924942, + 0.9814450740814209, + -0.1251886785030365 + ], + "joints": [ + 0.008813058026134968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059316277503967285, + 0.11727407574653625, + 0.08431846648454666 + ], + "orientation": [ + 0.2517368495464325, + 0.025559984147548676, + -0.17368413507938385, + 0.9517400860786438 + ], + "joints": [ + -0.00412713922560215 + ] + }, + "fine_grasp": { + "position": [ + 0.060695286840200424, + 0.11902851611375809, + 0.08365456759929657 + ], + "orientation": [ + 0.24817295372486115, + 0.05638574808835983, + -0.17831899225711823, + 0.9504910111427307 + ], + "joints": [ + 0.0017448269063606858 + ] + }, + "final_grasp": { + "position": [ + 0.060695286840200424, + 0.11902851611375809, + 0.08365456759929657 + ], + "orientation": [ + 0.24817295372486115, + 0.05638574808835983, + -0.17831899225711823, + 0.9504910111427307 + ], + "joints": [ + 0.007616792805492878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09406999498605728, + 0.04924110323190689, + -0.14154386520385742 + ], + "orientation": [ + 0.13809584081172943, + 0.7342405915260315, + -0.6019008755683899, + -0.28202056884765625 + ], + "joints": [ + -0.0005657951114699244 + ] + }, + "fine_grasp": { + "position": [ + 0.0929253101348877, + 0.049693599343299866, + -0.1404251754283905 + ], + "orientation": [ + 0.13649864494800568, + 0.7326886653900146, + -0.598235011100769, + -0.2943643033504486 + ], + "joints": [ + 0.0063424003310501575 + ] + }, + "final_grasp": { + "position": [ + 0.0929253101348877, + 0.049693599343299866, + -0.1404251754283905 + ], + "orientation": [ + 0.13649864494800568, + 0.7326886653900146, + -0.598235011100769, + -0.2943643033504486 + ], + "joints": [ + 0.013250595889985561 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04878666624426842, + 0.12140604853630066, + 0.09067453444004059 + ], + "orientation": [ + 0.15022744238376617, + -0.966374397277832, + -0.1967669278383255, + -0.06953393667936325 + ], + "joints": [ + -0.004909621551632881 + ] + }, + "fine_grasp": { + "position": [ + -0.04974069446325302, + 0.12182141095399857, + 0.09008024632930756 + ], + "orientation": [ + 0.15796519815921783, + -0.965857982635498, + -0.1894199401140213, + -0.07928083837032318 + ], + "joints": [ + 0.0014937443193048239 + ] + }, + "final_grasp": { + "position": [ + -0.04974069446325302, + 0.12182141095399857, + 0.09008024632930756 + ], + "orientation": [ + 0.15796519815921783, + -0.965857982635498, + -0.1894199401140213, + -0.07928083837032318 + ], + "joints": [ + 0.007897110655903816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024682527408003807, + -0.09738752990961075, + 0.08391177654266357 + ], + "orientation": [ + 0.08007140457630157, + 0.09298782050609589, + 0.9848019480705261, + -0.1229097992181778 + ], + "joints": [ + -0.0048897117376327515 + ] + }, + "fine_grasp": { + "position": [ + -0.024851731956005096, + -0.09719961881637573, + 0.08507154881954193 + ], + "orientation": [ + 0.10895074903964996, + 0.08884981274604797, + 0.9829886555671692, + -0.11818891018629074 + ], + "joints": [ + 0.0020450535230338573 + ] + }, + "final_grasp": { + "position": [ + -0.024851731956005096, + -0.09719961881637573, + 0.08507154881954193 + ], + "orientation": [ + 0.10895074903964996, + 0.08884981274604797, + 0.9829886555671692, + -0.11818891018629074 + ], + "joints": [ + 0.008979818783700466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0019702506251633167, + 0.13938134908676147, + 0.03139203041791916 + ], + "orientation": [ + 0.07230296730995178, + 0.9935322403907776, + 0.0010381762403994799, + -0.08755052834749222 + ], + "joints": [ + -0.005306576378643513 + ] + }, + "fine_grasp": { + "position": [ + -0.0019118988420814276, + 0.13941779732704163, + 0.033454444259405136 + ], + "orientation": [ + 0.07862807810306549, + 0.9914973378181458, + 0.0001637401437619701, + -0.10368581116199493 + ], + "joints": [ + 0.0016547588165849447 + ] + }, + "final_grasp": { + "position": [ + -0.0019118988420814276, + 0.13941779732704163, + 0.033454444259405136 + ], + "orientation": [ + 0.07862807810306549, + 0.9914973378181458, + 0.0001637401437619701, + -0.10368581116199493 + ], + "joints": [ + 0.008616093546152115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040305498987436295, + -0.09443148225545883, + 0.08011564612388611 + ], + "orientation": [ + 0.9785941243171692, + -0.07291161268949509, + 0.0740204006433487, + -0.17764702439308167 + ], + "joints": [ + -0.004429924301803112 + ] + }, + "fine_grasp": { + "position": [ + -0.03914499655365944, + -0.09402911365032196, + 0.07998882979154587 + ], + "orientation": [ + 0.976529598236084, + -0.07500007748603821, + 0.08846791088581085, + -0.18148936331272125 + ], + "joints": [ + 0.0019734413363039494 + ] + }, + "final_grasp": { + "position": [ + -0.03914499655365944, + -0.09402911365032196, + 0.07998882979154587 + ], + "orientation": [ + 0.976529598236084, + -0.07500007748603821, + 0.08846791088581085, + -0.18148936331272125 + ], + "joints": [ + 0.00837680697441101 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07728077471256256, + -0.036183781921863556, + -0.14757061004638672 + ], + "orientation": [ + 0.7641807794570923, + 0.16922499239444733, + 0.3456924259662628, + 0.5175784826278687 + ], + "joints": [ + -0.0029917326755821705 + ] + }, + "fine_grasp": { + "position": [ + 0.07583941519260406, + -0.03587263450026512, + -0.1434202790260315 + ], + "orientation": [ + 0.7570521831512451, + 0.16308541595935822, + 0.36275187134742737, + 0.5183495283126831 + ], + "joints": [ + 0.003438202664256096 + ] + }, + "final_grasp": { + "position": [ + 0.07583941519260406, + -0.03587263450026512, + -0.1434202790260315 + ], + "orientation": [ + 0.7570521831512451, + 0.16308541595935822, + 0.36275187134742737, + 0.5183495283126831 + ], + "joints": [ + 0.009868137538433075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07713556289672852, + -0.0359349325299263, + -0.14871953427791595 + ], + "orientation": [ + 0.7669683694839478, + 0.17449243366718292, + 0.3381108045578003, + 0.516713559627533 + ], + "joints": [ + -0.0022379341535270214 + ] + }, + "fine_grasp": { + "position": [ + 0.0753389373421669, + -0.03552133962512016, + -0.14437274634838104 + ], + "orientation": [ + 0.7601412534713745, + 0.16998741030693054, + 0.35540106892585754, + 0.5167009234428406 + ], + "joints": [ + 0.0036606015637516975 + ] + }, + "final_grasp": { + "position": [ + 0.0753389373421669, + -0.03552133962512016, + -0.14437274634838104 + ], + "orientation": [ + 0.7601412534713745, + 0.16998741030693054, + 0.35540106892585754, + 0.5167009234428406 + ], + "joints": [ + 0.009559137746691704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07746442407369614, + -0.036184776574373245, + -0.14857806265354156 + ], + "orientation": [ + 0.7673695087432861, + 0.1732969582080841, + 0.33802589774131775, + 0.5165760517120361 + ], + "joints": [ + -0.0025910420808941126 + ] + }, + "fine_grasp": { + "position": [ + 0.0753842294216156, + -0.03560313582420349, + -0.14419342577457428 + ], + "orientation": [ + 0.7602975368499756, + 0.16948068141937256, + 0.3552108407020569, + 0.5167679190635681 + ], + "joints": [ + 0.0038388934917747974 + ] + }, + "final_grasp": { + "position": [ + 0.0753842294216156, + -0.03560313582420349, + -0.14419342577457428 + ], + "orientation": [ + 0.7602975368499756, + 0.16948068141937256, + 0.3552108407020569, + 0.5167679190635681 + ], + "joints": [ + 0.010268828831613064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10330187529325485, + -0.004711518529802561, + 0.13739708065986633 + ], + "orientation": [ + 0.7063301205635071, + -0.10951202362775803, + 0.27718988060951233, + -0.6420829892158508 + ], + "joints": [ + -0.0010464289225637913 + ] + }, + "fine_grasp": { + "position": [ + -0.09990105777978897, + -0.004730589222162962, + 0.1343051791191101 + ], + "orientation": [ + 0.7042191028594971, + -0.10944204032421112, + 0.28100651502609253, + -0.642754316329956 + ], + "joints": [ + 0.005330367013812065 + ] + }, + "final_grasp": { + "position": [ + -0.09990105777978897, + -0.004730589222162962, + 0.1343051791191101 + ], + "orientation": [ + 0.7042191028594971, + -0.10944204032421112, + 0.28100651502609253, + -0.642754316329956 + ], + "joints": [ + 0.011707162484526634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005674717947840691, + -0.08777401596307755, + 0.11780115216970444 + ], + "orientation": [ + 0.05588994920253754, + 0.005565045867115259, + -0.968413233757019, + 0.24294298887252808 + ], + "joints": [ + -0.004799866117537022 + ] + }, + "fine_grasp": { + "position": [ + 0.00645133713260293, + -0.08694124966859818, + 0.116969995200634 + ], + "orientation": [ + 0.0649215430021286, + 0.0010922286892309785, + -0.9668747186660767, + 0.24685446918010712 + ], + "joints": [ + 0.002161468844860792 + ] + }, + "final_grasp": { + "position": [ + 0.00645133713260293, + -0.08694124966859818, + 0.116969995200634 + ], + "orientation": [ + 0.0649215430021286, + 0.0010922286892309785, + -0.9668747186660767, + 0.24685446918010712 + ], + "joints": [ + 0.009122803807258606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01478497963398695, + -0.10003440827131271, + 0.09059969335794449 + ], + "orientation": [ + 0.9927621483802795, + -0.09935563802719116, + 0.040802981704473495, + 0.053729720413684845 + ], + "joints": [ + -0.0038084937259554863 + ] + }, + "fine_grasp": { + "position": [ + 0.015587701462209225, + -0.09850738942623138, + 0.0901637151837349 + ], + "orientation": [ + 0.992984414100647, + -0.09815099090337753, + 0.043359074741601944, + 0.04968199506402016 + ], + "joints": [ + 0.0020634722895920277 + ] + }, + "final_grasp": { + "position": [ + 0.015587701462209225, + -0.09850738942623138, + 0.0901637151837349 + ], + "orientation": [ + 0.992984414100647, + -0.09815099090337753, + 0.043359074741601944, + 0.04968199506402016 + ], + "joints": [ + 0.007935438305139542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014549692161381245, + -0.09943084418773651, + 0.08955448865890503 + ], + "orientation": [ + 0.9924699664115906, + -0.10256408154964447, + 0.039909183979034424, + 0.05377110093832016 + ], + "joints": [ + -0.004333525896072388 + ] + }, + "fine_grasp": { + "position": [ + 0.015123693272471428, + -0.09756883978843689, + 0.08965223282575607 + ], + "orientation": [ + 0.9930204749107361, + -0.10046348720788956, + 0.037958480417728424, + 0.04875076562166214 + ], + "joints": [ + 0.0020432700403034687 + ] + }, + "final_grasp": { + "position": [ + 0.015123693272471428, + -0.09756883978843689, + 0.08965223282575607 + ], + "orientation": [ + 0.9930204749107361, + -0.10046348720788956, + 0.037958480417728424, + 0.04875076562166214 + ], + "joints": [ + 0.008420065976679325 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2028, + "num_passed": 247 + } +} \ No newline at end of file diff --git a/102_roller_1/Annotation/piper_grasp_pose.json b/102_roller_1/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..694e89f648fb367fde7962332a551b81d49f157a --- /dev/null +++ b/102_roller_1/Annotation/piper_grasp_pose.json @@ -0,0 +1,14968 @@ +{ + "type": "102_roller_1", + "bottom_center": [ + 2.3655593395233154e-06, + 0.01777099445462227, + -0.11389344185590744 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0856466144323349, + -0.09236283600330353, + 0.02053115889430046 + ], + "orientation": [ + 0.5714264512062073, + -0.33518803119659424, + -0.6920738220214844, + -0.28662654757499695 + ], + "joints": [ + 0.022889724001288414 + ] + }, + "fine_grasp": { + "position": [ + 0.08335226029157639, + -0.08949100971221924, + 0.02024661749601364 + ], + "orientation": [ + 0.5735714435577393, + -0.3351512551307678, + -0.6895704865455627, + -0.2884131968021393 + ], + "joints": [ + 0.014029068872332573 + ] + }, + "final_grasp": { + "position": [ + 0.08335226029157639, + -0.08949100971221924, + 0.02024661749601364 + ], + "orientation": [ + 0.5735714435577393, + -0.3351512551307678, + -0.6895704865455627, + -0.2884131968021393 + ], + "joints": [ + 0.005168413743376732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08566214889287949, + -0.09234045445919037, + 0.020544512197375298 + ], + "orientation": [ + 0.5714200139045715, + -0.3349323868751526, + -0.692157506942749, + -0.28673598170280457 + ], + "joints": [ + 0.022889724001288414 + ] + }, + "fine_grasp": { + "position": [ + 0.08336792886257172, + -0.08947496861219406, + 0.020256608724594116 + ], + "orientation": [ + 0.5735288262367249, + -0.33490806818008423, + -0.6896816492080688, + -0.2885146737098694 + ], + "joints": [ + 0.014029068872332573 + ] + }, + "final_grasp": { + "position": [ + 0.08336792886257172, + -0.08947496861219406, + 0.020256608724594116 + ], + "orientation": [ + 0.5735288262367249, + -0.33490806818008423, + -0.6896816492080688, + -0.2885146737098694 + ], + "joints": [ + 0.005168413743376732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05637308955192566, + 0.11689848452806473, + -0.10238571465015411 + ], + "orientation": [ + 0.4287683665752411, + 0.44563597440719604, + 0.2619653344154358, + -0.740905225276947 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.054321449249982834, + 0.113569475710392, + -0.101688452064991 + ], + "orientation": [ + 0.4262784719467163, + 0.451530784368515, + 0.2643735110759735, + -0.7379114031791687 + ], + "joints": [ + 0.018814317882061005 + ] + }, + "final_grasp": { + "position": [ + 0.054321449249982834, + 0.113569475710392, + -0.101688452064991 + ], + "orientation": [ + 0.4262784719467163, + 0.451530784368515, + 0.2643735110759735, + -0.7379114031791687 + ], + "joints": [ + 0.009598404169082642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12727218866348267, + -0.03794718533754349, + 0.012532114051282406 + ], + "orientation": [ + 0.6455962061882019, + -0.16851569712162018, + 0.7340450882911682, + 0.1264348030090332 + ], + "joints": [ + 0.023074965924024582 + ] + }, + "fine_grasp": { + "position": [ + -0.12393957376480103, + -0.036361321806907654, + 0.012290638871490955 + ], + "orientation": [ + 0.6470440626144409, + -0.16780295968055725, + 0.7329789996147156, + 0.12616674602031708 + ], + "joints": [ + 0.014632266014814377 + ] + }, + "final_grasp": { + "position": [ + -0.12393957376480103, + -0.036361321806907654, + 0.012290638871490955 + ], + "orientation": [ + 0.6470440626144409, + -0.16780295968055725, + 0.7329789996147156, + 0.12616674602031708 + ], + "joints": [ + 0.006189566105604172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04122520610690117, + -0.1097882091999054, + -0.008568484336137772 + ], + "orientation": [ + 0.42838555574417114, + -0.531086266040802, + -0.40263766050338745, + -0.6101770997047424 + ], + "joints": [ + 0.026409348472952843 + ] + }, + "fine_grasp": { + "position": [ + -0.04007534310221672, + -0.10607413947582245, + -0.00836352352052927 + ], + "orientation": [ + 0.4272649586200714, + -0.5319376587867737, + -0.40343156456947327, + -0.609696626663208 + ], + "joints": [ + 0.01798754744231701 + ] + }, + "final_grasp": { + "position": [ + -0.04007534310221672, + -0.10607413947582245, + -0.00836352352052927 + ], + "orientation": [ + 0.4272649586200714, + -0.5319376587867737, + -0.40343156456947327, + -0.609696626663208 + ], + "joints": [ + 0.009565746411681175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12750042974948883, + -0.03800198808312416, + 0.012469741515815258 + ], + "orientation": [ + 0.645352840423584, + -0.1685301512479782, + 0.734291136264801, + 0.12622959911823273 + ], + "joints": [ + 0.02330652065575123 + ] + }, + "fine_grasp": { + "position": [ + -0.12407275289297104, + -0.036367397755384445, + 0.012209746055305004 + ], + "orientation": [ + 0.6470863819122314, + -0.16789276897907257, + 0.7329314351081848, + 0.1261066347360611 + ], + "joints": [ + 0.014445865526795387 + ] + }, + "final_grasp": { + "position": [ + -0.12407275289297104, + -0.036367397755384445, + 0.012209746055305004 + ], + "orientation": [ + 0.6470863819122314, + -0.16789276897907257, + 0.7329314351081848, + 0.1261066347360611 + ], + "joints": [ + 0.005585210397839546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0924929603934288, + 0.11329597979784012, + -0.029261194169521332 + ], + "orientation": [ + 0.7216396927833557, + 0.25224635004997253, + -0.5717954039573669, + 0.2977549731731415 + ], + "joints": [ + 0.025598911568522453 + ] + }, + "fine_grasp": { + "position": [ + 0.08966895937919617, + 0.11057785153388977, + -0.028864694759249687 + ], + "orientation": [ + 0.719168484210968, + 0.2534712851047516, + -0.5744817852973938, + 0.297522634267807 + ], + "joints": [ + 0.016780054196715355 + ] + }, + "final_grasp": { + "position": [ + 0.08966895937919617, + 0.11057785153388977, + -0.028864694759249687 + ], + "orientation": [ + 0.719168484210968, + 0.2534712851047516, + -0.5744817852973938, + 0.297522634267807 + ], + "joints": [ + 0.007961196824908257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.092452771961689, + 0.11321298032999039, + -0.02927151694893837 + ], + "orientation": [ + 0.7216372489929199, + 0.25238165259361267, + -0.5718997120857239, + 0.2974456548690796 + ], + "joints": [ + 0.025598911568522453 + ] + }, + "fine_grasp": { + "position": [ + 0.08965897560119629, + 0.11053319275379181, + -0.02887028641998768 + ], + "orientation": [ + 0.7192816138267517, + 0.253507137298584, + -0.5745047330856323, + 0.297174334526062 + ], + "joints": [ + 0.016780054196715355 + ] + }, + "final_grasp": { + "position": [ + 0.08965897560119629, + 0.11053319275379181, + -0.02887028641998768 + ], + "orientation": [ + 0.7192816138267517, + 0.253507137298584, + -0.5745047330856323, + 0.297174334526062 + ], + "joints": [ + 0.007961196824908257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09609318524599075, + 0.10333763808012009, + -0.09405934810638428 + ], + "orientation": [ + 0.7034971714019775, + 0.23835420608520508, + -0.6261558532714844, + 0.2370820939540863 + ], + "joints": [ + 0.019417770206928253 + ] + }, + "fine_grasp": { + "position": [ + 0.09362703561782837, + 0.10068102180957794, + -0.09175587445497513 + ], + "orientation": [ + 0.7113170623779297, + 0.2381916046142578, + -0.6157194375991821, + 0.24121035635471344 + ], + "joints": [ + 0.011894576251506805 + ] + }, + "final_grasp": { + "position": [ + 0.09362703561782837, + 0.10068102180957794, + -0.09175587445497513 + ], + "orientation": [ + 0.7113170623779297, + 0.2381916046142578, + -0.6157194375991821, + 0.24121035635471344 + ], + "joints": [ + 0.004371382296085358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12672099471092224, + 0.050934791564941406, + 0.027511022984981537 + ], + "orientation": [ + 0.055418942123651505, + 0.761906623840332, + 0.13140010833740234, + -0.6317919492721558 + ], + "joints": [ + 0.025483129546046257 + ] + }, + "fine_grasp": { + "position": [ + 0.12297825515270233, + 0.04989197477698326, + 0.02713431604206562 + ], + "orientation": [ + 0.054684560745954514, + 0.760153591632843, + 0.13179999589920044, + -0.6338807344436646 + ], + "joints": [ + 0.01666427217423916 + ] + }, + "final_grasp": { + "position": [ + 0.12297825515270233, + 0.04989197477698326, + 0.02713431604206562 + ], + "orientation": [ + 0.054684560745954514, + 0.760153591632843, + 0.13179999589920044, + -0.6338807344436646 + ], + "joints": [ + 0.00784541480243206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0964968129992485, + 0.10255827754735947, + -0.09405971318483353 + ], + "orientation": [ + 0.7019699215888977, + 0.23817330598831177, + -0.6276382803916931, + 0.23786911368370056 + ], + "joints": [ + 0.017946450039744377 + ] + }, + "fine_grasp": { + "position": [ + 0.09385623037815094, + 0.09990676492452621, + -0.0916912704706192 + ], + "orientation": [ + 0.7101001143455505, + 0.23727254569530487, + -0.6173031330108643, + 0.24165332317352295 + ], + "joints": [ + 0.011656222864985466 + ] + }, + "final_grasp": { + "position": [ + 0.09385623037815094, + 0.09990676492452621, + -0.0916912704706192 + ], + "orientation": [ + 0.7101001143455505, + 0.23727254569530487, + -0.6173031330108643, + 0.24165332317352295 + ], + "joints": [ + 0.005365995690226555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0932575911283493, + 0.10313614457845688, + -0.04533980414271355 + ], + "orientation": [ + 0.24904337525367737, + 0.6778155565261841, + -0.2643153965473175, + 0.6392815709114075 + ], + "joints": [ + 0.027590278536081314 + ] + }, + "fine_grasp": { + "position": [ + -0.09027223289012909, + 0.10052788257598877, + -0.04551422968506813 + ], + "orientation": [ + 0.2476538121700287, + 0.6779860258102417, + -0.2634139955043793, + 0.6400121450424194 + ], + "joints": [ + 0.017977308481931686 + ] + }, + "final_grasp": { + "position": [ + -0.09027223289012909, + 0.10052788257598877, + -0.04551422968506813 + ], + "orientation": [ + 0.2476538121700287, + 0.6779860258102417, + -0.2634139955043793, + 0.6400121450424194 + ], + "joints": [ + 0.008364338427782059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09665396064519882, + 0.10284840315580368, + -0.0939660593867302 + ], + "orientation": [ + 0.702246367931366, + 0.23869557678699493, + -0.6259631514549255, + 0.24092411994934082 + ], + "joints": [ + 0.018807047978043556 + ] + }, + "fine_grasp": { + "position": [ + 0.09406080096960068, + 0.10028793662786484, + -0.09156803041696548 + ], + "orientation": [ + 0.7102283239364624, + 0.2374652773141861, + -0.6158773303031921, + 0.24470631778240204 + ], + "joints": [ + 0.011701809242367744 + ] + }, + "final_grasp": { + "position": [ + 0.09406080096960068, + 0.10028793662786484, + -0.09156803041696548 + ], + "orientation": [ + 0.7102283239364624, + 0.2374652773141861, + -0.6158773303031921, + 0.24470631778240204 + ], + "joints": [ + 0.004596570506691933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012136400677263737, + -0.11367858946323395, + 0.01871522143483162 + ], + "orientation": [ + 0.4202500581741333, + -0.5253989100456238, + -0.5323696136474609, + -0.5137398838996887 + ], + "joints": [ + 0.027358723804354668 + ] + }, + "fine_grasp": { + "position": [ + -0.011709995567798615, + -0.10976815223693848, + 0.018516138195991516 + ], + "orientation": [ + 0.4204854667186737, + -0.523090124130249, + -0.5326951146125793, + -0.5155625343322754 + ], + "joints": [ + 0.01853986643254757 + ] + }, + "final_grasp": { + "position": [ + -0.011709995567798615, + -0.10976815223693848, + 0.018516138195991516 + ], + "orientation": [ + 0.4204854667186737, + -0.523090124130249, + -0.5326951146125793, + -0.5155625343322754 + ], + "joints": [ + 0.009721009060740471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012135706841945648, + -0.1137508824467659, + 0.018703540787100792 + ], + "orientation": [ + 0.42021122574806213, + -0.525414228439331, + -0.5324388742446899, + -0.5136840343475342 + ], + "joints": [ + 0.027358723804354668 + ] + }, + "fine_grasp": { + "position": [ + -0.011712495237588882, + -0.10981347411870956, + 0.018499942496418953 + ], + "orientation": [ + 0.4204416275024414, + -0.5231301188468933, + -0.5327614545822144, + -0.5154890418052673 + ], + "joints": [ + 0.01853986643254757 + ] + }, + "final_grasp": { + "position": [ + -0.011712495237588882, + -0.10981347411870956, + 0.018499942496418953 + ], + "orientation": [ + 0.4204416275024414, + -0.5231301188468933, + -0.5327614545822144, + -0.5154890418052673 + ], + "joints": [ + 0.009721009060740471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10973874479532242, + -0.019809799268841743, + -0.13402141630649567 + ], + "orientation": [ + 0.131974458694458, + -0.46539121866226196, + -0.08838410675525665, + -0.8707365393638611 + ], + "joints": [ + 0.024996863678097725 + ] + }, + "fine_grasp": { + "position": [ + -0.10669561475515366, + -0.018766645342111588, + -0.13180357217788696 + ], + "orientation": [ + 0.13209201395511627, + -0.46473658084869385, + -0.08808690309524536, + -0.8710983991622925 + ], + "joints": [ + 0.01576005108654499 + ] + }, + "final_grasp": { + "position": [ + -0.10669561475515366, + -0.018766645342111588, + -0.13180357217788696 + ], + "orientation": [ + 0.13209201395511627, + -0.46473658084869385, + -0.08808690309524536, + -0.8710983991622925 + ], + "joints": [ + 0.006523238494992256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10367757827043533, + -0.019350668415427208, + -0.1172802671790123 + ], + "orientation": [ + 0.7830366492271423, + -0.08397634327411652, + -0.5861248970031738, + -0.1904185712337494 + ], + "joints": [ + 0.018142856657505035 + ] + }, + "fine_grasp": { + "position": [ + 0.10021788626909256, + -0.018220040947198868, + -0.11445207893848419 + ], + "orientation": [ + 0.7903009057044983, + -0.07609785348176956, + -0.5754958391189575, + -0.19605691730976105 + ], + "joints": [ + 0.012709438800811768 + ] + }, + "final_grasp": { + "position": [ + 0.10021788626909256, + -0.018220040947198868, + -0.11445207893848419 + ], + "orientation": [ + 0.7903009057044983, + -0.07609785348176956, + -0.5754958391189575, + -0.19605691730976105 + ], + "joints": [ + 0.0072760209441185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04435798153281212, + -0.05841050297021866, + 0.1440337747335434 + ], + "orientation": [ + 0.4154658317565918, + -0.44914087653160095, + -0.7571104764938354, + -0.2290075570344925 + ], + "joints": [ + 0.02038789726793766 + ] + }, + "fine_grasp": { + "position": [ + 0.04354681074619293, + -0.05502862483263016, + 0.14376020431518555 + ], + "orientation": [ + 0.4027864933013916, + -0.472100168466568, + -0.7549872398376465, + -0.21184590458869934 + ], + "joints": [ + 0.012446748092770576 + ] + }, + "final_grasp": { + "position": [ + 0.04354681074619293, + -0.05502862483263016, + 0.14376020431518555 + ], + "orientation": [ + 0.4027864933013916, + -0.472100168466568, + -0.7549872398376465, + -0.21184590458869934 + ], + "joints": [ + 0.004505598917603493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11787956207990646, + 0.04031108319759369, + -0.09697805345058441 + ], + "orientation": [ + 0.07975389808416367, + 0.5725694894790649, + 0.05323850363492966, + -0.8142291903495789 + ], + "joints": [ + 0.026616524904966354 + ] + }, + "fine_grasp": { + "position": [ + 0.11409654468297958, + 0.03960982710123062, + -0.096214160323143 + ], + "orientation": [ + 0.07897455990314484, + 0.5750471949577332, + 0.05231413617730141, + -0.8126173615455627 + ], + "joints": [ + 0.016982655972242355 + ] + }, + "final_grasp": { + "position": [ + 0.11409654468297958, + 0.03960982710123062, + -0.096214160323143 + ], + "orientation": [ + 0.07897455990314484, + 0.5750471949577332, + 0.05231413617730141, + -0.8126173615455627 + ], + "joints": [ + 0.007348787039518356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07436656206846237, + -0.06050150841474533, + 0.10203051567077637 + ], + "orientation": [ + 0.2505877614021301, + -0.6944429874420166, + 0.31170472502708435, + 0.5981596112251282 + ], + "joints": [ + 0.01685498096048832 + ] + }, + "fine_grasp": { + "position": [ + 0.0726848840713501, + -0.057726357132196426, + 0.10223390907049179 + ], + "orientation": [ + 0.23113839328289032, + -0.6997997164726257, + 0.33106234669685364, + 0.5892817974090576 + ], + "joints": [ + 0.01058565266430378 + ] + }, + "final_grasp": { + "position": [ + 0.0726848840713501, + -0.057726357132196426, + 0.10223390907049179 + ], + "orientation": [ + 0.23113839328289032, + -0.6997997164726257, + 0.33106234669685364, + 0.5892817974090576 + ], + "joints": [ + 0.00431632436811924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1329936534166336, + -0.008632899262011051, + 0.009953745640814304 + ], + "orientation": [ + 0.06585818529129028, + -0.666313886642456, + 0.07353861629962921, + 0.7391079068183899 + ], + "joints": [ + 0.02458006702363491 + ] + }, + "fine_grasp": { + "position": [ + 0.12913867831230164, + -0.007794552482664585, + 0.010141451843082905 + ], + "orientation": [ + 0.06536491215229034, + -0.6672098636627197, + 0.07363521307706833, + 0.7383333444595337 + ], + "joints": [ + 0.015761209651827812 + ] + }, + "final_grasp": { + "position": [ + 0.12913867831230164, + -0.007794552482664585, + 0.010141451843082905 + ], + "orientation": [ + 0.06536491215229034, + -0.6672098636627197, + 0.07363521307706833, + 0.7383333444595337 + ], + "joints": [ + 0.006942352280020714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09552203863859177, + 0.04616909474134445, + 0.12041832506656647 + ], + "orientation": [ + 0.1180599257349968, + 0.8107172250747681, + -0.053599439561367035, + 0.5708998441696167 + ], + "joints": [ + 0.018711935728788376 + ] + }, + "fine_grasp": { + "position": [ + -0.09232021868228912, + 0.04560090973973274, + 0.1210162341594696 + ], + "orientation": [ + 0.12435996532440186, + 0.8255789875984192, + -0.04173121973872185, + 0.548828125 + ], + "joints": [ + 0.011606696993112564 + ] + }, + "final_grasp": { + "position": [ + -0.09232021868228912, + 0.04560090973973274, + 0.1210162341594696 + ], + "orientation": [ + 0.12435996532440186, + 0.8255789875984192, + -0.04173121973872185, + 0.548828125 + ], + "joints": [ + 0.004501458257436752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04928050935268402, + 0.13668452203273773, + 0.003914389759302139 + ], + "orientation": [ + 0.4275578260421753, + 0.6324755549430847, + -0.3536338210105896, + 0.5404739379882812 + ], + "joints": [ + 0.02847018465399742 + ] + }, + "fine_grasp": { + "position": [ + -0.047713182866573334, + 0.13305510580539703, + 0.0038144183345139027 + ], + "orientation": [ + 0.4294199049472809, + 0.6330177783966064, + -0.3515227138996124, + 0.5397394895553589 + ], + "joints": [ + 0.018836315721273422 + ] + }, + "final_grasp": { + "position": [ + -0.047713182866573334, + 0.13305510580539703, + 0.0038144183345139027 + ], + "orientation": [ + 0.4294199049472809, + 0.6330177783966064, + -0.3515227138996124, + 0.5397394895553589 + ], + "joints": [ + 0.009202446788549423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12550638616085052, + 0.059259820729494095, + -0.021722983568906784 + ], + "orientation": [ + 0.059162672609090805, + 0.6566665768623352, + -0.1629180759191513, + 0.7339934706687927 + ], + "joints": [ + 0.026154637336730957 + ] + }, + "fine_grasp": { + "position": [ + -0.12181950360536575, + 0.05804670602083206, + -0.021574052050709724 + ], + "orientation": [ + 0.057046033442020416, + 0.6572329998016357, + -0.1639540195465088, + 0.7334232330322266 + ], + "joints": [ + 0.016917824745178223 + ] + }, + "final_grasp": { + "position": [ + -0.12181950360536575, + 0.05804670602083206, + -0.021574052050709724 + ], + "orientation": [ + 0.057046033442020416, + 0.6572329998016357, + -0.1639540195465088, + 0.7334232330322266 + ], + "joints": [ + 0.007681012153625488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012370464392006397, + 0.13099396228790283, + -0.10195038467645645 + ], + "orientation": [ + 0.5714346766471863, + 0.4395238161087036, + 0.4793374538421631, + -0.5005163550376892 + ], + "joints": [ + 0.017589345574378967 + ] + }, + "fine_grasp": { + "position": [ + -0.011987946927547455, + 0.12738728523254395, + -0.09912564605474472 + ], + "orientation": [ + 0.5791279673576355, + 0.4311884343624115, + 0.4702061712741852, + -0.5075367093086243 + ], + "joints": [ + 0.0121559277176857 + ] + }, + "final_grasp": { + "position": [ + -0.011987946927547455, + 0.12738728523254395, + -0.09912564605474472 + ], + "orientation": [ + 0.5791279673576355, + 0.4311884343624115, + 0.4702061712741852, + -0.5075367093086243 + ], + "joints": [ + 0.006722509860992432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018089035525918007, + -0.09377697855234146, + -0.12236469984054565 + ], + "orientation": [ + 0.7111497521400452, + -0.40477025508880615, + 0.3783162236213684, + 0.43278616666793823 + ], + "joints": [ + 0.02549409680068493 + ] + }, + "fine_grasp": { + "position": [ + -0.01753191463649273, + -0.09022315591573715, + -0.12091052532196045 + ], + "orientation": [ + 0.7125895619392395, + -0.4058297276496887, + 0.3747808337211609, + 0.43250173330307007 + ], + "joints": [ + 0.016257284209132195 + ] + }, + "final_grasp": { + "position": [ + -0.01753191463649273, + -0.09022315591573715, + -0.12091052532196045 + ], + "orientation": [ + 0.7125895619392395, + -0.4058297276496887, + 0.3747808337211609, + 0.43250173330307007 + ], + "joints": [ + 0.00702047161757946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11409568786621094, + -0.036777861416339874, + 0.010424463078379631 + ], + "orientation": [ + 0.1526280641555786, + -0.6893311142921448, + -0.16053780913352966, + -0.6897497773170471 + ], + "joints": [ + 0.026847442612051964 + ] + }, + "fine_grasp": { + "position": [ + -0.1105240061879158, + -0.03509976714849472, + 0.01042461208999157 + ], + "orientation": [ + 0.15165677666664124, + -0.6894663572311401, + -0.15984056890010834, + -0.6899908185005188 + ], + "joints": [ + 0.0168165173381567 + ] + }, + "final_grasp": { + "position": [ + -0.1105240061879158, + -0.03509976714849472, + 0.01042461208999157 + ], + "orientation": [ + 0.15165677666664124, + -0.6894663572311401, + -0.15984056890010834, + -0.6899908185005188 + ], + "joints": [ + 0.0067855920642614365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11507538706064224, + -0.03748735412955284, + 0.010629844851791859 + ], + "orientation": [ + 0.15329471230506897, + -0.6874638199806213, + -0.16129979491233826, + -0.6912861466407776 + ], + "joints": [ + 0.026420315727591515 + ] + }, + "fine_grasp": { + "position": [ + -0.11146152764558792, + -0.03580190986394882, + 0.01063841674476862 + ], + "orientation": [ + 0.15228445827960968, + -0.6876526474952698, + -0.1606241762638092, + -0.6914789080619812 + ], + "joints": [ + 0.01720440201461315 + ] + }, + "final_grasp": { + "position": [ + -0.11146152764558792, + -0.03580190986394882, + 0.01063841674476862 + ], + "orientation": [ + 0.15228445827960968, + -0.6876526474952698, + -0.1606241762638092, + -0.6914789080619812 + ], + "joints": [ + 0.007988488301634789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02220287173986435, + -0.11038633435964584, + 0.10004880279302597 + ], + "orientation": [ + 0.4330105781555176, + -0.42239123582839966, + -0.6591574549674988, + -0.4467649757862091 + ], + "joints": [ + 0.02455691061913967 + ] + }, + "fine_grasp": { + "position": [ + 0.02156662940979004, + -0.10683859884738922, + 0.09859994798898697 + ], + "orientation": [ + 0.4257883131504059, + -0.4297465980052948, + -0.6644756197929382, + -0.4387417435646057 + ], + "joints": [ + 0.015758952125906944 + ] + }, + "final_grasp": { + "position": [ + 0.02156662940979004, + -0.10683859884738922, + 0.09859994798898697 + ], + "orientation": [ + 0.4257883131504059, + -0.4297465980052948, + -0.6644756197929382, + -0.4387417435646057 + ], + "joints": [ + 0.006960993632674217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10836677998304367, + -0.01918720453977585, + -0.13272319734096527 + ], + "orientation": [ + 0.13339842855930328, + -0.465913861989975, + -0.08695157617330551, + -0.870384156703949 + ], + "joints": [ + 0.025483129546046257 + ] + }, + "fine_grasp": { + "position": [ + -0.10546927154064178, + -0.0181900542229414, + -0.13044936954975128 + ], + "orientation": [ + 0.1339084804058075, + -0.46480393409729004, + -0.08610133081674576, + -0.8709836602210999 + ], + "joints": [ + 0.016246316954493523 + ] + }, + "final_grasp": { + "position": [ + -0.10546927154064178, + -0.0181900542229414, + -0.13044936954975128 + ], + "orientation": [ + 0.1339084804058075, + -0.46480393409729004, + -0.08610133081674576, + -0.8709836602210999 + ], + "joints": [ + 0.007009504362940788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10599656403064728, + 0.08351010084152222, + -0.009220141917467117 + ], + "orientation": [ + 0.2451595664024353, + 0.6604362726211548, + 0.14531224966049194, + -0.6946977972984314 + ], + "joints": [ + 0.02732337825000286 + ] + }, + "fine_grasp": { + "position": [ + 0.10264232754707336, + 0.08149264752864838, + -0.009067492559552193 + ], + "orientation": [ + 0.2461061328649521, + 0.6617670059204102, + 0.1428084522485733, + -0.6936150193214417 + ], + "joints": [ + 0.017292452976107597 + ] + }, + "final_grasp": { + "position": [ + 0.10264232754707336, + 0.08149264752864838, + -0.009067492559552193 + ], + "orientation": [ + 0.2461061328649521, + 0.6617670059204102, + 0.1428084522485733, + -0.6936150193214417 + ], + "joints": [ + 0.007261527702212334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02356131002306938, + -0.1089361384510994, + 0.08413545042276382 + ], + "orientation": [ + 0.38650593161582947, + -0.5069754123687744, + -0.5364847183227539, + -0.5529675483703613 + ], + "joints": [ + 0.024927403777837753 + ] + }, + "fine_grasp": { + "position": [ + -0.02268078364431858, + -0.10525055229663849, + 0.08287464082241058 + ], + "orientation": [ + 0.3799769878387451, + -0.5160064101219177, + -0.5414530038833618, + -0.5442275404930115 + ], + "joints": [ + 0.016568299382925034 + ] + }, + "final_grasp": { + "position": [ + -0.02268078364431858, + -0.10525055229663849, + 0.08287464082241058 + ], + "orientation": [ + 0.3799769878387451, + -0.5160064101219177, + -0.5414530038833618, + -0.5442275404930115 + ], + "joints": [ + 0.008209194988012314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022045569494366646, + -0.11016642302274704, + 0.10022085160017014 + ], + "orientation": [ + 0.432963490486145, + -0.42277222871780396, + -0.6591596603393555, + -0.4464467763900757 + ], + "joints": [ + 0.02455691061913967 + ] + }, + "fine_grasp": { + "position": [ + 0.021386751905083656, + -0.10659307986497879, + 0.09874555468559265 + ], + "orientation": [ + 0.42573028802871704, + -0.430318683385849, + -0.6644443273544312, + -0.43828439712524414 + ], + "joints": [ + 0.015779851004481316 + ] + }, + "final_grasp": { + "position": [ + 0.021386751905083656, + -0.10659307986497879, + 0.09874555468559265 + ], + "orientation": [ + 0.42573028802871704, + -0.430318683385849, + -0.6644443273544312, + -0.43828439712524414 + ], + "joints": [ + 0.00700279138982296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07518141716718674, + -0.06647011637687683, + -0.007170460186898708 + ], + "orientation": [ + 0.3120613694190979, + -0.6030343770980835, + -0.266686350107193, + -0.6839923858642578 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + -0.07283281534910202, + -0.06448131799697876, + -0.007593484595417976 + ], + "orientation": [ + 0.3158639967441559, + -0.6018055081367493, + -0.2657117545604706, + -0.6837084293365479 + ], + "joints": [ + 0.017492201179265976 + ] + }, + "final_grasp": { + "position": [ + -0.07283281534910202, + -0.06448131799697876, + -0.007593484595417976 + ], + "orientation": [ + 0.3158639967441559, + -0.6018055081367493, + -0.2657117545604706, + -0.6837084293365479 + ], + "joints": [ + 0.008297186344861984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.135416179895401, + 0.020978381857275963, + -0.004645287990570068 + ], + "orientation": [ + 0.07437710464000702, + -0.7018636465072632, + -0.0917249321937561, + 0.7024543285369873 + ], + "joints": [ + 0.025459973141551018 + ] + }, + "fine_grasp": { + "position": [ + 0.1315525770187378, + 0.020852211862802505, + -0.004655485972762108 + ], + "orientation": [ + 0.07653352618217468, + -0.7016305327415466, + -0.09356947243213654, + 0.7022121548652649 + ], + "joints": [ + 0.01664111576974392 + ] + }, + "final_grasp": { + "position": [ + 0.1315525770187378, + 0.020852211862802505, + -0.004655485972762108 + ], + "orientation": [ + 0.07653352618217468, + -0.7016305327415466, + -0.09356947243213654, + 0.7022121548652649 + ], + "joints": [ + 0.007822258397936821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11150791496038437, + 0.06495245546102524, + -0.013952638953924179 + ], + "orientation": [ + 0.7269085049629211, + 0.14939719438552856, + -0.6577051281929016, + 0.12926195561885834 + ], + "joints": [ + 0.026443472132086754 + ] + }, + "fine_grasp": { + "position": [ + 0.10779115557670593, + 0.0635223388671875, + -0.01374154631048441 + ], + "orientation": [ + 0.7265791893005371, + 0.15194591879844666, + -0.6577553749084473, + 0.12787863612174988 + ], + "joints": [ + 0.01643344573676586 + ] + }, + "final_grasp": { + "position": [ + 0.10779115557670593, + 0.0635223388671875, + -0.01374154631048441 + ], + "orientation": [ + 0.7265791893005371, + 0.15194591879844666, + -0.6577553749084473, + 0.12787863612174988 + ], + "joints": [ + 0.006423419341444969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09501755982637405, + -0.06032272055745125, + -0.0919116735458374 + ], + "orientation": [ + 0.29269686341285706, + -0.6369286775588989, + -0.20368832349777222, + -0.6834920644760132 + ], + "joints": [ + 0.019462715834379196 + ] + }, + "fine_grasp": { + "position": [ + -0.0921325534582138, + -0.05847514420747757, + -0.08885464817285538 + ], + "orientation": [ + 0.2942701280117035, + -0.6249585747718811, + -0.19761289656162262, + -0.695543646812439 + ], + "joints": [ + 0.014029297977685928 + ] + }, + "final_grasp": { + "position": [ + -0.0921325534582138, + -0.05847514420747757, + -0.08885464817285538 + ], + "orientation": [ + 0.2942701280117035, + -0.6249585747718811, + -0.19761289656162262, + -0.695543646812439 + ], + "joints": [ + 0.00859588012099266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11898350715637207, + 0.04055583104491234, + -0.09743385761976242 + ], + "orientation": [ + 0.07942714542150497, + 0.5733513236045837, + 0.05392100661993027, + -0.8136658668518066 + ], + "joints": [ + 0.026200950145721436 + ] + }, + "fine_grasp": { + "position": [ + 0.11521638929843903, + 0.03980610519647598, + -0.0966523289680481 + ], + "orientation": [ + 0.07870892435312271, + 0.5759773254394531, + 0.05335959792137146, + -0.811916172504425 + ], + "joints": [ + 0.016985036432743073 + ] + }, + "final_grasp": { + "position": [ + 0.11521638929843903, + 0.03980610519647598, + -0.0966523289680481 + ], + "orientation": [ + 0.07870892435312271, + 0.5759773254394531, + 0.05335959792137146, + -0.811916172504425 + ], + "joints": [ + 0.0077691227197647095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005668953526765108, + -0.10457110404968262, + 0.11205040663480759 + ], + "orientation": [ + 0.4036671221256256, + -0.5546140074729919, + -0.6063939929008484, + -0.40217214822769165 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + 0.005551764741539955, + -0.10100426524877548, + 0.1103651225566864 + ], + "orientation": [ + 0.39967966079711914, + -0.559421956539154, + -0.6084707975387573, + -0.39631617069244385 + ], + "joints": [ + 0.019695382565259933 + ] + }, + "final_grasp": { + "position": [ + 0.005551764741539955, + -0.10100426524877548, + 0.1103651225566864 + ], + "orientation": [ + 0.39967966079711914, + -0.559421956539154, + -0.6084707975387573, + -0.39631617069244385 + ], + "joints": [ + 0.010897424072027206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13731926679611206, + 0.009301372803747654, + -0.0036106121260672808 + ], + "orientation": [ + 0.6367393136024475, + -0.014474974945187569, + -0.7704260349273682, + -0.028236716985702515 + ], + "joints": [ + 0.02323705144226551 + ] + }, + "fine_grasp": { + "position": [ + 0.13353151082992554, + 0.009588316082954407, + -0.004010946489870548 + ], + "orientation": [ + 0.6386317014694214, + -0.013899131678044796, + -0.7688592672348022, + -0.0284946970641613 + ], + "joints": [ + 0.01439729519188404 + ] + }, + "final_grasp": { + "position": [ + 0.13353151082992554, + 0.009588316082954407, + -0.004010946489870548 + ], + "orientation": [ + 0.6386317014694214, + -0.013899131678044796, + -0.7688592672348022, + -0.0284946970641613 + ], + "joints": [ + 0.005557538941502571 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022008705884218216, + -0.10983356088399887, + 0.10013656318187714 + ], + "orientation": [ + 0.43267470598220825, + -0.42150142788887024, + -0.6598151326179504, + -0.44695985317230225 + ], + "joints": [ + 0.02458006702363491 + ] + }, + "fine_grasp": { + "position": [ + 0.02134537696838379, + -0.10630926489830017, + 0.0986936166882515 + ], + "orientation": [ + 0.42520660161972046, + -0.4292061924934387, + -0.6651240587234497, + -0.4388524889945984 + ], + "joints": [ + 0.015803007408976555 + ] + }, + "final_grasp": { + "position": [ + 0.02134537696838379, + -0.10630926489830017, + 0.0986936166882515 + ], + "orientation": [ + 0.42520660161972046, + -0.4292061924934387, + -0.6651240587234497, + -0.4388524889945984 + ], + "joints": [ + 0.007025947794318199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010165465995669365, + -0.10040368139743805, + 0.003996612504124641 + ], + "orientation": [ + 0.5157456398010254, + -0.5146992802619934, + -0.523528516292572, + -0.44159814715385437 + ], + "joints": [ + 0.028076544404029846 + ] + }, + "fine_grasp": { + "position": [ + 0.009815433993935585, + -0.09660064429044724, + 0.0038543096743524075 + ], + "orientation": [ + 0.5195546746253967, + -0.5186963081359863, + -0.5193178653717041, + -0.43740832805633545 + ], + "joints": [ + 0.017230607569217682 + ] + }, + "final_grasp": { + "position": [ + 0.009815433993935585, + -0.09660064429044724, + 0.0038543096743524075 + ], + "orientation": [ + 0.5195546746253967, + -0.5186963081359863, + -0.5193178653717041, + -0.43740832805633545 + ], + "joints": [ + 0.006384670734405518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07488978654146194, + -0.06645669043064117, + -0.007026057690382004 + ], + "orientation": [ + 0.3132379353046417, + -0.6024897694587708, + -0.2670358121395111, + -0.6837981343269348 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + -0.07244127243757248, + -0.0645613819360733, + -0.007452249992638826 + ], + "orientation": [ + 0.3173075318336487, + -0.6011927723884583, + -0.2664083242416382, + -0.6833081245422363 + ], + "joints": [ + 0.017492201179265976 + ] + }, + "final_grasp": { + "position": [ + -0.07244127243757248, + -0.0645613819360733, + -0.007452249992638826 + ], + "orientation": [ + 0.3173075318336487, + -0.6011927723884583, + -0.2664083242416382, + -0.6833081245422363 + ], + "joints": [ + 0.008297186344861984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11376030743122101, + -0.05882306024432182, + 0.06304246187210083 + ], + "orientation": [ + 0.147531196475029, + -0.6426721811294556, + 0.2716667950153351, + 0.7010021209716797 + ], + "joints": [ + 0.024811621755361557 + ] + }, + "fine_grasp": { + "position": [ + 0.11073213070631027, + -0.05652744695544243, + 0.06304209679365158 + ], + "orientation": [ + 0.1485740840435028, + -0.6431060433387756, + 0.2736211121082306, + 0.699622631072998 + ], + "joints": [ + 0.01519865170121193 + ] + }, + "final_grasp": { + "position": [ + 0.11073213070631027, + -0.05652744695544243, + 0.06304209679365158 + ], + "orientation": [ + 0.1485740840435028, + -0.6431060433387756, + 0.2736211121082306, + 0.699622631072998 + ], + "joints": [ + 0.005585681647062302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03584877401590347, + 0.13004423677921295, + -0.11463572084903717 + ], + "orientation": [ + 0.7296066880226135, + 0.3622762858867645, + 0.39542368054389954, + -0.42434659600257874 + ], + "joints": [ + 0.0291880052536726 + ] + }, + "fine_grasp": { + "position": [ + -0.034760698676109314, + 0.1266259253025055, + -0.11295322328805923 + ], + "orientation": [ + 0.7290531992912292, + 0.35969772934913635, + 0.39743664860725403, + -0.42560893297195435 + ], + "joints": [ + 0.019972091540694237 + ] + }, + "final_grasp": { + "position": [ + -0.034760698676109314, + 0.1266259253025055, + -0.11295322328805923 + ], + "orientation": [ + 0.7290531992912292, + 0.35969772934913635, + 0.39743664860725403, + -0.42560893297195435 + ], + "joints": [ + 0.010756177827715874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1114167869091034, + -0.04010009765625, + -0.0034597432240843773 + ], + "orientation": [ + 0.729777455329895, + -0.11624979227781296, + -0.635140597820282, + -0.22473816573619843 + ], + "joints": [ + 0.027079634368419647 + ] + }, + "fine_grasp": { + "position": [ + 0.10789179056882858, + -0.038363996893167496, + -0.003105517476797104 + ], + "orientation": [ + 0.7277642488479614, + -0.11397270113229752, + -0.6373085975646973, + -0.22628983855247498 + ], + "joints": [ + 0.01746666431427002 + ] + }, + "final_grasp": { + "position": [ + 0.10789179056882858, + -0.038363996893167496, + -0.003105517476797104 + ], + "orientation": [ + 0.7277642488479614, + -0.11397270113229752, + -0.6373085975646973, + -0.22628983855247498 + ], + "joints": [ + 0.007853694260120392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022648144513368607, + -0.10857772082090378, + 0.0833074077963829 + ], + "orientation": [ + 0.37923362851142883, + -0.5143449902534485, + -0.5384735465049744, + -0.54925137758255 + ], + "joints": [ + 0.027358723804354668 + ] + }, + "fine_grasp": { + "position": [ + -0.021919889375567436, + -0.10480066388845444, + 0.08232421427965164 + ], + "orientation": [ + 0.37593910098075867, + -0.5208306908607483, + -0.5425909757614136, + -0.5412949919700623 + ], + "joints": [ + 0.018163708969950676 + ] + }, + "final_grasp": { + "position": [ + -0.021919889375567436, + -0.10480066388845444, + 0.08232421427965164 + ], + "orientation": [ + 0.37593910098075867, + -0.5208306908607483, + -0.5425909757614136, + -0.5412949919700623 + ], + "joints": [ + 0.008968694135546684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12830057740211487, + -0.013226381503045559, + 0.05261261388659477 + ], + "orientation": [ + 0.621666669845581, + -0.08215460926294327, + -0.7744051814079285, + -0.08412999659776688 + ], + "joints": [ + 0.025020020082592964 + ] + }, + "fine_grasp": { + "position": [ + 0.12455262243747711, + -0.012358874082565308, + 0.05215983837842941 + ], + "orientation": [ + 0.6245098114013672, + -0.08172884583473206, + -0.7720894813537598, + -0.08476778119802475 + ], + "joints": [ + 0.016201162710785866 + ] + }, + "final_grasp": { + "position": [ + 0.12455262243747711, + -0.012358874082565308, + 0.05215983837842941 + ], + "orientation": [ + 0.6245098114013672, + -0.08172884583473206, + -0.7720894813537598, + -0.08476778119802475 + ], + "joints": [ + 0.007382305338978767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11268570274114609, + -0.05783655866980553, + 0.06251834332942963 + ], + "orientation": [ + 0.143753781914711, + -0.6473078727722168, + 0.2723477780818939, + 0.6972474455833435 + ], + "joints": [ + 0.02592308260500431 + ] + }, + "fine_grasp": { + "position": [ + 0.10958806425333023, + -0.055691033601760864, + 0.06256058067083359 + ], + "orientation": [ + 0.14268620312213898, + -0.6470969319343567, + 0.2733674645423889, + 0.6972634196281433 + ], + "joints": [ + 0.016686270013451576 + ] + }, + "final_grasp": { + "position": [ + 0.10958806425333023, + -0.055691033601760864, + 0.06256058067083359 + ], + "orientation": [ + 0.14268620312213898, + -0.6470969319343567, + 0.2733674645423889, + 0.6972634196281433 + ], + "joints": [ + 0.007449457421898842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01371818408370018, + -0.1150205209851265, + -0.01694365032017231 + ], + "orientation": [ + 0.48008087277412415, + -0.45919275283813477, + -0.5688177943229675, + -0.4848822057247162 + ], + "joints": [ + 0.027150334790349007 + ] + }, + "fine_grasp": { + "position": [ + 0.013407442718744278, + -0.11111371964216232, + -0.017050033435225487 + ], + "orientation": [ + 0.48039335012435913, + -0.4569588303565979, + -0.5695587992668152, + -0.4858124256134033 + ], + "joints": [ + 0.018331477418541908 + ] + }, + "final_grasp": { + "position": [ + 0.013407442718744278, + -0.11111371964216232, + -0.017050033435225487 + ], + "orientation": [ + 0.48039335012435913, + -0.4569588303565979, + -0.5695587992668152, + -0.4858124256134033 + ], + "joints": [ + 0.00951262004673481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09463377296924591, + -0.06413985043764114, + -0.08650171011686325 + ], + "orientation": [ + 0.24739408493041992, + -0.5869601964950562, + 0.2414315938949585, + 0.732109785079956 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.09163128584623337, + -0.061682842671871185, + -0.08584196120500565 + ], + "orientation": [ + 0.24668169021606445, + -0.5878744125366211, + 0.24019303917884827, + 0.7320240139961243 + ], + "joints": [ + 0.01841726154088974 + ] + }, + "final_grasp": { + "position": [ + 0.09163128584623337, + -0.061682842671871185, + -0.08584196120500565 + ], + "orientation": [ + 0.24668169021606445, + -0.5878744125366211, + 0.24019303917884827, + 0.7320240139961243 + ], + "joints": [ + 0.008804291486740112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12420375645160675, + 0.05868758633732796, + -0.02130025625228882 + ], + "orientation": [ + 0.0650733932852745, + 0.6575139760971069, + -0.15627415478229523, + 0.7341791987419128 + ], + "joints": [ + 0.026177793741226196 + ] + }, + "fine_grasp": { + "position": [ + -0.12050428241491318, + 0.05750164017081261, + -0.02114846184849739 + ], + "orientation": [ + 0.06300385296344757, + 0.6581130027770996, + -0.15757490694522858, + 0.7335448861122131 + ], + "joints": [ + 0.016961880028247833 + ] + }, + "final_grasp": { + "position": [ + -0.12050428241491318, + 0.05750164017081261, + -0.02114846184849739 + ], + "orientation": [ + 0.06300385296344757, + 0.6581130027770996, + -0.15757490694522858, + 0.7335448861122131 + ], + "joints": [ + 0.00774596631526947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11290942877531052, + -0.05787574127316475, + 0.06241187825798988 + ], + "orientation": [ + 0.14352254569530487, + -0.648043692111969, + 0.27199068665504456, + 0.6967507600784302 + ], + "joints": [ + 0.02592308260500431 + ] + }, + "fine_grasp": { + "position": [ + 0.10970675945281982, + -0.05572463199496269, + 0.062384750694036484 + ], + "orientation": [ + 0.14204704761505127, + -0.6482331156730652, + 0.27281659841537476, + 0.6965540647506714 + ], + "joints": [ + 0.01708332635462284 + ] + }, + "final_grasp": { + "position": [ + 0.10970675945281982, + -0.05572463199496269, + 0.062384750694036484 + ], + "orientation": [ + 0.14204704761505127, + -0.6482331156730652, + 0.27281659841537476, + 0.6965540647506714 + ], + "joints": [ + 0.008243570104241371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08395425975322723, + 0.09318993240594864, + 0.11942629516124725 + ], + "orientation": [ + 0.5326554179191589, + 0.4321787655353546, + -0.7176316976547241, + 0.1204347237944603 + ], + "joints": [ + 0.026200950145721436 + ] + }, + "fine_grasp": { + "position": [ + 0.08119520545005798, + 0.09080402553081512, + 0.11778035014867783 + ], + "orientation": [ + 0.5254761576652527, + 0.4375876784324646, + -0.7210730314254761, + 0.1115594357252121 + ], + "joints": [ + 0.017005935311317444 + ] + }, + "final_grasp": { + "position": [ + 0.08119520545005798, + 0.09080402553081512, + 0.11778035014867783 + ], + "orientation": [ + 0.5254761576652527, + 0.4375876784324646, + -0.7210730314254761, + 0.1115594357252121 + ], + "joints": [ + 0.007810920476913452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034482572227716446, + 0.14458797872066498, + 0.013808509334921837 + ], + "orientation": [ + 0.6124950647354126, + 0.4537840187549591, + 0.5089196562767029, + -0.39991310238838196 + ], + "joints": [ + 0.027775520458817482 + ] + }, + "fine_grasp": { + "position": [ + -0.03342339023947716, + 0.14081136882305145, + 0.01395948976278305 + ], + "orientation": [ + 0.6128706932067871, + 0.4553223252296448, + 0.5084142684936523, + -0.39822885394096375 + ], + "joints": [ + 0.018956663087010384 + ] + }, + "final_grasp": { + "position": [ + -0.03342339023947716, + 0.14081136882305145, + 0.01395948976278305 + ], + "orientation": [ + 0.6128706932067871, + 0.4553223252296448, + 0.5084142684936523, + -0.39822885394096375 + ], + "joints": [ + 0.010137805715203285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06280983984470367, + 0.09742546081542969, + -0.14819498360157013 + ], + "orientation": [ + 0.7515654563903809, + 0.14849388599395752, + 0.41149091720581055, + -0.49373504519462585 + ], + "joints": [ + 0.026224106550216675 + ] + }, + "fine_grasp": { + "position": [ + -0.0612872913479805, + 0.09523837268352509, + -0.1452988088130951 + ], + "orientation": [ + 0.7527133226394653, + 0.14677947759628296, + 0.40634578466415405, + -0.4967508912086487 + ], + "joints": [ + 0.017029091715812683 + ] + }, + "final_grasp": { + "position": [ + -0.0612872913479805, + 0.09523837268352509, + -0.1452988088130951 + ], + "orientation": [ + 0.7527133226394653, + 0.14677947759628296, + 0.40634578466415405, + -0.4967508912086487 + ], + "joints": [ + 0.007834076881408691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06455420702695847, + -0.09041925519704819, + -0.04760908707976341 + ], + "orientation": [ + 0.5878095626831055, + -0.38039737939834595, + 0.6388681530952454, + 0.31878718733787537 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.062325045466423035, + -0.08714106678962708, + -0.047881077975034714 + ], + "orientation": [ + 0.5892117619514465, + -0.3809869885444641, + 0.6378272771835327, + 0.31757616996765137 + ], + "joints": [ + 0.01894642412662506 + ] + }, + "final_grasp": { + "position": [ + -0.062325045466423035, + -0.08714106678962708, + -0.047881077975034714 + ], + "orientation": [ + 0.5892117619514465, + -0.3809869885444641, + 0.6378272771835327, + 0.31757616996765137 + ], + "joints": [ + 0.008936397731304169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01462299283593893, + -0.09997931122779846, + 0.1362752616405487 + ], + "orientation": [ + 0.3918309807777405, + -0.5565221309661865, + 0.6298528909683228, + 0.37421518564224243 + ], + "joints": [ + 0.018652278929948807 + ] + }, + "fine_grasp": { + "position": [ + -0.014364868402481079, + -0.09639225155115128, + 0.13473641872406006 + ], + "orientation": [ + 0.3902016878128052, + -0.5615883469581604, + 0.6287164688110352, + 0.37023890018463135 + ], + "joints": [ + 0.008621353656053543 + ] + }, + "final_grasp": { + "position": [ + -0.014364868402481079, + -0.09639225155115128, + 0.13473641872406006 + ], + "orientation": [ + 0.3902016878128052, + -0.5615883469581604, + 0.6287164688110352, + 0.37023890018463135 + ], + "joints": [ + -0.0014095716178417206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06500617414712906, + -0.09156633913516998, + -0.047358084470033646 + ], + "orientation": [ + 0.5888659358024597, + -0.38062265515327454, + 0.6371608376502991, + 0.3199833035469055 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + -0.06283366680145264, + -0.08830254524946213, + -0.04761276766657829 + ], + "orientation": [ + 0.590323805809021, + -0.38091549277305603, + 0.6361656785011292, + 0.31892699003219604 + ], + "joints": [ + 0.019300583750009537 + ] + }, + "final_grasp": { + "position": [ + -0.06283366680145264, + -0.08830254524946213, + -0.04761276766657829 + ], + "orientation": [ + 0.590323805809021, + -0.38091549277305603, + 0.6361656785011292, + 0.31892699003219604 + ], + "joints": [ + 0.010084670037031174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10503458231687546, + -0.05803929269313812, + 0.006408222485333681 + ], + "orientation": [ + 0.627284049987793, + -0.30825620889663696, + -0.7021695971488953, + -0.13583342730998993 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + 0.10188211500644684, + -0.05571278557181358, + 0.00601574033498764 + ], + "orientation": [ + 0.6299901604652405, + -0.3103242814540863, + -0.6993025541305542, + -0.13336852192878723 + ], + "joints": [ + 0.01788809895515442 + ] + }, + "final_grasp": { + "position": [ + 0.10188211500644684, + -0.05571278557181358, + 0.00601574033498764 + ], + "orientation": [ + 0.6299901604652405, + -0.3103242814540863, + -0.6993025541305542, + -0.13336852192878723 + ], + "joints": [ + 0.008672185242176056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11582178622484207, + -0.018340948969125748, + 0.09235624969005585 + ], + "orientation": [ + 0.11936667561531067, + -0.7162366509437561, + 0.0976591631770134, + 0.6806021928787231 + ], + "joints": [ + 0.015847569331526756 + ] + }, + "fine_grasp": { + "position": [ + 0.1119035929441452, + -0.017166830599308014, + 0.09114207327365875 + ], + "orientation": [ + 0.1182427853345871, + -0.7159951329231262, + 0.09717535972595215, + 0.6811215877532959 + ], + "joints": [ + 0.007906420156359673 + ] + }, + "final_grasp": { + "position": [ + 0.1119035929441452, + -0.017166830599308014, + 0.09114207327365875 + ], + "orientation": [ + 0.1182427853345871, + -0.7159951329231262, + 0.09717535972595215, + 0.6811215877532959 + ], + "joints": [ + -3.4729018807411194e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1413596123456955, + 0.013845512643456459, + -0.03693594038486481 + ], + "orientation": [ + 0.023452596738934517, + -0.7164652347564697, + -0.003646050812676549, + 0.6972189545631409 + ], + "joints": [ + 0.022797098383307457 + ] + }, + "fine_grasp": { + "position": [ + 0.13755357265472412, + 0.013968897983431816, + -0.03704480081796646 + ], + "orientation": [ + 0.023492170497775078, + -0.7164801955223083, + -0.004088263958692551, + 0.697199821472168 + ], + "joints": [ + 0.013936443254351616 + ] + }, + "final_grasp": { + "position": [ + 0.13755357265472412, + 0.013968897983431816, + -0.03704480081796646 + ], + "orientation": [ + 0.023492170497775078, + -0.7164801955223083, + -0.004088263958692551, + 0.697199821472168 + ], + "joints": [ + 0.005075788125395775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14138811826705933, + 0.013796628452837467, + -0.03703668713569641 + ], + "orientation": [ + 0.02311128005385399, + -0.7171326279640198, + -0.0031703875865787268, + 0.6965461373329163 + ], + "joints": [ + 0.022797098383307457 + ] + }, + "fine_grasp": { + "position": [ + 0.13765175640583038, + 0.013967840000987053, + -0.03714907169342041 + ], + "orientation": [ + 0.023258551955223083, + -0.7171570062637329, + -0.003561705583706498, + 0.6965144276618958 + ], + "joints": [ + 0.013936443254351616 + ] + }, + "final_grasp": { + "position": [ + 0.13765175640583038, + 0.013967840000987053, + -0.03714907169342041 + ], + "orientation": [ + 0.023258551955223083, + -0.7171570062637329, + -0.003561705583706498, + 0.6965144276618958 + ], + "joints": [ + 0.005075788125395775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12924210727214813, + 0.06894637644290924, + -0.037389956414699554 + ], + "orientation": [ + 0.10463231801986694, + 0.6577767133712769, + 0.1624363511800766, + -0.7280083894729614 + ], + "joints": [ + 0.023746473714709282 + ] + }, + "fine_grasp": { + "position": [ + 0.12570542097091675, + 0.06747757643461227, + -0.03730852156877518 + ], + "orientation": [ + 0.10283984243869781, + 0.6588395833969116, + 0.163040891289711, + -0.7271672487258911 + ], + "joints": [ + 0.01488581858575344 + ] + }, + "final_grasp": { + "position": [ + 0.12570542097091675, + 0.06747757643461227, + -0.03730852156877518 + ], + "orientation": [ + 0.10283984243869781, + 0.6588395833969116, + 0.163040891289711, + -0.7271672487258911 + ], + "joints": [ + 0.0060251634567976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03606491908431053, + 0.13019831478595734, + -0.11542154848575592 + ], + "orientation": [ + 0.7283472418785095, + 0.36576414108276367, + 0.4000895917415619, + -0.4191124141216278 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + -0.03509947657585144, + 0.12688510119915009, + -0.11359889060258865 + ], + "orientation": [ + 0.7287335991859436, + 0.3632733225822449, + 0.39994707703590393, + -0.4207399785518646 + ], + "joints": [ + 0.01990603841841221 + ] + }, + "final_grasp": { + "position": [ + -0.03509947657585144, + 0.12688510119915009, + -0.11359889060258865 + ], + "orientation": [ + 0.7287335991859436, + 0.3632733225822449, + 0.39994707703590393, + -0.4207399785518646 + ], + "joints": [ + 0.01108718104660511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12924982607364655, + 0.06895329803228378, + -0.037506867200136185 + ], + "orientation": [ + 0.10482645779848099, + 0.6584883332252502, + 0.16234076023101807, + -0.7273582220077515 + ], + "joints": [ + 0.023514918982982635 + ] + }, + "fine_grasp": { + "position": [ + 0.12574568390846252, + 0.067528136074543, + -0.037430550903081894 + ], + "orientation": [ + 0.10313668847084045, + 0.6593815684318542, + 0.16301168501377106, + -0.7266401648521423 + ], + "joints": [ + 0.01507221907377243 + ] + }, + "final_grasp": { + "position": [ + 0.12574568390846252, + 0.067528136074543, + -0.037430550903081894 + ], + "orientation": [ + 0.10313668847084045, + 0.6593815684318542, + 0.16301168501377106, + -0.7266401648521423 + ], + "joints": [ + 0.006629519164562225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11296023428440094, + -0.0410238616168499, + -0.0029511605389416218 + ], + "orientation": [ + 0.7299635410308838, + -0.10849633067846298, + -0.6326016783714294, + -0.23494023084640503 + ], + "joints": [ + 0.026860268786549568 + ] + }, + "fine_grasp": { + "position": [ + 0.10952921211719513, + -0.03923914581537247, + -0.002596030244603753 + ], + "orientation": [ + 0.7280001640319824, + -0.10654468834400177, + -0.6347847580909729, + -0.23603428900241852 + ], + "joints": [ + 0.017644355073571205 + ] + }, + "final_grasp": { + "position": [ + 0.10952921211719513, + -0.03923914581537247, + -0.002596030244603753 + ], + "orientation": [ + 0.7280001640319824, + -0.10654468834400177, + -0.6347847580909729, + -0.23603428900241852 + ], + "joints": [ + 0.008428441360592842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09000702947378159, + -0.08641739189624786, + 0.05582190304994583 + ], + "orientation": [ + 0.404508113861084, + -0.65289306640625, + -0.17882096767425537, + -0.6149203181266785 + ], + "joints": [ + 0.024533754214644432 + ] + }, + "fine_grasp": { + "position": [ + -0.08749150484800339, + -0.08372633904218674, + 0.05559469759464264 + ], + "orientation": [ + 0.4005531370639801, + -0.6577710509300232, + -0.17930008471012115, + -0.6121649146080017 + ], + "joints": [ + 0.014878986403346062 + ] + }, + "final_grasp": { + "position": [ + -0.08749150484800339, + -0.08372633904218674, + 0.05559469759464264 + ], + "orientation": [ + 0.4005531370639801, + -0.6577710509300232, + -0.17930008471012115, + -0.6121649146080017 + ], + "joints": [ + 0.005224218592047691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05021432414650917, + 0.14153574407100677, + 0.02325337566435337 + ], + "orientation": [ + 0.6401450634002686, + 0.38081225752830505, + -0.5289006233215332, + 0.4067682921886444 + ], + "joints": [ + 0.02691878005862236 + ] + }, + "fine_grasp": { + "position": [ + 0.04883703216910362, + 0.13794942200183868, + 0.023509902879595757 + ], + "orientation": [ + 0.639635443687439, + 0.3815530836582184, + -0.5305521488189697, + 0.40471985936164856 + ], + "joints": [ + 0.01807902380824089 + ] + }, + "final_grasp": { + "position": [ + 0.04883703216910362, + 0.13794942200183868, + 0.023509902879595757 + ], + "orientation": [ + 0.639635443687439, + 0.3815530836582184, + -0.5305521488189697, + 0.40471985936164856 + ], + "joints": [ + 0.00923926755785942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03439705818891525, + -0.10104992240667343, + 0.009322072379291058 + ], + "orientation": [ + 0.6132966876029968, + -0.4748699963092804, + 0.5122622847557068, + 0.36871787905693054 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.03324645385146141, + -0.09733312577009201, + 0.009380473755300045 + ], + "orientation": [ + 0.615513801574707, + -0.47790393233299255, + 0.5096817016601562, + 0.36465758085250854 + ], + "joints": [ + 0.018551625311374664 + ] + }, + "final_grasp": { + "position": [ + -0.03324645385146141, + -0.09733312577009201, + 0.009380473755300045 + ], + "orientation": [ + 0.615513801574707, + -0.47790393233299255, + 0.5096817016601562, + 0.36465758085250854 + ], + "joints": [ + 0.008123643696308136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035503875464200974, + 0.12981277704238892, + -0.11546486616134644 + ], + "orientation": [ + 0.7281917333602905, + 0.36652863025665283, + 0.39907023310661316, + -0.4196861684322357 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + -0.03451593592762947, + 0.12644726037979126, + -0.11365652084350586 + ], + "orientation": [ + 0.7286669611930847, + 0.36393216252326965, + 0.39889317750930786, + -0.42128604650497437 + ], + "joints": [ + 0.01992693729698658 + ] + }, + "final_grasp": { + "position": [ + -0.03451593592762947, + 0.12644726037979126, + -0.11365652084350586 + ], + "orientation": [ + 0.7286669611930847, + 0.36393216252326965, + 0.39889317750930786, + -0.42128604650497437 + ], + "joints": [ + 0.011128978803753853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12334464490413666, + -0.026181604713201523, + 0.08045417815446854 + ], + "orientation": [ + 0.6611242294311523, + -0.22191129624843597, + 0.7158862352371216, + 0.03430873528122902 + ], + "joints": [ + 0.026409348472952843 + ] + }, + "fine_grasp": { + "position": [ + -0.11982511729001999, + -0.024927258491516113, + 0.08004695177078247 + ], + "orientation": [ + 0.6574332118034363, + -0.22428561747074127, + 0.718701183795929, + 0.030759386718273163 + ], + "joints": [ + 0.01717253588140011 + ] + }, + "final_grasp": { + "position": [ + -0.11982511729001999, + -0.024927258491516113, + 0.08004695177078247 + ], + "orientation": [ + 0.6574332118034363, + -0.22428561747074127, + 0.718701183795929, + 0.030759386718273163 + ], + "joints": [ + 0.007935723289847374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042063359171152115, + -0.005522734019905329, + 0.20866984128952026 + ], + "orientation": [ + 0.19946391880512238, + -0.19695208966732025, + -0.9579655528068542, + -0.061039626598358154 + ], + "joints": [ + 0.015840739011764526 + ] + }, + "fine_grasp": { + "position": [ + 0.0403888076543808, + -0.0047995587810873985, + 0.20525935292243958 + ], + "orientation": [ + 0.19897377490997314, + -0.19783218204975128, + -0.95782470703125, + -0.06199834495782852 + ], + "joints": [ + 0.005015699192881584 + ] + }, + "final_grasp": { + "position": [ + 0.0403888076543808, + -0.0047995587810873985, + 0.20525935292243958 + ], + "orientation": [ + 0.19897377490997314, + -0.19783218204975128, + -0.95782470703125, + -0.06199834495782852 + ], + "joints": [ + -0.005809340626001358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12223367393016815, + -0.025439849123358727, + 0.08009543269872665 + ], + "orientation": [ + 0.6600210666656494, + -0.22254405915737152, + 0.7168499827384949, + 0.031184088438749313 + ], + "joints": [ + 0.026872457936406136 + ] + }, + "fine_grasp": { + "position": [ + -0.11862330883741379, + -0.024271389469504356, + 0.07961466163396835 + ], + "orientation": [ + 0.6554896831512451, + -0.2257397472858429, + 0.720190703868866, + 0.0264595877379179 + ], + "joints": [ + 0.017656544223427773 + ] + }, + "final_grasp": { + "position": [ + -0.11862330883741379, + -0.024271389469504356, + 0.07961466163396835 + ], + "orientation": [ + 0.6554896831512451, + -0.2257397472858429, + 0.720190703868866, + 0.0264595877379179 + ], + "joints": [ + 0.00844063051044941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09282928705215454, + -0.04941071569919586, + 0.12131751328706741 + ], + "orientation": [ + 0.17860184609889984, + -0.8295979499816895, + -0.23276737332344055, + -0.4750661849975586 + ], + "joints": [ + 0.02712716907262802 + ] + }, + "fine_grasp": { + "position": [ + -0.09004489332437515, + -0.047404952347278595, + 0.11948953568935394 + ], + "orientation": [ + 0.17655327916145325, + -0.8281818628311157, + -0.23337523639202118, + -0.47799569368362427 + ], + "joints": [ + 0.017911255359649658 + ] + }, + "final_grasp": { + "position": [ + -0.09004489332437515, + -0.047404952347278595, + 0.11948953568935394 + ], + "orientation": [ + 0.17655327916145325, + -0.8281818628311157, + -0.23337523639202118, + -0.47799569368362427 + ], + "joints": [ + 0.008695341646671295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09093586355447769, + -0.06544867902994156, + 0.08308367431163788 + ], + "orientation": [ + 0.579856276512146, + -0.23084290325641632, + 0.7328483462333679, + 0.27094581723213196 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + -0.08784428983926773, + -0.06307368725538254, + 0.08243989199399948 + ], + "orientation": [ + 0.5813122987747192, + -0.22966569662094116, + 0.732170581817627, + 0.27065807580947876 + ], + "joints": [ + 0.01846131682395935 + ] + }, + "final_grasp": { + "position": [ + -0.08784428983926773, + -0.06307368725538254, + 0.08243989199399948 + ], + "orientation": [ + 0.5813122987747192, + -0.22966569662094116, + 0.732170581817627, + 0.27065807580947876 + ], + "joints": [ + 0.008869245648384094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12504465878009796, + 2.209791637142189e-05, + 0.03428996726870537 + ], + "orientation": [ + 0.7710955739021301, + -0.012481894344091415, + 0.6295219659805298, + 0.09464659541845322 + ], + "joints": [ + 0.02664090320467949 + ] + }, + "fine_grasp": { + "position": [ + -0.1211882010102272, + 0.0005686277872882783, + 0.03477729111909866 + ], + "orientation": [ + 0.7694410085678101, + -0.010476116091012955, + 0.6314315795898438, + 0.09562969207763672 + ], + "joints": [ + 0.01700703427195549 + ] + }, + "final_grasp": { + "position": [ + -0.1211882010102272, + 0.0005686277872882783, + 0.03477729111909866 + ], + "orientation": [ + 0.7694410085678101, + -0.010476116091012955, + 0.6314315795898438, + 0.09562969207763672 + ], + "joints": [ + 0.007373165339231491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12458883225917816, + -0.02388116717338562, + -0.08814302086830139 + ], + "orientation": [ + 0.7771455645561218, + -0.13574528694152832, + -0.6084440350532532, + -0.0861036404967308 + ], + "joints": [ + 0.02547094039618969 + ] + }, + "fine_grasp": { + "position": [ + 0.12095393240451813, + -0.022692667320370674, + -0.0874587818980217 + ], + "orientation": [ + 0.776404082775116, + -0.1353384554386139, + -0.6096449494361877, + -0.08493062108755112 + ], + "joints": [ + 0.01665208302438259 + ] + }, + "final_grasp": { + "position": [ + 0.12095393240451813, + -0.022692667320370674, + -0.0874587818980217 + ], + "orientation": [ + 0.776404082775116, + -0.1353384554386139, + -0.6096449494361877, + -0.08493062108755112 + ], + "joints": [ + 0.007833225652575493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12459982931613922, + -0.0009105550707317889, + 0.07908123731613159 + ], + "orientation": [ + 0.1008709967136383, + -0.7555729746818542, + 0.003573069116100669, + -0.6472416520118713 + ], + "joints": [ + 0.026860268786549568 + ] + }, + "fine_grasp": { + "position": [ + -0.12080501019954681, + -0.00030885092564858496, + 0.07842541486024857 + ], + "orientation": [ + 0.10149931162595749, + -0.7570496201515198, + 0.006278987042605877, + -0.6453946828842163 + ], + "joints": [ + 0.01722639985382557 + ] + }, + "final_grasp": { + "position": [ + -0.12080501019954681, + -0.00030885092564858496, + 0.07842541486024857 + ], + "orientation": [ + 0.10149931162595749, + -0.7570496201515198, + 0.006278987042605877, + -0.6453946828842163 + ], + "joints": [ + 0.00759253092110157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040685541927814484, + 0.13712885975837708, + -0.026367347687482834 + ], + "orientation": [ + 0.56339031457901, + 0.43815696239471436, + -0.5849201083183289, + 0.3853287994861603 + ], + "joints": [ + 0.028354421257972717 + ] + }, + "fine_grasp": { + "position": [ + 0.03926222026348114, + 0.13343706727027893, + -0.026547741144895554 + ], + "orientation": [ + 0.5642781853675842, + 0.4387352764606476, + -0.5840891003608704, + 0.38463133573532104 + ], + "joints": [ + 0.01874145120382309 + ] + }, + "final_grasp": { + "position": [ + 0.03926222026348114, + 0.13343706727027893, + -0.026547741144895554 + ], + "orientation": [ + 0.5642781853675842, + 0.4387352764606476, + -0.5840891003608704, + 0.38463133573532104 + ], + "joints": [ + 0.009128481149673462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034305717796087265, + -0.10107800364494324, + 0.009273492731153965 + ], + "orientation": [ + 0.6133018732070923, + -0.4757029712200165, + 0.511789083480835, + 0.3682923913002014 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.03313346207141876, + -0.09732413291931152, + 0.009335682727396488 + ], + "orientation": [ + 0.6156258583068848, + -0.47894617915153503, + 0.5090163350105286, + 0.3640298843383789 + ], + "joints": [ + 0.018551625311374664 + ] + }, + "final_grasp": { + "position": [ + -0.03313346207141876, + -0.09732413291931152, + 0.009335682727396488 + ], + "orientation": [ + 0.6156258583068848, + -0.47894617915153503, + 0.5090163350105286, + 0.3640298843383789 + ], + "joints": [ + 0.008123643696308136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040667884051799774, + 0.13711489737033844, + -0.02637285552918911 + ], + "orientation": [ + 0.5633528232574463, + 0.4382053315639496, + -0.584931492805481, + 0.385311484336853 + ], + "joints": [ + 0.028354421257972717 + ] + }, + "fine_grasp": { + "position": [ + 0.039238039404153824, + 0.13343052566051483, + -0.026547597721219063 + ], + "orientation": [ + 0.5642203688621521, + 0.43878379464149475, + -0.584067165851593, + 0.38469424843788147 + ], + "joints": [ + 0.01874145120382309 + ] + }, + "final_grasp": { + "position": [ + 0.039238039404153824, + 0.13343052566051483, + -0.026547597721219063 + ], + "orientation": [ + 0.5642203688621521, + 0.43878379464149475, + -0.584067165851593, + 0.38469424843788147 + ], + "joints": [ + 0.009128481149673462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04063783213496208, + 0.13715925812721252, + -0.026381541043519974 + ], + "orientation": [ + 0.5632438659667969, + 0.43834346532821655, + -0.5849213004112244, + 0.385329008102417 + ], + "joints": [ + 0.028354421257972717 + ] + }, + "fine_grasp": { + "position": [ + 0.039194460958242416, + 0.1334814876317978, + -0.026559978723526 + ], + "orientation": [ + 0.5640819072723389, + 0.43899327516555786, + -0.5840149521827698, + 0.38473746180534363 + ], + "joints": [ + 0.01874145120382309 + ] + }, + "final_grasp": { + "position": [ + 0.039194460958242416, + 0.1334814876317978, + -0.026559978723526 + ], + "orientation": [ + 0.5640819072723389, + 0.43899327516555786, + -0.5840149521827698, + 0.38473746180534363 + ], + "joints": [ + 0.009128481149673462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04058157652616501, + 0.13704238831996918, + -0.026378344744443893 + ], + "orientation": [ + 0.5633195638656616, + 0.43827584385871887, + -0.5848662853240967, + 0.38537874817848206 + ], + "joints": [ + 0.028354421257972717 + ] + }, + "fine_grasp": { + "position": [ + 0.03915489837527275, + 0.1333606094121933, + -0.02655167691409588 + ], + "orientation": [ + 0.564137876033783, + 0.43889719247817993, + -0.5839754939079285, + 0.3848252296447754 + ], + "joints": [ + 0.01874145120382309 + ] + }, + "final_grasp": { + "position": [ + 0.03915489837527275, + 0.1333606094121933, + -0.02655167691409588 + ], + "orientation": [ + 0.564137876033783, + 0.43889719247817993, + -0.5839754939079285, + 0.3848252296447754 + ], + "joints": [ + 0.009128481149673462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09615419805049896, + -0.03944152221083641, + -0.10849878191947937 + ], + "orientation": [ + 0.8125174045562744, + -0.1494617760181427, + -0.521701991558075, + -0.21284686028957367 + ], + "joints": [ + 0.027590278536081314 + ] + }, + "fine_grasp": { + "position": [ + 0.09295111894607544, + -0.037643320858478546, + -0.1070597693324089 + ], + "orientation": [ + 0.8118271827697754, + -0.15033824741840363, + -0.522090494632721, + -0.21390803158283234 + ], + "joints": [ + 0.017977308481931686 + ] + }, + "final_grasp": { + "position": [ + 0.09295111894607544, + -0.037643320858478546, + -0.1070597693324089 + ], + "orientation": [ + 0.8118271827697754, + -0.15033824741840363, + -0.522090494632721, + -0.21390803158283234 + ], + "joints": [ + 0.008364338427782059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08184456825256348, + -0.06167280673980713, + 0.004093504510819912 + ], + "orientation": [ + 0.29832249879837036, + -0.7021669745445251, + -0.2276548594236374, + -0.605093777179718 + ], + "joints": [ + 0.02712716907262802 + ] + }, + "fine_grasp": { + "position": [ + -0.07932236045598984, + -0.059588540345430374, + 0.004207491409033537 + ], + "orientation": [ + 0.31054162979125977, + -0.7059295177459717, + -0.21719245612621307, + -0.5983768701553345 + ], + "joints": [ + 0.017514199018478394 + ] + }, + "final_grasp": { + "position": [ + -0.07932236045598984, + -0.059588540345430374, + 0.004207491409033537 + ], + "orientation": [ + 0.31054162979125977, + -0.7059295177459717, + -0.21719245612621307, + -0.5983768701553345 + ], + "joints": [ + 0.007901228964328766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1249244436621666, + 0.028460398316383362, + -0.08667201548814774 + ], + "orientation": [ + 0.007455270271748304, + -0.6279726624488831, + 0.060641638934612274, + -0.7758333086967468 + ], + "joints": [ + 0.026616524904966354 + ] + }, + "fine_grasp": { + "position": [ + -0.12106911092996597, + 0.028220772743225098, + -0.08598211407661438 + ], + "orientation": [ + 0.008581068366765976, + -0.6274909973144531, + 0.06062261760234833, + -0.7762128114700317 + ], + "joints": [ + 0.016982655972242355 + ] + }, + "final_grasp": { + "position": [ + -0.12106911092996597, + 0.028220772743225098, + -0.08598211407661438 + ], + "orientation": [ + 0.008581068366765976, + -0.6274909973144531, + 0.06062261760234833, + -0.7762128114700317 + ], + "joints": [ + 0.007348787039518356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0372738242149353, + 0.1376628428697586, + 0.12152466922998428 + ], + "orientation": [ + 0.33344170451164246, + 0.6198939681053162, + 0.5279003381729126, + -0.47525712847709656 + ], + "joints": [ + 0.019485872238874435 + ] + }, + "fine_grasp": { + "position": [ + 0.03634127601981163, + 0.13380660116672516, + 0.12005127221345901 + ], + "orientation": [ + 0.32846254110336304, + 0.6167610287666321, + 0.5338094234466553, + -0.4761992394924164 + ], + "joints": [ + 0.011544723063707352 + ] + }, + "final_grasp": { + "position": [ + 0.03634127601981163, + 0.13380660116672516, + 0.12005127221345901 + ], + "orientation": [ + 0.32846254110336304, + 0.6167610287666321, + 0.5338094234466553, + -0.4761992394924164 + ], + "joints": [ + 0.003603573888540268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11245444416999817, + 0.02719075232744217, + -0.13063167035579681 + ], + "orientation": [ + 0.03267994895577431, + -0.576866090297699, + -0.07264099270105362, + 0.8129457235336304 + ], + "joints": [ + 0.015232644975185394 + ] + }, + "fine_grasp": { + "position": [ + 0.10836382955312729, + 0.027204491198062897, + -0.12934495508670807 + ], + "orientation": [ + 0.036592647433280945, + -0.5743474960327148, + -0.07112240791320801, + 0.8146948218345642 + ], + "joints": [ + 0.0077094510197639465 + ] + }, + "final_grasp": { + "position": [ + 0.10836382955312729, + 0.027204491198062897, + -0.12934495508670807 + ], + "orientation": [ + 0.036592647433280945, + -0.5743474960327148, + -0.07112240791320801, + 0.8146948218345642 + ], + "joints": [ + 0.00018625706434249878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0768580362200737, + -0.0705137848854065, + -0.015990078449249268 + ], + "orientation": [ + 0.7134042978286743, + -0.3251730501651764, + 0.569782018661499, + 0.24630314111709595 + ], + "joints": [ + 0.027613434940576553 + ] + }, + "fine_grasp": { + "position": [ + -0.07413691282272339, + -0.06768009066581726, + -0.01570878177881241 + ], + "orientation": [ + 0.7161019444465637, + -0.33845049142837524, + 0.5624851584434509, + 0.23719152808189392 + ], + "joints": [ + 0.01760340854525566 + ] + }, + "final_grasp": { + "position": [ + -0.07413691282272339, + -0.06768009066581726, + -0.01570878177881241 + ], + "orientation": [ + 0.7161019444465637, + -0.33845049142837524, + 0.5624851584434509, + 0.23719152808189392 + ], + "joints": [ + 0.007593382149934769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12284854054450989, + -0.025973020121455193, + 0.0799940675497055 + ], + "orientation": [ + 0.6577621698379517, + -0.22231519222259521, + 0.7189459204673767, + 0.03227520361542702 + ], + "joints": [ + 0.02664090320467949 + ] + }, + "fine_grasp": { + "position": [ + -0.11916820704936981, + -0.024803401902318, + 0.07939174026250839 + ], + "orientation": [ + 0.6534380316734314, + -0.22551049292087555, + 0.7220820188522339, + 0.027591010555624962 + ], + "joints": [ + 0.01782204583287239 + ] + }, + "final_grasp": { + "position": [ + -0.11916820704936981, + -0.024803401902318, + 0.07939174026250839 + ], + "orientation": [ + 0.6534380316734314, + -0.22551049292087555, + 0.7220820188522339, + 0.027591010555624962 + ], + "joints": [ + 0.009003188461065292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11330932378768921, + 0.0191474761813879, + 0.0282945204526186 + ], + "orientation": [ + 0.015100831165909767, + 0.7362329363822937, + 0.007021889090538025, + 0.6765232086181641 + ], + "joints": [ + 0.025402162224054337 + ] + }, + "fine_grasp": { + "position": [ + -0.1107616275548935, + 0.019144076853990555, + 0.028676852583885193 + ], + "orientation": [ + 0.018321767449378967, + 0.7372326254844666, + 0.010644897818565369, + 0.6753066182136536 + ], + "joints": [ + 0.01578919216990471 + ] + }, + "final_grasp": { + "position": [ + -0.1107616275548935, + 0.019144076853990555, + 0.028676852583885193 + ], + "orientation": [ + 0.018321767449378967, + 0.7372326254844666, + 0.010644897818565369, + 0.6753066182136536 + ], + "joints": [ + 0.006176222115755081 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07685166597366333, + -0.07055972516536713, + -0.015950322151184082 + ], + "orientation": [ + 0.7132749557495117, + -0.3246461749076843, + 0.5698802471160889, + 0.24714446067810059 + ], + "joints": [ + 0.027613434940576553 + ] + }, + "fine_grasp": { + "position": [ + -0.07411596179008484, + -0.0677991434931755, + -0.015682239085435867 + ], + "orientation": [ + 0.7158668041229248, + -0.33720266819000244, + 0.5630760788917542, + 0.23827406764030457 + ], + "joints": [ + 0.01760340854525566 + ] + }, + "final_grasp": { + "position": [ + -0.07411596179008484, + -0.0677991434931755, + -0.015682239085435867 + ], + "orientation": [ + 0.7158668041229248, + -0.33720266819000244, + 0.5630760788917542, + 0.23827406764030457 + ], + "joints": [ + 0.007593382149934769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12470891326665878, + -0.001173538388684392, + 0.07915826141834259 + ], + "orientation": [ + 0.1015806645154953, + -0.7559857368469238, + 0.003063875250518322, + -0.6466510891914368 + ], + "joints": [ + 0.026860268786549568 + ] + }, + "fine_grasp": { + "position": [ + -0.12092947214841843, + -0.0006053786491975188, + 0.07850838452577591 + ], + "orientation": [ + 0.10228823125362396, + -0.7573859691619873, + 0.005658858921378851, + -0.6448811292648315 + ], + "joints": [ + 0.01722639985382557 + ] + }, + "final_grasp": { + "position": [ + -0.12092947214841843, + -0.0006053786491975188, + 0.07850838452577591 + ], + "orientation": [ + 0.10228823125362396, + -0.7573859691619873, + 0.005658858921378851, + -0.6448811292648315 + ], + "joints": [ + 0.00759253092110157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10076555609703064, + 0.0979367196559906, + -0.09386196732521057 + ], + "orientation": [ + 0.8136926889419556, + 0.22694465517997742, + 0.4900989234447479, + -0.21494974195957184 + ], + "joints": [ + 0.024116957560181618 + ] + }, + "fine_grasp": { + "position": [ + -0.09785490483045578, + 0.09571829438209534, + -0.09320715069770813 + ], + "orientation": [ + 0.8107341527938843, + 0.22924339771270752, + 0.4953358769416809, + -0.21166040003299713 + ], + "joints": [ + 0.015256302431225777 + ] + }, + "final_grasp": { + "position": [ + -0.09785490483045578, + 0.09571829438209534, + -0.09320715069770813 + ], + "orientation": [ + 0.8107341527938843, + 0.22924339771270752, + 0.4953358769416809, + -0.21166040003299713 + ], + "joints": [ + 0.006395647302269936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11372382193803787, + 0.016551613807678223, + -0.11027010530233383 + ], + "orientation": [ + 0.7655414342880249, + -0.04421216994524002, + -0.6401981115341187, + 0.04623917117714882 + ], + "joints": [ + 0.015325004234910011 + ] + }, + "fine_grasp": { + "position": [ + 0.10974283516407013, + 0.016388850286602974, + -0.10876621305942535 + ], + "orientation": [ + 0.7628325819969177, + -0.055569980293512344, + -0.6412785649299622, + 0.06132065877318382 + ], + "joints": [ + 0.0078018102794885635 + ] + }, + "final_grasp": { + "position": [ + 0.10974283516407013, + 0.016388850286602974, + -0.10876621305942535 + ], + "orientation": [ + 0.7628325819969177, + -0.055569980293512344, + -0.6412785649299622, + 0.06132065877318382 + ], + "joints": [ + 0.0002786163240671158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13746564090251923, + 0.010089709423482418, + 0.028882944956421852 + ], + "orientation": [ + 0.08559201657772064, + -0.6969931721687317, + -0.04418887197971344, + 0.7105786800384521 + ], + "joints": [ + 0.02455691061913967 + ] + }, + "fine_grasp": { + "position": [ + 0.13363245129585266, + 0.010323253460228443, + 0.02897834964096546 + ], + "orientation": [ + 0.08692336827516556, + -0.6968967318534851, + -0.04602275788784027, + 0.7103951573371887 + ], + "joints": [ + 0.0157171543687582 + ] + }, + "final_grasp": { + "position": [ + 0.13363245129585266, + 0.010323253460228443, + 0.02897834964096546 + ], + "orientation": [ + 0.08692336827516556, + -0.6968967318534851, + -0.04602275788784027, + 0.7103951573371887 + ], + "joints": [ + 0.006877398118376732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051999401301145554, + 0.13149763643741608, + -0.018826285377144814 + ], + "orientation": [ + 0.32786810398101807, + 0.6358727812767029, + 0.43669894337654114, + -0.5454010367393494 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + 0.05030950903892517, + 0.12798231840133667, + -0.019261499866843224 + ], + "orientation": [ + 0.32732096314430237, + 0.6341038346290588, + 0.4370066523551941, + -0.5475386381149292 + ], + "joints": [ + 0.018880371004343033 + ] + }, + "final_grasp": { + "position": [ + 0.05030950903892517, + 0.12798231840133667, + -0.019261499866843224 + ], + "orientation": [ + 0.32732096314430237, + 0.6341038346290588, + 0.4370066523551941, + -0.5475386381149292 + ], + "joints": [ + 0.009267400950193405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13743004202842712, + 0.010060298256576061, + 0.028935858979821205 + ], + "orientation": [ + 0.08551109582185745, + -0.6966971158981323, + -0.04389519989490509, + 0.7108967304229736 + ], + "joints": [ + 0.024788465350866318 + ] + }, + "fine_grasp": { + "position": [ + 0.13359130918979645, + 0.010319135151803493, + 0.029028406366705894 + ], + "orientation": [ + 0.08690445870161057, + -0.6966543793678284, + -0.04562055319547653, + 0.7106610536575317 + ], + "joints": [ + 0.015927810221910477 + ] + }, + "final_grasp": { + "position": [ + 0.13359130918979645, + 0.010319135151803493, + 0.029028406366705894 + ], + "orientation": [ + 0.08690445870161057, + -0.6966543793678284, + -0.04562055319547653, + 0.7106610536575317 + ], + "joints": [ + 0.007067155092954636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0766967162489891, + -0.07073088735342026, + -0.01590702496469021 + ], + "orientation": [ + 0.7141025066375732, + -0.32684266567230225, + 0.5683759450912476, + 0.24531656503677368 + ], + "joints": [ + 0.027613434940576553 + ] + }, + "fine_grasp": { + "position": [ + -0.0739239752292633, + -0.06795255839824677, + -0.015646910294890404 + ], + "orientation": [ + 0.7165907621383667, + -0.34021320939064026, + 0.561088502407074, + 0.23650002479553223 + ], + "joints": [ + 0.01760340854525566 + ] + }, + "final_grasp": { + "position": [ + -0.0739239752292633, + -0.06795255839824677, + -0.015646910294890404 + ], + "orientation": [ + 0.7165907621383667, + -0.34021320939064026, + 0.561088502407074, + 0.23650002479553223 + ], + "joints": [ + 0.007593382149934769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007899608463048935, + -0.025375833734869957, + -0.2081146240234375 + ], + "orientation": [ + 0.4102887213230133, + -0.1066521480679512, + -0.15001292526721954, + -0.8931878805160522 + ], + "joints": [ + 0.016177039593458176 + ] + }, + "fine_grasp": { + "position": [ + -0.007243810687214136, + -0.023847058415412903, + -0.20426005125045776 + ], + "orientation": [ + 0.40975242853164673, + -0.10753072798252106, + -0.14900457859039307, + -0.8934975266456604 + ], + "joints": [ + 0.007817935198545456 + ] + }, + "final_grasp": { + "position": [ + -0.007243810687214136, + -0.023847058415412903, + -0.20426005125045776 + ], + "orientation": [ + 0.40975242853164673, + -0.10753072798252106, + -0.14900457859039307, + -0.8934975266456604 + ], + "joints": [ + -0.0005411691963672638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0025695853400975466, + 0.12997625768184662, + 0.07895022630691528 + ], + "orientation": [ + 0.3943965435028076, + 0.41127046942710876, + 0.6222181916236877, + -0.5367982983589172 + ], + "joints": [ + 0.026918770745396614 + ] + }, + "fine_grasp": { + "position": [ + -0.0029446687549352646, + 0.12683257460594177, + 0.07780478894710541 + ], + "orientation": [ + 0.39265504479408264, + 0.4269024431705475, + 0.6215486526489258, + -0.5265486836433411 + ], + "joints": [ + 0.018559666350483894 + ] + }, + "final_grasp": { + "position": [ + -0.0029446687549352646, + 0.12683257460594177, + 0.07780478894710541 + ], + "orientation": [ + 0.39265504479408264, + 0.4269024431705475, + 0.6215486526489258, + -0.5265486836433411 + ], + "joints": [ + 0.010200561955571175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008463806472718716, + 0.14363524317741394, + 0.024560164660215378 + ], + "orientation": [ + 0.5550395250320435, + 0.457044392824173, + -0.47654417157173157, + 0.505912184715271 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.00819445587694645, + 0.1396905928850174, + 0.02484096586704254 + ], + "orientation": [ + 0.554693341255188, + 0.45782971382141113, + -0.477092981338501, + 0.5050640106201172 + ], + "joints": [ + 0.018903527408838272 + ] + }, + "final_grasp": { + "position": [ + 0.00819445587694645, + 0.1396905928850174, + 0.02484096586704254 + ], + "orientation": [ + 0.554693341255188, + 0.45782971382141113, + -0.477092981338501, + 0.5050640106201172 + ], + "joints": [ + 0.009290557354688644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13409484922885895, + 0.05838705971837044, + -0.03137669712305069 + ], + "orientation": [ + 0.6617729067802429, + 0.03692181035876274, + -0.7293687462806702, + 0.16945406794548035 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + 0.13050013780593872, + 0.057205893099308014, + -0.031526729464530945 + ], + "orientation": [ + 0.6621367335319519, + 0.03459550067782402, + -0.7289295196533203, + 0.17041024565696716 + ], + "joints": [ + 0.014862662181258202 + ] + }, + "final_grasp": { + "position": [ + 0.13050013780593872, + 0.057205893099308014, + -0.031526729464530945 + ], + "orientation": [ + 0.6621367335319519, + 0.03459550067782402, + -0.7289295196533203, + 0.17041024565696716 + ], + "joints": [ + 0.0060020070523023605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015170624246820807, + -0.10701198875904083, + -0.05761856213212013 + ], + "orientation": [ + 0.4441251754760742, + -0.4529839754104614, + 0.546321451663971, + 0.5468922853469849 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.001471782918088138, + -0.10308006405830383, + -0.05762070044875145 + ], + "orientation": [ + 0.4417502284049988, + -0.4506447911262512, + 0.5478712320327759, + 0.5491932034492493 + ], + "joints": [ + 0.019895799458026886 + ] + }, + "final_grasp": { + "position": [ + 0.001471782918088138, + -0.10308006405830383, + -0.05762070044875145 + ], + "orientation": [ + 0.4417502284049988, + -0.4506447911262512, + 0.5478712320327759, + 0.5491932034492493 + ], + "joints": [ + 0.009885773062705994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008616739884018898, + 0.1436425894498825, + 0.024527689442038536 + ], + "orientation": [ + 0.5549142956733704, + 0.4568102955818176, + -0.4771769046783447, + 0.505664587020874 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.008356585167348385, + 0.1396985948085785, + 0.02480383776128292 + ], + "orientation": [ + 0.5546075105667114, + 0.45751023292541504, + -0.4778081774711609, + 0.5047714710235596 + ], + "joints": [ + 0.018903527408838272 + ] + }, + "final_grasp": { + "position": [ + 0.008356585167348385, + 0.1396985948085785, + 0.02480383776128292 + ], + "orientation": [ + 0.5546075105667114, + 0.45751023292541504, + -0.4778081774711609, + 0.5047714710235596 + ], + "joints": [ + 0.009290557354688644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0017074437346309423, + -0.10619916766881943, + -0.05769005045294762 + ], + "orientation": [ + 0.44336244463920593, + -0.45241987705230713, + 0.5460860729217529, + 0.5482116937637329 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.0016713719815015793, + -0.10227210819721222, + -0.05769828334450722 + ], + "orientation": [ + 0.44056186079978943, + -0.4498712420463562, + 0.5478418469429016, + 0.5508089065551758 + ], + "joints": [ + 0.019895799458026886 + ] + }, + "final_grasp": { + "position": [ + 0.0016713719815015793, + -0.10227210819721222, + -0.05769828334450722 + ], + "orientation": [ + 0.44056186079978943, + -0.4498712420463562, + 0.5478418469429016, + 0.5508089065551758 + ], + "joints": [ + 0.009885773062705994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0014730964321643114, + -0.10633411258459091, + -0.05775691196322441 + ], + "orientation": [ + 0.4443052113056183, + -0.4522057771682739, + 0.5460999608039856, + 0.547610878944397 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.0014277691952884197, + -0.10240332782268524, + -0.05775623768568039 + ], + "orientation": [ + 0.44166284799575806, + -0.4496372640132904, + 0.5478505492210388, + 0.5501089692115784 + ], + "joints": [ + 0.019895799458026886 + ] + }, + "final_grasp": { + "position": [ + 0.0014277691952884197, + -0.10240332782268524, + -0.05775623768568039 + ], + "orientation": [ + 0.44166284799575806, + -0.4496372640132904, + 0.5478505492210388, + 0.5501089692115784 + ], + "joints": [ + 0.009885773062705994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12174134701490402, + 0.05849955976009369, + 0.02297942340373993 + ], + "orientation": [ + 0.19090445339679718, + 0.7111802697181702, + 0.03535739332437515, + -0.6756685972213745 + ], + "joints": [ + 0.027079634368419647 + ] + }, + "fine_grasp": { + "position": [ + 0.11802273243665695, + 0.057275477796792984, + 0.02297953888773918 + ], + "orientation": [ + 0.1935497522354126, + 0.7110617160797119, + 0.031615473330020905, + -0.6752260327339172 + ], + "joints": [ + 0.01746666431427002 + ] + }, + "final_grasp": { + "position": [ + 0.11802273243665695, + 0.057275477796792984, + 0.02297953888773918 + ], + "orientation": [ + 0.1935497522354126, + 0.7110617160797119, + 0.031615473330020905, + -0.6752260327339172 + ], + "joints": [ + 0.007853694260120392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05992845445871353, + 0.12975598871707916, + 0.13797195255756378 + ], + "orientation": [ + 0.5204681754112244, + 0.37209993600845337, + 0.684345006942749, + -0.3497520983219147 + ], + "joints": [ + 0.014623232185840607 + ] + }, + "fine_grasp": { + "position": [ + -0.05804406479001045, + 0.12660999596118927, + 0.13669312000274658 + ], + "orientation": [ + 0.5172820687294006, + 0.37180858850479126, + 0.6897895336151123, + -0.34404656291007996 + ], + "joints": [ + 0.004592306911945343 + ] + }, + "final_grasp": { + "position": [ + -0.05804406479001045, + 0.12660999596118927, + 0.13669312000274658 + ], + "orientation": [ + 0.5172820687294006, + 0.37180858850479126, + 0.6897895336151123, + -0.34404656291007996 + ], + "joints": [ + -0.005438618361949921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1341896504163742, + 0.05835897475481033, + -0.031180022284388542 + ], + "orientation": [ + 0.6622548699378967, + 0.03635841980576515, + -0.7288674116134644, + 0.1698494702577591 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + 0.1305503398180008, + 0.05718467757105827, + -0.031329695135354996 + ], + "orientation": [ + 0.6625221967697144, + 0.034126266837120056, + -0.728497326374054, + 0.17085504531860352 + ], + "joints": [ + 0.014862662181258202 + ] + }, + "final_grasp": { + "position": [ + 0.1305503398180008, + 0.05718467757105827, + -0.031329695135354996 + ], + "orientation": [ + 0.6625221967697144, + 0.034126266837120056, + -0.728497326374054, + 0.17085504531860352 + ], + "joints": [ + 0.0060020070523023605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04732004925608635, + -0.08132952451705933, + 0.1078527420759201 + ], + "orientation": [ + 0.5134969353675842, + -0.5787020325660706, + 0.6016845107078552, + 0.19849608838558197 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.04588373377919197, + -0.07825592160224915, + 0.10612749308347702 + ], + "orientation": [ + 0.5058236718177795, + -0.5781906843185425, + 0.6091566681861877, + 0.1968914121389389 + ], + "joints": [ + 0.019543897360563278 + ] + }, + "final_grasp": { + "position": [ + -0.04588373377919197, + -0.07825592160224915, + 0.10612749308347702 + ], + "orientation": [ + 0.5058236718177795, + -0.5781906843185425, + 0.6091566681861877, + 0.1968914121389389 + ], + "joints": [ + 0.008718859404325485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014581208117306232, + -0.0012771030887961388, + -0.22997219860553741 + ], + "orientation": [ + 0.5481124520301819, + -0.010467221029102802, + -0.10381732136011124, + -0.8298706412315369 + ], + "joints": [ + 0.014232916757464409 + ] + }, + "fine_grasp": { + "position": [ + 0.014047650620341301, + -0.0011711472179740667, + -0.22615773975849152 + ], + "orientation": [ + 0.5484408736228943, + -0.008567558601498604, + -0.10140763968229294, + -0.8299733400344849 + ], + "joints": [ + 0.0050170039758086205 + ] + }, + "final_grasp": { + "position": [ + 0.014047650620341301, + -0.0011711472179740667, + -0.22615773975849152 + ], + "orientation": [ + 0.5484408736228943, + -0.008567558601498604, + -0.10140763968229294, + -0.8299733400344849 + ], + "joints": [ + -0.004198908805847168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04728999361395836, + -0.08153408020734787, + 0.10824183374643326 + ], + "orientation": [ + 0.5143269300460815, + -0.5793758630752563, + 0.6001240611076355, + 0.1991046965122223 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.045760150998830795, + -0.07849333435297012, + 0.10645394772291183 + ], + "orientation": [ + 0.5056748986244202, + -0.5785409212112427, + 0.6087552905082703, + 0.19748498499393463 + ], + "joints": [ + 0.019543897360563278 + ] + }, + "final_grasp": { + "position": [ + -0.045760150998830795, + -0.07849333435297012, + 0.10645394772291183 + ], + "orientation": [ + 0.5056748986244202, + -0.5785409212112427, + 0.6087552905082703, + 0.19748498499393463 + ], + "joints": [ + 0.008718859404325485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09394515305757523, + 0.10401221364736557, + 0.07135233283042908 + ], + "orientation": [ + 0.6242716312408447, + 0.32366156578063965, + -0.6838623285293579, + 0.1945773959159851 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.09095301479101181, + 0.10143837332725525, + 0.07108920067548752 + ], + "orientation": [ + 0.6274616122245789, + 0.3252023756504059, + -0.6808285117149353, + 0.19237403571605682 + ], + "joints": [ + 0.01841726154088974 + ] + }, + "final_grasp": { + "position": [ + 0.09095301479101181, + 0.10143837332725525, + 0.07108920067548752 + ], + "orientation": [ + 0.6274616122245789, + 0.3252023756504059, + -0.6808285117149353, + 0.19237403571605682 + ], + "joints": [ + 0.008804291486740112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09952837973833084, + -0.05107082426548004, + -0.01255125179886818 + ], + "orientation": [ + 0.14615437388420105, + -0.5687918066978455, + 0.2518576979637146, + 0.7692090272903442 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.09626874327659607, + -0.04891931638121605, + -0.012114393524825573 + ], + "orientation": [ + 0.14142882823944092, + -0.5689100027084351, + 0.25643476843833923, + 0.7684922814369202 + ], + "joints": [ + 0.01841726154088974 + ] + }, + "final_grasp": { + "position": [ + 0.09626874327659607, + -0.04891931638121605, + -0.012114393524825573 + ], + "orientation": [ + 0.14142882823944092, + -0.5689100027084351, + 0.25643476843833923, + 0.7684922814369202 + ], + "joints": [ + 0.008804291486740112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09405744820833206, + 0.10400041192770004, + 0.07128643989562988 + ], + "orientation": [ + 0.6238979697227478, + 0.3235330581665039, + -0.6843243837356567, + 0.19436541199684143 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.09107480198144913, + 0.10141817480325699, + 0.07102223485708237 + ], + "orientation": [ + 0.6271336078643799, + 0.32501426339149475, + -0.6812853813171387, + 0.1921442449092865 + ], + "joints": [ + 0.01841726154088974 + ] + }, + "final_grasp": { + "position": [ + 0.09107480198144913, + 0.10141817480325699, + 0.07102223485708237 + ], + "orientation": [ + 0.6271336078643799, + 0.32501426339149475, + -0.6812853813171387, + 0.1921442449092865 + ], + "joints": [ + 0.008804291486740112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07174665480852127, + 0.10547902435064316, + -0.0826697051525116 + ], + "orientation": [ + 0.4174349904060364, + 0.49727877974510193, + -0.19194471836090088, + 0.7359476685523987 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + -0.06930214166641235, + 0.10248508304357529, + -0.08204406499862671 + ], + "orientation": [ + 0.41780826449394226, + 0.5027961730957031, + -0.19221131503582, + 0.7319064736366272 + ], + "joints": [ + 0.018043361604213715 + ] + }, + "final_grasp": { + "position": [ + -0.06930214166641235, + 0.10248508304357529, + -0.08204406499862671 + ], + "orientation": [ + 0.41780826449394226, + 0.5027961730957031, + -0.19221131503582, + 0.7319064736366272 + ], + "joints": [ + 0.008033335208892822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12747052311897278, + 0.02418607287108898, + -0.03341904655098915 + ], + "orientation": [ + 0.016805261373519897, + -0.7083121538162231, + 0.0530879907310009, + -0.7036996483802795 + ], + "joints": [ + 0.0261765718460083 + ] + }, + "fine_grasp": { + "position": [ + -0.1235193982720375, + 0.024044789373874664, + -0.03348454833030701 + ], + "orientation": [ + 0.01856391504406929, + -0.7083055377006531, + 0.0542924739420414, + -0.7035701274871826 + ], + "joints": [ + 0.016563601791858673 + ] + }, + "final_grasp": { + "position": [ + -0.1235193982720375, + 0.024044789373874664, + -0.03348454833030701 + ], + "orientation": [ + 0.01856391504406929, + -0.7083055377006531, + 0.0542924739420414, + -0.7035701274871826 + ], + "joints": [ + 0.006950631737709045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02721504680812359, + -0.10709959268569946, + 0.03328394889831543 + ], + "orientation": [ + 0.4839743375778198, + -0.5295392274856567, + -0.4036681652069092, + -0.5678107142448425 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.026352502405643463, + -0.10324106365442276, + 0.03357041999697685 + ], + "orientation": [ + 0.4841570556163788, + -0.530583381652832, + -0.4032953977584839, + -0.5669445395469666 + ], + "joints": [ + 0.019343480467796326 + ] + }, + "final_grasp": { + "position": [ + -0.026352502405643463, + -0.10324106365442276, + 0.03357041999697685 + ], + "orientation": [ + 0.4841570556163788, + -0.530583381652832, + -0.4032953977584839, + -0.5669445395469666 + ], + "joints": [ + 0.009730510413646698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10688311606645584, + -0.007554644253104925, + 0.1594126671552658 + ], + "orientation": [ + 0.5721005797386169, + -0.08832509070634842, + -0.8145548105239868, + -0.037417009472846985 + ], + "joints": [ + 0.014854786917567253 + ] + }, + "fine_grasp": { + "position": [ + 0.10446368157863617, + -0.006283951457589865, + 0.15705931186676025 + ], + "orientation": [ + 0.5499261021614075, + -0.0983986184000969, + -0.8278830647468567, + -0.05008784681558609 + ], + "joints": [ + 0.003611791878938675 + ] + }, + "final_grasp": { + "position": [ + 0.10446368157863617, + -0.006283951457589865, + 0.15705931186676025 + ], + "orientation": [ + 0.5499261021614075, + -0.0983986184000969, + -0.8278830647468567, + -0.05008784681558609 + ], + "joints": [ + -0.007631203159689903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02723785862326622, + -0.10707372426986694, + 0.03328723460435867 + ], + "orientation": [ + 0.48371487855911255, + -0.5293801426887512, + -0.40378445386886597, + -0.5680975317955017 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.026375601068139076, + -0.10321563482284546, + 0.03358060121536255 + ], + "orientation": [ + 0.4839485287666321, + -0.5304139852523804, + -0.4033462405204773, + -0.5672447085380554 + ], + "joints": [ + 0.019343480467796326 + ] + }, + "final_grasp": { + "position": [ + -0.026375601068139076, + -0.10321563482284546, + 0.03358060121536255 + ], + "orientation": [ + 0.4839485287666321, + -0.5304139852523804, + -0.4033462405204773, + -0.5672447085380554 + ], + "joints": [ + 0.009730510413646698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11797196418046951, + 0.07757162302732468, + -0.04412589222192764 + ], + "orientation": [ + 0.09017273783683777, + 0.6492112874984741, + -0.20678764581680298, + 0.7263832092285156 + ], + "joints": [ + 0.03126043081283569 + ] + }, + "fine_grasp": { + "position": [ + -0.11535359919071198, + 0.07494153082370758, + -0.044114045798778534 + ], + "orientation": [ + 0.09932704269886017, + 0.6465985178947449, + -0.2199373096227646, + 0.7236518263816833 + ], + "joints": [ + 0.017635099589824677 + ] + }, + "final_grasp": { + "position": [ + -0.11535359919071198, + 0.07494153082370758, + -0.044114045798778534 + ], + "orientation": [ + 0.09932704269886017, + 0.6465985178947449, + -0.2199373096227646, + 0.7236518263816833 + ], + "joints": [ + 0.00400976836681366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11857660859823227, + -0.021041644737124443, + 0.03189178556203842 + ], + "orientation": [ + 0.0931253731250763, + -0.6727466583251953, + -0.12817272543907166, + -0.7227111458778381 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + -0.11482600122690201, + -0.019871918484568596, + 0.03206230700016022 + ], + "orientation": [ + 0.0911385715007782, + -0.6730873584747314, + -0.12809860706329346, + -0.7226602435112 + ], + "joints": [ + 0.016654033213853836 + ] + }, + "final_grasp": { + "position": [ + -0.11482600122690201, + -0.019871918484568596, + 0.03206230700016022 + ], + "orientation": [ + 0.0911385715007782, + -0.6730873584747314, + -0.12809860706329346, + -0.7226602435112 + ], + "joints": [ + 0.006644006818532944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042710259556770325, + -0.005547455046325922, + 0.20898672938346863 + ], + "orientation": [ + 0.1977793276309967, + -0.20060612261295319, + -0.95769202709198, + -0.0588778480887413 + ], + "joints": [ + 0.015728451311588287 + ] + }, + "fine_grasp": { + "position": [ + 0.04094444587826729, + -0.004920691717416048, + 0.20565609633922577 + ], + "orientation": [ + 0.19908449053764343, + -0.20022742450237274, + -0.9574156999588013, + -0.060244329273700714 + ], + "joints": [ + 0.005300468765199184 + ] + }, + "final_grasp": { + "position": [ + 0.04094444587826729, + -0.004920691717416048, + 0.20565609633922577 + ], + "orientation": [ + 0.19908449053764343, + -0.20022742450237274, + -0.9574156999588013, + -0.060244329273700714 + ], + "joints": [ + -0.0051275137811899185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03409397974610329, + 0.13130949437618256, + -0.0945466011762619 + ], + "orientation": [ + 0.5161365270614624, + 0.4536871314048767, + 0.31732437014579773, + -0.6535106897354126 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + 0.03296886011958122, + 0.12759259343147278, + -0.093929223716259 + ], + "orientation": [ + 0.514285147190094, + 0.4581358730792999, + 0.3198193609714508, + -0.6506441831588745 + ], + "joints": [ + 0.01929832622408867 + ] + }, + "final_grasp": { + "position": [ + 0.03296886011958122, + 0.12759259343147278, + -0.093929223716259 + ], + "orientation": [ + 0.514285147190094, + 0.4581358730792999, + 0.3198193609714508, + -0.6506441831588745 + ], + "joints": [ + 0.010103311389684677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12004289031028748, + 0.059847164899110794, + -0.08652849495410919 + ], + "orientation": [ + 0.042348671704530716, + 0.5889101624488831, + 0.17591872811317444, + -0.7876827716827393 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + 0.11642643809318542, + 0.05869252607226372, + -0.08588068932294846 + ], + "orientation": [ + 0.040583424270153046, + 0.5907951593399048, + 0.17592212557792664, + -0.7863621711730957 + ], + "joints": [ + 0.017867200076580048 + ] + }, + "final_grasp": { + "position": [ + 0.11642643809318542, + 0.05869252607226372, + -0.08588068932294846 + ], + "orientation": [ + 0.040583424270153046, + 0.5907951593399048, + 0.17592212557792664, + -0.7863621711730957 + ], + "joints": [ + 0.008630387485027313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12591776251792908, + 0.03349791467189789, + 0.07140433043241501 + ], + "orientation": [ + 0.5877292156219482, + 0.008813930675387383, + -0.8060398101806641, + 0.06925728172063828 + ], + "joints": [ + 0.02594623900949955 + ] + }, + "fine_grasp": { + "position": [ + 0.12202970683574677, + 0.03308182954788208, + 0.07076171040534973 + ], + "orientation": [ + 0.5920414328575134, + 0.0057786307297647, + -0.8027446269989014, + 0.07109599560499191 + ], + "joints": [ + 0.016709426417946815 + ] + }, + "final_grasp": { + "position": [ + 0.12202970683574677, + 0.03308182954788208, + 0.07076171040534973 + ], + "orientation": [ + 0.5920414328575134, + 0.0057786307297647, + -0.8027446269989014, + 0.07109599560499191 + ], + "joints": [ + 0.007472613826394081 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0456942617893219, + 0.12182225286960602, + 0.08276769518852234 + ], + "orientation": [ + 0.28094154596328735, + 0.6058553457260132, + -0.4966985583305359, + 0.5543481111526489 + ], + "joints": [ + 0.029002763330936432 + ] + }, + "fine_grasp": { + "position": [ + -0.044322747737169266, + 0.11821042746305466, + 0.08255182951688766 + ], + "orientation": [ + 0.2671085596084595, + 0.5961458683013916, + -0.5122318267822266, + 0.5575675964355469 + ], + "joints": [ + 0.018971838057041168 + ] + }, + "final_grasp": { + "position": [ + -0.044322747737169266, + 0.11821042746305466, + 0.08255182951688766 + ], + "orientation": [ + 0.2671085596084595, + 0.5961458683013916, + -0.5122318267822266, + 0.5575675964355469 + ], + "joints": [ + 0.008940912783145905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11984717100858688, + -0.021640053018927574, + 0.03246890380978584 + ], + "orientation": [ + 0.09095855802297592, + -0.6655251979827881, + -0.13101960718631744, + -0.729134202003479 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + -0.11607854813337326, + -0.02046802081167698, + 0.032664380967617035 + ], + "orientation": [ + 0.08913552016019821, + -0.6660975217819214, + -0.13105183839797974, + -0.7288307547569275 + ], + "joints": [ + 0.0170510895550251 + ] + }, + "final_grasp": { + "position": [ + -0.11607854813337326, + -0.02046802081167698, + 0.032664380967617035 + ], + "orientation": [ + 0.08913552016019821, + -0.6660975217819214, + -0.13105183839797974, + -0.7288307547569275 + ], + "joints": [ + 0.007438119500875473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1213698461651802, + -0.02230255864560604, + 0.032554518431425095 + ], + "orientation": [ + 0.08976496756076813, + -0.6608505249023438, + -0.13310393691062927, + -0.7331452965736389 + ], + "joints": [ + 0.026420315727591515 + ] + }, + "fine_grasp": { + "position": [ + -0.11763199418783188, + -0.02109840326011181, + 0.03277953341603279 + ], + "orientation": [ + 0.08821523934602737, + -0.6614260673522949, + -0.1334485113620758, + -0.7327516674995422 + ], + "joints": [ + 0.01720440201461315 + ] + }, + "final_grasp": { + "position": [ + -0.11763199418783188, + -0.02109840326011181, + 0.03277953341603279 + ], + "orientation": [ + 0.08821523934602737, + -0.6614260673522949, + -0.1334485113620758, + -0.7327516674995422 + ], + "joints": [ + 0.007988488301634789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11312215030193329, + 0.0491676926612854, + -0.05737610161304474 + ], + "orientation": [ + 0.14727430045604706, + 0.608905553817749, + -0.050731111317873, + 0.777798593044281 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + -0.10946046561002731, + 0.04820987582206726, + -0.05697576329112053 + ], + "orientation": [ + 0.14946722984313965, + 0.6106417179107666, + -0.04776168242096901, + 0.7762054800987244 + ], + "joints": [ + 0.015839021652936935 + ] + }, + "final_grasp": { + "position": [ + -0.10946046561002731, + 0.04820987582206726, + -0.05697576329112053 + ], + "orientation": [ + 0.14946722984313965, + 0.6106417179107666, + -0.04776168242096901, + 0.7762054800987244 + ], + "joints": [ + 0.0050139836966991425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015620483085513115, + 0.1357937455177307, + 0.003248254768550396 + ], + "orientation": [ + 0.5545525550842285, + 0.5265926122665405, + -0.3792152404785156, + 0.5209294557571411 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.015137294307351112, + 0.1319786161184311, + 0.0035793441347777843 + ], + "orientation": [ + 0.5583358407020569, + 0.5310211181640625, + -0.3740469515323639, + 0.5161070227622986 + ], + "joints": [ + 0.01813367009162903 + ] + }, + "final_grasp": { + "position": [ + -0.015137294307351112, + 0.1319786161184311, + 0.0035793441347777843 + ], + "orientation": [ + 0.5583358407020569, + 0.5310211181640625, + -0.3740469515323639, + 0.5161070227622986 + ], + "joints": [ + 0.007287733256816864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03398682549595833, + 0.13110914826393127, + -0.0944996178150177 + ], + "orientation": [ + 0.5161014199256897, + 0.4538867175579071, + 0.31759315729141235, + -0.6532692909240723 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.0328519307076931, + 0.12733995914459229, + -0.09388887882232666 + ], + "orientation": [ + 0.5142004489898682, + 0.4585668742656708, + 0.3201513886451721, + -0.6502441167831421 + ], + "joints": [ + 0.019321482628583908 + ] + }, + "final_grasp": { + "position": [ + 0.0328519307076931, + 0.12733995914459229, + -0.09388887882232666 + ], + "orientation": [ + 0.5142004489898682, + 0.4585668742656708, + 0.3201513886451721, + -0.6502441167831421 + ], + "joints": [ + 0.010126467794179916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039309289306402206, + 0.13707464933395386, + 0.02067330852150917 + ], + "orientation": [ + 0.4182780086994171, + 0.4905241131782532, + -0.39901697635650635, + 0.65208500623703 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.037972498685121536, + 0.13341589272022247, + 0.021079836413264275 + ], + "orientation": [ + 0.41625118255615234, + 0.49162712693214417, + -0.40046095848083496, + 0.6516660451889038 + ], + "joints": [ + 0.019322581589221954 + ] + }, + "final_grasp": { + "position": [ + -0.037972498685121536, + 0.13341589272022247, + 0.021079836413264275 + ], + "orientation": [ + 0.41625118255615234, + 0.49162712693214417, + -0.40046095848083496, + 0.6516660451889038 + ], + "joints": [ + 0.009688712656497955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015561500564217567, + 0.13554006814956665, + 0.0030548416543751955 + ], + "orientation": [ + 0.5554559230804443, + 0.5280600786209106, + -0.37838125228881836, + 0.519084632396698 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.015077108517289162, + 0.1317264586687088, + 0.0033753677271306515 + ], + "orientation": [ + 0.5596605539321899, + 0.5328579545021057, + -0.37260499596595764, + 0.5138171315193176 + ], + "joints": [ + 0.01813367009162903 + ] + }, + "final_grasp": { + "position": [ + -0.015077108517289162, + 0.1317264586687088, + 0.0033753677271306515 + ], + "orientation": [ + 0.5596605539321899, + 0.5328579545021057, + -0.37260499596595764, + 0.5138171315193176 + ], + "joints": [ + 0.007287733256816864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015653301030397415, + 0.13538949191570282, + 0.0031652317848056555 + ], + "orientation": [ + 0.5558351278305054, + 0.5279582738876343, + -0.37755337357521057, + 0.519385039806366 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.015167891047894955, + 0.13157901167869568, + 0.003483033273369074 + ], + "orientation": [ + 0.560194194316864, + 0.5328889489173889, + -0.3715708255767822, + 0.5139523148536682 + ], + "joints": [ + 0.01813367009162903 + ] + }, + "final_grasp": { + "position": [ + -0.015167891047894955, + 0.13157901167869568, + 0.003483033273369074 + ], + "orientation": [ + 0.560194194316864, + 0.5328889489173889, + -0.3715708255767822, + 0.5139523148536682 + ], + "joints": [ + 0.007287733256816864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07231448590755463, + -0.06781221181154251, + 0.11335217207670212 + ], + "orientation": [ + 0.5598136186599731, + -0.3114032745361328, + 0.7164990901947021, + 0.2761625051498413 + ], + "joints": [ + 0.01608910784125328 + ] + }, + "fine_grasp": { + "position": [ + -0.06947245448827744, + -0.06449127197265625, + 0.11290376633405685 + ], + "orientation": [ + 0.548799455165863, + -0.3155101239681244, + 0.7251939177513123, + 0.2708618938922882 + ], + "joints": [ + 0.009401824325323105 + ] + }, + "final_grasp": { + "position": [ + -0.06947245448827744, + -0.06449127197265625, + 0.11290376633405685 + ], + "orientation": [ + 0.548799455165863, + -0.3155101239681244, + 0.7251939177513123, + 0.2708618938922882 + ], + "joints": [ + 0.002714540809392929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10864391177892685, + -0.046593014150857925, + 0.020800616592168808 + ], + "orientation": [ + 0.1336761713027954, + -0.622651219367981, + -0.23186828196048737, + -0.7353048920631409 + ], + "joints": [ + 0.027333708480000496 + ] + }, + "fine_grasp": { + "position": [ + -0.10523172467947006, + -0.044673852622509, + 0.02104780077934265 + ], + "orientation": [ + 0.13019394874572754, + -0.6234418153762817, + -0.23273809254169464, + -0.7349849939346313 + ], + "joints": [ + 0.017720738425850868 + ] + }, + "final_grasp": { + "position": [ + -0.10523172467947006, + -0.044673852622509, + 0.02104780077934265 + ], + "orientation": [ + 0.13019394874572754, + -0.6234418153762817, + -0.23273809254169464, + -0.7349849939346313 + ], + "joints": [ + 0.00810776837170124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1258842945098877, + 0.03356506675481796, + 0.07142465561628342 + ], + "orientation": [ + 0.5883547067642212, + 0.009048806503415108, + -0.8055638670921326, + 0.06945210695266724 + ], + "joints": [ + 0.02594623900949955 + ] + }, + "fine_grasp": { + "position": [ + 0.1220686137676239, + 0.033142779022455215, + 0.07080470770597458 + ], + "orientation": [ + 0.5925890803337097, + 0.0062403553165495396, + -0.8023108839988708, + 0.07138974964618683 + ], + "joints": [ + 0.016730325296521187 + ] + }, + "final_grasp": { + "position": [ + 0.1220686137676239, + 0.033142779022455215, + 0.07080470770597458 + ], + "orientation": [ + 0.5925890803337097, + 0.0062403553165495396, + -0.8023108839988708, + 0.07138974964618683 + ], + "joints": [ + 0.007514411583542824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04839038848876953, + 0.012911143712699413, + 0.20613065361976624 + ], + "orientation": [ + 0.20846611261367798, + -0.08466248959302902, + 0.9743539690971375, + 0.0029252655804157257 + ], + "joints": [ + 0.0159519761800766 + ] + }, + "fine_grasp": { + "position": [ + -0.04650903865695, + 0.013251966796815395, + 0.20285755395889282 + ], + "orientation": [ + 0.2099323272705078, + -0.0876217857003212, + 0.9737810492515564, + 0.0011173638049513102 + ], + "joints": [ + 0.00510603841394186 + ] + }, + "final_grasp": { + "position": [ + -0.04650903865695, + 0.013251966796815395, + 0.20285755395889282 + ], + "orientation": [ + 0.2099323272705078, + -0.0876217857003212, + 0.9737810492515564, + 0.0011173638049513102 + ], + "joints": [ + -0.005739899352192879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12550845742225647, + 0.03353001922369003, + 0.07146412134170532 + ], + "orientation": [ + 0.58853679895401, + 0.009526818990707397, + -0.8054542541503906, + 0.06911629438400269 + ], + "joints": [ + 0.025737840682268143 + ] + }, + "fine_grasp": { + "position": [ + 0.12164601683616638, + 0.03312292322516441, + 0.07079245895147324 + ], + "orientation": [ + 0.592652440071106, + 0.006583767477422953, + -0.8022859692573547, + 0.07111116498708725 + ], + "joints": [ + 0.01652192696928978 + ] + }, + "final_grasp": { + "position": [ + 0.12164601683616638, + 0.03312292322516441, + 0.07079245895147324 + ], + "orientation": [ + 0.592652440071106, + 0.006583767477422953, + -0.8022859692573547, + 0.07111116498708725 + ], + "joints": [ + 0.007306013256311417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12549759447574615, + 0.03352423384785652, + 0.07144039869308472 + ], + "orientation": [ + 0.5886037945747375, + 0.008750513195991516, + -0.8053652048110962, + 0.06968380510807037 + ], + "joints": [ + 0.02594623900949955 + ] + }, + "fine_grasp": { + "position": [ + 0.12163431942462921, + 0.03311815857887268, + 0.0707843154668808 + ], + "orientation": [ + 0.5927001237869263, + 0.005837542004883289, + -0.8021979928016663, + 0.07176919281482697 + ], + "joints": [ + 0.016730325296521187 + ] + }, + "final_grasp": { + "position": [ + 0.12163431942462921, + 0.03311815857887268, + 0.0707843154668808 + ], + "orientation": [ + 0.5927001237869263, + 0.005837542004883289, + -0.8021979928016663, + 0.07176919281482697 + ], + "joints": [ + 0.007514411583542824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06381605565547943, + -0.08513839542865753, + -0.0875939130783081 + ], + "orientation": [ + 0.7512277364730835, + -0.3374978005886078, + 0.47040489315986633, + 0.3169722557067871 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.06149490922689438, + -0.08203444629907608, + -0.08690749853849411 + ], + "orientation": [ + 0.7498396039009094, + -0.3412986099720001, + 0.47317153215408325, + 0.3120327889919281 + ], + "joints": [ + 0.019343480467796326 + ] + }, + "final_grasp": { + "position": [ + -0.06149490922689438, + -0.08203444629907608, + -0.08690749853849411 + ], + "orientation": [ + 0.7498396039009094, + -0.3412986099720001, + 0.47317153215408325, + 0.3120327889919281 + ], + "joints": [ + 0.009730510413646698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1133207455277443, + -0.05849749222397804, + 0.06307877600193024 + ], + "orientation": [ + 0.592535138130188, + -0.18588609993457794, + 0.7513539791107178, + 0.22319406270980835 + ], + "joints": [ + 0.024417981505393982 + ] + }, + "fine_grasp": { + "position": [ + -0.11010480672121048, + -0.05642133578658104, + 0.06275352090597153 + ], + "orientation": [ + 0.5952153205871582, + -0.18427082896232605, + 0.7490736246109009, + 0.2250594049692154 + ], + "joints": [ + 0.015578225255012512 + ] + }, + "final_grasp": { + "position": [ + -0.11010480672121048, + -0.05642133578658104, + 0.06275352090597153 + ], + "orientation": [ + 0.5952153205871582, + -0.18427082896232605, + 0.7490736246109009, + 0.2250594049692154 + ], + "joints": [ + 0.0067384690046310425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09505964815616608, + -0.021550262346863747, + -0.1382465809583664 + ], + "orientation": [ + 0.07043720036745071, + -0.5190309882164001, + -0.15732352435588837, + -0.837194561958313 + ], + "joints": [ + 0.01693616807460785 + ] + }, + "fine_grasp": { + "position": [ + -0.09120579808950424, + -0.020301155745983124, + -0.1372462660074234 + ], + "orientation": [ + 0.060069963335990906, + -0.5132558345794678, + -0.1605335921049118, + -0.840945303440094 + ], + "joints": [ + 0.008974120020866394 + ] + }, + "final_grasp": { + "position": [ + -0.09120579808950424, + -0.020301155745983124, + -0.1372462660074234 + ], + "orientation": [ + 0.060069963335990906, + -0.5132558345794678, + -0.1605335921049118, + -0.840945303440094 + ], + "joints": [ + 0.001012071967124939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11339061707258224, + -0.05848221853375435, + 0.06317824125289917 + ], + "orientation": [ + 0.5929917693138123, + -0.185442253947258, + 0.7510275840759277, + 0.2234489619731903 + ], + "joints": [ + 0.024417981505393982 + ] + }, + "fine_grasp": { + "position": [ + -0.11016806960105896, + -0.056406643241643906, + 0.06285116821527481 + ], + "orientation": [ + 0.5955968499183655, + -0.18383091688156128, + 0.7488048076629639, + 0.22530412673950195 + ], + "joints": [ + 0.015578225255012512 + ] + }, + "final_grasp": { + "position": [ + -0.11016806960105896, + -0.056406643241643906, + 0.06285116821527481 + ], + "orientation": [ + 0.5955968499183655, + -0.18383091688156128, + 0.7488048076629639, + 0.22530412673950195 + ], + "joints": [ + 0.0067384690046310425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06704416126012802, + -0.03918438032269478, + 0.1773512214422226 + ], + "orientation": [ + 0.3739609122276306, + -0.26765578985214233, + 0.8732520937919617, + 0.16107314825057983 + ], + "joints": [ + 0.015578947961330414 + ] + }, + "fine_grasp": { + "position": [ + -0.06468185782432556, + -0.03714483976364136, + 0.17497141659259796 + ], + "orientation": [ + 0.37391403317451477, + -0.26410093903541565, + 0.8738351464271545, + 0.16386321187019348 + ], + "joints": [ + 0.005965977907180786 + ] + }, + "final_grasp": { + "position": [ + -0.06468185782432556, + -0.03714483976364136, + 0.17497141659259796 + ], + "orientation": [ + 0.37391403317451477, + -0.26410093903541565, + 0.8738351464271545, + 0.16386321187019348 + ], + "joints": [ + -0.0036469921469688416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03439654782414436, + 0.14429329335689545, + 0.013844653964042664 + ], + "orientation": [ + 0.6124526858329773, + 0.45350614190101624, + 0.5089874863624573, + -0.4002070426940918 + ], + "joints": [ + 0.02800707519054413 + ] + }, + "fine_grasp": { + "position": [ + -0.033331338316202164, + 0.1405090093612671, + 0.013997126370668411 + ], + "orientation": [ + 0.6128515005111694, + 0.455140620470047, + 0.5084185600280762, + -0.3984602093696594 + ], + "joints": [ + 0.018791161477565765 + ] + }, + "final_grasp": { + "position": [ + -0.033331338316202164, + 0.1405090093612671, + 0.013997126370668411 + ], + "orientation": [ + 0.6128515005111694, + 0.455140620470047, + 0.5084185600280762, + -0.3984602093696594 + ], + "joints": [ + 0.009575247764587402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0639822855591774, + -0.08531872183084488, + -0.08775466680526733 + ], + "orientation": [ + 0.7504096031188965, + -0.33690452575683594, + 0.4714198112487793, + 0.3180317282676697 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.06162519007921219, + -0.08224564790725708, + -0.08707097172737122 + ], + "orientation": [ + 0.7491303086280823, + -0.3401210904121399, + 0.47453242540359497, + 0.31295400857925415 + ], + "joints": [ + 0.019343480467796326 + ] + }, + "final_grasp": { + "position": [ + -0.06162519007921219, + -0.08224564790725708, + -0.08707097172737122 + ], + "orientation": [ + 0.7491303086280823, + -0.3401210904121399, + 0.47453242540359497, + 0.31295400857925415 + ], + "joints": [ + 0.009730510413646698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10079867392778397, + 0.09805574268102646, + -0.09379276633262634 + ], + "orientation": [ + 0.8138353228569031, + 0.22719164192676544, + 0.48971790075302124, + -0.2150171846151352 + ], + "joints": [ + 0.024116957560181618 + ] + }, + "fine_grasp": { + "position": [ + -0.09785079956054688, + 0.0958385020494461, + -0.09312405437231064 + ], + "orientation": [ + 0.8108552694320679, + 0.2294284850358963, + 0.49506041407585144, + -0.2116401344537735 + ], + "joints": [ + 0.015256302431225777 + ] + }, + "final_grasp": { + "position": [ + -0.09785079956054688, + 0.0958385020494461, + -0.09312405437231064 + ], + "orientation": [ + 0.8108552694320679, + 0.2294284850358963, + 0.49506041407585144, + -0.2116401344537735 + ], + "joints": [ + 0.006395647302269936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045532114803791046, + -0.05679222196340561, + 0.145393505692482 + ], + "orientation": [ + 0.42150387167930603, + -0.45605137944221497, + -0.7511561512947083, + -0.2238657921552658 + ], + "joints": [ + 0.01855711080133915 + ] + }, + "fine_grasp": { + "position": [ + 0.044530998915433884, + -0.05348506569862366, + 0.14455704391002655 + ], + "orientation": [ + 0.4080694913864136, + -0.4792821407318115, + -0.75003981590271, + -0.20299795269966125 + ], + "joints": [ + 0.011869827285408974 + ] + }, + "final_grasp": { + "position": [ + 0.044530998915433884, + -0.05348506569862366, + 0.14455704391002655 + ], + "orientation": [ + 0.4080694913864136, + -0.4792821407318115, + -0.75003981590271, + -0.20299795269966125 + ], + "joints": [ + 0.005182543769478798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032289549708366394, + 0.12885673344135284, + -0.09427151083946228 + ], + "orientation": [ + 0.704084575176239, + 0.326794296503067, + -0.3993799090385437, + 0.4878176152706146 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.031016845256090164, + 0.125196635723114, + -0.09342949837446213 + ], + "orientation": [ + 0.7011864185333252, + 0.3306359350681305, + -0.4046024680137634, + 0.4850919544696808 + ], + "joints": [ + 0.018814317882061005 + ] + }, + "final_grasp": { + "position": [ + 0.031016845256090164, + 0.125196635723114, + -0.09342949837446213 + ], + "orientation": [ + 0.7011864185333252, + 0.3306359350681305, + -0.4046024680137634, + 0.4850919544696808 + ], + "joints": [ + 0.009598404169082642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03228321298956871, + 0.12891919910907745, + -0.09430288523435593 + ], + "orientation": [ + 0.7039278745651245, + 0.3271414637565613, + -0.3995753824710846, + 0.48765096068382263 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.031015008687973022, + 0.12528018653392792, + -0.09345094859600067 + ], + "orientation": [ + 0.7010574340820312, + 0.33096927404403687, + -0.4047902524471283, + 0.484894335269928 + ], + "joints": [ + 0.019022716209292412 + ] + }, + "final_grasp": { + "position": [ + 0.031015008687973022, + 0.12528018653392792, + -0.09345094859600067 + ], + "orientation": [ + 0.7010574340820312, + 0.33096927404403687, + -0.4047902524471283, + 0.484894335269928 + ], + "joints": [ + 0.009806802496314049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048703886568546295, + 0.05042695626616478, + -0.20393402874469757 + ], + "orientation": [ + 0.8355363607406616, + 0.017178064212203026, + 0.2424687147140503, + -0.49274009466171265 + ], + "joints": [ + 0.017195649445056915 + ] + }, + "fine_grasp": { + "position": [ + -0.047122180461883545, + 0.0489211268723011, + -0.20042961835861206 + ], + "orientation": [ + 0.8348649144172668, + 0.01824219338595867, + 0.2422982007265091, + -0.4939224421977997 + ], + "joints": [ + 0.00841858983039856 + ] + }, + "final_grasp": { + "position": [ + -0.047122180461883545, + 0.0489211268723011, + -0.20042961835861206 + ], + "orientation": [ + 0.8348649144172668, + 0.01824219338595867, + 0.2422982007265091, + -0.4939224421977997 + ], + "joints": [ + -0.00035846978425979614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12688256800174713, + 0.026069877669215202, + -0.10291321575641632 + ], + "orientation": [ + 0.8447666168212891, + 0.0959969013929367, + -0.519352376461029, + -0.08618027716875076 + ], + "joints": [ + 0.02409380115568638 + ] + }, + "fine_grasp": { + "position": [ + 0.12327393144369125, + 0.02601240575313568, + -0.10198437422513962 + ], + "orientation": [ + 0.8415327072143555, + 0.09621928632259369, + -0.5242534875869751, + -0.0878807082772255 + ], + "joints": [ + 0.015254044905304909 + ] + }, + "final_grasp": { + "position": [ + 0.12327393144369125, + 0.02601240575313568, + -0.10198437422513962 + ], + "orientation": [ + 0.8415327072143555, + 0.09621928632259369, + -0.5242534875869751, + -0.0878807082772255 + ], + "joints": [ + 0.006414288654923439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12692584097385406, + 0.026100825518369675, + -0.10261394083499908 + ], + "orientation": [ + 0.8460887670516968, + 0.09580867737531662, + -0.5172487497329712, + -0.08607056736946106 + ], + "joints": [ + 0.02409380115568638 + ] + }, + "fine_grasp": { + "position": [ + 0.12321293354034424, + 0.02603215165436268, + -0.10171528905630112 + ], + "orientation": [ + 0.8423271179199219, + 0.09640680998563766, + -0.522958517074585, + -0.08777983486652374 + ], + "joints": [ + 0.015254044905304909 + ] + }, + "final_grasp": { + "position": [ + 0.12321293354034424, + 0.02603215165436268, + -0.10171528905630112 + ], + "orientation": [ + 0.8423271179199219, + 0.09640680998563766, + -0.522958517074585, + -0.08777983486652374 + ], + "joints": [ + 0.006414288654923439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08555595576763153, + 0.09003511071205139, + 0.10147151350975037 + ], + "orientation": [ + 0.21292416751384735, + 0.8193244934082031, + 0.23870083689689636, + -0.47580742835998535 + ], + "joints": [ + 0.027590278536081314 + ] + }, + "fine_grasp": { + "position": [ + 0.08261337876319885, + 0.08775821328163147, + 0.10063724219799042 + ], + "orientation": [ + 0.21558445692062378, + 0.8169873952865601, + 0.2348429411649704, + -0.4805245101451874 + ], + "joints": [ + 0.018395263701677322 + ] + }, + "final_grasp": { + "position": [ + 0.08261337876319885, + 0.08775821328163147, + 0.10063724219799042 + ], + "orientation": [ + 0.21558445692062378, + 0.8169873952865601, + 0.2348429411649704, + -0.4805245101451874 + ], + "joints": [ + 0.00920024886727333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048767704516649246, + 0.01319487951695919, + 0.20719952881336212 + ], + "orientation": [ + 0.2143414318561554, + -0.0828053280711174, + 0.973239541053772, + 0.0024249458219856024 + ], + "joints": [ + 0.01573130488395691 + ] + }, + "fine_grasp": { + "position": [ + -0.046860210597515106, + 0.01364930160343647, + 0.20399613678455353 + ], + "orientation": [ + 0.2131740003824234, + -0.08485259115695953, + 0.9733216166496277, + 0.0014333644649013877 + ], + "joints": [ + 0.004488309845328331 + ] + }, + "final_grasp": { + "position": [ + -0.046860210597515106, + 0.01364930160343647, + 0.20399613678455353 + ], + "orientation": [ + 0.2131740003824234, + -0.08485259115695953, + 0.9733216166496277, + 0.0014333644649013877 + ], + "joints": [ + -0.006754685193300247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12687523663043976, + 0.02606932632625103, + -0.10277155786752701 + ], + "orientation": [ + 0.8452435731887817, + 0.09601990133523941, + -0.5185418128967285, + -0.08635880798101425 + ], + "joints": [ + 0.02409380115568638 + ] + }, + "fine_grasp": { + "position": [ + 0.12324150651693344, + 0.026021048426628113, + -0.10187000781297684 + ], + "orientation": [ + 0.8417772054672241, + 0.09630350023508072, + -0.5237945914268494, + -0.08818201720714569 + ], + "joints": [ + 0.015254044905304909 + ] + }, + "final_grasp": { + "position": [ + 0.12324150651693344, + 0.026021048426628113, + -0.10187000781297684 + ], + "orientation": [ + 0.8417772054672241, + 0.09630350023508072, + -0.5237945914268494, + -0.08818201720714569 + ], + "joints": [ + 0.006414288654923439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11534148454666138, + 0.022864315658807755, + -0.11480817198753357 + ], + "orientation": [ + 0.7759321331977844, + -0.045291196554899216, + 0.6204359531402588, + -0.1045815497636795 + ], + "joints": [ + 0.01777578890323639 + ] + }, + "fine_grasp": { + "position": [ + -0.11128047108650208, + 0.022420695051550865, + -0.11336207389831543 + ], + "orientation": [ + 0.7773882746696472, + -0.049930356442928314, + 0.6164632439613342, + -0.11466319859027863 + ], + "joints": [ + 0.010649651288986206 + ] + }, + "final_grasp": { + "position": [ + -0.11128047108650208, + 0.022420695051550865, + -0.11336207389831543 + ], + "orientation": [ + 0.7773882746696472, + -0.049930356442928314, + 0.6164632439613342, + -0.11466319859027863 + ], + "joints": [ + 0.003523513674736023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05094960331916809, + -0.03839920461177826, + -0.20921124517917633 + ], + "orientation": [ + 0.3346720039844513, + -0.29937997460365295, + -0.13555879890918732, + -0.8831704258918762 + ], + "joints": [ + 0.01591068133711815 + ] + }, + "fine_grasp": { + "position": [ + -0.050024986267089844, + -0.03643709793686867, + -0.20613279938697815 + ], + "orientation": [ + 0.33639857172966003, + -0.29570257663726807, + -0.13944345712661743, + -0.8831485509872437 + ], + "joints": [ + 0.004270629025995731 + ] + }, + "final_grasp": { + "position": [ + -0.050024986267089844, + -0.03643709793686867, + -0.20613279938697815 + ], + "orientation": [ + 0.33639857172966003, + -0.29570257663726807, + -0.13944345712661743, + -0.8831485509872437 + ], + "joints": [ + -0.007369423285126686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11406099051237106, + 0.016810869798064232, + -0.11091386526823044 + ], + "orientation": [ + 0.7625755071640015, + -0.046016618609428406, + -0.6432815790176392, + 0.0504966638982296 + ], + "joints": [ + 0.015674524009227753 + ] + }, + "fine_grasp": { + "position": [ + 0.11009011417627335, + 0.016644716262817383, + -0.10937390476465225 + ], + "orientation": [ + 0.7606329321861267, + -0.05682613328099251, + -0.6434304714202881, + 0.06484898179769516 + ], + "joints": [ + 0.007733374368399382 + ] + }, + "final_grasp": { + "position": [ + 0.11009011417627335, + 0.016644716262817383, + -0.10937390476465225 + ], + "orientation": [ + 0.7606329321861267, + -0.05682613328099251, + -0.6434304714202881, + 0.06484898179769516 + ], + "joints": [ + -0.0002077752724289894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05418308824300766, + -0.0876389816403389, + 0.04333249107003212 + ], + "orientation": [ + 0.5605472326278687, + -0.3181256651878357, + 0.6433451175689697, + 0.4131464660167694 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + -0.052303995937108994, + -0.08420399576425552, + 0.04329979047179222 + ], + "orientation": [ + 0.551784098148346, + -0.30805522203445435, + 0.6474478840827942, + 0.425966739654541 + ], + "joints": [ + 0.01808851584792137 + ] + }, + "final_grasp": { + "position": [ + -0.052303995937108994, + -0.08420399576425552, + 0.04329979047179222 + ], + "orientation": [ + 0.551784098148346, + -0.30805522203445435, + 0.6474478840827942, + 0.425966739654541 + ], + "joints": [ + 0.007660534232854843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05424203351140022, + -0.08700105547904968, + 0.04317931458353996 + ], + "orientation": [ + 0.5611405372619629, + -0.3171584904193878, + 0.6438369750976562, + 0.41231751441955566 + ], + "joints": [ + 0.028076544404029846 + ] + }, + "fine_grasp": { + "position": [ + -0.052441611886024475, + -0.08347500115633011, + 0.043186478316783905 + ], + "orientation": [ + 0.5515431761741638, + -0.30529341101646423, + 0.6486095190048218, + 0.4264993965625763 + ], + "joints": [ + 0.018066518008708954 + ] + }, + "final_grasp": { + "position": [ + -0.052441611886024475, + -0.08347500115633011, + 0.043186478316783905 + ], + "orientation": [ + 0.5515431761741638, + -0.30529341101646423, + 0.6486095190048218, + 0.4264993965625763 + ], + "joints": [ + 0.008056491613388062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0697641372680664, + 0.09384025633335114, + -0.13686364889144897 + ], + "orientation": [ + 0.7351452708244324, + 0.18225820362567902, + -0.5147005319595337, + 0.4017793536186218 + ], + "joints": [ + 0.017231207340955734 + ] + }, + "fine_grasp": { + "position": [ + 0.06706321239471436, + 0.09087751060724258, + -0.13590314984321594 + ], + "orientation": [ + 0.7322152256965637, + 0.17620810866355896, + -0.5109527111053467, + 0.41441383957862854 + ], + "joints": [ + 0.008872102946043015 + ] + }, + "final_grasp": { + "position": [ + 0.06706321239471436, + 0.09087751060724258, + -0.13590314984321594 + ], + "orientation": [ + 0.7322152256965637, + 0.17620810866355896, + -0.5109527111053467, + 0.41441383957862854 + ], + "joints": [ + 0.0005129985511302948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044469621032476425, + 0.1258443146944046, + -0.05855930224061012 + ], + "orientation": [ + 0.5996082425117493, + 0.32883650064468384, + -0.5673635005950928, + 0.4587319493293762 + ], + "joints": [ + 0.028076544404029846 + ] + }, + "fine_grasp": { + "position": [ + 0.04293190687894821, + 0.12231657654047012, + -0.05845898389816284 + ], + "orientation": [ + 0.5913648009300232, + 0.3216894567012787, + -0.5726463794708252, + 0.467845618724823 + ], + "joints": [ + 0.018045619130134583 + ] + }, + "final_grasp": { + "position": [ + 0.04293190687894821, + 0.12231657654047012, + -0.05845898389816284 + ], + "orientation": [ + 0.5913648009300232, + 0.3216894567012787, + -0.5726463794708252, + 0.467845618724823 + ], + "joints": [ + 0.008014693856239319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12688930332660675, + 0.02605835720896721, + -0.10277602821588516 + ], + "orientation": [ + 0.8451042771339417, + 0.09584613889455795, + -0.5188402533531189, + -0.08612331748008728 + ], + "joints": [ + 0.02409380115568638 + ] + }, + "fine_grasp": { + "position": [ + 0.12325852364301682, + 0.02600902132689953, + -0.10187026858329773 + ], + "orientation": [ + 0.8416828513145447, + 0.09611669182777405, + -0.5240225195884705, + -0.08793225139379501 + ], + "joints": [ + 0.015254044905304909 + ] + }, + "final_grasp": { + "position": [ + 0.12325852364301682, + 0.02600902132689953, + -0.10187026858329773 + ], + "orientation": [ + 0.8416828513145447, + 0.09611669182777405, + -0.5240225195884705, + -0.08793225139379501 + ], + "joints": [ + 0.006414288654923439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12356974184513092, + 0.05836479738354683, + -0.06629649549722672 + ], + "orientation": [ + 0.043621622025966644, + 0.6410783529281616, + -0.17324498295783997, + 0.7463926076889038 + ], + "joints": [ + 0.027080856263637543 + ] + }, + "fine_grasp": { + "position": [ + -0.11986979097127914, + 0.05723670870065689, + -0.06610965728759766 + ], + "orientation": [ + 0.0407155342400074, + 0.6420339345932007, + -0.17500412464141846, + 0.7453243136405945 + ], + "joints": [ + 0.017446987330913544 + ] + }, + "final_grasp": { + "position": [ + -0.11986979097127914, + 0.05723670870065689, + -0.06610965728759766 + ], + "orientation": [ + 0.0407155342400074, + 0.6420339345932007, + -0.17500412464141846, + 0.7453243136405945 + ], + "joints": [ + 0.007813118398189545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019745105877518654, + 0.12825468182563782, + -0.0270079392939806 + ], + "orientation": [ + 0.44357529282569885, + 0.6001379489898682, + -0.45861127972602844, + 0.4824429154396057 + ], + "joints": [ + 0.027613434940576553 + ] + }, + "fine_grasp": { + "position": [ + -0.018890637904405594, + 0.12543174624443054, + -0.026647133752703667 + ], + "orientation": [ + 0.4489454925060272, + 0.6071898341178894, + -0.45240065455436707, + 0.4744493067264557 + ], + "joints": [ + 0.01841842010617256 + ] + }, + "final_grasp": { + "position": [ + -0.018890637904405594, + 0.12543174624443054, + -0.026647133752703667 + ], + "orientation": [ + 0.4489454925060272, + 0.6071898341178894, + -0.45240065455436707, + 0.4744493067264557 + ], + "joints": [ + 0.00922340527176857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011628986103460193, + -0.023793799802660942, + -0.21608781814575195 + ], + "orientation": [ + 0.7305886745452881, + -0.14332537353038788, + -0.12590491771697998, + -0.6556264758110046 + ], + "joints": [ + 0.015341810882091522 + ] + }, + "fine_grasp": { + "position": [ + -0.0010922906221821904, + -0.022862065583467484, + -0.21239349246025085 + ], + "orientation": [ + 0.730993926525116, + -0.14123649895191193, + -0.1238517165184021, + -0.6560190916061401 + ], + "joints": [ + 0.0048929303884506226 + ] + }, + "final_grasp": { + "position": [ + -0.0010922906221821904, + -0.022862065583467484, + -0.21239349246025085 + ], + "orientation": [ + 0.730993926525116, + -0.14123649895191193, + -0.1238517165184021, + -0.6560190916061401 + ], + "joints": [ + -0.005555950105190277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09127508848905563, + 0.050336744636297226, + 0.18784433603286743 + ], + "orientation": [ + 0.3963695168495178, + 0.043688688427209854, + 0.9092900156974792, + -0.1190546378493309 + ], + "joints": [ + 0.01504487544298172 + ] + }, + "fine_grasp": { + "position": [ + -0.08834138512611389, + 0.049378473311662674, + 0.1855093091726303 + ], + "orientation": [ + 0.39886170625686646, + 0.04219885542988777, + 0.9082145690917969, + -0.1194770559668541 + ], + "joints": [ + 0.0054110074415802956 + ] + }, + "final_grasp": { + "position": [ + -0.08834138512611389, + 0.049378473311662674, + 0.1855093091726303 + ], + "orientation": [ + 0.39886170625686646, + 0.04219885542988777, + 0.9082145690917969, + -0.1194770559668541 + ], + "joints": [ + -0.004222860559821129 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014679988846182823, + 0.1301162838935852, + 0.08548147976398468 + ], + "orientation": [ + 0.4087603688240051, + 0.5078473687171936, + -0.6447893381118774, + 0.39906471967697144 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.01395220123231411, + 0.12636220455169678, + 0.08493213355541229 + ], + "orientation": [ + 0.4068252742290497, + 0.5019065737724304, + -0.646543562412262, + 0.4056653082370758 + ], + "joints": [ + 0.018551625311374664 + ] + }, + "final_grasp": { + "position": [ + 0.01395220123231411, + 0.12636220455169678, + 0.08493213355541229 + ], + "orientation": [ + 0.4068252742290497, + 0.5019065737724304, + -0.646543562412262, + 0.4056653082370758 + ], + "joints": [ + 0.008123643696308136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014539615251123905, + 0.13069193065166473, + 0.08482514321804047 + ], + "orientation": [ + 0.4088374674320221, + 0.5120686888694763, + -0.6429588794708252, + 0.39653676748275757 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.013813032768666744, + 0.12692925333976746, + 0.08413457870483398 + ], + "orientation": [ + 0.40771734714508057, + 0.5067922472953796, + -0.6439882516860962, + 0.4027497172355652 + ], + "joints": [ + 0.018551625311374664 + ] + }, + "final_grasp": { + "position": [ + 0.013813032768666744, + 0.12692925333976746, + 0.08413457870483398 + ], + "orientation": [ + 0.40771734714508057, + 0.5067922472953796, + -0.6439882516860962, + 0.4027497172355652 + ], + "joints": [ + 0.008123643696308136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04267304390668869, + -0.08469128608703613, + -0.12920290231704712 + ], + "orientation": [ + 0.6909875869750977, + -0.365805059671402, + -0.47997310757637024, + -0.39793041348457336 + ], + "joints": [ + 0.015027579851448536 + ] + }, + "fine_grasp": { + "position": [ + 0.04112929850816727, + -0.08098775148391724, + -0.12822285294532776 + ], + "orientation": [ + 0.6917049288749695, + -0.36686381697654724, + -0.4787440598011017, + -0.39718949794769287 + ], + "joints": [ + 0.00625052023679018 + ] + }, + "final_grasp": { + "position": [ + 0.04112929850816727, + -0.08098775148391724, + -0.12822285294532776 + ], + "orientation": [ + 0.6917049288749695, + -0.36686381697654724, + -0.4787440598011017, + -0.39718949794769287 + ], + "joints": [ + -0.0025265393778681755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11566448956727982, + -0.0031095955055207014, + -0.12255867570638657 + ], + "orientation": [ + 0.04545922577381134, + -0.6154236197471619, + 0.07436567544937134, + 0.783362627029419 + ], + "joints": [ + 0.015382159501314163 + ] + }, + "fine_grasp": { + "position": [ + 0.11185529083013535, + -0.0024044273886829615, + -0.12193859368562698 + ], + "orientation": [ + 0.04528263956308365, + -0.6169943809509277, + 0.07491879165172577, + 0.7820835113525391 + ], + "joints": [ + 0.0057691894471645355 + ] + }, + "final_grasp": { + "position": [ + 0.11185529083013535, + -0.0024044273886829615, + -0.12193859368562698 + ], + "orientation": [ + 0.04528263956308365, + -0.6169943809509277, + 0.07491879165172577, + 0.7820835113525391 + ], + "joints": [ + -0.003843780606985092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11205141991376877, + 0.04268768057227135, + 0.12984222173690796 + ], + "orientation": [ + 0.023357516154646873, + -0.8258873224258423, + -0.24629062414169312, + 0.5066609978675842 + ], + "joints": [ + 0.024567877873778343 + ] + }, + "fine_grasp": { + "position": [ + 0.108469657599926, + 0.04172208160161972, + 0.12844157218933105 + ], + "orientation": [ + 0.026700889691710472, + -0.8215657472610474, + -0.2526516914367676, + 0.5103760361671448 + ], + "joints": [ + 0.015372863039374352 + ] + }, + "final_grasp": { + "position": [ + 0.108469657599926, + 0.04172208160161972, + 0.12844157218933105 + ], + "orientation": [ + 0.026700889691710472, + -0.8215657472610474, + -0.2526516914367676, + 0.5103760361671448 + ], + "joints": [ + 0.00617784820497036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12347263842821121, + 0.08284275233745575, + 0.06687267124652863 + ], + "orientation": [ + 0.07491570711135864, + 0.6261179447174072, + 0.2935307025909424, + -0.7184731960296631 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + 0.119548000395298, + 0.08106076717376709, + 0.06644070148468018 + ], + "orientation": [ + 0.07058800011873245, + 0.6307656168937683, + 0.29225295782089233, + -0.715360164642334 + ], + "joints": [ + 0.011752022430300713 + ] + }, + "final_grasp": { + "position": [ + 0.119548000395298, + 0.08106076717376709, + 0.06644070148468018 + ], + "orientation": [ + 0.07058800011873245, + 0.6307656168937683, + 0.29225295782089233, + -0.715360164642334 + ], + "joints": [ + 0.004249727353453636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10696348547935486, + 0.022630035877227783, + 0.15816400945186615 + ], + "orientation": [ + 0.0465271957218647, + 0.8516663908958435, + -0.04133082553744316, + -0.5203762054443359 + ], + "joints": [ + 0.015375658869743347 + ] + }, + "fine_grasp": { + "position": [ + 0.10353876650333405, + 0.022468149662017822, + 0.15632538497447968 + ], + "orientation": [ + 0.04760206490755081, + 0.8536475300788879, + -0.041629284620285034, + -0.5169980525970459 + ], + "joints": [ + 0.0053447335958480835 + ] + }, + "final_grasp": { + "position": [ + 0.10353876650333405, + 0.022468149662017822, + 0.15632538497447968 + ], + "orientation": [ + 0.04760206490755081, + 0.8536475300788879, + -0.041629284620285034, + -0.5169980525970459 + ], + "joints": [ + -0.00468619167804718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039287108927965164, + 0.1299072653055191, + 0.12391085922718048 + ], + "orientation": [ + 0.4639551341533661, + 0.3967636823654175, + 0.6847550272941589, + -0.39803868532180786 + ], + "joints": [ + 0.01580715924501419 + ] + }, + "fine_grasp": { + "position": [ + -0.03770308196544647, + 0.12611602246761322, + 0.12294082343578339 + ], + "orientation": [ + 0.4624297618865967, + 0.39225366711616516, + 0.6904303431510925, + -0.39446374773979187 + ], + "joints": [ + 0.007866010069847107 + ] + }, + "final_grasp": { + "position": [ + -0.03770308196544647, + 0.12611602246761322, + 0.12294082343578339 + ], + "orientation": [ + 0.4624297618865967, + 0.39225366711616516, + 0.6904303431510925, + -0.39446374773979187 + ], + "joints": [ + -7.51391053199768e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12729008495807648, + -0.03796232119202614, + 0.012492630630731583 + ], + "orientation": [ + 0.6454364657402039, + -0.16864778101444244, + 0.7341704964637756, + 0.12634561955928802 + ], + "joints": [ + 0.023074965924024582 + ] + }, + "fine_grasp": { + "position": [ + -0.12394511699676514, + -0.03637329116463661, + 0.012255329638719559 + ], + "orientation": [ + 0.6469654440879822, + -0.16794222593307495, + 0.7330239415168762, + 0.12612269818782806 + ], + "joints": [ + 0.014235209673643112 + ] + }, + "final_grasp": { + "position": [ + -0.12394511699676514, + -0.03637329116463661, + 0.012255329638719559 + ], + "orientation": [ + 0.6469654440879822, + -0.16794222593307495, + 0.7330239415168762, + 0.12612269818782806 + ], + "joints": [ + 0.0053954534232616425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10383758693933487, + 0.010429912246763706, + -0.16039574146270752 + ], + "orientation": [ + 0.8532243371009827, + 0.03007042594254017, + 0.507164716720581, + 0.1178472712635994 + ], + "joints": [ + 0.01523282378911972 + ] + }, + "fine_grasp": { + "position": [ + -0.10046830028295517, + 0.010658422484993935, + -0.15839536488056183 + ], + "orientation": [ + 0.8542378544807434, + 0.0309053473174572, + 0.5053266286849976, + 0.11818482726812363 + ], + "joints": [ + 0.005619853734970093 + ] + }, + "final_grasp": { + "position": [ + -0.10046830028295517, + 0.010658422484993935, + -0.15839536488056183 + ], + "orientation": [ + 0.8542378544807434, + 0.0309053473174572, + 0.5053266286849976, + 0.11818482726812363 + ], + "joints": [ + -0.003993116319179535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09997305274009705, + 0.09820275753736496, + 0.10499951243400574 + ], + "orientation": [ + 0.28271833062171936, + 0.7876687049865723, + 0.12262500822544098, + -0.533490002155304 + ], + "joints": [ + 0.02196350507438183 + ] + }, + "fine_grasp": { + "position": [ + 0.09737580269575119, + 0.09599604457616806, + 0.10327453166246414 + ], + "orientation": [ + 0.2795438766479492, + 0.7962818145751953, + 0.12827274203300476, + -0.520899772644043 + ], + "joints": [ + 0.013980558142066002 + ] + }, + "final_grasp": { + "position": [ + 0.09737580269575119, + 0.09599604457616806, + 0.10327453166246414 + ], + "orientation": [ + 0.2795438766479492, + 0.7962818145751953, + 0.12827274203300476, + -0.520899772644043 + ], + "joints": [ + 0.0059976112097501755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05347641929984093, + -0.11484117805957794, + 0.009767912328243256 + ], + "orientation": [ + 0.6118393540382385, + -0.3916413187980652, + -0.5586159229278564, + -0.4002722501754761 + ], + "joints": [ + 0.022403458133339882 + ] + }, + "fine_grasp": { + "position": [ + 0.05206166207790375, + -0.11125799268484116, + 0.0098855746909976 + ], + "orientation": [ + 0.610661506652832, + -0.3930993676185608, + -0.55870521068573, + -0.40051713585853577 + ], + "joints": [ + 0.013166645541787148 + ] + }, + "final_grasp": { + "position": [ + 0.05206166207790375, + -0.11125799268484116, + 0.0098855746909976 + ], + "orientation": [ + 0.610661506652832, + -0.3930993676185608, + -0.55870521068573, + -0.40051713585853577 + ], + "joints": [ + 0.003929832950234413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01734183542430401, + 0.038245659321546555, + 0.21547584235668182 + ], + "orientation": [ + 0.11385850608348846, + 0.7101208567619324, + 0.6946985721588135, + -0.012584605254232883 + ], + "joints": [ + 0.016157183796167374 + ] + }, + "fine_grasp": { + "position": [ + -0.016856184229254723, + 0.03752630203962326, + 0.211557075381279 + ], + "orientation": [ + 0.1153596043586731, + 0.7111414670944214, + 0.6934347748756409, + -0.010880067944526672 + ], + "joints": [ + 0.006544213742017746 + ] + }, + "final_grasp": { + "position": [ + -0.016856184229254723, + 0.03752630203962326, + 0.211557075381279 + ], + "orientation": [ + 0.1153596043586731, + 0.7111414670944214, + 0.6934347748756409, + -0.010880067944526672 + ], + "joints": [ + -0.0030687563121318817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07222061604261398, + -0.06784999370574951, + 0.11302679032087326 + ], + "orientation": [ + 0.5551571846008301, + -0.3025667071342468, + 0.7242532968521118, + 0.27515605092048645 + ], + "joints": [ + 0.017292451113462448 + ] + }, + "fine_grasp": { + "position": [ + -0.06953293830156326, + -0.06453125178813934, + 0.11274803429841995 + ], + "orientation": [ + 0.5456349849700928, + -0.3064276874065399, + 0.7301698327064514, + 0.27429255843162537 + ], + "joints": [ + 0.009769257158041 + ] + }, + "final_grasp": { + "position": [ + -0.06953293830156326, + -0.06453125178813934, + 0.11274803429841995 + ], + "orientation": [ + 0.5456349849700928, + -0.3064276874065399, + 0.7301698327064514, + 0.27429255843162537 + ], + "joints": [ + 0.0022460632026195526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04312208667397499, + -0.005750402342528105, + 0.20884767174720764 + ], + "orientation": [ + 0.19970834255218506, + -0.19767427444458008, + -0.9578133821487427, + -0.06028975173830986 + ], + "joints": [ + 0.01593124493956566 + ] + }, + "fine_grasp": { + "position": [ + 0.041353847831487656, + -0.00505336606875062, + 0.2054738849401474 + ], + "orientation": [ + 0.20124457776546478, + -0.19713705778121948, + -0.9575502276420593, + -0.06111689656972885 + ], + "joints": [ + 0.005106205120682716 + ] + }, + "final_grasp": { + "position": [ + 0.041353847831487656, + -0.00505336606875062, + 0.2054738849401474 + ], + "orientation": [ + 0.20124457776546478, + -0.19713705778121948, + -0.9575502276420593, + -0.06111689656972885 + ], + "joints": [ + -0.005718834698200226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1075756698846817, + 0.022835472598671913, + 0.15863299369812012 + ], + "orientation": [ + 0.047906842082738876, + 0.8493349552154541, + -0.041954126209020615, + -0.5239989161491394 + ], + "joints": [ + 0.01532435417175293 + ] + }, + "fine_grasp": { + "position": [ + 0.10416548699140549, + 0.022646687924861908, + 0.1567712426185608 + ], + "orientation": [ + 0.04888492822647095, + 0.8520284295082092, + -0.0418672040104866, + -0.5195237994194031 + ], + "joints": [ + 0.005293428897857666 + ] + }, + "final_grasp": { + "position": [ + 0.10416548699140549, + 0.022646687924861908, + 0.1567712426185608 + ], + "orientation": [ + 0.04888492822647095, + 0.8520284295082092, + -0.0418672040104866, + -0.5195237994194031 + ], + "joints": [ + -0.004737496376037598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08857086300849915, + 0.011815432459115982, + 0.16032704710960388 + ], + "orientation": [ + 0.46991458535194397, + 0.0033603080082684755, + 0.8820906281471252, + 0.03294066712260246 + ], + "joints": [ + 0.015400480479001999 + ] + }, + "fine_grasp": { + "position": [ + -0.08627770096063614, + 0.011777060106396675, + 0.16044358909130096 + ], + "orientation": [ + 0.46163809299468994, + 0.004620311316102743, + 0.8864049911499023, + 0.03398723527789116 + ], + "joints": [ + 0.006205465644598007 + ] + }, + "final_grasp": { + "position": [ + -0.08627770096063614, + 0.011777060106396675, + 0.16044358909130096 + ], + "orientation": [ + 0.46163809299468994, + 0.004620311316102743, + 0.8864049911499023, + 0.03398723527789116 + ], + "joints": [ + -0.0029895491898059845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008787372498773038, + 0.15678003430366516, + -0.020110055804252625 + ], + "orientation": [ + 0.4765881896018982, + 0.4006495773792267, + -0.5021333694458008, + 0.6001713871955872 + ], + "joints": [ + 0.024672692641615868 + ] + }, + "fine_grasp": { + "position": [ + -0.0007577407523058355, + 0.15304012596607208, + -0.019827507436275482 + ], + "orientation": [ + 0.47466087341308594, + 0.40108051896095276, + -0.5047042369842529, + 0.5992538332939148 + ], + "joints": [ + 0.015414981171488762 + ] + }, + "final_grasp": { + "position": [ + -0.0007577407523058355, + 0.15304012596607208, + -0.019827507436275482 + ], + "orientation": [ + 0.47466087341308594, + 0.40108051896095276, + -0.5047042369842529, + 0.5992538332939148 + ], + "joints": [ + 0.006157269701361656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0058198231272399426, + 0.009975814260542393, + 0.2269917130470276 + ], + "orientation": [ + 0.02656741440296173, + -0.9870150089263916, + 0.15591086447238922, + 0.028060341253876686 + ], + "joints": [ + 0.015423225238919258 + ] + }, + "fine_grasp": { + "position": [ + 0.005507342051714659, + 0.010053207166492939, + 0.22315767407417297 + ], + "orientation": [ + 0.02711770497262478, + -0.9859107732772827, + 0.16248124837875366, + 0.029061036184430122 + ], + "joints": [ + 0.00620731245726347 + ] + }, + "final_grasp": { + "position": [ + 0.005507342051714659, + 0.010053207166492939, + 0.22315767407417297 + ], + "orientation": [ + 0.02711770497262478, + -0.9859107732772827, + 0.16248124837875366, + 0.029061036184430122 + ], + "joints": [ + -0.0030086003243923187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09124912321567535, + 0.050695426762104034, + 0.18872949481010437 + ], + "orientation": [ + 0.39810487627983093, + 0.043838027864694595, + 0.9080568552017212, + -0.12257057428359985 + ], + "joints": [ + 0.0152593944221735 + ] + }, + "fine_grasp": { + "position": [ + -0.08841819316148758, + 0.049771811813116074, + 0.18637141585350037 + ], + "orientation": [ + 0.39900654554367065, + 0.041673336178064346, + 0.9079591631889343, + -0.12110830843448639 + ], + "joints": [ + 0.00520757120102644 + ] + }, + "final_grasp": { + "position": [ + -0.08841819316148758, + 0.049771811813116074, + 0.18637141585350037 + ], + "orientation": [ + 0.39900654554367065, + 0.041673336178064346, + 0.9079591631889343, + -0.12110830843448639 + ], + "joints": [ + -0.004844252020120621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10026882588863373, + 0.08744407445192337, + 0.1244058907032013 + ], + "orientation": [ + 0.20421555638313293, + 0.7388725876808167, + 0.21361444890499115, + -0.6055840849876404 + ], + "joints": [ + 0.015573937445878983 + ] + }, + "fine_grasp": { + "position": [ + 0.09711059182882309, + 0.08527185767889023, + 0.1235387995839119 + ], + "orientation": [ + 0.2038755863904953, + 0.7405861020088196, + 0.21370063722133636, + -0.603571891784668 + ], + "joints": [ + 0.005543012171983719 + ] + }, + "final_grasp": { + "position": [ + 0.09711059182882309, + 0.08527185767889023, + 0.1235387995839119 + ], + "orientation": [ + 0.2038755863904953, + 0.7405861020088196, + 0.21370063722133636, + -0.603571891784668 + ], + "joints": [ + -0.004487913101911545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12901027500629425, + 0.0357481874525547, + 0.09688890725374222 + ], + "orientation": [ + 0.5995679497718811, + -0.12565059959888458, + -0.7737661004066467, + 0.16129542887210846 + ], + "joints": [ + 0.02242661453783512 + ] + }, + "fine_grasp": { + "position": [ + 0.1255403757095337, + 0.03539112210273743, + 0.09551243484020233 + ], + "orientation": [ + 0.5887943506240845, + -0.1239955797791481, + -0.7821606993675232, + 0.16177485883235931 + ], + "joints": [ + 0.013607757166028023 + ] + }, + "final_grasp": { + "position": [ + 0.1255403757095337, + 0.03539112210273743, + 0.09551243484020233 + ], + "orientation": [ + 0.5887943506240845, + -0.1239955797791481, + -0.7821606993675232, + 0.16177485883235931 + ], + "joints": [ + 0.004788899794220924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09570756554603577, + 0.03408312052488327, + -0.15325301885604858 + ], + "orientation": [ + 0.060349855571985245, + 0.4751967489719391, + 0.03640005737543106, + -0.8770524859428406 + ], + "joints": [ + 0.01625683903694153 + ] + }, + "fine_grasp": { + "position": [ + 0.09199469536542892, + 0.03344953432679176, + -0.1514795422554016 + ], + "orientation": [ + 0.05872352048754692, + 0.4732852578163147, + 0.03818674758076668, + -0.8781198859214783 + ], + "joints": [ + 0.007897734642028809 + ] + }, + "final_grasp": { + "position": [ + 0.09199469536542892, + 0.03344953432679176, + -0.1514795422554016 + ], + "orientation": [ + 0.05872352048754692, + 0.4732852578163147, + 0.03818674758076668, + -0.8781198859214783 + ], + "joints": [ + -0.00046136975288391113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10875832289457321, + 0.004142924677580595, + 0.1392299383878708 + ], + "orientation": [ + 0.000734410248696804, + -0.8314006328582764, + 0.10793061554431915, + 0.5450903177261353 + ], + "joints": [ + 0.01609998196363449 + ] + }, + "fine_grasp": { + "position": [ + 0.10480336099863052, + 0.004778472241014242, + 0.13786689937114716 + ], + "orientation": [ + 0.000482800358440727, + -0.8318255543708801, + 0.11452923715114594, + 0.5430921316146851 + ], + "joints": [ + 0.008158832788467407 + ] + }, + "final_grasp": { + "position": [ + 0.10480336099863052, + 0.004778472241014242, + 0.13786689937114716 + ], + "orientation": [ + 0.000482800358440727, + -0.8318255543708801, + 0.11452923715114594, + 0.5430921316146851 + ], + "joints": [ + 0.00021768361330032349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09698444604873657, + 0.06646782159805298, + 0.15115994215011597 + ], + "orientation": [ + 0.49527326226234436, + 0.13728411495685577, + -0.8435536623001099, + 0.15580327808856964 + ], + "joints": [ + 0.015799056738615036 + ] + }, + "fine_grasp": { + "position": [ + 0.093778595328331, + 0.06484602391719818, + 0.1496693193912506 + ], + "orientation": [ + 0.4982898235321045, + 0.13607989251613617, + -0.8415375351905823, + 0.15812677145004272 + ], + "joints": [ + 0.005768131464719772 + ] + }, + "final_grasp": { + "position": [ + 0.093778595328331, + 0.06484602391719818, + 0.1496693193912506 + ], + "orientation": [ + 0.4982898235321045, + 0.13607989251613617, + -0.8415375351905823, + 0.15812677145004272 + ], + "joints": [ + -0.004262793809175491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09123533219099045, + 0.05081821233034134, + 0.18881063163280487 + ], + "orientation": [ + 0.40044307708740234, + 0.04468384385108948, + 0.9068238735198975, + -0.12377104163169861 + ], + "joints": [ + 0.015235016122460365 + ] + }, + "fine_grasp": { + "position": [ + -0.08841288089752197, + 0.04990581050515175, + 0.18651887774467468 + ], + "orientation": [ + 0.40057677030563354, + 0.042539529502391815, + 0.9071717858314514, + -0.12152369320392609 + ], + "joints": [ + 0.004786135628819466 + ] + }, + "final_grasp": { + "position": [ + -0.08841288089752197, + 0.04990581050515175, + 0.18651887774467468 + ], + "orientation": [ + 0.40057677030563354, + 0.042539529502391815, + 0.9071717858314514, + -0.12152369320392609 + ], + "joints": [ + -0.005662744864821434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10160460323095322, + 0.047480508685112, + -0.14767597615718842 + ], + "orientation": [ + 0.8455715775489807, + 0.1335766315460205, + 0.5160219073295593, + -0.02979048527777195 + ], + "joints": [ + 0.015705415979027748 + ] + }, + "fine_grasp": { + "position": [ + -0.09797251969575882, + 0.046544961631298065, + -0.14623090624809265 + ], + "orientation": [ + 0.8450508713722229, + 0.13420003652572632, + 0.5168118476867676, + -0.02801762893795967 + ], + "joints": [ + 0.006510401144623756 + ] + }, + "final_grasp": { + "position": [ + -0.09797251969575882, + 0.046544961631298065, + -0.14623090624809265 + ], + "orientation": [ + 0.8450508713722229, + 0.13420003652572632, + 0.5168118476867676, + -0.02801762893795967 + ], + "joints": [ + -0.0026846136897802353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04552033171057701, + 0.03372849524021149, + -0.20667605102062225 + ], + "orientation": [ + 0.14534476399421692, + -0.17993009090423584, + 0.08962906152009964, + -0.9687448740005493 + ], + "joints": [ + 0.017017999663949013 + ] + }, + "fine_grasp": { + "position": [ + -0.043918177485466, + 0.033375080674886703, + -0.20292343199253082 + ], + "orientation": [ + 0.14609378576278687, + -0.17922253906726837, + 0.08944883942604065, + -0.9687801003456116 + ], + "joints": [ + 0.008240940049290657 + ] + }, + "final_grasp": { + "position": [ + -0.043918177485466, + 0.033375080674886703, + -0.20292343199253082 + ], + "orientation": [ + 0.14609378576278687, + -0.17922253906726837, + 0.08944883942604065, + -0.9687801003456116 + ], + "joints": [ + -0.0005361195653676987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09818354994058609, + 0.047286100685596466, + -0.14050987362861633 + ], + "orientation": [ + 0.15950444340705872, + 0.5320287346839905, + -0.05484737455844879, + 0.8297562599182129 + ], + "joints": [ + 0.015167180448770523 + ] + }, + "fine_grasp": { + "position": [ + -0.09443268924951553, + 0.04573994129896164, + -0.13915953040122986 + ], + "orientation": [ + 0.16812199354171753, + 0.5267200469970703, + -0.05337681248784065, + 0.8315358757972717 + ], + "joints": [ + 0.00804104283452034 + ] + }, + "final_grasp": { + "position": [ + -0.09443268924951553, + 0.04573994129896164, + -0.13915953040122986 + ], + "orientation": [ + 0.16812199354171753, + 0.5267200469970703, + -0.05337681248784065, + 0.8315358757972717 + ], + "joints": [ + 0.0009149052202701569 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10012534260749817, + 0.08709894120693207, + 0.1238831877708435 + ], + "orientation": [ + 0.20191392302513123, + 0.7409908175468445, + 0.2149178683757782, + -0.6033023595809937 + ], + "joints": [ + 0.015650110319256783 + ] + }, + "fine_grasp": { + "position": [ + 0.09697962552309036, + 0.0849267840385437, + 0.1231018528342247 + ], + "orientation": [ + 0.201950341463089, + 0.7416881322860718, + 0.2148263305425644, + -0.6024652719497681 + ], + "joints": [ + 0.00522212777286768 + ] + }, + "final_grasp": { + "position": [ + 0.09697962552309036, + 0.0849267840385437, + 0.1231018528342247 + ], + "orientation": [ + 0.201950341463089, + 0.7416881322860718, + 0.2148263305425644, + -0.6024652719497681 + ], + "joints": [ + -0.005205854773521423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01435761246830225, + 0.020802997052669525, + 0.23218166828155518 + ], + "orientation": [ + 0.05666285753250122, + 0.3705647885799408, + -0.9270326495170593, + -0.0090359291061759 + ], + "joints": [ + 0.014282947406172752 + ] + }, + "fine_grasp": { + "position": [ + 0.013970108702778816, + 0.02057427167892456, + 0.2283381223678589 + ], + "orientation": [ + 0.056618086993694305, + 0.37316834926605225, + -0.925984799861908, + -0.009587476961314678 + ], + "joints": [ + 0.005464091897010803 + ] + }, + "final_grasp": { + "position": [ + 0.013970108702778816, + 0.02057427167892456, + 0.2283381223678589 + ], + "orientation": [ + 0.056618086993694305, + 0.37316834926605225, + -0.925984799861908, + -0.009587476961314678 + ], + "joints": [ + -0.003354763612151146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08411423861980438, + 0.03212912753224373, + 0.1586427390575409 + ], + "orientation": [ + 0.06293891370296478, + 0.9023211002349854, + -0.014450376853346825, + 0.4262000024318695 + ], + "joints": [ + 0.01881832629442215 + ] + }, + "fine_grasp": { + "position": [ + -0.08048354834318161, + 0.03141501918435097, + 0.15710358321666718 + ], + "orientation": [ + 0.0621776282787323, + 0.9087749719619751, + -0.015730248764157295, + 0.41232815384864807 + ], + "joints": [ + 0.010041266679763794 + ] + }, + "final_grasp": { + "position": [ + -0.08048354834318161, + 0.03141501918435097, + 0.15710358321666718 + ], + "orientation": [ + 0.0621776282787323, + 0.9087749719619751, + -0.015730248764157295, + 0.41232815384864807 + ], + "joints": [ + 0.0012642070651054382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09597475081682205, + -0.0270152036100626, + 0.17850728332996368 + ], + "orientation": [ + 0.09444426000118256, + -0.8825713992118835, + 0.17278333008289337, + 0.42695900797843933 + ], + "joints": [ + 0.016614599153399467 + ] + }, + "fine_grasp": { + "position": [ + 0.09316673874855042, + -0.02545560896396637, + 0.1765872985124588 + ], + "orientation": [ + 0.10280514508485794, + -0.8785350918769836, + 0.17526379227638245, + 0.4323076009750366 + ], + "joints": [ + 0.0057686613872647285 + ] + }, + "final_grasp": { + "position": [ + 0.09316673874855042, + -0.02545560896396637, + 0.1765872985124588 + ], + "orientation": [ + 0.10280514508485794, + -0.8785350918769836, + 0.17526379227638245, + 0.4323076009750366 + ], + "joints": [ + -0.00507727637887001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0055585941299796104, + 0.006363143213093281, + 0.22074291110038757 + ], + "orientation": [ + 0.003856989089399576, + -0.6113176345825195, + 0.7900894284248352, + 0.045105092227458954 + ], + "joints": [ + 0.016211196780204773 + ] + }, + "fine_grasp": { + "position": [ + 0.005510707385838032, + 0.006742783822119236, + 0.2168034464120865 + ], + "orientation": [ + 0.008884061127901077, + -0.6084226965904236, + 0.7920767068862915, + 0.04855286702513695 + ], + "joints": [ + 0.006201169453561306 + ] + }, + "final_grasp": { + "position": [ + 0.005510707385838032, + 0.006742783822119236, + 0.2168034464120865 + ], + "orientation": [ + 0.008884061127901077, + -0.6084226965904236, + 0.7920767068862915, + 0.04855286702513695 + ], + "joints": [ + -0.003808857873082161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10921812057495117, + 0.01968103088438511, + -0.1311669647693634 + ], + "orientation": [ + 0.8304563760757446, + 0.025522075593471527, + 0.5564387440681458, + 0.008173836395144463 + ], + "joints": [ + 0.016432221978902817 + ] + }, + "fine_grasp": { + "position": [ + -0.10517190396785736, + 0.019898520782589912, + -0.12973718345165253 + ], + "orientation": [ + 0.8334257006645203, + 0.023023977875709534, + 0.5520738363265991, + 0.009275112301111221 + ], + "joints": [ + 0.008909028023481369 + ] + }, + "final_grasp": { + "position": [ + -0.10517190396785736, + 0.019898520782589912, + -0.12973718345165253 + ], + "orientation": [ + 0.8334257006645203, + 0.023023977875709534, + 0.5520738363265991, + 0.009275112301111221 + ], + "joints": [ + 0.0013858340680599213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11005765944719315, + 0.04877161607146263, + 0.10711117088794708 + ], + "orientation": [ + 0.6457483172416687, + 0.15870395302772522, + -0.7455655336380005, + 0.04420672729611397 + ], + "joints": [ + 0.0146969398483634 + ] + }, + "fine_grasp": { + "position": [ + 0.10594358295202255, + 0.04728955030441284, + 0.10585498064756393 + ], + "orientation": [ + 0.6399099230766296, + 0.1845063418149948, + -0.7453365921974182, + 0.03076034039258957 + ], + "joints": [ + 0.00924262311309576 + ] + }, + "final_grasp": { + "position": [ + 0.10594358295202255, + 0.04728955030441284, + 0.10585498064756393 + ], + "orientation": [ + 0.6399099230766296, + 0.1845063418149948, + -0.7453365921974182, + 0.03076034039258957 + ], + "joints": [ + 0.003788306377828121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038698915392160416, + -0.03560991212725639, + -0.2096479833126068 + ], + "orientation": [ + 0.873780369758606, + -0.12851577997207642, + 0.23168177902698517, + 0.40781763195991516 + ], + "joints": [ + 0.015180163085460663 + ] + }, + "fine_grasp": { + "position": [ + -0.03714080899953842, + -0.0336090624332428, + -0.2066373974084854 + ], + "orientation": [ + 0.8728337287902832, + -0.13003848493099213, + 0.23502515256404877, + 0.40744876861572266 + ], + "joints": [ + 0.005964250303804874 + ] + }, + "final_grasp": { + "position": [ + -0.03714080899953842, + -0.0336090624332428, + -0.2066373974084854 + ], + "orientation": [ + 0.8728337287902832, + -0.13003848493099213, + 0.23502515256404877, + 0.40744876861572266 + ], + "joints": [ + -0.003251662477850914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0920429602265358, + 0.03837020695209503, + 0.16597449779510498 + ], + "orientation": [ + 0.43014124035835266, + 0.14414414763450623, + -0.8906343579292297, + 0.031167248263955116 + ], + "joints": [ + 0.016555719077587128 + ] + }, + "fine_grasp": { + "position": [ + 0.08862700313329697, + 0.037479039281606674, + 0.1638317108154297 + ], + "orientation": [ + 0.43048882484436035, + 0.15327265858650208, + -0.8889883756637573, + 0.02977580577135086 + ], + "joints": [ + 0.007778658997267485 + ] + }, + "final_grasp": { + "position": [ + 0.08862700313329697, + 0.037479039281606674, + 0.1638317108154297 + ], + "orientation": [ + 0.43048882484436035, + 0.15327265858650208, + -0.8889883756637573, + 0.02977580577135086 + ], + "joints": [ + -0.0009984010830521584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1090695708990097, + 0.055684469640254974, + 0.11246247589588165 + ], + "orientation": [ + 0.037677958607673645, + 0.740318238735199, + 0.2116377055644989, + -0.6369605660438538 + ], + "joints": [ + 0.015788396820425987 + ] + }, + "fine_grasp": { + "position": [ + 0.10516832768917084, + 0.05388934165239334, + 0.11094542592763901 + ], + "orientation": [ + 0.030863996595144272, + 0.7413046956062317, + 0.2305218130350113, + -0.6295828223228455 + ], + "joints": [ + 0.009937023743987083 + ] + }, + "final_grasp": { + "position": [ + 0.10516832768917084, + 0.05388934165239334, + 0.11094542592763901 + ], + "orientation": [ + 0.030863996595144272, + 0.7413046956062317, + 0.2305218130350113, + -0.6295828223228455 + ], + "joints": [ + 0.00408565066754818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051299724727869034, + -0.0427769273519516, + -0.20096947252750397 + ], + "orientation": [ + 0.3821074962615967, + -0.3305929899215698, + -0.15429864823818207, + -0.8490546941757202 + ], + "joints": [ + 0.013425730168819427 + ] + }, + "fine_grasp": { + "position": [ + -0.05003092810511589, + -0.041085824370384216, + -0.19762368500232697 + ], + "orientation": [ + 0.38321760296821594, + -0.3260709345340729, + -0.15316298604011536, + -0.8505076766014099 + ], + "joints": [ + 0.0038127601146698 + ] + }, + "final_grasp": { + "position": [ + -0.05003092810511589, + -0.041085824370384216, + -0.19762368500232697 + ], + "orientation": [ + 0.38321760296821594, + -0.3260709345340729, + -0.15316298604011536, + -0.8505076766014099 + ], + "joints": [ + -0.005800209939479828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10950739681720734, + 0.04885455220937729, + 0.10713169723749161 + ], + "orientation": [ + 0.6475909948348999, + 0.1654708832502365, + -0.7427573800086975, + 0.03945589438080788 + ], + "joints": [ + 0.015200605615973473 + ] + }, + "fine_grasp": { + "position": [ + 0.10546526312828064, + 0.047336772084236145, + 0.10581956803798676 + ], + "orientation": [ + 0.6414773464202881, + 0.19195504486560822, + -0.7423045039176941, + 0.02537904866039753 + ], + "joints": [ + 0.009349232539534569 + ] + }, + "final_grasp": { + "position": [ + 0.10546526312828064, + 0.047336772084236145, + 0.10581956803798676 + ], + "orientation": [ + 0.6414773464202881, + 0.19195504486560822, + -0.7423045039176941, + 0.02537904866039753 + ], + "joints": [ + 0.003497859463095665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005936905276030302, + -0.08077628165483475, + 0.16254477202892303 + ], + "orientation": [ + 0.34732258319854736, + -0.6991626620292664, + 0.5442919135093689, + 0.30705809593200684 + ], + "joints": [ + 0.015981480479240417 + ] + }, + "fine_grasp": { + "position": [ + 0.005475367419421673, + -0.07709221541881561, + 0.16038019955158234 + ], + "orientation": [ + 0.3439140319824219, + -0.7062040567398071, + 0.538093090057373, + 0.305703729391098 + ], + "joints": [ + 0.00845828652381897 + ] + }, + "final_grasp": { + "position": [ + 0.005475367419421673, + -0.07709221541881561, + 0.16038019955158234 + ], + "orientation": [ + 0.3439140319824219, + -0.7062040567398071, + 0.538093090057373, + 0.305703729391098 + ], + "joints": [ + 0.000935092568397522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09553946554660797, + 0.06716276705265045, + 0.16212774813175201 + ], + "orientation": [ + 0.4881806969642639, + 0.25960999727249146, + 0.8287200331687927, + -0.08663395047187805 + ], + "joints": [ + 0.015814056620001793 + ] + }, + "fine_grasp": { + "position": [ + -0.0924384668469429, + 0.06547676771879196, + 0.1603846400976181 + ], + "orientation": [ + 0.4911136031150818, + 0.2597009539604187, + 0.8268752098083496, + -0.08740755170583725 + ], + "joints": [ + 0.00538607407361269 + ] + }, + "final_grasp": { + "position": [ + -0.0924384668469429, + 0.06547676771879196, + 0.1603846400976181 + ], + "orientation": [ + 0.4911136031150818, + 0.2597009539604187, + 0.8268752098083496, + -0.08740755170583725 + ], + "joints": [ + -0.005041908472776413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08571896702051163, + 0.037061356008052826, + 0.18621757626533508 + ], + "orientation": [ + 0.0723562240600586, + 0.9224346280097961, + -0.02856685221195221, + 0.37823644280433655 + ], + "joints": [ + 0.01574430987238884 + ] + }, + "fine_grasp": { + "position": [ + -0.08277040719985962, + 0.03648053854703903, + 0.1837252974510193 + ], + "orientation": [ + 0.07246356457471848, + 0.9209278225898743, + -0.02739815227687359, + 0.3819560706615448 + ], + "joints": [ + 0.005316327325999737 + ] + }, + "final_grasp": { + "position": [ + -0.08277040719985962, + 0.03648053854703903, + 0.1837252974510193 + ], + "orientation": [ + 0.07246356457471848, + 0.9209278225898743, + -0.02739815227687359, + 0.3819560706615448 + ], + "joints": [ + -0.005111655220389366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13112805783748627, + 0.02321680821478367, + -0.056969672441482544 + ], + "orientation": [ + 0.17735286056995392, + -0.7158731818199158, + 0.19264023005962372, + -0.6472721099853516 + ], + "joints": [ + 0.024232739582657814 + ] + }, + "fine_grasp": { + "position": [ + -0.1271859109401703, + 0.02254105918109417, + -0.056423794478178024 + ], + "orientation": [ + 0.17756357789039612, + -0.7101485729217529, + 0.19615121185779572, + -0.6524453163146973 + ], + "joints": [ + 0.015434781089425087 + ] + }, + "final_grasp": { + "position": [ + -0.1271859109401703, + 0.02254105918109417, + -0.056423794478178024 + ], + "orientation": [ + 0.17756357789039612, + -0.7101485729217529, + 0.19615121185779572, + -0.6524453163146973 + ], + "joints": [ + 0.00663682259619236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09273989498615265, + 0.03414909541606903, + 0.1927221119403839 + ], + "orientation": [ + 0.019839446991682053, + -0.8823300004005432, + -0.15975461900234222, + 0.44224271178245544 + ], + "joints": [ + 0.01573469303548336 + ] + }, + "fine_grasp": { + "position": [ + 0.09065154194831848, + 0.033346641808748245, + 0.18998673558235168 + ], + "orientation": [ + 0.005794628988951445, + -0.8909718990325928, + -0.16760313510894775, + 0.42195355892181396 + ], + "joints": [ + 0.0036975834518671036 + ] + }, + "final_grasp": { + "position": [ + 0.09065154194831848, + 0.033346641808748245, + 0.18998673558235168 + ], + "orientation": [ + 0.005794628988951445, + -0.8909718990325928, + -0.16760313510894775, + 0.42195355892181396 + ], + "joints": [ + -0.008339526131749153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08537541329860687, + 0.036983754485845566, + 0.1861581802368164 + ], + "orientation": [ + 0.07184770703315735, + 0.9229363203048706, + -0.02944040670990944, + 0.3770407438278198 + ], + "joints": [ + 0.015885820612311363 + ] + }, + "fine_grasp": { + "position": [ + -0.08241146802902222, + 0.03642506152391434, + 0.18365523219108582 + ], + "orientation": [ + 0.07177402079105377, + 0.9212285876274109, + -0.028193026781082153, + 0.38130268454551697 + ], + "joints": [ + 0.005060780793428421 + ] + }, + "final_grasp": { + "position": [ + -0.08241146802902222, + 0.03642506152391434, + 0.18365523219108582 + ], + "orientation": [ + 0.07177402079105377, + 0.9212285876274109, + -0.028193026781082153, + 0.38130268454551697 + ], + "joints": [ + -0.005764259025454521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05897803232073784, + 0.12857504189014435, + 0.13718761503696442 + ], + "orientation": [ + 0.520897388458252, + 0.37252962589263916, + 0.6857866644859314, + -0.34580957889556885 + ], + "joints": [ + 0.013945603743195534 + ] + }, + "fine_grasp": { + "position": [ + -0.05715009197592735, + 0.12530517578125, + 0.1359993815422058 + ], + "orientation": [ + 0.5176743268966675, + 0.37322506308555603, + 0.6895611882209778, + -0.34237658977508545 + ], + "joints": [ + 0.004729690961539745 + ] + }, + "final_grasp": { + "position": [ + -0.05715009197592735, + 0.12530517578125, + 0.1359993815422058 + ], + "orientation": [ + 0.5176743268966675, + 0.37322506308555603, + 0.6895611882209778, + -0.34237658977508545 + ], + "joints": [ + -0.004486221820116043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11015541851520538, + -0.014212376438081264, + 0.11834140866994858 + ], + "orientation": [ + 0.5967361927032471, + -0.1520448476076126, + 0.7855912446975708, + 0.06028849631547928 + ], + "joints": [ + 0.016501430422067642 + ] + }, + "fine_grasp": { + "position": [ + -0.10631018877029419, + -0.012760664336383343, + 0.11684612929821014 + ], + "orientation": [ + 0.595888614654541, + -0.16770213842391968, + 0.7835426926612854, + 0.053419329226017 + ], + "joints": [ + 0.00939619168639183 + ] + }, + "final_grasp": { + "position": [ + -0.10631018877029419, + -0.012760664336383343, + 0.11684612929821014 + ], + "orientation": [ + 0.595888614654541, + -0.16770213842391968, + 0.7835426926612854, + 0.053419329226017 + ], + "joints": [ + 0.0022909529507160187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0902961865067482, + 0.011757141910493374, + 0.1616850197315216 + ], + "orientation": [ + 0.47642436623573303, + 7.979424844961613e-05, + 0.8786619901657104, + 0.0311936903744936 + ], + "joints": [ + 0.01509508304297924 + ] + }, + "fine_grasp": { + "position": [ + -0.08725336194038391, + 0.011786887422204018, + 0.16099578142166138 + ], + "orientation": [ + 0.4681675136089325, + 0.0010585382115095854, + 0.8830310702323914, + 0.032775457948446274 + ], + "joints": [ + 0.005900068208575249 + ] + }, + "final_grasp": { + "position": [ + -0.08725336194038391, + 0.011786887422204018, + 0.16099578142166138 + ], + "orientation": [ + 0.4681675136089325, + 0.0010585382115095854, + 0.8830310702323914, + 0.032775457948446274 + ], + "joints": [ + -0.003294946625828743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0960879921913147, + -0.026970943436026573, + 0.17865943908691406 + ], + "orientation": [ + 0.09382572770118713, + -0.8818942904472351, + 0.1736741065979004, + 0.4281315505504608 + ], + "joints": [ + 0.01638304442167282 + ] + }, + "fine_grasp": { + "position": [ + 0.09326504170894623, + -0.025403134524822235, + 0.17671607434749603 + ], + "orientation": [ + 0.1021776795387268, + -0.877959668636322, + 0.17620086669921875, + 0.43324318528175354 + ], + "joints": [ + 0.005934163928031921 + ] + }, + "final_grasp": { + "position": [ + 0.09326504170894623, + -0.025403134524822235, + 0.17671607434749603 + ], + "orientation": [ + 0.1021776795387268, + -0.877959668636322, + 0.17620086669921875, + 0.43324318528175354 + ], + "joints": [ + -0.004514716565608978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09297911077737808, + 0.038228172808885574, + 0.16602292656898499 + ], + "orientation": [ + 0.4344421625137329, + 0.14135904610157013, + -0.8890018463134766, + 0.03087734431028366 + ], + "joints": [ + 0.01664072275161743 + ] + }, + "fine_grasp": { + "position": [ + 0.08959703147411346, + 0.03736278414726257, + 0.16388124227523804 + ], + "orientation": [ + 0.4342443645000458, + 0.1498640477657318, + -0.8877330422401428, + 0.03004544787108898 + ], + "joints": [ + 0.007863663136959076 + ] + }, + "final_grasp": { + "position": [ + 0.08959703147411346, + 0.03736278414726257, + 0.16388124227523804 + ], + "orientation": [ + 0.4342443645000458, + 0.1498640477657318, + -0.8877330422401428, + 0.03004544787108898 + ], + "joints": [ + -0.0009133964776992798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08920232951641083, + 0.011847691610455513, + 0.1612042486667633 + ], + "orientation": [ + 0.4756625294685364, + -0.0009074133122339845, + 0.8791020512580872, + 0.030395397916436195 + ], + "joints": [ + 0.015042422339320183 + ] + }, + "fine_grasp": { + "position": [ + -0.08667317032814026, + 0.011718714609742165, + 0.16087587177753448 + ], + "orientation": [ + 0.4663822650909424, + -0.0010393705451861024, + 0.8840070366859436, + 0.0319087915122509 + ], + "joints": [ + 0.006265362724661827 + ] + }, + "final_grasp": { + "position": [ + -0.08667317032814026, + 0.011718714609742165, + 0.16087587177753448 + ], + "orientation": [ + 0.4663822650909424, + -0.0010393705451861024, + 0.8840070366859436, + 0.0319087915122509 + ], + "joints": [ + -0.0025116968899965286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1086142510175705, + -0.014183840714395046, + 0.1187468096613884 + ], + "orientation": [ + 0.5948598384857178, + -0.1378238946199417, + 0.7890764474868774, + 0.06711789965629578 + ], + "joints": [ + 0.015414465218782425 + ] + }, + "fine_grasp": { + "position": [ + -0.10460199415683746, + -0.012774396687746048, + 0.11704833060503006 + ], + "orientation": [ + 0.582579493522644, + -0.14741717278957367, + 0.796848714351654, + 0.06246268004179001 + ], + "joints": [ + 0.009981047362089157 + ] + }, + "final_grasp": { + "position": [ + -0.10460199415683746, + -0.012774396687746048, + 0.11704833060503006 + ], + "orientation": [ + 0.582579493522644, + -0.14741717278957367, + 0.796848714351654, + 0.06246268004179001 + ], + "joints": [ + 0.004547629505395889 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09773294627666473, + 0.06697683781385422, + 0.15125557780265808 + ], + "orientation": [ + 0.49457961320877075, + 0.13705132901668549, + -0.8438379764556885, + 0.15666981041431427 + ], + "joints": [ + 0.01611315831542015 + ] + }, + "fine_grasp": { + "position": [ + 0.09451030939817429, + 0.06535273045301437, + 0.14979057013988495 + ], + "orientation": [ + 0.4982345998287201, + 0.13576234877109528, + -0.8414720892906189, + 0.15892018377780914 + ], + "joints": [ + 0.005685175769031048 + ] + }, + "final_grasp": { + "position": [ + 0.09451030939817429, + 0.06535273045301437, + 0.14979057013988495 + ], + "orientation": [ + 0.4982345998287201, + 0.13576234877109528, + -0.8414720892906189, + 0.15892018377780914 + ], + "joints": [ + -0.004742806777358055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00949542224407196, + -0.0016968146665021777, + 0.21800270676612854 + ], + "orientation": [ + 0.06939096748828888, + -0.3630964756011963, + -0.92715984582901, + -0.06099620833992958 + ], + "joints": [ + 0.01590883731842041 + ] + }, + "fine_grasp": { + "position": [ + 0.008849959820508957, + -0.0010670195333659649, + 0.21424636244773865 + ], + "orientation": [ + 0.06995215266942978, + -0.3650560975074768, + -0.9263262748718262, + -0.061321698129177094 + ], + "joints": [ + 0.005501752719283104 + ] + }, + "final_grasp": { + "position": [ + 0.008849959820508957, + -0.0010670195333659649, + 0.21424636244773865 + ], + "orientation": [ + 0.06995215266942978, + -0.3650560975074768, + -0.9263262748718262, + -0.061321698129177094 + ], + "joints": [ + -0.004905331879854202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07654184848070145, + 0.051213257014751434, + -0.17133843898773193 + ], + "orientation": [ + 0.053300343453884125, + 0.3843013346195221, + -0.13807880878448486, + 0.9112659692764282 + ], + "joints": [ + 0.01655329018831253 + ] + }, + "fine_grasp": { + "position": [ + -0.07348207384347916, + 0.05039947107434273, + -0.16859345138072968 + ], + "orientation": [ + 0.04800887033343315, + 0.3777194619178772, + -0.136999249458313, + 0.9144695401191711 + ], + "joints": [ + 0.008612141013145447 + ] + }, + "final_grasp": { + "position": [ + -0.07348207384347916, + 0.05039947107434273, + -0.16859345138072968 + ], + "orientation": [ + 0.04800887033343315, + 0.3777194619178772, + -0.136999249458313, + 0.9144695401191711 + ], + "joints": [ + 0.000670991837978363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04570421576499939, + 0.033910173922777176, + -0.20728081464767456 + ], + "orientation": [ + 0.14378486573696136, + -0.1798301339149475, + 0.0896538496017456, + -0.9689939618110657 + ], + "joints": [ + 0.017340736463665962 + ] + }, + "fine_grasp": { + "position": [ + -0.0441288948059082, + 0.033531323075294495, + -0.2035595178604126 + ], + "orientation": [ + 0.14445523917675018, + -0.17910273373126984, + 0.08958720415830612, + -0.9690350890159607 + ], + "joints": [ + 0.00814572162926197 + ] + }, + "final_grasp": { + "position": [ + -0.0441288948059082, + 0.033531323075294495, + -0.2035595178604126 + ], + "orientation": [ + 0.14445523917675018, + -0.17910273373126984, + 0.08958720415830612, + -0.9690350890159607 + ], + "joints": [ + -0.0010492932051420212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015428148908540606, + 0.13118481636047363, + 0.0795145034790039 + ], + "orientation": [ + 0.5533499717712402, + 0.6313197612762451, + 0.3988821506500244, + -0.3689610958099365 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + -0.0009231266449205577, + 0.12760494649410248, + 0.07783898711204529 + ], + "orientation": [ + 0.5435788035392761, + 0.6320017576217651, + 0.41674333810806274, + -0.36251991987228394 + ], + "joints": [ + 0.018746066838502884 + ] + }, + "final_grasp": { + "position": [ + -0.0009231266449205577, + 0.12760494649410248, + 0.07783898711204529 + ], + "orientation": [ + 0.5435788035392761, + 0.6320017576217651, + 0.41674333810806274, + -0.36251991987228394 + ], + "joints": [ + 0.0108049176633358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04334775358438492, + -0.0905693769454956, + 0.04265431687235832 + ], + "orientation": [ + 0.29195451736450195, + -0.42096996307373047, + -0.47465962171554565, + -0.7157130241394043 + ], + "joints": [ + 0.02639593742787838 + ] + }, + "fine_grasp": { + "position": [ + -0.04135545343160629, + -0.08696262538433075, + 0.04228183254599571 + ], + "orientation": [ + 0.2807903587818146, + -0.43084147572517395, + -0.4805334508419037, + -0.7103660702705383 + ], + "joints": [ + 0.018454788252711296 + ] + }, + "final_grasp": { + "position": [ + -0.04135545343160629, + -0.08696262538433075, + 0.04228183254599571 + ], + "orientation": [ + 0.2807903587818146, + -0.43084147572517395, + -0.4805334508419037, + -0.7103660702705383 + ], + "joints": [ + 0.010513639077544212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10086439549922943, + -0.01905868947505951, + 0.14611399173736572 + ], + "orientation": [ + 0.505583643913269, + -0.09224680066108704, + 0.849525511264801, + 0.11908912658691406 + ], + "joints": [ + 0.016477784141898155 + ] + }, + "fine_grasp": { + "position": [ + -0.0971839427947998, + -0.017880022525787354, + 0.14456357061862946 + ], + "orientation": [ + 0.5044981241226196, + -0.0859847143292427, + 0.8507686853408813, + 0.11950253695249557 + ], + "joints": [ + 0.008118679746985435 + ] + }, + "final_grasp": { + "position": [ + -0.0971839427947998, + -0.017880022525787354, + 0.14456357061862946 + ], + "orientation": [ + 0.5044981241226196, + -0.0859847143292427, + 0.8507686853408813, + 0.11950253695249557 + ], + "joints": [ + -0.00024042464792728424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10123162716627121, + 0.08712850511074066, + -0.07538127154111862 + ], + "orientation": [ + 0.1623220145702362, + 0.6884457468986511, + -0.2566169202327728, + 0.658666729927063 + ], + "joints": [ + 0.0159474927932024 + ] + }, + "fine_grasp": { + "position": [ + -0.09813008457422256, + 0.08472879976034164, + -0.07329373061656952 + ], + "orientation": [ + 0.16658493876457214, + 0.6795118451118469, + -0.25450679659843445, + 0.6676372289657593 + ], + "joints": [ + 0.009260209277272224 + ] + }, + "final_grasp": { + "position": [ + -0.09813008457422256, + 0.08472879976034164, + -0.07329373061656952 + ], + "orientation": [ + 0.16658493876457214, + 0.6795118451118469, + -0.25450679659843445, + 0.6676372289657593 + ], + "joints": [ + 0.0025729257613420486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09970641136169434, + -0.01801554299890995, + 0.1454506367444992 + ], + "orientation": [ + 0.49908480048179626, + -0.10844007879495621, + 0.8524973392486572, + 0.1113709956407547 + ], + "joints": [ + 0.015488874167203903 + ] + }, + "fine_grasp": { + "position": [ + -0.09591381251811981, + -0.016679856926202774, + 0.14358563721179962 + ], + "orientation": [ + 0.49091413617134094, + -0.10900012403726578, + 0.8574482202529907, + 0.10910936444997787 + ], + "joints": [ + 0.008801590651273727 + ] + }, + "final_grasp": { + "position": [ + -0.09591381251811981, + -0.016679856926202774, + 0.14358563721179962 + ], + "orientation": [ + 0.49091413617134094, + -0.10900012403726578, + 0.8574482202529907, + 0.10910936444997787 + ], + "joints": [ + 0.0021143071353435516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07497608661651611, + -0.061448052525520325, + 0.10241514444351196 + ], + "orientation": [ + 0.25845906138420105, + -0.7004987001419067, + 0.29040396213531494, + 0.5984696745872498 + ], + "joints": [ + 0.01690630055963993 + ] + }, + "fine_grasp": { + "position": [ + 0.07411037385463715, + -0.05822306126356125, + 0.10165584832429886 + ], + "orientation": [ + 0.24986878037452698, + -0.7032467126846313, + 0.29281309247016907, + 0.5977208614349365 + ], + "joints": [ + 0.009383106604218483 + ] + }, + "final_grasp": { + "position": [ + 0.07411037385463715, + -0.05822306126356125, + 0.10165584832429886 + ], + "orientation": [ + 0.24986878037452698, + -0.7032467126846313, + 0.29281309247016907, + 0.5977208614349365 + ], + "joints": [ + 0.0018599126487970352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061701223254203796, + -0.09585922956466675, + -0.1100410744547844 + ], + "orientation": [ + 0.6705600023269653, + -0.3831956684589386, + 0.5405265688896179, + 0.33367836475372314 + ], + "joints": [ + 0.015925811603665352 + ] + }, + "fine_grasp": { + "position": [ + -0.05961194261908531, + -0.09249942749738693, + -0.10912264883518219 + ], + "orientation": [ + 0.6729392409324646, + -0.3820907771587372, + 0.5397014021873474, + 0.33148443698883057 + ], + "joints": [ + 0.007148751989006996 + ] + }, + "final_grasp": { + "position": [ + -0.05961194261908531, + -0.09249942749738693, + -0.10912264883518219 + ], + "orientation": [ + 0.6729392409324646, + -0.3820907771587372, + 0.5397014021873474, + 0.33148443698883057 + ], + "joints": [ + -0.0016283076256513596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08139224350452423, + 0.08919786661863327, + -0.13038435578346252 + ], + "orientation": [ + 0.3578771948814392, + 0.5543108582496643, + -0.15988917648792267, + 0.7342334389686584 + ], + "joints": [ + 0.01640215516090393 + ] + }, + "fine_grasp": { + "position": [ + -0.07843473553657532, + 0.08640825748443604, + -0.12923921644687653 + ], + "orientation": [ + 0.36370670795440674, + 0.5509036183357239, + -0.15718604624271393, + 0.734516978263855 + ], + "joints": [ + 0.008461005985736847 + ] + }, + "final_grasp": { + "position": [ + -0.07843473553657532, + 0.08640825748443604, + -0.12923921644687653 + ], + "orientation": [ + 0.36370670795440674, + 0.5509036183357239, + -0.15718604624271393, + 0.734516978263855 + ], + "joints": [ + 0.0005198568105697632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.062136124819517136, + -0.03834080696105957, + -0.18426872789859772 + ], + "orientation": [ + 0.8247676491737366, + -0.11218709498643875, + -0.3787898123264313, + -0.40458694100379944 + ], + "joints": [ + 0.014931835234165192 + ] + }, + "fine_grasp": { + "position": [ + 0.05992654338479042, + -0.03650369867682457, + -0.18154703080654144 + ], + "orientation": [ + 0.8254314661026001, + -0.11023761332035065, + -0.37737154960632324, + -0.4050943851470947 + ], + "joints": [ + 0.005318865180015564 + ] + }, + "final_grasp": { + "position": [ + 0.05992654338479042, + -0.03650369867682457, + -0.18154703080654144 + ], + "orientation": [ + 0.8254314661026001, + -0.11023761332035065, + -0.37737154960632324, + -0.4050943851470947 + ], + "joints": [ + -0.004294104874134064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010364756919443607, + -0.02381964586675167, + 0.2105821818113327 + ], + "orientation": [ + 0.1337147057056427, + -0.5861077308654785, + 0.7915075421333313, + 0.11006418615579605 + ], + "joints": [ + 0.016056761145591736 + ] + }, + "fine_grasp": { + "position": [ + -0.010040044784545898, + -0.022058356553316116, + 0.2071891576051712 + ], + "orientation": [ + 0.14001838862895966, + -0.5890573859214783, + 0.7878333926200867, + 0.11280430108308792 + ], + "joints": [ + 0.005231721326708794 + ] + }, + "final_grasp": { + "position": [ + -0.010040044784545898, + -0.022058356553316116, + 0.2071891576051712 + ], + "orientation": [ + 0.14001838862895966, + -0.5890573859214783, + 0.7878333926200867, + 0.11280430108308792 + ], + "joints": [ + -0.0055933184921741486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006727116648107767, + 0.12605160474777222, + 0.13614720106124878 + ], + "orientation": [ + 0.34927067160606384, + 0.5471108555793762, + -0.6195628046989441, + 0.44138598442077637 + ], + "joints": [ + 0.015302624553442001 + ] + }, + "fine_grasp": { + "position": [ + -0.006606776267290115, + 0.12186821550130844, + 0.13480517268180847 + ], + "orientation": [ + 0.3445238173007965, + 0.5418347716331482, + -0.6291211247444153, + 0.4380924701690674 + ], + "joints": [ + 0.008615341037511826 + ] + }, + "final_grasp": { + "position": [ + -0.006606776267290115, + 0.12186821550130844, + 0.13480517268180847 + ], + "orientation": [ + 0.3445238173007965, + 0.5418347716331482, + -0.6291211247444153, + 0.4380924701690674 + ], + "joints": [ + 0.0019280575215816498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018550856038928032, + -0.010853820480406284, + -0.23076578974723816 + ], + "orientation": [ + 0.6314888596534729, + -0.003890303196385503, + -0.13741904497146606, + -0.7631006836891174 + ], + "joints": [ + 0.016956347972154617 + ] + }, + "fine_grasp": { + "position": [ + 0.01865304820239544, + -0.010171943344175816, + -0.22701817750930786 + ], + "orientation": [ + 0.6313750147819519, + -0.007375470362603664, + -0.13354746997356415, + -0.7638561725616455 + ], + "joints": [ + 0.006507467478513718 + ] + }, + "final_grasp": { + "position": [ + 0.01865304820239544, + -0.010171943344175816, + -0.22701817750930786 + ], + "orientation": [ + 0.6313750147819519, + -0.007375470362603664, + -0.13354746997356415, + -0.7638561725616455 + ], + "joints": [ + -0.003941413015127182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008724573999643326, + -0.0007799966260790825, + 0.21813884377479553 + ], + "orientation": [ + 0.06656874716281891, + -0.35875415802001953, + -0.9291293621063232, + -0.059857022017240524 + ], + "joints": [ + 0.01569077931344509 + ] + }, + "fine_grasp": { + "position": [ + 0.00804691482335329, + -0.00023449039144907147, + 0.21441341936588287 + ], + "orientation": [ + 0.06599736958742142, + -0.3601202368736267, + -0.9286549687385559, + -0.05964673310518265 + ], + "joints": [ + 0.005680751986801624 + ] + }, + "final_grasp": { + "position": [ + 0.00804691482335329, + -0.00023449039144907147, + 0.21441341936588287 + ], + "orientation": [ + 0.06599736958742142, + -0.3601202368736267, + -0.9286549687385559, + -0.05964673310518265 + ], + "joints": [ + -0.004329275339841843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0769650861620903, + 0.07542150467634201, + 0.16246074438095093 + ], + "orientation": [ + 0.42876872420310974, + 0.25421828031539917, + -0.8523815870285034, + 0.15803782641887665 + ], + "joints": [ + 0.01564197614789009 + ] + }, + "fine_grasp": { + "position": [ + 0.07392921298742294, + 0.07337547838687897, + 0.1603427231311798 + ], + "orientation": [ + 0.4250384569168091, + 0.24644924700260162, + -0.8569886684417725, + 0.15548495948314667 + ], + "joints": [ + 0.00770082650706172 + ] + }, + "final_grasp": { + "position": [ + 0.07392921298742294, + 0.07337547838687897, + 0.1603427231311798 + ], + "orientation": [ + 0.4250384569168091, + 0.24644924700260162, + -0.8569886684417725, + 0.15548495948314667 + ], + "joints": [ + -0.00024032313376665115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08149156719446182, + 0.09020796418190002, + -0.13090191781520844 + ], + "orientation": [ + 0.3612439036369324, + 0.5563337802886963, + -0.1551598459482193, + 0.73206627368927 + ], + "joints": [ + 0.01511416956782341 + ] + }, + "fine_grasp": { + "position": [ + -0.07857947051525116, + 0.08724478632211685, + -0.12959414720535278 + ], + "orientation": [ + 0.3677244484424591, + 0.5518364906311035, + -0.15421228110790253, + 0.732443630695343 + ], + "joints": [ + 0.008008930832147598 + ] + }, + "final_grasp": { + "position": [ + -0.07857947051525116, + 0.08724478632211685, + -0.12959414720535278 + ], + "orientation": [ + 0.3677244484424591, + 0.5518364906311035, + -0.15421228110790253, + 0.732443630695343 + ], + "joints": [ + 0.0009036920964717865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10749293118715286, + -0.009596578776836395, + -0.11570756882429123 + ], + "orientation": [ + 0.10331687331199646, + 0.5357159972190857, + -0.18142513930797577, + -0.81818026304245 + ], + "joints": [ + 0.024454988539218903 + ] + }, + "fine_grasp": { + "position": [ + 0.10389524698257446, + -0.008207203820347786, + -0.11438289284706116 + ], + "orientation": [ + 0.10654731839895248, + 0.5286086201667786, + -0.18849575519561768, + -0.82078617811203 + ], + "joints": [ + 0.015677928924560547 + ] + }, + "final_grasp": { + "position": [ + 0.10389524698257446, + -0.008207203820347786, + -0.11438289284706116 + ], + "orientation": [ + 0.10654731839895248, + 0.5286086201667786, + -0.18849575519561768, + -0.82078617811203 + ], + "joints": [ + 0.006900869309902191 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0534665621817112, + -0.08286241441965103, + -0.15660324692726135 + ], + "orientation": [ + 0.7568802833557129, + -0.29478415846824646, + 0.429409384727478, + 0.3947685658931732 + ], + "joints": [ + 0.015497235581278801 + ] + }, + "fine_grasp": { + "position": [ + -0.051661595702171326, + -0.07964137941598892, + -0.15516048669815063 + ], + "orientation": [ + 0.7558715343475342, + -0.29585063457489014, + 0.43149691820144653, + 0.3936253786087036 + ], + "joints": [ + 0.005884265527129173 + ] + }, + "final_grasp": { + "position": [ + -0.051661595702171326, + -0.07964137941598892, + -0.15516048669815063 + ], + "orientation": [ + 0.7558715343475342, + -0.29585063457489014, + 0.43149691820144653, + 0.3936253786087036 + ], + "joints": [ + -0.0037287045270204544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05302523821592331, + -0.08217018097639084, + -0.15645216405391693 + ], + "orientation": [ + 0.7557862401008606, + -0.29551562666893005, + 0.4310719966888428, + 0.39450541138648987 + ], + "joints": [ + 0.01575380191206932 + ] + }, + "fine_grasp": { + "position": [ + -0.05124074965715408, + -0.07900150865316391, + -0.1549689620733261 + ], + "orientation": [ + 0.7550486922264099, + -0.2963870167732239, + 0.4326731562614441, + 0.393510103225708 + ], + "joints": [ + 0.005743774585425854 + ] + }, + "final_grasp": { + "position": [ + -0.05124074965715408, + -0.07900150865316391, + -0.1549689620733261 + ], + "orientation": [ + 0.7550486922264099, + -0.2963870167732239, + 0.4326731562614441, + 0.393510103225708 + ], + "joints": [ + -0.004266252741217613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043532051146030426, + -0.08623982965946198, + -0.12909020483493805 + ], + "orientation": [ + 0.6913153529167175, + -0.36646729707717896, + -0.480520635843277, + -0.3960868716239929 + ], + "joints": [ + 0.014838006347417831 + ] + }, + "fine_grasp": { + "position": [ + 0.04204171523451805, + -0.08251932263374329, + -0.128136545419693 + ], + "orientation": [ + 0.6912997961044312, + -0.3679625988006592, + -0.47969886660575867, + -0.3957236111164093 + ], + "joints": [ + 0.006060946732759476 + ] + }, + "final_grasp": { + "position": [ + 0.04204171523451805, + -0.08251932263374329, + -0.128136545419693 + ], + "orientation": [ + 0.6912997961044312, + -0.3679625988006592, + -0.47969886660575867, + -0.3957236111164093 + ], + "joints": [ + -0.00271611288189888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01609855517745018, + 0.09671271592378616, + 0.21144747734069824 + ], + "orientation": [ + 0.19329698383808136, + 0.6131371855735779, + -0.7091699838638306, + 0.2894424796104431 + ], + "joints": [ + 0.015038806945085526 + ] + }, + "fine_grasp": { + "position": [ + -0.015398822724819183, + 0.09466665238142014, + 0.20848068594932556 + ], + "orientation": [ + 0.17351867258548737, + 0.6190527677536011, + -0.7093574404716492, + 0.2889237105846405 + ], + "joints": [ + 0.0037958119064569473 + ] + }, + "final_grasp": { + "position": [ + -0.015398822724819183, + 0.09466665238142014, + 0.20848068594932556 + ], + "orientation": [ + 0.17351867258548737, + 0.6190527677536011, + -0.7093574404716492, + 0.2889237105846405 + ], + "joints": [ + -0.007447183132171631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023145683109760284, + -0.027348950505256653, + 0.22760999202728271 + ], + "orientation": [ + 0.1269354671239853, + -0.87617427110672, + 0.44585928320884705, + 0.13196790218353271 + ], + "joints": [ + 0.017100865021348 + ] + }, + "fine_grasp": { + "position": [ + 0.02219727449119091, + -0.026125498116016388, + 0.22445259988307953 + ], + "orientation": [ + 0.11548344790935516, + -0.8768261075019836, + 0.44105100631713867, + 0.15268751978874207 + ], + "joints": [ + 0.003872583620250225 + ] + }, + "final_grasp": { + "position": [ + 0.02219727449119091, + -0.026125498116016388, + 0.22445259988307953 + ], + "orientation": [ + 0.11548344790935516, + -0.8768261075019836, + 0.44105100631713867, + 0.15268751978874207 + ], + "joints": [ + -0.00935569778084755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03724833205342293, + 0.13771899044513702, + 0.12148484587669373 + ], + "orientation": [ + 0.333778977394104, + 0.6194438934326172, + 0.5282524824142456, + -0.4752157926559448 + ], + "joints": [ + 0.019485872238874435 + ] + }, + "fine_grasp": { + "position": [ + 0.03629953786730766, + 0.1338668018579483, + 0.12002211809158325 + ], + "orientation": [ + 0.328713595867157, + 0.6163862347602844, + 0.5338947772979736, + -0.47641557455062866 + ], + "joints": [ + 0.011544723063707352 + ] + }, + "final_grasp": { + "position": [ + 0.03629953786730766, + 0.1338668018579483, + 0.12002211809158325 + ], + "orientation": [ + 0.328713595867157, + 0.6163862347602844, + 0.5338947772979736, + -0.47641557455062866 + ], + "joints": [ + 0.003603573888540268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06691930443048477, + -0.039182987064123154, + 0.17783603072166443 + ], + "orientation": [ + 0.3763728737831116, + -0.27085787057876587, + 0.8714907765388489, + 0.15963518619537354 + ], + "joints": [ + 0.01528242975473404 + ] + }, + "fine_grasp": { + "position": [ + -0.06455029547214508, + -0.037134282290935516, + 0.17547069489955902 + ], + "orientation": [ + 0.3757583498954773, + -0.2676067650318146, + 0.8722453713417053, + 0.16241993010044098 + ], + "joints": [ + 0.005669459700584412 + ] + }, + "final_grasp": { + "position": [ + -0.06455029547214508, + -0.037134282290935516, + 0.17547069489955902 + ], + "orientation": [ + 0.3757583498954773, + -0.2676067650318146, + 0.8722453713417053, + 0.16241993010044098 + ], + "joints": [ + -0.003943510353565216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0516817606985569, + -0.06849940866231918, + -0.1501428186893463 + ], + "orientation": [ + 0.6823641657829285, + -0.19594067335128784, + -0.4778176546096802, + -0.5173746347427368 + ], + "joints": [ + 0.015777412801980972 + ] + }, + "fine_grasp": { + "position": [ + 0.0501357801258564, + -0.06493755429983139, + -0.14819839596748352 + ], + "orientation": [ + 0.6812252998352051, + -0.19326350092887878, + -0.4721860885620117, + -0.5249966979026794 + ], + "joints": [ + 0.00867217406630516 + ] + }, + "final_grasp": { + "position": [ + 0.0501357801258564, + -0.06493755429983139, + -0.14819839596748352 + ], + "orientation": [ + 0.6812252998352051, + -0.19326350092887878, + -0.4721860885620117, + -0.5249966979026794 + ], + "joints": [ + 0.0015669353306293488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02059868723154068, + 0.08965989202260971, + 0.19248640537261963 + ], + "orientation": [ + 0.23028890788555145, + 0.46729013323783875, + -0.8233163952827454, + 0.22529323399066925 + ], + "joints": [ + 0.016389671713113785 + ] + }, + "fine_grasp": { + "position": [ + 0.01966916024684906, + 0.0870247557759285, + 0.18935361504554749 + ], + "orientation": [ + 0.2290182113647461, + 0.458090603351593, + -0.8295057415962219, + 0.22276444733142853 + ], + "joints": [ + 0.008030567318201065 + ] + }, + "final_grasp": { + "position": [ + 0.01966916024684906, + 0.0870247557759285, + 0.18935361504554749 + ], + "orientation": [ + 0.2290182113647461, + 0.458090603351593, + -0.8295057415962219, + 0.22276444733142853 + ], + "joints": [ + -0.00032853707671165466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04290815070271492, + 0.08131575584411621, + -0.19790314137935638 + ], + "orientation": [ + 0.32735979557037354, + 0.26958993077278137, + -0.1909347027540207, + 0.8852686882019043 + ], + "joints": [ + 0.015990670770406723 + ] + }, + "fine_grasp": { + "position": [ + -0.04133473336696625, + 0.0791834220290184, + -0.19507186114788055 + ], + "orientation": [ + 0.32682859897613525, + 0.27104082703590393, + -0.1910649687051773, + 0.8849939107894897 + ], + "joints": [ + 0.00556268822401762 + ] + }, + "final_grasp": { + "position": [ + -0.04133473336696625, + 0.0791834220290184, + -0.19507186114788055 + ], + "orientation": [ + 0.32682859897613525, + 0.27104082703590393, + -0.1910649687051773, + 0.8849939107894897 + ], + "joints": [ + -0.004865294322371483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014974544756114483, + -0.09396462142467499, + -0.11517608910799026 + ], + "orientation": [ + 0.5065197348594666, + -0.4588746726512909, + 0.41585108637809753, + 0.5999497175216675 + ], + "joints": [ + 0.015719294548034668 + ] + }, + "fine_grasp": { + "position": [ + 0.014429878443479538, + -0.08967181295156479, + -0.11400089412927628 + ], + "orientation": [ + 0.5105141401290894, + -0.4529702961444855, + 0.41052526235580444, + 0.6047000885009766 + ], + "joints": [ + 0.009449966251850128 + ] + }, + "final_grasp": { + "position": [ + 0.014429878443479538, + -0.08967181295156479, + -0.11400089412927628 + ], + "orientation": [ + 0.5105141401290894, + -0.4529702961444855, + 0.41052526235580444, + 0.6047000885009766 + ], + "joints": [ + 0.0031806379556655884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005448242649435997, + -0.08016198128461838, + 0.16226108372211456 + ], + "orientation": [ + 0.34085822105407715, + -0.7064711451530457, + 0.540418267250061, + 0.30440494418144226 + ], + "joints": [ + 0.0175141841173172 + ] + }, + "fine_grasp": { + "position": [ + 0.0051313722506165504, + -0.07655671238899231, + 0.16020125150680542 + ], + "orientation": [ + 0.34186723828315735, + -0.7115663290023804, + 0.5343940854072571, + 0.30203160643577576 + ], + "joints": [ + 0.00915507972240448 + ] + }, + "final_grasp": { + "position": [ + 0.0051313722506165504, + -0.07655671238899231, + 0.16020125150680542 + ], + "orientation": [ + 0.34186723828315735, + -0.7115663290023804, + 0.5343940854072571, + 0.30203160643577576 + ], + "joints": [ + 0.0007959753274917603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017232583835721016, + 0.03842693939805031, + 0.21553340554237366 + ], + "orientation": [ + 0.11086602509021759, + 0.71151202917099, + 0.6938005089759827, + -0.010009856894612312 + ], + "joints": [ + 0.016256090253591537 + ] + }, + "fine_grasp": { + "position": [ + -0.016759131103754044, + 0.03765145689249039, + 0.2116098403930664 + ], + "orientation": [ + 0.11405523866415024, + 0.7123037576675415, + 0.6924688816070557, + -0.010081266984343529 + ], + "joints": [ + 0.00664312019944191 + ] + }, + "final_grasp": { + "position": [ + -0.016759131103754044, + 0.03765145689249039, + 0.2116098403930664 + ], + "orientation": [ + 0.11405523866415024, + 0.7123037576675415, + 0.6924688816070557, + -0.010081266984343529 + ], + "joints": [ + -0.002969849854707718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018425608053803444, + -0.011493281461298466, + -0.23212003707885742 + ], + "orientation": [ + 0.6308415532112122, + 0.000887680274900049, + -0.13509374856948853, + -0.7640600204467773 + ], + "joints": [ + 0.01624043844640255 + ] + }, + "fine_grasp": { + "position": [ + 0.01868193782866001, + -0.010756542906165123, + -0.22846722602844238 + ], + "orientation": [ + 0.6306324005126953, + -0.0037121002096682787, + -0.13084739446640015, + -0.7649626731872559 + ], + "joints": [ + 0.00579155795276165 + ] + }, + "final_grasp": { + "position": [ + 0.01868193782866001, + -0.010756542906165123, + -0.22846722602844238 + ], + "orientation": [ + 0.6306324005126953, + -0.0037121002096682787, + -0.13084739446640015, + -0.7649626731872559 + ], + "joints": [ + -0.00465732254087925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007060866802930832, + 0.14007914066314697, + 0.10378991067409515 + ], + "orientation": [ + 0.4109577238559723, + 0.4848629832267761, + 0.559808075428009, + -0.5316356420516968 + ], + "joints": [ + 0.016613295301795006 + ] + }, + "fine_grasp": { + "position": [ + 0.00728624127805233, + 0.13581101596355438, + 0.10247747600078583 + ], + "orientation": [ + 0.4059803783893585, + 0.47981810569763184, + 0.5711872577667236, + -0.5279200077056885 + ], + "joints": [ + 0.010343967005610466 + ] + }, + "final_grasp": { + "position": [ + 0.00728624127805233, + 0.13581101596355438, + 0.10247747600078583 + ], + "orientation": [ + 0.4059803783893585, + 0.47981810569763184, + 0.5711872577667236, + -0.5279200077056885 + ], + "joints": [ + 0.004074638709425926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0024299367796629667, + 0.12281178683042526, + -0.1584901362657547 + ], + "orientation": [ + 0.587347686290741, + 0.30781522393226624, + -0.34292012453079224, + 0.6653406023979187 + ], + "joints": [ + 0.016174646094441414 + ] + }, + "fine_grasp": { + "position": [ + -0.0021627165842801332, + 0.11902537941932678, + -0.15625794231891632 + ], + "orientation": [ + 0.5870440006256104, + 0.30830585956573486, + -0.34127292037010193, + 0.6662280559539795 + ], + "joints": [ + 0.009487362578511238 + ] + }, + "final_grasp": { + "position": [ + -0.0021627165842801332, + 0.11902537941932678, + -0.15625794231891632 + ], + "orientation": [ + 0.5870440006256104, + 0.30830585956573486, + -0.34127292037010193, + 0.6662280559539795 + ], + "joints": [ + 0.0028000790625810623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043212249875068665, + 0.15156473219394684, + -0.007050028070807457 + ], + "orientation": [ + 0.48756179213523865, + 0.3908964693546295, + 0.6498367190361023, + -0.43266114592552185 + ], + "joints": [ + 0.023723317310214043 + ] + }, + "fine_grasp": { + "position": [ + -0.04201231524348259, + 0.14785946905612946, + -0.007293148897588253 + ], + "orientation": [ + 0.48874884843826294, + 0.38816916942596436, + 0.6492019295692444, + -0.43472525477409363 + ], + "joints": [ + 0.014486504718661308 + ] + }, + "final_grasp": { + "position": [ + -0.04201231524348259, + 0.14785946905612946, + -0.007293148897588253 + ], + "orientation": [ + 0.48874884843826294, + 0.38816916942596436, + 0.6492019295692444, + -0.43472525477409363 + ], + "joints": [ + 0.005249692127108574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07424366474151611, + 0.062423840165138245, + 0.16744095087051392 + ], + "orientation": [ + 0.11772359907627106, + 0.8808391094207764, + 0.22074995934963226, + -0.4019116163253784 + ], + "joints": [ + 0.016976552084088326 + ] + }, + "fine_grasp": { + "position": [ + 0.07114055007696152, + 0.060793858021497726, + 0.16527043282985687 + ], + "orientation": [ + 0.11891153454780579, + 0.8857322931289673, + 0.2100553810596466, + -0.39650365710258484 + ], + "joints": [ + 0.00819949246942997 + ] + }, + "final_grasp": { + "position": [ + 0.07114055007696152, + 0.060793858021497726, + 0.16527043282985687 + ], + "orientation": [ + 0.11891153454780579, + 0.8857322931289673, + 0.2100553810596466, + -0.39650365710258484 + ], + "joints": [ + -0.0005775671452283859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04969855770468712, + 0.10124241560697556, + -0.13852539658546448 + ], + "orientation": [ + 0.4537842273712158, + 0.47127941250801086, + -0.23851604759693146, + 0.7176946997642517 + ], + "joints": [ + 0.01665443740785122 + ] + }, + "fine_grasp": { + "position": [ + -0.04775148630142212, + 0.09800457209348679, + -0.1378631442785263 + ], + "orientation": [ + 0.4592495858669281, + 0.4576832056045532, + -0.23166824877262115, + 0.7252212166786194 + ], + "joints": [ + 0.009549198672175407 + ] + }, + "final_grasp": { + "position": [ + -0.04775148630142212, + 0.09800457209348679, + -0.1378631442785263 + ], + "orientation": [ + 0.4592495858669281, + 0.4576832056045532, + -0.23166824877262115, + 0.7252212166786194 + ], + "joints": [ + 0.0024439599364995956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05981142818927765, + -0.058010589331388474, + 0.17727965116500854 + ], + "orientation": [ + 0.16715911030769348, + -0.7728066444396973, + 0.4487107992172241, + 0.4165169894695282 + ], + "joints": [ + 0.015312997624278069 + ] + }, + "fine_grasp": { + "position": [ + 0.057821955531835556, + -0.055629145354032516, + 0.17492902278900146 + ], + "orientation": [ + 0.16412846744060516, + -0.7740375399589539, + 0.44957235455513, + 0.41450265049934387 + ], + "joints": [ + 0.004885015077888966 + ] + }, + "final_grasp": { + "position": [ + 0.057821955531835556, + -0.055629145354032516, + 0.17492902278900146 + ], + "orientation": [ + 0.16412846744060516, + -0.7740375399589539, + 0.44957235455513, + 0.41450265049934387 + ], + "joints": [ + -0.005542967468500137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017396461218595505, + 0.038276683539152145, + 0.21554185450077057 + ], + "orientation": [ + 0.11466536670923233, + 0.7121394872665405, + 0.6924934387207031, + -0.012725158594548702 + ], + "joints": [ + 0.016285602003335953 + ] + }, + "fine_grasp": { + "position": [ + -0.017017504200339317, + 0.03752461448311806, + 0.21164554357528687 + ], + "orientation": [ + 0.11523347347974777, + 0.7133042812347412, + 0.6912104487419128, + -0.01210399903357029 + ], + "joints": [ + 0.0062964726239442825 + ] + }, + "final_grasp": { + "position": [ + -0.017017504200339317, + 0.03752461448311806, + 0.21164554357528687 + ], + "orientation": [ + 0.11523347347974777, + 0.7133042812347412, + 0.6912104487419128, + -0.01210399903357029 + ], + "joints": [ + -0.0036926567554473877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001714527141302824, + -0.07817292958498001, + 0.1619645655155182 + ], + "orientation": [ + 0.3489772081375122, + -0.6936483383178711, + -0.556879460811615, + -0.2948765158653259 + ], + "joints": [ + 0.016124673187732697 + ] + }, + "fine_grasp": { + "position": [ + -0.0014985599555075169, + -0.0744323655962944, + 0.15979091823101044 + ], + "orientation": [ + 0.3462999165058136, + -0.7016523480415344, + -0.5500632524490356, + -0.2918747365474701 + ], + "joints": [ + 0.008601479232311249 + ] + }, + "final_grasp": { + "position": [ + -0.0014985599555075169, + -0.0744323655962944, + 0.15979091823101044 + ], + "orientation": [ + 0.3462999165058136, + -0.7016523480415344, + -0.5500632524490356, + -0.2918747365474701 + ], + "joints": [ + 0.001078285276889801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0059721991419792175, + -0.08216293156147003, + 0.16381029784679413 + ], + "orientation": [ + 0.3533037602901459, + -0.6998480558395386, + 0.538384199142456, + 0.30908191204071045 + ], + "joints": [ + 0.016234081238508224 + ] + }, + "fine_grasp": { + "position": [ + 0.005568358581513166, + -0.07853495329618454, + 0.16154281795024872 + ], + "orientation": [ + 0.3485747277736664, + -0.7074466943740845, + 0.5331287384033203, + 0.30624914169311523 + ], + "joints": [ + 0.008710887283086777 + ] + }, + "final_grasp": { + "position": [ + 0.005568358581513166, + -0.07853495329618454, + 0.16154281795024872 + ], + "orientation": [ + 0.3485747277736664, + -0.7074466943740845, + 0.5331287384033203, + 0.30624914169311523 + ], + "joints": [ + 0.001187693327665329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037315819412469864, + 0.13768531382083893, + 0.12147695571184158 + ], + "orientation": [ + 0.3334851562976837, + 0.6197996139526367, + 0.5279744267463684, + -0.47526732087135315 + ], + "joints": [ + 0.019485872238874435 + ] + }, + "fine_grasp": { + "position": [ + 0.03637935593724251, + 0.13383600115776062, + 0.11999383568763733 + ], + "orientation": [ + 0.3283937871456146, + 0.616838812828064, + 0.5338855385780334, + -0.47606053948402405 + ], + "joints": [ + 0.011544723063707352 + ] + }, + "final_grasp": { + "position": [ + 0.03637935593724251, + 0.13383600115776062, + 0.11999383568763733 + ], + "orientation": [ + 0.3283937871456146, + 0.616838812828064, + 0.5338855385780334, + -0.47606053948402405 + ], + "joints": [ + 0.003603573888540268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0003318715316709131, + -0.09855814278125763, + 0.11618900299072266 + ], + "orientation": [ + 0.45792385935783386, + -0.5708743929862976, + -0.5293037295341492, + -0.42923834919929504 + ], + "joints": [ + 0.015285557135939598 + ] + }, + "fine_grasp": { + "position": [ + -7.242579886224121e-05, + -0.09436368197202682, + 0.11548802256584167 + ], + "orientation": [ + 0.45404213666915894, + -0.5781960487365723, + -0.5258125066757202, + -0.42785078287124634 + ], + "joints": [ + 0.00776236318051815 + ] + }, + "final_grasp": { + "position": [ + -7.242579886224121e-05, + -0.09436368197202682, + 0.11548802256584167 + ], + "orientation": [ + 0.45404213666915894, + -0.5781960487365723, + -0.5258125066757202, + -0.42785078287124634 + ], + "joints": [ + 0.00023916922509670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01561059057712555, + 0.0733133852481842, + -0.19336235523223877 + ], + "orientation": [ + 0.5409384369850159, + 0.18582870066165924, + 0.1582641452550888, + -0.8048637509346008 + ], + "joints": [ + 0.01909952238202095 + ] + }, + "fine_grasp": { + "position": [ + 0.01484530046582222, + 0.0710425153374672, + -0.1899566501379013 + ], + "orientation": [ + 0.5408491492271423, + 0.18572701513767242, + 0.15744349360466003, + -0.8051081895828247 + ], + "joints": [ + 0.01074041798710823 + ] + }, + "final_grasp": { + "position": [ + 0.01484530046582222, + 0.0710425153374672, + -0.1899566501379013 + ], + "orientation": [ + 0.5408491492271423, + 0.18572701513767242, + 0.15744349360466003, + -0.8051081895828247 + ], + "joints": [ + 0.002381313592195511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00603977357968688, + -0.08017652481794357, + 0.1619194895029068 + ], + "orientation": [ + 0.34477850794792175, + -0.6967118382453918, + 0.5476363301277161, + 0.3095397353172302 + ], + "joints": [ + 0.01563902199268341 + ] + }, + "fine_grasp": { + "position": [ + 0.005604255013167858, + -0.07647518068552017, + 0.15971188247203827 + ], + "orientation": [ + 0.34132522344589233, + -0.7041754722595215, + 0.5413403511047363, + 0.3075462579727173 + ], + "joints": [ + 0.008533783257007599 + ] + }, + "final_grasp": { + "position": [ + 0.005604255013167858, + -0.07647518068552017, + 0.15971188247203827 + ], + "orientation": [ + 0.34132522344589233, + -0.7041754722595215, + 0.5413403511047363, + 0.3075462579727173 + ], + "joints": [ + 0.0014285445213317871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005710342898964882, + -0.07934199273586273, + 0.16140617430210114 + ], + "orientation": [ + 0.33686843514442444, + -0.7055482268333435, + 0.5435053706169128, + 0.3054882884025574 + ], + "joints": [ + 0.017407573759555817 + ] + }, + "fine_grasp": { + "position": [ + 0.005415701307356358, + -0.07571803778409958, + 0.15937577188014984 + ], + "orientation": [ + 0.338473379611969, + -0.7102271914482117, + 0.5376214981079102, + 0.30327561497688293 + ], + "joints": [ + 0.009048469364643097 + ] + }, + "final_grasp": { + "position": [ + 0.005415701307356358, + -0.07571803778409958, + 0.15937577188014984 + ], + "orientation": [ + 0.338473379611969, + -0.7102271914482117, + 0.5376214981079102, + 0.30327561497688293 + ], + "joints": [ + 0.0006893649697303772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01486541423946619, + -0.09973853826522827, + 0.13600802421569824 + ], + "orientation": [ + 0.3921796679496765, + -0.5594503283500671, + 0.6277548670768738, + 0.373007208108902 + ], + "joints": [ + 0.018883833661675453 + ] + }, + "fine_grasp": { + "position": [ + -0.01461401954293251, + -0.09615965932607651, + 0.13443930447101593 + ], + "orientation": [ + 0.39035993814468384, + -0.5651782155036926, + 0.6265655755996704, + 0.36825013160705566 + ], + "joints": [ + 0.009270863607525826 + ] + }, + "final_grasp": { + "position": [ + -0.01461401954293251, + -0.09615965932607651, + 0.13443930447101593 + ], + "orientation": [ + 0.39035993814468384, + -0.5651782155036926, + 0.6265655755996704, + 0.36825013160705566 + ], + "joints": [ + -0.0003421064466238022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026434969156980515, + -0.08737563341856003, + -0.14303693175315857 + ], + "orientation": [ + 0.6527419686317444, + -0.33677318692207336, + 0.43940407037734985, + 0.5171418190002441 + ], + "joints": [ + 0.014798309653997421 + ] + }, + "fine_grasp": { + "position": [ + -0.025518644601106644, + -0.08361711353063583, + -0.141696035861969 + ], + "orientation": [ + 0.652348518371582, + -0.33729493618011475, + 0.43970951437950134, + 0.5170389413833618 + ], + "joints": [ + 0.0060212500393390656 + ] + }, + "final_grasp": { + "position": [ + -0.025518644601106644, + -0.08361711353063583, + -0.141696035861969 + ], + "orientation": [ + 0.652348518371582, + -0.33729493618011475, + 0.43970951437950134, + 0.5170389413833618 + ], + "joints": [ + -0.00275580957531929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06126345321536064, + 0.08562317490577698, + -0.16827012598514557 + ], + "orientation": [ + 0.3660590648651123, + 0.40145474672317505, + -0.17839720845222473, + 0.8203713893890381 + ], + "joints": [ + 0.015540596097707748 + ] + }, + "fine_grasp": { + "position": [ + -0.05892898142337799, + 0.08304371684789658, + -0.1661737710237503 + ], + "orientation": [ + 0.3655233383178711, + 0.4022464156150818, + -0.17884452641010284, + 0.820125162601471 + ], + "joints": [ + 0.006345581263303757 + ] + }, + "final_grasp": { + "position": [ + -0.05892898142337799, + 0.08304371684789658, + -0.1661737710237503 + ], + "orientation": [ + 0.3655233383178711, + 0.4022464156150818, + -0.17884452641010284, + 0.820125162601471 + ], + "joints": [ + -0.002849433571100235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034729793667793274, + 0.10921449214220047, + -0.15292422473430634 + ], + "orientation": [ + 0.7152954339981079, + 0.2792219817638397, + -0.4040595293045044, + 0.49711495637893677 + ], + "joints": [ + 0.015610052272677422 + ] + }, + "fine_grasp": { + "position": [ + 0.03381967172026634, + 0.10550296306610107, + -0.1510559320449829 + ], + "orientation": [ + 0.7148609161376953, + 0.2778899371623993, + -0.399518758058548, + 0.5021314024925232 + ], + "joints": [ + 0.008086858317255974 + ] + }, + "final_grasp": { + "position": [ + 0.03381967172026634, + 0.10550296306610107, + -0.1510559320449829 + ], + "orientation": [ + 0.7148609161376953, + 0.2778899371623993, + -0.399518758058548, + 0.5021314024925232 + ], + "joints": [ + 0.0005636643618345261 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0610511377453804, + 0.07212155312299728, + 0.17922817170619965 + ], + "orientation": [ + 0.10695338249206543, + 0.8221368789672852, + 0.4085615277290344, + -0.38174504041671753 + ], + "joints": [ + 0.014855749905109406 + ] + }, + "fine_grasp": { + "position": [ + 0.05875656381249428, + 0.0698617473244667, + 0.17676058411598206 + ], + "orientation": [ + 0.10078302025794983, + 0.8187109231948853, + 0.41824111342430115, + -0.3803017735481262 + ], + "joints": [ + 0.00607869029045105 + ] + }, + "final_grasp": { + "position": [ + 0.05875656381249428, + 0.0698617473244667, + 0.17676058411598206 + ], + "orientation": [ + 0.10078302025794983, + 0.8187109231948853, + 0.41824111342430115, + -0.3803017735481262 + ], + "joints": [ + -0.002698369324207306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06802888214588165, + -0.04022110626101494, + 0.17762476205825806 + ], + "orientation": [ + 0.37281128764152527, + -0.27239853143692017, + 0.8726933598518372, + 0.1587992161512375 + ], + "joints": [ + 0.015973027795553207 + ] + }, + "fine_grasp": { + "position": [ + -0.06570816785097122, + -0.03819386288523674, + 0.17524966597557068 + ], + "orientation": [ + 0.3744889199733734, + -0.26970174908638, + 0.8721407055854797, + 0.1624491959810257 + ], + "joints": [ + 0.005942102521657944 + ] + }, + "final_grasp": { + "position": [ + -0.06570816785097122, + -0.03819386288523674, + 0.17524966597557068 + ], + "orientation": [ + 0.3744889199733734, + -0.26970174908638, + 0.8721407055854797, + 0.1624491959810257 + ], + "joints": [ + -0.00408882275223732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028389209881424904, + -0.05401882156729698, + -0.1803591251373291 + ], + "orientation": [ + 0.5029842853546143, + -0.2981832027435303, + -0.21253694593906403, + -0.7828931212425232 + ], + "joints": [ + 0.016634147614240646 + ] + }, + "fine_grasp": { + "position": [ + -0.026843922212719917, + -0.05155951902270317, + -0.1773368865251541 + ], + "orientation": [ + 0.5014792084693909, + -0.2962195873260498, + -0.20847950875759125, + -0.7856901288032532 + ], + "joints": [ + 0.008275043219327927 + ] + }, + "final_grasp": { + "position": [ + -0.026843922212719917, + -0.05155951902270317, + -0.1773368865251541 + ], + "orientation": [ + 0.5014792084693909, + -0.2962195873260498, + -0.20847950875759125, + -0.7856901288032532 + ], + "joints": [ + -8.406117558479309e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08335378766059875, + -0.030441971495747566, + 0.13301913440227509 + ], + "orientation": [ + 0.2299218326807022, + -0.87733393907547, + -0.019738050177693367, + 0.42075115442276 + ], + "joints": [ + 0.027102790772914886 + ] + }, + "fine_grasp": { + "position": [ + 0.08032222092151642, + -0.02893410250544548, + 0.13166143000125885 + ], + "orientation": [ + 0.24199643731117249, + -0.8789445757865906, + -0.03718050569295883, + 0.4092820882797241 + ], + "joints": [ + 0.01832573115825653 + ] + }, + "final_grasp": { + "position": [ + 0.08032222092151642, + -0.02893410250544548, + 0.13166143000125885 + ], + "orientation": [ + 0.24199643731117249, + -0.8789445757865906, + -0.03718050569295883, + 0.4092820882797241 + ], + "joints": [ + 0.009548671543598175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06119409576058388, + 0.07230927795171738, + 0.17982250452041626 + ], + "orientation": [ + 0.10707158595323563, + 0.8233455419540405, + 0.4076794385910034, + -0.3800462782382965 + ], + "joints": [ + 0.015074442140758038 + ] + }, + "fine_grasp": { + "position": [ + 0.0588710643351078, + 0.07004263997077942, + 0.17738834023475647 + ], + "orientation": [ + 0.10095784813165665, + 0.8198851943016052, + 0.4171261191368103, + -0.3789478540420532 + ], + "joints": [ + 0.005879427306354046 + ] + }, + "final_grasp": { + "position": [ + 0.0588710643351078, + 0.07004263997077942, + 0.17738834023475647 + ], + "orientation": [ + 0.10095784813165665, + 0.8198851943016052, + 0.4171261191368103, + -0.3789478540420532 + ], + "joints": [ + -0.003315587528049946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0828784853219986, + -0.029665948823094368, + 0.1331474930047989 + ], + "orientation": [ + 0.22494040429592133, + -0.8779727816581726, + -0.013930859975516796, + 0.4223405122756958 + ], + "joints": [ + 0.026639681309461594 + ] + }, + "fine_grasp": { + "position": [ + 0.07990680634975433, + -0.02820947952568531, + 0.13191838562488556 + ], + "orientation": [ + 0.23769834637641907, + -0.8798153400421143, + -0.03277955576777458, + 0.41030463576316833 + ], + "joints": [ + 0.017862621694803238 + ] + }, + "final_grasp": { + "position": [ + 0.07990680634975433, + -0.02820947952568531, + 0.13191838562488556 + ], + "orientation": [ + 0.23769834637641907, + -0.8798153400421143, + -0.03277955576777458, + 0.41030463576316833 + ], + "joints": [ + 0.009085562080144882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032272130250930786, + 0.09469694644212723, + -0.17255836725234985 + ], + "orientation": [ + 0.389153391122818, + 0.30575108528137207, + -0.2683045268058777, + 0.8264917135238647 + ], + "joints": [ + 0.017109854146838188 + ] + }, + "fine_grasp": { + "position": [ + -0.03067212924361229, + 0.09204273670911789, + -0.16970399022102356 + ], + "orientation": [ + 0.38637346029281616, + 0.30156150460243225, + -0.2646803557872772, + 0.8304941058158875 + ], + "joints": [ + 0.009168704971671104 + ] + }, + "final_grasp": { + "position": [ + -0.03067212924361229, + 0.09204273670911789, + -0.16970399022102356 + ], + "orientation": [ + 0.38637346029281616, + 0.30156150460243225, + -0.2646803557872772, + 0.8304941058158875 + ], + "joints": [ + 0.0012275557965040207 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052335698157548904, + -0.06888028979301453, + 0.14866214990615845 + ], + "orientation": [ + 0.434282511472702, + -0.439134418964386, + 0.7496417760848999, + 0.23790103197097778 + ], + "joints": [ + 0.01664804480969906 + ] + }, + "fine_grasp": { + "position": [ + -0.05024482682347298, + -0.06549400836229324, + 0.14686983823776245 + ], + "orientation": [ + 0.42599138617515564, + -0.44175609946250916, + 0.7544087171554565, + 0.2329169660806656 + ], + "joints": [ + 0.009939862415194511 + ] + }, + "final_grasp": { + "position": [ + -0.05024482682347298, + -0.06549400836229324, + 0.14686983823776245 + ], + "orientation": [ + 0.42599138617515564, + -0.44175609946250916, + 0.7544087171554565, + 0.2329169660806656 + ], + "joints": [ + 0.0032316800206899643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06086434796452522, + 0.07228288799524307, + 0.1794210821390152 + ], + "orientation": [ + 0.10731333494186401, + 0.8237576484680176, + 0.4080558121204376, + -0.37867867946624756 + ], + "joints": [ + 0.015079338103532791 + ] + }, + "fine_grasp": { + "position": [ + 0.05854026973247528, + 0.070065937936306, + 0.17693963646888733 + ], + "orientation": [ + 0.10237360000610352, + 0.8208761215209961, + 0.41596266627311707, + -0.3776998817920685 + ], + "joints": [ + 0.006302278488874435 + ] + }, + "final_grasp": { + "position": [ + 0.05854026973247528, + 0.070065937936306, + 0.17693963646888733 + ], + "orientation": [ + 0.10237360000610352, + 0.8208761215209961, + 0.41596266627311707, + -0.3776998817920685 + ], + "joints": [ + -0.0024747811257839203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06407572329044342, + 0.03283964842557907, + -0.1836918294429779 + ], + "orientation": [ + 0.92530757188797, + 0.014094226062297821, + -0.334079772233963, + 0.1788797229528427 + ], + "joints": [ + 0.015816714614629745 + ] + }, + "fine_grasp": { + "position": [ + 0.0616140179336071, + 0.03139707073569298, + -0.1810840666294098 + ], + "orientation": [ + 0.9274783730506897, + 0.012020331807434559, + -0.3232511281967163, + 0.18747787177562714 + ], + "joints": [ + 0.007875565439462662 + ] + }, + "final_grasp": { + "position": [ + 0.0616140179336071, + 0.03139707073569298, + -0.1810840666294098 + ], + "orientation": [ + 0.9274783730506897, + 0.012020331807434559, + -0.3232511281967163, + 0.18747787177562714 + ], + "joints": [ + -6.5583735704422e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004586249589920044, + 0.10158681124448776, + -0.17885439097881317 + ], + "orientation": [ + 0.7143046855926514, + 0.29033616185188293, + 0.2648264169692993, + -0.5790861248970032 + ], + "joints": [ + 0.015268217772245407 + ] + }, + "fine_grasp": { + "position": [ + -0.004515604116022587, + 0.09831017255783081, + -0.17651450634002686 + ], + "orientation": [ + 0.7144157290458679, + 0.29201623797416687, + 0.2641187906265259, + -0.578427255153656 + ], + "joints": [ + 0.006073202937841415 + ] + }, + "final_grasp": { + "position": [ + -0.004515604116022587, + 0.09831017255783081, + -0.17651450634002686 + ], + "orientation": [ + 0.7144157290458679, + 0.29201623797416687, + 0.2641187906265259, + -0.578427255153656 + ], + "joints": [ + -0.0031218118965625763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060290127992630005, + 0.07169762253761292, + 0.17924275994300842 + ], + "orientation": [ + 0.11020141839981079, + 0.8230964541435242, + 0.4046354591846466, + -0.38293349742889404 + ], + "joints": [ + 0.015122144483029842 + ] + }, + "fine_grasp": { + "position": [ + 0.057942744344472885, + 0.06943619251251221, + 0.17683809995651245 + ], + "orientation": [ + 0.10330568253993988, + 0.8204149603843689, + 0.4151882827281952, + -0.37929651141166687 + ], + "joints": [ + 0.005927129648625851 + ] + }, + "final_grasp": { + "position": [ + 0.057942744344472885, + 0.06943619251251221, + 0.17683809995651245 + ], + "orientation": [ + 0.10330568253993988, + 0.8204149603843689, + 0.4151882827281952, + -0.37929651141166687 + ], + "joints": [ + -0.003267885185778141 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014532123692333698, + 0.06905748695135117, + 0.19411584734916687 + ], + "orientation": [ + 0.1811196655035019, + 0.4774112403392792, + 0.8433866500854492, + -0.16725178062915802 + ], + "joints": [ + 0.017954610288143158 + ] + }, + "fine_grasp": { + "position": [ + -0.01373609621077776, + 0.06678883731365204, + 0.19090181589126587 + ], + "orientation": [ + 0.16970723867416382, + 0.4567375183105469, + 0.8570778965950012, + -0.16735531389713287 + ], + "joints": [ + 0.008759595453739166 + ] + }, + "final_grasp": { + "position": [ + -0.01373609621077776, + 0.06678883731365204, + 0.19090181589126587 + ], + "orientation": [ + 0.16970723867416382, + 0.4567375183105469, + 0.8570778965950012, + -0.16735531389713287 + ], + "joints": [ + -0.00043541938066482544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09481783211231232, + 0.06675828993320465, + 0.1618184596300125 + ], + "orientation": [ + 0.4881327748298645, + 0.2609086334705353, + 0.8284270763397217, + -0.0858006477355957 + ], + "joints": [ + 0.015812767669558525 + ] + }, + "fine_grasp": { + "position": [ + -0.09172111004590988, + 0.06508351117372513, + 0.1600460708141327 + ], + "orientation": [ + 0.4905884861946106, + 0.26126113533973694, + 0.8267896175384521, + -0.08651264011859894 + ], + "joints": [ + 0.004987727850675583 + ] + }, + "final_grasp": { + "position": [ + -0.09172111004590988, + 0.06508351117372513, + 0.1600460708141327 + ], + "orientation": [ + 0.4905884861946106, + 0.26126113533973694, + 0.8267896175384521, + -0.08651264011859894 + ], + "joints": [ + -0.005837311968207359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016355358064174652, + 0.07354974001646042, + -0.19459326565265656 + ], + "orientation": [ + 0.5427274107933044, + 0.18470288813114166, + 0.15983624756336212, + -0.8036069273948669 + ], + "joints": [ + 0.017702903598546982 + ] + }, + "fine_grasp": { + "position": [ + 0.015508195385336876, + 0.07136553525924683, + -0.1910201609134674 + ], + "orientation": [ + 0.5426045656204224, + 0.18479786813259125, + 0.15821774303913116, + -0.8039882779121399 + ], + "joints": [ + 0.00978265330195427 + ] + }, + "final_grasp": { + "position": [ + 0.015508195385336876, + 0.07136553525924683, + -0.1910201609134674 + ], + "orientation": [ + 0.5426045656204224, + 0.18479786813259125, + 0.15821774303913116, + -0.8039882779121399 + ], + "joints": [ + 0.001862403005361557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12739622592926025, + -0.037954069674015045, + 0.012501029297709465 + ], + "orientation": [ + 0.6454458832740784, + -0.16849960386753082, + 0.7342178821563721, + 0.12622058391571045 + ], + "joints": [ + 0.02330652065575123 + ] + }, + "fine_grasp": { + "position": [ + -0.12395212054252625, + -0.03631817549467087, + 0.012256692163646221 + ], + "orientation": [ + 0.6472403407096863, + -0.16789771616458893, + 0.7327864170074463, + 0.12615202367305756 + ], + "joints": [ + 0.014445865526795387 + ] + }, + "final_grasp": { + "position": [ + -0.12395212054252625, + -0.03631817549467087, + 0.012256692163646221 + ], + "orientation": [ + 0.6472403407096863, + -0.16789771616458893, + 0.7327864170074463, + 0.12615202367305756 + ], + "joints": [ + 0.005585210397839546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04248648136854172, + 0.13896293938159943, + 0.021760134026408195 + ], + "orientation": [ + 0.47966375946998596, + 0.6027985215187073, + 0.3369045555591583, + -0.5413426756858826 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + 0.041096363216638565, + 0.1352965384721756, + 0.021861737594008446 + ], + "orientation": [ + 0.4819110929965973, + 0.6042793393135071, + 0.33476120233535767, + -0.5390205383300781 + ], + "joints": [ + 0.019322581589221954 + ] + }, + "final_grasp": { + "position": [ + 0.041096363216638565, + 0.1352965384721756, + 0.021861737594008446 + ], + "orientation": [ + 0.4819110929965973, + 0.6042793393135071, + 0.33476120233535767, + -0.5390205383300781 + ], + "joints": [ + 0.009688712656497955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11801193654537201, + 0.07856228202581406, + -0.04427017644047737 + ], + "orientation": [ + 0.08358848094940186, + 0.6516546010971069, + -0.20048557221889496, + 0.7267495393753052 + ], + "joints": [ + 0.032800253480672836 + ] + }, + "fine_grasp": { + "position": [ + -0.11571917682886124, + 0.07542311400175095, + -0.04426262900233269 + ], + "orientation": [ + 0.09742774814367294, + 0.6476321220397949, + -0.2182324230670929, + 0.7235020995140076 + ], + "joints": [ + 0.01840170845389366 + ] + }, + "final_grasp": { + "position": [ + -0.11571917682886124, + 0.07542311400175095, + -0.04426262900233269 + ], + "orientation": [ + 0.09742774814367294, + 0.6476321220397949, + -0.2182324230670929, + 0.7235020995140076 + ], + "joints": [ + 0.004003163427114487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006328846327960491, + -0.05352519080042839, + 0.18027302622795105 + ], + "orientation": [ + 0.2627696692943573, + -0.6819581985473633, + 0.6479085087776184, + 0.214708149433136 + ], + "joints": [ + 0.01689782738685608 + ] + }, + "fine_grasp": { + "position": [ + -0.0063008032739162445, + -0.04998405650258064, + 0.17823101580142975 + ], + "orientation": [ + 0.2602798342704773, + -0.7019985914230347, + 0.6306216716766357, + 0.20437420904636383 + ], + "joints": [ + 0.008935779333114624 + ] + }, + "final_grasp": { + "position": [ + -0.0063008032739162445, + -0.04998405650258064, + 0.17823101580142975 + ], + "orientation": [ + 0.2602798342704773, + -0.7019985914230347, + 0.6306216716766357, + 0.20437420904636383 + ], + "joints": [ + 0.0009737312793731689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04964125156402588, + 0.05049310252070427, + -0.20479629933834076 + ], + "orientation": [ + 0.8354012966156006, + 0.01613214612007141, + 0.2420557141304016, + -0.4932072162628174 + ], + "joints": [ + 0.01733696646988392 + ] + }, + "fine_grasp": { + "position": [ + -0.047975804656744, + 0.049033474177122116, + -0.20136025547981262 + ], + "orientation": [ + 0.834719181060791, + 0.016770990565419197, + 0.2424827367067337, + -0.49413028359413147 + ], + "joints": [ + 0.008559906855225563 + ] + }, + "final_grasp": { + "position": [ + -0.047975804656744, + 0.049033474177122116, + -0.20136025547981262 + ], + "orientation": [ + 0.834719181060791, + 0.016770990565419197, + 0.2424827367067337, + -0.49413028359413147 + ], + "joints": [ + -0.00021715275943279266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004580854903906584, + -0.04384174942970276, + -0.193304643034935 + ], + "orientation": [ + 0.7313581109046936, + -0.21484167873859406, + -0.20959383249282837, + -0.6123960614204407 + ], + "joints": [ + 0.014911241829395294 + ] + }, + "fine_grasp": { + "position": [ + 0.004118004813790321, + -0.04148685187101364, + -0.19111879169940948 + ], + "orientation": [ + 0.7318462133407593, + -0.21216461062431335, + -0.20663438737392426, + -0.6137503981590271 + ], + "joints": [ + 0.005737124942243099 + ] + }, + "final_grasp": { + "position": [ + 0.004118004813790321, + -0.04148685187101364, + -0.19111879169940948 + ], + "orientation": [ + 0.7318462133407593, + -0.21216461062431335, + -0.20663438737392426, + -0.6137503981590271 + ], + "joints": [ + -0.0034369919449090958 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 299 + } +} \ No newline at end of file diff --git a/102_roller_1/Object.usd b/102_roller_1/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..522eb13eaa9d8042e23446189246608c2800a45f --- /dev/null +++ b/102_roller_1/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:482a758f4b89b07d0c1683345e037f774223b0e27958d6b3ee7d6cc8fae39c6a +size 239027 diff --git a/106_skillet_1/Annotation/dex1_1_grasp_pose.json b/106_skillet_1/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..0cb0a4b32bfa2fb51398fb2120a5b401b3f3fab5 --- /dev/null +++ b/106_skillet_1/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,218 @@ +{ + "type": "106_skillet_1", + "bottom_center": [ + 1.0851770639419556e-05, + 0.022371510043740273, + -0.13298851251602173 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.10621777176856995, + 0.09280034154653549, + -0.10778023302555084 + ], + "orientation": [ + 0.37470728158950806, + -0.12728887796401978, + -0.3077514171600342, + -0.8652637004852295 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.1030024066567421, + 0.09124619513750076, + -0.10405460000038147 + ], + "orientation": [ + 0.3734138309955597, + -0.12308738380670547, + -0.31494560837745667, + -0.8638408780097961 + ], + "joints": [ + -0.01736956462264061 + ] + }, + "final_grasp": { + "position": [ + -0.1030024066567421, + 0.09124619513750076, + -0.10405460000038147 + ], + "orientation": [ + 0.3734138309955597, + -0.12308738380670547, + -0.31494560837745667, + -0.8638408780097961 + ], + "joints": [ + -0.014739129692316055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0026109786704182625, + 0.15577411651611328, + 0.05613257363438606 + ], + "orientation": [ + 0.1200312077999115, + 0.9148419499397278, + -0.1158454567193985, + -0.36774539947509766 + ], + "joints": [ + 0.00122966303024441 + ] + }, + "fine_grasp": { + "position": [ + -0.002501673996448517, + 0.1616869419813156, + 0.055544525384902954 + ], + "orientation": [ + 0.13477684557437897, + 0.9212386012077332, + -0.10211178660392761, + -0.3503252863883972 + ], + "joints": [ + 0.0040460797026753426 + ] + }, + "final_grasp": { + "position": [ + -0.002501673996448517, + 0.1616869419813156, + 0.055544525384902954 + ], + "orientation": [ + 0.13477684557437897, + 0.9212386012077332, + -0.10211178660392761, + -0.3503252863883972 + ], + "joints": [ + 0.006862496491521597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1292041838169098, + 0.0005555452662520111, + -0.13604407012462616 + ], + "orientation": [ + 0.4606136381626129, + 0.5630662441253662, + 0.6378090381622314, + -0.25296464562416077 + ], + "joints": [ + -0.012335209175944328 + ] + }, + "fine_grasp": { + "position": [ + -0.12883131206035614, + 0.0025673750787973404, + -0.1339171677827835 + ], + "orientation": [ + 0.4682122766971588, + 0.570574939250946, + 0.6335221529006958, + -0.23210158944129944 + ], + "joints": [ + -0.006968073546886444 + ] + }, + "final_grasp": { + "position": [ + -0.12883131206035614, + 0.0025673750787973404, + -0.1339171677827835 + ], + "orientation": [ + 0.4682122766971588, + 0.570574939250946, + 0.6335221529006958, + -0.23210158944129944 + ], + "joints": [ + -0.0016009379178285599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011544108390808105, + 0.048733387142419815, + -0.2227907031774521 + ], + "orientation": [ + 0.46140995621681213, + 0.4819737672805786, + -0.4983256161212921, + -0.5536007285118103 + ], + "joints": [ + 0.007233580574393272 + ] + }, + "fine_grasp": { + "position": [ + -0.01080990582704544, + 0.04819102585315704, + -0.21951384842395782 + ], + "orientation": [ + 0.4622407555580139, + 0.47983869910240173, + -0.4924435317516327, + -0.5599890351295471 + ], + "joints": [ + 0.011537918820977211 + ] + }, + "final_grasp": { + "position": [ + -0.01080990582704544, + 0.04819102585315704, + -0.21951384842395782 + ], + "orientation": [ + 0.4622407555580139, + 0.47983869910240173, + -0.4924435317516327, + -0.5599890351295471 + ], + "joints": [ + 0.01584225706756115 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2025, + "num_passed": 4 + } +} \ No newline at end of file diff --git a/106_skillet_1/Annotation/piper_grasp_pose.json b/106_skillet_1/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..5b51a7108ce904f1f34c6da70b83655b7c3917ef --- /dev/null +++ b/106_skillet_1/Annotation/piper_grasp_pose.json @@ -0,0 +1,3768 @@ +{ + "type": "106_skillet_1", + "bottom_center": [ + 1.0851770639419556e-05, + 0.022371510043740273, + -0.13298851251602173 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.11399836093187332, + 0.034910693764686584, + -0.11277693510055542 + ], + "orientation": [ + 0.7966600060462952, + 0.08298701792955399, + -0.5847108960151672, + -0.1286829710006714 + ], + "joints": [ + 0.014906803146004677 + ] + }, + "fine_grasp": { + "position": [ + 0.10989832878112793, + 0.035058844834566116, + -0.11235041916370392 + ], + "orientation": [ + 0.7932956218719482, + 0.08580248057842255, + -0.5883055329322815, + -0.1312122792005539 + ], + "joints": [ + 0.006129743531346321 + ] + }, + "final_grasp": { + "position": [ + 0.10989832878112793, + 0.035058844834566116, + -0.11235041916370392 + ], + "orientation": [ + 0.7932956218719482, + 0.08580248057842255, + -0.5883055329322815, + -0.1312122792005539 + ], + "joints": [ + -0.0026473160833120346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0053410311229527, + 0.04763567075133324, + -0.23784703016281128 + ], + "orientation": [ + 0.04934481903910637, + 0.019268179312348366, + 0.03583375737071037, + -0.9979527592658997 + ], + "joints": [ + 0.014211133122444153 + ] + }, + "fine_grasp": { + "position": [ + 0.004840278998017311, + 0.047151584178209305, + -0.23391686379909515 + ], + "orientation": [ + 0.05259229615330696, + 0.02133171260356903, + 0.035544827580451965, + -0.9977552890777588 + ], + "joints": [ + 0.005016118288040161 + ] + }, + "final_grasp": { + "position": [ + 0.004840278998017311, + 0.047151584178209305, + -0.23391686379909515 + ], + "orientation": [ + 0.05259229615330696, + 0.02133171260356903, + 0.035544827580451965, + -0.9977552890777588 + ], + "joints": [ + -0.004178896546363831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04964089021086693, + 0.04116833582520485, + -0.22513392567634583 + ], + "orientation": [ + 0.06383912265300751, + -0.16315065324306488, + -0.022560197860002518, + 0.9842751622200012 + ], + "joints": [ + 0.01437503844499588 + ] + }, + "fine_grasp": { + "position": [ + 0.04670881852507591, + 0.041294850409030914, + -0.22254157066345215 + ], + "orientation": [ + 0.06471489369869232, + -0.17708413302898407, + -0.02150166779756546, + 0.9818302989006042 + ], + "joints": [ + 0.004782966338098049 + ] + }, + "final_grasp": { + "position": [ + 0.04670881852507591, + 0.041294850409030914, + -0.22254157066345215 + ], + "orientation": [ + 0.06471489369869232, + -0.17708413302898407, + -0.02150166779756546, + 0.9818302989006042 + ], + "joints": [ + -0.004809105768799782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007943285629153252, + 0.035910122096538544, + -0.23364581167697906 + ], + "orientation": [ + 0.059172388166189194, + -0.03369494900107384, + 0.009606707841157913, + 0.997632622718811 + ], + "joints": [ + 0.014942275360226631 + ] + }, + "fine_grasp": { + "position": [ + 0.008051627315580845, + 0.03572559729218483, + -0.2298261672258377 + ], + "orientation": [ + 0.0670887902379036, + -0.032552119344472885, + 0.012069226242601871, + 0.9971428513526917 + ], + "joints": [ + 0.0057472605258226395 + ] + }, + "final_grasp": { + "position": [ + 0.008051627315580845, + 0.03572559729218483, + -0.2298261672258377 + ], + "orientation": [ + 0.0670887902379036, + -0.032552119344472885, + 0.012069226242601871, + 0.9971428513526917 + ], + "joints": [ + -0.0034477543085813522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1005343645811081, + 0.048221807926893234, + -0.20203045010566711 + ], + "orientation": [ + 0.9222885966300964, + 0.024087730795145035, + -0.3810221254825592, + 0.0602140948176384 + ], + "joints": [ + 0.015628496184945107 + ] + }, + "fine_grasp": { + "position": [ + 0.09704654663801193, + 0.04846258461475372, + -0.20068250596523285 + ], + "orientation": [ + 0.9184081554412842, + 0.018836848437786102, + -0.3910221755504608, + 0.0572139210999012 + ], + "joints": [ + 0.004782558418810368 + ] + }, + "final_grasp": { + "position": [ + 0.09704654663801193, + 0.04846258461475372, + -0.20068250596523285 + ], + "orientation": [ + 0.9184081554412842, + 0.018836848437786102, + -0.3910221755504608, + 0.0572139210999012 + ], + "joints": [ + -0.006063379347324371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09925196319818497, + 0.047496434301137924, + -0.20124009251594543 + ], + "orientation": [ + 0.920913815498352, + 0.022347403690218925, + -0.384622722864151, + 0.05902275815606117 + ], + "joints": [ + 0.015996694564819336 + ] + }, + "fine_grasp": { + "position": [ + 0.09567736834287643, + 0.047797344624996185, + -0.1998138576745987 + ], + "orientation": [ + 0.9171416759490967, + 0.016543593257665634, + -0.3942960202693939, + 0.05574974790215492 + ], + "joints": [ + 0.004795495420694351 + ] + }, + "final_grasp": { + "position": [ + 0.09567736834287643, + 0.047797344624996185, + -0.1998138576745987 + ], + "orientation": [ + 0.9171416759490967, + 0.016543593257665634, + -0.3942960202693939, + 0.05574974790215492 + ], + "joints": [ + -0.0064057037234306335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05763573944568634, + 0.036616403609514236, + -0.22943785786628723 + ], + "orientation": [ + 0.025131160393357277, + 0.23979943990707397, + -0.028828240931034088, + -0.9700688123703003 + ], + "joints": [ + 0.015699347481131554 + ] + }, + "fine_grasp": { + "position": [ + 0.05628161132335663, + 0.035843625664711, + -0.2263159155845642 + ], + "orientation": [ + 0.026946665719151497, + 0.2372754067182541, + -0.023847047239542007, + -0.9707756638526917 + ], + "joints": [ + 0.004059295170009136 + ] + }, + "final_grasp": { + "position": [ + 0.05628161132335663, + 0.035843625664711, + -0.2263159155845642 + ], + "orientation": [ + 0.026946665719151497, + 0.2372754067182541, + -0.023847047239542007, + -0.9707756638526917 + ], + "joints": [ + -0.007580757141113281 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046917904168367386, + -0.052545707672834396, + -0.14466099441051483 + ], + "orientation": [ + 0.38609838485717773, + -0.40989577770233154, + -0.3062673509120941, + -0.7675374746322632 + ], + "joints": [ + 0.016593225300312042 + ] + }, + "fine_grasp": { + "position": [ + -0.044926177710294724, + -0.049038808792829514, + -0.14378201961517334 + ], + "orientation": [ + 0.380731999874115, + -0.4100693464279175, + -0.30970749258995056, + -0.7687441110610962 + ], + "joints": [ + 0.008234120905399323 + ] + }, + "final_grasp": { + "position": [ + -0.044926177710294724, + -0.049038808792829514, + -0.14378201961517334 + ], + "orientation": [ + 0.380731999874115, + -0.4100693464279175, + -0.30970749258995056, + -0.7687441110610962 + ], + "joints": [ + -0.00012498348951339722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06927405297756195, + 0.140143021941185, + -0.16165123879909515 + ], + "orientation": [ + 0.7777284979820251, + 0.2864609360694885, + 0.455610990524292, + -0.32480308413505554 + ], + "joints": [ + 0.016192903742194176 + ] + }, + "fine_grasp": { + "position": [ + -0.06717047095298767, + 0.13695327937602997, + -0.1610116958618164 + ], + "orientation": [ + 0.7728469371795654, + 0.29242393374443054, + 0.4603138864040375, + -0.32451027631759644 + ], + "joints": [ + 0.006956093013286591 + ] + }, + "final_grasp": { + "position": [ + -0.06717047095298767, + 0.13695327937602997, + -0.1610116958618164 + ], + "orientation": [ + 0.7728469371795654, + 0.29242393374443054, + 0.4603138864040375, + -0.32451027631759644 + ], + "joints": [ + -0.0022807177156209946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05722028762102127, + -0.06638828665018082, + -0.10594786703586578 + ], + "orientation": [ + 0.668700098991394, + -0.35761192440986633, + 0.5415730476379395, + 0.3628396689891815 + ], + "joints": [ + 0.016315743327140808 + ] + }, + "fine_grasp": { + "position": [ + -0.05519142374396324, + -0.06290773302316666, + -0.10568428039550781 + ], + "orientation": [ + 0.6683351993560791, + -0.35866034030914307, + 0.5433546900749207, + 0.35980066657066345 + ], + "joints": [ + 0.007120728492736816 + ] + }, + "final_grasp": { + "position": [ + -0.05519142374396324, + -0.06290773302316666, + -0.10568428039550781 + ], + "orientation": [ + 0.6683351993560791, + -0.35866034030914307, + 0.5433546900749207, + 0.35980066657066345 + ], + "joints": [ + -0.0020742863416671753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12697653472423553, + 0.08855143189430237, + 0.1605595052242279 + ], + "orientation": [ + 0.23698075115680695, + 0.8332251906394958, + 0.005098000168800354, + -0.49954959750175476 + ], + "joints": [ + 0.011243389919400215 + ] + }, + "fine_grasp": { + "position": [ + 0.1237262561917305, + 0.0867672935128212, + 0.1587129533290863 + ], + "orientation": [ + 0.23963716626167297, + 0.8350034356117249, + 0.00219415919855237, + -0.49531659483909607 + ], + "joints": [ + 0.0036784012336283922 + ] + }, + "final_grasp": { + "position": [ + 0.1237262561917305, + 0.0867672935128212, + 0.1587129533290863 + ], + "orientation": [ + 0.23963716626167297, + 0.8350034356117249, + 0.00219415919855237, + -0.49531659483909607 + ], + "joints": [ + -0.0038865874521434307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016954496502876282, + 0.009268596768379211, + -0.21401409804821014 + ], + "orientation": [ + 0.513952374458313, + -0.13553456962108612, + 0.07755123823881149, + 0.8434863686561584 + ], + "joints": [ + 0.018220823258161545 + ] + }, + "fine_grasp": { + "position": [ + 0.015403122641146183, + 0.011910548433661461, + -0.21408577263355255 + ], + "orientation": [ + 0.5114306807518005, + -0.126219242811203, + 0.07448385655879974, + 0.8467346429824829 + ], + "joints": [ + 0.008607853204011917 + ] + }, + "final_grasp": { + "position": [ + 0.015403122641146183, + 0.011910548433661461, + -0.21408577263355255 + ], + "orientation": [ + 0.5114306807518005, + -0.126219242811203, + 0.07448385655879974, + 0.8467346429824829 + ], + "joints": [ + -0.0010051168501377106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027776161208748817, + 0.07579480111598969, + -0.22130899131298065 + ], + "orientation": [ + 0.5013006925582886, + 0.20146730542182922, + 0.07643294334411621, + -0.8380135297775269 + ], + "joints": [ + 0.01806279644370079 + ] + }, + "fine_grasp": { + "position": [ + 0.02601141296327114, + 0.07407192140817642, + -0.21958482265472412 + ], + "orientation": [ + 0.49852854013442993, + 0.19620245695114136, + 0.07471282035112381, + -0.8410658836364746 + ], + "joints": [ + 0.008031871169805527 + ] + }, + "final_grasp": { + "position": [ + 0.02601141296327114, + 0.07407192140817642, + -0.21958482265472412 + ], + "orientation": [ + 0.49852854013442993, + 0.19620245695114136, + 0.07471282035112381, + -0.8410658836364746 + ], + "joints": [ + -0.001999054104089737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01855381391942501, + 0.008065951988101006, + -0.21381184458732605 + ], + "orientation": [ + 0.5004760026931763, + -0.15383996069431305, + 0.08522625267505646, + 0.8476989269256592 + ], + "joints": [ + 0.017804808914661407 + ] + }, + "fine_grasp": { + "position": [ + 0.0180040430277586, + 0.009856773540377617, + -0.21348689496517181 + ], + "orientation": [ + 0.494537889957428, + -0.14514313638210297, + 0.07922419160604477, + 0.853281557559967 + ], + "joints": [ + 0.00819183886051178 + ] + }, + "final_grasp": { + "position": [ + 0.0180040430277586, + 0.009856773540377617, + -0.21348689496517181 + ], + "orientation": [ + 0.494537889957428, + -0.14514313638210297, + 0.07922419160604477, + 0.853281557559967 + ], + "joints": [ + -0.001421131193637848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016870785504579544, + 0.00968052726238966, + -0.212626114487648 + ], + "orientation": [ + 0.5097264647483826, + -0.13592307269573212, + 0.0784974992275238, + 0.8458971381187439 + ], + "joints": [ + 0.018667124211788177 + ] + }, + "fine_grasp": { + "position": [ + 0.015394269488751888, + 0.01256872434169054, + -0.21285739541053772 + ], + "orientation": [ + 0.5071994066238403, + -0.12536191940307617, + 0.07353666424751282, + 0.8494853973388672 + ], + "joints": [ + 0.008636198937892914 + ] + }, + "final_grasp": { + "position": [ + 0.015394269488751888, + 0.01256872434169054, + -0.21285739541053772 + ], + "orientation": [ + 0.5071994066238403, + -0.12536191940307617, + 0.07353666424751282, + 0.8494853973388672 + ], + "joints": [ + -0.0013947263360023499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10074780881404877, + 0.11907708644866943, + -0.0868636891245842 + ], + "orientation": [ + 0.27756553888320923, + 0.6377086639404297, + -0.2132239192724228, + 0.6861636638641357 + ], + "joints": [ + 0.018288007006049156 + ] + }, + "fine_grasp": { + "position": [ + -0.09792400896549225, + 0.11675038188695908, + -0.08596782386302948 + ], + "orientation": [ + 0.2779958248138428, + 0.6381394267082214, + -0.20795917510986328, + 0.6872040629386902 + ], + "joints": [ + 0.008633239194750786 + ] + }, + "final_grasp": { + "position": [ + -0.09792400896549225, + 0.11675038188695908, + -0.08596782386302948 + ], + "orientation": [ + 0.2779958248138428, + 0.6381394267082214, + -0.20795917510986328, + 0.6872040629386902 + ], + "joints": [ + -0.0010215286165475845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12677991390228271, + 0.088530033826828, + 0.16135995090007782 + ], + "orientation": [ + 0.24052275717258453, + 0.8305918574333191, + -0.0014555339002981782, + -0.5022585391998291 + ], + "joints": [ + 0.010756025090813637 + ] + }, + "fine_grasp": { + "position": [ + 0.12334077060222626, + 0.08663959801197052, + 0.15973462164402008 + ], + "orientation": [ + 0.24338026344776154, + 0.8299996256828308, + -0.0035221553407609463, + -0.5018508434295654 + ], + "joints": [ + 0.0036089918576180935 + ] + }, + "final_grasp": { + "position": [ + 0.12334077060222626, + 0.08663959801197052, + 0.15973462164402008 + ], + "orientation": [ + 0.24338026344776154, + 0.8299996256828308, + -0.0035221553407609463, + -0.5018508434295654 + ], + "joints": [ + -0.00353804137557745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02813268080353737, + 0.07001066207885742, + 0.23587122559547424 + ], + "orientation": [ + 0.12376107275485992, + 0.9858534336090088, + 0.08773691207170486, + -0.07126351445913315 + ], + "joints": [ + 0.010699771344661713 + ] + }, + "fine_grasp": { + "position": [ + 0.027619848027825356, + 0.06877060979604721, + 0.23180454969406128 + ], + "orientation": [ + 0.1237875297665596, + 0.983392059803009, + 0.11372780799865723, + -0.06842969357967377 + ], + "joints": [ + 0.0035527381114661694 + ] + }, + "final_grasp": { + "position": [ + 0.027619848027825356, + 0.06877060979604721, + 0.23180454969406128 + ], + "orientation": [ + 0.1237875297665596, + 0.983392059803009, + 0.11372780799865723, + -0.06842969357967377 + ], + "joints": [ + -0.003594295121729374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08299149572849274, + 0.09599032998085022, + 0.19468773901462555 + ], + "orientation": [ + 0.3408142924308777, + -0.02657732367515564, + 0.8998880982398987, + -0.2708147466182709 + ], + "joints": [ + 0.013870634138584137 + ] + }, + "fine_grasp": { + "position": [ + -0.08094222098588943, + 0.09406973421573639, + 0.19277127087116241 + ], + "orientation": [ + 0.34313803911209106, + -0.029650801792740822, + 0.897588849067688, + -0.2751571834087372 + ], + "joints": [ + 0.004215868655592203 + ] + }, + "final_grasp": { + "position": [ + -0.08094222098588943, + 0.09406973421573639, + 0.19277127087116241 + ], + "orientation": [ + 0.34313803911209106, + -0.029650801792740822, + 0.897588849067688, + -0.2751571834087372 + ], + "joints": [ + -0.005438896827399731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038133181631565094, + 0.07731164991855621, + 0.23182065784931183 + ], + "orientation": [ + 0.1997171938419342, + 0.014144315384328365, + 0.967850387096405, + -0.15224508941173553 + ], + "joints": [ + 0.01127233449369669 + ] + }, + "fine_grasp": { + "position": [ + -0.037029020488262177, + 0.07595586776733398, + 0.22799783945083618 + ], + "orientation": [ + 0.20148839056491852, + 0.030825546011328697, + 0.9672648906707764, + -0.15116530656814575 + ], + "joints": [ + 0.003331186017021537 + ] + }, + "final_grasp": { + "position": [ + -0.037029020488262177, + 0.07595586776733398, + 0.22799783945083618 + ], + "orientation": [ + 0.20148839056491852, + 0.030825546011328697, + 0.9672648906707764, + -0.15116530656814575 + ], + "joints": [ + -0.004609962459653616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004343245644122362, + 0.149857297539711, + -0.16622039675712585 + ], + "orientation": [ + 0.640981912612915, + 0.40354159474372864, + 0.3657919764518738, + -0.5408259034156799 + ], + "joints": [ + 0.016775894910097122 + ] + }, + "fine_grasp": { + "position": [ + -0.004341857973486185, + 0.14602579176425934, + -0.1652265191078186 + ], + "orientation": [ + 0.6403921842575073, + 0.40597763657569885, + 0.36658143997192383, + -0.5391641855239868 + ], + "joints": [ + 0.0071629248559474945 + ] + }, + "final_grasp": { + "position": [ + -0.004341857973486185, + 0.14602579176425934, + -0.1652265191078186 + ], + "orientation": [ + 0.6403921842575073, + 0.40597763657569885, + 0.36658143997192383, + -0.5391641855239868 + ], + "joints": [ + -0.002450045198202133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022537846118211746, + 0.09075058251619339, + 0.22065924108028412 + ], + "orientation": [ + 0.2243824154138565, + 0.9701187014579773, + 0.040965486317873, + -0.08272761106491089 + ], + "joints": [ + 0.014598933048546314 + ] + }, + "fine_grasp": { + "position": [ + 0.02204751968383789, + 0.08870560675859451, + 0.2172311544418335 + ], + "orientation": [ + 0.22646796703338623, + 0.9694374203681946, + 0.04610280320048332, + -0.08232693374156952 + ], + "joints": [ + 0.005424816161394119 + ] + }, + "final_grasp": { + "position": [ + 0.02204751968383789, + 0.08870560675859451, + 0.2172311544418335 + ], + "orientation": [ + 0.22646796703338623, + 0.9694374203681946, + 0.04610280320048332, + -0.08232693374156952 + ], + "joints": [ + -0.0037493007257580757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03490074723958969, + 0.10533653944730759, + 0.2099056839942932 + ], + "orientation": [ + 0.0436602383852005, + -0.03478246554732323, + -0.9529997110366821, + 0.2977842390537262 + ], + "joints": [ + 0.015429487451910973 + ] + }, + "fine_grasp": { + "position": [ + 0.03393832594156265, + 0.10310545563697815, + 0.20694854855537415 + ], + "orientation": [ + 0.045846160501241684, + -0.04001021757721901, + -0.9518352746963501, + 0.30051112174987793 + ], + "joints": [ + 0.006652427837252617 + ] + }, + "final_grasp": { + "position": [ + 0.03393832594156265, + 0.10310545563697815, + 0.20694854855537415 + ], + "orientation": [ + 0.045846160501241684, + -0.04001021757721901, + -0.9518352746963501, + 0.30051112174987793 + ], + "joints": [ + -0.002124631777405739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02728516049683094, + 0.06944670528173447, + 0.23602475225925446 + ], + "orientation": [ + 0.12221965193748474, + 0.98750901222229, + 0.08145326375961304, + -0.0570412240922451 + ], + "joints": [ + 0.010851283557713032 + ] + }, + "fine_grasp": { + "position": [ + 0.026598192751407623, + 0.06812722980976105, + 0.23205026984214783 + ], + "orientation": [ + 0.12007499486207962, + 0.9852214455604553, + 0.10662981122732162, + -0.059588950127363205 + ], + "joints": [ + 0.0033071928191930056 + ] + }, + "final_grasp": { + "position": [ + 0.026598192751407623, + 0.06812722980976105, + 0.23205026984214783 + ], + "orientation": [ + 0.12007499486207962, + 0.9852214455604553, + 0.10662981122732162, + -0.059588950127363205 + ], + "joints": [ + -0.004236897919327021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09928645193576813, + 0.09956846386194229, + 0.17368344962596893 + ], + "orientation": [ + 0.3158447742462158, + -0.10284078121185303, + 0.8809540271759033, + -0.3370252251625061 + ], + "joints": [ + 0.012779493816196918 + ] + }, + "fine_grasp": { + "position": [ + -0.09654292464256287, + 0.09707262367010117, + 0.1713789850473404 + ], + "orientation": [ + 0.3106154501438141, + -0.13049697875976562, + 0.87297523021698, + -0.3527079224586487 + ], + "joints": [ + 0.006071312353014946 + ] + }, + "final_grasp": { + "position": [ + -0.09654292464256287, + 0.09707262367010117, + 0.1713789850473404 + ], + "orientation": [ + 0.3106154501438141, + -0.13049697875976562, + 0.87297523021698, + -0.3527079224586487 + ], + "joints": [ + -0.0006368691101670265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09921132028102875, + 0.10060995072126389, + 0.17367567121982574 + ], + "orientation": [ + 0.3186841905117035, + -0.10220295190811157, + 0.8793776035308838, + -0.3386591374874115 + ], + "joints": [ + 0.013371153734624386 + ] + }, + "fine_grasp": { + "position": [ + -0.09633971005678177, + 0.0983034074306488, + 0.1710120141506195 + ], + "orientation": [ + 0.31046441197395325, + -0.1329096555709839, + 0.8719313740730286, + -0.35451728105545044 + ], + "joints": [ + 0.007498882710933685 + ] + }, + "final_grasp": { + "position": [ + -0.09633971005678177, + 0.0983034074306488, + 0.1710120141506195 + ], + "orientation": [ + 0.31046441197395325, + -0.1329096555709839, + 0.8719313740730286, + -0.35451728105545044 + ], + "joints": [ + 0.0016266116872429848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09832942485809326, + 0.09872430562973022, + 0.17265813052654266 + ], + "orientation": [ + 0.3135486841201782, + -0.10494644939899445, + 0.8802657723426819, + -0.3403022885322571 + ], + "joints": [ + 0.012541573494672775 + ] + }, + "fine_grasp": { + "position": [ + -0.09555386006832123, + 0.09619218111038208, + 0.17034614086151123 + ], + "orientation": [ + 0.30711832642555237, + -0.13565221428871155, + 0.8722183704376221, + -0.3556854724884033 + ], + "joints": [ + 0.006251347251236439 + ] + }, + "final_grasp": { + "position": [ + -0.09555386006832123, + 0.09619218111038208, + 0.17034614086151123 + ], + "orientation": [ + 0.30711832642555237, + -0.13565221428871155, + 0.8722183704376221, + -0.3556854724884033 + ], + "joints": [ + -3.8878992199897766e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03378492221236229, + 0.10441562533378601, + 0.20852313935756683 + ], + "orientation": [ + 0.05379524454474449, + -0.021352486684918404, + -0.952785849571228, + 0.29807594418525696 + ], + "joints": [ + 0.015861187130212784 + ] + }, + "fine_grasp": { + "position": [ + 0.03279273211956024, + 0.10193134844303131, + 0.20599091053009033 + ], + "orientation": [ + 0.05136086046695709, + -0.02624494582414627, + -0.9519523978233337, + 0.30076563358306885 + ], + "joints": [ + 0.005475000478327274 + ] + }, + "final_grasp": { + "position": [ + 0.03279273211956024, + 0.10193134844303131, + 0.20599091053009033 + ], + "orientation": [ + 0.05136086046695709, + -0.02624494582414627, + -0.9519523978233337, + 0.30076563358306885 + ], + "joints": [ + -0.004911186173558235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05224848911166191, + 0.13603107631206512, + -0.13116231560707092 + ], + "orientation": [ + 0.4397227168083191, + 0.5062382817268372, + -0.2787137031555176, + 0.6875211596488953 + ], + "joints": [ + 0.016102010384202003 + ] + }, + "fine_grasp": { + "position": [ + -0.049842093139886856, + 0.1328488439321518, + -0.13063599169254303 + ], + "orientation": [ + 0.43847396969795227, + 0.5101292133331299, + -0.2770176827907562, + 0.6861269474029541 + ], + "joints": [ + 0.006906995549798012 + ] + }, + "final_grasp": { + "position": [ + -0.049842093139886856, + 0.1328488439321518, + -0.13063599169254303 + ], + "orientation": [ + 0.43847396969795227, + 0.5101292133331299, + -0.2770176827907562, + 0.6861269474029541 + ], + "joints": [ + -0.00228801928460598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09874311834573746, + 0.09911146759986877, + 0.173264741897583 + ], + "orientation": [ + 0.31417807936668396, + -0.10626103729009628, + 0.8805479407310486, + -0.3385796844959259 + ], + "joints": [ + 0.01275897677987814 + ] + }, + "fine_grasp": { + "position": [ + -0.09599404782056808, + 0.0965995192527771, + 0.1709287166595459 + ], + "orientation": [ + 0.30857497453689575, + -0.13623179495334625, + 0.8720378279685974, + -0.35464394092559814 + ], + "joints": [ + 0.006050795316696167 + ] + }, + "final_grasp": { + "position": [ + -0.09599404782056808, + 0.0965995192527771, + 0.1709287166595459 + ], + "orientation": [ + 0.30857497453689575, + -0.13623179495334625, + 0.8720378279685974, + -0.35464394092559814 + ], + "joints": [ + -0.0006573861464858055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06674410402774811, + 0.1035161092877388, + 0.20370739698410034 + ], + "orientation": [ + 0.2724496126174927, + 0.9377026557922363, + 0.04405329003930092, + -0.2110547423362732 + ], + "joints": [ + 0.012989355251193047 + ] + }, + "fine_grasp": { + "position": [ + 0.06473541259765625, + 0.10154440253973007, + 0.2014065980911255 + ], + "orientation": [ + 0.27332064509391785, + 0.9356573820114136, + 0.039789121598005295, + -0.21967686712741852 + ], + "joints": [ + 0.004212295636534691 + ] + }, + "final_grasp": { + "position": [ + 0.06473541259765625, + 0.10154440253973007, + 0.2014065980911255 + ], + "orientation": [ + 0.27332064509391785, + 0.9356573820114136, + 0.039789121598005295, + -0.21967686712741852 + ], + "joints": [ + -0.004564763978123665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007365790195763111, + 0.0349242240190506, + -0.23122790455818176 + ], + "orientation": [ + 0.7969436049461365, + -0.040538229048252106, + -0.007849331013858318, + 0.602640688419342 + ], + "joints": [ + 0.01751280203461647 + ] + }, + "fine_grasp": { + "position": [ + 0.007210377138108015, + 0.035276900976896286, + -0.22822105884552002 + ], + "orientation": [ + 0.7984521389007568, + -0.038339827209711075, + -0.00993308424949646, + 0.6007541418075562 + ], + "joints": [ + 0.007481876760721207 + ] + }, + "final_grasp": { + "position": [ + 0.007210377138108015, + 0.035276900976896286, + -0.22822105884552002 + ], + "orientation": [ + 0.7984521389007568, + -0.038339827209711075, + -0.00993308424949646, + 0.6007541418075562 + ], + "joints": [ + -0.002549048513174057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007080397102981806, + 0.03370734304189682, + -0.23308734595775604 + ], + "orientation": [ + 0.7961267828941345, + -0.04639391601085663, + -0.0004633209900930524, + 0.6033486723899841 + ], + "joints": [ + 0.016999319195747375 + ] + }, + "fine_grasp": { + "position": [ + 0.006724463775753975, + 0.03370272368192673, + -0.22972573339939117 + ], + "orientation": [ + 0.7975319027900696, + -0.04418794810771942, + -0.002549881348386407, + 0.6016508936882019 + ], + "joints": [ + 0.007783406414091587 + ] + }, + "final_grasp": { + "position": [ + 0.006724463775753975, + 0.03370272368192673, + -0.22972573339939117 + ], + "orientation": [ + 0.7975319027900696, + -0.04418794810771942, + -0.002549881348386407, + 0.6016508936882019 + ], + "joints": [ + -0.0014325063675642014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003984401002526283, + -0.06846806406974792, + -0.16404421627521515 + ], + "orientation": [ + 0.6652987599372864, + -0.3527698814868927, + -0.3177453279495239, + -0.5761674642562866 + ], + "joints": [ + 0.017482316121459007 + ] + }, + "fine_grasp": { + "position": [ + 0.0033141642343252897, + -0.06476172059774399, + -0.16317492723464966 + ], + "orientation": [ + 0.6642869710922241, + -0.3563280999660492, + -0.32618609070777893, + -0.5703997015953064 + ], + "joints": [ + 0.006657276302576065 + ] + }, + "final_grasp": { + "position": [ + 0.0033141642343252897, + -0.06476172059774399, + -0.16317492723464966 + ], + "orientation": [ + 0.6642869710922241, + -0.3563280999660492, + -0.32618609070777893, + -0.5703997015953064 + ], + "joints": [ + -0.004167763516306877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007745411247014999, + -0.07323689758777618, + -0.11855567991733551 + ], + "orientation": [ + 0.5515283346176147, + -0.4206629991531372, + 0.4758448302745819, + 0.5407689809799194 + ], + "joints": [ + 0.015463754534721375 + ] + }, + "fine_grasp": { + "position": [ + -0.007254136726260185, + -0.06929999589920044, + -0.11812658607959747 + ], + "orientation": [ + 0.5506760478019714, + -0.41996511816978455, + 0.47762665152549744, + 0.5406088829040527 + ], + "joints": [ + 0.005850784480571747 + ] + }, + "final_grasp": { + "position": [ + -0.007254136726260185, + -0.06929999589920044, + -0.11812658607959747 + ], + "orientation": [ + 0.5506760478019714, + -0.41996511816978455, + 0.47762665152549744, + 0.5406088829040527 + ], + "joints": [ + -0.003762185573577881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008818148635327816, + 0.011500992812216282, + -0.21837399899959564 + ], + "orientation": [ + 0.771051824092865, + -0.06848493218421936, + -0.10354236513376236, + -0.6245541572570801 + ], + "joints": [ + 0.01737815886735916 + ] + }, + "fine_grasp": { + "position": [ + 0.007915993221104145, + 0.013590394519269466, + -0.21758510172367096 + ], + "orientation": [ + 0.7721515893936157, + -0.06994716823101044, + -0.10269428044557571, + -0.623171865940094 + ], + "joints": [ + 0.00818314403295517 + ] + }, + "final_grasp": { + "position": [ + 0.007915993221104145, + 0.013590394519269466, + -0.21758510172367096 + ], + "orientation": [ + 0.7721515893936157, + -0.06994716823101044, + -0.10269428044557571, + -0.623171865940094 + ], + "joints": [ + -0.001011870801448822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00790062639862299, + -0.07485567033290863, + -0.11935173720121384 + ], + "orientation": [ + 0.5527458786964417, + -0.4209892749786377, + 0.4736802279949188, + 0.5411717891693115 + ], + "joints": [ + 0.015819258987903595 + ] + }, + "fine_grasp": { + "position": [ + -0.007372893393039703, + -0.07099451124668121, + -0.11889529973268509 + ], + "orientation": [ + 0.5524874925613403, + -0.4201417863368988, + 0.4760974049568176, + 0.5399720668792725 + ], + "joints": [ + 0.005788333714008331 + ] + }, + "final_grasp": { + "position": [ + -0.007372893393039703, + -0.07099451124668121, + -0.11889529973268509 + ], + "orientation": [ + 0.5524874925613403, + -0.4201417863368988, + 0.4760974049568176, + 0.5399720668792725 + ], + "joints": [ + -0.004242591559886932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008388705551624298, + -0.08452199399471283, + -0.13956721127033234 + ], + "orientation": [ + 0.48854348063468933, + -0.4820854067802429, + 0.47432953119277954, + 0.5512989163398743 + ], + "joints": [ + 0.015706274658441544 + ] + }, + "fine_grasp": { + "position": [ + 0.00815585721284151, + -0.08060803264379501, + -0.13892456889152527 + ], + "orientation": [ + 0.4901605546474457, + -0.480143666267395, + 0.47380176186561584, + 0.5520114302635193 + ], + "joints": [ + 0.006093304604291916 + ] + }, + "final_grasp": { + "position": [ + 0.00815585721284151, + -0.08060803264379501, + -0.13892456889152527 + ], + "orientation": [ + 0.4901605546474457, + -0.480143666267395, + 0.47380176186561584, + 0.5520114302635193 + ], + "joints": [ + -0.003519665449857712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018856488168239594, + 0.054588645696640015, + -0.2332201451063156 + ], + "orientation": [ + 0.8268645405769348, + 0.0831839069724083, + -0.04663379490375519, + -0.5542569756507874 + ], + "joints": [ + 0.017918959259986877 + ] + }, + "fine_grasp": { + "position": [ + 0.018921295180916786, + 0.053632572293281555, + -0.23012827336788177 + ], + "orientation": [ + 0.8293668627738953, + 0.08707142621278763, + -0.04189993441104889, + -0.5502850413322449 + ], + "joints": [ + 0.009141899645328522 + ] + }, + "final_grasp": { + "position": [ + 0.018921295180916786, + 0.053632572293281555, + -0.23012827336788177 + ], + "orientation": [ + 0.8293668627738953, + 0.08707142621278763, + -0.04189993441104889, + -0.5502850413322449 + ], + "joints": [ + 0.000364840030670166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05636533722281456, + 0.14473097026348114, + -0.05872276797890663 + ], + "orientation": [ + 0.5684422850608826, + 0.38913053274154663, + 0.6362250447273254, + -0.3473736643791199 + ], + "joints": [ + 0.0172048881649971 + ] + }, + "fine_grasp": { + "position": [ + -0.05467844381928444, + 0.1407105177640915, + -0.05844845250248909 + ], + "orientation": [ + 0.5637474060058594, + 0.3852255344390869, + 0.639276921749115, + -0.35371625423431396 + ], + "joints": [ + 0.010099649429321289 + ] + }, + "final_grasp": { + "position": [ + -0.05467844381928444, + 0.1407105177640915, + -0.05844845250248909 + ], + "orientation": [ + 0.5637474060058594, + 0.3852255344390869, + 0.639276921749115, + -0.35371625423431396 + ], + "joints": [ + 0.0029944106936454773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009241921827197075, + 0.010706870816648006, + -0.21764512360095978 + ], + "orientation": [ + 0.7761635184288025, + -0.07401956617832184, + -0.11028089374303818, + -0.6163840889930725 + ], + "joints": [ + 0.01743648573756218 + ] + }, + "fine_grasp": { + "position": [ + 0.008246704936027527, + 0.012637552805244923, + -0.2170717418193817 + ], + "orientation": [ + 0.7772446274757385, + -0.07478569447994232, + -0.10764119029045105, + -0.6153952479362488 + ], + "joints": [ + 0.008241470903158188 + ] + }, + "final_grasp": { + "position": [ + 0.008246704936027527, + 0.012637552805244923, + -0.2170717418193817 + ], + "orientation": [ + 0.7772446274757385, + -0.07478569447994232, + -0.10764119029045105, + -0.6153952479362488 + ], + "joints": [ + -0.0009535439312458038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0016683415742591023, + 0.037426892668008804, + 0.2520343065261841 + ], + "orientation": [ + 0.01598425768315792, + 0.6136876344680786, + 0.7893559336662292, + 0.007015315815806389 + ], + "joints": [ + 0.027752364054322243 + ] + }, + "fine_grasp": { + "position": [ + -0.001497680670581758, + 0.03772382438182831, + 0.2481052130460739 + ], + "orientation": [ + 0.004487988539040089, + 0.6205236315727234, + 0.7840425372123718, + 0.014407683163881302 + ], + "joints": [ + 0.01855734921991825 + ] + }, + "final_grasp": { + "position": [ + -0.001497680670581758, + 0.03772382438182831, + 0.2481052130460739 + ], + "orientation": [ + 0.004487988539040089, + 0.6205236315727234, + 0.7840425372123718, + 0.014407683163881302 + ], + "joints": [ + 0.00936233438551426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007475289981812239, + 0.15032896399497986, + 0.11084040999412537 + ], + "orientation": [ + 0.5761415362358093, + 0.4807319939136505, + 0.45002323389053345, + -0.48418670892715454 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + -0.006621739827096462, + 0.14799657464027405, + 0.11130461096763611 + ], + "orientation": [ + 0.572698712348938, + 0.48508191108703613, + 0.4520881175994873, + -0.48200422525405884 + ], + "joints": [ + 0.019829746335744858 + ] + }, + "final_grasp": { + "position": [ + -0.006621739827096462, + 0.14799657464027405, + 0.11130461096763611 + ], + "orientation": [ + 0.572698712348938, + 0.48508191108703613, + 0.4520881175994873, + -0.48200422525405884 + ], + "joints": [ + 0.01021677628159523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0029446908738464117, + -0.04537413269281387, + 0.19520746171474457 + ], + "orientation": [ + 0.34403032064437866, + -0.6498669981956482, + 0.6050830483436584, + 0.30527111887931824 + ], + "joints": [ + 0.026545831933617592 + ] + }, + "fine_grasp": { + "position": [ + -0.0027966604102402925, + -0.042661067098379135, + 0.19234950840473175 + ], + "orientation": [ + 0.3354128301143646, + -0.6465350985527039, + 0.6160504221916199, + 0.2999541759490967 + ], + "joints": [ + 0.018604682758450508 + ] + }, + "final_grasp": { + "position": [ + -0.0027966604102402925, + -0.042661067098379135, + 0.19234950840473175 + ], + "orientation": [ + 0.3354128301143646, + -0.6465350985527039, + 0.6160504221916199, + 0.2999541759490967 + ], + "joints": [ + 0.010663533583283424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011307152919471264, + 0.1573459506034851, + -0.08700016140937805 + ], + "orientation": [ + 0.5955254435539246, + 0.4907289147377014, + 0.44516295194625854, + -0.4542734622955322 + ], + "joints": [ + 0.015560604631900787 + ] + }, + "fine_grasp": { + "position": [ + -0.010980205610394478, + 0.1532670259475708, + -0.0871407687664032 + ], + "orientation": [ + 0.5946436524391174, + 0.49383288621902466, + 0.44651687145233154, + -0.45072242617607117 + ], + "joints": [ + 0.006783545017242432 + ] + }, + "final_grasp": { + "position": [ + -0.010980205610394478, + 0.1532670259475708, + -0.0871407687664032 + ], + "orientation": [ + 0.5946436524391174, + 0.49383288621902466, + 0.44651687145233154, + -0.45072242617607117 + ], + "joints": [ + -0.001993514597415924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056206218898296356, + 0.14424839615821838, + -0.059692684561014175 + ], + "orientation": [ + 0.5636756420135498, + 0.38726741075515747, + 0.6416698694229126, + -0.34720802307128906 + ], + "joints": [ + 0.017044661566615105 + ] + }, + "fine_grasp": { + "position": [ + -0.0545162633061409, + 0.1401948481798172, + -0.059339068830013275 + ], + "orientation": [ + 0.5583186149597168, + 0.3826929032802582, + 0.645162045955658, + -0.3543902337551117 + ], + "joints": [ + 0.010336479172110558 + ] + }, + "final_grasp": { + "position": [ + -0.0545162633061409, + 0.1401948481798172, + -0.059339068830013275 + ], + "orientation": [ + 0.5583186149597168, + 0.3826929032802582, + 0.645162045955658, + -0.3543902337551117 + ], + "joints": [ + 0.0036282967776060104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027145499363541603, + 0.14029529690742493, + -0.05005333200097084 + ], + "orientation": [ + 0.7521895170211792, + 0.6130349040031433, + -0.12823912501335144, + 0.2048262506723404 + ], + "joints": [ + 0.013101641088724136 + ] + }, + "fine_grasp": { + "position": [ + 0.026859937235713005, + 0.13630211353302002, + -0.0488751120865345 + ], + "orientation": [ + 0.7569736242294312, + 0.6070201396942139, + -0.13128674030303955, + 0.20317800343036652 + ], + "joints": [ + 0.005160491913557053 + ] + }, + "final_grasp": { + "position": [ + 0.026859937235713005, + 0.13630211353302002, + -0.0488751120865345 + ], + "orientation": [ + 0.7569736242294312, + 0.6070201396942139, + -0.13128674030303955, + 0.20317800343036652 + ], + "joints": [ + -0.002780657261610031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10650086402893066, + 0.12774042785167694, + 0.06427344679832458 + ], + "orientation": [ + 0.5823840498924255, + 0.6654947996139526, + -0.12202072888612747, + 0.4506177604198456 + ], + "joints": [ + 0.01198943704366684 + ] + }, + "fine_grasp": { + "position": [ + -0.10722973197698593, + 0.12520062923431396, + 0.062097638845443726 + ], + "orientation": [ + 0.5906499028205872, + 0.6629383563995361, + -0.10652917623519897, + 0.44754528999328613 + ], + "joints": [ + 0.0036094356328248978 + ] + }, + "final_grasp": { + "position": [ + -0.10722973197698593, + 0.12520062923431396, + 0.062097638845443726 + ], + "orientation": [ + 0.5906499028205872, + 0.6629383563995361, + -0.10652917623519897, + 0.44754528999328613 + ], + "joints": [ + -0.004770565778017044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0822983980178833, + 0.11204799264669418, + 0.11546866595745087 + ], + "orientation": [ + 0.3024086356163025, + 0.25639763474464417, + -0.8144469261169434, + 0.42365723848342896 + ], + "joints": [ + 0.016290366649627686 + ] + }, + "fine_grasp": { + "position": [ + 0.08201726526021957, + 0.11076376587152481, + 0.11460897326469421 + ], + "orientation": [ + 0.3032093942165375, + 0.24900397658348083, + -0.8170838356018066, + 0.4224158823490143 + ], + "joints": [ + 0.007116249762475491 + ] + }, + "final_grasp": { + "position": [ + 0.08201726526021957, + 0.11076376587152481, + 0.11460897326469421 + ], + "orientation": [ + 0.3032093942165375, + 0.24900397658348083, + -0.8170838356018066, + 0.4224158823490143 + ], + "joints": [ + -0.0020578671246767044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08242183923721313, + 0.11374804377555847, + 0.11585116386413574 + ], + "orientation": [ + 0.30546295642852783, + 0.2607192397117615, + -0.80979323387146, + 0.42772984504699707 + ], + "joints": [ + 0.015937598422169685 + ] + }, + "fine_grasp": { + "position": [ + 0.08182860910892487, + 0.11223290860652924, + 0.11501150578260422 + ], + "orientation": [ + 0.30666789412498474, + 0.2560303509235382, + -0.8116421699523926, + 0.42619287967681885 + ], + "joints": [ + 0.006742583587765694 + ] + }, + "final_grasp": { + "position": [ + 0.08182860910892487, + 0.11223290860652924, + 0.11501150578260422 + ], + "orientation": [ + 0.30666789412498474, + 0.2560303509235382, + -0.8116421699523926, + 0.42619287967681885 + ], + "joints": [ + -0.002452431246638298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08277013152837753, + 0.11435551196336746, + 0.11561449617147446 + ], + "orientation": [ + 0.3053969144821167, + 0.267846018075943, + -0.8084725737571716, + 0.42586782574653625 + ], + "joints": [ + 0.015844881534576416 + ] + }, + "fine_grasp": { + "position": [ + 0.08211114257574081, + 0.11278317123651505, + 0.11474591493606567 + ], + "orientation": [ + 0.3071480989456177, + 0.2639180123806, + -0.8101068139076233, + 0.42395085096359253 + ], + "joints": [ + 0.006252809427678585 + ] + }, + "final_grasp": { + "position": [ + 0.08211114257574081, + 0.11278317123651505, + 0.11474591493606567 + ], + "orientation": [ + 0.3071480989456177, + 0.2639180123806, + -0.8101068139076233, + 0.42395085096359253 + ], + "joints": [ + -0.003339262679219246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08348608016967773, + 0.13332709670066833, + 0.1175999790430069 + ], + "orientation": [ + 0.33499109745025635, + 0.2879495620727539, + 0.7714956998825073, + -0.45788687467575073 + ], + "joints": [ + 0.011167008429765701 + ] + }, + "fine_grasp": { + "position": [ + -0.08212123811244965, + 0.12950892746448517, + 0.11648989468812943 + ], + "orientation": [ + 0.3407842218875885, + 0.2957015931606293, + 0.7691540718078613, + -0.45257994532585144 + ], + "joints": [ + 0.0036229174584150314 + ] + }, + "final_grasp": { + "position": [ + -0.08212123811244965, + 0.12950892746448517, + 0.11648989468812943 + ], + "orientation": [ + 0.3407842218875885, + 0.2957015931606293, + 0.7691540718078613, + -0.45257994532585144 + ], + "joints": [ + -0.003921173512935638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08312775939702988, + 0.13342183828353882, + 0.11823590099811554 + ], + "orientation": [ + 0.33649441599845886, + 0.27983856201171875, + 0.771841824054718, + -0.4612179100513458 + ], + "joints": [ + 0.011147048324346542 + ] + }, + "fine_grasp": { + "position": [ + -0.08180467039346695, + 0.12959489226341248, + 0.11709924042224884 + ], + "orientation": [ + 0.3421078324317932, + 0.28740784525871277, + 0.7696886658668518, + -0.4560025930404663 + ], + "joints": [ + 0.0036029573529958725 + ] + }, + "final_grasp": { + "position": [ + -0.08180467039346695, + 0.12959489226341248, + 0.11709924042224884 + ], + "orientation": [ + 0.3421078324317932, + 0.28740784525871277, + 0.7696886658668518, + -0.4560025930404663 + ], + "joints": [ + -0.003941133618354797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09265705198049545, + 0.1224200502038002, + 0.10455307364463806 + ], + "orientation": [ + 0.403035432100296, + 0.1856849044561386, + -0.7532825469970703, + 0.4854370355606079 + ], + "joints": [ + 0.013660824857652187 + ] + }, + "fine_grasp": { + "position": [ + 0.09164987504482269, + 0.11947035044431686, + 0.1041555181145668 + ], + "orientation": [ + 0.40328967571258545, + 0.1857767254114151, + -0.7572495341300964, + 0.4789755046367645 + ], + "joints": [ + 0.005301720462739468 + ] + }, + "final_grasp": { + "position": [ + 0.09164987504482269, + 0.11947035044431686, + 0.1041555181145668 + ], + "orientation": [ + 0.40328967571258545, + 0.1857767254114151, + -0.7572495341300964, + 0.4789755046367645 + ], + "joints": [ + -0.003057383932173252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12740634381771088, + 0.11160722374916077, + 0.012991857714951038 + ], + "orientation": [ + 0.2589646875858307, + 0.5892893671989441, + 0.3794739246368408, + -0.6645862460136414 + ], + "joints": [ + 0.015769604593515396 + ] + }, + "fine_grasp": { + "position": [ + 0.12484218180179596, + 0.10924893617630005, + 0.013235953636467457 + ], + "orientation": [ + 0.2597948908805847, + 0.5888442993164062, + 0.3786174952983856, + -0.6651449799537659 + ], + "joints": [ + 0.00699254497885704 + ] + }, + "final_grasp": { + "position": [ + 0.12484218180179596, + 0.10924893617630005, + 0.013235953636467457 + ], + "orientation": [ + 0.2597948908805847, + 0.5888442993164062, + 0.3786174952983856, + -0.6651449799537659 + ], + "joints": [ + -0.0017845146358013153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0938144400715828, + 0.12121900916099548, + 0.08676531910896301 + ], + "orientation": [ + 0.41827622056007385, + 0.7366704940795898, + 0.3471018075942993, + -0.4023456573486328 + ], + "joints": [ + 0.015531130135059357 + ] + }, + "fine_grasp": { + "position": [ + 0.09449993818998337, + 0.11802265793085098, + 0.08656137436628342 + ], + "orientation": [ + 0.41085413098335266, + 0.7419124245643616, + 0.3388838768005371, + -0.4073359966278076 + ], + "joints": [ + 0.006336115300655365 + ] + }, + "final_grasp": { + "position": [ + 0.09449993818998337, + 0.11802265793085098, + 0.08656137436628342 + ], + "orientation": [ + 0.41085413098335266, + 0.7419124245643616, + 0.3388838768005371, + -0.4073359966278076 + ], + "joints": [ + -0.0028588995337486267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0603615827858448, + 0.13647599518299103, + 0.13276167213916779 + ], + "orientation": [ + 0.28419607877731323, + 0.42578238248825073, + 0.742926836013794, + -0.4312790632247925 + ], + "joints": [ + 0.01207427866756916 + ] + }, + "fine_grasp": { + "position": [ + -0.059647511690855026, + 0.13265538215637207, + 0.1313733160495758 + ], + "orientation": [ + 0.2923838496208191, + 0.43244245648384094, + 0.7380778789520264, + -0.4274883270263672 + ], + "joints": [ + 0.0037151745054870844 + ] + }, + "final_grasp": { + "position": [ + -0.059647511690855026, + 0.13265538215637207, + 0.1313733160495758 + ], + "orientation": [ + 0.2923838496208191, + 0.43244245648384094, + 0.7380778789520264, + -0.4274883270263672 + ], + "joints": [ + -0.004643929656594992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09341651201248169, + 0.12342707812786102, + 0.08596135675907135 + ], + "orientation": [ + 0.41825801134109497, + 0.7332825064659119, + 0.35579708218574524, + -0.40095558762550354 + ], + "joints": [ + 0.014775354415178299 + ] + }, + "fine_grasp": { + "position": [ + 0.09232648462057114, + 0.12032578885555267, + 0.08502189069986343 + ], + "orientation": [ + 0.4167136549949646, + 0.7337154746055603, + 0.35245123505592346, + -0.4047092795372009 + ], + "joints": [ + 0.005998294800519943 + ] + }, + "final_grasp": { + "position": [ + 0.09232648462057114, + 0.12032578885555267, + 0.08502189069986343 + ], + "orientation": [ + 0.4167136549949646, + 0.7337154746055603, + 0.35245123505592346, + -0.4047092795372009 + ], + "joints": [ + -0.0027787648141384125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015149313025176525, + 0.13617214560508728, + 0.14835013449192047 + ], + "orientation": [ + 0.06628133356571198, + 0.2811352610588074, + -0.8085850477218628, + 0.5126010775566101 + ], + "joints": [ + 0.01048376876860857 + ] + }, + "fine_grasp": { + "position": [ + 0.013902879320085049, + 0.13209891319274902, + 0.14783787727355957 + ], + "orientation": [ + 0.06277129799127579, + 0.2751654386520386, + -0.8087380528450012, + 0.5160295367240906 + ], + "joints": [ + 0.0033785307314246893 + ] + }, + "final_grasp": { + "position": [ + 0.013902879320085049, + 0.13209891319274902, + 0.14783787727355957 + ], + "orientation": [ + 0.06277129799127579, + 0.2751654386520386, + -0.8087380528450012, + 0.5160295367240906 + ], + "joints": [ + -0.0037267073057591915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09065759927034378, + 0.12919017672538757, + -0.006821557879447937 + ], + "orientation": [ + 0.6610589027404785, + 0.5601053237915039, + -0.45887240767478943, + 0.19677238166332245 + ], + "joints": [ + 0.014105572365224361 + ] + }, + "fine_grasp": { + "position": [ + 0.08972334116697311, + 0.1252739131450653, + -0.006950164679437876 + ], + "orientation": [ + 0.6659153699874878, + 0.5514452457427979, + -0.46230947971343994, + 0.19681145250797272 + ], + "joints": [ + 0.005746467970311642 + ] + }, + "final_grasp": { + "position": [ + 0.08972334116697311, + 0.1252739131450653, + -0.006950164679437876 + ], + "orientation": [ + 0.6659153699874878, + 0.5514452457427979, + -0.46230947971343994, + 0.19681145250797272 + ], + "joints": [ + -0.002612636424601078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08177375048398972, + 0.14303463697433472, + 0.024054789915680885 + ], + "orientation": [ + 0.3175186216831207, + 0.46917951107025146, + 0.5899641513824463, + -0.5753214359283447 + ], + "joints": [ + 0.014238555915653706 + ] + }, + "fine_grasp": { + "position": [ + 0.0809490978717804, + 0.13907083868980408, + 0.024088876321911812 + ], + "orientation": [ + 0.31556159257888794, + 0.46840205788612366, + 0.5866695046424866, + -0.5803785920143127 + ], + "joints": [ + 0.00546149630099535 + ] + }, + "final_grasp": { + "position": [ + 0.0809490978717804, + 0.13907083868980408, + 0.024088876321911812 + ], + "orientation": [ + 0.31556159257888794, + 0.46840205788612366, + 0.5866695046424866, + -0.5803785920143127 + ], + "joints": [ + -0.003315563313663006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08983610570430756, + 0.13693079352378845, + 0.0023027618881314993 + ], + "orientation": [ + 0.6400821208953857, + 0.5245146751403809, + 0.46948593854904175, + -0.30783435702323914 + ], + "joints": [ + 0.013256211765110493 + ] + }, + "fine_grasp": { + "position": [ + -0.08861727267503738, + 0.13326053321361542, + 0.0025145597755908966 + ], + "orientation": [ + 0.642530083656311, + 0.5213528275489807, + 0.4698307514190674, + -0.30757975578308105 + ], + "joints": [ + 0.004479152150452137 + ] + }, + "final_grasp": { + "position": [ + -0.08861727267503738, + 0.13326053321361542, + 0.0025145597755908966 + ], + "orientation": [ + 0.642530083656311, + 0.5213528275489807, + 0.4698307514190674, + -0.30757975578308105 + ], + "joints": [ + -0.004297907464206219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08284690231084824, + 0.14233717322349548, + 0.01195143349468708 + ], + "orientation": [ + 0.34492427110671997, + 0.4736708700656891, + 0.5536046624183655, + -0.5917643308639526 + ], + "joints": [ + 0.013120148330926895 + ] + }, + "fine_grasp": { + "position": [ + 0.08175522834062576, + 0.13830116391181946, + 0.012000556103885174 + ], + "orientation": [ + 0.34238699078559875, + 0.4757334291934967, + 0.5481290221214294, + -0.5966602563858032 + ], + "joints": [ + 0.004761043936014175 + ] + }, + "final_grasp": { + "position": [ + 0.08175522834062576, + 0.13830116391181946, + 0.012000556103885174 + ], + "orientation": [ + 0.34238699078559875, + 0.4757334291934967, + 0.5481290221214294, + -0.5966602563858032 + ], + "joints": [ + -0.0035980604588985443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08244301378726959, + 0.14169816672801971, + 0.011830546893179417 + ], + "orientation": [ + 0.33967137336730957, + 0.4741227626800537, + 0.5538854598999023, + -0.5941731333732605 + ], + "joints": [ + 0.014100865460932255 + ] + }, + "fine_grasp": { + "position": [ + 0.08142527937889099, + 0.13770534098148346, + 0.011858167126774788 + ], + "orientation": [ + 0.3379201889038086, + 0.4756355881690979, + 0.5496500134468079, + -0.5978844165802002 + ], + "joints": [ + 0.005323805846273899 + ] + }, + "final_grasp": { + "position": [ + 0.08142527937889099, + 0.13770534098148346, + 0.011858167126774788 + ], + "orientation": [ + 0.3379201889038086, + 0.4756355881690979, + 0.5496500134468079, + -0.5978844165802002 + ], + "joints": [ + -0.0034532537683844566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08992286771535873, + 0.13546855747699738, + 0.0015895096585154533 + ], + "orientation": [ + 0.6409727931022644, + 0.5257613658905029, + 0.46827664971351624, + -0.30568939447402954 + ], + "joints": [ + 0.013154654763638973 + ] + }, + "fine_grasp": { + "position": [ + -0.08897683769464493, + 0.13150176405906677, + 0.0016406737267971039 + ], + "orientation": [ + 0.645424485206604, + 0.5180003643035889, + 0.4713963568210602, + -0.3047759234905243 + ], + "joints": [ + 0.0047955503687262535 + ] + }, + "final_grasp": { + "position": [ + -0.08897683769464493, + 0.13150176405906677, + 0.0016406737267971039 + ], + "orientation": [ + 0.645424485206604, + 0.5180003643035889, + 0.4713963568210602, + -0.3047759234905243 + ], + "joints": [ + -0.0035635540261864662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07267237454652786, + 0.1336132138967514, + -0.03377345949411392 + ], + "orientation": [ + 0.28732410073280334, + 0.33979377150535583, + -0.5214719772338867, + 0.728046715259552 + ], + "joints": [ + 0.014198015443980694 + ] + }, + "fine_grasp": { + "position": [ + -0.07171042263507843, + 0.1297076940536499, + -0.033108968287706375 + ], + "orientation": [ + 0.2875017821788788, + 0.3429265320301056, + -0.5161460041999817, + 0.7302995324134827 + ], + "joints": [ + 0.005420955829322338 + ] + }, + "final_grasp": { + "position": [ + -0.07171042263507843, + 0.1297076940536499, + -0.033108968287706375 + ], + "orientation": [ + 0.2875017821788788, + 0.3429265320301056, + -0.5161460041999817, + 0.7302995324134827 + ], + "joints": [ + -0.0033561037853360176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11909513175487518, + 0.11858715862035751, + 0.003771814750507474 + ], + "orientation": [ + 0.6751165390014648, + 0.3160380721092224, + -0.5370377898216248, + 0.3948773443698883 + ], + "joints": [ + 0.014288987964391708 + ] + }, + "fine_grasp": { + "position": [ + 0.11717299371957779, + 0.11576183885335922, + 0.004249892197549343 + ], + "orientation": [ + 0.6735159754753113, + 0.31389352679252625, + -0.5404313206672668, + 0.3946911096572876 + ], + "joints": [ + 0.005511928349733353 + ] + }, + "final_grasp": { + "position": [ + 0.11717299371957779, + 0.11576183885335922, + 0.004249892197549343 + ], + "orientation": [ + 0.6735159754753113, + 0.31389352679252625, + -0.5404313206672668, + 0.3946911096572876 + ], + "joints": [ + -0.003265131264925003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13178348541259766, + 0.12171906977891922, + 0.06242974102497101 + ], + "orientation": [ + 0.2876249849796295, + 0.6901477575302124, + 0.37305545806884766, + -0.5493611693382263 + ], + "joints": [ + 0.012817726470530033 + ] + }, + "fine_grasp": { + "position": [ + 0.13017138838768005, + 0.11933884024620056, + 0.06226643547415733 + ], + "orientation": [ + 0.28841647505760193, + 0.6879230737686157, + 0.3730372190475464, + -0.5517436265945435 + ], + "joints": [ + 0.0036227121017873287 + ] + }, + "final_grasp": { + "position": [ + 0.13017138838768005, + 0.11933884024620056, + 0.06226643547415733 + ], + "orientation": [ + 0.28841647505760193, + 0.6879230737686157, + 0.3730372190475464, + -0.5517436265945435 + ], + "joints": [ + -0.005572302266955376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0936594158411026, + 0.13322018086910248, + 0.06463108211755753 + ], + "orientation": [ + 0.47479432821273804, + 0.5330691933631897, + -0.6138582825660706, + 0.3370244801044464 + ], + "joints": [ + 0.011904045008122921 + ] + }, + "fine_grasp": { + "position": [ + 0.09275922179222107, + 0.12918753921985626, + 0.06397852301597595 + ], + "orientation": [ + 0.48561012744903564, + 0.5340451002120972, + -0.6099087595939636, + 0.3270932734012604 + ], + "joints": [ + 0.003962895832955837 + ] + }, + "final_grasp": { + "position": [ + 0.09275922179222107, + 0.12918753921985626, + 0.06397852301597595 + ], + "orientation": [ + 0.48561012744903564, + 0.5340451002120972, + -0.6099087595939636, + 0.3270932734012604 + ], + "joints": [ + -0.0039782533422112465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07392719388008118, + 0.13198335468769073, + -0.030573703348636627 + ], + "orientation": [ + 0.7206978797912598, + 0.560478925704956, + -0.3582060635089874, + 0.19531114399433136 + ], + "joints": [ + 0.01483861356973648 + ] + }, + "fine_grasp": { + "position": [ + 0.07290259748697281, + 0.1281130462884903, + -0.03022201731801033 + ], + "orientation": [ + 0.724219799041748, + 0.5530997514724731, + -0.36156877875328064, + 0.19711555540561676 + ], + "joints": [ + 0.006061553955078125 + ] + }, + "final_grasp": { + "position": [ + 0.07290259748697281, + 0.1281130462884903, + -0.03022201731801033 + ], + "orientation": [ + 0.724219799041748, + 0.5530997514724731, + -0.36156877875328064, + 0.19711555540561676 + ], + "joints": [ + -0.0027155056595802307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11388597637414932, + 0.13517911732196808, + 0.05608917400240898 + ], + "orientation": [ + 0.31404995918273926, + 0.6022371649742126, + 0.4681123197078705, + -0.5652909874916077 + ], + "joints": [ + 0.01124004926532507 + ] + }, + "fine_grasp": { + "position": [ + 0.11181272566318512, + 0.1315300464630127, + 0.055974237620830536 + ], + "orientation": [ + 0.3051729202270508, + 0.594096839427948, + 0.4758734107017517, + -0.5722439289093018 + ], + "joints": [ + 0.0032989007886499166 + ] + }, + "final_grasp": { + "position": [ + 0.11181272566318512, + 0.1315300464630127, + 0.055974237620830536 + ], + "orientation": [ + 0.3051729202270508, + 0.594096839427948, + 0.4758734107017517, + -0.5722439289093018 + ], + "joints": [ + -0.004642247688025236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11495650559663773, + 0.1365964263677597, + 0.05596324801445007 + ], + "orientation": [ + 0.3143572211265564, + 0.602540135383606, + 0.4645993113517761, + -0.567690372467041 + ], + "joints": [ + 0.011614875867962837 + ] + }, + "fine_grasp": { + "position": [ + 0.11297468096017838, + 0.1329299360513687, + 0.055789049714803696 + ], + "orientation": [ + 0.30737200379371643, + 0.5958445072174072, + 0.4702836275100708, + -0.5738686323165894 + ], + "joints": [ + 0.0036528296768665314 + ] + }, + "final_grasp": { + "position": [ + 0.11297468096017838, + 0.1329299360513687, + 0.055789049714803696 + ], + "orientation": [ + 0.30737200379371643, + 0.5958445072174072, + 0.4702836275100708, + -0.5738686323165894 + ], + "joints": [ + -0.0043092165142297745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10499526560306549, + 0.12051080167293549, + -0.08877969533205032 + ], + "orientation": [ + 0.017188621684908867, + 0.38312390446662903, + 0.3737386465072632, + -0.8445354104042053 + ], + "joints": [ + 0.010688818991184235 + ] + }, + "fine_grasp": { + "position": [ + 0.1031014695763588, + 0.1175619512796402, + -0.08638463914394379 + ], + "orientation": [ + 0.01959875412285328, + 0.3783477544784546, + 0.3741372227668762, + -0.8464574217796326 + ], + "joints": [ + 0.0035417857579886913 + ] + }, + "final_grasp": { + "position": [ + 0.1031014695763588, + 0.1175619512796402, + -0.08638463914394379 + ], + "orientation": [ + 0.01959875412285328, + 0.3783477544784546, + 0.3741372227668762, + -0.8464574217796326 + ], + "joints": [ + -0.003605247475206852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10524845868349075, + 0.12056182324886322, + -0.08886852860450745 + ], + "orientation": [ + 0.014204424805939198, + 0.37876835465431213, + 0.37512844800949097, + -0.8459381461143494 + ], + "joints": [ + 0.01087247021496296 + ] + }, + "fine_grasp": { + "position": [ + 0.10341301560401917, + 0.11761274933815002, + -0.08647426962852478 + ], + "orientation": [ + 0.016676876693964005, + 0.37367093563079834, + 0.3756691813468933, + -0.847917914390564 + ], + "joints": [ + 0.0033074819948524237 + ] + }, + "final_grasp": { + "position": [ + 0.10341301560401917, + 0.11761274933815002, + -0.08647426962852478 + ], + "orientation": [ + 0.016676876693964005, + 0.37367093563079834, + 0.3756691813468933, + -0.847917914390564 + ], + "joints": [ + -0.004257506225258112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10419188439846039, + 0.12981636822223663, + -0.06993209570646286 + ], + "orientation": [ + 0.013911765068769455, + 0.4250510334968567, + 0.4321608543395996, + -0.7952200174331665 + ], + "joints": [ + 0.01113763265311718 + ] + }, + "fine_grasp": { + "position": [ + 0.10231391340494156, + 0.1263640820980072, + -0.06842827796936035 + ], + "orientation": [ + 0.017927885055541992, + 0.42044252157211304, + 0.4350799024105072, + -0.7959975600242615 + ], + "joints": [ + 0.00359354168176651 + ] + }, + "final_grasp": { + "position": [ + 0.10231391340494156, + 0.1263640820980072, + -0.06842827796936035 + ], + "orientation": [ + 0.017927885055541992, + 0.42044252157211304, + 0.4350799024105072, + -0.7959975600242615 + ], + "joints": [ + -0.00395054928958416 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 75 + } +} \ No newline at end of file diff --git a/106_skillet_1/Object.usd b/106_skillet_1/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..3c5c12cb6dc8f3068c5d5f05abdc1efebd8b5f24 --- /dev/null +++ b/106_skillet_1/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98ff9089ddddcb2cbac8d539365e0a320a01e28fb45843173749f8745c28b14c +size 288731 diff --git a/109_hydrating-oil_1/Annotation/dex1_1_grasp_pose.json b/109_hydrating-oil_1/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..43b5a7f0e0744405069f3830d9e78c976901c3c0 --- /dev/null +++ b/109_hydrating-oil_1/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,13618 @@ +{ + "type": "109_hydrating-oil_1", + "bottom_center": [ + 4.3958425521850586e-07, + 0.07604524493217468, + -0.021644320338964462 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.09343912452459335, + -0.016106724739074707, + 0.06249774992465973 + ], + "orientation": [ + 0.3969409167766571, + 0.252606064081192, + -0.7444677948951721, + 0.47370433807373047 + ], + "joints": [ + -0.006299430504441261 + ] + }, + "fine_grasp": { + "position": [ + 0.09243804961442947, + -0.01630084402859211, + 0.0618417002260685 + ], + "orientation": [ + 0.3935352563858032, + 0.254829078912735, + -0.7405585050582886, + 0.4814201891422272 + ], + "joints": [ + 0.00010393519187346101 + ] + }, + "final_grasp": { + "position": [ + 0.09243804961442947, + -0.01630084402859211, + 0.0618417002260685 + ], + "orientation": [ + 0.3935352563858032, + 0.254829078912735, + -0.7405585050582886, + 0.4814201891422272 + ], + "joints": [ + 0.0065073007717728615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0933404192328453, + -0.01635950431227684, + 0.0623880960047245 + ], + "orientation": [ + 0.3971538245677948, + 0.25251349806785583, + -0.7445623278617859, + 0.4734264016151428 + ], + "joints": [ + -0.006102516315877438 + ] + }, + "fine_grasp": { + "position": [ + 0.09240024536848068, + -0.01662961207330227, + 0.061773210763931274 + ], + "orientation": [ + 0.39365115761756897, + 0.2550243139266968, + -0.7403751611709595, + 0.48150378465652466 + ], + "joints": [ + -0.00023055027122609317 + ] + }, + "final_grasp": { + "position": [ + 0.09240024536848068, + -0.01662961207330227, + 0.061773210763931274 + ], + "orientation": [ + 0.39365115761756897, + 0.2550243139266968, + -0.7403751611709595, + 0.48150378465652466 + ], + "joints": [ + 0.00564141571521759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11251389980316162, + 0.12241122871637344, + -0.03933487832546234 + ], + "orientation": [ + 0.3288728594779968, + -0.4999846816062927, + 0.5491865873336792, + 0.5833113789558411 + ], + "joints": [ + -0.005309234373271465 + ] + }, + "fine_grasp": { + "position": [ + 0.11328504234552383, + 0.124503955245018, + -0.039124809205532074 + ], + "orientation": [ + 0.34323692321777344, + -0.49010589718818665, + 0.5471500158309937, + 0.5853301882743835 + ], + "joints": [ + 0.0005627318751066923 + ] + }, + "final_grasp": { + "position": [ + 0.11328504234552383, + 0.124503955245018, + -0.039124809205532074 + ], + "orientation": [ + 0.34323692321777344, + -0.49010589718818665, + 0.5471500158309937, + 0.5853301882743835 + ], + "joints": [ + 0.00643469812348485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04706694185733795, + 0.10745327919721603, + 0.11167076230049133 + ], + "orientation": [ + 0.1416981816291809, + 0.1330629587173462, + -0.6523742079734802, + 0.7325462102890015 + ], + "joints": [ + -0.005707203410565853 + ] + }, + "fine_grasp": { + "position": [ + 0.046619635075330734, + 0.1075512170791626, + 0.10872506350278854 + ], + "orientation": [ + 0.1366448998451233, + 0.13727879524230957, + -0.6564949750900269, + 0.7290385365486145 + ], + "joints": [ + 0.000696162402164191 + ] + }, + "final_grasp": { + "position": [ + 0.046619635075330734, + 0.1075512170791626, + 0.10872506350278854 + ], + "orientation": [ + 0.1366448998451233, + 0.13727879524230957, + -0.6564949750900269, + 0.7290385365486145 + ], + "joints": [ + 0.007099528331309557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06535955518484116, + 0.15078666806221008, + -0.0862155333161354 + ], + "orientation": [ + 0.4939360022544861, + 0.8023665547370911, + -0.15281657874584198, + 0.2981312870979309 + ], + "joints": [ + -0.005883217789232731 + ] + }, + "fine_grasp": { + "position": [ + 0.06430986523628235, + 0.14913822710514069, + -0.08555369079113007 + ], + "orientation": [ + 0.4918951690196991, + 0.8033757209777832, + -0.15144003927707672, + 0.29948705434799194 + ], + "joints": [ + 0.0010515475878491998 + ] + }, + "final_grasp": { + "position": [ + 0.06430986523628235, + 0.14913822710514069, + -0.08555369079113007 + ], + "orientation": [ + 0.4918951690196991, + 0.8033757209777832, + -0.15144003927707672, + 0.29948705434799194 + ], + "joints": [ + 0.007986312732100487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10241267830133438, + 0.16020406782627106, + 0.020937349647283554 + ], + "orientation": [ + 0.37507420778274536, + -0.6920680403709412, + 0.3266613483428955, + 0.5231190323829651 + ], + "joints": [ + -0.005127113312482834 + ] + }, + "fine_grasp": { + "position": [ + 0.10047780722379684, + 0.15933090448379517, + 0.02023295685648918 + ], + "orientation": [ + 0.3726036846637726, + -0.6949034333229065, + 0.323752760887146, + 0.522933840751648 + ], + "joints": [ + 0.0007448529358953238 + ] + }, + "final_grasp": { + "position": [ + 0.10047780722379684, + 0.15933090448379517, + 0.02023295685648918 + ], + "orientation": [ + 0.3726036846637726, + -0.6949034333229065, + 0.323752760887146, + 0.522933840751648 + ], + "joints": [ + 0.006616819184273481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06518492847681046, + 0.15092164278030396, + -0.0864972397685051 + ], + "orientation": [ + 0.4938915967941284, + 0.802489161491394, + -0.15111687779426575, + 0.29874056577682495 + ], + "joints": [ + -0.005651967599987984 + ] + }, + "fine_grasp": { + "position": [ + 0.06402801722288132, + 0.14922501146793365, + -0.08566679805517197 + ], + "orientation": [ + 0.49160048365592957, + 0.8035617470741272, + -0.1500784009695053, + 0.3001566529273987 + ], + "joints": [ + 0.0007513982709497213 + ] + }, + "final_grasp": { + "position": [ + 0.06402801722288132, + 0.14922501146793365, + -0.08566679805517197 + ], + "orientation": [ + 0.49160048365592957, + 0.8035617470741272, + -0.1500784009695053, + 0.3001566529273987 + ], + "joints": [ + 0.007154764141887426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06621500849723816, + 0.14999990165233612, + -0.08645039796829224 + ], + "orientation": [ + 0.4962427318096161, + 0.7994879484176636, + -0.15375301241874695, + 0.3015330731868744 + ], + "joints": [ + -0.006142566911876202 + ] + }, + "fine_grasp": { + "position": [ + 0.06494166702032089, + 0.1482275128364563, + -0.0857582837343216 + ], + "orientation": [ + 0.4944397509098053, + 0.8003300428390503, + -0.15209275484085083, + 0.303099125623703 + ], + "joints": [ + 0.0007921985816210508 + ] + }, + "final_grasp": { + "position": [ + 0.06494166702032089, + 0.1482275128364563, + -0.0857582837343216 + ], + "orientation": [ + 0.4944397509098053, + 0.8003300428390503, + -0.15209275484085083, + 0.303099125623703 + ], + "joints": [ + 0.007726964075118303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07259533554315567, + 0.11702540516853333, + 0.09168154746294022 + ], + "orientation": [ + 0.1859043687582016, + 0.27184775471687317, + -0.5374524593353271, + 0.7763267755508423 + ], + "joints": [ + -0.006587693467736244 + ] + }, + "fine_grasp": { + "position": [ + 0.07105553895235062, + 0.11795850098133087, + 0.09002754092216492 + ], + "orientation": [ + 0.19096845388412476, + 0.2689235210418701, + -0.5477866530418396, + 0.7688570618629456 + ], + "joints": [ + -0.00018432780052535236 + ] + }, + "final_grasp": { + "position": [ + 0.07105553895235062, + 0.11795850098133087, + 0.09002754092216492 + ], + "orientation": [ + 0.19096845388412476, + 0.2689235210418701, + -0.5477866530418396, + 0.7688570618629456 + ], + "joints": [ + 0.006219037808477879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10592547804117203, + 0.1553632915019989, + 0.033256132155656815 + ], + "orientation": [ + 0.423014372587204, + -0.6746764183044434, + -0.2906269431114197, + -0.5304778218269348 + ], + "joints": [ + -0.00617540068924427 + ] + }, + "fine_grasp": { + "position": [ + -0.10189524292945862, + 0.15305480360984802, + 0.032271649688482285 + ], + "orientation": [ + 0.424287348985672, + -0.6703720688819885, + -0.28808990120887756, + -0.5362702012062073 + ], + "joints": [ + 0.0007327949861064553 + ] + }, + "final_grasp": { + "position": [ + -0.10189524292945862, + 0.15305480360984802, + 0.032271649688482285 + ], + "orientation": [ + 0.424287348985672, + -0.6703720688819885, + -0.28808990120887756, + -0.5362702012062073 + ], + "joints": [ + 0.007640990428626537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10371176153421402, + 0.1542264074087143, + 0.03275004401803017 + ], + "orientation": [ + 0.4246905446052551, + -0.6720646619796753, + -0.2892569601535797, + -0.5331954956054688 + ], + "joints": [ + -0.00583287887275219 + ] + }, + "fine_grasp": { + "position": [ + -0.1007094457745552, + 0.15270353853702545, + 0.032167136669158936 + ], + "orientation": [ + 0.42368754744529724, + -0.6697551012039185, + -0.28717994689941406, + -0.5380006432533264 + ], + "joints": [ + 0.0010753166861832142 + ] + }, + "final_grasp": { + "position": [ + -0.1007094457745552, + 0.15270353853702545, + 0.032167136669158936 + ], + "orientation": [ + 0.42368754744529724, + -0.6697551012039185, + -0.28717994689941406, + -0.5380006432533264 + ], + "joints": [ + 0.007983512245118618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06654440611600876, + 0.12802129983901978, + -0.09391158074140549 + ], + "orientation": [ + 0.5728555917739868, + 0.7515653371810913, + -0.15060122311115265, + 0.2903536856174469 + ], + "joints": [ + -0.005812549032270908 + ] + }, + "fine_grasp": { + "position": [ + 0.0675237625837326, + 0.127346932888031, + -0.09583152085542679 + ], + "orientation": [ + 0.5700568556785583, + 0.753548264503479, + -0.14748413860797882, + 0.2923159599304199 + ], + "joints": [ + 0.0005908168386667967 + ] + }, + "final_grasp": { + "position": [ + 0.0675237625837326, + 0.127346932888031, + -0.09583152085542679 + ], + "orientation": [ + 0.5700568556785583, + 0.753548264503479, + -0.14748413860797882, + 0.2923159599304199 + ], + "joints": [ + 0.006994182709604502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08452063798904419, + 0.13915474712848663, + 0.07056093215942383 + ], + "orientation": [ + 0.5012080669403076, + -0.7426580786705017, + 0.20645101368427277, + 0.39322683215141296 + ], + "joints": [ + -0.005430717021226883 + ] + }, + "fine_grasp": { + "position": [ + 0.08436083793640137, + 0.1392071396112442, + 0.07152092456817627 + ], + "orientation": [ + 0.5094940066337585, + -0.7310044765472412, + 0.19009608030319214, + 0.41220369935035706 + ], + "joints": [ + 0.0009726488497108221 + ] + }, + "final_grasp": { + "position": [ + 0.08436083793640137, + 0.1392071396112442, + 0.07152092456817627 + ], + "orientation": [ + 0.5094940066337585, + -0.7310044765472412, + 0.19009608030319214, + 0.41220369935035706 + ], + "joints": [ + 0.007376014720648527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08447142690420151, + 0.1388978660106659, + 0.0708296149969101 + ], + "orientation": [ + 0.502494215965271, + -0.7422294020652771, + 0.20586931705474854, + 0.3926996886730194 + ], + "joints": [ + -0.005704020150005817 + ] + }, + "fine_grasp": { + "position": [ + 0.08443321287631989, + 0.13896432518959045, + 0.07177844643592834 + ], + "orientation": [ + 0.5104769468307495, + -0.7306058406829834, + 0.18958993256092072, + 0.4119272828102112 + ], + "joints": [ + 0.0006993457209318876 + ] + }, + "final_grasp": { + "position": [ + 0.08443321287631989, + 0.13896432518959045, + 0.07177844643592834 + ], + "orientation": [ + 0.5104769468307495, + -0.7306058406829834, + 0.18958993256092072, + 0.4119272828102112 + ], + "joints": [ + 0.007102711591869593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07327312976121902, + 0.12688864767551422, + -0.08830904960632324 + ], + "orientation": [ + 0.5547960996627808, + 0.7529522776603699, + 0.17359532415866852, + -0.3084297478199005 + ], + "joints": [ + -0.005778110586106777 + ] + }, + "fine_grasp": { + "position": [ + -0.0721672847867012, + 0.12716591358184814, + -0.08877144008874893 + ], + "orientation": [ + 0.563127875328064, + 0.7412751317024231, + 0.1515633761882782, + -0.33230525255203247 + ], + "joints": [ + 0.0006252552848309278 + ] + }, + "final_grasp": { + "position": [ + -0.0721672847867012, + 0.12716591358184814, + -0.08877144008874893 + ], + "orientation": [ + 0.563127875328064, + 0.7412751317024231, + 0.1515633761882782, + -0.33230525255203247 + ], + "joints": [ + 0.007028621155768633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1143609881401062, + 0.13426929712295532, + 0.006251612678170204 + ], + "orientation": [ + 0.40759870409965515, + 0.5410208106040955, + 0.39782029390335083, + -0.6187881231307983 + ], + "joints": [ + -0.005489500239491463 + ] + }, + "fine_grasp": { + "position": [ + -0.11298362910747528, + 0.13394959270954132, + 0.0060400222428143024 + ], + "orientation": [ + 0.41886472702026367, + 0.5247717499732971, + 0.3881317377090454, + -0.6312849521636963 + ], + "joints": [ + 0.0009138656314462423 + ] + }, + "final_grasp": { + "position": [ + -0.11298362910747528, + 0.13394959270954132, + 0.0060400222428143024 + ], + "orientation": [ + 0.41886472702026367, + 0.5247717499732971, + 0.3881317377090454, + -0.6312849521636963 + ], + "joints": [ + 0.007317231502383947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010429521091282368, + -0.10359322279691696, + -0.006643856409937143 + ], + "orientation": [ + 0.4642290472984314, + -0.032852981239557266, + 0.8830302953720093, + 0.06057674437761307 + ], + "joints": [ + -0.007452274672687054 + ] + }, + "fine_grasp": { + "position": [ + 0.010205978527665138, + -0.10920428484678268, + -0.0064498502761125565 + ], + "orientation": [ + 0.46264031529426575, + -0.03735325112938881, + 0.8831009268760681, + 0.06856684386730194 + ], + "joints": [ + -0.0010754792019724846 + ] + }, + "final_grasp": { + "position": [ + 0.010205978527665138, + -0.10920428484678268, + -0.0064498502761125565 + ], + "orientation": [ + 0.46264031529426575, + -0.03735325112938881, + 0.8831009268760681, + 0.06856684386730194 + ], + "joints": [ + 0.0053013162687420845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08022868633270264, + 0.1251986175775528, + -0.08256328850984573 + ], + "orientation": [ + 0.526756227016449, + 0.7685184478759766, + -0.2472788691520691, + 0.26600831747055054 + ], + "joints": [ + -0.005770784802734852 + ] + }, + "fine_grasp": { + "position": [ + 0.08030960708856583, + 0.12497027218341827, + -0.08204545825719833 + ], + "orientation": [ + 0.520818293094635, + 0.7747150659561157, + -0.2613707482814789, + 0.245459645986557 + ], + "joints": [ + 0.0006325810682028532 + ] + }, + "final_grasp": { + "position": [ + 0.08030960708856583, + 0.12497027218341827, + -0.08204545825719833 + ], + "orientation": [ + 0.520818293094635, + 0.7747150659561157, + -0.2613707482814789, + 0.245459645986557 + ], + "joints": [ + 0.007035946939140558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10788658261299133, + 0.12069638073444366, + -0.044225070625543594 + ], + "orientation": [ + 0.5216742157936096, + 0.6351999044418335, + -0.3185146450996399, + 0.4721499979496002 + ], + "joints": [ + -0.005591806955635548 + ] + }, + "fine_grasp": { + "position": [ + 0.10846760869026184, + 0.11984553933143616, + -0.04509028419852257 + ], + "orientation": [ + 0.5304123163223267, + 0.621731162071228, + -0.3041597902774811, + 0.48948946595191956 + ], + "joints": [ + -0.00025124059175141156 + ] + }, + "final_grasp": { + "position": [ + 0.10846760869026184, + 0.11984553933143616, + -0.04509028419852257 + ], + "orientation": [ + 0.5304123163223267, + 0.621731162071228, + -0.3041597902774811, + 0.48948946595191956 + ], + "joints": [ + 0.0050893258303403854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08051083236932755, + 0.1255086064338684, + -0.08234760165214539 + ], + "orientation": [ + 0.5251745581626892, + 0.7689287662506104, + -0.24707955121994019, + 0.2681266665458679 + ], + "joints": [ + -0.0057656290009617805 + ] + }, + "fine_grasp": { + "position": [ + 0.07996977865695953, + 0.12515579164028168, + -0.08111855387687683 + ], + "orientation": [ + 0.5187541842460632, + 0.7753067016601562, + -0.26249563694000244, + 0.24675844609737396 + ], + "joints": [ + 0.0006377368699759245 + ] + }, + "final_grasp": { + "position": [ + 0.07996977865695953, + 0.12515579164028168, + -0.08111855387687683 + ], + "orientation": [ + 0.5187541842460632, + 0.7753067016601562, + -0.26249563694000244, + 0.24675844609737396 + ], + "joints": [ + 0.0070411027409136295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05858684331178665, + 0.12925811111927032, + -0.09670843929052353 + ], + "orientation": [ + 0.13900108635425568, + -0.2362208068370819, + 0.5283396244049072, + 0.8035768866539001 + ], + "joints": [ + -0.006384869106113911 + ] + }, + "fine_grasp": { + "position": [ + 0.05776624009013176, + 0.128351092338562, + -0.09486899524927139 + ], + "orientation": [ + 0.1426759511232376, + -0.22784936428070068, + 0.5225235223770142, + 0.8091336488723755 + ], + "joints": [ + -8.073373464867473e-06 + ] + }, + "final_grasp": { + "position": [ + 0.05776624009013176, + 0.128351092338562, + -0.09486899524927139 + ], + "orientation": [ + 0.1426759511232376, + -0.22784936428070068, + 0.5225235223770142, + 0.8091336488723755 + ], + "joints": [ + 0.006368722300976515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10907696932554245, + 0.06833700090646744, + 0.05268510803580284 + ], + "orientation": [ + 0.6059203743934631, + -0.592261016368866, + -0.3848978877067566, + -0.3659793436527252 + ], + "joints": [ + -0.005464415997266769 + ] + }, + "fine_grasp": { + "position": [ + -0.11047014594078064, + 0.06597191095352173, + 0.053577322512865067 + ], + "orientation": [ + 0.59984290599823, + -0.5987722277641296, + -0.3747372627258301, + -0.375808984041214 + ], + "joints": [ + -0.0001238495169673115 + ] + }, + "final_grasp": { + "position": [ + -0.11047014594078064, + 0.06597191095352173, + 0.053577322512865067 + ], + "orientation": [ + 0.59984290599823, + -0.5987722277641296, + -0.3747372627258301, + -0.375808984041214 + ], + "joints": [ + 0.005216716788709164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07998596131801605, + 0.12484025210142136, + -0.08258917182683945 + ], + "orientation": [ + 0.5268430113792419, + 0.7688348889350891, + -0.24711239337921143, + 0.26507505774497986 + ], + "joints": [ + -0.005799966864287853 + ] + }, + "fine_grasp": { + "position": [ + 0.08023466169834137, + 0.12455891072750092, + -0.08219283074140549 + ], + "orientation": [ + 0.5201106667518616, + 0.7755894064903259, + -0.2615249454975128, + 0.24403008818626404 + ], + "joints": [ + 0.0006033990066498518 + ] + }, + "final_grasp": { + "position": [ + 0.08023466169834137, + 0.12455891072750092, + -0.08219283074140549 + ], + "orientation": [ + 0.5201106667518616, + 0.7755894064903259, + -0.2615249454975128, + 0.24403008818626404 + ], + "joints": [ + 0.007006764877587557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07272175699472427, + 0.1202627420425415, + 0.09102455526590347 + ], + "orientation": [ + 0.2153485268354416, + 0.23881405591964722, + -0.5586872100830078, + 0.7645007967948914 + ], + "joints": [ + -0.006066371686756611 + ] + }, + "fine_grasp": { + "position": [ + 0.0733349621295929, + 0.1195872500538826, + 0.09218702465295792 + ], + "orientation": [ + 0.2163943499326706, + 0.240958109498024, + -0.5528749823570251, + 0.767751157283783 + ], + "joints": [ + -0.0007258054101839662 + ] + }, + "final_grasp": { + "position": [ + 0.0733349621295929, + 0.1195872500538826, + 0.09218702465295792 + ], + "orientation": [ + 0.2163943499326706, + 0.240958109498024, + -0.5528749823570251, + 0.767751157283783 + ], + "joints": [ + 0.004614761099219322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007711478974670172, + -0.10396067798137665, + -0.004721318371593952 + ], + "orientation": [ + 0.463704377412796, + -0.03042401559650898, + 0.8837143778800964, + 0.05569197237491608 + ], + "joints": [ + -0.007457168772816658 + ] + }, + "fine_grasp": { + "position": [ + 0.008009655401110649, + -0.10955724865198135, + -0.004922974854707718 + ], + "orientation": [ + 0.46246686577796936, + -0.03306625038385391, + 0.8839678764343262, + 0.06026460975408554 + ], + "joints": [ + -0.0010538033675402403 + ] + }, + "final_grasp": { + "position": [ + 0.008009655401110649, + -0.10955724865198135, + -0.004922974854707718 + ], + "orientation": [ + 0.46246686577796936, + -0.03306625038385391, + 0.8839678764343262, + 0.06026460975408554 + ], + "joints": [ + 0.0053495620377361774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031645551323890686, + 0.13924434781074524, + 0.1071472242474556 + ], + "orientation": [ + 0.058613210916519165, + 0.1499614268541336, + -0.5521210432052612, + 0.8180698752403259 + ], + "joints": [ + -0.005665996111929417 + ] + }, + "fine_grasp": { + "position": [ + 0.03104162961244583, + 0.13820311427116394, + 0.10565653443336487 + ], + "orientation": [ + 0.05331938713788986, + 0.15698792040348053, + -0.5492764711380005, + 0.8190282583236694 + ], + "joints": [ + 0.0007373697590082884 + ] + }, + "final_grasp": { + "position": [ + 0.03104162961244583, + 0.13820311427116394, + 0.10565653443336487 + ], + "orientation": [ + 0.05331938713788986, + 0.15698792040348053, + -0.5492764711380005, + 0.8190282583236694 + ], + "joints": [ + 0.007140735629945993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009997088462114334, + 0.11505719274282455, + 0.11791591346263885 + ], + "orientation": [ + 0.05005976930260658, + 0.003986007068306208, + 0.6174703240394592, + -0.7849894762039185 + ], + "joints": [ + -0.005772446282207966 + ] + }, + "fine_grasp": { + "position": [ + -0.011032461188733578, + 0.11498595029115677, + 0.11826969683170319 + ], + "orientation": [ + 0.07379486411809921, + -0.02094842866063118, + 0.6211472749710083, + -0.7799304723739624 + ], + "joints": [ + 0.0006309195887297392 + ] + }, + "final_grasp": { + "position": [ + -0.011032461188733578, + 0.11498595029115677, + 0.11826969683170319 + ], + "orientation": [ + 0.07379486411809921, + -0.02094842866063118, + 0.6211472749710083, + -0.7799304723739624 + ], + "joints": [ + 0.007034285459667444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05956561490893364, + 0.12727385759353638, + -0.09855104982852936 + ], + "orientation": [ + 0.5614047646522522, + 0.7764881253242493, + 0.12842975556850433, + -0.2557278573513031 + ], + "joints": [ + -0.006218659691512585 + ] + }, + "fine_grasp": { + "position": [ + -0.05866825953125954, + 0.1269199550151825, + -0.09800148755311966 + ], + "orientation": [ + 0.5648990273475647, + 0.7691450119018555, + 0.11217768490314484, + -0.27698591351509094 + ], + "joints": [ + 0.0007161058019846678 + ] + }, + "final_grasp": { + "position": [ + -0.05866825953125954, + 0.1269199550151825, + -0.09800148755311966 + ], + "orientation": [ + 0.5648990273475647, + 0.7691450119018555, + 0.11217768490314484, + -0.27698591351509094 + ], + "joints": [ + 0.00765087129548192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12240733951330185, + 0.07921745628118515, + -0.02535182796418667 + ], + "orientation": [ + 0.49557268619537354, + -0.3980199992656708, + -0.5378369688987732, + -0.5538222193717957 + ], + "joints": [ + -0.00671845767647028 + ] + }, + "fine_grasp": { + "position": [ + -0.1174929291009903, + 0.0809645876288414, + -0.024362673982977867 + ], + "orientation": [ + 0.5012818574905396, + -0.3840402066707611, + -0.542995274066925, + -0.5535211563110352 + ], + "joints": [ + -0.0008464917773380876 + ] + }, + "final_grasp": { + "position": [ + -0.1174929291009903, + 0.0809645876288414, + -0.024362673982977867 + ], + "orientation": [ + 0.5012818574905396, + -0.3840402066707611, + -0.542995274066925, + -0.5535211563110352 + ], + "joints": [ + 0.005025474354624748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00996856763958931, + 0.11469999700784683, + 0.11761736124753952 + ], + "orientation": [ + 0.050169724971055984, + 0.003912408836185932, + 0.6161608099937439, + -0.7860111594200134 + ], + "joints": [ + -0.0057364823296666145 + ] + }, + "fine_grasp": { + "position": [ + -0.01113958191126585, + 0.1145993247628212, + 0.11812052130699158 + ], + "orientation": [ + 0.07476136088371277, + -0.021890051662921906, + 0.618545413017273, + -0.7818780541419983 + ], + "joints": [ + 0.0006668835412710905 + ] + }, + "final_grasp": { + "position": [ + -0.01113958191126585, + 0.1145993247628212, + 0.11812052130699158 + ], + "orientation": [ + 0.07476136088371277, + -0.021890051662921906, + 0.618545413017273, + -0.7818780541419983 + ], + "joints": [ + 0.0070702494122087955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11093644797801971, + 0.07353030890226364, + -0.04850173741579056 + ], + "orientation": [ + 0.6405497193336487, + 0.5407809615135193, + -0.3736034631729126, + 0.3970799446105957 + ], + "joints": [ + -0.006192561239004135 + ] + }, + "fine_grasp": { + "position": [ + 0.11204435676336288, + 0.07412634789943695, + -0.048024192452430725 + ], + "orientation": [ + 0.653057873249054, + 0.5206905007362366, + -0.36491093039512634, + 0.41138407588005066 + ], + "joints": [ + -0.0008785650134086609 + ] + }, + "final_grasp": { + "position": [ + 0.11204435676336288, + 0.07412634789943695, + -0.048024192452430725 + ], + "orientation": [ + 0.653057873249054, + 0.5206905007362366, + -0.36491093039512634, + 0.41138407588005066 + ], + "joints": [ + 0.004435431212186813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11037899553775787, + 0.12587815523147583, + -0.03297509253025055 + ], + "orientation": [ + 0.3927852213382721, + -0.42213204503059387, + -0.4469720125198364, + -0.6839155554771423 + ], + "joints": [ + -0.006048868410289288 + ] + }, + "fine_grasp": { + "position": [ + -0.11162568628787994, + 0.12538158893585205, + -0.03313974663615227 + ], + "orientation": [ + 0.3939494788646698, + -0.41815248131752014, + -0.44319620728492737, + -0.6881347894668579 + ], + "joints": [ + -0.0007083021919243038 + ] + }, + "final_grasp": { + "position": [ + -0.11162568628787994, + 0.12538158893585205, + -0.03313974663615227 + ], + "orientation": [ + 0.3939494788646698, + -0.41815248131752014, + -0.44319620728492737, + -0.6881347894668579 + ], + "joints": [ + 0.004632263910025358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01614704355597496, + 0.04132573679089546, + -0.12644875049591064 + ], + "orientation": [ + 0.7382113337516785, + 0.6712000966072083, + -0.05856281891465187, + 0.03324029594659805 + ], + "joints": [ + -0.00648530013859272 + ] + }, + "fine_grasp": { + "position": [ + 0.015425531193614006, + 0.042025089263916016, + -0.12232982367277145 + ], + "orientation": [ + 0.7394288778305054, + 0.6695452332496643, + -0.06572587043046951, + 0.025183504447340965 + ], + "joints": [ + 0.000449465325800702 + ] + }, + "final_grasp": { + "position": [ + 0.015425531193614006, + 0.042025089263916016, + -0.12232982367277145 + ], + "orientation": [ + 0.7394288778305054, + 0.6695452332496643, + -0.06572587043046951, + 0.025183504447340965 + ], + "joints": [ + 0.007384230848401785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04533720761537552, + 0.01535655278712511, + 0.11199254542589188 + ], + "orientation": [ + 0.7587119340896606, + -0.6200049519538879, + 0.17116063833236694, + 0.10321947932243347 + ], + "joints": [ + -0.006561090238392353 + ] + }, + "fine_grasp": { + "position": [ + 0.04488443210721016, + 0.015585257671773434, + 0.11129190772771835 + ], + "orientation": [ + 0.7619512677192688, + -0.6170048117637634, + 0.17035487294197083, + 0.09856203198432922 + ], + "joints": [ + -0.0007156943902373314 + ] + }, + "final_grasp": { + "position": [ + 0.04488443210721016, + 0.015585257671773434, + 0.11129190772771835 + ], + "orientation": [ + 0.7619512677192688, + -0.6170048117637634, + 0.17035487294197083, + 0.09856203198432922 + ], + "joints": [ + 0.00512970145791769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016171611845493317, + 0.041438028216362, + -0.1263216733932495 + ], + "orientation": [ + 0.7385563850402832, + 0.6708057522773743, + -0.05865289643406868, + 0.03337472677230835 + ], + "joints": [ + -0.006765759550035 + ] + }, + "fine_grasp": { + "position": [ + 0.015379190444946289, + 0.042085811495780945, + -0.12230855971574783 + ], + "orientation": [ + 0.7398330569267273, + 0.6690295338630676, + -0.0666516050696373, + 0.02457640878856182 + ], + "joints": [ + 0.0006738356314599514 + ] + }, + "final_grasp": { + "position": [ + 0.015379190444946289, + 0.042085811495780945, + -0.12230855971574783 + ], + "orientation": [ + 0.7398330569267273, + 0.6690295338630676, + -0.0666516050696373, + 0.02457640878856182 + ], + "joints": [ + 0.008113430812954903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04543408751487732, + 0.015391821041703224, + 0.1120065376162529 + ], + "orientation": [ + 0.7598695158958435, + -0.6186053156852722, + 0.17061187326908112, + 0.10400640219449997 + ], + "joints": [ + -0.006216761656105518 + ] + }, + "fine_grasp": { + "position": [ + 0.04523242637515068, + 0.015814566984772682, + 0.11097248643636703 + ], + "orientation": [ + 0.7627672553062439, + -0.6154946684837341, + 0.170768141746521, + 0.10094862431287766 + ], + "joints": [ + -0.0008761953795328736 + ] + }, + "final_grasp": { + "position": [ + 0.04523242637515068, + 0.015814566984772682, + 0.11097248643636703 + ], + "orientation": [ + 0.7627672553062439, + -0.6154946684837341, + 0.170768141746521, + 0.10094862431287766 + ], + "joints": [ + 0.004464371129870415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10829703509807587, + 0.12113410234451294, + -0.04387388378381729 + ], + "orientation": [ + 0.5190200209617615, + 0.6345213055610657, + -0.31564024090766907, + 0.47788289189338684 + ], + "joints": [ + -0.005870618857443333 + ] + }, + "fine_grasp": { + "position": [ + 0.10952089726924896, + 0.12023100256919861, + -0.04516708105802536 + ], + "orientation": [ + 0.5301178097724915, + 0.6196800470352173, + -0.29977190494537354, + 0.49508434534072876 + ], + "joints": [ + -2.5222747353836894e-05 + ] + }, + "final_grasp": { + "position": [ + 0.10952089726924896, + 0.12023100256919861, + -0.04516708105802536 + ], + "orientation": [ + 0.5301178097724915, + 0.6196800470352173, + -0.29977190494537354, + 0.49508434534072876 + ], + "joints": [ + 0.005820173304527998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08663950860500336, + 0.12202384322881699, + -0.07308828085660934 + ], + "orientation": [ + 0.22992053627967834, + -0.36224910616874695, + 0.5253196358680725, + 0.7348138093948364 + ], + "joints": [ + -0.0060730744153261185 + ] + }, + "fine_grasp": { + "position": [ + 0.08784355223178864, + 0.12269805371761322, + -0.0747702345252037 + ], + "orientation": [ + 0.22179014980793, + -0.36325427889823914, + 0.5239419937133789, + 0.7377941608428955 + ], + "joints": [ + -0.0007325081387534738 + ] + }, + "final_grasp": { + "position": [ + 0.08784355223178864, + 0.12269805371761322, + -0.0747702345252037 + ], + "orientation": [ + 0.22179014980793, + -0.36325427889823914, + 0.5239419937133789, + 0.7377941608428955 + ], + "joints": [ + 0.004608058370649815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029906651005148888, + 0.13371238112449646, + -0.1088707372546196 + ], + "orientation": [ + 0.5591176152229309, + 0.8196642994880676, + -0.10250711441040039, + 0.07092413306236267 + ], + "joints": [ + -0.005417568609118462 + ] + }, + "fine_grasp": { + "position": [ + 0.029647065326571465, + 0.13282305002212524, + -0.10613478720188141 + ], + "orientation": [ + 0.5528432726860046, + 0.8233054876327515, + -0.11849265545606613, + 0.049918919801712036 + ], + "joints": [ + 0.00045439761015586555 + ] + }, + "final_grasp": { + "position": [ + 0.029647065326571465, + 0.13282305002212524, + -0.10613478720188141 + ], + "orientation": [ + 0.5528432726860046, + 0.8233054876327515, + -0.11849265545606613, + 0.049918919801712036 + ], + "joints": [ + 0.006326363887637854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059601470828056335, + 0.1306571215391159, + -0.09581061452627182 + ], + "orientation": [ + 0.170254185795784, + -0.20191261172294617, + 0.5297677516937256, + 0.8059720396995544 + ], + "joints": [ + -0.00575991440564394 + ] + }, + "fine_grasp": { + "position": [ + 0.061751484870910645, + 0.12999166548252106, + -0.0958665981888771 + ], + "orientation": [ + 0.19273877143859863, + -0.1786905825138092, + 0.5243439674377441, + 0.8099290132522583 + ], + "joints": [ + 0.0006434514652937651 + ] + }, + "final_grasp": { + "position": [ + 0.061751484870910645, + 0.12999166548252106, + -0.0958665981888771 + ], + "orientation": [ + 0.19273877143859863, + -0.1786905825138092, + 0.5243439674377441, + 0.8099290132522583 + ], + "joints": [ + 0.00704681733623147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029889417812228203, + 0.13491924107074738, + -0.10882977396249771 + ], + "orientation": [ + 0.5528916716575623, + 0.8240072727203369, + -0.10434679687023163, + 0.06659398227930069 + ], + "joints": [ + -0.0057218680158257484 + ] + }, + "fine_grasp": { + "position": [ + 0.029528310522437096, + 0.13395488262176514, + -0.10561642050743103 + ], + "orientation": [ + 0.5482367873191833, + 0.8265079259872437, + -0.11846444755792618, + 0.04782579839229584 + ], + "joints": [ + 0.0006814978551119566 + ] + }, + "final_grasp": { + "position": [ + 0.029528310522437096, + 0.13395488262176514, + -0.10561642050743103 + ], + "orientation": [ + 0.5482367873191833, + 0.8265079259872437, + -0.11846444755792618, + 0.04782579839229584 + ], + "joints": [ + 0.007084863726049662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11636263877153397, + 0.07684452086687088, + 0.030252480879426003 + ], + "orientation": [ + 0.42609527707099915, + 0.43346983194351196, + -0.5116447806358337, + 0.6072614192962646 + ], + "joints": [ + -0.00589824840426445 + ] + }, + "fine_grasp": { + "position": [ + 0.11955967545509338, + 0.07735840976238251, + 0.030915752053260803 + ], + "orientation": [ + 0.43163222074508667, + 0.4300547242164612, + -0.5050793886184692, + 0.6112622618675232 + ], + "joints": [ + -0.0010890818666666746 + ] + }, + "final_grasp": { + "position": [ + 0.11955967545509338, + 0.07735840976238251, + 0.030915752053260803 + ], + "orientation": [ + 0.43163222074508667, + 0.4300547242164612, + -0.5050793886184692, + 0.6112622618675232 + ], + "joints": [ + 0.003720084670931101 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0668029934167862, + 0.01891341060400009, + -0.09977234899997711 + ], + "orientation": [ + 0.24059231579303741, + -0.1735135018825531, + -0.7196643352508545, + -0.6277671456336975 + ], + "joints": [ + -0.00619274377822876 + ] + }, + "fine_grasp": { + "position": [ + -0.068175308406353, + 0.018539849668741226, + -0.10114546120166779 + ], + "orientation": [ + 0.24675533175468445, + -0.16581401228904724, + -0.7190731763839722, + -0.6281330585479736 + ], + "joints": [ + -0.0008521775016561151 + ] + }, + "final_grasp": { + "position": [ + -0.068175308406353, + 0.018539849668741226, + -0.10114546120166779 + ], + "orientation": [ + 0.24675533175468445, + -0.16581401228904724, + -0.7190731763839722, + -0.6281330585479736 + ], + "joints": [ + 0.004488389007747173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10775905847549438, + 0.1255784034729004, + 0.040816448628902435 + ], + "orientation": [ + 0.31185340881347656, + 0.48736849427223206, + -0.49299922585487366, + 0.6497469544410706 + ], + "joints": [ + -0.005623146891593933 + ] + }, + "fine_grasp": { + "position": [ + 0.10815339535474777, + 0.12485063076019287, + 0.04192616418004036 + ], + "orientation": [ + 0.29506754875183105, + 0.5048773288726807, + -0.5014147162437439, + 0.6376655697822571 + ], + "joints": [ + 0.0007802188629284501 + ] + }, + "final_grasp": { + "position": [ + 0.10815339535474777, + 0.12485063076019287, + 0.04192616418004036 + ], + "orientation": [ + 0.29506754875183105, + 0.5048773288726807, + -0.5014147162437439, + 0.6376655697822571 + ], + "joints": [ + 0.00718358438462019 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11607536673545837, + 0.07782699912786484, + 0.0304248183965683 + ], + "orientation": [ + 0.4264301061630249, + 0.4316205382347107, + -0.5090391039848328, + 0.6105246543884277 + ], + "joints": [ + -0.005893354304134846 + ] + }, + "fine_grasp": { + "position": [ + 0.11951079964637756, + 0.07831784337759018, + 0.03116091527044773 + ], + "orientation": [ + 0.4317593276500702, + 0.4281747043132782, + -0.5025067329406738, + 0.6146033406257629 + ], + "joints": [ + -0.001110757701098919 + ] + }, + "final_grasp": { + "position": [ + 0.11951079964637756, + 0.07831784337759018, + 0.03116091527044773 + ], + "orientation": [ + 0.4317593276500702, + 0.4281747043132782, + -0.5025067329406738, + 0.6146033406257629 + ], + "joints": [ + 0.003671838901937008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08576437085866928, + -0.07329919189214706, + -0.009119356982409954 + ], + "orientation": [ + 0.611426830291748, + -0.2723279893398285, + -0.6794528365135193, + -0.30056360363960266 + ], + "joints": [ + -0.005378740839660168 + ] + }, + "fine_grasp": { + "position": [ + -0.08799124509096146, + -0.07698874175548553, + -0.009780126623809338 + ], + "orientation": [ + 0.6112531423568726, + -0.2761659324169159, + -0.675918459892273, + -0.30534592270851135 + ], + "joints": [ + 0.001051194965839386 + ] + }, + "final_grasp": { + "position": [ + -0.08799124509096146, + -0.07698874175548553, + -0.009780126623809338 + ], + "orientation": [ + 0.6112531423568726, + -0.2761659324169159, + -0.675918459892273, + -0.30534592270851135 + ], + "joints": [ + 0.00748113077133894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11453409492969513, + 0.02928330935537815, + 0.033339377492666245 + ], + "orientation": [ + 0.44409745931625366, + 0.39932680130004883, + 0.6253358721733093, + -0.502265453338623 + ], + "joints": [ + -0.005672575905919075 + ] + }, + "fine_grasp": { + "position": [ + -0.11810032278299332, + 0.02843412384390831, + 0.03320285305380821 + ], + "orientation": [ + 0.4389883279800415, + 0.40875306725502014, + 0.6322550177574158, + -0.49037107825279236 + ], + "joints": [ + -0.0008634092519059777 + ] + }, + "final_grasp": { + "position": [ + -0.11810032278299332, + 0.02843412384390831, + 0.03320285305380821 + ], + "orientation": [ + 0.4389883279800415, + 0.40875306725502014, + 0.6322550177574158, + -0.49037107825279236 + ], + "joints": [ + 0.003945757634937763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11454688757658005, + 0.029090745374560356, + 0.033031146973371506 + ], + "orientation": [ + 0.4456833600997925, + 0.3990013301372528, + 0.6255110502243042, + -0.5008993148803711 + ], + "joints": [ + -0.005672575905919075 + ] + }, + "fine_grasp": { + "position": [ + -0.11808028817176819, + 0.02819700539112091, + 0.0328974723815918 + ], + "orientation": [ + 0.44050687551498413, + 0.40838155150413513, + 0.6325849890708923, + -0.48889097571372986 + ], + "joints": [ + -0.0008634092519059777 + ] + }, + "final_grasp": { + "position": [ + -0.11808028817176819, + 0.02819700539112091, + 0.0328974723815918 + ], + "orientation": [ + 0.44050687551498413, + 0.40838155150413513, + 0.6325849890708923, + -0.48889097571372986 + ], + "joints": [ + 0.003945757634937763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06244756281375885, + 0.07718169689178467, + 0.10222696512937546 + ], + "orientation": [ + 0.6342642903327942, + -0.7217662334442139, + -0.15436460077762604, + -0.2300739586353302 + ], + "joints": [ + -0.006087558344006538 + ] + }, + "fine_grasp": { + "position": [ + -0.06382109224796295, + 0.07783098518848419, + 0.10558672994375229 + ], + "orientation": [ + 0.6339250802993774, + -0.7222047448158264, + -0.1426137387752533, + -0.23710857331752777 + ], + "joints": [ + -0.0007735620019957423 + ] + }, + "final_grasp": { + "position": [ + -0.06382109224796295, + 0.07783098518848419, + 0.10558672994375229 + ], + "orientation": [ + 0.6339250802993774, + -0.7222047448158264, + -0.1426137387752533, + -0.23710857331752777 + ], + "joints": [ + 0.00454043410718441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11623214930295944, + 0.07787749916315079, + 0.03033800609409809 + ], + "orientation": [ + 0.4271389842033386, + 0.431558221578598, + -0.5101675391197205, + 0.6091295480728149 + ], + "joints": [ + -0.005893356166779995 + ] + }, + "fine_grasp": { + "position": [ + 0.11904463917016983, + 0.07826439291238785, + 0.0312269888818264 + ], + "orientation": [ + 0.43291229009628296, + 0.42620670795440674, + -0.5038095116615295, + 0.6140934824943542 + ], + "joints": [ + -0.0010841896291822195 + ] + }, + "final_grasp": { + "position": [ + 0.11904463917016983, + 0.07826439291238785, + 0.0312269888818264 + ], + "orientation": [ + 0.43291229009628296, + 0.42620670795440674, + -0.5038095116615295, + 0.6140934824943542 + ], + "joints": [ + 0.003724976908415556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04986155778169632, + 0.0396297425031662, + -0.10877158492803574 + ], + "orientation": [ + 0.7464399337768555, + 0.6310397386550903, + -0.13468681275844574, + 0.1627141237258911 + ], + "joints": [ + -0.0061617568135261536 + ] + }, + "fine_grasp": { + "position": [ + 0.052075792104005814, + 0.039008431136608124, + -0.11160436272621155 + ], + "orientation": [ + 0.7495245337486267, + 0.6255470514297485, + -0.12951549887657166, + 0.17357909679412842 + ], + "joints": [ + -0.0008477604715153575 + ] + }, + "final_grasp": { + "position": [ + 0.052075792104005814, + 0.039008431136608124, + -0.11160436272621155 + ], + "orientation": [ + 0.7495245337486267, + 0.6255470514297485, + -0.12951549887657166, + 0.17357909679412842 + ], + "joints": [ + 0.004466235637664795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07019126415252686, + 0.0930306613445282, + -0.09986446052789688 + ], + "orientation": [ + 0.6273980736732483, + 0.7149528861045837, + -0.2707371413707733, + 0.14803823828697205 + ], + "joints": [ + -0.006608240306377411 + ] + }, + "fine_grasp": { + "position": [ + 0.06962458044290543, + 0.09300488978624344, + -0.09934909641742706 + ], + "orientation": [ + 0.6267461776733398, + 0.7161009311676025, + -0.26793593168258667, + 0.1503300964832306 + ], + "joints": [ + 0.000857924809679389 + ] + }, + "final_grasp": { + "position": [ + 0.06962458044290543, + 0.09300488978624344, + -0.09934909641742706 + ], + "orientation": [ + 0.6267461776733398, + 0.7161009311676025, + -0.26793593168258667, + 0.1503300964832306 + ], + "joints": [ + 0.008324090391397476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11695833504199982, + 0.10551190376281738, + 0.0022800303995609283 + ], + "orientation": [ + 0.4317186772823334, + -0.5734312534332275, + 0.44545090198516846, + 0.5351346731185913 + ], + "joints": [ + -0.005566238425672054 + ] + }, + "fine_grasp": { + "position": [ + 0.11973831057548523, + 0.10608034580945969, + 0.0014631827361881733 + ], + "orientation": [ + 0.4189338982105255, + -0.5810731649398804, + 0.45282846689224243, + 0.5308434963226318 + ], + "joints": [ + -0.000757071771658957 + ] + }, + "final_grasp": { + "position": [ + 0.11973831057548523, + 0.10608034580945969, + 0.0014631827361881733 + ], + "orientation": [ + 0.4189338982105255, + -0.5810731649398804, + 0.45282846689224243, + 0.5308434963226318 + ], + "joints": [ + 0.004052095115184784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11835489422082901, + 0.022443026304244995, + 0.003768961876630783 + ], + "orientation": [ + 0.5612159967422485, + 0.41945526003837585, + 0.5442556738853455, + -0.46138885617256165 + ], + "joints": [ + -0.005530090071260929 + ] + }, + "fine_grasp": { + "position": [ + -0.11980816721916199, + 0.022956011816859245, + 0.00391859095543623 + ], + "orientation": [ + 0.570248007774353, + 0.4121485650539398, + 0.5349927544593811, + -0.46768972277641296 + ], + "joints": [ + 0.0008467057486996055 + ] + }, + "final_grasp": { + "position": [ + -0.11980816721916199, + 0.022956011816859245, + 0.00391859095543623 + ], + "orientation": [ + 0.570248007774353, + 0.4121485650539398, + 0.5349927544593811, + -0.46768972277641296 + ], + "joints": [ + 0.007223501801490784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08659201115369797, + 0.03438183292746544, + -0.0810200497508049 + ], + "orientation": [ + 0.6991935968399048, + 0.5904924869537354, + 0.3263900876045227, + -0.23646648228168488 + ], + "joints": [ + -0.006042085587978363 + ] + }, + "fine_grasp": { + "position": [ + -0.08368583023548126, + 0.03453349322080612, + -0.0793587937951088 + ], + "orientation": [ + 0.6972289681434631, + 0.5932708382606506, + 0.32990550994873047, + -0.23035593330860138 + ], + "joints": [ + -0.001232918817549944 + ] + }, + "final_grasp": { + "position": [ + -0.08368583023548126, + 0.03453349322080612, + -0.0793587937951088 + ], + "orientation": [ + 0.6972289681434631, + 0.5932708382606506, + 0.32990550994873047, + -0.23035593330860138 + ], + "joints": [ + 0.003576247952878475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09591075032949448, + 0.0750899463891983, + -0.0722372755408287 + ], + "orientation": [ + 0.31733015179634094, + -0.3095126748085022, + -0.576574981212616, + -0.6863415837287903 + ], + "joints": [ + -0.006123708561062813 + ] + }, + "fine_grasp": { + "position": [ + -0.09839815646409988, + 0.07531149685382843, + -0.0730665922164917 + ], + "orientation": [ + 0.32925429940223694, + -0.30072811245918274, + -0.567353367805481, + -0.6922891736030579 + ], + "joints": [ + -0.0013145417906343937 + ] + }, + "final_grasp": { + "position": [ + -0.09839815646409988, + 0.07531149685382843, + -0.0730665922164917 + ], + "orientation": [ + 0.32925429940223694, + -0.30072811245918274, + -0.567353367805481, + -0.6922891736030579 + ], + "joints": [ + 0.0034946249797940254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11754094809293747, + 0.024878429248929024, + -0.017449188977479935 + ], + "orientation": [ + 0.6152235865592957, + 0.45167186856269836, + 0.48794326186180115, + -0.42356082797050476 + ], + "joints": [ + -0.005661965347826481 + ] + }, + "fine_grasp": { + "position": [ + -0.11846709996461868, + 0.025852810591459274, + -0.017217060551047325 + ], + "orientation": [ + 0.6236401200294495, + 0.4429878890514374, + 0.4776051640510559, + -0.43212035298347473 + ], + "joints": [ + 0.0007414004066959023 + ] + }, + "final_grasp": { + "position": [ + -0.11846709996461868, + 0.025852810591459274, + -0.017217060551047325 + ], + "orientation": [ + 0.6236401200294495, + 0.4429878890514374, + 0.4776051640510559, + -0.43212035298347473 + ], + "joints": [ + 0.007144765928387642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10308690369129181, + 0.09876257181167603, + -0.05893539637327194 + ], + "orientation": [ + 0.560208261013031, + 0.6534335613250732, + 0.2932606041431427, + -0.41616061329841614 + ], + "joints": [ + -0.005979031324386597 + ] + }, + "fine_grasp": { + "position": [ + -0.10450490564107895, + 0.09815533459186554, + -0.0602259524166584 + ], + "orientation": [ + 0.5670847296714783, + 0.6444091796875, + 0.2805653512477875, + -0.42945873737335205 + ], + "joints": [ + 0.0004243345174472779 + ] + }, + "final_grasp": { + "position": [ + -0.10450490564107895, + 0.09815533459186554, + -0.0602259524166584 + ], + "orientation": [ + 0.5670847296714783, + 0.6444091796875, + 0.2805653512477875, + -0.42945873737335205 + ], + "joints": [ + 0.006827700417488813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07996810227632523, + 0.022337356582283974, + 0.08977596461772919 + ], + "orientation": [ + 0.6915619373321533, + -0.625137209892273, + -0.29572436213493347, + -0.2085493952035904 + ], + "joints": [ + -0.006040453910827637 + ] + }, + "fine_grasp": { + "position": [ + -0.07953156530857086, + 0.023076610639691353, + 0.0909428671002388 + ], + "orientation": [ + 0.6863998770713806, + -0.6305130124092102, + -0.3051385283470154, + -0.19544531404972076 + ], + "joints": [ + 0.00036291181459091604 + ] + }, + "final_grasp": { + "position": [ + -0.07953156530857086, + 0.023076610639691353, + 0.0909428671002388 + ], + "orientation": [ + 0.6863998770713806, + -0.6305130124092102, + -0.3051385283470154, + -0.19544531404972076 + ], + "joints": [ + 0.006766277365386486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10183218866586685, + 0.01986829936504364, + -0.06093035638332367 + ], + "orientation": [ + 0.6604529023170471, + 0.5586423873901367, + -0.4122280776500702, + 0.28598710894584656 + ], + "joints": [ + -0.005884446203708649 + ] + }, + "fine_grasp": { + "position": [ + 0.1028454601764679, + 0.02046298421919346, + -0.06250856816768646 + ], + "orientation": [ + 0.6536252498626709, + 0.5653001070022583, + -0.42250028252601624, + 0.2733190357685089 + ], + "joints": [ + 0.0005189196672290564 + ] + }, + "final_grasp": { + "position": [ + 0.1028454601764679, + 0.02046298421919346, + -0.06250856816768646 + ], + "orientation": [ + 0.6536252498626709, + 0.5653001070022583, + -0.42250028252601624, + 0.2733190357685089 + ], + "joints": [ + 0.006922285538166761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05119170993566513, + -0.07612071186304092, + -0.07763335853815079 + ], + "orientation": [ + 0.33316344022750854, + -0.0873311385512352, + 0.851739227771759, + 0.3948616087436676 + ], + "joints": [ + -0.007354567758738995 + ] + }, + "fine_grasp": { + "position": [ + 0.048890676349401474, + -0.07277783751487732, + -0.07500296086072922 + ], + "orientation": [ + 0.3354124426841736, + -0.08433006703853607, + 0.8494492769241333, + 0.3985259532928467 + ], + "joints": [ + 8.5027189925313e-05 + ] + }, + "final_grasp": { + "position": [ + 0.048890676349401474, + -0.07277783751487732, + -0.07500296086072922 + ], + "orientation": [ + 0.3354124426841736, + -0.08433006703853607, + 0.8494492769241333, + 0.3985259532928467 + ], + "joints": [ + 0.007524622138589621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0807938426733017, + 0.01227488648146391, + -0.08765328675508499 + ], + "orientation": [ + 0.25246208906173706, + -0.25523924827575684, + -0.7313211560249329, + -0.5799009203910828 + ], + "joints": [ + -0.005702015943825245 + ] + }, + "fine_grasp": { + "position": [ + -0.08200684189796448, + 0.013256430625915527, + -0.08842086791992188 + ], + "orientation": [ + 0.23660951852798462, + -0.268749475479126, + -0.7356011271476746, + -0.5750484466552734 + ], + "joints": [ + 0.0006747799925506115 + ] + }, + "final_grasp": { + "position": [ + -0.08200684189796448, + 0.013256430625915527, + -0.08842086791992188 + ], + "orientation": [ + 0.23660951852798462, + -0.268749475479126, + -0.7356011271476746, + -0.5750484466552734 + ], + "joints": [ + 0.007051575928926468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07381093502044678, + 0.07292421907186508, + 0.09641251713037491 + ], + "orientation": [ + 0.18173065781593323, + 0.2730775773525238, + -0.6520952582359314, + 0.6835015416145325 + ], + "joints": [ + -0.0059350766241550446 + ] + }, + "fine_grasp": { + "position": [ + 0.07387608289718628, + 0.07254359126091003, + 0.0973159670829773 + ], + "orientation": [ + 0.1698988527059555, + 0.2837468981742859, + -0.6559525728225708, + 0.678489625453949 + ], + "joints": [ + 0.0009731189347803593 + ] + }, + "final_grasp": { + "position": [ + 0.07387608289718628, + 0.07254359126091003, + 0.0973159670829773 + ], + "orientation": [ + 0.1698988527059555, + 0.2837468981742859, + -0.6559525728225708, + 0.678489625453949 + ], + "joints": [ + 0.007881314493715763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08087129145860672, + 0.010288404300808907, + -0.08742442727088928 + ], + "orientation": [ + 0.25497210025787354, + -0.2538062334060669, + -0.7327433824539185, + -0.5776320099830627 + ], + "joints": [ + -0.005702017806470394 + ] + }, + "fine_grasp": { + "position": [ + -0.0823228731751442, + 0.011098259128630161, + -0.08777711540460587 + ], + "orientation": [ + 0.24110890924930573, + -0.26741349697113037, + -0.7370861768722534, + -0.5718919634819031 + ], + "joints": [ + 0.0006747781299054623 + ] + }, + "final_grasp": { + "position": [ + -0.0823228731751442, + 0.011098259128630161, + -0.08777711540460587 + ], + "orientation": [ + 0.24110890924930573, + -0.26741349697113037, + -0.7370861768722534, + -0.5718919634819031 + ], + "joints": [ + 0.007051574066281319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11546109616756439, + 0.11207027733325958, + -0.006067277863621712 + ], + "orientation": [ + 0.4252716898918152, + -0.5299763679504395, + 0.41138508915901184, + 0.6074793934822083 + ], + "joints": [ + -0.005887793377041817 + ] + }, + "fine_grasp": { + "position": [ + 0.11742603778839111, + 0.11164244264364243, + -0.005612967535853386 + ], + "orientation": [ + 0.43532267212867737, + -0.5184885263442993, + 0.400515079498291, + 0.6174556016921997 + ], + "joints": [ + -1.5827303286641836e-05 + ] + }, + "final_grasp": { + "position": [ + 0.11742603778839111, + 0.11164244264364243, + -0.005612967535853386 + ], + "orientation": [ + 0.43532267212867737, + -0.5184885263442993, + 0.400515079498291, + 0.6174556016921997 + ], + "joints": [ + 0.005856138654053211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11622725427150726, + 0.022597596049308777, + 0.029668224975466728 + ], + "orientation": [ + 0.6178525686264038, + -0.4964037835597992, + 0.44329243898391724, + 0.41872820258140564 + ], + "joints": [ + -0.005661965347826481 + ] + }, + "fine_grasp": { + "position": [ + 0.1176748052239418, + 0.022845681756734848, + 0.02904335781931877 + ], + "orientation": [ + 0.6264172196388245, + -0.48579421639442444, + 0.4316413104534149, + 0.4304545223712921 + ], + "joints": [ + 0.0007148305885493755 + ] + }, + "final_grasp": { + "position": [ + 0.1176748052239418, + 0.022845681756734848, + 0.02904335781931877 + ], + "orientation": [ + 0.6264172196388245, + -0.48579421639442444, + 0.4316413104534149, + 0.4304545223712921 + ], + "joints": [ + 0.007091626524925232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05323527753353119, + 0.09850384294986725, + 0.10664727538824081 + ], + "orientation": [ + 0.10926477611064911, + 0.21976831555366516, + -0.6252183318138123, + 0.7408543825149536 + ], + "joints": [ + -0.006049513816833496 + ] + }, + "fine_grasp": { + "position": [ + 0.053738828748464584, + 0.09783609956502914, + 0.10810201615095139 + ], + "orientation": [ + 0.09757250547409058, + 0.23173625767230988, + -0.6277079582214355, + 0.7367228865623474 + ], + "joints": [ + 0.00035385190858505666 + ] + }, + "final_grasp": { + "position": [ + 0.053738828748464584, + 0.09783609956502914, + 0.10810201615095139 + ], + "orientation": [ + 0.09757250547409058, + 0.23173625767230988, + -0.6277079582214355, + 0.7367228865623474 + ], + "joints": [ + 0.006757217459380627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10205400735139847, + 0.025199852883815765, + -0.06331977248191833 + ], + "orientation": [ + 0.3409847319126129, + -0.34144240617752075, + -0.6770743131637573, + -0.5556230545043945 + ], + "joints": [ + -0.005776210688054562 + ] + }, + "fine_grasp": { + "position": [ + -0.10293078422546387, + 0.025895003229379654, + -0.06301054358482361 + ], + "orientation": [ + 0.3305947482585907, + -0.3518633246421814, + -0.6808706521987915, + -0.5507400035858154 + ], + "joints": [ + 0.0006271551828831434 + ] + }, + "final_grasp": { + "position": [ + -0.10293078422546387, + 0.025895003229379654, + -0.06301054358482361 + ], + "orientation": [ + 0.3305947482585907, + -0.3518633246421814, + -0.6808706521987915, + -0.5507400035858154 + ], + "joints": [ + 0.0070305210538208485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09789693355560303, + 0.10617538541555405, + 0.06391387432813644 + ], + "orientation": [ + 0.5158739686012268, + -0.7185853123664856, + -0.31205713748931885, + -0.3465970754623413 + ], + "joints": [ + -0.005632525309920311 + ] + }, + "fine_grasp": { + "position": [ + -0.09955903887748718, + 0.10578794777393341, + 0.0646333321928978 + ], + "orientation": [ + 0.5100749135017395, + -0.7238391041755676, + -0.32111814618110657, + -0.33580282330513 + ], + "joints": [ + 0.00023944099666550756 + ] + }, + "final_grasp": { + "position": [ + -0.09955903887748718, + 0.10578794777393341, + 0.0646333321928978 + ], + "orientation": [ + 0.5100749135017395, + -0.7238391041755676, + -0.32111814618110657, + -0.33580282330513 + ], + "joints": [ + 0.006111407186836004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11777520924806595, + 0.09592472016811371, + 0.017638836055994034 + ], + "orientation": [ + 0.500024676322937, + -0.5613182783126831, + 0.39088118076324463, + 0.5311394333839417 + ], + "joints": [ + -0.005693672224879265 + ] + }, + "fine_grasp": { + "position": [ + 0.11895272135734558, + 0.09533241391181946, + 0.018120424821972847 + ], + "orientation": [ + 0.5107254981994629, + -0.5492131114006042, + 0.3776892423629761, + 0.5430241227149963 + ], + "joints": [ + 0.00017829396529123187 + ] + }, + "final_grasp": { + "position": [ + 0.11895272135734558, + 0.09533241391181946, + 0.018120424821972847 + ], + "orientation": [ + 0.5107254981994629, + -0.5492131114006042, + 0.3776892423629761, + 0.5430241227149963 + ], + "joints": [ + 0.00605026027187705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00014408578863367438, + -0.10804685950279236, + 0.01595454104244709 + ], + "orientation": [ + 0.9885706901550293, + -0.10159352421760559, + 0.11138364672660828, + -0.0005488176830112934 + ], + "joints": [ + -0.0067037781700491905 + ] + }, + "fine_grasp": { + "position": [ + -0.0012507423525676131, + -0.1099090501666069, + 0.018188120797276497 + ], + "orientation": [ + 0.98799067735672, + -0.10375697910785675, + 0.11430272459983826, + -0.0066059911623597145 + ], + "joints": [ + -0.00032698255381546915 + ] + }, + "final_grasp": { + "position": [ + -0.0012507423525676131, + -0.1099090501666069, + 0.018188120797276497 + ], + "orientation": [ + 0.98799067735672, + -0.10375697910785675, + 0.11430272459983826, + -0.0066059911623597145 + ], + "joints": [ + 0.006049813237041235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10209082067012787, + 0.026926008984446526, + -0.06326290220022202 + ], + "orientation": [ + 0.3403487503528595, + -0.342159241437912, + -0.6769208908081055, + -0.5557587742805481 + ], + "joints": [ + -0.006033025681972504 + ] + }, + "fine_grasp": { + "position": [ + -0.10292495042085648, + 0.02768871746957302, + -0.06288469582796097 + ], + "orientation": [ + 0.3298930823802948, + -0.3532092273235321, + -0.680491030216217, + -0.5507684350013733 + ], + "joints": [ + 0.00037034027627669275 + ] + }, + "final_grasp": { + "position": [ + -0.10292495042085648, + 0.02768871746957302, + -0.06288469582796097 + ], + "orientation": [ + 0.3298930823802948, + -0.3532092273235321, + -0.680491030216217, + -0.5507684350013733 + ], + "joints": [ + 0.006773706059902906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11929571628570557, + 0.09767906367778778, + -0.0014887358993291855 + ], + "orientation": [ + 0.4294418394565582, + 0.574670135974884, + -0.4711315631866455, + 0.5131950974464417 + ], + "joints": [ + -0.005820833146572113 + ] + }, + "fine_grasp": { + "position": [ + 0.12007442861795425, + 0.09639762341976166, + -0.0008744843653403223 + ], + "orientation": [ + 0.42291492223739624, + 0.579259991645813, + -0.48198142647743225, + 0.5032840371131897 + ], + "joints": [ + 0.000582532724365592 + ] + }, + "final_grasp": { + "position": [ + 0.12007442861795425, + 0.09639762341976166, + -0.0008744843653403223 + ], + "orientation": [ + 0.42291492223739624, + 0.579259991645813, + -0.48198142647743225, + 0.5032840371131897 + ], + "joints": [ + 0.006985898595303297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12670911848545074, + 0.005755394697189331, + 0.018485818058252335 + ], + "orientation": [ + 0.4456402659416199, + 0.47780826687812805, + 0.5671892762184143, + -0.5013984441757202 + ], + "joints": [ + -0.0070756589993834496 + ] + }, + "fine_grasp": { + "position": [ + -0.12121788412332535, + 0.004780346993356943, + 0.01743444986641407 + ], + "orientation": [ + 0.436778724193573, + 0.483487069606781, + 0.5645698308944702, + -0.5066808462142944 + ], + "joints": [ + -0.0006722933612763882 + ] + }, + "final_grasp": { + "position": [ + -0.12121788412332535, + 0.004780346993356943, + 0.01743444986641407 + ], + "orientation": [ + 0.436778724193573, + 0.483487069606781, + 0.5645698308944702, + -0.5066808462142944 + ], + "joints": [ + 0.005731072276830673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1161133348941803, + 0.027822116389870644, + -0.03152448683977127 + ], + "orientation": [ + 0.4276987910270691, + -0.42682522535324097, + -0.6145924925804138, + -0.5071194171905518 + ], + "joints": [ + -0.005698317661881447 + ] + }, + "fine_grasp": { + "position": [ + -0.11556136608123779, + 0.028769347816705704, + -0.030956463888287544 + ], + "orientation": [ + 0.4175727367401123, + -0.43707525730133057, + -0.6181828379631042, + -0.5024421215057373 + ], + "joints": [ + 0.00017364852828904986 + ] + }, + "final_grasp": { + "position": [ + -0.11556136608123779, + 0.028769347816705704, + -0.030956463888287544 + ], + "orientation": [ + 0.4175727367401123, + -0.43707525730133057, + -0.6181828379631042, + -0.5024421215057373 + ], + "joints": [ + 0.006045614834874868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0797300636768341, + 0.10895936191082001, + 0.0850655809044838 + ], + "orientation": [ + 0.1923755705356598, + 0.3293846547603607, + -0.5702382326126099, + 0.7275478839874268 + ], + "joints": [ + -0.005893354304134846 + ] + }, + "fine_grasp": { + "position": [ + 0.07848788052797318, + 0.10668403655290604, + 0.0851416066288948 + ], + "orientation": [ + 0.18097709119319916, + 0.3351026475429535, + -0.5792157649993896, + 0.7207373976707458 + ], + "joints": [ + -0.0005262179765850306 + ] + }, + "final_grasp": { + "position": [ + 0.07848788052797318, + 0.10668403655290604, + 0.0851416066288948 + ], + "orientation": [ + 0.18097709119319916, + 0.3351026475429535, + -0.5792157649993896, + 0.7207373976707458 + ], + "joints": [ + 0.004840918350964785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07962130010128021, + 0.10913415253162384, + 0.08505302667617798 + ], + "orientation": [ + 0.1918596625328064, + 0.3297015428543091, + -0.5701640248298645, + 0.7275986075401306 + ], + "joints": [ + -0.00615822896361351 + ] + }, + "fine_grasp": { + "position": [ + 0.07847030460834503, + 0.10690771788358688, + 0.08515983819961548 + ], + "orientation": [ + 0.1807323694229126, + 0.33553189039230347, + -0.5790543556213379, + 0.7207290530204773 + ], + "joints": [ + -0.0002862629189621657 + ] + }, + "final_grasp": { + "position": [ + 0.07847030460834503, + 0.10690771788358688, + 0.08515983819961548 + ], + "orientation": [ + 0.1807323694229126, + 0.33553189039230347, + -0.5790543556213379, + 0.7207290530204773 + ], + "joints": [ + 0.005585703067481518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020781682804226875, + 0.08681608736515045, + 0.12078677862882614 + ], + "orientation": [ + 0.03297467902302742, + 0.08797035366296768, + -0.6807783842086792, + 0.7264397740364075 + ], + "joints": [ + -0.005739825777709484 + ] + }, + "fine_grasp": { + "position": [ + 0.020104752853512764, + 0.08620136231184006, + 0.11891017109155655 + ], + "orientation": [ + 0.016922494396567345, + 0.10385041683912277, + -0.6824579238891602, + 0.723311722278595 + ], + "joints": [ + 0.00015871031791903079 + ] + }, + "final_grasp": { + "position": [ + 0.020104752853512764, + 0.08620136231184006, + 0.11891017109155655 + ], + "orientation": [ + 0.016922494396567345, + 0.10385041683912277, + -0.6824579238891602, + 0.723311722278595 + ], + "joints": [ + 0.006057246588170528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11772747337818146, + 0.09850617498159409, + -0.018700141459703445 + ], + "orientation": [ + 0.46158793568611145, + 0.611303985118866, + -0.4376370906829834, + 0.47086918354034424 + ], + "joints": [ + -0.006055125966668129 + ] + }, + "fine_grasp": { + "position": [ + 0.11866523325443268, + 0.09704193472862244, + -0.01809551939368248 + ], + "orientation": [ + 0.4550023078918457, + 0.6155900955200195, + -0.45015621185302734, + 0.4597620368003845 + ], + "joints": [ + 0.0003482398751657456 + ] + }, + "final_grasp": { + "position": [ + 0.11866523325443268, + 0.09704193472862244, + -0.01809551939368248 + ], + "orientation": [ + 0.4550023078918457, + 0.6155900955200195, + -0.45015621185302734, + 0.4597620368003845 + ], + "joints": [ + 0.006751605775207281 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024365510791540146, + 0.029557034373283386, + -0.11669496446847916 + ], + "orientation": [ + 0.7767109870910645, + 0.6208969354629517, + -0.03955754265189171, + 0.09819523990154266 + ], + "joints": [ + -0.00650065578520298 + ] + }, + "fine_grasp": { + "position": [ + 0.025977997109293938, + 0.029273398220539093, + -0.11815572530031204 + ], + "orientation": [ + 0.7789844870567322, + 0.6160120368003845, + -0.03171591833233833, + 0.11272333562374115 + ], + "joints": [ + -0.0016914893640205264 + ] + }, + "final_grasp": { + "position": [ + 0.025977997109293938, + 0.029273398220539093, + -0.11815572530031204 + ], + "orientation": [ + 0.7789844870567322, + 0.6160120368003845, + -0.03171591833233833, + 0.11272333562374115 + ], + "joints": [ + 0.0031176770571619272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10217788070440292, + 0.07278323173522949, + 0.06555096060037613 + ], + "orientation": [ + 0.5647949576377869, + -0.6741994023323059, + -0.3513532876968384, + -0.32095593214035034 + ], + "joints": [ + -0.005687059834599495 + ] + }, + "fine_grasp": { + "position": [ + -0.1030011847615242, + 0.07239310443401337, + 0.06578033417463303 + ], + "orientation": [ + 0.557227373123169, + -0.6804550290107727, + -0.36444711685180664, + -0.30603405833244324 + ], + "joints": [ + 0.0007163060363382101 + ] + }, + "final_grasp": { + "position": [ + -0.1030011847615242, + 0.07239310443401337, + 0.06578033417463303 + ], + "orientation": [ + 0.557227373123169, + -0.6804550290107727, + -0.36444711685180664, + -0.30603405833244324 + ], + "joints": [ + 0.007119671907275915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09864695370197296, + 0.06461192667484283, + -0.07159541547298431 + ], + "orientation": [ + 0.35218381881713867, + -0.2888680398464203, + 0.6139191389083862, + 0.6446899771690369 + ], + "joints": [ + -0.006023784168064594 + ] + }, + "fine_grasp": { + "position": [ + 0.09870034456253052, + 0.06470806151628494, + -0.07200554013252258 + ], + "orientation": [ + 0.3693609833717346, + -0.26941996812820435, + 0.6038306355476379, + 0.6529730558395386 + ], + "joints": [ + 0.0009109813254326582 + ] + }, + "final_grasp": { + "position": [ + 0.09870034456253052, + 0.06470806151628494, + -0.07200554013252258 + ], + "orientation": [ + 0.3693609833717346, + -0.26941996812820435, + 0.6038306355476379, + 0.6529730558395386 + ], + "joints": [ + 0.007845746353268623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08993183076381683, + 0.06431148946285248, + -0.08128158003091812 + ], + "orientation": [ + 0.6497248411178589, + 0.6412816047668457, + 0.25383907556533813, + -0.31965795159339905 + ], + "joints": [ + -0.005860883742570877 + ] + }, + "fine_grasp": { + "position": [ + -0.08911129832267761, + 0.0638904869556427, + -0.08098458498716354 + ], + "orientation": [ + 0.6561841368675232, + 0.6338784694671631, + 0.23860077559947968, + -0.33270126581192017 + ], + "joints": [ + 0.000542482128366828 + ] + }, + "final_grasp": { + "position": [ + -0.08911129832267761, + 0.0638904869556427, + -0.08098458498716354 + ], + "orientation": [ + 0.6561841368675232, + 0.6338784694671631, + 0.23860077559947968, + -0.33270126581192017 + ], + "joints": [ + 0.006945847999304533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09867092221975327, + 0.06436938047409058, + -0.07157095521688461 + ], + "orientation": [ + 0.3514276444911957, + -0.28955143690109253, + 0.6110033392906189, + 0.647559642791748 + ], + "joints": [ + -0.006023784168064594 + ] + }, + "fine_grasp": { + "position": [ + 0.09870791435241699, + 0.06439799815416336, + -0.07192619144916534 + ], + "orientation": [ + 0.3685162365436554, + -0.27008020877838135, + 0.6010099649429321, + 0.6557740569114685 + ], + "joints": [ + 0.0009109810926020145 + ] + }, + "final_grasp": { + "position": [ + 0.09870791435241699, + 0.06439799815416336, + -0.07192619144916534 + ], + "orientation": [ + 0.3685162365436554, + -0.27008020877838135, + 0.6010099649429321, + 0.6557740569114685 + ], + "joints": [ + 0.007845746353268623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02533148042857647, + 0.07229626923799515, + -0.11831425130367279 + ], + "orientation": [ + 0.6819054484367371, + 0.7220760583877563, + 0.04002084583044052, + -0.10958784073591232 + ], + "joints": [ + -0.006191893480718136 + ] + }, + "fine_grasp": { + "position": [ + -0.0249651987105608, + 0.0720398798584938, + -0.11787896603345871 + ], + "orientation": [ + 0.6822100281715393, + 0.7201443910598755, + 0.026172460988163948, + -0.12367954105138779 + ], + "joints": [ + 0.0002114723320119083 + ] + }, + "final_grasp": { + "position": [ + -0.0249651987105608, + 0.0720398798584938, + -0.11787896603345871 + ], + "orientation": [ + 0.6822100281715393, + 0.7201443910598755, + 0.026172460988163948, + -0.12367954105138779 + ], + "joints": [ + 0.006614838261157274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02515745535492897, + 0.0725160464644432, + -0.11836741119623184 + ], + "orientation": [ + 0.6819222569465637, + 0.7220728993415833, + 0.038808535784482956, + -0.10993904620409012 + ], + "joints": [ + -0.005820833146572113 + ] + }, + "fine_grasp": { + "position": [ + -0.024618759751319885, + 0.0722300261259079, + -0.11788211762905121 + ], + "orientation": [ + 0.6825551390647888, + 0.7199376821517944, + 0.023910723626613617, + -0.1234358623623848 + ], + "joints": [ + 0.0005559626733884215 + ] + }, + "final_grasp": { + "position": [ + -0.024618759751319885, + 0.0722300261259079, + -0.11788211762905121 + ], + "orientation": [ + 0.6825551390647888, + 0.7199376821517944, + 0.023910723626613617, + -0.1234358623623848 + ], + "joints": [ + 0.0069327587261796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10210151970386505, + 0.07347583025693893, + 0.06595584005117416 + ], + "orientation": [ + 0.5679739713668823, + -0.6723172068595886, + -0.352560430765152, + -0.31795644760131836 + ], + "joints": [ + -0.00617594551295042 + ] + }, + "fine_grasp": { + "position": [ + -0.10287821292877197, + 0.07305695116519928, + 0.06618917733430862 + ], + "orientation": [ + 0.5600234270095825, + -0.6784425377845764, + -0.36652880907058716, + -0.30289626121520996 + ], + "joints": [ + 0.0007588199805468321 + ] + }, + "final_grasp": { + "position": [ + -0.10287821292877197, + 0.07305695116519928, + 0.06618917733430862 + ], + "orientation": [ + 0.5600234270095825, + -0.6784425377845764, + -0.36652880907058716, + -0.30289626121520996 + ], + "joints": [ + 0.0076935854740440845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10218358784914017, + 0.07332836836576462, + 0.06588160991668701 + ], + "orientation": [ + 0.5683894157409668, + -0.6716345548629761, + -0.35329118371009827, + -0.31784552335739136 + ], + "joints": [ + -0.00617594551295042 + ] + }, + "fine_grasp": { + "position": [ + -0.10295578092336655, + 0.07292156666517258, + 0.06608700752258301 + ], + "orientation": [ + 0.5602772831916809, + -0.677810788154602, + -0.36749067902565, + -0.3026755750179291 + ], + "joints": [ + 0.0007588199805468321 + ] + }, + "final_grasp": { + "position": [ + -0.10295578092336655, + 0.07292156666517258, + 0.06608700752258301 + ], + "orientation": [ + 0.5602772831916809, + -0.677810788154602, + -0.36749067902565, + -0.3026755750179291 + ], + "joints": [ + 0.0076935854740440845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04571845382452011, + 0.09196705371141434, + -0.11115435510873795 + ], + "orientation": [ + 0.08543875068426132, + -0.1940155327320099, + -0.6367998719215393, + -0.7413125038146973 + ], + "joints": [ + -0.005898930132389069 + ] + }, + "fine_grasp": { + "position": [ + -0.04602063447237015, + 0.09138111770153046, + -0.1120750680565834 + ], + "orientation": [ + 0.07426822930574417, + -0.20582875609397888, + -0.6387125849723816, + -0.7376754283905029 + ], + "joints": [ + 0.0005044357385486364 + ] + }, + "final_grasp": { + "position": [ + -0.04602063447237015, + 0.09138111770153046, + -0.1120750680565834 + ], + "orientation": [ + 0.07426822930574417, + -0.20582875609397888, + -0.6387125849723816, + -0.7376754283905029 + ], + "joints": [ + 0.0069078016094863415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1216210126876831, + 0.05654937028884888, + 0.004047938156872988 + ], + "orientation": [ + 0.4861895442008972, + -0.527616560459137, + -0.5298416614532471, + -0.45222604274749756 + ], + "joints": [ + -0.00613399688154459 + ] + }, + "fine_grasp": { + "position": [ + -0.12176696211099625, + 0.05669775605201721, + 0.0040414114482700825 + ], + "orientation": [ + 0.4752143621444702, + -0.5368279218673706, + -0.539585530757904, + -0.4414007365703583 + ], + "joints": [ + 0.0008007686119526625 + ] + }, + "final_grasp": { + "position": [ + -0.12176696211099625, + 0.05669775605201721, + 0.0040414114482700825 + ], + "orientation": [ + 0.4752143621444702, + -0.5368279218673706, + -0.539585530757904, + -0.4414007365703583 + ], + "joints": [ + 0.007735534105449915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12145017087459564, + 0.07411554455757141, + -0.0067821997217834 + ], + "orientation": [ + 0.465792715549469, + -0.5018713474273682, + 0.5521079301834106, + 0.47575119137763977 + ], + "joints": [ + -0.0064626093953847885 + ] + }, + "fine_grasp": { + "position": [ + 0.12538588047027588, + 0.07384518533945084, + -0.006769570056349039 + ], + "orientation": [ + 0.45049458742141724, + -0.5175049304962158, + 0.5655241012573242, + 0.457630455493927 + ], + "joints": [ + -0.001680012559518218 + ] + }, + "final_grasp": { + "position": [ + 0.12538588047027588, + 0.07384518533945084, + -0.006769570056349039 + ], + "orientation": [ + 0.45049458742141724, + -0.5175049304962158, + 0.5655241012573242, + 0.457630455493927 + ], + "joints": [ + 0.0031025842763483524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11707387119531631, + 0.059162676334381104, + 0.03369169682264328 + ], + "orientation": [ + 0.5444994568824768, + -0.5840930342674255, + -0.45377108454704285, + -0.39553436636924744 + ], + "joints": [ + -0.006117700599133968 + ] + }, + "fine_grasp": { + "position": [ + -0.11707133799791336, + 0.05922430008649826, + 0.03390081226825714 + ], + "orientation": [ + 0.5328163504600525, + -0.5941104888916016, + -0.4682205319404602, + -0.3793536424636841 + ], + "joints": [ + 0.0008170647779479623 + ] + }, + "final_grasp": { + "position": [ + -0.11707133799791336, + 0.05922430008649826, + 0.03390081226825714 + ], + "orientation": [ + 0.5328163504600525, + -0.5941104888916016, + -0.4682205319404602, + -0.3793536424636841 + ], + "joints": [ + 0.007751829922199249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07840516418218613, + 0.038435325026512146, + -0.09098120778799057 + ], + "orientation": [ + 0.7313172221183777, + 0.5896134376525879, + 0.22209422290325165, + -0.2611613869667053 + ], + "joints": [ + -0.005973316729068756 + ] + }, + "fine_grasp": { + "position": [ + -0.07855996489524841, + 0.0390404649078846, + -0.09156534075737 + ], + "orientation": [ + 0.7349393367767334, + 0.5852664709091187, + 0.20872971415519714, + -0.2715863585472107 + ], + "joints": [ + 0.0004300491127651185 + ] + }, + "final_grasp": { + "position": [ + -0.07855996489524841, + 0.0390404649078846, + -0.09156534075737 + ], + "orientation": [ + 0.7349393367767334, + 0.5852664709091187, + 0.20872971415519714, + -0.2715863585472107 + ], + "joints": [ + 0.006833415012806654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11627092212438583, + 0.08204039186239243, + -0.03176208958029747 + ], + "orientation": [ + 0.3723565936088562, + -0.48653745651245117, + -0.5447731614112854, + -0.5725854635238647 + ], + "joints": [ + -0.005601532757282257 + ] + }, + "fine_grasp": { + "position": [ + -0.11590942740440369, + 0.08092748373746872, + -0.03208110108971596 + ], + "orientation": [ + 0.3629728853702545, + -0.49289801716804504, + -0.5544466376304626, + -0.5638183951377869 + ], + "joints": [ + 0.0002704334619920701 + ] + }, + "final_grasp": { + "position": [ + -0.11590942740440369, + 0.08092748373746872, + -0.03208110108971596 + ], + "orientation": [ + 0.3629728853702545, + -0.49289801716804504, + -0.5544466376304626, + -0.5638183951377869 + ], + "joints": [ + 0.006142399739474058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04113338142633438, + 0.049588873982429504, + 0.11432046443223953 + ], + "orientation": [ + 0.6739729046821594, + -0.7172896265983582, + -0.1538427174091339, + -0.08711164444684982 + ], + "joints": [ + -0.006023784168064594 + ] + }, + "fine_grasp": { + "position": [ + -0.041746798902750015, + 0.04928872734308243, + 0.11413799226284027 + ], + "orientation": [ + 0.6696628332138062, + -0.7188074588775635, + -0.1727064996957779, + -0.07099403440952301 + ], + "joints": [ + 0.0008844113908708096 + ] + }, + "final_grasp": { + "position": [ + -0.041746798902750015, + 0.04928872734308243, + 0.11413799226284027 + ], + "orientation": [ + 0.6696628332138062, + -0.7188074588775635, + -0.1727064996957779, + -0.07099403440952301 + ], + "joints": [ + 0.007792606949806213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04107637703418732, + 0.04955681785941124, + 0.11440645158290863 + ], + "orientation": [ + 0.6730542182922363, + -0.7183211445808411, + -0.1530802845954895, + -0.08705830574035645 + ], + "joints": [ + -0.006096166558563709 + ] + }, + "fine_grasp": { + "position": [ + -0.04153222590684891, + 0.04926556721329689, + 0.11412175744771957 + ], + "orientation": [ + 0.6687502264976501, + -0.7198770642280579, + -0.17181842029094696, + -0.07091223448514938 + ], + "joints": [ + 0.0008120290003716946 + ] + }, + "final_grasp": { + "position": [ + -0.04153222590684891, + 0.04926556721329689, + 0.11412175744771957 + ], + "orientation": [ + 0.6687502264976501, + -0.7198770642280579, + -0.17181842029094696, + -0.07091223448514938 + ], + "joints": [ + 0.007720224559307098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06703592091798782, + 0.029119277372956276, + 0.09947437047958374 + ], + "orientation": [ + 0.1834821254014969, + 0.22265715897083282, + -0.7388139367103577, + 0.6090255975723267 + ], + "joints": [ + -0.006195797584950924 + ] + }, + "fine_grasp": { + "position": [ + 0.06740657985210419, + 0.03054511360824108, + 0.0993032231926918 + ], + "orientation": [ + 0.1725652813911438, + 0.23511137068271637, + -0.7379872798919678, + 0.6085382103919983 + ], + "joints": [ + 0.0002075682277791202 + ] + }, + "final_grasp": { + "position": [ + 0.06740657985210419, + 0.03054511360824108, + 0.0993032231926918 + ], + "orientation": [ + 0.1725652813911438, + 0.23511137068271637, + -0.7379872798919678, + 0.6085382103919983 + ], + "joints": [ + 0.006610934156924486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1216612458229065, + 0.05723665654659271, + 0.0042447480373084545 + ], + "orientation": [ + 0.4871528446674347, + -0.5275633335113525, + -0.5291414856910706, + -0.4520712196826935 + ], + "joints": [ + -0.0061720432713627815 + ] + }, + "fine_grasp": { + "position": [ + -0.1216452419757843, + 0.05735982954502106, + 0.003894505091011524 + ], + "orientation": [ + 0.47533413767814636, + -0.5359876751899719, + -0.5398277044296265, + -0.44199633598327637 + ], + "joints": [ + 0.0007627222221344709 + ] + }, + "final_grasp": { + "position": [ + -0.1216452419757843, + 0.05735982954502106, + 0.003894505091011524 + ], + "orientation": [ + 0.47533413767814636, + -0.5359876751899719, + -0.5398277044296265, + -0.44199633598327637 + ], + "joints": [ + 0.007697487715631723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12155960500240326, + 0.06656818091869354, + -0.001642919727601111 + ], + "orientation": [ + 0.5182833075523376, + 0.4864071309566498, + 0.4609181880950928, + -0.5313613414764404 + ], + "joints": [ + -0.006117700599133968 + ] + }, + "fine_grasp": { + "position": [ + -0.12122222036123276, + 0.06642938405275345, + -0.0017242307076230645 + ], + "orientation": [ + 0.5278157591819763, + 0.47521641850471497, + 0.44919347763061523, + -0.542037844657898 + ], + "joints": [ + 0.0007904948433861136 + ] + }, + "final_grasp": { + "position": [ + -0.12122222036123276, + 0.06642938405275345, + -0.0017242307076230645 + ], + "orientation": [ + 0.5278157591819763, + 0.47521641850471497, + 0.44919347763061523, + -0.542037844657898 + ], + "joints": [ + 0.007698690518736839 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12158923596143723, + 0.05734030529856682, + 0.004317444749176502 + ], + "orientation": [ + 0.48586997389793396, + -0.5293243527412415, + -0.5269744396209717, + -0.45392072200775146 + ], + "joints": [ + -0.005938978865742683 + ] + }, + "fine_grasp": { + "position": [ + -0.1214170902967453, + 0.0573943629860878, + 0.0036507961340248585 + ], + "orientation": [ + 0.47382768988609314, + -0.5373116135597229, + -0.5382031202316284, + -0.4439831078052521 + ], + "joints": [ + 0.0009692166931927204 + ] + }, + "final_grasp": { + "position": [ + -0.1214170902967453, + 0.0573943629860878, + 0.0036507961340248585 + ], + "orientation": [ + 0.47382768988609314, + -0.5373116135597229, + -0.5382031202316284, + -0.4439831078052521 + ], + "joints": [ + 0.007877412252128124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05708646401762962, + 0.07220052927732468, + 0.10722474753856659 + ], + "orientation": [ + 0.1293783187866211, + 0.21345201134681702, + -0.6784025430679321, + 0.6909916996955872 + ], + "joints": [ + -0.00573265366256237 + ] + }, + "fine_grasp": { + "position": [ + 0.05686634033918381, + 0.07162061333656311, + 0.10746698826551437 + ], + "orientation": [ + 0.11741665005683899, + 0.2239200472831726, + -0.6832790970802307, + 0.6849838495254517 + ], + "joints": [ + 0.0006707122083753347 + ] + }, + "final_grasp": { + "position": [ + 0.05686634033918381, + 0.07162061333656311, + 0.10746698826551437 + ], + "orientation": [ + 0.11741665005683899, + 0.2239200472831726, + -0.6832790970802307, + 0.6849838495254517 + ], + "joints": [ + 0.00707407807931304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12169107049703598, + 0.066925048828125, + -0.0014581640716642141 + ], + "orientation": [ + 0.5179754495620728, + 0.48589810729026794, + 0.4610595703125, + -0.5320042967796326 + ], + "joints": [ + -0.006117700599133968 + ] + }, + "fine_grasp": { + "position": [ + -0.1210152730345726, + 0.06675359606742859, + -0.0014002167154103518 + ], + "orientation": [ + 0.5272992849349976, + 0.4743841588497162, + 0.44912612438201904, + -0.5433238744735718 + ], + "joints": [ + 0.0008170648943632841 + ] + }, + "final_grasp": { + "position": [ + -0.1210152730345726, + 0.06675359606742859, + -0.0014002167154103518 + ], + "orientation": [ + 0.5272992849349976, + 0.4743841588497162, + 0.44912612438201904, + -0.5433238744735718 + ], + "joints": [ + 0.007751830387860537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11584723740816116, + 0.059666141867637634, + -0.038278620690107346 + ], + "orientation": [ + 0.5984954237937927, + 0.5462945103645325, + 0.3826747536659241, + -0.44376304745674133 + ], + "joints": [ + -0.00604331586509943 + ] + }, + "fine_grasp": { + "position": [ + -0.11583837866783142, + 0.05981895700097084, + -0.03837151080369949 + ], + "orientation": [ + 0.6082500219345093, + 0.5346519351005554, + 0.3658532500267029, + -0.45861804485321045 + ], + "joints": [ + 0.0008914496283978224 + ] + }, + "final_grasp": { + "position": [ + -0.11583837866783142, + 0.05981895700097084, + -0.03837151080369949 + ], + "orientation": [ + 0.6082500219345093, + 0.5346519351005554, + 0.3658532500267029, + -0.45861804485321045 + ], + "joints": [ + 0.007826214656233788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12178227305412292, + 0.06643573194742203, + -0.010306335054337978 + ], + "orientation": [ + 0.5356804132461548, + 0.5031001567840576, + 0.4395194947719574, + -0.5164874196052551 + ], + "joints": [ + -0.006121412850916386 + ] + }, + "fine_grasp": { + "position": [ + -0.12191567569971085, + 0.0663408413529396, + -0.010595644824206829 + ], + "orientation": [ + 0.5469449162483215, + 0.4901949167251587, + 0.42544025182724, + -0.5287352204322815 + ], + "joints": [ + 0.0008133526425808668 + ] + }, + "final_grasp": { + "position": [ + -0.12191567569971085, + 0.0663408413529396, + -0.010595644824206829 + ], + "orientation": [ + 0.5469449162483215, + 0.4901949167251587, + 0.42544025182724, + -0.5287352204322815 + ], + "joints": [ + 0.007748118136078119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11586765199899673, + 0.05970087647438049, + -0.03826526924967766 + ], + "orientation": [ + 0.599475085735321, + 0.5451841354370117, + 0.3821778893470764, + -0.44423407316207886 + ], + "joints": [ + -0.006019751541316509 + ] + }, + "fine_grasp": { + "position": [ + -0.11589620262384415, + 0.05986712500452995, + -0.03829469531774521 + ], + "orientation": [ + 0.6090869903564453, + 0.5334228873252869, + 0.36543211340904236, + -0.4592738151550293 + ], + "joints": [ + 0.0009150138357654214 + ] + }, + "final_grasp": { + "position": [ + -0.11589620262384415, + 0.05986712500452995, + -0.03829469531774521 + ], + "orientation": [ + 0.6090869903564453, + 0.5334228873252869, + 0.36543211340904236, + -0.4592738151550293 + ], + "joints": [ + 0.007849778980016708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1136137917637825, + 0.1035180538892746, + -0.029486581683158875 + ], + "orientation": [ + 0.39710724353790283, + -0.4540634751319885, + 0.46621212363243103, + 0.6471309065818787 + ], + "joints": [ + -0.005860883742570877 + ] + }, + "fine_grasp": { + "position": [ + 0.11356285959482193, + 0.10161691159009933, + -0.0289108008146286 + ], + "orientation": [ + 0.41497403383255005, + -0.43854430317878723, + 0.4582960307598114, + 0.6522577404975891 + ], + "joints": [ + 1.1082360288128257e-05 + ] + }, + "final_grasp": { + "position": [ + 0.11356285959482193, + 0.10161691159009933, + -0.0289108008146286 + ], + "orientation": [ + 0.41497403383255005, + -0.43854430317878723, + 0.4582960307598114, + 0.6522577404975891 + ], + "joints": [ + 0.005883048288524151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1072511225938797, + 0.04011381044983864, + 0.05644857883453369 + ], + "orientation": [ + 0.35011208057403564, + 0.37445956468582153, + -0.6595146656036377, + 0.5497653484344482 + ], + "joints": [ + -0.006124668754637241 + ] + }, + "fine_grasp": { + "position": [ + 0.10791785269975662, + 0.04097911715507507, + 0.056192707270383835 + ], + "orientation": [ + 0.33676886558532715, + 0.3894164562225342, + -0.6643330454826355, + 0.5418515205383301 + ], + "joints": [ + 0.0008100966224446893 + ] + }, + "final_grasp": { + "position": [ + 0.10791785269975662, + 0.04097911715507507, + 0.056192707270383835 + ], + "orientation": [ + 0.33676886558532715, + 0.3894164562225342, + -0.6643330454826355, + 0.5418515205383301 + ], + "joints": [ + 0.007744861766695976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029269946739077568, + 0.07913727313280106, + 0.11796510964632034 + ], + "orientation": [ + 0.12166495621204376, + 0.04696553573012352, + 0.6674801111221313, + -0.7331181764602661 + ], + "joints": [ + -0.0062319440767169 + ] + }, + "fine_grasp": { + "position": [ + -0.029672835022211075, + 0.07835402339696884, + 0.11752419918775558 + ], + "orientation": [ + 0.13519404828548431, + 0.035545483231544495, + 0.6664783358573914, + -0.7323017120361328 + ], + "joints": [ + 0.0007028214167803526 + ] + }, + "final_grasp": { + "position": [ + -0.029672835022211075, + 0.07835402339696884, + 0.11752419918775558 + ], + "orientation": [ + 0.13519404828548431, + 0.035545483231544495, + 0.6664783358573914, + -0.7323017120361328 + ], + "joints": [ + 0.007637586910277605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12545552849769592, + 0.03467901796102524, + -0.018026912584900856 + ], + "orientation": [ + 0.42682841420173645, + -0.4982520341873169, + 0.5185012817382812, + 0.5483783483505249 + ], + "joints": [ + -0.006734768860042095 + ] + }, + "fine_grasp": { + "position": [ + 0.12222741544246674, + 0.034021735191345215, + -0.017810722813010216 + ], + "orientation": [ + 0.43143340945243835, + -0.4918278157711029, + 0.5126628875732422, + 0.5560103058815002 + ], + "joints": [ + -0.00033140313462354243 + ] + }, + "final_grasp": { + "position": [ + 0.12222741544246674, + 0.034021735191345215, + -0.017810722813010216 + ], + "orientation": [ + 0.43143340945243835, + -0.4918278157711029, + 0.5126628875732422, + 0.5560103058815002 + ], + "joints": [ + 0.006071962416172028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004879288841038942, + 0.05249612405896187, + -0.12149785459041595 + ], + "orientation": [ + 0.027631783857941628, + 0.05455528199672699, + 0.7218289971351624, + 0.6893643140792847 + ], + "joints": [ + -0.006151842884719372 + ] + }, + "fine_grasp": { + "position": [ + -0.004513212945312262, + 0.05263618379831314, + -0.1210632249712944 + ], + "orientation": [ + 0.04128069803118706, + 0.065852589905262, + 0.7216547131538391, + 0.6878764033317566 + ], + "joints": [ + 0.000756352674216032 + ] + }, + "final_grasp": { + "position": [ + -0.004513212945312262, + 0.05263618379831314, + -0.1210632249712944 + ], + "orientation": [ + 0.04128069803118706, + 0.065852589905262, + 0.7216547131538391, + 0.6878764033317566 + ], + "joints": [ + 0.007664548233151436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1203785389661789, + 0.07068321853876114, + 0.011057068593800068 + ], + "orientation": [ + 0.477198988199234, + -0.5674768686294556, + -0.47999584674835205, + -0.468887060880661 + ], + "joints": [ + -0.005523994565010071 + ] + }, + "fine_grasp": { + "position": [ + -0.11957768350839615, + 0.06989879906177521, + 0.01057676412165165 + ], + "orientation": [ + 0.46800899505615234, + -0.5736485719680786, + -0.49196645617485046, + -0.458109050989151 + ], + "joints": [ + 0.00034797165426425636 + ] + }, + "final_grasp": { + "position": [ + -0.11957768350839615, + 0.06989879906177521, + 0.01057676412165165 + ], + "orientation": [ + 0.46800899505615234, + -0.5736485719680786, + -0.49196645617485046, + -0.458109050989151 + ], + "joints": [ + 0.006219937931746244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1203150749206543, + 0.06971915066242218, + 0.01861511915922165 + ], + "orientation": [ + 0.5000938773155212, + -0.5732831358909607, + -0.4729447662830353, + -0.4444948136806488 + ], + "joints": [ + -0.005687059834599495 + ] + }, + "fine_grasp": { + "position": [ + -0.11978480964899063, + 0.06933499127626419, + 0.01821644976735115 + ], + "orientation": [ + 0.4881935715675354, + -0.5822065472602844, + -0.48735010623931885, + -0.43033990263938904 + ], + "joints": [ + 0.0007163060363382101 + ] + }, + "final_grasp": { + "position": [ + -0.11978480964899063, + 0.06933499127626419, + 0.01821644976735115 + ], + "orientation": [ + 0.4881935715675354, + -0.5822065472602844, + -0.48735010623931885, + -0.43033990263938904 + ], + "joints": [ + 0.007119671907275915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10729990899562836, + 0.03952900692820549, + 0.056365858763456345 + ], + "orientation": [ + 0.35028114914894104, + 0.3746296465396881, + -0.6606640815734863, + 0.5481594204902649 + ], + "joints": [ + -0.006160902790725231 + ] + }, + "fine_grasp": { + "position": [ + 0.107831209897995, + 0.04038859158754349, + 0.056054241955280304 + ], + "orientation": [ + 0.3369329571723938, + 0.38887253403663635, + -0.6654717326164246, + 0.5407416820526123 + ], + "joints": [ + 0.0007738627027720213 + ] + }, + "final_grasp": { + "position": [ + 0.107831209897995, + 0.04038859158754349, + 0.056054241955280304 + ], + "orientation": [ + 0.3369329571723938, + 0.38887253403663635, + -0.6654717326164246, + 0.5407416820526123 + ], + "joints": [ + 0.007708628196269274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11592879891395569, + 0.0439608097076416, + 0.03942139819264412 + ], + "orientation": [ + 0.3740565776824951, + 0.44812893867492676, + -0.592125654220581, + 0.5555622577667236 + ], + "joints": [ + -0.005739827640354633 + ] + }, + "fine_grasp": { + "position": [ + 0.11509557068347931, + 0.04348667338490486, + 0.039639558643102646 + ], + "orientation": [ + 0.36165711283683777, + 0.4576719105243683, + -0.6018823385238647, + 0.5454155802726746 + ], + "joints": [ + 0.0006635382305830717 + ] + }, + "final_grasp": { + "position": [ + 0.11509557068347931, + 0.04348667338490486, + 0.039639558643102646 + ], + "orientation": [ + 0.36165711283683777, + 0.4576719105243683, + -0.6018823385238647, + 0.5454155802726746 + ], + "joints": [ + 0.007066904101520777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057402465492486954, + 0.07230182737112045, + 0.10718664526939392 + ], + "orientation": [ + 0.12995803356170654, + 0.21402037143707275, + -0.6812114119529724, + 0.6879369616508484 + ], + "joints": [ + -0.005977131426334381 + ] + }, + "fine_grasp": { + "position": [ + 0.0571582205593586, + 0.0716930404305458, + 0.10735597461462021 + ], + "orientation": [ + 0.11725858598947525, + 0.22551609575748444, + -0.6860002875328064, + 0.6817598938941956 + ], + "joints": [ + 0.0004262344154994935 + ] + }, + "final_grasp": { + "position": [ + 0.0571582205593586, + 0.0716930404305458, + 0.10735597461462021 + ], + "orientation": [ + 0.11725858598947525, + 0.22551609575748444, + -0.6860002875328064, + 0.6817598938941956 + ], + "joints": [ + 0.006829600315541029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08420083671808243, + 0.05264252796769142, + 0.08751697093248367 + ], + "orientation": [ + 0.6847453713417053, + -0.6251616477966309, + 0.2365216165781021, + 0.2904379069805145 + ], + "joints": [ + -0.00615574698895216 + ] + }, + "fine_grasp": { + "position": [ + 0.08392323553562164, + 0.052847206592559814, + 0.08677718788385391 + ], + "orientation": [ + 0.6892226934432983, + -0.6187710762023926, + 0.22290098667144775, + 0.3039896786212921 + ], + "joints": [ + 0.0007524485699832439 + ] + }, + "final_grasp": { + "position": [ + 0.08392323553562164, + 0.052847206592559814, + 0.08677718788385391 + ], + "orientation": [ + 0.6892226934432983, + -0.6187710762023926, + 0.22290098667144775, + 0.3039896786212921 + ], + "joints": [ + 0.007660644128918648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1201268807053566, + 0.044876329600811005, + 0.010574446991086006 + ], + "orientation": [ + 0.5219138264656067, + -0.5169029831886292, + -0.5265357494354248, + -0.42799216508865356 + ], + "joints": [ + -0.006061830557882786 + ] + }, + "fine_grasp": { + "position": [ + -0.11918427050113678, + 0.0457671694457531, + 0.010886158794164658 + ], + "orientation": [ + 0.5117671489715576, + -0.5274093151092529, + -0.5333981513977051, + -0.41883206367492676 + ], + "joints": [ + 0.00034153531305491924 + ] + }, + "final_grasp": { + "position": [ + -0.11918427050113678, + 0.0457671694457531, + 0.010886158794164658 + ], + "orientation": [ + 0.5117671489715576, + -0.5274093151092529, + -0.5333981513977051, + -0.41883206367492676 + ], + "joints": [ + 0.006744901183992624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12019956111907959, + 0.07013139128684998, + 0.0191031601279974 + ], + "orientation": [ + 0.5008984208106995, + -0.5743610262870789, + -0.47119826078414917, + -0.4440523684024811 + ], + "joints": [ + -0.00598373357206583 + ] + }, + "fine_grasp": { + "position": [ + -0.11961276084184647, + 0.0696873739361763, + 0.0186923835426569 + ], + "orientation": [ + 0.4891747832298279, + -0.5833176374435425, + -0.48572710156440735, + -0.4295552670955658 + ], + "joints": [ + 0.00041963226976804435 + ] + }, + "final_grasp": { + "position": [ + -0.11961276084184647, + 0.0696873739361763, + 0.0186923835426569 + ], + "orientation": [ + 0.4891747832298279, + -0.5833176374435425, + -0.48572710156440735, + -0.4295552670955658 + ], + "joints": [ + 0.00682299816980958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10807227343320847, + 0.09957447648048401, + 0.048134200274944305 + ], + "orientation": [ + 0.5038464069366455, + -0.6773070693016052, + -0.3661578297615051, + -0.3915640115737915 + ], + "joints": [ + -0.006083364598453045 + ] + }, + "fine_grasp": { + "position": [ + -0.10827020555734634, + 0.09779240190982819, + 0.047068867832422256 + ], + "orientation": [ + 0.49787941575050354, + -0.6788820028305054, + -0.3831454813480377, + -0.38004598021507263 + ], + "joints": [ + -0.00018482859013602138 + ] + }, + "final_grasp": { + "position": [ + -0.10827020555734634, + 0.09779240190982819, + 0.047068867832422256 + ], + "orientation": [ + 0.49787941575050354, + -0.6788820028305054, + -0.3831454813480377, + -0.38004598021507263 + ], + "joints": [ + 0.00571370730176568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029463525861501694, + 0.08024107664823532, + 0.11784524470567703 + ], + "orientation": [ + 0.12207938730716705, + 0.047822922468185425, + 0.6650724411010742, + -0.73517906665802 + ], + "joints": [ + -0.005900934338569641 + ] + }, + "fine_grasp": { + "position": [ + -0.029809117317199707, + 0.0791226178407669, + 0.1176605299115181 + ], + "orientation": [ + 0.13734877109527588, + 0.03356005996465683, + 0.6646639704704285, + -0.733642041683197 + ], + "joints": [ + 0.0005024315323680639 + ] + }, + "final_grasp": { + "position": [ + -0.029809117317199707, + 0.0791226178407669, + 0.1176605299115181 + ], + "orientation": [ + 0.13734877109527588, + 0.03356005996465683, + 0.6646639704704285, + -0.733642041683197 + ], + "joints": [ + 0.006905797403305769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09326473623514175, + 0.049359045922756195, + -0.0778125524520874 + ], + "orientation": [ + 0.2647266089916229, + -0.3307822644710541, + -0.6810967326164246, + -0.5971684455871582 + ], + "joints": [ + -0.00624308455735445 + ] + }, + "fine_grasp": { + "position": [ + -0.09257412701845169, + 0.0498415008187294, + -0.0779896080493927 + ], + "orientation": [ + 0.25332143902778625, + -0.3387335538864136, + -0.6849544644355774, + -0.5932328104972839 + ], + "joints": [ + 0.0006916809361428022 + ] + }, + "final_grasp": { + "position": [ + -0.09257412701845169, + 0.0498415008187294, + -0.0779896080493927 + ], + "orientation": [ + 0.25332143902778625, + -0.3387335538864136, + -0.6849544644355774, + -0.5932328104972839 + ], + "joints": [ + 0.007626446429640055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11696930974721909, + 0.04378872737288475, + 0.03976176306605339 + ], + "orientation": [ + 0.374947726726532, + 0.4474973976612091, + -0.5902779698371887, + 0.5574336051940918 + ], + "joints": [ + -0.006066036410629749 + ] + }, + "fine_grasp": { + "position": [ + 0.115021251142025, + 0.043272171169519424, + 0.039467524737119675 + ], + "orientation": [ + 0.36242344975471497, + 0.45765331387519836, + -0.600042998790741, + 0.5469471216201782 + ], + "joints": [ + 0.0008687290828675032 + ] + }, + "final_grasp": { + "position": [ + 0.115021251142025, + 0.043272171169519424, + 0.039467524737119675 + ], + "orientation": [ + 0.36242344975471497, + 0.45765331387519836, + -0.600042998790741, + 0.5469471216201782 + ], + "joints": [ + 0.007803494576364756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12129056453704834, + 0.08074681460857391, + -0.009129886515438557 + ], + "orientation": [ + 0.4748944044113159, + 0.5606628060340881, + -0.49706029891967773, + 0.4615882933139801 + ], + "joints": [ + -0.005710795521736145 + ] + }, + "fine_grasp": { + "position": [ + 0.12176357954740524, + 0.08024085313081741, + -0.008505756966769695 + ], + "orientation": [ + 0.46357038617134094, + 0.5686496496200562, + -0.5094078779220581, + 0.4497150778770447 + ], + "joints": [ + 0.00069257034920156 + ] + }, + "final_grasp": { + "position": [ + 0.12176357954740524, + 0.08024085313081741, + -0.008505756966769695 + ], + "orientation": [ + 0.46357038617134094, + 0.5686496496200562, + -0.5094078779220581, + 0.4497150778770447 + ], + "joints": [ + 0.007095936220139265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06698986142873764, + 0.027465246617794037, + 0.09958408027887344 + ], + "orientation": [ + 0.1818079948425293, + 0.2231345921754837, + -0.7386794090270996, + 0.6095157265663147 + ], + "joints": [ + -0.005898928269743919 + ] + }, + "fine_grasp": { + "position": [ + 0.06690887361764908, + 0.029264239594340324, + 0.09871790558099747 + ], + "orientation": [ + 0.17009373009204865, + 0.23815767467021942, + -0.7367733716964722, + 0.6095195412635803 + ], + "joints": [ + -2.6962108677253127e-05 + ] + }, + "final_grasp": { + "position": [ + 0.06690887361764908, + 0.029264239594340324, + 0.09871790558099747 + ], + "orientation": [ + 0.17009373009204865, + 0.23815767467021942, + -0.7367733716964722, + 0.6095195412635803 + ], + "joints": [ + 0.005845004227012396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07595241069793701, + 0.06449728459119797, + 0.09542147815227509 + ], + "orientation": [ + 0.27060258388519287, + 0.19393976032733917, + 0.6416988372802734, + -0.6909300088882446 + ], + "joints": [ + -0.006053224205970764 + ] + }, + "fine_grasp": { + "position": [ + -0.07609755545854568, + 0.06424964964389801, + 0.09519355744123459 + ], + "orientation": [ + 0.2840833365917206, + 0.18101929128170013, + 0.6364831328392029, + -0.6938428282737732 + ], + "joints": [ + 0.0008815411711111665 + ] + }, + "final_grasp": { + "position": [ + -0.07609755545854568, + 0.06424964964389801, + 0.09519355744123459 + ], + "orientation": [ + 0.2840833365917206, + 0.18101929128170013, + 0.6364831328392029, + -0.6938428282737732 + ], + "joints": [ + 0.007816306315362453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07578273117542267, + 0.06421312689781189, + 0.0955301970243454 + ], + "orientation": [ + 0.2704865336418152, + 0.19311213493347168, + 0.6413570642471313, + -0.6915243864059448 + ], + "joints": [ + -0.006015179678797722 + ] + }, + "fine_grasp": { + "position": [ + -0.07592488825321198, + 0.06385435163974762, + 0.09553448110818863 + ], + "orientation": [ + 0.28434908390045166, + 0.17817078530788422, + 0.6363992691040039, + -0.6945478916168213 + ], + "joints": [ + 0.000893015880137682 + ] + }, + "final_grasp": { + "position": [ + -0.07592488825321198, + 0.06385435163974762, + 0.09553448110818863 + ], + "orientation": [ + 0.28434908390045166, + 0.17817078530788422, + 0.6363992691040039, + -0.6945478916168213 + ], + "joints": [ + 0.007801211439073086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010541732423007488, + 0.014011072926223278, + 0.11876457929611206 + ], + "orientation": [ + 0.7696354985237122, + -0.6351510882377625, + -0.06513458490371704, + -0.0013419397873803973 + ], + "joints": [ + -0.005994975566864014 + ] + }, + "fine_grasp": { + "position": [ + -0.009651237167418003, + 0.014718389138579369, + 0.12030264735221863 + ], + "orientation": [ + 0.7687788009643555, + -0.634766161441803, + -0.07679953426122665, + 0.01236993633210659 + ], + "joints": [ + 0.0004083902749698609 + ] + }, + "final_grasp": { + "position": [ + -0.009651237167418003, + 0.014718389138579369, + 0.12030264735221863 + ], + "orientation": [ + 0.7687788009643555, + -0.634766161441803, + -0.07679953426122665, + 0.01236993633210659 + ], + "joints": [ + 0.006811756175011396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12149626016616821, + 0.08096286654472351, + -0.009493696503341198 + ], + "orientation": [ + 0.4744749367237091, + 0.5621586441993713, + -0.5010873675346375, + 0.4558097720146179 + ], + "joints": [ + -0.005955275148153305 + ] + }, + "fine_grasp": { + "position": [ + 0.12188725173473358, + 0.08034003525972366, + -0.00897523295134306 + ], + "orientation": [ + 0.46380865573883057, + 0.5696060657501221, + -0.51332688331604, + 0.44376340508461 + ], + "joints": [ + 0.0009794902289286256 + ] + }, + "final_grasp": { + "position": [ + 0.12188725173473358, + 0.08034003525972366, + -0.00897523295134306 + ], + "orientation": [ + 0.46380865573883057, + 0.5696060657501221, + -0.51332688331604, + 0.44376340508461 + ], + "joints": [ + 0.007914255373179913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10786700248718262, + 0.09831427782773972, + 0.048600174486637115 + ], + "orientation": [ + 0.5055784583091736, + -0.6771790981292725, + -0.36641860008239746, + -0.38930240273475647 + ], + "joints": [ + -0.006117698736488819 + ] + }, + "fine_grasp": { + "position": [ + -0.10820272564888, + 0.09645489603281021, + 0.0473259873688221 + ], + "orientation": [ + 0.49939003586769104, + -0.6782851219177246, + -0.3839607238769531, + -0.3783027231693268 + ], + "joints": [ + -0.0002191627281717956 + ] + }, + "final_grasp": { + "position": [ + -0.10820272564888, + 0.09645489603281021, + 0.0473259873688221 + ], + "orientation": [ + 0.49939003586769104, + -0.6782851219177246, + -0.3839607238769531, + -0.3783027231693268 + ], + "joints": [ + 0.005679373163729906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07381902635097504, + 0.05808901786804199, + -0.09659284353256226 + ], + "orientation": [ + 0.18859633803367615, + -0.2637964189052582, + -0.6862069368362427, + -0.6511243581771851 + ], + "joints": [ + -0.006191891618072987 + ] + }, + "fine_grasp": { + "position": [ + -0.07366907596588135, + 0.0581745021045208, + -0.0958191528916359 + ], + "orientation": [ + 0.17751333117485046, + -0.2755146324634552, + -0.6885684132575989, + -0.6468803882598877 + ], + "joints": [ + 0.0007163039408624172 + ] + }, + "final_grasp": { + "position": [ + -0.07366907596588135, + 0.0581745021045208, + -0.0958191528916359 + ], + "orientation": [ + 0.17751333117485046, + -0.2755146324634552, + -0.6885684132575989, + -0.6468803882598877 + ], + "joints": [ + 0.007624499499797821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08038786053657532, + 0.07340638339519501, + 0.09104059636592865 + ], + "orientation": [ + 0.2791677415370941, + 0.21878594160079956, + 0.6261237859725952, + -0.6943824291229248 + ], + "joints": [ + -0.005719682201743126 + ] + }, + "fine_grasp": { + "position": [ + -0.08020082116127014, + 0.07290136814117432, + 0.09047917276620865 + ], + "orientation": [ + 0.28999704122543335, + 0.20733672380447388, + 0.622026264667511, + -0.6971344351768494 + ], + "joints": [ + 0.0006836836691945791 + ] + }, + "final_grasp": { + "position": [ + -0.08020082116127014, + 0.07290136814117432, + 0.09047917276620865 + ], + "orientation": [ + 0.28999704122543335, + 0.20733672380447388, + 0.622026264667511, + -0.6971344351768494 + ], + "joints": [ + 0.007087049540132284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07387350499629974, + 0.05814429000020027, + -0.09655369073152542 + ], + "orientation": [ + 0.18846262991428375, + -0.2642604410648346, + -0.6864074468612671, + -0.6507633924484253 + ], + "joints": [ + -0.006191893480718136 + ] + }, + "fine_grasp": { + "position": [ + -0.07367344200611115, + 0.058222461491823196, + -0.09596407413482666 + ], + "orientation": [ + 0.1773669421672821, + -0.2759532630443573, + -0.6887903809547424, + -0.6464970707893372 + ], + "joints": [ + 0.000716302078217268 + ] + }, + "final_grasp": { + "position": [ + -0.07367344200611115, + 0.058222461491823196, + -0.09596407413482666 + ], + "orientation": [ + 0.1773669421672821, + -0.2759532630443573, + -0.6887903809547424, + -0.6464970707893372 + ], + "joints": [ + 0.007624497637152672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11530102044343948, + 0.04388188570737839, + 0.03923448920249939 + ], + "orientation": [ + 0.37168389558792114, + 0.4501318633556366, + -0.5930259227752686, + 0.5545742511749268 + ], + "joints": [ + -0.005739827640354633 + ] + }, + "fine_grasp": { + "position": [ + 0.11480625718832016, + 0.043195389211177826, + 0.03926945477724075 + ], + "orientation": [ + 0.36218446493148804, + 0.45781052112579346, + -0.6018279194831848, + 0.5450093150138855 + ], + "joints": [ + 0.0006635382305830717 + ] + }, + "final_grasp": { + "position": [ + 0.11480625718832016, + 0.043195389211177826, + 0.03926945477724075 + ], + "orientation": [ + 0.36218446493148804, + 0.45781052112579346, + -0.6018279194831848, + 0.5450093150138855 + ], + "joints": [ + 0.007066904101520777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12135393917560577, + 0.06670374423265457, + -0.01083116140216589 + ], + "orientation": [ + 0.5374738574028015, + 0.5037347078323364, + 0.43858540058135986, + -0.5147969722747803 + ], + "joints": [ + -0.005860883742570877 + ] + }, + "fine_grasp": { + "position": [ + -0.12118718028068542, + 0.06621666997671127, + -0.011486100032925606 + ], + "orientation": [ + 0.5504112839698792, + 0.49120137095451355, + 0.42504093050956726, + -0.5245081782341003 + ], + "joints": [ + 0.0010473118163645267 + ] + }, + "final_grasp": { + "position": [ + -0.12118718028068542, + 0.06621666997671127, + -0.011486100032925606 + ], + "orientation": [ + 0.5504112839698792, + 0.49120137095451355, + 0.42504093050956726, + -0.5245081782341003 + ], + "joints": [ + 0.00795550737529993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07356774061918259, + 0.057989880442619324, + -0.09677936881780624 + ], + "orientation": [ + 0.18720728158950806, + -0.263668417930603, + -0.6867988705635071, + -0.6509529948234558 + ], + "joints": [ + -0.005860881879925728 + ] + }, + "fine_grasp": { + "position": [ + -0.07347723841667175, + 0.05810042470693588, + -0.09615499526262283 + ], + "orientation": [ + 0.17583128809928894, + -0.2754417955875397, + -0.6891724467277527, + -0.6467275619506836 + ], + "joints": [ + 0.0005424839910119772 + ] + }, + "final_grasp": { + "position": [ + -0.07347723841667175, + 0.05810042470693588, + -0.09615499526262283 + ], + "orientation": [ + 0.17583128809928894, + -0.2754417955875397, + -0.6891724467277527, + -0.6467275619506836 + ], + "joints": [ + 0.006945849861949682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12056299299001694, + 0.07070641219615936, + 0.010760596953332424 + ], + "orientation": [ + 0.4743986129760742, + -0.5688796043395996, + -0.4823649823665619, + -0.46759575605392456 + ], + "joints": [ + -0.005820835009217262 + ] + }, + "fine_grasp": { + "position": [ + -0.119517020881176, + 0.06982170790433884, + 0.01034846343100071 + ], + "orientation": [ + 0.46477216482162476, + -0.5751148462295532, + -0.49509406089782715, + -0.45619234442710876 + ], + "joints": [ + 7.770114461891353e-05 + ] + }, + "final_grasp": { + "position": [ + -0.119517020881176, + 0.06982170790433884, + 0.01034846343100071 + ], + "orientation": [ + 0.46477216482162476, + -0.5751148462295532, + -0.49509406089782715, + -0.45619234442710876 + ], + "joints": [ + 0.00597623735666275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07949699461460114, + 0.05475977435708046, + -0.09225673228502274 + ], + "orientation": [ + 0.20557300746440887, + -0.2851242423057556, + -0.6857339143753052, + -0.6373483538627625 + ], + "joints": [ + -0.005900934338569641 + ] + }, + "fine_grasp": { + "position": [ + -0.07944953441619873, + 0.054606277495622635, + -0.09233883768320084 + ], + "orientation": [ + 0.19217701256275177, + -0.2964012324810028, + -0.6904377937316895, + -0.6312766075134277 + ], + "joints": [ + 0.0005024314159527421 + ] + }, + "final_grasp": { + "position": [ + -0.07944953441619873, + 0.054606277495622635, + -0.09233883768320084 + ], + "orientation": [ + 0.19217701256275177, + -0.2964012324810028, + -0.6904377937316895, + -0.6312766075134277 + ], + "joints": [ + 0.006905796937644482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12158462405204773, + 0.06400809437036514, + 0.005275675095617771 + ], + "orientation": [ + 0.537022590637207, + -0.48270389437675476, + 0.46089398860931396, + 0.5159266591072083 + ], + "joints": [ + -0.005956648848950863 + ] + }, + "fine_grasp": { + "position": [ + 0.12126380950212479, + 0.0644364133477211, + 0.0039665596559643745 + ], + "orientation": [ + 0.5433769226074219, + -0.4698486328125, + 0.4503522217273712, + 0.5302515029907227 + ], + "joints": [ + 0.0009515467099845409 + ] + }, + "final_grasp": { + "position": [ + 0.12126380950212479, + 0.0644364133477211, + 0.0039665596559643745 + ], + "orientation": [ + 0.5433769226074219, + -0.4698486328125, + 0.4503522217273712, + 0.5302515029907227 + ], + "joints": [ + 0.007859742268919945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041153181344270706, + 0.07017643004655838, + -0.11424800008535385 + ], + "orientation": [ + 0.1584107130765915, + -0.08087632805109024, + 0.6611711382865906, + 0.7288469076156616 + ], + "joints": [ + -0.005979033187031746 + ] + }, + "fine_grasp": { + "position": [ + 0.0414542630314827, + 0.06938337534666061, + -0.1142774149775505 + ], + "orientation": [ + 0.17512093484401703, + -0.06611254066228867, + 0.658891499042511, + 0.7285765409469604 + ], + "joints": [ + 0.00042433265480212867 + ] + }, + "final_grasp": { + "position": [ + 0.0414542630314827, + 0.06938337534666061, + -0.1142774149775505 + ], + "orientation": [ + 0.17512093484401703, + -0.06611254066228867, + 0.658891499042511, + 0.7285765409469604 + ], + "joints": [ + 0.006827698554843664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08024078607559204, + 0.07424400001764297, + 0.0912013128399849 + ], + "orientation": [ + 0.27881646156311035, + 0.2178785800933838, + 0.6258654594421387, + -0.6950414776802063 + ], + "joints": [ + -0.005750672891736031 + ] + }, + "fine_grasp": { + "position": [ + -0.07998860627412796, + 0.07360628247261047, + 0.09074625372886658 + ], + "orientation": [ + 0.29034391045570374, + 0.2058362066745758, + 0.6219573616981506, + -0.697496235370636 + ], + "joints": [ + 0.0006526929792016745 + ] + }, + "final_grasp": { + "position": [ + -0.07998860627412796, + 0.07360628247261047, + 0.09074625372886658 + ], + "orientation": [ + 0.29034391045570374, + 0.2058362066745758, + 0.6219573616981506, + -0.697496235370636 + ], + "joints": [ + 0.0070560588501393795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12071740627288818, + 0.05997748300433159, + 0.011499903164803982 + ], + "orientation": [ + 0.5032166838645935, + 0.4472062289714813, + 0.49508997797966003, + -0.5492408871650696 + ], + "joints": [ + -0.0055966563522815704 + ] + }, + "fine_grasp": { + "position": [ + -0.12010806798934937, + 0.05999154970049858, + 0.010737091302871704 + ], + "orientation": [ + 0.5125076174736023, + 0.43894505500793457, + 0.48513558506965637, + -0.556153416633606 + ], + "joints": [ + 0.000780139584094286 + ] + }, + "final_grasp": { + "position": [ + -0.12010806798934937, + 0.05999154970049858, + 0.010737091302871704 + ], + "orientation": [ + 0.5125076174736023, + 0.43894505500793457, + 0.48513558506965637, + -0.556153416633606 + ], + "joints": [ + 0.007156935520470142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07385962456464767, + 0.05799475312232971, + -0.09655795991420746 + ], + "orientation": [ + 0.1881004273891449, + -0.26457616686820984, + -0.68626469373703, + -0.6508906483650208 + ], + "joints": [ + -0.005860883742570877 + ] + }, + "fine_grasp": { + "position": [ + -0.0737992525100708, + 0.05803569406270981, + -0.09600057452917099 + ], + "orientation": [ + 0.17555800080299377, + -0.2775372862815857, + -0.6891393661499023, + -0.6459408402442932 + ], + "joints": [ + 0.000542482128366828 + ] + }, + "final_grasp": { + "position": [ + -0.0737992525100708, + 0.05803569406270981, + -0.09600057452917099 + ], + "orientation": [ + 0.17555800080299377, + -0.2775372862815857, + -0.6891393661499023, + -0.6459408402442932 + ], + "joints": [ + 0.006945847999304533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0757480338215828, + 0.06447120755910873, + 0.095547154545784 + ], + "orientation": [ + 0.27186155319213867, + 0.1909930408000946, + 0.638122022151947, + -0.6945596933364868 + ], + "joints": [ + -0.006015179678797722 + ] + }, + "fine_grasp": { + "position": [ + -0.07569744437932968, + 0.0640234723687172, + 0.0955686867237091 + ], + "orientation": [ + 0.2849843502044678, + 0.17683692276477814, + 0.6335750222206116, + -0.6972054243087769 + ], + "joints": [ + 0.000893015880137682 + ] + }, + "final_grasp": { + "position": [ + -0.07569744437932968, + 0.0640234723687172, + 0.0955686867237091 + ], + "orientation": [ + 0.2849843502044678, + 0.17683692276477814, + 0.6335750222206116, + -0.6972054243087769 + ], + "joints": [ + 0.007801211439073086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08454257249832153, + 0.06434047222137451, + 0.0873228907585144 + ], + "orientation": [ + 0.29938921332359314, + 0.23018677532672882, + 0.6312012076377869, + -0.677469789981842 + ], + "joints": [ + -0.006231942214071751 + ] + }, + "fine_grasp": { + "position": [ + -0.08362294733524323, + 0.06422837823629379, + 0.0868690088391304 + ], + "orientation": [ + 0.3088361322879791, + 0.21778754889965057, + 0.626663863658905, + -0.681528627872467 + ], + "joints": [ + 0.0007028232794255018 + ] + }, + "final_grasp": { + "position": [ + -0.08362294733524323, + 0.06422837823629379, + 0.0868690088391304 + ], + "orientation": [ + 0.3088361322879791, + 0.21778754889965057, + 0.626663863658905, + -0.681528627872467 + ], + "joints": [ + 0.007637588772922754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10517791658639908, + 0.05076902359724045, + 0.0609845295548439 + ], + "orientation": [ + 0.6041845083236694, + -0.6188147068023682, + -0.39290881156921387, + -0.31249353289604187 + ], + "joints": [ + -0.005940986797213554 + ] + }, + "fine_grasp": { + "position": [ + -0.10470686852931976, + 0.051419153809547424, + 0.06156041473150253 + ], + "orientation": [ + 0.5944705009460449, + -0.6284931898117065, + -0.40468350052833557, + -0.29636532068252563 + ], + "joints": [ + 0.0004623790446203202 + ] + }, + "final_grasp": { + "position": [ + -0.10470686852931976, + 0.051419153809547424, + 0.06156041473150253 + ], + "orientation": [ + 0.5944705009460449, + -0.6284931898117065, + -0.40468350052833557, + -0.29636532068252563 + ], + "joints": [ + 0.006865744944661856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1003229022026062, + 0.053665462881326675, + -0.0690791979432106 + ], + "orientation": [ + 0.3627956509590149, + -0.2932462692260742, + 0.6011753082275391, + 0.6488251686096191 + ], + "joints": [ + -0.006023784168064594 + ] + }, + "fine_grasp": { + "position": [ + 0.09967518597841263, + 0.0538821667432785, + -0.06973190605640411 + ], + "orientation": [ + 0.3748522102832794, + -0.27486807107925415, + 0.5924338698387146, + 0.6579936146736145 + ], + "joints": [ + 0.0008844113908708096 + ] + }, + "final_grasp": { + "position": [ + 0.09967518597841263, + 0.0538821667432785, + -0.06973190605640411 + ], + "orientation": [ + 0.3748522102832794, + -0.27486807107925415, + 0.5924338698387146, + 0.6579936146736145 + ], + "joints": [ + 0.007792606949806213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10381460934877396, + 0.05546075850725174, + -0.06334241479635239 + ], + "orientation": [ + 0.3128824830055237, + -0.37783902883529663, + -0.6416231989860535, + -0.5896285772323608 + ], + "joints": [ + -0.006117700599133968 + ] + }, + "fine_grasp": { + "position": [ + -0.10345765948295593, + 0.055758439004421234, + -0.0631255954504013 + ], + "orientation": [ + 0.2996692359447479, + -0.3897908627986908, + -0.6463847756385803, + -0.5834794044494629 + ], + "joints": [ + 0.0007904949598014355 + ] + }, + "final_grasp": { + "position": [ + -0.10345765948295593, + 0.055758439004421234, + -0.0631255954504013 + ], + "orientation": [ + 0.2996692359447479, + -0.3897908627986908, + -0.6463847756385803, + -0.5834794044494629 + ], + "joints": [ + 0.007698690518736839 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08434216678142548, + 0.06399601697921753, + 0.08759108930826187 + ], + "orientation": [ + 0.2994735836982727, + 0.22820545732975006, + 0.6333041191101074, + -0.6761388182640076 + ], + "joints": [ + -0.0062319440767169 + ] + }, + "fine_grasp": { + "position": [ + -0.08343430608510971, + 0.06393129378557205, + 0.087165966629982 + ], + "orientation": [ + 0.3092547655105591, + 0.21506288647651672, + 0.6283614039421082, + -0.680640459060669 + ], + "joints": [ + 0.0007028214167803526 + ] + }, + "final_grasp": { + "position": [ + -0.08343430608510971, + 0.06393129378557205, + 0.087165966629982 + ], + "orientation": [ + 0.3092547655105591, + 0.21506288647651672, + 0.6283614039421082, + -0.680640459060669 + ], + "joints": [ + 0.007637586910277605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10044185072183609, + 0.06146351248025894, + 0.06881418079137802 + ], + "orientation": [ + 0.28887438774108887, + 0.36860334873199463, + -0.6465172171592712, + 0.6022446751594543 + ], + "joints": [ + -0.006232117302715778 + ] + }, + "fine_grasp": { + "position": [ + 0.09979046881198883, + 0.061270445585250854, + 0.06895054131746292 + ], + "orientation": [ + 0.2755645513534546, + 0.37892842292785645, + -0.6516296863555908, + 0.5965368151664734 + ], + "joints": [ + 0.0007026481907814741 + ] + }, + "final_grasp": { + "position": [ + 0.09979046881198883, + 0.061270445585250854, + 0.06895054131746292 + ], + "orientation": [ + 0.2755645513534546, + 0.37892842292785645, + -0.6516296863555908, + 0.5965368151664734 + ], + "joints": [ + 0.007637413684278727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10054705291986465, + 0.06127261742949486, + 0.06872589886188507 + ], + "orientation": [ + 0.2901650369167328, + 0.3679126799106598, + -0.646477222442627, + 0.6020893454551697 + ], + "joints": [ + -0.006232119165360928 + ] + }, + "fine_grasp": { + "position": [ + 0.09981679916381836, + 0.061078086495399475, + 0.06870366632938385 + ], + "orientation": [ + 0.27644798159599304, + 0.3787142038345337, + -0.6516715288162231, + 0.596218466758728 + ], + "joints": [ + 0.0007026463281363249 + ] + }, + "final_grasp": { + "position": [ + 0.09981679916381836, + 0.061078086495399475, + 0.06870366632938385 + ], + "orientation": [ + 0.27644798159599304, + 0.3787142038345337, + -0.6516715288162231, + 0.596218466758728 + ], + "joints": [ + 0.007637411821633577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1113913431763649, + 0.08328575640916824, + -0.047723859548568726 + ], + "orientation": [ + 0.5391748547554016, + 0.6394415497779846, + -0.408378541469574, + 0.36555710434913635 + ], + "joints": [ + -0.005950119346380234 + ] + }, + "fine_grasp": { + "position": [ + 0.11155027151107788, + 0.08216966688632965, + -0.04719773679971695 + ], + "orientation": [ + 0.5304940342903137, + 0.6444783210754395, + -0.4242672026157379, + 0.3510284423828125 + ], + "joints": [ + 0.0004532465245574713 + ] + }, + "final_grasp": { + "position": [ + 0.11155027151107788, + 0.08216966688632965, + -0.04719773679971695 + ], + "orientation": [ + 0.5304940342903137, + 0.6444783210754395, + -0.4242672026157379, + 0.3510284423828125 + ], + "joints": [ + 0.006856612395495176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10052957385778427, + 0.05725045129656792, + -0.06873039156198502 + ], + "orientation": [ + 0.613568902015686, + 0.6345753073692322, + -0.36898693442344666, + 0.29102587699890137 + ], + "joints": [ + -0.006085080094635487 + ] + }, + "fine_grasp": { + "position": [ + 0.10000484436750412, + 0.05777719244360924, + -0.0685078576207161 + ], + "orientation": [ + 0.6027922034263611, + 0.6440560817718506, + -0.3830857276916504, + 0.27400511503219604 + ], + "joints": [ + 0.0008231154642999172 + ] + }, + "final_grasp": { + "position": [ + 0.10000484436750412, + 0.05777719244360924, + -0.0685078576207161 + ], + "orientation": [ + 0.6027922034263611, + 0.6440560817718506, + -0.3830857276916504, + 0.27400511503219604 + ], + "joints": [ + 0.007731311023235321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10038711130619049, + 0.054830655455589294, + -0.06898835301399231 + ], + "orientation": [ + 0.36491793394088745, + -0.2911536693572998, + 0.5985559225082397, + 0.650995671749115 + ], + "joints": [ + -0.005746942013502121 + ] + }, + "fine_grasp": { + "position": [ + 0.09992002695798874, + 0.0550149530172348, + -0.06961650401353836 + ], + "orientation": [ + 0.3771218955516815, + -0.27418750524520874, + 0.5899462699890137, + 0.6592144966125488 + ], + "joints": [ + 0.0006564238574355841 + ] + }, + "final_grasp": { + "position": [ + 0.09992002695798874, + 0.0550149530172348, + -0.06961650401353836 + ], + "orientation": [ + 0.3771218955516815, + -0.27418750524520874, + 0.5899462699890137, + 0.6592144966125488 + ], + "joints": [ + 0.007059789728373289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11000121384859085, + 0.06529684364795685, + 0.05171189829707146 + ], + "orientation": [ + 0.5639636516571045, + -0.6290088295936584, + -0.4026409983634949, + -0.35238203406333923 + ], + "joints": [ + -0.0060523757711052895 + ] + }, + "fine_grasp": { + "position": [ + -0.10971172899007797, + 0.06468738615512848, + 0.050998322665691376 + ], + "orientation": [ + 0.5554381608963013, + -0.6338507533073425, + -0.41843724250793457, + -0.33857327699661255 + ], + "joints": [ + 0.0003509900998324156 + ] + }, + "final_grasp": { + "position": [ + -0.10971172899007797, + 0.06468738615512848, + 0.050998322665691376 + ], + "orientation": [ + 0.5554381608963013, + -0.6338507533073425, + -0.41843724250793457, + -0.33857327699661255 + ], + "joints": [ + 0.006754355970770121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06183619424700737, + 0.04985968396067619, + 0.1044030711054802 + ], + "orientation": [ + 0.704093337059021, + -0.6531697511672974, + -0.24635718762874603, + -0.13011537492275238 + ], + "joints": [ + -0.006161753088235855 + ] + }, + "fine_grasp": { + "position": [ + -0.06169329583644867, + 0.05091996490955353, + 0.10472780466079712 + ], + "orientation": [ + 0.697331428527832, + -0.6585729718208313, + -0.25814592838287354, + -0.1156335175037384 + ], + "joints": [ + 0.0002681825717445463 + ] + }, + "final_grasp": { + "position": [ + -0.06169329583644867, + 0.05091996490955353, + 0.10472780466079712 + ], + "orientation": [ + 0.697331428527832, + -0.6585729718208313, + -0.25814592838287354, + -0.1156335175037384 + ], + "joints": [ + 0.006698118057101965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1050015315413475, + 0.05123850703239441, + -0.06093365699052811 + ], + "orientation": [ + 0.6168924570083618, + 0.6019642353057861, + -0.4118552505970001, + 0.2957327961921692 + ], + "joints": [ + -0.0060237860307097435 + ] + }, + "fine_grasp": { + "position": [ + 0.10484572499990463, + 0.0520680770277977, + -0.061190083622932434 + ], + "orientation": [ + 0.6067191958427429, + 0.6114876866340637, + -0.4237990379333496, + 0.2799448072910309 + ], + "joints": [ + 0.0003795797820203006 + ] + }, + "final_grasp": { + "position": [ + 0.10484572499990463, + 0.0520680770277977, + -0.061190083622932434 + ], + "orientation": [ + 0.6067191958427429, + 0.6114876866340637, + -0.4237990379333496, + 0.2799448072910309 + ], + "joints": [ + 0.006782945711165667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10044360160827637, + 0.05744357779622078, + -0.06894920021295547 + ], + "orientation": [ + 0.6135191917419434, + 0.6351446509361267, + -0.36907148361206055, + 0.2897786796092987 + ], + "joints": [ + -0.005860883742570877 + ] + }, + "fine_grasp": { + "position": [ + 0.09977636486291885, + 0.05794580280780792, + -0.06883778423070908 + ], + "orientation": [ + 0.6032755374908447, + 0.6445150375366211, + -0.38255229592323303, + 0.2726036608219147 + ], + "joints": [ + 0.000542482128366828 + ] + }, + "final_grasp": { + "position": [ + 0.09977636486291885, + 0.05794580280780792, + -0.06883778423070908 + ], + "orientation": [ + 0.6032755374908447, + 0.6445150375366211, + -0.38255229592323303, + 0.2726036608219147 + ], + "joints": [ + 0.006945847999304533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10043782740831375, + 0.05782864987850189, + -0.06888003647327423 + ], + "orientation": [ + 0.6134307384490967, + 0.6350811719894409, + -0.36933770775794983, + 0.2897660434246063 + ], + "joints": [ + -0.005820833146572113 + ] + }, + "fine_grasp": { + "position": [ + 0.09992950409650803, + 0.05839242786169052, + -0.06870783865451813 + ], + "orientation": [ + 0.6028189659118652, + 0.6442930698394775, + -0.38319969177246094, + 0.27322816848754883 + ], + "joints": [ + 0.000582532724365592 + ] + }, + "final_grasp": { + "position": [ + 0.09992950409650803, + 0.05839242786169052, + -0.06870783865451813 + ], + "orientation": [ + 0.6028189659118652, + 0.6442930698394775, + -0.38319969177246094, + 0.27322816848754883 + ], + "joints": [ + 0.006985898595303297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1208575963973999, + 0.05981360375881195, + -0.015364861115813255 + ], + "orientation": [ + 0.5056431889533997, + 0.5528159141540527, + -0.4998224675655365, + 0.4346229135990143 + ], + "joints": [ + -0.005900934338569641 + ] + }, + "fine_grasp": { + "position": [ + 0.12049689888954163, + 0.06006517633795738, + -0.01588803343474865 + ], + "orientation": [ + 0.49338817596435547, + 0.5660061836242676, + -0.5100387930870056, + 0.4196016490459442 + ], + "joints": [ + 0.0010072612203657627 + ] + }, + "final_grasp": { + "position": [ + 0.12049689888954163, + 0.06006517633795738, + -0.01588803343474865 + ], + "orientation": [ + 0.49338817596435547, + 0.5660061836242676, + -0.5100387930870056, + 0.4196016490459442 + ], + "joints": [ + 0.007915456779301167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11614448577165604, + 0.0402071475982666, + 0.03285430744290352 + ], + "orientation": [ + 0.41502392292022705, + 0.429842084646225, + -0.6276238560676575, + 0.4990784227848053 + ], + "joints": [ + -0.005979031324386597 + ] + }, + "fine_grasp": { + "position": [ + 0.116082563996315, + 0.04135711491107941, + 0.03259250521659851 + ], + "orientation": [ + 0.40059253573417664, + 0.4451341927051544, + -0.6338430643081665, + 0.4895140826702118 + ], + "joints": [ + 0.0004243345174472779 + ] + }, + "final_grasp": { + "position": [ + 0.116082563996315, + 0.04135711491107941, + 0.03259250521659851 + ], + "orientation": [ + 0.40059253573417664, + 0.4451341927051544, + -0.6338430643081665, + 0.4895140826702118 + ], + "joints": [ + 0.006827700417488813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12432543933391571, + 0.03426177427172661, + -0.017886990681290627 + ], + "orientation": [ + 0.42531952261924744, + -0.49965590238571167, + 0.5182095766067505, + 0.5485491156578064 + ], + "joints": [ + -0.00645586010068655 + ] + }, + "fine_grasp": { + "position": [ + 0.12126309424638748, + 0.03354708105325699, + -0.018057867884635925 + ], + "orientation": [ + 0.42660826444625854, + -0.4955404996871948, + 0.514844536781311, + 0.554418683052063 + ], + "joints": [ + -0.000583894201554358 + ] + }, + "final_grasp": { + "position": [ + 0.12126309424638748, + 0.03354708105325699, + -0.018057867884635925 + ], + "orientation": [ + 0.42660826444625854, + -0.4955404996871948, + 0.514844536781311, + 0.554418683052063 + ], + "joints": [ + 0.005288071930408478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02786392532289028, + 0.03149919956922531, + 0.11887838691473007 + ], + "orientation": [ + 0.04286704584956169, + 0.11604844778776169, + -0.732398509979248, + 0.6695427894592285 + ], + "joints": [ + -0.00602568406611681 + ] + }, + "fine_grasp": { + "position": [ + 0.02842525765299797, + 0.032096847891807556, + 0.11870869249105453 + ], + "orientation": [ + 0.027539333328604698, + 0.13419149816036224, + -0.7316907644271851, + 0.6677295565605164 + ], + "joints": [ + 0.0008825116092339158 + ] + }, + "final_grasp": { + "position": [ + 0.02842525765299797, + 0.032096847891807556, + 0.11870869249105453 + ], + "orientation": [ + 0.027539333328604698, + 0.13419149816036224, + -0.7316907644271851, + 0.6677295565605164 + ], + "joints": [ + 0.007790707051753998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07753897458314896, + 0.03989312797784805, + 0.09364285320043564 + ], + "orientation": [ + 0.18755508959293365, + 0.2913820147514343, + -0.6666610240936279, + 0.659911036491394 + ], + "joints": [ + -0.006132313050329685 + ] + }, + "fine_grasp": { + "position": [ + 0.07723162323236465, + 0.038942672312259674, + 0.09357704222202301 + ], + "orientation": [ + 0.17680945992469788, + 0.29956018924713135, + -0.6725419163703918, + 0.653214693069458 + ], + "joints": [ + 0.00027105279150418937 + ] + }, + "final_grasp": { + "position": [ + 0.07723162323236465, + 0.038942672312259674, + 0.09357704222202301 + ], + "orientation": [ + 0.17680945992469788, + 0.29956018924713135, + -0.6725419163703918, + 0.653214693069458 + ], + "joints": [ + 0.006674418691545725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12112167477607727, + 0.09189687669277191, + 0.01277790404856205 + ], + "orientation": [ + 0.45799604058265686, + -0.5921110510826111, + -0.49025633931159973, + -0.44642215967178345 + ], + "joints": [ + -0.006512832827866077 + ] + }, + "fine_grasp": { + "position": [ + -0.12111463397741318, + 0.09147445857524872, + 0.01295518595725298 + ], + "orientation": [ + 0.44949084520339966, + -0.5982410311698914, + -0.500338613986969, + -0.4355767071247101 + ], + "joints": [ + 0.00042193252011202276 + ] + }, + "final_grasp": { + "position": [ + -0.12111463397741318, + 0.09147445857524872, + 0.01295518595725298 + ], + "orientation": [ + 0.44949084520339966, + -0.5982410311698914, + -0.500338613986969, + -0.4355767071247101 + ], + "joints": [ + 0.00735669769346714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09075731039047241, + 0.06150123476982117, + 0.08124990016222 + ], + "orientation": [ + 0.3279874622821808, + 0.24683643877506256, + 0.6138744354248047, + -0.6742805242538452 + ], + "joints": [ + -0.005938980728387833 + ] + }, + "fine_grasp": { + "position": [ + -0.0909343957901001, + 0.06056096404790878, + 0.08078031986951828 + ], + "orientation": [ + 0.34188055992126465, + 0.23498345911502838, + 0.6097448468208313, + -0.6753604412078857 + ], + "joints": [ + 0.00046438511344604194 + ] + }, + "final_grasp": { + "position": [ + -0.0909343957901001, + 0.06056096404790878, + 0.08078031986951828 + ], + "orientation": [ + 0.34188055992126465, + 0.23498345911502838, + 0.6097448468208313, + -0.6753604412078857 + ], + "joints": [ + 0.0068677510134875774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11631511896848679, + 0.038876354694366455, + 0.03255479037761688 + ], + "orientation": [ + 0.41369789838790894, + 0.4319290518760681, + -0.6305120587348938, + 0.49471786618232727 + ], + "joints": [ + -0.005979033187031746 + ] + }, + "fine_grasp": { + "position": [ + 0.11613009870052338, + 0.03998471423983574, + 0.03232518211007118 + ], + "orientation": [ + 0.40031829476356506, + 0.4463905394077301, + -0.6361860036849976, + 0.48553892970085144 + ], + "joints": [ + 0.00042433265480212867 + ] + }, + "final_grasp": { + "position": [ + 0.11613009870052338, + 0.03998471423983574, + 0.03232518211007118 + ], + "orientation": [ + 0.40031829476356506, + 0.4463905394077301, + -0.6361860036849976, + 0.48553892970085144 + ], + "joints": [ + 0.006827698554843664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10374953597784042, + 0.044211409986019135, + -0.06446459144353867 + ], + "orientation": [ + 0.38772886991500854, + -0.2970212996006012, + 0.5900638103485107, + 0.6428603529930115 + ], + "joints": [ + -0.005912072956562042 + ] + }, + "fine_grasp": { + "position": [ + 0.1035439521074295, + 0.044333115220069885, + -0.06506228446960449 + ], + "orientation": [ + 0.3988528251647949, + -0.2815016210079193, + 0.5822504162788391, + 0.6501212120056152 + ], + "joints": [ + 0.0004912929143756628 + ] + }, + "final_grasp": { + "position": [ + 0.1035439521074295, + 0.044333115220069885, + -0.06506228446960449 + ], + "orientation": [ + 0.3988528251647949, + -0.2815016210079193, + 0.5822504162788391, + 0.6501212120056152 + ], + "joints": [ + 0.006894658785313368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06334038823843002, + 0.06414925307035446, + 0.10439430922269821 + ], + "orientation": [ + 0.23818032443523407, + 0.14002303779125214, + 0.653251588344574, + -0.704929769039154 + ], + "joints": [ + -0.006340642459690571 + ] + }, + "fine_grasp": { + "position": [ + -0.06296268105506897, + 0.06411043554544449, + 0.10475444793701172 + ], + "orientation": [ + 0.24995608627796173, + 0.1255146712064743, + 0.6482813954353333, + -0.7081661224365234 + ], + "joints": [ + 0.0005941230338066816 + ] + }, + "final_grasp": { + "position": [ + -0.06296268105506897, + 0.06411043554544449, + 0.10475444793701172 + ], + "orientation": [ + 0.24995608627796173, + 0.1255146712064743, + 0.6482813954353333, + -0.7081661224365234 + ], + "joints": [ + 0.007528888527303934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02771184779703617, + 0.030922455713152885, + 0.11892599612474442 + ], + "orientation": [ + 0.04227384552359581, + 0.11593320965766907, + -0.7320890426635742, + 0.6699388027191162 + ], + "joints": [ + -0.005775853991508484 + ] + }, + "fine_grasp": { + "position": [ + 0.02809222601354122, + 0.03145674616098404, + 0.11875972151756287 + ], + "orientation": [ + 0.02675151824951172, + 0.13305813074111938, + -0.731577455997467, + 0.668112576007843 + ], + "joints": [ + 0.0006275118212215602 + ] + }, + "final_grasp": { + "position": [ + 0.02809222601354122, + 0.03145674616098404, + 0.11875972151756287 + ], + "orientation": [ + 0.02675151824951172, + 0.13305813074111938, + -0.731577455997467, + 0.668112576007843 + ], + "joints": [ + 0.007030877750366926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09107668697834015, + 0.07753462344408035, + 0.0805063247680664 + ], + "orientation": [ + 0.22123217582702637, + 0.36264410614967346, + -0.6287556290626526, + 0.6513155698776245 + ], + "joints": [ + -0.0063732685521245 + ] + }, + "fine_grasp": { + "position": [ + 0.09169270843267441, + 0.07664190232753754, + 0.08097371459007263 + ], + "orientation": [ + 0.21016615629196167, + 0.3725181221961975, + -0.6336008310317993, + 0.64467853307724 + ], + "joints": [ + 3.0097144190222025e-05 + ] + }, + "final_grasp": { + "position": [ + 0.09169270843267441, + 0.07664190232753754, + 0.08097371459007263 + ], + "orientation": [ + 0.21016615629196167, + 0.3725181221961975, + -0.6336008310317993, + 0.64467853307724 + ], + "joints": [ + 0.0064334627240896225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10737533122301102, + 0.03612767532467842, + 0.055769890546798706 + ], + "orientation": [ + 0.6722450852394104, + -0.533319890499115, + 0.3390560448169708, + 0.3856130838394165 + ], + "joints": [ + -0.006053224205970764 + ] + }, + "fine_grasp": { + "position": [ + 0.10757489502429962, + 0.03709888830780983, + 0.056014467030763626 + ], + "orientation": [ + 0.6764677166938782, + -0.526885449886322, + 0.32674679160118103, + 0.39751678705215454 + ], + "joints": [ + 0.0003501415776554495 + ] + }, + "final_grasp": { + "position": [ + 0.10757489502429962, + 0.03709888830780983, + 0.056014467030763626 + ], + "orientation": [ + 0.6764677166938782, + -0.526885449886322, + 0.32674679160118103, + 0.39751678705215454 + ], + "joints": [ + 0.006753507535904646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11457709968090057, + 0.0815538689494133, + 0.042883116751909256 + ], + "orientation": [ + 0.537503182888031, + -0.6199685335159302, + -0.4531327188014984, + -0.3484252393245697 + ], + "joints": [ + -0.006548975594341755 + ] + }, + "fine_grasp": { + "position": [ + -0.11435644328594208, + 0.08211057633161545, + 0.04337320104241371 + ], + "orientation": [ + 0.5349018573760986, + -0.6232929229736328, + -0.4561886787414551, + -0.3424586057662964 + ], + "joints": [ + 0.0003857898700516671 + ] + }, + "final_grasp": { + "position": [ + -0.11435644328594208, + 0.08211057633161545, + 0.04337320104241371 + ], + "orientation": [ + 0.5349018573760986, + -0.6232929229736328, + -0.4561886787414551, + -0.3424586057662964 + ], + "joints": [ + 0.00732055539265275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08811760693788528, + -0.03862011432647705, + -0.04807153716683388 + ], + "orientation": [ + 0.7454509735107422, + 0.4142116606235504, + 0.46669137477874756, + -0.23437277972698212 + ], + "joints": [ + -0.005874156020581722 + ] + }, + "fine_grasp": { + "position": [ + -0.08577002584934235, + -0.0367821604013443, + -0.046499162912368774 + ], + "orientation": [ + 0.7437635064125061, + 0.4110698401927948, + 0.47570720314979553, + -0.2270243912935257 + ], + "joints": [ + -0.0005335896275937557 + ] + }, + "final_grasp": { + "position": [ + -0.08577002584934235, + -0.0367821604013443, + -0.046499162912368774 + ], + "orientation": [ + 0.7437635064125061, + 0.4110698401927948, + 0.47570720314979553, + -0.2270243912935257 + ], + "joints": [ + 0.004806976765394211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06786718219518661, + -0.08180724084377289, + -0.028992613777518272 + ], + "orientation": [ + 0.8430451154708862, + 0.26192110776901245, + 0.4172428846359253, + -0.2158253788948059 + ], + "joints": [ + -0.00583287887275219 + ] + }, + "fine_grasp": { + "position": [ + -0.06959515810012817, + -0.08060454577207565, + -0.028865789994597435 + ], + "orientation": [ + 0.8446022868156433, + 0.2588726282119751, + 0.41382279992103577, + -0.2199605107307434 + ], + "joints": [ + 3.908720100298524e-05 + ] + }, + "final_grasp": { + "position": [ + -0.06959515810012817, + -0.08060454577207565, + -0.028865789994597435 + ], + "orientation": [ + 0.8446022868156433, + 0.2588726282119751, + 0.41382279992103577, + -0.2199605107307434 + ], + "joints": [ + 0.005911053158342838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07261516153812408, + 0.07852715253829956, + 0.09904946386814117 + ], + "orientation": [ + 0.15314602851867676, + 0.28343358635902405, + -0.6971977353096008, + 0.6404116153717041 + ], + "joints": [ + -0.006583311595022678 + ] + }, + "fine_grasp": { + "position": [ + 0.07202618569135666, + 0.07865678519010544, + 0.09918444603681564 + ], + "orientation": [ + 0.13935300707817078, + 0.29307910799980164, + -0.7013294100761414, + 0.6346830129623413 + ], + "joints": [ + -0.0001533759932499379 + ] + }, + "final_grasp": { + "position": [ + 0.07202618569135666, + 0.07865678519010544, + 0.09918444603681564 + ], + "orientation": [ + 0.13935300707817078, + 0.29307910799980164, + -0.7013294100761414, + 0.6346830129623413 + ], + "joints": [ + 0.006276559550315142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05789661407470703, + 0.08524343371391296, + -0.10767868161201477 + ], + "orientation": [ + 0.6957127451896667, + 0.6694998145103455, + 0.10741738229990005, + -0.23709772527217865 + ], + "joints": [ + -0.006370088085532188 + ] + }, + "fine_grasp": { + "position": [ + -0.057378657162189484, + 0.08492548763751984, + -0.10784389078617096 + ], + "orientation": [ + 0.6958920955657959, + 0.6687760353088379, + 0.09999356418848038, + -0.24181410670280457 + ], + "joints": [ + 0.000564677407965064 + ] + }, + "final_grasp": { + "position": [ + -0.057378657162189484, + 0.08492548763751984, + -0.10784389078617096 + ], + "orientation": [ + 0.6958920955657959, + 0.6687760353088379, + 0.09999356418848038, + -0.24181410670280457 + ], + "joints": [ + 0.0074994429014623165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12232495844364166, + 0.07255703210830688, + -0.0050611044280231 + ], + "orientation": [ + 0.5491718649864197, + -0.42741623520851135, + 0.4752124845981598, + 0.5384224653244019 + ], + "joints": [ + -0.006690130569040775 + ] + }, + "fine_grasp": { + "position": [ + 0.12232395261526108, + 0.07303223013877869, + -0.004782937932759523 + ], + "orientation": [ + 0.5572488307952881, + -0.41846418380737305, + 0.4653409719467163, + 0.5457281470298767 + ], + "joints": [ + -0.00026019482174888253 + ] + }, + "final_grasp": { + "position": [ + 0.12232395261526108, + 0.07303223013877869, + -0.004782937932759523 + ], + "orientation": [ + 0.5572488307952881, + -0.41846418380737305, + 0.4653409719467163, + 0.5457281470298767 + ], + "joints": [ + 0.006169741041958332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06885955482721329, + -0.08194445818662643, + -0.028680521994829178 + ], + "orientation": [ + 0.8453772664070129, + 0.2576580345630646, + 0.4142620861530304, + -0.21756982803344727 + ], + "joints": [ + -0.006392245180904865 + ] + }, + "fine_grasp": { + "position": [ + -0.07064616680145264, + -0.08039053529500961, + -0.0283239483833313 + ], + "orientation": [ + 0.8466134071350098, + 0.2535717785358429, + 0.4132946729660034, + -0.21939605474472046 + ], + "joints": [ + -0.0004937092307955027 + ] + }, + "final_grasp": { + "position": [ + -0.07064616680145264, + -0.08039053529500961, + -0.0283239483833313 + ], + "orientation": [ + 0.8466134071350098, + 0.2535717785358429, + 0.4132946729660034, + -0.21939605474472046 + ], + "joints": [ + 0.00540482671931386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.075752854347229, + -0.08075196295976639, + 0.005827664397656918 + ], + "orientation": [ + 0.6847087740898132, + 0.21884283423423767, + 0.6413739919662476, + -0.26818135380744934 + ], + "joints": [ + -0.0056160325184464455 + ] + }, + "fine_grasp": { + "position": [ + -0.07427111268043518, + -0.07718303054571152, + 0.00679884385317564 + ], + "orientation": [ + 0.6911061406135559, + 0.20976805686950684, + 0.6349812150001526, + -0.27416884899139404 + ], + "joints": [ + 0.0007873333524912596 + ] + }, + "final_grasp": { + "position": [ + -0.07427111268043518, + -0.07718303054571152, + 0.00679884385317564 + ], + "orientation": [ + 0.6911061406135559, + 0.20976805686950684, + 0.6349812150001526, + -0.27416884899139404 + ], + "joints": [ + 0.007190699223428965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09643947333097458, + 0.05124759301543236, + -0.0753193348646164 + ], + "orientation": [ + 0.6177422404289246, + 0.6455292105674744, + -0.37841373682022095, + 0.24184633791446686 + ], + "joints": [ + -0.006795539520680904 + ] + }, + "fine_grasp": { + "position": [ + 0.09632909297943115, + 0.051502376794815063, + -0.07474379241466522 + ], + "orientation": [ + 0.608252227306366, + 0.6514890789985657, + -0.3934732675552368, + 0.2253216803073883 + ], + "joints": [ + -0.0008704334031790495 + ] + }, + "final_grasp": { + "position": [ + 0.09632909297943115, + 0.051502376794815063, + -0.07474379241466522 + ], + "orientation": [ + 0.608252227306366, + 0.6514890789985657, + -0.3934732675552368, + 0.2253216803073883 + ], + "joints": [ + 0.005054672714322805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10670454800128937, + 0.09746477007865906, + 0.05897659435868263 + ], + "orientation": [ + 0.608552873134613, + -0.5942561030387878, + 0.27042338252067566, + 0.45099273324012756 + ], + "joints": [ + -0.0067262789234519005 + ] + }, + "fine_grasp": { + "position": [ + 0.10728222876787186, + 0.09642452746629715, + 0.059249211102724075 + ], + "orientation": [ + 0.6107186079025269, + -0.5903823971748352, + 0.2627829313278198, + 0.4576205313205719 + ], + "joints": [ + 0.00020848651183769107 + ] + }, + "final_grasp": { + "position": [ + 0.10728222876787186, + 0.09642452746629715, + 0.059249211102724075 + ], + "orientation": [ + 0.6107186079025269, + -0.5903823971748352, + 0.2627829313278198, + 0.4576205313205719 + ], + "joints": [ + 0.0071432520635426044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05228229612112045, + -0.05162474885582924, + 0.07565261423587799 + ], + "orientation": [ + 0.24972492456436157, + 0.1334339827299118, + -0.8745976686477661, + 0.39358842372894287 + ], + "joints": [ + -0.0064779240638017654 + ] + }, + "fine_grasp": { + "position": [ + 0.05155215412378311, + -0.04733017832040787, + 0.07254787534475327 + ], + "orientation": [ + 0.2405993789434433, + 0.14535734057426453, + -0.8798923492431641, + 0.3831091821193695 + ], + "joints": [ + -0.0006059580482542515 + ] + }, + "final_grasp": { + "position": [ + 0.05155215412378311, + -0.04733017832040787, + 0.07254787534475327 + ], + "orientation": [ + 0.2405993789434433, + 0.14535734057426453, + -0.8798923492431641, + 0.3831091821193695 + ], + "joints": [ + 0.0052660079672932625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.082377128303051, + -0.07779784500598907, + 0.00542350672185421 + ], + "orientation": [ + 0.7922120094299316, + -0.2233511507511139, + -0.4849652945995331, + -0.29550477862358093 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.0803874209523201, + -0.07397042959928513, + 0.004146493971347809 + ], + "orientation": [ + 0.795945942401886, + -0.2191283404827118, + -0.4753587245941162, + -0.30411645770072937 + ], + "joints": [ + -0.001849910942837596 + ] + }, + "final_grasp": { + "position": [ + -0.0803874209523201, + -0.07397042959928513, + 0.004146493971347809 + ], + "orientation": [ + 0.795945942401886, + -0.2191283404827118, + -0.4753587245941162, + -0.30411645770072937 + ], + "joints": [ + 0.004553454462438822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11556106805801392, + 0.04123206436634064, + 0.032435208559036255 + ], + "orientation": [ + 0.4583307206630707, + -0.6653181910514832, + -0.4320003092288971, + -0.40082478523254395 + ], + "joints": [ + -0.006701287813484669 + ] + }, + "fine_grasp": { + "position": [ + -0.115657277405262, + 0.03782569244503975, + 0.03220989182591438 + ], + "orientation": [ + 0.448818564414978, + -0.6702609658241272, + -0.4386460483074188, + -0.3961084485054016 + ], + "joints": [ + -0.000802751979790628 + ] + }, + "final_grasp": { + "position": [ + -0.115657277405262, + 0.03782569244503975, + 0.03220989182591438 + ], + "orientation": [ + 0.448818564414978, + -0.6702609658241272, + -0.4386460483074188, + -0.3961084485054016 + ], + "joints": [ + 0.005095783621072769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07311509549617767, + -0.056339118629693985, + 0.053311631083488464 + ], + "orientation": [ + 0.823331892490387, + -0.3641652464866638, + -0.3887039124965668, + -0.19600403308868408 + ], + "joints": [ + -0.006541063077747822 + ] + }, + "fine_grasp": { + "position": [ + -0.07142718881368637, + -0.0527200922369957, + 0.051009513437747955 + ], + "orientation": [ + 0.8299278020858765, + -0.352629154920578, + -0.3823903203010559, + -0.20161885023117065 + ], + "joints": [ + -0.0006690970622003078 + ] + }, + "final_grasp": { + "position": [ + -0.07142718881368637, + -0.0527200922369957, + 0.051009513437747955 + ], + "orientation": [ + 0.8299278020858765, + -0.352629154920578, + -0.3823903203010559, + -0.20161885023117065 + ], + "joints": [ + 0.005202868953347206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01768719218671322, + -0.10147397220134735, + -0.005513832904398441 + ], + "orientation": [ + 0.675590455532074, + -0.060260895639657974, + -0.7295992374420166, + -0.08735579252243042 + ], + "joints": [ + -0.006884334608912468 + ] + }, + "fine_grasp": { + "position": [ + -0.02014770172536373, + -0.10523299127817154, + -0.007095405366271734 + ], + "orientation": [ + 0.678136944770813, + -0.05250077322125435, + -0.7280440330505371, + -0.08559020608663559 + ], + "joints": [ + -0.0015171986306086183 + ] + }, + "final_grasp": { + "position": [ + -0.02014770172536373, + -0.10523299127817154, + -0.007095405366271734 + ], + "orientation": [ + 0.678136944770813, + -0.05250077322125435, + -0.7280440330505371, + -0.08559020608663559 + ], + "joints": [ + 0.0038499373476952314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05211640149354935, + -0.051101215183734894, + 0.07598884403705597 + ], + "orientation": [ + 0.2473844438791275, + 0.13460536301136017, + -0.8732900619506836, + 0.39755094051361084 + ], + "joints": [ + -0.00644492544233799 + ] + }, + "fine_grasp": { + "position": [ + 0.05179198458790779, + -0.04694773629307747, + 0.07280592620372772 + ], + "orientation": [ + 0.2368668019771576, + 0.14893296360969543, + -0.8790562748908997, + 0.3859703838825226 + ], + "joints": [ + -0.0005729595432057977 + ] + }, + "final_grasp": { + "position": [ + 0.05179198458790779, + -0.04694773629307747, + 0.07280592620372772 + ], + "orientation": [ + 0.2368668019771576, + 0.14893296360969543, + -0.8790562748908997, + 0.3859703838825226 + ], + "joints": [ + 0.005299006588757038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0718085989356041, + -0.039977047592401505, + 0.07279413938522339 + ], + "orientation": [ + 0.8166908025741577, + -0.4452213943004608, + 0.30750057101249695, + 0.200592502951622 + ], + "joints": [ + -0.00610452052205801 + ] + }, + "fine_grasp": { + "position": [ + 0.06958452612161636, + -0.03657308965921402, + 0.06938321888446808 + ], + "orientation": [ + 0.8240302801132202, + -0.4350986182689667, + 0.29040536284446716, + 0.21754972636699677 + ], + "joints": [ + -0.0007639542454853654 + ] + }, + "final_grasp": { + "position": [ + 0.06958452612161636, + -0.03657308965921402, + 0.06938321888446808 + ], + "orientation": [ + 0.8240302801132202, + -0.4350986182689667, + 0.29040536284446716, + 0.21754972636699677 + ], + "joints": [ + 0.004576612263917923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08394932746887207, + -0.06489815562963486, + -0.006684352643787861 + ], + "orientation": [ + 0.6019636988639832, + -0.2773034870624542, + -0.6951943039894104, + -0.2782934606075287 + ], + "joints": [ + -0.006140562705695629 + ] + }, + "fine_grasp": { + "position": [ + -0.08703023195266724, + -0.06511157006025314, + -0.005718016531318426 + ], + "orientation": [ + 0.5966300964355469, + -0.27975699305534363, + -0.7040024399757385, + -0.2648567259311676 + ], + "joints": [ + -0.0007999964291229844 + ] + }, + "final_grasp": { + "position": [ + -0.08703023195266724, + -0.06511157006025314, + -0.005718016531318426 + ], + "orientation": [ + 0.5966300964355469, + -0.27975699305534363, + -0.7040024399757385, + -0.2648567259311676 + ], + "joints": [ + 0.004540570080280304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040194835513830185, + -0.07702593505382538, + 0.05495937541127205 + ], + "orientation": [ + 0.8883857727050781, + -0.2984676659107208, + 0.3380454480648041, + 0.08609858900308609 + ], + "joints": [ + -0.006724623963236809 + ] + }, + "fine_grasp": { + "position": [ + 0.03795679658651352, + -0.073495052754879, + 0.05624864995479584 + ], + "orientation": [ + 0.8855322599411011, + -0.2976238429546356, + 0.34969562292099, + 0.07046723365783691 + ], + "joints": [ + -0.000826088129542768 + ] + }, + "final_grasp": { + "position": [ + 0.03795679658651352, + -0.073495052754879, + 0.05624864995479584 + ], + "orientation": [ + 0.8855322599411011, + -0.2976238429546356, + 0.34969562292099, + 0.07046723365783691 + ], + "joints": [ + 0.005072447471320629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015683438628911972, + -0.09013943374156952, + -0.04731554910540581 + ], + "orientation": [ + 0.9447181820869446, + 0.22074304521083832, + -0.24175569415092468, + 0.018282586708664894 + ], + "joints": [ + -0.007105099502950907 + ] + }, + "fine_grasp": { + "position": [ + 0.013264219276607037, + -0.08520765602588654, + -0.04612052068114281 + ], + "orientation": [ + 0.9421582221984863, + 0.22266578674316406, + -0.2503404915332794, + 0.009351938962936401 + ], + "joints": [ + -0.0007548739667981863 + ] + }, + "final_grasp": { + "position": [ + 0.013264219276607037, + -0.08520765602588654, + -0.04612052068114281 + ], + "orientation": [ + 0.9421582221984863, + 0.22266578674316406, + -0.2503404915332794, + 0.009351938962936401 + ], + "joints": [ + 0.005595351569354534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01551009900867939, + -0.08992432802915573, + -0.04704565554857254 + ], + "orientation": [ + 0.9446074366569519, + 0.22104696929454803, + -0.24192938208580017, + 0.018035244196653366 + ], + "joints": [ + -0.007350529544055462 + ] + }, + "fine_grasp": { + "position": [ + 0.013106947764754295, + -0.0849972516298294, + -0.04594730585813522 + ], + "orientation": [ + 0.9421246647834778, + 0.22234806418418884, + -0.25076186656951904, + 0.008997149765491486 + ], + "joints": [ + -0.000973733956925571 + ] + }, + "final_grasp": { + "position": [ + 0.013106947764754295, + -0.0849972516298294, + -0.04594730585813522 + ], + "orientation": [ + 0.9421246647834778, + 0.22234806418418884, + -0.25076186656951904, + 0.008997149765491486 + ], + "joints": [ + 0.005403061397373676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09490445256233215, + -0.046717945486307144, + -0.004621532745659351 + ], + "orientation": [ + 0.626089870929718, + 0.3323468267917633, + -0.6419192552566528, + 0.2923983335494995 + ], + "joints": [ + -0.006180613301694393 + ] + }, + "fine_grasp": { + "position": [ + 0.0944225862622261, + -0.044073522090911865, + -0.005767896771430969 + ], + "orientation": [ + 0.6141955256462097, + 0.34192177653312683, + -0.6557675004005432, + 0.2753586769104004 + ], + "joints": [ + -0.0008400470251217484 + ] + }, + "final_grasp": { + "position": [ + 0.0944225862622261, + -0.044073522090911865, + -0.005767896771430969 + ], + "orientation": [ + 0.6141955256462097, + 0.34192177653312683, + -0.6557675004005432, + 0.2753586769104004 + ], + "joints": [ + 0.00450051948428154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11374423652887344, + 0.0648719072341919, + -0.03188406303524971 + ], + "orientation": [ + 0.6708024144172668, + 0.4473484754562378, + -0.3842160403728485, + 0.4497572183609009 + ], + "joints": [ + -0.007540423423051834 + ] + }, + "fine_grasp": { + "position": [ + 0.11553842574357986, + 0.0637064278125763, + -0.031996436417102814 + ], + "orientation": [ + 0.6722229719161987, + 0.4392532706260681, + -0.3765709400177002, + 0.4619167745113373 + ], + "joints": [ + -0.0027312571182847023 + ] + }, + "final_grasp": { + "position": [ + 0.11553842574357986, + 0.0637064278125763, + -0.031996436417102814 + ], + "orientation": [ + 0.6722229719161987, + 0.4392532706260681, + -0.3765709400177002, + 0.4619167745113373 + ], + "joints": [ + 0.0020779091864824295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00487477844581008, + -0.10249743610620499, + 0.02868722379207611 + ], + "orientation": [ + 0.3210923671722412, + -0.010993266478180885, + -0.9380481243133545, + 0.12978684902191162 + ], + "joints": [ + -0.007633476983755827 + ] + }, + "fine_grasp": { + "position": [ + 0.003932273015379906, + -0.10105905681848526, + 0.029916152358055115 + ], + "orientation": [ + 0.3259630501270294, + -0.014644574373960495, + -0.9365642070770264, + 0.12798936665058136 + ], + "joints": [ + -0.0017615110846236348 + ] + }, + "final_grasp": { + "position": [ + 0.003932273015379906, + -0.10105905681848526, + 0.029916152358055115 + ], + "orientation": [ + 0.3259630501270294, + -0.014644574373960495, + -0.9365642070770264, + 0.12798936665058136 + ], + "joints": [ + 0.004110454581677914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010855707339942455, + -0.09562022238969803, + 0.007790675852447748 + ], + "orientation": [ + 0.9571805596351624, + -0.07272620499134064, + 0.27687230706214905, + 0.04310476407408714 + ], + "joints": [ + -0.0072239157743752 + ] + }, + "fine_grasp": { + "position": [ + 0.013906651176512241, + -0.09276358038187027, + 0.006327255163341761 + ], + "orientation": [ + 0.9578889608383179, + -0.06659704446792603, + 0.2743820250034332, + 0.05223161727190018 + ], + "joints": [ + -0.0013519498752430081 + ] + }, + "final_grasp": { + "position": [ + 0.013906651176512241, + -0.09276358038187027, + 0.006327255163341761 + ], + "orientation": [ + 0.9578889608383179, + -0.06659704446792603, + 0.2743820250034332, + 0.05223161727190018 + ], + "joints": [ + 0.00452001579105854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02273588255047798, + -0.09241426736116409, + 0.018781444057822227 + ], + "orientation": [ + 0.33735042810440063, + 0.0682467669248581, + 0.930554986000061, + -0.12491807341575623 + ], + "joints": [ + -0.006885850802063942 + ] + }, + "fine_grasp": { + "position": [ + -0.025745071470737457, + -0.08957044035196304, + 0.016666512936353683 + ], + "orientation": [ + 0.3206240236759186, + 0.07851690798997879, + 0.9367294907569885, + -0.11650355160236359 + ], + "joints": [ + -0.0010138850193470716 + ] + }, + "final_grasp": { + "position": [ + -0.025745071470737457, + -0.08957044035196304, + 0.016666512936353683 + ], + "orientation": [ + 0.3206240236759186, + 0.07851690798997879, + 0.9367294907569885, + -0.11650355160236359 + ], + "joints": [ + 0.004858080763369799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00977481622248888, + -0.09960027039051056, + 0.0212105605751276 + ], + "orientation": [ + 0.4905094802379608, + 0.0032138314563781023, + 0.8645769953727722, + -0.10907232761383057 + ], + "joints": [ + -0.007630131673067808 + ] + }, + "fine_grasp": { + "position": [ + -0.009007124230265617, + -0.09911804646253586, + 0.02322956547141075 + ], + "orientation": [ + 0.4926208257675171, + -0.003886275226250291, + 0.8636620044708252, + -0.1067594438791275 + ], + "joints": [ + -0.002289565745741129 + ] + }, + "final_grasp": { + "position": [ + -0.009007124230265617, + -0.09911804646253586, + 0.02322956547141075 + ], + "orientation": [ + 0.4926208257675171, + -0.003886275226250291, + 0.8636620044708252, + -0.1067594438791275 + ], + "joints": [ + 0.0030510001815855503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022592686116695404, + -0.10458920896053314, + 0.013776806183159351 + ], + "orientation": [ + 0.6480007767677307, + 0.03248200938105583, + 0.7547844648361206, + -0.09664525836706161 + ], + "joints": [ + -0.00812588632106781 + ] + }, + "fine_grasp": { + "position": [ + -0.02167282998561859, + -0.1038474515080452, + 0.016114817932248116 + ], + "orientation": [ + 0.6572410464286804, + 0.027214884757995605, + 0.7460806965827942, + -0.10323339700698853 + ], + "joints": [ + -0.0022539207711815834 + ] + }, + "final_grasp": { + "position": [ + -0.02167282998561859, + -0.1038474515080452, + 0.016114817932248116 + ], + "orientation": [ + 0.6572410464286804, + 0.027214884757995605, + 0.7460806965827942, + -0.10323339700698853 + ], + "joints": [ + 0.0036180447787046432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018676597625017166, + -0.0975143164396286, + -0.006581625901162624 + ], + "orientation": [ + 0.6774008274078369, + -0.05910515412688255, + -0.7274330258369446, + -0.09206464886665344 + ], + "joints": [ + -0.007201582193374634 + ] + }, + "fine_grasp": { + "position": [ + -0.02149645984172821, + -0.10032716393470764, + -0.009136596694588661 + ], + "orientation": [ + 0.6805020570755005, + -0.04662946239113808, + -0.7256982326507568, + -0.09002654999494553 + ], + "joints": [ + -0.0018344459822401404 + ] + }, + "final_grasp": { + "position": [ + -0.02149645984172821, + -0.10032716393470764, + -0.009136596694588661 + ], + "orientation": [ + 0.6805020570755005, + -0.04662946239113808, + -0.7256982326507568, + -0.09002654999494553 + ], + "joints": [ + 0.003532690228894353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007558243349194527, + -0.06641543656587601, + 0.07928598672151566 + ], + "orientation": [ + 0.06495115160942078, + 0.01077843364328146, + -0.9303618669509888, + 0.3606826663017273 + ], + "joints": [ + -0.00650301668792963 + ] + }, + "fine_grasp": { + "position": [ + 0.006723853759467602, + -0.06220583990216255, + 0.07696933299303055 + ], + "orientation": [ + 0.07215527445077896, + 0.005102542228996754, + -0.9322867393493652, + 0.35441362857818604 + ], + "joints": [ + -9.965096251107752e-05 + ] + }, + "final_grasp": { + "position": [ + 0.006723853759467602, + -0.06220583990216255, + 0.07696933299303055 + ], + "orientation": [ + 0.07215527445077896, + 0.005102542228996754, + -0.9322867393493652, + 0.35441362857818604 + ], + "joints": [ + 0.0063037145882844925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11130274087190628, + 0.1079370453953743, + -0.045237816870212555 + ], + "orientation": [ + 0.5934879779815674, + 0.548785388469696, + 0.27695485949516296, + -0.5195215940475464 + ], + "joints": [ + -0.006951615214347839 + ] + }, + "fine_grasp": { + "position": [ + -0.11075984686613083, + 0.10729823261499405, + -0.045452412217855453 + ], + "orientation": [ + 0.6008721590042114, + 0.5355607867240906, + 0.2603321671485901, + -0.5332489609718323 + ], + "joints": [ + -0.0015579089522361755 + ] + }, + "final_grasp": { + "position": [ + -0.11075984686613083, + 0.10729823261499405, + -0.045452412217855453 + ], + "orientation": [ + 0.6008721590042114, + 0.5355607867240906, + 0.2603321671485901, + -0.5332489609718323 + ], + "joints": [ + 0.0038357973098754883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0020022550597786903, + -0.09749361872673035, + -0.009432201273739338 + ], + "orientation": [ + 0.8237582445144653, + 0.038958583027124405, + -0.5655063986778259, + -0.010348892770707607 + ], + "joints": [ + -0.008051693439483643 + ] + }, + "fine_grasp": { + "position": [ + 0.0011690044775605202, + -0.09865955263376236, + -0.012939441949129105 + ], + "orientation": [ + 0.819756031036377, + 0.048560284078121185, + -0.5703832507133484, + -0.017458630725741386 + ], + "joints": [ + -0.0021797276567667723 + ] + }, + "final_grasp": { + "position": [ + 0.0011690044775605202, + -0.09865955263376236, + -0.012939441949129105 + ], + "orientation": [ + 0.819756031036377, + 0.048560284078121185, + -0.5703832507133484, + -0.017458630725741386 + ], + "joints": [ + 0.003692238125950098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004006180912256241, + -0.0961873009800911, + 0.01165833417326212 + ], + "orientation": [ + 0.7262511849403381, + -0.05770961940288544, + 0.6849837303161621, + -0.005098733585327864 + ], + "joints": [ + -0.007846120744943619 + ] + }, + "fine_grasp": { + "position": [ + 0.0052227117121219635, + -0.09645206481218338, + 0.014757230877876282 + ], + "orientation": [ + 0.7259493470191956, + -0.060925714671611786, + 0.6849035024642944, + -0.01389098446816206 + ], + "joints": [ + -0.0019741549622267485 + ] + }, + "final_grasp": { + "position": [ + 0.0052227117121219635, + -0.09645206481218338, + 0.014757230877876282 + ], + "orientation": [ + 0.7259493470191956, + -0.060925714671611786, + 0.6849035024642944, + -0.01389098446816206 + ], + "joints": [ + 0.003897810820490122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014393147081136703, + -0.09521742165088654, + -0.009103823453187943 + ], + "orientation": [ + 0.5158079862594604, + 0.05797566846013069, + 0.8546523451805115, + 0.012255650945007801 + ], + "joints": [ + -0.008469264954328537 + ] + }, + "fine_grasp": { + "position": [ + -0.014857076108455658, + -0.09588228166103363, + -0.012657222338020802 + ], + "orientation": [ + 0.5142799615859985, + 0.06693477183580399, + 0.8548634052276611, + 0.01563437096774578 + ], + "joints": [ + -0.0025972994044423103 + ] + }, + "final_grasp": { + "position": [ + -0.014857076108455658, + -0.09588228166103363, + -0.012657222338020802 + ], + "orientation": [ + 0.5142799615859985, + 0.06693477183580399, + 0.8548634052276611, + 0.01563437096774578 + ], + "joints": [ + 0.0032746661454439163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1285872906446457, + 0.11019092798233032, + 0.006773651577532291 + ], + "orientation": [ + 0.3445454239845276, + -0.6663426160812378, + 0.5619145631790161, + 0.3486085832118988 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.12734825909137726, + 0.1100984588265419, + 0.006334240082651377 + ], + "orientation": [ + 0.32057785987854004, + -0.6787824034690857, + 0.5733158588409424, + 0.32831865549087524 + ], + "joints": [ + -0.007955704815685749 + ] + }, + "final_grasp": { + "position": [ + 0.12734825909137726, + 0.1100984588265419, + 0.006334240082651377 + ], + "orientation": [ + 0.32057785987854004, + -0.6787824034690857, + 0.5733158588409424, + 0.32831865549087524 + ], + "joints": [ + -0.0036247987300157547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.140559121966362, + 0.10843368619680405, + -0.0331881083548069 + ], + "orientation": [ + 0.20124372839927673, + -0.6348727345466614, + -0.6635355949401855, + -0.3408196270465851 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.13491190969944, + 0.10724049061536789, + -0.031590189784765244 + ], + "orientation": [ + 0.18660525977611542, + -0.6441482305526733, + -0.6594241261482239, + -0.33972257375717163 + ], + "joints": [ + -0.011070569045841694 + ] + }, + "final_grasp": { + "position": [ + -0.13491190969944, + 0.10724049061536789, + -0.031590189784765244 + ], + "orientation": [ + 0.18660525977611542, + -0.6441482305526733, + -0.6594241261482239, + -0.33972257375717163 + ], + "joints": [ + -0.005703428760170937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11061646789312363, + 0.14571444690227509, + -0.05254757031798363 + ], + "orientation": [ + 0.6053804755210876, + 0.48097148537635803, + 0.17666621506214142, + -0.6090729832649231 + ], + "joints": [ + -0.007742589805275202 + ] + }, + "fine_grasp": { + "position": [ + -0.10977064073085785, + 0.1442280262708664, + -0.05212770402431488 + ], + "orientation": [ + 0.6132423281669617, + 0.45797133445739746, + 0.1523037999868393, + -0.6252995133399963 + ], + "joints": [ + -0.0038633733056485653 + ] + }, + "final_grasp": { + "position": [ + -0.10977064073085785, + 0.1442280262708664, + -0.05212770402431488 + ], + "orientation": [ + 0.6132423281669617, + 0.45797133445739746, + 0.1523037999868393, + -0.6252995133399963 + ], + "joints": [ + 1.5843193978071213e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14038749039173126, + 0.1090303286910057, + -0.033384378999471664 + ], + "orientation": [ + 0.2009628713130951, + -0.6338368654251099, + -0.6680024266242981, + -0.3341218829154968 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.1348540335893631, + 0.10772901028394699, + -0.031728677451610565 + ], + "orientation": [ + 0.18369902670383453, + -0.6441287994384766, + -0.6633872985839844, + -0.3335714340209961 + ], + "joints": [ + -0.01098659262061119 + ] + }, + "final_grasp": { + "position": [ + -0.1348540335893631, + 0.10772901028394699, + -0.031728677451610565 + ], + "orientation": [ + 0.18369902670383453, + -0.6441287994384766, + -0.6633872985839844, + -0.3335714340209961 + ], + "joints": [ + -0.006124284118413925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14031922817230225, + 0.10872630774974823, + -0.03330959752202034 + ], + "orientation": [ + 0.20065362751483917, + -0.6346745491027832, + -0.6657378673553467, + -0.33722320199012756 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.1347348392009735, + 0.10749856382608414, + -0.031700070947408676 + ], + "orientation": [ + 0.1849135458469391, + -0.6440584063529968, + -0.6615988612174988, + -0.33657515048980713 + ], + "joints": [ + -0.011547433212399483 + ] + }, + "final_grasp": { + "position": [ + -0.1347348392009735, + 0.10749856382608414, + -0.031700070947408676 + ], + "orientation": [ + 0.1849135458469391, + -0.6440584063529968, + -0.6615988612174988, + -0.33657515048980713 + ], + "joints": [ + -0.0072165243327617645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13410532474517822, + 0.09887327998876572, + -0.05047806352376938 + ], + "orientation": [ + 0.7139555215835571, + 0.343660444021225, + -0.16374172270298004, + 0.5876679420471191 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.12902362644672394, + 0.09980039298534393, + -0.048633407801389694 + ], + "orientation": [ + 0.7203105092048645, + 0.3294420838356018, + -0.14898350834846497, + 0.5919668078422546 + ], + "joints": [ + -0.01017521321773529 + ] + }, + "final_grasp": { + "position": [ + 0.12902362644672394, + 0.09980039298534393, + -0.048633407801389694 + ], + "orientation": [ + 0.7203105092048645, + 0.3294420838356018, + -0.14898350834846497, + 0.5919668078422546 + ], + "joints": [ + -0.005738023668527603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13390451669692993, + 0.09886964410543442, + -0.05051517114043236 + ], + "orientation": [ + 0.7137894630432129, + 0.34369194507598877, + -0.1629685014486313, + 0.5880661606788635 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.12875044345855713, + 0.09982232749462128, + -0.04865426570177078 + ], + "orientation": [ + 0.7203031778335571, + 0.3290431797504425, + -0.1479121297597885, + 0.5924659371376038 + ], + "joints": [ + -0.01017521321773529 + ] + }, + "final_grasp": { + "position": [ + 0.12875044345855713, + 0.09982232749462128, + -0.04865426570177078 + ], + "orientation": [ + 0.7203031778335571, + 0.3290431797504425, + -0.1479121297597885, + 0.5924659371376038 + ], + "joints": [ + -0.005738023668527603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1334209144115448, + 0.09880660474300385, + -0.05023477226495743 + ], + "orientation": [ + 0.7132920622825623, + 0.3444048762321472, + -0.16380265355110168, + 0.5880208015441895 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.12825751304626465, + 0.09981605410575867, + -0.0483582429587841 + ], + "orientation": [ + 0.7198787927627563, + 0.3293968141078949, + -0.14881473779678345, + 0.5925593972206116 + ], + "joints": [ + -0.010204654186964035 + ] + }, + "final_grasp": { + "position": [ + 0.12825751304626465, + 0.09981605410575867, + -0.0483582429587841 + ], + "orientation": [ + 0.7198787927627563, + 0.3293968141078949, + -0.14881473779678345, + 0.5925593972206116 + ], + "joints": [ + -0.005767464637756348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11580312252044678, + 0.03724076226353645, + -0.058742646127939224 + ], + "orientation": [ + 0.8127598166465759, + 0.07934986799955368, + -0.020942872390151024, + -0.5767897963523865 + ], + "joints": [ + -0.0064977617003023624 + ] + }, + "fine_grasp": { + "position": [ + -0.11611644178628922, + 0.03869069367647171, + -0.0563180074095726 + ], + "orientation": [ + 0.8050685524940491, + 0.0898909941315651, + -0.034799281507730484, + -0.5852974057197571 + ], + "joints": [ + -0.007985681295394897 + ] + }, + "final_grasp": { + "position": [ + -0.11611644178628922, + 0.03869069367647171, + -0.0563180074095726 + ], + "orientation": [ + 0.8050685524940491, + 0.0898909941315651, + -0.034799281507730484, + -0.5852974057197571 + ], + "joints": [ + -0.00947360135614872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11573461443185806, + 0.037424273788928986, + -0.058524783700704575 + ], + "orientation": [ + 0.8123325109481812, + 0.07984089851379395, + -0.020291751250624657, + -0.577346920967102 + ], + "joints": [ + -0.007707921788096428 + ] + }, + "fine_grasp": { + "position": [ + -0.1166035532951355, + 0.03973282873630524, + -0.055641163140535355 + ], + "orientation": [ + 0.8033681511878967, + 0.08772967755794525, + -0.03404605761170387, + -0.5880000591278076 + ], + "joints": [ + -0.009195839054882526 + ] + }, + "final_grasp": { + "position": [ + -0.1166035532951355, + 0.03973282873630524, + -0.055641163140535355 + ], + "orientation": [ + 0.8033681511878967, + 0.08772967755794525, + -0.03404605761170387, + -0.5880000591278076 + ], + "joints": [ + -0.010683756321668625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12516874074935913, + 0.11785386502742767, + -0.06503850221633911 + ], + "orientation": [ + 0.05417601019144058, + 0.7628335356712341, + -0.6319608092308044, + -0.125600665807724 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.12136852741241455, + 0.11586061120033264, + -0.06229754909873009 + ], + "orientation": [ + 0.06419184058904648, + 0.7603665590286255, + -0.6319087743759155, + -0.13569597899913788 + ], + "joints": [ + -0.016384566202759743 + ] + }, + "final_grasp": { + "position": [ + 0.12136852741241455, + 0.11586061120033264, + -0.06229754909873009 + ], + "orientation": [ + 0.06419184058904648, + 0.7603665590286255, + -0.6319087743759155, + -0.13569597899913788 + ], + "joints": [ + -0.016331423074007034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.125160351395607, + 0.1178552657365799, + -0.06503955274820328 + ], + "orientation": [ + 0.05420369282364845, + 0.7628774642944336, + -0.6319120526313782, + -0.12556679546833038 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.1213606595993042, + 0.11586257815361023, + -0.06228712201118469 + ], + "orientation": [ + 0.0642140582203865, + 0.7604446411132812, + -0.6318058967590332, + -0.1357269436120987 + ], + "joints": [ + -0.016384566202759743 + ] + }, + "final_grasp": { + "position": [ + 0.1213606595993042, + 0.11586257815361023, + -0.06228712201118469 + ], + "orientation": [ + 0.0642140582203865, + 0.7604446411132812, + -0.6318058967590332, + -0.1357269436120987 + ], + "joints": [ + -0.016331423074007034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09774790704250336, + -0.001216975157149136, + -0.0897008627653122 + ], + "orientation": [ + 0.23696087300777435, + 0.606109619140625, + 0.7509472370147705, + 0.11206698417663574 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.09517880529165268, + 0.0013375317212194204, + -0.08610183000564575 + ], + "orientation": [ + 0.2432302087545395, + 0.5977205038070679, + 0.7541760206222534, + 0.12160582840442657 + ], + "joints": [ + -0.012414306402206421 + ] + }, + "final_grasp": { + "position": [ + -0.09517880529165268, + 0.0013375317212194204, + -0.08610183000564575 + ], + "orientation": [ + 0.2432302087545395, + 0.5977205038070679, + 0.7541760206222534, + 0.12160582840442657 + ], + "joints": [ + -0.01068725436925888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11462340503931046, + 0.014062879607081413, + -0.024472631514072418 + ], + "orientation": [ + 0.11539865285158157, + 0.6527212858200073, + -0.7396262884140015, + 0.11658048629760742 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.11511697620153427, + 0.015389734879136086, + -0.02356807328760624 + ], + "orientation": [ + 0.11125008761882782, + 0.6505104899406433, + -0.7448735237121582, + 0.09809662401676178 + ], + "joints": [ + -0.014693358913064003 + ] + }, + "final_grasp": { + "position": [ + 0.11511697620153427, + 0.015389734879136086, + -0.02356807328760624 + ], + "orientation": [ + 0.11125008761882782, + 0.6505104899406433, + -0.7448735237121582, + 0.09809662401676178 + ], + "joints": [ + -0.012036355212330818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12276645749807358, + 0.04375574737787247, + -0.06801649928092957 + ], + "orientation": [ + 0.6004666686058044, + -0.033916521817445755, + 0.2611548602581024, + 0.7550414204597473 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.1223590299487114, + 0.04534236341714859, + -0.0669943168759346 + ], + "orientation": [ + 0.6094324588775635, + -0.01680385321378708, + 0.26128196716308594, + 0.7483591437339783 + ], + "joints": [ + -0.01331098098307848 + ] + }, + "final_grasp": { + "position": [ + 0.1223590299487114, + 0.04534236341714859, + -0.0669943168759346 + ], + "orientation": [ + 0.6094324588775635, + -0.01680385321378708, + 0.26128196716308594, + 0.7483591437339783 + ], + "joints": [ + -0.009006636217236519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08436060696840286, + 0.10032736510038376, + -0.08354152739048004 + ], + "orientation": [ + 0.5951628088951111, + 0.6979162096977234, + 0.20677341520786285, + -0.3404980003833771 + ], + "joints": [ + -0.006158281117677689 + ] + }, + "fine_grasp": { + "position": [ + -0.08472298830747604, + 0.09924071282148361, + -0.08456534147262573 + ], + "orientation": [ + 0.6024001836776733, + 0.6900032162666321, + 0.19241252541542053, + -0.35211804509162903 + ], + "joints": [ + 0.000245084724156186 + ] + }, + "final_grasp": { + "position": [ + -0.08472298830747604, + 0.09924071282148361, + -0.08456534147262573 + ], + "orientation": [ + 0.6024001836776733, + 0.6900032162666321, + 0.19241252541542053, + -0.35211804509162903 + ], + "joints": [ + 0.0066484506241977215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09939340502023697, + 0.0736430212855339, + 0.06961090862751007 + ], + "orientation": [ + 0.35528603196144104, + 0.294434517621994, + 0.5892311334609985, + -0.6632398366928101 + ], + "joints": [ + -0.006017077714204788 + ] + }, + "fine_grasp": { + "position": [ + -0.09848559647798538, + 0.07342870533466339, + 0.06959132850170135 + ], + "orientation": [ + 0.36456769704818726, + 0.2818731367588043, + 0.5846367478370667, + -0.6677108407020569 + ], + "joints": [ + 0.0003862881276290864 + ] + }, + "final_grasp": { + "position": [ + -0.09848559647798538, + 0.07342870533466339, + 0.06959132850170135 + ], + "orientation": [ + 0.36456769704818726, + 0.2818731367588043, + 0.5846367478370667, + -0.6677108407020569 + ], + "joints": [ + 0.006789654027670622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09943088889122009, + 0.07363232225179672, + 0.06952358037233353 + ], + "orientation": [ + 0.3546091318130493, + 0.29570525884628296, + 0.5894238352775574, + -0.6628652215003967 + ], + "joints": [ + -0.006023784168064594 + ] + }, + "fine_grasp": { + "position": [ + -0.09854120016098022, + 0.0734085738658905, + 0.06942078471183777 + ], + "orientation": [ + 0.36454910039901733, + 0.28281113505363464, + 0.5845053195953369, + -0.6674394607543945 + ], + "joints": [ + 0.0003795816737692803 + ] + }, + "final_grasp": { + "position": [ + -0.09854120016098022, + 0.0734085738658905, + 0.06942078471183777 + ], + "orientation": [ + 0.36454910039901733, + 0.28281113505363464, + 0.5845053195953369, + -0.6674394607543945 + ], + "joints": [ + 0.006782947573810816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1010560542345047, + 0.042885903269052505, + 0.0662500262260437 + ], + "orientation": [ + 0.6852337718009949, + -0.555931031703949, + 0.3075704872608185, + 0.35608404874801636 + ], + "joints": [ + -0.0063732685521245 + ] + }, + "fine_grasp": { + "position": [ + 0.10112378001213074, + 0.043547555804252625, + 0.06653235107660294 + ], + "orientation": [ + 0.6900977492332458, + -0.5493065118789673, + 0.29437902569770813, + 0.3679245710372925 + ], + "joints": [ + 5.666710785590112e-05 + ] + }, + "final_grasp": { + "position": [ + 0.10112378001213074, + 0.043547555804252625, + 0.06653235107660294 + ], + "orientation": [ + 0.6900977492332458, + -0.5493065118789673, + 0.29437902569770813, + 0.3679245710372925 + ], + "joints": [ + 0.00648660259321332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09965843707323074, + 0.05725560337305069, + 0.06992876529693604 + ], + "orientation": [ + 0.36861705780029297, + 0.2837022840976715, + 0.6119723320007324, + -0.6396284103393555 + ], + "joints": [ + -0.006092424504458904 + ] + }, + "fine_grasp": { + "position": [ + -0.09865570813417435, + 0.05802207812666893, + 0.06972477585077286 + ], + "orientation": [ + 0.3762935400009155, + 0.2715519666671753, + 0.604654848575592, + -0.6473445892333984 + ], + "joints": [ + 0.0003109413373749703 + ] + }, + "final_grasp": { + "position": [ + -0.09865570813417435, + 0.05802207812666893, + 0.06972477585077286 + ], + "orientation": [ + 0.3762935400009155, + 0.2715519666671753, + 0.604654848575592, + -0.6473445892333984 + ], + "joints": [ + 0.006714307237416506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10687174648046494, + 0.09570250660181046, + 0.05840665102005005 + ], + "orientation": [ + 0.6011641621589661, + -0.6020793318748474, + 0.2774472236633301, + 0.4462345540523529 + ], + "joints": [ + -0.006389109417796135 + ] + }, + "fine_grasp": { + "position": [ + 0.10687249898910522, + 0.09529241919517517, + 0.05811849236488342 + ], + "orientation": [ + 0.602714478969574, + -0.6002086400985718, + 0.27424144744873047, + 0.44863831996917725 + ], + "joints": [ + 1.425627851858735e-05 + ] + }, + "final_grasp": { + "position": [ + 0.10687249898910522, + 0.09529241919517517, + 0.05811849236488342 + ], + "orientation": [ + 0.602714478969574, + -0.6002086400985718, + 0.27424144744873047, + 0.44863831996917725 + ], + "joints": [ + 0.006417621858417988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11752761900424957, + 0.13823874294757843, + -0.03902987390756607 + ], + "orientation": [ + 0.36820361018180847, + -0.4548497498035431, + -0.5149483680725098, + -0.6263912320137024 + ], + "joints": [ + -0.0026345744263380766 + ] + }, + "fine_grasp": { + "position": [ + -0.11500046402215958, + 0.13862460851669312, + -0.03858199715614319 + ], + "orientation": [ + 0.3642213046550751, + -0.45729413628578186, + -0.5192572474479675, + -0.6233753561973572 + ], + "joints": [ + 0.004300191067159176 + ] + }, + "final_grasp": { + "position": [ + -0.11500046402215958, + 0.13862460851669312, + -0.03858199715614319 + ], + "orientation": [ + 0.3642213046550751, + -0.45729413628578186, + -0.5192572474479675, + -0.6233753561973572 + ], + "joints": [ + 0.011234956793487072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11751000583171844, + 0.1384790986776352, + -0.03948594629764557 + ], + "orientation": [ + 0.36567261815071106, + -0.4574543535709381, + -0.519728422164917, + -0.6220139861106873 + ], + "joints": [ + -0.0022031390108168125 + ] + }, + "fine_grasp": { + "position": [ + -0.11484356969594955, + 0.13874433934688568, + -0.03902904689311981 + ], + "orientation": [ + 0.35926783084869385, + -0.46056875586509705, + -0.5226894021034241, + -0.6209659576416016 + ], + "joints": [ + 0.004705056548118591 + ] + }, + "final_grasp": { + "position": [ + -0.11484356969594955, + 0.13874433934688568, + -0.03902904689311981 + ], + "orientation": [ + 0.35926783084869385, + -0.46056875586509705, + -0.5226894021034241, + -0.6209659576416016 + ], + "joints": [ + 0.011613251641392708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11444004625082016, + 0.06416613608598709, + -0.03996835649013519 + ], + "orientation": [ + 0.36937063932418823, + -0.4344888925552368, + -0.6590544581413269, + -0.4903384745121002 + ], + "joints": [ + -0.006884654983878136 + ] + }, + "fine_grasp": { + "position": [ + -0.11418207734823227, + 0.06573064625263214, + -0.03968869149684906 + ], + "orientation": [ + 0.36686185002326965, + -0.44042953848838806, + -0.6605710387229919, + -0.48485058546066284 + ], + "joints": [ + -0.0004812894039787352 + ] + }, + "final_grasp": { + "position": [ + -0.11418207734823227, + 0.06573064625263214, + -0.03968869149684906 + ], + "orientation": [ + 0.36686185002326965, + -0.44042953848838806, + -0.6605710387229919, + -0.48485058546066284 + ], + "joints": [ + 0.005922076292335987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026388082653284073, + -0.09079919010400772, + 0.009271743707358837 + ], + "orientation": [ + 0.894378125667572, + -0.10276207327842712, + -0.42606937885284424, + -0.08940155059099197 + ], + "joints": [ + -0.0072668688371777534 + ] + }, + "fine_grasp": { + "position": [ + -0.029564959928393364, + -0.08815763890743256, + 0.006526557728648186 + ], + "orientation": [ + 0.9000658988952637, + -0.09142209589481354, + -0.414211243391037, + -0.09976156800985336 + ], + "joints": [ + -0.0013949030544608831 + ] + }, + "final_grasp": { + "position": [ + -0.029564959928393364, + -0.08815763890743256, + 0.006526557728648186 + ], + "orientation": [ + 0.9000658988952637, + -0.09142209589481354, + -0.414211243391037, + -0.09976156800985336 + ], + "joints": [ + 0.004477062728255987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11110012233257294, + 0.12113871425390244, + -0.03152228891849518 + ], + "orientation": [ + 0.448314368724823, + 0.676116943359375, + -0.4029196500778198, + 0.42371687293052673 + ], + "joints": [ + -0.005921477451920509 + ] + }, + "fine_grasp": { + "position": [ + 0.11188749223947525, + 0.12059774249792099, + -0.031281691044569016 + ], + "orientation": [ + 0.4415907859802246, + 0.681344747543335, + -0.4132643938064575, + 0.4122857451438904 + ], + "joints": [ + 0.0010132880415767431 + ] + }, + "final_grasp": { + "position": [ + 0.11188749223947525, + 0.12059774249792099, + -0.031281691044569016 + ], + "orientation": [ + 0.4415907859802246, + 0.681344747543335, + -0.4132643938064575, + 0.4122857451438904 + ], + "joints": [ + 0.007948054000735283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11154470592737198, + 0.1212959960103035, + -0.031636759638786316 + ], + "orientation": [ + 0.44491174817085266, + 0.6793369054794312, + -0.40462055802345276, + 0.42052003741264343 + ], + "joints": [ + -0.005952470004558563 + ] + }, + "fine_grasp": { + "position": [ + 0.11158215999603271, + 0.1208093985915184, + -0.03149490803480148 + ], + "orientation": [ + 0.44192057847976685, + 0.6819008588790894, + -0.41232943534851074, + 0.41194865107536316 + ], + "joints": [ + 0.0009822954889386892 + ] + }, + "final_grasp": { + "position": [ + 0.11158215999603271, + 0.1208093985915184, + -0.03149490803480148 + ], + "orientation": [ + 0.44192057847976685, + 0.6819008588790894, + -0.41232943534851074, + 0.41194865107536316 + ], + "joints": [ + 0.007917061448097229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11149606108665466, + 0.08532223850488663, + -0.04741009697318077 + ], + "orientation": [ + 0.5373860001564026, + 0.6402606964111328, + -0.40980079770088196, + 0.3651653528213501 + ], + "joints": [ + -0.006195970810949802 + ] + }, + "fine_grasp": { + "position": [ + 0.11153216660022736, + 0.08427868038415909, + -0.04700543358922005 + ], + "orientation": [ + 0.5281739234924316, + 0.6456068754196167, + -0.42573603987693787, + 0.35067474842071533 + ], + "joints": [ + 0.00023396496544592083 + ] + }, + "final_grasp": { + "position": [ + 0.11153216660022736, + 0.08427868038415909, + -0.04700543358922005 + ], + "orientation": [ + 0.5281739234924316, + 0.6456068754196167, + -0.42573603987693787, + 0.35067474842071533 + ], + "joints": [ + 0.006663900800049305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04745432734489441, + 0.089765265583992, + -0.11061164736747742 + ], + "orientation": [ + 0.6450631022453308, + 0.7312355041503906, + 0.0846652165055275, + -0.20498740673065186 + ], + "joints": [ + -0.006335224024951458 + ] + }, + "fine_grasp": { + "position": [ + -0.04774921014904976, + 0.08901924639940262, + -0.11177506297826767 + ], + "orientation": [ + 0.6477435231208801, + 0.7265118360519409, + 0.07014148682355881, + -0.21837805211544037 + ], + "joints": [ + 6.814170046709478e-05 + ] + }, + "final_grasp": { + "position": [ + -0.04774921014904976, + 0.08901924639940262, + -0.11177506297826767 + ], + "orientation": [ + 0.6477435231208801, + 0.7265118360519409, + 0.07014148682355881, + -0.21837805211544037 + ], + "joints": [ + 0.006471507251262665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08291754871606827, + -0.032247211784124374, + 0.07492682337760925 + ], + "orientation": [ + 0.43633198738098145, + 0.15916623175144196, + 0.7007637619972229, + -0.5414892435073853 + ], + "joints": [ + -0.006364660337567329 + ] + }, + "fine_grasp": { + "position": [ + -0.08344346284866333, + -0.03268196061253548, + 0.07578069716691971 + ], + "orientation": [ + 0.4383983612060547, + 0.1562109887599945, + 0.6970175504684448, + -0.5455012917518616 + ], + "joints": [ + 0.0005701050977222621 + ] + }, + "final_grasp": { + "position": [ + -0.08344346284866333, + -0.03268196061253548, + 0.07578069716691971 + ], + "orientation": [ + 0.4383983612060547, + 0.1562109887599945, + 0.6970175504684448, + -0.5455012917518616 + ], + "joints": [ + 0.0075048706494271755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11172965914011002, + 0.04687477648258209, + -0.046968013048172 + ], + "orientation": [ + 0.436412513256073, + -0.34609395265579224, + 0.5904749035835266, + 0.5840396881103516 + ], + "joints": [ + -0.005632525309920311 + ] + }, + "fine_grasp": { + "position": [ + 0.11222758144140244, + 0.04711738973855972, + -0.04722609743475914 + ], + "orientation": [ + 0.4475208520889282, + -0.33532407879829407, + 0.5818179249763489, + 0.5905681848526001 + ], + "joints": [ + 0.0007442705100402236 + ] + }, + "final_grasp": { + "position": [ + 0.11222758144140244, + 0.04711738973855972, + -0.04722609743475914 + ], + "orientation": [ + 0.4475208520889282, + -0.33532407879829407, + 0.5818179249763489, + 0.5905681848526001 + ], + "joints": [ + 0.007121066562831402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09876561164855957, + -0.021568380296230316, + 0.05802728608250618 + ], + "orientation": [ + 0.724855899810791, + -0.4938807487487793, + 0.3432088792324066, + 0.33596640825271606 + ], + "joints": [ + -0.006087558344006538 + ] + }, + "fine_grasp": { + "position": [ + 0.09776628762483597, + -0.020875727757811546, + 0.056385450065135956 + ], + "orientation": [ + 0.7349591255187988, + -0.4821986258029938, + 0.3178006708621979, + 0.35541832447052 + ], + "joints": [ + 0.00034237743238918483 + ] + }, + "final_grasp": { + "position": [ + 0.09776628762483597, + -0.020875727757811546, + 0.056385450065135956 + ], + "orientation": [ + 0.7349591255187988, + -0.4821986258029938, + 0.3178006708621979, + 0.35541832447052 + ], + "joints": [ + 0.006772313266992569 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1126103550195694, + 0.05089667811989784, + -0.08775779604911804 + ], + "orientation": [ + 0.11318531632423401, + 0.6476806998252869, + -0.7367731928825378, + -0.15768349170684814 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.10934486240148544, + 0.05154024437069893, + -0.08450265973806381 + ], + "orientation": [ + 0.12488165497779846, + 0.6534733772277832, + -0.7283726930618286, + -0.16386055946350098 + ], + "joints": [ + -0.01701636053621769 + ] + }, + "final_grasp": { + "position": [ + 0.10934486240148544, + 0.05154024437069893, + -0.08450265973806381 + ], + "orientation": [ + 0.12488165497779846, + 0.6534733772277832, + -0.7283726930618286, + -0.16386055946350098 + ], + "joints": [ + -0.015475301072001457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11264429241418839, + 0.05086859315633774, + -0.08780170977115631 + ], + "orientation": [ + 0.11327671259641647, + 0.6476759314537048, + -0.7367691993713379, + -0.1576562374830246 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.1093200147151947, + 0.05156107619404793, + -0.08454588800668716 + ], + "orientation": [ + 0.12495765835046768, + 0.6534720659255981, + -0.7283640503883362, + -0.16384610533714294 + ], + "joints": [ + -0.017281323671340942 + ] + }, + "final_grasp": { + "position": [ + 0.1093200147151947, + 0.05156107619404793, + -0.08454588800668716 + ], + "orientation": [ + 0.12495765835046768, + 0.6534720659255981, + -0.7283640503883362, + -0.16384610533714294 + ], + "joints": [ + -0.01574026420712471 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04415140673518181, + 0.09221509099006653, + 0.11279793828725815 + ], + "orientation": [ + 0.6605302691459656, + -0.7255263924598694, + 0.09873008728027344, + 0.16602325439453125 + ], + "joints": [ + -0.005705489777028561 + ] + }, + "fine_grasp": { + "position": [ + 0.043947022408246994, + 0.09161374717950821, + 0.11383388191461563 + ], + "orientation": [ + 0.663097083568573, + -0.7212847471237183, + 0.08074510097503662, + 0.1831144094467163 + ], + "joints": [ + 0.0006978760939091444 + ] + }, + "final_grasp": { + "position": [ + 0.043947022408246994, + 0.09161374717950821, + 0.11383388191461563 + ], + "orientation": [ + 0.663097083568573, + -0.7212847471237183, + 0.08074510097503662, + 0.1831144094467163 + ], + "joints": [ + 0.0071012419648468494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12433106452226639, + 0.0664471685886383, + -0.011052269488573074 + ], + "orientation": [ + 0.6012992858886719, + 0.44140031933784485, + 0.45993465185165405, + -0.4817313849925995 + ], + "joints": [ + -0.006765759550035 + ] + }, + "fine_grasp": { + "position": [ + -0.12150318175554276, + 0.06835347414016724, + -0.010808148421347141 + ], + "orientation": [ + 0.6101009845733643, + 0.43184611201286316, + 0.4615972340106964, + -0.47771725058555603 + ], + "joints": [ + 0.00019557570340111852 + ] + }, + "final_grasp": { + "position": [ + -0.12150318175554276, + 0.06835347414016724, + -0.010808148421347141 + ], + "orientation": [ + 0.6101009845733643, + 0.43184611201286316, + 0.4615972340106964, + -0.47771725058555603 + ], + "joints": [ + 0.007156910840421915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12063676118850708, + 0.12240729480981827, + -0.028062593191862106 + ], + "orientation": [ + 0.6033839583396912, + 0.4906304180622101, + 0.37655824422836304, + -0.5034019947052002 + ], + "joints": [ + -0.001135274302214384 + ] + }, + "fine_grasp": { + "position": [ + -0.12007256597280502, + 0.12087498605251312, + -0.028260616585612297 + ], + "orientation": [ + 0.5929950475692749, + 0.49901458621025085, + 0.3759380280971527, + -0.5079486966133118 + ], + "joints": [ + 0.0042318617925047874 + ] + }, + "final_grasp": { + "position": [ + -0.12007256597280502, + 0.12087498605251312, + -0.028260616585612297 + ], + "orientation": [ + 0.5929950475692749, + 0.49901458621025085, + 0.3759380280971527, + -0.5079486966133118 + ], + "joints": [ + 0.009598998352885246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037488047033548355, + 0.13128431141376495, + 0.10723501443862915 + ], + "orientation": [ + 0.14185041189193726, + 0.06841973215341568, + 0.5535907745361328, + -0.8177617788314819 + ], + "joints": [ + -0.006117186509072781 + ] + }, + "fine_grasp": { + "position": [ + -0.03751099109649658, + 0.13048677146434784, + 0.10602773725986481 + ], + "orientation": [ + 0.1560443639755249, + 0.05287567526102066, + 0.5557138919830322, + -0.8148842453956604 + ], + "joints": [ + 0.0008175789844244719 + ] + }, + "final_grasp": { + "position": [ + -0.03751099109649658, + 0.13048677146434784, + 0.10602773725986481 + ], + "orientation": [ + 0.1560443639755249, + 0.05287567526102066, + 0.5557138919830322, + -0.8148842453956604 + ], + "joints": [ + 0.007752344477921724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12156681716442108, + 0.06983363628387451, + 0.009705119766294956 + ], + "orientation": [ + 0.5490912199020386, + 0.4092322587966919, + 0.4934737980365753, + -0.5362008810043335 + ], + "joints": [ + -0.006158044561743736 + ] + }, + "fine_grasp": { + "position": [ + -0.12100090831518173, + 0.07107416540384293, + 0.009435676969587803 + ], + "orientation": [ + 0.5508585572242737, + 0.40560275316238403, + 0.4923103153705597, + -0.5382118821144104 + ], + "joints": [ + 0.0002453212800901383 + ] + }, + "final_grasp": { + "position": [ + -0.12100090831518173, + 0.07107416540384293, + 0.009435676969587803 + ], + "orientation": [ + 0.5508585572242737, + 0.40560275316238403, + 0.4923103153705597, + -0.5382118821144104 + ], + "joints": [ + 0.006648687180131674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12079144269227982, + 0.1221373900771141, + -0.028904719278216362 + ], + "orientation": [ + 0.6072043180465698, + 0.48954132199287415, + 0.3738992214202881, + -0.5018481612205505 + ], + "joints": [ + -0.00136766885407269 + ] + }, + "fine_grasp": { + "position": [ + -0.11920338124036789, + 0.12073192000389099, + -0.02889060601592064 + ], + "orientation": [ + 0.5963717699050903, + 0.4966115653514862, + 0.3717459738254547, + -0.5094336271286011 + ], + "joints": [ + 0.004504297394305468 + ] + }, + "final_grasp": { + "position": [ + -0.11920338124036789, + 0.12073192000389099, + -0.02889060601592064 + ], + "orientation": [ + 0.5963717699050903, + 0.4966115653514862, + 0.3717459738254547, + -0.5094336271286011 + ], + "joints": [ + 0.010376263409852982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09994905441999435, + 0.1416378617286682, + 0.04739755392074585 + ], + "orientation": [ + 0.26719170808792114, + 0.48566147685050964, + -0.47744378447532654, + 0.6817542314529419 + ], + "joints": [ + -0.005723015405237675 + ] + }, + "fine_grasp": { + "position": [ + 0.0995311513543129, + 0.14111612737178802, + 0.04753172770142555 + ], + "orientation": [ + 0.25848865509033203, + 0.49603283405303955, + -0.48408085107803345, + 0.6729048490524292 + ], + "joints": [ + 0.0011851801536977291 + ] + }, + "final_grasp": { + "position": [ + 0.0995311513543129, + 0.14111612737178802, + 0.04753172770142555 + ], + "orientation": [ + 0.25848865509033203, + 0.49603283405303955, + -0.48408085107803345, + 0.6729048490524292 + ], + "joints": [ + 0.008093375712633133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11607826501131058, + 0.07377032935619354, + 0.03208846598863602 + ], + "orientation": [ + 0.4222707450389862, + 0.42863544821739197, + 0.502683162689209, + -0.6207001209259033 + ], + "joints": [ + -0.005609091371297836 + ] + }, + "fine_grasp": { + "position": [ + -0.11714166402816772, + 0.07327478379011154, + 0.031794607639312744 + ], + "orientation": [ + 0.43323537707328796, + 0.4170718491077423, + 0.49411866068840027, + -0.6278574466705322 + ], + "joints": [ + 0.0007942743832245469 + ] + }, + "final_grasp": { + "position": [ + -0.11714166402816772, + 0.07327478379011154, + 0.031794607639312744 + ], + "orientation": [ + 0.43323537707328796, + 0.4170718491077423, + 0.49411866068840027, + -0.6278574466705322 + ], + "joints": [ + 0.0071976399049162865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009746222756803036, + 0.1267082244157791, + 0.11302495747804642 + ], + "orientation": [ + 0.5789160132408142, + -0.811616063117981, + -0.005499004386365414, + 0.07813707739114761 + ], + "joints": [ + -0.005979033187031746 + ] + }, + "fine_grasp": { + "position": [ + 0.008470086380839348, + 0.12655796110630035, + 0.11261691153049469 + ], + "orientation": [ + 0.5797172784805298, + -0.8077009916305542, + -0.029152918606996536, + 0.10342663526535034 + ], + "joints": [ + 0.0009291623719036579 + ] + }, + "final_grasp": { + "position": [ + 0.008470086380839348, + 0.12655796110630035, + 0.11261691153049469 + ], + "orientation": [ + 0.5797172784805298, + -0.8077009916305542, + -0.029152918606996536, + 0.10342663526535034 + ], + "joints": [ + 0.007837357930839062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03277357667684555, + 0.07942602038383484, + -0.1167910099029541 + ], + "orientation": [ + 0.128217414021492, + -0.059634629637002945, + 0.6562521457672119, + 0.7411727905273438 + ], + "joints": [ + -0.006053222343325615 + ] + }, + "fine_grasp": { + "position": [ + 0.03314317390322685, + 0.07883284240961075, + -0.11719965934753418 + ], + "orientation": [ + 0.14254701137542725, + -0.045687951147556305, + 0.6539288759231567, + 0.7415996193885803 + ], + "joints": [ + 0.00035014349850825965 + ] + }, + "final_grasp": { + "position": [ + 0.03314317390322685, + 0.07883284240961075, + -0.11719965934753418 + ], + "orientation": [ + 0.14254701137542725, + -0.045687951147556305, + 0.6539288759231567, + 0.7415996193885803 + ], + "joints": [ + 0.006753509398549795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033139657229185104, + 0.07780633121728897, + -0.11661398410797119 + ], + "orientation": [ + 0.13134030997753143, + -0.058199115097522736, + 0.6530194878578186, + 0.74359130859375 + ], + "joints": [ + -0.006061830557882786 + ] + }, + "fine_grasp": { + "position": [ + 0.033216048032045364, + 0.0771457701921463, + -0.11674435436725616 + ], + "orientation": [ + 0.14387495815753937, + -0.04555023834109306, + 0.6507763266563416, + 0.7441204786300659 + ], + "joints": [ + 0.0003415352839510888 + ] + }, + "final_grasp": { + "position": [ + 0.033216048032045364, + 0.0771457701921463, + -0.11674435436725616 + ], + "orientation": [ + 0.14387495815753937, + -0.04555023834109306, + 0.6507763266563416, + 0.7441204786300659 + ], + "joints": [ + 0.006744901183992624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08800654858350754, + -0.018512653186917305, + 0.07776340842247009 + ], + "orientation": [ + 0.6843464970588684, + -0.5869737267494202, + 0.37265336513519287, + 0.21968461573123932 + ], + "joints": [ + -0.005870620720088482 + ] + }, + "fine_grasp": { + "position": [ + 0.08840468525886536, + -0.018170364201068878, + 0.07925012707710266 + ], + "orientation": [ + 0.6796507835388184, + -0.5846744179725647, + 0.39375409483909607, + 0.20294871926307678 + ], + "joints": [ + 2.7915375540032983e-05 + ] + }, + "final_grasp": { + "position": [ + 0.08840468525886536, + -0.018170364201068878, + 0.07925012707710266 + ], + "orientation": [ + 0.6796507835388184, + -0.5846744179725647, + 0.39375409483909607, + 0.20294871926307678 + ], + "joints": [ + 0.005926451645791531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12112123519182205, + 0.07815023511648178, + -0.008669562637805939 + ], + "orientation": [ + 0.4276002049446106, + -0.5362810492515564, + -0.507142186164856, + -0.5218883156776428 + ], + "joints": [ + -0.005667325109243393 + ] + }, + "fine_grasp": { + "position": [ + -0.12205479294061661, + 0.07763949036598206, + -0.008942689746618271 + ], + "orientation": [ + 0.4173683524131775, + -0.546600878238678, + -0.5166274309158325, + -0.5100266337394714 + ], + "joints": [ + 0.0007360407616943121 + ] + }, + "final_grasp": { + "position": [ + -0.12205479294061661, + 0.07763949036598206, + -0.008942689746618271 + ], + "orientation": [ + 0.4173683524131775, + -0.546600878238678, + -0.5166274309158325, + -0.5100266337394714 + ], + "joints": [ + 0.007139406632632017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11174678057432175, + 0.1595115214586258, + -0.006444040685892105 + ], + "orientation": [ + 0.38486072421073914, + -0.577989399433136, + 0.4217809736728668, + 0.5830190777778625 + ], + "joints": [ + -0.001060857204720378 + ] + }, + "fine_grasp": { + "position": [ + 0.11312461644411087, + 0.1602369099855423, + -0.006486039143055677 + ], + "orientation": [ + 0.387367844581604, + -0.5801026225090027, + 0.4233347177505493, + 0.5781132578849792 + ], + "joints": [ + 0.005315938964486122 + ] + }, + "final_grasp": { + "position": [ + 0.11312461644411087, + 0.1602369099855423, + -0.006486039143055677 + ], + "orientation": [ + 0.387367844581604, + -0.5801026225090027, + 0.4233347177505493, + 0.5781132578849792 + ], + "joints": [ + 0.011692735366523266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11105183511972427, + 0.15949037671089172, + -0.007645345292985439 + ], + "orientation": [ + 0.3812183737754822, + -0.5778663754463196, + 0.42694541811943054, + 0.5817736387252808 + ], + "joints": [ + -0.0010349501390010118 + ] + }, + "fine_grasp": { + "position": [ + 0.1113191470503807, + 0.16008736193180084, + -0.008200489915907383 + ], + "orientation": [ + 0.38192301988601685, + -0.5829916596412659, + 0.4304759204387665, + 0.5735382437705994 + ], + "joints": [ + 0.005341846030205488 + ] + }, + "final_grasp": { + "position": [ + 0.1113191470503807, + 0.16008736193180084, + -0.008200489915907383 + ], + "orientation": [ + 0.38192301988601685, + -0.5829916596412659, + 0.4304759204387665, + 0.5735382437705994 + ], + "joints": [ + 0.011718641966581345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011845394968986511, + 0.045860499143600464, + 0.12045308947563171 + ], + "orientation": [ + 0.010052889585494995, + -0.0753110870718956, + 0.7367284893989563, + -0.6719064712524414 + ], + "joints": [ + -0.005860885605216026 + ] + }, + "fine_grasp": { + "position": [ + 0.011742409318685532, + 0.046655647456645966, + 0.11938967555761337 + ], + "orientation": [ + 0.02167501673102379, + -0.08923283219337463, + 0.7340803146362305, + -0.6728252172470093 + ], + "joints": [ + 3.7650519516319036e-05 + ] + }, + "final_grasp": { + "position": [ + 0.011742409318685532, + 0.046655647456645966, + 0.11938967555761337 + ], + "orientation": [ + 0.02167501673102379, + -0.08923283219337463, + 0.7340803146362305, + -0.6728252172470093 + ], + "joints": [ + 0.005936186760663986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00011155135871376842, + 0.1375516653060913, + -0.11130232363939285 + ], + "orientation": [ + 0.5527984499931335, + 0.8303924202919006, + -0.03764617443084717, + -0.05869505926966667 + ], + "joints": [ + -0.005960837006568909 + ] + }, + "fine_grasp": { + "position": [ + 0.0007967937854118645, + 0.1372821182012558, + -0.11127674579620361 + ], + "orientation": [ + 0.5557772517204285, + 0.8270221948623657, + -0.04910893365740776, + -0.06880687177181244 + ], + "joints": [ + 0.0009473585523664951 + ] + }, + "final_grasp": { + "position": [ + 0.0007967937854118645, + 0.1372821182012558, + -0.11127674579620361 + ], + "orientation": [ + 0.5557772517204285, + 0.8270221948623657, + -0.04910893365740776, + -0.06880687177181244 + ], + "joints": [ + 0.007855554111301899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11179730296134949, + 0.00945812277495861, + -0.045534197241067886 + ], + "orientation": [ + 0.37443721294403076, + -0.40659427642822266, + -0.6511016488075256, + -0.5201388001441956 + ], + "joints": [ + -0.006161758676171303 + ] + }, + "fine_grasp": { + "position": [ + -0.11239796131849289, + 0.010501978918910027, + -0.04538876563310623 + ], + "orientation": [ + 0.3608829975128174, + -0.4214244782924652, + -0.6565068364143372, + -0.5110418796539307 + ], + "joints": [ + 0.00024160713655874133 + ] + }, + "final_grasp": { + "position": [ + -0.11239796131849289, + 0.010501978918910027, + -0.04538876563310623 + ], + "orientation": [ + 0.3608829975128174, + -0.4214244782924652, + -0.6565068364143372, + -0.5110418796539307 + ], + "joints": [ + 0.006644973065704107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12154325097799301, + 0.06246166676282883, + -0.002239837311208248 + ], + "orientation": [ + 0.45746544003486633, + -0.5334384441375732, + -0.51084965467453, + -0.4951780438423157 + ], + "joints": [ + -0.005679631605744362 + ] + }, + "fine_grasp": { + "position": [ + -0.12128598988056183, + 0.06221848353743553, + -0.0022596123162657022 + ], + "orientation": [ + 0.4440608322620392, + -0.5453722476959229, + -0.5216724276542664, + -0.48294609785079956 + ], + "joints": [ + 0.0007237342651933432 + ] + }, + "final_grasp": { + "position": [ + -0.12128598988056183, + 0.06221848353743553, + -0.0022596123162657022 + ], + "orientation": [ + 0.4440608322620392, + -0.5453722476959229, + -0.5216724276542664, + -0.48294609785079956 + ], + "joints": [ + 0.007127100136131048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1118093729019165, + 0.009223527275025845, + -0.04566110298037529 + ], + "orientation": [ + 0.37348341941833496, + -0.40765005350112915, + -0.6509612202644348, + -0.5201741456985474 + ], + "joints": [ + -0.00641388725489378 + ] + }, + "fine_grasp": { + "position": [ + -0.1123998612165451, + 0.0102235684171319, + -0.04538704454898834 + ], + "orientation": [ + 0.3601275682449341, + -0.42191261053085327, + -0.6563107967376709, + -0.5114235281944275 + ], + "joints": [ + 1.604852150194347e-05 + ] + }, + "final_grasp": { + "position": [ + -0.1123998612165451, + 0.0102235684171319, + -0.04538704454898834 + ], + "orientation": [ + 0.3601275682449341, + -0.42191261053085327, + -0.6563107967376709, + -0.5114235281944275 + ], + "joints": [ + 0.006445984356105328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11370529234409332, + 0.13571487367153168, + -0.020382510498166084 + ], + "orientation": [ + 0.5003277659416199, + 0.5268814563751221, + 0.29991164803504944, + -0.6181594729423523 + ], + "joints": [ + -0.007094202563166618 + ] + }, + "fine_grasp": { + "position": [ + -0.11424200981855392, + 0.1334969848394394, + -0.02100137621164322 + ], + "orientation": [ + 0.5082027912139893, + 0.5141287446022034, + 0.2871045768260956, + -0.6284684538841248 + ], + "joints": [ + -0.0011690969113260508 + ] + }, + "final_grasp": { + "position": [ + -0.11424200981855392, + 0.1334969848394394, + -0.02100137621164322 + ], + "orientation": [ + 0.5082027912139893, + 0.5141287446022034, + 0.2871045768260956, + -0.6284684538841248 + ], + "joints": [ + 0.004756008740514517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11389946937561035, + 0.13603362441062927, + -0.01993798464536667 + ], + "orientation": [ + 0.5012047290802002, + 0.5241518020629883, + 0.30084046721458435, + -0.6193171143531799 + ], + "joints": [ + -0.006848687306046486 + ] + }, + "fine_grasp": { + "position": [ + -0.11443375796079636, + 0.1338220238685608, + -0.020500965416431427 + ], + "orientation": [ + 0.5087049603462219, + 0.5119756460189819, + 0.28835904598236084, + -0.6292450428009033 + ], + "joints": [ + -0.0009501514723524451 + ] + }, + "final_grasp": { + "position": [ + -0.11443375796079636, + 0.1338220238685608, + -0.020500965416431427 + ], + "orientation": [ + 0.5087049603462219, + 0.5119756460189819, + 0.28835904598236084, + -0.6292450428009033 + ], + "joints": [ + 0.004948384128510952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11758070439100266, + 0.09869084507226944, + 0.01824180781841278 + ], + "orientation": [ + 0.4350234568119049, + 0.4760259687900543, + 0.4618695378303528, + -0.6089584231376648 + ], + "joints": [ + -0.005860883742570877 + ] + }, + "fine_grasp": { + "position": [ + -0.11851399391889572, + 0.09758474677801132, + 0.01745346561074257 + ], + "orientation": [ + 0.45051223039627075, + 0.4620082974433899, + 0.4514465630054474, + -0.6162652969360352 + ], + "joints": [ + 0.000542482128366828 + ] + }, + "final_grasp": { + "position": [ + -0.11851399391889572, + 0.09758474677801132, + 0.01745346561074257 + ], + "orientation": [ + 0.45051223039627075, + 0.4620082974433899, + 0.4514465630054474, + -0.6162652969360352 + ], + "joints": [ + 0.006945847999304533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011781852692365646, + 0.04805295541882515, + 0.12051405012607574 + ], + "orientation": [ + 0.009157891385257244, + -0.07418590784072876, + 0.7338528633117676, + -0.6751834154129028 + ], + "joints": [ + -0.006157557480037212 + ] + }, + "fine_grasp": { + "position": [ + 0.011754300445318222, + 0.04876483976840973, + 0.1195179745554924 + ], + "orientation": [ + 0.02007395774126053, + -0.0875241830945015, + 0.7313212752342224, + -0.6760959029197693 + ], + "joints": [ + 0.0002458083617966622 + ] + }, + "final_grasp": { + "position": [ + 0.011754300445318222, + 0.04876483976840973, + 0.1195179745554924 + ], + "orientation": [ + 0.02007395774126053, + -0.0875241830945015, + 0.7313212752342224, + -0.6760959029197693 + ], + "joints": [ + 0.006649174261838198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012147602625191212, + 0.04686649516224861, + 0.12042935937643051 + ], + "orientation": [ + 0.009401680901646614, + -0.07657109946012497, + 0.7353346943855286, + -0.6732989549636841 + ], + "joints": [ + -0.005820833146572113 + ] + }, + "fine_grasp": { + "position": [ + 0.011866898275911808, + 0.047585081309080124, + 0.11939866840839386 + ], + "orientation": [ + 0.02138202264904976, + -0.08959000557661057, + 0.7329325675964355, + -0.6740373373031616 + ], + "joints": [ + 5.113292718306184e-05 + ] + }, + "final_grasp": { + "position": [ + 0.011866898275911808, + 0.047585081309080124, + 0.11939866840839386 + ], + "orientation": [ + 0.02138202264904976, + -0.08959000557661057, + 0.7329325675964355, + -0.6740373373031616 + ], + "joints": [ + 0.005923098884522915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07569561153650284, + -0.08467396348714828, + -0.007515397854149342 + ], + "orientation": [ + 0.7398980259895325, + -0.17958079278469086, + 0.591217577457428, + 0.26601383090019226 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.07238984107971191, + -0.08016932755708694, + -0.008167699910700321 + ], + "orientation": [ + 0.7425779700279236, + -0.1787155568599701, + 0.5863248109817505, + 0.2699294984340668 + ], + "joints": [ + -0.0007842405466362834 + ] + }, + "final_grasp": { + "position": [ + 0.07238984107971191, + -0.08016932755708694, + -0.008167699910700321 + ], + "orientation": [ + 0.7425779700279236, + -0.1787155568599701, + 0.5863248109817505, + 0.2699294984340668 + ], + "joints": [ + 0.006655354052782059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029930492863059044, + -0.005797925405204296, + 0.11309444159269333 + ], + "orientation": [ + 0.15005232393741608, + 0.040838826447725296, + 0.7809582352638245, + -0.6049137711524963 + ], + "joints": [ + -0.005979031324386597 + ] + }, + "fine_grasp": { + "position": [ + -0.030107548460364342, + -0.004994954913854599, + 0.11364129185676575 + ], + "orientation": [ + 0.16056032478809357, + 0.029725493863224983, + 0.7778133153915405, + -0.6069128513336182 + ], + "joints": [ + -0.00010706519242376089 + ] + }, + "final_grasp": { + "position": [ + -0.030107548460364342, + -0.004994954913854599, + 0.11364129185676575 + ], + "orientation": [ + 0.16056032478809357, + 0.029725493863224983, + 0.7778133153915405, + -0.6069128513336182 + ], + "joints": [ + 0.005764900706708431 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07523954659700394, + -0.07961371541023254, + 0.005841095931828022 + ], + "orientation": [ + 0.6851116418838501, + 0.22016751766204834, + 0.6389750838279724, + -0.2717703878879547 + ], + "joints": [ + -0.005832880735397339 + ] + }, + "fine_grasp": { + "position": [ + -0.07434479147195816, + -0.07633370906114578, + 0.00710032694041729 + ], + "orientation": [ + 0.6928853392601013, + 0.20916129648685455, + 0.6313759088516235, + -0.2784346044063568 + ], + "joints": [ + 0.001075314823538065 + ] + }, + "final_grasp": { + "position": [ + -0.07434479147195816, + -0.07633370906114578, + 0.00710032694041729 + ], + "orientation": [ + 0.6928853392601013, + 0.20916129648685455, + 0.6313759088516235, + -0.2784346044063568 + ], + "joints": [ + 0.007983510382473469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07507380098104477, + -0.07981961220502853, + 0.005832062102854252 + ], + "orientation": [ + 0.684819221496582, + 0.22018900513648987, + 0.6393944621086121, + -0.2715036869049072 + ], + "joints": [ + -0.005832880735397339 + ] + }, + "fine_grasp": { + "position": [ + -0.07436200976371765, + -0.07661563158035278, + 0.007010262925177813 + ], + "orientation": [ + 0.6924676299095154, + 0.20952248573303223, + 0.6322913765907288, + -0.27712172269821167 + ], + "joints": [ + 0.001075314823538065 + ] + }, + "final_grasp": { + "position": [ + -0.07436200976371765, + -0.07661563158035278, + 0.007010262925177813 + ], + "orientation": [ + 0.6924676299095154, + 0.20952248573303223, + 0.6322913765907288, + -0.27712172269821167 + ], + "joints": [ + 0.007983510382473469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07505252212285995, + -0.07984693348407745, + 0.005818590056151152 + ], + "orientation": [ + 0.6850507259368896, + 0.21970224380493164, + 0.6396325826644897, + -0.27075162529945374 + ], + "joints": [ + -0.005798542872071266 + ] + }, + "fine_grasp": { + "position": [ + -0.07402925938367844, + -0.07658480107784271, + 0.007015896961092949 + ], + "orientation": [ + 0.6926875114440918, + 0.2087816596031189, + 0.6323133111000061, + -0.2770814299583435 + ], + "joints": [ + 0.0011096526868641376 + ] + }, + "final_grasp": { + "position": [ + -0.07402925938367844, + -0.07658480107784271, + 0.007015896961092949 + ], + "orientation": [ + 0.6926875114440918, + 0.2087816596031189, + 0.6323133111000061, + -0.2770814299583435 + ], + "joints": [ + 0.008017848245799541 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1121467798948288, + 0.16413480043411255, + -0.005354177672415972 + ], + "orientation": [ + 0.38153111934661865, + -0.5959271192550659, + -0.46249449253082275, + -0.534231960773468 + ], + "joints": [ + 0.000931143993511796 + ] + }, + "fine_grasp": { + "position": [ + -0.11584033817052841, + 0.1655019372701645, + -0.005528029054403305 + ], + "orientation": [ + 0.3823511302471161, + -0.5928221344947815, + -0.46839791536331177, + -0.5319520235061646 + ], + "joints": [ + 0.006803109776228666 + ] + }, + "final_grasp": { + "position": [ + -0.11584033817052841, + 0.1655019372701645, + -0.005528029054403305 + ], + "orientation": [ + 0.3823511302471161, + -0.5928221344947815, + -0.46839791536331177, + -0.5319520235061646 + ], + "joints": [ + 0.01267507579177618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12066000699996948, + -0.0036899750120937824, + 0.014326649717986584 + ], + "orientation": [ + 0.5398615598678589, + -0.5119026303291321, + 0.5146740674972534, + 0.426163911819458 + ], + "joints": [ + -0.005981913767755032 + ] + }, + "fine_grasp": { + "position": [ + 0.1172640323638916, + -0.0038658869452774525, + 0.015619311481714249 + ], + "orientation": [ + 0.5205382704734802, + -0.5264493227005005, + 0.52901291847229, + 0.41477277874946594 + ], + "joints": [ + 0.0004480218922253698 + ] + }, + "final_grasp": { + "position": [ + 0.1172640323638916, + -0.0038658869452774525, + 0.015619311481714249 + ], + "orientation": [ + 0.5205382704734802, + -0.5264493227005005, + 0.52901291847229, + 0.41477277874946594 + ], + "joints": [ + 0.0068779573775827885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12317267805337906, + -0.003950393758714199, + 0.014618032611906528 + ], + "orientation": [ + 0.5443547964096069, + -0.5077165961265564, + 0.514640212059021, + 0.42549633979797363 + ], + "joints": [ + -0.006294299848377705 + ] + }, + "fine_grasp": { + "position": [ + 0.11876622587442398, + -0.004516481421887875, + 0.015545601956546307 + ], + "orientation": [ + 0.5264173150062561, + -0.5214423537254333, + 0.524706244468689, + 0.41912513971328735 + ], + "joints": [ + 0.0006404656451195478 + ] + }, + "final_grasp": { + "position": [ + 0.11876622587442398, + -0.004516481421887875, + 0.015545601956546307 + ], + "orientation": [ + 0.5264173150062561, + -0.5214423537254333, + 0.524706244468689, + 0.41912513971328735 + ], + "joints": [ + 0.0075752311386168 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2026, + "num_passed": 272 + } +} \ No newline at end of file diff --git a/109_hydrating-oil_1/Annotation/piper_grasp_pose.json b/109_hydrating-oil_1/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..76e912372606ac2ed333be608600b31e042d5b46 --- /dev/null +++ b/109_hydrating-oil_1/Annotation/piper_grasp_pose.json @@ -0,0 +1,8418 @@ +{ + "type": "109_hydrating-oil_1", + "bottom_center": [ + 4.3958425521850586e-07, + 0.07604524493217468, + -0.021644320338964462 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.06873800605535507, + -0.022062966600060463, + 0.09542517364025116 + ], + "orientation": [ + 0.056951019912958145, + 0.6076642870903015, + 0.7029900550842285, + 0.36511045694351196 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + -0.06638947874307632, + -0.021038156002759933, + 0.0925484374165535 + ], + "orientation": [ + 0.06191684305667877, + 0.6114022135734558, + 0.7022026181221008, + 0.35953453183174133 + ], + "joints": [ + 0.020643599331378937 + ] + }, + "final_grasp": { + "position": [ + -0.06638947874307632, + -0.021038156002759933, + 0.0925484374165535 + ], + "orientation": [ + 0.06191684305667877, + 0.6114022135734558, + 0.7022026181221008, + 0.35953453183174133 + ], + "joints": [ + 0.011427685618400574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016764361411333084, + -0.09949322789907455, + -0.007043924648314714 + ], + "orientation": [ + 0.6824994683265686, + -0.6835548877716064, + -0.1526898294687271, + -0.2088853418827057 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + -0.01584194414317608, + -0.0975899025797844, + -0.00707210274413228 + ], + "orientation": [ + 0.6857951879501343, + -0.6799322962760925, + -0.1467382311820984, + -0.21411451697349548 + ], + "joints": [ + 0.021195918321609497 + ] + }, + "final_grasp": { + "position": [ + -0.01584194414317608, + -0.0975899025797844, + -0.00707210274413228 + ], + "orientation": [ + 0.6857951879501343, + -0.6799322962760925, + -0.1467382311820984, + -0.21411451697349548 + ], + "joints": [ + 0.01158294826745987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1320558339357376, + 0.12567035853862762, + -0.006963885389268398 + ], + "orientation": [ + 0.46040084958076477, + -0.43175768852233887, + -0.5363733172416687, + 0.560285747051239 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.1283511370420456, + 0.12470696866512299, + -0.006760480348020792 + ], + "orientation": [ + 0.4598117172718048, + -0.43121403455734253, + -0.5371953845024109, + 0.5604005455970764 + ], + "joints": [ + 0.019419772550463676 + ] + }, + "final_grasp": { + "position": [ + 0.1283511370420456, + 0.12470696866512299, + -0.006760480348020792 + ], + "orientation": [ + 0.4598117172718048, + -0.43121403455734253, + -0.5371953845024109, + 0.5604005455970764 + ], + "joints": [ + 0.010600915178656578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021867310628294945, + 0.005800534505397081, + -0.13122199475765228 + ], + "orientation": [ + 0.701597273349762, + 0.025289006531238556, + 0.09164642542600632, + 0.7062029838562012 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.021154344081878662, + 0.005904008634388447, + -0.1273501217365265 + ], + "orientation": [ + 0.7018677592277527, + 0.025471631437540054, + 0.09027357399463654, + 0.7061045169830322 + ], + "joints": [ + 0.02039230428636074 + ] + }, + "final_grasp": { + "position": [ + -0.021154344081878662, + 0.005904008634388447, + -0.1273501217365265 + ], + "orientation": [ + 0.7018677592277527, + 0.025471631437540054, + 0.09027357399463654, + 0.7061045169830322 + ], + "joints": [ + 0.011573446914553642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13226307928562164, + 0.1257924735546112, + -0.007034763693809509 + ], + "orientation": [ + 0.4592111110687256, + -0.4333280324935913, + -0.534986138343811, + 0.5613749027252197 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.1286320686340332, + 0.12489710003137589, + -0.006826138589531183 + ], + "orientation": [ + 0.4586987793445587, + -0.4332030415534973, + -0.5353090763092041, + 0.5615823864936829 + ], + "joints": [ + 0.019398873671889305 + ] + }, + "final_grasp": { + "position": [ + 0.1286320686340332, + 0.12489710003137589, + -0.006826138589531183 + ], + "orientation": [ + 0.4586987793445587, + -0.4332030415534973, + -0.5353090763092041, + 0.5615823864936829 + ], + "joints": [ + 0.010559117421507835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13202723860740662, + 0.12601691484451294, + -0.0069313570857048035 + ], + "orientation": [ + 0.460945725440979, + -0.4340054392814636, + -0.5347157120704651, + 0.5596850514411926 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.1284121870994568, + 0.12502241134643555, + -0.006723063066601753 + ], + "orientation": [ + 0.4597931504249573, + -0.43292856216430664, + -0.5357994437217712, + 0.5604301691055298 + ], + "joints": [ + 0.019398873671889305 + ] + }, + "final_grasp": { + "position": [ + 0.1284121870994568, + 0.12502241134643555, + -0.006723063066601753 + ], + "orientation": [ + 0.4597931504249573, + -0.43292856216430664, + -0.5357994437217712, + 0.5604301691055298 + ], + "joints": [ + 0.010559117421507835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13221170008182526, + 0.12599322199821472, + -0.0070429169572889805 + ], + "orientation": [ + 0.46094366908073425, + -0.43366333842277527, + -0.5346342325210571, + 0.5600296854972839 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.12856760621070862, + 0.12499085813760757, + -0.006835101637989283 + ], + "orientation": [ + 0.45972904562950134, + -0.4325864911079407, + -0.535790205001831, + 0.560755729675293 + ], + "joints": [ + 0.019398873671889305 + ] + }, + "final_grasp": { + "position": [ + 0.12856760621070862, + 0.12499085813760757, + -0.006835101637989283 + ], + "orientation": [ + 0.45972904562950134, + -0.4325864911079407, + -0.535790205001831, + 0.560755729675293 + ], + "joints": [ + 0.010559117421507835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0010179379023611546, + -0.10271488130092621, + -0.003445709589868784 + ], + "orientation": [ + 0.7085266709327698, + -0.677841305732727, + 0.11681187897920609, + 0.15772131085395813 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.0007313457899726927, + -0.09912863373756409, + -0.0037164094392210245 + ], + "orientation": [ + 0.7070807814598083, + -0.6796276569366455, + 0.1212199404835701, + 0.15312950313091278 + ], + "joints": [ + 0.02117392048239708 + ] + }, + "final_grasp": { + "position": [ + -0.0007313457899726927, + -0.09912863373756409, + -0.0037164094392210245 + ], + "orientation": [ + 0.7070807814598083, + -0.6796276569366455, + 0.1212199404835701, + 0.15312950313091278 + ], + "joints": [ + 0.011978905647993088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011116330279037356, + -0.10276272892951965, + -0.0032337659504264593 + ], + "orientation": [ + 0.7071187496185303, + -0.6782710552215576, + 0.12144266068935394, + 0.15869221091270447 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.0009134526480920613, + -0.0991644412279129, + -0.0035168887116014957 + ], + "orientation": [ + 0.7061523199081421, + -0.6799598932266235, + 0.12433270364999771, + 0.15344326198101044 + ], + "joints": [ + 0.02117392048239708 + ] + }, + "final_grasp": { + "position": [ + -0.0009134526480920613, + -0.0991644412279129, + -0.0035168887116014957 + ], + "orientation": [ + 0.7061523199081421, + -0.6799598932266235, + 0.12433270364999771, + 0.15344326198101044 + ], + "joints": [ + 0.011978905647993088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061249084770679474, + 0.149381622672081, + -0.10206335783004761 + ], + "orientation": [ + 0.5750304460525513, + -0.06837483495473862, + 0.32232967019081116, + -0.7488448023796082 + ], + "joints": [ + 0.029627958312630653 + ] + }, + "fine_grasp": { + "position": [ + -0.05912349000573158, + 0.1482962816953659, + -0.09906849265098572 + ], + "orientation": [ + 0.5741352438926697, + -0.07152675837278366, + 0.3203522861003876, + -0.7500846982002258 + ], + "joints": [ + 0.019994089379906654 + ] + }, + "final_grasp": { + "position": [ + -0.05912349000573158, + 0.1482962816953659, + -0.09906849265098572 + ], + "orientation": [ + 0.5741352438926697, + -0.07152675837278366, + 0.3203522861003876, + -0.7500846982002258 + ], + "joints": [ + 0.010360220447182655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10689204931259155, + 0.024200119078159332, + 0.0976649820804596 + ], + "orientation": [ + 0.2923402190208435, + 0.650693953037262, + -0.6435970067977905, + -0.2773399353027344 + ], + "joints": [ + 0.024140113964676857 + ] + }, + "fine_grasp": { + "position": [ + 0.10418355464935303, + 0.024134639650583267, + 0.09520565718412399 + ], + "orientation": [ + 0.2923160493373871, + 0.6504828333854675, + -0.6436007618904114, + -0.2778516411781311 + ], + "joints": [ + 0.014882402494549751 + ] + }, + "final_grasp": { + "position": [ + 0.10418355464935303, + 0.024134639650583267, + 0.09520565718412399 + ], + "orientation": [ + 0.2923160493373871, + 0.6504828333854675, + -0.6436007618904114, + -0.2778516411781311 + ], + "joints": [ + 0.005624691024422646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053167905658483505, + -0.08818817883729935, + -0.02947291173040867 + ], + "orientation": [ + 0.3200722336769104, + 0.0008087814785540104, + 0.6232654452323914, + 0.7135077118873596 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.05141672119498253, + -0.08556782454252243, + -0.0286174938082695 + ], + "orientation": [ + 0.32608655095100403, + 0.008273955434560776, + 0.6199730038642883, + 0.7136052846908569 + ], + "joints": [ + 0.020755965262651443 + ] + }, + "final_grasp": { + "position": [ + -0.05141672119498253, + -0.08556782454252243, + -0.0286174938082695 + ], + "orientation": [ + 0.32608655095100403, + 0.008273955434560776, + 0.6199730038642883, + 0.7136052846908569 + ], + "joints": [ + 0.011142995208501816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12169527262449265, + 0.08344773203134537, + 0.04445100948214531 + ], + "orientation": [ + 0.3851316571235657, + 0.5600043535232544, + -0.5979110598564148, + -0.42493653297424316 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + 0.11799880117177963, + 0.08363382518291473, + 0.043143246322870255 + ], + "orientation": [ + 0.386048287153244, + 0.5604153871536255, + -0.5976638793945312, + -0.423909455537796 + ], + "joints": [ + 0.020643599331378937 + ] + }, + "final_grasp": { + "position": [ + 0.11799880117177963, + 0.08363382518291473, + 0.043143246322870255 + ], + "orientation": [ + 0.386048287153244, + 0.5604153871536255, + -0.5976638793945312, + -0.423909455537796 + ], + "joints": [ + 0.011427685618400574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12191858887672424, + 0.08336881548166275, + 0.04465179145336151 + ], + "orientation": [ + 0.3839293122291565, + 0.5610287189483643, + -0.597278356552124, + -0.4255628287792206 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + 0.1181950494647026, + 0.08355297148227692, + 0.04329244792461395 + ], + "orientation": [ + 0.3848431706428528, + 0.5615218281745911, + -0.5970706343650818, + -0.42437687516212463 + ], + "joints": [ + 0.020643599331378937 + ] + }, + "final_grasp": { + "position": [ + 0.1181950494647026, + 0.08355297148227692, + 0.04329244792461395 + ], + "orientation": [ + 0.3848431706428528, + 0.5615218281745911, + -0.5970706343650818, + -0.42437687516212463 + ], + "joints": [ + 0.011427685618400574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08734110742807388, + 0.10162683576345444, + 0.09156262874603271 + ], + "orientation": [ + 0.29823818802833557, + 0.6553740501403809, + -0.6562279462814331, + -0.2256181389093399 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.08459410071372986, + 0.10138920694589615, + 0.08883051574230194 + ], + "orientation": [ + 0.29829153418540955, + 0.6516411900520325, + -0.6601546406745911, + -0.2249041199684143 + ], + "joints": [ + 0.020689912140369415 + ] + }, + "final_grasp": { + "position": [ + 0.08459410071372986, + 0.10138920694589615, + 0.08883051574230194 + ], + "orientation": [ + 0.29829153418540955, + 0.6516411900520325, + -0.6601546406745911, + -0.2249041199684143 + ], + "joints": [ + 0.011473998427391052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0246298648416996, + 0.10690843313932419, + -0.13625696301460266 + ], + "orientation": [ + 0.6685907244682312, + -0.019939618185162544, + -0.10870512574911118, + 0.735372006893158 + ], + "joints": [ + 0.026872457936406136 + ] + }, + "fine_grasp": { + "position": [ + 0.02400319278240204, + 0.10668425261974335, + -0.1325768381357193 + ], + "orientation": [ + 0.6683716177940369, + -0.021016836166381836, + -0.10815649479627609, + 0.7356220483779907 + ], + "joints": [ + 0.01842975802719593 + ] + }, + "final_grasp": { + "position": [ + 0.02400319278240204, + 0.10668425261974335, + -0.1325768381357193 + ], + "orientation": [ + 0.6683716177940369, + -0.021016836166381836, + -0.10815649479627609, + 0.7356220483779907 + ], + "joints": [ + 0.009987058117985725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09729014337062836, + 0.06953354179859161, + -0.0881507396697998 + ], + "orientation": [ + 0.6653340458869934, + 0.34620174765586853, + 0.22336935997009277, + 0.6225600242614746 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.09438794106245041, + 0.06926420331001282, + -0.0855022445321083 + ], + "orientation": [ + 0.6646214723587036, + 0.3453022241592407, + 0.22515618801116943, + 0.6231768727302551 + ], + "joints": [ + 0.020345991477370262 + ] + }, + "final_grasp": { + "position": [ + -0.09438794106245041, + 0.06926420331001282, + -0.0855022445321083 + ], + "orientation": [ + 0.6646214723587036, + 0.3453022241592407, + 0.22515618801116943, + 0.6231768727302551 + ], + "joints": [ + 0.011527134105563164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09730086475610733, + 0.06943951547145844, + -0.08832507580518723 + ], + "orientation": [ + 0.6659874320030212, + 0.3461957573890686, + 0.22289469838142395, + 0.6220348477363586 + ], + "joints": [ + 0.028933294117450714 + ] + }, + "fine_grasp": { + "position": [ + -0.09440794587135315, + 0.0691630095243454, + -0.08571807295084 + ], + "orientation": [ + 0.6652830839157104, + 0.34539616107940674, + 0.22465816140174866, + 0.6225982308387756 + ], + "joints": [ + 0.020114436745643616 + ] + }, + "final_grasp": { + "position": [ + -0.09440794587135315, + 0.0691630095243454, + -0.08571807295084 + ], + "orientation": [ + 0.6652830839157104, + 0.34539616107940674, + 0.22465816140174866, + 0.6225982308387756 + ], + "joints": [ + 0.011295579373836517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1146654337644577, + 0.09620318561792374, + 0.0680408775806427 + ], + "orientation": [ + 0.4257271885871887, + 0.6690285801887512, + -0.5463704466819763, + -0.26951178908348083 + ], + "joints": [ + 0.02731241099536419 + ] + }, + "fine_grasp": { + "position": [ + 0.11143407970666885, + 0.09551998972892761, + 0.06611672788858414 + ], + "orientation": [ + 0.4218463897705078, + 0.668676495552063, + -0.5475655794143677, + -0.27402424812316895 + ], + "joints": [ + 0.018890609964728355 + ] + }, + "final_grasp": { + "position": [ + 0.11143407970666885, + 0.09551998972892761, + 0.06611672788858414 + ], + "orientation": [ + 0.4218463897705078, + 0.668676495552063, + -0.5475655794143677, + -0.27402424812316895 + ], + "joints": [ + 0.010468808934092522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12895305454730988, + 0.14581553637981415, + 0.03255880996584892 + ], + "orientation": [ + 0.5140565037727356, + 0.5689159631729126, + 0.5431440472602844, + 0.34216228127479553 + ], + "joints": [ + 0.02317713014781475 + ] + }, + "fine_grasp": { + "position": [ + -0.12527042627334595, + 0.1450936496257782, + 0.0316111259162426 + ], + "orientation": [ + 0.5137362480163574, + 0.5681681632995605, + 0.5439160466194153, + 0.34265923500061035 + ], + "joints": [ + 0.014337373897433281 + ] + }, + "final_grasp": { + "position": [ + -0.12527042627334595, + 0.1450936496257782, + 0.0316111259162426 + ], + "orientation": [ + 0.5137362480163574, + 0.5681681632995605, + 0.5439160466194153, + 0.34265923500061035 + ], + "joints": [ + 0.005497617647051811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10932686179876328, + -0.04636544734239578, + 0.06828680634498596 + ], + "orientation": [ + 0.46835190057754517, + -0.6739935874938965, + -0.5349464416503906, + 0.20052818953990936 + ], + "joints": [ + 0.02647881768643856 + ] + }, + "fine_grasp": { + "position": [ + 0.10634049773216248, + -0.04498855397105217, + 0.06655841320753098 + ], + "orientation": [ + 0.46605005860328674, + -0.6727358102798462, + -0.5379875898361206, + 0.20197288691997528 + ], + "joints": [ + 0.018057016655802727 + ] + }, + "final_grasp": { + "position": [ + 0.10634049773216248, + -0.04498855397105217, + 0.06655841320753098 + ], + "orientation": [ + 0.46605005860328674, + -0.6727358102798462, + -0.5379875898361206, + 0.20197288691997528 + ], + "joints": [ + 0.009635215625166893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11458804458379745, + 0.09635138511657715, + 0.06789250671863556 + ], + "orientation": [ + 0.42495089769363403, + 0.6688116192817688, + -0.5465736985206604, + -0.27085980772972107 + ], + "joints": [ + 0.027752364054322243 + ] + }, + "fine_grasp": { + "position": [ + 0.11134829372167587, + 0.0956650897860527, + 0.06594761461019516 + ], + "orientation": [ + 0.4214986264705658, + 0.6683184504508972, + -0.5474432706832886, + -0.2756723165512085 + ], + "joints": [ + 0.018912607803940773 + ] + }, + "final_grasp": { + "position": [ + 0.11134829372167587, + 0.0956650897860527, + 0.06594761461019516 + ], + "orientation": [ + 0.4214986264705658, + 0.6683184504508972, + -0.5474432706832886, + -0.2756723165512085 + ], + "joints": [ + 0.010072851553559303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1232328712940216, + 0.07088633626699448, + -0.06003192439675331 + ], + "orientation": [ + 0.5826395153999329, + -0.43784040212631226, + -0.30331170558929443, + 0.6138639450073242 + ], + "joints": [ + 0.027752364054322243 + ] + }, + "fine_grasp": { + "position": [ + 0.11982186138629913, + 0.07112006843090057, + -0.05823443830013275 + ], + "orientation": [ + 0.5815126895904541, + -0.43746140599250793, + -0.3037227988243103, + 0.6149984002113342 + ], + "joints": [ + 0.018912607803940773 + ] + }, + "final_grasp": { + "position": [ + 0.11982186138629913, + 0.07112006843090057, + -0.05823443830013275 + ], + "orientation": [ + 0.5815126895904541, + -0.43746140599250793, + -0.3037227988243103, + 0.6149984002113342 + ], + "joints": [ + 0.010072851553559303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1146312952041626, + 0.09629499912261963, + 0.06797894090414047 + ], + "orientation": [ + 0.42528724670410156, + 0.6689077615737915, + -0.546517550945282, + -0.27020689845085144 + ], + "joints": [ + 0.02731241099536419 + ] + }, + "fine_grasp": { + "position": [ + 0.11135214567184448, + 0.09561922401189804, + 0.06600157916545868 + ], + "orientation": [ + 0.42175617814064026, + 0.6683583855628967, + -0.5475150346755981, + -0.2750382423400879 + ], + "joints": [ + 0.018890609964728355 + ] + }, + "final_grasp": { + "position": [ + 0.11135214567184448, + 0.09561922401189804, + 0.06600157916545868 + ], + "orientation": [ + 0.42175617814064026, + 0.6683583855628967, + -0.5475150346755981, + -0.2750382423400879 + ], + "joints": [ + 0.010468808934092522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13971345126628876, + 0.08277775347232819, + 0.009523414075374603 + ], + "orientation": [ + 0.4765394628047943, + 0.573284924030304, + -0.45407673716545105, + -0.48792293667793274 + ], + "joints": [ + 0.026895614340901375 + ] + }, + "fine_grasp": { + "position": [ + 0.1359436810016632, + 0.08259230852127075, + 0.009237958118319511 + ], + "orientation": [ + 0.47490257024765015, + 0.5732163190841675, + -0.4536628723144531, + -0.4899802505970001 + ], + "joints": [ + 0.018034959211945534 + ] + }, + "final_grasp": { + "position": [ + 0.1359436810016632, + 0.08259230852127075, + 0.009237958118319511 + ], + "orientation": [ + 0.47490257024765015, + 0.5732163190841675, + -0.4536628723144531, + -0.4899802505970001 + ], + "joints": [ + 0.009174304082989693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10458970069885254, + 0.15284134447574615, + 0.01729911006987095 + ], + "orientation": [ + 0.5044148564338684, + 0.5753584504127502, + -0.4989944100379944, + -0.4068571627140045 + ], + "joints": [ + 0.020196989178657532 + ] + }, + "fine_grasp": { + "position": [ + 0.10247533023357391, + 0.15078800916671753, + 0.017055153846740723 + ], + "orientation": [ + 0.5122830867767334, + 0.5879368782043457, + -0.48127496242523193, + -0.4003382623195648 + ], + "joints": [ + 0.012652896344661713 + ] + }, + "final_grasp": { + "position": [ + 0.10247533023357391, + 0.15078800916671753, + 0.017055153846740723 + ], + "orientation": [ + 0.5122830867767334, + 0.5879368782043457, + -0.48127496242523193, + -0.4003382623195648 + ], + "joints": [ + 0.0051088035106658936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10856980830430984, + -0.0460464209318161, + 0.06808549910783768 + ], + "orientation": [ + 0.46760329604148865, + -0.6743244528770447, + -0.535297691822052, + 0.20022520422935486 + ], + "joints": [ + 0.026918770745396614 + ] + }, + "fine_grasp": { + "position": [ + 0.10555819422006607, + -0.04467438533902168, + 0.06634532660245895 + ], + "orientation": [ + 0.4651998281478882, + -0.672958254814148, + -0.5385387539863586, + 0.20172348618507385 + ], + "joints": [ + 0.01847607083618641 + ] + }, + "final_grasp": { + "position": [ + 0.10555819422006607, + -0.04467438533902168, + 0.06634532660245895 + ], + "orientation": [ + 0.4651998281478882, + -0.672958254814148, + -0.5385387539863586, + 0.20172348618507385 + ], + "joints": [ + 0.010033370926976204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0035353400744497776, + 0.2506849765777588, + -0.0078075057826936245 + ], + "orientation": [ + 0.7205519080162048, + 0.6759577989578247, + 0.12254064530134201, + -0.09417899698019028 + ], + "joints": [ + 0.024476308375597 + ] + }, + "fine_grasp": { + "position": [ + -0.0036579794250428677, + 0.2471136897802353, + -0.007241807412356138 + ], + "orientation": [ + 0.720224916934967, + 0.6762111783027649, + 0.12035766243934631, + -0.09761451929807663 + ], + "joints": [ + 0.014863338321447372 + ] + }, + "final_grasp": { + "position": [ + -0.0036579794250428677, + 0.2471136897802353, + -0.007241807412356138 + ], + "orientation": [ + 0.720224916934967, + 0.6762111783027649, + 0.12035766243934631, + -0.09761451929807663 + ], + "joints": [ + 0.005250368267297745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11401811987161636, + 0.1733892261981964, + 0.008256269618868828 + ], + "orientation": [ + 0.3552616834640503, + -0.44188636541366577, + 0.5844486951828003, + -0.5804697871208191 + ], + "joints": [ + 0.023833278566598892 + ] + }, + "fine_grasp": { + "position": [ + -0.11080027371644974, + 0.17106354236602783, + 0.008348614908754826 + ], + "orientation": [ + 0.35089099407196045, + -0.4345853328704834, + 0.5884434580802917, + -0.5845900774002075 + ], + "joints": [ + 0.01461736485362053 + ] + }, + "final_grasp": { + "position": [ + -0.11080027371644974, + 0.17106354236602783, + 0.008348614908754826 + ], + "orientation": [ + 0.35089099407196045, + -0.4345853328704834, + 0.5884434580802917, + -0.5845900774002075 + ], + "joints": [ + 0.005401451140642166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11462917178869247, + 0.09622325748205185, + 0.0679519921541214 + ], + "orientation": [ + 0.42579522728919983, + 0.6689385771751404, + -0.5463271737098694, + -0.269714891910553 + ], + "joints": [ + 0.02731241099536419 + ] + }, + "fine_grasp": { + "position": [ + 0.11133884638547897, + 0.09554853290319443, + 0.06597530096769333 + ], + "orientation": [ + 0.42203760147094727, + 0.6684192419052124, + -0.5474473237991333, + -0.27459293603897095 + ], + "joints": [ + 0.018890609964728355 + ] + }, + "final_grasp": { + "position": [ + 0.11133884638547897, + 0.09554853290319443, + 0.06597530096769333 + ], + "orientation": [ + 0.42203760147094727, + 0.6684192419052124, + -0.5474473237991333, + -0.27459293603897095 + ], + "joints": [ + 0.010468808934092522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05026659369468689, + -0.044753748923540115, + -0.09947815537452698 + ], + "orientation": [ + 0.5531184077262878, + -0.05648855119943619, + 0.38602933287620544, + 0.7361049056053162 + ], + "joints": [ + 0.027381880208849907 + ] + }, + "fine_grasp": { + "position": [ + -0.048497673124074936, + -0.04395724833011627, + -0.09651212394237518 + ], + "orientation": [ + 0.5564832091331482, + -0.05256838724017143, + 0.3816435933113098, + 0.7361461520195007 + ], + "joints": [ + 0.018542123958468437 + ] + }, + "final_grasp": { + "position": [ + -0.048497673124074936, + -0.04395724833011627, + -0.09651212394237518 + ], + "orientation": [ + 0.5564832091331482, + -0.05256838724017143, + 0.3816435933113098, + 0.7361461520195007 + ], + "joints": [ + 0.009702367708086967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.116397425532341, + 0.052586592733860016, + -0.059867702424526215 + ], + "orientation": [ + 0.5662223100662231, + 0.337218314409256, + -0.3989509046077728, + -0.6375848054885864 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + 0.11296462267637253, + 0.05282175540924072, + -0.05809677019715309 + ], + "orientation": [ + 0.5664005279541016, + 0.3384876251220703, + -0.3980954587459564, + -0.6372883319854736 + ], + "joints": [ + 0.020600702613592148 + ] + }, + "final_grasp": { + "position": [ + 0.11296462267637253, + 0.05282175540924072, + -0.05809677019715309 + ], + "orientation": [ + 0.5664005279541016, + 0.3384876251220703, + -0.3980954587459564, + -0.6372883319854736 + ], + "joints": [ + 0.01178184524178505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05026058480143547, + -0.04472215101122856, + -0.09947697073221207 + ], + "orientation": [ + 0.5533000230789185, + -0.05668100342154503, + 0.3861076831817627, + 0.7359124422073364 + ], + "joints": [ + 0.027381880208849907 + ] + }, + "fine_grasp": { + "position": [ + -0.048488713800907135, + -0.04392791911959648, + -0.09650778770446777 + ], + "orientation": [ + 0.5566980838775635, + -0.052724964916706085, + 0.38166317343711853, + 0.7359622716903687 + ], + "joints": [ + 0.018542123958468437 + ] + }, + "final_grasp": { + "position": [ + -0.048488713800907135, + -0.04392791911959648, + -0.09650778770446777 + ], + "orientation": [ + 0.5566980838775635, + -0.052724964916706085, + 0.38166317343711853, + 0.7359622716903687 + ], + "joints": [ + 0.009702367708086967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14117439091205597, + 0.01824628934264183, + 0.011202650144696236 + ], + "orientation": [ + 0.49172523617744446, + -0.43790537118911743, + 0.5916844606399536, + -0.4651394188404083 + ], + "joints": [ + 0.02599255181849003 + ] + }, + "fine_grasp": { + "position": [ + -0.13754665851593018, + 0.018186667934060097, + 0.010921407490968704 + ], + "orientation": [ + 0.4951063096523285, + -0.4382731020450592, + 0.5902697443962097, + -0.46299898624420166 + ], + "joints": [ + 0.017131896689534187 + ] + }, + "final_grasp": { + "position": [ + -0.13754665851593018, + 0.018186667934060097, + 0.010921407490968704 + ], + "orientation": [ + 0.4951063096523285, + -0.4382731020450592, + 0.5902697443962097, + -0.46299898624420166 + ], + "joints": [ + 0.008271241560578346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009027224034070969, + 0.254031777381897, + -0.01553836278617382 + ], + "orientation": [ + 0.03945815563201904, + 0.0044213542714715, + -0.6666117310523987, + 0.7443469762802124 + ], + "joints": [ + 0.022734539583325386 + ] + }, + "fine_grasp": { + "position": [ + 0.007884068414568901, + 0.2515171468257904, + -0.015278821811079979 + ], + "orientation": [ + 0.04503868147730827, + -0.000799567555077374, + -0.6690490245819092, + 0.7418519258499146 + ], + "joints": [ + 0.012703614309430122 + ] + }, + "final_grasp": { + "position": [ + 0.007884068414568901, + 0.2515171468257904, + -0.015278821811079979 + ], + "orientation": [ + 0.04503868147730827, + -0.000799567555077374, + -0.6690490245819092, + 0.7418519258499146 + ], + "joints": [ + 0.0026726890355348587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11640718579292297, + 0.05258249118924141, + -0.05974750593304634 + ], + "orientation": [ + 0.5660127997398376, + 0.33742135763168335, + -0.3992141783237457, + -0.6374985575675964 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + 0.11298079043626785, + 0.05280861631035805, + -0.057978928089141846 + ], + "orientation": [ + 0.5661754608154297, + 0.3387417495250702, + -0.39837953448295593, + -0.6371758580207825 + ], + "joints": [ + 0.020600702613592148 + ] + }, + "final_grasp": { + "position": [ + 0.11298079043626785, + 0.05280861631035805, + -0.057978928089141846 + ], + "orientation": [ + 0.5661754608154297, + 0.3387417495250702, + -0.39837953448295593, + -0.6371758580207825 + ], + "joints": [ + 0.01178184524178505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14153291285037994, + 0.018561221659183502, + 0.011371963657438755 + ], + "orientation": [ + 0.492816299200058, + -0.4390102028846741, + 0.590918779373169, + -0.4639149606227875 + ], + "joints": [ + 0.02599255181849003 + ] + }, + "fine_grasp": { + "position": [ + -0.13772404193878174, + 0.0185286533087492, + 0.011089921928942204 + ], + "orientation": [ + 0.4963890612125397, + -0.4397549033164978, + 0.5894643068313599, + -0.461243212223053 + ], + "joints": [ + 0.017131896689534187 + ] + }, + "final_grasp": { + "position": [ + -0.13772404193878174, + 0.0185286533087492, + 0.011089921928942204 + ], + "orientation": [ + 0.4963890612125397, + -0.4397549033164978, + 0.5894643068313599, + -0.461243212223053 + ], + "joints": [ + 0.008271241560578346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052667517215013504, + -0.1140824481844902, + 0.009038081392645836 + ], + "orientation": [ + 0.1387195885181427, + 0.08622358739376068, + -0.7295172214508057, + -0.6641739010810852 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + 0.05125660449266434, + -0.11053086072206497, + 0.00873605441302061 + ], + "orientation": [ + 0.14112822711467743, + 0.09001791477203369, + -0.7275597453117371, + -0.6653093695640564 + ], + "joints": [ + 0.018605919554829597 + ] + }, + "final_grasp": { + "position": [ + 0.05125660449266434, + -0.11053086072206497, + 0.00873605441302061 + ], + "orientation": [ + 0.14112822711467743, + 0.09001791477203369, + -0.7275597453117371, + -0.6653093695640564 + ], + "joints": [ + 0.009390005841851234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04263373464345932, + 0.09432249516248703, + -0.13502952456474304 + ], + "orientation": [ + 0.6804266571998596, + 0.13039541244506836, + -0.08353038877248764, + -0.7162675857543945 + ], + "joints": [ + 0.02592308260500431 + ] + }, + "fine_grasp": { + "position": [ + 0.04152657464146614, + 0.09424978494644165, + -0.13140541315078735 + ], + "orientation": [ + 0.6801393032073975, + 0.13035957515239716, + -0.08383683115243912, + -0.7165111303329468 + ], + "joints": [ + 0.01706242747604847 + ] + }, + "final_grasp": { + "position": [ + 0.04152657464146614, + 0.09424978494644165, + -0.13140541315078735 + ], + "orientation": [ + 0.6801393032073975, + 0.13035957515239716, + -0.08383683115243912, + -0.7165111303329468 + ], + "joints": [ + 0.008201772347092628 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11240921914577484, + -0.0418122224509716, + 0.0438549779355526 + ], + "orientation": [ + 0.5294883847236633, + -0.6588883399963379, + -0.47617170214653015, + 0.24242281913757324 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + 0.10898295044898987, + -0.04060795158147812, + 0.042474742978811264 + ], + "orientation": [ + 0.5250124335289001, + -0.6575015783309937, + -0.47937437891960144, + 0.24950723350048065 + ], + "joints": [ + 0.01990603841841221 + ] + }, + "final_grasp": { + "position": [ + 0.10898295044898987, + -0.04060795158147812, + 0.042474742978811264 + ], + "orientation": [ + 0.5250124335289001, + -0.6575015783309937, + -0.47937437891960144, + 0.24950723350048065 + ], + "joints": [ + 0.01108718104660511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11243212968111038, + -0.041864413768053055, + 0.04381772503256798 + ], + "orientation": [ + 0.5294243693351746, + -0.6587020754814148, + -0.4763464629650116, + 0.2427251785993576 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + 0.10902119427919388, + -0.040645450353622437, + 0.042429979890584946 + ], + "orientation": [ + 0.5250116586685181, + -0.6573905944824219, + -0.47944512963294983, + 0.2496655136346817 + ], + "joints": [ + 0.01990603841841221 + ] + }, + "final_grasp": { + "position": [ + 0.10902119427919388, + -0.040645450353622437, + 0.042429979890584946 + ], + "orientation": [ + 0.5250116586685181, + -0.6573905944824219, + -0.47944512963294983, + 0.2496655136346817 + ], + "joints": [ + 0.01108718104660511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022026093676686287, + 0.07885081321001053, + -0.12994368374347687 + ], + "orientation": [ + 0.6897903680801392, + 0.04548640921711922, + -0.07356598973274231, + -0.7188242077827454 + ], + "joints": [ + 0.029627958312630653 + ] + }, + "fine_grasp": { + "position": [ + 0.021350352093577385, + 0.07891009002923965, + -0.12602367997169495 + ], + "orientation": [ + 0.6895748376846313, + 0.04577101767063141, + -0.07314594835042953, + -0.7190558910369873 + ], + "joints": [ + 0.02041204459965229 + ] + }, + "final_grasp": { + "position": [ + 0.021350352093577385, + 0.07891009002923965, + -0.12602367997169495 + ], + "orientation": [ + 0.6895748376846313, + 0.04577101767063141, + -0.07314594835042953, + -0.7190558910369873 + ], + "joints": [ + 0.011196130886673927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00412436667829752, + -0.11935372650623322, + -0.028917832300066948 + ], + "orientation": [ + 0.04223077371716499, + -0.06599068641662598, + 0.6231557130813599, + 0.7781636714935303 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + -0.0039326646365225315, + -0.11557003110647202, + -0.027903780341148376 + ], + "orientation": [ + 0.044266220182180405, + -0.06354747712612152, + 0.6245200634002686, + 0.7771596312522888 + ], + "joints": [ + 0.019343480467796326 + ] + }, + "final_grasp": { + "position": [ + -0.0039326646365225315, + -0.11557003110647202, + -0.027903780341148376 + ], + "orientation": [ + 0.044266220182180405, + -0.06354747712612152, + 0.6245200634002686, + 0.7771596312522888 + ], + "joints": [ + 0.009730510413646698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12419158965349197, + 0.03713706135749817, + -0.0028002127073705196 + ], + "orientation": [ + 0.5681275129318237, + -0.5324322581291199, + 0.45322203636169434, + -0.433977872133255 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + -0.12025904655456543, + 0.03753003478050232, + -0.0027537336573004723 + ], + "orientation": [ + 0.5674689412117004, + -0.5303142070770264, + 0.4556879997253418, + -0.4348497688770294 + ], + "joints": [ + 0.02029285579919815 + ] + }, + "final_grasp": { + "position": [ + -0.12025904655456543, + 0.03753003478050232, + -0.0027537336573004723 + ], + "orientation": [ + 0.5674689412117004, + -0.5303142070770264, + 0.4556879997253418, + -0.4348497688770294 + ], + "joints": [ + 0.010679885745048523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12247176468372345, + -0.004892479628324509, + -0.05307259038090706 + ], + "orientation": [ + 0.6093229651451111, + -0.41721078753471375, + 0.35785725712776184, + -0.5714883804321289 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + -0.1189151331782341, + -0.004731384571641684, + -0.05155492573976517 + ], + "orientation": [ + 0.6088916659355164, + -0.41663745045661926, + 0.3584872782230377, + -0.5719712972640991 + ], + "joints": [ + 0.020303094759583473 + ] + }, + "final_grasp": { + "position": [ + -0.1189151331782341, + -0.004731384571641684, + -0.05155492573976517 + ], + "orientation": [ + 0.6088916659355164, + -0.41663745045661926, + 0.3584872782230377, + -0.5719712972640991 + ], + "joints": [ + 0.01188129372894764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016138918697834015, + 0.14078351855278015, + 0.12032365053892136 + ], + "orientation": [ + 0.21517501771450043, + 0.7270711064338684, + 0.6424464583396912, + -0.1110408827662468 + ], + "joints": [ + 0.028701739385724068 + ] + }, + "fine_grasp": { + "position": [ + -0.015568563714623451, + 0.13944567739963531, + 0.1168404370546341 + ], + "orientation": [ + 0.20829099416732788, + 0.7292888760566711, + 0.6434656977653503, + -0.10346265137195587 + ], + "joints": [ + 0.020300837233662605 + ] + }, + "final_grasp": { + "position": [ + -0.015568563714623451, + 0.13944567739963531, + 0.1168404370546341 + ], + "orientation": [ + 0.20829099416732788, + 0.7292888760566711, + 0.6434656977653503, + -0.10346265137195587 + ], + "joints": [ + 0.011899935081601143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061779968440532684, + 0.07929474115371704, + -0.11273118108510971 + ], + "orientation": [ + 0.6375587582588196, + -0.1299392580986023, + 0.22358332574367523, + -0.725703239440918 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.05980516970157623, + 0.07906568050384521, + -0.10929529368877411 + ], + "orientation": [ + 0.6372026801109314, + -0.13160641491413116, + 0.22243639826774597, + -0.726067841053009 + ], + "joints": [ + 0.020666755735874176 + ] + }, + "final_grasp": { + "position": [ + -0.05980516970157623, + 0.07906568050384521, + -0.10929529368877411 + ], + "orientation": [ + 0.6372026801109314, + -0.13160641491413116, + 0.22243639826774597, + -0.726067841053009 + ], + "joints": [ + 0.011450842022895813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023547785356640816, + 0.060658007860183716, + 0.12390626966953278 + ], + "orientation": [ + 0.05426504462957382, + 0.7259008288383484, + 0.6812492609024048, + 0.07760670781135559 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.022842349484562874, + 0.060716643929481506, + 0.12017663568258286 + ], + "orientation": [ + 0.0543716661632061, + 0.7290528416633606, + 0.6778454780578613, + 0.07778909802436829 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + -0.022842349484562874, + 0.060716643929481506, + 0.12017663568258286 + ], + "orientation": [ + 0.0543716661632061, + 0.7290528416633606, + 0.6778454780578613, + 0.07778909802436829 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12696276605129242, + 0.017147717997431755, + 0.0482972227036953 + ], + "orientation": [ + 0.41471588611602783, + -0.6080828309059143, + -0.5546072125434875, + 0.388145387172699 + ], + "joints": [ + 0.028238629922270775 + ] + }, + "fine_grasp": { + "position": [ + 0.12329307198524475, + 0.01730625331401825, + 0.04706883430480957 + ], + "orientation": [ + 0.41308099031448364, + -0.608326256275177, + -0.5551315546035767, + 0.3887573182582855 + ], + "joints": [ + 0.019419772550463676 + ] + }, + "final_grasp": { + "position": [ + 0.12329307198524475, + 0.01730625331401825, + 0.04706883430480957 + ], + "orientation": [ + 0.41308099031448364, + -0.608326256275177, + -0.5551315546035767, + 0.3887573182582855 + ], + "joints": [ + 0.010600915178656578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0963524878025055, + 0.12128973007202148, + 0.06959043443202972 + ], + "orientation": [ + 0.428088903427124, + 0.652713418006897, + -0.5924442410469055, + -0.19928574562072754 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.09339433163404465, + 0.12058760970830917, + 0.06725699454545975 + ], + "orientation": [ + 0.42676517367362976, + 0.648592472076416, + -0.5975836515426636, + -0.20023265480995178 + ], + "joints": [ + 0.02033575251698494 + ] + }, + "final_grasp": { + "position": [ + 0.09339433163404465, + 0.12058760970830917, + 0.06725699454545975 + ], + "orientation": [ + 0.42676517367362976, + 0.648592472076416, + -0.5975836515426636, + -0.20023265480995178 + ], + "joints": [ + 0.010325726121664047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12201622128486633, + 0.03476456180214882, + -0.05369047448039055 + ], + "orientation": [ + 0.6298776865005493, + -0.37779927253723145, + -0.3943832814693451, + 0.5522531270980835 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + 0.11845297366380692, + 0.03482041507959366, + -0.05202538147568703 + ], + "orientation": [ + 0.6301010251045227, + -0.3774195909500122, + -0.39568203687667847, + 0.5513282418251038 + ], + "joints": [ + 0.020345991477370262 + ] + }, + "final_grasp": { + "position": [ + 0.11845297366380692, + 0.03482041507959366, + -0.05202538147568703 + ], + "orientation": [ + 0.6301010251045227, + -0.3774195909500122, + -0.39568203687667847, + 0.5513282418251038 + ], + "joints": [ + 0.011527134105563164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0936790406703949, + 0.07630353420972824, + -0.09246815741062164 + ], + "orientation": [ + 0.6143187284469604, + 0.35359707474708557, + 0.17673887312412262, + 0.6828945279121399 + ], + "joints": [ + 0.029396403580904007 + ] + }, + "fine_grasp": { + "position": [ + -0.0909910574555397, + 0.07602696120738983, + -0.08970550447702408 + ], + "orientation": [ + 0.6126142144203186, + 0.35240742564201355, + 0.1775929480791092, + 0.6848163604736328 + ], + "joints": [ + 0.02057754620909691 + ] + }, + "final_grasp": { + "position": [ + -0.0909910574555397, + 0.07602696120738983, + -0.08970550447702408 + ], + "orientation": [ + 0.6126142144203186, + 0.35240742564201355, + 0.1775929480791092, + 0.6848163604736328 + ], + "joints": [ + 0.01175868883728981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051395777612924576, + 0.02793305180966854, + 0.10914978384971619 + ], + "orientation": [ + 0.0808277502655983, + 0.6901686191558838, + -0.6836819052696228, + -0.22296442091464996 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.04990491271018982, + 0.028292635455727577, + 0.10565273463726044 + ], + "orientation": [ + 0.0808006078004837, + 0.6945863962173462, + -0.6793723106384277, + -0.22242820262908936 + ], + "joints": [ + 0.019940953701734543 + ] + }, + "final_grasp": { + "position": [ + 0.04990491271018982, + 0.028292635455727577, + 0.10565273463726044 + ], + "orientation": [ + 0.0808006078004837, + 0.6945863962173462, + -0.6793723106384277, + -0.22242820262908936 + ], + "joints": [ + 0.009512972086668015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06588302552700043, + 0.04344681650400162, + -0.12253260612487793 + ], + "orientation": [ + 0.6274375319480896, + 0.10613434761762619, + 0.2435065656900406, + 0.731957733631134 + ], + "joints": [ + 0.025622067973017693 + ] + }, + "fine_grasp": { + "position": [ + -0.06406246870756149, + 0.04370059072971344, + -0.11932065337896347 + ], + "orientation": [ + 0.6280106902122498, + 0.10699576884508133, + 0.24117080867290497, + 0.7321142554283142 + ], + "joints": [ + 0.017179368063807487 + ] + }, + "final_grasp": { + "position": [ + -0.06406246870756149, + 0.04370059072971344, + -0.11932065337896347 + ], + "orientation": [ + 0.6280106902122498, + 0.10699576884508133, + 0.24117080867290497, + 0.7321142554283142 + ], + "joints": [ + 0.008736668154597282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051134634763002396, + 0.02803448960185051, + 0.10869673639535904 + ], + "orientation": [ + 0.08056285977363586, + 0.6901205778121948, + -0.6838427186012268, + -0.22271588444709778 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.049631115049123764, + 0.02835434302687645, + 0.10525856912136078 + ], + "orientation": [ + 0.08069886267185211, + 0.6944522857666016, + -0.679495632648468, + -0.22250723838806152 + ], + "joints": [ + 0.019940953701734543 + ] + }, + "final_grasp": { + "position": [ + 0.049631115049123764, + 0.02835434302687645, + 0.10525856912136078 + ], + "orientation": [ + 0.08069886267185211, + 0.6944522857666016, + -0.679495632648468, + -0.22250723838806152 + ], + "joints": [ + 0.009512972086668015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09381302446126938, + 0.07624660432338715, + -0.0926995798945427 + ], + "orientation": [ + 0.6154664158821106, + 0.35354718565940857, + 0.17658159136772156, + 0.6819269061088562 + ], + "joints": [ + 0.029396403580904007 + ] + }, + "fine_grasp": { + "position": [ + -0.09113127738237381, + 0.07596499472856522, + -0.0899215042591095 + ], + "orientation": [ + 0.6137455105781555, + 0.3523522615432739, + 0.17745742201805115, + 0.6838663816452026 + ], + "joints": [ + 0.02057754620909691 + ] + }, + "final_grasp": { + "position": [ + -0.09113127738237381, + 0.07596499472856522, + -0.0899215042591095 + ], + "orientation": [ + 0.6137455105781555, + 0.3523522615432739, + 0.17745742201805115, + 0.6838663816452026 + ], + "joints": [ + 0.01175868883728981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004300406202673912, + -0.11896280944347382, + -0.02938651479780674 + ], + "orientation": [ + 0.0415353886783123, + -0.06724168360233307, + 0.6223291754722595, + 0.778755247592926 + ], + "joints": [ + 0.028701739385724068 + ] + }, + "fine_grasp": { + "position": [ + -0.004144780803471804, + -0.11519398540258408, + -0.0284030232578516 + ], + "orientation": [ + 0.043826453387737274, + -0.06502452492713928, + 0.6230595707893372, + 0.7782337069511414 + ], + "joints": [ + 0.01908876933157444 + ] + }, + "final_grasp": { + "position": [ + -0.004144780803471804, + -0.11519398540258408, + -0.0284030232578516 + ], + "orientation": [ + 0.043826453387737274, + -0.06502452492713928, + 0.6230595707893372, + 0.7782337069511414 + ], + "joints": [ + 0.009475799277424812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0726604089140892, + 0.06465743482112885, + 0.106139175593853 + ], + "orientation": [ + 0.20167623460292816, + -0.6324307322502136, + -0.715556263923645, + 0.21757163107395172 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.07032980769872665, + 0.0645059198141098, + 0.10300413519144058 + ], + "orientation": [ + 0.20478370785713196, + -0.623971164226532, + -0.7231374979019165, + 0.2139991968870163 + ], + "joints": [ + 0.020689912140369415 + ] + }, + "final_grasp": { + "position": [ + 0.07032980769872665, + 0.0645059198141098, + 0.10300413519144058 + ], + "orientation": [ + 0.20478370785713196, + -0.623971164226532, + -0.7231374979019165, + 0.2139991968870163 + ], + "joints": [ + 0.011473998427391052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11563370376825333, + 0.058521948754787445, + 0.0506342314183712 + ], + "orientation": [ + 0.39310967922210693, + -0.6286938786506653, + 0.5521868467330933, + -0.38118037581443787 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.11203022301197052, + 0.058693598955869675, + 0.049230773001909256 + ], + "orientation": [ + 0.3896646201610565, + -0.6319590210914612, + 0.5488418936729431, + -0.3841378092765808 + ], + "joints": [ + 0.020314853638410568 + ] + }, + "final_grasp": { + "position": [ + -0.11203022301197052, + 0.058693598955869675, + 0.049230773001909256 + ], + "orientation": [ + 0.3896646201610565, + -0.6319590210914612, + 0.5488418936729431, + -0.3841378092765808 + ], + "joints": [ + 0.010283928364515305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05310888960957527, + 0.08919937163591385, + 0.11701612174510956 + ], + "orientation": [ + 0.09889445453882217, + -0.7153825759887695, + -0.6635038256645203, + 0.19547513127326965 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + 0.05158047378063202, + 0.08891378343105316, + 0.11352380365133286 + ], + "orientation": [ + 0.09876596927642822, + -0.7216255068778992, + -0.6569594144821167, + 0.19469508528709412 + ], + "joints": [ + 0.020666755735874176 + ] + }, + "final_grasp": { + "position": [ + 0.05158047378063202, + 0.08891378343105316, + 0.11352380365133286 + ], + "orientation": [ + 0.09876596927642822, + -0.7216255068778992, + -0.6569594144821167, + 0.19469508528709412 + ], + "joints": [ + 0.011450842022895813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06775394827127457, + 0.060406189411878586, + -0.11017312854528427 + ], + "orientation": [ + 0.7394170165061951, + -0.20348408818244934, + 0.183664470911026, + -0.6149179935455322 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.06565146893262863, + 0.06051719933748245, + -0.10682132095098495 + ], + "orientation": [ + 0.7404165267944336, + -0.2025025486946106, + 0.18452681601047516, + -0.6137800812721252 + ], + "joints": [ + 0.02112986519932747 + ] + }, + "final_grasp": { + "position": [ + -0.06565146893262863, + 0.06051719933748245, + -0.10682132095098495 + ], + "orientation": [ + 0.7404165267944336, + -0.2025025486946106, + 0.18452681601047516, + -0.6137800812721252 + ], + "joints": [ + 0.011913951486349106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08937826752662659, + 0.05864186957478523, + -0.0894976556301117 + ], + "orientation": [ + 0.6813479065895081, + 0.2094612568616867, + -0.323914110660553, + -0.6220698356628418 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.08665135502815247, + 0.058814145624637604, + -0.08667274564504623 + ], + "orientation": [ + 0.6831356883049011, + 0.20966558158397675, + -0.32356196641921997, + -0.6202206015586853 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + 0.08665135502815247, + 0.058814145624637604, + -0.08667274564504623 + ], + "orientation": [ + 0.6831356883049011, + 0.20966558158397675, + -0.32356196641921997, + -0.6202206015586853 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08965041488409042, + 0.05867231264710426, + -0.0895824208855629 + ], + "orientation": [ + 0.681411623954773, + 0.2096399962902069, + -0.3243449628353119, + -0.6217151284217834 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.08692599833011627, + 0.058861009776592255, + -0.08675360679626465 + ], + "orientation": [ + 0.6830765008926392, + 0.2098478525876999, + -0.3240581750869751, + -0.6199650764465332 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + 0.08692599833011627, + 0.058861009776592255, + -0.08675360679626465 + ], + "orientation": [ + 0.6830765008926392, + 0.2098478525876999, + -0.3240581750869751, + -0.6199650764465332 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07262206822633743, + 0.06471528857946396, + 0.10574408620595932 + ], + "orientation": [ + 0.19994667172431946, + -0.6373926997184753, + -0.7109306454658508, + 0.21983946859836578 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.07030879706144333, + 0.06456802785396576, + 0.10258954763412476 + ], + "orientation": [ + 0.2030526101589203, + -0.6299946308135986, + -0.7175266146659851, + 0.21686890721321106 + ], + "joints": [ + 0.020689912140369415 + ] + }, + "final_grasp": { + "position": [ + 0.07030879706144333, + 0.06456802785396576, + 0.10258954763412476 + ], + "orientation": [ + 0.2030526101589203, + -0.6299946308135986, + -0.7175266146659851, + 0.21686890721321106 + ], + "joints": [ + 0.011473998427391052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10854481905698776, + 0.06729324162006378, + 0.06350430101156235 + ], + "orientation": [ + 0.32335901260375977, + -0.5530211329460144, + 0.6663903594017029, + -0.3814845085144043 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.1050647720694542, + 0.06691591441631317, + 0.061709318310022354 + ], + "orientation": [ + 0.3273451328277588, + -0.5496160387992859, + 0.6694851517677307, + -0.37756723165512085 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + -0.1050647720694542, + 0.06691591441631317, + 0.061709318310022354 + ], + "orientation": [ + 0.3273451328277588, + -0.5496160387992859, + 0.6694851517677307, + -0.37756723165512085 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10551224648952484, + -0.06029772758483887, + -0.027627592906355858 + ], + "orientation": [ + 0.3753281533718109, + 0.23215936124324799, + 0.5881933569908142, + 0.6776868104934692 + ], + "joints": [ + 0.028215473517775536 + ] + }, + "fine_grasp": { + "position": [ + -0.10210659354925156, + -0.058830369263887405, + -0.02675584703683853 + ], + "orientation": [ + 0.3795514404773712, + 0.23718875646591187, + 0.5856773257255554, + 0.6757693290710449 + ], + "joints": [ + 0.019793672487139702 + ] + }, + "final_grasp": { + "position": [ + -0.10210659354925156, + -0.058830369263887405, + -0.02675584703683853 + ], + "orientation": [ + 0.3795514404773712, + 0.23718875646591187, + 0.5856773257255554, + 0.6757693290710449 + ], + "joints": [ + 0.011371871456503868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08964817225933075, + 0.05841268599033356, + -0.08958736807107925 + ], + "orientation": [ + 0.6800545454025269, + 0.21134053170681, + -0.3230956196784973, + -0.6232738494873047 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.08690246194601059, + 0.05857829377055168, + -0.08673281967639923 + ], + "orientation": [ + 0.681827962398529, + 0.21160653233528137, + -0.32275038957595825, + -0.6214221715927124 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + 0.08690246194601059, + 0.05857829377055168, + -0.08673281967639923 + ], + "orientation": [ + 0.681827962398529, + 0.21160653233528137, + -0.32275038957595825, + -0.6214221715927124 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11445337533950806, + -0.02413320727646351, + -0.02765374444425106 + ], + "orientation": [ + 0.43812867999076843, + 0.41087251901626587, + -0.46692344546318054, + -0.6490064859390259 + ], + "joints": [ + 0.03039209172129631 + ] + }, + "fine_grasp": { + "position": [ + 0.11084482818841934, + -0.02324957773089409, + -0.026836194097995758 + ], + "orientation": [ + 0.4353405237197876, + 0.41043365001678467, + -0.4680918753147125, + -0.6503175497055054 + ], + "joints": [ + 0.019985008984804153 + ] + }, + "final_grasp": { + "position": [ + 0.11084482818841934, + -0.02324957773089409, + -0.026836194097995758 + ], + "orientation": [ + 0.4353405237197876, + 0.41043365001678467, + -0.4680918753147125, + -0.6503175497055054 + ], + "joints": [ + 0.009577926248311996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08550150692462921, + 0.1110016331076622, + -0.07980266958475113 + ], + "orientation": [ + 0.6670176386833191, + 0.38519537448883057, + -0.16529744863510132, + -0.6159454584121704 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.08287280797958374, + 0.11055009812116623, + -0.07701824605464935 + ], + "orientation": [ + 0.6645832657814026, + 0.3850242793560028, + -0.16602274775505066, + -0.6184835433959961 + ], + "joints": [ + 0.019940953701734543 + ] + }, + "final_grasp": { + "position": [ + 0.08287280797958374, + 0.11055009812116623, + -0.07701824605464935 + ], + "orientation": [ + 0.6645832657814026, + 0.3850242793560028, + -0.16602274775505066, + -0.6184835433959961 + ], + "joints": [ + 0.009512972086668015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12800449132919312, + 0.04013685882091522, + 0.008926339447498322 + ], + "orientation": [ + 0.48702529072761536, + -0.6017669439315796, + -0.415820449590683, + 0.47725921869277954 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + 0.12410899251699448, + 0.040523551404476166, + 0.008799569681286812 + ], + "orientation": [ + 0.48317694664001465, + -0.6024765968322754, + -0.41501542925834656, + 0.4809616506099701 + ], + "joints": [ + 0.020898310467600822 + ] + }, + "final_grasp": { + "position": [ + 0.12410899251699448, + 0.040523551404476166, + 0.008799569681286812 + ], + "orientation": [ + 0.48317694664001465, + -0.6024765968322754, + -0.41501542925834656, + 0.4809616506099701 + ], + "joints": [ + 0.01168239675462246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0702958032488823, + -0.07556426525115967, + 0.060663435608148575 + ], + "orientation": [ + 0.05318504944443703, + 0.4621342718601227, + 0.7235531210899353, + 0.5099747180938721 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.0681096538901329, + -0.07278093695640564, + 0.05894986540079117 + ], + "orientation": [ + 0.05625692382454872, + 0.4660113453865051, + 0.7226689457893372, + 0.5073639750480652 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + -0.0681096538901329, + -0.07278093695640564, + 0.05894986540079117 + ], + "orientation": [ + 0.05625692382454872, + 0.4660113453865051, + 0.7226689457893372, + 0.5073639750480652 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11643148213624954, + 0.042722396552562714, + -0.01834702305495739 + ], + "orientation": [ + 0.570579469203949, + -0.4680214524269104, + 0.4512311816215515, + -0.5017822980880737 + ], + "joints": [ + 0.029465872794389725 + ] + }, + "fine_grasp": { + "position": [ + -0.11264647543430328, + 0.04271512106060982, + -0.017896277830004692 + ], + "orientation": [ + 0.5749794840812683, + -0.4640946090221405, + 0.45430245995521545, + -0.4976184666156769 + ], + "joints": [ + 0.019037891179323196 + ] + }, + "final_grasp": { + "position": [ + -0.11264647543430328, + 0.04271512106060982, + -0.017896277830004692 + ], + "orientation": [ + 0.5749794840812683, + -0.4640946090221405, + 0.45430245995521545, + -0.4976184666156769 + ], + "joints": [ + 0.008609909564256668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09436564892530441, + 0.11740396171808243, + -0.1009640321135521 + ], + "orientation": [ + 0.7404094338417053, + 0.2917080521583557, + 0.22665143013000488, + 0.5615420341491699 + ], + "joints": [ + 0.027937624603509903 + ] + }, + "fine_grasp": { + "position": [ + -0.09178522229194641, + 0.11678355932235718, + -0.09841113537549973 + ], + "orientation": [ + 0.7390570640563965, + 0.2944471836090088, + 0.22946320474147797, + 0.5607513189315796 + ], + "joints": [ + 0.018282856792211533 + ] + }, + "final_grasp": { + "position": [ + -0.09178522229194641, + 0.11678355932235718, + -0.09841113537549973 + ], + "orientation": [ + 0.7390570640563965, + 0.2944471836090088, + 0.22946320474147797, + 0.5607513189315796 + ], + "joints": [ + 0.008628088980913162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03926350548863411, + 0.08823243528604507, + 0.1260477602481842 + ], + "orientation": [ + 0.15000778436660767, + 0.638654351234436, + 0.7526743412017822, + 0.0556747168302536 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + -0.038114383816719055, + 0.08790746331214905, + 0.1223580539226532 + ], + "orientation": [ + 0.14898939430713654, + 0.6273733973503113, + 0.7623327970504761, + 0.05525972694158554 + ], + "joints": [ + 0.020832257345318794 + ] + }, + "final_grasp": { + "position": [ + -0.038114383816719055, + 0.08790746331214905, + 0.1223580539226532 + ], + "orientation": [ + 0.14898939430713654, + 0.6273733973503113, + 0.7623327970504761, + 0.05525972694158554 + ], + "joints": [ + 0.012013399973511696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03433931618928909, + 0.06086099147796631, + 0.11102677136659622 + ], + "orientation": [ + 0.05475718528032303, + -0.6816479563713074, + 0.7125328779220581, + -0.15701796114444733 + ], + "joints": [ + 0.029465872794389725 + ] + }, + "fine_grasp": { + "position": [ + -0.03319297358393669, + 0.06134335324168205, + 0.10765975713729858 + ], + "orientation": [ + 0.053047843277454376, + -0.6778894066810608, + 0.7159298658370972, + -0.15841779112815857 + ], + "joints": [ + 0.019016992300748825 + ] + }, + "final_grasp": { + "position": [ + -0.03319297358393669, + 0.06134335324168205, + 0.10765975713729858 + ], + "orientation": [ + 0.053047843277454376, + -0.6778894066810608, + 0.7159298658370972, + -0.15841779112815857 + ], + "joints": [ + 0.008568111807107925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07964147627353668, + 0.06804586946964264, + 0.10365179181098938 + ], + "orientation": [ + 0.18055690824985504, + -0.7246453166007996, + 0.6085156798362732, + -0.2683226764202118 + ], + "joints": [ + 0.030322622507810593 + ] + }, + "fine_grasp": { + "position": [ + -0.07732018083333969, + 0.06787890940904617, + 0.10056348890066147 + ], + "orientation": [ + 0.17678989470005035, + -0.7355778813362122, + 0.5955159068107605, + -0.27024295926094055 + ], + "joints": [ + 0.02110670879483223 + ] + }, + "final_grasp": { + "position": [ + -0.07732018083333969, + 0.06787890940904617, + 0.10056348890066147 + ], + "orientation": [ + 0.17678989470005035, + -0.7355778813362122, + 0.5955159068107605, + -0.27024295926094055 + ], + "joints": [ + 0.011890795081853867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10213801264762878, + -0.03460541367530823, + 0.04617854952812195 + ], + "orientation": [ + 0.5039511322975159, + -0.602641761302948, + 0.575347900390625, + -0.22766371071338654 + ], + "joints": [ + 0.03039209172129631 + ] + }, + "fine_grasp": { + "position": [ + -0.09905458986759186, + -0.033336952328681946, + 0.044730499386787415 + ], + "orientation": [ + 0.5043942332267761, + -0.6021249890327454, + 0.5760705471038818, + -0.22621849179267883 + ], + "joints": [ + 0.019567053765058517 + ] + }, + "final_grasp": { + "position": [ + -0.09905458986759186, + -0.033336952328681946, + 0.044730499386787415 + ], + "orientation": [ + 0.5043942332267761, + -0.6021249890327454, + 0.5760705471038818, + -0.22621849179267883 + ], + "joints": [ + 0.008742015808820724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03423298895359039, + 0.060833483934402466, + 0.11071686446666718 + ], + "orientation": [ + 0.054816924035549164, + -0.6818141341209412, + 0.712319552898407, + -0.15724292397499084 + ], + "joints": [ + 0.029465872794389725 + ] + }, + "fine_grasp": { + "position": [ + -0.03310215845704079, + 0.061435531824827194, + 0.10742707550525665 + ], + "orientation": [ + 0.0525510348379612, + -0.6778372526168823, + 0.7159340381622314, + -0.15878742933273315 + ], + "joints": [ + 0.019016992300748825 + ] + }, + "final_grasp": { + "position": [ + -0.03310215845704079, + 0.061435531824827194, + 0.10742707550525665 + ], + "orientation": [ + 0.0525510348379612, + -0.6778372526168823, + 0.7159340381622314, + -0.15878742933273315 + ], + "joints": [ + 0.008568111807107925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12681809067726135, + 0.04735982418060303, + -0.01351325586438179 + ], + "orientation": [ + 0.48369714617729187, + -0.515269935131073, + 0.42603346705436707, + -0.5648269653320312 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.12291377037763596, + 0.047398027032613754, + -0.013082998804748058 + ], + "orientation": [ + 0.480890154838562, + -0.5172306299209595, + 0.423828125, + -0.5670862197875977 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + -0.12291377037763596, + 0.047398027032613754, + -0.013082998804748058 + ], + "orientation": [ + 0.480890154838562, + -0.5172306299209595, + 0.423828125, + -0.5670862197875977 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07480542361736298, + -0.07421500235795975, + 0.005417436361312866 + ], + "orientation": [ + 0.2723004221916199, + 0.2579811215400696, + 0.6770749092102051, + 0.633141279220581 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.07496754825115204, + -0.07170018553733826, + 0.004842300433665514 + ], + "orientation": [ + 0.2748049199581146, + 0.25977036356925964, + 0.6743665933609009, + 0.6342170238494873 + ], + "joints": [ + 0.02117392048239708 + ] + }, + "final_grasp": { + "position": [ + -0.07496754825115204, + -0.07170018553733826, + 0.004842300433665514 + ], + "orientation": [ + 0.2748049199581146, + 0.25977036356925964, + 0.6743665933609009, + 0.6342170238494873 + ], + "joints": [ + 0.011978905647993088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12404348701238632, + 0.025563005357980728, + 0.006116029340773821 + ], + "orientation": [ + 0.4757142961025238, + 0.4984966516494751, + -0.5254907011985779, + -0.49905553460121155 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.1200764998793602, + 0.025664377957582474, + 0.005916528403759003 + ], + "orientation": [ + 0.4761592447757721, + 0.498708039522171, + -0.5252694487571716, + -0.49865293502807617 + ], + "joints": [ + 0.019895799458026886 + ] + }, + "final_grasp": { + "position": [ + 0.1200764998793602, + 0.025664377957582474, + 0.005916528403759003 + ], + "orientation": [ + 0.4761592447757721, + 0.498708039522171, + -0.5252694487571716, + -0.49865293502807617 + ], + "joints": [ + 0.009885773062705994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1026546061038971, + -0.03445246070623398, + 0.046532608568668365 + ], + "orientation": [ + 0.5051742196083069, + -0.6036348342895508, + 0.5740708708763123, + -0.22553619742393494 + ], + "joints": [ + 0.03039209172129631 + ] + }, + "fine_grasp": { + "position": [ + -0.09953159838914871, + -0.033245667815208435, + 0.044981274753808975 + ], + "orientation": [ + 0.5050652623176575, + -0.6019843220710754, + 0.5763756036758423, + -0.2243107408285141 + ], + "joints": [ + 0.019964110106229782 + ] + }, + "final_grasp": { + "position": [ + -0.09953159838914871, + -0.033245667815208435, + 0.044981274753808975 + ], + "orientation": [ + 0.5050652623176575, + -0.6019843220710754, + 0.5763756036758423, + -0.2243107408285141 + ], + "joints": [ + 0.009536128491163254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07800103724002838, + 0.00795826781541109, + -0.10458387434482574 + ], + "orientation": [ + 0.7003103494644165, + 0.12397972494363785, + 0.3063045144081116, + 0.6327495574951172 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + -0.07576139271259308, + 0.008267541415989399, + -0.10142748802900314 + ], + "orientation": [ + 0.7020220160484314, + 0.12508150935173035, + 0.30493003129959106, + 0.6312982439994812 + ], + "joints": [ + 0.020600702613592148 + ] + }, + "final_grasp": { + "position": [ + -0.07576139271259308, + 0.008267541415989399, + -0.10142748802900314 + ], + "orientation": [ + 0.7020220160484314, + 0.12508150935173035, + 0.30493003129959106, + 0.6312982439994812 + ], + "joints": [ + 0.01178184524178505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07571779936552048, + 0.059120550751686096, + -0.09257591515779495 + ], + "orientation": [ + 0.7128067016601562, + -0.2760681211948395, + 0.20239987969398499, + -0.6121496558189392 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.07315053045749664, + 0.05930246412754059, + -0.08975304663181305 + ], + "orientation": [ + 0.716036856174469, + -0.2742679715156555, + 0.2042078822851181, + -0.6085782647132874 + ], + "joints": [ + 0.019543897360563278 + ] + }, + "final_grasp": { + "position": [ + -0.07315053045749664, + 0.05930246412754059, + -0.08975304663181305 + ], + "orientation": [ + 0.716036856174469, + -0.2742679715156555, + 0.2042078822851181, + -0.6085782647132874 + ], + "joints": [ + 0.008718859404325485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13200430572032928, + -0.0019087778637185693, + 0.025946538895368576 + ], + "orientation": [ + 0.5507768988609314, + -0.5558581948280334, + 0.5310177803039551, + -0.32509493827819824 + ], + "joints": [ + 0.027428193017840385 + ] + }, + "fine_grasp": { + "position": [ + -0.1283554881811142, + -0.001372140133753419, + 0.025070738047361374 + ], + "orientation": [ + 0.5492237210273743, + -0.5527504086494446, + 0.5344207286834717, + -0.3274368941783905 + ], + "joints": [ + 0.01898549310863018 + ] + }, + "final_grasp": { + "position": [ + -0.1283554881811142, + -0.001372140133753419, + 0.025070738047361374 + ], + "orientation": [ + 0.5492237210273743, + -0.5527504086494446, + 0.5344207286834717, + -0.3274368941783905 + ], + "joints": [ + 0.010542793199419975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017829184653237462, + 0.0666847974061966, + 0.1211070641875267 + ], + "orientation": [ + 0.06282446533441544, + 0.7428083419799805, + 0.6649426221847534, + -0.04626254364848137 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.0016204832354560494, + 0.06641475856304169, + 0.11739715188741684 + ], + "orientation": [ + 0.061622269451618195, + 0.7477620840072632, + 0.6595877408981323, + -0.044705912470817566 + ], + "joints": [ + 0.019961852580308914 + ] + }, + "final_grasp": { + "position": [ + -0.0016204832354560494, + 0.06641475856304169, + 0.11739715188741684 + ], + "orientation": [ + 0.061622269451618195, + 0.7477620840072632, + 0.6595877408981323, + -0.044705912470817566 + ], + "joints": [ + 0.009554769843816757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1057744100689888, + 0.051228273659944534, + -0.07127025723457336 + ], + "orientation": [ + 0.6875705122947693, + -0.2995687425136566, + -0.3616536855697632, + 0.5538157224655151 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.1025301143527031, + 0.051236577332019806, + -0.06905979663133621 + ], + "orientation": [ + 0.6892830729484558, + -0.29839998483657837, + -0.3628727197647095, + 0.5515156984329224 + ], + "joints": [ + 0.021175019443035126 + ] + }, + "final_grasp": { + "position": [ + 0.1025301143527031, + 0.051236577332019806, + -0.06905979663133621 + ], + "orientation": [ + 0.6892830729484558, + -0.29839998483657837, + -0.3628727197647095, + 0.5515156984329224 + ], + "joints": [ + 0.011541150510311127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13201245665550232, + -0.0019405216444283724, + 0.025908757001161575 + ], + "orientation": [ + 0.5505908131599426, + -0.5559964776039124, + 0.5307712554931641, + -0.32557588815689087 + ], + "joints": [ + 0.027428193017840385 + ] + }, + "fine_grasp": { + "position": [ + -0.128364697098732, + -0.0014020660892128944, + 0.02503604255616665 + ], + "orientation": [ + 0.5490594506263733, + -0.5529009103775024, + 0.5341615080833435, + -0.32788050174713135 + ], + "joints": [ + 0.01898549310863018 + ] + }, + "final_grasp": { + "position": [ + -0.128364697098732, + -0.0014020660892128944, + 0.02503604255616665 + ], + "orientation": [ + 0.5490594506263733, + -0.5529009103775024, + 0.5341615080833435, + -0.32788050174713135 + ], + "joints": [ + 0.010542793199419975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07240457832813263, + 0.030364563688635826, + -0.10468889027833939 + ], + "orientation": [ + 0.7288355827331543, + 0.13396459817886353, + 0.2743073105812073, + 0.6128683090209961 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + -0.0702454149723053, + 0.03057021088898182, + -0.1014208197593689 + ], + "orientation": [ + 0.730859100818634, + 0.13421298563480377, + 0.27352485060691833, + 0.6107503771781921 + ], + "joints": [ + 0.021175019443035126 + ] + }, + "final_grasp": { + "position": [ + -0.0702454149723053, + 0.03057021088898182, + -0.1014208197593689 + ], + "orientation": [ + 0.730859100818634, + 0.13421298563480377, + 0.27352485060691833, + 0.6107503771781921 + ], + "joints": [ + 0.011541150510311127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07773292064666748, + 0.007679087109863758, + -0.1042049378156662 + ], + "orientation": [ + 0.7005084753036499, + 0.12553086876869202, + 0.3050631880760193, + 0.632824182510376 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + -0.07541781663894653, + 0.00796556193381548, + -0.10104339569807053 + ], + "orientation": [ + 0.7022826075553894, + 0.1267089694738388, + 0.3037601709365845, + 0.6312476992607117 + ], + "joints": [ + 0.020622700452804565 + ] + }, + "final_grasp": { + "position": [ + -0.07541781663894653, + 0.00796556193381548, + -0.10104339569807053 + ], + "orientation": [ + 0.7022826075553894, + 0.1267089694738388, + 0.3037601709365845, + 0.6312476992607117 + ], + "joints": [ + 0.011385887861251831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07301852107048035, + -0.08114011585712433, + 0.0003735115460585803 + ], + "orientation": [ + 0.3454950749874115, + 0.1734398901462555, + 0.6795241236686707, + 0.6235373020172119 + ], + "joints": [ + 0.02853965386748314 + ] + }, + "fine_grasp": { + "position": [ + -0.07125003635883331, + -0.0776391252875328, + -0.0008517516544088721 + ], + "orientation": [ + 0.33439165353775024, + 0.17386658489704132, + 0.6806437969207764, + 0.6282328963279724 + ], + "joints": [ + 0.02018054947257042 + ] + }, + "final_grasp": { + "position": [ + -0.07125003635883331, + -0.0776391252875328, + -0.0008517516544088721 + ], + "orientation": [ + 0.33439165353775024, + 0.17386658489704132, + 0.6806437969207764, + 0.6282328963279724 + ], + "joints": [ + 0.0118214450776577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07769926637411118, + 0.007813122123479843, + -0.10412085056304932 + ], + "orientation": [ + 0.7009835839271545, + 0.12487519532442093, + 0.3055850565433502, + 0.6321755647659302 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + -0.0753856897354126, + 0.008098812773823738, + -0.10097261518239975 + ], + "orientation": [ + 0.7027872800827026, + 0.12606841325759888, + 0.30429843068122864, + 0.630554735660553 + ], + "joints": [ + 0.020622700452804565 + ] + }, + "final_grasp": { + "position": [ + -0.0753856897354126, + 0.008098812773823738, + -0.10097261518239975 + ], + "orientation": [ + 0.7027872800827026, + 0.12606841325759888, + 0.30429843068122864, + 0.630554735660553 + ], + "joints": [ + 0.011385887861251831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07853894680738449, + 0.04297250136733055, + -0.0981416180729866 + ], + "orientation": [ + 0.6109146475791931, + -0.2139146625995636, + -0.2570735216140747, + 0.7175910472869873 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.07604469358921051, + 0.04279221221804619, + -0.09511975944042206 + ], + "orientation": [ + 0.6097651124000549, + -0.21509243547916412, + -0.2558540105819702, + 0.7186519503593445 + ], + "joints": [ + 0.020755965262651443 + ] + }, + "final_grasp": { + "position": [ + 0.07604469358921051, + 0.04279221221804619, + -0.09511975944042206 + ], + "orientation": [ + 0.6097651124000549, + -0.21509243547916412, + -0.2558540105819702, + 0.7186519503593445 + ], + "joints": [ + 0.011142995208501816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09167241305112839, + -0.06486964970827103, + -0.05454602837562561 + ], + "orientation": [ + 0.3893183767795563, + 0.20912562310695648, + -0.49535736441612244, + -0.7478762269020081 + ], + "joints": [ + 0.03057733364403248 + ] + }, + "fine_grasp": { + "position": [ + 0.08892181515693665, + -0.06256592273712158, + -0.053032681345939636 + ], + "orientation": [ + 0.38947242498397827, + 0.20845088362693787, + -0.497374564409256, + -0.7466445565223694 + ], + "joints": [ + 0.02094346471130848 + ] + }, + "final_grasp": { + "position": [ + 0.08892181515693665, + -0.06256592273712158, + -0.053032681345939636 + ], + "orientation": [ + 0.38947242498397827, + 0.20845088362693787, + -0.497374564409256, + -0.7466445565223694 + ], + "joints": [ + 0.01130959577858448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09345505386590958, + 0.09097587317228317, + 0.0893574208021164 + ], + "orientation": [ + 0.28767332434654236, + -0.5870797634124756, + 0.7076002955436707, + -0.2681106925010681 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.09059061855077744, + 0.09086484462022781, + 0.08675221353769302 + ], + "orientation": [ + 0.2907046675682068, + -0.5796509981155396, + 0.7139533162117004, + -0.2641329765319824 + ], + "joints": [ + 0.02112986519932747 + ] + }, + "final_grasp": { + "position": [ + -0.09059061855077744, + 0.09086484462022781, + 0.08675221353769302 + ], + "orientation": [ + 0.2907046675682068, + -0.5796509981155396, + 0.7139533162117004, + -0.2641329765319824 + ], + "joints": [ + 0.011913951486349106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09336158633232117, + 0.09093159437179565, + 0.08929359167814255 + ], + "orientation": [ + 0.2877185344696045, + -0.5864418745040894, + 0.7081633806228638, + -0.2679714560508728 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.09047277271747589, + 0.09082021564245224, + 0.0867002084851265 + ], + "orientation": [ + 0.29100531339645386, + -0.578842282295227, + 0.7144855856895447, + -0.26413583755493164 + ], + "joints": [ + 0.02112986519932747 + ] + }, + "final_grasp": { + "position": [ + -0.09047277271747589, + 0.09082021564245224, + 0.0867002084851265 + ], + "orientation": [ + 0.29100531339645386, + -0.578842282295227, + 0.7144855856895447, + -0.26413583755493164 + ], + "joints": [ + 0.011913951486349106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10410593450069427, + 0.05200903117656708, + 0.07086613774299622 + ], + "orientation": [ + 0.3785530626773834, + 0.5753328204154968, + 0.6705524921417236, + 0.27577006816864014 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + -0.10089682042598724, + 0.051855020225048065, + 0.06869705021381378 + ], + "orientation": [ + 0.38050201535224915, + 0.5679823756217957, + 0.6771344542503357, + 0.27221888303756714 + ], + "joints": [ + 0.020798861980438232 + ] + }, + "final_grasp": { + "position": [ + -0.10089682042598724, + 0.051855020225048065, + 0.06869705021381378 + ], + "orientation": [ + 0.38050201535224915, + 0.5679823756217957, + 0.6771344542503357, + 0.27221888303756714 + ], + "joints": [ + 0.01078883558511734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0781194269657135, + 0.042746808379888535, + -0.09771313518285751 + ], + "orientation": [ + 0.6095095276832581, + -0.2138175368309021, + -0.25698122382164, + 0.71884685754776 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.07562392204999924, + 0.04257044941186905, + -0.0946948230266571 + ], + "orientation": [ + 0.6081910133361816, + -0.2151000052690506, + -0.255702406167984, + 0.7200362086296082 + ], + "joints": [ + 0.020755965262651443 + ] + }, + "final_grasp": { + "position": [ + 0.07562392204999924, + 0.04257044941186905, + -0.0946948230266571 + ], + "orientation": [ + 0.6081910133361816, + -0.2151000052690506, + -0.255702406167984, + 0.7200362086296082 + ], + "joints": [ + 0.011142995208501816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13941442966461182, + 0.08485696464776993, + 0.017512338235974312 + ], + "orientation": [ + 0.3743831515312195, + -0.5276601910591125, + -0.5303044319152832, + 0.5478952527046204 + ], + "joints": [ + 0.025552598759531975 + ] + }, + "fine_grasp": { + "position": [ + 0.13579082489013672, + 0.08449871838092804, + 0.016936808824539185 + ], + "orientation": [ + 0.37556228041648865, + -0.5300204157829285, + -0.5278780460357666, + 0.5471526980400085 + ], + "joints": [ + 0.016691943630576134 + ] + }, + "final_grasp": { + "position": [ + 0.13579082489013672, + 0.08449871838092804, + 0.016936808824539185 + ], + "orientation": [ + 0.37556228041648865, + -0.5300204157829285, + -0.5278780460357666, + 0.5471526980400085 + ], + "joints": [ + 0.007831288501620293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04649575799703598, + 0.007676480803638697, + -0.12983091175556183 + ], + "orientation": [ + 0.624777615070343, + 0.09975071251392365, + 0.13865453004837036, + 0.7618908882141113 + ], + "joints": [ + 0.029060665518045425 + ] + }, + "fine_grasp": { + "position": [ + -0.04498704895377159, + 0.007680357433855534, + -0.1264200359582901 + ], + "orientation": [ + 0.6235811710357666, + 0.10391275584697723, + 0.14000441133975983, + 0.7620679140090942 + ], + "joints": [ + 0.019426796585321426 + ] + }, + "final_grasp": { + "position": [ + -0.04498704895377159, + 0.007680357433855534, + -0.1264200359582901 + ], + "orientation": [ + 0.6235811710357666, + 0.10391275584697723, + 0.14000441133975983, + 0.7620679140090942 + ], + "joints": [ + 0.009792927652597427 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04638952761888504, + 0.007602679543197155, + -0.12972314655780792 + ], + "orientation": [ + 0.6248944401741028, + 0.10083220154047012, + 0.13946115970611572, + 0.7615053057670593 + ], + "joints": [ + 0.028377577662467957 + ] + }, + "fine_grasp": { + "position": [ + -0.04497259482741356, + 0.00761429825797677, + -0.12615537643432617 + ], + "orientation": [ + 0.6237887144088745, + 0.10411759465932846, + 0.14010009169578552, + 0.7618523836135864 + ], + "joints": [ + 0.019558720290660858 + ] + }, + "final_grasp": { + "position": [ + -0.04497259482741356, + 0.00761429825797677, + -0.12615537643432617 + ], + "orientation": [ + 0.6237887144088745, + 0.10411759465932846, + 0.14010009169578552, + 0.7618523836135864 + ], + "joints": [ + 0.01073986291885376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09190769493579865, + -0.06481897085905075, + -0.05460873991250992 + ], + "orientation": [ + 0.38924548029899597, + 0.20753678679466248, + -0.49652621150016785, + -0.7475816011428833 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.08915937691926956, + -0.06262350082397461, + -0.05306385084986687 + ], + "orientation": [ + 0.3897847533226013, + 0.20739564299583435, + -0.4978715777397156, + -0.746444046497345 + ], + "joints": [ + 0.02112986519932747 + ] + }, + "final_grasp": { + "position": [ + 0.08915937691926956, + -0.06262350082397461, + -0.05306385084986687 + ], + "orientation": [ + 0.3897847533226013, + 0.20739564299583435, + -0.4978715777397156, + -0.746444046497345 + ], + "joints": [ + 0.011913951486349106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05507482588291168, + -0.10012145340442657, + 0.03317985311150551 + ], + "orientation": [ + 0.6014845371246338, + -0.7633381485939026, + -0.21541838347911835, + 0.09553073346614838 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.05363676697015762, + -0.09663528949022293, + 0.03226397931575775 + ], + "orientation": [ + 0.6034451127052307, + -0.761308491230011, + -0.2174605280160904, + 0.09473338723182678 + ], + "joints": [ + 0.020755965262651443 + ] + }, + "final_grasp": { + "position": [ + 0.05363676697015762, + -0.09663528949022293, + 0.03226397931575775 + ], + "orientation": [ + 0.6034451127052307, + -0.761308491230011, + -0.2174605280160904, + 0.09473338723182678 + ], + "joints": [ + 0.011142995208501816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04637077450752258, + 0.007444604299962521, + -0.12957966327667236 + ], + "orientation": [ + 0.6249973177909851, + 0.10078225284814835, + 0.13751743733882904, + 0.7617809176445007 + ], + "joints": [ + 0.0288406889885664 + ] + }, + "fine_grasp": { + "position": [ + -0.044867511838674545, + 0.007452039513736963, + -0.12609915435314178 + ], + "orientation": [ + 0.623801052570343, + 0.10481813549995422, + 0.13887575268745422, + 0.7619704604148865 + ], + "joints": [ + 0.019603876397013664 + ] + }, + "final_grasp": { + "position": [ + -0.044867511838674545, + 0.007452039513736963, + -0.12609915435314178 + ], + "orientation": [ + 0.623801052570343, + 0.10481813549995422, + 0.13887575268745422, + 0.7619704604148865 + ], + "joints": [ + 0.01036706380546093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11275328695774078, + -0.0416002981364727, + 0.0509241558611393 + ], + "orientation": [ + 0.19857574999332428, + 0.5430015921592712, + -0.6224936842918396, + -0.5274641513824463 + ], + "joints": [ + 0.028215473517775536 + ] + }, + "fine_grasp": { + "position": [ + 0.10954362154006958, + -0.04031657427549362, + 0.04934092238545418 + ], + "orientation": [ + 0.2011200487613678, + 0.5457923412322998, + -0.6208025217056274, + -0.5256096720695496 + ], + "joints": [ + 0.019793672487139702 + ] + }, + "final_grasp": { + "position": [ + 0.10954362154006958, + -0.04031657427549362, + 0.04934092238545418 + ], + "orientation": [ + 0.2011200487613678, + 0.5457923412322998, + -0.6208025217056274, + -0.5256096720695496 + ], + "joints": [ + 0.011371871456503868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09179206937551498, + -0.06482032686471939, + -0.0545966774225235 + ], + "orientation": [ + 0.38893553614616394, + 0.20730659365653992, + -0.49656930565834045, + -0.7477781772613525 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.08903626352548599, + -0.06262926012277603, + -0.053060997277498245 + ], + "orientation": [ + 0.38951408863067627, + 0.20725196599960327, + -0.4980801045894623, + -0.7464861869812012 + ], + "joints": [ + 0.02112986519932747 + ] + }, + "final_grasp": { + "position": [ + 0.08903626352548599, + -0.06262926012277603, + -0.053060997277498245 + ], + "orientation": [ + 0.38951408863067627, + 0.20725196599960327, + -0.4980801045894623, + -0.7464861869812012 + ], + "joints": [ + 0.011913951486349106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053708162158727646, + 0.021015098318457603, + 0.11318033933639526 + ], + "orientation": [ + 0.15954150259494781, + 0.7075727581977844, + -0.671518087387085, + -0.15149469673633575 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.05200235918164253, + 0.020956730470061302, + 0.10973423719406128 + ], + "orientation": [ + 0.1585112065076828, + 0.7099705934524536, + -0.6691611409187317, + -0.15178698301315308 + ], + "joints": [ + 0.02033575251698494 + ] + }, + "final_grasp": { + "position": [ + 0.05200235918164253, + 0.020956730470061302, + 0.10973423719406128 + ], + "orientation": [ + 0.1585112065076828, + 0.7099705934524536, + -0.6691611409187317, + -0.15178698301315308 + ], + "joints": [ + 0.010325726121664047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09102728217840195, + 0.06430859118700027, + 0.08486586064100266 + ], + "orientation": [ + 0.35637736320495605, + 0.6053738594055176, + -0.6851648688316345, + -0.19252721965312958 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.08837796002626419, + 0.0639197900891304, + 0.08220652490854263 + ], + "orientation": [ + 0.3574603497982025, + 0.5953196883201599, + -0.6941125392913818, + -0.18980082869529724 + ], + "joints": [ + 0.021195918321609497 + ] + }, + "final_grasp": { + "position": [ + 0.08837796002626419, + 0.0639197900891304, + 0.08220652490854263 + ], + "orientation": [ + 0.3574603497982025, + 0.5953196883201599, + -0.6941125392913818, + -0.18980082869529724 + ], + "joints": [ + 0.01158294826745987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019215624779462814, + -0.09348352998495102, + 0.058447472751140594 + ], + "orientation": [ + 0.4685240089893341, + -0.7440721392631531, + 0.44841468334198, + 0.1605181246995926 + ], + "joints": [ + 0.03039209172129631 + ] + }, + "fine_grasp": { + "position": [ + -0.01864473521709442, + -0.09031728655099869, + 0.057034388184547424 + ], + "orientation": [ + 0.4695962965488434, + -0.7424894571304321, + 0.44694268703460693, + 0.16861532628536224 + ], + "joints": [ + 0.02119707688689232 + ] + }, + "final_grasp": { + "position": [ + -0.01864473521709442, + -0.09031728655099869, + 0.057034388184547424 + ], + "orientation": [ + 0.4695962965488434, + -0.7424894571304321, + 0.44694268703460693, + 0.16861532628536224 + ], + "joints": [ + 0.012002062052488327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10038324445486069, + 0.07260137796401978, + -0.09477703273296356 + ], + "orientation": [ + 0.743689239025116, + 0.31839150190353394, + -0.25618863105773926, + -0.5290750861167908 + ], + "joints": [ + 0.02879437431693077 + ] + }, + "fine_grasp": { + "position": [ + 0.09800543636083603, + 0.07243244349956512, + -0.09195680916309357 + ], + "orientation": [ + 0.7455344200134277, + 0.31285911798477173, + -0.25498145818710327, + -0.5303602814674377 + ], + "joints": [ + 0.01834549382328987 + ] + }, + "final_grasp": { + "position": [ + 0.09800543636083603, + 0.07243244349956512, + -0.09195680916309357 + ], + "orientation": [ + 0.7455344200134277, + 0.31285911798477173, + -0.25498145818710327, + -0.5303602814674377 + ], + "joints": [ + 0.007896613329648972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11295991390943527, + -0.0409633107483387, + 0.05116479471325874 + ], + "orientation": [ + 0.19871345162391663, + 0.5349069833755493, + -0.6288530230522156, + -0.5281395316123962 + ], + "joints": [ + 0.028215473517775536 + ] + }, + "fine_grasp": { + "position": [ + 0.109684519469738, + -0.03979366645216942, + 0.04956924915313721 + ], + "orientation": [ + 0.20463033020496368, + 0.5392841696739197, + -0.6266992092132568, + -0.5239723920822144 + ], + "joints": [ + 0.019793672487139702 + ] + }, + "final_grasp": { + "position": [ + 0.109684519469738, + -0.03979366645216942, + 0.04956924915313721 + ], + "orientation": [ + 0.20463033020496368, + 0.5392841696739197, + -0.6266992092132568, + -0.5239723920822144 + ], + "joints": [ + 0.011371871456503868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07393971085548401, + -0.0808783546090126, + 0.0005850683664903045 + ], + "orientation": [ + 0.3470916152000427, + 0.17235538363456726, + 0.6804603338241577, + 0.6219282150268555 + ], + "joints": [ + 0.028771208599209785 + ] + }, + "fine_grasp": { + "position": [ + -0.07246357202529907, + -0.07733125239610672, + -0.00042140306322835386 + ], + "orientation": [ + 0.3356694281101227, + 0.16999973356723785, + 0.6829233169555664, + 0.6261325478553772 + ], + "joints": [ + 0.01999414898455143 + ] + }, + "final_grasp": { + "position": [ + -0.07246357202529907, + -0.07733125239610672, + -0.00042140306322835386 + ], + "orientation": [ + 0.3356694281101227, + 0.16999973356723785, + 0.6829233169555664, + 0.6261325478553772 + ], + "joints": [ + 0.011217089369893074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025780782103538513, + -0.10248355567455292, + -0.026696253567934036 + ], + "orientation": [ + 0.7160494327545166, + -0.6286159753799438, + -0.13663527369499207, + -0.2710089683532715 + ], + "joints": [ + 0.029419559985399246 + ] + }, + "fine_grasp": { + "position": [ + -0.024734072387218475, + -0.09904937446117401, + -0.02569308876991272 + ], + "orientation": [ + 0.7166779637336731, + -0.6264182925224304, + -0.13024087250232697, + -0.27750712633132935 + ], + "joints": [ + 0.020224545150995255 + ] + }, + "final_grasp": { + "position": [ + -0.024734072387218475, + -0.09904937446117401, + -0.02569308876991272 + ], + "orientation": [ + 0.7166779637336731, + -0.6264182925224304, + -0.13024087250232697, + -0.27750712633132935 + ], + "joints": [ + 0.011029530316591263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025739653035998344, + -0.10250664502382278, + -0.026700641959905624 + ], + "orientation": [ + 0.7161229848861694, + -0.6284823417663574, + -0.13655470311641693, + -0.2711651027202606 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + -0.024682998657226562, + -0.09907420724630356, + -0.02567300759255886 + ], + "orientation": [ + 0.7167305946350098, + -0.6262504458427429, + -0.12999196350574493, + -0.2778662145137787 + ], + "joints": [ + 0.020247701555490494 + ] + }, + "final_grasp": { + "position": [ + -0.024682998657226562, + -0.09907420724630356, + -0.02567300759255886 + ], + "orientation": [ + 0.7167305946350098, + -0.6262504458427429, + -0.12999196350574493, + -0.2778662145137787 + ], + "joints": [ + 0.011052686721086502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019283516332507133, + -0.10617922246456146, + -0.0008185351616702974 + ], + "orientation": [ + 0.19565890729427338, + -0.012346702627837658, + 0.6949465870857239, + 0.6918196082115173 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.019029371440410614, + -0.10221140086650848, + -0.0009115191060118377 + ], + "orientation": [ + 0.18895947933197021, + -0.01939026638865471, + 0.696865975856781, + 0.6915897130966187 + ], + "joints": [ + 0.021219074726104736 + ] + }, + "final_grasp": { + "position": [ + -0.019029371440410614, + -0.10221140086650848, + -0.0009115191060118377 + ], + "orientation": [ + 0.18895947933197021, + -0.01939026638865471, + 0.696865975856781, + 0.6915897130966187 + ], + "joints": [ + 0.011606104671955109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026150401681661606, + -0.10235977917909622, + -0.026741700246930122 + ], + "orientation": [ + 0.716619074344635, + -0.6300049424171448, + -0.13587164878845215, + -0.2666270136833191 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.025110702961683273, + -0.09902912378311157, + -0.025724442675709724 + ], + "orientation": [ + 0.7174584865570068, + -0.6277613043785095, + -0.12896010279655457, + -0.27301713824272156 + ], + "joints": [ + 0.0197845920920372 + ] + }, + "final_grasp": { + "position": [ + -0.025110702961683273, + -0.09902912378311157, + -0.025724442675709724 + ], + "orientation": [ + 0.7174584865570068, + -0.6277613043785095, + -0.12896010279655457, + -0.27301713824272156 + ], + "joints": [ + 0.01058957725763321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06071918085217476, + -0.039887819439172745, + 0.0947629064321518 + ], + "orientation": [ + 0.3587581217288971, + -0.7319943904876709, + 0.5778693556785583, + -0.03929298371076584 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.05833601579070091, + -0.03891131281852722, + 0.09198019653558731 + ], + "orientation": [ + 0.3530145287513733, + -0.7342420220375061, + 0.5781164169311523, + -0.04528525471687317 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + -0.05833601579070091, + -0.03891131281852722, + 0.09198019653558731 + ], + "orientation": [ + 0.3530145287513733, + -0.7342420220375061, + 0.5781164169311523, + -0.04528525471687317 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052483007311820984, + 0.04616713896393776, + 0.11410751193761826 + ], + "orientation": [ + 0.17979556322097778, + -0.7694717645645142, + 0.5990628600120544, + -0.1292688548564911 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.0506705567240715, + 0.04644116386771202, + 0.11078741401433945 + ], + "orientation": [ + 0.17596805095672607, + -0.7776919007301331, + 0.588794469833374, + -0.13248184323310852 + ], + "joints": [ + 0.021219074726104736 + ] + }, + "final_grasp": { + "position": [ + -0.0506705567240715, + 0.04644116386771202, + 0.11078741401433945 + ], + "orientation": [ + 0.17596805095672607, + -0.7776919007301331, + 0.588794469833374, + -0.13248184323310852 + ], + "joints": [ + 0.011606104671955109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055129215121269226, + -0.09620289504528046, + 0.024422014132142067 + ], + "orientation": [ + 0.6333675384521484, + -0.6373507380485535, + 0.4288105070590973, + 0.09354815632104874 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.05352857708930969, + -0.09286365658044815, + 0.0237602386623621 + ], + "orientation": [ + 0.6316325068473816, + -0.6401108503341675, + 0.42785292863845825, + 0.0907769650220871 + ], + "joints": [ + 0.02117392048239708 + ] + }, + "final_grasp": { + "position": [ + -0.05352857708930969, + -0.09286365658044815, + 0.0237602386623621 + ], + "orientation": [ + 0.6316325068473816, + -0.6401108503341675, + 0.42785292863845825, + 0.0907769650220871 + ], + "joints": [ + 0.011978905647993088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003909244202077389, + -0.00013323166058398783, + -0.12175118178129196 + ], + "orientation": [ + 0.6637922525405884, + -0.049963805824518204, + -0.03206450119614601, + -0.7455571293830872 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.003884420497342944, + 5.650916591548594e-06, + -0.11783220618963242 + ], + "orientation": [ + 0.6610767841339111, + -0.04923654720187187, + -0.03128692880272865, + -0.7480471134185791 + ], + "joints": [ + 0.019940953701734543 + ] + }, + "final_grasp": { + "position": [ + -0.003884420497342944, + 5.650916591548594e-06, + -0.11783220618963242 + ], + "orientation": [ + 0.6610767841339111, + -0.04923654720187187, + -0.03128692880272865, + -0.7480471134185791 + ], + "joints": [ + 0.009512972086668015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09931390732526779, + -0.016335178166627884, + -0.07002837210893631 + ], + "orientation": [ + 0.7148800492286682, + -0.38862353563308716, + -0.267945259809494, + 0.5158717632293701 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.0960831269621849, + -0.015890801325440407, + -0.0678921565413475 + ], + "orientation": [ + 0.7154393792152405, + -0.3863000273704529, + -0.2718067765235901, + 0.5148201584815979 + ], + "joints": [ + 0.02077796310186386 + ] + }, + "final_grasp": { + "position": [ + 0.0960831269621849, + -0.015890801325440407, + -0.0678921565413475 + ], + "orientation": [ + 0.7154393792152405, + -0.3863000273704529, + -0.2718067765235901, + 0.5148201584815979 + ], + "joints": [ + 0.010747037827968597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02851269766688347, + -0.10263665020465851, + 0.020806774497032166 + ], + "orientation": [ + 0.5638906955718994, + -0.6063092350959778, + 0.5022463798522949, + 0.24932897090911865 + ], + "joints": [ + 0.02923431806266308 + ] + }, + "fine_grasp": { + "position": [ + -0.02763022482395172, + -0.09897195547819138, + 0.020797226577997208 + ], + "orientation": [ + 0.5686692595481873, + -0.6054949760437012, + 0.4960092008113861, + 0.2529149651527405 + ], + "joints": [ + 0.020457258448004723 + ] + }, + "final_grasp": { + "position": [ + -0.02763022482395172, + -0.09897195547819138, + 0.020797226577997208 + ], + "orientation": [ + 0.5686692595481873, + -0.6054949760437012, + 0.4960092008113861, + 0.2529149651527405 + ], + "joints": [ + 0.011680198833346367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06634126603603363, + -0.09441233426332474, + -0.018396077677607536 + ], + "orientation": [ + 0.13128922879695892, + 0.19757390022277832, + -0.62088543176651, + -0.7471472024917603 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + 0.0642504170536995, + -0.0914715826511383, + -0.017864104360342026 + ], + "orientation": [ + 0.13585443794727325, + 0.20147590339183807, + -0.6219671368598938, + -0.7443843483924866 + ], + "joints": [ + 0.02043520100414753 + ] + }, + "final_grasp": { + "position": [ + 0.0642504170536995, + -0.0914715826511383, + -0.017864104360342026 + ], + "orientation": [ + 0.13585443794727325, + 0.20147590339183807, + -0.6219671368598938, + -0.7443843483924866 + ], + "joints": [ + 0.011219287291169167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10554733127355576, + -0.049079958349466324, + -0.023163260892033577 + ], + "orientation": [ + 0.6829877495765686, + -0.5481606721878052, + -0.3274585008621216, + 0.354709267616272 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.10201501101255417, + -0.04768586903810501, + -0.02258022502064705 + ], + "orientation": [ + 0.682351291179657, + -0.5468187928199768, + -0.33020150661468506, + 0.35546135902404785 + ], + "joints": [ + 0.020755965262651443 + ] + }, + "final_grasp": { + "position": [ + 0.10201501101255417, + -0.04768586903810501, + -0.02258022502064705 + ], + "orientation": [ + 0.682351291179657, + -0.5468187928199768, + -0.33020150661468506, + 0.35546135902404785 + ], + "joints": [ + 0.011142995208501816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019208772107958794, + -0.10779643058776855, + 0.0250775758177042 + ], + "orientation": [ + 0.5075116157531738, + -0.6520552039146423, + 0.3673985004425049, + 0.42693591117858887 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + 0.018808595836162567, + -0.10417205840349197, + 0.024427099153399467 + ], + "orientation": [ + 0.5041330456733704, + -0.6531417965888977, + 0.3752884566783905, + 0.4223911464214325 + ], + "joints": [ + 0.019829746335744858 + ] + }, + "final_grasp": { + "position": [ + 0.018808595836162567, + -0.10417205840349197, + 0.024427099153399467 + ], + "orientation": [ + 0.5041330456733704, + -0.6531417965888977, + 0.3752884566783905, + 0.4223911464214325 + ], + "joints": [ + 0.01021677628159523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02149173989892006, + 0.029792431741952896, + 0.12687841057777405 + ], + "orientation": [ + 0.03302174434065819, + -0.6608220934867859, + -0.7445836663246155, + 0.08842477947473526 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + 0.020753901451826096, + 0.029583731666207314, + 0.12312943488359451 + ], + "orientation": [ + 0.034580204635858536, + -0.653916597366333, + -0.7508039474487305, + 0.08654922246932983 + ], + "joints": [ + 0.020898310467600822 + ] + }, + "final_grasp": { + "position": [ + 0.020753901451826096, + 0.029583731666207314, + 0.12312943488359451 + ], + "orientation": [ + 0.034580204635858536, + -0.653916597366333, + -0.7508039474487305, + 0.08654922246932983 + ], + "joints": [ + 0.01168239675462246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01419395487755537, + -0.09917349368333817, + 0.00912720337510109 + ], + "orientation": [ + 0.5764561295509338, + -0.6168762445449829, + -0.4545656740665436, + -0.28378167748451233 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.014224190264940262, + -0.09678763151168823, + 0.010363593697547913 + ], + "orientation": [ + 0.5791879892349243, + -0.6156278252601624, + -0.44946688413619995, + -0.28900378942489624 + ], + "joints": [ + 0.021128766238689423 + ] + }, + "final_grasp": { + "position": [ + 0.014224190264940262, + -0.09678763151168823, + 0.010363593697547913 + ], + "orientation": [ + 0.5791879892349243, + -0.6156278252601624, + -0.44946688413619995, + -0.28900378942489624 + ], + "joints": [ + 0.012351706624031067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014363856986165047, + -0.09940026700496674, + 0.009234458208084106 + ], + "orientation": [ + 0.5785736441612244, + -0.617452085018158, + -0.45221656560897827, + -0.2819674015045166 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.014343373477458954, + -0.09686790406703949, + 0.010367698036134243 + ], + "orientation": [ + 0.5807012915611267, + -0.6163336038589478, + -0.44753187894821167, + -0.28746140003204346 + ], + "joints": [ + 0.021128766238689423 + ] + }, + "final_grasp": { + "position": [ + 0.014343373477458954, + -0.09686790406703949, + 0.010367698036134243 + ], + "orientation": [ + 0.5807012915611267, + -0.6163336038589478, + -0.44753187894821167, + -0.28746140003204346 + ], + "joints": [ + 0.012351706624031067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014235589653253555, + -0.09913019090890884, + 0.009136205539107323 + ], + "orientation": [ + 0.5762913227081299, + -0.6166001558303833, + -0.45503202080726624, + -0.2839689254760742 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.014252212829887867, + -0.09677664190530777, + 0.010395960882306099 + ], + "orientation": [ + 0.578964114189148, + -0.6153587698936462, + -0.4499480724334717, + -0.2892765998840332 + ], + "joints": [ + 0.021128766238689423 + ] + }, + "final_grasp": { + "position": [ + 0.014252212829887867, + -0.09677664190530777, + 0.010395960882306099 + ], + "orientation": [ + 0.578964114189148, + -0.6153587698936462, + -0.4499480724334717, + -0.2892765998840332 + ], + "joints": [ + 0.012351706624031067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02155723050236702, + 0.029860414564609528, + 0.12690071761608124 + ], + "orientation": [ + 0.03334444388747215, + -0.6599768400192261, + -0.7453117370605469, + 0.08848116546869278 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + 0.020998919382691383, + 0.0296498853713274, + 0.12311936914920807 + ], + "orientation": [ + 0.0354134626686573, + -0.6527986526489258, + -0.7516819834709167, + 0.08702905476093292 + ], + "joints": [ + 0.020898310467600822 + ] + }, + "final_grasp": { + "position": [ + 0.020998919382691383, + 0.0296498853713274, + 0.12311936914920807 + ], + "orientation": [ + 0.0354134626686573, + -0.6527986526489258, + -0.7516819834709167, + 0.08702905476093292 + ], + "joints": [ + 0.01168239675462246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0216414425522089, + 0.02974359132349491, + 0.12680640816688538 + ], + "orientation": [ + 0.03235556557774544, + -0.660344123840332, + -0.744901716709137, + 0.08955501765012741 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.02087426371872425, + 0.029535086825489998, + 0.12304342538118362 + ], + "orientation": [ + 0.034381136298179626, + -0.6536570191383362, + -0.7508828043937683, + 0.08789543807506561 + ], + "joints": [ + 0.02110786736011505 + ] + }, + "final_grasp": { + "position": [ + 0.02087426371872425, + 0.029535086825489998, + 0.12304342538118362 + ], + "orientation": [ + 0.034381136298179626, + -0.6536570191383362, + -0.7508828043937683, + 0.08789543807506561 + ], + "joints": [ + 0.012309908866882324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0463416613638401, + 0.02688024379312992, + 0.11142078042030334 + ], + "orientation": [ + 0.1563691347837448, + 0.6725636720657349, + 0.7133688926696777, + 0.11963118612766266 + ], + "joints": [ + 0.029928982257843018 + ] + }, + "fine_grasp": { + "position": [ + -0.044795770198106766, + 0.026812003925442696, + 0.10791941732168198 + ], + "orientation": [ + 0.15700015425682068, + 0.6649588346481323, + 0.7206810712814331, + 0.11747165769338608 + ], + "joints": [ + 0.01952189952135086 + ] + }, + "final_grasp": { + "position": [ + -0.044795770198106766, + 0.026812003925442696, + 0.10791941732168198 + ], + "orientation": [ + 0.15700015425682068, + 0.6649588346481323, + 0.7206810712814331, + 0.11747165769338608 + ], + "joints": [ + 0.009114816784858704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05686679109930992, + -0.09425041824579239, + 0.0006688795983791351 + ], + "orientation": [ + 0.09190603345632553, + -0.3798797130584717, + -0.5898675918579102, + -0.7066123485565186 + ], + "joints": [ + 0.031318310648202896 + ] + }, + "fine_grasp": { + "position": [ + -0.054963599890470505, + -0.09134673327207565, + 0.0008310728007927537 + ], + "orientation": [ + 0.08900825679302216, + -0.38096609711647034, + -0.5933228135108948, + -0.7034986615180969 + ], + "joints": [ + 0.022123295813798904 + ] + }, + "final_grasp": { + "position": [ + -0.054963599890470505, + -0.09134673327207565, + 0.0008310728007927537 + ], + "orientation": [ + 0.08900825679302216, + -0.38096609711647034, + -0.5933228135108948, + -0.7034986615180969 + ], + "joints": [ + 0.012928280979394913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09031977504491806, + -0.0783705785870552, + -0.02568819373846054 + ], + "orientation": [ + 0.7514244318008423, + -0.566155195236206, + -0.27522188425064087, + 0.19769315421581268 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + 0.08767572790384293, + -0.07597272098064423, + -0.02492949180305004 + ], + "orientation": [ + 0.7479516863822937, + -0.5673848986625671, + -0.2791294455528259, + 0.20181521773338318 + ], + "joints": [ + 0.02043520100414753 + ] + }, + "final_grasp": { + "position": [ + 0.08767572790384293, + -0.07597272098064423, + -0.02492949180305004 + ], + "orientation": [ + 0.7479516863822937, + -0.5673848986625671, + -0.2791294455528259, + 0.20181521773338318 + ], + "joints": [ + 0.011219287291169167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01448356918990612, + -0.09921659529209137, + 0.0091322623193264 + ], + "orientation": [ + 0.5769292712211609, + -0.6162565350532532, + -0.45528644323349, + -0.28301000595092773 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + 0.014452723786234856, + -0.09677065163850784, + 0.010370388627052307 + ], + "orientation": [ + 0.5795993208885193, + -0.6150833964347839, + -0.45003774762153625, + -0.28844937682151794 + ], + "joints": [ + 0.021128766238689423 + ] + }, + "final_grasp": { + "position": [ + 0.014452723786234856, + -0.09677065163850784, + 0.010370388627052307 + ], + "orientation": [ + 0.5795993208885193, + -0.6150833964347839, + -0.45003774762153625, + -0.28844937682151794 + ], + "joints": [ + 0.012351706624031067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01934446580708027, + -0.10477747768163681, + -0.00746137835085392 + ], + "orientation": [ + 0.060973480343818665, + 0.003779887454584241, + 0.6875661611557007, + 0.7235473990440369 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + -0.018409142270684242, + -0.1008189395070076, + -0.007334502879530191 + ], + "orientation": [ + 0.06714890152215958, + 0.008586370386183262, + 0.6862318515777588, + 0.7242259383201599 + ], + "joints": [ + 0.020897211506962776 + ] + }, + "final_grasp": { + "position": [ + -0.018409142270684242, + -0.1008189395070076, + -0.007334502879530191 + ], + "orientation": [ + 0.06714890152215958, + 0.008586370386183262, + 0.6862318515777588, + 0.7242259383201599 + ], + "joints": [ + 0.01212015189230442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0191653985530138, + -0.10515062510967255, + -0.007631859742105007 + ], + "orientation": [ + 0.060798197984695435, + 0.002783815609291196, + 0.68753582239151, + 0.7235954999923706 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + -0.01823464222252369, + -0.10118980705738068, + -0.00744308065623045 + ], + "orientation": [ + 0.0664471685886383, + 0.007477572653442621, + 0.6859379410743713, + 0.7245813012123108 + ], + "joints": [ + 0.02066565677523613 + ] + }, + "final_grasp": { + "position": [ + -0.01823464222252369, + -0.10118980705738068, + -0.00744308065623045 + ], + "orientation": [ + 0.0664471685886383, + 0.007477572653442621, + 0.6859379410743713, + 0.7245813012123108 + ], + "joints": [ + 0.011888597160577774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01918463595211506, + -0.10469544678926468, + -0.007611686363816261 + ], + "orientation": [ + 0.0627288818359375, + 0.002878140890970826, + 0.6873088479042053, + 0.7236458659172058 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.018315277993679047, + -0.1007465198636055, + -0.007469812873750925 + ], + "orientation": [ + 0.06844647973775864, + 0.007463256828486919, + 0.6858394742012024, + 0.7244884371757507 + ], + "joints": [ + 0.020687654614448547 + ] + }, + "final_grasp": { + "position": [ + -0.018315277993679047, + -0.1007465198636055, + -0.007469812873750925 + ], + "orientation": [ + 0.06844647973775864, + 0.007463256828486919, + 0.6858394742012024, + 0.7244884371757507 + ], + "joints": [ + 0.011492639780044556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03531251102685928, + -0.10208635032176971, + 0.014675622805953026 + ], + "orientation": [ + 0.6630369424819946, + -0.7405189871788025, + 0.09407823532819748, + -0.056239012628793716 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.03426368907094002, + -0.09901262819766998, + 0.014575798995792866 + ], + "orientation": [ + 0.6605691909790039, + -0.74107825756073, + 0.10313730686903, + -0.0617574118077755 + ], + "joints": [ + 0.02085205726325512 + ] + }, + "final_grasp": { + "position": [ + -0.03426368907094002, + -0.09901262819766998, + 0.014575798995792866 + ], + "orientation": [ + 0.6605691909790039, + -0.74107825756073, + 0.10313730686903, + -0.0617574118077755 + ], + "joints": [ + 0.0124929528683424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025047941133379936, + -0.10157705843448639, + -0.0332145169377327 + ], + "orientation": [ + 0.15624183416366577, + -0.06652909517288208, + 0.6176506876945496, + 0.767899751663208 + ], + "joints": [ + 0.0278449896723032 + ] + }, + "fine_grasp": { + "position": [ + -0.023812290281057358, + -0.09878841787576675, + -0.03217411786317825 + ], + "orientation": [ + 0.16333480179309845, + -0.061417192220687866, + 0.6177192330360413, + 0.7667936086654663 + ], + "joints": [ + 0.018629075959324837 + ] + }, + "final_grasp": { + "position": [ + -0.023812290281057358, + -0.09878841787576675, + -0.03217411786317825 + ], + "orientation": [ + 0.16333480179309845, + -0.061417192220687866, + 0.6177192330360413, + 0.7667936086654663 + ], + "joints": [ + 0.009413162246346474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025425758212804794, + -0.1013539731502533, + -0.032987359911203384 + ], + "orientation": [ + 0.15821318328380585, + -0.06762707978487015, + 0.6185356378555298, + 0.7666868567466736 + ], + "joints": [ + 0.0278449896723032 + ] + }, + "fine_grasp": { + "position": [ + -0.024319736286997795, + -0.09865042567253113, + -0.03190913423895836 + ], + "orientation": [ + 0.16592109203338623, + -0.06246691569685936, + 0.618634819984436, + 0.7654141783714294 + ], + "joints": [ + 0.018629075959324837 + ] + }, + "final_grasp": { + "position": [ + -0.024319736286997795, + -0.09865042567253113, + -0.03190913423895836 + ], + "orientation": [ + 0.16592109203338623, + -0.06246691569685936, + 0.618634819984436, + 0.7654141783714294 + ], + "joints": [ + 0.009413162246346474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019122272729873657, + -0.10473550856113434, + -0.007656719069927931 + ], + "orientation": [ + 0.06295380741357803, + 0.0019350488437339664, + 0.6873089671134949, + 0.7236294150352478 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.018244579434394836, + -0.10079015791416168, + -0.007499147206544876 + ], + "orientation": [ + 0.06835297495126724, + 0.006960563361644745, + 0.6857725977897644, + 0.7245656847953796 + ], + "joints": [ + 0.020687654614448547 + ] + }, + "final_grasp": { + "position": [ + -0.018244579434394836, + -0.10079015791416168, + -0.007499147206544876 + ], + "orientation": [ + 0.06835297495126724, + 0.006960563361644745, + 0.6857725977897644, + 0.7245656847953796 + ], + "joints": [ + 0.011492639780044556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019214138388633728, + -0.10485422611236572, + -0.007645990699529648 + ], + "orientation": [ + 0.06296617537736893, + 0.004631044343113899, + 0.6871475577354431, + 0.7237693071365356 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.018405485898256302, + -0.10089827328920364, + -0.007486507762223482 + ], + "orientation": [ + 0.06794853508472443, + 0.008889559656381607, + 0.6857046484947205, + 0.7246469259262085 + ], + "joints": [ + 0.020687654614448547 + ] + }, + "final_grasp": { + "position": [ + -0.018405485898256302, + -0.10089827328920364, + -0.007486507762223482 + ], + "orientation": [ + 0.06794853508472443, + 0.008889559656381607, + 0.6857046484947205, + 0.7246469259262085 + ], + "joints": [ + 0.011492639780044556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09048838913440704, + -0.07838249951601028, + -0.025644509121775627 + ], + "orientation": [ + 0.7520716190338135, + -0.5663647055625916, + -0.2747841775417328, + 0.19522574543952942 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + 0.0877266377210617, + -0.07602924853563309, + -0.024875154718756676 + ], + "orientation": [ + 0.7484890222549438, + -0.5670087933540344, + -0.27967557311058044, + 0.20011672377586365 + ], + "joints": [ + 0.02043520100414753 + ] + }, + "final_grasp": { + "position": [ + 0.0877266377210617, + -0.07602924853563309, + -0.024875154718756676 + ], + "orientation": [ + 0.7484890222549438, + -0.5670087933540344, + -0.27967557311058044, + 0.20011672377586365 + ], + "joints": [ + 0.011219287291169167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09061353653669357, + -0.07808782160282135, + -0.0254116989672184 + ], + "orientation": [ + 0.7515302896499634, + -0.5701113343238831, + -0.26855021715164185, + 0.19507941603660583 + ], + "joints": [ + 0.0291880052536726 + ] + }, + "fine_grasp": { + "position": [ + 0.08779018372297287, + -0.07595289498567581, + -0.024624766781926155 + ], + "orientation": [ + 0.7471055388450623, + -0.5704013705253601, + -0.2752193808555603, + 0.20181679725646973 + ], + "joints": [ + 0.0203691478818655 + ] + }, + "final_grasp": { + "position": [ + 0.08779018372297287, + -0.07595289498567581, + -0.024624766781926155 + ], + "orientation": [ + 0.7471055388450623, + -0.5704013705253601, + -0.2752193808555603, + 0.20181679725646973 + ], + "joints": [ + 0.011550290510058403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008820061571896076, + -0.10401389747858047, + 0.024738691747188568 + ], + "orientation": [ + 0.07253068685531616, + -0.12470607459545135, + 0.7753930687904358, + 0.6147790551185608 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + -0.008526802994310856, + -0.10068890452384949, + 0.024052754044532776 + ], + "orientation": [ + 0.08017952740192413, + -0.11286137253046036, + 0.7752116322517395, + 0.6163444519042969 + ], + "joints": [ + 0.019925838336348534 + ] + }, + "final_grasp": { + "position": [ + -0.008526802994310856, + -0.10068890452384949, + 0.024052754044532776 + ], + "orientation": [ + 0.08017952740192413, + -0.11286137253046036, + 0.7752116322517395, + 0.6163444519042969 + ], + "joints": [ + 0.011566733941435814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02543429657816887, + -0.10165467858314514, + -0.03310656547546387 + ], + "orientation": [ + 0.15722298622131348, + -0.06738954037427902, + 0.6183660626411438, + 0.7670482993125916 + ], + "joints": [ + 0.027613434940576553 + ] + }, + "fine_grasp": { + "position": [ + -0.02423294074833393, + -0.09876179695129395, + -0.03197886794805527 + ], + "orientation": [ + 0.16506636142730713, + -0.06175429746508598, + 0.6184602379798889, + 0.7657979726791382 + ], + "joints": [ + 0.01841842010617256 + ] + }, + "final_grasp": { + "position": [ + -0.02423294074833393, + -0.09876179695129395, + -0.03197886794805527 + ], + "orientation": [ + 0.16506636142730713, + -0.06175429746508598, + 0.6184602379798889, + 0.7657979726791382 + ], + "joints": [ + 0.00922340527176857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013994304463267326, + -0.10345995426177979, + 0.02821132354438305 + ], + "orientation": [ + 0.6196461319923401, + -0.7499366402626038, + 0.1982019990682602, + 0.11979042738676071 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + -0.013349373824894428, + -0.10026843100786209, + 0.028112463653087616 + ], + "orientation": [ + 0.6159942746162415, + -0.7520553469657898, + 0.20374789834022522, + 0.11597627401351929 + ], + "joints": [ + 0.02115076407790184 + ] + }, + "final_grasp": { + "position": [ + -0.013349373824894428, + -0.10026843100786209, + 0.028112463653087616 + ], + "orientation": [ + 0.6159942746162415, + -0.7520553469657898, + 0.20374789834022522, + 0.11597627401351929 + ], + "joints": [ + 0.011955749243497849 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11351538449525833, + 0.1439436972141266, + 0.006253782194107771 + ], + "orientation": [ + 0.5790939927101135, + 0.5051267743110657, + -0.5258455872535706, + -0.36466920375823975 + ], + "joints": [ + 0.02502579800784588 + ] + }, + "fine_grasp": { + "position": [ + 0.10989847779273987, + 0.1430862545967102, + 0.0061043319292366505 + ], + "orientation": [ + 0.5767638087272644, + 0.5089210867881775, + -0.5201546549797058, + -0.37118998169898987 + ], + "joints": [ + 0.014576917514204979 + ] + }, + "final_grasp": { + "position": [ + 0.10989847779273987, + 0.1430862545967102, + 0.0061043319292366505 + ], + "orientation": [ + 0.5767638087272644, + 0.5089210867881775, + -0.5201546549797058, + -0.37118998169898987 + ], + "joints": [ + 0.004128037020564079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010588845238089561, + -0.10358890146017075, + 0.025357156991958618 + ], + "orientation": [ + 0.6311013698577881, + -0.7552530765533447, + 0.14029669761657715, + 0.10779909789562225 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + -0.010056807659566402, + -0.10028725117444992, + 0.025030210614204407 + ], + "orientation": [ + 0.6277018189430237, + -0.7576426863670349, + 0.14719520509243011, + 0.1014970913529396 + ], + "joints": [ + 0.021128766238689423 + ] + }, + "final_grasp": { + "position": [ + -0.010056807659566402, + -0.10028725117444992, + 0.025030210614204407 + ], + "orientation": [ + 0.6277018189430237, + -0.7576426863670349, + 0.14719520509243011, + 0.1014970913529396 + ], + "joints": [ + 0.012351706624031067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01377853937447071, + -0.0650286003947258, + 0.08968930691480637 + ], + "orientation": [ + 0.3218994140625, + -0.7105797529220581, + -0.5955337285995483, + -0.1918250471353531 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + 0.012882018461823463, + -0.06348977982997894, + 0.08670270442962646 + ], + "orientation": [ + 0.3192897439002991, + -0.7099640369415283, + -0.597723662853241, + -0.1916552186012268 + ], + "joints": [ + 0.02035890892148018 + ] + }, + "final_grasp": { + "position": [ + 0.012882018461823463, + -0.06348977982997894, + 0.08670270442962646 + ], + "orientation": [ + 0.3192897439002991, + -0.7099640369415283, + -0.597723662853241, + -0.1916552186012268 + ], + "joints": [ + 0.010348882526159286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10787898302078247, + 0.1401427835226059, + -0.006431385409086943 + ], + "orientation": [ + 0.41520956158638, + -0.4911642074584961, + -0.4805666208267212, + 0.5961664319038391 + ], + "joints": [ + 0.024022500962018967 + ] + }, + "fine_grasp": { + "position": [ + 0.10547884553670883, + 0.13976982235908508, + -0.0060285660438239574 + ], + "orientation": [ + 0.4119768738746643, + -0.48963871598243713, + -0.48208993673324585, + 0.598429799079895 + ], + "joints": [ + 0.014848385006189346 + ] + }, + "final_grasp": { + "position": [ + 0.10547884553670883, + 0.13976982235908508, + -0.0060285660438239574 + ], + "orientation": [ + 0.4119768738746643, + -0.48963871598243713, + -0.48208993673324585, + 0.598429799079895 + ], + "joints": [ + 0.005674269050359726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03491641953587532, + -0.086336649954319, + 0.04596710577607155 + ], + "orientation": [ + 0.1250542402267456, + -0.385923832654953, + 0.722148060798645, + 0.5602914094924927 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.03326728194952011, + -0.08440637588500977, + 0.04475414380431175 + ], + "orientation": [ + 0.12120672315359116, + -0.38976508378982544, + 0.7235604524612427, + 0.5566439032554626 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + 0.03326728194952011, + -0.08440637588500977, + 0.04475414380431175 + ], + "orientation": [ + 0.12120672315359116, + -0.38976508378982544, + 0.7235604524612427, + 0.5566439032554626 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011069932021200657, + -0.10195033252239227, + 0.02562902309000492 + ], + "orientation": [ + 0.6286198496818542, + -0.7556958794593811, + 0.1469285488128662, + 0.11033016443252563 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.010439353995025158, + -0.09899868071079254, + 0.025168538093566895 + ], + "orientation": [ + 0.6259241104125977, + -0.7573952674865723, + 0.15468335151672363, + 0.10317279398441315 + ], + "joints": [ + 0.021778276190161705 + ] + }, + "final_grasp": { + "position": [ + -0.010439353995025158, + -0.09899868071079254, + 0.025168538093566895 + ], + "orientation": [ + 0.6259241104125977, + -0.7573952674865723, + 0.15468335151672363, + 0.10317279398441315 + ], + "joints": [ + 0.013419171795248985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1269485205411911, + 0.07841908931732178, + 0.026598675176501274 + ], + "orientation": [ + 0.4832589626312256, + 0.440929651260376, + -0.6394315361976624, + -0.40394195914268494 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.12310102581977844, + 0.07840918749570847, + 0.025909150019288063 + ], + "orientation": [ + 0.4884008467197418, + 0.4390523135662079, + -0.6405176520347595, + -0.398038774728775 + ], + "joints": [ + 0.02159297466278076 + ] + }, + "final_grasp": { + "position": [ + 0.12310102581977844, + 0.07840918749570847, + 0.025909150019288063 + ], + "orientation": [ + 0.4884008467197418, + 0.4390523135662079, + -0.6405176520347595, + -0.398038774728775 + ], + "joints": [ + 0.012377060949802399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11368904262781143, + 0.1436818391084671, + 0.0060480874963104725 + ], + "orientation": [ + 0.58136385679245, + 0.505772054195404, + -0.5247634053230286, + -0.3617098033428192 + ], + "joints": [ + 0.025459187105298042 + ] + }, + "fine_grasp": { + "position": [ + 0.1100473701953888, + 0.1428457647562027, + 0.005886812228709459 + ], + "orientation": [ + 0.5817057490348816, + 0.508144736289978, + -0.5207425951957703, + -0.36364057660102844 + ], + "joints": [ + 0.015010306611657143 + ] + }, + "final_grasp": { + "position": [ + 0.1100473701953888, + 0.1428457647562027, + 0.005886812228709459 + ], + "orientation": [ + 0.5817057490348816, + 0.508144736289978, + -0.5207425951957703, + -0.36364057660102844 + ], + "joints": [ + 0.004561426118016243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03477020934224129, + -0.08652283251285553, + 0.04588104411959648 + ], + "orientation": [ + 0.12547141313552856, + -0.3840814530849457, + 0.7225609421730042, + 0.5609314441680908 + ], + "joints": [ + 0.030345778912305832 + ] + }, + "fine_grasp": { + "position": [ + 0.03312484547495842, + -0.08458717912435532, + 0.0447336807847023 + ], + "orientation": [ + 0.12182839959859848, + -0.38898101449012756, + 0.723956823348999, + 0.5565412044525146 + ], + "joints": [ + 0.020732808858156204 + ] + }, + "final_grasp": { + "position": [ + 0.03312484547495842, + -0.08458717912435532, + 0.0447336807847023 + ], + "orientation": [ + 0.12182839959859848, + -0.38898101449012756, + 0.723956823348999, + 0.5565412044525146 + ], + "joints": [ + 0.011119838804006577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04934665188193321, + -0.09274972230195999, + -0.004114829003810883 + ], + "orientation": [ + 0.36148005723953247, + -0.11951780319213867, + 0.6991093158721924, + 0.605222225189209 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.048121314495801926, + -0.0902150496840477, + -0.0035088073927909136 + ], + "orientation": [ + 0.36768609285354614, + -0.11168117076158524, + 0.6971045136451721, + 0.6052929162979126 + ], + "joints": [ + 0.023002099245786667 + ] + }, + "final_grasp": { + "position": [ + -0.048121314495801926, + -0.0902150496840477, + -0.0035088073927909136 + ], + "orientation": [ + 0.36768609285354614, + -0.11168117076158524, + 0.6971045136451721, + 0.6052929162979126 + ], + "joints": [ + 0.014245938509702682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0495622344315052, + -0.09215648472309113, + -0.004705963656306267 + ], + "orientation": [ + 0.359906405210495, + -0.12185457348823547, + 0.6992123126983643, + 0.605574905872345 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.04833824932575226, + -0.08978646248579025, + -0.004058667924255133 + ], + "orientation": [ + 0.3668595254421234, + -0.11428821086883545, + 0.6967108845710754, + 0.605760931968689 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + -0.04833824932575226, + -0.08978646248579025, + -0.004058667924255133 + ], + "orientation": [ + 0.3668595254421234, + -0.11428821086883545, + 0.6967108845710754, + 0.605760931968689 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04288053885102272, + -0.05130709707736969, + -0.09206795692443848 + ], + "orientation": [ + 0.7755696773529053, + -0.3672821521759033, + -0.025857597589492798, + -0.5127639770507812 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + -0.04143041372299194, + -0.050252486020326614, + -0.08910471200942993 + ], + "orientation": [ + 0.7769762873649597, + -0.36442357301712036, + -0.01986953429877758, + -0.5129411220550537 + ], + "joints": [ + 0.021239973604679108 + ] + }, + "final_grasp": { + "position": [ + -0.04143041372299194, + -0.050252486020326614, + -0.08910471200942993 + ], + "orientation": [ + 0.7769762873649597, + -0.36442357301712036, + -0.01986953429877758, + -0.5129411220550537 + ], + "joints": [ + 0.011647902429103851 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012671566801145673, + -0.10462068021297455, + 0.02380124293267727 + ], + "orientation": [ + 0.6285213232040405, + -0.7708919644355774, + -0.10235729068517685, + -0.014478437602519989 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + 0.001364032388664782, + -0.10138911753892899, + 0.023179909214377403 + ], + "orientation": [ + 0.6274400353431702, + -0.7724857926368713, + -0.09511598199605942, + -0.02318696305155754 + ], + "joints": [ + 0.021017558872699738 + ] + }, + "final_grasp": { + "position": [ + 0.001364032388664782, + -0.10138911753892899, + 0.023179909214377403 + ], + "orientation": [ + 0.6274400353431702, + -0.7724857926368713, + -0.09511598199605942, + -0.02318696305155754 + ], + "joints": [ + 0.013055510818958282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010788992047309875, + -0.09988799691200256, + 0.02767966128885746 + ], + "orientation": [ + 0.6215193271636963, + -0.7636460661888123, + 0.14087776839733124, + 0.10349825769662857 + ], + "joints": [ + 0.03124884143471718 + ] + }, + "fine_grasp": { + "position": [ + -0.010332685895264149, + -0.09701108932495117, + 0.027317728847265244 + ], + "orientation": [ + 0.6189127564430237, + -0.7651088833808899, + 0.14837303757667542, + 0.09767668694257736 + ], + "joints": [ + 0.022053826600313187 + ] + }, + "final_grasp": { + "position": [ + -0.010332685895264149, + -0.09701108932495117, + 0.027317728847265244 + ], + "orientation": [ + 0.6189127564430237, + -0.7651088833808899, + 0.14837303757667542, + 0.09767668694257736 + ], + "joints": [ + 0.012858811765909195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05333884060382843, + -0.09207727015018463, + 0.020112359896302223 + ], + "orientation": [ + 0.6106375455856323, + -0.7689115405082703, + 0.03768497332930565, + -0.18567930161952972 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + -0.051701802760362625, + -0.08980210870504379, + 0.019961057230830193 + ], + "orientation": [ + 0.609283983707428, + -0.7669557929039001, + 0.046693913638591766, + -0.19588637351989746 + ], + "joints": [ + 0.021778276190161705 + ] + }, + "final_grasp": { + "position": [ + -0.051701802760362625, + -0.08980210870504379, + 0.019961057230830193 + ], + "orientation": [ + 0.609283983707428, + -0.7669557929039001, + 0.046693913638591766, + -0.19588637351989746 + ], + "joints": [ + 0.013419171795248985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057097237557172775, + -0.08554287999868393, + 0.015370768494904041 + ], + "orientation": [ + 0.6200426816940308, + -0.7378925681114197, + 0.1472654491662979, + -0.2222040593624115 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.055981844663619995, + -0.08323065936565399, + 0.014300912618637085 + ], + "orientation": [ + 0.6217740178108215, + -0.7359563708305359, + 0.15131422877311707, + -0.22106407582759857 + ], + "joints": [ + 0.02176913246512413 + ] + }, + "final_grasp": { + "position": [ + -0.055981844663619995, + -0.08323065936565399, + 0.014300912618637085 + ], + "orientation": [ + 0.6217740178108215, + -0.7359563708305359, + 0.15131422877311707, + -0.22106407582759857 + ], + "joints": [ + 0.01178000494837761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08914536237716675, + 0.1467718780040741, + -0.07776664197444916 + ], + "orientation": [ + 0.7609260678291321, + 0.389175683259964, + -0.22400319576263428, + -0.4683547914028168 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + 0.08620519936084747, + 0.14545530080795288, + -0.07562597095966339 + ], + "orientation": [ + 0.7619311213493347, + 0.3896186053752899, + -0.2246442288160324, + -0.4660399556159973 + ], + "joints": [ + 0.019343480467796326 + ] + }, + "final_grasp": { + "position": [ + 0.08620519936084747, + 0.14545530080795288, + -0.07562597095966339 + ], + "orientation": [ + 0.7619311213493347, + 0.3896186053752899, + -0.2246442288160324, + -0.4660399556159973 + ], + "joints": [ + 0.009730510413646698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0905086025595665, + -0.046259455382823944, + 0.060770969837903976 + ], + "orientation": [ + 0.18769779801368713, + 0.39730313420295715, + 0.7567379474639893, + 0.4840117394924164 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.08731085807085037, + -0.04496560990810394, + 0.05946514755487442 + ], + "orientation": [ + 0.19628699123859406, + 0.3995468318462372, + 0.7576302886009216, + 0.4773155748844147 + ], + "joints": [ + 0.021084710955619812 + ] + }, + "final_grasp": { + "position": [ + -0.08731085807085037, + -0.04496560990810394, + 0.05946514755487442 + ], + "orientation": [ + 0.19628699123859406, + 0.3995468318462372, + 0.7576302886009216, + 0.4773155748844147 + ], + "joints": [ + 0.012286752462387085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09051497280597687, + -0.04617898911237717, + 0.06077350303530693 + ], + "orientation": [ + 0.1880171298980713, + 0.39700543880462646, + 0.7569261193275452, + 0.48383772373199463 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.08728218823671341, + -0.04486114904284477, + 0.05945538729429245 + ], + "orientation": [ + 0.19673128426074982, + 0.3992363214492798, + 0.7577648162841797, + 0.4771789312362671 + ], + "joints": [ + 0.021084710955619812 + ] + }, + "final_grasp": { + "position": [ + -0.08728218823671341, + -0.04486114904284477, + 0.05945538729429245 + ], + "orientation": [ + 0.19673128426074982, + 0.3992363214492798, + 0.7577648162841797, + 0.4771789312362671 + ], + "joints": [ + 0.012286752462387085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01001285295933485, + 0.03533691167831421, + -0.1331143081188202 + ], + "orientation": [ + 0.7060749530792236, + 0.030516663566231728, + -0.037135716527700424, + 0.7065039873123169 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.007138675544410944, + 0.035299286246299744, + -0.1298174411058426 + ], + "orientation": [ + 0.7053422331809998, + 0.047991588711738586, + -0.017530405893921852, + 0.7070232033729553 + ], + "joints": [ + 0.021834421902894974 + ] + }, + "final_grasp": { + "position": [ + -0.007138675544410944, + 0.035299286246299744, + -0.1298174411058426 + ], + "orientation": [ + 0.7053422331809998, + 0.047991588711738586, + -0.017530405893921852, + 0.7070232033729553 + ], + "joints": [ + 0.008668843656778336 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 168 + } +} \ No newline at end of file diff --git a/109_hydrating-oil_1/Object.usd b/109_hydrating-oil_1/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..3f91dfe6335dc104fd9fd13cca96dc491f6225bb --- /dev/null +++ b/109_hydrating-oil_1/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4a5fc85ddd107b6dc3337086d6773d3e858c0b4dd496c0f2ebdf77ee2339824 +size 286551 diff --git a/111_callbell_1/Annotation/dex1_1_grasp_pose.json b/111_callbell_1/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..acbcf51fba714d80f75de0ab9c59e443d2cc5c48 --- /dev/null +++ b/111_callbell_1/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,3718 @@ +{ + "type": "111_callbell_1", + "bottom_center": [ + 8.244067430496216e-06, + 0.08079024404287338, + -0.036773718893527985 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.08969974517822266, + 0.08189256489276886, + 0.09667253494262695 + ], + "orientation": [ + 0.5639833211898804, + -0.7384509444236755, + -0.21364255249500275, + -0.3016119599342346 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.08598071336746216, + 0.08124328404664993, + 0.0925561934709549 + ], + "orientation": [ + 0.5694214105606079, + -0.7336958646774292, + -0.2155170440673828, + -0.30166536569595337 + ], + "joints": [ + -0.005211932584643364 + ] + }, + "final_grasp": { + "position": [ + -0.08598071336746216, + 0.08124328404664993, + 0.0925561934709549 + ], + "orientation": [ + 0.5694214105606079, + -0.7336958646774292, + -0.2155170440673828, + -0.30166536569595337 + ], + "joints": [ + 0.00015520304441452026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08966928720474243, + 0.08188718557357788, + 0.09675909578800201 + ], + "orientation": [ + 0.5643892884254456, + -0.7382118701934814, + -0.21331974864006042, + -0.3016664981842041 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.08594615757465363, + 0.08123123645782471, + 0.09264202415943146 + ], + "orientation": [ + 0.5698360800743103, + -0.7334344983100891, + -0.21511690318584442, + -0.30180346965789795 + ], + "joints": [ + -0.005211932584643364 + ] + }, + "final_grasp": { + "position": [ + -0.08594615757465363, + 0.08123123645782471, + 0.09264202415943146 + ], + "orientation": [ + 0.5698360800743103, + -0.7334344983100891, + -0.21511690318584442, + -0.30180346965789795 + ], + "joints": [ + 0.00015520304441452026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13283514976501465, + 0.05347650125622749, + -0.01795714721083641 + ], + "orientation": [ + 0.4834337830543518, + 0.5781533718109131, + -0.4286203384399414, + 0.4983121454715729 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.12732438743114471, + 0.05296418070793152, + -0.017291009426116943 + ], + "orientation": [ + 0.4850609600543976, + 0.5778170228004456, + -0.43014806509017944, + 0.49579837918281555 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + 0.12732438743114471, + 0.05296418070793152, + -0.017291009426116943 + ], + "orientation": [ + 0.4850609600543976, + 0.5778170228004456, + -0.43014806509017944, + 0.49579837918281555 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1327856034040451, + 0.053442806005477905, + -0.017948877066373825 + ], + "orientation": [ + 0.48349058628082275, + 0.5780852437019348, + -0.42864376306533813, + 0.49831584095954895 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.12727844715118408, + 0.052930254489183426, + -0.01728190667927265 + ], + "orientation": [ + 0.4851005971431732, + 0.5777798295021057, + -0.43017226457595825, + 0.4957818388938904 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + 0.12727844715118408, + 0.052930254489183426, + -0.01728190667927265 + ], + "orientation": [ + 0.4851005971431732, + 0.5777798295021057, + -0.43017226457595825, + 0.4957818388938904 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11394406110048294, + 0.0475284680724144, + -0.07842081040143967 + ], + "orientation": [ + 0.5858981013298035, + 0.6597909927368164, + 0.29070407152175903, + -0.36998695135116577 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.10927066951990128, + 0.04689176008105278, + -0.07507888227701187 + ], + "orientation": [ + 0.5873172283172607, + 0.6581934094429016, + 0.2893259525299072, + -0.37165892124176025 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + -0.10927066951990128, + 0.04689176008105278, + -0.07507888227701187 + ], + "orientation": [ + 0.5873172283172607, + 0.6581934094429016, + 0.2893259525299072, + -0.37165892124176025 + ], + "joints": [ + -0.0024211257696151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12168975174427032, + 0.08922950178384781, + -0.016149066388607025 + ], + "orientation": [ + 0.38105469942092896, + -0.5324797630310059, + 0.4243461489677429, + 0.6254541873931885 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.11677389591932297, + 0.08841171115636826, + -0.015483242459595203 + ], + "orientation": [ + 0.3856268525123596, + -0.5277078747749329, + 0.42789438366889954, + 0.6242777109146118 + ], + "joints": [ + -0.005662225186824799 + ] + }, + "final_grasp": { + "position": [ + 0.11677389591932297, + 0.08841171115636826, + -0.015483242459595203 + ], + "orientation": [ + 0.3856268525123596, + -0.5277078747749329, + 0.42789438366889954, + 0.6242777109146118 + ], + "joints": [ + -0.0013047493994235992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029997950419783592, + 0.05669976398348808, + -0.1184726133942604 + ], + "orientation": [ + 0.09524699300527573, + -0.07188042253255844, + -0.6711692810058594, + -0.7316372394561768 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.029284341260790825, + 0.05783022195100784, + -0.11765290796756744 + ], + "orientation": [ + 0.10089897364377975, + -0.06317974627017975, + -0.6770918369293213, + -0.7262055277824402 + ], + "joints": [ + -0.005436860024929047 + ] + }, + "final_grasp": { + "position": [ + -0.029284341260790825, + 0.05783022195100784, + -0.11765290796756744 + ], + "orientation": [ + 0.10089897364377975, + -0.06317974627017975, + -0.6770918369293213, + -0.7262055277824402 + ], + "joints": [ + -0.0026204437017440796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12211606651544571, + 0.06630415469408035, + 0.0034050752874463797 + ], + "orientation": [ + 0.4351760745048523, + 0.535455584526062, + 0.4229060709476471, + -0.5874178409576416 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.11863259226083755, + 0.06585166603326797, + 0.003504919819533825 + ], + "orientation": [ + 0.4373437464237213, + 0.5285910964012146, + 0.42276209592819214, + -0.5921098589897156 + ], + "joints": [ + -0.007990888319909573 + ] + }, + "final_grasp": { + "position": [ + -0.11863259226083755, + 0.06585166603326797, + 0.003504919819533825 + ], + "orientation": [ + 0.4373437464237213, + 0.5285910964012146, + 0.42276209592819214, + -0.5921098589897156 + ], + "joints": [ + -0.0036068428307771683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0292108952999115, + -0.10104317963123322, + -0.002300288062542677 + ], + "orientation": [ + 0.3688682019710541, + -0.09774700552225113, + 0.9243173599243164, + 0.004387084394693375 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.030966732650995255, + -0.10175558179616928, + -0.002344234148040414 + ], + "orientation": [ + 0.3724345266819, + -0.1020495668053627, + 0.9223693609237671, + -0.010638442821800709 + ], + "joints": [ + -0.012806151993572712 + ] + }, + "final_grasp": { + "position": [ + 0.030966732650995255, + -0.10175558179616928, + -0.002344234148040414 + ], + "orientation": [ + 0.3724345266819, + -0.1020495668053627, + 0.9223693609237671, + -0.010638442821800709 + ], + "joints": [ + -0.007996978238224983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02939685806632042, + -0.10096696019172668, + -0.002504383446648717 + ], + "orientation": [ + 0.36784759163856506, + -0.0982799157500267, + 0.9246627688407898, + 0.005296316929161549 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.03141932561993599, + -0.10154818743467331, + -0.0024717526976019144 + ], + "orientation": [ + 0.37207338213920593, + -0.10389802604913712, + 0.9223181009292603, + -0.009790022857487202 + ], + "joints": [ + -0.012806151993572712 + ] + }, + "final_grasp": { + "position": [ + 0.03141932561993599, + -0.10154818743467331, + -0.0024717526976019144 + ], + "orientation": [ + 0.37207338213920593, + -0.10389802604913712, + 0.9223181009292603, + -0.009790022857487202 + ], + "joints": [ + -0.007996978238224983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02933225780725479, + -0.10098900645971298, + -0.002371975453570485 + ], + "orientation": [ + 0.36810195446014404, + -0.09820905327796936, + 0.924572229385376, + 0.004710750188678503 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.0313224121928215, + -0.10158191621303558, + -0.0023686860222369432 + ], + "orientation": [ + 0.37226229906082153, + -0.10364440083503723, + 0.9222651124000549, + -0.010271507315337658 + ], + "joints": [ + -0.012806151993572712 + ] + }, + "final_grasp": { + "position": [ + 0.0313224121928215, + -0.10158191621303558, + -0.0023686860222369432 + ], + "orientation": [ + 0.37226229906082153, + -0.10364440083503723, + 0.9222651124000549, + -0.010271507315337658 + ], + "joints": [ + -0.007996978238224983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09428895264863968, + 0.06839300692081451, + 0.08949071913957596 + ], + "orientation": [ + 0.5384443402290344, + -0.7523160576820374, + 0.2610825300216675, + 0.2755614221096039 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.09040983021259308, + 0.06707744300365448, + 0.08576922863721848 + ], + "orientation": [ + 0.5379470586776733, + -0.7538813948631287, + 0.26349085569381714, + 0.2699042856693268 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + 0.09040983021259308, + 0.06707744300365448, + 0.08576922863721848 + ], + "orientation": [ + 0.5379470586776733, + -0.7538813948631287, + 0.26349085569381714, + 0.2699042856693268 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006909392308443785, + -0.10294640809297562, + -0.010263953357934952 + ], + "orientation": [ + 0.9093784093856812, + -0.016807090491056442, + 0.41005465388298035, + 0.06785019487142563 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.009656693786382675, + -0.10523585230112076, + -0.00833337102085352 + ], + "orientation": [ + 0.9070291519165039, + -0.00223526987247169, + 0.41637879610061646, + 0.06262518465518951 + ], + "joints": [ + -0.012598596513271332 + ] + }, + "final_grasp": { + "position": [ + 0.009656693786382675, + -0.10523585230112076, + -0.00833337102085352 + ], + "orientation": [ + 0.9070291519165039, + -0.00223526987247169, + 0.41637879610061646, + 0.06262518465518951 + ], + "joints": [ + -0.007258022204041481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13460229337215424, + 0.037503425031900406, + -0.024594034999608994 + ], + "orientation": [ + 0.5368521213531494, + 0.5493876338005066, + 0.48716962337493896, + -0.41548609733581543 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.12927499413490295, + 0.03855226933956146, + -0.02362757734954357 + ], + "orientation": [ + 0.5387919545173645, + 0.5488666296005249, + 0.4918781518936157, + -0.40804964303970337 + ], + "joints": [ + -0.005716762505471706 + ] + }, + "final_grasp": { + "position": [ + -0.12927499413490295, + 0.03855226933956146, + -0.02362757734954357 + ], + "orientation": [ + 0.5387919545173645, + 0.5488666296005249, + 0.4918781518936157, + -0.40804964303970337 + ], + "joints": [ + -0.0008544567972421646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06878477334976196, + 0.022305257618427277, + 0.10951532423496246 + ], + "orientation": [ + 0.577735960483551, + -0.7516100406646729, + 0.3136455714702606, + 0.05412866920232773 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.06855623424053192, + 0.024138592183589935, + 0.11360683292150497 + ], + "orientation": [ + 0.5842979550361633, + -0.7535331845283508, + 0.29399749636650085, + 0.06594856828451157 + ], + "joints": [ + -0.011241394095122814 + ] + }, + "final_grasp": { + "position": [ + 0.06855623424053192, + 0.024138592183589935, + 0.11360683292150497 + ], + "orientation": [ + 0.5842979550361633, + -0.7535331845283508, + 0.29399749636650085, + 0.06594856828451157 + ], + "joints": [ + -0.004838021472096443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010155364871025085, + -0.10541771352291107, + -0.009325197897851467 + ], + "orientation": [ + 0.4606406092643738, + -0.04204645752906799, + 0.8815792202949524, + 0.09413062036037445 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + 0.012103758752346039, + -0.11000868678092957, + -0.010345226153731346 + ], + "orientation": [ + 0.4627505838871002, + -0.041306059807538986, + 0.8811817169189453, + 0.0876043289899826 + ], + "joints": [ + -0.013927753083407879 + ] + }, + "final_grasp": { + "position": [ + 0.012103758752346039, + -0.11000868678092957, + -0.010345226153731346 + ], + "orientation": [ + 0.4627505838871002, + -0.041306059807538986, + 0.8811817169189453, + 0.0876043289899826 + ], + "joints": [ + -0.009092004969716072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.068790964782238, + 0.022277608513832092, + 0.10949388891458511 + ], + "orientation": [ + 0.5777089595794678, + -0.7514733672142029, + 0.31408920884132385, + 0.053743164986371994 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.06842482835054398, + 0.024108227342367172, + 0.11352559924125671 + ], + "orientation": [ + 0.58443683385849, + -0.7532757520675659, + 0.2946740388870239, + 0.06462512165307999 + ], + "joints": [ + -0.011241394095122814 + ] + }, + "final_grasp": { + "position": [ + 0.06842482835054398, + 0.024108227342367172, + 0.11352559924125671 + ], + "orientation": [ + 0.58443683385849, + -0.7532757520675659, + 0.2946740388870239, + 0.06462512165307999 + ], + "joints": [ + -0.004838021472096443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1077585518360138, + -0.04263770952820778, + 0.07559113949537277 + ], + "orientation": [ + 0.7347238659858704, + -0.4824417233467102, + 0.4280363917350769, + 0.21027523279190063 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.10390133410692215, + -0.04075370728969574, + 0.073421411216259 + ], + "orientation": [ + 0.7300081253051758, + -0.48732924461364746, + 0.4328007102012634, + 0.2056255042552948 + ], + "joints": [ + -0.011097139678895473 + ] + }, + "final_grasp": { + "position": [ + 0.10390133410692215, + -0.04075370728969574, + 0.073421411216259 + ], + "orientation": [ + 0.7300081253051758, + -0.48732924461364746, + 0.4328007102012634, + 0.2056255042552948 + ], + "joints": [ + -0.005756570026278496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10778497159481049, + -0.04266548901796341, + 0.07559434324502945 + ], + "orientation": [ + 0.7347562909126282, + -0.4822511076927185, + 0.428282231092453, + 0.21009846031665802 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.10396596044301987, + -0.0407714769244194, + 0.07340489327907562 + ], + "orientation": [ + 0.7300702929496765, + -0.487026572227478, + 0.4331287443637848, + 0.2054312527179718 + ], + "joints": [ + -0.011097139678895473 + ] + }, + "final_grasp": { + "position": [ + 0.10396596044301987, + -0.0407714769244194, + 0.07340489327907562 + ], + "orientation": [ + 0.7300702929496765, + -0.487026572227478, + 0.4331287443637848, + 0.2054312527179718 + ], + "joints": [ + -0.005756570026278496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1078260987997055, + -0.0426352359354496, + 0.07548685371875763 + ], + "orientation": [ + 0.7343437075614929, + -0.48261579871177673, + 0.4283461272716522, + 0.21057283878326416 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.1039317175745964, + -0.04079071432352066, + 0.07336127758026123 + ], + "orientation": [ + 0.7295539379119873, + -0.48756635189056396, + 0.4331232011318207, + 0.20599575340747833 + ], + "joints": [ + -0.011097139678895473 + ] + }, + "final_grasp": { + "position": [ + 0.1039317175745964, + -0.04079071432352066, + 0.07336127758026123 + ], + "orientation": [ + 0.7295539379119873, + -0.48756635189056396, + 0.4331232011318207, + 0.20599575340747833 + ], + "joints": [ + -0.005756570026278496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12425405532121658, + 0.09612952917814255, + 0.0032093962654471397 + ], + "orientation": [ + 0.4330429434776306, + 0.516591489315033, + 0.38173237442970276, + -0.6323666572570801 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.1198396310210228, + 0.09490205347537994, + 0.00302328635007143 + ], + "orientation": [ + 0.42967861890792847, + 0.5171771049499512, + 0.37902554869651794, + -0.6358016133308411 + ], + "joints": [ + -0.005043976008892059 + ] + }, + "final_grasp": { + "position": [ + -0.1198396310210228, + 0.09490205347537994, + 0.00302328635007143 + ], + "orientation": [ + 0.42967861890792847, + 0.5171771049499512, + 0.37902554869651794, + -0.6358016133308411 + ], + "joints": [ + -0.00068650022149086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10171176493167877, + -0.027383465319871902, + 0.06708270311355591 + ], + "orientation": [ + 0.6773220896720886, + -0.5336151123046875, + -0.4660629630088806, + -0.19817908108234406 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.09863664209842682, + -0.026810552924871445, + 0.06828431785106659 + ], + "orientation": [ + 0.6619762182235718, + -0.5488085746765137, + -0.4758617877960205, + -0.18480299413204193 + ], + "joints": [ + -0.01225105207413435 + ] + }, + "final_grasp": { + "position": [ + -0.09863664209842682, + -0.026810552924871445, + 0.06828431785106659 + ], + "orientation": [ + 0.6619762182235718, + -0.5488085746765137, + -0.4758617877960205, + -0.18480299413204193 + ], + "joints": [ + -0.0068573374301195145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005778886377811432, + -0.10267484933137894, + 0.0030742324888706207 + ], + "orientation": [ + 0.7333264350891113, + -0.024182641878724098, + -0.6794353127479553, + -0.003892404492944479 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.005677576642483473, + -0.10858427733182907, + 0.0034235527273267508 + ], + "orientation": [ + 0.7338314652442932, + -0.02574727311730385, + -0.6788215637207031, + -0.005449654068797827 + ], + "joints": [ + -0.013718802481889725 + ] + }, + "final_grasp": { + "position": [ + -0.005677576642483473, + -0.10858427733182907, + 0.0034235527273267508 + ], + "orientation": [ + 0.7338314652442932, + -0.02574727311730385, + -0.6788215637207031, + -0.005449654068797827 + ], + "joints": [ + -0.008909625932574272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1241493746638298, + 0.09678661823272705, + 0.003575994400307536 + ], + "orientation": [ + 0.43406134843826294, + 0.5144410133361816, + 0.38458964228630066, + -0.631689727306366 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.11978945881128311, + 0.09573188424110413, + 0.0033707176335155964 + ], + "orientation": [ + 0.43167850375175476, + 0.5144819021224976, + 0.3819943368434906, + -0.6348562240600586 + ], + "joints": [ + -0.004511178471148014 + ] + }, + "final_grasp": { + "position": [ + -0.11978945881128311, + 0.09573188424110413, + 0.0033707176335155964 + ], + "orientation": [ + 0.43167850375175476, + 0.5144819021224976, + 0.3819943368434906, + -0.6348562240600586 + ], + "joints": [ + -0.00018027238547801971 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03855069726705551, + -0.10606725513935089, + 0.017709525302052498 + ], + "orientation": [ + 0.763260543346405, + -0.010422231629490852, + 0.6325657367706299, + -0.13109241425991058 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + -0.04021131247282028, + -0.10401389747858047, + 0.01808869279921055 + ], + "orientation": [ + 0.7628446221351624, + -0.02364923059940338, + 0.6343161463737488, + -0.12309282273054123 + ], + "joints": [ + -0.009584047831594944 + ] + }, + "final_grasp": { + "position": [ + -0.04021131247282028, + -0.10401389747858047, + 0.01808869279921055 + ], + "orientation": [ + 0.7628446221351624, + -0.02364923059940338, + 0.6343161463737488, + -0.12309282273054123 + ], + "joints": [ + -0.0021710190922021866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12987029552459717, + 0.034291669726371765, + -0.06200920417904854 + ], + "orientation": [ + 0.5908214449882507, + 0.5857070684432983, + -0.3091280162334442, + 0.4607789218425751 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.12556472420692444, + 0.03276659920811653, + -0.060342658311128616 + ], + "orientation": [ + 0.5819803476333618, + 0.5946441292762756, + -0.30494871735572815, + 0.46336084604263306 + ], + "joints": [ + -0.01331098098307848 + ] + }, + "final_grasp": { + "position": [ + 0.12556472420692444, + 0.03276659920811653, + -0.060342658311128616 + ], + "orientation": [ + 0.5819803476333618, + 0.5946441292762756, + -0.30494871735572815, + 0.46336084604263306 + ], + "joints": [ + -0.009006636217236519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14040416479110718, + 0.037524282932281494, + -0.007749911397695541 + ], + "orientation": [ + 0.4617411494255066, + 0.5694699883460999, + -0.5158382058143616, + 0.4431815445423126 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.13550585508346558, + 0.03663089498877525, + -0.00722923269495368 + ], + "orientation": [ + 0.4573816657066345, + 0.572702944278717, + -0.5118812918663025, + 0.4480971097946167 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + 0.13550585508346558, + 0.03663089498877525, + -0.00722923269495368 + ], + "orientation": [ + 0.4573816657066345, + 0.572702944278717, + -0.5118812918663025, + 0.4480971097946167 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14023101329803467, + 0.03763514757156372, + -0.007710806094110012 + ], + "orientation": [ + 0.4616703987121582, + 0.5694385766983032, + -0.5158056616783142, + 0.44333332777023315 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.13517208397388458, + 0.03688003867864609, + -0.0072926622815430164 + ], + "orientation": [ + 0.4568983316421509, + 0.573337972164154, + -0.5118395090103149, + 0.4478256106376648 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + 0.13517208397388458, + 0.03688003867864609, + -0.0072926622815430164 + ], + "orientation": [ + 0.4568983316421509, + 0.573337972164154, + -0.5118395090103149, + 0.4478256106376648 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11355962604284286, + 0.06950647383928299, + 0.05611232668161392 + ], + "orientation": [ + 0.2728957533836365, + 0.4885832667350769, + -0.5277179479598999, + 0.6390054821968079 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.10905979573726654, + 0.0668138638138771, + 0.05369512736797333 + ], + "orientation": [ + 0.268137663602829, + 0.4933536648750305, + -0.5157129168510437, + 0.6471047401428223 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + 0.10905979573726654, + 0.0668138638138771, + 0.05369512736797333 + ], + "orientation": [ + 0.268137663602829, + 0.4933536648750305, + -0.5157129168510437, + 0.6471047401428223 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029698625206947327, + 0.06968659907579422, + -0.11688011139631271 + ], + "orientation": [ + 0.658699631690979, + 0.7254988551139832, + 0.004079395439475775, + -0.1993727833032608 + ], + "joints": [ + -0.007943376898765564 + ] + }, + "fine_grasp": { + "position": [ + -0.025825507938861847, + 0.0667603462934494, + -0.11551789194345474 + ], + "orientation": [ + 0.6597857475280762, + 0.7220568060874939, + -0.021602459251880646, + -0.2070028930902481 + ], + "joints": [ + -0.008209078572690487 + ] + }, + "final_grasp": { + "position": [ + -0.025825507938861847, + 0.0667603462934494, + -0.11551789194345474 + ], + "orientation": [ + 0.6597857475280762, + 0.7220568060874939, + -0.021602459251880646, + -0.2070028930902481 + ], + "joints": [ + -0.00847478024661541 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08402242511510849, + 0.04231296852231026, + 0.10229242593050003 + ], + "orientation": [ + 0.47616827487945557, + -0.7975530028343201, + 0.3661380708217621, + 0.05582020431756973 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.08335073292255402, + 0.04342520236968994, + 0.10481055825948715 + ], + "orientation": [ + 0.4786691665649414, + -0.8013839721679688, + 0.35311275720596313, + 0.06301460415124893 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + 0.08335073292255402, + 0.04342520236968994, + 0.10481055825948715 + ], + "orientation": [ + 0.4786691665649414, + -0.8013839721679688, + 0.35311275720596313, + 0.06301460415124893 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08408857882022858, + 0.04238300025463104, + 0.10220208019018173 + ], + "orientation": [ + 0.47570064663887024, + -0.7977972626686096, + 0.36613184213638306, + 0.05635470151901245 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.0834006667137146, + 0.04354260489344597, + 0.10468783229589462 + ], + "orientation": [ + 0.47795021533966064, + -0.8018140196800232, + 0.3529943823814392, + 0.06366166472434998 + ], + "joints": [ + -0.010060911066830158 + ] + }, + "final_grasp": { + "position": [ + 0.0834006667137146, + 0.04354260489344597, + 0.10468783229589462 + ], + "orientation": [ + 0.47795021533966064, + -0.8018140196800232, + 0.3529943823814392, + 0.06366166472434998 + ], + "joints": [ + -0.0036841128021478653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11962724477052689, + 0.047314777970314026, + 0.04793421924114227 + ], + "orientation": [ + 0.3255486488342285, + 0.4409874677658081, + -0.40582481026649475, + 0.731337308883667 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.1219237819314003, + 0.050076842308044434, + 0.04935676231980324 + ], + "orientation": [ + 0.3184671103954315, + 0.4442102909088135, + -0.41960570216178894, + 0.7246977090835571 + ], + "joints": [ + -0.008853856474161148 + ] + }, + "final_grasp": { + "position": [ + 0.1219237819314003, + 0.050076842308044434, + 0.04935676231980324 + ], + "orientation": [ + 0.3184671103954315, + 0.4442102909088135, + -0.41960570216178894, + 0.7246977090835571 + ], + "joints": [ + -0.002477061003446579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11980193853378296, + 0.047162976115942, + 0.047737881541252136 + ], + "orientation": [ + 0.3250938653945923, + 0.442927747964859, + -0.40660324692726135, + 0.7299334406852722 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + 0.12212647497653961, + 0.0499332994222641, + 0.04901789501309395 + ], + "orientation": [ + 0.31839272379875183, + 0.4463317394256592, + -0.421031653881073, + 0.7225968837738037 + ], + "joints": [ + -0.008881824091076851 + ] + }, + "final_grasp": { + "position": [ + 0.12212647497653961, + 0.0499332994222641, + 0.04901789501309395 + ], + "orientation": [ + 0.31839272379875183, + 0.4463317394256592, + -0.421031653881073, + 0.7225968837738037 + ], + "joints": [ + -0.0019736289978027344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11980138719081879, + 0.047181494534015656, + 0.04795332998037338 + ], + "orientation": [ + 0.3268597722053528, + 0.44003820419311523, + -0.40525081753730774, + 0.7316426038742065 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.12212815880775452, + 0.04971149191260338, + 0.04917021468281746 + ], + "orientation": [ + 0.322820782661438, + 0.44044166803359985, + -0.4158738851547241, + 0.7272186279296875 + ], + "joints": [ + -0.00834902748465538 + ] + }, + "final_grasp": { + "position": [ + 0.12212815880775452, + 0.04971149191260338, + 0.04917021468281746 + ], + "orientation": [ + 0.322820782661438, + 0.44044166803359985, + -0.4158738851547241, + 0.7272186279296875 + ], + "joints": [ + -0.0014674030244350433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03409459814429283, + 0.06626931577920914, + -0.12829425930976868 + ], + "orientation": [ + 0.15968401730060577, + 0.39855435490608215, + -0.5383458733558655, + -0.7251477241516113 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.03231948986649513, + 0.06700912863016129, + -0.12741120159626007 + ], + "orientation": [ + 0.1596817821264267, + 0.3943541944026947, + -0.5537196397781372, + -0.715808093547821 + ], + "joints": [ + -0.016280189156532288 + ] + }, + "final_grasp": { + "position": [ + 0.03231948986649513, + 0.06700912863016129, + -0.12741120159626007 + ], + "orientation": [ + 0.1596817821264267, + 0.3943541944026947, + -0.5537196397781372, + -0.715808093547821 + ], + "joints": [ + -0.012560378760099411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1035090908408165, + 0.00880957767367363, + -0.09885929524898529 + ], + "orientation": [ + 0.10463529825210571, + -0.42438367009162903, + -0.6818300485610962, + -0.5865643620491028 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + -0.10394053906202316, + 0.010315703228116035, + -0.09770426899194717 + ], + "orientation": [ + 0.12743036448955536, + -0.41113609075546265, + -0.6758841276168823, + -0.5982552766799927 + ], + "joints": [ + -0.009944623336195946 + ] + }, + "final_grasp": { + "position": [ + -0.10394053906202316, + 0.010315703228116035, + -0.09770426899194717 + ], + "orientation": [ + 0.12743036448955536, + -0.41113609075546265, + -0.6758841276168823, + -0.5982552766799927 + ], + "joints": [ + -0.004099227488040924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10311867296695709, + 0.008902814239263535, + -0.0987815260887146 + ], + "orientation": [ + 0.10688386857509613, + -0.4224900007247925, + -0.6816898584365845, + -0.5876877903938293 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.10318540781736374, + 0.0101401899009943, + -0.0979563444852829 + ], + "orientation": [ + 0.12626245617866516, + -0.40953880548477173, + -0.677274227142334, + -0.5980263352394104 + ], + "joints": [ + -0.00997406430542469 + ] + }, + "final_grasp": { + "position": [ + -0.10318540781736374, + 0.0101401899009943, + -0.0979563444852829 + ], + "orientation": [ + 0.12626245617866516, + -0.40953880548477173, + -0.677274227142334, + -0.5980263352394104 + ], + "joints": [ + -0.004128668457269669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12090744078159332, + 0.011365612968802452, + 0.06323308497667313 + ], + "orientation": [ + 0.46622249484062195, + -0.6927356123924255, + 0.5122501254081726, + 0.20088274776935577 + ], + "joints": [ + -0.016319945454597473 + ] + }, + "fine_grasp": { + "position": [ + 0.12272913008928299, + 0.012241599150002003, + 0.06562114506959915 + ], + "orientation": [ + 0.4756801128387451, + -0.6917077898979187, + 0.49937674403190613, + 0.2142232060432434 + ], + "joints": [ + -0.009943148121237755 + ] + }, + "final_grasp": { + "position": [ + 0.12272913008928299, + 0.012241599150002003, + 0.06562114506959915 + ], + "orientation": [ + 0.4756801128387451, + -0.6917077898979187, + 0.49937674403190613, + 0.2142232060432434 + ], + "joints": [ + -0.0035663507878780365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12090492248535156, + 0.011274980381131172, + 0.0631645992398262 + ], + "orientation": [ + 0.4663541316986084, + -0.692488431930542, + 0.512353241443634, + 0.20116619765758514 + ], + "joints": [ + -0.016319945454597473 + ] + }, + "fine_grasp": { + "position": [ + 0.12275518476963043, + 0.012162333354353905, + 0.06557738780975342 + ], + "orientation": [ + 0.4758566617965698, + -0.6914512515068054, + 0.49944382905960083, + 0.2145027220249176 + ], + "joints": [ + -0.009943148121237755 + ] + }, + "final_grasp": { + "position": [ + 0.12275518476963043, + 0.012162333354353905, + 0.06557738780975342 + ], + "orientation": [ + 0.4758566617965698, + -0.6914512515068054, + 0.49944382905960083, + 0.2145027220249176 + ], + "joints": [ + -0.0035663507878780365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1342652142047882, + 0.045035358518362045, + -0.016653558239340782 + ], + "orientation": [ + 0.5472540259361267, + 0.4308239221572876, + -0.2277485430240631, + 0.6804662942886353 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.13193058967590332, + 0.0452294796705246, + -0.014239036478102207 + ], + "orientation": [ + 0.5358935594558716, + 0.44226178526878357, + -0.23211464285850525, + 0.6806947588920593 + ], + "joints": [ + -0.009442664682865143 + ] + }, + "final_grasp": { + "position": [ + 0.13193058967590332, + 0.0452294796705246, + -0.014239036478102207 + ], + "orientation": [ + 0.5358935594558716, + 0.44226178526878357, + -0.23211464285850525, + 0.6806947588920593 + ], + "joints": [ + -0.0030658692121505737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1447192132472992, + 0.04897875711321831, + -0.028299827128648758 + ], + "orientation": [ + 0.23453615605831146, + -0.6414246559143066, + 0.5183111429214478, + 0.5147045254707336 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.14048373699188232, + 0.048120513558387756, + -0.027447285130620003 + ], + "orientation": [ + 0.24355638027191162, + -0.6334128379821777, + 0.5168243050575256, + 0.5218823552131653 + ], + "joints": [ + -0.007982274517416954 + ] + }, + "final_grasp": { + "position": [ + 0.14048373699188232, + 0.048120513558387756, + -0.027447285130620003 + ], + "orientation": [ + 0.24355638027191162, + -0.6334128379821777, + 0.5168243050575256, + 0.5218823552131653 + ], + "joints": [ + -0.0036779381334781647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0584503673017025, + -0.10986396670341492, + -0.038087375462055206 + ], + "orientation": [ + 0.8124662637710571, + 0.1802278310060501, + 0.5522722005844116, + -0.049111660569906235 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + -0.05864047631621361, + -0.10939037054777145, + -0.03767639026045799 + ], + "orientation": [ + 0.8159071207046509, + 0.17451225221157074, + 0.5488178133964539, + -0.05138055607676506 + ], + "joints": [ + -0.007199377287179232 + ] + }, + "final_grasp": { + "position": [ + -0.05864047631621361, + -0.10939037054777145, + -0.03767639026045799 + ], + "orientation": [ + 0.8159071207046509, + 0.17451225221157074, + 0.5488178133964539, + -0.05138055607676506 + ], + "joints": [ + 0.00021364819258451462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11920865625143051, + 0.07239867746829987, + -0.05460040271282196 + ], + "orientation": [ + 0.24301786720752716, + 0.8348678350448608, + 0.4816512167453766, + -0.10931649059057236 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.1170625239610672, + 0.07279592752456665, + -0.05619070678949356 + ], + "orientation": [ + 0.23651644587516785, + 0.8390528559684753, + 0.4761678874492645, + -0.11538880318403244 + ], + "joints": [ + -0.012807547114789486 + ] + }, + "final_grasp": { + "position": [ + -0.1170625239610672, + 0.07279592752456665, + -0.05619070678949356 + ], + "orientation": [ + 0.23651644587516785, + 0.8390528559684753, + 0.4761678874492645, + -0.11538880318403244 + ], + "joints": [ + -0.007440401241183281 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11215172708034515, + 0.057138387113809586, + -0.0762186273932457 + ], + "orientation": [ + 0.5206722617149353, + -0.006609714590013027, + -0.3084108233451843, + -0.7960776090621948 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.11078666150569916, + 0.059564922004938126, + -0.07909677177667618 + ], + "orientation": [ + 0.5201553702354431, + -0.00492996396496892, + -0.2996177077293396, + -0.7997770309448242 + ], + "joints": [ + -0.015212378464639187 + ] + }, + "final_grasp": { + "position": [ + -0.11078666150569916, + 0.059564922004938126, + -0.07909677177667618 + ], + "orientation": [ + 0.5201553702354431, + -0.00492996396496892, + -0.2996177077293396, + -0.7997770309448242 + ], + "joints": [ + -0.010748602449893951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11212345212697983, + 0.05707308650016785, + -0.07618575543165207 + ], + "orientation": [ + 0.5207364559173584, + -0.006770506035536528, + -0.3085503876209259, + -0.7959802150726318 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.1108672022819519, + 0.05942603200674057, + -0.07896387577056885 + ], + "orientation": [ + 0.5206289887428284, + -0.0054596178233623505, + -0.2994599938392639, + -0.7995244264602661 + ], + "joints": [ + -0.015185807831585407 + ] + }, + "final_grasp": { + "position": [ + -0.1108672022819519, + 0.05942603200674057, + -0.07896387577056885 + ], + "orientation": [ + 0.5206289887428284, + -0.0054596178233623505, + -0.2994599938392639, + -0.7995244264602661 + ], + "joints": [ + -0.010695461183786392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11216332018375397, + 0.05716143921017647, + -0.0762329250574112 + ], + "orientation": [ + 0.5207610726356506, + -0.0063946363516151905, + -0.3082064390182495, + -0.7961004376411438 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.11076783388853073, + 0.05958063155412674, + -0.07906680554151535 + ], + "orientation": [ + 0.5201349854469299, + -0.00479250680655241, + -0.2994038164615631, + -0.7998712658882141 + ], + "joints": [ + -0.015212378464639187 + ] + }, + "final_grasp": { + "position": [ + -0.11076783388853073, + 0.05958063155412674, + -0.07906680554151535 + ], + "orientation": [ + 0.5201349854469299, + -0.00479250680655241, + -0.2994038164615631, + -0.7998712658882141 + ], + "joints": [ + -0.010748602449893951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07190893590450287, + 0.01427575945854187, + -0.12130074203014374 + ], + "orientation": [ + 0.5890761017799377, + 0.19169557094573975, + -0.4559396803379059, + -0.6390315294265747 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + -0.06961081922054291, + 0.016304366290569305, + -0.121393121778965 + ], + "orientation": [ + 0.5916709303855896, + 0.19053830206394196, + -0.450697124004364, + -0.6406971216201782 + ], + "joints": [ + -0.010842334479093552 + ] + }, + "final_grasp": { + "position": [ + -0.06961081922054291, + 0.016304366290569305, + -0.121393121778965 + ], + "orientation": [ + 0.5916709303855896, + 0.19053830206394196, + -0.450697124004364, + -0.6406971216201782 + ], + "joints": [ + -0.007042825222015381 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07236761599779129, + 0.015195980668067932, + -0.12183836847543716 + ], + "orientation": [ + 0.5840132236480713, + 0.19472166895866394, + -0.4591292142868042, + -0.6404781937599182 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.06994270533323288, + 0.017056314274668694, + -0.1222296729683876 + ], + "orientation": [ + 0.5872980952262878, + 0.19317078590393066, + -0.45128798484802246, + -0.6435100436210632 + ], + "joints": [ + -0.010926313698291779 + ] + }, + "final_grasp": { + "position": [ + -0.06994270533323288, + 0.017056314274668694, + -0.1222296729683876 + ], + "orientation": [ + 0.5872980952262878, + 0.19317078590393066, + -0.45128798484802246, + -0.6435100436210632 + ], + "joints": [ + -0.00662197545170784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13993504643440247, + 0.034491200000047684, + 0.030874593183398247 + ], + "orientation": [ + 0.571154773235321, + -0.47701624035835266, + 0.2379874587059021, + 0.6241791844367981 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.140814870595932, + 0.03500242531299591, + 0.029679620638489723 + ], + "orientation": [ + 0.5635958909988403, + -0.4915037751197815, + 0.24992682039737701, + 0.6150774359703064 + ], + "joints": [ + -0.008235607296228409 + ] + }, + "final_grasp": { + "position": [ + 0.140814870595932, + 0.03500242531299591, + 0.029679620638489723 + ], + "orientation": [ + 0.5635958909988403, + -0.4915037751197815, + 0.24992682039737701, + 0.6150774359703064 + ], + "joints": [ + -0.0018588118255138397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12686830759048462, + 0.056430235505104065, + 0.04834245890378952 + ], + "orientation": [ + 0.538202702999115, + -0.5198748707771301, + 0.1477363556623459, + 0.646716296672821 + ], + "joints": [ + -0.015701696276664734 + ] + }, + "fine_grasp": { + "position": [ + 0.12816274166107178, + 0.05683336779475212, + 0.046791210770606995 + ], + "orientation": [ + 0.5286798477172852, + -0.5354174971580505, + 0.1581435203552246, + 0.6393874883651733 + ], + "joints": [ + -0.008793501183390617 + ] + }, + "final_grasp": { + "position": [ + 0.12816274166107178, + 0.05683336779475212, + 0.046791210770606995 + ], + "orientation": [ + 0.5286798477172852, + -0.5354174971580505, + 0.1581435203552246, + 0.6393874883651733 + ], + "joints": [ + -0.0018853060901165009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11580535024404526, + 0.0272963996976614, + -0.08108590543270111 + ], + "orientation": [ + 0.634660542011261, + 0.5672616958618164, + 0.1349562108516693, + -0.5071557760238647 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.11693506687879562, + 0.027691179886460304, + -0.07978170365095139 + ], + "orientation": [ + 0.6275146007537842, + 0.5789926648139954, + 0.14637598395347595, + -0.4995666742324829 + ], + "joints": [ + -0.010004900395870209 + ] + }, + "final_grasp": { + "position": [ + -0.11693506687879562, + 0.027691179886460304, + -0.07978170365095139 + ], + "orientation": [ + 0.6275146007537842, + 0.5789926648139954, + 0.14637598395347595, + -0.4995666742324829 + ], + "joints": [ + -0.003601532429456711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11579622328281403, + 0.027181439101696014, + -0.08094319701194763 + ], + "orientation": [ + 0.6347230672836304, + 0.5671356320381165, + 0.13566002249717712, + -0.5070308446884155 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.11702051013708115, + 0.02756427973508835, + -0.07957866042852402 + ], + "orientation": [ + 0.6270678639411926, + 0.5796394348144531, + 0.14809288084506989, + -0.4988713562488556 + ], + "joints": [ + -0.010004900395870209 + ] + }, + "final_grasp": { + "position": [ + -0.11702051013708115, + 0.02756427973508835, + -0.07957866042852402 + ], + "orientation": [ + 0.6270678639411926, + 0.5796394348144531, + 0.14809288084506989, + -0.4988713562488556 + ], + "joints": [ + -0.003601532429456711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07547911256551743, + 0.031295400112867355, + -0.11258482187986374 + ], + "orientation": [ + 0.3235946595668793, + -0.059851113706827164, + -0.5360457897186279, + -0.7774055600166321 + ], + "joints": [ + -0.016349386423826218 + ] + }, + "fine_grasp": { + "position": [ + -0.07585089653730392, + 0.032445330172777176, + -0.11516720801591873 + ], + "orientation": [ + 0.30910560488700867, + -0.07843487709760666, + -0.5350240468978882, + -0.7823368906974792 + ], + "joints": [ + -0.0099725890904665 + ] + }, + "final_grasp": { + "position": [ + -0.07585089653730392, + 0.032445330172777176, + -0.11516720801591873 + ], + "orientation": [ + 0.30910560488700867, + -0.07843487709760666, + -0.5350240468978882, + -0.7823368906974792 + ], + "joints": [ + -0.003595791757106781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06269950419664383, + -0.09984490275382996, + -0.007426960859447718 + ], + "orientation": [ + 0.43898463249206543, + -0.17744573950767517, + -0.8798053860664368, + -0.041810739785432816 + ], + "joints": [ + -0.013964712619781494 + ] + }, + "fine_grasp": { + "position": [ + -0.06353802978992462, + -0.10387668013572693, + -0.007184789516031742 + ], + "orientation": [ + 0.4471292197704315, + -0.1755603402853012, + -0.8755483627319336, + -0.05166371911764145 + ], + "joints": [ + -0.00862414576113224 + ] + }, + "final_grasp": { + "position": [ + -0.06353802978992462, + -0.10387668013572693, + -0.007184789516031742 + ], + "orientation": [ + 0.4471292197704315, + -0.1755603402853012, + -0.8755483627319336, + -0.05166371911764145 + ], + "joints": [ + -0.0032835789024829865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11409275233745575, + 0.06666698306798935, + -0.06576307862997055 + ], + "orientation": [ + 0.12721218168735504, + -0.5826927423477173, + 0.4947168231010437, + 0.6320930123329163 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.11057683825492859, + 0.06418217718601227, + -0.06226743012666702 + ], + "orientation": [ + 0.1282651722431183, + -0.5778619050979614, + 0.487199604511261, + 0.6420750617980957 + ], + "joints": [ + -0.009919526055455208 + ] + }, + "final_grasp": { + "position": [ + 0.11057683825492859, + 0.06418217718601227, + -0.06226743012666702 + ], + "orientation": [ + 0.1282651722431183, + -0.5778619050979614, + 0.487199604511261, + 0.6420750617980957 + ], + "joints": [ + -0.004578959196805954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03649059310555458, + -0.11238119006156921, + 0.0035155965015292168 + ], + "orientation": [ + 0.8358670473098755, + -0.00954788364470005, + 0.5421037077903748, + -0.08578216284513474 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.03679953143000603, + -0.11109094321727753, + 0.0029157924000173807 + ], + "orientation": [ + 0.8352943062782288, + -0.012032527476549149, + 0.5444841980934143, + -0.07533522695302963 + ], + "joints": [ + -0.009498676285147667 + ] + }, + "final_grasp": { + "position": [ + -0.03679953143000603, + -0.11109094321727753, + 0.0029157924000173807 + ], + "orientation": [ + 0.8352943062782288, + -0.012032527476549149, + 0.5444841980934143, + -0.07533522695302963 + ], + "joints": [ + -0.0031484514474868774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015145659446716309, + -0.11237801611423492, + -0.017833393067121506 + ], + "orientation": [ + 0.7113630771636963, + 0.07535602152347565, + 0.6978527307510376, + 0.035858139395713806 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.015989720821380615, + -0.11414738744497299, + -0.01702284812927246 + ], + "orientation": [ + 0.7125422358512878, + 0.07470010966062546, + 0.6972881555557251, + 0.022200368344783783 + ], + "joints": [ + -0.010003505274653435 + ] + }, + "final_grasp": { + "position": [ + 0.015989720821380615, + -0.11414738744497299, + -0.01702284812927246 + ], + "orientation": [ + 0.7125422358512878, + 0.07470010966062546, + 0.6972881555557251, + 0.022200368344783783 + ], + "joints": [ + -0.004158109426498413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03643204644322395, + -0.11229346692562103, + 0.0035189951304346323 + ], + "orientation": [ + 0.8354563117027283, + -0.009595699608325958, + 0.5427920818328857, + -0.08542471379041672 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.03675233945250511, + -0.11100093275308609, + 0.002957563614472747 + ], + "orientation": [ + 0.834872305393219, + -0.01162246335297823, + 0.5451662540435791, + -0.07514638453722 + ], + "joints": [ + -0.009498676285147667 + ] + }, + "final_grasp": { + "position": [ + -0.03675233945250511, + -0.11100093275308609, + 0.002957563614472747 + ], + "orientation": [ + 0.834872305393219, + -0.01162246335297823, + 0.5451662540435791, + -0.07514638453722 + ], + "joints": [ + -0.0031484514474868774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021207168698310852, + -0.10541582852602005, + 0.018860643729567528 + ], + "orientation": [ + 0.3125234544277191, + -0.09767353534698486, + -0.9386599659919739, + 0.10819554328918457 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.022717196494340897, + -0.10269029438495636, + 0.01773630455136299 + ], + "orientation": [ + 0.3151683211326599, + -0.09469529986381531, + -0.9366747140884399, + 0.11975939571857452 + ], + "joints": [ + -0.010626017116010189 + ] + }, + "final_grasp": { + "position": [ + -0.022717196494340897, + -0.10269029438495636, + 0.01773630455136299 + ], + "orientation": [ + 0.3151683211326599, + -0.09469529986381531, + -0.9366747140884399, + 0.11975939571857452 + ], + "joints": [ + -0.004196075722575188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05838511884212494, + -0.10791295766830444, + 0.01972546987235546 + ], + "orientation": [ + 0.7070271968841553, + 0.05003540962934494, + 0.6837356686592102, + -0.17353545129299164 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.05973874405026436, + -0.10819602757692337, + 0.02020244300365448 + ], + "orientation": [ + 0.7086727023124695, + 0.0446646511554718, + 0.6846119165420532, + -0.1646043360233307 + ], + "joints": [ + -0.010618881322443485 + ] + }, + "final_grasp": { + "position": [ + -0.05973874405026436, + -0.10819602757692337, + 0.02020244300365448 + ], + "orientation": [ + 0.7086727023124695, + 0.0446646511554718, + 0.6846119165420532, + -0.1646043360233307 + ], + "joints": [ + -0.004800053313374519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05859579145908356, + -0.10792714357376099, + 0.01978795789182186 + ], + "orientation": [ + 0.7054138779640198, + 0.05140577256679535, + 0.6851460933685303, + -0.1741364747285843 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.05995531752705574, + -0.1080421432852745, + 0.020273612812161446 + ], + "orientation": [ + 0.7072857022285461, + 0.045682743191719055, + 0.6858155131340027, + -0.16527943313121796 + ], + "joints": [ + -0.010618881322443485 + ] + }, + "final_grasp": { + "position": [ + -0.05995531752705574, + -0.1080421432852745, + 0.020273612812161446 + ], + "orientation": [ + 0.7072857022285461, + 0.045682743191719055, + 0.6858155131340027, + -0.16527943313121796 + ], + "joints": [ + -0.004800053313374519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058283522725105286, + -0.1082804724574089, + 0.019930342212319374 + ], + "orientation": [ + 0.702996551990509, + 0.0544128380715847, + 0.6870850324630737, + -0.17535431683063507 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + -0.05983862653374672, + -0.10809264332056046, + 0.020443886518478394 + ], + "orientation": [ + 0.7040864825248718, + 0.046702515333890915, + 0.6891195178031921, + -0.16491055488586426 + ], + "joints": [ + -0.010646847076714039 + ] + }, + "final_grasp": { + "position": [ + -0.05983862653374672, + -0.10809264332056046, + 0.020443886518478394 + ], + "orientation": [ + 0.7040864825248718, + 0.046702515333890915, + 0.6891195178031921, + -0.16491055488586426 + ], + "joints": [ + -0.004296617582440376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035547610372304916, + -0.10676915943622589, + -0.02197784185409546 + ], + "orientation": [ + 0.8368521928787231, + 0.08998031914234161, + -0.5392632484436035, + 0.027873089537024498 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.036119528114795685, + -0.11062841862440109, + -0.023846706375479698 + ], + "orientation": [ + 0.8351109623908997, + 0.08023711293935776, + -0.5435282588005066, + 0.02699541673064232 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.036119528114795685, + -0.11062841862440109, + -0.023846706375479698 + ], + "orientation": [ + 0.8351109623908997, + 0.08023711293935776, + -0.5435282588005066, + 0.02699541673064232 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03549612686038017, + -0.10686714202165604, + -0.02201235108077526 + ], + "orientation": [ + 0.8364270329475403, + 0.09018763899803162, + -0.5399044156074524, + 0.027549879625439644 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.03603771701455116, + -0.11064682900905609, + -0.023829717189073563 + ], + "orientation": [ + 0.8344112038612366, + 0.08034549653530121, + -0.5446078181266785, + 0.026549886912107468 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.03603771701455116, + -0.11064682900905609, + -0.023829717189073563 + ], + "orientation": [ + 0.8344112038612366, + 0.08034549653530121, + -0.5446078181266785, + 0.026549886912107468 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03549666330218315, + -0.10679733008146286, + -0.02189505100250244 + ], + "orientation": [ + 0.8366404175758362, + 0.08972033113241196, + -0.5396374464035034, + 0.027829330414533615 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.036027777940034866, + -0.11061622202396393, + -0.02374464087188244 + ], + "orientation": [ + 0.8345133662223816, + 0.0800921842455864, + -0.5444743633270264, + 0.026838375255465508 + ], + "joints": [ + -0.01059518102556467 + ] + }, + "final_grasp": { + "position": [ + 0.036027777940034866, + -0.11061622202396393, + -0.02374464087188244 + ], + "orientation": [ + 0.8345133662223816, + 0.0800921842455864, + -0.5444743633270264, + 0.026838375255465508 + ], + "joints": [ + -0.0047232117503881454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03878369554877281, + -0.10608907788991928, + 0.017804991453886032 + ], + "orientation": [ + 0.7618424892425537, + -0.010761183686554432, + 0.6343351602554321, + -0.13076364994049072 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + -0.04050039127469063, + -0.10401936620473862, + 0.01824960485100746 + ], + "orientation": [ + 0.7611802220344543, + -0.025890318676829338, + 0.6364899277687073, + -0.12171678990125656 + ], + "joints": [ + -0.0095546068623662 + ] + }, + "final_grasp": { + "position": [ + -0.04050039127469063, + -0.10401936620473862, + 0.01824960485100746 + ], + "orientation": [ + 0.7611802220344543, + -0.025890318676829338, + 0.6364899277687073, + -0.12171678990125656 + ], + "joints": [ + -0.002141578122973442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03886081650853157, + -0.10598181933164597, + 0.01789918728172779 + ], + "orientation": [ + 0.7625876069068909, + -0.011516266502439976, + 0.6333421468734741, + -0.13116900622844696 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + -0.04059116169810295, + -0.10410220921039581, + 0.01827889122068882 + ], + "orientation": [ + 0.7616996765136719, + -0.02562417834997177, + 0.6357882022857666, + -0.1221899762749672 + ], + "joints": [ + -0.0095546068623662 + ] + }, + "final_grasp": { + "position": [ + -0.04059116169810295, + -0.10410220921039581, + 0.01827889122068882 + ], + "orientation": [ + 0.7616996765136719, + -0.02562417834997177, + 0.6357882022857666, + -0.1221899762749672 + ], + "joints": [ + -0.002141578122973442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12615852057933807, + 0.04251638054847717, + -0.0035969452001154423 + ], + "orientation": [ + 0.519877552986145, + -0.4618636667728424, + 0.4837673306465149, + 0.5313929915428162 + ], + "joints": [ + -0.009370461106300354 + ] + }, + "fine_grasp": { + "position": [ + 0.1274183988571167, + 0.04289232939481735, + -0.003142113331705332 + ], + "orientation": [ + 0.5296644568443298, + -0.44991639256477356, + 0.48553457856178284, + 0.5303651094436646 + ], + "joints": [ + -0.0059960754588246346 + ] + }, + "final_grasp": { + "position": [ + 0.1274183988571167, + 0.04289232939481735, + -0.003142113331705332 + ], + "orientation": [ + 0.5296644568443298, + -0.44991639256477356, + 0.48553457856178284, + 0.5303651094436646 + ], + "joints": [ + -0.002621689811348915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11700073629617691, + 0.0492074117064476, + 0.062414899468421936 + ], + "orientation": [ + 0.578837513923645, + -0.5896154642105103, + 0.25124120712280273, + 0.5041614174842834 + ], + "joints": [ + -0.01799805276095867 + ] + }, + "fine_grasp": { + "position": [ + 0.11254983395338058, + 0.046376317739486694, + 0.060232989490032196 + ], + "orientation": [ + 0.5638994574546814, + -0.6043124198913574, + 0.2518969476222992, + 0.5033604502677917 + ], + "joints": [ + -0.013667136430740356 + ] + }, + "final_grasp": { + "position": [ + 0.11254983395338058, + 0.046376317739486694, + 0.060232989490032196 + ], + "orientation": [ + 0.5638994574546814, + -0.6043124198913574, + 0.2518969476222992, + 0.5033604502677917 + ], + "joints": [ + -0.009336220100522041 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029744330793619156, + -0.09735464304685593, + -0.015381156466901302 + ], + "orientation": [ + 0.6687299013137817, + 0.004826240241527557, + 0.7380812168121338, + 0.08951596170663834 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.030710332095623016, + -0.10150314122438431, + -0.016043348237872124 + ], + "orientation": [ + 0.6677297353744507, + 0.013093088753521442, + 0.7387394309043884, + 0.09071660786867142 + ], + "joints": [ + -0.012301323004066944 + ] + }, + "final_grasp": { + "position": [ + 0.030710332095623016, + -0.10150314122438431, + -0.016043348237872124 + ], + "orientation": [ + 0.6677297353744507, + 0.013093088753521442, + 0.7387394309043884, + 0.09071660786867142 + ], + "joints": [ + -0.006987320259213448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011477379128336906, + -0.1196223646402359, + -0.01960221491754055 + ], + "orientation": [ + 0.6989631056785583, + 0.04822935536503792, + 0.7100821733474731, + 0.07005547732114792 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.012652499601244926, + -0.11804072558879852, + -0.01728087291121483 + ], + "orientation": [ + 0.7051618695259094, + 0.03813215345144272, + 0.7047716379165649, + 0.06774622201919556 + ], + "joints": [ + -0.010653982870280743 + ] + }, + "final_grasp": { + "position": [ + -0.012652499601244926, + -0.11804072558879852, + -0.01728087291121483 + ], + "orientation": [ + 0.7051618695259094, + 0.03813215345144272, + 0.7047716379165649, + 0.06774622201919556 + ], + "joints": [ + -0.0036926399916410446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10450912266969681, + 0.01744733937084675, + -0.09312194585800171 + ], + "orientation": [ + 0.6430675387382507, + 0.6313346028327942, + -0.21227051317691803, + 0.37791791558265686 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.10047990083694458, + 0.01641874760389328, + -0.08873239159584045 + ], + "orientation": [ + 0.6398304104804993, + 0.6371065378189087, + -0.20064066350460052, + 0.38007304072380066 + ], + "joints": [ + -0.013144930824637413 + ] + }, + "final_grasp": { + "position": [ + 0.10047990083694458, + 0.01641874760389328, + -0.08873239159584045 + ], + "orientation": [ + 0.6398304104804993, + 0.6371065378189087, + -0.20064066350460052, + 0.38007304072380066 + ], + "joints": [ + -0.006289862096309662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11393294483423233, + 0.0475551038980484, + -0.07837110012769699 + ], + "orientation": [ + 0.5860061049461365, + 0.659636914730072, + 0.2908637225627899, + -0.36996522545814514 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.10924843698740005, + 0.0469370037317276, + -0.07505352795124054 + ], + "orientation": [ + 0.5875828862190247, + 0.6577575206756592, + 0.2896987497806549, + -0.3717205822467804 + ], + "joints": [ + -0.008266521617770195 + ] + }, + "final_grasp": { + "position": [ + -0.10924843698740005, + 0.0469370037317276, + -0.07505352795124054 + ], + "orientation": [ + 0.5875828862190247, + 0.6577575206756592, + 0.2896987497806549, + -0.3717205822467804 + ], + "joints": [ + -0.0024211257696151733 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2037, + "num_passed": 74 + } +} \ No newline at end of file diff --git a/111_callbell_1/Annotation/piper_grasp_pose.json b/111_callbell_1/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..fcdb155e85b94037514010bdbc094b54c1ab8820 --- /dev/null +++ b/111_callbell_1/Annotation/piper_grasp_pose.json @@ -0,0 +1,7018 @@ +{ + "type": "111_callbell_1", + "bottom_center": [ + 8.244067430496216e-06, + 0.08079024404287338, + -0.036773718893527985 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.11492819339036942, + 0.011156964115798473, + 0.07182405143976212 + ], + "orientation": [ + 0.4352369010448456, + -0.6607025265693665, + 0.561461865901947, + -0.24249060451984406 + ], + "joints": [ + 0.027729207649827003 + ] + }, + "fine_grasp": { + "position": [ + -0.11167369782924652, + 0.01122889295220375, + 0.06993954628705978 + ], + "orientation": [ + 0.426815003156662, + -0.6563566327095032, + 0.5689729452133179, + -0.2515844702720642 + ], + "joints": [ + 0.019704462960362434 + ] + }, + "final_grasp": { + "position": [ + -0.11167369782924652, + 0.01122889295220375, + 0.06993954628705978 + ], + "orientation": [ + 0.426815003156662, + -0.6563566327095032, + 0.5689729452133179, + -0.2515844702720642 + ], + "joints": [ + 0.011679718270897865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1115487590432167, + 0.04149113968014717, + 0.07887870818376541 + ], + "orientation": [ + 0.34031054377555847, + -0.5971430540084839, + -0.656093418598175, + 0.3116893768310547 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + 0.10847502946853638, + 0.04122714698314667, + 0.07677774876356125 + ], + "orientation": [ + 0.33834579586982727, + -0.592149019241333, + -0.6609033346176147, + 0.3131908178329468 + ], + "joints": [ + 0.022175272926688194 + ] + }, + "final_grasp": { + "position": [ + 0.10847502946853638, + 0.04122714698314667, + 0.07677774876356125 + ], + "orientation": [ + 0.33834579586982727, + -0.592149019241333, + -0.6609033346176147, + 0.3131908178329468 + ], + "joints": [ + 0.013356415554881096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11283223330974579, + 0.04532785713672638, + -0.08409737050533295 + ], + "orientation": [ + 0.613346517086029, + 0.3227161169052124, + -0.31032174825668335, + -0.650661826133728 + ], + "joints": [ + 0.028447028249502182 + ] + }, + "fine_grasp": { + "position": [ + 0.10978249460458755, + 0.04499898850917816, + -0.08191696554422379 + ], + "orientation": [ + 0.6140978932380676, + 0.32344257831573486, + -0.30903127789497375, + -0.6502063274383545 + ], + "joints": [ + 0.019607271999120712 + ] + }, + "final_grasp": { + "position": [ + 0.10978249460458755, + 0.04499898850917816, + -0.08191696554422379 + ], + "orientation": [ + 0.6140978932380676, + 0.32344257831573486, + -0.30903127789497375, + -0.6502063274383545 + ], + "joints": [ + 0.010767515748739243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11494633555412292, + 0.0111958347260952, + 0.07170039415359497 + ], + "orientation": [ + 0.43468016386032104, + -0.6606147289276123, + 0.5615077018737793, + -0.24361926317214966 + ], + "joints": [ + 0.027729207649827003 + ] + }, + "fine_grasp": { + "position": [ + -0.11172298341989517, + 0.01130310632288456, + 0.06976476311683655 + ], + "orientation": [ + 0.42697659134864807, + -0.656452476978302, + 0.5685551762580872, + -0.2520042955875397 + ], + "joints": [ + 0.019704462960362434 + ] + }, + "final_grasp": { + "position": [ + -0.11172298341989517, + 0.01130310632288456, + 0.06976476311683655 + ], + "orientation": [ + 0.42697659134864807, + -0.656452476978302, + 0.5685551762580872, + -0.2520042955875397 + ], + "joints": [ + 0.011679718270897865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020990831777453423, + 0.09698965400457382, + 0.12886065244674683 + ], + "orientation": [ + 0.12625353038311005, + 0.719657301902771, + -0.682685911655426, + 0.009660464711487293 + ], + "joints": [ + 0.01554981991648674 + ] + }, + "fine_grasp": { + "position": [ + 0.020383985713124275, + 0.09529825299978256, + 0.12480901181697845 + ], + "orientation": [ + 0.13340574502944946, + 0.7244614958763123, + -0.6759898066520691, + 0.019906755536794662 + ], + "joints": [ + 0.008862536400556564 + ] + }, + "final_grasp": { + "position": [ + 0.020383985713124275, + 0.09529825299978256, + 0.12480901181697845 + ], + "orientation": [ + 0.13340574502944946, + 0.7244614958763123, + -0.6759898066520691, + 0.019906755536794662 + ], + "joints": [ + 0.0021752528846263885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10178157687187195, + 0.04987134039402008, + -0.09475471824407578 + ], + "orientation": [ + 0.6162185668945312, + -0.27679792046546936, + 0.28939756751060486, + -0.6781642436981201 + ], + "joints": [ + 0.029604801908135414 + ] + }, + "fine_grasp": { + "position": [ + -0.09907090663909912, + 0.04944247007369995, + -0.09212622046470642 + ], + "orientation": [ + 0.6154924631118774, + -0.27675557136535645, + 0.28999340534210205, + -0.6785861253738403 + ], + "joints": [ + 0.020765045657753944 + ] + }, + "final_grasp": { + "position": [ + -0.09907090663909912, + 0.04944247007369995, + -0.09212622046470642 + ], + "orientation": [ + 0.6154924631118774, + -0.27675557136535645, + 0.28999340534210205, + -0.6785861253738403 + ], + "joints": [ + 0.011925289407372475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06834893673658371, + 0.030926940962672234, + 0.11644644290208817 + ], + "orientation": [ + 0.21243667602539062, + -0.7087767124176025, + 0.6539915800094604, + -0.15748398005962372 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.06631739437580109, + 0.03079744055867195, + 0.11325128376483917 + ], + "orientation": [ + 0.20490257441997528, + -0.7102488875389099, + 0.6529677510261536, + -0.16490772366523743 + ], + "joints": [ + 0.022595485672354698 + ] + }, + "final_grasp": { + "position": [ + -0.06631739437580109, + 0.03079744055867195, + 0.11325128376483917 + ], + "orientation": [ + 0.20490257441997528, + -0.7102488875389099, + 0.6529677510261536, + -0.16490772366523743 + ], + "joints": [ + 0.014173684641718864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024008359760046005, + 0.03754973039031029, + 0.12757590413093567 + ], + "orientation": [ + 0.05146462097764015, + 0.6926766037940979, + 0.7150155305862427, + 0.07939379662275314 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.02318420074880123, + 0.03741226717829704, + 0.12385197728872299 + ], + "orientation": [ + 0.05452929809689522, + 0.6860717535018921, + 0.7215495109558105, + 0.07548770308494568 + ], + "joints": [ + 0.023168697953224182 + ] + }, + "final_grasp": { + "position": [ + -0.02318420074880123, + 0.03741226717829704, + 0.12385197728872299 + ], + "orientation": [ + 0.05452929809689522, + 0.6860717535018921, + 0.7215495109558105, + 0.07548770308494568 + ], + "joints": [ + 0.014370739459991455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10181476920843124, + 0.04989560320973396, + -0.09473280608654022 + ], + "orientation": [ + 0.6160388588905334, + -0.2770332098007202, + 0.2893519699573517, + -0.6782508492469788 + ], + "joints": [ + 0.029604801908135414 + ] + }, + "fine_grasp": { + "position": [ + -0.09912857413291931, + 0.04945345222949982, + -0.09209786355495453 + ], + "orientation": [ + 0.6153230667114258, + -0.2767794728279114, + 0.28999462723731995, + -0.6787294745445251 + ], + "joints": [ + 0.020765045657753944 + ] + }, + "final_grasp": { + "position": [ + -0.09912857413291931, + 0.04945345222949982, + -0.09209786355495453 + ], + "orientation": [ + 0.6153230667114258, + -0.2767794728279114, + 0.28999462723731995, + -0.6787294745445251 + ], + "joints": [ + 0.011925289407372475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06841067969799042, + 0.030828744173049927, + 0.11649534851312637 + ], + "orientation": [ + 0.21324443817138672, + -0.7094569802284241, + 0.6531192660331726, + -0.15694792568683624 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + -0.0664440244436264, + 0.030685286968946457, + 0.11321435123682022 + ], + "orientation": [ + 0.20558519661426544, + -0.7111488580703735, + 0.6517511606216431, + -0.16499263048171997 + ], + "joints": [ + 0.02255033142864704 + ] + }, + "final_grasp": { + "position": [ + -0.0664440244436264, + 0.030685286968946457, + 0.11321435123682022 + ], + "orientation": [ + 0.20558519661426544, + -0.7111488580703735, + 0.6517511606216431, + -0.16499263048171997 + ], + "joints": [ + 0.014546485617756844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06806284934282303, + 0.031137466430664062, + 0.11621809750795364 + ], + "orientation": [ + 0.2139354646205902, + -0.7094162702560425, + 0.6533048748970032, + -0.15541242063045502 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.06604830175638199, + 0.030969591811299324, + 0.11294770240783691 + ], + "orientation": [ + 0.20574592053890228, + -0.7103541493415833, + 0.6528395414352417, + -0.1639094054698944 + ], + "joints": [ + 0.022595485672354698 + ] + }, + "final_grasp": { + "position": [ + -0.06604830175638199, + 0.030969591811299324, + 0.11294770240783691 + ], + "orientation": [ + 0.20574592053890228, + -0.7103541493415833, + 0.6528395414352417, + -0.1639094054698944 + ], + "joints": [ + 0.014173684641718864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11280239373445511, + 0.04566003009676933, + -0.08408667147159576 + ], + "orientation": [ + 0.611160159111023, + 0.3205426037311554, + -0.31219780445098877, + -0.6528921723365784 + ], + "joints": [ + 0.028215473517775536 + ] + }, + "fine_grasp": { + "position": [ + 0.10984975844621658, + 0.045410048216581345, + -0.08195824176073074 + ], + "orientation": [ + 0.6113687753677368, + 0.32089588046073914, + -0.3115026652812958, + -0.652855396270752 + ], + "joints": [ + 0.019354818388819695 + ] + }, + "final_grasp": { + "position": [ + 0.10984975844621658, + 0.045410048216581345, + -0.08195824176073074 + ], + "orientation": [ + 0.6113687753677368, + 0.32089588046073914, + -0.3115026652812958, + -0.652855396270752 + ], + "joints": [ + 0.010494163259863853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12891151010990143, + 0.07692763954401016, + 0.02392912469804287 + ], + "orientation": [ + 0.3514575660228729, + -0.5026175379753113, + 0.5795387625694275, + -0.5366452932357788 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + -0.12523357570171356, + 0.07587726414203644, + 0.023267414420843124 + ], + "orientation": [ + 0.35122233629226685, + -0.5024847984313965, + 0.5796758532524109, + -0.5367754101753235 + ], + "joints": [ + 0.022154374048113823 + ] + }, + "final_grasp": { + "position": [ + -0.12523357570171356, + 0.07587726414203644, + 0.023267414420843124 + ], + "orientation": [ + 0.35122233629226685, + -0.5024847984313965, + 0.5796758532524109, + -0.5367754101753235 + ], + "joints": [ + 0.013314617797732353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12281351536512375, + 0.07450604438781738, + 0.038163263350725174 + ], + "orientation": [ + 0.4269992709159851, + -0.510673463344574, + -0.613095760345459, + 0.42543843388557434 + ], + "joints": [ + 0.025043176487088203 + ] + }, + "fine_grasp": { + "position": [ + 0.11942825466394424, + 0.07310805469751358, + 0.03734505921602249 + ], + "orientation": [ + 0.4186832308769226, + -0.5032839775085449, + -0.618784487247467, + 0.43418365716934204 + ], + "joints": [ + 0.016224319115281105 + ] + }, + "final_grasp": { + "position": [ + 0.11942825466394424, + 0.07310805469751358, + 0.03734505921602249 + ], + "orientation": [ + 0.4186832308769226, + -0.5032839775085449, + -0.618784487247467, + 0.43418365716934204 + ], + "joints": [ + 0.007405461743474007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12106502801179886, + 0.0392928272485733, + 0.05983896553516388 + ], + "orientation": [ + 0.33692213892936707, + 0.6179702877998352, + 0.5806766152381897, + 0.4091588258743286 + ], + "joints": [ + 0.030322622507810593 + ] + }, + "fine_grasp": { + "position": [ + -0.11767184734344482, + 0.0392119325697422, + 0.058079082518815994 + ], + "orientation": [ + 0.34074634313583374, + 0.6218845248222351, + 0.5767760872840881, + 0.40556252002716064 + ], + "joints": [ + 0.02192172035574913 + ] + }, + "final_grasp": { + "position": [ + -0.11767184734344482, + 0.0392119325697422, + 0.058079082518815994 + ], + "orientation": [ + 0.34074634313583374, + 0.6218845248222351, + 0.5767760872840881, + 0.40556252002716064 + ], + "joints": [ + 0.013520818203687668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12167030572891235, + 0.08557403832674026, + 0.03865823149681091 + ], + "orientation": [ + 0.4718332290649414, + 0.6452717185020447, + -0.4761853516101837, + -0.36639508605003357 + ], + "joints": [ + 0.029651114717125893 + ] + }, + "fine_grasp": { + "position": [ + 0.11821597814559937, + 0.08442891389131546, + 0.03755903244018555 + ], + "orientation": [ + 0.4732726216316223, + 0.6465563774108887, + -0.4750407934188843, + -0.36375027894973755 + ], + "joints": [ + 0.020832257345318794 + ] + }, + "final_grasp": { + "position": [ + 0.11821597814559937, + 0.08442891389131546, + 0.03755903244018555 + ], + "orientation": [ + 0.4732726216316223, + 0.6465563774108887, + -0.4750407934188843, + -0.36375027894973755 + ], + "joints": [ + 0.012013399973511696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10262950509786606, + 0.07015213370323181, + -0.08588802814483643 + ], + "orientation": [ + 0.614921510219574, + 0.296418160200119, + 0.26048699021339417, + 0.6827549934387207 + ], + "joints": [ + 0.021060442551970482 + ] + }, + "fine_grasp": { + "position": [ + -0.09968747198581696, + 0.06827318668365479, + -0.08375433087348938 + ], + "orientation": [ + 0.6165698170661926, + 0.30713728070259094, + 0.2534599304199219, + 0.6791660189628601 + ], + "joints": [ + 0.012283382937312126 + ] + }, + "final_grasp": { + "position": [ + -0.09968747198581696, + 0.06827318668365479, + -0.08375433087348938 + ], + "orientation": [ + 0.6165698170661926, + 0.30713728070259094, + 0.2534599304199219, + 0.6791660189628601 + ], + "joints": [ + 0.0035063233226537704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03797189146280289, + 0.02832959219813347, + -0.12255944311618805 + ], + "orientation": [ + 0.7006092071533203, + 0.0784439817070961, + -0.13342052698135376, + -0.6965575218200684 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.03689548745751381, + 0.02735838294029236, + -0.11906804144382477 + ], + "orientation": [ + 0.7019152641296387, + 0.08311372995376587, + -0.128468856215477, + -0.6956312656402588 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + 0.03689548745751381, + 0.02735838294029236, + -0.11906804144382477 + ], + "orientation": [ + 0.7019152641296387, + 0.08311372995376587, + -0.128468856215477, + -0.6956312656402588 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03796808794140816, + 0.028788309544324875, + -0.12248747050762177 + ], + "orientation": [ + 0.7004089951515198, + 0.0801624283194542, + -0.13180670142173767, + -0.6968703269958496 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.036880940198898315, + 0.027870364487171173, + -0.11895571649074554 + ], + "orientation": [ + 0.7016382217407227, + 0.08469937741756439, + -0.12706409394741058, + -0.6959774494171143 + ], + "joints": [ + 0.023886512964963913 + ] + }, + "final_grasp": { + "position": [ + 0.036880940198898315, + 0.027870364487171173, + -0.11895571649074554 + ], + "orientation": [ + 0.7016382217407227, + 0.08469937741756439, + -0.12706409394741058, + -0.6959774494171143 + ], + "joints": [ + 0.015088554471731186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12261393666267395, + 0.07417456060647964, + 0.03819632530212402 + ], + "orientation": [ + 0.42657098174095154, + -0.5096293091773987, + -0.6145622730255127, + 0.4250037968158722 + ], + "joints": [ + 0.025506285950541496 + ] + }, + "fine_grasp": { + "position": [ + 0.11923249065876007, + 0.0728689581155777, + 0.037399861961603165 + ], + "orientation": [ + 0.41926681995391846, + -0.502663791179657, + -0.6198420524597168, + 0.43282827734947205 + ], + "joints": [ + 0.016687428578734398 + ] + }, + "final_grasp": { + "position": [ + 0.11923249065876007, + 0.0728689581155777, + 0.037399861961603165 + ], + "orientation": [ + 0.41926681995391846, + -0.502663791179657, + -0.6198420524597168, + 0.43282827734947205 + ], + "joints": [ + 0.0078685712069273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04415425658226013, + 0.06480642408132553, + -0.11982598900794983 + ], + "orientation": [ + 0.6647583842277527, + 0.19411040842533112, + -0.04045085236430168, + -0.7202646732330322 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.04277796670794487, + 0.06403366476297379, + -0.1162741407752037 + ], + "orientation": [ + 0.6642611026763916, + 0.19401618838310242, + -0.04122244194149971, + -0.7207048535346985 + ], + "joints": [ + 0.02340025082230568 + ] + }, + "final_grasp": { + "position": [ + 0.04277796670794487, + 0.06403366476297379, + -0.1162741407752037 + ], + "orientation": [ + 0.6642611026763916, + 0.19401618838310242, + -0.04122244194149971, + -0.7207048535346985 + ], + "joints": [ + 0.014602292329072952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11220739036798477, + 0.041209928691387177, + 0.07938702404499054 + ], + "orientation": [ + 0.339338481426239, + -0.5944538712501526, + -0.6585245728492737, + 0.31276071071624756 + ], + "joints": [ + 0.030785731971263885 + ] + }, + "fine_grasp": { + "position": [ + 0.10913313925266266, + 0.0408659465610981, + 0.07724390923976898 + ], + "orientation": [ + 0.336927592754364, + -0.5893780589103699, + -0.6632897853851318, + 0.31489673256874084 + ], + "joints": [ + 0.022363930940628052 + ] + }, + "final_grasp": { + "position": [ + 0.10913313925266266, + 0.0408659465610981, + 0.07724390923976898 + ], + "orientation": [ + 0.336927592754364, + -0.5893780589103699, + -0.6632897853851318, + 0.31489673256874084 + ], + "joints": [ + 0.013942129909992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04400899261236191, + 0.0649254098534584, + -0.1193612813949585 + ], + "orientation": [ + 0.6641737818717957, + 0.19411197304725647, + -0.04042718559503555, + -0.7208046913146973 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.04264426976442337, + 0.06410907953977585, + -0.11577947437763214 + ], + "orientation": [ + 0.6637022495269775, + 0.19435559213161469, + -0.040920037776231766, + -0.7211453318595886 + ], + "joints": [ + 0.02342340722680092 + ] + }, + "final_grasp": { + "position": [ + 0.04264426976442337, + 0.06410907953977585, + -0.11577947437763214 + ], + "orientation": [ + 0.6637022495269775, + 0.19435559213161469, + -0.040920037776231766, + -0.7211453318595886 + ], + "joints": [ + 0.014625448733568192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11208533495664597, + 0.04134206846356392, + 0.07919575273990631 + ], + "orientation": [ + 0.34054455161094666, + -0.594340980052948, + -0.6584280729293823, + 0.31186643242836 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.10901551693677902, + 0.04098339006304741, + 0.07705822587013245 + ], + "orientation": [ + 0.3380415439605713, + -0.5892860889434814, + -0.6631059646606445, + 0.31426140666007996 + ], + "joints": [ + 0.022153275087475777 + ] + }, + "final_grasp": { + "position": [ + 0.10901551693677902, + 0.04098339006304741, + 0.07705822587013245 + ], + "orientation": [ + 0.3380415439605713, + -0.5892860889434814, + -0.6631059646606445, + 0.31426140666007996 + ], + "joints": [ + 0.013752372935414314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11486340314149857, + 0.11302512884140015, + -0.04500813037157059 + ], + "orientation": [ + 0.49297836422920227, + -0.3301074504852295, + 0.45278188586235046, + -0.6655747890472412 + ], + "joints": [ + 0.016644751653075218 + ] + }, + "fine_grasp": { + "position": [ + -0.11111457645893097, + 0.1118159294128418, + -0.04376599192619324 + ], + "orientation": [ + 0.49126559495925903, + -0.3305260241031647, + 0.4543161690235138, + -0.6655880808830261 + ], + "joints": [ + 0.008285647258162498 + ] + }, + "final_grasp": { + "position": [ + -0.11111457645893097, + 0.1118159294128418, + -0.04376599192619324 + ], + "orientation": [ + 0.49126559495925903, + -0.3305260241031647, + 0.4543161690235138, + -0.6655880808830261 + ], + "joints": [ + -7.345713675022125e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08200183510780334, + 0.1335446834564209, + -0.06634218245744705 + ], + "orientation": [ + 0.6475809216499329, + 0.44366350769996643, + 0.12155665457248688, + 0.6074748039245605 + ], + "joints": [ + 0.015379803255200386 + ] + }, + "fine_grasp": { + "position": [ + -0.0788518637418747, + 0.13277103006839752, + -0.06351941078901291 + ], + "orientation": [ + 0.644997239112854, + 0.44266822934150696, + 0.11868215352296829, + 0.6115046739578247 + ], + "joints": [ + 0.007856609299778938 + ] + }, + "final_grasp": { + "position": [ + -0.0788518637418747, + 0.13277103006839752, + -0.06351941078901291 + ], + "orientation": [ + 0.644997239112854, + 0.44266822934150696, + 0.11868215352296829, + 0.6115046739578247 + ], + "joints": [ + 0.00033341534435749054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13469198346138, + -0.011040075682103634, + -0.013583668507635593 + ], + "orientation": [ + 0.62105792760849, + -0.5341083407402039, + 0.40288153290748596, + -0.408291220664978 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + -0.13127262890338898, + -0.01142786256968975, + -0.01350440364331007 + ], + "orientation": [ + 0.6163270473480225, + -0.5295339822769165, + 0.40850377082824707, + -0.41576358675956726 + ], + "joints": [ + 0.022969385609030724 + ] + }, + "final_grasp": { + "position": [ + -0.13127262890338898, + -0.01142786256968975, + -0.01350440364331007 + ], + "orientation": [ + 0.6163270473480225, + -0.5295339822769165, + 0.40850377082824707, + -0.41576358675956726 + ], + "joints": [ + 0.014944640919566154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03515150770545006, + 0.12537002563476562, + 0.10591467469930649 + ], + "orientation": [ + 0.2451382577419281, + 0.6813138127326965, + -0.6891322731971741, + 0.028554465621709824 + ], + "joints": [ + 0.015336154028773308 + ] + }, + "fine_grasp": { + "position": [ + 0.03378845006227493, + 0.12438980489969254, + 0.10181223601102829 + ], + "orientation": [ + 0.25015196204185486, + 0.6799590587615967, + -0.6882259845733643, + 0.03774742782115936 + ], + "joints": [ + 0.008648870512843132 + ] + }, + "final_grasp": { + "position": [ + 0.03378845006227493, + 0.12438980489969254, + 0.10181223601102829 + ], + "orientation": [ + 0.25015196204185486, + 0.6799590587615967, + -0.6882259845733643, + 0.03774742782115936 + ], + "joints": [ + 0.0019615869969129562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04676683247089386, + 0.05247209966182709, + -0.11585208773612976 + ], + "orientation": [ + 0.7311888933181763, + 0.1955578476190567, + 0.08266151696443558, + 0.6482953429222107 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + -0.04557095468044281, + 0.05079728364944458, + -0.11281205713748932 + ], + "orientation": [ + 0.7341218590736389, + 0.20162644982337952, + 0.07688114047050476, + 0.6438177824020386 + ], + "joints": [ + 0.026111740618944168 + ] + }, + "final_grasp": { + "position": [ + -0.04557095468044281, + 0.05079728364944458, + -0.11281205713748932 + ], + "orientation": [ + 0.7341218590736389, + 0.20162644982337952, + 0.07688114047050476, + 0.6438177824020386 + ], + "joints": [ + 0.018149692565202713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03304779529571533, + 0.015472297556698322, + 0.12890836596488953 + ], + "orientation": [ + 0.12744072079658508, + -0.7444539666175842, + 0.6536738872528076, + -0.047513268887996674 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.03199036046862602, + 0.014580774120986462, + 0.12546516954898834 + ], + "orientation": [ + 0.11521655321121216, + -0.7492604851722717, + 0.6495389938354492, + -0.05859098955988884 + ], + "joints": [ + 0.025790981948375702 + ] + }, + "final_grasp": { + "position": [ + -0.03199036046862602, + 0.014580774120986462, + 0.12546516954898834 + ], + "orientation": [ + 0.11521655321121216, + -0.7492604851722717, + 0.6495389938354492, + -0.05859098955988884 + ], + "joints": [ + 0.01822599023580551 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012593509163707495, + -0.008041265420615673, + -0.12971800565719604 + ], + "orientation": [ + 0.7348774671554565, + -0.10907849669456482, + -0.11183832585811615, + -0.6599615216255188 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.0014090817421674728, + -0.00937942136079073, + -0.12658169865608215 + ], + "orientation": [ + 0.7374780774116516, + -0.10204765200614929, + -0.10434354096651077, + -0.6594124436378479 + ], + "joints": [ + 0.025396183133125305 + ] + }, + "final_grasp": { + "position": [ + 0.0014090817421674728, + -0.00937942136079073, + -0.12658169865608215 + ], + "orientation": [ + 0.7374780774116516, + -0.10204765200614929, + -0.10434354096651077, + -0.6594124436378479 + ], + "joints": [ + 0.01741323620080948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0010385968489572406, + -0.008349383249878883, + -0.1299702674150467 + ], + "orientation": [ + 0.7342520952224731, + -0.11103836447000504, + -0.11274197697639465, + -0.6601770520210266 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.0012110351817682385, + -0.009777016006410122, + -0.12674769759178162 + ], + "orientation": [ + 0.7369927763938904, + -0.10350756347179413, + -0.10456465929746628, + -0.6596924066543579 + ], + "joints": [ + 0.025351032614707947 + ] + }, + "final_grasp": { + "position": [ + 0.0012110351817682385, + -0.009777016006410122, + -0.12674769759178162 + ], + "orientation": [ + 0.7369927763938904, + -0.10350756347179413, + -0.10456465929746628, + -0.6596924066543579 + ], + "joints": [ + 0.017786040902137756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03512972965836525, + 0.12523111701011658, + 0.10449313372373581 + ], + "orientation": [ + 0.2362947314977646, + 0.6763050556182861, + -0.6974539756774902, + 0.018283149227499962 + ], + "joints": [ + 0.014490347355604172 + ] + }, + "fine_grasp": { + "position": [ + 0.03384525328874588, + 0.1245206668972969, + 0.10064713656902313 + ], + "orientation": [ + 0.22989656031131744, + 0.6666269898414612, + -0.7088977098464966, + 0.014834930188953876 + ], + "joints": [ + 0.005713287740945816 + ] + }, + "final_grasp": { + "position": [ + 0.03384525328874588, + 0.1245206668972969, + 0.10064713656902313 + ], + "orientation": [ + 0.22989656031131744, + 0.6666269898414612, + -0.7088977098464966, + 0.014834930188953876 + ], + "joints": [ + -0.0030637718737125397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11368202418088913, + 0.11794160306453705, + 0.0015153632266446948 + ], + "orientation": [ + 0.5586328506469727, + 0.5548664927482605, + -0.4453350007534027, + -0.42629727721214294 + ], + "joints": [ + 0.013876020908355713 + ] + }, + "fine_grasp": { + "position": [ + 0.10954315960407257, + 0.11754603683948517, + 0.00146050367038697 + ], + "orientation": [ + 0.5566225647926331, + 0.5526487231254578, + -0.44809824228286743, + -0.428904265165329 + ], + "joints": [ + 0.005516916513442993 + ] + }, + "final_grasp": { + "position": [ + 0.10954315960407257, + 0.11754603683948517, + 0.00146050367038697 + ], + "orientation": [ + 0.5566225647926331, + 0.5526487231254578, + -0.44809824228286743, + -0.428904265165329 + ], + "joints": [ + -0.0028421878814697266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12038810551166534, + 0.15467523038387299, + -0.040801774710416794 + ], + "orientation": [ + 0.6312738060951233, + 0.527775228023529, + -0.2961757779121399, + -0.4850015342235565 + ], + "joints": [ + 0.016377411782741547 + ] + }, + "fine_grasp": { + "position": [ + 0.11668223142623901, + 0.15517546236515045, + -0.03913705423474312 + ], + "orientation": [ + 0.6292957067489624, + 0.5190067291259766, + -0.30246099829673767, + -0.49308842420578003 + ], + "joints": [ + 0.007600352168083191 + ] + }, + "final_grasp": { + "position": [ + 0.11668223142623901, + 0.15517546236515045, + -0.03913705423474312 + ], + "orientation": [ + 0.6292957067489624, + 0.5190067291259766, + -0.30246099829673767, + -0.49308842420578003 + ], + "joints": [ + -0.0011767074465751648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06576123833656311, + 0.06204337254166603, + 0.12641292810440063 + ], + "orientation": [ + 0.10956256836652756, + -0.7213719487190247, + -0.6486912369728088, + 0.2163749635219574 + ], + "joints": [ + 0.02726609818637371 + ] + }, + "fine_grasp": { + "position": [ + 0.06398043781518936, + 0.061516955494880676, + 0.12314917892217636 + ], + "orientation": [ + 0.10317663103342056, + -0.722121000289917, + -0.6468487977981567, + 0.22244636714458466 + ], + "joints": [ + 0.01840544305741787 + ] + }, + "final_grasp": { + "position": [ + 0.06398043781518936, + 0.061516955494880676, + 0.12314917892217636 + ], + "orientation": [ + 0.10317663103342056, + -0.722121000289917, + -0.6468487977981567, + 0.22244636714458466 + ], + "joints": [ + 0.009544787928462029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11795837432146072, + 0.10264597088098526, + 0.060509733855724335 + ], + "orientation": [ + 0.30743715167045593, + -0.46621832251548767, + -0.7016586065292358, + 0.44249069690704346 + ], + "joints": [ + 0.02383909933269024 + ] + }, + "fine_grasp": { + "position": [ + 0.11498134583234787, + 0.10084046423435211, + 0.058984458446502686 + ], + "orientation": [ + 0.29946649074554443, + -0.4617272913455963, + -0.7039511203765869, + 0.44897720217704773 + ], + "joints": [ + 0.0157934557646513 + ] + }, + "final_grasp": { + "position": [ + 0.11498134583234787, + 0.10084046423435211, + 0.058984458446502686 + ], + "orientation": [ + 0.29946649074554443, + -0.4617272913455963, + -0.7039511203765869, + 0.44897720217704773 + ], + "joints": [ + 0.007747812196612358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06080276146531105, + 0.16848769783973694, + 0.09184315800666809 + ], + "orientation": [ + 0.08043478429317474, + -0.6704776883125305, + -0.6672330498695374, + 0.3143085539340973 + ], + "joints": [ + 0.02286984585225582 + ] + }, + "fine_grasp": { + "position": [ + 0.058557335287332535, + 0.16744907200336456, + 0.0886705219745636 + ], + "orientation": [ + 0.0826682448387146, + -0.674923837184906, + -0.6637542843818665, + 0.3115672469139099 + ], + "joints": [ + 0.01367483101785183 + ] + }, + "final_grasp": { + "position": [ + 0.058557335287332535, + 0.16744907200336456, + 0.0886705219745636 + ], + "orientation": [ + 0.0826682448387146, + -0.674923837184906, + -0.6637542843818665, + 0.3115672469139099 + ], + "joints": [ + 0.004479816183447838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13562776148319244, + 0.0783172994852066, + -0.01740921474993229 + ], + "orientation": [ + 0.5309125185012817, + -0.3479486405849457, + 0.5608077049255371, + -0.5315620303153992 + ], + "joints": [ + 0.028261786326766014 + ] + }, + "fine_grasp": { + "position": [ + -0.13205799460411072, + 0.07743510603904724, + -0.017002562060952187 + ], + "orientation": [ + 0.5318952798843384, + -0.34783315658569336, + 0.560452401638031, + -0.5310297012329102 + ], + "joints": [ + 0.019401131197810173 + ] + }, + "final_grasp": { + "position": [ + -0.13205799460411072, + 0.07743510603904724, + -0.017002562060952187 + ], + "orientation": [ + 0.5318952798843384, + -0.34783315658569336, + 0.560452401638031, + -0.5310297012329102 + ], + "joints": [ + 0.010540476068854332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13587325811386108, + 0.07848849147558212, + -0.017468512058258057 + ], + "orientation": [ + 0.5313051342964172, + -0.3478226959705353, + 0.5607436895370483, + -0.5313196778297424 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + -0.13235165178775787, + 0.07760106772184372, + -0.017061464488506317 + ], + "orientation": [ + 0.5321322679519653, + -0.34764212369918823, + 0.5604746341705322, + -0.5308938026428223 + ], + "joints": [ + 0.01896117813885212 + ] + }, + "final_grasp": { + "position": [ + -0.13235165178775787, + 0.07760106772184372, + -0.017061464488506317 + ], + "orientation": [ + 0.5321322679519653, + -0.34764212369918823, + 0.5604746341705322, + -0.5308938026428223 + ], + "joints": [ + 0.010100523009896278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10322889685630798, + 0.08859977126121521, + -0.08212430030107498 + ], + "orientation": [ + 0.6058074235916138, + 0.39550790190696716, + 0.1823103278875351, + 0.6658331751823425 + ], + "joints": [ + 0.026339879259467125 + ] + }, + "fine_grasp": { + "position": [ + -0.10071256011724472, + 0.08705520629882812, + -0.07995288074016571 + ], + "orientation": [ + 0.6075286865234375, + 0.39712151885032654, + 0.17866899073123932, + 0.6642897129058838 + ], + "joints": [ + 0.01708216778934002 + ] + }, + "final_grasp": { + "position": [ + -0.10071256011724472, + 0.08705520629882812, + -0.07995288074016571 + ], + "orientation": [ + 0.6075286865234375, + 0.39712151885032654, + 0.17866899073123932, + 0.6642897129058838 + ], + "joints": [ + 0.007824456319212914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09835037589073181, + 0.06220265105366707, + -0.0908161997795105 + ], + "orientation": [ + 0.6023570895195007, + 0.33098676800727844, + -0.22140160202980042, + -0.6918055415153503 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + 0.09561872482299805, + 0.06167692691087723, + -0.08838358521461487 + ], + "orientation": [ + 0.6022786498069763, + 0.33144834637641907, + -0.22149553894996643, + -0.6916229724884033 + ], + "joints": [ + 0.0210406556725502 + ] + }, + "final_grasp": { + "position": [ + 0.09561872482299805, + 0.06167692691087723, + -0.08838358521461487 + ], + "orientation": [ + 0.6022786498069763, + 0.33144834637641907, + -0.22149553894996643, + -0.6916229724884033 + ], + "joints": [ + 0.012221798300743103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1287541687488556, + 0.06282265484333038, + -0.02727511338889599 + ], + "orientation": [ + 0.5214570164680481, + 0.4877464771270752, + 0.38998642563819885, + 0.5814607739448547 + ], + "joints": [ + 0.028701739385724068 + ] + }, + "fine_grasp": { + "position": [ + -0.12524203956127167, + 0.06216277927160263, + -0.026519035920500755 + ], + "orientation": [ + 0.5223544836044312, + 0.49082475900650024, + 0.38679957389831543, + 0.5801920294761658 + ], + "joints": [ + 0.01988288201391697 + ] + }, + "final_grasp": { + "position": [ + -0.12524203956127167, + 0.06216277927160263, + -0.026519035920500755 + ], + "orientation": [ + 0.5223544836044312, + 0.49082475900650024, + 0.38679957389831543, + 0.5801920294761658 + ], + "joints": [ + 0.011064024642109871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07216289639472961, + 0.054389677941799164, + 0.11961012333631516 + ], + "orientation": [ + 0.1786520630121231, + 0.7686743140220642, + -0.5769842267036438, + -0.21050505340099335 + ], + "joints": [ + 0.02867858298122883 + ] + }, + "fine_grasp": { + "position": [ + 0.07023479789495468, + 0.054017096757888794, + 0.1163187175989151 + ], + "orientation": [ + 0.1850893646478653, + 0.7757884860038757, + -0.5680517554283142, + -0.20300579071044922 + ], + "joints": [ + 0.020235883072018623 + ] + }, + "final_grasp": { + "position": [ + 0.07023479789495468, + 0.054017096757888794, + 0.1163187175989151 + ], + "orientation": [ + 0.1850893646478653, + 0.7757884860038757, + -0.5680517554283142, + -0.20300579071044922 + ], + "joints": [ + 0.011793183162808418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1274838000535965, + 0.07865746319293976, + 0.021795149892568588 + ], + "orientation": [ + 0.5530831217765808, + 0.5231530666351318, + 0.5615958571434021, + 0.32406798005104065 + ], + "joints": [ + 0.030091067776083946 + ] + }, + "fine_grasp": { + "position": [ + -0.12388662993907928, + 0.07758592069149017, + 0.021167265251278877 + ], + "orientation": [ + 0.5548120737075806, + 0.5235857963562012, + 0.5605995655059814, + 0.3221328556537628 + ], + "joints": [ + 0.021272210404276848 + ] + }, + "final_grasp": { + "position": [ + -0.12388662993907928, + 0.07758592069149017, + 0.021167265251278877 + ], + "orientation": [ + 0.5548120737075806, + 0.5235857963562012, + 0.5605995655059814, + 0.3221328556537628 + ], + "joints": [ + 0.01245335303246975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06154024228453636, + 0.029179774224758148, + -0.11499570310115814 + ], + "orientation": [ + 0.6238678097724915, + -0.19396889209747314, + 0.1574329137802124, + -0.7405267953872681 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.06005459278821945, + 0.027605894953012466, + -0.11192990839481354 + ], + "orientation": [ + 0.616245448589325, + -0.1879349797964096, + 0.16526775062084198, + -0.7467319369316101 + ], + "joints": [ + 0.026971902698278427 + ] + }, + "final_grasp": { + "position": [ + -0.06005459278821945, + 0.027605894953012466, + -0.11192990839481354 + ], + "orientation": [ + 0.616245448589325, + -0.1879349797964096, + 0.16526775062084198, + -0.7467319369316101 + ], + "joints": [ + 0.019406910985708237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0326983742415905, + 0.01720597594976425, + -0.13147729635238647 + ], + "orientation": [ + 0.6151515245437622, + -0.1371661275625229, + 0.03896692395210266, + -0.7754067778587341 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.03206368535757065, + 0.01583043672144413, + -0.1281028687953949 + ], + "orientation": [ + 0.6101830005645752, + -0.13043859601020813, + 0.045835789293050766, + -0.7801036238670349 + ], + "joints": [ + 0.026277244091033936 + ] + }, + "final_grasp": { + "position": [ + -0.03206368535757065, + 0.01583043672144413, + -0.1281028687953949 + ], + "orientation": [ + 0.6101830005645752, + -0.13043859601020813, + 0.045835789293050766, + -0.7801036238670349 + ], + "joints": [ + 0.018712252378463745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08947455883026123, + 0.08058948814868927, + -0.0816970244050026 + ], + "orientation": [ + 0.7017334699630737, + -0.18067477643489838, + 0.34806716442108154, + -0.5947905778884888 + ], + "joints": [ + 0.026872457936406136 + ] + }, + "fine_grasp": { + "position": [ + -0.08719334751367569, + 0.07874714583158493, + -0.07969669997692108 + ], + "orientation": [ + 0.6967553496360779, + -0.17305675148963928, + 0.3564702570438385, + -0.5979233980178833 + ], + "joints": [ + 0.017656544223427773 + ] + }, + "final_grasp": { + "position": [ + -0.08719334751367569, + 0.07874714583158493, + -0.07969669997692108 + ], + "orientation": [ + 0.6967553496360779, + -0.17305675148963928, + 0.3564702570438385, + -0.5979233980178833 + ], + "joints": [ + 0.00844063051044941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03214477002620697, + 0.019111568108201027, + -0.1307302564382553 + ], + "orientation": [ + 0.6141932010650635, + -0.1360473334789276, + 0.03702361136674881, + -0.7764580845832825 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.03146040439605713, + 0.017695145681500435, + -0.12723317742347717 + ], + "orientation": [ + 0.6087846159934998, + -0.12904159724712372, + 0.04447537288069725, + -0.7815058827400208 + ], + "joints": [ + 0.02604569122195244 + ] + }, + "final_grasp": { + "position": [ + -0.03146040439605713, + 0.017695145681500435, + -0.12723317742347717 + ], + "orientation": [ + 0.6087846159934998, + -0.12904159724712372, + 0.04447537288069725, + -0.7815058827400208 + ], + "joints": [ + 0.018480699509382248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1108788326382637, + 0.029415706172585487, + -0.0725545883178711 + ], + "orientation": [ + 0.7099214792251587, + -0.32766252756118774, + 0.33798688650131226, + -0.5238450169563293 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.10772953182458878, + 0.028970522806048393, + -0.07067862898111343 + ], + "orientation": [ + 0.7106326818466187, + -0.3238394558429718, + 0.34332525730133057, + -0.5217824578285217 + ], + "joints": [ + 0.02340025082230568 + ] + }, + "final_grasp": { + "position": [ + -0.10772953182458878, + 0.028970522806048393, + -0.07067862898111343 + ], + "orientation": [ + 0.7106326818466187, + -0.3238394558429718, + 0.34332525730133057, + -0.5217824578285217 + ], + "joints": [ + 0.014602292329072952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03249838203191757, + 0.004981745034456253, + -0.13203978538513184 + ], + "orientation": [ + 0.6105586886405945, + 0.03448128700256348, + -0.12891161441802979, + -0.7806476950645447 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.03150618076324463, + 0.00341469282284379, + -0.12879452109336853 + ], + "orientation": [ + 0.6094637513160706, + 0.04360826686024666, + -0.11996763944625854, + -0.7824704647064209 + ], + "joints": [ + 0.028018467128276825 + ] + }, + "final_grasp": { + "position": [ + 0.03150618076324463, + 0.00341469282284379, + -0.12879452109336853 + ], + "orientation": [ + 0.6094637513160706, + 0.04360826686024666, + -0.11996763944625854, + -0.7824704647064209 + ], + "joints": [ + 0.021268486976623535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006304508075118065, + 0.06612097471952438, + 0.12350166589021683 + ], + "orientation": [ + 0.02758979983627796, + 0.6128202080726624, + -0.7849401831626892, + 0.08694335073232651 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.006157581694424152, + 0.06518207490444183, + 0.11983085423707962 + ], + "orientation": [ + 0.031863465905189514, + 0.602536141872406, + -0.7919071912765503, + 0.09390445053577423 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.006157581694424152, + 0.06518207490444183, + 0.11983085423707962 + ], + "orientation": [ + 0.031863465905189514, + 0.602536141872406, + -0.7919071912765503, + 0.09390445053577423 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08947937935590744, + 0.08043880760669708, + -0.08154648542404175 + ], + "orientation": [ + 0.700655996799469, + -0.18235155940055847, + 0.34774038195610046, + -0.5957396626472473 + ], + "joints": [ + 0.026872457936406136 + ] + }, + "fine_grasp": { + "position": [ + -0.08719075471162796, + 0.07859593629837036, + -0.07954732328653336 + ], + "orientation": [ + 0.6956039071083069, + -0.174717515707016, + 0.35621708631515503, + -0.5989310145378113 + ], + "joints": [ + 0.017656544223427773 + ] + }, + "final_grasp": { + "position": [ + -0.08719075471162796, + 0.07859593629837036, + -0.07954732328653336 + ], + "orientation": [ + 0.6956039071083069, + -0.174717515707016, + 0.35621708631515503, + -0.5989310145378113 + ], + "joints": [ + 0.00844063051044941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012627679854631424, + 0.09793637692928314, + 0.12199361622333527 + ], + "orientation": [ + 0.10969367623329163, + 0.6040413975715637, + -0.7831703424453735, + 0.09871874749660492 + ], + "joints": [ + 0.025020020082592964 + ] + }, + "fine_grasp": { + "position": [ + 0.01236021239310503, + 0.09615007042884827, + 0.11876067519187927 + ], + "orientation": [ + 0.12535250186920166, + 0.6054686307907104, + -0.7782310843467712, + 0.10977622866630554 + ], + "joints": [ + 0.017455028370022774 + ] + }, + "final_grasp": { + "position": [ + 0.01236021239310503, + 0.09615007042884827, + 0.11876067519187927 + ], + "orientation": [ + 0.12535250186920166, + 0.6054686307907104, + -0.7782310843467712, + 0.10977622866630554 + ], + "joints": [ + 0.009890036657452583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03783712908625603, + 0.04994221404194832, + -0.12204261869192123 + ], + "orientation": [ + 0.8033912777900696, + -0.0973089411854744, + 0.09184923022985458, + -0.5802217721939087 + ], + "joints": [ + 0.0291880052536726 + ] + }, + "fine_grasp": { + "position": [ + -0.03679974004626274, + 0.04895652085542679, + -0.11871791630983353 + ], + "orientation": [ + 0.8033812642097473, + -0.09189724177122116, + 0.0966666117310524, + -0.580335259437561 + ], + "joints": [ + 0.019157079979777336 + ] + }, + "final_grasp": { + "position": [ + -0.03679974004626274, + 0.04895652085542679, + -0.11871791630983353 + ], + "orientation": [ + 0.8033812642097473, + -0.09189724177122116, + 0.0966666117310524, + -0.580335259437561 + ], + "joints": [ + 0.009126154705882072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12057582288980484, + 0.0767633467912674, + -0.03757626935839653 + ], + "orientation": [ + 0.6215582489967346, + -0.2745148837566376, + 0.517287015914917, + -0.5203086733818054 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + -0.11724496632814407, + 0.07568666338920593, + -0.0366520956158638 + ], + "orientation": [ + 0.6189441680908203, + -0.2713468670845032, + 0.5207213163375854, + -0.5216593146324158 + ], + "joints": [ + 0.021824529394507408 + ] + }, + "final_grasp": { + "position": [ + -0.11724496632814407, + 0.07568666338920593, + -0.0366520956158638 + ], + "orientation": [ + 0.6189441680908203, + -0.2713468670845032, + 0.5207213163375854, + -0.5216593146324158 + ], + "joints": [ + 0.012608615681529045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006149674765765667, + 0.06607701629400253, + 0.12367928773164749 + ], + "orientation": [ + 0.028237994760274887, + 0.6153461933135986, + -0.7830531001091003, + 0.08590405434370041 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.005933654028922319, + 0.06513825803995132, + 0.11999567598104477 + ], + "orientation": [ + 0.03290475532412529, + 0.6050692200660706, + -0.7900685667991638, + 0.09273800998926163 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.005933654028922319, + 0.06513825803995132, + 0.11999567598104477 + ], + "orientation": [ + 0.03290475532412529, + 0.6050692200660706, + -0.7900685667991638, + 0.09273800998926163 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01682906597852707, + 0.11146154254674911, + 0.1302986741065979 + ], + "orientation": [ + 0.1204768568277359, + 0.6601945757865906, + -0.7406516671180725, + 0.03261476755142212 + ], + "joints": [ + 0.014212504029273987 + ] + }, + "fine_grasp": { + "position": [ + 0.0163816437125206, + 0.11077746003866196, + 0.1259603351354599 + ], + "orientation": [ + 0.1103810966014862, + 0.6407628655433655, + -0.7591060400009155, + 0.03157397732138634 + ], + "joints": [ + 0.00792227778583765 + ] + }, + "final_grasp": { + "position": [ + 0.0163816437125206, + 0.11077746003866196, + 0.1259603351354599 + ], + "orientation": [ + 0.1103810966014862, + 0.6407628655433655, + -0.7591060400009155, + 0.03157397732138634 + ], + "joints": [ + 0.0016320515424013138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1286536008119583, + 0.036313433200120926, + 0.01606583595275879 + ], + "orientation": [ + 0.4129970669746399, + -0.6340315937995911, + -0.4143003523349762, + 0.5057595372200012 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.12494874745607376, + 0.03562449291348457, + 0.016005923971533775 + ], + "orientation": [ + 0.40357285737991333, + -0.630767285823822, + -0.41657549142837524, + 0.5154866576194763 + ], + "joints": [ + 0.023146703839302063 + ] + }, + "final_grasp": { + "position": [ + 0.12494874745607376, + 0.03562449291348457, + 0.016005923971533775 + ], + "orientation": [ + 0.40357285737991333, + -0.630767285823822, + -0.41657549142837524, + 0.5154866576194763 + ], + "joints": [ + 0.014766700565814972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12044715136289597, + 0.07647190243005753, + -0.037571340799331665 + ], + "orientation": [ + 0.6206185221672058, + -0.2751446068286896, + 0.5172534584999084, + -0.521130383014679 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + -0.11708296090364456, + 0.07535892724990845, + -0.03666231408715248 + ], + "orientation": [ + 0.6181096434593201, + -0.2715453505516052, + 0.5209645628929138, + -0.5223020911216736 + ], + "joints": [ + 0.021824529394507408 + ] + }, + "final_grasp": { + "position": [ + -0.11708296090364456, + 0.07535892724990845, + -0.03666231408715248 + ], + "orientation": [ + 0.6181096434593201, + -0.2715453505516052, + 0.5209645628929138, + -0.5223020911216736 + ], + "joints": [ + 0.012608615681529045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04009217768907547, + 0.04094184562563896, + 0.12950177490711212 + ], + "orientation": [ + 0.13664738833904266, + 0.5998756885528564, + 0.7867032885551453, + 0.05073906108736992 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.03886297345161438, + 0.03979414328932762, + 0.12605871260166168 + ], + "orientation": [ + 0.14612647891044617, + 0.5873627066612244, + 0.7952430844306946, + 0.03522177040576935 + ], + "joints": [ + 0.027766015380620956 + ] + }, + "final_grasp": { + "position": [ + -0.03886297345161438, + 0.03979414328932762, + 0.12605871260166168 + ], + "orientation": [ + 0.14612647891044617, + 0.5873627066612244, + 0.7952430844306946, + 0.03522177040576935 + ], + "joints": [ + 0.020995136350393295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03301474079489708, + 0.018239548429846764, + -0.13090799748897552 + ], + "orientation": [ + 0.614572286605835, + -0.13726159930229187, + 0.04102286696434021, + -0.7757430672645569 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.03237610310316086, + 0.016828415915369987, + -0.1275322139263153 + ], + "orientation": [ + 0.6093149185180664, + -0.13043181598186493, + 0.048159852623939514, + -0.7806429862976074 + ], + "joints": [ + 0.026277244091033936 + ] + }, + "final_grasp": { + "position": [ + -0.03237610310316086, + 0.016828415915369987, + -0.1275322139263153 + ], + "orientation": [ + 0.6093149185180664, + -0.13043181598186493, + 0.048159852623939514, + -0.7806429862976074 + ], + "joints": [ + 0.018712252378463745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12774449586868286, + 0.10145608335733414, + -0.039241570979356766 + ], + "orientation": [ + 0.515455424785614, + 0.4496881365776062, + -0.3908921778202057, + -0.6158648729324341 + ], + "joints": [ + 0.014234334230422974 + ] + }, + "fine_grasp": { + "position": [ + 0.12356097996234894, + 0.10203513503074646, + -0.03812047466635704 + ], + "orientation": [ + 0.5118473768234253, + 0.44965633749961853, + -0.3925158381462097, + -0.6178615093231201 + ], + "joints": [ + 0.007129095494747162 + ] + }, + "final_grasp": { + "position": [ + 0.12356097996234894, + 0.10203513503074646, + -0.03812047466635704 + ], + "orientation": [ + 0.5118473768234253, + 0.44965633749961853, + -0.3925158381462097, + -0.6178615093231201 + ], + "joints": [ + 2.3856759071350098e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08892958611249924, + 0.22226440906524658, + 0.031791843473911285 + ], + "orientation": [ + 0.5303747653961182, + 0.7225135564804077, + -0.31682276725769043, + -0.31032267212867737 + ], + "joints": [ + 0.019022762775421143 + ] + }, + "fine_grasp": { + "position": [ + 0.08668871968984604, + 0.2189294993877411, + 0.031189044937491417 + ], + "orientation": [ + 0.5393223762512207, + 0.7261943221092224, + -0.3038054406642914, + -0.29912468791007996 + ], + "joints": [ + 0.010245703160762787 + ] + }, + "final_grasp": { + "position": [ + 0.08668871968984604, + 0.2189294993877411, + 0.031189044937491417 + ], + "orientation": [ + 0.5393223762512207, + 0.7261943221092224, + -0.3038054406642914, + -0.29912468791007996 + ], + "joints": [ + 0.0014686435461044312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12242452800273895, + 0.1660321056842804, + 0.007139881607145071 + ], + "orientation": [ + 0.5900425314903259, + 0.5372533202171326, + -0.489796906709671, + -0.3511517345905304 + ], + "joints": [ + 0.022293297573924065 + ] + }, + "fine_grasp": { + "position": [ + 0.1188661977648735, + 0.16542397439479828, + 0.006932062562555075 + ], + "orientation": [ + 0.5887132287025452, + 0.5338813066482544, + -0.49114084243774414, + -0.3566063940525055 + ], + "joints": [ + 0.013035586103796959 + ] + }, + "final_grasp": { + "position": [ + 0.1188661977648735, + 0.16542397439479828, + 0.006932062562555075 + ], + "orientation": [ + 0.5887132287025452, + 0.5338813066482544, + -0.49114084243774414, + -0.3566063940525055 + ], + "joints": [ + 0.003777874633669853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05590878427028656, + 0.003498536068946123, + -0.12255506217479706 + ], + "orientation": [ + 0.7824764251708984, + -0.24932704865932465, + 0.0558292381465435, + -0.5678465366363525 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.054274797439575195, + 0.0028318604454398155, + -0.1190919429063797 + ], + "orientation": [ + 0.7844288349151611, + -0.2448597550392151, + 0.0637018159031868, + -0.566265881061554 + ], + "joints": [ + 0.02120731584727764 + ] + }, + "final_grasp": { + "position": [ + -0.054274797439575195, + 0.0028318604454398155, + -0.1190919429063797 + ], + "orientation": [ + 0.7844288349151611, + -0.2448597550392151, + 0.0637018159031868, + -0.566265881061554 + ], + "joints": [ + 0.013203470036387444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08338184654712677, + 0.22585098445415497, + 0.011919770389795303 + ], + "orientation": [ + 0.5759527683258057, + 0.712166428565979, + -0.18700572848320007, + -0.3551424741744995 + ], + "joints": [ + 0.02191653661429882 + ] + }, + "fine_grasp": { + "position": [ + 0.08086361736059189, + 0.22289718687534332, + 0.012045116163790226 + ], + "orientation": [ + 0.5744915008544922, + 0.7151581048965454, + -0.1777745485305786, + -0.35623684525489807 + ], + "joints": [ + 0.012721521779894829 + ] + }, + "final_grasp": { + "position": [ + 0.08086361736059189, + 0.22289718687534332, + 0.012045116163790226 + ], + "orientation": [ + 0.5744915008544922, + 0.7151581048965454, + -0.1777745485305786, + -0.35623684525489807 + ], + "joints": [ + 0.003526506945490837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1352783888578415, + 0.07498707622289658, + 0.010674046352505684 + ], + "orientation": [ + 0.5215142965316772, + 0.4305846095085144, + 0.6265766024589539, + 0.3873259425163269 + ], + "joints": [ + 0.024255895987153053 + ] + }, + "fine_grasp": { + "position": [ + -0.13118502497673035, + 0.07426498830318451, + 0.01052424032241106 + ], + "orientation": [ + 0.5299733281135559, + 0.429390013217926, + 0.6247121691703796, + 0.3801145851612091 + ], + "joints": [ + 0.015896791592240334 + ] + }, + "final_grasp": { + "position": [ + -0.13118502497673035, + 0.07426498830318451, + 0.01052424032241106 + ], + "orientation": [ + 0.5299733281135559, + 0.429390013217926, + 0.6247121691703796, + 0.3801145851612091 + ], + "joints": [ + 0.007537687197327614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13342654705047607, + 0.16976110637187958, + 0.01278060581535101 + ], + "orientation": [ + 0.5879567861557007, + 0.5407474040985107, + 0.496709406375885, + 0.33938002586364746 + ], + "joints": [ + 0.02008693292737007 + ] + }, + "fine_grasp": { + "position": [ + -0.1295512467622757, + 0.16913072764873505, + 0.012446590699255466 + ], + "orientation": [ + 0.5846995711326599, + 0.5393045544624329, + 0.5005658268928528, + 0.3416295349597931 + ], + "joints": [ + 0.011247176676988602 + ] + }, + "final_grasp": { + "position": [ + -0.1295512467622757, + 0.16913072764873505, + 0.012446590699255466 + ], + "orientation": [ + 0.5846995711326599, + 0.5393045544624329, + 0.5005658268928528, + 0.3416295349597931 + ], + "joints": [ + 0.002407420426607132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13517649471759796, + 0.07508493959903717, + 0.010578500106930733 + ], + "orientation": [ + 0.5210888981819153, + 0.4299696981906891, + 0.6272390484809875, + 0.3875095248222351 + ], + "joints": [ + 0.024255895987153053 + ] + }, + "fine_grasp": { + "position": [ + -0.13111178576946259, + 0.07435417175292969, + 0.01043349876999855 + ], + "orientation": [ + 0.5296575427055359, + 0.4288445711135864, + 0.6252391934394836, + 0.38030391931533813 + ], + "joints": [ + 0.015896791592240334 + ] + }, + "final_grasp": { + "position": [ + -0.13111178576946259, + 0.07435417175292969, + 0.01043349876999855 + ], + "orientation": [ + 0.5296575427055359, + 0.4288445711135864, + 0.6252391934394836, + 0.38030391931533813 + ], + "joints": [ + 0.007537687197327614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09529155492782593, + 0.07022890448570251, + 0.07283298671245575 + ], + "orientation": [ + 0.36887285113334656, + 0.5284322500228882, + 0.7388548254966736, + 0.19694094359874725 + ], + "joints": [ + 0.026895614340901375 + ] + }, + "fine_grasp": { + "position": [ + -0.09238596260547638, + 0.06849832832813263, + 0.07123290747404099 + ], + "orientation": [ + 0.38015133142471313, + 0.5335477590560913, + 0.7313164472579956, + 0.18970473110675812 + ], + "joints": [ + 0.018515611067414284 + ] + }, + "final_grasp": { + "position": [ + -0.09238596260547638, + 0.06849832832813263, + 0.07123290747404099 + ], + "orientation": [ + 0.38015133142471313, + 0.5335477590560913, + 0.7313164472579956, + 0.18970473110675812 + ], + "joints": [ + 0.010135607793927193 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05586891993880272, + 0.003455722238868475, + -0.12249305844306946 + ], + "orientation": [ + 0.7821999192237854, + -0.24913376569747925, + 0.0559338741004467, + -0.568301796913147 + ], + "joints": [ + 0.02921116165816784 + ] + }, + "fine_grasp": { + "position": [ + -0.0542413629591465, + 0.0028152959421277046, + -0.1190657988190651 + ], + "orientation": [ + 0.7840847969055176, + -0.24490882456302643, + 0.06370047479867935, + -0.5667213201522827 + ], + "joints": [ + 0.02120731584727764 + ] + }, + "final_grasp": { + "position": [ + -0.0542413629591465, + 0.0028152959421277046, + -0.1190657988190651 + ], + "orientation": [ + 0.7840847969055176, + -0.24490882456302643, + 0.06370047479867935, + -0.5667213201522827 + ], + "joints": [ + 0.013203470036387444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13114304840564728, + 0.11504615098237991, + -0.004872748162597418 + ], + "orientation": [ + 0.5256338715553284, + 0.39339005947113037, + -0.570299506187439, + -0.49367162585258484 + ], + "joints": [ + 0.02352098748087883 + ] + }, + "fine_grasp": { + "position": [ + 0.12728384137153625, + 0.1157168298959732, + -0.0045127058401703835 + ], + "orientation": [ + 0.5258302092552185, + 0.39252981543540955, + -0.5697699785232544, + -0.4947575330734253 + ], + "joints": [ + 0.013093005865812302 + ] + }, + "final_grasp": { + "position": [ + 0.12728384137153625, + 0.1157168298959732, + -0.0045127058401703835 + ], + "orientation": [ + 0.5258302092552185, + 0.39252981543540955, + -0.5697699785232544, + -0.4947575330734253 + ], + "joints": [ + 0.0026650242507457733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04740038141608238, + 0.13258658349514008, + 0.10850629210472107 + ], + "orientation": [ + 0.22038035094738007, + 0.7431870698928833, + -0.626970112323761, + -0.07754983007907867 + ], + "joints": [ + 0.014775050804018974 + ] + }, + "fine_grasp": { + "position": [ + 0.04542239010334015, + 0.1327642947435379, + 0.10492593795061111 + ], + "orientation": [ + 0.21372228860855103, + 0.7593767642974854, + -0.6083319187164307, + -0.08718952536582947 + ], + "joints": [ + 0.006395048461854458 + ] + }, + "final_grasp": { + "position": [ + 0.04542239010334015, + 0.1327642947435379, + 0.10492593795061111 + ], + "orientation": [ + 0.21372228860855103, + 0.7593767642974854, + -0.6083319187164307, + -0.08718952536582947 + ], + "joints": [ + -0.0019849538803100586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1034134179353714, + 0.14516086876392365, + -0.04901127144694328 + ], + "orientation": [ + 0.4708481729030609, + -0.31060791015625, + 0.44564563035964966, + -0.6951435208320618 + ], + "joints": [ + 0.016074582934379578 + ] + }, + "fine_grasp": { + "position": [ + -0.09966473281383514, + 0.14537262916564941, + -0.0470680370926857 + ], + "orientation": [ + 0.47204962372779846, + -0.31460434198379517, + 0.44026803970336914, + -0.6959578990936279 + ], + "joints": [ + 0.008133433759212494 + ] + }, + "final_grasp": { + "position": [ + -0.09966473281383514, + 0.14537262916564941, + -0.0470680370926857 + ], + "orientation": [ + 0.47204962372779846, + -0.31460434198379517, + 0.44026803970336914, + -0.6959578990936279 + ], + "joints": [ + 0.00019228458404541016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11692029237747192, + 0.159061998128891, + -0.03641726076602936 + ], + "orientation": [ + 0.39017847180366516, + -0.4119512140750885, + 0.41736480593681335, + -0.7098335027694702 + ], + "joints": [ + 0.022507045418024063 + ] + }, + "fine_grasp": { + "position": [ + -0.11311500519514084, + 0.15891720354557037, + -0.035662926733493805 + ], + "orientation": [ + 0.39191001653671265, + -0.4198572039604187, + 0.4159909784793854, + -0.7050375938415527 + ], + "joints": [ + 0.012894075363874435 + ] + }, + "final_grasp": { + "position": [ + -0.11311500519514084, + 0.15891720354557037, + -0.035662926733493805 + ], + "orientation": [ + 0.39191001653671265, + -0.4198572039604187, + 0.4159909784793854, + -0.7050375938415527 + ], + "joints": [ + 0.0032811053097248077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1025410071015358, + 0.16594301164150238, + 0.017890499904751778 + ], + "orientation": [ + 0.25552427768707275, + -0.5377659201622009, + 0.5317113399505615, + -0.602327287197113 + ], + "joints": [ + 0.021935412660241127 + ] + }, + "fine_grasp": { + "position": [ + -0.10052236914634705, + 0.16762937605381012, + 0.015217510052025318 + ], + "orientation": [ + 0.2514183223247528, + -0.5352177023887634, + 0.5245763659477234, + -0.6124952435493469 + ], + "joints": [ + 0.013576308265328407 + ] + }, + "final_grasp": { + "position": [ + -0.10052236914634705, + 0.16762937605381012, + 0.015217510052025318 + ], + "orientation": [ + 0.2514183223247528, + -0.5352177023887634, + 0.5245763659477234, + -0.6124952435493469 + ], + "joints": [ + 0.0052172038704156876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10332751274108887, + 0.13517116010189056, + 0.053069453686475754 + ], + "orientation": [ + 0.26855725049972534, + -0.6794310808181763, + 0.5019596219062805, + -0.4629112184047699 + ], + "joints": [ + 0.021025096997618675 + ] + }, + "fine_grasp": { + "position": [ + -0.09967309236526489, + 0.13543550670146942, + 0.05087880790233612 + ], + "orientation": [ + 0.2592962682247162, + -0.6938535571098328, + 0.4818378686904907, + -0.4681507647037506 + ], + "joints": [ + 0.013481004163622856 + ] + }, + "final_grasp": { + "position": [ + -0.09967309236526489, + 0.13543550670146942, + 0.05087880790233612 + ], + "orientation": [ + 0.2592962682247162, + -0.6938535571098328, + 0.4818378686904907, + -0.4681507647037506 + ], + "joints": [ + 0.005936911329627037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10995065420866013, + 0.056896183639764786, + 0.034174781292676926 + ], + "orientation": [ + 0.5160265564918518, + -0.44666552543640137, + -0.6470695734024048, + 0.3398638069629669 + ], + "joints": [ + 0.025559382513165474 + ] + }, + "fine_grasp": { + "position": [ + 0.10797440260648727, + 0.053848061710596085, + 0.03245457261800766 + ], + "orientation": [ + 0.5237538814544678, + -0.4338754713535309, + -0.6565110683441162, + 0.3262318968772888 + ], + "joints": [ + 0.018036188557744026 + ] + }, + "final_grasp": { + "position": [ + 0.10797440260648727, + 0.053848061710596085, + 0.03245457261800766 + ], + "orientation": [ + 0.5237538814544678, + -0.4338754713535309, + -0.6565110683441162, + 0.3262318968772888 + ], + "joints": [ + 0.010512994602322578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10237778723239899, + 0.1350885033607483, + 0.053542569279670715 + ], + "orientation": [ + 0.266152024269104, + -0.6794451475143433, + 0.5022082328796387, + -0.46400880813598633 + ], + "joints": [ + 0.020828887820243835 + ] + }, + "fine_grasp": { + "position": [ + -0.09867944568395615, + 0.13517150282859802, + 0.05132896080613136 + ], + "orientation": [ + 0.24868540465831757, + -0.6966444849967957, + 0.4764294922351837, + -0.47524410486221313 + ], + "joints": [ + 0.013702750205993652 + ] + }, + "final_grasp": { + "position": [ + -0.09867944568395615, + 0.13517150282859802, + 0.05132896080613136 + ], + "orientation": [ + 0.24868540465831757, + -0.6966444849967957, + 0.4764294922351837, + -0.47524410486221313 + ], + "joints": [ + 0.006576612591743469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10431953519582748, + 0.16628319025039673, + 0.016313768923282623 + ], + "orientation": [ + 0.2586224675178528, + -0.528618574142456, + 0.5304089188575745, + -0.6101992130279541 + ], + "joints": [ + 0.02252272143959999 + ] + }, + "fine_grasp": { + "position": [ + -0.10163263976573944, + 0.16728904843330383, + 0.01385677419602871 + ], + "orientation": [ + 0.2568339705467224, + -0.5296866297721863, + 0.5218026638031006, + -0.6174061894416809 + ], + "joints": [ + 0.014163617044687271 + ] + }, + "final_grasp": { + "position": [ + -0.10163263976573944, + 0.16728904843330383, + 0.01385677419602871 + ], + "orientation": [ + 0.2568339705467224, + -0.5296866297721863, + 0.5218026638031006, + -0.6174061894416809 + ], + "joints": [ + 0.005804512649774551 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10629189014434814, + 0.1567133516073227, + -0.028643758967518806 + ], + "orientation": [ + 0.3829239010810852, + -0.4063659906387329, + 0.43643590807914734, + -0.7055209279060364 + ], + "joints": [ + 0.0222469512373209 + ] + }, + "fine_grasp": { + "position": [ + -0.10267224162817001, + 0.15778233110904694, + -0.027863409370183945 + ], + "orientation": [ + 0.37458497285842896, + -0.41591766476631165, + 0.42982718348503113, + -0.7084823250770569 + ], + "joints": [ + 0.013469891622662544 + ] + }, + "final_grasp": { + "position": [ + -0.10267224162817001, + 0.15778233110904694, + -0.027863409370183945 + ], + "orientation": [ + 0.37458497285842896, + -0.41591766476631165, + 0.42982718348503113, + -0.7084823250770569 + ], + "joints": [ + 0.0046928320080041885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12270058691501617, + 0.1553352326154709, + -0.041529200971126556 + ], + "orientation": [ + 0.6306812763214111, + 0.5287083983421326, + -0.2930190861225128, + -0.4866707921028137 + ], + "joints": [ + 0.014473129995167255 + ] + }, + "fine_grasp": { + "position": [ + 0.11885180324316025, + 0.1558106690645218, + -0.039756353944540024 + ], + "orientation": [ + 0.6286926865577698, + 0.5197790265083313, + -0.29956015944480896, + -0.49481201171875 + ], + "joints": [ + 0.006531980820000172 + ] + }, + "final_grasp": { + "position": [ + 0.11885180324316025, + 0.1558106690645218, + -0.039756353944540024 + ], + "orientation": [ + 0.6286926865577698, + 0.5197790265083313, + -0.29956015944480896, + -0.49481201171875 + ], + "joints": [ + -0.001409168355166912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06419303268194199, + 0.2441912591457367, + 0.03612561151385307 + ], + "orientation": [ + 0.5076438188552856, + 0.7934353947639465, + -0.028850797563791275, + 0.3345527648925781 + ], + "joints": [ + 0.022849401459097862 + ] + }, + "fine_grasp": { + "position": [ + -0.06226325035095215, + 0.24087688326835632, + 0.03559821844100952 + ], + "orientation": [ + 0.5054858922958374, + 0.793711245059967, + -0.027775296941399574, + 0.3372460901737213 + ], + "joints": [ + 0.01365438662469387 + ] + }, + "final_grasp": { + "position": [ + -0.06226325035095215, + 0.24087688326835632, + 0.03559821844100952 + ], + "orientation": [ + 0.5054858922958374, + 0.793711245059967, + -0.027775296941399574, + 0.3372460901737213 + ], + "joints": [ + 0.004459371790289879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11393896490335464, + 0.13032208383083344, + -0.02573132887482643 + ], + "orientation": [ + 0.683864414691925, + 0.3149668276309967, + 0.5291786789894104, + 0.3912739157676697 + ], + "joints": [ + 0.02248615026473999 + ] + }, + "fine_grasp": { + "position": [ + -0.11006570607423782, + 0.13098643720149994, + -0.024506594985723495 + ], + "orientation": [ + 0.6843493580818176, + 0.30742835998535156, + 0.535461962223053, + 0.3878585994243622 + ], + "joints": [ + 0.0141061469912529 + ] + }, + "final_grasp": { + "position": [ + -0.11006570607423782, + 0.13098643720149994, + -0.024506594985723495 + ], + "orientation": [ + 0.6843493580818176, + 0.30742835998535156, + 0.535461962223053, + 0.3878585994243622 + ], + "joints": [ + 0.005726143717765808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12434332072734833, + 0.18434247374534607, + -0.0236778873950243 + ], + "orientation": [ + 0.7214351296424866, + 0.40836983919143677, + -0.505663275718689, + -0.23889301717281342 + ], + "joints": [ + 0.021045638248324394 + ] + }, + "fine_grasp": { + "position": [ + 0.12037760019302368, + 0.18332955241203308, + -0.023081371560692787 + ], + "orientation": [ + 0.7213197946548462, + 0.40574508905410767, + -0.5072579383850098, + -0.24032916128635406 + ], + "joints": [ + 0.012686533853411674 + ] + }, + "final_grasp": { + "position": [ + 0.12037760019302368, + 0.18332955241203308, + -0.023081371560692787 + ], + "orientation": [ + 0.7213197946548462, + 0.40574508905410767, + -0.5072579383850098, + -0.24032916128635406 + ], + "joints": [ + 0.004327429458498955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05624759569764137, + -0.10914887487888336, + 0.0537203811109066 + ], + "orientation": [ + 0.004896115977317095, + 0.20802661776542664, + 0.7986912131309509, + 0.5646178722381592 + ], + "joints": [ + 0.03363383933901787 + ] + }, + "fine_grasp": { + "position": [ + -0.054593976587057114, + -0.10592911392450333, + 0.05198247730731964 + ], + "orientation": [ + 0.014340704306960106, + 0.2278497815132141, + 0.7944605946540833, + 0.5627710819244385 + ], + "joints": [ + 0.02769887074828148 + ] + }, + "final_grasp": { + "position": [ + -0.054593976587057114, + -0.10592911392450333, + 0.05198247730731964 + ], + "orientation": [ + 0.014340704306960106, + 0.2278497815132141, + 0.7944605946540833, + 0.5627710819244385 + ], + "joints": [ + 0.02176390215754509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06748542189598083, + 0.1756163388490677, + 0.08302909880876541 + ], + "orientation": [ + 0.33546552062034607, + 0.474051296710968, + -0.81357741355896, + -0.028809525072574615 + ], + "joints": [ + 0.021542225033044815 + ] + }, + "fine_grasp": { + "position": [ + 0.0652012974023819, + 0.17458494007587433, + 0.07977617532014847 + ], + "orientation": [ + 0.34493157267570496, + 0.45462167263031006, + -0.821086049079895, + -0.012606069445610046 + ], + "joints": [ + 0.013183120638132095 + ] + }, + "final_grasp": { + "position": [ + 0.0652012974023819, + 0.17458494007587433, + 0.07977617532014847 + ], + "orientation": [ + 0.34493157267570496, + 0.45462167263031006, + -0.821086049079895, + -0.012606069445610046 + ], + "joints": [ + 0.004824016243219376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09141286462545395, + 0.204861119389534, + -0.041918378323316574 + ], + "orientation": [ + 0.8073574304580688, + 0.4231888949871063, + -0.38723620772361755, + -0.13832306861877441 + ], + "joints": [ + 0.024112267419695854 + ] + }, + "fine_grasp": { + "position": [ + 0.08822601288557053, + 0.20303404331207275, + -0.040803972631692886 + ], + "orientation": [ + 0.8071725964546204, + 0.42171916365623474, + -0.3896895945072174, + -0.13699409365653992 + ], + "joints": [ + 0.014478398486971855 + ] + }, + "final_grasp": { + "position": [ + 0.08822601288557053, + 0.20303404331207275, + -0.040803972631692886 + ], + "orientation": [ + 0.8071725964546204, + 0.42171916365623474, + -0.3896895945072174, + -0.13699409365653992 + ], + "joints": [ + 0.004844529554247856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09614139795303345, + 0.19876059889793396, + 0.04253310337662697 + ], + "orientation": [ + 0.3737325072288513, + 0.826083242893219, + 0.05703536793589592, + 0.4179205000400543 + ], + "joints": [ + 0.025336116552352905 + ] + }, + "fine_grasp": { + "position": [ + -0.0925600454211235, + 0.19718040525913239, + 0.04147268086671829 + ], + "orientation": [ + 0.3663662374019623, + 0.8246551156044006, + 0.05928511172533035, + 0.42685481905937195 + ], + "joints": [ + 0.01655905693769455 + ] + }, + "final_grasp": { + "position": [ + -0.0925600454211235, + 0.19718040525913239, + 0.04147268086671829 + ], + "orientation": [ + 0.3663662374019623, + 0.8246551156044006, + 0.05928511172533035, + 0.42685481905937195 + ], + "joints": [ + 0.007781997323036194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11534484475851059, + 0.18740659952163696, + 0.05367225781083107 + ], + "orientation": [ + 0.4221051335334778, + 0.7879382967948914, + 0.3054583966732025, + 0.32813987135887146 + ], + "joints": [ + 0.018046125769615173 + ] + }, + "fine_grasp": { + "position": [ + -0.11172574758529663, + 0.1863192915916443, + 0.05257626250386238 + ], + "orientation": [ + 0.4204295575618744, + 0.7817362546920776, + 0.30984529852867126, + 0.3407687544822693 + ], + "joints": [ + 0.010042279958724976 + ] + }, + "final_grasp": { + "position": [ + -0.11172574758529663, + 0.1863192915916443, + 0.05257626250386238 + ], + "orientation": [ + 0.4204295575618744, + 0.7817362546920776, + 0.30984529852867126, + 0.3407687544822693 + ], + "joints": [ + 0.002038434147834778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1102646142244339, + 0.18800917267799377, + -0.042518869042396545 + ], + "orientation": [ + 0.2361244559288025, + -0.3737720549106598, + 0.4212254583835602, + -0.7919020652770996 + ], + "joints": [ + 0.02048627845942974 + ] + }, + "fine_grasp": { + "position": [ + -0.10696789622306824, + 0.18671679496765137, + -0.041551265865564346 + ], + "orientation": [ + 0.2390882819890976, + -0.37822461128234863, + 0.41997432708740234, + -0.7895597815513611 + ], + "joints": [ + 0.011667421087622643 + ] + }, + "final_grasp": { + "position": [ + -0.10696789622306824, + 0.18671679496765137, + -0.041551265865564346 + ], + "orientation": [ + 0.2390882819890976, + -0.37822461128234863, + 0.41997432708740234, + -0.7895597815513611 + ], + "joints": [ + 0.002848563715815544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050983261317014694, + 0.2026071697473526, + -0.1010141596198082 + ], + "orientation": [ + 0.09021671861410141, + 0.20359072089195251, + -0.23765060305595398, + 0.9454808831214905 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + -0.04914483800530434, + 0.2009640336036682, + -0.09818770736455917 + ], + "orientation": [ + 0.08926702290773392, + 0.20725774765014648, + -0.23619921505451202, + 0.9451377987861633 + ], + "joints": [ + 0.017052188515663147 + ] + }, + "final_grasp": { + "position": [ + -0.04914483800530434, + 0.2009640336036682, + -0.09818770736455917 + ], + "orientation": [ + 0.08926702290773392, + 0.20725774765014648, + -0.23619921505451202, + 0.9451377987861633 + ], + "joints": [ + 0.007000364363193512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06633814424276352, + 0.20263545215129852, + -0.08431993424892426 + ], + "orientation": [ + 0.008350430987775326, + -0.3108329772949219, + -0.2852711081504822, + 0.9066054821014404 + ], + "joints": [ + 0.026710372418165207 + ] + }, + "fine_grasp": { + "position": [ + 0.06456726044416428, + 0.20062187314033508, + -0.08113928139209747 + ], + "orientation": [ + 0.007031608372926712, + -0.3058187961578369, + -0.2823350727558136, + 0.909237265586853 + ], + "joints": [ + 0.018351268023252487 + ] + }, + "final_grasp": { + "position": [ + 0.06456726044416428, + 0.20062187314033508, + -0.08113928139209747 + ], + "orientation": [ + 0.007031608372926712, + -0.3058187961578369, + -0.2823350727558136, + 0.909237265586853 + ], + "joints": [ + 0.009992163628339767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007910596206784248, + 0.19313126802444458, + -0.1190415471792221 + ], + "orientation": [ + 0.05862325802445412, + 0.0023957432713359594, + 0.22023099660873413, + -0.9736815690994263 + ], + "joints": [ + 0.028724895790219307 + ] + }, + "fine_grasp": { + "position": [ + -0.0067681618966162205, + 0.19227434694766998, + -0.11593738943338394 + ], + "orientation": [ + 0.06031995266675949, + -0.004297287669032812, + 0.21796081960201263, + -0.9740822315216064 + ], + "joints": [ + 0.017084846273064613 + ] + }, + "final_grasp": { + "position": [ + -0.0067681618966162205, + 0.19227434694766998, + -0.11593738943338394 + ], + "orientation": [ + 0.06031995266675949, + -0.004297287669032812, + 0.21796081960201263, + -0.9740822315216064 + ], + "joints": [ + 0.00544479675590992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12262377142906189, + -0.060055650770664215, + 0.029412811622023582 + ], + "orientation": [ + 0.551759660243988, + -0.48422473669052124, + 0.678748607635498, + -0.01969708502292633 + ], + "joints": [ + 0.01128662470728159 + ] + }, + "fine_grasp": { + "position": [ + -0.11931946873664856, + -0.05741360783576965, + 0.029931310564279556 + ], + "orientation": [ + 0.5654375553131104, + -0.48324212431907654, + 0.6681494116783142, + -0.01827109605073929 + ], + "joints": [ + 0.004975500516593456 + ] + }, + "final_grasp": { + "position": [ + -0.11931946873664856, + -0.05741360783576965, + 0.029931310564279556 + ], + "orientation": [ + 0.5654375553131104, + -0.48324212431907654, + 0.6681494116783142, + -0.01827109605073929 + ], + "joints": [ + -0.001335623674094677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07146687060594559, + 0.007016438990831375, + 0.12411456555128098 + ], + "orientation": [ + 0.05537116527557373, + -0.9691657423973083, + -0.09863312542438507, + -0.2189140021800995 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.0697241872549057, + 0.008294466882944107, + 0.1213504746556282 + ], + "orientation": [ + 0.0558842234313488, + -0.9677059650421143, + -0.08950551599264145, + -0.22893433272838593 + ], + "joints": [ + 0.024173464626073837 + ] + }, + "final_grasp": { + "position": [ + -0.0697241872549057, + 0.008294466882944107, + 0.1213504746556282 + ], + "orientation": [ + 0.0558842234313488, + -0.9677059650421143, + -0.08950551599264145, + -0.22893433272838593 + ], + "joints": [ + 0.016148719936609268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07301733642816544, + -0.06499110907316208, + -0.10170157253742218 + ], + "orientation": [ + 0.7895469665527344, + -0.4156631529331207, + 0.20761090517044067, + -0.4009208381175995 + ], + "joints": [ + 0.013944893144071102 + ] + }, + "fine_grasp": { + "position": [ + -0.07230205833911896, + -0.06178278848528862, + -0.09890864044427872 + ], + "orientation": [ + 0.7940776944160461, + -0.4171995520591736, + 0.1939951330423355, + -0.39717891812324524 + ], + "joints": [ + 0.00723671168088913 + ] + }, + "final_grasp": { + "position": [ + -0.07230205833911896, + -0.06178278848528862, + -0.09890864044427872 + ], + "orientation": [ + 0.7940776944160461, + -0.4171995520591736, + 0.1939951330423355, + -0.39717891812324524 + ], + "joints": [ + 0.0005285302177071571 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05867328867316246, + 0.010276170447468758, + 0.1284734308719635 + ], + "orientation": [ + 0.033656131476163864, + -0.9759743213653564, + -0.14212021231651306, + -0.16168880462646484 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + -0.057302478700876236, + 0.011757208965718746, + 0.12583841383457184 + ], + "orientation": [ + 0.035810042172670364, + -0.9747223854064941, + -0.13372544944286346, + -0.17536099255084991 + ], + "joints": [ + 0.023292403668165207 + ] + }, + "final_grasp": { + "position": [ + -0.057302478700876236, + 0.011757208965718746, + 0.12583841383457184 + ], + "orientation": [ + 0.035810042172670364, + -0.9747223854064941, + -0.13372544944286346, + -0.17536099255084991 + ], + "joints": [ + 0.014849703758955002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05884966999292374, + 0.010312508791685104, + 0.1284206509590149 + ], + "orientation": [ + 0.032851606607437134, + -0.975913405418396, + -0.14297057688236237, + -0.16147224605083466 + ], + "joints": [ + 0.03171194717288017 + ] + }, + "fine_grasp": { + "position": [ + -0.057346850633621216, + 0.011731148697435856, + 0.12574432790279388 + ], + "orientation": [ + 0.03520984575152397, + -0.9746596813201904, + -0.13444127142429352, + -0.17528340220451355 + ], + "joints": [ + 0.023666303604841232 + ] + }, + "final_grasp": { + "position": [ + -0.057346850633621216, + 0.011731148697435856, + 0.12574432790279388 + ], + "orientation": [ + 0.03520984575152397, + -0.9746596813201904, + -0.13444127142429352, + -0.17528340220451355 + ], + "joints": [ + 0.015620660036802292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13831603527069092, + 0.026401279494166374, + 0.04003715515136719 + ], + "orientation": [ + 0.6437723636627197, + 0.023671520873904228, + -0.7643924355506897, + -0.026477158069610596 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + 0.1349097639322281, + 0.027377339079976082, + 0.03875100240111351 + ], + "orientation": [ + 0.6345226168632507, + 0.021361514925956726, + -0.7723004817962646, + -0.02183333784341812 + ], + "joints": [ + 0.026971902698278427 + ] + }, + "final_grasp": { + "position": [ + 0.1349097639322281, + 0.027377339079976082, + 0.03875100240111351 + ], + "orientation": [ + 0.6345226168632507, + 0.021361514925956726, + -0.7723004817962646, + -0.02183333784341812 + ], + "joints": [ + 0.019406910985708237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12366093695163727, + -0.05998547375202179, + 0.030119705945253372 + ], + "orientation": [ + 0.5528484582901001, + -0.48725706338882446, + 0.675592303276062, + -0.022672461345791817 + ], + "joints": [ + 0.011094359681010246 + ] + }, + "fine_grasp": { + "position": [ + -0.12072229385375977, + -0.057312242686748505, + 0.030278729274868965 + ], + "orientation": [ + 0.5640993118286133, + -0.4882979989051819, + 0.6655697822570801, + -0.019341157749295235 + ], + "joints": [ + 0.0035502687096595764 + ] + }, + "final_grasp": { + "position": [ + -0.12072229385375977, + -0.057312242686748505, + 0.030278729274868965 + ], + "orientation": [ + 0.5640993118286133, + -0.4882979989051819, + 0.6655697822570801, + -0.019341157749295235 + ], + "joints": [ + -0.0039938222616910934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07110630720853806, + 0.008420884609222412, + 0.12367841601371765 + ], + "orientation": [ + 0.048773497343063354, + -0.9664924740791321, + -0.11486192047595978, + -0.22432175278663635 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.0691918358206749, + 0.009578481316566467, + 0.12096509337425232 + ], + "orientation": [ + 0.05283263698220253, + -0.9643884301185608, + -0.11094426363706589, + -0.234211727976799 + ], + "joints": [ + 0.02340025082230568 + ] + }, + "final_grasp": { + "position": [ + -0.0691918358206749, + 0.009578481316566467, + 0.12096509337425232 + ], + "orientation": [ + 0.05283263698220253, + -0.9643884301185608, + -0.11094426363706589, + -0.234211727976799 + ], + "joints": [ + 0.014602292329072952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12331009656190872, + -0.0598519891500473, + 0.029836559668183327 + ], + "orientation": [ + 0.5535039305686951, + -0.48122912645339966, + 0.6795303821563721, + -0.0170404352247715 + ], + "joints": [ + 0.011253905482590199 + ] + }, + "fine_grasp": { + "position": [ + -0.1202496811747551, + -0.05714042857289314, + 0.029894042760133743 + ], + "orientation": [ + 0.5643154382705688, + -0.48241251707077026, + 0.6697995066642761, + -0.01395508274435997 + ], + "joints": [ + 0.0033127570059150457 + ] + }, + "final_grasp": { + "position": [ + -0.1202496811747551, + -0.05714042857289314, + 0.029894042760133743 + ], + "orientation": [ + 0.5643154382705688, + -0.48241251707077026, + 0.6697995066642761, + -0.01395508274435997 + ], + "joints": [ + -0.004628391470760107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06593572348356247, + -0.06780077517032623, + -0.08109105378389359 + ], + "orientation": [ + 0.7907060980796814, + -0.4561668038368225, + 0.2605956494808197, + -0.31430190801620483 + ], + "joints": [ + 0.012684638611972332 + ] + }, + "fine_grasp": { + "position": [ + -0.06563596427440643, + -0.0642063245177269, + -0.07930487394332886 + ], + "orientation": [ + 0.7949931621551514, + -0.4597322940826416, + 0.24664433300495148, + -0.3095138967037201 + ], + "joints": [ + 0.004325534217059612 + ] + }, + "final_grasp": { + "position": [ + -0.06563596427440643, + -0.0642063245177269, + -0.07930487394332886 + ], + "orientation": [ + 0.7949931621551514, + -0.4597322940826416, + 0.24664433300495148, + -0.3095138967037201 + ], + "joints": [ + -0.0040335701778531075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0719839483499527, + 0.007983733899891376, + 0.12372540682554245 + ], + "orientation": [ + 0.053001366555690765, + -0.968896746635437, + -0.09629219025373459, + -0.22171515226364136 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.0702190175652504, + 0.0092562111094594, + 0.12105770409107208 + ], + "orientation": [ + 0.054322123527526855, + -0.9670438766479492, + -0.08772879838943481, + -0.23276355862617493 + ], + "joints": [ + 0.024591419845819473 + ] + }, + "final_grasp": { + "position": [ + -0.0702190175652504, + 0.0092562111094594, + 0.12105770409107208 + ], + "orientation": [ + 0.054322123527526855, + -0.9670438766479492, + -0.08772879838943481, + -0.23276355862617493 + ], + "joints": [ + 0.01698463037610054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04441824182868004, + -0.054954372346401215, + -0.10991305857896805 + ], + "orientation": [ + 0.3215770721435547, + 0.19625762104988098, + -0.33893096446990967, + -0.8620887398719788 + ], + "joints": [ + 0.01074617262929678 + ] + }, + "fine_grasp": { + "position": [ + 0.044523559510707855, + -0.05199688673019409, + -0.10691632330417633 + ], + "orientation": [ + 0.31931835412979126, + 0.18457573652267456, + -0.3400808274745941, + -0.8650506734848022 + ], + "joints": [ + 0.0035991393961012363 + ] + }, + "final_grasp": { + "position": [ + 0.044523559510707855, + -0.05199688673019409, + -0.10691632330417633 + ], + "orientation": [ + 0.31931835412979126, + 0.18457573652267456, + -0.3400808274745941, + -0.8650506734848022 + ], + "joints": [ + -0.003547893837094307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13507534563541412, + 0.016530709341168404, + 0.0026106461882591248 + ], + "orientation": [ + 0.666634202003479, + -0.09531393647193909, + -0.7391871213912964, + 0.01079847663640976 + ], + "joints": [ + 0.03363383933901787 + ] + }, + "fine_grasp": { + "position": [ + 0.13172318041324615, + 0.0176033154129982, + 0.0035914455074816942 + ], + "orientation": [ + 0.676734209060669, + -0.09174859523773193, + -0.7303929924964905, + 0.011794441379606724 + ], + "joints": [ + 0.02611064538359642 + ] + }, + "final_grasp": { + "position": [ + 0.13172318041324615, + 0.0176033154129982, + 0.0035914455074816942 + ], + "orientation": [ + 0.676734209060669, + -0.09174859523773193, + -0.7303929924964905, + 0.011794441379606724 + ], + "joints": [ + 0.018587451428174973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03159240633249283, + -0.0514906644821167, + -0.12271744012832642 + ], + "orientation": [ + 0.8257194757461548, + -0.29489007592201233, + -0.08765953034162521, + 0.4728032350540161 + ], + "joints": [ + 0.01510694995522499 + ] + }, + "fine_grasp": { + "position": [ + 0.032127343118190765, + -0.048629943281412125, + -0.11969013512134552 + ], + "orientation": [ + 0.8273217082023621, + -0.2973610758781433, + -0.07085321098566055, + 0.471269428730011 + ], + "joints": [ + 0.008377869613468647 + ] + }, + "final_grasp": { + "position": [ + 0.032127343118190765, + -0.048629943281412125, + -0.11969013512134552 + ], + "orientation": [ + 0.8273217082023621, + -0.2973610758781433, + -0.07085321098566055, + 0.471269428730011 + ], + "joints": [ + 0.0016487892717123032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1061638742685318, + -0.01898759976029396, + 0.07468103617429733 + ], + "orientation": [ + 0.2593255639076233, + -0.8706497550010681, + 0.07565657049417496, + -0.41109031438827515 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.10389326512813568, + -0.01684124395251274, + 0.07318917661905289 + ], + "orientation": [ + 0.258610337972641, + -0.8714814186096191, + 0.07732213288545609, + -0.4094657897949219 + ], + "joints": [ + 0.02344430610537529 + ] + }, + "final_grasp": { + "position": [ + -0.10389326512813568, + -0.01684124395251274, + 0.07318917661905289 + ], + "orientation": [ + 0.258610337972641, + -0.8714814186096191, + 0.07732213288545609, + -0.4094657897949219 + ], + "joints": [ + 0.014667246490716934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06274724751710892, + -0.10281802713871002, + -0.0741281807422638 + ], + "orientation": [ + 0.7197250127792358, + -0.3210892975330353, + -0.4010910093784332, + -0.46693000197410583 + ], + "joints": [ + 0.013771340250968933 + ] + }, + "fine_grasp": { + "position": [ + 0.06173890829086304, + -0.09919199347496033, + -0.07278262823820114 + ], + "orientation": [ + 0.7170249819755554, + -0.32345765829086304, + -0.40344613790512085, + -0.46742022037506104 + ], + "joints": [ + 0.004576325416564941 + ] + }, + "final_grasp": { + "position": [ + 0.06173890829086304, + -0.09919199347496033, + -0.07278262823820114 + ], + "orientation": [ + 0.7170249819755554, + -0.32345765829086304, + -0.40344613790512085, + -0.46742022037506104 + ], + "joints": [ + -0.00461868941783905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004878786392509937, + -0.09684661030769348, + -0.08327867835760117 + ], + "orientation": [ + 0.3268096148967743, + -0.0898817852139473, + -0.459756076335907, + -0.8208173513412476 + ], + "joints": [ + 0.021980762481689453 + ] + }, + "fine_grasp": { + "position": [ + 0.005910046864300966, + -0.09351940453052521, + -0.08208337426185608 + ], + "orientation": [ + 0.32370826601982117, + -0.10064569115638733, + -0.463459849357605, + -0.818711519241333 + ], + "joints": [ + 0.013182803988456726 + ] + }, + "final_grasp": { + "position": [ + 0.005910046864300966, + -0.09351940453052521, + -0.08208337426185608 + ], + "orientation": [ + 0.32370826601982117, + -0.10064569115638733, + -0.463459849357605, + -0.818711519241333 + ], + "joints": [ + 0.004384845495223999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07612237334251404, + -0.07627993077039719, + 0.07722551375627518 + ], + "orientation": [ + 0.15221475064754486, + -0.7469728589057922, + -0.5475071668624878, + -0.3451061248779297 + ], + "joints": [ + 0.01132215466350317 + ] + }, + "fine_grasp": { + "position": [ + -0.07417991012334824, + -0.07261890918016434, + 0.07666607201099396 + ], + "orientation": [ + 0.1620689332485199, + -0.7371360659599304, + -0.5440537929534912, + -0.3665646016597748 + ], + "joints": [ + 0.0033810061868280172 + ] + }, + "final_grasp": { + "position": [ + -0.07417991012334824, + -0.07261890918016434, + 0.07666607201099396 + ], + "orientation": [ + 0.1620689332485199, + -0.7371360659599304, + -0.5440537929534912, + -0.3665646016597748 + ], + "joints": [ + -0.0045601422898471355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04005827009677887, + -0.0968964546918869, + 0.08515825122594833 + ], + "orientation": [ + 0.2284507304430008, + -0.24770541489124298, + 0.8439155220985413, + 0.4174431562423706 + ], + "joints": [ + 0.017268115654587746 + ] + }, + "fine_grasp": { + "position": [ + -0.03908775374293327, + -0.09345952421426773, + 0.08355695009231567 + ], + "orientation": [ + 0.2382475584745407, + -0.2469986528158188, + 0.8402584195137024, + 0.4197567403316498 + ], + "joints": [ + 0.008888112381100655 + ] + }, + "final_grasp": { + "position": [ + -0.03908775374293327, + -0.09345952421426773, + 0.08355695009231567 + ], + "orientation": [ + 0.2382475584745407, + -0.2469986528158188, + 0.8402584195137024, + 0.4197567403316498 + ], + "joints": [ + 0.0005081091076135635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07777517288923264, + -0.1108027771115303, + 0.03743583336472511 + ], + "orientation": [ + 0.6250435709953308, + -0.7170892953872681, + -0.0610017403960228, + 0.3022949695587158 + ], + "joints": [ + 0.00941250380128622 + ] + }, + "fine_grasp": { + "position": [ + 0.07666487991809845, + -0.10672519356012344, + 0.03606412559747696 + ], + "orientation": [ + 0.6194154024124146, + -0.7289898991584778, + -0.05324890464544296, + 0.28646615147590637 + ], + "joints": [ + 0.0035193362273275852 + ] + }, + "final_grasp": { + "position": [ + 0.07666487991809845, + -0.10672519356012344, + 0.03606412559747696 + ], + "orientation": [ + 0.6194154024124146, + -0.7289898991584778, + -0.05324890464544296, + 0.28646615147590637 + ], + "joints": [ + -0.00237383134663105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07215825468301773, + 0.008102097548544407, + 0.12348898500204086 + ], + "orientation": [ + 0.05223362520337105, + -0.9690847992897034, + -0.09631898999214172, + -0.22106316685676575 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.07036621868610382, + 0.009378226473927498, + 0.1208488941192627 + ], + "orientation": [ + 0.053730327636003494, + -0.9671539068222046, + -0.08767039328813553, + -0.23246601223945618 + ], + "joints": [ + 0.024591419845819473 + ] + }, + "final_grasp": { + "position": [ + -0.07036621868610382, + 0.009378226473927498, + 0.1208488941192627 + ], + "orientation": [ + 0.053730327636003494, + -0.9671539068222046, + -0.08767039328813553, + -0.23246601223945618 + ], + "joints": [ + 0.01698463037610054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0029194923117756844, + -0.09530558437108994, + -0.08443505316972733 + ], + "orientation": [ + 0.3117833137512207, + -0.09061993658542633, + -0.45520031452178955, + -0.8290789723396301 + ], + "joints": [ + 0.022971175611019135 + ] + }, + "fine_grasp": { + "position": [ + 0.003683533752337098, + -0.09204023331403732, + -0.08315134793519974 + ], + "orientation": [ + 0.3100045323371887, + -0.09914901107549667, + -0.4566914439201355, + -0.8279491066932678 + ], + "joints": [ + 0.0137343630194664 + ] + }, + "final_grasp": { + "position": [ + 0.003683533752337098, + -0.09204023331403732, + -0.08315134793519974 + ], + "orientation": [ + 0.3100045323371887, + -0.09914901107549667, + -0.4566914439201355, + -0.8279491066932678 + ], + "joints": [ + 0.004497550427913666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13848724961280823, + 0.026066796854138374, + 0.039974357932806015 + ], + "orientation": [ + 0.642307460308075, + 0.021818863227963448, + -0.7656566500663757, + -0.027106134220957756 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + 0.13503336906433105, + 0.02701827883720398, + 0.03874857351183891 + ], + "orientation": [ + 0.6337020993232727, + 0.019786851480603218, + -0.7729983329772949, + -0.022443614900112152 + ], + "joints": [ + 0.026971902698278427 + ] + }, + "final_grasp": { + "position": [ + 0.13503336906433105, + 0.02701827883720398, + 0.03874857351183891 + ], + "orientation": [ + 0.6337020993232727, + 0.019786851480603218, + -0.7729983329772949, + -0.022443614900112152 + ], + "joints": [ + 0.019406910985708237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027823342010378838, + -0.08363334089517593, + -0.0969415158033371 + ], + "orientation": [ + 0.7793972492218018, + -0.2974322736263275, + -0.23669005930423737, + -0.4980478882789612 + ], + "joints": [ + 0.02296566590666771 + ] + }, + "fine_grasp": { + "position": [ + 0.026333915069699287, + -0.07994545996189117, + -0.09572520852088928 + ], + "orientation": [ + 0.7733789682388306, + -0.29987967014312744, + -0.25375476479530334, + -0.4975598156452179 + ], + "joints": [ + 0.01460656151175499 + ] + }, + "final_grasp": { + "position": [ + 0.026333915069699287, + -0.07994545996189117, + -0.09572520852088928 + ], + "orientation": [ + 0.7733789682388306, + -0.29987967014312744, + -0.25375476479530334, + -0.4975598156452179 + ], + "joints": [ + 0.00624745711684227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0062487078830599785, + -0.0994897335767746, + -0.08612220734357834 + ], + "orientation": [ + 0.32149824500083923, + -0.11004125326871872, + -0.4670560657978058, + -0.8163262009620667 + ], + "joints": [ + 0.021470539271831512 + ] + }, + "fine_grasp": { + "position": [ + 0.007102502975612879, + -0.0958879292011261, + -0.0846523642539978 + ], + "orientation": [ + 0.32064878940582275, + -0.1198323592543602, + -0.46924346685409546, + -0.814024031162262 + ], + "joints": [ + 0.01227552443742752 + ] + }, + "final_grasp": { + "position": [ + 0.007102502975612879, + -0.0958879292011261, + -0.0846523642539978 + ], + "orientation": [ + 0.32064878940582275, + -0.1198323592543602, + -0.46924346685409546, + -0.814024031162262 + ], + "joints": [ + 0.003080509603023529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06805340945720673, + -0.09337674081325531, + 0.07825057208538055 + ], + "orientation": [ + 0.3505612015724182, + -0.5007014870643616, + -0.7466623187065125, + -0.262488454580307 + ], + "joints": [ + 0.01036323793232441 + ] + }, + "fine_grasp": { + "position": [ + 0.06623941659927368, + -0.08961373567581177, + 0.076997309923172 + ], + "orientation": [ + 0.3683135211467743, + -0.4950437545776367, + -0.7401195764541626, + -0.2673945724964142 + ], + "joints": [ + 0.0036550574004650116 + ] + }, + "final_grasp": { + "position": [ + 0.06623941659927368, + -0.08961373567581177, + 0.076997309923172 + ], + "orientation": [ + 0.3683135211467743, + -0.4950437545776367, + -0.7401195764541626, + -0.2673945724964142 + ], + "joints": [ + -0.0030531231313943863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08194606751203537, + -0.08655862510204315, + -0.047094084322452545 + ], + "orientation": [ + 0.7911989092826843, + -0.3936786651611328, + -0.42463263869285583, + -0.1967448741197586 + ], + "joints": [ + 0.02341463975608349 + ] + }, + "fine_grasp": { + "position": [ + 0.08078227937221527, + -0.08386607468128204, + -0.04592294991016388 + ], + "orientation": [ + 0.7911486625671387, + -0.3962661325931549, + -0.42170441150665283, + -0.19804637134075165 + ], + "joints": [ + 0.012568702921271324 + ] + }, + "final_grasp": { + "position": [ + 0.08078227937221527, + -0.08386607468128204, + -0.04592294991016388 + ], + "orientation": [ + 0.7911486625671387, + -0.3962661325931549, + -0.42170441150665283, + -0.19804637134075165 + ], + "joints": [ + 0.0017227660864591599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08160354942083359, + -0.08677918463945389, + -0.04668936878442764 + ], + "orientation": [ + 0.7908210754394531, + -0.39579617977142334, + -0.4233724772930145, + -0.19673092663288116 + ], + "joints": [ + 0.023390114307403564 + ] + }, + "fine_grasp": { + "position": [ + 0.08049839735031128, + -0.08417033404111862, + -0.04556697979569435 + ], + "orientation": [ + 0.7906099557876587, + -0.3984968960285187, + -0.4207325279712677, + -0.19778840243816376 + ], + "joints": [ + 0.0125441774725914 + ] + }, + "final_grasp": { + "position": [ + 0.08049839735031128, + -0.08417033404111862, + -0.04556697979569435 + ], + "orientation": [ + 0.7906099557876587, + -0.3984968960285187, + -0.4207325279712677, + -0.19778840243816376 + ], + "joints": [ + 0.0016982406377792358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03412885218858719, + -0.10013397783041, + 0.09144856780767441 + ], + "orientation": [ + 0.1322459876537323, + 0.05132371559739113, + -0.8598161935806274, + -0.4905027747154236 + ], + "joints": [ + 0.012830916792154312 + ] + }, + "fine_grasp": { + "position": [ + 0.03374554216861725, + -0.0966440737247467, + 0.08951681852340698 + ], + "orientation": [ + 0.1190556138753891, + 0.0456882119178772, + -0.8616849780082703, + -0.4911591112613678 + ], + "joints": [ + 0.0036359024234116077 + ] + }, + "final_grasp": { + "position": [ + 0.03374554216861725, + -0.0966440737247467, + 0.08951681852340698 + ], + "orientation": [ + 0.1190556138753891, + 0.0456882119178772, + -0.8616849780082703, + -0.4911591112613678 + ], + "joints": [ + -0.005559111945331097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03431382775306702, + -0.10014335811138153, + 0.09169324487447739 + ], + "orientation": [ + 0.129695326089859, + 0.049554552882909775, + -0.8608341813087463, + -0.48957952857017517 + ], + "joints": [ + 0.012668714858591557 + ] + }, + "fine_grasp": { + "position": [ + 0.03386962413787842, + -0.09664933383464813, + 0.08974626660346985 + ], + "orientation": [ + 0.11788967996835709, + 0.044661637395620346, + -0.8623611927032471, + -0.4903475344181061 + ], + "joints": [ + 0.0038916554767638445 + ] + }, + "final_grasp": { + "position": [ + 0.03386962413787842, + -0.09664933383464813, + 0.08974626660346985 + ], + "orientation": [ + 0.11788967996835709, + 0.044661637395620346, + -0.8623611927032471, + -0.4903475344181061 + ], + "joints": [ + -0.004885403905063868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13844671845436096, + 0.02615862525999546, + 0.03988802060484886 + ], + "orientation": [ + 0.6432268619537354, + 0.02265477366745472, + -0.7648593783378601, + -0.027129219844937325 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.1350022256374359, + 0.027120890095829964, + 0.038640402257442474 + ], + "orientation": [ + 0.6344044208526611, + 0.02046634443104267, + -0.7723973989486694, + -0.02268306352198124 + ], + "joints": [ + 0.027137406170368195 + ] + }, + "final_grasp": { + "position": [ + 0.1350022256374359, + 0.027120890095829964, + 0.038640402257442474 + ], + "orientation": [ + 0.6344044208526611, + 0.02046634443104267, + -0.7723973989486694, + -0.02268306352198124 + ], + "joints": [ + 0.01996947079896927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05571584776043892, + -0.06486069411039352, + 0.09982328861951828 + ], + "orientation": [ + 0.21517926454544067, + -0.40210074186325073, + 0.8606849312782288, + 0.22634969651699066 + ], + "joints": [ + 0.01179861556738615 + ] + }, + "fine_grasp": { + "position": [ + -0.0541016049683094, + -0.061790645122528076, + 0.09763602912425995 + ], + "orientation": [ + 0.22894686460494995, + -0.40883365273475647, + 0.8537228107452393, + 0.22714683413505554 + ], + "joints": [ + 0.003418614389374852 + ] + }, + "final_grasp": { + "position": [ + -0.0541016049683094, + -0.061790645122528076, + 0.09763602912425995 + ], + "orientation": [ + 0.22894686460494995, + -0.40883365273475647, + 0.8537228107452393, + 0.22714683413505554 + ], + "joints": [ + -0.004961386788636446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08025291562080383, + -0.08503112196922302, + 0.07146657258272171 + ], + "orientation": [ + 0.20641028881072998, + -0.7538117170333862, + -0.4920826256275177, + -0.38342851400375366 + ], + "joints": [ + 0.011368137784302235 + ] + }, + "fine_grasp": { + "position": [ + -0.07823905348777771, + -0.08149450272321701, + 0.07048432528972626 + ], + "orientation": [ + 0.21364766359329224, + -0.7459031343460083, + -0.48852744698524475, + -0.3991543650627136 + ], + "joints": [ + 0.0034060918260365725 + ] + }, + "final_grasp": { + "position": [ + -0.07823905348777771, + -0.08149450272321701, + 0.07048432528972626 + ], + "orientation": [ + 0.21364766359329224, + -0.7459031343460083, + -0.48852744698524475, + -0.3991543650627136 + ], + "joints": [ + -0.00455595413222909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0802590399980545, + -0.083907350897789, + 0.07087075710296631 + ], + "orientation": [ + 0.21178598701953888, + -0.7624859809875488, + -0.4790123701095581, + -0.3798803687095642 + ], + "joints": [ + 0.011040386743843555 + ] + }, + "fine_grasp": { + "position": [ + -0.07827208191156387, + -0.08030799776315689, + 0.06996264308691025 + ], + "orientation": [ + 0.22013403475284576, + -0.7541804313659668, + -0.4754793345928192, + -0.39581844210624695 + ], + "joints": [ + 0.0034962957724928856 + ] + }, + "final_grasp": { + "position": [ + -0.07827208191156387, + -0.08030799776315689, + 0.06996264308691025 + ], + "orientation": [ + 0.22013403475284576, + -0.7541804313659668, + -0.4754793345928192, + -0.39581844210624695 + ], + "joints": [ + -0.004047795198857784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0628686398267746, + -0.10258866846561432, + -0.07474642246961594 + ], + "orientation": [ + 0.7204163074493408, + -0.3244304358959198, + -0.40165603160858154, + -0.4630527198314667 + ], + "joints": [ + 0.012946268543601036 + ] + }, + "fine_grasp": { + "position": [ + 0.06162247434258461, + -0.09913971275091171, + -0.07324211299419403 + ], + "orientation": [ + 0.7190940976142883, + -0.32453954219818115, + -0.403745174407959, + -0.4632143974304199 + ], + "joints": [ + 0.0033332991879433393 + ] + }, + "final_grasp": { + "position": [ + 0.06162247434258461, + -0.09913971275091171, + -0.07324211299419403 + ], + "orientation": [ + 0.7190940976142883, + -0.32453954219818115, + -0.403745174407959, + -0.4632143974304199 + ], + "joints": [ + -0.006279670167714357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01631881296634674, + -0.048406828194856644, + 0.11753040552139282 + ], + "orientation": [ + 0.19481775164604187, + -0.838787853717804, + 0.4982551336288452, + 0.10110826045274734 + ], + "joints": [ + 0.02172355353832245 + ] + }, + "fine_grasp": { + "position": [ + 0.015161693096160889, + -0.04598187282681465, + 0.11600843071937561 + ], + "orientation": [ + 0.19757068157196045, + -0.8301079273223877, + 0.5076127648353577, + 0.11923089623451233 + ], + "joints": [ + 0.014200359582901001 + ] + }, + "final_grasp": { + "position": [ + 0.015161693096160889, + -0.04598187282681465, + 0.11600843071937561 + ], + "orientation": [ + 0.19757068157196045, + -0.8301079273223877, + 0.5076127648353577, + 0.11923089623451233 + ], + "joints": [ + 0.006677165627479553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011180996894836426, + -0.07748425006866455, + -0.09955373406410217 + ], + "orientation": [ + 0.037287637591362, + 0.04565611109137535, + 0.40623408555984497, + 0.9118657112121582 + ], + "joints": [ + 0.02475769817829132 + ] + }, + "fine_grasp": { + "position": [ + -0.010880915448069572, + -0.07534192502498627, + -0.09794078767299652 + ], + "orientation": [ + 0.03845776617527008, + 0.04754529520869255, + 0.40612539649009705, + 0.9117690324783325 + ], + "joints": [ + 0.01510293036699295 + ] + }, + "final_grasp": { + "position": [ + -0.010880915448069572, + -0.07534192502498627, + -0.09794078767299652 + ], + "orientation": [ + 0.03845776617527008, + 0.04754529520869255, + 0.40612539649009705, + 0.9117690324783325 + ], + "joints": [ + 0.00544816255569458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010781239718198776, + -0.07741621881723404, + -0.09961827844381332 + ], + "orientation": [ + 0.03658289089798927, + 0.053571656346321106, + 0.40581241250038147, + 0.9116513133049011 + ], + "joints": [ + 0.024264872074127197 + ] + }, + "fine_grasp": { + "position": [ + -0.010809683240950108, + -0.07523121684789658, + -0.09809631109237671 + ], + "orientation": [ + 0.03628449887037277, + 0.0529659204185009, + 0.4059189260005951, + 0.9116511940956116 + ], + "joints": [ + 0.015007160604000092 + ] + }, + "final_grasp": { + "position": [ + -0.010809683240950108, + -0.07523121684789658, + -0.09809631109237671 + ], + "orientation": [ + 0.03628449887037277, + 0.0529659204185009, + 0.4059189260005951, + 0.9116511940956116 + ], + "joints": [ + 0.005749449133872986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11197738349437714, + 0.17138192057609558, + -0.03890291228890419 + ], + "orientation": [ + 0.007932880893349648, + -0.6102955937385559, + -0.16975095868110657, + 0.7737317085266113 + ], + "joints": [ + 0.026918770745396614 + ] + }, + "fine_grasp": { + "position": [ + 0.10896239429712296, + 0.17018091678619385, + -0.0359000526368618 + ], + "orientation": [ + 0.005167430732399225, + -0.5975863337516785, + -0.1679789125919342, + 0.7839943170547485 + ], + "joints": [ + 0.02023148722946644 + ] + }, + "final_grasp": { + "position": [ + 0.10896239429712296, + 0.17018091678619385, + -0.0359000526368618 + ], + "orientation": [ + 0.005167430732399225, + -0.5975863337516785, + -0.1679789125919342, + 0.7839943170547485 + ], + "joints": [ + 0.013544203713536263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07561139762401581, + 0.050023674964904785, + 0.11579206585884094 + ], + "orientation": [ + 0.36751511693000793, + 0.03994243964552879, + 0.9255709052085876, + -0.08158247172832489 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.07437504082918167, + 0.049986135214567184, + 0.11236840486526489 + ], + "orientation": [ + 0.348589688539505, + 0.03551819175481796, + 0.9330710172653198, + -0.08125361800193787 + ], + "joints": [ + 0.02868887409567833 + ] + }, + "final_grasp": { + "position": [ + -0.07437504082918167, + 0.049986135214567184, + 0.11236840486526489 + ], + "orientation": [ + 0.348589688539505, + 0.03551819175481796, + 0.9330710172653198, + -0.08125361800193787 + ], + "joints": [ + 0.022377748042345047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1384197473526001, + 0.02650848776102066, + 0.03982516750693321 + ], + "orientation": [ + 0.6443271636962891, + 0.024090589955449104, + -0.7639176249504089, + -0.026306165382266045 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + 0.13501133024692535, + 0.02747054398059845, + 0.03855355829000473 + ], + "orientation": [ + 0.6350457668304443, + 0.02179587446153164, + -0.7718619704246521, + -0.021700840443372726 + ], + "joints": [ + 0.026971902698278427 + ] + }, + "final_grasp": { + "position": [ + 0.13501133024692535, + 0.02747054398059845, + 0.03855355829000473 + ], + "orientation": [ + 0.6350457668304443, + 0.02179587446153164, + -0.7718619704246521, + -0.021700840443372726 + ], + "joints": [ + 0.019406910985708237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1344624012708664, + 0.16550321877002716, + 0.004109397996217012 + ], + "orientation": [ + 0.5516855120658875, + -0.20525464415550232, + 0.7085477113723755, + -0.38919633626937866 + ], + "joints": [ + 0.020152011886239052 + ] + }, + "fine_grasp": { + "position": [ + -0.13026173412799835, + 0.16499066352844238, + 0.004083352629095316 + ], + "orientation": [ + 0.5569809079170227, + -0.20936307311058044, + 0.7051946520805359, + -0.38553839921951294 + ], + "joints": [ + 0.012210862711071968 + ] + }, + "final_grasp": { + "position": [ + -0.13026173412799835, + 0.16499066352844238, + 0.004083352629095316 + ], + "orientation": [ + 0.5569809079170227, + -0.20936307311058044, + 0.7051946520805359, + -0.38553839921951294 + ], + "joints": [ + 0.004269713535904884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045122064650058746, + 0.22176194190979004, + -0.06321936845779419 + ], + "orientation": [ + 0.3541733920574188, + 0.35701778531074524, + 0.2912987172603607, + -0.8137840628623962 + ], + "joints": [ + 0.024021588265895844 + ] + }, + "fine_grasp": { + "position": [ + 0.04383905231952667, + 0.21957120299339294, + -0.060948725789785385 + ], + "orientation": [ + 0.3515215218067169, + 0.3544367849826813, + 0.2896629869937897, + -0.8166410326957703 + ], + "joints": [ + 0.012778595089912415 + ] + }, + "final_grasp": { + "position": [ + 0.04383905231952667, + 0.21957120299339294, + -0.060948725789785385 + ], + "orientation": [ + 0.3515215218067169, + 0.3544367849826813, + 0.2896629869937897, + -0.8166410326957703 + ], + "joints": [ + 0.0015356019139289856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06136335805058479, + -0.09743528813123703, + 0.07494983822107315 + ], + "orientation": [ + 0.3415749669075012, + -0.5272258520126343, + -0.7266159653663635, + -0.27818816900253296 + ], + "joints": [ + 0.010156260803341866 + ] + }, + "fine_grasp": { + "position": [ + 0.05978928506374359, + -0.09342814236879349, + 0.07405818998813629 + ], + "orientation": [ + 0.3604026436805725, + -0.5202482342720032, + -0.7196004986763, + -0.28570395708084106 + ], + "joints": [ + 0.0034480805043131113 + ] + }, + "final_grasp": { + "position": [ + 0.05978928506374359, + -0.09342814236879349, + 0.07405818998813629 + ], + "orientation": [ + 0.3604026436805725, + -0.5202482342720032, + -0.7196004986763, + -0.28570395708084106 + ], + "joints": [ + -0.003260099794715643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06812310963869095, + -0.0926995500922203, + 0.07776423543691635 + ], + "orientation": [ + 0.34848886728286743, + -0.4991188645362854, + -0.7490795850753784, + -0.26137250661849976 + ], + "joints": [ + 0.010409781709313393 + ] + }, + "fine_grasp": { + "position": [ + 0.06638720631599426, + -0.08891155570745468, + 0.07649145275354385 + ], + "orientation": [ + 0.3654452860355377, + -0.49369746446609497, + -0.7425379753112793, + -0.26711389422416687 + ], + "joints": [ + 0.003304543672129512 + ] + }, + "final_grasp": { + "position": [ + 0.06638720631599426, + -0.08891155570745468, + 0.07649145275354385 + ], + "orientation": [ + 0.3654452860355377, + -0.49369746446609497, + -0.7425379753112793, + -0.26711389422416687 + ], + "joints": [ + -0.003800694365054369 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 140 + } +} \ No newline at end of file diff --git a/111_callbell_1/Object.usd b/111_callbell_1/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..d51db85ccaa21a01e9de2c1dda6bc035dad4c7fe --- /dev/null +++ b/111_callbell_1/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc320255fcd1fa60337ee7703a91b26b1d88059bc17082d61809e47103bf4959 +size 349144 diff --git a/112_tea-box_4/Annotation/dex1_1_grasp_pose.json b/112_tea-box_4/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e30290b650649e63d478de24452b1ff54142b5c1 --- /dev/null +++ b/112_tea-box_4/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,3018 @@ +{ + "type": "112_tea-box_4", + "bottom_center": [ + 1.0598450899124146e-06, + 0.03330409899353981, + -0.0381406806409359 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.06422808021306992, + -0.09822870790958405, + -0.0034183545503765345 + ], + "orientation": [ + 0.6518189907073975, + 0.1799483448266983, + -0.7217498421669006, + 0.14774233102798462 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06231452897191048, + -0.09418933838605881, + -0.002980663441121578 + ], + "orientation": [ + 0.6495997309684753, + 0.17898276448249817, + -0.7240281701087952, + 0.1475416123867035 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.06231452897191048, + -0.09418933838605881, + -0.002980663441121578 + ], + "orientation": [ + 0.6495997309684753, + 0.17898276448249817, + -0.7240281701087952, + 0.1475416123867035 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06425904482603073, + -0.09822282940149307, + -0.003423381131142378 + ], + "orientation": [ + 0.6518054008483887, + 0.17987267673015594, + -0.7218036651611328, + 0.14763107895851135 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06233915686607361, + -0.09419018775224686, + -0.0029885824769735336 + ], + "orientation": [ + 0.6495718955993652, + 0.17896051704883575, + -0.724074125289917, + 0.14746534824371338 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.06233915686607361, + -0.09419018775224686, + -0.0029885824769735336 + ], + "orientation": [ + 0.6495718955993652, + 0.17896051704883575, + -0.724074125289917, + 0.14746534824371338 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06425261497497559, + -0.09822375327348709, + -0.0034209450241178274 + ], + "orientation": [ + 0.6518049240112305, + 0.1799045205116272, + -0.7217868566513062, + 0.14767657220363617 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06233565881848335, + -0.09418854117393494, + -0.0029852325096726418 + ], + "orientation": [ + 0.6495762467384338, + 0.17897175252437592, + -0.7240613698959351, + 0.14749586582183838 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.06233565881848335, + -0.09418854117393494, + -0.0029852325096726418 + ], + "orientation": [ + 0.6495762467384338, + 0.17897175252437592, + -0.7240613698959351, + 0.14749586582183838 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06423889845609665, + -0.09822593629360199, + -0.003421148983761668 + ], + "orientation": [ + 0.6518179178237915, + 0.17995911836624146, + -0.7217492461204529, + 0.14773687720298767 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06232443451881409, + -0.09418788552284241, + -0.0029840460047125816 + ], + "orientation": [ + 0.6495956182479858, + 0.17900198698043823, + -0.7240272760391235, + 0.14754129946231842 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.06232443451881409, + -0.09418788552284241, + -0.0029840460047125816 + ], + "orientation": [ + 0.6495956182479858, + 0.17900198698043823, + -0.7240272760391235, + 0.14754129946231842 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1487419158220291, + 0.03358374536037445, + 0.0031568617559969425 + ], + "orientation": [ + 0.4047577977180481, + -0.5935372710227966, + 0.43508651852607727, + 0.5427563190460205 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.15287937223911285, + 0.034777648746967316, + 0.0026581448037177324 + ], + "orientation": [ + 0.40425756573677063, + -0.589977502822876, + 0.4311524033546448, + 0.5500999689102173 + ], + "joints": [ + -0.011884736828505993 + ] + }, + "final_grasp": { + "position": [ + 0.15287937223911285, + 0.034777648746967316, + 0.0026581448037177324 + ], + "orientation": [ + 0.40425756573677063, + -0.589977502822876, + 0.4311524033546448, + 0.5500999689102173 + ], + "joints": [ + -0.004976531490683556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10669190436601639, + 0.12514859437942505, + 0.008613391779363155 + ], + "orientation": [ + 0.2545657753944397, + 0.6334455609321594, + -0.2926928400993347, + 0.6695325970649719 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.104216568171978, + 0.12363263219594955, + 0.010005184449255466 + ], + "orientation": [ + 0.2509506344795227, + 0.6432199478149414, + -0.30250367522239685, + 0.6571022868156433 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.104216568171978, + 0.12363263219594955, + 0.010005184449255466 + ], + "orientation": [ + 0.2509506344795227, + 0.6432199478149414, + -0.30250367522239685, + 0.6571022868156433 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10670308768749237, + 0.12517698109149933, + 0.008564066141843796 + ], + "orientation": [ + 0.2546860873699188, + 0.6334657669067383, + -0.2924191951751709, + 0.6695871949195862 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.10424590855836868, + 0.12361575663089752, + 0.009782123379409313 + ], + "orientation": [ + 0.25160589814186096, + 0.6434562802314758, + -0.3015094995498657, + 0.6570773124694824 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + 0.10424590855836868, + 0.12361575663089752, + 0.009782123379409313 + ], + "orientation": [ + 0.25160589814186096, + 0.6434562802314758, + -0.3015094995498657, + 0.6570773124694824 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1533643901348114, + 0.026380417868494987, + -0.03662210330367088 + ], + "orientation": [ + 0.698287844657898, + 0.009172298014163971, + -0.14176690578460693, + -0.7015781998634338 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.15065187215805054, + 0.026879973709583282, + -0.036523766815662384 + ], + "orientation": [ + 0.6967436075210571, + -0.0013907875400036573, + -0.14326710999011993, + -0.7028661370277405 + ], + "joints": [ + -0.009976934641599655 + ] + }, + "final_grasp": { + "position": [ + -0.15065187215805054, + 0.026879973709583282, + -0.036523766815662384 + ], + "orientation": [ + 0.6967436075210571, + -0.0013907875400036573, + -0.14326710999011993, + -0.7028661370277405 + ], + "joints": [ + -0.004104968160390854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13555829226970673, + 0.04314396157860756, + -0.08295159786939621 + ], + "orientation": [ + 0.2127850502729416, + 0.7305825352668762, + -0.6344335675239563, + -0.13588853180408478 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.1325123906135559, + 0.04352486878633499, + -0.08244221657514572 + ], + "orientation": [ + 0.205445796251297, + 0.7328298687934875, + -0.6353390216827393, + -0.13075445592403412 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + 0.1325123906135559, + 0.04352486878633499, + -0.08244221657514572 + ], + "orientation": [ + 0.205445796251297, + 0.7328298687934875, + -0.6353390216827393, + -0.13075445592403412 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1353776454925537, + 0.04313153773546219, + -0.08283883333206177 + ], + "orientation": [ + 0.21325789391994476, + 0.7305291295051575, + -0.6343591213226318, + -0.13578206300735474 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.1323622465133667, + 0.043532609939575195, + -0.08233117312192917 + ], + "orientation": [ + 0.20617111027240753, + 0.7328444719314575, + -0.6350911855697632, + -0.13073478639125824 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + 0.1323622465133667, + 0.043532609939575195, + -0.08233117312192917 + ], + "orientation": [ + 0.20617111027240753, + 0.7328444719314575, + -0.6350911855697632, + -0.13073478639125824 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1353679895401001, + 0.043174419552087784, + -0.08294189721345901 + ], + "orientation": [ + 0.212763711810112, + 0.7307068109512329, + -0.6343506574630737, + -0.13564026355743408 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.13234403729438782, + 0.043583281338214874, + -0.08245965838432312 + ], + "orientation": [ + 0.20556294918060303, + 0.7330276966094971, + -0.6351401209831238, + -0.13042736053466797 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + 0.13234403729438782, + 0.043583281338214874, + -0.08245965838432312 + ], + "orientation": [ + 0.20556294918060303, + 0.7330276966094971, + -0.6351401209831238, + -0.13042736053466797 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1335911899805069, + 0.016683613881468773, + 0.006316679064184427 + ], + "orientation": [ + 0.6061723232269287, + 0.3595547378063202, + -0.5200560688972473, + 0.4825112819671631 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12877053022384644, + 0.01645917072892189, + 0.007970045320689678 + ], + "orientation": [ + 0.6109526753425598, + 0.34523648023605347, + -0.5054256319999695, + 0.5020891427993774 + ], + "joints": [ + -0.016811590641736984 + ] + }, + "final_grasp": { + "position": [ + 0.12877053022384644, + 0.01645917072892189, + 0.007970045320689678 + ], + "orientation": [ + 0.6109526753425598, + 0.34523648023605347, + -0.5054256319999695, + 0.5020891427993774 + ], + "joints": [ + -0.013623181730508804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1335909217596054, + 0.0166854839771986, + 0.006315538659691811 + ], + "orientation": [ + 0.6061849594116211, + 0.359538733959198, + -0.5200552344322205, + 0.48250812292099 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12877069413661957, + 0.01646002195775509, + 0.007969207130372524 + ], + "orientation": [ + 0.6109501719474792, + 0.3452431857585907, + -0.5054282546043396, + 0.5020847916603088 + ], + "joints": [ + -0.016811590641736984 + ] + }, + "final_grasp": { + "position": [ + 0.12877069413661957, + 0.01646002195775509, + 0.007969207130372524 + ], + "orientation": [ + 0.6109501719474792, + 0.3452431857585907, + -0.5054282546043396, + 0.5020847916603088 + ], + "joints": [ + -0.013623181730508804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10001413524150848, + -0.0014761750353500247, + -0.12417346239089966 + ], + "orientation": [ + 0.3032158315181732, + 0.5504616498947144, + -0.719132661819458, + -0.29648035764694214 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.09924613684415817, + -0.002177118556573987, + -0.12319174408912659 + ], + "orientation": [ + 0.30092138051986694, + 0.5483518242835999, + -0.7199733853340149, + -0.3006575405597687 + ], + "joints": [ + -0.010565740056335926 + ] + }, + "final_grasp": { + "position": [ + 0.09924613684415817, + -0.002177118556573987, + -0.12319174408912659 + ], + "orientation": [ + 0.30092138051986694, + 0.5483518242835999, + -0.7199733853340149, + -0.3006575405597687 + ], + "joints": [ + -0.004693770781159401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011787818744778633, + -0.11613404005765915, + -0.012481615878641605 + ], + "orientation": [ + 0.670997679233551, + 0.037550415843725204, + -0.7400140166282654, + -0.027042999863624573 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.01135517843067646, + -0.11178746819496155, + -0.01284813042730093 + ], + "orientation": [ + 0.666208028793335, + 0.033142391592264175, + -0.7444257140159607, + -0.029977357015013695 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + -0.01135517843067646, + -0.11178746819496155, + -0.01284813042730093 + ], + "orientation": [ + 0.666208028793335, + 0.033142391592264175, + -0.7444257140159607, + -0.029977357015013695 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011714194901287556, + -0.11606404930353165, + -0.01247298251837492 + ], + "orientation": [ + 0.6709979176521301, + 0.0374920591711998, + -0.74001544713974, + -0.027078384533524513 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.01128099113702774, + -0.11165440827608109, + -0.012860158458352089 + ], + "orientation": [ + 0.6660820841789246, + 0.03310690447688103, + -0.7445363402366638, + -0.03006819821894169 + ], + "joints": [ + -0.01625361666083336 + ] + }, + "final_grasp": { + "position": [ + -0.01128099113702774, + -0.11165440827608109, + -0.012860158458352089 + ], + "orientation": [ + 0.6660820841789246, + 0.03310690447688103, + -0.7445363402366638, + -0.03006819821894169 + ], + "joints": [ + -0.012507233768701553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11560557037591934, + 0.022970620542764664, + -0.09091898053884506 + ], + "orientation": [ + 0.3526504635810852, + 0.6871998906135559, + 0.6290528774261475, + 0.08767250180244446 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.11476399004459381, + 0.024935852736234665, + -0.0919041559100151 + ], + "orientation": [ + 0.3606584966182709, + 0.6951174139976501, + 0.6181786060333252, + 0.06776838004589081 + ], + "joints": [ + -0.012866429053246975 + ] + }, + "final_grasp": { + "position": [ + -0.11476399004459381, + 0.024935852736234665, + -0.0919041559100151 + ], + "orientation": [ + 0.3606584966182709, + 0.6951174139976501, + 0.6181786060333252, + 0.06776838004589081 + ], + "joints": [ + -0.00749928317964077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14039577543735504, + 0.03442567214369774, + -0.03726678714156151 + ], + "orientation": [ + 0.12120475620031357, + 0.7256707549095154, + -0.6673570275306702, + 0.11552400141954422 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.14160828292369843, + 0.03701002895832062, + -0.036188364028930664 + ], + "orientation": [ + 0.12727777659893036, + 0.7357069253921509, + -0.6543369293212891, + 0.11991112679243088 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + 0.14160828292369843, + 0.03701002895832062, + -0.036188364028930664 + ], + "orientation": [ + 0.12727777659893036, + 0.7357069253921509, + -0.6543369293212891, + 0.11991112679243088 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13930056989192963, + 0.0339222215116024, + -0.03717726841568947 + ], + "orientation": [ + 0.1207008883357048, + 0.7241959571838379, + -0.6696471571922302, + 0.11200107634067535 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.1388380527496338, + 0.03682848811149597, + -0.035976655781269073 + ], + "orientation": [ + 0.1327376812696457, + 0.7349998950958252, + -0.6534405946731567, + 0.12317155301570892 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + 0.1388380527496338, + 0.03682848811149597, + -0.035976655781269073 + ], + "orientation": [ + 0.1327376812696457, + 0.7349998950958252, + -0.6534405946731567, + 0.12317155301570892 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14426368474960327, + 0.010158965364098549, + -0.032707374542951584 + ], + "orientation": [ + 0.17740027606487274, + 0.6553869247436523, + -0.7340242266654968, + 0.014336966909468174 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.1432185024023056, + 0.010281979106366634, + -0.031484298408031464 + ], + "orientation": [ + 0.19005067646503448, + 0.6533011198043823, + -0.7327302098274231, + 0.013594424352049828 + ], + "joints": [ + -0.013634825125336647 + ] + }, + "final_grasp": { + "position": [ + 0.1432185024023056, + 0.010281979106366634, + -0.031484298408031464 + ], + "orientation": [ + 0.19005067646503448, + 0.6533011198043823, + -0.7327302098274231, + 0.013594424352049828 + ], + "joints": [ + -0.009330479428172112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14168459177017212, + 0.019491488113999367, + -0.00685921311378479 + ], + "orientation": [ + 0.7180666327476501, + -0.10690875351428986, + -0.1381043642759323, + -0.6737047433853149 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.139207661151886, + 0.02068997360765934, + -0.006218857131898403 + ], + "orientation": [ + 0.7163518071174622, + -0.12240547686815262, + -0.1476314663887024, + -0.6708666086196899 + ], + "joints": [ + -0.01475503109395504 + ] + }, + "final_grasp": { + "position": [ + -0.139207661151886, + 0.02068997360765934, + -0.006218857131898403 + ], + "orientation": [ + 0.7163518071174622, + -0.12240547686815262, + -0.1476314663887024, + -0.6708666086196899 + ], + "joints": [ + -0.010982083156704903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14176347851753235, + 0.01963450387120247, + -0.006924253888428211 + ], + "orientation": [ + 0.7176780104637146, + -0.10679668933153152, + -0.1382642686367035, + -0.6741036176681519 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.13918150961399078, + 0.02075299620628357, + -0.006250033620744944 + ], + "orientation": [ + 0.7160586714744568, + -0.12254784256219864, + -0.14821873605251312, + -0.6710238456726074 + ], + "joints": [ + -0.01478160172700882 + ] + }, + "final_grasp": { + "position": [ + -0.13918150961399078, + 0.02075299620628357, + -0.006250033620744944 + ], + "orientation": [ + 0.7160586714744568, + -0.12254784256219864, + -0.14821873605251312, + -0.6710238456726074 + ], + "joints": [ + -0.011035224422812462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14179834723472595, + 0.019548514857888222, + -0.006939206272363663 + ], + "orientation": [ + 0.7177949547767639, + -0.10684291273355484, + -0.13820944726467133, + -0.6739830374717712 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.13911829888820648, + 0.020747264847159386, + -0.006169452331960201 + ], + "orientation": [ + 0.7161831259727478, + -0.12253115326166153, + -0.1473308950662613, + -0.671089768409729 + ], + "joints": [ + -0.01478160172700882 + ] + }, + "final_grasp": { + "position": [ + -0.13911829888820648, + 0.020747264847159386, + -0.006169452331960201 + ], + "orientation": [ + 0.7161831259727478, + -0.12253115326166153, + -0.1473308950662613, + -0.671089768409729 + ], + "joints": [ + -0.011035224422812462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12792707979679108, + 0.07345881313085556, + -0.0741090476512909 + ], + "orientation": [ + 0.10929106920957565, + -0.6541932225227356, + 0.6383768320083618, + 0.39059141278266907 + ], + "joints": [ + -0.011108994483947754 + ] + }, + "fine_grasp": { + "position": [ + 0.12421675771474838, + 0.07211998850107193, + -0.07211752235889435 + ], + "orientation": [ + 0.10048222541809082, + -0.656807005405426, + 0.6350969076156616, + 0.3939031958580017 + ], + "joints": [ + -0.00786745734512806 + ] + }, + "final_grasp": { + "position": [ + 0.12421675771474838, + 0.07211998850107193, + -0.07211752235889435 + ], + "orientation": [ + 0.10048222541809082, + -0.656807005405426, + 0.6350969076156616, + 0.3939031958580017 + ], + "joints": [ + -0.004625920206308365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1344960629940033, + 0.05172788351774216, + -0.051649097353219986 + ], + "orientation": [ + 0.6693001985549927, + 0.3964107632637024, + 0.2509898543357849, + -0.5761073231697083 + ], + "joints": [ + -0.013846959918737411 + ] + }, + "fine_grasp": { + "position": [ + -0.13903918862342834, + 0.05000270530581474, + -0.05026112124323845 + ], + "orientation": [ + 0.6622624397277832, + 0.39387571811676025, + 0.22190871834754944, + -0.5975172519683838 + ], + "joints": [ + -0.01217304915189743 + ] + }, + "final_grasp": { + "position": [ + -0.13903918862342834, + 0.05000270530581474, + -0.05026112124323845 + ], + "orientation": [ + 0.6622624397277832, + 0.39387571811676025, + 0.22190871834754944, + -0.5975172519683838 + ], + "joints": [ + -0.01049913838505745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03278294578194618, + 0.16320452094078064, + -0.07434810698032379 + ], + "orientation": [ + 0.1754874438047409, + 0.9096134305000305, + -0.042934615164995193, + -0.3741179406642914 + ], + "joints": [ + -0.009322905912995338 + ] + }, + "fine_grasp": { + "position": [ + -0.03221319615840912, + 0.1668674498796463, + -0.07320564240217209 + ], + "orientation": [ + 0.19238199293613434, + 0.9107516407966614, + -0.02736724354326725, + -0.3643783628940582 + ], + "joints": [ + -0.006107938475906849 + ] + }, + "final_grasp": { + "position": [ + -0.03221319615840912, + 0.1668674498796463, + -0.07320564240217209 + ], + "orientation": [ + 0.19238199293613434, + 0.9107516407966614, + -0.02736724354326725, + -0.3643783628940582 + ], + "joints": [ + -0.0028929710388183594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02115364372730255, + 0.15496623516082764, + -0.06626614183187485 + ], + "orientation": [ + 0.13464243710041046, + 0.9155757427215576, + 0.07660266757011414, + 0.3711123764514923 + ], + "joints": [ + -0.012378472834825516 + ] + }, + "fine_grasp": { + "position": [ + 0.020018402487039566, + 0.1531251072883606, + -0.0648917555809021 + ], + "orientation": [ + 0.1411493867635727, + 0.9160367846488953, + 0.07796730846166611, + 0.36725303530693054 + ], + "joints": [ + -0.008658675476908684 + ] + }, + "final_grasp": { + "position": [ + 0.020018402487039566, + 0.1531251072883606, + -0.0648917555809021 + ], + "orientation": [ + 0.1411493867635727, + 0.9160367846488953, + 0.07796730846166611, + 0.36725303530693054 + ], + "joints": [ + -0.004938878118991852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021479107439517975, + 0.15457680821418762, + -0.06605444848537445 + ], + "orientation": [ + 0.1323600709438324, + 0.9163475036621094, + 0.07573351263999939, + 0.37020623683929443 + ], + "joints": [ + -0.011758675798773766 + ] + }, + "fine_grasp": { + "position": [ + 0.020120590925216675, + 0.15279236435890198, + -0.0649125799536705 + ], + "orientation": [ + 0.13932569324970245, + 0.916966438293457, + 0.07802607864141464, + 0.36561301350593567 + ], + "joints": [ + -0.008038878440856934 + ] + }, + "final_grasp": { + "position": [ + 0.020120590925216675, + 0.15279236435890198, + -0.0649125799536705 + ], + "orientation": [ + 0.13932569324970245, + 0.916966438293457, + 0.07802607864141464, + 0.36561301350593567 + ], + "joints": [ + -0.004319081082940102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05408234894275665, + 0.14792503416538239, + -0.05305032432079315 + ], + "orientation": [ + 0.06034984812140465, + -0.37890031933784485, + 0.14273898303508759, + 0.912369430065155 + ], + "joints": [ + -0.01118866540491581 + ] + }, + "fine_grasp": { + "position": [ + 0.05336068570613861, + 0.14652225375175476, + -0.050975292921066284 + ], + "orientation": [ + 0.06830612570047379, + -0.37940412759780884, + 0.15106578171253204, + 0.910256028175354 + ], + "joints": [ + -0.00693746842443943 + ] + }, + "final_grasp": { + "position": [ + 0.05336068570613861, + 0.14652225375175476, + -0.050975292921066284 + ], + "orientation": [ + 0.06830612570047379, + -0.37940412759780884, + 0.15106578171253204, + 0.910256028175354 + ], + "joints": [ + -0.002686271443963051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03468510881066322, + 0.1558315008878708, + -0.051571641117334366 + ], + "orientation": [ + 0.10914492607116699, + 0.9163622856140137, + -0.007812630385160446, + -0.38510584831237793 + ], + "joints": [ + -0.012279508635401726 + ] + }, + "fine_grasp": { + "position": [ + -0.03415420278906822, + 0.15502874553203583, + -0.050881266593933105 + ], + "orientation": [ + 0.11828085035085678, + 0.9153802990913391, + -0.006400031037628651, + -0.38476940989494324 + ], + "joints": [ + -0.007523481734097004 + ] + }, + "final_grasp": { + "position": [ + -0.03415420278906822, + 0.15502874553203583, + -0.050881266593933105 + ], + "orientation": [ + 0.11828085035085678, + 0.9153802990913391, + -0.006400031037628651, + -0.38476940989494324 + ], + "joints": [ + -0.002767454832792282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0652928426861763, + 0.15072138607501984, + -0.05298054963350296 + ], + "orientation": [ + 0.10381565243005753, + -0.36064621806144714, + 0.15011437237262726, + 0.9146705865859985 + ], + "joints": [ + -0.010084360837936401 + ] + }, + "fine_grasp": { + "position": [ + 0.0643143579363823, + 0.15504513680934906, + -0.05315541848540306 + ], + "orientation": [ + 0.1020422950387001, + -0.375083863735199, + 0.17254352569580078, + 0.9050569534301758 + ], + "joints": [ + -0.006311424076557159 + ] + }, + "final_grasp": { + "position": [ + 0.0643143579363823, + 0.15504513680934906, + -0.05315541848540306 + ], + "orientation": [ + 0.1020422950387001, + -0.375083863735199, + 0.17254352569580078, + 0.9050569534301758 + ], + "joints": [ + -0.0025384873151779175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020196860656142235, + -0.09520777314901352, + -0.08817576617002487 + ], + "orientation": [ + 0.9596486687660217, + 0.21517111361026764, + 0.18059685826301575, + -0.012676733545958996 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.0193789079785347, + -0.0950874388217926, + -0.08810241520404816 + ], + "orientation": [ + 0.9568599462509155, + 0.22170165181159973, + 0.187702476978302, + -0.005923029966652393 + ], + "joints": [ + -0.013299345038831234 + ] + }, + "final_grasp": { + "position": [ + -0.0193789079785347, + -0.0950874388217926, + -0.08810241520404816 + ], + "orientation": [ + 0.9568599462509155, + 0.22170165181159973, + 0.187702476978302, + -0.005923029966652393 + ], + "joints": [ + -0.006922535598278046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07633909583091736, + 0.13720327615737915, + -0.040281400084495544 + ], + "orientation": [ + 0.14729683101177216, + -0.3935822546482086, + -0.13702164590358734, + -0.8970071077346802 + ], + "joints": [ + -0.011917829513549805 + ] + }, + "fine_grasp": { + "position": [ + -0.07650866359472275, + 0.13454939424991608, + -0.037424467504024506 + ], + "orientation": [ + 0.16736242175102234, + -0.37851035594940186, + -0.13827577233314514, + -0.8997774720191956 + ], + "joints": [ + -0.00872943177819252 + ] + }, + "final_grasp": { + "position": [ + -0.07650866359472275, + 0.13454939424991608, + -0.037424467504024506 + ], + "orientation": [ + 0.16736242175102234, + -0.37851035594940186, + -0.13827577233314514, + -0.8997774720191956 + ], + "joints": [ + -0.005541034042835236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02798919752240181, + -0.10542996972799301, + -0.030936090275645256 + ], + "orientation": [ + 0.39045631885528564, + 0.0026868681889027357, + -0.9201491475105286, + -0.02936462312936783 + ], + "joints": [ + -0.013287581503391266 + ] + }, + "fine_grasp": { + "position": [ + -0.025750232860445976, + -0.10690724104642868, + -0.033064428716897964 + ], + "orientation": [ + 0.39039868116378784, + 0.01420839037746191, + -0.9195011258125305, + -0.04364250600337982 + ], + "joints": [ + -0.009062955155968666 + ] + }, + "final_grasp": { + "position": [ + -0.025750232860445976, + -0.10690724104642868, + -0.033064428716897964 + ], + "orientation": [ + 0.39039868116378784, + 0.01420839037746191, + -0.9195011258125305, + -0.04364250600337982 + ], + "joints": [ + -0.004838328808546066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007112693041563034, + -0.0964982733130455, + -0.11337888240814209 + ], + "orientation": [ + 0.6801644563674927, + 0.22923330962657928, + -0.6455056667327881, + -0.26105719804763794 + ], + "joints": [ + -0.007949409075081348 + ] + }, + "fine_grasp": { + "position": [ + -0.00683061545714736, + -0.09196246415376663, + -0.10923837125301361 + ], + "orientation": [ + 0.680191695690155, + 0.23044942319393158, + -0.6446700096130371, + -0.26197880506515503 + ], + "joints": [ + -0.007232021540403366 + ] + }, + "final_grasp": { + "position": [ + -0.00683061545714736, + -0.09196246415376663, + -0.10923837125301361 + ], + "orientation": [ + 0.680191695690155, + 0.23044942319393158, + -0.6446700096130371, + -0.26197880506515503 + ], + "joints": [ + -0.006514634005725384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014043906703591347, + -0.0956391915678978, + -0.10028963536024094 + ], + "orientation": [ + 0.6659941077232361, + 0.19102010130882263, + -0.6694540977478027, + -0.2679445445537567 + ], + "joints": [ + -0.01573113724589348 + ] + }, + "fine_grasp": { + "position": [ + -0.013990364968776703, + -0.0926688089966774, + -0.09811034798622131 + ], + "orientation": [ + 0.6655547618865967, + 0.19226521253585815, + -0.6694279313087463, + -0.26821085810661316 + ], + "joints": [ + -0.014535484835505486 + ] + }, + "final_grasp": { + "position": [ + -0.013990364968776703, + -0.0926688089966774, + -0.09811034798622131 + ], + "orientation": [ + 0.6655547618865967, + 0.19226521253585815, + -0.6694279313087463, + -0.26821085810661316 + ], + "joints": [ + -0.013339832425117493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03903337940573692, + -0.10351238399744034, + -0.09422712028026581 + ], + "orientation": [ + 0.7143173217773438, + 0.10905985534191132, + 0.6209808588027954, + 0.30370956659317017 + ], + "joints": [ + -0.00863600242882967 + ] + }, + "fine_grasp": { + "position": [ + 0.03774907439947128, + -0.09881239384412766, + -0.09069137275218964 + ], + "orientation": [ + 0.7140322923660278, + 0.11237452924251556, + 0.6207308173179626, + 0.3036821186542511 + ], + "joints": [ + -0.008423443883657455 + ] + }, + "final_grasp": { + "position": [ + 0.03774907439947128, + -0.09881239384412766, + -0.09069137275218964 + ], + "orientation": [ + 0.7140322923660278, + 0.11237452924251556, + 0.6207308173179626, + 0.3036821186542511 + ], + "joints": [ + -0.008210885338485241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12530703842639923, + -0.01706930436193943, + -0.04366585612297058 + ], + "orientation": [ + 0.6866223812103271, + -0.20705972611904144, + -0.3561806082725525, + -0.5990087389945984 + ], + "joints": [ + -0.010351689532399178 + ] + }, + "fine_grasp": { + "position": [ + -0.12348130345344543, + -0.015263081528246403, + -0.04257684573531151 + ], + "orientation": [ + 0.6862961649894714, + -0.20376230776309967, + -0.36480140686035156, + -0.5953136682510376 + ], + "joints": [ + -0.006100492551922798 + ] + }, + "final_grasp": { + "position": [ + -0.12348130345344543, + -0.015263081528246403, + -0.04257684573531151 + ], + "orientation": [ + 0.6862961649894714, + -0.20376230776309967, + -0.36480140686035156, + -0.5953136682510376 + ], + "joints": [ + -0.0018492955714464188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01629551500082016, + 0.15874913334846497, + -0.0679674744606018 + ], + "orientation": [ + 0.09731565415859222, + 0.38320475816726685, + 0.13252724707126617, + 0.9089116454124451 + ], + "joints": [ + -0.011867346242070198 + ] + }, + "fine_grasp": { + "position": [ + -0.015880227088928223, + 0.15769465267658234, + -0.06647690385580063 + ], + "orientation": [ + 0.09414990991353989, + 0.3844382166862488, + 0.14226216077804565, + 0.9072511196136475 + ], + "joints": [ + -0.007616148795932531 + ] + }, + "final_grasp": { + "position": [ + -0.015880227088928223, + 0.15769465267658234, + -0.06647690385580063 + ], + "orientation": [ + 0.09414990991353989, + 0.3844382166862488, + 0.14226216077804565, + 0.9072511196136475 + ], + "joints": [ + -0.0033649513497948647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001777761965058744, + -0.019778640940785408, + -0.12867231667041779 + ], + "orientation": [ + 0.5296735763549805, + 0.21342343091964722, + -0.6093586683273315, + -0.5500711798667908 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.0017843716777861118, + -0.018093232065439224, + -0.12546442449092865 + ], + "orientation": [ + 0.5311681032180786, + 0.21889638900756836, + -0.6089755892753601, + -0.5468943119049072 + ], + "joints": [ + -0.011571133509278297 + ] + }, + "final_grasp": { + "position": [ + 0.0017843716777861118, + -0.018093232065439224, + -0.12546442449092865 + ], + "orientation": [ + 0.5311681032180786, + 0.21889638900756836, + -0.6089755892753601, + -0.5468943119049072 + ], + "joints": [ + -0.007293365895748138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0019901450723409653, + -0.01972128264605999, + -0.12860795855522156 + ], + "orientation": [ + 0.5305057168006897, + 0.21453045308589935, + -0.6087618470191956, + -0.5494991540908813 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.0019702715799212456, + -0.017938658595085144, + -0.1252526193857193 + ], + "orientation": [ + 0.5331503748893738, + 0.22051629424095154, + -0.6075941324234009, + -0.5458504557609558 + ], + "joints": [ + -0.012075962498784065 + ] + }, + "final_grasp": { + "position": [ + 0.0019702715799212456, + -0.017938658595085144, + -0.1252526193857193 + ], + "orientation": [ + 0.5331503748893738, + 0.22051629424095154, + -0.6075941324234009, + -0.5458504557609558 + ], + "joints": [ + -0.008303023874759674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1330334097146988, + 0.008370118215680122, + -0.06265784800052643 + ], + "orientation": [ + 0.3715004324913025, + 0.6806732416152954, + 0.6042643189430237, + -0.18312832713127136 + ], + "joints": [ + -0.011744851246476173 + ] + }, + "fine_grasp": { + "position": [ + -0.13217894732952118, + 0.010968614369630814, + -0.06227699667215347 + ], + "orientation": [ + 0.3790991008281708, + 0.6819437146186829, + 0.5997927188873291, + -0.1774412840604782 + ], + "joints": [ + -0.006962254643440247 + ] + }, + "final_grasp": { + "position": [ + -0.13217894732952118, + 0.010968614369630814, + -0.06227699667215347 + ], + "orientation": [ + 0.3790991008281708, + 0.6819437146186829, + 0.5997927188873291, + -0.1774412840604782 + ], + "joints": [ + -0.0021796580404043198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009684737771749496, + -0.10690995305776596, + -0.06579349935054779 + ], + "orientation": [ + 0.34002456068992615, + 0.15068881213665009, + 0.9222490787506104, + 0.10551252216100693 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.010710706003010273, + -0.10902953892946243, + -0.06427250057458878 + ], + "orientation": [ + 0.3238532841205597, + 0.13490287959575653, + 0.9289003610610962, + 0.11859344691038132 + ], + "joints": [ + -0.012130498886108398 + ] + }, + "final_grasp": { + "position": [ + -0.010710706003010273, + -0.10902953892946243, + -0.06427250057458878 + ], + "orientation": [ + 0.3238532841205597, + 0.13490287959575653, + 0.9289003610610962, + 0.11859344691038132 + ], + "joints": [ + -0.00785272940993309 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13522404432296753, + 0.07104131579399109, + -0.036380816251039505 + ], + "orientation": [ + 0.2827357351779938, + -0.6262100338935852, + -0.6030340790748596, + -0.40530407428741455 + ], + "joints": [ + -0.010625610128045082 + ] + }, + "fine_grasp": { + "position": [ + -0.13581493496894836, + 0.07155262678861618, + -0.03480726107954979 + ], + "orientation": [ + 0.28573301434516907, + -0.6283969879150391, + -0.5979833006858826, + -0.40729570388793945 + ], + "joints": [ + -0.004248814657330513 + ] + }, + "final_grasp": { + "position": [ + -0.13581493496894836, + 0.07155262678861618, + -0.03480726107954979 + ], + "orientation": [ + 0.28573301434516907, + -0.6283969879150391, + -0.5979833006858826, + -0.40729570388793945 + ], + "joints": [ + 0.002127980813384056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12971356511116028, + 0.07995827496051788, + -0.030886901542544365 + ], + "orientation": [ + 0.3022870123386383, + -0.6392248272895813, + 0.5719884037971497, + 0.41574448347091675 + ], + "joints": [ + -0.009667821228504181 + ] + }, + "fine_grasp": { + "position": [ + 0.12895646691322327, + 0.08072905242443085, + -0.030146950855851173 + ], + "orientation": [ + 0.31441813707351685, + -0.631807267665863, + 0.5660110712051392, + 0.4261363744735718 + ], + "joints": [ + -0.0027861958369612694 + ] + }, + "final_grasp": { + "position": [ + 0.12895646691322327, + 0.08072905242443085, + -0.030146950855851173 + ], + "orientation": [ + 0.31441813707351685, + -0.631807267665863, + 0.5660110712051392, + 0.4261363744735718 + ], + "joints": [ + 0.004095429554581642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12951073050498962, + 0.061489056795835495, + -0.03853531926870346 + ], + "orientation": [ + 0.6285422444343567, + 0.3916066288948059, + -0.28509819507598877, + 0.6085211634635925 + ], + "joints": [ + -0.011386353522539139 + ] + }, + "fine_grasp": { + "position": [ + 0.12905438244342804, + 0.06109330430626869, + -0.03724205121397972 + ], + "orientation": [ + 0.6269634366035461, + 0.4001538157463074, + -0.28325483202934265, + 0.6054424047470093 + ], + "joints": [ + -0.007666556164622307 + ] + }, + "final_grasp": { + "position": [ + 0.12905438244342804, + 0.06109330430626869, + -0.03724205121397972 + ], + "orientation": [ + 0.6269634366035461, + 0.4001538157463074, + -0.28325483202934265, + 0.6054424047470093 + ], + "joints": [ + -0.003946758806705475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016270725056529045, + 0.16442975401878357, + -0.048353612422943115 + ], + "orientation": [ + 0.06874050199985504, + 0.9569870233535767, + 0.014799769036471844, + 0.28148096799850464 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.01465157512575388, + 0.16459685564041138, + -0.04968750476837158 + ], + "orientation": [ + 0.07766567170619965, + 0.9590134024620056, + 0.024179447442293167, + 0.27143463492393494 + ], + "joints": [ + -0.011709646321833134 + ] + }, + "final_grasp": { + "position": [ + 0.01465157512575388, + 0.16459685564041138, + -0.04968750476837158 + ], + "orientation": [ + 0.07766567170619965, + 0.9590134024620056, + 0.024179447442293167, + 0.27143463492393494 + ], + "joints": [ + -0.006422216072678566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14115534722805023, + 0.04444420337677002, + -0.04514477774500847 + ], + "orientation": [ + 0.16101296246051788, + -0.6583999395370483, + -0.6696717739105225, + -0.30351948738098145 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.13510443270206451, + 0.04338553175330162, + -0.04401789978146553 + ], + "orientation": [ + 0.1765139102935791, + -0.6461805701255798, + -0.6705480813980103, + -0.31883978843688965 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.13510443270206451, + 0.04338553175330162, + -0.04401789978146553 + ], + "orientation": [ + 0.1765139102935791, + -0.6461805701255798, + -0.6705480813980103, + -0.31883978843688965 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0420382097363472, + 0.16670480370521545, + 0.021630223840475082 + ], + "orientation": [ + 0.07238402217626572, + -0.7333877086639404, + 0.05654814466834068, + -0.6735764741897583 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.04068496823310852, + 0.1706758439540863, + 0.022310324013233185 + ], + "orientation": [ + 0.06434104591608047, + -0.720244824886322, + 0.05696466192603111, + -0.688376784324646 + ], + "joints": [ + -0.012976976111531258 + ] + }, + "final_grasp": { + "position": [ + 0.04068496823310852, + 0.1706758439540863, + 0.022310324013233185 + ], + "orientation": [ + 0.06434104591608047, + -0.720244824886322, + 0.05696466192603111, + -0.688376784324646 + ], + "joints": [ + -0.007131569087505341 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08246485888957977, + 0.04638912156224251, + -0.1271962672472 + ], + "orientation": [ + 0.5411409139633179, + 0.25973090529441833, + 0.37306028604507446, + 0.7074832320213318 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.081731416285038, + 0.047403257340192795, + -0.12637287378311157 + ], + "orientation": [ + 0.5353915095329285, + 0.2711416184902191, + 0.37450748682022095, + 0.7068114280700684 + ], + "joints": [ + -0.012779581360518932 + ] + }, + "final_grasp": { + "position": [ + 0.081731416285038, + 0.047403257340192795, + -0.12637287378311157 + ], + "orientation": [ + 0.5353915095329285, + 0.2711416184902191, + 0.37450748682022095, + 0.7068114280700684 + ], + "joints": [ + -0.007943836972117424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08230467140674591, + 0.04644401744008064, + -0.1271616816520691 + ], + "orientation": [ + 0.5411735773086548, + 0.2595796585083008, + 0.3725980818271637, + 0.707757294178009 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.08137473464012146, + 0.047589998692274094, + -0.12640264630317688 + ], + "orientation": [ + 0.5361908078193665, + 0.27183353900909424, + 0.3729543387889862, + 0.7067610025405884 + ], + "joints": [ + -0.012779581360518932 + ] + }, + "final_grasp": { + "position": [ + 0.08137473464012146, + 0.047589998692274094, + -0.12640264630317688 + ], + "orientation": [ + 0.5361908078193665, + 0.27183353900909424, + 0.3729543387889862, + 0.7067610025405884 + ], + "joints": [ + -0.007943836972117424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08235573768615723, + 0.046437978744506836, + -0.12715843319892883 + ], + "orientation": [ + 0.5412038564682007, + 0.25959184765815735, + 0.37262624502182007, + 0.7077147364616394 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.08146946877241135, + 0.047533586621284485, + -0.1263597011566162 + ], + "orientation": [ + 0.5362308025360107, + 0.27138352394104004, + 0.37299078702926636, + 0.7068842053413391 + ], + "joints": [ + -0.012779581360518932 + ] + }, + "final_grasp": { + "position": [ + 0.08146946877241135, + 0.047533586621284485, + -0.1263597011566162 + ], + "orientation": [ + 0.5362308025360107, + 0.27138352394104004, + 0.37299078702926636, + 0.7068842053413391 + ], + "joints": [ + -0.007943836972117424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09783957898616791, + 0.050811294466257095, + -0.11345444619655609 + ], + "orientation": [ + 0.3079262375831604, + 0.7276212573051453, + 0.5681736469268799, + 0.2300599217414856 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.09697037190198898, + 0.05340312048792839, + -0.11315372586250305 + ], + "orientation": [ + 0.30914729833602905, + 0.7354983687400818, + 0.5609530806541443, + 0.22091111540794373 + ], + "joints": [ + -0.011157416738569736 + ] + }, + "final_grasp": { + "position": [ + -0.09697037190198898, + 0.05340312048792839, + -0.11315372586250305 + ], + "orientation": [ + 0.30914729833602905, + 0.7354983687400818, + 0.5609530806541443, + 0.22091111540794373 + ], + "joints": [ + -0.0052588749676942825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13324421644210815, + 0.06773001700639725, + 0.03634347394108772 + ], + "orientation": [ + 0.06336157023906708, + 0.7618204355239868, + -0.5934056043624878, + 0.25196149945259094 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12968400120735168, + 0.06834179908037186, + 0.03532356023788452 + ], + "orientation": [ + 0.06208506226539612, + 0.7640649676322937, + -0.5940079092979431, + 0.24393589794635773 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.12968400120735168, + 0.06834179908037186, + 0.03532356023788452 + ], + "orientation": [ + 0.06208506226539612, + 0.7640649676322937, + -0.5940079092979431, + 0.24393589794635773 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13324135541915894, + 0.06770678609609604, + 0.0363202728331089 + ], + "orientation": [ + 0.06337475031614304, + 0.7618073225021362, + -0.5934686660766602, + 0.2518492341041565 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.12968938052654266, + 0.06831371784210205, + 0.03531046584248543 + ], + "orientation": [ + 0.062158890068531036, + 0.7639987468719482, + -0.5940841436386108, + 0.24393902719020844 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.12968938052654266, + 0.06831371784210205, + 0.03531046584248543 + ], + "orientation": [ + 0.062158890068531036, + 0.7639987468719482, + -0.5940841436386108, + 0.24393902719020844 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11476107686758041, + 0.04900282621383667, + -0.09916302561759949 + ], + "orientation": [ + 0.5302826166152954, + 0.10495485365390778, + -0.38320010900497437, + -0.7489609718322754 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.11181401461362839, + 0.04815933480858803, + -0.09564713388681412 + ], + "orientation": [ + 0.5328399538993835, + 0.10237772762775421, + -0.3835946023464203, + -0.7472989559173584 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.11181401461362839, + 0.04815933480858803, + -0.09564713388681412 + ], + "orientation": [ + 0.5328399538993835, + 0.10237772762775421, + -0.3835946023464203, + -0.7472989559173584 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11500939726829529, + 0.049030233174562454, + -0.09907892346382141 + ], + "orientation": [ + 0.5303764939308167, + 0.10461883246898651, + -0.38315704464912415, + -0.748963475227356 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.11200087517499924, + 0.04817141592502594, + -0.09553544223308563 + ], + "orientation": [ + 0.5329383611679077, + 0.1020616963505745, + -0.3834368884563446, + -0.7473528981208801 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.11200087517499924, + 0.04817141592502594, + -0.09553544223308563 + ], + "orientation": [ + 0.5329383611679077, + 0.1020616963505745, + -0.3834368884563446, + -0.7473528981208801 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014192613773047924, + 0.013827050104737282, + -0.13152098655700684 + ], + "orientation": [ + 0.44792744517326355, + 0.5279306769371033, + -0.6001533269882202, + -0.4005822539329529 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + 0.013913190923631191, + 0.014583563432097435, + -0.12741589546203613 + ], + "orientation": [ + 0.4505196213722229, + 0.5274639129638672, + -0.5939814448356628, + -0.40743088722229004 + ], + "joints": [ + -0.011003002524375916 + ] + }, + "final_grasp": { + "position": [ + 0.013913190923631191, + 0.014583563432097435, + -0.12741589546203613 + ], + "orientation": [ + 0.4505196213722229, + 0.5274639129638672, + -0.5939814448356628, + -0.40743088722229004 + ], + "joints": [ + -0.004626201465725899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008054720237851143, + -0.11761781573295593, + 0.006183686200529337 + ], + "orientation": [ + 0.7092768549919128, + 0.09663144499063492, + 0.6851075291633606, + -0.13496775925159454 + ], + "joints": [ + -0.017320921644568443 + ] + }, + "fine_grasp": { + "position": [ + -0.0010687044123187661, + -0.11786874383687973, + 0.006582195870578289 + ], + "orientation": [ + 0.712651252746582, + 0.09054713696241379, + 0.6832764744758606, + -0.13062414526939392 + ], + "joints": [ + -0.009881321340799332 + ] + }, + "final_grasp": { + "position": [ + -0.0010687044123187661, + -0.11786874383687973, + 0.006582195870578289 + ], + "orientation": [ + 0.712651252746582, + 0.09054713696241379, + 0.6832764744758606, + -0.13062414526939392 + ], + "joints": [ + -0.00244172103703022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005875554052181542, + -0.118314728140831, + 0.00589749263599515 + ], + "orientation": [ + 0.7067990303039551, + 0.09778416901826859, + 0.6876900792121887, + -0.1339995265007019 + ], + "joints": [ + -0.017320921644568443 + ] + }, + "fine_grasp": { + "position": [ + -0.0009882984450086951, + -0.11802314966917038, + 0.006306271068751812 + ], + "orientation": [ + 0.7119231224060059, + 0.09092584252357483, + 0.6841580271720886, + -0.12971389293670654 + ], + "joints": [ + -0.009881321340799332 + ] + }, + "final_grasp": { + "position": [ + -0.0009882984450086951, + -0.11802314966917038, + 0.006306271068751812 + ], + "orientation": [ + 0.7119231224060059, + 0.09092584252357483, + 0.6841580271720886, + -0.12971389293670654 + ], + "joints": [ + -0.00244172103703022 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2036, + "num_passed": 60 + } +} \ No newline at end of file diff --git a/112_tea-box_4/Annotation/piper_grasp_pose.json b/112_tea-box_4/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..586a88a03266b692f3e2dc24afd1fafd8db8153f --- /dev/null +++ b/112_tea-box_4/Annotation/piper_grasp_pose.json @@ -0,0 +1,918 @@ +{ + "type": "112_tea-box_4", + "bottom_center": [ + 1.0598450899124146e-06, + 0.03330409899353981, + -0.0381406806409359 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.14697396755218506, + 0.02230454795062542, + 0.05048759654164314 + ], + "orientation": [ + 0.6047238111495972, + -0.019233398139476776, + -0.7960303425788879, + -0.01657598838210106 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.14251656830310822, + 0.02259076200425625, + 0.04986471310257912 + ], + "orientation": [ + 0.6097148656845093, + -0.017715591937303543, + -0.7922642230987549, + -0.01585606299340725 + ], + "joints": [ + 0.027476806193590164 + ] + }, + "final_grasp": { + "position": [ + 0.14251656830310822, + 0.02259076200425625, + 0.04986471310257912 + ], + "orientation": [ + 0.6097148656845093, + -0.017715591937303543, + -0.7922642230987549, + -0.01585606299340725 + ], + "joints": [ + 0.019953612238168716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008464961429126561, + 0.06751225888729095, + -0.1487915962934494 + ], + "orientation": [ + 0.9834754467010498, + 0.14898569881916046, + -0.10279172658920288, + -0.003646249882876873 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.0007513025775551796, + 0.06593133509159088, + -0.14491233229637146 + ], + "orientation": [ + 0.9838681221008301, + 0.14845912158489227, + -0.09979145228862762, + -0.002222590148448944 + ], + "joints": [ + 0.027811165899038315 + ] + }, + "final_grasp": { + "position": [ + 0.0007513025775551796, + 0.06593133509159088, + -0.14491233229637146 + ], + "orientation": [ + 0.9838681221008301, + 0.14845912158489227, + -0.09979145228862762, + -0.002222590148448944 + ], + "joints": [ + 0.020622331649065018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022091208025813103, + 0.005118288099765778, + 0.1535649299621582 + ], + "orientation": [ + 0.09530087560415268, + -0.9914678931236267, + -0.05383478105068207, + 0.07078754901885986 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.021575525403022766, + 0.0063543664291501045, + 0.14918152987957 + ], + "orientation": [ + 0.09296906739473343, + -0.9909438490867615, + -0.07433164119720459, + 0.0621439628303051 + ], + "joints": [ + 0.028291817754507065 + ] + }, + "final_grasp": { + "position": [ + 0.021575525403022766, + 0.0063543664291501045, + 0.14918152987957 + ], + "orientation": [ + 0.09296906739473343, + -0.9909438490867615, + -0.07433164119720459, + 0.0621439628303051 + ], + "joints": [ + 0.021583635360002518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0223177969455719, + 0.005322198383510113, + 0.15366579592227936 + ], + "orientation": [ + 0.09463291615247726, + -0.991362988948822, + -0.05448252335190773, + 0.07263490557670593 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.021821560338139534, + 0.006520026363432407, + 0.14924928545951843 + ], + "orientation": [ + 0.09235227108001709, + -0.9909289479255676, + -0.07443556189537048, + 0.06316778808832169 + ], + "joints": [ + 0.028291817754507065 + ] + }, + "final_grasp": { + "position": [ + 0.021821560338139534, + 0.006520026363432407, + 0.14924928545951843 + ], + "orientation": [ + 0.09235227108001709, + -0.9909289479255676, + -0.07443556189537048, + 0.06316778808832169 + ], + "joints": [ + 0.021583635360002518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07824961841106415, + 0.020234379917383194, + -0.14070017635822296 + ], + "orientation": [ + 0.050073105841875076, + -0.30288976430892944, + 0.019286679103970528, + 0.9515138268470764 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.07773516327142715, + 0.02020404301583767, + -0.13639357686042786 + ], + "orientation": [ + 0.04985028877854347, + -0.29361698031425476, + 0.01894506812095642, + 0.9544344544410706 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.07773516327142715, + 0.02020404301583767, + -0.13639357686042786 + ], + "orientation": [ + 0.04985028877854347, + -0.29361698031425476, + 0.01894506812095642, + 0.9544344544410706 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006212938576936722, + 0.015414287336170673, + 0.1455237865447998 + ], + "orientation": [ + 0.04252832382917404, + -0.9887283444404602, + 0.11196433007717133, + 0.08984288573265076 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.00574262160807848, + 0.015806132927536964, + 0.14097176492214203 + ], + "orientation": [ + 0.03973272442817688, + -0.9864565134048462, + 0.13361039757728577, + 0.08644752204418182 + ], + "joints": [ + 0.028730671852827072 + ] + }, + "final_grasp": { + "position": [ + 0.00574262160807848, + 0.015806132927536964, + 0.14097176492214203 + ], + "orientation": [ + 0.03973272442817688, + -0.9864565134048462, + 0.13361039757728577, + 0.08644752204418182 + ], + "joints": [ + 0.022461343556642532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021187609061598778, + 0.003203521016985178, + -0.15489943325519562 + ], + "orientation": [ + 0.9823414087295532, + -0.10433176159858704, + 0.09447769820690155, + -0.12326442450284958 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.020782344043254852, + 0.004286386538296938, + -0.1509605050086975 + ], + "orientation": [ + 0.9822899699211121, + -0.10671699792146683, + 0.09325961768627167, + -0.12255910784006119 + ], + "joints": [ + 0.028647076338529587 + ] + }, + "final_grasp": { + "position": [ + -0.020782344043254852, + 0.004286386538296938, + -0.1509605050086975 + ], + "orientation": [ + 0.9822899699211121, + -0.10671699792146683, + 0.09325961768627167, + -0.12255910784006119 + ], + "joints": [ + 0.02229415252804756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021505756303668022, + 0.003051068400964141, + -0.15498831868171692 + ], + "orientation": [ + 0.9827052354812622, + -0.10448721051216125, + 0.09317164123058319, + -0.12121068686246872 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.0210106298327446, + 0.00415025744587183, + -0.15093673765659332 + ], + "orientation": [ + 0.982581377029419, + -0.10693302750587463, + 0.09216216951608658, + -0.12085285782814026 + ], + "joints": [ + 0.028626177459955215 + ] + }, + "final_grasp": { + "position": [ + -0.0210106298327446, + 0.00415025744587183, + -0.15093673765659332 + ], + "orientation": [ + 0.982581377029419, + -0.10693302750587463, + 0.09216216951608658, + -0.12085285782814026 + ], + "joints": [ + 0.02225235477089882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03312832489609718, + 0.029297029599547386, + -0.15143708884716034 + ], + "orientation": [ + 0.0944756343960762, + -0.16661208868026733, + 0.018077759072184563, + -0.9813195466995239 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.03280262649059296, + 0.028997812420129776, + -0.14693661034107208 + ], + "orientation": [ + 0.09468121826648712, + -0.16097676753997803, + 0.017731770873069763, + -0.9822462201118469 + ], + "joints": [ + 0.0278947614133358 + ] + }, + "final_grasp": { + "position": [ + -0.03280262649059296, + 0.028997812420129776, + -0.14693661034107208 + ], + "orientation": [ + 0.09468121826648712, + -0.16097676753997803, + 0.017731770873069763, + -0.9822462201118469 + ], + "joints": [ + 0.02078952267765999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01274195872247219, + 0.1812111884355545, + -0.05538196116685867 + ], + "orientation": [ + 0.8068341612815857, + 0.5869244337081909, + 0.0672316774725914, + 0.004274986684322357 + ], + "joints": [ + 0.028701739385724068 + ] + }, + "fine_grasp": { + "position": [ + -0.012571555562317371, + 0.17741873860359192, + -0.05396457761526108 + ], + "orientation": [ + 0.8066062927246094, + 0.5874199271202087, + 0.06569135934114456, + 0.0029464492108672857 + ], + "joints": [ + 0.020321736112236977 + ] + }, + "final_grasp": { + "position": [ + -0.012571555562317371, + 0.17741873860359192, + -0.05396457761526108 + ], + "orientation": [ + 0.8066062927246094, + 0.5874199271202087, + 0.06569135934114456, + 0.0029464492108672857 + ], + "joints": [ + 0.011941732838749886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012803555466234684, + 0.1811765432357788, + -0.055353570729494095 + ], + "orientation": [ + 0.8068294525146484, + 0.5869741439819336, + 0.06687481701374054, + 0.003929554019123316 + ], + "joints": [ + 0.028910137712955475 + ] + }, + "fine_grasp": { + "position": [ + -0.01264562364667654, + 0.17737574875354767, + -0.05395250767469406 + ], + "orientation": [ + 0.8065183162689209, + 0.5875884890556335, + 0.065281443297863, + 0.0025000469759106636 + ], + "joints": [ + 0.020509235560894012 + ] + }, + "final_grasp": { + "position": [ + -0.01264562364667654, + 0.17737574875354767, + -0.05395250767469406 + ], + "orientation": [ + 0.8065183162689209, + 0.5875884890556335, + 0.065281443297863, + 0.0025000469759106636 + ], + "joints": [ + 0.01210833340883255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13453657925128937, + 0.08117992430925369, + -0.02626590058207512 + ], + "orientation": [ + 0.6595657467842102, + 0.40071994066238403, + -0.5568810701370239, + -0.3070503771305084 + ], + "joints": [ + 0.030248211696743965 + ] + }, + "fine_grasp": { + "position": [ + 0.13171358406543732, + 0.07931236177682877, + -0.024725401774048805 + ], + "orientation": [ + 0.6617018580436707, + 0.4160465598106384, + -0.5409258008003235, + -0.31057241559028625 + ], + "joints": [ + 0.021450253203511238 + ] + }, + "final_grasp": { + "position": [ + 0.13171358406543732, + 0.07931236177682877, + -0.024725401774048805 + ], + "orientation": [ + 0.6617018580436707, + 0.4160465598106384, + -0.5409258008003235, + -0.31057241559028625 + ], + "joints": [ + 0.012652294710278511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0020637530833482742, + 0.17662300169467926, + -0.058207932859659195 + ], + "orientation": [ + 0.08835103362798691, + 0.06557124853134155, + 0.5683158040046692, + -0.8154211640357971 + ], + "joints": [ + 0.03189718723297119 + ] + }, + "fine_grasp": { + "position": [ + -0.001750492723658681, + 0.17282459139823914, + -0.05703689530491829 + ], + "orientation": [ + 0.09091600775718689, + 0.06434410065412521, + 0.5718823671340942, + -0.8127390742301941 + ], + "joints": [ + 0.0227021723985672 + ] + }, + "final_grasp": { + "position": [ + -0.001750492723658681, + 0.17282459139823914, + -0.05703689530491829 + ], + "orientation": [ + 0.09091600775718689, + 0.06434410065412521, + 0.5718823671340942, + -0.8127390742301941 + ], + "joints": [ + 0.013507157564163208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01358344778418541, + 0.1825876235961914, + -0.03708626329898834 + ], + "orientation": [ + 0.7555368542671204, + 0.6045275330543518, + 0.23283621668815613, + -0.09745685756206512 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.014123314991593361, + 0.17870359122753143, + -0.03628619387745857 + ], + "orientation": [ + 0.7552048563957214, + 0.6068599820137024, + 0.22393332421779633, + -0.10602141916751862 + ], + "joints": [ + 0.02325790375471115 + ] + }, + "final_grasp": { + "position": [ + -0.014123314991593361, + 0.17870359122753143, + -0.03628619387745857 + ], + "orientation": [ + 0.7552048563957214, + 0.6068599820137024, + 0.22393332421779633, + -0.10602141916751862 + ], + "joints": [ + 0.01406288892030716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004931557457894087, + 0.15544761717319489, + 0.10097261518239975 + ], + "orientation": [ + 0.4312189221382141, + 0.8919054865837097, + 0.12944087386131287, + -0.042425185441970825 + ], + "joints": [ + 0.030044754967093468 + ] + }, + "fine_grasp": { + "position": [ + -0.004725207109004259, + 0.15274128317832947, + 0.0984467938542366 + ], + "orientation": [ + 0.43108364939689636, + 0.892002522945404, + 0.1294695883989334, + -0.04166492819786072 + ], + "joints": [ + 0.020389987155795097 + ] + }, + "final_grasp": { + "position": [ + -0.004725207109004259, + 0.15274128317832947, + 0.0984467938542366 + ], + "orientation": [ + 0.43108364939689636, + 0.892002522945404, + 0.1294695883989334, + -0.04166492819786072 + ], + "joints": [ + 0.010735219344496727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011974787339568138, + 0.18413247168064117, + -0.034839432686567307 + ], + "orientation": [ + 0.749159038066864, + 0.6112270951271057, + 0.23307225108146667, + -0.10411255806684494 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.012765971012413502, + 0.18027301132678986, + -0.03418242186307907 + ], + "orientation": [ + 0.7478534579277039, + 0.614679217338562, + 0.22313658893108368, + -0.11443250626325607 + ], + "joints": [ + 0.023049507290124893 + ] + }, + "final_grasp": { + "position": [ + -0.012765971012413502, + 0.18027301132678986, + -0.03418242186307907 + ], + "orientation": [ + 0.7478534579277039, + 0.614679217338562, + 0.22313658893108368, + -0.11443250626325607 + ], + "joints": [ + 0.013854492455720901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013240518979728222, + 0.18234506249427795, + -0.03729696944355965 + ], + "orientation": [ + 0.7565942406654358, + 0.6039697527885437, + 0.2323782593011856, + -0.09373316913843155 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.013765057548880577, + 0.1784771978855133, + -0.036544617265462875 + ], + "orientation": [ + 0.7560372352600098, + 0.6067007184028625, + 0.22334498167037964, + -0.10217195749282837 + ], + "joints": [ + 0.023026350885629654 + ] + }, + "final_grasp": { + "position": [ + -0.013765057548880577, + 0.1784771978855133, + -0.036544617265462875 + ], + "orientation": [ + 0.7560372352600098, + 0.6067007184028625, + 0.22334498167037964, + -0.10217195749282837 + ], + "joints": [ + 0.013831336051225662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01308845728635788, + 0.18277648091316223, + -0.03689204528927803 + ], + "orientation": [ + 0.7546210885047913, + 0.6052272319793701, + 0.23348058760166168, + -0.09866002947092056 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.013648930005729198, + 0.17888976633548737, + -0.03611021488904953 + ], + "orientation": [ + 0.7544723153114319, + 0.607367992401123, + 0.2244010865688324, + -0.10733061283826828 + ], + "joints": [ + 0.02325790375471115 + ] + }, + "final_grasp": { + "position": [ + -0.013648930005729198, + 0.17888976633548737, + -0.03611021488904953 + ], + "orientation": [ + 0.7544723153114319, + 0.607367992401123, + 0.2244010865688324, + -0.10733061283826828 + ], + "joints": [ + 0.01406288892030716 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 18 + } +} \ No newline at end of file diff --git a/112_tea-box_4/Object.usd b/112_tea-box_4/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..747dde01f41cb07ac2d86b4a15fc566bdf590aa8 --- /dev/null +++ b/112_tea-box_4/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56e34ebe5fcba6e70692f54ccf921bc494ec45bb700b4fcd8abfec18a6d59629 +size 317164 diff --git a/113_coffee-box_6/Annotation/dex1_1_grasp_pose.json b/113_coffee-box_6/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..6a067ca444553a753584eef655f93cfb67973fc1 --- /dev/null +++ b/113_coffee-box_6/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,8218 @@ +{ + "type": "113_coffee-box_6", + "bottom_center": [ + 2.1886080503463745e-07, + 0.03800735995173454, + -0.026277361437678337 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.00981808826327324, + 0.1757095456123352, + 0.0056613232009112835 + ], + "orientation": [ + 0.06490085273981094, + -0.9041644930839539, + 0.03779143467545509, + 0.4205307960510254 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.011236697435379028, + 0.17732548713684082, + 0.008319200947880745 + ], + "orientation": [ + 0.07568547874689102, + -0.90487140417099, + 0.03510139882564545, + 0.4174292981624603 + ], + "joints": [ + -0.009910762310028076 + ] + }, + "final_grasp": { + "position": [ + 0.011236697435379028, + 0.17732548713684082, + 0.008319200947880745 + ], + "orientation": [ + 0.07568547874689102, + -0.90487140417099, + 0.03510139882564545, + 0.4174292981624603 + ], + "joints": [ + -0.0024711620062589645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009822351858019829, + 0.1761368215084076, + 0.006096550729125738 + ], + "orientation": [ + 0.06645084172487259, + -0.9041621685028076, + 0.03700816631317139, + 0.42036351561546326 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.010929729789495468, + 0.17854925990104675, + 0.00817608181387186 + ], + "orientation": [ + 0.07455462217330933, + -0.9051710963249207, + 0.03504151105880737, + 0.41698822379112244 + ], + "joints": [ + -0.009884191676974297 + ] + }, + "final_grasp": { + "position": [ + 0.010929729789495468, + 0.17854925990104675, + 0.00817608181387186 + ], + "orientation": [ + 0.07455462217330933, + -0.9051710963249207, + 0.03504151105880737, + 0.41698822379112244 + ], + "joints": [ + -0.0024180207401514053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009642088785767555, + -0.10981297492980957, + 0.0029167737811803818 + ], + "orientation": [ + 0.9012938737869263, + 0.032614436000585556, + 0.4287138879299164, + -0.05300834774971008 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.010202801786363125, + -0.11295367032289505, + 0.0003236269985791296 + ], + "orientation": [ + 0.899785578250885, + 0.04338972270488739, + 0.430978924036026, + -0.052538733929395676 + ], + "joints": [ + -0.010205165483057499 + ] + }, + "final_grasp": { + "position": [ + -0.010202801786363125, + -0.11295367032289505, + 0.0003236269985791296 + ], + "orientation": [ + 0.899785578250885, + 0.04338972270488739, + 0.430978924036026, + -0.052538733929395676 + ], + "joints": [ + -0.0027655642479658127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05219145491719246, + 0.1785355657339096, + -0.0027331444434821606 + ], + "orientation": [ + 0.1080753281712532, + 0.7151339054107666, + 0.09900946170091629, + -0.6834473013877869 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.05307041108608246, + 0.17562110722064972, + -0.001992359757423401 + ], + "orientation": [ + 0.09657169878482819, + 0.7125875353813171, + 0.0896783247590065, + -0.6890941858291626 + ], + "joints": [ + -0.006557505577802658 + ] + }, + "final_grasp": { + "position": [ + -0.05307041108608246, + 0.17562110722064972, + -0.001992359757423401 + ], + "orientation": [ + 0.09657169878482819, + 0.7125875353813171, + 0.0896783247590065, + -0.6890941858291626 + ], + "joints": [ + -0.000180710107088089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05135558545589447, + 0.17838814854621887, + -0.0027733808383345604 + ], + "orientation": [ + 0.10538703948259354, + 0.7158067226409912, + 0.09624919295310974, + -0.6835572719573975 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.052299946546554565, + 0.1757296919822693, + -0.002148496685549617 + ], + "orientation": [ + 0.09449737519025803, + 0.713066577911377, + 0.08713855594396591, + -0.6892120242118835 + ], + "joints": [ + -0.006557505577802658 + ] + }, + "final_grasp": { + "position": [ + -0.052299946546554565, + 0.1757296919822693, + -0.002148496685549617 + ], + "orientation": [ + 0.09449737519025803, + 0.713066577911377, + 0.08713855594396591, + -0.6892120242118835 + ], + "joints": [ + -0.000180710107088089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08340762555599213, + 0.08359631150960922, + 0.0958915650844574 + ], + "orientation": [ + 0.5776958465576172, + -0.7367832660675049, + -0.19341246783733368, + -0.29327377676963806 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.0805293545126915, + 0.08257649838924408, + 0.09157869964838028 + ], + "orientation": [ + 0.5784655809402466, + -0.7345522046089172, + -0.19654011726379395, + -0.29526716470718384 + ], + "joints": [ + -0.011033838614821434 + ] + }, + "final_grasp": { + "position": [ + -0.0805293545126915, + 0.08257649838924408, + 0.09157869964838028 + ], + "orientation": [ + 0.5784655809402466, + -0.7345522046089172, + -0.19654011726379395, + -0.29526716470718384 + ], + "joints": [ + -0.004099065437912941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02748057246208191, + 0.1842557191848755, + -0.0035388891119509935 + ], + "orientation": [ + 0.06329130381345749, + -0.8829052448272705, + -0.11932885646820068, + -0.4497033655643463 + ], + "joints": [ + -0.017320921644568443 + ] + }, + "fine_grasp": { + "position": [ + -0.02737516723573208, + 0.18028439581394196, + -0.002619171515107155 + ], + "orientation": [ + 0.06497253477573395, + -0.8898816108703613, + -0.11619871109724045, + -0.4363338351249695 + ], + "joints": [ + -0.0103861503303051 + ] + }, + "final_grasp": { + "position": [ + -0.02737516723573208, + 0.18028439581394196, + -0.002619171515107155 + ], + "orientation": [ + 0.06497253477573395, + -0.8898816108703613, + -0.11619871109724045, + -0.4363338351249695 + ], + "joints": [ + -0.0034513790160417557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011377975344657898, + -0.1052817776799202, + -0.006572917103767395 + ], + "orientation": [ + 0.6542221903800964, + 0.03925561532378197, + -0.7552680373191833, + 0.004728581756353378 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.010851318947970867, + -0.1045205369591713, + -0.0075918869115412235 + ], + "orientation": [ + 0.6429954171180725, + 0.0503007210791111, + -0.7641119360923767, + 0.012634020298719406 + ], + "joints": [ + -0.006023234687745571 + ] + }, + "final_grasp": { + "position": [ + -0.010851318947970867, + -0.1045205369591713, + -0.0075918869115412235 + ], + "orientation": [ + 0.6429954171180725, + 0.0503007210791111, + -0.7641119360923767, + 0.012634020298719406 + ], + "joints": [ + 0.0008583907037973404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10440550744533539, + -0.056655317544937134, + -0.00021123142505530268 + ], + "orientation": [ + 0.6541354060173035, + 0.2996736466884613, + 0.6185951828956604, + -0.31566232442855835 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.10137085616588593, + -0.05459519103169441, + -0.001071566715836525 + ], + "orientation": [ + 0.6595444679260254, + 0.29933345317840576, + 0.6130918264389038, + -0.31546613574028015 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.10137085616588593, + -0.05459519103169441, + -0.001071566715836525 + ], + "orientation": [ + 0.6595444679260254, + 0.29933345317840576, + 0.6130918264389038, + -0.31546613574028015 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10436887294054031, + -0.05663985759019852, + -0.00021498884598258883 + ], + "orientation": [ + 0.6542146801948547, + 0.299590140581131, + 0.6185832619667053, + -0.31560051441192627 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.10133525729179382, + -0.054586295038461685, + -0.0010692516807466745 + ], + "orientation": [ + 0.6595351099967957, + 0.29927805066108704, + 0.6131790280342102, + -0.3153690993785858 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.10133525729179382, + -0.054586295038461685, + -0.0010692516807466745 + ], + "orientation": [ + 0.6595351099967957, + 0.29927805066108704, + 0.6131790280342102, + -0.3153690993785858 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010833044536411762, + -0.10541198402643204, + -0.007041882257908583 + ], + "orientation": [ + 0.6535438299179077, + 0.03845125436782837, + -0.7559105157852173, + 0.0011687515070661902 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.01089668832719326, + -0.10462575405836105, + -0.0077658421359956264 + ], + "orientation": [ + 0.646218478679657, + 0.0482083261013031, + -0.7615659236907959, + 0.009744578041136265 + ], + "joints": [ + -0.006557505577802658 + ] + }, + "final_grasp": { + "position": [ + -0.01089668832719326, + -0.10462575405836105, + -0.0077658421359956264 + ], + "orientation": [ + 0.646218478679657, + 0.0482083261013031, + -0.7615659236907959, + 0.009744578041136265 + ], + "joints": [ + -0.000180710107088089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10561444610357285, + 0.03355804830789566, + 0.06607068330049515 + ], + "orientation": [ + 0.5006645321846008, + -0.7194733619689941, + 0.3965015411376953, + 0.2729094624519348 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.10285786539316177, + 0.032537102699279785, + 0.06565707176923752 + ], + "orientation": [ + 0.5133089423179626, + -0.7127944231033325, + 0.38276606798171997, + 0.2862308919429779 + ], + "joints": [ + -0.011088375002145767 + ] + }, + "final_grasp": { + "position": [ + 0.10285786539316177, + 0.032537102699279785, + 0.06565707176923752 + ], + "orientation": [ + 0.5133089423179626, + -0.7127944231033325, + 0.38276606798171997, + 0.2862308919429779 + ], + "joints": [ + -0.003648770973086357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04573310166597366, + 0.18233650922775269, + -0.008881381712853909 + ], + "orientation": [ + 0.09017778933048248, + 0.7925184965133667, + 0.07252566516399384, + -0.5987674593925476 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.04521055147051811, + 0.18328042328357697, + -0.008789770305156708 + ], + "orientation": [ + 0.09150318056344986, + 0.7873797416687012, + 0.07016365975141525, + -0.6055885553359985 + ], + "joints": [ + -0.007705680560320616 + ] + }, + "final_grasp": { + "position": [ + -0.04521055147051811, + 0.18328042328357697, + -0.008789770305156708 + ], + "orientation": [ + 0.09150318056344986, + 0.7873797416687012, + 0.07016365975141525, + -0.6055885553359985 + ], + "joints": [ + -0.0013288846239447594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08269473910331726, + 0.14548522233963013, + -0.013380361720919609 + ], + "orientation": [ + 0.34648194909095764, + 0.6097214818000793, + -0.2429911196231842, + 0.670183002948761 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.07837853580713272, + 0.14201946556568146, + -0.013686311431229115 + ], + "orientation": [ + 0.3563532829284668, + 0.605298638343811, + -0.24471047520637512, + 0.6683880686759949 + ], + "joints": [ + -0.006055546924471855 + ] + }, + "final_grasp": { + "position": [ + 0.07837853580713272, + 0.14201946556568146, + -0.013686311431229115 + ], + "orientation": [ + 0.3563532829284668, + 0.605298638343811, + -0.24471047520637512, + 0.6683880686759949 + ], + "joints": [ + 0.0008526481688022614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12243017554283142, + -0.015876812860369682, + -0.014678118750452995 + ], + "orientation": [ + 0.6079714298248291, + -0.33769491314888, + 0.48278483748435974, + 0.5322138667106628 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.12155015766620636, + -0.015992451459169388, + -0.014639399014413357 + ], + "orientation": [ + 0.5949525237083435, + -0.3517795503139496, + 0.4919652044773102, + 0.5293892025947571 + ], + "joints": [ + -0.008267918601632118 + ] + }, + "final_grasp": { + "position": [ + 0.12155015766620636, + -0.015992451459169388, + -0.014639399014413357 + ], + "orientation": [ + 0.5949525237083435, + -0.3517795503139496, + 0.4919652044773102, + 0.5293892025947571 + ], + "joints": [ + -0.0018645524978637695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09459473937749863, + -0.08728580921888351, + 0.024597516283392906 + ], + "orientation": [ + 0.6650292873382568, + -0.32061728835105896, + -0.646970272064209, + -0.190709188580513 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.09314341843128204, + -0.08476951718330383, + 0.02444550395011902 + ], + "orientation": [ + 0.6692449450492859, + -0.3164495825767517, + -0.6438000202178955, + -0.19362963736057281 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + -0.09314341843128204, + -0.08476951718330383, + 0.02444550395011902 + ], + "orientation": [ + 0.6692449450492859, + -0.3164495825767517, + -0.6438000202178955, + -0.19362963736057281 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12700548768043518, + 0.017951685935258865, + 0.06532685458660126 + ], + "orientation": [ + 0.3710888624191284, + 0.3585129380226135, + 0.621042013168335, + -0.5899730920791626 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.12311098724603653, + 0.01743903011083603, + 0.0628056600689888 + ], + "orientation": [ + 0.3778861165046692, + 0.3640279173851013, + 0.6114332675933838, + -0.5923134088516235 + ], + "joints": [ + -0.011154546402394772 + ] + }, + "final_grasp": { + "position": [ + -0.12311098724603653, + 0.01743903011083603, + 0.0628056600689888 + ], + "orientation": [ + 0.3778861165046692, + 0.3640279173851013, + 0.6114332675933838, + -0.5923134088516235 + ], + "joints": [ + -0.005282575264573097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.126657634973526, + 0.0188041552901268, + 0.06508994102478027 + ], + "orientation": [ + 0.37225890159606934, + 0.35789430141448975, + 0.6240781545639038, + -0.5863969922065735 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.12270377576351166, + 0.01830117590725422, + 0.06272473186254501 + ], + "orientation": [ + 0.37856119871139526, + 0.36339595913887024, + 0.6147822141647339, + -0.5887932777404785 + ], + "joints": [ + -0.011154546402394772 + ] + }, + "final_grasp": { + "position": [ + -0.12270377576351166, + 0.01830117590725422, + 0.06272473186254501 + ], + "orientation": [ + 0.37856119871139526, + 0.36339595913887024, + 0.6147822141647339, + -0.5887932777404785 + ], + "joints": [ + -0.005282575264573097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04507417604327202, + 0.17927919328212738, + -0.007469991687685251 + ], + "orientation": [ + 0.10563274472951889, + 0.775433361530304, + 0.09011825174093246, + -0.6159735321998596 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.046599119901657104, + 0.18106254935264587, + -0.007349320687353611 + ], + "orientation": [ + 0.10172787308692932, + 0.7743311524391174, + 0.08499893546104431, + -0.6187388896942139 + ], + "joints": [ + -0.00773512152954936 + ] + }, + "final_grasp": { + "position": [ + -0.046599119901657104, + 0.18106254935264587, + -0.007349320687353611 + ], + "orientation": [ + 0.10172787308692932, + 0.7743311524391174, + 0.08499893546104431, + -0.6187388896942139 + ], + "joints": [ + -0.0013583255931735039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044814009219408035, + 0.17919445037841797, + -0.007207145448774099 + ], + "orientation": [ + 0.1045195534825325, + 0.7751926779747009, + 0.09015218913555145, + -0.6164613366127014 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.04637649655342102, + 0.18108731508255005, + -0.007143893279135227 + ], + "orientation": [ + 0.10044898092746735, + 0.7744240760803223, + 0.08460276573896408, + -0.61888587474823 + ], + "joints": [ + -0.00773512152954936 + ] + }, + "final_grasp": { + "position": [ + -0.04637649655342102, + 0.18108731508255005, + -0.007143893279135227 + ], + "orientation": [ + 0.10044898092746735, + 0.7744240760803223, + 0.08460276573896408, + -0.61888587474823 + ], + "joints": [ + -0.0013583255931735039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08056275546550751, + 0.007033884525299072, + -0.10024464875459671 + ], + "orientation": [ + 0.23553790152072906, + -0.21855756640434265, + 0.7564564347267151, + 0.5696737170219421 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.07769379019737244, + 0.009150756523013115, + -0.09559756517410278 + ], + "orientation": [ + 0.24757200479507446, + -0.2186589390039444, + 0.7519297003746033, + 0.5705243349075317 + ], + "joints": [ + -0.01312999613583088 + ] + }, + "final_grasp": { + "position": [ + 0.07769379019737244, + 0.009150756523013115, + -0.09559756517410278 + ], + "orientation": [ + 0.24757200479507446, + -0.2186589390039444, + 0.7519297003746033, + 0.5705243349075317 + ], + "joints": [ + -0.008320821449160576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08065486699342728, + 0.007046039216220379, + -0.10010606050491333 + ], + "orientation": [ + 0.235423743724823, + -0.21943077445030212, + 0.7563554048538208, + 0.5695192813873291 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.07777844369411469, + 0.00915228109806776, + -0.09547402709722519 + ], + "orientation": [ + 0.2473987638950348, + -0.2197064906358719, + 0.7517839074134827, + 0.5703892707824707 + ], + "joints": [ + -0.01312999613583088 + ] + }, + "final_grasp": { + "position": [ + 0.07777844369411469, + 0.00915228109806776, + -0.09547402709722519 + ], + "orientation": [ + 0.2473987638950348, + -0.2197064906358719, + 0.7517839074134827, + 0.5703892707824707 + ], + "joints": [ + -0.008320821449160576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03156096115708351, + -0.11451377719640732, + 0.009427697397768497 + ], + "orientation": [ + 0.5884653329849243, + 0.015250141732394695, + 0.8076575398445129, + -0.03413613885641098 + ], + "joints": [ + -0.011815566569566727 + ] + }, + "fine_grasp": { + "position": [ + -0.029627174139022827, + -0.11332536488771439, + 0.010220005176961422 + ], + "orientation": [ + 0.5687057375907898, + 0.020607655867934227, + 0.8214800953865051, + -0.03632492572069168 + ], + "joints": [ + -0.00490737147629261 + ] + }, + "final_grasp": { + "position": [ + -0.029627174139022827, + -0.11332536488771439, + 0.010220005176961422 + ], + "orientation": [ + 0.5687057375907898, + 0.020607655867934227, + 0.8214800953865051, + -0.03632492572069168 + ], + "joints": [ + 0.0020008236169815063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05518963932991028, + -0.0908447727560997, + -0.0010362770408391953 + ], + "orientation": [ + 0.7299760580062866, + -0.10907016694545746, + 0.6624920964241028, + 0.1278393268585205 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.05619176849722862, + -0.0898672416806221, + -0.002420846838504076 + ], + "orientation": [ + 0.7379244565963745, + -0.10481473058462143, + 0.6535224318504333, + 0.13186994194984436 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.05619176849722862, + -0.0898672416806221, + -0.002420846838504076 + ], + "orientation": [ + 0.7379244565963745, + -0.10481473058462143, + 0.6535224318504333, + 0.13186994194984436 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06359873712062836, + -0.10122758150100708, + -0.0091649005189538 + ], + "orientation": [ + 0.7137619853019714, + 0.17361626029014587, + -0.6647909283638, + 0.1358468234539032 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.06280665844678879, + -0.09994300454854965, + -0.010324313305318356 + ], + "orientation": [ + 0.7225810885429382, + 0.17610855400562286, + -0.6540845632553101, + 0.13797040283679962 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.06280665844678879, + -0.09994300454854965, + -0.010324313305318356 + ], + "orientation": [ + 0.7225810885429382, + 0.17610855400562286, + -0.6540845632553101, + 0.13797040283679962 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06315093487501144, + -0.10072579234838486, + -0.009388693608343601 + ], + "orientation": [ + 0.7144566178321838, + 0.17402607202529907, + -0.6640559434890747, + 0.13526460528373718 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.06249190866947174, + -0.09942615032196045, + -0.01042579673230648 + ], + "orientation": [ + 0.7235285043716431, + 0.17636047303676605, + -0.6529244780540466, + 0.13817834854125977 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.06249190866947174, + -0.09942615032196045, + -0.01042579673230648 + ], + "orientation": [ + 0.7235285043716431, + 0.17636047303676605, + -0.6529244780540466, + 0.13817834854125977 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12327857315540314, + -0.013338443823158741, + 0.005072715226560831 + ], + "orientation": [ + 0.4713813066482544, + 0.4801292419433594, + 0.6257052421569824, + -0.3946751058101654 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.12122140824794769, + -0.015253026969730854, + 0.005138606298714876 + ], + "orientation": [ + 0.4727342426776886, + 0.48028331995010376, + 0.6199640035629272, + -0.40186434984207153 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.12122140824794769, + -0.015253026969730854, + 0.005138606298714876 + ], + "orientation": [ + 0.4727342426776886, + 0.48028331995010376, + 0.6199640035629272, + -0.40186434984207153 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12323532998561859, + -0.013322391547262669, + 0.005069219972938299 + ], + "orientation": [ + 0.47138282656669617, + 0.48016154766082764, + 0.6256581544876099, + -0.39470887184143066 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.12120378017425537, + -0.015249958261847496, + 0.005133401602506638 + ], + "orientation": [ + 0.4727524518966675, + 0.48029422760009766, + 0.6199362277984619, + -0.4018726348876953 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.12120378017425537, + -0.015249958261847496, + 0.005133401602506638 + ], + "orientation": [ + 0.4727524518966675, + 0.48029422760009766, + 0.6199362277984619, + -0.4018726348876953 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13547280430793762, + 0.047681983560323715, + 0.010745953768491745 + ], + "orientation": [ + 0.4916149973869324, + 0.465787410736084, + -0.5454211235046387, + 0.4938344657421112 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.13356634974479675, + 0.04861985146999359, + 0.011320579797029495 + ], + "orientation": [ + 0.4962718188762665, + 0.46042579412460327, + -0.5485946536064148, + 0.49067941308021545 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.13356634974479675, + 0.04861985146999359, + 0.011320579797029495 + ], + "orientation": [ + 0.4962718188762665, + 0.46042579412460327, + -0.5485946536064148, + 0.49067941308021545 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13522116839885712, + 0.04748382791876793, + 0.010649674572050571 + ], + "orientation": [ + 0.49203187227249146, + 0.465705543756485, + -0.5455080270767212, + 0.49340033531188965 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.13338163495063782, + 0.04841212183237076, + 0.01126180961728096 + ], + "orientation": [ + 0.49663546681404114, + 0.4602219760417938, + -0.5489414930343628, + 0.4901145100593567 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.13338163495063782, + 0.04841212183237076, + 0.01126180961728096 + ], + "orientation": [ + 0.49663546681404114, + 0.4602219760417938, + -0.5489414930343628, + 0.4901145100593567 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13796421885490417, + 0.03648198023438454, + -0.0017657988937571645 + ], + "orientation": [ + 0.40750420093536377, + 0.5976760983467102, + 0.500383734703064, + -0.475751668214798 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.13715527951717377, + 0.03487237170338631, + -0.0011525030713528395 + ], + "orientation": [ + 0.4041983485221863, + 0.5984972715377808, + 0.4998074769973755, + -0.47813931107521057 + ], + "joints": [ + -0.00773512152954936 + ] + }, + "final_grasp": { + "position": [ + -0.13715527951717377, + 0.03487237170338631, + -0.0011525030713528395 + ], + "orientation": [ + 0.4041983485221863, + 0.5984972715377808, + 0.4998074769973755, + -0.47813931107521057 + ], + "joints": [ + -0.0013583255931735039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12193953990936279, + 0.12794402241706848, + 0.012900843285024166 + ], + "orientation": [ + 0.4052651822566986, + -0.5984377861022949, + -0.31808653473854065, + -0.6135578751564026 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12060651928186417, + 0.1272035539150238, + 0.013826093636453152 + ], + "orientation": [ + 0.4057125449180603, + -0.6030133366584778, + -0.32205209136009216, + -0.6066750884056091 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.12060651928186417, + 0.1272035539150238, + 0.013826093636453152 + ], + "orientation": [ + 0.4057125449180603, + -0.6030133366584778, + -0.32205209136009216, + -0.6066750884056091 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13815011084079742, + 0.03655688837170601, + -0.0018190263072028756 + ], + "orientation": [ + 0.40761038661003113, + 0.5977501273155212, + 0.5003383755683899, + -0.47561562061309814 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.13723570108413696, + 0.03492874652147293, + -0.0012477491982281208 + ], + "orientation": [ + 0.4042113423347473, + 0.5985204577445984, + 0.4997069239616394, + -0.4782043695449829 + ], + "joints": [ + -0.00773512152954936 + ] + }, + "final_grasp": { + "position": [ + -0.13723570108413696, + 0.03492874652147293, + -0.0012477491982281208 + ], + "orientation": [ + 0.4042113423347473, + 0.5985204577445984, + 0.4997069239616394, + -0.4782043695449829 + ], + "joints": [ + -0.0013583255931735039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13793185353279114, + 0.036645229905843735, + -0.001704837428405881 + ], + "orientation": [ + 0.40703722834587097, + 0.5979198813438416, + 0.5003421902656555, + -0.4758889079093933 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.13710366189479828, + 0.03500889241695404, + -0.0011098914546892047 + ], + "orientation": [ + 0.4036070704460144, + 0.5985779166221619, + 0.49996864795684814, + -0.47836926579475403 + ], + "joints": [ + -0.00773512152954936 + ] + }, + "final_grasp": { + "position": [ + -0.13710366189479828, + 0.03500889241695404, + -0.0011098914546892047 + ], + "orientation": [ + 0.4036070704460144, + 0.5985779166221619, + 0.49996864795684814, + -0.47836926579475403 + ], + "joints": [ + -0.0013583255931735039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09920654445886612, + -0.06789171695709229, + 0.008844711817800999 + ], + "orientation": [ + 0.6399028301239014, + -0.32876238226890564, + 0.6360498666763306, + 0.27907031774520874 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.09881071001291275, + -0.06802184134721756, + 0.010202769190073013 + ], + "orientation": [ + 0.6423025727272034, + -0.33311134576797485, + 0.630488395690918, + 0.28101345896720886 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.09881071001291275, + -0.06802184134721756, + 0.010202769190073013 + ], + "orientation": [ + 0.6423025727272034, + -0.33311134576797485, + 0.630488395690918, + 0.28101345896720886 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0992177352309227, + -0.06839636713266373, + 0.008797011338174343 + ], + "orientation": [ + 0.6400449872016907, + -0.32820215821266174, + 0.6362943053245544, + 0.27884647250175476 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.09874576330184937, + -0.06871338188648224, + 0.010323754511773586 + ], + "orientation": [ + 0.6421566605567932, + -0.33387303352355957, + 0.6301544904708862, + 0.28119179606437683 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.09874576330184937, + -0.06871338188648224, + 0.010323754511773586 + ], + "orientation": [ + 0.6421566605567932, + -0.33387303352355957, + 0.6301544904708862, + 0.28119179606437683 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12462649494409561, + 0.046015385538339615, + 0.0002154652902390808 + ], + "orientation": [ + 0.48357638716697693, + -0.47200915217399597, + 0.3223244845867157, + 0.6629239916801453 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.12196749448776245, + 0.0456821583211422, + -0.00012664082169067115 + ], + "orientation": [ + 0.4840470254421234, + -0.4733639657497406, + 0.3212651014328003, + 0.6621282696723938 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + 0.12196749448776245, + 0.0456821583211422, + -0.00012664082169067115 + ], + "orientation": [ + 0.4840470254421234, + -0.4733639657497406, + 0.3212651014328003, + 0.6621282696723938 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12236685305833817, + 0.12902715802192688, + 0.013129040598869324 + ], + "orientation": [ + 0.40691351890563965, + -0.5984002947807312, + -0.31955426931381226, + -0.6117380857467651 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12085982412099838, + 0.12805987894535065, + 0.013978938572108746 + ], + "orientation": [ + 0.40553537011146545, + -0.6053458452224731, + -0.3243974447250366, + -0.6032111644744873 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.12085982412099838, + 0.12805987894535065, + 0.013978938572108746 + ], + "orientation": [ + 0.40553537011146545, + -0.6053458452224731, + -0.3243974447250366, + -0.6032111644744873 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09900014847517014, + -0.06838996708393097, + 0.008823978714644909 + ], + "orientation": [ + 0.6400031447410583, + -0.32850974798202515, + 0.6361017823219299, + 0.2790192663669586 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.09849106520414352, + -0.06859411299228668, + 0.010101807303726673 + ], + "orientation": [ + 0.641598641872406, + -0.3339639902114868, + 0.6302210092544556, + 0.28220659494400024 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.09849106520414352, + -0.06859411299228668, + 0.010101807303726673 + ], + "orientation": [ + 0.641598641872406, + -0.3339639902114868, + 0.6302210092544556, + 0.28220659494400024 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12951375544071198, + 0.04543163627386093, + 4.133002948947251e-05 + ], + "orientation": [ + 0.3893873393535614, + 0.6084467172622681, + -0.4815150797367096, + 0.4962996542453766 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.12945321202278137, + 0.0433063805103302, + -0.00018924665346276015 + ], + "orientation": [ + 0.3836756646633148, + 0.6152082681655884, + -0.48178020119667053, + 0.4921376407146454 + ], + "joints": [ + -0.007705680560320616 + ] + }, + "final_grasp": { + "position": [ + 0.12945321202278137, + 0.0433063805103302, + -0.00018924665346276015 + ], + "orientation": [ + 0.3836756646633148, + 0.6152082681655884, + -0.48178020119667053, + 0.4921376407146454 + ], + "joints": [ + -0.0013288846239447594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13210394978523254, + 0.005268375389277935, + 0.006788488477468491 + ], + "orientation": [ + 0.4605525732040405, + 0.510199785232544, + -0.5467364192008972, + 0.4781911075115204 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.13200505077838898, + 0.0025453600101172924, + 0.007869907654821873 + ], + "orientation": [ + 0.45125290751457214, + 0.5165441036224365, + -0.5434826016426086, + 0.4839211702346802 + ], + "joints": [ + -0.006528064608573914 + ] + }, + "final_grasp": { + "position": [ + 0.13200505077838898, + 0.0025453600101172924, + 0.007869907654821873 + ], + "orientation": [ + 0.45125290751457214, + 0.5165441036224365, + -0.5434826016426086, + 0.4839211702346802 + ], + "joints": [ + -0.00015126913785934448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009211399592459202, + -0.11110787838697433, + -0.017012881115078926 + ], + "orientation": [ + 0.7350805997848511, + 0.05406869947910309, + 0.6749247908592224, + 0.03477822244167328 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.008932739496231079, + -0.10874880105257034, + -0.017354080453515053 + ], + "orientation": [ + 0.7403500080108643, + 0.054563939571380615, + 0.6692521572113037, + 0.0317201167345047 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + -0.008932739496231079, + -0.10874880105257034, + -0.017354080453515053 + ], + "orientation": [ + 0.7403500080108643, + 0.054563939571380615, + 0.6692521572113037, + 0.0317201167345047 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12370183318853378, + 0.02407318726181984, + -0.027083629742264748 + ], + "orientation": [ + 0.4686894118785858, + -0.41320452094078064, + -0.6169468760490417, + -0.47850677371025085 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.12101901322603226, + 0.0221568550914526, + -0.028799012303352356 + ], + "orientation": [ + 0.46973922848701477, + -0.40617069602012634, + -0.6176528334617615, + -0.482571542263031 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + -0.12101901322603226, + 0.0221568550914526, + -0.028799012303352356 + ], + "orientation": [ + 0.46973922848701477, + -0.40617069602012634, + -0.6176528334617615, + -0.482571542263031 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12408312410116196, + 0.024212149903178215, + -0.027015693485736847 + ], + "orientation": [ + 0.4690687656402588, + -0.4135173261165619, + -0.616073727607727, + -0.47898977994918823 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.1212514191865921, + 0.022375943139195442, + -0.02851131372153759 + ], + "orientation": [ + 0.47068077325820923, + -0.4068198502063751, + -0.6162484884262085, + -0.48290276527404785 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + -0.1212514191865921, + 0.022375943139195442, + -0.02851131372153759 + ], + "orientation": [ + 0.47068077325820923, + -0.4068198502063751, + -0.6162484884262085, + -0.48290276527404785 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12411688268184662, + 0.02420405112206936, + -0.026986120268702507 + ], + "orientation": [ + 0.4690336585044861, + -0.41368746757507324, + -0.6160345673561096, + -0.4789273738861084 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.12128150463104248, + 0.022371046245098114, + -0.02849285490810871 + ], + "orientation": [ + 0.47057950496673584, + -0.40701720118522644, + -0.6162533760070801, + -0.48282867670059204 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + -0.12128150463104248, + 0.022371046245098114, + -0.02849285490810871 + ], + "orientation": [ + 0.47057950496673584, + -0.40701720118522644, + -0.6162533760070801, + -0.48282867670059204 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12637631595134735, + 0.015544135123491287, + -0.03971898555755615 + ], + "orientation": [ + 0.4803466200828552, + -0.3586841821670532, + 0.5549511909484863, + 0.576751172542572 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.12291577458381653, + 0.016494333744049072, + -0.039943017065525055 + ], + "orientation": [ + 0.49053487181663513, + -0.34778106212615967, + 0.5445592403411865, + 0.5847042202949524 + ], + "joints": [ + -0.010508334264159203 + ] + }, + "final_grasp": { + "position": [ + 0.12291577458381653, + 0.016494333744049072, + -0.039943017065525055 + ], + "orientation": [ + 0.49053487181663513, + -0.34778106212615967, + 0.5445592403411865, + 0.5847042202949524 + ], + "joints": [ + -0.005167767405509949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009220356121659279, + -0.11052753776311874, + -0.01718277484178543 + ], + "orientation": [ + 0.7353326678276062, + 0.054551295936107635, + 0.6745754480361938, + 0.03546774387359619 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.00896106380969286, + -0.10851273685693741, + -0.017583627253770828 + ], + "orientation": [ + 0.7409797310829163, + 0.05503423884510994, + 0.6684728264808655, + 0.032625049352645874 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + -0.00896106380969286, + -0.10851273685693741, + -0.017583627253770828 + ], + "orientation": [ + 0.7409797310829163, + 0.05503423884510994, + 0.6684728264808655, + 0.032625049352645874 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12980271875858307, + -0.002772320993244648, + -0.004587959963828325 + ], + "orientation": [ + 0.5191536545753479, + -0.44669073820114136, + -0.5986539125442505, + -0.41540396213531494 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12476368248462677, + -0.002654323587194085, + -0.006569643039256334 + ], + "orientation": [ + 0.514033854007721, + -0.44310951232910156, + -0.6065365672111511, + -0.4141697585582733 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.12476368248462677, + -0.002654323587194085, + -0.006569643039256334 + ], + "orientation": [ + 0.514033854007721, + -0.44310951232910156, + -0.6065365672111511, + -0.4141697585582733 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12451690435409546, + 0.04576653242111206, + 0.00045842115650884807 + ], + "orientation": [ + 0.48187243938446045, + -0.47531959414482117, + 0.32302671670913696, + 0.6614560484886169 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.12086484581232071, + 0.04533452168107033, + 8.523558790329844e-05 + ], + "orientation": [ + 0.4827910363674164, + -0.4760104715824127, + 0.3219406008720398, + 0.6608185172080994 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + 0.12086484581232071, + 0.04533452168107033, + 8.523558790329844e-05 + ], + "orientation": [ + 0.4827910363674164, + -0.4760104715824127, + 0.3219406008720398, + 0.6608185172080994 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09272824227809906, + 0.1541464924812317, + 0.006676120217889547 + ], + "orientation": [ + 0.27909597754478455, + -0.6146165728569031, + 0.20708046853542328, + 0.7081451416015625 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.09246239811182022, + 0.15142051875591278, + 0.008717356249690056 + ], + "orientation": [ + 0.28448522090911865, + -0.6145328879356384, + 0.20331519842147827, + 0.7071637511253357 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + 0.09246239811182022, + 0.15142051875591278, + 0.008717356249690056 + ], + "orientation": [ + 0.28448522090911865, + -0.6145328879356384, + 0.20331519842147827, + 0.7071637511253357 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09246455878019333, + 0.1534947007894516, + 0.006695074029266834 + ], + "orientation": [ + 0.2799466848373413, + -0.61452317237854, + 0.207802414894104, + 0.7076786756515503 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.09223850071430206, + 0.15068665146827698, + 0.008820709772408009 + ], + "orientation": [ + 0.28602537512779236, + -0.6138858795166016, + 0.203931525349617, + 0.706926703453064 + ], + "joints": [ + -0.007593735121190548 + ] + }, + "final_grasp": { + "position": [ + 0.09223850071430206, + 0.15068665146827698, + 0.008820709772408009 + ], + "orientation": [ + 0.28602537512779236, + -0.6138858795166016, + 0.203931525349617, + 0.706926703453064 + ], + "joints": [ + -0.0022531691938638687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09631624072790146, + -0.06668911874294281, + 0.004378146026283503 + ], + "orientation": [ + 0.5845018625259399, + 0.28073760867118835, + -0.7190977931022644, + 0.2498847395181656 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.09727098792791367, + -0.06625894457101822, + 0.003982187248766422 + ], + "orientation": [ + 0.5734332799911499, + 0.28435957431793213, + -0.7289353609085083, + 0.2428314983844757 + ], + "joints": [ + -0.008126531727612019 + ] + }, + "final_grasp": { + "position": [ + 0.09727098792791367, + -0.06625894457101822, + 0.003982187248766422 + ], + "orientation": [ + 0.5734332799911499, + 0.28435957431793213, + -0.7289353609085083, + 0.2428314983844757 + ], + "joints": [ + -0.0027593951672315598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00796222873032093, + 0.18586289882659912, + -0.017662303522229195 + ], + "orientation": [ + 0.08878767490386963, + 0.5802500247955322, + -0.013983076438307762, + -0.8094634413719177 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.00603698892518878, + 0.18303558230400085, + -0.01699691452085972 + ], + "orientation": [ + 0.09963321685791016, + 0.5800727009773254, + 0.0011930534383282065, + -0.8084474802017212 + ], + "joints": [ + -0.008351897820830345 + ] + }, + "final_grasp": { + "position": [ + -0.00603698892518878, + 0.18303558230400085, + -0.01699691452085972 + ], + "orientation": [ + 0.09963321685791016, + 0.5800727009773254, + 0.0011930534383282065, + -0.8084474802017212 + ], + "joints": [ + -0.0014437027275562286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13399629294872284, + 0.037842147052288055, + 0.00013324433530215174 + ], + "orientation": [ + 0.4812690317630768, + 0.5112335085868835, + 0.43789544701576233, + -0.5614873766899109 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12912975251674652, + 0.036895751953125, + -0.0008231379324570298 + ], + "orientation": [ + 0.4842715561389923, + 0.5111457705497742, + 0.4369262158870697, + -0.559738039970398 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.12912975251674652, + 0.036895751953125, + -0.0008231379324570298 + ], + "orientation": [ + 0.4842715561389923, + 0.5111457705497742, + 0.4369262158870697, + -0.559738039970398 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12888312339782715, + 0.11906210333108902, + 0.009657055139541626 + ], + "orientation": [ + 0.33077067136764526, + -0.702195942401886, + -0.41707661747932434, + -0.47282010316848755 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.12495729327201843, + 0.11717236042022705, + 0.009246290661394596 + ], + "orientation": [ + 0.3279273509979248, + -0.7037056088447571, + -0.42186442017555237, + -0.4682868719100952 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + -0.12495729327201843, + 0.11717236042022705, + 0.009246290661394596 + ], + "orientation": [ + 0.3279273509979248, + -0.7037056088447571, + -0.42186442017555237, + -0.4682868719100952 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.062910296022892, + -0.09672416746616364, + -0.013911678455770016 + ], + "orientation": [ + 0.8539466857910156, + 0.19953185319900513, + -0.4277264177799225, + 0.21911665797233582 + ], + "joints": [ + -0.016378827393054962 + ] + }, + "fine_grasp": { + "position": [ + 0.0639243870973587, + -0.10059116780757904, + -0.016476860269904137 + ], + "orientation": [ + 0.8642448782920837, + 0.20018497109413147, + -0.4091138541698456, + 0.21361812949180603 + ], + "joints": [ + -0.008381260558962822 + ] + }, + "final_grasp": { + "position": [ + 0.0639243870973587, + -0.10059116780757904, + -0.016476860269904137 + ], + "orientation": [ + 0.8642448782920837, + 0.20018497109413147, + -0.4091138541698456, + 0.21361812949180603 + ], + "joints": [ + -0.00038369372487068176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05686222389340401, + -0.09989282488822937, + 0.024126093834638596 + ], + "orientation": [ + 0.6217263340950012, + 0.08665160089731216, + 0.7556970715522766, + -0.1867343634366989 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.05595892295241356, + -0.09786880016326904, + 0.02457590214908123 + ], + "orientation": [ + 0.6201214790344238, + 0.08581606298685074, + 0.7571095824241638, + -0.18673504889011383 + ], + "joints": [ + -0.008210510015487671 + ] + }, + "final_grasp": { + "position": [ + -0.05595892295241356, + -0.09786880016326904, + 0.02457590214908123 + ], + "orientation": [ + 0.6201214790344238, + 0.08581606298685074, + 0.7571095824241638, + -0.18673504889011383 + ], + "joints": [ + -0.0023385435342788696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05704781040549278, + -0.09995078295469284, + 0.02392604574561119 + ], + "orientation": [ + 0.6225913763046265, + 0.08738935738801956, + 0.7549179196357727, + -0.1866600066423416 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.056089017540216446, + -0.09786460548639297, + 0.024390190839767456 + ], + "orientation": [ + 0.6207015514373779, + 0.08672138303518295, + 0.7565021514892578, + -0.18685191869735718 + ], + "joints": [ + -0.008210510015487671 + ] + }, + "final_grasp": { + "position": [ + -0.056089017540216446, + -0.09786460548639297, + 0.024390190839767456 + ], + "orientation": [ + 0.6207015514373779, + 0.08672138303518295, + 0.7565021514892578, + -0.18685191869735718 + ], + "joints": [ + -0.0023385435342788696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09589730948209763, + -0.06641481816768646, + 0.004248735029250383 + ], + "orientation": [ + 0.5834460854530334, + 0.281293660402298, + -0.7203675508499146, + 0.24806265532970428 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.09718647599220276, + -0.06617526710033417, + 0.0036302460357546806 + ], + "orientation": [ + 0.5723930597305298, + 0.2851520776748657, + -0.7300601005554199, + 0.2409701645374298 + ], + "joints": [ + -0.008155972696840763 + ] + }, + "final_grasp": { + "position": [ + 0.09718647599220276, + -0.06617526710033417, + 0.0036302460357546806 + ], + "orientation": [ + 0.5723930597305298, + 0.2851520776748657, + -0.7300601005554199, + 0.2409701645374298 + ], + "joints": [ + -0.0027888361364603043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13400837779045105, + 0.03822075575590134, + 7.449177792295814e-05 + ], + "orientation": [ + 0.48142462968826294, + 0.511174201965332, + 0.4372776448726654, + -0.5618892908096313 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12910325825214386, + 0.037247609347105026, + -0.0008797867922112346 + ], + "orientation": [ + 0.4849184453487396, + 0.5104310512542725, + 0.43575817346572876, + -0.5607396960258484 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.12910325825214386, + 0.037247609347105026, + -0.0008797867922112346 + ], + "orientation": [ + 0.4849184453487396, + 0.5104310512542725, + 0.43575817346572876, + -0.5607396960258484 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13055947422981262, + 0.022129345685243607, + -0.007134849671274424 + ], + "orientation": [ + 0.590958297252655, + 0.4336297810077667, + 0.5088753700256348, + -0.4514194130897522 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12580889463424683, + 0.022795725613832474, + -0.008137842640280724 + ], + "orientation": [ + 0.5949851274490356, + 0.43220850825309753, + 0.5049029588699341, + -0.45195305347442627 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.12580889463424683, + 0.022795725613832474, + -0.008137842640280724 + ], + "orientation": [ + 0.5949851274490356, + 0.43220850825309753, + 0.5049029588699341, + -0.45195305347442627 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1340002566576004, + 0.03829049691557884, + -2.2159678337629884e-05 + ], + "orientation": [ + 0.48181453347206116, + 0.5110631585121155, + 0.43672481179237366, + -0.5620859861373901 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12909157574176788, + 0.037324659526348114, + -0.000944446015637368 + ], + "orientation": [ + 0.4854360520839691, + 0.5100468993186951, + 0.4352479875087738, + -0.5610374808311462 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.12909157574176788, + 0.037324659526348114, + -0.000944446015637368 + ], + "orientation": [ + 0.4854360520839691, + 0.5100468993186951, + 0.4352479875087738, + -0.5610374808311462 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010625381022691727, + 0.18462654948234558, + -0.008393922820687294 + ], + "orientation": [ + 0.039248887449502945, + -0.8241389989852905, + -0.09550672769546509, + -0.5568957924842834 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.01113202329725027, + 0.1855693757534027, + -0.008166152983903885 + ], + "orientation": [ + 0.034226804971694946, + -0.8221204876899719, + -0.09296593070030212, + -0.5606280565261841 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + -0.01113202329725027, + 0.1855693757534027, + -0.008166152983903885 + ], + "orientation": [ + 0.034226804971694946, + -0.8221204876899719, + -0.09296593070030212, + -0.5606280565261841 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13281473517417908, + 0.03194121643900871, + 0.0005620599258691072 + ], + "orientation": [ + 0.5186367630958557, + -0.47186556458473206, + 0.41823774576187134, + 0.5774391293525696 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.13241969048976898, + 0.03041376732289791, + 0.00014001477393321693 + ], + "orientation": [ + 0.5245096683502197, + -0.4608774185180664, + 0.40800532698631287, + 0.5882288217544556 + ], + "joints": [ + -0.008210510015487671 + ] + }, + "final_grasp": { + "position": [ + 0.13241969048976898, + 0.03041376732289791, + 0.00014001477393321693 + ], + "orientation": [ + 0.5245096683502197, + -0.4608774185180664, + 0.40800532698631287, + 0.5882288217544556 + ], + "joints": [ + -0.0023385435342788696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13288219273090363, + 0.032128460705280304, + 0.00046843060408718884 + ], + "orientation": [ + 0.5184496641159058, + -0.4717574119567871, + 0.4186181128025055, + 0.5774200558662415 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.13240759074687958, + 0.030660228803753853, + 0.0004429894615896046 + ], + "orientation": [ + 0.5249297618865967, + -0.4616002142429352, + 0.4076768457889557, + 0.5875148177146912 + ], + "joints": [ + -0.008210510015487671 + ] + }, + "final_grasp": { + "position": [ + 0.13240759074687958, + 0.030660228803753853, + 0.0004429894615896046 + ], + "orientation": [ + 0.5249297618865967, + -0.4616002142429352, + 0.4076768457889557, + 0.5875148177146912 + ], + "joints": [ + -0.0023385435342788696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10728909820318222, + -0.058843545615673065, + -0.016512315720319748 + ], + "orientation": [ + 0.6140437722206116, + -0.27393418550491333, + 0.6497259140014648, + 0.3546357750892639 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.1069466844201088, + -0.05832529440522194, + -0.017943380400538445 + ], + "orientation": [ + 0.6136746406555176, + -0.27183929085731506, + 0.6503879427909851, + 0.35567179322242737 + ], + "joints": [ + -0.007621702738106251 + ] + }, + "final_grasp": { + "position": [ + 0.1069466844201088, + -0.05832529440522194, + -0.017943380400538445 + ], + "orientation": [ + 0.6136746406555176, + -0.27183929085731506, + 0.6503879427909851, + 0.35567179322242737 + ], + "joints": [ + -0.0017497371882200241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06907375901937485, + -0.08768945187330246, + 0.015688180923461914 + ], + "orientation": [ + 0.6374669075012207, + -0.2686326503753662, + 0.7039293646812439, + 0.16110862791538239 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.06886141747236252, + -0.08645756542682648, + 0.016283487901091576 + ], + "orientation": [ + 0.6301255226135254, + -0.26802241802215576, + 0.7121656537055969, + 0.15467983484268188 + ], + "joints": [ + -0.007651143241673708 + ] + }, + "final_grasp": { + "position": [ + 0.06886141747236252, + -0.08645756542682648, + 0.016283487901091576 + ], + "orientation": [ + 0.6301255226135254, + -0.26802241802215576, + 0.7121656537055969, + 0.15467983484268188 + ], + "joints": [ + -0.001779177226126194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005334202200174332, + 0.188607856631279, + -0.037919942289590836 + ], + "orientation": [ + 0.03489091247320175, + 0.7809420824050903, + -0.16293755173683167, + -0.6019662618637085 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.005609710700809956, + 0.1847842037677765, + -0.036962900310754776 + ], + "orientation": [ + 0.03663773834705353, + 0.7752535343170166, + -0.155508890748024, + -0.6111109852790833 + ], + "joints": [ + -0.006444086320698261 + ] + }, + "final_grasp": { + "position": [ + 0.005609710700809956, + 0.1847842037677765, + -0.036962900310754776 + ], + "orientation": [ + 0.03663773834705353, + 0.7752535343170166, + -0.155508890748024, + -0.6111109852790833 + ], + "joints": [ + -0.0005721207708120346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13404634594917297, + 0.03381365165114403, + -0.0004814756102859974 + ], + "orientation": [ + 0.5060470104217529, + -0.4869706332683563, + -0.5540208220481873, + -0.4470312297344208 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.1292089819908142, + 0.034852415323257446, + 0.0005579132703132927 + ], + "orientation": [ + 0.5045491456985474, + -0.49152669310569763, + -0.552959144115448, + -0.4450482130050659 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.1292089819908142, + 0.034852415323257446, + 0.0005579132703132927 + ], + "orientation": [ + 0.5045491456985474, + -0.49152669310569763, + -0.552959144115448, + -0.4450482130050659 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13404406607151031, + 0.033698033541440964, + -0.0004565670678857714 + ], + "orientation": [ + 0.5062208771705627, + -0.48684611916542053, + -0.5541820526123047, + -0.4467701017856598 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12919622659683228, + 0.03474099561572075, + 0.0005792173906229436 + ], + "orientation": [ + 0.5046800971031189, + -0.4914133548736572, + -0.5531622767448425, + -0.44477227330207825 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.12919622659683228, + 0.03474099561572075, + 0.0005792173906229436 + ], + "orientation": [ + 0.5046800971031189, + -0.4914133548736572, + -0.5531622767448425, + -0.44477227330207825 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12493734061717987, + 0.06645716726779938, + 0.010506571270525455 + ], + "orientation": [ + 0.4465658664703369, + 0.49490880966186523, + 0.4270532429218292, + -0.6109579205513 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.12446393072605133, + 0.06832583993673325, + 0.013408824801445007 + ], + "orientation": [ + 0.4444868564605713, + 0.48668593168258667, + 0.4276546239852905, + -0.6186111569404602 + ], + "joints": [ + -0.007621702738106251 + ] + }, + "final_grasp": { + "position": [ + -0.12446393072605133, + 0.06832583993673325, + 0.013408824801445007 + ], + "orientation": [ + 0.4444868564605713, + 0.48668593168258667, + 0.4276546239852905, + -0.6186111569404602 + ], + "joints": [ + -0.0017497371882200241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07994682341814041, + 0.14527234435081482, + 0.012230266816914082 + ], + "orientation": [ + 0.2717324197292328, + 0.6222832202911377, + -0.33917728066444397, + 0.6510636210441589 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.08047029376029968, + 0.14491938054561615, + 0.013388351537287235 + ], + "orientation": [ + 0.26966238021850586, + 0.6214048862457275, + -0.34532904624938965, + 0.6495275497436523 + ], + "joints": [ + -0.005409330129623413 + ] + }, + "final_grasp": { + "position": [ + 0.08047029376029968, + 0.14491938054561615, + 0.013388351537287235 + ], + "orientation": [ + 0.26966238021850586, + 0.6214048862457275, + -0.34532904624938965, + 0.6495275497436523 + ], + "joints": [ + 0.000967465341091156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018824592232704163, + -0.11380848288536072, + -0.010362628847360611 + ], + "orientation": [ + 0.8858563303947449, + 0.024946579709649086, + 0.46310871839523315, + -0.012908145785331726 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.01737867295742035, + -0.11573806405067444, + -0.010240967385470867 + ], + "orientation": [ + 0.8865581154823303, + 0.0320618711411953, + 0.46129921078681946, + -0.013773477636277676 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + -0.01737867295742035, + -0.11573806405067444, + -0.010240967385470867 + ], + "orientation": [ + 0.8865581154823303, + 0.0320618711411953, + 0.46129921078681946, + -0.013773477636277676 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07997718453407288, + 0.14543120563030243, + 0.012196610681712627 + ], + "orientation": [ + 0.2717023193836212, + 0.6222508549690247, + -0.33871546387672424, + 0.6513473987579346 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.08043567091226578, + 0.1449769139289856, + 0.013336111791431904 + ], + "orientation": [ + 0.26970022916793823, + 0.6213672161102295, + -0.34491556882858276, + 0.6497675180435181 + ], + "joints": [ + -0.005409330129623413 + ] + }, + "final_grasp": { + "position": [ + 0.08043567091226578, + 0.1449769139289856, + 0.013336111791431904 + ], + "orientation": [ + 0.26970022916793823, + 0.6213672161102295, + -0.34491556882858276, + 0.6497675180435181 + ], + "joints": [ + 0.000967465341091156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13021336495876312, + 0.03497433289885521, + -0.007159396540373564 + ], + "orientation": [ + 0.5323386192321777, + -0.40128472447395325, + -0.3316335678100586, + -0.6675366163253784 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.13514180481433868, + 0.035644471645355225, + -0.008304839953780174 + ], + "orientation": [ + 0.5299201011657715, + -0.4049552083015442, + -0.32846635580062866, + -0.6688093543052673 + ], + "joints": [ + -0.007147711701691151 + ] + }, + "final_grasp": { + "position": [ + -0.13514180481433868, + 0.035644471645355225, + -0.008304839953780174 + ], + "orientation": [ + 0.5299201011657715, + -0.4049552083015442, + -0.32846635580062866, + -0.6688093543052673 + ], + "joints": [ + -0.00021294690668582916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09422445297241211, + -0.07214371860027313, + -0.01684493012726307 + ], + "orientation": [ + 0.6016460061073303, + 0.33658674359321594, + -0.6956464648246765, + 0.20200875401496887 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.09285970777273178, + -0.0703466534614563, + -0.01717071421444416 + ], + "orientation": [ + 0.596994161605835, + 0.3352982997894287, + -0.7011681199073792, + 0.1988375186920166 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + 0.09285970777273178, + -0.0703466534614563, + -0.01717071421444416 + ], + "orientation": [ + 0.596994161605835, + 0.3352982997894287, + -0.7011681199073792, + 0.1988375186920166 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08016475290060043, + 0.14503228664398193, + 0.012225640937685966 + ], + "orientation": [ + 0.2721391022205353, + 0.6223322749137878, + -0.3397778272628784, + 0.6505334973335266 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.0805361419916153, + 0.14453668892383575, + 0.013516402803361416 + ], + "orientation": [ + 0.2693950831890106, + 0.6216711401939392, + -0.346279114484787, + 0.6488775610923767 + ], + "joints": [ + -0.005409330129623413 + ] + }, + "final_grasp": { + "position": [ + 0.0805361419916153, + 0.14453668892383575, + 0.013516402803361416 + ], + "orientation": [ + 0.2693950831890106, + 0.6216711401939392, + -0.346279114484787, + 0.6488775610923767 + ], + "joints": [ + 0.000967465341091156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1370803862810135, + 0.04571599140763283, + 0.00015868950868025422 + ], + "orientation": [ + 0.4792367219924927, + -0.5194137692451477, + 0.5277599096298218, + 0.47118037939071655 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.13170498609542847, + 0.04596735164523125, + 0.0004061445069964975 + ], + "orientation": [ + 0.47693029046058655, + -0.5229037404060364, + 0.5284846425056458, + 0.4688425064086914 + ], + "joints": [ + -0.007090303115546703 + ] + }, + "final_grasp": { + "position": [ + 0.13170498609542847, + 0.04596735164523125, + 0.0004061445069964975 + ], + "orientation": [ + 0.47693029046058655, + -0.5229037404060364, + 0.5284846425056458, + 0.4688425064086914 + ], + "joints": [ + -0.0006869379431009293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019303571432828903, + -0.11375226825475693, + -0.010311965830624104 + ], + "orientation": [ + 0.8887736797332764, + 0.02295888215303421, + 0.45753729343414307, + -0.014623346738517284 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.017415635287761688, + -0.11602817475795746, + -0.010045278817415237 + ], + "orientation": [ + 0.8885884284973145, + 0.031590476632118225, + 0.4573500454425812, + -0.01561041921377182 + ], + "joints": [ + -0.009975537657737732 + ] + }, + "final_grasp": { + "position": [ + -0.017415635287761688, + -0.11602817475795746, + -0.010045278817415237 + ], + "orientation": [ + 0.8885884284973145, + 0.031590476632118225, + 0.4573500454425812, + -0.01561041921377182 + ], + "joints": [ + -0.004661541432142258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008815832436084747, + 0.17747464776039124, + 0.0010225928854197264 + ], + "orientation": [ + 0.026875512674450874, + -0.7453160881996155, + -0.024599766358733177, + -0.6657149791717529 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.008571624755859375, + 0.1762448102235794, + 0.0009699041838757694 + ], + "orientation": [ + 0.025951476767659187, + -0.7459051609039307, + -0.02407403662800789, + -0.6651108860969543 + ], + "joints": [ + -0.007090303115546703 + ] + }, + "final_grasp": { + "position": [ + -0.008571624755859375, + 0.1762448102235794, + 0.0009699041838757694 + ], + "orientation": [ + 0.025951476767659187, + -0.7459051609039307, + -0.02407403662800789, + -0.6651108860969543 + ], + "joints": [ + -0.0006869379431009293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006290976423770189, + 0.19364041090011597, + -2.673901508387644e-05 + ], + "orientation": [ + 0.005208441521972418, + -0.4711802303791046, + 0.023585695773363113, + 0.8817061185836792 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.004505674820393324, + 0.19510294497013092, + 0.0006627187831327319 + ], + "orientation": [ + 0.010978443548083305, + -0.4595502018928528, + 0.023386584594845772, + 0.8877759575843811 + ], + "joints": [ + -0.008998111821711063 + ] + }, + "final_grasp": { + "position": [ + -0.004505674820393324, + 0.19510294497013092, + 0.0006627187831327319 + ], + "orientation": [ + 0.010978443548083305, + -0.4595502018928528, + 0.023386584594845772, + 0.8877759575843811 + ], + "joints": [ + -0.0015585143119096756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019355211406946182, + -0.11375460773706436, + -0.010337064042687416 + ], + "orientation": [ + 0.8890674114227295, + 0.023103397339582443, + 0.4569493234157562, + -0.014924300834536552 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.017460597679018974, + -0.11602823436260223, + -0.01003768015652895 + ], + "orientation": [ + 0.8889915347099304, + 0.03202405944466591, + 0.456512451171875, + -0.016279881820082664 + ], + "joints": [ + -0.009975537657737732 + ] + }, + "final_grasp": { + "position": [ + -0.017460597679018974, + -0.11602823436260223, + -0.01003768015652895 + ], + "orientation": [ + 0.8889915347099304, + 0.03202405944466591, + 0.456512451171875, + -0.016279881820082664 + ], + "joints": [ + -0.004661541432142258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1298682540655136, + 0.0026522628031671047, + -0.014840071089565754 + ], + "orientation": [ + 0.501722514629364, + -0.4250493049621582, + 0.6108922958374023, + 0.4409288167953491 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.1284397542476654, + 0.002133128000423312, + -0.015221679583191872 + ], + "orientation": [ + 0.49562186002731323, + -0.4295005798339844, + 0.6123340129852295, + 0.4415147602558136 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + 0.1284397542476654, + 0.002133128000423312, + -0.015221679583191872 + ], + "orientation": [ + 0.49562186002731323, + -0.4295005798339844, + 0.6123340129852295, + 0.4415147602558136 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033074457198381424, + -0.10621327906847, + 0.015741506591439247 + ], + "orientation": [ + 0.719186007976532, + 0.048137910664081573, + 0.6795531511306763, + -0.1366076022386551 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.033137910068035126, + -0.10407648980617523, + 0.016291527077555656 + ], + "orientation": [ + 0.7260221242904663, + 0.04444728419184685, + 0.6729521751403809, + -0.13435733318328857 + ], + "joints": [ + -0.007146313786506653 + ] + }, + "final_grasp": { + "position": [ + -0.033137910068035126, + -0.10407648980617523, + 0.016291527077555656 + ], + "orientation": [ + 0.7260221242904663, + 0.04444728419184685, + 0.6729521751403809, + -0.13435733318328857 + ], + "joints": [ + -0.0007695183157920837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08069736510515213, + 0.14458820223808289, + 0.011789705604314804 + ], + "orientation": [ + 0.27289488911628723, + 0.624228298664093, + -0.3386189639568329, + 0.6490028500556946 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.08118633925914764, + 0.14421488344669342, + 0.013218659907579422 + ], + "orientation": [ + 0.2707056999206543, + 0.6220409274101257, + -0.34560495615005493, + 0.6483367681503296 + ], + "joints": [ + -0.005409330129623413 + ] + }, + "final_grasp": { + "position": [ + 0.08118633925914764, + 0.14421488344669342, + 0.013218659907579422 + ], + "orientation": [ + 0.2707056999206543, + 0.6220409274101257, + -0.34560495615005493, + 0.6483367681503296 + ], + "joints": [ + 0.000967465341091156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12083026021718979, + 0.08409672230482101, + 0.007840228267014027 + ], + "orientation": [ + 0.4398767948150635, + -0.5910341739654541, + -0.4744807481765747, + -0.4817209839820862 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.11893244832754135, + 0.08611905574798584, + 0.009117153473198414 + ], + "orientation": [ + 0.4396105110645294, + -0.5980186462402344, + -0.4749065637588501, + -0.47284257411956787 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + -0.11893244832754135, + 0.08611905574798584, + 0.009117153473198414 + ], + "orientation": [ + 0.4396105110645294, + -0.5980186462402344, + -0.4749065637588501, + -0.47284257411956787 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03306667506694794, + -0.10603480786085129, + 0.015994079411029816 + ], + "orientation": [ + 0.7192372679710388, + 0.047637198120355606, + 0.6793530583381653, + -0.1375063955783844 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.033126458525657654, + -0.10389958322048187, + 0.016520358622074127 + ], + "orientation": [ + 0.7261661291122437, + 0.043994732201099396, + 0.6726275682449341, + -0.13534900546073914 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + -0.033126458525657654, + -0.10389958322048187, + 0.016520358622074127 + ], + "orientation": [ + 0.7261661291122437, + 0.043994732201099396, + 0.6726275682449341, + -0.13534900546073914 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03294171392917633, + -0.10612776130437851, + 0.01607009768486023 + ], + "orientation": [ + 0.7190743088722229, + 0.04736212641000748, + 0.6795296669006348, + -0.13758058845996857 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.032993100583553314, + -0.10391273349523544, + 0.016611024737358093 + ], + "orientation": [ + 0.7259718179702759, + 0.04366219416260719, + 0.6728569269180298, + -0.13535931706428528 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + -0.032993100583553314, + -0.10391273349523544, + 0.016611024737358093 + ], + "orientation": [ + 0.7259718179702759, + 0.04366219416260719, + 0.6728569269180298, + -0.13535931706428528 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014241890981793404, + 0.1850796937942505, + -0.03374199569225311 + ], + "orientation": [ + 0.11642204225063324, + 0.716792106628418, + 0.058713898062705994, + 0.6849872469902039 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.014158103615045547, + 0.18416795134544373, + -0.03498394414782524 + ], + "orientation": [ + 0.11751984804868698, + 0.7175641059875488, + 0.05973632633686066, + 0.6839022636413574 + ], + "joints": [ + -0.008771350607275963 + ] + }, + "final_grasp": { + "position": [ + 0.014158103615045547, + 0.18416795134544373, + -0.03498394414782524 + ], + "orientation": [ + 0.11751984804868698, + 0.7175641059875488, + 0.05973632633686066, + 0.6839022636413574 + ], + "joints": [ + -0.003430783748626709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1228129044175148, + 0.04152178764343262, + -0.016468595713377 + ], + "orientation": [ + 0.48984912037849426, + -0.4307781159877777, + -0.6162165403366089, + -0.44131097197532654 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11842302978038788, + 0.0415656641125679, + -0.018216315656900406 + ], + "orientation": [ + 0.48247116804122925, + -0.4311559200286865, + -0.6230910420417786, + -0.43941304087638855 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.11842302978038788, + 0.0415656641125679, + -0.018216315656900406 + ], + "orientation": [ + 0.48247116804122925, + -0.4311559200286865, + -0.6230910420417786, + -0.43941304087638855 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015565427951514721, + -0.10757848620414734, + 0.0161727461963892 + ], + "orientation": [ + 0.7111138105392456, + -0.04101913794875145, + -0.7003800272941589, + 0.04585142806172371 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.016156531870365143, + -0.10659074038267136, + 0.016940878704190254 + ], + "orientation": [ + 0.714919924736023, + -0.04591070115566254, + -0.6963553428649902, + 0.04325162619352341 + ], + "joints": [ + -0.007651143241673708 + ] + }, + "final_grasp": { + "position": [ + 0.016156531870365143, + -0.10659074038267136, + 0.016940878704190254 + ], + "orientation": [ + 0.714919924736023, + -0.04591070115566254, + -0.6963553428649902, + 0.04325162619352341 + ], + "joints": [ + -0.001779177226126194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014679262414574623, + 0.174438014626503, + 0.020208138972520828 + ], + "orientation": [ + 0.08189742267131805, + -0.9259451031684875, + 0.07367458194494247, + -0.36123475432395935 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.01525348611176014, + 0.17508254945278168, + 0.02366071380674839 + ], + "orientation": [ + 0.08868923038244247, + -0.9195659756660461, + 0.07917856425046921, + -0.37451741099357605 + ], + "joints": [ + -0.011088375002145767 + ] + }, + "final_grasp": { + "position": [ + 0.01525348611176014, + 0.17508254945278168, + 0.02366071380674839 + ], + "orientation": [ + 0.08868923038244247, + -0.9195659756660461, + 0.07917856425046921, + -0.37451741099357605 + ], + "joints": [ + -0.003648770973086357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015485510230064392, + -0.10749931633472443, + 0.016184277832508087 + ], + "orientation": [ + 0.7111840844154358, + -0.04098229855298996, + -0.700301468372345, + 0.045992664992809296 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.01607142761349678, + -0.10650463402271271, + 0.016937896609306335 + ], + "orientation": [ + 0.7149578332901001, + -0.04582497477531433, + -0.696317732334137, + 0.0433233343064785 + ], + "joints": [ + -0.007651143241673708 + ] + }, + "final_grasp": { + "position": [ + 0.01607142761349678, + -0.10650463402271271, + 0.016937896609306335 + ], + "orientation": [ + 0.7149578332901001, + -0.04582497477531433, + -0.696317732334137, + 0.0433233343064785 + ], + "joints": [ + -0.001779177226126194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13457708060741425, + 0.07789089530706406, + 0.029373126104474068 + ], + "orientation": [ + 0.4357168674468994, + 0.43925753235816956, + 0.47861751914024353, + -0.6229999661445618 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.13190202414989471, + 0.0780266597867012, + 0.02907617948949337 + ], + "orientation": [ + 0.44533970952033997, + 0.43293309211730957, + 0.4758422374725342, + -0.6227484941482544 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + -0.13190202414989471, + 0.0780266597867012, + 0.02907617948949337 + ], + "orientation": [ + 0.44533970952033997, + 0.43293309211730957, + 0.4758422374725342, + -0.6227484941482544 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015088100917637348, + -0.09692315012216568, + 0.00542207108810544 + ], + "orientation": [ + 0.736991286277771, + -0.04248471558094025, + 0.6744834184646606, + 0.010537168011069298 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.014792826026678085, + -0.09658997505903244, + 0.0039262897334992886 + ], + "orientation": [ + 0.736933171749115, + -0.04000094160437584, + 0.6746020317077637, + 0.015538740903139114 + ], + "joints": [ + -0.005995267070829868 + ] + }, + "final_grasp": { + "position": [ + -0.014792826026678085, + -0.09658997505903244, + 0.0039262897334992886 + ], + "orientation": [ + 0.736933171749115, + -0.04000094160437584, + 0.6746020317077637, + 0.015538740903139114 + ], + "joints": [ + 0.0003549586981534958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010296796448528767, + -0.11013015359640121, + -0.02323267050087452 + ], + "orientation": [ + 0.9645612239837646, + 0.013403607532382011, + -0.2630930244922638, + 0.01496439054608345 + ], + "joints": [ + -0.01102067157626152 + ] + }, + "fine_grasp": { + "position": [ + 0.009752941317856312, + -0.11035070568323135, + -0.022159917280077934 + ], + "orientation": [ + 0.9661594033241272, + 0.01793666183948517, + -0.2567588686943054, + 0.01700424961745739 + ], + "joints": [ + -0.005148706026375294 + ] + }, + "final_grasp": { + "position": [ + 0.009752941317856312, + -0.11035070568323135, + -0.022159917280077934 + ], + "orientation": [ + 0.9661594033241272, + 0.01793666183948517, + -0.2567588686943054, + 0.01700424961745739 + ], + "joints": [ + 0.0007232595235109329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12879671156406403, + 0.0005121895810589194, + -0.02317683957517147 + ], + "orientation": [ + 0.5001790523529053, + -0.4082549512386322, + -0.5635204911231995, + -0.5153574347496033 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.12711727619171143, + 0.0006710916059091687, + -0.023350801318883896 + ], + "orientation": [ + 0.5077673196792603, + -0.3990333378314972, + -0.5594250559806824, + -0.5196040868759155 + ], + "joints": [ + -0.008741909638047218 + ] + }, + "final_grasp": { + "position": [ + -0.12711727619171143, + 0.0006710916059091687, + -0.023350801318883896 + ], + "orientation": [ + 0.5077673196792603, + -0.3990333378314972, + -0.5594250559806824, + -0.5196040868759155 + ], + "joints": [ + -0.0034013427793979645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026167627424001694, + 0.1798044890165329, + -0.012410325929522514 + ], + "orientation": [ + 0.031460124999284744, + -0.7418854236602783, + -0.1064804345369339, + -0.6612701416015625 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.028055362403392792, + 0.1795727163553238, + -0.014771973714232445 + ], + "orientation": [ + 0.026080435141921043, + -0.743507981300354, + -0.1087229996919632, + -0.6593140363693237 + ], + "joints": [ + -0.007621702738106251 + ] + }, + "final_grasp": { + "position": [ + -0.028055362403392792, + 0.1795727163553238, + -0.014771973714232445 + ], + "orientation": [ + 0.026080435141921043, + -0.743507981300354, + -0.1087229996919632, + -0.6593140363693237 + ], + "joints": [ + -0.0017497371882200241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011089758016169071, + -0.0959831178188324, + 0.01768641360104084 + ], + "orientation": [ + 0.7483158111572266, + -0.10106480866670609, + -0.6555675864219666, + 0.006361545994877815 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.01043173298239708, + -0.09343224763870239, + 0.02050955966114998 + ], + "orientation": [ + 0.7581117153167725, + -0.11081612855195999, + -0.6422800421714783, + 0.021511297672986984 + ], + "joints": [ + -0.0058875903487205505 + ] + }, + "final_grasp": { + "position": [ + 0.01043173298239708, + -0.09343224763870239, + 0.02050955966114998 + ], + "orientation": [ + 0.7581117153167725, + -0.11081612855195999, + -0.6422800421714783, + 0.021511297672986984 + ], + "joints": [ + 1.0944902896881104e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026218311861157417, + 0.1794847995042801, + -0.012582693248987198 + ], + "orientation": [ + 0.031327489763498306, + -0.7419451475143433, + -0.10716259479522705, + -0.6610991954803467 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.02817150577902794, + 0.17941951751708984, + -0.015286494977772236 + ], + "orientation": [ + 0.024576816707849503, + -0.7432757616043091, + -0.11030958592891693, + -0.6593701243400574 + ], + "joints": [ + -0.007621702738106251 + ] + }, + "final_grasp": { + "position": [ + -0.02817150577902794, + 0.17941951751708984, + -0.015286494977772236 + ], + "orientation": [ + 0.024576816707849503, + -0.7432757616043091, + -0.11030958592891693, + -0.6593701243400574 + ], + "joints": [ + -0.0017497371882200241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026229191571474075, + 0.17948967218399048, + -0.012573327869176865 + ], + "orientation": [ + 0.03169136494398117, + -0.7420841455459595, + -0.10693969577550888, + -0.6609619855880737 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.02820414863526821, + 0.17939665913581848, + -0.01526069175451994 + ], + "orientation": [ + 0.024703724309802055, + -0.7433933019638062, + -0.11034974455833435, + -0.6592260599136353 + ], + "joints": [ + -0.007621702738106251 + ] + }, + "final_grasp": { + "position": [ + -0.02820414863526821, + 0.17939665913581848, + -0.01526069175451994 + ], + "orientation": [ + 0.024703724309802055, + -0.7433933019638062, + -0.11034974455833435, + -0.6592260599136353 + ], + "joints": [ + -0.0017497371882200241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13080483675003052, + 0.03019012324512005, + -0.04508062079548836 + ], + "orientation": [ + 0.42261284589767456, + -0.3977489471435547, + -0.5683685541152954, + -0.5832249522209167 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.12871448695659637, + 0.03135576844215393, + -0.04545164853334427 + ], + "orientation": [ + 0.4238396883010864, + -0.39742258191108704, + -0.5720072388648987, + -0.5789844393730164 + ], + "joints": [ + -0.009417567402124405 + ] + }, + "final_grasp": { + "position": [ + -0.12871448695659637, + 0.03135576844215393, + -0.04545164853334427 + ], + "orientation": [ + 0.4238396883010864, + -0.39742258191108704, + -0.5720072388648987, + -0.5789844393730164 + ], + "joints": [ + -0.0035456009209156036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11825685948133469, + 0.037166763097047806, + 0.009845136664807796 + ], + "orientation": [ + 0.5197908878326416, + -0.5176195502281189, + -0.4541970193386078, + -0.5055615901947021 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11762639135122299, + 0.035460978746414185, + 0.014491007663309574 + ], + "orientation": [ + 0.5324729084968567, + -0.5210856199264526, + -0.4402450621128082, + -0.5011252760887146 + ], + "joints": [ + -0.007567164953798056 + ] + }, + "final_grasp": { + "position": [ + -0.11762639135122299, + 0.035460978746414185, + 0.014491007663309574 + ], + "orientation": [ + 0.5324729084968567, + -0.5210856199264526, + -0.4402450621128082, + -0.5011252760887146 + ], + "joints": [ + -0.002200028859078884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11992967873811722, + 0.04373875632882118, + 0.014663494192063808 + ], + "orientation": [ + 0.5356593132019043, + -0.5185149908065796, + 0.4413672685623169, + 0.49940595030784607 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.11475156247615814, + 0.04271085560321808, + 0.016390113160014153 + ], + "orientation": [ + 0.5452378988265991, + -0.5211532711982727, + 0.4316699206829071, + 0.49474844336509705 + ], + "joints": [ + -0.007677712943404913 + ] + }, + "final_grasp": { + "position": [ + 0.11475156247615814, + 0.04271085560321808, + 0.016390113160014153 + ], + "orientation": [ + 0.5452378988265991, + -0.5211532711982727, + 0.4316699206829071, + 0.49474844336509705 + ], + "joints": [ + -0.001832316629588604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13730821013450623, + 0.03836912661790848, + -0.0008008630247786641 + ], + "orientation": [ + 0.3924930691719055, + 0.6056506037712097, + 0.5335275530815125, + -0.4410044252872467 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.13817039132118225, + 0.03615798056125641, + 0.00018927559722214937 + ], + "orientation": [ + 0.38901346921920776, + 0.6042038798332214, + 0.53263920545578, + -0.4471036493778229 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.13817039132118225, + 0.03615798056125641, + 0.00018927559722214937 + ], + "orientation": [ + 0.38901346921920776, + 0.6042038798332214, + 0.53263920545578, + -0.4471036493778229 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13739129900932312, + 0.03839161619544029, + -0.0008510781335644424 + ], + "orientation": [ + 0.3921404480934143, + 0.6061092019081116, + 0.5335865616798401, + -0.44061657786369324 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.13820190727710724, + 0.036270271986722946, + 9.721507376525551e-05 + ], + "orientation": [ + 0.38886791467666626, + 0.6046884059906006, + 0.532356858253479, + -0.44691169261932373 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.13820190727710724, + 0.036270271986722946, + 9.721507376525551e-05 + ], + "orientation": [ + 0.38886791467666626, + 0.6046884059906006, + 0.532356858253479, + -0.44691169261932373 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13743597269058228, + 0.03840711712837219, + -0.0008655610727146268 + ], + "orientation": [ + 0.3920137286186218, + 0.6062746047973633, + 0.53360515832901, + -0.4404793381690979 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.13819295167922974, + 0.03630482777953148, + 8.892091864254326e-05 + ], + "orientation": [ + 0.3887738287448883, + 0.6048154830932617, + 0.5323145389556885, + -0.4468718469142914 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.13819295167922974, + 0.03630482777953148, + 8.892091864254326e-05 + ], + "orientation": [ + 0.3887738287448883, + 0.6048154830932617, + 0.5323145389556885, + -0.4468718469142914 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12440674751996994, + 0.052675146609544754, + -0.011629557237029076 + ], + "orientation": [ + 0.5036433339118958, + 0.5285740494728088, + -0.40105000138282776, + 0.5532735586166382 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.12216664850711823, + 0.05107395350933075, + -0.01297071948647499 + ], + "orientation": [ + 0.5109723806381226, + 0.5250975489616394, + -0.39232516288757324, + 0.5561122298240662 + ], + "joints": [ + -0.008715339004993439 + ] + }, + "final_grasp": { + "position": [ + 0.12216664850711823, + 0.05107395350933075, + -0.01297071948647499 + ], + "orientation": [ + 0.5109723806381226, + 0.5250975489616394, + -0.39232516288757324, + 0.5561122298240662 + ], + "joints": [ + -0.0033482015132904053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018915297463536263, + 0.17079833149909973, + 0.003184093162417412 + ], + "orientation": [ + 0.05116662755608559, + -0.7231312990188599, + -0.03483983129262924, + -0.6879311800003052 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.01803947240114212, + 0.16893145442008972, + 0.003760842839255929 + ], + "orientation": [ + 0.05233507603406906, + -0.7231309413909912, + -0.03567671403288841, + -0.6878007650375366 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + -0.01803947240114212, + 0.16893145442008972, + 0.003760842839255929 + ], + "orientation": [ + 0.05233507603406906, + -0.7231309413909912, + -0.03567671403288841, + -0.6878007650375366 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.063963882625103, + 0.060204099863767624, + 0.11794024705886841 + ], + "orientation": [ + 0.18699876964092255, + 0.15657208859920502, + 0.6527337431907654, + -0.7172552943229675 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.06567533314228058, + 0.06121278181672096, + 0.11672139912843704 + ], + "orientation": [ + 0.19216394424438477, + 0.15462933480739594, + 0.6513006091117859, + -0.7176142334938049 + ], + "joints": [ + -0.009416094049811363 + ] + }, + "final_grasp": { + "position": [ + -0.06567533314228058, + 0.06121278181672096, + 0.11672139912843704 + ], + "orientation": [ + 0.19216394424438477, + 0.15462933480739594, + 0.6513006091117859, + -0.7176142334938049 + ], + "joints": [ + -0.0030127279460430145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05750628933310509, + -0.08496413379907608, + -0.02823699824512005 + ], + "orientation": [ + 0.7261589765548706, + 0.20892754197120667, + 0.6511977314949036, + -0.07059803605079651 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.05699106305837631, + -0.08458879590034485, + -0.030532265082001686 + ], + "orientation": [ + 0.7277049422264099, + 0.20941604673862457, + 0.6503674983978271, + -0.06010358780622482 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + -0.05699106305837631, + -0.08458879590034485, + -0.030532265082001686 + ], + "orientation": [ + 0.7277049422264099, + 0.20941604673862457, + 0.6503674983978271, + -0.06010358780622482 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0574638806283474, + -0.08489955216646194, + -0.028189394623041153 + ], + "orientation": [ + 0.726198136806488, + 0.2087455838918686, + 0.6512061953544617, + -0.07065495103597641 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.056944768875837326, + -0.08456302434206009, + -0.030318167060613632 + ], + "orientation": [ + 0.7281107902526855, + 0.20852030813694, + 0.6501624584197998, + -0.06052224710583687 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + -0.056944768875837326, + -0.08456302434206009, + -0.030318167060613632 + ], + "orientation": [ + 0.7281107902526855, + 0.20852030813694, + 0.6501624584197998, + -0.06052224710583687 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05753258615732193, + -0.08483829349279404, + -0.028239021077752113 + ], + "orientation": [ + 0.7260867357254028, + 0.20907863974571228, + 0.6512205004692078, + -0.07068329304456711 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.057009726762771606, + -0.08448781818151474, + -0.030504683032631874 + ], + "orientation": [ + 0.7277035117149353, + 0.20933470129966736, + 0.6503906846046448, + -0.06015355512499809 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + -0.057009726762771606, + -0.08448781818151474, + -0.030504683032631874 + ], + "orientation": [ + 0.7277035117149353, + 0.20933470129966736, + 0.6503906846046448, + -0.06015355512499809 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12945009768009186, + 0.009723232127726078, + 0.004198521375656128 + ], + "orientation": [ + 0.46977952122688293, + 0.48599889874458313, + -0.6272227764129639, + 0.3869158923625946 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.12797845900058746, + 0.01015686895698309, + 0.0045095812529325485 + ], + "orientation": [ + 0.4546984136104584, + 0.4951840937137604, + -0.6367734670639038, + 0.37757354974746704 + ], + "joints": [ + -0.008769877254962921 + ] + }, + "final_grasp": { + "position": [ + 0.12797845900058746, + 0.01015686895698309, + 0.0045095812529325485 + ], + "orientation": [ + 0.4546984136104584, + 0.4951840937137604, + -0.6367734670639038, + 0.37757354974746704 + ], + "joints": [ + -0.00289791077375412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1312233954668045, + 0.030017316341400146, + -0.019929490983486176 + ], + "orientation": [ + 0.3407207131385803, + -0.5186871290206909, + 0.7142952084541321, + 0.32350486516952515 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.12995792925357819, + 0.030051255598664284, + -0.019015008583664894 + ], + "orientation": [ + 0.3335396647453308, + -0.5321928262710571, + 0.7100910544395447, + 0.3182651996612549 + ], + "joints": [ + -0.011181117035448551 + ] + }, + "final_grasp": { + "position": [ + 0.12995792925357819, + 0.030051255598664284, + -0.019015008583664894 + ], + "orientation": [ + 0.3335396647453308, + -0.5321928262710571, + 0.7100910544395447, + 0.3182651996612549 + ], + "joints": [ + -0.005335716530680656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009509837254881859, + 0.19763188064098358, + -0.00935108307749033 + ], + "orientation": [ + 0.0308871828019619, + 0.4920355975627899, + 0.005326314363628626, + -0.8700106739997864 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.008572198450565338, + 0.19784066081047058, + -0.008490859530866146 + ], + "orientation": [ + 0.023515334352850914, + 0.48455899953842163, + 0.003203023225069046, + -0.8744365572929382 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + 0.008572198450565338, + 0.19784066081047058, + -0.008490859530866146 + ], + "orientation": [ + 0.023515334352850914, + 0.48455899953842163, + 0.003203023225069046, + -0.8744365572929382 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028568100184202194, + -0.09915708750486374, + -0.03600114583969116 + ], + "orientation": [ + 0.4137517213821411, + -0.012000137940049171, + -0.9045839309692383, + -0.1019476056098938 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.02782214991748333, + -0.09813971817493439, + -0.03416571766138077 + ], + "orientation": [ + 0.40697774291038513, + -0.01834375597536564, + -0.9063538312911987, + -0.11205042153596878 + ], + "joints": [ + -0.0090996865183115 + ] + }, + "final_grasp": { + "position": [ + -0.02782214991748333, + -0.09813971817493439, + -0.03416571766138077 + ], + "orientation": [ + 0.40697774291038513, + -0.01834375597536564, + -0.9063538312911987, + -0.11205042153596878 + ], + "joints": [ + -0.006442688405513763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028546707704663277, + -0.09928808361291885, + -0.03603131324052811 + ], + "orientation": [ + 0.4137745797634125, + -0.011865106411278248, + -0.9045716524124146, + -0.10197973251342773 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.027793198823928833, + -0.0982879176735878, + -0.034203533083200455 + ], + "orientation": [ + 0.40670090913772583, + -0.01829429157078266, + -0.9064733982086182, + -0.11209594458341599 + ], + "joints": [ + -0.0090996865183115 + ] + }, + "final_grasp": { + "position": [ + -0.027793198823928833, + -0.0982879176735878, + -0.034203533083200455 + ], + "orientation": [ + 0.40670090913772583, + -0.01829429157078266, + -0.9064733982086182, + -0.11209594458341599 + ], + "joints": [ + -0.006442688405513763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12783370912075043, + 0.02717851661145687, + -0.029500866308808327 + ], + "orientation": [ + 0.2669891119003296, + 0.7112686634063721, + -0.6069992184638977, + 0.23316475749015808 + ], + "joints": [ + -0.013905830681324005 + ] + }, + "fine_grasp": { + "position": [ + 0.1279812753200531, + 0.029101280495524406, + -0.030614206567406654 + ], + "orientation": [ + 0.2692738473415375, + 0.7182821035385132, + -0.603268563747406, + 0.21824190020561218 + ], + "joints": [ + -0.009681204333901405 + ] + }, + "final_grasp": { + "position": [ + 0.1279812753200531, + 0.029101280495524406, + -0.030614206567406654 + ], + "orientation": [ + 0.2692738473415375, + 0.7182821035385132, + -0.603268563747406, + 0.21824190020561218 + ], + "joints": [ + -0.0054565779864788055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04154520109295845, + 0.17006681859493256, + -0.059643205255270004 + ], + "orientation": [ + 0.07668747752904892, + 0.9133194088935852, + -0.24240361154079437, + -0.3181309103965759 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.04042816907167435, + 0.16647696495056152, + -0.05805471912026405 + ], + "orientation": [ + 0.08617446571588516, + 0.9145973324775696, + -0.2377205193042755, + -0.3155544102191925 + ], + "joints": [ + -0.008624222129583359 + ] + }, + "final_grasp": { + "position": [ + 0.04042816907167435, + 0.16647696495056152, + -0.05805471912026405 + ], + "orientation": [ + 0.08617446571588516, + 0.9145973324775696, + -0.2377205193042755, + -0.3155544102191925 + ], + "joints": [ + -0.004373025149106979 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011621536687016487, + 0.17834526300430298, + -0.03241172805428505 + ], + "orientation": [ + 0.054938800632953644, + 0.9052685499191284, + 0.0493241548538208, + 0.418375164270401 + ], + "joints": [ + -0.010932350531220436 + ] + }, + "fine_grasp": { + "position": [ + 0.009784446097910404, + 0.1788589358329773, + -0.03210299834609032 + ], + "orientation": [ + 0.0624907948076725, + 0.9128212928771973, + 0.050327368080616, + 0.40039899945259094 + ], + "joints": [ + -0.006176323629915714 + ] + }, + "final_grasp": { + "position": [ + 0.009784446097910404, + 0.1788589358329773, + -0.03210299834609032 + ], + "orientation": [ + 0.0624907948076725, + 0.9128212928771973, + 0.050327368080616, + 0.40039899945259094 + ], + "joints": [ + -0.0014202967286109924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12060976028442383, + -0.008839240297675133, + -0.04253114014863968 + ], + "orientation": [ + 0.6843886971473694, + -0.16170667111873627, + 0.3414381444454193, + 0.623604953289032 + ], + "joints": [ + -0.0136253722012043 + ] + }, + "fine_grasp": { + "position": [ + 0.11865197867155075, + -0.007701002527028322, + -0.041052307933568954 + ], + "orientation": [ + 0.6899768114089966, + -0.1497005671262741, + 0.3414497375488281, + 0.6204302906990051 + ], + "joints": [ + -0.009347604587674141 + ] + }, + "final_grasp": { + "position": [ + 0.11865197867155075, + -0.007701002527028322, + -0.041052307933568954 + ], + "orientation": [ + 0.6899768114089966, + -0.1497005671262741, + 0.3414497375488281, + 0.6204302906990051 + ], + "joints": [ + -0.005069836974143982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12532371282577515, + 0.10133431851863861, + -0.03430582210421562 + ], + "orientation": [ + 0.1606736183166504, + -0.7431724071502686, + 0.5773423910140991, + 0.29758143424987793 + ], + "joints": [ + -0.00930766575038433 + ] + }, + "fine_grasp": { + "position": [ + 0.13040287792682648, + 0.10070677846670151, + -0.03372777998447418 + ], + "orientation": [ + 0.15127572417259216, + -0.7377219796180725, + 0.5749844312667847, + 0.31980445981025696 + ], + "joints": [ + -0.005614438094198704 + ] + }, + "final_grasp": { + "position": [ + 0.13040287792682648, + 0.10070677846670151, + -0.03372777998447418 + ], + "orientation": [ + 0.15127572417259216, + -0.7377219796180725, + 0.5749844312667847, + 0.31980445981025696 + ], + "joints": [ + -0.0019212104380130768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06600657850503922, + -0.08951883763074875, + -0.035473860800266266 + ], + "orientation": [ + 0.4809321463108063, + -0.10389789193868637, + 0.8542922139167786, + 0.16761396825313568 + ], + "joints": [ + -0.00919536966830492 + ] + }, + "fine_grasp": { + "position": [ + 0.06495021283626556, + -0.09364932775497437, + -0.03517282009124756 + ], + "orientation": [ + 0.4791814684867859, + -0.10972098261117935, + 0.8514112234115601, + 0.18288113176822662 + ], + "joints": [ + -0.005449002608656883 + ] + }, + "final_grasp": { + "position": [ + 0.06495021283626556, + -0.09364932775497437, + -0.03517282009124756 + ], + "orientation": [ + 0.4791814684867859, + -0.10972098261117935, + 0.8514112234115601, + 0.18288113176822662 + ], + "joints": [ + -0.0017026355490088463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06617645919322968, + -0.08954434841871262, + -0.035702794790267944 + ], + "orientation": [ + 0.48086434602737427, + -0.10390223562717438, + 0.854617178440094, + 0.16614268720149994 + ], + "joints": [ + -0.00863600242882967 + ] + }, + "fine_grasp": { + "position": [ + 0.06502729654312134, + -0.09366953372955322, + -0.03533237800002098 + ], + "orientation": [ + 0.478826105594635, + -0.10975947976112366, + 0.8517174124717712, + 0.18236228823661804 + ], + "joints": [ + -0.004889635369181633 + ] + }, + "final_grasp": { + "position": [ + 0.06502729654312134, + -0.09366953372955322, + -0.03533237800002098 + ], + "orientation": [ + 0.478826105594635, + -0.10975947976112366, + 0.8517174124717712, + 0.18236228823661804 + ], + "joints": [ + -0.001143268309533596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1273919939994812, + 0.026962148025631905, + -0.029527099803090096 + ], + "orientation": [ + 0.26589861512184143, + 0.7115985751152039, + -0.6065700054168701, + 0.234517440199852 + ], + "joints": [ + -0.013286031782627106 + ] + }, + "fine_grasp": { + "position": [ + 0.12753081321716309, + 0.028958434239029884, + -0.03067384846508503 + ], + "orientation": [ + 0.26879242062568665, + 0.7185971736907959, + -0.6026419401168823, + 0.2195252627134323 + ], + "joints": [ + -0.009061405435204506 + ] + }, + "final_grasp": { + "position": [ + 0.12753081321716309, + 0.028958434239029884, + -0.03067384846508503 + ], + "orientation": [ + 0.26879242062568665, + 0.7185971736907959, + -0.6026419401168823, + 0.2195252627134323 + ], + "joints": [ + -0.004836779087781906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1225014477968216, + 0.054999951273202896, + -0.07939313352108002 + ], + "orientation": [ + 0.035412419587373734, + -0.6284341812133789, + -0.6998574137687683, + -0.3376626968383789 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.12044095247983932, + 0.052958112210035324, + -0.07816198468208313 + ], + "orientation": [ + 0.019126204773783684, + -0.6340427994728088, + -0.6946190595626831, + -0.3393053114414215 + ], + "joints": [ + -0.014426921494305134 + ] + }, + "final_grasp": { + "position": [ + -0.12044095247983932, + 0.052958112210035324, + -0.07816198468208313 + ], + "orientation": [ + 0.019126204773783684, + -0.6340427994728088, + -0.6946190595626831, + -0.3393053114414215 + ], + "joints": [ + -0.011238517239689827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12255927175283432, + 0.054949164390563965, + -0.07943997532129288 + ], + "orientation": [ + 0.03505466505885124, + -0.6285701394081116, + -0.6998862028121948, + -0.33738720417022705 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.1204858273267746, + 0.05292767658829689, + -0.07819938659667969 + ], + "orientation": [ + 0.018712010234594345, + -0.634245753288269, + -0.6946312785148621, + -0.33892378211021423 + ], + "joints": [ + -0.014426921494305134 + ] + }, + "final_grasp": { + "position": [ + -0.1204858273267746, + 0.05292767658829689, + -0.07819938659667969 + ], + "orientation": [ + 0.018712010234594345, + -0.634245753288269, + -0.6946312785148621, + -0.33892378211021423 + ], + "joints": [ + -0.011238517239689827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12342213839292526, + 0.05691153183579445, + -0.039665158838033676 + ], + "orientation": [ + 0.15400438010692596, + -0.6587855219841003, + -0.7088125348091125, + -0.19967249035835266 + ], + "joints": [ + -0.006398530676960945 + ] + }, + "fine_grasp": { + "position": [ + -0.12394368648529053, + 0.053920891135931015, + -0.03909556567668915 + ], + "orientation": [ + 0.14622192084789276, + -0.652195930480957, + -0.7109646797180176, + -0.2186068892478943 + ], + "joints": [ + -0.004804331809282303 + ] + }, + "final_grasp": { + "position": [ + -0.12394368648529053, + 0.053920891135931015, + -0.03909556567668915 + ], + "orientation": [ + 0.14622192084789276, + -0.652195930480957, + -0.7109646797180176, + -0.2186068892478943 + ], + "joints": [ + -0.0032101329416036606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12356198579072952, + 0.056594353169202805, + -0.0396106094121933 + ], + "orientation": [ + 0.15289069712162018, + -0.6595937013626099, + -0.7085338830947876, + -0.1988479644060135 + ], + "joints": [ + -0.00695789884775877 + ] + }, + "fine_grasp": { + "position": [ + -0.12411213666200638, + 0.05360852926969528, + -0.03908935934305191 + ], + "orientation": [ + 0.14470075070858002, + -0.6527056694030762, + -0.7112861275672913, + -0.21704579889774323 + ], + "joints": [ + -0.005337130278348923 + ] + }, + "final_grasp": { + "position": [ + -0.12411213666200638, + 0.05360852926969528, + -0.03908935934305191 + ], + "orientation": [ + 0.14470075070858002, + -0.6527056694030762, + -0.7112861275672913, + -0.21704579889774323 + ], + "joints": [ + -0.0037163617089390755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11031167954206467, + 0.0710478127002716, + -0.07042156159877777 + ], + "orientation": [ + 0.07322457432746887, + -0.6493356823921204, + -0.6703356504440308, + -0.35164129734039307 + ], + "joints": [ + -0.012814987450838089 + ] + }, + "fine_grasp": { + "position": [ + -0.11266737431287766, + 0.07025805860757828, + -0.06932403147220612 + ], + "orientation": [ + 0.05721784755587578, + -0.6570821404457092, + -0.6655694842338562, + -0.34926557540893555 + ], + "joints": [ + -0.009626589715480804 + ] + }, + "final_grasp": { + "position": [ + -0.11266737431287766, + 0.07025805860757828, + -0.06932403147220612 + ], + "orientation": [ + 0.05721784755587578, + -0.6570821404457092, + -0.6655694842338562, + -0.34926557540893555 + ], + "joints": [ + -0.00643819198012352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11047825962305069, + 0.07045760005712509, + -0.07031203806400299 + ], + "orientation": [ + 0.0707138180732727, + -0.6507315635681152, + -0.6698174476623535, + -0.3505606949329376 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + -0.1126021072268486, + 0.06947395950555801, + -0.06921606510877609 + ], + "orientation": [ + 0.054052457213401794, + -0.6586580872535706, + -0.6650542616844177, + -0.3477798104286194 + ], + "joints": [ + -0.010303797200322151 + ] + }, + "final_grasp": { + "position": [ + -0.1126021072268486, + 0.06947395950555801, + -0.06921606510877609 + ], + "orientation": [ + 0.054052457213401794, + -0.6586580872535706, + -0.6650542616844177, + -0.3477798104286194 + ], + "joints": [ + -0.006583999842405319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13516902923583984, + 0.0024933060631155968, + -0.05384758859872818 + ], + "orientation": [ + 0.6775400638580322, + -0.11426018923521042, + -0.321135550737381, + -0.6517330408096313 + ], + "joints": [ + -0.014582961797714233 + ] + }, + "fine_grasp": { + "position": [ + -0.1345192790031433, + 0.004089565947651863, + -0.052259963005781174 + ], + "orientation": [ + 0.6817201375961304, + -0.1006518229842186, + -0.31999507546424866, + -0.6501767635345459 + ], + "joints": [ + -0.010836593806743622 + ] + }, + "final_grasp": { + "position": [ + -0.1345192790031433, + 0.004089565947651863, + -0.052259963005781174 + ], + "orientation": [ + 0.6817201375961304, + -0.1006518229842186, + -0.31999507546424866, + -0.6501767635345459 + ], + "joints": [ + -0.00709022581577301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1351657211780548, + 0.05406789854168892, + -0.0479155071079731 + ], + "orientation": [ + 0.7203107476234436, + 0.20469290018081665, + -0.1311253309249878, + 0.6496610045433044 + ], + "joints": [ + -0.0033160026650875807 + ] + }, + "fine_grasp": { + "position": [ + 0.133135125041008, + 0.05216929316520691, + -0.04654579237103462 + ], + "orientation": [ + 0.7152237296104431, + 0.22375498712062836, + -0.12796051800251007, + 0.649626612663269 + ], + "joints": [ + -0.0016686638118699193 + ] + }, + "final_grasp": { + "position": [ + 0.133135125041008, + 0.05216929316520691, + -0.04654579237103462 + ], + "orientation": [ + 0.7152237296104431, + 0.22375498712062836, + -0.12796051800251007, + 0.649626612663269 + ], + "joints": [ + -2.132495865225792e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12050648033618927, + 0.004293495323508978, + -0.06810951232910156 + ], + "orientation": [ + 0.7011260986328125, + -0.03327779099345207, + -0.23783445358276367, + -0.6713788509368896 + ], + "joints": [ + -0.006857910193502903 + ] + }, + "fine_grasp": { + "position": [ + -0.1183818131685257, + 0.00641101086512208, + -0.06666737794876099 + ], + "orientation": [ + 0.7012743353843689, + -0.019163645803928375, + -0.23800420761108398, + -0.6717149615287781 + ], + "joints": [ + -0.003138112835586071 + ] + }, + "final_grasp": { + "position": [ + -0.1183818131685257, + 0.00641101086512208, + -0.06666737794876099 + ], + "orientation": [ + 0.7012743353843689, + -0.019163645803928375, + -0.23800420761108398, + -0.6717149615287781 + ], + "joints": [ + 0.000581684522330761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09601748734712601, + -0.07017125934362411, + -0.04449295997619629 + ], + "orientation": [ + 0.3251068890094757, + -0.264980286359787, + -0.8790462017059326, + -0.22664648294448853 + ], + "joints": [ + -0.012787096202373505 + ] + }, + "fine_grasp": { + "position": [ + -0.09391377866268158, + -0.06738822907209396, + -0.04155397415161133 + ], + "orientation": [ + 0.3147743046283722, + -0.27071478962898254, + -0.8812680840492249, + -0.22582562267780304 + ], + "joints": [ + -0.009518986567854881 + ] + }, + "final_grasp": { + "position": [ + -0.09391377866268158, + -0.06738822907209396, + -0.04155397415161133 + ], + "orientation": [ + 0.3147743046283722, + -0.27071478962898254, + -0.8812680840492249, + -0.22582562267780304 + ], + "joints": [ + -0.006250876933336258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09620067477226257, + -0.07011676579713821, + -0.0446220263838768 + ], + "orientation": [ + 0.3250501751899719, + -0.265352725982666, + -0.8788288235664368, + -0.22713467478752136 + ], + "joints": [ + -0.01275765523314476 + ] + }, + "fine_grasp": { + "position": [ + -0.09405098855495453, + -0.06732217967510223, + -0.04168522730469704 + ], + "orientation": [ + 0.3148103952407837, + -0.27097684144973755, + -0.8810003399848938, + -0.22650444507598877 + ], + "joints": [ + -0.009489545598626137 + ] + }, + "final_grasp": { + "position": [ + -0.09405098855495453, + -0.06732217967510223, + -0.04168522730469704 + ], + "orientation": [ + 0.3148103952407837, + -0.27097684144973755, + -0.8810003399848938, + -0.22650444507598877 + ], + "joints": [ + -0.006221435964107513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11332535743713379, + 0.06317997723817825, + -0.058372825384140015 + ], + "orientation": [ + 0.5114482641220093, + -0.1289023458957672, + -0.23340389132499695, + -0.8169012069702148 + ], + "joints": [ + -0.013994153589010239 + ] + }, + "fine_grasp": { + "position": [ + -0.11229829490184784, + 0.06391461938619614, + -0.05779845640063286 + ], + "orientation": [ + 0.5161216855049133, + -0.11470960825681686, + -0.23503968119621277, + -0.8156080842018127 + ], + "joints": [ + -0.008706727996468544 + ] + }, + "final_grasp": { + "position": [ + -0.11229829490184784, + 0.06391461938619614, + -0.05779845640063286 + ], + "orientation": [ + 0.5161216855049133, + -0.11470960825681686, + -0.23503968119621277, + -0.8156080842018127 + ], + "joints": [ + -0.0034193024039268494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14301005005836487, + 0.061701808124780655, + -0.029129061847925186 + ], + "orientation": [ + 0.6737364530563354, + 0.29708170890808105, + 0.22945936024188995, + -0.6365298628807068 + ], + "joints": [ + -0.013346463441848755 + ] + }, + "fine_grasp": { + "position": [ + -0.14165322482585907, + 0.060550086200237274, + -0.028029492124915123 + ], + "orientation": [ + 0.6700816750526428, + 0.30008214712142944, + 0.21746738255023956, + -0.6431556344032288 + ], + "joints": [ + -0.008005897514522076 + ] + }, + "final_grasp": { + "position": [ + -0.14165322482585907, + 0.060550086200237274, + -0.028029492124915123 + ], + "orientation": [ + 0.6700816750526428, + 0.30008214712142944, + 0.21746738255023956, + -0.6431556344032288 + ], + "joints": [ + -0.0026653315871953964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11626194417476654, + 0.02368122898042202, + -0.08935341238975525 + ], + "orientation": [ + 0.5833405256271362, + -0.03912971541285515, + -0.3698875904083252, + -0.7220565676689148 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11399969458580017, + 0.025487378239631653, + -0.08681170642375946 + ], + "orientation": [ + 0.5862089991569519, + -0.03103538043797016, + -0.37971052527427673, + -0.7149935364723206 + ], + "joints": [ + -0.009639620780944824 + ] + }, + "final_grasp": { + "position": [ + -0.11399969458580017, + 0.025487378239631653, + -0.08681170642375946 + ], + "orientation": [ + 0.5862089991569519, + -0.03103538043797016, + -0.37971052527427673, + -0.7149935364723206 + ], + "joints": [ + -0.006344940513372421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11623232811689377, + 0.023592106997966766, + -0.08930590748786926 + ], + "orientation": [ + 0.5830585956573486, + -0.03973698243498802, + -0.37050676345825195, + -0.7219337224960327 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11398347467184067, + 0.025384793058037758, + -0.08674348890781403 + ], + "orientation": [ + 0.5858321785926819, + -0.03181407228112221, + -0.38048306107521057, + -0.7148573994636536 + ], + "joints": [ + -0.009639620780944824 + ] + }, + "final_grasp": { + "position": [ + -0.11398347467184067, + 0.025384793058037758, + -0.08674348890781403 + ], + "orientation": [ + 0.5858321785926819, + -0.03181407228112221, + -0.38048306107521057, + -0.7148573994636536 + ], + "joints": [ + -0.006344940513372421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11628692597150803, + 0.023697705939412117, + -0.08926716446876526 + ], + "orientation": [ + 0.5834845900535583, + -0.03930669277906418, + -0.3708687424659729, + -0.7214270830154419 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.113935187458992, + 0.025506706908345222, + -0.08670654892921448 + ], + "orientation": [ + 0.5860061645507812, + -0.03133092075586319, + -0.38038647174835205, + -0.7147875428199768 + ], + "joints": [ + -0.010144449770450592 + ] + }, + "final_grasp": { + "position": [ + -0.113935187458992, + 0.025506706908345222, + -0.08670654892921448 + ], + "orientation": [ + 0.5860061645507812, + -0.03133092075586319, + -0.38038647174835205, + -0.7147875428199768 + ], + "joints": [ + -0.007354598492383957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11627878993749619, + 0.023687317967414856, + -0.0892983004450798 + ], + "orientation": [ + 0.5835354924201965, + -0.039140183478593826, + -0.3708779215812683, + -0.7213903069496155 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11392612010240555, + 0.025486331433057785, + -0.08672481030225754 + ], + "orientation": [ + 0.5860083103179932, + -0.03127802535891533, + -0.3804780840873718, + -0.7147393822669983 + ], + "joints": [ + -0.010144449770450592 + ] + }, + "final_grasp": { + "position": [ + -0.11392612010240555, + 0.025486331433057785, + -0.08672481030225754 + ], + "orientation": [ + 0.5860083103179932, + -0.03127802535891533, + -0.3804780840873718, + -0.7147393822669983 + ], + "joints": [ + -0.007354598492383957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11759830266237259, + 0.04857422411441803, + -0.06340963393449783 + ], + "orientation": [ + 0.16873225569725037, + -0.5439490079879761, + 0.7357315421104431, + 0.3665352761745453 + ], + "joints": [ + -0.012168847024440765 + ] + }, + "fine_grasp": { + "position": [ + 0.12014622986316681, + 0.04717499762773514, + -0.062014587223529816 + ], + "orientation": [ + 0.1590091437101364, + -0.5518513321876526, + 0.7311542630195618, + 0.36822509765625 + ], + "joints": [ + -0.007917650043964386 + ] + }, + "final_grasp": { + "position": [ + 0.12014622986316681, + 0.04717499762773514, + -0.062014587223529816 + ], + "orientation": [ + 0.1590091437101364, + -0.5518513321876526, + 0.7311542630195618, + 0.36822509765625 + ], + "joints": [ + -0.0036664530634880066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11734366416931152, + 0.048272646963596344, + -0.06342016905546188 + ], + "orientation": [ + 0.16758614778518677, + -0.5441046357154846, + 0.7362000942230225, + 0.3658885061740875 + ], + "joints": [ + -0.012728214263916016 + ] + }, + "fine_grasp": { + "position": [ + 0.11992985755205154, + 0.046961743384599686, + -0.06206619739532471 + ], + "orientation": [ + 0.1577357053756714, + -0.5523490309715271, + 0.7316206693649292, + 0.3670983910560608 + ], + "joints": [ + -0.007945617660880089 + ] + }, + "final_grasp": { + "position": [ + 0.11992985755205154, + 0.046961743384599686, + -0.06206619739532471 + ], + "orientation": [ + 0.1577357053756714, + -0.5523490309715271, + 0.7316206693649292, + 0.3670983910560608 + ], + "joints": [ + -0.003163021057844162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12788450717926025, + 0.011319332756102085, + -0.03893452137708664 + ], + "orientation": [ + 0.32270023226737976, + 0.6733220815658569, + 0.6349709033966064, + -0.1982775777578354 + ], + "joints": [ + -0.01393527165055275 + ] + }, + "fine_grasp": { + "position": [ + -0.12683118879795074, + 0.014261899515986443, + -0.04001077637076378 + ], + "orientation": [ + 0.3319903612136841, + 0.6763895750045776, + 0.6279579401016235, + -0.1948034167289734 + ], + "joints": [ + -0.008621275424957275 + ] + }, + "final_grasp": { + "position": [ + -0.12683118879795074, + 0.014261899515986443, + -0.04001077637076378 + ], + "orientation": [ + 0.3319903612136841, + 0.6763895750045776, + 0.6279579401016235, + -0.1948034167289734 + ], + "joints": [ + -0.003307279199361801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0847565159201622, + 0.037539392709732056, + -0.09675903618335724 + ], + "orientation": [ + 0.2909094989299774, + -0.20245890319347382, + 0.5036320090293884, + 0.7878685593605042 + ], + "joints": [ + -0.012492697685956955 + ] + }, + "fine_grasp": { + "position": [ + 0.08166443556547165, + 0.03790386766195297, + -0.09340619295835495 + ], + "orientation": [ + 0.28009554743766785, + -0.20699231326580048, + 0.5135796666145325, + 0.7841789722442627 + ], + "joints": [ + -0.007178701460361481 + ] + }, + "final_grasp": { + "position": [ + 0.08166443556547165, + 0.03790386766195297, + -0.09340619295835495 + ], + "orientation": [ + 0.28009554743766785, + -0.20699231326580048, + 0.5135796666145325, + 0.7841789722442627 + ], + "joints": [ + -0.0018647052347660065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042692121118307114, + -0.09497437626123428, + -0.027705788612365723 + ], + "orientation": [ + 0.9056218266487122, + -0.03511703014373779, + -0.3579421043395996, + -0.22470711171627045 + ], + "joints": [ + -0.01573113724589348 + ] + }, + "fine_grasp": { + "position": [ + -0.042580559849739075, + -0.09401338547468185, + -0.026144081726670265 + ], + "orientation": [ + 0.9137875437736511, + -0.024173885583877563, + -0.34574905037879944, + -0.21181456744670868 + ], + "joints": [ + -0.010443711653351784 + ] + }, + "final_grasp": { + "position": [ + -0.042580559849739075, + -0.09401338547468185, + -0.026144081726670265 + ], + "orientation": [ + 0.9137875437736511, + -0.024173885583877563, + -0.34574905037879944, + -0.21181456744670868 + ], + "joints": [ + -0.005156286060810089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031326521188020706, + -0.1086571216583252, + 0.016760647296905518 + ], + "orientation": [ + 0.5927961468696594, + -0.06906624883413315, + -0.8011083602905273, + 0.045254938304424286 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.03023919276893139, + -0.10518865287303925, + 0.018436428159475327 + ], + "orientation": [ + 0.5797824263572693, + -0.07772328704595566, + -0.809490978717804, + 0.05035657063126564 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + -0.03023919276893139, + -0.10518865287303925, + 0.018436428159475327 + ], + "orientation": [ + 0.5797824263572693, + -0.07772328704595566, + -0.809490978717804, + 0.05035657063126564 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02573547139763832, + -0.111972376704216, + 0.022535083815455437 + ], + "orientation": [ + 0.7838872075080872, + -0.06916280090808868, + 0.6138125658035278, + -0.06301973015069962 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.02561536245048046, + -0.10686967521905899, + 0.022430039942264557 + ], + "orientation": [ + 0.7875726222991943, + -0.07211194187402725, + 0.6084709167480469, + -0.06551621854305267 + ], + "joints": [ + -0.004374498501420021 + ] + }, + "final_grasp": { + "position": [ + -0.02561536245048046, + -0.10686967521905899, + 0.022430039942264557 + ], + "orientation": [ + 0.7875726222991943, + -0.07211194187402725, + 0.6084709167480469, + -0.06551621854305267 + ], + "joints": [ + 0.0035964958369731903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02566901594400406, + -0.11219440400600433, + 0.02244856394827366 + ], + "orientation": [ + 0.7837961912155151, + -0.06894978135824203, + 0.6139904260635376, + -0.06265068054199219 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.025530707091093063, + -0.10711398720741272, + 0.02234981395304203 + ], + "orientation": [ + 0.7876719832420349, + -0.07180160284042358, + 0.608422040939331, + -0.06511559337377548 + ], + "joints": [ + -0.004401068203151226 + ] + }, + "final_grasp": { + "position": [ + -0.025530707091093063, + -0.10711398720741272, + 0.02234981395304203 + ], + "orientation": [ + 0.7876719832420349, + -0.07180160284042358, + 0.608422040939331, + -0.06511559337377548 + ], + "joints": [ + 0.0035433564335107803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02607632614672184, + -0.11234590411186218, + 0.022368857637047768 + ], + "orientation": [ + 0.7830807566642761, + -0.06997734308242798, + 0.6148263812065125, + -0.062259938567876816 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.025823049247264862, + -0.10707874596118927, + 0.02234310284256935 + ], + "orientation": [ + 0.7865580916404724, + -0.07153814285993576, + 0.6099354028701782, + -0.06471168249845505 + ], + "joints": [ + -0.004317089915275574 + ] + }, + "final_grasp": { + "position": [ + -0.025823049247264862, + -0.10707874596118927, + 0.02234310284256935 + ], + "orientation": [ + 0.7865580916404724, + -0.07153814285993576, + 0.6099354028701782, + -0.06471168249845505 + ], + "joints": [ + 0.00312250480055809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026025617495179176, + -0.11248952150344849, + 0.02237238548696041 + ], + "orientation": [ + 0.7830122113227844, + -0.0700179859995842, + 0.6149217486381531, + -0.062134966254234314 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.02578168362379074, + -0.10721763223409653, + 0.022334421053528786 + ], + "orientation": [ + 0.7864452600479126, + -0.07160395383834839, + 0.6100910305976868, + -0.0645417720079422 + ], + "joints": [ + -0.004317089915275574 + ] + }, + "final_grasp": { + "position": [ + -0.02578168362379074, + -0.10721763223409653, + 0.022334421053528786 + ], + "orientation": [ + 0.7864452600479126, + -0.07160395383834839, + 0.6100910305976868, + -0.0645417720079422 + ], + "joints": [ + 0.00312250480055809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017780352383852005, + 0.1813279539346695, + -0.01119890995323658 + ], + "orientation": [ + 0.052867740392684937, + 0.4583792984485626, + -0.055298082530498505, + -0.8854578137397766 + ], + "joints": [ + -0.016378827393054962 + ] + }, + "fine_grasp": { + "position": [ + -0.018120180815458298, + 0.18608345091342926, + -0.013246051967144012 + ], + "orientation": [ + 0.057917505502700806, + 0.45903369784355164, + -0.05287859961390495, + -0.884950578212738 + ], + "joints": [ + -0.009470630437135696 + ] + }, + "final_grasp": { + "position": [ + -0.018120180815458298, + 0.18608345091342926, + -0.013246051967144012 + ], + "orientation": [ + 0.057917505502700806, + 0.45903369784355164, + -0.05287859961390495, + -0.884950578212738 + ], + "joints": [ + -0.0025624334812164307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016288598999381065, + 0.17527922987937927, + 0.020713550969958305 + ], + "orientation": [ + 0.08384589105844498, + -0.9272786974906921, + 0.08016793429851532, + -0.3559455871582031 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.016501225531101227, + 0.17566119134426117, + 0.024231499060988426 + ], + "orientation": [ + 0.08940105885267258, + -0.9192156791687012, + 0.0838371142745018, + -0.3741943836212158 + ], + "joints": [ + -0.011030968278646469 + ] + }, + "final_grasp": { + "position": [ + 0.016501225531101227, + 0.17566119134426117, + 0.024231499060988426 + ], + "orientation": [ + 0.08940105885267258, + -0.9192156791687012, + 0.0838371142745018, + -0.3741943836212158 + ], + "joints": [ + -0.004122765734791756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027853356674313545, + -0.09829658269882202, + -0.001439110841602087 + ], + "orientation": [ + 0.425699919462204, + 0.1127408891916275, + 0.8953313231468201, + -0.06671605259180069 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.02851114794611931, + -0.0991363450884819, + -0.0014099087566137314 + ], + "orientation": [ + 0.435697466135025, + 0.1124073937535286, + 0.8902727365493774, + -0.07033124566078186 + ], + "joints": [ + -0.010502438992261887 + ] + }, + "final_grasp": { + "position": [ + -0.02851114794611931, + -0.0991363450884819, + -0.0014099087566137314 + ], + "orientation": [ + 0.435697466135025, + 0.1124073937535286, + 0.8902727365493774, + -0.07033124566078186 + ], + "joints": [ + -0.003036266192793846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10568486154079437, + 0.02933708392083645, + 0.06901661306619644 + ], + "orientation": [ + 0.3016871511936188, + 0.36725127696990967, + -0.6623826026916504, + 0.5791031718254089 + ], + "joints": [ + -0.017379803583025932 + ] + }, + "fine_grasp": { + "position": [ + 0.10184121131896973, + 0.028993232175707817, + 0.06790422648191452 + ], + "orientation": [ + 0.2940410375595093, + 0.36382871866226196, + -0.6671702265739441, + 0.579700231552124 + ], + "joints": [ + -0.010976431891322136 + ] + }, + "final_grasp": { + "position": [ + 0.10184121131896973, + 0.028993232175707817, + 0.06790422648191452 + ], + "orientation": [ + 0.2940410375595093, + 0.36382871866226196, + -0.6671702265739441, + 0.579700231552124 + ], + "joints": [ + -0.0045730601996183395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12700285017490387, + 0.046560805290937424, + 0.027312396094202995 + ], + "orientation": [ + 0.3159652054309845, + 0.5716572999954224, + -0.5561944246292114, + 0.5138304829597473 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + 0.12974508106708527, + 0.044791143387556076, + 0.029607081785798073 + ], + "orientation": [ + 0.30360549688339233, + 0.5809666514396667, + -0.5592347383499146, + 0.5075016617774963 + ], + "joints": [ + -0.01038762554526329 + ] + }, + "final_grasp": { + "position": [ + 0.12974508106708527, + 0.044791143387556076, + 0.029607081785798073 + ], + "orientation": [ + 0.30360549688339233, + 0.5809666514396667, + -0.5592347383499146, + 0.5075016617774963 + ], + "joints": [ + -0.003984255716204643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10937206447124481, + -0.0316723957657814, + 0.0598481111228466 + ], + "orientation": [ + 0.47288450598716736, + 0.2505861222743988, + 0.689081072807312, + -0.48862484097480774 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.10463763028383255, + -0.03025933913886547, + 0.05871916562318802 + ], + "orientation": [ + 0.47694504261016846, + 0.2543104887008667, + 0.6818554997444153, + -0.49287182092666626 + ], + "joints": [ + -0.010707124136388302 + ] + }, + "final_grasp": { + "position": [ + -0.10463763028383255, + -0.03025933913886547, + 0.05871916562318802 + ], + "orientation": [ + 0.47694504261016846, + 0.2543104887008667, + 0.6818554997444153, + -0.49287182092666626 + ], + "joints": [ + -0.003798922523856163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10919303447008133, + -0.03071594052016735, + 0.059752289205789566 + ], + "orientation": [ + 0.47329309582710266, + 0.24938981235027313, + 0.6915767788887024, + -0.48530393838882446 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.10484092682600021, + -0.029116937890648842, + 0.05844269320368767 + ], + "orientation": [ + 0.4751216173171997, + 0.25482141971588135, + 0.6873494982719421, + -0.4866991639137268 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + -0.10484092682600021, + -0.029116937890648842, + 0.05844269320368767 + ], + "orientation": [ + 0.4751216173171997, + 0.25482141971588135, + 0.6873494982719421, + -0.4866991639137268 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10962534695863724, + -0.03204207122325897, + 0.05980002135038376 + ], + "orientation": [ + 0.47313931584358215, + 0.2515048086643219, + 0.6872411966323853, + -0.4904937744140625 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.10502520203590393, + -0.030764568597078323, + 0.05874321237206459 + ], + "orientation": [ + 0.47795578837394714, + 0.2545669674873352, + 0.6793127655982971, + -0.49526554346084595 + ], + "joints": [ + -0.010707124136388302 + ] + }, + "final_grasp": { + "position": [ + -0.10502520203590393, + -0.030764568597078323, + 0.05874321237206459 + ], + "orientation": [ + 0.47795578837394714, + 0.2545669674873352, + 0.6793127655982971, + -0.49526554346084595 + ], + "joints": [ + -0.003798922523856163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10943678021430969, + -0.03220563381910324, + 0.0599372535943985 + ], + "orientation": [ + 0.47229111194610596, + 0.25214675068855286, + 0.6870604753494263, + -0.49123427271842957 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.10491274297237396, + -0.030981315299868584, + 0.05893072113394737 + ], + "orientation": [ + 0.4746696650981903, + 0.25624725222587585, + 0.680168867111206, + -0.4963832497596741 + ], + "joints": [ + -0.010707124136388302 + ] + }, + "final_grasp": { + "position": [ + -0.10491274297237396, + -0.030981315299868584, + 0.05893072113394737 + ], + "orientation": [ + 0.4746696650981903, + 0.25624725222587585, + 0.680168867111206, + -0.4963832497596741 + ], + "joints": [ + -0.003798922523856163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1311008334159851, + 0.034041404724121094, + 0.018528394401073456 + ], + "orientation": [ + 0.3942241072654724, + 0.5269224047660828, + -0.5851712822914124, + 0.4738299250602722 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.12997063994407654, + 0.03132499009370804, + 0.02168882265686989 + ], + "orientation": [ + 0.3822284936904907, + 0.5286098718643188, + -0.5950739979743958, + 0.4694250822067261 + ], + "joints": [ + -0.008799318224191666 + ] + }, + "final_grasp": { + "position": [ + 0.12997063994407654, + 0.03132499009370804, + 0.02168882265686989 + ], + "orientation": [ + 0.3822284936904907, + 0.5286098718643188, + -0.5950739979743958, + 0.4694250822067261 + ], + "joints": [ + -0.0029273517429828644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12475395947694778, + 0.050703998655080795, + -0.03300003707408905 + ], + "orientation": [ + 0.4468112587928772, + -0.4022762179374695, + 0.46588367223739624, + 0.6492195725440979 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.11995182186365128, + 0.05101501941680908, + -0.03303473815321922 + ], + "orientation": [ + 0.4514996111392975, + -0.39422526955604553, + 0.4610949754714966, + 0.654313325881958 + ], + "joints": [ + -0.009950364008545876 + ] + }, + "final_grasp": { + "position": [ + 0.11995182186365128, + 0.05101501941680908, + -0.03303473815321922 + ], + "orientation": [ + 0.4514996111392975, + -0.39422526955604553, + 0.4610949754714966, + 0.654313325881958 + ], + "joints": [ + -0.004051826894283295 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2046, + "num_passed": 164 + } +} \ No newline at end of file diff --git a/113_coffee-box_6/Annotation/piper_grasp_pose.json b/113_coffee-box_6/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..7e095e7bef9e458b85e039353e280829c36d634f --- /dev/null +++ b/113_coffee-box_6/Annotation/piper_grasp_pose.json @@ -0,0 +1,6368 @@ +{ + "type": "113_coffee-box_6", + "bottom_center": [ + 2.1886080503463745e-07, + 0.03800735995173454, + -0.026277361437678337 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.0047440784983336926, + 0.14714381098747253, + 0.11037708073854446 + ], + "orientation": [ + 0.319528192281723, + 0.6370025277137756, + 0.6364331841468811, + -0.2950972616672516 + ], + "joints": [ + 0.02867858298122883 + ] + }, + "fine_grasp": { + "position": [ + -0.004481406882405281, + 0.14556273818016052, + 0.10672592371702194 + ], + "orientation": [ + 0.3021640479564667, + 0.6461978554725647, + 0.6447123289108276, + -0.27472031116485596 + ], + "joints": [ + 0.021886805072426796 + ] + }, + "final_grasp": { + "position": [ + -0.004481406882405281, + 0.14556273818016052, + 0.10672592371702194 + ], + "orientation": [ + 0.3021640479564667, + 0.6461978554725647, + 0.6447123289108276, + -0.27472031116485596 + ], + "joints": [ + 0.015095027163624763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0031967468094080687, + -0.04683671146631241, + 0.12880735099315643 + ], + "orientation": [ + 0.11764959245920181, + -0.6925811767578125, + 0.6985169649124146, + 0.13624952733516693 + ], + "joints": [ + 0.031002311035990715 + ] + }, + "fine_grasp": { + "position": [ + 0.0030582500621676445, + -0.04486961290240288, + 0.12523017823696136 + ], + "orientation": [ + 0.1280168890953064, + -0.6936911344528198, + 0.6937547922134399, + 0.14528806507587433 + ], + "joints": [ + 0.02222525142133236 + ] + }, + "final_grasp": { + "position": [ + 0.0030582500621676445, + -0.04486961290240288, + 0.12523017823696136 + ], + "orientation": [ + 0.1280168890953064, + -0.6936911344528198, + 0.6937547922134399, + 0.14528806507587433 + ], + "joints": [ + 0.013448191806674004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001014793524518609, + -0.09590460360050201, + -0.052836719900369644 + ], + "orientation": [ + 0.5084214806556702, + -0.44295090436935425, + -0.48550450801849365, + -0.5564060211181641 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + 0.000840396445710212, + -0.09452149271965027, + -0.049472540616989136 + ], + "orientation": [ + 0.5222361087799072, + -0.43487784266471863, + -0.46984729170799255, + -0.5633776783943176 + ], + "joints": [ + 0.020695695653557777 + ] + }, + "final_grasp": { + "position": [ + 0.000840396445710212, + -0.09452149271965027, + -0.049472540616989136 + ], + "orientation": [ + 0.5222361087799072, + -0.43487784266471863, + -0.46984729170799255, + -0.5633776783943176 + ], + "joints": [ + 0.013569558039307594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037528008222579956, + -0.12415023148059845, + 0.024308541789650917 + ], + "orientation": [ + 0.017764292657375336, + -0.07407564669847488, + 0.7562715411186218, + 0.6498080492019653 + ], + "joints": [ + 0.029373247176408768 + ] + }, + "fine_grasp": { + "position": [ + 0.0365409255027771, + -0.12018028646707535, + 0.023337319493293762 + ], + "orientation": [ + 0.0049791098572313786, + -0.0771561861038208, + 0.758693277835846, + 0.646843433380127 + ], + "joints": [ + 0.02264416590332985 + ] + }, + "final_grasp": { + "position": [ + 0.0365409255027771, + -0.12018028646707535, + 0.023337319493293762 + ], + "orientation": [ + 0.0049791098572313786, + -0.0771561861038208, + 0.758693277835846, + 0.646843433380127 + ], + "joints": [ + 0.01591508463025093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1184905543923378, + 0.1341434270143509, + -0.02079644799232483 + ], + "orientation": [ + 0.674095094203949, + 0.6180697083473206, + 0.22593222558498383, + 0.3354700803756714 + ], + "joints": [ + 0.030994130298495293 + ] + }, + "fine_grasp": { + "position": [ + -0.11456217616796494, + 0.1330556422472, + -0.019649913534522057 + ], + "orientation": [ + 0.6718955636024475, + 0.6126206517219543, + 0.2366073876619339, + 0.34244614839553833 + ], + "joints": [ + 0.02305298112332821 + ] + }, + "final_grasp": { + "position": [ + -0.11456217616796494, + 0.1330556422472, + -0.019649913534522057 + ], + "orientation": [ + 0.6718955636024475, + 0.6126206517219543, + 0.2366073876619339, + 0.34244614839553833 + ], + "joints": [ + 0.015111831948161125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0795959010720253, + -0.10194231569766998, + 0.007612378802150488 + ], + "orientation": [ + 0.1537228226661682, + 0.13293291628360748, + 0.7179427742958069, + 0.665774941444397 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.07684972882270813, + -0.09889286756515503, + 0.007357453461736441 + ], + "orientation": [ + 0.16645461320877075, + 0.14257143437862396, + 0.7146503329277039, + 0.6642599105834961 + ], + "joints": [ + 0.025051172822713852 + ] + }, + "final_grasp": { + "position": [ + -0.07684972882270813, + -0.09889286756515503, + 0.007357453461736441 + ], + "orientation": [ + 0.16645461320877075, + 0.14257143437862396, + 0.7146503329277039, + 0.6642599105834961 + ], + "joints": [ + 0.017904136329889297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09510568529367447, + 0.17380613088607788, + -0.006498564966022968 + ], + "orientation": [ + 0.17028793692588806, + -0.21312008798122406, + -0.651545524597168, + 0.7078631520271301 + ], + "joints": [ + 0.03215189650654793 + ] + }, + "fine_grasp": { + "position": [ + 0.09216848015785217, + 0.17103222012519836, + -0.006331537384539843 + ], + "orientation": [ + 0.17808488011360168, + -0.22040678560733795, + -0.6508926153182983, + 0.7043049335479736 + ], + "joints": [ + 0.0241689495742321 + ] + }, + "final_grasp": { + "position": [ + 0.09216848015785217, + 0.17103222012519836, + -0.006331537384539843 + ], + "orientation": [ + 0.17808488011360168, + -0.22040678560733795, + -0.6508926153182983, + 0.7043049335479736 + ], + "joints": [ + 0.016186002641916275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11766532808542252, + 0.13453494012355804, + -0.020846685394644737 + ], + "orientation": [ + 0.6774592399597168, + 0.6136578917503357, + 0.22987528145313263, + 0.3341112434864044 + ], + "joints": [ + 0.03189718723297119 + ] + }, + "fine_grasp": { + "position": [ + -0.11395543068647385, + 0.13343720138072968, + -0.019780540838837624 + ], + "orientation": [ + 0.6753642559051514, + 0.6088832020759583, + 0.23967023193836212, + 0.3401506543159485 + ], + "joints": [ + 0.023914240300655365 + ] + }, + "final_grasp": { + "position": [ + -0.11395543068647385, + 0.13343720138072968, + -0.019780540838837624 + ], + "orientation": [ + 0.6753642559051514, + 0.6088832020759583, + 0.23967023193836212, + 0.3401506543159485 + ], + "joints": [ + 0.01593129336833954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0949716717004776, + -0.08641596883535385, + -0.01964995451271534 + ], + "orientation": [ + 0.6941784024238586, + -0.588620662689209, + -0.2941378653049469, + 0.2917618453502655 + ], + "joints": [ + 0.0315486304461956 + ] + }, + "fine_grasp": { + "position": [ + 0.09350599348545074, + -0.08278165012598038, + -0.018706388771533966 + ], + "orientation": [ + 0.6983341574668884, + -0.5926055312156677, + -0.28287172317504883, + 0.2848363220691681 + ], + "joints": [ + 0.02396273985505104 + ] + }, + "final_grasp": { + "position": [ + 0.09350599348545074, + -0.08278165012598038, + -0.018706388771533966 + ], + "orientation": [ + 0.6983341574668884, + -0.5926055312156677, + -0.28287172317504883, + 0.2848363220691681 + ], + "joints": [ + 0.01637684926390648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09547124803066254, + -0.08663949370384216, + -0.019806308671832085 + ], + "orientation": [ + 0.6923725008964539, + -0.5898861289024353, + -0.2902393043041229, + 0.29734790325164795 + ], + "joints": [ + 0.03152547404170036 + ] + }, + "fine_grasp": { + "position": [ + 0.09400787949562073, + -0.08302757143974304, + -0.01893795095384121 + ], + "orientation": [ + 0.6963051557540894, + -0.5941097736358643, + -0.279285728931427, + 0.2901587188243866 + ], + "joints": [ + 0.023542527109384537 + ] + }, + "final_grasp": { + "position": [ + 0.09400787949562073, + -0.08302757143974304, + -0.01893795095384121 + ], + "orientation": [ + 0.6963051557540894, + -0.5941097736358643, + -0.279285728931427, + 0.2901587188243866 + ], + "joints": [ + 0.01555958017706871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09302732348442078, + -0.08597811311483383, + -0.01936287060379982 + ], + "orientation": [ + 0.6915280222892761, + -0.5867195129394531, + -0.2981831133365631, + 0.2977179288864136 + ], + "joints": [ + 0.031061144545674324 + ] + }, + "fine_grasp": { + "position": [ + 0.09168694913387299, + -0.08219236880540848, + -0.018627267330884933 + ], + "orientation": [ + 0.695703387260437, + -0.5923895835876465, + -0.2860078513622284, + 0.28856706619262695 + ], + "joints": [ + 0.023517051711678505 + ] + }, + "final_grasp": { + "position": [ + 0.09168694913387299, + -0.08219236880540848, + -0.018627267330884933 + ], + "orientation": [ + 0.695703387260437, + -0.5923895835876465, + -0.2860078513622284, + 0.28856706619262695 + ], + "joints": [ + 0.015972958877682686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08441152423620224, + 0.1742744743824005, + 0.0057189976796507835 + ], + "orientation": [ + 0.6991396546363831, + 0.6697987914085388, + -0.2345626801252365, + -0.08691183477640152 + ], + "joints": [ + 0.03055417723953724 + ] + }, + "fine_grasp": { + "position": [ + 0.08144652098417282, + 0.17131966352462769, + 0.005136755760759115 + ], + "orientation": [ + 0.6922426223754883, + 0.6718296408653259, + -0.24241086840629578, + -0.10335420072078705 + ], + "joints": [ + 0.02303098328411579 + ] + }, + "final_grasp": { + "position": [ + 0.08144652098417282, + 0.17131966352462769, + 0.005136755760759115 + ], + "orientation": [ + 0.6922426223754883, + 0.6718296408653259, + -0.24241086840629578, + -0.10335420072078705 + ], + "joints": [ + 0.015507789328694344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015857655555009842, + -0.11831755191087723, + -0.03006068617105484 + ], + "orientation": [ + 0.779818594455719, + -0.6200404763221741, + 0.07574724406003952, + 0.04117276147007942 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.015278225764632225, + -0.11450151354074478, + -0.02898581139743328 + ], + "orientation": [ + 0.7769797444343567, + -0.6236661076545715, + 0.07126501202583313, + 0.047585006803274155 + ], + "joints": [ + 0.023721009492874146 + ] + }, + "final_grasp": { + "position": [ + 0.015278225764632225, + -0.11450151354074478, + -0.02898581139743328 + ], + "orientation": [ + 0.7769797444343567, + -0.6236661076545715, + 0.07126501202583313, + 0.047585006803274155 + ], + "joints": [ + 0.014525994658470154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10395845025777817, + 0.16602985560894012, + 0.01195150800049305 + ], + "orientation": [ + 0.6399809718132019, + 0.6995512247085571, + -0.23147009313106537, + -0.21788515150547028 + ], + "joints": [ + 0.032360292971134186 + ] + }, + "fine_grasp": { + "position": [ + 0.10091420263051987, + 0.1635524332523346, + 0.011578191071748734 + ], + "orientation": [ + 0.6368920803070068, + 0.6977883577346802, + -0.2388157695531845, + -0.22455967962741852 + ], + "joints": [ + 0.02437734603881836 + ] + }, + "final_grasp": { + "position": [ + 0.10091420263051987, + 0.1635524332523346, + 0.011578191071748734 + ], + "orientation": [ + 0.6368920803070068, + 0.6977883577346802, + -0.2388157695531845, + -0.22455967962741852 + ], + "joints": [ + 0.016394399106502533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006389257963746786, + -0.10958150774240494, + -0.003346493234857917 + ], + "orientation": [ + 0.5422601699829102, + -0.44868800044059753, + 0.4800318479537964, + 0.523643434047699 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.006164977326989174, + -0.10560467094182968, + -0.0030870873015373945 + ], + "orientation": [ + 0.5412394404411316, + -0.4492427706718445, + 0.4809996783733368, + 0.5233356356620789 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + -0.006164977326989174, + -0.10560467094182968, + -0.0030870873015373945 + ], + "orientation": [ + 0.5412394404411316, + -0.4492427706718445, + 0.4809996783733368, + 0.5233356356620789 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.137528657913208, + -0.015831205993890762, + -0.0007560296799056232 + ], + "orientation": [ + 0.48830556869506836, + 0.4320984482765198, + 0.5566008687019348, + 0.514824390411377 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + -0.13346454501152039, + -0.015133501030504704, + -0.0009822022402659059 + ], + "orientation": [ + 0.48640915751457214, + 0.43150976300239563, + 0.557604193687439, + 0.5160263180732727 + ], + "joints": [ + 0.025714684277772903 + ] + }, + "final_grasp": { + "position": [ + -0.13346454501152039, + -0.015133501030504704, + -0.0009822022402659059 + ], + "orientation": [ + 0.48640915751457214, + 0.43150976300239563, + 0.557604193687439, + 0.5160263180732727 + ], + "joints": [ + 0.017355579882860184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01178645994514227, + 0.17709246277809143, + -0.06584466993808746 + ], + "orientation": [ + 0.5670859217643738, + 0.4053513705730438, + 0.4627764821052551, + -0.5476692914962769 + ], + "joints": [ + 0.026918770745396614 + ] + }, + "fine_grasp": { + "position": [ + -0.011223295703530312, + 0.17465580999851227, + -0.06271015852689743 + ], + "orientation": [ + 0.5743692517280579, + 0.3967660069465637, + 0.45272937417030334, + -0.5547186732292175 + ], + "joints": [ + 0.020210588350892067 + ] + }, + "final_grasp": { + "position": [ + -0.011223295703530312, + 0.17465580999851227, + -0.06271015852689743 + ], + "orientation": [ + 0.5743692517280579, + 0.3967660069465637, + 0.45272937417030334, + -0.5547186732292175 + ], + "joints": [ + 0.01350240595638752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016628960147500038, + -0.11720727384090424, + -0.030441848561167717 + ], + "orientation": [ + 0.7807865738868713, + -0.61854487657547, + 0.07565560936927795, + 0.04528554528951645 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.015962786972522736, + -0.11339764297008514, + -0.029316145926713943 + ], + "orientation": [ + 0.777870774269104, + -0.6222604513168335, + 0.07057137042284012, + 0.05223553255200386 + ], + "joints": [ + 0.02413896471261978 + ] + }, + "final_grasp": { + "position": [ + 0.015962786972522736, + -0.11339764297008514, + -0.029316145926713943 + ], + "orientation": [ + 0.777870774269104, + -0.6222604513168335, + 0.07057137042284012, + 0.05223553255200386 + ], + "joints": [ + 0.015361905097961426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0029061301611363888, + -0.08599096536636353, + -0.10776582360267639 + ], + "orientation": [ + 0.6067190170288086, + -0.2572534680366516, + -0.30938881635665894, + -0.6855590343475342 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + 0.002838751534000039, + -0.08318892121315002, + -0.10484185069799423 + ], + "orientation": [ + 0.6084328293800354, + -0.25581932067871094, + -0.3064042329788208, + -0.6859171986579895 + ], + "joints": [ + 0.02186858467757702 + ] + }, + "final_grasp": { + "position": [ + 0.002838751534000039, + -0.08318892121315002, + -0.10484185069799423 + ], + "orientation": [ + 0.6084328293800354, + -0.25581932067871094, + -0.3064042329788208, + -0.6859171986579895 + ], + "joints": [ + 0.012673569843173027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04091282933950424, + -0.10754786431789398, + -0.011851434595882893 + ], + "orientation": [ + 0.7074857354164124, + -0.6845781803131104, + -0.06336437165737152, + -0.16371144354343414 + ], + "joints": [ + 0.031318310648202896 + ] + }, + "fine_grasp": { + "position": [ + -0.03891922906041145, + -0.10418908298015594, + -0.010692577809095383 + ], + "orientation": [ + 0.7080378532409668, + -0.6827096343040466, + -0.04998309910297394, + -0.17346960306167603 + ], + "joints": [ + 0.02417127415537834 + ] + }, + "final_grasp": { + "position": [ + -0.03891922906041145, + -0.10418908298015594, + -0.010692577809095383 + ], + "orientation": [ + 0.7080378532409668, + -0.6827096343040466, + -0.04998309910297394, + -0.17346960306167603 + ], + "joints": [ + 0.017024237662553787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0018490551738068461, + -0.09623298048973083, + -0.05275845527648926 + ], + "orientation": [ + 0.49450939893722534, + -0.4348818063735962, + -0.4876804053783417, + -0.5731543898582458 + ], + "joints": [ + 0.026895614340901375 + ] + }, + "fine_grasp": { + "position": [ + 0.0009782849811017513, + -0.0943019911646843, + -0.049753978848457336 + ], + "orientation": [ + 0.5105475783348083, + -0.42557960748672485, + -0.4756474196910858, + -0.5761795043945312 + ], + "joints": [ + 0.0202083308249712 + ] + }, + "final_grasp": { + "position": [ + 0.0009782849811017513, + -0.0943019911646843, + -0.049753978848457336 + ], + "orientation": [ + 0.5105475783348083, + -0.42557960748672485, + -0.4756474196910858, + -0.5761795043945312 + ], + "joints": [ + 0.013521047309041023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0063695660792291164, + -0.10985657572746277, + -0.0038472104351967573 + ], + "orientation": [ + 0.5402325391769409, + -0.4500001072883606, + 0.4821188151836395, + 0.5226949453353882 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.00614482956007123, + -0.10587717592716217, + -0.0036071192007511854 + ], + "orientation": [ + 0.5391656756401062, + -0.4504733085632324, + 0.48323512077331543, + 0.5223581194877625 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + -0.00614482956007123, + -0.10587717592716217, + -0.0036071192007511854 + ], + "orientation": [ + 0.5391656756401062, + -0.4504733085632324, + 0.48323512077331543, + 0.5223581194877625 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0018114743288606405, + -0.09372088313102722, + 0.07434234768152237 + ], + "orientation": [ + 0.4219196140766144, + -0.6315752863883972, + -0.5304054617881775, + -0.37651896476745605 + ], + "joints": [ + 0.030494453385472298 + ] + }, + "fine_grasp": { + "position": [ + -0.002250606892630458, + -0.09083123505115509, + 0.07177378237247467 + ], + "orientation": [ + 0.41048040986061096, + -0.6330962181091309, + -0.5435386300086975, + -0.3677780330181122 + ], + "joints": [ + 0.022114450111985207 + ] + }, + "final_grasp": { + "position": [ + -0.002250606892630458, + -0.09083123505115509, + 0.07177378237247467 + ], + "orientation": [ + 0.41048040986061096, + -0.6330962181091309, + -0.5435386300086975, + -0.3677780330181122 + ], + "joints": [ + 0.013734446838498116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0802292600274086, + -0.10218393057584763, + 0.007501956541091204 + ], + "orientation": [ + 0.1517701894044876, + 0.12314713001251221, + 0.7240020632743835, + 0.6615297198295593 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + -0.07730459421873093, + -0.0992002785205841, + 0.007171516306698322 + ], + "orientation": [ + 0.1666027009487152, + 0.1335119903087616, + 0.7200396060943604, + 0.6602734923362732 + ], + "joints": [ + 0.0246864203363657 + ] + }, + "final_grasp": { + "position": [ + -0.07730459421873093, + -0.0992002785205841, + 0.007171516306698322 + ], + "orientation": [ + 0.1666027009487152, + 0.1335119903087616, + 0.7200396060943604, + 0.6602734923362732 + ], + "joints": [ + 0.018772350624203682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0580463781952858, + 0.011916222050786018, + 0.13557305932044983 + ], + "orientation": [ + 0.08345825225114822, + 0.6799138784408569, + -0.6943593621253967, + -0.2204923778772354 + ], + "joints": [ + 0.02863227017223835 + ] + }, + "fine_grasp": { + "position": [ + 0.0564349927008152, + 0.012401467189192772, + 0.13229796290397644 + ], + "orientation": [ + 0.08700193464756012, + 0.6843717098236084, + -0.6918976306915283, + -0.21294081211090088 + ], + "joints": [ + 0.01977161504328251 + ] + }, + "final_grasp": { + "position": [ + 0.0564349927008152, + 0.012401467189192772, + 0.13229796290397644 + ], + "orientation": [ + 0.08700193464756012, + 0.6843717098236084, + -0.6918976306915283, + -0.21294081211090088 + ], + "joints": [ + 0.010910959914326668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004206039477139711, + 0.1759435534477234, + 0.08681674301624298 + ], + "orientation": [ + 0.2973381280899048, + 0.5831350088119507, + -0.683272123336792, + 0.32354697585105896 + ], + "joints": [ + 0.030494453385472298 + ] + }, + "fine_grasp": { + "position": [ + 0.003819130128249526, + 0.17228151857852936, + 0.0851048156619072 + ], + "orientation": [ + 0.3059139847755432, + 0.5813431739807129, + -0.6777179837226868, + 0.33038651943206787 + ], + "joints": [ + 0.022114450111985207 + ] + }, + "final_grasp": { + "position": [ + 0.003819130128249526, + 0.17228151857852936, + 0.0851048156619072 + ], + "orientation": [ + 0.3059139847755432, + 0.5813431739807129, + -0.6777179837226868, + 0.33038651943206787 + ], + "joints": [ + 0.013734446838498116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13194142282009125, + -0.03933924436569214, + 0.023821908980607986 + ], + "orientation": [ + 0.5161651372909546, + -0.6595216989517212, + 0.3976629078388214, + -0.37479159235954285 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.12807756662368774, + -0.03822944685816765, + 0.02291387878358364 + ], + "orientation": [ + 0.5153481364250183, + -0.656985342502594, + 0.39898818731307983, + -0.3789394795894623 + ], + "joints": [ + 0.025505125522613525 + ] + }, + "final_grasp": { + "position": [ + -0.12807756662368774, + -0.03822944685816765, + 0.02291387878358364 + ], + "orientation": [ + 0.5153481364250183, + -0.656985342502594, + 0.39898818731307983, + -0.3789394795894623 + ], + "joints": [ + 0.01672806590795517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13185541331768036, + -0.03916645050048828, + 0.023154806345701218 + ], + "orientation": [ + 0.5161517262458801, + -0.659173309803009, + 0.39567258954048157, + -0.37751954793930054 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.12803059816360474, + -0.03804531693458557, + 0.02227201871573925 + ], + "orientation": [ + 0.5158995985984802, + -0.6565175652503967, + 0.3965531289577484, + -0.3815464675426483 + ], + "joints": [ + 0.025528281927108765 + ] + }, + "final_grasp": { + "position": [ + -0.12803059816360474, + -0.03804531693458557, + 0.02227201871573925 + ], + "orientation": [ + 0.5158995985984802, + -0.6565175652503967, + 0.3965531289577484, + -0.3815464675426483 + ], + "joints": [ + 0.01675122231245041 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13223378360271454, + -0.03918275237083435, + 0.022829996421933174 + ], + "orientation": [ + 0.5173671841621399, + -0.6597134470939636, + 0.39323216676712036, + -0.37746238708496094 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.12840332090854645, + -0.03811914846301079, + 0.02195165306329727 + ], + "orientation": [ + 0.5165319442749023, + -0.6568112373352051, + 0.39444470405578613, + -0.3823704123497009 + ], + "joints": [ + 0.025505125522613525 + ] + }, + "final_grasp": { + "position": [ + -0.12840332090854645, + -0.03811914846301079, + 0.02195165306329727 + ], + "orientation": [ + 0.5165319442749023, + -0.6568112373352051, + 0.39444470405578613, + -0.3823704123497009 + ], + "joints": [ + 0.01672806590795517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13235248625278473, + -0.03921212628483772, + 0.02336585894227028 + ], + "orientation": [ + 0.5190144181251526, + -0.6605238318443298, + 0.3937332332134247, + -0.3732379078865051 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.12849394977092743, + -0.03820937126874924, + 0.022462602704763412 + ], + "orientation": [ + 0.5170615315437317, + -0.6576845049858093, + 0.3955610692501068, + -0.3789854049682617 + ], + "joints": [ + 0.025505125522613525 + ] + }, + "final_grasp": { + "position": [ + -0.12849394977092743, + -0.03820937126874924, + 0.022462602704763412 + ], + "orientation": [ + 0.5170615315437317, + -0.6576845049858093, + 0.3955610692501068, + -0.3789854049682617 + ], + "joints": [ + 0.01672806590795517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13209034502506256, + -0.03917383775115013, + 0.02331281267106533 + ], + "orientation": [ + 0.5183714032173157, + -0.6602349877357483, + 0.3940950632095337, + -0.37425899505615234 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.12819330394268036, + -0.03813938423991203, + 0.022392315790057182 + ], + "orientation": [ + 0.5166230201721191, + -0.6573635935783386, + 0.39574939012527466, + -0.3799421489238739 + ], + "joints": [ + 0.025505125522613525 + ] + }, + "final_grasp": { + "position": [ + -0.12819330394268036, + -0.03813938423991203, + 0.022392315790057182 + ], + "orientation": [ + 0.5166230201721191, + -0.6573635935783386, + 0.39574939012527466, + -0.3799421489238739 + ], + "joints": [ + 0.01672806590795517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004419154953211546, + 0.1757722795009613, + 0.08730746060609818 + ], + "orientation": [ + 0.2964399456977844, + 0.5759296417236328, + -0.6877484917640686, + 0.3277656137943268 + ], + "joints": [ + 0.030970973894000053 + ] + }, + "fine_grasp": { + "position": [ + 0.004072848707437515, + 0.17216934263706207, + 0.08553217351436615 + ], + "orientation": [ + 0.3041958808898926, + 0.574672281742096, + -0.6824783086776733, + 0.33382633328437805 + ], + "joints": [ + 0.022173015400767326 + ] + }, + "final_grasp": { + "position": [ + 0.004072848707437515, + 0.17216934263706207, + 0.08553217351436615 + ], + "orientation": [ + 0.3041958808898926, + 0.574672281742096, + -0.6824783086776733, + 0.33382633328437805 + ], + "joints": [ + 0.0133750569075346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005670157726854086, + -0.12861542403697968, + 0.0008643415058031678 + ], + "orientation": [ + 0.5164327621459961, + -0.5300994515419006, + 0.5004175305366516, + 0.4493040442466736 + ], + "joints": [ + 0.030044754967093468 + ] + }, + "fine_grasp": { + "position": [ + -0.005506537854671478, + -0.12474989891052246, + 0.0007202048436738551 + ], + "orientation": [ + 0.5174166560173035, + -0.5298407077789307, + 0.49990007281303406, + 0.4490531086921692 + ], + "joints": [ + 0.021602055057883263 + ] + }, + "final_grasp": { + "position": [ + -0.005506537854671478, + -0.12474989891052246, + 0.0007202048436738551 + ], + "orientation": [ + 0.5174166560173035, + -0.5298407077789307, + 0.49990007281303406, + 0.4490531086921692 + ], + "joints": [ + 0.013159355148673058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1348825842142105, + 0.008686324581503868, + -0.02120979130268097 + ], + "orientation": [ + 0.6039766669273376, + -0.5125619769096375, + 0.39119863510131836, + -0.46846118569374084 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + -0.1309126615524292, + 0.00903365295380354, + -0.020226411521434784 + ], + "orientation": [ + 0.6013570427894592, + -0.5117664933204651, + 0.3963463306427002, + -0.4683742821216583 + ], + "joints": [ + 0.025736678391695023 + ] + }, + "final_grasp": { + "position": [ + -0.1309126615524292, + 0.00903365295380354, + -0.020226411521434784 + ], + "orientation": [ + 0.6013570427894592, + -0.5117664933204651, + 0.3963463306427002, + -0.4683742821216583 + ], + "joints": [ + 0.016959618777036667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034463562071323395, + -0.0015823596622794867, + -0.1432085782289505 + ], + "orientation": [ + 0.7104194760322571, + -0.17229153215885162, + -0.01648556999862194, + 0.682164192199707 + ], + "joints": [ + 0.030299466103315353 + ] + }, + "fine_grasp": { + "position": [ + 0.033210523426532745, + -0.00131749059073627, + -0.13952293992042542 + ], + "orientation": [ + 0.7102228999137878, + -0.16990230977535248, + -0.01759752444922924, + 0.6829400062561035 + ], + "joints": [ + 0.02189856395125389 + ] + }, + "final_grasp": { + "position": [ + 0.033210523426532745, + -0.00131749059073627, + -0.13952293992042542 + ], + "orientation": [ + 0.7102228999137878, + -0.16990230977535248, + -0.01759752444922924, + 0.6829400062561035 + ], + "joints": [ + 0.013497661799192429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03449469432234764, + -0.0016018045134842396, + -0.14321526885032654 + ], + "orientation": [ + 0.7128950953483582, + -0.17241127789020538, + -0.016366323456168175, + 0.6795492172241211 + ], + "joints": [ + 0.030067911371588707 + ] + }, + "fine_grasp": { + "position": [ + 0.03331882506608963, + -0.0013722246512770653, + -0.13962480425834656 + ], + "orientation": [ + 0.7128182649612427, + -0.17017939686775208, + -0.017381759360432625, + 0.6801669597625732 + ], + "joints": [ + 0.02206406556069851 + ] + }, + "final_grasp": { + "position": [ + 0.03331882506608963, + -0.0013722246512770653, + -0.13962480425834656 + ], + "orientation": [ + 0.7128182649612427, + -0.17017939686775208, + -0.017381759360432625, + 0.6801669597625732 + ], + "joints": [ + 0.014060219749808311 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034306805580854416, + -0.001310617197304964, + -0.14281296730041504 + ], + "orientation": [ + 0.7092812657356262, + -0.17279843986034393, + -0.015759611502289772, + 0.6832367181777954 + ], + "joints": [ + 0.030299466103315353 + ] + }, + "fine_grasp": { + "position": [ + 0.03303045406937599, + -0.0010295116808265448, + -0.1390683650970459 + ], + "orientation": [ + 0.7091119885444641, + -0.17024236917495728, + -0.0166743453592062, + 0.6840319037437439 + ], + "joints": [ + 0.022295620292425156 + ] + }, + "final_grasp": { + "position": [ + 0.03303045406937599, + -0.0010295116808265448, + -0.1390683650970459 + ], + "orientation": [ + 0.7091119885444641, + -0.17024236917495728, + -0.0166743453592062, + 0.6840319037437439 + ], + "joints": [ + 0.014291774481534958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1301872879266739, + 0.10713987052440643, + -0.012903195805847645 + ], + "orientation": [ + 0.6293267011642456, + 0.5390225648880005, + 0.39885419607162476, + 0.39283308386802673 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.12619516253471375, + 0.10630069673061371, + -0.012512192130088806 + ], + "orientation": [ + 0.6274105906486511, + 0.5372849106788635, + 0.4019107520580292, + 0.3951566517353058 + ], + "joints": [ + 0.025341879576444626 + ] + }, + "final_grasp": { + "position": [ + -0.12619516253471375, + 0.10630069673061371, + -0.012512192130088806 + ], + "orientation": [ + 0.6274105906486511, + 0.5372849106788635, + 0.4019107520580292, + 0.3951566517353058 + ], + "joints": [ + 0.016146864742040634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13755597174167633, + -0.02228718064725399, + -0.005498460493981838 + ], + "orientation": [ + 0.4989519417285919, + 0.37868592143058777, + 0.5787116885185242, + 0.5222419500350952 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.1335424929857254, + -0.021412579342722893, + -0.005428825505077839 + ], + "orientation": [ + 0.4977266788482666, + 0.3789699077606201, + 0.5788143277168274, + 0.523090660572052 + ], + "joints": [ + 0.025759834796190262 + ] + }, + "final_grasp": { + "position": [ + -0.1335424929857254, + -0.021412579342722893, + -0.005428825505077839 + ], + "orientation": [ + 0.4977266788482666, + 0.3789699077606201, + 0.5788143277168274, + 0.523090660572052 + ], + "joints": [ + 0.016982775181531906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13758881390094757, + -0.02228507399559021, + -0.0055861156433820724 + ], + "orientation": [ + 0.49797502160072327, + 0.3788563907146454, + 0.5783728957176208, + 0.5234248638153076 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.13357199728488922, + -0.02142459712922573, + -0.005510429851710796 + ], + "orientation": [ + 0.4969659447669983, + 0.37917646765708923, + 0.5784417986869812, + 0.5240753889083862 + ], + "joints": [ + 0.025759834796190262 + ] + }, + "final_grasp": { + "position": [ + -0.13357199728488922, + -0.02142459712922573, + -0.005510429851710796 + ], + "orientation": [ + 0.4969659447669983, + 0.37917646765708923, + 0.5784417986869812, + 0.5240753889083862 + ], + "joints": [ + 0.016982775181531906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13014701008796692, + 0.10709980875253677, + -0.012768694199621677 + ], + "orientation": [ + 0.6294813752174377, + 0.5394310355186462, + 0.39885252714157104, + 0.39202550053596497 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + -0.12619584798812866, + 0.10629863291978836, + -0.012347996234893799 + ], + "orientation": [ + 0.6274813413619995, + 0.5376552939414978, + 0.40219536423683167, + 0.39424970746040344 + ], + "joints": [ + 0.025318723171949387 + ] + }, + "final_grasp": { + "position": [ + -0.12619584798812866, + 0.10629863291978836, + -0.012347996234893799 + ], + "orientation": [ + 0.6274813413619995, + 0.5376552939414978, + 0.40219536423683167, + 0.39424970746040344 + ], + "joints": [ + 0.016123708337545395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12602297961711884, + 0.09955313056707382, + -0.008775078691542149 + ], + "orientation": [ + 0.4156470000743866, + -0.4169592559337616, + -0.5398602485656738, + 0.6016091108322144 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + 0.12208102643489838, + 0.09891454130411148, + -0.00833663810044527 + ], + "orientation": [ + 0.4141603410243988, + -0.4193580150604248, + -0.5385702848434448, + 0.6021230220794678 + ], + "joints": [ + 0.025759834796190262 + ] + }, + "final_grasp": { + "position": [ + 0.12208102643489838, + 0.09891454130411148, + -0.00833663810044527 + ], + "orientation": [ + 0.4141603410243988, + -0.4193580150604248, + -0.5385702848434448, + 0.6021230220794678 + ], + "joints": [ + 0.016982775181531906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0030109428334981203, + 0.1819082796573639, + -0.06074950471520424 + ], + "orientation": [ + 0.4748899042606354, + 0.40364697575569153, + 0.4697052538394928, + -0.6252403855323792 + ], + "joints": [ + 0.02785595692694187 + ] + }, + "fine_grasp": { + "position": [ + 0.0034695728681981564, + 0.178554967045784, + -0.058126043528318405 + ], + "orientation": [ + 0.4839593172073364, + 0.39477869868278503, + 0.4633071720600128, + -0.6287126541137695 + ], + "joints": [ + 0.020332762971520424 + ] + }, + "final_grasp": { + "position": [ + 0.0034695728681981564, + 0.178554967045784, + -0.058126043528318405 + ], + "orientation": [ + 0.4839593172073364, + 0.39477869868278503, + 0.4633071720600128, + -0.6287126541137695 + ], + "joints": [ + 0.012809569016098976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1374669224023819, + -0.0218672938644886, + -0.005494710523635149 + ], + "orientation": [ + 0.4973001778125763, + 0.3773617446422577, + 0.5794760584831238, + 0.5239256024360657 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.13345547020435333, + -0.021066749468445778, + -0.005447425413876772 + ], + "orientation": [ + 0.4968329071998596, + 0.37791070342063904, + 0.5794215798377991, + 0.5240337252616882 + ], + "joints": [ + 0.02596823126077652 + ] + }, + "final_grasp": { + "position": [ + -0.13345547020435333, + -0.021066749468445778, + -0.005447425413876772 + ], + "orientation": [ + 0.4968329071998596, + 0.37791070342063904, + 0.5794215798377991, + 0.5240337252616882 + ], + "joints": [ + 0.017191171646118164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09922812134027481, + 0.16002580523490906, + 0.032171644270420074 + ], + "orientation": [ + 0.12519873678684235, + -0.3773602545261383, + -0.6852738261222839, + 0.610183835029602 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + 0.09666676074266434, + 0.15763860940933228, + 0.031259648501873016 + ], + "orientation": [ + 0.13603843748569489, + -0.3776736855506897, + -0.6872090101242065, + 0.6054749488830566 + ], + "joints": [ + 0.024423658847808838 + ] + }, + "final_grasp": { + "position": [ + 0.09666676074266434, + 0.15763860940933228, + 0.031259648501873016 + ], + "orientation": [ + 0.13603843748569489, + -0.3776736855506897, + -0.6872090101242065, + 0.6054749488830566 + ], + "joints": [ + 0.01644071191549301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11171364039182663, + -0.04046545550227165, + -0.06510303169488907 + ], + "orientation": [ + 0.7503875494003296, + -0.45257171988487244, + -0.24076825380325317, + 0.4172862768173218 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.10866107791662216, + -0.039803434163331985, + -0.0633462592959404 + ], + "orientation": [ + 0.7489919066429138, + -0.450756311416626, + -0.24691960215568542, + 0.41816332936286926 + ], + "joints": [ + 0.024494223296642303 + ] + }, + "final_grasp": { + "position": [ + 0.10866107791662216, + -0.039803434163331985, + -0.0633462592959404 + ], + "orientation": [ + 0.7489919066429138, + -0.450756311416626, + -0.24691960215568542, + 0.41816332936286926 + ], + "joints": [ + 0.01607242226600647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1371825635433197, + 0.05631891265511513, + -0.025567982345819473 + ], + "orientation": [ + 0.585330069065094, + 0.5072247982025146, + -0.378423273563385, + -0.5068604946136475 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.1332218050956726, + 0.05602255463600159, + -0.02457258105278015 + ], + "orientation": [ + 0.5830195546150208, + 0.5064530372619629, + -0.38198673725128174, + -0.5076214671134949 + ], + "joints": [ + 0.02590218186378479 + ] + }, + "final_grasp": { + "position": [ + 0.1332218050956726, + 0.05602255463600159, + -0.02457258105278015 + ], + "orientation": [ + 0.5830195546150208, + 0.5064530372619629, + -0.38198673725128174, + -0.5076214671134949 + ], + "joints": [ + 0.0175221785902977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13711939752101898, + 0.05642613396048546, + -0.025685016065835953 + ], + "orientation": [ + 0.5850027799606323, + 0.5063686370849609, + -0.3792983293533325, + -0.5074399709701538 + ], + "joints": [ + 0.034722134470939636 + ] + }, + "fine_grasp": { + "position": [ + 0.13311123847961426, + 0.05607789382338524, + -0.024707037955522537 + ], + "orientation": [ + 0.5830102562904358, + 0.5055825114250183, + -0.3824103772640228, + -0.5081808567047119 + ], + "joints": [ + 0.02594507485628128 + ] + }, + "final_grasp": { + "position": [ + 0.13311123847961426, + 0.05607789382338524, + -0.024707037955522537 + ], + "orientation": [ + 0.5830102562904358, + 0.5055825114250183, + -0.3824103772640228, + -0.5081808567047119 + ], + "joints": [ + 0.017168015241622925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12809500098228455, + -0.014581498689949512, + -0.052175652235746384 + ], + "orientation": [ + 0.5107128024101257, + 0.34184497594833374, + -0.43057823181152344, + -0.6609969735145569 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.1247449442744255, + -0.014366394840180874, + -0.050355102866888046 + ], + "orientation": [ + 0.5104040503501892, + 0.34494611620903015, + -0.42835715413093567, + -0.6610673666000366 + ], + "joints": [ + 0.027072452008724213 + ] + }, + "final_grasp": { + "position": [ + 0.1247449442744255, + -0.014366394840180874, + -0.050355102866888046 + ], + "orientation": [ + 0.5104040503501892, + 0.34494611620903015, + -0.42835715413093567, + -0.6610673666000366 + ], + "joints": [ + 0.019862718880176544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09996645897626877, + 0.15974794328212738, + 0.03252885863184929 + ], + "orientation": [ + 0.12427706271409988, + -0.38232776522636414, + -0.6826441287994385, + 0.610227644443512 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.09735391288995743, + 0.157266765832901, + 0.03142070770263672 + ], + "orientation": [ + 0.13677871227264404, + -0.38264182209968567, + -0.6846067905426025, + 0.6051366329193115 + ], + "joints": [ + 0.024657469242811203 + ] + }, + "final_grasp": { + "position": [ + 0.09735391288995743, + 0.157266765832901, + 0.03142070770263672 + ], + "orientation": [ + 0.13677871227264404, + -0.38264182209968567, + -0.6846067905426025, + 0.6051366329193115 + ], + "joints": [ + 0.016653623431921005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1245475485920906, + 0.09830519556999207, + -0.013604863546788692 + ], + "orientation": [ + 0.3703162670135498, + -0.48129767179489136, + -0.4653549790382385, + 0.6439434289932251 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.12081888318061829, + 0.0966380313038826, + -0.012845344841480255 + ], + "orientation": [ + 0.36983737349510193, + -0.47457146644592285, + -0.4728388488292694, + 0.6437590718269348 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + 0.12081888318061829, + 0.0966380313038826, + -0.012845344841480255 + ], + "orientation": [ + 0.36983737349510193, + -0.47457146644592285, + -0.4728388488292694, + 0.6437590718269348 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0026055513881146908, + 0.17520475387573242, + -0.07467558979988098 + ], + "orientation": [ + 0.5622562766075134, + 0.3193865120410919, + 0.3635851740837097, + -0.6705713272094727 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.0024832363706082106, + 0.17142213881015778, + -0.07341557741165161 + ], + "orientation": [ + 0.5614279508590698, + 0.3230970501899719, + 0.36751195788383484, + -0.667339563369751 + ], + "joints": [ + 0.022608395665884018 + ] + }, + "final_grasp": { + "position": [ + 0.0024832363706082106, + 0.17142213881015778, + -0.07341557741165161 + ], + "orientation": [ + 0.5614279508590698, + 0.3230970501899719, + 0.36751195788383484, + -0.667339563369751 + ], + "joints": [ + 0.01299542561173439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0143618518486619, + 0.0371234156191349, + 0.14165756106376648 + ], + "orientation": [ + 0.034016743302345276, + 0.7036681175231934, + 0.7082082033157349, + 0.04620936140418053 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.013981294818222523, + 0.03715988248586655, + 0.13778382539749146 + ], + "orientation": [ + 0.03354921191930771, + 0.7033479809761047, + 0.7086136937141418, + 0.045196592807769775 + ], + "joints": [ + 0.022542346268892288 + ] + }, + "final_grasp": { + "position": [ + -0.013981294818222523, + 0.03715988248586655, + 0.13778382539749146 + ], + "orientation": [ + 0.03354921191930771, + 0.7033479809761047, + 0.7086136937141418, + 0.045196592807769775 + ], + "joints": [ + 0.013326432555913925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025723475962877274, + -0.016767803579568863, + 0.1315816342830658 + ], + "orientation": [ + 0.22386431694030762, + -0.7096019387245178, + -0.6645706295967102, + -0.06852593272924423 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.0247952900826931, + -0.01568431220948696, + 0.1279519498348236 + ], + "orientation": [ + 0.21673622727394104, + -0.7066324949264526, + -0.6702874302864075, + -0.06641194224357605 + ], + "joints": [ + 0.022773899137973785 + ] + }, + "final_grasp": { + "position": [ + 0.0247952900826931, + -0.01568431220948696, + 0.1279519498348236 + ], + "orientation": [ + 0.21673622727394104, + -0.7066324949264526, + -0.6702874302864075, + -0.06641194224357605 + ], + "joints": [ + 0.013557985424995422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019898341968655586, + -0.1128692775964737, + -0.013583026826381683 + ], + "orientation": [ + 0.7439450621604919, + -0.667107105255127, + 0.03885218873620033, + -0.0020739512983709574 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.019718097522854805, + -0.10882771015167236, + -0.012788914144039154 + ], + "orientation": [ + 0.7423294186592102, + -0.6688849329948425, + 0.03920675069093704, + -0.0017032065661624074 + ], + "joints": [ + 0.025483131408691406 + ] + }, + "final_grasp": { + "position": [ + -0.019718097522854805, + -0.10882771015167236, + -0.012788914144039154 + ], + "orientation": [ + 0.7423294186592102, + -0.6688849329948425, + 0.03920675069093704, + -0.0017032065661624074 + ], + "joints": [ + 0.017124027013778687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0319020040333271, + -0.06680460274219513, + -0.10888709127902985 + ], + "orientation": [ + 0.6066097617149353, + -0.3727301359176636, + -0.2177877575159073, + -0.6675817966461182 + ], + "joints": [ + 0.029581645503640175 + ] + }, + "fine_grasp": { + "position": [ + -0.030774321407079697, + -0.0658150240778923, + -0.10536359250545502 + ], + "orientation": [ + 0.6079944968223572, + -0.36610570549964905, + -0.2111431509256363, + -0.6721071004867554 + ], + "joints": [ + 0.021577799692749977 + ] + }, + "final_grasp": { + "position": [ + -0.030774321407079697, + -0.0658150240778923, + -0.10536359250545502 + ], + "orientation": [ + 0.6079944968223572, + -0.36610570549964905, + -0.2111431509256363, + -0.6721071004867554 + ], + "joints": [ + 0.01357395388185978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11872156709432602, + 0.07396965473890305, + 0.003981153015047312 + ], + "orientation": [ + 0.49290725588798523, + 0.46247196197509766, + -0.5656193494796753, + -0.47247937321662903 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + 0.11715444922447205, + 0.07221553474664688, + 0.004227559082210064 + ], + "orientation": [ + 0.4957563877105713, + 0.47647759318351746, + -0.5487475395202637, + -0.4754692614078522 + ], + "joints": [ + 0.024861417710781097 + ] + }, + "final_grasp": { + "position": [ + 0.11715444922447205, + 0.07221553474664688, + 0.004227559082210064 + ], + "orientation": [ + 0.4957563877105713, + 0.47647759318351746, + -0.5487475395202637, + -0.4754692614078522 + ], + "joints": [ + 0.017756178975105286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015923958271741867, + 0.10694009065628052, + 0.12692326307296753 + ], + "orientation": [ + 0.2508966624736786, + 0.7239026427268982, + 0.6285357475280762, + -0.1340094357728958 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.01478787511587143, + 0.10588812083005905, + 0.12330523878335953 + ], + "orientation": [ + 0.2375975102186203, + 0.7279083132743835, + 0.6306945085525513, + -0.12617960572242737 + ], + "joints": [ + 0.022728748619556427 + ] + }, + "final_grasp": { + "position": [ + -0.01478787511587143, + 0.10588812083005905, + 0.12330523878335953 + ], + "orientation": [ + 0.2375975102186203, + 0.7279083132743835, + 0.6306945085525513, + -0.12617960572242737 + ], + "joints": [ + 0.0139307901263237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10021591931581497, + 0.15948393940925598, + 0.03195398673415184 + ], + "orientation": [ + 0.11769342422485352, + -0.3857029974460602, + -0.6779894828796387, + 0.6145824790000916 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.09750507026910782, + 0.15709012746810913, + 0.030840305611491203 + ], + "orientation": [ + 0.13202673196792603, + -0.3892055153846741, + -0.6786871552467346, + 0.6086638569831848 + ], + "joints": [ + 0.02423616126179695 + ] + }, + "final_grasp": { + "position": [ + 0.09750507026910782, + 0.15709012746810913, + 0.030840305611491203 + ], + "orientation": [ + 0.13202673196792603, + -0.3892055153846741, + -0.6786871552467346, + 0.6086638569831848 + ], + "joints": [ + 0.016274113208055496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017195705324411392, + 0.10694056004285812, + 0.1270885169506073 + ], + "orientation": [ + 0.24947018921375275, + 0.7325472831726074, + 0.6214674711227417, + -0.1221356987953186 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.016338342800736427, + 0.1055586040019989, + 0.12334306538105011 + ], + "orientation": [ + 0.2404683530330658, + 0.7330642342567444, + 0.6253309845924377, + -0.11727245151996613 + ], + "joints": [ + 0.022771641612052917 + ] + }, + "final_grasp": { + "position": [ + -0.016338342800736427, + 0.1055586040019989, + 0.12334306538105011 + ], + "orientation": [ + 0.2404683530330658, + 0.7330642342567444, + 0.6253309845924377, + -0.11727245151996613 + ], + "joints": [ + 0.013576626777648926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017098546028137207, + 0.10675747692584991, + 0.12714627385139465 + ], + "orientation": [ + 0.25185737013816833, + 0.7327516078948975, + 0.6198055148124695, + -0.12443440407514572 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + -0.01594959758222103, + 0.10560264438390732, + 0.1235087439417839 + ], + "orientation": [ + 0.23932868242263794, + 0.7348442673683167, + 0.6234517693519592, + -0.11846375465393066 + ], + "joints": [ + 0.022771641612052917 + ] + }, + "final_grasp": { + "position": [ + -0.01594959758222103, + 0.10560264438390732, + 0.1235087439417839 + ], + "orientation": [ + 0.23932868242263794, + 0.7348442673683167, + 0.6234517693519592, + -0.11846375465393066 + ], + "joints": [ + 0.013576626777648926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11453431099653244, + 0.12286519259214401, + 0.015668120235204697 + ], + "orientation": [ + 0.6131894588470459, + 0.6255011558532715, + 0.41315022110939026, + 0.24910616874694824 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.11109095066785812, + 0.12157634645700455, + 0.014766997657716274 + ], + "orientation": [ + 0.6114137768745422, + 0.6242337226867676, + 0.4116886258125305, + 0.25887808203697205 + ], + "joints": [ + 0.026202041655778885 + ] + }, + "final_grasp": { + "position": [ + -0.11109095066785812, + 0.12157634645700455, + 0.014766997657716274 + ], + "orientation": [ + 0.6114137768745422, + 0.6242337226867676, + 0.4116886258125305, + 0.25887808203697205 + ], + "joints": [ + 0.017404083162546158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11420533061027527, + 0.12312542647123337, + 0.01613227091729641 + ], + "orientation": [ + 0.6137701869010925, + 0.6271359920501709, + 0.4123797118663788, + 0.24480527639389038 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.11071928590536118, + 0.12189721316099167, + 0.014867077581584454 + ], + "orientation": [ + 0.6128369569778442, + 0.6243717670440674, + 0.41167476773262024, + 0.25517594814300537 + ], + "joints": [ + 0.026202041655778885 + ] + }, + "final_grasp": { + "position": [ + -0.11071928590536118, + 0.12189721316099167, + 0.014867077581584454 + ], + "orientation": [ + 0.6128369569778442, + 0.6243717670440674, + 0.41167476773262024, + 0.25517594814300537 + ], + "joints": [ + 0.017404083162546158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11404073238372803, + 0.12300533056259155, + 0.015779128298163414 + ], + "orientation": [ + 0.6141406893730164, + 0.6267092227935791, + 0.411357581615448, + 0.24668163061141968 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.11056391894817352, + 0.12180754542350769, + 0.014552340842783451 + ], + "orientation": [ + 0.6134750247001648, + 0.6239633560180664, + 0.4105282127857208, + 0.2564855217933655 + ], + "joints": [ + 0.02599138766527176 + ] + }, + "final_grasp": { + "position": [ + -0.11056391894817352, + 0.12180754542350769, + 0.014552340842783451 + ], + "orientation": [ + 0.6134750247001648, + 0.6239633560180664, + 0.4105282127857208, + 0.2564855217933655 + ], + "joints": [ + 0.017214328050613403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07571913301944733, + 0.17758692800998688, + -0.0021792452316731215 + ], + "orientation": [ + 0.278259813785553, + -0.01766788214445114, + 0.7156205773353577, + -0.640426754951477 + ], + "joints": [ + 0.032140329480171204 + ] + }, + "fine_grasp": { + "position": [ + -0.07285726070404053, + 0.17451539635658264, + -0.0016645296709612012 + ], + "orientation": [ + 0.28715819120407104, + -0.030553406104445457, + 0.7099506258964539, + -0.6423214077949524 + ], + "joints": [ + 0.024617135524749756 + ] + }, + "final_grasp": { + "position": [ + -0.07285726070404053, + 0.17451539635658264, + -0.0016645296709612012 + ], + "orientation": [ + 0.28715819120407104, + -0.030553406104445457, + 0.7099506258964539, + -0.6423214077949524 + ], + "joints": [ + 0.017093941569328308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11506267637014389, + 0.12526939809322357, + 0.016108734533190727 + ], + "orientation": [ + 0.6187669634819031, + 0.6305477619171143, + 0.40576350688934326, + 0.2342924326658249 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.11140286922454834, + 0.12414683401584625, + 0.015191304497420788 + ], + "orientation": [ + 0.6159859299659729, + 0.6259394884109497, + 0.41059720516204834, + 0.2452976256608963 + ], + "joints": [ + 0.02599138766527176 + ] + }, + "final_grasp": { + "position": [ + -0.11140286922454834, + 0.12414683401584625, + 0.015191304497420788 + ], + "orientation": [ + 0.6159859299659729, + 0.6259394884109497, + 0.41059720516204834, + 0.2452976256608963 + ], + "joints": [ + 0.017214328050613403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10958486795425415, + 0.13995681703090668, + -0.02591218240559101 + ], + "orientation": [ + 0.26994338631629944, + -0.3459622263908386, + 0.5282803177833557, + -0.7268840670585632 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.10661980509757996, + 0.13712993264198303, + -0.02469988726079464 + ], + "orientation": [ + 0.27091526985168457, + -0.3404681384563446, + 0.5347411632537842, + -0.7243881225585938 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + -0.10661980509757996, + 0.13712993264198303, + -0.02469988726079464 + ], + "orientation": [ + 0.27091526985168457, + -0.3404681384563446, + 0.5347411632537842, + -0.7243881225585938 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10910402238368988, + 0.1397612988948822, + -0.025794360786676407 + ], + "orientation": [ + 0.2715320885181427, + -0.34643980860710144, + 0.5283946394920349, + -0.7259813547134399 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.10617794841527939, + 0.13692060112953186, + -0.024547932669520378 + ], + "orientation": [ + 0.27266809344291687, + -0.34064504504203796, + 0.535194993019104, + -0.7233114242553711 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + -0.10617794841527939, + 0.13692060112953186, + -0.024547932669520378 + ], + "orientation": [ + 0.27266809344291687, + -0.34064504504203796, + 0.535194993019104, + -0.7233114242553711 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07568403333425522, + 0.1779281497001648, + -0.0017652339302003384 + ], + "orientation": [ + 0.27971717715263367, + -0.022068705409765244, + 0.7142384052276611, + -0.6411979794502258 + ], + "joints": [ + 0.032800253480672836 + ] + }, + "fine_grasp": { + "position": [ + -0.07296720147132874, + 0.17472977936267853, + -0.0012416304089128971 + ], + "orientation": [ + 0.2869526445865631, + -0.03359254449605942, + 0.7084230780601501, + -0.6439460515975952 + ], + "joints": [ + 0.02527705952525139 + ] + }, + "final_grasp": { + "position": [ + -0.07296720147132874, + 0.17472977936267853, + -0.0012416304089128971 + ], + "orientation": [ + 0.2869526445865631, + -0.03359254449605942, + 0.7084230780601501, + -0.6439460515975952 + ], + "joints": [ + 0.01775386556982994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11432147771120071, + 0.12357962131500244, + 0.015213976614177227 + ], + "orientation": [ + 0.6168763041496277, + 0.6269605755805969, + 0.40844249725341797, + 0.24404679238796234 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.11080184578895569, + 0.12245062738656998, + 0.014173713512718678 + ], + "orientation": [ + 0.6157222986221313, + 0.624039888381958, + 0.40862420201301575, + 0.2539418637752533 + ], + "joints": [ + 0.02599138766527176 + ] + }, + "final_grasp": { + "position": [ + -0.11080184578895569, + 0.12245062738656998, + 0.014173713512718678 + ], + "orientation": [ + 0.6157222986221313, + 0.624039888381958, + 0.40862420201301575, + 0.2539418637752533 + ], + "joints": [ + 0.017214328050613403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08703182637691498, + -0.08680983632802963, + 0.005884319078177214 + ], + "orientation": [ + 0.3440397381782532, + 0.1624884009361267, + -0.7031276226043701, + -0.6007043719291687 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08491937071084976, + -0.08317682892084122, + 0.0050699105486273766 + ], + "orientation": [ + 0.33128151297569275, + 0.16217069327831268, + -0.7024102807044983, + -0.608747124671936 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + 0.08491937071084976, + -0.08317682892084122, + 0.0050699105486273766 + ], + "orientation": [ + 0.33128151297569275, + 0.16217069327831268, + -0.7024102807044983, + -0.608747124671936 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012110148556530476, + -0.11499408632516861, + -0.018631670624017715 + ], + "orientation": [ + 0.46933966875076294, + -0.4888375401496887, + -0.478847473859787, + -0.5580888986587524 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.011722125113010406, + -0.11108581721782684, + -0.01851424016058445 + ], + "orientation": [ + 0.46884897351264954, + -0.4877312481403351, + -0.4806843101978302, + -0.5578902363777161 + ], + "joints": [ + 0.022542346268892288 + ] + }, + "final_grasp": { + "position": [ + -0.011722125113010406, + -0.11108581721782684, + -0.01851424016058445 + ], + "orientation": [ + 0.46884897351264954, + -0.4877312481403351, + -0.4806843101978302, + -0.5578902363777161 + ], + "joints": [ + 0.013326432555913925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08711736649274826, + -0.086802177131176, + 0.005835536867380142 + ], + "orientation": [ + 0.3433602750301361, + 0.16255779564380646, + -0.7030540704727173, + -0.6011602282524109 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08499017357826233, + -0.08317621052265167, + 0.0050224196165800095 + ], + "orientation": [ + 0.33077096939086914, + 0.16248534619808197, + -0.7022186517715454, + -0.6091617941856384 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + 0.08499017357826233, + -0.08317621052265167, + 0.0050224196165800095 + ], + "orientation": [ + 0.33077096939086914, + 0.16248534619808197, + -0.7022186517715454, + -0.6091617941856384 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012066032737493515, + -0.11492197215557098, + -0.018578918650746346 + ], + "orientation": [ + 0.46882662177085876, + -0.4879002273082733, + -0.4793531000614166, + -0.5589057207107544 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.01168462261557579, + -0.11099952459335327, + -0.018464036285877228 + ], + "orientation": [ + 0.46824610233306885, + -0.48665115237236023, + -0.48129573464393616, + -0.5588117837905884 + ], + "joints": [ + 0.02237684279680252 + ] + }, + "final_grasp": { + "position": [ + -0.01168462261557579, + -0.11099952459335327, + -0.018464036285877228 + ], + "orientation": [ + 0.46824610233306885, + -0.48665115237236023, + -0.48129573464393616, + -0.5588117837905884 + ], + "joints": [ + 0.012763872742652893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015341565944254398, + 0.11969781666994095, + 0.12398805469274521 + ], + "orientation": [ + 0.10163632035255432, + 0.674638569355011, + -0.7041947841644287, + 0.19657741487026215 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + -0.015129072591662407, + 0.11811891198158264, + 0.12053073942661285 + ], + "orientation": [ + 0.1005035936832428, + 0.678955078125, + -0.7008746862411499, + 0.19414834678173065 + ], + "joints": [ + 0.02258523926138878 + ] + }, + "final_grasp": { + "position": [ + -0.015129072591662407, + 0.11811891198158264, + 0.12053073942661285 + ], + "orientation": [ + 0.1005035936832428, + 0.678955078125, + -0.7008746862411499, + 0.19414834678173065 + ], + "joints": [ + 0.012972269207239151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13876743614673615, + 0.03643365204334259, + -0.024992041289806366 + ], + "orientation": [ + 0.5455597043037415, + -0.5047315359115601, + 0.3836689591407776, + -0.5480955839157104 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.1348489671945572, + 0.036665432155132294, + -0.02393990382552147 + ], + "orientation": [ + 0.5427030324935913, + -0.5057603120803833, + 0.38642996549606323, + -0.5480436086654663 + ], + "joints": [ + 0.02596823126077652 + ] + }, + "final_grasp": { + "position": [ + -0.1348489671945572, + 0.036665432155132294, + -0.02393990382552147 + ], + "orientation": [ + 0.5427030324935913, + -0.5057603120803833, + 0.38642996549606323, + -0.5480436086654663 + ], + "joints": [ + 0.017191171646118164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008870324119925499, + -0.1086416244506836, + 0.030233679339289665 + ], + "orientation": [ + 0.41786494851112366, + -0.6387078166007996, + 0.5139710903167725, + 0.39150339365005493 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.00829288363456726, + -0.10477267950773239, + 0.029545340687036514 + ], + "orientation": [ + 0.42315319180488586, + -0.6365792155265808, + 0.5119640827178955, + 0.3919197916984558 + ], + "joints": [ + 0.022608395665884018 + ] + }, + "final_grasp": { + "position": [ + 0.00829288363456726, + -0.10477267950773239, + 0.029545340687036514 + ], + "orientation": [ + 0.42315319180488586, + -0.6365792155265808, + 0.5119640827178955, + 0.3919197916984558 + ], + "joints": [ + 0.01299542561173439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13864591717720032, + 0.03622839227318764, + -0.025008730590343475 + ], + "orientation": [ + 0.5455343723297119, + -0.5046044588088989, + 0.38367074728012085, + -0.5482365489006042 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.13470597565174103, + 0.03645878657698631, + -0.023948129266500473 + ], + "orientation": [ + 0.5425635576248169, + -0.5057517290115356, + 0.38650745153427124, + -0.548134982585907 + ], + "joints": [ + 0.02596823126077652 + ] + }, + "final_grasp": { + "position": [ + -0.13470597565174103, + 0.03645878657698631, + -0.023948129266500473 + ], + "orientation": [ + 0.5425635576248169, + -0.5057517290115356, + 0.38650745153427124, + -0.548134982585907 + ], + "joints": [ + 0.017191171646118164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0032174924854189157, + 0.15355868637561798, + 0.1026209220290184 + ], + "orientation": [ + 0.2696320712566376, + 0.7566645741462708, + -0.5576939582824707, + 0.20912857353687286 + ], + "joints": [ + 0.03215189650654793 + ] + }, + "fine_grasp": { + "position": [ + -0.002615615725517273, + 0.15048909187316895, + 0.10023960471153259 + ], + "orientation": [ + 0.27342790365219116, + 0.7484111785888672, + -0.5631533861160278, + 0.21903476119041443 + ], + "joints": [ + 0.022956881672143936 + ] + }, + "final_grasp": { + "position": [ + -0.002615615725517273, + 0.15048909187316895, + 0.10023960471153259 + ], + "orientation": [ + 0.27342790365219116, + 0.7484111785888672, + -0.5631533861160278, + 0.21903476119041443 + ], + "joints": [ + 0.013761866837739944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024063069373369217, + -0.10988234728574753, + -0.037892162799835205 + ], + "orientation": [ + 0.4677785336971283, + -0.4758683443069458, + -0.4197823107242584, + -0.6152359843254089 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.022953616455197334, + -0.10609838366508484, + -0.03739462420344353 + ], + "orientation": [ + 0.468888521194458, + -0.4735606610774994, + -0.4226570129394531, + -0.614202618598938 + ], + "joints": [ + 0.023026350885629654 + ] + }, + "final_grasp": { + "position": [ + -0.022953616455197334, + -0.10609838366508484, + -0.03739462420344353 + ], + "orientation": [ + 0.468888521194458, + -0.4735606610774994, + -0.4226570129394531, + -0.614202618598938 + ], + "joints": [ + 0.013831336051225662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02384837158024311, + -0.1097186952829361, + -0.0380009226500988 + ], + "orientation": [ + 0.46821585297584534, + -0.47547557950019836, + -0.4202679693698883, + -0.6148752570152283 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.022752929478883743, + -0.10593585669994354, + -0.037497106939554214 + ], + "orientation": [ + 0.46938538551330566, + -0.4730786383152008, + -0.42316845059394836, + -0.6138423085212708 + ], + "joints": [ + 0.023212753236293793 + ] + }, + "final_grasp": { + "position": [ + -0.022752929478883743, + -0.10593585669994354, + -0.037497106939554214 + ], + "orientation": [ + 0.46938538551330566, + -0.4730786383152008, + -0.42316845059394836, + -0.6138423085212708 + ], + "joints": [ + 0.014435693621635437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02385285496711731, + -0.10967288911342621, + -0.03784439340233803 + ], + "orientation": [ + 0.4684281647205353, + -0.4755975008010864, + -0.4200805723667145, + -0.6147474646568298 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.022756701335310936, + -0.10589234530925751, + -0.03734968230128288 + ], + "orientation": [ + 0.4696279466152191, + -0.47320136427879333, + -0.42296066880226135, + -0.6137053966522217 + ], + "joints": [ + 0.023212753236293793 + ] + }, + "final_grasp": { + "position": [ + -0.022756701335310936, + -0.10589234530925751, + -0.03734968230128288 + ], + "orientation": [ + 0.4696279466152191, + -0.47320136427879333, + -0.42296066880226135, + -0.6137053966522217 + ], + "joints": [ + 0.014435693621635437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11091289669275284, + 0.13230520486831665, + -0.023060085251927376 + ], + "orientation": [ + 0.7271645665168762, + 0.47366875410079956, + 0.4515858292579651, + 0.2072191685438156 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.10900140553712845, + 0.12979060411453247, + -0.02169482596218586 + ], + "orientation": [ + 0.7318745851516724, + 0.47795432806015015, + 0.4401110112667084, + 0.2054787427186966 + ], + "joints": [ + 0.027071356773376465 + ] + }, + "final_grasp": { + "position": [ + -0.10900140553712845, + 0.12979060411453247, + -0.02169482596218586 + ], + "orientation": [ + 0.7318745851516724, + 0.47795432806015015, + 0.4401110112667084, + 0.2054787427186966 + ], + "joints": [ + 0.020300477743148804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12080319225788116, + -0.048557233065366745, + -0.00803479552268982 + ], + "orientation": [ + 0.5675458908081055, + -0.6235798001289368, + -0.2813006341457367, + 0.45815926790237427 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.11720071732997894, + -0.04661732167005539, + -0.007898899726569653 + ], + "orientation": [ + 0.5725656747817993, + -0.621588408946991, + -0.28590625524520874, + 0.4517233967781067 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + 0.11720071732997894, + -0.04661732167005539, + -0.007898899726569653 + ], + "orientation": [ + 0.5725656747817993, + -0.621588408946991, + -0.28590625524520874, + 0.4517233967781067 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09743183106184006, + 0.15641622245311737, + -0.006910609547048807 + ], + "orientation": [ + 0.35734546184539795, + -0.28371670842170715, + 0.6192876100540161, + -0.6389772295951843 + ], + "joints": [ + 0.03248743340373039 + ] + }, + "fine_grasp": { + "position": [ + -0.09587600827217102, + 0.15256093442440033, + -0.006984562613070011 + ], + "orientation": [ + 0.34497082233428955, + -0.2721709907054901, + 0.6280009150505066, + -0.6422873139381409 + ], + "joints": [ + 0.02571655437350273 + ] + }, + "final_grasp": { + "position": [ + -0.09587600827217102, + 0.15256093442440033, + -0.006984562613070011 + ], + "orientation": [ + 0.34497082233428955, + -0.2721709907054901, + 0.6280009150505066, + -0.6422873139381409 + ], + "joints": [ + 0.01894567534327507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12134317308664322, + -0.03464259207248688, + 0.0377921536564827 + ], + "orientation": [ + 0.17837703227996826, + 0.47911337018013, + -0.6325480937957764, + -0.5818203687667847 + ], + "joints": [ + 0.031920354813337326 + ] + }, + "fine_grasp": { + "position": [ + 0.11778698861598969, + -0.03385819494724274, + 0.03641030564904213 + ], + "orientation": [ + 0.19830049574375153, + 0.4861150085926056, + -0.6273592114448547, + -0.5751431584358215 + ], + "joints": [ + 0.02395830675959587 + ] + }, + "final_grasp": { + "position": [ + 0.11778698861598969, + -0.03385819494724274, + 0.03641030564904213 + ], + "orientation": [ + 0.19830049574375153, + 0.4861150085926056, + -0.6273592114448547, + -0.5751431584358215 + ], + "joints": [ + 0.015996258705854416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008622401393949986, + 0.043581198900938034, + 0.1353030502796173 + ], + "orientation": [ + 0.01182529702782631, + 0.6963421106338501, + 0.7166526317596436, + 0.03710460290312767 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.00881755817681551, + 0.04364868998527527, + 0.13153678178787231 + ], + "orientation": [ + 0.01300459448248148, + 0.6935732364654541, + 0.7192949056625366, + 0.037440888583660126 + ], + "joints": [ + 0.022166188806295395 + ] + }, + "final_grasp": { + "position": [ + -0.00881755817681551, + 0.04364868998527527, + 0.13153678178787231 + ], + "orientation": [ + 0.01300459448248148, + 0.6935732364654541, + 0.7192949056625366, + 0.037440888583660126 + ], + "joints": [ + 0.012574117630720139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12009117007255554, + 0.02849249728024006, + -0.07304349541664124 + ], + "orientation": [ + 0.632086455821991, + -0.3642677664756775, + 0.3189939856529236, + -0.6049947142601013 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.11715374141931534, + 0.028544696047902107, + -0.07109440118074417 + ], + "orientation": [ + 0.6310206651687622, + -0.36498796939849854, + 0.3211185038089752, + -0.6045490503311157 + ], + "joints": [ + 0.024539373815059662 + ] + }, + "final_grasp": { + "position": [ + -0.11715374141931534, + 0.028544696047902107, + -0.07109440118074417 + ], + "orientation": [ + 0.6310206651687622, + -0.36498796939849854, + 0.3211185038089752, + -0.6045490503311157 + ], + "joints": [ + 0.015699617564678192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1322847157716751, + 0.06043418496847153, + -0.03445423021912575 + ], + "orientation": [ + 0.5458846092224121, + -0.3633107542991638, + 0.4818950295448303, + -0.5811992287635803 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.12826968729496002, + 0.06018155440688133, + -0.03303118050098419 + ], + "orientation": [ + 0.5453360080718994, + -0.36767858266830444, + 0.48298871517181396, + -0.5780510902404785 + ], + "joints": [ + 0.02661999687552452 + ] + }, + "final_grasp": { + "position": [ + -0.12826968729496002, + 0.06018155440688133, + -0.03303118050098419 + ], + "orientation": [ + 0.5453360080718994, + -0.36767858266830444, + 0.48298871517181396, + -0.5780510902404785 + ], + "joints": [ + 0.01823999360203743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01967485249042511, + -0.10413958877325058, + -0.010642126202583313 + ], + "orientation": [ + 0.551199197769165, + -0.4823067784309387, + 0.3604022264480591, + 0.5776416063308716 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.019099071621894836, + -0.10029846429824829, + -0.010136106982827187 + ], + "orientation": [ + 0.5520374178886414, + -0.48545005917549133, + 0.3603045642375946, + 0.5742592811584473 + ], + "joints": [ + 0.02256324514746666 + ] + }, + "final_grasp": { + "position": [ + 0.019099071621894836, + -0.10029846429824829, + -0.010136106982827187 + ], + "orientation": [ + 0.5520374178886414, + -0.48545005917549133, + 0.3603045642375946, + 0.5742592811584473 + ], + "joints": [ + 0.013368230313062668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00013676488015335053, + -0.03873758763074875, + -0.12597623467445374 + ], + "orientation": [ + 0.5605905055999756, + -0.09217561036348343, + -0.1495046317577362, + -0.8092530369758606 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.000409131491323933, + -0.03635888174176216, + -0.12320650368928909 + ], + "orientation": [ + 0.5614108443260193, + -0.10321937501430511, + -0.15403157472610474, + -0.80649733543396 + ], + "joints": [ + 0.023841362446546555 + ] + }, + "final_grasp": { + "position": [ + 0.000409131491323933, + -0.03635888174176216, + -0.12320650368928909 + ], + "orientation": [ + 0.5614108443260193, + -0.10321937501430511, + -0.15403157472610474, + -0.80649733543396 + ], + "joints": [ + 0.015461359173059464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10229509323835373, + 0.1423562467098236, + 0.019882215186953545 + ], + "orientation": [ + 0.3118171989917755, + -0.3953143060207367, + 0.6497205495834351, + -0.5695260763168335 + ], + "joints": [ + 0.0330999419093132 + ] + }, + "fine_grasp": { + "position": [ + -0.10033176839351654, + 0.13889643549919128, + 0.01959611102938652 + ], + "orientation": [ + 0.297116219997406, + -0.38427892327308655, + 0.6563158631324768, + -0.5773224830627441 + ], + "joints": [ + 0.025576747953891754 + ] + }, + "final_grasp": { + "position": [ + -0.10033176839351654, + 0.13889643549919128, + 0.01959611102938652 + ], + "orientation": [ + 0.297116219997406, + -0.38427892327308655, + 0.6563158631324768, + -0.5773224830627441 + ], + "joints": [ + 0.018053553998470306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 2.673508060979657e-05, + -0.0385546050965786, + -0.1258368194103241 + ], + "orientation": [ + 0.5605369210243225, + -0.09206385165452957, + -0.14867167174816132, + -0.8094562292098999 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.0003132148121949285, + -0.036129895597696304, + -0.1230936273932457 + ], + "orientation": [ + 0.561456024646759, + -0.10334499180316925, + -0.15390129387378693, + -0.8064746260643005 + ], + "joints": [ + 0.023841362446546555 + ] + }, + "final_grasp": { + "position": [ + 0.0003132148121949285, + -0.036129895597696304, + -0.1230936273932457 + ], + "orientation": [ + 0.561456024646759, + -0.10334499180316925, + -0.15390129387378693, + -0.8064746260643005 + ], + "joints": [ + 0.015461359173059464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15010300278663635, + 0.024788526818156242, + 0.0008147534099407494 + ], + "orientation": [ + 0.5712378025054932, + -0.3887852728366852, + 0.5936845541000366, + -0.4123981297016144 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.14567376673221588, + 0.024726497009396553, + 0.0008304038783535361 + ], + "orientation": [ + 0.5729829668998718, + -0.3880324959754944, + 0.5940276384353638, + -0.4101859927177429 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + -0.14567376673221588, + 0.024726497009396553, + 0.0008304038783535361 + ], + "orientation": [ + 0.5729829668998718, + -0.3880324959754944, + 0.5940276384353638, + -0.4101859927177429 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15021583437919617, + 0.02499564178287983, + 0.0005414184997789562 + ], + "orientation": [ + 0.5721599459648132, + -0.3882220387458801, + 0.593238353729248, + -0.4122922122478485 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.14578665792942047, + 0.024926677346229553, + 0.0005620505544357002 + ], + "orientation": [ + 0.5739285349845886, + -0.3872910439968109, + 0.593646228313446, + -0.41011688113212585 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + -0.14578665792942047, + 0.024926677346229553, + 0.0005620505544357002 + ], + "orientation": [ + 0.5739285349845886, + -0.3872910439968109, + 0.593646228313446, + -0.41011688113212585 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13496486842632294, + 0.04090682044625282, + 0.027216758579015732 + ], + "orientation": [ + 0.4501816928386688, + 0.4971086084842682, + -0.6005370616912842, + -0.4354017376899719 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.13087041676044464, + 0.04104464501142502, + 0.026271414011716843 + ], + "orientation": [ + 0.4542129933834076, + 0.494055837392807, + -0.6004372835159302, + -0.43482694029808044 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + 0.13087041676044464, + 0.04104464501142502, + 0.026271414011716843 + ], + "orientation": [ + 0.4542129933834076, + 0.494055837392807, + -0.6004372835159302, + -0.43482694029808044 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13497662544250488, + 0.040928833186626434, + 0.027279717847704887 + ], + "orientation": [ + 0.44967296719551086, + 0.49645957350730896, + -0.6012714505195618, + -0.43565431237220764 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.1308806985616684, + 0.04107210040092468, + 0.026329822838306427 + ], + "orientation": [ + 0.4537098705768585, + 0.4934367537498474, + -0.6011385917663574, + -0.435086190700531 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + 0.1308806985616684, + 0.04107210040092468, + 0.026329822838306427 + ], + "orientation": [ + 0.4537098705768585, + 0.4934367537498474, + -0.6011385917663574, + -0.435086190700531 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12062423676252365, + 0.07943857461214066, + -0.06837980449199677 + ], + "orientation": [ + 0.5262471437454224, + -0.304200142621994, + 0.3966439962387085, + -0.6878951191902161 + ], + "joints": [ + 0.03363383933901787 + ] + }, + "fine_grasp": { + "position": [ + -0.11759074032306671, + 0.07931526750326157, + -0.06659242510795593 + ], + "orientation": [ + 0.526425302028656, + -0.30850350856781006, + 0.39529943466186523, + -0.6866151094436646 + ], + "joints": [ + 0.0247940830886364 + ] + }, + "final_grasp": { + "position": [ + -0.11759074032306671, + 0.07931526750326157, + -0.06659242510795593 + ], + "orientation": [ + 0.526425302028656, + -0.30850350856781006, + 0.39529943466186523, + -0.6866151094436646 + ], + "joints": [ + 0.01595432683825493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1205870658159256, + 0.0794709101319313, + -0.06845714896917343 + ], + "orientation": [ + 0.5261546969413757, + -0.30387407541275024, + 0.3966246247291565, + -0.6881211996078491 + ], + "joints": [ + 0.03340228646993637 + ] + }, + "fine_grasp": { + "position": [ + -0.11754709482192993, + 0.0793134868144989, + -0.06664680689573288 + ], + "orientation": [ + 0.5262899398803711, + -0.30818602442741394, + 0.3953336775302887, + -0.6868417859077454 + ], + "joints": [ + 0.024959586560726166 + ] + }, + "final_grasp": { + "position": [ + -0.11754709482192993, + 0.0793134868144989, + -0.06664680689573288 + ], + "orientation": [ + 0.5262899398803711, + -0.30818602442741394, + 0.3953336775302887, + -0.6868417859077454 + ], + "joints": [ + 0.01651688665151596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03790123015642166, + -0.04438621550798416, + -0.11810439079999924 + ], + "orientation": [ + 0.7426318526268005, + -0.07997142523527145, + 0.2681371569633484, + 0.6084446310997009 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.036440491676330566, + -0.04297913238406181, + -0.11494637280702591 + ], + "orientation": [ + 0.740960955619812, + -0.07984261214733124, + 0.2657466232776642, + 0.6115397214889526 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + -0.036440491676330566, + -0.04297913238406181, + -0.11494637280702591 + ], + "orientation": [ + 0.740960955619812, + -0.07984261214733124, + 0.2657466232776642, + 0.6115397214889526 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02135135978460312, + 0.1691713035106659, + -0.065152108669281 + ], + "orientation": [ + 0.5143096446990967, + 0.3715236186981201, + 0.3369959890842438, + -0.6956215500831604 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.020241716876626015, + 0.1655452996492386, + -0.06427108496427536 + ], + "orientation": [ + 0.5154987573623657, + 0.3745134174823761, + 0.34127411246299744, + -0.6910372972488403 + ], + "joints": [ + 0.023907411843538284 + ] + }, + "final_grasp": { + "position": [ + 0.020241716876626015, + 0.1655452996492386, + -0.06427108496427536 + ], + "orientation": [ + 0.5154987573623657, + 0.3745134174823761, + 0.34127411246299744, + -0.6910372972488403 + ], + "joints": [ + 0.015130352228879929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0213638823479414, + 0.16909141838550568, + -0.06527049839496613 + ], + "orientation": [ + 0.514302670955658, + 0.37175825238227844, + 0.3370790183544159, + -0.6954612135887146 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.02025880664587021, + 0.16547419130802155, + -0.06438276916742325 + ], + "orientation": [ + 0.5155252814292908, + 0.37478214502334595, + 0.3413362205028534, + -0.6908411383628845 + ], + "joints": [ + 0.023907411843538284 + ] + }, + "final_grasp": { + "position": [ + 0.02025880664587021, + 0.16547419130802155, + -0.06438276916742325 + ], + "orientation": [ + 0.5155252814292908, + 0.37478214502334595, + 0.3413362205028534, + -0.6908411383628845 + ], + "joints": [ + 0.015130352228879929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021389011293649673, + 0.16903948783874512, + -0.06498857587575912 + ], + "orientation": [ + 0.5141600370407104, + 0.37126195430755615, + 0.33671581745147705, + -0.696007490158081 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.020276375114917755, + 0.16542166471481323, + -0.06411893665790558 + ], + "orientation": [ + 0.5153408050537109, + 0.3742387592792511, + 0.3410590589046478, + -0.6914100646972656 + ], + "joints": [ + 0.023907411843538284 + ] + }, + "final_grasp": { + "position": [ + 0.020276375114917755, + 0.16542166471481323, + -0.06411893665790558 + ], + "orientation": [ + 0.5153408050537109, + 0.3742387592792511, + 0.3410590589046478, + -0.6914100646972656 + ], + "joints": [ + 0.015130352228879929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13360066711902618, + 0.04083128646016121, + 0.02582472190260887 + ], + "orientation": [ + 0.45162394642829895, + 0.49635061621665955, + -0.5970073342323303, + -0.43960657715797424 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.12989528477191925, + 0.04094024375081062, + 0.025363203138113022 + ], + "orientation": [ + 0.4561181962490082, + 0.4921400249004364, + -0.6000688076019287, + -0.4355131685733795 + ], + "joints": [ + 0.026409342885017395 + ] + }, + "final_grasp": { + "position": [ + 0.12989528477191925, + 0.04094024375081062, + 0.025363203138113022 + ], + "orientation": [ + 0.4561181962490082, + 0.4921400249004364, + -0.6000688076019287, + -0.4355131685733795 + ], + "joints": [ + 0.018050238490104675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12556345760822296, + 0.028283610939979553, + 0.05908886343240738 + ], + "orientation": [ + 0.4216150939464569, + -0.5952618718147278, + 0.606857419013977, + -0.31563910841941833 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.1223580613732338, + 0.028533542528748512, + 0.05742945522069931 + ], + "orientation": [ + 0.42063841223716736, + -0.5917732119560242, + 0.6104812622070312, + -0.31651270389556885 + ], + "joints": [ + 0.027351412922143936 + ] + }, + "final_grasp": { + "position": [ + -0.1223580613732338, + 0.028533542528748512, + 0.05742945522069931 + ], + "orientation": [ + 0.42063841223716736, + -0.5917732119560242, + 0.6104812622070312, + -0.31651270389556885 + ], + "joints": [ + 0.01970282569527626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025522444397211075, + -0.0009504599729552865, + 0.1293638050556183 + ], + "orientation": [ + 0.006368015892803669, + -0.6553460955619812, + -0.7377552390098572, + -0.1618582159280777 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.025035975500941277, + -0.0005189780495129526, + 0.12598316371440887 + ], + "orientation": [ + 0.003196298610419035, + -0.6505021452903748, + -0.7425259351730347, + -0.15966203808784485 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.025035975500941277, + -0.0005189780495129526, + 0.12598316371440887 + ], + "orientation": [ + 0.003196298610419035, + -0.6505021452903748, + -0.7425259351730347, + -0.15966203808784485 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1329578012228012, + 0.04082608222961426, + 0.026948096230626106 + ], + "orientation": [ + 0.4495570957660675, + 0.4977053999900818, + -0.5992259383201599, + -0.43716803193092346 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.12918362021446228, + 0.04093524441123009, + 0.026385778561234474 + ], + "orientation": [ + 0.4539194107055664, + 0.49361369013786316, + -0.6015645861625671, + -0.43407687544822693 + ], + "joints": [ + 0.02601228654384613 + ] + }, + "final_grasp": { + "position": [ + 0.12918362021446228, + 0.04093524441123009, + 0.026385778561234474 + ], + "orientation": [ + 0.4539194107055664, + 0.49361369013786316, + -0.6015645861625671, + -0.43407687544822693 + ], + "joints": [ + 0.017256125807762146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02736469730734825, + -0.03766801208257675, + 0.11754743754863739 + ], + "orientation": [ + 0.2370564341545105, + -0.7156317830085754, + 0.6539218425750732, + 0.06373072415590286 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.026898285374045372, + -0.036955565214157104, + 0.11479785293340683 + ], + "orientation": [ + 0.23806871473789215, + -0.7145378589630127, + 0.6550392508506775, + 0.06068401038646698 + ], + "joints": [ + 0.02432536706328392 + ] + }, + "final_grasp": { + "position": [ + -0.026898285374045372, + -0.036955565214157104, + 0.11479785293340683 + ], + "orientation": [ + 0.23806871473789215, + -0.7145378589630127, + 0.6550392508506775, + 0.06068401038646698 + ], + "joints": [ + 0.0159662626683712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02746928669512272, + -0.037770628929138184, + 0.11750592291355133 + ], + "orientation": [ + 0.23717841506004333, + -0.715485155582428, + 0.6540806293487549, + 0.06329165399074554 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.026812469586730003, + -0.03700656443834305, + 0.11461519449949265 + ], + "orientation": [ + 0.23845866322517395, + -0.7143192887306213, + 0.6551995873451233, + 0.05999187380075455 + ], + "joints": [ + 0.024743322283029556 + ] + }, + "final_grasp": { + "position": [ + -0.026812469586730003, + -0.03700656443834305, + 0.11461519449949265 + ], + "orientation": [ + 0.23845866322517395, + -0.7143192887306213, + 0.6551995873451233, + 0.05999187380075455 + ], + "joints": [ + 0.016802173107862473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0058431923389434814, + 0.1764993518590927, + 0.004181249532848597 + ], + "orientation": [ + 0.6759319305419922, + 0.7102336287498474, + 0.18486662209033966, + -0.06714552640914917 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.004638926591724157, + 0.17407682538032532, + 0.00491573428735137 + ], + "orientation": [ + 0.6824437975883484, + 0.7075410485267639, + 0.16795969009399414, + -0.07379414886236191 + ], + "joints": [ + 0.025744736194610596 + ] + }, + "final_grasp": { + "position": [ + 0.004638926591724157, + 0.17407682538032532, + 0.00491573428735137 + ], + "orientation": [ + 0.6824437975883484, + 0.7075410485267639, + 0.16795969009399414, + -0.07379414886236191 + ], + "joints": [ + 0.01903655380010605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03270574286580086, + 0.17046885192394257, + 0.018145741894841194 + ], + "orientation": [ + 0.658106803894043, + 0.7419022917747498, + -0.11853200197219849, + 0.04925915598869324 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.03108976222574711, + 0.16914844512939453, + 0.01743076741695404 + ], + "orientation": [ + 0.656075656414032, + 0.7430261969566345, + -0.1277102380990982, + 0.034158796072006226 + ], + "joints": [ + 0.02613263949751854 + ] + }, + "final_grasp": { + "position": [ + 0.03108976222574711, + 0.16914844512939453, + 0.01743076741695404 + ], + "orientation": [ + 0.656075656414032, + 0.7430261969566345, + -0.1277102380990982, + 0.034158796072006226 + ], + "joints": [ + 0.018191490322351456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006167310755699873, + 0.05863378569483757, + -0.13131259381771088 + ], + "orientation": [ + 0.6577526926994324, + -0.028001487255096436, + 0.006258085835725069, + -0.7526871562004089 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.005671180784702301, + 0.05863041430711746, + -0.12748613953590393 + ], + "orientation": [ + 0.6501646041870117, + -0.027515970170497894, + 0.005854759365320206, + -0.7592723369598389 + ], + "joints": [ + 0.023026350885629654 + ] + }, + "final_grasp": { + "position": [ + -0.005671180784702301, + 0.05863041430711746, + -0.12748613953590393 + ], + "orientation": [ + 0.6501646041870117, + -0.027515970170497894, + 0.005854759365320206, + -0.7592723369598389 + ], + "joints": [ + 0.013831336051225662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03812123462557793, + 0.048838142305612564, + 0.1375827044248581 + ], + "orientation": [ + 0.05740971863269806, + -0.6276467442512512, + 0.7587440013885498, + -0.16453297436237335 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.036359552294015884, + 0.04831651225686073, + 0.13397535681724548 + ], + "orientation": [ + 0.06066019460558891, + -0.6214643716812134, + 0.7651260495185852, + -0.15711310505867004 + ], + "joints": [ + 0.02402886003255844 + ] + }, + "final_grasp": { + "position": [ + -0.036359552294015884, + 0.04831651225686073, + 0.13397535681724548 + ], + "orientation": [ + 0.06066019460558891, + -0.6214643716812134, + 0.7651260495185852, + -0.15711310505867004 + ], + "joints": [ + 0.01562795788049698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013502382673323154, + 0.04376991093158722, + -0.12753382325172424 + ], + "orientation": [ + 0.7561267018318176, + -0.034479837864637375, + 0.10444680601358414, + 0.6451159119606018 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.012780656106770039, + 0.04380130022764206, + -0.1240154504776001 + ], + "orientation": [ + 0.7623741626739502, + -0.03521142154932022, + 0.10250070691108704, + 0.637996256351471 + ], + "joints": [ + 0.02348945662379265 + ] + }, + "final_grasp": { + "position": [ + -0.012780656106770039, + 0.04380130022764206, + -0.1240154504776001 + ], + "orientation": [ + 0.7623741626739502, + -0.03521142154932022, + 0.10250070691108704, + 0.637996256351471 + ], + "joints": [ + 0.014294441789388657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027412181720137596, + 0.14493970572948456, + 0.08921098709106445 + ], + "orientation": [ + 0.3943006992340088, + 0.6327061653137207, + -0.6291926503181458, + 0.21983300149440765 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.026750830933451653, + 0.14388906955718994, + 0.08679080754518509 + ], + "orientation": [ + 0.38861820101737976, + 0.6285807490348816, + -0.6366721987724304, + 0.22025123238563538 + ], + "joints": [ + 0.023675858974456787 + ] + }, + "final_grasp": { + "position": [ + 0.026750830933451653, + 0.14388906955718994, + 0.08679080754518509 + ], + "orientation": [ + 0.38861820101737976, + 0.6285807490348816, + -0.6366721987724304, + 0.22025123238563538 + ], + "joints": [ + 0.014898799359798431 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030918849632143974, + 0.030809862539172173, + 0.1302604228258133 + ], + "orientation": [ + 0.06941960006952286, + 0.6582837104797363, + -0.7415375709533691, + -0.1093873530626297 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.030175991356372833, + 0.030996324494481087, + 0.12687444686889648 + ], + "orientation": [ + 0.07235676050186157, + 0.6504685878753662, + -0.7481857538223267, + -0.10896378755569458 + ], + "joints": [ + 0.024743322283029556 + ] + }, + "final_grasp": { + "position": [ + 0.030175991356372833, + 0.030996324494481087, + 0.12687444686889648 + ], + "orientation": [ + 0.07235676050186157, + 0.6504685878753662, + -0.7481857538223267, + -0.10896378755569458 + ], + "joints": [ + 0.016802173107862473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03264065831899643, + 0.030682964250445366, + 0.12960554659366608 + ], + "orientation": [ + 0.07381949573755264, + 0.657683789730072, + -0.7409121990203857, + -0.11424529552459717 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.0320005863904953, + 0.030856439843773842, + 0.1261582374572754 + ], + "orientation": [ + 0.07657521218061447, + 0.650648832321167, + -0.7468649744987488, + -0.11395162343978882 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + 0.0320005863904953, + 0.030856439843773842, + 0.1261582374572754 + ], + "orientation": [ + 0.07657521218061447, + 0.650648832321167, + -0.7468649744987488, + -0.11395162343978882 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024754410609602928, + 0.13391591608524323, + 0.10786808282136917 + ], + "orientation": [ + 0.22522731125354767, + 0.7145180702209473, + 0.5796425342559814, + -0.3205479383468628 + ], + "joints": [ + 0.032198209315538406 + ] + }, + "fine_grasp": { + "position": [ + 0.02406233362853527, + 0.13205106556415558, + 0.10449273139238358 + ], + "orientation": [ + 0.22647272050380707, + 0.7237244844436646, + 0.5718663334846497, + -0.3128928542137146 + ], + "joints": [ + 0.02342114970088005 + ] + }, + "final_grasp": { + "position": [ + 0.02406233362853527, + 0.13205106556415558, + 0.10449273139238358 + ], + "orientation": [ + 0.22647272050380707, + 0.7237244844436646, + 0.5718663334846497, + -0.3128928542137146 + ], + "joints": [ + 0.014644090086221695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024247707799077034, + 0.13473841547966003, + 0.10817358642816544 + ], + "orientation": [ + 0.24020639061927795, + 0.7150717973709106, + 0.5694720149040222, + -0.3266112506389618 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.023746531456708908, + 0.13331808149814606, + 0.10476383566856384 + ], + "orientation": [ + 0.23519845306873322, + 0.7243109345436096, + 0.5661479830741882, + -0.3154866099357605 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + 0.023746531456708908, + 0.13331808149814606, + 0.10476383566856384 + ], + "orientation": [ + 0.23519845306873322, + 0.7243109345436096, + 0.5661479830741882, + -0.3154866099357605 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025124752894043922, + 0.1339050531387329, + 0.10878616571426392 + ], + "orientation": [ + 0.2275264859199524, + 0.7078489065170288, + 0.5828544497489929, + -0.3278147578239441 + ], + "joints": [ + 0.03173510357737541 + ] + }, + "fine_grasp": { + "position": [ + 0.02435890957713127, + 0.1321067065000534, + 0.10538215935230255 + ], + "orientation": [ + 0.22595980763435364, + 0.7171117663383484, + 0.5777750015258789, + -0.3175989091396332 + ], + "joints": [ + 0.022937145084142685 + ] + }, + "final_grasp": { + "position": [ + 0.02435890957713127, + 0.1321067065000534, + 0.10538215935230255 + ], + "orientation": [ + 0.22595980763435364, + 0.7171117663383484, + 0.5777750015258789, + -0.3175989091396332 + ], + "joints": [ + 0.014139186590909958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05641157180070877, + 0.010970068164169788, + 0.13829128444194794 + ], + "orientation": [ + 0.0698888748884201, + 0.6950696110725403, + -0.6816446185112, + -0.21761097013950348 + ], + "joints": [ + 0.02724294178187847 + ] + }, + "fine_grasp": { + "position": [ + 0.054850008338689804, + 0.01146550290286541, + 0.13489584624767303 + ], + "orientation": [ + 0.0739428922533989, + 0.7003864049911499, + -0.6782233119010925, + -0.2097725123167038 + ], + "joints": [ + 0.018821140751242638 + ] + }, + "final_grasp": { + "position": [ + 0.054850008338689804, + 0.01146550290286541, + 0.13489584624767303 + ], + "orientation": [ + 0.0739428922533989, + 0.7003864049911499, + -0.6782233119010925, + -0.2097725123167038 + ], + "joints": [ + 0.010399339720606804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06431223452091217, + 0.1542740762233734, + -0.0794290229678154 + ], + "orientation": [ + 0.48317503929138184, + 0.47161510586738586, + -0.1825592815876007, + 0.7146978974342346 + ], + "joints": [ + 0.03380689024925232 + ] + }, + "fine_grasp": { + "position": [ + -0.06195666640996933, + 0.15135784447193146, + -0.07778377830982208 + ], + "orientation": [ + 0.48572903871536255, + 0.4706820845603943, + -0.1845937818288803, + 0.7130573987960815 + ], + "joints": [ + 0.025823943316936493 + ] + }, + "final_grasp": { + "position": [ + -0.06195666640996933, + 0.15135784447193146, + -0.07778377830982208 + ], + "orientation": [ + 0.48572903871536255, + 0.4706820845603943, + -0.1845937818288803, + 0.7130573987960815 + ], + "joints": [ + 0.017840996384620667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03082709014415741, + 0.12015591561794281, + -0.13180005550384521 + ], + "orientation": [ + 0.7119348645210266, + 0.06088622286915779, + -0.22665752470493317, + 0.6618669033050537 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + 0.02978796325623989, + 0.11880084127187729, + -0.128218874335289 + ], + "orientation": [ + 0.7115309834480286, + 0.061790887266397476, + -0.22341503202915192, + 0.6633184552192688 + ], + "joints": [ + 0.022750742733478546 + ] + }, + "final_grasp": { + "position": [ + 0.02978796325623989, + 0.11880084127187729, + -0.128218874335289 + ], + "orientation": [ + 0.7115309834480286, + 0.061790887266397476, + -0.22341503202915192, + 0.6633184552192688 + ], + "joints": [ + 0.013534829020500183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12896695733070374, + 0.04343187436461449, + -0.0031324992887675762 + ], + "orientation": [ + 0.49187055230140686, + 0.409282386302948, + -0.5659394860267639, + -0.5198689103126526 + ], + "joints": [ + 0.03456005081534386 + ] + }, + "fine_grasp": { + "position": [ + 0.12476871907711029, + 0.04377031698822975, + -0.002725222846493125 + ], + "orientation": [ + 0.4945087432861328, + 0.4096950888633728, + -0.5655599236488342, + -0.5174486637115479 + ], + "joints": [ + 0.026618901640176773 + ] + }, + "final_grasp": { + "position": [ + 0.12476871907711029, + 0.04377031698822975, + -0.002725222846493125 + ], + "orientation": [ + 0.4945087432861328, + 0.4096950888633728, + -0.5655599236488342, + -0.5174486637115479 + ], + "joints": [ + 0.01867775246500969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12882068753242493, + 0.043453749269247055, + -0.003103524213656783 + ], + "orientation": [ + 0.4917541444301605, + 0.4092794954776764, + -0.5660445690155029, + -0.5198670625686646 + ], + "joints": [ + 0.034780025482177734 + ] + }, + "fine_grasp": { + "position": [ + 0.12462329864501953, + 0.04379725083708763, + -0.002691412577405572 + ], + "orientation": [ + 0.4944058656692505, + 0.40963220596313477, + -0.5657326579093933, + -0.5174079537391663 + ], + "joints": [ + 0.02683887630701065 + ] + }, + "final_grasp": { + "position": [ + 0.12462329864501953, + 0.04379725083708763, + -0.002691412577405572 + ], + "orientation": [ + 0.4944058656692505, + 0.40963220596313477, + -0.5657326579093933, + -0.5174079537391663 + ], + "joints": [ + 0.018897727131843567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028407221660017967, + -0.11169758439064026, + -0.014337134547531605 + ], + "orientation": [ + 0.7438853979110718, + -0.6624689698219299, + -0.030721403658390045, + 0.08261719346046448 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.028080996125936508, + -0.10762418061494827, + -0.013230123557150364 + ], + "orientation": [ + 0.7409912943840027, + -0.6657922863960266, + -0.02848105877637863, + 0.08271221071481705 + ], + "joints": [ + 0.026550594717264175 + ] + }, + "final_grasp": { + "position": [ + 0.028080996125936508, + -0.10762418061494827, + -0.013230123557150364 + ], + "orientation": [ + 0.7409912943840027, + -0.6657922863960266, + -0.02848105877637863, + 0.08271221071481705 + ], + "joints": [ + 0.019027400761842728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0023544817231595516, + 0.010510308668017387, + -0.16239246726036072 + ], + "orientation": [ + 0.9925083518028259, + -0.02641725353896618, + -0.006687351036816835, + -0.11909930408000946 + ], + "joints": [ + 0.02231062948703766 + ] + }, + "fine_grasp": { + "position": [ + 0.0021791961044073105, + 0.012103571556508541, + -0.15841925144195557 + ], + "orientation": [ + 0.9920288920402527, + -0.03812704607844353, + -0.007327607367187738, + -0.11988050490617752 + ], + "joints": [ + 0.020952269434928894 + ] + }, + "final_grasp": { + "position": [ + 0.0021791961044073105, + 0.012103571556508541, + -0.15841925144195557 + ], + "orientation": [ + 0.9920288920402527, + -0.03812704607844353, + -0.007327607367187738, + -0.11988050490617752 + ], + "joints": [ + 0.01959390938282013 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 127 + } +} \ No newline at end of file diff --git a/113_coffee-box_6/Object.usd b/113_coffee-box_6/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..308237ae1976a556374daa6d5a7cdc731d1c12d1 --- /dev/null +++ b/113_coffee-box_6/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b7657554f822087baa75f8fc339056494bfedcefdcc72ea90a9ffb8e615611f +size 316839 diff --git a/115_perfume_3/Annotation/dex1_1_grasp_pose.json b/115_perfume_3/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..80e7930fe9171422d56b8aa11b70e998004f397a --- /dev/null +++ b/115_perfume_3/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,68 @@ +{ + "type": "115_perfume_3", + "bottom_center": [ + 0.00023731961846351624, + 0.07591579854488373, + -0.04500199854373932 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.1174035370349884, + 0.0993821769952774, + -0.12511925399303436 + ], + "orientation": [ + 0.6495193839073181, + 0.29614320397377014, + 0.09738432615995407, + 0.6934984922409058 + ], + "joints": [ + -0.005954739172011614 + ] + }, + "fine_grasp": { + "position": [ + 0.11272379755973816, + 0.09758852422237396, + -0.12201633304357529 + ], + "orientation": [ + 0.6488932371139526, + 0.27780166268348694, + 0.11755929887294769, + 0.6985296607017517 + ], + "joints": [ + -0.011135882697999477 + ] + }, + "final_grasp": { + "position": [ + 0.11272379755973816, + 0.09758852422237396, + -0.12201633304357529 + ], + "orientation": [ + 0.6488932371139526, + 0.27780166268348694, + 0.11755929887294769, + 0.6985296607017517 + ], + "joints": [ + -0.016317026689648628 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2043, + "num_passed": 1 + } +} \ No newline at end of file diff --git a/115_perfume_3/Annotation/piper_grasp_pose.json b/115_perfume_3/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..d7da2afeb16a30602ea822d0496fa5e1aa543b22 --- /dev/null +++ b/115_perfume_3/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "115_perfume_3", + "bottom_center": [ + 0.00023731961846351624, + 0.07591579854488373, + -0.04500199854373932 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/115_perfume_3/Object.usd b/115_perfume_3/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..246f74300896ab070feb4d79b5be9d66693a880f --- /dev/null +++ b/115_perfume_3/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dafd0adee2ceb7a1da37f770c519490f6c00896f7994bacc865e263dc14ef820 +size 1659616 diff --git a/120_plant_0/Annotation/dex1_1_grasp_pose.json b/120_plant_0/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..0d6172cd6f48c4e88e0fac002d3353762bfeb613 --- /dev/null +++ b/120_plant_0/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,618 @@ +{ + "type": "120_plant_0", + "bottom_center": [ + -0.0015217587351799011, + 0.07595032453536987, + -0.07317504286766052 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.08893043547868729, + -0.031012384220957756, + -0.08257419615983963 + ], + "orientation": [ + 0.34972643852233887, + -0.22661539912223816, + -0.7266932725906372, + -0.5461261868476868 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.08563753217458725, + -0.03084615245461464, + -0.08022966235876083 + ], + "orientation": [ + 0.350969135761261, + -0.2299128770828247, + -0.7181387543678284, + -0.5551914572715759 + ], + "joints": [ + -0.007231689989566803 + ] + }, + "final_grasp": { + "position": [ + -0.08563753217458725, + -0.03084615245461464, + -0.08022966235876083 + ], + "orientation": [ + 0.350969135761261, + -0.2299128770828247, + -0.7181387543678284, + -0.5551914572715759 + ], + "joints": [ + 0.00020790472626686096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08884379267692566, + -0.03138440102338791, + -0.0825110524892807 + ], + "orientation": [ + 0.3496132791042328, + -0.22712945938110352, + -0.7253885269165039, + -0.547717273235321 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.08558563888072968, + -0.031143654137849808, + -0.08021778613328934 + ], + "orientation": [ + 0.3512938618659973, + -0.23009711503982544, + -0.7170177698135376, + -0.5563572645187378 + ], + "joints": [ + -0.006698892451822758 + ] + }, + "final_grasp": { + "position": [ + -0.08558563888072968, + -0.031143654137849808, + -0.08021778613328934 + ], + "orientation": [ + 0.3512938618659973, + -0.23009711503982544, + -0.7170177698135376, + -0.5563572645187378 + ], + "joints": [ + 0.0007141325622797012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08884291350841522, + -0.03108457662165165, + -0.08255857229232788 + ], + "orientation": [ + 0.3495485186576843, + -0.22652970254421234, + -0.726863443851471, + -0.5460490584373474 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.08557994663715363, + -0.030902430415153503, + -0.08022800832986832 + ], + "orientation": [ + 0.3507726192474365, + -0.22992132604122162, + -0.7183877229690552, + -0.5549899935722351 + ], + "joints": [ + -0.007231689989566803 + ] + }, + "final_grasp": { + "position": [ + -0.08557994663715363, + -0.030902430415153503, + -0.08022800832986832 + ], + "orientation": [ + 0.3507726192474365, + -0.22992132604122162, + -0.7183877229690552, + -0.5549899935722351 + ], + "joints": [ + 0.00020790472626686096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0652976706624031, + -0.010904881171882153, + -0.10799166560173035 + ], + "orientation": [ + 0.2085711658000946, + -0.1788950115442276, + -0.7316833734512329, + -0.6238061189651489 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.0644800066947937, + -0.011914928443729877, + -0.10676945745944977 + ], + "orientation": [ + 0.20538224279880524, + -0.18273131549358368, + -0.7248740196228027, + -0.6316525936126709 + ], + "joints": [ + -0.007231689989566803 + ] + }, + "final_grasp": { + "position": [ + -0.0644800066947937, + -0.011914928443729877, + -0.10676945745944977 + ], + "orientation": [ + 0.20538224279880524, + -0.18273131549358368, + -0.7248740196228027, + -0.6316525936126709 + ], + "joints": [ + 0.00020790472626686096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1365867704153061, + 0.04523276165127754, + -0.10648448020219803 + ], + "orientation": [ + 0.11508204787969589, + 0.5566699504852295, + 0.8171860575675964, + 0.09529739618301392 + ], + "joints": [ + -0.004779305774718523 + ] + }, + "fine_grasp": { + "position": [ + -0.13196012377738953, + 0.04846956953406334, + -0.1032475084066391 + ], + "orientation": [ + 0.10964547097682953, + 0.5568931698799133, + 0.8160135746002197, + 0.10940643399953842 + ], + "joints": [ + -0.010465278290212154 + ] + }, + "final_grasp": { + "position": [ + -0.13196012377738953, + 0.04846956953406334, + -0.1032475084066391 + ], + "orientation": [ + 0.10964547097682953, + 0.5568931698799133, + 0.8160135746002197, + 0.10940643399953842 + ], + "joints": [ + -0.016151251271367073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1220623031258583, + 0.016009896993637085, + -0.09836684167385101 + ], + "orientation": [ + 0.029990531504154205, + -0.40758541226387024, + 0.8775265216827393, + 0.25084221363067627 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.11861352622509003, + 0.016854697838425636, + -0.0973970964550972 + ], + "orientation": [ + 0.0285973958671093, + -0.4184078276157379, + 0.8725120425224304, + 0.25067847967147827 + ], + "joints": [ + -0.01899034157395363 + ] + }, + "final_grasp": { + "position": [ + 0.11861352622509003, + 0.016854697838425636, + -0.0973970964550972 + ], + "orientation": [ + 0.0285973958671093, + -0.4184078276157379, + 0.8725120425224304, + 0.25067847967147827 + ], + "joints": [ + -0.017980683594942093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0982268825173378, + -0.013714181259274483, + -0.09339838474988937 + ], + "orientation": [ + 0.9244165420532227, + 0.19881460070610046, + -0.046910643577575684, + 0.3220655620098114 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.0957239642739296, + -0.013188990764319897, + -0.09124155342578888 + ], + "orientation": [ + 0.9252035617828369, + 0.2045692503452301, + -0.034681160002946854, + 0.3177214562892914 + ], + "joints": [ + -0.017927538603544235 + ] + }, + "final_grasp": { + "position": [ + 0.0957239642739296, + -0.013188990764319897, + -0.09124155342578888 + ], + "orientation": [ + 0.9252035617828369, + 0.2045692503452301, + -0.034681160002946854, + 0.3177214562892914 + ], + "joints": [ + -0.015855077654123306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0327715240418911, + -0.021456290036439896, + -0.13436606526374817 + ], + "orientation": [ + 0.2157394289970398, + 0.009264609776437283, + 0.7301828861236572, + 0.6482312083244324 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.03171037137508392, + -0.01932116411626339, + -0.13000406324863434 + ], + "orientation": [ + 0.22659696638584137, + 0.013474651612341404, + 0.727140486240387, + 0.6478725075721741 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + 0.03171037137508392, + -0.01932116411626339, + -0.13000406324863434 + ], + "orientation": [ + 0.22659696638584137, + 0.013474651612341404, + 0.727140486240387, + 0.6478725075721741 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1253255307674408, + -0.023586340248584747, + 0.00788030307739973 + ], + "orientation": [ + 0.6342151761054993, + -0.4100387990474701, + -0.4585742652416229, + -0.46834710240364075 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.12053617835044861, + -0.02292737364768982, + 0.006818336900323629 + ], + "orientation": [ + 0.6342973709106445, + -0.4154317378997803, + -0.44995275139808655, + -0.47183242440223694 + ], + "joints": [ + -0.008351897820830345 + ] + }, + "final_grasp": { + "position": [ + -0.12053617835044861, + -0.02292737364768982, + 0.006818336900323629 + ], + "orientation": [ + 0.6342973709106445, + -0.4154317378997803, + -0.44995275139808655, + -0.47183242440223694 + ], + "joints": [ + -0.0014437027275562286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12528905272483826, + -0.023551112040877342, + 0.007933491840958595 + ], + "orientation": [ + 0.6341837048530579, + -0.4102608859539032, + -0.4585871994495392, + -0.4681825637817383 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.12049973756074905, + -0.022897610440850258, + 0.006867998279631138 + ], + "orientation": [ + 0.6342421174049377, + -0.41567641496658325, + -0.44996336102485657, + -0.47168123722076416 + ], + "joints": [ + -0.008351897820830345 + ] + }, + "final_grasp": { + "position": [ + -0.12049973756074905, + -0.022897610440850258, + 0.006867998279631138 + ], + "orientation": [ + 0.6342421174049377, + -0.41567641496658325, + -0.44996336102485657, + -0.47168123722076416 + ], + "joints": [ + -0.0014437027275562286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12483392655849457, + -0.030805811285972595, + -0.006379157770425081 + ], + "orientation": [ + 0.6184120774269104, + -0.3641761839389801, + -0.5348783135414124, + -0.44592294096946716 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.1208512932062149, + -0.030895737931132317, + -0.006467169616371393 + ], + "orientation": [ + 0.6153445243835449, + -0.3719617426395416, + -0.5267320275306702, + -0.45337507128715515 + ], + "joints": [ + -0.010118317790329456 + ] + }, + "final_grasp": { + "position": [ + -0.1208512932062149, + -0.030895737931132317, + -0.006467169616371393 + ], + "orientation": [ + 0.6153445243835449, + -0.3719617426395416, + -0.5267320275306702, + -0.45337507128715515 + ], + "joints": [ + -0.0032101180404424667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1133335530757904, + 0.03848686441779137, + -0.12838956713676453 + ], + "orientation": [ + 0.7726868987083435, + 0.15473946928977966, + 0.23398615419864655, + 0.5694393515586853 + ], + "joints": [ + -0.006214137189090252 + ] + }, + "fine_grasp": { + "position": [ + 0.10922057181596756, + 0.04021464288234711, + -0.12607502937316895 + ], + "orientation": [ + 0.7746544480323792, + 0.15621253848075867, + 0.22584114968776703, + 0.5696524381637573 + ], + "joints": [ + -0.012404938228428364 + ] + }, + "final_grasp": { + "position": [ + 0.10922057181596756, + 0.04021464288234711, + -0.12607502937316895 + ], + "orientation": [ + 0.7746544480323792, + 0.15621253848075867, + 0.22584114968776703, + 0.5696524381637573 + ], + "joints": [ + -0.01859574019908905 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2041, + "num_passed": 12 + } +} \ No newline at end of file diff --git a/120_plant_0/Annotation/piper_grasp_pose.json b/120_plant_0/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..617a9be1b705b74dd1daa3b433e6263f714cd811 --- /dev/null +++ b/120_plant_0/Annotation/piper_grasp_pose.json @@ -0,0 +1,1018 @@ +{ + "type": "120_plant_0", + "bottom_center": [ + -0.0015217587351799011, + 0.07595032453536987, + -0.07317504286766052 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.11959319561719894, + -0.003550790250301361, + -0.07225970178842545 + ], + "orientation": [ + 0.7164967656135559, + -0.3630599081516266, + 0.34702691435813904, + -0.4841405153274536 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.11617064476013184, + -0.0026046044658869505, + -0.07030009478330612 + ], + "orientation": [ + 0.7177591919898987, + -0.3631630837917328, + 0.34693047404289246, + -0.48225879669189453 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + -0.11617064476013184, + -0.0026046044658869505, + -0.07030009478330612 + ], + "orientation": [ + 0.7177591919898987, + -0.3631630837917328, + 0.34693047404289246, + -0.48225879669189453 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05845259875059128, + 0.005911473650485277, + -0.12962490320205688 + ], + "orientation": [ + 0.6606463193893433, + -0.24001525342464447, + -0.04253479465842247, + 0.7100210189819336 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.05689949542284012, + 0.006796574220061302, + -0.1260700821876526 + ], + "orientation": [ + 0.6601611375808716, + -0.2401903122663498, + -0.042492903769016266, + 0.7104156017303467 + ], + "joints": [ + 0.027811165899038315 + ] + }, + "final_grasp": { + "position": [ + 0.05689949542284012, + 0.006796574220061302, + -0.1260700821876526 + ], + "orientation": [ + 0.6601611375808716, + -0.2401903122663498, + -0.042492903769016266, + 0.7104156017303467 + ], + "joints": [ + 0.020622331649065018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020004864782094955, + -0.07930377870798111, + -0.09676166623830795 + ], + "orientation": [ + 0.7145450711250305, + -0.35340821743011475, + 0.19031456112861633, + 0.5729820132255554 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.019488785415887833, + -0.0767611414194107, + -0.09358429163694382 + ], + "orientation": [ + 0.714532196521759, + -0.3515916168689728, + 0.18727706372737885, + 0.575112521648407 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + 0.019488785415887833, + -0.0767611414194107, + -0.09358429163694382 + ], + "orientation": [ + 0.714532196521759, + -0.3515916168689728, + 0.18727706372737885, + 0.575112521648407 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10246899724006653, + -0.06044561415910721, + -0.0498838908970356 + ], + "orientation": [ + 0.42615535855293274, + 0.24306905269622803, + -0.5076916813850403, + -0.7082077264785767 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.09966081380844116, + -0.05760454759001732, + -0.04837270826101303 + ], + "orientation": [ + 0.42339834570884705, + 0.2379409521818161, + -0.5113938450813293, + -0.7089388966560364 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + 0.09966081380844116, + -0.05760454759001732, + -0.04837270826101303 + ], + "orientation": [ + 0.42339834570884705, + 0.2379409521818161, + -0.5113938450813293, + -0.7089388966560364 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11191532760858536, + -0.060529716312885284, + 0.0006463116151280701 + ], + "orientation": [ + 0.6386925578117371, + -0.5565196871757507, + 0.4664965271949768, + -0.25443828105926514 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.10977496951818466, + -0.05784684047102928, + 0.0009519028244540095 + ], + "orientation": [ + 0.6428680419921875, + -0.5622762441635132, + 0.45667922496795654, + -0.2490186095237732 + ], + "joints": [ + 0.02493307739496231 + ] + }, + "final_grasp": { + "position": [ + -0.10977496951818466, + -0.05784684047102928, + 0.0009519028244540095 + ], + "orientation": [ + 0.6428680419921875, + -0.5622762441635132, + 0.45667922496795654, + -0.2490186095237732 + ], + "joints": [ + 0.016950130462646484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11259032040834427, + -0.060699958354234695, + 0.0008109735208563507 + ], + "orientation": [ + 0.6385485529899597, + -0.5577511787414551, + 0.4643622934818268, + -0.2560019791126251 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.11037541925907135, + -0.0580243282020092, + 0.0011087821330875158 + ], + "orientation": [ + 0.6424236297607422, + -0.563607394695282, + 0.4547678530216217, + -0.25064873695373535 + ], + "joints": [ + 0.02493307739496231 + ] + }, + "final_grasp": { + "position": [ + -0.11037541925907135, + -0.0580243282020092, + 0.0011087821330875158 + ], + "orientation": [ + 0.6424236297607422, + -0.563607394695282, + 0.4547678530216217, + -0.25064873695373535 + ], + "joints": [ + 0.016950130462646484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054857172071933746, + -0.10451720654964447, + -0.04192240163683891 + ], + "orientation": [ + 0.7601025700569153, + -0.592288613319397, + 0.05131802335381508, + -0.26230672001838684 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.053652506321668625, + -0.10073363035917282, + -0.04065227136015892 + ], + "orientation": [ + 0.7588756084442139, + -0.593550443649292, + 0.049022965133190155, + -0.2634434700012207 + ], + "joints": [ + 0.02743500843644142 + ] + }, + "final_grasp": { + "position": [ + -0.053652506321668625, + -0.10073363035917282, + -0.04065227136015892 + ], + "orientation": [ + 0.7588756084442139, + -0.593550443649292, + 0.049022965133190155, + -0.2634434700012207 + ], + "joints": [ + 0.01987001672387123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05183546617627144, + -0.1082042008638382, + -0.00439302995800972 + ], + "orientation": [ + 0.7059848308563232, + -0.689048707485199, + 0.1147707849740982, + -0.11672583222389221 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.05018269643187523, + -0.10473539680242538, + -0.004137102980166674 + ], + "orientation": [ + 0.7040666341781616, + -0.6891518235206604, + 0.11991698294878006, + -0.12239181250333786 + ], + "joints": [ + 0.027180299162864685 + ] + }, + "final_grasp": { + "position": [ + -0.05018269643187523, + -0.10473539680242538, + -0.004137102980166674 + ], + "orientation": [ + 0.7040666341781616, + -0.6891518235206604, + 0.11991698294878006, + -0.12239181250333786 + ], + "joints": [ + 0.019615307450294495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039779696613550186, + -0.11089513450860977, + 0.008892906829714775 + ], + "orientation": [ + 0.6712784171104431, + -0.7306268811225891, + 0.07586130499839783, + -0.09906924515962601 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.038647495210170746, + -0.10680478811264038, + 0.008504300378262997 + ], + "orientation": [ + 0.6721071600914001, + -0.7294690012931824, + 0.07925087213516235, + -0.0993293970823288 + ], + "joints": [ + 0.027455907315015793 + ] + }, + "final_grasp": { + "position": [ + -0.038647495210170746, + -0.10680478811264038, + 0.008504300378262997 + ], + "orientation": [ + 0.6721071600914001, + -0.7294690012931824, + 0.07925087213516235, + -0.0993293970823288 + ], + "joints": [ + 0.019911814481019974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028860654681921005, + -0.006862887647002935, + -0.13533923029899597 + ], + "orientation": [ + 0.7205626368522644, + -0.21907451748847961, + 0.06946295499801636, + 0.654194712638855 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.02813965454697609, + -0.005975126754492521, + -0.13170623779296875 + ], + "orientation": [ + 0.721084713935852, + -0.21781319379806519, + 0.06744199991226196, + 0.6542521119117737 + ], + "joints": [ + 0.027095608413219452 + ] + }, + "final_grasp": { + "position": [ + 0.02813965454697609, + -0.005975126754492521, + -0.13170623779296875 + ], + "orientation": [ + 0.721084713935852, + -0.21781319379806519, + 0.06744199991226196, + 0.6542521119117737 + ], + "joints": [ + 0.019885875284671783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028708746656775475, + -0.0066971746273338795, + -0.13544774055480957 + ], + "orientation": [ + 0.7208389639854431, + -0.2181687355041504, + 0.06931889057159424, + 0.6542084217071533 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.027998214587569237, + -0.005819858517497778, + -0.13181346654891968 + ], + "orientation": [ + 0.7213668823242188, + -0.21689702570438385, + 0.0672498568892479, + 0.6542651653289795 + ], + "joints": [ + 0.027095608413219452 + ] + }, + "final_grasp": { + "position": [ + 0.027998214587569237, + -0.005819858517497778, + -0.13181346654891968 + ], + "orientation": [ + 0.7213668823242188, + -0.21689702570438385, + 0.0672498568892479, + 0.6542651653289795 + ], + "joints": [ + 0.019885875284671783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007532242685556412, + 0.21955759823322296, + 0.10586826503276825 + ], + "orientation": [ + 0.4007701575756073, + 0.7119449973106384, + -0.4775390028953552, + 0.3232245147228241 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.008200151845812798, + 0.21625491976737976, + 0.10338783264160156 + ], + "orientation": [ + 0.39485806226730347, + 0.7075268030166626, + -0.4896264374256134, + 0.3221159279346466 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + 0.008200151845812798, + 0.21625491976737976, + 0.10338783264160156 + ], + "orientation": [ + 0.39485806226730347, + 0.7075268030166626, + -0.4896264374256134, + 0.3221159279346466 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11211688816547394, + -0.06652545183897018, + -0.008981805294752121 + ], + "orientation": [ + 0.6563721299171448, + -0.6334740519523621, + 0.27012425661087036, + -0.3080894947052002 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + -0.10903283953666687, + -0.06497173011302948, + -0.008531895466148853 + ], + "orientation": [ + 0.654113233089447, + -0.6316685676574707, + 0.275727778673172, + -0.31161656975746155 + ], + "joints": [ + 0.025054525583982468 + ] + }, + "final_grasp": { + "position": [ + -0.10903283953666687, + -0.06497173011302948, + -0.008531895466148853 + ], + "orientation": [ + 0.654113233089447, + -0.6316685676574707, + 0.275727778673172, + -0.31161656975746155 + ], + "joints": [ + 0.017447736114263535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02812344580888748, + 0.14682821929454803, + 0.15584298968315125 + ], + "orientation": [ + 0.05573558434844017, + -0.06675410270690918, + -0.9784526824951172, + 0.18726366758346558 + ], + "joints": [ + 0.033020228147506714 + ] + }, + "fine_grasp": { + "position": [ + 0.025403769686818123, + 0.14614790678024292, + 0.15354621410369873 + ], + "orientation": [ + 0.08346697688102722, + -0.06573105603456497, + -0.9763110280036926, + 0.1884928047657013 + ], + "joints": [ + 0.026312045753002167 + ] + }, + "final_grasp": { + "position": [ + 0.025403769686818123, + 0.14614790678024292, + 0.15354621410369873 + ], + "orientation": [ + 0.08346697688102722, + -0.06573105603456497, + -0.9763110280036926, + 0.1884928047657013 + ], + "joints": [ + 0.01960386335849762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007478139363229275, + 0.21939226984977722, + 0.1058005765080452 + ], + "orientation": [ + 0.4003570079803467, + 0.7112453579902649, + -0.47819364070892334, + 0.32430702447891235 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.008219619281589985, + 0.21620211005210876, + 0.10329371690750122 + ], + "orientation": [ + 0.3944655954837799, + 0.7068782448768616, + -0.49053919315338135, + 0.3226318359375 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + 0.008219619281589985, + 0.21620211005210876, + 0.10329371690750122 + ], + "orientation": [ + 0.3944655954837799, + 0.7068782448768616, + -0.49053919315338135, + 0.3226318359375 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09427698701620102, + -0.08173443377017975, + -0.040676992386579514 + ], + "orientation": [ + 0.30213770270347595, + 0.17726267874240875, + -0.5761721730232239, + -0.7384554147720337 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.09173859655857086, + -0.0794954001903534, + -0.0395626425743103 + ], + "orientation": [ + 0.305406779050827, + 0.17952951788902283, + -0.5758678317070007, + -0.7367985844612122 + ], + "joints": [ + 0.025352127850055695 + ] + }, + "final_grasp": { + "position": [ + 0.09173859655857086, + -0.0794954001903534, + -0.0395626425743103 + ], + "orientation": [ + 0.305406779050827, + 0.17952951788902283, + -0.5758678317070007, + -0.7367985844612122 + ], + "joints": [ + 0.017348282039165497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09397472441196442, + -0.0823758915066719, + -0.04009021446108818 + ], + "orientation": [ + 0.30746713280677795, + 0.17391370236873627, + -0.5789766311645508, + -0.7348496913909912 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.09149972349405289, + -0.08009258657693863, + -0.038971565663814545 + ], + "orientation": [ + 0.3100637197494507, + 0.17543132603168488, + -0.5791454911231995, + -0.7332631349563599 + ], + "joints": [ + 0.025352127850055695 + ] + }, + "final_grasp": { + "position": [ + 0.09149972349405289, + -0.08009258657693863, + -0.038971565663814545 + ], + "orientation": [ + 0.3100637197494507, + 0.17543132603168488, + -0.5791454911231995, + -0.7332631349563599 + ], + "joints": [ + 0.017348282039165497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10002841800451279, + -0.06387203186750412, + -0.026300417259335518 + ], + "orientation": [ + 0.3415258526802063, + 0.14990435540676117, + -0.632275402545929, + -0.6790556907653809 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.09675081819295883, + -0.06263547390699387, + -0.025443870574235916 + ], + "orientation": [ + 0.3492397964000702, + 0.1575048416852951, + -0.6282951235771179, + -0.6771034002304077 + ], + "joints": [ + 0.027095608413219452 + ] + }, + "final_grasp": { + "position": [ + 0.09675081819295883, + -0.06263547390699387, + -0.025443870574235916 + ], + "orientation": [ + 0.3492397964000702, + 0.1575048416852951, + -0.6282951235771179, + -0.6771034002304077 + ], + "joints": [ + 0.019885875284671783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16378892958164215, + 0.10942723602056503, + -0.03693987429141998 + ], + "orientation": [ + 0.5656163692474365, + 0.47941941022872925, + -0.4578254222869873, + -0.4905415177345276 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.16121011972427368, + 0.108782097697258, + -0.03794487565755844 + ], + "orientation": [ + 0.5694589018821716, + 0.47772538661956787, + -0.45780184864997864, + -0.4877626299858093 + ], + "joints": [ + 0.027497705072164536 + ] + }, + "final_grasp": { + "position": [ + 0.16121011972427368, + 0.108782097697258, + -0.03794487565755844 + ], + "orientation": [ + 0.5694589018821716, + 0.47772538661956787, + -0.45780184864997864, + -0.4877626299858093 + ], + "joints": [ + 0.01999540999531746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0073710172437131405, + 0.21965645253658295, + 0.10600291937589645 + ], + "orientation": [ + 0.40048426389694214, + 0.7127196788787842, + -0.47679489850997925, + 0.32297030091285706 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.008094911463558674, + 0.21652916073799133, + 0.10350493341684341 + ], + "orientation": [ + 0.3935255706310272, + 0.7090173363685608, + -0.4892081618309021, + 0.32110336422920227 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + 0.008094911463558674, + 0.21652916073799133, + 0.10350493341684341 + ], + "orientation": [ + 0.3935255706310272, + 0.7090173363685608, + -0.4892081618309021, + 0.32110336422920227 + ], + "joints": [ + 0.019117701798677444 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 20 + } +} \ No newline at end of file diff --git a/120_plant_0/Object.usd b/120_plant_0/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..3ef3fb63a5dde7e83103b586cc484dc5217913c5 --- /dev/null +++ b/120_plant_0/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:434fc982b9bebafb806101e9197d2f06e4ed5e29613127f775327bdd7f642505 +size 857208 diff --git a/clutter_baseball_bat_00000/Annotation/dex1_1_grasp_pose.json b/clutter_baseball_bat_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e13e780e545ad23aebb008cedf59a63745589b --- /dev/null +++ b/clutter_baseball_bat_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,21368 @@ +{ + "type": "clutter_baseball_bat_00000", + "bottom_center": [ + -0.000535507220774889, + -9.953044354915619e-06, + -0.044779084622859955 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.07419562339782715, + 0.07519278675317764, + 0.016542891040444374 + ], + "orientation": [ + 0.36386343836784363, + 0.09785468876361847, + -0.2510899603366852, + -0.8916174173355103 + ], + "joints": [ + 0.01121545024216175 + ] + }, + "fine_grasp": { + "position": [ + -0.0721956267952919, + 0.07316915690898895, + 0.018062781542539597 + ], + "orientation": [ + 0.36274662613868713, + 0.09906720370054245, + -0.25016868114471436, + -0.89219731092453 + ], + "joints": [ + 0.01706085167825222 + ] + }, + "final_grasp": { + "position": [ + -0.0721956267952919, + 0.07316915690898895, + 0.018062781542539597 + ], + "orientation": [ + 0.36274662613868713, + 0.09906720370054245, + -0.25016868114471436, + -0.89219731092453 + ], + "joints": [ + 0.02290625311434269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08157140761613846, + -0.07525327801704407, + 0.04392150044441223 + ], + "orientation": [ + 0.894716739654541, + 0.18626843392848969, + -0.09802427142858505, + -0.39392536878585815 + ], + "joints": [ + 0.010485408827662468 + ] + }, + "fine_grasp": { + "position": [ + -0.08025527745485306, + -0.07367807626724243, + 0.04372608661651611 + ], + "orientation": [ + 0.894084632396698, + 0.1889045089483261, + -0.09161943197250366, + -0.3956432640552521 + ], + "joints": [ + 0.016888780519366264 + ] + }, + "final_grasp": { + "position": [ + -0.08025527745485306, + -0.07367807626724243, + 0.04372608661651611 + ], + "orientation": [ + 0.894084632396698, + 0.1889045089483261, + -0.09161943197250366, + -0.3956432640552521 + ], + "joints": [ + 0.02329215221107006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10537600517272949, + -0.04806677624583244, + 0.054782968014478683 + ], + "orientation": [ + 0.8306366801261902, + 0.14680367708206177, + 0.0742809921503067, + 0.5319528579711914 + ], + "joints": [ + 0.010138481855392456 + ] + }, + "fine_grasp": { + "position": [ + 0.10541529953479767, + -0.0478983037173748, + 0.05399031192064285 + ], + "orientation": [ + 0.8323785662651062, + 0.1350635439157486, + 0.07735694944858551, + 0.531902015209198 + ], + "joints": [ + 0.016037024557590485 + ] + }, + "final_grasp": { + "position": [ + 0.10541529953479767, + -0.0478983037173748, + 0.05399031192064285 + ], + "orientation": [ + 0.8323785662651062, + 0.1350635439157486, + 0.07735694944858551, + 0.531902015209198 + ], + "joints": [ + 0.021935567259788513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07658995687961578, + -0.08048650622367859, + 0.04600134119391441 + ], + "orientation": [ + 0.9081116914749146, + 0.18389186263084412, + -0.09075755625963211, + -0.36507517099380493 + ], + "joints": [ + 0.010770140215754509 + ] + }, + "fine_grasp": { + "position": [ + -0.07580176740884781, + -0.07918790727853775, + 0.04529470577836037 + ], + "orientation": [ + 0.9073051810264587, + 0.18662923574447632, + -0.08396478742361069, + -0.3673103451728821 + ], + "joints": [ + 0.016642112284898758 + ] + }, + "final_grasp": { + "position": [ + -0.07580176740884781, + -0.07918790727853775, + 0.04529470577836037 + ], + "orientation": [ + 0.9073051810264587, + 0.18662923574447632, + -0.08396478742361069, + -0.3673103451728821 + ], + "joints": [ + 0.022514084354043007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11602837592363358, + -0.040213290601968765, + 0.07843291759490967 + ], + "orientation": [ + 0.026670578867197037, + 0.5774332880973816, + -0.813361406326294, + -0.06559351086616516 + ], + "joints": [ + 0.010804153978824615 + ] + }, + "fine_grasp": { + "position": [ + 0.11649353802204132, + -0.040468815714120865, + 0.07719244062900543 + ], + "orientation": [ + 0.029262671247124672, + 0.5780313611030579, + -0.81371009349823, + -0.05384602025151253 + ], + "joints": [ + 0.01720752753317356 + ] + }, + "final_grasp": { + "position": [ + 0.11649353802204132, + -0.040468815714120865, + 0.07719244062900543 + ], + "orientation": [ + 0.029262671247124672, + 0.5780313611030579, + -0.81371009349823, + -0.05384602025151253 + ], + "joints": [ + 0.023610901087522507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08224021643400192, + -0.07590138167142868, + 0.043785713613033295 + ], + "orientation": [ + 0.8962141275405884, + 0.18116454780101776, + -0.0934249609708786, + -0.39401954412460327 + ], + "joints": [ + 0.010948458686470985 + ] + }, + "fine_grasp": { + "position": [ + -0.08050069957971573, + -0.07426796108484268, + 0.04456326737999916 + ], + "orientation": [ + 0.894824743270874, + 0.1856229454278946, + -0.09099442511796951, + -0.3956676721572876 + ], + "joints": [ + 0.016820430755615234 + ] + }, + "final_grasp": { + "position": [ + -0.08050069957971573, + -0.07426796108484268, + 0.04456326737999916 + ], + "orientation": [ + 0.894824743270874, + 0.1856229454278946, + -0.09099442511796951, + -0.3956676721572876 + ], + "joints": [ + 0.022692402824759483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0769437849521637, + -0.0801749899983406, + 0.0458400622010231 + ], + "orientation": [ + 0.9071754217147827, + 0.18452458083629608, + -0.09129676222801208, + -0.36694467067718506 + ], + "joints": [ + 0.010724376887083054 + ] + }, + "fine_grasp": { + "position": [ + -0.07583823800086975, + -0.0786181315779686, + 0.0451112799346447 + ], + "orientation": [ + 0.90553879737854, + 0.1918669492006302, + -0.08545208722352982, + -0.36862537264823914 + ], + "joints": [ + 0.01662292145192623 + ] + }, + "final_grasp": { + "position": [ + -0.07583823800086975, + -0.0786181315779686, + 0.0451112799346447 + ], + "orientation": [ + 0.90553879737854, + 0.1918669492006302, + -0.08545208722352982, + -0.36862537264823914 + ], + "joints": [ + 0.02252146601676941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10811106115579605, + -0.036735113710165024, + 0.051767751574516296 + ], + "orientation": [ + 0.8009610772132874, + 0.15572455525398254, + 0.090365931391716, + 0.5710036158561707 + ], + "joints": [ + 0.010031573474407196 + ] + }, + "fine_grasp": { + "position": [ + 0.1079745814204216, + -0.03628535568714142, + 0.05098710581660271 + ], + "orientation": [ + 0.8019163608551025, + 0.14723865687847137, + 0.09577328711748123, + 0.5710327625274658 + ], + "joints": [ + 0.015930114313960075 + ] + }, + "final_grasp": { + "position": [ + 0.1079745814204216, + -0.03628535568714142, + 0.05098710581660271 + ], + "orientation": [ + 0.8019163608551025, + 0.14723865687847137, + 0.09577328711748123, + 0.5710327625274658 + ], + "joints": [ + 0.021828655153512955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05491763725876808, + -0.10773413628339767, + 0.07975955307483673 + ], + "orientation": [ + 0.9701343774795532, + 0.06364854425191879, + 7.140068191802129e-05, + 0.23406878113746643 + ], + "joints": [ + 0.01110793836414814 + ] + }, + "fine_grasp": { + "position": [ + 0.05607650801539421, + -0.10992507636547089, + 0.08024587482213974 + ], + "orientation": [ + 0.9698504209518433, + 0.06529688090085983, + 0.008469117805361748, + 0.23463763296604156 + ], + "joints": [ + 0.017511311918497086 + ] + }, + "final_grasp": { + "position": [ + 0.05607650801539421, + -0.10992507636547089, + 0.08024587482213974 + ], + "orientation": [ + 0.9698504209518433, + 0.06529688090085983, + 0.008469117805361748, + 0.23463763296604156 + ], + "joints": [ + 0.02391468547284603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05545620247721672, + -0.10797933489084244, + 0.07680358737707138 + ], + "orientation": [ + 0.9689443707466125, + 0.07664334028959274, + 0.002330934628844261, + 0.23508942127227783 + ], + "joints": [ + 0.010805487632751465 + ] + }, + "fine_grasp": { + "position": [ + 0.05625065043568611, + -0.1091143786907196, + 0.07721457630395889 + ], + "orientation": [ + 0.9687228202819824, + 0.07658948004245758, + 0.012176894582808018, + 0.23571547865867615 + ], + "joints": [ + 0.01720886118710041 + ] + }, + "final_grasp": { + "position": [ + 0.05625065043568611, + -0.1091143786907196, + 0.07721457630395889 + ], + "orientation": [ + 0.9687228202819824, + 0.07658948004245758, + 0.012176894582808018, + 0.23571547865867615 + ], + "joints": [ + 0.023612234741449356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12252295762300491, + -0.006235042121261358, + 0.044627901166677475 + ], + "orientation": [ + 0.03237507864832878, + 0.6888924837112427, + 0.7237935066223145, + 0.022406667470932007 + ], + "joints": [ + 0.01217138022184372 + ] + }, + "fine_grasp": { + "position": [ + -0.12387722730636597, + -0.006408541463315487, + 0.04403318092226982 + ], + "orientation": [ + 0.026986077427864075, + 0.689012885093689, + 0.7239893078804016, + 0.019299613311886787 + ], + "joints": [ + 0.017618246376514435 + ] + }, + "final_grasp": { + "position": [ + -0.12387722730636597, + -0.006408541463315487, + 0.04403318092226982 + ], + "orientation": [ + 0.026986077427864075, + 0.689012885093689, + 0.7239893078804016, + 0.019299613311886787 + ], + "joints": [ + 0.02306511253118515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05540113151073456, + -0.10807160288095474, + 0.07683026045560837 + ], + "orientation": [ + 0.9689393043518066, + 0.07848038524389267, + 0.0019375819247215986, + 0.23450727760791779 + ], + "joints": [ + 0.010885586962103844 + ] + }, + "fine_grasp": { + "position": [ + 0.05613817274570465, + -0.10925231873989105, + 0.07722045481204987 + ], + "orientation": [ + 0.9687629342079163, + 0.07823427021503448, + 0.011167667806148529, + 0.23505999147891998 + ], + "joints": [ + 0.01728896051645279 + ] + }, + "final_grasp": { + "position": [ + 0.05613817274570465, + -0.10925231873989105, + 0.07722045481204987 + ], + "orientation": [ + 0.9687629342079163, + 0.07823427021503448, + 0.011167667806148529, + 0.23505999147891998 + ], + "joints": [ + 0.023692334070801735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1209743395447731, + -0.023136334493756294, + 0.07859979569911957 + ], + "orientation": [ + 0.7688530683517456, + 0.04011232405900955, + -0.054188892245292664, + -0.635861337184906 + ], + "joints": [ + 0.010105591267347336 + ] + }, + "fine_grasp": { + "position": [ + -0.12057780474424362, + -0.023144256323575974, + 0.07856713980436325 + ], + "orientation": [ + 0.7680742740631104, + 0.04437601938843727, + -0.04547557234764099, + -0.637200653553009 + ], + "joints": [ + 0.016508962959051132 + ] + }, + "final_grasp": { + "position": [ + -0.12057780474424362, + -0.023144256323575974, + 0.07856713980436325 + ], + "orientation": [ + 0.7680742740631104, + 0.04437601938843727, + -0.04547557234764099, + -0.637200653553009 + ], + "joints": [ + 0.02291233465075493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12081679701805115, + -0.02373914048075676, + 0.0787508636713028 + ], + "orientation": [ + 0.7703444957733154, + 0.038513947278261185, + -0.0513901561498642, + -0.6343855857849121 + ], + "joints": [ + 0.010113019496202469 + ] + }, + "fine_grasp": { + "position": [ + -0.12037599086761475, + -0.023866724222898483, + 0.07879112660884857 + ], + "orientation": [ + 0.7702663540840149, + 0.04321248456835747, + -0.043195173144340515, + -0.6347885727882385 + ], + "joints": [ + 0.016516391187906265 + ] + }, + "final_grasp": { + "position": [ + -0.12037599086761475, + -0.023866724222898483, + 0.07879112660884857 + ], + "orientation": [ + 0.7702663540840149, + 0.04321248456835747, + -0.043195173144340515, + -0.6347885727882385 + ], + "joints": [ + 0.02291976287961006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11169019341468811, + -0.05475007742643356, + 0.0938730239868164 + ], + "orientation": [ + 0.014329126104712486, + 0.5291146636009216, + 0.8484083414077759, + -0.005965027026832104 + ], + "joints": [ + 0.010515226051211357 + ] + }, + "fine_grasp": { + "position": [ + -0.11245287209749222, + -0.05496884137392044, + 0.09334912896156311 + ], + "orientation": [ + 0.009435148909687996, + 0.5293469429016113, + 0.8483522534370422, + 0.0011965060839429498 + ], + "joints": [ + 0.01744999922811985 + ] + }, + "final_grasp": { + "position": [ + -0.11245287209749222, + -0.05496884137392044, + 0.09334912896156311 + ], + "orientation": [ + 0.009435148909687996, + 0.5293469429016113, + 0.8483522534370422, + 0.0011965060839429498 + ], + "joints": [ + 0.024384772405028343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12072106450796127, + -0.007948012091219425, + 0.07238560169935226 + ], + "orientation": [ + 0.727502167224884, + 0.07904305309057236, + 0.05001026391983032, + 0.6796998977661133 + ], + "joints": [ + 0.010449416935443878 + ] + }, + "fine_grasp": { + "position": [ + 0.12059983611106873, + -0.00813361257314682, + 0.07215920835733414 + ], + "orientation": [ + 0.7291311025619507, + 0.07225948572158813, + 0.06074744462966919, + 0.6778319478034973 + ], + "joints": [ + 0.016321387141942978 + ] + }, + "final_grasp": { + "position": [ + 0.12059983611106873, + -0.00813361257314682, + 0.07215920835733414 + ], + "orientation": [ + 0.7291311025619507, + 0.07225948572158813, + 0.06074744462966919, + 0.6778319478034973 + ], + "joints": [ + 0.022193357348442078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07325313240289688, + 0.09355903416872025, + 0.0650344118475914 + ], + "orientation": [ + 0.3205721080303192, + 0.024187030270695686, + -0.12605537474155426, + -0.9384874105453491 + ], + "joints": [ + 0.010795189067721367 + ] + }, + "fine_grasp": { + "position": [ + -0.07416348904371262, + 0.09442903101444244, + 0.06597268581390381 + ], + "orientation": [ + 0.3212222754955292, + 0.04104034975171089, + -0.12199857085943222, + -0.9382154941558838 + ], + "joints": [ + 0.016693733632564545 + ] + }, + "final_grasp": { + "position": [ + -0.07416348904371262, + 0.09442903101444244, + 0.06597268581390381 + ], + "orientation": [ + 0.3212222754955292, + 0.04104034975171089, + -0.12199857085943222, + -0.9382154941558838 + ], + "joints": [ + 0.022592278197407722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1208021491765976, + 0.021020760759711266, + 0.082880400121212 + ], + "orientation": [ + 0.6431270837783813, + 0.04513712227344513, + 0.027016490697860718, + 0.7639504075050354 + ], + "joints": [ + 0.010401973500847816 + ] + }, + "fine_grasp": { + "position": [ + 0.12102450430393219, + 0.020959647372364998, + 0.08330156654119492 + ], + "orientation": [ + 0.6442856788635254, + 0.03757982328534126, + 0.03669893369078636, + 0.7629789710044861 + ], + "joints": [ + 0.016300516203045845 + ] + }, + "final_grasp": { + "position": [ + 0.12102450430393219, + 0.020959647372364998, + 0.08330156654119492 + ], + "orientation": [ + 0.6442856788635254, + 0.03757982328534126, + 0.03669893369078636, + 0.7629789710044861 + ], + "joints": [ + 0.022199058905243874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12073788046836853, + 0.021130699664354324, + 0.08314613997936249 + ], + "orientation": [ + 0.6428398489952087, + 0.045784153044223785, + 0.02583775855600834, + 0.7641945481300354 + ], + "joints": [ + 0.010401973500847816 + ] + }, + "fine_grasp": { + "position": [ + 0.12103568762540817, + 0.021066879853606224, + 0.08355417102575302 + ], + "orientation": [ + 0.643963098526001, + 0.03646855428814888, + 0.03655161336064339, + 0.7633122801780701 + ], + "joints": [ + 0.016300516203045845 + ] + }, + "final_grasp": { + "position": [ + 0.12103568762540817, + 0.021066879853606224, + 0.08355417102575302 + ], + "orientation": [ + 0.643963098526001, + 0.03646855428814888, + 0.03655161336064339, + 0.7633122801780701 + ], + "joints": [ + 0.022199058905243874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12079241126775742, + -0.007471147459000349, + 0.07213897258043289 + ], + "orientation": [ + 0.7261004447937012, + 0.0794282928109169, + 0.05096498504281044, + 0.6810812950134277 + ], + "joints": [ + 0.010563855990767479 + ] + }, + "fine_grasp": { + "position": [ + 0.12053310126066208, + -0.007796010468155146, + 0.07230433076620102 + ], + "orientation": [ + 0.7278645038604736, + 0.07557056099176407, + 0.06284063309431076, + 0.6786407232284546 + ], + "joints": [ + 0.01643582619726658 + ] + }, + "final_grasp": { + "position": [ + 0.12053310126066208, + -0.007796010468155146, + 0.07230433076620102 + ], + "orientation": [ + 0.7278645038604736, + 0.07557056099176407, + 0.06284063309431076, + 0.6786407232284546 + ], + "joints": [ + 0.02230779640376568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11897069960832596, + 0.018290601670742035, + 0.06848540157079697 + ], + "orientation": [ + 0.6452809572219849, + 0.0565652921795845, + -0.09794435650110245, + -0.755526065826416 + ], + "joints": [ + 0.010282108560204506 + ] + }, + "fine_grasp": { + "position": [ + -0.1192283108830452, + 0.018168224021792412, + 0.06901327520608902 + ], + "orientation": [ + 0.6448907852172852, + 0.06975183635950089, + -0.09010127931833267, + -0.7557330131530762 + ], + "joints": [ + 0.016180651262402534 + ] + }, + "final_grasp": { + "position": [ + -0.1192283108830452, + 0.018168224021792412, + 0.06901327520608902 + ], + "orientation": [ + 0.6448907852172852, + 0.06975183635950089, + -0.09010127931833267, + -0.7557330131530762 + ], + "joints": [ + 0.022079193964600563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019362470135092735, + -0.12161356210708618, + 0.07050993293523788 + ], + "orientation": [ + 0.021639563143253326, + 0.08013848215341568, + -0.9955385327339172, + -0.0448615662753582 + ], + "joints": [ + 0.011915713548660278 + ] + }, + "fine_grasp": { + "position": [ + 0.01926719769835472, + -0.12294891476631165, + 0.07042354345321655 + ], + "orientation": [ + 0.03636448457837105, + 0.08024372905492783, + -0.9950348734855652, + -0.046305760741233826 + ], + "joints": [ + 0.017787689343094826 + ] + }, + "final_grasp": { + "position": [ + 0.01926719769835472, + -0.12294891476631165, + 0.07042354345321655 + ], + "orientation": [ + 0.03636448457837105, + 0.08024372905492783, + -0.9950348734855652, + -0.046305760741233826 + ], + "joints": [ + 0.023659665137529373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1134500503540039, + -0.04931189864873886, + 0.08433392643928528 + ], + "orientation": [ + 0.8344221115112305, + -0.024869805201888084, + 0.008279679343104362, + 0.5505021214485168 + ], + "joints": [ + 0.0110205989331007 + ] + }, + "fine_grasp": { + "position": [ + 0.11467272788286209, + -0.049729421734809875, + 0.08435939252376556 + ], + "orientation": [ + 0.8346410393714905, + -0.032402344048023224, + 0.02634919248521328, + 0.5492086410522461 + ], + "joints": [ + 0.01644088700413704 + ] + }, + "final_grasp": { + "position": [ + 0.11467272788286209, + -0.049729421734809875, + 0.08435939252376556 + ], + "orientation": [ + 0.8346410393714905, + -0.032402344048023224, + 0.02634919248521328, + 0.5492086410522461 + ], + "joints": [ + 0.021861175075173378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0768761932849884, + -0.08042097091674805, + 0.045652903616428375 + ], + "orientation": [ + 0.9076067209243774, + 0.1847207397222519, + -0.09048472344875336, + -0.36597931385040283 + ], + "joints": [ + 0.010732091963291168 + ] + }, + "fine_grasp": { + "position": [ + -0.0756818875670433, + -0.07885966449975967, + 0.045198436826467514 + ], + "orientation": [ + 0.9065650105476379, + 0.18869049847126007, + -0.0855715423822403, + -0.36771368980407715 + ], + "joints": [ + 0.016630636528134346 + ] + }, + "final_grasp": { + "position": [ + -0.0756818875670433, + -0.07885966449975967, + 0.045198436826467514 + ], + "orientation": [ + 0.9065650105476379, + 0.18869049847126007, + -0.0855715423822403, + -0.36771368980407715 + ], + "joints": [ + 0.022529181092977524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0832400992512703, + 0.09126189351081848, + 0.09263685345649719 + ], + "orientation": [ + 0.0033505894243717194, + 0.9315804243087769, + -0.3630150258541107, + -0.019151190295815468 + ], + "joints": [ + 0.010811198502779007 + ] + }, + "fine_grasp": { + "position": [ + 0.0845712348818779, + 0.09189191460609436, + 0.09235312789678574 + ], + "orientation": [ + 0.009023046121001244, + 0.9305408000946045, + -0.3657265603542328, + -0.016023145988583565 + ], + "joints": [ + 0.01774597354233265 + ] + }, + "final_grasp": { + "position": [ + 0.0845712348818779, + 0.09189191460609436, + 0.09235312789678574 + ], + "orientation": [ + 0.009023046121001244, + 0.9305408000946045, + -0.3657265603542328, + -0.016023145988583565 + ], + "joints": [ + 0.02468074858188629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06787453591823578, + -0.10099722445011139, + 0.07590143382549286 + ], + "orientation": [ + 0.0033329676371067762, + 0.2894431948661804, + -0.95356684923172, + -0.08319733291864395 + ], + "joints": [ + 0.010933686047792435 + ] + }, + "fine_grasp": { + "position": [ + 0.06833473592996597, + -0.10172516852617264, + 0.07636529952287674 + ], + "orientation": [ + 0.010553793050348759, + 0.2898748815059662, + -0.9533173441886902, + -0.08394785225391388 + ], + "joints": [ + 0.01733705960214138 + ] + }, + "final_grasp": { + "position": [ + 0.06833473592996597, + -0.10172516852617264, + 0.07636529952287674 + ], + "orientation": [ + 0.010553793050348759, + 0.2898748815059662, + -0.9533173441886902, + -0.08394785225391388 + ], + "joints": [ + 0.023740433156490326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0001905341341625899, + 0.12311556935310364, + 0.07104739546775818 + ], + "orientation": [ + 0.0015376538503915071, + 0.03407556563615799, + -0.037215691059827805, + -0.9987249970436096 + ], + "joints": [ + 0.011327557265758514 + ] + }, + "fine_grasp": { + "position": [ + 0.00043896050192415714, + 0.12412036210298538, + 0.07072007656097412 + ], + "orientation": [ + 0.00023287298972718418, + 0.060179173946380615, + -0.042177606374025345, + -0.997296154499054 + ], + "joints": [ + 0.016668129712343216 + ] + }, + "final_grasp": { + "position": [ + 0.00043896050192415714, + 0.12412036210298538, + 0.07072007656097412 + ], + "orientation": [ + 0.00023287298972718418, + 0.060179173946380615, + -0.042177606374025345, + -0.997296154499054 + ], + "joints": [ + 0.022008702158927917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002699267817661166, + 0.12272760272026062, + 0.07272649556398392 + ], + "orientation": [ + 0.04831136763095856, + 0.9985494613647461, + 0.010903355665504932, + 0.021122567355632782 + ], + "joints": [ + 0.011470070108771324 + ] + }, + "fine_grasp": { + "position": [ + -0.002190379658713937, + 0.1232844814658165, + 0.07242351770401001 + ], + "orientation": [ + 0.05454527959227562, + 0.997647762298584, + 0.009807580150663853, + 0.040342364460229874 + ], + "joints": [ + 0.016810642555356026 + ] + }, + "final_grasp": { + "position": [ + -0.002190379658713937, + 0.1232844814658165, + 0.07242351770401001 + ], + "orientation": [ + 0.05454527959227562, + 0.997647762298584, + 0.009807580150663853, + 0.040342364460229874 + ], + "joints": [ + 0.022151215001940727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12270304560661316, + -0.002004475798457861, + 0.07762130349874496 + ], + "orientation": [ + 0.7101802825927734, + 0.035356443375349045, + -0.061787478625774384, + -0.7004114985466003 + ], + "joints": [ + 0.010196827352046967 + ] + }, + "fine_grasp": { + "position": [ + -0.12282911688089371, + -0.0021612048149108887, + 0.07798509299755096 + ], + "orientation": [ + 0.7101003527641296, + 0.045219480991363525, + -0.05643324553966522, + -0.7003771066665649 + ], + "joints": [ + 0.016600199043750763 + ] + }, + "final_grasp": { + "position": [ + -0.12282911688089371, + -0.0021612048149108887, + 0.07798509299755096 + ], + "orientation": [ + 0.7101003527641296, + 0.045219480991363525, + -0.05643324553966522, + -0.7003771066665649 + ], + "joints": [ + 0.02300357073545456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11664994806051254, + -0.03931030258536339, + 0.08162583410739899 + ], + "orientation": [ + 0.810675859451294, + 0.03343583270907402, + -0.046718765050172806, + -0.5826698541641235 + ], + "joints": [ + 0.010642431676387787 + ] + }, + "fine_grasp": { + "position": [ + -0.11653947830200195, + -0.03939379006624222, + 0.08195355534553528 + ], + "orientation": [ + 0.8102366328239441, + 0.04243903234601021, + -0.04051722213625908, + -0.5831586122512817 + ], + "joints": [ + 0.016514403745532036 + ] + }, + "final_grasp": { + "position": [ + -0.11653947830200195, + -0.03939379006624222, + 0.08195355534553528 + ], + "orientation": [ + 0.8102366328239441, + 0.04243903234601021, + -0.04051722213625908, + -0.5831586122512817 + ], + "joints": [ + 0.022386375814676285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11655780673027039, + -0.03935770317912102, + 0.08232320100069046 + ], + "orientation": [ + 0.810970664024353, + 0.032787855714559555, + -0.04596753790974617, + -0.5823560953140259 + ], + "joints": [ + 0.010571764782071114 + ] + }, + "fine_grasp": { + "position": [ + -0.11650978028774261, + -0.039434369653463364, + 0.08265494555234909 + ], + "orientation": [ + 0.8102548122406006, + 0.041304782032966614, + -0.04010743275284767, + -0.5832430124282837 + ], + "joints": [ + 0.016443734988570213 + ] + }, + "final_grasp": { + "position": [ + -0.11650978028774261, + -0.039434369653463364, + 0.08265494555234909 + ], + "orientation": [ + 0.8102548122406006, + 0.041304782032966614, + -0.04010743275284767, + -0.5832430124282837 + ], + "joints": [ + 0.022315705195069313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022753631696105003, + 0.12307829409837723, + 0.06997502595186234 + ], + "orientation": [ + 0.02053150348365307, + 0.9930790066719055, + 0.09239768236875534, + 0.06953570991754532 + ], + "joints": [ + 0.01096288301050663 + ] + }, + "fine_grasp": { + "position": [ + -0.022286517545580864, + 0.12320943176746368, + 0.0699206069111824 + ], + "orientation": [ + 0.020922580733895302, + 0.9911420345306396, + 0.09172908216714859, + 0.09373064339160919 + ], + "joints": [ + 0.015825197100639343 + ] + }, + "final_grasp": { + "position": [ + -0.022286517545580864, + 0.12320943176746368, + 0.0699206069111824 + ], + "orientation": [ + 0.020922580733895302, + 0.9911420345306396, + 0.09172908216714859, + 0.09373064339160919 + ], + "joints": [ + 0.020687511190772057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03730608522891998, + 0.11502721160650253, + 0.07527247816324234 + ], + "orientation": [ + 0.15377973020076752, + -0.003336692927405238, + -0.0852605551481247, + -0.9844141602516174 + ], + "joints": [ + 0.011326907202601433 + ] + }, + "fine_grasp": { + "position": [ + -0.03764641657471657, + 0.1163855716586113, + 0.07556997984647751 + ], + "orientation": [ + 0.15340380370616913, + 0.007432762999087572, + -0.0873112678527832, + -0.9842706918716431 + ], + "joints": [ + 0.01719888113439083 + ] + }, + "final_grasp": { + "position": [ + -0.03764641657471657, + 0.1163855716586113, + 0.07556997984647751 + ], + "orientation": [ + 0.15340380370616913, + 0.007432762999087572, + -0.0873112678527832, + -0.9842706918716431 + ], + "joints": [ + 0.02307085506618023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03773025423288345, + 0.11493030935525894, + 0.07491569966077805 + ], + "orientation": [ + 0.1554075926542282, + -0.00366845540702343, + -0.0870572179555893, + -0.984000027179718 + ], + "joints": [ + 0.011326907202601433 + ] + }, + "fine_grasp": { + "position": [ + -0.03800665959715843, + 0.11615229398012161, + 0.07522014528512955 + ], + "orientation": [ + 0.15490280091762543, + 0.007172195706516504, + -0.0891587883234024, + -0.9838721752166748 + ], + "joints": [ + 0.01719888113439083 + ] + }, + "final_grasp": { + "position": [ + -0.03800665959715843, + 0.11615229398012161, + 0.07522014528512955 + ], + "orientation": [ + 0.15490280091762543, + 0.007172195706516504, + -0.0891587883234024, + -0.9838721752166748 + ], + "joints": [ + 0.02307085506618023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04909694194793701, + -0.11221858859062195, + 0.06686663627624512 + ], + "orientation": [ + 0.06757796555757523, + 0.2081805020570755, + 0.9744143486022949, + 0.05109714716672897 + ], + "joints": [ + 0.011542903259396553 + ] + }, + "fine_grasp": { + "position": [ + -0.04886595532298088, + -0.1114078238606453, + 0.06738289445638657 + ], + "orientation": [ + 0.08983399718999863, + 0.2083214372396469, + 0.9727237820625305, + 0.04837915673851967 + ], + "joints": [ + 0.016458364203572273 + ] + }, + "final_grasp": { + "position": [ + -0.04886595532298088, + -0.1114078238606453, + 0.06738289445638657 + ], + "orientation": [ + 0.08983399718999863, + 0.2083214372396469, + 0.9727237820625305, + 0.04837915673851967 + ], + "joints": [ + 0.021373825147747993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03771621361374855, + 0.11466958373785019, + 0.075893834233284 + ], + "orientation": [ + 0.15570932626724243, + -0.004255990032106638, + -0.08472394943237305, + -0.9841535687446594 + ], + "joints": [ + 0.011281143873929977 + ] + }, + "fine_grasp": { + "position": [ + -0.03815014660358429, + 0.11631502956151962, + 0.07613486796617508 + ], + "orientation": [ + 0.15481218695640564, + 0.003962215967476368, + -0.08686462789773941, + -0.9841097593307495 + ], + "joints": [ + 0.017153117805719376 + ] + }, + "final_grasp": { + "position": [ + -0.03815014660358429, + 0.11631502956151962, + 0.07613486796617508 + ], + "orientation": [ + 0.15481218695640564, + 0.003962215967476368, + -0.08686462789773941, + -0.9841097593307495 + ], + "joints": [ + 0.023025091737508774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1104908138513565, + -0.052181143313646317, + 0.060834646224975586 + ], + "orientation": [ + 0.09298720955848694, + 0.5376030802726746, + 0.8369547724723816, + 0.04292939230799675 + ], + "joints": [ + 0.010993393138051033 + ] + }, + "fine_grasp": { + "position": [ + -0.10910358279943466, + -0.05114765092730522, + 0.06139092519879341 + ], + "orientation": [ + 0.10567262768745422, + 0.5383222103118896, + 0.8352201581001282, + 0.03807586058974266 + ], + "joints": [ + 0.015908852219581604 + ] + }, + "final_grasp": { + "position": [ + -0.10910358279943466, + -0.05114765092730522, + 0.06139092519879341 + ], + "orientation": [ + 0.10567262768745422, + 0.5383222103118896, + 0.8352201581001282, + 0.03807586058974266 + ], + "joints": [ + 0.020824311301112175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07726240158081055, + -0.07979200035333633, + 0.045629970729351044 + ], + "orientation": [ + 0.9063615798950195, + 0.18453751504421234, + -0.09149978309869766, + -0.3688935339450836 + ], + "joints": [ + 0.010732091963291168 + ] + }, + "fine_grasp": { + "position": [ + -0.0762215107679367, + -0.07834059000015259, + 0.04488684982061386 + ], + "orientation": [ + 0.9052187204360962, + 0.18853697180747986, + -0.0864061564207077, + -0.37089991569519043 + ], + "joints": [ + 0.016630636528134346 + ] + }, + "final_grasp": { + "position": [ + -0.0762215107679367, + -0.07834059000015259, + 0.04488684982061386 + ], + "orientation": [ + 0.9052187204360962, + 0.18853697180747986, + -0.0864061564207077, + -0.37089991569519043 + ], + "joints": [ + 0.022529181092977524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012849204242229462, + -0.12166132777929306, + 0.0962848961353302 + ], + "orientation": [ + 0.016234412789344788, + 0.05170672386884689, + 0.9985142350196838, + -0.005671515129506588 + ], + "joints": [ + 0.011043783277273178 + ] + }, + "fine_grasp": { + "position": [ + -0.013376004993915558, + -0.12380195409059525, + 0.09661347419023514 + ], + "orientation": [ + 0.0120466910302639, + 0.051276274025440216, + 0.9986118674278259, + -0.00029036367777734995 + ], + "joints": [ + 0.017447156831622124 + ] + }, + "final_grasp": { + "position": [ + -0.013376004993915558, + -0.12380195409059525, + 0.09661347419023514 + ], + "orientation": [ + 0.0120466910302639, + 0.051276274025440216, + 0.9986118674278259, + -0.00029036367777734995 + ], + "joints": [ + 0.02385053038597107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023506587371230125, + 0.12151762843132019, + 0.07738374173641205 + ], + "orientation": [ + 0.014957170933485031, + 0.9940710663795471, + -0.09820836037397385, + -0.04420650005340576 + ], + "joints": [ + 0.012060318142175674 + ] + }, + "fine_grasp": { + "position": [ + 0.02342737279832363, + 0.12049763649702072, + 0.0775778740644455 + ], + "orientation": [ + 0.015455062501132488, + 0.9925599098205566, + -0.09837886691093445, + -0.07005429267883301 + ], + "joints": [ + 0.016444379463791847 + ] + }, + "final_grasp": { + "position": [ + 0.02342737279832363, + 0.12049763649702072, + 0.0775778740644455 + ], + "orientation": [ + 0.015455062501132488, + 0.9925599098205566, + -0.09837886691093445, + -0.07005429267883301 + ], + "joints": [ + 0.02082844078540802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12061096727848053, + 0.016935184597969055, + 0.06354096531867981 + ], + "orientation": [ + 0.650873601436615, + 0.01383123267441988, + -0.08565647900104523, + -0.7542117238044739 + ], + "joints": [ + 0.010899543762207031 + ] + }, + "fine_grasp": { + "position": [ + -0.11988905072212219, + 0.016563627868890762, + 0.06387265026569366 + ], + "orientation": [ + 0.6491414904594421, + -0.0012043083552271128, + -0.10311949253082275, + -0.7536446452140808 + ], + "joints": [ + 0.015788430348038673 + ] + }, + "final_grasp": { + "position": [ + -0.11988905072212219, + 0.016563627868890762, + 0.06387265026569366 + ], + "orientation": [ + 0.6491414904594421, + -0.0012043083552271128, + -0.10311949253082275, + -0.7536446452140808 + ], + "joints": [ + 0.020677316933870316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05996840074658394, + 0.10511283576488495, + 0.08833365142345428 + ], + "orientation": [ + 0.2574619948863983, + 0.026793021708726883, + 0.027772927656769753, + 0.9655176401138306 + ], + "joints": [ + 0.010705377906560898 + ] + }, + "fine_grasp": { + "position": [ + 0.06088896468281746, + 0.10654397308826447, + 0.08820122480392456 + ], + "orientation": [ + 0.25960442423820496, + 0.02332223579287529, + 0.03231346234679222, + 0.9648925065994263 + ], + "joints": [ + 0.017108751460909843 + ] + }, + "final_grasp": { + "position": [ + 0.06088896468281746, + 0.10654397308826447, + 0.08820122480392456 + ], + "orientation": [ + 0.25960442423820496, + 0.02332223579287529, + 0.03231346234679222, + 0.9648925065994263 + ], + "joints": [ + 0.02351212501525879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0108947129920125, + 0.1227392852306366, + 0.07668471336364746 + ], + "orientation": [ + 0.043133363127708435, + 0.9961455464363098, + -0.0423479899764061, + 0.06356266140937805 + ], + "joints": [ + 0.01063825748860836 + ] + }, + "fine_grasp": { + "position": [ + 0.012764153070747852, + 0.12439849972724915, + 0.0766325443983078 + ], + "orientation": [ + 0.0478518046438694, + 0.9927902817726135, + -0.047791216522455215, + 0.09896394610404968 + ], + "joints": [ + 0.015473999083042145 + ] + }, + "final_grasp": { + "position": [ + 0.012764153070747852, + 0.12439849972724915, + 0.0766325443983078 + ], + "orientation": [ + 0.0478518046438694, + 0.9927902817726135, + -0.047791216522455215, + 0.09896394610404968 + ], + "joints": [ + 0.02030974067747593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029086332768201828, + 0.11809378117322922, + 0.09283792227506638 + ], + "orientation": [ + 0.015497645363211632, + 0.9926825165748596, + 0.11895378679037094, + -0.013830142095685005 + ], + "joints": [ + 0.011161932721734047 + ] + }, + "fine_grasp": { + "position": [ + -0.02959941141307354, + 0.12025551497936249, + 0.0935797467827797 + ], + "orientation": [ + 0.017022723332047462, + 0.9924037456512451, + 0.120915986597538, + -0.014980032108724117 + ], + "joints": [ + 0.017033906653523445 + ] + }, + "final_grasp": { + "position": [ + -0.02959941141307354, + 0.12025551497936249, + 0.0935797467827797 + ], + "orientation": [ + 0.017022723332047462, + 0.9924037456512451, + 0.120915986597538, + -0.014980032108724117 + ], + "joints": [ + 0.022905880585312843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0857778787612915, + 0.08609237521886826, + 0.06568895280361176 + ], + "orientation": [ + 0.37652352452278137, + -0.015777872875332832, + -0.08474583178758621, + -0.9223878383636475 + ], + "joints": [ + 0.011294381693005562 + ] + }, + "fine_grasp": { + "position": [ + -0.08522163331508636, + 0.08575910329818726, + 0.0660659596323967 + ], + "orientation": [ + 0.3742836117744446, + -0.030408192425966263, + -0.09574370831251144, + -0.9218569993972778 + ], + "joints": [ + 0.016183270141482353 + ] + }, + "final_grasp": { + "position": [ + -0.08522163331508636, + 0.08575910329818726, + 0.0660659596323967 + ], + "orientation": [ + 0.3742836117744446, + -0.030408192425966263, + -0.09574370831251144, + -0.9218569993972778 + ], + "joints": [ + 0.021072158589959145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02352314256131649, + 0.1205606535077095, + 0.0869155153632164 + ], + "orientation": [ + 0.03730051591992378, + 0.9941986203193665, + -0.09893348067998886, + -0.0197445135563612 + ], + "joints": [ + 0.011315714567899704 + ] + }, + "fine_grasp": { + "position": [ + 0.024469710886478424, + 0.12210946530103683, + 0.08676383644342422 + ], + "orientation": [ + 0.04031382501125336, + 0.9937933683395386, + -0.10176238417625427, + -0.019852543249726295 + ], + "joints": [ + 0.018223918974399567 + ] + }, + "final_grasp": { + "position": [ + 0.024469710886478424, + 0.12210946530103683, + 0.08676383644342422 + ], + "orientation": [ + 0.04031382501125336, + 0.9937933683395386, + -0.10176238417625427, + -0.019852543249726295 + ], + "joints": [ + 0.02513212338089943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10024488717317581, + 0.06391282379627228, + 0.07469616830348969 + ], + "orientation": [ + 0.06928715109825134, + 0.8721747398376465, + -0.4810568690299988, + -0.055631909519433975 + ], + "joints": [ + 0.010307813063263893 + ] + }, + "fine_grasp": { + "position": [ + 0.1013348177075386, + 0.06391198933124542, + 0.07401161640882492 + ], + "orientation": [ + 0.07658059895038605, + 0.8698189854621887, + -0.4844966232776642, + -0.05304139852523804 + ], + "joints": [ + 0.016179783269762993 + ] + }, + "final_grasp": { + "position": [ + 0.1013348177075386, + 0.06391198933124542, + 0.07401161640882492 + ], + "orientation": [ + 0.07658059895038605, + 0.8698189854621887, + -0.4844966232776642, + -0.05304139852523804 + ], + "joints": [ + 0.022051753476262093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039031047374010086, + -0.1092664822936058, + 0.055637162178754807 + ], + "orientation": [ + 0.9734131097793579, + 0.1470879763364792, + -0.04397551342844963, + -0.1699950098991394 + ], + "joints": [ + 0.01144537702202797 + ] + }, + "fine_grasp": { + "position": [ + -0.03865300863981247, + -0.10802866518497467, + 0.05544957518577576 + ], + "orientation": [ + 0.9715267419815063, + 0.1572391837835312, + -0.04087037220597267, + -0.1724562793970108 + ], + "joints": [ + 0.0168125219643116 + ] + }, + "final_grasp": { + "position": [ + -0.03865300863981247, + -0.10802866518497467, + 0.05544957518577576 + ], + "orientation": [ + 0.9715267419815063, + 0.1572391837835312, + -0.04087037220597267, + -0.1724562793970108 + ], + "joints": [ + 0.02217966690659523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023130258545279503, + 0.11960535496473312, + 0.08667111396789551 + ], + "orientation": [ + 0.0380215048789978, + 0.9942918419837952, + -0.09780608862638474, + -0.019291453063488007 + ], + "joints": [ + 0.011057091876864433 + ] + }, + "fine_grasp": { + "position": [ + 0.024736255407333374, + 0.1215483695268631, + 0.08665028214454651 + ], + "orientation": [ + 0.04049326851963997, + 0.9936178922653198, + -0.10323627293109894, + -0.02063889242708683 + ], + "joints": [ + 0.017965294420719147 + ] + }, + "final_grasp": { + "position": [ + 0.024736255407333374, + 0.1215483695268631, + 0.08665028214454651 + ], + "orientation": [ + 0.04049326851963997, + 0.9936178922653198, + -0.10323627293109894, + -0.02063889242708683 + ], + "joints": [ + 0.02487349696457386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07149747759103775, + -0.0908326655626297, + 0.05809780955314636 + ], + "orientation": [ + 0.9326724410057068, + 0.13924841582775116, + -0.06985235214233398, + -0.32534992694854736 + ], + "joints": [ + 0.010877519845962524 + ] + }, + "fine_grasp": { + "position": [ + -0.07107986509799957, + -0.09015172719955444, + 0.05743652209639549 + ], + "orientation": [ + 0.9304555058479309, + 0.15050877630710602, + -0.06698653101921082, + -0.3272804617881775 + ], + "joints": [ + 0.016749491915106773 + ] + }, + "final_grasp": { + "position": [ + -0.07107986509799957, + -0.09015172719955444, + 0.05743652209639549 + ], + "orientation": [ + 0.9304555058479309, + 0.15050877630710602, + -0.06698653101921082, + -0.3272804617881775 + ], + "joints": [ + 0.022621463984251022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027570955455303192, + 0.11954862624406815, + 0.09037522971630096 + ], + "orientation": [ + 0.1142900362610817, + 0.027498912066221237, + 0.017237810418009758, + 0.9929171800613403 + ], + "joints": [ + 0.011464804410934448 + ] + }, + "fine_grasp": { + "position": [ + 0.027938155457377434, + 0.12014951556921005, + 0.09017510712146759 + ], + "orientation": [ + 0.11591730266809464, + 0.02704250067472458, + 0.02135971374809742, + 0.9926608800888062 + ], + "joints": [ + 0.017336778342723846 + ] + }, + "final_grasp": { + "position": [ + 0.027938155457377434, + 0.12014951556921005, + 0.09017510712146759 + ], + "orientation": [ + 0.11591730266809464, + 0.02704250067472458, + 0.02135971374809742, + 0.9926608800888062 + ], + "joints": [ + 0.023208752274513245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07941977679729462, + -0.0935988649725914, + 0.08912021666765213 + ], + "orientation": [ + 0.9375221133232117, + -0.04803039878606796, + -0.0417105108499527, + -0.34206095337867737 + ], + "joints": [ + 0.011422054842114449 + ] + }, + "fine_grasp": { + "position": [ + -0.07876702398061752, + -0.0927850604057312, + 0.0888618528842926 + ], + "orientation": [ + 0.9355539679527283, + -0.05503426864743233, + -0.06905850768089294, + -0.3419661819934845 + ], + "joints": [ + 0.015806114301085472 + ] + }, + "final_grasp": { + "position": [ + -0.07876702398061752, + -0.0927850604057312, + 0.0888618528842926 + ], + "orientation": [ + 0.9355539679527283, + -0.05503426864743233, + -0.06905850768089294, + -0.3419661819934845 + ], + "joints": [ + 0.020190173760056496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0727723091840744, + -0.07784315198659897, + 0.021160859614610672 + ], + "orientation": [ + 0.898913562297821, + 0.21251320838928223, + -0.12237454205751419, + -0.36306625604629517 + ], + "joints": [ + 0.01108798012137413 + ] + }, + "fine_grasp": { + "position": [ + -0.0725330039858818, + -0.07865080237388611, + 0.02248711884021759 + ], + "orientation": [ + 0.8965657949447632, + 0.20559951663017273, + -0.1425287127494812, + -0.3654918372631073 + ], + "joints": [ + 0.01650826819241047 + ] + }, + "final_grasp": { + "position": [ + -0.0725330039858818, + -0.07865080237388611, + 0.02248711884021759 + ], + "orientation": [ + 0.8965657949447632, + 0.20559951663017273, + -0.1425287127494812, + -0.3654918372631073 + ], + "joints": [ + 0.021928556263446808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05854799598455429, + -0.10464882105588913, + 0.054910674691200256 + ], + "orientation": [ + 0.9623645544052124, + 0.11224821209907532, + -0.03912106156349182, + 0.24438561499118805 + ], + "joints": [ + 0.011258598417043686 + ] + }, + "fine_grasp": { + "position": [ + 0.05808749049901962, + -0.10380379110574722, + 0.05548183247447014 + ], + "orientation": [ + 0.9606572389602661, + 0.12166914343833923, + -0.05950320139527321, + 0.2424737811088562 + ], + "joints": [ + 0.016174059361219406 + ] + }, + "final_grasp": { + "position": [ + 0.05808749049901962, + -0.10380379110574722, + 0.05548183247447014 + ], + "orientation": [ + 0.9606572389602661, + 0.12166914343833923, + -0.05950320139527321, + 0.2424737811088562 + ], + "joints": [ + 0.021089520305395126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03892730548977852, + -0.10996584594249725, + 0.04050343483686447 + ], + "orientation": [ + 0.024061573669314384, + -0.15752004086971283, + 0.9716363549232483, + 0.17473198473453522 + ], + "joints": [ + 0.011562002822756767 + ] + }, + "fine_grasp": { + "position": [ + 0.03885490074753761, + -0.10874804109334946, + 0.04138476029038429 + ], + "orientation": [ + 0.044947508722543716, + -0.1562987118959427, + 0.9698925018310547, + 0.1812702715396881 + ], + "joints": [ + 0.016477463766932487 + ] + }, + "final_grasp": { + "position": [ + 0.03885490074753761, + -0.10874804109334946, + 0.04138476029038429 + ], + "orientation": [ + 0.044947508722543716, + -0.1562987118959427, + 0.9698925018310547, + 0.1812702715396881 + ], + "joints": [ + 0.021392924711108208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07169310003519058, + -0.09042906016111374, + 0.05885538458824158 + ], + "orientation": [ + 0.9324101805686951, + 0.13919077813625336, + -0.06833700835704803, + -0.3264463245868683 + ], + "joints": [ + 0.010670112445950508 + ] + }, + "fine_grasp": { + "position": [ + -0.07124297320842743, + -0.09001467376947403, + 0.05816827341914177 + ], + "orientation": [ + 0.930101215839386, + 0.15075905621051788, + -0.06610531359910965, + -0.3283499479293823 + ], + "joints": [ + 0.016542084515094757 + ] + }, + "final_grasp": { + "position": [ + -0.07124297320842743, + -0.09001467376947403, + 0.05816827341914177 + ], + "orientation": [ + 0.930101215839386, + 0.15075905621051788, + -0.06610531359910965, + -0.3283499479293823 + ], + "joints": [ + 0.022414056584239006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02561257593333721, + 0.11541073769330978, + 0.06325431913137436 + ], + "orientation": [ + 0.10482092946767807, + -0.006358404643833637, + -0.13110388815402985, + -0.985791027545929 + ], + "joints": [ + 0.011097297072410583 + ] + }, + "fine_grasp": { + "position": [ + -0.02576974406838417, + 0.11612394452095032, + 0.0637691468000412 + ], + "orientation": [ + 0.10330358892679214, + 0.004419949371367693, + -0.1338845044374466, + -0.985588014125824 + ], + "joints": [ + 0.016969269141554832 + ] + }, + "final_grasp": { + "position": [ + -0.02576974406838417, + 0.11612394452095032, + 0.0637691468000412 + ], + "orientation": [ + 0.10330358892679214, + 0.004419949371367693, + -0.1338845044374466, + -0.985588014125824 + ], + "joints": [ + 0.02284124121069908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038892630487680435, + -0.10907099395990372, + 0.05568774789571762 + ], + "orientation": [ + 0.9730551242828369, + 0.1503801792860031, + -0.042937248945236206, + -0.16942788660526276 + ], + "joints": [ + 0.011091314256191254 + ] + }, + "fine_grasp": { + "position": [ + -0.03840016946196556, + -0.10770240426063538, + 0.05551216006278992 + ], + "orientation": [ + 0.9710794687271118, + 0.16088798642158508, + -0.040752820670604706, + -0.1716354936361313 + ], + "joints": [ + 0.016963286325335503 + ] + }, + "final_grasp": { + "position": [ + -0.03840016946196556, + -0.10770240426063538, + 0.05551216006278992 + ], + "orientation": [ + 0.9710794687271118, + 0.16088798642158508, + -0.040752820670604706, + -0.1716354936361313 + ], + "joints": [ + 0.02283525839447975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0010111836018040776, + -0.12355133146047592, + 0.08554750680923462 + ], + "orientation": [ + 0.05824015289545059, + 0.003821868449449539, + 0.9982503652572632, + -0.00947633758187294 + ], + "joints": [ + 0.011531569063663483 + ] + }, + "fine_grasp": { + "position": [ + -0.0010161884129047394, + -0.12189354002475739, + 0.08555871248245239 + ], + "orientation": [ + 0.08397628366947174, + 0.0033505086321383715, + 0.996443510055542, + -0.006092655938118696 + ], + "joints": [ + 0.016420457512140274 + ] + }, + "final_grasp": { + "position": [ + -0.0010161884129047394, + -0.12189354002475739, + 0.08555871248245239 + ], + "orientation": [ + 0.08397628366947174, + 0.0033505086321383715, + 0.996443510055542, + -0.006092655938118696 + ], + "joints": [ + 0.021309345960617065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06488443911075592, + 0.08959966152906418, + 0.14089074730873108 + ], + "orientation": [ + 0.1954735964536667, + -0.9252843856811523, + -0.3069695234298706, + 0.10681116580963135 + ], + "joints": [ + 0.010580901056528091 + ] + }, + "fine_grasp": { + "position": [ + -0.06495523452758789, + 0.09039049595594406, + 0.14076583087444305 + ], + "orientation": [ + 0.1852656453847885, + -0.9227564334869385, + -0.31151530146598816, + 0.13097839057445526 + ], + "joints": [ + 0.01645287312567234 + ] + }, + "final_grasp": { + "position": [ + -0.06495523452758789, + 0.09039049595594406, + 0.14076583087444305 + ], + "orientation": [ + 0.1852656453847885, + -0.9227564334869385, + -0.31151530146598816, + 0.13097839057445526 + ], + "joints": [ + 0.02232484519481659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07154808193445206, + 0.08813265711069107, + 0.03358827531337738 + ], + "orientation": [ + 0.33825573325157166, + 0.109922856092453, + 0.15360774099826813, + 0.9219026565551758 + ], + "joints": [ + 0.0112295001745224 + ] + }, + "fine_grasp": { + "position": [ + 0.07054229825735092, + 0.08784762769937515, + 0.03452582657337189 + ], + "orientation": [ + 0.34048759937286377, + 0.1302042454481125, + 0.1484220176935196, + 0.9192855358123779 + ], + "joints": [ + 0.01617153361439705 + ] + }, + "final_grasp": { + "position": [ + 0.07054229825735092, + 0.08784762769937515, + 0.03452582657337189 + ], + "orientation": [ + 0.34048759937286377, + 0.1302042454481125, + 0.1484220176935196, + 0.9192855358123779 + ], + "joints": [ + 0.021113567054271698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050585582852363586, + 0.10505671799182892, + 0.05901315435767174 + ], + "orientation": [ + 0.21557778120040894, + 0.010940269567072392, + -0.15364369750022888, + -0.9642614126205444 + ], + "joints": [ + 0.01096467673778534 + ] + }, + "fine_grasp": { + "position": [ + -0.05089974403381348, + 0.10576484352350235, + 0.05947177857160568 + ], + "orientation": [ + 0.2141929566860199, + 0.02331489883363247, + -0.1547444760799408, + -0.9641742706298828 + ], + "joints": [ + 0.016863221302628517 + ] + }, + "final_grasp": { + "position": [ + -0.05089974403381348, + 0.10576484352350235, + 0.05947177857160568 + ], + "orientation": [ + 0.2141929566860199, + 0.02331489883363247, + -0.1547444760799408, + -0.9641742706298828 + ], + "joints": [ + 0.022761765867471695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10913795977830887, + -0.03756474331021309, + 0.13384905457496643 + ], + "orientation": [ + 0.8032662272453308, + -0.18518824875354767, + 0.07473490387201309, + -0.5611447095870972 + ], + "joints": [ + 0.010432513430714607 + ] + }, + "fine_grasp": { + "position": [ + -0.10904712229967117, + -0.03637026250362396, + 0.133040189743042 + ], + "orientation": [ + 0.8021597266197205, + -0.19894173741340637, + 0.04561203345656395, + -0.5611431002616882 + ], + "joints": [ + 0.0153213981539011 + ] + }, + "final_grasp": { + "position": [ + -0.10904712229967117, + -0.03637026250362396, + 0.133040189743042 + ], + "orientation": [ + 0.8021597266197205, + -0.19894173741340637, + 0.04561203345656395, + -0.5611431002616882 + ], + "joints": [ + 0.020210282877087593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04919027164578438, + 0.10923032462596893, + 0.04824856296181679 + ], + "orientation": [ + 0.10290351510047913, + 0.9682325720787048, + -0.21622881293296814, + -0.07198366522789001 + ], + "joints": [ + 0.012229900807142258 + ] + }, + "fine_grasp": { + "position": [ + 0.048308514058589935, + 0.10745132714509964, + 0.04899851605296135 + ], + "orientation": [ + 0.10073487460613251, + 0.9659950137138367, + -0.21714343130588531, + -0.09774838387966156 + ], + "joints": [ + 0.016109135001897812 + ] + }, + "final_grasp": { + "position": [ + 0.048308514058589935, + 0.10745132714509964, + 0.04899851605296135 + ], + "orientation": [ + 0.10073487460613251, + 0.9659950137138367, + -0.21714343130588531, + -0.09774838387966156 + ], + "joints": [ + 0.019988369196653366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05881891027092934, + -0.104599229991436, + 0.05462868511676788 + ], + "orientation": [ + 0.9620905518531799, + 0.11171557754278183, + -0.042988575994968414, + 0.24505798518657684 + ], + "joints": [ + 0.011280981823801994 + ] + }, + "fine_grasp": { + "position": [ + 0.058286152780056, + -0.10350288450717926, + 0.05518519505858421 + ], + "orientation": [ + 0.960172176361084, + 0.12099597603082657, + -0.06504461169242859, + 0.24330781400203705 + ], + "joints": [ + 0.015691613778471947 + ] + }, + "final_grasp": { + "position": [ + 0.058286152780056, + -0.10350288450717926, + 0.05518519505858421 + ], + "orientation": [ + 0.960172176361084, + 0.12099597603082657, + -0.06504461169242859, + 0.24330781400203705 + ], + "joints": [ + 0.0201022457331419 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02037162147462368, + 0.11662176251411438, + 0.11788947880268097 + ], + "orientation": [ + 0.12627945840358734, + -0.9858104586601257, + -0.09023382514715195, + 0.06394505500793457 + ], + "joints": [ + 0.011432183906435966 + ] + }, + "fine_grasp": { + "position": [ + -0.01953372173011303, + 0.11572369933128357, + 0.11700861155986786 + ], + "orientation": [ + 0.11864562332630157, + -0.9846817255020142, + -0.0905405804514885, + 0.09015362709760666 + ], + "joints": [ + 0.016321072354912758 + ] + }, + "final_grasp": { + "position": [ + -0.01953372173011303, + 0.11572369933128357, + 0.11700861155986786 + ], + "orientation": [ + 0.11864562332630157, + -0.9846817255020142, + -0.0905405804514885, + 0.09015362709760666 + ], + "joints": [ + 0.02120996080338955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04863038659095764, + -0.10705412179231644, + 0.06504439562559128 + ], + "orientation": [ + 0.9692744016647339, + 0.11743813753128052, + -0.04627702012658119, + -0.2111249715089798 + ], + "joints": [ + 0.011279328726232052 + ] + }, + "fine_grasp": { + "position": [ + -0.0485854297876358, + -0.10710524022579193, + 0.06439990550279617 + ], + "orientation": [ + 0.9676237106323242, + 0.12693901360034943, + -0.044384684413671494, + -0.21359045803546906 + ], + "joints": [ + 0.016646472737193108 + ] + }, + "final_grasp": { + "position": [ + -0.0485854297876358, + -0.10710524022579193, + 0.06439990550279617 + ], + "orientation": [ + 0.9676237106323242, + 0.12693901360034943, + -0.044384684413671494, + -0.21359045803546906 + ], + "joints": [ + 0.02201361581683159 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047496672719717026, + -0.1074061393737793, + 0.06469961255788803 + ], + "orientation": [ + 0.9700350165367126, + 0.11907264590263367, + -0.04743260517716408, + -0.20640690624713898 + ], + "joints": [ + 0.011270269751548767 + ] + }, + "fine_grasp": { + "position": [ + -0.047464728355407715, + -0.10744475573301315, + 0.06399893015623093 + ], + "orientation": [ + 0.9684492349624634, + 0.12865328788757324, + -0.04416568949818611, + -0.20881517231464386 + ], + "joints": [ + 0.016637414693832397 + ] + }, + "final_grasp": { + "position": [ + -0.047464728355407715, + -0.10744475573301315, + 0.06399893015623093 + ], + "orientation": [ + 0.9684492349624634, + 0.12865328788757324, + -0.04416568949818611, + -0.20881517231464386 + ], + "joints": [ + 0.022004559636116028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02502969279885292, + 0.11668255925178528, + 0.06947551667690277 + ], + "orientation": [ + 0.10199110209941864, + -0.010237632319331169, + -0.10817670822143555, + -0.9888330698013306 + ], + "joints": [ + 0.010998306795954704 + ] + }, + "fine_grasp": { + "position": [ + -0.025312473997473717, + 0.1177028939127922, + 0.06966582685709 + ], + "orientation": [ + 0.10131915658712387, + 0.00024469164782203734, + -0.11134494841098785, + -0.988603413105011 + ], + "joints": [ + 0.01740168035030365 + ] + }, + "final_grasp": { + "position": [ + -0.025312473997473717, + 0.1177028939127922, + 0.06966582685709 + ], + "orientation": [ + 0.10131915658712387, + 0.00024469164782203734, + -0.11134494841098785, + -0.988603413105011 + ], + "joints": [ + 0.023805053904652596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02567143738269806, + 0.11516624689102173, + 0.06371364742517471 + ], + "orientation": [ + 0.10479037463665009, + -0.00818637665361166, + -0.1332576870918274, + -0.9854920506477356 + ], + "joints": [ + 0.011162728071212769 + ] + }, + "fine_grasp": { + "position": [ + -0.025843679904937744, + 0.11601188778877258, + 0.06429430842399597 + ], + "orientation": [ + 0.10415823757648468, + 0.0037306842859834433, + -0.13491788506507874, + -0.9853600263595581 + ], + "joints": [ + 0.017034702003002167 + ] + }, + "final_grasp": { + "position": [ + -0.025843679904937744, + 0.11601188778877258, + 0.06429430842399597 + ], + "orientation": [ + 0.10415823757648468, + 0.0037306842859834433, + -0.13491788506507874, + -0.9853600263595581 + ], + "joints": [ + 0.022906675934791565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10011995583772659, + 0.0597892589867115, + 0.04645195230841637 + ], + "orientation": [ + 0.49525296688079834, + 0.11826315522193909, + 0.10055961459875107, + 0.8547666072845459 + ], + "joints": [ + 0.01095924898982048 + ] + }, + "fine_grasp": { + "position": [ + 0.09918514639139175, + 0.05954091623425484, + 0.04698639363050461 + ], + "orientation": [ + 0.4957340359687805, + 0.13942000269889832, + 0.09210913628339767, + 0.8522475361824036 + ], + "joints": [ + 0.015369879081845284 + ] + }, + "final_grasp": { + "position": [ + 0.09918514639139175, + 0.05954091623425484, + 0.04698639363050461 + ], + "orientation": [ + 0.4957340359687805, + 0.13942000269889832, + 0.09210913628339767, + 0.8522475361824036 + ], + "joints": [ + 0.019780509173870087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04443936422467232, + 0.1070450022816658, + 0.05880315601825714 + ], + "orientation": [ + 0.19697310030460358, + 0.049988918006420135, + 0.1439763605594635, + 0.9684904217720032 + ], + "joints": [ + 0.010887589305639267 + ] + }, + "fine_grasp": { + "position": [ + 0.04412011057138443, + 0.10638240724802017, + 0.058480024337768555 + ], + "orientation": [ + 0.19906750321388245, + 0.043597765266895294, + 0.15236155688762665, + 0.9670870304107666 + ], + "joints": [ + 0.016759561374783516 + ] + }, + "final_grasp": { + "position": [ + 0.04412011057138443, + 0.10638240724802017, + 0.058480024337768555 + ], + "orientation": [ + 0.19906750321388245, + 0.043597765266895294, + 0.15236155688762665, + 0.9670870304107666 + ], + "joints": [ + 0.022631533443927765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049112848937511444, + -0.11163176596164703, + 0.0676918476819992 + ], + "orientation": [ + 0.08617023378610611, + 0.21022389829158783, + 0.9725223183631897, + 0.05080396309494972 + ], + "joints": [ + 0.011501135304570198 + ] + }, + "fine_grasp": { + "position": [ + -0.04875575751066208, + -0.11017818748950958, + 0.06828097254037857 + ], + "orientation": [ + 0.11202976852655411, + 0.21114668250083923, + 0.9699018597602844, + 0.04644192010164261 + ], + "joints": [ + 0.015380365774035454 + ] + }, + "final_grasp": { + "position": [ + -0.04875575751066208, + -0.11017818748950958, + 0.06828097254037857 + ], + "orientation": [ + 0.11202976852655411, + 0.21114668250083923, + 0.9699018597602844, + 0.04644192010164261 + ], + "joints": [ + 0.01925959624350071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10043003410100937, + 0.059427857398986816, + 0.046505287289619446 + ], + "orientation": [ + 0.4973504841327667, + 0.12209486961364746, + 0.09794111549854279, + 0.8533128499984741 + ], + "joints": [ + 0.010961251333355904 + ] + }, + "fine_grasp": { + "position": [ + 0.0995633602142334, + 0.05927479639649391, + 0.04707547649741173 + ], + "orientation": [ + 0.49752283096313477, + 0.14132021367549896, + 0.0904839038848877, + 0.8510653972625732 + ], + "joints": [ + 0.015371881425380707 + ] + }, + "final_grasp": { + "position": [ + 0.0995633602142334, + 0.05927479639649391, + 0.04707547649741173 + ], + "orientation": [ + 0.49752283096313477, + 0.14132021367549896, + 0.0904839038848877, + 0.8510653972625732 + ], + "joints": [ + 0.01978251151740551 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044524796307086945, + 0.10702359676361084, + 0.05865394324064255 + ], + "orientation": [ + 0.19820347428321838, + 0.053481169044971466, + 0.14293231070041656, + 0.9682073593139648 + ], + "joints": [ + 0.010951200500130653 + ] + }, + "fine_grasp": { + "position": [ + 0.044311750680208206, + 0.10632538050413132, + 0.05828378349542618 + ], + "orientation": [ + 0.20046482980251312, + 0.0477142333984375, + 0.15139737725257874, + 0.9667554497718811 + ], + "joints": [ + 0.01684974506497383 + ] + }, + "final_grasp": { + "position": [ + 0.044311750680208206, + 0.10632538050413132, + 0.05828378349542618 + ], + "orientation": [ + 0.20046482980251312, + 0.0477142333984375, + 0.15139737725257874, + 0.9667554497718811 + ], + "joints": [ + 0.02274828962981701 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07227480411529541, + 0.08865302801132202, + 0.033854033797979355 + ], + "orientation": [ + 0.33973219990730286, + 0.10962777584791183, + 0.14464502036571503, + 0.9228442907333374 + ], + "joints": [ + 0.011300168931484222 + ] + }, + "fine_grasp": { + "position": [ + 0.07130539417266846, + 0.08822722733020782, + 0.034659743309020996 + ], + "orientation": [ + 0.3407755196094513, + 0.13112789392471313, + 0.13964353501796722, + 0.9204223155975342 + ], + "joints": [ + 0.015737373381853104 + ] + }, + "final_grasp": { + "position": [ + 0.07130539417266846, + 0.08822722733020782, + 0.034659743309020996 + ], + "orientation": [ + 0.3407755196094513, + 0.13112789392471313, + 0.13964353501796722, + 0.9204223155975342 + ], + "joints": [ + 0.020174577832221985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05879273638129234, + -0.10464192926883698, + 0.05440215393900871 + ], + "orientation": [ + 0.9620398283004761, + 0.11227016896009445, + -0.04551434516906738, + 0.24454692006111145 + ], + "joints": [ + 0.011289587244391441 + ] + }, + "fine_grasp": { + "position": [ + 0.05820176750421524, + -0.10338949412107468, + 0.054931677877902985 + ], + "orientation": [ + 0.9599801898002625, + 0.12193695455789566, + -0.06829150766134262, + 0.24270465970039368 + ], + "joints": [ + 0.015700219199061394 + ] + }, + "final_grasp": { + "position": [ + 0.05820176750421524, + -0.10338949412107468, + 0.054931677877902985 + ], + "orientation": [ + 0.9599801898002625, + 0.12193695455789566, + -0.06829150766134262, + 0.24270465970039368 + ], + "joints": [ + 0.020110851153731346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12235365062952042, + -0.014733933843672276, + 0.08125095069408417 + ], + "orientation": [ + 0.03499111160635948, + -0.6617236733436584, + 0.7480682730674744, + 0.0359344482421875 + ], + "joints": [ + 0.010668961331248283 + ] + }, + "fine_grasp": { + "position": [ + 0.1197843849658966, + -0.014119269326329231, + 0.0811491385102272 + ], + "orientation": [ + 0.054758720099925995, + -0.6614246368408203, + 0.7458034157752991, + 0.05741174519062042 + ], + "joints": [ + 0.015053018927574158 + ] + }, + "final_grasp": { + "position": [ + 0.1197843849658966, + -0.014119269326329231, + 0.0811491385102272 + ], + "orientation": [ + 0.054758720099925995, + -0.6614246368408203, + 0.7458034157752991, + 0.05741174519062042 + ], + "joints": [ + 0.019437076523900032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05875144153833389, + -0.10470596700906754, + 0.05448542907834053 + ], + "orientation": [ + 0.9624065160751343, + 0.10949335992336273, + -0.042288508266210556, + 0.24494218826293945 + ], + "joints": [ + 0.01128859631717205 + ] + }, + "fine_grasp": { + "position": [ + 0.05820237100124359, + -0.10355444997549057, + 0.05507019907236099 + ], + "orientation": [ + 0.9605354070663452, + 0.11851862818002701, + -0.0649280771613121, + 0.24312400817871094 + ], + "joints": [ + 0.015699228271842003 + ] + }, + "final_grasp": { + "position": [ + 0.05820237100124359, + -0.10355444997549057, + 0.05507019907236099 + ], + "orientation": [ + 0.9605354070663452, + 0.11851862818002701, + -0.0649280771613121, + 0.24312400817871094 + ], + "joints": [ + 0.020109860226511955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001078285975381732, + -0.12348365783691406, + 0.0854802131652832 + ], + "orientation": [ + 0.060738660395145416, + 0.004053974989801645, + 0.9980952143669128, + -0.010022914968430996 + ], + "joints": [ + 0.011498948559165001 + ] + }, + "fine_grasp": { + "position": [ + -0.001142129534855485, + -0.12170568853616714, + 0.08544911444187164 + ], + "orientation": [ + 0.08862099051475525, + 0.003901779418811202, + 0.9960355758666992, + -0.006647936534136534 + ], + "joints": [ + 0.016387837007641792 + ] + }, + "final_grasp": { + "position": [ + -0.001142129534855485, + -0.12170568853616714, + 0.08544911444187164 + ], + "orientation": [ + 0.08862099051475525, + 0.003901779418811202, + 0.9960355758666992, + -0.006647936534136534 + ], + "joints": [ + 0.021276725456118584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008731656707823277, + -0.12363562732934952, + 0.08548493683338165 + ], + "orientation": [ + 0.06369567662477493, + 0.0033363853581249714, + 0.9979265332221985, + -0.008630127646028996 + ], + "joints": [ + 0.011498948559165001 + ] + }, + "fine_grasp": { + "position": [ + -0.0009547085501253605, + -0.12266465276479721, + 0.08562195301055908 + ], + "orientation": [ + 0.09467542916536331, + 0.003124409355223179, + 0.9954863786697388, + -0.005809835623949766 + ], + "joints": [ + 0.015883008018136024 + ] + }, + "final_grasp": { + "position": [ + -0.0009547085501253605, + -0.12266465276479721, + 0.08562195301055908 + ], + "orientation": [ + 0.09467542916536331, + 0.003124409355223179, + 0.9954863786697388, + -0.005809835623949766 + ], + "joints": [ + 0.020267067477107048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04499327391386032, + -0.11347606778144836, + 0.06114795804023743 + ], + "orientation": [ + 0.03523950278759003, + -0.1840800791978836, + 0.9799812436103821, + 0.06715188175439835 + ], + "joints": [ + 0.01188557781279087 + ] + }, + "fine_grasp": { + "position": [ + 0.0446537509560585, + -0.11254550516605377, + 0.06174910068511963 + ], + "orientation": [ + 0.05550989508628845, + -0.18373124301433563, + 0.9786517024040222, + 0.0735006034374237 + ], + "joints": [ + 0.01677446812391281 + ] + }, + "final_grasp": { + "position": [ + 0.0446537509560585, + -0.11254550516605377, + 0.06174910068511963 + ], + "orientation": [ + 0.05550989508628845, + -0.18373124301433563, + 0.9786517024040222, + 0.0735006034374237 + ], + "joints": [ + 0.021663358435034752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058759722858667374, + -0.10469973832368851, + 0.05421644076704979 + ], + "orientation": [ + 0.9622443318367004, + 0.1105458065867424, + -0.0438091941177845, + 0.24483931064605713 + ], + "joints": [ + 0.011212214827537537 + ] + }, + "fine_grasp": { + "position": [ + 0.05814550444483757, + -0.10342071950435638, + 0.05481107905507088 + ], + "orientation": [ + 0.9601680040359497, + 0.12039124965667725, + -0.06849217414855957, + 0.24267731606960297 + ], + "joints": [ + 0.015622846782207489 + ] + }, + "final_grasp": { + "position": [ + 0.05814550444483757, + -0.10342071950435638, + 0.05481107905507088 + ], + "orientation": [ + 0.9601680040359497, + 0.12039124965667725, + -0.06849217414855957, + 0.24267731606960297 + ], + "joints": [ + 0.02003347873687744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1188751757144928, + -0.030103782191872597, + 0.0576031319797039 + ], + "orientation": [ + 0.0035764528438448906, + -0.6067155599594116, + 0.7891782522201538, + 0.09529543668031693 + ], + "joints": [ + 0.011214358732104301 + ] + }, + "fine_grasp": { + "position": [ + 0.11650467664003372, + -0.029168957844376564, + 0.058071840554475784 + ], + "orientation": [ + 0.011604703962802887, + -0.606986939907074, + 0.7873787879943848, + 0.10708329826593399 + ], + "joints": [ + 0.015624990686774254 + ] + }, + "final_grasp": { + "position": [ + 0.11650467664003372, + -0.029168957844376564, + 0.058071840554475784 + ], + "orientation": [ + 0.011604703962802887, + -0.606986939907074, + 0.7873787879943848, + 0.10708329826593399 + ], + "joints": [ + 0.020035622641444206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049802374094724655, + 0.09658356010913849, + 0.04103074595332146 + ], + "orientation": [ + 0.23322854936122894, + 0.06844745576381683, + 0.21612587571144104, + 0.9456262588500977 + ], + "joints": [ + 0.010956496000289917 + ] + }, + "fine_grasp": { + "position": [ + 0.04904119670391083, + 0.09496473520994186, + 0.042391061782836914 + ], + "orientation": [ + 0.23381896317005157, + 0.057354122400283813, + 0.22470268607139587, + 0.9442182183265686 + ], + "joints": [ + 0.016855040565133095 + ] + }, + "final_grasp": { + "position": [ + 0.04904119670391083, + 0.09496473520994186, + 0.042391061782836914 + ], + "orientation": [ + 0.23381896317005157, + 0.057354122400283813, + 0.22470268607139587, + 0.9442182183265686 + ], + "joints": [ + 0.022753585129976273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11375339329242706, + -0.04631518945097923, + 0.07371768355369568 + ], + "orientation": [ + 0.8267430067062378, + -0.020211325958371162, + -0.06703311949968338, + -0.5582060813903809 + ], + "joints": [ + 0.011075209826231003 + ] + }, + "fine_grasp": { + "position": [ + -0.11217854917049408, + -0.04569145292043686, + 0.07376477867364883 + ], + "orientation": [ + 0.8234678506851196, + -0.03685174509882927, + -0.09767801314592361, + -0.5576751828193665 + ], + "joints": [ + 0.014449609443545341 + ] + }, + "final_grasp": { + "position": [ + -0.11217854917049408, + -0.04569145292043686, + 0.07376477867364883 + ], + "orientation": [ + 0.8234678506851196, + -0.03685174509882927, + -0.09767801314592361, + -0.5576751828193665 + ], + "joints": [ + 0.01782400906085968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11378934234380722, + -0.04604377597570419, + 0.07394412159919739 + ], + "orientation": [ + 0.8260619044303894, + -0.02105378732085228, + -0.06786847114562988, + -0.5590816140174866 + ], + "joints": [ + 0.01103915460407734 + ] + }, + "fine_grasp": { + "position": [ + -0.11225318163633347, + -0.045525386929512024, + 0.07397452741861343 + ], + "orientation": [ + 0.8229901194572449, + -0.0374487079679966, + -0.09815855324268341, + -0.5582559704780579 + ], + "joints": [ + 0.014413554221391678 + ] + }, + "final_grasp": { + "position": [ + -0.11225318163633347, + -0.045525386929512024, + 0.07397452741861343 + ], + "orientation": [ + 0.8229901194572449, + -0.0374487079679966, + -0.09815855324268341, + -0.5582559704780579 + ], + "joints": [ + 0.017787953838706017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014777560718357563, + 0.11537820100784302, + 0.05836877599358559 + ], + "orientation": [ + 0.05954689905047417, + -0.00846919510513544, + -0.1544591337442398, + -0.9861667156219482 + ], + "joints": [ + 0.011112263426184654 + ] + }, + "fine_grasp": { + "position": [ + -0.014913749881088734, + 0.11536189913749695, + 0.05856052786111832 + ], + "orientation": [ + 0.056949447840452194, + -0.003900218056514859, + -0.1600247621536255, + -0.9854611754417419 + ], + "joints": [ + 0.016984237357974052 + ] + }, + "final_grasp": { + "position": [ + -0.014913749881088734, + 0.11536189913749695, + 0.05856052786111832 + ], + "orientation": [ + 0.056949447840452194, + -0.003900218056514859, + -0.1600247621536255, + -0.9854611754417419 + ], + "joints": [ + 0.02285621128976345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12266892194747925, + -0.018973225727677345, + 0.06752654910087585 + ], + "orientation": [ + 0.03466830775141716, + -0.6481031179428101, + -0.7590026259422302, + -0.051724571734666824 + ], + "joints": [ + 0.010877445340156555 + ] + }, + "fine_grasp": { + "position": [ + -0.12284249812364578, + -0.01889418065547943, + 0.0677991509437561 + ], + "orientation": [ + 0.05596466362476349, + -0.6466093063354492, + -0.7573822140693665, + -0.07166945934295654 + ], + "joints": [ + 0.014730101451277733 + ] + }, + "final_grasp": { + "position": [ + -0.12284249812364578, + -0.01889418065547943, + 0.0677991509437561 + ], + "orientation": [ + 0.05596466362476349, + -0.6466093063354492, + -0.7573822140693665, + -0.07166945934295654 + ], + "joints": [ + 0.01858275756239891 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07490208745002747, + -0.09691783785820007, + 0.0896194726228714 + ], + "orientation": [ + 0.9445762038230896, + -0.052643921226263046, + -0.04882844164967537, + -0.3203440010547638 + ], + "joints": [ + 0.011123886331915855 + ] + }, + "fine_grasp": { + "position": [ + -0.07377240061759949, + -0.09469521790742874, + 0.08915461599826813 + ], + "orientation": [ + 0.9420503377914429, + -0.05641299858689308, + -0.07660635560750961, + -0.321698933839798 + ], + "joints": [ + 0.015507945790886879 + ] + }, + "final_grasp": { + "position": [ + -0.07377240061759949, + -0.09469521790742874, + 0.08915461599826813 + ], + "orientation": [ + 0.9420503377914429, + -0.05641299858689308, + -0.07660635560750961, + -0.321698933839798 + ], + "joints": [ + 0.019892005249857903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11486855894327164, + -0.022460374981164932, + 0.040813133120536804 + ], + "orientation": [ + 0.7569553256034851, + 0.08040441572666168, + -0.13487254083156586, + -0.6343210339546204 + ], + "joints": [ + 0.010966198518872261 + ] + }, + "fine_grasp": { + "position": [ + -0.11371082812547684, + -0.022629043087363243, + 0.04160227254033089 + ], + "orientation": [ + 0.7543497681617737, + 0.06771349161863327, + -0.1561223268508911, + -0.6340324282646179 + ], + "joints": [ + 0.015376828610897064 + ] + }, + "final_grasp": { + "position": [ + -0.11371082812547684, + -0.022629043087363243, + 0.04160227254033089 + ], + "orientation": [ + 0.7543497681617737, + 0.06771349161863327, + -0.1561223268508911, + -0.6340324282646179 + ], + "joints": [ + 0.019787458702921867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02094593085348606, + 0.11688749492168427, + 0.06824370473623276 + ], + "orientation": [ + 0.09130910038948059, + 0.032263245433568954, + 0.10906011611223221, + 0.9893066883087158 + ], + "joints": [ + 0.011429987847805023 + ] + }, + "fine_grasp": { + "position": [ + 0.020920084789395332, + 0.11690068244934082, + 0.06815722584724426 + ], + "orientation": [ + 0.09269752353429794, + 0.02489188127219677, + 0.11552828550338745, + 0.9886561036109924 + ], + "joints": [ + 0.016797132790088654 + ] + }, + "final_grasp": { + "position": [ + 0.020920084789395332, + 0.11690068244934082, + 0.06815722584724426 + ], + "orientation": [ + 0.09269752353429794, + 0.02489188127219677, + 0.11552828550338745, + 0.9886561036109924 + ], + "joints": [ + 0.022164277732372284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04002167284488678, + 0.11262354999780655, + 0.07208098471164703 + ], + "orientation": [ + 0.17214229702949524, + 0.038985710591077805, + 0.0949697270989418, + 0.9797081351280212 + ], + "joints": [ + 0.010999828577041626 + ] + }, + "fine_grasp": { + "position": [ + 0.04004227742552757, + 0.11252866685390472, + 0.07192554324865341 + ], + "orientation": [ + 0.17434175312519073, + 0.03463464230298996, + 0.10138516873121262, + 0.9788393378257751 + ], + "joints": [ + 0.016871800646185875 + ] + }, + "final_grasp": { + "position": [ + 0.04004227742552757, + 0.11252866685390472, + 0.07192554324865341 + ], + "orientation": [ + 0.17434175312519073, + 0.03463464230298996, + 0.10138516873121262, + 0.9788393378257751 + ], + "joints": [ + 0.022743772715330124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11928695440292358, + -0.01069238968193531, + 0.05075249448418617 + ], + "orientation": [ + 0.7267494797706604, + 0.03768787905573845, + -0.12091248482465744, + -0.6751258373260498 + ], + "joints": [ + 0.011143876239657402 + ] + }, + "fine_grasp": { + "position": [ + -0.11754057556390762, + -0.010734652169048786, + 0.05149898678064346 + ], + "orientation": [ + 0.7249691486358643, + 0.027418633922934532, + -0.13656282424926758, + -0.6745505332946777 + ], + "joints": [ + 0.015049679204821587 + ] + }, + "final_grasp": { + "position": [ + -0.11754057556390762, + -0.010734652169048786, + 0.05149898678064346 + ], + "orientation": [ + 0.7249691486358643, + 0.027418633922934532, + -0.13656282424926758, + -0.6745505332946777 + ], + "joints": [ + 0.01895548216998577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06440813094377518, + 0.10486754775047302, + 0.07366013526916504 + ], + "orientation": [ + 0.013853347860276699, + 0.9593365788459778, + -0.27518129348754883, + -0.06129199266433716 + ], + "joints": [ + 0.011566005647182465 + ] + }, + "fine_grasp": { + "position": [ + 0.06243244186043739, + 0.10200431942939758, + 0.07426053285598755 + ], + "orientation": [ + 0.008367913775146008, + 0.957880437374115, + -0.2739005386829376, + -0.0858689546585083 + ], + "joints": [ + 0.015950065106153488 + ] + }, + "final_grasp": { + "position": [ + 0.06243244186043739, + 0.10200431942939758, + 0.07426053285598755 + ], + "orientation": [ + 0.008367913775146008, + 0.957880437374115, + -0.2739005386829376, + -0.0858689546585083 + ], + "joints": [ + 0.02033412456512451 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03924768045544624, + 0.10386122018098831, + 0.02493256703019142 + ], + "orientation": [ + 0.20522494614124298, + 0.958156168460846, + -0.18483363091945648, + -0.07520542293787003 + ], + "joints": [ + 0.011850930750370026 + ] + }, + "fine_grasp": { + "position": [ + 0.038603395223617554, + 0.10270171612501144, + 0.026244772598147392 + ], + "orientation": [ + 0.2019079476594925, + 0.9564765095710754, + -0.18787781894207, + -0.09532935172319412 + ], + "joints": [ + 0.016766393557190895 + ] + }, + "final_grasp": { + "position": [ + 0.038603395223617554, + 0.10270171612501144, + 0.026244772598147392 + ], + "orientation": [ + 0.2019079476594925, + 0.9564765095710754, + -0.18787781894207, + -0.09532935172319412 + ], + "joints": [ + 0.021681856364011765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07502151280641556, + -0.09682677686214447, + 0.08924736082553864 + ], + "orientation": [ + 0.9442033767700195, + -0.05327184498310089, + -0.05238022655248642, + -0.32077786326408386 + ], + "joints": [ + 0.011158324778079987 + ] + }, + "fine_grasp": { + "position": [ + -0.07359334826469421, + -0.09423032402992249, + 0.08876178413629532 + ], + "orientation": [ + 0.9416252970695496, + -0.056419432163238525, + -0.08020126819610596, + -0.3220658004283905 + ], + "joints": [ + 0.01554238423705101 + ] + }, + "final_grasp": { + "position": [ + -0.07359334826469421, + -0.09423032402992249, + 0.08876178413629532 + ], + "orientation": [ + 0.9416252970695496, + -0.056419432163238525, + -0.08020126819610596, + -0.3220658004283905 + ], + "joints": [ + 0.019926443696022034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04254530370235443, + 0.10663695633411407, + 0.13629654049873352 + ], + "orientation": [ + 0.17244914174079895, + 0.031700391322374344, + -0.20622360706329346, + 0.9626671671867371 + ], + "joints": [ + 0.010584715753793716 + ] + }, + "fine_grasp": { + "position": [ + 0.04261031001806259, + 0.1065221056342125, + 0.13561086356639862 + ], + "orientation": [ + 0.169051393866539, + 0.06070272624492645, + -0.20837393403053284, + 0.9614141583442688 + ], + "joints": [ + 0.015473602339625359 + ] + }, + "final_grasp": { + "position": [ + 0.04261031001806259, + 0.1065221056342125, + 0.13561086356639862 + ], + "orientation": [ + 0.169051393866539, + 0.06070272624492645, + -0.20837393403053284, + 0.9614141583442688 + ], + "joints": [ + 0.020362488925457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0010767672210931778, + -0.12343216687440872, + 0.08620595932006836 + ], + "orientation": [ + 0.06764912605285645, + 0.0042162099853158, + 0.997669517993927, + -0.00783238373696804 + ], + "joints": [ + 0.011496946215629578 + ] + }, + "fine_grasp": { + "position": [ + -0.0012048904318362474, + -0.12217891216278076, + 0.08625152707099915 + ], + "orientation": [ + 0.09900431334972382, + 0.004264538176357746, + 0.9950680136680603, + -0.004427840001881123 + ], + "joints": [ + 0.0158810056746006 + ] + }, + "final_grasp": { + "position": [ + -0.0012048904318362474, + -0.12217891216278076, + 0.08625152707099915 + ], + "orientation": [ + 0.09900431334972382, + 0.004264538176357746, + 0.9950680136680603, + -0.004427840001881123 + ], + "joints": [ + 0.020265065133571625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11404816061258316, + 0.02114817500114441, + 0.03284713625907898 + ], + "orientation": [ + 0.1717042177915573, + 0.7622352838516235, + 0.6194772124290466, + 0.07591546326875687 + ], + "joints": [ + 0.01162179745733738 + ] + }, + "fine_grasp": { + "position": [ + -0.11101698130369186, + 0.02011970989406109, + 0.0343056246638298 + ], + "orientation": [ + 0.1877439022064209, + 0.7613242268562317, + 0.6176908016204834, + 0.059965088963508606 + ], + "joints": [ + 0.015527600422501564 + ] + }, + "final_grasp": { + "position": [ + -0.11101698130369186, + 0.02011970989406109, + 0.0343056246638298 + ], + "orientation": [ + 0.1877439022064209, + 0.7613242268562317, + 0.6176908016204834, + 0.059965088963508606 + ], + "joints": [ + 0.01943340338766575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010894164443016052, + -0.11911333352327347, + 0.051681824028491974 + ], + "orientation": [ + 0.9920494556427002, + 0.10490691661834717, + -0.057356346398591995, + 0.03927707299590111 + ], + "joints": [ + 0.011688832193613052 + ] + }, + "fine_grasp": { + "position": [ + 0.01090092584490776, + -0.11831559240818024, + 0.052239030599594116 + ], + "orientation": [ + 0.9899173974990845, + 0.10947930067777634, + -0.08177114278078079, + 0.037300292402505875 + ], + "joints": [ + 0.016099466010928154 + ] + }, + "final_grasp": { + "position": [ + 0.01090092584490776, + -0.11831559240818024, + 0.052239030599594116 + ], + "orientation": [ + 0.9899173974990845, + 0.10947930067777634, + -0.08177114278078079, + 0.037300292402505875 + ], + "joints": [ + 0.020510099828243256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12224175035953522, + -0.014772958122193813, + 0.08100622147321701 + ], + "orientation": [ + 0.04444868862628937, + -0.6608940362930298, + 0.7478523850440979, + 0.04427448287606239 + ], + "joints": [ + 0.01073257252573967 + ] + }, + "fine_grasp": { + "position": [ + 0.11820799112319946, + -0.013996084220707417, + 0.0811656042933464 + ], + "orientation": [ + 0.061170682311058044, + -0.6604978442192078, + 0.7455924153327942, + 0.06397336721420288 + ], + "joints": [ + 0.015116630122065544 + ] + }, + "final_grasp": { + "position": [ + 0.11820799112319946, + -0.013996084220707417, + 0.0811656042933464 + ], + "orientation": [ + 0.061170682311058044, + -0.6604978442192078, + 0.7455924153327942, + 0.06397336721420288 + ], + "joints": [ + 0.01950068771839142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12212704122066498, + -0.01500626839697361, + 0.08102980256080627 + ], + "orientation": [ + 0.04881155863404274, + -0.660186231136322, + 0.7482394576072693, + 0.04369773715734482 + ], + "joints": [ + 0.010734288021922112 + ] + }, + "fine_grasp": { + "position": [ + 0.11815626919269562, + -0.014408724382519722, + 0.08117787539958954 + ], + "orientation": [ + 0.0673384815454483, + -0.6592217087745667, + 0.7461081147193909, + 0.06492247432470322 + ], + "joints": [ + 0.014613516628742218 + ] + }, + "final_grasp": { + "position": [ + 0.11815626919269562, + -0.014408724382519722, + 0.08117787539958954 + ], + "orientation": [ + 0.0673384815454483, + -0.6592217087745667, + 0.7461081147193909, + 0.06492247432470322 + ], + "joints": [ + 0.018492745235562325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039584219455718994, + 0.10417122393846512, + 0.02414046972990036 + ], + "orientation": [ + 0.20162206888198853, + 0.9585984945297241, + -0.1860504299402237, + -0.07630593329668045 + ], + "joints": [ + 0.011849213391542435 + ] + }, + "fine_grasp": { + "position": [ + 0.03890010714530945, + 0.10287070274353027, + 0.02541864849627018 + ], + "orientation": [ + 0.19822880625724792, + 0.9569233059883118, + -0.18898999691009521, + -0.09636330604553223 + ], + "joints": [ + 0.016764676198363304 + ] + }, + "final_grasp": { + "position": [ + 0.03890010714530945, + 0.10287070274353027, + 0.02541864849627018 + ], + "orientation": [ + 0.19822880625724792, + 0.9569233059883118, + -0.18898999691009521, + -0.09636330604553223 + ], + "joints": [ + 0.021680139005184174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11930727958679199, + -0.010897555388510227, + 0.0501335971057415 + ], + "orientation": [ + 0.7272020578384399, + 0.034213464707136154, + -0.12182947993278503, + -0.6746585369110107 + ], + "joints": [ + 0.01109992153942585 + ] + }, + "fine_grasp": { + "position": [ + -0.1172928586602211, + -0.010931670665740967, + 0.050914209336042404 + ], + "orientation": [ + 0.7253472208976746, + 0.022468453273177147, + -0.13793504238128662, + -0.6740478277206421 + ], + "joints": [ + 0.015005722641944885 + ] + }, + "final_grasp": { + "position": [ + -0.1172928586602211, + -0.010931670665740967, + 0.050914209336042404 + ], + "orientation": [ + 0.7253472208976746, + 0.022468453273177147, + -0.13793504238128662, + -0.6740478277206421 + ], + "joints": [ + 0.01891152374446392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04268184304237366, + 0.1065998375415802, + 0.1375977098941803 + ], + "orientation": [ + 0.1724204123020172, + 0.03780733421444893, + -0.20677384734153748, + 0.9623337984085083 + ], + "joints": [ + 0.010615706443786621 + ] + }, + "fine_grasp": { + "position": [ + 0.042837344110012054, + 0.10643357783555984, + 0.13682013750076294 + ], + "orientation": [ + 0.16938811540603638, + 0.06588372588157654, + -0.20958618819713593, + 0.9607501029968262 + ], + "joints": [ + 0.015504593029618263 + ] + }, + "final_grasp": { + "position": [ + 0.042837344110012054, + 0.10643357783555984, + 0.13682013750076294 + ], + "orientation": [ + 0.16938811540603638, + 0.06588372588157654, + -0.20958618819713593, + 0.9607501029968262 + ], + "joints": [ + 0.020393479615449905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1227031946182251, + -0.019151536747813225, + 0.06633259356021881 + ], + "orientation": [ + 0.04152291640639305, + -0.6472966074943542, + -0.7591850757598877, + -0.05404441058635712 + ], + "joints": [ + 0.010354222729802132 + ] + }, + "fine_grasp": { + "position": [ + -0.12279655784368515, + -0.019223349168896675, + 0.06653228402137756 + ], + "orientation": [ + 0.06359699368476868, + -0.645155668258667, + -0.757687509059906, + -0.0750955194234848 + ], + "joints": [ + 0.014233449473977089 + ] + }, + "final_grasp": { + "position": [ + -0.12279655784368515, + -0.019223349168896675, + 0.06653228402137756 + ], + "orientation": [ + 0.06359699368476868, + -0.645155668258667, + -0.757687509059906, + -0.0750955194234848 + ], + "joints": [ + 0.018112676218152046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005424827337265015, + 0.10831697285175323, + 0.021141141653060913 + ], + "orientation": [ + 0.03480460122227669, + 0.05144205689430237, + 0.2263086885213852, + 0.972073495388031 + ], + "joints": [ + 0.011786345392465591 + ] + }, + "fine_grasp": { + "position": [ + 0.0051556299440562725, + 0.10917651653289795, + 0.02196287177503109 + ], + "orientation": [ + 0.03967168927192688, + 0.07687044888734818, + 0.22752995789051056, + 0.9699212908744812 + ], + "joints": [ + 0.016675235703587532 + ] + }, + "final_grasp": { + "position": [ + 0.0051556299440562725, + 0.10917651653289795, + 0.02196287177503109 + ], + "orientation": [ + 0.03967168927192688, + 0.07687044888734818, + 0.22752995789051056, + 0.9699212908744812 + ], + "joints": [ + 0.021564126014709473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04495552182197571, + -0.10620298236608505, + 0.03526291623711586 + ], + "orientation": [ + 0.9605668187141418, + 0.1457853615283966, + -0.11219502240419388, + -0.20849552750587463 + ], + "joints": [ + 0.011598898097872734 + ] + }, + "fine_grasp": { + "position": [ + -0.04432804137468338, + -0.10532578080892563, + 0.0365111343562603 + ], + "orientation": [ + 0.9573150277137756, + 0.1415221095085144, + -0.13854646682739258, + -0.21053358912467957 + ], + "joints": [ + 0.01499987207353115 + ] + }, + "final_grasp": { + "position": [ + -0.04432804137468338, + -0.10532578080892563, + 0.0365111343562603 + ], + "orientation": [ + 0.9573150277137756, + 0.1415221095085144, + -0.13854646682739258, + -0.21053358912467957 + ], + "joints": [ + 0.018400846049189568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11460058391094208, + 0.00223598163574934, + 0.030617963522672653 + ], + "orientation": [ + 0.10161129385232925, + 0.6930302977561951, + -0.6940315365791321, + -0.16644589602947235 + ], + "joints": [ + 0.011613760143518448 + ] + }, + "fine_grasp": { + "position": [ + 0.11159694194793701, + 0.0032956122886389494, + 0.03213900327682495 + ], + "orientation": [ + 0.08505690097808838, + 0.6922972798347473, + -0.6922017931938171, + -0.18532802164554596 + ], + "joints": [ + 0.015519563108682632 + ] + }, + "final_grasp": { + "position": [ + 0.11159694194793701, + 0.0032956122886389494, + 0.03213900327682495 + ], + "orientation": [ + 0.08505690097808838, + 0.6922972798347473, + -0.6922017931938171, + -0.18532802164554596 + ], + "joints": [ + 0.019425366073846817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05167781189084053, + -0.10715961456298828, + 0.05048656091094017 + ], + "orientation": [ + 0.9612022042274475, + 0.08840532600879669, + -0.12099207937717438, + -0.23159384727478027 + ], + "joints": [ + 0.010871469974517822 + ] + }, + "fine_grasp": { + "position": [ + -0.050218354910612106, + -0.10446611791849136, + 0.0519292987883091 + ], + "orientation": [ + 0.9572206735610962, + 0.08047491312026978, + -0.15208251774311066, + -0.2326439768075943 + ], + "joints": [ + 0.01427244208753109 + ] + }, + "final_grasp": { + "position": [ + -0.050218354910612106, + -0.10446611791849136, + 0.0519292987883091 + ], + "orientation": [ + 0.9572206735610962, + 0.08047491312026978, + -0.15208251774311066, + -0.2326439768075943 + ], + "joints": [ + 0.017673414200544357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045068129897117615, + -0.10643195360898972, + 0.03494202345609665 + ], + "orientation": [ + 0.9605652093887329, + 0.14275670051574707, + -0.11508947610855103, + -0.20902027189731598 + ], + "joints": [ + 0.011528415605425835 + ] + }, + "fine_grasp": { + "position": [ + -0.044474534690380096, + -0.10548938810825348, + 0.036121778190135956 + ], + "orientation": [ + 0.957449197769165, + 0.13883499801158905, + -0.13987508416175842, + -0.21083374321460724 + ], + "joints": [ + 0.01495596207678318 + ] + }, + "final_grasp": { + "position": [ + -0.044474534690380096, + -0.10548938810825348, + 0.036121778190135956 + ], + "orientation": [ + 0.957449197769165, + 0.13883499801158905, + -0.13987508416175842, + -0.21083374321460724 + ], + "joints": [ + 0.018383508548140526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07886462658643723, + -0.08958271145820618, + 0.047927483916282654 + ], + "orientation": [ + 0.9264605641365051, + 0.05955883860588074, + -0.10174646228551865, + -0.35745105147361755 + ], + "joints": [ + 0.011347459629178047 + ] + }, + "fine_grasp": { + "position": [ + -0.07853692770004272, + -0.08952926099300385, + 0.04843049868941307 + ], + "orientation": [ + 0.9239344000816345, + 0.05271906033158302, + -0.12479709833860397, + -0.3577590584754944 + ], + "joints": [ + 0.015253262594342232 + ] + }, + "final_grasp": { + "position": [ + -0.07853692770004272, + -0.08952926099300385, + 0.04843049868941307 + ], + "orientation": [ + 0.9239344000816345, + 0.05271906033158302, + -0.12479709833860397, + -0.3577590584754944 + ], + "joints": [ + 0.019159065559506416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1146213486790657, + 0.0021944837644696236, + 0.03038063645362854 + ], + "orientation": [ + 0.10191065818071365, + 0.6928540468215942, + -0.6943648457527161, + -0.16560472548007965 + ], + "joints": [ + 0.011613760143518448 + ] + }, + "fine_grasp": { + "position": [ + 0.1115049198269844, + 0.003218886209651828, + 0.03188588097691536 + ], + "orientation": [ + 0.08555228263139725, + 0.6922714710235596, + -0.6923829317092896, + -0.18451827764511108 + ], + "joints": [ + 0.015519563108682632 + ] + }, + "final_grasp": { + "position": [ + 0.1115049198269844, + 0.003218886209651828, + 0.03188588097691536 + ], + "orientation": [ + 0.08555228263139725, + 0.6922714710235596, + -0.6923829317092896, + -0.18451827764511108 + ], + "joints": [ + 0.019425366073846817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037684116512537, + -0.11630108207464218, + 0.11550687253475189 + ], + "orientation": [ + 0.007328875362873077, + 0.15429392457008362, + 0.9870030879974365, + -0.04432098940014839 + ], + "joints": [ + 0.010684560984373093 + ] + }, + "fine_grasp": { + "position": [ + -0.038676463067531586, + -0.11800828576087952, + 0.11583808809518814 + ], + "orientation": [ + 0.006043026223778725, + 0.1541936695575714, + 0.9872966408729553, + -0.03785715252161026 + ], + "joints": [ + 0.01706136204302311 + ] + }, + "final_grasp": { + "position": [ + -0.038676463067531586, + -0.11800828576087952, + 0.11583808809518814 + ], + "orientation": [ + 0.006043026223778725, + 0.1541936695575714, + 0.9872966408729553, + -0.03785715252161026 + ], + "joints": [ + 0.023438163101673126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0789170190691948, + 0.09231428802013397, + 0.028770430013537407 + ], + "orientation": [ + 0.10241508483886719, + 0.9306454658508301, + 0.34510424733161926, + 0.06567554175853729 + ], + "joints": [ + 0.012153269723057747 + ] + }, + "fine_grasp": { + "position": [ + -0.07880682498216629, + 0.09127109497785568, + 0.029218092560768127 + ], + "orientation": [ + 0.09968148916959763, + 0.9287199974060059, + 0.34915080666542053, + 0.07507647573947906 + ], + "joints": [ + 0.017546989023685455 + ] + }, + "final_grasp": { + "position": [ + -0.07880682498216629, + 0.09127109497785568, + 0.029218092560768127 + ], + "orientation": [ + 0.09968148916959763, + 0.9287199974060059, + 0.34915080666542053, + 0.07507647573947906 + ], + "joints": [ + 0.022940708324313164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006126040243543684, + -0.12313047796487808, + 0.08688376098871231 + ], + "orientation": [ + 0.07713691145181656, + 0.0023303821217268705, + 0.9969993829727173, + -0.006077711004763842 + ], + "joints": [ + 0.011498948559165001 + ] + }, + "fine_grasp": { + "position": [ + -0.0010730632347986102, + -0.12254238873720169, + 0.08713369816541672 + ], + "orientation": [ + 0.11108268797397614, + 0.0036302192602306604, + 0.9937960505485535, + -0.004096899647265673 + ], + "joints": [ + 0.015378179028630257 + ] + }, + "final_grasp": { + "position": [ + -0.0010730632347986102, + -0.12254238873720169, + 0.08713369816541672 + ], + "orientation": [ + 0.11108268797397614, + 0.0036302192602306604, + 0.9937960505485535, + -0.004096899647265673 + ], + "joints": [ + 0.019257409498095512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12296658754348755, + -0.00954489503055811, + 0.09422291070222855 + ], + "orientation": [ + 0.7324267029762268, + -0.028169995173811913, + -0.04738544300198555, + -0.6786105036735535 + ], + "joints": [ + 0.010055404156446457 + ] + }, + "fine_grasp": { + "position": [ + -0.12168670445680618, + -0.009505725465714931, + 0.09448060393333435 + ], + "orientation": [ + 0.7298234701156616, + -0.05060791224241257, + -0.07635556161403656, + -0.6774707436561584 + ], + "joints": [ + 0.01494428887963295 + ] + }, + "final_grasp": { + "position": [ + -0.12168670445680618, + -0.009505725465714931, + 0.09448060393333435 + ], + "orientation": [ + 0.7298234701156616, + -0.05060791224241257, + -0.07635556161403656, + -0.6774707436561584 + ], + "joints": [ + 0.019833173602819443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09565195441246033, + -0.0780179351568222, + 0.04822000861167908 + ], + "orientation": [ + 0.021922769024968147, + -0.4258519113063812, + -0.9017636775970459, + -0.0706518366932869 + ], + "joints": [ + 0.011741314083337784 + ] + }, + "fine_grasp": { + "position": [ + -0.09605008363723755, + -0.07767622172832489, + 0.048512451350688934 + ], + "orientation": [ + 0.03984897583723068, + -0.4261240065097809, + -0.900230348110199, + -0.08009801805019379 + ], + "joints": [ + 0.01559397391974926 + ] + }, + "final_grasp": { + "position": [ + -0.09605008363723755, + -0.07767622172832489, + 0.048512451350688934 + ], + "orientation": [ + 0.03984897583723068, + -0.4261240065097809, + -0.900230348110199, + -0.08009801805019379 + ], + "joints": [ + 0.019446633756160736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06075724586844444, + -0.10689262300729752, + 0.07281919568777084 + ], + "orientation": [ + 0.07005589455366135, + 0.25509998202323914, + 0.9640012979507446, + -0.026791732758283615 + ], + "joints": [ + 0.012152358889579773 + ] + }, + "fine_grasp": { + "position": [ + -0.05930660292506218, + -0.10426518321037292, + 0.07349273562431335 + ], + "orientation": [ + 0.09271669387817383, + 0.25406038761138916, + 0.9622102379798889, + -0.0317562036216259 + ], + "joints": [ + 0.01552676223218441 + ] + }, + "final_grasp": { + "position": [ + -0.05930660292506218, + -0.10426518321037292, + 0.07349273562431335 + ], + "orientation": [ + 0.09271669387817383, + 0.25406038761138916, + 0.9622102379798889, + -0.0317562036216259 + ], + "joints": [ + 0.018901165574789047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1155761107802391, + -0.042400866746902466, + 0.09775884449481964 + ], + "orientation": [ + 0.818771243095398, + 0.021856391802430153, + -0.04346616938710213, + -0.5720546841621399 + ], + "joints": [ + 0.009497718885540962 + ] + }, + "fine_grasp": { + "position": [ + -0.11577553302049637, + -0.042695146054029465, + 0.09780552238225937 + ], + "orientation": [ + 0.8185039758682251, + 0.02800692617893219, + -0.037499766796827316, + -0.572591245174408 + ], + "joints": [ + 0.01590108685195446 + ] + }, + "final_grasp": { + "position": [ + -0.11577553302049637, + -0.042695146054029465, + 0.09780552238225937 + ], + "orientation": [ + 0.8185039758682251, + 0.02800692617893219, + -0.037499766796827316, + -0.572591245174408 + ], + "joints": [ + 0.022304454818367958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061183687299489975, + -0.1066536232829094, + 0.07242659479379654 + ], + "orientation": [ + 0.06900474429130554, + 0.2568131387233734, + 0.9636045098304749, + -0.027416963130235672 + ], + "joints": [ + 0.012159418314695358 + ] + }, + "fine_grasp": { + "position": [ + -0.0596778504550457, + -0.10403158515691757, + 0.07309851795434952 + ], + "orientation": [ + 0.09301150590181351, + 0.25573858618736267, + 0.9616991281509399, + -0.03288378566503525 + ], + "joints": [ + 0.015533821657299995 + ] + }, + "final_grasp": { + "position": [ + -0.0596778504550457, + -0.10403158515691757, + 0.07309851795434952 + ], + "orientation": [ + 0.09301150590181351, + 0.25573858618736267, + 0.9616991281509399, + -0.03288378566503525 + ], + "joints": [ + 0.018908224999904633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061180539429187775, + -0.10643348097801208, + 0.07209815084934235 + ], + "orientation": [ + 0.07115773856639862, + 0.2568775713443756, + 0.9633125066757202, + -0.031298235058784485 + ], + "joints": [ + 0.012150358408689499 + ] + }, + "fine_grasp": { + "position": [ + -0.05982670560479164, + -0.10377530008554459, + 0.07275445759296417 + ], + "orientation": [ + 0.09695810824632645, + 0.2563306391239166, + 0.9609867930412292, + -0.03739199787378311 + ], + "joints": [ + 0.015524761751294136 + ] + }, + "final_grasp": { + "position": [ + -0.05982670560479164, + -0.10377530008554459, + 0.07275445759296417 + ], + "orientation": [ + 0.09695810824632645, + 0.2563306391239166, + 0.9609867930412292, + -0.03739199787378311 + ], + "joints": [ + 0.018899165093898773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10080935806035995, + 0.03668846935033798, + 0.15860410034656525 + ], + "orientation": [ + 0.1783376932144165, + -0.7871114611625671, + -0.5622143745422363, + 0.1804608255624771 + ], + "joints": [ + 0.009693365544080734 + ] + }, + "fine_grasp": { + "position": [ + -0.1020500585436821, + 0.0382717102766037, + 0.15790002048015594 + ], + "orientation": [ + 0.15967795252799988, + -0.7838054299354553, + -0.5653417110443115, + 0.2013477385044098 + ], + "joints": [ + 0.015538763254880905 + ] + }, + "final_grasp": { + "position": [ + -0.1020500585436821, + 0.0382717102766037, + 0.15790002048015594 + ], + "orientation": [ + 0.15967795252799988, + -0.7838054299354553, + -0.5653417110443115, + 0.2013477385044098 + ], + "joints": [ + 0.021384160965681076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10060048848390579, + 0.03674224391579628, + 0.15883736312389374 + ], + "orientation": [ + 0.17940416932106018, + -0.7871207594871521, + -0.5616243481636047, + 0.18119917809963226 + ], + "joints": [ + 0.009654945693910122 + ] + }, + "fine_grasp": { + "position": [ + -0.10198738425970078, + 0.038225021213293076, + 0.15817147493362427 + ], + "orientation": [ + 0.16086092591285706, + -0.7837479710578918, + -0.565095841884613, + 0.20131954550743103 + ], + "joints": [ + 0.015500342473387718 + ] + }, + "final_grasp": { + "position": [ + -0.10198738425970078, + 0.038225021213293076, + 0.15817147493362427 + ], + "orientation": [ + 0.16086092591285706, + -0.7837479710578918, + -0.565095841884613, + 0.20131954550743103 + ], + "joints": [ + 0.02134573832154274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007054418325424194, + 0.10502784699201584, + 0.00037836201954633 + ], + "orientation": [ + 0.03513849899172783, + 0.020915517583489418, + 0.2708844244480133, + 0.9617429375648499 + ], + "joints": [ + 0.011984754353761673 + ] + }, + "fine_grasp": { + "position": [ + 0.0068639544770121574, + 0.10122766345739365, + 0.004162974189966917 + ], + "orientation": [ + 0.03515906259417534, + 0.01247803308069706, + 0.28352421522140503, + 0.9582390785217285 + ], + "joints": [ + 0.01785673014819622 + ] + }, + "final_grasp": { + "position": [ + 0.0068639544770121574, + 0.10122766345739365, + 0.004162974189966917 + ], + "orientation": [ + 0.03515906259417534, + 0.01247803308069706, + 0.28352421522140503, + 0.9582390785217285 + ], + "joints": [ + 0.023728705942630768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06087882071733475, + -0.1066284105181694, + 0.07211662083864212 + ], + "orientation": [ + 0.07320231199264526, + 0.2552264332771301, + 0.9635090827941895, + -0.033928632736206055 + ], + "joints": [ + 0.012065555900335312 + ] + }, + "fine_grasp": { + "position": [ + -0.05942793935537338, + -0.10399772226810455, + 0.07273093611001968 + ], + "orientation": [ + 0.09934207051992416, + 0.2542320191860199, + 0.961154580116272, + -0.04097652807831764 + ], + "joints": [ + 0.015439959242939949 + ] + }, + "final_grasp": { + "position": [ + -0.05942793935537338, + -0.10399772226810455, + 0.07273093611001968 + ], + "orientation": [ + 0.09934207051992416, + 0.2542320191860199, + 0.961154580116272, + -0.04097652807831764 + ], + "joints": [ + 0.018814362585544586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12020549178123474, + 0.019423872232437134, + 0.11800061166286469 + ], + "orientation": [ + 0.02527647465467453, + -0.7547922730445862, + -0.6477028727531433, + 0.1006513461470604 + ], + "joints": [ + 0.009915387257933617 + ] + }, + "fine_grasp": { + "position": [ + -0.11754408478736877, + 0.019492287188768387, + 0.11780353635549545 + ], + "orientation": [ + 0.002809003693982959, + -0.7538275718688965, + -0.6455170512199402, + 0.12265314161777496 + ], + "joints": [ + 0.01480427011847496 + ] + }, + "final_grasp": { + "position": [ + -0.11754408478736877, + 0.019492287188768387, + 0.11780353635549545 + ], + "orientation": [ + 0.002809003693982959, + -0.7538275718688965, + -0.6455170512199402, + 0.12265314161777496 + ], + "joints": [ + 0.019693152979016304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061285071074962616, + -0.10634943842887878, + 0.07178671658039093 + ], + "orientation": [ + 0.07200000435113907, + 0.25711187720298767, + 0.9630681872367859, + -0.03477328643202782 + ], + "joints": [ + 0.012110762298107147 + ] + }, + "fine_grasp": { + "position": [ + -0.05990314111113548, + -0.10387418419122696, + 0.07241207361221313 + ], + "orientation": [ + 0.10013336688280106, + 0.2559623122215271, + 0.9605783820152283, + -0.0417824424803257 + ], + "joints": [ + 0.014980336651206017 + ] + }, + "final_grasp": { + "position": [ + -0.05990314111113548, + -0.10387418419122696, + 0.07241207361221313 + ], + "orientation": [ + 0.10013336688280106, + 0.2559623122215271, + 0.9605783820152283, + -0.0417824424803257 + ], + "joints": [ + 0.017849911004304886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1144210621714592, + 0.012476037256419659, + 0.02485666051506996 + ], + "orientation": [ + 0.650040328502655, + 0.07951945811510086, + -0.1613651067018509, + -0.7382991313934326 + ], + "joints": [ + 0.011454513296484947 + ] + }, + "fine_grasp": { + "position": [ + -0.11303621530532837, + 0.012017111293971539, + 0.025846773758530617 + ], + "orientation": [ + 0.6470184326171875, + 0.06597334891557693, + -0.17861272394657135, + -0.7383171319961548 + ], + "joints": [ + 0.0158651452511549 + ] + }, + "final_grasp": { + "position": [ + -0.11303621530532837, + 0.012017111293971539, + 0.025846773758530617 + ], + "orientation": [ + 0.6470184326171875, + 0.06597334891557693, + -0.17861272394657135, + -0.7383171319961548 + ], + "joints": [ + 0.020275777205824852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11528068035840988, + -0.010019521228969097, + 0.02977960929274559 + ], + "orientation": [ + 0.7174246907234192, + 0.07774081081151962, + -0.1607569307088852, + -0.6733613610267639 + ], + "joints": [ + 0.011258488520979881 + ] + }, + "fine_grasp": { + "position": [ + -0.1130967065691948, + -0.010155603289604187, + 0.030924178659915924 + ], + "orientation": [ + 0.7153690457344055, + 0.0667877048254013, + -0.17446790635585785, + -0.6733108162879944 + ], + "joints": [ + 0.015190863981842995 + ] + }, + "final_grasp": { + "position": [ + -0.1130967065691948, + -0.010155603289604187, + 0.030924178659915924 + ], + "orientation": [ + 0.7153690457344055, + 0.0667877048254013, + -0.17446790635585785, + -0.6733108162879944 + ], + "joints": [ + 0.019123239442706108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11815538257360458, + 0.02745080552995205, + 0.04569749906659126 + ], + "orientation": [ + 0.10887274891138077, + 0.7829641699790955, + 0.6124628782272339, + 0.0017365155508741736 + ], + "joints": [ + 0.01144433580338955 + ] + }, + "fine_grasp": { + "position": [ + -0.11581021547317505, + 0.026597848162055016, + 0.04624512419104576 + ], + "orientation": [ + 0.13050797581672668, + 0.7808403372764587, + 0.6105579733848572, + -0.021792549639940262 + ], + "joints": [ + 0.014845309779047966 + ] + }, + "final_grasp": { + "position": [ + -0.11581021547317505, + 0.026597848162055016, + 0.04624512419104576 + ], + "orientation": [ + 0.13050797581672668, + 0.7808403372764587, + 0.6105579733848572, + -0.021792549639940262 + ], + "joints": [ + 0.018246283754706383 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06456004828214645, + -0.08113265782594681, + 0.17197558283805847 + ], + "orientation": [ + 0.8988915681838989, + -0.23814935982227325, + -0.15366512537002563, + 0.3341645300388336 + ], + "joints": [ + 0.009866517037153244 + ] + }, + "fine_grasp": { + "position": [ + 0.0650009959936142, + -0.082431860268116, + 0.17098627984523773 + ], + "orientation": [ + 0.8965094685554504, + -0.22390933334827423, + -0.17892926931381226, + 0.3378162384033203 + ], + "joints": [ + 0.015207083895802498 + ] + }, + "final_grasp": { + "position": [ + 0.0650009959936142, + -0.082431860268116, + 0.17098627984523773 + ], + "orientation": [ + 0.8965094685554504, + -0.22390933334827423, + -0.17892926931381226, + 0.3378162384033203 + ], + "joints": [ + 0.02054765075445175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11557911336421967, + -0.009975903667509556, + 0.029139351099729538 + ], + "orientation": [ + 0.7175841331481934, + 0.07617510110139847, + -0.15829356014728546, + -0.6739537715911865 + ], + "joints": [ + 0.01118173822760582 + ] + }, + "fine_grasp": { + "position": [ + -0.11305397003889084, + -0.010096217505633831, + 0.030471350997686386 + ], + "orientation": [ + 0.7156950235366821, + 0.0649680569767952, + -0.17284241318702698, + -0.6735616326332092 + ], + "joints": [ + 0.015618942677974701 + ] + }, + "final_grasp": { + "position": [ + -0.11305397003889084, + -0.010096217505633831, + 0.030471350997686386 + ], + "orientation": [ + 0.7156950235366821, + 0.0649680569767952, + -0.17284241318702698, + -0.6735616326332092 + ], + "joints": [ + 0.020056147128343582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10803629457950592, + -0.0032532168552279472, + 0.012431936338543892 + ], + "orientation": [ + 0.7048099637031555, + 0.19797196984291077, + 0.1285240799188614, + 0.6689780354499817 + ], + "joints": [ + 0.01126851886510849 + ] + }, + "fine_grasp": { + "position": [ + 0.10736310482025146, + -0.0028088376857340336, + 0.013666504994034767 + ], + "orientation": [ + 0.7062698006629944, + 0.2141459435224533, + 0.11415977030992508, + 0.6650503277778625 + ], + "joints": [ + 0.01615740731358528 + ] + }, + "final_grasp": { + "position": [ + 0.10736310482025146, + -0.0028088376857340336, + 0.013666504994034767 + ], + "orientation": [ + 0.7062698006629944, + 0.2141459435224533, + 0.11415977030992508, + 0.6650503277778625 + ], + "joints": [ + 0.021046295762062073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006207468919456005, + -0.1234528049826622, + 0.10430974513292313 + ], + "orientation": [ + 0.040644265711307526, + 0.027285495772957802, + -0.9986190795898438, + -0.01906723715364933 + ], + "joints": [ + 0.010006258264183998 + ] + }, + "fine_grasp": { + "position": [ + 0.006204213015735149, + -0.1247606873512268, + 0.10443299263715744 + ], + "orientation": [ + 0.06199249252676964, + 0.02867579646408558, + -0.9974479079246521, + -0.020793108269572258 + ], + "joints": [ + 0.015346825122833252 + ] + }, + "final_grasp": { + "position": [ + 0.006204213015735149, + -0.1247606873512268, + 0.10443299263715744 + ], + "orientation": [ + 0.06199249252676964, + 0.02867579646408558, + -0.9974479079246521, + -0.020793108269572258 + ], + "joints": [ + 0.020687391981482506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0602320171892643, + 0.10651884973049164, + 0.05079105868935585 + ], + "orientation": [ + 0.2507472038269043, + -0.039038658142089844, + -0.06036105379462242, + -0.9653799533843994 + ], + "joints": [ + 0.01212838664650917 + ] + }, + "fine_grasp": { + "position": [ + -0.05929943546652794, + 0.10498546808958054, + 0.0508875846862793 + ], + "orientation": [ + 0.2484656423330307, + -0.06602179259061813, + -0.07125457376241684, + -0.9637577533721924 + ], + "joints": [ + 0.016007618978619576 + ] + }, + "final_grasp": { + "position": [ + -0.05929943546652794, + 0.10498546808958054, + 0.0508875846862793 + ], + "orientation": [ + 0.2484656423330307, + -0.06602179259061813, + -0.07125457376241684, + -0.9637577533721924 + ], + "joints": [ + 0.01988685131072998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007489500101655722, + 0.11720989644527435, + 0.031165998429059982 + ], + "orientation": [ + 0.04272732511162758, + 0.07521603256464005, + 0.1394895315170288, + 0.9864377975463867 + ], + "joints": [ + 0.012040182948112488 + ] + }, + "fine_grasp": { + "position": [ + 0.007126849144697189, + 0.11570528149604797, + 0.032080791890621185 + ], + "orientation": [ + 0.04394097253680229, + 0.09938286244869232, + 0.14104419946670532, + 0.984021782875061 + ], + "joints": [ + 0.01594598777592182 + ] + }, + "final_grasp": { + "position": [ + 0.007126849144697189, + 0.11570528149604797, + 0.032080791890621185 + ], + "orientation": [ + 0.04394097253680229, + 0.09938286244869232, + 0.14104419946670532, + 0.984021782875061 + ], + "joints": [ + 0.019851792603731155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08066504448652267, + -0.0874875858426094, + 0.03803154081106186 + ], + "orientation": [ + 0.9186482429504395, + 0.0640973299741745, + -0.12290206551551819, + -0.36996227502822876 + ], + "joints": [ + 0.011900249868631363 + ] + }, + "fine_grasp": { + "position": [ + -0.07893551886081696, + -0.08573223650455475, + 0.03936251252889633 + ], + "orientation": [ + 0.9152040481567383, + 0.05266586318612099, + -0.1486467570066452, + -0.37085309624671936 + ], + "joints": [ + 0.014769824221730232 + ] + }, + "final_grasp": { + "position": [ + -0.07893551886081696, + -0.08573223650455475, + 0.03936251252889633 + ], + "orientation": [ + 0.9152040481567383, + 0.05266586318612099, + -0.1486467570066452, + -0.37085309624671936 + ], + "joints": [ + 0.0176393985748291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049874838441610336, + -0.10205058753490448, + 0.013842432759702206 + ], + "orientation": [ + 0.1138673722743988, + 0.2349298596382141, + 0.948610246181488, + 0.17883189022541046 + ], + "joints": [ + 0.012613782659173012 + ] + }, + "fine_grasp": { + "position": [ + -0.049038589000701904, + -0.10049483925104141, + 0.015363327227532864 + ], + "orientation": [ + 0.13279642164707184, + 0.2366558015346527, + 0.9464901089668274, + 0.17468729615211487 + ], + "joints": [ + 0.016014760360121727 + ] + }, + "final_grasp": { + "position": [ + -0.049038589000701904, + -0.10049483925104141, + 0.015363327227532864 + ], + "orientation": [ + 0.13279642164707184, + 0.2366558015346527, + 0.9464901089668274, + 0.17468729615211487 + ], + "joints": [ + 0.019415738061070442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11549648642539978, + -0.03839831054210663, + 0.04376944527029991 + ], + "orientation": [ + 0.013339512050151825, + -0.5759797096252441, + 0.8104352951049805, + 0.10613339394330978 + ], + "joints": [ + 0.011513467878103256 + ] + }, + "fine_grasp": { + "position": [ + 0.11355900019407272, + -0.03711304813623428, + 0.04441877454519272 + ], + "orientation": [ + 0.034920841455459595, + -0.5756181478500366, + 0.807500422000885, + 0.12404605001211166 + ], + "joints": [ + 0.014914441853761673 + ] + }, + "final_grasp": { + "position": [ + 0.11355900019407272, + -0.03711304813623428, + 0.04441877454519272 + ], + "orientation": [ + 0.034920841455459595, + -0.5756181478500366, + 0.807500422000885, + 0.12404605001211166 + ], + "joints": [ + 0.01831541582942009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11471942812204361, + -0.03605995327234268, + 0.13005146384239197 + ], + "orientation": [ + 0.7959729433059692, + -0.04277779534459114, + -0.11397402733564377, + 0.5929645895957947 + ], + "joints": [ + 0.009523408487439156 + ] + }, + "fine_grasp": { + "position": [ + 0.11204448342323303, + -0.035393230617046356, + 0.1295546442270279 + ], + "orientation": [ + 0.7938928008079529, + -0.02192717045545578, + -0.13922664523124695, + 0.5914976000785828 + ], + "joints": [ + 0.0144122913479805 + ] + }, + "final_grasp": { + "position": [ + 0.11204448342323303, + -0.035393230617046356, + 0.1295546442270279 + ], + "orientation": [ + 0.7938928008079529, + -0.02192717045545578, + -0.13922664523124695, + 0.5914976000785828 + ], + "joints": [ + 0.019301174208521843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06400115042924881, + -0.07445317506790161, + 0.1916632503271103 + ], + "orientation": [ + 0.11088228225708008, + -0.3289262056350708, + 0.8883816003799438, + -0.3004841208457947 + ], + "joints": [ + 0.008921818807721138 + ] + }, + "fine_grasp": { + "position": [ + 0.061996519565582275, + -0.0718616396188736, + 0.18861666321754456 + ], + "orientation": [ + 0.11093446612358093, + -0.329835444688797, + 0.8860718607902527, + -0.3062334656715393 + ], + "joints": [ + 0.015325184911489487 + ] + }, + "final_grasp": { + "position": [ + 0.061996519565582275, + -0.0718616396188736, + 0.18861666321754456 + ], + "orientation": [ + 0.11093446612358093, + -0.329835444688797, + 0.8860718607902527, + -0.3062334656715393 + ], + "joints": [ + 0.021728551015257835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11576838791370392, + -0.038458097726106644, + 0.04288647323846817 + ], + "orientation": [ + 0.019484810531139374, + -0.5769833326339722, + 0.8103446960449219, + 0.10025951266288757 + ], + "joints": [ + 0.011994739063084126 + ] + }, + "fine_grasp": { + "position": [ + 0.1138530969619751, + -0.03712873533368111, + 0.04346444085240364 + ], + "orientation": [ + 0.04354364424943924, + -0.5763065814971924, + 0.8071357607841492, + 0.12044273316860199 + ], + "joints": [ + 0.01486431434750557 + ] + }, + "final_grasp": { + "position": [ + 0.1138530969619751, + -0.03712873533368111, + 0.04346444085240364 + ], + "orientation": [ + 0.04354364424943924, + -0.5763065814971924, + 0.8071357607841492, + 0.12044273316860199 + ], + "joints": [ + 0.017733890563249588 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07008789479732513, + -0.09605883061885834, + 0.021505454555153847 + ], + "orientation": [ + 0.030450569465756416, + -0.29498085379600525, + 0.9421833753585815, + 0.15604349970817566 + ], + "joints": [ + 0.012242281809449196 + ] + }, + "fine_grasp": { + "position": [ + 0.0683216080069542, + -0.09296615421772003, + 0.0228983536362648 + ], + "orientation": [ + 0.04366958886384964, + -0.2953197956085205, + 0.9408053159713745, + 0.16051368415355682 + ], + "joints": [ + 0.016174660995602608 + ] + }, + "final_grasp": { + "position": [ + 0.0683216080069542, + -0.09296615421772003, + 0.0228983536362648 + ], + "orientation": [ + 0.04366958886384964, + -0.2953197956085205, + 0.9408053159713745, + 0.16051368415355682 + ], + "joints": [ + 0.02010704018175602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07299645990133286, + 0.08677982538938522, + -0.0022075818851590157 + ], + "orientation": [ + 0.17245811223983765, + 0.9150053262710571, + -0.3457562029361725, + -0.11608676612377167 + ], + "joints": [ + 0.012883981689810753 + ] + }, + "fine_grasp": { + "position": [ + 0.0716262087225914, + 0.08525847643613815, + -0.0009057825081981719 + ], + "orientation": [ + 0.16585849225521088, + 0.913463830947876, + -0.34708210825920105, + -0.13269856572151184 + ], + "joints": [ + 0.016284961253404617 + ] + }, + "final_grasp": { + "position": [ + 0.0716262087225914, + 0.08525847643613815, + -0.0009057825081981719 + ], + "orientation": [ + 0.16585849225521088, + 0.913463830947876, + -0.34708210825920105, + -0.13269856572151184 + ], + "joints": [ + 0.019685940816998482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05140940472483635, + 0.09936323761940002, + 0.0035719398874789476 + ], + "orientation": [ + 0.24814563989639282, + 0.1333416849374771, + 0.1772378385066986, + 0.942990243434906 + ], + "joints": [ + 0.012186361476778984 + ] + }, + "fine_grasp": { + "position": [ + 0.05023493990302086, + 0.09852831810712814, + 0.005091382190585136 + ], + "orientation": [ + 0.24943037331104279, + 0.15804697573184967, + 0.17081713676452637, + 0.9400144219398499 + ], + "joints": [ + 0.015082510188221931 + ] + }, + "final_grasp": { + "position": [ + 0.05023493990302086, + 0.09852831810712814, + 0.005091382190585136 + ], + "orientation": [ + 0.24943037331104279, + 0.15804697573184967, + 0.17081713676452637, + 0.9400144219398499 + ], + "joints": [ + 0.01797865889966488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07044993340969086, + -0.09664197266101837, + 0.019850170239806175 + ], + "orientation": [ + 0.04024544358253479, + -0.2953754663467407, + 0.9433480501174927, + 0.14569909870624542 + ], + "joints": [ + 0.012789985164999962 + ] + }, + "fine_grasp": { + "position": [ + 0.06864182651042938, + -0.09360482543706894, + 0.021053623408079147 + ], + "orientation": [ + 0.05200982838869095, + -0.29566118121147156, + 0.9420847296714783, + 0.14951860904693604 + ], + "joints": [ + 0.01568613573908806 + ] + }, + "final_grasp": { + "position": [ + 0.06864182651042938, + -0.09360482543706894, + 0.021053623408079147 + ], + "orientation": [ + 0.05200982838869095, + -0.29566118121147156, + 0.9420847296714783, + 0.14951860904693604 + ], + "joints": [ + 0.018582286313176155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09908875077962875, + 0.03780775144696236, + 0.18179616332054138 + ], + "orientation": [ + 0.5580491423606873, + -0.2003084421157837, + 0.18348920345306396, + -0.7840850353240967 + ], + "joints": [ + 0.008836550638079643 + ] + }, + "fine_grasp": { + "position": [ + -0.1005813330411911, + 0.03853311762213707, + 0.18095338344573975 + ], + "orientation": [ + 0.562038242816925, + -0.2215023934841156, + 0.16514013707637787, + -0.7796014547348022 + ], + "joints": [ + 0.014708517119288445 + ] + }, + "final_grasp": { + "position": [ + -0.1005813330411911, + 0.03853311762213707, + 0.18095338344573975 + ], + "orientation": [ + 0.562038242816925, + -0.2215023934841156, + 0.16514013707637787, + -0.7796014547348022 + ], + "joints": [ + 0.020580483600497246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006106458604335785, + 0.10275299102067947, + 0.17817027866840363 + ], + "orientation": [ + 0.27147331833839417, + -0.9614688158035278, + -0.005558228585869074, + 0.043000247329473495 + ], + "joints": [ + 0.01004469208419323 + ] + }, + "fine_grasp": { + "position": [ + 0.0013331025838851929, + 0.10625952482223511, + 0.17885546386241913 + ], + "orientation": [ + 0.2730826437473297, + -0.9595149755477905, + -0.009112557396292686, + 0.0683656558394432 + ], + "joints": [ + 0.01589008793234825 + ] + }, + "final_grasp": { + "position": [ + 0.0013331025838851929, + 0.10625952482223511, + 0.17885546386241913 + ], + "orientation": [ + 0.2730826437473297, + -0.9595149755477905, + -0.009112557396292686, + 0.0683656558394432 + ], + "joints": [ + 0.021735483780503273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0213486198335886, + 0.10997693240642548, + 0.16182279586791992 + ], + "orientation": [ + 0.09854257106781006, + -0.01094951294362545, + -0.14622947573661804, + 0.9842695593833923 + ], + "joints": [ + 0.010107442736625671 + ] + }, + "fine_grasp": { + "position": [ + 0.02241983823478222, + 0.11337517946958542, + 0.16316145658493042 + ], + "orientation": [ + 0.09576980769634247, + -0.0038639665581285954, + -0.14102962613105774, + 0.9853547215461731 + ], + "joints": [ + 0.015448011457920074 + ] + }, + "final_grasp": { + "position": [ + 0.02241983823478222, + 0.11337517946958542, + 0.16316145658493042 + ], + "orientation": [ + 0.09576980769634247, + -0.0038639665581285954, + -0.14102962613105774, + 0.9853547215461731 + ], + "joints": [ + 0.020788580179214478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008715703152120113, + 0.10268710553646088, + 0.17789970338344574 + ], + "orientation": [ + 0.27169308066368103, + -0.9614025354385376, + -0.004499621223658323, + 0.04321904480457306 + ], + "joints": [ + 0.010058458894491196 + ] + }, + "fine_grasp": { + "position": [ + 0.001420683111064136, + 0.10623381286859512, + 0.17848989367485046 + ], + "orientation": [ + 0.2727653980255127, + -0.9595186114311218, + -0.009018580429255962, + 0.06958179920911789 + ], + "joints": [ + 0.015399027615785599 + ] + }, + "final_grasp": { + "position": [ + 0.001420683111064136, + 0.10623381286859512, + 0.17848989367485046 + ], + "orientation": [ + 0.2727653980255127, + -0.9595186114311218, + -0.009018580429255962, + 0.06958179920911789 + ], + "joints": [ + 0.020739596337080002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03696129098534584, + -0.11315466463565826, + 0.01607038639485836 + ], + "orientation": [ + 0.07321207225322723, + 0.16381718218326569, + 0.9760885238647461, + 0.1226997971534729 + ], + "joints": [ + 0.013404734432697296 + ] + }, + "fine_grasp": { + "position": [ + -0.03542366996407509, + -0.10943766683340073, + 0.01705319993197918 + ], + "orientation": [ + 0.09192807227373123, + 0.1636962890625, + 0.9751591682434082, + 0.11754761636257172 + ], + "joints": [ + 0.01677914336323738 + ] + }, + "final_grasp": { + "position": [ + -0.03542366996407509, + -0.10943766683340073, + 0.01705319993197918 + ], + "orientation": [ + 0.09192807227373123, + 0.1636962890625, + 0.9751591682434082, + 0.11754761636257172 + ], + "joints": [ + 0.020153552293777466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09989028424024582, + 0.037981778383255005, + 0.1833680123090744 + ], + "orientation": [ + 0.5596027374267578, + -0.19890794157981873, + 0.1777041107416153, + -0.7846665978431702 + ], + "joints": [ + 0.008925710804760456 + ] + }, + "fine_grasp": { + "position": [ + -0.10120882093906403, + 0.0385303869843483, + 0.18250636756420135 + ], + "orientation": [ + 0.5635594725608826, + -0.21921227872371674, + 0.15997853875160217, + -0.7802265882492065 + ], + "joints": [ + 0.014797677285969257 + ] + }, + "final_grasp": { + "position": [ + -0.10120882093906403, + 0.0385303869843483, + 0.18250636756420135 + ], + "orientation": [ + 0.5635594725608826, + -0.21921227872371674, + 0.15997853875160217, + -0.7802265882492065 + ], + "joints": [ + 0.020669642835855484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060030821710824966, + 0.10688157379627228, + 0.011024022474884987 + ], + "orientation": [ + 0.2573011815547943, + 0.0908481553196907, + -0.0831037163734436, + -0.9584553241729736 + ], + "joints": [ + 0.012182608246803284 + ] + }, + "fine_grasp": { + "position": [ + -0.0590442530810833, + 0.10528205335140228, + 0.011900422163307667 + ], + "orientation": [ + 0.2581391930580139, + 0.11149110645055771, + -0.07649959623813629, + -0.9565989971160889 + ], + "joints": [ + 0.016513526439666748 + ] + }, + "final_grasp": { + "position": [ + -0.0590442530810833, + 0.10528205335140228, + 0.011900422163307667 + ], + "orientation": [ + 0.2581391930580139, + 0.11149110645055771, + -0.07649959623813629, + -0.9565989971160889 + ], + "joints": [ + 0.020844444632530212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08506741374731064, + 0.08447355777025223, + 0.0022492462303489447 + ], + "orientation": [ + 0.37728065252304077, + -0.0008579650311730802, + -0.11998524516820908, + -0.9182930588722229 + ], + "joints": [ + 0.013254133984446526 + ] + }, + "fine_grasp": { + "position": [ + -0.08396313339471817, + 0.08276335895061493, + 0.002903315471485257 + ], + "orientation": [ + 0.37613654136657715, + -0.020496578887104988, + -0.129704087972641, + -0.917212188243866 + ], + "joints": [ + 0.01662854291498661 + ] + }, + "final_grasp": { + "position": [ + -0.08396313339471817, + 0.08276335895061493, + 0.002903315471485257 + ], + "orientation": [ + 0.37613654136657715, + -0.020496578887104988, + -0.129704087972641, + -0.917212188243866 + ], + "joints": [ + 0.020002951845526695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10949984937906265, + 0.015706803649663925, + -0.01908356510102749 + ], + "orientation": [ + 0.630026638507843, + 0.10299563407897949, + -0.1982237547636032, + -0.7437509894371033 + ], + "joints": [ + 0.012323783710598946 + ] + }, + "fine_grasp": { + "position": [ + -0.10868098586797714, + 0.015188138000667095, + -0.01747034676373005 + ], + "orientation": [ + 0.626518189907074, + 0.0868241935968399, + -0.21448951959609985, + -0.7442651391029358 + ], + "joints": [ + 0.0162030179053545 + ] + }, + "final_grasp": { + "position": [ + -0.10868098586797714, + 0.015188138000667095, + -0.01747034676373005 + ], + "orientation": [ + 0.626518189907074, + 0.0868241935968399, + -0.21448951959609985, + -0.7442651391029358 + ], + "joints": [ + 0.020082252100110054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07748828083276749, + 0.07999423146247864, + -0.02595851942896843 + ], + "orientation": [ + 0.3504989743232727, + 0.00524927768856287, + -0.2276192605495453, + -0.9084671139717102 + ], + "joints": [ + 0.012838108465075493 + ] + }, + "fine_grasp": { + "position": [ + -0.07689774036407471, + 0.07895547896623611, + -0.0243368037045002 + ], + "orientation": [ + 0.34637513756752014, + -0.017124883830547333, + -0.23566384613513947, + -0.9078510403633118 + ], + "joints": [ + 0.01570768654346466 + ] + }, + "final_grasp": { + "position": [ + -0.07689774036407471, + 0.07895547896623611, + -0.0243368037045002 + ], + "orientation": [ + 0.34637513756752014, + -0.017124883830547333, + -0.23566384613513947, + -0.9078510403633118 + ], + "joints": [ + 0.01857726462185383 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10967058688402176, + 0.016964394599199295, + -0.019416598603129387 + ], + "orientation": [ + 0.6274420022964478, + 0.10351379215717316, + -0.19394704699516296, + -0.7469845414161682 + ], + "joints": [ + 0.012762144207954407 + ] + }, + "fine_grasp": { + "position": [ + -0.10864432156085968, + 0.016470743343234062, + -0.017940543591976166 + ], + "orientation": [ + 0.6234991550445557, + 0.0853830873966217, + -0.20880845189094543, + -0.7485703229904175 + ], + "joints": [ + 0.016109978780150414 + ] + }, + "final_grasp": { + "position": [ + -0.10864432156085968, + 0.016470743343234062, + -0.017940543591976166 + ], + "orientation": [ + 0.6234991550445557, + 0.0853830873966217, + -0.20880845189094543, + -0.7485703229904175 + ], + "joints": [ + 0.01945781335234642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04569380357861519, + -0.11049305647611618, + -0.005495056975632906 + ], + "orientation": [ + 0.9719122648239136, + 0.10063260048627853, + -0.07402238249778748, + -0.1994500309228897 + ], + "joints": [ + 0.013129498809576035 + ] + }, + "fine_grasp": { + "position": [ + -0.04472940042614937, + -0.10953980684280396, + -0.0047775497660040855 + ], + "orientation": [ + 0.969118058681488, + 0.09201753884553909, + -0.10917799919843674, + -0.20105551183223724 + ], + "joints": [ + 0.0165304783731699 + ] + }, + "final_grasp": { + "position": [ + -0.04472940042614937, + -0.10953980684280396, + -0.0047775497660040855 + ], + "orientation": [ + 0.969118058681488, + 0.09201753884553909, + -0.10917799919843674, + -0.20105551183223724 + ], + "joints": [ + 0.019931457936763763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10397864133119583, + -0.03663715720176697, + -0.034411344677209854 + ], + "orientation": [ + 0.7911165952682495, + 0.16964823007583618, + -0.15268944203853607, + -0.5674857497215271 + ], + "joints": [ + 0.012655794620513916 + ] + }, + "fine_grasp": { + "position": [ + -0.1019001305103302, + -0.03584396839141846, + -0.03215960040688515 + ], + "orientation": [ + 0.787725567817688, + 0.16850663721561432, + -0.16330495476722717, + -0.5695835947990417 + ], + "joints": [ + 0.017571259289979935 + ] + }, + "final_grasp": { + "position": [ + -0.1019001305103302, + -0.03584396839141846, + -0.03215960040688515 + ], + "orientation": [ + 0.787725567817688, + 0.16850663721561432, + -0.16330495476722717, + -0.5695835947990417 + ], + "joints": [ + 0.022486723959445953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1034635528922081, + -0.03707361966371536, + -0.03414551913738251 + ], + "orientation": [ + 0.7916713953018188, + 0.15416713058948517, + -0.16184371709823608, + -0.5685907602310181 + ], + "joints": [ + 0.012857206165790558 + ] + }, + "fine_grasp": { + "position": [ + -0.10252529382705688, + -0.03692822530865669, + -0.03290408477187157 + ], + "orientation": [ + 0.7889237403869629, + 0.14458651840686798, + -0.17353036999702454, + -0.5714728832244873 + ], + "joints": [ + 0.01673644222319126 + ] + }, + "final_grasp": { + "position": [ + -0.10252529382705688, + -0.03692822530865669, + -0.03290408477187157 + ], + "orientation": [ + 0.7889237403869629, + 0.14458651840686798, + -0.17353036999702454, + -0.5714728832244873 + ], + "joints": [ + 0.020615678280591965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04622914269566536, + -0.064463309943676, + -0.12573961913585663 + ], + "orientation": [ + 0.8609998226165771, + 0.3725947141647339, + -0.17037127912044525, + -0.3013737201690674 + ], + "joints": [ + 0.012447379529476166 + ] + }, + "fine_grasp": { + "position": [ + -0.044690173119306564, + -0.0637752041220665, + -0.12425493448972702 + ], + "orientation": [ + 0.8585262298583984, + 0.37270963191986084, + -0.17871713638305664, + -0.3034473657608032 + ], + "joints": [ + 0.018425647169351578 + ] + }, + "final_grasp": { + "position": [ + -0.044690173119306564, + -0.0637752041220665, + -0.12425493448972702 + ], + "orientation": [ + 0.8585262298583984, + 0.37270963191986084, + -0.17871713638305664, + -0.3034473657608032 + ], + "joints": [ + 0.02440391480922699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03195459768176079, + 0.05209004506468773, + 0.22629870474338531 + ], + "orientation": [ + 0.27451127767562866, + -0.19285662472248077, + -0.4473842978477478, + 0.8290338516235352 + ], + "joints": [ + 0.00943979062139988 + ] + }, + "fine_grasp": { + "position": [ + 0.03211462125182152, + 0.05220229551196098, + 0.22367797791957855 + ], + "orientation": [ + 0.27305108308792114, + -0.19750598073005676, + -0.4513625204563141, + 0.8262603878974915 + ], + "joints": [ + 0.015843158587813377 + ] + }, + "final_grasp": { + "position": [ + 0.03211462125182152, + 0.05220229551196098, + 0.22367797791957855 + ], + "orientation": [ + 0.27305108308792114, + -0.19750598073005676, + -0.4513625204563141, + 0.8262603878974915 + ], + "joints": [ + 0.022246526554226875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011622823774814606, + -0.12270256876945496, + 0.017940647900104523 + ], + "orientation": [ + 0.9967024326324463, + -0.04161892086267471, + -0.05301562696695328, + -0.04518187418580055 + ], + "joints": [ + 0.013742862269282341 + ] + }, + "fine_grasp": { + "position": [ + -0.011456289328634739, + -0.1205742135643959, + 0.01763455756008625 + ], + "orientation": [ + 0.9951576590538025, + -0.042125772684812546, + -0.07555586844682693, + -0.046669427305459976 + ], + "joints": [ + 0.017117271199822426 + ] + }, + "final_grasp": { + "position": [ + -0.011456289328634739, + -0.1205742135643959, + 0.01763455756008625 + ], + "orientation": [ + 0.9951576590538025, + -0.042125772684812546, + -0.07555586844682693, + -0.046669427305459976 + ], + "joints": [ + 0.02049168013036251 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011503634043037891, + -0.1227092519402504, + 0.01835601031780243 + ], + "orientation": [ + 0.9966784119606018, + -0.03869359567761421, + -0.055992063134908676, + -0.04472096264362335 + ], + "joints": [ + 0.013479465618729591 + ] + }, + "fine_grasp": { + "position": [ + -0.01142900250852108, + -0.12040920555591583, + 0.018067168071866035 + ], + "orientation": [ + 0.9949647188186646, + -0.03926043212413788, + -0.07951240241527557, + -0.04670693352818489 + ], + "joints": [ + 0.016853874549269676 + ] + }, + "final_grasp": { + "position": [ + -0.01142900250852108, + -0.12040920555591583, + 0.018067168071866035 + ], + "orientation": [ + 0.9949647188186646, + -0.03926043212413788, + -0.07951240241527557, + -0.04670693352818489 + ], + "joints": [ + 0.02022828347980976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050421375781297684, + 0.1027204766869545, + -0.031699564307928085 + ], + "orientation": [ + 0.2230285406112671, + -0.0833662822842598, + -0.003284695791080594, + 0.9712350368499756 + ], + "joints": [ + 0.011969391256570816 + ] + }, + "fine_grasp": { + "position": [ + 0.050235144793987274, + 0.10284359008073807, + -0.031042050570249557 + ], + "orientation": [ + 0.22019991278648376, + -0.09300073236227036, + 0.0025294676888734102, + 0.9710080027580261 + ], + "joints": [ + 0.01677856408059597 + ] + }, + "final_grasp": { + "position": [ + 0.050235144793987274, + 0.10284359008073807, + -0.031042050570249557 + ], + "orientation": [ + 0.22019991278648376, + -0.09300073236227036, + 0.0025294676888734102, + 0.9710080027580261 + ], + "joints": [ + 0.021587736904621124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02076668106019497, + 0.11449594050645828, + -0.02685616910457611 + ], + "orientation": [ + 0.10143629461526871, + 0.09593834728002548, + 0.15734533965587616, + 0.9776241183280945 + ], + "joints": [ + 0.012879867106676102 + ] + }, + "fine_grasp": { + "position": [ + 0.020044270902872086, + 0.11315438896417618, + -0.025613918900489807 + ], + "orientation": [ + 0.1023915484547615, + 0.12438839673995972, + 0.15451392531394958, + 0.9747661352157593 + ], + "joints": [ + 0.0157760176807642 + ] + }, + "final_grasp": { + "position": [ + 0.020044270902872086, + 0.11315438896417618, + -0.025613918900489807 + ], + "orientation": [ + 0.1023915484547615, + 0.12438839673995972, + 0.15451392531394958, + 0.9747661352157593 + ], + "joints": [ + 0.018672168254852295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07448861747980118, + 0.08981940895318985, + -0.005136121064424515 + ], + "orientation": [ + 0.06034594401717186, + -0.9356460571289062, + 0.34135276079177856, + -0.06635534763336182 + ], + "joints": [ + 0.012300308793783188 + ] + }, + "fine_grasp": { + "position": [ + 0.07740087807178497, + 0.09334473311901093, + -0.005294805858284235 + ], + "orientation": [ + 0.07301301509141922, + -0.9341146349906921, + 0.3400859534740448, + -0.080253966152668 + ], + "joints": [ + 0.017082910984754562 + ] + }, + "final_grasp": { + "position": [ + 0.07740087807178497, + 0.09334473311901093, + -0.005294805858284235 + ], + "orientation": [ + 0.07301301509141922, + -0.9341146349906921, + 0.3400859534740448, + -0.080253966152668 + ], + "joints": [ + 0.021865513175725937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07336657494306564, + 0.08707057684659958, + -0.005091588944196701 + ], + "orientation": [ + 0.06010271981358528, + -0.9336845874786377, + 0.3462862968444824, + -0.06860369443893433 + ], + "joints": [ + 0.012290257960557938 + ] + }, + "fine_grasp": { + "position": [ + 0.07684142887592316, + 0.09084154665470123, + -0.004925996530801058 + ], + "orientation": [ + 0.07658650726079941, + -0.9322463274002075, + 0.34573590755462646, + -0.07428304851055145 + ], + "joints": [ + 0.016568031162023544 + ] + }, + "final_grasp": { + "position": [ + 0.07684142887592316, + 0.09084154665470123, + -0.004925996530801058 + ], + "orientation": [ + 0.07658650726079941, + -0.9322463274002075, + 0.34573590755462646, + -0.07428304851055145 + ], + "joints": [ + 0.02084580436348915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08496613800525665, + 0.03791043907403946, + -0.08554796874523163 + ], + "orientation": [ + 0.5016289949417114, + 0.1654312163591385, + -0.3128048777580261, + -0.7894009947776794 + ], + "joints": [ + 0.01221545785665512 + ] + }, + "fine_grasp": { + "position": [ + -0.08244921267032623, + 0.036568716168403625, + -0.08156110346317291 + ], + "orientation": [ + 0.4971941411495209, + 0.16107040643692017, + -0.32353076338768005, + -0.7887852191925049 + ], + "joints": [ + 0.01758260652422905 + ] + }, + "final_grasp": { + "position": [ + -0.08244921267032623, + 0.036568716168403625, + -0.08156110346317291 + ], + "orientation": [ + 0.4971941411495209, + 0.16107040643692017, + -0.32353076338768005, + -0.7887852191925049 + ], + "joints": [ + 0.02294975519180298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046638090163469315, + -0.10493192076683044, + -0.0642036572098732 + ], + "orientation": [ + 0.9532719254493713, + 0.14746354520320892, + -0.14355839788913727, + -0.22117435932159424 + ], + "joints": [ + 0.011813784018158913 + ] + }, + "fine_grasp": { + "position": [ + -0.046162575483322144, + -0.1056222915649414, + -0.06428374350070953 + ], + "orientation": [ + 0.9505804777145386, + 0.13486851751804352, + -0.16814102232456207, + -0.22346320748329163 + ], + "joints": [ + 0.015214759856462479 + ] + }, + "final_grasp": { + "position": [ + -0.046162575483322144, + -0.1056222915649414, + -0.06428374350070953 + ], + "orientation": [ + 0.9505804777145386, + 0.13486851751804352, + -0.16814102232456207, + -0.22346320748329163 + ], + "joints": [ + 0.018615735694766045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058046855032444, + -0.077037513256073, + -0.08515419811010361 + ], + "orientation": [ + 0.9086213111877441, + 0.3135475218296051, + -0.009343547746539116, + -0.2756955623626709 + ], + "joints": [ + 0.011987496167421341 + ] + }, + "fine_grasp": { + "position": [ + -0.05915601924061775, + -0.0775332897901535, + -0.08575207740068436 + ], + "orientation": [ + 0.9067397713661194, + 0.3208838999271393, + 0.007987091317772865, + -0.2734828591346741 + ], + "joints": [ + 0.015361899510025978 + ] + }, + "final_grasp": { + "position": [ + -0.05915601924061775, + -0.0775332897901535, + -0.08575207740068436 + ], + "orientation": [ + 0.9067397713661194, + 0.3208838999271393, + 0.007987091317772865, + -0.2734828591346741 + ], + "joints": [ + 0.018736302852630615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -7.116095366654918e-05, + 0.006285959854722023, + -0.1504429280757904 + ], + "orientation": [ + 0.6254632472991943, + 0.6331619024276733, + 0.3090428411960602, + 0.3352525234222412 + ], + "joints": [ + 0.010644109919667244 + ] + }, + "fine_grasp": { + "position": [ + 0.0026011283043771982, + 0.0071086459793150425, + -0.15042777359485626 + ], + "orientation": [ + 0.6124544143676758, + 0.6451769471168518, + 0.3108525574207306, + 0.3346894383430481 + ], + "joints": [ + 0.016489509493112564 + ] + }, + "final_grasp": { + "position": [ + 0.0026011283043771982, + 0.0071086459793150425, + -0.15042777359485626 + ], + "orientation": [ + 0.6124544143676758, + 0.6451769471168518, + 0.3108525574207306, + 0.3346894383430481 + ], + "joints": [ + 0.022334909066557884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0003295970964245498, + 0.0066039469093084335, + -0.1502847522497177 + ], + "orientation": [ + 0.6261399388313293, + 0.6321571469306946, + 0.3073110580444336, + 0.33747008442878723 + ], + "joints": [ + 0.010734060779213905 + ] + }, + "fine_grasp": { + "position": [ + 0.0016411440446972847, + 0.008094469085335732, + -0.14965948462486267 + ], + "orientation": [ + 0.624871015548706, + 0.63236403465271, + 0.30367615818977356, + 0.3426845371723175 + ], + "joints": [ + 0.017110861837863922 + ] + }, + "final_grasp": { + "position": [ + 0.0016411440446972847, + 0.008094469085335732, + -0.14965948462486267 + ], + "orientation": [ + 0.624871015548706, + 0.63236403465271, + 0.30367615818977356, + 0.3426845371723175 + ], + "joints": [ + 0.02348766289651394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08808862417936325, + 0.016164347529411316, + -0.08910981565713882 + ], + "orientation": [ + 0.6184356808662415, + 0.2670746445655823, + -0.22504091262817383, + -0.7039637565612793 + ], + "joints": [ + 0.012444548308849335 + ] + }, + "fine_grasp": { + "position": [ + -0.08816865086555481, + 0.01774084009230137, + -0.08820634335279465 + ], + "orientation": [ + 0.6165273785591125, + 0.28936177492141724, + -0.21071961522102356, + -0.7012567520141602 + ], + "joints": [ + 0.01632378250360489 + ] + }, + "final_grasp": { + "position": [ + -0.08816865086555481, + 0.01774084009230137, + -0.08820634335279465 + ], + "orientation": [ + 0.6165273785591125, + 0.28936177492141724, + -0.21071961522102356, + -0.7012567520141602 + ], + "joints": [ + 0.020203016698360443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08815538138151169, + 0.01596209965646267, + -0.08933495730161667 + ], + "orientation": [ + 0.6190646290779114, + 0.26665693521499634, + -0.22527101635932922, + -0.7034956216812134 + ], + "joints": [ + 0.01242026500403881 + ] + }, + "fine_grasp": { + "position": [ + -0.08821690827608109, + 0.017632069066166878, + -0.08839450031518936 + ], + "orientation": [ + 0.6171017289161682, + 0.2896275818347931, + -0.21027885377407074, + -0.7007738947868347 + ], + "joints": [ + 0.016299499198794365 + ] + }, + "final_grasp": { + "position": [ + -0.08821690827608109, + 0.017632069066166878, + -0.08839450031518936 + ], + "orientation": [ + 0.6171017289161682, + 0.2896275818347931, + -0.21027885377407074, + -0.7007738947868347 + ], + "joints": [ + 0.02017873339354992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0023169051855802536, + -0.0837789848446846, + -0.09317376464605331 + ], + "orientation": [ + 0.08482129126787186, + 0.04272071644663811, + -0.9182428121566772, + -0.38446125388145447 + ], + "joints": [ + 0.012317841872572899 + ] + }, + "fine_grasp": { + "position": [ + 0.0007937411428429186, + -0.08385023474693298, + -0.09115699678659439 + ], + "orientation": [ + 0.11071077734231949, + 0.04612462595105171, + -0.9155086874961853, + -0.3840043544769287 + ], + "joints": [ + 0.015718819573521614 + ] + }, + "final_grasp": { + "position": [ + 0.0007937411428429186, + -0.08385023474693298, + -0.09115699678659439 + ], + "orientation": [ + 0.11071077734231949, + 0.04612462595105171, + -0.9155086874961853, + -0.3840043544769287 + ], + "joints": [ + 0.01911979727447033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01866118051111698, + -0.01261237170547247, + -0.14168454706668854 + ], + "orientation": [ + 0.5412809252738953, + 0.5805208683013916, + 0.5022042989730835, + 0.34322190284729004 + ], + "joints": [ + 0.011368749663233757 + ] + }, + "fine_grasp": { + "position": [ + -0.019294820725917816, + -0.012261261232197285, + -0.13644340634346008 + ], + "orientation": [ + 0.545993447303772, + 0.5767240524291992, + 0.4987151622772217, + 0.34722280502319336 + ], + "joints": [ + 0.015805954113602638 + ] + }, + "final_grasp": { + "position": [ + -0.019294820725917816, + -0.012261261232197285, + -0.13644340634346008 + ], + "orientation": [ + 0.545993447303772, + 0.5767240524291992, + 0.4987151622772217, + 0.34722280502319336 + ], + "joints": [ + 0.02024315856397152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07554171234369278, + 0.09136706590652466, + -0.02346971072256565 + ], + "orientation": [ + 0.19401173293590546, + -0.6054094433784485, + 0.1865345984697342, + 0.7490285038948059 + ], + "joints": [ + -0.01107955351471901 + ] + }, + "fine_grasp": { + "position": [ + 0.07477094978094101, + 0.09267912060022354, + -0.021702369675040245 + ], + "orientation": [ + 0.1986306607723236, + -0.5964773297309875, + 0.20209725201129913, + 0.7509443759918213 + ], + "joints": [ + -0.00884767435491085 + ] + }, + "final_grasp": { + "position": [ + 0.07477094978094101, + 0.09267912060022354, + -0.021702369675040245 + ], + "orientation": [ + 0.1986306607723236, + -0.5964773297309875, + 0.20209725201129913, + 0.7509443759918213 + ], + "joints": [ + -0.006615795195102692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07249622046947479, + 0.10116652399301529, + -0.04441243037581444 + ], + "orientation": [ + 0.34360170364379883, + 0.6222794651985168, + 0.14774133265018463, + -0.6876617670059204 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.07207074761390686, + 0.09883441030979156, + -0.041123341768980026 + ], + "orientation": [ + 0.33689579367637634, + 0.6351603269577026, + 0.13408637046813965, + -0.6819776892662048 + ], + "joints": [ + -0.010565301403403282 + ] + }, + "final_grasp": { + "position": [ + -0.07207074761390686, + 0.09883441030979156, + -0.041123341768980026 + ], + "orientation": [ + 0.33689579367637634, + 0.6351603269577026, + 0.13408637046813965, + -0.6819776892662048 + ], + "joints": [ + -0.008785109966993332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10604190081357956, + 0.04312150180339813, + -0.061165906488895416 + ], + "orientation": [ + 0.4233187735080719, + 0.6989798545837402, + 0.27104452252388, + -0.5086876153945923 + ], + "joints": [ + -0.0047204261645674706 + ] + }, + "fine_grasp": { + "position": [ + -0.10470420122146606, + 0.04654402285814285, + -0.060440801084041595 + ], + "orientation": [ + 0.4382440149784088, + 0.6998109817504883, + 0.2827451229095459, + -0.4881209135055542 + ], + "joints": [ + -0.004135887138545513 + ] + }, + "final_grasp": { + "position": [ + -0.10470420122146606, + 0.04654402285814285, + -0.060440801084041595 + ], + "orientation": [ + 0.4382440149784088, + 0.6998109817504883, + 0.2827451229095459, + -0.4881209135055542 + ], + "joints": [ + -0.0035513481125235558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10610368102788925, + 0.043256666511297226, + -0.06125110387802124 + ], + "orientation": [ + 0.4225161075592041, + 0.7001696228981018, + 0.27333706617355347, + -0.5064873099327087 + ], + "joints": [ + -0.0047204261645674706 + ] + }, + "fine_grasp": { + "position": [ + -0.10478928685188293, + 0.04677507281303406, + -0.06010926142334938 + ], + "orientation": [ + 0.4366336166858673, + 0.7016811370849609, + 0.2866162061691284, + -0.484608918428421 + ], + "joints": [ + -0.004135887138545513 + ] + }, + "final_grasp": { + "position": [ + -0.10478928685188293, + 0.04677507281303406, + -0.06010926142334938 + ], + "orientation": [ + 0.4366336166858673, + 0.7016811370849609, + 0.2866162061691284, + -0.484608918428421 + ], + "joints": [ + -0.0035513481125235558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08632960915565491, + 0.06844176352024078, + -0.04672769457101822 + ], + "orientation": [ + 0.26821473240852356, + 0.7379418611526489, + -0.24512293934822083, + 0.5686980485916138 + ], + "joints": [ + 0.0019919914193451405 + ] + }, + "fine_grasp": { + "position": [ + 0.08918299525976181, + 0.07271483540534973, + -0.044670604169368744 + ], + "orientation": [ + 0.291683554649353, + 0.745871901512146, + -0.24647611379623413, + 0.5457521080970764 + ], + "joints": [ + 0.00042436239891685545 + ] + }, + "final_grasp": { + "position": [ + 0.08918299525976181, + 0.07271483540534973, + -0.044670604169368744 + ], + "orientation": [ + 0.291683554649353, + 0.745871901512146, + -0.24647611379623413, + 0.5457521080970764 + ], + "joints": [ + -0.0011432666797190905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08539287000894547, + -0.08579682558774948, + 0.1062016412615776 + ], + "orientation": [ + 0.07349146157503128, + -0.38034456968307495, + -0.9182554483413696, + 0.08212026208639145 + ], + "joints": [ + 0.010576300323009491 + ] + }, + "fine_grasp": { + "position": [ + -0.08594448119401932, + -0.08589482307434082, + 0.10646355897188187 + ], + "orientation": [ + 0.09188580513000488, + -0.3790322244167328, + -0.9180602431297302, + 0.07111340761184692 + ], + "joints": [ + 0.015943441540002823 + ] + }, + "final_grasp": { + "position": [ + -0.08594448119401932, + -0.08589482307434082, + 0.10646355897188187 + ], + "orientation": [ + 0.09188580513000488, + -0.3790322244167328, + -0.9180602431297302, + 0.07111340761184692 + ], + "joints": [ + 0.021310582756996155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08519619703292847, + -0.08588338643312454, + 0.10620128363370895 + ], + "orientation": [ + 0.07148905098438263, + -0.3793730139732361, + -0.9185659885406494, + 0.08486369252204895 + ], + "joints": [ + 0.011057466268539429 + ] + }, + "fine_grasp": { + "position": [ + -0.08568271994590759, + -0.08605917543172836, + 0.10648954659700394 + ], + "orientation": [ + 0.0897204652428627, + -0.3782162070274353, + -0.9184306263923645, + 0.07340233027935028 + ], + "joints": [ + 0.015893207862973213 + ] + }, + "final_grasp": { + "position": [ + -0.08568271994590759, + -0.08605917543172836, + 0.10648954659700394 + ], + "orientation": [ + 0.0897204652428627, + -0.3782162070274353, + -0.9184306263923645, + 0.07340233027935028 + ], + "joints": [ + 0.020728949457406998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08446761965751648, + 0.0823003500699997, + 0.1127961277961731 + ], + "orientation": [ + 0.12371941655874252, + -0.9156988859176636, + -0.38234660029411316, + -0.00019632637850008905 + ], + "joints": [ + 0.010170944035053253 + ] + }, + "fine_grasp": { + "position": [ + -0.0853990763425827, + 0.08271355926990509, + 0.1139562651515007 + ], + "orientation": [ + 0.1356106400489807, + -0.9120664596557617, + -0.38646528124809265, + -0.019727274775505066 + ], + "joints": [ + 0.015006683766841888 + ] + }, + "final_grasp": { + "position": [ + -0.0853990763425827, + 0.08271355926990509, + 0.1139562651515007 + ], + "orientation": [ + 0.1356106400489807, + -0.9120664596557617, + -0.38646528124809265, + -0.019727274775505066 + ], + "joints": [ + 0.019842423498630524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08445420116186142, + 0.08235111087560654, + 0.11218520998954773 + ], + "orientation": [ + 0.12040919810533524, + -0.9157420992851257, + -0.3832319974899292, + 0.007164630573242903 + ], + "joints": [ + 0.010688738897442818 + ] + }, + "fine_grasp": { + "position": [ + -0.0853932574391365, + 0.0827510878443718, + 0.11333882063627243 + ], + "orientation": [ + 0.13160322606563568, + -0.912562370300293, + -0.3870222568511963, + -0.011156247928738594 + ], + "joints": [ + 0.015524480491876602 + ] + }, + "final_grasp": { + "position": [ + -0.0853932574391365, + 0.0827510878443718, + 0.11333882063627243 + ], + "orientation": [ + 0.13160322606563568, + -0.912562370300293, + -0.3870222568511963, + -0.011156247928738594 + ], + "joints": [ + 0.020360222086310387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08505147695541382, + 0.08611361682415009, + 0.07248203456401825 + ], + "orientation": [ + 0.0806509330868721, + 0.9195752739906311, + -0.3812420964241028, + -0.05031157657504082 + ], + "joints": [ + 0.01062476634979248 + ] + }, + "fine_grasp": { + "position": [ + 0.08545529097318649, + 0.0863853394985199, + 0.07227325439453125 + ], + "orientation": [ + 0.0870460793375969, + 0.9179032444953918, + -0.38435685634613037, + -0.04632887616753578 + ], + "joints": [ + 0.017559541389346123 + ] + }, + "final_grasp": { + "position": [ + 0.08545529097318649, + 0.0863853394985199, + 0.07227325439453125 + ], + "orientation": [ + 0.0870460793375969, + 0.9179032444953918, + -0.38435685634613037, + -0.04632887616753578 + ], + "joints": [ + 0.024494316428899765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08595248311758041, + 0.08596691489219666, + 0.09443164616823196 + ], + "orientation": [ + 0.012401865795254707, + 0.9240890741348267, + 0.3817383646965027, + -0.01346777193248272 + ], + "joints": [ + 0.010296778753399849 + ] + }, + "fine_grasp": { + "position": [ + -0.0875820741057396, + 0.08751939982175827, + 0.09516479820013046 + ], + "orientation": [ + 0.01146177388727665, + 0.9228939414024353, + 0.3848270773887634, + -0.006604619324207306 + ], + "joints": [ + 0.016700150445103645 + ] + }, + "final_grasp": { + "position": [ + -0.0875820741057396, + 0.08751939982175827, + 0.09516479820013046 + ], + "orientation": [ + 0.01146177388727665, + 0.9228939414024353, + 0.3848270773887634, + -0.006604619324207306 + ], + "joints": [ + 0.02310352213680744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09075634926557541, + 0.08097244799137115, + 0.062104158103466034 + ], + "orientation": [ + 0.09091920405626297, + 0.9092363715171814, + -0.40609002113342285, + -0.010671327821910381 + ], + "joints": [ + 0.010930262506008148 + ] + }, + "fine_grasp": { + "position": [ + 0.0911114290356636, + 0.0812506303191185, + 0.06225985661149025 + ], + "orientation": [ + 0.09975188970565796, + 0.9079038500785828, + -0.4071216285228729, + 0.0034817515406757593 + ], + "joints": [ + 0.016323978081345558 + ] + }, + "final_grasp": { + "position": [ + 0.0911114290356636, + 0.0812506303191185, + 0.06225985661149025 + ], + "orientation": [ + 0.09975188970565796, + 0.9079038500785828, + -0.4071216285228729, + 0.0034817515406757593 + ], + "joints": [ + 0.021717693656682968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0863201767206192, + 0.08550716191530228, + 0.0940895825624466 + ], + "orientation": [ + 0.013414330780506134, + 0.9231708645820618, + 0.38401132822036743, + -0.010527788661420345 + ], + "joints": [ + 0.010273216292262077 + ] + }, + "fine_grasp": { + "position": [ + -0.08803267776966095, + 0.0871305763721466, + 0.09486111998558044 + ], + "orientation": [ + 0.013462805189192295, + 0.921978771686554, + 0.38699033856391907, + -0.003549768589437008 + ], + "joints": [ + 0.016676587983965874 + ] + }, + "final_grasp": { + "position": [ + -0.08803267776966095, + 0.0871305763721466, + 0.09486111998558044 + ], + "orientation": [ + 0.013462805189192295, + 0.921978771686554, + 0.38699033856391907, + -0.003549768589437008 + ], + "joints": [ + 0.02307995967566967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08109164237976074, + 0.08057818561792374, + 0.1311330497264862 + ], + "orientation": [ + 0.15973815321922302, + -0.9147962331771851, + -0.37094101309776306, + -0.005869730841368437 + ], + "joints": [ + 0.009878678247332573 + ] + }, + "fine_grasp": { + "position": [ + -0.08267895132303238, + 0.08134640753269196, + 0.13269273936748505 + ], + "orientation": [ + 0.17442479729652405, + -0.9105534553527832, + -0.37375354766845703, + -0.027871305122971535 + ], + "joints": [ + 0.014183016493916512 + ] + }, + "final_grasp": { + "position": [ + -0.08267895132303238, + 0.08134640753269196, + 0.13269273936748505 + ], + "orientation": [ + 0.17442479729652405, + -0.9105534553527832, + -0.37375354766845703, + -0.027871305122971535 + ], + "joints": [ + 0.01848735474050045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07303529232740402, + 0.09925651550292969, + 0.10350532829761505 + ], + "orientation": [ + 0.31062209606170654, + 0.02958911843597889, + 0.08149347454309464, + -0.9465712308883667 + ], + "joints": [ + 0.010781681165099144 + ] + }, + "fine_grasp": { + "position": [ + -0.07327763736248016, + 0.09986159205436707, + 0.10369906574487686 + ], + "orientation": [ + 0.31202512979507446, + 0.04738627374172211, + 0.08561655879020691, + -0.9450210928916931 + ], + "joints": [ + 0.015643995255231857 + ] + }, + "final_grasp": { + "position": [ + -0.07327763736248016, + 0.09986159205436707, + 0.10369906574487686 + ], + "orientation": [ + 0.31202512979507446, + 0.04738627374172211, + 0.08561655879020691, + -0.9450210928916931 + ], + "joints": [ + 0.02050630934536457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.079951211810112, + -0.09153538197278976, + 0.10594961792230606 + ], + "orientation": [ + 0.038398902863264084, + -0.353218138217926, + 0.934137225151062, + -0.0339125320315361 + ], + "joints": [ + 0.010785477235913277 + ] + }, + "fine_grasp": { + "position": [ + 0.08035514503717422, + -0.09226193279027939, + 0.1069113239645958 + ], + "orientation": [ + 0.027918241918087006, + -0.35664108395576477, + 0.9330779314041138, + -0.037328045815229416 + ], + "joints": [ + 0.016657449305057526 + ] + }, + "final_grasp": { + "position": [ + 0.08035514503717422, + -0.09226193279027939, + 0.1069113239645958 + ], + "orientation": [ + 0.027918241918087006, + -0.35664108395576477, + 0.9330779314041138, + -0.037328045815229416 + ], + "joints": [ + 0.022529421374201775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07969935983419418, + -0.09151431173086166, + 0.1061868816614151 + ], + "orientation": [ + 0.03852527588605881, + -0.3525538444519043, + 0.9344345331192017, + -0.03246236592531204 + ], + "joints": [ + 0.010751139372587204 + ] + }, + "fine_grasp": { + "position": [ + 0.0802467092871666, + -0.09236108511686325, + 0.10707056522369385 + ], + "orientation": [ + 0.0292745903134346, + -0.35602685809135437, + 0.9333564639091492, + -0.03512328490614891 + ], + "joints": [ + 0.016623111441731453 + ] + }, + "final_grasp": { + "position": [ + 0.0802467092871666, + -0.09236108511686325, + 0.10707056522369385 + ], + "orientation": [ + 0.0292745903134346, + -0.35602685809135437, + 0.9333564639091492, + -0.03512328490614891 + ], + "joints": [ + 0.022495083510875702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08065441995859146, + 0.0914391502737999, + 0.07595504075288773 + ], + "orientation": [ + 0.06555433571338654, + 0.9312809705734253, + -0.3557851314544678, + -0.04283998906612396 + ], + "joints": [ + 0.011215124279260635 + ] + }, + "fine_grasp": { + "position": [ + 0.08134041726589203, + 0.09182240813970566, + 0.0755472406744957 + ], + "orientation": [ + 0.07293440401554108, + 0.930054247379303, + -0.358089804649353, + -0.03809620440006256 + ], + "joints": [ + 0.01761849969625473 + ] + }, + "final_grasp": { + "position": [ + 0.08134041726589203, + 0.09182240813970566, + 0.0755472406744957 + ], + "orientation": [ + 0.07293440401554108, + 0.930054247379303, + -0.358089804649353, + -0.03809620440006256 + ], + "joints": [ + 0.024021875113248825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09183641523122787, + -0.08241292089223862, + 0.0845741331577301 + ], + "orientation": [ + 0.030225669965147972, + 0.407701700925827, + 0.9120314121246338, + 0.0326271653175354 + ], + "joints": [ + 0.01065225712954998 + ] + }, + "fine_grasp": { + "position": [ + -0.09274989366531372, + -0.08354923874139786, + 0.08506248891353607 + ], + "orientation": [ + 0.027753526344895363, + 0.4079512357711792, + 0.9117156863212585, + 0.03974933549761772 + ], + "joints": [ + 0.017587032169103622 + ] + }, + "final_grasp": { + "position": [ + -0.09274989366531372, + -0.08354923874139786, + 0.08506248891353607 + ], + "orientation": [ + 0.027753526344895363, + 0.4079512357711792, + 0.9117156863212585, + 0.03974933549761772 + ], + "joints": [ + 0.024521807208657265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07891308516263962, + 0.08920465409755707, + 0.10877510905265808 + ], + "orientation": [ + 0.35452744364738464, + -0.001582855125889182, + -0.049823321402072906, + 0.9337159395217896 + ], + "joints": [ + 0.010394878685474396 + ] + }, + "fine_grasp": { + "position": [ + 0.082180455327034, + 0.09197338670492172, + 0.10893262177705765 + ], + "orientation": [ + 0.3547406494617462, + -0.007763544097542763, + -0.045730289071798325, + 0.9338133931159973 + ], + "joints": [ + 0.01727650687098503 + ] + }, + "final_grasp": { + "position": [ + 0.082180455327034, + 0.09197338670492172, + 0.10893262177705765 + ], + "orientation": [ + 0.3547406494617462, + -0.007763544097542763, + -0.045730289071798325, + 0.9338133931159973 + ], + "joints": [ + 0.024158135056495667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06409364193677902, + 0.09664188325405121, + 0.022980600595474243 + ], + "orientation": [ + 0.14912478625774384, + 0.9295347929000854, + 0.29948142170906067, + 0.15504130721092224 + ], + "joints": [ + 0.010234000161290169 + ] + }, + "fine_grasp": { + "position": [ + -0.06320907920598984, + 0.09534157067537308, + 0.024326611310243607 + ], + "orientation": [ + 0.14208970963954926, + 0.9265453815460205, + 0.29967108368873596, + 0.17754274606704712 + ], + "joints": [ + 0.014086654409766197 + ] + }, + "final_grasp": { + "position": [ + -0.06320907920598984, + 0.09534157067537308, + 0.024326611310243607 + ], + "orientation": [ + 0.14208970963954926, + 0.9265453815460205, + 0.29967108368873596, + 0.17754274606704712 + ], + "joints": [ + 0.017939308658242226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07671122252941132, + 0.082852803170681, + 0.13732288777828217 + ], + "orientation": [ + 0.3582785129547119, + -0.07337591052055359, + 0.1892871856689453, + -0.9112753868103027 + ], + "joints": [ + 0.011005604639649391 + ] + }, + "fine_grasp": { + "position": [ + -0.07611808180809021, + 0.08224932849407196, + 0.13523870706558228 + ], + "orientation": [ + 0.3632090389728546, + -0.07532086968421936, + 0.20021802186965942, + -0.9068179726600647 + ], + "joints": [ + 0.01687757670879364 + ] + }, + "final_grasp": { + "position": [ + -0.07611808180809021, + 0.08224932849407196, + 0.13523870706558228 + ], + "orientation": [ + 0.3632090389728546, + -0.07532086968421936, + 0.20021802186965942, + -0.9068179726600647 + ], + "joints": [ + 0.02274954877793789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09208150953054428, + 0.06895237416028976, + 0.12885428965091705 + ], + "orientation": [ + 0.18002864718437195, + -0.8811124563217163, + 0.43469172716140747, + -0.047682542353868484 + ], + "joints": [ + 0.01084877923130989 + ] + }, + "fine_grasp": { + "position": [ + 0.09227587282657623, + 0.06874538958072662, + 0.12838903069496155 + ], + "orientation": [ + 0.18739721179008484, + -0.8827732801437378, + 0.43018001317977905, + -0.02321353182196617 + ], + "joints": [ + 0.015711093321442604 + ] + }, + "final_grasp": { + "position": [ + 0.09227587282657623, + 0.06874538958072662, + 0.12838903069496155 + ], + "orientation": [ + 0.18739721179008484, + -0.8827732801437378, + 0.43018001317977905, + -0.02321353182196617 + ], + "joints": [ + 0.020573407411575317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07790442556142807, + 0.08903458714485168, + 0.1195085272192955 + ], + "orientation": [ + 0.349619060754776, + -0.023348184302449226, + -0.09885947406291962, + 0.9313690066337585 + ], + "joints": [ + 0.01043492928147316 + ] + }, + "fine_grasp": { + "position": [ + 0.08037926256656647, + 0.09136175364255905, + 0.12023709714412689 + ], + "orientation": [ + 0.34753406047821045, + -0.029561594128608704, + -0.09428559988737106, + 0.9324464797973633 + ], + "joints": [ + 0.017316557466983795 + ] + }, + "final_grasp": { + "position": [ + 0.08037926256656647, + 0.09136175364255905, + 0.12023709714412689 + ], + "orientation": [ + 0.34753406047821045, + -0.029561594128608704, + -0.09428559988737106, + 0.9324464797973633 + ], + "joints": [ + 0.02419818565249443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07788550108671188, + 0.08885152637958527, + 0.11928697675466537 + ], + "orientation": [ + 0.3502879738807678, + -0.021754853427410126, + -0.09559677541255951, + 0.931496798992157 + ], + "joints": [ + 0.010360831394791603 + ] + }, + "fine_grasp": { + "position": [ + 0.08064586669206619, + 0.09134029597043991, + 0.1201048269867897 + ], + "orientation": [ + 0.347749263048172, + -0.026996131986379623, + -0.09123864024877548, + 0.9327470660209656 + ], + "joints": [ + 0.01724245958030224 + ] + }, + "final_grasp": { + "position": [ + 0.08064586669206619, + 0.09134029597043991, + 0.1201048269867897 + ], + "orientation": [ + 0.347749263048172, + -0.026996131986379623, + -0.09123864024877548, + 0.9327470660209656 + ], + "joints": [ + 0.024124087765812874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07763265818357468, + 0.08867437392473221, + 0.11973171681165695 + ], + "orientation": [ + 0.34994909167289734, + -0.026032064110040665, + -0.10022436082363129, + 0.931027889251709 + ], + "joints": [ + 0.010443991050124168 + ] + }, + "fine_grasp": { + "position": [ + 0.08022785931825638, + 0.09103665500879288, + 0.1206132024526596 + ], + "orientation": [ + 0.3472186028957367, + -0.030778056010603905, + -0.09518532454967499, + 0.9324333071708679 + ], + "joints": [ + 0.016820790246129036 + ] + }, + "final_grasp": { + "position": [ + 0.08022785931825638, + 0.09103665500879288, + 0.1206132024526596 + ], + "orientation": [ + 0.3472186028957367, + -0.030778056010603905, + -0.09518532454967499, + 0.9324333071708679 + ], + "joints": [ + 0.023197589442133904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06348226964473724, + 0.09810253977775574, + 0.021577579900622368 + ], + "orientation": [ + 0.14053770899772644, + 0.9317198395729065, + 0.29485461115837097, + 0.1587706208229065 + ], + "joints": [ + 0.010283561423420906 + ] + }, + "fine_grasp": { + "position": [ + -0.06236518174409866, + 0.09676569700241089, + 0.02293800748884678 + ], + "orientation": [ + 0.13403281569480896, + 0.9282101392745972, + 0.2962871193885803, + 0.1807629019021988 + ], + "joints": [ + 0.014109643176198006 + ] + }, + "final_grasp": { + "position": [ + -0.06236518174409866, + 0.09676569700241089, + 0.02293800748884678 + ], + "orientation": [ + 0.13403281569480896, + 0.9282101392745972, + 0.2962871193885803, + 0.1807629019021988 + ], + "joints": [ + 0.017935724928975105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06480096280574799, + 0.08927508443593979, + 0.1418379545211792 + ], + "orientation": [ + 0.19832055270671844, + -0.9246870875358582, + -0.30715709924697876, + 0.10619384795427322 + ], + "joints": [ + 0.010693063959479332 + ] + }, + "fine_grasp": { + "position": [ + -0.0647759884595871, + 0.09018976241350174, + 0.14172282814979553 + ], + "orientation": [ + 0.1878431886434555, + -0.9222927689552307, + -0.31162628531455994, + 0.13030754029750824 + ], + "joints": [ + 0.016060207039117813 + ] + }, + "final_grasp": { + "position": [ + -0.0647759884595871, + 0.09018976241350174, + 0.14172282814979553 + ], + "orientation": [ + 0.1878431886434555, + -0.9222927689552307, + -0.31162628531455994, + 0.13030754029750824 + ], + "joints": [ + 0.021427350118756294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0914541631937027, + 0.07509700953960419, + 0.11187733709812164 + ], + "orientation": [ + 0.06825027614831924, + -0.9016650319099426, + 0.42659100890159607, + -0.019034380093216896 + ], + "joints": [ + 0.0104146096855402 + ] + }, + "fine_grasp": { + "position": [ + 0.0948435589671135, + 0.0775253176689148, + 0.11305103451013565 + ], + "orientation": [ + 0.06381623446941376, + -0.902867317199707, + 0.4245511591434479, + -0.022683486342430115 + ], + "joints": [ + 0.016764836385846138 + ] + }, + "final_grasp": { + "position": [ + 0.0948435589671135, + 0.0775253176689148, + 0.11305103451013565 + ], + "orientation": [ + 0.06381623446941376, + -0.902867317199707, + 0.4245511591434479, + -0.022683486342430115 + ], + "joints": [ + 0.023115063086152077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07195631414651871, + -0.08833713829517365, + 0.13804179430007935 + ], + "orientation": [ + 0.9238828420639038, + -0.2176743894815445, + 0.014610091224312782, + -0.31439587473869324 + ], + "joints": [ + 0.010562703013420105 + ] + }, + "fine_grasp": { + "position": [ + -0.07193457335233688, + -0.08810465037822723, + 0.1370914876461029 + ], + "orientation": [ + 0.9245014786720276, + -0.2192239761352539, + -0.008402636274695396, + -0.3117166757583618 + ], + "joints": [ + 0.015956416726112366 + ] + }, + "final_grasp": { + "position": [ + -0.07193457335233688, + -0.08810465037822723, + 0.1370914876461029 + ], + "orientation": [ + 0.9245014786720276, + -0.2192239761352539, + -0.008402636274695396, + -0.3117166757583618 + ], + "joints": [ + 0.021350130438804626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07227012515068054, + -0.08818037807941437, + 0.13847856223583221 + ], + "orientation": [ + 0.9236598610877991, + -0.21672965586185455, + 0.013051443733274937, + -0.3157697021961212 + ], + "joints": [ + 0.010530082508921623 + ] + }, + "fine_grasp": { + "position": [ + -0.07226040214300156, + -0.08806165307760239, + 0.13763068616390228 + ], + "orientation": [ + 0.924238920211792, + -0.21872439980506897, + -0.010607720352709293, + -0.31277722120285034 + ], + "joints": [ + 0.015923796221613884 + ] + }, + "final_grasp": { + "position": [ + -0.07226040214300156, + -0.08806165307760239, + 0.13763068616390228 + ], + "orientation": [ + 0.924238920211792, + -0.21872439980506897, + -0.010607720352709293, + -0.31277722120285034 + ], + "joints": [ + 0.021317509934306145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08838528394699097, + 0.07019481807947159, + 0.05273569002747536 + ], + "orientation": [ + 0.4311099052429199, + 0.09399989247322083, + 0.15361009538173676, + 0.8841448426246643 + ], + "joints": [ + 0.010193303227424622 + ] + }, + "fine_grasp": { + "position": [ + 0.0876854658126831, + 0.06988818198442459, + 0.052632398903369904 + ], + "orientation": [ + 0.4311915636062622, + 0.08730978518724442, + 0.16466212272644043, + 0.8828007578849792 + ], + "joints": [ + 0.016596674919128418 + ] + }, + "final_grasp": { + "position": [ + 0.0876854658126831, + 0.06988818198442459, + 0.052632398903369904 + ], + "orientation": [ + 0.4311915636062622, + 0.08730978518724442, + 0.16466212272644043, + 0.8828007578849792 + ], + "joints": [ + 0.023000046610832214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09199676662683487, + 0.07020287215709686, + 0.12612585723400116 + ], + "orientation": [ + 0.4396049678325653, + -0.04628096893429756, + -0.11982356756925583, + 0.8889588713645935 + ], + "joints": [ + 0.010142674669623375 + ] + }, + "fine_grasp": { + "position": [ + 0.09528114646673203, + 0.07217692583799362, + 0.1274869292974472 + ], + "orientation": [ + 0.4356290102005005, + -0.052059974521398544, + -0.11524243652820587, + 0.8911993503570557 + ], + "joints": [ + 0.016519473865628242 + ] + }, + "final_grasp": { + "position": [ + 0.09528114646673203, + 0.07217692583799362, + 0.1274869292974472 + ], + "orientation": [ + 0.4356290102005005, + -0.052059974521398544, + -0.11524243652820587, + 0.8911993503570557 + ], + "joints": [ + 0.02289627306163311 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08133980631828308, + -0.09272605180740356, + 0.08579207211732864 + ], + "orientation": [ + 0.9348255395889282, + 0.03610062599182129, + -0.0018396680243313313, + 0.3532628118991852 + ], + "joints": [ + 0.01062057539820671 + ] + }, + "fine_grasp": { + "position": [ + 0.08205999433994293, + -0.09383083134889603, + 0.08485964685678482 + ], + "orientation": [ + 0.9346191883087158, + 0.025367118418216705, + 0.0011683945776894689, + 0.35474252700805664 + ], + "joints": [ + 0.017555350437760353 + ] + }, + "final_grasp": { + "position": [ + 0.08205999433994293, + -0.09383083134889603, + 0.08485964685678482 + ], + "orientation": [ + 0.9346191883087158, + 0.025367118418216705, + 0.0011683945776894689, + 0.35474252700805664 + ], + "joints": [ + 0.024490125477313995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07916492223739624, + -0.08899686485528946, + 0.12173860520124435 + ], + "orientation": [ + 0.9267286658287048, + -0.10434971004724503, + -0.053839243948459625, + 0.3569123446941376 + ], + "joints": [ + 0.010615706443786621 + ] + }, + "fine_grasp": { + "position": [ + 0.07889275997877121, + -0.08958949893712997, + 0.12147810310125351 + ], + "orientation": [ + 0.9241654872894287, + -0.11691966652870178, + -0.05419011786580086, + 0.3595990240573883 + ], + "joints": [ + 0.016992507502436638 + ] + }, + "final_grasp": { + "position": [ + 0.07889275997877121, + -0.08958949893712997, + 0.12147810310125351 + ], + "orientation": [ + 0.9241654872894287, + -0.11691966652870178, + -0.05419011786580086, + 0.3595990240573883 + ], + "joints": [ + 0.023369308561086655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07710403203964233, + -0.0823209211230278, + 0.03861933946609497 + ], + "orientation": [ + 0.06822262704372406, + 0.3574136197566986, + -0.9102431535720825, + -0.19763252139091492 + ], + "joints": [ + 0.01134394109249115 + ] + }, + "fine_grasp": { + "position": [ + 0.07653842866420746, + -0.08082792162895203, + 0.040655698627233505 + ], + "orientation": [ + 0.07131826877593994, + 0.3540400564670563, + -0.9095021486282349, + -0.20585229992866516 + ], + "joints": [ + 0.017242487519979477 + ] + }, + "final_grasp": { + "position": [ + 0.07653842866420746, + -0.08082792162895203, + 0.040655698627233505 + ], + "orientation": [ + 0.07131826877593994, + 0.3540400564670563, + -0.9095021486282349, + -0.20585229992866516 + ], + "joints": [ + 0.023141033947467804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05689867585897446, + 0.10954175889492035, + 0.10540549457073212 + ], + "orientation": [ + 0.045686982572078705, + -0.9672486186027527, + 0.23952782154083252, + -0.07049298286437988 + ], + "joints": [ + 0.010598402470350266 + ] + }, + "fine_grasp": { + "position": [ + 0.05759652704000473, + 0.10966255515813828, + 0.10546255111694336 + ], + "orientation": [ + 0.03656698763370514, + -0.9656736254692078, + 0.2405209094285965, + -0.09103313833475113 + ], + "joints": [ + 0.015965545549988747 + ] + }, + "final_grasp": { + "position": [ + 0.05759652704000473, + 0.10966255515813828, + 0.10546255111694336 + ], + "orientation": [ + 0.03656698763370514, + -0.9656736254692078, + 0.2405209094285965, + -0.09103313833475113 + ], + "joints": [ + 0.021332688629627228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09534767270088196, + 0.07112941890954971, + 0.11687048524618149 + ], + "orientation": [ + 0.07022856175899506, + -0.8899839520454407, + -0.4472937285900116, + 0.05408037453889847 + ], + "joints": [ + 0.010029571130871773 + ] + }, + "fine_grasp": { + "position": [ + -0.0966130793094635, + 0.07237274944782257, + 0.11804194748401642 + ], + "orientation": [ + 0.07496098428964615, + -0.8877618312835693, + -0.4518403708934784, + 0.045826151967048645 + ], + "joints": [ + 0.01643294095993042 + ] + }, + "final_grasp": { + "position": [ + -0.0966130793094635, + 0.07237274944782257, + 0.11804194748401642 + ], + "orientation": [ + 0.07496098428964615, + -0.8877618312835693, + -0.4518403708934784, + 0.045826151967048645 + ], + "joints": [ + 0.022836310788989067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09572192281484604, + 0.07078619301319122, + 0.11713577806949615 + ], + "orientation": [ + 0.07289938628673553, + -0.8887072801589966, + -0.44920653104782104, + 0.05566421523690224 + ], + "joints": [ + 0.010522644966840744 + ] + }, + "fine_grasp": { + "position": [ + -0.09671945869922638, + 0.07188356667757034, + 0.11823607981204987 + ], + "orientation": [ + 0.0770377665758133, + -0.8866708874702454, + -0.45333370566368103, + 0.04866660758852959 + ], + "joints": [ + 0.016394615173339844 + ] + }, + "final_grasp": { + "position": [ + -0.09671945869922638, + 0.07188356667757034, + 0.11823607981204987 + ], + "orientation": [ + 0.0770377665758133, + -0.8866708874702454, + -0.45333370566368103, + 0.04866660758852959 + ], + "joints": [ + 0.022266585379838943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05857788771390915, + -0.08948200196027756, + 0.16279244422912598 + ], + "orientation": [ + 0.9228119254112244, + -0.24274353682994843, + 0.10616050660610199, + -0.2796850800514221 + ], + "joints": [ + 0.009754065424203873 + ] + }, + "fine_grasp": { + "position": [ + -0.058486614376306534, + -0.09009488672018051, + 0.16242164373397827 + ], + "orientation": [ + 0.9230202436447144, + -0.23497998714447021, + 0.12596333026885986, + -0.2774010896682739 + ], + "joints": [ + 0.015121204778552055 + ] + }, + "final_grasp": { + "position": [ + -0.058486614376306534, + -0.09009488672018051, + 0.16242164373397827 + ], + "orientation": [ + 0.9230202436447144, + -0.23497998714447021, + 0.12596333026885986, + -0.2774010896682739 + ], + "joints": [ + 0.020488344132900238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06818185746669769, + 0.097449392080307, + 0.11599680036306381 + ], + "orientation": [ + 0.08817113190889359, + -0.949840784072876, + 0.29967737197875977, + -0.014887973666191101 + ], + "joints": [ + 0.010591516271233559 + ] + }, + "fine_grasp": { + "position": [ + 0.0696224644780159, + 0.0989270806312561, + 0.11674291640520096 + ], + "orientation": [ + 0.08644288033246994, + -0.9507753849029541, + 0.2971360981464386, + -0.01624714396893978 + ], + "joints": [ + 0.016968317329883575 + ] + }, + "final_grasp": { + "position": [ + 0.0696224644780159, + 0.0989270806312561, + 0.11674291640520096 + ], + "orientation": [ + 0.08644288033246994, + -0.9507753849029541, + 0.2971360981464386, + -0.01624714396893978 + ], + "joints": [ + 0.023345118388533592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06837887316942215, + 0.0980028510093689, + 0.11574946343898773 + ], + "orientation": [ + 0.08923984318971634, + -0.9498951435089111, + 0.2991480827331543, + -0.01567448116838932 + ], + "joints": [ + 0.010660281404852867 + ] + }, + "fine_grasp": { + "position": [ + 0.06960604339838028, + 0.09915362298488617, + 0.11642695963382721 + ], + "orientation": [ + 0.08671019226312637, + -0.9508956670761108, + 0.2966439425945282, + -0.016770251095294952 + ], + "joints": [ + 0.017037082463502884 + ] + }, + "final_grasp": { + "position": [ + 0.06960604339838028, + 0.09915362298488617, + 0.11642695963382721 + ], + "orientation": [ + 0.08671019226312637, + -0.9508956670761108, + 0.2966439425945282, + -0.016770251095294952 + ], + "joints": [ + 0.0234138835221529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05680518224835396, + -0.10172697901725769, + 0.13887611031532288 + ], + "orientation": [ + 0.9500929117202759, + -0.1406589150428772, + -0.10198427736759186, + 0.25910934805870056 + ], + "joints": [ + 0.010634895414113998 + ] + }, + "fine_grasp": { + "position": [ + 0.055935319513082504, + -0.10115250945091248, + 0.13796855509281158 + ], + "orientation": [ + 0.9477465748786926, + -0.12853169441223145, + -0.1293964833021164, + 0.26174911856651306 + ], + "joints": [ + 0.01552378199994564 + ] + }, + "final_grasp": { + "position": [ + 0.055935319513082504, + -0.10115250945091248, + 0.13796855509281158 + ], + "orientation": [ + 0.9477465748786926, + -0.12853169441223145, + -0.1293964833021164, + 0.26174911856651306 + ], + "joints": [ + 0.020412668585777283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05702847242355347, + -0.10183128714561462, + 0.139219269156456 + ], + "orientation": [ + 0.9502496123313904, + -0.13705258071422577, + -0.10343271493911743, + 0.2598922550678253 + ], + "joints": [ + 0.010668961331248283 + ] + }, + "fine_grasp": { + "position": [ + 0.05593495070934296, + -0.1011665090918541, + 0.1383058726787567 + ], + "orientation": [ + 0.9480746388435364, + -0.12497841566801071, + -0.13101130723953247, + 0.26147863268852234 + ], + "joints": [ + 0.015531275421380997 + ] + }, + "final_grasp": { + "position": [ + 0.05593495070934296, + -0.1011665090918541, + 0.1383058726787567 + ], + "orientation": [ + 0.9480746388435364, + -0.12497841566801071, + -0.13101130723953247, + 0.26147863268852234 + ], + "joints": [ + 0.02039358951151371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08632943779230118, + -0.06262078881263733, + 0.02657833881676197 + ], + "orientation": [ + 0.8644976615905762, + 0.20866233110427856, + -0.11728432029485703, + -0.44198212027549744 + ], + "joints": [ + 0.010810188949108124 + ] + }, + "fine_grasp": { + "position": [ + -0.08542997390031815, + -0.06212487816810608, + 0.027033530175685883 + ], + "orientation": [ + 0.8635900616645813, + 0.20973505079746246, + -0.11640793830156326, + -0.44347769021987915 + ], + "joints": [ + 0.01721356250345707 + ] + }, + "final_grasp": { + "position": [ + -0.08542997390031815, + -0.06212487816810608, + 0.027033530175685883 + ], + "orientation": [ + 0.8635900616645813, + 0.20973505079746246, + -0.11640793830156326, + -0.44347769021987915 + ], + "joints": [ + 0.023616936057806015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06296440213918686, + 0.09569289535284042, + 0.05293776094913483 + ], + "orientation": [ + 0.16465739905834198, + 0.9419065713882446, + -0.2861422598361969, + -0.06182750314474106 + ], + "joints": [ + 0.011007258668541908 + ] + }, + "fine_grasp": { + "position": [ + 0.06268308311700821, + 0.09521132707595825, + 0.052468325942754745 + ], + "orientation": [ + 0.1738007664680481, + 0.9392426013946533, + -0.289852499961853, + -0.060017894953489304 + ], + "joints": [ + 0.017410632222890854 + ] + }, + "final_grasp": { + "position": [ + 0.06268308311700821, + 0.09521132707595825, + 0.052468325942754745 + ], + "orientation": [ + 0.1738007664680481, + 0.9392426013946533, + -0.289852499961853, + -0.060017894953489304 + ], + "joints": [ + 0.0238140057772398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049145858734846115, + -0.11189549416303635, + 0.06757328659296036 + ], + "orientation": [ + 0.07584241032600403, + 0.20961491763591766, + 0.9734292030334473, + 0.05239405483007431 + ], + "joints": [ + 0.011485088616609573 + ] + }, + "fine_grasp": { + "position": [ + -0.048916466534137726, + -0.11075375974178314, + 0.06816986203193665 + ], + "orientation": [ + 0.09517575055360794, + 0.21020179986953735, + 0.9717348217964172, + 0.049882058054208755 + ], + "joints": [ + 0.015895720571279526 + ] + }, + "final_grasp": { + "position": [ + -0.048916466534137726, + -0.11075375974178314, + 0.06816986203193665 + ], + "orientation": [ + 0.09517575055360794, + 0.21020179986953735, + 0.9717348217964172, + 0.049882058054208755 + ], + "joints": [ + 0.020306352525949478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09542598575353622, + 0.0733986496925354, + 0.11688099056482315 + ], + "orientation": [ + 0.44117894768714905, + -0.050844479352235794, + 0.07968820631504059, + -0.8924268484115601 + ], + "joints": [ + 0.01060628704726696 + ] + }, + "fine_grasp": { + "position": [ + -0.09579837322235107, + 0.07428715378046036, + 0.11637791991233826 + ], + "orientation": [ + 0.4441681206226349, + -0.04924335703253746, + 0.0924474373459816, + -0.8897996544837952 + ], + "joints": [ + 0.01647825911641121 + ] + }, + "final_grasp": { + "position": [ + -0.09579837322235107, + 0.07428715378046036, + 0.11637791991233826 + ], + "orientation": [ + 0.4441681206226349, + -0.04924335703253746, + 0.0924474373459816, + -0.8897996544837952 + ], + "joints": [ + 0.022350231185555458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047873128205537796, + 0.11273639649152756, + 0.09142718464136124 + ], + "orientation": [ + 0.06029834970831871, + -0.9777364134788513, + -0.19793841242790222, + -0.03486838936805725 + ], + "joints": [ + 0.010890498757362366 + ] + }, + "fine_grasp": { + "position": [ + -0.04816609248518944, + 0.11333540827035904, + 0.09186678379774094 + ], + "orientation": [ + 0.06456506252288818, + -0.9758985042572021, + -0.20054487884044647, + -0.056878115981817245 + ], + "joints": [ + 0.01572624035179615 + ] + }, + "final_grasp": { + "position": [ + -0.04816609248518944, + 0.11333540827035904, + 0.09186678379774094 + ], + "orientation": [ + 0.06456506252288818, + -0.9758985042572021, + -0.20054487884044647, + -0.056878115981817245 + ], + "joints": [ + 0.020561981946229935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06461461633443832, + -0.10282868891954422, + 0.07273343205451965 + ], + "orientation": [ + 0.04095345363020897, + 0.2771848142147064, + 0.9562163949012756, + 0.08450860530138016 + ], + "joints": [ + 0.011343903839588165 + ] + }, + "fine_grasp": { + "position": [ + -0.06464555859565735, + -0.10341409593820572, + 0.07281365245580673 + ], + "orientation": [ + 0.03657126426696777, + 0.27909138798713684, + 0.9552589058876038, + 0.0908350721001625 + ], + "joints": [ + 0.01774727925658226 + ] + }, + "final_grasp": { + "position": [ + -0.06464555859565735, + -0.10341409593820572, + 0.07281365245580673 + ], + "orientation": [ + 0.03657126426696777, + 0.27909138798713684, + 0.9552589058876038, + 0.0908350721001625 + ], + "joints": [ + 0.024150654673576355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10047746449708939, + 0.06389272212982178, + 0.07491831481456757 + ], + "orientation": [ + 0.0711079090833664, + 0.8714532852172852, + -0.4817778468132019, + -0.05833381041884422 + ], + "joints": [ + 0.010228566825389862 + ] + }, + "fine_grasp": { + "position": [ + 0.10135942697525024, + 0.0641108900308609, + 0.07419152557849884 + ], + "orientation": [ + 0.0778457522392273, + 0.8693791627883911, + -0.48482027649879456, + -0.05540137365460396 + ], + "joints": [ + 0.01663193851709366 + ] + }, + "final_grasp": { + "position": [ + 0.10135942697525024, + 0.0641108900308609, + 0.07419152557849884 + ], + "orientation": [ + 0.0778457522392273, + 0.8693791627883911, + -0.48482027649879456, + -0.05540137365460396 + ], + "joints": [ + 0.023035310208797455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09203621000051498, + 0.05732113495469093, + 0.03251517936587334 + ], + "orientation": [ + 0.20361334085464478, + 0.8466713428497314, + -0.4748861789703369, + -0.12717081606388092 + ], + "joints": [ + 0.010748567059636116 + ] + }, + "fine_grasp": { + "position": [ + 0.09041626751422882, + 0.05643191933631897, + 0.03249437361955643 + ], + "orientation": [ + 0.20205843448638916, + 0.8480021357536316, + -0.4758337736129761, + -0.11681964248418808 + ], + "joints": [ + 0.01715194061398506 + ] + }, + "final_grasp": { + "position": [ + 0.09041626751422882, + 0.05643191933631897, + 0.03249437361955643 + ], + "orientation": [ + 0.20205843448638916, + 0.8480021357536316, + -0.4758337736129761, + -0.11681964248418808 + ], + "joints": [ + 0.023555314168334007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057003285735845566, + 0.10804148018360138, + 0.1290951371192932 + ], + "orientation": [ + 0.07795292884111404, + -0.9633236527442932, + 0.2440425306558609, + -0.07983766496181488 + ], + "joints": [ + 0.010026158764958382 + ] + }, + "fine_grasp": { + "position": [ + 0.057424671947956085, + 0.10781024396419525, + 0.1290338933467865 + ], + "orientation": [ + 0.07082090526819229, + -0.9622641801834106, + 0.24401064217090607, + -0.09742111712694168 + ], + "joints": [ + 0.015366725623607635 + ] + }, + "final_grasp": { + "position": [ + 0.057424671947956085, + 0.10781024396419525, + 0.1290338933467865 + ], + "orientation": [ + 0.07082090526819229, + -0.9622641801834106, + 0.24401064217090607, + -0.09742111712694168 + ], + "joints": [ + 0.02070729248225689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03612152487039566, + 0.1183052584528923, + 0.09077095985412598 + ], + "orientation": [ + 0.14730171859264374, + 0.06034908443689346, + 0.05671310052275658, + -0.985618531703949 + ], + "joints": [ + 0.01103907823562622 + ] + }, + "fine_grasp": { + "position": [ + -0.03665345162153244, + 0.11823324859142303, + 0.09138860553503036 + ], + "orientation": [ + 0.15007272362709045, + 0.08864358067512512, + 0.061308011412620544, + -0.982782781124115 + ], + "joints": [ + 0.015369990840554237 + ] + }, + "final_grasp": { + "position": [ + -0.03665345162153244, + 0.11823324859142303, + 0.09138860553503036 + ], + "orientation": [ + 0.15007272362709045, + 0.08864358067512512, + 0.061308011412620544, + -0.982782781124115 + ], + "joints": [ + 0.019700903445482254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10290795564651489, + 0.06426897644996643, + 0.07445313781499863 + ], + "orientation": [ + 0.06957287341356277, + 0.8693831562995911, + -0.4859031140804291, + -0.056840553879737854 + ], + "joints": [ + 0.010745881125330925 + ] + }, + "fine_grasp": { + "position": [ + 0.10342247039079666, + 0.0644090548157692, + 0.07424599677324295 + ], + "orientation": [ + 0.07591128349304199, + 0.8675163984298706, + -0.48878026008605957, + -0.05240839719772339 + ], + "joints": [ + 0.0171758271753788 + ] + }, + "final_grasp": { + "position": [ + 0.10342247039079666, + 0.0644090548157692, + 0.07424599677324295 + ], + "orientation": [ + 0.07591128349304199, + 0.8675163984298706, + -0.48878026008605957, + -0.05240839719772339 + ], + "joints": [ + 0.023605773225426674 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0593009814620018, + -0.10394664108753204, + 0.03963377699255943 + ], + "orientation": [ + 0.9593499302864075, + 0.10722261667251587, + -0.04874357953667641, + -0.2564665377140045 + ], + "joints": [ + 0.012196192517876625 + ] + }, + "fine_grasp": { + "position": [ + -0.05879285931587219, + -0.10314742475748062, + 0.03966371715068817 + ], + "orientation": [ + 0.9580797553062439, + 0.11646245419979095, + -0.03929232433438301, + -0.2587965726852417 + ], + "joints": [ + 0.01806817017495632 + ] + }, + "final_grasp": { + "position": [ + -0.05879285931587219, + -0.10314742475748062, + 0.03966371715068817 + ], + "orientation": [ + 0.9580797553062439, + 0.11646245419979095, + -0.03929232433438301, + -0.2587965726852417 + ], + "joints": [ + 0.02394014783203602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03721010684967041, + -0.11284822970628738, + 0.042038675397634506 + ], + "orientation": [ + 0.08603794872760773, + 0.16574418544769287, + -0.9735297560691833, + -0.13178053498268127 + ], + "joints": [ + 0.010916924104094505 + ] + }, + "fine_grasp": { + "position": [ + 0.03675123676657677, + -0.11324916779994965, + 0.042200036346912384 + ], + "orientation": [ + 0.10984622687101364, + 0.16562941670417786, + -0.9715182781219482, + -0.1290464997291565 + ], + "joints": [ + 0.01577923819422722 + ] + }, + "final_grasp": { + "position": [ + 0.03675123676657677, + -0.11324916779994965, + 0.042200036346912384 + ], + "orientation": [ + 0.10984622687101364, + 0.16562941670417786, + -0.9715182781219482, + -0.1290464997291565 + ], + "joints": [ + 0.020641552284359932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05953552573919296, + 0.10395728796720505, + 0.1103256419301033 + ], + "orientation": [ + 0.25689104199409485, + -0.03177887573838234, + 0.05407926067709923, + -0.9644027352333069 + ], + "joints": [ + 0.01073339581489563 + ] + }, + "fine_grasp": { + "position": [ + -0.06068885326385498, + 0.10666172206401825, + 0.11158714443445206 + ], + "orientation": [ + 0.26065003871917725, + -0.026875726878643036, + 0.05487567186355591, + -0.9634978175163269 + ], + "joints": [ + 0.017110196873545647 + ] + }, + "final_grasp": { + "position": [ + -0.06068885326385498, + 0.10666172206401825, + 0.11158714443445206 + ], + "orientation": [ + 0.26065003871917725, + -0.026875726878643036, + 0.05487567186355591, + -0.9634978175163269 + ], + "joints": [ + 0.023486997932195663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047882575541734695, + 0.11244360357522964, + 0.09236743301153183 + ], + "orientation": [ + 0.05538642406463623, + -0.9780914187431335, + -0.19877204298973083, + -0.027554450556635857 + ], + "joints": [ + 0.010922834277153015 + ] + }, + "fine_grasp": { + "position": [ + -0.04822860285639763, + 0.11332450062036514, + 0.09278081357479095 + ], + "orientation": [ + 0.05869254097342491, + -0.9764711856842041, + -0.2022753208875656, + -0.046303074806928635 + ], + "joints": [ + 0.016289977356791496 + ] + }, + "final_grasp": { + "position": [ + -0.04822860285639763, + 0.11332450062036514, + 0.09278081357479095 + ], + "orientation": [ + 0.05869254097342491, + -0.9764711856842041, + -0.2022753208875656, + -0.046303074806928635 + ], + "joints": [ + 0.021657120436429977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058732569217681885, + -0.10303568840026855, + 0.04071597382426262 + ], + "orientation": [ + 0.9581559896469116, + 0.1170055940747261, + -0.0519024096429348, + -0.2560330927371979 + ], + "joints": [ + 0.011866733431816101 + ] + }, + "fine_grasp": { + "position": [ + -0.058299992233514786, + -0.10245036333799362, + 0.04069821909070015 + ], + "orientation": [ + 0.9569034576416016, + 0.12557268142700195, + -0.04496351256966591, + -0.25796428322792053 + ], + "joints": [ + 0.017765281721949577 + ] + }, + "final_grasp": { + "position": [ + -0.058299992233514786, + -0.10245036333799362, + 0.04069821909070015 + ], + "orientation": [ + 0.9569034576416016, + 0.12557268142700195, + -0.04496351256966591, + -0.25796428322792053 + ], + "joints": [ + 0.023663830012083054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07023646682500839, + 0.0899670198559761, + 0.046642571687698364 + ], + "orientation": [ + 0.19216178357601166, + 0.9278055429458618, + 0.31480294466018677, + 0.05612354353070259 + ], + "joints": [ + 0.010924432426691055 + ] + }, + "fine_grasp": { + "position": [ + -0.07071071863174438, + 0.08950824290513992, + 0.04715333133935928 + ], + "orientation": [ + 0.18838012218475342, + 0.9281238317489624, + 0.3149149715900421, + 0.06267070025205612 + ], + "joints": [ + 0.01732780598104 + ] + }, + "final_grasp": { + "position": [ + -0.07071071863174438, + 0.08950824290513992, + 0.04715333133935928 + ], + "orientation": [ + 0.18838012218475342, + 0.9281238317489624, + 0.3149149715900421, + 0.06267070025205612 + ], + "joints": [ + 0.023731179535388947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049070339649915695, + -0.11103221029043198, + 0.04849427565932274 + ], + "orientation": [ + 0.023542579263448715, + -0.2012598067522049, + -0.9729930758476257, + -0.11056462675333023 + ], + "joints": [ + 0.011681780219078064 + ] + }, + "fine_grasp": { + "position": [ + -0.04966607317328453, + -0.11097480356693268, + 0.048887670040130615 + ], + "orientation": [ + 0.03963422775268555, + -0.2029457986354828, + -0.9713296294212341, + -0.1173071414232254 + ], + "joints": [ + 0.016517525538802147 + ] + }, + "final_grasp": { + "position": [ + -0.04966607317328453, + -0.11097480356693268, + 0.048887670040130615 + ], + "orientation": [ + 0.03963422775268555, + -0.2029457986354828, + -0.9713296294212341, + -0.1173071414232254 + ], + "joints": [ + 0.02135327085852623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05884592607617378, + -0.10307364910840988, + 0.04091736301779747 + ], + "orientation": [ + 0.9580270051956177, + 0.11844918131828308, + -0.05153929442167282, + -0.2559252679347992 + ], + "joints": [ + 0.012092558667063713 + ] + }, + "fine_grasp": { + "position": [ + -0.05839564651250839, + -0.10220982134342194, + 0.041081927716732025 + ], + "orientation": [ + 0.9565329551696777, + 0.12779392302036285, + -0.04468730092048645, + -0.25829535722732544 + ], + "joints": [ + 0.01796453446149826 + ] + }, + "final_grasp": { + "position": [ + -0.05839564651250839, + -0.10220982134342194, + 0.041081927716732025 + ], + "orientation": [ + 0.9565329551696777, + 0.12779392302036285, + -0.04468730092048645, + -0.25829535722732544 + ], + "joints": [ + 0.023836510255932808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05985521897673607, + 0.10493451356887817, + 0.11041668802499771 + ], + "orientation": [ + 0.2564730644226074, + -0.031370341777801514, + 0.05470399186015129, + -0.9644920825958252 + ], + "joints": [ + 0.01073339581489563 + ] + }, + "fine_grasp": { + "position": [ + -0.06037953123450279, + 0.10709228366613388, + 0.11124107986688614 + ], + "orientation": [ + 0.25867754220962524, + -0.024366987869143486, + 0.054575081914663315, + -0.9641129970550537 + ], + "joints": [ + 0.017136769369244576 + ] + }, + "final_grasp": { + "position": [ + -0.06037953123450279, + 0.10709228366613388, + 0.11124107986688614 + ], + "orientation": [ + 0.25867754220962524, + -0.024366987869143486, + 0.054575081914663315, + -0.9641129970550537 + ], + "joints": [ + 0.02354014292359352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07449273765087128, + 0.0495527945458889, + 0.20142005383968353 + ], + "orientation": [ + 0.3328189551830292, + -0.8323342800140381, + 0.4273540675640106, + -0.11755678802728653 + ], + "joints": [ + 0.009196260944008827 + ] + }, + "fine_grasp": { + "position": [ + 0.07199989259243011, + 0.04805787652730942, + 0.19791947305202484 + ], + "orientation": [ + 0.346185564994812, + -0.8298773765563965, + 0.4248400628566742, + -0.10473741590976715 + ], + "joints": [ + 0.014536827802658081 + ] + }, + "final_grasp": { + "position": [ + 0.07199989259243011, + 0.04805787652730942, + 0.19791947305202484 + ], + "orientation": [ + 0.346185564994812, + -0.8298773765563965, + 0.4248400628566742, + -0.10473741590976715 + ], + "joints": [ + 0.019877394661307335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04874324053525925, + -0.11094463616609573, + 0.04881954938173294 + ], + "orientation": [ + 0.018740110099315643, + -0.20004363358020782, + -0.9731665849685669, + -0.11215293407440186 + ], + "joints": [ + 0.011521577835083008 + ] + }, + "fine_grasp": { + "position": [ + -0.04924808070063591, + -0.11108015477657318, + 0.0492609441280365 + ], + "orientation": [ + 0.03439256548881531, + -0.20182359218597412, + -0.9715375900268555, + -0.11916015297174454 + ], + "joints": [ + 0.01638389378786087 + ] + }, + "final_grasp": { + "position": [ + -0.04924808070063591, + -0.11108015477657318, + 0.0492609441280365 + ], + "orientation": [ + 0.03439256548881531, + -0.20182359218597412, + -0.9715375900268555, + -0.11916015297174454 + ], + "joints": [ + 0.021246209740638733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09139605611562729, + 0.07051826268434525, + 0.1260952651500702 + ], + "orientation": [ + 0.4372047781944275, + -0.05160043016076088, + -0.12302356213331223, + 0.889412522315979 + ], + "joints": [ + 0.010010495781898499 + ] + }, + "fine_grasp": { + "position": [ + 0.0946568101644516, + 0.07247263193130493, + 0.12740474939346313 + ], + "orientation": [ + 0.43315884470939636, + -0.055867839604616165, + -0.1183723658323288, + 0.8917624354362488 + ], + "joints": [ + 0.016892122104763985 + ] + }, + "final_grasp": { + "position": [ + 0.0946568101644516, + 0.07247263193130493, + 0.12740474939346313 + ], + "orientation": [ + 0.43315884470939636, + -0.055867839604616165, + -0.1183723658323288, + 0.8917624354362488 + ], + "joints": [ + 0.02377374842762947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08783974498510361, + 0.07037845253944397, + 0.05201960355043411 + ], + "orientation": [ + 0.42851242423057556, + 0.09528505802154541, + 0.15739698708057404, + 0.8846039772033691 + ], + "joints": [ + 0.010239150375127792 + ] + }, + "fine_grasp": { + "position": [ + 0.08697682619094849, + 0.06984683126211166, + 0.05176630988717079 + ], + "orientation": [ + 0.4292007386684418, + 0.08551438897848129, + 0.17059458792209625, + 0.882820188999176 + ], + "joints": [ + 0.01664252206683159 + ] + }, + "final_grasp": { + "position": [ + 0.08697682619094849, + 0.06984683126211166, + 0.05176630988717079 + ], + "orientation": [ + 0.4292007386684418, + 0.08551438897848129, + 0.17059458792209625, + 0.882820188999176 + ], + "joints": [ + 0.023045893758535385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04915333539247513, + -0.11261554062366486, + 0.05935162678360939 + ], + "orientation": [ + 0.04408324509859085, + 0.2059858739376068, + -0.9775594472885132, + -0.001980998320505023 + ], + "joints": [ + 0.011924222111701965 + ] + }, + "fine_grasp": { + "position": [ + 0.049587298184633255, + -0.11322183907032013, + 0.059481143951416016 + ], + "orientation": [ + 0.06178869679570198, + 0.20765294134616852, + -0.9762484431266785, + -0.0011797341285273433 + ], + "joints": [ + 0.01675996743142605 + ] + }, + "final_grasp": { + "position": [ + 0.049587298184633255, + -0.11322183907032013, + 0.059481143951416016 + ], + "orientation": [ + 0.06178869679570198, + 0.20765294134616852, + -0.9762484431266785, + -0.0011797341285273433 + ], + "joints": [ + 0.02159571275115013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05635235086083412, + 0.1030873954296112, + 0.06068509817123413 + ], + "orientation": [ + 0.13498039543628693, + 0.957729697227478, + -0.24902836978435516, + -0.05018867924809456 + ], + "joints": [ + 0.010927638038992882 + ] + }, + "fine_grasp": { + "position": [ + 0.05660616606473923, + 0.10329001396894455, + 0.060375627130270004 + ], + "orientation": [ + 0.14265349507331848, + 0.9557651877403259, + -0.2531017065048218, + -0.04585115984082222 + ], + "joints": [ + 0.017357584089040756 + ] + }, + "final_grasp": { + "position": [ + 0.05660616606473923, + 0.10329001396894455, + 0.060375627130270004 + ], + "orientation": [ + 0.14265349507331848, + 0.9557651877403259, + -0.2531017065048218, + -0.04585115984082222 + ], + "joints": [ + 0.02378753013908863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04898097738623619, + -0.11248020082712173, + 0.058623623102903366 + ], + "orientation": [ + 0.048106227070093155, + 0.20524629950523376, + -0.9774847030639648, + 0.009128713048994541 + ], + "joints": [ + 0.011886173859238625 + ] + }, + "fine_grasp": { + "position": [ + 0.04919549822807312, + -0.1128665953874588, + 0.05856510251760483 + ], + "orientation": [ + 0.06791888177394867, + 0.20697830617427826, + -0.9759261608123779, + 0.010727861896157265 + ], + "joints": [ + 0.01619051769375801 + ] + }, + "final_grasp": { + "position": [ + 0.04919549822807312, + -0.1128665953874588, + 0.05856510251760483 + ], + "orientation": [ + 0.06791888177394867, + 0.20697830617427826, + -0.9759261608123779, + 0.010727861896157265 + ], + "joints": [ + 0.020494861528277397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09171561151742935, + 0.0703243613243103, + 0.12625834345817566 + ], + "orientation": [ + 0.43874987959861755, + -0.047676604241132736, + -0.11932050436735153, + 0.8893751502037048 + ], + "joints": [ + 0.010054096579551697 + ] + }, + "fine_grasp": { + "position": [ + 0.09513500332832336, + 0.07241553068161011, + 0.12777864933013916 + ], + "orientation": [ + 0.4349369406700134, + -0.05256499722599983, + -0.11364792287349701, + 0.8917123675346375 + ], + "joints": [ + 0.016430895775556564 + ] + }, + "final_grasp": { + "position": [ + 0.09513500332832336, + 0.07241553068161011, + 0.12777864933013916 + ], + "orientation": [ + 0.4349369406700134, + -0.05256499722599983, + -0.11364792287349701, + 0.8917123675346375 + ], + "joints": [ + 0.022807694971561432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10764434933662415, + 0.04960883408784866, + 0.03574013337492943 + ], + "orientation": [ + 0.5297493934631348, + 0.02978738211095333, + 0.12922875583171844, + 0.8377220630645752 + ], + "joints": [ + 0.01137406937777996 + ] + }, + "fine_grasp": { + "position": [ + 0.10714652389287949, + 0.04949917644262314, + 0.035985372960567474 + ], + "orientation": [ + 0.5289809107780457, + 0.013956010341644287, + 0.1446148157119751, + 0.836104691028595 + ], + "joints": [ + 0.015704983845353127 + ] + }, + "final_grasp": { + "position": [ + 0.10714652389287949, + 0.04949917644262314, + 0.035985372960567474 + ], + "orientation": [ + 0.5289809107780457, + 0.013956010341644287, + 0.1446148157119751, + 0.836104691028595 + ], + "joints": [ + 0.020035898312926292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048661090433597565, + -0.11058596521615982, + 0.05003901943564415 + ], + "orientation": [ + 0.012103593908250332, + -0.20119832456111908, + -0.9727289080619812, + -0.1147664412856102 + ], + "joints": [ + 0.011723831295967102 + ] + }, + "fine_grasp": { + "position": [ + -0.049220774322748184, + -0.110811747610569, + 0.05033425614237785 + ], + "orientation": [ + 0.027576060965657234, + -0.20319971442222595, + -0.971142590045929, + -0.12178455293178558 + ], + "joints": [ + 0.016559576615691185 + ] + }, + "final_grasp": { + "position": [ + -0.049220774322748184, + -0.110811747610569, + 0.05033425614237785 + ], + "orientation": [ + 0.027576060965657234, + -0.20319971442222595, + -0.971142590045929, + -0.12178455293178558 + ], + "joints": [ + 0.021395321935415268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06524820625782013, + 0.09480365365743637, + 0.13120049238204956 + ], + "orientation": [ + 0.2933935821056366, + -0.051669444888830185, + 0.15117637813091278, + -0.9425476789474487 + ], + "joints": [ + 0.011127842590212822 + ] + }, + "fine_grasp": { + "position": [ + -0.06599508225917816, + 0.09630143642425537, + 0.13178309798240662 + ], + "orientation": [ + 0.2996823787689209, + -0.05139622837305069, + 0.15865203738212585, + -0.9393500685691833 + ], + "joints": [ + 0.01699981652200222 + ] + }, + "final_grasp": { + "position": [ + -0.06599508225917816, + 0.09630143642425537, + 0.13178309798240662 + ], + "orientation": [ + 0.2996823787689209, + -0.05139622837305069, + 0.15865203738212585, + -0.9393500685691833 + ], + "joints": [ + 0.02287179045379162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10612455010414124, + 0.04262422025203705, + 0.041551779955625534 + ], + "orientation": [ + 0.5452219843864441, + 0.04149550944566727, + 0.15411962568759918, + 0.8229570984840393 + ], + "joints": [ + 0.010428611189126968 + ] + }, + "fine_grasp": { + "position": [ + 0.10726282000541687, + 0.0427032932639122, + 0.041480980813503265 + ], + "orientation": [ + 0.545738160610199, + 0.0253321323543787, + 0.17240701615810394, + 0.8196365237236023 + ], + "joints": [ + 0.014759521931409836 + ] + }, + "final_grasp": { + "position": [ + 0.10726282000541687, + 0.0427032932639122, + 0.041480980813503265 + ], + "orientation": [ + 0.545738160610199, + 0.0253321323543787, + 0.17240701615810394, + 0.8196365237236023 + ], + "joints": [ + 0.019090432673692703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09935552626848221, + 0.05156145244836807, + 0.01723519153892994 + ], + "orientation": [ + 0.5035884976387024, + 0.0591508224606514, + 0.17287130653858185, + 0.8444023728370667 + ], + "joints": [ + 0.011468530632555485 + ] + }, + "fine_grasp": { + "position": [ + 0.10005015134811401, + 0.051573291420936584, + 0.017021501436829567 + ], + "orientation": [ + 0.5042366981506348, + 0.04586925730109215, + 0.18745779991149902, + 0.8417249321937561 + ], + "joints": [ + 0.016330847516655922 + ] + }, + "final_grasp": { + "position": [ + 0.10005015134811401, + 0.051573291420936584, + 0.017021501436829567 + ], + "orientation": [ + 0.5042366981506348, + 0.04586925730109215, + 0.18745779991149902, + 0.8417249321937561 + ], + "joints": [ + 0.021193165332078934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1059436947107315, + 0.042520176619291306, + 0.04101194068789482 + ], + "orientation": [ + 0.544887363910675, + 0.044610872864723206, + 0.15486079454421997, + 0.822876513004303 + ], + "joints": [ + 0.01045217178761959 + ] + }, + "fine_grasp": { + "position": [ + 0.10704800486564636, + 0.04290153831243515, + 0.040859825909137726 + ], + "orientation": [ + 0.5465086698532104, + 0.02867959626019001, + 0.17295369505882263, + 0.8188974261283875 + ], + "joints": [ + 0.015287911519408226 + ] + }, + "final_grasp": { + "position": [ + 0.10704800486564636, + 0.04290153831243515, + 0.040859825909137726 + ], + "orientation": [ + 0.5465086698532104, + 0.02867959626019001, + 0.17295369505882263, + 0.8188974261283875 + ], + "joints": [ + 0.02012365125119686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04898959398269653, + -0.10668287426233292, + 0.12516504526138306 + ], + "orientation": [ + 0.01820782944560051, + 0.2022184431552887, + 0.9644786715507507, + -0.16898851096630096 + ], + "joints": [ + 0.011223703622817993 + ] + }, + "fine_grasp": { + "position": [ + -0.04909287765622139, + -0.10646762698888779, + 0.12453129887580872 + ], + "orientation": [ + 0.04509343206882477, + 0.198564350605011, + 0.9639261960983276, + -0.17142120003700256 + ], + "joints": [ + 0.016112592071294785 + ] + }, + "final_grasp": { + "position": [ + -0.04909287765622139, + -0.10646762698888779, + 0.12453129887580872 + ], + "orientation": [ + 0.04509343206882477, + 0.198564350605011, + 0.9639261960983276, + -0.17142120003700256 + ], + "joints": [ + 0.021001480519771576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10902155935764313, + -0.03761838749051094, + 0.1336292177438736 + ], + "orientation": [ + 0.8032588362693787, + -0.18509350717067719, + 0.0766710638999939, + -0.560925304889679 + ], + "joints": [ + 0.010468659922480583 + ] + }, + "fine_grasp": { + "position": [ + -0.10896970331668854, + -0.03647293150424957, + 0.13288156688213348 + ], + "orientation": [ + 0.8029207587242126, + -0.19802121818065643, + 0.04846128076314926, + -0.5601406097412109 + ], + "joints": [ + 0.015357544645667076 + ] + }, + "final_grasp": { + "position": [ + -0.10896970331668854, + -0.03647293150424957, + 0.13288156688213348 + ], + "orientation": [ + 0.8029207587242126, + -0.19802121818065643, + 0.04846128076314926, + -0.5601406097412109 + ], + "joints": [ + 0.02024642936885357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10777662694454193, + 0.05302877724170685, + 0.06676111370325089 + ], + "orientation": [ + 0.08614348620176315, + 0.8414807915687561, + -0.5280684232711792, + -0.07505480200052261 + ], + "joints": [ + 0.010495025664567947 + ] + }, + "fine_grasp": { + "position": [ + 0.10765877366065979, + 0.053032517433166504, + 0.066595159471035 + ], + "orientation": [ + 0.09481791406869888, + 0.8391634821891785, + -0.5309082865715027, + -0.07036123424768448 + ], + "joints": [ + 0.016924969851970673 + ] + }, + "final_grasp": { + "position": [ + 0.10765877366065979, + 0.053032517433166504, + 0.066595159471035 + ], + "orientation": [ + 0.09481791406869888, + 0.8391634821891785, + -0.5309082865715027, + -0.07036123424768448 + ], + "joints": [ + 0.023354914039373398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08804204314947128, + 0.06614554673433304, + 0.15333512425422668 + ], + "orientation": [ + 0.43503332138061523, + -0.09739485383033752, + 0.2044398933649063, + -0.8714726567268372 + ], + "joints": [ + 0.01028653234243393 + ] + }, + "fine_grasp": { + "position": [ + -0.08785659074783325, + 0.06629397720098495, + 0.15190550684928894 + ], + "orientation": [ + 0.44013330340385437, + -0.09914454817771912, + 0.21379701793193817, + -0.8664548397064209 + ], + "joints": [ + 0.016185075044631958 + ] + }, + "final_grasp": { + "position": [ + -0.08785659074783325, + 0.06629397720098495, + 0.15190550684928894 + ], + "orientation": [ + 0.44013330340385437, + -0.09914454817771912, + 0.21379701793193817, + -0.8664548397064209 + ], + "joints": [ + 0.022083617746829987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10910386592149734, + 0.05154043436050415, + 0.07588353753089905 + ], + "orientation": [ + 0.5348610877990723, + 0.060682885348796844, + 0.0597187839448452, + 0.8406395316123962 + ], + "joints": [ + 0.010512666776776314 + ] + }, + "fine_grasp": { + "position": [ + 0.10897278040647507, + 0.05163034796714783, + 0.0756198838353157 + ], + "orientation": [ + 0.5366916060447693, + 0.05688376724720001, + 0.06772265583276749, + 0.8391305804252625 + ], + "joints": [ + 0.016384636983275414 + ] + }, + "final_grasp": { + "position": [ + 0.10897278040647507, + 0.05163034796714783, + 0.0756198838353157 + ], + "orientation": [ + 0.5366916060447693, + 0.05688376724720001, + 0.06772265583276749, + 0.8391305804252625 + ], + "joints": [ + 0.022256607189774513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08807013183832169, + 0.06637047231197357, + 0.1533181220293045 + ], + "orientation": [ + 0.43441566824913025, + -0.09594519436359406, + 0.20353196561336517, + -0.8721537590026855 + ], + "joints": [ + 0.01028653047978878 + ] + }, + "fine_grasp": { + "position": [ + -0.08793708682060242, + 0.06657975167036057, + 0.15195927023887634 + ], + "orientation": [ + 0.4398908019065857, + -0.09795430302619934, + 0.2120923101902008, + -0.8671320080757141 + ], + "joints": [ + 0.01618507318198681 + ] + }, + "final_grasp": { + "position": [ + -0.08793708682060242, + 0.06657975167036057, + 0.15195927023887634 + ], + "orientation": [ + 0.4398908019065857, + -0.09795430302619934, + 0.2120923101902008, + -0.8671320080757141 + ], + "joints": [ + 0.022083615884184837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09870603680610657, + 0.04935125261545181, + 0.1561601310968399 + ], + "orientation": [ + 0.18846464157104492, + -0.8307796120643616, + 0.5126261711120605, + -0.10724053531885147 + ], + "joints": [ + 0.009649094194173813 + ] + }, + "fine_grasp": { + "position": [ + 0.09941704571247101, + 0.04901064559817314, + 0.15541788935661316 + ], + "orientation": [ + 0.19390280544757843, + -0.8306918144226074, + 0.5092170238494873, + -0.11424004286527634 + ], + "joints": [ + 0.015521062538027763 + ] + }, + "final_grasp": { + "position": [ + 0.09941704571247101, + 0.04901064559817314, + 0.15541788935661316 + ], + "orientation": [ + 0.19390280544757843, + -0.8306918144226074, + 0.5092170238494873, + -0.11424004286527634 + ], + "joints": [ + 0.021393030881881714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11542943865060806, + -0.0376465804874897, + 0.10735195130109787 + ], + "orientation": [ + 0.03162685036659241, + -0.585148811340332, + 0.805970311164856, + -0.08374044299125671 + ], + "joints": [ + 0.010312650352716446 + ] + }, + "fine_grasp": { + "position": [ + 0.11513885855674744, + -0.0378471240401268, + 0.10740359872579575 + ], + "orientation": [ + 0.013925527222454548, + -0.58668053150177, + 0.8042847514152527, + -0.09347670525312424 + ], + "joints": [ + 0.01517496258020401 + ] + }, + "final_grasp": { + "position": [ + 0.11513885855674744, + -0.0378471240401268, + 0.10740359872579575 + ], + "orientation": [ + 0.013925527222454548, + -0.58668053150177, + 0.8042847514152527, + -0.09347670525312424 + ], + "joints": [ + 0.020037274807691574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11533963680267334, + -0.036988310515880585, + 0.05275212228298187 + ], + "orientation": [ + 0.08659718185663223, + 0.5870387554168701, + -0.8015086650848389, + -0.07396149635314941 + ], + "joints": [ + 0.011096136644482613 + ] + }, + "fine_grasp": { + "position": [ + 0.11538249999284744, + -0.037069257348775864, + 0.05309714376926422 + ], + "orientation": [ + 0.09961806982755661, + 0.5865514278411865, + -0.8011603355407715, + -0.06462075561285019 + ], + "joints": [ + 0.015985023230314255 + ] + }, + "final_grasp": { + "position": [ + 0.11538249999284744, + -0.037069257348775864, + 0.05309714376926422 + ], + "orientation": [ + 0.09961806982755661, + 0.5865514278411865, + -0.8011603355407715, + -0.06462075561285019 + ], + "joints": [ + 0.020873909816145897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06366641819477081, + -0.10442424565553665, + 0.11183634400367737 + ], + "orientation": [ + 0.9605593681335449, + -0.08101892471313477, + 0.00973560381680727, + -0.26583224534988403 + ], + "joints": [ + 0.010845538228750229 + ] + }, + "fine_grasp": { + "position": [ + -0.06429936736822128, + -0.10550481826066971, + 0.11215100437402725 + ], + "orientation": [ + 0.9612651467323303, + -0.08037105202674866, + 0.013663810677826405, + -0.2632930874824524 + ], + "joints": [ + 0.01778031326830387 + ] + }, + "final_grasp": { + "position": [ + -0.06429936736822128, + -0.10550481826066971, + 0.11215100437402725 + ], + "orientation": [ + 0.9612651467323303, + -0.08037105202674866, + 0.013663810677826405, + -0.2632930874824524 + ], + "joints": [ + 0.024715088307857513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0644880086183548, + -0.10332213342189789, + 0.07174499332904816 + ], + "orientation": [ + 0.03871706873178482, + 0.2755543887615204, + 0.9568008184432983, + 0.08427944779396057 + ], + "joints": [ + 0.011278660967946053 + ] + }, + "fine_grasp": { + "position": [ + -0.06442730873823166, + -0.1040470153093338, + 0.07202759385108948 + ], + "orientation": [ + 0.03467750549316406, + 0.2773860692977905, + 0.9558169841766357, + 0.0909312516450882 + ], + "joints": [ + 0.017682036384940147 + ] + }, + "final_grasp": { + "position": [ + -0.06442730873823166, + -0.1040470153093338, + 0.07202759385108948 + ], + "orientation": [ + 0.03467750549316406, + 0.2773860692977905, + 0.9558169841766357, + 0.0909312516450882 + ], + "joints": [ + 0.024085411801934242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06384273618459702, + -0.10436491668224335, + 0.11175356060266495 + ], + "orientation": [ + 0.9604278802871704, + -0.0787014588713646, + 0.008912093006074429, + -0.26702967286109924 + ], + "joints": [ + 0.01133386418223381 + ] + }, + "fine_grasp": { + "position": [ + -0.06454125046730042, + -0.1055067852139473, + 0.1122877299785614 + ], + "orientation": [ + 0.961368978023529, + -0.07598120719194412, + 0.01246876735240221, + -0.2642745077610016 + ], + "joints": [ + 0.017737239599227905 + ] + }, + "final_grasp": { + "position": [ + -0.06454125046730042, + -0.1055067852139473, + 0.1122877299785614 + ], + "orientation": [ + 0.961368978023529, + -0.07598120719194412, + 0.01246876735240221, + -0.2642745077610016 + ], + "joints": [ + 0.024140615016222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044660113751888275, + 0.10711591690778732, + 0.05885065719485283 + ], + "orientation": [ + 0.1985834687948227, + 0.0531403087079525, + 0.1411718726158142, + 0.9684065580368042 + ], + "joints": [ + 0.01094939187169075 + ] + }, + "fine_grasp": { + "position": [ + 0.0444699302315712, + 0.10645485669374466, + 0.058457132428884506 + ], + "orientation": [ + 0.2010037899017334, + 0.0459611676633358, + 0.1500549465417862, + 0.9669377207756042 + ], + "joints": [ + 0.016847936436533928 + ] + }, + "final_grasp": { + "position": [ + 0.0444699302315712, + 0.10645485669374466, + 0.058457132428884506 + ], + "orientation": [ + 0.2010037899017334, + 0.0459611676633358, + 0.1500549465417862, + 0.9669377207756042 + ], + "joints": [ + 0.022746481001377106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11110983043909073, + 0.04831460118293762, + 0.09881135076284409 + ], + "orientation": [ + 0.5479780435562134, + 0.005505900364369154, + -0.020818540826439857, + 0.8362154960632324 + ], + "joints": [ + 0.01025192067027092 + ] + }, + "fine_grasp": { + "position": [ + 0.11376385390758514, + 0.049297746270895004, + 0.09883946925401688 + ], + "orientation": [ + 0.5481795072555542, + -0.0010711895301938057, + -0.011444073170423508, + 0.8362818360328674 + ], + "joints": [ + 0.017160121351480484 + ] + }, + "final_grasp": { + "position": [ + 0.11376385390758514, + 0.049297746270895004, + 0.09883946925401688 + ], + "orientation": [ + 0.5481795072555542, + -0.0010711895301938057, + -0.011444073170423508, + 0.8362818360328674 + ], + "joints": [ + 0.024068322032690048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11787134408950806, + 0.0339021198451519, + 0.11027064919471741 + ], + "orientation": [ + 0.6012582778930664, + 0.02341121807694435, + 0.05307305231690407, + -0.7969464063644409 + ], + "joints": [ + 0.009032445028424263 + ] + }, + "fine_grasp": { + "position": [ + -0.12031972408294678, + 0.03404979035258293, + 0.1107282042503357 + ], + "orientation": [ + 0.6029613018035889, + 0.048077456653118134, + 0.0705936923623085, + -0.793185293674469 + ], + "joints": [ + 0.014399582520127296 + ] + }, + "final_grasp": { + "position": [ + -0.12031972408294678, + 0.03404979035258293, + 0.1107282042503357 + ], + "orientation": [ + 0.6029613018035889, + 0.048077456653118134, + 0.0705936923623085, + -0.793185293674469 + ], + "joints": [ + 0.01976672001183033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03312745317816734, + -0.11186420917510986, + 0.1304517388343811 + ], + "orientation": [ + 0.973935067653656, + -0.15696296095848083, + -0.06634741276502609, + 0.1497032195329666 + ], + "joints": [ + 0.01116861030459404 + ] + }, + "fine_grasp": { + "position": [ + 0.03250408172607422, + -0.11144581437110901, + 0.12995567917823792 + ], + "orientation": [ + 0.9722684621810913, + -0.14848566055297852, + -0.0960712730884552, + 0.15302443504333496 + ], + "joints": [ + 0.0165623277425766 + ] + }, + "final_grasp": { + "position": [ + 0.03250408172607422, + -0.11144581437110901, + 0.12995567917823792 + ], + "orientation": [ + 0.9722684621810913, + -0.14848566055297852, + -0.0960712730884552, + 0.15302443504333496 + ], + "joints": [ + 0.02195604518055916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11798913031816483, + 0.035863518714904785, + 0.06768927723169327 + ], + "orientation": [ + 0.595224916934967, + 0.026306787505745888, + 0.06255236268043518, + -0.8006886839866638 + ], + "joints": [ + 0.011379338800907135 + ] + }, + "fine_grasp": { + "position": [ + -0.11823844164609909, + 0.03505777195096016, + 0.06788697093725204 + ], + "orientation": [ + 0.5957394242286682, + 0.05575946345925331, + 0.08206912130117416, + -0.7970258593559265 + ], + "joints": [ + 0.014700595289468765 + ] + }, + "final_grasp": { + "position": [ + -0.11823844164609909, + 0.03505777195096016, + 0.06788697093725204 + ], + "orientation": [ + 0.5957394242286682, + 0.05575946345925331, + 0.08206912130117416, + -0.7970258593559265 + ], + "joints": [ + 0.018021851778030396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06386508792638779, + -0.10438313335180283, + 0.11207124590873718 + ], + "orientation": [ + 0.9605289101600647, + -0.07759413123130798, + 0.007159965578466654, + -0.26704320311546326 + ], + "joints": [ + 0.010840382426977158 + ] + }, + "fine_grasp": { + "position": [ + -0.0644652396440506, + -0.105535589158535, + 0.11255057901144028 + ], + "orientation": [ + 0.9614748954772949, + -0.07331446558237076, + 0.012265359051525593, + -0.2646521329879761 + ], + "joints": [ + 0.0177751574665308 + ] + }, + "final_grasp": { + "position": [ + -0.0644652396440506, + -0.105535589158535, + 0.11255057901144028 + ], + "orientation": [ + 0.9614748954772949, + -0.07331446558237076, + 0.012265359051525593, + -0.2646521329879761 + ], + "joints": [ + 0.024709932506084442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033427100628614426, + -0.1126118078827858, + 0.13185851275920868 + ], + "orientation": [ + 0.9754289984703064, + -0.1451798379421234, + -0.06899640709161758, + 0.15066678822040558 + ], + "joints": [ + 0.011170612648129463 + ] + }, + "fine_grasp": { + "position": [ + 0.03251834958791733, + -0.11200326681137085, + 0.13134519755840302 + ], + "orientation": [ + 0.973581075668335, + -0.1374218612909317, + -0.09974163770675659, + 0.15266543626785278 + ], + "joints": [ + 0.016032928600907326 + ] + }, + "final_grasp": { + "position": [ + 0.03251834958791733, + -0.11200326681137085, + 0.13134519755840302 + ], + "orientation": [ + 0.973581075668335, + -0.1374218612909317, + -0.09974163770675659, + 0.15266543626785278 + ], + "joints": [ + 0.02089524455368519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05627942085266113, + 0.0989905595779419, + 0.14103426039218903 + ], + "orientation": [ + 0.2516947090625763, + -0.050598304718732834, + 0.18097682297229767, + -0.9493877291679382 + ], + "joints": [ + 0.011151513084769249 + ] + }, + "fine_grasp": { + "position": [ + -0.055629003793001175, + 0.09878086298704147, + 0.13890992105007172 + ], + "orientation": [ + 0.25634410977363586, + -0.053089629858732224, + 0.19481723010540009, + -0.9452594518661499 + ], + "joints": [ + 0.017023487016558647 + ] + }, + "final_grasp": { + "position": [ + -0.055629003793001175, + 0.09878086298704147, + 0.13890992105007172 + ], + "orientation": [ + 0.25634410977363586, + -0.053089629858732224, + 0.19481723010540009, + -0.9452594518661499 + ], + "joints": [ + 0.022895460948348045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05647168308496475, + 0.09910803288221359, + 0.14137698709964752 + ], + "orientation": [ + 0.25229665637016296, + -0.04993491619825363, + 0.17655998468399048, + -0.9500945210456848 + ], + "joints": [ + 0.011087901890277863 + ] + }, + "fine_grasp": { + "position": [ + -0.0556630901992321, + 0.09880571812391281, + 0.13920123875141144 + ], + "orientation": [ + 0.25720831751823425, + -0.053645629435777664, + 0.19401216506958008, + -0.945158839225769 + ], + "joints": [ + 0.01695987395942211 + ] + }, + "final_grasp": { + "position": [ + -0.0556630901992321, + 0.09880571812391281, + 0.13920123875141144 + ], + "orientation": [ + 0.25720831751823425, + -0.053645629435777664, + 0.19401216506958008, + -0.945158839225769 + ], + "joints": [ + 0.02283184602856636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04425203427672386, + -0.10349757224321365, + 0.04262864962220192 + ], + "orientation": [ + 0.029641220346093178, + 0.19397838413715363, + -0.9582877159118652, + -0.20779412984848022 + ], + "joints": [ + 0.011114265769720078 + ] + }, + "fine_grasp": { + "position": [ + 0.04455375298857689, + -0.10314592719078064, + 0.04415268823504448 + ], + "orientation": [ + 0.03398575261235237, + 0.1901591718196869, + -0.9576515555381775, + -0.2135133594274521 + ], + "joints": [ + 0.0175442136824131 + ] + }, + "final_grasp": { + "position": [ + 0.04455375298857689, + -0.10314592719078064, + 0.04415268823504448 + ], + "orientation": [ + 0.03398575261235237, + 0.1901591718196869, + -0.9576515555381775, + -0.2135133594274521 + ], + "joints": [ + 0.023974161595106125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12224923074245453, + -0.010194291360676289, + 0.10674435645341873 + ], + "orientation": [ + 0.7320215702056885, + -0.04378475248813629, + 0.09700419008731842, + -0.6729171872138977 + ], + "joints": [ + 0.010608995333313942 + ] + }, + "fine_grasp": { + "position": [ + -0.12189178168773651, + -0.009984969161450863, + 0.10631664842367172 + ], + "orientation": [ + 0.7325509190559387, + -0.02991955727338791, + 0.10573216527700424, + -0.6717846989631653 + ], + "joints": [ + 0.015471309423446655 + ] + }, + "final_grasp": { + "position": [ + -0.12189178168773651, + -0.009984969161450863, + 0.10631664842367172 + ], + "orientation": [ + 0.7325509190559387, + -0.02991955727338791, + 0.10573216527700424, + -0.6717846989631653 + ], + "joints": [ + 0.02033362351357937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12040504068136215, + -0.018692923709750175, + 0.05717390775680542 + ], + "orientation": [ + 0.7584013342857361, + 0.08910080790519714, + -0.039499346166849136, + -0.6444597840309143 + ], + "joints": [ + 0.011018695309758186 + ] + }, + "fine_grasp": { + "position": [ + -0.11999208480119705, + -0.018927330151200294, + 0.05799398571252823 + ], + "orientation": [ + 0.7575154900550842, + 0.10642340034246445, + -0.02117968164384365, + -0.6437357664108276 + ], + "joints": [ + 0.01585443690419197 + ] + }, + "final_grasp": { + "position": [ + -0.11999208480119705, + -0.018927330151200294, + 0.05799398571252823 + ], + "orientation": [ + 0.7575154900550842, + 0.10642340034246445, + -0.02117968164384365, + -0.6437357664108276 + ], + "joints": [ + 0.020690178498625755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04500116407871246, + 0.11447955667972565, + 0.09857818484306335 + ], + "orientation": [ + 0.017075952142477036, + -0.9819724559783936, + 0.18786022067070007, + 0.012127900496125221 + ], + "joints": [ + 0.011439528316259384 + ] + }, + "fine_grasp": { + "position": [ + 0.04607326537370682, + 0.11571919918060303, + 0.09859935194253922 + ], + "orientation": [ + 0.013006039895117283, + -0.981854259967804, + 0.1887902468442917, + 0.012303899973630905 + ], + "joints": [ + 0.01784290373325348 + ] + }, + "final_grasp": { + "position": [ + 0.04607326537370682, + 0.11571919918060303, + 0.09859935194253922 + ], + "orientation": [ + 0.013006039895117283, + -0.981854259967804, + 0.1887902468442917, + 0.012303899973630905 + ], + "joints": [ + 0.024246279150247574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04100821167230606, + 0.1148207038640976, + 0.1056077778339386 + ], + "orientation": [ + 0.17119823396205902, + -0.027128873392939568, + 0.03580065071582794, + -0.9842121601104736 + ], + "joints": [ + 0.011241652071475983 + ] + }, + "fine_grasp": { + "position": [ + -0.04107367619872093, + 0.11602751165628433, + 0.10644791275262833 + ], + "orientation": [ + 0.1738736629486084, + -0.023463716730475426, + 0.03568364679813385, + -0.9838414788246155 + ], + "joints": [ + 0.01711362600326538 + ] + }, + "final_grasp": { + "position": [ + -0.04107367619872093, + 0.11602751165628433, + 0.10644791275262833 + ], + "orientation": [ + 0.1738736629486084, + -0.023463716730475426, + 0.03568364679813385, + -0.9838414788246155 + ], + "joints": [ + 0.02298559993505478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045668136328458786, + 0.11425016075372696, + 0.09883640706539154 + ], + "orientation": [ + 0.01930348202586174, + -0.981346070766449, + 0.19066564738750458, + 0.01529605034738779 + ], + "joints": [ + 0.011399848386645317 + ] + }, + "fine_grasp": { + "position": [ + 0.04549919441342354, + 0.11551735550165176, + 0.09877215325832367 + ], + "orientation": [ + 0.015524270012974739, + -0.982185959815979, + 0.18676762282848358, + 0.013705665245652199 + ], + "joints": [ + 0.017776651307940483 + ] + }, + "final_grasp": { + "position": [ + 0.04549919441342354, + 0.11551735550165176, + 0.09877215325832367 + ], + "orientation": [ + 0.015524270012974739, + -0.982185959815979, + 0.18676762282848358, + 0.013705665245652199 + ], + "joints": [ + 0.02415345422923565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04268885403871536, + 0.11014620214700699, + 0.05012109503149986 + ], + "orientation": [ + 0.1515669822692871, + 0.9721712470054626, + 0.1779477596282959, + 0.01565697230398655 + ], + "joints": [ + 0.011859752237796783 + ] + }, + "fine_grasp": { + "position": [ + -0.04306766390800476, + 0.11072390526533127, + 0.05056088790297508 + ], + "orientation": [ + 0.15606339275836945, + 0.9713934659957886, + 0.17703238129615784, + 0.02642737329006195 + ], + "joints": [ + 0.018263129517436028 + ] + }, + "final_grasp": { + "position": [ + -0.04306766390800476, + 0.11072390526533127, + 0.05056088790297508 + ], + "orientation": [ + 0.15606339275836945, + 0.9713934659957886, + 0.17703238129615784, + 0.02642737329006195 + ], + "joints": [ + 0.02466650679707527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04270290210843086, + 0.10948953032493591, + 0.05042067915201187 + ], + "orientation": [ + 0.16086256504058838, + 0.9704566597938538, + 0.1788165271282196, + 0.019022341817617416 + ], + "joints": [ + 0.011290572583675385 + ] + }, + "fine_grasp": { + "position": [ + -0.04334438964724541, + 0.11006215959787369, + 0.05121644586324692 + ], + "orientation": [ + 0.16515791416168213, + 0.9699060320854187, + 0.17680096626281738, + 0.027325306087732315 + ], + "joints": [ + 0.018225349485874176 + ] + }, + "final_grasp": { + "position": [ + -0.04334438964724541, + 0.11006215959787369, + 0.05121644586324692 + ], + "orientation": [ + 0.16515791416168213, + 0.9699060320854187, + 0.17680096626281738, + 0.027325306087732315 + ], + "joints": [ + 0.025160126388072968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12252505868673325, + -0.0017982455901801586, + 0.10052024573087692 + ], + "orientation": [ + 0.021923858672380447, + -0.6999263167381287, + 0.7105817794799805, + -0.0685272142291069 + ], + "joints": [ + 0.010123835876584053 + ] + }, + "fine_grasp": { + "position": [ + 0.12253611534833908, + -0.002430722350254655, + 0.10037107020616531 + ], + "orientation": [ + 0.000538038439117372, + -0.699000358581543, + 0.7102556228637695, + -0.0832781046628952 + ], + "joints": [ + 0.015490977093577385 + ] + }, + "final_grasp": { + "position": [ + 0.12253611534833908, + -0.002430722350254655, + 0.10037107020616531 + ], + "orientation": [ + 0.000538038439117372, + -0.699000358581543, + 0.7102556228637695, + -0.0832781046628952 + ], + "joints": [ + 0.020858118310570717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04001831263303757, + 0.11449558287858963, + 0.10016132146120071 + ], + "orientation": [ + 0.16706296801567078, + -0.02100137434899807, + 0.013170980848371983, + -0.9856346249580383 + ], + "joints": [ + 0.011236390098929405 + ] + }, + "fine_grasp": { + "position": [ + -0.04077814146876335, + 0.11659857630729675, + 0.10130380839109421 + ], + "orientation": [ + 0.1707904040813446, + -0.01837015338242054, + 0.012942356057465076, + -0.9850510358810425 + ], + "joints": [ + 0.017081791535019875 + ] + }, + "final_grasp": { + "position": [ + -0.04077814146876335, + 0.11659857630729675, + 0.10130380839109421 + ], + "orientation": [ + 0.1707904040813446, + -0.01837015338242054, + 0.012942356057465076, + -0.9850510358810425 + ], + "joints": [ + 0.022927192971110344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04222050681710243, + 0.1086701825261116, + 0.051563940942287445 + ], + "orientation": [ + 0.16909074783325195, + 0.9693039059638977, + 0.17745865881443024, + 0.01915205828845501 + ], + "joints": [ + 0.011417141184210777 + ] + }, + "fine_grasp": { + "position": [ + -0.04277084395289421, + 0.10911820828914642, + 0.052122749388217926 + ], + "orientation": [ + 0.17376185953617096, + 0.9687111973762512, + 0.1751154363155365, + 0.027204526588320732 + ], + "joints": [ + 0.01835191808640957 + ] + }, + "final_grasp": { + "position": [ + -0.04277084395289421, + 0.10911820828914642, + 0.052122749388217926 + ], + "orientation": [ + 0.17376185953617096, + 0.9687111973762512, + 0.1751154363155365, + 0.027204526588320732 + ], + "joints": [ + 0.02528669498860836 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12005118280649185, + 0.02024756371974945, + 0.11005823314189911 + ], + "orientation": [ + 0.6425219178199768, + -0.04629909247159958, + 0.09560107439756393, + -0.7588691711425781 + ], + "joints": [ + 0.010467804968357086 + ] + }, + "fine_grasp": { + "position": [ + -0.11973047256469727, + 0.02042415179312229, + 0.11036122590303421 + ], + "orientation": [ + 0.6435437798500061, + -0.028732532635331154, + 0.1055656373500824, + -0.7575498223304749 + ], + "joints": [ + 0.01533011719584465 + ] + }, + "final_grasp": { + "position": [ + -0.11973047256469727, + 0.02042415179312229, + 0.11036122590303421 + ], + "orientation": [ + 0.6435437798500061, + -0.028732532635331154, + 0.1055656373500824, + -0.7575498223304749 + ], + "joints": [ + 0.020192429423332214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11770819127559662, + 0.035312481224536896, + 0.06702998280525208 + ], + "orientation": [ + 0.5956344604492188, + 0.022655058652162552, + 0.07318482547998428, + -0.7995938658714294 + ], + "joints": [ + 0.011270910501480103 + ] + }, + "fine_grasp": { + "position": [ + -0.11754605919122696, + 0.03459494188427925, + 0.06733208894729614 + ], + "orientation": [ + 0.5953040719032288, + 0.050943564623594284, + 0.09221237152814865, + -0.7965642809867859 + ], + "joints": [ + 0.014592166990041733 + ] + }, + "final_grasp": { + "position": [ + -0.11754605919122696, + 0.03459494188427925, + 0.06733208894729614 + ], + "orientation": [ + 0.5953040719032288, + 0.050943564623594284, + 0.09221237152814865, + -0.7965642809867859 + ], + "joints": [ + 0.017913423478603363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1223888024687767, + -0.001981591572985053, + 0.1003701239824295 + ], + "orientation": [ + 0.025512751191854477, + -0.699552595615387, + 0.7110118865966797, + -0.06661253422498703 + ], + "joints": [ + 0.010687107220292091 + ] + }, + "fine_grasp": { + "position": [ + 0.12244915962219238, + -0.0026214723475277424, + 0.10026189684867859 + ], + "orientation": [ + 0.005041841417551041, + -0.6994418501853943, + 0.7100275158882141, + -0.08134301006793976 + ], + "joints": [ + 0.015522848814725876 + ] + }, + "final_grasp": { + "position": [ + 0.12244915962219238, + -0.0026214723475277424, + 0.10026189684867859 + ], + "orientation": [ + 0.005041841417551041, + -0.6994418501853943, + 0.7100275158882141, + -0.08134301006793976 + ], + "joints": [ + 0.02035859040915966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06045128405094147, + -0.10485655814409256, + 0.10349895060062408 + ], + "orientation": [ + 0.9643734693527222, + -0.03664347156882286, + -0.023622561246156693, + 0.2609277069568634 + ], + "joints": [ + 0.011019498109817505 + ] + }, + "fine_grasp": { + "position": [ + 0.06148458272218704, + -0.10772178322076797, + 0.10501991957426071 + ], + "orientation": [ + 0.9642466902732849, + -0.028680337592959404, + -0.015918046236038208, + 0.2629682719707489 + ], + "joints": [ + 0.01739629916846752 + ] + }, + "final_grasp": { + "position": [ + 0.06148458272218704, + -0.10772178322076797, + 0.10501991957426071 + ], + "orientation": [ + 0.9642466902732849, + -0.028680337592959404, + -0.015918046236038208, + 0.2629682719707489 + ], + "joints": [ + 0.02377310022711754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00738154910504818, + 0.11727160960435867, + 0.1184270977973938 + ], + "orientation": [ + 0.03568137437105179, + -0.05503963679075241, + -0.15589852631092072, + 0.985592782497406 + ], + "joints": [ + 0.011511111631989479 + ] + }, + "fine_grasp": { + "position": [ + 0.00734067102894187, + 0.11719536781311035, + 0.11891061067581177 + ], + "orientation": [ + 0.034848932176828384, + -0.07419167459011078, + -0.15302303433418274, + 0.9848173260688782 + ], + "joints": [ + 0.016346855089068413 + ] + }, + "final_grasp": { + "position": [ + 0.00734067102894187, + 0.11719536781311035, + 0.11891061067581177 + ], + "orientation": [ + 0.034848932176828384, + -0.07419167459011078, + -0.15302303433418274, + 0.9848173260688782 + ], + "joints": [ + 0.021182598546147346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12017523497343063, + 0.019878407940268517, + 0.1093154028058052 + ], + "orientation": [ + 0.6434770226478577, + -0.049649253487586975, + 0.09795266389846802, + -0.7575470805168152 + ], + "joints": [ + 0.010535953566432 + ] + }, + "fine_grasp": { + "position": [ + -0.11943015456199646, + 0.020341243594884872, + 0.1092989444732666 + ], + "orientation": [ + 0.6443178653717041, + -0.03969738259911537, + 0.1020236536860466, + -0.756881594657898 + ], + "joints": [ + 0.01592966727912426 + ] + }, + "final_grasp": { + "position": [ + -0.11943015456199646, + 0.020341243594884872, + 0.1092989444732666 + ], + "orientation": [ + 0.6443178653717041, + -0.03969738259911537, + 0.1020236536860466, + -0.756881594657898 + ], + "joints": [ + 0.02132338099181652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016220053657889366, + -0.11883235722780228, + 0.11593735218048096 + ], + "orientation": [ + 0.9895504117012024, + -0.12536904215812683, + 0.027927754446864128, + -0.06551988422870636 + ], + "joints": [ + 0.011538196355104446 + ] + }, + "fine_grasp": { + "position": [ + -0.016256777569651604, + -0.1195257157087326, + 0.11644735932350159 + ], + "orientation": [ + 0.9894869923591614, + -0.12192747741937637, + 0.045967668294906616, + -0.06273891031742096 + ], + "joints": [ + 0.016905341297388077 + ] + }, + "final_grasp": { + "position": [ + -0.016256777569651604, + -0.1195257157087326, + 0.11644735932350159 + ], + "orientation": [ + 0.9894869923591614, + -0.12192747741937637, + 0.045967668294906616, + -0.06273891031742096 + ], + "joints": [ + 0.022272486239671707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016292478889226913, + -0.11869550496339798, + 0.11564406007528305 + ], + "orientation": [ + 0.9892816543579102, + -0.12802669405937195, + 0.025353766977787018, + -0.06548279523849487 + ], + "joints": [ + 0.011447485536336899 + ] + }, + "fine_grasp": { + "position": [ + -0.016353527083992958, + -0.11926018446683884, + 0.11605272442102432 + ], + "orientation": [ + 0.9892521500587463, + -0.12491095811128616, + 0.04258216917514801, + -0.06296294182538986 + ], + "joints": [ + 0.01681463047862053 + ] + }, + "final_grasp": { + "position": [ + -0.016353527083992958, + -0.11926018446683884, + 0.11605272442102432 + ], + "orientation": [ + 0.9892521500587463, + -0.12491095811128616, + 0.04258216917514801, + -0.06296294182538986 + ], + "joints": [ + 0.02218177542090416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03685129061341286, + -0.11612911522388458, + 0.10788330435752869 + ], + "orientation": [ + 0.9868868589401245, + -0.05930526927113533, + -0.006222559604793787, + -0.14999504387378693 + ], + "joints": [ + 0.011043785139918327 + ] + }, + "fine_grasp": { + "position": [ + -0.037928611040115356, + -0.11819901317358017, + 0.10818853974342346 + ], + "orientation": [ + 0.9873834252357483, + -0.05261288583278656, + -0.004093210678547621, + -0.14929591119289398 + ], + "joints": [ + 0.017925415188074112 + ] + }, + "final_grasp": { + "position": [ + -0.037928611040115356, + -0.11819901317358017, + 0.10818853974342346 + ], + "orientation": [ + 0.9873834252357483, + -0.05261288583278656, + -0.004093210678547621, + -0.14929591119289398 + ], + "joints": [ + 0.024807045236229897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12296359241008759, + 0.01755526103079319, + 0.08659106492996216 + ], + "orientation": [ + 0.6569055914878845, + 0.02856469340622425, + 0.00018823210848495364, + -0.7534314393997192 + ], + "joints": [ + 0.01040094904601574 + ] + }, + "fine_grasp": { + "position": [ + -0.1241334080696106, + 0.017545685172080994, + 0.08701407164335251 + ], + "orientation": [ + 0.6569122076034546, + 0.043993204832077026, + 0.010481700301170349, + -0.7526096105575562 + ], + "joints": [ + 0.016299491748213768 + ] + }, + "final_grasp": { + "position": [ + -0.1241334080696106, + 0.017545685172080994, + 0.08701407164335251 + ], + "orientation": [ + 0.6569122076034546, + 0.043993204832077026, + 0.010481700301170349, + -0.7526096105575562 + ], + "joints": [ + 0.022198034450411797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004138607066124678, + 0.12051434814929962, + 0.11033166199922562 + ], + "orientation": [ + 0.01883751153945923, + -0.041026584804058075, + -0.11345122009515762, + 0.9925174713134766 + ], + "joints": [ + 0.011629259213805199 + ] + }, + "fine_grasp": { + "position": [ + 0.004118802957236767, + 0.12021759152412415, + 0.11110670119524002 + ], + "orientation": [ + 0.016356442123651505, + -0.06020588055253029, + -0.11284049600362778, + 0.9916526079177856 + ], + "joints": [ + 0.016465002670884132 + ] + }, + "final_grasp": { + "position": [ + 0.004118802957236767, + 0.12021759152412415, + 0.11110670119524002 + ], + "orientation": [ + 0.016356442123651505, + -0.06020588055253029, + -0.11284049600362778, + 0.9916526079177856 + ], + "joints": [ + 0.021300746127963066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03689568489789963, + -0.11608381569385529, + 0.10790027678012848 + ], + "orientation": [ + 0.9868937730789185, + -0.05858699604868889, + -0.005980116780847311, + -0.15024130046367645 + ], + "joints": [ + 0.011001832783222198 + ] + }, + "fine_grasp": { + "position": [ + -0.03771558776497841, + -0.11781994253396988, + 0.10816293954849243 + ], + "orientation": [ + 0.9874302744865417, + -0.051903415471315384, + -0.003883527824655175, + -0.14923983812332153 + ], + "joints": [ + 0.017378633841872215 + ] + }, + "final_grasp": { + "position": [ + -0.03771558776497841, + -0.11781994253396988, + 0.10816293954849243 + ], + "orientation": [ + 0.9874302744865417, + -0.051903415471315384, + -0.003883527824655175, + -0.14923983812332153 + ], + "joints": [ + 0.023755434900522232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10592903196811676, + -0.048692792654037476, + 0.12951327860355377 + ], + "orientation": [ + 0.07659967243671417, + -0.5309889912605286, + -0.8323202133178711, + 0.13937844336032867 + ], + "joints": [ + 0.010495373979210854 + ] + }, + "fine_grasp": { + "position": [ + -0.10718714445829391, + -0.04880956560373306, + 0.12970630824565887 + ], + "orientation": [ + 0.07832376658916473, + -0.5277588367462158, + -0.8343427181243896, + 0.13859352469444275 + ], + "joints": [ + 0.016367344185709953 + ] + }, + "final_grasp": { + "position": [ + -0.10718714445829391, + -0.04880956560373306, + 0.12970630824565887 + ], + "orientation": [ + 0.07832376658916473, + -0.5277588367462158, + -0.8343427181243896, + 0.13859352469444275 + ], + "joints": [ + 0.022239314392209053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036503713577985764, + -0.11609217524528503, + 0.10772104561328888 + ], + "orientation": [ + 0.9870780110359192, + -0.05938006564974785, + -0.004633448552340269, + -0.1487598866224289 + ], + "joints": [ + 0.011005736887454987 + ] + }, + "fine_grasp": { + "position": [ + -0.03738019987940788, + -0.11794957518577576, + 0.1081407368183136 + ], + "orientation": [ + 0.9877078533172607, + -0.0517006516456604, + -0.003991218749433756, + -0.14745956659317017 + ], + "joints": [ + 0.017382537946105003 + ] + }, + "final_grasp": { + "position": [ + -0.03738019987940788, + -0.11794957518577576, + 0.1081407368183136 + ], + "orientation": [ + 0.9877078533172607, + -0.0517006516456604, + -0.003991218749433756, + -0.14745956659317017 + ], + "joints": [ + 0.02375933900475502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020592372864484787, + -0.11172367632389069, + 0.03675447031855583 + ], + "orientation": [ + 0.9818798303604126, + 0.16868863999843597, + 0.03356564790010452, + -0.07955779135227203 + ], + "joints": [ + 0.011087259277701378 + ] + }, + "fine_grasp": { + "position": [ + -0.020801784470677376, + -0.11305999010801315, + 0.036622390151023865 + ], + "orientation": [ + 0.9797778725624084, + 0.17549444735050201, + 0.051351141184568405, + -0.08124126493930817 + ], + "joints": [ + 0.01642782986164093 + ] + }, + "final_grasp": { + "position": [ + -0.020801784470677376, + -0.11305999010801315, + 0.036622390151023865 + ], + "orientation": [ + 0.9797778725624084, + 0.17549444735050201, + 0.051351141184568405, + -0.08124126493930817 + ], + "joints": [ + 0.021768400445580482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03174198046326637, + 0.1163635402917862, + 0.11301524192094803 + ], + "orientation": [ + 0.13320811092853546, + -0.026195188984274864, + 0.0639733076095581, + -0.9886743426322937 + ], + "joints": [ + 0.010996676981449127 + ] + }, + "fine_grasp": { + "position": [ + -0.03255731612443924, + 0.11865949630737305, + 0.11418938636779785 + ], + "orientation": [ + 0.13909849524497986, + -0.019742222502827644, + 0.06401493400335312, + -0.9880101680755615 + ], + "joints": [ + 0.017373478040099144 + ] + }, + "final_grasp": { + "position": [ + -0.03255731612443924, + 0.11865949630737305, + 0.11418938636779785 + ], + "orientation": [ + 0.13909849524497986, + -0.019742222502827644, + 0.06401493400335312, + -0.9880101680755615 + ], + "joints": [ + 0.02375027909874916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020377671346068382, + -0.11165503412485123, + 0.03665761277079582 + ], + "orientation": [ + 0.9818227291107178, + 0.16941536962985992, + 0.035479895770549774, + -0.07786940783262253 + ], + "joints": [ + 0.011117978021502495 + ] + }, + "fine_grasp": { + "position": [ + -0.020445775240659714, + -0.11307758092880249, + 0.03648880124092102 + ], + "orientation": [ + 0.9797971844673157, + 0.1761731654405594, + 0.052399035543203354, + -0.07883498072624207 + ], + "joints": [ + 0.01595372147858143 + ] + }, + "final_grasp": { + "position": [ + -0.020445775240659714, + -0.11307758092880249, + 0.03648880124092102 + ], + "orientation": [ + 0.9797971844673157, + 0.1761731654405594, + 0.052399035543203354, + -0.07883498072624207 + ], + "joints": [ + 0.020789464935660362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11028848588466644, + -0.034983761608600616, + 0.03998182341456413 + ], + "orientation": [ + 0.7936431765556335, + 0.12787404656410217, + -0.11296240240335464, + -0.5839676260948181 + ], + "joints": [ + 0.010872544720768929 + ] + }, + "fine_grasp": { + "position": [ + -0.10893824696540833, + -0.03452225774526596, + 0.03956682235002518 + ], + "orientation": [ + 0.7923530340194702, + 0.131907656788826, + -0.10646636039018631, + -0.586039125919342 + ], + "joints": [ + 0.016771089285612106 + ] + }, + "final_grasp": { + "position": [ + -0.10893824696540833, + -0.03452225774526596, + 0.03956682235002518 + ], + "orientation": [ + 0.7923530340194702, + 0.131907656788826, + -0.10646636039018631, + -0.586039125919342 + ], + "joints": [ + 0.022669633850455284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10810773074626923, + 0.055962562561035156, + 0.07969634979963303 + ], + "orientation": [ + 0.06525884568691254, + 0.8532687425613403, + 0.5169288516044617, + 0.021413486450910568 + ], + "joints": [ + 0.010594846680760384 + ] + }, + "fine_grasp": { + "position": [ + -0.1098591610789299, + 0.05673878639936447, + 0.08001966029405594 + ], + "orientation": [ + 0.06194271892309189, + 0.8523455858230591, + 0.5181410908699036, + 0.03463993966579437 + ], + "joints": [ + 0.01699822023510933 + ] + }, + "final_grasp": { + "position": [ + -0.1098591610789299, + 0.05673878639936447, + 0.08001966029405594 + ], + "orientation": [ + 0.06194271892309189, + 0.8523455858230591, + 0.5181410908699036, + 0.03463993966579437 + ], + "joints": [ + 0.023401593789458275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11538442969322205, + 0.015932030975818634, + 0.043822161853313446 + ], + "orientation": [ + 0.6453759670257568, + 0.07399480044841766, + 0.1310897022485733, + 0.7488858103752136 + ], + "joints": [ + 0.010602753609418869 + ] + }, + "fine_grasp": { + "position": [ + 0.11515674740076065, + 0.01606718823313713, + 0.04388795793056488 + ], + "orientation": [ + 0.645328938961029, + 0.06281726807355881, + 0.14769357442855835, + 0.7468541860580444 + ], + "joints": [ + 0.015465067699551582 + ] + }, + "final_grasp": { + "position": [ + 0.11515674740076065, + 0.01606718823313713, + 0.04388795793056488 + ], + "orientation": [ + 0.645328938961029, + 0.06281726807355881, + 0.14769357442855835, + 0.7468541860580444 + ], + "joints": [ + 0.020327381789684296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012804784812033176, + -0.1229851022362709, + 0.0817875787615776 + ], + "orientation": [ + 0.9987375140190125, + 0.0010600326349958777, + 0.010256931185722351, + -0.04916307330131531 + ], + "joints": [ + 0.011848682537674904 + ] + }, + "fine_grasp": { + "position": [ + -0.01278622541576624, + -0.12439285963773727, + 0.08216454088687897 + ], + "orientation": [ + 0.998458981513977, + 0.0050240932032465935, + 0.025159336626529694, + -0.04920722171664238 + ], + "joints": [ + 0.01772065833210945 + ] + }, + "final_grasp": { + "position": [ + -0.01278622541576624, + -0.12439285963773727, + 0.08216454088687897 + ], + "orientation": [ + 0.998458981513977, + 0.0050240932032465935, + 0.025159336626529694, + -0.04920722171664238 + ], + "joints": [ + 0.023592634126544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11194892972707748, + 0.02546221762895584, + 0.027437590062618256 + ], + "orientation": [ + 0.12892642617225647, + 0.7638832926750183, + 0.6155273914337158, + 0.14486633241176605 + ], + "joints": [ + 0.011258326470851898 + ] + }, + "fine_grasp": { + "position": [ + -0.11035601794719696, + 0.025139328092336655, + 0.028320079669356346 + ], + "orientation": [ + 0.12194553762674332, + 0.7624983191490173, + 0.6155239343643188, + 0.15765774250030518 + ], + "joints": [ + 0.01612064242362976 + ] + }, + "final_grasp": { + "position": [ + -0.11035601794719696, + 0.025139328092336655, + 0.028320079669356346 + ], + "orientation": [ + 0.12194553762674332, + 0.7624983191490173, + 0.6155239343643188, + 0.15765774250030518 + ], + "joints": [ + 0.020982958376407623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0403960682451725, + 0.10332813858985901, + 0.1584346443414688 + ], + "orientation": [ + 0.22537164390087128, + -0.9588543176651001, + 0.17237301170825958, + 0.009666177444159985 + ], + "joints": [ + 0.009988011792302132 + ] + }, + "fine_grasp": { + "position": [ + 0.04150978848338127, + 0.104856938123703, + 0.15845119953155518 + ], + "orientation": [ + 0.22913499176502228, + -0.9582590460777283, + 0.1680871844291687, + 0.03136073425412178 + ], + "joints": [ + 0.01588655263185501 + ] + }, + "final_grasp": { + "position": [ + 0.04150978848338127, + 0.104856938123703, + 0.15845119953155518 + ], + "orientation": [ + 0.22913499176502228, + -0.9582590460777283, + 0.1680871844291687, + 0.03136073425412178 + ], + "joints": [ + 0.02178509347140789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04733876883983612, + 0.10463020950555801, + 0.1306244432926178 + ], + "orientation": [ + 0.2080421894788742, + -0.03698837384581566, + 0.15483805537223816, + -0.9650779962539673 + ], + "joints": [ + 0.011106036603450775 + ] + }, + "fine_grasp": { + "position": [ + -0.047597743570804596, + 0.1063908264040947, + 0.13138575851917267 + ], + "orientation": [ + 0.21334537863731384, + -0.03630194440484047, + 0.1595415472984314, + -0.9631783366203308 + ], + "joints": [ + 0.016951436176896095 + ] + }, + "final_grasp": { + "position": [ + -0.047597743570804596, + 0.1063908264040947, + 0.13138575851917267 + ], + "orientation": [ + 0.21334537863731384, + -0.03630194440484047, + 0.1595415472984314, + -0.9631783366203308 + ], + "joints": [ + 0.022796835750341415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03757525980472565, + -0.11611821502447128, + 0.11446290463209152 + ], + "orientation": [ + 0.007237914949655533, + 0.15393774211406708, + 0.9863596558570862, + -0.05784047767519951 + ], + "joints": [ + 0.010670242831110954 + ] + }, + "fine_grasp": { + "position": [ + -0.038332823663949966, + -0.11748091876506805, + 0.11458436399698257 + ], + "orientation": [ + 0.006058729253709316, + 0.15239578485488892, + 0.9868875741958618, + -0.05283670499920845 + ], + "joints": [ + 0.0170736163854599 + ] + }, + "final_grasp": { + "position": [ + -0.038332823663949966, + -0.11748091876506805, + 0.11458436399698257 + ], + "orientation": [ + 0.006058729253709316, + 0.15239578485488892, + 0.9868875741958618, + -0.05283670499920845 + ], + "joints": [ + 0.023476989939808846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024585766717791557, + 0.11831766366958618, + 0.10536377876996994 + ], + "orientation": [ + 0.0371963232755661, + -0.9939079880714417, + -0.10165691375732422, + 0.020717427134513855 + ], + "joints": [ + 0.011258142068982124 + ] + }, + "fine_grasp": { + "position": [ + -0.025520185008645058, + 0.11987537145614624, + 0.10671290010213852 + ], + "orientation": [ + 0.038994185626506805, + -0.9931379556655884, + -0.10775061696767807, + 0.02337694726884365 + ], + "joints": [ + 0.017103543505072594 + ] + }, + "final_grasp": { + "position": [ + -0.025520185008645058, + 0.11987537145614624, + 0.10671290010213852 + ], + "orientation": [ + 0.038994185626506805, + -0.9931379556655884, + -0.10775061696767807, + 0.02337694726884365 + ], + "joints": [ + 0.022948944941163063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02452957257628441, + 0.11858510971069336, + 0.10443700850009918 + ], + "orientation": [ + 0.03293544799089432, + -0.9940973520278931, + -0.10120683163404465, + 0.021046506240963936 + ], + "joints": [ + 0.011332234367728233 + ] + }, + "fine_grasp": { + "position": [ + -0.02543884702026844, + 0.11971674859523773, + 0.10569339990615845 + ], + "orientation": [ + 0.034530334174633026, + -0.993313729763031, + -0.10781849175691605, + 0.02259703539311886 + ], + "joints": [ + 0.017177635803818703 + ] + }, + "final_grasp": { + "position": [ + -0.02543884702026844, + 0.11971674859523773, + 0.10569339990615845 + ], + "orientation": [ + 0.034530334174633026, + -0.993313729763031, + -0.10781849175691605, + 0.02259703539311886 + ], + "joints": [ + 0.023023037239909172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05324728786945343, + -0.11038415879011154, + 0.10033244639635086 + ], + "orientation": [ + 0.006534377578645945, + 0.221807599067688, + 0.9746317267417908, + -0.02918376587331295 + ], + "joints": [ + 0.011341772973537445 + ] + }, + "fine_grasp": { + "position": [ + -0.05443301796913147, + -0.11227131634950638, + 0.10075750201940536 + ], + "orientation": [ + 0.002727939048781991, + 0.22149157524108887, + 0.9749272465705872, + -0.021236181259155273 + ], + "joints": [ + 0.01771857589483261 + ] + }, + "final_grasp": { + "position": [ + -0.05443301796913147, + -0.11227131634950638, + 0.10075750201940536 + ], + "orientation": [ + 0.002727939048781991, + 0.22149157524108887, + 0.9749272465705872, + -0.021236181259155273 + ], + "joints": [ + 0.024095378816127777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10618424415588379, + -0.04897706210613251, + 0.12981648743152618 + ], + "orientation": [ + 0.0728217214345932, + -0.5305315852165222, + -0.8333010673522949, + 0.1372685581445694 + ], + "joints": [ + 0.010006489232182503 + ] + }, + "fine_grasp": { + "position": [ + -0.10728687047958374, + -0.048983484506607056, + 0.13008220493793488 + ], + "orientation": [ + 0.07448484003543854, + -0.5267305374145508, + -0.8364234566688538, + 0.13191987574100494 + ], + "joints": [ + 0.01640985906124115 + ] + }, + "final_grasp": { + "position": [ + -0.10728687047958374, + -0.048983484506607056, + 0.13008220493793488 + ], + "orientation": [ + 0.07448484003543854, + -0.5267305374145508, + -0.8364234566688538, + 0.13191987574100494 + ], + "joints": [ + 0.022813228890299797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11623896658420563, + -0.000808515353128314, + 0.12266482412815094 + ], + "orientation": [ + 0.13466766476631165, + -0.6969702243804932, + -0.6985507607460022, + 0.0901322066783905 + ], + "joints": [ + 0.010299129411578178 + ] + }, + "fine_grasp": { + "position": [ + -0.11616922169923782, + -0.00043818471021950245, + 0.12307140231132507 + ], + "orientation": [ + 0.14550484716892242, + -0.6949009895324707, + -0.6997730731964111, + 0.07911162078380585 + ], + "joints": [ + 0.015161441639065742 + ] + }, + "final_grasp": { + "position": [ + -0.11616922169923782, + -0.00043818471021950245, + 0.12307140231132507 + ], + "orientation": [ + 0.14550484716892242, + -0.6949009895324707, + -0.6997730731964111, + 0.07911162078380585 + ], + "joints": [ + 0.020023753866553307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10659642517566681, + -0.04920090362429619, + 0.13006825745105743 + ], + "orientation": [ + 0.06867755949497223, + -0.5304625630378723, + -0.8339267373085022, + 0.1358640491962433 + ], + "joints": [ + 0.009995713829994202 + ] + }, + "fine_grasp": { + "position": [ + -0.10728399455547333, + -0.04896533861756325, + 0.12973512709140778 + ], + "orientation": [ + 0.07283304631710052, + -0.5264561176300049, + -0.8370036482810974, + 0.13024704158306122 + ], + "joints": [ + 0.01639908365905285 + ] + }, + "final_grasp": { + "position": [ + -0.10728399455547333, + -0.04896533861756325, + 0.12973512709140778 + ], + "orientation": [ + 0.07283304631710052, + -0.5264561176300049, + -0.8370036482810974, + 0.13024704158306122 + ], + "joints": [ + 0.022802453488111496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024305429309606552, + -0.11881227046251297, + 0.10424835979938507 + ], + "orientation": [ + 0.024494340643286705, + -0.10263346880674362, + 0.9938532710075378, + -0.03349980339407921 + ], + "joints": [ + 0.010965686291456223 + ] + }, + "fine_grasp": { + "position": [ + 0.02439468540251255, + -0.12035351991653442, + 0.10512705892324448 + ], + "orientation": [ + 0.019849881529808044, + -0.10584419220685959, + 0.9936131834983826, + -0.03370220214128494 + ], + "joints": [ + 0.01683765836060047 + ] + }, + "final_grasp": { + "position": [ + 0.02439468540251255, + -0.12035351991653442, + 0.10512705892324448 + ], + "orientation": [ + 0.019849881529808044, + -0.10584419220685959, + 0.9936131834983826, + -0.03370220214128494 + ], + "joints": [ + 0.02270963042974472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024296019226312637, + -0.11869243532419205, + 0.10439985990524292 + ], + "orientation": [ + 0.024295130744576454, + -0.10267407447099686, + 0.9938586950302124, + -0.03335738927125931 + ], + "joints": [ + 0.010965686291456223 + ] + }, + "fine_grasp": { + "position": [ + 0.024432331323623657, + -0.12035387754440308, + 0.10527192056179047 + ], + "orientation": [ + 0.02026480808854103, + -0.10598336160182953, + 0.9936066269874573, + -0.033208444714546204 + ], + "joints": [ + 0.01683765836060047 + ] + }, + "final_grasp": { + "position": [ + 0.024432331323623657, + -0.12035387754440308, + 0.10527192056179047 + ], + "orientation": [ + 0.02026480808854103, + -0.10598336160182953, + 0.9936066269874573, + -0.033208444714546204 + ], + "joints": [ + 0.02270963042974472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026869475841522217, + 0.11869087815284729, + 0.07402879744768143 + ], + "orientation": [ + 0.08857526630163193, + 0.9902052879333496, + 0.10784084349870682, + -0.004284888505935669 + ], + "joints": [ + 0.011143608018755913 + ] + }, + "fine_grasp": { + "position": [ + -0.02699356898665428, + 0.11977739632129669, + 0.07413297146558762 + ], + "orientation": [ + 0.09148190170526505, + 0.9901399612426758, + 0.1060798317193985, + 0.0010528614511713386 + ], + "joints": [ + 0.017546983435750008 + ] + }, + "final_grasp": { + "position": [ + -0.02699356898665428, + 0.11977739632129669, + 0.07413297146558762 + ], + "orientation": [ + 0.09148190170526505, + 0.9901399612426758, + 0.1060798317193985, + 0.0010528614511713386 + ], + "joints": [ + 0.023950358852744102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10518305748701096, + 0.03947621211409569, + 0.041715774685144424 + ], + "orientation": [ + 0.5552230477333069, + 0.10692401230335236, + -0.17541497945785522, + -0.8059306144714355 + ], + "joints": [ + 0.010712437331676483 + ] + }, + "fine_grasp": { + "position": [ + -0.10441983491182327, + 0.03912234678864479, + 0.04164735972881317 + ], + "orientation": [ + 0.5536673069000244, + 0.11196625977754593, + -0.16995225846767426, + -0.8074851036071777 + ], + "joints": [ + 0.016584409400820732 + ] + }, + "final_grasp": { + "position": [ + -0.10441983491182327, + 0.03912234678864479, + 0.04164735972881317 + ], + "orientation": [ + 0.5536673069000244, + 0.11196625977754593, + -0.16995225846767426, + -0.8074851036071777 + ], + "joints": [ + 0.02245638146996498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007176573853939772, + -0.11744720488786697, + 0.12156996876001358 + ], + "orientation": [ + 0.044647395610809326, + 0.027204902842640877, + -0.9905850887298584, + 0.12652063369750977 + ], + "joints": [ + 0.010406740009784698 + ] + }, + "fine_grasp": { + "position": [ + 0.0072606028988957405, + -0.11870750039815903, + 0.12220581620931625 + ], + "orientation": [ + 0.06445230543613434, + 0.029981521889567375, + -0.9891788363456726, + 0.1283441185951233 + ], + "joints": [ + 0.015242479741573334 + ] + }, + "final_grasp": { + "position": [ + 0.0072606028988957405, + -0.11870750039815903, + 0.12220581620931625 + ], + "orientation": [ + 0.06445230543613434, + 0.029981521889567375, + -0.9891788363456726, + 0.1283441185951233 + ], + "joints": [ + 0.02007821947336197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11247065663337708, + 0.010119703598320484, + 0.14484168589115143 + ], + "orientation": [ + 0.6561317443847656, + -0.11143957078456879, + 0.17976851761341095, + -0.7244002223014832 + ], + "joints": [ + 0.01004355400800705 + ] + }, + "fine_grasp": { + "position": [ + -0.11078735440969467, + 0.01021288987249136, + 0.14475543797016144 + ], + "orientation": [ + 0.6558375954627991, + -0.09756451845169067, + 0.19036294519901276, + -0.7239615321159363 + ], + "joints": [ + 0.014374462887644768 + ] + }, + "final_grasp": { + "position": [ + -0.11078735440969467, + 0.01021288987249136, + 0.14475543797016144 + ], + "orientation": [ + 0.6558375954627991, + -0.09756451845169067, + 0.19036294519901276, + -0.7239615321159363 + ], + "joints": [ + 0.018705371767282486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01640275865793228, + 0.12059728056192398, + 0.10372648388147354 + ], + "orientation": [ + 0.030921097844839096, + -0.9970975518226624, + -0.06671959906816483, + 0.019720233976840973 + ], + "joints": [ + 0.010989060625433922 + ] + }, + "fine_grasp": { + "position": [ + -0.016510428860783577, + 0.12205062061548233, + 0.10430227220058441 + ], + "orientation": [ + 0.02952621877193451, + -0.9968041777610779, + -0.07002327591180801, + 0.024623170495033264 + ], + "joints": [ + 0.017392434179782867 + ] + }, + "final_grasp": { + "position": [ + -0.016510428860783577, + 0.12205062061548233, + 0.10430227220058441 + ], + "orientation": [ + 0.02952621877193451, + -0.9968041777610779, + -0.07002327591180801, + 0.024623170495033264 + ], + "joints": [ + 0.023795807734131813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016889020800590515, + 0.12070705741643906, + 0.1037433072924614 + ], + "orientation": [ + 0.031240861862897873, + -0.9969496726989746, + -0.06873375177383423, + 0.019779350608587265 + ], + "joints": [ + 0.010990964248776436 + ] + }, + "fine_grasp": { + "position": [ + -0.016994310542941093, + 0.12198596447706223, + 0.10431700944900513 + ], + "orientation": [ + 0.030184423550963402, + -0.9967067837715149, + -0.0720728188753128, + 0.02167917788028717 + ], + "joints": [ + 0.01739433780312538 + ] + }, + "final_grasp": { + "position": [ + -0.016994310542941093, + 0.12198596447706223, + 0.10431700944900513 + ], + "orientation": [ + 0.030184423550963402, + -0.9967067837715149, + -0.0720728188753128, + 0.02167917788028717 + ], + "joints": [ + 0.023797711357474327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0231337733566761, + 0.1199057400226593, + 0.08714990317821503 + ], + "orientation": [ + 0.03701728209853172, + 0.9943100214004517, + -0.09781065583229065, + -0.020257698372006416 + ], + "joints": [ + 0.011349672451615334 + ] + }, + "fine_grasp": { + "position": [ + 0.024757349863648415, + 0.12166991829872131, + 0.08711177110671997 + ], + "orientation": [ + 0.039437152445316315, + 0.9936962723731995, + -0.10291200131177902, + -0.020533259958028793 + ], + "joints": [ + 0.01775304786860943 + ] + }, + "final_grasp": { + "position": [ + 0.024757349863648415, + 0.12166991829872131, + 0.08711177110671997 + ], + "orientation": [ + 0.039437152445316315, + 0.9936962723731995, + -0.10291200131177902, + -0.020533259958028793 + ], + "joints": [ + 0.024156423285603523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020379887893795967, + 0.11882398277521133, + 0.10525254905223846 + ], + "orientation": [ + 0.0846002846956253, + -0.01838040165603161, + 0.03633527085185051, + -0.995582640171051 + ], + "joints": [ + 0.010940855368971825 + ] + }, + "fine_grasp": { + "position": [ + -0.02113473415374756, + 0.12147592008113861, + 0.10593178868293762 + ], + "orientation": [ + 0.08930796384811401, + -0.012316197156906128, + 0.03542330488562584, + -0.9952977895736694 + ], + "joints": [ + 0.01731765642762184 + ] + }, + "final_grasp": { + "position": [ + -0.02113473415374756, + 0.12147592008113861, + 0.10593178868293762 + ], + "orientation": [ + 0.08930796384811401, + -0.012316197156906128, + 0.03542330488562584, + -0.9952977895736694 + ], + "joints": [ + 0.023694457486271858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01933753676712513, + -0.1191444918513298, + 0.10614000260829926 + ], + "orientation": [ + 0.9953644275665283, + -0.045050036162137985, + -0.018526187166571617, + 0.08292604237794876 + ], + "joints": [ + 0.011005735024809837 + ] + }, + "fine_grasp": { + "position": [ + 0.019438283517956734, + -0.12249904870986938, + 0.10722236335277557 + ], + "orientation": [ + 0.995466411113739, + -0.040037814527750015, + -0.014260267838835716, + 0.08508928120136261 + ], + "joints": [ + 0.017382536083459854 + ] + }, + "final_grasp": { + "position": [ + 0.019438283517956734, + -0.12249904870986938, + 0.10722236335277557 + ], + "orientation": [ + 0.995466411113739, + -0.040037814527750015, + -0.014260267838835716, + 0.08508928120136261 + ], + "joints": [ + 0.02375933714210987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00937672983855009, + 0.12134947627782822, + 0.09290824085474014 + ], + "orientation": [ + 0.014858567155897617, + 0.9990783929824829, + 0.03689439967274666, + -0.016139978542923927 + ], + "joints": [ + 0.01138371042907238 + ] + }, + "fine_grasp": { + "position": [ + -0.009602893143892288, + 0.12363492697477341, + 0.0933716744184494 + ], + "orientation": [ + 0.01666451245546341, + 0.9988934397697449, + 0.038615431636571884, + -0.021049393340945244 + ], + "joints": [ + 0.017255684360861778 + ] + }, + "final_grasp": { + "position": [ + -0.009602893143892288, + 0.12363492697477341, + 0.0933716744184494 + ], + "orientation": [ + 0.01666451245546341, + 0.9988934397697449, + 0.038615431636571884, + -0.021049393340945244 + ], + "joints": [ + 0.023127658292651176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009309306740760803, + 0.12108160555362701, + 0.09123072028160095 + ], + "orientation": [ + 0.02056797593832016, + 0.9990158081054688, + 0.03670818358659744, + -0.01403634063899517 + ], + "joints": [ + 0.01097518764436245 + ] + }, + "fine_grasp": { + "position": [ + -0.008873027749359608, + 0.12369011342525482, + 0.09181242436170578 + ], + "orientation": [ + 0.022294923663139343, + 0.9989376068115234, + 0.035551488399505615, + -0.01904558204114437 + ], + "joints": [ + 0.017351988703012466 + ] + }, + "final_grasp": { + "position": [ + -0.008873027749359608, + 0.12369011342525482, + 0.09181242436170578 + ], + "orientation": [ + 0.022294923663139343, + 0.9989376068115234, + 0.035551488399505615, + -0.01904558204114437 + ], + "joints": [ + 0.023728789761662483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11377376317977905, + -0.0028816256672143936, + 0.023783253505825996 + ], + "orientation": [ + 0.11390259861946106, + 0.6809037327766418, + 0.7056121230125427, + 0.1597122699022293 + ], + "joints": [ + 0.011137519031763077 + ] + }, + "fine_grasp": { + "position": [ + -0.11123355478048325, + -0.0027950333897024393, + 0.02445438876748085 + ], + "orientation": [ + 0.10720488429069519, + 0.6806455254554749, + 0.7047406435012817, + 0.1690252274274826 + ], + "joints": [ + 0.01599983498454094 + ] + }, + "final_grasp": { + "position": [ + -0.11123355478048325, + -0.0027950333897024393, + 0.02445438876748085 + ], + "orientation": [ + 0.10720488429069519, + 0.6806455254554749, + 0.7047406435012817, + 0.1690252274274826 + ], + "joints": [ + 0.020862150937318802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017001435160636902, + -0.1202588900923729, + 0.10636328160762787 + ], + "orientation": [ + 0.9960324168205261, + -0.04728776961565018, + -0.018757788464426994, + 0.0730159804224968 + ], + "joints": [ + 0.011236125603318214 + ] + }, + "fine_grasp": { + "position": [ + 0.016990263015031815, + -0.1231837198138237, + 0.10736756771802902 + ], + "orientation": [ + 0.9962024092674255, + -0.0417710542678833, + -0.013438872061669827, + 0.07520201057195663 + ], + "joints": [ + 0.01761292852461338 + ] + }, + "final_grasp": { + "position": [ + 0.016990263015031815, + -0.1231837198138237, + 0.10736756771802902 + ], + "orientation": [ + 0.9962024092674255, + -0.0417710542678833, + -0.013438872061669827, + 0.07520201057195663 + ], + "joints": [ + 0.023989731445908546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016849709674715996, + -0.12011896073818207, + 0.10602406412363052 + ], + "orientation": [ + 0.9960438013076782, + -0.04843175411224365, + -0.017336292192339897, + 0.07246069610118866 + ], + "joints": [ + 0.011199980974197388 + ] + }, + "fine_grasp": { + "position": [ + 0.016859671100974083, + -0.12317728251218796, + 0.10720328241586685 + ], + "orientation": [ + 0.9962631464004517, + -0.04173692688345909, + -0.012268300168216228, + 0.0746147558093071 + ], + "joints": [ + 0.017576783895492554 + ] + }, + "final_grasp": { + "position": [ + 0.016859671100974083, + -0.12317728251218796, + 0.10720328241586685 + ], + "orientation": [ + 0.9962631464004517, + -0.04173692688345909, + -0.012268300168216228, + 0.0746147558093071 + ], + "joints": [ + 0.02395358681678772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00914528127759695, + 0.12116238474845886, + 0.0925600677728653 + ], + "orientation": [ + 0.016187433153390884, + 0.999121904373169, + 0.0360877551138401, + -0.013822639361023903 + ], + "joints": [ + 0.010957080870866776 + ] + }, + "fine_grasp": { + "position": [ + -0.008854379877448082, + 0.12368278950452805, + 0.09314791858196259 + ], + "orientation": [ + 0.017886709421873093, + 0.9990333318710327, + 0.035617757588624954, + -0.018542710691690445 + ], + "joints": [ + 0.017333881929516792 + ] + }, + "final_grasp": { + "position": [ + -0.008854379877448082, + 0.12368278950452805, + 0.09314791858196259 + ], + "orientation": [ + 0.017886709421873093, + 0.9990333318710327, + 0.035617757588624954, + -0.018542710691690445 + ], + "joints": [ + 0.02371068298816681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01694163680076599, + -0.12020190060138702, + 0.1061875969171524 + ], + "orientation": [ + 0.9959781169891357, + -0.049517348408699036, + -0.016559476032853127, + 0.07280991971492767 + ], + "joints": [ + 0.011203505098819733 + ] + }, + "fine_grasp": { + "position": [ + 0.016955971717834473, + -0.12322748452425003, + 0.1074933260679245 + ], + "orientation": [ + 0.9962430000305176, + -0.041869692504405975, + -0.011135280132293701, + 0.07498497515916824 + ], + "joints": [ + 0.0175803080201149 + ] + }, + "final_grasp": { + "position": [ + 0.016955971717834473, + -0.12322748452425003, + 0.1074933260679245 + ], + "orientation": [ + 0.9962430000305176, + -0.041869692504405975, + -0.011135280132293701, + 0.07498497515916824 + ], + "joints": [ + 0.023957110941410065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015581279993057251, + -0.11898783594369888, + 0.06875699758529663 + ], + "orientation": [ + 0.025217413902282715, + 0.06639864295721054, + 0.9916055798530579, + 0.10804445296525955 + ], + "joints": [ + 0.011601247824728489 + ] + }, + "fine_grasp": { + "position": [ + -0.015393895097076893, + -0.12074193358421326, + 0.06864089518785477 + ], + "orientation": [ + 0.020482338964939117, + 0.06675761193037033, + 0.9911572337150574, + 0.11283259838819504 + ], + "joints": [ + 0.01797805167734623 + ] + }, + "final_grasp": { + "position": [ + -0.015393895097076893, + -0.12074193358421326, + 0.06864089518785477 + ], + "orientation": [ + 0.020482338964939117, + 0.06675761193037033, + 0.9911572337150574, + 0.11283259838819504 + ], + "joints": [ + 0.024354856461286545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11425590515136719, + -0.0030267725232988596, + 0.02314055524766445 + ], + "orientation": [ + 0.11154521256685257, + 0.6814854741096497, + 0.7061094641685486, + 0.15666702389717102 + ], + "joints": [ + 0.011629913002252579 + ] + }, + "fine_grasp": { + "position": [ + -0.11161335557699203, + -0.002873989287763834, + 0.02379491738975048 + ], + "orientation": [ + 0.10482589155435562, + 0.6810704469680786, + 0.7052715420722961, + 0.16657313704490662 + ], + "joints": [ + 0.016465656459331512 + ] + }, + "final_grasp": { + "position": [ + -0.11161335557699203, + -0.002873989287763834, + 0.02379491738975048 + ], + "orientation": [ + 0.10482589155435562, + 0.6810704469680786, + 0.7052715420722961, + 0.16657313704490662 + ], + "joints": [ + 0.021301399916410446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11005906015634537, + 0.0007027157698757946, + 0.037626300007104874 + ], + "orientation": [ + 0.15179136395454407, + 0.6881036162376404, + -0.6889771223068237, + -0.16965650022029877 + ], + "joints": [ + 0.010431414470076561 + ] + }, + "fine_grasp": { + "position": [ + 0.10867558419704437, + 0.0012717873323708773, + 0.037702836096286774 + ], + "orientation": [ + 0.1524360477924347, + 0.6886146068572998, + -0.6900872588157654, + -0.1623351126909256 + ], + "joints": [ + 0.016834786161780357 + ] + }, + "final_grasp": { + "position": [ + 0.10867558419704437, + 0.0012717873323708773, + 0.037702836096286774 + ], + "orientation": [ + 0.1524360477924347, + 0.6886146068572998, + -0.6900872588157654, + -0.1623351126909256 + ], + "joints": [ + 0.023238157853484154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010821197181940079, + 0.11393032222986221, + 0.04793156310915947 + ], + "orientation": [ + 0.1875072866678238, + 0.9813469052314758, + 0.0422162190079689, + -0.004134931601583958 + ], + "joints": [ + 0.011657144874334335 + ] + }, + "fine_grasp": { + "position": [ + -0.01117212325334549, + 0.114316925406456, + 0.04827184975147247 + ], + "orientation": [ + 0.1940651684999466, + 0.9802299737930298, + 0.038496099412441254, + 0.0024330506566911936 + ], + "joints": [ + 0.01806052215397358 + ] + }, + "final_grasp": { + "position": [ + -0.01117212325334549, + 0.114316925406456, + 0.04827184975147247 + ], + "orientation": [ + 0.1940651684999466, + 0.9802299737930298, + 0.038496099412441254, + 0.0024330506566911936 + ], + "joints": [ + 0.024463899433612823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11428654193878174, + 0.00594016769900918, + 0.03460021689534187 + ], + "orientation": [ + 0.6745811104774475, + 0.1168048307299614, + -0.14403635263442993, + -0.7145282030105591 + ], + "joints": [ + 0.010912496596574783 + ] + }, + "fine_grasp": { + "position": [ + -0.11271936446428299, + 0.006085564382374287, + 0.034371137619018555 + ], + "orientation": [ + 0.6718727946281433, + 0.12283989042043686, + -0.13980267941951752, + -0.7169048190116882 + ], + "joints": [ + 0.01681104116141796 + ] + }, + "final_grasp": { + "position": [ + -0.11271936446428299, + 0.006085564382374287, + 0.034371137619018555 + ], + "orientation": [ + 0.6718727946281433, + 0.12283989042043686, + -0.13980267941951752, + -0.7169048190116882 + ], + "joints": [ + 0.02270958572626114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005758172832429409, + -0.11830522119998932, + 0.04415297135710716 + ], + "orientation": [ + 0.011375967413187027, + -0.021869147196412086, + 0.9893062710762024, + 0.1437547355890274 + ], + "joints": [ + 0.012425152584910393 + ] + }, + "fine_grasp": { + "position": [ + 0.006120623555034399, + -0.11881493777036667, + 0.04406782239675522 + ], + "orientation": [ + 0.00503051420673728, + -0.020179687067866325, + 0.9898039102554321, + 0.1409103125333786 + ], + "joints": [ + 0.018323702737689018 + ] + }, + "final_grasp": { + "position": [ + 0.006120623555034399, + -0.11881493777036667, + 0.04406782239675522 + ], + "orientation": [ + 0.00503051420673728, + -0.020179687067866325, + 0.9898039102554321, + 0.1409103125333786 + ], + "joints": [ + 0.024222252890467644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010347970761358738, + 0.11373402178287506, + 0.04845697432756424 + ], + "orientation": [ + 0.1897549033164978, + 0.9809990525245667, + 0.04011869058012962, + -0.004943970125168562 + ], + "joints": [ + 0.011659147217869759 + ] + }, + "fine_grasp": { + "position": [ + -0.010499399155378342, + 0.1141427755355835, + 0.04878579080104828 + ], + "orientation": [ + 0.19654002785682678, + 0.9798069000244141, + 0.03669501841068268, + 0.0019564398098737 + ], + "joints": [ + 0.018062524497509003 + ] + }, + "final_grasp": { + "position": [ + -0.010499399155378342, + 0.1141427755355835, + 0.04878579080104828 + ], + "orientation": [ + 0.19654002785682678, + 0.9798069000244141, + 0.03669501841068268, + 0.0019564398098737 + ], + "joints": [ + 0.024465901777148247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09788374602794647, + 0.037253186106681824, + 0.18071116507053375 + ], + "orientation": [ + 0.5559903383255005, + -0.20009177923202515, + 0.19500380754470825, + -0.7828227877616882 + ], + "joints": [ + 0.009420022368431091 + ] + }, + "fine_grasp": { + "position": [ + -0.0996796041727066, + 0.03832278400659561, + 0.180022731423378 + ], + "orientation": [ + 0.560810923576355, + -0.22087977826595306, + 0.1763940304517746, + -0.7781956791877747 + ], + "joints": [ + 0.014760589227080345 + ] + }, + "final_grasp": { + "position": [ + -0.0996796041727066, + 0.03832278400659561, + 0.180022731423378 + ], + "orientation": [ + 0.560810923576355, + -0.22087977826595306, + 0.1763940304517746, + -0.7781956791877747 + ], + "joints": [ + 0.0201011560857296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12013173848390579, + -0.010461583733558655, + 0.1182103306055069 + ], + "orientation": [ + 0.06611624360084534, + -0.6746746897697449, + 0.7336543202400208, + -0.04684189334511757 + ], + "joints": [ + 0.009879468008875847 + ] + }, + "fine_grasp": { + "position": [ + 0.12121575325727463, + -0.011279475875198841, + 0.11828001588582993 + ], + "orientation": [ + 0.054811105132102966, + -0.676723837852478, + 0.7325644493103027, + -0.04888615012168884 + ], + "joints": [ + 0.015778008848428726 + ] + }, + "final_grasp": { + "position": [ + 0.12121575325727463, + -0.011279475875198841, + 0.11828001588582993 + ], + "orientation": [ + 0.054811105132102966, + -0.676723837852478, + 0.7325644493103027, + -0.04888615012168884 + ], + "joints": [ + 0.021676549687981606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11645606905221939, + 0.005920430179685354, + 0.05737265944480896 + ], + "orientation": [ + 0.6780748963356018, + 0.09111492335796356, + -0.12686118483543396, + -0.7182052731513977 + ], + "joints": [ + 0.010384423658251762 + ] + }, + "fine_grasp": { + "position": [ + -0.11618739366531372, + 0.005918181501328945, + 0.057135965675115585 + ], + "orientation": [ + 0.6754850745201111, + 0.10546068847179413, + -0.12318693101406097, + -0.7193212509155273 + ], + "joints": [ + 0.016256393864750862 + ] + }, + "final_grasp": { + "position": [ + -0.11618739366531372, + 0.005918181501328945, + 0.057135965675115585 + ], + "orientation": [ + 0.6754850745201111, + 0.10546068847179413, + -0.12318693101406097, + -0.7193212509155273 + ], + "joints": [ + 0.022128364071249962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1142352819442749, + 0.044226083904504776, + 0.051921144127845764 + ], + "orientation": [ + 0.564612865447998, + 0.00020231764938216656, + -0.016856607049703598, + 0.8251836895942688 + ], + "joints": [ + 0.012615183368325233 + ] + }, + "fine_grasp": { + "position": [ + 0.11589749157428741, + 0.0447370819747448, + 0.0502784363925457 + ], + "orientation": [ + 0.564526379108429, + -0.01253157202154398, + -0.024730844423174858, + 0.824949324131012 + ], + "joints": [ + 0.017530648037791252 + ] + }, + "final_grasp": { + "position": [ + 0.11589749157428741, + 0.0447370819747448, + 0.0502784363925457 + ], + "orientation": [ + 0.564526379108429, + -0.01253157202154398, + -0.024730844423174858, + 0.824949324131012 + ], + "joints": [ + 0.02244611270725727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04547415301203728, + -0.10900198668241501, + 0.12491577863693237 + ], + "orientation": [ + 0.01633555255830288, + -0.19222044944763184, + -0.9716299176216125, + 0.1368199735879898 + ], + "joints": [ + 0.011172514408826828 + ] + }, + "fine_grasp": { + "position": [ + -0.04670393466949463, + -0.11015473306179047, + 0.12592686712741852 + ], + "orientation": [ + 0.01638273522257805, + -0.19043420255184174, + -0.973757803440094, + 0.12353947758674622 + ], + "joints": [ + 0.017044488340616226 + ] + }, + "final_grasp": { + "position": [ + -0.04670393466949463, + -0.11015473306179047, + 0.12592686712741852 + ], + "orientation": [ + 0.01638273522257805, + -0.19043420255184174, + -0.973757803440094, + 0.12353947758674622 + ], + "joints": [ + 0.022916462272405624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1120682880282402, + 0.009177003987133503, + 0.009211394935846329 + ], + "orientation": [ + 0.18916980922222137, + 0.7253246903419495, + -0.6546705365180969, + -0.0975983664393425 + ], + "joints": [ + 0.011731881648302078 + ] + }, + "fine_grasp": { + "position": [ + 0.10977821052074432, + 0.00886716041713953, + 0.00978789385408163 + ], + "orientation": [ + 0.2056477665901184, + 0.7267404794692993, + -0.6502473950386047, + -0.08207115530967712 + ], + "joints": [ + 0.015557968989014626 + ] + }, + "final_grasp": { + "position": [ + 0.10977821052074432, + 0.00886716041713953, + 0.00978789385408163 + ], + "orientation": [ + 0.2056477665901184, + 0.7267404794692993, + -0.6502473950386047, + -0.08207115530967712 + ], + "joints": [ + 0.019384056329727173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09830643981695175, + 0.048967719078063965, + 0.1554538607597351 + ], + "orientation": [ + 0.1947755366563797, + -0.8285455703735352, + 0.5123746991157532, + -0.11422264575958252 + ], + "joints": [ + 0.009520154446363449 + ] + }, + "fine_grasp": { + "position": [ + 0.0988725796341896, + 0.048591844737529755, + 0.155326247215271 + ], + "orientation": [ + 0.19878657162189484, + -0.8292726874351501, + 0.5088882446289062, + -0.11757330596446991 + ], + "joints": [ + 0.0153921227902174 + ] + }, + "final_grasp": { + "position": [ + 0.0988725796341896, + 0.048591844737529755, + 0.155326247215271 + ], + "orientation": [ + 0.19878657162189484, + -0.8292726874351501, + 0.5088882446289062, + -0.11757330596446991 + ], + "joints": [ + 0.02126409113407135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11080016195774078, + 0.030209533870220184, + 0.1343197375535965 + ], + "orientation": [ + 0.12143579125404358, + -0.7838645577430725, + -0.5998523235321045, + 0.10481846332550049 + ], + "joints": [ + 0.009866764768958092 + ] + }, + "fine_grasp": { + "position": [ + -0.11136303842067719, + 0.030881069600582123, + 0.1339503973722458 + ], + "orientation": [ + 0.13547296822071075, + -0.7790541052818298, + -0.6019455790519714, + 0.11128078401088715 + ], + "joints": [ + 0.01576530560851097 + ] + }, + "final_grasp": { + "position": [ + -0.11136303842067719, + 0.030881069600582123, + 0.1339503973722458 + ], + "orientation": [ + 0.13547296822071075, + -0.7790541052818298, + -0.6019455790519714, + 0.11128078401088715 + ], + "joints": [ + 0.02166384644806385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0860128328204155, + 0.07152015715837479, + -0.027533376589417458 + ], + "orientation": [ + 0.20106764137744904, + 0.8836975693702698, + 0.4122695028781891, + 0.09319011121988297 + ], + "joints": [ + 0.012943977490067482 + ] + }, + "fine_grasp": { + "position": [ + -0.08462533354759216, + 0.06982442736625671, + -0.02557198330760002 + ], + "orientation": [ + 0.20902974903583527, + 0.8834424018859863, + 0.4087812304496765, + 0.09345614910125732 + ], + "joints": [ + 0.018364273011684418 + ] + }, + "final_grasp": { + "position": [ + -0.08462533354759216, + 0.06982442736625671, + -0.02557198330760002 + ], + "orientation": [ + 0.20902974903583527, + 0.8834424018859863, + 0.4087812304496765, + 0.09345614910125732 + ], + "joints": [ + 0.023784568533301353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11613232642412186, + 0.0365372896194458, + 0.10574135929346085 + ], + "orientation": [ + 0.5900347232818604, + -0.015239608474075794, + -0.04359104484319687, + 0.8060562610626221 + ], + "joints": [ + 0.009962722659111023 + ] + }, + "fine_grasp": { + "position": [ + 0.11860308051109314, + 0.03660385683178902, + 0.10571428388357162 + ], + "orientation": [ + 0.5904838442802429, + -0.022605888545513153, + -0.03816821426153183, + 0.8058294057846069 + ], + "joints": [ + 0.017402322962880135 + ] + }, + "final_grasp": { + "position": [ + 0.11860308051109314, + 0.03660385683178902, + 0.10571428388357162 + ], + "orientation": [ + 0.5904838442802429, + -0.022605888545513153, + -0.03816821426153183, + 0.8058294057846069 + ], + "joints": [ + 0.024841923266649246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1168554425239563, + 0.026736266911029816, + 0.12177782505750656 + ], + "orientation": [ + 0.6169698238372803, + -0.062128931283950806, + -0.09699219465255737, + 0.7785118222236633 + ], + "joints": [ + 0.010467460379004478 + ] + }, + "fine_grasp": { + "position": [ + 0.11758255958557129, + 0.026064788922667503, + 0.12089048326015472 + ], + "orientation": [ + 0.6156359314918518, + -0.07413274794816971, + -0.10169833898544312, + 0.7779166102409363 + ], + "joints": [ + 0.016844259575009346 + ] + }, + "final_grasp": { + "position": [ + 0.11758255958557129, + 0.026064788922667503, + 0.12089048326015472 + ], + "orientation": [ + 0.6156359314918518, + -0.07413274794816971, + -0.10169833898544312, + 0.7779166102409363 + ], + "joints": [ + 0.023221058771014214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10419517010450363, + -0.032083868980407715, + 0.0005207255599088967 + ], + "orientation": [ + 0.7743393778800964, + 0.1330203413963318, + 0.1836436539888382, + 0.5907444953918457 + ], + "joints": [ + 0.011256515979766846 + ] + }, + "fine_grasp": { + "position": [ + 0.10404409468173981, + -0.03253784030675888, + 0.000745228084269911 + ], + "orientation": [ + 0.7727446556091309, + 0.12479618936777115, + 0.2007795125246048, + 0.5890493988990784 + ], + "joints": [ + 0.015109173953533173 + ] + }, + "final_grasp": { + "position": [ + 0.10404409468173981, + -0.03253784030675888, + 0.000745228084269911 + ], + "orientation": [ + 0.7727446556091309, + 0.12479618936777115, + 0.2007795125246048, + 0.5890493988990784 + ], + "joints": [ + 0.0189618319272995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11993403732776642, + 0.002868968527764082, + 0.026354975998401642 + ], + "orientation": [ + 0.026438025757670403, + 0.7008776664733887, + 0.6975324153900146, + 0.146696999669075 + ], + "joints": [ + 0.010822352021932602 + ] + }, + "fine_grasp": { + "position": [ + -0.11858251690864563, + 0.0029955669306218624, + 0.026855016127228737 + ], + "orientation": [ + 0.009612618945538998, + 0.7001712322235107, + 0.6954156756401062, + 0.16144628822803497 + ], + "joints": [ + 0.014143606647849083 + ] + }, + "final_grasp": { + "position": [ + -0.11858251690864563, + 0.0029955669306218624, + 0.026855016127228737 + ], + "orientation": [ + 0.009612618945538998, + 0.7001712322235107, + 0.6954156756401062, + 0.16144628822803497 + ], + "joints": [ + 0.017464861273765564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08504249900579453, + -0.0256126020103693, + 0.19944213330745697 + ], + "orientation": [ + 0.7389944195747375, + -0.25432077050209045, + -0.2511770725250244, + 0.5710676908493042 + ], + "joints": [ + 0.009019235149025917 + ] + }, + "fine_grasp": { + "position": [ + 0.08418150246143341, + -0.02565084397792816, + 0.19745846092700958 + ], + "orientation": [ + 0.7396062016487122, + -0.24702854454517365, + -0.26441434025764465, + 0.5674899220466614 + ], + "joints": [ + 0.013854973018169403 + ] + }, + "final_grasp": { + "position": [ + 0.08418150246143341, + -0.02565084397792816, + 0.19745846092700958 + ], + "orientation": [ + 0.7396062016487122, + -0.24702854454517365, + -0.26441434025764465, + 0.5674899220466614 + ], + "joints": [ + 0.01869071088731289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06544025242328644, + -0.09874612092971802, + 0.003957413136959076 + ], + "orientation": [ + 0.9478967785835266, + 0.1530553251504898, + 0.05049648880958557, + -0.27480167150497437 + ], + "joints": [ + 0.01129094697535038 + ] + }, + "fine_grasp": { + "position": [ + -0.06526246666908264, + -0.09799774736166, + 0.004735249560326338 + ], + "orientation": [ + 0.9450044631958008, + 0.16367214918136597, + 0.07802325487136841, + -0.2721954584121704 + ], + "joints": [ + 0.01461220346391201 + ] + }, + "final_grasp": { + "position": [ + -0.06526246666908264, + -0.09799774736166, + 0.004735249560326338 + ], + "orientation": [ + 0.9450044631958008, + 0.16367214918136597, + 0.07802325487136841, + -0.2721954584121704 + ], + "joints": [ + 0.01793345995247364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11023455858230591, + -0.027140198275446892, + 0.1415940374135971 + ], + "orientation": [ + 0.7690961360931396, + -0.15357299149036407, + -0.12798626720905304, + 0.6070634126663208 + ], + "joints": [ + 0.01004624180495739 + ] + }, + "fine_grasp": { + "position": [ + 0.10845302790403366, + -0.02824212796986103, + 0.13953539729118347 + ], + "orientation": [ + 0.7670754790306091, + -0.16049940884113312, + -0.135379821062088, + 0.606224000453949 + ], + "joints": [ + 0.016449613496661186 + ] + }, + "final_grasp": { + "position": [ + 0.10845302790403366, + -0.02824212796986103, + 0.13953539729118347 + ], + "orientation": [ + 0.7670754790306091, + -0.16049940884113312, + -0.135379821062088, + 0.606224000453949 + ], + "joints": [ + 0.022852985188364983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11842096596956253, + -0.028252150863409042, + 0.08236735314130783 + ], + "orientation": [ + 0.7835911512374878, + 0.04887844994664192, + 0.020357320085167885, + 0.6190165281295776 + ], + "joints": [ + 0.0103218462318182 + ] + }, + "fine_grasp": { + "position": [ + 0.11984017491340637, + -0.028751052916049957, + 0.08183050900697708 + ], + "orientation": [ + 0.7842774391174316, + 0.04232418164610863, + 0.024289308115839958, + 0.618488073348999 + ], + "joints": [ + 0.016725217923521996 + ] + }, + "final_grasp": { + "position": [ + 0.11984017491340637, + -0.028751052916049957, + 0.08183050900697708 + ], + "orientation": [ + 0.7842774391174316, + 0.04232418164610863, + 0.024289308115839958, + 0.618488073348999 + ], + "joints": [ + 0.023128589615225792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11345543712377548, + -0.037992190569639206, + 0.0656038150191307 + ], + "orientation": [ + 0.8043919205665588, + 0.08639092743396759, + -0.08635035902261734, + -0.5814067125320435 + ], + "joints": [ + 0.010084588080644608 + ] + }, + "fine_grasp": { + "position": [ + -0.11274020373821259, + -0.03760107606649399, + 0.06587155163288116 + ], + "orientation": [ + 0.802218496799469, + 0.09774178266525269, + -0.07962239533662796, + -0.5835686922073364 + ], + "joints": [ + 0.016487959772348404 + ] + }, + "final_grasp": { + "position": [ + -0.11274020373821259, + -0.03760107606649399, + 0.06587155163288116 + ], + "orientation": [ + 0.802218496799469, + 0.09774178266525269, + -0.07962239533662796, + -0.5835686922073364 + ], + "joints": [ + 0.0228913314640522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021819187328219414, + 0.10702905058860779, + 0.03489748388528824 + ], + "orientation": [ + 0.23847515881061554, + 0.9664737582206726, + 0.09381980448961258, + 0.01599949039518833 + ], + "joints": [ + 0.011062003672122955 + ] + }, + "fine_grasp": { + "position": [ + -0.022120045498013496, + 0.10657458752393723, + 0.03524911403656006 + ], + "orientation": [ + 0.23396606743335724, + 0.9674791097640991, + 0.09348509460687637, + 0.022461289539933205 + ], + "joints": [ + 0.01749194972217083 + ] + }, + "final_grasp": { + "position": [ + -0.022120045498013496, + 0.10657458752393723, + 0.03524911403656006 + ], + "orientation": [ + 0.23396606743335724, + 0.9674791097640991, + 0.09348509460687637, + 0.022461289539933205 + ], + "joints": [ + 0.023921895772218704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04703829437494278, + 0.10017881542444229, + -0.01035547535866499 + ], + "orientation": [ + 0.22057992219924927, + 0.9530842304229736, + -0.20669423043727875, + -0.015886062756180763 + ], + "joints": [ + 0.01328914612531662 + ] + }, + "fine_grasp": { + "position": [ + 0.04646507650613785, + 0.09831155836582184, + -0.010168874636292458 + ], + "orientation": [ + 0.2244817316532135, + 0.9521894454956055, + -0.20708292722702026, + -0.007744123227894306 + ], + "joints": [ + 0.017620068043470383 + ] + }, + "final_grasp": { + "position": [ + 0.04646507650613785, + 0.09831155836582184, + -0.010168874636292458 + ], + "orientation": [ + 0.2244817316532135, + 0.9521894454956055, + -0.20708292722702026, + -0.007744123227894306 + ], + "joints": [ + 0.021950989961624146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11950290203094482, + 0.026894446462392807, + 0.07121893763542175 + ], + "orientation": [ + 0.08486440032720566, + 0.778630256652832, + 0.6197893023490906, + 0.048930324614048004 + ], + "joints": [ + 0.010452751070261002 + ] + }, + "fine_grasp": { + "position": [ + -0.11983811855316162, + 0.02664627693593502, + 0.07077052444219589 + ], + "orientation": [ + 0.07657095044851303, + 0.7788887023925781, + 0.6199268102645874, + 0.05621546506881714 + ], + "joints": [ + 0.017387524247169495 + ] + }, + "final_grasp": { + "position": [ + -0.11983811855316162, + 0.02664627693593502, + 0.07077052444219589 + ], + "orientation": [ + 0.07657095044851303, + 0.7788887023925781, + 0.6199268102645874, + 0.05621546506881714 + ], + "joints": [ + 0.024322297424077988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11061044782400131, + 0.029949316754937172, + 0.13451515138149261 + ], + "orientation": [ + 0.12524297833442688, + -0.7828393578529358, + -0.60013747215271, + 0.10635679215192795 + ], + "joints": [ + 0.009799730032682419 + ] + }, + "fine_grasp": { + "position": [ + -0.11135266721248627, + 0.030624041333794594, + 0.13431419432163239 + ], + "orientation": [ + 0.1359155923128128, + -0.7783570289611816, + -0.602681040763855, + 0.1116376668214798 + ], + "joints": [ + 0.015698270872235298 + ] + }, + "final_grasp": { + "position": [ + -0.11135266721248627, + 0.030624041333794594, + 0.13431419432163239 + ], + "orientation": [ + 0.1359155923128128, + -0.7783570289611816, + -0.602681040763855, + 0.1116376668214798 + ], + "joints": [ + 0.021596811711788177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1214529499411583, + -0.020678970962762833, + 0.09262621402740479 + ], + "orientation": [ + 0.7632490992546082, + 0.010232246480882168, + -0.006781008560210466, + 0.6459878087043762 + ], + "joints": [ + 0.010497376322746277 + ] + }, + "fine_grasp": { + "position": [ + 0.12278030067682266, + -0.02125317044556141, + 0.0923246219754219 + ], + "orientation": [ + 0.763077974319458, + 0.004482626914978027, + -0.004664764739573002, + 0.6462740302085876 + ], + "joints": [ + 0.01743214949965477 + ] + }, + "final_grasp": { + "position": [ + 0.12278030067682266, + -0.02125317044556141, + 0.0923246219754219 + ], + "orientation": [ + 0.763077974319458, + 0.004482626914978027, + -0.004664764739573002, + 0.6462740302085876 + ], + "joints": [ + 0.024366922676563263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11833219230175018, + -0.02987832762300968, + 0.10817047953605652 + ], + "orientation": [ + 0.02152939885854721, + -0.6126478314399719, + -0.788379430770874, + 0.051544737070798874 + ], + "joints": [ + 0.010028017684817314 + ] + }, + "fine_grasp": { + "position": [ + -0.12009311467409134, + -0.03017132543027401, + 0.10807838290929794 + ], + "orientation": [ + 0.02733183465898037, + -0.6104234457015991, + -0.7902960777282715, + 0.04547794163227081 + ], + "joints": [ + 0.01643138751387596 + ] + }, + "final_grasp": { + "position": [ + -0.12009311467409134, + -0.03017132543027401, + 0.10807838290929794 + ], + "orientation": [ + 0.02733183465898037, + -0.6104234457015991, + -0.7902960777282715, + 0.04547794163227081 + ], + "joints": [ + 0.02283475734293461 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1182723194360733, + -0.028296174481511116, + 0.07043403387069702 + ], + "orientation": [ + 0.04934817925095558, + 0.6143071055412292, + -0.7824062705039978, + -0.08962145447731018 + ], + "joints": [ + 0.0106496661901474 + ] + }, + "fine_grasp": { + "position": [ + 0.11865420639514923, + -0.02834855020046234, + 0.07057206332683563 + ], + "orientation": [ + 0.05757807940244675, + 0.613165020942688, + -0.7834235429763794, + -0.08343277126550674 + ], + "joints": [ + 0.017079612240195274 + ] + }, + "final_grasp": { + "position": [ + 0.11865420639514923, + -0.02834855020046234, + 0.07057206332683563 + ], + "orientation": [ + 0.05757807940244675, + 0.613165020942688, + -0.7834235429763794, + -0.08343277126550674 + ], + "joints": [ + 0.02350955829024315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021972710266709328, + 0.10645086318254471, + 0.03574352338910103 + ], + "orientation": [ + 0.24143627285957336, + 0.9656193256378174, + 0.0949794128537178, + 0.01633213832974434 + ], + "joints": [ + 0.011063635349273682 + ] + }, + "fine_grasp": { + "position": [ + -0.022250205278396606, + 0.10631076991558075, + 0.0359075665473938 + ], + "orientation": [ + 0.2366376370191574, + 0.966771125793457, + 0.09398630261421204, + 0.022864269092679024 + ], + "joints": [ + 0.017493581399321556 + ] + }, + "final_grasp": { + "position": [ + -0.022250205278396606, + 0.10631076991558075, + 0.0359075665473938 + ], + "orientation": [ + 0.2366376370191574, + 0.966771125793457, + 0.09398630261421204, + 0.022864269092679024 + ], + "joints": [ + 0.02392352744936943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11979951709508896, + -0.015847286209464073, + 0.11264660209417343 + ], + "orientation": [ + 0.7508907318115234, + -0.06917183101177216, + 0.045826639980077744, + -0.6551932692527771 + ], + "joints": [ + 0.010137246921658516 + ] + }, + "fine_grasp": { + "position": [ + -0.12196710705757141, + -0.015929142013192177, + 0.11251723766326904 + ], + "orientation": [ + 0.7528910636901855, + -0.07032409310340881, + 0.052442874759435654, + -0.6522724032402039 + ], + "joints": [ + 0.01704544760286808 + ] + }, + "final_grasp": { + "position": [ + -0.12196710705757141, + -0.015929142013192177, + 0.11251723766326904 + ], + "orientation": [ + 0.7528910636901855, + -0.07032409310340881, + 0.052442874759435654, + -0.6522724032402039 + ], + "joints": [ + 0.023953648284077644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1156262457370758, + -0.033177196979522705, + 0.06357904523611069 + ], + "orientation": [ + 0.08576691895723343, + 0.5989999175071716, + 0.790876567363739, + 0.0914180800318718 + ], + "joints": [ + 0.010872634127736092 + ] + }, + "fine_grasp": { + "position": [ + -0.11505816131830215, + -0.03333453834056854, + 0.06450404971837997 + ], + "orientation": [ + 0.08467531949281693, + 0.6002840399742126, + 0.7890113592147827, + 0.09975066035985947 + ], + "joints": [ + 0.01677117869257927 + ] + }, + "final_grasp": { + "position": [ + -0.11505816131830215, + -0.03333453834056854, + 0.06450404971837997 + ], + "orientation": [ + 0.08467531949281693, + 0.6002840399742126, + 0.7890113592147827, + 0.09975066035985947 + ], + "joints": [ + 0.022669723257422447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11524226516485214, + -0.03411760926246643, + 0.06354379653930664 + ], + "orientation": [ + 0.0860079675912857, + 0.5955403447151184, + 0.7932417392730713, + 0.09328371286392212 + ], + "joints": [ + 0.010802151635289192 + ] + }, + "fine_grasp": { + "position": [ + -0.11461525410413742, + -0.03433728590607643, + 0.0644059032201767 + ], + "orientation": [ + 0.0853676125407219, + 0.5971667170524597, + 0.7910679578781128, + 0.10156681388616562 + ], + "joints": [ + 0.01670069620013237 + ] + }, + "final_grasp": { + "position": [ + -0.11461525410413742, + -0.03433728590607643, + 0.0644059032201767 + ], + "orientation": [ + 0.0853676125407219, + 0.5971667170524597, + 0.7910679578781128, + 0.10156681388616562 + ], + "joints": [ + 0.022599240764975548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12120302766561508, + -0.021040230989456177, + 0.09272842854261398 + ], + "orientation": [ + 0.7644316554069519, + 0.015562916174530983, + -0.006264783442020416, + 0.6444864869117737 + ], + "joints": [ + 0.010044638067483902 + ] + }, + "fine_grasp": { + "position": [ + 0.12258303910493851, + -0.02165457233786583, + 0.09212120622396469 + ], + "orientation": [ + 0.7644140720367432, + 0.007218669634312391, + -0.0025731048081070185, + 0.6446800231933594 + ], + "joints": [ + 0.016979409381747246 + ] + }, + "final_grasp": { + "position": [ + 0.12258303910493851, + -0.02165457233786583, + 0.09212120622396469 + ], + "orientation": [ + 0.7644140720367432, + 0.007218669634312391, + -0.0025731048081070185, + 0.6446800231933594 + ], + "joints": [ + 0.02391418069601059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11441148072481155, + -0.0232434943318367, + 0.12334420531988144 + ], + "orientation": [ + 0.09098410606384277, + -0.6286602020263672, + 0.7663633823394775, + -0.09589315205812454 + ], + "joints": [ + 0.010102353990077972 + ] + }, + "fine_grasp": { + "position": [ + 0.11601556837558746, + -0.02429480478167534, + 0.1238817498087883 + ], + "orientation": [ + 0.09088525176048279, + -0.6310063600540161, + 0.7640284299850464, + -0.0991537794470787 + ], + "joints": [ + 0.015974324196577072 + ] + }, + "final_grasp": { + "position": [ + 0.11601556837558746, + -0.02429480478167534, + 0.1238817498087883 + ], + "orientation": [ + 0.09088525176048279, + -0.6310063600540161, + 0.7640284299850464, + -0.0991537794470787 + ], + "joints": [ + 0.021846294403076172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04736337065696716, + 0.10044779628515244, + -0.010947008617222309 + ], + "orientation": [ + 0.21821124851703644, + 0.9533628821372986, + -0.20799611508846283, + -0.014858183450996876 + ], + "joints": [ + 0.013176890090107918 + ] + }, + "fine_grasp": { + "position": [ + 0.046781934797763824, + 0.09842882305383682, + -0.010648077353835106 + ], + "orientation": [ + 0.22213520109653473, + 0.9524234533309937, + -0.20862554013729095, + -0.004576749633997679 + ], + "joints": [ + 0.01750781014561653 + ] + }, + "final_grasp": { + "position": [ + 0.046781934797763824, + 0.09842882305383682, + -0.010648077353835106 + ], + "orientation": [ + 0.22213520109653473, + 0.9524234533309937, + -0.20862554013729095, + -0.004576749633997679 + ], + "joints": [ + 0.021838730201125145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06428372859954834, + 0.02893318235874176, + 0.2272016406059265 + ], + "orientation": [ + 0.3285693824291229, + -0.730756938457489, + -0.5148923397064209, + 0.3048315942287445 + ], + "joints": [ + 0.00872730277478695 + ] + }, + "fine_grasp": { + "position": [ + -0.0619594007730484, + 0.028864039108157158, + 0.22269558906555176 + ], + "orientation": [ + 0.3303506672382355, + -0.7256353497505188, + -0.5093976259231567, + 0.32378360629081726 + ], + "joints": [ + 0.014094440266489983 + ] + }, + "final_grasp": { + "position": [ + -0.0619594007730484, + 0.028864039108157158, + 0.22269558906555176 + ], + "orientation": [ + 0.3303506672382355, + -0.7256353497505188, + -0.5093976259231567, + 0.32378360629081726 + ], + "joints": [ + 0.019461577758193016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0031444416381418705, + 0.11300545930862427, + 0.005283428356051445 + ], + "orientation": [ + 0.203215554356575, + 0.9779453277587891, + -0.0047265333123505116, + 0.04800146073102951 + ], + "joints": [ + 0.012442171573638916 + ] + }, + "fine_grasp": { + "position": [ + 0.0031913432758301497, + 0.11191677302122116, + 0.0059671057388186455 + ], + "orientation": [ + 0.2060905247926712, + 0.976745069026947, + -0.006735309958457947, + 0.05873968452215195 + ], + "joints": [ + 0.017304491251707077 + ] + }, + "final_grasp": { + "position": [ + 0.0031913432758301497, + 0.11191677302122116, + 0.0059671057388186455 + ], + "orientation": [ + 0.2060905247926712, + 0.976745069026947, + -0.006735309958457947, + 0.05873968452215195 + ], + "joints": [ + 0.022166810929775238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11820077896118164, + -0.028781108558177948, + 0.07065510004758835 + ], + "orientation": [ + 0.049183882772922516, + 0.612666666507721, + -0.783802330493927, + -0.08873683214187622 + ], + "joints": [ + 0.010605907067656517 + ] + }, + "fine_grasp": { + "position": [ + 0.1185595914721489, + -0.028802037239074707, + 0.07081414014101028 + ], + "orientation": [ + 0.05711347237229347, + 0.6118589639663696, + -0.7844290137290955, + -0.0838908702135086 + ], + "joints": [ + 0.01703585311770439 + ] + }, + "final_grasp": { + "position": [ + 0.1185595914721489, + -0.028802037239074707, + 0.07081414014101028 + ], + "orientation": [ + 0.05711347237229347, + 0.6118589639663696, + -0.7844290137290955, + -0.0838908702135086 + ], + "joints": [ + 0.023465799167752266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11528569459915161, + -0.018910856917500496, + 0.127396821975708 + ], + "orientation": [ + 0.08533576875925064, + -0.6389082074165344, + -0.7553263306617737, + 0.11830591410398483 + ], + "joints": [ + 0.010143151506781578 + ] + }, + "fine_grasp": { + "position": [ + -0.11660793423652649, + -0.018814392387866974, + 0.12753131985664368 + ], + "orientation": [ + 0.09081186354160309, + -0.6346743106842041, + -0.7581350803375244, + 0.11904965341091156 + ], + "joints": [ + 0.016041694208979607 + ] + }, + "final_grasp": { + "position": [ + -0.11660793423652649, + -0.018814392387866974, + 0.12753131985664368 + ], + "orientation": [ + 0.09081186354160309, + -0.6346743106842041, + -0.7581350803375244, + 0.11904965341091156 + ], + "joints": [ + 0.021940236911177635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11978475749492645, + -0.015688549727201462, + 0.11243828386068344 + ], + "orientation": [ + 0.7505297660827637, + -0.06779354810714722, + 0.04438135772943497, + -0.6558501720428467 + ], + "joints": [ + 0.010135246440768242 + ] + }, + "fine_grasp": { + "position": [ + -0.12188830971717834, + -0.01564866118133068, + 0.11193779110908508 + ], + "orientation": [ + 0.7520178556442261, + -0.07201007753610611, + 0.05372031405568123, + -0.652991533279419 + ], + "joints": [ + 0.017043447121977806 + ] + }, + "final_grasp": { + "position": [ + -0.12188830971717834, + -0.01564866118133068, + 0.11193779110908508 + ], + "orientation": [ + 0.7520178556442261, + -0.07201007753610611, + 0.05372031405568123, + -0.652991533279419 + ], + "joints": [ + 0.02395164780318737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1154584214091301, + -0.01958954520523548, + 0.1273926943540573 + ], + "orientation": [ + 0.08345550298690796, + -0.6370553374290466, + -0.7573359608650208, + 0.116781085729599 + ], + "joints": [ + 0.010110815986990929 + ] + }, + "fine_grasp": { + "position": [ + -0.1166841983795166, + -0.01945805549621582, + 0.12749959528446198 + ], + "orientation": [ + 0.08895862847566605, + -0.6328774690628052, + -0.7600798010826111, + 0.11760677397251129 + ], + "joints": [ + 0.016009358689188957 + ] + }, + "final_grasp": { + "position": [ + -0.1166841983795166, + -0.01945805549621582, + 0.12749959528446198 + ], + "orientation": [ + 0.08895862847566605, + -0.6328774690628052, + -0.7600798010826111, + 0.11760677397251129 + ], + "joints": [ + 0.021907901391386986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00761552806943655, + 0.10573640465736389, + -0.005137692671269178 + ], + "orientation": [ + 0.022280143573880196, + -0.03744585067033768, + 0.23854084312915802, + 0.9701544642448425 + ], + "joints": [ + 0.01278945803642273 + ] + }, + "fine_grasp": { + "position": [ + 0.00818113423883915, + 0.1056683138012886, + -0.005044194404035807 + ], + "orientation": [ + 0.02539992146193981, + -0.05468140169978142, + 0.2459481954574585, + 0.9674059748649597 + ], + "joints": [ + 0.017120378091931343 + ] + }, + "final_grasp": { + "position": [ + 0.00818113423883915, + 0.1056683138012886, + -0.005044194404035807 + ], + "orientation": [ + 0.02539992146193981, + -0.05468140169978142, + 0.2459481954574585, + 0.9674059748649597 + ], + "joints": [ + 0.021451298147439957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008957733400166035, + 0.10536996275186539, + -0.004277268424630165 + ], + "orientation": [ + 0.029321076348423958, + -0.03201424703001976, + 0.23725292086601257, + 0.9704774618148804 + ], + "joints": [ + 0.012639513239264488 + ] + }, + "fine_grasp": { + "position": [ + 0.009363309480249882, + 0.10572724789381027, + -0.0047227609902620316 + ], + "orientation": [ + 0.03264277055859566, + -0.04702003300189972, + 0.24464057385921478, + 0.9679228663444519 + ], + "joints": [ + 0.01747526042163372 + ] + }, + "final_grasp": { + "position": [ + 0.009363309480249882, + 0.10572724789381027, + -0.0047227609902620316 + ], + "orientation": [ + 0.03264277055859566, + -0.04702003300189972, + 0.24464057385921478, + 0.9679228663444519 + ], + "joints": [ + 0.022311007604002953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1106010302901268, + 0.0011196769773960114, + 0.03704402595758438 + ], + "orientation": [ + 0.15035033226013184, + 0.6899566650390625, + -0.6881319284439087, + -0.16682037711143494 + ], + "joints": [ + 0.01045822724699974 + ] + }, + "fine_grasp": { + "position": [ + 0.10878972709178925, + 0.0017802005168050528, + 0.038030438125133514 + ], + "orientation": [ + 0.15508654713630676, + 0.6890839338302612, + -0.6887133717536926, + -0.1636618822813034 + ], + "joints": [ + 0.016861598938703537 + ] + }, + "final_grasp": { + "position": [ + 0.10878972709178925, + 0.0017802005168050528, + 0.038030438125133514 + ], + "orientation": [ + 0.15508654713630676, + 0.6890839338302612, + -0.6887133717536926, + -0.1636618822813034 + ], + "joints": [ + 0.023264970630407333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12072695046663284, + 0.021080253645777702, + 0.08294884115457535 + ], + "orientation": [ + 0.6429059505462646, + 0.04624887928366661, + 0.02713695541024208, + 0.7640658617019653 + ], + "joints": [ + 0.010367635637521744 + ] + }, + "fine_grasp": { + "position": [ + 0.1209707036614418, + 0.02092857100069523, + 0.08305397629737854 + ], + "orientation": [ + 0.6444238424301147, + 0.035863246768713, + 0.0352940633893013, + 0.7630112171173096 + ], + "joints": [ + 0.01677100732922554 + ] + }, + "final_grasp": { + "position": [ + 0.1209707036614418, + 0.02092857100069523, + 0.08305397629737854 + ], + "orientation": [ + 0.6444238424301147, + 0.035863246768713, + 0.0352940633893013, + 0.7630112171173096 + ], + "joints": [ + 0.023174379020929337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11900362372398376, + -0.011640217155218124, + 0.05957502871751785 + ], + "orientation": [ + 0.1033373698592186, + 0.6671357154846191, + 0.7315059304237366, + 0.09565707296133041 + ], + "joints": [ + 0.010718148201704025 + ] + }, + "fine_grasp": { + "position": [ + -0.11799663305282593, + -0.011771219782531261, + 0.06021072342991829 + ], + "orientation": [ + 0.10062368214130402, + 0.669223427772522, + 0.7293962240219116, + 0.09997973591089249 + ], + "joints": [ + 0.016616692766547203 + ] + }, + "final_grasp": { + "position": [ + -0.11799663305282593, + -0.011771219782531261, + 0.06021072342991829 + ], + "orientation": [ + 0.10062368214130402, + 0.669223427772522, + 0.7293962240219116, + 0.09997973591089249 + ], + "joints": [ + 0.02251523733139038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11960811167955399, + 0.010098405182361603, + 0.11176463216543198 + ], + "orientation": [ + 0.061494532972574234, + -0.7350563406944275, + 0.674060046672821, + -0.03941572830080986 + ], + "joints": [ + 0.009878911077976227 + ] + }, + "fine_grasp": { + "position": [ + 0.1219472587108612, + 0.009831500239670277, + 0.11232148110866547 + ], + "orientation": [ + 0.05565978214144707, + -0.7368429899215698, + 0.6724006533622742, + -0.042914994060993195 + ], + "joints": [ + 0.016282280907034874 + ] + }, + "final_grasp": { + "position": [ + 0.1219472587108612, + 0.009831500239670277, + 0.11232148110866547 + ], + "orientation": [ + 0.05565978214144707, + -0.7368429899215698, + 0.6724006533622742, + -0.042914994060993195 + ], + "joints": [ + 0.02268565073609352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1218554675579071, + 0.005233376286923885, + 0.09740172326564789 + ], + "orientation": [ + 0.6923200488090515, + -0.021059371531009674, + 0.003448111703619361, + -0.7212750315666199 + ], + "joints": [ + 0.009970344603061676 + ] + }, + "fine_grasp": { + "position": [ + -0.12360851466655731, + 0.00499968696385622, + 0.0977964773774147 + ], + "orientation": [ + 0.6948402523994446, + -0.013949034735560417, + 0.005352242849767208, + -0.7190089225769043 + ], + "joints": [ + 0.016347141936421394 + ] + }, + "final_grasp": { + "position": [ + -0.12360851466655731, + 0.00499968696385622, + 0.0977964773774147 + ], + "orientation": [ + 0.6948402523994446, + -0.013949034735560417, + 0.005352242849767208, + -0.7190089225769043 + ], + "joints": [ + 0.022723939269781113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04415928199887276, + -0.11471795290708542, + 0.020288126543164253 + ], + "orientation": [ + 0.04000505432486534, + -0.178930401802063, + -0.9781134724617004, + -0.0983746349811554 + ], + "joints": [ + 0.012262608855962753 + ] + }, + "fine_grasp": { + "position": [ + -0.044060930609703064, + -0.11376331001520157, + 0.02088106982409954 + ], + "orientation": [ + 0.04903453215956688, + -0.17942699790000916, + -0.9773257374763489, + -0.1011722981929779 + ], + "joints": [ + 0.016646672040224075 + ] + }, + "final_grasp": { + "position": [ + -0.044060930609703064, + -0.11376331001520157, + 0.02088106982409954 + ], + "orientation": [ + 0.04903453215956688, + -0.17942699790000916, + -0.9773257374763489, + -0.1011722981929779 + ], + "joints": [ + 0.021030735224485397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12208651751279831, + 0.005461564287543297, + 0.09764403849840164 + ], + "orientation": [ + 0.6916369199752808, + -0.019193366169929504, + -0.0013755044201388955, + -0.7219889163970947 + ], + "joints": [ + 0.010013919323682785 + ] + }, + "fine_grasp": { + "position": [ + -0.12414222210645676, + 0.0053819832392036915, + 0.09768950939178467 + ], + "orientation": [ + 0.693993091583252, + -0.011411735787987709, + 0.0030636717565357685, + -0.7198847532272339 + ], + "joints": [ + 0.016390716657042503 + ] + }, + "final_grasp": { + "position": [ + -0.12414222210645676, + 0.0053819832392036915, + 0.09768950939178467 + ], + "orientation": [ + 0.693993091583252, + -0.011411735787987709, + 0.0030636717565357685, + -0.7198847532272339 + ], + "joints": [ + 0.02276751399040222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11983782052993774, + 0.010762320831418037, + 0.11254630982875824 + ], + "orientation": [ + 0.062208667397499084, + -0.7368481159210205, + 0.6721058487892151, + -0.03819077089428902 + ], + "joints": [ + 0.009884338825941086 + ] + }, + "fine_grasp": { + "position": [ + 0.12187286466360092, + 0.010490086860954762, + 0.11319957673549652 + ], + "orientation": [ + 0.0537228137254715, + -0.7387935519218445, + 0.6704806685447693, + -0.041875291615724564 + ], + "joints": [ + 0.016287708654999733 + ] + }, + "final_grasp": { + "position": [ + 0.12187286466360092, + 0.010490086860954762, + 0.11319957673549652 + ], + "orientation": [ + 0.0537228137254715, + -0.7387935519218445, + 0.6704806685447693, + -0.041875291615724564 + ], + "joints": [ + 0.02269107848405838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015322619117796421, + 0.08034063875675201, + 0.2128475159406662 + ], + "orientation": [ + 0.38969698548316956, + -0.9181947112083435, + 0.0644712746143341, + 0.029969757422804832 + ], + "joints": [ + 0.00967608392238617 + ] + }, + "fine_grasp": { + "position": [ + 0.01492574904114008, + 0.07939859479665756, + 0.20976340770721436 + ], + "orientation": [ + 0.39682918787002563, + -0.9147469401359558, + 0.06396476924419403, + 0.040905073285102844 + ], + "joints": [ + 0.015043223276734352 + ] + }, + "final_grasp": { + "position": [ + 0.01492574904114008, + 0.07939859479665756, + 0.20976340770721436 + ], + "orientation": [ + 0.39682918787002563, + -0.9147469401359558, + 0.06396476924419403, + 0.040905073285102844 + ], + "joints": [ + 0.020410362631082535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12112840265035629, + 0.00737378466874361, + 0.09790918231010437 + ], + "orientation": [ + 0.6846699118614197, + 0.007176090031862259, + -0.017552588135004044, + 0.7286065816879272 + ], + "joints": [ + 0.009966440498828888 + ] + }, + "fine_grasp": { + "position": [ + 0.12375441938638687, + 0.007490260060876608, + 0.09863569587469101 + ], + "orientation": [ + 0.6840039491653442, + 0.0023535240907222033, + -0.006530805490911007, + 0.7294452786445618 + ], + "joints": [ + 0.016874639317393303 + ] + }, + "final_grasp": { + "position": [ + 0.12375441938638687, + 0.007490260060876608, + 0.09863569587469101 + ], + "orientation": [ + 0.6840039491653442, + 0.0023535240907222033, + -0.006530805490911007, + 0.7294452786445618 + ], + "joints": [ + 0.023782838135957718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01932898908853531, + -0.0026544034481048584, + 0.2536843717098236 + ], + "orientation": [ + 0.6327430009841919, + -0.5225271582603455, + -0.3491268455982208, + 0.45245131850242615 + ], + "joints": [ + 0.008906316012144089 + ] + }, + "fine_grasp": { + "position": [ + 0.019408196210861206, + -0.002084025414660573, + 0.24852316081523895 + ], + "orientation": [ + 0.6310803890228271, + -0.5241072773933411, + -0.3512738347053528, + 0.4512822926044464 + ], + "joints": [ + 0.015309682115912437 + ] + }, + "final_grasp": { + "position": [ + 0.019408196210861206, + -0.002084025414660573, + 0.24852316081523895 + ], + "orientation": [ + 0.6310803890228271, + -0.5241072773933411, + -0.3512738347053528, + 0.4512822926044464 + ], + "joints": [ + 0.021713048219680786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00982036255300045, + -0.07291194051504135, + 0.21976350247859955 + ], + "orientation": [ + 0.9035245180130005, + -0.42552345991134644, + -0.04136107861995697, + -0.02936902642250061 + ], + "joints": [ + 0.009547512978315353 + ] + }, + "fine_grasp": { + "position": [ + -0.010131633840501308, + -0.07282628864049911, + 0.21738259494304657 + ], + "orientation": [ + 0.8986172080039978, + -0.43481406569480896, + -0.0504777655005455, + -0.02959296852350235 + ], + "joints": [ + 0.015446053817868233 + ] + }, + "final_grasp": { + "position": [ + -0.010131633840501308, + -0.07282628864049911, + 0.21738259494304657 + ], + "orientation": [ + 0.8986172080039978, + -0.43481406569480896, + -0.0504777655005455, + -0.02959296852350235 + ], + "joints": [ + 0.021344594657421112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11972608417272568, + -0.01039573922753334, + 0.11797032505273819 + ], + "orientation": [ + 0.06546136736869812, + -0.6747175455093384, + 0.733461856842041, + -0.05004718154668808 + ], + "joints": [ + 0.009732047095894814 + ] + }, + "fine_grasp": { + "position": [ + 0.12111300975084305, + -0.01122299861162901, + 0.11803946644067764 + ], + "orientation": [ + 0.056924641132354736, + -0.6763348579406738, + 0.7324662208557129, + -0.05314129590988159 + ], + "joints": [ + 0.01613541692495346 + ] + }, + "final_grasp": { + "position": [ + 0.12111300975084305, + -0.01122299861162901, + 0.11803946644067764 + ], + "orientation": [ + 0.056924641132354736, + -0.6763348579406738, + 0.7324662208557129, + -0.05314129590988159 + ], + "joints": [ + 0.022538786754012108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033689603209495544, + 0.10988931357860565, + 0.13936081528663635 + ], + "orientation": [ + 0.1464032530784607, + -0.014188534580171108, + -0.15711911022663116, + 0.9765645265579224 + ], + "joints": [ + 0.010321412235498428 + ] + }, + "fine_grasp": { + "position": [ + 0.03475617244839668, + 0.11264798045158386, + 0.14047710597515106 + ], + "orientation": [ + 0.14063234627246857, + -0.0218344833701849, + -0.15456242859363556, + 0.9776790738105774 + ], + "joints": [ + 0.017229612916707993 + ] + }, + "final_grasp": { + "position": [ + 0.03475617244839668, + 0.11264798045158386, + 0.14047710597515106 + ], + "orientation": [ + 0.14063234627246857, + -0.0218344833701849, + -0.15456242859363556, + 0.9776790738105774 + ], + "joints": [ + 0.024137813597917557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034235309809446335, + 0.11051452159881592, + 0.13969455659389496 + ], + "orientation": [ + 0.1478102207183838, + -0.01979248598217964, + -0.1580909937620163, + 0.9760982394218445 + ], + "joints": [ + 0.010711075738072395 + ] + }, + "fine_grasp": { + "position": [ + 0.03525536134839058, + 0.11320281773805618, + 0.14073526859283447 + ], + "orientation": [ + 0.1427948921918869, + -0.022102121263742447, + -0.1514260172843933, + 0.9778503179550171 + ], + "joints": [ + 0.017087876796722412 + ] + }, + "final_grasp": { + "position": [ + 0.03525536134839058, + 0.11320281773805618, + 0.14073526859283447 + ], + "orientation": [ + 0.1427948921918869, + -0.022102121263742447, + -0.1514260172843933, + 0.9778503179550171 + ], + "joints": [ + 0.02346467785537243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11394583433866501, + -0.015369752421975136, + 0.14416904747486115 + ], + "orientation": [ + 0.10375503450632095, + -0.6474374532699585, + -0.7431170344352722, + 0.13355405628681183 + ], + "joints": [ + 0.009694570675492287 + ] + }, + "fine_grasp": { + "position": [ + -0.11524544656276703, + -0.01521211862564087, + 0.14472274482250214 + ], + "orientation": [ + 0.10697535425424576, + -0.6435502767562866, + -0.7459113597869873, + 0.1342221051454544 + ], + "joints": [ + 0.015566539019346237 + ] + }, + "final_grasp": { + "position": [ + -0.11524544656276703, + -0.01521211862564087, + 0.14472274482250214 + ], + "orientation": [ + 0.10697535425424576, + -0.6435502767562866, + -0.7459113597869873, + 0.1342221051454544 + ], + "joints": [ + 0.021438507363200188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03191731870174408, + 0.11842713505029678, + 0.012367677874863148 + ], + "orientation": [ + 0.10101102292537689, + 0.9857084155082703, + -0.1275959610939026, + 0.04353177919983864 + ], + "joints": [ + 0.012864034622907639 + ] + }, + "fine_grasp": { + "position": [ + 0.031757574528455734, + 0.1177951991558075, + 0.012946031056344509 + ], + "orientation": [ + 0.10175760835409164, + 0.984883189201355, + -0.12803490459918976, + 0.0570748895406723 + ], + "joints": [ + 0.016716698184609413 + ] + }, + "final_grasp": { + "position": [ + 0.031757574528455734, + 0.1177951991558075, + 0.012946031056344509 + ], + "orientation": [ + 0.10175760835409164, + 0.984883189201355, + -0.12803490459918976, + 0.0570748895406723 + ], + "joints": [ + 0.020569361746311188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0187997929751873, + 0.05347621440887451, + 0.2374277561903 + ], + "orientation": [ + 0.1590578556060791, + -0.09595345705747604, + -0.4849019944667816, + 0.8546130657196045 + ], + "joints": [ + 0.010341271758079529 + ] + }, + "fine_grasp": { + "position": [ + 0.019208639860153198, + 0.054912060499191284, + 0.24178488552570343 + ], + "orientation": [ + 0.16139629483222961, + -0.09850776940584183, + -0.48768308758735657, + 0.8522984385490417 + ], + "joints": [ + 0.01780744642019272 + ] + }, + "final_grasp": { + "position": [ + 0.019208639860153198, + 0.054912060499191284, + 0.24178488552570343 + ], + "orientation": [ + 0.16139629483222961, + -0.09850776940584183, + -0.48768308758735657, + 0.8522984385490417 + ], + "joints": [ + 0.025273621082305908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05018727108836174, + 0.0023967288434505463, + 0.23979125916957855 + ], + "orientation": [ + 0.3948919475078583, + -0.630376935005188, + 0.5779263973236084, + -0.3356880247592926 + ], + "joints": [ + 0.009077334776520729 + ] + }, + "fine_grasp": { + "position": [ + 0.05162171646952629, + 0.001245148479938507, + 0.24007728695869446 + ], + "orientation": [ + 0.39875224232673645, + -0.6300318837165833, + 0.5794281959533691, + -0.3291192054748535 + ], + "joints": [ + 0.016038676723837852 + ] + }, + "final_grasp": { + "position": [ + 0.05162171646952629, + 0.001245148479938507, + 0.24007728695869446 + ], + "orientation": [ + 0.39875224232673645, + -0.6300318837165833, + 0.5794281959533691, + -0.3291192054748535 + ], + "joints": [ + 0.023000018671154976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05027853325009346, + 0.002617241581901908, + 0.23975004255771637 + ], + "orientation": [ + 0.3949989378452301, + -0.6314270496368408, + 0.577133059501648, + -0.33495232462882996 + ], + "joints": [ + 0.009071188047528267 + ] + }, + "fine_grasp": { + "position": [ + 0.05177171900868416, + 0.001383962924592197, + 0.24020184576511383 + ], + "orientation": [ + 0.3989219069480896, + -0.6309820413589478, + 0.5788708925247192, + -0.32807236909866333 + ], + "joints": [ + 0.01603252999484539 + ] + }, + "final_grasp": { + "position": [ + 0.05177171900868416, + 0.001383962924592197, + 0.24020184576511383 + ], + "orientation": [ + 0.3989219069480896, + -0.6309820413589478, + 0.5788708925247192, + -0.32807236909866333 + ], + "joints": [ + 0.022993871942162514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08844922482967377, + 0.07300655543804169, + -0.030888613313436508 + ], + "orientation": [ + 0.18350225687026978, + 0.8875828981399536, + 0.41491249203681946, + 0.07981893420219421 + ], + "joints": [ + 0.013311875984072685 + ] + }, + "fine_grasp": { + "position": [ + -0.08756819367408752, + 0.07189756631851196, + -0.031350307166576385 + ], + "orientation": [ + 0.17721936106681824, + 0.8895100355148315, + 0.41363725066185, + 0.07917872071266174 + ], + "joints": [ + 0.01870560087263584 + ] + }, + "final_grasp": { + "position": [ + -0.08756819367408752, + 0.07189756631851196, + -0.031350307166576385 + ], + "orientation": [ + 0.17721936106681824, + 0.8895100355148315, + 0.41363725066185, + 0.07917872071266174 + ], + "joints": [ + 0.024099325761198997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030557002872228622, + 0.11272604763507843, + -0.014142090454697609 + ], + "orientation": [ + 0.17541497945785522, + 0.9760570526123047, + -0.1222333312034607, + 0.040013451129198074 + ], + "joints": [ + 0.012726327404379845 + ] + }, + "fine_grasp": { + "position": [ + 0.03020891733467579, + 0.11084730923175812, + -0.013346710242331028 + ], + "orientation": [ + 0.17854566872119904, + 0.9748485088348389, + -0.12293476611375809, + 0.051757991313934326 + ], + "joints": [ + 0.017057247459888458 + ] + }, + "final_grasp": { + "position": [ + 0.03020891733467579, + 0.11084730923175812, + -0.013346710242331028 + ], + "orientation": [ + 0.17854566872119904, + 0.9748485088348389, + -0.12293476611375809, + 0.051757991313934326 + ], + "joints": [ + 0.021388167515397072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08852819353342056, + 0.07306666672229767, + -0.03191593661904335 + ], + "orientation": [ + 0.17068088054656982, + 0.8898724913597107, + 0.4171995222568512, + 0.07028184831142426 + ], + "joints": [ + 0.013602636754512787 + ] + }, + "fine_grasp": { + "position": [ + -0.08809174597263336, + 0.07218828052282333, + -0.03187474608421326 + ], + "orientation": [ + 0.1604454517364502, + 0.8916218280792236, + 0.4172288179397583, + 0.07202683389186859 + ], + "joints": [ + 0.018491532653570175 + ] + }, + "final_grasp": { + "position": [ + -0.08809174597263336, + 0.07218828052282333, + -0.03187474608421326 + ], + "orientation": [ + 0.1604454517364502, + 0.8916218280792236, + 0.4172288179397583, + 0.07202683389186859 + ], + "joints": [ + 0.023380428552627563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06957007199525833, + 0.08575901389122009, + -0.035414718091487885 + ], + "orientation": [ + 0.3182982802391052, + 0.02776559814810753, + 0.20000794529914856, + 0.9262354373931885 + ], + "joints": [ + 0.01290190126746893 + ] + }, + "fine_grasp": { + "position": [ + 0.06963801383972168, + 0.08553706109523773, + -0.03550045192241669 + ], + "orientation": [ + 0.3176253139972687, + 0.014309956692159176, + 0.21116162836551666, + 0.9242944121360779 + ], + "joints": [ + 0.017232820391654968 + ] + }, + "final_grasp": { + "position": [ + 0.06963801383972168, + 0.08553706109523773, + -0.03550045192241669 + ], + "orientation": [ + 0.3176253139972687, + 0.014309956692159176, + 0.21116162836551666, + 0.9242944121360779 + ], + "joints": [ + 0.021563738584518433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11632966995239258, + -0.0327691026031971, + 2.9079001251375303e-05 + ], + "orientation": [ + 0.7951774597167969, + 0.09450586885213852, + -0.02438470721244812, + -0.5984703898429871 + ], + "joints": [ + 0.012683834880590439 + ] + }, + "fine_grasp": { + "position": [ + -0.11588045954704285, + -0.032815609127283096, + 0.0002843329857569188 + ], + "orientation": [ + 0.7948962450027466, + 0.10613466054201126, + -0.008361470885574818, + -0.5973319411277771 + ], + "joints": [ + 0.016509924083948135 + ] + }, + "final_grasp": { + "position": [ + -0.11588045954704285, + -0.032815609127283096, + 0.0002843329857569188 + ], + "orientation": [ + 0.7948962450027466, + 0.10613466054201126, + -0.008361470885574818, + -0.5973319411277771 + ], + "joints": [ + 0.020336013287305832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11516325920820236, + -0.03741278871893883, + -0.008261872455477715 + ], + "orientation": [ + 0.8045612573623657, + 0.10276531428098679, + 0.05594910308718681, + 0.5822286605834961 + ], + "joints": [ + 0.01316777616739273 + ] + }, + "fine_grasp": { + "position": [ + 0.11442781984806061, + -0.03684855252504349, + -0.00911726150661707 + ], + "orientation": [ + 0.8072757720947266, + 0.08941467106342316, + 0.05502394586801529, + 0.5807610154151917 + ], + "joints": [ + 0.01805667020380497 + ] + }, + "final_grasp": { + "position": [ + 0.11442781984806061, + -0.03684855252504349, + -0.00911726150661707 + ], + "orientation": [ + 0.8072757720947266, + 0.08941467106342316, + 0.05502394586801529, + 0.5807610154151917 + ], + "joints": [ + 0.02294556424021721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08872294425964355, + 0.07409512251615524, + -0.03597626835107803 + ], + "orientation": [ + 0.13742929697036743, + 0.8931844830513, + 0.420482873916626, + 0.0808006152510643 + ], + "joints": [ + 0.013263678178191185 + ] + }, + "fine_grasp": { + "position": [ + -0.08927281200885773, + 0.07419698685407639, + -0.03677692636847496 + ], + "orientation": [ + 0.13252432644367218, + 0.8935200572013855, + 0.4200456738471985, + 0.08729715645313263 + ], + "joints": [ + 0.018126001581549644 + ] + }, + "final_grasp": { + "position": [ + -0.08927281200885773, + 0.07419698685407639, + -0.03677692636847496 + ], + "orientation": [ + 0.13252432644367218, + 0.8935200572013855, + 0.4200456738471985, + 0.08729715645313263 + ], + "joints": [ + 0.022988324984908104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05566390976309776, + 0.10498983412981033, + -0.037114210426807404 + ], + "orientation": [ + 0.12609699368476868, + 0.9531722664833069, + 0.24803368747234344, + 0.11849740892648697 + ], + "joints": [ + 0.012247053906321526 + ] + }, + "fine_grasp": { + "position": [ + -0.05487014353275299, + 0.10399595648050308, + -0.037090644240379333 + ], + "orientation": [ + 0.11546114087104797, + 0.9511393904685974, + 0.24915604293346405, + 0.14115214347839355 + ], + "joints": [ + 0.015568314120173454 + ] + }, + "final_grasp": { + "position": [ + -0.05487014353275299, + 0.10399595648050308, + -0.037090644240379333 + ], + "orientation": [ + 0.11546114087104797, + 0.9511393904685974, + 0.24915604293346405, + 0.14115214347839355 + ], + "joints": [ + 0.018889574334025383 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08492160588502884, + 0.03778011351823807, + -0.08550815284252167 + ], + "orientation": [ + 0.5019072890281677, + 0.1663544923067093, + -0.31330931186676025, + -0.7888298630714417 + ], + "joints": [ + 0.011874744668602943 + ] + }, + "fine_grasp": { + "position": [ + -0.08218073844909668, + 0.03639103099703789, + -0.0814671665430069 + ], + "orientation": [ + 0.49893245100975037, + 0.16175396740436554, + -0.324270099401474, + -0.7872426509857178 + ], + "joints": [ + 0.017241891473531723 + ] + }, + "final_grasp": { + "position": [ + -0.08218073844909668, + 0.03639103099703789, + -0.0814671665430069 + ], + "orientation": [ + 0.49893245100975037, + 0.16175396740436554, + -0.324270099401474, + -0.7872426509857178 + ], + "joints": [ + 0.022609038278460503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05602553114295006, + 0.10529128462076187, + -0.03875371068716049 + ], + "orientation": [ + 0.11517442762851715, + 0.9546841979026794, + 0.24852091073989868, + 0.11640585213899612 + ], + "joints": [ + 0.01224515214562416 + ] + }, + "fine_grasp": { + "position": [ + -0.05561714619398117, + 0.10444942116737366, + -0.03890974074602127 + ], + "orientation": [ + 0.10331231355667114, + 0.952509880065918, + 0.2507569193840027, + 0.13846465945243835 + ], + "joints": [ + 0.01556641235947609 + ] + }, + "final_grasp": { + "position": [ + -0.05561714619398117, + 0.10444942116737366, + -0.03890974074602127 + ], + "orientation": [ + 0.10331231355667114, + 0.952509880065918, + 0.2507569193840027, + 0.13846465945243835 + ], + "joints": [ + 0.018887672573328018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02909018285572529, + 0.024448228999972343, + -0.14129981398582458 + ], + "orientation": [ + 0.3523789644241333, + 0.2413713037967682, + -0.5150902271270752, + -0.7431358098983765 + ], + "joints": [ + 0.012571795843541622 + ] + }, + "fine_grasp": { + "position": [ + -0.02874106355011463, + 0.024074655026197433, + -0.1377895027399063 + ], + "orientation": [ + 0.35140401124954224, + 0.24376069009304047, + -0.5190882682800293, + -0.7400293350219727 + ], + "joints": [ + 0.01897517591714859 + ] + }, + "final_grasp": { + "position": [ + -0.02874106355011463, + 0.024074655026197433, + -0.1377895027399063 + ], + "orientation": [ + 0.35140401124954224, + 0.24376069009304047, + -0.5190882682800293, + -0.7400293350219727 + ], + "joints": [ + 0.025378555059432983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018586577847599983, + -0.012633102014660835, + -0.1416647881269455 + ], + "orientation": [ + 0.541846513748169, + 0.5805978775024414, + 0.5016390681266785, + 0.34302598237991333 + ], + "joints": [ + 0.011183366179466248 + ] + }, + "fine_grasp": { + "position": [ + -0.019200757145881653, + -0.012328537181019783, + -0.1364767849445343 + ], + "orientation": [ + 0.546251654624939, + 0.577023446559906, + 0.4981972277164459, + 0.34706276655197144 + ], + "joints": [ + 0.015647143125534058 + ] + }, + "final_grasp": { + "position": [ + -0.019200757145881653, + -0.012328537181019783, + -0.1364767849445343 + ], + "orientation": [ + 0.546251654624939, + 0.577023446559906, + 0.4981972277164459, + 0.34706276655197144 + ], + "joints": [ + 0.020110920071601868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018435964360833168, + -0.011756077408790588, + -0.14166602492332458 + ], + "orientation": [ + 0.537651002407074, + 0.5810264348983765, + 0.5029674172401428, + 0.34693443775177 + ], + "joints": [ + 0.01122315227985382 + ] + }, + "fine_grasp": { + "position": [ + -0.019103383645415306, + -0.011496642604470253, + -0.13647028803825378 + ], + "orientation": [ + 0.5423702001571655, + 0.5773128867149353, + 0.4991685450077057, + 0.3512483239173889 + ], + "joints": [ + 0.01568692922592163 + ] + }, + "final_grasp": { + "position": [ + -0.019103383645415306, + -0.011496642604470253, + -0.13647028803825378 + ], + "orientation": [ + 0.5423702001571655, + 0.5773128867149353, + 0.4991685450077057, + 0.3512483239173889 + ], + "joints": [ + 0.02015070617198944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006978846155107021, + 0.004859665408730507, + -0.15025946497917175 + ], + "orientation": [ + 0.6304454803466797, + 0.6610926985740662, + -0.2684420347213745, + -0.3056694567203522 + ], + "joints": [ + 0.010724309831857681 + ] + }, + "fine_grasp": { + "position": [ + -0.00730777345597744, + 0.0053048464469611645, + -0.1447707712650299 + ], + "orientation": [ + 0.6234576106071472, + 0.6674277186393738, + -0.26928192377090454, + -0.3054962456226349 + ], + "joints": [ + 0.017659084871411324 + ] + }, + "final_grasp": { + "position": [ + -0.00730777345597744, + 0.0053048464469611645, + -0.1447707712650299 + ], + "orientation": [ + 0.6234576106071472, + 0.6674277186393738, + -0.26928192377090454, + -0.3054962456226349 + ], + "joints": [ + 0.024593859910964966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07465918362140656, + 0.09033913165330887, + 0.006491401232779026 + ], + "orientation": [ + 0.34701281785964966, + -0.11488805711269379, + 0.0920669361948967, + -0.9262323975563049 + ], + "joints": [ + 0.01257689855992794 + ] + }, + "fine_grasp": { + "position": [ + -0.07381632179021835, + 0.089041568338871, + 0.005157779902219772 + ], + "orientation": [ + 0.3460158705711365, + -0.131533682346344, + 0.09639542549848557, + -0.9239479899406433 + ], + "joints": [ + 0.016482705250382423 + ] + }, + "final_grasp": { + "position": [ + -0.07381632179021835, + 0.089041568338871, + 0.005157779902219772 + ], + "orientation": [ + 0.3460158705711365, + -0.131533682346344, + 0.09639542549848557, + -0.9239479899406433 + ], + "joints": [ + 0.020388511940836906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11369314044713974, + -0.033165279775857925, + -0.041756656020879745 + ], + "orientation": [ + 0.1236666589975357, + 0.5990965962409973, + -0.7906530499458313, + -0.02564392238855362 + ], + "joints": [ + 0.011266974732279778 + ] + }, + "fine_grasp": { + "position": [ + 0.11601929366588593, + -0.03451031446456909, + -0.04243975877761841 + ], + "orientation": [ + 0.14272500574588776, + 0.5960115194320679, + -0.7901071310043335, + -0.011432413011789322 + ], + "joints": [ + 0.014588231220841408 + ] + }, + "final_grasp": { + "position": [ + 0.11601929366588593, + -0.03451031446456909, + -0.04243975877761841 + ], + "orientation": [ + 0.14272500574588776, + 0.5960115194320679, + -0.7901071310043335, + -0.011432413011789322 + ], + "joints": [ + 0.017909487709403038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01047922857105732, + -0.016808943822979927, + -0.14918459951877594 + ], + "orientation": [ + 0.7477555274963379, + 0.6502335071563721, + 0.12198100984096527, + 0.05638103932142258 + ], + "joints": [ + 0.01042124442756176 + ] + }, + "fine_grasp": { + "position": [ + -0.01060717087239027, + -0.018102528527379036, + -0.1500471532344818 + ], + "orientation": [ + 0.7471791505813599, + 0.6500685214996338, + 0.12508295476436615, + 0.059064071625471115 + ], + "joints": [ + 0.01629321463406086 + ] + }, + "final_grasp": { + "position": [ + -0.01060717087239027, + -0.018102528527379036, + -0.1500471532344818 + ], + "orientation": [ + 0.7471791505813599, + 0.6500685214996338, + 0.12508295476436615, + 0.059064071625471115 + ], + "joints": [ + 0.02216518484055996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007482241373509169, + 0.031162962317466736, + -0.14425504207611084 + ], + "orientation": [ + 0.5839357376098633, + 0.8004932999610901, + -0.10394287109375, + -0.08616997301578522 + ], + "joints": [ + 0.012794286012649536 + ] + }, + "fine_grasp": { + "position": [ + 0.006562602240592241, + 0.03173413500189781, + -0.13925296068191528 + ], + "orientation": [ + 0.5878916382789612, + 0.7970897555351257, + -0.10217297077178955, + -0.09269341081380844 + ], + "joints": [ + 0.018772555515170097 + ] + }, + "final_grasp": { + "position": [ + 0.006562602240592241, + 0.03173413500189781, + -0.13925296068191528 + ], + "orientation": [ + 0.5878916382789612, + 0.7970897555351257, + -0.10217297077178955, + -0.09269341081380844 + ], + "joints": [ + 0.02475082501769066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10305558890104294, + 0.024624934419989586, + -0.07003956288099289 + ], + "orientation": [ + 0.6211797595024109, + 0.2134278118610382, + -0.0937478095293045, + -0.7481949329376221 + ], + "joints": [ + 0.011172378435730934 + ] + }, + "fine_grasp": { + "position": [ + -0.10503338277339935, + 0.02483665756881237, + -0.07260966300964355 + ], + "orientation": [ + 0.6180016994476318, + 0.22464823722839355, + -0.08667302876710892, + -0.7483949065208435 + ], + "joints": [ + 0.014945318922400475 + ] + }, + "final_grasp": { + "position": [ + -0.10503338277339935, + 0.02483665756881237, + -0.07260966300964355 + ], + "orientation": [ + 0.6180016994476318, + 0.22464823722839355, + -0.08667302876710892, + -0.7483949065208435 + ], + "joints": [ + 0.018718259409070015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0792827233672142, + -0.04384254664182663, + -0.109012670814991 + ], + "orientation": [ + 0.14457078278064728, + 0.4699400067329407, + -0.8176915049552917, + -0.2993932068347931 + ], + "joints": [ + 0.012567438185214996 + ] + }, + "fine_grasp": { + "position": [ + 0.08261179178953171, + -0.04334999620914459, + -0.10944706946611404 + ], + "orientation": [ + 0.13325677812099457, + 0.4633201062679291, + -0.8159857392311096, + -0.31897419691085815 + ], + "joints": [ + 0.017987731844186783 + ] + }, + "final_grasp": { + "position": [ + 0.08261179178953171, + -0.04334999620914459, + -0.10944706946611404 + ], + "orientation": [ + 0.13325677812099457, + 0.4633201062679291, + -0.8159857392311096, + -0.31897419691085815 + ], + "joints": [ + 0.02340802550315857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05860776826739311, + 0.08083193004131317, + -0.1027621254324913 + ], + "orientation": [ + 0.2598731219768524, + 0.9047979712486267, + 0.3088378608226776, + 0.1357419788837433 + ], + "joints": [ + 0.012460645288228989 + ] + }, + "fine_grasp": { + "position": [ + -0.05747254565358162, + 0.07946272939443588, + -0.10221769660711288 + ], + "orientation": [ + 0.25745779275894165, + 0.9020138382911682, + 0.31322917342185974, + 0.14823640882968903 + ], + "joints": [ + 0.017880938947200775 + ] + }, + "final_grasp": { + "position": [ + -0.05747254565358162, + 0.07946272939443588, + -0.10221769660711288 + ], + "orientation": [ + 0.25745779275894165, + 0.9020138382911682, + 0.31322917342185974, + 0.14823640882968903 + ], + "joints": [ + 0.02330123260617256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036574430763721466, + 0.0816674456000328, + -0.11328935623168945 + ], + "orientation": [ + 0.34226304292678833, + 0.9197216629981995, + 0.18747951090335846, + 0.042654700577259064 + ], + "joints": [ + 0.012965505942702293 + ] + }, + "fine_grasp": { + "position": [ + -0.03860797733068466, + 0.0824434906244278, + -0.11360328644514084 + ], + "orientation": [ + 0.3538912236690521, + 0.9165164232254028, + 0.18366560339927673, + 0.03202557563781738 + ], + "joints": [ + 0.01838580146431923 + ] + }, + "final_grasp": { + "position": [ + -0.03860797733068466, + 0.0824434906244278, + -0.11360328644514084 + ], + "orientation": [ + 0.3538912236690521, + 0.9165164232254028, + 0.18366560339927673, + 0.03202557563781738 + ], + "joints": [ + 0.023806096985936165 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2018, + "num_passed": 427 + } +} \ No newline at end of file diff --git a/clutter_baseball_bat_00000/Annotation/piper_grasp_pose.json b/clutter_baseball_bat_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..c34c8e1978d897da2afbb7aacd9f6cc662d14242 --- /dev/null +++ b/clutter_baseball_bat_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,15468 @@ +{ + "type": "clutter_baseball_bat_00000", + "bottom_center": [ + -0.000535507220774889, + -9.953044354915619e-06, + -0.044779084622859955 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.1029328852891922, + 0.052181027829647064, + 0.05054520070552826 + ], + "orientation": [ + 0.7454671263694763, + 0.15374064445495605, + -0.6247178316116333, + 0.17427018284797668 + ], + "joints": [ + 0.012054435908794403 + ] + }, + "fine_grasp": { + "position": [ + 0.09922068566083908, + 0.050360310822725296, + 0.05104050785303116 + ], + "orientation": [ + 0.7457122802734375, + 0.15322744846343994, + -0.6247530579566956, + 0.17354542016983032 + ], + "joints": [ + 0.0036953319795429707 + ] + }, + "final_grasp": { + "position": [ + 0.09922068566083908, + 0.050360310822725296, + 0.05104050785303116 + ], + "orientation": [ + 0.7457122802734375, + 0.15322744846343994, + -0.6247530579566956, + 0.17354542016983032 + ], + "joints": [ + -0.004663771949708462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10339535772800446, + 0.0523393452167511, + 0.05058741196990013 + ], + "orientation": [ + 0.7461704611778259, + 0.15322056412696838, + -0.6240296959877014, + 0.17418372631072998 + ], + "joints": [ + 0.012604327872395515 + ] + }, + "fine_grasp": { + "position": [ + 0.09971600770950317, + 0.05053166300058365, + 0.05109252408146858 + ], + "orientation": [ + 0.7463143467903137, + 0.1527978479862213, + -0.6241444945335388, + 0.17352616786956787 + ], + "joints": [ + 0.0038272682577371597 + ] + }, + "final_grasp": { + "position": [ + 0.09971600770950317, + 0.05053166300058365, + 0.05109252408146858 + ], + "orientation": [ + 0.7463143467903137, + 0.1527978479862213, + -0.6241444945335388, + 0.17352616786956787 + ], + "joints": [ + -0.004949791356921196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10173938423395157, + 0.04677587002515793, + 0.05850691348314285 + ], + "orientation": [ + 0.15804992616176605, + 0.6468510031700134, + 0.14435964822769165, + -0.7319592833518982 + ], + "joints": [ + 0.012357360683381557 + ] + }, + "fine_grasp": { + "position": [ + 0.0979490801692009, + 0.04499034956097603, + 0.058736901730298996 + ], + "orientation": [ + 0.15634852647781372, + 0.6456276178359985, + 0.14466999471187592, + -0.7333420515060425 + ], + "joints": [ + 0.004416211508214474 + ] + }, + "final_grasp": { + "position": [ + 0.0979490801692009, + 0.04499034956097603, + 0.058736901730298996 + ], + "orientation": [ + 0.15634852647781372, + 0.6456276178359985, + 0.14466999471187592, + -0.7333420515060425 + ], + "joints": [ + -0.00352493766695261 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10347598791122437, + 0.052229057997465134, + 0.051174212247133255 + ], + "orientation": [ + 0.7485020160675049, + 0.15154233574867249, + -0.6214218735694885, + 0.174969881772995 + ], + "joints": [ + 0.012725078500807285 + ] + }, + "fine_grasp": { + "position": [ + 0.09979818016290665, + 0.05042527616024017, + 0.05170322209596634 + ], + "orientation": [ + 0.7486200332641602, + 0.15113046765327454, + -0.6215606331825256, + 0.17432714998722076 + ], + "joints": [ + 0.00394801888614893 + ] + }, + "final_grasp": { + "position": [ + 0.09979818016290665, + 0.05042527616024017, + 0.05170322209596634 + ], + "orientation": [ + 0.7486200332641602, + 0.15113046765327454, + -0.6215606331825256, + 0.17432714998722076 + ], + "joints": [ + -0.004829040728509426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10452871024608612, + 0.05280156806111336, + 0.05079687386751175 + ], + "orientation": [ + 0.747130274772644, + 0.1520908921957016, + -0.6230521202087402, + 0.17455913126468658 + ], + "joints": [ + 0.012975296005606651 + ] + }, + "fine_grasp": { + "position": [ + 0.1009237989783287, + 0.05100826546549797, + 0.05131665989756584 + ], + "orientation": [ + 0.7471421360969543, + 0.15183153748512268, + -0.623252272605896, + 0.17401845753192902 + ], + "joints": [ + 0.0037802811712026596 + ] + }, + "final_grasp": { + "position": [ + 0.1009237989783287, + 0.05100826546549797, + 0.05131665989756584 + ], + "orientation": [ + 0.7471421360969543, + 0.15183153748512268, + -0.623252272605896, + 0.17401845753192902 + ], + "joints": [ + -0.005414733663201332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06867656856775284, + 0.08133787661790848, + 0.062382955104112625 + ], + "orientation": [ + 0.66753751039505, + 0.28158286213874817, + -0.614487886428833, + 0.3122650980949402 + ], + "joints": [ + 0.013073686510324478 + ] + }, + "fine_grasp": { + "position": [ + 0.06765534728765488, + 0.08005277067422867, + 0.06213093921542168 + ], + "orientation": [ + 0.6696828007698059, + 0.28062158823013306, + -0.6120087504386902, + 0.31340324878692627 + ], + "joints": [ + 0.0038786716759204865 + ] + }, + "final_grasp": { + "position": [ + 0.06765534728765488, + 0.08005277067422867, + 0.06213093921542168 + ], + "orientation": [ + 0.6696828007698059, + 0.28062158823013306, + -0.6120087504386902, + 0.31340324878692627 + ], + "joints": [ + -0.005316343158483505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10167603939771652, + 0.04691087082028389, + 0.05878639221191406 + ], + "orientation": [ + 0.1601017266511917, + 0.6446287035942078, + 0.1447312980890274, + -0.7333990335464478 + ], + "joints": [ + 0.012302915565669537 + ] + }, + "fine_grasp": { + "position": [ + 0.09785410016775131, + 0.0452035628259182, + 0.05907396972179413 + ], + "orientation": [ + 0.15826986730098724, + 0.6433613896369934, + 0.14451910555362701, + -0.7349495887756348 + ], + "joints": [ + 0.004361766390502453 + ] + }, + "final_grasp": { + "position": [ + 0.09785410016775131, + 0.0452035628259182, + 0.05907396972179413 + ], + "orientation": [ + 0.15826986730098724, + 0.6433613896369934, + 0.14451910555362701, + -0.7349495887756348 + ], + "joints": [ + -0.003579382784664631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10436517745256424, + 0.05113978311419487, + 0.054441437125205994 + ], + "orientation": [ + 0.16652588546276093, + 0.6234925389289856, + -0.15202637016773224, + 0.7486081123352051 + ], + "joints": [ + 0.012820077128708363 + ] + }, + "fine_grasp": { + "position": [ + -0.10066954046487808, + 0.049382805824279785, + 0.05500242859125137 + ], + "orientation": [ + 0.16585196554660797, + 0.6234137415885925, + -0.1515561044216156, + 0.7489187717437744 + ], + "joints": [ + 0.004043017514050007 + ] + }, + "final_grasp": { + "position": [ + -0.10066954046487808, + 0.049382805824279785, + 0.05500242859125137 + ], + "orientation": [ + 0.16585196554660797, + 0.6234137415885925, + -0.1515561044216156, + 0.7489187717437744 + ], + "joints": [ + -0.004734042100608349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10264052450656891, + 0.05027323588728905, + 0.0552084855735302 + ], + "orientation": [ + 0.16757871210575104, + 0.6208757758140564, + -0.15082170069217682, + 0.7507886290550232 + ], + "joints": [ + 0.012129316106438637 + ] + }, + "fine_grasp": { + "position": [ + -0.0988803580403328, + 0.048488423228263855, + 0.05576016381382942 + ], + "orientation": [ + 0.16672608256340027, + 0.6206691861152649, + -0.1502172350883484, + 0.7512701749801636 + ], + "joints": [ + 0.004188166931271553 + ] + }, + "final_grasp": { + "position": [ + -0.0988803580403328, + 0.048488423228263855, + 0.05576016381382942 + ], + "orientation": [ + 0.16672608256340027, + 0.6206691861152649, + -0.1502172350883484, + 0.7512701749801636 + ], + "joints": [ + -0.0037529822438955307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013085464015603065, + 0.1113734170794487, + 0.05549224093556404 + ], + "orientation": [ + 0.5129114985466003, + 0.4618383049964905, + -0.4204084873199463, + 0.5889684557914734 + ], + "joints": [ + 0.011738144792616367 + ] + }, + "fine_grasp": { + "position": [ + -0.012636296451091766, + 0.10724272578954697, + 0.05609512701630592 + ], + "orientation": [ + 0.5130025148391724, + 0.46109941601753235, + -0.4202096462249756, + 0.5896098017692566 + ], + "joints": [ + 0.0037969958502799273 + ] + }, + "final_grasp": { + "position": [ + -0.012636296451091766, + 0.10724272578954697, + 0.05609512701630592 + ], + "orientation": [ + 0.5130025148391724, + 0.46109941601753235, + -0.4202096462249756, + 0.5896098017692566 + ], + "joints": [ + -0.004144153092056513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09706520289182663, + -0.03821909800171852, + 0.05660291761159897 + ], + "orientation": [ + 0.7657478451728821, + -0.1210024505853653, + 0.6159979104995728, + 0.13976864516735077 + ], + "joints": [ + 0.014070388861000538 + ] + }, + "fine_grasp": { + "position": [ + -0.09558391571044922, + -0.03757312148809433, + 0.05572821944952011 + ], + "orientation": [ + 0.769987165927887, + -0.12006481736898422, + 0.6108071804046631, + 0.14006692171096802 + ], + "joints": [ + 0.004875374026596546 + ] + }, + "final_grasp": { + "position": [ + -0.09558391571044922, + -0.03757312148809433, + 0.05572821944952011 + ], + "orientation": [ + 0.769987165927887, + -0.12006481736898422, + 0.6108071804046631, + 0.14006692171096802 + ], + "joints": [ + -0.0043196408078074455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07864142209291458, + -0.07772461324930191, + 0.06440085917711258 + ], + "orientation": [ + 0.28318995237350464, + -0.607148289680481, + 0.2497546672821045, + 0.699140191078186 + ], + "joints": [ + 0.013163751922547817 + ] + }, + "fine_grasp": { + "position": [ + 0.07569001615047455, + -0.07485171407461166, + 0.06460515409708023 + ], + "orientation": [ + 0.2824534475803375, + -0.6049786806106567, + 0.2504945993423462, + 0.7010515928268433 + ], + "joints": [ + 0.0043866923078894615 + ] + }, + "final_grasp": { + "position": [ + 0.07569001615047455, + -0.07485171407461166, + 0.06460515409708023 + ], + "orientation": [ + 0.2824534475803375, + -0.6049786806106567, + 0.2504945993423462, + 0.7010515928268433 + ], + "joints": [ + -0.004390367306768894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04976871609687805, + -0.09336371719837189, + 0.07582540810108185 + ], + "orientation": [ + 0.6273078322410583, + -0.3529747426509857, + 0.5844131708145142, + 0.3746398985385895 + ], + "joints": [ + 0.013751992024481297 + ] + }, + "fine_grasp": { + "position": [ + -0.049266327172517776, + -0.09257980436086655, + 0.07580823451280594 + ], + "orientation": [ + 0.6286763548851013, + -0.35220617055892944, + 0.5828207731246948, + 0.37554872035980225 + ], + "joints": [ + 0.004556977190077305 + ] + }, + "final_grasp": { + "position": [ + -0.049266327172517776, + -0.09257980436086655, + 0.07580823451280594 + ], + "orientation": [ + 0.6286763548851013, + -0.35220617055892944, + 0.5828207731246948, + 0.37554872035980225 + ], + "joints": [ + -0.004638037644326687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1038937196135521, + -0.03074757382273674, + 0.08617690205574036 + ], + "orientation": [ + 0.10093154013156891, + -0.7068794369697571, + -0.10145421326160431, + -0.6927058100700378 + ], + "joints": [ + 0.014174043200910091 + ] + }, + "fine_grasp": { + "position": [ + -0.1015293225646019, + -0.029794728383421898, + 0.08655473589897156 + ], + "orientation": [ + 0.10053540766239166, + -0.7062847018241882, + -0.10015913844108582, + -0.6935579180717468 + ], + "joints": [ + 0.0049790283665061 + ] + }, + "final_grasp": { + "position": [ + -0.1015293225646019, + -0.029794728383421898, + 0.08655473589897156 + ], + "orientation": [ + 0.10053540766239166, + -0.7062847018241882, + -0.10015913844108582, + -0.6935579180717468 + ], + "joints": [ + -0.004215986467897892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04831932112574577, + -0.09311625361442566, + 0.07590829581022263 + ], + "orientation": [ + 0.6248807907104492, + -0.35542792081832886, + 0.5827140808105469, + 0.37899789214134216 + ], + "joints": [ + 0.01372335571795702 + ] + }, + "fine_grasp": { + "position": [ + -0.04795387387275696, + -0.09267040342092514, + 0.07594536244869232 + ], + "orientation": [ + 0.6260840892791748, + -0.35473957657814026, + 0.5811467170715332, + 0.3800617754459381 + ], + "joints": [ + 0.004528340883553028 + ] + }, + "final_grasp": { + "position": [ + -0.04795387387275696, + -0.09267040342092514, + 0.07594536244869232 + ], + "orientation": [ + 0.6260840892791748, + -0.35473957657814026, + 0.5811467170715332, + 0.3800617754459381 + ], + "joints": [ + -0.004666673950850964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11153005808591843, + -0.025440363213419914, + 0.0902252346277237 + ], + "orientation": [ + 0.6936642527580261, + -0.08131914585828781, + 0.71136474609375, + 0.07859521359205246 + ], + "joints": [ + 0.012886893004179 + ] + }, + "fine_grasp": { + "position": [ + -0.10741226375102997, + -0.024472884833812714, + 0.09036703407764435 + ], + "orientation": [ + 0.6949848532676697, + -0.08067367225885391, + 0.7101919054985046, + 0.07819956541061401 + ], + "joints": [ + 0.004945743829011917 + ] + }, + "final_grasp": { + "position": [ + -0.10741226375102997, + -0.024472884833812714, + 0.09036703407764435 + ], + "orientation": [ + 0.6949848532676697, + -0.08067367225885391, + 0.7101919054985046, + 0.07819956541061401 + ], + "joints": [ + -0.0029954053461551666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03820367529988289, + 0.06741157919168472, + 0.210726797580719 + ], + "orientation": [ + 0.18210045993328094, + 0.810377299785614, + 0.46124011278152466, + -0.3120667636394501 + ], + "joints": [ + 0.015230866149067879 + ] + }, + "fine_grasp": { + "position": [ + 0.03630729764699936, + 0.06406376510858536, + 0.21110332012176514 + ], + "orientation": [ + 0.1816956102848053, + 0.8155975341796875, + 0.4559023678302765, + -0.306497186422348 + ], + "joints": [ + 0.006035851314663887 + ] + }, + "final_grasp": { + "position": [ + 0.03630729764699936, + 0.06406376510858536, + 0.21110332012176514 + ], + "orientation": [ + 0.1816956102848053, + 0.8155975341796875, + 0.4559023678302765, + -0.306497186422348 + ], + "joints": [ + -0.0031591635197401047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10060857236385345, + -0.0366847962141037, + 0.09520426392555237 + ], + "orientation": [ + 0.11817298829555511, + -0.7246561050415039, + 0.1266847550868988, + 0.6669780015945435 + ], + "joints": [ + 0.014100880362093449 + ] + }, + "fine_grasp": { + "position": [ + 0.0987832248210907, + -0.03576496243476868, + 0.09591910988092422 + ], + "orientation": [ + 0.11862465739250183, + -0.7246785163879395, + 0.12726949155330658, + 0.6667620539665222 + ], + "joints": [ + 0.005323820747435093 + ] + }, + "final_grasp": { + "position": [ + 0.0987832248210907, + -0.03576496243476868, + 0.09591910988092422 + ], + "orientation": [ + 0.11862465739250183, + -0.7246785163879395, + 0.12726949155330658, + 0.6667620539665222 + ], + "joints": [ + -0.003453238867223263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10386279970407486, + 0.014567864127457142, + 0.09941349178552628 + ], + "orientation": [ + 0.04461795464158058, + 0.7488393187522888, + -0.05380064249038696, + 0.6590557098388672 + ], + "joints": [ + 0.014490087516605854 + ] + }, + "fine_grasp": { + "position": [ + -0.10298579931259155, + 0.014584227465093136, + 0.10075481235980988 + ], + "orientation": [ + 0.04433005675673485, + 0.751056432723999, + -0.05395100265741348, + 0.6565350890159607 + ], + "joints": [ + 0.005295072682201862 + ] + }, + "final_grasp": { + "position": [ + -0.10298579931259155, + 0.014584227465093136, + 0.10075481235980988 + ], + "orientation": [ + 0.04433005675673485, + 0.751056432723999, + -0.05395100265741348, + 0.6565350890159607 + ], + "joints": [ + -0.0038999421522021294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10319925844669342, + 0.013880327343940735, + 0.09940934181213379 + ], + "orientation": [ + 0.04269217327237129, + 0.7481585741043091, + -0.05179696902632713, + 0.6601160168647766 + ], + "joints": [ + 0.014944146387279034 + ] + }, + "fine_grasp": { + "position": [ + -0.10277038812637329, + 0.01414811983704567, + 0.10083947330713272 + ], + "orientation": [ + 0.04306182637810707, + 0.7506663203239441, + -0.05256492272019386, + 0.657177746295929 + ], + "joints": [ + 0.005331176333129406 + ] + }, + "final_grasp": { + "position": [ + -0.10277038812637329, + 0.01414811983704567, + 0.10083947330713272 + ], + "orientation": [ + 0.04306182637810707, + 0.7506663203239441, + -0.05256492272019386, + 0.657177746295929 + ], + "joints": [ + -0.004281793721020222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008319561369717121, + -0.005124768242239952, + 0.2418079525232315 + ], + "orientation": [ + 0.012531462125480175, + -0.9617597460746765, + -0.27066656947135925, + -0.04001128673553467 + ], + "joints": [ + 0.017366081476211548 + ] + }, + "fine_grasp": { + "position": [ + -0.00608058599755168, + -0.0038187135942280293, + 0.2410500943660736 + ], + "orientation": [ + 0.010423455387353897, + -0.9657467603683472, + -0.2575794458389282, + -0.029620923101902008 + ], + "joints": [ + 0.00775311142206192 + ] + }, + "final_grasp": { + "position": [ + -0.00608058599755168, + -0.0038187135942280293, + 0.2410500943660736 + ], + "orientation": [ + 0.010423455387353897, + -0.9657467603683472, + -0.2575794458389282, + -0.029620923101902008 + ], + "joints": [ + -0.0018598586320877075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05295630544424057, + 0.10172370821237564, + -0.007915106602013111 + ], + "orientation": [ + 0.4239918291568756, + 0.49144455790519714, + -0.2980831563472748, + 0.6998996734619141 + ], + "joints": [ + 0.01197965070605278 + ] + }, + "fine_grasp": { + "position": [ + -0.05096292868256569, + 0.09817108511924744, + -0.007201347034424543 + ], + "orientation": [ + 0.4224422872066498, + 0.49446386098861694, + -0.29915499687194824, + 0.6982508301734924 + ], + "joints": [ + 0.0035996492952108383 + ] + }, + "final_grasp": { + "position": [ + -0.05096292868256569, + 0.09817108511924744, + -0.007201347034424543 + ], + "orientation": [ + 0.4224422872066498, + 0.49446386098861694, + -0.29915499687194824, + 0.6982508301734924 + ], + "joints": [ + -0.0047803521156311035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08664145320653915, + 0.02888677828013897, + 0.21670395135879517 + ], + "orientation": [ + 0.41028720140457153, + 0.1524026095867157, + 0.896766185760498, + -0.06517882645130157 + ], + "joints": [ + 0.01568843424320221 + ] + }, + "fine_grasp": { + "position": [ + -0.08343727141618729, + 0.02780829928815365, + 0.21471790969371796 + ], + "orientation": [ + 0.41540682315826416, + 0.15060395002365112, + 0.8946679830551147, + -0.0657634362578392 + ], + "joints": [ + 0.006075464189052582 + ] + }, + "final_grasp": { + "position": [ + -0.08343727141618729, + 0.02780829928815365, + 0.21471790969371796 + ], + "orientation": [ + 0.41540682315826416, + 0.15060395002365112, + 0.8946679830551147, + -0.0657634362578392 + ], + "joints": [ + -0.003537505865097046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08618976920843124, + 0.028747381642460823, + 0.21723251044750214 + ], + "orientation": [ + 0.4110639691352844, + 0.15052370727062225, + 0.8966661691665649, + -0.06602080911397934 + ], + "joints": [ + 0.015822354704141617 + ] + }, + "fine_grasp": { + "position": [ + -0.08298756182193756, + 0.027643822133541107, + 0.21512019634246826 + ], + "orientation": [ + 0.4142701327800751, + 0.14838625490665436, + 0.8954917192459106, + -0.06675581634044647 + ], + "joints": [ + 0.006209384649991989 + ] + }, + "final_grasp": { + "position": [ + -0.08298756182193756, + 0.027643822133541107, + 0.21512019634246826 + ], + "orientation": [ + 0.4142701327800751, + 0.14838625490665436, + 0.8954917192459106, + -0.06675581634044647 + ], + "joints": [ + -0.0034035854041576385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024421069771051407, + -0.005178057122975588, + 0.2504546344280243 + ], + "orientation": [ + 0.1174328401684761, + -0.12314771860837936, + 0.9853490591049194, + 0.011460831388831139 + ], + "joints": [ + 0.016329877078533173 + ] + }, + "fine_grasp": { + "position": [ + -0.021935170516371727, + -0.004584719892591238, + 0.24894779920578003 + ], + "orientation": [ + 0.1052662804722786, + -0.11570168286561966, + 0.9876357913017273, + 0.010368503630161285 + ], + "joints": [ + 0.006716907024383545 + ] + }, + "final_grasp": { + "position": [ + -0.021935170516371727, + -0.004584719892591238, + 0.24894779920578003 + ], + "orientation": [ + 0.1052662804722786, + -0.11570168286561966, + 0.9876357913017273, + 0.010368503630161285 + ], + "joints": [ + -0.0028960630297660828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004639758728444576, + 0.010101436637341976, + 0.27350446581840515 + ], + "orientation": [ + 0.03181183710694313, + 0.5822200775146484, + 0.8121659159660339, + -0.019858863204717636 + ], + "joints": [ + 0.014761114493012428 + ] + }, + "fine_grasp": { + "position": [ + -0.004671759903430939, + 0.00974588468670845, + 0.2696447968482971 + ], + "orientation": [ + 0.035335246473550797, + 0.5731112360954285, + 0.8184202909469604, + -0.021984674036502838 + ], + "joints": [ + 0.005148144438862801 + ] + }, + "final_grasp": { + "position": [ + -0.004671759903430939, + 0.00974588468670845, + 0.2696447968482971 + ], + "orientation": [ + 0.035335246473550797, + 0.5731112360954285, + 0.8184202909469604, + -0.021984674036502838 + ], + "joints": [ + -0.004464825615286827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053752217441797256, + 0.002896861871704459, + 0.246560737490654 + ], + "orientation": [ + 0.00011696788715198636, + -0.9698227047920227, + -0.055561475455760956, + 0.23739594221115112 + ], + "joints": [ + 0.016111377626657486 + ] + }, + "fine_grasp": { + "position": [ + 0.05142981931567192, + 0.0027246165554970503, + 0.24335569143295288 + ], + "orientation": [ + 0.0002815770567394793, + -0.9698546528816223, + -0.05173396319150925, + 0.23812943696975708 + ], + "joints": [ + 0.006101350300014019 + ] + }, + "final_grasp": { + "position": [ + 0.05142981931567192, + 0.0027246165554970503, + 0.24335569143295288 + ], + "orientation": [ + 0.0002815770567394793, + -0.9698546528816223, + -0.05173396319150925, + 0.23812943696975708 + ], + "joints": [ + -0.003908677026629448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0537460632622242, + 0.0031465196516364813, + 0.24532450735569 + ], + "orientation": [ + 0.0018976092105731368, + -0.9704292416572571, + -0.06609503924846649, + 0.2321528047323227 + ], + "joints": [ + 0.01610960066318512 + ] + }, + "fine_grasp": { + "position": [ + 0.051207173615694046, + 0.0030296596232801676, + 0.24240151047706604 + ], + "orientation": [ + 0.001979005988687277, + -0.9696069955825806, + -0.06290401518344879, + 0.2364349216222763 + ], + "joints": [ + 0.006078675389289856 + ] + }, + "final_grasp": { + "position": [ + 0.051207173615694046, + 0.0030296596232801676, + 0.24240151047706604 + ], + "orientation": [ + 0.001979005988687277, + -0.9696069955825806, + -0.06290401518344879, + 0.2364349216222763 + ], + "joints": [ + -0.003952249884605408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053933460265398026, + 0.0027916603721678257, + 0.2461518496274948 + ], + "orientation": [ + 0.0021229528356343508, + -0.9701927900314331, + -0.06115010753273964, + 0.23448283970355988 + ], + "joints": [ + 0.016176633536815643 + ] + }, + "fine_grasp": { + "position": [ + 0.05151958763599396, + 0.0026266893837600946, + 0.24311432242393494 + ], + "orientation": [ + 0.0023896917700767517, + -0.9697570204734802, + -0.05722321197390556, + 0.23725759983062744 + ], + "joints": [ + 0.00614570826292038 + ] + }, + "final_grasp": { + "position": [ + 0.05151958763599396, + 0.0026266893837600946, + 0.24311432242393494 + ], + "orientation": [ + 0.0023896917700767517, + -0.9697570204734802, + -0.05722321197390556, + 0.23725759983062744 + ], + "joints": [ + -0.003885217010974884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006015401799231768, + -0.003670601872727275, + 0.2637014389038086 + ], + "orientation": [ + 0.004392694681882858, + -0.9082538485527039, + -0.4175988733768463, + -0.02582375518977642 + ], + "joints": [ + 0.015486892312765121 + ] + }, + "fine_grasp": { + "position": [ + -0.005999690853059292, + -0.003440102329477668, + 0.25979819893836975 + ], + "orientation": [ + 0.005348016042262316, + -0.911615788936615, + -0.41008326411247253, + -0.02756490185856819 + ], + "joints": [ + 0.005873922258615494 + ] + }, + "final_grasp": { + "position": [ + -0.005999690853059292, + -0.003440102329477668, + 0.25979819893836975 + ], + "orientation": [ + 0.005348016042262316, + -0.911615788936615, + -0.41008326411247253, + -0.02756490185856819 + ], + "joints": [ + -0.003739047795534134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03244521841406822, + -0.024156952276825905, + 0.2561279237270355 + ], + "orientation": [ + 0.17924323678016663, + -0.3231429159641266, + -0.9275816679000854, + -0.05516112223267555 + ], + "joints": [ + 0.01540948823094368 + ] + }, + "fine_grasp": { + "position": [ + 0.031211871653795242, + -0.023284785449504852, + 0.25243261456489563 + ], + "orientation": [ + 0.17646099627017975, + -0.32109692692756653, + -0.9289005994796753, + -0.05387049913406372 + ], + "joints": [ + 0.006214473396539688 + ] + }, + "final_grasp": { + "position": [ + 0.031211871653795242, + -0.023284785449504852, + 0.25243261456489563 + ], + "orientation": [ + 0.17646099627017975, + -0.32109692692756653, + -0.9289005994796753, + -0.05387049913406372 + ], + "joints": [ + -0.0029805414378643036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006431431043893099, + -0.003969857003539801, + 0.2646944522857666 + ], + "orientation": [ + 0.004755845293402672, + -0.9088492393493652, + -0.41614899039268494, + -0.02811560221016407 + ], + "joints": [ + 0.01547558605670929 + ] + }, + "fine_grasp": { + "position": [ + -0.00629130844026804, + -0.0037708368618041277, + 0.26076510548591614 + ], + "orientation": [ + 0.006242681294679642, + -0.9121094942092896, + -0.4088314175605774, + -0.029567671939730644 + ], + "joints": [ + 0.005862616002559662 + ] + }, + "final_grasp": { + "position": [ + -0.00629130844026804, + -0.0037708368618041277, + 0.26076510548591614 + ], + "orientation": [ + 0.006242681294679642, + -0.9121094942092896, + -0.4088314175605774, + -0.029567671939730644 + ], + "joints": [ + -0.003750354051589966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004244368523359299, + -0.10991137474775314, + 0.20263074338436127 + ], + "orientation": [ + 0.3488951325416565, + -0.6094980835914612, + 0.6034812331199646, + 0.3776169419288635 + ], + "joints": [ + 0.014479978941380978 + ] + }, + "fine_grasp": { + "position": [ + 0.004104197956621647, + -0.1062539592385292, + 0.2011920064687729 + ], + "orientation": [ + 0.3524497151374817, + -0.6068864464759827, + 0.6018418073654175, + 0.3811226785182953 + ], + "joints": [ + 0.004051996394991875 + ] + }, + "final_grasp": { + "position": [ + 0.004104197956621647, + -0.1062539592385292, + 0.2011920064687729 + ], + "orientation": [ + 0.3524497151374817, + -0.6068864464759827, + 0.6018418073654175, + 0.3811226785182953 + ], + "joints": [ + -0.006375986151397228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026782602071762085, + 0.011654566042125225, + 0.2728559374809265 + ], + "orientation": [ + 0.003981979098170996, + 0.9253578782081604, + 0.3597111105918884, + -0.11960259824991226 + ], + "joints": [ + 0.015203818678855896 + ] + }, + "fine_grasp": { + "position": [ + 0.025940094143152237, + 0.011149127967655659, + 0.269014835357666 + ], + "orientation": [ + 0.0064127384684979916, + 0.9277640581130981, + 0.3531917333602905, + -0.12028411030769348 + ], + "joints": [ + 0.005590848624706268 + ] + }, + "final_grasp": { + "position": [ + 0.025940094143152237, + 0.011149127967655659, + 0.269014835357666 + ], + "orientation": [ + 0.0064127384684979916, + 0.9277640581130981, + 0.3531917333602905, + -0.12028411030769348 + ], + "joints": [ + -0.004022121429443359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03151794523000717, + -0.010788923129439354, + 0.26248812675476074 + ], + "orientation": [ + 0.03187871351838112, + -0.9880532622337341, + 0.08364243805408478, + 0.12545298039913177 + ], + "joints": [ + 0.015920370817184448 + ] + }, + "fine_grasp": { + "position": [ + 0.03030438907444477, + -0.010434892028570175, + 0.2586723566055298 + ], + "orientation": [ + 0.032476700842380524, + -0.9872621297836304, + 0.08153543621301651, + 0.13270562887191772 + ], + "joints": [ + 0.0063074007630348206 + ] + }, + "final_grasp": { + "position": [ + 0.03030438907444477, + -0.010434892028570175, + 0.2586723566055298 + ], + "orientation": [ + 0.032476700842380524, + -0.9872621297836304, + 0.08153543621301651, + 0.13270562887191772 + ], + "joints": [ + -0.003305569291114807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07290896028280258, + -0.007741109933704138, + 0.22511008381843567 + ], + "orientation": [ + 0.012232620269060135, + -0.940228283405304, + -0.06882938742637634, + -0.3332923650741577 + ], + "joints": [ + 0.015575423836708069 + ] + }, + "fine_grasp": { + "position": [ + -0.06927389651536942, + -0.007141713984310627, + 0.2238825112581253 + ], + "orientation": [ + 0.01002496201545, + -0.9410005211830139, + -0.07089990377426147, + -0.33074265718460083 + ], + "joints": [ + 0.006380409002304077 + ] + }, + "final_grasp": { + "position": [ + -0.06927389651536942, + -0.007141713984310627, + 0.2238825112581253 + ], + "orientation": [ + 0.01002496201545, + -0.9410005211830139, + -0.07089990377426147, + -0.33074265718460083 + ], + "joints": [ + -0.0028146058320999146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07229194045066833, + -0.007976525463163853, + 0.2247588038444519 + ], + "orientation": [ + 0.012288528494536877, + -0.9415048360824585, + -0.0713207796216011, + -0.32913681864738464 + ], + "joints": [ + 0.015614897012710571 + ] + }, + "fine_grasp": { + "position": [ + -0.06865280121564865, + -0.0075103044509887695, + 0.22336642444133759 + ], + "orientation": [ + 0.01014711894094944, + -0.9418807029724121, + -0.07471516728401184, + -0.32737627625465393 + ], + "joints": [ + 0.006837837398052216 + ] + }, + "final_grasp": { + "position": [ + -0.06865280121564865, + -0.0075103044509887695, + 0.22336642444133759 + ], + "orientation": [ + 0.01014711894094944, + -0.9418807029724121, + -0.07471516728401184, + -0.32737627625465393 + ], + "joints": [ + -0.0019392222166061401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024828171357512474, + -0.09918477386236191, + 0.22500982880592346 + ], + "orientation": [ + 0.29445722699165344, + -0.7286533713340759, + -0.5164118409156799, + -0.34011468291282654 + ], + "joints": [ + 0.014505766332149506 + ] + }, + "fine_grasp": { + "position": [ + -0.024029694497585297, + -0.09599963575601578, + 0.22280427813529968 + ], + "orientation": [ + 0.29711833596229553, + -0.7273197770118713, + -0.515499472618103, + -0.34203341603279114 + ], + "joints": [ + 0.004495739005506039 + ] + }, + "final_grasp": { + "position": [ + -0.024029694497585297, + -0.09599963575601578, + 0.22280427813529968 + ], + "orientation": [ + 0.29711833596229553, + -0.7273197770118713, + -0.515499472618103, + -0.34203341603279114 + ], + "joints": [ + -0.005514288321137428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08338682353496552, + -0.0021619678009301424, + 0.23926302790641785 + ], + "orientation": [ + 0.024797582998871803, + -0.925281286239624, + 0.04238709434866905, + -0.3760887682437897 + ], + "joints": [ + 0.015453718602657318 + ] + }, + "fine_grasp": { + "position": [ + -0.08068282157182693, + -0.002049417467787862, + 0.23637379705905914 + ], + "orientation": [ + 0.025894176214933395, + -0.9267629384994507, + 0.04158861190080643, + -0.37243857979774475 + ], + "joints": [ + 0.00584074854850769 + ] + }, + "final_grasp": { + "position": [ + -0.08068282157182693, + -0.002049417467787862, + 0.23637379705905914 + ], + "orientation": [ + 0.025894176214933395, + -0.9267629384994507, + 0.04158861190080643, + -0.37243857979774475 + ], + "joints": [ + -0.0037722215056419373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10696282237768173, + 0.028431346639990807, + 0.13826344907283783 + ], + "orientation": [ + 0.5770553350448608, + 0.10662337392568588, + -0.8061831593513489, + 0.07554644346237183 + ], + "joints": [ + 0.014144116081297398 + ] + }, + "fine_grasp": { + "position": [ + 0.10297971218824387, + 0.027400048449635506, + 0.1376318782567978 + ], + "orientation": [ + 0.5800754427909851, + 0.10608335584402084, + -0.8041092157363892, + 0.07528046518564224 + ], + "joints": [ + 0.005785011686384678 + ] + }, + "final_grasp": { + "position": [ + 0.10297971218824387, + 0.027400048449635506, + 0.1376318782567978 + ], + "orientation": [ + 0.5800754427909851, + 0.10608335584402084, + -0.8041092157363892, + 0.07528046518564224 + ], + "joints": [ + -0.002574092708528042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044637419283390045, + -0.09673288464546204, + 0.07787597179412842 + ], + "orientation": [ + 0.6186239719390869, + -0.37622198462486267, + 0.5721156001091003, + 0.3852859139442444 + ], + "joints": [ + 0.013726049102842808 + ] + }, + "fine_grasp": { + "position": [ + -0.04391995817422867, + -0.0956406444311142, + 0.0779174342751503 + ], + "orientation": [ + 0.6202579736709595, + -0.3756856620311737, + 0.5702354311943054, + 0.3859689235687256 + ], + "joints": [ + 0.004531034268438816 + ] + }, + "final_grasp": { + "position": [ + -0.04391995817422867, + -0.0956406444311142, + 0.0779174342751503 + ], + "orientation": [ + 0.6202579736709595, + -0.3756856620311737, + 0.5702354311943054, + 0.3859689235687256 + ], + "joints": [ + -0.004663980565965176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08415205031633377, + 0.07251619547605515, + 0.039790790528059006 + ], + "orientation": [ + 0.7424581050872803, + 0.20554278790950775, + 0.5703830122947693, + -0.28490573167800903 + ], + "joints": [ + 0.012062650173902512 + ] + }, + "fine_grasp": { + "position": [ + -0.08102212101221085, + 0.06979610025882721, + 0.04044831171631813 + ], + "orientation": [ + 0.742734432220459, + 0.2047819346189499, + 0.5703113079071045, + -0.2848770022392273 + ], + "joints": [ + 0.0037035460118204355 + ] + }, + "final_grasp": { + "position": [ + -0.08102212101221085, + 0.06979610025882721, + 0.04044831171631813 + ], + "orientation": [ + 0.742734432220459, + 0.2047819346189499, + 0.5703113079071045, + -0.2848770022392273 + ], + "joints": [ + -0.0046555581502616405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08519670367240906, + 0.07354183495044708, + 0.039168745279312134 + ], + "orientation": [ + 0.7416691184043884, + 0.2064274549484253, + 0.5702680945396423, + -0.2865464985370636 + ], + "joints": [ + 0.012068286538124084 + ] + }, + "fine_grasp": { + "position": [ + -0.08203741908073425, + 0.070931576192379, + 0.03990855813026428 + ], + "orientation": [ + 0.741805911064148, + 0.20528116822242737, + 0.5708072185516357, + -0.2859418988227844 + ], + "joints": [ + 0.0037091823760420084 + ] + }, + "final_grasp": { + "position": [ + -0.08203741908073425, + 0.070931576192379, + 0.03990855813026428 + ], + "orientation": [ + 0.741805911064148, + 0.20528116822242737, + 0.5708072185516357, + -0.2859418988227844 + ], + "joints": [ + -0.004649921786040068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10812459886074066, + -0.04924076795578003, + 0.17733198404312134 + ], + "orientation": [ + 0.6189103722572327, + -0.11456187814474106, + 0.7580360770225525, + 0.170900359749794 + ], + "joints": [ + 0.014936979860067368 + ] + }, + "fine_grasp": { + "position": [ + -0.10468854010105133, + -0.04758153110742569, + 0.17620128393173218 + ], + "orientation": [ + 0.6126460433006287, + -0.11599568277597427, + 0.7628467082977295, + 0.1710990071296692 + ], + "joints": [ + 0.00532400980591774 + ] + }, + "final_grasp": { + "position": [ + -0.10468854010105133, + -0.04758153110742569, + 0.17620128393173218 + ], + "orientation": [ + 0.6126460433006287, + -0.11599568277597427, + 0.7628467082977295, + 0.1710990071296692 + ], + "joints": [ + -0.004288960248231888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01105444971472025, + -0.025182373821735382, + 0.25738096237182617 + ], + "orientation": [ + 0.09136651456356049, + -0.4767382740974426, + -0.8716520667076111, + -0.06779039651155472 + ], + "joints": [ + 0.015391724184155464 + ] + }, + "fine_grasp": { + "position": [ + 0.010609063319861889, + -0.024188563227653503, + 0.25357598066329956 + ], + "orientation": [ + 0.09240499883890152, + -0.46173909306526184, + -0.8793497085571289, + -0.07072903960943222 + ], + "joints": [ + 0.0057787541300058365 + ] + }, + "final_grasp": { + "position": [ + 0.010609063319861889, + -0.024188563227653503, + 0.25357598066329956 + ], + "orientation": [ + 0.09240499883890152, + -0.46173909306526184, + -0.8793497085571289, + -0.07072903960943222 + ], + "joints": [ + -0.003834215924143791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03525060415267944, + -0.057331956923007965, + -0.11622238904237747 + ], + "orientation": [ + 0.4505400061607361, + -0.2751953899860382, + -0.1549832671880722, + -0.8350217342376709 + ], + "joints": [ + 0.013780560344457626 + ] + }, + "fine_grasp": { + "position": [ + -0.033268626779317856, + -0.05441293120384216, + -0.11694740504026413 + ], + "orientation": [ + 0.4512382447719574, + -0.26970580220222473, + -0.15357759594917297, + -0.8366938829421997 + ], + "joints": [ + 0.004585545510053635 + ] + }, + "final_grasp": { + "position": [ + -0.033268626779317856, + -0.05441293120384216, + -0.11694740504026413 + ], + "orientation": [ + 0.4512382447719574, + -0.26970580220222473, + -0.15357759594917297, + -0.8366938829421997 + ], + "joints": [ + -0.004609469324350357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02257554791867733, + -0.10711898654699326, + 0.15706191956996918 + ], + "orientation": [ + 0.38154688477516174, + -0.6222363114356995, + 0.500273585319519, + 0.4658007025718689 + ], + "joints": [ + 0.014094278216362 + ] + }, + "fine_grasp": { + "position": [ + 0.021568723022937775, + -0.10315001010894775, + 0.15656201541423798 + ], + "orientation": [ + 0.38220861554145813, + -0.6238736510276794, + 0.4981132447719574, + 0.46538296341896057 + ], + "joints": [ + 0.005317218601703644 + ] + }, + "final_grasp": { + "position": [ + 0.021568723022937775, + -0.10315001010894775, + 0.15656201541423798 + ], + "orientation": [ + 0.38220861554145813, + -0.6238736510276794, + 0.4981132447719574, + 0.46538296341896057 + ], + "joints": [ + -0.003459841012954712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02255377173423767, + -0.10691554844379425, + 0.15698997676372528 + ], + "orientation": [ + 0.38135531544685364, + -0.6222377419471741, + 0.5004913210868835, + 0.46572184562683105 + ], + "joints": [ + 0.014094278216362 + ] + }, + "fine_grasp": { + "position": [ + 0.021525105461478233, + -0.10298226028680801, + 0.15651372075080872 + ], + "orientation": [ + 0.38194960355758667, + -0.624103307723999, + 0.49817851185798645, + 0.4652179777622223 + ], + "joints": [ + 0.005317218601703644 + ] + }, + "final_grasp": { + "position": [ + 0.021525105461478233, + -0.10298226028680801, + 0.15651372075080872 + ], + "orientation": [ + 0.38194960355758667, + -0.624103307723999, + 0.49817851185798645, + 0.4652179777622223 + ], + "joints": [ + -0.003459841012954712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008690308895893395, + 0.002132588066160679, + -0.15142014622688293 + ], + "orientation": [ + 0.7402697801589966, + 0.021082796156406403, + 0.01720263436436653, + -0.6717590689659119 + ], + "joints": [ + 0.012528348714113235 + ] + }, + "fine_grasp": { + "position": [ + 0.0009152399143204093, + 0.002587683266028762, + -0.1473364531993866 + ], + "orientation": [ + 0.7397717237472534, + 0.01812048628926277, + 0.012213340029120445, + -0.6725029349327087 + ], + "joints": [ + 0.004169244319200516 + ] + }, + "final_grasp": { + "position": [ + 0.0009152399143204093, + 0.002587683266028762, + -0.1473364531993866 + ], + "orientation": [ + 0.7397717237472534, + 0.01812048628926277, + 0.012213340029120445, + -0.6725029349327087 + ], + "joints": [ + -0.004189860075712204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11615446954965591, + -0.04337739199399948, + 0.1208365336060524 + ], + "orientation": [ + 0.12140529602766037, + -0.7487708926200867, + 0.12774847447872162, + 0.6389704942703247 + ], + "joints": [ + 0.015308408066630363 + ] + }, + "fine_grasp": { + "position": [ + 0.11248528212308884, + -0.04194264113903046, + 0.12068183720111847 + ], + "orientation": [ + 0.12250634282827377, + -0.7461757659912109, + 0.1275499165058136, + 0.6418293714523315 + ], + "joints": [ + 0.004901323467493057 + ] + }, + "final_grasp": { + "position": [ + 0.11248528212308884, + -0.04194264113903046, + 0.12068183720111847 + ], + "orientation": [ + 0.12250634282827377, + -0.7461757659912109, + 0.1275499165058136, + 0.6418293714523315 + ], + "joints": [ + -0.005505761131644249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057810913771390915, + -0.06832757592201233, + -0.10701721906661987 + ], + "orientation": [ + 0.374123752117157, + -0.4027473032474518, + 0.19021646678447723, + 0.8134149312973022 + ], + "joints": [ + 0.013062131591141224 + ] + }, + "fine_grasp": { + "position": [ + 0.055978357791900635, + -0.06597724556922913, + -0.1047888845205307 + ], + "orientation": [ + 0.3727715313434601, + -0.40414801239967346, + 0.19174300134181976, + 0.8129823207855225 + ], + "joints": [ + 0.0046821292489767075 + ] + }, + "final_grasp": { + "position": [ + 0.055978357791900635, + -0.06597724556922913, + -0.1047888845205307 + ], + "orientation": [ + 0.3727715313434601, + -0.40414801239967346, + 0.19174300134181976, + 0.8129823207855225 + ], + "joints": [ + -0.003697873093187809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05945911630988121, + -0.07032719254493713, + -0.10925904661417007 + ], + "orientation": [ + 0.37468069791793823, + -0.4016185402870178, + 0.18986208736896515, + 0.8137993216514587 + ], + "joints": [ + 0.011880663223564625 + ] + }, + "fine_grasp": { + "position": [ + 0.05721805617213249, + -0.067704938352108, + -0.106806680560112 + ], + "orientation": [ + 0.3740384876728058, + -0.4026821255683899, + 0.1906932145357132, + 0.8133748173713684 + ], + "joints": [ + 0.003939514048397541 + ] + }, + "final_grasp": { + "position": [ + 0.05721805617213249, + -0.067704938352108, + -0.106806680560112 + ], + "orientation": [ + 0.3740384876728058, + -0.4026821255683899, + 0.1906932145357132, + 0.8133748173713684 + ], + "joints": [ + -0.004001635126769543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0827716737985611, + -0.03261299431324005, + 0.23488101363182068 + ], + "orientation": [ + 0.3942846357822418, + -0.09489568322896957, + -0.9079474210739136, + -0.10566948354244232 + ], + "joints": [ + 0.015375658869743347 + ] + }, + "fine_grasp": { + "position": [ + 0.08006234467029572, + -0.03157256916165352, + 0.23213866353034973 + ], + "orientation": [ + 0.38900190591812134, + -0.09425576031208038, + -0.9103121161460876, + -0.10547619313001633 + ], + "joints": [ + 0.0057626888155937195 + ] + }, + "final_grasp": { + "position": [ + 0.08006234467029572, + -0.03157256916165352, + 0.23213866353034973 + ], + "orientation": [ + 0.38900190591812134, + -0.09425576031208038, + -0.9103121161460876, + -0.10547619313001633 + ], + "joints": [ + -0.003850281238555908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08247485756874084, + -0.03246353566646576, + 0.2348584085702896 + ], + "orientation": [ + 0.3937532901763916, + -0.0955653265118599, + -0.9081777334213257, + -0.10506540536880493 + ], + "joints": [ + 0.015350006520748138 + ] + }, + "fine_grasp": { + "position": [ + 0.07976866513490677, + -0.031424712389707565, + 0.23211239278316498 + ], + "orientation": [ + 0.38853898644447327, + -0.09496323764324188, + -0.9105009436607361, + -0.10491721332073212 + ], + "joints": [ + 0.005737036466598511 + ] + }, + "final_grasp": { + "position": [ + 0.07976866513490677, + -0.031424712389707565, + 0.23211239278316498 + ], + "orientation": [ + 0.38853898644447327, + -0.09496323764324188, + -0.9105009436607361, + -0.10491721332073212 + ], + "joints": [ + -0.003875933587551117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007998018525540829, + -0.10670153051614761, + 0.09803253412246704 + ], + "orientation": [ + 0.4494713544845581, + -0.5431615114212036, + -0.5122445821762085, + -0.4904656708240509 + ], + "joints": [ + 0.01357050146907568 + ] + }, + "fine_grasp": { + "position": [ + -0.008075899444520473, + -0.10500866174697876, + 0.09908736497163773 + ], + "orientation": [ + 0.4477386772632599, + -0.5445509552955627, + -0.5132046937942505, + -0.48950520157814026 + ], + "joints": [ + 0.004375486634671688 + ] + }, + "final_grasp": { + "position": [ + -0.008075899444520473, + -0.10500866174697876, + 0.09908736497163773 + ], + "orientation": [ + 0.4477386772632599, + -0.5445509552955627, + -0.5132046937942505, + -0.48950520157814026 + ], + "joints": [ + -0.004819528199732304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007803487125784159, + -0.10700692981481552, + 0.09816272556781769 + ], + "orientation": [ + 0.44915175437927246, + -0.5410054922103882, + -0.513709306716919, + -0.4916081428527832 + ], + "joints": [ + 0.013545903377234936 + ] + }, + "fine_grasp": { + "position": [ + -0.00786262284964323, + -0.10516120493412018, + 0.09923305362462997 + ], + "orientation": [ + 0.44739043712615967, + -0.5422224402427673, + -0.5147261619567871, + -0.4908091723918915 + ], + "joints": [ + 0.004350888542830944 + ] + }, + "final_grasp": { + "position": [ + -0.00786262284964323, + -0.10516120493412018, + 0.09923305362462997 + ], + "orientation": [ + 0.44739043712615967, + -0.5422224402427673, + -0.5147261619567871, + -0.4908091723918915 + ], + "joints": [ + -0.004844126291573048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0071126967668533325, + -0.08016939461231232, + 0.22692039608955383 + ], + "orientation": [ + 0.2604295611381531, + -0.6470067501068115, + -0.647570788860321, + -0.3069378137588501 + ], + "joints": [ + 0.013204582035541534 + ] + }, + "fine_grasp": { + "position": [ + -0.006921261548995972, + -0.07712260633707047, + 0.2242056429386139 + ], + "orientation": [ + 0.25517982244491577, + -0.6436309218406677, + -0.653778076171875, + -0.3052814304828644 + ], + "joints": [ + 0.004427522420883179 + ] + }, + "final_grasp": { + "position": [ + -0.006921261548995972, + -0.07712260633707047, + 0.2242056429386139 + ], + "orientation": [ + 0.25517982244491577, + -0.6436309218406677, + -0.653778076171875, + -0.3052814304828644 + ], + "joints": [ + -0.004349537193775177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07947837561368942, + -0.0783032774925232, + 0.06422589719295502 + ], + "orientation": [ + 0.2820442318916321, + -0.6061965227127075, + 0.25034382939338684, + 0.700217604637146 + ], + "joints": [ + 0.012906145304441452 + ] + }, + "fine_grasp": { + "position": [ + 0.07653456926345825, + -0.07541798055171967, + 0.06453971564769745 + ], + "orientation": [ + 0.2807188928127289, + -0.6043143272399902, + 0.25123658776283264, + 0.7020549774169922 + ], + "joints": [ + 0.004526142962276936 + ] + }, + "final_grasp": { + "position": [ + 0.07653456926345825, + -0.07541798055171967, + 0.06453971564769745 + ], + "orientation": [ + 0.2807188928127289, + -0.6043143272399902, + 0.25123658776283264, + 0.7020549774169922 + ], + "joints": [ + -0.003853859379887581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01927012763917446, + -0.1125548854470253, + 0.09000067412853241 + ], + "orientation": [ + 0.5334436893463135, + -0.4660767614841461, + -0.5485749840736389, + -0.4441573917865753 + ], + "joints": [ + 0.012553630396723747 + ] + }, + "fine_grasp": { + "position": [ + 0.018580544739961624, + -0.10848496109247208, + 0.09012649208307266 + ], + "orientation": [ + 0.5350426435470581, + -0.46641573309898376, + -0.5470752716064453, + -0.4437277615070343 + ], + "joints": [ + 0.0041945260018110275 + ] + }, + "final_grasp": { + "position": [ + 0.018580544739961624, + -0.10848496109247208, + 0.09012649208307266 + ], + "orientation": [ + 0.5350426435470581, + -0.46641573309898376, + -0.5470752716064453, + -0.4437277615070343 + ], + "joints": [ + -0.004164578393101692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010236403904855251, + 0.04304477572441101, + -0.1311267465353012 + ], + "orientation": [ + 0.7358096837997437, + 0.12185332179069519, + -0.1700245887041092, + 0.6440709829330444 + ], + "joints": [ + 0.013036204501986504 + ] + }, + "fine_grasp": { + "position": [ + 0.009713235311210155, + 0.042038317769765854, + -0.13028939068317413 + ], + "orientation": [ + 0.7362591028213501, + 0.12149915099143982, + -0.1662302017211914, + 0.6446145176887512 + ], + "joints": [ + 0.004259144887328148 + ] + }, + "final_grasp": { + "position": [ + 0.009713235311210155, + 0.042038317769765854, + -0.13028939068317413 + ], + "orientation": [ + 0.7362591028213501, + 0.12149915099143982, + -0.1662302017211914, + 0.6446145176887512 + ], + "joints": [ + -0.004517914727330208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08759450912475586, + 0.09459814429283142, + 0.14192503690719604 + ], + "orientation": [ + 0.5833393335342407, + 0.28857627511024475, + 0.7084121108055115, + -0.27311408519744873 + ], + "joints": [ + 0.014970595017075539 + ] + }, + "fine_grasp": { + "position": [ + -0.0849498063325882, + 0.09167561680078506, + 0.141637921333313 + ], + "orientation": [ + 0.5856010317802429, + 0.2875416874885559, + 0.7063286304473877, + -0.2747564911842346 + ], + "joints": [ + 0.0057337842881679535 + ] + }, + "final_grasp": { + "position": [ + -0.0849498063325882, + 0.09167561680078506, + 0.141637921333313 + ], + "orientation": [ + 0.5856010317802429, + 0.2875416874885559, + 0.7063286304473877, + -0.2747564911842346 + ], + "joints": [ + -0.0035030264407396317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12162970751523972, + 0.004972544964402914, + 0.07104912400245667 + ], + "orientation": [ + 0.057165514677762985, + -0.6844971776008606, + 0.08087052404880524, + -0.7222573757171631 + ], + "joints": [ + 0.014097793959081173 + ] + }, + "fine_grasp": { + "position": [ + -0.11761389672756195, + 0.004907905124127865, + 0.07135231792926788 + ], + "orientation": [ + 0.05882234871387482, + -0.6835581064224243, + 0.08156834542751312, + -0.7229349613189697 + ], + "joints": [ + 0.004902779124677181 + ] + }, + "final_grasp": { + "position": [ + -0.11761389672756195, + 0.004907905124127865, + 0.07135231792926788 + ], + "orientation": [ + 0.05882234871387482, + -0.6835581064224243, + 0.08156834542751312, + -0.7229349613189697 + ], + "joints": [ + -0.0042922357097268105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07144277542829514, + -0.08638674020767212, + 0.06520761549472809 + ], + "orientation": [ + 0.3043319582939148, + -0.590510368347168, + 0.2923000752925873, + 0.6879246234893799 + ], + "joints": [ + 0.01229140069335699 + ] + }, + "fine_grasp": { + "position": [ + 0.06877291202545166, + -0.08315194398164749, + 0.06555876135826111 + ], + "orientation": [ + 0.30129474401474, + -0.5877710580825806, + 0.29461196064949036, + 0.6906160712242126 + ], + "joints": [ + 0.004350251518189907 + ] + }, + "final_grasp": { + "position": [ + 0.06877291202545166, + -0.08315194398164749, + 0.06555876135826111 + ], + "orientation": [ + 0.30129474401474, + -0.5877710580825806, + 0.29461196064949036, + 0.6906160712242126 + ], + "joints": [ + -0.0035908976569771767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06307035684585571, + 0.10033813118934631, + 0.13176219165325165 + ], + "orientation": [ + 0.3119317293167114, + 0.7027723789215088, + 0.36086392402648926, + -0.5278133153915405 + ], + "joints": [ + 0.014621791429817677 + ] + }, + "fine_grasp": { + "position": [ + 0.060861993581056595, + 0.09709978103637695, + 0.1313825398683548 + ], + "orientation": [ + 0.3133455216884613, + 0.7006703615188599, + 0.35839971899986267, + -0.5314370393753052 + ], + "joints": [ + 0.004193808883428574 + ] + }, + "final_grasp": { + "position": [ + 0.060861993581056595, + 0.09709978103637695, + 0.1313825398683548 + ], + "orientation": [ + 0.3133455216884613, + 0.7006703615188599, + 0.35839971899986267, + -0.5314370393753052 + ], + "joints": [ + -0.006234173662960529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011023965664207935, + 0.041660286486148834, + -0.13305340707302094 + ], + "orientation": [ + 0.7371717691421509, + 0.11807060986757278, + -0.17171162366867065, + 0.6427690982818604 + ], + "joints": [ + 0.013766077347099781 + ] + }, + "fine_grasp": { + "position": [ + 0.010816930793225765, + 0.04020223021507263, + -0.131890207529068 + ], + "orientation": [ + 0.738611102104187, + 0.11364077031612396, + -0.1657465696334839, + 0.6434807181358337 + ], + "joints": [ + 0.004571062512695789 + ] + }, + "final_grasp": { + "position": [ + 0.010816930793225765, + 0.04020223021507263, + -0.131890207529068 + ], + "orientation": [ + 0.738611102104187, + 0.11364077031612396, + -0.1657465696334839, + 0.6434807181358337 + ], + "joints": [ + -0.004623952321708202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12089795619249344, + 0.004960010759532452, + 0.07110648602247238 + ], + "orientation": [ + 0.054660920053720474, + -0.68450528383255, + 0.07853025943040848, + -0.7227016687393188 + ], + "joints": [ + 0.014273840934038162 + ] + }, + "fine_grasp": { + "position": [ + -0.11688213050365448, + 0.004896650090813637, + 0.07141055166721344 + ], + "orientation": [ + 0.056362975388765335, + -0.6835513114929199, + 0.07929481565952301, + -0.7233901619911194 + ], + "joints": [ + 0.0050788260996341705 + ] + }, + "final_grasp": { + "position": [ + -0.11688213050365448, + 0.004896650090813637, + 0.07141055166721344 + ], + "orientation": [ + 0.056362975388765335, + -0.6835513114929199, + 0.07929481565952301, + -0.7233901619911194 + ], + "joints": [ + -0.004116188734769821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10399635136127472, + 0.036520786583423615, + 0.09561581909656525 + ], + "orientation": [ + 0.11745870858430862, + 0.7200101613998413, + 0.11685368418693542, + -0.6738945841789246 + ], + "joints": [ + 0.014047748409211636 + ] + }, + "fine_grasp": { + "position": [ + 0.10043415427207947, + 0.03538414463400841, + 0.09598739445209503 + ], + "orientation": [ + 0.11898966133594513, + 0.7193921208381653, + 0.11666730791330338, + -0.6743183135986328 + ], + "joints": [ + 0.00527068879455328 + ] + }, + "final_grasp": { + "position": [ + 0.10043415427207947, + 0.03538414463400841, + 0.09598739445209503 + ], + "orientation": [ + 0.11898966133594513, + 0.7193921208381653, + 0.11666730791330338, + -0.6743183135986328 + ], + "joints": [ + -0.003506370820105076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11120450496673584, + -0.03424081206321716, + 0.06864039599895477 + ], + "orientation": [ + 0.7215981483459473, + -0.09631121903657913, + 0.6756442189216614, + 0.11629699170589447 + ], + "joints": [ + 0.012590734288096428 + ] + }, + "fine_grasp": { + "position": [ + -0.10719083994626999, + -0.033052846789360046, + 0.06896813958883286 + ], + "orientation": [ + 0.7224760055541992, + -0.09549044817686081, + 0.6748296618461609, + 0.11625367403030396 + ], + "joints": [ + 0.004231629893183708 + ] + }, + "final_grasp": { + "position": [ + -0.10719083994626999, + -0.033052846789360046, + 0.06896813958883286 + ], + "orientation": [ + 0.7224760055541992, + -0.09549044817686081, + 0.6748296618461609, + 0.11625367403030396 + ], + "joints": [ + -0.0041274745017290115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09632032364606857, + 0.03442028909921646, + -0.09250874817371368 + ], + "orientation": [ + 0.16120749711990356, + 0.5156270861625671, + 0.08082065731287003, + -0.8376209735870361 + ], + "joints": [ + 0.01255241222679615 + ] + }, + "fine_grasp": { + "position": [ + 0.09275992214679718, + 0.03322573006153107, + -0.09063109755516052 + ], + "orientation": [ + 0.16099663078784943, + 0.5161496996879578, + 0.08114088326692581, + -0.8373087644577026 + ], + "joints": [ + 0.0046112630516290665 + ] + }, + "final_grasp": { + "position": [ + 0.09275992214679718, + 0.03322573006153107, + -0.09063109755516052 + ], + "orientation": [ + 0.16099663078784943, + 0.5161496996879578, + 0.08114088326692581, + -0.8373087644577026 + ], + "joints": [ + -0.0033298861235380173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07332147657871246, + 0.10255591571331024, + 0.10993624478578568 + ], + "orientation": [ + 0.6392855048179626, + 0.3670521378517151, + 0.6149066090583801, + -0.28013691306114197 + ], + "joints": [ + 0.015059010125696659 + ] + }, + "fine_grasp": { + "position": [ + -0.07114921510219574, + 0.09928656369447708, + 0.11001427471637726 + ], + "orientation": [ + 0.6400139927864075, + 0.3682194650173187, + 0.6129228472709656, + -0.2812862694263458 + ], + "joints": [ + 0.004651925526559353 + ] + }, + "final_grasp": { + "position": [ + -0.07114921510219574, + 0.09928656369447708, + 0.11001427471637726 + ], + "orientation": [ + 0.6400139927864075, + 0.3682194650173187, + 0.6129228472709656, + -0.2812862694263458 + ], + "joints": [ + -0.005755159072577953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10577195137739182, + -0.04745325446128845, + 0.14496321976184845 + ], + "orientation": [ + 0.1346987783908844, + -0.766620397567749, + 0.15834099054336548, + 0.6075174808502197 + ], + "joints": [ + 0.015019316226243973 + ] + }, + "fine_grasp": { + "position": [ + 0.1021399199962616, + -0.045849062502384186, + 0.14454489946365356 + ], + "orientation": [ + 0.1349119395017624, + -0.7648916244506836, + 0.157351553440094, + 0.6099016070365906 + ], + "joints": [ + 0.005824301391839981 + ] + }, + "final_grasp": { + "position": [ + 0.1021399199962616, + -0.045849062502384186, + 0.14454489946365356 + ], + "orientation": [ + 0.1349119395017624, + -0.7648916244506836, + 0.157351553440094, + 0.6099016070365906 + ], + "joints": [ + -0.0033707134425640106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07160220295190811, + 0.09984473139047623, + 0.11341286450624466 + ], + "orientation": [ + 0.6150076985359192, + 0.36873888969421387, + -0.6395821571350098, + 0.27700504660606384 + ], + "joints": [ + 0.014966591261327267 + ] + }, + "fine_grasp": { + "position": [ + 0.06928345561027527, + 0.09667137265205383, + 0.11336200684309006 + ], + "orientation": [ + 0.6172221899032593, + 0.36816662549972534, + -0.637851893901825, + 0.2768303453922272 + ], + "joints": [ + 0.004538608714938164 + ] + }, + "final_grasp": { + "position": [ + 0.06928345561027527, + 0.09667137265205383, + 0.11336200684309006 + ], + "orientation": [ + 0.6172221899032593, + 0.36816662549972534, + -0.637851893901825, + 0.2768303453922272 + ], + "joints": [ + -0.005889373831450939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07278165966272354, + 0.10148470103740692, + 0.10948298871517181 + ], + "orientation": [ + 0.6340359449386597, + 0.36335882544517517, + 0.6208610534667969, + -0.2837255895137787 + ], + "joints": [ + 0.014759421348571777 + ] + }, + "fine_grasp": { + "position": [ + -0.07062181830406189, + 0.0982004925608635, + 0.10954852402210236 + ], + "orientation": [ + 0.6348521113395691, + 0.36443957686424255, + 0.6187793612480164, + -0.2850589454174042 + ], + "joints": [ + 0.004352336749434471 + ] + }, + "final_grasp": { + "position": [ + -0.07062181830406189, + 0.0982004925608635, + 0.10954852402210236 + ], + "orientation": [ + 0.6348521113395691, + 0.36443957686424255, + 0.6187793612480164, + -0.2850589454174042 + ], + "joints": [ + -0.006054747849702835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0029195670504122972, + 0.005044178571552038, + -0.13284018635749817 + ], + "orientation": [ + 0.15224581956863403, + 0.011258055455982685, + 0.022495929151773453, + -0.9880224466323853 + ], + "joints": [ + 0.014471699483692646 + ] + }, + "fine_grasp": { + "position": [ + 0.0024540747981518507, + 0.004751887172460556, + -0.13163608312606812 + ], + "orientation": [ + 0.14950816333293915, + 0.011934168636798859, + 0.02165454626083374, + -0.9884512424468994 + ], + "joints": [ + 0.004858729429543018 + ] + }, + "final_grasp": { + "position": [ + 0.0024540747981518507, + 0.004751887172460556, + -0.13163608312606812 + ], + "orientation": [ + 0.14950816333293915, + 0.011934168636798859, + 0.02165454626083374, + -0.9884512424468994 + ], + "joints": [ + -0.004754240624606609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011681356467306614, + 0.042285166680812836, + -0.13377360999584198 + ], + "orientation": [ + 0.7428998947143555, + 0.11286304891109467, + -0.16757740080356598, + 0.6381844282150269 + ], + "joints": [ + 0.013791382312774658 + ] + }, + "fine_grasp": { + "position": [ + 0.011376808397471905, + 0.04049695283174515, + -0.13220280408859253 + ], + "orientation": [ + 0.7452713251113892, + 0.11168806999921799, + -0.16433340311050415, + 0.636467456817627 + ], + "joints": [ + 0.0041784122586250305 + ] + }, + "final_grasp": { + "position": [ + 0.011376808397471905, + 0.04049695283174515, + -0.13220280408859253 + ], + "orientation": [ + 0.7452713251113892, + 0.11168806999921799, + -0.16433340311050415, + 0.636467456817627 + ], + "joints": [ + -0.005434557795524597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012583065778017044, + 0.03180205821990967, + -0.12951599061489105 + ], + "orientation": [ + 0.785611093044281, + 0.08740174025297165, + -0.13987596333026886, + 0.5963311791419983 + ], + "joints": [ + 0.014080648310482502 + ] + }, + "fine_grasp": { + "position": [ + 0.012198681943118572, + 0.03006410039961338, + -0.12978501617908478 + ], + "orientation": [ + 0.7871673107147217, + 0.08112043142318726, + -0.13314272463321686, + 0.5967077016830444 + ], + "joints": [ + 0.00488563347607851 + ] + }, + "final_grasp": { + "position": [ + 0.012198681943118572, + 0.03006410039961338, + -0.12978501617908478 + ], + "orientation": [ + 0.7871673107147217, + 0.08112043142318726, + -0.13314272463321686, + 0.5967077016830444 + ], + "joints": [ + -0.004309381358325481 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06084667891263962, + 0.09435200691223145, + 0.10994803160429001 + ], + "orientation": [ + 0.29192373156547546, + 0.671758770942688, + -0.38401955366134644, + 0.5621828436851501 + ], + "joints": [ + 0.012377840466797352 + ] + }, + "fine_grasp": { + "position": [ + -0.05861364305019379, + 0.09080083668231964, + 0.10992777347564697 + ], + "orientation": [ + 0.2900225818157196, + 0.6693804860115051, + -0.3862822353839874, + 0.5644489526748657 + ], + "joints": [ + 0.004018736071884632 + ] + }, + "final_grasp": { + "position": [ + -0.05861364305019379, + 0.09080083668231964, + 0.10992777347564697 + ], + "orientation": [ + 0.2900225818157196, + 0.6693804860115051, + -0.3862822353839874, + 0.5644489526748657 + ], + "joints": [ + -0.004340368323028088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02172313630580902, + 0.10775867849588394, + 0.18262341618537903 + ], + "orientation": [ + 0.43195202946662903, + 0.4985015094280243, + 0.6484256386756897, + -0.3800761103630066 + ], + "joints": [ + 0.013400545343756676 + ] + }, + "fine_grasp": { + "position": [ + -0.020905818790197372, + 0.10386256128549576, + 0.1816965788602829 + ], + "orientation": [ + 0.4318046271800995, + 0.49615439772605896, + 0.6495488882064819, + -0.3813944458961487 + ], + "joints": [ + 0.00462348572909832 + ] + }, + "final_grasp": { + "position": [ + -0.020905818790197372, + 0.10386256128549576, + 0.1816965788602829 + ], + "orientation": [ + 0.4318046271800995, + 0.49615439772605896, + 0.6495488882064819, + -0.3813944458961487 + ], + "joints": [ + -0.004153573885560036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05475594103336334, + 0.09079604595899582, + 0.09638997167348862 + ], + "orientation": [ + 0.5889153480529785, + 0.3739718794822693, + -0.6414336562156677, + 0.3191969394683838 + ], + "joints": [ + 0.013770093210041523 + ] + }, + "fine_grasp": { + "position": [ + 0.05408858135342598, + 0.08952172845602036, + 0.097270667552948 + ], + "orientation": [ + 0.5881766080856323, + 0.37529420852661133, + -0.6421319842338562, + 0.31759878993034363 + ], + "joints": [ + 0.004575078375637531 + ] + }, + "final_grasp": { + "position": [ + 0.05408858135342598, + 0.08952172845602036, + 0.097270667552948 + ], + "orientation": [ + 0.5881766080856323, + 0.37529420852661133, + -0.6421319842338562, + 0.31759878993034363 + ], + "joints": [ + -0.00461993645876646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07789041846990585, + 0.07064178586006165, + 0.09067228436470032 + ], + "orientation": [ + 0.22342658042907715, + 0.6830134987831116, + 0.28533896803855896, + -0.6341567039489746 + ], + "joints": [ + 0.013900499790906906 + ] + }, + "fine_grasp": { + "position": [ + 0.07728017866611481, + 0.06988285481929779, + 0.09174179285764694 + ], + "orientation": [ + 0.22155161201953888, + 0.6838453412055969, + 0.28730639815330505, + -0.6330287456512451 + ], + "joints": [ + 0.004705484956502914 + ] + }, + "final_grasp": { + "position": [ + 0.07728017866611481, + 0.06988285481929779, + 0.09174179285764694 + ], + "orientation": [ + 0.22155161201953888, + 0.6838453412055969, + 0.28730639815330505, + -0.6330287456512451 + ], + "joints": [ + -0.004489529877901077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05478055030107498, + 0.09093355387449265, + 0.09631211310625076 + ], + "orientation": [ + 0.589119017124176, + 0.37257251143455505, + -0.6413732767105103, + 0.32057592272758484 + ], + "joints": [ + 0.013738595880568027 + ] + }, + "fine_grasp": { + "position": [ + 0.05414189398288727, + 0.08961451053619385, + 0.09719341993331909 + ], + "orientation": [ + 0.5883491039276123, + 0.3738255202770233, + -0.6420601010322571, + 0.31915283203125 + ], + "joints": [ + 0.004543581046164036 + ] + }, + "final_grasp": { + "position": [ + 0.05414189398288727, + 0.08961451053619385, + 0.09719341993331909 + ], + "orientation": [ + 0.5883491039276123, + 0.3738255202770233, + -0.6420601010322571, + 0.31915283203125 + ], + "joints": [ + -0.004651433788239956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09015056490898132, + 0.05637923255562782, + 0.0916161760687828 + ], + "orientation": [ + 0.6634000539779663, + 0.22357039153575897, + -0.6945341229438782, + 0.16594913601875305 + ], + "joints": [ + 0.014281226322054863 + ] + }, + "fine_grasp": { + "position": [ + 0.08901233226060867, + 0.05530466139316559, + 0.09229953587055206 + ], + "orientation": [ + 0.6635936498641968, + 0.22472548484802246, + -0.6945712566375732, + 0.16343970596790314 + ], + "joints": [ + 0.005086211487650871 + ] + }, + "final_grasp": { + "position": [ + 0.08901233226060867, + 0.05530466139316559, + 0.09229953587055206 + ], + "orientation": [ + 0.6635936498641968, + 0.22472548484802246, + -0.6945712566375732, + 0.16343970596790314 + ], + "joints": [ + -0.00410880334675312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05557253956794739, + 0.10416902601718903, + 0.06426753103733063 + ], + "orientation": [ + 0.3470625877380371, + 0.5712853074073792, + -0.3794019818305969, + 0.6397145390510559 + ], + "joints": [ + 0.012131508439779282 + ] + }, + "fine_grasp": { + "position": [ + -0.05353742092847824, + 0.1006004586815834, + 0.06457804143428802 + ], + "orientation": [ + 0.3460582494735718, + 0.5706508159637451, + -0.3788692355155945, + 0.6411392092704773 + ], + "joints": [ + 0.003354449523612857 + ] + }, + "final_grasp": { + "position": [ + -0.05353742092847824, + 0.1006004586815834, + 0.06457804143428802 + ], + "orientation": [ + 0.3460582494735718, + 0.5706508159637451, + -0.3788692355155945, + 0.6411392092704773 + ], + "joints": [ + -0.005422609392553568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01038285717368126, + 0.04277384653687477, + -0.13220328092575073 + ], + "orientation": [ + 0.7324170470237732, + 0.11653952300548553, + -0.16498097777366638, + 0.6502040028572083 + ], + "joints": [ + 0.013779642060399055 + ] + }, + "fine_grasp": { + "position": [ + 0.00965092983096838, + 0.04118277505040169, + -0.13114693760871887 + ], + "orientation": [ + 0.7318089604377747, + 0.11597344279289246, + -0.16114464402198792, + 0.6519496440887451 + ], + "joints": [ + 0.004166672006249428 + ] + }, + "final_grasp": { + "position": [ + 0.00965092983096838, + 0.04118277505040169, + -0.13114693760871887 + ], + "orientation": [ + 0.7318089604377747, + 0.11597344279289246, + -0.16114464402198792, + 0.6519496440887451 + ], + "joints": [ + -0.0054462980479002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056199073791503906, + 0.10551353543996811, + 0.06351197510957718 + ], + "orientation": [ + 0.3453609049320221, + 0.5738110542297363, + -0.3811053931713104, + 0.6373581886291504 + ], + "joints": [ + 0.012176547199487686 + ] + }, + "fine_grasp": { + "position": [ + -0.054183218628168106, + 0.10200057178735733, + 0.06379268318414688 + ], + "orientation": [ + 0.3442988097667694, + 0.5733172297477722, + -0.3804008364677429, + 0.6387965679168701 + ], + "joints": [ + 0.0033994882833212614 + ] + }, + "final_grasp": { + "position": [ + -0.054183218628168106, + 0.10200057178735733, + 0.06379268318414688 + ], + "orientation": [ + 0.3442988097667694, + 0.5733172297477722, + -0.3804008364677429, + 0.6387965679168701 + ], + "joints": [ + -0.005377570632845163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006733965128660202, + 0.11389276385307312, + 0.11160672456026077 + ], + "orientation": [ + 0.4466383159160614, + 0.5786452293395996, + -0.5159653425216675, + 0.4466133415699005 + ], + "joints": [ + 0.012006115168333054 + ] + }, + "fine_grasp": { + "position": [ + -0.006421221885830164, + 0.10974661260843277, + 0.11140646040439606 + ], + "orientation": [ + 0.4488222301006317, + 0.5785890817642212, + -0.5137670636177063, + 0.4470308721065521 + ], + "joints": [ + 0.003647011239081621 + ] + }, + "final_grasp": { + "position": [ + -0.006421221885830164, + 0.10974661260843277, + 0.11140646040439606 + ], + "orientation": [ + 0.4488222301006317, + 0.5785890817642212, + -0.5137670636177063, + 0.4470308721065521 + ], + "joints": [ + -0.004712092690169811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06754252314567566, + 0.08172851800918579, + 0.09775778651237488 + ], + "orientation": [ + 0.2964036166667938, + 0.6760727763175964, + -0.3047134280204773, + 0.6018473505973816 + ], + "joints": [ + 0.01434977538883686 + ] + }, + "fine_grasp": { + "position": [ + -0.06661522388458252, + 0.0809691846370697, + 0.0988255962729454 + ], + "orientation": [ + 0.297242671251297, + 0.6776052117347717, + -0.30532339215278625, + 0.5993959307670593 + ], + "joints": [ + 0.005154760554432869 + ] + }, + "final_grasp": { + "position": [ + -0.06661522388458252, + 0.0809691846370697, + 0.0988255962729454 + ], + "orientation": [ + 0.297242671251297, + 0.6776052117347717, + -0.30532339215278625, + 0.5993959307670593 + ], + "joints": [ + -0.004040254279971123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06815176457166672, + -0.09580498933792114, + 0.07827428728342056 + ], + "orientation": [ + 0.37573176622390747, + -0.6717909574508667, + 0.26805391907691956, + 0.5793700218200684 + ], + "joints": [ + 0.012447191402316093 + ] + }, + "fine_grasp": { + "position": [ + 0.06564434617757797, + -0.09243921935558319, + 0.07834464311599731 + ], + "orientation": [ + 0.37748315930366516, + -0.6715524792671204, + 0.2648751437664032, + 0.5799697637557983 + ], + "joints": [ + 0.004088087007403374 + ] + }, + "final_grasp": { + "position": [ + 0.06564434617757797, + -0.09243921935558319, + 0.07834464311599731 + ], + "orientation": [ + 0.37748315930366516, + -0.6715524792671204, + 0.2648751437664032, + 0.5799697637557983 + ], + "joints": [ + -0.004271017387509346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06854786723852158, + -0.08977292478084564, + 0.058640751987695694 + ], + "orientation": [ + 0.6740216016769409, + -0.25339239835739136, + -0.58371901512146, + -0.37517890334129333 + ], + "joints": [ + 0.012366718612611294 + ] + }, + "fine_grasp": { + "position": [ + 0.06598449498414993, + -0.08648999035358429, + 0.05916702002286911 + ], + "orientation": [ + 0.6740111708641052, + -0.2510877251625061, + -0.5839486718177795, + -0.3763878643512726 + ], + "joints": [ + 0.004007614217698574 + ] + }, + "final_grasp": { + "position": [ + 0.06598449498414993, + -0.08648999035358429, + 0.05916702002286911 + ], + "orientation": [ + 0.6740111708641052, + -0.2510877251625061, + -0.5839486718177795, + -0.3763878643512726 + ], + "joints": [ + -0.004351490177214146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009810162708163261, + -0.026041047647595406, + -0.13372831046581268 + ], + "orientation": [ + 0.7660501003265381, + -0.06538195163011551, + -0.11136521399021149, + -0.6296746730804443 + ], + "joints": [ + 0.013862106949090958 + ] + }, + "fine_grasp": { + "position": [ + 0.009427322074770927, + -0.024354038760066032, + -0.13346531987190247 + ], + "orientation": [ + 0.7673553824424744, + -0.06168660894036293, + -0.10630897432565689, + -0.6293321251869202 + ], + "joints": [ + 0.004667092114686966 + ] + }, + "final_grasp": { + "position": [ + 0.009427322074770927, + -0.024354038760066032, + -0.13346531987190247 + ], + "orientation": [ + 0.7673553824424744, + -0.06168660894036293, + -0.10630897432565689, + -0.6293321251869202 + ], + "joints": [ + -0.004527922719717026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04278400540351868, + -0.10132419317960739, + 0.09769125282764435 + ], + "orientation": [ + 0.3618979752063751, + -0.6152437329292297, + 0.4159071147441864, + 0.5634947419166565 + ], + "joints": [ + 0.012763778679072857 + ] + }, + "fine_grasp": { + "position": [ + 0.04120899736881256, + -0.09796703606843948, + 0.09817478060722351 + ], + "orientation": [ + 0.3604709208011627, + -0.6130184531211853, + 0.4187605082988739, + 0.5647199749946594 + ], + "joints": [ + 0.003986719064414501 + ] + }, + "final_grasp": { + "position": [ + 0.04120899736881256, + -0.09796703606843948, + 0.09817478060722351 + ], + "orientation": [ + 0.3604709208011627, + -0.6130184531211853, + 0.4187605082988739, + 0.5647199749946594 + ], + "joints": [ + -0.0047903405502438545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06799927353858948, + -0.08956868946552277, + 0.05881073325872421 + ], + "orientation": [ + 0.6742092967033386, + -0.25298213958740234, + -0.5835160613059998, + -0.37543419003486633 + ], + "joints": [ + 0.012368145398795605 + ] + }, + "fine_grasp": { + "position": [ + 0.06546664983034134, + -0.08630777150392532, + 0.05935147404670715 + ], + "orientation": [ + 0.673962414264679, + -0.2514287233352661, + -0.5832706093788147, + -0.37729769945144653 + ], + "joints": [ + 0.004009041003882885 + ] + }, + "final_grasp": { + "position": [ + 0.06546664983034134, + -0.08630777150392532, + 0.05935147404670715 + ], + "orientation": [ + 0.673962414264679, + -0.2514287233352661, + -0.5832706093788147, + -0.37729769945144653 + ], + "joints": [ + -0.004350063391029835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08894968777894974, + 0.06037478148937225, + 0.09353800117969513 + ], + "orientation": [ + 0.23322312533855438, + 0.7037287354469299, + 0.17854247987270355, + -0.6469122767448425 + ], + "joints": [ + 0.01433955691754818 + ] + }, + "fine_grasp": { + "position": [ + 0.08726274222135544, + 0.05901050567626953, + 0.09400776773691177 + ], + "orientation": [ + 0.23670488595962524, + 0.7043492794036865, + 0.17389294505119324, + -0.6462384462356567 + ], + "joints": [ + 0.005144542083144188 + ] + }, + "final_grasp": { + "position": [ + 0.08726274222135544, + 0.05901050567626953, + 0.09400776773691177 + ], + "orientation": [ + 0.23670488595962524, + 0.7043492794036865, + 0.17389294505119324, + -0.6462384462356567 + ], + "joints": [ + -0.004050472751259804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06838200241327286, + -0.0896584764122963, + 0.05853433534502983 + ], + "orientation": [ + 0.6720085144042969, + -0.25122517347335815, + -0.5845937728881836, + -0.37886756658554077 + ], + "joints": [ + 0.011852235533297062 + ] + }, + "fine_grasp": { + "position": [ + 0.06577914953231812, + -0.0863686129450798, + 0.05908055230975151 + ], + "orientation": [ + 0.6720712780952454, + -0.2487301081418991, + -0.5848180055618286, + -0.3800544738769531 + ], + "joints": [ + 0.003911086358129978 + ] + }, + "final_grasp": { + "position": [ + 0.06577914953231812, + -0.0863686129450798, + 0.05908055230975151 + ], + "orientation": [ + 0.6720712780952454, + -0.2487301081418991, + -0.5848180055618286, + -0.3800544738769531 + ], + "joints": [ + -0.0040300628170371056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009807213209569454, + 0.010794864036142826, + -0.14016731083393097 + ], + "orientation": [ + 0.8292492628097534, + 0.012953964062035084, + -0.05810399353504181, + 0.5556992888450623 + ], + "joints": [ + 0.01391259953379631 + ] + }, + "fine_grasp": { + "position": [ + 0.009425874799489975, + 0.010348372161388397, + -0.1382337361574173 + ], + "orientation": [ + 0.8312966823577881, + 0.014654365368187428, + -0.05850590765476227, + 0.5525469779968262 + ], + "joints": [ + 0.004717584699392319 + ] + }, + "final_grasp": { + "position": [ + 0.009425874799489975, + 0.010348372161388397, + -0.1382337361574173 + ], + "orientation": [ + 0.8312966823577881, + 0.014654365368187428, + -0.05850590765476227, + 0.5525469779968262 + ], + "joints": [ + -0.004477430135011673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08744597434997559, + -0.08091989159584045, + 0.0533931665122509 + ], + "orientation": [ + 0.6817433834075928, + -0.2749401330947876, + 0.6338642835617065, + 0.24052013456821442 + ], + "joints": [ + 0.012215890921652317 + ] + }, + "fine_grasp": { + "position": [ + -0.08438167721033096, + -0.07820355147123337, + 0.053639426827430725 + ], + "orientation": [ + 0.68280029296875, + -0.27436563372612, + 0.6333577036857605, + 0.2395106554031372 + ], + "joints": [ + 0.0034388320054858923 + ] + }, + "final_grasp": { + "position": [ + -0.08438167721033096, + -0.07820355147123337, + 0.053639426827430725 + ], + "orientation": [ + 0.68280029296875, + -0.27436563372612, + 0.6333577036857605, + 0.2395106554031372 + ], + "joints": [ + -0.0053382269106805325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05527719482779503, + 0.10360438376665115, + 0.06425932794809341 + ], + "orientation": [ + 0.34615233540534973, + 0.5721724033355713, + -0.3800784647464752, + 0.6390130519866943 + ], + "joints": [ + 0.01171143539249897 + ] + }, + "fine_grasp": { + "position": [ + -0.053242411464452744, + 0.09999234974384308, + 0.06455418467521667 + ], + "orientation": [ + 0.34502866864204407, + 0.5715153217315674, + -0.3795722723007202, + 0.6405079960823059 + ], + "joints": [ + 0.0033523316960781813 + ] + }, + "final_grasp": { + "position": [ + -0.053242411464452744, + 0.09999234974384308, + 0.06455418467521667 + ], + "orientation": [ + 0.34502866864204407, + 0.5715153217315674, + -0.3795722723007202, + 0.6405079960823059 + ], + "joints": [ + -0.0050067720003426075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0597710907459259, + 0.09264496713876724, + 0.10983292758464813 + ], + "orientation": [ + 0.29138630628585815, + 0.6719963550567627, + -0.38203874230384827, + 0.5635258555412292 + ], + "joints": [ + 0.012818765826523304 + ] + }, + "fine_grasp": { + "position": [ + -0.05761350318789482, + 0.08910604566335678, + 0.11003712564706802 + ], + "orientation": [ + 0.28947922587394714, + 0.670180082321167, + -0.3846943974494934, + 0.564863383769989 + ], + "joints": [ + 0.004459661431610584 + ] + }, + "final_grasp": { + "position": [ + -0.05761350318789482, + 0.08910604566335678, + 0.11003712564706802 + ], + "orientation": [ + 0.28947922587394714, + 0.670180082321167, + -0.3846943974494934, + 0.564863383769989 + ], + "joints": [ + -0.0038994429633021355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043162502348423004, + -0.10199347138404846, + 0.09778023511171341 + ], + "orientation": [ + 0.35990259051322937, + -0.6158679127693176, + 0.4172549247741699, + 0.5630942583084106 + ], + "joints": [ + 0.012418963015079498 + ] + }, + "fine_grasp": { + "position": [ + 0.041540779173374176, + -0.09833013266324997, + 0.09822666645050049 + ], + "orientation": [ + 0.35844528675079346, + -0.613564670085907, + 0.4199591279029846, + 0.5645262002944946 + ], + "joints": [ + 0.0040598586201667786 + ] + }, + "final_grasp": { + "position": [ + 0.041540779173374176, + -0.09833013266324997, + 0.09822666645050049 + ], + "orientation": [ + 0.35844528675079346, + -0.613564670085907, + 0.4199591279029846, + 0.5645262002944946 + ], + "joints": [ + -0.004299245774745941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04482027888298035, + -0.09655746817588806, + 0.07848845422267914 + ], + "orientation": [ + 0.6284037828445435, + -0.3783285617828369, + 0.5631502866744995, + 0.38057592511177063 + ], + "joints": [ + 0.013792747631669044 + ] + }, + "fine_grasp": { + "position": [ + -0.04406612738966942, + -0.0955464318394661, + 0.07841325551271439 + ], + "orientation": [ + 0.630355715751648, + -0.37819904088974, + 0.5607296824455261, + 0.3810501992702484 + ], + "joints": [ + 0.004597732797265053 + ] + }, + "final_grasp": { + "position": [ + -0.04406612738966942, + -0.0955464318394661, + 0.07841325551271439 + ], + "orientation": [ + 0.630355715751648, + -0.37819904088974, + 0.5607296824455261, + 0.3810501992702484 + ], + "joints": [ + -0.004597282037138939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07749464362859726, + -0.09167133271694183, + 0.053096119314432144 + ], + "orientation": [ + 0.3378262519836426, + -0.6343008279800415, + -0.25994399189949036, + -0.6449534893035889 + ], + "joints": [ + 0.012363952584564686 + ] + }, + "fine_grasp": { + "position": [ + -0.07477562874555588, + -0.08867193758487701, + 0.05337117612361908 + ], + "orientation": [ + 0.3377896547317505, + -0.634462833404541, + -0.25818896293640137, + -0.6455181241035461 + ], + "joints": [ + 0.003565995953977108 + ] + }, + "final_grasp": { + "position": [ + -0.07477562874555588, + -0.08867193758487701, + 0.05337117612361908 + ], + "orientation": [ + 0.3377896547317505, + -0.634462833404541, + -0.25818896293640137, + -0.6455181241035461 + ], + "joints": [ + -0.00523196067661047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012877066619694233, + 0.10971716791391373, + 0.055941324681043625 + ], + "orientation": [ + 0.5128999352455139, + 0.46239277720451355, + -0.4208682179450989, + 0.5882146954536438 + ], + "joints": [ + 0.01204221323132515 + ] + }, + "fine_grasp": { + "position": [ + -0.012346366420388222, + 0.10558278858661652, + 0.056408241391181946 + ], + "orientation": [ + 0.5129066109657288, + 0.46060311794281006, + -0.4206191301345825, + 0.589789092540741 + ], + "joints": [ + 0.003683109302073717 + ] + }, + "final_grasp": { + "position": [ + -0.012346366420388222, + 0.10558278858661652, + 0.056408241391181946 + ], + "orientation": [ + 0.5129066109657288, + 0.46060311794281006, + -0.4206191301345825, + 0.589789092540741 + ], + "joints": [ + -0.004675994627177715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052821021527051926, + 0.09026241302490234, + 0.09635259956121445 + ], + "orientation": [ + 0.5865074992179871, + 0.3779757022857666, + -0.6392026543617249, + 0.3233623504638672 + ], + "joints": [ + 0.014195865951478481 + ] + }, + "fine_grasp": { + "position": [ + 0.05237052962183952, + 0.08972308784723282, + 0.09747859090566635 + ], + "orientation": [ + 0.5848371386528015, + 0.3798261880874634, + -0.6403958797454834, + 0.321854829788208 + ], + "joints": [ + 0.004582895897328854 + ] + }, + "final_grasp": { + "position": [ + 0.05237052962183952, + 0.08972308784723282, + 0.09747859090566635 + ], + "orientation": [ + 0.5848371386528015, + 0.3798261880874634, + -0.6403958797454834, + 0.321854829788208 + ], + "joints": [ + -0.005030074156820774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0264851376414299, + -0.10870054364204407, + 0.08146340399980545 + ], + "orientation": [ + 0.4718168079853058, + -0.5620136857032776, + 0.3996089994907379, + 0.5494017004966736 + ], + "joints": [ + 0.012740467675030231 + ] + }, + "fine_grasp": { + "position": [ + 0.02547813020646572, + -0.10470300912857056, + 0.08169239014387131 + ], + "orientation": [ + 0.4774418771266937, + -0.5640857815742493, + 0.394578218460083, + 0.5460444688796997 + ], + "joints": [ + 0.004381363280117512 + ] + }, + "final_grasp": { + "position": [ + 0.02547813020646572, + -0.10470300912857056, + 0.08169239014387131 + ], + "orientation": [ + 0.4774418771266937, + -0.5640857815742493, + 0.394578218460083, + 0.5460444688796997 + ], + "joints": [ + -0.003977741114795208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05308952555060387, + 0.09886381030082703, + 0.04382336884737015 + ], + "orientation": [ + 0.7011290788650513, + 0.3321866989135742, + 0.5047146677970886, + -0.37859365344047546 + ], + "joints": [ + 0.012353814207017422 + ] + }, + "fine_grasp": { + "position": [ + -0.051138944923877716, + 0.09530016034841537, + 0.04456938058137894 + ], + "orientation": [ + 0.701526403427124, + 0.332854300737381, + 0.504478394985199, + -0.3775847256183624 + ], + "joints": [ + 0.003994709812104702 + ] + }, + "final_grasp": { + "position": [ + -0.051138944923877716, + 0.09530016034841537, + 0.04456938058137894 + ], + "orientation": [ + 0.701526403427124, + 0.332854300737381, + 0.504478394985199, + -0.3775847256183624 + ], + "joints": [ + -0.004364394582808018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003281731391325593, + -0.06824994832277298, + 0.23725564777851105 + ], + "orientation": [ + 0.2409886121749878, + -0.7184255123138428, + -0.6132051944732666, + -0.22308917343616486 + ], + "joints": [ + 0.014015923254191875 + ] + }, + "fine_grasp": { + "position": [ + -0.0033669820986688137, + -0.0655742660164833, + 0.23422470688819885 + ], + "orientation": [ + 0.24087950587272644, + -0.7260964512825012, + -0.6057307124137878, + -0.21874955296516418 + ], + "joints": [ + 0.004820908419787884 + ] + }, + "final_grasp": { + "position": [ + -0.0033669820986688137, + -0.0655742660164833, + 0.23422470688819885 + ], + "orientation": [ + 0.24087950587272644, + -0.7260964512825012, + -0.6057307124137878, + -0.21874955296516418 + ], + "joints": [ + -0.004374106414616108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11258792877197266, + -0.01865975372493267, + 0.0804840475320816 + ], + "orientation": [ + 0.7401037216186523, + -0.11312030255794525, + -0.6628972887992859, + 0.004181204363703728 + ], + "joints": [ + 0.013735177926719189 + ] + }, + "fine_grasp": { + "position": [ + 0.10838395357131958, + -0.018032239750027657, + 0.08085694164037704 + ], + "orientation": [ + 0.7410082221031189, + -0.11610529571771622, + -0.6613336205482483, + 0.008021856658160686 + ], + "joints": [ + 0.005794028751552105 + ] + }, + "final_grasp": { + "position": [ + 0.10838395357131958, + -0.018032239750027657, + 0.08085694164037704 + ], + "orientation": [ + 0.7410082221031189, + -0.11610529571771622, + -0.6613336205482483, + 0.008021856658160686 + ], + "joints": [ + -0.002147120423614979 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005139215383678675, + 0.013531986624002457, + 0.26662328839302063 + ], + "orientation": [ + 0.006486574653536081, + -0.12228402495384216, + -0.9907969832420349, + 0.05766914784908295 + ], + "joints": [ + 0.016023557633161545 + ] + }, + "fine_grasp": { + "position": [ + 0.005017872434109449, + 0.013499319553375244, + 0.2627684473991394 + ], + "orientation": [ + 0.01156619656831026, + -0.12284351140260696, + -0.9906930327415466, + 0.05747227743268013 + ], + "joints": [ + 0.006431485526263714 + ] + }, + "final_grasp": { + "position": [ + 0.005017872434109449, + 0.013499319553375244, + 0.2627684473991394 + ], + "orientation": [ + 0.01156619656831026, + -0.12284351140260696, + -0.9906930327415466, + 0.05747227743268013 + ], + "joints": [ + -0.003160586580634117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0077212038449943066, + -0.10687312483787537, + 0.09802212566137314 + ], + "orientation": [ + 0.44821155071258545, + -0.5401646494865417, + -0.5149977803230286, + -0.4920424222946167 + ], + "joints": [ + 0.013603060506284237 + ] + }, + "fine_grasp": { + "position": [ + -0.007734754588454962, + -0.10496026277542114, + 0.09906027466058731 + ], + "orientation": [ + 0.44654929637908936, + -0.5411566495895386, + -0.5160846710205078, + -0.49132445454597473 + ], + "joints": [ + 0.004408045671880245 + ] + }, + "final_grasp": { + "position": [ + -0.007734754588454962, + -0.10496026277542114, + 0.09906027466058731 + ], + "orientation": [ + 0.44654929637908936, + -0.5411566495895386, + -0.5160846710205078, + -0.49132445454597473 + ], + "joints": [ + -0.0047869691625237465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008512520231306553, + -0.11185404658317566, + 0.10131887346506119 + ], + "orientation": [ + 0.47418391704559326, + -0.5674917697906494, + -0.48421889543533325, + -0.4675839841365814 + ], + "joints": [ + 0.012294399552047253 + ] + }, + "fine_grasp": { + "position": [ + -0.008159508928656578, + -0.10767734050750732, + 0.10147900879383087 + ], + "orientation": [ + 0.4790784418582916, + -0.5718642473220825, + -0.4781511127948761, + -0.46349385380744934 + ], + "joints": [ + 0.004353250376880169 + ] + }, + "final_grasp": { + "position": [ + -0.008159508928656578, + -0.10767734050750732, + 0.10147900879383087 + ], + "orientation": [ + 0.4790784418582916, + -0.5718642473220825, + -0.4781511127948761, + -0.46349385380744934 + ], + "joints": [ + -0.003587898798286915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09194060415029526, + 0.05193484574556351, + 0.07796606421470642 + ], + "orientation": [ + 0.6930915117263794, + 0.18925045430660248, + -0.6747865080833435, + 0.16873542964458466 + ], + "joints": [ + 0.014074514620006084 + ] + }, + "fine_grasp": { + "position": [ + 0.09123071283102036, + 0.05127117782831192, + 0.07824556529521942 + ], + "orientation": [ + 0.694242000579834, + 0.18919086456298828, + -0.6739178895950317, + 0.1675393283367157 + ], + "joints": [ + 0.004879499785602093 + ] + }, + "final_grasp": { + "position": [ + 0.09123071283102036, + 0.05127117782831192, + 0.07824556529521942 + ], + "orientation": [ + 0.694242000579834, + 0.18919086456298828, + -0.6739178895950317, + 0.1675393283367157 + ], + "joints": [ + -0.004315515048801899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005454721860587597, + 0.001858010538853705, + -0.15516145527362823 + ], + "orientation": [ + 0.34946542978286743, + -0.000335016316967085, + 0.006017683539539576, + 0.9369298219680786 + ], + "joints": [ + 0.012796971946954727 + ] + }, + "fine_grasp": { + "position": [ + -0.00431461026892066, + 0.0013117254711687565, + -0.15121310949325562 + ], + "orientation": [ + 0.34933969378471375, + 0.009306489489972591, + 0.0052084485068917274, + 0.9369354248046875 + ], + "joints": [ + 0.0044378675520420074 + ] + }, + "final_grasp": { + "position": [ + -0.00431461026892066, + 0.0013117254711687565, + -0.15121310949325562 + ], + "orientation": [ + 0.34933969378471375, + 0.009306489489972591, + 0.0052084485068917274, + 0.9369354248046875 + ], + "joints": [ + -0.003921236842870712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08897677809000015, + 0.07941063493490219, + 0.14482764899730682 + ], + "orientation": [ + 0.19123415648937225, + 0.7307802438735962, + -0.3170775771141052, + 0.573455810546875 + ], + "joints": [ + 0.015305189415812492 + ] + }, + "fine_grasp": { + "position": [ + -0.08607002347707748, + 0.07679907232522964, + 0.1443612277507782 + ], + "orientation": [ + 0.19200070202350616, + 0.7277843952178955, + -0.3162764012813568, + 0.577438235282898 + ], + "joints": [ + 0.004898104816675186 + ] + }, + "final_grasp": { + "position": [ + -0.08607002347707748, + 0.07679907232522964, + 0.1443612277507782 + ], + "orientation": [ + 0.19200070202350616, + 0.7277843952178955, + -0.3162764012813568, + 0.577438235282898 + ], + "joints": [ + -0.00550897978246212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11241257190704346, + -0.018475528806447983, + 0.08097297698259354 + ], + "orientation": [ + 0.7427963614463806, + -0.11254756897687912, + -0.6599788665771484, + 0.0038038105703890324 + ], + "joints": [ + 0.0139983631670475 + ] + }, + "fine_grasp": { + "position": [ + 0.10827524960041046, + -0.017877893522381783, + 0.0813637301325798 + ], + "orientation": [ + 0.7436899542808533, + -0.11490412801504135, + -0.6585316061973572, + 0.007646091282367706 + ], + "joints": [ + 0.006057213991880417 + ] + }, + "final_grasp": { + "position": [ + 0.10827524960041046, + -0.017877893522381783, + 0.0813637301325798 + ], + "orientation": [ + 0.7436899542808533, + -0.11490412801504135, + -0.6585316061973572, + 0.007646091282367706 + ], + "joints": [ + -0.0018839351832866669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09197862446308136, + 0.0518806055188179, + 0.0779622420668602 + ], + "orientation": [ + 0.6935718655586243, + 0.18984942138195038, + -0.6743233799934387, + 0.1679380089044571 + ], + "joints": [ + 0.01408484485000372 + ] + }, + "fine_grasp": { + "position": [ + 0.09123027324676514, + 0.05122756585478783, + 0.0782441645860672 + ], + "orientation": [ + 0.694762110710144, + 0.18976770341396332, + -0.6734256744384766, + 0.16670829057693481 + ], + "joints": [ + 0.004889830015599728 + ] + }, + "final_grasp": { + "position": [ + 0.09123027324676514, + 0.05122756585478783, + 0.0782441645860672 + ], + "orientation": [ + 0.694762110710144, + 0.18976770341396332, + -0.6734256744384766, + 0.16670829057693481 + ], + "joints": [ + -0.004305184818804264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04581316187977791, + -0.10304538905620575, + 0.12826398015022278 + ], + "orientation": [ + 0.5243020057678223, + -0.4311889410018921, + 0.6530605554580688, + 0.3357016146183014 + ], + "joints": [ + 0.013313074596226215 + ] + }, + "fine_grasp": { + "position": [ + -0.04407761991024017, + -0.09931257367134094, + 0.12797826528549194 + ], + "orientation": [ + 0.5255998373031616, + -0.430706650018692, + 0.6522277593612671, + 0.33591005206108093 + ], + "joints": [ + 0.00453601498156786 + ] + }, + "final_grasp": { + "position": [ + -0.04407761991024017, + -0.09931257367134094, + 0.12797826528549194 + ], + "orientation": [ + 0.5255998373031616, + -0.430706650018692, + 0.6522277593612671, + 0.33591005206108093 + ], + "joints": [ + -0.004241044633090496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08205026388168335, + -0.05395755544304848, + 0.21018871665000916 + ], + "orientation": [ + 0.413185715675354, + -0.21769215166568756, + 0.8720694780349731, + 0.1462276130914688 + ], + "joints": [ + 0.016294043511152267 + ] + }, + "fine_grasp": { + "position": [ + -0.07915832847356796, + -0.05205383151769638, + 0.2084050476551056 + ], + "orientation": [ + 0.4204467535018921, + -0.21616487205028534, + 0.868472695350647, + 0.14917242527008057 + ], + "joints": [ + 0.0058660609647631645 + ] + }, + "final_grasp": { + "position": [ + -0.07915832847356796, + -0.05205383151769638, + 0.2084050476551056 + ], + "orientation": [ + 0.4204467535018921, + -0.21616487205028534, + 0.868472695350647, + 0.14917242527008057 + ], + "joints": [ + -0.004561921581625938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09172750264406204, + 0.051128536462783813, + 0.07800570875406265 + ], + "orientation": [ + 0.6941777467727661, + 0.18892589211463928, + -0.6746301054954529, + 0.16522233188152313 + ], + "joints": [ + 0.014137509278953075 + ] + }, + "fine_grasp": { + "position": [ + 0.09138882905244827, + 0.050598058849573135, + 0.07831612229347229 + ], + "orientation": [ + 0.6953507661819458, + 0.1888301819562912, + -0.673816978931427, + 0.1637105643749237 + ], + "joints": [ + 0.004942494444549084 + ] + }, + "final_grasp": { + "position": [ + 0.09138882905244827, + 0.050598058849573135, + 0.07831612229347229 + ], + "orientation": [ + 0.6953507661819458, + 0.1888301819562912, + -0.673816978931427, + 0.1637105643749237 + ], + "joints": [ + -0.004252520389854908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08162003755569458, + -0.05389894172549248, + 0.20997029542922974 + ], + "orientation": [ + 0.41338029503822327, + -0.21875345706939697, + 0.8716704249382019, + 0.14647355675697327 + ], + "joints": [ + 0.01604652963578701 + ] + }, + "fine_grasp": { + "position": [ + -0.07873120158910751, + -0.0520080029964447, + 0.2081904262304306 + ], + "orientation": [ + 0.42026636004447937, + -0.21720796823501587, + 0.8683037757873535, + 0.14914944767951965 + ], + "joints": [ + 0.0060156043618917465 + ] + }, + "final_grasp": { + "position": [ + -0.07873120158910751, + -0.0520080029964447, + 0.2081904262304306 + ], + "orientation": [ + 0.42026636004447937, + -0.21720796823501587, + 0.8683037757873535, + 0.14914944767951965 + ], + "joints": [ + -0.004015320912003517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045280687510967255, + -0.10214092582464218, + 0.12780573964118958 + ], + "orientation": [ + 0.5200284719467163, + -0.433559387922287, + 0.656299889087677, + 0.33296704292297363 + ], + "joints": [ + 0.013044105842709541 + ] + }, + "fine_grasp": { + "position": [ + -0.04355092719197273, + -0.09836620092391968, + 0.12756603956222534 + ], + "orientation": [ + 0.5210537910461426, + -0.4340789318084717, + 0.6551147699356079, + 0.33302098512649536 + ], + "joints": [ + 0.004685001447796822 + ] + }, + "final_grasp": { + "position": [ + -0.04355092719197273, + -0.09836620092391968, + 0.12756603956222534 + ], + "orientation": [ + 0.5210537910461426, + -0.4340789318084717, + 0.6551147699356079, + 0.33302098512649536 + ], + "joints": [ + -0.003674102947115898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02858985960483551, + 0.10051587969064713, + 0.07321178168058395 + ], + "orientation": [ + 0.4654143452644348, + 0.5475040674209595, + 0.38582542538642883, + -0.5785908699035645 + ], + "joints": [ + 0.01368736568838358 + ] + }, + "fine_grasp": { + "position": [ + 0.028394639492034912, + 0.09979245811700821, + 0.07301660627126694 + ], + "orientation": [ + 0.4679427742958069, + 0.5459443926811218, + 0.3830913305282593, + -0.5798407196998596 + ], + "joints": [ + 0.004074395634233952 + ] + }, + "final_grasp": { + "position": [ + 0.028394639492034912, + 0.09979245811700821, + 0.07301660627126694 + ], + "orientation": [ + 0.4679427742958069, + 0.5459443926811218, + 0.3830913305282593, + -0.5798407196998596 + ], + "joints": [ + -0.005538574419915676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027587199583649635, + 0.10164524614810944, + 0.0729689821600914 + ], + "orientation": [ + 0.46908804774284363, + 0.5437073707580566, + 0.388872891664505, + -0.577162504196167 + ], + "joints": [ + 0.01371422503143549 + ] + }, + "fine_grasp": { + "position": [ + 0.027014946565032005, + 0.10050015896558762, + 0.07261762768030167 + ], + "orientation": [ + 0.4724712371826172, + 0.5415555238723755, + 0.3866056799888611, + -0.5779486298561096 + ], + "joints": [ + 0.004101254977285862 + ] + }, + "final_grasp": { + "position": [ + 0.027014946565032005, + 0.10050015896558762, + 0.07261762768030167 + ], + "orientation": [ + 0.4724712371826172, + 0.5415555238723755, + 0.3866056799888611, + -0.5779486298561096 + ], + "joints": [ + -0.005511715076863766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10284315049648285, + 0.015702666714787483, + 0.10186060518026352 + ], + "orientation": [ + 0.6483281850814819, + 0.04502299800515175, + 0.7576565742492676, + -0.060000769793987274 + ], + "joints": [ + 0.014660024084150791 + ] + }, + "fine_grasp": { + "position": [ + -0.10227908939123154, + 0.015433225780725479, + 0.10354088246822357 + ], + "orientation": [ + 0.6443787813186646, + 0.044032271951436996, + 0.7610992789268494, + -0.05970834195613861 + ], + "joints": [ + 0.0054650092497467995 + ] + }, + "final_grasp": { + "position": [ + -0.10227908939123154, + 0.015433225780725479, + 0.10354088246822357 + ], + "orientation": [ + 0.6443787813186646, + 0.044032271951436996, + 0.7610992789268494, + -0.05970834195613861 + ], + "joints": [ + -0.0037300055846571922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10719834268093109, + 0.0461844876408577, + 0.04855520650744438 + ], + "orientation": [ + 0.7457417249679565, + 0.16648855805397034, + 0.6350216865539551, + -0.1135704517364502 + ], + "joints": [ + 0.012177381664514542 + ] + }, + "fine_grasp": { + "position": [ + -0.10338655859231949, + 0.04459960013628006, + 0.049020346254110336 + ], + "orientation": [ + 0.7462366223335266, + 0.166704460978508, + 0.6346379518508911, + -0.1121392697095871 + ], + "joints": [ + 0.0038182775024324656 + ] + }, + "final_grasp": { + "position": [ + -0.10338655859231949, + 0.04459960013628006, + 0.049020346254110336 + ], + "orientation": [ + 0.7462366223335266, + 0.166704460978508, + 0.6346379518508911, + -0.1121392697095871 + ], + "joints": [ + -0.0045408266596496105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014989894814789295, + -0.11614722013473511, + 0.06914160400629044 + ], + "orientation": [ + 0.5221856832504272, + -0.4494535028934479, + -0.5393195748329163, + -0.4841982126235962 + ], + "joints": [ + 0.011371147818863392 + ] + }, + "fine_grasp": { + "position": [ + 0.014403382316231728, + -0.1119888424873352, + 0.06934309750795364 + ], + "orientation": [ + 0.5227912068367004, + -0.4481368958950043, + -0.5390918850898743, + -0.48501819372177124 + ], + "joints": [ + 0.003429999342188239 + ] + }, + "final_grasp": { + "position": [ + 0.014403382316231728, + -0.1119888424873352, + 0.06934309750795364 + ], + "orientation": [ + 0.5227912068367004, + -0.4481368958950043, + -0.5390918850898743, + -0.48501819372177124 + ], + "joints": [ + -0.004511149134486914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08957204967737198, + 0.08007626980543137, + 0.14551152288913727 + ], + "orientation": [ + 0.19059646129608154, + 0.7248343229293823, + -0.3189001977443695, + 0.5801645517349243 + ], + "joints": [ + 0.015284547582268715 + ] + }, + "fine_grasp": { + "position": [ + -0.08665917068719864, + 0.07741986215114594, + 0.1450687199831009 + ], + "orientation": [ + 0.19137966632843018, + 0.7218528389930725, + -0.3183708190917969, + 0.5839027166366577 + ], + "joints": [ + 0.004877462983131409 + ] + }, + "final_grasp": { + "position": [ + -0.08665917068719864, + 0.07741986215114594, + 0.1450687199831009 + ], + "orientation": [ + 0.19137966632843018, + 0.7218528389930725, + -0.3183708190917969, + 0.5839027166366577 + ], + "joints": [ + -0.0055296216160058975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11255016922950745, + -0.018653323873877525, + 0.08069753646850586 + ], + "orientation": [ + 0.742558479309082, + -0.11361653357744217, + -0.6600386500358582, + 0.0068700420670211315 + ], + "joints": [ + 0.014044682495296001 + ] + }, + "fine_grasp": { + "position": [ + 0.10838542878627777, + -0.017989985644817352, + 0.08105966448783875 + ], + "orientation": [ + 0.7433343529701233, + -0.11737484484910965, + -0.6584498286247253, + 0.01100113708525896 + ], + "joints": [ + 0.006103533320128918 + ] + }, + "final_grasp": { + "position": [ + 0.10838542878627777, + -0.017989985644817352, + 0.08105966448783875 + ], + "orientation": [ + 0.7433343529701233, + -0.11737484484910965, + -0.6584498286247253, + 0.01100113708525896 + ], + "joints": [ + -0.001837615855038166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052628323435783386, + 0.09801531583070755, + 0.043948087841272354 + ], + "orientation": [ + 0.7006043195724487, + 0.33182570338249207, + 0.5059024691581726, + -0.37829622626304626 + ], + "joints": [ + 0.012307637371122837 + ] + }, + "fine_grasp": { + "position": [ + -0.050674568861722946, + 0.09440787881612778, + 0.044664166867733 + ], + "orientation": [ + 0.7012513279914856, + 0.33275291323661804, + 0.5050604343414307, + -0.37740716338157654 + ], + "joints": [ + 0.003948532976210117 + ] + }, + "final_grasp": { + "position": [ + -0.050674568861722946, + 0.09440787881612778, + 0.044664166867733 + ], + "orientation": [ + 0.7012513279914856, + 0.33275291323661804, + 0.5050604343414307, + -0.37740716338157654 + ], + "joints": [ + -0.004410571418702602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05017147585749626, + 0.1054193377494812, + 0.09956026822328568 + ], + "orientation": [ + 0.594947099685669, + 0.35953596234321594, + 0.5994116067886353, + -0.3968345820903778 + ], + "joints": [ + 0.013581219129264355 + ] + }, + "fine_grasp": { + "position": [ + -0.04830482602119446, + 0.1017916351556778, + 0.09977158159017563 + ], + "orientation": [ + 0.5956894755363464, + 0.3578450381755829, + 0.5992878675460815, + -0.39743560552597046 + ], + "joints": [ + 0.004804159514605999 + ] + }, + "final_grasp": { + "position": [ + -0.04830482602119446, + 0.1017916351556778, + 0.09977158159017563 + ], + "orientation": [ + 0.5956894755363464, + 0.3578450381755829, + 0.5992878675460815, + -0.39743560552597046 + ], + "joints": [ + -0.003972900100052357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05061793699860573, + 0.1062447726726532, + 0.09989529103040695 + ], + "orientation": [ + 0.5983136296272278, + 0.35479480028152466, + 0.5957241058349609, + -0.4015646278858185 + ], + "joints": [ + 0.013907883316278458 + ] + }, + "fine_grasp": { + "position": [ + -0.048778288066387177, + 0.10266969352960587, + 0.10012885928153992 + ], + "orientation": [ + 0.5990033745765686, + 0.35309314727783203, + 0.5957961082458496, + -0.4019293189048767 + ], + "joints": [ + 0.004712868481874466 + ] + }, + "final_grasp": { + "position": [ + -0.048778288066387177, + 0.10266969352960587, + 0.10012885928153992 + ], + "orientation": [ + 0.5990033745765686, + 0.35309314727783203, + 0.5957961082458496, + -0.4019293189048767 + ], + "joints": [ + -0.004482146352529526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06665538251399994, + -0.08769907802343369, + 0.0591631680727005 + ], + "orientation": [ + 0.6758642792701721, + -0.2546716332435608, + -0.5817357897758484, + -0.3740764260292053 + ], + "joints": [ + 0.012811948545277119 + ] + }, + "fine_grasp": { + "position": [ + 0.0641927421092987, + -0.08440425992012024, + 0.05944190174341202 + ], + "orientation": [ + 0.6742830872535706, + -0.24978572130203247, + -0.5820298790931702, + -0.37972432374954224 + ], + "joints": [ + 0.004452844150364399 + ] + }, + "final_grasp": { + "position": [ + 0.0641927421092987, + -0.08440425992012024, + 0.05944190174341202 + ], + "orientation": [ + 0.6742830872535706, + -0.24978572130203247, + -0.5820298790931702, + -0.37972432374954224 + ], + "joints": [ + -0.003906260244548321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05900758504867554, + -0.10771887749433517, + 0.0374642051756382 + ], + "orientation": [ + 0.40141797065734863, + -0.5825456976890564, + 0.31884369254112244, + 0.63074791431427 + ], + "joints": [ + 0.012454868294298649 + ] + }, + "fine_grasp": { + "position": [ + 0.05698449909687042, + -0.10424631834030151, + 0.0377889946103096 + ], + "orientation": [ + 0.4010704457759857, + -0.58341383934021, + 0.3183974623680115, + 0.6303918361663818 + ], + "joints": [ + 0.003656911663711071 + ] + }, + "final_grasp": { + "position": [ + 0.05698449909687042, + -0.10424631834030151, + 0.0377889946103096 + ], + "orientation": [ + 0.4010704457759857, + -0.58341383934021, + 0.3183974623680115, + 0.6303918361663818 + ], + "joints": [ + -0.005141044966876507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1041954830288887, + 0.016252456232905388, + 0.10204484313726425 + ], + "orientation": [ + 0.645647406578064, + 0.04285281151533127, + 0.7597156167030334, + -0.06430672854185104 + ], + "joints": [ + 0.014582988806068897 + ] + }, + "fine_grasp": { + "position": [ + -0.10269759595394135, + 0.015998011454939842, + 0.10357928276062012 + ], + "orientation": [ + 0.6428213715553284, + 0.041561782360076904, + 0.7621786594390869, + -0.06431914120912552 + ], + "joints": [ + 0.0049700187519192696 + ] + }, + "final_grasp": { + "position": [ + -0.10269759595394135, + 0.015998011454939842, + 0.10357928276062012 + ], + "orientation": [ + 0.6428213715553284, + 0.041561782360076904, + 0.7621786594390869, + -0.06431914120912552 + ], + "joints": [ + -0.004642951302230358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0523134283721447, + 0.09745189547538757, + 0.04404272511601448 + ], + "orientation": [ + 0.7006866931915283, + 0.33228766918182373, + 0.5061494708061218, + -0.37740659713745117 + ], + "joints": [ + 0.012501828372478485 + ] + }, + "fine_grasp": { + "position": [ + -0.05038304626941681, + 0.09386239945888519, + 0.04471096023917198 + ], + "orientation": [ + 0.7016679644584656, + 0.3334702253341675, + 0.5047289133071899, + -0.3764418661594391 + ], + "joints": [ + 0.004142723977565765 + ] + }, + "final_grasp": { + "position": [ + -0.05038304626941681, + 0.09386239945888519, + 0.04471096023917198 + ], + "orientation": [ + 0.7016679644584656, + 0.3334702253341675, + 0.5047289133071899, + -0.3764418661594391 + ], + "joints": [ + -0.004216380417346954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06865962594747543, + 0.08370684087276459, + 0.07987591624259949 + ], + "orientation": [ + 0.27353399991989136, + 0.6457322835922241, + 0.3292098939418793, + -0.6323208808898926 + ], + "joints": [ + 0.013198678381741047 + ] + }, + "fine_grasp": { + "position": [ + 0.0670391097664833, + 0.08192813396453857, + 0.08027412742376328 + ], + "orientation": [ + 0.27134227752685547, + 0.6432802081108093, + 0.33296477794647217, + -0.6337968111038208 + ], + "joints": [ + 0.004003663547337055 + ] + }, + "final_grasp": { + "position": [ + 0.0670391097664833, + 0.08192813396453857, + 0.08027412742376328 + ], + "orientation": [ + 0.27134227752685547, + 0.6432802081108093, + 0.33296477794647217, + -0.6337968111038208 + ], + "joints": [ + -0.0051913512870669365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016203608363866806, + 0.10837813466787338, + 0.14761190116405487 + ], + "orientation": [ + 0.49259495735168457, + 0.5555868744850159, + 0.42466944456100464, + -0.5180052518844604 + ], + "joints": [ + 0.014168464578688145 + ] + }, + "fine_grasp": { + "position": [ + 0.015771551057696342, + 0.10561241954565048, + 0.14715605974197388 + ], + "orientation": [ + 0.4959868788719177, + 0.5593960285186768, + 0.4210915267467499, + -0.5135709643363953 + ], + "joints": [ + 0.005391404964029789 + ] + }, + "final_grasp": { + "position": [ + 0.015771551057696342, + 0.10561241954565048, + 0.14715605974197388 + ], + "orientation": [ + 0.4959868788719177, + 0.5593960285186768, + 0.4210915267467499, + -0.5135709643363953 + ], + "joints": [ + -0.0033856546506285667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058925334364175797, + -0.10747555643320084, + 0.037945766001939774 + ], + "orientation": [ + 0.40255412459373474, + -0.5800008177757263, + 0.31803789734840393, + 0.63277268409729 + ], + "joints": [ + 0.012493693269789219 + ] + }, + "fine_grasp": { + "position": [ + 0.05688401311635971, + -0.1040206030011177, + 0.03829161822795868 + ], + "orientation": [ + 0.4020264148712158, + -0.5809797048568726, + 0.3174317479133606, + 0.6325143575668335 + ], + "joints": [ + 0.003298679133877158 + ] + }, + "final_grasp": { + "position": [ + 0.05688401311635971, + -0.1040206030011177, + 0.03829161822795868 + ], + "orientation": [ + 0.4020264148712158, + -0.5809797048568726, + 0.3174317479133606, + 0.6325143575668335 + ], + "joints": [ + -0.005896335002034903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05234956741333008, + 0.09769726544618607, + 0.04401688277721405 + ], + "orientation": [ + 0.700685441493988, + 0.3326973617076874, + 0.5058386325836182, + -0.37746462225914 + ], + "joints": [ + 0.012301146052777767 + ] + }, + "fine_grasp": { + "position": [ + -0.05040610209107399, + 0.0940801203250885, + 0.0447104349732399 + ], + "orientation": [ + 0.7015820145606995, + 0.3337985873222351, + 0.5045565366744995, + -0.37654227018356323 + ], + "joints": [ + 0.0039420416578650475 + ] + }, + "final_grasp": { + "position": [ + -0.05040610209107399, + 0.0940801203250885, + 0.0447104349732399 + ], + "orientation": [ + 0.7015820145606995, + 0.3337985873222351, + 0.5045565366744995, + -0.37654227018356323 + ], + "joints": [ + -0.004417062737047672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06663829833269119, + 0.0820622369647026, + 0.04694483056664467 + ], + "orientation": [ + 0.7339762449264526, + 0.28111377358436584, + -0.5342137217521667, + 0.3112386465072632 + ], + "joints": [ + 0.012882566079497337 + ] + }, + "fine_grasp": { + "position": [ + 0.06445234268903732, + 0.07931430637836456, + 0.0464169904589653 + ], + "orientation": [ + 0.7397007942199707, + 0.284464031457901, + -0.5279198288917542, + 0.30532556772232056 + ], + "joints": [ + 0.004105506464838982 + ] + }, + "final_grasp": { + "position": [ + 0.06445234268903732, + 0.07931430637836456, + 0.0464169904589653 + ], + "orientation": [ + 0.7397007942199707, + 0.284464031457901, + -0.5279198288917542, + 0.30532556772232056 + ], + "joints": [ + -0.004671553149819374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07023828476667404, + 0.09016579389572144, + 0.10318552702665329 + ], + "orientation": [ + 0.3338738977909088, + 0.657663881778717, + -0.25396794080734253, + 0.6257049441337585 + ], + "joints": [ + 0.01825863867998123 + ] + }, + "fine_grasp": { + "position": [ + -0.06910505145788193, + 0.0869668573141098, + 0.10351217538118362 + ], + "orientation": [ + 0.3463023900985718, + 0.6520395874977112, + -0.26151400804519653, + 0.6217149496078491 + ], + "joints": [ + 0.005824471823871136 + ] + }, + "final_grasp": { + "position": [ + -0.06910505145788193, + 0.0869668573141098, + 0.10351217538118362 + ], + "orientation": [ + 0.3463023900985718, + 0.6520395874977112, + -0.26151400804519653, + 0.6217149496078491 + ], + "joints": [ + -0.00660969503223896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06593647599220276, + 0.08156580477952957, + 0.0476825051009655 + ], + "orientation": [ + 0.7342166304588318, + 0.27968424558639526, + -0.5330373644828796, + 0.3139649033546448 + ], + "joints": [ + 0.0132603133097291 + ] + }, + "fine_grasp": { + "position": [ + 0.06391606479883194, + 0.0792420357465744, + 0.04685975983738899 + ], + "orientation": [ + 0.7402663826942444, + 0.28178074955940247, + -0.5261280536651611, + 0.30950698256492615 + ], + "joints": [ + 0.0044832536950707436 + ] + }, + "final_grasp": { + "position": [ + 0.06391606479883194, + 0.0792420357465744, + 0.04685975983738899 + ], + "orientation": [ + 0.7402663826942444, + 0.28178074955940247, + -0.5261280536651611, + 0.30950698256492615 + ], + "joints": [ + -0.004293805919587612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1082349345088005, + 0.028938457369804382, + 0.13824352622032166 + ], + "orientation": [ + 0.580174446105957, + 0.10329803079366684, + -0.8041111826896667, + 0.07830944657325745 + ], + "joints": [ + 0.014233470894396305 + ] + }, + "fine_grasp": { + "position": [ + 0.10432051867246628, + 0.027889110147953033, + 0.137664332985878 + ], + "orientation": [ + 0.5836669206619263, + 0.1024525985121727, + -0.801678478717804, + 0.0784100815653801 + ], + "joints": [ + 0.005456411279737949 + ] + }, + "final_grasp": { + "position": [ + 0.10432051867246628, + 0.027889110147953033, + 0.137664332985878 + ], + "orientation": [ + 0.5836669206619263, + 0.1024525985121727, + -0.801678478717804, + 0.0784100815653801 + ], + "joints": [ + -0.0033206483349204063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05005045607686043, + 0.10150869190692902, + 0.10827231407165527 + ], + "orientation": [ + 0.3224804401397705, + 0.6127598285675049, + -0.4238649904727936, + 0.5838409066200256 + ], + "joints": [ + 0.013069670647382736 + ] + }, + "fine_grasp": { + "position": [ + -0.04812824726104736, + 0.09781672060489655, + 0.10830434411764145 + ], + "orientation": [ + 0.31821775436401367, + 0.6078718900680542, + -0.42954379320144653, + 0.5871296525001526 + ], + "joints": [ + 0.0047105662524700165 + ] + }, + "final_grasp": { + "position": [ + -0.04812824726104736, + 0.09781672060489655, + 0.10830434411764145 + ], + "orientation": [ + 0.31821775436401367, + 0.6078718900680542, + -0.42954379320144653, + 0.5871296525001526 + ], + "joints": [ + -0.0036485381424427032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05648411437869072, + -0.09779253602027893, + 0.06103697791695595 + ], + "orientation": [ + 0.34982410073280334, + -0.5864371061325073, + 0.35528039932250977, + 0.6383497714996338 + ], + "joints": [ + 0.011553676798939705 + ] + }, + "fine_grasp": { + "position": [ + 0.05431148782372475, + -0.094206802546978, + 0.061247557401657104 + ], + "orientation": [ + 0.3467790484428406, + -0.5838392972946167, + 0.35760000348091125, + 0.6410914659500122 + ], + "joints": [ + 0.0036125280894339085 + ] + }, + "final_grasp": { + "position": [ + 0.05431148782372475, + -0.094206802546978, + 0.061247557401657104 + ], + "orientation": [ + 0.3467790484428406, + -0.5838392972946167, + 0.35760000348091125, + 0.6410914659500122 + ], + "joints": [ + -0.004328620620071888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028289731591939926, + -0.09918972849845886, + 0.12560968101024628 + ], + "orientation": [ + 0.3536298871040344, + -0.6557756662368774, + -0.4847738444805145, + -0.4581466615200043 + ], + "joints": [ + 0.013558599166572094 + ] + }, + "fine_grasp": { + "position": [ + -0.027508998289704323, + -0.09650257974863052, + 0.12733089923858643 + ], + "orientation": [ + 0.35178685188293457, + -0.6593936681747437, + -0.4852914810180664, + -0.45380404591560364 + ], + "joints": [ + 0.004363584332168102 + ] + }, + "final_grasp": { + "position": [ + -0.027508998289704323, + -0.09650257974863052, + 0.12733089923858643 + ], + "orientation": [ + 0.35178685188293457, + -0.6593936681747437, + -0.4852914810180664, + -0.45380404591560364 + ], + "joints": [ + -0.0048314305022358894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07133541256189346, + 0.07118073850870132, + 0.06051713600754738 + ], + "orientation": [ + 0.7058171629905701, + 0.18893592059612274, + -0.5811586976051331, + 0.35830163955688477 + ], + "joints": [ + 0.014666606672108173 + ] + }, + "fine_grasp": { + "position": [ + 0.07093006372451782, + 0.07050082087516785, + 0.059381384402513504 + ], + "orientation": [ + 0.7088529467582703, + 0.18378981947898865, + -0.5760596394538879, + 0.363185852766037 + ], + "joints": [ + 0.005889547057449818 + ] + }, + "final_grasp": { + "position": [ + 0.07093006372451782, + 0.07050082087516785, + 0.059381384402513504 + ], + "orientation": [ + 0.7088529467582703, + 0.18378981947898865, + -0.5760596394538879, + 0.363185852766037 + ], + "joints": [ + -0.002887512557208538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05568382516503334, + -0.09199302643537521, + 0.10670396685600281 + ], + "orientation": [ + 0.588129460811615, + -0.4310375154018402, + 0.6309806108474731, + 0.26490357518196106 + ], + "joints": [ + 0.013666472397744656 + ] + }, + "fine_grasp": { + "position": [ + -0.05445787310600281, + -0.08993453532457352, + 0.1078740805387497 + ], + "orientation": [ + 0.588374674320221, + -0.4371817409992218, + 0.6287681460380554, + 0.2594957649707794 + ], + "joints": [ + 0.0048894127830863 + ] + }, + "final_grasp": { + "position": [ + -0.05445787310600281, + -0.08993453532457352, + 0.1078740805387497 + ], + "orientation": [ + 0.588374674320221, + -0.4371817409992218, + 0.6287681460380554, + 0.2594957649707794 + ], + "joints": [ + -0.003887646831572056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05593482777476311, + -0.09207750856876373, + 0.10733917355537415 + ], + "orientation": [ + 0.5880307555198669, + -0.429940402507782, + 0.6318773627281189, + 0.26476815342903137 + ], + "joints": [ + 0.013725056312978268 + ] + }, + "fine_grasp": { + "position": [ + -0.05476197600364685, + -0.08994803577661514, + 0.10850707441568375 + ], + "orientation": [ + 0.5884705185890198, + -0.43597176671028137, + 0.6297673583030701, + 0.25889045000076294 + ], + "joints": [ + 0.004947996698319912 + ] + }, + "final_grasp": { + "position": [ + -0.05476197600364685, + -0.08994803577661514, + 0.10850707441568375 + ], + "orientation": [ + 0.5884705185890198, + -0.43597176671028137, + 0.6297673583030701, + 0.25889045000076294 + ], + "joints": [ + -0.0038290629163384438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029726771637797356, + -0.11173458397388458, + 0.10154058039188385 + ], + "orientation": [ + 0.4669843316078186, + -0.5897408723831177, + -0.39351171255111694, + -0.5284693241119385 + ], + "joints": [ + 0.013521134853363037 + ] + }, + "fine_grasp": { + "position": [ + -0.028640443459153175, + -0.10771763324737549, + 0.10169965028762817 + ], + "orientation": [ + 0.4697073996067047, + -0.5904777646064758, + -0.39062389731407166, + -0.5273745059967041 + ], + "joints": [ + 0.005162030458450317 + ] + }, + "final_grasp": { + "position": [ + -0.028640443459153175, + -0.10771763324737549, + 0.10169965028762817 + ], + "orientation": [ + 0.4697073996067047, + -0.5904777646064758, + -0.39062389731407166, + -0.5273745059967041 + ], + "joints": [ + -0.0031970739364624023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0027199580799788237, + -0.06655741482973099, + 0.22218550741672516 + ], + "orientation": [ + 0.2201234996318817, + -0.6848518252372742, + 0.6654767394065857, + 0.19915902614593506 + ], + "joints": [ + 0.0151925478130579 + ] + }, + "fine_grasp": { + "position": [ + -0.0026652307715266943, + -0.06279107928276062, + 0.22247043251991272 + ], + "orientation": [ + 0.21653391420841217, + -0.688585102558136, + 0.664223849773407, + 0.1943461149930954 + ], + "joints": [ + 0.005579577758908272 + ] + }, + "final_grasp": { + "position": [ + -0.0026652307715266943, + -0.06279107928276062, + 0.22247043251991272 + ], + "orientation": [ + 0.21653391420841217, + -0.688585102558136, + 0.664223849773407, + 0.1943461149930954 + ], + "joints": [ + -0.004033392295241356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056246206164360046, + -0.09245244413614273, + 0.10753210633993149 + ], + "orientation": [ + 0.5912047624588013, + -0.4305671155452728, + 0.6290167570114136, + 0.26348990201950073 + ], + "joints": [ + 0.013667899183928967 + ] + }, + "fine_grasp": { + "position": [ + -0.05491216480731964, + -0.09017319232225418, + 0.1085435226559639 + ], + "orientation": [ + 0.5925950407981873, + -0.43771031498908997, + 0.6255619525909424, + 0.25673529505729675 + ], + "joints": [ + 0.005308794789016247 + ] + }, + "final_grasp": { + "position": [ + -0.05491216480731964, + -0.09017319232225418, + 0.1085435226559639 + ], + "orientation": [ + 0.5925950407981873, + -0.43771031498908997, + 0.6255619525909424, + 0.25673529505729675 + ], + "joints": [ + -0.003050309605896473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13242338597774506, + 0.010554774664342403, + 0.02868163213133812 + ], + "orientation": [ + 0.06689068675041199, + 0.6898196339607239, + 0.026204319670796394, + -0.7204082012176514 + ], + "joints": [ + 0.01638304442167282 + ] + }, + "fine_grasp": { + "position": [ + 0.12903562188148499, + 0.011017964221537113, + 0.028568068519234657 + ], + "orientation": [ + 0.05906592309474945, + 0.6919854879379272, + 0.01797809824347496, + -0.719266414642334 + ], + "joints": [ + 0.004345934838056564 + ] + }, + "final_grasp": { + "position": [ + 0.12903562188148499, + 0.011017964221537113, + 0.028568068519234657 + ], + "orientation": [ + 0.05906592309474945, + 0.6919854879379272, + 0.01797809824347496, + -0.719266414642334 + ], + "joints": [ + -0.007691174745559692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010648045688867569, + -0.1112746000289917, + 0.084235779941082 + ], + "orientation": [ + 0.4712703227996826, + -0.4718286395072937, + 0.5737302303314209, + 0.475516140460968 + ], + "joints": [ + 0.011724126525223255 + ] + }, + "fine_grasp": { + "position": [ + -0.010184498503804207, + -0.10711117088794708, + 0.08443529158830643 + ], + "orientation": [ + 0.46672892570495605, + -0.46548932790756226, + 0.5781762599945068, + 0.4808284640312195 + ], + "joints": [ + 0.003782977582886815 + ] + }, + "final_grasp": { + "position": [ + -0.010184498503804207, + -0.10711117088794708, + 0.08443529158830643 + ], + "orientation": [ + 0.46672892570495605, + -0.46548932790756226, + 0.5781762599945068, + 0.4808284640312195 + ], + "joints": [ + -0.004158171359449625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029521038755774498, + -0.11063630878925323, + 0.10168175399303436 + ], + "orientation": [ + 0.4665130376815796, + -0.5911228656768799, + -0.39313897490501404, + -0.527618408203125 + ], + "joints": [ + 0.013418028131127357 + ] + }, + "fine_grasp": { + "position": [ + -0.028461458161473274, + -0.10664775222539902, + 0.10183805227279663 + ], + "orientation": [ + 0.470760315656662, + -0.5927808880805969, + -0.3890652060508728, + -0.5249990224838257 + ], + "joints": [ + 0.005058923736214638 + ] + }, + "final_grasp": { + "position": [ + -0.028461458161473274, + -0.10664775222539902, + 0.10183805227279663 + ], + "orientation": [ + 0.470760315656662, + -0.5927808880805969, + -0.3890652060508728, + -0.5249990224838257 + ], + "joints": [ + -0.003300180658698082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08754246681928635, + 0.07468192279338837, + 0.044271621853113174 + ], + "orientation": [ + 0.27288293838500977, + 0.6220740675926208, + -0.21818432211875916, + 0.7006813287734985 + ], + "joints": [ + 0.011587806046009064 + ] + }, + "fine_grasp": { + "position": [ + -0.08431088179349899, + 0.07198121398687363, + 0.04469671472907066 + ], + "orientation": [ + 0.27280518412590027, + 0.6220822334289551, + -0.2170940637588501, + 0.7010430097579956 + ], + "joints": [ + 0.0036466573365032673 + ] + }, + "final_grasp": { + "position": [ + -0.08431088179349899, + 0.07198121398687363, + 0.04469671472907066 + ], + "orientation": [ + 0.27280518412590027, + 0.6220822334289551, + -0.2170940637588501, + 0.7010430097579956 + ], + "joints": [ + -0.004294491373002529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015357413329184055, + -0.11889318376779556, + 0.12277813255786896 + ], + "orientation": [ + 0.4536091089248657, + -0.5714322924613953, + 0.4757615923881531, + 0.4912787973880768 + ], + "joints": [ + 0.013975711539387703 + ] + }, + "fine_grasp": { + "position": [ + 0.014765557833015919, + -0.11501473933458328, + 0.12266885489225388 + ], + "orientation": [ + 0.45453497767448425, + -0.5708844661712646, + 0.4740631878376007, + 0.49269968271255493 + ], + "joints": [ + 0.004362741485238075 + ] + }, + "final_grasp": { + "position": [ + 0.014765557833015919, + -0.11501473933458328, + 0.12266885489225388 + ], + "orientation": [ + 0.45453497767448425, + -0.5708844661712646, + 0.4740631878376007, + 0.49269968271255493 + ], + "joints": [ + -0.005250228568911552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13224440813064575, + 0.01066168025135994, + 0.028006725013256073 + ], + "orientation": [ + 0.06544148176908493, + 0.6934720277786255, + 0.02554674819111824, + -0.7170504927635193 + ], + "joints": [ + 0.016174646094441414 + ] + }, + "fine_grasp": { + "position": [ + 0.12879502773284912, + 0.011121969670057297, + 0.027972301468253136 + ], + "orientation": [ + 0.057708900421857834, + 0.6946502327919006, + 0.01773258112370968, + -0.716809868812561 + ], + "joints": [ + 0.004137536510825157 + ] + }, + "final_grasp": { + "position": [ + 0.12879502773284912, + 0.011121969670057297, + 0.027972301468253136 + ], + "orientation": [ + 0.057708900421857834, + 0.6946502327919006, + 0.01773258112370968, + -0.716809868812561 + ], + "joints": [ + -0.0078995730727911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010778422467410564, + -0.11091038584709167, + 0.08393502980470657 + ], + "orientation": [ + 0.4703998565673828, + -0.4711453318595886, + 0.5754305124282837, + 0.47500091791152954 + ], + "joints": [ + 0.011661132797598839 + ] + }, + "fine_grasp": { + "position": [ + -0.01032345648854971, + -0.10675259679555893, + 0.08419223129749298 + ], + "orientation": [ + 0.46581652760505676, + -0.4647762179374695, + 0.5799399018287659, + 0.4802788197994232 + ], + "joints": [ + 0.0037199838552623987 + ] + }, + "final_grasp": { + "position": [ + -0.01032345648854971, + -0.10675259679555893, + 0.08419223129749298 + ], + "orientation": [ + 0.46581652760505676, + -0.4647762179374695, + 0.5799399018287659, + 0.4802788197994232 + ], + "joints": [ + -0.004221165087074041 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03631126135587692, + 0.060500483959913254, + 0.2393326610326767 + ], + "orientation": [ + 0.13051114976406097, + 0.7908067107200623, + -0.532619297504425, + 0.2718607783317566 + ], + "joints": [ + 0.01506198663264513 + ] + }, + "fine_grasp": { + "position": [ + -0.03497381508350372, + 0.058138422667980194, + 0.2364223301410675 + ], + "orientation": [ + 0.1318802833557129, + 0.7896177768707275, + -0.5306792855262756, + 0.2783716022968292 + ], + "joints": [ + 0.0054490165784955025 + ] + }, + "final_grasp": { + "position": [ + -0.03497381508350372, + 0.058138422667980194, + 0.2364223301410675 + ], + "orientation": [ + 0.1318802833557129, + 0.7896177768707275, + -0.5306792855262756, + 0.2783716022968292 + ], + "joints": [ + -0.004163953475654125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05636551231145859, + -0.09220773726701736, + 0.10783886909484863 + ], + "orientation": [ + 0.5946183800697327, + -0.4309384524822235, + 0.6261587738990784, + 0.26200392842292786 + ], + "joints": [ + 0.013751276768743992 + ] + }, + "fine_grasp": { + "position": [ + -0.05509660020470619, + -0.09000058472156525, + 0.1088438630104065 + ], + "orientation": [ + 0.5959756374359131, + -0.4377603232860565, + 0.6228865385055542, + 0.25532597303390503 + ], + "joints": [ + 0.005392172373831272 + ] + }, + "final_grasp": { + "position": [ + -0.05509660020470619, + -0.09000058472156525, + 0.1088438630104065 + ], + "orientation": [ + 0.5959756374359131, + -0.4377603232860565, + 0.6228865385055542, + 0.25532597303390503 + ], + "joints": [ + -0.0029669320210814476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06239514425396919, + 0.09813524037599564, + 0.04283624142408371 + ], + "orientation": [ + 0.6341708302497864, + 0.2600615620613098, + 0.5903239846229553, + -0.4262780547142029 + ], + "joints": [ + 0.012555994093418121 + ] + }, + "fine_grasp": { + "position": [ + -0.06014030799269676, + 0.09471096098423004, + 0.04333603382110596 + ], + "orientation": [ + 0.6335393190383911, + 0.2580665946006775, + 0.5913567543029785, + -0.4269973635673523 + ], + "joints": [ + 0.0037789344787597656 + ] + }, + "final_grasp": { + "position": [ + -0.06014030799269676, + 0.09471096098423004, + 0.04333603382110596 + ], + "orientation": [ + 0.6335393190383911, + 0.2580665946006775, + 0.5913567543029785, + -0.4269973635673523 + ], + "joints": [ + -0.00499812513589859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.062092121690511703, + 0.0977315902709961, + 0.04305539280176163 + ], + "orientation": [ + 0.6362804174423218, + 0.261869341135025, + 0.5884380340576172, + -0.42463216185569763 + ], + "joints": [ + 0.012171909213066101 + ] + }, + "fine_grasp": { + "position": [ + -0.05984014272689819, + 0.09426826238632202, + 0.04358239844441414 + ], + "orientation": [ + 0.6357261538505554, + 0.259962260723114, + 0.5893361568450928, + -0.4253876507282257 + ], + "joints": [ + 0.0038128048181533813 + ] + }, + "final_grasp": { + "position": [ + -0.05984014272689819, + 0.09426826238632202, + 0.04358239844441414 + ], + "orientation": [ + 0.6357261538505554, + 0.259962260723114, + 0.5893361568450928, + -0.4253876507282257 + ], + "joints": [ + -0.004546299576759338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10341662913560867, + -0.051701340824365616, + 0.11028174310922623 + ], + "orientation": [ + 0.6814369559288025, + -0.1369198113679886, + 0.6931074857711792, + 0.19104647636413574 + ], + "joints": [ + 0.014102843590080738 + ] + }, + "fine_grasp": { + "position": [ + -0.09966807812452316, + -0.04981525242328644, + 0.11041701585054398 + ], + "orientation": [ + 0.6820151209831238, + -0.13446491956710815, + 0.6927311420440674, + 0.19208946824073792 + ], + "joints": [ + 0.006161694414913654 + ] + }, + "final_grasp": { + "position": [ + -0.09966807812452316, + -0.04981525242328644, + 0.11041701585054398 + ], + "orientation": [ + 0.6820151209831238, + -0.13446491956710815, + 0.6927311420440674, + 0.19208946824073792 + ], + "joints": [ + -0.0017794547602534294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014548488892614841, + 0.04262557998299599, + 0.24352814257144928 + ], + "orientation": [ + 0.10051246732473373, + 0.7501143217086792, + -0.6332494616508484, + 0.16192883253097534 + ], + "joints": [ + 0.015335781499743462 + ] + }, + "fine_grasp": { + "position": [ + -0.014170188456773758, + 0.039971377700567245, + 0.24208594858646393 + ], + "orientation": [ + 0.09714595228433609, + 0.7507350444793701, + -0.632848858833313, + 0.16267147660255432 + ], + "joints": [ + 0.005722811445593834 + ] + }, + "final_grasp": { + "position": [ + -0.014170188456773758, + 0.039971377700567245, + 0.24208594858646393 + ], + "orientation": [ + 0.09714595228433609, + 0.7507350444793701, + -0.632848858833313, + 0.16267147660255432 + ], + "joints": [ + -0.0038901586085557938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07910538464784622, + 0.07352437824010849, + 0.11506275087594986 + ], + "orientation": [ + 0.2762843370437622, + 0.6673221588134766, + 0.2369445413351059, + -0.649773359298706 + ], + "joints": [ + 0.01538408175110817 + ] + }, + "fine_grasp": { + "position": [ + 0.07771982997655869, + 0.07201889902353287, + 0.11519250273704529 + ], + "orientation": [ + 0.2775081992149353, + 0.6678383350372314, + 0.23389963805675507, + -0.6498246192932129 + ], + "joints": [ + 0.006189066916704178 + ] + }, + "final_grasp": { + "position": [ + 0.07771982997655869, + 0.07201889902353287, + 0.11519250273704529 + ], + "orientation": [ + 0.2775081992149353, + 0.6678383350372314, + 0.23389963805675507, + -0.6498246192932129 + ], + "joints": [ + -0.003005947917699814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07951965183019638, + 0.07343780249357224, + 0.11470986902713776 + ], + "orientation": [ + 0.2746305763721466, + 0.67008376121521, + 0.23645061254501343, + -0.6478093266487122 + ], + "joints": [ + 0.014944128692150116 + ] + }, + "fine_grasp": { + "position": [ + 0.07811591774225235, + 0.07165355980396271, + 0.1148720309138298 + ], + "orientation": [ + 0.2759931683540344, + 0.6707995533943176, + 0.2330378293991089, + -0.6477260589599609 + ], + "joints": [ + 0.00616706907749176 + ] + }, + "final_grasp": { + "position": [ + 0.07811591774225235, + 0.07165355980396271, + 0.1148720309138298 + ], + "orientation": [ + 0.2759931683540344, + 0.6707995533943176, + 0.2330378293991089, + -0.6477260589599609 + ], + "joints": [ + -0.0026099905371665955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06255923956632614, + 0.09817907959222794, + 0.04207311198115349 + ], + "orientation": [ + 0.6307956576347351, + 0.2589735984802246, + 0.5944563150405884, + -0.426205575466156 + ], + "joints": [ + 0.01209893450140953 + ] + }, + "fine_grasp": { + "position": [ + -0.06029205769300461, + 0.09473154693841934, + 0.04257383197546005 + ], + "orientation": [ + 0.63027423620224, + 0.2570461928844452, + 0.5953294634819031, + -0.42692461609840393 + ], + "joints": [ + 0.003739830106496811 + ] + }, + "final_grasp": { + "position": [ + -0.06029205769300461, + 0.09473154693841934, + 0.04257383197546005 + ], + "orientation": [ + 0.63027423620224, + 0.2570461928844452, + 0.5953294634819031, + -0.42692461609840393 + ], + "joints": [ + -0.004619274288415909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015246680937707424, + -0.11881865561008453, + 0.12311060726642609 + ], + "orientation": [ + 0.4586814045906067, + -0.5678672790527344, + 0.47152745723724365, + 0.494772732257843 + ], + "joints": [ + 0.014254850335419178 + ] + }, + "fine_grasp": { + "position": [ + 0.014661931432783604, + -0.11493896692991257, + 0.12302207201719284 + ], + "orientation": [ + 0.4594811499118805, + -0.5675643682479858, + 0.46984973549842834, + 0.4959728717803955 + ], + "joints": [ + 0.004223925061523914 + ] + }, + "final_grasp": { + "position": [ + 0.014661931432783604, + -0.11493896692991257, + 0.12302207201719284 + ], + "orientation": [ + 0.4594811499118805, + -0.5675643682479858, + 0.46984973549842834, + 0.4959728717803955 + ], + "joints": [ + -0.005807000212371349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09456390887498856, + -0.044428158551454544, + 0.06827323138713837 + ], + "orientation": [ + 0.18656225502490997, + -0.6909920573234558, + -0.12231631577014923, + -0.6875778436660767 + ], + "joints": [ + 0.013621305115520954 + ] + }, + "fine_grasp": { + "position": [ + -0.09435636550188065, + -0.044019971042871475, + 0.06866294145584106 + ], + "orientation": [ + 0.18774822354316711, + -0.6908485293388367, + -0.11899756640195847, + -0.6879814267158508 + ], + "joints": [ + 0.004426290281116962 + ] + }, + "final_grasp": { + "position": [ + -0.09435636550188065, + -0.044019971042871475, + 0.06866294145584106 + ], + "orientation": [ + 0.18774822354316711, + -0.6908485293388367, + -0.11899756640195847, + -0.6879814267158508 + ], + "joints": [ + -0.004768724553287029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07892335206270218, + 0.07324515283107758, + 0.11477906256914139 + ], + "orientation": [ + 0.27554577589035034, + 0.6689594984054565, + 0.23713700473308563, + -0.6483315825462341 + ], + "joints": [ + 0.015153167769312859 + ] + }, + "fine_grasp": { + "position": [ + 0.0777113288640976, + 0.0717581957578659, + 0.11493904143571854 + ], + "orientation": [ + 0.27639368176460266, + 0.6695054173469543, + 0.2343507558107376, + -0.6484203338623047 + ], + "joints": [ + 0.006376108154654503 + ] + }, + "final_grasp": { + "position": [ + 0.0777113288640976, + 0.0717581957578659, + 0.11493904143571854 + ], + "orientation": [ + 0.27639368176460266, + 0.6695054173469543, + 0.2343507558107376, + -0.6484203338623047 + ], + "joints": [ + -0.002400951460003853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048125896602869034, + -0.11177900433540344, + 0.04580611735582352 + ], + "orientation": [ + 0.618053138256073, + -0.42619788646698, + -0.5609443783760071, + -0.3488653004169464 + ], + "joints": [ + 0.01205483265221119 + ] + }, + "fine_grasp": { + "position": [ + 0.046371400356292725, + -0.10807625949382782, + 0.04591948911547661 + ], + "orientation": [ + 0.6194369792938232, + -0.42582717537879944, + -0.5604715347290039, + -0.34762144088745117 + ], + "joints": [ + 0.0036748312413692474 + ] + }, + "final_grasp": { + "position": [ + 0.046371400356292725, + -0.10807625949382782, + 0.04591948911547661 + ], + "orientation": [ + 0.6194369792938232, + -0.42582717537879944, + -0.5604715347290039, + -0.34762144088745117 + ], + "joints": [ + -0.004705170169472694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0615433007478714, + 0.09677599370479584, + 0.04296344518661499 + ], + "orientation": [ + 0.6335791349411011, + 0.25701552629470825, + 0.5906231999397278, + -0.42858457565307617 + ], + "joints": [ + 0.012092886492609978 + ] + }, + "fine_grasp": { + "position": [ + -0.0592900775372982, + 0.09327969700098038, + 0.04345456510782242 + ], + "orientation": [ + 0.632493257522583, + 0.2547580301761627, + 0.5915168523788452, + -0.43030038475990295 + ], + "joints": [ + 0.003733782097697258 + ] + }, + "final_grasp": { + "position": [ + -0.0592900775372982, + 0.09327969700098038, + 0.04345456510782242 + ], + "orientation": [ + 0.632493257522583, + 0.2547580301761627, + 0.5915168523788452, + -0.43030038475990295 + ], + "joints": [ + -0.004625322297215462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03776949271559715, + 0.01995173841714859, + 0.23434115946292877 + ], + "orientation": [ + 0.1775669902563095, + 0.19590941071510315, + 0.9628227949142456, + -0.05533367022871971 + ], + "joints": [ + 0.01696162298321724 + ] + }, + "fine_grasp": { + "position": [ + -0.03437156230211258, + 0.018369946628808975, + 0.2344946414232254 + ], + "orientation": [ + 0.1664295345544815, + 0.18296308815479279, + 0.9673928618431091, + -0.054559990763664246 + ], + "joints": [ + 0.007348652929067612 + ] + }, + "final_grasp": { + "position": [ + -0.03437156230211258, + 0.018369946628808975, + 0.2344946414232254 + ], + "orientation": [ + 0.1664295345544815, + 0.18296308815479279, + 0.9673928618431091, + -0.054559990763664246 + ], + "joints": [ + -0.002264317125082016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04798687994480133, + -0.11142338067293167, + 0.04577615484595299 + ], + "orientation": [ + 0.617866039276123, + -0.4257369935512543, + -0.5611441135406494, + -0.34943780303001404 + ], + "joints": [ + 0.012029172852635384 + ] + }, + "fine_grasp": { + "position": [ + 0.04626702144742012, + -0.10770054906606674, + 0.04588811844587326 + ], + "orientation": [ + 0.6191465258598328, + -0.42553070187568665, + -0.560571551322937, + -0.34834006428718567 + ], + "joints": [ + 0.0036491714417934418 + ] + }, + "final_grasp": { + "position": [ + 0.04626702144742012, + -0.10770054906606674, + 0.04588811844587326 + ], + "orientation": [ + 0.6191465258598328, + -0.42553070187568665, + -0.560571551322937, + -0.34834006428718567 + ], + "joints": [ + -0.0047308299690485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0429379977285862, + 0.10631684213876724, + 0.11416558921337128 + ], + "orientation": [ + 0.562471866607666, + 0.3860991299152374, + 0.609237551689148, + -0.4042060971260071 + ], + "joints": [ + 0.012964926660060883 + ] + }, + "fine_grasp": { + "position": [ + -0.04133584722876549, + 0.10242569446563721, + 0.11424271017313004 + ], + "orientation": [ + 0.5602583885192871, + 0.38179633021354675, + 0.6111787557601929, + -0.4084148705005646 + ], + "joints": [ + 0.005023777484893799 + ] + }, + "final_grasp": { + "position": [ + -0.04133584722876549, + 0.10242569446563721, + 0.11424271017313004 + ], + "orientation": [ + 0.5602583885192871, + 0.38179633021354675, + 0.6111787557601929, + -0.4084148705005646 + ], + "joints": [ + -0.002917371690273285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06652320176362991, + -0.10002899914979935, + 0.15750393271446228 + ], + "orientation": [ + 0.3180136978626251, + -0.7035163044929504, + 0.3373306095600128, + 0.5386466979980469 + ], + "joints": [ + 0.015397475101053715 + ] + }, + "fine_grasp": { + "position": [ + 0.0643192008137703, + -0.09680300205945969, + 0.15702199935913086 + ], + "orientation": [ + 0.31945574283599854, + -0.7022745013237, + 0.33569246530532837, + 0.5404343605041504 + ], + "joints": [ + 0.004969492554664612 + ] + }, + "final_grasp": { + "position": [ + 0.0643192008137703, + -0.09680300205945969, + 0.15702199935913086 + ], + "orientation": [ + 0.31945574283599854, + -0.7022745013237, + 0.33569246530532837, + 0.5404343605041504 + ], + "joints": [ + -0.005458489991724491 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04263677820563316, + 0.1053607240319252, + 0.11446358263492584 + ], + "orientation": [ + 0.5613524913787842, + 0.38640373945236206, + 0.6109408140182495, + -0.40289807319641113 + ], + "joints": [ + 0.01343638077378273 + ] + }, + "fine_grasp": { + "position": [ + -0.041117917746305466, + 0.10148490220308304, + 0.1145615354180336 + ], + "orientation": [ + 0.5586206316947937, + 0.3817692697048187, + 0.613152265548706, + -0.40772488713264465 + ], + "joints": [ + 0.00507727637887001 + ] + }, + "final_grasp": { + "position": [ + -0.041117917746305466, + 0.10148490220308304, + 0.1145615354180336 + ], + "orientation": [ + 0.5586206316947937, + 0.3817692697048187, + 0.613152265548706, + -0.40772488713264465 + ], + "joints": [ + -0.0032818280160427094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061292752623558044, + 0.09607505053281784, + 0.043247804045677185 + ], + "orientation": [ + 0.6338959336280823, + 0.25701025128364563, + 0.5914351344108582, + -0.42699673771858215 + ], + "joints": [ + 0.012092886492609978 + ] + }, + "fine_grasp": { + "position": [ + -0.05905522033572197, + 0.09251730144023895, + 0.04375196993350983 + ], + "orientation": [ + 0.6326762437820435, + 0.2546297311782837, + 0.5920884013175964, + -0.4293200671672821 + ], + "joints": [ + 0.004151737317442894 + ] + }, + "final_grasp": { + "position": [ + -0.05905522033572197, + 0.09251730144023895, + 0.04375196993350983 + ], + "orientation": [ + 0.6326762437820435, + 0.2546297311782837, + 0.5920884013175964, + -0.4293200671672821 + ], + "joints": [ + -0.0037894118577241898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11194904893636703, + -0.01232217252254486, + 0.13451938331127167 + ], + "orientation": [ + 0.04934237524867058, + -0.7956575751304626, + -0.022504154592752457, + -0.6033141613006592 + ], + "joints": [ + 0.013568978756666183 + ] + }, + "fine_grasp": { + "position": [ + -0.10779659450054169, + -0.011852188967168331, + 0.1341601312160492 + ], + "orientation": [ + 0.050826430320739746, + -0.7939667105674744, + -0.020917100831866264, + -0.605471670627594 + ], + "joints": [ + 0.0056278295814991 + ] + }, + "final_grasp": { + "position": [ + -0.10779659450054169, + -0.011852188967168331, + 0.1341601312160492 + ], + "orientation": [ + 0.050826430320739746, + -0.7939667105674744, + -0.020917100831866264, + -0.605471670627594 + ], + "joints": [ + -0.002313319593667984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06639410555362701, + -0.10001491755247116, + 0.15714626014232635 + ], + "orientation": [ + 0.3163769543170929, + -0.7050448656082153, + 0.3392508029937744, + 0.5364012122154236 + ], + "joints": [ + 0.01556911040097475 + ] + }, + "fine_grasp": { + "position": [ + 0.06419417262077332, + -0.09678705781698227, + 0.15665389597415924 + ], + "orientation": [ + 0.3179514408111572, + -0.7036389708518982, + 0.3376954197883606, + 0.5382944941520691 + ], + "joints": [ + 0.005141127854585648 + ] + }, + "final_grasp": { + "position": [ + 0.06419417262077332, + -0.09678705781698227, + 0.15665389597415924 + ], + "orientation": [ + 0.3179514408111572, + -0.7036389708518982, + 0.3376954197883606, + 0.5382944941520691 + ], + "joints": [ + -0.005286854691803455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04852757602930069, + 0.053134284913539886, + 0.2238546907901764 + ], + "orientation": [ + 0.16114671528339386, + 0.8832724094390869, + -0.31995919346809387, + 0.3024695813655853 + ], + "joints": [ + 0.01596040278673172 + ] + }, + "fine_grasp": { + "position": [ + -0.04575996473431587, + 0.050769079476594925, + 0.22400684654712677 + ], + "orientation": [ + 0.1632496565580368, + 0.8922445774078369, + -0.30553245544433594, + 0.28965356945991516 + ], + "joints": [ + 0.006765387952327728 + ] + }, + "final_grasp": { + "position": [ + -0.04575996473431587, + 0.050769079476594925, + 0.22400684654712677 + ], + "orientation": [ + 0.1632496565580368, + 0.8922445774078369, + -0.30553245544433594, + 0.28965356945991516 + ], + "joints": [ + -0.0024296268820762634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012964101508259773, + 0.011233873665332794, + 0.260190486907959 + ], + "orientation": [ + 0.062334269285202026, + 0.6183299422264099, + 0.783442497253418, + 0.0006518727168440819 + ], + "joints": [ + 0.01539974007755518 + ] + }, + "fine_grasp": { + "position": [ + -0.012866600416600704, + 0.01063638087362051, + 0.2563871741294861 + ], + "orientation": [ + 0.0668117105960846, + 0.6151584982872009, + 0.7855663299560547, + -0.0013459365582093596 + ], + "joints": [ + 0.005786770023405552 + ] + }, + "final_grasp": { + "position": [ + -0.012866600416600704, + 0.01063638087362051, + 0.2563871741294861 + ], + "orientation": [ + 0.0668117105960846, + 0.6151584982872009, + 0.7855663299560547, + -0.0013459365582093596 + ], + "joints": [ + -0.0038262000307440758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11216194182634354, + -0.012449380941689014, + 0.1355067938566208 + ], + "orientation": [ + 0.055118534713983536, + -0.7881967425346375, + -0.017199525609612465, + -0.6127087473869324 + ], + "joints": [ + 0.014057750813663006 + ] + }, + "fine_grasp": { + "position": [ + -0.10797037929296494, + -0.011980416253209114, + 0.13516931235790253 + ], + "orientation": [ + 0.05724439397454262, + -0.7868509292602539, + -0.015095837414264679, + -0.6142969727516174 + ], + "joints": [ + 0.006116601638495922 + ] + }, + "final_grasp": { + "position": [ + -0.10797037929296494, + -0.011980416253209114, + 0.13516931235790253 + ], + "orientation": [ + 0.05724439397454262, + -0.7868509292602539, + -0.015095837414264679, + -0.6142969727516174 + ], + "joints": [ + -0.0018245475366711617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11784344166517258, + -0.006797464564442635, + 0.12918761372566223 + ], + "orientation": [ + 0.029879219830036163, + 0.742509126663208, + -0.0763384997844696, + -0.6648005843162537 + ], + "joints": [ + 0.015168447047472 + ] + }, + "fine_grasp": { + "position": [ + 0.11379878222942352, + -0.006585976108908653, + 0.12902463972568512 + ], + "orientation": [ + 0.03201435133814812, + 0.7409444451332092, + -0.07747186720371246, + -0.6663142442703247 + ], + "joints": [ + 0.006391387432813644 + ] + }, + "final_grasp": { + "position": [ + 0.11379878222942352, + -0.006585976108908653, + 0.12902463972568512 + ], + "orientation": [ + 0.03201435133814812, + 0.7409444451332092, + -0.07747186720371246, + -0.6663142442703247 + ], + "joints": [ + -0.0023856721818447113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048749953508377075, + -0.06137548387050629, + -0.1346794068813324 + ], + "orientation": [ + 0.31807130575180054, + -0.27941203117370605, + 0.17931096255779266, + 0.8880355954170227 + ], + "joints": [ + 0.013725493103265762 + ] + }, + "fine_grasp": { + "position": [ + 0.04703214392066002, + -0.05928615853190422, + -0.13178865611553192 + ], + "orientation": [ + 0.3176521360874176, + -0.2813790440559387, + 0.1797524243593216, + 0.8874751329421997 + ], + "joints": [ + 0.004112523049116135 + ] + }, + "final_grasp": { + "position": [ + 0.04703214392066002, + -0.05928615853190422, + -0.13178865611553192 + ], + "orientation": [ + 0.3176521360874176, + -0.2813790440559387, + 0.1797524243593216, + 0.8874751329421997 + ], + "joints": [ + -0.005500447005033493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05966060236096382, + 0.08816325664520264, + 0.06573155522346497 + ], + "orientation": [ + 0.3686341345310211, + 0.6600717902183533, + 0.2901258170604706, + -0.5867206454277039 + ], + "joints": [ + 0.013009343296289444 + ] + }, + "fine_grasp": { + "position": [ + 0.058582764118909836, + 0.087054044008255, + 0.06617765128612518 + ], + "orientation": [ + 0.3727375566959381, + 0.6612985134124756, + 0.2873808443546295, + -0.58409184217453 + ], + "joints": [ + 0.004232283681631088 + ] + }, + "final_grasp": { + "position": [ + 0.058582764118909836, + 0.087054044008255, + 0.06617765128612518 + ], + "orientation": [ + 0.3727375566959381, + 0.6612985134124756, + 0.2873808443546295, + -0.58409184217453 + ], + "joints": [ + -0.0045447759330272675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10653559863567352, + -0.005378207191824913, + 0.06156235933303833 + ], + "orientation": [ + 0.7350942492485046, + -0.06892308592796326, + 0.6733303070068359, + -0.038888849318027496 + ], + "joints": [ + 0.014073227532207966 + ] + }, + "fine_grasp": { + "position": [ + -0.1049077957868576, + -0.0054648639634251595, + 0.06150375306606293 + ], + "orientation": [ + 0.7368860244750977, + -0.07173715531826019, + 0.6708599925041199, + -0.04242363199591637 + ], + "joints": [ + 0.00529616791754961 + ] + }, + "final_grasp": { + "position": [ + -0.1049077957868576, + -0.0054648639634251595, + 0.06150375306606293 + ], + "orientation": [ + 0.7368860244750977, + -0.07173715531826019, + 0.6708599925041199, + -0.04242363199591637 + ], + "joints": [ + -0.0034808916971087456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01247084978967905, + 0.017357641831040382, + 0.25736281275749207 + ], + "orientation": [ + 0.004028571769595146, + -0.5545161366462708, + 0.8278296589851379, + -0.08481541275978088 + ], + "joints": [ + 0.015643678605556488 + ] + }, + "fine_grasp": { + "position": [ + -0.012514516711235046, + 0.01671133190393448, + 0.25396212935447693 + ], + "orientation": [ + 0.0033526646438986063, + -0.5503790974617004, + 0.8302039504051208, + -0.08850507438182831 + ], + "joints": [ + 0.006866618990898132 + ] + }, + "final_grasp": { + "position": [ + -0.012514516711235046, + 0.01671133190393448, + 0.25396212935447693 + ], + "orientation": [ + 0.0033526646438986063, + -0.5503790974617004, + 0.8302039504051208, + -0.08850507438182831 + ], + "joints": [ + -0.0019104406237602234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06026162579655647, + -0.08735944330692291, + -0.06682934612035751 + ], + "orientation": [ + 0.6982104182243347, + -0.27690422534942627, + 0.545426607131958, + 0.3719356954097748 + ], + "joints": [ + 0.013197739608585835 + ] + }, + "fine_grasp": { + "position": [ + -0.05855756625533104, + -0.08514586091041565, + -0.06628856807947159 + ], + "orientation": [ + 0.696783721446991, + -0.27889856696128845, + 0.5471652746200562, + 0.37056446075439453 + ], + "joints": [ + 0.004420679993927479 + ] + }, + "final_grasp": { + "position": [ + -0.05855756625533104, + -0.08514586091041565, + -0.06628856807947159 + ], + "orientation": [ + 0.696783721446991, + -0.27889856696128845, + 0.5471652746200562, + 0.37056446075439453 + ], + "joints": [ + -0.004356379620730877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0596553273499012, + 0.08809418231248856, + 0.06527308374643326 + ], + "orientation": [ + 0.37135761976242065, + 0.6655661463737488, + 0.286074697971344, + -0.5807552337646484 + ], + "joints": [ + 0.012943282723426819 + ] + }, + "fine_grasp": { + "position": [ + 0.05861280485987663, + 0.0870678648352623, + 0.06582504510879517 + ], + "orientation": [ + 0.3749094605445862, + 0.6670593619346619, + 0.28375667333602905, + -0.5778900980949402 + ], + "joints": [ + 0.004166223108768463 + ] + }, + "final_grasp": { + "position": [ + 0.05861280485987663, + 0.0870678648352623, + 0.06582504510879517 + ], + "orientation": [ + 0.3749094605445862, + 0.6670593619346619, + 0.28375667333602905, + -0.5778900980949402 + ], + "joints": [ + -0.004610836505889893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012924001552164555, + -0.12292404472827911, + -0.052906785160303116 + ], + "orientation": [ + 0.5593953728675842, + -0.4595808684825897, + -0.48865601420402527, + -0.48690617084503174 + ], + "joints": [ + 0.013576742261648178 + ] + }, + "fine_grasp": { + "position": [ + 0.01253542210906744, + -0.11902560293674469, + -0.052579499781131744 + ], + "orientation": [ + 0.559162974357605, + -0.4599156975746155, + -0.4888778030872345, + -0.48663434386253357 + ], + "joints": [ + 0.0035458174534142017 + ] + }, + "final_grasp": { + "position": [ + 0.01253542210906744, + -0.11902560293674469, + -0.052579499781131744 + ], + "orientation": [ + 0.559162974357605, + -0.4599156975746155, + -0.4888778030872345, + -0.48663434386253357 + ], + "joints": [ + -0.006485107354819775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11920123547315598, + -0.00698663666844368, + 0.13085073232650757 + ], + "orientation": [ + 0.026339475065469742, + -0.7197768092155457, + -0.014940503984689713, + -0.6935447454452515 + ], + "joints": [ + 0.015463199466466904 + ] + }, + "fine_grasp": { + "position": [ + -0.11517884582281113, + -0.0067789796739816666, + 0.1308269053697586 + ], + "orientation": [ + 0.026278840377926826, + -0.719214141368866, + -0.014498358592391014, + -0.6941400766372681 + ], + "joints": [ + 0.006268184632062912 + ] + }, + "final_grasp": { + "position": [ + -0.11517884582281113, + -0.0067789796739816666, + 0.1308269053697586 + ], + "orientation": [ + 0.026278840377926826, + -0.719214141368866, + -0.014498358592391014, + -0.6941400766372681 + ], + "joints": [ + -0.0029268302023410797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05679534003138542, + 0.09181255102157593, + 0.1484648734331131 + ], + "orientation": [ + 0.46689537167549133, + 0.3323521912097931, + -0.7551231980323792, + 0.318339079618454 + ], + "joints": [ + 0.013973819091916084 + ] + }, + "fine_grasp": { + "position": [ + 0.05452433601021767, + 0.08833322674036026, + 0.14788854122161865 + ], + "orientation": [ + 0.46414369344711304, + 0.3233434557914734, + -0.7577492594718933, + 0.32532426714897156 + ], + "joints": [ + 0.0056147146970033646 + ] + }, + "final_grasp": { + "position": [ + 0.05452433601021767, + 0.08833322674036026, + 0.14788854122161865 + ], + "orientation": [ + 0.46414369344711304, + 0.3233434557914734, + -0.7577492594718933, + 0.32532426714897156 + ], + "joints": [ + -0.002744389697909355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07232552021741867, + -0.07731614261865616, + -0.09057505428791046 + ], + "orientation": [ + 0.432320237159729, + -0.5000251531600952, + -0.1438494473695755, + -0.7364655137062073 + ], + "joints": [ + 0.013335450552403927 + ] + }, + "fine_grasp": { + "position": [ + -0.06966278702020645, + -0.07468240708112717, + -0.0890960544347763 + ], + "orientation": [ + 0.4314355254173279, + -0.502506673336029, + -0.1426408290863037, + -0.735529899597168 + ], + "joints": [ + 0.004140435717999935 + ] + }, + "final_grasp": { + "position": [ + -0.06966278702020645, + -0.07468240708112717, + -0.0890960544347763 + ], + "orientation": [ + 0.4314355254173279, + -0.502506673336029, + -0.1426408290863037, + -0.735529899597168 + ], + "joints": [ + -0.0050545791164040565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07360590249300003, + 0.07583951950073242, + 0.17703084647655487 + ], + "orientation": [ + 0.45933735370635986, + 0.2808143198490143, + 0.8097237944602966, + -0.23345227539539337 + ], + "joints": [ + 0.015049230307340622 + ] + }, + "fine_grasp": { + "position": [ + -0.07086855918169022, + 0.0731021910905838, + 0.1759280562400818 + ], + "orientation": [ + 0.46155548095703125, + 0.2765233516693115, + 0.8088454008102417, + -0.23721426725387573 + ], + "joints": [ + 0.00585421547293663 + ] + }, + "final_grasp": { + "position": [ + -0.07086855918169022, + 0.0731021910905838, + 0.1759280562400818 + ], + "orientation": [ + 0.46155548095703125, + 0.2765233516693115, + 0.8088454008102417, + -0.23721426725387573 + ], + "joints": [ + -0.0033407993614673615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04593707248568535, + -0.09412459284067154, + -0.08721047639846802 + ], + "orientation": [ + 0.42388901114463806, + -0.45189425349235535, + 0.30321773886680603, + 0.7239950299263 + ], + "joints": [ + 0.0125922542065382 + ] + }, + "fine_grasp": { + "position": [ + 0.04423065483570099, + -0.09072025865316391, + -0.08552441000938416 + ], + "orientation": [ + 0.42398253083229065, + -0.4520013928413391, + 0.3030266761779785, + 0.723953366279602 + ], + "joints": [ + 0.004233149811625481 + ] + }, + "final_grasp": { + "position": [ + 0.04423065483570099, + -0.09072025865316391, + -0.08552441000938416 + ], + "orientation": [ + 0.42398253083229065, + -0.4520013928413391, + 0.3030266761779785, + 0.723953366279602 + ], + "joints": [ + -0.004125954583287239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046954281628131866, + -0.09640079736709595, + -0.08827268332242966 + ], + "orientation": [ + 0.4271196126937866, + -0.44625502824783325, + 0.30075111985206604, + 0.7266181707382202 + ], + "joints": [ + 0.012291251681745052 + ] + }, + "fine_grasp": { + "position": [ + 0.045174211263656616, + -0.09296546131372452, + -0.086831234395504 + ], + "orientation": [ + 0.4258735179901123, + -0.4488378167152405, + 0.3011925220489502, + 0.7255752682685852 + ], + "joints": [ + 0.003932147286832333 + ] + }, + "final_grasp": { + "position": [ + 0.045174211263656616, + -0.09296546131372452, + -0.086831234395504 + ], + "orientation": [ + 0.4258735179901123, + -0.4488378167152405, + 0.3011925220489502, + 0.7255752682685852 + ], + "joints": [ + -0.004426957108080387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02343343198299408, + -0.005333144683390856, + 0.24845974147319794 + ], + "orientation": [ + 0.013379858806729317, + 0.9228883385658264, + 0.3693292438983917, + 0.10813884437084198 + ], + "joints": [ + 0.0168570876121521 + ] + }, + "fine_grasp": { + "position": [ + -0.02261892892420292, + -0.0048532565124332905, + 0.24706213176250458 + ], + "orientation": [ + 0.013983306474983692, + 0.9246679544448853, + 0.36539924144744873, + 0.10619370639324188 + ], + "joints": [ + 0.007244117558002472 + ] + }, + "final_grasp": { + "position": [ + -0.02261892892420292, + -0.0048532565124332905, + 0.24706213176250458 + ], + "orientation": [ + 0.013983306474983692, + 0.9246679544448853, + 0.36539924144744873, + 0.10619370639324188 + ], + "joints": [ + -0.0023688524961471558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07431165128946304, + 0.07661154866218567, + 0.17773082852363586 + ], + "orientation": [ + 0.4629438519477844, + 0.27398553490638733, + 0.8082414269447327, + -0.23950061202049255 + ], + "joints": [ + 0.015295401215553284 + ] + }, + "fine_grasp": { + "position": [ + -0.07159996032714844, + 0.07389164716005325, + 0.17664457857608795 + ], + "orientation": [ + 0.465094655752182, + 0.2698040306568146, + 0.8072522878646851, + -0.24338558316230774 + ], + "joints": [ + 0.006100386381149292 + ] + }, + "final_grasp": { + "position": [ + -0.07159996032714844, + 0.07389164716005325, + 0.17664457857608795 + ], + "orientation": [ + 0.465094655752182, + 0.2698040306568146, + 0.8072522878646851, + -0.24338558316230774 + ], + "joints": [ + -0.0030946284532546997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002580794272944331, + 0.10042224079370499, + -0.09473070502281189 + ], + "orientation": [ + 0.6431865692138672, + 0.37595126032829285, + -0.3464707136154175, + 0.5700260400772095 + ], + "joints": [ + 0.01173421274870634 + ] + }, + "fine_grasp": { + "position": [ + 0.0025434838607907295, + 0.09668152034282684, + -0.09267935156822205 + ], + "orientation": [ + 0.6435979604721069, + 0.37722060084342957, + -0.3469291627407074, + 0.5684421062469482 + ], + "joints": [ + 0.003793063573539257 + ] + }, + "final_grasp": { + "position": [ + 0.0025434838607907295, + 0.09668152034282684, + -0.09267935156822205 + ], + "orientation": [ + 0.6435979604721069, + 0.37722060084342957, + -0.3469291627407074, + 0.5684421062469482 + ], + "joints": [ + -0.004148085601627827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.043218232691287994, + -0.07809052616357803, + -0.12444920092821121 + ], + "orientation": [ + 0.3663463592529297, + -0.3094859719276428, + -0.23786738514900208, + -0.8446465730667114 + ], + "joints": [ + 0.013554763048887253 + ] + }, + "fine_grasp": { + "position": [ + -0.041577547788619995, + -0.07559437304735184, + -0.1219027191400528 + ], + "orientation": [ + 0.3655814826488495, + -0.3115611672401428, + -0.2378736138343811, + -0.8442132472991943 + ], + "joints": [ + 0.003941792994737625 + ] + }, + "final_grasp": { + "position": [ + -0.041577547788619995, + -0.07559437304735184, + -0.1219027191400528 + ], + "orientation": [ + 0.3655814826488495, + -0.3115611672401428, + -0.2378736138343811, + -0.8442132472991943 + ], + "joints": [ + -0.0056711770594120026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0473036989569664, + -0.09092650562524796, + 0.028327561914920807 + ], + "orientation": [ + 0.74863201379776, + -0.34237587451934814, + 0.446432501077652, + 0.3507520258426666 + ], + "joints": [ + 0.012431865558028221 + ] + }, + "fine_grasp": { + "position": [ + -0.04542393609881401, + -0.08790894597768784, + 0.027557408437132835 + ], + "orientation": [ + 0.756884753704071, + -0.3462328612804413, + 0.4370446503162384, + 0.34094029664993286 + ], + "joints": [ + 0.004490716382861137 + ] + }, + "final_grasp": { + "position": [ + -0.04542393609881401, + -0.08790894597768784, + 0.027557408437132835 + ], + "orientation": [ + 0.756884753704071, + -0.3462328612804413, + 0.4370446503162384, + 0.34094029664993286 + ], + "joints": [ + -0.0034504327923059464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10364221781492233, + -0.01922016777098179, + -0.0715193971991539 + ], + "orientation": [ + 0.024587655439972878, + -0.6027097105979919, + -0.08975345641374588, + -0.7925155162811279 + ], + "joints": [ + 0.013159002177417278 + ] + }, + "fine_grasp": { + "position": [ + -0.09992767870426178, + -0.01856491155922413, + -0.07018131762742996 + ], + "orientation": [ + 0.024740878492593765, + -0.598825991153717, + -0.09015816450119019, + -0.7954034805297852 + ], + "joints": [ + 0.0047998977825045586 + ] + }, + "final_grasp": { + "position": [ + -0.09992767870426178, + -0.01856491155922413, + -0.07018131762742996 + ], + "orientation": [ + 0.024740878492593765, + -0.598825991153717, + -0.09015816450119019, + -0.7954034805297852 + ], + "joints": [ + -0.003559206612408161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042778145521879196, + -0.0776418074965477, + -0.12351886183023453 + ], + "orientation": [ + 0.3677275776863098, + -0.3096309006214142, + -0.2378508299589157, + -0.8439977169036865 + ], + "joints": [ + 0.013554953970015049 + ] + }, + "fine_grasp": { + "position": [ + -0.04112447053194046, + -0.07512293756008148, + -0.12100360542535782 + ], + "orientation": [ + 0.36686643958091736, + -0.31196844577789307, + -0.23805393278598785, + -0.8434542417526245 + ], + "joints": [ + 0.003941983915865421 + ] + }, + "final_grasp": { + "position": [ + -0.04112447053194046, + -0.07512293756008148, + -0.12100360542535782 + ], + "orientation": [ + 0.36686643958091736, + -0.31196844577789307, + -0.23805393278598785, + -0.8434542417526245 + ], + "joints": [ + -0.005670986138284206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1038057804107666, + -0.01910788007080555, + -0.07115034013986588 + ], + "orientation": [ + 0.021176662296056747, + -0.6024580001831055, + -0.09158248454332352, + -0.7925961017608643 + ], + "joints": [ + 0.013259443454444408 + ] + }, + "fine_grasp": { + "position": [ + -0.10031480342149734, + -0.018484897911548615, + -0.06989274173974991 + ], + "orientation": [ + 0.02054012566804886, + -0.5992054343223572, + -0.09250961989164352, + -0.7949672341346741 + ], + "joints": [ + 0.004900339059531689 + ] + }, + "final_grasp": { + "position": [ + -0.10031480342149734, + -0.018484897911548615, + -0.06989274173974991 + ], + "orientation": [ + 0.02054012566804886, + -0.5992054343223572, + -0.09250961989164352, + -0.7949672341346741 + ], + "joints": [ + -0.003458765335381031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10328599810600281, + -0.019093334674835205, + -0.07043540477752686 + ], + "orientation": [ + 0.01776999421417713, + -0.5999842286109924, + -0.09503719955682755, + -0.7941480278968811 + ], + "joints": [ + 0.013564291410148144 + ] + }, + "fine_grasp": { + "position": [ + -0.1001570001244545, + -0.018637636676430702, + -0.06941958516836166 + ], + "orientation": [ + 0.01566191576421261, + -0.598580539226532, + -0.09728549420833588, + -0.79497891664505 + ], + "joints": [ + 0.004787231795489788 + ] + }, + "final_grasp": { + "position": [ + -0.1001570001244545, + -0.018637636676430702, + -0.06941958516836166 + ], + "orientation": [ + 0.01566191576421261, + -0.598580539226532, + -0.09728549420833588, + -0.79497891664505 + ], + "joints": [ + -0.003989827819168568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03324511647224426, + 0.0975666418671608, + 0.1401599645614624 + ], + "orientation": [ + 0.4327611029148102, + 0.42772728204727173, + -0.7067021131515503, + 0.36102548241615295 + ], + "joints": [ + 0.01375951711088419 + ] + }, + "fine_grasp": { + "position": [ + 0.031653404235839844, + 0.09460781514644623, + 0.14158758521080017 + ], + "orientation": [ + 0.42436498403549194, + 0.42097142338752747, + -0.7137641310691833, + 0.3650178611278534 + ], + "joints": [ + 0.00540041271597147 + ] + }, + "final_grasp": { + "position": [ + 0.031653404235839844, + 0.09460781514644623, + 0.14158758521080017 + ], + "orientation": [ + 0.42436498403549194, + 0.42097142338752747, + -0.7137641310691833, + 0.3650178611278534 + ], + "joints": [ + -0.00295869167894125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0034794460516422987, + -0.12765584886074066, + 0.03040553629398346 + ], + "orientation": [ + 0.4913454055786133, + -0.5745595097541809, + -0.4699554145336151, + -0.4556349217891693 + ], + "joints": [ + 0.015503138303756714 + ] + }, + "fine_grasp": { + "position": [ + -0.004119740333408117, + -0.12386561930179596, + 0.030399324372410774 + ], + "orientation": [ + 0.49880582094192505, + -0.5686867833137512, + -0.47372832894325256, + -0.45096510648727417 + ], + "joints": [ + 0.003466028720140457 + ] + }, + "final_grasp": { + "position": [ + -0.004119740333408117, + -0.12386561930179596, + 0.030399324372410774 + ], + "orientation": [ + 0.49880582094192505, + -0.5686867833137512, + -0.47372832894325256, + -0.45096510648727417 + ], + "joints": [ + -0.0085710808634758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12347934395074844, + 0.01892029494047165, + -0.03946290910243988 + ], + "orientation": [ + 0.06396137177944183, + 0.5522518754005432, + -0.06302833557128906, + 0.8288270235061646 + ], + "joints": [ + 0.013620849698781967 + ] + }, + "fine_grasp": { + "position": [ + -0.11968144029378891, + 0.018846990540623665, + -0.03906893730163574 + ], + "orientation": [ + 0.05989784374833107, + 0.5597682595252991, + -0.058849576860666275, + 0.8243836760520935 + ], + "joints": [ + 0.0035690274089574814 + ] + }, + "final_grasp": { + "position": [ + -0.11968144029378891, + 0.018846990540623665, + -0.03906893730163574 + ], + "orientation": [ + 0.05989784374833107, + 0.5597682595252991, + -0.058849576860666275, + 0.8243836760520935 + ], + "joints": [ + -0.006482794880867004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03311916068196297, + 0.09756583720445633, + 0.14030124247074127 + ], + "orientation": [ + 0.4312845766544342, + 0.4263002276420593, + -0.7076375484466553, + 0.36264416575431824 + ], + "joints": [ + 0.01380825787782669 + ] + }, + "fine_grasp": { + "position": [ + 0.031525906175374985, + 0.09463518857955933, + 0.141793355345726 + ], + "orientation": [ + 0.4230460524559021, + 0.41967761516571045, + -0.714697539806366, + 0.36621060967445374 + ], + "joints": [ + 0.005449153482913971 + ] + }, + "final_grasp": { + "position": [ + 0.031525906175374985, + 0.09463518857955933, + 0.141793355345726 + ], + "orientation": [ + 0.4230460524559021, + 0.41967761516571045, + -0.714697539806366, + 0.36621060967445374 + ], + "joints": [ + -0.0029099509119987488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12298949062824249, + 0.019017722457647324, + -0.03928108513355255 + ], + "orientation": [ + 0.06230878829956055, + 0.5512433052062988, + -0.06468135118484497, + 0.8294966220855713 + ], + "joints": [ + 0.01399652287364006 + ] + }, + "fine_grasp": { + "position": [ + -0.11924885213375092, + 0.018983222544193268, + -0.03887668624520302 + ], + "orientation": [ + 0.05789877474308014, + 0.558530867099762, + -0.06003855541348457, + 0.8252795934677124 + ], + "joints": [ + 0.003547642845660448 + ] + }, + "final_grasp": { + "position": [ + -0.11924885213375092, + 0.018983222544193268, + -0.03887668624520302 + ], + "orientation": [ + 0.05789877474308014, + 0.558530867099762, + -0.06003855541348457, + 0.8252795934677124 + ], + "joints": [ + -0.006901237182319164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003440957283601165, + -0.12838506698608398, + 0.030295703560113907 + ], + "orientation": [ + 0.4916727840900421, + -0.5757284164428711, + -0.4691498279571533, + -0.4546351730823517 + ], + "joints": [ + 0.015943091362714767 + ] + }, + "fine_grasp": { + "position": [ + -0.004105037543922663, + -0.12468966096639633, + 0.03028142638504505 + ], + "orientation": [ + 0.49916815757751465, + -0.569817841053009, + -0.47310155630111694, + -0.4497930407524109 + ], + "joints": [ + 0.0035089245066046715 + ] + }, + "final_grasp": { + "position": [ + -0.004105037543922663, + -0.12468966096639633, + 0.03028142638504505 + ], + "orientation": [ + 0.49916815757751465, + -0.569817841053009, + -0.47310155630111694, + -0.4497930407524109 + ], + "joints": [ + -0.008925242349505424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.063681460916996, + 0.10721967369318008, + -0.02056080475449562 + ], + "orientation": [ + 0.6687690019607544, + 0.2857770621776581, + -0.5497998595237732, + 0.410852313041687 + ], + "joints": [ + 0.01177153643220663 + ] + }, + "fine_grasp": { + "position": [ + 0.061516452580690384, + 0.10376012325286865, + -0.020088238641619682 + ], + "orientation": [ + 0.6668797135353088, + 0.2867010533809662, + -0.5525789260864258, + 0.40954914689064026 + ], + "joints": [ + 0.0033915352541953325 + ] + }, + "final_grasp": { + "position": [ + 0.061516452580690384, + 0.10376012325286865, + -0.020088238641619682 + ], + "orientation": [ + 0.6668797135353088, + 0.2867010533809662, + -0.5525789260864258, + 0.40954914689064026 + ], + "joints": [ + -0.004988465923815966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.102815181016922, + -0.01909557171165943, + -0.06999386101961136 + ], + "orientation": [ + 0.018081890419125557, + -0.6015557050704956, + -0.09604531526565552, + -0.7928298115730286 + ], + "joints": [ + 0.01371041964739561 + ] + }, + "fine_grasp": { + "position": [ + -0.09999740123748779, + -0.01881549134850502, + -0.06904209405183792 + ], + "orientation": [ + 0.016758408397436142, + -0.5999380350112915, + -0.0985308438539505, + -0.7937790155410767 + ], + "joints": [ + 0.004933360032737255 + ] + }, + "final_grasp": { + "position": [ + -0.09999740123748779, + -0.01881549134850502, + -0.06904209405183792 + ], + "orientation": [ + 0.016758408397436142, + -0.5999380350112915, + -0.0985308438539505, + -0.7937790155410767 + ], + "joints": [ + -0.0038436995819211006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0025691071059554815, + 0.10112304240465164, + -0.09548566490411758 + ], + "orientation": [ + 0.6420459151268005, + 0.37394285202026367, + -0.34584710001945496, + 0.5730040073394775 + ], + "joints": [ + 0.011633990332484245 + ] + }, + "fine_grasp": { + "position": [ + 0.0024965566117316484, + 0.09739281982183456, + -0.09348725527524948 + ], + "orientation": [ + 0.6419243812561035, + 0.37487202882766724, + -0.34669947624206543, + 0.5720171332359314 + ], + "joints": [ + 0.003692841622978449 + ] + }, + "final_grasp": { + "position": [ + 0.0024965566117316484, + 0.09739281982183456, + -0.09348725527524948 + ], + "orientation": [ + 0.6419243812561035, + 0.37487202882766724, + -0.34669947624206543, + 0.5720171332359314 + ], + "joints": [ + -0.0042483070865273476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007807753048837185, + -0.09357944130897522, + -0.12442826479673386 + ], + "orientation": [ + 0.6946336627006531, + -0.2774975895881653, + 0.2889566719532013, + 0.5974807739257812 + ], + "joints": [ + 0.013836255297064781 + ] + }, + "fine_grasp": { + "position": [ + -0.007661048788577318, + -0.09053831547498703, + -0.12194407731294632 + ], + "orientation": [ + 0.6937656402587891, + -0.27951282262802124, + 0.2891882359981537, + 0.5974379777908325 + ], + "joints": [ + 0.003429170697927475 + ] + }, + "final_grasp": { + "position": [ + -0.007661048788577318, + -0.09053831547498703, + -0.12194407731294632 + ], + "orientation": [ + 0.6937656402587891, + -0.27951282262802124, + 0.2891882359981537, + 0.5974379777908325 + ], + "joints": [ + -0.006977913901209831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050697211176157, + 0.09614860266447067, + 0.05827544629573822 + ], + "orientation": [ + 0.41098126769065857, + 0.6459985971450806, + 0.31410664319992065, + -0.5613530278205872 + ], + "joints": [ + 0.012411899864673615 + ] + }, + "fine_grasp": { + "position": [ + 0.04933009669184685, + 0.0936938002705574, + 0.05859002098441124 + ], + "orientation": [ + 0.4195549786090851, + 0.6501877307891846, + 0.30471476912498474, + -0.5553181767463684 + ], + "joints": [ + 0.003634840715676546 + ] + }, + "final_grasp": { + "position": [ + 0.04933009669184685, + 0.0936938002705574, + 0.05859002098441124 + ], + "orientation": [ + 0.4195549786090851, + 0.6501877307891846, + 0.30471476912498474, + -0.5553181767463684 + ], + "joints": [ + -0.005142218433320522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049990616738796234, + -0.01483384519815445, + 0.2385462522506714 + ], + "orientation": [ + 0.2418254166841507, + -0.03060377947986126, + 0.9677655696868896, + 0.06335455179214478 + ], + "joints": [ + 0.01649915613234043 + ] + }, + "fine_grasp": { + "position": [ + -0.04685888811945915, + -0.014311912469565868, + 0.23843510448932648 + ], + "orientation": [ + 0.22656695544719696, + -0.02398383989930153, + 0.9716907739639282, + 0.06252443045377731 + ], + "joints": [ + 0.007283243350684643 + ] + }, + "final_grasp": { + "position": [ + -0.04685888811945915, + -0.014311912469565868, + 0.23843510448932648 + ], + "orientation": [ + 0.22656695544719696, + -0.02398383989930153, + 0.9716907739639282, + 0.06252443045377731 + ], + "joints": [ + -0.0019326694309711456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0710277184844017, + -0.0899205431342125, + 0.029240332543849945 + ], + "orientation": [ + 0.35621699690818787, + -0.6285585165023804, + 0.2614257335662842, + 0.640062689781189 + ], + "joints": [ + 0.010684054344892502 + ] + }, + "fine_grasp": { + "position": [ + 0.06829956918954849, + -0.08654490858316422, + 0.02926957607269287 + ], + "orientation": [ + 0.3570990562438965, + -0.631104052066803, + 0.2601310908794403, + 0.6375889778137207 + ], + "joints": [ + 0.003557918593287468 + ] + }, + "final_grasp": { + "position": [ + 0.06829956918954849, + -0.08654490858316422, + 0.02926957607269287 + ], + "orientation": [ + 0.3570990562438965, + -0.631104052066803, + 0.2601310908794403, + 0.6375889778137207 + ], + "joints": [ + -0.003568217158317566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1079900935292244, + 0.03189511224627495, + 0.1259024292230606 + ], + "orientation": [ + 0.6735474467277527, + 0.1465345025062561, + -0.7219966650009155, + 0.05985080823302269 + ], + "joints": [ + 0.014979290775954723 + ] + }, + "fine_grasp": { + "position": [ + 0.10404272377490997, + 0.030574679374694824, + 0.12580566108226776 + ], + "orientation": [ + 0.6749799847602844, + 0.15352407097816467, + -0.7198711633682251, + 0.05116506293416023 + ], + "joints": [ + 0.006620186381042004 + ] + }, + "final_grasp": { + "position": [ + 0.10404272377490997, + 0.030574679374694824, + 0.12580566108226776 + ], + "orientation": [ + 0.6749799847602844, + 0.15352407097816467, + -0.7198711633682251, + 0.05116506293416023 + ], + "joints": [ + -0.001738918013870716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06325995922088623, + 0.10666400194168091, + -0.02070961892604828 + ], + "orientation": [ + 0.6671749949455261, + 0.28693506121635437, + -0.5511600375175476, + 0.41081416606903076 + ], + "joints": [ + 0.011717656627297401 + ] + }, + "fine_grasp": { + "position": [ + 0.06108306720852852, + 0.10321439057588577, + -0.020223580300807953 + ], + "orientation": [ + 0.6655391454696655, + 0.2875950038433075, + -0.5537639260292053, + 0.4095025658607483 + ], + "joints": [ + 0.0033376554492861032 + ] + }, + "final_grasp": { + "position": [ + 0.06108306720852852, + 0.10321439057588577, + -0.020223580300807953 + ], + "orientation": [ + 0.6655391454696655, + 0.2875950038433075, + -0.5537639260292053, + 0.4095025658607483 + ], + "joints": [ + -0.005042345728725195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04663822054862976, + -0.09068240225315094, + 0.028390584513545036 + ], + "orientation": [ + 0.7472226619720459, + -0.3448423147201538, + 0.44722458720207214, + 0.350331574678421 + ], + "joints": [ + 0.01292489841580391 + ] + }, + "fine_grasp": { + "position": [ + -0.04478004574775696, + -0.08811648190021515, + 0.027201997116208076 + ], + "orientation": [ + 0.755260705947876, + -0.34714052081108093, + 0.4370781183242798, + 0.34356558322906494 + ], + "joints": [ + 0.00456579402089119 + ] + }, + "final_grasp": { + "position": [ + -0.04478004574775696, + -0.08811648190021515, + 0.027201997116208076 + ], + "orientation": [ + 0.755260705947876, + -0.34714052081108093, + 0.4370781183242798, + 0.34356558322906494 + ], + "joints": [ + -0.00379331037402153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05024566873908043, + -0.014771121554076672, + 0.23844973742961884 + ], + "orientation": [ + 0.24048839509487152, + -0.02529200352728367, + 0.9681890606880188, + 0.06430912017822266 + ], + "joints": [ + 0.01647728867828846 + ] + }, + "fine_grasp": { + "position": [ + -0.047039855271577835, + -0.014189244247972965, + 0.2382260262966156 + ], + "orientation": [ + 0.22636675834655762, + -0.017329595983028412, + 0.971807599067688, + 0.06362178921699524 + ], + "joints": [ + 0.006864318624138832 + ] + }, + "final_grasp": { + "position": [ + -0.047039855271577835, + -0.014189244247972965, + 0.2382260262966156 + ], + "orientation": [ + 0.22636675834655762, + -0.017329595983028412, + 0.971807599067688, + 0.06362178921699524 + ], + "joints": [ + -0.0027486514300107956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04507039114832878, + 0.0849684402346611, + 0.20653249323368073 + ], + "orientation": [ + 0.17159153521060944, + 0.7733790278434753, + -0.5083054304122925, + 0.3377377688884735 + ], + "joints": [ + 0.014991270378232002 + ] + }, + "fine_grasp": { + "position": [ + -0.04375794529914856, + 0.08153418451547623, + 0.20532014966011047 + ], + "orientation": [ + 0.18735606968402863, + 0.7640400528907776, + -0.5083914995193481, + 0.35025495290756226 + ], + "joints": [ + 0.005378300324082375 + ] + }, + "final_grasp": { + "position": [ + -0.04375794529914856, + 0.08153418451547623, + 0.20532014966011047 + ], + "orientation": [ + 0.18735606968402863, + 0.7640400528907776, + -0.5083914995193481, + 0.35025495290756226 + ], + "joints": [ + -0.004234669730067253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039064787328243256, + -0.07252751290798187, + 0.21243135631084442 + ], + "orientation": [ + 0.32054856419563293, + -0.42964649200439453, + -0.8168779015541077, + -0.21298575401306152 + ], + "joints": [ + 0.01480826921761036 + ] + }, + "fine_grasp": { + "position": [ + 0.03708389401435852, + -0.0691511258482933, + 0.21191197633743286 + ], + "orientation": [ + 0.3166104257106781, + -0.41749417781829834, + -0.8235340118408203, + -0.2173660546541214 + ], + "joints": [ + 0.0060312096029520035 + ] + }, + "final_grasp": { + "position": [ + 0.03708389401435852, + -0.0691511258482933, + 0.21191197633743286 + ], + "orientation": [ + 0.3166104257106781, + -0.41749417781829834, + -0.8235340118408203, + -0.2173660546541214 + ], + "joints": [ + -0.0027458500117063522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04945870488882065, + -0.014665692113339901, + 0.23810812830924988 + ], + "orientation": [ + 0.24034446477890015, + -0.03327949717640877, + 0.9681283831596375, + 0.06208513677120209 + ], + "joints": [ + 0.016230430454015732 + ] + }, + "fine_grasp": { + "position": [ + -0.046276818960905075, + -0.014209113083779812, + 0.23803108930587769 + ], + "orientation": [ + 0.2248392552137375, + -0.02815934270620346, + 0.9720456600189209, + 0.061495084315538406 + ], + "joints": [ + 0.00703541561961174 + ] + }, + "final_grasp": { + "position": [ + -0.046276818960905075, + -0.014209113083779812, + 0.23803108930587769 + ], + "orientation": [ + 0.2248392552137375, + -0.02815934270620346, + 0.9720456600189209, + 0.061495084315538406 + ], + "joints": [ + -0.0021595992147922516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08905839174985886, + -0.058908067643642426, + -0.02296137809753418 + ], + "orientation": [ + 0.21668051183223724, + -0.7258811593055725, + 0.18653514981269836, + 0.6255803108215332 + ], + "joints": [ + 0.013388575986027718 + ] + }, + "fine_grasp": { + "position": [ + 0.08750221133232117, + -0.057954367250204086, + -0.02372642420232296 + ], + "orientation": [ + 0.21627044677734375, + -0.7313677072525024, + 0.18811683356761932, + 0.6188217401504517 + ], + "joints": [ + 0.004611516371369362 + ] + }, + "final_grasp": { + "position": [ + 0.08750221133232117, + -0.057954367250204086, + -0.02372642420232296 + ], + "orientation": [ + 0.21627044677734375, + -0.7313677072525024, + 0.18811683356761932, + 0.6188217401504517 + ], + "joints": [ + -0.004165543243288994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03936813771724701, + -0.07334423810243607, + 0.21241724491119385 + ], + "orientation": [ + 0.3232116103172302, + -0.4343242943286896, + -0.8133081197738647, + -0.21313512325286865 + ], + "joints": [ + 0.014559180475771427 + ] + }, + "fine_grasp": { + "position": [ + 0.03738793730735779, + -0.07009846717119217, + 0.21117763221263885 + ], + "orientation": [ + 0.32065349817276, + -0.42336758971214294, + -0.8188770413398743, + -0.217673197388649 + ], + "joints": [ + 0.0057821208611130714 + ] + }, + "final_grasp": { + "position": [ + 0.03738793730735779, + -0.07009846717119217, + 0.21117763221263885 + ], + "orientation": [ + 0.32065349817276, + -0.42336758971214294, + -0.8188770413398743, + -0.217673197388649 + ], + "joints": [ + -0.0029949387535452843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007874295115470886, + -0.0946485698223114, + -0.1250610202550888 + ], + "orientation": [ + 0.6960814595222473, + -0.2751443088054657, + 0.28762128949165344, + 0.5975284576416016 + ], + "joints": [ + 0.01411469653248787 + ] + }, + "fine_grasp": { + "position": [ + -0.00785834901034832, + -0.09154749661684036, + -0.1226714700460434 + ], + "orientation": [ + 0.6946962475776672, + -0.2783516049385071, + 0.28779056668281555, + 0.597573459148407 + ], + "joints": [ + 0.0036867139860987663 + ] + }, + "final_grasp": { + "position": [ + -0.00785834901034832, + -0.09154749661684036, + -0.1226714700460434 + ], + "orientation": [ + 0.6946962475776672, + -0.2783516049385071, + 0.28779056668281555, + 0.597573459148407 + ], + "joints": [ + -0.006741268560290337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022504456341266632, + -0.005599697586148977, + 0.24570158123970032 + ], + "orientation": [ + 0.013518312014639378, + 0.9245868921279907, + 0.36763009428977966, + 0.09901735931634903 + ], + "joints": [ + 0.01735013537108898 + ] + }, + "fine_grasp": { + "position": [ + -0.021500106900930405, + -0.004764421842992306, + 0.2444387823343277 + ], + "orientation": [ + 0.013799079693853855, + 0.9263611435890198, + 0.3635875880718231, + 0.09730801731348038 + ], + "joints": [ + 0.007319210097193718 + ] + }, + "final_grasp": { + "position": [ + -0.021500106900930405, + -0.004764421842992306, + 0.2444387823343277 + ], + "orientation": [ + 0.013799079693853855, + 0.9263611435890198, + 0.3635875880718231, + 0.09730801731348038 + ], + "joints": [ + -0.0027117151767015457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0632907822728157, + 0.10649232566356659, + -0.02091532200574875 + ], + "orientation": [ + 0.6656481027603149, + 0.2877886891365051, + -0.5532528162002563, + 0.4098798334598541 + ], + "joints": [ + 0.01196322776377201 + ] + }, + "fine_grasp": { + "position": [ + 0.06109023094177246, + 0.10305775701999664, + -0.020425913855433464 + ], + "orientation": [ + 0.6642143726348877, + 0.2881729304790497, + -0.5557729005813599, + 0.4085242450237274 + ], + "joints": [ + 0.003583226352930069 + ] + }, + "final_grasp": { + "position": [ + 0.06109023094177246, + 0.10305775701999664, + -0.020425913855433464 + ], + "orientation": [ + 0.6642143726348877, + 0.2881729304790497, + -0.5557729005813599, + 0.4085242450237274 + ], + "joints": [ + -0.004796775057911873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12184185534715652, + 0.01935480162501335, + -0.03849003091454506 + ], + "orientation": [ + 0.06108446046710014, + 0.5501994490623474, + -0.06146013364195824, + 0.8305250406265259 + ], + "joints": [ + 0.013011585921049118 + ] + }, + "fine_grasp": { + "position": [ + -0.11794593185186386, + 0.019137168303132057, + -0.038041479885578156 + ], + "orientation": [ + 0.05785746872425079, + 0.5575504899024963, + -0.05845539644360542, + 0.8260586857795715 + ], + "joints": [ + 0.0033986165653914213 + ] + }, + "final_grasp": { + "position": [ + -0.11794593185186386, + 0.019137168303132057, + -0.038041479885578156 + ], + "orientation": [ + 0.05785746872425079, + 0.5575504899024963, + -0.05845539644360542, + 0.8260586857795715 + ], + "joints": [ + -0.006214352790266275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11337362229824066, + -0.013028284534811974, + 0.14847254753112793 + ], + "orientation": [ + 0.005087078083306551, + -0.7448828220367432, + 0.07912445813417435, + 0.6624674201011658 + ], + "joints": [ + 0.014857038855552673 + ] + }, + "fine_grasp": { + "position": [ + 0.10921580344438553, + -0.01253443956375122, + 0.14815807342529297 + ], + "orientation": [ + 0.002747666323557496, + -0.7446253895759583, + 0.0813613161444664, + 0.6624996662139893 + ], + "joints": [ + 0.006497934460639954 + ] + }, + "final_grasp": { + "position": [ + 0.10921580344438553, + -0.01253443956375122, + 0.14815807342529297 + ], + "orientation": [ + 0.002747666323557496, + -0.7446253895759583, + 0.0813613161444664, + 0.6624996662139893 + ], + "joints": [ + -0.0018611699342727661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04489096999168396, + -0.09734059125185013, + 0.031176287680864334 + ], + "orientation": [ + 0.6824476718902588, + -0.36414483189582825, + 0.5043726563453674, + 0.38376036286354065 + ], + "joints": [ + 0.011572625488042831 + ] + }, + "fine_grasp": { + "position": [ + -0.04336698725819588, + -0.09404616057872772, + 0.03072875179350376 + ], + "orientation": [ + 0.6887115240097046, + -0.36750856041908264, + 0.4980625510215759, + 0.3775547742843628 + ], + "joints": [ + 0.0036105792969465256 + ] + }, + "final_grasp": { + "position": [ + -0.04336698725819588, + -0.09404616057872772, + 0.03072875179350376 + ], + "orientation": [ + 0.6887115240097046, + -0.36750856041908264, + 0.4980625510215759, + 0.3775547742843628 + ], + "joints": [ + -0.00435146689414978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0820116400718689, + 0.0020392395090311766, + 0.21896569430828094 + ], + "orientation": [ + 0.37723347544670105, + 0.09929651021957397, + -0.9202873110771179, + -0.030107997357845306 + ], + "joints": [ + 0.016486983746290207 + ] + }, + "fine_grasp": { + "position": [ + 0.07855703681707382, + 0.0018504350446164608, + 0.21707041561603546 + ], + "orientation": [ + 0.3794339597225189, + 0.10902156680822372, + -0.9180221557617188, + -0.03713896498084068 + ], + "joints": [ + 0.006874013692140579 + ] + }, + "final_grasp": { + "position": [ + 0.07855703681707382, + 0.0018504350446164608, + 0.21707041561603546 + ], + "orientation": [ + 0.3794339597225189, + 0.10902156680822372, + -0.9180221557617188, + -0.03713896498084068 + ], + "joints": [ + -0.0027389563620090485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04508170858025551, + -0.09767437726259232, + 0.030669981613755226 + ], + "orientation": [ + 0.6805860996246338, + -0.3672826290130615, + 0.5070371627807617, + 0.3805515766143799 + ], + "joints": [ + 0.011573970317840576 + ] + }, + "fine_grasp": { + "position": [ + -0.04348808899521828, + -0.09427493065595627, + 0.030280932784080505 + ], + "orientation": [ + 0.6866203546524048, + -0.3709574043750763, + 0.5008028745651245, + 0.37435227632522583 + ], + "joints": [ + 0.0036119241267442703 + ] + }, + "final_grasp": { + "position": [ + -0.04348808899521828, + -0.09427493065595627, + 0.030280932784080505 + ], + "orientation": [ + 0.6866203546524048, + -0.3709574043750763, + 0.5008028745651245, + 0.37435227632522583 + ], + "joints": [ + -0.0043501220643520355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12101873755455017, + 0.0003356169327162206, + 0.028578894212841988 + ], + "orientation": [ + 0.7025275826454163, + -0.012431243434548378, + -0.7114642262458801, + 0.010916316881775856 + ], + "joints": [ + 0.013025984168052673 + ] + }, + "fine_grasp": { + "position": [ + 0.11702554672956467, + 0.00032934380578808486, + 0.028555255383253098 + ], + "orientation": [ + 0.7026575803756714, + -0.011971322819590569, + -0.7113325595855713, + 0.011615648865699768 + ], + "joints": [ + 0.0034130148123949766 + ] + }, + "final_grasp": { + "position": [ + 0.11702554672956467, + 0.00032934380578808486, + 0.028555255383253098 + ], + "orientation": [ + 0.7026575803756714, + -0.011971322819590569, + -0.7113325595855713, + 0.011615648865699768 + ], + "joints": [ + -0.00619995454326272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04499667510390282, + -0.09828019142150879, + 0.02961459755897522 + ], + "orientation": [ + 0.6780528426170349, + -0.3672283887863159, + 0.5086138248443604, + 0.38301411271095276 + ], + "joints": [ + 0.011624565348029137 + ] + }, + "fine_grasp": { + "position": [ + -0.043229054659605026, + -0.09474824368953705, + 0.029337560757994652 + ], + "orientation": [ + 0.6833942532539368, + -0.37108930945396423, + 0.5026431083679199, + 0.37764397263526917 + ], + "joints": [ + 0.003662519156932831 + ] + }, + "final_grasp": { + "position": [ + -0.043229054659605026, + -0.09474824368953705, + 0.029337560757994652 + ], + "orientation": [ + 0.6833942532539368, + -0.37108930945396423, + 0.5026431083679199, + 0.37764397263526917 + ], + "joints": [ + -0.004299527034163475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0451173335313797, + -0.0989285260438919, + 0.028754131868481636 + ], + "orientation": [ + 0.675197422504425, + -0.372372567653656, + 0.5107231736183167, + 0.38027486205101013 + ], + "joints": [ + 0.011618724092841148 + ] + }, + "fine_grasp": { + "position": [ + -0.0432373508810997, + -0.09528519213199615, + 0.028579523786902428 + ], + "orientation": [ + 0.6802352070808411, + -0.37612462043762207, + 0.5054413676261902, + 0.3746190667152405 + ], + "joints": [ + 0.0036566779017448425 + ] + }, + "final_grasp": { + "position": [ + -0.0432373508810997, + -0.09528519213199615, + 0.028579523786902428 + ], + "orientation": [ + 0.6802352070808411, + -0.37612462043762207, + 0.5054413676261902, + 0.3746190667152405 + ], + "joints": [ + -0.004305368289351463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0830126404762268, + -0.02030361443758011, + 0.18904325366020203 + ], + "orientation": [ + 0.4066568911075592, + -0.13050805032253265, + -0.9033865928649902, + -0.038606006652116776 + ], + "joints": [ + 0.014794856309890747 + ] + }, + "fine_grasp": { + "position": [ + 0.07914184778928757, + -0.01940252259373665, + 0.1894439458847046 + ], + "orientation": [ + 0.40471839904785156, + -0.1336919218301773, + -0.9038532376289368, + -0.037133023142814636 + ], + "joints": [ + 0.006435751914978027 + ] + }, + "final_grasp": { + "position": [ + 0.07914184778928757, + -0.01940252259373665, + 0.1894439458847046 + ], + "orientation": [ + 0.40471839904785156, + -0.1336919218301773, + -0.9038532376289368, + -0.037133023142814636 + ], + "joints": [ + -0.0019233524799346924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0452229268848896, + -0.09885945171117783, + 0.028245532885193825 + ], + "orientation": [ + 0.6738500595092773, + -0.3721812963485718, + 0.513543963432312, + 0.37905099987983704 + ], + "joints": [ + 0.011547243222594261 + ] + }, + "fine_grasp": { + "position": [ + -0.04338313266634941, + -0.09513088315725327, + 0.02818525955080986 + ], + "orientation": [ + 0.6787633895874023, + -0.3760644793510437, + 0.5079901218414307, + 0.37390077114105225 + ], + "joints": [ + 0.0036060945130884647 + ] + }, + "final_grasp": { + "position": [ + -0.04338313266634941, + -0.09513088315725327, + 0.02818525955080986 + ], + "orientation": [ + 0.6787633895874023, + -0.3760644793510437, + 0.5079901218414307, + 0.37390077114105225 + ], + "joints": [ + -0.004335054196417332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027053335681557655, + 0.1056632548570633, + 0.033310871571302414 + ], + "orientation": [ + 0.44174712896347046, + 0.5047930479049683, + -0.4195694923400879, + 0.6115594506263733 + ], + "joints": [ + 0.011299085803329945 + ] + }, + "fine_grasp": { + "position": [ + -0.02596347965300083, + 0.1022774949669838, + 0.03302726149559021 + ], + "orientation": [ + 0.439692884683609, + 0.5002515912055969, + -0.42163634300231934, + 0.6153383255004883 + ], + "joints": [ + 0.003357937326654792 + ] + }, + "final_grasp": { + "position": [ + -0.02596347965300083, + 0.1022774949669838, + 0.03302726149559021 + ], + "orientation": [ + 0.439692884683609, + 0.5002515912055969, + -0.42163634300231934, + 0.6153383255004883 + ], + "joints": [ + -0.004583211150020361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019630547612905502, + -0.10750913619995117, + -0.08015419542789459 + ], + "orientation": [ + 0.5823721885681152, + -0.4502367377281189, + 0.3228430449962616, + 0.5948965549468994 + ], + "joints": [ + 0.011628186330199242 + ] + }, + "fine_grasp": { + "position": [ + 0.018865006044507027, + -0.10347740352153778, + -0.07914023846387863 + ], + "orientation": [ + 0.580687940120697, + -0.4542101323604584, + 0.32299327850341797, + 0.5934391617774963 + ], + "joints": [ + 0.003687037620693445 + ] + }, + "final_grasp": { + "position": [ + 0.018865006044507027, + -0.10347740352153778, + -0.07914023846387863 + ], + "orientation": [ + 0.580687940120697, + -0.4542101323604584, + 0.32299327850341797, + 0.5934391617774963 + ], + "joints": [ + -0.004254111088812351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05179968103766441, + 0.03964875638484955, + -0.12826958298683167 + ], + "orientation": [ + 0.3314981460571289, + 0.2894098162651062, + -0.08501702547073364, + 0.893936812877655 + ], + "joints": [ + 0.013140176422894001 + ] + }, + "fine_grasp": { + "position": [ + -0.04957682266831398, + 0.03786000609397888, + -0.12533919513225555 + ], + "orientation": [ + 0.33064085245132446, + 0.2898983359336853, + -0.08595006167888641, + 0.8940068483352661 + ], + "joints": [ + 0.004363116808235645 + ] + }, + "final_grasp": { + "position": [ + -0.04957682266831398, + 0.03786000609397888, + -0.12533919513225555 + ], + "orientation": [ + 0.33064085245132446, + 0.2898983359336853, + -0.08595006167888641, + 0.8940068483352661 + ], + "joints": [ + -0.00441394280642271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027011016383767128, + 0.10565390437841415, + 0.03295163810253143 + ], + "orientation": [ + 0.44057419896125793, + 0.5029632449150085, + -0.4205996096134186, + 0.6132034063339233 + ], + "joints": [ + 0.01151004433631897 + ] + }, + "fine_grasp": { + "position": [ + -0.025916315615177155, + 0.10224384069442749, + 0.032658208161592484 + ], + "orientation": [ + 0.43818867206573486, + 0.4982505440711975, + -0.42283108830451965, + 0.6172122359275818 + ], + "joints": [ + 0.003547998145222664 + ] + }, + "final_grasp": { + "position": [ + -0.025916315615177155, + 0.10224384069442749, + 0.032658208161592484 + ], + "orientation": [ + 0.43818867206573486, + 0.4982505440711975, + -0.42283108830451965, + 0.6172122359275818 + ], + "joints": [ + -0.004414048045873642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027130918577313423, + 0.10560142248868942, + 0.03301478549838066 + ], + "orientation": [ + 0.43997451663017273, + 0.5049232840538025, + -0.4209322929382324, + 0.6117931008338928 + ], + "joints": [ + 0.011094462126493454 + ] + }, + "fine_grasp": { + "position": [ + -0.026058604940772057, + 0.10227355360984802, + 0.03272682800889015 + ], + "orientation": [ + 0.43774500489234924, + 0.5002829432487488, + -0.4229622185230255, + 0.6157914996147156 + ], + "joints": [ + 0.003550371155142784 + ] + }, + "final_grasp": { + "position": [ + -0.026058604940772057, + 0.10227355360984802, + 0.03272682800889015 + ], + "orientation": [ + 0.43774500489234924, + 0.5002829432487488, + -0.4229622185230255, + 0.6157914996147156 + ], + "joints": [ + -0.003993719816207886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027332626283168793, + 0.10653230547904968, + 0.03253140673041344 + ], + "orientation": [ + 0.440001517534256, + 0.5058492422103882, + -0.4210168123245239, + 0.6109501719474792 + ], + "joints": [ + 0.010952052660286427 + ] + }, + "fine_grasp": { + "position": [ + -0.026154914870858192, + 0.10254134237766266, + 0.03242218866944313 + ], + "orientation": [ + 0.43744415044784546, + 0.5020339488983154, + -0.42323487997055054, + 0.6143912672996521 + ], + "joints": [ + 0.0034288594033569098 + ] + }, + "final_grasp": { + "position": [ + -0.026154914870858192, + 0.10254134237766266, + 0.03242218866944313 + ], + "orientation": [ + 0.43744415044784546, + 0.5020339488983154, + -0.42323487997055054, + 0.6143912672996521 + ], + "joints": [ + -0.004094333853572607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08264809846878052, + -0.02014814503490925, + 0.18862378597259521 + ], + "orientation": [ + 0.40435507893562317, + -0.1300690919160843, + -0.9044874906539917, + -0.03848994895815849 + ], + "joints": [ + 0.014823582023382187 + ] + }, + "fine_grasp": { + "position": [ + 0.07878121733665466, + -0.01924741081893444, + 0.18904171884059906 + ], + "orientation": [ + 0.4022892713546753, + -0.13232791423797607, + -0.9051277041435242, + -0.03736795112490654 + ], + "joints": [ + 0.006464477628469467 + ] + }, + "final_grasp": { + "position": [ + 0.07878121733665466, + -0.01924741081893444, + 0.18904171884059906 + ], + "orientation": [ + 0.4022892713546753, + -0.13232791423797607, + -0.9051277041435242, + -0.03736795112490654 + ], + "joints": [ + -0.0018946267664432526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10229486972093582, + -0.017539391294121742, + 0.17822140455245972 + ], + "orientation": [ + 0.4980025589466095, + -0.11401771754026413, + -0.8594361543655396, + -0.01904749684035778 + ], + "joints": [ + 0.015559904277324677 + ] + }, + "fine_grasp": { + "position": [ + 0.09857489913702011, + -0.016987813636660576, + 0.17709550261497498 + ], + "orientation": [ + 0.5039823055267334, + -0.11408347636461258, + -0.8559969067573547, + -0.016005050390958786 + ], + "joints": [ + 0.005946934223175049 + ] + }, + "final_grasp": { + "position": [ + 0.09857489913702011, + -0.016987813636660576, + 0.17709550261497498 + ], + "orientation": [ + 0.5039823055267334, + -0.11408347636461258, + -0.8559969067573547, + -0.016005050390958786 + ], + "joints": [ + -0.003666035830974579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08233025670051575, + -0.019911790266633034, + 0.18875402212142944 + ], + "orientation": [ + 0.40217918157577515, + -0.13076651096343994, + -0.9054141044616699, + -0.037112969905138016 + ], + "joints": [ + 0.014796577394008636 + ] + }, + "fine_grasp": { + "position": [ + 0.0784701406955719, + -0.018990088254213333, + 0.1891758143901825 + ], + "orientation": [ + 0.40012893080711365, + -0.13390372693538666, + -0.9059228897094727, + -0.03564057499170303 + ], + "joints": [ + 0.006437472999095917 + ] + }, + "final_grasp": { + "position": [ + 0.0784701406955719, + -0.018990088254213333, + 0.1891758143901825 + ], + "orientation": [ + 0.40012893080711365, + -0.13390372693538666, + -0.9059228897094727, + -0.03564057499170303 + ], + "joints": [ + -0.001921631395816803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04834009334445, + -0.030119625851511955, + -0.13348165154457092 + ], + "orientation": [ + 0.4989806115627289, + -0.26534655690193176, + 0.006172389257699251, + 0.8249675035476685 + ], + "joints": [ + 0.014454616233706474 + ] + }, + "fine_grasp": { + "position": [ + 0.04642770439386368, + -0.02884059026837349, + -0.13026230037212372 + ], + "orientation": [ + 0.5013914704322815, + -0.26299893856048584, + 0.0022784608881920576, + 0.8242771625518799 + ], + "joints": [ + 0.005259601399302483 + ] + }, + "final_grasp": { + "position": [ + 0.04642770439386368, + -0.02884059026837349, + -0.13026230037212372 + ], + "orientation": [ + 0.5013914704322815, + -0.26299893856048584, + 0.0022784608881920576, + 0.8242771625518799 + ], + "joints": [ + -0.003935413435101509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07516124844551086, + -0.05651543661952019, + 0.17832964658737183 + ], + "orientation": [ + 0.43043819069862366, + -0.26600274443626404, + 0.8483920693397522, + 0.15555159747600555 + ], + "joints": [ + 0.014823436737060547 + ] + }, + "fine_grasp": { + "position": [ + -0.07199498265981674, + -0.054016780108213425, + 0.17793980240821838 + ], + "orientation": [ + 0.428182452917099, + -0.2552076578140259, + 0.8521201610565186, + 0.1594369262456894 + ], + "joints": [ + 0.006046377122402191 + ] + }, + "final_grasp": { + "position": [ + -0.07199498265981674, + -0.054016780108213425, + 0.17793980240821838 + ], + "orientation": [ + 0.428182452917099, + -0.2552076578140259, + 0.8521201610565186, + 0.1594369262456894 + ], + "joints": [ + -0.0027306824922561646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10123567283153534, + -0.01725039817392826, + 0.17777353525161743 + ], + "orientation": [ + 0.4958280324935913, + -0.11217749118804932, + -0.8609127402305603, + -0.019995620474219322 + ], + "joints": [ + 0.01570839248597622 + ] + }, + "fine_grasp": { + "position": [ + 0.09749379754066467, + -0.01662392169237137, + 0.17653888463974 + ], + "orientation": [ + 0.5007089972496033, + -0.11277409642934799, + -0.8580597639083862, + -0.017490802332758904 + ], + "joints": [ + 0.0060954224318265915 + ] + }, + "final_grasp": { + "position": [ + 0.09749379754066467, + -0.01662392169237137, + 0.17653888463974 + ], + "orientation": [ + 0.5007089972496033, + -0.11277409642934799, + -0.8580597639083862, + -0.017490802332758904 + ], + "joints": [ + -0.003517547622323036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11675150692462921, + 0.044309940189123154, + -0.015720294788479805 + ], + "orientation": [ + 0.7199024558067322, + 0.09373966604471207, + -0.6675046682357788, + 0.16550162434577942 + ], + "joints": [ + 0.011995770037174225 + ] + }, + "fine_grasp": { + "position": [ + 0.11294809728860855, + 0.04278640076518059, + -0.015555978752672672 + ], + "orientation": [ + 0.7186605334281921, + 0.09387589246034622, + -0.6687600612640381, + 0.1657542735338211 + ], + "joints": [ + 0.003615768626332283 + ] + }, + "final_grasp": { + "position": [ + 0.11294809728860855, + 0.04278640076518059, + -0.015555978752672672 + ], + "orientation": [ + 0.7186605334281921, + 0.09387589246034622, + -0.6687600612640381, + 0.1657542735338211 + ], + "joints": [ + -0.004764232784509659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10096067935228348, + -0.01714421436190605, + 0.177556112408638 + ], + "orientation": [ + 0.49581411480903625, + -0.11286043375730515, + -0.8608404994010925, + -0.019605638459324837 + ], + "joints": [ + 0.015298297628760338 + ] + }, + "fine_grasp": { + "position": [ + 0.09717663377523422, + -0.01651366986334324, + 0.17634864151477814 + ], + "orientation": [ + 0.5005093216896057, + -0.11347584426403046, + -0.8580955862998962, + -0.016901198774576187 + ], + "joints": [ + 0.006103282794356346 + ] + }, + "final_grasp": { + "position": [ + 0.09717663377523422, + -0.01651366986334324, + 0.17634864151477814 + ], + "orientation": [ + 0.5005093216896057, + -0.11347584426403046, + -0.8580955862998962, + -0.016901198774576187 + ], + "joints": [ + -0.0030917320400476456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011085583828389645, + 0.0002818266220856458, + -0.15174661576747894 + ], + "orientation": [ + 0.49803948402404785, + 0.0028458472806960344, + -0.027263646945357323, + -0.866720974445343 + ], + "joints": [ + 0.014338022097945213 + ] + }, + "fine_grasp": { + "position": [ + 0.009385173209011555, + -0.0005580419092439115, + -0.14835581183433533 + ], + "orientation": [ + 0.4974869191646576, + 0.017873568460345268, + -0.02547989971935749, + -0.8669130206108093 + ], + "joints": [ + 0.00430709682404995 + ] + }, + "final_grasp": { + "position": [ + 0.009385173209011555, + -0.0005580419092439115, + -0.14835581183433533 + ], + "orientation": [ + 0.4974869191646576, + 0.017873568460345268, + -0.02547989971935749, + -0.8669130206108093 + ], + "joints": [ + -0.005723828449845314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002190242987126112, + 0.1096973866224289, + 0.12901191413402557 + ], + "orientation": [ + 0.5117958188056946, + 0.5332050919532776, + -0.4788122773170471, + 0.47381022572517395 + ], + "joints": [ + 0.014391910284757614 + ] + }, + "fine_grasp": { + "position": [ + -0.0022593445610255003, + 0.10693913698196411, + 0.12912578880786896 + ], + "orientation": [ + 0.5169384479522705, + 0.5389072895050049, + -0.4725087285041809, + 0.46806958317756653 + ], + "joints": [ + 0.0051968954503536224 + ] + }, + "final_grasp": { + "position": [ + -0.0022593445610255003, + 0.10693913698196411, + 0.12912578880786896 + ], + "orientation": [ + 0.5169384479522705, + 0.5389072895050049, + -0.4725087285041809, + 0.46806958317756653 + ], + "joints": [ + -0.003998119384050369 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011055102571845055, + 0.00045812228927388787, + -0.1516527235507965 + ], + "orientation": [ + 0.49755460023880005, + 0.003103638766333461, + -0.02688612788915634, + -0.8670102953910828 + ], + "joints": [ + 0.014094278216362 + ] + }, + "fine_grasp": { + "position": [ + 0.009370534680783749, + -0.0004032700671814382, + -0.1482558399438858 + ], + "orientation": [ + 0.49696382880210876, + 0.018087780103087425, + -0.0248562078922987, + -0.8672266006469727 + ], + "joints": [ + 0.004481308162212372 + ] + }, + "final_grasp": { + "position": [ + 0.009370534680783749, + -0.0004032700671814382, + -0.1482558399438858 + ], + "orientation": [ + 0.49696382880210876, + 0.018087780103087425, + -0.0248562078922987, + -0.8672266006469727 + ], + "joints": [ + -0.005131661891937256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012499508447945118, + 0.03026827983558178, + -0.15089751780033112 + ], + "orientation": [ + 0.9847070574760437, + 0.1069922223687172, + -0.07340705394744873, + -0.11625945568084717 + ], + "joints": [ + 0.013813570141792297 + ] + }, + "fine_grasp": { + "position": [ + 0.013233060017228127, + 0.02786756493151188, + -0.1477270871400833 + ], + "orientation": [ + 0.9842951893806458, + 0.11906114220619202, + -0.06243131309747696, + -0.11441091448068619 + ], + "joints": [ + 0.005036510527133942 + ] + }, + "final_grasp": { + "position": [ + 0.013233060017228127, + 0.02786756493151188, + -0.1477270871400833 + ], + "orientation": [ + 0.9842951893806458, + 0.11906114220619202, + -0.06243131309747696, + -0.11441091448068619 + ], + "joints": [ + -0.003740549087524414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0313958041369915, + 0.02097383514046669, + 0.23949232697486877 + ], + "orientation": [ + 0.06570367515087128, + 0.9693474173545837, + -0.18421538174152374, + 0.1487056165933609 + ], + "joints": [ + 0.016798947006464005 + ] + }, + "fine_grasp": { + "position": [ + -0.028126182034611702, + 0.01971293054521084, + 0.23904862999916077 + ], + "orientation": [ + 0.06842619180679321, + 0.9741762280464172, + -0.16534458100795746, + 0.13769392669200897 + ], + "joints": [ + 0.007603932172060013 + ] + }, + "final_grasp": { + "position": [ + -0.028126182034611702, + 0.01971293054521084, + 0.23904862999916077 + ], + "orientation": [ + 0.06842619180679321, + 0.9741762280464172, + -0.16534458100795746, + 0.13769392669200897 + ], + "joints": [ + -0.0015910826623439789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07296229898929596, + 0.08290569484233856, + -0.045914698392152786 + ], + "orientation": [ + 0.3967346251010895, + 0.5375528335571289, + -0.19270627200603485, + 0.7186813354492188 + ], + "joints": [ + 0.01113327406346798 + ] + }, + "fine_grasp": { + "position": [ + -0.07011033594608307, + 0.07979732751846313, + -0.04524043947458267 + ], + "orientation": [ + 0.39635026454925537, + 0.540375828742981, + -0.19161665439605713, + 0.7170658707618713 + ], + "joints": [ + 0.0035891830921173096 + ] + }, + "final_grasp": { + "position": [ + -0.07011033594608307, + 0.07979732751846313, + -0.04524043947458267 + ], + "orientation": [ + 0.39635026454925537, + 0.540375828742981, + -0.19161665439605713, + 0.7170658707618713 + ], + "joints": [ + -0.00395490787923336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04091263189911842, + 0.012583048082888126, + 0.23420986533164978 + ], + "orientation": [ + 0.04647066071629524, + 0.9802978038787842, + -0.0624576173722744, + 0.18153683841228485 + ], + "joints": [ + 0.017312783747911453 + ] + }, + "fine_grasp": { + "position": [ + -0.037264443933963776, + 0.011996068060398102, + 0.2343689203262329 + ], + "orientation": [ + 0.04669475182890892, + 0.9827343821525574, + -0.056775279343128204, + 0.1697917878627777 + ], + "joints": [ + 0.0076998136937618256 + ] + }, + "final_grasp": { + "position": [ + -0.037264443933963776, + 0.011996068060398102, + 0.2343689203262329 + ], + "orientation": [ + 0.04669475182890892, + 0.9827343821525574, + -0.056775279343128204, + 0.1697917878627777 + ], + "joints": [ + -0.0019131563603878021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09862674027681351, + -0.05142185837030411, + 0.013983197510242462 + ], + "orientation": [ + 0.7208330035209656, + -0.1321631520986557, + -0.6482678055763245, + -0.20659494400024414 + ], + "joints": [ + 0.010942109860479832 + ] + }, + "fine_grasp": { + "position": [ + 0.09489910304546356, + -0.049338046461343765, + 0.013998103328049183 + ], + "orientation": [ + 0.7184901237487793, + -0.12763021886348724, + -0.6501693725585938, + -0.21157105267047882 + ], + "joints": [ + 0.003418916603550315 + ] + }, + "final_grasp": { + "position": [ + 0.09489910304546356, + -0.049338046461343765, + 0.013998103328049183 + ], + "orientation": [ + 0.7184901237487793, + -0.12763021886348724, + -0.6501693725585938, + -0.21157105267047882 + ], + "joints": [ + -0.004104276653379202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04247461259365082, + 0.013102982193231583, + 0.23379361629486084 + ], + "orientation": [ + 0.04659901186823845, + 0.978692889213562, + -0.06768863648176193, + 0.18816760182380676 + ], + "joints": [ + 0.01685665175318718 + ] + }, + "fine_grasp": { + "position": [ + -0.038829728960990906, + 0.012554196640849113, + 0.23385341465473175 + ], + "orientation": [ + 0.048404403030872345, + 0.981215238571167, + -0.05770421400666237, + 0.17760613560676575 + ], + "joints": [ + 0.007661636918783188 + ] + }, + "final_grasp": { + "position": [ + -0.038829728960990906, + 0.012554196640849113, + 0.23385341465473175 + ], + "orientation": [ + 0.048404403030872345, + 0.981215238571167, + -0.05770421400666237, + 0.17760613560676575 + ], + "joints": [ + -0.0015333779156208038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09654702991247177, + 0.01373300515115261, + 0.16587409377098083 + ], + "orientation": [ + 0.010054346174001694, + 0.8621119856834412, + 0.1017085537314415, + -0.49630364775657654 + ], + "joints": [ + 0.01446344144642353 + ] + }, + "fine_grasp": { + "position": [ + 0.09248972684144974, + 0.012937591411173344, + 0.1655266135931015 + ], + "orientation": [ + 0.004272286780178547, + 0.8614012598991394, + 0.11171825975179672, + -0.4954681396484375 + ], + "joints": [ + 0.006522292271256447 + ] + }, + "final_grasp": { + "position": [ + 0.09248972684144974, + 0.012937591411173344, + 0.1655266135931015 + ], + "orientation": [ + 0.004272286780178547, + 0.8614012598991394, + 0.11171825975179672, + -0.4954681396484375 + ], + "joints": [ + -0.001418856903910637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022262198850512505, + -0.10829783231019974, + 0.01105548720806837 + ], + "orientation": [ + 0.5215339660644531, + -0.5080656409263611, + 0.37182801961898804, + 0.5758607983589172 + ], + "joints": [ + 0.010578280314803123 + ] + }, + "fine_grasp": { + "position": [ + 0.02142275869846344, + -0.10407640784978867, + 0.011252452619373798 + ], + "orientation": [ + 0.5264824628829956, + -0.510233461856842, + 0.3674013018608093, + 0.5722711682319641 + ], + "joints": [ + 0.0034521447960287333 + ] + }, + "final_grasp": { + "position": [ + 0.02142275869846344, + -0.10407640784978867, + 0.011252452619373798 + ], + "orientation": [ + 0.5264824628829956, + -0.510233461856842, + 0.3674013018608093, + 0.5722711682319641 + ], + "joints": [ + -0.003673990722745657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11828852444887161, + 0.029579490423202515, + -0.034011080861091614 + ], + "orientation": [ + 0.039788868278265, + 0.6082121133804321, + 0.12037014961242676, + -0.783585250377655 + ], + "joints": [ + 0.01244022324681282 + ] + }, + "fine_grasp": { + "position": [ + 0.1143634021282196, + 0.028595903888344765, + -0.033595096319913864 + ], + "orientation": [ + 0.03909385949373245, + 0.6106258630752563, + 0.12160494178533554, + -0.7815497517585754 + ], + "joints": [ + 0.0036422666162252426 + ] + }, + "final_grasp": { + "position": [ + 0.1143634021282196, + 0.028595903888344765, + -0.033595096319913864 + ], + "orientation": [ + 0.03909385949373245, + 0.6106258630752563, + 0.12160494178533554, + -0.7815497517585754 + ], + "joints": [ + -0.005155690014362335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10998007655143738, + -0.011162122711539268, + -0.010105852968990803 + ], + "orientation": [ + 0.10605260729789734, + -0.5861369371414185, + 0.015202054753899574, + -0.8030973672866821 + ], + "joints": [ + 0.010853252373635769 + ] + }, + "fine_grasp": { + "position": [ + -0.1057479977607727, + -0.010748953558504581, + -0.009471297264099121 + ], + "orientation": [ + 0.10666031390428543, + -0.5887621641159058, + 0.017069771885871887, + -0.8010563254356384 + ], + "joints": [ + 0.003330059116706252 + ] + }, + "final_grasp": { + "position": [ + -0.1057479977607727, + -0.010748953558504581, + -0.009471297264099121 + ], + "orientation": [ + 0.10666031390428543, + -0.5887621641159058, + 0.017069771885871887, + -0.8010563254356384 + ], + "joints": [ + -0.004193134140223265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046706266701221466, + 0.07263772934675217, + 0.19793836772441864 + ], + "orientation": [ + 0.3526277542114258, + 0.38575318455696106, + -0.8239786624908447, + 0.21887733042240143 + ], + "joints": [ + 0.015259457752108574 + ] + }, + "fine_grasp": { + "position": [ + 0.044309619814157486, + 0.06958179175853729, + 0.19823147356510162 + ], + "orientation": [ + 0.3458978235721588, + 0.37359634041786194, + -0.8309646248817444, + 0.22422826290130615 + ], + "joints": [ + 0.0064615001901984215 + ] + }, + "final_grasp": { + "position": [ + 0.044309619814157486, + 0.06958179175853729, + 0.19823147356510162 + ], + "orientation": [ + 0.3458978235721588, + 0.37359634041786194, + -0.8309646248817444, + 0.22422826290130615 + ], + "joints": [ + -0.002336457371711731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0308734979480505, + 0.04755430296063423, + -0.12426459044218063 + ], + "orientation": [ + 0.8803715705871582, + 0.14631398022174835, + 0.22735615074634552, + -0.38967597484588623 + ], + "joints": [ + 0.01402933057397604 + ] + }, + "fine_grasp": { + "position": [ + -0.02909512259066105, + 0.04533939063549042, + -0.12431523203849792 + ], + "orientation": [ + 0.8827917575836182, + 0.14242781698703766, + 0.21970795094966888, + -0.3900274932384491 + ], + "joints": [ + 0.004834315739572048 + ] + }, + "final_grasp": { + "position": [ + -0.02909512259066105, + 0.04533939063549042, + -0.12431523203849792 + ], + "orientation": [ + 0.8827917575836182, + 0.14242781698703766, + 0.21970795094966888, + -0.3900274932384491 + ], + "joints": [ + -0.0043606990948319435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11601953208446503, + 0.029129721224308014, + -0.03234158456325531 + ], + "orientation": [ + 0.03663833811879158, + 0.6009289026260376, + 0.12170612812042236, + -0.789132297039032 + ], + "joints": [ + 0.012507902458310127 + ] + }, + "fine_grasp": { + "position": [ + 0.11210392415523529, + 0.028143614530563354, + -0.03190359100699425 + ], + "orientation": [ + 0.0358583889901638, + 0.60362309217453, + 0.12308657169342041, + -0.7868946194648743 + ], + "joints": [ + 0.0033128883223980665 + ] + }, + "final_grasp": { + "position": [ + 0.11210392415523529, + 0.028143614530563354, + -0.03190359100699425 + ], + "orientation": [ + 0.0358583889901638, + 0.60362309217453, + 0.12308657169342041, + -0.7868946194648743 + ], + "joints": [ + -0.005882125813513994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1093418300151825, + -0.01120778638869524, + -0.009684157557785511 + ], + "orientation": [ + 0.10703817009925842, + -0.5853649377822876, + 0.01805824041366577, + -0.8034703731536865 + ], + "joints": [ + 0.011630628257989883 + ] + }, + "fine_grasp": { + "position": [ + -0.10519275814294815, + -0.010822907090187073, + -0.008941448293626308 + ], + "orientation": [ + 0.10838667303323746, + -0.5864909887313843, + 0.019323792308568954, + -0.8024383783340454 + ], + "joints": [ + 0.003689479548484087 + ] + }, + "final_grasp": { + "position": [ + -0.10519275814294815, + -0.010822907090187073, + -0.008941448293626308 + ], + "orientation": [ + 0.10838667303323746, + -0.5864909887313843, + 0.019323792308568954, + -0.8024383783340454 + ], + "joints": [ + -0.0042516691610217094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0034512451384216547, + 0.021157044917345047, + -0.14144828915596008 + ], + "orientation": [ + 0.3616303503513336, + 0.02439662255346775, + 0.07617839425802231, + -0.9288838505744934 + ], + "joints": [ + 0.014035523869097233 + ] + }, + "fine_grasp": { + "position": [ + 0.0030887515749782324, + 0.019809601828455925, + -0.13863657414913177 + ], + "orientation": [ + 0.3622424006462097, + 0.03330130875110626, + 0.07660482078790665, + -0.928333580493927 + ], + "joints": [ + 0.004422553814947605 + ] + }, + "final_grasp": { + "position": [ + 0.0030887515749782324, + 0.019809601828455925, + -0.13863657414913177 + ], + "orientation": [ + 0.3622424006462097, + 0.03330130875110626, + 0.07660482078790665, + -0.928333580493927 + ], + "joints": [ + -0.0051904162392020226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05709395930171013, + -0.09645727276802063, + -0.02538425847887993 + ], + "orientation": [ + 0.3888874351978302, + -0.5738555192947388, + -0.3223686218261719, + -0.6446200013160706 + ], + "joints": [ + 0.012090722098946571 + ] + }, + "fine_grasp": { + "position": [ + -0.05464722961187363, + -0.0931660532951355, + -0.025255106389522552 + ], + "orientation": [ + 0.38375380635261536, + -0.5776631832122803, + -0.31815358996391296, + -0.6463872790336609 + ], + "joints": [ + 0.0033136631827801466 + ] + }, + "final_grasp": { + "position": [ + -0.05464722961187363, + -0.0931660532951355, + -0.025255106389522552 + ], + "orientation": [ + 0.38375380635261536, + -0.5776631832122803, + -0.31815358996391296, + -0.6463872790336609 + ], + "joints": [ + -0.005463395733386278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04648344963788986, + 0.07248276472091675, + 0.19777075946331024 + ], + "orientation": [ + 0.35144805908203125, + 0.3880890905857086, + -0.8237484693527222, + 0.21750755608081818 + ], + "joints": [ + 0.015223545953631401 + ] + }, + "fine_grasp": { + "position": [ + 0.0441015250980854, + 0.06941904872655869, + 0.19806480407714844 + ], + "orientation": [ + 0.3449227809906006, + 0.3765043020248413, + -0.8305081725120544, + 0.22255080938339233 + ], + "joints": [ + 0.006425588391721249 + ] + }, + "final_grasp": { + "position": [ + 0.0441015250980854, + 0.06941904872655869, + 0.19806480407714844 + ], + "orientation": [ + 0.3449227809906006, + 0.3765043020248413, + -0.8305081725120544, + 0.22255080938339233 + ], + "joints": [ + -0.002372369170188904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02687864378094673, + 0.10200702399015427, + 0.0028372234664857388 + ], + "orientation": [ + 0.56926029920578, + 0.4869299530982971, + -0.296012282371521, + 0.5926370620727539 + ], + "joints": [ + 0.011901539750397205 + ] + }, + "fine_grasp": { + "position": [ + -0.02591874450445175, + 0.09794449806213379, + 0.0031068180687725544 + ], + "orientation": [ + 0.5771044492721558, + 0.4907514154911041, + -0.28915509581565857, + 0.5852373838424683 + ], + "joints": [ + 0.003542435821145773 + ] + }, + "final_grasp": { + "position": [ + -0.02591874450445175, + 0.09794449806213379, + 0.0031068180687725544 + ], + "orientation": [ + 0.5771044492721558, + 0.4907514154911041, + -0.28915509581565857, + 0.5852373838424683 + ], + "joints": [ + -0.0048166681081056595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08887804299592972, + -0.05856334790587425, + -0.01991799660027027 + ], + "orientation": [ + 0.22771313786506653, + -0.7104012966156006, + 0.17829622328281403, + 0.6416285634040833 + ], + "joints": [ + 0.012726079672574997 + ] + }, + "fine_grasp": { + "position": [ + 0.08778893202543259, + -0.05794458091259003, + -0.01978500373661518 + ], + "orientation": [ + 0.2296178638935089, + -0.7128822207450867, + 0.1763230860233307, + 0.6387367248535156 + ], + "joints": [ + 0.003949020057916641 + ] + }, + "final_grasp": { + "position": [ + 0.08778893202543259, + -0.05794458091259003, + -0.01978500373661518 + ], + "orientation": [ + 0.2296178638935089, + -0.7128822207450867, + 0.1763230860233307, + 0.6387367248535156 + ], + "joints": [ + -0.0048280395567417145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05762099102139473, + -0.09664639085531235, + -0.025563308969140053 + ], + "orientation": [ + 0.39051374793052673, + -0.5739337801933289, + -0.3246060609817505, + -0.6424405574798584 + ], + "joints": [ + 0.012625744566321373 + ] + }, + "fine_grasp": { + "position": [ + -0.05505292862653732, + -0.09361863136291504, + -0.02546626701951027 + ], + "orientation": [ + 0.38338327407836914, + -0.5796008706092834, + -0.3183595836162567, + -0.6447692513465881 + ], + "joints": [ + 0.0034307304304093122 + ] + }, + "final_grasp": { + "position": [ + -0.05505292862653732, + -0.09361863136291504, + -0.02546626701951027 + ], + "orientation": [ + 0.38338327407836914, + -0.5796008706092834, + -0.3183595836162567, + -0.6447692513465881 + ], + "joints": [ + -0.0057642837055027485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0036046223249286413, + 0.021109385415911674, + -0.1410457342863083 + ], + "orientation": [ + 0.36160972714424133, + 0.0248562004417181, + 0.07580196112394333, + -0.9289104342460632 + ], + "joints": [ + 0.014090959914028645 + ] + }, + "fine_grasp": { + "position": [ + 0.0033821971155703068, + 0.019731590524315834, + -0.1383313685655594 + ], + "orientation": [ + 0.36285021901130676, + 0.03398061916232109, + 0.0763290673494339, + -0.928094208240509 + ], + "joints": [ + 0.004477989859879017 + ] + }, + "final_grasp": { + "position": [ + 0.0033821971155703068, + 0.019731590524315834, + -0.1383313685655594 + ], + "orientation": [ + 0.36285021901130676, + 0.03398061916232109, + 0.0763290673494339, + -0.928094208240509 + ], + "joints": [ + -0.005134980194270611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0550483837723732, + -0.05883634090423584, + -0.10719899833202362 + ], + "orientation": [ + 0.7913262844085693, + -0.09436676651239395, + -0.35079482197761536, + -0.49177286028862 + ], + "joints": [ + 0.01269655954092741 + ] + }, + "fine_grasp": { + "position": [ + 0.05249803885817528, + -0.055977318435907364, + -0.10581984370946884 + ], + "orientation": [ + 0.7887205481529236, + -0.09046326577663422, + -0.3549002707004547, + -0.4937428832054138 + ], + "joints": [ + 0.004316557198762894 + ] + }, + "final_grasp": { + "position": [ + 0.05249803885817528, + -0.055977318435907364, + -0.10581984370946884 + ], + "orientation": [ + 0.7887205481529236, + -0.09046326577663422, + -0.3549002707004547, + -0.4937428832054138 + ], + "joints": [ + -0.004063445143401623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03165094554424286, + 0.07109420746564865, + -0.12238840013742447 + ], + "orientation": [ + 0.8265981078147888, + 0.1824445128440857, + 0.20726096630096436, + -0.4904003441333771 + ], + "joints": [ + 0.012828513979911804 + ] + }, + "fine_grasp": { + "position": [ + -0.02912243828177452, + 0.06838753074407578, + -0.1212138906121254 + ], + "orientation": [ + 0.8244485259056091, + 0.18390968441963196, + 0.2282843142747879, + -0.48409518599510193 + ], + "joints": [ + 0.0036126021295785904 + ] + }, + "final_grasp": { + "position": [ + -0.02912243828177452, + 0.06838753074407578, + -0.1212138906121254 + ], + "orientation": [ + 0.8244485259056091, + 0.18390968441963196, + 0.2282843142747879, + -0.48409518599510193 + ], + "joints": [ + -0.005603309720754623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06530784070491791, + -0.007663905620574951, + -0.12302014976739883 + ], + "orientation": [ + 0.9410523772239685, + 0.019785236567258835, + -0.2983364462852478, + -0.15819022059440613 + ], + "joints": [ + 0.013868998736143112 + ] + }, + "fine_grasp": { + "position": [ + 0.062479134649038315, + -0.00699534360319376, + -0.12174630165100098 + ], + "orientation": [ + 0.9403350353240967, + 0.019204996526241302, + -0.2991255819797516, + -0.16101250052452087 + ], + "joints": [ + 0.0046739839017391205 + ] + }, + "final_grasp": { + "position": [ + 0.062479134649038315, + -0.00699534360319376, + -0.12174630165100098 + ], + "orientation": [ + 0.9403350353240967, + 0.019204996526241302, + -0.2991255819797516, + -0.16101250052452087 + ], + "joints": [ + -0.004521030932664871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020145399495959282, + -0.04098333790898323, + -0.1330864280462265 + ], + "orientation": [ + 0.40178701281547546, + -0.13548311591148376, + 0.12069853395223618, + 0.8975763916969299 + ], + "joints": [ + 0.01324284914880991 + ] + }, + "fine_grasp": { + "position": [ + 0.01881330832839012, + -0.038341227918863297, + -0.13104407489299774 + ], + "orientation": [ + 0.4004368185997009, + -0.14008773863315582, + 0.12416018545627594, + 0.8970005512237549 + ], + "joints": [ + 0.004047834314405918 + ] + }, + "final_grasp": { + "position": [ + 0.01881330832839012, + -0.038341227918863297, + -0.13104407489299774 + ], + "orientation": [ + 0.4004368185997009, + -0.14008773863315582, + 0.12416018545627594, + 0.8970005512237549 + ], + "joints": [ + -0.005147180519998074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10418637841939926, + 0.03953983262181282, + -0.05387003719806671 + ], + "orientation": [ + 0.8009005784988403, + 0.08656612038612366, + 0.5667313933372498, + -0.17285855114459991 + ], + "joints": [ + 0.011219147592782974 + ] + }, + "fine_grasp": { + "position": [ + -0.10023335367441177, + 0.038163669407367706, + -0.05320433899760246 + ], + "orientation": [ + 0.7990830540657043, + 0.08549564331769943, + 0.5696139931678772, + -0.17232725024223328 + ], + "joints": [ + 0.0036750566214323044 + ] + }, + "final_grasp": { + "position": [ + -0.10023335367441177, + 0.038163669407367706, + -0.05320433899760246 + ], + "orientation": [ + 0.7990830540657043, + 0.08549564331769943, + 0.5696139931678772, + -0.17232725024223328 + ], + "joints": [ + -0.0038690343499183655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042886607348918915, + -0.09720771759748459, + -0.01660182885825634 + ], + "orientation": [ + 0.6668393611907959, + -0.2952115535736084, + -0.495149165391922, + -0.4722316861152649 + ], + "joints": [ + 0.01035353448241949 + ] + }, + "fine_grasp": { + "position": [ + 0.04108976572751999, + -0.09329040348529816, + -0.01611415483057499 + ], + "orientation": [ + 0.6646512150764465, + -0.29278525710105896, + -0.4953269064426422, + -0.47662028670310974 + ], + "joints": [ + 0.003645353950560093 + ] + }, + "final_grasp": { + "position": [ + 0.04108976572751999, + -0.09329040348529816, + -0.01611415483057499 + ], + "orientation": [ + 0.6646512150764465, + -0.29278525710105896, + -0.4953269064426422, + -0.47662028670310974 + ], + "joints": [ + -0.003062826581299305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03201817348599434, + 0.048784155398607254, + -0.12155774980783463 + ], + "orientation": [ + 0.8800540566444397, + 0.142852783203125, + 0.22485819458961487, + -0.39311152696609497 + ], + "joints": [ + 0.013308762572705746 + ] + }, + "fine_grasp": { + "position": [ + -0.030019940808415413, + 0.04607806354761124, + -0.12215254455804825 + ], + "orientation": [ + 0.8817467093467712, + 0.14008760452270508, + 0.2192898392677307, + -0.39345937967300415 + ], + "joints": [ + 0.00453170295804739 + ] + }, + "final_grasp": { + "position": [ + -0.030019940808415413, + 0.04607806354761124, + -0.12215254455804825 + ], + "orientation": [ + 0.8817467093467712, + 0.14008760452270508, + 0.2192898392677307, + -0.39345937967300415 + ], + "joints": [ + -0.004245356656610966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10307187587022781, + 0.039219439029693604, + -0.05363690108060837 + ], + "orientation": [ + 0.8008562326431274, + 0.08612675964832306, + 0.5664622187614441, + -0.17416031658649445 + ], + "joints": [ + 0.010744115337729454 + ] + }, + "fine_grasp": { + "position": [ + -0.09904795140028, + 0.03782549872994423, + -0.05300099775195122 + ], + "orientation": [ + 0.7990764379501343, + 0.08491329103708267, + 0.5692943930625916, + -0.17369642853736877 + ], + "joints": [ + 0.00361797958612442 + ] + }, + "final_grasp": { + "position": [ + -0.09904795140028, + 0.03782549872994423, + -0.05300099775195122 + ], + "orientation": [ + 0.7990764379501343, + 0.08491329103708267, + 0.5692943930625916, + -0.17369642853736877 + ], + "joints": [ + -0.0035081561654806137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0069380393251776695, + 0.107347771525383, + -0.004660676699131727 + ], + "orientation": [ + 0.5471495985984802, + 0.4561879336833954, + 0.4177437126636505, + -0.563923716545105 + ], + "joints": [ + 0.0112161161378026 + ] + }, + "fine_grasp": { + "position": [ + 0.0070109558291733265, + 0.10325226187705994, + -0.004918277729302645 + ], + "orientation": [ + 0.5499402284622192, + 0.4566926658153534, + 0.41479653120040894, + -0.5629755258560181 + ], + "joints": [ + 0.003672025166451931 + ] + }, + "final_grasp": { + "position": [ + 0.0070109558291733265, + 0.10325226187705994, + -0.004918277729302645 + ], + "orientation": [ + 0.5499402284622192, + 0.4566926658153534, + 0.41479653120040894, + -0.5629755258560181 + ], + "joints": [ + -0.003872065804898739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09478701651096344, + -0.016874250024557114, + 0.17520646750926971 + ], + "orientation": [ + 0.5145630836486816, + -0.02003089152276516, + -0.8535267114639282, + -0.07947145402431488 + ], + "joints": [ + 0.01587584614753723 + ] + }, + "fine_grasp": { + "position": [ + 0.0917963907122612, + -0.016496971249580383, + 0.17724403738975525 + ], + "orientation": [ + 0.505495011806488, + -0.015523462556302547, + -0.8588437438011169, + -0.0813697800040245 + ], + "joints": [ + 0.007098786532878876 + ] + }, + "final_grasp": { + "position": [ + 0.0917963907122612, + -0.016496971249580383, + 0.17724403738975525 + ], + "orientation": [ + 0.505495011806488, + -0.015523462556302547, + -0.8588437438011169, + -0.0813697800040245 + ], + "joints": [ + -0.00167827308177948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009566796012222767, + 0.10685501247644424, + -0.0605802908539772 + ], + "orientation": [ + 0.5164616703987122, + 0.3570869565010071, + 0.3888660967350006, + -0.6741953492164612 + ], + "joints": [ + 0.011309330351650715 + ] + }, + "fine_grasp": { + "position": [ + 0.00916546955704689, + 0.1027524471282959, + -0.059764135628938675 + ], + "orientation": [ + 0.5143910050392151, + 0.3585970997810364, + 0.39301514625549316, + -0.6725691556930542 + ], + "joints": [ + 0.003368181874975562 + ] + }, + "final_grasp": { + "position": [ + 0.00916546955704689, + 0.1027524471282959, + -0.059764135628938675 + ], + "orientation": [ + 0.5143910050392151, + 0.3585970997810364, + 0.39301514625549316, + -0.6725691556930542 + ], + "joints": [ + -0.004572966601699591 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006608487106859684, + 0.02133721113204956, + -0.1392984837293625 + ], + "orientation": [ + 0.8438172340393066, + 0.08211494982242584, + -0.09188960492610931, + 0.5222892761230469 + ], + "joints": [ + 0.01358052622526884 + ] + }, + "fine_grasp": { + "position": [ + 0.006126918364316225, + 0.020967090502381325, + -0.13756273686885834 + ], + "orientation": [ + 0.844976544380188, + 0.07762407511472702, + -0.08296827971935272, + 0.5225947499275208 + ], + "joints": [ + 0.004385511390864849 + ] + }, + "final_grasp": { + "position": [ + 0.006126918364316225, + 0.020967090502381325, + -0.13756273686885834 + ], + "orientation": [ + 0.844976544380188, + 0.07762407511472702, + -0.08296827971935272, + 0.5225947499275208 + ], + "joints": [ + -0.004809503443539143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04389205947518349, + 0.0051752435974776745, + 0.2375687211751938 + ], + "orientation": [ + 0.1829197257757187, + -0.12679973244667053, + 0.9737089276313782, + -0.04851033166050911 + ], + "joints": [ + 0.017829105257987976 + ] + }, + "fine_grasp": { + "position": [ + -0.04136958345770836, + 0.005077824927866459, + 0.236625537276268 + ], + "orientation": [ + 0.1818602830171585, + -0.13038542866706848, + 0.9733795523643494, + -0.04958699643611908 + ], + "joints": [ + 0.007798179518431425 + ] + }, + "final_grasp": { + "position": [ + -0.04136958345770836, + 0.005077824927866459, + 0.236625537276268 + ], + "orientation": [ + 0.1818602830171585, + -0.13038542866706848, + 0.9733795523643494, + -0.04958699643611908 + ], + "joints": [ + -0.002232746221125126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011049174703657627, + 0.04233868792653084, + -0.1323113590478897 + ], + "orientation": [ + 0.7330363392829895, + 0.12101800739765167, + -0.1763976663351059, + 0.645675003528595 + ], + "joints": [ + 0.013853847980499268 + ] + }, + "fine_grasp": { + "position": [ + 0.010800695978105068, + 0.04127167910337448, + -0.1311461478471756 + ], + "orientation": [ + 0.7340692281723022, + 0.1173052117228508, + -0.16967257857322693, + 0.6469877362251282 + ], + "joints": [ + 0.00424087792634964 + ] + }, + "final_grasp": { + "position": [ + 0.010800695978105068, + 0.04127167910337448, + -0.1311461478471756 + ], + "orientation": [ + 0.7340692281723022, + 0.1173052117228508, + -0.16967257857322693, + 0.6469877362251282 + ], + "joints": [ + -0.005372092127799988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016566351056098938, + 0.10578947514295578, + -0.016620062291622162 + ], + "orientation": [ + 0.5441166162490845, + 0.38962119817733765, + 0.5227510333061218, + -0.528075635433197 + ], + "joints": [ + 0.011294699274003506 + ] + }, + "fine_grasp": { + "position": [ + -0.0161002017557621, + 0.10321725159883499, + -0.017277013510465622 + ], + "orientation": [ + 0.5418306589126587, + 0.3853175938129425, + 0.5225821137428284, + -0.5337207317352295 + ], + "joints": [ + 0.003353550797328353 + ] + }, + "final_grasp": { + "position": [ + -0.0161002017557621, + 0.10321725159883499, + -0.017277013510465622 + ], + "orientation": [ + 0.5418306589126587, + 0.3853175938129425, + 0.5225821137428284, + -0.5337207317352295 + ], + "joints": [ + -0.0045875976793468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08805334568023682, + 0.0031797983683645725, + 0.18303082883358002 + ], + "orientation": [ + 0.4307882785797119, + 0.06049448251724243, + -0.9002804756164551, + -0.016026314347982407 + ], + "joints": [ + 0.014852505177259445 + ] + }, + "fine_grasp": { + "position": [ + 0.0841294378042221, + 0.002954507013782859, + 0.18355686962604523 + ], + "orientation": [ + 0.42716333270072937, + 0.0718531683087349, + -0.9010775089263916, + -0.020683927461504936 + ], + "joints": [ + 0.0064934007823467255 + ] + }, + "final_grasp": { + "position": [ + 0.0841294378042221, + 0.002954507013782859, + 0.18355686962604523 + ], + "orientation": [ + 0.42716333270072937, + 0.0718531683087349, + -0.9010775089263916, + -0.020683927461504936 + ], + "joints": [ + -0.0018657036125659943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01678372547030449, + -0.007089304272085428, + -0.14025679230690002 + ], + "orientation": [ + 0.5922284722328186, + -0.08007865399122238, + -0.01998099870979786, + 0.801531970500946 + ], + "joints": [ + 0.014576257206499577 + ] + }, + "fine_grasp": { + "position": [ + 0.016421115025877953, + -0.007343295030295849, + -0.13841785490512848 + ], + "orientation": [ + 0.5877042412757874, + -0.08010246604681015, + -0.018088992685079575, + 0.8048976063728333 + ], + "joints": [ + 0.004942389205098152 + ] + }, + "final_grasp": { + "position": [ + 0.016421115025877953, + -0.007343295030295849, + -0.13841785490512848 + ], + "orientation": [ + 0.5877042412757874, + -0.08010246604681015, + -0.018088992685079575, + 0.8048976063728333 + ], + "joints": [ + -0.004691478796303272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016642523929476738, + -0.007336513604968786, + -0.14006517827510834 + ], + "orientation": [ + 0.5925350189208984, + -0.08049999177455902, + -0.018662104383111, + 0.8012950420379639 + ], + "joints": [ + 0.01445840485394001 + ] + }, + "fine_grasp": { + "position": [ + 0.016250135377049446, + -0.007590368390083313, + -0.13822495937347412 + ], + "orientation": [ + 0.5885379910469055, + -0.08016852289438248, + -0.01670071855187416, + 0.8043115735054016 + ], + "joints": [ + 0.004845434799790382 + ] + }, + "final_grasp": { + "position": [ + 0.016250135377049446, + -0.007590368390083313, + -0.13822495937347412 + ], + "orientation": [ + 0.5885379910469055, + -0.08016852289438248, + -0.01670071855187416, + 0.8043115735054016 + ], + "joints": [ + -0.004767535254359245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10126355290412903, + 0.004930056631565094, + -0.05807261914014816 + ], + "orientation": [ + 0.8567702770233154, + -0.01937120221555233, + -0.5092756748199463, + 0.07879017293453217 + ], + "joints": [ + 0.010640403255820274 + ] + }, + "fine_grasp": { + "position": [ + 0.09704477339982986, + 0.004620521329343319, + -0.056982722133398056 + ], + "orientation": [ + 0.8559255003929138, + -0.021357964724302292, + -0.5106501579284668, + 0.07856103777885437 + ], + "joints": [ + 0.00353516498580575 + ] + }, + "final_grasp": { + "position": [ + 0.09704477339982986, + 0.004620521329343319, + -0.056982722133398056 + ], + "orientation": [ + 0.8559255003929138, + -0.021357964724302292, + -0.5106501579284668, + 0.07856103777885437 + ], + "joints": [ + -0.0035700732842087746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053412072360515594, + -0.015229576267302036, + -0.12380865961313248 + ], + "orientation": [ + 0.05372084677219391, + 0.2457391917705536, + 0.08902905881404877, + 0.9637428522109985 + ], + "joints": [ + 0.014760574325919151 + ] + }, + "fine_grasp": { + "position": [ + -0.05076379328966141, + -0.015086163766682148, + -0.12334827333688736 + ], + "orientation": [ + 0.056536655873060226, + 0.24040845036506653, + 0.08982942253351212, + 0.9648513197898865 + ], + "joints": [ + 0.005147604271769524 + ] + }, + "final_grasp": { + "position": [ + -0.05076379328966141, + -0.015086163766682148, + -0.12334827333688736 + ], + "orientation": [ + 0.056536655873060226, + 0.24040845036506653, + 0.08982942253351212, + 0.9648513197898865 + ], + "joints": [ + -0.004465365782380104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005431532859802246, + -0.013941909186542034, + -0.13943202793598175 + ], + "orientation": [ + 0.6371572017669678, + -0.015440698713064194, + -0.05805458873510361, + -0.7683892250061035 + ], + "joints": [ + 0.013550993986427784 + ] + }, + "fine_grasp": { + "position": [ + 0.00539825763553381, + -0.013161958195269108, + -0.13785815238952637 + ], + "orientation": [ + 0.6340325474739075, + -0.018115881830453873, + -0.059249263256788254, + -0.7708203792572021 + ], + "joints": [ + 0.004355979152023792 + ] + }, + "final_grasp": { + "position": [ + 0.00539825763553381, + -0.013161958195269108, + -0.13785815238952637 + ], + "orientation": [ + 0.6340325474739075, + -0.018115881830453873, + -0.059249263256788254, + -0.7708203792572021 + ], + "joints": [ + -0.004839035682380199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09864142537117004, + -0.0045545464381575584, + -0.07222362607717514 + ], + "orientation": [ + 0.06628605723381042, + -0.4810505509376526, + -0.01698329672217369, + 0.8740183711051941 + ], + "joints": [ + 0.011716311797499657 + ] + }, + "fine_grasp": { + "position": [ + 0.09451134502887726, + -0.004311337135732174, + -0.07180429250001907 + ], + "orientation": [ + 0.06987269222736359, + -0.48309338092803955, + -0.019496096298098564, + 0.87255859375 + ], + "joints": [ + 0.003357208101078868 + ] + }, + "final_grasp": { + "position": [ + 0.09451134502887726, + -0.004311337135732174, + -0.07180429250001907 + ], + "orientation": [ + 0.06987269222736359, + -0.48309338092803955, + -0.019496096298098564, + 0.87255859375 + ], + "joints": [ + -0.005001895595341921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02059149369597435, + -0.0005547698820009828, + -0.13458333909511566 + ], + "orientation": [ + 0.9790858626365662, + 0.015446687117218971, + -0.09456023573875427, + -0.17947348952293396 + ], + "joints": [ + 0.014686954207718372 + ] + }, + "fine_grasp": { + "position": [ + 0.0189454797655344, + -0.00030363790574483573, + -0.13423359394073486 + ], + "orientation": [ + 0.9796999096870422, + 0.014585117809474468, + -0.0871269553899765, + -0.17995628714561462 + ], + "joints": [ + 0.005491939373314381 + ] + }, + "final_grasp": { + "position": [ + 0.0189454797655344, + -0.00030363790574483573, + -0.13423359394073486 + ], + "orientation": [ + 0.9796999096870422, + 0.014585117809474468, + -0.0871269553899765, + -0.17995628714561462 + ], + "joints": [ + -0.003703075461089611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02370470203459263, + -0.012333790771663189, + -0.13793961703777313 + ], + "orientation": [ + 0.6662318706512451, + -0.10474100708961487, + -0.04006902128458023, + 0.7372643947601318 + ], + "joints": [ + 0.01519082672894001 + ] + }, + "fine_grasp": { + "position": [ + 0.023358268663287163, + -0.011664108373224735, + -0.136261984705925 + ], + "orientation": [ + 0.6676290035247803, + -0.10846561938524246, + -0.036380402743816376, + 0.7356515526771545 + ], + "joints": [ + 0.005159901455044746 + ] + }, + "final_grasp": { + "position": [ + 0.023358268663287163, + -0.011664108373224735, + -0.136261984705925 + ], + "orientation": [ + 0.6676290035247803, + -0.10846561938524246, + -0.036380402743816376, + 0.7356515526771545 + ], + "joints": [ + -0.004871023818850517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05335167422890663, + -0.014985895715653896, + -0.12155217677354813 + ], + "orientation": [ + 0.05944210663437843, + 0.23426957428455353, + 0.08502895385026932, + 0.966620147228241 + ], + "joints": [ + 0.01476922444999218 + ] + }, + "fine_grasp": { + "position": [ + -0.04994837939739227, + -0.014535539783537388, + -0.1214977502822876 + ], + "orientation": [ + 0.06250999122858047, + 0.2308163046836853, + 0.08793053030967712, + 0.9669977426528931 + ], + "joints": [ + 0.005156254395842552 + ] + }, + "final_grasp": { + "position": [ + -0.04994837939739227, + -0.014535539783537388, + -0.1214977502822876 + ], + "orientation": [ + 0.06250999122858047, + 0.2308163046836853, + 0.08793053030967712, + 0.9669977426528931 + ], + "joints": [ + -0.0044567156583070755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017067497596144676, + 0.02354837954044342, + -0.12899941205978394 + ], + "orientation": [ + 0.8188623189926147, + 0.04073002561926842, + 0.1254793256521225, + -0.558623731136322 + ], + "joints": [ + 0.014559273608028889 + ] + }, + "fine_grasp": { + "position": [ + -0.01590757817029953, + 0.020842403173446655, + -0.12884525954723358 + ], + "orientation": [ + 0.8204546570777893, + 0.03588634356856346, + 0.1180826872587204, + -0.5582319498062134 + ], + "joints": [ + 0.004946303553879261 + ] + }, + "final_grasp": { + "position": [ + -0.01590757817029953, + 0.020842403173446655, + -0.12884525954723358 + ], + "orientation": [ + 0.8204546570777893, + 0.03588634356856346, + 0.1180826872587204, + -0.5582319498062134 + ], + "joints": [ + -0.004666666500270367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016521645709872246, + 0.024425826966762543, + -0.12785619497299194 + ], + "orientation": [ + 0.819180428981781, + 0.04137568548321724, + 0.11964558809995651, + -0.5593893527984619 + ], + "joints": [ + 0.014098010025918484 + ] + }, + "fine_grasp": { + "position": [ + -0.014900104142725468, + 0.021385695785284042, + -0.12731273472309113 + ], + "orientation": [ + 0.8205919861793518, + 0.03924400359392166, + 0.11327184736728668, + -0.5588006377220154 + ], + "joints": [ + 0.004485039971768856 + ] + }, + "final_grasp": { + "position": [ + -0.014900104142725468, + 0.021385695785284042, + -0.12731273472309113 + ], + "orientation": [ + 0.8205919861793518, + 0.03924400359392166, + 0.11327184736728668, + -0.5588006377220154 + ], + "joints": [ + -0.005127930082380772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06927391141653061, + -0.11548057198524475, + 0.11124467104673386 + ], + "orientation": [ + 0.35885322093963623, + -0.5711036920547485, + 0.3004246652126312, + 0.6743959784507751 + ], + "joints": [ + 0.017262950539588928 + ] + }, + "fine_grasp": { + "position": [ + 0.06804744899272919, + -0.11227790266275406, + 0.11140968650579453 + ], + "orientation": [ + 0.3631358742713928, + -0.5701443552970886, + 0.3076719641685486, + 0.6696311235427856 + ], + "joints": [ + 0.005622898228466511 + ] + }, + "final_grasp": { + "position": [ + 0.06804744899272919, + -0.11227790266275406, + 0.11140968650579453 + ], + "orientation": [ + 0.3631358742713928, + -0.5701443552970886, + 0.3076719641685486, + 0.6696311235427856 + ], + "joints": [ + -0.006017154082655907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003791116876527667, + 0.11488831043243408, + -0.048889413475990295 + ], + "orientation": [ + 0.5888012647628784, + 0.4886021018028259, + 0.39310309290885925, + -0.5099520683288574 + ], + "joints": [ + 0.018721748143434525 + ] + }, + "fine_grasp": { + "position": [ + -0.0025919079780578613, + 0.11188602447509766, + -0.04907388985157013 + ], + "orientation": [ + 0.5939152240753174, + 0.4886424243450165, + 0.4051370620727539, + -0.49432501196861267 + ], + "joints": [ + 0.005096410401165485 + ] + }, + "final_grasp": { + "position": [ + -0.0025919079780578613, + 0.11188602447509766, + -0.04907388985157013 + ], + "orientation": [ + 0.5939152240753174, + 0.4886424243450165, + 0.4051370620727539, + -0.49432501196861267 + ], + "joints": [ + -0.008528927341103554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023296810686588287, + 0.04775307700037956, + -0.14434204995632172 + ], + "orientation": [ + 0.5547653436660767, + 0.26811033487319946, + 0.10268563032150269, + -0.7809019684791565 + ], + "joints": [ + 0.016822997480630875 + ] + }, + "fine_grasp": { + "position": [ + 0.024845706298947334, + 0.04740313068032265, + -0.14129720628261566 + ], + "orientation": [ + 0.5594143271446228, + 0.25085413455963135, + 0.1072523221373558, + -0.7827035188674927 + ], + "joints": [ + 0.003991773352026939 + ] + }, + "final_grasp": { + "position": [ + 0.024845706298947334, + 0.04740313068032265, + -0.14129720628261566 + ], + "orientation": [ + 0.5594143271446228, + 0.25085413455963135, + 0.1072523221373558, + -0.7827035188674927 + ], + "joints": [ + -0.008839450776576996 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 309 + } +} \ No newline at end of file diff --git a/clutter_baseball_bat_00000/Object.usd b/clutter_baseball_bat_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..e1dd23208840bfbd84051c7c67e637591d505f61 Binary files /dev/null and b/clutter_baseball_bat_00000/Object.usd differ diff --git a/clutter_bottle_00000/Annotation/dex1_1_grasp_pose.json b/clutter_bottle_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..ed2de6b728fd3cb30130524bdf15ba8c5d828ebd --- /dev/null +++ b/clutter_bottle_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,20418 @@ +{ + "type": "clutter_bottle_00000", + "bottom_center": [ + -7.450580596923828e-09, + 2.158805727958679e-06, + -0.00017483934061601758 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.09128506481647491, + -0.00906289555132389, + -0.06212784722447395 + ], + "orientation": [ + 0.7140944004058838, + 0.2658146917819977, + 0.17767174541950226, + 0.6227717399597168 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.09399335086345673, + -0.009521077387034893, + -0.06406894326210022 + ], + "orientation": [ + 0.7140151262283325, + 0.26274576783180237, + 0.17532449960708618, + 0.6248266100883484 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.09399335086345673, + -0.009521077387034893, + -0.06406894326210022 + ], + "orientation": [ + 0.7140151262283325, + 0.26274576783180237, + 0.17532449960708618, + 0.6248266100883484 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.068903848528862, + -0.10234931856393814, + 0.00450545409694314 + ], + "orientation": [ + 0.030389340594410896, + 0.2919621169567108, + -0.9535128474235535, + -0.06817575544118881 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.06785447150468826, + -0.10057806223630905, + 0.003460050793364644 + ], + "orientation": [ + 0.014638511463999748, + 0.2935900092124939, + -0.9540224075317383, + -0.058583348989486694 + ], + "joints": [ + -0.006026105955243111 + ] + }, + "final_grasp": { + "position": [ + 0.06785447150468826, + -0.10057806223630905, + 0.003460050793364644 + ], + "orientation": [ + 0.014638511463999748, + 0.2935900092124939, + -0.9540224075317383, + -0.058583348989486694 + ], + "joints": [ + 0.0008820891380310059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11160248517990112, + -0.053389232605695724, + 0.01858382299542427 + ], + "orientation": [ + 0.007734412793070078, + -0.5327765941619873, + -0.8462194800376892, + -0.0013690026244148612 + ], + "joints": [ + -0.011815566569566727 + ] + }, + "fine_grasp": { + "position": [ + -0.11130812019109726, + -0.052838005125522614, + 0.016915766522288322 + ], + "orientation": [ + 0.008404442109167576, + -0.5319951176643372, + -0.8465928435325623, + 0.013825981877744198 + ], + "joints": [ + -0.005970170721411705 + ] + }, + "final_grasp": { + "position": [ + -0.11130812019109726, + -0.052838005125522614, + 0.016915766522288322 + ], + "orientation": [ + 0.008404442109167576, + -0.5319951176643372, + -0.8465928435325623, + 0.013825981877744198 + ], + "joints": [ + -0.00012477487325668335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07771047949790955, + 0.09327635914087296, + 0.03989483788609505 + ], + "orientation": [ + 0.33813074231147766, + -0.016422966495156288, + -0.0694945901632309, + 0.938386082649231 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.07853349298238754, + 0.09338706731796265, + 0.03843000531196594 + ], + "orientation": [ + 0.33692365884780884, + -0.02199135534465313, + -0.0844554752111435, + 0.9374786019325256 + ], + "joints": [ + -0.005998138338327408 + ] + }, + "final_grasp": { + "position": [ + 0.07853349298238754, + 0.09338706731796265, + 0.03843000531196594 + ], + "orientation": [ + 0.33692365884780884, + -0.02199135534465313, + -0.0844554752111435, + 0.9374786019325256 + ], + "joints": [ + 0.00037865713238716125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11147633194923401, + -0.05332173407077789, + 0.018444763496518135 + ], + "orientation": [ + 0.007396860513836145, + -0.5329399704933167, + -0.846120297908783, + -0.0008619676227681339 + ], + "joints": [ + -0.011815566569566727 + ] + }, + "fine_grasp": { + "position": [ + -0.111219622194767, + -0.052869413048028946, + 0.016817940399050713 + ], + "orientation": [ + 0.008700670674443245, + -0.5317291021347046, + -0.8467556834220886, + 0.013906247913837433 + ], + "joints": [ + -0.005970170721411705 + ] + }, + "final_grasp": { + "position": [ + -0.111219622194767, + -0.052869413048028946, + 0.016817940399050713 + ], + "orientation": [ + 0.008700670674443245, + -0.5317291021347046, + -0.8467556834220886, + 0.013906247913837433 + ], + "joints": [ + -0.00012477487325668335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06462425738573074, + -0.05911031737923622, + -0.06360502541065216 + ], + "orientation": [ + 0.8569437265396118, + 0.3202413022518158, + 0.13859610259532928, + 0.3793206810951233 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06513410806655884, + -0.05920003727078438, + -0.0638069212436676 + ], + "orientation": [ + 0.85772305727005, + 0.3192886710166931, + 0.13310495018959045, + 0.38032761216163635 + ], + "joints": [ + -0.005437297746539116 + ] + }, + "final_grasp": { + "position": [ + 0.06513410806655884, + -0.05920003727078438, + -0.0638069212436676 + ], + "orientation": [ + 0.85772305727005, + 0.3192886710166931, + 0.13310495018959045, + 0.38032761216163635 + ], + "joints": [ + 0.0014708973467350006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11997038125991821, + 0.04691503942012787, + 0.0048704929649829865 + ], + "orientation": [ + 0.07796990126371384, + 0.8240581154823303, + -0.5604299306869507, + -0.027698902413249016 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.11528760194778442, + 0.04519376531243324, + 0.0047205230221152306 + ], + "orientation": [ + 0.0688253864645958, + 0.8256787657737732, + -0.5595579147338867, + -0.02031494863331318 + ], + "joints": [ + -0.00664435513317585 + ] + }, + "final_grasp": { + "position": [ + 0.11528760194778442, + 0.04519376531243324, + 0.0047205230221152306 + ], + "orientation": [ + 0.0688253864645958, + 0.8256787657737732, + -0.5595579147338867, + -0.02031494863331318 + ], + "joints": [ + 0.0002638399600982666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11230337619781494, + -0.07414725422859192, + 0.012869483791291714 + ], + "orientation": [ + 0.8800607323646545, + 0.032736048102378845, + -0.02190573140978813, + -0.47322461009025574 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.10759864002466202, + -0.07101062685251236, + 0.012040382251143456 + ], + "orientation": [ + 0.880424439907074, + 0.022637970745563507, + -0.017285704612731934, + -0.4733303189277649 + ], + "joints": [ + -0.006698892451822758 + ] + }, + "final_grasp": { + "position": [ + -0.10759864002466202, + -0.07101062685251236, + 0.012040382251143456 + ], + "orientation": [ + 0.880424439907074, + 0.022637970745563507, + -0.017285704612731934, + -0.4733303189277649 + ], + "joints": [ + 0.0007141325622797012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018556974828243256, + 0.12473216652870178, + 0.044273741543293 + ], + "orientation": [ + 0.08422312885522842, + -0.9937355518341064, + 0.0730145126581192, + -0.008063104934990406 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.01802477240562439, + 0.12012521177530289, + 0.0417727567255497 + ], + "orientation": [ + 0.10440126806497574, + -0.991965651512146, + 0.07104045152664185, + -0.007599024102091789 + ], + "joints": [ + -0.006055546924471855 + ] + }, + "final_grasp": { + "position": [ + 0.01802477240562439, + 0.12012521177530289, + 0.0417727567255497 + ], + "orientation": [ + 0.10440126806497574, + -0.991965651512146, + 0.07104045152664185, + -0.007599024102091789 + ], + "joints": [ + 0.0008526481688022614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018551860004663467, + 0.1246441975235939, + 0.04430128261446953 + ], + "orientation": [ + 0.08422503620386124, + -0.9937387704849243, + 0.07300969213247299, + -0.00767407426610589 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.017992034554481506, + 0.12001758813858032, + 0.0418054461479187 + ], + "orientation": [ + 0.10441359877586365, + -0.9919770359992981, + 0.07088962942361832, + -0.007343200035393238 + ], + "joints": [ + -0.006055546924471855 + ] + }, + "final_grasp": { + "position": [ + 0.017992034554481506, + 0.12001758813858032, + 0.0418054461479187 + ], + "orientation": [ + 0.10441359877586365, + -0.9919770359992981, + 0.07088962942361832, + -0.007343200035393238 + ], + "joints": [ + 0.0008526481688022614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09628144651651382, + 0.06903063505887985, + -0.014978019520640373 + ], + "orientation": [ + 0.07767734676599503, + 0.8843498229980469, + -0.4567529261112213, + -0.05716994032263756 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.09896671772003174, + 0.06969128549098969, + -0.016686851158738136 + ], + "orientation": [ + 0.06781058758497238, + 0.8842495679855347, + -0.4586986303329468, + -0.05567815527319908 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.09896671772003174, + 0.06969128549098969, + -0.016686851158738136 + ], + "orientation": [ + 0.06781058758497238, + 0.8842495679855347, + -0.4586986303329468, + -0.05567815527319908 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09623880684375763, + 0.06900962442159653, + -0.015003614127635956 + ], + "orientation": [ + 0.0778895765542984, + 0.8843161463737488, + -0.45671194791793823, + -0.05772741138935089 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0989246815443039, + 0.0697106197476387, + -0.016722867265343666 + ], + "orientation": [ + 0.0681193619966507, + 0.8842769265174866, + -0.45856037735939026, + -0.056004226207733154 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.0989246815443039, + 0.0697106197476387, + -0.016722867265343666 + ], + "orientation": [ + 0.0681193619966507, + 0.8842769265174866, + -0.45856037735939026, + -0.056004226207733154 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13356947898864746, + -0.010317432694137096, + 0.01900089532136917 + ], + "orientation": [ + 0.011685285717248917, + -0.6790024638175964, + 0.7339617013931274, + -0.010921718552708626 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.1280449628829956, + -0.009911354631185532, + 0.01771419122815132 + ], + "orientation": [ + 0.020994264632463455, + -0.6792218685150146, + 0.7333735823631287, + -0.019500579684972763 + ], + "joints": [ + -0.006110084243118763 + ] + }, + "final_grasp": { + "position": [ + 0.1280449628829956, + -0.009911354631185532, + 0.01771419122815132 + ], + "orientation": [ + 0.020994264632463455, + -0.6792218685150146, + 0.7333735823631287, + -0.019500579684972763 + ], + "joints": [ + 0.001302940770983696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012454160489141941, + 0.1252339780330658, + 0.04456154629588127 + ], + "orientation": [ + 0.04685613512992859, + 0.012100803665816784, + -0.07889950275421143, + 0.9957071542739868 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.01225600391626358, + 0.1213546097278595, + 0.04228974133729935 + ], + "orientation": [ + 0.04529685154557228, + 0.012549960054457188, + -0.09850060939788818, + 0.9940263628959656 + ], + "joints": [ + -0.006055546924471855 + ] + }, + "final_grasp": { + "position": [ + 0.01225600391626358, + 0.1213546097278595, + 0.04228974133729935 + ], + "orientation": [ + 0.04529685154557228, + 0.012549960054457188, + -0.09850060939788818, + 0.9940263628959656 + ], + "joints": [ + 0.0008526481688022614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047150954604148865, + -0.11536027491092682, + 0.04503723978996277 + ], + "orientation": [ + 0.008020090870559216, + -0.19277286529541016, + 0.9792929291725159, + -0.06131580099463463 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.04654461890459061, + -0.11285059154033661, + 0.04279710352420807 + ], + "orientation": [ + 0.012924262322485447, + -0.1969427913427353, + 0.977375864982605, + -0.07604619115591049 + ], + "joints": [ + -0.006586946547031403 + ] + }, + "final_grasp": { + "position": [ + 0.04654461890459061, + -0.11285059154033661, + 0.04279710352420807 + ], + "orientation": [ + 0.012924262322485447, + -0.1969427913427353, + 0.977375864982605, + -0.07604619115591049 + ], + "joints": [ + -0.0002101510763168335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047118883579969406, + -0.11533352732658386, + 0.04515460133552551 + ], + "orientation": [ + 0.008214176632463932, + -0.19270318746566772, + 0.9792895317077637, + -0.06156314164400101 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.046527035534381866, + -0.11284506320953369, + 0.042908675968647 + ], + "orientation": [ + 0.013141543604433537, + -0.19688519835472107, + 0.9773619771003723, + -0.07633641362190247 + ], + "joints": [ + -0.006586946547031403 + ] + }, + "final_grasp": { + "position": [ + 0.046527035534381866, + -0.11284506320953369, + 0.042908675968647 + ], + "orientation": [ + 0.013141543604433537, + -0.19688519835472107, + 0.9773619771003723, + -0.07633641362190247 + ], + "joints": [ + -0.0002101510763168335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017835287377238274, + -0.04501877352595329, + -0.10829291492700577 + ], + "orientation": [ + 0.14436683058738708, + 0.17613308131694794, + -0.794090747833252, + -0.5635204315185547 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.01693919114768505, + -0.04333452507853508, + -0.10657653957605362 + ], + "orientation": [ + 0.14665387570858002, + 0.18072235584259033, + -0.7983095645904541, + -0.5554583668708801 + ], + "joints": [ + -0.008741909638047218 + ] + }, + "final_grasp": { + "position": [ + 0.01693919114768505, + -0.04333452507853508, + -0.10657653957605362 + ], + "orientation": [ + 0.14665387570858002, + 0.18072235584259033, + -0.7983095645904541, + -0.5554583668708801 + ], + "joints": [ + -0.0034013427793979645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0332743339240551, + -0.06086992844939232, + -0.08823905140161514 + ], + "orientation": [ + 0.12854349613189697, + 0.23526141047477722, + 0.8718889355659485, + 0.4098029136657715 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.03477572649717331, + -0.061795081943273544, + -0.09047133475542068 + ], + "orientation": [ + 0.13044381141662598, + 0.2369779348373413, + 0.8735053539276123, + 0.4047399163246155 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.03477572649717331, + -0.061795081943273544, + -0.09047133475542068 + ], + "orientation": [ + 0.13044381141662598, + 0.2369779348373413, + 0.8735053539276123, + 0.4047399163246155 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00581131549552083, + -0.004036052618175745, + -0.10268153995275497 + ], + "orientation": [ + 0.24338266253471375, + 0.29396241903305054, + 0.7057788372039795, + 0.5968477725982666 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.006872104946523905, + -0.005514612887054682, + -0.10515682399272919 + ], + "orientation": [ + 0.2400311380624771, + 0.2904391884803772, + 0.7085088491439819, + 0.5966952443122864 + ], + "joints": [ + -0.005968697369098663 + ] + }, + "final_grasp": { + "position": [ + -0.006872104946523905, + -0.005514612887054682, + -0.10515682399272919 + ], + "orientation": [ + 0.2400311380624771, + 0.2904391884803772, + 0.7085088491439819, + 0.5966952443122864 + ], + "joints": [ + 0.00040809810161590576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033178992569446564, + -0.060920219868421555, + -0.0881999209523201 + ], + "orientation": [ + 0.1270565539598465, + 0.23472028970718384, + 0.8728609681129456, + 0.4085056185722351 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.03442051261663437, + -0.062033407390117645, + -0.0903220847249031 + ], + "orientation": [ + 0.12951171398162842, + 0.23514224588871002, + 0.874462366104126, + 0.4040427505970001 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.03442051261663437, + -0.062033407390117645, + -0.0903220847249031 + ], + "orientation": [ + 0.12951171398162842, + 0.23514224588871002, + 0.874462366104126, + 0.4040427505970001 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017878396436572075, + -0.0451907217502594, + -0.10841004550457001 + ], + "orientation": [ + 0.14491857588291168, + 0.17576874792575836, + -0.7928599119186401, + -0.5652229189872742 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.016870005056262016, + -0.043409690260887146, + -0.10679911822080612 + ], + "orientation": [ + 0.14733219146728516, + 0.18072472512722015, + -0.798068106174469, + -0.5556249618530273 + ], + "joints": [ + -0.008741909638047218 + ] + }, + "final_grasp": { + "position": [ + 0.016870005056262016, + -0.043409690260887146, + -0.10679911822080612 + ], + "orientation": [ + 0.14733219146728516, + 0.18072472512722015, + -0.798068106174469, + -0.5556249618530273 + ], + "joints": [ + -0.0034013427793979645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04397914186120033, + -0.010769268497824669, + -0.10531190782785416 + ], + "orientation": [ + 0.32795900106430054, + 0.458050012588501, + -0.6486408114433289, + -0.5117597579956055 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.04242108762264252, + -0.009979892522096634, + -0.10362183302640915 + ], + "orientation": [ + 0.3240947425365448, + 0.46330806612968445, + -0.6529086232185364, + -0.504002571105957 + ], + "joints": [ + -0.008713942021131516 + ] + }, + "final_grasp": { + "position": [ + 0.04242108762264252, + -0.009979892522096634, + -0.10362183302640915 + ], + "orientation": [ + 0.3240947425365448, + 0.46330806612968445, + -0.6529086232185364, + -0.504002571105957 + ], + "joints": [ + -0.003904774785041809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04409896954894066, + -0.010877300053834915, + -0.10547984391450882 + ], + "orientation": [ + 0.3279940187931061, + 0.45811694860458374, + -0.6488803029060364, + -0.51137375831604 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.042498208582401276, + -0.010104412212967873, + -0.10372557491064072 + ], + "orientation": [ + 0.32425785064697266, + 0.4635034501552582, + -0.6532080173492432, + -0.5033295750617981 + ], + "joints": [ + -0.008713942021131516 + ] + }, + "final_grasp": { + "position": [ + 0.042498208582401276, + -0.010104412212967873, + -0.10372557491064072 + ], + "orientation": [ + 0.32425785064697266, + 0.4635034501552582, + -0.6532080173492432, + -0.5033295750617981 + ], + "joints": [ + -0.003904774785041809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12579569220542908, + -0.031790558248758316, + 0.017697257921099663 + ], + "orientation": [ + 0.048183977603912354, + 0.6137109994888306, + -0.786994457244873, + -0.040948525071144104 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.12089318782091141, + -0.030464591458439827, + 0.016799483448266983 + ], + "orientation": [ + 0.03999541327357292, + 0.6155238151550293, + -0.7865149974822998, + -0.03041490539908409 + ], + "joints": [ + -0.006728333421051502 + ] + }, + "final_grasp": { + "position": [ + 0.12089318782091141, + -0.030464591458439827, + 0.016799483448266983 + ], + "orientation": [ + 0.03999541327357292, + 0.6155238151550293, + -0.7865149974822998, + -0.03041490539908409 + ], + "joints": [ + 0.0006846915930509567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014862144365906715, + 0.004747014958411455, + -0.10267902165651321 + ], + "orientation": [ + 0.43221795558929443, + 0.33662623167037964, + 0.5206574201583862, + 0.6548177599906921 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.016752369701862335, + 0.0049614799208939075, + -0.10669717937707901 + ], + "orientation": [ + 0.4315548241138458, + 0.3372698426246643, + 0.5253674387931824, + 0.6511516571044922 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + 0.016752369701862335, + 0.0049614799208939075, + -0.10669717937707901 + ], + "orientation": [ + 0.4315548241138458, + 0.3372698426246643, + 0.5253674387931824, + 0.6511516571044922 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11037798970937729, + -0.04355481639504433, + -0.04104343801736832 + ], + "orientation": [ + 0.8155988454818726, + 0.16145548224449158, + -0.08842287957668304, + -0.548554539680481 + ], + "joints": [ + -0.011815566569566727 + ] + }, + "fine_grasp": { + "position": [ + -0.10602515935897827, + -0.04169930890202522, + -0.04071653261780739 + ], + "orientation": [ + 0.8186786770820618, + 0.155869260430336, + -0.08207611739635468, + -0.5465651750564575 + ], + "joints": [ + -0.004402541555464268 + ] + }, + "final_grasp": { + "position": [ + -0.10602515935897827, + -0.04169930890202522, + -0.04071653261780739 + ], + "orientation": [ + 0.8186786770820618, + 0.155869260430336, + -0.08207611739635468, + -0.5465651750564575 + ], + "joints": [ + 0.0030104834586381912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015254129655659199, + 0.004750613588839769, + -0.10364659130573273 + ], + "orientation": [ + 0.43097394704818726, + 0.33624234795570374, + 0.523131787776947, + 0.6538621187210083 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.017004309222102165, + 0.004770573228597641, + -0.10768169164657593 + ], + "orientation": [ + 0.43135178089141846, + 0.3359384536743164, + 0.5263501405715942, + 0.6511808633804321 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + 0.017004309222102165, + 0.004770573228597641, + -0.10768169164657593 + ], + "orientation": [ + 0.43135178089141846, + 0.3359384536743164, + 0.5263501405715942, + 0.6511808633804321 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10097978264093399, + 0.043238766491413116, + -0.060755811631679535 + ], + "orientation": [ + 0.5254518985748291, + 0.12267182022333145, + -0.2306084930896759, + -0.8097355365753174 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.0967484712600708, + 0.04139913618564606, + -0.05873488634824753 + ], + "orientation": [ + 0.5269407629966736, + 0.11558867990970612, + -0.22663135826587677, + -0.8109320998191833 + ], + "joints": [ + -0.0044570788741111755 + ] + }, + "final_grasp": { + "position": [ + -0.0967484712600708, + 0.04139913618564606, + -0.05873488634824753 + ], + "orientation": [ + 0.5269407629966736, + 0.11558867990970612, + -0.22663135826587677, + -0.8109320998191833 + ], + "joints": [ + 0.003460776060819626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022259734570980072, + 0.11982741951942444, + 0.04159138351678848 + ], + "orientation": [ + 0.09377782791852951, + -0.030235348269343376, + 0.0992836132645607, + -0.9901688098907471 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.021532166749238968, + 0.11942856758832932, + 0.03912317380309105 + ], + "orientation": [ + 0.09290499985218048, + -0.02874557301402092, + 0.11258888244628906, + -0.988871157169342 + ], + "joints": [ + -0.00546673871576786 + ] + }, + "final_grasp": { + "position": [ + -0.021532166749238968, + 0.11942856758832932, + 0.03912317380309105 + ], + "orientation": [ + 0.09290499985218048, + -0.02874557301402092, + 0.11258888244628906, + -0.988871157169342 + ], + "joints": [ + 0.001441456377506256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10098888725042343, + 0.04324726387858391, + -0.06084528565406799 + ], + "orientation": [ + 0.525618314743042, + 0.12242207676172256, + -0.22990010678768158, + -0.809866726398468 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.09672944247722626, + 0.04145300015807152, + -0.05883358418941498 + ], + "orientation": [ + 0.5271130204200745, + 0.11522237211465836, + -0.22609959542751312, + -0.8110207915306091 + ], + "joints": [ + -0.0044570788741111755 + ] + }, + "final_grasp": { + "position": [ + -0.09672944247722626, + 0.04145300015807152, + -0.05883358418941498 + ], + "orientation": [ + 0.5271130204200745, + 0.11522237211465836, + -0.22609959542751312, + -0.8110207915306091 + ], + "joints": [ + 0.003460776060819626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10102907568216324, + 0.04320695623755455, + -0.06077700853347778 + ], + "orientation": [ + 0.5256734490394592, + 0.12244314700365067, + -0.2303076833486557, + -0.8097119927406311 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.09673412144184113, + 0.041410040110349655, + -0.05878971889615059 + ], + "orientation": [ + 0.527644693851471, + 0.11513594537973404, + -0.226475328207016, + -0.8105823993682861 + ], + "joints": [ + -0.0044570788741111755 + ] + }, + "final_grasp": { + "position": [ + -0.09673412144184113, + 0.041410040110349655, + -0.05878971889615059 + ], + "orientation": [ + 0.527644693851471, + 0.11513594537973404, + -0.226475328207016, + -0.8105823993682861 + ], + "joints": [ + 0.003460776060819626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10096493363380432, + 0.04319446161389351, + -0.060992635786533356 + ], + "orientation": [ + 0.525719404220581, + 0.12194650620222092, + -0.22976969182491302, + -0.8099099397659302 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.09673628211021423, + 0.04138374701142311, + -0.05898447707295418 + ], + "orientation": [ + 0.5270357728004456, + 0.11496667563915253, + -0.2263716161251068, + -0.8110313415527344 + ], + "joints": [ + -0.0044570788741111755 + ] + }, + "final_grasp": { + "position": [ + -0.09673628211021423, + 0.04138374701142311, + -0.05898447707295418 + ], + "orientation": [ + 0.5270357728004456, + 0.11496667563915253, + -0.2263716161251068, + -0.8110313415527344 + ], + "joints": [ + 0.003460776060819626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02230752632021904, + 0.1197810247540474, + 0.0415433868765831 + ], + "orientation": [ + 0.09401702880859375, + -0.030458934605121613, + 0.10056426376104355, + -0.9900100827217102 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.02156350016593933, + 0.11938546597957611, + 0.03906596451997757 + ], + "orientation": [ + 0.09308420866727829, + -0.02904854528605938, + 0.11368256062269211, + -0.9887202978134155 + ], + "joints": [ + -0.005437297746539116 + ] + }, + "final_grasp": { + "position": [ + -0.02156350016593933, + 0.11938546597957611, + 0.03906596451997757 + ], + "orientation": [ + 0.09308420866727829, + -0.02904854528605938, + 0.11368256062269211, + -0.9887202978134155 + ], + "joints": [ + 0.0014708973467350006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003591275541111827, + -0.008026810362935066, + -0.11371202021837234 + ], + "orientation": [ + 0.7258778214454651, + 0.5906568169593811, + -0.2319638580083847, + -0.2653653919696808 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.005189493764191866, + -0.008777696639299393, + -0.11475465446710587 + ], + "orientation": [ + 0.7227005362510681, + 0.5930332541465759, + -0.2327313870191574, + -0.2680513560771942 + ], + "joints": [ + -0.005265071988105774 + ] + }, + "final_grasp": { + "position": [ + -0.005189493764191866, + -0.008777696639299393, + -0.11475465446710587 + ], + "orientation": [ + 0.7227005362510681, + 0.5930332541465759, + -0.2327313870191574, + -0.2680513560771942 + ], + "joints": [ + 4.892423748970032e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0790182575583458, + -0.014935719780623913, + -0.08206424862146378 + ], + "orientation": [ + 0.7019586563110352, + 0.3798859417438507, + 0.2505163550376892, + 0.5478889346122742 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.07625548541545868, + -0.014567996375262737, + -0.07990235835313797 + ], + "orientation": [ + 0.7082223296165466, + 0.3758891224861145, + 0.24087068438529968, + 0.5469092130661011 + ], + "joints": [ + -0.008294489234685898 + ] + }, + "final_grasp": { + "position": [ + 0.07625548541545868, + -0.014567996375262737, + -0.07990235835313797 + ], + "orientation": [ + 0.7082223296165466, + 0.3758891224861145, + 0.24087068438529968, + 0.5469092130661011 + ], + "joints": [ + -0.0019176937639713287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10362737625837326, + 0.060050059109926224, + -0.010392790660262108 + ], + "orientation": [ + 0.491762638092041, + -0.0024139685556292534, + 0.07440593838691711, + 0.8675410151481628 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10480055958032608, + 0.05954749882221222, + -0.01168313529342413 + ], + "orientation": [ + 0.4915570020675659, + -0.008164558559656143, + 0.06673701107501984, + 0.8682460188865662 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.10480055958032608, + 0.05954749882221222, + -0.01168313529342413 + ], + "orientation": [ + 0.4915570020675659, + -0.008164558559656143, + 0.06673701107501984, + 0.8682460188865662 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07880253344774246, + -0.014905943535268307, + -0.08221250772476196 + ], + "orientation": [ + 0.7023456692695618, + 0.3798447549343109, + 0.2498881220817566, + 0.5477083325386047 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07599620521068573, + -0.014626342803239822, + -0.07990720868110657 + ], + "orientation": [ + 0.7087820768356323, + 0.37638503313064575, + 0.24023911356925964, + 0.5461203455924988 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.07599620521068573, + -0.014626342803239822, + -0.07990720868110657 + ], + "orientation": [ + 0.7087820768356323, + 0.37638503313064575, + 0.24023911356925964, + 0.5461203455924988 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11191323399543762, + -0.02378331497311592, + -0.04221215471625328 + ], + "orientation": [ + 0.07050925493240356, + 0.6046268939971924, + 0.7722299098968506, + 0.18197758495807648 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.10678140074014664, + -0.023112544789910316, + -0.04120804741978645 + ], + "orientation": [ + 0.06321486830711365, + 0.59993577003479, + 0.7783439755439758, + 0.17395879328250885 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + -0.10678140074014664, + -0.023112544789910316, + -0.04120804741978645 + ], + "orientation": [ + 0.06321486830711365, + 0.59993577003479, + 0.7783439755439758, + 0.17395879328250885 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012554001994431019, + 0.0033263061195611954, + -0.09871996194124222 + ], + "orientation": [ + 0.4447949230670929, + 0.35564514994621277, + 0.51826012134552, + 0.6380285620689392 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.01436545979231596, + 0.002616416895762086, + -0.10120151191949844 + ], + "orientation": [ + 0.44944101572036743, + 0.3538920283317566, + 0.5189126133918762, + 0.6352109909057617 + ], + "joints": [ + -0.006557505577802658 + ] + }, + "final_grasp": { + "position": [ + 0.01436545979231596, + 0.002616416895762086, + -0.10120151191949844 + ], + "orientation": [ + 0.44944101572036743, + 0.3538920283317566, + 0.5189126133918762, + 0.6352109909057617 + ], + "joints": [ + -0.000180710107088089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02495032735168934, + 0.026354897767305374, + -0.10001277923583984 + ], + "orientation": [ + 0.49793392419815063, + 0.7571761608123779, + 0.3435705006122589, + 0.24638469517230988 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.026007728651165962, + 0.027713563293218613, + -0.10280221700668335 + ], + "orientation": [ + 0.49977269768714905, + 0.7599847912788391, + 0.33842918276786804, + 0.24107272922992706 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.026007728651165962, + 0.027713563293218613, + -0.10280221700668335 + ], + "orientation": [ + 0.49977269768714905, + 0.7599847912788391, + 0.33842918276786804, + 0.24107272922992706 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0790003165602684, + -0.014921805821359158, + -0.08221229165792465 + ], + "orientation": [ + 0.7019815444946289, + 0.3797852694988251, + 0.2504517138004303, + 0.5479588508605957 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.07621929049491882, + -0.014606964774429798, + -0.0800655409693718 + ], + "orientation": [ + 0.7083380222320557, + 0.37596696615219116, + 0.24088266491889954, + 0.5467007756233215 + ], + "joints": [ + -0.008294489234685898 + ] + }, + "final_grasp": { + "position": [ + 0.07621929049491882, + -0.014606964774429798, + -0.0800655409693718 + ], + "orientation": [ + 0.7083380222320557, + 0.37596696615219116, + 0.24088266491889954, + 0.5467007756233215 + ], + "joints": [ + -0.0019176937639713287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07883778214454651, + -0.014900430105626583, + -0.08215002715587616 + ], + "orientation": [ + 0.7023490071296692, + 0.3797284662723541, + 0.2498340904712677, + 0.5478093028068542 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07602822780609131, + -0.014625567011535168, + -0.07987111806869507 + ], + "orientation": [ + 0.7088196873664856, + 0.3763275146484375, + 0.24012160301208496, + 0.5461629033088684 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.07602822780609131, + -0.014625567011535168, + -0.07987111806869507 + ], + "orientation": [ + 0.7088196873664856, + 0.3763275146484375, + 0.24012160301208496, + 0.5461629033088684 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025078440085053444, + 0.026318585500121117, + -0.09992657601833344 + ], + "orientation": [ + 0.49758532643318176, + 0.7568262219429016, + 0.3445255160331726, + 0.24683035910129547 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.02611047402024269, + 0.027644073590636253, + -0.10260366648435593 + ], + "orientation": [ + 0.49965256452560425, + 0.7597319483757019, + 0.3390883505344391, + 0.24119262397289276 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.02611047402024269, + 0.027644073590636253, + -0.10260366648435593 + ], + "orientation": [ + 0.49965256452560425, + 0.7597319483757019, + 0.3390883505344391, + 0.24119262397289276 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012513670139014721, + 0.003364037722349167, + -0.09845899790525436 + ], + "orientation": [ + 0.4442795515060425, + 0.355295330286026, + 0.5184371471405029, + 0.6384385228157043 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.014309791848063469, + 0.002691830974072218, + -0.10065668821334839 + ], + "orientation": [ + 0.44906896352767944, + 0.35364553332328796, + 0.5188354849815369, + 0.6356741786003113 + ], + "joints": [ + -0.006557505577802658 + ] + }, + "final_grasp": { + "position": [ + 0.014309791848063469, + 0.002691830974072218, + -0.10065668821334839 + ], + "orientation": [ + 0.44906896352767944, + 0.35364553332328796, + 0.5188354849815369, + 0.6356741786003113 + ], + "joints": [ + -0.000180710107088089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11863008886575699, + 0.02557227946817875, + 0.01972479373216629 + ], + "orientation": [ + 0.6281465888023376, + -0.027672264724969864, + 0.06731633841991425, + -0.7746835350990295 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.12114784121513367, + 0.026700984686613083, + 0.01870422437787056 + ], + "orientation": [ + 0.6277350783348083, + -0.04108242318034172, + 0.07039384543895721, + -0.7741482853889465 + ], + "joints": [ + -0.004735070280730724 + ] + }, + "final_grasp": { + "position": [ + -0.12114784121513367, + 0.026700984686613083, + 0.01870422437787056 + ], + "orientation": [ + 0.6277350783348083, + -0.04108242318034172, + 0.07039384543895721, + -0.7741482853889465 + ], + "joints": [ + 0.0016682948917150497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09922756254673004, + -0.0929349809885025, + 0.015562337823212147 + ], + "orientation": [ + 0.07804165035486221, + 0.3998416066169739, + -0.9104170799255371, + -0.07195071876049042 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.09521528333425522, + -0.08937472850084305, + 0.016377519816160202 + ], + "orientation": [ + 0.07548892498016357, + 0.4002681076526642, + -0.9105991721153259, + -0.06997263431549072 + ], + "joints": [ + -0.009444138035178185 + ] + }, + "final_grasp": { + "position": [ + 0.09521528333425522, + -0.08937472850084305, + 0.016377519816160202 + ], + "orientation": [ + 0.07548892498016357, + 0.4002681076526642, + -0.9105991721153259, + -0.06997263431549072 + ], + "joints": [ + -0.003598742187023163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012583034113049507, + 0.0034009364899247885, + -0.09872999787330627 + ], + "orientation": [ + 0.4447246491909027, + 0.355682373046875, + 0.518051028251648, + 0.6382266283035278 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.014422610402107239, + 0.0026974088978022337, + -0.10115806758403778 + ], + "orientation": [ + 0.4494350850582123, + 0.3538825213909149, + 0.5186225771903992, + 0.6354572772979736 + ], + "joints": [ + -0.006557505577802658 + ] + }, + "final_grasp": { + "position": [ + 0.014422610402107239, + 0.0026974088978022337, + -0.10115806758403778 + ], + "orientation": [ + 0.4494350850582123, + 0.3538825213909149, + 0.5186225771903992, + 0.6354572772979736 + ], + "joints": [ + -0.000180710107088089 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09923625737428665, + -0.09292436391115189, + 0.015518000349402428 + ], + "orientation": [ + 0.07781041413545609, + 0.3998797535896301, + -0.9104333519935608, + -0.07178350538015366 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.09522087126970291, + -0.08936765789985657, + 0.016298549249768257 + ], + "orientation": [ + 0.07534152269363403, + 0.4002983868122101, + -0.9106236100196838, + -0.06963839381933212 + ], + "joints": [ + -0.009444138035178185 + ] + }, + "final_grasp": { + "position": [ + 0.09522087126970291, + -0.08936765789985657, + 0.016298549249768257 + ], + "orientation": [ + 0.07534152269363403, + 0.4002983868122101, + -0.9106236100196838, + -0.06963839381933212 + ], + "joints": [ + -0.003598742187023163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1189640462398529, + -0.05463897064328194, + 0.0609268918633461 + ], + "orientation": [ + 0.8370378613471985, + -0.0562487430870533, + -0.07113673537969589, + 0.5395770072937012 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + 0.11428065598011017, + -0.05248909443616867, + 0.05885186791419983 + ], + "orientation": [ + 0.8354789614677429, + -0.06582170724868774, + -0.08167257159948349, + 0.5394181609153748 + ], + "joints": [ + -0.007317141629755497 + ] + }, + "final_grasp": { + "position": [ + 0.11428065598011017, + -0.05248909443616867, + 0.05885186791419983 + ], + "orientation": [ + 0.8354789614677429, + -0.06582170724868774, + -0.08167257159948349, + 0.5394181609153748 + ], + "joints": [ + 9.588338434696198e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09922588616609573, + -0.09290699660778046, + 0.015626516193151474 + ], + "orientation": [ + 0.07826581597328186, + 0.39990323781967163, + -0.9103413820266724, + -0.07232075184583664 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.09511411190032959, + -0.08927217125892639, + 0.016176901757717133 + ], + "orientation": [ + 0.07518088817596436, + 0.40039709210395813, + -0.9107182025909424, + -0.06798872351646423 + ], + "joints": [ + -0.009444138035178185 + ] + }, + "final_grasp": { + "position": [ + 0.09511411190032959, + -0.08927217125892639, + 0.016176901757717133 + ], + "orientation": [ + 0.07518088817596436, + 0.40039709210395813, + -0.9107182025909424, + -0.06798872351646423 + ], + "joints": [ + -0.003598742187023163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11522159725427628, + -0.054907068610191345, + 0.0464322604238987 + ], + "orientation": [ + 0.045631859451532364, + -0.5331575870513916, + -0.8447842001914978, + -0.000546121271327138 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.11236876249313354, + -0.05275671184062958, + 0.044712841510772705 + ], + "orientation": [ + 0.05134719982743263, + -0.5331507325172424, + -0.8443603515625, + 0.013015824370086193 + ], + "joints": [ + -0.007792530115693808 + ] + }, + "final_grasp": { + "position": [ + -0.11236876249313354, + -0.05275671184062958, + 0.044712841510772705 + ], + "orientation": [ + 0.05134719982743263, + -0.5331507325172424, + -0.8443603515625, + 0.013015824370086193 + ], + "joints": [ + -0.0008843345567584038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08738791197538376, + 0.0007480567437596619, + -0.06991925835609436 + ], + "orientation": [ + 0.6119285225868225, + 0.2700439691543579, + 0.35127341747283936, + 0.6551538705825806 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.08420684933662415, + 0.0005228781956247985, + -0.06660429388284683 + ], + "orientation": [ + 0.6121233105659485, + 0.2625856101512909, + 0.34813061356544495, + 0.6596657037734985 + ], + "joints": [ + -0.00941469706594944 + ] + }, + "final_grasp": { + "position": [ + 0.08420684933662415, + 0.0005228781956247985, + -0.06660429388284683 + ], + "orientation": [ + 0.6121233105659485, + 0.2625856101512909, + 0.34813061356544495, + 0.6596657037734985 + ], + "joints": [ + -0.0035693012177944183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09654710441827774, + 0.06992511451244354, + 0.013323984108865261 + ], + "orientation": [ + 0.13512685894966125, + 0.8831354379653931, + -0.44691556692123413, + -0.045595601201057434 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + 0.09518948197364807, + 0.06928575783967972, + 0.012109974399209023 + ], + "orientation": [ + 0.12633201479911804, + 0.8852101564407349, + -0.44574737548828125, + -0.04186231270432472 + ], + "joints": [ + -0.008326800540089607 + ] + }, + "final_grasp": { + "position": [ + 0.09518948197364807, + 0.06928575783967972, + 0.012109974399209023 + ], + "orientation": [ + 0.12633201479911804, + 0.8852101564407349, + -0.44574737548828125, + -0.04186231270432472 + ], + "joints": [ + -0.0019234344363212585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09653385728597641, + 0.06992264837026596, + 0.013314777053892612 + ], + "orientation": [ + 0.13514719903469086, + 0.8831225633621216, + -0.4469132125377655, + -0.04580756276845932 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + 0.09517043083906174, + 0.06928995996713638, + 0.01210105698555708 + ], + "orientation": [ + 0.12642021477222443, + 0.8852229118347168, + -0.44568878412246704, + -0.041950322687625885 + ], + "joints": [ + -0.008326800540089607 + ] + }, + "final_grasp": { + "position": [ + 0.09517043083906174, + 0.06928995996713638, + 0.01210105698555708 + ], + "orientation": [ + 0.12642021477222443, + 0.8852229118347168, + -0.44568878412246704, + -0.041950322687625885 + ], + "joints": [ + -0.0019234344363212585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10372509062290192, + 0.06006813794374466, + -0.010302254930138588 + ], + "orientation": [ + 0.4918699562549591, + -0.0024607358500361443, + 0.07416436821222305, + 0.8675008416175842 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.1050548180937767, + 0.05984838306903839, + -0.01191110908985138 + ], + "orientation": [ + 0.491352379322052, + -0.010491094551980495, + 0.06502391397953033, + 0.868466854095459 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.1050548180937767, + 0.05984838306903839, + -0.01191110908985138 + ], + "orientation": [ + 0.491352379322052, + -0.010491094551980495, + 0.06502391397953033, + 0.868466854095459 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017088904976844788, + 0.1345866173505783, + 0.049240466207265854 + ], + "orientation": [ + 0.018621297553181648, + -0.9972385168075562, + -0.06325534731149673, + 0.03416549786925316 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.016364682465791702, + 0.12883402407169342, + 0.048614948987960815 + ], + "orientation": [ + 0.0343514122068882, + -0.9965591430664062, + -0.06433667987585068, + 0.0393788181245327 + ], + "joints": [ + -0.00840790942311287 + ] + }, + "final_grasp": { + "position": [ + -0.016364682465791702, + 0.12883402407169342, + 0.048614948987960815 + ], + "orientation": [ + 0.0343514122068882, + -0.9965591430664062, + -0.06433667987585068, + 0.0393788181245327 + ], + "joints": [ + -0.0015262849628925323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017028016969561577, + 0.13462314009666443, + 0.04912281781435013 + ], + "orientation": [ + 0.018987299874424934, + -0.9972466826438904, + -0.06301148235797882, + 0.03417854383587837 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.016305476427078247, + 0.12884950637817383, + 0.04849764332175255 + ], + "orientation": [ + 0.0348600298166275, + -0.9965836405754089, + -0.0638575330376625, + 0.03909291699528694 + ], + "joints": [ + -0.00840790942311287 + ] + }, + "final_grasp": { + "position": [ + -0.016305476427078247, + 0.12884950637817383, + 0.04849764332175255 + ], + "orientation": [ + 0.0348600298166275, + -0.9965836405754089, + -0.0638575330376625, + 0.03909291699528694 + ], + "joints": [ + -0.0015262849628925323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06624757498502731, + -0.10759792476892471, + -0.034026388078927994 + ], + "orientation": [ + 0.11562152951955795, + 0.2821212410926819, + 0.9439560174942017, + 0.12643703818321228 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.06339337676763535, + -0.10297928750514984, + -0.03322798013687134 + ], + "orientation": [ + 0.11510951817035675, + 0.2819397449493408, + 0.9449419975280762, + 0.1197676807641983 + ], + "joints": [ + -0.005521276034414768 + ] + }, + "final_grasp": { + "position": [ + -0.06339337676763535, + -0.10297928750514984, + -0.03322798013687134 + ], + "orientation": [ + 0.11510951817035675, + 0.2819397449493408, + 0.9449419975280762, + 0.1197676807641983 + ], + "joints": [ + 0.0018917489796876907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06625515222549438, + -0.1076028123497963, + -0.03387007862329483 + ], + "orientation": [ + 0.11540798842906952, + 0.2820553183555603, + 0.9438837766647339, + 0.12731528282165527 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.06337141245603561, + -0.10299830138683319, + -0.0330004021525383 + ], + "orientation": [ + 0.11474486440420151, + 0.2821437418460846, + 0.9447659850120544, + 0.12101953476667404 + ], + "joints": [ + -0.005521276034414768 + ] + }, + "final_grasp": { + "position": [ + -0.06337141245603561, + -0.10299830138683319, + -0.0330004021525383 + ], + "orientation": [ + 0.11474486440420151, + 0.2821437418460846, + 0.9447659850120544, + 0.12101953476667404 + ], + "joints": [ + 0.0018917489796876907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06626410037279129, + -0.10759569704532623, + -0.03397098928689957 + ], + "orientation": [ + 0.11554460972547531, + 0.2821505665779114, + 0.9439274668693542, + 0.12665489315986633 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.0633886456489563, + -0.10301695764064789, + -0.03312717378139496 + ], + "orientation": [ + 0.11499271541833878, + 0.28224995732307434, + 0.944808304309845, + 0.12020394206047058 + ], + "joints": [ + -0.005521276034414768 + ] + }, + "final_grasp": { + "position": [ + -0.0633886456489563, + -0.10301695764064789, + -0.03312717378139496 + ], + "orientation": [ + 0.11499271541833878, + 0.28224995732307434, + 0.944808304309845, + 0.12020394206047058 + ], + "joints": [ + 0.0018917489796876907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08730898797512054, + 0.000638236349914223, + -0.06989379227161407 + ], + "orientation": [ + 0.6123083233833313, + 0.26961469650268555, + 0.3510631322860718, + 0.6550886034965515 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.08427302539348602, + 0.0004570330784190446, + -0.0666310042142868 + ], + "orientation": [ + 0.612483561038971, + 0.2623941898345947, + 0.3480786681175232, + 0.6594348549842834 + ], + "joints": [ + -0.00941469706594944 + ] + }, + "final_grasp": { + "position": [ + 0.08427302539348602, + 0.0004570330784190446, + -0.0666310042142868 + ], + "orientation": [ + 0.612483561038971, + 0.2623941898345947, + 0.3480786681175232, + 0.6594348549842834 + ], + "joints": [ + -0.0035693012177944183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10362344980239868, + 0.059955354779958725, + -0.010358833707869053 + ], + "orientation": [ + 0.49210217595100403, + -0.00237750425003469, + 0.0741187259554863, + 0.8673731684684753 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.1051819920539856, + 0.05997680872678757, + -0.011649230495095253 + ], + "orientation": [ + 0.49136248230934143, + -0.00898081436753273, + 0.06705320626497269, + 0.868323802947998 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.1051819920539856, + 0.05997680872678757, + -0.011649230495095253 + ], + "orientation": [ + 0.49136248230934143, + -0.00898081436753273, + 0.06705320626497269, + 0.868323802947998 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04916219040751457, + -0.12178824841976166, + 0.0513157844543457 + ], + "orientation": [ + 0.025022339075803757, + 0.1911093145608902, + 0.9811368584632874, + -0.014883473515510559 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.04723609983921051, + -0.11677144467830658, + 0.049957673996686935 + ], + "orientation": [ + 0.02505253069102764, + 0.1906774938106537, + 0.9810358285903931, + -0.02415100298821926 + ], + "joints": [ + -0.007879380136728287 + ] + }, + "final_grasp": { + "position": [ + -0.04723609983921051, + -0.11677144467830658, + 0.049957673996686935 + ], + "orientation": [ + 0.02505253069102764, + 0.1906774938106537, + 0.9810358285903931, + -0.02415100298821926 + ], + "joints": [ + -0.0004397854208946228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09159133583307266, + 0.07018435746431351, + -0.046384867280721664 + ], + "orientation": [ + 0.454248309135437, + 0.17787152528762817, + -0.1526148021221161, + -0.8594934940338135 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.08794659376144409, + 0.06732698529958725, + -0.04520795866847038 + ], + "orientation": [ + 0.4581200182437897, + 0.169118732213974, + -0.14307594299316406, + -0.8608450293540955 + ], + "joints": [ + -0.005019317381083965 + ] + }, + "final_grasp": { + "position": [ + -0.08794659376144409, + 0.06732698529958725, + -0.04520795866847038 + ], + "orientation": [ + 0.4581200182437897, + 0.169118732213974, + -0.14307594299316406, + -0.8608450293540955 + ], + "joints": [ + 0.002925107255578041 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0629408061504364, + 0.11964965611696243, + 0.044472455978393555 + ], + "orientation": [ + 0.2400103658437729, + 0.00996706634759903, + -0.043253447860479355, + -0.9697551131248474 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.060193683952093124, + 0.11449868232011795, + 0.04474503919482231 + ], + "orientation": [ + 0.24006688594818115, + 0.005583854857832193, + -0.025039678439497948, + -0.9704172611236572 + ], + "joints": [ + -0.009054123423993587 + ] + }, + "final_grasp": { + "position": [ + -0.060193683952093124, + 0.11449868232011795, + 0.04474503919482231 + ], + "orientation": [ + 0.24006688594818115, + 0.005583854857832193, + -0.025039678439497948, + -0.9704172611236572 + ], + "joints": [ + -0.0016410965472459793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09703855216503143, + 0.005197842605412006, + -0.05712629854679108 + ], + "orientation": [ + 0.2761964201927185, + 0.7180051207542419, + -0.6264224648475647, + -0.1256151646375656 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09750817716121674, + 0.005125276278704405, + -0.05780741199851036 + ], + "orientation": [ + 0.27649787068367004, + 0.7195082306861877, + -0.6242202520370483, + -0.12730279564857483 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.09750817716121674, + 0.005125276278704405, + -0.05780741199851036 + ], + "orientation": [ + 0.27649787068367004, + 0.7195082306861877, + -0.6242202520370483, + -0.12730279564857483 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060098350048065186, + 0.10707197338342667, + 0.04618247598409653 + ], + "orientation": [ + 0.2540763020515442, + 0.006253906991332769, + -0.05082614719867706, + -0.9658275246620178 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.0603434294462204, + 0.105387382209301, + 0.04445197433233261 + ], + "orientation": [ + 0.25887027382850647, + 0.0037985164672136307, + -0.0383676216006279, + -0.9651423096656799 + ], + "joints": [ + -0.008353371173143387 + ] + }, + "final_grasp": { + "position": [ + -0.0603434294462204, + 0.105387382209301, + 0.04445197433233261 + ], + "orientation": [ + 0.25887027382850647, + 0.0037985164672136307, + -0.0383676216006279, + -0.9651423096656799 + ], + "joints": [ + -0.0019765757024288177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06010826304554939, + 0.10705463588237762, + 0.046166419982910156 + ], + "orientation": [ + 0.25414493680000305, + 0.006289342418313026, + -0.05089331790804863, + -0.9658056497573853 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.06035425513982773, + 0.105380579829216, + 0.044435061514377594 + ], + "orientation": [ + 0.2589223086833954, + 0.003842580132186413, + -0.038427792489528656, + -0.9651256799697876 + ], + "joints": [ + -0.008353371173143387 + ] + }, + "final_grasp": { + "position": [ + -0.06035425513982773, + 0.105380579829216, + 0.044435061514377594 + ], + "orientation": [ + 0.2589223086833954, + 0.003842580132186413, + -0.038427792489528656, + -0.9651256799697876 + ], + "joints": [ + -0.0019765757024288177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060123100876808167, + 0.10707421600818634, + 0.0461304672062397 + ], + "orientation": [ + 0.2541717290878296, + 0.006333429832011461, + -0.05070636421442032, + -0.9658082127571106 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.06039067730307579, + 0.10538288950920105, + 0.044414520263671875 + ], + "orientation": [ + 0.2590034008026123, + 0.0037848984356969595, + -0.03826889395713806, + -0.9651105403900146 + ], + "joints": [ + -0.008353371173143387 + ] + }, + "final_grasp": { + "position": [ + -0.06039067730307579, + 0.10538288950920105, + 0.044414520263671875 + ], + "orientation": [ + 0.2590034008026123, + 0.0037848984356969595, + -0.03826889395713806, + -0.9651105403900146 + ], + "joints": [ + -0.0019765757024288177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008760304190218449, + -0.1316593587398529, + 0.047435615211725235 + ], + "orientation": [ + 0.9990857839584351, + 0.025359006598591805, + 0.013203760609030724, + -0.031780995428562164 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.008621043525636196, + -0.1262473464012146, + 0.04633919522166252 + ], + "orientation": [ + 0.999262273311615, + 0.014880349859595299, + 0.014439762569963932, + -0.032326675951480865 + ], + "joints": [ + -0.008465318009257317 + ] + }, + "final_grasp": { + "position": [ + -0.008621043525636196, + -0.1262473464012146, + 0.04633919522166252 + ], + "orientation": [ + 0.999262273311615, + 0.014880349859595299, + 0.014439762569963932, + -0.032326675951480865 + ], + "joints": [ + -0.0010522939264774323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024166923016309738, + -0.13292044401168823, + 0.014763526618480682 + ], + "orientation": [ + 0.9935311675071716, + -0.01712905988097191, + 0.06553612649440765, + 0.09114515781402588 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.023235566914081573, + -0.12753665447235107, + 0.013703388161957264 + ], + "orientation": [ + 0.9935308694839478, + -0.02402147836983204, + 0.06459808349609375, + 0.09025780111551285 + ], + "joints": [ + -0.007146313786506653 + ] + }, + "final_grasp": { + "position": [ + 0.023235566914081573, + -0.12753665447235107, + 0.013703388161957264 + ], + "orientation": [ + 0.9935308694839478, + -0.02402147836983204, + 0.06459808349609375, + 0.09025780111551285 + ], + "joints": [ + -0.0007695183157920837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0636737048625946, + 0.06484070420265198, + -0.0814138874411583 + ], + "orientation": [ + 0.36858925223350525, + 0.8684890866279602, + 0.3217821717262268, + 0.07952897250652313 + ], + "joints": [ + -0.012404374778270721 + ] + }, + "fine_grasp": { + "position": [ + -0.061166975647211075, + 0.06188178434967995, + -0.07719612121582031 + ], + "orientation": [ + 0.36982136964797974, + 0.8681961894035339, + 0.32163289189338684, + 0.07758849114179611 + ], + "joints": [ + -0.006054149009287357 + ] + }, + "final_grasp": { + "position": [ + -0.061166975647211075, + 0.06188178434967995, + -0.07719612121582031 + ], + "orientation": [ + 0.36982136964797974, + 0.8681961894035339, + 0.32163289189338684, + 0.07758849114179611 + ], + "joints": [ + 0.0002960767596960068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06358996778726578, + 0.06483374536037445, + -0.08134301751852036 + ], + "orientation": [ + 0.36777418851852417, + 0.8688129782676697, + 0.3218288719654083, + 0.07957662642002106 + ], + "joints": [ + -0.012404374778270721 + ] + }, + "fine_grasp": { + "position": [ + -0.06113513559103012, + 0.06189556419849396, + -0.07708906382322311 + ], + "orientation": [ + 0.36958572268486023, + 0.8682911992073059, + 0.321626752614975, + 0.07767301797866821 + ], + "joints": [ + -0.006054149009287357 + ] + }, + "final_grasp": { + "position": [ + -0.06113513559103012, + 0.06189556419849396, + -0.07708906382322311 + ], + "orientation": [ + 0.36958572268486023, + 0.8682911992073059, + 0.321626752614975, + 0.07767301797866821 + ], + "joints": [ + 0.0002960767596960068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07204919308423996, + -0.07549409568309784, + -0.046886954456567764 + ], + "orientation": [ + 0.1720748245716095, + 0.3871249556541443, + -0.8857900500297546, + -0.1894741654396057 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07273934781551361, + -0.07543278485536575, + -0.047836314886808395 + ], + "orientation": [ + 0.16752594709396362, + 0.3908146321773529, + -0.8843185901641846, + -0.19282032549381256 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.07273934781551361, + -0.07543278485536575, + -0.047836314886808395 + ], + "orientation": [ + 0.16752594709396362, + 0.3908146321773529, + -0.8843185901641846, + -0.19282032549381256 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024148620665073395, + -0.132906973361969, + 0.01491282507777214 + ], + "orientation": [ + 0.9935362339019775, + -0.0168403722345829, + 0.06558893620967865, + 0.09110602736473083 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.02321362867951393, + -0.12751105427742004, + 0.013879249803721905 + ], + "orientation": [ + 0.9935511946678162, + -0.023391403257846832, + 0.0645095556974411, + 0.0902625098824501 + ], + "joints": [ + -0.007146313786506653 + ] + }, + "final_grasp": { + "position": [ + 0.02321362867951393, + -0.12751105427742004, + 0.013879249803721905 + ], + "orientation": [ + 0.9935511946678162, + -0.023391403257846832, + 0.0645095556974411, + 0.0902625098824501 + ], + "joints": [ + -0.0007695183157920837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08031366020441055, + -0.10459401458501816, + 0.06694204360246658 + ], + "orientation": [ + 0.007268428336828947, + -0.32173019647598267, + -0.9468005299568176, + -0.0023559476248919964 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.07705431431531906, + -0.10030167549848557, + 0.06561969220638275 + ], + "orientation": [ + 0.010613871738314629, + -0.32099029421806335, + -0.9469910264015198, + 0.007783522829413414 + ], + "joints": [ + -0.009054123423993587 + ] + }, + "final_grasp": { + "position": [ + -0.07705431431531906, + -0.10030167549848557, + 0.06561969220638275 + ], + "orientation": [ + 0.010613871738314629, + -0.32099029421806335, + -0.9469910264015198, + 0.007783522829413414 + ], + "joints": [ + -0.0016410965472459793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08029094338417053, + -0.10454901307821274, + 0.06691630929708481 + ], + "orientation": [ + 0.00765815656632185, + -0.32174795866012573, + -0.9467911124229431, + -0.0024660632479935884 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.07704006135463715, + -0.1002664640545845, + 0.06558247655630112 + ], + "orientation": [ + 0.011052126064896584, + -0.3209909498691559, + -0.9469853639602661, + 0.007826306857168674 + ], + "joints": [ + -0.009054123423993587 + ] + }, + "final_grasp": { + "position": [ + -0.07704006135463715, + -0.1002664640545845, + 0.06558247655630112 + ], + "orientation": [ + 0.011052126064896584, + -0.3209909498691559, + -0.9469853639602661, + 0.007826306857168674 + ], + "joints": [ + -0.0016410965472459793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11809023469686508, + -0.0062817158177495, + -0.0003561053890734911 + ], + "orientation": [ + 0.7275013327598572, + 0.10453187674283981, + -0.02952154539525509, + -0.6774535775184631 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12197580188512802, + -0.006985216401517391, + -0.0011082022683694959 + ], + "orientation": [ + 0.7271934747695923, + 0.10201366990804672, + -0.028663694858551025, + -0.6782044172286987 + ], + "joints": [ + -0.0070889052003622055 + ] + }, + "final_grasp": { + "position": [ + -0.12197580188512802, + -0.006985216401517391, + -0.0011082022683694959 + ], + "orientation": [ + 0.7271934747695923, + 0.10201366990804672, + -0.028663694858551025, + -0.6782044172286987 + ], + "joints": [ + -0.0012435093522071838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11809077113866806, + -0.006291797850281, + -0.0002932936477009207 + ], + "orientation": [ + 0.7274928689002991, + 0.10454501956701279, + -0.029726507142186165, + -0.6774516701698303 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.12192850559949875, + -0.007046390324831009, + -0.001082225819118321 + ], + "orientation": [ + 0.7273510694503784, + 0.10160566121339798, + -0.029148152098059654, + -0.6780760884284973 + ], + "joints": [ + -0.0070889052003622055 + ] + }, + "final_grasp": { + "position": [ + -0.12192850559949875, + -0.007046390324831009, + -0.001082225819118321 + ], + "orientation": [ + 0.7273510694503784, + 0.10160566121339798, + -0.029148152098059654, + -0.6780760884284973 + ], + "joints": [ + -0.0012435093522071838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10218417644500732, + 0.0931711420416832, + 0.08374573290348053 + ], + "orientation": [ + 0.40247178077697754, + 0.010895123705267906, + -0.05305217579007149, + 0.9138289093971252 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.09783672541379929, + 0.08940965682268143, + 0.08285381644964218 + ], + "orientation": [ + 0.4009156823158264, + 0.00879700854420662, + -0.06919882446527481, + 0.9134554862976074 + ], + "joints": [ + -0.010705729015171528 + ] + }, + "final_grasp": { + "position": [ + 0.09783672541379929, + 0.08940965682268143, + 0.08285381644964218 + ], + "orientation": [ + 0.4009156823158264, + 0.00879700854420662, + -0.06919882446527481, + 0.9134554862976074 + ], + "joints": [ + -0.004355499520897865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05126503109931946, + 0.12590917944908142, + -0.02052425779402256 + ], + "orientation": [ + 0.13982853293418884, + 0.972153902053833, + 0.17824684083461761, + -0.059941522777080536 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.04927752912044525, + 0.12045470625162125, + -0.019462499767541885 + ], + "orientation": [ + 0.12351299077272415, + 0.973929762840271, + 0.18042680621147156, + -0.060428667813539505 + ], + "joints": [ + -0.007230292074382305 + ] + }, + "final_grasp": { + "position": [ + -0.04927752912044525, + 0.12045470625162125, + -0.019462499767541885 + ], + "orientation": [ + 0.12351299077272415, + 0.973929762840271, + 0.18042680621147156, + -0.060428667813539505 + ], + "joints": [ + -0.0003486666828393936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05933529511094093, + 0.07959156483411789, + -0.07393799722194672 + ], + "orientation": [ + 0.332791268825531, + 0.19790439307689667, + -0.29431912302970886, + -0.8737620711326599 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.05650720000267029, + 0.07615979015827179, + -0.07020256668329239 + ], + "orientation": [ + 0.3357974886894226, + 0.19640523195266724, + -0.2893918454647064, + -0.8745956420898438 + ], + "joints": [ + -0.006670924834907055 + ] + }, + "final_grasp": { + "position": [ + -0.05650720000267029, + 0.07615979015827179, + -0.07020256668329239 + ], + "orientation": [ + 0.3357974886894226, + 0.19640523195266724, + -0.2893918454647064, + -0.8745956420898438 + ], + "joints": [ + 0.00021070055663585663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05931191146373749, + 0.07954532653093338, + -0.07390153408050537 + ], + "orientation": [ + 0.33295100927352905, + 0.19819028675556183, + -0.2942763566970825, + -0.8736507296562195 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.056484419852495193, + 0.07611721009016037, + -0.0701657235622406 + ], + "orientation": [ + 0.335954487323761, + 0.1967061311006546, + -0.28939446806907654, + -0.8744668364524841 + ], + "joints": [ + -0.006670924834907055 + ] + }, + "final_grasp": { + "position": [ + -0.056484419852495193, + 0.07611721009016037, + -0.0701657235622406 + ], + "orientation": [ + 0.335954487323761, + 0.1967061311006546, + -0.28939446806907654, + -0.8744668364524841 + ], + "joints": [ + 0.00021070055663585663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10186640173196793, + -0.07296888530254364, + 0.009559431113302708 + ], + "orientation": [ + 0.08709569275379181, + -0.45194149017333984, + 0.8867130875587463, + 0.043625883758068085 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.10525581985712051, + -0.0753343254327774, + 0.009366581216454506 + ], + "orientation": [ + 0.08379724621772766, + -0.45389607548713684, + 0.8860822916030884, + 0.042598869651556015 + ], + "joints": [ + -0.006417516618967056 + ] + }, + "final_grasp": { + "position": [ + 0.10525581985712051, + -0.0753343254327774, + 0.009366581216454506 + ], + "orientation": [ + 0.08379724621772766, + -0.45389607548713684, + 0.8860822916030884, + 0.042598869651556015 + ], + "joints": [ + -0.0005189813673496246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059417229145765305, + 0.079622283577919, + -0.07392129302024841 + ], + "orientation": [ + 0.3331235647201538, + 0.1984487920999527, + -0.29413676261901855, + -0.8735733032226562 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.0565255731344223, + 0.07624547183513641, + -0.0701814666390419 + ], + "orientation": [ + 0.3362235724925995, + 0.197464257478714, + -0.2903919219970703, + -0.87386155128479 + ], + "joints": [ + -0.006670924834907055 + ] + }, + "final_grasp": { + "position": [ + -0.0565255731344223, + 0.07624547183513641, + -0.0701814666390419 + ], + "orientation": [ + 0.3362235724925995, + 0.197464257478714, + -0.2903919219970703, + -0.87386155128479 + ], + "joints": [ + 0.00021070055663585663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051246143877506256, + 0.12598086893558502, + -0.020432807505130768 + ], + "orientation": [ + 0.14079362154006958, + 0.9720669984817505, + 0.17798270285129547, + -0.059875667095184326 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.04924178496003151, + 0.12056634575128555, + -0.01941640116274357 + ], + "orientation": [ + 0.12531396746635437, + 0.9738361239433289, + 0.17990539968013763, + -0.05977934971451759 + ], + "joints": [ + -0.007735121995210648 + ] + }, + "final_grasp": { + "position": [ + -0.04924178496003151, + 0.12056634575128555, + -0.01941640116274357 + ], + "orientation": [ + 0.12531396746635437, + 0.9738361239433289, + 0.17990539968013763, + -0.05977934971451759 + ], + "joints": [ + -0.0013583265244960785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09022730588912964, + -0.09045929461717606, + 0.09943739324808121 + ], + "orientation": [ + 0.9212848544120789, + -0.08354588598012924, + 0.024663018062710762, + -0.379006564617157 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.08767859637737274, + -0.0868396908044815, + 0.09695839136838913 + ], + "orientation": [ + 0.9187339544296265, + -0.10190015286207199, + 0.02706819400191307, + -0.38054123520851135 + ], + "joints": [ + -0.009616359136998653 + ] + }, + "final_grasp": { + "position": [ + -0.08767859637737274, + -0.0868396908044815, + 0.09695839136838913 + ], + "orientation": [ + 0.9187339544296265, + -0.10190015286207199, + 0.02706819400191307, + -0.38054123520851135 + ], + "joints": [ + -0.0021767597645521164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04805736243724823, + -0.12161658704280853, + 0.04526934772729874 + ], + "orientation": [ + 0.9794637560844421, + 0.0781988650560379, + -0.011392854154109955, + -0.1854885220527649 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.04622387886047363, + -0.11646782606840134, + 0.044847965240478516 + ], + "orientation": [ + 0.9800658226013184, + 0.06920618563890457, + -0.009654350578784943, + -0.18597933650016785 + ], + "joints": [ + -0.009083564393222332 + ] + }, + "final_grasp": { + "position": [ + -0.04622387886047363, + -0.11646782606840134, + 0.044847965240478516 + ], + "orientation": [ + 0.9800658226013184, + 0.06920618563890457, + -0.009654350578784943, + -0.18597933650016785 + ], + "joints": [ + -0.0016705375164747238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00407778425142169, + -0.023907849565148354, + -0.10707660019397736 + ], + "orientation": [ + 0.2889113426208496, + 0.2932705879211426, + -0.7385715842247009, + -0.5338863134384155 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.004032921511679888, + -0.025615286082029343, + -0.10792180895805359 + ], + "orientation": [ + 0.2918364405632019, + 0.29229536652565, + -0.7383785247802734, + -0.5330967307090759 + ], + "joints": [ + -0.005350448191165924 + ] + }, + "final_grasp": { + "position": [ + 0.004032921511679888, + -0.025615286082029343, + -0.10792180895805359 + ], + "orientation": [ + 0.2918364405632019, + 0.29229536652565, + -0.7383785247802734, + -0.5330967307090759 + ], + "joints": [ + 0.001026347279548645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09019504487514496, + -0.0903962254524231, + 0.09941388666629791 + ], + "orientation": [ + 0.9212542772293091, + -0.0835723951458931, + 0.0246568750590086, + -0.3790755271911621 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.08761239051818848, + -0.08678983151912689, + 0.0969291552901268 + ], + "orientation": [ + 0.9187593460083008, + -0.10210743546485901, + 0.027071600779891014, + -0.3804241716861725 + ], + "joints": [ + -0.009616359136998653 + ] + }, + "final_grasp": { + "position": [ + -0.08761239051818848, + -0.08678983151912689, + 0.0969291552901268 + ], + "orientation": [ + 0.9187593460083008, + -0.10210743546485901, + 0.027071600779891014, + -0.3804241716861725 + ], + "joints": [ + -0.0021767597645521164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09022890031337738, + -0.09048100560903549, + 0.09944400191307068 + ], + "orientation": [ + 0.921295166015625, + -0.08365849405527115, + 0.02471301332116127, + -0.37895339727401733 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.08765551447868347, + -0.08687272667884827, + 0.09699061512947083 + ], + "orientation": [ + 0.9187845587730408, + -0.10199874639511108, + 0.027086390182375908, + -0.380391389131546 + ], + "joints": [ + -0.009642929770052433 + ] + }, + "final_grasp": { + "position": [ + -0.08765551447868347, + -0.08687272667884827, + 0.09699061512947083 + ], + "orientation": [ + 0.9187845587730408, + -0.10199874639511108, + 0.027086390182375908, + -0.380391389131546 + ], + "joints": [ + -0.0022299010306596756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014415818266570568, + -0.002698231255635619, + -0.11355368047952652 + ], + "orientation": [ + 0.64888596534729, + 0.6907064914703369, + 0.20629455149173737, + 0.24354472756385803 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.01473791804164648, + -0.0018772251205518842, + -0.10923068970441818 + ], + "orientation": [ + 0.6498417258262634, + 0.6886232495307922, + 0.2053280472755432, + 0.24767731130123138 + ], + "joints": [ + -0.005883321166038513 + ] + }, + "final_grasp": { + "position": [ + 0.01473791804164648, + -0.0018772251205518842, + -0.10923068970441818 + ], + "orientation": [ + 0.6498417258262634, + 0.6886232495307922, + 0.2053280472755432, + 0.24767731130123138 + ], + "joints": [ + -0.0005693249404430389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1297471672296524, + 0.01613052748143673, + 0.029293229803442955 + ], + "orientation": [ + 0.6544702649116516, + 0.08591839671134949, + -0.11192569136619568, + -0.7428050637245178 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.1239951103925705, + 0.015401436947286129, + 0.030027972534298897 + ], + "orientation": [ + 0.655906617641449, + 0.07699328660964966, + -0.10336843132972717, + -0.7437564730644226 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + -0.1239951103925705, + 0.015401436947286129, + 0.030027972534298897 + ], + "orientation": [ + 0.655906617641449, + 0.07699328660964966, + -0.10336843132972717, + -0.7437564730644226 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1297319531440735, + 0.01613672636449337, + 0.02934987284243107 + ], + "orientation": [ + 0.6544241905212402, + 0.08636253327131271, + -0.1121547594666481, + -0.7427595853805542 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.12396783381700516, + 0.015407280996441841, + 0.030099280178546906 + ], + "orientation": [ + 0.6558769345283508, + 0.07734450697898865, + -0.10344131290912628, + -0.7437359094619751 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + -0.12396783381700516, + 0.015407280996441841, + 0.030099280178546906 + ], + "orientation": [ + 0.6558769345283508, + 0.07734450697898865, + -0.10344131290912628, + -0.7437359094619751 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12964482605457306, + 0.01610604114830494, + 0.029413696378469467 + ], + "orientation": [ + 0.6544727683067322, + 0.08611653745174408, + -0.11215627193450928, + -0.7427451014518738 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.12389642745256424, + 0.015374002046883106, + 0.030152084305882454 + ], + "orientation": [ + 0.6559134125709534, + 0.07714778184890747, + -0.10362353175878525, + -0.7436988949775696 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + -0.12389642745256424, + 0.015374002046883106, + 0.030152084305882454 + ], + "orientation": [ + 0.6559134125709534, + 0.07714778184890747, + -0.10362353175878525, + -0.7436988949775696 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10750261694192886, + -0.07532230019569397, + 0.08742456883192062 + ], + "orientation": [ + 0.8856843709945679, + -0.046923134475946426, + -0.016708679497241974, + 0.4616081714630127 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.10338042676448822, + -0.07242108136415482, + 0.08556769043207169 + ], + "orientation": [ + 0.8850641846656799, + -0.05966579169034958, + -0.022029301151633263, + 0.46110308170318604 + ], + "joints": [ + -0.009642929770052433 + ] + }, + "final_grasp": { + "position": [ + 0.10338042676448822, + -0.07242108136415482, + 0.08556769043207169 + ], + "orientation": [ + 0.8850641846656799, + -0.05966579169034958, + -0.022029301151633263, + 0.46110308170318604 + ], + "joints": [ + -0.0022299010306596756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.107509545981884, + -0.0753072202205658, + 0.08744607865810394 + ], + "orientation": [ + 0.8856630325317383, + -0.046737298369407654, + -0.01658734306693077, + 0.4616723656654358 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.1033901497721672, + -0.07240918278694153, + 0.0855911374092102 + ], + "orientation": [ + 0.8850477933883667, + -0.05938854068517685, + -0.021890360862016678, + 0.46117696166038513 + ], + "joints": [ + -0.009642929770052433 + ] + }, + "final_grasp": { + "position": [ + 0.1033901497721672, + -0.07240918278694153, + 0.0855911374092102 + ], + "orientation": [ + 0.8850477933883667, + -0.05938854068517685, + -0.021890360862016678, + 0.46117696166038513 + ], + "joints": [ + -0.0022299010306596756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12717311084270477, + 0.04462102800607681, + 0.0887310653924942 + ], + "orientation": [ + 0.5767531394958496, + -0.046153388917446136, + -0.052147746086120605, + 0.813944935798645 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.1218118891119957, + 0.04277752339839935, + 0.08708647638559341 + ], + "orientation": [ + 0.5763930678367615, + -0.05548467859625816, + -0.0646749883890152, + 0.8127174377441406 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + 0.1218118891119957, + 0.04277752339839935, + 0.08708647638559341 + ], + "orientation": [ + 0.5763930678367615, + -0.05548467859625816, + -0.0646749883890152, + 0.8127174377441406 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12716476619243622, + 0.044615745544433594, + 0.0887974351644516 + ], + "orientation": [ + 0.576776921749115, + -0.04612677916884422, + -0.05176321789622307, + 0.8139539957046509 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.12180399149656296, + 0.042772240936756134, + 0.08715211600065231 + ], + "orientation": [ + 0.576427161693573, + -0.05542721971869469, + -0.06425251066684723, + 0.8127307295799255 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + 0.12180399149656296, + 0.042772240936756134, + 0.08715211600065231 + ], + "orientation": [ + 0.576427161693573, + -0.05542721971869469, + -0.06425251066684723, + 0.8127307295799255 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12702146172523499, + 0.04459149390459061, + 0.08898814022541046 + ], + "orientation": [ + 0.5767497420310974, + -0.045544955879449844, + -0.050633564591407776, + 0.8140771389007568 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.12169705331325531, + 0.04275927320122719, + 0.0873575210571289 + ], + "orientation": [ + 0.5764179229736328, + -0.054787155240774155, + -0.06310368329286575, + 0.8128706216812134 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + 0.12169705331325531, + 0.04275927320122719, + 0.0873575210571289 + ], + "orientation": [ + 0.5764179229736328, + -0.054787155240774155, + -0.06310368329286575, + 0.8128706216812134 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09066559374332428, + -0.08291173726320267, + -0.009797284379601479 + ], + "orientation": [ + 0.11814607679843903, + 0.41035208106040955, + -0.9028906226158142, + -0.0494084395468235 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.08764263242483139, + -0.08030036836862564, + -0.010467680171132088 + ], + "orientation": [ + 0.11563830077648163, + 0.41537711024284363, + -0.9010603427886963, + -0.04668814688920975 + ], + "joints": [ + -0.006586946547031403 + ] + }, + "final_grasp": { + "position": [ + 0.08764263242483139, + -0.08030036836862564, + -0.010467680171132088 + ], + "orientation": [ + 0.11563830077648163, + 0.41537711024284363, + -0.9010603427886963, + -0.04668814688920975 + ], + "joints": [ + -0.0002101510763168335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11709204316139221, + -0.061491139233112335, + 0.07828015834093094 + ], + "orientation": [ + 0.01460999809205532, + 0.5166008472442627, + 0.8550376892089844, + -0.042671557515859604 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.11243080347776413, + -0.058794714510440826, + 0.07663615047931671 + ], + "orientation": [ + 0.011653607711195946, + 0.5163000226020813, + 0.854668378829956, + -0.0532965250313282 + ], + "joints": [ + -0.0095883933827281 + ] + }, + "final_grasp": { + "position": [ + -0.11243080347776413, + -0.058794714510440826, + 0.07663615047931671 + ], + "orientation": [ + 0.011653607711195946, + 0.5163000226020813, + 0.854668378829956, + -0.0532965250313282 + ], + "joints": [ + -0.0026801954954862595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11704445630311966, + -0.06148352101445198, + 0.07831215113401413 + ], + "orientation": [ + 0.014663503505289555, + 0.5165615677833557, + 0.8550674319267273, + -0.042532697319984436 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + -0.11238901317119598, + -0.05878928676247597, + 0.07666736096143723 + ], + "orientation": [ + 0.011696051806211472, + 0.5162723064422607, + 0.8546940684318542, + -0.05314357578754425 + ], + "joints": [ + -0.0095883933827281 + ] + }, + "final_grasp": { + "position": [ + -0.11238901317119598, + -0.05878928676247597, + 0.07666736096143723 + ], + "orientation": [ + 0.011696051806211472, + 0.5162723064422607, + 0.8546940684318542, + -0.05314357578754425 + ], + "joints": [ + -0.0026801954954862595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014369629323482513, + -0.002852471312507987, + -0.11348642408847809 + ], + "orientation": [ + 0.649417519569397, + 0.690714418888092, + 0.20567896962165833, + 0.2426244616508484 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.014589748345315456, + -0.0017898925580084324, + -0.10939792543649673 + ], + "orientation": [ + 0.6510292291641235, + 0.6882675886154175, + 0.2039729356765747, + 0.2466651052236557 + ], + "joints": [ + -0.006388151086866856 + ] + }, + "final_grasp": { + "position": [ + 0.014589748345315456, + -0.0017898925580084324, + -0.10939792543649673 + ], + "orientation": [ + 0.6510292291641235, + 0.6882675886154175, + 0.2039729356765747, + 0.2466651052236557 + ], + "joints": [ + -0.0015789847820997238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09057312458753586, + -0.08284848928451538, + -0.009761538356542587 + ], + "orientation": [ + 0.11837838590145111, + 0.41031885147094727, + -0.902863085269928, + -0.049632009118795395 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.08759055286645889, + -0.08027789741754532, + -0.010484373196959496 + ], + "orientation": [ + 0.1163947656750679, + 0.41544201970100403, + -0.9009318947792053, + -0.04671042785048485 + ], + "joints": [ + -0.006586946547031403 + ] + }, + "final_grasp": { + "position": [ + 0.08759055286645889, + -0.08027789741754532, + -0.010484373196959496 + ], + "orientation": [ + 0.1163947656750679, + 0.41544201970100403, + -0.9009318947792053, + -0.04671042785048485 + ], + "joints": [ + -0.0002101510763168335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03627873212099075, + -0.12871649861335754, + 0.08524129539728165 + ], + "orientation": [ + 0.988696277141571, + -0.05543629452586174, + 0.028322428464889526, + 0.13639773428440094 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.0349433608353138, + -0.12360036373138428, + 0.08344058692455292 + ], + "orientation": [ + 0.9881240725517273, + -0.0660095363855362, + 0.029626328498125076, + 0.13555684685707092 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + 0.0349433608353138, + -0.12360036373138428, + 0.08344058692455292 + ], + "orientation": [ + 0.9881240725517273, + -0.0660095363855362, + 0.029626328498125076, + 0.13555684685707092 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03627726808190346, + -0.12876933813095093, + 0.08520694077014923 + ], + "orientation": [ + 0.9886971712112427, + -0.055543653666973114, + 0.028391001746058464, + 0.13633301854133606 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.03494711220264435, + -0.12363439053297043, + 0.08340130001306534 + ], + "orientation": [ + 0.9881059527397156, + -0.06638479232788086, + 0.029694311320781708, + 0.13549146056175232 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + 0.03494711220264435, + -0.12363439053297043, + 0.08340130001306534 + ], + "orientation": [ + 0.9881059527397156, + -0.06638479232788086, + 0.029694311320781708, + 0.13549146056175232 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0566975474357605, + 0.10577556490898132, + 0.001226644730195403 + ], + "orientation": [ + 0.049309298396110535, + 0.96872878074646, + -0.23629455268383026, + 0.057429369539022446 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.056114207953214645, + 0.10491526871919632, + 0.000502099166624248 + ], + "orientation": [ + 0.048911202698946, + 0.9702723622322083, + -0.23023252189159393, + 0.056321606040000916 + ], + "joints": [ + -0.0059407297521829605 + ] + }, + "final_grasp": { + "position": [ + 0.056114207953214645, + 0.10491526871919632, + 0.000502099166624248 + ], + "orientation": [ + 0.048911202698946, + 0.9702723622322083, + -0.23023252189159393, + 0.056321606040000916 + ], + "joints": [ + -9.533390402793884e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13280360400676727, + -0.014989829622209072, + 0.07508841156959534 + ], + "orientation": [ + 0.015671852976083755, + -0.6659542322158813, + 0.7457551956176758, + -0.010420258156955242 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + 0.12722602486610413, + -0.01428236160427332, + 0.07373316586017609 + ], + "orientation": [ + 0.02423967607319355, + -0.666480541229248, + 0.7448774576187134, + -0.019327612593770027 + ], + "joints": [ + -0.00961496401578188 + ] + }, + "final_grasp": { + "position": [ + 0.12722602486610413, + -0.01428236160427332, + 0.07373316586017609 + ], + "orientation": [ + 0.02423967607319355, + -0.666480541229248, + 0.7448774576187134, + -0.019327612593770027 + ], + "joints": [ + -0.0027333367615938187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10229040682315826, + 0.06875335425138474, + 0.008591819554567337 + ], + "orientation": [ + 0.47459131479263306, + 0.06844451278448105, + -0.00611126609146595, + -0.8775197863578796 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.10486790537834167, + 0.07013866305351257, + 0.00813696812838316 + ], + "orientation": [ + 0.4742244482040405, + 0.06366583704948425, + -0.002385613974183798, + -0.878095805644989 + ], + "joints": [ + -0.006586946547031403 + ] + }, + "final_grasp": { + "position": [ + -0.10486790537834167, + 0.07013866305351257, + 0.00813696812838316 + ], + "orientation": [ + 0.4742244482040405, + 0.06366583704948425, + -0.002385613974183798, + -0.878095805644989 + ], + "joints": [ + -0.0002101510763168335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03625769168138504, + -0.12876838445663452, + 0.08521418273448944 + ], + "orientation": [ + 0.9887111186981201, + -0.055476389825344086, + 0.028350619599223137, + 0.13626837730407715 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.03492847830057144, + -0.12363435328006744, + 0.08340880274772644 + ], + "orientation": [ + 0.9881192445755005, + -0.0663328617811203, + 0.0296523068100214, + 0.1354289948940277 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + 0.03492847830057144, + -0.12363435328006744, + 0.08340880274772644 + ], + "orientation": [ + 0.9881192445755005, + -0.0663328617811203, + 0.0296523068100214, + 0.1354289948940277 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08138708770275116, + -0.06434053182601929, + -0.047518208622932434 + ], + "orientation": [ + 0.8453000783920288, + 0.16331052780151367, + 0.21927376091480255, + 0.4590386152267456 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.08221202343702316, + -0.06500783562660217, + -0.048191968351602554 + ], + "orientation": [ + 0.8444458246231079, + 0.16500036418437958, + 0.21786993741989136, + 0.4606722593307495 + ], + "joints": [ + -0.005465265363454819 + ] + }, + "final_grasp": { + "position": [ + 0.08221202343702316, + -0.06500783562660217, + -0.048191968351602554 + ], + "orientation": [ + 0.8444458246231079, + 0.16500036418437958, + 0.21786993741989136, + 0.4606722593307495 + ], + "joints": [ + 0.001974329352378845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12881095707416534, + 0.04798396676778793, + 0.041142672300338745 + ], + "orientation": [ + 0.5725529193878174, + 0.10189457982778549, + 0.040921472012996674, + 0.8124813437461853 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.12340632826089859, + 0.04599851369857788, + 0.042327381670475006 + ], + "orientation": [ + 0.5722878575325012, + 0.09957357496023178, + 0.04606599360704422, + 0.8126806020736694 + ], + "joints": [ + -0.011181117035448551 + ] + }, + "final_grasp": { + "position": [ + 0.12340632826089859, + 0.04599851369857788, + 0.042327381670475006 + ], + "orientation": [ + 0.5722878575325012, + 0.09957357496023178, + 0.04606599360704422, + 0.8126806020736694 + ], + "joints": [ + -0.005335716530680656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009184811264276505, + -0.1327437460422516, + 0.0509667694568634 + ], + "orientation": [ + 0.03786681219935417, + 0.03762713819742203, + -0.9954655766487122, + -0.07873133569955826 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.008676322177052498, + -0.1271112859249115, + 0.05066734179854393 + ], + "orientation": [ + 0.038544196635484695, + 0.038507964462041855, + -0.9960325956344604, + -0.07036006450653076 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.008676322177052498, + -0.1271112859249115, + 0.05066734179854393 + ], + "orientation": [ + 0.038544196635484695, + 0.038507964462041855, + -0.9960325956344604, + -0.07036006450653076 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12878850102424622, + 0.04793401062488556, + 0.0412370003759861 + ], + "orientation": [ + 0.5726643204689026, + 0.10215213894844055, + 0.0413031131029129, + 0.8123512864112854 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.12338174134492874, + 0.045959100127220154, + 0.042426224797964096 + ], + "orientation": [ + 0.5723700523376465, + 0.09981013834476471, + 0.0464247427880764, + 0.8125731945037842 + ], + "joints": [ + -0.011181117035448551 + ] + }, + "final_grasp": { + "position": [ + 0.12338174134492874, + 0.045959100127220154, + 0.042426224797964096 + ], + "orientation": [ + 0.5723700523376465, + 0.09981013834476471, + 0.0464247427880764, + 0.8125731945037842 + ], + "joints": [ + -0.005335716530680656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014517107047140598, + -0.13288860023021698, + 0.07795850932598114 + ], + "orientation": [ + 0.013661636039614677, + -0.054220713675022125, + 0.9980393648147583, + -0.02812275104224682 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.013843758031725883, + -0.1274772435426712, + 0.07642201334238052 + ], + "orientation": [ + 0.014996512793004513, + -0.054611850529909134, + 0.9977207779884338, + -0.03668547049164772 + ], + "joints": [ + -0.009642929770052433 + ] + }, + "final_grasp": { + "position": [ + 0.013843758031725883, + -0.1274772435426712, + 0.07642201334238052 + ], + "orientation": [ + 0.014996512793004513, + -0.054611850529909134, + 0.9977207779884338, + -0.03668547049164772 + ], + "joints": [ + -0.0022299010306596756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08820260316133499, + -0.10079426318407059, + 0.08412643522024155 + ], + "orientation": [ + 0.9359315633773804, + 0.017905298620462418, + -0.004499111790210009, + 0.35169756412506104 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.08442423492670059, + -0.09669497609138489, + 0.0830550491809845 + ], + "orientation": [ + 0.9361525177955627, + 0.00817935261875391, + -0.009575058706104755, + 0.35136836767196655 + ], + "joints": [ + -0.011057538911700249 + ] + }, + "final_grasp": { + "position": [ + 0.08442423492670059, + -0.09669497609138489, + 0.0830550491809845 + ], + "orientation": [ + 0.9361525177955627, + 0.00817935261875391, + -0.009575058706104755, + 0.35136836767196655 + ], + "joints": [ + -0.004175907000899315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009196857921779156, + -0.13268938660621643, + 0.0508112832903862 + ], + "orientation": [ + 0.03699547424912453, + 0.03758208826184273, + -0.9955795407295227, + -0.07772022485733032 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.008713106624782085, + -0.1270931214094162, + 0.05049307644367218 + ], + "orientation": [ + 0.03770260885357857, + 0.03837279602885246, + -0.9961366653442383, + -0.0694098025560379 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + 0.008713106624782085, + -0.1270931214094162, + 0.05049307644367218 + ], + "orientation": [ + 0.03770260885357857, + 0.03837279602885246, + -0.9961366653442383, + -0.0694098025560379 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0092124342918396, + -0.13269081711769104, + 0.05085602030158043 + ], + "orientation": [ + 0.03798254579305649, + 0.03774237260222435, + -0.995505154132843, + -0.07811790704727173 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.008702103048563004, + -0.12712542712688446, + 0.05056138336658478 + ], + "orientation": [ + 0.03871844708919525, + 0.038647010922431946, + -0.9960529804229736, + -0.06989812105894089 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + 0.008702103048563004, + -0.12712542712688446, + 0.05056138336658478 + ], + "orientation": [ + 0.03871844708919525, + 0.038647010922431946, + -0.9960529804229736, + -0.06989812105894089 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12995676696300507, + -0.019486932083964348, + -0.0035367540549486876 + ], + "orientation": [ + 0.7563397884368896, + 0.1254359781742096, + 0.034633979201316833, + 0.6411057114601135 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.12440024316310883, + -0.018441082909703255, + -0.0018277473282068968 + ], + "orientation": [ + 0.7553314566612244, + 0.12791278958320618, + 0.038855016231536865, + 0.6415629982948303 + ], + "joints": [ + -0.007792530115693808 + ] + }, + "final_grasp": { + "position": [ + 0.12440024316310883, + -0.018441082909703255, + -0.0018277473282068968 + ], + "orientation": [ + 0.7553314566612244, + 0.12791278958320618, + 0.038855016231536865, + 0.6415629982948303 + ], + "joints": [ + -0.0008843345567584038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009215963073074818, + -0.1328774094581604, + 0.05084735527634621 + ], + "orientation": [ + 0.03779597580432892, + 0.037694383412599564, + -0.995485782623291, + -0.07847725600004196 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.00870476383715868, + -0.12723463773727417, + 0.05054521933197975 + ], + "orientation": [ + 0.038467541337013245, + 0.038565248250961304, + -0.9960474371910095, + -0.07015953958034515 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.00870476383715868, + -0.12723463773727417, + 0.05054521933197975 + ], + "orientation": [ + 0.038467541337013245, + 0.038565248250961304, + -0.9960474371910095, + -0.07015953958034515 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12994027137756348, + -0.019502907991409302, + -0.0034988573752343655 + ], + "orientation": [ + 0.7563880085945129, + 0.12562786042690277, + 0.034564852714538574, + 0.6410149931907654 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.12438498437404633, + -0.01845639944076538, + -0.0017889763694256544 + ], + "orientation": [ + 0.7553750276565552, + 0.12812504172325134, + 0.038738321512937546, + 0.6414763927459717 + ], + "joints": [ + -0.007792530115693808 + ] + }, + "final_grasp": { + "position": [ + 0.12438498437404633, + -0.01845639944076538, + -0.0017889763694256544 + ], + "orientation": [ + 0.7553750276565552, + 0.12812504172325134, + 0.038738321512937546, + 0.6414763927459717 + ], + "joints": [ + -0.0008843345567584038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12995854020118713, + -0.01949360966682434, + -0.003575648181140423 + ], + "orientation": [ + 0.7563742399215698, + 0.12550070881843567, + 0.03437129035592079, + 0.6410664319992065 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.12440301477909088, + -0.018443502485752106, + -0.0018669707933440804 + ], + "orientation": [ + 0.7553699016571045, + 0.12799926102161407, + 0.03861374035477638, + 0.6415151357650757 + ], + "joints": [ + -0.007792530115693808 + ] + }, + "final_grasp": { + "position": [ + 0.12440301477909088, + -0.018443502485752106, + -0.0018669707933440804 + ], + "orientation": [ + 0.7553699016571045, + 0.12799926102161407, + 0.03861374035477638, + 0.6415151357650757 + ], + "joints": [ + -0.0008843345567584038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009222040884196758, + -0.13281366229057312, + 0.05103485286235809 + ], + "orientation": [ + 0.03780599310994148, + 0.03775781765580177, + -0.9953964352607727, + -0.07956723123788834 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.008706881664693356, + -0.12716110050678253, + 0.05078018084168434 + ], + "orientation": [ + 0.038519907742738724, + 0.038648854941129684, + -0.9959485530853271, + -0.07147733867168427 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.008706881664693356, + -0.12716110050678253, + 0.05078018084168434 + ], + "orientation": [ + 0.038519907742738724, + 0.038648854941129684, + -0.9959485530853271, + -0.07147733867168427 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09068727493286133, + -0.03161095455288887, + -0.06328508257865906 + ], + "orientation": [ + 0.2567310035228729, + 0.5639535784721375, + -0.7461176514625549, + -0.2436264604330063 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.08658913522958755, + -0.031125562265515327, + -0.05956253409385681 + ], + "orientation": [ + 0.2588207423686981, + 0.5632630586624146, + -0.7467093467712402, + -0.24118801951408386 + ], + "joints": [ + -0.007764562498778105 + ] + }, + "final_grasp": { + "position": [ + 0.08658913522958755, + -0.031125562265515327, + -0.05956253409385681 + ], + "orientation": [ + 0.2588207423686981, + 0.5632630586624146, + -0.7467093467712402, + -0.24118801951408386 + ], + "joints": [ + -0.0013877665624022484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09064128249883652, + -0.031555283814668655, + -0.06316578388214111 + ], + "orientation": [ + 0.2568223476409912, + 0.5641689896583557, + -0.7460008859634399, + -0.24338918924331665 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.08654943853616714, + -0.031109318137168884, + -0.05944567173719406 + ], + "orientation": [ + 0.258794367313385, + 0.5632340312004089, + -0.7467126846313477, + -0.2412739247083664 + ], + "joints": [ + -0.007764562498778105 + ] + }, + "final_grasp": { + "position": [ + 0.08654943853616714, + -0.031109318137168884, + -0.05944567173719406 + ], + "orientation": [ + 0.258794367313385, + 0.5632340312004089, + -0.7467126846313477, + -0.2412739247083664 + ], + "joints": [ + -0.0013877665624022484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13085223734378815, + 0.026222510263323784, + 0.10036449879407883 + ], + "orientation": [ + 0.048199612647295, + -0.7682886719703674, + 0.6329747438430786, + -0.08217135071754456 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.12562520802021027, + 0.02536863088607788, + 0.09823201596736908 + ], + "orientation": [ + 0.05670109763741493, + -0.7672117948532104, + 0.6319348812103271, + -0.093965083360672 + ], + "joints": [ + -0.010736565105617046 + ] + }, + "final_grasp": { + "position": [ + 0.12562520802021027, + 0.02536863088607788, + 0.09823201596736908 + ], + "orientation": [ + 0.05670109763741493, + -0.7672117948532104, + 0.6319348812103271, + -0.093965083360672 + ], + "joints": [ + -0.0038283634930849075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09579209238290787, + -0.09159895032644272, + 0.1577184498310089 + ], + "orientation": [ + 0.07776018977165222, + -0.38383907079696655, + 0.8995385766029358, + -0.19352349638938904 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.09219514578580856, + -0.08808204531669617, + 0.15460063517093658 + ], + "orientation": [ + 0.07996115833520889, + -0.38311395049095154, + 0.8980770707130432, + -0.20071758329868317 + ], + "joints": [ + -0.012919570319354534 + ] + }, + "final_grasp": { + "position": [ + 0.09219514578580856, + -0.08808204531669617, + 0.15460063517093658 + ], + "orientation": [ + 0.07996115833520889, + -0.38311395049095154, + 0.8980770707130432, + -0.20071758329868317 + ], + "joints": [ + -0.007605565711855888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048591166734695435, + -0.06654181331396103, + -0.07560012489557266 + ], + "orientation": [ + 0.846883237361908, + 0.3277716338634491, + -0.23887383937835693, + -0.3439388871192932 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.04770226031541824, + -0.06426920741796494, + -0.07288185507059097 + ], + "orientation": [ + 0.8466482162475586, + 0.33023253083229065, + -0.23664194345474243, + -0.3437061011791229 + ], + "joints": [ + -0.006586946547031403 + ] + }, + "final_grasp": { + "position": [ + -0.04770226031541824, + -0.06426920741796494, + -0.07288185507059097 + ], + "orientation": [ + 0.8466482162475586, + 0.33023253083229065, + -0.23664194345474243, + -0.3437061011791229 + ], + "joints": [ + -0.0002101510763168335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054945603013038635, + 0.11853034049272537, + 0.11483871936798096 + ], + "orientation": [ + 0.20908156037330627, + 0.014704539440572262, + -0.12752048671245575, + 0.969436526298523 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.05284848064184189, + 0.11371736973524094, + 0.11307075619697571 + ], + "orientation": [ + 0.2081528753042221, + 0.009183458983898163, + -0.14692485332489014, + 0.9669546484947205 + ], + "joints": [ + -0.010763135738670826 + ] + }, + "final_grasp": { + "position": [ + 0.05284848064184189, + 0.11371736973524094, + 0.11307075619697571 + ], + "orientation": [ + 0.2081528753042221, + 0.009183458983898163, + -0.14692485332489014, + 0.9669546484947205 + ], + "joints": [ + -0.0038815047591924667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07837015390396118, + -0.05149216204881668, + -0.06473435461521149 + ], + "orientation": [ + 0.2761959433555603, + 0.5002368688583374, + -0.7947409152984619, + -0.20461127161979675 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.079285629093647, + -0.05258570984005928, + -0.06567826122045517 + ], + "orientation": [ + 0.2708607316017151, + 0.49962037801742554, + -0.7982122898101807, + -0.19967792928218842 + ], + "joints": [ + -0.005407856777310371 + ] + }, + "final_grasp": { + "position": [ + 0.079285629093647, + -0.05258570984005928, + -0.06567826122045517 + ], + "orientation": [ + 0.2708607316017151, + 0.49962037801742554, + -0.7982122898101807, + -0.19967792928218842 + ], + "joints": [ + 0.0015003383159637451 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11744464188814163, + -0.03900047019124031, + 0.004412585869431496 + ], + "orientation": [ + 0.8123258352279663, + 0.08864089101552963, + 0.03478049859404564, + -0.575377881526947 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.1170390322804451, + -0.04104064032435417, + 0.0038159433752298355 + ], + "orientation": [ + 0.8164806365966797, + 0.08115530014038086, + 0.0273564625531435, + -0.5709857940673828 + ], + "joints": [ + -0.0076777134090662 + ] + }, + "final_grasp": { + "position": [ + -0.1170390322804451, + -0.04104064032435417, + 0.0038159433752298355 + ], + "orientation": [ + 0.8164806365966797, + 0.08115530014038086, + 0.0273564625531435, + -0.5709857940673828 + ], + "joints": [ + -0.0018323175609111786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11743643879890442, + -0.03901440277695656, + 0.004441610537469387 + ], + "orientation": [ + 0.812361478805542, + 0.08858370035886765, + 0.034939758479595184, + -0.575326681137085 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.11701767146587372, + -0.04107891023159027, + 0.0037732019554823637 + ], + "orientation": [ + 0.816579282283783, + 0.08131231367588043, + 0.027252569794654846, + -0.5708272457122803 + ], + "joints": [ + -0.0076777134090662 + ] + }, + "final_grasp": { + "position": [ + -0.11701767146587372, + -0.04107891023159027, + 0.0037732019554823637 + ], + "orientation": [ + 0.816579282283783, + 0.08131231367588043, + 0.027252569794654846, + -0.5708272457122803 + ], + "joints": [ + -0.0018323175609111786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05494571849703789, + 0.11855894327163696, + 0.11483573168516159 + ], + "orientation": [ + 0.2090274691581726, + 0.014797086827456951, + -0.12752275168895721, + 0.9694465398788452 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.052815452218055725, + 0.11364118754863739, + 0.11330766975879669 + ], + "orientation": [ + 0.20797434449195862, + 0.008948547765612602, + -0.14908353984355927, + 0.9666648507118225 + ], + "joints": [ + -0.010763135738670826 + ] + }, + "final_grasp": { + "position": [ + 0.052815452218055725, + 0.11364118754863739, + 0.11330766975879669 + ], + "orientation": [ + 0.20797434449195862, + 0.008948547765612602, + -0.14908353984355927, + 0.9666648507118225 + ], + "joints": [ + -0.0038815047591924667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016728587448596954, + -0.08518209308385849, + -0.0876893550157547 + ], + "orientation": [ + 0.07100225239992142, + -0.03065762110054493, + 0.8934179544448853, + 0.4425189793109894 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.016071707010269165, + -0.08212704211473465, + -0.08457891643047333 + ], + "orientation": [ + 0.0713467076420784, + -0.02689560130238533, + 0.8947111368179321, + 0.44008883833885193 + ], + "joints": [ + -0.008799318224191666 + ] + }, + "final_grasp": { + "position": [ + 0.016071707010269165, + -0.08212704211473465, + -0.08457891643047333 + ], + "orientation": [ + 0.0713467076420784, + -0.02689560130238533, + 0.8947111368179321, + 0.44008883833885193 + ], + "joints": [ + -0.0029273517429828644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0166797935962677, + -0.08522258698940277, + -0.08758150041103363 + ], + "orientation": [ + 0.0708191767334938, + -0.030525771901011467, + 0.8931394219398499, + 0.4431193172931671 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.016048472374677658, + -0.08215192705392838, + -0.08451526612043381 + ], + "orientation": [ + 0.07114298641681671, + -0.026872554793953896, + 0.8945601582527161, + 0.44043031334877014 + ], + "joints": [ + -0.008799318224191666 + ] + }, + "final_grasp": { + "position": [ + 0.016048472374677658, + -0.08215192705392838, + -0.08451526612043381 + ], + "orientation": [ + 0.07114298641681671, + -0.026872554793953896, + 0.8945601582527161, + 0.44043031334877014 + ], + "joints": [ + -0.0029273517429828644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13354426622390747, + 0.012051152065396309, + 0.08201003819704056 + ], + "orientation": [ + 0.6742179989814758, + 0.0015812870115041733, + -0.017044797539711, + 0.7383340001106262 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.12789613008499146, + 0.011580471880733967, + 0.08091597259044647 + ], + "orientation": [ + 0.6738492250442505, + -0.006537805311381817, + -0.02861061878502369, + 0.7382858395576477 + ], + "joints": [ + -0.010231736116111279 + ] + }, + "final_grasp": { + "position": [ + 0.12789613008499146, + 0.011580471880733967, + 0.08091597259044647 + ], + "orientation": [ + 0.6738492250442505, + -0.006537805311381817, + -0.02861061878502369, + 0.7382858395576477 + ], + "joints": [ + -0.002818705514073372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02852989360690117, + 0.018637102097272873, + -0.11097609251737595 + ], + "orientation": [ + 0.49229979515075684, + 0.48604822158813477, + -0.43717917799949646, + -0.5746933221817017 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.02773350477218628, + 0.01833881251513958, + -0.10787572711706161 + ], + "orientation": [ + 0.4954364001750946, + 0.4839147627353668, + -0.43690186738967896, + -0.5740087032318115 + ], + "joints": [ + -0.008741909638047218 + ] + }, + "final_grasp": { + "position": [ + -0.02773350477218628, + 0.01833881251513958, + -0.10787572711706161 + ], + "orientation": [ + 0.4954364001750946, + 0.4839147627353668, + -0.43690186738967896, + -0.5740087032318115 + ], + "joints": [ + -0.0034013427793979645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10292959213256836, + 0.08615177869796753, + 0.0743665099143982 + ], + "orientation": [ + 0.4249243438243866, + 0.058647625148296356, + -0.059601109474897385, + -0.9013586640357971 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.09838803112506866, + 0.08252047002315521, + 0.07488968223333359 + ], + "orientation": [ + 0.42500627040863037, + 0.05638435110449791, + -0.044407498091459274, + -0.9023405313491821 + ], + "joints": [ + -0.012151174247264862 + ] + }, + "final_grasp": { + "position": [ + -0.09838803112506866, + 0.08252047002315521, + 0.07488968223333359 + ], + "orientation": [ + 0.42500627040863037, + 0.05638435110449791, + -0.044407498091459274, + -0.9023405313491821 + ], + "joints": [ + -0.005774369463324547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1154218390583992, + -0.052170924842357635, + -0.010320482775568962 + ], + "orientation": [ + 0.07905931025743484, + -0.5166027545928955, + -0.8370740413665771, + -0.1617964506149292 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.11109774559736252, + -0.04982195049524307, + -0.009892160072922707 + ], + "orientation": [ + 0.06162167713046074, + -0.5186949372291565, + -0.8393744230270386, + -0.1503627896308899 + ], + "joints": [ + -0.008353371173143387 + ] + }, + "final_grasp": { + "position": [ + -0.11109774559736252, + -0.04982195049524307, + -0.009892160072922707 + ], + "orientation": [ + 0.06162167713046074, + -0.5186949372291565, + -0.8393744230270386, + -0.1503627896308899 + ], + "joints": [ + -0.0019765757024288177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007913310080766678, + 0.13717256486415863, + 0.06311610341072083 + ], + "orientation": [ + 0.022451836615800858, + 0.07847148925065994, + 0.10685376077890396, + -0.9909189939498901 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.007354597095400095, + 0.1317809671163559, + 0.062016185373067856 + ], + "orientation": [ + 0.021441936492919922, + 0.0658319741487503, + 0.10747220367193222, + -0.9917944073677063 + ], + "joints": [ + -0.009444138035178185 + ] + }, + "final_grasp": { + "position": [ + -0.007354597095400095, + 0.1317809671163559, + 0.062016185373067856 + ], + "orientation": [ + 0.021441936492919922, + 0.0658319741487503, + 0.10747220367193222, + -0.9917944073677063 + ], + "joints": [ + -0.003598742187023163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10524510592222214, + -0.0782303512096405, + 0.0838574543595314 + ], + "orientation": [ + 0.04670364037156105, + 0.4501210153102875, + -0.891745388507843, + 6.642207154072821e-05 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.10183420777320862, + -0.07558884471654892, + 0.08327962458133698 + ], + "orientation": [ + 0.04312994331121445, + 0.4511816203594208, + -0.8913728594779968, + 0.005424985196441412 + ], + "joints": [ + -0.011057538911700249 + ] + }, + "final_grasp": { + "position": [ + 0.10183420777320862, + -0.07558884471654892, + 0.08327962458133698 + ], + "orientation": [ + 0.04312994331121445, + 0.4511816203594208, + -0.8913728594779968, + 0.005424985196441412 + ], + "joints": [ + -0.004175907000899315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10606846958398819, + 0.07933308929204941, + 0.07599981874227524 + ], + "orientation": [ + 0.09229346364736557, + 0.8905549049377441, + -0.4443947374820709, + -0.030121203511953354 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.1012640967965126, + 0.07599934190511703, + 0.07652385532855988 + ], + "orientation": [ + 0.08076896518468857, + 0.8925572633743286, + -0.44309309124946594, + -0.022055301815271378 + ], + "joints": [ + -0.012235150672495365 + ] + }, + "final_grasp": { + "position": [ + 0.1012640967965126, + 0.07599934190511703, + 0.07652385532855988 + ], + "orientation": [ + 0.08076896518468857, + 0.8925572633743286, + -0.44309309124946594, + -0.022055301815271378 + ], + "joints": [ + -0.005353514105081558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11330575495958328, + -0.07282475382089615, + 0.001876765862107277 + ], + "orientation": [ + 0.017139475792646408, + -0.46780839562416077, + 0.8750274777412415, + 0.12324125319719315 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.10876232385635376, + -0.06961611658334732, + 0.0033031110651791096 + ], + "orientation": [ + 0.01616469770669937, + -0.46829739212989807, + 0.8745660781860352, + 0.1247815489768982 + ], + "joints": [ + -0.008323930203914642 + ] + }, + "final_grasp": { + "position": [ + 0.10876232385635376, + -0.06961611658334732, + 0.0033031110651791096 + ], + "orientation": [ + 0.01616469770669937, + -0.46829739212989807, + 0.8745660781860352, + 0.1247815489768982 + ], + "joints": [ + -0.0019471347332000732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12184865027666092, + -0.051070135086774826, + 0.0019308091141283512 + ], + "orientation": [ + 0.8210830688476562, + -0.004723384045064449, + -0.12284073978662491, + -0.557414174079895 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.11683406680822372, + -0.0492660291492939, + 0.0024515315890312195 + ], + "orientation": [ + 0.8222615122795105, + -0.00495225889608264, + -0.12064933776855469, + -0.5561521053314209 + ], + "joints": [ + -0.006756301037967205 + ] + }, + "final_grasp": { + "position": [ + -0.11683406680822372, + -0.0492660291492939, + 0.0024515315890312195 + ], + "orientation": [ + 0.8222615122795105, + -0.00495225889608264, + -0.12064933776855469, + -0.5561521053314209 + ], + "joints": [ + 0.0011881235986948013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13135544955730438, + -0.008839193731546402, + 0.022595718502998352 + ], + "orientation": [ + 0.7320219278335571, + 0.14069174230098724, + -0.005679476074874401, + -0.666571319103241 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.1259002983570099, + -0.008327031508088112, + 0.024185558781027794 + ], + "orientation": [ + 0.7318597435951233, + 0.142838716506958, + -0.00801246240735054, + -0.6662687659263611 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + -0.1259002983570099, + -0.008327031508088112, + 0.024185558781027794 + ], + "orientation": [ + 0.7318597435951233, + 0.142838716506958, + -0.00801246240735054, + -0.6662687659263611 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011030483059585094, + 0.09397571533918381, + -0.055306725203990936 + ], + "orientation": [ + 0.32884296774864197, + 0.9424108862876892, + -0.023945966735482216, + 0.05613093823194504 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.011434494517743587, + 0.09102223068475723, + -0.05216453969478607 + ], + "orientation": [ + 0.3321332037448883, + 0.9407055974006653, + -0.024329783394932747, + 0.06456465274095535 + ], + "joints": [ + -0.0076231760904192924 + ] + }, + "final_grasp": { + "position": [ + 0.011434494517743587, + 0.09102223068475723, + -0.05216453969478607 + ], + "orientation": [ + 0.3321332037448883, + 0.9407055974006653, + -0.024329783394932747, + 0.06456465274095535 + ], + "joints": [ + -0.0022826101630926132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1295480877161026, + 0.05578668415546417, + 0.0935114249587059 + ], + "orientation": [ + 0.007424118462949991, + -0.829554557800293, + 0.5495291352272034, + -0.09900415688753128 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.12449243664741516, + 0.05362113565206528, + 0.09267854690551758 + ], + "orientation": [ + 0.01065758429467678, + -0.830064594745636, + 0.5495377779006958, + -0.09427297115325928 + ], + "joints": [ + -0.012304193340241909 + ] + }, + "final_grasp": { + "position": [ + 0.12449243664741516, + 0.05362113565206528, + 0.09267854690551758 + ], + "orientation": [ + 0.01065758429467678, + -0.830064594745636, + 0.5495377779006958, + -0.09427297115325928 + ], + "joints": [ + -0.006963619962334633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12954917550086975, + 0.0558171421289444, + 0.09349603950977325 + ], + "orientation": [ + 0.007430267985910177, + -0.8295740485191345, + 0.5494473576545715, + -0.09929382801055908 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.12449125200510025, + 0.05365544930100441, + 0.0926605761051178 + ], + "orientation": [ + 0.01063564419746399, + -0.8300898671150208, + 0.549442708492279, + -0.0946064442396164 + ], + "joints": [ + -0.012304193340241909 + ] + }, + "final_grasp": { + "position": [ + 0.12449125200510025, + 0.05365544930100441, + 0.0926605761051178 + ], + "orientation": [ + 0.01063564419746399, + -0.8300898671150208, + 0.549442708492279, + -0.0946064442396164 + ], + "joints": [ + -0.006963619962334633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011013729497790337, + 0.09412727504968643, + -0.05536605790257454 + ], + "orientation": [ + 0.3288955092430115, + 0.9423913955688477, + -0.023527245968580246, + 0.056325867772102356 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.011351038701832294, + 0.0910816565155983, + -0.052152082324028015 + ], + "orientation": [ + 0.3320735692977905, + 0.9407239556312561, + -0.02387557178735733, + 0.06477396190166473 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + 0.011351038701832294, + 0.0910816565155983, + -0.052152082324028015 + ], + "orientation": [ + 0.3320735692977905, + 0.9407239556312561, + -0.02387557178735733, + 0.06477396190166473 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12187144160270691, + -0.05108984559774399, + 0.001967727905139327 + ], + "orientation": [ + 0.8210874199867249, + -0.004638470709323883, + -0.12293751537799835, + -0.5573869347572327 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.11703038960695267, + -0.04932376742362976, + 0.002759943250566721 + ], + "orientation": [ + 0.822197437286377, + -0.0031777971889823675, + -0.12074026465415955, + -0.5562402606010437 + ], + "joints": [ + -0.0072611309587955475 + ] + }, + "final_grasp": { + "position": [ + -0.11703038960695267, + -0.04932376742362976, + 0.002759943250566721 + ], + "orientation": [ + 0.822197437286377, + -0.0031777971889823675, + -0.12074026465415955, + -0.5562402606010437 + ], + "joints": [ + 0.00017846375703811646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011283543892204762, + 0.13192731142044067, + 0.06187983974814415 + ], + "orientation": [ + 0.04735005646944046, + 0.045795660465955734, + 0.08752129971981049, + 0.9939822554588318 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.010887627489864826, + 0.12670381367206573, + 0.06288331747055054 + ], + "orientation": [ + 0.04660385102033615, + 0.04429692029953003, + 0.08054526150226593, + 0.9946750402450562 + ], + "joints": [ + -0.011057538911700249 + ] + }, + "final_grasp": { + "position": [ + 0.010887627489864826, + 0.12670381367206573, + 0.06288331747055054 + ], + "orientation": [ + 0.04660385102033615, + 0.04429692029953003, + 0.08054526150226593, + 0.9946750402450562 + ], + "joints": [ + -0.004175907000899315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017500173300504684, + 0.12659744918346405, + 0.004530197940766811 + ], + "orientation": [ + 0.08144144713878632, + 0.1264691799879074, + 0.03446611389517784, + -0.9880207180976868 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.01754387468099594, + 0.12661631405353546, + 0.005233271978795528 + ], + "orientation": [ + 0.08501478284597397, + 0.135098397731781, + 0.03237876296043396, + -0.9866471290588379 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.01754387468099594, + 0.12661631405353546, + 0.005233271978795528 + ], + "orientation": [ + 0.08501478284597397, + 0.135098397731781, + 0.03237876296043396, + -0.9866471290588379 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1419256329536438, + -0.02806277573108673, + 0.102887824177742 + ], + "orientation": [ + 0.05977333337068558, + -0.6344135403633118, + 0.7706723213195801, + -0.0032670125365257263 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.13708575069904327, + -0.026896923780441284, + 0.10210573673248291 + ], + "orientation": [ + 0.05947494134306908, + -0.6350863575935364, + 0.7700929045677185, + -0.009216799400746822 + ], + "joints": [ + -0.01286355871707201 + ] + }, + "final_grasp": { + "position": [ + 0.13708575069904327, + -0.026896923780441284, + 0.10210573673248291 + ], + "orientation": [ + 0.05947494134306908, + -0.6350863575935364, + 0.7700929045677185, + -0.009216799400746822 + ], + "joints": [ + -0.007522983476519585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04885784164071083, + 0.12714245915412903, + 0.06642325222492218 + ], + "orientation": [ + 0.018534483388066292, + -0.979943573474884, + -0.18226084113121033, + -0.0784100741147995 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.04668092727661133, + 0.12156296521425247, + 0.06651601195335388 + ], + "orientation": [ + 0.014114657416939735, + -0.9809419512748718, + -0.18354980647563934, + -0.06215270981192589 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + -0.04668092727661133, + 0.12156296521425247, + 0.06651601195335388 + ], + "orientation": [ + 0.014114657416939735, + -0.9809419512748718, + -0.18354980647563934, + -0.06215270981192589 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048825860023498535, + 0.12711967527866364, + 0.06647307425737381 + ], + "orientation": [ + 0.018569879233837128, + -0.9799634218215942, + -0.18217752873897552, + -0.07834816724061966 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.04665485769510269, + 0.1215415671467781, + 0.06656336039304733 + ], + "orientation": [ + 0.014159194193780422, + -0.9809472560882568, + -0.18349654972553253, + -0.06221657246351242 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + -0.04665485769510269, + 0.1215415671467781, + 0.06656336039304733 + ], + "orientation": [ + 0.014159194193780422, + -0.9809472560882568, + -0.18349654972553253, + -0.06221657246351242 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04878329858183861, + 0.1270800083875656, + 0.06651962548494339 + ], + "orientation": [ + 0.018392503261566162, + -0.9799716472625732, + -0.1821104735136032, + -0.07844103872776031 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.04663147032260895, + 0.12149614840745926, + 0.06661154329776764 + ], + "orientation": [ + 0.013968161307275295, + -0.9809331297874451, + -0.18349990248680115, + -0.062472954392433167 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + -0.04663147032260895, + 0.12149614840745926, + 0.06661154329776764 + ], + "orientation": [ + 0.013968161307275295, + -0.9809331297874451, + -0.18349990248680115, + -0.062472954392433167 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04878630489110947, + 0.12706424295902252, + 0.06662064045667648 + ], + "orientation": [ + 0.018209626898169518, + -0.9799819588661194, + -0.18215763568878174, + -0.07824507355690002 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.04664848744869232, + 0.1214752197265625, + 0.06671372056007385 + ], + "orientation": [ + 0.013740559108555317, + -0.9809369444847107, + -0.18359056115150452, + -0.062196385115385056 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + -0.04664848744869232, + 0.1214752197265625, + 0.06671372056007385 + ], + "orientation": [ + 0.013740559108555317, + -0.9809369444847107, + -0.18359056115150452, + -0.062196385115385056 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017603900283575058, + 0.1265377402305603, + 0.004621343221515417 + ], + "orientation": [ + 0.08133406192064285, + 0.1256778985261917, + 0.03179941326379776, + -0.9882199168205261 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.017404302954673767, + 0.12545228004455566, + 0.005242291372269392 + ], + "orientation": [ + 0.08610035479068756, + 0.13871194422245026, + 0.03001769632101059, + -0.986126184463501 + ], + "joints": [ + -0.004820521920919418 + ] + }, + "final_grasp": { + "position": [ + -0.017404302954673767, + 0.12545228004455566, + 0.005242291372269392 + ], + "orientation": [ + 0.08610035479068756, + 0.13871194422245026, + 0.03001769632101059, + -0.986126184463501 + ], + "joints": [ + 0.0015562735497951508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12645979225635529, + -0.04295237734913826, + 0.0003508615482132882 + ], + "orientation": [ + 0.009889276698231697, + -0.5666742920875549, + -0.8112145066261292, + -0.14392201602458954 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.12112800031900406, + -0.04101153090596199, + 0.0019258828833699226 + ], + "orientation": [ + 0.008154434151947498, + -0.5652386546134949, + -0.8119877576828003, + -0.1453089416027069 + ], + "joints": [ + -0.009417567402124405 + ] + }, + "final_grasp": { + "position": [ + -0.12112800031900406, + -0.04101153090596199, + 0.0019258828833699226 + ], + "orientation": [ + 0.008154434151947498, + -0.5652386546134949, + -0.8119877576828003, + -0.1453089416027069 + ], + "joints": [ + -0.0035456009209156036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12650693953037262, + -0.04293612018227577, + 0.00036352401366457343 + ], + "orientation": [ + 0.00985099095851183, + -0.5667564272880554, + -0.8111436367034912, + -0.14400048553943634 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.1211947351694107, + -0.040990304201841354, + 0.0019387498032301664 + ], + "orientation": [ + 0.007946076802909374, + -0.5653929114341736, + -0.8118449449539185, + -0.1455174684524536 + ], + "joints": [ + -0.009417567402124405 + ] + }, + "final_grasp": { + "position": [ + -0.1211947351694107, + -0.040990304201841354, + 0.0019387498032301664 + ], + "orientation": [ + 0.007946076802909374, + -0.5653929114341736, + -0.8118449449539185, + -0.1455174684524536 + ], + "joints": [ + -0.0035456009209156036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02392376959323883, + -0.12534071505069733, + 0.044225163757801056 + ], + "orientation": [ + 0.06379370391368866, + 0.08914763480424881, + -0.9897196888923645, + 0.09185837209224701 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.023114819079637527, + -0.12099672108888626, + 0.042078647762537 + ], + "orientation": [ + 0.06495517492294312, + 0.0925443023443222, + -0.9886690378189087, + 0.09874161332845688 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + 0.023114819079637527, + -0.12099672108888626, + 0.042078647762537 + ], + "orientation": [ + 0.06495517492294312, + 0.0925443023443222, + -0.9886690378189087, + 0.09874161332845688 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023915942758321762, + -0.12530478835105896, + 0.044218797236680984 + ], + "orientation": [ + 0.06394936889410019, + 0.08915593475103378, + -0.9897318482398987, + 0.09161112457513809 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.02313665673136711, + -0.12098465114831924, + 0.042052626609802246 + ], + "orientation": [ + 0.06537459790706635, + 0.09249141067266464, + -0.9886174201965332, + 0.0990302562713623 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + 0.02313665673136711, + -0.12098465114831924, + 0.042052626609802246 + ], + "orientation": [ + 0.06537459790706635, + 0.09249141067266464, + -0.9886174201965332, + 0.0990302562713623 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010991600342094898, + 0.14413700997829437, + 0.13532155752182007 + ], + "orientation": [ + 0.03848083317279816, + -0.010724438354372978, + 0.14761358499526978, + -0.9882381558418274 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + -0.010744885541498661, + 0.14126667380332947, + 0.13441498577594757 + ], + "orientation": [ + 0.0373944416642189, + -0.006877750623971224, + 0.14865808188915253, + -0.9881575107574463 + ], + "joints": [ + -0.012187904678285122 + ] + }, + "final_grasp": { + "position": [ + -0.010744885541498661, + 0.14126667380332947, + 0.13441498577594757 + ], + "orientation": [ + 0.0373944416642189, + -0.006877750623971224, + 0.14865808188915253, + -0.9881575107574463 + ], + "joints": [ + -0.007378732785582542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011032192036509514, + 0.1441705822944641, + 0.1353362500667572 + ], + "orientation": [ + 0.03836364299058914, + -0.00840460043400526, + 0.14719977974891663, + -0.9883268475532532 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + -0.010893074795603752, + 0.1415354609489441, + 0.13452140986919403 + ], + "orientation": [ + 0.03772139176726341, + -0.004628086928278208, + 0.14748403429985046, + -0.988334059715271 + ], + "joints": [ + -0.012187904678285122 + ] + }, + "final_grasp": { + "position": [ + -0.010893074795603752, + 0.1415354609489441, + 0.13452140986919403 + ], + "orientation": [ + 0.03772139176726341, + -0.004628086928278208, + 0.14748403429985046, + -0.988334059715271 + ], + "joints": [ + -0.007378732785582542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11491166800260544, + 0.06512759625911713, + 0.07227384299039841 + ], + "orientation": [ + 0.503426730632782, + 0.08099451661109924, + -0.08937887847423553, + -0.8555775284767151 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.10971728712320328, + 0.06238493695855141, + 0.07309611886739731 + ], + "orientation": [ + 0.5039093494415283, + 0.07473567873239517, + -0.07532158493995667, + -0.8572144508361816 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + -0.10971728712320328, + 0.06238493695855141, + 0.07309611886739731 + ], + "orientation": [ + 0.5039093494415283, + 0.07473567873239517, + -0.07532158493995667, + -0.8572144508361816 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13421882688999176, + -0.003317153314128518, + 0.04990752041339874 + ], + "orientation": [ + 0.7168182730674744, + 0.10932718962430954, + -0.029367933049798012, + 0.6880091428756714 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.12846843898296356, + -0.00296377413906157, + 0.050859030336141586 + ], + "orientation": [ + 0.7159895300865173, + 0.11271946877241135, + -0.02648559771478176, + 0.6884416341781616 + ], + "joints": [ + -0.010736565105617046 + ] + }, + "final_grasp": { + "position": [ + 0.12846843898296356, + -0.00296377413906157, + 0.050859030336141586 + ], + "orientation": [ + 0.7159895300865173, + 0.11271946877241135, + -0.02648559771478176, + 0.6884416341781616 + ], + "joints": [ + -0.0038283634930849075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07746143639087677, + 0.11459971964359283, + 0.0983138233423233 + ], + "orientation": [ + 0.04226253926753998, + -0.9500529170036316, + 0.29494988918304443, + -0.09283198416233063 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.07419076561927795, + 0.10959149897098541, + 0.09759245067834854 + ], + "orientation": [ + 0.044897936284542084, + -0.9510179758071899, + 0.29484429955482483, + -0.08133833855390549 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.07419076561927795, + 0.10959149897098541, + 0.09759245067834854 + ], + "orientation": [ + 0.044897936284542084, + -0.9510179758071899, + 0.29484429955482483, + -0.08133833855390549 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07742032408714294, + 0.11451814323663712, + 0.09839967638254166 + ], + "orientation": [ + 0.04194443300366402, + -0.9500395655632019, + 0.2950429320335388, + -0.09281865507364273 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.07414858043193817, + 0.10950853675603867, + 0.09768318384885788 + ], + "orientation": [ + 0.044576309621334076, + -0.9510341286659241, + 0.2948776185512543, + -0.08120463043451309 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.07414858043193817, + 0.10950853675603867, + 0.09768318384885788 + ], + "orientation": [ + 0.044576309621334076, + -0.9510341286659241, + 0.2948776185512543, + -0.08120463043451309 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1251000165939331, + 0.057705312967300415, + 0.06756089627742767 + ], + "orientation": [ + 0.530863881111145, + -0.039041005074977875, + 0.0875723659992218, + 0.8420156240463257 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.119583360850811, + 0.05534854903817177, + 0.06832098215818405 + ], + "orientation": [ + 0.5307802557945251, + -0.03250505402684212, + 0.08641230314970016, + 0.8424658179283142 + ], + "joints": [ + -0.012388170696794987 + ] + }, + "final_grasp": { + "position": [ + 0.119583360850811, + 0.05534854903817177, + 0.06832098215818405 + ], + "orientation": [ + 0.5307802557945251, + -0.03250505402684212, + 0.08641230314970016, + 0.8424658179283142 + ], + "joints": [ + -0.0065427664667367935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08244968950748444, + -0.10227733850479126, + 0.032426174730062485 + ], + "orientation": [ + 0.9369911551475525, + 0.13785773515701294, + -0.057870250195264816, + 0.31574323773384094 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.07888216525316238, + -0.09793227165937424, + 0.034156475216150284 + ], + "orientation": [ + 0.9366798400878906, + 0.14178292453289032, + -0.056072577834129333, + 0.31525275111198425 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.07888216525316238, + -0.09793227165937424, + 0.034156475216150284 + ], + "orientation": [ + 0.9366798400878906, + 0.14178292453289032, + -0.056072577834129333, + 0.31525275111198425 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13017961382865906, + -0.05698500573635101, + 0.11376480013132095 + ], + "orientation": [ + 0.01112943235784769, + -0.5472109317779541, + 0.8369079232215881, + -0.004628738388419151 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.12586866319179535, + -0.055087462067604065, + 0.11276381462812424 + ], + "orientation": [ + 0.016485566273331642, + -0.5471864342689514, + 0.8367795944213867, + -0.010735108517110348 + ], + "joints": [ + -0.013802778907120228 + ] + }, + "final_grasp": { + "position": [ + 0.12586866319179535, + -0.055087462067604065, + 0.11276381462812424 + ], + "orientation": [ + 0.016485566273331642, + -0.5471864342689514, + 0.8367795944213867, + -0.010735108517110348 + ], + "joints": [ + -0.008488770574331284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1302609145641327, + -0.05697997286915779, + 0.11381988227367401 + ], + "orientation": [ + 0.011399307288229465, + -0.5473171472549438, + 0.8368367552757263, + -0.004272958729416132 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.12595510482788086, + -0.055098943412303925, + 0.11280127614736557 + ], + "orientation": [ + 0.01673119142651558, + -0.5472896099090576, + 0.8367117643356323, + -0.010371566750109196 + ], + "joints": [ + -0.013802778907120228 + ] + }, + "final_grasp": { + "position": [ + 0.12595510482788086, + -0.055098943412303925, + 0.11280127614736557 + ], + "orientation": [ + 0.01673119142651558, + -0.5472896099090576, + 0.8367117643356323, + -0.010371566750109196 + ], + "joints": [ + -0.008488770574331284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037885524332523346, + -0.12837721407413483, + 0.04113928601145744 + ], + "orientation": [ + 0.05777929350733757, + -0.13208310306072235, + -0.9819772243499756, + -0.12221403419971466 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.03633487969636917, + -0.12282032519578934, + 0.04284190759062767 + ], + "orientation": [ + 0.055781591683626175, + -0.13077540695667267, + -0.9820728898048401, + -0.12376948446035385 + ], + "joints": [ + -0.011772793717682362 + ] + }, + "final_grasp": { + "position": [ + -0.03633487969636917, + -0.12282032519578934, + 0.04284190759062767 + ], + "orientation": [ + 0.055781591683626175, + -0.13077540695667267, + -0.9820728898048401, + -0.12376948446035385 + ], + "joints": [ + -0.005900820717215538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06603194028139114, + -0.1212034597992897, + 0.04235132038593292 + ], + "orientation": [ + 0.090223528444767, + -0.23202624917030334, + -0.9612593054771423, + -0.11833933740854263 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.06322328746318817, + -0.11628658324480057, + 0.04376528412103653 + ], + "orientation": [ + 0.08716730773448944, + -0.2299041599035263, + -0.9618194103240967, + -0.12020572274923325 + ], + "joints": [ + -0.012332159094512463 + ] + }, + "final_grasp": { + "position": [ + -0.06322328746318817, + -0.11628658324480057, + 0.04376528412103653 + ], + "orientation": [ + 0.08716730773448944, + -0.2299041599035263, + -0.9618194103240967, + -0.12020572274923325 + ], + "joints": [ + -0.00646018423140049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08237426728010178, + -0.10215193033218384, + 0.03258289396762848 + ], + "orientation": [ + 0.9369587898254395, + 0.13805249333381653, + -0.0578225813806057, + 0.31576305627822876 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.07880453765392303, + -0.09781567007303238, + 0.03432144597172737 + ], + "orientation": [ + 0.9366417527198792, + 0.14204071462154388, + -0.05584612861275673, + 0.31529000401496887 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.07880453765392303, + -0.09781567007303238, + 0.03432144597172737 + ], + "orientation": [ + 0.9366417527198792, + 0.14204071462154388, + -0.05584612861275673, + 0.31529000401496887 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11990883946418762, + -0.05062966048717499, + 0.06832832098007202 + ], + "orientation": [ + 0.8265610933303833, + -0.03001893311738968, + 0.10703060030937195, + -0.5517609715461731 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.11495643854141235, + -0.04823186993598938, + 0.06690651178359985 + ], + "orientation": [ + 0.8271352648735046, + -0.03036249428987503, + 0.10673807561397552, + -0.5509375929832458 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.11495643854141235, + -0.04823186993598938, + 0.06690651178359985 + ], + "orientation": [ + 0.8271352648735046, + -0.03036249428987503, + 0.10673807561397552, + -0.5509375929832458 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11987631022930145, + -0.05061472952365875, + 0.06831926107406616 + ], + "orientation": [ + 0.8265638947486877, + -0.029943939298391342, + 0.10703986138105392, + -0.5517589449882507 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.11492414027452469, + -0.04821677878499031, + 0.06689613312482834 + ], + "orientation": [ + 0.8271523118019104, + -0.030281582847237587, + 0.10676297545433044, + -0.5509118437767029 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.11492414027452469, + -0.04821677878499031, + 0.06689613312482834 + ], + "orientation": [ + 0.8271523118019104, + -0.030281582847237587, + 0.10676297545433044, + -0.5509118437767029 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11986365914344788, + -0.05062267556786537, + 0.06838849186897278 + ], + "orientation": [ + 0.8266204595565796, + -0.02979458123445511, + 0.10688646137714386, + -0.551711916923523 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.11491557955741882, + -0.04822106286883354, + 0.0669667199254036 + ], + "orientation": [ + 0.8272037506103516, + -0.030080385506153107, + 0.10661979019641876, + -0.550873339176178 + ], + "joints": [ + -0.009501546621322632 + ] + }, + "final_grasp": { + "position": [ + -0.11491557955741882, + -0.04822106286883354, + 0.0669667199254036 + ], + "orientation": [ + 0.8272037506103516, + -0.030080385506153107, + 0.10661979019641876, + -0.550873339176178 + ], + "joints": [ + -0.0031247511506080627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01861490122973919, + -0.13386324048042297, + 0.02434222213923931 + ], + "orientation": [ + 0.09808867424726486, + -0.059935372322797775, + -0.99058598279953, + -0.07433514297008514 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.01800898276269436, + -0.12807513773441315, + 0.025420760735869408 + ], + "orientation": [ + 0.09806237369775772, + -0.058976419270038605, + -0.9905661344528198, + -0.07539454102516174 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + -0.01800898276269436, + -0.12807513773441315, + 0.025420760735869408 + ], + "orientation": [ + 0.09806237369775772, + -0.058976419270038605, + -0.9905661344528198, + -0.07539454102516174 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06922326982021332, + 0.12079320847988129, + 0.17983292043209076 + ], + "orientation": [ + 0.15118713676929474, + -0.9439729452133179, + 0.26353326439857483, + -0.12887141108512878 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06739597767591476, + 0.11745446920394897, + 0.17857412993907928 + ], + "orientation": [ + 0.14778150618076324, + -0.9450268149375916, + 0.26366671919822693, + -0.12475931644439697 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + 0.06739597767591476, + 0.11745446920394897, + 0.17857412993907928 + ], + "orientation": [ + 0.14778150618076324, + -0.9450268149375916, + 0.26366671919822693, + -0.12475931644439697 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018577659502625465, + -0.13379831612110138, + 0.02417455054819584 + ], + "orientation": [ + 0.09840118885040283, + -0.05987672507762909, + -0.9906142354011536, + -0.07358885556459427 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.017974834889173508, + -0.12800900638103485, + 0.025263503193855286 + ], + "orientation": [ + 0.09845620393753052, + -0.058899953961372375, + -0.9905791878700256, + -0.07476674765348434 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + -0.017974834889173508, + -0.12800900638103485, + 0.025263503193855286 + ], + "orientation": [ + 0.09845620393753052, + -0.058899953961372375, + -0.9905791878700256, + -0.07476674765348434 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09798703342676163, + -0.0563940554857254, + 0.2004726082086563 + ], + "orientation": [ + 0.8089242577552795, + -0.27198734879493713, + 0.2039801925420761, + -0.47964197397232056 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.09597373753786087, + -0.05591503158211708, + 0.19843801856040955 + ], + "orientation": [ + 0.8079238533973694, + -0.26919296383857727, + 0.2094489187002182, + -0.4805470108985901 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + -0.09597373753786087, + -0.05591503158211708, + 0.19843801856040955 + ], + "orientation": [ + 0.8079238533973694, + -0.26919296383857727, + 0.2094489187002182, + -0.4805470108985901 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018558813259005547, + -0.13394306600093842, + 0.024435685947537422 + ], + "orientation": [ + 0.0984264463186264, + -0.05962320789694786, + -0.9905346035957336, + -0.07482367753982544 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.017954465001821518, + -0.12815722823143005, + 0.025502443313598633 + ], + "orientation": [ + 0.09824934601783752, + -0.05868801474571228, + -0.9905358552932739, + -0.07577221095561981 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + -0.017954465001821518, + -0.12815722823143005, + 0.025502443313598633 + ], + "orientation": [ + 0.09824934601783752, + -0.05868801474571228, + -0.9905358552932739, + -0.07577221095561981 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06927821040153503, + 0.12072797119617462, + 0.17977693676948547 + ], + "orientation": [ + 0.1511838287115097, + -0.9439466595649719, + 0.2637239992618561, + -0.128676638007164 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06742651015520096, + 0.11742997169494629, + 0.17856638133525848 + ], + "orientation": [ + 0.14717501401901245, + -0.9452945590019226, + 0.2636963725090027, + -0.12337689101696014 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + 0.06742651015520096, + 0.11742997169494629, + 0.17856638133525848 + ], + "orientation": [ + 0.14717501401901245, + -0.9452945590019226, + 0.2636963725090027, + -0.12337689101696014 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10992869734764099, + 0.06186617538332939, + 0.05215812474489212 + ], + "orientation": [ + 0.04555312916636467, + -0.8589462637901306, + -0.5047200322151184, + -0.07344278693199158 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.10849126428365707, + 0.06115703657269478, + 0.05210495740175247 + ], + "orientation": [ + 0.038679324090480804, + -0.8588315844535828, + -0.5068501234054565, + -0.06336578726768494 + ], + "joints": [ + -0.01003294624388218 + ] + }, + "final_grasp": { + "position": [ + -0.10849126428365707, + 0.06115703657269478, + 0.05210495740175247 + ], + "orientation": [ + 0.038679324090480804, + -0.8588315844535828, + -0.5068501234054565, + -0.06336578726768494 + ], + "joints": [ + -0.004187550395727158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022138765081763268, + 0.13168299198150635, + 0.08670639991760254 + ], + "orientation": [ + 0.040961854159832, + -0.9918540716171265, + 0.0852266252040863, + -0.08534634858369827 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.021236153319478035, + 0.12594757974147797, + 0.08602132648229599 + ], + "orientation": [ + 0.042097195982933044, + -0.9928354024887085, + 0.08345825225114822, + -0.07443369179964066 + ], + "joints": [ + -0.011267964728176594 + ] + }, + "final_grasp": { + "position": [ + 0.021236153319478035, + 0.12594757974147797, + 0.08602132648229599 + ], + "orientation": [ + 0.042097195982933044, + -0.9928354024887085, + 0.08345825225114822, + -0.07443369179964066 + ], + "joints": [ + -0.004891162738204002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022106710821390152, + 0.1315966695547104, + 0.08674384653568268 + ], + "orientation": [ + 0.04089948162436485, + -0.9918774962425232, + 0.08514165878295898, + -0.08518832176923752 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.021219439804553986, + 0.12588682770729065, + 0.08605585992336273 + ], + "orientation": [ + 0.042016733437776566, + -0.9928402304649353, + 0.08336129039525986, + -0.0745248794555664 + ], + "joints": [ + -0.011267964728176594 + ] + }, + "final_grasp": { + "position": [ + 0.021219439804553986, + 0.12588682770729065, + 0.08605585992336273 + ], + "orientation": [ + 0.042016733437776566, + -0.9928402304649353, + 0.08336129039525986, + -0.0745248794555664 + ], + "joints": [ + -0.004891162738204002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054507434368133545, + -0.12198422104120255, + 0.06759892404079437 + ], + "orientation": [ + 0.9742077589035034, + 0.024746187031269073, + -0.07315203547477722, + -0.21202708780765533 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.05232206732034683, + -0.11665862798690796, + 0.06831198930740356 + ], + "orientation": [ + 0.9739842414855957, + 0.027890972793102264, + -0.07291802763938904, + -0.21274340152740479 + ], + "joints": [ + -0.010736565105617046 + ] + }, + "final_grasp": { + "position": [ + -0.05232206732034683, + -0.11665862798690796, + 0.06831198930740356 + ], + "orientation": [ + 0.9739842414855957, + 0.027890972793102264, + -0.07291802763938904, + -0.21274340152740479 + ], + "joints": [ + -0.0038283634930849075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018860692158341408, + 0.012728274799883366, + 0.271467387676239 + ], + "orientation": [ + 0.6698712110519409, + -0.6069745421409607, + 0.21850231289863586, + -0.36757466197013855 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.017990941181778908, + 0.012087736278772354, + 0.26588869094848633 + ], + "orientation": [ + 0.663731575012207, + -0.6122555732727051, + 0.2206137627363205, + -0.36869102716445923 + ], + "joints": [ + -0.013802778907120228 + ] + }, + "final_grasp": { + "position": [ + -0.017990941181778908, + 0.012087736278772354, + 0.26588869094848633 + ], + "orientation": [ + 0.663731575012207, + -0.6122555732727051, + 0.2206137627363205, + -0.36869102716445923 + ], + "joints": [ + -0.008488770574331284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06757037341594696, + -0.08814606815576553, + 0.22909916937351227 + ], + "orientation": [ + 0.8758794069290161, + -0.40899017453193665, + -0.008787620812654495, + 0.25590023398399353 + ], + "joints": [ + -0.019646713510155678 + ] + }, + "fine_grasp": { + "position": [ + 0.06597698479890823, + -0.08588717132806778, + 0.22844991087913513 + ], + "orientation": [ + 0.8800780773162842, + -0.3994259238243103, + -0.010485162027180195, + 0.25653761625289917 + ], + "joints": [ + -0.0153689319267869 + ] + }, + "final_grasp": { + "position": [ + 0.06597698479890823, + -0.08588717132806778, + 0.22844991087913513 + ], + "orientation": [ + 0.8800780773162842, + -0.3994259238243103, + -0.010485162027180195, + 0.25653761625289917 + ], + "joints": [ + -0.011091150343418121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016590407118201256, + 0.13011856377124786, + 0.07362911850214005 + ], + "orientation": [ + 0.060717444866895676, + -0.08333861827850342, + -0.009264332242310047, + 0.9946267008781433 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.01611185446381569, + 0.12508217990398407, + 0.0732933059334755 + ], + "orientation": [ + 0.06026393175125122, + -0.07005752623081207, + -0.00866413302719593, + 0.9956833124160767 + ], + "joints": [ + -0.010736565105617046 + ] + }, + "final_grasp": { + "position": [ + 0.01611185446381569, + 0.12508217990398407, + 0.0732933059334755 + ], + "orientation": [ + 0.06026393175125122, + -0.07005752623081207, + -0.00866413302719593, + 0.9956833124160767 + ], + "joints": [ + -0.0038283634930849075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11595296859741211, + 0.007928197272121906, + -0.053486429154872894 + ], + "orientation": [ + 0.6071951389312744, + 0.0365520603954792, + -0.3084946572780609, + -0.7313064336776733 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.11125167459249496, + 0.007259204052388668, + -0.05093803629279137 + ], + "orientation": [ + 0.6079015135765076, + 0.03553144261240959, + -0.30342715978622437, + -0.7328882813453674 + ], + "joints": [ + -0.008409306406974792 + ] + }, + "final_grasp": { + "position": [ + -0.11125167459249496, + 0.007259204052388668, + -0.05093803629279137 + ], + "orientation": [ + 0.6079015135765076, + 0.03553144261240959, + -0.30342715978622437, + -0.7328882813453674 + ], + "joints": [ + -0.0009697116911411285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14050406217575073, + 0.010251443833112717, + 0.10494697093963623 + ], + "orientation": [ + 0.05509950593113899, + 0.7310230135917664, + 0.67762690782547, + -0.0582343228161335 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.1348581612110138, + 0.009768095798790455, + 0.10502170771360397 + ], + "orientation": [ + 0.05328986048698425, + 0.7310019731521606, + 0.6780952215194702, + -0.05461740121245384 + ], + "joints": [ + -0.013830744661390781 + ] + }, + "final_grasp": { + "position": [ + -0.1348581612110138, + 0.009768095798790455, + 0.10502170771360397 + ], + "orientation": [ + 0.05328986048698425, + 0.7310019731521606, + 0.6780952215194702, + -0.05461740121245384 + ], + "joints": [ + -0.00798533484339714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016603544354438782, + 0.13004343211650848, + 0.07360254228115082 + ], + "orientation": [ + 0.06079527363181114, + -0.08346004039049149, + -0.009175403974950314, + 0.9946126937866211 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.01612190529704094, + 0.1250833123922348, + 0.07325857877731323 + ], + "orientation": [ + 0.0602671280503273, + -0.07060790807008743, + -0.008569680154323578, + 0.9956449866294861 + ], + "joints": [ + -0.010736565105617046 + ] + }, + "final_grasp": { + "position": [ + 0.01612190529704094, + 0.1250833123922348, + 0.07325857877731323 + ], + "orientation": [ + 0.0602671280503273, + -0.07060790807008743, + -0.008569680154323578, + 0.9956449866294861 + ], + "joints": [ + -0.0038283634930849075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08473094552755356, + -0.1049332320690155, + 0.018698571249842644 + ], + "orientation": [ + 0.932793915271759, + -0.01621273159980774, + 0.15491369366645813, + -0.3250143826007843 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.0814719870686531, + -0.10104254633188248, + 0.018284009769558907 + ], + "orientation": [ + 0.9335103034973145, + -0.01140761747956276, + 0.1575353741645813, + -0.3218867778778076 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + -0.0814719870686531, + -0.10104254633188248, + 0.018284009769558907 + ], + "orientation": [ + 0.9335103034973145, + -0.01140761747956276, + 0.1575353741645813, + -0.3218867778778076 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016158459708094597, + 0.019097305834293365, + -0.10557329654693604 + ], + "orientation": [ + 0.6429286599159241, + 0.6544004082679749, + -0.20640604197978973, + -0.34029290080070496 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.017287619411945343, + 0.019347824156284332, + -0.10475033521652222 + ], + "orientation": [ + 0.6358560919761658, + 0.6557729244232178, + -0.21417813003063202, + -0.34608763456344604 + ], + "joints": [ + -0.008825888857245445 + ] + }, + "final_grasp": { + "position": [ + -0.017287619411945343, + 0.019347824156284332, + -0.10475033521652222 + ], + "orientation": [ + 0.6358560919761658, + 0.6557729244232178, + -0.21417813003063202, + -0.34608763456344604 + ], + "joints": [ + -0.0029804930090904236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0059492518194019794, + 0.021559735760092735, + -0.09837067127227783 + ], + "orientation": [ + 0.48234307765960693, + 0.5917766690254211, + -0.434401273727417, + -0.47795504331588745 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.005709851626306772, + 0.02270282804965973, + -0.09649926424026489 + ], + "orientation": [ + 0.48115938901901245, + 0.5877038836479187, + -0.4346584975719452, + -0.4839025139808655 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + 0.005709851626306772, + 0.02270282804965973, + -0.09649926424026489 + ], + "orientation": [ + 0.48115938901901245, + 0.5877038836479187, + -0.4346584975719452, + -0.4839025139808655 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12597830593585968, + -0.035351838916540146, + 0.08509927988052368 + ], + "orientation": [ + 0.13926458358764648, + 0.6087023615837097, + 0.7791857123374939, + 0.05437292158603668 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.12047333270311356, + -0.03394181653857231, + 0.0875798761844635 + ], + "orientation": [ + 0.14468471705913544, + 0.6096370816230774, + 0.7770023941993713, + 0.0606323778629303 + ], + "joints": [ + -0.015217388048768044 + ] + }, + "final_grasp": { + "position": [ + -0.12047333270311356, + -0.03394181653857231, + 0.0875798761844635 + ], + "orientation": [ + 0.14468471705913544, + 0.6096370816230774, + 0.7770023941993713, + 0.0606323778629303 + ], + "joints": [ + -0.010434776544570923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0963788852095604, + -0.08901872485876083, + 0.16184070706367493 + ], + "orientation": [ + 0.14458046853542328, + -0.39863312244415283, + -0.8848559856414795, + 0.19291947782039642 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.09356646984815598, + -0.08539841324090958, + 0.16019050776958466 + ], + "orientation": [ + 0.13671523332595825, + -0.40111082792282104, + -0.88470458984375, + 0.19420845806598663 + ], + "joints": [ + -0.013394958339631557 + ] + }, + "final_grasp": { + "position": [ + -0.09356646984815598, + -0.08539841324090958, + 0.16019050776958466 + ], + "orientation": [ + 0.13671523332595825, + -0.40111082792282104, + -0.88470458984375, + 0.19420845806598663 + ], + "joints": [ + -0.00858578272163868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11061926186084747, + 0.07884667068719864, + 0.19127774238586426 + ], + "orientation": [ + 0.41432106494903564, + 0.03855745494365692, + -0.24225279688835144, + 0.8764501810073853 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.10790777951478958, + 0.07652516663074493, + 0.1898304522037506 + ], + "orientation": [ + 0.41389378905296326, + 0.04184798523783684, + -0.24126458168029785, + 0.8767736554145813 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.10790777951478958, + 0.07652516663074493, + 0.1898304522037506 + ], + "orientation": [ + 0.41389378905296326, + 0.04184798523783684, + -0.24126458168029785, + 0.8767736554145813 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11068078875541687, + 0.07877577841281891, + 0.19124968349933624 + ], + "orientation": [ + 0.41457054018974304, + 0.03875921294093132, + -0.24221985042095184, + 0.8763325214385986 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.10803740471601486, + 0.07645557075738907, + 0.18984076380729675 + ], + "orientation": [ + 0.4146493971347809, + 0.041660573333501816, + -0.24127572774887085, + 0.8764225244522095 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.10803740471601486, + 0.07645557075738907, + 0.18984076380729675 + ], + "orientation": [ + 0.4146493971347809, + 0.041660573333501816, + -0.24127572774887085, + 0.8764225244522095 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04727957025170326, + -0.11911621689796448, + 0.212779700756073 + ], + "orientation": [ + 0.017721006646752357, + -0.16785968840122223, + -0.9392957091331482, + 0.298718124628067 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.04658744856715202, + -0.11652575433254242, + 0.211329385638237 + ], + "orientation": [ + 0.009175147861242294, + -0.16767612099647522, + -0.9393028616905212, + 0.2991833984851837 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.04658744856715202, + -0.11652575433254242, + 0.211329385638237 + ], + "orientation": [ + 0.009175147861242294, + -0.16767612099647522, + -0.9393028616905212, + 0.2991833984851837 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014722338877618313, + 0.13822408020496368, + 0.037785835564136505 + ], + "orientation": [ + 0.07938269525766373, + 0.9860659837722778, + -0.03986474499106407, + 0.14065198600292206 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.01408710889518261, + 0.1323273777961731, + 0.03882782906293869 + ], + "orientation": [ + 0.08109090477228165, + 0.9867589473724365, + -0.03833269327878952, + 0.13513562083244324 + ], + "joints": [ + -0.012332159094512463 + ] + }, + "final_grasp": { + "position": [ + 0.01408710889518261, + 0.1323273777961731, + 0.03882782906293869 + ], + "orientation": [ + 0.08109090477228165, + 0.9867589473724365, + -0.03833269327878952, + 0.13513562083244324 + ], + "joints": [ + -0.00646018423140049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04180549457669258, + -0.14429819583892822, + 0.1430618017911911 + ], + "orientation": [ + 0.10377616435289383, + -0.14105795323848724, + 0.9836992025375366, + -0.04085240885615349 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.04108405113220215, + -0.1416551172733307, + 0.14277587831020355 + ], + "orientation": [ + 0.10415611416101456, + -0.14143849909305573, + 0.9836010336875916, + -0.04093557596206665 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + 0.04108405113220215, + -0.1416551172733307, + 0.14277587831020355 + ], + "orientation": [ + 0.10415611416101456, + -0.14143849909305573, + 0.9836010336875916, + -0.04093557596206665 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036043647676706314, + 0.03506164252758026, + 0.25211405754089355 + ], + "orientation": [ + 0.6023221611976624, + -0.7468410134315491, + 0.2455500364303589, + -0.13835373520851135 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.036685094237327576, + 0.033860400319099426, + 0.2549969553947449 + ], + "orientation": [ + 0.6006201505661011, + -0.7501255869865417, + 0.24498938024044037, + -0.12863600254058838 + ], + "joints": [ + -0.012919570319354534 + ] + }, + "final_grasp": { + "position": [ + 0.036685094237327576, + 0.033860400319099426, + 0.2549969553947449 + ], + "orientation": [ + 0.6006201505661011, + -0.7501255869865417, + 0.24498938024044037, + -0.12863600254058838 + ], + "joints": [ + -0.007605565711855888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13812598586082458, + 0.013111947104334831, + 0.06564353406429291 + ], + "orientation": [ + 0.6584972739219666, + -0.02520403452217579, + 0.13045693933963776, + 0.7407612204551697 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.13226284086704254, + 0.012744743376970291, + 0.06676391512155533 + ], + "orientation": [ + 0.6581042408943176, + -0.019913285970687866, + 0.12966091930866241, + 0.7414111495018005 + ], + "joints": [ + -0.013746767304837704 + ] + }, + "final_grasp": { + "position": [ + 0.13226284086704254, + 0.012744743376970291, + 0.06676391512155533 + ], + "orientation": [ + 0.6581042408943176, + -0.019913285970687866, + 0.12966091930866241, + 0.7414111495018005 + ], + "joints": [ + -0.00840618833899498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041819166392087936, + -0.14505897462368011, + 0.14295822381973267 + ], + "orientation": [ + 0.10286851227283478, + -0.14025039970874786, + 0.9838512539863586, + -0.04224523901939392 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.04116438329219818, + -0.14270156621932983, + 0.14275126159191132 + ], + "orientation": [ + 0.10448367893695831, + -0.14063817262649536, + 0.9836621284484863, + -0.04138777777552605 + ], + "joints": [ + -0.015398373827338219 + ] + }, + "final_grasp": { + "position": [ + 0.04116438329219818, + -0.14270156621932983, + 0.14275126159191132 + ], + "orientation": [ + 0.10448367893695831, + -0.14063817262649536, + 0.9836621284484863, + -0.04138777777552605 + ], + "joints": [ + -0.011120593175292015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13509397208690643, + 0.017181454226374626, + 0.077666737139225 + ], + "orientation": [ + 0.06658448278903961, + 0.7365044951438904, + 0.6600160598754883, + 0.13231201469898224 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.130097433924675, + 0.016390863806009293, + 0.07919422537088394 + ], + "orientation": [ + 0.07323595136404037, + 0.7361693382263184, + 0.6602882742881775, + 0.12927024066448212 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.130097433924675, + 0.016390863806009293, + 0.07919422537088394 + ], + "orientation": [ + 0.07323595136404037, + 0.7361693382263184, + 0.6602882742881775, + 0.12927024066448212 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1327495276927948, + 0.005823765881359577, + 0.08428364247083664 + ], + "orientation": [ + 0.6848334670066833, + -0.024707898497581482, + 0.07929302006959915, + 0.7239511609077454 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.12696579098701477, + 0.005709540564566851, + 0.0849602073431015 + ], + "orientation": [ + 0.6842599511146545, + -0.02107338048517704, + 0.08035675436258316, + 0.7244908809661865 + ], + "joints": [ + -0.012235150672495365 + ] + }, + "final_grasp": { + "position": [ + 0.12696579098701477, + 0.005709540564566851, + 0.0849602073431015 + ], + "orientation": [ + 0.6842599511146545, + -0.02107338048517704, + 0.08035675436258316, + 0.7244908809661865 + ], + "joints": [ + -0.005353514105081558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022893955931067467, + 0.1360396146774292, + 0.08537771552801132 + ], + "orientation": [ + 0.12605677545070648, + 0.9883288145065308, + 0.08361183851957321, + 0.018023423850536346 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.022323351353406906, + 0.13187862932682037, + 0.08610177040100098 + ], + "orientation": [ + 0.12043147534132004, + 0.9887358546257019, + 0.08548564463853836, + 0.024287279695272446 + ], + "joints": [ + -0.014391585253179073 + ] + }, + "final_grasp": { + "position": [ + -0.022323351353406906, + 0.13187862932682037, + 0.08610177040100098 + ], + "orientation": [ + 0.12043147534132004, + 0.9887358546257019, + 0.08548564463853836, + 0.024287279695272446 + ], + "joints": [ + -0.00907757505774498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08148236572742462, + -0.11501289159059525, + 0.09150315821170807 + ], + "orientation": [ + 0.09906355291604996, + -0.278282105922699, + 0.9354125261306763, + 0.19429083168506622 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.07808734476566315, + -0.11075660586357117, + 0.09327229857444763 + ], + "orientation": [ + 0.09711053967475891, + -0.2775116264820099, + 0.9355425238609314, + 0.19574719667434692 + ], + "joints": [ + -0.015695646405220032 + ] + }, + "final_grasp": { + "position": [ + 0.07808734476566315, + -0.11075660586357117, + 0.09327229857444763 + ], + "orientation": [ + 0.09711053967475891, + -0.2775116264820099, + 0.9355425238609314, + 0.19574719667434692 + ], + "joints": [ + -0.0113912932574749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10061417520046234, + 0.07635331898927689, + 0.06876931339502335 + ], + "orientation": [ + 0.028279984369874, + -0.8884453773498535, + 0.4452090263366699, + -0.10795335471630096 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.09817897528409958, + 0.07587885856628418, + 0.06760264933109283 + ], + "orientation": [ + 0.024876074865460396, + -0.8915160894393921, + 0.4380684196949005, + -0.11258877068758011 + ], + "joints": [ + -0.010537775233387947 + ] + }, + "final_grasp": { + "position": [ + 0.09817897528409958, + 0.07587885856628418, + 0.06760264933109283 + ], + "orientation": [ + 0.024876074865460396, + -0.8915160894393921, + 0.4380684196949005, + -0.11258877068758011 + ], + "joints": [ + -0.005197208374738693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10060427337884903, + 0.07636280357837677, + 0.06871847063302994 + ], + "orientation": [ + 0.02817344479262829, + -0.8884645700454712, + 0.44515952467918396, + -0.10802830010652542 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.09823357313871384, + 0.07583467662334442, + 0.067537821829319 + ], + "orientation": [ + 0.024503035470843315, + -0.8914828896522522, + 0.4380161464214325, + -0.11313514411449432 + ], + "joints": [ + -0.010537775233387947 + ] + }, + "final_grasp": { + "position": [ + 0.09823357313871384, + 0.07583467662334442, + 0.067537821829319 + ], + "orientation": [ + 0.024503035470843315, + -0.8914828896522522, + 0.4380161464214325, + -0.11313514411449432 + ], + "joints": [ + -0.005197208374738693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13827675580978394, + -0.02306368760764599, + 0.1802920401096344 + ], + "orientation": [ + 0.19022466242313385, + -0.6420291662216187, + -0.7384026050567627, + 0.0798417404294014 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.13488802313804626, + -0.022436434403061867, + 0.17909236252307892 + ], + "orientation": [ + 0.18672636151313782, + -0.6422644257545471, + -0.7389330267906189, + 0.08128813654184341 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.13488802313804626, + -0.022436434403061867, + 0.17909236252307892 + ], + "orientation": [ + 0.18672636151313782, + -0.6422644257545471, + -0.7389330267906189, + 0.08128813654184341 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11223842203617096, + -0.05726851150393486, + 0.019935043528676033 + ], + "orientation": [ + 0.061866842210292816, + -0.5163276791572571, + 0.8516139388084412, + 0.0658167377114296 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.1100757047533989, + -0.055630479007959366, + 0.020221838727593422 + ], + "orientation": [ + 0.07066666334867477, + -0.5158582329750061, + 0.8505868315696716, + 0.07347554713487625 + ], + "joints": [ + -0.0060863858088850975 + ] + }, + "final_grasp": { + "position": [ + 0.1100757047533989, + -0.055630479007959366, + 0.020221838727593422 + ], + "orientation": [ + 0.07066666334867477, + -0.5158582329750061, + 0.8505868315696716, + 0.07347554713487625 + ], + "joints": [ + 0.0013797786086797714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11222098767757416, + -0.0572621189057827, + 0.01999257132411003 + ], + "orientation": [ + 0.06206631660461426, + -0.5162693858146667, + 0.8516146540641785, + 0.06607814878225327 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.11026108264923096, + -0.055746447294950485, + 0.020228981971740723 + ], + "orientation": [ + 0.07140956819057465, + -0.5157084465026855, + 0.8505706191062927, + 0.07399362325668335 + ], + "joints": [ + -0.0060863858088850975 + ] + }, + "final_grasp": { + "position": [ + 0.11026108264923096, + -0.055746447294950485, + 0.020228981971740723 + ], + "orientation": [ + 0.07140956819057465, + -0.5157084465026855, + 0.8505706191062927, + 0.07399362325668335 + ], + "joints": [ + 0.0013797786086797714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14519120752811432, + 0.029603363946080208, + 0.12143455445766449 + ], + "orientation": [ + 0.6334978938102722, + 0.08406098186969757, + 0.03146790340542793, + -0.7685205936431885 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14058496057987213, + 0.028592940419912338, + 0.12167130410671234 + ], + "orientation": [ + 0.6342595815658569, + 0.08196751773357391, + 0.0293221827596426, + -0.7682033181190491 + ], + "joints": [ + -0.01574878767132759 + ] + }, + "final_grasp": { + "position": [ + -0.14058496057987213, + 0.028592940419912338, + 0.12167130410671234 + ], + "orientation": [ + 0.6342595815658569, + 0.08196751773357391, + 0.0293221827596426, + -0.7682033181190491 + ], + "joints": [ + -0.011497575789690018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030046867206692696, + -0.05743592604994774, + -0.09269820153713226 + ], + "orientation": [ + 0.8363930583000183, + 0.5312669277191162, + -0.01101632509380579, + -0.13446496427059174 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.029907600954174995, + -0.055180490016937256, + -0.0904715433716774 + ], + "orientation": [ + 0.8393396735191345, + 0.5282595753669739, + 0.0005876823561266065, + -0.12825942039489746 + ], + "joints": [ + -0.00938812643289566 + ] + }, + "final_grasp": { + "position": [ + -0.029907600954174995, + -0.055180490016937256, + -0.0904715433716774 + ], + "orientation": [ + 0.8393396735191345, + 0.5282595753669739, + 0.0005876823561266065, + -0.12825942039489746 + ], + "joints": [ + -0.003516159951686859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14523257315158844, + 0.029562048614025116, + 0.121541328728199 + ], + "orientation": [ + 0.6336045265197754, + 0.08362795412540436, + 0.03148221969604492, + -0.7684793472290039 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14058497548103333, + 0.028574930503964424, + 0.12177017331123352 + ], + "orientation": [ + 0.6343294978141785, + 0.08163639158010483, + 0.029526349157094955, + -0.7681729197502136 + ], + "joints": [ + -0.01574878767132759 + ] + }, + "final_grasp": { + "position": [ + -0.14058497548103333, + 0.028574930503964424, + 0.12177017331123352 + ], + "orientation": [ + 0.6343294978141785, + 0.08163639158010483, + 0.029526349157094955, + -0.7681729197502136 + ], + "joints": [ + -0.011497575789690018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01255502738058567, + 0.006867340765893459, + 0.2627670168876648 + ], + "orientation": [ + 0.7347002029418945, + -0.6620178818702698, + -0.05301862210035324, + 0.13833589851856232 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.01215148251503706, + 0.007427985314279795, + 0.25812414288520813 + ], + "orientation": [ + 0.7355633974075317, + -0.66070556640625, + -0.05642354115843773, + 0.1386762410402298 + ], + "joints": [ + -0.01265600323677063 + ] + }, + "final_grasp": { + "position": [ + 0.01215148251503706, + 0.007427985314279795, + 0.25812414288520813 + ], + "orientation": [ + 0.7355633974075317, + -0.66070556640625, + -0.05642354115843773, + 0.1386762410402298 + ], + "joints": [ + -0.0067840274423360825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13706974685192108, + 0.016243616119027138, + 0.13527673482894897 + ], + "orientation": [ + 0.10400555282831192, + -0.7454959154129028, + -0.658215343952179, + 0.013088916428387165 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.13279996812343597, + 0.01603083312511444, + 0.13438422977924347 + ], + "orientation": [ + 0.09939632564783096, + -0.7465327978134155, + -0.6576537489891052, + 0.017342546954751015 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.13279996812343597, + 0.01603083312511444, + 0.13438422977924347 + ], + "orientation": [ + 0.09939632564783096, + -0.7465327978134155, + -0.6576537489891052, + 0.017342546954751015 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1287466287612915, + 0.06278679519891739, + 0.16964112222194672 + ], + "orientation": [ + 0.027106378227472305, + -0.8229108452796936, + -0.5383908748626709, + 0.17949429154396057 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.12475833296775818, + 0.06136500835418701, + 0.16866649687290192 + ], + "orientation": [ + 0.025710729882121086, + -0.8233881592750549, + -0.5388351678848267, + 0.17614655196666718 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.12475833296775818, + 0.06136500835418701, + 0.16866649687290192 + ], + "orientation": [ + 0.025710729882121086, + -0.8233881592750549, + -0.5388351678848267, + 0.17614655196666718 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0494987815618515, + -0.04488927498459816, + 0.2528723478317261 + ], + "orientation": [ + 0.8259624242782593, + -0.439901202917099, + -0.13562418520450592, + 0.3253907561302185 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + 0.047049351036548615, + -0.042738161981105804, + 0.24822913110256195 + ], + "orientation": [ + 0.8262986540794373, + -0.4407939612865448, + -0.1368982344865799, + 0.3227851688861847 + ], + "joints": [ + -0.013832219876348972 + ] + }, + "final_grasp": { + "position": [ + 0.047049351036548615, + -0.042738161981105804, + 0.24822913110256195 + ], + "orientation": [ + 0.8262986540794373, + -0.4407939612865448, + -0.1368982344865799, + 0.3227851688861847 + ], + "joints": [ + -0.008518211543560028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01738237403333187, + 0.10150177031755447, + -0.05192771181464195 + ], + "orientation": [ + 0.019217412918806076, + -0.1422487050294876, + 0.2738789916038513, + 0.9509923458099365 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.017684880644083023, + 0.10234478116035461, + -0.05249533802270889 + ], + "orientation": [ + 0.019546128809452057, + -0.14180904626846313, + 0.2716105878353119, + 0.9517015218734741 + ], + "joints": [ + -0.006083514541387558 + ] + }, + "final_grasp": { + "position": [ + 0.017684880644083023, + 0.10234478116035461, + -0.05249533802270889 + ], + "orientation": [ + 0.019546128809452057, + -0.14180904626846313, + 0.2716105878353119, + 0.9517015218734741 + ], + "joints": [ + 0.001356080174446106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005747660994529724, + -0.11589770019054413, + 0.2325003296136856 + ], + "orientation": [ + 0.17059142887592316, + -0.07690070569515228, + -0.9105653762817383, + 0.36858606338500977 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.0045289695262908936, + -0.11362550407648087, + 0.2322802096605301 + ], + "orientation": [ + 0.17549318075180054, + -0.07939841598272324, + -0.913383424282074, + 0.3586486279964447 + ], + "joints": [ + -0.013926357962191105 + ] + }, + "final_grasp": { + "position": [ + -0.0045289695262908936, + -0.11362550407648087, + 0.2322802096605301 + ], + "orientation": [ + 0.17549318075180054, + -0.07939841598272324, + -0.913383424282074, + 0.3586486279964447 + ], + "joints": [ + -0.009648581966757774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08259592950344086, + 0.09042432904243469, + 0.05002768337726593 + ], + "orientation": [ + 0.06804163008928299, + 0.928794264793396, + 0.3528577387332916, + -0.0905698761343956 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.08293283730745316, + 0.09178075194358826, + 0.04994659870862961 + ], + "orientation": [ + 0.07152274996042252, + 0.9291389584541321, + 0.34957191348075867, + -0.09687534719705582 + ], + "joints": [ + -0.009418964385986328 + ] + }, + "final_grasp": { + "position": [ + -0.08293283730745316, + 0.09178075194358826, + 0.04994659870862961 + ], + "orientation": [ + 0.07152274996042252, + 0.9291389584541321, + 0.34957191348075867, + -0.09687534719705582 + ], + "joints": [ + -0.0029890276491642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0822015106678009, + -0.049622997641563416, + 0.2135937362909317 + ], + "orientation": [ + 0.3122422993183136, + -0.5338596105575562, + -0.770427942276001, + 0.15472370386123657 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.08354129642248154, + -0.051404137164354324, + 0.21422909200191498 + ], + "orientation": [ + 0.3145063817501068, + -0.5355151295661926, + -0.7697762846946716, + 0.147491455078125 + ], + "joints": [ + -0.012713409028947353 + ] + }, + "final_grasp": { + "position": [ + -0.08354129642248154, + -0.051404137164354324, + 0.21422909200191498 + ], + "orientation": [ + 0.3145063817501068, + -0.5355151295661926, + -0.7697762846946716, + 0.147491455078125 + ], + "joints": [ + -0.006310030817985535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005881084594875574, + -0.11649100482463837, + 0.23273847997188568 + ], + "orientation": [ + 0.17475280165672302, + -0.078580342233181, + -0.9095572829246521, + 0.36877086758613586 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.0046445028856396675, + -0.11433660238981247, + 0.23257379233837128 + ], + "orientation": [ + 0.17818886041641235, + -0.08024443686008453, + -0.9123261570930481, + 0.35982000827789307 + ], + "joints": [ + -0.01389691699296236 + ] + }, + "final_grasp": { + "position": [ + -0.0046445028856396675, + -0.11433660238981247, + 0.23257379233837128 + ], + "orientation": [ + 0.17818886041641235, + -0.08024443686008453, + -0.9123261570930481, + 0.35982000827789307 + ], + "joints": [ + -0.00961914099752903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017427600920200348, + 0.10148416459560394, + -0.05197732150554657 + ], + "orientation": [ + 0.0191591028124094, + -0.14281724393367767, + 0.274032324552536, + 0.9508641362190247 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.017796404659748077, + 0.10231731086969376, + -0.05253586918115616 + ], + "orientation": [ + 0.01984863542020321, + -0.14223842322826385, + 0.2716512382030487, + 0.9516195058822632 + ], + "joints": [ + -0.006083514541387558 + ] + }, + "final_grasp": { + "position": [ + 0.017796404659748077, + 0.10231731086969376, + -0.05253586918115616 + ], + "orientation": [ + 0.01984863542020321, + -0.14223842322826385, + 0.2716512382030487, + 0.9516195058822632 + ], + "joints": [ + 0.001356080174446106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08765417337417603, + -0.10380709171295166, + 0.06897498667240143 + ], + "orientation": [ + 0.9254313707351685, + 0.07819824665784836, + 0.11867456138134003, + 0.35125240683555603 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.08417695760726929, + -0.09931357204914093, + 0.07061005383729935 + ], + "orientation": [ + 0.9249114394187927, + 0.0824274942278862, + 0.11637269705533981, + 0.35242292284965515 + ], + "joints": [ + -0.013830744661390781 + ] + }, + "final_grasp": { + "position": [ + 0.08417695760726929, + -0.09931357204914093, + 0.07061005383729935 + ], + "orientation": [ + 0.9249114394187927, + 0.0824274942278862, + 0.11637269705533981, + 0.35242292284965515 + ], + "joints": [ + -0.00798533484339714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12285882234573364, + -0.044876620173454285, + 0.08023500442504883 + ], + "orientation": [ + 0.8063684105873108, + 0.07972201704978943, + -0.11636112630367279, + -0.5743468999862671 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.1174371987581253, + -0.042851947247982025, + 0.0822727233171463 + ], + "orientation": [ + 0.8057606816291809, + 0.08265719562768936, + -0.12011876702308655, + -0.5740112662315369 + ], + "joints": [ + -0.013623189181089401 + ] + }, + "final_grasp": { + "position": [ + -0.1174371987581253, + -0.042851947247982025, + 0.0822727233171463 + ], + "orientation": [ + 0.8057606816291809, + 0.08265719562768936, + -0.12011876702308655, + -0.5740112662315369 + ], + "joints": [ + -0.007246378809213638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12198500335216522, + -0.044180091470479965, + 0.016974996775388718 + ], + "orientation": [ + 0.8174504637718201, + 0.15743552148342133, + -0.04749114811420441, + 0.5520264506340027 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.11690627038478851, + -0.04208042845129967, + 0.018496621400117874 + ], + "orientation": [ + 0.8166971802711487, + 0.16532979905605316, + -0.049020618200302124, + 0.5506983995437622 + ], + "joints": [ + -0.009054123423993587 + ] + }, + "final_grasp": { + "position": [ + 0.11690627038478851, + -0.04208042845129967, + 0.018496621400117874 + ], + "orientation": [ + 0.8166971802711487, + 0.16532979905605316, + -0.049020618200302124, + 0.5506983995437622 + ], + "joints": [ + -0.0016410965472459793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12273412942886353, + -0.04480955749750137, + 0.08034731447696686 + ], + "orientation": [ + 0.806390106678009, + 0.07946987450122833, + -0.11605999618768692, + -0.5744122862815857 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.11731603741645813, + -0.04278598725795746, + 0.08239281177520752 + ], + "orientation": [ + 0.8057093024253845, + 0.08263877779245377, + -0.11981400847434998, + -0.5741497278213501 + ], + "joints": [ + -0.013623189181089401 + ] + }, + "final_grasp": { + "position": [ + -0.11731603741645813, + -0.04278598725795746, + 0.08239281177520752 + ], + "orientation": [ + 0.8057093024253845, + 0.08263877779245377, + -0.11981400847434998, + -0.5741497278213501 + ], + "joints": [ + -0.007246378809213638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005378626752644777, + 0.13666516542434692, + 0.15988224744796753 + ], + "orientation": [ + 0.051624927669763565, + -0.996398389339447, + 0.030740680173039436, + -0.0598335899412632 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + 0.005144845228642225, + 0.13087044656276703, + 0.15962298214435577 + ], + "orientation": [ + 0.040169138461351395, + -0.9969114065170288, + 0.03182210773229599, + -0.059511054307222366 + ], + "joints": [ + -0.01337007712572813 + ] + }, + "final_grasp": { + "position": [ + 0.005144845228642225, + 0.13087044656276703, + 0.15962298214435577 + ], + "orientation": [ + 0.040169138461351395, + -0.9969114065170288, + 0.03182210773229599, + -0.059511054307222366 + ], + "joints": [ + -0.007019838318228722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1411294788122177, + -0.025564195588231087, + 0.15769392251968384 + ], + "orientation": [ + 0.7570345997810364, + 0.01065236609429121, + -0.0893985852599144, + 0.6471421718597412 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.13652010262012482, + -0.024627678096294403, + 0.15755891799926758 + ], + "orientation": [ + 0.7569155097007751, + 0.011858347803354263, + -0.08596307784318924, + 0.6477257609367371 + ], + "joints": [ + -0.01433557365089655 + ] + }, + "final_grasp": { + "position": [ + 0.13652010262012482, + -0.024627678096294403, + 0.15755891799926758 + ], + "orientation": [ + 0.7569155097007751, + 0.011858347803354263, + -0.08596307784318924, + 0.6477257609367371 + ], + "joints": [ + -0.008994992822408676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0053838822059333324, + 0.1366891711950302, + 0.15994365513324738 + ], + "orientation": [ + 0.05193693935871124, + -0.9964032769203186, + 0.030676471069455147, + -0.059516020119190216 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.005145995877683163, + 0.13094046711921692, + 0.15970614552497864 + ], + "orientation": [ + 0.04000518098473549, + -0.9969267845153809, + 0.031706552952528, + -0.05942513421177864 + ], + "joints": [ + -0.013118360191583633 + ] + }, + "final_grasp": { + "position": [ + 0.005145995877683163, + 0.13094046711921692, + 0.15970614552497864 + ], + "orientation": [ + 0.04000518098473549, + -0.9969267845153809, + 0.031706552952528, + -0.05942513421177864 + ], + "joints": [ + -0.006236720830202103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005369157530367374, + 0.1366075873374939, + 0.15995213389396667 + ], + "orientation": [ + 0.05211884528398514, + -0.996403694152832, + 0.030646000057458878, + -0.05936511978507042 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.005122540518641472, + 0.1308559626340866, + 0.15971986949443817 + ], + "orientation": [ + 0.03984228894114494, + -0.9969338774681091, + 0.031671807169914246, + -0.05943351611495018 + ], + "joints": [ + -0.013118360191583633 + ] + }, + "final_grasp": { + "position": [ + 0.005122540518641472, + 0.1308559626340866, + 0.15971986949443817 + ], + "orientation": [ + 0.03984228894114494, + -0.9969338774681091, + 0.031671807169914246, + -0.05943351611495018 + ], + "joints": [ + -0.006236720830202103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0767366960644722, + -0.10545652359724045, + 0.15559113025665283 + ], + "orientation": [ + 0.14303867518901825, + -0.3150796890258789, + 0.9192511439323425, + -0.18772928416728973 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + 0.07502799481153488, + -0.10172951966524124, + 0.15358443558216095 + ], + "orientation": [ + 0.13809211552143097, + -0.3181714117527008, + 0.9179853200912476, + -0.19235537946224213 + ], + "joints": [ + -0.012947536073625088 + ] + }, + "final_grasp": { + "position": [ + 0.07502799481153488, + -0.10172951966524124, + 0.15358443558216095 + ], + "orientation": [ + 0.13809211552143097, + -0.3181714117527008, + 0.9179853200912476, + -0.19235537946224213 + ], + "joints": [ + -0.007102129980921745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04753396660089493, + 0.12802080810070038, + 0.12362226098775864 + ], + "orientation": [ + 0.013489888049662113, + 0.9724873900413513, + 0.17537617683410645, + 0.15273988246917725 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.04521559923887253, + 0.12251533567905426, + 0.1234704852104187 + ], + "orientation": [ + 0.005068123806267977, + 0.9706723093986511, + 0.17425958812236786, + 0.16553930938243866 + ], + "joints": [ + -0.015217388048768044 + ] + }, + "final_grasp": { + "position": [ + -0.04521559923887253, + 0.12251533567905426, + 0.1234704852104187 + ], + "orientation": [ + 0.005068123806267977, + 0.9706723093986511, + 0.17425958812236786, + 0.16553930938243866 + ], + "joints": [ + -0.010434776544570923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0023690012749284506, + -0.1312001794576645, + -0.022474410012364388 + ], + "orientation": [ + 0.9801169633865356, + 0.13383017480373383, + -0.14569823443889618, + -0.015242363326251507 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.0022890781983733177, + -0.12544453144073486, + -0.021424876525998116 + ], + "orientation": [ + 0.9800786375999451, + 0.13102051615715027, + -0.14838860929012299, + -0.01613984815776348 + ], + "joints": [ + -0.007847068831324577 + ] + }, + "final_grasp": { + "position": [ + 0.0022890781983733177, + -0.12544453144073486, + -0.021424876525998116 + ], + "orientation": [ + 0.9800786375999451, + 0.13102051615715027, + -0.14838860929012299, + -0.01613984815776348 + ], + "joints": [ + -0.000434044748544693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025467222556471825, + 0.12777648866176605, + 0.04747268557548523 + ], + "orientation": [ + 0.13631004095077515, + 0.9821544289588928, + -0.0807056576013565, + 0.10138412564992905 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.024260209873318672, + 0.12249238044023514, + 0.04945829138159752 + ], + "orientation": [ + 0.1408969610929489, + 0.9826833009719849, + -0.0790056437253952, + 0.09077334403991699 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + 0.024260209873318672, + 0.12249238044023514, + 0.04945829138159752 + ], + "orientation": [ + 0.1408969610929489, + 0.9826833009719849, + -0.0790056437253952, + 0.09077334403991699 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025487052276730537, + 0.12780088186264038, + 0.04747683182358742 + ], + "orientation": [ + 0.1362784206867218, + 0.9821559190750122, + -0.08076594769954681, + 0.10136477649211884 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.02427840046584606, + 0.12251657247543335, + 0.04945971071720123 + ], + "orientation": [ + 0.14085866510868073, + 0.9826812148094177, + -0.07904163002967834, + 0.09082337468862534 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + 0.02427840046584606, + 0.12251657247543335, + 0.04945971071720123 + ], + "orientation": [ + 0.14085866510868073, + 0.9826812148094177, + -0.07904163002967834, + 0.09082337468862534 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0539679154753685, + 0.13075600564479828, + 0.13293835520744324 + ], + "orientation": [ + 0.05976473540067673, + -0.9690860509872437, + 0.19782274961471558, + -0.13478301465511322 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.05070921778678894, + 0.12692633271217346, + 0.13197779655456543 + ], + "orientation": [ + 0.04639429226517677, + -0.968968391418457, + 0.19324535131454468, + -0.1469830721616745 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + 0.05070921778678894, + 0.12692633271217346, + 0.13197779655456543 + ], + "orientation": [ + 0.04639429226517677, + -0.968968391418457, + 0.19324535131454468, + -0.1469830721616745 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12625934183597565, + -0.030847011134028435, + 0.20332488417625427 + ], + "orientation": [ + 0.3051009476184845, + -0.6247072219848633, + -0.7147836089134216, + 0.07575365900993347 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.12340238690376282, + -0.03041270188987255, + 0.20144298672676086 + ], + "orientation": [ + 0.3092631697654724, + -0.6248709559440613, + -0.713121771812439, + 0.07314398139715195 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.12340238690376282, + -0.03041270188987255, + 0.20144298672676086 + ], + "orientation": [ + 0.3092631697654724, + -0.6248709559440613, + -0.713121771812439, + 0.07314398139715195 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14792287349700928, + 0.01697934791445732, + 0.1301887333393097 + ], + "orientation": [ + 0.6588723659515381, + -0.10023661702871323, + -0.1064995750784874, + -0.7379008531570435 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14429399371147156, + 0.016889892518520355, + 0.13049966096878052 + ], + "orientation": [ + 0.6591301560401917, + -0.09675483405590057, + -0.10742431879043579, + -0.73800128698349 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.14429399371147156, + 0.016889892518520355, + 0.13049966096878052 + ], + "orientation": [ + 0.6591301560401917, + -0.09675483405590057, + -0.10742431879043579, + -0.73800128698349 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11556971818208694, + -0.06942544132471085, + 0.07359708845615387 + ], + "orientation": [ + 0.8592168092727661, + 0.017950689420104027, + -0.11946336925029755, + -0.4971446394920349 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.11062481999397278, + -0.06646932661533356, + 0.07473292946815491 + ], + "orientation": [ + 0.8589274287223816, + 0.02036542445421219, + -0.12115740776062012, + -0.4971415400505066 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + -0.11062481999397278, + -0.06646932661533356, + 0.07473292946815491 + ], + "orientation": [ + 0.8589274287223816, + 0.02036542445421219, + -0.12115740776062012, + -0.4971415400505066 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1156114935874939, + -0.06934227794408798, + 0.07359368354082108 + ], + "orientation": [ + 0.8590342402458191, + 0.018027333542704582, + -0.11951784789562225, + -0.4974440336227417 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.11066321283578873, + -0.06639331579208374, + 0.0747387483716011 + ], + "orientation": [ + 0.8587517738342285, + 0.02049688994884491, + -0.12118560820817947, + -0.49743276834487915 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + -0.11066321283578873, + -0.06639331579208374, + 0.0747387483716011 + ], + "orientation": [ + 0.8587517738342285, + 0.02049688994884491, + -0.12118560820817947, + -0.49743276834487915 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07641012221574783, + 0.10370300710201263, + 0.0417649932205677 + ], + "orientation": [ + 0.018894679844379425, + -0.939746081829071, + 0.3152833878993988, + 0.13083119690418243 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.07340952008962631, + 0.09980832785367966, + 0.042182557284832 + ], + "orientation": [ + 0.013195398263633251, + -0.9404334425926208, + 0.3157673180103302, + 0.12530696392059326 + ], + "joints": [ + -0.008468187414109707 + ] + }, + "final_grasp": { + "position": [ + 0.07340952008962631, + 0.09980832785367966, + 0.042182557284832 + ], + "orientation": [ + 0.013195398263633251, + -0.9404334425926208, + 0.3157673180103302, + 0.12530696392059326 + ], + "joints": [ + -0.0010285917669534683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07643575221300125, + 0.10376235097646713, + 0.04177519306540489 + ], + "orientation": [ + 0.018746789544820786, + -0.9396030902862549, + 0.3153134286403656, + 0.13180314004421234 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.07336421310901642, + 0.09982689470052719, + 0.042221132665872574 + ], + "orientation": [ + 0.013355442322790623, + -0.9404230117797852, + 0.3155442774295807, + 0.1259285807609558 + ], + "joints": [ + -0.00849615316838026 + ] + }, + "final_grasp": { + "position": [ + 0.07336421310901642, + 0.09982689470052719, + 0.042221132665872574 + ], + "orientation": [ + 0.013355442322790623, + -0.9404230117797852, + 0.3155442774295807, + 0.1259285807609558 + ], + "joints": [ + -0.0005251560360193253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10864536464214325, + -0.03993113338947296, + 0.2074870616197586 + ], + "orientation": [ + 0.04041236266493797, + 0.48035889863967896, + -0.8156217336654663, + 0.3199738562107086 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.10387861728668213, + -0.03799870237708092, + 0.20452041923999786 + ], + "orientation": [ + 0.040325362235307693, + 0.4800712764263153, + -0.8160194158554077, + 0.31940245628356934 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + 0.10387861728668213, + -0.03799870237708092, + 0.20452041923999786 + ], + "orientation": [ + 0.040325362235307693, + 0.4800712764263153, + -0.8160194158554077, + 0.31940245628356934 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0596260167658329, + 0.07411704212427139, + 0.25266939401626587 + ], + "orientation": [ + 0.43079790472984314, + -0.8652359247207642, + -0.2517428398132324, + 0.04904633015394211 + ], + "joints": [ + -0.019057905301451683 + ] + }, + "fine_grasp": { + "position": [ + -0.05876081436872482, + 0.07294116169214249, + 0.2506268620491028 + ], + "orientation": [ + 0.43248435854911804, + -0.8653631210327148, + -0.2491220384836197, + 0.045190390199422836 + ], + "joints": [ + -0.014753555878996849 + ] + }, + "final_grasp": { + "position": [ + -0.05876081436872482, + 0.07294116169214249, + 0.2506268620491028 + ], + "orientation": [ + 0.43248435854911804, + -0.8653631210327148, + -0.2491220384836197, + 0.045190390199422836 + ], + "joints": [ + -0.010449206456542015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12919311225414276, + 0.0525568351149559, + 0.13874249160289764 + ], + "orientation": [ + 0.5482826232910156, + 0.09809412062168121, + 0.007623322773724794, + 0.8304851055145264 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.12485432624816895, + 0.05134642496705055, + 0.13837720453739166 + ], + "orientation": [ + 0.5458093285560608, + 0.10518521815538406, + -0.0037761495914310217, + 0.831272542476654 + ], + "joints": [ + -0.008946445770561695 + ] + }, + "final_grasp": { + "position": [ + 0.12485432624816895, + 0.05134642496705055, + 0.13837720453739166 + ], + "orientation": [ + 0.5458093285560608, + 0.10518521815538406, + -0.0037761495914310217, + 0.831272542476654 + ], + "joints": [ + -0.0019851084798574448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12923280894756317, + 0.05259106680750847, + 0.13875553011894226 + ], + "orientation": [ + 0.5479996800422668, + 0.09840498119592667, + 0.007818848825991154, + 0.830633282661438 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.12483735382556915, + 0.051360148936510086, + 0.13841396570205688 + ], + "orientation": [ + 0.5456770062446594, + 0.10547090321779251, + -0.0038220530841499567, + 0.831322968006134 + ], + "joints": [ + -0.008946445770561695 + ] + }, + "final_grasp": { + "position": [ + 0.12483735382556915, + 0.051360148936510086, + 0.13841396570205688 + ], + "orientation": [ + 0.5456770062446594, + 0.10547090321779251, + -0.0038220530841499567, + 0.831322968006134 + ], + "joints": [ + -0.0019851084798574448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12926389276981354, + 0.05258161947131157, + 0.1387174427509308 + ], + "orientation": [ + 0.5481117367744446, + 0.09823984652757645, + 0.008065459318459034, + 0.8305765986442566 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.12486151605844498, + 0.05135253444314003, + 0.1383758932352066 + ], + "orientation": [ + 0.5457395911216736, + 0.10543494671583176, + -0.0036692579742521048, + 0.8312872052192688 + ], + "joints": [ + -0.008946445770561695 + ] + }, + "final_grasp": { + "position": [ + 0.12486151605844498, + 0.05135253444314003, + 0.1383758932352066 + ], + "orientation": [ + 0.5457395911216736, + 0.10543494671583176, + -0.0036692579742521048, + 0.8312872052192688 + ], + "joints": [ + -0.0019851084798574448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09045638144016266, + -0.024496592581272125, + -0.06819135695695877 + ], + "orientation": [ + 0.6576966643333435, + 0.07646635174751282, + 0.37240710854530334, + 0.6503082513809204 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.0875680074095726, + -0.023276155814528465, + -0.06570883840322495 + ], + "orientation": [ + 0.646640419960022, + 0.0745386853814125, + 0.3828023076057434, + 0.6555627584457397 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + 0.0875680074095726, + -0.023276155814528465, + -0.06570883840322495 + ], + "orientation": [ + 0.646640419960022, + 0.0745386853814125, + 0.3828023076057434, + 0.6555627584457397 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14304803311824799, + 0.013048218563199043, + 0.10083001852035522 + ], + "orientation": [ + 0.6527947187423706, + -0.025785842910408974, + -0.18333087861537933, + -0.7345637083053589 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.1382661759853363, + 0.013046900741755962, + 0.10200116783380508 + ], + "orientation": [ + 0.6526035070419312, + -0.02008928172290325, + -0.18072889745235443, + -0.7355556488037109 + ], + "joints": [ + -0.015695646405220032 + ] + }, + "final_grasp": { + "position": [ + -0.1382661759853363, + 0.013046900741755962, + 0.10200116783380508 + ], + "orientation": [ + 0.6526035070419312, + -0.02008928172290325, + -0.18072889745235443, + -0.7355556488037109 + ], + "joints": [ + -0.0113912932574749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09836197644472122, + 0.0973508208990097, + 0.099275603890419 + ], + "orientation": [ + 0.10490913689136505, + -0.9147738814353943, + -0.3763909637928009, + -0.10253069549798965 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.09418486058712006, + 0.09327246993780136, + 0.09870339184999466 + ], + "orientation": [ + 0.10285342484712601, + -0.915011465549469, + -0.37645068764686584, + -0.10227496176958084 + ], + "joints": [ + -0.013830744661390781 + ] + }, + "final_grasp": { + "position": [ + -0.09418486058712006, + 0.09327246993780136, + 0.09870339184999466 + ], + "orientation": [ + 0.10285342484712601, + -0.915011465549469, + -0.37645068764686584, + -0.10227496176958084 + ], + "joints": [ + -0.00798533484339714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08251381665468216, + 0.10257462412118912, + 0.06910231709480286 + ], + "orientation": [ + 0.3286456763744354, + 0.0007636654772795737, + -0.08462561666965485, + -0.940653920173645 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.07883356511592865, + 0.09827980399131775, + 0.06955605000257492 + ], + "orientation": [ + 0.32855460047721863, + -0.008284665644168854, + -0.073173388838768, + -0.941609799861908 + ], + "joints": [ + -0.011086979880928993 + ] + }, + "final_grasp": { + "position": [ + -0.07883356511592865, + 0.09827980399131775, + 0.06955605000257492 + ], + "orientation": [ + 0.32855460047721863, + -0.008284665644168854, + -0.073173388838768, + -0.941609799861908 + ], + "joints": [ + -0.004205347970128059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09832737594842911, + 0.0972839742898941, + 0.09921540319919586 + ], + "orientation": [ + 0.10497300326824188, + -0.9147400259971619, + -0.3764614760875702, + -0.10250886529684067 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.0941554382443428, + 0.09321427345275879, + 0.09863129258155823 + ], + "orientation": [ + 0.10299507528543472, + -0.9149558544158936, + -0.37648430466651917, + -0.1025051474571228 + ], + "joints": [ + -0.013830744661390781 + ] + }, + "final_grasp": { + "position": [ + -0.0941554382443428, + 0.09321427345275879, + 0.09863129258155823 + ], + "orientation": [ + 0.10299507528543472, + -0.9149558544158936, + -0.37648430466651917, + -0.1025051474571228 + ], + "joints": [ + -0.00798533484339714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04521128535270691, + 0.12184381484985352, + 0.050584375858306885 + ], + "orientation": [ + 0.18688470125198364, + 0.15517094731330872, + 0.023508865386247635, + 0.9697647094726562 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.043178990483284, + 0.11686459183692932, + 0.051471080631017685 + ], + "orientation": [ + 0.18590030074119568, + 0.15097688138484955, + 0.028720293194055557, + 0.9704752564430237 + ], + "joints": [ + -0.010289142839610577 + ] + }, + "final_grasp": { + "position": [ + 0.043178990483284, + 0.11686459183692932, + 0.051471080631017685 + ], + "orientation": [ + 0.18590030074119568, + 0.15097688138484955, + 0.028720293194055557, + 0.9704752564430237 + ], + "joints": [ + -0.0023447107523679733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12574681639671326, + 0.06515081971883774, + 0.1022113561630249 + ], + "orientation": [ + 0.0603448860347271, + -0.847378134727478, + 0.5181333422660828, + 0.09922982007265091 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.1207345575094223, + 0.06280911713838577, + 0.10232522338628769 + ], + "orientation": [ + 0.05954204499721527, + -0.8478373289108276, + 0.5173264145851135, + 0.10000012069940567 + ], + "joints": [ + -0.014391585253179073 + ] + }, + "final_grasp": { + "position": [ + 0.1207345575094223, + 0.06280911713838577, + 0.10232522338628769 + ], + "orientation": [ + 0.05954204499721527, + -0.8478373289108276, + 0.5173264145851135, + 0.10000012069940567 + ], + "joints": [ + -0.00907757505774498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11572646349668503, + -0.047449324280023575, + 0.08194243907928467 + ], + "orientation": [ + 0.8242286443710327, + -0.13512375950813293, + -0.06567416340112686, + -0.5459630489349365 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.11661481857299805, + -0.047054391354322433, + 0.080144003033638 + ], + "orientation": [ + 0.8205274343490601, + -0.14134596288204193, + -0.0828067734837532, + -0.547630250453949 + ], + "joints": [ + -0.011183987371623516 + ] + }, + "final_grasp": { + "position": [ + -0.11661481857299805, + -0.047054391354322433, + 0.080144003033638 + ], + "orientation": [ + 0.8205274343490601, + -0.14134596288204193, + -0.0828067734837532, + -0.547630250453949 + ], + "joints": [ + -0.005312016233801842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1286374032497406, + -0.020880023017525673, + -0.00930851697921753 + ], + "orientation": [ + 0.15078316628932953, + -0.6009030938148499, + -0.7636609673500061, + -0.181664377450943 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.12734869122505188, + -0.020168883726000786, + -0.007796080317348242 + ], + "orientation": [ + 0.15457482635974884, + -0.5989184975624084, + -0.7617045044898987, + -0.1928979754447937 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.12734869122505188, + -0.020168883726000786, + -0.007796080317348242 + ], + "orientation": [ + 0.15457482635974884, + -0.5989184975624084, + -0.7617045044898987, + -0.1928979754447937 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09827742725610733, + 0.09724646061658859, + 0.09923621267080307 + ], + "orientation": [ + 0.1049550250172615, + -0.9147433638572693, + -0.3764345347881317, + -0.102596715092659 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.09411763399839401, + 0.0931764543056488, + 0.09864825010299683 + ], + "orientation": [ + 0.10297130048274994, + -0.9149388670921326, + -0.37651124596595764, + -0.10258150100708008 + ], + "joints": [ + -0.013830744661390781 + ] + }, + "final_grasp": { + "position": [ + -0.09411763399839401, + 0.0931764543056488, + 0.09864825010299683 + ], + "orientation": [ + 0.10297130048274994, + -0.9149388670921326, + -0.37651124596595764, + -0.10258150100708008 + ], + "joints": [ + -0.00798533484339714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07193993777036667, + -0.10981054604053497, + 0.08696361631155014 + ], + "orientation": [ + 0.11362361162900925, + 0.28861960768699646, + -0.9505946040153503, + 0.012583254836499691 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.06971519440412521, + -0.1063554584980011, + 0.0874723419547081 + ], + "orientation": [ + 0.10797665268182755, + 0.2909003794193268, + -0.9506063461303711, + 0.008103745058178902 + ], + "joints": [ + -0.013328786008059978 + ] + }, + "final_grasp": { + "position": [ + 0.06971519440412521, + -0.1063554584980011, + 0.0874723419547081 + ], + "orientation": [ + 0.10797665268182755, + 0.2909003794193268, + -0.9506063461303711, + 0.008103745058178902 + ], + "joints": [ + -0.00695197656750679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04244663938879967, + -0.13260042667388916, + 0.14831362664699554 + ], + "orientation": [ + 0.14012101292610168, + -0.16410000622272491, + -0.9668455719947815, + 0.13655337691307068 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.04164840653538704, + -0.12904250621795654, + 0.14693975448608398 + ], + "orientation": [ + 0.1375882476568222, + -0.16668908298015594, + -0.9664263129234314, + 0.13894017040729523 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.04164840653538704, + -0.12904250621795654, + 0.14693975448608398 + ], + "orientation": [ + 0.1375882476568222, + -0.16668908298015594, + -0.9664263129234314, + 0.13894017040729523 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04245297983288765, + -0.13255363702774048, + 0.14829903841018677 + ], + "orientation": [ + 0.14020515978336334, + -0.1641542911529541, + -0.9668537378311157, + 0.1363437920808792 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.04167894646525383, + -0.12904034554958344, + 0.14693909883499146 + ], + "orientation": [ + 0.13759905099868774, + -0.16678646206855774, + -0.9664326906204224, + 0.13876836001873016 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.04167894646525383, + -0.12904034554958344, + 0.14693909883499146 + ], + "orientation": [ + 0.13759905099868774, + -0.16678646206855774, + -0.9664326906204224, + 0.13876836001873016 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.134540393948555, + 0.0022836735006421804, + 0.022398125380277634 + ], + "orientation": [ + 0.7005178928375244, + 0.14058750867843628, + 0.07275049388408661, + -0.6958571672439575 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.12916725873947144, + 0.0024571046233177185, + 0.023344682529568672 + ], + "orientation": [ + 0.6990218758583069, + 0.1461867243051529, + 0.07351086288690567, + -0.6961279511451721 + ], + "joints": [ + -0.011183987371623516 + ] + }, + "final_grasp": { + "position": [ + -0.12916725873947144, + 0.0024571046233177185, + 0.023344682529568672 + ], + "orientation": [ + 0.6990218758583069, + 0.1461867243051529, + 0.07351086288690567, + -0.6961279511451721 + ], + "joints": [ + -0.005312016233801842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07196386903524399, + -0.10993779450654984, + 0.08706947416067123 + ], + "orientation": [ + 0.1144692674279213, + 0.28848984837532043, + -0.9505391716957092, + 0.012067734263837337 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.06969880312681198, + -0.10647996515035629, + 0.08760633319616318 + ], + "orientation": [ + 0.1086568832397461, + 0.290632963180542, + -0.9506158828735352, + 0.007459706161171198 + ], + "joints": [ + -0.013328786008059978 + ] + }, + "final_grasp": { + "position": [ + 0.06969880312681198, + -0.10647996515035629, + 0.08760633319616318 + ], + "orientation": [ + 0.1086568832397461, + 0.290632963180542, + -0.9506158828735352, + 0.007459706161171198 + ], + "joints": [ + -0.00695197656750679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07204297184944153, + -0.11004471778869629, + 0.08718177676200867 + ], + "orientation": [ + 0.11531767249107361, + 0.28855228424072266, + -0.9504218697547913, + 0.011734739877283573 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.0697336494922638, + -0.10658970475196838, + 0.08774667233228683 + ], + "orientation": [ + 0.10948733240365982, + 0.29055091738700867, + -0.9505485892295837, + 0.0070667024701833725 + ], + "joints": [ + -0.013328786008059978 + ] + }, + "final_grasp": { + "position": [ + 0.0697336494922638, + -0.10658970475196838, + 0.08774667233228683 + ], + "orientation": [ + 0.10948733240365982, + 0.29055091738700867, + -0.9505485892295837, + 0.0070667024701833725 + ], + "joints": [ + -0.00695197656750679 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07178273051977158, + 0.10007771104574203, + 0.06549336761236191 + ], + "orientation": [ + 0.2993839681148529, + 0.10404133796691895, + -0.1019057184457779, + 0.9429526329040527 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.07155866175889969, + 0.09963168948888779, + 0.06337251514196396 + ], + "orientation": [ + 0.3029139041900635, + 0.11136358231306076, + -0.09953508526086807, + 0.941240668296814 + ], + "joints": [ + -0.0100063756108284 + ] + }, + "final_grasp": { + "position": [ + 0.07155866175889969, + 0.09963168948888779, + 0.06337251514196396 + ], + "orientation": [ + 0.3029139041900635, + 0.11136358231306076, + -0.09953508526086807, + 0.941240668296814 + ], + "joints": [ + -0.004134409129619598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048095379024744034, + -0.1319510042667389, + 0.17533843219280243 + ], + "orientation": [ + 0.15424473583698273, + 0.1404634714126587, + 0.9653638005256653, + -0.15668822824954987 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.04652367904782295, + -0.1267496794462204, + 0.17396973073482513 + ], + "orientation": [ + 0.1517297327518463, + 0.14129066467285156, + 0.9659111499786377, + -0.1550188511610031 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.04652367904782295, + -0.1267496794462204, + 0.17396973073482513 + ], + "orientation": [ + 0.1517297327518463, + 0.14129066467285156, + 0.9659111499786377, + -0.1550188511610031 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03906496241688728, + 0.10650976747274399, + -0.02151305601000786 + ], + "orientation": [ + 0.16340382397174835, + 0.9674637913703918, + -0.1345081925392151, + 0.13863824307918549 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.038294754922389984, + 0.10606507211923599, + -0.02296551875770092 + ], + "orientation": [ + 0.16847920417785645, + 0.9674191474914551, + -0.1241234689950943, + 0.14250770211219788 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + 0.038294754922389984, + 0.10606507211923599, + -0.02296551875770092 + ], + "orientation": [ + 0.16847920417785645, + 0.9674191474914551, + -0.1241234689950943, + 0.14250770211219788 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048155296593904495, + -0.1318724900484085, + 0.17540206015110016 + ], + "orientation": [ + 0.15571807324886322, + 0.14027275145053864, + 0.9654003977775574, + -0.1551688015460968 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.046593472361564636, + -0.126744344830513, + 0.17390550673007965 + ], + "orientation": [ + 0.15314455330371857, + 0.14147217571735382, + 0.9657872915267944, + -0.15423119068145752 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.046593472361564636, + -0.126744344830513, + 0.17390550673007965 + ], + "orientation": [ + 0.15314455330371857, + 0.14147217571735382, + 0.9657872915267944, + -0.15423119068145752 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12305217236280441, + 0.017361551523208618, + 0.02662615478038788 + ], + "orientation": [ + 0.6458794474601746, + -0.11759283393621445, + -0.08895726501941681, + -0.7490650415420532 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.1231735572218895, + 0.017156312242150307, + 0.02602548711001873 + ], + "orientation": [ + 0.6432350873947144, + -0.13145753741264343, + -0.1017577275633812, + -0.7474040985107422 + ], + "joints": [ + -0.008772747591137886 + ] + }, + "final_grasp": { + "position": [ + -0.1231735572218895, + 0.017156312242150307, + 0.02602548711001873 + ], + "orientation": [ + 0.6432350873947144, + -0.13145753741264343, + -0.1017577275633812, + -0.7474040985107422 + ], + "joints": [ + -0.002874210476875305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12308401614427567, + 0.017337525263428688, + 0.026661749929189682 + ], + "orientation": [ + 0.6459315419197083, + -0.11731298267841339, + -0.08900094777345657, + -0.749058723449707 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.12317672371864319, + 0.017163995653390884, + 0.02603171207010746 + ], + "orientation": [ + 0.6431061029434204, + -0.1317141354084015, + -0.10232159495353699, + -0.7473929524421692 + ], + "joints": [ + -0.008772747591137886 + ] + }, + "final_grasp": { + "position": [ + -0.12317672371864319, + 0.017163995653390884, + 0.02603171207010746 + ], + "orientation": [ + 0.6431061029434204, + -0.1317141354084015, + -0.10232159495353699, + -0.7473929524421692 + ], + "joints": [ + -0.002874210476875305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00936439260840416, + 0.14146222174167633, + 0.04796978831291199 + ], + "orientation": [ + 0.021116776391863823, + -0.9828677773475647, + 0.03357647359371185, + 0.17999327182769775 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.008704389445483685, + 0.13550198078155518, + 0.04806986451148987 + ], + "orientation": [ + 0.02110627479851246, + -0.982489287853241, + 0.031896550208330154, + 0.18235155940055847 + ], + "joints": [ + -0.011827330105006695 + ] + }, + "final_grasp": { + "position": [ + 0.008704389445483685, + 0.13550198078155518, + 0.04806986451148987 + ], + "orientation": [ + 0.02110627479851246, + -0.982489287853241, + 0.031896550208330154, + 0.18235155940055847 + ], + "joints": [ + -0.005450526252388954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009416379034519196, + 0.14132249355316162, + 0.04817890748381615 + ], + "orientation": [ + 0.02107967622578144, + -0.9829216599464417, + 0.03381432965397835, + 0.17965909838676453 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.00874874833971262, + 0.13536234200000763, + 0.048283226788043976 + ], + "orientation": [ + 0.021040096879005432, + -0.9825432300567627, + 0.03230461850762367, + 0.18199554085731506 + ], + "joints": [ + -0.011827330105006695 + ] + }, + "final_grasp": { + "position": [ + 0.00874874833971262, + 0.13536234200000763, + 0.048283226788043976 + ], + "orientation": [ + 0.021040096879005432, + -0.9825432300567627, + 0.03230461850762367, + 0.18199554085731506 + ], + "joints": [ + -0.005450526252388954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056512121111154556, + 0.11894458532333374, + 0.11286531388759613 + ], + "orientation": [ + 0.21467775106430054, + -0.1400355100631714, + -0.1792166382074356, + -0.9498341083526611 + ], + "joints": [ + -0.017497561872005463 + ] + }, + "fine_grasp": { + "position": [ + -0.0572253093123436, + 0.1215197965502739, + 0.11252089589834213 + ], + "orientation": [ + 0.2125607281923294, + -0.12878552079200745, + -0.19179582595825195, + -0.9494454264640808 + ], + "joints": [ + -0.009021732024848461 + ] + }, + "final_grasp": { + "position": [ + -0.0572253093123436, + 0.1215197965502739, + 0.11252089589834213 + ], + "orientation": [ + 0.2125607281923294, + -0.12878552079200745, + -0.19179582595825195, + -0.9494454264640808 + ], + "joints": [ + -0.0005459021776914597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01735454425215721, + 0.13369271159172058, + 0.06305132061243057 + ], + "orientation": [ + 0.0933612510561943, + 0.9854549765586853, + -0.049487922340631485, + 0.13309091329574585 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.016452765092253685, + 0.1282084882259369, + 0.06430324167013168 + ], + "orientation": [ + 0.09693889319896698, + 0.9855525493621826, + -0.046318259090185165, + 0.1309334635734558 + ], + "joints": [ + -0.013860185630619526 + ] + }, + "final_grasp": { + "position": [ + 0.016452765092253685, + 0.1282084882259369, + 0.06430324167013168 + ], + "orientation": [ + 0.09693889319896698, + 0.9855525493621826, + -0.046318259090185165, + 0.1309334635734558 + ], + "joints": [ + -0.008014775812625885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1226363554596901, + -0.031000737100839615, + 0.05524548143148422 + ], + "orientation": [ + 0.16038201749324799, + 0.6192270517349243, + 0.7686132192611694, + -0.008314913138747215 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.11918206512928009, + -0.030054913833737373, + 0.05711791291832924 + ], + "orientation": [ + 0.16534766554832458, + 0.6186836957931519, + 0.7680199146270752, + -0.005997828673571348 + ], + "joints": [ + -0.011593203991651535 + ] + }, + "final_grasp": { + "position": [ + -0.11918206512928009, + -0.030054913833737373, + 0.05711791291832924 + ], + "orientation": [ + 0.16534766554832458, + 0.6186836957931519, + 0.7680199146270752, + -0.005997828673571348 + ], + "joints": [ + -0.004658428952097893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0876460000872612, + -0.10198473930358887, + 0.08765233308076859 + ], + "orientation": [ + 0.26137858629226685, + 0.3520435392856598, + 0.8900531530380249, + 0.12470744550228119 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.08433111011981964, + -0.0979771688580513, + 0.08985590934753418 + ], + "orientation": [ + 0.26788243651390076, + 0.3505611717700958, + 0.8887808918952942, + 0.12415497750043869 + ], + "joints": [ + -0.01367633044719696 + ] + }, + "final_grasp": { + "position": [ + -0.08433111011981964, + -0.0979771688580513, + 0.08985590934753418 + ], + "orientation": [ + 0.26788243651390076, + 0.3505611717700958, + 0.8887808918952942, + 0.12415497750043869 + ], + "joints": [ + -0.007352661341428757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03682083636522293, + 0.04665272682905197, + 0.24549028277397156 + ], + "orientation": [ + 0.30211958289146423, + -0.2870073616504669, + -0.5379543900489807, + 0.7327726483345032 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.036361366510391235, + 0.04725411906838417, + 0.24869169294834137 + ], + "orientation": [ + 0.30971047282218933, + -0.30079466104507446, + -0.5258651375770569, + 0.73284912109375 + ], + "joints": [ + -0.011148886755108833 + ] + }, + "final_grasp": { + "position": [ + 0.036361366510391235, + 0.04725411906838417, + 0.24869169294834137 + ], + "orientation": [ + 0.30971047282218933, + -0.30079466104507446, + -0.5258651375770569, + 0.73284912109375 + ], + "joints": [ + -0.006419431418180466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09145418554544449, + 0.10526090860366821, + 0.10307765752077103 + ], + "orientation": [ + 0.22353677451610565, + 0.9016453623771667, + 0.32493796944618225, + -0.1774325668811798 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + -0.08753026276826859, + 0.10166306793689728, + 0.10441360622644424 + ], + "orientation": [ + 0.2248164713382721, + 0.9004843831062317, + 0.3265063464641571, + -0.17882676422595978 + ], + "joints": [ + -0.012795991264283657 + ] + }, + "final_grasp": { + "position": [ + -0.08753026276826859, + 0.10166306793689728, + 0.10441360622644424 + ], + "orientation": [ + 0.2248164713382721, + 0.9004843831062317, + 0.3265063464641571, + -0.17882676422595978 + ], + "joints": [ + -0.006445754319429398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09150554239749908, + 0.10533920675516129, + 0.10309624671936035 + ], + "orientation": [ + 0.2233235388994217, + 0.9017419815063477, + 0.3249475955963135, + -0.1771921068429947 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + -0.08760115504264832, + 0.10175290703773499, + 0.1044268012046814 + ], + "orientation": [ + 0.2246520221233368, + 0.900538980960846, + 0.3265277147293091, + -0.1787194311618805 + ], + "joints": [ + -0.012795991264283657 + ] + }, + "final_grasp": { + "position": [ + -0.08760115504264832, + 0.10175290703773499, + 0.1044268012046814 + ], + "orientation": [ + 0.2246520221233368, + 0.900538980960846, + 0.3265277147293091, + -0.1787194311618805 + ], + "joints": [ + -0.006445754319429398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0567009337246418, + 0.02308645099401474, + 0.26024138927459717 + ], + "orientation": [ + 0.3867644965648651, + -0.2340042144060135, + -0.5685649514198303, + 0.687305748462677 + ], + "joints": [ + -0.015907783061265945 + ] + }, + "fine_grasp": { + "position": [ + 0.055190011858940125, + 0.022357255220413208, + 0.2556576430797577 + ], + "orientation": [ + 0.38786420226097107, + -0.23391123116016388, + -0.564872682094574, + 0.6897576451301575 + ], + "joints": [ + -0.009530986659228802 + ] + }, + "final_grasp": { + "position": [ + 0.055190011858940125, + 0.022357255220413208, + 0.2556576430797577 + ], + "orientation": [ + 0.38786420226097107, + -0.23391123116016388, + -0.564872682094574, + 0.6897576451301575 + ], + "joints": [ + -0.003154190257191658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021410858258605003, + -0.12163414806127548, + -0.03056778572499752 + ], + "orientation": [ + 0.9272322654724121, + 0.10093903541564941, + 0.32109758257865906, + 0.16415764391422272 + ], + "joints": [ + -0.014553520828485489 + ] + }, + "fine_grasp": { + "position": [ + 0.022097978740930557, + -0.12379321455955505, + -0.028388408944010735 + ], + "orientation": [ + 0.9344503283500671, + 0.11337090283632278, + 0.30368301272392273, + 0.14739835262298584 + ], + "joints": [ + -0.010780582204461098 + ] + }, + "final_grasp": { + "position": [ + 0.022097978740930557, + -0.12379321455955505, + -0.028388408944010735 + ], + "orientation": [ + 0.9344503283500671, + 0.11337090283632278, + 0.30368301272392273, + 0.14739835262298584 + ], + "joints": [ + -0.0070076435804367065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02122570015490055, + -0.12159144878387451, + -0.03050331026315689 + ], + "orientation": [ + 0.9272702932357788, + 0.1013827696442604, + 0.32119765877723694, + 0.1634729951620102 + ], + "joints": [ + -0.014553520828485489 + ] + }, + "fine_grasp": { + "position": [ + 0.022001300007104874, + -0.12378749251365662, + -0.028287366032600403 + ], + "orientation": [ + 0.9342718720436096, + 0.11507909744977951, + 0.3039052188396454, + 0.14674602448940277 + ], + "joints": [ + -0.011311981827020645 + ] + }, + "final_grasp": { + "position": [ + 0.022001300007104874, + -0.12378749251365662, + -0.028287366032600403 + ], + "orientation": [ + 0.9342718720436096, + 0.11507909744977951, + 0.3039052188396454, + 0.14674602448940277 + ], + "joints": [ + -0.008070442825555801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03449409455060959, + -0.12169049680233002, + -0.014324545860290527 + ], + "orientation": [ + 0.9537400603294373, + 0.02258274517953396, + 0.24111992120742798, + 0.17813242971897125 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.03532150760293007, + -0.12498442828655243, + -0.012541829608380795 + ], + "orientation": [ + 0.9528235197067261, + 0.02885107509791851, + 0.24700927734375, + 0.1740153282880783 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + 0.03532150760293007, + -0.12498442828655243, + -0.012541829608380795 + ], + "orientation": [ + 0.9528235197067261, + 0.02885107509791851, + 0.24700927734375, + 0.1740153282880783 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0345354899764061, + -0.12165965139865875, + -0.014403723180294037 + ], + "orientation": [ + 0.9536983370780945, + 0.02286718413233757, + 0.24109137058258057, + 0.1783580482006073 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.03536481782793999, + -0.12495680898427963, + -0.01262600626796484 + ], + "orientation": [ + 0.9528244733810425, + 0.029089530929923058, + 0.246837317943573, + 0.17421481013298035 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + 0.03536481782793999, + -0.12495680898427963, + -0.01262600626796484 + ], + "orientation": [ + 0.9528244733810425, + 0.029089530929923058, + 0.246837317943573, + 0.17421481013298035 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0344989076256752, + -0.12169764935970306, + -0.014326636679470539 + ], + "orientation": [ + 0.9536479711532593, + 0.022495228797197342, + 0.2414213865995407, + 0.17822805047035217 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.0353209413588047, + -0.12497946619987488, + -0.012531174346804619 + ], + "orientation": [ + 0.952670693397522, + 0.028805604204535484, + 0.24752208590507507, + 0.17413130402565002 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + 0.0353209413588047, + -0.12497946619987488, + -0.012531174346804619 + ], + "orientation": [ + 0.952670693397522, + 0.028805604204535484, + 0.24752208590507507, + 0.17413130402565002 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0878167524933815, + -0.09062083065509796, + 0.08495257794857025 + ], + "orientation": [ + 0.1483440101146698, + -0.32911545038223267, + 0.8754773736000061, + 0.3212731182575226 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.08811359107494354, + -0.09178459644317627, + 0.08466020971536636 + ], + "orientation": [ + 0.14952091872692108, + -0.3258836269378662, + 0.8724004030227661, + 0.33220598101615906 + ], + "joints": [ + -0.010175724513828754 + ] + }, + "final_grasp": { + "position": [ + 0.08811359107494354, + -0.09178459644317627, + 0.08466020971536636 + ], + "orientation": [ + 0.14952091872692108, + -0.3258836269378662, + 0.8724004030227661, + 0.33220598101615906 + ], + "joints": [ + -0.002736123278737068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08779829740524292, + -0.09063240140676498, + 0.08493298292160034 + ], + "orientation": [ + 0.14769531786441803, + -0.3291572034358978, + 0.8754956722259521, + 0.32147929072380066 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.0879959911108017, + -0.09196318686008453, + 0.08461447060108185 + ], + "orientation": [ + 0.14994913339614868, + -0.3248750865459442, + 0.8723016381263733, + 0.33325880765914917 + ], + "joints": [ + -0.010175724513828754 + ] + }, + "final_grasp": { + "position": [ + 0.0879959911108017, + -0.09196318686008453, + 0.08461447060108185 + ], + "orientation": [ + 0.14994913339614868, + -0.3248750865459442, + 0.8723016381263733, + 0.33325880765914917 + ], + "joints": [ + -0.002736123278737068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060055315494537354, + 0.10524725914001465, + 0.044865354895591736 + ], + "orientation": [ + 0.25731614232063293, + -0.002350894035771489, + -0.027559883892536163, + -0.9659314155578613 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.06220544874668121, + 0.10534848272800446, + 0.04307477921247482 + ], + "orientation": [ + 0.2658472955226898, + -0.0036349226720631123, + -0.012405524030327797, + -0.9639285206794739 + ], + "joints": [ + -0.007764562498778105 + ] + }, + "final_grasp": { + "position": [ + -0.06220544874668121, + 0.10534848272800446, + 0.04307477921247482 + ], + "orientation": [ + 0.2658472955226898, + -0.0036349226720631123, + -0.012405524030327797, + -0.9639285206794739 + ], + "joints": [ + -0.0013877665624022484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08075504004955292, + -0.11817815154790878, + 0.16441375017166138 + ], + "orientation": [ + 0.9400315880775452, + -0.1336589902639389, + -0.17731748521327972, + -0.25890982151031494 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.07826176285743713, + -0.11319764703512192, + 0.16383126378059387 + ], + "orientation": [ + 0.9397104382514954, + -0.1317969113588333, + -0.18472975492477417, + -0.25582966208457947 + ], + "joints": [ + -0.014181159436702728 + ] + }, + "final_grasp": { + "position": [ + -0.07826176285743713, + -0.11319764703512192, + 0.16383126378059387 + ], + "orientation": [ + 0.9397104382514954, + -0.1317969113588333, + -0.18472975492477417, + -0.25582966208457947 + ], + "joints": [ + -0.008362319320440292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0516170933842659, + 0.11992372572422028, + 0.009732157923281193 + ], + "orientation": [ + 0.0665491446852684, + -0.9552084803581238, + -0.21409659087657928, + -0.1931595802307129 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.0507357195019722, + 0.11734655499458313, + 0.010319281369447708 + ], + "orientation": [ + 0.06410887092351913, + -0.9548870325088501, + -0.2189946323633194, + -0.1900583952665329 + ], + "joints": [ + -0.006444086320698261 + ] + }, + "final_grasp": { + "position": [ + -0.0507357195019722, + 0.11734655499458313, + 0.010319281369447708 + ], + "orientation": [ + 0.06410887092351913, + -0.9548870325088501, + -0.2189946323633194, + -0.1900583952665329 + ], + "joints": [ + -0.0005721207708120346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1197083368897438, + 0.07319062203168869, + 0.11060535162687302 + ], + "orientation": [ + 0.4652411639690399, + 0.29796627163887024, + -0.02085176482796669, + 0.8332658410072327 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.11867433041334152, + 0.07141608744859695, + 0.11152700334787369 + ], + "orientation": [ + 0.4636264741420746, + 0.3000447750091553, + -0.013338223099708557, + 0.8335740566253662 + ], + "joints": [ + -0.01062027644366026 + ] + }, + "final_grasp": { + "position": [ + 0.11867433041334152, + 0.07141608744859695, + 0.11152700334787369 + ], + "orientation": [ + 0.4636264741420746, + 0.3000447750091553, + -0.013338223099708557, + 0.8335740566253662 + ], + "joints": [ + -0.004243476316332817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13693711161613464, + 0.05693793669342995, + 0.1410100907087326 + ], + "orientation": [ + 0.14513899385929108, + 0.7962186932563782, + 0.5556367635726929, + -0.19036351144313812 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.13154394924640656, + 0.055439140647649765, + 0.1407783478498459 + ], + "orientation": [ + 0.14321176707744598, + 0.7953986525535583, + 0.5573381781578064, + -0.1902780383825302 + ], + "joints": [ + -0.012151174247264862 + ] + }, + "final_grasp": { + "position": [ + -0.13154394924640656, + 0.055439140647649765, + 0.1407783478498459 + ], + "orientation": [ + 0.14321176707744598, + 0.7953986525535583, + 0.5573381781578064, + -0.1902780383825302 + ], + "joints": [ + -0.005774369463324547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14700494706630707, + 0.007640344090759754, + 0.1516249179840088 + ], + "orientation": [ + 0.1875915378332138, + -0.7243525981903076, + -0.6422811150550842, + -0.16612569987773895 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.14156238734722137, + 0.007442841771990061, + 0.15103861689567566 + ], + "orientation": [ + 0.1832347959280014, + -0.7268461585044861, + -0.6424205899238586, + -0.15942217409610748 + ], + "joints": [ + -0.011772793717682362 + ] + }, + "final_grasp": { + "position": [ + -0.14156238734722137, + 0.007442841771990061, + 0.15103861689567566 + ], + "orientation": [ + 0.1832347959280014, + -0.7268461585044861, + -0.6424205899238586, + -0.15942217409610748 + ], + "joints": [ + -0.005900820717215538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11714842915534973, + -0.05426519364118576, + 0.20055407285690308 + ], + "orientation": [ + 0.10791748762130737, + 0.4440230429172516, + 0.8376241326332092, + -0.29930469393730164 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.1153578981757164, + -0.05326012521982193, + 0.19893524050712585 + ], + "orientation": [ + 0.10171622782945633, + 0.44521984457969666, + 0.8375856876373291, + -0.29980531334877014 + ], + "joints": [ + -0.013215367682278156 + ] + }, + "final_grasp": { + "position": [ + -0.1153578981757164, + -0.05326012521982193, + 0.19893524050712585 + ], + "orientation": [ + 0.10171622782945633, + 0.44521984457969666, + 0.8375856876373291, + -0.29980531334877014 + ], + "joints": [ + -0.007343389093875885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03451519459486008, + -0.1310601681470871, + -0.031585581600666046 + ], + "orientation": [ + 0.953264057636261, + 0.1537298858165741, + -0.2533426284790039, + 0.058926377445459366 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.03303280845284462, + -0.12602734565734863, + -0.02939636819064617 + ], + "orientation": [ + 0.9524505138397217, + 0.15766257047653198, + -0.2544540762901306, + 0.056865449994802475 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + 0.03303280845284462, + -0.12602734565734863, + -0.02939636819064617 + ], + "orientation": [ + 0.9524505138397217, + 0.15766257047653198, + -0.2544540762901306, + 0.056865449994802475 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10086651891469955, + 0.06822723895311356, + -0.02556048147380352 + ], + "orientation": [ + 0.3303334414958954, + -0.28389793634414673, + 0.27041858434677124, + 0.8585776090621948 + ], + "joints": [ + -0.0136253722012043 + ] + }, + "fine_grasp": { + "position": [ + 0.10341831296682358, + 0.07064507156610489, + -0.02397024631500244 + ], + "orientation": [ + 0.34403151273727417, + -0.27681833505630493, + 0.27974268794059753, + 0.8525009751319885 + ], + "joints": [ + -0.009879004210233688 + ] + }, + "final_grasp": { + "position": [ + 0.10341831296682358, + 0.07064507156610489, + -0.02397024631500244 + ], + "orientation": [ + 0.34403151273727417, + -0.27681833505630493, + 0.27974268794059753, + 0.8525009751319885 + ], + "joints": [ + -0.006132636219263077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1123146042227745, + -0.07675199955701828, + -0.033370088785886765 + ], + "orientation": [ + 0.8483487963676453, + 0.2913990914821625, + 0.3348882794380188, + -0.28851455450057983 + ], + "joints": [ + -0.002404627623036504 + ] + }, + "fine_grasp": { + "position": [ + -0.11395039409399033, + -0.08001785725355148, + -0.03191062808036804 + ], + "orientation": [ + 0.8463271260261536, + 0.29793432354927063, + 0.32016560435295105, + -0.3040718138217926 + ], + "joints": [ + 0.0008103408617898822 + ] + }, + "final_grasp": { + "position": [ + -0.11395039409399033, + -0.08001785725355148, + -0.03191062808036804 + ], + "orientation": [ + 0.8463271260261536, + 0.29793432354927063, + 0.32016560435295105, + -0.3040718138217926 + ], + "joints": [ + 0.004025309346616268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002577858977019787, + 0.13916726410388947, + -0.03331605717539787 + ], + "orientation": [ + 0.13640837371349335, + 0.9195616245269775, + -0.08804330974817276, + -0.35783740878105164 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.0027093966491520405, + 0.134626105427742, + -0.030639801174402237 + ], + "orientation": [ + 0.1448725163936615, + 0.9235147833824158, + -0.07953653484582901, + -0.3461307883262634 + ], + "joints": [ + -0.007866059429943562 + ] + }, + "final_grasp": { + "position": [ + -0.0027093966491520405, + 0.134626105427742, + -0.030639801174402237 + ], + "orientation": [ + 0.1448725163936615, + 0.9235147833824158, + -0.07953653484582901, + -0.3461307883262634 + ], + "joints": [ + -0.0051824916154146194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10283354669809341, + 0.0662630945444107, + -0.03949470818042755 + ], + "orientation": [ + 0.2883210778236389, + 0.8626653552055359, + 0.3537602424621582, + -0.21802064776420593 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.09833549708127975, + 0.06454658508300781, + -0.03668706864118576 + ], + "orientation": [ + 0.29680195450782776, + 0.8588697910308838, + 0.35572895407676697, + -0.2184218168258667 + ], + "joints": [ + -0.008488576859235764 + ] + }, + "final_grasp": { + "position": [ + -0.09833549708127975, + 0.06454658508300781, + -0.03668706864118576 + ], + "orientation": [ + 0.29680195450782776, + 0.8588697910308838, + 0.35572895407676697, + -0.2184218168258667 + ], + "joints": [ + -0.005220469087362289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1290532350540161, + 0.014879263006150723, + -0.013830527663230896 + ], + "orientation": [ + 0.5035340785980225, + -0.2846575379371643, + -0.34182265400886536, + -0.7406623959541321 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.12941515445709229, + 0.0163780115544796, + -0.012089602649211884 + ], + "orientation": [ + 0.504848062992096, + -0.27827855944633484, + -0.3580586612224579, + -0.7344954013824463 + ], + "joints": [ + -0.010756958276033401 + ] + }, + "final_grasp": { + "position": [ + -0.12941515445709229, + 0.0163780115544796, + -0.012089602649211884 + ], + "orientation": [ + 0.504848062992096, + -0.27827855944633484, + -0.3580586612224579, + -0.7344954013824463 + ], + "joints": [ + -0.008020248264074326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1290939599275589, + 0.014888216741383076, + -0.013813135214149952 + ], + "orientation": [ + 0.5035778880119324, + -0.2846865952014923, + -0.34179067611694336, + -0.7406362891197205 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.12944626808166504, + 0.016382664442062378, + -0.01205733697861433 + ], + "orientation": [ + 0.504831075668335, + -0.27843502163887024, + -0.3580480217933655, + -0.734453022480011 + ], + "joints": [ + -0.010756958276033401 + ] + }, + "final_grasp": { + "position": [ + -0.12944626808166504, + 0.016382664442062378, + -0.01205733697861433 + ], + "orientation": [ + 0.504831075668335, + -0.27843502163887024, + -0.3580480217933655, + -0.734453022480011 + ], + "joints": [ + -0.008020248264074326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12907548248767853, + 0.014900408685207367, + -0.013835960067808628 + ], + "orientation": [ + 0.503460168838501, + -0.28469881415367126, + -0.3418583273887634, + -0.7406803369522095 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.12942513823509216, + 0.016396181657910347, + -0.012093909084796906 + ], + "orientation": [ + 0.5047784447669983, + -0.27831634879112244, + -0.3580760657787323, + -0.7345204949378967 + ], + "joints": [ + -0.010756958276033401 + ] + }, + "final_grasp": { + "position": [ + -0.12942513823509216, + 0.016396181657910347, + -0.012093909084796906 + ], + "orientation": [ + 0.5047784447669983, + -0.27831634879112244, + -0.3580760657787323, + -0.7345204949378967 + ], + "joints": [ + -0.008020248264074326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12908773124217987, + 0.014880428090691566, + -0.013814385049045086 + ], + "orientation": [ + 0.5034859776496887, + -0.2847815752029419, + -0.34189024567604065, + -0.7406162619590759 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.12944085896015167, + 0.01637519709765911, + -0.012070813216269016 + ], + "orientation": [ + 0.5048083066940308, + -0.27841275930404663, + -0.3581078350543976, + -0.7344480156898499 + ], + "joints": [ + -0.010756958276033401 + ] + }, + "final_grasp": { + "position": [ + -0.12944085896015167, + 0.01637519709765911, + -0.012070813216269016 + ], + "orientation": [ + 0.5048083066940308, + -0.27841275930404663, + -0.3581078350543976, + -0.7344480156898499 + ], + "joints": [ + -0.008020248264074326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0921185091137886, + -0.092270627617836, + -0.021352889016270638 + ], + "orientation": [ + 0.884587824344635, + 0.23164980113506317, + -0.29980069398880005, + 0.2719602882862091 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + 0.08966078609228134, + -0.09002427756786346, + -0.01942562870681286 + ], + "orientation": [ + 0.8829543590545654, + 0.2375389188528061, + -0.2926536202430725, + 0.2798585295677185 + ], + "joints": [ + -0.010476022958755493 + ] + }, + "final_grasp": { + "position": [ + 0.08966078609228134, + -0.09002427756786346, + -0.01942562870681286 + ], + "orientation": [ + 0.8829543590545654, + 0.2375389188528061, + -0.2926536202430725, + 0.2798585295677185 + ], + "joints": [ + -0.005162026733160019 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13107766211032867, + 0.057928942143917084, + -0.007081223651766777 + ], + "orientation": [ + 0.5670050382614136, + 0.4129575490951538, + -0.2159239947795868, + 0.6792262196540833 + ], + "joints": [ + -0.01188528910279274 + ] + }, + "fine_grasp": { + "position": [ + 0.1300293207168579, + 0.05750146135687828, + -0.005033253692090511 + ], + "orientation": [ + 0.5585183501243591, + 0.42264291644096375, + -0.21407556533813477, + 0.6808831691741943 + ], + "joints": [ + -0.008165491744875908 + ] + }, + "final_grasp": { + "position": [ + 0.1300293207168579, + 0.05750146135687828, + -0.005033253692090511 + ], + "orientation": [ + 0.5585183501243591, + 0.42264291644096375, + -0.21407556533813477, + 0.6808831691741943 + ], + "joints": [ + -0.004445694386959076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13104397058486938, + 0.057984016835689545, + -0.006935891229659319 + ], + "orientation": [ + 0.5667356252670288, + 0.41346269845962524, + -0.21673618257045746, + 0.6788849830627441 + ], + "joints": [ + -0.01188528910279274 + ] + }, + "fine_grasp": { + "position": [ + 0.13005149364471436, + 0.057528093457221985, + -0.004695207346230745 + ], + "orientation": [ + 0.5580335259437561, + 0.42338916659355164, + -0.21462318301200867, + 0.6806445717811584 + ], + "joints": [ + -0.008165491744875908 + ] + }, + "final_grasp": { + "position": [ + 0.13005149364471436, + 0.057528093457221985, + -0.004695207346230745 + ], + "orientation": [ + 0.5580335259437561, + 0.42338916659355164, + -0.21462318301200867, + 0.6806445717811584 + ], + "joints": [ + -0.004445694386959076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12960167229175568, + -0.05377931520342827, + -0.013346236199140549 + ], + "orientation": [ + 0.45661330223083496, + 0.5825777649879456, + 0.6327131986618042, + -0.2275552600622177 + ], + "joints": [ + -0.013035014271736145 + ] + }, + "fine_grasp": { + "position": [ + -0.13249683380126953, + -0.05367443338036537, + -0.011477884836494923 + ], + "orientation": [ + 0.45986708998680115, + 0.5721907615661621, + 0.6439883708953857, + -0.21540400385856628 + ], + "joints": [ + -0.008783817291259766 + ] + }, + "final_grasp": { + "position": [ + -0.13249683380126953, + -0.05367443338036537, + -0.011477884836494923 + ], + "orientation": [ + 0.45986708998680115, + 0.5721907615661621, + 0.6439883708953857, + -0.21540400385856628 + ], + "joints": [ + -0.004532620310783386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12920276820659637, + -0.053617630153894424, + -0.0137352729216218 + ], + "orientation": [ + 0.45491471886634827, + 0.5834466218948364, + 0.6336778402328491, + -0.226042240858078 + ], + "joints": [ + -0.012416765093803406 + ] + }, + "fine_grasp": { + "position": [ + -0.13225843012332916, + -0.05351962149143219, + -0.01193008292466402 + ], + "orientation": [ + 0.4578011631965637, + 0.5732672214508057, + 0.645052433013916, + -0.2137526422739029 + ], + "joints": [ + -0.008696967735886574 + ] + }, + "final_grasp": { + "position": [ + -0.13225843012332916, + -0.05351962149143219, + -0.01193008292466402 + ], + "orientation": [ + 0.4578011631965637, + 0.5732672214508057, + 0.645052433013916, + -0.2137526422739029 + ], + "joints": [ + -0.004977170377969742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1174042746424675, + 0.048191171139478683, + -0.020441967993974686 + ], + "orientation": [ + 0.12021931260824203, + -0.7329568862915039, + 0.5904773473739624, + 0.3156867027282715 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.1180703267455101, + 0.04769912734627724, + -0.019024988636374474 + ], + "orientation": [ + 0.10105844587087631, + -0.7406290769577026, + 0.5787118673324585, + 0.3261110186576843 + ], + "joints": [ + -0.008878588676452637 + ] + }, + "final_grasp": { + "position": [ + 0.1180703267455101, + 0.04769912734627724, + -0.019024988636374474 + ], + "orientation": [ + 0.10105844587087631, + -0.7406290769577026, + 0.5787118673324585, + 0.3261110186576843 + ], + "joints": [ + -0.007178109139204025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03039533458650112, + 0.11807997524738312, + 0.19586341083049774 + ], + "orientation": [ + 0.1257229447364807, + -0.9464219808578491, + 0.19670100510120392, + -0.2231319546699524 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.031125273555517197, + 0.1200273260474205, + 0.19485628604888916 + ], + "orientation": [ + 0.13708041608333588, + -0.948492705821991, + 0.1902511715888977, + -0.2130143940448761 + ], + "joints": [ + -0.01106630451977253 + ] + }, + "final_grasp": { + "position": [ + 0.031125273555517197, + 0.1200273260474205, + 0.19485628604888916 + ], + "orientation": [ + 0.13708041608333588, + -0.948492705821991, + 0.1902511715888977, + -0.2130143940448761 + ], + "joints": [ + -0.006283707916736603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03036777302622795, + 0.11823547631502151, + 0.1959916055202484 + ], + "orientation": [ + 0.12628118693828583, + -0.945610523223877, + 0.1973569095134735, + -0.22566361725330353 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.031038837507367134, + 0.11993156373500824, + 0.19490449130535126 + ], + "orientation": [ + 0.1369994878768921, + -0.9476857781410217, + 0.19112130999565125, + -0.21585999429225922 + ], + "joints": [ + -0.01106630451977253 + ] + }, + "final_grasp": { + "position": [ + 0.031038837507367134, + 0.11993156373500824, + 0.19490449130535126 + ], + "orientation": [ + 0.1369994878768921, + -0.9476857781410217, + 0.19112130999565125, + -0.21585999429225922 + ], + "joints": [ + -0.006283707916736603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12596578896045685, + 0.006392994895577431, + -0.02963094227015972 + ], + "orientation": [ + 0.610295832157135, + -0.11784333735704422, + -0.2675800323486328, + -0.7362423539161682 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.1225135549902916, + 0.006831291131675243, + -0.02719121426343918 + ], + "orientation": [ + 0.6130218505859375, + -0.11287734657526016, + -0.2726236581802368, + -0.732897937297821 + ], + "joints": [ + -0.007031496614217758 + ] + }, + "final_grasp": { + "position": [ + -0.1225135549902916, + 0.006831291131675243, + -0.02719121426343918 + ], + "orientation": [ + 0.6130218505859375, + -0.11287734657526016, + -0.2726236581802368, + -0.732897937297821 + ], + "joints": [ + -0.001717500388622284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11955281347036362, + 0.06130083277821541, + 0.1719907969236374 + ], + "orientation": [ + 0.46758323907852173, + 0.13325616717338562, + -0.1626489758491516, + 0.8585767149925232 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.12073758989572525, + 0.061224788427352905, + 0.17025652527809143 + ], + "orientation": [ + 0.47738194465637207, + 0.10522467643022537, + -0.15563862025737762, + 0.8583768010139465 + ], + "joints": [ + -0.01162566989660263 + ] + }, + "final_grasp": { + "position": [ + 0.12073758989572525, + 0.061224788427352905, + 0.17025652527809143 + ], + "orientation": [ + 0.47738194465637207, + 0.10522467643022537, + -0.15563862025737762, + 0.8583768010139465 + ], + "joints": [ + -0.0068430714309215546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0865456834435463, + 0.08188018202781677, + -0.04474351927638054 + ], + "orientation": [ + 0.3227842152118683, + -0.13274499773979187, + -0.23230329155921936, + -0.907867968082428 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.0837700366973877, + 0.07977303117513657, + -0.04222329333424568 + ], + "orientation": [ + 0.3232770562171936, + -0.1363544762134552, + -0.24194568395614624, + -0.9046334028244019 + ], + "joints": [ + -0.0052679432556033134 + ] + }, + "final_grasp": { + "position": [ + -0.0837700366973877, + 0.07977303117513657, + -0.04222329333424568 + ], + "orientation": [ + 0.3232770562171936, + -0.1363544762134552, + -0.24194568395614624, + -0.9046334028244019 + ], + "joints": [ + 7.262267172336578e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009027151390910149, + 0.00822324026376009, + -0.11610583961009979 + ], + "orientation": [ + 0.2715383768081665, + 0.28479185700416565, + -0.5856397151947021, + -0.7086513042449951 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.0087732570245862, + 0.008777616545557976, + -0.11314667016267776 + ], + "orientation": [ + 0.2768975794315338, + 0.2877327501773834, + -0.5841392874717712, + -0.7066249847412109 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + 0.0087732570245862, + 0.008777616545557976, + -0.11314667016267776 + ], + "orientation": [ + 0.2768975794315338, + 0.2877327501773834, + -0.5841392874717712, + -0.7066249847412109 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1453937292098999, + 0.003339490620419383, + 0.12991558015346527 + ], + "orientation": [ + 0.6656181216239929, + 0.2070704847574234, + -0.08956160396337509, + 0.711374044418335 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.1422077715396881, + 0.0031017903238534927, + 0.1297805905342102 + ], + "orientation": [ + 0.6670381426811218, + 0.1996849626302719, + -0.0858643651008606, + 0.7126103043556213 + ], + "joints": [ + -0.009301276877522469 + ] + }, + "final_grasp": { + "position": [ + 0.1422077715396881, + 0.0031017903238534927, + 0.1297805905342102 + ], + "orientation": [ + 0.6670381426811218, + 0.1996849626302719, + -0.0858643651008606, + 0.7126103043556213 + ], + "joints": [ + -0.003960710018873215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08711432665586472, + -0.044397808611392975, + -0.05384264141321182 + ], + "orientation": [ + 0.8417748808860779, + 0.33497902750968933, + -0.04475199431180954, + 0.42095282673835754 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.08646341413259506, + -0.044683899730443954, + -0.053125880658626556 + ], + "orientation": [ + 0.8399642705917358, + 0.33746615052223206, + -0.04186920449137688, + 0.42287537455558777 + ], + "joints": [ + -0.007116872817277908 + ] + }, + "final_grasp": { + "position": [ + 0.08646341413259506, + -0.044683899730443954, + -0.053125880658626556 + ], + "orientation": [ + 0.8399642705917358, + 0.33746615052223206, + -0.04186920449137688, + 0.42287537455558777 + ], + "joints": [ + -0.0007400773465633392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0872473493218422, + -0.04435575753450394, + -0.05400562286376953 + ], + "orientation": [ + 0.8416725397109985, + 0.3347833454608917, + -0.04558499902486801, + 0.42122384905815125 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.08657987415790558, + -0.0446385033428669, + -0.05324724316596985 + ], + "orientation": [ + 0.8398000597953796, + 0.33737504482269287, + -0.04221680760383606, + 0.4232395589351654 + ], + "joints": [ + -0.007116872817277908 + ] + }, + "final_grasp": { + "position": [ + 0.08657987415790558, + -0.0446385033428669, + -0.05324724316596985 + ], + "orientation": [ + 0.8398000597953796, + 0.33737504482269287, + -0.04221680760383606, + 0.4232395589351654 + ], + "joints": [ + -0.0007400773465633392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08709923923015594, + -0.04439122602343559, + -0.0538424476981163 + ], + "orientation": [ + 0.8417943716049194, + 0.33494362235069275, + -0.04481544718146324, + 0.4209352135658264 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.08626952022314072, + -0.04475579783320427, + -0.05315504968166351 + ], + "orientation": [ + 0.840276837348938, + 0.3374136686325073, + -0.04097695276141167, + 0.42238348722457886 + ], + "joints": [ + -0.007116872817277908 + ] + }, + "final_grasp": { + "position": [ + 0.08626952022314072, + -0.04475579783320427, + -0.05315504968166351 + ], + "orientation": [ + 0.840276837348938, + 0.3374136686325073, + -0.04097695276141167, + 0.42238348722457886 + ], + "joints": [ + -0.0007400773465633392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0836343839764595, + -0.07437559217214584, + -0.03114815056324005 + ], + "orientation": [ + 0.04546999931335449, + -0.3726713955402374, + 0.9033670425415039, + 0.2073078453540802 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.08380424976348877, + -0.0764990821480751, + -0.032576821744441986 + ], + "orientation": [ + 0.05120374262332916, + -0.3695025146007538, + 0.9050202369689941, + 0.2044122815132141 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.08380424976348877, + -0.0764990821480751, + -0.032576821744441986 + ], + "orientation": [ + 0.05120374262332916, + -0.3695025146007538, + 0.9050202369689941, + 0.2044122815132141 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12536458671092987, + -0.01968860626220703, + 0.01743602566421032 + ], + "orientation": [ + 0.7432538866996765, + -0.16239115595817566, + -0.10013467073440552, + -0.6412298679351807 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.12508605420589447, + -0.0194720309227705, + 0.018007446080446243 + ], + "orientation": [ + 0.7412102818489075, + -0.16980500519275665, + -0.11129056662321091, + -0.6398343443870544 + ], + "joints": [ + -0.005939256399869919 + ] + }, + "final_grasp": { + "position": [ + -0.12508605420589447, + -0.0194720309227705, + 0.018007446080446243 + ], + "orientation": [ + 0.7412102818489075, + -0.16980500519275665, + -0.11129056662321091, + -0.6398343443870544 + ], + "joints": [ + 0.00043753907084465027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10721875727176666, + -0.07298164069652557, + 0.035800475627183914 + ], + "orientation": [ + 0.8745802640914917, + -0.10611320286989212, + -0.11152402311563492, + -0.45979541540145874 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.10436604171991348, + -0.06990931183099747, + 0.034357041120529175 + ], + "orientation": [ + 0.8716612458229065, + -0.10845314711332321, + -0.11562325805425644, + -0.46376273036003113 + ], + "joints": [ + -0.007879380136728287 + ] + }, + "final_grasp": { + "position": [ + -0.10436604171991348, + -0.06990931183099747, + 0.034357041120529175 + ], + "orientation": [ + 0.8716612458229065, + -0.10845314711332321, + -0.11562325805425644, + -0.46376273036003113 + ], + "joints": [ + -0.0004397854208946228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11054554581642151, + 0.056891489773988724, + 0.018233759328722954 + ], + "orientation": [ + 0.06977897882461548, + 0.8500882983207703, + 0.5130544304847717, + -0.09620719403028488 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.10974548757076263, + 0.05751392990350723, + 0.01567200757563114 + ], + "orientation": [ + 0.06821505725383759, + 0.852101743221283, + 0.5089672207832336, + -0.10110215097665787 + ], + "joints": [ + -0.006083514541387558 + ] + }, + "final_grasp": { + "position": [ + -0.10974548757076263, + 0.05751392990350723, + 0.01567200757563114 + ], + "orientation": [ + 0.06821505725383759, + 0.852101743221283, + 0.5089672207832336, + -0.10110215097665787 + ], + "joints": [ + 0.001356080174446106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09055022895336151, + -0.024584496393799782, + -0.06821173429489136 + ], + "orientation": [ + 0.6578871011734009, + 0.07621751725673676, + 0.37246206402778625, + 0.6501135230064392 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.08755441755056381, + -0.02320392057299614, + -0.06565634161233902 + ], + "orientation": [ + 0.6473321914672852, + 0.07484614104032516, + 0.3817751705646515, + 0.6554440855979919 + ], + "joints": [ + -0.005968697369098663 + ] + }, + "final_grasp": { + "position": [ + 0.08755441755056381, + -0.02320392057299614, + -0.06565634161233902 + ], + "orientation": [ + 0.6473321914672852, + 0.07484614104032516, + 0.3817751705646515, + 0.6554440855979919 + ], + "joints": [ + 0.00040809810161590576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11596879363059998, + 0.012766191735863686, + -0.027251098304986954 + ], + "orientation": [ + 0.22254198789596558, + 0.7497015595436096, + 0.6223638653755188, + -0.032951343804597855 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11615926027297974, + 0.013146070763468742, + -0.02713232859969139 + ], + "orientation": [ + 0.22273820638656616, + 0.749150812625885, + 0.6232901215553284, + -0.025889156386256218 + ], + "joints": [ + -0.006026105955243111 + ] + }, + "final_grasp": { + "position": [ + -0.11615926027297974, + 0.013146070763468742, + -0.02713232859969139 + ], + "orientation": [ + 0.22273820638656616, + 0.749150812625885, + 0.6232901215553284, + -0.025889156386256218 + ], + "joints": [ + 0.0008820891380310059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09051169455051422, + -0.024512650445103645, + -0.06821838766336441 + ], + "orientation": [ + 0.6577081680297852, + 0.076366126537323, + 0.3724266290664673, + 0.6502974033355713 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.08751510083675385, + -0.023156244307756424, + -0.06566773355007172 + ], + "orientation": [ + 0.6469852924346924, + 0.07468387484550476, + 0.38204625248908997, + 0.6556470990180969 + ], + "joints": [ + -0.005968697369098663 + ] + }, + "final_grasp": { + "position": [ + 0.08751510083675385, + -0.023156244307756424, + -0.06566773355007172 + ], + "orientation": [ + 0.6469852924346924, + 0.07468387484550476, + 0.38204625248908997, + 0.6556470990180969 + ], + "joints": [ + 0.00040809810161590576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1159372329711914, + 0.012828364036977291, + -0.027186844497919083 + ], + "orientation": [ + 0.2223571389913559, + 0.7498455047607422, + 0.6222802996635437, + -0.03250092640519142 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11612929403781891, + 0.013207470998167992, + -0.027038248255848885 + ], + "orientation": [ + 0.22286565601825714, + 0.749319851398468, + 0.6230530738830566, + -0.025602053850889206 + ], + "joints": [ + -0.006026105955243111 + ] + }, + "final_grasp": { + "position": [ + -0.11612929403781891, + 0.013207470998167992, + -0.027038248255848885 + ], + "orientation": [ + 0.22286565601825714, + 0.749319851398468, + 0.6230530738830566, + -0.025602053850889206 + ], + "joints": [ + 0.0008820891380310059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11582867056131363, + 0.012813987210392952, + -0.027147864922881126 + ], + "orientation": [ + 0.2223779261112213, + 0.7498432397842407, + 0.6222948431968689, + -0.032129544764757156 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.11614034324884415, + 0.013182350434362888, + -0.02706100046634674 + ], + "orientation": [ + 0.22275282442569733, + 0.7492431998252869, + 0.6231867074966431, + -0.025576645508408546 + ], + "joints": [ + -0.006026105955243111 + ] + }, + "final_grasp": { + "position": [ + -0.11614034324884415, + 0.013182350434362888, + -0.02706100046634674 + ], + "orientation": [ + 0.22275282442569733, + 0.7492431998252869, + 0.6231867074966431, + -0.025576645508408546 + ], + "joints": [ + 0.0008820891380310059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11497045308351517, + 0.04367959126830101, + 0.015301712788641453 + ], + "orientation": [ + 0.5650133490562439, + -0.09305428713560104, + -0.024790484458208084, + -0.8194425702095032 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.11737475544214249, + 0.04363483563065529, + 0.01298510655760765 + ], + "orientation": [ + 0.5701434016227722, + -0.09879492968320847, + -0.011016324162483215, + -0.8155088424682617 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + -0.11737475544214249, + 0.04363483563065529, + 0.01298510655760765 + ], + "orientation": [ + 0.5701434016227722, + -0.09879492968320847, + -0.011016324162483215, + -0.8155088424682617 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13764041662216187, + 0.004389342851936817, + 0.11448769271373749 + ], + "orientation": [ + 0.018788250163197517, + -0.7053226828575134, + -0.664002537727356, + -0.24752290546894073 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.13527265191078186, + 0.004284444265067577, + 0.11403179168701172 + ], + "orientation": [ + 0.021355533972382545, + -0.7034421563148499, + -0.6685003638267517, + -0.24045860767364502 + ], + "joints": [ + -0.00871107168495655 + ] + }, + "final_grasp": { + "position": [ + -0.13527265191078186, + 0.004284444265067577, + 0.11403179168701172 + ], + "orientation": [ + 0.021355533972382545, + -0.7034421563148499, + -0.6685003638267517, + -0.24045860767364502 + ], + "joints": [ + -0.003928475081920624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11471705883741379, + -0.040987998247146606, + -0.003420940600335598 + ], + "orientation": [ + 0.07280449569225311, + -0.5592104196548462, + 0.8170153498649597, + 0.12028800696134567 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.11567393690347672, + -0.041271571069955826, + -0.0042983004823327065 + ], + "orientation": [ + 0.07222053408622742, + -0.5623518824577332, + 0.8163787126541138, + 0.10986600071191788 + ], + "joints": [ + -0.0049058981239795685 + ] + }, + "final_grasp": { + "position": [ + 0.11567393690347672, + -0.041271571069955826, + -0.0042983004823327065 + ], + "orientation": [ + 0.07222053408622742, + -0.5623518824577332, + 0.8163787126541138, + 0.10986600071191788 + ], + "joints": [ + 0.0025336965918540955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06605612486600876, + -0.10121399164199829, + -0.0022212995681911707 + ], + "orientation": [ + 0.08890924602746964, + -0.27259621024131775, + 0.9545276761054993, + 0.08163032680749893 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.06685781478881836, + -0.10253877192735672, + -0.0034384196624159813 + ], + "orientation": [ + 0.09805867820978165, + -0.27308276295661926, + 0.9538301229476929, + 0.0775797963142395 + ], + "joints": [ + -0.004876457154750824 + ] + }, + "final_grasp": { + "position": [ + 0.06685781478881836, + -0.10253877192735672, + -0.0034384196624159813 + ], + "orientation": [ + 0.09805867820978165, + -0.27308276295661926, + 0.9538301229476929, + 0.0775797963142395 + ], + "joints": [ + 0.00256313756108284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04807007685303688, + 0.1137918084859848, + 0.019761458039283752 + ], + "orientation": [ + 0.018745582550764084, + -0.9748265147209167, + 0.20055870711803436, + 0.0955929160118103 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.04789549112319946, + 0.11410761624574661, + 0.01854882948100567 + ], + "orientation": [ + 0.025013336911797523, + -0.9740752577781677, + 0.19966785609722137, + 0.1033659502863884 + ], + "joints": [ + -0.005999536253511906 + ] + }, + "final_grasp": { + "position": [ + 0.04789549112319946, + 0.11410761624574661, + 0.01854882948100567 + ], + "orientation": [ + 0.025013336911797523, + -0.9740752577781677, + 0.19966785609722137, + 0.1033659502863884 + ], + "joints": [ + 0.0009352285414934158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11290600150823593, + 0.06767358630895615, + 0.010869557037949562 + ], + "orientation": [ + 0.002812023274600506, + -0.8595719337463379, + 0.4965456426143646, + 0.12070874124765396 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.10847706347703934, + 0.0662706047296524, + 0.011790468357503414 + ], + "orientation": [ + 0.00739256152883172, + -0.8603314161300659, + 0.49298906326293945, + 0.12937118113040924 + ], + "joints": [ + -0.007792530581355095 + ] + }, + "final_grasp": { + "position": [ + 0.10847706347703934, + 0.0662706047296524, + 0.011790468357503414 + ], + "orientation": [ + 0.00739256152883172, + -0.8603314161300659, + 0.49298906326293945, + 0.12937118113040924 + ], + "joints": [ + -0.0008843354880809784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05902077257633209, + -0.07902552932500839, + -0.05283414199948311 + ], + "orientation": [ + 0.915759801864624, + 0.26679280400276184, + 0.057293687015771866, + 0.2948272228240967 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.06014760211110115, + -0.08142020553350449, + -0.054626595228910446 + ], + "orientation": [ + 0.917874813079834, + 0.26073428988456726, + 0.04968934506177902, + 0.2950498163700104 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.06014760211110115, + -0.08142020553350449, + -0.054626595228910446 + ], + "orientation": [ + 0.917874813079834, + 0.26073428988456726, + 0.04968934506177902, + 0.2950498163700104 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010269097052514553, + -0.1312943547964096, + 0.006746952887624502 + ], + "orientation": [ + 0.9948170781135559, + 0.0007117814384400845, + -0.09487389028072357, + 0.036571796983480453 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.009275968186557293, + -0.12587134540081024, + 0.0058617000468075275 + ], + "orientation": [ + 0.9944053888320923, + -0.0058329422026872635, + -0.09937538951635361, + 0.03533339127898216 + ], + "joints": [ + -0.005550717003643513 + ] + }, + "final_grasp": { + "position": [ + 0.009275968186557293, + -0.12587134540081024, + 0.0058617000468075275 + ], + "orientation": [ + 0.9944053888320923, + -0.0058329422026872635, + -0.09937538951635361, + 0.03533339127898216 + ], + "joints": [ + 0.0018623080104589462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05899733677506447, + -0.07899262011051178, + -0.05276847258210182 + ], + "orientation": [ + 0.9157311916351318, + 0.26688069105148315, + 0.05729135870933533, + 0.29483675956726074 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.06013732776045799, + -0.08137060701847076, + -0.054563313722610474 + ], + "orientation": [ + 0.9177688360214233, + 0.26100194454193115, + 0.04975452646613121, + 0.2951318621635437 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.06013732776045799, + -0.08137060701847076, + -0.054563313722610474 + ], + "orientation": [ + 0.9177688360214233, + 0.26100194454193115, + 0.04975452646613121, + 0.2951318621635437 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010283632203936577, + -0.1312406361103058, + 0.006788847502321005 + ], + "orientation": [ + 0.9948127865791321, + 0.0009040040313266218, + -0.09489060193300247, + 0.03663956746459007 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.009293927811086178, + -0.12581127882003784, + 0.005888066254556179 + ], + "orientation": [ + 0.9944034814834595, + -0.00568891828879714, + -0.09938361495733261, + 0.035385798662900925 + ], + "joints": [ + -0.005550717003643513 + ] + }, + "final_grasp": { + "position": [ + 0.009293927811086178, + -0.12581127882003784, + 0.005888066254556179 + ], + "orientation": [ + 0.9944034814834595, + -0.00568891828879714, + -0.09938361495733261, + 0.035385798662900925 + ], + "joints": [ + 0.0018623080104589462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06277173012495041, + -0.10515967756509781, + 0.030162591487169266 + ], + "orientation": [ + 0.96019446849823, + 0.05984621122479439, + -0.08892617374658585, + 0.25794804096221924 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.06351286172866821, + -0.10583695024251938, + 0.030624520033597946 + ], + "orientation": [ + 0.9581286907196045, + 0.06473515182733536, + -0.10622397810220718, + 0.25790542364120483 + ], + "joints": [ + -0.008241348899900913 + ] + }, + "final_grasp": { + "position": [ + 0.06351286172866821, + -0.10583695024251938, + 0.030624520033597946 + ], + "orientation": [ + 0.9581286907196045, + 0.06473515182733536, + -0.10622397810220718, + 0.25790542364120483 + ], + "joints": [ + -0.0018114130944013596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037601783871650696, + -0.11811546236276627, + 0.028281068429350853 + ], + "orientation": [ + 0.9798532724380493, + 0.01849871315062046, + -0.13311375677585602, + 0.14773643016815186 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.03760730102658272, + -0.117904432117939, + 0.026953889057040215 + ], + "orientation": [ + 0.9791663885116577, + 0.017819803208112717, + -0.138915553689003, + 0.14703091979026794 + ], + "joints": [ + -0.00776596087962389 + ] + }, + "final_grasp": { + "position": [ + 0.03760730102658272, + -0.117904432117939, + 0.026953889057040215 + ], + "orientation": [ + 0.9791663885116577, + 0.017819803208112717, + -0.138915553689003, + 0.14703091979026794 + ], + "joints": [ + -0.0008311960846185684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02700868621468544, + 0.03784695267677307, + 0.25864243507385254 + ], + "orientation": [ + 0.3090279698371887, + -0.46747148036956787, + 0.47392886877059937, + -0.679237425327301 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.02549370750784874, + 0.037478793412446976, + 0.2563791573047638 + ], + "orientation": [ + 0.3133152425289154, + -0.4694109261035919, + 0.4754607081413269, + -0.67485111951828 + ], + "joints": [ + -0.011126580648124218 + ] + }, + "final_grasp": { + "position": [ + 0.02549370750784874, + 0.037478793412446976, + 0.2563791573047638 + ], + "orientation": [ + 0.3133152425289154, + -0.4694109261035919, + 0.4754607081413269, + -0.67485111951828 + ], + "joints": [ + -0.00578601099550724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050573814660310745, + 0.10360647737979889, + -0.022675251588225365 + ], + "orientation": [ + 0.1645331233739853, + 0.9630801677703857, + 0.20259524881839752, + -0.06603489816188812 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.05109709873795509, + 0.10473500937223434, + -0.023073455318808556 + ], + "orientation": [ + 0.16094522178173065, + 0.9631987810134888, + 0.20489931106567383, + -0.06603965163230896 + ], + "joints": [ + -0.004876457154750824 + ] + }, + "final_grasp": { + "position": [ + -0.05109709873795509, + 0.10473500937223434, + -0.023073455318808556 + ], + "orientation": [ + 0.16094522178173065, + 0.9631987810134888, + 0.20489931106567383, + -0.06603965163230896 + ], + "joints": [ + 0.00256313756108284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10654298961162567, + -0.08547964692115784, + 0.06413118541240692 + ], + "orientation": [ + 0.11275883764028549, + -0.4330960214138031, + 0.8942474722862244, + -0.005888544954359531 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.10199341177940369, + -0.08200884610414505, + 0.06340476125478745 + ], + "orientation": [ + 0.11385596543550491, + -0.43311965465545654, + 0.8940978050231934, + -0.005768639966845512 + ], + "joints": [ + -0.009585523046553135 + ] + }, + "final_grasp": { + "position": [ + 0.10199341177940369, + -0.08200884610414505, + 0.06340476125478745 + ], + "orientation": [ + 0.11385596543550491, + -0.43311965465545654, + 0.8940978050231934, + -0.005768639966845512 + ], + "joints": [ + -0.002703895792365074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09969330579042435, + 0.05678447708487511, + -0.02209668979048729 + ], + "orientation": [ + 0.5037487745285034, + 0.11477164924144745, + 0.10024123638868332, + 0.8503036499023438 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.10061614960432053, + 0.056687112897634506, + -0.023178087547421455 + ], + "orientation": [ + 0.5039772987365723, + 0.10961885750293732, + 0.09505238384008408, + 0.8514432907104492 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + 0.10061614960432053, + 0.056687112897634506, + -0.023178087547421455 + ], + "orientation": [ + 0.5039772987365723, + 0.10961885750293732, + 0.09505238384008408, + 0.8514432907104492 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09577342867851257, + 0.08202627301216125, + 0.03965868428349495 + ], + "orientation": [ + 0.3910842537879944, + -0.08228535205125809, + 0.16308163106441498, + 0.9020458459854126 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.092699334025383, + 0.0799345001578331, + 0.041474562138319016 + ], + "orientation": [ + 0.3927561640739441, + -0.08026479184627533, + 0.16585101187229156, + 0.9009959101676941 + ], + "joints": [ + -0.01327137928456068 + ] + }, + "final_grasp": { + "position": [ + 0.092699334025383, + 0.0799345001578331, + 0.041474562138319016 + ], + "orientation": [ + 0.3927561640739441, + -0.08026479184627533, + 0.16585101187229156, + 0.9009959101676941 + ], + "joints": [ + -0.007425971329212189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09578821808099747, + 0.08203461021184921, + 0.039666980504989624 + ], + "orientation": [ + 0.391101598739624, + -0.08218684792518616, + 0.16312457621097565, + 0.9020395278930664 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.09269800037145615, + 0.0799301341176033, + 0.0414918027818203 + ], + "orientation": [ + 0.39277365803718567, + -0.08008991926908493, + 0.16587823629379272, + 0.9009988903999329 + ], + "joints": [ + -0.01327137928456068 + ] + }, + "final_grasp": { + "position": [ + 0.09269800037145615, + 0.0799301341176033, + 0.0414918027818203 + ], + "orientation": [ + 0.39277365803718567, + -0.08008991926908493, + 0.16587823629379272, + 0.9009988903999329 + ], + "joints": [ + -0.007425971329212189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06317954510450363, + 0.10494793206453323, + 0.05645093694329262 + ], + "orientation": [ + 0.2693456709384918, + -0.05744917690753937, + 0.07602763175964355, + -0.9583173990249634 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.06346409022808075, + 0.10468283295631409, + 0.054232608526945114 + ], + "orientation": [ + 0.2721473276615143, + -0.06236565485596657, + 0.08973319083452225, + -0.956030547618866 + ], + "joints": [ + -0.006614914163947105 + ] + }, + "final_grasp": { + "position": [ + -0.06346409022808075, + 0.10468283295631409, + 0.054232608526945114 + ], + "orientation": [ + 0.2721473276615143, + -0.06236565485596657, + 0.08973319083452225, + -0.956030547618866 + ], + "joints": [ + 0.0002932809293270111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08689334988594055, + 0.08581534773111343, + 0.05211647227406502 + ], + "orientation": [ + 0.38486239314079285, + 0.01562776416540146, + -0.02219475246965885, + 0.9225746393203735 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.08865778148174286, + 0.086794912815094, + 0.05055658519268036 + ], + "orientation": [ + 0.385043740272522, + 0.012391021475195885, + -0.033827655017375946, + 0.9221948981285095 + ], + "joints": [ + -0.007233163341879845 + ] + }, + "final_grasp": { + "position": [ + 0.08865778148174286, + 0.086794912815094, + 0.05055658519268036 + ], + "orientation": [ + 0.385043740272522, + 0.012391021475195885, + -0.033827655017375946, + 0.9221948981285095 + ], + "joints": [ + -0.00032496824860572815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11225644499063492, + 0.04223282262682915, + -0.0003286924911662936 + ], + "orientation": [ + 0.5659055113792419, + 0.007718666922301054, + -0.07358063012361526, + -0.8211438059806824 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11350750178098679, + 0.04206514731049538, + -0.0005229164962656796 + ], + "orientation": [ + 0.5688763856887817, + 0.0018964896444231272, + -0.07194000482559204, + -0.8192682862281799 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.11350750178098679, + 0.04206514731049538, + -0.0005229164962656796 + ], + "orientation": [ + 0.5688763856887817, + 0.0018964896444231272, + -0.07194000482559204, + -0.8192682862281799 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0805409625172615, + -0.10781200230121613, + 0.08910796791315079 + ], + "orientation": [ + 0.1243203803896904, + -0.32000622153282166, + 0.9369784593582153, + -0.06489861756563187 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.07732612639665604, + -0.10370662063360214, + 0.08790040761232376 + ], + "orientation": [ + 0.1257951557636261, + -0.32082298398017883, + 0.9364399313926697, + -0.06579162925481796 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.07732612639665604, + -0.10370662063360214, + 0.08790040761232376 + ], + "orientation": [ + 0.1257951557636261, + -0.32082298398017883, + 0.9364399313926697, + -0.06579162925481796 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019799452275037766, + -0.12046759575605392, + 0.029707899317145348 + ], + "orientation": [ + 0.9939047694206238, + -0.007875668816268444, + -0.07525895535945892, + 0.08017100393772125 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.019781433045864105, + -0.12091168761253357, + 0.028697509318590164 + ], + "orientation": [ + 0.9936119914054871, + -0.008570066653192043, + -0.08003436028957367, + 0.07909548282623291 + ], + "joints": [ + -0.006530935876071453 + ] + }, + "final_grasp": { + "position": [ + 0.019781433045864105, + -0.12091168761253357, + 0.028697509318590164 + ], + "orientation": [ + 0.9936119914054871, + -0.008570066653192043, + -0.08003436028957367, + 0.07909548282623291 + ], + "joints": [ + -0.00012757070362567902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03952350839972496, + -0.11794479191303253, + 0.025100408121943474 + ], + "orientation": [ + 0.07417852431535721, + -0.15488944947719574, + 0.983829915523529, + 0.050847332924604416 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.0392887108027935, + -0.11679386347532272, + 0.025650862604379654 + ], + "orientation": [ + 0.09023696184158325, + -0.1537114828824997, + 0.9823906421661377, + 0.056025754660367966 + ], + "joints": [ + -0.007122615352272987 + ] + }, + "final_grasp": { + "position": [ + 0.0392887108027935, + -0.11679386347532272, + 0.025650862604379654 + ], + "orientation": [ + 0.09023696184158325, + -0.1537114828824997, + 0.9823906421661377, + 0.056025754660367966 + ], + "joints": [ + -0.0006926804780960083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08046446740627289, + -0.10768412053585052, + 0.0892469584941864 + ], + "orientation": [ + 0.12434954196214676, + -0.32003504037857056, + 0.9370396137237549, + -0.0638074204325676 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.0772344172000885, + -0.1035706102848053, + 0.0880296528339386 + ], + "orientation": [ + 0.1257287561893463, + -0.32077503204345703, + 0.9365382790565491, + -0.06474500894546509 + ], + "joints": [ + -0.010679158382117748 + ] + }, + "final_grasp": { + "position": [ + 0.0772344172000885, + -0.1035706102848053, + 0.0880296528339386 + ], + "orientation": [ + 0.1257287561893463, + -0.32077503204345703, + 0.9365382790565491, + -0.06474500894546509 + ], + "joints": [ + -0.004302358254790306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06342510133981705, + -0.11667456477880478, + 0.05676276609301567 + ], + "orientation": [ + 0.96635502576828, + -0.05831597372889519, + -0.05695359408855438, + -0.24395382404327393 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.06099458038806915, + -0.1115153431892395, + 0.056222036480903625 + ], + "orientation": [ + 0.9659957885742188, + -0.05805351585149765, + -0.0601128526031971, + -0.24468015134334564 + ], + "joints": [ + -0.008438747376203537 + ] + }, + "final_grasp": { + "position": [ + -0.06099458038806915, + -0.1115153431892395, + 0.056222036480903625 + ], + "orientation": [ + 0.9659957885742188, + -0.05805351585149765, + -0.0601128526031971, + -0.24468015134334564 + ], + "joints": [ + -0.000999152660369873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06341025978326797, + -0.11661645770072937, + 0.05682631954550743 + ], + "orientation": [ + 0.9663442373275757, + -0.05819157138466835, + -0.057004086673259735, + -0.24401472508907318 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.06099296361207962, + -0.11146678775548935, + 0.05629079043865204 + ], + "orientation": [ + 0.9659717082977295, + -0.05792762711644173, + -0.06022742763161659, + -0.2447766810655594 + ], + "joints": [ + -0.008438747376203537 + ] + }, + "final_grasp": { + "position": [ + -0.06099296361207962, + -0.11146678775548935, + 0.05629079043865204 + ], + "orientation": [ + 0.9659717082977295, + -0.05792762711644173, + -0.06022742763161659, + -0.2447766810655594 + ], + "joints": [ + -0.000999152660369873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019770750775933266, + -0.12043300271034241, + 0.029682209715247154 + ], + "orientation": [ + 0.9938755035400391, + -0.007558306213468313, + -0.07561048865318298, + 0.08023321628570557 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.019784241914749146, + -0.12079446762800217, + 0.02864115498960018 + ], + "orientation": [ + 0.9936137199401855, + -0.008028419688344002, + -0.080337293446064, + 0.07882390171289444 + ], + "joints": [ + -0.006530935876071453 + ] + }, + "final_grasp": { + "position": [ + 0.019784241914749146, + -0.12079446762800217, + 0.02864115498960018 + ], + "orientation": [ + 0.9936137199401855, + -0.008028419688344002, + -0.080337293446064, + 0.07882390171289444 + ], + "joints": [ + -0.00012757070362567902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010835863649845123, + 0.034557491540908813, + 0.2573396563529968 + ], + "orientation": [ + 0.2877475619316101, + -0.5321027636528015, + 0.5660126805305481, + -0.560087263584137 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.011769152246415615, + 0.03449239581823349, + 0.25792139768600464 + ], + "orientation": [ + 0.29083970189094543, + -0.5275823473930359, + 0.5650805234909058, + -0.5636959075927734 + ], + "joints": [ + -0.010002108290791512 + ] + }, + "final_grasp": { + "position": [ + 0.011769152246415615, + 0.03449239581823349, + 0.25792139768600464 + ], + "orientation": [ + 0.29083970189094543, + -0.5275823473930359, + 0.5650805234909058, + -0.5636959075927734 + ], + "joints": [ + -0.004714682698249817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.111573725938797, + -0.03415848687291145, + -0.012563043273985386 + ], + "orientation": [ + 0.7995907068252563, + 0.12530848383903503, + 0.046055037528276443, + 0.585517942905426 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.11162996292114258, + -0.03426654636859894, + -0.013240570202469826 + ], + "orientation": [ + 0.799983561038971, + 0.12299513816833496, + 0.03932370990514755, + 0.5859625339508057 + ], + "joints": [ + -0.005410728044807911 + ] + }, + "final_grasp": { + "position": [ + 0.11162996292114258, + -0.03426654636859894, + -0.013240570202469826 + ], + "orientation": [ + 0.799983561038971, + 0.12299513816833496, + 0.03932370990514755, + 0.5859625339508057 + ], + "joints": [ + 0.0015240367501974106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11151686310768127, + -0.0341954343020916, + -0.012437006458640099 + ], + "orientation": [ + 0.7996599674224854, + 0.12506449222564697, + 0.04620611295104027, + 0.5854636430740356 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.11153893172740936, + -0.03429516404867172, + -0.01278001070022583 + ], + "orientation": [ + 0.7999904751777649, + 0.12321063876152039, + 0.03994385898113251, + 0.5858657956123352 + ], + "joints": [ + -0.005410728044807911 + ] + }, + "final_grasp": { + "position": [ + 0.11153893172740936, + -0.03429516404867172, + -0.01278001070022583 + ], + "orientation": [ + 0.7999904751777649, + 0.12321063876152039, + 0.03994385898113251, + 0.5858657956123352 + ], + "joints": [ + 0.0015240367501974106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012171566486358643, + 0.12009435892105103, + -0.00243092468008399 + ], + "orientation": [ + 0.004994685761630535, + 0.012836674228310585, + 0.038180503994226456, + 0.9991758465766907 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0016431099502369761, + 0.12185458838939667, + -0.0036051240749657154 + ], + "orientation": [ + 0.0023050899617373943, + 0.013010252267122269, + 0.02819950506091118, + 0.9995149970054626 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + 0.0016431099502369761, + 0.12185458838939667, + -0.0036051240749657154 + ], + "orientation": [ + 0.0023050899617373943, + 0.013010252267122269, + 0.02819950506091118, + 0.9995149970054626 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07355553656816483, + -0.10679316520690918, + 0.034045927226543427 + ], + "orientation": [ + 0.9393671751022339, + 0.07544013857841492, + -0.1314409375190735, + -0.3076057732105255 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + -0.07029234617948532, + -0.10232477635145187, + 0.03598839044570923 + ], + "orientation": [ + 0.938789427280426, + 0.08015163242816925, + -0.13358673453330994, + -0.30725350975990295 + ], + "joints": [ + -0.010177199728786945 + ] + }, + "final_grasp": { + "position": [ + -0.07029234617948532, + -0.10232477635145187, + 0.03598839044570923 + ], + "orientation": [ + 0.938789427280426, + 0.08015163242816925, + -0.13358673453330994, + -0.30725350975990295 + ], + "joints": [ + -0.0032689999788999557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04182900860905647, + -0.11319168657064438, + 0.020634224638342857 + ], + "orientation": [ + 0.9828793406486511, + 0.05602038651704788, + -0.015443352051079273, + 0.17484721541404724 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.04273602366447449, + -0.11448182910680771, + 0.019066428765654564 + ], + "orientation": [ + 0.9825417995452881, + 0.04732251539826393, + -0.03103790432214737, + 0.17722493410110474 + ], + "joints": [ + -0.006055546924471855 + ] + }, + "final_grasp": { + "position": [ + 0.04273602366447449, + -0.11448182910680771, + 0.019066428765654564 + ], + "orientation": [ + 0.9825417995452881, + 0.04732251539826393, + -0.03103790432214737, + 0.17722493410110474 + ], + "joints": [ + 0.0008526481688022614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044176921248435974, + 0.11888296902179718, + 0.0788421705365181 + ], + "orientation": [ + 0.16665050387382507, + 0.07525752484798431, + -0.12077613919973373, + 0.9756931066513062 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.042892515659332275, + 0.11517845094203949, + 0.07721506804227829 + ], + "orientation": [ + 0.16977693140506744, + 0.05993369221687317, + -0.11825915426015854, + 0.9765236973762512 + ], + "joints": [ + -0.008943576365709305 + ] + }, + "final_grasp": { + "position": [ + 0.042892515659332275, + 0.11517845094203949, + 0.07721506804227829 + ], + "orientation": [ + 0.16977693140506744, + 0.05993369221687317, + -0.11825915426015854, + 0.9765236973762512 + ], + "joints": [ + -0.0020088106393814087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10377796739339828, + 0.06499747931957245, + 0.01557593047618866 + ], + "orientation": [ + 0.48519790172576904, + 0.08760610967874527, + 0.08046180009841919, + 0.86627596616745 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.10114959627389908, + 0.06298042088747025, + 0.0154891861602664 + ], + "orientation": [ + 0.48582175374031067, + 0.08881235867738724, + 0.07307299226522446, + 0.8664582967758179 + ], + "joints": [ + -0.007233163341879845 + ] + }, + "final_grasp": { + "position": [ + 0.10114959627389908, + 0.06298042088747025, + 0.0154891861602664 + ], + "orientation": [ + 0.48582175374031067, + 0.08881235867738724, + 0.07307299226522446, + 0.8664582967758179 + ], + "joints": [ + -0.00032496824860572815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10370177030563354, + 0.06496193259954453, + 0.01546640694141388 + ], + "orientation": [ + 0.4851813018321991, + 0.08764608949422836, + 0.08013034611940384, + 0.8663119673728943 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.10113538801670074, + 0.06300003826618195, + 0.015472185797989368 + ], + "orientation": [ + 0.48571088910102844, + 0.0889408215880394, + 0.0734124705195427, + 0.8664785623550415 + ], + "joints": [ + -0.007233163341879845 + ] + }, + "final_grasp": { + "position": [ + 0.10113538801670074, + 0.06300003826618195, + 0.015472185797989368 + ], + "orientation": [ + 0.48571088910102844, + 0.0889408215880394, + 0.0734124705195427, + 0.8664785623550415 + ], + "joints": [ + -0.00032496824860572815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026717115193605423, + -0.1359364241361618, + 0.07107549160718918 + ], + "orientation": [ + 0.12937457859516144, + -0.09928534924983978, + 0.9860443472862244, + -0.033482979983091354 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.025453826412558556, + -0.13030169904232025, + 0.0707557201385498 + ], + "orientation": [ + 0.13033157587051392, + -0.09950502961874008, + 0.985943078994751, + -0.03207394480705261 + ], + "joints": [ + -0.01123852375894785 + ] + }, + "final_grasp": { + "position": [ + 0.025453826412558556, + -0.13030169904232025, + 0.0707557201385498 + ], + "orientation": [ + 0.13033157587051392, + -0.09950502961874008, + 0.985943078994751, + -0.03207394480705261 + ], + "joints": [ + -0.004861721768975258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026722241193056107, + -0.13589788973331451, + 0.07110455632209778 + ], + "orientation": [ + 0.12918418645858765, + -0.09930458664894104, + 0.9860765933990479, + -0.033210914582014084 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.02547254040837288, + -0.13026908040046692, + 0.07082019001245499 + ], + "orientation": [ + 0.13007675111293793, + -0.09953169524669647, + 0.9859878420829773, + -0.031644873321056366 + ], + "joints": [ + -0.01123852375894785 + ] + }, + "final_grasp": { + "position": [ + 0.02547254040837288, + -0.13026908040046692, + 0.07082019001245499 + ], + "orientation": [ + 0.13007675111293793, + -0.09953169524669647, + 0.9859878420829773, + -0.031644873321056366 + ], + "joints": [ + -0.004861721768975258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021986089646816254, + -0.017936227843165398, + 0.2661485970020294 + ], + "orientation": [ + 0.29529857635498047, + -0.3063209652900696, + -0.6510535478591919, + 0.6285662055015564 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + -0.02102305367588997, + -0.01687282882630825, + 0.2613442838191986 + ], + "orientation": [ + 0.29339277744293213, + -0.30750539898872375, + -0.6560012102127075, + 0.6237175464630127 + ], + "joints": [ + -0.010892454534769058 + ] + }, + "final_grasp": { + "position": [ + -0.02102305367588997, + -0.01687282882630825, + 0.2613442838191986 + ], + "orientation": [ + 0.29339277744293213, + -0.30750539898872375, + -0.6560012102127075, + 0.6237175464630127 + ], + "joints": [ + -0.004993913695216179 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1050061583518982, + 0.07945019751787186, + 0.10239198803901672 + ], + "orientation": [ + 0.446947306394577, + -0.10253814607858658, + 0.06477457284927368, + -0.8863003253936768 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.10008618980646133, + 0.07646304368972778, + 0.100888691842556 + ], + "orientation": [ + 0.44505971670150757, + -0.09739795327186584, + 0.06964913755655289, + -0.8874596357345581 + ], + "joints": [ + -0.010231736116111279 + ] + }, + "final_grasp": { + "position": [ + -0.10008618980646133, + 0.07646304368972778, + 0.100888691842556 + ], + "orientation": [ + 0.44505971670150757, + -0.09739795327186584, + 0.06964913755655289, + -0.8874596357345581 + ], + "joints": [ + -0.002818705514073372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10050985217094421, + -0.08178824186325073, + 0.055308565497398376 + ], + "orientation": [ + 0.9001874923706055, + 0.12355252355337143, + -0.035655539482831955, + 0.41608405113220215 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.09624803066253662, + -0.07833840698003769, + 0.05679088085889816 + ], + "orientation": [ + 0.8997126221656799, + 0.1289418488740921, + -0.034543562680482864, + 0.41556939482688904 + ], + "joints": [ + -0.011030968278646469 + ] + }, + "final_grasp": { + "position": [ + 0.09624803066253662, + -0.07833840698003769, + 0.05679088085889816 + ], + "orientation": [ + 0.8997126221656799, + 0.1289418488740921, + -0.034543562680482864, + 0.41556939482688904 + ], + "joints": [ + -0.004122765734791756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10054866969585419, + -0.08182408660650253, + 0.05530334264039993 + ], + "orientation": [ + 0.9001809358596802, + 0.1237337663769722, + -0.03545080125331879, + 0.4160619378089905 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.0962790697813034, + -0.07835482060909271, + 0.056780025362968445 + ], + "orientation": [ + 0.8996872305870056, + 0.12918631732463837, + -0.03452368080615997, + 0.41554996371269226 + ], + "joints": [ + -0.011030968278646469 + ] + }, + "final_grasp": { + "position": [ + 0.0962790697813034, + -0.07835482060909271, + 0.056780025362968445 + ], + "orientation": [ + 0.8996872305870056, + 0.12918631732463837, + -0.03452368080615997, + 0.41554996371269226 + ], + "joints": [ + -0.004122765734791756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06179075315594673, + -0.10997684299945831, + 0.037522345781326294 + ], + "orientation": [ + 0.9593316316604614, + 0.14529182016849518, + -0.022869231179356575, + 0.24093550443649292 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + 0.05926179140806198, + -0.10541541129350662, + 0.039622820913791656 + ], + "orientation": [ + 0.9584434628486633, + 0.15143001079559326, + -0.022036274895071983, + 0.24076837301254272 + ], + "joints": [ + -0.010177199728786945 + ] + }, + "final_grasp": { + "position": [ + 0.05926179140806198, + -0.10541541129350662, + 0.039622820913791656 + ], + "orientation": [ + 0.9584434628486633, + 0.15143001079559326, + -0.022036274895071983, + 0.24076837301254272 + ], + "joints": [ + -0.0032689999788999557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08496053516864777, + -0.09973480552434921, + 0.11877945810556412 + ], + "orientation": [ + 0.11677833646535873, + -0.3499298691749573, + 0.9253706336021423, + -0.08718497306108475 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.08143091946840286, + -0.09551810473203659, + 0.11722825467586517 + ], + "orientation": [ + 0.11564861238002777, + -0.35076621174812317, + 0.9250502586364746, + -0.0887167677283287 + ], + "joints": [ + -0.011619774624705315 + ] + }, + "final_grasp": { + "position": [ + 0.08143091946840286, + -0.09551810473203659, + 0.11722825467586517 + ], + "orientation": [ + 0.11564861238002777, + -0.35076621174812317, + 0.9250502586364746, + -0.0887167677283287 + ], + "joints": [ + -0.004711570218205452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10606726258993149, + 0.08703075349330902, + 0.08083225786685944 + ], + "orientation": [ + 0.41993045806884766, + -0.11453021317720413, + -0.06200779601931572, + -0.8981626629829407 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.10122857987880707, + 0.0837373435497284, + 0.0808696374297142 + ], + "orientation": [ + 0.41896069049835205, + -0.11460032314062119, + -0.06336311250925064, + -0.8985121250152588 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + -0.10122857987880707, + 0.0837373435497284, + 0.0808696374297142 + ], + "orientation": [ + 0.41896069049835205, + -0.11460032314062119, + -0.06336311250925064, + -0.8985121250152588 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013305524364113808, + 0.13762475550174713, + 0.07004620134830475 + ], + "orientation": [ + 0.039235640317201614, + -0.16819967329502106, + -0.026364924386143684, + -0.9846189618110657 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.012711456045508385, + 0.13203319907188416, + 0.07024739682674408 + ], + "orientation": [ + 0.03938993439078331, + -0.1762067973613739, + -0.029103433713316917, + -0.9831340909004211 + ], + "joints": [ + -0.013355356641113758 + ] + }, + "final_grasp": { + "position": [ + -0.012711456045508385, + 0.13203319907188416, + 0.07024739682674408 + ], + "orientation": [ + 0.03938993439078331, + -0.1762067973613739, + -0.029103433713316917, + -0.9831340909004211 + ], + "joints": [ + -0.007005117833614349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013268263079226017, + 0.13762100040912628, + 0.07010385394096375 + ], + "orientation": [ + 0.03975556418299675, + -0.16804064810276031, + -0.02663269080221653, + -0.9846180081367493 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.012723101302981377, + 0.13201256096363068, + 0.07030732184648514 + ], + "orientation": [ + 0.039416585117578506, + -0.17599420249462128, + -0.029282784089446068, + -0.9831656813621521 + ], + "joints": [ + -0.013355356641113758 + ] + }, + "final_grasp": { + "position": [ + -0.012723101302981377, + 0.13201256096363068, + 0.07030732184648514 + ], + "orientation": [ + 0.039416585117578506, + -0.17599420249462128, + -0.029282784089446068, + -0.9831656813621521 + ], + "joints": [ + -0.007005117833614349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1244533509016037, + -0.01537301018834114, + 0.045180752873420715 + ], + "orientation": [ + 0.024060392752289772, + 0.6624225974082947, + 0.7485116720199585, + -0.01864524744451046 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.12191196531057358, + -0.014460659585893154, + 0.04425203055143356 + ], + "orientation": [ + 0.02561751753091812, + 0.6626834869384766, + 0.7478004097938538, + -0.031446170061826706 + ], + "joints": [ + -0.00720659364014864 + ] + }, + "final_grasp": { + "position": [ + -0.12191196531057358, + -0.014460659585893154, + 0.04425203055143356 + ], + "orientation": [ + 0.02561751753091812, + 0.6626834869384766, + 0.7478004097938538, + -0.031446170061826706 + ], + "joints": [ + -0.0002718288451433182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12442182004451752, + -0.015360240824520588, + 0.04526226967573166 + ], + "orientation": [ + 0.024205509573221207, + 0.6624598503112793, + 0.7484762668609619, + -0.018552729859948158 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.12191756814718246, + -0.014449856244027615, + 0.04433397576212883 + ], + "orientation": [ + 0.02581752836704254, + 0.6627209782600403, + 0.7477640509605408, + -0.03135733678936958 + ], + "joints": [ + -0.00720659364014864 + ] + }, + "final_grasp": { + "position": [ + -0.12191756814718246, + -0.014449856244027615, + 0.04433397576212883 + ], + "orientation": [ + 0.02581752836704254, + 0.6627209782600403, + 0.7477640509605408, + -0.03135733678936958 + ], + "joints": [ + -0.0002718288451433182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1341831535100937, + -0.03790106624364853, + 0.08167078346014023 + ], + "orientation": [ + 0.13859102129936218, + -0.5938135981559753, + 0.7874932885169983, + 0.08962325006723404 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.12863023579120636, + -0.03617997094988823, + 0.08182140439748764 + ], + "orientation": [ + 0.13896319270133972, + -0.593772292137146, + 0.7870711088180542, + 0.09296675026416779 + ], + "joints": [ + -0.013355356641113758 + ] + }, + "final_grasp": { + "position": [ + 0.12863023579120636, + -0.03617997094988823, + 0.08182140439748764 + ], + "orientation": [ + 0.13896319270133972, + -0.593772292137146, + 0.7870711088180542, + 0.09296675026416779 + ], + "joints": [ + -0.007005117833614349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10850471258163452, + -0.06672342866659164, + 0.05947484076023102 + ], + "orientation": [ + 0.1415022611618042, + 0.4937058389186859, + -0.8564482927322388, + -0.05223005637526512 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.10412861406803131, + -0.06401100009679794, + 0.06157364323735237 + ], + "orientation": [ + 0.13853226602077484, + 0.4932832419872284, + -0.8567927479743958, + -0.05819413810968399 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + 0.10412861406803131, + -0.06401100009679794, + 0.06157364323735237 + ], + "orientation": [ + 0.13853226602077484, + 0.4932832419872284, + -0.8567927479743958, + -0.05819413810968399 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10851342231035233, + -0.06673803925514221, + 0.05947508662939072 + ], + "orientation": [ + 0.14130288362503052, + 0.49366533756256104, + -0.8565088510513306, + -0.052159398794174194 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.10413351655006409, + -0.06402567774057388, + 0.061573661863803864 + ], + "orientation": [ + 0.13842953741550446, + 0.4932446777820587, + -0.8568378686904907, + -0.05810185521841049 + ], + "joints": [ + -0.012739979662001133 + ] + }, + "final_grasp": { + "position": [ + 0.10413351655006409, + -0.06402567774057388, + 0.061573661863803864 + ], + "orientation": [ + 0.13842953741550446, + 0.4932446777820587, + -0.8568378686904907, + -0.05810185521841049 + ], + "joints": [ + -0.006363172084093094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05442800745368004, + -0.12186554074287415, + 0.06761665642261505 + ], + "orientation": [ + 0.974220335483551, + 0.02473444864153862, + -0.07323025166988373, + -0.211944118142128 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.0522705502808094, + -0.11656227707862854, + 0.0683235228061676 + ], + "orientation": [ + 0.9739921689033508, + 0.02803853340446949, + -0.07288943231105804, + -0.21269774436950684 + ], + "joints": [ + -0.010736565105617046 + ] + }, + "final_grasp": { + "position": [ + -0.0522705502808094, + -0.11656227707862854, + 0.0683235228061676 + ], + "orientation": [ + 0.9739921689033508, + 0.02803853340446949, + -0.07288943231105804, + -0.21269774436950684 + ], + "joints": [ + -0.0038283634930849075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11017453670501709, + 0.07974502444267273, + 0.09635322540998459 + ], + "orientation": [ + 0.4535902440547943, + 0.06787765771150589, + -0.0532260425388813, + 0.8870262503623962 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.10543792694807053, + 0.07630960643291473, + 0.09611085057258606 + ], + "orientation": [ + 0.45320940017700195, + 0.06285551190376282, + -0.04883227124810219, + 0.8878433108329773 + ], + "joints": [ + -0.01220570970326662 + ] + }, + "final_grasp": { + "position": [ + 0.10543792694807053, + 0.07630960643291473, + 0.09611085057258606 + ], + "orientation": [ + 0.45320940017700195, + 0.06285551190376282, + -0.04883227124810219, + 0.8878433108329773 + ], + "joints": [ + -0.005324073135852814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01469997875392437, + 0.01694704033434391, + 0.25609591603279114 + ], + "orientation": [ + 0.6296547651290894, + -0.6555899381637573, + 0.2897862493991852, + -0.29960063099861145 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.015713054686784744, + 0.017435837537050247, + 0.2551802694797516 + ], + "orientation": [ + 0.6332134008407593, + -0.6524335741996765, + 0.2843245267868042, + -0.30418893694877625 + ], + "joints": [ + -0.011853900738060474 + ] + }, + "final_grasp": { + "position": [ + 0.015713054686784744, + 0.017435837537050247, + 0.2551802694797516 + ], + "orientation": [ + 0.6332134008407593, + -0.6524335741996765, + 0.2843245267868042, + -0.30418893694877625 + ], + "joints": [ + -0.005503667518496513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025479603558778763, + 0.017654988914728165, + 0.2582932114601135 + ], + "orientation": [ + 0.15733301639556885, + -0.050737638026475906, + 0.70770263671875, + -0.6868982315063477 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.02429465763270855, + 0.017216084524989128, + 0.25628936290740967 + ], + "orientation": [ + 0.15683391690254211, + -0.05280902609229088, + 0.7050735950469971, + -0.6895546317100525 + ], + "joints": [ + -0.01064832229167223 + ] + }, + "final_grasp": { + "position": [ + -0.02429465763270855, + 0.017216084524989128, + 0.25628936290740967 + ], + "orientation": [ + 0.15683391690254211, + -0.05280902609229088, + 0.7050735950469971, + -0.6895546317100525 + ], + "joints": [ + -0.004829494282603264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025491267442703247, + 0.017646590247750282, + 0.2582876980304718 + ], + "orientation": [ + 0.15749599039554596, + -0.050887253135442734, + 0.7076891660690308, + -0.6868636608123779 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.024303816258907318, + 0.017209835350513458, + 0.2562856078147888 + ], + "orientation": [ + 0.15697765350341797, + -0.05292714014649391, + 0.7050744891166687, + -0.6895118951797485 + ], + "joints": [ + -0.01064832229167223 + ] + }, + "final_grasp": { + "position": [ + -0.024303816258907318, + 0.017209835350513458, + 0.2562856078147888 + ], + "orientation": [ + 0.15697765350341797, + -0.05292714014649391, + 0.7050744891166687, + -0.6895118951797485 + ], + "joints": [ + -0.004829494282603264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025544386357069016, + 0.01759442500770092, + 0.25827914476394653 + ], + "orientation": [ + 0.15760119259357452, + -0.0506473109126091, + 0.7078105211257935, + -0.6867320537567139 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.02435576729476452, + 0.01715608313679695, + 0.25627005100250244 + ], + "orientation": [ + 0.15710318088531494, + -0.05271674320101738, + 0.7052137851715088, + -0.6893569231033325 + ], + "joints": [ + -0.01064832229167223 + ] + }, + "final_grasp": { + "position": [ + -0.02435576729476452, + 0.01715608313679695, + 0.25627005100250244 + ], + "orientation": [ + 0.15710318088531494, + -0.05271674320101738, + 0.7052137851715088, + -0.6893569231033325 + ], + "joints": [ + -0.004829494282603264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1035473644733429, + 0.06767573207616806, + 0.045988813042640686 + ], + "orientation": [ + 0.10284730046987534, + 0.8752858638763428, + 0.47105923295021057, + 0.03742184489965439 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.10154420137405396, + 0.06626027822494507, + 0.04550214856863022 + ], + "orientation": [ + 0.09409110993146896, + 0.8756011724472046, + 0.47282835841178894, + 0.030045995488762856 + ], + "joints": [ + -0.009027552790939808 + ] + }, + "final_grasp": { + "position": [ + -0.10154420137405396, + 0.06626027822494507, + 0.04550214856863022 + ], + "orientation": [ + 0.09409110993146896, + 0.8756011724472046, + 0.47282835841178894, + 0.030045995488762856 + ], + "joints": [ + -0.00158795528113842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1040503978729248, + -0.08675605803728104, + 0.08233640342950821 + ], + "orientation": [ + 0.9018023014068604, + 0.10579220950603485, + -0.0845789834856987, + 0.4103740453720093 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.09934767335653305, + -0.08294685184955597, + 0.08341032266616821 + ], + "orientation": [ + 0.9016293287277222, + 0.10959577560424805, + -0.0849430039525032, + 0.4096801280975342 + ], + "joints": [ + -0.013623189181089401 + ] + }, + "final_grasp": { + "position": [ + 0.09934767335653305, + -0.08294685184955597, + 0.08341032266616821 + ], + "orientation": [ + 0.9016293287277222, + 0.10959577560424805, + -0.0849430039525032, + 0.4096801280975342 + ], + "joints": [ + -0.007246378809213638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006214624736458063, + 0.02282414585351944, + 0.2606773376464844 + ], + "orientation": [ + 0.44346386194229126, + -0.44202277064323425, + -0.44620153307914734, + 0.6394214034080505 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.0017507114680483937, + 0.02388789691030979, + 0.25783827900886536 + ], + "orientation": [ + 0.4407934248447418, + -0.4391581416130066, + -0.4462529718875885, + 0.6431947946548462 + ], + "joints": [ + -0.01062175165861845 + ] + }, + "final_grasp": { + "position": [ + -0.0017507114680483937, + 0.02388789691030979, + 0.25783827900886536 + ], + "orientation": [ + 0.4407934248447418, + -0.4391581416130066, + -0.4462529718875885, + 0.6431947946548462 + ], + "joints": [ + -0.004776353016495705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012290064245462418, + -0.03182816877961159, + 0.25317537784576416 + ], + "orientation": [ + 0.07469699531793594, + -0.10696252435445786, + 0.7362492680549622, + -0.6640153527259827 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.01068351324647665, + -0.032455459237098694, + 0.2515195310115814 + ], + "orientation": [ + 0.07807213813066483, + -0.10559708625078201, + 0.7315173149108887, + -0.6690564751625061 + ], + "joints": [ + -0.011799364350736141 + ] + }, + "final_grasp": { + "position": [ + 0.01068351324647665, + -0.032455459237098694, + 0.2515195310115814 + ], + "orientation": [ + 0.07807213813066483, + -0.10559708625078201, + 0.7315173149108887, + -0.6690564751625061 + ], + "joints": [ + -0.005953961983323097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009036555886268616, + 0.03817271441221237, + 0.2522549033164978 + ], + "orientation": [ + 0.6520248651504517, + -0.7518840432167053, + 0.07662781327962875, + -0.060516707599163055 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.009515339508652687, + 0.03886287286877632, + 0.2501997649669647 + ], + "orientation": [ + 0.6560807228088379, + -0.7488183975219727, + 0.07215651124715805, + -0.060187604278326035 + ], + "joints": [ + -0.011294535361230373 + ] + }, + "final_grasp": { + "position": [ + 0.009515339508652687, + 0.03886287286877632, + 0.2501997649669647 + ], + "orientation": [ + 0.6560807228088379, + -0.7488183975219727, + 0.07215651124715805, + -0.060187604278326035 + ], + "joints": [ + -0.004944304004311562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03068382851779461, + -0.016972709447145462, + 0.2542424499988556 + ], + "orientation": [ + 0.5934459567070007, + -0.5086683630943298, + -0.4399663507938385, + 0.44216296076774597 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.03096516616642475, + -0.01840607076883316, + 0.25536975264549255 + ], + "orientation": [ + 0.5913745164871216, + -0.5067667365074158, + -0.4455665647983551, + 0.441513329744339 + ], + "joints": [ + -0.01123852375894785 + ] + }, + "final_grasp": { + "position": [ + 0.03096516616642475, + -0.01840607076883316, + 0.25536975264549255 + ], + "orientation": [ + 0.5913745164871216, + -0.5067667365074158, + -0.4455665647983551, + 0.441513329744339 + ], + "joints": [ + -0.004861721768975258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002021641004830599, + 0.007773063611239195, + 0.2580651342868805 + ], + "orientation": [ + 0.6276071071624756, + -0.5907574892044067, + 0.3266405463218689, + -0.3878411650657654 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.0008815018809400499, + 0.009379697032272816, + 0.26136913895606995 + ], + "orientation": [ + 0.620780885219574, + -0.587251603603363, + 0.3281901478767395, + -0.40256401896476746 + ], + "joints": [ + -0.011883341707289219 + ] + }, + "final_grasp": { + "position": [ + 0.0008815018809400499, + 0.009379697032272816, + 0.26136913895606995 + ], + "orientation": [ + 0.620780885219574, + -0.587251603603363, + 0.3281901478767395, + -0.40256401896476746 + ], + "joints": [ + -0.005533108487725258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04213022068142891, + 0.002112565329298377, + 0.25107383728027344 + ], + "orientation": [ + 0.47030675411224365, + -0.5621986389160156, + 0.5237791538238525, + -0.43405023217201233 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.04236036166548729, + 0.0008410171139985323, + 0.2498428076505661 + ], + "orientation": [ + 0.4749085009098053, + -0.5600602030754089, + 0.5220613479614258, + -0.4338738024234772 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.04236036166548729, + 0.0008410171139985323, + 0.2498428076505661 + ], + "orientation": [ + 0.4749085009098053, + -0.5600602030754089, + 0.5220613479614258, + -0.4338738024234772 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04199405014514923, + 0.0022531163413077593, + 0.25109007954597473 + ], + "orientation": [ + 0.47031161189079285, + -0.5621256232261658, + 0.5234798789024353, + -0.43450048565864563 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.04222506657242775, + 0.0008135966490954161, + 0.24983426928520203 + ], + "orientation": [ + 0.4752776324748993, + -0.5598989725112915, + 0.5217971801757812, + -0.43399539589881897 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.04222506657242775, + 0.0008135966490954161, + 0.24983426928520203 + ], + "orientation": [ + 0.4752776324748993, + -0.5598989725112915, + 0.5217971801757812, + -0.43399539589881897 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036989834159612656, + 0.12079492956399918, + 0.11463532596826553 + ], + "orientation": [ + 0.16373738646507263, + 0.9653785228729248, + -0.1477457582950592, + 0.13930337131023407 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.03739557042717934, + 0.12216933071613312, + 0.1147809848189354 + ], + "orientation": [ + 0.17149218916893005, + 0.9636292457580566, + -0.15058302879333496, + 0.13904576003551483 + ], + "joints": [ + -0.011774188838899136 + ] + }, + "final_grasp": { + "position": [ + 0.03739557042717934, + 0.12216933071613312, + 0.1147809848189354 + ], + "orientation": [ + 0.17149218916893005, + 0.9636292457580566, + -0.15058302879333496, + 0.13904576003551483 + ], + "joints": [ + -0.005344243720173836 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023649118840694427, + 0.13225750625133514, + 0.1548043191432953 + ], + "orientation": [ + 0.007809894159436226, + 0.9729094505310059, + -0.11998771876096725, + 0.19745683670043945 + ], + "joints": [ + -0.01873406022787094 + ] + }, + "fine_grasp": { + "position": [ + 0.02312435768544674, + 0.12996798753738403, + 0.15398307144641876 + ], + "orientation": [ + 0.0007023257785476744, + 0.9776891469955444, + -0.1170542910695076, + 0.17441868782043457 + ], + "joints": [ + -0.012357254512608051 + ] + }, + "final_grasp": { + "position": [ + 0.02312435768544674, + 0.12996798753738403, + 0.15398307144641876 + ], + "orientation": [ + 0.0007023257785476744, + 0.9776891469955444, + -0.1170542910695076, + 0.17441868782043457 + ], + "joints": [ + -0.0059804487973451614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11875387281179428, + -0.0815201848745346, + 0.0902029275894165 + ], + "orientation": [ + 0.2253805249929428, + 0.4702073931694031, + -0.8515757918357849, + -0.05410579591989517 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.1150873601436615, + -0.07897268980741501, + 0.0909499078989029 + ], + "orientation": [ + 0.22296766936779022, + 0.47080692648887634, + -0.8520792126655579, + -0.050866078585386276 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.1150873601436615, + -0.07897268980741501, + 0.0909499078989029 + ], + "orientation": [ + 0.22296766936779022, + 0.47080692648887634, + -0.8520792126655579, + -0.050866078585386276 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08020702004432678, + -0.1077565997838974, + 0.1403445452451706 + ], + "orientation": [ + 0.05102897062897682, + -0.3117658793926239, + -0.9388238191604614, + 0.13714200258255005 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.07715831696987152, + -0.10356710106134415, + 0.13765840232372284 + ], + "orientation": [ + 0.05353504791855812, + -0.3112744390964508, + -0.9375745058059692, + 0.14558954536914825 + ], + "joints": [ + -0.01268257386982441 + ] + }, + "final_grasp": { + "position": [ + -0.07715831696987152, + -0.10356710106134415, + 0.13765840232372284 + ], + "orientation": [ + 0.05353504791855812, + -0.3112744390964508, + -0.9375745058059692, + 0.14558954536914825 + ], + "joints": [ + -0.006837168708443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044975172728300095, + 0.12782590091228485, + 0.11183732748031616 + ], + "orientation": [ + 0.16698132455348969, + -0.005124529357999563, + 0.10466348379850388, + -0.9803757071495056 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.043271616101264954, + 0.12240314483642578, + 0.1104152724146843 + ], + "orientation": [ + 0.16634432971477509, + -0.0049401274882256985, + 0.12147855013608932, + -0.9785438776016235 + ], + "joints": [ + -0.011799364350736141 + ] + }, + "final_grasp": { + "position": [ + -0.043271616101264954, + 0.12240314483642578, + 0.1104152724146843 + ], + "orientation": [ + 0.16634432971477509, + -0.0049401274882256985, + 0.12147855013608932, + -0.9785438776016235 + ], + "joints": [ + -0.005953961983323097 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2032, + "num_passed": 408 + } +} \ No newline at end of file diff --git a/clutter_bottle_00000/Annotation/piper_grasp_pose.json b/clutter_bottle_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..c714d48c002632b66e3ca5830cd06844abe3e78d --- /dev/null +++ b/clutter_bottle_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,7368 @@ +{ + "type": "clutter_bottle_00000", + "bottom_center": [ + -7.450580596923828e-09, + 2.158805727958679e-06, + -0.00017483934061601758 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.13028402626514435, + -0.024754313752055168, + 0.0002364448009757325 + ], + "orientation": [ + 0.07252402603626251, + -0.6713392734527588, + -0.06029203161597252, + -0.7351250052452087 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.12647424638271332, + -0.024016592651605606, + 0.0006534808198921382 + ], + "orientation": [ + 0.07237681746482849, + -0.6714105606079102, + -0.06023126840591431, + -0.7350793480873108 + ], + "joints": [ + 0.02583613246679306 + ] + }, + "final_grasp": { + "position": [ + -0.12647424638271332, + -0.024016592651605606, + 0.0006534808198921382 + ], + "orientation": [ + 0.07237681746482849, + -0.6714105606079102, + -0.06023126840591431, + -0.7350793480873108 + ], + "joints": [ + 0.017853185534477234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13020314276218414, + -0.02464795485138893, + 0.0002488640893716365 + ], + "orientation": [ + 0.0722692534327507, + -0.671466588973999, + -0.0600467324256897, + -0.7350537180900574 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.12640218436717987, + -0.02389986254274845, + 0.0006579507607966661 + ], + "orientation": [ + 0.07223847508430481, + -0.6715230941772461, + -0.0600912868976593, + -0.7350016832351685 + ], + "joints": [ + 0.02583613246679306 + ] + }, + "final_grasp": { + "position": [ + -0.12640218436717987, + -0.02389986254274845, + 0.0006579507607966661 + ], + "orientation": [ + 0.07223847508430481, + -0.6715230941772461, + -0.0600912868976593, + -0.7350016832351685 + ], + "joints": [ + 0.017853185534477234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1305256187915802, + -0.02435263805091381, + 0.0001739646540954709 + ], + "orientation": [ + 0.07136880606412888, + -0.6714920997619629, + -0.05905705690383911, + -0.7351987361907959 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.12671007215976715, + -0.023609206080436707, + 0.0005959987756796181 + ], + "orientation": [ + 0.07133660465478897, + -0.6714563369750977, + -0.05909164622426033, + -0.7352318167686462 + ], + "joints": [ + 0.02583613246679306 + ] + }, + "final_grasp": { + "position": [ + -0.12671007215976715, + -0.023609206080436707, + 0.0005959987756796181 + ], + "orientation": [ + 0.07133660465478897, + -0.6714563369750977, + -0.05909164622426033, + -0.7352318167686462 + ], + "joints": [ + 0.017853185534477234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1305268108844757, + -0.02437671832740307, + -9.874745592242107e-05 + ], + "orientation": [ + 0.06865629553794861, + -0.6713854074478149, + -0.06179874390363693, + -0.7353290915489197 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.1267099827528, + -0.02360648475587368, + 0.0002588076749816537 + ], + "orientation": [ + 0.06859548389911652, + -0.6715667843818665, + -0.06144500896334648, + -0.7351987361907959 + ], + "joints": [ + 0.02583613246679306 + ] + }, + "final_grasp": { + "position": [ + -0.1267099827528, + -0.02360648475587368, + 0.0002588076749816537 + ], + "orientation": [ + 0.06859548389911652, + -0.6715667843818665, + -0.06144500896334648, + -0.7351987361907959 + ], + "joints": [ + 0.017853185534477234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04215563088655472, + 0.0819125771522522, + -0.07830019295215607 + ], + "orientation": [ + 0.7829710841178894, + 0.19199076294898987, + -0.32601580023765564, + 0.4937707483768463 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + 0.04087281972169876, + 0.07944754511117935, + -0.0755799189209938 + ], + "orientation": [ + 0.7821176052093506, + 0.19369514286518097, + -0.32805490493774414, + 0.4931066334247589 + ], + "joints": [ + 0.026133734732866287 + ] + }, + "final_grasp": { + "position": [ + 0.04087281972169876, + 0.07944754511117935, + -0.0755799189209938 + ], + "orientation": [ + 0.7821176052093506, + 0.19369514286518097, + -0.32805490493774414, + 0.4931066334247589 + ], + "joints": [ + 0.017753731459379196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13809579610824585, + 0.013634615577757359, + 0.013062593527138233 + ], + "orientation": [ + 0.03815750032663345, + 0.682640016078949, + -0.031240303069353104, + 0.7290889620780945 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + -0.13425138592720032, + 0.013228318654000759, + 0.013389299623668194 + ], + "orientation": [ + 0.03824815899133682, + 0.6823778748512268, + -0.031147055327892303, + 0.7293334603309631 + ], + "joints": [ + 0.02486586570739746 + ] + }, + "final_grasp": { + "position": [ + -0.13425138592720032, + 0.013228318654000759, + 0.013389299623668194 + ], + "orientation": [ + 0.03824815899133682, + 0.6823778748512268, + -0.031147055327892303, + 0.7293334603309631 + ], + "joints": [ + 0.016862019896507263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13803423941135406, + 0.01352720893919468, + 0.013106073252856731 + ], + "orientation": [ + 0.03812199831008911, + 0.6825072169303894, + -0.030900537967681885, + 0.7292296290397644 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + -0.13422474265098572, + 0.013111974112689495, + 0.013480274938046932 + ], + "orientation": [ + 0.03830304369330406, + 0.6820662021636963, + -0.030861184000968933, + 0.7296342253684998 + ], + "joints": [ + 0.02486586570739746 + ] + }, + "final_grasp": { + "position": [ + -0.13422474265098572, + 0.013111974112689495, + 0.013480274938046932 + ], + "orientation": [ + 0.03830304369330406, + 0.6820662021636963, + -0.030861184000968933, + 0.7296342253684998 + ], + "joints": [ + 0.016862019896507263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008583619259297848, + 0.022344106808304787, + -0.11650975048542023 + ], + "orientation": [ + 0.45912614464759827, + 0.10142843425273895, + -0.07862856984138489, + 0.8790523409843445 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.008761346340179443, + 0.022253310307860374, + -0.11251688748598099 + ], + "orientation": [ + 0.45971912145614624, + 0.09732744842767715, + -0.07563135772943497, + 0.8794689774513245 + ], + "joints": [ + 0.025230679661035538 + ] + }, + "final_grasp": { + "position": [ + -0.008761346340179443, + 0.022253310307860374, + -0.11251688748598099 + ], + "orientation": [ + 0.45971912145614624, + 0.09732744842767715, + -0.07563135772943497, + 0.8794689774513245 + ], + "joints": [ + 0.016850676387548447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1021258756518364, + 0.06939152628183365, + -0.03662779554724693 + ], + "orientation": [ + 0.2593078017234802, + 0.5344462990760803, + -0.153232142329216, + 0.7897128462791443 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.0990271121263504, + 0.06724495440721512, + -0.035640668123960495 + ], + "orientation": [ + 0.25888723134994507, + 0.5368080735206604, + -0.15408818423748016, + 0.7880808115005493 + ], + "joints": [ + 0.025670628994703293 + ] + }, + "final_grasp": { + "position": [ + -0.0990271121263504, + 0.06724495440721512, + -0.035640668123960495 + ], + "orientation": [ + 0.25888723134994507, + 0.5368080735206604, + -0.15408818423748016, + 0.7880808115005493 + ], + "joints": [ + 0.017290625721216202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07597150653600693, + -0.094610296189785, + -0.05455709621310234 + ], + "orientation": [ + 0.806942880153656, + -0.19118887186050415, + 0.40128371119499207, + 0.3889232873916626 + ], + "joints": [ + 0.029581645503640175 + ] + }, + "fine_grasp": { + "position": [ + -0.07389871031045914, + -0.0920247733592987, + -0.05340040847659111 + ], + "orientation": [ + 0.804211437702179, + -0.19382113218307495, + 0.40671971440315247, + 0.38762930035591125 + ], + "joints": [ + 0.021515103057026863 + ] + }, + "final_grasp": { + "position": [ + -0.07389871031045914, + -0.0920247733592987, + -0.05340040847659111 + ], + "orientation": [ + 0.804211437702179, + -0.19382113218307495, + 0.40671971440315247, + 0.38762930035591125 + ], + "joints": [ + 0.013448560610413551 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02680356800556183, + -0.0015375445364043117, + -0.11747493594884872 + ], + "orientation": [ + 0.07820296287536621, + 0.061429284512996674, + -0.01765327900648117, + -0.9948865175247192 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.025795994326472282, + -0.0014850349398329854, + -0.11373934894800186 + ], + "orientation": [ + 0.07821068167686462, + 0.06422693282365799, + -0.016651706770062447, + -0.9947265386581421 + ], + "joints": [ + 0.024581171572208405 + ] + }, + "final_grasp": { + "position": [ + 0.025795994326472282, + -0.0014850349398329854, + -0.11373934894800186 + ], + "orientation": [ + 0.07821068167686462, + 0.06422693282365799, + -0.016651706770062447, + -0.9947265386581421 + ], + "joints": [ + 0.015783213078975677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0268515944480896, + -0.0015047374181449413, + -0.11767793446779251 + ], + "orientation": [ + 0.07741788774728775, + 0.0616154782474041, + -0.01741732843220234, + -0.9949405193328857 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.02585802972316742, + -0.0014519928954541683, + -0.11390785872936249 + ], + "orientation": [ + 0.07736510783433914, + 0.06423786282539368, + -0.016374656930565834, + -0.9947965145111084 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + 0.02585802972316742, + -0.0014519928954541683, + -0.11390785872936249 + ], + "orientation": [ + 0.07736510783433914, + 0.06423786282539368, + -0.016374656930565834, + -0.9947965145111084 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08689876645803452, + -0.07409149408340454, + -0.06278270483016968 + ], + "orientation": [ + 0.2898212969303131, + -0.43272897601127625, + 0.1699150651693344, + 0.836587131023407 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.08436419814825058, + -0.07183604687452316, + -0.06088460609316826 + ], + "orientation": [ + 0.2895771861076355, + -0.43515151739120483, + 0.1702713966369629, + 0.83534175157547 + ], + "joints": [ + 0.025120574980974197 + ] + }, + "final_grasp": { + "position": [ + 0.08436419814825058, + -0.07183604687452316, + -0.06088460609316826 + ], + "orientation": [ + 0.2895771861076355, + -0.43515151739120483, + 0.1702713966369629, + 0.83534175157547 + ], + "joints": [ + 0.017116729170084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00512048089876771, + 0.08841252326965332, + -0.08094289153814316 + ], + "orientation": [ + 0.6300978064537048, + 0.2551209330558777, + 0.3015073835849762, + -0.6685680150985718 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.004896155558526516, + 0.08644839376211166, + -0.07750963419675827 + ], + "orientation": [ + 0.6329814195632935, + 0.2526838481426239, + 0.2964647710323334, + -0.6690248250961304 + ], + "joints": [ + 0.025759834796190262 + ] + }, + "final_grasp": { + "position": [ + -0.004896155558526516, + 0.08644839376211166, + -0.07750963419675827 + ], + "orientation": [ + 0.6329814195632935, + 0.2526838481426239, + 0.2964647710323334, + -0.6690248250961304 + ], + "joints": [ + 0.016982775181531906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039738528430461884, + 0.07410505414009094, + -0.08885286003351212 + ], + "orientation": [ + 0.7895233631134033, + 0.1566234827041626, + -0.2901495695114136, + 0.5176244378089905 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.03861646354198456, + 0.07194309681653976, + -0.08571656793355942 + ], + "orientation": [ + 0.7892318367958069, + 0.15846391022205353, + -0.2918906509876251, + 0.5165290236473083 + ], + "joints": [ + 0.026090841740369797 + ] + }, + "final_grasp": { + "position": [ + 0.03861646354198456, + 0.07194309681653976, + -0.08571656793355942 + ], + "orientation": [ + 0.7892318367958069, + 0.15846391022205353, + -0.2918906509876251, + 0.5165290236473083 + ], + "joints": [ + 0.01810789480805397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0680018961429596, + 0.055902425199747086, + -0.08557490259408951 + ], + "orientation": [ + 0.2828194797039032, + 0.3198836147785187, + -0.12978321313858032, + 0.8948988914489746 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.0659630298614502, + 0.05422142148017883, + -0.08277171105146408 + ], + "orientation": [ + 0.28270286321640015, + 0.3230704367160797, + -0.1298525035381317, + 0.8937801718711853 + ], + "joints": [ + 0.026067685335874557 + ] + }, + "final_grasp": { + "position": [ + -0.0659630298614502, + 0.05422142148017883, + -0.08277171105146408 + ], + "orientation": [ + 0.28270286321640015, + 0.3230704367160797, + -0.1298525035381317, + 0.8937801718711853 + ], + "joints": [ + 0.01808473840355873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003436688333749771, + 0.10166040807962418, + -0.06296271085739136 + ], + "orientation": [ + 0.5978696346282959, + 0.33338311314582825, + -0.37026116251945496, + 0.62794429063797 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.003201759420335293, + 0.09969199448823929, + -0.05959565192461014 + ], + "orientation": [ + 0.6032464504241943, + 0.3271721601486206, + -0.36208435893058777, + 0.6308305263519287 + ], + "joints": [ + 0.0250442773103714 + ] + }, + "final_grasp": { + "position": [ + 0.003201759420335293, + 0.09969199448823929, + -0.05959565192461014 + ], + "orientation": [ + 0.6032464504241943, + 0.3271721601486206, + -0.36208435893058777, + 0.6308305263519287 + ], + "joints": [ + 0.016246318817138672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06793549656867981, + 0.05616697296500206, + -0.0856819674372673 + ], + "orientation": [ + 0.2813612222671509, + 0.31949132680892944, + -0.131320983171463, + 0.8952742218971252 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.06589554250240326, + 0.054476652294397354, + -0.08285585790872574 + ], + "orientation": [ + 0.28144583106040955, + 0.32243555784225464, + -0.13163083791732788, + 0.8941458463668823 + ], + "joints": [ + 0.025670628994703293 + ] + }, + "final_grasp": { + "position": [ + -0.06589554250240326, + 0.054476652294397354, + -0.08285585790872574 + ], + "orientation": [ + 0.28144583106040955, + 0.32243555784225464, + -0.13163083791732788, + 0.8941458463668823 + ], + "joints": [ + 0.017290625721216202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13331905007362366, + -0.011646351777017117, + 0.002311195246875286 + ], + "orientation": [ + 0.7699678540229797, + -0.017473852261900902, + -0.6361832022666931, + -0.04598989337682724 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.12941968441009521, + -0.01127321831882, + 0.002862139604985714 + ], + "orientation": [ + 0.7695453763008118, + -0.01660688780248165, + -0.6366304159164429, + -0.04718047380447388 + ], + "joints": [ + 0.026233188807964325 + ] + }, + "final_grasp": { + "position": [ + 0.12941968441009521, + -0.01127321831882, + 0.002862139604985714 + ], + "orientation": [ + 0.7695453763008118, + -0.01660688780248165, + -0.6366304159164429, + -0.04718047380447388 + ], + "joints": [ + 0.018647298216819763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1212184727191925, + -0.010490321554243565, + -0.0389062874019146 + ], + "orientation": [ + 0.8060380220413208, + -0.0029995436780154705, + 0.5879477858543396, + 0.06790539622306824 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.11779799312353134, + -0.010219821706414223, + -0.03684653714299202 + ], + "orientation": [ + 0.8123484253883362, + -0.004120716825127602, + 0.5794413089752197, + 0.06573249399662018 + ], + "joints": [ + 0.025670628994703293 + ] + }, + "final_grasp": { + "position": [ + -0.11779799312353134, + -0.010219821706414223, + -0.03684653714299202 + ], + "orientation": [ + 0.8123484253883362, + -0.004120716825127602, + 0.5794413089752197, + 0.06573249399662018 + ], + "joints": [ + 0.017290625721216202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13339051604270935, + -0.011592372320592403, + 0.0023330808617174625 + ], + "orientation": [ + 0.7700858116149902, + -0.017270075157284737, + -0.6360530257225037, + -0.04589239880442619 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.12953491508960724, + -0.01125772763043642, + 0.0028654751367866993 + ], + "orientation": [ + 0.7696585655212402, + -0.01644713431596756, + -0.6365025639533997, + -0.04711173474788666 + ], + "joints": [ + 0.026233188807964325 + ] + }, + "final_grasp": { + "position": [ + 0.12953491508960724, + -0.01125772763043642, + 0.0028654751367866993 + ], + "orientation": [ + 0.7696585655212402, + -0.01644713431596756, + -0.6365025639533997, + -0.04711173474788666 + ], + "joints": [ + 0.018647298216819763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12165746837854385, + -0.010595457628369331, + -0.0389392115175724 + ], + "orientation": [ + 0.8049547672271729, + -0.0017964200815185905, + 0.5891255140304565, + 0.07053904980421066 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.11830060929059982, + -0.01034350972622633, + -0.036805659532547 + ], + "orientation": [ + 0.8117074370384216, + -0.0020803979132324457, + 0.5799852609634399, + 0.06887546926736832 + ], + "joints": [ + 0.025627736002206802 + ] + }, + "final_grasp": { + "position": [ + -0.11830060929059982, + -0.01034350972622633, + -0.036805659532547 + ], + "orientation": [ + 0.8117074370384216, + -0.0020803979132324457, + 0.5799852609634399, + 0.06887546926736832 + ], + "joints": [ + 0.017644789069890976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05115698277950287, + -0.04426955431699753, + -0.10870925337076187 + ], + "orientation": [ + 0.32014742493629456, + -0.1999879777431488, + 0.08213650435209274, + 0.9223686456680298 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.049817439168691635, + -0.043092839419841766, + -0.10538627952337265 + ], + "orientation": [ + 0.31999462842941284, + -0.20113639533519745, + 0.08220159262418747, + 0.9221661686897278 + ], + "joints": [ + 0.02317095547914505 + ] + }, + "final_grasp": { + "position": [ + 0.049817439168691635, + -0.043092839419841766, + -0.10538627952337265 + ], + "orientation": [ + 0.31999462842941284, + -0.20113639533519745, + 0.08220159262418747, + 0.9221661686897278 + ], + "joints": [ + 0.014352098107337952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051282234489917755, + -0.04443587362766266, + -0.10873987525701523 + ], + "orientation": [ + 0.3198601007461548, + -0.19996149837970734, + 0.08236496895551682, + 0.9224537014961243 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.04990674555301666, + -0.04322891682386398, + -0.10542035102844238 + ], + "orientation": [ + 0.3197161853313446, + -0.20151817798614502, + 0.08264821767807007, + 0.9221394658088684 + ], + "joints": [ + 0.02317095547914505 + ] + }, + "final_grasp": { + "position": [ + 0.04990674555301666, + -0.04322891682386398, + -0.10542035102844238 + ], + "orientation": [ + 0.3197161853313446, + -0.20151817798614502, + 0.08264821767807007, + 0.9221394658088684 + ], + "joints": [ + 0.014352098107337952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.086985744535923, + -0.07401426881551743, + -0.06279748678207397 + ], + "orientation": [ + 0.28893476724624634, + -0.43220606446266174, + 0.16983607411384583, + 0.837179958820343 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.08442419022321701, + -0.0717431828379631, + -0.0609336793422699 + ], + "orientation": [ + 0.28862136602401733, + -0.43505045771598816, + 0.17052796483039856, + 0.8356727361679077 + ], + "joints": [ + 0.02490992099046707 + ] + }, + "final_grasp": { + "position": [ + 0.08442419022321701, + -0.0717431828379631, + -0.0609336793422699 + ], + "orientation": [ + 0.28862136602401733, + -0.43505045771598816, + 0.17052796483039856, + 0.8356727361679077 + ], + "joints": [ + 0.016926974058151245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032387979328632355, + 0.04801980406045914, + -0.1116061806678772 + ], + "orientation": [ + 0.4188900291919708, + 0.1471351981163025, + 0.0937994047999382, + -0.8911139965057373 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.03153442591428757, + 0.04672069475054741, + -0.10820379108190536 + ], + "orientation": [ + 0.41854867339134216, + 0.14885011315345764, + 0.09400920569896698, + -0.8909673690795898 + ], + "joints": [ + 0.02317095547914505 + ] + }, + "final_grasp": { + "position": [ + 0.03153442591428757, + 0.04672069475054741, + -0.10820379108190536 + ], + "orientation": [ + 0.41854867339134216, + 0.14885011315345764, + 0.09400920569896698, + -0.8909673690795898 + ], + "joints": [ + 0.014352098107337952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09690190106630325, + 0.08013838529586792, + -0.009148520417511463 + ], + "orientation": [ + 0.2882135212421417, + 0.6632978916168213, + 0.20115719735622406, + -0.6606849431991577 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + 0.09432900696992874, + 0.07816485315561295, + -0.007595130708068609 + ], + "orientation": [ + 0.29045698046684265, + 0.6571875810623169, + 0.20109465718269348, + -0.6658079624176025 + ], + "joints": [ + 0.023512613028287888 + ] + }, + "final_grasp": { + "position": [ + 0.09432900696992874, + 0.07816485315561295, + -0.007595130708068609 + ], + "orientation": [ + 0.29045698046684265, + 0.6571875810623169, + 0.20109465718269348, + -0.6658079624176025 + ], + "joints": [ + 0.014317598193883896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03514554351568222, + 0.12106703221797943, + -0.019299834966659546 + ], + "orientation": [ + 0.4115411639213562, + 0.49708738923072815, + -0.4235019087791443, + 0.6357548236846924 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.03419110178947449, + 0.11787836998701096, + -0.017943235114216805 + ], + "orientation": [ + 0.4105032980442047, + 0.4952573776245117, + -0.42304977774620056, + 0.6381505131721497 + ], + "joints": [ + 0.024647220969200134 + ] + }, + "final_grasp": { + "position": [ + -0.03419110178947449, + 0.11787836998701096, + -0.017943235114216805 + ], + "orientation": [ + 0.4105032980442047, + 0.4952573776245117, + -0.42304977774620056, + 0.6381505131721497 + ], + "joints": [ + 0.015452206134796143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04638061672449112, + 0.032243844121694565, + -0.11557541787624359 + ], + "orientation": [ + 0.8632566332817078, + 0.0053349207155406475, + -0.18218077719211578, + 0.4707120358943939 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.04510386288166046, + 0.031657226383686066, + -0.11196588724851608 + ], + "orientation": [ + 0.8634786605834961, + 0.006185823120176792, + -0.18189331889152527, + 0.47040531039237976 + ], + "joints": [ + 0.02400796115398407 + ] + }, + "final_grasp": { + "position": [ + 0.04510386288166046, + 0.031657226383686066, + -0.11196588724851608 + ], + "orientation": [ + 0.8634786605834961, + 0.006185823120176792, + -0.18189331889152527, + 0.47040531039237976 + ], + "joints": [ + 0.015586160123348236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046425119042396545, + 0.0321587473154068, + -0.11547984927892685 + ], + "orientation": [ + 0.8632937669754028, + 0.0049877227284014225, + -0.18228206038475037, + 0.47060853242874146 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.04515634849667549, + 0.03158289194107056, + -0.11188071966171265 + ], + "orientation": [ + 0.8635318875312805, + 0.005845119711011648, + -0.18193568289279938, + 0.4702955484390259 + ], + "joints": [ + 0.02400796115398407 + ] + }, + "final_grasp": { + "position": [ + 0.04515634849667549, + 0.03158289194107056, + -0.11188071966171265 + ], + "orientation": [ + 0.8635318875312805, + 0.005845119711011648, + -0.18193568289279938, + 0.4702955484390259 + ], + "joints": [ + 0.015586160123348236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04175380989909172, + -0.012465549632906914, + -0.11643391102552414 + ], + "orientation": [ + 0.1541825532913208, + 0.10363852232694626, + -0.08063369244337082, + -0.9792777299880981 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.04056631773710251, + -0.01203917060047388, + -0.11281900852918625 + ], + "orientation": [ + 0.15354186296463013, + 0.10487673431634903, + -0.07856083661317825, + -0.9794151782989502 + ], + "joints": [ + 0.023676954209804535 + ] + }, + "final_grasp": { + "position": [ + 0.04056631773710251, + -0.01203917060047388, + -0.11281900852918625 + ], + "orientation": [ + 0.15354186296463013, + 0.10487673431634903, + -0.07856083661317825, + -0.9794151782989502 + ], + "joints": [ + 0.014461040496826172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0967194139957428, + 0.08005654811859131, + -0.009277747012674809 + ], + "orientation": [ + 0.2885686159133911, + 0.6646614074707031, + 0.20243048667907715, + -0.6587679386138916 + ], + "joints": [ + 0.03247607499361038 + ] + }, + "fine_grasp": { + "position": [ + 0.0941804051399231, + 0.07814773917198181, + -0.007584677543491125 + ], + "orientation": [ + 0.2907007038593292, + 0.6572497487068176, + 0.2014022171497345, + -0.665547251701355 + ], + "joints": [ + 0.023699015378952026 + ] + }, + "final_grasp": { + "position": [ + 0.0941804051399231, + 0.07814773917198181, + -0.007584677543491125 + ], + "orientation": [ + 0.2907007038593292, + 0.6572497487068176, + 0.2014022171497345, + -0.665547251701355 + ], + "joints": [ + 0.01492195576429367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03961106762290001, + -0.0054595270194113255, + -0.11276879906654358 + ], + "orientation": [ + 0.988490879535675, + -0.0408904105424881, + 0.10814941674470901, + -0.0975569561123848 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.03827027603983879, + -0.005308305379003286, + -0.10917022824287415 + ], + "orientation": [ + 0.9880387187004089, + -0.038987744599580765, + 0.11289018392562866, + -0.09754607081413269 + ], + "joints": [ + 0.024581171572208405 + ] + }, + "final_grasp": { + "position": [ + -0.03827027603983879, + -0.005308305379003286, + -0.10917022824287415 + ], + "orientation": [ + 0.9880387187004089, + -0.038987744599580765, + 0.11289018392562866, + -0.09754607081413269 + ], + "joints": [ + 0.015783213078975677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04176302254199982, + -0.01265016384422779, + -0.11635726690292358 + ], + "orientation": [ + 0.15448153018951416, + 0.10384857654571533, + -0.08117704838514328, + -0.9791634678840637 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.04049369692802429, + -0.012244821526110172, + -0.11268536001443863 + ], + "orientation": [ + 0.1539030820131302, + 0.10577833652496338, + -0.07920289784669876, + -0.9792097210884094 + ], + "joints": [ + 0.0240740105509758 + ] + }, + "final_grasp": { + "position": [ + 0.04049369692802429, + -0.012244821526110172, + -0.11268536001443863 + ], + "orientation": [ + 0.1539030820131302, + 0.10577833652496338, + -0.07920289784669876, + -0.9792097210884094 + ], + "joints": [ + 0.015255153179168701 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03981252387166023, + -0.005492050666362047, + -0.1125931516289711 + ], + "orientation": [ + 0.9885513782501221, + -0.04113227501511574, + 0.1073707640171051, + -0.09770309925079346 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.03839773312211037, + -0.00533501198515296, + -0.10897161066532135 + ], + "orientation": [ + 0.9880622029304504, + -0.0393754243850708, + 0.1124473363161087, + -0.09766392409801483 + ], + "joints": [ + 0.024581171572208405 + ] + }, + "final_grasp": { + "position": [ + -0.03839773312211037, + -0.00533501198515296, + -0.10897161066532135 + ], + "orientation": [ + 0.9880622029304504, + -0.0393754243850708, + 0.1124473363161087, + -0.09766392409801483 + ], + "joints": [ + 0.015783213078975677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10240228474140167, + 0.07351718842983246, + -0.017053237184882164 + ], + "orientation": [ + 0.7398033142089844, + 0.262565553188324, + -0.6016818881034851, + 0.14740899205207825 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.09980104863643646, + 0.07168783247470856, + -0.015779457986354828 + ], + "orientation": [ + 0.7433232069015503, + 0.2625347971916199, + -0.5977652072906494, + 0.1456807553768158 + ], + "joints": [ + 0.024647220969200134 + ] + }, + "final_grasp": { + "position": [ + 0.09980104863643646, + 0.07168783247470856, + -0.015779457986354828 + ], + "orientation": [ + 0.7433232069015503, + 0.2625347971916199, + -0.5977652072906494, + 0.1456807553768158 + ], + "joints": [ + 0.015452206134796143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041756078600883484, + -0.012587262317538261, + -0.11641508340835571 + ], + "orientation": [ + 0.15488089621067047, + 0.10412199795246124, + -0.08106537908315659, + -0.9790806770324707 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.040502503514289856, + -0.012175850570201874, + -0.11274731904268265 + ], + "orientation": [ + 0.15431222319602966, + 0.10591835528612137, + -0.07900398224592209, + -0.9791463613510132 + ], + "joints": [ + 0.0240740105509758 + ] + }, + "final_grasp": { + "position": [ + 0.040502503514289856, + -0.012175850570201874, + -0.11274731904268265 + ], + "orientation": [ + 0.15431222319602966, + 0.10591835528612137, + -0.07900398224592209, + -0.9791463613510132 + ], + "joints": [ + 0.015255153179168701 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07862742990255356, + -0.01841260865330696, + -0.10921921581029892 + ], + "orientation": [ + 0.9389957785606384, + -0.0514632873237133, + 0.32740917801856995, + 0.09187895804643631 + ], + "joints": [ + 0.02972058393061161 + ] + }, + "fine_grasp": { + "position": [ + -0.07764919847249985, + -0.018171239644289017, + -0.10539707541465759 + ], + "orientation": [ + 0.941739559173584, + -0.04897333309054375, + 0.319770872592926, + 0.09205891937017441 + ], + "joints": [ + 0.020922625437378883 + ] + }, + "final_grasp": { + "position": [ + -0.07764919847249985, + -0.018171239644289017, + -0.10539707541465759 + ], + "orientation": [ + 0.941739559173584, + -0.04897333309054375, + 0.319770872592926, + 0.09205891937017441 + ], + "joints": [ + 0.012124666944146156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10549769550561905, + -0.07130303233861923, + 0.005439266096800566 + ], + "orientation": [ + 0.20175446569919586, + -0.7106266021728516, + 0.2131950855255127, + 0.6394159197807312 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + 0.10288489609956741, + -0.0694560632109642, + 0.006607419345527887 + ], + "orientation": [ + 0.2035912424325943, + -0.7041778564453125, + 0.21420666575431824, + 0.6456002593040466 + ], + "joints": [ + 0.02137542888522148 + ] + }, + "final_grasp": { + "position": [ + 0.10288489609956741, + -0.0694560632109642, + 0.006607419345527887 + ], + "orientation": [ + 0.2035912424325943, + -0.7041778564453125, + 0.21420666575431824, + 0.6456002593040466 + ], + "joints": [ + 0.010529492050409317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0782608836889267, + -0.12057997286319733, + 0.05207863077521324 + ], + "orientation": [ + 0.5876304507255554, + -0.321916401386261, + 0.6535565257072449, + 0.35202839970588684 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + -0.07627511769533157, + -0.1174834668636322, + 0.05219213292002678 + ], + "orientation": [ + 0.5891719460487366, + -0.3199048340320587, + 0.6523435711860657, + 0.3535325527191162 + ], + "joints": [ + 0.02477891743183136 + ] + }, + "final_grasp": { + "position": [ + -0.07627511769533157, + -0.1174834668636322, + 0.05219213292002678 + ], + "orientation": [ + 0.5891719460487366, + -0.3199048340320587, + 0.6523435711860657, + 0.3535325527191162 + ], + "joints": [ + 0.017151229083538055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013434221036732197, + 0.015444371849298477, + -0.12006396055221558 + ], + "orientation": [ + 0.8272497057914734, + 0.04999773949384689, + 0.05347582697868347, + 0.5570444464683533 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.013149716891348362, + 0.014645997434854507, + -0.1162194162607193 + ], + "orientation": [ + 0.8273952007293701, + 0.05131788179278374, + 0.04887915030121803, + 0.5571304559707642 + ], + "joints": [ + 0.023697853088378906 + ] + }, + "final_grasp": { + "position": [ + -0.013149716891348362, + 0.014645997434854507, + -0.1162194162607193 + ], + "orientation": [ + 0.8273952007293701, + 0.05131788179278374, + 0.04887915030121803, + 0.5571304559707642 + ], + "joints": [ + 0.014502838253974915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12690524756908417, + -0.01274578645825386, + -0.0038348825182765722 + ], + "orientation": [ + 0.740184485912323, + 0.0012693795142695308, + 0.6679682731628418, + 0.07709421962499619 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.12321187555789948, + -0.012345305643975735, + -0.003509441390633583 + ], + "orientation": [ + 0.7412460446357727, + 0.006605887319892645, + 0.6660521030426025, + 0.08297877758741379 + ], + "joints": [ + 0.026156891137361526 + ] + }, + "final_grasp": { + "position": [ + -0.12321187555789948, + -0.012345305643975735, + -0.003509441390633583 + ], + "orientation": [ + 0.7412460446357727, + 0.006605887319892645, + 0.6660521030426025, + 0.08297877758741379 + ], + "joints": [ + 0.017776887863874435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013496026396751404, + 0.015309358946979046, + -0.1199617013335228 + ], + "orientation": [ + 0.8274573087692261, + 0.050600044429302216, + 0.05248871445655823, + 0.5567754507064819 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.013218600302934647, + 0.014495840296149254, + -0.11609789729118347 + ], + "orientation": [ + 0.8275903463363647, + 0.05200043320655823, + 0.04790584370493889, + 0.556861937046051 + ], + "joints": [ + 0.02411806583404541 + ] + }, + "final_grasp": { + "position": [ + -0.013218600302934647, + 0.014495840296149254, + -0.11609789729118347 + ], + "orientation": [ + 0.8275903463363647, + 0.05200043320655823, + 0.04790584370493889, + 0.556861937046051 + ], + "joints": [ + 0.015320107340812683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013282861560583115, + 0.010635264217853546, + -0.11787959933280945 + ], + "orientation": [ + 0.842738926410675, + 0.0822242721915245, + 0.00813749898225069, + -0.5319436192512512 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.012661435641348362, + 0.010697388090193272, + -0.11401261389255524 + ], + "orientation": [ + 0.8428221940994263, + 0.07845441997051239, + 0.0054778135381639, + -0.5324148535728455 + ], + "joints": [ + 0.02506517618894577 + ] + }, + "final_grasp": { + "position": [ + 0.012661435641348362, + 0.010697388090193272, + -0.11401261389255524 + ], + "orientation": [ + 0.8428221940994263, + 0.07845441997051239, + 0.0054778135381639, + -0.5324148535728455 + ], + "joints": [ + 0.016288116574287415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013353468850255013, + 0.015475491993129253, + -0.11972074210643768 + ], + "orientation": [ + 0.827533483505249, + 0.049665872007608414, + 0.053631946444511414, + 0.5566374063491821 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.013089964166283607, + 0.014660048298537731, + -0.11587844789028168 + ], + "orientation": [ + 0.8276882171630859, + 0.05110020935535431, + 0.048926521092653275, + 0.5567110180854797 + ], + "joints": [ + 0.023697853088378906 + ] + }, + "final_grasp": { + "position": [ + -0.013089964166283607, + 0.014660048298537731, + -0.11587844789028168 + ], + "orientation": [ + 0.8276882171630859, + 0.05110020935535431, + 0.048926521092653275, + 0.5567110180854797 + ], + "joints": [ + 0.014502838253974915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1268066167831421, + -0.012891358695924282, + -0.0035741685424000025 + ], + "orientation": [ + 0.7403766512870789, + 0.0006104916683398187, + 0.6677423119544983, + 0.0772155150771141 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.12311152368783951, + -0.012458824552595615, + -0.0032379350159317255 + ], + "orientation": [ + 0.7415987253189087, + 0.005191900301724672, + 0.6657323241233826, + 0.08249175548553467 + ], + "joints": [ + 0.026156891137361526 + ] + }, + "final_grasp": { + "position": [ + -0.12311152368783951, + -0.012458824552595615, + -0.0032379350159317255 + ], + "orientation": [ + 0.7415987253189087, + 0.005191900301724672, + 0.6657323241233826, + 0.08249175548553467 + ], + "joints": [ + 0.017776887863874435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1268589198589325, + -0.01261101383715868, + -0.003567830193787813 + ], + "orientation": [ + 0.7405427098274231, + 0.001404128735885024, + 0.6676372289657593, + 0.07651786506175995 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.12316860258579254, + -0.012175921350717545, + -0.003230269532650709 + ], + "orientation": [ + 0.7417462468147278, + 0.0059408810921013355, + 0.6656607985496521, + 0.0816875770688057 + ], + "joints": [ + 0.026156891137361526 + ] + }, + "final_grasp": { + "position": [ + -0.12316860258579254, + -0.012175921350717545, + -0.003230269532650709 + ], + "orientation": [ + 0.7417462468147278, + 0.0059408810921013355, + 0.6656607985496521, + 0.0816875770688057 + ], + "joints": [ + 0.017776887863874435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006873947102576494, + 0.014563240110874176, + -0.11776015162467957 + ], + "orientation": [ + 0.2881932556629181, + -0.03581075742840767, + 0.05444975197315216, + -0.9553520679473877 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + -0.006919240579009056, + 0.013862784951925278, + -0.11383599787950516 + ], + "orientation": [ + 0.2880077660083771, + -0.03244907036423683, + 0.053535085171461105, + -0.9555796980857849 + ], + "joints": [ + 0.025693785399198532 + ] + }, + "final_grasp": { + "position": [ + -0.006919240579009056, + 0.013862784951925278, + -0.11383599787950516 + ], + "orientation": [ + 0.2880077660083771, + -0.03244907036423683, + 0.053535085171461105, + -0.9555796980857849 + ], + "joints": [ + 0.01731378212571144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013417836278676987, + 0.015455005690455437, + -0.12004223465919495 + ], + "orientation": [ + 0.8270927667617798, + 0.04989113286137581, + 0.05352915823459625, + 0.5572818517684937 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.013137721456587315, + 0.014648808166384697, + -0.1161913201212883 + ], + "orientation": [ + 0.8272436857223511, + 0.051240675151348114, + 0.04888364300131798, + 0.5573621988296509 + ], + "joints": [ + 0.023697853088378906 + ] + }, + "final_grasp": { + "position": [ + -0.013137721456587315, + 0.014648808166384697, + -0.1161913201212883 + ], + "orientation": [ + 0.8272436857223511, + 0.051240675151348114, + 0.04888364300131798, + 0.5573621988296509 + ], + "joints": [ + 0.014502838253974915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12172948569059372, + 0.0653769001364708, + 0.04184364899992943 + ], + "orientation": [ + 0.19271999597549438, + 0.7105423808097839, + 0.15173447132110596, + -0.6595188975334167 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.11835797876119614, + 0.06355155259370804, + 0.0420999638736248 + ], + "orientation": [ + 0.19455771148204803, + 0.7089418768882751, + 0.150068461894989, + -0.6610811948776245 + ], + "joints": [ + 0.026233188807964325 + ] + }, + "final_grasp": { + "position": [ + 0.11835797876119614, + 0.06355155259370804, + 0.0420999638736248 + ], + "orientation": [ + 0.19455771148204803, + 0.7089418768882751, + 0.150068461894989, + -0.6610811948776245 + ], + "joints": [ + 0.018647298216819763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10051541775465012, + 0.06419183313846588, + -0.043358877301216125 + ], + "orientation": [ + 0.8209137916564941, + 0.22469326853752136, + 0.5110437273979187, + -0.12019887566566467 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.09798058867454529, + 0.06235351786017418, + -0.04093678295612335 + ], + "orientation": [ + 0.8262107968330383, + 0.22144095599651337, + 0.5029283165931702, + -0.1241070032119751 + ], + "joints": [ + 0.02655394747853279 + ] + }, + "final_grasp": { + "position": [ + -0.09798058867454529, + 0.06235351786017418, + -0.04093678295612335 + ], + "orientation": [ + 0.8262107968330383, + 0.22144095599651337, + 0.5029283165931702, + -0.1241070032119751 + ], + "joints": [ + 0.018571000546216965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013309656642377377, + 0.015441988594830036, + -0.11976870149374008 + ], + "orientation": [ + 0.8273468613624573, + 0.04943292960524559, + 0.05367908999323845, + 0.5569310188293457 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.013045992702245712, + 0.01461772806942463, + -0.11592352390289307 + ], + "orientation": [ + 0.8274952173233032, + 0.05084121599793434, + 0.04885576665401459, + 0.5570276975631714 + ], + "joints": [ + 0.023697853088378906 + ] + }, + "final_grasp": { + "position": [ + -0.013045992702245712, + 0.01461772806942463, + -0.11592352390289307 + ], + "orientation": [ + 0.8274952173233032, + 0.05084121599793434, + 0.04885576665401459, + 0.5570276975631714 + ], + "joints": [ + 0.014502838253974915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1141783595085144, + -0.040448110550642014, + -0.04469762742519379 + ], + "orientation": [ + 0.8129397630691528, + -0.04188983514904976, + 0.5385939478874207, + 0.2174638956785202 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.11084145307540894, + -0.039261795580387115, + -0.04310987517237663 + ], + "orientation": [ + 0.8127047419548035, + -0.04316447302699089, + 0.5392616987228394, + 0.216435968875885 + ], + "joints": [ + 0.02590218186378479 + ] + }, + "final_grasp": { + "position": [ + -0.11084145307540894, + -0.039261795580387115, + -0.04310987517237663 + ], + "orientation": [ + 0.8127047419548035, + -0.04316447302699089, + 0.5392616987228394, + 0.216435968875885 + ], + "joints": [ + 0.0175221785902977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11423150449991226, + -0.04044526070356369, + -0.04456807300448418 + ], + "orientation": [ + 0.8144884705543518, + -0.042346831411123276, + 0.5365816354751587, + 0.2165532112121582 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.11092384904623032, + -0.0392148531973362, + -0.043053947389125824 + ], + "orientation": [ + 0.8136991858482361, + -0.04392362758517265, + 0.5381566286087036, + 0.2152944654226303 + ], + "joints": [ + 0.026067685335874557 + ] + }, + "final_grasp": { + "position": [ + -0.11092384904623032, + -0.0392148531973362, + -0.043053947389125824 + ], + "orientation": [ + 0.8136991858482361, + -0.04392362758517265, + 0.5381566286087036, + 0.2152944654226303 + ], + "joints": [ + 0.01808473840355873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05910765007138252, + 0.1322762668132782, + 0.07551443576812744 + ], + "orientation": [ + 0.3270038366317749, + 0.6137451529502869, + 0.44146913290023804, + -0.5670012831687927 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + 0.05768929794430733, + 0.1288767009973526, + 0.07558616995811462 + ], + "orientation": [ + 0.32800784707069397, + 0.6108483672142029, + 0.4405977725982666, + -0.5702181458473206 + ], + "joints": [ + 0.024360962212085724 + ] + }, + "final_grasp": { + "position": [ + 0.05768929794430733, + 0.1288767009973526, + 0.07558616995811462 + ], + "orientation": [ + 0.32800784707069397, + 0.6108483672142029, + 0.4405977725982666, + -0.5702181458473206 + ], + "joints": [ + 0.016315318644046783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059324104338884354, + 0.13236136734485626, + 0.07578647881746292 + ], + "orientation": [ + 0.32708418369293213, + 0.6124356389045715, + 0.4407077133655548, + -0.5689597129821777 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + 0.05788764730095863, + 0.1289656162261963, + 0.0758393183350563 + ], + "orientation": [ + 0.328175812959671, + 0.6094503998756409, + 0.4399537742137909, + -0.5721113085746765 + ], + "joints": [ + 0.024381861090660095 + ] + }, + "final_grasp": { + "position": [ + 0.05788764730095863, + 0.1289656162261963, + 0.0758393183350563 + ], + "orientation": [ + 0.328175812959671, + 0.6094503998756409, + 0.4399537742137909, + -0.5721113085746765 + ], + "joints": [ + 0.016357116401195526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04242856428027153, + 0.050018422305583954, + -0.10784037411212921 + ], + "orientation": [ + 0.6703310608863831, + 0.2121538370847702, + -0.009114985354244709, + -0.7110302448272705 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.041161615401506424, + 0.04879583790898323, + -0.10454034060239792 + ], + "orientation": [ + 0.6691935658454895, + 0.21211837232112885, + -0.006870097480714321, + -0.7121366858482361 + ], + "joints": [ + 0.023590005934238434 + ] + }, + "final_grasp": { + "position": [ + 0.041161615401506424, + 0.04879583790898323, + -0.10454034060239792 + ], + "orientation": [ + 0.6691935658454895, + 0.21211837232112885, + -0.006870097480714321, + -0.7121366858482361 + ], + "joints": [ + 0.014750249683856964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04642108827829361, + 0.1265573799610138, + 0.03178690746426582 + ], + "orientation": [ + 0.4681198298931122, + 0.5276244878768921, + -0.3408423364162445, + 0.6215325593948364 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.04503142088651657, + 0.12270146608352661, + 0.03243723884224892 + ], + "orientation": [ + 0.4688355326652527, + 0.5284457206726074, + -0.3406541049480438, + 0.6203976273536682 + ], + "joints": [ + 0.028250019997358322 + ] + }, + "final_grasp": { + "position": [ + -0.04503142088651657, + 0.12270146608352661, + 0.03243723884224892 + ], + "orientation": [ + 0.4688355326652527, + 0.5284457206726074, + -0.3406541049480438, + 0.6203976273536682 + ], + "joints": [ + 0.021500039845705032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04971048980951309, + -0.1257096529006958, + 0.009194495156407356 + ], + "orientation": [ + 0.6771641969680786, + -0.35942068696022034, + 0.48421868681907654, + 0.42166048288345337 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.04835234209895134, + -0.12223000824451447, + 0.00976537074893713 + ], + "orientation": [ + 0.6765481233596802, + -0.361202210187912, + 0.48573270440101624, + 0.419379860162735 + ], + "joints": [ + 0.026233188807964325 + ] + }, + "final_grasp": { + "position": [ + -0.04835234209895134, + -0.12223000824451447, + 0.00976537074893713 + ], + "orientation": [ + 0.6765481233596802, + -0.361202210187912, + 0.48573270440101624, + 0.419379860162735 + ], + "joints": [ + 0.018647298216819763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1142805740237236, + -0.04040456935763359, + -0.044591713696718216 + ], + "orientation": [ + 0.8145803809165955, + -0.04255182296037674, + 0.5367233753204346, + 0.21581493318080902 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.11090706288814545, + -0.03920397907495499, + -0.04302634671330452 + ], + "orientation": [ + 0.8137357831001282, + -0.04402318224310875, + 0.5384671092033386, + 0.21435771882534027 + ], + "joints": [ + 0.02590218186378479 + ] + }, + "final_grasp": { + "position": [ + -0.11090706288814545, + -0.03920397907495499, + -0.04302634671330452 + ], + "orientation": [ + 0.8137357831001282, + -0.04402318224310875, + 0.5384671092033386, + 0.21435771882534027 + ], + "joints": [ + 0.0175221785902977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04245799034833908, + 0.05021163076162338, + -0.10781339555978775 + ], + "orientation": [ + 0.6692200303077698, + 0.21145504713058472, + -0.009273563511669636, + -0.7122818231582642 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + 0.041195232421159744, + 0.04897906258702278, + -0.10451841354370117 + ], + "orientation": [ + 0.6680669188499451, + 0.2115146666765213, + -0.006871278863400221, + -0.7133729457855225 + ], + "joints": [ + 0.02316979318857193 + ] + }, + "final_grasp": { + "position": [ + 0.041195232421159744, + 0.04897906258702278, + -0.10451841354370117 + ], + "orientation": [ + 0.6680669188499451, + 0.2115146666765213, + -0.006871278863400221, + -0.7133729457855225 + ], + "joints": [ + 0.013932980597019196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04111481085419655, + -0.1286536157131195, + -0.0064099798910319805 + ], + "orientation": [ + 0.49963098764419556, + -0.5597658157348633, + 0.33696648478507996, + 0.568757176399231 + ], + "joints": [ + 0.03379592299461365 + ] + }, + "fine_grasp": { + "position": [ + 0.04002772271633148, + -0.12492775171995163, + -0.005951166618615389 + ], + "orientation": [ + 0.5015389919281006, + -0.5615867972373962, + 0.33473777770996094, + 0.5665945410728455 + ], + "joints": [ + 0.02579207718372345 + ] + }, + "final_grasp": { + "position": [ + 0.04002772271633148, + -0.12492775171995163, + -0.005951166618615389 + ], + "orientation": [ + 0.5015389919281006, + -0.5615867972373962, + 0.33473777770996094, + 0.5665945410728455 + ], + "joints": [ + 0.017788231372833252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10540902614593506, + -0.07118100672960281, + 0.0058962334878742695 + ], + "orientation": [ + 0.20906275510787964, + -0.7109369039535522, + 0.20702315866947174, + 0.6387511491775513 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.10273871570825577, + -0.06926506012678146, + 0.0069312602281570435 + ], + "orientation": [ + 0.21186994016170502, + -0.7051548361778259, + 0.20891901850700378, + 0.6435997486114502 + ], + "joints": [ + 0.02223559096455574 + ] + }, + "final_grasp": { + "position": [ + 0.10273871570825577, + -0.06926506012678146, + 0.0069312602281570435 + ], + "orientation": [ + 0.21186994016170502, + -0.7051548361778259, + 0.20891901850700378, + 0.6435997486114502 + ], + "joints": [ + 0.01178671047091484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09482847899198532, + 0.0594516396522522, + -0.0576222725212574 + ], + "orientation": [ + 0.34675663709640503, + 0.4858976900577545, + -0.07355505973100662, + 0.7989072799682617 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.09221501648426056, + 0.05795305222272873, + -0.055134888738393784 + ], + "orientation": [ + 0.3459634482860565, + 0.48129481077194214, + -0.07515129446983337, + 0.8018832802772522 + ], + "joints": [ + 0.02678550034761429 + ] + }, + "final_grasp": { + "position": [ + -0.09221501648426056, + 0.05795305222272873, + -0.055134888738393784 + ], + "orientation": [ + 0.3459634482860565, + 0.48129481077194214, + -0.07515129446983337, + 0.8018832802772522 + ], + "joints": [ + 0.018802553415298462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041272323578596115, + -0.12867021560668945, + -0.006349275819957256 + ], + "orientation": [ + 0.4991706907749176, + -0.5598185658454895, + 0.3368415832519531, + 0.5691831707954407 + ], + "joints": [ + 0.03379592299461365 + ] + }, + "fine_grasp": { + "position": [ + 0.04017525911331177, + -0.12493042647838593, + -0.00587709154933691 + ], + "orientation": [ + 0.501060426235199, + -0.5616324543952942, + 0.3344917297363281, + 0.5671178698539734 + ], + "joints": [ + 0.02579207718372345 + ] + }, + "final_grasp": { + "position": [ + 0.04017525911331177, + -0.12493042647838593, + -0.00587709154933691 + ], + "orientation": [ + 0.501060426235199, + -0.5616324543952942, + 0.3344917297363281, + 0.5671178698539734 + ], + "joints": [ + 0.017788231372833252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09841414541006088, + 0.02019537054002285, + -0.07270780205726624 + ], + "orientation": [ + 0.8791632652282715, + -0.018200162798166275, + 0.4233908951282501, + -0.21790054440498352 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.09577028453350067, + 0.019791383296251297, + -0.06983616203069687 + ], + "orientation": [ + 0.8816363215446472, + -0.01496082078665495, + 0.41999366879463196, + -0.21470661461353302 + ], + "joints": [ + 0.02678550034761429 + ] + }, + "final_grasp": { + "position": [ + -0.09577028453350067, + 0.019791383296251297, + -0.06983616203069687 + ], + "orientation": [ + 0.8816363215446472, + -0.01496082078665495, + 0.41999366879463196, + -0.21470661461353302 + ], + "joints": [ + 0.018802553415298462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0981554314494133, + 0.01988738775253296, + -0.07283571362495422 + ], + "orientation": [ + 0.8799396753311157, + -0.019208533689379692, + 0.4216715693473816, + -0.21801432967185974 + ], + "joints": [ + 0.03497684374451637 + ] + }, + "fine_grasp": { + "position": [ + -0.09548704326152802, + 0.019503364339470863, + -0.06998543441295624 + ], + "orientation": [ + 0.8825474977493286, + -0.016129029914736748, + 0.4182884097099304, + -0.2142072468996048 + ], + "joints": [ + 0.02659684047102928 + ] + }, + "final_grasp": { + "position": [ + -0.09548704326152802, + 0.019503364339470863, + -0.06998543441295624 + ], + "orientation": [ + 0.8825474977493286, + -0.016129029914736748, + 0.4182884097099304, + -0.2142072468996048 + ], + "joints": [ + 0.01821683719754219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1052776351571083, + -0.0711911991238594, + 0.005910099484026432 + ], + "orientation": [ + 0.20664893090724945, + -0.7113668322563171, + 0.2094889134168625, + 0.6382538676261902 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.10272534936666489, + -0.06930259615182877, + 0.006975667551159859 + ], + "orientation": [ + 0.20911207795143127, + -0.7052975296974182, + 0.21201246976852417, + 0.6433337926864624 + ], + "joints": [ + 0.022004038095474243 + ] + }, + "final_grasp": { + "position": [ + 0.10272534936666489, + -0.06930259615182877, + 0.006975667551159859 + ], + "orientation": [ + 0.20911207795143127, + -0.7052975296974182, + 0.21201246976852417, + 0.6433337926864624 + ], + "joints": [ + 0.011555157601833344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12426555901765823, + 0.06752616167068481, + 0.06261557340621948 + ], + "orientation": [ + 0.7155308127403259, + 0.1489153951406479, + 0.6522902846336365, + -0.20089097321033478 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.12085412442684174, + 0.0657004788517952, + 0.06303612887859344 + ], + "orientation": [ + 0.7158777713775635, + 0.14802609384059906, + 0.6518929600715637, + -0.20160099864006042 + ], + "joints": [ + 0.02760051190853119 + ] + }, + "final_grasp": { + "position": [ + -0.12085412442684174, + 0.0657004788517952, + 0.06303612887859344 + ], + "orientation": [ + 0.7158777713775635, + 0.14802609384059906, + 0.6518929600715637, + -0.20160099864006042 + ], + "joints": [ + 0.020432576537132263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09456022083759308, + 0.059130873531103134, + -0.05798659101128578 + ], + "orientation": [ + 0.3428042531013489, + 0.4700642228126526, + -0.0732160210609436, + 0.8100396990776062 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.0917167216539383, + 0.05732337757945061, + -0.056035108864307404 + ], + "orientation": [ + 0.3424830734729767, + 0.4711277186870575, + -0.07539031654596329, + 0.8093580007553101 + ], + "joints": [ + 0.02655394747853279 + ] + }, + "final_grasp": { + "position": [ + -0.0917167216539383, + 0.05732337757945061, + -0.056035108864307404 + ], + "orientation": [ + 0.3424830734729767, + 0.4711277186870575, + -0.07539031654596329, + 0.8093580007553101 + ], + "joints": [ + 0.018571000546216965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10598236322402954, + 0.030781425535678864, + -0.061250459402799606 + ], + "orientation": [ + 0.010516911745071411, + -0.48435547947883606, + -0.13623464107513428, + 0.8641350865364075 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + 0.10388698428869247, + 0.030158620327711105, + -0.058881063014268875 + ], + "orientation": [ + 0.010270632803440094, + -0.48348572850227356, + -0.13505125045776367, + 0.8648105263710022 + ], + "joints": [ + 0.024581171572208405 + ] + }, + "final_grasp": { + "position": [ + 0.10388698428869247, + 0.030158620327711105, + -0.058881063014268875 + ], + "orientation": [ + 0.010270632803440094, + -0.48348572850227356, + -0.13505125045776367, + 0.8648105263710022 + ], + "joints": [ + 0.015783213078975677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12859198451042175, + -0.028891438618302345, + 0.0035646934993565083 + ], + "orientation": [ + 0.710074245929718, + -0.005102688912302256, + 0.6865105628967285, + 0.15643443167209625 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.12472102791070938, + -0.02802969515323639, + 0.0038935039192438126 + ], + "orientation": [ + 0.7110037207603455, + 0.002032958436757326, + 0.6837722659111023, + 0.16408812999725342 + ], + "joints": [ + 0.026574846357107162 + ] + }, + "final_grasp": { + "position": [ + -0.12472102791070938, + -0.02802969515323639, + 0.0038935039192438126 + ], + "orientation": [ + 0.7110037207603455, + 0.002032958436757326, + 0.6837722659111023, + 0.16408812999725342 + ], + "joints": [ + 0.018612798303365707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10050605982542038, + 0.0644727423787117, + -0.04318937659263611 + ], + "orientation": [ + 0.8185067772865295, + 0.22804489731788635, + 0.5143834948539734, + -0.11598234623670578 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.09820451587438583, + 0.0626368299126625, + -0.04102538153529167 + ], + "orientation": [ + 0.8226365447044373, + 0.22600410878658295, + 0.5079604983329773, + -0.11902682483196259 + ], + "joints": [ + 0.026322394609451294 + ] + }, + "final_grasp": { + "position": [ + -0.09820451587438583, + 0.0626368299126625, + -0.04102538153529167 + ], + "orientation": [ + 0.8226365447044373, + 0.22600410878658295, + 0.5079604983329773, + -0.11902682483196259 + ], + "joints": [ + 0.018339447677135468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1382310837507248, + 0.022113408893346786, + 0.07072418183088303 + ], + "orientation": [ + 0.06612294912338257, + 0.6969443559646606, + 0.04653377830982208, + -0.7125523686408997 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.1341206580400467, + 0.021408552303910255, + 0.07119639962911606 + ], + "orientation": [ + 0.06644748151302338, + 0.6952346563339233, + 0.04616367816925049, + -0.7142146825790405 + ], + "joints": [ + 0.028250019997358322 + ] + }, + "final_grasp": { + "position": [ + 0.1341206580400467, + 0.021408552303910255, + 0.07119639962911606 + ], + "orientation": [ + 0.06644748151302338, + 0.6952346563339233, + 0.04616367816925049, + -0.7142146825790405 + ], + "joints": [ + 0.021500039845705032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02665412612259388, + -0.03219253569841385, + -0.11407431215047836 + ], + "orientation": [ + 0.5980380177497864, + -0.015625355765223503, + -0.17829732596874237, + -0.7812274694442749 + ], + "joints": [ + 0.03425902873277664 + ] + }, + "fine_grasp": { + "position": [ + 0.02535649575293064, + -0.031807705760002136, + -0.11030559241771698 + ], + "orientation": [ + 0.5996327996253967, + -0.013203516602516174, + -0.17472095787525177, + -0.7808577418327332 + ], + "joints": [ + 0.026255182921886444 + ] + }, + "final_grasp": { + "position": [ + 0.02535649575293064, + -0.031807705760002136, + -0.11030559241771698 + ], + "orientation": [ + 0.5996327996253967, + -0.013203516602516174, + -0.17472095787525177, + -0.7808577418327332 + ], + "joints": [ + 0.018251337110996246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07608578354120255, + -0.05672614276409149, + -0.08960657566785812 + ], + "orientation": [ + 0.8375310301780701, + -0.06252507120370865, + 0.3567989766597748, + 0.40905606746673584 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.07419544458389282, + -0.055644501000642776, + -0.08642013370990753 + ], + "orientation": [ + 0.8393635749816895, + -0.06246102601289749, + 0.35362252593040466, + 0.40806683897972107 + ], + "joints": [ + 0.02491101622581482 + ] + }, + "final_grasp": { + "position": [ + -0.07419544458389282, + -0.055644501000642776, + -0.08642013370990753 + ], + "orientation": [ + 0.8393635749816895, + -0.06246102601289749, + 0.35362252593040466, + 0.40806683897972107 + ], + "joints": [ + 0.016489215195178986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0724741518497467, + -0.04905698075890541, + -0.09247919917106628 + ], + "orientation": [ + 0.13172480463981628, + -0.273919939994812, + -0.14790618419647217, + -0.9411377310752869 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.07039924710988998, + -0.04759771004319191, + -0.08964288979768753 + ], + "orientation": [ + 0.13307741284370422, + -0.2767566442489624, + -0.14591160416603088, + -0.9404285550117493 + ], + "joints": [ + 0.024515122175216675 + ] + }, + "final_grasp": { + "position": [ + -0.07039924710988998, + -0.04759771004319191, + -0.08964288979768753 + ], + "orientation": [ + 0.13307741284370422, + -0.2767566442489624, + -0.14591160416603088, + -0.9404285550117493 + ], + "joints": [ + 0.016114220023155212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024556269869208336, + -0.13675369322299957, + -0.003690129378810525 + ], + "orientation": [ + 0.6156076192855835, + -0.5062022805213928, + 0.4674892723560333, + 0.3824136555194855 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.023767683655023575, + -0.13314111530780792, + -0.0030456960666924715 + ], + "orientation": [ + 0.6187064051628113, + -0.5065359473228455, + 0.4659864902496338, + 0.378788024187088 + ], + "joints": [ + 0.022773899137973785 + ] + }, + "final_grasp": { + "position": [ + -0.023767683655023575, + -0.13314111530780792, + -0.0030456960666924715 + ], + "orientation": [ + 0.6187064051628113, + -0.5065359473228455, + 0.4659864902496338, + 0.378788024187088 + ], + "joints": [ + 0.013557985424995422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05305271968245506, + 0.059014540165662766, + -0.09144429117441177 + ], + "orientation": [ + 0.5760159492492676, + 0.2838261127471924, + 0.04070659354329109, + -0.7655006647109985 + ], + "joints": [ + 0.03432849794626236 + ] + }, + "fine_grasp": { + "position": [ + 0.051276884973049164, + 0.05698255077004433, + -0.0887254998087883 + ], + "orientation": [ + 0.5749334692955017, + 0.28751012682914734, + 0.047282520681619644, + -0.7645612359046936 + ], + "joints": [ + 0.026345551013946533 + ] + }, + "final_grasp": { + "position": [ + 0.051276884973049164, + 0.05698255077004433, + -0.0887254998087883 + ], + "orientation": [ + 0.5749334692955017, + 0.28751012682914734, + 0.047282520681619644, + -0.7645612359046936 + ], + "joints": [ + 0.018362604081630707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0497443713247776, + -0.12566779553890228, + 0.009214057587087154 + ], + "orientation": [ + 0.6768776774406433, + -0.35987502336502075, + 0.48474982380867004, + 0.42112237215042114 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + -0.0483868233859539, + -0.1221289411187172, + 0.009798374958336353 + ], + "orientation": [ + 0.6762761473655701, + -0.3616894781589508, + 0.4862399697303772, + 0.4188104271888733 + ], + "joints": [ + 0.026233188807964325 + ] + }, + "final_grasp": { + "position": [ + -0.0483868233859539, + -0.1221289411187172, + 0.009798374958336353 + ], + "orientation": [ + 0.6762761473655701, + -0.3616894781589508, + 0.4862399697303772, + 0.4188104271888733 + ], + "joints": [ + 0.018647298216819763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05341978371143341, + 0.05913456529378891, + -0.09160998463630676 + ], + "orientation": [ + 0.5680409073829651, + 0.2943144738674164, + 0.04874052479863167, + -0.7670286297798157 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.051592644304037094, + 0.05739670246839523, + -0.08863931894302368 + ], + "orientation": [ + 0.5669418573379517, + 0.2952525019645691, + 0.0537341944873333, + -0.7671477198600769 + ], + "joints": [ + 0.02678550034761429 + ] + }, + "final_grasp": { + "position": [ + 0.051592644304037094, + 0.05739670246839523, + -0.08863931894302368 + ], + "orientation": [ + 0.5669418573379517, + 0.2952525019645691, + 0.0537341944873333, + -0.7671477198600769 + ], + "joints": [ + 0.018802553415298462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030157018452882767, + -0.02889048121869564, + -0.11719581484794617 + ], + "orientation": [ + 0.22856779396533966, + -0.06580327451229095, + 0.06519514322280884, + 0.9691111445426941 + ], + "joints": [ + 0.030114224180579185 + ] + }, + "fine_grasp": { + "position": [ + 0.028952643275260925, + -0.027896428480744362, + -0.1136530339717865 + ], + "orientation": [ + 0.22768133878707886, + -0.0714777410030365, + 0.06538043171167374, + 0.9689052700996399 + ], + "joints": [ + 0.020898310467600822 + ] + }, + "final_grasp": { + "position": [ + 0.028952643275260925, + -0.027896428480744362, + -0.1136530339717865 + ], + "orientation": [ + 0.22768133878707886, + -0.0714777410030365, + 0.06538043171167374, + 0.9689052700996399 + ], + "joints": [ + 0.01168239675462246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10621312260627747, + 0.029961133375763893, + -0.06084413453936577 + ], + "orientation": [ + 0.0016107629053294659, + 0.4795616865158081, + 0.1292242407798767, + -0.8679395318031311 + ], + "joints": [ + 0.03425902873277664 + ] + }, + "fine_grasp": { + "position": [ + 0.10379684716463089, + 0.028893206268548965, + -0.05798673629760742 + ], + "orientation": [ + 0.00591982901096344, + 0.474850058555603, + 0.1266893446445465, + -0.870880126953125 + ], + "joints": [ + 0.026276081800460815 + ] + }, + "final_grasp": { + "position": [ + 0.10379684716463089, + 0.028893206268548965, + -0.05798673629760742 + ], + "orientation": [ + 0.00591982901096344, + 0.474850058555603, + 0.1266893446445465, + -0.870880126953125 + ], + "joints": [ + 0.01829313486814499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019513534381985664, + -0.13474072515964508, + 0.04841359704732895 + ], + "orientation": [ + 0.5152496099472046, + -0.43918314576148987, + 0.5521612763404846, + 0.4865737557411194 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.01899271085858345, + -0.13070662319660187, + 0.0487622395157814 + ], + "orientation": [ + 0.5163565278053284, + -0.4366776645183563, + 0.5509659051895142, + 0.48900413513183594 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + -0.01899271085858345, + -0.13070662319660187, + 0.0487622395157814 + ], + "orientation": [ + 0.5163565278053284, + -0.4366776645183563, + 0.5509659051895142, + 0.48900413513183594 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018904848024249077, + 0.09330569207668304, + -0.07970308512449265 + ], + "orientation": [ + 0.668377161026001, + 0.3397347033023834, + -0.20992739498615265, + 0.6275210976600647 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.018176047131419182, + 0.09105341881513596, + -0.0764315277338028 + ], + "orientation": [ + 0.6679361462593079, + 0.3344811201095581, + -0.20975236594676971, + 0.6308624744415283 + ], + "joints": [ + 0.026365287601947784 + ] + }, + "final_grasp": { + "position": [ + -0.018176047131419182, + 0.09105341881513596, + -0.0764315277338028 + ], + "orientation": [ + 0.6679361462593079, + 0.3344811201095581, + -0.20975236594676971, + 0.6308624744415283 + ], + "joints": [ + 0.017985284328460693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12162293493747711, + -0.05717075616121292, + -0.032500866800546646 + ], + "orientation": [ + 0.7495615482330322, + -0.08879312872886658, + -0.6114662885665894, + -0.2374492734670639 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + 0.11873012036085129, + -0.055494844913482666, + -0.031040998175740242 + ], + "orientation": [ + 0.7518796920776367, + -0.09164178371429443, + -0.6072716116905212, + -0.239791139960289 + ], + "joints": [ + 0.020986361429095268 + ] + }, + "final_grasp": { + "position": [ + 0.11873012036085129, + -0.055494844913482666, + -0.031040998175740242 + ], + "orientation": [ + 0.7518796920776367, + -0.09164178371429443, + -0.6072716116905212, + -0.239791139960289 + ], + "joints": [ + 0.010955436155200005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12429311126470566, + 0.06525896489620209, + 0.037817858159542084 + ], + "orientation": [ + 0.6613563895225525, + 0.22996710240840912, + 0.7055233716964722, + -0.1093597561120987 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + -0.12093251198530197, + 0.06343232095241547, + 0.037835743278265 + ], + "orientation": [ + 0.6649355888366699, + 0.2308649867773056, + 0.7020238637924194, + -0.1082799956202507 + ], + "joints": [ + 0.02486586570739746 + ] + }, + "final_grasp": { + "position": [ + -0.12093251198530197, + 0.06343232095241547, + 0.037835743278265 + ], + "orientation": [ + 0.6649355888366699, + 0.2308649867773056, + 0.7020238637924194, + -0.1082799956202507 + ], + "joints": [ + 0.016862019896507263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1215488538146019, + -0.057110995054244995, + -0.03238106518983841 + ], + "orientation": [ + 0.7522033452987671, + -0.08865270018577576, + -0.6090058088302612, + -0.23546266555786133 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.11847396194934845, + -0.055319011211395264, + -0.031119083985686302 + ], + "orientation": [ + 0.7525565028190613, + -0.09241551905870438, + -0.606979489326477, + -0.2381047159433365 + ], + "joints": [ + 0.021449469029903412 + ] + }, + "final_grasp": { + "position": [ + 0.11847396194934845, + -0.055319011211395264, + -0.031119083985686302 + ], + "orientation": [ + 0.7525565028190613, + -0.09241551905870438, + -0.606979489326477, + -0.2381047159433365 + ], + "joints": [ + 0.011418543756008148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13129928708076477, + 0.010582651942968369, + 0.013105396181344986 + ], + "orientation": [ + 0.07724285870790482, + 0.6108586192131042, + -0.01075712963938713, + -0.787889301776886 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.12724803388118744, + 0.010219289921224117, + 0.013814293779432774 + ], + "orientation": [ + 0.078565813601017, + 0.6121482849121094, + -0.011856398545205593, + -0.7867409586906433 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + 0.12724803388118744, + 0.010219289921224117, + 0.013814293779432774 + ], + "orientation": [ + 0.078565813601017, + 0.6121482849121094, + -0.011856398545205593, + -0.7867409586906433 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12564316391944885, + 0.02265213616192341, + -0.030291082337498665 + ], + "orientation": [ + 0.8179169297218323, + 0.11598864942789078, + -0.5632193684577942, + -0.018505176529288292 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.12194850295782089, + 0.022105077281594276, + -0.029174260795116425 + ], + "orientation": [ + 0.8165802359580994, + 0.11758921295404434, + -0.5647481083869934, + -0.020712338387966156 + ], + "joints": [ + 0.026299238204956055 + ] + }, + "final_grasp": { + "position": [ + 0.12194850295782089, + 0.022105077281594276, + -0.029174260795116425 + ], + "orientation": [ + 0.8165802359580994, + 0.11758921295404434, + -0.5647481083869934, + -0.020712338387966156 + ], + "joints": [ + 0.01831629127264023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11373192071914673, + -0.0436561293900013, + 0.1824977695941925 + ], + "orientation": [ + 0.10045905411243439, + -0.89090895652771, + -0.13140787184238434, + -0.4229908883571625 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.11031119525432587, + -0.04243716225028038, + 0.1822737604379654 + ], + "orientation": [ + 0.10368521511554718, + -0.883182942867279, + -0.1283913254737854, + -0.4390363097190857 + ], + "joints": [ + 0.027910619974136353 + ] + }, + "final_grasp": { + "position": [ + -0.11031119525432587, + -0.04243716225028038, + 0.1822737604379654 + ], + "orientation": [ + 0.10368521511554718, + -0.883182942867279, + -0.1283913254737854, + -0.4390363097190857 + ], + "joints": [ + 0.021515898406505585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053645603358745575, + 0.05929169803857803, + -0.09209566563367844 + ], + "orientation": [ + 0.5687292218208313, + 0.29232287406921387, + 0.04666941240429878, + -0.7674088478088379 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.05181581526994705, + 0.057452112436294556, + -0.08921436220407486 + ], + "orientation": [ + 0.5673189163208008, + 0.29421529173851013, + 0.05208456888794899, + -0.7673810720443726 + ], + "joints": [ + 0.026388444006443024 + ] + }, + "final_grasp": { + "position": [ + 0.05181581526994705, + 0.057452112436294556, + -0.08921436220407486 + ], + "orientation": [ + 0.5673189163208008, + 0.29421529173851013, + 0.05208456888794899, + -0.7673810720443726 + ], + "joints": [ + 0.018008440732955933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14173701405525208, + 0.002244701376184821, + 0.06776327639818192 + ], + "orientation": [ + 0.028244951739907265, + 0.6284497976303101, + 0.012950781732797623, + 0.7772292494773865 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.13772323727607727, + 0.0020864319521933794, + 0.0683041363954544 + ], + "orientation": [ + 0.028090065345168114, + 0.6295801997184753, + 0.013642397709190845, + 0.7763076424598694 + ], + "joints": [ + 0.027811165899038315 + ] + }, + "final_grasp": { + "position": [ + -0.13772323727607727, + 0.0020864319521933794, + 0.0683041363954544 + ], + "orientation": [ + 0.028090065345168114, + 0.6295801997184753, + 0.013642397709190845, + 0.7763076424598694 + ], + "joints": [ + 0.020622331649065018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0254849623888731, + 0.06459487974643707, + -0.09723350405693054 + ], + "orientation": [ + 0.88573157787323, + 0.1888459324836731, + 0.17872865498065948, + -0.3845424950122833 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.02476644143462181, + 0.06249435245990753, + -0.09399568289518356 + ], + "orientation": [ + 0.8840961456298828, + 0.1883857697248459, + 0.18465372920036316, + -0.38573017716407776 + ], + "joints": [ + 0.026388444006443024 + ] + }, + "final_grasp": { + "position": [ + -0.02476644143462181, + 0.06249435245990753, + -0.09399568289518356 + ], + "orientation": [ + 0.8840961456298828, + 0.1883857697248459, + 0.18465372920036316, + -0.38573017716407776 + ], + "joints": [ + 0.018008440732955933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10977175086736679, + 0.07383047044277191, + 0.01794840767979622 + ], + "orientation": [ + 0.7257601022720337, + 0.14453069865703583, + 0.6140756011009216, + -0.2743980586528778 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.10639838874340057, + 0.07145878672599792, + 0.018626617267727852 + ], + "orientation": [ + 0.7248616814613342, + 0.14313392341136932, + 0.6147646903991699, + -0.2759576737880707 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + -0.10639838874340057, + 0.07145878672599792, + 0.018626617267727852 + ], + "orientation": [ + 0.7248616814613342, + 0.14313392341136932, + 0.6147646903991699, + -0.2759576737880707 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12579624354839325, + 0.02253078669309616, + -0.03050069883465767 + ], + "orientation": [ + 0.8178977966308594, + 0.11487937718629837, + -0.5634992718696594, + -0.017732905223965645 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.12210627645254135, + 0.02198009006679058, + -0.02938503585755825 + ], + "orientation": [ + 0.8164094090461731, + 0.1164720430970192, + -0.5652527213096619, + -0.019980844110250473 + ], + "joints": [ + 0.026278339326381683 + ] + }, + "final_grasp": { + "position": [ + 0.12210627645254135, + 0.02198009006679058, + -0.02938503585755825 + ], + "orientation": [ + 0.8164094090461731, + 0.1164720430970192, + -0.5652527213096619, + -0.019980844110250473 + ], + "joints": [ + 0.018274493515491486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042721256613731384, + 0.08921866863965988, + -0.0718531608581543 + ], + "orientation": [ + 0.3893386125564575, + 0.3172900080680847, + 0.260547399520874, + -0.8245346546173096 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.04148641973733902, + 0.08651933073997498, + -0.0693560242652893 + ], + "orientation": [ + 0.3897075057029724, + 0.3196980953216553, + 0.25965526700019836, + -0.8237112760543823 + ], + "joints": [ + 0.02678550034761429 + ] + }, + "final_grasp": { + "position": [ + 0.04148641973733902, + 0.08651933073997498, + -0.0693560242652893 + ], + "orientation": [ + 0.3897075057029724, + 0.3196980953216553, + 0.25965526700019836, + -0.8237112760543823 + ], + "joints": [ + 0.018802553415298462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042382918298244476, + 0.08908520638942719, + -0.07173905521631241 + ], + "orientation": [ + 0.3891863226890564, + 0.31677934527397156, + 0.26122117042541504, + -0.8245898485183716 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.04117255285382271, + 0.08641812205314636, + -0.0692959576845169 + ], + "orientation": [ + 0.3895801603794098, + 0.31928956508636475, + 0.2600392699241638, + -0.8238088488578796 + ], + "joints": [ + 0.02661999687552452 + ] + }, + "final_grasp": { + "position": [ + 0.04117255285382271, + 0.08641812205314636, + -0.0692959576845169 + ], + "orientation": [ + 0.3895801603794098, + 0.31928956508636475, + 0.2600392699241638, + -0.8238088488578796 + ], + "joints": [ + 0.01823999360203743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1098247691988945, + 0.07392796874046326, + 0.01790681853890419 + ], + "orientation": [ + 0.7256875038146973, + 0.14470039308071136, + 0.6141149401664734, + -0.2744129002094269 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.10649319738149643, + 0.07161380350589752, + 0.01855575479567051 + ], + "orientation": [ + 0.7247521281242371, + 0.14339514076709747, + 0.6148085594177246, + -0.27601194381713867 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + -0.10649319738149643, + 0.07161380350589752, + 0.01855575479567051 + ], + "orientation": [ + 0.7247521281242371, + 0.14339514076709747, + 0.6148085594177246, + -0.27601194381713867 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08997847139835358, + -0.0523655079305172, + -0.07748524844646454 + ], + "orientation": [ + 0.38914528489112854, + -0.4198148846626282, + 0.03451127931475639, + 0.8192254900932312 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.08767043799161911, + -0.051375169306993484, + -0.07474800944328308 + ], + "orientation": [ + 0.3871723711490631, + -0.4176466464996338, + 0.03520924970507622, + 0.8212363719940186 + ], + "joints": [ + 0.02574918419122696 + ] + }, + "final_grasp": { + "position": [ + 0.08767043799161911, + -0.051375169306993484, + -0.07474800944328308 + ], + "orientation": [ + 0.3871723711490631, + -0.4176466464996338, + 0.03520924970507622, + 0.8212363719940186 + ], + "joints": [ + 0.018142394721508026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10985244065523148, + 0.07391544431447983, + 0.01807556115090847 + ], + "orientation": [ + 0.7257710695266724, + 0.14448031783103943, + 0.6140432357788086, + -0.2744680345058441 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.10652551800012589, + 0.07157351076602936, + 0.018729157745838165 + ], + "orientation": [ + 0.7248400449752808, + 0.14312981069087982, + 0.6147626042366028, + -0.2760215699672699 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + -0.10652551800012589, + 0.07157351076602936, + 0.018729157745838165 + ], + "orientation": [ + 0.7248400449752808, + 0.14312981069087982, + 0.6147626042366028, + -0.2760215699672699 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1255800724029541, + 0.022757111117243767, + -0.03028840571641922 + ], + "orientation": [ + 0.8175914287567139, + 0.11627813428640366, + -0.5636418461799622, + -0.01820598542690277 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.12188678979873657, + 0.022205932065844536, + -0.029170559719204903 + ], + "orientation": [ + 0.8163153529167175, + 0.11779699474573135, + -0.565105140209198, + -0.020235154777765274 + ], + "joints": [ + 0.026299238204956055 + ] + }, + "final_grasp": { + "position": [ + 0.12188678979873657, + 0.022205932065844536, + -0.029170559719204903 + ], + "orientation": [ + 0.8163153529167175, + 0.11779699474573135, + -0.565105140209198, + -0.020235154777765274 + ], + "joints": [ + 0.01831629127264023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025976816192269325, + 0.06489969789981842, + -0.0971563458442688 + ], + "orientation": [ + 0.885686457157135, + 0.1889309287071228, + 0.18017403781414032, + -0.3839295506477356 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.02524547465145588, + 0.06285156309604645, + -0.09387623518705368 + ], + "orientation": [ + 0.8841728568077087, + 0.18825571238994598, + 0.1859244853258133, + -0.38500675559043884 + ], + "joints": [ + 0.026388444006443024 + ] + }, + "final_grasp": { + "position": [ + -0.02524547465145588, + 0.06285156309604645, + -0.09387623518705368 + ], + "orientation": [ + 0.8841728568077087, + 0.18825571238994598, + 0.1859244853258133, + -0.38500675559043884 + ], + "joints": [ + 0.018008440732955933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07849139720201492, + 0.09296493977308273, + -0.028069930151104927 + ], + "orientation": [ + 0.5046171545982361, + 0.5964221358299255, + 0.14021043479442596, + -0.6082624197006226 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.07661415636539459, + 0.09164505451917648, + -0.025642577558755875 + ], + "orientation": [ + 0.5061929821968079, + 0.587586522102356, + 0.13667535781860352, + -0.6163040399551392 + ], + "joints": [ + 0.024722423404455185 + ] + }, + "final_grasp": { + "position": [ + 0.07661415636539459, + 0.09164505451917648, + -0.025642577558755875 + ], + "orientation": [ + 0.5061929821968079, + 0.587586522102356, + 0.13667535781860352, + -0.6163040399551392 + ], + "joints": [ + 0.01676037535071373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13542501628398895, + -0.006619092542678118, + 0.09616905450820923 + ], + "orientation": [ + 0.059901267290115356, + -0.7938893437385559, + -0.03408309817314148, + 0.6041439175605774 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.13132549822330475, + -0.0065271672792732716, + 0.09629662334918976 + ], + "orientation": [ + 0.061221398413181305, + -0.7887410521507263, + -0.03559423238039017, + 0.6106329560279846 + ], + "joints": [ + 0.028250019997358322 + ] + }, + "final_grasp": { + "position": [ + 0.13132549822330475, + -0.0065271672792732716, + 0.09629662334918976 + ], + "orientation": [ + 0.061221398413181305, + -0.7887410521507263, + -0.03559423238039017, + 0.6106329560279846 + ], + "joints": [ + 0.021500039845705032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14399254322052002, + 0.025654209777712822, + 0.11064477264881134 + ], + "orientation": [ + 0.6817910671234131, + 0.04607695713639259, + 0.7259377241134644, + -0.07779806107282639 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.14020544290542603, + 0.02517155185341835, + 0.11083725839853287 + ], + "orientation": [ + 0.6847212314605713, + 0.046279653906822205, + 0.7230559587478638, + -0.07877225428819656 + ], + "joints": [ + 0.027579613029956818 + ] + }, + "final_grasp": { + "position": [ + -0.14020544290542603, + 0.02517155185341835, + 0.11083725839853287 + ], + "orientation": [ + 0.6847212314605713, + 0.046279653906822205, + 0.7230559587478638, + -0.07877225428819656 + ], + "joints": [ + 0.02039077877998352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03308876231312752, + -0.13600988686084747, + 0.01805870793759823 + ], + "orientation": [ + 0.6483749151229858, + -0.45407262444496155, + 0.46054962277412415, + 0.40164926648139954 + ], + "joints": [ + 0.03379592299461365 + ] + }, + "fine_grasp": { + "position": [ + -0.03218497708439827, + -0.13241291046142578, + 0.01847957819700241 + ], + "orientation": [ + 0.6495110392570496, + -0.4562983214855194, + 0.45943981409072876, + 0.3985503315925598 + ], + "joints": [ + 0.02579207718372345 + ] + }, + "final_grasp": { + "position": [ + -0.03218497708439827, + -0.13241291046142578, + 0.01847957819700241 + ], + "orientation": [ + 0.6495110392570496, + -0.4562983214855194, + 0.45943981409072876, + 0.3985503315925598 + ], + "joints": [ + 0.017788231372833252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02299928292632103, + 0.1362488865852356, + 0.03494904190301895 + ], + "orientation": [ + 0.5348884463310242, + 0.34694671630859375, + -0.521385133266449, + 0.5671682953834534 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.022374195978045464, + 0.13227979838848114, + 0.035552073270082474 + ], + "orientation": [ + 0.5323976874351501, + 0.34653785824775696, + -0.523198127746582, + 0.5680914521217346 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + 0.022374195978045464, + 0.13227979838848114, + 0.035552073270082474 + ], + "orientation": [ + 0.5323976874351501, + 0.34653785824775696, + -0.523198127746582, + 0.5680914521217346 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10955973714590073, + -0.029823673889040947, + -0.06213170289993286 + ], + "orientation": [ + 0.809531569480896, + 0.02816837653517723, + 0.4994163513183594, + 0.3073246479034424 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + -0.10743771493434906, + -0.029612280428409576, + -0.05946415290236473 + ], + "orientation": [ + 0.8141869306564331, + 0.027317868545651436, + 0.49250152707099915, + 0.3062608242034912 + ], + "joints": [ + 0.02317095547914505 + ] + }, + "final_grasp": { + "position": [ + -0.10743771493434906, + -0.029612280428409576, + -0.05946415290236473 + ], + "orientation": [ + 0.8141869306564331, + 0.027317868545651436, + 0.49250152707099915, + 0.3062608242034912 + ], + "joints": [ + 0.014352098107337952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08781237155199051, + -0.11057537794113159, + 0.08312823623418808 + ], + "orientation": [ + 0.6177195906639099, + -0.25377267599105835, + -0.6503399014472961, + -0.36204981803894043 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.0851844847202301, + -0.10733345150947571, + 0.08358050137758255 + ], + "orientation": [ + 0.6193364262580872, + -0.2513572573661804, + -0.6483808159828186, + -0.3644782304763794 + ], + "joints": [ + 0.029085930436849594 + ] + }, + "final_grasp": { + "position": [ + 0.0851844847202301, + -0.10733345150947571, + 0.08358050137758255 + ], + "orientation": [ + 0.6193364262580872, + -0.2513572573661804, + -0.6483808159828186, + -0.3644782304763794 + ], + "joints": [ + 0.023171860724687576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023195797577500343, + 0.13612647354602814, + 0.034922681748867035 + ], + "orientation": [ + 0.5344392657279968, + 0.34662115573883057, + -0.5224738121032715, + 0.566788911819458 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.022573402151465416, + 0.13213391602039337, + 0.03553514927625656 + ], + "orientation": [ + 0.532224178314209, + 0.34601449966430664, + -0.5242701172828674, + 0.5675845742225647 + ], + "joints": [ + 0.02822912111878395 + ] + }, + "final_grasp": { + "position": [ + 0.022573402151465416, + 0.13213391602039337, + 0.03553514927625656 + ], + "orientation": [ + 0.532224178314209, + 0.34601449966430664, + -0.5242701172828674, + 0.5675845742225647 + ], + "joints": [ + 0.02145824208855629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0655893012881279, + -0.11664173752069473, + -0.00023395399330183864 + ], + "orientation": [ + 0.7496920824050903, + -0.32724541425704956, + 0.4538337290287018, + 0.35342201590538025 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + -0.0637679472565651, + -0.11349711567163467, + 0.0003519782330840826 + ], + "orientation": [ + 0.7479382753372192, + -0.33092111349105835, + 0.45749297738075256, + 0.3489694595336914 + ], + "joints": [ + 0.025957580655813217 + ] + }, + "final_grasp": { + "position": [ + -0.0637679472565651, + -0.11349711567163467, + 0.0003519782330840826 + ], + "orientation": [ + 0.7479382753372192, + -0.33092111349105835, + 0.45749297738075256, + 0.3489694595336914 + ], + "joints": [ + 0.018350791186094284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0035655535757541656, + -0.10475116223096848, + -0.07311183959245682 + ], + "orientation": [ + 0.48123854398727417, + -0.2508222758769989, + -0.36066246032714844, + -0.7585647702217102 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.0038768888916820288, + -0.10234656184911728, + -0.07028776407241821 + ], + "orientation": [ + 0.4839877486228943, + -0.24865491688251495, + -0.3583935499191284, + -0.7586044669151306 + ], + "joints": [ + 0.026235446333885193 + ] + }, + "final_grasp": { + "position": [ + -0.0038768888916820288, + -0.10234656184911728, + -0.07028776407241821 + ], + "orientation": [ + 0.4839877486228943, + -0.24865491688251495, + -0.3583935499191284, + -0.7586044669151306 + ], + "joints": [ + 0.01862865686416626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13257908821105957, + -0.048264119774103165, + 0.05989619717001915 + ], + "orientation": [ + 0.694969654083252, + -0.21080458164215088, + 0.6867199540138245, + 0.03153508901596069 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.12880264222621918, + -0.046803154051303864, + 0.06015140935778618 + ], + "orientation": [ + 0.6982331871986389, + -0.21320006251335144, + 0.6827648878097534, + 0.029123743996024132 + ], + "joints": [ + 0.027811165899038315 + ] + }, + "final_grasp": { + "position": [ + -0.12880264222621918, + -0.046803154051303864, + 0.06015140935778618 + ], + "orientation": [ + 0.6982331871986389, + -0.21320006251335144, + 0.6827648878097534, + 0.029123743996024132 + ], + "joints": [ + 0.020622331649065018 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08773791044950485, + -0.11040866374969482, + 0.08314903825521469 + ], + "orientation": [ + 0.6178745031356812, + -0.25357547402381897, + -0.6502174139022827, + -0.3621436357498169 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08513638377189636, + -0.10716520249843597, + 0.0835813358426094 + ], + "orientation": [ + 0.6194794178009033, + -0.2512305974960327, + -0.6483063101768494, + -0.36445483565330505 + ], + "joints": [ + 0.02948298677802086 + ] + }, + "final_grasp": { + "position": [ + 0.08513638377189636, + -0.10716520249843597, + 0.0835813358426094 + ], + "orientation": [ + 0.6194794178009033, + -0.2512305974960327, + -0.6483063101768494, + -0.36445483565330505 + ], + "joints": [ + 0.023965973407030106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08771126717329025, + -0.11045067757368088, + 0.08322452753782272 + ], + "orientation": [ + 0.6176463961601257, + -0.25380486249923706, + -0.6503713726997375, + -0.36209559440612793 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08510273694992065, + -0.10720352083444595, + 0.08366192132234573 + ], + "orientation": [ + 0.6192732453346252, + -0.25142520666122437, + -0.6484329104423523, + -0.3644459843635559 + ], + "joints": [ + 0.02948298677802086 + ] + }, + "final_grasp": { + "position": [ + 0.08510273694992065, + -0.10720352083444595, + 0.08366192132234573 + ], + "orientation": [ + 0.6192732453346252, + -0.25142520666122437, + -0.6484329104423523, + -0.3644459843635559 + ], + "joints": [ + 0.023965973407030106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1253604143857956, + -0.027572525665163994, + -0.026790425181388855 + ], + "orientation": [ + 0.012081053107976913, + 0.5548619031906128, + 0.13271205127239227, + 0.8212002515792847 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.12163415551185608, + -0.026898330077528954, + -0.025901446118950844 + ], + "orientation": [ + 0.015436369925737381, + 0.5570912957191467, + 0.13484224677085876, + 0.8192853927612305 + ], + "joints": [ + 0.026322394609451294 + ] + }, + "final_grasp": { + "position": [ + -0.12163415551185608, + -0.026898330077528954, + -0.025901446118950844 + ], + "orientation": [ + 0.015436369925737381, + 0.5570912957191467, + 0.13484224677085876, + 0.8192853927612305 + ], + "joints": [ + 0.018339447677135468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016106173396110535, + 0.08339942991733551, + -0.08705765008926392 + ], + "orientation": [ + 0.8449870347976685, + 0.266375333070755, + -0.19347673654556274, + 0.4214353859424591 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.01564992591738701, + 0.08075202256441116, + -0.08386433869600296 + ], + "orientation": [ + 0.8438012599945068, + 0.2636756896972656, + -0.19770662486553192, + 0.4235406517982483 + ], + "joints": [ + 0.027037952095270157 + ] + }, + "final_grasp": { + "position": [ + 0.01564992591738701, + 0.08075202256441116, + -0.08386433869600296 + ], + "orientation": [ + 0.8438012599945068, + 0.2636756896972656, + -0.19770662486553192, + 0.4235406517982483 + ], + "joints": [ + 0.019075904041528702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12162451446056366, + -0.05710293725132942, + -0.03228152543306351 + ], + "orientation": [ + 0.7502392530441284, + -0.08724910765886307, + -0.6105782985687256, + -0.23816533386707306 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.1185666173696518, + -0.05535673350095749, + -0.030880846083164215 + ], + "orientation": [ + 0.7515681982040405, + -0.09039606899023056, + -0.6074535250663757, + -0.2407778799533844 + ], + "joints": [ + 0.021449469029903412 + ] + }, + "final_grasp": { + "position": [ + 0.1185666173696518, + -0.05535673350095749, + -0.030880846083164215 + ], + "orientation": [ + 0.7515681982040405, + -0.09039606899023056, + -0.6074535250663757, + -0.2407778799533844 + ], + "joints": [ + 0.011418543756008148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019880985841155052, + 0.005592788569629192, + 0.27961522340774536 + ], + "orientation": [ + 0.05230933427810669, + 0.9601661562919617, + -0.2737669050693512, + -0.019906427711248398 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.019228793680667877, + 0.005050752777606249, + 0.275098592042923 + ], + "orientation": [ + 0.04766121879220009, + 0.9621648192405701, + -0.2658291757106781, + -0.03608335554599762 + ], + "joints": [ + 0.029148627072572708 + ] + }, + "final_grasp": { + "position": [ + 0.019228793680667877, + 0.005050752777606249, + 0.275098592042923 + ], + "orientation": [ + 0.04766121879220009, + 0.9621648192405701, + -0.2658291757106781, + -0.03608335554599762 + ], + "joints": [ + 0.023297253996133804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09502755850553513, + 0.09847392141819, + 0.007582440041005611 + ], + "orientation": [ + 0.19486089050769806, + 0.5650011897087097, + 0.3383330702781677, + -0.7268657088279724 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + 0.09232669323682785, + 0.09575463831424713, + 0.008057291619479656 + ], + "orientation": [ + 0.19035924971103668, + 0.5628303289413452, + 0.3421928286552429, + -0.7279351353645325 + ], + "joints": [ + 0.026951003819704056 + ] + }, + "final_grasp": { + "position": [ + 0.09232669323682785, + 0.09575463831424713, + 0.008057291619479656 + ], + "orientation": [ + 0.19035924971103668, + 0.5628303289413452, + 0.3421928286552429, + -0.7279351353645325 + ], + "joints": [ + 0.019365113228559494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09533263742923737, + 0.09829214215278625, + 0.00742796715348959 + ], + "orientation": [ + 0.1932680904865265, + 0.5658093690872192, + 0.3384295403957367, + -0.7266172766685486 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + 0.09261736273765564, + 0.09559427946805954, + 0.00789604801684618 + ], + "orientation": [ + 0.18865981698036194, + 0.5638452768325806, + 0.3421332836151123, + -0.7276199460029602 + ], + "joints": [ + 0.026741445064544678 + ] + }, + "final_grasp": { + "position": [ + 0.09261736273765564, + 0.09559427946805954, + 0.00789604801684618 + ], + "orientation": [ + 0.18865981698036194, + 0.5638452768325806, + 0.3421332836151123, + -0.7276199460029602 + ], + "joints": [ + 0.01873759925365448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004024197813123465, + -0.1352972835302353, + 0.03269920498132706 + ], + "orientation": [ + 0.42866408824920654, + -0.43302950263023376, + 0.5770944952964783, + 0.5437780618667603 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.003857830772176385, + -0.131216362118721, + 0.03296592831611633 + ], + "orientation": [ + 0.42832663655281067, + -0.42849117517471313, + 0.5767303705215454, + 0.5480087995529175 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + -0.003857830772176385, + -0.131216362118721, + 0.03296592831611633 + ], + "orientation": [ + 0.42832663655281067, + -0.42849117517471313, + 0.5767303705215454, + 0.5480087995529175 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09656790643930435, + 0.029434427618980408, + -0.07065057754516602 + ], + "orientation": [ + 0.9341221451759338, + 0.12951503694057465, + 0.33168941736221313, + 0.0249786414206028 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.09366533160209656, + 0.028723645955324173, + -0.06910040974617004 + ], + "orientation": [ + 0.9303746819496155, + 0.12880383431911469, + 0.34216275811195374, + 0.027152031660079956 + ], + "joints": [ + 0.02491217851638794 + ] + }, + "final_grasp": { + "position": [ + -0.09366533160209656, + 0.028723645955324173, + -0.06910040974617004 + ], + "orientation": [ + 0.9303746819496155, + 0.12880383431911469, + 0.34216275811195374, + 0.027152031660079956 + ], + "joints": [ + 0.01690833270549774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07746759802103043, + 0.09505840390920639, + -0.04023172706365585 + ], + "orientation": [ + 0.6306582689285278, + 0.1325191706418991, + 0.5561131238937378, + -0.5248305797576904 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.0757031962275505, + 0.09348434209823608, + -0.03778201341629028 + ], + "orientation": [ + 0.6362969875335693, + 0.13057948648929596, + 0.5486320853233337, + -0.5263818502426147 + ], + "joints": [ + 0.02411806583404541 + ] + }, + "final_grasp": { + "position": [ + -0.0757031962275505, + 0.09348434209823608, + -0.03778201341629028 + ], + "orientation": [ + 0.6362969875335693, + 0.13057948648929596, + 0.5486320853233337, + -0.5263818502426147 + ], + "joints": [ + 0.015320107340812683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004194815643131733, + -0.1352839469909668, + 0.03269600868225098 + ], + "orientation": [ + 0.42934924364089966, + -0.4337492883205414, + 0.577211320400238, + 0.5425383448600769 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.004053703974932432, + -0.131146639585495, + 0.033051978796720505 + ], + "orientation": [ + 0.4289717376232147, + -0.42845702171325684, + 0.5770829916000366, + 0.5471591949462891 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + -0.004053703974932432, + -0.131146639585495, + 0.033051978796720505 + ], + "orientation": [ + 0.4289717376232147, + -0.42845702171325684, + 0.5770829916000366, + 0.5471591949462891 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06571812182664871, + -0.11691810190677643, + -0.0004401265177875757 + ], + "orientation": [ + 0.7495209574699402, + -0.326602041721344, + 0.4538607895374298, + 0.3543442487716675 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.0638783648610115, + -0.11371496319770813, + 0.00014260370517149568 + ], + "orientation": [ + 0.7475711703300476, + -0.3305838704109192, + 0.4575249254703522, + 0.35003232955932617 + ], + "joints": [ + 0.02574918419122696 + ] + }, + "final_grasp": { + "position": [ + -0.0638783648610115, + -0.11371496319770813, + 0.00014260370517149568 + ], + "orientation": [ + 0.7475711703300476, + -0.3305838704109192, + 0.4575249254703522, + 0.35003232955932617 + ], + "joints": [ + 0.018142394721508026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07716695964336395, + 0.09438386559486389, + -0.04021855816245079 + ], + "orientation": [ + 0.6237947940826416, + 0.12661558389663696, + 0.5560579299926758, + -0.5344605445861816 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.0753600224852562, + 0.09292467683553696, + -0.03773704171180725 + ], + "orientation": [ + 0.6299421787261963, + 0.12396357953548431, + 0.5484285354614258, + -0.5357537865638733 + ], + "joints": [ + 0.024515122175216675 + ] + }, + "final_grasp": { + "position": [ + -0.0753600224852562, + 0.09292467683553696, + -0.03773704171180725 + ], + "orientation": [ + 0.6299421787261963, + 0.12396357953548431, + 0.5484285354614258, + -0.5357537865638733 + ], + "joints": [ + 0.016114220023155212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05617113411426544, + 0.12927301228046417, + 0.06001006439328194 + ], + "orientation": [ + 0.6580540537834167, + 0.3283720016479492, + 0.5134198069572449, + -0.44219523668289185 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.054702937602996826, + 0.1258014440536499, + 0.060566335916519165 + ], + "orientation": [ + 0.6565478444099426, + 0.3292134404182434, + 0.5156744122505188, + -0.44118407368659973 + ], + "joints": [ + 0.027558714151382446 + ] + }, + "final_grasp": { + "position": [ + -0.054702937602996826, + 0.1258014440536499, + 0.060566335916519165 + ], + "orientation": [ + 0.6565478444099426, + 0.3292134404182434, + 0.5156744122505188, + -0.44118407368659973 + ], + "joints": [ + 0.020348981022834778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12753300368785858, + -0.06925687938928604, + 0.08060608059167862 + ], + "orientation": [ + 0.6281726360321045, + -0.13000428676605225, + -0.7366326451301575, + -0.2141736000776291 + ], + "joints": [ + 0.033309660851955414 + ] + }, + "fine_grasp": { + "position": [ + 0.12427368015050888, + -0.06754476577043533, + 0.08071035146713257 + ], + "orientation": [ + 0.6313033103942871, + -0.12744024395942688, + -0.7336400747299194, + -0.21676553785800934 + ], + "joints": [ + 0.025284916162490845 + ] + }, + "final_grasp": { + "position": [ + 0.12427368015050888, + -0.06754476577043533, + 0.08071035146713257 + ], + "orientation": [ + 0.6313033103942871, + -0.12744024395942688, + -0.7336400747299194, + -0.21676553785800934 + ], + "joints": [ + 0.017260171473026276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020761119201779366, + 0.13172847032546997, + 0.16433557868003845 + ], + "orientation": [ + 0.34319576621055603, + 0.4817850887775421, + 0.7084378600120544, + -0.38498783111572266 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.02007579430937767, + 0.1280512660741806, + 0.16475071012973785 + ], + "orientation": [ + 0.3554433286190033, + 0.4770265519618988, + 0.701069176197052, + -0.39320191740989685 + ], + "joints": [ + 0.028626177459955215 + ] + }, + "final_grasp": { + "position": [ + -0.02007579430937767, + 0.1280512660741806, + 0.16475071012973785 + ], + "orientation": [ + 0.3554433286190033, + 0.4770265519618988, + 0.701069176197052, + -0.39320191740989685 + ], + "joints": [ + 0.02225235477089882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0790049210190773, + 0.0933409258723259, + -0.02794363908469677 + ], + "orientation": [ + 0.5096821784973145, + 0.5969828963279724, + 0.1367204338312149, + -0.6042705774307251 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.07700228691101074, + 0.09201698750257492, + -0.025474529713392258 + ], + "orientation": [ + 0.5107830762863159, + 0.5884630084037781, + 0.132945254445076, + -0.6124848127365112 + ], + "joints": [ + 0.024701524525880814 + ] + }, + "final_grasp": { + "position": [ + 0.07700228691101074, + 0.09201698750257492, + -0.025474529713392258 + ], + "orientation": [ + 0.5107830762863159, + 0.5884630084037781, + 0.132945254445076, + -0.6124848127365112 + ], + "joints": [ + 0.016718577593564987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1290707141160965, + -0.06384601444005966, + 0.07241600006818771 + ], + "orientation": [ + 0.09452977776527405, + -0.6926779747009277, + 0.226350337266922, + 0.6782528758049011 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.12571732699871063, + -0.062134113162755966, + 0.0726596936583519 + ], + "orientation": [ + 0.09267056733369827, + -0.68985915184021, + 0.2281349003314972, + 0.6807796955108643 + ], + "joints": [ + 0.026609346270561218 + ] + }, + "final_grasp": { + "position": [ + 0.12571732699871063, + -0.062134113162755966, + 0.0726596936583519 + ], + "orientation": [ + 0.09267056733369827, + -0.68985915184021, + 0.2281349003314972, + 0.6807796955108643 + ], + "joints": [ + 0.01939961314201355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05610872432589531, + 0.1293252408504486, + 0.05999050289392471 + ], + "orientation": [ + 0.657427191734314, + 0.3290161192417145, + 0.5140106678009033, + -0.4419625401496887 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.05464216694235802, + 0.12585517764091492, + 0.060546353459358215 + ], + "orientation": [ + 0.6559686660766602, + 0.32981783151626587, + 0.5162032246589661, + -0.44097569584846497 + ], + "joints": [ + 0.027558714151382446 + ] + }, + "final_grasp": { + "position": [ + -0.05464216694235802, + 0.12585517764091492, + 0.060546353459358215 + ], + "orientation": [ + 0.6559686660766602, + 0.32981783151626587, + 0.5162032246589661, + -0.44097569584846497 + ], + "joints": [ + 0.020348981022834778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03501168265938759, + 0.14108550548553467, + 0.06462270021438599 + ], + "orientation": [ + 0.5174174308776855, + 0.40334540605545044, + -0.5930659770965576, + 0.4667593538761139 + ], + "joints": [ + 0.033309660851955414 + ] + }, + "fine_grasp": { + "position": [ + 0.03421135991811752, + 0.13739056885242462, + 0.06485377997159958 + ], + "orientation": [ + 0.5181437134742737, + 0.40070322155952454, + -0.5927593111991882, + 0.46861541271209717 + ], + "joints": [ + 0.025264017283916473 + ] + }, + "final_grasp": { + "position": [ + 0.03421135991811752, + 0.13739056885242462, + 0.06485377997159958 + ], + "orientation": [ + 0.5181437134742737, + 0.40070322155952454, + -0.5927593111991882, + 0.46861541271209717 + ], + "joints": [ + 0.017218373715877533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12908558547496796, + -0.06380860507488251, + 0.07239118218421936 + ], + "orientation": [ + 0.09466960281133652, + -0.69266277551651, + 0.22602540254592896, + 0.6783572435379028 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.1257312148809433, + -0.062095340341329575, + 0.0726354792714119 + ], + "orientation": [ + 0.09281043708324432, + -0.6898581385612488, + 0.2277810424566269, + 0.6808801889419556 + ], + "joints": [ + 0.026609346270561218 + ] + }, + "final_grasp": { + "position": [ + 0.1257312148809433, + -0.062095340341329575, + 0.0726354792714119 + ], + "orientation": [ + 0.09281043708324432, + -0.6898581385612488, + 0.2277810424566269, + 0.6808801889419556 + ], + "joints": [ + 0.01939961314201355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12171140313148499, + 0.06540516763925552, + 0.0418492890894413 + ], + "orientation": [ + 0.19266816973686218, + 0.7105361819267273, + 0.15194575488567352, + -0.6594921350479126 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.11834187805652618, + 0.06358164548873901, + 0.04210728034377098 + ], + "orientation": [ + 0.1945062279701233, + 0.7089030742645264, + 0.15027810633182526, + -0.6610901355743408 + ], + "joints": [ + 0.026233188807964325 + ] + }, + "final_grasp": { + "position": [ + 0.11834187805652618, + 0.06358164548873901, + 0.04210728034377098 + ], + "orientation": [ + 0.1945062279701233, + 0.7089030742645264, + 0.15027810633182526, + -0.6610901355743408 + ], + "joints": [ + 0.018647298216819763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019586771726608276, + 0.0066224196925759315, + 0.28058305382728577 + ], + "orientation": [ + 0.049154412001371384, + 0.9580737948417664, + -0.2802029848098755, + -0.03412827104330063 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.019217222929000854, + 0.006480512674897909, + 0.27612796425819397 + ], + "orientation": [ + 0.04642783850431442, + 0.9604958891868591, + -0.27097809314727783, + -0.04316319525241852 + ], + "joints": [ + 0.0287097729742527 + ] + }, + "final_grasp": { + "position": [ + 0.019217222929000854, + 0.006480512674897909, + 0.27612796425819397 + ], + "orientation": [ + 0.04642783850431442, + 0.9604958891868591, + -0.27097809314727783, + -0.04316319525241852 + ], + "joints": [ + 0.02241954579949379 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004160638898611069, + -0.1394127458333969, + -0.01350201666355133 + ], + "orientation": [ + 0.5978783369064331, + -0.43853455781936646, + 0.4112977683544159, + 0.5301539301872253 + ], + "joints": [ + 0.0314340814948082 + ] + }, + "fine_grasp": { + "position": [ + -0.003987626638263464, + -0.13573962450027466, + -0.012871311977505684 + ], + "orientation": [ + 0.597309410572052, + -0.44018226861953735, + 0.4121127128601074, + 0.528795063495636 + ], + "joints": [ + 0.022573426365852356 + ] + }, + "final_grasp": { + "position": [ + -0.003987626638263464, + -0.13573962450027466, + -0.012871311977505684 + ], + "orientation": [ + 0.597309410572052, + -0.44018226861953735, + 0.4121127128601074, + 0.528795063495636 + ], + "joints": [ + 0.013712771236896515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013027179054915905, + -0.005078095942735672, + 0.2818159759044647 + ], + "orientation": [ + 0.013201456516981125, + -0.5288580060005188, + 0.8481131792068481, + -0.028965113684535027 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.012621395289897919, + -0.005261675920337439, + 0.2774897813796997 + ], + "orientation": [ + 0.01968015916645527, + -0.542667806148529, + 0.8392823338508606, + -0.027010217308998108 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + -0.012621395289897919, + -0.005261675920337439, + 0.2774897813796997 + ], + "orientation": [ + 0.01968015916645527, + -0.542667806148529, + 0.8392823338508606, + -0.027010217308998108 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013102114200592041, + -0.005051950924098492, + 0.2817884683609009 + ], + "orientation": [ + 0.013082986697554588, + -0.5281993746757507, + 0.8485073447227478, + -0.029488779604434967 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.012648310512304306, + -0.005264773033559322, + 0.27744585275650024 + ], + "orientation": [ + 0.019924582913517952, + -0.5428690314292908, + 0.8391380310058594, + -0.02726939134299755 + ], + "joints": [ + 0.027852963656187057 + ] + }, + "final_grasp": { + "position": [ + -0.012648310512304306, + -0.005264773033559322, + 0.27744585275650024 + ], + "orientation": [ + 0.019924582913517952, + -0.5428690314292908, + 0.8391380310058594, + -0.02726939134299755 + ], + "joints": [ + 0.020705927163362503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04640796780586243, + 0.03215596079826355, + -0.11557915061712265 + ], + "orientation": [ + 0.8632826209068298, + 0.005191369913518429, + -0.1823783814907074, + 0.47058922052383423 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + 0.045140016824007034, + 0.0315878689289093, + -0.11197701841592789 + ], + "orientation": [ + 0.8635363578796387, + 0.005984295625239611, + -0.18199779093265533, + 0.4702616035938263 + ], + "joints": [ + 0.02400796115398407 + ] + }, + "final_grasp": { + "position": [ + 0.045140016824007034, + 0.0315878689289093, + -0.11197701841592789 + ], + "orientation": [ + 0.8635363578796387, + 0.005984295625239611, + -0.18199779093265533, + 0.4702616035938263 + ], + "joints": [ + 0.015586160123348236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025911180302500725, + 0.14473454654216766, + 0.047452617436647415 + ], + "orientation": [ + 0.6069466471672058, + 0.41545239090919495, + -0.47276201844215393, + 0.48529505729675293 + ], + "joints": [ + 0.0314340814948082 + ] + }, + "fine_grasp": { + "position": [ + 0.02540884166955948, + 0.14111781120300293, + 0.04792032018303871 + ], + "orientation": [ + 0.6070229411125183, + 0.41592156887054443, + -0.4739952087402344, + 0.4835916757583618 + ], + "joints": [ + 0.02297048270702362 + ] + }, + "final_grasp": { + "position": [ + 0.02540884166955948, + 0.14111781120300293, + 0.04792032018303871 + ], + "orientation": [ + 0.6070229411125183, + 0.41592156887054443, + -0.4739952087402344, + 0.4835916757583618 + ], + "joints": [ + 0.014506883919239044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02591582201421261, + 0.14482146501541138, + 0.04743112251162529 + ], + "orientation": [ + 0.6066930294036865, + 0.41553187370300293, + -0.4730009138584137, + 0.4853113293647766 + ], + "joints": [ + 0.0314340814948082 + ] + }, + "fine_grasp": { + "position": [ + 0.02544337324798107, + 0.1412782222032547, + 0.047893133014440536 + ], + "orientation": [ + 0.6066570281982422, + 0.4161267578601837, + -0.47412291169166565, + 0.4837490916252136 + ], + "joints": [ + 0.02297048270702362 + ] + }, + "final_grasp": { + "position": [ + 0.02544337324798107, + 0.1412782222032547, + 0.047893133014440536 + ], + "orientation": [ + 0.6066570281982422, + 0.4161267578601837, + -0.47412291169166565, + 0.4837490916252136 + ], + "joints": [ + 0.014506883919239044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11102517694234848, + -0.1066880077123642, + 0.09265413880348206 + ], + "orientation": [ + 0.6693624258041382, + -0.26233768463134766, + -0.642616331577301, + -0.26490962505340576 + ], + "joints": [ + 0.030461551621556282 + ] + }, + "fine_grasp": { + "position": [ + 0.1084531769156456, + -0.10434038937091827, + 0.092865489423275 + ], + "orientation": [ + 0.6696934103965759, + -0.26275208592414856, + -0.6419093012809753, + -0.26537641882896423 + ], + "joints": [ + 0.021203840151429176 + ] + }, + "final_grasp": { + "position": [ + 0.1084531769156456, + -0.10434038937091827, + 0.092865489423275 + ], + "orientation": [ + 0.6696934103965759, + -0.26275208592414856, + -0.6419093012809753, + -0.26537641882896423 + ], + "joints": [ + 0.01194612868130207 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08900085091590881, + 0.06836733967065811, + 0.21011704206466675 + ], + "orientation": [ + 0.2836058735847473, + 0.8474465012550354, + -0.1689816266298294, + -0.4157489538192749 + ], + "joints": [ + 0.025043176487088203 + ] + }, + "fine_grasp": { + "position": [ + 0.08701112866401672, + 0.06586898118257523, + 0.20740778744220734 + ], + "orientation": [ + 0.2834183871746063, + 0.8590384721755981, + -0.15508125722408295, + -0.3970853090286255 + ], + "joints": [ + 0.01869025267660618 + ] + }, + "final_grasp": { + "position": [ + 0.08701112866401672, + 0.06586898118257523, + 0.20740778744220734 + ], + "orientation": [ + 0.2834183871746063, + 0.8590384721755981, + -0.15508125722408295, + -0.3970853090286255 + ], + "joints": [ + 0.012337328866124153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020009592175483704, + 0.0061002811416983604, + 0.2797394394874573 + ], + "orientation": [ + 0.052507199347019196, + 0.9595160484313965, + -0.27564144134521484, + -0.024366013705730438 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.019450105726718903, + 0.005761143285781145, + 0.2751903533935547 + ], + "orientation": [ + 0.048076193779706955, + 0.9614068865776062, + -0.2677791118621826, + -0.040985897183418274 + ], + "joints": [ + 0.029127728193998337 + ] + }, + "final_grasp": { + "position": [ + 0.019450105726718903, + 0.005761143285781145, + 0.2751903533935547 + ], + "orientation": [ + 0.048076193779706955, + 0.9614068865776062, + -0.2677791118621826, + -0.040985897183418274 + ], + "joints": [ + 0.02325545623898506 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 147 + } +} \ No newline at end of file diff --git a/clutter_bottle_00000/Object.usd b/clutter_bottle_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..907ffb23988635d532cc4123591aabe6536542b3 --- /dev/null +++ b/clutter_bottle_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:049769c5b52444c1f4a5b3129cbca831637fc494bf825c5c53d3c31d608ab290 +size 5875403 diff --git a/clutter_bridge_00000/Annotation/dex1_1_grasp_pose.json b/clutter_bridge_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..fe6c9bb91a94a0b155f7e6f1398179a8d5a461fc --- /dev/null +++ b/clutter_bridge_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,268 @@ +{ + "type": "clutter_bridge_00000", + "bottom_center": [ + 0.00019832327961921692, + 0.0004544015973806381, + 4.5299529460862686e-08 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.09381135553121567, + -0.1194850280880928, + -0.022615652531385422 + ], + "orientation": [ + 0.7733812928199768, + 0.21802964806556702, + 0.594450831413269, + -0.031186921522021294 + ], + "joints": [ + -0.00625038705766201 + ] + }, + "fine_grasp": { + "position": [ + -0.09262210875749588, + -0.11801772564649582, + -0.021946096792817116 + ], + "orientation": [ + 0.7713409662246704, + 0.22494380176067352, + 0.5945827960968018, + -0.030080430209636688 + ], + "joints": [ + 0.001189208123832941 + ] + }, + "final_grasp": { + "position": [ + -0.09262210875749588, + -0.11801772564649582, + -0.021946096792817116 + ], + "orientation": [ + 0.7713409662246704, + 0.22494380176067352, + 0.5945827960968018, + -0.030080430209636688 + ], + "joints": [ + 0.008628803305327892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0038906848058104515, + -0.05045633390545845, + -0.08399838954210281 + ], + "orientation": [ + 0.5065122842788696, + 0.3228800594806671, + 0.6579121947288513, + 0.45425236225128174 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.006068194750696421, + -0.05037344619631767, + -0.08262532949447632 + ], + "orientation": [ + 0.5058857202529907, + 0.30466514825820923, + 0.6739230751991272, + 0.4439443051815033 + ], + "joints": [ + -0.009885375387966633 + ] + }, + "final_grasp": { + "position": [ + 0.006068194750696421, + -0.05037344619631767, + -0.08262532949447632 + ], + "orientation": [ + 0.5058857202529907, + 0.30466514825820923, + 0.6739230751991272, + 0.4439443051815033 + ], + "joints": [ + -0.009221123531460762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0636105015873909, + 0.004033885430544615, + 0.14824903011322021 + ], + "orientation": [ + 0.6156207323074341, + -0.41766679286956787, + 0.3284708261489868, + -0.5819557309150696 + ], + "joints": [ + -0.005527712404727936 + ] + }, + "fine_grasp": { + "position": [ + -0.06311202049255371, + 0.004982002079486847, + 0.14623874425888062 + ], + "orientation": [ + 0.6207051873207092, + -0.42587810754776, + 0.31794473528862, + -0.5764235854148865 + ], + "joints": [ + -0.0001871459826361388 + ] + }, + "final_grasp": { + "position": [ + -0.06311202049255371, + 0.004982002079486847, + 0.14623874425888062 + ], + "orientation": [ + 0.6207051873207092, + -0.42587810754776, + 0.31794473528862, + -0.5764235854148865 + ], + "joints": [ + 0.005153420381247997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06324797123670578, + 0.004048344679176807, + 0.14873501658439636 + ], + "orientation": [ + 0.616005539894104, + -0.42123353481292725, + 0.3274461328983307, + -0.5795502662658691 + ], + "joints": [ + -0.00583916250616312 + ] + }, + "fine_grasp": { + "position": [ + -0.06282056123018265, + 0.0048372154124081135, + 0.14779791235923767 + ], + "orientation": [ + 0.6212919354438782, + -0.4309188425540924, + 0.31816938519477844, + -0.5719032883644104 + ], + "joints": [ + 3.2803567592054605e-05 + ] + }, + "final_grasp": { + "position": [ + -0.06282056123018265, + 0.0048372154124081135, + 0.14779791235923767 + ], + "orientation": [ + 0.6212919354438782, + -0.4309188425540924, + 0.31816938519477844, + -0.5719032883644104 + ], + "joints": [ + 0.005904769524931908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06497745215892792, + 0.002553472062572837, + 0.14935146272182465 + ], + "orientation": [ + 0.6185134053230286, + -0.4249560534954071, + 0.33206093311309814, + -0.5714797377586365 + ], + "joints": [ + -0.005496721714735031 + ] + }, + "fine_grasp": { + "position": [ + -0.0640665665268898, + 0.002832264406606555, + 0.1486930400133133 + ], + "orientation": [ + 0.6275514364242554, + -0.4369324743747711, + 0.32069113850593567, + -0.5589510202407837 + ], + "joints": [ + -0.00015615529264323413 + ] + }, + "final_grasp": { + "position": [ + -0.0640665665268898, + 0.002832264406606555, + 0.1486930400133133 + ], + "orientation": [ + 0.6275514364242554, + -0.4369324743747711, + 0.32069113850593567, + -0.5589510202407837 + ], + "joints": [ + 0.005184411071240902 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2039, + "num_passed": 5 + } +} \ No newline at end of file diff --git a/clutter_bridge_00000/Annotation/piper_grasp_pose.json b/clutter_bridge_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e29350aa32985549287657739edc809a722b299b --- /dev/null +++ b/clutter_bridge_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,2268 @@ +{ + "type": "clutter_bridge_00000", + "bottom_center": [ + 0.00019832327961921692, + 0.0004544015973806381, + 4.5299529460862686e-08 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.024204621091485023, + 0.05083251744508743, + 0.1371675729751587 + ], + "orientation": [ + 0.23734286427497864, + 0.9671995043754578, + 0.033202312886714935, + 0.08420802652835846 + ], + "joints": [ + 0.029396403580904007 + ] + }, + "fine_grasp": { + "position": [ + -0.02537648193538189, + 0.04782485216856003, + 0.13533182442188263 + ], + "orientation": [ + 0.23290005326271057, + 0.9673711657524109, + 0.05876799300312996, + 0.08060318231582642 + ], + "joints": [ + 0.020201388746500015 + ] + }, + "final_grasp": { + "position": [ + -0.02537648193538189, + 0.04782485216856003, + 0.13533182442188263 + ], + "orientation": [ + 0.23290005326271057, + 0.9673711657524109, + 0.05876799300312996, + 0.08060318231582642 + ], + "joints": [ + 0.011006373912096024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028729747980833054, + 0.12782207131385803, + 0.03157658874988556 + ], + "orientation": [ + 0.17814388871192932, + 0.10990642011165619, + 0.6714311838150024, + -0.7108906507492065 + ], + "joints": [ + 0.01977653056383133 + ] + }, + "fine_grasp": { + "position": [ + -0.02893238700926304, + 0.12359698116779327, + 0.030895419418811798 + ], + "orientation": [ + 0.18229180574417114, + 0.10925719887018204, + 0.6742755174636841, + -0.7072376608848572 + ], + "joints": [ + 0.012253336608409882 + ] + }, + "final_grasp": { + "position": [ + -0.02893238700926304, + 0.12359698116779327, + 0.030895419418811798 + ], + "orientation": [ + 0.18229180574417114, + 0.10925719887018204, + 0.6742755174636841, + -0.7072376608848572 + ], + "joints": [ + 0.004730142652988434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03645344823598862, + 0.13567011058330536, + 0.022627614438533783 + ], + "orientation": [ + 0.6924307942390442, + 0.6715183258056641, + 0.12650607526302338, + -0.23151442408561707 + ], + "joints": [ + 0.0271734818816185 + ] + }, + "fine_grasp": { + "position": [ + 0.0363120473921299, + 0.1312457174062729, + 0.02183370478451252 + ], + "orientation": [ + 0.6836197376251221, + 0.682802677154541, + 0.11687861382961273, + -0.2297477275133133 + ], + "joints": [ + 0.021322108805179596 + ] + }, + "final_grasp": { + "position": [ + 0.0363120473921299, + 0.1312457174062729, + 0.02183370478451252 + ], + "orientation": [ + 0.6836197376251221, + 0.682802677154541, + 0.11687861382961273, + -0.2297477275133133 + ], + "joints": [ + 0.015470735728740692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057209521532058716, + 0.12365949153900146, + 0.0044868504628539085 + ], + "orientation": [ + 0.16177263855934143, + 0.14195197820663452, + 0.6565179228782654, + -0.7229547500610352 + ], + "joints": [ + 0.025892479345202446 + ] + }, + "fine_grasp": { + "position": [ + -0.05663003399968147, + 0.12051168829202652, + 0.005490902345627546 + ], + "orientation": [ + 0.17560996115207672, + 0.13940437138080597, + 0.6551494598388672, + -0.7214615941047668 + ], + "joints": [ + 0.01627950929105282 + ] + }, + "final_grasp": { + "position": [ + -0.05663003399968147, + 0.12051168829202652, + 0.005490902345627546 + ], + "orientation": [ + 0.17560996115207672, + 0.13940437138080597, + 0.6551494598388672, + -0.7214615941047668 + ], + "joints": [ + 0.006666539236903191 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036797650158405304, + 0.13549071550369263, + 0.02244729734957218 + ], + "orientation": [ + 0.6925877332687378, + 0.6717581748962402, + 0.12620382010936737, + -0.23051156103610992 + ], + "joints": [ + 0.026965083554387093 + ] + }, + "fine_grasp": { + "position": [ + 0.03664049878716469, + 0.131209596991539, + 0.021877799183130264 + ], + "orientation": [ + 0.6834022402763367, + 0.6829510927200317, + 0.11876539140939713, + -0.22898457944393158 + ], + "joints": [ + 0.021510766819119453 + ] + }, + "final_grasp": { + "position": [ + 0.03664049878716469, + 0.131209596991539, + 0.021877799183130264 + ], + "orientation": [ + 0.6834022402763367, + 0.6829510927200317, + 0.11876539140939713, + -0.22898457944393158 + ], + "joints": [ + 0.016056450083851814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00558912567794323, + 0.11768893897533417, + 0.0707368329167366 + ], + "orientation": [ + 0.5813260078430176, + 0.7526103258132935, + 0.2845887839794159, + -0.12102466076612473 + ], + "joints": [ + 0.025029616430401802 + ] + }, + "fine_grasp": { + "position": [ + 0.005939599592238665, + 0.11432832479476929, + 0.07050115615129471 + ], + "orientation": [ + 0.5726678967475891, + 0.756511390209198, + 0.2937047779560089, + -0.11610104888677597 + ], + "joints": [ + 0.016670512035489082 + ] + }, + "final_grasp": { + "position": [ + 0.005939599592238665, + 0.11432832479476929, + 0.07050115615129471 + ], + "orientation": [ + 0.5726678967475891, + 0.756511390209198, + 0.2937047779560089, + -0.11610104888677597 + ], + "joints": [ + 0.008311407640576363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013837250880897045, + 0.12733466923236847, + 0.023054849356412888 + ], + "orientation": [ + 0.21183590590953827, + 0.33441153168678284, + 0.6054867506027222, + -0.690420389175415 + ], + "joints": [ + 0.02415093593299389 + ] + }, + "fine_grasp": { + "position": [ + -0.013921174220740795, + 0.12327340990304947, + 0.023529117926955223 + ], + "orientation": [ + 0.20933128893375397, + 0.33526429533958435, + 0.6091261506080627, + -0.6875634789466858 + ], + "joints": [ + 0.015373876318335533 + ] + }, + "final_grasp": { + "position": [ + -0.013921174220740795, + 0.12327340990304947, + 0.023529117926955223 + ], + "orientation": [ + 0.20933128893375397, + 0.33526429533958435, + 0.6091261506080627, + -0.6875634789466858 + ], + "joints": [ + 0.006596816703677177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01372323278337717, + 0.12758636474609375, + 0.023610837757587433 + ], + "orientation": [ + 0.21299393475055695, + 0.3111734688282013, + 0.6021674275398254, + -0.7037038207054138 + ], + "joints": [ + 0.022130437195301056 + ] + }, + "fine_grasp": { + "position": [ + -0.01386101171374321, + 0.12352045625448227, + 0.024057719856500626 + ], + "orientation": [ + 0.21855635941028595, + 0.31528589129447937, + 0.6031293272972107, + -0.6993303298950195 + ], + "joints": [ + 0.0133533775806427 + ] + }, + "final_grasp": { + "position": [ + -0.01386101171374321, + 0.12352045625448227, + 0.024057719856500626 + ], + "orientation": [ + 0.21855635941028595, + 0.31528589129447937, + 0.6031293272972107, + -0.6993303298950195 + ], + "joints": [ + 0.0045763179659843445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052289094775915146, + 0.1321869194507599, + 0.007794322911649942 + ], + "orientation": [ + 0.6822360157966614, + 0.6440389752388, + 0.21077373623847961, + -0.274485319852829 + ], + "joints": [ + 0.028284942731261253 + ] + }, + "fine_grasp": { + "position": [ + 0.052710067480802536, + 0.1282181590795517, + 0.007868418470025063 + ], + "orientation": [ + 0.6799720525741577, + 0.6450671553611755, + 0.215998113155365, + -0.27362582087516785 + ], + "joints": [ + 0.018671972677111626 + ] + }, + "final_grasp": { + "position": [ + 0.052710067480802536, + 0.1282181590795517, + 0.007868418470025063 + ], + "orientation": [ + 0.6799720525741577, + 0.6450671553611755, + 0.215998113155365, + -0.27362582087516785 + ], + "joints": [ + 0.009059002622961998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05228664353489876, + 0.13213969767093658, + 0.007802123669534922 + ], + "orientation": [ + 0.682542085647583, + 0.6445161700248718, + 0.2098618596792221, + -0.27330079674720764 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.052707016468048096, + 0.12820498645305634, + 0.007883330807089806 + ], + "orientation": [ + 0.6803015470504761, + 0.6455789804458618, + 0.21489563584327698, + -0.2724655568599701 + ], + "joints": [ + 0.018858373165130615 + ] + }, + "final_grasp": { + "position": [ + 0.052707016468048096, + 0.12820498645305634, + 0.007883330807089806 + ], + "orientation": [ + 0.6803015470504761, + 0.6455789804458618, + 0.21489563584327698, + -0.2724655568599701 + ], + "joints": [ + 0.009663358330726624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052267514169216156, + 0.13216692209243774, + 0.007784624584019184 + ], + "orientation": [ + 0.6824733018875122, + 0.6441235542297363, + 0.2103680819272995, + -0.2740078270435333 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.052689600735902786, + 0.12823523581027985, + 0.007846693508327007 + ], + "orientation": [ + 0.6801397204399109, + 0.6452333927154541, + 0.2155371606349945, + -0.2731805145740509 + ], + "joints": [ + 0.018858373165130615 + ] + }, + "final_grasp": { + "position": [ + 0.052689600735902786, + 0.12823523581027985, + 0.007846693508327007 + ], + "orientation": [ + 0.6801397204399109, + 0.6452333927154541, + 0.2155371606349945, + -0.2731805145740509 + ], + "joints": [ + 0.009663358330726624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04533981531858444, + -0.13267265260219574, + 0.0009947947692126036 + ], + "orientation": [ + 0.6367353200912476, + -0.5222500562667847, + -0.3908293843269348, + -0.41118770837783813 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.04569360241293907, + -0.1287541538476944, + 0.0008021570974960923 + ], + "orientation": [ + 0.6344169974327087, + -0.5279729962348938, + -0.39248666167259216, + -0.40584951639175415 + ], + "joints": [ + 0.02117392048239708 + ] + }, + "final_grasp": { + "position": [ + -0.04569360241293907, + -0.1287541538476944, + 0.0008021570974960923 + ], + "orientation": [ + 0.6344169974327087, + -0.5279729962348938, + -0.39248666167259216, + -0.40584951639175415 + ], + "joints": [ + 0.011978905647993088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06919020414352417, + -0.12214752286672592, + -0.025891976431012154 + ], + "orientation": [ + 0.7279351949691772, + -0.5396761298179626, + -0.16174304485321045, + -0.39076748490333557 + ], + "joints": [ + 0.02853965386748314 + ] + }, + "fine_grasp": { + "position": [ + -0.06973402202129364, + -0.11822035163640976, + -0.024776019155979156 + ], + "orientation": [ + 0.7266881465911865, + -0.5412664413452148, + -0.17446112632751465, + -0.38538068532943726 + ], + "joints": [ + 0.020598504692316055 + ] + }, + "final_grasp": { + "position": [ + -0.06973402202129364, + -0.11822035163640976, + -0.024776019155979156 + ], + "orientation": [ + 0.7266881465911865, + -0.5412664413452148, + -0.17446112632751465, + -0.38538068532943726 + ], + "joints": [ + 0.012657355517148972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07001117616891861, + -0.12256168574094772, + -0.025409605354070663 + ], + "orientation": [ + 0.71815425157547, + -0.5373391509056091, + -0.17784558236598969, + -0.4048358201980591 + ], + "joints": [ + 0.02923431806266308 + ] + }, + "fine_grasp": { + "position": [ + -0.07013139128684998, + -0.11875813454389572, + -0.02431466057896614 + ], + "orientation": [ + 0.7159513235092163, + -0.5385884046554565, + -0.1904134899377823, + -0.40134626626968384 + ], + "joints": [ + 0.020854314789175987 + ] + }, + "final_grasp": { + "position": [ + -0.07013139128684998, + -0.11875813454389572, + -0.02431466057896614 + ], + "orientation": [ + 0.7159513235092163, + -0.5385884046554565, + -0.1904134899377823, + -0.40134626626968384 + ], + "joints": [ + 0.012474311515688896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09505870193243027, + 0.07203440368175507, + -0.07452041655778885 + ], + "orientation": [ + 0.4864858388900757, + -0.10666536539793015, + -0.311683714389801, + 0.809201717376709 + ], + "joints": [ + 0.024353206157684326 + ] + }, + "fine_grasp": { + "position": [ + 0.09530951082706451, + 0.06893888860940933, + -0.07219859957695007 + ], + "orientation": [ + 0.48505306243896484, + -0.08668914437294006, + -0.3200649321079254, + 0.8091767430305481 + ], + "joints": [ + 0.016412056982517242 + ] + }, + "final_grasp": { + "position": [ + 0.09530951082706451, + 0.06893888860940933, + -0.07219859957695007 + ], + "orientation": [ + 0.48505306243896484, + -0.08668914437294006, + -0.3200649321079254, + 0.8091767430305481 + ], + "joints": [ + 0.008470907807350159 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044883690774440765, + -0.13286317884922028, + 0.0012854337692260742 + ], + "orientation": [ + 0.6360451579093933, + -0.5188066363334656, + -0.39260900020599365, + -0.41490259766578674 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.04532327502965927, + -0.1288859099149704, + 0.0012082025641575456 + ], + "orientation": [ + 0.6345421075820923, + -0.522037923336029, + -0.39571958780288696, + -0.4101692736148834 + ], + "joints": [ + 0.02117392048239708 + ] + }, + "final_grasp": { + "position": [ + -0.04532327502965927, + -0.1288859099149704, + 0.0012082025641575456 + ], + "orientation": [ + 0.6345421075820923, + -0.522037923336029, + -0.39571958780288696, + -0.4101692736148834 + ], + "joints": [ + 0.011978905647993088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04889683797955513, + 0.12370471656322479, + 0.036413293331861496 + ], + "orientation": [ + 0.2913351356983185, + 0.18645893037319183, + -0.6830799579620361, + 0.6432408094406128 + ], + "joints": [ + 0.020486710593104362 + ] + }, + "fine_grasp": { + "position": [ + 0.04872029647231102, + 0.11969756335020065, + 0.03545977547764778 + ], + "orientation": [ + 0.3040671944618225, + 0.19678594172000885, + -0.6810948252677917, + 0.6363397836685181 + ], + "joints": [ + 0.012127606198191643 + ] + }, + "final_grasp": { + "position": [ + 0.04872029647231102, + 0.11969756335020065, + 0.03545977547764778 + ], + "orientation": [ + 0.3040671944618225, + 0.19678594172000885, + -0.6810948252677917, + 0.6363397836685181 + ], + "joints": [ + 0.003768501803278923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05229049548506737, + 0.13218241930007935, + 0.0077923801727592945 + ], + "orientation": [ + 0.6825945973396301, + 0.6442340016365051, + 0.2099451720714569, + -0.27377036213874817 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.05270881950855255, + 0.12825560569763184, + 0.007846411317586899 + ], + "orientation": [ + 0.6801666617393494, + 0.6454280614852905, + 0.21514159440994263, + -0.2729651927947998 + ], + "joints": [ + 0.018858373165130615 + ] + }, + "final_grasp": { + "position": [ + 0.05270881950855255, + 0.12825560569763184, + 0.007846411317586899 + ], + "orientation": [ + 0.6801666617393494, + 0.6454280614852905, + 0.21514159440994263, + -0.2729651927947998 + ], + "joints": [ + 0.009663358330726624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033841002732515335, + -0.1138516515493393, + 0.07802850008010864 + ], + "orientation": [ + 0.08600363880395889, + 0.21227827668190002, + 0.7763777375221252, + 0.5871789455413818 + ], + "joints": [ + 0.019914142787456512 + ] + }, + "fine_grasp": { + "position": [ + -0.03395083546638489, + -0.11065924912691116, + 0.07719191908836365 + ], + "orientation": [ + 0.07103495299816132, + 0.21632836759090424, + 0.7789378762245178, + 0.5843046307563782 + ], + "joints": [ + 0.011972993612289429 + ] + }, + "final_grasp": { + "position": [ + -0.03395083546638489, + -0.11065924912691116, + 0.07719191908836365 + ], + "orientation": [ + 0.07103495299816132, + 0.21632836759090424, + 0.7789378762245178, + 0.5843046307563782 + ], + "joints": [ + 0.004031844437122345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01745517924427986, + -0.1287921518087387, + 0.06259475648403168 + ], + "orientation": [ + 0.6388630867004395, + -0.7611570358276367, + -0.08242405205965042, + -0.07549957185983658 + ], + "joints": [ + 0.018704453483223915 + ] + }, + "fine_grasp": { + "position": [ + -0.01739748939871788, + -0.12495195865631104, + 0.06198587641119957 + ], + "orientation": [ + 0.637928307056427, + -0.7611544728279114, + -0.08695757389068604, + -0.07829198241233826 + ], + "joints": [ + 0.009509438648819923 + ] + }, + "final_grasp": { + "position": [ + -0.01739748939871788, + -0.12495195865631104, + 0.06198587641119957 + ], + "orientation": [ + 0.637928307056427, + -0.7611544728279114, + -0.08695757389068604, + -0.07829198241233826 + ], + "joints": [ + 0.0003144238144159317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05292234942317009, + 0.12108790129423141, + 0.03924069553613663 + ], + "orientation": [ + 0.5943671464920044, + 0.671966552734375, + -0.2862703800201416, + 0.33650851249694824 + ], + "joints": [ + 0.024215305224061012 + ] + }, + "fine_grasp": { + "position": [ + -0.05246363580226898, + 0.11687371879816055, + 0.0390983410179615 + ], + "orientation": [ + 0.5801638960838318, + 0.6615937352180481, + -0.3103554844856262, + 0.35969865322113037 + ], + "joints": [ + 0.016671212390065193 + ] + }, + "final_grasp": { + "position": [ + -0.05246363580226898, + 0.11687371879816055, + 0.0390983410179615 + ], + "orientation": [ + 0.5801638960838318, + 0.6615937352180481, + -0.3103554844856262, + 0.35969865322113037 + ], + "joints": [ + 0.009127119556069374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015022181905806065, + -0.13218718767166138, + 0.06429412215948105 + ], + "orientation": [ + 0.1181451752781868, + -0.18823674321174622, + 0.749710202217102, + 0.6233323216438293 + ], + "joints": [ + 0.01923871412873268 + ] + }, + "fine_grasp": { + "position": [ + -0.014376970008015633, + -0.1283426135778427, + 0.06378768384456635 + ], + "orientation": [ + 0.12955212593078613, + -0.18488985300064087, + 0.748255729675293, + 0.6238150596618652 + ], + "joints": [ + 0.010461654514074326 + ] + }, + "final_grasp": { + "position": [ + -0.014376970008015633, + -0.1283426135778427, + 0.06378768384456635 + ], + "orientation": [ + 0.12955212593078613, + -0.18488985300064087, + 0.748255729675293, + 0.6238150596618652 + ], + "joints": [ + 0.0016845948994159698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012835787609219551, + 0.13836005330085754, + 0.04709393531084061 + ], + "orientation": [ + 0.05218825861811638, + -0.02276616543531418, + -0.7195188403129578, + 0.6921349167823792 + ], + "joints": [ + 0.017252186313271523 + ] + }, + "fine_grasp": { + "position": [ + 0.012625771574676037, + 0.13443797826766968, + 0.04691352695226669 + ], + "orientation": [ + 0.051626771688461304, + -0.021306447684764862, + -0.7196511030197144, + 0.6920860409736633 + ], + "joints": [ + 0.0076392157934606075 + ] + }, + "final_grasp": { + "position": [ + 0.012625771574676037, + 0.13443797826766968, + 0.04691352695226669 + ], + "orientation": [ + 0.051626771688461304, + -0.021306447684764862, + -0.7196511030197144, + 0.6920860409736633 + ], + "joints": [ + -0.0019737547263503075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029102282598614693, + -0.13403034210205078, + 0.061312079429626465 + ], + "orientation": [ + 0.17017918825149536, + -0.16808588802814484, + 0.7480785846710205, + 0.6190030574798584 + ], + "joints": [ + 0.019285956397652626 + ] + }, + "fine_grasp": { + "position": [ + -0.028405163437128067, + -0.1301862746477127, + 0.06083335727453232 + ], + "orientation": [ + 0.17490458488464355, + -0.1688368022441864, + 0.7455243468284607, + 0.620560884475708 + ], + "joints": [ + 0.009672986343502998 + ] + }, + "final_grasp": { + "position": [ + -0.028405163437128067, + -0.1301862746477127, + 0.06083335727453232 + ], + "orientation": [ + 0.17490458488464355, + -0.1688368022441864, + 0.7455243468284607, + 0.620560884475708 + ], + "joints": [ + 6.0016289353370667e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019770409911870956, + 0.13364958763122559, + 0.04284226521849632 + ], + "orientation": [ + 0.6366328001022339, + 0.6756353378295898, + 0.30983057618141174, + -0.205476775765419 + ], + "joints": [ + 0.023540746420621872 + ] + }, + "fine_grasp": { + "position": [ + 0.020014984533190727, + 0.12964561581611633, + 0.04217003285884857 + ], + "orientation": [ + 0.6307188272476196, + 0.6817466616630554, + 0.3124333620071411, + -0.1995006650686264 + ], + "joints": [ + 0.014366630464792252 + ] + }, + "final_grasp": { + "position": [ + 0.020014984533190727, + 0.12964561581611633, + 0.04217003285884857 + ], + "orientation": [ + 0.6307188272476196, + 0.6817466616630554, + 0.3124333620071411, + -0.1995006650686264 + ], + "joints": [ + 0.005192514508962631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02404504083096981, + 0.13804230093955994, + 0.023771202191710472 + ], + "orientation": [ + 0.14886444807052612, + 0.12229151278734207, + -0.6481682658195496, + 0.736723780632019 + ], + "joints": [ + 0.019762888550758362 + ] + }, + "fine_grasp": { + "position": [ + 0.024534929543733597, + 0.13356074690818787, + 0.023283470422029495 + ], + "orientation": [ + 0.1401400864124298, + 0.12137956917285919, + -0.6564648151397705, + 0.7312193512916565 + ], + "joints": [ + 0.013911515474319458 + ] + }, + "final_grasp": { + "position": [ + 0.024534929543733597, + 0.13356074690818787, + 0.023283470422029495 + ], + "orientation": [ + 0.1401400864124298, + 0.12137956917285919, + -0.6564648151397705, + 0.7312193512916565 + ], + "joints": [ + 0.008060142397880554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004284786060452461, + -0.13340814411640167, + 0.04489346221089363 + ], + "orientation": [ + 0.6682397723197937, + -0.6398792266845703, + -0.3456666171550751, + -0.15660354495048523 + ], + "joints": [ + 0.020857028663158417 + ] + }, + "fine_grasp": { + "position": [ + 0.005129228346049786, + -0.12911084294319153, + 0.04500459134578705 + ], + "orientation": [ + 0.6649270057678223, + -0.6419185996055603, + -0.3394043743610382, + -0.17497818171977997 + ], + "joints": [ + 0.014169745147228241 + ] + }, + "final_grasp": { + "position": [ + 0.005129228346049786, + -0.12911084294319153, + 0.04500459134578705 + ], + "orientation": [ + 0.6649270057678223, + -0.6419185996055603, + -0.3394043743610382, + -0.17497818171977997 + ], + "joints": [ + 0.007482461631298065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015634022420272231, + 0.1273542195558548, + 0.03139710798859596 + ], + "orientation": [ + 0.724613606929779, + 0.6429233551025391, + 0.2085968255996704, + -0.1344325840473175 + ], + "joints": [ + 0.020696215331554413 + ] + }, + "fine_grasp": { + "position": [ + -0.0012233355082571507, + 0.1234002485871315, + 0.0321919210255146 + ], + "orientation": [ + 0.7247073650360107, + 0.6380152106285095, + 0.217178612947464, + -0.14341966807842255 + ], + "joints": [ + 0.011919155716896057 + ] + }, + "final_grasp": { + "position": [ + -0.0012233355082571507, + 0.1234002485871315, + 0.0321919210255146 + ], + "orientation": [ + 0.7247073650360107, + 0.6380152106285095, + 0.217178612947464, + -0.14341966807842255 + ], + "joints": [ + 0.0031420961022377014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001554975868202746, + -0.12992256879806519, + 0.036195870488882065 + ], + "orientation": [ + 0.18385596573352814, + -0.32045331597328186, + -0.6239539384841919, + -0.6886131167411804 + ], + "joints": [ + 0.02141009457409382 + ] + }, + "fine_grasp": { + "position": [ + -0.0018815335351973772, + -0.12563039362430573, + 0.03657469153404236 + ], + "orientation": [ + 0.20153042674064636, + -0.32283616065979004, + -0.6218791007995605, + -0.6844186186790466 + ], + "joints": [ + 0.014283956959843636 + ] + }, + "final_grasp": { + "position": [ + -0.0018815335351973772, + -0.12563039362430573, + 0.03657469153404236 + ], + "orientation": [ + 0.20153042674064636, + -0.32283616065979004, + -0.6218791007995605, + -0.6844186186790466 + ], + "joints": [ + 0.0071578193455934525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02301231399178505, + 0.13716314733028412, + 0.01019551232457161 + ], + "orientation": [ + 0.17126256227493286, + 0.13867105543613434, + -0.6100078821182251, + 0.7611373066902161 + ], + "joints": [ + 0.020932618528604507 + ] + }, + "fine_grasp": { + "position": [ + 0.023566199466586113, + 0.13279768824577332, + 0.010105233639478683 + ], + "orientation": [ + 0.1662452071905136, + 0.13890548050403595, + -0.6162919998168945, + 0.7571340799331665 + ], + "joints": [ + 0.014245335012674332 + ] + }, + "final_grasp": { + "position": [ + 0.023566199466586113, + 0.13279768824577332, + 0.010105233639478683 + ], + "orientation": [ + 0.1662452071905136, + 0.13890548050403595, + -0.6162919998168945, + 0.7571340799331665 + ], + "joints": [ + 0.007558051496744156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022558601573109627, + 0.13957960903644562, + 0.009424199350178242 + ], + "orientation": [ + 0.1655324548482895, + 0.13756392896175385, + -0.6114113330841064, + 0.7614797353744507 + ], + "joints": [ + 0.02158529870212078 + ] + }, + "fine_grasp": { + "position": [ + 0.02316896803677082, + 0.13522113859653473, + 0.009529336355626583 + ], + "orientation": [ + 0.1592082679271698, + 0.13760176301002502, + -0.6166955232620239, + 0.7585546970367432 + ], + "joints": [ + 0.01448005996644497 + ] + }, + "final_grasp": { + "position": [ + 0.02316896803677082, + 0.13522113859653473, + 0.009529336355626583 + ], + "orientation": [ + 0.1592082679271698, + 0.13760176301002502, + -0.6166955232620239, + 0.7585546970367432 + ], + "joints": [ + 0.007374821230769157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007736318279057741, + 0.029729044064879417, + -0.11425475031137466 + ], + "orientation": [ + 0.9866727590560913, + 0.03855510801076889, + -0.051572106778621674, + 0.14943455159664154 + ], + "joints": [ + 0.008029883727431297 + ] + }, + "fine_grasp": { + "position": [ + 0.007134428713470697, + 0.027670033276081085, + -0.10963747650384903 + ], + "orientation": [ + 0.9850813150405884, + 0.04658858850598335, + -0.05516032502055168, + 0.15621012449264526 + ], + "joints": [ + 0.010934671387076378 + ] + }, + "final_grasp": { + "position": [ + 0.007134428713470697, + 0.027670033276081085, + -0.10963747650384903 + ], + "orientation": [ + 0.9850813150405884, + 0.04658858850598335, + -0.05516032502055168, + 0.15621012449264526 + ], + "joints": [ + 0.013839459046721458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01475011557340622, + 0.14315420389175415, + 0.01678929291665554 + ], + "orientation": [ + 0.7642929553985596, + 0.6294313669204712, + -0.0756046399474144, + 0.11813747137784958 + ], + "joints": [ + 0.01739630103111267 + ] + }, + "fine_grasp": { + "position": [ + -0.014547018334269524, + 0.1392437219619751, + 0.017563557252287865 + ], + "orientation": [ + 0.7634037137031555, + 0.6300017833709717, + -0.07616887986660004, + 0.12045994400978088 + ], + "joints": [ + 0.00820128619670868 + ] + }, + "final_grasp": { + "position": [ + -0.014547018334269524, + 0.1392437219619751, + 0.017563557252287865 + ], + "orientation": [ + 0.7634037137031555, + 0.6300017833709717, + -0.07616887986660004, + 0.12045994400978088 + ], + "joints": [ + -0.0009937286376953125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011177215725183487, + 0.12717938423156738, + 0.024804675951600075 + ], + "orientation": [ + 0.23778578639030457, + 0.297771692276001, + 0.5967265367507935, + -0.7061921954154968 + ], + "joints": [ + 0.022755617275834084 + ] + }, + "fine_grasp": { + "position": [ + -0.011183597147464752, + 0.1231057196855545, + 0.025649838149547577 + ], + "orientation": [ + 0.251087486743927, + 0.3047080636024475, + 0.5906258821487427, + -0.7037535905838013 + ], + "joints": [ + 0.014396512880921364 + ] + }, + "final_grasp": { + "position": [ + -0.011183597147464752, + 0.1231057196855545, + 0.025649838149547577 + ], + "orientation": [ + 0.251087486743927, + 0.3047080636024475, + 0.5906258821487427, + -0.7037535905838013 + ], + "joints": [ + 0.006037408486008644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012421001680195332, + 0.12813861668109894, + 0.02403777278959751 + ], + "orientation": [ + 0.21499954164028168, + 0.2996734380722046, + 0.6027947068214417, + -0.7075375914573669 + ], + "joints": [ + 0.021119575947523117 + ] + }, + "fine_grasp": { + "position": [ + -0.012082485482096672, + 0.12425419688224792, + 0.02517665922641754 + ], + "orientation": [ + 0.2256191521883011, + 0.29819145798683167, + 0.5984975099563599, + -0.7085046172142029 + ], + "joints": [ + 0.012760471552610397 + ] + }, + "final_grasp": { + "position": [ + -0.012082485482096672, + 0.12425419688224792, + 0.02517665922641754 + ], + "orientation": [ + 0.2256191521883011, + 0.29819145798683167, + 0.5984975099563599, + -0.7085046172142029 + ], + "joints": [ + 0.004401367157697678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02192108891904354, + 0.14013205468654633, + 0.010207529179751873 + ], + "orientation": [ + 0.16811618208885193, + 0.13117927312850952, + -0.6038752794265747, + 0.7680257558822632 + ], + "joints": [ + 0.019526340067386627 + ] + }, + "fine_grasp": { + "position": [ + 0.02221381478011608, + 0.13602730631828308, + 0.010632376186549664 + ], + "orientation": [ + 0.16627421975135803, + 0.13103550672531128, + -0.6068025231361389, + 0.7661417722702026 + ], + "joints": [ + 0.011167235672473907 + ] + }, + "final_grasp": { + "position": [ + 0.02221381478011608, + 0.13602730631828308, + 0.010632376186549664 + ], + "orientation": [ + 0.16627421975135803, + 0.13103550672531128, + -0.6068025231361389, + 0.7661417722702026 + ], + "joints": [ + 0.0028081312775611877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02108292654156685, + 0.14032429456710815, + 0.009244522079825401 + ], + "orientation": [ + 0.17702771723270416, + 0.13052107393741608, + -0.5987109541893005, + 0.7701756954193115 + ], + "joints": [ + 0.019718874245882034 + ] + }, + "fine_grasp": { + "position": [ + 0.021415160968899727, + 0.13619595766067505, + 0.009665110148489475 + ], + "orientation": [ + 0.17525909841060638, + 0.13122160732746124, + -0.6018766164779663, + 0.76799076795578 + ], + "joints": [ + 0.011359769850969315 + ] + }, + "final_grasp": { + "position": [ + 0.021415160968899727, + 0.13619595766067505, + 0.009665110148489475 + ], + "orientation": [ + 0.17525909841060638, + 0.13122160732746124, + -0.6018766164779663, + 0.76799076795578 + ], + "joints": [ + 0.003000665456056595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022810794413089752, + -0.1316143274307251, + 0.04960101842880249 + ], + "orientation": [ + 0.654233455657959, + -0.7080658078193665, + -0.20088684558868408, + -0.17397084832191467 + ], + "joints": [ + 0.019468488171696663 + ] + }, + "fine_grasp": { + "position": [ + -0.022307630628347397, + -0.12768055498600006, + 0.04935602471232414 + ], + "orientation": [ + 0.6520523428916931, + -0.7065956592559814, + -0.20707622170448303, + -0.18074734508991241 + ], + "joints": [ + 0.010273473337292671 + ] + }, + "final_grasp": { + "position": [ + -0.022307630628347397, + -0.12768055498600006, + 0.04935602471232414 + ], + "orientation": [ + 0.6520523428916931, + -0.7065956592559814, + -0.20707622170448303, + -0.18074734508991241 + ], + "joints": [ + 0.0010784585028886795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005808097776025534, + 0.12492597103118896, + 0.03886387497186661 + ], + "orientation": [ + 0.7114377021789551, + 0.6934741139411926, + 0.06693451851606369, + -0.09203216433525085 + ], + "joints": [ + 0.01839331164956093 + ] + }, + "fine_grasp": { + "position": [ + 0.006139556877315044, + 0.12094466388225555, + 0.03873014450073242 + ], + "orientation": [ + 0.7128188610076904, + 0.688854992389679, + 0.08760351687669754, + -0.09845616668462753 + ], + "joints": [ + 0.009595353156328201 + ] + }, + "final_grasp": { + "position": [ + 0.006139556877315044, + 0.12094466388225555, + 0.03873014450073242 + ], + "orientation": [ + 0.7128188610076904, + 0.688854992389679, + 0.08760351687669754, + -0.09845616668462753 + ], + "joints": [ + 0.0007973946630954742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005677849519997835, + 0.12593568861484528, + 0.0383538194000721 + ], + "orientation": [ + 0.7117283940315247, + 0.6923630237579346, + 0.06318821758031845, + -0.10041598230600357 + ], + "joints": [ + 0.01828528568148613 + ] + }, + "fine_grasp": { + "position": [ + 0.006267722696065903, + 0.12210100889205933, + 0.038415342569351196 + ], + "orientation": [ + 0.7120092511177063, + 0.6887451410293579, + 0.08391144126653671, + -0.10785143077373505 + ], + "joints": [ + 0.009069371968507767 + ] + }, + "final_grasp": { + "position": [ + 0.006267722696065903, + 0.12210100889205933, + 0.038415342569351196 + ], + "orientation": [ + 0.7120092511177063, + 0.6887451410293579, + 0.08391144126653671, + -0.10785143077373505 + ], + "joints": [ + -0.0001465417444705963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08336770534515381, + 0.08647460490465164, + -0.06513497978448868 + ], + "orientation": [ + 0.7723487615585327, + 0.3354772627353668, + -0.027048422023653984, + -0.538702666759491 + ], + "joints": [ + 0.021270375698804855 + ] + }, + "fine_grasp": { + "position": [ + 0.08339445292949677, + 0.08217081427574158, + -0.06313498318195343 + ], + "orientation": [ + 0.7696941494941711, + 0.34400901198387146, + -0.006567561998963356, + -0.5377596616744995 + ], + "joints": [ + 0.01667286828160286 + ] + }, + "final_grasp": { + "position": [ + 0.08339445292949677, + 0.08217081427574158, + -0.06313498318195343 + ], + "orientation": [ + 0.7696941494941711, + 0.34400901198387146, + -0.006567561998963356, + -0.5377596616744995 + ], + "joints": [ + 0.012075360864400864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006436448078602552, + 0.12387590855360031, + 0.03856806084513664 + ], + "orientation": [ + 0.7143426537513733, + 0.6930890679359436, + 0.0586281381547451, + -0.07684352248907089 + ], + "joints": [ + 0.01834336295723915 + ] + }, + "fine_grasp": { + "position": [ + 0.00648841867223382, + 0.12008784711360931, + 0.038232650607824326 + ], + "orientation": [ + 0.7152756452560425, + 0.6906663179397583, + 0.06878820806741714, + -0.0814194604754448 + ], + "joints": [ + 0.008730392903089523 + ] + }, + "final_grasp": { + "position": [ + 0.00648841867223382, + 0.12008784711360931, + 0.038232650607824326 + ], + "orientation": [ + 0.7152756452560425, + 0.6906663179397583, + 0.06878820806741714, + -0.0814194604754448 + ], + "joints": [ + -0.0008825771510601044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020863274112343788, + 0.11715683341026306, + 0.06530129909515381 + ], + "orientation": [ + 0.07040310651063919, + 0.049551885575056076, + 0.775645911693573, + -0.6252692341804504 + ], + "joints": [ + 0.020697150379419327 + ] + }, + "fine_grasp": { + "position": [ + -0.021204667165875435, + 0.11445733904838562, + 0.06534053385257721 + ], + "orientation": [ + 0.07359275966882706, + 0.05429999902844429, + 0.7768677473068237, + -0.6229864358901978 + ], + "joints": [ + 0.011084180325269699 + ] + }, + "final_grasp": { + "position": [ + -0.021204667165875435, + 0.11445733904838562, + 0.06534053385257721 + ], + "orientation": [ + 0.07359275966882706, + 0.05429999902844429, + 0.7768677473068237, + -0.6229864358901978 + ], + "joints": [ + 0.0014712102711200714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07047867774963379, + 0.06564025580883026, + -0.07944321632385254 + ], + "orientation": [ + 0.8587221503257751, + 0.24417199194431305, + -0.051023513078689575, + -0.4476301968097687 + ], + "joints": [ + 0.021711071953177452 + ] + }, + "fine_grasp": { + "position": [ + 0.07100772857666016, + 0.06207910552620888, + -0.07675529271364212 + ], + "orientation": [ + 0.8537783026695251, + 0.25078535079956055, + -0.03620600327849388, + -0.4548168480396271 + ], + "joints": [ + 0.01585969887673855 + ] + }, + "final_grasp": { + "position": [ + 0.07100772857666016, + 0.06207910552620888, + -0.07675529271364212 + ], + "orientation": [ + 0.8537783026695251, + 0.25078535079956055, + -0.03620600327849388, + -0.4548168480396271 + ], + "joints": [ + 0.010008325800299644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -4.37132730439771e-05, + -0.07525605708360672, + -0.09151925146579742 + ], + "orientation": [ + 0.7769923210144043, + -0.27547213435173035, + -0.19144470989704132, + -0.5326791405677795 + ], + "joints": [ + 0.0016967663541436195 + ] + }, + "fine_grasp": { + "position": [ + 0.0002758055634330958, + -0.07362522929906845, + -0.0884387344121933 + ], + "orientation": [ + 0.7729557752609253, + -0.2769167423248291, + -0.19359615445137024, + -0.5370072722434998 + ], + "joints": [ + 0.009282654151320457 + ] + }, + "final_grasp": { + "position": [ + 0.0002758055634330958, + -0.07362522929906845, + -0.0884387344121933 + ], + "orientation": [ + 0.7729557752609253, + -0.2769167423248291, + -0.19359615445137024, + -0.5370072722434998 + ], + "joints": [ + 0.01686854287981987 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 45 + } +} \ No newline at end of file diff --git a/clutter_bridge_00000/Object.usd b/clutter_bridge_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..e4d72446277ecb67b63dd6539af40c57dc0f453e --- /dev/null +++ b/clutter_bridge_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:043ed30fda49be75dddf9b6c7886f4780d47f58d1cafea2e70a567d622b298e6 +size 285907 diff --git a/clutter_cap_00000/Annotation/dex1_1_grasp_pose.json b/clutter_cap_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..fbe515e68b73275ee9c141c8cc24be7ccfc7dc03 --- /dev/null +++ b/clutter_cap_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,1918 @@ +{ + "type": "clutter_cap_00000", + "bottom_center": [ + -6.310269236564636e-05, + 0.0, + -0.07791830599308014 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.06930454075336456, + -0.13679906725883484, + -0.02426660619676113 + ], + "orientation": [ + 0.985844075679779, + 0.09144195169210434, + 0.09870775043964386, + -0.10003300756216049 + ], + "joints": [ + 0.01069442555308342 + ] + }, + "fine_grasp": { + "position": [ + -0.0720294937491417, + -0.13668984174728394, + -0.024215323850512505 + ], + "orientation": [ + 0.986254870891571, + 0.07942411303520203, + 0.09759034961462021, + -0.10709509998559952 + ], + "joints": [ + 0.01656639762222767 + ] + }, + "final_grasp": { + "position": [ + -0.0720294937491417, + -0.13668984174728394, + -0.024215323850512505 + ], + "orientation": [ + 0.986254870891571, + 0.07942411303520203, + 0.09759034961462021, + -0.10709509998559952 + ], + "joints": [ + 0.022438369691371918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0696430653333664, + -0.13685746490955353, + -0.024072734639048576 + ], + "orientation": [ + 0.9856048822402954, + 0.09143493324518204, + 0.09959179162979126, + -0.10150881111621857 + ], + "joints": [ + 0.010685382410883904 + ] + }, + "fine_grasp": { + "position": [ + -0.0724700465798378, + -0.1369917094707489, + -0.023871228098869324 + ], + "orientation": [ + 0.9859755039215088, + 0.07932119071483612, + 0.09879273921251297, + -0.10863076895475388 + ], + "joints": [ + 0.016557354480028152 + ] + }, + "final_grasp": { + "position": [ + -0.0724700465798378, + -0.1369917094707489, + -0.023871228098869324 + ], + "orientation": [ + 0.9859755039215088, + 0.07932119071483612, + 0.09879273921251297, + -0.10863076895475388 + ], + "joints": [ + 0.0224293265491724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05292278528213501, + -0.1422208696603775, + -0.005548838526010513 + ], + "orientation": [ + 0.1387137472629547, + -0.04136550426483154, + 0.9894393682479858, + -0.007560873869806528 + ], + "joints": [ + 0.01158381812274456 + ] + }, + "fine_grasp": { + "position": [ + 0.0544595904648304, + -0.1460716426372528, + -0.005580739118158817 + ], + "orientation": [ + 0.13609516620635986, + -0.0452314168214798, + 0.9895715117454529, + -0.013439799658954144 + ], + "joints": [ + 0.01742921955883503 + ] + }, + "final_grasp": { + "position": [ + 0.0544595904648304, + -0.1460716426372528, + -0.005580739118158817 + ], + "orientation": [ + 0.13609516620635986, + -0.0452314168214798, + 0.9895715117454529, + -0.013439799658954144 + ], + "joints": [ + 0.0232746209949255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03939701244235039, + -0.14428383111953735, + -0.006868566852062941 + ], + "orientation": [ + 0.9940841197967529, + -0.018032070249319077, + -0.10657016932964325, + -0.01069431472569704 + ], + "joints": [ + 0.011491602286696434 + ] + }, + "fine_grasp": { + "position": [ + 0.04091273620724678, + -0.14882943034172058, + -0.0069052064791321754 + ], + "orientation": [ + 0.9942625761032104, + -0.02299186773598194, + -0.10426992177963257, + -0.006417741999030113 + ], + "joints": [ + 0.017363576218485832 + ] + }, + "final_grasp": { + "position": [ + 0.04091273620724678, + -0.14882943034172058, + -0.0069052064791321754 + ], + "orientation": [ + 0.9942625761032104, + -0.02299186773598194, + -0.10426992177963257, + -0.006417741999030113 + ], + "joints": [ + 0.02323555015027523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056398700922727585, + -0.13872314989566803, + -0.04844214767217636 + ], + "orientation": [ + 0.1266598403453827, + -0.03446541354060173, + -0.9766541719436646, + -0.17004723846912384 + ], + "joints": [ + 0.011244889348745346 + ] + }, + "fine_grasp": { + "position": [ + -0.059424836188554764, + -0.14148546755313873, + -0.048933230340480804 + ], + "orientation": [ + 0.12815183401107788, + -0.04417641460895538, + -0.977217972278595, + -0.16331133246421814 + ], + "joints": [ + 0.017090290784835815 + ] + }, + "final_grasp": { + "position": [ + -0.059424836188554764, + -0.14148546755313873, + -0.048933230340480804 + ], + "orientation": [ + 0.12815183401107788, + -0.04417641460895538, + -0.977217972278595, + -0.16331133246421814 + ], + "joints": [ + 0.022935692220926285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046382591128349304, + -0.14417840540409088, + -0.04642627760767937 + ], + "orientation": [ + 0.9947744607925415, + 0.08720934391021729, + -0.053088169544935226, + -0.0003807700704783201 + ], + "joints": [ + 0.011082574725151062 + ] + }, + "fine_grasp": { + "position": [ + 0.04748235270380974, + -0.14675596356391907, + -0.04749983549118042 + ], + "orientation": [ + 0.9950215220451355, + 0.08275233954191208, + -0.05551086738705635, + 0.0016016102163121104 + ], + "joints": [ + 0.01698111928999424 + ] + }, + "final_grasp": { + "position": [ + 0.04748235270380974, + -0.14675596356391907, + -0.04749983549118042 + ], + "orientation": [ + 0.9950215220451355, + 0.08275233954191208, + -0.05551086738705635, + 0.0016016102163121104 + ], + "joints": [ + 0.022879663854837418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052964694797992706, + -0.14296145737171173, + -0.006114625371992588 + ], + "orientation": [ + 0.14066778123378754, + -0.04046180844306946, + 0.9891722202301025, + -0.010674014687538147 + ], + "joints": [ + 0.011367369443178177 + ] + }, + "fine_grasp": { + "position": [ + 0.05435826629400253, + -0.14664338529109955, + -0.006270309444516897 + ], + "orientation": [ + 0.13799524307250977, + -0.04432879760861397, + 0.9892858266830444, + -0.01748921349644661 + ], + "joints": [ + 0.017744172364473343 + ] + }, + "final_grasp": { + "position": [ + 0.05435826629400253, + -0.14664338529109955, + -0.006270309444516897 + ], + "orientation": [ + 0.13799524307250977, + -0.04432879760861397, + 0.9892858266830444, + -0.01748921349644661 + ], + "joints": [ + 0.02412097528576851 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06987917423248291, + -0.1332188993692398, + -0.03697849437594414 + ], + "orientation": [ + 0.17115916311740875, + -0.0890221819281578, + -0.967869222164154, + -0.16127215325832367 + ], + "joints": [ + 0.01007937267422676 + ] + }, + "fine_grasp": { + "position": [ + -0.07250358164310455, + -0.13343113660812378, + -0.03728873282670975 + ], + "orientation": [ + 0.17253533005714417, + -0.09639489650726318, + -0.9684674739837646, + -0.15169110894203186 + ], + "joints": [ + 0.016482744365930557 + ] + }, + "final_grasp": { + "position": [ + -0.07250358164310455, + -0.13343113660812378, + -0.03728873282670975 + ], + "orientation": [ + 0.17253533005714417, + -0.09639489650726318, + -0.9684674739837646, + -0.15169110894203186 + ], + "joints": [ + 0.022886116057634354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04335606098175049, + -0.149275541305542, + -0.043811116367578506 + ], + "orientation": [ + 0.0883023589849472, + -0.007328592706471682, + -0.9954176545143127, + -0.03595539554953575 + ], + "joints": [ + 0.011428043246269226 + ] + }, + "fine_grasp": { + "position": [ + 0.045106615871191025, + -0.1501147449016571, + -0.04400510713458061 + ], + "orientation": [ + 0.09130872786045074, + 0.0006470681983046234, + -0.9951911568641663, + -0.0354536809027195 + ], + "joints": [ + 0.017300017178058624 + ] + }, + "final_grasp": { + "position": [ + 0.045106615871191025, + -0.1501147449016571, + -0.04400510713458061 + ], + "orientation": [ + 0.09130872786045074, + 0.0006470681983046234, + -0.9951911568641663, + -0.0354536809027195 + ], + "joints": [ + 0.023171991109848022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03294648602604866, + -0.14177317917346954, + 0.014378845691680908 + ], + "orientation": [ + 0.9839128851890564, + -0.07483674585819244, + 0.16076669096946716, + 0.021654441952705383 + ], + "joints": [ + 0.009905079379677773 + ] + }, + "fine_grasp": { + "position": [ + -0.03447725251317024, + -0.14706970751285553, + 0.014916566200554371 + ], + "orientation": [ + 0.9837968349456787, + -0.07906996458768845, + 0.15982086956501007, + 0.018684396520256996 + ], + "joints": [ + 0.015723904594779015 + ] + }, + "final_grasp": { + "position": [ + -0.03447725251317024, + -0.14706970751285553, + 0.014916566200554371 + ], + "orientation": [ + 0.9837968349456787, + -0.07906996458768845, + 0.15982086956501007, + 0.018684396520256996 + ], + "joints": [ + 0.021542729809880257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0471707247197628, + -0.14746858179569244, + -0.003527667373418808 + ], + "orientation": [ + 0.9942533373832703, + -0.10677248239517212, + 0.007613097317516804, + 0.001428526476956904 + ], + "joints": [ + 0.011411504819989204 + ] + }, + "fine_grasp": { + "position": [ + 0.04993230104446411, + -0.1499280482530594, + -0.003586364444345236 + ], + "orientation": [ + 0.9940723180770874, + -0.10760857164859772, + 0.010732917115092278, + 0.011193295009434223 + ], + "joints": [ + 0.017283478751778603 + ] + }, + "final_grasp": { + "position": [ + 0.04993230104446411, + -0.1499280482530594, + -0.003586364444345236 + ], + "orientation": [ + 0.9940723180770874, + -0.10760857164859772, + 0.010732917115092278, + 0.011193295009434223 + ], + "joints": [ + 0.023155452683568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06712823361158371, + -0.12911204993724823, + -0.05995670333504677 + ], + "orientation": [ + 0.07800642400979996, + 0.10062287747859955, + -0.984431266784668, + -0.1211821511387825 + ], + "joints": [ + 0.010339578613638878 + ] + }, + "fine_grasp": { + "position": [ + 0.06671559810638428, + -0.12760913372039795, + -0.058783479034900665 + ], + "orientation": [ + 0.0729517787694931, + 0.09843263030052185, + -0.9856696128845215, + -0.11595119535923004 + ], + "joints": [ + 0.016742950305342674 + ] + }, + "final_grasp": { + "position": [ + 0.06671559810638428, + -0.12760913372039795, + -0.058783479034900665 + ], + "orientation": [ + 0.0729517787694931, + 0.09843263030052185, + -0.9856696128845215, + -0.11595119535923004 + ], + "joints": [ + 0.02314632199704647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012854738160967827, + -0.15194499492645264, + -0.03579489514231682 + ], + "orientation": [ + 0.4504656195640564, + -0.10545708239078522, + 0.8839157223701477, + -0.06820952147245407 + ], + "joints": [ + 0.011182611808180809 + ] + }, + "fine_grasp": { + "position": [ + -0.01364744734019041, + -0.15537245571613312, + -0.0370846726000309 + ], + "orientation": [ + 0.45101574063301086, + -0.09778010845184326, + 0.8846878409385681, + -0.0659649670124054 + ], + "joints": [ + 0.017559414729475975 + ] + }, + "final_grasp": { + "position": [ + -0.01364744734019041, + -0.15537245571613312, + -0.0370846726000309 + ], + "orientation": [ + 0.45101574063301086, + -0.09778010845184326, + 0.8846878409385681, + -0.0659649670124054 + ], + "joints": [ + 0.02393621765077114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006860645371489227, + -0.14823423326015472, + -0.05234379321336746 + ], + "orientation": [ + 0.8210881948471069, + -0.005136198829859495, + -0.5606614351272583, + 0.10698921978473663 + ], + "joints": [ + 0.011682407930493355 + ] + }, + "fine_grasp": { + "position": [ + -0.000479780399473384, + -0.14893870055675507, + -0.05450322851538658 + ], + "orientation": [ + 0.8210722208023071, + 0.0011878416407853365, + -0.5624915957450867, + 0.09717061370611191 + ], + "joints": [ + 0.017554383724927902 + ] + }, + "final_grasp": { + "position": [ + -0.000479780399473384, + -0.14893870055675507, + -0.05450322851538658 + ], + "orientation": [ + 0.8210722208023071, + 0.0011878416407853365, + -0.5624915957450867, + 0.09717061370611191 + ], + "joints": [ + 0.02342635951936245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008738855249248445, + -0.14846353232860565, + -0.05191141366958618 + ], + "orientation": [ + 0.8228659629821777, + -0.0054218280129134655, + -0.5576339364051819, + 0.10911698639392853 + ], + "joints": [ + 0.011386692523956299 + ] + }, + "fine_grasp": { + "position": [ + -0.0002064420550595969, + -0.14904552698135376, + -0.05402500554919243 + ], + "orientation": [ + 0.8228766322135925, + 0.0005062100244686007, + -0.5594324469566345, + 0.0995449498295784 + ], + "joints": [ + 0.017258666455745697 + ] + }, + "final_grasp": { + "position": [ + -0.0002064420550595969, + -0.14904552698135376, + -0.05402500554919243 + ], + "orientation": [ + 0.8228766322135925, + 0.0005062100244686007, + -0.5594324469566345, + 0.0995449498295784 + ], + "joints": [ + 0.023130640387535095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005583259626291692, + -0.1484784632921219, + -0.05293450877070427 + ], + "orientation": [ + 0.8221388459205627, + -0.0032548101153224707, + -0.5594450831413269, + 0.10534781962633133 + ], + "joints": [ + 0.011446760967373848 + ] + }, + "fine_grasp": { + "position": [ + -0.0004961073282174766, + -0.14901350438594818, + -0.055171966552734375 + ], + "orientation": [ + 0.8217017650604248, + 0.0034674257040023804, + -0.5618423819541931, + 0.09553693234920502 + ], + "joints": [ + 0.017318734899163246 + ] + }, + "final_grasp": { + "position": [ + -0.0004961073282174766, + -0.14901350438594818, + -0.055171966552734375 + ], + "orientation": [ + 0.8217017650604248, + 0.0034674257040023804, + -0.5618423819541931, + 0.09553693234920502 + ], + "joints": [ + 0.023190708830952644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05177637189626694, + -0.14147093892097473, + -0.034150850027799606 + ], + "orientation": [ + 0.8007929921150208, + -0.19553029537200928, + -0.565346896648407, + -0.029685603454709053 + ], + "joints": [ + 0.011292848736047745 + ] + }, + "fine_grasp": { + "position": [ + -0.05226491391658783, + -0.1432010382413864, + -0.034391023218631744 + ], + "orientation": [ + 0.8019571900367737, + -0.19212985038757324, + -0.5648182034492493, + -0.030514325946569443 + ], + "joints": [ + 0.01769622415304184 + ] + }, + "final_grasp": { + "position": [ + -0.05226491391658783, + -0.1432010382413864, + -0.034391023218631744 + ], + "orientation": [ + 0.8019571900367737, + -0.19212985038757324, + -0.5648182034492493, + -0.030514325946569443 + ], + "joints": [ + 0.024099599570035934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005816881312057376, + -0.14844827353954315, + -0.05266789719462395 + ], + "orientation": [ + 0.8203245997428894, + -0.0041815475560724735, + -0.5620438456535339, + 0.10562562942504883 + ], + "joints": [ + 0.011450110003352165 + ] + }, + "fine_grasp": { + "position": [ + -0.0005203150794841349, + -0.14901608228683472, + -0.05498097464442253 + ], + "orientation": [ + 0.8199995756149292, + 0.0027378953527659178, + -0.5643177628517151, + 0.0955955758690834 + ], + "joints": [ + 0.017322083935141563 + ] + }, + "final_grasp": { + "position": [ + -0.0005203150794841349, + -0.14901608228683472, + -0.05498097464442253 + ], + "orientation": [ + 0.8199995756149292, + 0.0027378953527659178, + -0.5643177628517151, + 0.0955955758690834 + ], + "joints": [ + 0.02319405786693096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05898808315396309, + -0.13947653770446777, + -0.040280964225530624 + ], + "orientation": [ + 0.1416681557893753, + 0.059579912573099136, + 0.9880930185317993, + -0.0072506507858633995 + ], + "joints": [ + 0.011187205091118813 + ] + }, + "fine_grasp": { + "position": [ + -0.05967647582292557, + -0.13887624442577362, + -0.04046209156513214 + ], + "orientation": [ + 0.14525999128818512, + 0.06274311989545822, + 0.9873808026313782, + -0.006480264011770487 + ], + "joints": [ + 0.017590580508112907 + ] + }, + "final_grasp": { + "position": [ + -0.05967647582292557, + -0.13887624442577362, + -0.04046209156513214 + ], + "orientation": [ + 0.14525999128818512, + 0.06274311989545822, + 0.9873808026313782, + -0.006480264011770487 + ], + "joints": [ + 0.023993955925107002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 1.319500915997196e-05, + -0.14457176625728607, + -0.06127788498997688 + ], + "orientation": [ + 0.8397433161735535, + 0.017863914370536804, + 0.535946249961853, + -0.08528613299131393 + ], + "joints": [ + 0.011890033259987831 + ] + }, + "fine_grasp": { + "position": [ + 0.0011729466496035457, + -0.1451369673013687, + -0.06269849836826324 + ], + "orientation": [ + 0.8404287099838257, + 0.02404423989355564, + 0.5354053974151611, + -0.08026570826768875 + ], + "joints": [ + 0.01776200905442238 + ] + }, + "final_grasp": { + "position": [ + 0.0011729466496035457, + -0.1451369673013687, + -0.06269849836826324 + ], + "orientation": [ + 0.8404287099838257, + 0.02404423989355564, + 0.5354053974151611, + -0.08026570826768875 + ], + "joints": [ + 0.023633984848856926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015981268137693405, + -0.136866495013237, + -0.08224986493587494 + ], + "orientation": [ + 0.5343971252441406, + 0.01512960996478796, + 0.843781054019928, + 0.04716326668858528 + ], + "joints": [ + 0.01094948872923851 + ] + }, + "fine_grasp": { + "position": [ + -0.015940524637699127, + -0.13434362411499023, + -0.08228818327188492 + ], + "orientation": [ + 0.5357188582420349, + 0.016577614471316338, + 0.8429992198944092, + 0.04563795030117035 + ], + "joints": [ + 0.01682146079838276 + ] + }, + "final_grasp": { + "position": [ + -0.015940524637699127, + -0.13434362411499023, + -0.08228818327188492 + ], + "orientation": [ + 0.5357188582420349, + 0.016577614471316338, + 0.8429992198944092, + 0.04563795030117035 + ], + "joints": [ + 0.022693432867527008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03070325031876564, + -0.13792400062084198, + -0.07060409337282181 + ], + "orientation": [ + 0.549789309501648, + 0.04232766479253769, + -0.8337146043777466, + 0.029329026117920876 + ], + "joints": [ + 0.011365927755832672 + ] + }, + "fine_grasp": { + "position": [ + 0.03192605823278427, + -0.13651074469089508, + -0.07124295085668564 + ], + "orientation": [ + 0.5507139563560486, + 0.04260643944144249, + -0.8333377242088318, + 0.02114069275557995 + ], + "joints": [ + 0.01723790168762207 + ] + }, + "final_grasp": { + "position": [ + 0.03192605823278427, + -0.13651074469089508, + -0.07124295085668564 + ], + "orientation": [ + 0.5507139563560486, + 0.04260643944144249, + -0.8333377242088318, + 0.02114069275557995 + ], + "joints": [ + 0.02310987561941147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030557183548808098, + -0.13786232471466064, + -0.06962317228317261 + ], + "orientation": [ + 0.5428945422172546, + 0.038149394094944, + -0.8384338021278381, + 0.02896217256784439 + ], + "joints": [ + 0.01119394600391388 + ] + }, + "fine_grasp": { + "position": [ + 0.031900618225336075, + -0.13649995625019073, + -0.0703187957406044 + ], + "orientation": [ + 0.5440587997436523, + 0.0379871129989624, + -0.8379668593406677, + 0.01919541135430336 + ], + "joints": [ + 0.017092492431402206 + ] + }, + "final_grasp": { + "position": [ + 0.031900618225336075, + -0.13649995625019073, + -0.0703187957406044 + ], + "orientation": [ + 0.5440587997436523, + 0.0379871129989624, + -0.8379668593406677, + 0.01919541135430336 + ], + "joints": [ + 0.022991038858890533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030350863933563232, + -0.13776500523090363, + -0.0698666125535965 + ], + "orientation": [ + 0.5498990416526794, + 0.039725322276353836, + -0.8337137699127197, + 0.030891112983226776 + ], + "joints": [ + 0.011363925412297249 + ] + }, + "fine_grasp": { + "position": [ + 0.031583480536937714, + -0.13655760884284973, + -0.07052277028560638 + ], + "orientation": [ + 0.5508472919464111, + 0.04007662832736969, + -0.8333384990692139, + 0.022538097575306892 + ], + "joints": [ + 0.017235899344086647 + ] + }, + "final_grasp": { + "position": [ + 0.031583480536937714, + -0.13655760884284973, + -0.07052277028560638 + ], + "orientation": [ + 0.5508472919464111, + 0.04007662832736969, + -0.8333384990692139, + 0.022538097575306892 + ], + "joints": [ + 0.023107873275876045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007806728128343821, + -0.13282005488872528, + -0.08440730720758438 + ], + "orientation": [ + 0.5484603047370911, + -0.007635814603418112, + 0.8323544263839722, + 0.07949338853359222 + ], + "joints": [ + 0.010616488754749298 + ] + }, + "fine_grasp": { + "position": [ + -0.007946119643747807, + -0.13252460956573486, + -0.08557505160570145 + ], + "orientation": [ + 0.5481343865394592, + -0.004768142942339182, + 0.8325380086898804, + 0.08004029840230942 + ], + "joints": [ + 0.017019862309098244 + ] + }, + "final_grasp": { + "position": [ + -0.007946119643747807, + -0.13252460956573486, + -0.08557505160570145 + ], + "orientation": [ + 0.5481343865394592, + -0.004768142942339182, + 0.8325380086898804, + 0.08004029840230942 + ], + "joints": [ + 0.02342323586344719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02204238623380661, + -0.14193499088287354, + -0.06998168677091599 + ], + "orientation": [ + 0.9064677357673645, + 0.02354610338807106, + -0.42135003209114075, + 0.015029390342533588 + ], + "joints": [ + 0.011121144518256187 + ] + }, + "fine_grasp": { + "position": [ + -0.02204981818795204, + -0.14149734377861023, + -0.07004483789205551 + ], + "orientation": [ + 0.9056454300880432, + 0.024059006944298744, + -0.423064649105072, + 0.015608537010848522 + ], + "joints": [ + 0.017497947439551353 + ] + }, + "final_grasp": { + "position": [ + -0.02204981818795204, + -0.14149734377861023, + -0.07004483789205551 + ], + "orientation": [ + 0.9056454300880432, + 0.024059006944298744, + -0.423064649105072, + 0.015608537010848522 + ], + "joints": [ + 0.02387475036084652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047619305551052094, + -0.1417991816997528, + -0.03433005139231682 + ], + "orientation": [ + 0.89377361536026, + -0.1440495401620865, + 0.42435580492019653, + 0.018455345183610916 + ], + "joints": [ + 0.01143256388604641 + ] + }, + "fine_grasp": { + "position": [ + 0.04836151748895645, + -0.14402271807193756, + -0.034629613161087036 + ], + "orientation": [ + 0.8944787979125977, + -0.14026212692260742, + 0.4240973889827728, + 0.019385987892746925 + ], + "joints": [ + 0.017304537817835808 + ] + }, + "final_grasp": { + "position": [ + 0.04836151748895645, + -0.14402271807193756, + -0.034629613161087036 + ], + "orientation": [ + 0.8944787979125977, + -0.14026212692260742, + 0.4240973889827728, + 0.019385987892746925 + ], + "joints": [ + 0.023176511749625206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02965158224105835, + -0.1387135535478592, + -0.07115762680768967 + ], + "orientation": [ + 0.8496254086494446, + -0.015509083867073059, + -0.5260416269302368, + -0.03429940715432167 + ], + "joints": [ + 0.01112176850438118 + ] + }, + "fine_grasp": { + "position": [ + -0.028687458485364914, + -0.13853049278259277, + -0.07183589786291122 + ], + "orientation": [ + 0.849693238735199, + -0.019545583054423332, + -0.5255818963050842, + -0.03745802491903305 + ], + "joints": [ + 0.016993742436170578 + ] + }, + "final_grasp": { + "position": [ + -0.028687458485364914, + -0.13853049278259277, + -0.07183589786291122 + ], + "orientation": [ + 0.849693238735199, + -0.019545583054423332, + -0.5255818963050842, + -0.03745802491903305 + ], + "joints": [ + 0.022865716367959976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020385071635246277, + -0.1451316922903061, + -0.06707718968391418 + ], + "orientation": [ + 0.777058482170105, + -0.05020103231072426, + 0.6270524263381958, + 0.021569328382611275 + ], + "joints": [ + 0.011495519429445267 + ] + }, + "fine_grasp": { + "position": [ + 0.0205994863063097, + -0.14860279858112335, + -0.06801296025514603 + ], + "orientation": [ + 0.7777831554412842, + -0.049441974610090256, + 0.626128077507019, + 0.023925093933939934 + ], + "joints": [ + 0.017367493361234665 + ] + }, + "final_grasp": { + "position": [ + 0.0205994863063097, + -0.14860279858112335, + -0.06801296025514603 + ], + "orientation": [ + 0.7777831554412842, + -0.049441974610090256, + 0.626128077507019, + 0.023925093933939934 + ], + "joints": [ + 0.023239467293024063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005218552425503731, + -0.1459227055311203, + -0.06929317861795425 + ], + "orientation": [ + 0.6515108346939087, + -0.04849317669868469, + -0.756852388381958, + -0.018878234550356865 + ], + "joints": [ + 0.011708388105034828 + ] + }, + "fine_grasp": { + "position": [ + -0.00515238381922245, + -0.1488952487707138, + -0.07027620822191238 + ], + "orientation": [ + 0.6520799994468689, + -0.04850444570183754, + -0.756221354007721, + -0.023838117718696594 + ], + "joints": [ + 0.017580363899469376 + ] + }, + "final_grasp": { + "position": [ + -0.00515238381922245, + -0.1488952487707138, + -0.07027620822191238 + ], + "orientation": [ + 0.6520799994468689, + -0.04850444570183754, + -0.756221354007721, + -0.023838117718696594 + ], + "joints": [ + 0.023452339693903923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005309192463755608, + -0.1454821527004242, + -0.06918758898973465 + ], + "orientation": [ + 0.6525213122367859, + -0.04894407466053963, + -0.7559558153152466, + -0.01873886212706566 + ], + "joints": [ + 0.01160518079996109 + ] + }, + "fine_grasp": { + "position": [ + -0.005240112543106079, + -0.14876416325569153, + -0.07017435133457184 + ], + "orientation": [ + 0.6523106098175049, + -0.04904095456004143, + -0.755991518497467, + -0.02372060902416706 + ], + "joints": [ + 0.01747715473175049 + ] + }, + "final_grasp": { + "position": [ + -0.005240112543106079, + -0.14876416325569153, + -0.07017435133457184 + ], + "orientation": [ + 0.6523106098175049, + -0.04904095456004143, + -0.755991518497467, + -0.02372060902416706 + ], + "joints": [ + 0.023349128663539886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03084750659763813, + -0.1389167606830597, + -0.07149704545736313 + ], + "orientation": [ + 0.852692186832428, + -0.01726611517369747, + -0.5206828117370605, + -0.03882327675819397 + ], + "joints": [ + 0.010872604325413704 + ] + }, + "fine_grasp": { + "position": [ + -0.029880886897444725, + -0.13864244520664215, + -0.07208078354597092 + ], + "orientation": [ + 0.8528507351875305, + -0.021712036803364754, + -0.5200040340423584, + -0.04207022860646248 + ], + "joints": [ + 0.01727597787976265 + ] + }, + "final_grasp": { + "position": [ + -0.029880886897444725, + -0.13864244520664215, + -0.07208078354597092 + ], + "orientation": [ + 0.8528507351875305, + -0.021712036803364754, + -0.5200040340423584, + -0.04207022860646248 + ], + "joints": [ + 0.023679351434111595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08646567165851593, + 0.09595130383968353, + 0.08299273997545242 + ], + "orientation": [ + 0.2208220362663269, + 0.1560485064983368, + 0.2531968653202057, + -0.9288583397865295 + ], + "joints": [ + -0.018086370080709457 + ] + }, + "fine_grasp": { + "position": [ + -0.08465621620416641, + 0.09307000786066055, + 0.08103344589471817 + ], + "orientation": [ + 0.2259812206029892, + 0.15497559309005737, + 0.2548914849758148, + -0.9273324012756348 + ], + "joints": [ + -0.014286852441728115 + ] + }, + "final_grasp": { + "position": [ + -0.08465621620416641, + 0.09307000786066055, + 0.08103344589471817 + ], + "orientation": [ + 0.2259812206029892, + 0.15497559309005737, + 0.2548914849758148, + -0.9273324012756348 + ], + "joints": [ + -0.010487334802746773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07888833433389664, + 0.12792335450649261, + -0.04934370890259743 + ], + "orientation": [ + 0.27344051003456116, + 0.19183047115802765, + -0.0734422504901886, + 0.9397008419036865 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.07665065675973892, + 0.1246161013841629, + -0.049299683421850204 + ], + "orientation": [ + 0.27365443110466003, + 0.1776273101568222, + -0.06907586008310318, + 0.9427568316459656 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + 0.07665065675973892, + 0.1246161013841629, + -0.049299683421850204 + ], + "orientation": [ + 0.27365443110466003, + 0.1776273101568222, + -0.06907586008310318, + 0.9427568316459656 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10056249797344208, + 0.11048894375562668, + -0.049338530749082565 + ], + "orientation": [ + 0.1857043355703354, + -0.8267175555229187, + -0.3816186487674713, + -0.3693496584892273 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.09720954298973083, + 0.10699579119682312, + -0.04917699843645096 + ], + "orientation": [ + 0.1758338063955307, + -0.8255956172943115, + -0.3778672218322754, + -0.3803824484348297 + ], + "joints": [ + -0.017874393612146378 + ] + }, + "final_grasp": { + "position": [ + -0.09720954298973083, + 0.10699579119682312, + -0.04917699843645096 + ], + "orientation": [ + 0.1758338063955307, + -0.8255956172943115, + -0.3778672218322754, + -0.3803824484348297 + ], + "joints": [ + -0.01574878767132759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06260146200656891, + 0.1355505734682083, + -0.028332872316241264 + ], + "orientation": [ + 0.05675213783979416, + -0.9463343024253845, + 0.16292814910411835, + -0.27328547835350037 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.061087023466825485, + 0.13116294145584106, + -0.028741609305143356 + ], + "orientation": [ + 0.04573965445160866, + -0.9459768533706665, + 0.16448792815208435, + -0.27564340829849243 + ], + "joints": [ + -0.018379222601652145 + ] + }, + "final_grasp": { + "position": [ + 0.061087023466825485, + 0.13116294145584106, + -0.028741609305143356 + ], + "orientation": [ + 0.04573965445160866, + -0.9459768533706665, + 0.16448792815208435, + -0.27564340829849243 + ], + "joints": [ + -0.016758445650339127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0626111701130867, + 0.13558261096477509, + -0.028290264308452606 + ], + "orientation": [ + 0.056673042476177216, + -0.9463152289390564, + 0.16299410164356232, + -0.27332866191864014 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.061105068773031235, + 0.13120213150978088, + -0.028694745153188705 + ], + "orientation": [ + 0.045659370720386505, + -0.9459483623504639, + 0.16459952294826508, + -0.2756878435611725 + ], + "joints": [ + -0.018405795097351074 + ] + }, + "final_grasp": { + "position": [ + 0.061105068773031235, + 0.13120213150978088, + -0.028694745153188705 + ], + "orientation": [ + 0.045659370720386505, + -0.9459483623504639, + 0.16459952294826508, + -0.2756878435611725 + ], + "joints": [ + -0.016811590641736984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02914528362452984, + 0.14288678765296936, + -0.07742650806903839 + ], + "orientation": [ + 0.13948455452919006, + 0.1672925055027008, + 0.0027503662277013063, + 0.9759865999221802 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.02839433029294014, + 0.13801154494285583, + -0.0765775814652443 + ], + "orientation": [ + 0.14135439693927765, + 0.15837036073207855, + 0.010612312704324722, + 0.9771515727043152 + ], + "joints": [ + -0.01148715429008007 + ] + }, + "final_grasp": { + "position": [ + 0.02839433029294014, + 0.13801154494285583, + -0.0765775814652443 + ], + "orientation": [ + 0.14135439693927765, + 0.15837036073207855, + 0.010612312704324722, + 0.9771515727043152 + ], + "joints": [ + -0.007714215666055679 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2042, + "num_passed": 38 + } +} \ No newline at end of file diff --git a/clutter_cap_00000/Annotation/piper_grasp_pose.json b/clutter_cap_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4254d5d00574483d5f81f0e52a70489f92f10da0 --- /dev/null +++ b/clutter_cap_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,3268 @@ +{ + "type": "clutter_cap_00000", + "bottom_center": [ + -6.310269236564636e-05, + 0.0, + -0.07791830599308014 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.017371566966176033, + -0.1385304480791092, + -0.06062418594956398 + ], + "orientation": [ + 0.15479585528373718, + -0.14379090070724487, + -0.7195633053779602, + -0.6615066528320312 + ], + "joints": [ + 0.01137967873364687 + ] + }, + "fine_grasp": { + "position": [ + -0.017827387899160385, + -0.13495303690433502, + -0.060906462371349335 + ], + "orientation": [ + 0.15085740387439728, + -0.14051802456378937, + -0.7205770015716553, + -0.6620161533355713 + ], + "joints": [ + 0.0034176327753812075 + ] + }, + "final_grasp": { + "position": [ + -0.017827387899160385, + -0.13495303690433502, + -0.060906462371349335 + ], + "orientation": [ + 0.15085740387439728, + -0.14051802456378937, + -0.7205770015716553, + -0.6620161533355713 + ], + "joints": [ + -0.004544413182884455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017337340861558914, + -0.13851581513881683, + -0.060956310480833054 + ], + "orientation": [ + 0.15476387739181519, + -0.14367669820785522, + -0.7186868190765381, + -0.662490963935852 + ], + "joints": [ + 0.011338907293975353 + ] + }, + "fine_grasp": { + "position": [ + -0.017790060490369797, + -0.13500064611434937, + -0.0612603984773159 + ], + "orientation": [ + 0.15107417106628418, + -0.14032864570617676, + -0.7196141481399536, + -0.6630534529685974 + ], + "joints": [ + 0.003376861335709691 + ] + }, + "final_grasp": { + "position": [ + -0.017790060490369797, + -0.13500064611434937, + -0.0612603984773159 + ], + "orientation": [ + 0.15107417106628418, + -0.14032864570617676, + -0.7196141481399536, + -0.6630534529685974 + ], + "joints": [ + -0.004585184622555971 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009111320599913597, + -0.15316425263881683, + -0.062053434550762177 + ], + "orientation": [ + 0.6661790013313293, + -0.743105947971344, + 0.008743323385715485, + 0.0626312866806984 + ], + "joints": [ + 0.009499425999820232 + ] + }, + "fine_grasp": { + "position": [ + 0.009452501311898232, + -0.1486680954694748, + -0.06231379508972168 + ], + "orientation": [ + 0.6681608557701111, + -0.7413153052330017, + 0.013031743466854095, + 0.061990197747945786 + ], + "joints": [ + 0.0036271559074521065 + ] + }, + "final_grasp": { + "position": [ + 0.009452501311898232, + -0.1486680954694748, + -0.06231379508972168 + ], + "orientation": [ + 0.6681608557701111, + -0.7413153052330017, + 0.013031743466854095, + 0.061990197747945786 + ], + "joints": [ + -0.0022451141849160194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0503518246114254, + -0.042976945638656616, + 0.1714491993188858 + ], + "orientation": [ + 0.2104046791791916, + 0.1930556446313858, + -0.9458078742027283, + -0.15461865067481995 + ], + "joints": [ + 0.013112890534102917 + ] + }, + "fine_grasp": { + "position": [ + 0.05019489675760269, + -0.0421309620141983, + 0.16724537312984467 + ], + "orientation": [ + 0.196794793009758, + 0.22330430150032043, + -0.9414451718330383, + -0.15839225053787231 + ], + "joints": [ + 0.005986753851175308 + ] + }, + "final_grasp": { + "position": [ + 0.05019489675760269, + -0.0421309620141983, + 0.16724537312984467 + ], + "orientation": [ + 0.196794793009758, + 0.22330430150032043, + -0.9414451718330383, + -0.15839225053787231 + ], + "joints": [ + -0.0011393828317523003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008776238188147545, + -0.15007197856903076, + -0.06318531930446625 + ], + "orientation": [ + 0.6700046062469482, + -0.7410786747932434, + -0.0038781568873673677, + 0.043372832238674164 + ], + "joints": [ + 0.009947489015758038 + ] + }, + "fine_grasp": { + "position": [ + 0.008768145926296711, + -0.145671084523201, + -0.06358009576797485 + ], + "orientation": [ + 0.670525312423706, + -0.7406603097915649, + -0.0013239096151664853, + 0.04261887073516846 + ], + "joints": [ + 0.0036363662220537663 + ] + }, + "final_grasp": { + "position": [ + 0.008768145926296711, + -0.145671084523201, + -0.06358009576797485 + ], + "orientation": [ + 0.670525312423706, + -0.7406603097915649, + -0.0013239096151664853, + 0.04261887073516846 + ], + "joints": [ + -0.002674756571650505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008258642628788948, + -0.1527695506811142, + -0.07327792793512344 + ], + "orientation": [ + 0.11684146523475647, + -0.04568343609571457, + 0.7107350826263428, + 0.6921826601028442 + ], + "joints": [ + 0.009660964831709862 + ] + }, + "fine_grasp": { + "position": [ + -0.008287999778985977, + -0.14831477403640747, + -0.07328759878873825 + ], + "orientation": [ + 0.11554589122533798, + -0.050019748508930206, + 0.7091968059539795, + 0.6936765313148499 + ], + "joints": [ + 0.0033707397524267435 + ] + }, + "final_grasp": { + "position": [ + -0.008287999778985977, + -0.14831477403640747, + -0.07328759878873825 + ], + "orientation": [ + 0.11554589122533798, + -0.050019748508930206, + 0.7091968059539795, + 0.6936765313148499 + ], + "joints": [ + -0.0029194853268563747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00887263659387827, + -0.1533375084400177, + -0.07329963147640228 + ], + "orientation": [ + 0.11535683274269104, + -0.04467538744211197, + 0.7104630470275879, + 0.6927765011787415 + ], + "joints": [ + 0.009591854177415371 + ] + }, + "fine_grasp": { + "position": [ + -0.008931067772209644, + -0.1489177793264389, + -0.07325048744678497 + ], + "orientation": [ + 0.11382146924734116, + -0.04914446175098419, + 0.7086365222930908, + 0.6945960521697998 + ], + "joints": [ + 0.0033016290981322527 + ] + }, + "final_grasp": { + "position": [ + -0.008931067772209644, + -0.1489177793264389, + -0.07325048744678497 + ], + "orientation": [ + 0.11382146924734116, + -0.04914446175098419, + 0.7086365222930908, + 0.6945960521697998 + ], + "joints": [ + -0.0029885959811508656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008667035028338432, + -0.15319645404815674, + -0.07356762886047363 + ], + "orientation": [ + 0.11313779652118683, + -0.046631619334220886, + 0.7101002335548401, + 0.6933851838111877 + ], + "joints": [ + 0.009616585448384285 + ] + }, + "fine_grasp": { + "position": [ + -0.008670046925544739, + -0.14874160289764404, + -0.07358120381832123 + ], + "orientation": [ + 0.11246145516633987, + -0.0508391335606575, + 0.7085230946540833, + 0.6948114037513733 + ], + "joints": [ + 0.0033263603691011667 + ] + }, + "final_grasp": { + "position": [ + -0.008670046925544739, + -0.14874160289764404, + -0.07358120381832123 + ], + "orientation": [ + 0.11246145516633987, + -0.0508391335606575, + 0.7085230946540833, + 0.6948114037513733 + ], + "joints": [ + -0.0029638647101819515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007961171679198742, + -0.15211834013462067, + -0.07286185771226883 + ], + "orientation": [ + 0.11643806099891663, + -0.04208695888519287, + 0.7106865644454956, + 0.6925283074378967 + ], + "joints": [ + 0.010148316621780396 + ] + }, + "fine_grasp": { + "position": [ + -0.00800277292728424, + -0.14772804081439972, + -0.07279666513204575 + ], + "orientation": [ + 0.11530180275440216, + -0.04619981348514557, + 0.7092007398605347, + 0.693977952003479 + ], + "joints": [ + 0.0034401363227516413 + ] + }, + "final_grasp": { + "position": [ + -0.00800277292728424, + -0.14772804081439972, + -0.07279666513204575 + ], + "orientation": [ + 0.11530180275440216, + -0.04619981348514557, + 0.7092007398605347, + 0.693977952003479 + ], + "joints": [ + -0.003268043976277113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10806494951248169, + -0.08018236607313156, + 0.12465216219425201 + ], + "orientation": [ + 0.21842408180236816, + -0.8545088171958923, + 0.12055227905511856, + 0.4556013345718384 + ], + "joints": [ + 0.011690694838762283 + ] + }, + "fine_grasp": { + "position": [ + 0.10539089888334274, + -0.0784279853105545, + 0.12217837572097778 + ], + "orientation": [ + 0.21749453246593475, + -0.857819139957428, + 0.11342345923185349, + 0.45163869857788086 + ], + "joints": [ + 0.0033315911423414946 + ] + }, + "final_grasp": { + "position": [ + 0.10539089888334274, + -0.0784279853105545, + 0.12217837572097778 + ], + "orientation": [ + 0.21749453246593475, + -0.857819139957428, + 0.11342345923185349, + 0.45163869857788086 + ], + "joints": [ + -0.005027512554079294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07430071383714676, + -0.03687053173780441, + 0.1553727090358734 + ], + "orientation": [ + 0.07075097411870956, + -0.949842631816864, + 0.06314581632614136, + 0.2980033755302429 + ], + "joints": [ + 0.014194811694324017 + ] + }, + "fine_grasp": { + "position": [ + 0.07297687977552414, + -0.03595716878771782, + 0.15250317752361298 + ], + "orientation": [ + 0.0724857747554779, + -0.9508175849914551, + 0.05335289612412453, + 0.2963871657848358 + ], + "joints": [ + 0.004999796859920025 + ] + }, + "final_grasp": { + "position": [ + 0.07297687977552414, + -0.03595716878771782, + 0.15250317752361298 + ], + "orientation": [ + 0.0724857747554779, + -0.9508175849914551, + 0.05335289612412453, + 0.2963871657848358 + ], + "joints": [ + -0.004195217974483967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13289357721805573, + -0.08283904194831848, + 0.01057425793260336 + ], + "orientation": [ + 0.3818221092224121, + -0.6331927180290222, + -0.007456360384821892, + -0.6732185482978821 + ], + "joints": [ + 0.013780714944005013 + ] + }, + "fine_grasp": { + "position": [ + -0.12996330857276917, + -0.08098939806222916, + 0.01110519003123045 + ], + "orientation": [ + 0.3858434855937958, + -0.6337895393371582, + -0.003388103097677231, + -0.6703911423683167 + ], + "joints": [ + 0.004167744889855385 + ] + }, + "final_grasp": { + "position": [ + -0.12996330857276917, + -0.08098939806222916, + 0.01110519003123045 + ], + "orientation": [ + 0.3858434855937958, + -0.6337895393371582, + -0.003388103097677231, + -0.6703911423683167 + ], + "joints": [ + -0.005445225164294243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08560515195131302, + -0.10334982722997665, + 0.10411448776721954 + ], + "orientation": [ + 0.36200061440467834, + -0.23068460822105408, + -0.8506242036819458, + -0.30360934138298035 + ], + "joints": [ + 0.011943863704800606 + ] + }, + "fine_grasp": { + "position": [ + 0.08322633802890778, + -0.10205847024917603, + 0.10523615777492523 + ], + "orientation": [ + 0.3479945957660675, + -0.22592028975486755, + -0.8566778898239136, + -0.3065333366394043 + ], + "joints": [ + 0.003563862293958664 + ] + }, + "final_grasp": { + "position": [ + 0.08322633802890778, + -0.10205847024917603, + 0.10523615777492523 + ], + "orientation": [ + 0.3479945957660675, + -0.22592028975486755, + -0.8566778898239136, + -0.3065333366394043 + ], + "joints": [ + -0.004816139116883278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08577631413936615, + -0.10329912602901459, + 0.10364829003810883 + ], + "orientation": [ + 0.3591322600841522, + -0.22550436854362488, + -0.8527557849884033, + -0.30492523312568665 + ], + "joints": [ + 0.012023799121379852 + ] + }, + "fine_grasp": { + "position": [ + 0.08345486223697662, + -0.10193578898906708, + 0.10503584146499634 + ], + "orientation": [ + 0.3450201153755188, + -0.22130747139453888, + -0.8589251637458801, + -0.30697163939476013 + ], + "joints": [ + 0.0036437977105379105 + ] + }, + "final_grasp": { + "position": [ + 0.08345486223697662, + -0.10193578898906708, + 0.10503584146499634 + ], + "orientation": [ + 0.3450201153755188, + -0.22130747139453888, + -0.8589251637458801, + -0.30697163939476013 + ], + "joints": [ + -0.004736203700304031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0859147161245346, + -0.10343208909034729, + 0.10410437732934952 + ], + "orientation": [ + 0.3612663149833679, + -0.2269841730594635, + -0.8516274690628052, + -0.30445918440818787 + ], + "joints": [ + 0.01170987356454134 + ] + }, + "fine_grasp": { + "position": [ + 0.0834999606013298, + -0.10210567712783813, + 0.10529720038175583 + ], + "orientation": [ + 0.3469026982784271, + -0.2221488356590271, + -0.8578895330429077, + -0.3071381747722626 + ], + "joints": [ + 0.003350769868120551 + ] + }, + "final_grasp": { + "position": [ + 0.0834999606013298, + -0.10210567712783813, + 0.10529720038175583 + ], + "orientation": [ + 0.3469026982784271, + -0.2221488356590271, + -0.8578895330429077, + -0.3071381747722626 + ], + "joints": [ + -0.005008333828300238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08202701061964035, + -0.07304331660270691, + 0.14942076802253723 + ], + "orientation": [ + 0.1482648104429245, + -0.8994821906089783, + -0.2597671449184418, + -0.3185440003871918 + ], + "joints": [ + 0.011629069223999977 + ] + }, + "fine_grasp": { + "position": [ + -0.07998879253864288, + -0.07155404984951019, + 0.146100714802742 + ], + "orientation": [ + 0.1498909741640091, + -0.9030916094779968, + -0.24778643250465393, + -0.3171120285987854 + ], + "joints": [ + 0.0036670230329036713 + ] + }, + "final_grasp": { + "position": [ + -0.07998879253864288, + -0.07155404984951019, + 0.146100714802742 + ], + "orientation": [ + 0.1498909741640091, + -0.9030916094779968, + -0.24778643250465393, + -0.3171120285987854 + ], + "joints": [ + -0.004295023158192635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07362009584903717, + -0.06553815305233002, + 0.1557902991771698 + ], + "orientation": [ + 0.10593711584806442, + -0.9090543985366821, + 0.31233394145965576, + 0.25464683771133423 + ], + "joints": [ + 0.012022577226161957 + ] + }, + "fine_grasp": { + "position": [ + 0.07234791666269302, + -0.06399322301149368, + 0.15293805301189423 + ], + "orientation": [ + 0.10313515365123749, + -0.9097537398338318, + 0.3093858063220978, + 0.25688859820365906 + ], + "joints": [ + 0.003642575815320015 + ] + }, + "final_grasp": { + "position": [ + 0.07234791666269302, + -0.06399322301149368, + 0.15293805301189423 + ], + "orientation": [ + 0.10313515365123749, + -0.9097537398338318, + 0.3093858063220978, + 0.25688859820365906 + ], + "joints": [ + -0.004737425595521927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08083470910787582, + -0.08306878060102463, + 0.15450000762939453 + ], + "orientation": [ + 0.2713087499141693, + -0.3252251148223877, + 0.8940417170524597, + 0.14597810804843903 + ], + "joints": [ + 0.01081779319792986 + ] + }, + "fine_grasp": { + "position": [ + -0.07898702472448349, + -0.08113102614879608, + 0.15119494497776031 + ], + "orientation": [ + 0.2742149829864502, + -0.3218398094177246, + 0.8946779370307922, + 0.14414101839065552 + ], + "joints": [ + 0.0036707597319036722 + ] + }, + "final_grasp": { + "position": [ + -0.07898702472448349, + -0.08113102614879608, + 0.15119494497776031 + ], + "orientation": [ + 0.2742149829864502, + -0.3218398094177246, + 0.8946779370307922, + 0.14414101839065552 + ], + "joints": [ + -0.0034762737341225147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05146973207592964, + -0.10623656958341599, + 0.13924238085746765 + ], + "orientation": [ + 0.27465540170669556, + -0.8550654053688049, + 0.4000736176967621, + 0.1826709508895874 + ], + "joints": [ + 0.013993138447403908 + ] + }, + "fine_grasp": { + "position": [ + 0.05040021240711212, + -0.10368365794420242, + 0.1367320865392685 + ], + "orientation": [ + 0.2762835621833801, + -0.8571870923042297, + 0.3902243971824646, + 0.19137030839920044 + ], + "joints": [ + 0.0035442584194242954 + ] + }, + "final_grasp": { + "position": [ + 0.05040021240711212, + -0.10368365794420242, + 0.1367320865392685 + ], + "orientation": [ + 0.2762835621833801, + -0.8571870923042297, + 0.3902243971824646, + 0.19137030839920044 + ], + "joints": [ + -0.006904621608555317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05173856019973755, + -0.1065598651766777, + 0.139418825507164 + ], + "orientation": [ + 0.27539119124412537, + -0.8549528121948242, + 0.4014017879962921, + 0.1791428178548813 + ], + "joints": [ + 0.014236882328987122 + ] + }, + "fine_grasp": { + "position": [ + 0.05057116225361824, + -0.10399849712848663, + 0.1369544267654419 + ], + "orientation": [ + 0.2764439582824707, + -0.8571231961250305, + 0.39078888297080994, + 0.1902698278427124 + ], + "joints": [ + 0.0033909447956830263 + ] + }, + "final_grasp": { + "position": [ + 0.05057116225361824, + -0.10399849712848663, + 0.1369544267654419 + ], + "orientation": [ + 0.2764439582824707, + -0.8571231961250305, + 0.39078888297080994, + 0.1902698278427124 + ], + "joints": [ + -0.007454992737621069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10105609148740768, + -0.09407399594783783, + 0.1258164495229721 + ], + "orientation": [ + 0.3980381488800049, + -0.29534128308296204, + -0.849297821521759, + -0.18174833059310913 + ], + "joints": [ + 0.011594926938414574 + ] + }, + "fine_grasp": { + "position": [ + 0.09857053309679031, + -0.091827392578125, + 0.12338178604841232 + ], + "orientation": [ + 0.3981456160545349, + -0.29178568720817566, + -0.8512240648269653, + -0.17820990085601807 + ], + "joints": [ + 0.0036119832657277584 + ] + }, + "final_grasp": { + "position": [ + 0.09857053309679031, + -0.091827392578125, + 0.12338178604841232 + ], + "orientation": [ + 0.3981456160545349, + -0.29178568720817566, + -0.8512240648269653, + -0.17820990085601807 + ], + "joints": [ + -0.004370960406959057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11516949534416199, + -0.09623963385820389, + 0.09652048349380493 + ], + "orientation": [ + 0.4737458825111389, + -0.26743870973587036, + 0.8160887956619263, + 0.19503985345363617 + ], + "joints": [ + 0.012150746770203114 + ] + }, + "fine_grasp": { + "position": [ + -0.11247798055410385, + -0.09381099790334702, + 0.09515205025672913 + ], + "orientation": [ + 0.4763123691082001, + -0.2663764953613281, + 0.8154681921005249, + 0.19282543659210205 + ], + "joints": [ + 0.003373687854036689 + ] + }, + "final_grasp": { + "position": [ + -0.11247798055410385, + -0.09381099790334702, + 0.09515205025672913 + ], + "orientation": [ + 0.4763123691082001, + -0.2663764953613281, + 0.8154681921005249, + 0.19282543659210205 + ], + "joints": [ + -0.005403371062129736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.125950425863266, + -0.1030479148030281, + 0.03362029790878296 + ], + "orientation": [ + 0.3899707794189453, + -0.7484098672866821, + -0.08444733917713165, + -0.5297866463661194 + ], + "joints": [ + 0.012399137020111084 + ] + }, + "fine_grasp": { + "position": [ + -0.12268491834402084, + -0.10052890330553055, + 0.033466991037130356 + ], + "orientation": [ + 0.3901118338108063, + -0.7492111325263977, + -0.08091557770967484, + -0.5291011929512024 + ], + "joints": [ + 0.0036220778711140156 + ] + }, + "final_grasp": { + "position": [ + -0.12268491834402084, + -0.10052890330553055, + 0.033466991037130356 + ], + "orientation": [ + 0.3901118338108063, + -0.7492111325263977, + -0.08091557770967484, + -0.5291011929512024 + ], + "joints": [ + -0.005154981277883053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030265916138887405, + -0.14137323200702667, + -0.048857539892196655 + ], + "orientation": [ + 0.2985911965370178, + -0.27729740738868713, + -0.6755944490432739, + -0.6144279837608337 + ], + "joints": [ + 0.011406377889215946 + ] + }, + "fine_grasp": { + "position": [ + -0.030360277742147446, + -0.13724613189697266, + -0.04943813756108284 + ], + "orientation": [ + 0.2981557250022888, + -0.2733366787433624, + -0.6749849319458008, + -0.6170782446861267 + ], + "joints": [ + 0.003444331930950284 + ] + }, + "final_grasp": { + "position": [ + -0.030360277742147446, + -0.13724613189697266, + -0.04943813756108284 + ], + "orientation": [ + 0.2981557250022888, + -0.2733366787433624, + -0.6749849319458008, + -0.6170782446861267 + ], + "joints": [ + -0.004517714027315378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030458621680736542, + -0.14177997410297394, + -0.04737880453467369 + ], + "orientation": [ + 0.29864272475242615, + -0.27215084433555603, + -0.6766672134399414, + -0.6155223846435547 + ], + "joints": [ + 0.011389144696295261 + ] + }, + "fine_grasp": { + "position": [ + -0.030621187761425972, + -0.1376514583826065, + -0.047909557819366455 + ], + "orientation": [ + 0.29684653878211975, + -0.2691706717014313, + -0.6771628856658936, + -0.6171544194221497 + ], + "joints": [ + 0.003427098738029599 + ] + }, + "final_grasp": { + "position": [ + -0.030621187761425972, + -0.1376514583826065, + -0.047909557819366455 + ], + "orientation": [ + 0.29684653878211975, + -0.2691706717014313, + -0.6771628856658936, + -0.6171544194221497 + ], + "joints": [ + -0.004534947220236063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11862675100564957, + -0.08347783237695694, + 0.03714112937450409 + ], + "orientation": [ + 0.6052827835083008, + -0.11056036502122879, + -0.7206763029098511, + -0.31942906975746155 + ], + "joints": [ + 0.015810079872608185 + ] + }, + "fine_grasp": { + "position": [ + 0.11688832938671112, + -0.08265964686870575, + 0.03735481575131416 + ], + "orientation": [ + 0.6008853316307068, + -0.11125578731298447, + -0.7253038883209229, + -0.3170067071914673 + ], + "joints": [ + 0.006197109818458557 + ] + }, + "final_grasp": { + "position": [ + 0.11688832938671112, + -0.08265964686870575, + 0.03735481575131416 + ], + "orientation": [ + 0.6008853316307068, + -0.11125578731298447, + -0.7253038883209229, + -0.3170067071914673 + ], + "joints": [ + -0.0034158602356910706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02939239889383316, + -0.14118319749832153, + -0.04622124880552292 + ], + "orientation": [ + 0.3018353283405304, + -0.27100878953933716, + -0.6791250109672546, + -0.6117506623268127 + ], + "joints": [ + 0.011573191732168198 + ] + }, + "fine_grasp": { + "position": [ + -0.029475539922714233, + -0.13703036308288574, + -0.04658590257167816 + ], + "orientation": [ + 0.3000204563140869, + -0.26802489161491394, + -0.6796063780784607, + -0.6134211421012878 + ], + "joints": [ + 0.003611145541071892 + ] + }, + "final_grasp": { + "position": [ + -0.029475539922714233, + -0.13703036308288574, + -0.04658590257167816 + ], + "orientation": [ + 0.3000204563140869, + -0.26802489161491394, + -0.6796063780784607, + -0.6134211421012878 + ], + "joints": [ + -0.004350900650024414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013630356639623642, + -0.13682277500629425, + -0.06273046880960464 + ], + "orientation": [ + 0.6010634303092957, + -0.6314800381660461, + -0.2696451246738434, + -0.40895891189575195 + ], + "joints": [ + 0.012744561769068241 + ] + }, + "fine_grasp": { + "position": [ + 0.013252437114715576, + -0.13293185830116272, + -0.06333313882350922 + ], + "orientation": [ + 0.5968018174171448, + -0.6290810108184814, + -0.2763213813304901, + -0.4144047498703003 + ], + "joints": [ + 0.0035495474003255367 + ] + }, + "final_grasp": { + "position": [ + 0.013252437114715576, + -0.13293185830116272, + -0.06333313882350922 + ], + "orientation": [ + 0.5968018174171448, + -0.6290810108184814, + -0.2763213813304901, + -0.4144047498703003 + ], + "joints": [ + -0.005645466968417168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011296008713543415, + -0.1443384289741516, + -0.09833025187253952 + ], + "orientation": [ + 0.6967770457267761, + -0.5477724075317383, + -0.19905012845993042, + -0.41812199354171753 + ], + "joints": [ + 0.012351224198937416 + ] + }, + "fine_grasp": { + "position": [ + 0.011213046498596668, + -0.14039811491966248, + -0.0976695716381073 + ], + "orientation": [ + 0.6943279504776001, + -0.550468921661377, + -0.2037268877029419, + -0.4163987934589386 + ], + "joints": [ + 0.0035741650499403477 + ] + }, + "final_grasp": { + "position": [ + 0.011213046498596668, + -0.14039811491966248, + -0.0976695716381073 + ], + "orientation": [ + 0.6943279504776001, + -0.550468921661377, + -0.2037268877029419, + -0.4163987934589386 + ], + "joints": [ + -0.005202894099056721 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12520018219947815, + -0.10263650119304657, + 0.033397652208805084 + ], + "orientation": [ + 0.390446275472641, + -0.7472370862960815, + -0.08575130254030228, + -0.5308813452720642 + ], + "joints": [ + 0.012403661385178566 + ] + }, + "fine_grasp": { + "position": [ + -0.12196391820907593, + -0.10015557706356049, + 0.033267173916101456 + ], + "orientation": [ + 0.39059144258499146, + -0.7482395768165588, + -0.08232086896896362, + -0.5299046635627747 + ], + "joints": [ + 0.0036266022361814976 + ] + }, + "final_grasp": { + "position": [ + -0.12196391820907593, + -0.10015557706356049, + 0.033267173916101456 + ], + "orientation": [ + 0.39059144258499146, + -0.7482395768165588, + -0.08232086896896362, + -0.5299046635627747 + ], + "joints": [ + -0.005150456912815571 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10489306598901749, + -0.09927251935005188, + 0.08154559880495071 + ], + "orientation": [ + 0.2812711298465729, + -0.8004518151283264, + -0.22090783715248108, + -0.4810022711753845 + ], + "joints": [ + 0.01212644949555397 + ] + }, + "fine_grasp": { + "position": [ + -0.1019112691283226, + -0.09702202677726746, + 0.08175601810216904 + ], + "orientation": [ + 0.28302377462387085, + -0.8053960204124451, + -0.21824002265930176, + -0.4728699028491974 + ], + "joints": [ + 0.0033493905793875456 + ] + }, + "final_grasp": { + "position": [ + -0.1019112691283226, + -0.09702202677726746, + 0.08175601810216904 + ], + "orientation": [ + 0.28302377462387085, + -0.8053960204124451, + -0.21824002265930176, + -0.4728699028491974 + ], + "joints": [ + -0.005427668336778879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10888070613145828, + -0.09278212487697601, + 0.05412858724594116 + ], + "orientation": [ + 0.3322238624095917, + -0.7624391913414001, + 0.15540969371795654, + 0.5330681800842285 + ], + "joints": [ + 0.015023416839540005 + ] + }, + "fine_grasp": { + "position": [ + 0.10733184218406677, + -0.09238716959953308, + 0.05451080948114395 + ], + "orientation": [ + 0.3340756297111511, + -0.76566082239151, + 0.15526503324508667, + 0.5273042917251587 + ], + "joints": [ + 0.005013389512896538 + ] + }, + "final_grasp": { + "position": [ + 0.10733184218406677, + -0.09238716959953308, + 0.05451080948114395 + ], + "orientation": [ + 0.3340756297111511, + -0.76566082239151, + 0.15526503324508667, + 0.5273042917251587 + ], + "joints": [ + -0.004996637813746929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011528171598911285, + -0.14376015961170197, + -0.09862841665744781 + ], + "orientation": [ + 0.6985133290290833, + -0.5479023456573486, + -0.19964417815208435, + -0.41475802659988403 + ], + "joints": [ + 0.012524517253041267 + ] + }, + "fine_grasp": { + "position": [ + 0.01141978707164526, + -0.13986389338970184, + -0.09794976562261581 + ], + "orientation": [ + 0.6957303881645203, + -0.5507497787475586, + -0.20475366711616516, + -0.4131704866886139 + ], + "joints": [ + 0.0037474578712135553 + ] + }, + "final_grasp": { + "position": [ + 0.01141978707164526, + -0.13986389338970184, + -0.09794976562261581 + ], + "orientation": [ + 0.6957303881645203, + -0.5507497787475586, + -0.20475366711616516, + -0.4131704866886139 + ], + "joints": [ + -0.005029601510614157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011214262805879116, + -0.14385788142681122, + -0.09831777215003967 + ], + "orientation": [ + 0.6969186067581177, + -0.5480497479438782, + -0.198589026927948, + -0.4177417755126953 + ], + "joints": [ + 0.012425335124135017 + ] + }, + "fine_grasp": { + "position": [ + 0.011108147911727428, + -0.1399277150630951, + -0.09763514995574951 + ], + "orientation": [ + 0.694563627243042, + -0.5504937767982483, + -0.20319083333015442, + -0.4162346422672272 + ], + "joints": [ + 0.003648275975137949 + ] + }, + "final_grasp": { + "position": [ + 0.011108147911727428, + -0.1399277150630951, + -0.09763514995574951 + ], + "orientation": [ + 0.694563627243042, + -0.5504937767982483, + -0.20319083333015442, + -0.4162346422672272 + ], + "joints": [ + -0.005128783173859119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1209406852722168, + -0.10144020617008209, + 0.007760149426758289 + ], + "orientation": [ + 0.6247555613517761, + -0.14241312444210052, + 0.6606361269950867, + 0.3910996913909912 + ], + "joints": [ + 0.012539397925138474 + ] + }, + "fine_grasp": { + "position": [ + -0.11807840317487717, + -0.0988740548491478, + 0.008326741866767406 + ], + "orientation": [ + 0.6227139234542847, + -0.1421319842338562, + 0.6622716188430786, + 0.39169150590896606 + ], + "joints": [ + 0.0033443837892264128 + ] + }, + "final_grasp": { + "position": [ + -0.11807840317487717, + -0.0988740548491478, + 0.008326741866767406 + ], + "orientation": [ + 0.6227139234542847, + -0.1421319842338562, + 0.6622716188430786, + 0.39169150590896606 + ], + "joints": [ + -0.005850630346685648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03658903017640114, + -0.139915332198143, + -0.06653723120689392 + ], + "orientation": [ + 0.06821678578853607, + -0.1755586713552475, + 0.6951935291290283, + 0.6937085390090942 + ], + "joints": [ + 0.011832394637167454 + ] + }, + "fine_grasp": { + "position": [ + 0.036348309367895126, + -0.13639014959335327, + -0.06594567745923996 + ], + "orientation": [ + 0.06182260066270828, + -0.16380348801612854, + 0.6964016556739807, + 0.6959678530693054 + ], + "joints": [ + 0.0034523934591561556 + ] + }, + "final_grasp": { + "position": [ + 0.036348309367895126, + -0.13639014959335327, + -0.06594567745923996 + ], + "orientation": [ + 0.06182260066270828, + -0.16380348801612854, + 0.6964016556739807, + 0.6959678530693054 + ], + "joints": [ + -0.004927607718855143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03684358298778534, + -0.13998287916183472, + -0.06686906516551971 + ], + "orientation": [ + 0.06464827805757523, + -0.1717720329761505, + 0.6948894262313843, + 0.6953012347221375 + ], + "joints": [ + 0.011735097505152225 + ] + }, + "fine_grasp": { + "position": [ + 0.036624975502491, + -0.13596749305725098, + -0.06665153801441193 + ], + "orientation": [ + 0.05751776695251465, + -0.1606905311346054, + 0.6958474516868591, + 0.6976149678230286 + ], + "joints": [ + 0.0033550963271409273 + ] + }, + "final_grasp": { + "position": [ + 0.036624975502491, + -0.13596749305725098, + -0.06665153801441193 + ], + "orientation": [ + 0.05751776695251465, + -0.1606905311346054, + 0.6958474516868591, + 0.6976149678230286 + ], + "joints": [ + -0.005024904850870371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0366484671831131, + -0.1400890201330185, + -0.06627939641475677 + ], + "orientation": [ + 0.06624706089496613, + -0.17341376841068268, + 0.6964073777198792, + 0.6932211518287659 + ], + "joints": [ + 0.011823696084320545 + ] + }, + "fine_grasp": { + "position": [ + 0.03636078163981438, + -0.13645799458026886, + -0.06577758491039276 + ], + "orientation": [ + 0.05971163511276245, + -0.16148288547992706, + 0.6974590420722961, + 0.6956353783607483 + ], + "joints": [ + 0.003443694906309247 + ] + }, + "final_grasp": { + "position": [ + 0.03636078163981438, + -0.13645799458026886, + -0.06577758491039276 + ], + "orientation": [ + 0.05971163511276245, + -0.16148288547992706, + 0.6974590420722961, + 0.6956353783607483 + ], + "joints": [ + -0.004936306271702051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03138116002082825, + -0.1504122018814087, + -0.06372713297605515 + ], + "orientation": [ + 0.6474876403808594, + -0.5570042729377747, + 0.2842760980129242, + 0.4355376064777374 + ], + "joints": [ + 0.01180123072117567 + ] + }, + "fine_grasp": { + "position": [ + -0.031170343980193138, + -0.14627894759178162, + -0.06358977407217026 + ], + "orientation": [ + 0.6481180787086487, + -0.5574384927749634, + 0.28936997056007385, + 0.43066278100013733 + ], + "joints": [ + 0.0034212295431643724 + ] + }, + "final_grasp": { + "position": [ + -0.031170343980193138, + -0.14627894759178162, + -0.06358977407217026 + ], + "orientation": [ + 0.6481180787086487, + -0.5574384927749634, + 0.28936997056007385, + 0.43066278100013733 + ], + "joints": [ + -0.004958771634846926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009634193032979965, + -0.1530950367450714, + -0.062236081808805466 + ], + "orientation": [ + 0.6742405891418457, + -0.7363435626029968, + 0.004020448308438063, + 0.05640504136681557 + ], + "joints": [ + 0.012004631571471691 + ] + }, + "fine_grasp": { + "position": [ + 0.010119467973709106, + -0.1488584727048874, + -0.06232752650976181 + ], + "orientation": [ + 0.6771926879882812, + -0.733599066734314, + 0.007016188930720091, + 0.05650871992111206 + ], + "joints": [ + 0.004063482396304607 + ] + }, + "final_grasp": { + "position": [ + 0.010119467973709106, + -0.1488584727048874, + -0.06232752650976181 + ], + "orientation": [ + 0.6771926879882812, + -0.733599066734314, + 0.007016188930720091, + 0.05650871992111206 + ], + "joints": [ + -0.0038776667788624763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008567189797759056, + -0.15377670526504517, + -0.07247302681207657 + ], + "orientation": [ + 0.12095018476247787, + -0.05069974064826965, + 0.7084905505180359, + 0.693427562713623 + ], + "joints": [ + 0.011044539511203766 + ] + }, + "fine_grasp": { + "position": [ + -0.008979219943284988, + -0.14953090250492096, + -0.07227020710706711 + ], + "orientation": [ + 0.11942494660615921, + -0.056519415229558945, + 0.706769585609436, + 0.6949963569641113 + ], + "joints": [ + 0.003500448539853096 + ] + }, + "final_grasp": { + "position": [ + -0.008979219943284988, + -0.14953090250492096, + -0.07227020710706711 + ], + "orientation": [ + 0.11942494660615921, + -0.056519415229558945, + 0.706769585609436, + 0.6949963569641113 + ], + "joints": [ + -0.004043642431497574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09041936695575714, + -0.08771449327468872, + 0.11437009274959564 + ], + "orientation": [ + 0.2767966687679291, + -0.8698230981826782, + 0.13774007558822632, + 0.38447242975234985 + ], + "joints": [ + 0.012578016147017479 + ] + }, + "fine_grasp": { + "position": [ + 0.08899934589862823, + -0.08830040693283081, + 0.11255605518817902 + ], + "orientation": [ + 0.2971092760562897, + -0.8695235848426819, + 0.11406271159648895, + 0.37768325209617615 + ], + "joints": [ + 0.0038009565323591232 + ] + }, + "final_grasp": { + "position": [ + 0.08899934589862823, + -0.08830040693283081, + 0.11255605518817902 + ], + "orientation": [ + 0.2971092760562897, + -0.8695235848426819, + 0.11406271159648895, + 0.37768325209617615 + ], + "joints": [ + -0.0049761030822992325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06451763212680817, + -0.12859974801540375, + 0.012769019231200218 + ], + "orientation": [ + 0.5053609013557434, + -0.6453929543495178, + 0.3630790412425995, + 0.44300323724746704 + ], + "joints": [ + 0.011902970261871815 + ] + }, + "fine_grasp": { + "position": [ + 0.06343794614076614, + -0.124649278819561, + 0.013278585858643055 + ], + "orientation": [ + 0.5081260800361633, + -0.6474645733833313, + 0.35911741852760315, + 0.440036416053772 + ], + "joints": [ + 0.0035438663326203823 + ] + }, + "final_grasp": { + "position": [ + 0.06343794614076614, + -0.124649278819561, + 0.013278585858643055 + ], + "orientation": [ + 0.5081260800361633, + -0.6474645733833313, + 0.35911741852760315, + 0.440036416053772 + ], + "joints": [ + -0.00481523759663105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04730096086859703, + -0.12977243959903717, + -0.054355017840862274 + ], + "orientation": [ + 0.6361156702041626, + -0.46926349401474, + -0.34779471158981323, + -0.5041701197624207 + ], + "joints": [ + 0.011911329813301563 + ] + }, + "fine_grasp": { + "position": [ + -0.04734300822019577, + -0.1257571578025818, + -0.055268630385398865 + ], + "orientation": [ + 0.6418137550354004, + -0.46983399987220764, + -0.3436885178089142, + -0.49920883774757385 + ], + "joints": [ + 0.003552225884050131 + ] + }, + "final_grasp": { + "position": [ + -0.04734300822019577, + -0.1257571578025818, + -0.055268630385398865 + ], + "orientation": [ + 0.6418137550354004, + -0.46983399987220764, + -0.3436885178089142, + -0.49920883774757385 + ], + "joints": [ + -0.004806878045201302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04723848029971123, + -0.1291186511516571, + -0.05415229871869087 + ], + "orientation": [ + 0.6329272389411926, + -0.4687082767486572, + -0.3524457514286041, + -0.5054677724838257 + ], + "joints": [ + 0.012087814509868622 + ] + }, + "fine_grasp": { + "position": [ + -0.04728683829307556, + -0.12520788609981537, + -0.05533670634031296 + ], + "orientation": [ + 0.6396381258964539, + -0.47014498710632324, + -0.3469257950782776, + -0.49946898221969604 + ], + "joints": [ + 0.003728710114955902 + ] + }, + "final_grasp": { + "position": [ + -0.04728683829307556, + -0.12520788609981537, + -0.05533670634031296 + ], + "orientation": [ + 0.6396381258964539, + -0.47014498710632324, + -0.3469257950782776, + -0.49946898221969604 + ], + "joints": [ + -0.004630394279956818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0700286328792572, + -0.06923496723175049, + 0.15645411610603333 + ], + "orientation": [ + 0.1711498647928238, + -0.9243211150169373, + 0.20081233978271484, + 0.2757035493850708 + ], + "joints": [ + 0.010957243852317333 + ] + }, + "fine_grasp": { + "position": [ + 0.06882161647081375, + -0.06785977631807327, + 0.152653768658638 + ], + "orientation": [ + 0.17391975224018097, + -0.9305175542831421, + 0.17933955788612366, + 0.2678176164627075 + ], + "joints": [ + 0.003413153113797307 + ] + }, + "final_grasp": { + "position": [ + 0.06882161647081375, + -0.06785977631807327, + 0.152653768658638 + ], + "orientation": [ + 0.17391975224018097, + -0.9305175542831421, + 0.17933955788612366, + 0.2678176164627075 + ], + "joints": [ + -0.004130937624722719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04832068830728531, + -0.14563119411468506, + -0.0710287094116211 + ], + "orientation": [ + 0.09750030934810638, + 0.13042044639587402, + -0.6981041431427002, + -0.6972336173057556 + ], + "joints": [ + 0.012144065462052822 + ] + }, + "fine_grasp": { + "position": [ + 0.047906193882226944, + -0.14153824746608734, + -0.07050956785678864 + ], + "orientation": [ + 0.09478709101676941, + 0.1207311749458313, + -0.6949321627616882, + -0.7025017142295837 + ], + "joints": [ + 0.003784961299970746 + ] + }, + "final_grasp": { + "position": [ + 0.047906193882226944, + -0.14153824746608734, + -0.07050956785678864 + ], + "orientation": [ + 0.09478709101676941, + 0.1207311749458313, + -0.6949321627616882, + -0.7025017142295837 + ], + "joints": [ + -0.00457414286211133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06712222844362259, + -0.1437108814716339, + -0.023593878373503685 + ], + "orientation": [ + 0.5180891752243042, + -0.5877386927604675, + 0.3886454105377197, + 0.4848726689815521 + ], + "joints": [ + 0.011824174784123898 + ] + }, + "fine_grasp": { + "position": [ + 0.06631491333246231, + -0.1396622359752655, + -0.024503398686647415 + ], + "orientation": [ + 0.5134789347648621, + -0.5949879884719849, + 0.38899144530296326, + 0.48063942790031433 + ], + "joints": [ + 0.0038830258417874575 + ] + }, + "final_grasp": { + "position": [ + 0.06631491333246231, + -0.1396622359752655, + -0.024503398686647415 + ], + "orientation": [ + 0.5134789347648621, + -0.5949879884719849, + 0.38899144530296326, + 0.48063942790031433 + ], + "joints": [ + -0.004058123100548983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038975778967142105, + -0.1334274560213089, + -0.053942278027534485 + ], + "orientation": [ + 0.508945643901825, + -0.43776220083236694, + 0.44926923513412476, + 0.589487612247467 + ], + "joints": [ + 0.012890053912997246 + ] + }, + "fine_grasp": { + "position": [ + -0.038647010922431946, + -0.1296701580286026, + -0.055674199014902115 + ], + "orientation": [ + 0.5014491677284241, + -0.42945680022239685, + 0.455355167388916, + 0.5972999930381775 + ], + "joints": [ + 0.005345962010324001 + ] + }, + "final_grasp": { + "position": [ + -0.038647010922431946, + -0.1296701580286026, + -0.055674199014902115 + ], + "orientation": [ + 0.5014491677284241, + -0.42945680022239685, + 0.455355167388916, + 0.5972999930381775 + ], + "joints": [ + -0.002198129892349243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04965001717209816, + -0.07715161889791489, + 0.1475815773010254 + ], + "orientation": [ + 0.19356709718704224, + -0.08140154182910919, + -0.9392399787902832, + -0.2715398669242859 + ], + "joints": [ + 0.013703861273825169 + ] + }, + "fine_grasp": { + "position": [ + 0.05232181400060654, + -0.07711255550384521, + 0.14486075937747955 + ], + "orientation": [ + 0.19807720184326172, + -0.054155074059963226, + -0.9376950263977051, + -0.28028666973114014 + ], + "joints": [ + 0.004926801659166813 + ] + }, + "final_grasp": { + "position": [ + 0.05232181400060654, + -0.07711255550384521, + 0.14486075937747955 + ], + "orientation": [ + 0.19807720184326172, + -0.054155074059963226, + -0.9376950263977051, + -0.28028666973114014 + ], + "joints": [ + -0.003850257955491543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037477776408195496, + -0.07046687602996826, + 0.1542128473520279 + ], + "orientation": [ + 0.21408209204673767, + -0.9363815188407898, + 0.24068543314933777, + 0.13938826322555542 + ], + "joints": [ + 0.012175059877336025 + ] + }, + "fine_grasp": { + "position": [ + 0.040082622319459915, + -0.06958911567926407, + 0.15238575637340546 + ], + "orientation": [ + 0.21565303206443787, + -0.9417873024940491, + 0.21332956850528717, + 0.1449863761663437 + ], + "joints": [ + 0.0033980009611696005 + ] + }, + "final_grasp": { + "position": [ + 0.040082622319459915, + -0.06958911567926407, + 0.15238575637340546 + ], + "orientation": [ + 0.21565303206443787, + -0.9417873024940491, + 0.21332956850528717, + 0.1449863761663437 + ], + "joints": [ + -0.005379057954996824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0372612290084362, + -0.07090626657009125, + 0.15406979620456696 + ], + "orientation": [ + 0.2179337739944458, + -0.9364554286003113, + 0.2373809814453125, + 0.13858658075332642 + ], + "joints": [ + 0.012542782351374626 + ] + }, + "fine_grasp": { + "position": [ + 0.03989735618233681, + -0.06963413953781128, + 0.1526002436876297 + ], + "orientation": [ + 0.21640877425670624, + -0.9421361088752747, + 0.21184039115905762, + 0.14377252757549286 + ], + "joints": [ + 0.0033477682154625654 + ] + }, + "final_grasp": { + "position": [ + 0.03989735618233681, + -0.06963413953781128, + 0.1526002436876297 + ], + "orientation": [ + 0.21640877425670624, + -0.9421361088752747, + 0.21184039115905762, + 0.14377252757549286 + ], + "joints": [ + -0.005847245920449495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037588074803352356, + -0.0741099938750267, + 0.15521390736103058 + ], + "orientation": [ + 0.1388765573501587, + -0.3164389133453369, + 0.9149567484855652, + 0.20840813219547272 + ], + "joints": [ + 0.011807664297521114 + ] + }, + "fine_grasp": { + "position": [ + -0.038243766874074936, + -0.07233299314975739, + 0.15353456139564514 + ], + "orientation": [ + 0.14242883026599884, + -0.31356433033943176, + 0.9156581163406372, + 0.2072719931602478 + ], + "joints": [ + 0.003427663119509816 + ] + }, + "final_grasp": { + "position": [ + -0.038243766874074936, + -0.07233299314975739, + 0.15353456139564514 + ], + "orientation": [ + 0.14242883026599884, + -0.31356433033943176, + 0.9156581163406372, + 0.2072719931602478 + ], + "joints": [ + -0.004952338058501482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0457327701151371, + -0.06389132887125015, + 0.17309464514255524 + ], + "orientation": [ + 0.14134882390499115, + -0.9293725490570068, + -0.3043878674507141, + -0.15373681485652924 + ], + "joints": [ + 0.010666629299521446 + ] + }, + "fine_grasp": { + "position": [ + -0.04491201043128967, + -0.062361784279346466, + 0.1691455990076065 + ], + "orientation": [ + 0.14116770029067993, + -0.9300927519798279, + -0.30293118953704834, + -0.15242017805576324 + ], + "joints": [ + 0.0035404935479164124 + ] + }, + "final_grasp": { + "position": [ + -0.04491201043128967, + -0.062361784279346466, + 0.1691455990076065 + ], + "orientation": [ + 0.14116770029067993, + -0.9300927519798279, + -0.30293118953704834, + -0.15242017805576324 + ], + "joints": [ + -0.0035856422036886215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0383300818502903, + -0.07396427541971207, + 0.1557525247335434 + ], + "orientation": [ + 0.1444818377494812, + -0.31459248065948486, + 0.91441410779953, + 0.20977024734020233 + ], + "joints": [ + 0.012350448407232761 + ] + }, + "fine_grasp": { + "position": [ + -0.04021241143345833, + -0.07235129922628403, + 0.1539415717124939 + ], + "orientation": [ + 0.15107744932174683, + -0.3107607066631317, + 0.9155938029289246, + 0.20564918220043182 + ], + "joints": [ + 0.0035524917766451836 + ] + }, + "final_grasp": { + "position": [ + -0.04021241143345833, + -0.07235129922628403, + 0.1539415717124939 + ], + "orientation": [ + 0.15107744932174683, + -0.3107607066631317, + 0.9155938029289246, + 0.20564918220043182 + ], + "joints": [ + -0.005245464853942394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08065427839756012, + -0.12144166976213455, + -0.004467380233108997 + ], + "orientation": [ + 0.5330714583396912, + -0.4576866626739502, + -0.6072788238525391, + -0.37090468406677246 + ], + "joints": [ + 0.013251974247395992 + ] + }, + "fine_grasp": { + "position": [ + 0.07967285066843033, + -0.11842012405395508, + -0.005289307329803705 + ], + "orientation": [ + 0.5382980108261108, + -0.46434295177459717, + -0.6006770730018616, + -0.36579787731170654 + ], + "joints": [ + 0.003639004658907652 + ] + }, + "final_grasp": { + "position": [ + 0.07967285066843033, + -0.11842012405395508, + -0.005289307329803705 + ], + "orientation": [ + 0.5382980108261108, + -0.46434295177459717, + -0.6006770730018616, + -0.36579787731170654 + ], + "joints": [ + -0.0059739649295806885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014881158247590065, + -0.0409427210688591, + 0.1788991093635559 + ], + "orientation": [ + 0.1076347678899765, + -0.9831433296203613, + 0.14161626994609833, + 0.04229438677430153 + ], + "joints": [ + 0.010582434013485909 + ] + }, + "fine_grasp": { + "position": [ + 0.014294393360614777, + -0.03983636200428009, + 0.17481303215026855 + ], + "orientation": [ + 0.10634226351976395, + -0.9815242886543274, + 0.15270009636878967, + 0.044542115181684494 + ], + "joints": [ + 0.0034562984947115183 + ] + }, + "final_grasp": { + "position": [ + 0.014294393360614777, + -0.03983636200428009, + 0.17481303215026855 + ], + "orientation": [ + 0.10634226351976395, + -0.9815242886543274, + 0.15270009636878967, + 0.044542115181684494 + ], + "joints": [ + -0.003669837024062872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014904849231243134, + -0.041263096034526825, + 0.18015116453170776 + ], + "orientation": [ + 0.10835016518831253, + -0.9846774935722351, + 0.13036639988422394, + 0.04092844948172569 + ], + "joints": [ + 0.010712651535868645 + ] + }, + "fine_grasp": { + "position": [ + 0.014477954246103764, + -0.040192581713199615, + 0.17602495849132538 + ], + "orientation": [ + 0.10713657736778259, + -0.9836763739585876, + 0.13794353604316711, + 0.04329042136669159 + ], + "joints": [ + 0.0035656183026731014 + ] + }, + "final_grasp": { + "position": [ + 0.014477954246103764, + -0.040192581713199615, + 0.17602495849132538 + ], + "orientation": [ + 0.10713657736778259, + -0.9836763739585876, + 0.13794353604316711, + 0.04329042136669159 + ], + "joints": [ + -0.003581414930522442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10207876563072205, + -0.12866821885108948, + -0.021881161257624626 + ], + "orientation": [ + 0.5286654829978943, + -0.6181265711784363, + -0.18604442477226257, + -0.551198422908783 + ], + "joints": [ + 0.01242196373641491 + ] + }, + "fine_grasp": { + "position": [ + -0.09998036921024323, + -0.12499913573265076, + -0.02168058604001999 + ], + "orientation": [ + 0.5280534625053406, + -0.6228529810905457, + -0.18396137654781342, + -0.5471488833427429 + ], + "joints": [ + 0.004480814561247826 + ] + }, + "final_grasp": { + "position": [ + -0.09998036921024323, + -0.12499913573265076, + -0.02168058604001999 + ], + "orientation": [ + 0.5280534625053406, + -0.6228529810905457, + -0.18396137654781342, + -0.5471488833427429 + ], + "joints": [ + -0.003460334613919258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007725999690592289, + -0.06535716354846954, + 0.17669259011745453 + ], + "orientation": [ + 0.24039311707019806, + -0.966249942779541, + 0.0865432620048523, + -0.0329013355076313 + ], + "joints": [ + 0.016869310289621353 + ] + }, + "fine_grasp": { + "position": [ + -0.0077733187936246395, + -0.0643230602145195, + 0.17347925901412964 + ], + "orientation": [ + 0.22525955736637115, + -0.9694457054138184, + 0.09361382573843002, + -0.025875598192214966 + ], + "joints": [ + 0.0036410288885235786 + ] + }, + "final_grasp": { + "position": [ + -0.0077733187936246395, + -0.0643230602145195, + 0.17347925901412964 + ], + "orientation": [ + 0.22525955736637115, + -0.9694457054138184, + 0.09361382573843002, + -0.025875598192214966 + ], + "joints": [ + -0.009587252512574196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007704580668359995, + -0.06519486755132675, + 0.17647211253643036 + ], + "orientation": [ + 0.23980604112148285, + -0.9664531350135803, + 0.08595117926597595, + -0.032771021127700806 + ], + "joints": [ + 0.016869310289621353 + ] + }, + "fine_grasp": { + "position": [ + -0.0077590011060237885, + -0.06418434530496597, + 0.17327183485031128 + ], + "orientation": [ + 0.22476638853549957, + -0.9696043729782104, + 0.09314699470996857, + -0.025903355330228806 + ], + "joints": [ + 0.0036410288885235786 + ] + }, + "final_grasp": { + "position": [ + -0.0077590011060237885, + -0.06418434530496597, + 0.17327183485031128 + ], + "orientation": [ + 0.22476638853549957, + -0.9696043729782104, + 0.09314699470996857, + -0.025903355330228806 + ], + "joints": [ + -0.009587252512574196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04948673024773598, + -0.05475791171193123, + 0.17861886322498322 + ], + "orientation": [ + 0.17940258979797363, + -0.13693268597126007, + 0.9647851586341858, + 0.1351059079170227 + ], + "joints": [ + 0.010346250608563423 + ] + }, + "fine_grasp": { + "position": [ + -0.048484064638614655, + -0.053660452365875244, + 0.1745719164609909 + ], + "orientation": [ + 0.16908638179302216, + -0.11155126243829727, + 0.9699743986129761, + 0.13459520041942596 + ], + "joints": [ + 0.003617172595113516 + ] + }, + "final_grasp": { + "position": [ + -0.048484064638614655, + -0.053660452365875244, + 0.1745719164609909 + ], + "orientation": [ + 0.16908638179302216, + -0.11155126243829727, + 0.9699743986129761, + 0.13459520041942596 + ], + "joints": [ + -0.0031119054183363914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037012625485658646, + -0.05829283222556114, + 0.15488724410533905 + ], + "orientation": [ + 0.11217209696769714, + -0.3741278350353241, + -0.9106312990188599, + -0.13489356637001038 + ], + "joints": [ + 0.011976389214396477 + ] + }, + "fine_grasp": { + "position": [ + 0.03596119582653046, + -0.05696096643805504, + 0.15499480068683624 + ], + "orientation": [ + 0.10942511260509491, + -0.3823332190513611, + -0.9078278541564941, + -0.13302724063396454 + ], + "joints": [ + 0.003596387803554535 + ] + }, + "final_grasp": { + "position": [ + 0.03596119582653046, + -0.05696096643805504, + 0.15499480068683624 + ], + "orientation": [ + 0.10942511260509491, + -0.3823332190513611, + -0.9078278541564941, + -0.13302724063396454 + ], + "joints": [ + -0.004783613607287407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08449491113424301, + -0.06436725705862045, + 0.14952881634235382 + ], + "orientation": [ + 0.34452757239341736, + 0.011097019538283348, + 0.912981390953064, + 0.21827173233032227 + ], + "joints": [ + 0.012034270912408829 + ] + }, + "fine_grasp": { + "position": [ + -0.08264460414648056, + -0.06293746829032898, + 0.1459716409444809 + ], + "orientation": [ + 0.3371637761592865, + 0.027246419340372086, + 0.9144286513328552, + 0.22225777804851532 + ], + "joints": [ + 0.004093121737241745 + ] + }, + "final_grasp": { + "position": [ + -0.08264460414648056, + -0.06293746829032898, + 0.1459716409444809 + ], + "orientation": [ + 0.3371637761592865, + 0.027246419340372086, + 0.9144286513328552, + 0.22225777804851532 + ], + "joints": [ + -0.0038480274379253387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0482708103954792, + -0.07806894183158875, + 0.15571829676628113 + ], + "orientation": [ + 0.18069161474704742, + -0.4342535138130188, + -0.8657821416854858, + -0.17086739838123322 + ], + "joints": [ + 0.011482588946819305 + ] + }, + "fine_grasp": { + "position": [ + 0.046911437064409256, + -0.07522300630807877, + 0.15363581478595734 + ], + "orientation": [ + 0.1783572882413864, + -0.45058590173721313, + -0.8588501214981079, + -0.16594423353672028 + ], + "joints": [ + 0.0035205427557229996 + ] + }, + "final_grasp": { + "position": [ + 0.046911437064409256, + -0.07522300630807877, + 0.15363581478595734 + ], + "orientation": [ + 0.1783572882413864, + -0.45058590173721313, + -0.8588501214981079, + -0.16594423353672028 + ], + "joints": [ + -0.004441503435373306 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 65 + } +} \ No newline at end of file diff --git a/clutter_cap_00000/Object.usd b/clutter_cap_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..fdcaf16d709f107903bd0be5bfb35d025b872f25 --- /dev/null +++ b/clutter_cap_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c8cc1b2f3ed811119e592b076be6c9b33d2a99e0c2feabc4e102bf7a58384b3 +size 22537587 diff --git a/clutter_coin_00000/Annotation/dex1_1_grasp_pose.json b/clutter_coin_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..0976274c6869d8943e67545e431c4975e074e8ea --- /dev/null +++ b/clutter_coin_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,14118 @@ +{ + "type": "clutter_coin_00000", + "bottom_center": [ + 0.0, + 2.7939677238464355e-09, + -0.03749999403953552 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.002194399246945977, + 0.11022864282131195, + 0.010626626200973988 + ], + "orientation": [ + 0.024845464155077934, + -0.5032195448875427, + 0.033845022320747375, + -0.8631380200386047 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.001041868352331221, + 0.11553164571523666, + 0.012004350312054157 + ], + "orientation": [ + 0.02326224185526371, + -0.5024328827857971, + 0.04215720668435097, + -0.8632745146751404 + ], + "joints": [ + -0.015164246782660484 + ] + }, + "final_grasp": { + "position": [ + 0.001041868352331221, + 0.11553164571523666, + 0.012004350312054157 + ], + "orientation": [ + 0.02326224185526371, + -0.5024328827857971, + 0.04215720668435097, + -0.8632745146751404 + ], + "joints": [ + -0.010328494012355804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0020648399367928505, + 0.11029495298862457, + 0.010527193546295166 + ], + "orientation": [ + 0.024246880784630775, + -0.5027911067008972, + 0.0345483236014843, + -0.8633768558502197 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.0009177399333566427, + 0.11576513946056366, + 0.011762527748942375 + ], + "orientation": [ + 0.022717412561178207, + -0.5028616786003113, + 0.04289480671286583, + -0.8630030155181885 + ], + "joints": [ + -0.015164246782660484 + ] + }, + "final_grasp": { + "position": [ + 0.0009177399333566427, + 0.11576513946056366, + 0.011762527748942375 + ], + "orientation": [ + 0.022717412561178207, + -0.5028616786003113, + 0.04289480671286583, + -0.8630030155181885 + ], + "joints": [ + -0.010328494012355804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006882547168061137, + -0.10654508322477341, + -0.007426303345710039 + ], + "orientation": [ + 0.6940838098526001, + 0.03716085106134415, + 0.7188077569007874, + 0.013497276231646538 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0006753382040187716, + -0.11210065335035324, + -0.007990430109202862 + ], + "orientation": [ + 0.6943355202674866, + 0.032202769070863724, + 0.7186794877052307, + 0.0189975518733263 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.0006753382040187716, + -0.11210065335035324, + -0.007990430109202862 + ], + "orientation": [ + 0.6943355202674866, + 0.032202769070863724, + 0.7186794877052307, + 0.0189975518733263 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008831520564854145, + 0.1048731803894043, + 0.0070062438026070595 + ], + "orientation": [ + 0.01319510955363512, + 0.7068625688552856, + 0.0613333061337471, + -0.7045631408691406 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.009638899005949497, + 0.11096923798322678, + 0.007661712355911732 + ], + "orientation": [ + 0.007421438116580248, + 0.7069713473320007, + 0.056583162397146225, + -0.7049359083175659 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.009638899005949497, + 0.11096923798322678, + 0.007661712355911732 + ], + "orientation": [ + 0.007421438116580248, + 0.7069713473320007, + 0.056583162397146225, + -0.7049359083175659 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016737136989831924, + -0.1073111742734909, + -0.02173790894448757 + ], + "orientation": [ + 0.4584765136241913, + -0.024785151705145836, + -0.8783241510391235, + -0.13316045701503754 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.016899367794394493, + -0.11052695661783218, + -0.023179488256573677 + ], + "orientation": [ + 0.4550233781337738, + -0.022402696311473846, + -0.8800793886184692, + -0.13383620977401733 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.016899367794394493, + -0.11052695661783218, + -0.023179488256573677 + ], + "orientation": [ + 0.4550233781337738, + -0.022402696311473846, + -0.8800793886184692, + -0.13383620977401733 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0167433712631464, + -0.10731112211942673, + -0.021741176024079323 + ], + "orientation": [ + 0.4582975506782532, + -0.02482127957046032, + -0.8784146904945374, + -0.1331728994846344 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.016901277005672455, + -0.1105411946773529, + -0.023190002888441086 + ], + "orientation": [ + 0.45483386516571045, + -0.022369801998138428, + -0.8801881074905396, + -0.1337708979845047 + ], + "joints": [ + -0.014659417793154716 + ] + }, + "final_grasp": { + "position": [ + -0.016901277005672455, + -0.1105411946773529, + -0.023190002888441086 + ], + "orientation": [ + 0.45483386516571045, + -0.022369801998138428, + -0.8801881074905396, + -0.1337708979845047 + ], + "joints": [ + -0.009318836033344269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01113625057041645, + -0.1091327890753746, + -0.0016551581211388111 + ], + "orientation": [ + 0.821855366230011, + -0.030120842158794403, + -0.5664477348327637, + -0.05275711789727211 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.013035678304731846, + -0.11354626715183258, + -0.0024535960983484983 + ], + "orientation": [ + 0.8222848176956177, + -0.024484729394316673, + -0.5659752488136292, + -0.054039280861616135 + ], + "joints": [ + -0.015164246782660484 + ] + }, + "final_grasp": { + "position": [ + -0.013035678304731846, + -0.11354626715183258, + -0.0024535960983484983 + ], + "orientation": [ + 0.8222848176956177, + -0.024484729394316673, + -0.5659752488136292, + -0.054039280861616135 + ], + "joints": [ + -0.010328494012355804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02504025772213936, + -0.10491661727428436, + -0.01611502282321453 + ], + "orientation": [ + 0.9163283109664917, + 0.10407617688179016, + 0.3793856203556061, + -0.07468011975288391 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.026053743436932564, + -0.11085337400436401, + -0.016242099925875664 + ], + "orientation": [ + 0.9157683253288269, + 0.10735569894313812, + 0.3792998790740967, + -0.07729680836200714 + ], + "joints": [ + -0.015164246782660484 + ] + }, + "final_grasp": { + "position": [ + -0.026053743436932564, + -0.11085337400436401, + -0.016242099925875664 + ], + "orientation": [ + 0.9157683253288269, + 0.10735569894313812, + 0.3792998790740967, + -0.07729680836200714 + ], + "joints": [ + -0.010328494012355804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0021518399007618427, + -0.11041859537363052, + -0.007252286653965712 + ], + "orientation": [ + 0.99932461977005, + -0.005665609147399664, + 0.035520441830158234, + -0.007522094063460827 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.0017751511186361313, + -0.11626695841550827, + -0.008130590431392193 + ], + "orientation": [ + 0.9992939233779907, + -0.009656718000769615, + 0.036307089030742645, + -0.000477098481496796 + ], + "joints": [ + -0.015929773449897766 + ] + }, + "final_grasp": { + "position": [ + -0.0017751511186361313, + -0.11626695841550827, + -0.008130590431392193 + ], + "orientation": [ + 0.9992939233779907, + -0.009656718000769615, + 0.036307089030742645, + -0.000477098481496796 + ], + "joints": [ + -0.01218339242041111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014428962022066116, + 0.10492178052663803, + -0.020935161039233208 + ], + "orientation": [ + 0.11869268864393234, + 0.9736053347587585, + 0.05125002562999725, + -0.1880905032157898 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.015748076140880585, + 0.11060583591461182, + -0.022392740473151207 + ], + "orientation": [ + 0.11317550390958786, + 0.9746929407119751, + 0.05188756808638573, + -0.18566781282424927 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.015748076140880585, + 0.11060583591461182, + -0.022392740473151207 + ], + "orientation": [ + 0.11317550390958786, + 0.9746929407119751, + 0.05188756808638573, + -0.18566781282424927 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01458360068500042, + 0.10495320707559586, + -0.021103138104081154 + ], + "orientation": [ + 0.11922253668308258, + 0.9735025763511658, + 0.05170989781618118, + -0.18816159665584564 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0159316323697567, + 0.11059190332889557, + -0.022519465535879135 + ], + "orientation": [ + 0.11394473910331726, + 0.9745633602142334, + 0.05153461545705795, + -0.1859758049249649 + ], + "joints": [ + -0.014685988426208496 + ] + }, + "final_grasp": { + "position": [ + -0.0159316323697567, + 0.11059190332889557, + -0.022519465535879135 + ], + "orientation": [ + 0.11394473910331726, + 0.9745633602142334, + 0.05153461545705795, + -0.1859758049249649 + ], + "joints": [ + -0.009371977299451828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005237057339400053, + -0.10339289903640747, + 0.011613345704972744 + ], + "orientation": [ + 0.6944254040718079, + -0.06694573163986206, + 0.7163536548614502, + -0.011357211507856846 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.006528439931571484, + -0.10941401869058609, + 0.012002323754131794 + ], + "orientation": [ + 0.6946848034858704, + -0.0645078644156456, + 0.7162551879882812, + -0.015179074369370937 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.006528439931571484, + -0.10941401869058609, + 0.012002323754131794 + ], + "orientation": [ + 0.6946848034858704, + -0.0645078644156456, + 0.7162551879882812, + -0.015179074369370937 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006084028165787458, + -0.10313697904348373, + 0.011546318419277668 + ], + "orientation": [ + 0.6944662928581238, + -0.06676077097654343, + 0.7163347601890564, + -0.011145162396132946 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.007211748510599136, + -0.10923932492733002, + 0.011957410722970963 + ], + "orientation": [ + 0.6947073936462402, + -0.06496508419513702, + 0.7162142992019653, + -0.01408934872597456 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.007211748510599136, + -0.10923932492733002, + 0.011957410722970963 + ], + "orientation": [ + 0.6947073936462402, + -0.06496508419513702, + 0.7162142992019653, + -0.01408934872597456 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00010062317596748471, + -0.11325208097696304, + -0.019087307155132294 + ], + "orientation": [ + 0.9228678345680237, + 0.10403548181056976, + -0.370216429233551, + -0.02076989971101284 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0002843610127456486, + -0.11874794214963913, + -0.01916852779686451 + ], + "orientation": [ + 0.9212161898612976, + 0.10813538730144501, + -0.3731433153152466, + -0.020771712064743042 + ], + "joints": [ + -0.01572221703827381 + ] + }, + "final_grasp": { + "position": [ + -0.0002843610127456486, + -0.11874794214963913, + -0.01916852779686451 + ], + "orientation": [ + 0.9212161898612976, + 0.10813538730144501, + -0.3731433153152466, + -0.020771712064743042 + ], + "joints": [ + -0.011444434523582458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01826358027756214, + -0.1147318035364151, + 0.00826975516974926 + ], + "orientation": [ + 0.9934971928596497, + -0.023051295429468155, + -0.08289579302072525, + -0.0745670422911644 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.01928410865366459, + -0.11943858116865158, + 0.0076371110044419765 + ], + "orientation": [ + 0.9934191703796387, + -0.026526836678385735, + -0.08297742903232574, + -0.07435987144708633 + ], + "joints": [ + -0.014154588803648949 + ] + }, + "final_grasp": { + "position": [ + -0.01928410865366459, + -0.11943858116865158, + 0.0076371110044419765 + ], + "orientation": [ + 0.9934191703796387, + -0.026526836678385735, + -0.08297742903232574, + -0.07435987144708633 + ], + "joints": [ + -0.008309178054332733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007589501794427633, + -0.10873736441135406, + 0.014290873892605305 + ], + "orientation": [ + 0.37975141406059265, + -0.03715592622756958, + -0.9187015295028687, + 0.10196015238761902 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.008440080098807812, + -0.11176172643899918, + 0.015336830168962479 + ], + "orientation": [ + 0.3826427757740021, + -0.037747252732515335, + -0.9170955419540405, + 0.10533498972654343 + ], + "joints": [ + -0.012660267762839794 + ] + }, + "final_grasp": { + "position": [ + -0.008440080098807812, + -0.11176172643899918, + 0.015336830168962479 + ], + "orientation": [ + 0.3826427757740021, + -0.037747252732515335, + -0.9170955419540405, + 0.10533498972654343 + ], + "joints": [ + -0.006203748285770416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0076461369171738625, + -0.10878914594650269, + 0.014370158314704895 + ], + "orientation": [ + 0.3793911039829254, + -0.03782883286476135, + -0.918903112411499, + 0.10123415291309357 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.008467147126793861, + -0.11176376789808273, + 0.015304028056561947 + ], + "orientation": [ + 0.38260528445243835, + -0.03804401308298111, + -0.9171878695487976, + 0.10455751419067383 + ], + "joints": [ + -0.012660267762839794 + ] + }, + "final_grasp": { + "position": [ + -0.008467147126793861, + -0.11176376789808273, + 0.015304028056561947 + ], + "orientation": [ + 0.38260528445243835, + -0.03804401308298111, + -0.9171878695487976, + 0.10455751419067383 + ], + "joints": [ + -0.006203748285770416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00751361483708024, + -0.10883579403162003, + 0.014458628371357918 + ], + "orientation": [ + 0.37776267528533936, + -0.037950847297906876, + -0.9196580052375793, + 0.1004195436835289 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.008514476008713245, + -0.11178621649742126, + 0.015449263155460358 + ], + "orientation": [ + 0.3806250989437103, + -0.03877562656998634, + -0.918072521686554, + 0.10374931991100311 + ], + "joints": [ + -0.012660267762839794 + ] + }, + "final_grasp": { + "position": [ + -0.008514476008713245, + -0.11178621649742126, + 0.015449263155460358 + ], + "orientation": [ + 0.3806250989437103, + -0.03877562656998634, + -0.918072521686554, + 0.10374931991100311 + ], + "joints": [ + -0.006203748285770416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011768505908548832, + 0.11047747731208801, + -0.014049394056200981 + ], + "orientation": [ + 0.1062224954366684, + 0.6869891881942749, + -0.0134035125374794, + 0.718737006187439 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.010526281781494617, + 0.11139192432165146, + -0.01652679406106472 + ], + "orientation": [ + 0.12648458778858185, + 0.6825629472732544, + -0.02232971228659153, + 0.7194517850875854 + ], + "joints": [ + -0.012688233517110348 + ] + }, + "final_grasp": { + "position": [ + 0.010526281781494617, + 0.11139192432165146, + -0.01652679406106472 + ], + "orientation": [ + 0.12648458778858185, + 0.6825629472732544, + -0.02232971228659153, + 0.7194517850875854 + ], + "joints": [ + -0.005700312554836273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008841995149850845, + 0.12409871816635132, + 0.0007823752821423113 + ], + "orientation": [ + 0.04908513277769089, + -0.21454907953739166, + 0.0551108792424202, + 0.973921000957489 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.010206293314695358, + 0.12470963597297668, + 0.0026353441644459963 + ], + "orientation": [ + 0.05625903233885765, + -0.21412676572799683, + 0.057258352637290955, + 0.973501980304718 + ], + "joints": [ + -0.012292557395994663 + ] + }, + "final_grasp": { + "position": [ + 0.010206293314695358, + 0.12470963597297668, + 0.0026353441644459963 + ], + "orientation": [ + 0.05625903233885765, + -0.21412676572799683, + 0.057258352637290955, + 0.973501980304718 + ], + "joints": [ + -0.00487951934337616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0027864386793226004, + -0.11084526777267456, + -0.007569297682493925 + ], + "orientation": [ + 0.999311089515686, + -0.009383032098412514, + 0.03439571335911751, + -0.010303713381290436 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.0031387789640575647, + -0.11678484082221985, + -0.00805109366774559 + ], + "orientation": [ + 0.999312698841095, + -0.011220565997064114, + 0.034994907677173615, + -0.004871045704931021 + ], + "joints": [ + -0.015424944460391998 + ] + }, + "final_grasp": { + "position": [ + -0.0031387789640575647, + -0.11678484082221985, + -0.00805109366774559 + ], + "orientation": [ + 0.999312698841095, + -0.011220565997064114, + 0.034994907677173615, + -0.004871045704931021 + ], + "joints": [ + -0.011173734441399574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006764706689864397, + -0.10942424833774567, + -0.02015620842576027 + ], + "orientation": [ + 0.7815694212913513, + 0.051047954708337784, + 0.618532121181488, + 0.06293973326683044 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.00802173838019371, + -0.11483167856931686, + -0.020616132766008377 + ], + "orientation": [ + 0.7818542718887329, + 0.04446227103471756, + 0.618144690990448, + 0.06800229847431183 + ], + "joints": [ + -0.01595921441912651 + ] + }, + "final_grasp": { + "position": [ + -0.00802173838019371, + -0.11483167856931686, + -0.020616132766008377 + ], + "orientation": [ + 0.7818542718887329, + 0.04446227103471756, + 0.618144690990448, + 0.06800229847431183 + ], + "joints": [ + -0.012212833389639854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008781571872532368, + -0.11208157986402512, + 0.020288338884711266 + ], + "orientation": [ + 0.6571788787841797, + -0.04441305249929428, + 0.7484583258628845, + -0.0771595910191536 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.007920628413558006, + -0.1119769737124443, + 0.02089620940387249 + ], + "orientation": [ + 0.6576030254364014, + -0.04643913358449936, + 0.7476662397384644, + -0.07997924089431763 + ], + "joints": [ + -0.013804174028337002 + ] + }, + "final_grasp": { + "position": [ + -0.007920628413558006, + -0.1119769737124443, + 0.02089620940387249 + ], + "orientation": [ + 0.6576030254364014, + -0.04643913358449936, + 0.7476662397384644, + -0.07997924089431763 + ], + "joints": [ + -0.007932193577289581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020974045619368553, + -0.11184683442115784, + -0.006127615924924612 + ], + "orientation": [ + 0.960483193397522, + -0.0041548642329871655, + -0.25988107919692993, + -0.09958265721797943 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + -0.022977858781814575, + -0.11660615354776382, + -0.004855915438383818 + ], + "orientation": [ + 0.9605493545532227, + 0.004466844256967306, + -0.2611454129219055, + -0.09554136544466019 + ], + "joints": [ + -0.014365014620125294 + ] + }, + "final_grasp": { + "position": [ + -0.022977858781814575, + -0.11660615354776382, + -0.004855915438383818 + ], + "orientation": [ + 0.9605493545532227, + 0.004466844256967306, + -0.2611454129219055, + -0.09554136544466019 + ], + "joints": [ + -0.00902443379163742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026204848662018776, + 0.11026004701852798, + 0.007955623790621758 + ], + "orientation": [ + 0.0495002456009388, + -0.9555991888046265, + -0.09767965227365494, + -0.27356645464897156 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.026255106553435326, + 0.1102704256772995, + 0.006238881964236498 + ], + "orientation": [ + 0.04261374846100807, + -0.9550124406814575, + -0.10018600523471832, + -0.2758587896823883 + ], + "joints": [ + -0.013623189181089401 + ] + }, + "final_grasp": { + "position": [ + -0.026255106553435326, + 0.1102704256772995, + 0.006238881964236498 + ], + "orientation": [ + 0.04261374846100807, + -0.9550124406814575, + -0.10018600523471832, + -0.2758587896823883 + ], + "joints": [ + -0.007246378809213638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003141653724014759, + -0.1112164780497551, + -0.007859604433178902 + ], + "orientation": [ + 0.9992650747299194, + -0.013576717115938663, + 0.033797409385442734, + -0.011946179904043674 + ], + "joints": [ + -0.019941117614507675 + ] + }, + "fine_grasp": { + "position": [ + -0.003949608653783798, + -0.11723227053880692, + -0.008041754364967346 + ], + "orientation": [ + 0.99930340051651, + -0.013898751698434353, + 0.033912573009729385, + -0.007029665168374777 + ], + "joints": [ + -0.015185076743364334 + ] + }, + "final_grasp": { + "position": [ + -0.003949608653783798, + -0.11723227053880692, + -0.008041754364967346 + ], + "orientation": [ + 0.99930340051651, + -0.013898751698434353, + 0.033912573009729385, + -0.007029665168374777 + ], + "joints": [ + -0.010429035872220993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017299775034189224, + -0.10728855431079865, + -0.016183452680706978 + ], + "orientation": [ + 0.8931118845939636, + 0.11812353879213333, + -0.43141138553619385, + 0.04777209088206291 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.0194249227643013, + -0.11218056827783585, + -0.01696394756436348 + ], + "orientation": [ + 0.8939475417137146, + 0.1125716120004654, + -0.4312722086906433, + 0.046795282512903214 + ], + "joints": [ + -0.015695646405220032 + ] + }, + "final_grasp": { + "position": [ + 0.0194249227643013, + -0.11218056827783585, + -0.01696394756436348 + ], + "orientation": [ + 0.8939475417137146, + 0.1125716120004654, + -0.4312722086906433, + 0.046795282512903214 + ], + "joints": [ + -0.0113912932574749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0030398527160286903, + -0.11104072630405426, + -0.007766434922814369 + ], + "orientation": [ + 0.999276876449585, + -0.012484549544751644, + 0.034032318741083145, + -0.011476113460958004 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.0036319145001471043, + -0.11700829863548279, + -0.00802199449390173 + ], + "orientation": [ + 0.9993035793304443, + -0.013186018913984299, + 0.03429585322737694, + -0.006505421828478575 + ], + "joints": [ + -0.015424944460391998 + ] + }, + "final_grasp": { + "position": [ + -0.0036319145001471043, + -0.11700829863548279, + -0.00802199449390173 + ], + "orientation": [ + 0.9993035793304443, + -0.013186018913984299, + 0.03429585322737694, + -0.006505421828478575 + ], + "joints": [ + -0.011173734441399574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0016570494044572115, + 0.10940533131361008, + 0.03782287612557411 + ], + "orientation": [ + 0.11039870977401733, + -0.9920044541358948, + 0.02144703082740307, + -0.05726667493581772 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.0014361735666170716, + 0.11463689059019089, + 0.040545687079429626 + ], + "orientation": [ + 0.09621728211641312, + -0.9938626289367676, + 0.024592993780970573, + -0.04872961342334747 + ], + "joints": [ + -0.01492298487573862 + ] + }, + "final_grasp": { + "position": [ + 0.0014361735666170716, + 0.11463689059019089, + 0.040545687079429626 + ], + "orientation": [ + 0.09621728211641312, + -0.9938626289367676, + 0.024592993780970573, + -0.04872961342334747 + ], + "joints": [ + -0.010140374302864075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006049029063433409, + 0.11232689023017883, + -0.0196726992726326 + ], + "orientation": [ + 0.08236439526081085, + 0.5496811866760254, + 0.04099211096763611, + 0.8302929997444153 + ], + "joints": [ + -0.019440632313489914 + ] + }, + "fine_grasp": { + "position": [ + 0.008323892019689083, + 0.11337937414646149, + -0.021494245156645775 + ], + "orientation": [ + 0.0926084890961647, + 0.5513352751731873, + 0.044188242405653, + 0.827949583530426 + ], + "joints": [ + -0.013568652793765068 + ] + }, + "final_grasp": { + "position": [ + 0.008323892019689083, + 0.11337937414646149, + -0.021494245156645775 + ], + "orientation": [ + 0.0926084890961647, + 0.5513352751731873, + 0.044188242405653, + 0.827949583530426 + ], + "joints": [ + -0.007696673274040222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005421373061835766, + -0.11070480942726135, + -0.025937417522072792 + ], + "orientation": [ + 0.8530077338218689, + 0.05913613736629486, + -0.509214460849762, + -0.09788454324007034 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.008070584386587143, + -0.11338047683238983, + -0.0264628566801548 + ], + "orientation": [ + 0.8517134785652161, + 0.06800845265388489, + -0.5106177926063538, + -0.09606589376926422 + ], + "joints": [ + -0.013218238018453121 + ] + }, + "final_grasp": { + "position": [ + -0.008070584386587143, + -0.11338047683238983, + -0.0264628566801548 + ], + "orientation": [ + 0.8517134785652161, + 0.06800845265388489, + -0.5106177926063538, + -0.09606589376926422 + ], + "joints": [ + -0.00731968879699707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010548651218414307, + -0.11024488508701324, + 0.002180560026317835 + ], + "orientation": [ + 0.5680354833602905, + 0.07708407193422318, + 0.8136610388755798, + -0.09669189155101776 + ], + "joints": [ + -0.019381750375032425 + ] + }, + "fine_grasp": { + "position": [ + -0.01026943325996399, + -0.11586988717317581, + 0.0012144314823672175 + ], + "orientation": [ + 0.5675776600837708, + 0.0815262645483017, + 0.81220942735672, + -0.10735398530960083 + ], + "joints": [ + -0.014120882377028465 + ] + }, + "final_grasp": { + "position": [ + -0.01026943325996399, + -0.11586988717317581, + 0.0012144314823672175 + ], + "orientation": [ + 0.5675776600837708, + 0.0815262645483017, + 0.81220942735672, + -0.10735398530960083 + ], + "joints": [ + -0.008860014379024506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010378295555710793, + 0.10943863540887833, + 0.025727208703756332 + ], + "orientation": [ + 0.057951658964157104, + -0.8790321946144104, + -0.10820282250642776, + 0.46069109439849854 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + -0.01232156716287136, + 0.1136428564786911, + 0.026125388219952583 + ], + "orientation": [ + 0.06594626605510712, + -0.8764782547950745, + -0.10374726355075836, + 0.46548184752464294 + ], + "joints": [ + -0.013274249620735645 + ] + }, + "final_grasp": { + "position": [ + -0.01232156716287136, + 0.1136428564786911, + 0.026125388219952583 + ], + "orientation": [ + 0.06594626605510712, + -0.8764782547950745, + -0.10374726355075836, + 0.46548184752464294 + ], + "joints": [ + -0.007402271032333374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010484850034117699, + 0.10953400284051895, + 0.02573416382074356 + ], + "orientation": [ + 0.057370275259017944, + -0.8790138959884644, + -0.10872522741556168, + 0.4606757164001465 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + -0.012509907595813274, + 0.11368841677904129, + 0.026099666953086853 + ], + "orientation": [ + 0.06586910039186478, + -0.876409113407135, + -0.10414323210716248, + 0.4655344486236572 + ], + "joints": [ + -0.013274249620735645 + ] + }, + "final_grasp": { + "position": [ + -0.012509907595813274, + 0.11368841677904129, + 0.026099666953086853 + ], + "orientation": [ + 0.06586910039186478, + -0.876409113407135, + -0.10414323210716248, + 0.4655344486236572 + ], + "joints": [ + -0.007402271032333374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010726322419941425, + 0.10945143550634384, + 0.025507649406790733 + ], + "orientation": [ + 0.05640175938606262, + -0.8791788220405579, + -0.1091262474656105, + 0.46038562059402466 + ], + "joints": [ + -0.01885182410478592 + ] + }, + "fine_grasp": { + "position": [ + -0.0126718170940876, + 0.11371223628520966, + 0.025847190991044044 + ], + "orientation": [ + 0.06419754028320312, + -0.8767170906066895, + -0.10422033071517944, + 0.46517086029052734 + ], + "joints": [ + -0.01351124607026577 + ] + }, + "final_grasp": { + "position": [ + -0.0126718170940876, + 0.11371223628520966, + 0.025847190991044044 + ], + "orientation": [ + 0.06419754028320312, + -0.8767170906066895, + -0.10422033071517944, + 0.46517086029052734 + ], + "joints": [ + -0.00817066803574562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00555295217782259, + 0.11399780958890915, + -0.014752047136425972 + ], + "orientation": [ + 0.010543875396251678, + -0.9457834362983704, + 0.06490526348352432, + 0.3180718421936035 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.006935226731002331, + 0.11199405789375305, + -0.01791968196630478 + ], + "orientation": [ + 0.02403108961880207, + -0.944075882434845, + 0.08551020920276642, + 0.31753936409950256 + ], + "joints": [ + -0.011730321682989597 + ] + }, + "final_grasp": { + "position": [ + 0.006935226731002331, + 0.11199405789375305, + -0.01791968196630478 + ], + "orientation": [ + 0.02403108961880207, + -0.944075882434845, + 0.08551020920276642, + 0.31753936409950256 + ], + "joints": [ + -0.004343856126070023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01071994099766016, + -0.11030732840299606, + 0.00224173697642982 + ], + "orientation": [ + 0.5649996995925903, + 0.07664129883050919, + 0.8158473372459412, + -0.09640861302614212 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.010381261818110943, + -0.11599386483430862, + 0.0012295671040192246 + ], + "orientation": [ + 0.5645482540130615, + 0.0811956375837326, + 0.8143188953399658, + -0.10759825259447098 + ], + "joints": [ + -0.01435787882655859 + ] + }, + "final_grasp": { + "position": [ + -0.010381261818110943, + -0.11599386483430862, + 0.0012295671040192246 + ], + "orientation": [ + 0.5645482540130615, + 0.0811956375837326, + 0.8143188953399658, + -0.10759825259447098 + ], + "joints": [ + -0.009628411382436752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010581733658909798, + -0.11025368422269821, + 0.0022121071815490723 + ], + "orientation": [ + 0.5675132274627686, + 0.0776374489068985, + 0.813861608505249, + -0.09762395918369293 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.01029963232576847, + -0.11586256325244904, + 0.0012017132248729467 + ], + "orientation": [ + 0.5671005845069885, + 0.0822817012667656, + 0.8123325705528259, + -0.10836286097764969 + ], + "joints": [ + -0.01435787882655859 + ] + }, + "final_grasp": { + "position": [ + -0.01029963232576847, + -0.11586256325244904, + 0.0012017132248729467 + ], + "orientation": [ + 0.5671005845069885, + 0.0822817012667656, + 0.8123325705528259, + -0.10836286097764969 + ], + "joints": [ + -0.009628411382436752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010824710130691528, + -0.10938908904790878, + -0.009948421269655228 + ], + "orientation": [ + 0.9864851832389832, + -0.042446695268154144, + 0.14411768317222595, + 0.06538587063550949 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.010596299543976784, + -0.11446581035852432, + -0.011068325489759445 + ], + "orientation": [ + 0.9865493774414062, + -0.05100139603018761, + 0.14030808210372925, + 0.06657931953668594 + ], + "joints": [ + -0.015396978706121445 + ] + }, + "final_grasp": { + "position": [ + 0.010596299543976784, + -0.11446581035852432, + -0.011068325489759445 + ], + "orientation": [ + 0.9865493774414062, + -0.05100139603018761, + 0.14030808210372925, + 0.06657931953668594 + ], + "joints": [ + -0.011677170172333717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026235030964016914, + 0.109832763671875, + 0.019114257767796516 + ], + "orientation": [ + 0.10968510806560516, + -0.5821505784988403, + -0.051243726164102554, + 0.8040173053741455 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.027749914675951004, + 0.11218888312578201, + 0.01882205531001091 + ], + "orientation": [ + 0.10067550837993622, + -0.587251603603363, + -0.058235060423612595, + 0.8010048270225525 + ], + "joints": [ + -0.011987484991550446 + ] + }, + "final_grasp": { + "position": [ + 0.027749914675951004, + 0.11218888312578201, + 0.01882205531001091 + ], + "orientation": [ + 0.10067550837993622, + -0.587251603603363, + -0.058235060423612595, + 0.8010048270225525 + ], + "joints": [ + -0.0060357991605997086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014329337514936924, + 0.1129651665687561, + -0.006564202252775431 + ], + "orientation": [ + 0.0886731967329979, + 0.9890120029449463, + -0.059576280415058136, + -0.10219042748212814 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.015083200298249722, + 0.11867457628250122, + -0.005604257807135582 + ], + "orientation": [ + 0.10652516782283783, + 0.9870993494987488, + -0.05738918483257294, + -0.10485093295574188 + ], + "joints": [ + -0.014415285550057888 + ] + }, + "final_grasp": { + "position": [ + 0.015083200298249722, + 0.11867457628250122, + -0.005604257807135582 + ], + "orientation": [ + 0.10652516782283783, + 0.9870993494987488, + -0.05738918483257294, + -0.10485093295574188 + ], + "joints": [ + -0.009154416620731354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024182626977562904, + 0.10924258828163147, + -0.004104310646653175 + ], + "orientation": [ + 0.06123029813170433, + -0.44042184948921204, + -0.003522277344018221, + 0.8956936001777649 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.027501987293362617, + 0.11111143976449966, + -0.002048871712759137 + ], + "orientation": [ + 0.06611461937427521, + -0.4384898245334625, + -0.026205897331237793, + 0.8959178924560547 + ], + "joints": [ + -0.011513492092490196 + ] + }, + "final_grasp": { + "position": [ + 0.027501987293362617, + 0.11111143976449966, + -0.002048871712759137 + ], + "orientation": [ + 0.06611461937427521, + -0.4384898245334625, + -0.026205897331237793, + 0.8959178924560547 + ], + "joints": [ + -0.004499005153775215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024163296446204185, + 0.10935458540916443, + -0.00388476368971169 + ], + "orientation": [ + 0.06232672557234764, + -0.43834933638572693, + -0.003571602515876293, + 0.8966339230537415 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.02755216509103775, + 0.1111484244465828, + -0.001749203889630735 + ], + "orientation": [ + 0.06639133393764496, + -0.43863409757614136, + -0.02691444382071495, + 0.8958057761192322 + ], + "joints": [ + -0.011513492092490196 + ] + }, + "final_grasp": { + "position": [ + 0.02755216509103775, + 0.1111484244465828, + -0.001749203889630735 + ], + "orientation": [ + 0.06639133393764496, + -0.43863409757614136, + -0.02691444382071495, + 0.8958057761192322 + ], + "joints": [ + -0.004499005153775215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04078027233481407, + -0.10579074174165726, + 0.0163053460419178 + ], + "orientation": [ + 0.7332261800765991, + -0.121429443359375, + -0.6684170961380005, + -0.02920175902545452 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.04168550670146942, + -0.10691740363836288, + 0.020076949149370193 + ], + "orientation": [ + 0.7322829961776733, + -0.1228434219956398, + -0.6697462201118469, + -0.010544954799115658 + ], + "joints": [ + -0.011723917908966541 + ] + }, + "final_grasp": { + "position": [ + -0.04168550670146942, + -0.10691740363836288, + 0.020076949149370193 + ], + "orientation": [ + 0.7322829961776733, + -0.1228434219956398, + -0.6697462201118469, + -0.010544954799115658 + ], + "joints": [ + -0.005214260891079903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030892258509993553, + 0.10861966013908386, + -0.026173345744609833 + ], + "orientation": [ + 0.06292556971311569, + 0.8605003356933594, + 0.16136434674263, + 0.4791044592857361 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.028714202344417572, + 0.11196669191122055, + -0.02517234906554222 + ], + "orientation": [ + 0.04170512035489082, + 0.8615897297859192, + 0.1552114337682724, + 0.4814905524253845 + ], + "joints": [ + -0.013187402859330177 + ] + }, + "final_grasp": { + "position": [ + -0.028714202344417572, + 0.11196669191122055, + -0.02517234906554222 + ], + "orientation": [ + 0.04170512035489082, + 0.8615897297859192, + 0.1552114337682724, + 0.4814905524253845 + ], + "joints": [ + -0.007846826687455177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02599869668483734, + 0.10791543126106262, + 0.026869861409068108 + ], + "orientation": [ + 0.14936494827270508, + -0.5201320052146912, + -0.06374972313642502, + 0.8385038375854492 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.025098836049437523, + 0.11264103651046753, + 0.026755835860967636 + ], + "orientation": [ + 0.1459929496049881, + -0.5201321840286255, + -0.050440289080142975, + 0.8400025367736816 + ], + "joints": [ + -0.013190272264182568 + ] + }, + "final_grasp": { + "position": [ + 0.025098836049437523, + 0.11264103651046753, + 0.026755835860967636 + ], + "orientation": [ + 0.1459929496049881, + -0.5201321840286255, + -0.050440289080142975, + 0.8400025367736816 + ], + "joints": [ + -0.007823124527931213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02619178034365177, + 0.10793529450893402, + 0.026795251294970512 + ], + "orientation": [ + 0.1499108076095581, + -0.5200021862983704, + -0.06300593167543411, + 0.8385431170463562 + ], + "joints": [ + -0.018557420000433922 + ] + }, + "fine_grasp": { + "position": [ + 0.025302095338702202, + 0.11265721172094345, + 0.026636723428964615 + ], + "orientation": [ + 0.14632026851177216, + -0.5200033187866211, + -0.04986322671175003, + 0.8400598764419556 + ], + "joints": [ + -0.013190272264182568 + ] + }, + "final_grasp": { + "position": [ + 0.025302095338702202, + 0.11265721172094345, + 0.026636723428964615 + ], + "orientation": [ + 0.14632026851177216, + -0.5200033187866211, + -0.04986322671175003, + 0.8400598764419556 + ], + "joints": [ + -0.007823124527931213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0398065447807312, + 0.12668578326702118, + -0.028616877272725105 + ], + "orientation": [ + 0.1691782921552658, + 0.5602961182594299, + -0.03356066718697548, + -0.8101361393928528 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.03856690973043442, + 0.1215280294418335, + -0.026281805709004402 + ], + "orientation": [ + 0.15993906557559967, + 0.5711439251899719, + -0.030840465798974037, + -0.8045263886451721 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + -0.03856690973043442, + 0.1215280294418335, + -0.026281805709004402 + ], + "orientation": [ + 0.15993906557559967, + 0.5711439251899719, + -0.030840465798974037, + -0.8045263886451721 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004263638518750668, + -0.11521623283624649, + -0.01509218942373991 + ], + "orientation": [ + 0.8858293890953064, + -0.023239577189087868, + 0.45544707775115967, + 0.0856403335928917 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.0038188030011951923, + -0.12087391316890717, + -0.016201604157686234 + ], + "orientation": [ + 0.8856049180030823, + -0.02895318530499935, + 0.4548770487308502, + 0.08917650580406189 + ], + "joints": [ + -0.013321650214493275 + ] + }, + "final_grasp": { + "position": [ + 0.0038188030011951923, + -0.12087391316890717, + -0.016201604157686234 + ], + "orientation": [ + 0.8856049180030823, + -0.02895318530499935, + 0.4548770487308502, + 0.08917650580406189 + ], + "joints": [ + -0.007555954158306122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013507911004126072, + 0.10915012657642365, + -0.02996147982776165 + ], + "orientation": [ + 0.07939735800027847, + 0.8596590161323547, + 0.05508008599281311, + 0.5016460418701172 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.014676340855658054, + 0.11501949280500412, + -0.03132551535964012 + ], + "orientation": [ + 0.06504944711923599, + 0.8612644076347351, + 0.06321366131305695, + 0.4999960958957672 + ], + "joints": [ + -0.014360749162733555 + ] + }, + "final_grasp": { + "position": [ + 0.014676340855658054, + 0.11501949280500412, + -0.03132551535964012 + ], + "orientation": [ + 0.06504944711923599, + 0.8612644076347351, + 0.06321366131305695, + 0.4999960958957672 + ], + "joints": [ + -0.009604711085557938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0018606873927637935, + -0.11264060437679291, + -0.004194878041744232 + ], + "orientation": [ + 0.7944098711013794, + -0.054880291223526, + 0.6017820835113525, + 0.0613151378929615 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + -0.002064938424155116, + -0.11857761442661285, + -0.0033494846429675817 + ], + "orientation": [ + 0.7948554158210754, + -0.057389263063669205, + 0.6006695032119751, + 0.06408844143152237 + ], + "joints": [ + -0.014007464982569218 + ] + }, + "final_grasp": { + "position": [ + -0.002064938424155116, + -0.11857761442661285, + -0.0033494846429675817 + ], + "orientation": [ + 0.7948554158210754, + -0.057389263063669205, + 0.6006695032119751, + 0.06408844143152237 + ], + "joints": [ + -0.00925142876803875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0020335966255515814, + -0.11261211335659027, + -0.004346360918134451 + ], + "orientation": [ + 0.7942345142364502, + -0.05406809225678444, + 0.6020886898040771, + 0.06129687651991844 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + -0.0022234919015318155, + -0.1185484528541565, + -0.0035218074917793274 + ], + "orientation": [ + 0.7946667671203613, + -0.05653222277760506, + 0.6010228991508484, + 0.06387850642204285 + ], + "joints": [ + -0.014007464982569218 + ] + }, + "final_grasp": { + "position": [ + -0.0022234919015318155, + -0.1185484528541565, + -0.0035218074917793274 + ], + "orientation": [ + 0.7946667671203613, + -0.05653222277760506, + 0.6010228991508484, + 0.06387850642204285 + ], + "joints": [ + -0.00925142876803875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0020306329242885113, + -0.11276159435510635, + -0.004445232916623354 + ], + "orientation": [ + 0.7940921783447266, + -0.05498732626438141, + 0.6020681858062744, + 0.06251191347837448 + ], + "joints": [ + -0.018763501197099686 + ] + }, + "fine_grasp": { + "position": [ + -0.0020879374351352453, + -0.11871270090341568, + -0.0035345805808901787 + ], + "orientation": [ + 0.7946627736091614, + -0.05688051879405975, + 0.6008981466293335, + 0.06478556990623474 + ], + "joints": [ + -0.014007464982569218 + ] + }, + "final_grasp": { + "position": [ + -0.0020879374351352453, + -0.11871270090341568, + -0.0035345805808901787 + ], + "orientation": [ + 0.7946627736091614, + -0.05688051879405975, + 0.6008981466293335, + 0.06478556990623474 + ], + "joints": [ + -0.00925142876803875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012518294155597687, + -0.11203692108392715, + -0.0032327391672879457 + ], + "orientation": [ + 0.5332083106040955, + 0.1026930958032608, + -0.8344624638557434, + 0.09389033168554306 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.013017801567912102, + -0.11779823154211044, + -0.0019976238254457712 + ], + "orientation": [ + 0.5322989225387573, + 0.10251633822917938, + -0.8348735570907593, + 0.09557449817657471 + ], + "joints": [ + -0.014778731390833855 + ] + }, + "final_grasp": { + "position": [ + 0.013017801567912102, + -0.11779823154211044, + -0.0019976238254457712 + ], + "orientation": [ + 0.5322989225387573, + 0.10251633822917938, + -0.8348735570907593, + 0.09557449817657471 + ], + "joints": [ + -0.011058924719691277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0044655273668468, + -0.11521373689174652, + -0.01500531192868948 + ], + "orientation": [ + 0.8853901624679565, + -0.021405963227152824, + 0.45658111572265625, + 0.08461441844701767 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.0037025853525847197, + -0.12075384706258774, + -0.016261501237750053 + ], + "orientation": [ + 0.8851873278617859, + -0.028358105570077896, + 0.455769419670105, + 0.08895751088857651 + ], + "joints": [ + -0.013321650214493275 + ] + }, + "final_grasp": { + "position": [ + 0.0037025853525847197, + -0.12075384706258774, + -0.016261501237750053 + ], + "orientation": [ + 0.8851873278617859, + -0.028358105570077896, + 0.455769419670105, + 0.08895751088857651 + ], + "joints": [ + -0.007555954158306122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12591169774532318, + -0.056265637278556824, + -0.054902445524930954 + ], + "orientation": [ + 0.7421532273292542, + 0.40752923488616943, + 0.4308866858482361, + -0.31219416856765747 + ], + "joints": [ + -0.019146228209137917 + ] + }, + "fine_grasp": { + "position": [ + -0.12236849218606949, + -0.05501532182097435, + -0.05261451378464699 + ], + "orientation": [ + 0.7386360764503479, + 0.4112870991230011, + 0.42600899934768677, + -0.32214295864105225 + ], + "joints": [ + -0.01537327840924263 + ] + }, + "final_grasp": { + "position": [ + -0.12236849218606949, + -0.05501532182097435, + -0.05261451378464699 + ], + "orientation": [ + 0.7386360764503479, + 0.4112870991230011, + 0.42600899934768677, + -0.32214295864105225 + ], + "joints": [ + -0.011600328609347343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027696862816810608, + -0.10585068166255951, + 0.022053582593798637 + ], + "orientation": [ + 0.06254851073026657, + -0.1373116374015808, + -0.9885010123252869, + 0.009943236596882343 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + -0.028955455869436264, + -0.11109171062707901, + 0.02364731952548027 + ], + "orientation": [ + 0.06197510287165642, + -0.13709574937820435, + -0.9886115193367004, + 0.0033091872464865446 + ], + "joints": [ + -0.014569699764251709 + ] + }, + "final_grasp": { + "position": [ + -0.028955455869436264, + -0.11109171062707901, + 0.02364731952548027 + ], + "orientation": [ + 0.06197510287165642, + -0.13709574937820435, + -0.9886115193367004, + 0.0033091872464865446 + ], + "joints": [ + -0.009787090122699738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027475999668240547, + -0.10573606938123703, + 0.022063393145799637 + ], + "orientation": [ + 0.06372685730457306, + -0.13648410141468048, + -0.9885298013687134, + 0.01094819512218237 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + -0.028699977323412895, + -0.11093027144670486, + 0.023679034784436226 + ], + "orientation": [ + 0.06308471411466599, + -0.13662387430667877, + -0.9886032938957214, + 0.004215590190142393 + ], + "joints": [ + -0.014569699764251709 + ] + }, + "final_grasp": { + "position": [ + -0.028699977323412895, + -0.11093027144670486, + 0.023679034784436226 + ], + "orientation": [ + 0.06308471411466599, + -0.13662387430667877, + -0.9886032938957214, + 0.004215590190142393 + ], + "joints": [ + -0.009787090122699738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027542943134903908, + -0.10586471110582352, + 0.022219033911824226 + ], + "orientation": [ + 0.06433281302452087, + -0.1368853747844696, + -0.988427460193634, + 0.01161905936896801 + ], + "joints": [ + -0.01935230940580368 + ] + }, + "fine_grasp": { + "position": [ + -0.028800753876566887, + -0.11117090284824371, + 0.02381264418363571 + ], + "orientation": [ + 0.0639253631234169, + -0.13661636412143707, + -0.9885461926460266, + 0.0051036798395216465 + ], + "joints": [ + -0.014569699764251709 + ] + }, + "final_grasp": { + "position": [ + -0.028800753876566887, + -0.11117090284824371, + 0.02381264418363571 + ], + "orientation": [ + 0.0639253631234169, + -0.13661636412143707, + -0.9885461926460266, + 0.0051036798395216465 + ], + "joints": [ + -0.009787090122699738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0349922776222229, + 0.124669648706913, + 0.03627725690603256 + ], + "orientation": [ + 0.04059872403740883, + -0.7993875741958618, + -0.19044111669063568, + 0.5683866143226624 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.03251976892352104, + 0.12022405862808228, + 0.03390955924987793 + ], + "orientation": [ + 0.029234768822789192, + -0.8024052977561951, + -0.19090260565280914, + 0.5646654963493347 + ], + "joints": [ + -0.015669075772166252 + ] + }, + "final_grasp": { + "position": [ + -0.03251976892352104, + 0.12022405862808228, + 0.03390955924987793 + ], + "orientation": [ + 0.029234768822789192, + -0.8024052977561951, + -0.19090260565280914, + 0.5646654963493347 + ], + "joints": [ + -0.01133815199136734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0044781905598938465, + -0.11526856571435928, + -0.014909923076629639 + ], + "orientation": [ + 0.8856034278869629, + -0.023346105590462685, + 0.455985426902771, + 0.08508225530385971 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.003825435182079673, + -0.12079529464244843, + -0.01604558899998665 + ], + "orientation": [ + 0.8853933215141296, + -0.029610909521579742, + 0.4552503228187561, + 0.08915726095438004 + ], + "joints": [ + -0.013321650214493275 + ] + }, + "final_grasp": { + "position": [ + 0.003825435182079673, + -0.12079529464244843, + -0.01604558899998665 + ], + "orientation": [ + 0.8853933215141296, + -0.029610909521579742, + 0.4552503228187561, + 0.08915726095438004 + ], + "joints": [ + -0.007555954158306122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004275393206626177, + -0.11523260176181793, + -0.015038831159472466 + ], + "orientation": [ + 0.8855693340301514, + -0.023809390142560005, + 0.455890417098999, + 0.08581400662660599 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.0038216235116124153, + -0.12088361382484436, + -0.016153166070580482 + ], + "orientation": [ + 0.8853372931480408, + -0.029547497630119324, + 0.4553159475326538, + 0.08939839899539948 + ], + "joints": [ + -0.013295079581439495 + ] + }, + "final_grasp": { + "position": [ + 0.0038216235116124153, + -0.12088361382484436, + -0.016153166070580482 + ], + "orientation": [ + 0.8853372931480408, + -0.029547497630119324, + 0.4553159475326538, + 0.08939839899539948 + ], + "joints": [ + -0.007502812892198563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004392277915030718, + -0.11524663120508194, + -0.01499983575195074 + ], + "orientation": [ + 0.8853423595428467, + -0.021756146103143692, + 0.45664218068122864, + 0.08469632267951965 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + 0.003685000352561474, + -0.12084560096263885, + -0.016243645921349525 + ], + "orientation": [ + 0.885116457939148, + -0.02842600829899311, + 0.4559105336666107, + 0.08891833573579788 + ], + "joints": [ + -0.013321650214493275 + ] + }, + "final_grasp": { + "position": [ + 0.003685000352561474, + -0.12084560096263885, + -0.016243645921349525 + ], + "orientation": [ + 0.885116457939148, + -0.02842600829899311, + 0.4559105336666107, + 0.08891833573579788 + ], + "joints": [ + -0.007555954158306122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022818734869360924, + 0.13314580917358398, + 0.023971950635313988 + ], + "orientation": [ + 0.14161168038845062, + -0.4357846975326538, + 0.010309894569218159, + 0.888780951499939 + ], + "joints": [ + -0.019705595448613167 + ] + }, + "fine_grasp": { + "position": [ + 0.021518152207136154, + 0.1277545988559723, + 0.02249005250632763 + ], + "orientation": [ + 0.14003708958625793, + -0.43955329060554504, + 0.0027483426965773106, + 0.887228786945343 + ], + "joints": [ + -0.014418155886232853 + ] + }, + "final_grasp": { + "position": [ + 0.021518152207136154, + 0.1277545988559723, + 0.02249005250632763 + ], + "orientation": [ + 0.14003708958625793, + -0.43955329060554504, + 0.0027483426965773106, + 0.887228786945343 + ], + "joints": [ + -0.009130716323852539 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026097487658262253, + -0.1145854964852333, + 0.049775827676057816 + ], + "orientation": [ + 0.9739301204681396, + -0.15699030458927155, + -0.1488708257675171, + -0.06820148229598999 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.027752015739679337, + -0.11456269770860672, + 0.05072161927819252 + ], + "orientation": [ + 0.9760647416114807, + -0.1450100690126419, + -0.1458103209733963, + -0.07077467441558838 + ], + "joints": [ + -0.011677180416882038 + ] + }, + "final_grasp": { + "position": [ + -0.027752015739679337, + -0.11456269770860672, + 0.05072161927819252 + ], + "orientation": [ + 0.9760647416114807, + -0.1450100690126419, + -0.1458103209733963, + -0.07077467441558838 + ], + "joints": [ + -0.004237573593854904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022816766053438187, + -0.10966678708791733, + -0.027327219024300575 + ], + "orientation": [ + 0.9742936491966248, + 0.028486238792538643, + -0.17724841833114624, + -0.13610060513019562 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.022571150213479996, + -0.11279480904340744, + -0.028282394632697105 + ], + "orientation": [ + 0.9747223854064941, + 0.018375614657998085, + -0.1768910437822342, + -0.13523364067077637 + ], + "joints": [ + -0.011130846105515957 + ] + }, + "final_grasp": { + "position": [ + -0.022571150213479996, + -0.11279480904340744, + -0.028282394632697105 + ], + "orientation": [ + 0.9747223854064941, + 0.018375614657998085, + -0.1768910437822342, + -0.13523364067077637 + ], + "joints": [ + -0.005205733701586723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030639436095952988, + 0.11031420528888702, + -0.013371314853429794 + ], + "orientation": [ + 0.12710383534431458, + -0.0703331008553505, + -0.014857698231935501, + 0.9892810583114624 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.03079044073820114, + 0.112721286714077, + -0.014711718074977398 + ], + "orientation": [ + 0.12299725413322449, + -0.07484757155179977, + -0.02175278402864933, + 0.9893413186073303 + ], + "joints": [ + -0.011104275472462177 + ] + }, + "final_grasp": { + "position": [ + 0.03079044073820114, + 0.112721286714077, + -0.014711718074977398 + ], + "orientation": [ + 0.12299725413322449, + -0.07484757155179977, + -0.02175278402864933, + 0.9893413186073303 + ], + "joints": [ + -0.005152592435479164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0034244395792484283, + -0.12993445992469788, + 0.043590471148490906 + ], + "orientation": [ + 0.7313314080238342, + -0.15129919350147247, + 0.6618608236312866, + -0.06483261287212372 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.003700701519846916, + -0.12485126405954361, + 0.04026811942458153 + ], + "orientation": [ + 0.7282543182373047, + -0.1526106745004654, + 0.664280891418457, + -0.07132035493850708 + ], + "joints": [ + -0.015190817415714264 + ] + }, + "final_grasp": { + "position": [ + 0.003700701519846916, + -0.12485126405954361, + 0.04026811942458153 + ], + "orientation": [ + 0.7282543182373047, + -0.1526106745004654, + 0.664280891418457, + -0.07132035493850708 + ], + "joints": [ + -0.010381635278463364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03076689876616001, + 0.11235053092241287, + 0.0009306735591962934 + ], + "orientation": [ + 0.07123398780822754, + 0.984156608581543, + 0.14032584428787231, + -0.08167092502117157 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.028759434819221497, + 0.11260028928518295, + 0.0024608562234789133 + ], + "orientation": [ + 0.08572030067443848, + 0.9848122000694275, + 0.13247978687286377, + -0.07243011891841888 + ], + "joints": [ + -0.011456085368990898 + ] + }, + "final_grasp": { + "position": [ + -0.028759434819221497, + 0.11260028928518295, + 0.0024608562234789133 + ], + "orientation": [ + 0.08572030067443848, + 0.9848122000694275, + 0.13247978687286377, + -0.07243011891841888 + ], + "joints": [ + -0.004972999915480614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023077955469489098, + -0.10487096011638641, + -0.04685577005147934 + ], + "orientation": [ + 0.002501616021618247, + -0.10652512311935425, + -0.986836314201355, + -0.12165617197751999 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.024204939603805542, + -0.10652775317430496, + -0.04809451103210449 + ], + "orientation": [ + 0.0032303184270858765, + -0.1078365296125412, + -0.9876481294631958, + -0.11363067477941513 + ], + "joints": [ + -0.011074834503233433 + ] + }, + "final_grasp": { + "position": [ + -0.024204939603805542, + -0.10652775317430496, + -0.04809451103210449 + ], + "orientation": [ + 0.0032303184270858765, + -0.1078365296125412, + -0.9876481294631958, + -0.11363067477941513 + ], + "joints": [ + -0.00512315146625042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022833995521068573, + -0.1046832799911499, + -0.046911854296922684 + ], + "orientation": [ + 0.005509315058588982, + -0.10490129142999649, + -0.9869970679283142, + -0.12166490405797958 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.024279937148094177, + -0.10641380399465561, + -0.04805668443441391 + ], + "orientation": [ + 0.005278824828565121, + -0.10731987655162811, + -0.9875620007514954, + -0.11478671431541443 + ], + "joints": [ + -0.011074834503233433 + ] + }, + "final_grasp": { + "position": [ + -0.024279937148094177, + -0.10641380399465561, + -0.04805668443441391 + ], + "orientation": [ + 0.005278824828565121, + -0.10731987655162811, + -0.9875620007514954, + -0.11478671431541443 + ], + "joints": [ + -0.00512315146625042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017593421041965485, + 0.12285611033439636, + 0.034148428589105606 + ], + "orientation": [ + 0.03737754002213478, + -0.9561110138893127, + 0.12617164850234985, + -0.2617925703525543 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.01521339826285839, + 0.11967093497514725, + 0.03327310085296631 + ], + "orientation": [ + 0.032228924334049225, + -0.9587712287902832, + 0.1166057363152504, + -0.257142573595047 + ], + "joints": [ + -0.01268257386982441 + ] + }, + "final_grasp": { + "position": [ + 0.01521339826285839, + 0.11967093497514725, + 0.03327310085296631 + ], + "orientation": [ + 0.032228924334049225, + -0.9587712287902832, + 0.1166057363152504, + -0.257142573595047 + ], + "joints": [ + -0.006837168708443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023043068125844002, + 0.13350892066955566, + 0.024269066751003265 + ], + "orientation": [ + 0.1458217203617096, + -0.4310357868671417, + 0.018864305689930916, + 0.8902742862701416 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.02161725051701069, + 0.1282249540090561, + 0.022884517908096313 + ], + "orientation": [ + 0.1438070684671402, + -0.43244102597236633, + 0.010062791407108307, + 0.890063464641571 + ], + "joints": [ + -0.013745373114943504 + ] + }, + "final_grasp": { + "position": [ + 0.02161725051701069, + 0.1282249540090561, + 0.022884517908096313 + ], + "orientation": [ + 0.1438070684671402, + -0.43244102597236633, + 0.010062791407108307, + 0.890063464641571 + ], + "joints": [ + -0.008962767198681831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02389329858124256, + 0.13450348377227783, + 0.024675384163856506 + ], + "orientation": [ + 0.14695268869400024, + -0.4330160915851593, + 0.01915568858385086, + 0.88912034034729 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.022240374237298965, + 0.12932370603084564, + 0.023382609710097313 + ], + "orientation": [ + 0.14606618881225586, + -0.43276292085647583, + 0.010505396872758865, + 0.8895338773727417 + ], + "joints": [ + -0.013745373114943504 + ] + }, + "final_grasp": { + "position": [ + 0.022240374237298965, + 0.12932370603084564, + 0.023382609710097313 + ], + "orientation": [ + 0.14606618881225586, + -0.43276292085647583, + 0.010505396872758865, + 0.8895338773727417 + ], + "joints": [ + -0.008962767198681831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014806506223976612, + 0.11629363894462585, + 0.04758134111762047 + ], + "orientation": [ + 0.08611081540584564, + -0.9176037311553955, + 0.15770918130874634, + -0.3545648753643036 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.012244226410984993, + 0.11491882055997849, + 0.04576234146952629 + ], + "orientation": [ + 0.07855139672756195, + -0.9241381883621216, + 0.14333826303482056, + -0.3453295826911926 + ], + "joints": [ + -0.012625167146325111 + ] + }, + "final_grasp": { + "position": [ + 0.012244226410984993, + 0.11491882055997849, + 0.04576234146952629 + ], + "orientation": [ + 0.07855139672756195, + -0.9241381883621216, + 0.14333826303482056, + -0.3453295826911926 + ], + "joints": [ + -0.00731116347014904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01494719460606575, + 0.1164790689945221, + 0.04767570272088051 + ], + "orientation": [ + 0.08610037714242935, + -0.9174527525901794, + 0.158248171210289, + -0.354717880487442 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.012369081377983093, + 0.11499404162168503, + 0.04584347829222679 + ], + "orientation": [ + 0.07879284024238586, + -0.923930823802948, + 0.14403830468654633, + -0.3455379605293274 + ], + "joints": [ + -0.012625167146325111 + ] + }, + "final_grasp": { + "position": [ + 0.012369081377983093, + 0.11499404162168503, + 0.04584347829222679 + ], + "orientation": [ + 0.07879284024238586, + -0.923930823802948, + 0.14403830468654633, + -0.3455379605293274 + ], + "joints": [ + -0.00731116347014904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019789716228842735, + 0.11088978499174118, + -0.020769793540239334 + ], + "orientation": [ + 0.12900492548942566, + 0.24609874188899994, + -0.011475360952317715, + 0.9605525732040405 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.01897653192281723, + 0.11286019533872604, + -0.022023780271410942 + ], + "orientation": [ + 0.1293199360370636, + 0.24359530210494995, + -0.024480877444148064, + 0.9609049558639526 + ], + "joints": [ + -0.01059944648295641 + ] + }, + "final_grasp": { + "position": [ + 0.01897653192281723, + 0.11286019533872604, + -0.022023780271410942 + ], + "orientation": [ + 0.1293199360370636, + 0.24359530210494995, + -0.024480877444148064, + 0.9609049558639526 + ], + "joints": [ + -0.0041429344564676285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03260374814271927, + -0.10652298480272293, + 0.03605491295456886 + ], + "orientation": [ + 0.6479530334472656, + -0.05765074864029884, + 0.744522750377655, + -0.15006400644779205 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.03354877233505249, + -0.10975975543260574, + 0.036362238228321075 + ], + "orientation": [ + 0.6484712958335876, + -0.06001775711774826, + 0.745352029800415, + -0.14259441196918488 + ], + "joints": [ + -0.010486028157174587 + ] + }, + "final_grasp": { + "position": [ + -0.03354877233505249, + -0.10975975543260574, + 0.036362238228321075 + ], + "orientation": [ + 0.6484712958335876, + -0.06001775711774826, + 0.745352029800415, + -0.14259441196918488 + ], + "joints": [ + -0.004534346982836723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015976237133145332, + -0.11136142909526825, + -0.031705569475889206 + ], + "orientation": [ + 0.7984768748283386, + 0.13149859011173248, + 0.5796557664871216, + 0.09561415761709213 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + 0.01646275445818901, + -0.11319398134946823, + -0.03169265761971474 + ], + "orientation": [ + 0.7947208285331726, + 0.13633860647678375, + 0.5849564671516418, + 0.08750209212303162 + ], + "joints": [ + -0.010865883901715279 + ] + }, + "final_grasp": { + "position": [ + 0.01646275445818901, + -0.11319398134946823, + -0.03169265761971474 + ], + "orientation": [ + 0.7947208285331726, + 0.13633860647678375, + 0.5849564671516418, + 0.08750209212303162 + ], + "joints": [ + -0.00494077242910862 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04243680462241173, + -0.12237799912691116, + 0.046154335141181946 + ], + "orientation": [ + 0.6331403851509094, + -0.2055332213640213, + -0.7432137727737427, + 0.06725071370601654 + ], + "joints": [ + -0.01846909709274769 + ] + }, + "fine_grasp": { + "position": [ + -0.04245045408606529, + -0.11754892766475677, + 0.04347533732652664 + ], + "orientation": [ + 0.6383965015411377, + -0.1949453502893448, + -0.741395115852356, + 0.06913446635007858 + ], + "joints": [ + -0.014191320165991783 + ] + }, + "final_grasp": { + "position": [ + -0.04245045408606529, + -0.11754892766475677, + 0.04347533732652664 + ], + "orientation": [ + 0.6383965015411377, + -0.1949453502893448, + -0.741395115852356, + 0.06913446635007858 + ], + "joints": [ + -0.009913543239235878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019886551424860954, + -0.11167502403259277, + 0.010741367004811764 + ], + "orientation": [ + 0.39088159799575806, + -0.13500630855560303, + -0.9076016545295715, + -0.07241770625114441 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.02065068483352661, + -0.1171666756272316, + 0.011999198235571384 + ], + "orientation": [ + 0.3899455964565277, + -0.13586193323135376, + -0.907261073589325, + -0.07975701242685318 + ], + "joints": [ + -0.013267114758491516 + ] + }, + "final_grasp": { + "position": [ + -0.02065068483352661, + -0.1171666756272316, + 0.011999198235571384 + ], + "orientation": [ + 0.3899455964565277, + -0.13586193323135376, + -0.907261073589325, + -0.07975701242685318 + ], + "joints": [ + -0.008006250485777855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014023729600012302, + -0.11151882261037827, + -0.02358504943549633 + ], + "orientation": [ + 0.9978097677230835, + 0.012607267126441002, + -0.031083030626177788, + 0.05701284855604172 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.01448155753314495, + -0.11671927571296692, + -0.024802735075354576 + ], + "orientation": [ + 0.9977805018424988, + 0.007454962003976107, + -0.031738076359033585, + 0.0580608993768692 + ], + "joints": [ + -0.014273902401328087 + ] + }, + "final_grasp": { + "position": [ + 0.01448155753314495, + -0.11671927571296692, + -0.024802735075354576 + ], + "orientation": [ + 0.9977805018424988, + 0.007454962003976107, + -0.031738076359033585, + 0.0580608993768692 + ], + "joints": [ + -0.010049266740679741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014549322426319122, + 0.10920947790145874, + -0.012265391647815704 + ], + "orientation": [ + 0.023065347224473953, + -0.9939420819282532, + -0.051781218498945236, + 0.09415785223245621 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.015377835370600224, + 0.11478080600500107, + -0.013612347654998302 + ], + "orientation": [ + 0.037995338439941406, + -0.9937634468078613, + -0.05308676138520241, + 0.09040164202451706 + ], + "joints": [ + -0.01433130819350481 + ] + }, + "final_grasp": { + "position": [ + -0.015377835370600224, + 0.11478080600500107, + -0.013612347654998302 + ], + "orientation": [ + 0.037995338439941406, + -0.9937634468078613, + -0.05308676138520241, + 0.09040164202451706 + ], + "joints": [ + -0.009575270116329193 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01935528963804245, + 0.11098161339759827, + -0.020492158830165863 + ], + "orientation": [ + 0.12757398188114166, + 0.2504967451095581, + -0.01270791795104742, + 0.9595910310745239 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.018603648990392685, + 0.11283732205629349, + -0.02180125191807747 + ], + "orientation": [ + 0.12837612628936768, + 0.2477230727672577, + -0.02595437876880169, + 0.9599370956420898 + ], + "joints": [ + -0.01059944648295641 + ] + }, + "final_grasp": { + "position": [ + 0.018603648990392685, + 0.11283732205629349, + -0.02180125191807747 + ], + "orientation": [ + 0.12837612628936768, + 0.2477230727672577, + -0.02595437876880169, + 0.9599370956420898 + ], + "joints": [ + -0.0041429344564676285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042866166681051254, + 0.10331538319587708, + 0.0023601946886628866 + ], + "orientation": [ + 0.043844711035490036, + 0.7836532592773438, + -0.11580774933099747, + 0.6087312698364258 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.045819200575351715, + 0.10747519880533218, + 0.003773800563067198 + ], + "orientation": [ + 0.02454807609319687, + 0.7914758324623108, + -0.11237072944641113, + 0.6002801060676575 + ], + "joints": [ + -0.011005792766809464 + ] + }, + "final_grasp": { + "position": [ + 0.045819200575351715, + 0.10747519880533218, + 0.003773800563067198 + ], + "orientation": [ + 0.02454807609319687, + 0.7914758324623108, + -0.11237072944641113, + 0.6002801060676575 + ], + "joints": [ + -0.003513047471642494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031672194600105286, + 0.1020306870341301, + -0.04879588261246681 + ], + "orientation": [ + 0.11561578512191772, + -0.09766606241464615, + 0.14473162591457367, + 0.977827787399292 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + 0.033411622047424316, + 0.10314717143774033, + -0.05061282962560654 + ], + "orientation": [ + 0.11310397833585739, + -0.11002609878778458, + 0.13872262835502625, + 0.9776797890663147 + ], + "joints": [ + -0.011107145808637142 + ] + }, + "final_grasp": { + "position": [ + 0.033411622047424316, + 0.10314717143774033, + -0.05061282962560654 + ], + "orientation": [ + 0.11310397833585739, + -0.11002609878778458, + 0.13872262835502625, + 0.9776797890663147 + ], + "joints": [ + -0.005128892138600349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014146833680570126, + -0.11507755517959595, + -0.01607115939259529 + ], + "orientation": [ + 0.8895086050033569, + 0.11175310611724854, + 0.4408239722251892, + 0.04427182674407959 + ], + "joints": [ + -0.01767420768737793 + ] + }, + "fine_grasp": { + "position": [ + 0.015049353241920471, + -0.11186143755912781, + -0.014850115403532982 + ], + "orientation": [ + 0.8862260580062866, + 0.1236225962638855, + 0.44449788331985474, + 0.04174443706870079 + ], + "joints": [ + -0.01076600607484579 + ] + }, + "final_grasp": { + "position": [ + 0.015049353241920471, + -0.11186143755912781, + -0.014850115403532982 + ], + "orientation": [ + 0.8862260580062866, + 0.1236225962638855, + 0.44449788331985474, + 0.04174443706870079 + ], + "joints": [ + -0.003857804462313652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04590383172035217, + -0.1055152490735054, + -0.023500310257077217 + ], + "orientation": [ + 0.2792610228061676, + -0.14394579827785492, + -0.9468886256217957, + -0.06851892173290253 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.04701061546802521, + -0.10760004073381424, + -0.024205083027482033 + ], + "orientation": [ + 0.28608188033103943, + -0.1384478360414505, + -0.9461836218833923, + -0.06104056537151337 + ], + "joints": [ + -0.010486028157174587 + ] + }, + "final_grasp": { + "position": [ + -0.04701061546802521, + -0.10760004073381424, + -0.024205083027482033 + ], + "orientation": [ + 0.28608188033103943, + -0.1384478360414505, + -0.9461836218833923, + -0.06104056537151337 + ], + "joints": [ + -0.004534346982836723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022630829364061356, + -0.10455413907766342, + -0.046988315880298615 + ], + "orientation": [ + 0.008027615025639534, + -0.1033947542309761, + -0.9872239828109741, + -0.12097048759460449 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.024022215977311134, + -0.10638990253210068, + -0.04809396341443062 + ], + "orientation": [ + 0.00716279074549675, + -0.10559923201799393, + -0.9877781867980957, + -0.11441885679960251 + ], + "joints": [ + -0.011074834503233433 + ] + }, + "final_grasp": { + "position": [ + -0.024022215977311134, + -0.10638990253210068, + -0.04809396341443062 + ], + "orientation": [ + 0.00716279074549675, + -0.10559923201799393, + -0.9877781867980957, + -0.11441885679960251 + ], + "joints": [ + -0.00512315146625042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014154444448649883, + -0.11547578126192093, + -0.016053305938839912 + ], + "orientation": [ + 0.889798104763031, + 0.11080557107925415, + 0.4405377507209778, + 0.043680589646101 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.015123768709599972, + -0.1119018942117691, + -0.01460198499262333 + ], + "orientation": [ + 0.88681960105896, + 0.12378721684217453, + 0.44333013892173767, + 0.04106193035840988 + ], + "joints": [ + -0.010315713472664356 + ] + }, + "final_grasp": { + "position": [ + 0.015123768709599972, + -0.1119018942117691, + -0.01460198499262333 + ], + "orientation": [ + 0.88681960105896, + 0.12378721684217453, + 0.44333013892173767, + 0.04106193035840988 + ], + "joints": [ + -0.0023978520184755325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011213705874979496, + -0.10728863626718521, + 0.04014427214860916 + ], + "orientation": [ + 0.2914474308490753, + -0.03573580086231232, + 0.9506222009658813, + -0.10049248486757278 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.008890143595635891, + -0.10841982066631317, + 0.0429796539247036 + ], + "orientation": [ + 0.2902910113334656, + -0.05121495574712753, + 0.9512308835983276, + -0.09092815220355988 + ], + "joints": [ + -0.010630282573401928 + ] + }, + "final_grasp": { + "position": [ + -0.008890143595635891, + -0.10841982066631317, + 0.0429796539247036 + ], + "orientation": [ + 0.2902910113334656, + -0.05121495574712753, + 0.9512308835983276, + -0.09092815220355988 + ], + "joints": [ + -0.0036157984286546707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010387720540165901, + 0.11388365924358368, + 0.018964087590575218 + ], + "orientation": [ + 0.03646502643823624, + -0.6937533617019653, + 0.08590691536664963, + -0.7141404747962952 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.011090584099292755, + 0.11961569637060165, + 0.020330017432570457 + ], + "orientation": [ + 0.024505920708179474, + -0.6904451847076416, + 0.09658485651016235, + -0.7164888978004456 + ], + "joints": [ + -0.012819691561162472 + ] + }, + "final_grasp": { + "position": [ + -0.011090584099292755, + 0.11961569637060165, + 0.020330017432570457 + ], + "orientation": [ + 0.024505920708179474, + -0.6904451847076416, + 0.09658485651016235, + -0.7164888978004456 + ], + "joints": [ + -0.0065225958824157715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010413289070129395, + 0.11405128985643387, + 0.018933305516839027 + ], + "orientation": [ + 0.03594471886754036, + -0.6937451958656311, + 0.08617175370454788, + -0.7141427397727966 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.011103900149464607, + 0.11974184215068817, + 0.020326443016529083 + ], + "orientation": [ + 0.024403467774391174, + -0.6902883052825928, + 0.09680578857660294, + -0.7166138291358948 + ], + "joints": [ + -0.012790250591933727 + ] + }, + "final_grasp": { + "position": [ + -0.011103900149464607, + 0.11974184215068817, + 0.020326443016529083 + ], + "orientation": [ + 0.024403467774391174, + -0.6902883052825928, + 0.09680578857660294, + -0.7166138291358948 + ], + "joints": [ + -0.006493154913187027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009898570366203785, + 0.11066041886806488, + 0.02935817837715149 + ], + "orientation": [ + 0.084396131336689, + -0.18469968438148499, + 0.04232058301568031, + -0.9782495498657227 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.01060544140636921, + 0.11140967905521393, + 0.03183063864707947 + ], + "orientation": [ + 0.08802726864814758, + -0.1694754660129547, + 0.029177449643611908, + -0.9811614751815796 + ], + "joints": [ + -0.011161682195961475 + ] + }, + "final_grasp": { + "position": [ + -0.01060544140636921, + 0.11140967905521393, + 0.03183063864707947 + ], + "orientation": [ + 0.08802726864814758, + -0.1694754660129547, + 0.029177449643611908, + -0.9811614751815796 + ], + "joints": [ + -0.0046785976737737656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005776377860456705, + -0.11104419082403183, + 0.01837976463139057 + ], + "orientation": [ + 0.9047307968139648, + -0.15738971531391144, + -0.3955555558204651, + 0.015051140449941158 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.006612320430576801, + -0.11596650630235672, + 0.018105236813426018 + ], + "orientation": [ + 0.9029752016067505, + -0.1650235801935196, + -0.396599680185318, + 0.01056985929608345 + ], + "joints": [ + -0.012943270616233349 + ] + }, + "final_grasp": { + "position": [ + 0.006612320430576801, + -0.11596650630235672, + 0.018105236813426018 + ], + "orientation": [ + 0.9029752016067505, + -0.1650235801935196, + -0.396599680185318, + 0.01056985929608345 + ], + "joints": [ + -0.007682407274842262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04141684249043465, + -0.1114511787891388, + -0.03590570017695427 + ], + "orientation": [ + 0.91281658411026, + 0.11697270721197128, + -0.3856557309627533, + 0.06597663462162018 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.03994038701057434, + -0.11048074066638947, + -0.038661614060401917 + ], + "orientation": [ + 0.9105319380760193, + 0.11267362534999847, + -0.39438679814338684, + 0.051916394382715225 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.03994038701057434, + -0.11048074066638947, + -0.038661614060401917 + ], + "orientation": [ + 0.9105319380760193, + 0.11267362534999847, + -0.39438679814338684, + 0.051916394382715225 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04144611954689026, + -0.11119694262742996, + -0.035772863775491714 + ], + "orientation": [ + 0.9129475355148315, + 0.11620940268039703, + -0.3855431079864502, + 0.06617176532745361 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.039982717484235764, + -0.11050809174776077, + -0.03855883330106735 + ], + "orientation": [ + 0.9105890393257141, + 0.11219607293605804, + -0.39436134696006775, + 0.0521424375474453 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.039982717484235764, + -0.11050809174776077, + -0.03855883330106735 + ], + "orientation": [ + 0.9105890393257141, + 0.11219607293605804, + -0.39436134696006775, + 0.0521424375474453 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03651025518774986, + 0.10248458385467529, + 0.04246881604194641 + ], + "orientation": [ + 0.1633482128381729, + -0.8692921996116638, + 0.0033774792682379484, + 0.46651583909988403 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.036090951412916183, + 0.10353050380945206, + 0.04563090205192566 + ], + "orientation": [ + 0.1594935804605484, + -0.8746441602706909, + -0.004496995359659195, + 0.457754522562027 + ], + "joints": [ + -0.01057287584990263 + ] + }, + "final_grasp": { + "position": [ + 0.036090951412916183, + 0.10353050380945206, + 0.04563090205192566 + ], + "orientation": [ + 0.1594935804605484, + -0.8746441602706909, + -0.004496995359659195, + 0.457754522562027 + ], + "joints": [ + -0.004089793190360069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0037251701578497887, + 0.1105254516005516, + -0.03455149009823799 + ], + "orientation": [ + 0.06103527545928955, + 0.9027467966079712, + -0.0907980352640152, + -0.416027307510376 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.004267216194421053, + 0.11180620640516281, + -0.0364694818854332 + ], + "orientation": [ + 0.050117697566747665, + 0.9079460501670837, + -0.09486069530248642, + -0.40512192249298096 + ], + "joints": [ + -0.010010640136897564 + ] + }, + "final_grasp": { + "position": [ + -0.004267216194421053, + 0.11180620640516281, + -0.0364694818854332 + ], + "orientation": [ + 0.050117697566747665, + 0.9079460501670837, + -0.09486069530248642, + -0.40512192249298096 + ], + "joints": [ + -0.003554129973053932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016018254682421684, + -0.10977090895175934, + -0.022662712261080742 + ], + "orientation": [ + 0.9642571210861206, + -0.02472345344722271, + -0.23458270728588104, + -0.12069778889417648 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.016612999141216278, + -0.11261706799268723, + -0.022377358749508858 + ], + "orientation": [ + 0.9642854928970337, + -0.026852939277887344, + -0.2345295399427414, + -0.12011826783418655 + ], + "joints": [ + -0.010458063334226608 + ] + }, + "final_grasp": { + "position": [ + -0.016612999141216278, + -0.11261706799268723, + -0.022377358749508858 + ], + "orientation": [ + 0.9642854928970337, + -0.026852939277887344, + -0.2345295399427414, + -0.12011826783418655 + ], + "joints": [ + -0.005037784576416016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0036706936080008745, + -0.11032182723283768, + -0.042053982615470886 + ], + "orientation": [ + 0.18341811001300812, + 0.03927726298570633, + -0.9786246418952942, + -0.08431480824947357 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.004014731850475073, + -0.11574961245059967, + -0.04359116777777672 + ], + "orientation": [ + 0.18301093578338623, + 0.04102000966668129, + -0.9788047075271606, + -0.08225435763597488 + ], + "joints": [ + -0.012913829647004604 + ] + }, + "final_grasp": { + "position": [ + -0.004014731850475073, + -0.11574961245059967, + -0.04359116777777672 + ], + "orientation": [ + 0.18301093578338623, + 0.04102000966668129, + -0.9788047075271606, + -0.08225435763597488 + ], + "joints": [ + -0.007652966305613518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02230081893503666, + -0.10932859033346176, + 0.03189711645245552 + ], + "orientation": [ + 0.5429390072822571, + -0.04593357443809509, + 0.8326113820075989, + -0.09932668507099152 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.02273336425423622, + -0.11011718958616257, + 0.03426433354616165 + ], + "orientation": [ + 0.5316599011421204, + -0.05354105681180954, + 0.8403775691986084, + -0.09075574576854706 + ], + "joints": [ + -0.01057287584990263 + ] + }, + "final_grasp": { + "position": [ + -0.02273336425423622, + -0.11011718958616257, + 0.03426433354616165 + ], + "orientation": [ + 0.5316599011421204, + -0.05354105681180954, + 0.8403775691986084, + -0.09075574576854706 + ], + "joints": [ + -0.004089793190360069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047677356749773026, + -0.11317652463912964, + 0.036080799996852875 + ], + "orientation": [ + 0.9382649660110474, + -0.11965711414813995, + -0.3027621805667877, + -0.11694546788930893 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.04844491556286812, + -0.11306542158126831, + 0.03650578483939171 + ], + "orientation": [ + 0.9413631558418274, + -0.10969681292772293, + -0.2969004511833191, + -0.1168423667550087 + ], + "joints": [ + -0.010259701870381832 + ] + }, + "final_grasp": { + "position": [ + -0.04844491556286812, + -0.11306542158126831, + 0.03650578483939171 + ], + "orientation": [ + 0.9413631558418274, + -0.10969681292772293, + -0.2969004511833191, + -0.1168423667550087 + ], + "joints": [ + -0.002315269783139229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04761051759123802, + -0.11302682757377625, + 0.03605593368411064 + ], + "orientation": [ + 0.9382590055465698, + -0.11937862634658813, + -0.3029659688472748, + -0.11674924194812775 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.04840927571058273, + -0.11309000104665756, + 0.036482635885477066 + ], + "orientation": [ + 0.9414101243019104, + -0.10942788422107697, + -0.29691770672798157, + -0.11667218804359436 + ], + "joints": [ + -0.010259701870381832 + ] + }, + "final_grasp": { + "position": [ + -0.04840927571058273, + -0.11309000104665756, + 0.036482635885477066 + ], + "orientation": [ + 0.9414101243019104, + -0.10942788422107697, + -0.29691770672798157, + -0.11667218804359436 + ], + "joints": [ + -0.002315269783139229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047728996723890305, + -0.11339321732521057, + 0.036022163927555084 + ], + "orientation": [ + 0.9382293224334717, + -0.11963129788637161, + -0.3028329908847809, + -0.11707372218370438 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.04835106059908867, + -0.11305118352174759, + 0.03655243664979935 + ], + "orientation": [ + 0.9411182999610901, + -0.11018887907266617, + -0.2976788878440857, + -0.11636993288993835 + ], + "joints": [ + -0.010259701870381832 + ] + }, + "final_grasp": { + "position": [ + -0.04835106059908867, + -0.11305118352174759, + 0.03655243664979935 + ], + "orientation": [ + 0.9411182999610901, + -0.11018887907266617, + -0.2976788878440857, + -0.11636993288993835 + ], + "joints": [ + -0.002315269783139229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021088238805532455, + 0.10975854843854904, + -0.029804036021232605 + ], + "orientation": [ + 0.1405283808708191, + 0.20770911872386932, + 0.014919823966920376, + 0.9679287672042847 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.020482322201132774, + 0.11271309852600098, + -0.030592212453484535 + ], + "orientation": [ + 0.13855667412281036, + 0.20550189912319183, + 0.00818796455860138, + 0.9687641859054565 + ], + "joints": [ + -0.00995323434472084 + ] + }, + "final_grasp": { + "position": [ + 0.020482322201132774, + 0.11271309852600098, + -0.030592212453484535 + ], + "orientation": [ + 0.13855667412281036, + 0.20550189912319183, + 0.00818796455860138, + 0.9687641859054565 + ], + "joints": [ + -0.00402812659740448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015958208590745926, + -0.1098131388425827, + -0.022538388147950172 + ], + "orientation": [ + 0.9651781320571899, + -0.0236491896212101, + -0.2315065860748291, + -0.11948443949222565 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.01655583083629608, + -0.11264067888259888, + -0.022355562075972557 + ], + "orientation": [ + 0.9652732014656067, + -0.02623630501329899, + -0.23100559413433075, + -0.11914579570293427 + ], + "joints": [ + -0.010458063334226608 + ] + }, + "final_grasp": { + "position": [ + -0.01655583083629608, + -0.11264067888259888, + -0.022355562075972557 + ], + "orientation": [ + 0.9652732014656067, + -0.02623630501329899, + -0.23100559413433075, + -0.11914579570293427 + ], + "joints": [ + -0.005037784576416016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04598342627286911, + 0.10752994567155838, + -0.007654841989278793 + ], + "orientation": [ + 0.05297260358929634, + -0.7235643267631531, + 0.11714303493499756, + 0.6781784892082214 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.04871292784810066, + 0.11292795091867447, + -0.00799086969345808 + ], + "orientation": [ + 0.03708212077617645, + -0.722370982170105, + 0.10456337034702301, + 0.682547926902771 + ], + "joints": [ + -0.013561517000198364 + ] + }, + "final_grasp": { + "position": [ + 0.04871292784810066, + 0.11292795091867447, + -0.00799086969345808 + ], + "orientation": [ + 0.03708212077617645, + -0.722370982170105, + 0.10456337034702301, + 0.682547926902771 + ], + "joints": [ + -0.008300650864839554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010476402938365936, + 0.11394993215799332, + 0.01899433135986328 + ], + "orientation": [ + 0.036157868802547455, + -0.694106936454773, + 0.08631971478462219, + -0.7137625813484192 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.011179966852068901, + 0.11966466158628464, + 0.02039424329996109 + ], + "orientation": [ + 0.024320032447576523, + -0.6907141208648682, + 0.09731382876634598, + -0.7161372900009155 + ], + "joints": [ + -0.012790250591933727 + ] + }, + "final_grasp": { + "position": [ + -0.011179966852068901, + 0.11966466158628464, + 0.02039424329996109 + ], + "orientation": [ + 0.024320032447576523, + -0.6907141208648682, + 0.09731382876634598, + -0.7161372900009155 + ], + "joints": [ + -0.006493154913187027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010490692220628262, + 0.11384815722703934, + 0.018944567069411278 + ], + "orientation": [ + 0.0354616716504097, + -0.694304883480072, + 0.08658356219530106, + -0.7135730385780334 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.011175249703228474, + 0.11955361813306808, + 0.020319396629929543 + ], + "orientation": [ + 0.023318255320191383, + -0.6908502578735352, + 0.09801316261291504, + -0.7159438133239746 + ], + "joints": [ + -0.012790250591933727 + ] + }, + "final_grasp": { + "position": [ + -0.011175249703228474, + 0.11955361813306808, + 0.020319396629929543 + ], + "orientation": [ + 0.023318255320191383, + -0.6908502578735352, + 0.09801316261291504, + -0.7159438133239746 + ], + "joints": [ + -0.006493154913187027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040510278195142746, + -0.12265635281801224, + 0.02083565667271614 + ], + "orientation": [ + 0.8643667101860046, + -0.076069675385952, + -0.4936235249042511, + -0.05847490578889847 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.041101906448602676, + -0.12272695451974869, + 0.02099941484630108 + ], + "orientation": [ + 0.865634024143219, + -0.07319991290569305, + -0.4921213984489441, + -0.056002043187618256 + ], + "joints": [ + -0.010231736116111279 + ] + }, + "final_grasp": { + "position": [ + -0.041101906448602676, + -0.12272695451974869, + 0.02099941484630108 + ], + "orientation": [ + 0.865634024143219, + -0.07319991290569305, + -0.4921213984489441, + -0.056002043187618256 + ], + "joints": [ + -0.002818705514073372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00011183958849869668, + -0.01475575566291809, + -0.1402144879102707 + ], + "orientation": [ + 0.5475636720657349, + 0.5577088594436646, + -0.5068302154541016, + -0.3636727035045624 + ], + "joints": [ + 0.008477460592985153 + ] + }, + "fine_grasp": { + "position": [ + -0.0012594967847689986, + -0.014882675372064114, + -0.13480719923973083 + ], + "orientation": [ + 0.5436944365501404, + 0.5623265504837036, + -0.509592592716217, + -0.35846996307373047 + ], + "joints": [ + 0.01490739919245243 + ] + }, + "final_grasp": { + "position": [ + -0.0012594967847689986, + -0.014882675372064114, + -0.13480719923973083 + ], + "orientation": [ + 0.5436944365501404, + 0.5623265504837036, + -0.509592592716217, + -0.35846996307373047 + ], + "joints": [ + 0.021337337791919708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10882735997438431, + -0.0046793329529464245, + 0.11146519333124161 + ], + "orientation": [ + 0.6279133558273315, + -0.22790709137916565, + -0.35503965616226196, + 0.6540106534957886 + ], + "joints": [ + 0.010098181664943695 + ] + }, + "fine_grasp": { + "position": [ + 0.10752307623624802, + -0.004834927152842283, + 0.10993489623069763 + ], + "orientation": [ + 0.6193397045135498, + -0.20440353453159332, + -0.3699924051761627, + 0.6616215705871582 + ], + "joints": [ + 0.015438750386238098 + ] + }, + "final_grasp": { + "position": [ + 0.10752307623624802, + -0.004834927152842283, + 0.10993489623069763 + ], + "orientation": [ + 0.6193397045135498, + -0.20440353453159332, + -0.3699924051761627, + 0.6616215705871582 + ], + "joints": [ + 0.0207793191075325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1090502142906189, + -0.005538861267268658, + 0.11138761043548584 + ], + "orientation": [ + 0.631198525428772, + -0.22851718962192535, + -0.3536456227302551, + 0.651385486125946 + ], + "joints": [ + 0.010128524154424667 + ] + }, + "fine_grasp": { + "position": [ + 0.10685452818870544, + -0.005671350285410881, + 0.110195092856884 + ], + "orientation": [ + 0.6227354407310486, + -0.20409847795963287, + -0.3668980300426483, + 0.660250186920166 + ], + "joints": [ + 0.01546909287571907 + ] + }, + "final_grasp": { + "position": [ + 0.10685452818870544, + -0.005671350285410881, + 0.110195092856884 + ], + "orientation": [ + 0.6227354407310486, + -0.20409847795963287, + -0.3668980300426483, + 0.660250186920166 + ], + "joints": [ + 0.020809661597013474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03353926166892052, + -0.11015526950359344, + -0.01675564795732498 + ], + "orientation": [ + 0.04143413156270981, + 0.15611596405506134, + 0.9866535067558289, + -0.0206366665661335 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.03347836807370186, + -0.11287858337163925, + -0.017783615738153458 + ], + "orientation": [ + 0.04200785234570503, + 0.15282808244228363, + 0.9868804216384888, + -0.030754638835787773 + ], + "joints": [ + -0.00998119916766882 + ] + }, + "final_grasp": { + "position": [ + -0.03347836807370186, + -0.11287858337163925, + -0.017783615738153458 + ], + "orientation": [ + 0.04200785234570503, + 0.15282808244228363, + 0.9868804216384888, + -0.030754638835787773 + ], + "joints": [ + -0.0035246890038251877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002093432005494833, + 0.11263065785169601, + -0.019916735589504242 + ], + "orientation": [ + 0.04259476810693741, + 0.17089378833770752, + 0.014783970080316067, + -0.9842572212219238 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.002002150285989046, + 0.11821074783802032, + -0.02134319208562374 + ], + "orientation": [ + 0.04602935537695885, + 0.1683046519756317, + 0.026046188548207283, + -0.9843152165412903 + ], + "joints": [ + -0.012943270616233349 + ] + }, + "final_grasp": { + "position": [ + -0.002002150285989046, + 0.11821074783802032, + -0.02134319208562374 + ], + "orientation": [ + 0.04602935537695885, + 0.1683046519756317, + 0.026046188548207283, + -0.9843152165412903 + ], + "joints": [ + -0.007682407274842262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12884213030338287, + 0.0011399623472243547, + 0.07327307015657425 + ], + "orientation": [ + 0.20113223791122437, + -0.6968261003494263, + 0.6746429204940796, + -0.13724514842033386 + ], + "joints": [ + 0.00945538841187954 + ] + }, + "fine_grasp": { + "position": [ + 0.12915247678756714, + 0.0019482421921566129, + 0.07409735023975372 + ], + "orientation": [ + 0.2208157181739807, + -0.7004745602607727, + 0.667561948299408, + -0.12221700698137283 + ], + "joints": [ + 0.01532735489308834 + ] + }, + "final_grasp": { + "position": [ + 0.12915247678756714, + 0.0019482421921566129, + 0.07409735023975372 + ], + "orientation": [ + 0.2208157181739807, + -0.7004745602607727, + 0.667561948299408, + -0.12221700698137283 + ], + "joints": [ + 0.021199321374297142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05570713430643082, + 0.01275103259831667, + -0.13611140847206116 + ], + "orientation": [ + 0.458077073097229, + 0.6212749481201172, + -0.49310535192489624, + -0.4012852907180786 + ], + "joints": [ + 0.009644925594329834 + ] + }, + "fine_grasp": { + "position": [ + 0.054827384650707245, + 0.012554611079394817, + -0.1366637498140335 + ], + "orientation": [ + 0.4595130980014801, + 0.6293008923530579, + -0.49200910329818726, + -0.3882719874382019 + ], + "joints": [ + 0.015543466433882713 + ] + }, + "final_grasp": { + "position": [ + 0.054827384650707245, + 0.012554611079394817, + -0.1366637498140335 + ], + "orientation": [ + 0.4595130980014801, + 0.6293008923530579, + -0.49200910329818726, + -0.3882719874382019 + ], + "joints": [ + 0.021442007273435593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03649817407131195, + 0.011288061738014221, + -0.13679537177085876 + ], + "orientation": [ + 0.33054277300834656, + 0.5906314849853516, + 0.589664101600647, + 0.4406723380088806 + ], + "joints": [ + 0.009113343432545662 + ] + }, + "fine_grasp": { + "position": [ + -0.035933591425418854, + 0.011779033578932285, + -0.13635839521884918 + ], + "orientation": [ + 0.3254300057888031, + 0.5866554379463196, + 0.5909925699234009, + 0.4479491412639618 + ], + "joints": [ + 0.01551671139895916 + ] + }, + "final_grasp": { + "position": [ + -0.035933591425418854, + 0.011779033578932285, + -0.13635839521884918 + ], + "orientation": [ + 0.3254300057888031, + 0.5866554379463196, + 0.5909925699234009, + 0.4479491412639618 + ], + "joints": [ + 0.021920079365372658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07003146409988403, + 0.003136452054604888, + -0.1310565173625946 + ], + "orientation": [ + 0.3330923318862915, + 0.5548902153968811, + 0.612413227558136, + 0.4539783000946045 + ], + "joints": [ + 0.008801335468888283 + ] + }, + "fine_grasp": { + "position": [ + -0.06838309019804001, + 0.0030536975245922804, + -0.1322021186351776 + ], + "orientation": [ + 0.320380300283432, + 0.5443108081817627, + 0.6191053986549377, + 0.4666804373264313 + ], + "joints": [ + 0.014699872583150864 + ] + }, + "final_grasp": { + "position": [ + -0.06838309019804001, + 0.0030536975245922804, + -0.1322021186351776 + ], + "orientation": [ + 0.320380300283432, + 0.5443108081817627, + 0.6191053986549377, + 0.4666804373264313 + ], + "joints": [ + 0.020598409697413445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05573661997914314, + 0.010870289988815784, + -0.13947398960590363 + ], + "orientation": [ + 0.45967233180999756, + 0.6223310828208923, + -0.5003057718276978, + -0.388714998960495 + ], + "joints": [ + 0.008900541812181473 + ] + }, + "fine_grasp": { + "position": [ + 0.05467608571052551, + 0.01091902144253254, + -0.13871340453624725 + ], + "orientation": [ + 0.46506038308143616, + 0.632598876953125, + -0.49264782667160034, + -0.37528088688850403 + ], + "joints": [ + 0.01533048041164875 + ] + }, + "final_grasp": { + "position": [ + 0.05467608571052551, + 0.01091902144253254, + -0.13871340453624725 + ], + "orientation": [ + 0.46506038308143616, + 0.632598876953125, + -0.49264782667160034, + -0.37528088688850403 + ], + "joints": [ + 0.021760419011116028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030317159369587898, + -0.004178644623607397, + 0.14498606324195862 + ], + "orientation": [ + 0.3970789611339569, + -0.5089995265007019, + 0.5992854833602905, + -0.4733968675136566 + ], + "joints": [ + 0.007921665906906128 + ] + }, + "fine_grasp": { + "position": [ + 0.030437437817454338, + -0.004553978331387043, + 0.14546726644039154 + ], + "orientation": [ + 0.3899215757846832, + -0.5021517872810364, + 0.6058135032653809, + -0.4783249795436859 + ], + "joints": [ + 0.014325032010674477 + ] + }, + "final_grasp": { + "position": [ + 0.030437437817454338, + -0.004553978331387043, + 0.14546726644039154 + ], + "orientation": [ + 0.3899215757846832, + -0.5021517872810364, + 0.6058135032653809, + -0.4783249795436859 + ], + "joints": [ + 0.020728398114442825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12927156686782837, + -0.0012464078608900309, + 0.0734025165438652 + ], + "orientation": [ + 0.20386238396167755, + -0.69101482629776, + 0.680467426776886, + -0.13380125164985657 + ], + "joints": [ + 0.00942973792552948 + ] + }, + "fine_grasp": { + "position": [ + 0.1300196498632431, + -0.0017301044426858425, + 0.07410364598035812 + ], + "orientation": [ + 0.224688321352005, + -0.692111074924469, + 0.6761088967323303, + -0.1156463474035263 + ], + "joints": [ + 0.015301704406738281 + ] + }, + "final_grasp": { + "position": [ + 0.1300196498632431, + -0.0017301044426858425, + 0.07410364598035812 + ], + "orientation": [ + 0.224688321352005, + -0.692111074924469, + 0.6761088967323303, + -0.1156463474035263 + ], + "joints": [ + 0.021173670887947083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08925767987966537, + 0.001049073413014412, + 0.1211833581328392 + ], + "orientation": [ + 0.596076250076294, + -0.2314477115869522, + 0.37654659152030945, + -0.6703266501426697 + ], + "joints": [ + 0.007481792941689491 + ] + }, + "fine_grasp": { + "position": [ + -0.09089000523090363, + -0.0001862748176790774, + 0.12242577224969864 + ], + "orientation": [ + 0.5940278768539429, + -0.2204694300889969, + 0.382681667804718, + -0.6723681092262268 + ], + "joints": [ + 0.013353759422898293 + ] + }, + "final_grasp": { + "position": [ + -0.09089000523090363, + -0.0001862748176790774, + 0.12242577224969864 + ], + "orientation": [ + 0.5940278768539429, + -0.2204694300889969, + 0.382681667804718, + -0.6723681092262268 + ], + "joints": [ + 0.019225725904107094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025008639320731163, + 0.10873564332723618, + 0.04874054715037346 + ], + "orientation": [ + 0.1358610987663269, + -0.9484357833862305, + -0.01142336055636406, + -0.2861480712890625 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.02780962362885475, + 0.1105986088514328, + 0.04915226250886917 + ], + "orientation": [ + 0.1223735511302948, + -0.9542464017868042, + -0.018787281587719917, + -0.2721866965293884 + ], + "joints": [ + -0.011853900738060474 + ] + }, + "final_grasp": { + "position": [ + -0.02780962362885475, + 0.1105986088514328, + 0.04915226250886917 + ], + "orientation": [ + 0.1223735511302948, + -0.9542464017868042, + -0.018787281587719917, + -0.2721866965293884 + ], + "joints": [ + -0.005503667518496513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0893644392490387, + 0.001112698926590383, + 0.12204375118017197 + ], + "orientation": [ + 0.5947492718696594, + -0.23002813756465912, + 0.37807831168174744, + -0.6711311936378479 + ], + "joints": [ + 0.007465573959052563 + ] + }, + "fine_grasp": { + "position": [ + -0.09067775309085846, + -0.00016763924213591963, + 0.1227557435631752 + ], + "orientation": [ + 0.591597318649292, + -0.21813592314720154, + 0.38611939549446106, + -0.6733061671257019 + ], + "joints": [ + 0.013337540440261364 + ] + }, + "final_grasp": { + "position": [ + -0.09067775309085846, + -0.00016763924213591963, + 0.1227557435631752 + ], + "orientation": [ + 0.591597318649292, + -0.21813592314720154, + 0.38611939549446106, + -0.6733061671257019 + ], + "joints": [ + 0.01920950785279274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018865246325731277, + -0.11527610570192337, + 0.01396573893725872 + ], + "orientation": [ + 0.13599282503128052, + -0.10505660623311996, + -0.9836145043373108, + -0.05451285466551781 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.020464768633246422, + -0.11981216073036194, + 0.014675786718726158 + ], + "orientation": [ + 0.14042538404464722, + -0.10290586203336716, + -0.9830107688903809, + -0.05814443901181221 + ], + "joints": [ + -0.011318235658109188 + ] + }, + "final_grasp": { + "position": [ + -0.020464768633246422, + -0.11981216073036194, + 0.014675786718726158 + ], + "orientation": [ + 0.14042538404464722, + -0.10290586203336716, + -0.9830107688903809, + -0.05814443901181221 + ], + "joints": [ + -0.0050211455672979355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004253162536770105, + -0.10375691950321198, + -0.04729733616113663 + ], + "orientation": [ + 0.26998358964920044, + 0.08214092999696732, + 0.955493152141571, + 0.08599134534597397 + ], + "joints": [ + -0.01493624784052372 + ] + }, + "fine_grasp": { + "position": [ + 0.0030639884062111378, + -0.10848542302846909, + -0.04770718887448311 + ], + "orientation": [ + 0.26751992106437683, + 0.07849597185850143, + 0.9560527205467224, + 0.09074506908655167 + ], + "joints": [ + -0.008958001621067524 + ] + }, + "final_grasp": { + "position": [ + 0.0030639884062111378, + -0.10848542302846909, + -0.04770718887448311 + ], + "orientation": [ + 0.26751992106437683, + 0.07849597185850143, + 0.9560527205467224, + 0.09074506908655167 + ], + "joints": [ + -0.002979755401611328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13579361140727997, + 0.001708179130218923, + 0.048404511064291 + ], + "orientation": [ + 0.15627790987491608, + -0.7084587216377258, + 0.6847789883613586, + -0.06885713338851929 + ], + "joints": [ + 0.008285542950034142 + ] + }, + "fine_grasp": { + "position": [ + 0.13647353649139404, + 0.002026581671088934, + 0.049071427434682846 + ], + "orientation": [ + 0.17874909937381744, + -0.7102696895599365, + 0.6784569025039673, + -0.0571133978664875 + ], + "joints": [ + 0.014184080064296722 + ] + }, + "final_grasp": { + "position": [ + 0.13647353649139404, + 0.002026581671088934, + 0.049071427434682846 + ], + "orientation": [ + 0.17874909937381744, + -0.7102696895599365, + 0.6784569025039673, + -0.0571133978664875 + ], + "joints": [ + 0.020082617178559303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024872807785868645, + 0.1089044138789177, + 0.04921991750597954 + ], + "orientation": [ + 0.13393959403038025, + -0.9488888382911682, + -0.009378593415021896, + -0.28562602400779724 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.027741314843297005, + 0.11045268177986145, + 0.04936426877975464 + ], + "orientation": [ + 0.12199191749095917, + -0.9543843865394592, + -0.01827738620340824, + -0.27190878987312317 + ], + "joints": [ + -0.01182593498378992 + ] + }, + "final_grasp": { + "position": [ + -0.027741314843297005, + 0.11045268177986145, + 0.04936426877975464 + ], + "orientation": [ + 0.12199191749095917, + -0.9543843865394592, + -0.01827738620340824, + -0.27190878987312317 + ], + "joints": [ + -0.006007103249430656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02503983862698078, + 0.10896313935518265, + 0.04918121546506882 + ], + "orientation": [ + 0.1337031126022339, + -0.9491246342658997, + -0.010337168350815773, + -0.2849194407463074 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.027898751199245453, + 0.11037787050008774, + 0.0492677204310894 + ], + "orientation": [ + 0.12145724892616272, + -0.9544140696525574, + -0.018995244055986404, + -0.2719949185848236 + ], + "joints": [ + -0.01182593498378992 + ] + }, + "final_grasp": { + "position": [ + -0.027898751199245453, + 0.11037787050008774, + 0.0492677204310894 + ], + "orientation": [ + 0.12145724892616272, + -0.9544140696525574, + -0.018995244055986404, + -0.2719949185848236 + ], + "joints": [ + -0.006007103249430656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02491864375770092, + 0.10913947969675064, + 0.04915566369891167 + ], + "orientation": [ + 0.13364572823047638, + -0.9487068057060242, + -0.009422043338418007, + -0.2863660454750061 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.027816839516162872, + 0.11050158739089966, + 0.04918583482503891 + ], + "orientation": [ + 0.1214560866355896, + -0.9541346430778503, + -0.01839674450457096, + -0.2730148732662201 + ], + "joints": [ + -0.01182593498378992 + ] + }, + "final_grasp": { + "position": [ + -0.027816839516162872, + 0.11050158739089966, + 0.04918583482503891 + ], + "orientation": [ + 0.1214560866355896, + -0.9541346430778503, + -0.01839674450457096, + -0.2730148732662201 + ], + "joints": [ + -0.006007103249430656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0902305543422699, + 0.011760471388697624, + -0.1160183772444725 + ], + "orientation": [ + 0.27261409163475037, + 0.6050397157669067, + 0.6157062649726868, + 0.4248696267604828 + ], + "joints": [ + 0.008753430098295212 + ] + }, + "fine_grasp": { + "position": [ + -0.08873578161001205, + 0.012485436163842678, + -0.11533892154693604 + ], + "orientation": [ + 0.26165229082107544, + 0.601887047290802, + 0.6177140474319458, + 0.4332428276538849 + ], + "joints": [ + 0.014625396579504013 + ] + }, + "final_grasp": { + "position": [ + -0.08873578161001205, + 0.012485436163842678, + -0.11533892154693604 + ], + "orientation": [ + 0.26165229082107544, + 0.601887047290802, + 0.6177140474319458, + 0.4332428276538849 + ], + "joints": [ + 0.020497363060712814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09009530395269394, + -0.08143679052591324, + -0.06169992312788963 + ], + "orientation": [ + 0.4389023780822754, + -0.16876468062400818, + -0.8161762356758118, + -0.33576738834381104 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.09148488193750381, + -0.08362700045108795, + -0.06302761286497116 + ], + "orientation": [ + 0.4421522617340088, + -0.167470321059227, + -0.8138439655303955, + -0.33780619502067566 + ], + "joints": [ + -0.009613488800823689 + ] + }, + "final_grasp": { + "position": [ + -0.09148488193750381, + -0.08362700045108795, + -0.06302761286497116 + ], + "orientation": [ + 0.4421522617340088, + -0.167470321059227, + -0.8138439655303955, + -0.33780619502067566 + ], + "joints": [ + -0.002200460061430931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14357729256153107, + 0.0025234343484044075, + 0.009916750714182854 + ], + "orientation": [ + 0.6967598795890808, + 0.02387373149394989, + 0.06969689577817917, + -0.7135111689567566 + ], + "joints": [ + 0.008580993860960007 + ] + }, + "fine_grasp": { + "position": [ + -0.14295120537281036, + 0.0029288732912391424, + 0.010869049467146397 + ], + "orientation": [ + 0.6933791041374207, + 0.03988850861787796, + 0.09126321971416473, + -0.7136563658714294 + ], + "joints": [ + 0.014479530975222588 + ] + }, + "final_grasp": { + "position": [ + -0.14295120537281036, + 0.0029288732912391424, + 0.010869049467146397 + ], + "orientation": [ + 0.6933791041374207, + 0.03988850861787796, + 0.09126321971416473, + -0.7136563658714294 + ], + "joints": [ + 0.02037806808948517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0542447492480278, + 0.0023188770283013582, + 0.13217002153396606 + ], + "orientation": [ + 0.5718721747398376, + -0.37308451533317566, + 0.4060463011264801, + -0.6073685884475708 + ], + "joints": [ + 0.008973449468612671 + ] + }, + "fine_grasp": { + "position": [ + -0.05361771583557129, + 0.003149013500660658, + 0.13157811760902405 + ], + "orientation": [ + 0.5572500824928284, + -0.3618324398994446, + 0.4217495024204254, + -0.6169902682304382 + ], + "joints": [ + 0.014845415949821472 + ] + }, + "final_grasp": { + "position": [ + -0.05361771583557129, + 0.003149013500660658, + 0.13157811760902405 + ], + "orientation": [ + 0.5572500824928284, + -0.3618324398994446, + 0.4217495024204254, + -0.6169902682304382 + ], + "joints": [ + 0.020717382431030273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09266447275876999, + -0.0017361625796183944, + -0.10656476020812988 + ], + "orientation": [ + 0.3136730492115021, + 0.646399974822998, + 0.6390276551246643, + 0.27462685108184814 + ], + "joints": [ + 0.008654369041323662 + ] + }, + "fine_grasp": { + "position": [ + -0.0928434431552887, + -0.0023637989070266485, + -0.10597594827413559 + ], + "orientation": [ + 0.3256933391094208, + 0.6521793603897095, + 0.6343374252319336, + 0.2572972774505615 + ], + "joints": [ + 0.014526335522532463 + ] + }, + "final_grasp": { + "position": [ + -0.0928434431552887, + -0.0023637989070266485, + -0.10597594827413559 + ], + "orientation": [ + 0.3256933391094208, + 0.6521793603897095, + 0.6343374252319336, + 0.2572972774505615 + ], + "joints": [ + 0.020398302003741264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13369004428386688, + -0.013959000818431377, + 0.05759217590093613 + ], + "orientation": [ + 0.7217329740524292, + -0.039119914174079895, + -0.1740352213382721, + 0.6687921285629272 + ], + "joints": [ + 0.008809048682451248 + ] + }, + "fine_grasp": { + "position": [ + 0.1309768408536911, + -0.01436648704111576, + 0.05626702681183815 + ], + "orientation": [ + 0.7199847102165222, + -0.03463738039135933, + -0.1836920529603958, + 0.6683409214019775 + ], + "joints": [ + 0.01468101516366005 + ] + }, + "final_grasp": { + "position": [ + 0.1309768408536911, + -0.01436648704111576, + 0.05626702681183815 + ], + "orientation": [ + 0.7199847102165222, + -0.03463738039135933, + -0.1836920529603958, + 0.6683409214019775 + ], + "joints": [ + 0.02055298164486885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13941599428653717, + 0.0017350766574963927, + 0.009064991027116776 + ], + "orientation": [ + 0.7022014856338501, + -0.05587749555706978, + 0.01689078100025654, + 0.709581196308136 + ], + "joints": [ + 0.009065207093954086 + ] + }, + "fine_grasp": { + "position": [ + 0.1399010568857193, + 0.003219378413632512, + 0.008085940964519978 + ], + "orientation": [ + 0.6977170705795288, + -0.07444211840629578, + 0.0394071564078331, + 0.7114044427871704 + ], + "joints": [ + 0.01440577395260334 + ] + }, + "final_grasp": { + "position": [ + 0.1399010568857193, + 0.003219378413632512, + 0.008085940964519978 + ], + "orientation": [ + 0.6977170705795288, + -0.07444211840629578, + 0.0394071564078331, + 0.7114044427871704 + ], + "joints": [ + 0.019746340811252594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13883207738399506, + 0.0020501166582107544, + 0.009379817172884941 + ], + "orientation": [ + 0.7013565897941589, + -0.048376359045505524, + 0.016086595132946968, + 0.7109851241111755 + ], + "joints": [ + 0.009127913042902946 + ] + }, + "fine_grasp": { + "position": [ + 0.1393345147371292, + 0.003656832268461585, + 0.007943487726151943 + ], + "orientation": [ + 0.6966152191162109, + -0.06544270366430283, + 0.03834877535700798, + 0.7134239673614502 + ], + "joints": [ + 0.0144684799015522 + ] + }, + "final_grasp": { + "position": [ + 0.1393345147371292, + 0.003656832268461585, + 0.007943487726151943 + ], + "orientation": [ + 0.6966152191162109, + -0.06544270366430283, + 0.03834877535700798, + 0.7134239673614502 + ], + "joints": [ + 0.019809046760201454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029184190556406975, + 0.12613019347190857, + 0.0013497943291440606 + ], + "orientation": [ + 0.02013893984258175, + 0.6961062550544739, + -0.02009444870054722, + 0.7173749208450317 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.030034810304641724, + 0.12690100073814392, + 0.0006980929174460471 + ], + "orientation": [ + 0.016766734421253204, + 0.6941908597946167, + -0.013826893642544746, + 0.7194628715515137 + ], + "joints": [ + -0.010259701870381832 + ] + }, + "final_grasp": { + "position": [ + 0.030034810304641724, + 0.12690100073814392, + 0.0006980929174460471 + ], + "orientation": [ + 0.016766734421253204, + 0.6941908597946167, + -0.013826893642544746, + 0.7194628715515137 + ], + "joints": [ + -0.002315269783139229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017992325127124786, + -0.0018376390216872096, + 0.13617603480815887 + ], + "orientation": [ + 0.4529016315937042, + -0.5234283208847046, + 0.5501998662948608, + -0.467100590467453 + ], + "joints": [ + 0.00872894935309887 + ] + }, + "fine_grasp": { + "position": [ + 0.018136220052838326, + -0.003832093207165599, + 0.13671153783798218 + ], + "orientation": [ + 0.44699200987815857, + -0.5088277459144592, + 0.5600639581680298, + -0.477096289396286 + ], + "joints": [ + 0.01460091583430767 + ] + }, + "final_grasp": { + "position": [ + 0.018136220052838326, + -0.003832093207165599, + 0.13671153783798218 + ], + "orientation": [ + 0.44699200987815857, + -0.5088277459144592, + 0.5600639581680298, + -0.477096289396286 + ], + "joints": [ + 0.020472882315516472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013761721551418304, + -0.1124500259757042, + -0.03349556028842926 + ], + "orientation": [ + 0.9961642622947693, + 0.03385940566658974, + -0.06770914047956467, + 0.0438840277493 + ], + "joints": [ + -0.0169970765709877 + ] + }, + "fine_grasp": { + "position": [ + 0.013835026882588863, + -0.11787305772304535, + -0.034553006291389465 + ], + "orientation": [ + 0.9960024952888489, + 0.03182457014918327, + -0.06984647363424301, + 0.04568967595696449 + ], + "joints": [ + -0.012241045944392681 + ] + }, + "final_grasp": { + "position": [ + 0.013835026882588863, + -0.11787305772304535, + -0.034553006291389465 + ], + "orientation": [ + 0.9960024952888489, + 0.03182457014918327, + -0.06984647363424301, + 0.04568967595696449 + ], + "joints": [ + -0.007485015317797661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1344369500875473, + -0.0036026048474013805, + -0.0293151643127203 + ], + "orientation": [ + 0.7104211449623108, + 0.03251789137721062, + 0.09122807532548904, + 0.6970808506011963 + ], + "joints": [ + 0.008814670145511627 + ] + }, + "fine_grasp": { + "position": [ + 0.13451382517814636, + -0.004890003241598606, + -0.027279850095510483 + ], + "orientation": [ + 0.7109304666519165, + 0.013424893841147423, + 0.11055957525968552, + 0.6943875551223755 + ], + "joints": [ + 0.014686636626720428 + ] + }, + "final_grasp": { + "position": [ + 0.13451382517814636, + -0.004890003241598606, + -0.027279850095510483 + ], + "orientation": [ + 0.7109304666519165, + 0.013424893841147423, + 0.11055957525968552, + 0.6943875551223755 + ], + "joints": [ + 0.02055860310792923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02988809160888195, + -0.0028209255542606115, + 0.13348442316055298 + ], + "orientation": [ + 0.5246661901473999, + -0.41546040773391724, + -0.4859260320663452, + 0.5621334314346313 + ], + "joints": [ + 0.008803337812423706 + ] + }, + "fine_grasp": { + "position": [ + 0.030140278860926628, + -0.003928488586097956, + 0.13295483589172363 + ], + "orientation": [ + 0.5170547962188721, + -0.40082043409347534, + -0.4977419674396515, + 0.5694296956062317 + ], + "joints": [ + 0.014675304293632507 + ] + }, + "final_grasp": { + "position": [ + 0.030140278860926628, + -0.003928488586097956, + 0.13295483589172363 + ], + "orientation": [ + 0.5170547962188721, + -0.40082043409347534, + -0.4977419674396515, + 0.5694296956062317 + ], + "joints": [ + 0.02054727077484131 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13627800345420837, + 0.002437538467347622, + -0.01729469560086727 + ], + "orientation": [ + 0.10714437067508698, + 0.7129450440406799, + -0.6929526925086975, + 0.00679765734821558 + ], + "joints": [ + 0.008262090384960175 + ] + }, + "fine_grasp": { + "position": [ + 0.13600893318653107, + 0.003362871240824461, + -0.01837349310517311 + ], + "orientation": [ + 0.1264304518699646, + 0.7153648734092712, + -0.6868137121200562, + 0.023566728457808495 + ], + "joints": [ + 0.014134056866168976 + ] + }, + "final_grasp": { + "position": [ + 0.13600893318653107, + 0.003362871240824461, + -0.01837349310517311 + ], + "orientation": [ + 0.1264304518699646, + 0.7153648734092712, + -0.6868137121200562, + 0.023566728457808495 + ], + "joints": [ + 0.020006023347377777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13629138469696045, + 0.002199682407081127, + -0.017578929662704468 + ], + "orientation": [ + 0.10990752279758453, + 0.7123019099235535, + -0.6931663155555725, + 0.00817739125341177 + ], + "joints": [ + 0.00825658068060875 + ] + }, + "fine_grasp": { + "position": [ + 0.1359316110610962, + 0.003144448157399893, + -0.01860797218978405 + ], + "orientation": [ + 0.1294150948524475, + 0.7147868871688843, + -0.6868385076522827, + 0.024169614538550377 + ], + "joints": [ + 0.01412854716181755 + ] + }, + "final_grasp": { + "position": [ + 0.1359316110610962, + 0.003144448157399893, + -0.01860797218978405 + ], + "orientation": [ + 0.1294150948524475, + 0.7147868871688843, + -0.6868385076522827, + 0.024169614538550377 + ], + "joints": [ + 0.020000513643026352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045770518481731415, + 0.014796010218560696, + 0.13984666764736176 + ], + "orientation": [ + 0.4328179657459259, + -0.5830211043357849, + -0.5050174593925476, + 0.4665965437889099 + ], + "joints": [ + 0.009838920086622238 + ] + }, + "fine_grasp": { + "position": [ + -0.04423939436674118, + 0.015411965548992157, + 0.1401675045490265 + ], + "orientation": [ + 0.42970335483551025, + -0.59002286195755, + -0.5057143568992615, + 0.4598707854747772 + ], + "joints": [ + 0.015179486945271492 + ] + }, + "final_grasp": { + "position": [ + -0.04423939436674118, + 0.015411965548992157, + 0.1401675045490265 + ], + "orientation": [ + 0.42970335483551025, + -0.59002286195755, + -0.5057143568992615, + 0.4598707854747772 + ], + "joints": [ + 0.020520053803920746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13606467843055725, + 0.0021583016496151686, + -0.01784866489470005 + ], + "orientation": [ + 0.11024930328130722, + 0.712162435054779, + -0.6932727098464966, + 0.006551879923790693 + ], + "joints": [ + 0.008263638243079185 + ] + }, + "fine_grasp": { + "position": [ + 0.13577213883399963, + 0.003084867959842086, + -0.01886959746479988 + ], + "orientation": [ + 0.129374697804451, + 0.7146856784820557, + -0.6870042085647583, + 0.022622467949986458 + ], + "joints": [ + 0.014135604724287987 + ] + }, + "final_grasp": { + "position": [ + 0.13577213883399963, + 0.003084867959842086, + -0.01886959746479988 + ], + "orientation": [ + 0.129374697804451, + 0.7146856784820557, + -0.6870042085647583, + 0.022622467949986458 + ], + "joints": [ + 0.020007571205496788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09582500159740448, + 0.001330885454080999, + -0.09906469285488129 + ], + "orientation": [ + 0.3277782201766968, + 0.6724631190299988, + 0.6221693754196167, + 0.23078159987926483 + ], + "joints": [ + 0.008349699899554253 + ] + }, + "fine_grasp": { + "position": [ + -0.09583615511655807, + 0.001586924190632999, + -0.10009395331144333 + ], + "orientation": [ + 0.3407289385795593, + 0.6776626110076904, + 0.6141414642333984, + 0.21796193718910217 + ], + "joints": [ + 0.014221666380763054 + ] + }, + "final_grasp": { + "position": [ + -0.09583615511655807, + 0.001586924190632999, + -0.10009395331144333 + ], + "orientation": [ + 0.3407289385795593, + 0.6776626110076904, + 0.6141414642333984, + 0.21796193718910217 + ], + "joints": [ + 0.020093632861971855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09354579448699951, + 0.002662958111613989, + 0.10044555366039276 + ], + "orientation": [ + 0.30687835812568665, + -0.6689419746398926, + -0.6291168332099915, + 0.2501087188720703 + ], + "joints": [ + 0.008741533383727074 + ] + }, + "fine_grasp": { + "position": [ + -0.09315931797027588, + 0.004516568500548601, + 0.1018684133887291 + ], + "orientation": [ + 0.3236801326274872, + -0.6804565787315369, + -0.614906907081604, + 0.23259297013282776 + ], + "joints": [ + 0.014613499864935875 + ] + }, + "final_grasp": { + "position": [ + -0.09315931797027588, + 0.004516568500548601, + 0.1018684133887291 + ], + "orientation": [ + 0.3236801326274872, + -0.6804565787315369, + -0.614906907081604, + 0.23259297013282776 + ], + "joints": [ + 0.020485466346144676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09458417445421219, + 0.002041904954239726, + 0.09912950545549393 + ], + "orientation": [ + 0.6604803204536438, + -0.3226073682308197, + 0.2359294593334198, + -0.6356315612792969 + ], + "joints": [ + 0.008761385455727577 + ] + }, + "fine_grasp": { + "position": [ + -0.09549175202846527, + 0.00210322393104434, + 0.0989452674984932 + ], + "orientation": [ + 0.666430652141571, + -0.33450958132743835, + 0.21859806776046753, + -0.6294348835945129 + ], + "joints": [ + 0.01412852294743061 + ] + }, + "final_grasp": { + "position": [ + -0.09549175202846527, + 0.00210322393104434, + 0.0989452674984932 + ], + "orientation": [ + 0.666430652141571, + -0.33450958132743835, + 0.21859806776046753, + -0.6294348835945129 + ], + "joints": [ + 0.019495660439133644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0944702997803688, + -0.002328505739569664, + 0.09998068958520889 + ], + "orientation": [ + 0.6701874136924744, + -0.3160310983657837, + 0.2455795258283615, + -0.6250311136245728 + ], + "joints": [ + 0.008538773283362389 + ] + }, + "fine_grasp": { + "position": [ + -0.09337650239467621, + -0.002498216927051544, + 0.10039869695901871 + ], + "orientation": [ + 0.6753278970718384, + -0.3346825838088989, + 0.2316039800643921, + -0.6150441765785217 + ], + "joints": [ + 0.01441073976457119 + ] + }, + "final_grasp": { + "position": [ + -0.09337650239467621, + -0.002498216927051544, + 0.10039869695901871 + ], + "orientation": [ + 0.6753278970718384, + -0.3346825838088989, + 0.2316039800643921, + -0.6150441765785217 + ], + "joints": [ + 0.02028270624577999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09475811570882797, + 0.002178627299144864, + 0.09932614862918854 + ], + "orientation": [ + 0.6617202758789062, + -0.325462281703949, + 0.23135749995708466, + -0.6345662474632263 + ], + "joints": [ + 0.008325591683387756 + ] + }, + "fine_grasp": { + "position": [ + -0.09529325366020203, + 0.0020841227378696203, + 0.09832008928060532 + ], + "orientation": [ + 0.6690868139266968, + -0.3411393165588379, + 0.20905886590480804, + -0.6262916922569275 + ], + "joints": [ + 0.014197558164596558 + ] + }, + "final_grasp": { + "position": [ + -0.09529325366020203, + 0.0020841227378696203, + 0.09832008928060532 + ], + "orientation": [ + 0.6690868139266968, + -0.3411393165588379, + 0.20905886590480804, + -0.6262916922569275 + ], + "joints": [ + 0.02006952464580536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10749658942222595, + 0.003530732123181224, + 0.0825604647397995 + ], + "orientation": [ + 0.6436983346939087, + -0.18359020352363586, + -0.2684948742389679, + 0.6927176117897034 + ], + "joints": [ + 0.008463272824883461 + ] + }, + "fine_grasp": { + "position": [ + 0.10651566088199615, + 0.002910119714215398, + 0.08211477845907211 + ], + "orientation": [ + 0.6388817429542542, + -0.1673070192337036, + -0.2865205407142639, + 0.6940780878067017 + ], + "joints": [ + 0.01484006829559803 + ] + }, + "final_grasp": { + "position": [ + 0.10651566088199615, + 0.002910119714215398, + 0.08211477845907211 + ], + "orientation": [ + 0.6388817429542542, + -0.1673070192337036, + -0.2865205407142639, + 0.6940780878067017 + ], + "joints": [ + 0.0212168637663126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09524361044168472, + -0.020129231736063957, + 0.1111396998167038 + ], + "orientation": [ + 0.32463666796684265, + -0.5974870324134827, + 0.6858038902282715, + -0.2594095468521118 + ], + "joints": [ + 0.008128799498081207 + ] + }, + "fine_grasp": { + "position": [ + 0.09561851620674133, + -0.020715631544589996, + 0.10922464728355408 + ], + "orientation": [ + 0.3208262026309967, + -0.5977489948272705, + 0.6882851123809814, + -0.25696367025375366 + ], + "joints": [ + 0.014000765979290009 + ] + }, + "final_grasp": { + "position": [ + 0.09561851620674133, + -0.020715631544589996, + 0.10922464728355408 + ], + "orientation": [ + 0.3208262026309967, + -0.5977489948272705, + 0.6882851123809814, + -0.25696367025375366 + ], + "joints": [ + 0.01987273246049881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026722699403762817, + -0.014688878320157528, + 0.13983693718910217 + ], + "orientation": [ + 0.586688220500946, + -0.37813612818717957, + -0.458082914352417, + 0.550427258014679 + ], + "joints": [ + 0.008671145886182785 + ] + }, + "fine_grasp": { + "position": [ + 0.028586234897375107, + -0.015753569081425667, + 0.13933058083057404 + ], + "orientation": [ + 0.583377480506897, + -0.3825168311595917, + -0.46256065368652344, + 0.5471645593643188 + ], + "joints": [ + 0.015074511989951134 + ] + }, + "final_grasp": { + "position": [ + 0.028586234897375107, + -0.015753569081425667, + 0.13933058083057404 + ], + "orientation": [ + 0.583377480506897, + -0.3825168311595917, + -0.46256065368652344, + 0.5471645593643188 + ], + "joints": [ + 0.021477878093719482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09037983417510986, + -0.01899445615708828, + -0.11500728130340576 + ], + "orientation": [ + 0.3460155129432678, + 0.5897616744041443, + 0.6727049350738525, + 0.282705694437027 + ], + "joints": [ + 0.008203919976949692 + ] + }, + "fine_grasp": { + "position": [ + -0.09204496443271637, + -0.019839564338326454, + -0.11361139267683029 + ], + "orientation": [ + 0.34633636474609375, + 0.5878878235816956, + 0.6732155680656433, + 0.28499066829681396 + ], + "joints": [ + 0.014075886458158493 + ] + }, + "final_grasp": { + "position": [ + -0.09204496443271637, + -0.019839564338326454, + -0.11361139267683029 + ], + "orientation": [ + 0.34633636474609375, + 0.5878878235816956, + 0.6732155680656433, + 0.28499066829681396 + ], + "joints": [ + 0.019947852939367294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0886363759636879, + 0.023289581760764122, + -0.11671643704175949 + ], + "orientation": [ + 0.5740640163421631, + 0.3363410234451294, + -0.2885591983795166, + -0.688519299030304 + ], + "joints": [ + 0.008280813694000244 + ] + }, + "fine_grasp": { + "position": [ + -0.08668823540210724, + 0.023944754153490067, + -0.11552245914936066 + ], + "orientation": [ + 0.5725862979888916, + 0.3356121778488159, + -0.2888360619544983, + -0.68998783826828 + ], + "joints": [ + 0.013621380552649498 + ] + }, + "final_grasp": { + "position": [ + -0.08668823540210724, + 0.023944754153490067, + -0.11552245914936066 + ], + "orientation": [ + 0.5725862979888916, + 0.3356121778488159, + -0.2888360619544983, + -0.68998783826828 + ], + "joints": [ + 0.018961947411298752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026896992698311806, + -0.015366852283477783, + 0.13952182233333588 + ], + "orientation": [ + 0.5884422063827515, + -0.3758420944213867, + -0.45868414640426636, + 0.5496248006820679 + ], + "joints": [ + 0.008589986711740494 + ] + }, + "fine_grasp": { + "position": [ + 0.028512993827462196, + -0.015888797119259834, + 0.13851521909236908 + ], + "orientation": [ + 0.5836084485054016, + -0.3794451951980591, + -0.46326160430908203, + 0.5484625697135925 + ], + "joints": [ + 0.014993352815508842 + ] + }, + "final_grasp": { + "position": [ + 0.028512993827462196, + -0.015888797119259834, + 0.13851521909236908 + ], + "orientation": [ + 0.5836084485054016, + -0.3794451951980591, + -0.46326160430908203, + 0.5484625697135925 + ], + "joints": [ + 0.02139671891927719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012270588427782059, + -0.11222698539495468, + -0.022938735783100128 + ], + "orientation": [ + 0.718330442905426, + 0.035935938358306885, + -0.687035083770752, + -0.10340601205825806 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.01318082120269537, + -0.11229981482028961, + -0.023973625153303146 + ], + "orientation": [ + 0.7227149605751038, + 0.02898573875427246, + -0.681101381778717, + -0.1137712150812149 + ], + "joints": [ + -0.009449799545109272 + ] + }, + "final_grasp": { + "position": [ + 0.01318082120269537, + -0.11229981482028961, + -0.023973625153303146 + ], + "orientation": [ + 0.7227149605751038, + 0.02898573875427246, + -0.681101381778717, + -0.1137712150812149 + ], + "joints": [ + -0.002461889758706093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014776363037526608, + -0.11150102317333221, + -0.02662171795964241 + ], + "orientation": [ + 0.10784334689378738, + 0.09174631536006927, + 0.9899129867553711, + 0.004982259590178728 + ], + "joints": [ + -0.016378827393054962 + ] + }, + "fine_grasp": { + "position": [ + -0.01580541767179966, + -0.11193490773439407, + -0.0282296072691679 + ], + "orientation": [ + 0.10372753441333771, + 0.09592403471469879, + 0.9899531006813049, + -0.00565181951969862 + ], + "joints": [ + -0.009390918537974358 + ] + }, + "final_grasp": { + "position": [ + -0.01580541767179966, + -0.11193490773439407, + -0.0282296072691679 + ], + "orientation": [ + 0.10372753441333771, + 0.09592403471469879, + 0.9899531006813049, + -0.00565181951969862 + ], + "joints": [ + -0.002403009682893753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08096270263195038, + -0.016690416261553764, + 0.12069971859455109 + ], + "orientation": [ + 0.350099116563797, + -0.5712379217147827, + 0.664752721786499, + -0.3304867744445801 + ], + "joints": [ + 0.008237803354859352 + ] + }, + "fine_grasp": { + "position": [ + 0.07896929234266281, + -0.01767870783805847, + 0.12061508744955063 + ], + "orientation": [ + 0.3375854790210724, + -0.570497989654541, + 0.6720933318138123, + -0.32993724942207336 + ], + "joints": [ + 0.014083199203014374 + ] + }, + "final_grasp": { + "position": [ + 0.07896929234266281, + -0.01767870783805847, + 0.12061508744955063 + ], + "orientation": [ + 0.3375854790210724, + -0.570497989654541, + 0.6720933318138123, + -0.32993724942207336 + ], + "joints": [ + 0.019928595051169395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025553647428750992, + -0.015188384801149368, + 0.13901300728321075 + ], + "orientation": [ + 0.5923806428909302, + -0.37015780806541443, + -0.4535275101661682, + 0.5535169839859009 + ], + "joints": [ + 0.009737715125083923 + ] + }, + "fine_grasp": { + "position": [ + 0.026223940774798393, + -0.015218875370919704, + 0.13628380000591278 + ], + "orientation": [ + 0.5879822969436646, + -0.3715258240699768, + -0.4594261050224304, + 0.5524247288703918 + ], + "joints": [ + 0.015104854479432106 + ] + }, + "final_grasp": { + "position": [ + 0.026223940774798393, + -0.015218875370919704, + 0.13628380000591278 + ], + "orientation": [ + 0.5879822969436646, + -0.3715258240699768, + -0.4594261050224304, + 0.5524247288703918 + ], + "joints": [ + 0.02047199383378029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08056540787220001, + -0.020662395283579826, + 0.1217520460486412 + ], + "orientation": [ + 0.38663896918296814, + -0.5490309596061707, + -0.6548073291778564, + 0.3468465209007263 + ], + "joints": [ + 0.009745810180902481 + ] + }, + "fine_grasp": { + "position": [ + -0.07965906709432602, + -0.020947271957993507, + 0.11980941891670227 + ], + "orientation": [ + 0.3920290470123291, + -0.5491859316825867, + -0.650982141494751, + 0.34775036573410034 + ], + "joints": [ + 0.015617778524756432 + ] + }, + "final_grasp": { + "position": [ + -0.07965906709432602, + -0.020947271957993507, + 0.11980941891670227 + ], + "orientation": [ + 0.3920290470123291, + -0.5491859316825867, + -0.650982141494751, + 0.34775036573410034 + ], + "joints": [ + 0.021489746868610382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014430915005505085, + -0.11149384081363678, + -0.026764074340462685 + ], + "orientation": [ + 0.10735539346933365, + 0.09092961251735687, + 0.9900534749031067, + 0.0008020606474019587 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.015492609702050686, + -0.11183895915746689, + -0.028329256922006607 + ], + "orientation": [ + 0.10401055216789246, + 0.09528380632400513, + 0.9899567365646362, + -0.00941535271704197 + ], + "joints": [ + -0.008831554092466831 + ] + }, + "final_grasp": { + "position": [ + -0.015492609702050686, + -0.11183895915746689, + -0.028329256922006607 + ], + "orientation": [ + 0.10401055216789246, + 0.09528380632400513, + 0.9899567365646362, + -0.00941535271704197 + ], + "joints": [ + -0.0018436480313539505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10125402361154556, + -0.009520323947072029, + -0.10379625856876373 + ], + "orientation": [ + 0.6846618056297302, + 0.27843567728996277, + -0.26061707735061646, + -0.6211204528808594 + ], + "joints": [ + 0.008816476911306381 + ] + }, + "fine_grasp": { + "position": [ + -0.10045856982469559, + -0.011122964322566986, + -0.10390587151050568 + ], + "orientation": [ + 0.690769374370575, + 0.2844639718532562, + -0.24932529032230377, + -0.616242527961731 + ], + "joints": [ + 0.014688443392515182 + ] + }, + "final_grasp": { + "position": [ + -0.10045856982469559, + -0.011122964322566986, + -0.10390587151050568 + ], + "orientation": [ + 0.690769374370575, + 0.2844639718532562, + -0.24932529032230377, + -0.616242527961731 + ], + "joints": [ + 0.020560409873723984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028194338083267212, + -0.004865602124482393, + 0.1371348649263382 + ], + "orientation": [ + 0.562684178352356, + -0.4109233319759369, + 0.4502542018890381, + -0.5583903789520264 + ], + "joints": [ + 0.00867166742682457 + ] + }, + "fine_grasp": { + "position": [ + -0.029375869780778885, + -0.00814801175147295, + 0.13723963499069214 + ], + "orientation": [ + 0.5588377118110657, + -0.400664359331131, + 0.4655596613883972, + -0.5571558475494385 + ], + "joints": [ + 0.015048462897539139 + ] + }, + "final_grasp": { + "position": [ + -0.029375869780778885, + -0.00814801175147295, + 0.13723963499069214 + ], + "orientation": [ + 0.5588377118110657, + -0.400664359331131, + 0.4655596613883972, + -0.5571558475494385 + ], + "joints": [ + 0.021425258368253708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09075964242219925, + 0.012841438874602318, + -0.11584309488534927 + ], + "orientation": [ + 0.2672908306121826, + 0.60797518491745, + 0.6149264574050903, + 0.42519092559814453 + ], + "joints": [ + 0.008756684139370918 + ] + }, + "fine_grasp": { + "position": [ + -0.09001180529594421, + 0.01328573003411293, + -0.11530256271362305 + ], + "orientation": [ + 0.25987496972084045, + 0.6016748547554016, + 0.6152318716049194, + 0.4381120204925537 + ], + "joints": [ + 0.01462865062057972 + ] + }, + "final_grasp": { + "position": [ + -0.09001180529594421, + 0.01328573003411293, + -0.11530256271362305 + ], + "orientation": [ + 0.25987496972084045, + 0.6016748547554016, + 0.6152318716049194, + 0.4381120204925537 + ], + "joints": [ + 0.02050061710178852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02836780436336994, + -0.005415459629148245, + 0.13578879833221436 + ], + "orientation": [ + 0.5576592087745667, + -0.409380704164505, + 0.4581449031829834, + -0.5581458806991577 + ], + "joints": [ + 0.008749570697546005 + ] + }, + "fine_grasp": { + "position": [ + -0.028884781524538994, + -0.0077409823425114155, + 0.1358131468296051 + ], + "orientation": [ + 0.5546536445617676, + -0.4007837176322937, + 0.4689863622188568, + -0.5583759546279907 + ], + "joints": [ + 0.014621537178754807 + ] + }, + "final_grasp": { + "position": [ + -0.028884781524538994, + -0.0077409823425114155, + 0.1358131468296051 + ], + "orientation": [ + 0.5546536445617676, + -0.4007837176322937, + 0.4689863622188568, + -0.5583759546279907 + ], + "joints": [ + 0.020493503659963608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11059780418872833, + 0.00743903499096632, + 0.08764161914587021 + ], + "orientation": [ + 0.2612234950065613, + -0.6950737833976746, + -0.6349264979362488, + 0.21331444382667542 + ], + "joints": [ + 0.008664706721901894 + ] + }, + "fine_grasp": { + "position": [ + -0.11015506833791733, + 0.010045744478702545, + 0.08814122527837753 + ], + "orientation": [ + 0.26566001772880554, + -0.7039582133293152, + -0.6271736025810242, + 0.20129792392253876 + ], + "joints": [ + 0.014536673203110695 + ] + }, + "final_grasp": { + "position": [ + -0.11015506833791733, + 0.010045744478702545, + 0.08814122527837753 + ], + "orientation": [ + 0.26566001772880554, + -0.7039582133293152, + -0.6271736025810242, + 0.20129792392253876 + ], + "joints": [ + 0.020408639684319496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06421678513288498, + -0.00596256647258997, + 0.12464383989572525 + ], + "orientation": [ + 0.611321747303009, + -0.3433533310890198, + 0.38745856285095215, + -0.598556637763977 + ], + "joints": [ + 0.008494703099131584 + ] + }, + "fine_grasp": { + "position": [ + -0.06594362109899521, + -0.008211834356188774, + 0.12489766627550125 + ], + "orientation": [ + 0.6105088591575623, + -0.33901673555374146, + 0.3971169888973236, + -0.5955204367637634 + ], + "joints": [ + 0.014366669580340385 + ] + }, + "final_grasp": { + "position": [ + -0.06594362109899521, + -0.008211834356188774, + 0.12489766627550125 + ], + "orientation": [ + 0.6105088591575623, + -0.33901673555374146, + 0.3971169888973236, + -0.5955204367637634 + ], + "joints": [ + 0.020238636061549187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007941268384456635, + -0.007085540797561407, + 0.1374736875295639 + ], + "orientation": [ + 0.49154260754585266, + -0.47778061032295227, + 0.5344317555427551, + -0.49446362257003784 + ], + "joints": [ + 0.009008670225739479 + ] + }, + "fine_grasp": { + "position": [ + 0.00674895104020834, + -0.009389939717948437, + 0.138278529047966 + ], + "orientation": [ + 0.4897153675556183, + -0.4716455042362213, + 0.5425894260406494, + -0.4932810068130493 + ], + "joints": [ + 0.01488063670694828 + ] + }, + "final_grasp": { + "position": [ + 0.00674895104020834, + -0.009389939717948437, + 0.138278529047966 + ], + "orientation": [ + 0.4897153675556183, + -0.4716455042362213, + 0.5425894260406494, + -0.4932810068130493 + ], + "joints": [ + 0.02075260318815708 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0277748741209507, + -0.00578652648255229, + 0.13436466455459595 + ], + "orientation": [ + 0.5589809417724609, + -0.4100068509578705, + 0.45773860812187195, + -0.5566956400871277 + ], + "joints": [ + 0.008677279576659203 + ] + }, + "fine_grasp": { + "position": [ + -0.02865285612642765, + -0.008204956538975239, + 0.13494627177715302 + ], + "orientation": [ + 0.5577689409255981, + -0.40297144651412964, + 0.4675416946411133, + -0.5548986792564392 + ], + "joints": [ + 0.014549246057868004 + ] + }, + "final_grasp": { + "position": [ + -0.02865285612642765, + -0.008204956538975239, + 0.13494627177715302 + ], + "orientation": [ + 0.5577689409255981, + -0.40297144651412964, + 0.4675416946411133, + -0.5548986792564392 + ], + "joints": [ + 0.020421212539076805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06470122933387756, + -0.005728747230023146, + 0.12519805133342743 + ], + "orientation": [ + 0.6092579364776611, + -0.34720826148986816, + 0.38958480954170227, + -0.5970550179481506 + ], + "joints": [ + 0.008475951850414276 + ] + }, + "fine_grasp": { + "position": [ + -0.06611891090869904, + -0.008150113746523857, + 0.1252245306968689 + ], + "orientation": [ + 0.6077970266342163, + -0.3426673710346222, + 0.40006616711616516, + -0.5942296385765076 + ], + "joints": [ + 0.014852747321128845 + ] + }, + "final_grasp": { + "position": [ + -0.06611891090869904, + -0.008150113746523857, + 0.1252245306968689 + ], + "orientation": [ + 0.6077970266342163, + -0.3426673710346222, + 0.40006616711616516, + -0.5942296385765076 + ], + "joints": [ + 0.021229542791843414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06501003354787827, + -0.006137876305729151, + 0.12435770034790039 + ], + "orientation": [ + 0.6119289994239807, + -0.3449786901473999, + 0.3875615894794464, + -0.5969327688217163 + ], + "joints": [ + 0.008498130366206169 + ] + }, + "fine_grasp": { + "position": [ + -0.06681714951992035, + -0.008536042645573616, + 0.12449836730957031 + ], + "orientation": [ + 0.6117652058601379, + -0.3415892720222473, + 0.3957310914993286, + -0.5936809182167053 + ], + "joints": [ + 0.014874925836920738 + ] + }, + "final_grasp": { + "position": [ + -0.06681714951992035, + -0.008536042645573616, + 0.12449836730957031 + ], + "orientation": [ + 0.6117652058601379, + -0.3415892720222473, + 0.3957310914993286, + -0.5936809182167053 + ], + "joints": [ + 0.021251721307635307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11441941559314728, + -0.004899214953184128, + -0.074325792491436 + ], + "orientation": [ + 0.6895674467086792, + 0.15824748575687408, + -0.20936903357505798, + -0.6749956607818604 + ], + "joints": [ + 0.008893839083611965 + ] + }, + "fine_grasp": { + "position": [ + -0.11433710157871246, + -0.006084528286010027, + -0.07226258516311646 + ], + "orientation": [ + 0.6868741512298584, + 0.15752829611301422, + -0.22532027959823608, + -0.672770082950592 + ], + "joints": [ + 0.014765805564820766 + ] + }, + "final_grasp": { + "position": [ + -0.11433710157871246, + -0.006084528286010027, + -0.07226258516311646 + ], + "orientation": [ + 0.6868741512298584, + 0.15752829611301422, + -0.22532027959823608, + -0.672770082950592 + ], + "joints": [ + 0.020637772977352142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11420252919197083, + -0.014550193212926388, + 0.07905282080173492 + ], + "orientation": [ + 0.17000791430473328, + -0.6498558521270752, + 0.7254262566566467, + -0.150138258934021 + ], + "joints": [ + 0.008485628291964531 + ] + }, + "fine_grasp": { + "position": [ + 0.11437466740608215, + -0.016645077615976334, + 0.07940429449081421 + ], + "orientation": [ + 0.171653151512146, + -0.6455920338630676, + 0.7283229231834412, + -0.15261659026145935 + ], + "joints": [ + 0.014357594773173332 + ] + }, + "final_grasp": { + "position": [ + 0.11437466740608215, + -0.016645077615976334, + 0.07940429449081421 + ], + "orientation": [ + 0.171653151512146, + -0.6455920338630676, + 0.7283229231834412, + -0.15261659026145935 + ], + "joints": [ + 0.020229561254382133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03181993216276169, + -0.110679492354393, + -0.057449523359537125 + ], + "orientation": [ + 0.06832791864871979, + 0.15503546595573425, + 0.979567289352417, + 0.10836650431156158 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.03083847463130951, + -0.10718700289726257, + -0.05619340389966965 + ], + "orientation": [ + 0.06504948437213898, + 0.1576022356748581, + 0.9792608022689819, + 0.10944658517837524 + ], + "joints": [ + -0.007841404527425766 + ] + }, + "final_grasp": { + "position": [ + -0.03083847463130951, + -0.10718700289726257, + -0.05619340389966965 + ], + "orientation": [ + 0.06504948437213898, + 0.1576022356748581, + 0.9792608022689819, + 0.10944658517837524 + ], + "joints": [ + -0.0015708915889263153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.064335398375988, + -0.004720991011708975, + 0.11832616478204727 + ], + "orientation": [ + 0.6159693002700806, + -0.38174837827682495, + 0.374112993478775, + -0.5786964893341064 + ], + "joints": [ + 0.00884244218468666 + ] + }, + "fine_grasp": { + "position": [ + -0.06164517253637314, + -0.007005506195127964, + 0.11911860853433609 + ], + "orientation": [ + 0.6273050904273987, + -0.3788529932498932, + 0.3632372319698334, + -0.5753412246704102 + ], + "joints": [ + 0.014714408665895462 + ] + }, + "final_grasp": { + "position": [ + -0.06164517253637314, + -0.007005506195127964, + 0.11911860853433609 + ], + "orientation": [ + 0.6273050904273987, + -0.3788529932498932, + 0.3632372319698334, + -0.5753412246704102 + ], + "joints": [ + 0.020586375147104263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11900750547647476, + -0.009444152005016804, + -0.06996864825487137 + ], + "orientation": [ + 0.6730034351348877, + 0.19723759591579437, + 0.2898997962474823, + 0.6512463688850403 + ], + "joints": [ + 0.008834585547447205 + ] + }, + "fine_grasp": { + "position": [ + 0.11808313429355621, + -0.011932481080293655, + -0.07032817602157593 + ], + "orientation": [ + 0.6711810827255249, + 0.18504714965820312, + 0.310653954744339, + 0.6471225619316101 + ], + "joints": [ + 0.015237951651215553 + ] + }, + "final_grasp": { + "position": [ + 0.11808313429355621, + -0.011932481080293655, + -0.07032817602157593 + ], + "orientation": [ + 0.6711810827255249, + 0.18504714965820312, + 0.310653954744339, + 0.6471225619316101 + ], + "joints": [ + 0.021641317754983902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1128622442483902, + 0.008454671129584312, + -0.0784188061952591 + ], + "orientation": [ + 0.6450802683830261, + 0.18884992599487305, + -0.2266685962677002, + -0.7048606276512146 + ], + "joints": [ + 0.008331269025802612 + ] + }, + "fine_grasp": { + "position": [ + -0.11252039670944214, + 0.008733679540455341, + -0.07892473042011261 + ], + "orientation": [ + 0.6446741223335266, + 0.17821699380874634, + -0.22684137523174286, + -0.7079386115074158 + ], + "joints": [ + 0.014203235507011414 + ] + }, + "final_grasp": { + "position": [ + -0.11252039670944214, + 0.008733679540455341, + -0.07892473042011261 + ], + "orientation": [ + 0.6446741223335266, + 0.17821699380874634, + -0.22684137523174286, + -0.7079386115074158 + ], + "joints": [ + 0.020075201988220215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07539110630750656, + -0.017488092184066772, + -0.108119435608387 + ], + "orientation": [ + 0.32391276955604553, + 0.5644474029541016, + -0.6815329194068909, + -0.33465275168418884 + ], + "joints": [ + 0.007819491438567638 + ] + }, + "fine_grasp": { + "position": [ + 0.07427507638931274, + -0.018767964094877243, + -0.10700082033872604 + ], + "orientation": [ + 0.3208795487880707, + 0.5596185922622681, + -0.6853376626968384, + -0.33789899945259094 + ], + "joints": [ + 0.01369145791977644 + ] + }, + "final_grasp": { + "position": [ + 0.07427507638931274, + -0.018767964094877243, + -0.10700082033872604 + ], + "orientation": [ + 0.3208795487880707, + 0.5596185922622681, + -0.6853376626968384, + -0.33789899945259094 + ], + "joints": [ + 0.019563425332307816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09546863287687302, + 0.004904915113002062, + -0.09203135967254639 + ], + "orientation": [ + 0.2819470763206482, + 0.6726732850074768, + 0.6325687766075134, + 0.26052501797676086 + ], + "joints": [ + 0.009095270186662674 + ] + }, + "fine_grasp": { + "position": [ + -0.09427255392074585, + 0.007718023844063282, + -0.09231299161911011 + ], + "orientation": [ + 0.28460994362831116, + 0.6818398833274841, + 0.6254284977912903, + 0.25086015462875366 + ], + "joints": [ + 0.014993809163570404 + ] + }, + "final_grasp": { + "position": [ + -0.09427255392074585, + 0.007718023844063282, + -0.09231299161911011 + ], + "orientation": [ + 0.28460994362831116, + 0.6818398833274841, + 0.6254284977912903, + 0.25086015462875366 + ], + "joints": [ + 0.020892348140478134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06272595375776291, + -0.007709168829023838, + -0.11677933484315872 + ], + "orientation": [ + 0.6214431524276733, + 0.3266036808490753, + -0.3810267150402069, + -0.6016286611557007 + ], + "joints": [ + 0.008616423234343529 + ] + }, + "fine_grasp": { + "position": [ + -0.06298808753490448, + -0.008762200362980366, + -0.11468429863452911 + ], + "orientation": [ + 0.61878901720047, + 0.32054805755615234, + -0.39152225852012634, + -0.6008822321891785 + ], + "joints": [ + 0.015019791200757027 + ] + }, + "final_grasp": { + "position": [ + -0.06298808753490448, + -0.008762200362980366, + -0.11468429863452911 + ], + "orientation": [ + 0.61878901720047, + 0.32054805755615234, + -0.39152225852012634, + -0.6008822321891785 + ], + "joints": [ + 0.021423159167170525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07549338787794113, + -0.01629301905632019, + -0.10814250260591507 + ], + "orientation": [ + 0.3307601511478424, + 0.5736091732978821, + -0.6746428608894348, + -0.3262316584587097 + ], + "joints": [ + 0.007814249023795128 + ] + }, + "fine_grasp": { + "position": [ + 0.07372896373271942, + -0.018162600696086884, + -0.10718484967947006 + ], + "orientation": [ + 0.3253006339073181, + 0.5672827363014221, + -0.6815221309661865, + -0.3284776210784912 + ], + "joints": [ + 0.014217615127563477 + ] + }, + "final_grasp": { + "position": [ + 0.07372896373271942, + -0.018162600696086884, + -0.10718484967947006 + ], + "orientation": [ + 0.3253006339073181, + 0.5672827363014221, + -0.6815221309661865, + -0.3284776210784912 + ], + "joints": [ + 0.020620981231331825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016558989882469177, + 0.006398897618055344, + -0.13146410882472992 + ], + "orientation": [ + 0.5012896060943604, + 0.46151360869407654, + -0.4728820323944092, + -0.5586560368537903 + ], + "joints": [ + 0.008447904139757156 + ] + }, + "fine_grasp": { + "position": [ + -0.015483997762203217, + 0.009933180175721645, + -0.13048259913921356 + ], + "orientation": [ + 0.4871465861797333, + 0.45424479246139526, + -0.4752487540245056, + -0.5748813152313232 + ], + "joints": [ + 0.014851270243525505 + ] + }, + "final_grasp": { + "position": [ + -0.015483997762203217, + 0.009933180175721645, + -0.13048259913921356 + ], + "orientation": [ + 0.4871465861797333, + 0.45424479246139526, + -0.4752487540245056, + -0.5748813152313232 + ], + "joints": [ + 0.021254636347293854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12556622922420502, + -0.010590897873044014, + -0.04161159321665764 + ], + "orientation": [ + 0.7322816848754883, + 0.1410953849554062, + 0.07183448225259781, + 0.6623409986495972 + ], + "joints": [ + 0.00804528221487999 + ] + }, + "fine_grasp": { + "position": [ + 0.1245272308588028, + -0.012127016671001911, + -0.042020708322525024 + ], + "orientation": [ + 0.7369986176490784, + 0.14730431139469147, + 0.05753646790981293, + 0.6571332812309265 + ], + "joints": [ + 0.014448648318648338 + ] + }, + "final_grasp": { + "position": [ + 0.1245272308588028, + -0.012127016671001911, + -0.042020708322525024 + ], + "orientation": [ + 0.7369986176490784, + 0.14730431139469147, + 0.05753646790981293, + 0.6571332812309265 + ], + "joints": [ + 0.020852014422416687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12513995170593262, + -0.01005285419523716, + -0.042074959725141525 + ], + "orientation": [ + 0.7314269542694092, + 0.1453775018453598, + 0.06667737662792206, + 0.6628983020782471 + ], + "joints": [ + 0.00801384262740612 + ] + }, + "fine_grasp": { + "position": [ + 0.12441965192556381, + -0.011297021992504597, + -0.042166568338871 + ], + "orientation": [ + 0.7361023426055908, + 0.15192079544067383, + 0.05275023728609085, + 0.6574882864952087 + ], + "joints": [ + 0.014417208731174469 + ] + }, + "final_grasp": { + "position": [ + 0.12441965192556381, + -0.011297021992504597, + -0.042166568338871 + ], + "orientation": [ + 0.7361023426055908, + 0.15192079544067383, + 0.05275023728609085, + 0.6574882864952087 + ], + "joints": [ + 0.020820574834942818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014962435699999332, + -0.11361262202262878, + -0.03854689747095108 + ], + "orientation": [ + 0.9930323362350464, + 0.031723227351903915, + -0.07538586109876633, + -0.08483799546957016 + ], + "joints": [ + -0.014524079859256744 + ] + }, + "fine_grasp": { + "position": [ + -0.015758149325847626, + -0.1105206310749054, + -0.038827359676361084 + ], + "orientation": [ + 0.9934161901473999, + 0.026043236255645752, + -0.06638482213020325, + -0.08966147154569626 + ], + "joints": [ + -0.007137625012546778 + ] + }, + "final_grasp": { + "position": [ + -0.015758149325847626, + -0.1105206310749054, + -0.038827359676361084 + ], + "orientation": [ + 0.9934161901473999, + 0.026043236255645752, + -0.06638482213020325, + -0.08966147154569626 + ], + "joints": [ + 0.00024882983416318893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06457033008337021, + -0.1265009045600891, + -0.049726489931344986 + ], + "orientation": [ + 0.8293642401695251, + -0.04737113416194916, + -0.49135637283325195, + -0.26168668270111084 + ], + "joints": [ + -0.0031104974914342165 + ] + }, + "fine_grasp": { + "position": [ + -0.06178800016641617, + -0.12176742404699326, + -0.0470549650490284 + ], + "orientation": [ + 0.8278588056564331, + -0.04141009971499443, + -0.492796927690506, + -0.2647375762462616 + ], + "joints": [ + -0.0008786190301179886 + ] + }, + "final_grasp": { + "position": [ + -0.06178800016641617, + -0.12176742404699326, + -0.0470549650490284 + ], + "orientation": [ + 0.8278588056564331, + -0.04141009971499443, + -0.492796927690506, + -0.2647375762462616 + ], + "joints": [ + 0.0013532594311982393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028377799317240715, + -0.10297472029924393, + -0.03627295792102814 + ], + "orientation": [ + 0.26245585083961487, + 0.02985871396958828, + -0.9643990397453308, + -0.012643815018236637 + ], + "joints": [ + -0.016364112496376038 + ] + }, + "fine_grasp": { + "position": [ + -0.0240200012922287, + -0.10605709999799728, + -0.03661198914051056 + ], + "orientation": [ + 0.28373265266418457, + -0.00012147163943154737, + -0.9586135149002075, + -0.023573169484734535 + ], + "joints": [ + -0.00786171667277813 + ] + }, + "final_grasp": { + "position": [ + -0.0240200012922287, + -0.10605709999799728, + -0.03661198914051056 + ], + "orientation": [ + 0.28373265266418457, + -0.00012147163943154737, + -0.9586135149002075, + -0.023573169484734535 + ], + "joints": [ + 0.0006406791508197784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008193031884729862, + 0.11870823800563812, + -0.06079917773604393 + ], + "orientation": [ + 0.07156364619731903, + 0.9942256808280945, + 0.002095496281981468, + -0.07993488013744354 + ], + "joints": [ + -0.005338674411177635 + ] + }, + "fine_grasp": { + "position": [ + -0.008295899257063866, + 0.11720994114875793, + -0.0589626170694828 + ], + "orientation": [ + 0.0843687355518341, + 0.9899513721466064, + -0.007503570057451725, + -0.11323447525501251 + ], + "joints": [ + -0.004302444867789745 + ] + }, + "final_grasp": { + "position": [ + -0.008295899257063866, + 0.11720994114875793, + -0.0589626170694828 + ], + "orientation": [ + 0.0843687355518341, + 0.9899513721466064, + -0.007503570057451725, + -0.11323447525501251 + ], + "joints": [ + -0.0032662153244018555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008294316940009594, + 0.118648961186409, + -0.061092302203178406 + ], + "orientation": [ + 0.06877700984477997, + 0.9944090247154236, + 0.0018552325200289488, + -0.08010551333427429 + ], + "joints": [ + -0.005338674411177635 + ] + }, + "fine_grasp": { + "position": [ + -0.008407918736338615, + 0.11668004840612411, + -0.05905769765377045 + ], + "orientation": [ + 0.08457749336957932, + 0.9897615313529968, + -0.008014206774532795, + -0.11469299346208572 + ], + "joints": [ + -0.004302444867789745 + ] + }, + "final_grasp": { + "position": [ + -0.008407918736338615, + 0.11668004840612411, + -0.05905769765377045 + ], + "orientation": [ + 0.08457749336957932, + 0.9897615313529968, + -0.008014206774532795, + -0.11469299346208572 + ], + "joints": [ + -0.0032662153244018555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05557248741388321, + -0.011060228571295738, + -0.12392526865005493 + ], + "orientation": [ + 0.1455124020576477, + -0.18721261620521545, + -0.784914493560791, + -0.5724392533302307 + ], + "joints": [ + -0.007252304349094629 + ] + }, + "fine_grasp": { + "position": [ + -0.0559302419424057, + -0.012189861387014389, + -0.11939618736505508 + ], + "orientation": [ + 0.1404767781496048, + -0.19218192994594574, + -0.7741146087646484, + -0.586582601070404 + ], + "joints": [ + -0.007119455840438604 + ] + }, + "final_grasp": { + "position": [ + -0.0559302419424057, + -0.012189861387014389, + -0.11939618736505508 + ], + "orientation": [ + 0.1404767781496048, + -0.19218192994594574, + -0.7741146087646484, + -0.586582601070404 + ], + "joints": [ + -0.006986607331782579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0553816556930542, + -0.010888981632888317, + -0.12371671944856644 + ], + "orientation": [ + 0.14716576039791107, + -0.18602804839611053, + -0.7847611904144287, + -0.5726131200790405 + ], + "joints": [ + -0.007252304349094629 + ] + }, + "fine_grasp": { + "position": [ + -0.055941492319107056, + -0.011947237886488438, + -0.11915960907936096 + ], + "orientation": [ + 0.1412293165922165, + -0.1906755566596985, + -0.7744520902633667, + -0.5864479541778564 + ], + "joints": [ + -0.007146025542169809 + ] + }, + "final_grasp": { + "position": [ + -0.055941492319107056, + -0.011947237886488438, + -0.11915960907936096 + ], + "orientation": [ + 0.1412293165922165, + -0.1906755566596985, + -0.7744520902633667, + -0.5864479541778564 + ], + "joints": [ + -0.007039746735244989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05572319030761719, + 0.0926736518740654, + 0.07926011085510254 + ], + "orientation": [ + 0.3151695728302002, + -0.830218493938446, + 0.017621871083974838, + -0.4594506621360779 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.056272685527801514, + 0.09462464600801468, + 0.07876500487327576 + ], + "orientation": [ + 0.3139011561870575, + -0.832565188407898, + 0.012480784207582474, + -0.4562297463417053 + ], + "joints": [ + -0.008852459490299225 + ] + }, + "final_grasp": { + "position": [ + -0.056272685527801514, + 0.09462464600801468, + 0.07876500487327576 + ], + "orientation": [ + 0.3139011561870575, + -0.832565188407898, + 0.012480784207582474, + -0.4562297463417053 + ], + "joints": [ + -0.003033634275197983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07620543241500854, + -0.043512605130672455, + -0.10674424469470978 + ], + "orientation": [ + 0.22564378380775452, + -0.20065909624099731, + -0.7341166138648987, + -0.608188807964325 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.07439954578876495, + -0.04072074219584465, + -0.104561448097229 + ], + "orientation": [ + 0.23450326919555664, + -0.1967732012271881, + -0.7397347092628479, + -0.5992336869239807 + ], + "joints": [ + -0.012404071167111397 + ] + }, + "final_grasp": { + "position": [ + -0.07439954578876495, + -0.04072074219584465, + -0.104561448097229 + ], + "orientation": [ + 0.23450326919555664, + -0.1967732012271881, + -0.7397347092628479, + -0.5992336869239807 + ], + "joints": [ + -0.0080465879291296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07618105411529541, + -0.043478820472955704, + -0.10664613544940948 + ], + "orientation": [ + 0.22544218599796295, + -0.2007209211587906, + -0.7349615693092346, + -0.6072219014167786 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.0745031014084816, + -0.04075530543923378, + -0.10465792566537857 + ], + "orientation": [ + 0.23558703064918518, + -0.19613830745220184, + -0.7395702004432678, + -0.5992198586463928 + ], + "joints": [ + -0.012404071167111397 + ] + }, + "final_grasp": { + "position": [ + -0.0745031014084816, + -0.04075530543923378, + -0.10465792566537857 + ], + "orientation": [ + 0.23558703064918518, + -0.19613830745220184, + -0.7395702004432678, + -0.5992198586463928 + ], + "joints": [ + -0.0080465879291296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019089816138148308, + 0.12075559794902802, + 0.005614293273538351 + ], + "orientation": [ + 0.04368656128644943, + 0.9269552230834961, + 0.022704586386680603, + 0.3719273805618286 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.020038718357682228, + 0.11980804800987244, + 0.005425593350082636 + ], + "orientation": [ + 0.05482567474246025, + 0.9281819462776184, + 0.017883317545056343, + 0.3676312565803528 + ], + "joints": [ + -0.011237128637731075 + ] + }, + "final_grasp": { + "position": [ + -0.020038718357682228, + 0.11980804800987244, + 0.005425593350082636 + ], + "orientation": [ + 0.05482567474246025, + 0.9281819462776184, + 0.017883317545056343, + 0.3676312565803528 + ], + "joints": [ + -0.00541829876601696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018890265375375748, + 0.12077169865369797, + 0.00553328450769186 + ], + "orientation": [ + 0.04442063346505165, + 0.9273070096969604, + 0.022210150957107544, + 0.3709922730922699 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.019862698391079903, + 0.11979307234287262, + 0.005296766757965088 + ], + "orientation": [ + 0.055446431040763855, + 0.9284701347351074, + 0.017530040815472603, + 0.366826593875885 + ], + "joints": [ + -0.011237128637731075 + ] + }, + "final_grasp": { + "position": [ + -0.019862698391079903, + 0.11979307234287262, + 0.005296766757965088 + ], + "orientation": [ + 0.055446431040763855, + 0.9284701347351074, + 0.017530040815472603, + 0.366826593875885 + ], + "joints": [ + -0.00541829876601696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07108502089977264, + -0.10822714865207672, + 0.0018708945717662573 + ], + "orientation": [ + 0.48028844594955444, + 0.20183028280735016, + 0.8521037697792053, + -0.050067804753780365 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.06979574263095856, + -0.10954776406288147, + 0.0033259079791605473 + ], + "orientation": [ + 0.4775213599205017, + 0.19150379300117493, + 0.8558670878410339, + -0.05283183231949806 + ], + "joints": [ + -0.008880427107214928 + ] + }, + "final_grasp": { + "position": [ + -0.06979574263095856, + -0.10954776406288147, + 0.0033259079791605473 + ], + "orientation": [ + 0.4775213599205017, + 0.19150379300117493, + 0.8558670878410339, + -0.05283183231949806 + ], + "joints": [ + -0.002530202269554138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07612711191177368, + -0.04357542842626572, + -0.10671928524971008 + ], + "orientation": [ + 0.22571347653865814, + -0.20025938749313354, + -0.7351148128509521, + -0.6070878505706787 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.07458184659481049, + -0.04084042087197304, + -0.1049036756157875 + ], + "orientation": [ + 0.2365654706954956, + -0.19507400691509247, + -0.7397863268852234, + -0.5989149808883667 + ], + "joints": [ + -0.01269847434014082 + ] + }, + "final_grasp": { + "position": [ + -0.07458184659481049, + -0.04084042087197304, + -0.1049036756157875 + ], + "orientation": [ + 0.2365654706954956, + -0.19507400691509247, + -0.7397863268852234, + -0.5989149808883667 + ], + "joints": [ + -0.008340990170836449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0431327223777771, + -0.11596731096506119, + 0.03141152486205101 + ], + "orientation": [ + 0.3924657106399536, + 0.0747155100107193, + 0.91187584400177, + -0.09418421983718872 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.04381037503480911, + -0.11685718595981598, + 0.03137052431702614 + ], + "orientation": [ + 0.3908822238445282, + 0.07832629978656769, + 0.9127804040908813, + -0.08892666548490524 + ], + "joints": [ + -0.01123852375894785 + ] + }, + "final_grasp": { + "position": [ + -0.04381037503480911, + -0.11685718595981598, + 0.03137052431702614 + ], + "orientation": [ + 0.3908822238445282, + 0.07832629978656769, + 0.9127804040908813, + -0.08892666548490524 + ], + "joints": [ + -0.004861721768975258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021655287593603134, + -0.12134240567684174, + 0.020261012017726898 + ], + "orientation": [ + 0.32417652010917664, + 0.02128116600215435, + -0.9456585049629211, + 0.013659830205142498 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + 0.023529600352048874, + -0.12014780938625336, + 0.020486129447817802 + ], + "orientation": [ + 0.31980839371681213, + 0.02092794142663479, + -0.947236180305481, + 0.005318748764693737 + ], + "joints": [ + -0.011235653422772884 + ] + }, + "final_grasp": { + "position": [ + 0.023529600352048874, + -0.12014780938625336, + 0.020486129447817802 + ], + "orientation": [ + 0.31980839371681213, + 0.02092794142663479, + -0.947236180305481, + 0.005318748764693737 + ], + "joints": [ + -0.004885422065854073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -4.6405300963670015e-05, + -0.12170372903347015, + -0.006673581898212433 + ], + "orientation": [ + 0.9066904187202454, + 0.11454964429140091, + 0.4045771658420563, + -0.033291514962911606 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.001501968246884644, + -0.12057603895664215, + -0.005865446291863918 + ], + "orientation": [ + 0.9081042408943176, + 0.12128777801990509, + 0.39891135692596436, + -0.038802217692136765 + ], + "joints": [ + -0.011265094392001629 + ] + }, + "final_grasp": { + "position": [ + 0.001501968246884644, + -0.12057603895664215, + -0.005865446291863918 + ], + "orientation": [ + 0.9081042408943176, + 0.12128777801990509, + 0.39891135692596436, + -0.038802217692136765 + ], + "joints": [ + -0.004914863035082817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021954556927084923, + 0.13173051178455353, + 0.03562070056796074 + ], + "orientation": [ + 0.010700147598981857, + -0.8969927430152893, + 0.16211463510990143, + -0.411106139421463 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.020311180502176285, + 0.12682536244392395, + 0.03446555510163307 + ], + "orientation": [ + 0.016787102445960045, + -0.8980398178100586, + 0.16228871047496796, + -0.40854036808013916 + ], + "joints": [ + -0.011715386994183064 + ] + }, + "final_grasp": { + "position": [ + 0.020311180502176285, + 0.12682536244392395, + 0.03446555510163307 + ], + "orientation": [ + 0.016787102445960045, + -0.8980398178100586, + 0.16228871047496796, + -0.40854036808013916 + ], + "joints": [ + -0.006374815478920937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021423665806651115, + -0.11649230122566223, + 0.03409053757786751 + ], + "orientation": [ + 0.4422890543937683, + -0.029789773747324944, + -0.8928424715995789, + 0.0795329213142395 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + 0.02118888683617115, + -0.11969315260648727, + 0.035792965441942215 + ], + "orientation": [ + 0.4465874135494232, + -0.03643229976296425, + -0.8905377984046936, + 0.07858022302389145 + ], + "joints": [ + -0.010256831534206867 + ] + }, + "final_grasp": { + "position": [ + 0.02118888683617115, + -0.11969315260648727, + 0.035792965441942215 + ], + "orientation": [ + 0.4465874135494232, + -0.03643229976296425, + -0.8905377984046936, + 0.07858022302389145 + ], + "joints": [ + -0.0023389700800180435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021286867558956146, + 0.1310337483882904, + 0.03516269102692604 + ], + "orientation": [ + 0.011930028907954693, + -0.8965504169464111, + 0.16071027517318726, + -0.412585973739624 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.01961354725062847, + 0.12599791586399078, + 0.03386057913303375 + ], + "orientation": [ + 0.015997886657714844, + -0.897976279258728, + 0.15999147295951843, + -0.4096161127090454 + ], + "joints": [ + -0.011741957627236843 + ] + }, + "final_grasp": { + "position": [ + 0.01961354725062847, + 0.12599791586399078, + 0.03386057913303375 + ], + "orientation": [ + 0.015997886657714844, + -0.897976279258728, + 0.15999147295951843, + -0.4096161127090454 + ], + "joints": [ + -0.006427956745028496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021974222734570503, + 0.13154497742652893, + 0.035359494388103485 + ], + "orientation": [ + 0.009836059994995594, + -0.8972020745277405, + 0.1622210294008255, + -0.41062864661216736 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.02045247331261635, + 0.12643268704414368, + 0.034084342420101166 + ], + "orientation": [ + 0.016711188480257988, + -0.8978779315948486, + 0.16199152171611786, + -0.4090169072151184 + ], + "joints": [ + -0.011741957627236843 + ] + }, + "final_grasp": { + "position": [ + 0.02045247331261635, + 0.12643268704414368, + 0.034084342420101166 + ], + "orientation": [ + 0.016711188480257988, + -0.8978779315948486, + 0.16199152171611786, + -0.4090169072151184 + ], + "joints": [ + -0.006427956745028496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006433805916458368, + 0.11968054622411728, + -0.0006496401620097458 + ], + "orientation": [ + 0.057185959070920944, + -0.33282890915870667, + 0.09806602448225021, + 0.9361291527748108 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.006610137410461903, + 0.12435120344161987, + -0.0004090208385605365 + ], + "orientation": [ + 0.06240639090538025, + -0.3269360363483429, + 0.1054026260972023, + 0.9370744228363037 + ], + "joints": [ + -0.011378512717783451 + ] + }, + "final_grasp": { + "position": [ + 0.006610137410461903, + 0.12435120344161987, + -0.0004090208385605365 + ], + "orientation": [ + 0.06240639090538025, + -0.3269360363483429, + 0.1054026260972023, + 0.9370744228363037 + ], + "joints": [ + -0.004523450508713722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026356982067227364, + 0.11491687595844269, + -0.025525592267513275 + ], + "orientation": [ + 0.16187943518161774, + 0.9358802437782288, + -0.10698846727609634, + -0.29406917095184326 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.025626495480537415, + 0.11345666646957397, + -0.023870062083005905 + ], + "orientation": [ + 0.16299717128276825, + 0.937171459197998, + -0.09463903307914734, + -0.29357314109802246 + ], + "joints": [ + -0.01120768766850233 + ] + }, + "final_grasp": { + "position": [ + 0.025626495480537415, + 0.11345666646957397, + -0.023870062083005905 + ], + "orientation": [ + 0.16299717128276825, + 0.937171459197998, + -0.09463903307914734, + -0.29357314109802246 + ], + "joints": [ + -0.005388857796788216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054895032197237015, + 0.11770137399435043, + 0.003330475650727749 + ], + "orientation": [ + 0.061457760632038116, + 0.7526266574859619, + -0.11095936596393585, + 0.6461145877838135 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.05600586533546448, + 0.12028820067644119, + 0.0036219111643731594 + ], + "orientation": [ + 0.056871961802244186, + 0.7551307082176208, + -0.10478078573942184, + 0.6446428298950195 + ], + "joints": [ + -0.010676288045942783 + ] + }, + "final_grasp": { + "position": [ + 0.05600586533546448, + 0.12028820067644119, + 0.0036219111643731594 + ], + "orientation": [ + 0.056871961802244186, + 0.7551307082176208, + -0.10478078573942184, + 0.6446428298950195 + ], + "joints": [ + -0.004326058551669121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02452828362584114, + 0.11669700592756271, + -0.01251307874917984 + ], + "orientation": [ + 0.037110336124897, + -0.4101715385913849, + -0.007314321119338274, + -0.9112237691879272 + ], + "joints": [ + -0.01879294216632843 + ] + }, + "fine_grasp": { + "position": [ + -0.026376014575362206, + 0.11975868046283722, + -0.013047071173787117 + ], + "orientation": [ + 0.040435224771499634, + -0.4170352816581726, + 0.004523622803390026, + -0.9079791903495789 + ], + "joints": [ + -0.01244270708411932 + ] + }, + "final_grasp": { + "position": [ + -0.026376014575362206, + 0.11975868046283722, + -0.013047071173787117 + ], + "orientation": [ + 0.040435224771499634, + -0.4170352816581726, + 0.004523622803390026, + -0.9079791903495789 + ], + "joints": [ + -0.00609247200191021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11845827102661133, + -0.07337107509374619, + -0.016122261062264442 + ], + "orientation": [ + 0.6377570629119873, + -0.2430156171321869, + 0.6505628824234009, + 0.33313265442848206 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.11721689999103546, + -0.07326721400022507, + -0.01547170802950859 + ], + "orientation": [ + 0.6352807283401489, + -0.25220987200737, + 0.6492034196853638, + 0.33368176221847534 + ], + "joints": [ + -0.010003505274653435 + ] + }, + "final_grasp": { + "position": [ + 0.11721689999103546, + -0.07326721400022507, + -0.01547170802950859 + ], + "orientation": [ + 0.6352807283401489, + -0.25220987200737, + 0.6492034196853638, + 0.33368176221847534 + ], + "joints": [ + -0.004158109426498413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015242861583828926, + 0.11948306113481522, + -0.030687319114804268 + ], + "orientation": [ + 0.11261336505413055, + 0.6803805828094482, + -0.05896071344614029, + -0.7217508554458618 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.015605945140123367, + 0.11828768253326416, + -0.030003227293491364 + ], + "orientation": [ + 0.11442515254020691, + 0.6852066516876221, + -0.047791462391614914, + -0.7177149653434753 + ], + "joints": [ + -0.010144888423383236 + ] + }, + "final_grasp": { + "position": [ + 0.015605945140123367, + 0.11828768253326416, + -0.030003227293491364 + ], + "orientation": [ + 0.11442515254020691, + 0.6852066516876221, + -0.047791462391614914, + -0.7177149653434753 + ], + "joints": [ + -0.003263259306550026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011969611980021, + -0.05099087953567505, + -0.12488429993391037 + ], + "orientation": [ + 0.8677095174789429, + 0.49522721767425537, + 0.027703946456313133, + -0.03259854391217232 + ], + "joints": [ + -0.017527002841234207 + ] + }, + "fine_grasp": { + "position": [ + -0.01231458317488432, + -0.054055213928222656, + -0.12838152050971985 + ], + "orientation": [ + 0.8678997755050659, + 0.4949454069137573, + 0.028728192672133446, + -0.03088279627263546 + ], + "joints": [ + -0.01014054287225008 + ] + }, + "final_grasp": { + "position": [ + -0.01231458317488432, + -0.054055213928222656, + -0.12838152050971985 + ], + "orientation": [ + 0.8678997755050659, + 0.4949454069137573, + 0.028728192672133446, + -0.03088279627263546 + ], + "joints": [ + -0.002754082903265953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0949402004480362, + 0.07439964264631271, + 0.03635998070240021 + ], + "orientation": [ + 0.3352503180503845, + -0.7205508947372437, + -0.16914524137973785, + -0.5829267501831055 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + -0.09922533482313156, + 0.0773966908454895, + 0.03602055832743645 + ], + "orientation": [ + 0.33034712076187134, + -0.7216916680335999, + -0.171065554022789, + -0.583753764629364 + ], + "joints": [ + -0.011262224055826664 + ] + }, + "final_grasp": { + "position": [ + -0.09922533482313156, + 0.0773966908454895, + 0.03602055832743645 + ], + "orientation": [ + 0.33034712076187134, + -0.7216916680335999, + -0.171065554022789, + -0.583753764629364 + ], + "joints": [ + -0.004938563331961632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03522155433893204, + -0.11305755376815796, + -0.045817453414201736 + ], + "orientation": [ + 0.9429792165756226, + 0.13510462641716003, + -0.29883503913879395, + 0.056873392313718796 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.03534254804253578, + -0.11373738199472427, + -0.04634026437997818 + ], + "orientation": [ + 0.9440741539001465, + 0.1295475959777832, + -0.2972715497016907, + 0.05975876376032829 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.03534254804253578, + -0.11373738199472427, + -0.04634026437997818 + ], + "orientation": [ + 0.9440741539001465, + 0.1295475959777832, + -0.2972715497016907, + 0.05975876376032829 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000773158622905612, + 0.11491863429546356, + 0.06401119381189346 + ], + "orientation": [ + 0.1631571352481842, + -0.9818560481071472, + 0.03877929225564003, + -0.0885133296251297 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.0015393815701827407, + 0.1138196587562561, + 0.06399599462747574 + ], + "orientation": [ + 0.15271560847759247, + -0.9834362268447876, + 0.04229356721043587, + -0.08799085766077042 + ], + "joints": [ + -0.010202295146882534 + ] + }, + "final_grasp": { + "position": [ + 0.0015393815701827407, + 0.1138196587562561, + 0.06399599462747574 + ], + "orientation": [ + 0.15271560847759247, + -0.9834362268447876, + 0.04229356721043587, + -0.08799085766077042 + ], + "joints": [ + -0.0027892645448446274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05843381583690643, + 0.10574544221162796, + -0.024803217500448227 + ], + "orientation": [ + 0.09827440232038498, + -0.5402196049690247, + 0.14990206062793732, + 0.8222129940986633 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.06064021587371826, + 0.10626489669084549, + -0.024322349578142166 + ], + "orientation": [ + 0.0933791995048523, + -0.5375869274139404, + 0.13745296001434326, + 0.8266723155975342 + ], + "joints": [ + -0.011853900738060474 + ] + }, + "final_grasp": { + "position": [ + 0.06064021587371826, + 0.10626489669084549, + -0.024322349578142166 + ], + "orientation": [ + 0.0933791995048523, + -0.5375869274139404, + 0.13745296001434326, + 0.8266723155975342 + ], + "joints": [ + -0.005503667518496513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011672343825921416, + 0.11905122548341751, + 0.009668373502790928 + ], + "orientation": [ + 0.03584679961204529, + 0.4664245545864105, + 0.12483742833137512, + -0.8749735355377197 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + -0.001368059660308063, + 0.11987674981355667, + 0.008927830494940281 + ], + "orientation": [ + 0.0463782399892807, + 0.46175071597099304, + 0.12807723879814148, + -0.876488208770752 + ], + "joints": [ + -0.01182593498378992 + ] + }, + "final_grasp": { + "position": [ + -0.001368059660308063, + 0.11987674981355667, + 0.008927830494940281 + ], + "orientation": [ + 0.0463782399892807, + 0.46175071597099304, + 0.12807723879814148, + -0.876488208770752 + ], + "joints": [ + -0.006007103249430656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01488590333610773, + 0.11412376165390015, + -0.028764741495251656 + ], + "orientation": [ + 0.023280998691916466, + 0.9717001914978027, + 0.10945069044828415, + 0.20803189277648926 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.015526815317571163, + 0.11892534792423248, + -0.030622784048318863 + ], + "orientation": [ + 0.009424509480595589, + 0.9695523977279663, + 0.10793435573577881, + 0.21961228549480438 + ], + "joints": [ + -0.011378512717783451 + ] + }, + "final_grasp": { + "position": [ + -0.015526815317571163, + 0.11892534792423248, + -0.030622784048318863 + ], + "orientation": [ + 0.009424509480595589, + 0.9695523977279663, + 0.10793435573577881, + 0.21961228549480438 + ], + "joints": [ + -0.004523450508713722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03557538613677025, + -0.12022823095321655, + 0.006268450058996677 + ], + "orientation": [ + 0.8604437112808228, + -0.025476615875959396, + -0.49978986382484436, + 0.09590384364128113 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.03480062261223793, + -0.12064799666404724, + 0.004351674113422632 + ], + "orientation": [ + 0.8624207377433777, + -0.02706461027264595, + -0.4983404874801636, + 0.08458580076694489 + ], + "joints": [ + -0.011085504665970802 + ] + }, + "final_grasp": { + "position": [ + 0.03480062261223793, + -0.12064799666404724, + 0.004351674113422632 + ], + "orientation": [ + 0.8624207377433777, + -0.02706461027264595, + -0.4983404874801636, + 0.08458580076694489 + ], + "joints": [ + -0.003672471269965172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017291350290179253, + -0.1034388616681099, + 0.07760956138372421 + ], + "orientation": [ + 0.08235461264848709, + 0.03955696150660515, + 0.9684712290763855, + -0.2317684143781662 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.016899602487683296, + -0.10387127846479416, + 0.07835659384727478 + ], + "orientation": [ + 0.07980240136384964, + 0.04196113348007202, + 0.9694194197654724, + -0.2282474935054779 + ], + "joints": [ + -0.011265094392001629 + ] + }, + "final_grasp": { + "position": [ + -0.016899602487683296, + -0.10387127846479416, + 0.07835659384727478 + ], + "orientation": [ + 0.07980240136384964, + 0.04196113348007202, + 0.9694194197654724, + -0.2282474935054779 + ], + "joints": [ + -0.004914863035082817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01730094663798809, + -0.10355659574270248, + 0.07757196575403214 + ], + "orientation": [ + 0.08311960101127625, + 0.039310112595558167, + 0.9684448838233948, + -0.2316468507051468 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.01691952906548977, + -0.10392113775014877, + 0.07828199118375778 + ], + "orientation": [ + 0.08043237030506134, + 0.041861411184072495, + 0.9693900346755981, + -0.2281695306301117 + ], + "joints": [ + -0.011265094392001629 + ] + }, + "final_grasp": { + "position": [ + -0.01691952906548977, + -0.10392113775014877, + 0.07828199118375778 + ], + "orientation": [ + 0.08043237030506134, + 0.041861411184072495, + 0.9693900346755981, + -0.2281695306301117 + ], + "joints": [ + -0.004914863035082817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04386620968580246, + 0.13034392893314362, + -0.008397282101213932 + ], + "orientation": [ + 0.17140066623687744, + 0.10896032303571701, + 0.06798237562179565, + -0.9767946600914001 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.04166742041707039, + 0.12550553679466248, + -0.008565244264900684 + ], + "orientation": [ + 0.17380045354366302, + 0.1093517616391182, + 0.0636439099907875, + -0.9766192436218262 + ], + "joints": [ + -0.011153151281177998 + ] + }, + "final_grasp": { + "position": [ + -0.04166742041707039, + 0.12550553679466248, + -0.008565244264900684 + ], + "orientation": [ + 0.17380045354366302, + 0.1093517616391182, + 0.0636439099907875, + -0.9766192436218262 + ], + "joints": [ + -0.0058391522616147995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03560253605246544, + -0.12009366601705551, + 0.006399353966116905 + ], + "orientation": [ + 0.8606687784194946, + -0.02552870288491249, + -0.4992353916168213, + 0.09675577282905579 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.035020094364881516, + -0.12049515545368195, + 0.0044889929704368114 + ], + "orientation": [ + 0.8625356554985046, + -0.02602751925587654, + -0.4978463649749756, + 0.08662447333335876 + ], + "joints": [ + -0.011085504665970802 + ] + }, + "final_grasp": { + "position": [ + 0.035020094364881516, + -0.12049515545368195, + 0.0044889929704368114 + ], + "orientation": [ + 0.8625356554985046, + -0.02602751925587654, + -0.4978463649749756, + 0.08662447333335876 + ], + "joints": [ + -0.003672471269965172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013682536780834198, + -0.11257835477590561, + -0.03340815007686615 + ], + "orientation": [ + 0.9961926937103271, + 0.03443588316440582, + -0.06700963526964188, + 0.04386286810040474 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.013713878579437733, + -0.11796557903289795, + -0.03439238667488098 + ], + "orientation": [ + 0.9960348606109619, + 0.032559555023908615, + -0.06907341629266739, + 0.04564335197210312 + ], + "joints": [ + -0.011792228557169437 + ] + }, + "final_grasp": { + "position": [ + 0.013713878579437733, + -0.11796557903289795, + -0.03439238667488098 + ], + "orientation": [ + 0.9960348606109619, + 0.032559555023908615, + -0.06907341629266739, + 0.04564335197210312 + ], + "joints": [ + -0.006557939574122429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013779152184724808, + -0.119753897190094, + -0.0011209534713998437 + ], + "orientation": [ + 0.6240808367729187, + -0.02137102000415325, + -0.7794992327690125, + -0.04947073385119438 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.013730100356042385, + -0.12345439195632935, + -0.0013348021311685443 + ], + "orientation": [ + 0.6197144389152527, + -0.026484044268727303, + -0.7828192710876465, + -0.049463775008916855 + ], + "joints": [ + -0.011739087291061878 + ] + }, + "final_grasp": { + "position": [ + 0.013730100356042385, + -0.12345439195632935, + -0.0013348021311685443 + ], + "orientation": [ + 0.6197144389152527, + -0.026484044268727303, + -0.7828192710876465, + -0.049463775008916855 + ], + "joints": [ + -0.0064516570419073105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013750473037362099, + -0.11313126981258392, + -0.0332261323928833 + ], + "orientation": [ + 0.9961261749267578, + 0.035817213356494904, + -0.06721203029155731, + 0.043957337737083435 + ], + "joints": [ + -0.017585884779691696 + ] + }, + "fine_grasp": { + "position": [ + 0.013635748997330666, + -0.11845161765813828, + -0.03423512354493141 + ], + "orientation": [ + 0.9959394931793213, + 0.033623069524765015, + -0.06952638924121857, + 0.04626218602061272 + ], + "joints": [ + -0.011793623678386211 + ] + }, + "final_grasp": { + "position": [ + 0.013635748997330666, + -0.11845161765813828, + -0.03423512354493141 + ], + "orientation": [ + 0.9959394931793213, + 0.033623069524765015, + -0.06952638924121857, + 0.04626218602061272 + ], + "joints": [ + -0.006001362577080727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014536385424435139, + 0.11151964962482452, + -0.05741915851831436 + ], + "orientation": [ + 0.045984212309122086, + -0.03291751444339752, + 0.14629215002059937, + 0.9876237511634827 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.01447882317006588, + 0.1105944961309433, + -0.05844052881002426 + ], + "orientation": [ + 0.042385611683130264, + -0.029745658859610558, + 0.13708721101284027, + 0.9892046451568604 + ], + "joints": [ + -0.01182593498378992 + ] + }, + "final_grasp": { + "position": [ + 0.01447882317006588, + 0.1105944961309433, + -0.05844052881002426 + ], + "orientation": [ + 0.042385611683130264, + -0.029745658859610558, + 0.13708721101284027, + 0.9892046451568604 + ], + "joints": [ + -0.006007103249430656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014109170995652676, + 0.1115783229470253, + -0.05749856308102608 + ], + "orientation": [ + 0.04357204958796501, + -0.03473864123225212, + 0.1466023474931717, + 0.9876246452331543 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.013923274353146553, + 0.11006928980350494, + -0.05838611721992493 + ], + "orientation": [ + 0.03913334757089615, + -0.03226257115602493, + 0.13699905574321747, + 0.989271879196167 + ], + "joints": [ + -0.01182593498378992 + ] + }, + "final_grasp": { + "position": [ + 0.013923274353146553, + 0.11006928980350494, + -0.05838611721992493 + ], + "orientation": [ + 0.03913334757089615, + -0.03226257115602493, + 0.13699905574321747, + 0.989271879196167 + ], + "joints": [ + -0.006007103249430656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00872856192290783, + 0.12112127244472504, + 0.008490587584674358 + ], + "orientation": [ + 0.022374188527464867, + 0.7689130902290344, + 0.05011286586523056, + -0.6369935870170593 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.009602952748537064, + 0.12307371199131012, + 0.007776966318488121 + ], + "orientation": [ + 0.03745625168085098, + 0.7668105363845825, + 0.05119698867201805, + -0.6387312412261963 + ], + "joints": [ + -0.011853900738060474 + ] + }, + "final_grasp": { + "position": [ + 0.009602952748537064, + 0.12307371199131012, + 0.007776966318488121 + ], + "orientation": [ + 0.03745625168085098, + 0.7668105363845825, + 0.05119698867201805, + -0.6387312412261963 + ], + "joints": [ + -0.005503667518496513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01470196433365345, + 0.11135236918926239, + -0.05761986970901489 + ], + "orientation": [ + 0.04613775014877319, + -0.03439265862107277, + 0.14724011719226837, + 0.9874253273010254 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.014459486119449139, + 0.11002817749977112, + -0.05851661413908005 + ], + "orientation": [ + 0.04148085042834282, + -0.031929511576890945, + 0.1376737356185913, + 0.9890934228897095 + ], + "joints": [ + -0.01182593498378992 + ] + }, + "final_grasp": { + "position": [ + 0.014459486119449139, + 0.11002817749977112, + -0.05851661413908005 + ], + "orientation": [ + 0.04148085042834282, + -0.031929511576890945, + 0.1376737356185913, + 0.9890934228897095 + ], + "joints": [ + -0.006007103249430656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007998812012374401, + 0.11343707889318466, + 0.04018311947584152 + ], + "orientation": [ + 0.14394377171993256, + -0.4421878755092621, + 0.06647498905658722, + -0.882797360420227 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + -0.007054738700389862, + 0.11272580921649933, + 0.03987180441617966 + ], + "orientation": [ + 0.14298243820667267, + -0.4355541169643402, + 0.0623147189617157, + -0.8865470290184021 + ], + "joints": [ + -0.010839313268661499 + ] + }, + "final_grasp": { + "position": [ + -0.007054738700389862, + 0.11272580921649933, + 0.03987180441617966 + ], + "orientation": [ + 0.14298243820667267, + -0.4355541169643402, + 0.0623147189617157, + -0.8865470290184021 + ], + "joints": [ + -0.0048876311630010605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.092899389564991, + -0.08708852529525757, + -0.027712682262063026 + ], + "orientation": [ + 0.5959842801094055, + -0.17037276923656464, + -0.7371701002120972, + -0.26899099349975586 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.09470973163843155, + -0.08984386920928955, + -0.026864424347877502 + ], + "orientation": [ + 0.5925652980804443, + -0.1781918853521347, + -0.736922562122345, + -0.27213796973228455 + ], + "joints": [ + -0.01120768766850233 + ] + }, + "final_grasp": { + "position": [ + -0.09470973163843155, + -0.08984386920928955, + -0.026864424347877502 + ], + "orientation": [ + 0.5925652980804443, + -0.1781918853521347, + -0.736922562122345, + -0.27213796973228455 + ], + "joints": [ + -0.005388857796788216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10414542257785797, + -0.07777886837720871, + 0.004555870313197374 + ], + "orientation": [ + 0.6119678616523743, + 0.2736930549144745, + 0.7017157673835754, + -0.24121052026748657 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.10632625967264175, + -0.08167480677366257, + 0.005475465673953295 + ], + "orientation": [ + 0.6097111701965332, + 0.2749802768230438, + 0.701401948928833, + -0.24631959199905396 + ], + "joints": [ + -0.01120768766850233 + ] + }, + "final_grasp": { + "position": [ + -0.10632625967264175, + -0.08167480677366257, + 0.005475465673953295 + ], + "orientation": [ + 0.6097111701965332, + 0.2749802768230438, + 0.701401948928833, + -0.24631959199905396 + ], + "joints": [ + -0.005388857796788216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09300877898931503, + -0.08757507801055908, + -0.027895839884877205 + ], + "orientation": [ + 0.5948182344436646, + -0.17138415575027466, + -0.7378132939338684, + -0.2691662013530731 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.09452203661203384, + -0.0903477892279625, + -0.027110449969768524 + ], + "orientation": [ + 0.5938146114349365, + -0.17693199217319489, + -0.7361263036727905, + -0.2723919749259949 + ], + "joints": [ + -0.01120768766850233 + ] + }, + "final_grasp": { + "position": [ + -0.09452203661203384, + -0.0903477892279625, + -0.027110449969768524 + ], + "orientation": [ + 0.5938146114349365, + -0.17693199217319489, + -0.7361263036727905, + -0.2723919749259949 + ], + "joints": [ + -0.005388857796788216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02692664973437786, + 0.11889256536960602, + -0.007095936220139265 + ], + "orientation": [ + 0.11122298240661621, + 0.9866708517074585, + -0.10789144039154053, + -0.049694232642650604 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.026468394324183464, + 0.11725959926843643, + -0.005682763643562794 + ], + "orientation": [ + 0.11700007319450378, + 0.9867794513702393, + -0.100217804312706, + -0.05033690482378006 + ], + "joints": [ + -0.011853900738060474 + ] + }, + "final_grasp": { + "position": [ + 0.026468394324183464, + 0.11725959926843643, + -0.005682763643562794 + ], + "orientation": [ + 0.11700007319450378, + 0.9867794513702393, + -0.100217804312706, + -0.05033690482378006 + ], + "joints": [ + -0.005503667518496513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039797328412532806, + 0.12183716148138046, + 0.010091643780469894 + ], + "orientation": [ + 0.044978443533182144, + -0.8488250970840454, + 0.07420775294303894, + 0.521503746509552 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.03968311846256256, + 0.12097197771072388, + 0.010134926065802574 + ], + "orientation": [ + 0.03721208497881889, + -0.8471036553382874, + 0.06887082010507584, + 0.5256304144859314 + ], + "joints": [ + -0.011351942084729671 + ] + }, + "final_grasp": { + "position": [ + 0.03968311846256256, + 0.12097197771072388, + 0.010134926065802574 + ], + "orientation": [ + 0.03721208497881889, + -0.8471036553382874, + 0.06887082010507584, + 0.5256304144859314 + ], + "joints": [ + -0.004470309242606163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029098959639668465, + -0.06782183796167374, + 0.11407127231359482 + ], + "orientation": [ + 0.8999856114387512, + -0.4224022328853607, + 0.054974112659692764, + 0.09262871742248535 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.028804445639252663, + -0.06968339532613754, + 0.1149473637342453 + ], + "orientation": [ + 0.8982445001602173, + -0.4274006187915802, + 0.05636049434542656, + 0.08549246191978455 + ], + "joints": [ + -0.011181117035448551 + ] + }, + "final_grasp": { + "position": [ + 0.028804445639252663, + -0.06968339532613754, + 0.1149473637342453 + ], + "orientation": [ + 0.8982445001602173, + -0.4274006187915802, + 0.05636049434542656, + 0.08549246191978455 + ], + "joints": [ + -0.005335716530680656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03985203057527542, + 0.12182094901800156, + 0.010064268484711647 + ], + "orientation": [ + 0.04509756714105606, + -0.8486597537994385, + 0.07440240681171417, + 0.5217347741127014 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.03971605375409126, + 0.12097620964050293, + 0.010072820819914341 + ], + "orientation": [ + 0.037828002125024796, + -0.8467759490013123, + 0.06930011510848999, + 0.5260581374168396 + ], + "joints": [ + -0.011351942084729671 + ] + }, + "final_grasp": { + "position": [ + 0.03971605375409126, + 0.12097620964050293, + 0.010072820819914341 + ], + "orientation": [ + 0.037828002125024796, + -0.8467759490013123, + 0.06930011510848999, + 0.5260581374168396 + ], + "joints": [ + -0.004470309242606163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03983775153756142, + 0.12180960178375244, + 0.010095873847603798 + ], + "orientation": [ + 0.045399222522974014, + -0.8482203483581543, + 0.07423461973667145, + 0.5224464535713196 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.03968704491853714, + 0.12099261581897736, + 0.010294838808476925 + ], + "orientation": [ + 0.03843754157423973, + -0.8466029763221741, + 0.06869395822286606, + 0.5263715982437134 + ], + "joints": [ + -0.011351942084729671 + ] + }, + "final_grasp": { + "position": [ + 0.03968704491853714, + 0.12099261581897736, + 0.010294838808476925 + ], + "orientation": [ + 0.03843754157423973, + -0.8466029763221741, + 0.06869395822286606, + 0.5263715982437134 + ], + "joints": [ + -0.004470309242606163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09482252597808838, + -0.06118455156683922, + -0.06588822603225708 + ], + "orientation": [ + 0.47683224081993103, + -0.16483116149902344, + 0.7502347826957703, + 0.4273283779621124 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + 0.09772473573684692, + -0.06482989341020584, + -0.06738212704658508 + ], + "orientation": [ + 0.4718058705329895, + -0.17524534463882446, + 0.7529730796813965, + 0.4239339232444763 + ], + "joints": [ + -0.012148303911089897 + ] + }, + "final_grasp": { + "position": [ + 0.09772473573684692, + -0.06482989341020584, + -0.06738212704658508 + ], + "orientation": [ + 0.4718058705329895, + -0.17524534463882446, + 0.7529730796813965, + 0.4239339232444763 + ], + "joints": [ + -0.0057980697602033615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019507810473442078, + 0.09881751984357834, + 0.05036621168255806 + ], + "orientation": [ + 0.0012117368169128895, + -0.25278717279434204, + 0.15687966346740723, + -0.9547178149223328 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.02003129944205284, + 0.10110662877559662, + 0.0522710345685482 + ], + "orientation": [ + 0.0069539546966552734, + -0.24748237431049347, + 0.15508516132831573, + -0.9563748836517334 + ], + "joints": [ + -0.012782451696693897 + ] + }, + "final_grasp": { + "position": [ + 0.02003129944205284, + 0.10110662877559662, + 0.0522710345685482 + ], + "orientation": [ + 0.0069539546966552734, + -0.24748237431049347, + 0.15508516132831573, + -0.9563748836517334 + ], + "joints": [ + -0.00792013667523861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044000811874866486, + -0.1084481030702591, + 0.02473331429064274 + ], + "orientation": [ + 0.38036471605300903, + 0.11019198596477509, + 0.9121444225311279, + -0.10570185631513596 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.045714784413576126, + -0.11368211358785629, + 0.025826048105955124 + ], + "orientation": [ + 0.3804541528224945, + 0.1099526435136795, + 0.9125058650970459, + -0.10246029496192932 + ], + "joints": [ + -0.012821086682379246 + ] + }, + "final_grasp": { + "position": [ + -0.045714784413576126, + -0.11368211358785629, + 0.025826048105955124 + ], + "orientation": [ + 0.3804541528224945, + 0.1099526435136795, + 0.9125058650970459, + -0.10246029496192932 + ], + "joints": [ + -0.005966018885374069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008902480825781822, + -0.11619165539741516, + -0.005299450363963842 + ], + "orientation": [ + 0.6371513605117798, + 0.05146411806344986, + -0.7681161761283875, + 0.03724633902311325 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.009319053031504154, + -0.12145329266786575, + -0.0038657262921333313 + ], + "orientation": [ + 0.6346516013145447, + 0.05481428653001785, + -0.7698682546615601, + 0.03893165662884712 + ], + "joints": [ + -0.012355859391391277 + ] + }, + "final_grasp": { + "position": [ + -0.009319053031504154, + -0.12145329266786575, + -0.0038657262921333313 + ], + "orientation": [ + 0.6346516013145447, + 0.05481428653001785, + -0.7698682546615601, + 0.03893165662884712 + ], + "joints": [ + -0.006537025794386864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01621723175048828, + 0.1184958815574646, + 0.033194709569215775 + ], + "orientation": [ + 0.05447914078831673, + -0.9917340278625488, + -0.038375191390514374, + -0.10964950919151306 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + -0.017368078231811523, + 0.1182078942656517, + 0.03394685313105583 + ], + "orientation": [ + 0.04701652377843857, + -0.9925429821014404, + -0.03736547380685806, + -0.10607411712408066 + ], + "joints": [ + -0.012414741329848766 + ] + }, + "final_grasp": { + "position": [ + -0.017368078231811523, + 0.1182078942656517, + 0.03394685313105583 + ], + "orientation": [ + 0.04701652377843857, + -0.9925429821014404, + -0.03736547380685806, + -0.10607411712408066 + ], + "joints": [ + -0.006595907732844353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001271269517019391, + -0.11907195299863815, + -0.01306703221052885 + ], + "orientation": [ + 0.6331466436386108, + -0.02247495763003826, + -0.766326367855072, + -0.10660258680582047 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.002184371929615736, + -0.11737021058797836, + -0.012683610431849957 + ], + "orientation": [ + 0.6282218098640442, + -0.03322620317339897, + -0.7692158222198486, + -0.11198469251394272 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.002184371929615736, + -0.11737021058797836, + -0.012683610431849957 + ], + "orientation": [ + 0.6282218098640442, + -0.03322620317339897, + -0.7692158222198486, + -0.11198469251394272 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0013534377794712782, + -0.11909034103155136, + -0.013022946193814278 + ], + "orientation": [ + 0.6334869861602783, + -0.022273743525147438, + -0.7661157250404358, + -0.10613533109426498 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.002284071408212185, + -0.11744154989719391, + -0.012722039595246315 + ], + "orientation": [ + 0.6284401416778564, + -0.03272692486643791, + -0.7691125869750977, + -0.1116146668791771 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.002284071408212185, + -0.11744154989719391, + -0.012722039595246315 + ], + "orientation": [ + 0.6284401416778564, + -0.03272692486643791, + -0.7691125869750977, + -0.1116146668791771 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012052181409671903, + -0.11909264326095581, + -0.013006653636693954 + ], + "orientation": [ + 0.6332929730415344, + -0.02234945073723793, + -0.7662069797515869, + -0.10661745816469193 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + 0.0021677552722394466, + -0.1174541786313057, + -0.012734995223581791 + ], + "orientation": [ + 0.6282560229301453, + -0.03293032571673393, + -0.7692432999610901, + -0.111689992249012 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + 0.0021677552722394466, + -0.1174541786313057, + -0.012734995223581791 + ], + "orientation": [ + 0.6282560229301453, + -0.03293032571673393, + -0.7692432999610901, + -0.111689992249012 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004796705674380064, + 0.11585239320993423, + -0.0008464178536087275 + ], + "orientation": [ + 0.07890073955059052, + -0.9946379065513611, + 0.013258365914225578, + -0.06553158909082413 + ], + "joints": [ + -0.018822383135557175 + ] + }, + "fine_grasp": { + "position": [ + 0.005006749648600817, + 0.1204402968287468, + -0.0018697333289310336 + ], + "orientation": [ + 0.09254610538482666, + -0.9938464164733887, + 0.0046598962508141994, + -0.06068650633096695 + ], + "joints": [ + -0.01247214712202549 + ] + }, + "final_grasp": { + "position": [ + 0.005006749648600817, + 0.1204402968287468, + -0.0018697333289310336 + ], + "orientation": [ + 0.09254610538482666, + -0.9938464164733887, + 0.0046598962508141994, + -0.06068650633096695 + ], + "joints": [ + -0.006121911108493805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005644476041197777, + 0.11529059708118439, + -0.02549532800912857 + ], + "orientation": [ + 0.023041024804115295, + 0.9907382726669312, + 0.029244543984532356, + 0.13058140873908997 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.0001827685919124633, + 0.11996310204267502, + -0.026973862200975418 + ], + "orientation": [ + 0.01377915870398283, + 0.9918504357337952, + 0.03550003468990326, + 0.12158414721488953 + ], + "joints": [ + -0.012763679958879948 + ] + }, + "final_grasp": { + "position": [ + -0.0001827685919124633, + 0.11996310204267502, + -0.026973862200975418 + ], + "orientation": [ + 0.01377915870398283, + 0.9918504357337952, + 0.03550003468990326, + 0.12158414721488953 + ], + "joints": [ + -0.006440013647079468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03487507253885269, + 0.10805296897888184, + 0.05140075460076332 + ], + "orientation": [ + 0.04878130927681923, + -0.5623247623443604, + -0.20329493284225464, + 0.8000515103340149 + ], + "joints": [ + -0.017909729853272438 + ] + }, + "fine_grasp": { + "position": [ + -0.03634938597679138, + 0.10886282473802567, + 0.04925984516739845 + ], + "orientation": [ + 0.041401542723178864, + -0.5653542876243591, + -0.18602398037910461, + 0.8025306463241577 + ], + "joints": [ + -0.01206432655453682 + ] + }, + "final_grasp": { + "position": [ + -0.03634938597679138, + 0.10886282473802567, + 0.04925984516739845 + ], + "orientation": [ + 0.041401542723178864, + -0.5653542876243591, + -0.18602398037910461, + 0.8025306463241577 + ], + "joints": [ + -0.006218923255801201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031071346253156662, + -0.11493710428476334, + 0.03764575347304344 + ], + "orientation": [ + 0.7222346663475037, + -0.1402801275253296, + 0.6736670136451721, + -0.06979361176490784 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.031458158046007156, + -0.1145402118563652, + 0.03615604713559151 + ], + "orientation": [ + 0.7281859517097473, + -0.12993571162223816, + 0.669974684715271, + -0.06321188807487488 + ], + "joints": [ + -0.011769923381507397 + ] + }, + "final_grasp": { + "position": [ + 0.031458158046007156, + -0.1145402118563652, + 0.03615604713559151 + ], + "orientation": [ + 0.7281859517097473, + -0.12993571162223816, + 0.669974684715271, + -0.06321188807487488 + ], + "joints": [ + -0.005924521014094353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03502337262034416, + 0.10809393227100372, + 0.05170736089348793 + ], + "orientation": [ + 0.04944835230708122, + -0.5618811845779419, + -0.20319169759750366, + 0.8003484010696411 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.03638986125588417, + 0.10876267403364182, + 0.04939742758870125 + ], + "orientation": [ + 0.0409124493598938, + -0.5645797252655029, + -0.18712103366851807, + 0.8028459548950195 + ], + "joints": [ + -0.012093767523765564 + ] + }, + "final_grasp": { + "position": [ + -0.03638986125588417, + 0.10876267403364182, + 0.04939742758870125 + ], + "orientation": [ + 0.0409124493598938, + -0.5645797252655029, + -0.18712103366851807, + 0.8028459548950195 + ], + "joints": [ + -0.006248364225029945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004853017162531614, + 0.11610690504312515, + -0.0008165682666003704 + ], + "orientation": [ + 0.0829801931977272, + -0.9941492080688477, + 0.012934448197484016, + -0.06792957335710526 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.004949063062667847, + 0.12057379633188248, + -0.0016618245281279087 + ], + "orientation": [ + 0.0926925465464592, + -0.9937426447868347, + 0.004956032615154982, + -0.0621207132935524 + ], + "joints": [ + -0.01268257386982441 + ] + }, + "final_grasp": { + "position": [ + 0.004949063062667847, + 0.12057379633188248, + -0.0016618245281279087 + ], + "orientation": [ + 0.0926925465464592, + -0.9937426447868347, + 0.004956032615154982, + -0.0621207132935524 + ], + "joints": [ + -0.006837168708443642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032081954181194305, + -0.10937617719173431, + 0.01835574582219124 + ], + "orientation": [ + 0.9896214604377747, + 0.009316086769104004, + 0.0012933940161019564, + 0.14339064061641693 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.03174943849444389, + -0.11274987459182739, + 0.018885819241404533 + ], + "orientation": [ + 0.9902777075767517, + 0.017371252179145813, + 0.008857416920363903, + 0.1377311646938324 + ], + "joints": [ + -0.010486028157174587 + ] + }, + "final_grasp": { + "position": [ + 0.03174943849444389, + -0.11274987459182739, + 0.018885819241404533 + ], + "orientation": [ + 0.9902777075767517, + 0.017371252179145813, + 0.008857416920363903, + 0.1377311646938324 + ], + "joints": [ + -0.004534346982836723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04443579167127609, + 0.11153711378574371, + 0.0038396967574954033 + ], + "orientation": [ + 0.10758237540721893, + -0.6370055079460144, + -0.047508083283901215, + -0.7618353366851807 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.046887900680303574, + 0.11661863327026367, + 0.004226651042699814 + ], + "orientation": [ + 0.10617472231388092, + -0.639275848865509, + -0.03838493302464485, + -0.7606443762779236 + ], + "joints": [ + -0.012261721305549145 + ] + }, + "final_grasp": { + "position": [ + -0.046887900680303574, + 0.11661863327026367, + 0.004226651042699814 + ], + "orientation": [ + 0.10617472231388092, + -0.639275848865509, + -0.03838493302464485, + -0.7606443762779236 + ], + "joints": [ + -0.005406655371189117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022895440459251404, + -0.11539583653211594, + -0.015794506296515465 + ], + "orientation": [ + 0.7421654462814331, + 0.05012889578938484, + 0.6674712896347046, + 0.03405386209487915 + ], + "joints": [ + -0.018498538061976433 + ] + }, + "fine_grasp": { + "position": [ + -0.023550570011138916, + -0.12090101838111877, + -0.016121238470077515 + ], + "orientation": [ + 0.742263674736023, + 0.050466958433389664, + 0.6672364473342896, + 0.03596331924200058 + ], + "joints": [ + -0.012201445177197456 + ] + }, + "final_grasp": { + "position": [ + -0.023550570011138916, + -0.12090101838111877, + -0.016121238470077515 + ], + "orientation": [ + 0.742263674736023, + 0.050466958433389664, + 0.6672364473342896, + 0.03596331924200058 + ], + "joints": [ + -0.00590435229241848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04502445459365845, + 0.12993647158145905, + -0.008121746592223644 + ], + "orientation": [ + 0.17507827281951904, + 0.11872794479131699, + 0.05002502724528313, + -0.9760885238647461 + ], + "joints": [ + -0.018204133957624435 + ] + }, + "fine_grasp": { + "position": [ + -0.042433612048625946, + 0.12532258033752441, + -0.008083648048341274 + ], + "orientation": [ + 0.17699991166591644, + 0.120315782725811, + 0.04921862855553627, + -0.9755884408950806 + ], + "joints": [ + -0.012358729727566242 + ] + }, + "final_grasp": { + "position": [ + -0.042433612048625946, + 0.12532258033752441, + -0.008083648048341274 + ], + "orientation": [ + 0.17699991166591644, + 0.120315782725811, + 0.04921862855553627, + -0.9755884408950806 + ], + "joints": [ + -0.006513325497508049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09402090311050415, + -0.07580099999904633, + -0.04622812941670418 + ], + "orientation": [ + 0.45153966546058655, + -0.23036596179008484, + -0.7952871918678284, + -0.3325083255767822 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + -0.09677754342556, + -0.07851189374923706, + -0.04752837494015694 + ], + "orientation": [ + 0.44938042759895325, + -0.2279725968837738, + -0.7976157069206238, + -0.3315041959285736 + ], + "joints": [ + -0.012766550295054913 + ] + }, + "final_grasp": { + "position": [ + -0.09677754342556, + -0.07851189374923706, + -0.04752837494015694 + ], + "orientation": [ + 0.44938042759895325, + -0.2279725968837738, + -0.7976157069206238, + -0.3315041959285736 + ], + "joints": [ + -0.006416313350200653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016717329621315002, + 0.10993793606758118, + -0.0075201354920864105 + ], + "orientation": [ + 0.0019645888824015856, + -0.9633057713508606, + 0.052533406764268875, + -0.2632077634334564 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.02052268385887146, + 0.11150023341178894, + -0.006909865420311689 + ], + "orientation": [ + 0.029982592910528183, + -0.9627413153648376, + 0.062111709266901016, + -0.26148128509521484 + ], + "joints": [ + -0.012128868140280247 + ] + }, + "final_grasp": { + "position": [ + 0.02052268385887146, + 0.11150023341178894, + -0.006909865420311689 + ], + "orientation": [ + 0.029982592910528183, + -0.9627413153648376, + 0.062111709266901016, + -0.26148128509521484 + ], + "joints": [ + -0.005140949040651321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007636044756509364, + -0.1158914566040039, + -0.00029466679552569985 + ], + "orientation": [ + 0.5884068012237549, + 0.04116726294159889, + -0.8056778907775879, + 0.0544615313410759 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + -0.00217459280975163, + -0.12071489542722702, + 0.0006300107925198972 + ], + "orientation": [ + 0.5866168141365051, + 0.049845438450574875, + -0.8059440851211548, + 0.062050968408584595 + ], + "joints": [ + -0.013299345038831234 + ] + }, + "final_grasp": { + "position": [ + -0.00217459280975163, + -0.12071489542722702, + 0.0006300107925198972 + ], + "orientation": [ + 0.5866168141365051, + 0.049845438450574875, + -0.8059440851211548, + 0.062050968408584595 + ], + "joints": [ + -0.006922535598278046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043802738189697266, + -0.1080077588558197, + -0.03014538437128067 + ], + "orientation": [ + 0.7396750450134277, + 0.036496590822935104, + 0.6476847529411316, + 0.1790342479944229 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + 0.04343607276678085, + -0.10856809467077255, + -0.03021559678018093 + ], + "orientation": [ + 0.7362644672393799, + 0.03439568728208542, + 0.652127206325531, + 0.17737463116645813 + ], + "joints": [ + -0.011370712891221046 + ] + }, + "final_grasp": { + "position": [ + 0.04343607276678085, + -0.10856809467077255, + -0.03021559678018093 + ], + "orientation": [ + 0.7362644672393799, + 0.03439568728208542, + 0.652127206325531, + 0.17737463116645813 + ], + "joints": [ + -0.005950430408120155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04374811053276062, + -0.10801111906766891, + -0.030208682641386986 + ], + "orientation": [ + 0.7398298978805542, + 0.035621289163827896, + 0.6474617719650269, + 0.17937727272510529 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + 0.043430037796497345, + -0.10851548612117767, + -0.030249057337641716 + ], + "orientation": [ + 0.7363572716712952, + 0.033858440816402435, + 0.6520338654518127, + 0.1774360090494156 + ], + "joints": [ + -0.011370712891221046 + ] + }, + "final_grasp": { + "position": [ + 0.043430037796497345, + -0.10851548612117767, + -0.030249057337641716 + ], + "orientation": [ + 0.7363572716712952, + 0.033858440816402435, + 0.6520338654518127, + 0.1774360090494156 + ], + "joints": [ + -0.005950430408120155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00589886074885726, + -0.11414245516061783, + -0.014603366144001484 + ], + "orientation": [ + 0.2022845596075058, + 0.00198824773542583, + 0.9793140888214111, + -0.004595051985234022 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.005230754613876343, + -0.11973005533218384, + -0.016023805364966393 + ], + "orientation": [ + 0.20355521142482758, + -0.00022312017972581089, + 0.979000449180603, + -0.011101736687123775 + ], + "joints": [ + -0.013857315294444561 + ] + }, + "final_grasp": { + "position": [ + 0.005230754613876343, + -0.11973005533218384, + -0.016023805364966393 + ], + "orientation": [ + 0.20355521142482758, + -0.00022312017972581089, + 0.979000449180603, + -0.011101736687123775 + ], + "joints": [ + -0.0080384761095047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0058972639963030815, + -0.11410702019929886, + -0.014626367017626762 + ], + "orientation": [ + 0.20256610214710236, + 0.002101283520460129, + 0.9792554974555969, + -0.004614913370460272 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.00522116431966424, + -0.1196993961930275, + -0.016024813055992126 + ], + "orientation": [ + 0.2038654088973999, + -0.00017793613369576633, + 0.9789372086524963, + -0.010984084568917751 + ], + "joints": [ + -0.013857315294444561 + ] + }, + "final_grasp": { + "position": [ + 0.00522116431966424, + -0.1196993961930275, + -0.016024813055992126 + ], + "orientation": [ + 0.2038654088973999, + -0.00017793613369576633, + 0.9789372086524963, + -0.010984084568917751 + ], + "joints": [ + -0.0080384761095047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043725643306970596, + -0.1080208569765091, + -0.030209530144929886 + ], + "orientation": [ + 0.7398422360420227, + 0.035585980862379074, + 0.6474392414093018, + 0.17941465973854065 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + 0.04337824136018753, + -0.10850335657596588, + -0.030246539041399956 + ], + "orientation": [ + 0.7362968921661377, + 0.03367439657449722, + 0.652061402797699, + 0.17762012779712677 + ], + "joints": [ + -0.011370712891221046 + ] + }, + "final_grasp": { + "position": [ + 0.04337824136018753, + -0.10850335657596588, + -0.030246539041399956 + ], + "orientation": [ + 0.7362968921661377, + 0.03367439657449722, + 0.652061402797699, + 0.17762012779712677 + ], + "joints": [ + -0.005950430408120155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014130467548966408, + 0.10697588324546814, + 0.03892538696527481 + ], + "orientation": [ + 0.10104931890964508, + -0.9661722779273987, + -0.11239201575517654, + 0.20896971225738525 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.013452578336000443, + 0.10995093733072281, + 0.040213607251644135 + ], + "orientation": [ + 0.09505410492420197, + -0.9669290781021118, + -0.11093015968799591, + 0.20906367897987366 + ], + "joints": [ + -0.012014055624604225 + ] + }, + "final_grasp": { + "position": [ + -0.013452578336000443, + 0.10995093733072281, + 0.040213607251644135 + ], + "orientation": [ + 0.09505410492420197, + -0.9669290781021118, + -0.11093015968799591, + 0.20906367897987366 + ], + "joints": [ + -0.006088940426707268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03733881935477257, + -0.11017321050167084, + -0.0047498117201030254 + ], + "orientation": [ + 0.04064452275633812, + -0.16199128329753876, + -0.9852588772773743, + 0.03703739866614342 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.03734518587589264, + -0.11281877756118774, + -0.004964748397469521 + ], + "orientation": [ + 0.03897719085216522, + -0.15784555673599243, + -0.9857916235923767, + 0.0421956367790699 + ], + "joints": [ + -0.011635675095021725 + ] + }, + "final_grasp": { + "position": [ + -0.03734518587589264, + -0.11281877756118774, + -0.004964748397469521 + ], + "orientation": [ + 0.03897719085216522, + -0.15784555673599243, + -0.9857916235923767, + 0.0421956367790699 + ], + "joints": [ + -0.006215391680598259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04253041744232178, + -0.11216277629137039, + 0.016636526212096214 + ], + "orientation": [ + 0.6071595549583435, + -0.16418249905109406, + 0.7769685387611389, + 0.026856057345867157 + ], + "joints": [ + -0.019676154479384422 + ] + }, + "fine_grasp": { + "position": [ + 0.04329010471701622, + -0.11304263025522232, + 0.015436725690960884 + ], + "orientation": [ + 0.611397922039032, + -0.14988209307193756, + 0.776543378829956, + 0.026612283661961555 + ], + "joints": [ + -0.013272774405777454 + ] + }, + "final_grasp": { + "position": [ + 0.04329010471701622, + -0.11304263025522232, + 0.015436725690960884 + ], + "orientation": [ + 0.611397922039032, + -0.14988209307193756, + 0.776543378829956, + 0.026612283661961555 + ], + "joints": [ + -0.0068693943321704865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13799352943897247, + 0.018329208716750145, + 0.02351931482553482 + ], + "orientation": [ + 0.6426137685775757, + -0.05069936066865921, + -0.13528800010681152, + 0.7524455785751343 + ], + "joints": [ + 0.008251313120126724 + ] + }, + "fine_grasp": { + "position": [ + 0.13850343227386475, + 0.020939676091074944, + 0.024541595950722694 + ], + "orientation": [ + 0.6379953622817993, + -0.03664793819189072, + -0.13906095921993256, + 0.756492555141449 + ], + "joints": [ + 0.014654679223895073 + ] + }, + "final_grasp": { + "position": [ + 0.13850343227386475, + 0.020939676091074944, + 0.024541595950722694 + ], + "orientation": [ + 0.6379953622817993, + -0.03664793819189072, + -0.13906095921993256, + 0.756492555141449 + ], + "joints": [ + 0.02105804532766342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1384255290031433, + 0.017833761870861053, + 0.02462519146502018 + ], + "orientation": [ + 0.6434615850448608, + -0.04999570921063423, + -0.13758614659309387, + 0.7513506412506104 + ], + "joints": [ + 0.008332403376698494 + ] + }, + "fine_grasp": { + "position": [ + 0.13859345018863678, + 0.020142992958426476, + 0.02511952444911003 + ], + "orientation": [ + 0.6394814252853394, + -0.03542407229542732, + -0.14219988882541656, + 0.7547104954719543 + ], + "joints": [ + 0.014735769480466843 + ] + }, + "final_grasp": { + "position": [ + 0.13859345018863678, + 0.020142992958426476, + 0.02511952444911003 + ], + "orientation": [ + 0.6394814252853394, + -0.03542407229542732, + -0.14219988882541656, + 0.7547104954719543 + ], + "joints": [ + 0.02113913558423519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037884317338466644, + 0.017761925235390663, + 0.14079204201698303 + ], + "orientation": [ + 0.5603063106536865, + -0.4844728112220764, + 0.34603390097618103, + -0.5758503079414368 + ], + "joints": [ + 0.008672952651977539 + ] + }, + "fine_grasp": { + "position": [ + -0.03909952938556671, + 0.01902162656188011, + 0.14001184701919556 + ], + "orientation": [ + 0.5603830218315125, + -0.49914443492889404, + 0.34426480531692505, + -0.5641873478889465 + ], + "joints": [ + 0.01454491913318634 + ] + }, + "final_grasp": { + "position": [ + -0.03909952938556671, + 0.01902162656188011, + 0.14001184701919556 + ], + "orientation": [ + 0.5603830218315125, + -0.49914443492889404, + 0.34426480531692505, + -0.5641873478889465 + ], + "joints": [ + 0.02041688561439514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03762533888220787, + 0.017360100522637367, + 0.14055456221103668 + ], + "orientation": [ + 0.5647697448730469, + -0.485839307308197, + 0.34015026688575745, + -0.5738406777381897 + ], + "joints": [ + 0.008894335478544235 + ] + }, + "fine_grasp": { + "position": [ + -0.03846554458141327, + 0.018355978652834892, + 0.13978108763694763 + ], + "orientation": [ + 0.5654665231704712, + -0.4974820911884308, + 0.3392109274864197, + -0.5636444687843323 + ], + "joints": [ + 0.014261472970247269 + ] + }, + "final_grasp": { + "position": [ + -0.03846554458141327, + 0.018355978652834892, + 0.13978108763694763 + ], + "orientation": [ + 0.5654665231704712, + -0.4974820911884308, + 0.3392109274864197, + -0.5636444687843323 + ], + "joints": [ + 0.019628610461950302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014169400557875633, + -0.017397264018654823, + -0.14309853315353394 + ], + "orientation": [ + 0.515379786491394, + 0.5474694967269897, + 0.5451618432998657, + 0.37075531482696533 + ], + "joints": [ + 0.008616253733634949 + ] + }, + "fine_grasp": { + "position": [ + -0.014839879237115383, + -0.017260665073990822, + -0.14038610458374023 + ], + "orientation": [ + 0.5218302011489868, + 0.5516390204429626, + 0.5369020700454712, + 0.36759153008461 + ], + "joints": [ + 0.015019621700048447 + ] + }, + "final_grasp": { + "position": [ + -0.014839879237115383, + -0.017260665073990822, + -0.14038610458374023 + ], + "orientation": [ + 0.5218302011489868, + 0.5516390204429626, + 0.5369020700454712, + 0.36759153008461 + ], + "joints": [ + 0.021422989666461945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012969684787094593, + -0.018412653356790543, + -0.1419292837381363 + ], + "orientation": [ + 0.5133534073829651, + 0.5491254925727844, + 0.5509458184242249, + 0.36247485876083374 + ], + "joints": [ + 0.009034961462020874 + ] + }, + "fine_grasp": { + "position": [ + -0.012850564904510975, + -0.01823502779006958, + -0.13892368972301483 + ], + "orientation": [ + 0.5222686529159546, + 0.5513067245483398, + 0.5412651300430298, + 0.36101034283638 + ], + "joints": [ + 0.0154649019241333 + ] + }, + "final_grasp": { + "position": [ + -0.012850564904510975, + -0.01823502779006958, + -0.13892368972301483 + ], + "orientation": [ + 0.5222686529159546, + 0.5513067245483398, + 0.5412651300430298, + 0.36101034283638 + ], + "joints": [ + 0.021894842386245728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009701408445835114, + 0.013650882057845592, + -0.1399189978837967 + ], + "orientation": [ + 0.3616914451122284, + 0.5346065163612366, + -0.5645120739936829, + -0.5144913196563721 + ], + "joints": [ + 0.009537078440189362 + ] + }, + "fine_grasp": { + "position": [ + 0.009966925717890263, + 0.014178075827658176, + -0.13824208080768585 + ], + "orientation": [ + 0.3623603284358978, + 0.5290892720222473, + -0.5642925500869751, + -0.5199360251426697 + ], + "joints": [ + 0.016471849754452705 + ] + }, + "final_grasp": { + "position": [ + 0.009966925717890263, + 0.014178075827658176, + -0.13824208080768585 + ], + "orientation": [ + 0.3623603284358978, + 0.5290892720222473, + -0.5642925500869751, + -0.5199360251426697 + ], + "joints": [ + 0.02340662106871605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05742938071489334, + 0.01579422503709793, + 0.12493477016687393 + ], + "orientation": [ + 0.6190917491912842, + -0.4105274975299835, + 0.2386423945426941, + -0.6254937648773193 + ], + "joints": [ + 0.009251872077584267 + ] + }, + "fine_grasp": { + "position": [ + -0.05627060681581497, + 0.016151688992977142, + 0.12309170514345169 + ], + "orientation": [ + 0.6218039393424988, + -0.41695520281791687, + 0.2359883040189743, + -0.6195303201675415 + ], + "joints": [ + 0.01618664152920246 + ] + }, + "final_grasp": { + "position": [ + -0.05627060681581497, + 0.016151688992977142, + 0.12309170514345169 + ], + "orientation": [ + 0.6218039393424988, + -0.41695520281791687, + 0.2359883040189743, + -0.6195303201675415 + ], + "joints": [ + 0.023121410980820656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05718135088682175, + 0.015575227327644825, + 0.12451215088367462 + ], + "orientation": [ + 0.6184996962547302, + -0.4086945950984955, + 0.241735577583313, + -0.6260917782783508 + ], + "joints": [ + 0.00973314419388771 + ] + }, + "fine_grasp": { + "position": [ + -0.05604346841573715, + 0.015956103801727295, + 0.12276875227689743 + ], + "orientation": [ + 0.6215062737464905, + -0.4160088896751404, + 0.23732393980026245, + -0.6199547648429871 + ], + "joints": [ + 0.016136514022946358 + ] + }, + "final_grasp": { + "position": [ + -0.05604346841573715, + 0.015956103801727295, + 0.12276875227689743 + ], + "orientation": [ + 0.6215062737464905, + -0.4160088896751404, + 0.23732393980026245, + -0.6199547648429871 + ], + "joints": [ + 0.022539883852005005 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 282 + } +} \ No newline at end of file diff --git a/clutter_coin_00000/Annotation/piper_grasp_pose.json b/clutter_coin_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..3fe970a686154c260c1b6d8c1993efd3a9927232 --- /dev/null +++ b/clutter_coin_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,4718 @@ +{ + "type": "clutter_coin_00000", + "bottom_center": [ + 0.0, + 2.7939677238464355e-09, + -0.03749999403953552 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.053681228309869766, + 0.018693508580327034, + 0.15515701472759247 + ], + "orientation": [ + 0.06841696798801422, + 0.9885199069976807, + -0.0289398655295372, + 0.13156765699386597 + ], + "joints": [ + 0.01223914697766304 + ] + }, + "fine_grasp": { + "position": [ + -0.05243787541985512, + 0.01811923272907734, + 0.1513669341802597 + ], + "orientation": [ + 0.06923287361860275, + 0.9873409867286682, + -0.029470277950167656, + 0.13962823152542114 + ], + "joints": [ + 0.0034620880614966154 + ] + }, + "final_grasp": { + "position": [ + -0.05243787541985512, + 0.01811923272907734, + 0.1513669341802597 + ], + "orientation": [ + 0.06923287361860275, + 0.9873409867286682, + -0.029470277950167656, + 0.13962823152542114 + ], + "joints": [ + -0.005314970854669809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1234678253531456, + 0.01095089502632618, + 0.08793941140174866 + ], + "orientation": [ + 0.5618931651115417, + -0.04815758019685745, + 0.8226125836372375, + -0.07256407290697098 + ], + "joints": [ + 0.012338494881987572 + ] + }, + "fine_grasp": { + "position": [ + -0.1204507127404213, + 0.01029939390718937, + 0.08529488742351532 + ], + "orientation": [ + 0.5413371324539185, + -0.044298961758613586, + 0.8359980583190918, + -0.0780952200293541 + ], + "joints": [ + 0.003958493005484343 + ] + }, + "final_grasp": { + "position": [ + -0.1204507127404213, + 0.01029939390718937, + 0.08529488742351532 + ], + "orientation": [ + 0.5413371324539185, + -0.044298961758613586, + 0.8359980583190918, + -0.0780952200293541 + ], + "joints": [ + -0.0044215088710188866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08339470624923706, + -0.0012029263889417052, + -0.09937646239995956 + ], + "orientation": [ + 0.005178501363843679, + 0.3411446809768677, + 0.007505324669182301, + 0.93996661901474 + ], + "joints": [ + 0.013236659578979015 + ] + }, + "fine_grasp": { + "position": [ + -0.08105016499757767, + -0.0010364988120272756, + -0.09672093391418457 + ], + "orientation": [ + 0.006052112206816673, + 0.34149691462516785, + 0.007519843988120556, + 0.9398332834243774 + ], + "joints": [ + 0.00445959996432066 + ] + }, + "final_grasp": { + "position": [ + -0.08105016499757767, + -0.0010364988120272756, + -0.09672093391418457 + ], + "orientation": [ + 0.006052112206816673, + 0.34149691462516785, + 0.007519843988120556, + 0.9398332834243774 + ], + "joints": [ + -0.004317459650337696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11054285615682602, + 0.00022591991000808775, + 0.08150788396596909 + ], + "orientation": [ + 0.45761626958847046, + -0.00036999164149165154, + -0.889148473739624, + 0.0014407471753656864 + ], + "joints": [ + 0.013034852221608162 + ] + }, + "fine_grasp": { + "position": [ + 0.10893256962299347, + 0.0003677765198517591, + 0.079911969602108 + ], + "orientation": [ + 0.4584592878818512, + -0.005724690388888121, + -0.8886830806732178, + 0.004967345390468836 + ], + "joints": [ + 0.004675747826695442 + ] + }, + "final_grasp": { + "position": [ + 0.10893256962299347, + 0.0003677765198517591, + 0.079911969602108 + ], + "orientation": [ + 0.4584592878818512, + -0.005724690388888121, + -0.8886830806732178, + 0.004967345390468836 + ], + "joints": [ + -0.0036833565682172775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10075804591178894, + 0.0022568479180336, + -0.09331391006708145 + ], + "orientation": [ + 0.9157395958900452, + 0.019119618460536003, + -0.4009752571582794, + -0.016565518453717232 + ], + "joints": [ + 0.013330480083823204 + ] + }, + "fine_grasp": { + "position": [ + 0.09919454157352448, + 0.002182307653129101, + -0.09188105911016464 + ], + "orientation": [ + 0.9154731631278992, + 0.02026539482176304, + -0.4014030694961548, + -0.01933605968952179 + ], + "joints": [ + 0.004553420469164848 + ] + }, + "final_grasp": { + "position": [ + 0.09919454157352448, + 0.002182307653129101, + -0.09188105911016464 + ], + "orientation": [ + 0.9154731631278992, + 0.02026539482176304, + -0.4014030694961548, + -0.01933605968952179 + ], + "joints": [ + -0.004223639145493507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09886085242033005, + 0.0018854381050914526, + -0.09151624888181686 + ], + "orientation": [ + 0.9131448864936829, + 0.016079755499958992, + -0.40708163380622864, + -0.013870068825781345 + ], + "joints": [ + 0.01304488442838192 + ] + }, + "fine_grasp": { + "position": [ + 0.09705745428800583, + 0.0017872037133201957, + -0.08900348097085953 + ], + "orientation": [ + 0.9111326336860657, + 0.01716938056051731, + -0.4114111363887787, + -0.01683451607823372 + ], + "joints": [ + 0.004267824813723564 + ] + }, + "final_grasp": { + "position": [ + 0.09705745428800583, + 0.0017872037133201957, + -0.08900348097085953 + ], + "orientation": [ + 0.9111326336860657, + 0.01716938056051731, + -0.4114111363887787, + -0.01683451607823372 + ], + "joints": [ + -0.0045092348009347916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13776589930057526, + 0.001762671279720962, + 0.03129863366484642 + ], + "orientation": [ + 0.6087964773178101, + 0.005986456293612719, + -0.7932769656181335, + 0.0065273502841591835 + ], + "joints": [ + 0.013460123911499977 + ] + }, + "fine_grasp": { + "position": [ + 0.13389816880226135, + 0.0014712052652612329, + 0.030379969626665115 + ], + "orientation": [ + 0.6104992032051086, + 0.008498304523527622, + -0.7919582724571228, + 0.004522618837654591 + ], + "joints": [ + 0.0038471538573503494 + ] + }, + "final_grasp": { + "position": [ + 0.13389816880226135, + 0.0014712052652612329, + 0.030379969626665115 + ], + "orientation": [ + 0.6104992032051086, + 0.008498304523527622, + -0.7919582724571228, + 0.004522618837654591 + ], + "joints": [ + -0.005765816196799278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13755641877651215, + 0.0019298300612717867, + 0.03074909746646881 + ], + "orientation": [ + 0.606755793094635, + 0.013059996999800205, + -0.79477858543396, + 0.002006408292800188 + ], + "joints": [ + 0.013204275630414486 + ] + }, + "fine_grasp": { + "position": [ + 0.13368794322013855, + 0.00161566655151546, + 0.02983502298593521 + ], + "orientation": [ + 0.6091578006744385, + 0.01641061343252659, + -0.7928789854049683, + -0.0006758611998520792 + ], + "joints": [ + 0.004009260796010494 + ] + }, + "final_grasp": { + "position": [ + 0.13368794322013855, + 0.00161566655151546, + 0.02983502298593521 + ], + "orientation": [ + 0.6091578006744385, + 0.01641061343252659, + -0.7928789854049683, + -0.0006758611998520792 + ], + "joints": [ + -0.0051857540383934975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06030820682644844, + 0.028361596167087555, + 0.1364969164133072 + ], + "orientation": [ + 0.12585073709487915, + 0.9348920583724976, + 0.026607481762766838, + 0.33080291748046875 + ], + "joints": [ + 0.011003931984305382 + ] + }, + "fine_grasp": { + "position": [ + -0.05923430621623993, + 0.02730454131960869, + 0.13257698714733124 + ], + "orientation": [ + 0.12254137545824051, + 0.9458556771278381, + 0.02146129310131073, + 0.2998000383377075 + ], + "joints": [ + 0.003856898518279195 + ] + }, + "final_grasp": { + "position": [ + -0.05923430621623993, + 0.02730454131960869, + 0.13257698714733124 + ], + "orientation": [ + 0.12254137545824051, + 0.9458556771278381, + 0.02146129310131073, + 0.2998000383377075 + ], + "joints": [ + -0.003290134947746992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14633993804454803, + 0.0020682071335613728, + -0.023167915642261505 + ], + "orientation": [ + 0.7757455706596375, + -0.011143543757498264, + 0.6303635835647583, + -0.027134736999869347 + ], + "joints": [ + 0.011365297250449657 + ] + }, + "fine_grasp": { + "position": [ + -0.1421492099761963, + 0.0019032114651054144, + -0.02274070866405964 + ], + "orientation": [ + 0.7754452228546143, + -0.013147483579814434, + 0.6305536031723022, + -0.030231358483433723 + ], + "joints": [ + 0.0034241487737745047 + ] + }, + "final_grasp": { + "position": [ + -0.1421492099761963, + 0.0019032114651054144, + -0.02274070866405964 + ], + "orientation": [ + 0.7754452228546143, + -0.013147483579814434, + 0.6305536031723022, + -0.030231358483433723 + ], + "joints": [ + -0.004516999702900648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04330715164542198, + -0.02042733132839203, + 0.14213979244232178 + ], + "orientation": [ + 0.10228338092565536, + -0.9672996997833252, + -0.06895224004983902, + 0.2216191291809082 + ], + "joints": [ + 0.013269487768411636 + ] + }, + "fine_grasp": { + "position": [ + 0.04195304587483406, + -0.019663585349917412, + 0.13856540620326996 + ], + "orientation": [ + 0.10266703367233276, + -0.9687781929969788, + -0.06636989116668701, + 0.21569281816482544 + ], + "joints": [ + 0.003656518179923296 + ] + }, + "final_grasp": { + "position": [ + 0.04195304587483406, + -0.019663585349917412, + 0.13856540620326996 + ], + "orientation": [ + 0.10266703367233276, + -0.9687781929969788, + -0.06636989116668701, + 0.21569281816482544 + ], + "joints": [ + -0.005956451408565044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14188437163829803, + 0.001974686747416854, + 0.03209327161312103 + ], + "orientation": [ + 0.5968990921974182, + 0.014072912745177746, + -0.802192747592926, + 0.0005184055189602077 + ], + "joints": [ + 0.012147665023803711 + ] + }, + "fine_grasp": { + "position": [ + 0.13796229660511017, + 0.001845216378569603, + 0.031334247440099716 + ], + "orientation": [ + 0.5997708439826965, + 0.014292573556303978, + -0.8000441789627075, + 0.00023608563060406595 + ], + "joints": [ + 0.003370606107637286 + ] + }, + "final_grasp": { + "position": [ + 0.13796229660511017, + 0.001845216378569603, + 0.031334247440099716 + ], + "orientation": [ + 0.5997708439826965, + 0.014292573556303978, + -0.8000441789627075, + 0.00023608563060406595 + ], + "joints": [ + -0.0054064528085291386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14170435070991516, + 0.0023592340294271708, + 0.031748976558446884 + ], + "orientation": [ + 0.5966117978096008, + 0.013361508026719093, + -0.8024119734764099, + 0.0033049024641513824 + ], + "joints": [ + 0.012450413778424263 + ] + }, + "fine_grasp": { + "position": [ + 0.13780121505260468, + 0.002207445679232478, + 0.031018652021884918 + ], + "orientation": [ + 0.5997601747512817, + 0.013505659066140652, + -0.8000601530075073, + 0.003032678971067071 + ], + "joints": [ + 0.003652457147836685 + ] + }, + "final_grasp": { + "position": [ + 0.13780121505260468, + 0.002207445679232478, + 0.031018652021884918 + ], + "orientation": [ + 0.5997601747512817, + 0.013505659066140652, + -0.8000601530075073, + 0.003032678971067071 + ], + "joints": [ + -0.005145499482750893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06176742911338806, + 0.028770992532372475, + 0.13610023260116577 + ], + "orientation": [ + 0.12708789110183716, + 0.9354696869850159, + 0.016409648582339287, + 0.3293568789958954 + ], + "joints": [ + 0.012502104043960571 + ] + }, + "fine_grasp": { + "position": [ + -0.0606127567589283, + 0.02779877930879593, + 0.1323663741350174 + ], + "orientation": [ + 0.12282449752092361, + 0.9464026093482971, + 0.011845451779663563, + 0.2984897494316101 + ], + "joints": [ + 0.004122101701796055 + ] + }, + "final_grasp": { + "position": [ + -0.0606127567589283, + 0.02779877930879593, + 0.1323663741350174 + ], + "orientation": [ + 0.12282449752092361, + 0.9464026093482971, + 0.011845451779663563, + 0.2984897494316101 + ], + "joints": [ + -0.004257900640368462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15100061893463135, + -0.020779455080628395, + -0.004850280471146107 + ], + "orientation": [ + 0.06379075348377228, + -0.6178387403488159, + -0.054189443588256836, + -0.7818372249603271 + ], + "joints": [ + 0.013122713193297386 + ] + }, + "fine_grasp": { + "position": [ + -0.14710822701454163, + -0.020087899640202522, + -0.005244874861091375 + ], + "orientation": [ + 0.06272994726896286, + -0.6274710297584534, + -0.05547995865345001, + -0.7741234302520752 + ], + "joints": [ + 0.0039276983588933945 + ] + }, + "final_grasp": { + "position": [ + -0.14710822701454163, + -0.020087899640202522, + -0.005244874861091375 + ], + "orientation": [ + 0.06272994726896286, + -0.6274710297584534, + -0.05547995865345001, + -0.7741234302520752 + ], + "joints": [ + -0.005267316475510597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08457515388727188, + -0.001950249308720231, + 0.1353108286857605 + ], + "orientation": [ + 0.0025850883685052395, + 0.9710851311683655, + 0.0514761321246624, + 0.23310354351997375 + ], + "joints": [ + 0.013778924942016602 + ] + }, + "fine_grasp": { + "position": [ + -0.08250492066144943, + -0.0018059490248560905, + 0.13195635378360748 + ], + "orientation": [ + 0.0030740713700652122, + 0.9692407250404358, + 0.052394311875104904, + 0.24045316874980927 + ], + "joints": [ + 0.003747999668121338 + ] + }, + "final_grasp": { + "position": [ + -0.08250492066144943, + -0.0018059490248560905, + 0.13195635378360748 + ], + "orientation": [ + 0.0030740713700652122, + 0.9692407250404358, + 0.052394311875104904, + 0.24045316874980927 + ], + "joints": [ + -0.006282925605773926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08415096998214722, + -0.001621399074792862, + 0.13521867990493774 + ], + "orientation": [ + 0.004769570659846067, + 0.9712948799133301, + 0.05119834840297699, + 0.23225456476211548 + ], + "joints": [ + 0.013466844335198402 + ] + }, + "fine_grasp": { + "position": [ + -0.08207080513238907, + -0.0014622233575209975, + 0.13181225955486298 + ], + "orientation": [ + 0.00406237319111824, + 0.9695966839790344, + 0.05240091308951378, + 0.23899799585342407 + ], + "joints": [ + 0.003456817241385579 + ] + }, + "final_grasp": { + "position": [ + -0.08207080513238907, + -0.0014622233575209975, + 0.13181225955486298 + ], + "orientation": [ + 0.00406237319111824, + 0.9695966839790344, + 0.05240091308951378, + 0.23899799585342407 + ], + "joints": [ + -0.006553209852427244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05143173784017563, + 0.018348434939980507, + 0.15076573193073273 + ], + "orientation": [ + 0.06572645902633667, + 0.9866023659706116, + -0.06115448847413063, + 0.13622063398361206 + ], + "joints": [ + 0.01324012503027916 + ] + }, + "fine_grasp": { + "position": [ + -0.050218429416418076, + 0.017791476100683212, + 0.1469939649105072 + ], + "orientation": [ + 0.06329913437366486, + 0.9857171773910522, + -0.0660272017121315, + 0.14140434563159943 + ], + "joints": [ + 0.003627155441790819 + ] + }, + "final_grasp": { + "position": [ + -0.050218429416418076, + 0.017791476100683212, + 0.1469939649105072 + ], + "orientation": [ + 0.06329913437366486, + 0.9857171773910522, + -0.0660272017121315, + 0.14140434563159943 + ], + "joints": [ + -0.005985814146697521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05145225673913956, + 0.01785263419151306, + 0.14939603209495544 + ], + "orientation": [ + 0.06526049971580505, + 0.9870644807815552, + -0.055305447429418564, + 0.1355949193239212 + ], + "joints": [ + 0.013330287300050259 + ] + }, + "fine_grasp": { + "position": [ + -0.05024966225028038, + 0.01727079227566719, + 0.1456325501203537 + ], + "orientation": [ + 0.06407002359628677, + 0.9864621758460999, + -0.058649640530347824, + 0.13909630477428436 + ], + "joints": [ + 0.004135272465646267 + ] + }, + "final_grasp": { + "position": [ + -0.05024966225028038, + 0.01727079227566719, + 0.1456325501203537 + ], + "orientation": [ + 0.06407002359628677, + 0.9864621758460999, + -0.058649640530347824, + 0.13909630477428436 + ], + "joints": [ + -0.005059742368757725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06174306571483612, + 0.028877530246973038, + 0.13580234348773956 + ], + "orientation": [ + 0.12365781515836716, + 0.9336485266685486, + 0.009228132665157318, + 0.3360418379306793 + ], + "joints": [ + 0.011306744068861008 + ] + }, + "fine_grasp": { + "position": [ + -0.0606759749352932, + 0.027803245931863785, + 0.13188399374485016 + ], + "orientation": [ + 0.12029922008514404, + 0.9447891116142273, + 0.0035307230427861214, + 0.30477726459503174 + ], + "joints": [ + 0.00415970990434289 + ] + }, + "final_grasp": { + "position": [ + -0.0606759749352932, + 0.027803245931863785, + 0.13188399374485016 + ], + "orientation": [ + 0.12029922008514404, + 0.9447891116142273, + 0.0035307230427861214, + 0.30477726459503174 + ], + "joints": [ + -0.002987324260175228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.149305060505867, + -0.020614763721823692, + -0.0052837166003882885 + ], + "orientation": [ + 0.0724712684750557, + -0.6214173436164856, + -0.04784474894404411, + -0.7786522507667542 + ], + "joints": [ + 0.013356801122426987 + ] + }, + "fine_grasp": { + "position": [ + -0.14542199671268463, + -0.01991361565887928, + -0.0055449353531003 + ], + "orientation": [ + 0.07219378650188446, + -0.6289314031600952, + -0.04885965958237648, + -0.7725581526756287 + ], + "joints": [ + 0.003743831068277359 + ] + }, + "final_grasp": { + "position": [ + -0.14542199671268463, + -0.01991361565887928, + -0.0055449353531003 + ], + "orientation": [ + 0.07219378650188446, + -0.6289314031600952, + -0.04885965958237648, + -0.7725581526756287 + ], + "joints": [ + -0.005869138985872269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1508718878030777, + -0.020719824358820915, + -0.005138806067407131 + ], + "orientation": [ + 0.059081610292196274, + -0.613899827003479, + -0.05853112414479256, + -0.7849907875061035 + ], + "joints": [ + 0.013119310140609741 + ] + }, + "fine_grasp": { + "position": [ + -0.1469285488128662, + -0.01997186802327633, + -0.0055395145900547504 + ], + "orientation": [ + 0.057437025010585785, + -0.624161422252655, + -0.05971566587686539, + -0.7768896818161011 + ], + "joints": [ + 0.0039242953062057495 + ] + }, + "final_grasp": { + "position": [ + -0.1469285488128662, + -0.01997186802327633, + -0.0055395145900547504 + ], + "orientation": [ + 0.057437025010585785, + -0.624161422252655, + -0.05971566587686539, + -0.7768896818161011 + ], + "joints": [ + -0.005270719528198242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11804355680942535, + -0.010022035799920559, + 0.0785684585571289 + ], + "orientation": [ + 0.06210961937904358, + -0.8401169180870056, + -0.021464059129357338, + 0.5384100079536438 + ], + "joints": [ + 0.012980693951249123 + ] + }, + "fine_grasp": { + "position": [ + 0.11482162028551102, + -0.009436762891709805, + 0.07631143182516098 + ], + "orientation": [ + 0.06213909387588501, + -0.8410781025886536, + -0.022377537563443184, + 0.5368664860725403 + ], + "joints": [ + 0.004203634336590767 + ] + }, + "final_grasp": { + "position": [ + 0.11482162028551102, + -0.009436762891709805, + 0.07631143182516098 + ], + "orientation": [ + 0.06213909387588501, + -0.8410781025886536, + -0.022377537563443184, + 0.5368664860725403 + ], + "joints": [ + -0.004573425278067589 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08871550858020782, + 0.04690089076757431, + -0.11291161179542542 + ], + "orientation": [ + 0.8758119940757751, + 0.2838934361934662, + -0.32623469829559326, + -0.21431037783622742 + ], + "joints": [ + 0.015486875548958778 + ] + }, + "fine_grasp": { + "position": [ + 0.08725329488515854, + 0.044994670897722244, + -0.10988058894872665 + ], + "orientation": [ + 0.8790123462677002, + 0.2839706540107727, + -0.3183622360229492, + -0.21294036507606506 + ], + "joints": [ + 0.006291860714554787 + ] + }, + "final_grasp": { + "position": [ + 0.08725329488515854, + 0.044994670897722244, + -0.10988058894872665 + ], + "orientation": [ + 0.8790123462677002, + 0.2839706540107727, + -0.3183622360229492, + -0.21294036507606506 + ], + "joints": [ + -0.002903154119849205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13540007174015045, + 0.0061447094194591045, + 0.049099233001470566 + ], + "orientation": [ + 0.01999933086335659, + -0.856033444404602, + 0.08786612004041672, + -0.5090051889419556 + ], + "joints": [ + 0.012253041379153728 + ] + }, + "fine_grasp": { + "position": [ + -0.13140030205249786, + 0.005711684003472328, + 0.048300329595804214 + ], + "orientation": [ + 0.025519125163555145, + -0.8543366193771362, + 0.09494101256132126, + -0.510337233543396 + ], + "joints": [ + 0.0038939372170716524 + ] + }, + "final_grasp": { + "position": [ + -0.13140030205249786, + 0.005711684003472328, + 0.048300329595804214 + ], + "orientation": [ + 0.025519125163555145, + -0.8543366193771362, + 0.09494101256132126, + -0.510337233543396 + ], + "joints": [ + -0.004465166945010424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14387552440166473, + 0.010853379033505917, + 0.016355562955141068 + ], + "orientation": [ + 0.7172769904136658, + -0.04856814071536064, + 0.684909999370575, + -0.11854643374681473 + ], + "joints": [ + 0.012918222695589066 + ] + }, + "fine_grasp": { + "position": [ + -0.14005613327026367, + 0.010461882688105106, + 0.015410453081130981 + ], + "orientation": [ + 0.708949089050293, + -0.052326641976833344, + 0.6932032108306885, + -0.11883862316608429 + ], + "joints": [ + 0.003723207861185074 + ] + }, + "final_grasp": { + "position": [ + -0.14005613327026367, + 0.010461882688105106, + 0.015410453081130981 + ], + "orientation": [ + 0.708949089050293, + -0.052326641976833344, + 0.6932032108306885, + -0.11883862316608429 + ], + "joints": [ + -0.005471806973218918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0038387244567275047, + 0.006456677336245775, + 0.13945487141609192 + ], + "orientation": [ + 0.07088753581047058, + -0.04226454719901085, + 0.9960778951644897, + -0.03189967945218086 + ], + "joints": [ + 0.012772521935403347 + ] + }, + "fine_grasp": { + "position": [ + 0.0031592915765941143, + 0.005781981162726879, + 0.1355009526014328 + ], + "orientation": [ + 0.06399133056402206, + -0.07178182154893875, + 0.994792640209198, + -0.033767737448215485 + ], + "joints": [ + 0.004392519593238831 + ] + }, + "final_grasp": { + "position": [ + 0.0031592915765941143, + 0.005781981162726879, + 0.1355009526014328 + ], + "orientation": [ + 0.06399133056402206, + -0.07178182154893875, + 0.994792640209198, + -0.033767737448215485 + ], + "joints": [ + -0.003987482748925686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.127181276679039, + -0.0027874994557350874, + -0.07072724401950836 + ], + "orientation": [ + 0.06127963215112686, + 0.5578638911247253, + -0.05368346720933914, + -0.8259242177009583 + ], + "joints": [ + 0.012824637815356255 + ] + }, + "fine_grasp": { + "position": [ + 0.12382093816995621, + -0.0025136589538306, + -0.06840111315250397 + ], + "orientation": [ + 0.06241564080119133, + 0.5541435480117798, + -0.05610986799001694, + -0.8281793594360352 + ], + "joints": [ + 0.004047578200697899 + ] + }, + "final_grasp": { + "position": [ + 0.12382093816995621, + -0.0025136589538306, + -0.06840111315250397 + ], + "orientation": [ + 0.06241564080119133, + 0.5541435480117798, + -0.05610986799001694, + -0.8281793594360352 + ], + "joints": [ + -0.004729481413960457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12099193781614304, + 0.007878037169575691, + -0.07419411092996597 + ], + "orientation": [ + 0.9064628481864929, + 0.016127776354551315, + 0.41935351490974426, + -0.04698556661605835 + ], + "joints": [ + 0.012350388802587986 + ] + }, + "fine_grasp": { + "position": [ + -0.11736098676919937, + 0.00754544185474515, + -0.07258361577987671 + ], + "orientation": [ + 0.9039173126220703, + 0.01604909636080265, + 0.42467787861824036, + -0.048213716596364975 + ], + "joints": [ + 0.0035733296535909176 + ] + }, + "final_grasp": { + "position": [ + -0.11736098676919937, + 0.00754544185474515, + -0.07258361577987671 + ], + "orientation": [ + 0.9039173126220703, + 0.01604909636080265, + 0.42467787861824036, + -0.048213716596364975 + ], + "joints": [ + -0.005203729495406151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09441466629505157, + -0.002019969280809164, + -0.11660140752792358 + ], + "orientation": [ + 0.93755042552948, + -0.025521544739603996, + -0.34399279952049255, + 0.044908516108989716 + ], + "joints": [ + 0.01291662734001875 + ] + }, + "fine_grasp": { + "position": [ + 0.0918334573507309, + -0.002269676886498928, + -0.11335370689630508 + ], + "orientation": [ + 0.9376725554466248, + -0.02496151439845562, + -0.3435947299003601, + 0.04571407288312912 + ], + "joints": [ + 0.0045575229451060295 + ] + }, + "final_grasp": { + "position": [ + 0.0918334573507309, + -0.002269676886498928, + -0.11335370689630508 + ], + "orientation": [ + 0.9376725554466248, + -0.02496151439845562, + -0.3435947299003601, + 0.04571407288312912 + ], + "joints": [ + -0.00380158144980669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11035516113042831, + 0.0186673104763031, + 0.09344075620174408 + ], + "orientation": [ + 0.37126845121383667, + 0.09369618445634842, + 0.9225720167160034, + -0.04734612628817558 + ], + "joints": [ + 0.0127949807792902 + ] + }, + "fine_grasp": { + "position": [ + -0.10722919553518295, + 0.01807696372270584, + 0.0908481702208519 + ], + "orientation": [ + 0.37497738003730774, + 0.1013219878077507, + 0.9202253818511963, + -0.04807417094707489 + ], + "joints": [ + 0.0044358763843774796 + ] + }, + "final_grasp": { + "position": [ + -0.10722919553518295, + 0.01807696372270584, + 0.0908481702208519 + ], + "orientation": [ + 0.37497738003730774, + 0.1013219878077507, + 0.9202253818511963, + -0.04807417094707489 + ], + "joints": [ + -0.00392322801053524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14534829556941986, + 0.00775383273139596, + 0.0034885751083493233 + ], + "orientation": [ + 0.6590380072593689, + 0.05414781719446182, + -0.7501462697982788, + -0.004180976189672947 + ], + "joints": [ + 0.011947283521294594 + ] + }, + "fine_grasp": { + "position": [ + 0.1412154883146286, + 0.007369203958660364, + 0.003564386395737529 + ], + "orientation": [ + 0.6615419387817383, + 0.056093309074640274, + -0.7477994561195374, + -0.003424872877076268 + ], + "joints": [ + 0.0035881795920431614 + ] + }, + "final_grasp": { + "position": [ + 0.1412154883146286, + 0.007369203958660364, + 0.003564386395737529 + ], + "orientation": [ + 0.6615419387817383, + 0.056093309074640274, + -0.7477994561195374, + -0.003424872877076268 + ], + "joints": [ + -0.004770924337208271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15369942784309387, + -0.0244811549782753, + 0.018672015517950058 + ], + "orientation": [ + 0.6866520047187805, + -0.08552331477403641, + -0.719689130783081, + -0.05694079399108887 + ], + "joints": [ + 0.013198627158999443 + ] + }, + "fine_grasp": { + "position": [ + 0.14992780983448029, + -0.023541182279586792, + 0.018146391957998276 + ], + "orientation": [ + 0.684574544429779, + -0.08705388009548187, + -0.7214627265930176, + -0.05719229206442833 + ], + "joints": [ + 0.0035856575705111027 + ] + }, + "final_grasp": { + "position": [ + 0.14992780983448029, + -0.023541182279586792, + 0.018146391957998276 + ], + "orientation": [ + 0.684574544429779, + -0.08705388009548187, + -0.7214627265930176, + -0.05719229206442833 + ], + "joints": [ + -0.006027312017977238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15330561995506287, + -0.024393826723098755, + 0.018246935680508614 + ], + "orientation": [ + 0.6818857789039612, + -0.08245261758565903, + -0.7242861986160278, + -0.06035669147968292 + ], + "joints": [ + 0.012920189648866653 + ] + }, + "fine_grasp": { + "position": [ + 0.14949554204940796, + -0.023501701653003693, + 0.017751114442944527 + ], + "orientation": [ + 0.680496335029602, + -0.08333790302276611, + -0.72550368309021, + -0.060198742896318436 + ], + "joints": [ + 0.0033072202932089567 + ] + }, + "final_grasp": { + "position": [ + 0.14949554204940796, + -0.023501701653003693, + 0.017751114442944527 + ], + "orientation": [ + 0.680496335029602, + -0.08333790302276611, + -0.72550368309021, + -0.060198742896318436 + ], + "joints": [ + -0.00630574906244874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09331613779067993, + -0.0021436410024762154, + -0.11570274084806442 + ], + "orientation": [ + 0.9372061491012573, + -0.023965254426002502, + -0.3453919291496277, + 0.04212713986635208 + ], + "joints": [ + 0.012865603901445866 + ] + }, + "fine_grasp": { + "position": [ + 0.09081285446882248, + -0.002197087276726961, + -0.11246106773614883 + ], + "orientation": [ + 0.9374224543571472, + -0.02489973045885563, + -0.34467196464538574, + 0.04266706109046936 + ], + "joints": [ + 0.00408854428678751 + ] + }, + "final_grasp": { + "position": [ + 0.09081285446882248, + -0.002197087276726961, + -0.11246106773614883 + ], + "orientation": [ + 0.9374224543571472, + -0.02489973045885563, + -0.34467196464538574, + 0.04266706109046936 + ], + "joints": [ + -0.004688515327870846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09648255258798599, + -0.013467115350067616, + -0.1096661165356636 + ], + "orientation": [ + 0.06383063644170761, + -0.3070341944694519, + 0.036953337490558624, + 0.9488362073898315 + ], + "joints": [ + 0.012159011326730251 + ] + }, + "fine_grasp": { + "position": [ + 0.09353373944759369, + -0.012723013758659363, + -0.10703353583812714 + ], + "orientation": [ + 0.06505228579044342, + -0.311699777841568, + 0.03808989375829697, + 0.9471856951713562 + ], + "joints": [ + 0.0037999071646481752 + ] + }, + "final_grasp": { + "position": [ + 0.09353373944759369, + -0.012723013758659363, + -0.10703353583812714 + ], + "orientation": [ + 0.06505228579044342, + -0.311699777841568, + 0.03808989375829697, + 0.9471856951713562 + ], + "joints": [ + -0.004559196997433901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1454770565032959, + 0.007900511845946312, + 0.0036949620116502047 + ], + "orientation": [ + 0.6611310243606567, + 0.0526333749294281, + -0.7484200596809387, + -0.0016605156706646085 + ], + "joints": [ + 0.01196596585214138 + ] + }, + "fine_grasp": { + "position": [ + 0.14134222269058228, + 0.007531045936048031, + 0.003795269876718521 + ], + "orientation": [ + 0.6633248925209045, + 0.054446835070848465, + -0.7463475465774536, + -0.0009793463395908475 + ], + "joints": [ + 0.003606861922889948 + ] + }, + "final_grasp": { + "position": [ + 0.14134222269058228, + 0.007531045936048031, + 0.003795269876718521 + ], + "orientation": [ + 0.6633248925209045, + 0.054446835070848465, + -0.7463475465774536, + -0.0009793463395908475 + ], + "joints": [ + -0.0047522420063614845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10941014438867569, + 0.01806758902966976, + 0.09250830113887787 + ], + "orientation": [ + 0.37285831570625305, + 0.09025920182466507, + 0.9223108291625977, + -0.046611886471509933 + ], + "joints": [ + 0.012691071256995201 + ] + }, + "fine_grasp": { + "position": [ + -0.1063220202922821, + 0.017486492171883583, + 0.09001549333333969 + ], + "orientation": [ + 0.3757686913013458, + 0.09925306588411331, + 0.9202316403388977, + -0.04604773968458176 + ], + "joints": [ + 0.004331966862082481 + ] + }, + "final_grasp": { + "position": [ + -0.1063220202922821, + 0.017486492171883583, + 0.09001549333333969 + ], + "orientation": [ + 0.3757686913013458, + 0.09925306588411331, + 0.9202316403388977, + -0.04604773968458176 + ], + "joints": [ + -0.004027137532830238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14880052208900452, + -0.02528129704296589, + 0.04179222881793976 + ], + "orientation": [ + 0.5454277992248535, + 0.0016422223998233676, + -0.8289574384689331, + -0.12383648753166199 + ], + "joints": [ + 0.013470763340592384 + ] + }, + "fine_grasp": { + "position": [ + 0.14502525329589844, + -0.024417059496045113, + 0.04082392156124115 + ], + "orientation": [ + 0.5499545931816101, + 0.0029790771659463644, + -0.8256440162658691, + -0.1259087473154068 + ], + "joints": [ + 0.0038786912336945534 + ] + }, + "final_grasp": { + "position": [ + 0.14502525329589844, + -0.024417059496045113, + 0.04082392156124115 + ], + "orientation": [ + 0.5499545931816101, + 0.0029790771659463644, + -0.8256440162658691, + -0.1259087473154068 + ], + "joints": [ + -0.005713380873203278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14894896745681763, + -0.025064758956432343, + 0.04116380959749222 + ], + "orientation": [ + 0.5325195789337158, + 0.002917318372055888, + -0.8375923037528992, + -0.12187458574771881 + ], + "joints": [ + 0.013630189001560211 + ] + }, + "fine_grasp": { + "position": [ + 0.14508680999279022, + -0.024259012192487717, + 0.040473733097314835 + ], + "orientation": [ + 0.5408797264099121, + 0.005225528497248888, + -0.8319293260574341, + -0.12375517934560776 + ], + "joints": [ + 0.0044351741671562195 + ] + }, + "final_grasp": { + "position": [ + 0.14508680999279022, + -0.024259012192487717, + 0.040473733097314835 + ], + "orientation": [ + 0.5408797264099121, + 0.005225528497248888, + -0.8319293260574341, + -0.12375517934560776 + ], + "joints": [ + -0.004759840667247772 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07213520258665085, + 0.002097837859764695, + -0.12642532587051392 + ], + "orientation": [ + 0.9581900238990784, + 0.024450303986668587, + -0.27992478013038635, + -0.05400240048766136 + ], + "joints": [ + 0.013196880929172039 + ] + }, + "fine_grasp": { + "position": [ + 0.07031199336051941, + 0.00197426020167768, + -0.12304100394248962 + ], + "orientation": [ + 0.958358883857727, + 0.02496222034096718, + -0.279062420129776, + -0.055219583213329315 + ], + "joints": [ + 0.0035839113406836987 + ] + }, + "final_grasp": { + "position": [ + 0.07031199336051941, + 0.00197426020167768, + -0.12304100394248962 + ], + "orientation": [ + 0.958358883857727, + 0.02496222034096718, + -0.279062420129776, + -0.055219583213329315 + ], + "joints": [ + -0.006029058247804642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1454106718301773, + 0.0076905167661607265, + -0.049706246703863144 + ], + "orientation": [ + 0.8155081868171692, + 0.062051594257354736, + 0.5744925737380981, + 0.0324682779610157 + ], + "joints": [ + 0.012366742826998234 + ] + }, + "fine_grasp": { + "position": [ + -0.1415480077266693, + 0.0074513996951282024, + -0.04836529493331909 + ], + "orientation": [ + 0.8154687881469727, + 0.06250108033418655, + 0.5744447112083435, + 0.0334310345351696 + ], + "joints": [ + 0.0035896836780011654 + ] + }, + "final_grasp": { + "position": [ + -0.1415480077266693, + 0.0074513996951282024, + -0.04836529493331909 + ], + "orientation": [ + 0.8154687881469727, + 0.06250108033418655, + 0.5744447112083435, + 0.0334310345351696 + ], + "joints": [ + -0.005187375470995903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08757826685905457, + -0.005986226722598076, + -0.10984769463539124 + ], + "orientation": [ + 0.03407648950815201, + 0.3854469060897827, + -0.041143931448459625, + -0.9211822748184204 + ], + "joints": [ + 0.01363981794565916 + ] + }, + "fine_grasp": { + "position": [ + 0.08589917421340942, + -0.005781093612313271, + -0.10677000135183334 + ], + "orientation": [ + 0.03623003512620926, + 0.38298526406288147, + -0.04285543039441109, + -0.9220482707023621 + ], + "joints": [ + 0.004026847891509533 + ] + }, + "final_grasp": { + "position": [ + 0.08589917421340942, + -0.005781093612313271, + -0.10677000135183334 + ], + "orientation": [ + 0.03623003512620926, + 0.38298526406288147, + -0.04285543039441109, + -0.9220482707023621 + ], + "joints": [ + -0.005586122162640095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14633843302726746, + 0.007810271345078945, + 0.0047131371684372425 + ], + "orientation": [ + 0.6668791770935059, + 0.05701874569058418, + -0.7429525256156921, + -0.00652362359687686 + ], + "joints": [ + 0.01168634369969368 + ] + }, + "fine_grasp": { + "position": [ + 0.14225870370864868, + 0.00741003081202507, + 0.004789660684764385 + ], + "orientation": [ + 0.6686725616455078, + 0.060619622468948364, + -0.7410529851913452, + -0.006539694964885712 + ], + "joints": [ + 0.003327240003272891 + ] + }, + "final_grasp": { + "position": [ + 0.14225870370864868, + 0.00741003081202507, + 0.004789660684764385 + ], + "orientation": [ + 0.6686725616455078, + 0.060619622468948364, + -0.7410529851913452, + -0.006539694964885712 + ], + "joints": [ + -0.005031863693147898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07024655491113663, + 0.007387309335172176, + 0.13627226650714874 + ], + "orientation": [ + 0.17577068507671356, + -0.09687846153974533, + 0.9785096645355225, + -0.04730895161628723 + ], + "joints": [ + 0.013377984054386616 + ] + }, + "fine_grasp": { + "position": [ + -0.06852998584508896, + 0.0072394246235489845, + 0.1325494945049286 + ], + "orientation": [ + 0.17753881216049194, + -0.11017259955406189, + 0.9765595197677612, + -0.05170571431517601 + ], + "joints": [ + 0.004997981712222099 + ] + }, + "final_grasp": { + "position": [ + -0.06852998584508896, + 0.0072394246235489845, + 0.1325494945049286 + ], + "orientation": [ + 0.17753881216049194, + -0.11017259955406189, + 0.9765595197677612, + -0.05170571431517601 + ], + "joints": [ + -0.003382020629942417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14699314534664154, + -0.024788375943899155, + 0.04135880619287491 + ], + "orientation": [ + 0.5445353388786316, + 0.0016226450679823756, + -0.8298255801200867, + -0.12193478643894196 + ], + "joints": [ + 0.013675574213266373 + ] + }, + "fine_grasp": { + "position": [ + 0.14325347542762756, + -0.023790152743458748, + 0.040387775748968124 + ], + "orientation": [ + 0.548429548740387, + 0.0019372779643163085, + -0.8267109990119934, + -0.12557955086231232 + ], + "joints": [ + 0.004062604159116745 + ] + }, + "final_grasp": { + "position": [ + 0.14325347542762756, + -0.023790152743458748, + 0.040387775748968124 + ], + "orientation": [ + 0.548429548740387, + 0.0019372779643163085, + -0.8267109990119934, + -0.12557955086231232 + ], + "joints": [ + -0.005550365895032883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13153041899204254, + -0.016800807788968086, + 0.05932442471385002 + ], + "orientation": [ + 0.06901950389146805, + -0.8252482414245605, + 0.02301478013396263, + 0.5600641965866089 + ], + "joints": [ + 0.013770305551588535 + ] + }, + "fine_grasp": { + "position": [ + 0.12797658145427704, + -0.016131442040205002, + 0.057694368064403534 + ], + "orientation": [ + 0.06917652487754822, + -0.825007438659668, + 0.022795086726546288, + 0.5604085326194763 + ], + "joints": [ + 0.00459618866443634 + ] + }, + "final_grasp": { + "position": [ + 0.12797658145427704, + -0.016131442040205002, + 0.057694368064403534 + ], + "orientation": [ + 0.06917652487754822, + -0.825007438659668, + 0.022795086726546288, + 0.5604085326194763 + ], + "joints": [ + -0.004577928222715855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07151822745800018, + 0.0020406129769980907, + -0.12386302649974823 + ], + "orientation": [ + 0.959580659866333, + 0.02191266603767872, + -0.2772250771522522, + -0.04325631260871887 + ], + "joints": [ + 0.013692979700863361 + ] + }, + "fine_grasp": { + "position": [ + 0.06962058693170547, + 0.0016437447629868984, + -0.12033829092979431 + ], + "orientation": [ + 0.9591243863105774, + 0.023942044004797935, + -0.27785879373550415, + -0.04797551780939102 + ], + "joints": [ + 0.004080009646713734 + ] + }, + "final_grasp": { + "position": [ + 0.06962058693170547, + 0.0016437447629868984, + -0.12033829092979431 + ], + "orientation": [ + 0.9591243863105774, + 0.023942044004797935, + -0.27785879373550415, + -0.04797551780939102 + ], + "joints": [ + -0.005532960407435894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06935882568359375, + 0.007639217656105757, + 0.13577020168304443 + ], + "orientation": [ + 0.1785161942243576, + -0.0912863165140152, + 0.9786409139633179, + -0.04539462924003601 + ], + "joints": [ + 0.013700294308364391 + ] + }, + "fine_grasp": { + "position": [ + -0.06765783578157425, + 0.007529269438236952, + 0.1320081353187561 + ], + "orientation": [ + 0.17724072933197021, + -0.10250666737556458, + 0.9775556921958923, + -0.04962758347392082 + ], + "joints": [ + 0.005341189913451672 + ] + }, + "final_grasp": { + "position": [ + -0.06765783578157425, + 0.007529269438236952, + 0.1320081353187561 + ], + "orientation": [ + 0.17724072933197021, + -0.10250666737556458, + 0.9775556921958923, + -0.04962758347392082 + ], + "joints": [ + -0.003017914481461048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14405332505702972, + 0.013995060697197914, + -0.046258848160505295 + ], + "orientation": [ + 0.02939942106604576, + 0.5564699769020081, + -0.05018599331378937, + 0.8288293480873108 + ], + "joints": [ + 0.012192338705062866 + ] + }, + "fine_grasp": { + "position": [ + -0.1400950849056244, + 0.013569505885243416, + -0.04516049474477768 + ], + "orientation": [ + 0.02902161329984665, + 0.5582074522972107, + -0.050090622156858444, + 0.8276793956756592 + ], + "joints": [ + 0.00383323454298079 + ] + }, + "final_grasp": { + "position": [ + -0.1400950849056244, + 0.013569505885243416, + -0.04516049474477768 + ], + "orientation": [ + 0.02902161329984665, + 0.5582074522972107, + -0.050090622156858444, + 0.8276793956756592 + ], + "joints": [ + -0.004525869619101286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1430254727602005, + 0.002432347508147359, + -0.02181532047688961 + ], + "orientation": [ + 0.777589738368988, + -0.0066612353548407555, + 0.6281741857528687, + -0.026590578258037567 + ], + "joints": [ + 0.0128740593791008 + ] + }, + "fine_grasp": { + "position": [ + -0.1392330527305603, + 0.0025058493483811617, + -0.021491939201951027 + ], + "orientation": [ + 0.7773535251617432, + -0.007672234438359737, + 0.6283214688301086, + -0.029575901105999947 + ], + "joints": [ + 0.003679045010358095 + ] + }, + "final_grasp": { + "position": [ + -0.1392330527305603, + 0.0025058493483811617, + -0.021491939201951027 + ], + "orientation": [ + 0.7773535251617432, + -0.007672234438359737, + 0.6283214688301086, + -0.029575901105999947 + ], + "joints": [ + -0.005515969358384609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14302407205104828, + 0.013722715899348259, + -0.0461701825261116 + ], + "orientation": [ + 0.024932753294706345, + 0.5551139116287231, + -0.05239976570010185, + 0.8297476172447205 + ], + "joints": [ + 0.011975440196692944 + ] + }, + "fine_grasp": { + "position": [ + -0.13902327418327332, + 0.013087292201817036, + -0.04517301917076111 + ], + "orientation": [ + 0.024921640753746033, + 0.5572630167007446, + -0.054129865020513535, + 0.8281949162483215 + ], + "joints": [ + 0.003616336267441511 + ] + }, + "final_grasp": { + "position": [ + -0.13902327418327332, + 0.013087292201817036, + -0.04517301917076111 + ], + "orientation": [ + 0.024921640753746033, + 0.5572630167007446, + -0.054129865020513535, + 0.8281949162483215 + ], + "joints": [ + -0.004742767661809921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13444484770298004, + 0.008217216469347477, + 0.04691876098513603 + ], + "orientation": [ + 0.027631808072328568, + 0.8181367516517639, + 0.023137345910072327, + -0.5738932490348816 + ], + "joints": [ + 0.014144346117973328 + ] + }, + "fine_grasp": { + "position": [ + 0.1309778392314911, + 0.007936370559036732, + 0.045718688517808914 + ], + "orientation": [ + 0.02629205211997032, + 0.8174442648887634, + 0.023096291348338127, + -0.5749436616897583 + ], + "joints": [ + 0.004113420844078064 + ] + }, + "final_grasp": { + "position": [ + 0.1309778392314911, + 0.007936370559036732, + 0.045718688517808914 + ], + "orientation": [ + 0.02629205211997032, + 0.8174442648887634, + 0.023096291348338127, + -0.5749436616897583 + ], + "joints": [ + -0.0059175044298172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13499785959720612, + 0.006614152807742357, + 0.04750857129693031 + ], + "orientation": [ + 0.019411718472838402, + 0.81647789478302, + 0.022900395095348358, + -0.5765957236289978 + ], + "joints": [ + 0.013471027836203575 + ] + }, + "fine_grasp": { + "position": [ + 0.13155440986156464, + 0.00633610924705863, + 0.04633847624063492 + ], + "orientation": [ + 0.018018601462244987, + 0.8155434131622314, + 0.02306598238646984, + -0.5779552459716797 + ], + "joints": [ + 0.004255115054547787 + ] + }, + "final_grasp": { + "position": [ + 0.13155440986156464, + 0.00633610924705863, + 0.04633847624063492 + ], + "orientation": [ + 0.018018601462244987, + 0.8155434131622314, + 0.02306598238646984, + -0.5779552459716797 + ], + "joints": [ + -0.004960797727108002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10098730772733688, + -0.011181673966348171, + -0.11197078227996826 + ], + "orientation": [ + 0.9000861644744873, + 0.0013933464651927352, + -0.4195939600467682, + -0.1174037903547287 + ], + "joints": [ + 0.013943657279014587 + ] + }, + "fine_grasp": { + "position": [ + 0.09876550734043121, + -0.010773480869829655, + -0.10881742089986801 + ], + "orientation": [ + 0.9018490314483643, + 0.002444842364639044, + -0.41538557410240173, + -0.11881546676158905 + ], + "joints": [ + 0.00433068722486496 + ] + }, + "final_grasp": { + "position": [ + 0.09876550734043121, + -0.010773480869829655, + -0.10881742089986801 + ], + "orientation": [ + 0.9018490314483643, + 0.002444842364639044, + -0.41538557410240173, + -0.11881546676158905 + ], + "joints": [ + -0.005282282829284668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13231226801872253, + -0.02476809173822403, + -0.04363458976149559 + ], + "orientation": [ + 0.06069052964448929, + -0.5529496073722839, + 0.09271268546581268, + 0.8258134126663208 + ], + "joints": [ + 0.014461962506175041 + ] + }, + "fine_grasp": { + "position": [ + 0.1290527880191803, + -0.02410539984703064, + -0.04281086474657059 + ], + "orientation": [ + 0.06166127324104309, + -0.5562311410903931, + 0.09192249178886414, + 0.8236230611801147 + ], + "joints": [ + 0.005246049724519253 + ] + }, + "final_grasp": { + "position": [ + 0.1290527880191803, + -0.02410539984703064, + -0.04281086474657059 + ], + "orientation": [ + 0.06166127324104309, + -0.5562311410903931, + 0.09192249178886414, + 0.8236230611801147 + ], + "joints": [ + -0.003969863057136536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13380005955696106, + 0.007318421732634306, + 0.04727993905544281 + ], + "orientation": [ + 0.021701987832784653, + 0.8135778903961182, + 0.024382779374718666, + -0.5805387496948242 + ], + "joints": [ + 0.014171195216476917 + ] + }, + "fine_grasp": { + "position": [ + 0.13014023005962372, + 0.006948935333639383, + 0.04592695087194443 + ], + "orientation": [ + 0.021912677213549614, + 0.8119674324989319, + 0.02269270457327366, + -0.5828497409820557 + ], + "joints": [ + 0.00455822516232729 + ] + }, + "final_grasp": { + "position": [ + 0.13014023005962372, + 0.006948935333639383, + 0.04592695087194443 + ], + "orientation": [ + 0.021912677213549614, + 0.8119674324989319, + 0.02269270457327366, + -0.5828497409820557 + ], + "joints": [ + -0.005054744891822338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13340891897678375, + 0.01585034653544426, + -0.05767744407057762 + ], + "orientation": [ + 0.13225112855434418, + 0.5737537741661072, + 0.012588072568178177, + 0.8081817030906677 + ], + "joints": [ + 0.014303280040621758 + ] + }, + "fine_grasp": { + "position": [ + -0.13002337515354156, + 0.015241775661706924, + -0.056020114570856094 + ], + "orientation": [ + 0.13477541506290436, + 0.5712789297103882, + 0.014543985016644001, + 0.8094841837882996 + ], + "joints": [ + 0.0047112079337239265 + ] + }, + "final_grasp": { + "position": [ + -0.13002337515354156, + 0.015241775661706924, + -0.056020114570856094 + ], + "orientation": [ + 0.13477541506290436, + 0.5712789297103882, + 0.014543985016644001, + 0.8094841837882996 + ], + "joints": [ + -0.004880864173173904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10082594305276871, + 0.002198900794610381, + -0.09300048649311066 + ], + "orientation": [ + 0.9165201187133789, + 0.02260548435151577, + -0.39862847328186035, + -0.023983292281627655 + ], + "joints": [ + 0.01318275835365057 + ] + }, + "fine_grasp": { + "position": [ + 0.09923206269741058, + 0.002125947270542383, + -0.0915733054280281 + ], + "orientation": [ + 0.9159586429595947, + 0.023815931752324104, + -0.3995870053768158, + -0.02797822467982769 + ], + "joints": [ + 0.004405698738992214 + ] + }, + "final_grasp": { + "position": [ + 0.09923206269741058, + 0.002125947270542383, + -0.0915733054280281 + ], + "orientation": [ + 0.9159586429595947, + 0.023815931752324104, + -0.3995870053768158, + -0.02797822467982769 + ], + "joints": [ + -0.0043713608756661415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09579858928918839, + 0.004421130288392305, + -0.10412832349538803 + ], + "orientation": [ + 0.9513302445411682, + 0.05258999764919281, + 0.28480303287506104, + 0.10531977564096451 + ], + "joints": [ + 0.013616018928587437 + ] + }, + "fine_grasp": { + "position": [ + -0.09280169010162354, + 0.004355065990239382, + -0.10150434821844101 + ], + "orientation": [ + 0.9497406482696533, + 0.05400384962558746, + 0.28774696588516235, + 0.11080590635538101 + ], + "joints": [ + 0.004421004094183445 + ] + }, + "final_grasp": { + "position": [ + -0.09280169010162354, + 0.004355065990239382, + -0.10150434821844101 + ], + "orientation": [ + 0.9497406482696533, + 0.05400384962558746, + 0.28774696588516235, + 0.11080590635538101 + ], + "joints": [ + -0.004774010740220547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07431317865848541, + 0.004213754553347826, + 0.11070112138986588 + ], + "orientation": [ + 0.3127400279045105, + -0.018605196848511696, + 0.949364185333252, + -0.023561259731650352 + ], + "joints": [ + 0.014327550306916237 + ] + }, + "fine_grasp": { + "position": [ + -0.0755448117852211, + 0.005925132427364588, + 0.1082453653216362 + ], + "orientation": [ + 0.3234989047050476, + -0.020026233047246933, + 0.9453803896903992, + -0.0346890352666378 + ], + "joints": [ + 0.005132535472512245 + ] + }, + "final_grasp": { + "position": [ + -0.0755448117852211, + 0.005925132427364588, + 0.1082453653216362 + ], + "orientation": [ + 0.3234989047050476, + -0.020026233047246933, + 0.9453803896903992, + -0.0346890352666378 + ], + "joints": [ + -0.0040624793618917465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12255113571882248, + 0.018101882189512253, + 0.06368116289377213 + ], + "orientation": [ + 0.5180426836013794, + 0.059167247265577316, + 0.8512047529220581, + -0.0598439984023571 + ], + "joints": [ + 0.014394767582416534 + ] + }, + "fine_grasp": { + "position": [ + -0.11917149275541306, + 0.01729581691324711, + 0.06202235072851181 + ], + "orientation": [ + 0.518347442150116, + 0.057975415140390396, + 0.8512457013130188, + -0.05775308609008789 + ], + "joints": [ + 0.004363842308521271 + ] + }, + "final_grasp": { + "position": [ + -0.11917149275541306, + 0.01729581691324711, + 0.06202235072851181 + ], + "orientation": [ + 0.518347442150116, + 0.057975415140390396, + 0.8512457013130188, + -0.05775308609008789 + ], + "joints": [ + -0.005667082965373993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0986696258187294, + 0.002194121014326811, + -0.09166626632213593 + ], + "orientation": [ + 0.9145004749298096, + 0.022614937275648117, + -0.403135746717453, + -0.025675605982542038 + ], + "joints": [ + 0.013174290768802166 + ] + }, + "fine_grasp": { + "position": [ + 0.096530981361866, + 0.0021003324072808027, + -0.08953332155942917 + ], + "orientation": [ + 0.9140378832817078, + 0.0251455195248127, + -0.4036039710044861, + -0.03172200918197632 + ], + "joints": [ + 0.00439723115414381 + ] + }, + "final_grasp": { + "position": [ + 0.096530981361866, + 0.0021003324072808027, + -0.08953332155942917 + ], + "orientation": [ + 0.9140378832817078, + 0.0251455195248127, + -0.4036039710044861, + -0.03172200918197632 + ], + "joints": [ + -0.0043798284605145454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0014369760174304247, + 0.0018802835838869214, + -0.1419767588376999 + ], + "orientation": [ + 0.9889832735061646, + -0.007356369402259588, + 0.12270987778902054, + -0.08246397972106934 + ], + "joints": [ + 0.014507923275232315 + ] + }, + "fine_grasp": { + "position": [ + 0.00037857776624150574, + 0.001802828279323876, + -0.13821078836917877 + ], + "orientation": [ + 0.9902095198631287, + -0.00539620453491807, + 0.11267257481813431, + -0.08222413063049316 + ], + "joints": [ + 0.004476998001337051 + ] + }, + "final_grasp": { + "position": [ + 0.00037857776624150574, + 0.001802828279323876, + -0.13821078836917877 + ], + "orientation": [ + 0.9902095198631287, + -0.00539620453491807, + 0.11267257481813431, + -0.08222413063049316 + ], + "joints": [ + -0.005553927272558212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12518048286437988, + 0.012152226641774178, + -0.06807323545217514 + ], + "orientation": [ + 0.0379064679145813, + -0.4804874658584595, + 0.08531706780195236, + -0.8720182776451111 + ], + "joints": [ + 0.013433452695608139 + ] + }, + "fine_grasp": { + "position": [ + -0.12196400761604309, + 0.01162781659513712, + -0.06631679087877274 + ], + "orientation": [ + 0.04094482958316803, + -0.4848831295967102, + 0.0853864923119545, + -0.8694372773170471 + ], + "joints": [ + 0.004217539913952351 + ] + }, + "final_grasp": { + "position": [ + -0.12196400761604309, + 0.01162781659513712, + -0.06631679087877274 + ], + "orientation": [ + 0.04094482958316803, + -0.4848831295967102, + 0.0853864923119545, + -0.8694372773170471 + ], + "joints": [ + -0.004998372867703438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13235507905483246, + 0.007370824459940195, + -0.049299925565719604 + ], + "orientation": [ + 0.06564611941576004, + 0.5810630321502686, + 0.006638654042035341, + 0.811179518699646 + ], + "joints": [ + 0.014194473624229431 + ] + }, + "fine_grasp": { + "position": [ + -0.1289343684911728, + 0.0068709952756762505, + -0.04782721772789955 + ], + "orientation": [ + 0.06729602813720703, + 0.5823013782501221, + 0.008753101341426373, + 0.8101356029510498 + ], + "joints": [ + 0.004184446297585964 + ] + }, + "final_grasp": { + "position": [ + -0.1289343684911728, + 0.0068709952756762505, + -0.04782721772789955 + ], + "orientation": [ + 0.06729602813720703, + 0.5823013782501221, + 0.008753101341426373, + 0.8101356029510498 + ], + "joints": [ + -0.005825581029057503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12076544761657715, + 0.017528077587485313, + 0.0623844712972641 + ], + "orientation": [ + 0.5198270678520203, + 0.05647901073098183, + 0.8504608273506165, + -0.05750005692243576 + ], + "joints": [ + 0.015223274007439613 + ] + }, + "fine_grasp": { + "position": [ + -0.11862612515687943, + 0.016196222975850105, + 0.060637231916189194 + ], + "orientation": [ + 0.5246202349662781, + 0.06188033148646355, + 0.847537100315094, + -0.05123820900917053 + ], + "joints": [ + 0.00519234873354435 + ] + }, + "final_grasp": { + "position": [ + -0.11862612515687943, + 0.016196222975850105, + 0.060637231916189194 + ], + "orientation": [ + 0.5246202349662781, + 0.06188033148646355, + 0.847537100315094, + -0.05123820900917053 + ], + "joints": [ + -0.004838576540350914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1219715103507042, + 0.018919626250863075, + 0.06293351203203201 + ], + "orientation": [ + 0.5204370021820068, + 0.06568300724029541, + 0.8492701053619385, + -0.05976167693734169 + ], + "joints": [ + 0.01499077957123518 + ] + }, + "fine_grasp": { + "position": [ + -0.11959321796894073, + 0.01824607141315937, + 0.061028171330690384 + ], + "orientation": [ + 0.5249606370925903, + 0.07180417329072952, + 0.8463899493217468, + -0.053707897663116455 + ], + "joints": [ + 0.004959854297339916 + ] + }, + "final_grasp": { + "position": [ + -0.11959321796894073, + 0.01824607141315937, + 0.061028171330690384 + ], + "orientation": [ + 0.5249606370925903, + 0.07180417329072952, + 0.8463899493217468, + -0.053707897663116455 + ], + "joints": [ + -0.0050710709765553474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07066633552312851, + 0.009372844360768795, + 0.11670422554016113 + ], + "orientation": [ + 0.26548492908477783, + 0.07062366604804993, + -0.9612648487091064, + 0.022362656891345978 + ], + "joints": [ + 0.014591631479561329 + ] + }, + "fine_grasp": { + "position": [ + 0.06928274035453796, + 0.011112232692539692, + 0.11449164897203445 + ], + "orientation": [ + 0.26940086483955383, + 0.09571067243814468, + -0.9579558372497559, + 0.024153392761945724 + ], + "joints": [ + 0.004978661425411701 + ] + }, + "final_grasp": { + "position": [ + 0.06928274035453796, + 0.011112232692539692, + 0.11449164897203445 + ], + "orientation": [ + 0.26940086483955383, + 0.09571067243814468, + -0.9579558372497559, + 0.024153392761945724 + ], + "joints": [ + -0.0046343086287379265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07089094817638397, + 0.009400836192071438, + 0.11739908158779144 + ], + "orientation": [ + 0.2705681324005127, + 0.06839975714683533, + -0.9600119590759277, + 0.0221711453050375 + ], + "joints": [ + 0.014527429826557636 + ] + }, + "fine_grasp": { + "position": [ + 0.0699000135064125, + 0.010924720205366611, + 0.11490379273891449 + ], + "orientation": [ + 0.275985985994339, + 0.09294984489679337, + -0.9563736319541931, + 0.023271115496754646 + ], + "joints": [ + 0.004914459772408009 + ] + }, + "final_grasp": { + "position": [ + 0.0699000135064125, + 0.010924720205366611, + 0.11490379273891449 + ], + "orientation": [ + 0.275985985994339, + 0.09294984489679337, + -0.9563736319541931, + 0.023271115496754646 + ], + "joints": [ + -0.004698510281741619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1226375475525856, + 0.014413567259907722, + -0.06762687861919403 + ], + "orientation": [ + 0.023100093007087708, + -0.48432984948158264, + 0.0866403728723526, + -0.8702783584594727 + ], + "joints": [ + 0.014412010088562965 + ] + }, + "fine_grasp": { + "position": [ + -0.11967699974775314, + 0.014062597416341305, + -0.06571637094020844 + ], + "orientation": [ + 0.02768735960125923, + -0.4884859323501587, + 0.08686443418264389, + -0.8677957057952881 + ], + "joints": [ + 0.004799040034413338 + ] + }, + "final_grasp": { + "position": [ + -0.11967699974775314, + 0.014062597416341305, + -0.06571637094020844 + ], + "orientation": [ + 0.02768735960125923, + -0.4884859323501587, + 0.08686443418264389, + -0.8677957057952881 + ], + "joints": [ + -0.00481393001973629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09997215121984482, + 0.003015911439433694, + -0.0926632285118103 + ], + "orientation": [ + 0.9156411290168762, + 0.025969723239541054, + -0.4005706310272217, + -0.021679991856217384 + ], + "joints": [ + 0.013277451507747173 + ] + }, + "fine_grasp": { + "position": [ + 0.09774024039506912, + 0.0032613552175462246, + -0.09092054516077042 + ], + "orientation": [ + 0.9166308641433716, + 0.029028497636318207, + -0.39781925082206726, + -0.026173539459705353 + ], + "joints": [ + 0.004500391893088818 + ] + }, + "final_grasp": { + "position": [ + 0.09774024039506912, + 0.0032613552175462246, + -0.09092054516077042 + ], + "orientation": [ + 0.9166308641433716, + 0.029028497636318207, + -0.39781925082206726, + -0.026173539459705353 + ], + "joints": [ + -0.004276667721569538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09700064361095428, + 0.006567504722625017, + 0.08911021053791046 + ], + "orientation": [ + 0.019460150972008705, + 0.9160670042037964, + 0.026490412652492523, + -0.39967596530914307 + ], + "joints": [ + 0.014114814810454845 + ] + }, + "fine_grasp": { + "position": [ + 0.09586257487535477, + 0.009416329674422741, + 0.08956202119588852 + ], + "orientation": [ + 0.03319890797138214, + 0.9173526167869568, + 0.03245767951011658, + -0.39535877108573914 + ], + "joints": [ + 0.004919799976050854 + ] + }, + "final_grasp": { + "position": [ + 0.09586257487535477, + 0.009416329674422741, + 0.08956202119588852 + ], + "orientation": [ + 0.03319890797138214, + 0.9173526167869568, + 0.03245767951011658, + -0.39535877108573914 + ], + "joints": [ + -0.004275214858353138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0003520645259413868, + 0.017832951620221138, + 0.13128447532653809 + ], + "orientation": [ + 0.07812976092100143, + 0.9969394207000732, + -0.0027335656341165304, + 0.0002619735605549067 + ], + "joints": [ + 0.01499923225492239 + ] + }, + "fine_grasp": { + "position": [ + 0.0003423133457545191, + 0.017791839316487312, + 0.12888003885746002 + ], + "orientation": [ + 0.07949169725179672, + 0.9968276619911194, + -0.003963953349739313, + -1.870649794000201e-05 + ], + "joints": [ + 0.005804217420518398 + ] + }, + "final_grasp": { + "position": [ + 0.0003423133457545191, + 0.017791839316487312, + 0.12888003885746002 + ], + "orientation": [ + 0.07949169725179672, + 0.9968276619911194, + -0.003963953349739313, + -1.870649794000201e-05 + ], + "joints": [ + -0.0033907974138855934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11368482559919357, + -0.01793801784515381, + 0.08527974039316177 + ], + "orientation": [ + 0.525026798248291, + -0.09911178797483444, + -0.8448811173439026, + -0.026449432596564293 + ], + "joints": [ + 0.013335241004824638 + ] + }, + "fine_grasp": { + "position": [ + 0.11095058172941208, + -0.017568377777934074, + 0.08277606219053268 + ], + "orientation": [ + 0.518230676651001, + -0.10428062826395035, + -0.8484891057014465, + -0.025072608143091202 + ], + "joints": [ + 0.004976136609911919 + ] + }, + "final_grasp": { + "position": [ + 0.11095058172941208, + -0.017568377777934074, + 0.08277606219053268 + ], + "orientation": [ + 0.518230676651001, + -0.10428062826395035, + -0.8484891057014465, + -0.025072608143091202 + ], + "joints": [ + -0.003382967785000801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11593517661094666, + -0.006010368000715971, + -0.07907397300004959 + ], + "orientation": [ + 0.9031437039375305, + -0.04793572053313255, + -0.425375759601593, + 0.03300055116415024 + ], + "joints": [ + 0.013457562774419785 + ] + }, + "fine_grasp": { + "position": [ + 0.11262185871601105, + -0.005413325969129801, + -0.07711896300315857 + ], + "orientation": [ + 0.9001774191856384, + -0.047035712748765945, + -0.43143194913864136, + 0.03653612732887268 + ], + "joints": [ + 0.0038445929531008005 + ] + }, + "final_grasp": { + "position": [ + 0.11262185871601105, + -0.005413325969129801, + -0.07711896300315857 + ], + "orientation": [ + 0.9001774191856384, + -0.047035712748765945, + -0.43143194913864136, + 0.03653612732887268 + ], + "joints": [ + -0.0057683768682181835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0866251215338707, + -0.008373772725462914, + -0.101049043238163 + ], + "orientation": [ + 0.937250018119812, + -0.0511869452893734, + 0.3440617322921753, + -0.023746060207486153 + ], + "joints": [ + 0.014819230884313583 + ] + }, + "fine_grasp": { + "position": [ + -0.08594530075788498, + -0.007073770742863417, + -0.10024619102478027 + ], + "orientation": [ + 0.9373908042907715, + -0.04939882457256317, + 0.34364861249923706, + -0.027636472135782242 + ], + "joints": [ + 0.005206260830163956 + ] + }, + "final_grasp": { + "position": [ + -0.08594530075788498, + -0.007073770742863417, + -0.10024619102478027 + ], + "orientation": [ + 0.9373908042907715, + -0.04939882457256317, + 0.34364861249923706, + -0.027636472135782242 + ], + "joints": [ + -0.004406709223985672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1202692985534668, + 0.011980162002146244, + -0.0658237636089325 + ], + "orientation": [ + 0.02814427763223648, + -0.48588797450065613, + 0.07783722132444382, + -0.8700931668281555 + ], + "joints": [ + 0.014363324269652367 + ] + }, + "fine_grasp": { + "position": [ + -0.1180763766169548, + 0.011001139879226685, + -0.06422910839319229 + ], + "orientation": [ + 0.0364079624414444, + -0.49107569456100464, + 0.07836554944515228, + -0.8668206930160522 + ], + "joints": [ + 0.004750354215502739 + ] + }, + "final_grasp": { + "position": [ + -0.1180763766169548, + 0.011001139879226685, + -0.06422910839319229 + ], + "orientation": [ + 0.0364079624414444, + -0.49107569456100464, + 0.07836554944515228, + -0.8668206930160522 + ], + "joints": [ + -0.004862615838646889 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03185734152793884, + -0.01692548766732216, + 0.12585555016994476 + ], + "orientation": [ + 0.10409655421972275, + 0.0038914980832487345, + -0.9917306303977966, + -0.07496112585067749 + ], + "joints": [ + 0.015064860694110394 + ] + }, + "fine_grasp": { + "position": [ + 0.031225193291902542, + -0.01678537018597126, + 0.12457173317670822 + ], + "orientation": [ + 0.1024261936545372, + 0.004127126652747393, + -0.9916890859603882, + -0.07774736732244492 + ], + "joints": [ + 0.005869845859706402 + ] + }, + "final_grasp": { + "position": [ + 0.031225193291902542, + -0.01678537018597126, + 0.12457173317670822 + ], + "orientation": [ + 0.1024261936545372, + 0.004127126652747393, + -0.9916890859603882, + -0.07774736732244492 + ], + "joints": [ + -0.00332516897469759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03164580464363098, + -0.016684245318174362, + 0.12578219175338745 + ], + "orientation": [ + 0.10229245573282242, + 0.0031551781576126814, + -0.9919837713241577, + -0.07412439584732056 + ], + "joints": [ + 0.015419800765812397 + ] + }, + "fine_grasp": { + "position": [ + 0.03097200207412243, + -0.016603058204054832, + 0.12450850009918213 + ], + "orientation": [ + 0.10066115856170654, + 0.002988315187394619, + -0.991961658000946, + -0.07661925256252289 + ], + "joints": [ + 0.005806830711662769 + ] + }, + "final_grasp": { + "position": [ + 0.03097200207412243, + -0.016603058204054832, + 0.12450850009918213 + ], + "orientation": [ + 0.10066115856170654, + 0.002988315187394619, + -0.991961658000946, + -0.07661925256252289 + ], + "joints": [ + -0.0038061393424868584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12279601395130157, + 0.010173480026423931, + -0.05636388808488846 + ], + "orientation": [ + 0.8324695229530334, + 0.01498496811836958, + 0.5505192279815674, + -0.06081492453813553 + ], + "joints": [ + 0.013992896303534508 + ] + }, + "fine_grasp": { + "position": [ + -0.12047142535448074, + 0.009365103207528591, + -0.054734982550144196 + ], + "orientation": [ + 0.8298015594482422, + 0.010636928491294384, + 0.554200291633606, + -0.0646396204829216 + ], + "joints": [ + 0.004797881469130516 + ] + }, + "final_grasp": { + "position": [ + -0.12047142535448074, + 0.009365103207528591, + -0.054734982550144196 + ], + "orientation": [ + 0.8298015594482422, + 0.010636928491294384, + 0.554200291633606, + -0.0646396204829216 + ], + "joints": [ + -0.004397133365273476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12008368223905563, + 0.008858193643391132, + -0.05534713715314865 + ], + "orientation": [ + 0.8357259631156921, + 0.010833275504410267, + 0.5456014275550842, + -0.06135144457221031 + ], + "joints": [ + 0.014927659183740616 + ] + }, + "fine_grasp": { + "position": [ + -0.11861544847488403, + 0.007095998618751764, + -0.05487553030252457 + ], + "orientation": [ + 0.8359732627868652, + -0.0012987154768779874, + 0.5445654988288879, + -0.06779078394174576 + ], + "joints": [ + 0.005314689129590988 + ] + }, + "final_grasp": { + "position": [ + -0.11861544847488403, + 0.007095998618751764, + -0.05487553030252457 + ], + "orientation": [ + 0.8359732627868652, + -0.0012987154768779874, + 0.5445654988288879, + -0.06779078394174576 + ], + "joints": [ + -0.0042982809245586395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08142583072185516, + 0.009943777695298195, + 0.11401162296533585 + ], + "orientation": [ + 0.24697260558605194, + -0.024565057829022408, + -0.9674071073532104, + 0.05024503171443939 + ], + "joints": [ + 0.014512783847749233 + ] + }, + "fine_grasp": { + "position": [ + 0.07819990813732147, + 0.009761693887412548, + 0.1118464395403862 + ], + "orientation": [ + 0.2384009212255478, + -0.04282131418585777, + -0.968562662601471, + 0.05672560632228851 + ], + "joints": [ + 0.0053177690133452415 + ] + }, + "final_grasp": { + "position": [ + 0.07819990813732147, + 0.009761693887412548, + 0.1118464395403862 + ], + "orientation": [ + 0.2384009212255478, + -0.04282131418585777, + -0.968562662601471, + 0.05672560632228851 + ], + "joints": [ + -0.00387724582105875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08275134116411209, + 0.009837931953370571, + 0.11347624659538269 + ], + "orientation": [ + 0.23140758275985718, + -0.02411475218832493, + -0.9711673259735107, + 0.05199083685874939 + ], + "joints": [ + 0.013118614442646503 + ] + }, + "fine_grasp": { + "position": [ + 0.07961411029100418, + 0.009651990607380867, + 0.11100587248802185 + ], + "orientation": [ + 0.2285611480474472, + -0.04646368324756622, + -0.9707902669906616, + 0.05627734959125519 + ], + "joints": [ + 0.004341554827988148 + ] + }, + "final_grasp": { + "position": [ + 0.07961411029100418, + 0.009651990607380867, + 0.11100587248802185 + ], + "orientation": [ + 0.2285611480474472, + -0.04646368324756622, + -0.9707902669906616, + 0.05627734959125519 + ], + "joints": [ + -0.004435504786670208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07447946816682816, + 0.015424547716975212, + 0.11806783080101013 + ], + "orientation": [ + 0.20416595041751862, + -0.030246542766690254, + -0.9756388068199158, + 0.07436618953943253 + ], + "joints": [ + 0.0144155602902174 + ] + }, + "fine_grasp": { + "position": [ + 0.07202931493520737, + 0.014896453358232975, + 0.11488550156354904 + ], + "orientation": [ + 0.1981094926595688, + -0.05733966454863548, + -0.9750867486000061, + 0.08167503029108047 + ], + "joints": [ + 0.005638500675559044 + ] + }, + "final_grasp": { + "position": [ + 0.07202931493520737, + 0.014896453358232975, + 0.11488550156354904 + ], + "orientation": [ + 0.1981094926595688, + -0.05733966454863548, + -0.9750867486000061, + 0.08167503029108047 + ], + "joints": [ + -0.003138558939099312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07270149141550064, + 0.0032372153364121914, + 0.10985472053289413 + ], + "orientation": [ + 0.007840576581656933, + 0.9554088711738586, + -0.018301624804735184, + 0.2946140766143799 + ], + "joints": [ + 0.013232315890491009 + ] + }, + "fine_grasp": { + "position": [ + -0.07173291593790054, + 0.003747900016605854, + 0.10692159086465836 + ], + "orientation": [ + 0.011097204871475697, + 0.953845739364624, + -0.023851381614804268, + 0.2991427779197693 + ], + "joints": [ + 0.004455256275832653 + ] + }, + "final_grasp": { + "position": [ + -0.07173291593790054, + 0.003747900016605854, + 0.10692159086465836 + ], + "orientation": [ + 0.011097204871475697, + 0.953845739364624, + -0.023851381614804268, + 0.2991427779197693 + ], + "joints": [ + -0.004321803338825703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03189542517066002, + -0.016336729750037193, + 0.12476903200149536 + ], + "orientation": [ + 0.10857125371694565, + 0.00990315992385149, + -0.9914076328277588, + -0.0722862258553505 + ], + "joints": [ + 0.014862403273582458 + ] + }, + "fine_grasp": { + "position": [ + 0.031645964831113815, + -0.016181478276848793, + 0.12320782989263535 + ], + "orientation": [ + 0.11062093824148178, + 0.014206532388925552, + -0.9909067749977112, + -0.07526597380638123 + ], + "joints": [ + 0.005667388439178467 + ] + }, + "final_grasp": { + "position": [ + 0.031645964831113815, + -0.016181478276848793, + 0.12320782989263535 + ], + "orientation": [ + 0.11062093824148178, + 0.014206532388925552, + -0.9909067749977112, + -0.07526597380638123 + ], + "joints": [ + -0.003527626395225525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08222470432519913, + 0.0010215268703177571, + -0.09795431792736053 + ], + "orientation": [ + 0.0052468180656433105, + 0.3432701826095581, + 2.2194206394487992e-05, + 0.9392220973968506 + ], + "joints": [ + 0.014246677979826927 + ] + }, + "fine_grasp": { + "position": [ + -0.0807289406657219, + 0.001745432848110795, + -0.09617489576339722 + ], + "orientation": [ + 0.006897543091326952, + 0.3442884683609009, + -0.004200168885290623, + 0.9388291835784912 + ], + "joints": [ + 0.0050516631454229355 + ] + }, + "final_grasp": { + "position": [ + -0.0807289406657219, + 0.001745432848110795, + -0.09617489576339722 + ], + "orientation": [ + 0.006897543091326952, + 0.3442884683609009, + -0.004200168885290623, + 0.9388291835784912 + ], + "joints": [ + -0.004143351688981056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09171798080205917, + -0.0039560915902256966, + 0.08783809095621109 + ], + "orientation": [ + 0.39807188510894775, + -0.02100030891597271, + 0.9170226454734802, + 0.01292951125651598 + ], + "joints": [ + 0.01468676794320345 + ] + }, + "fine_grasp": { + "position": [ + -0.09036364406347275, + -0.0014110293705016375, + 0.08641013503074646 + ], + "orientation": [ + 0.39920493960380554, + -0.01972302421927452, + 0.9166494607925415, + 0.0004893407458439469 + ], + "joints": [ + 0.0050737978890538216 + ] + }, + "final_grasp": { + "position": [ + -0.09036364406347275, + -0.0014110293705016375, + 0.08641013503074646 + ], + "orientation": [ + 0.39920493960380554, + -0.01972302421927452, + 0.9166494607925415, + 0.0004893407458439469 + ], + "joints": [ + -0.004539172165095806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09172281622886658, + -0.0053400918841362, + 0.08652424812316895 + ], + "orientation": [ + 0.3999116122722626, + -0.01918703317642212, + 0.9161413311958313, + 0.01968798041343689 + ], + "joints": [ + 0.014334527775645256 + ] + }, + "fine_grasp": { + "position": [ + -0.09055554121732712, + -0.00242914748378098, + 0.08542202413082123 + ], + "orientation": [ + 0.4006807804107666, + -0.017571257427334785, + 0.9160257577896118, + 0.006559324916452169 + ], + "joints": [ + 0.005118614993989468 + ] + }, + "final_grasp": { + "position": [ + -0.09055554121732712, + -0.00242914748378098, + 0.08542202413082123 + ], + "orientation": [ + 0.4006807804107666, + -0.017571257427334785, + 0.9160257577896118, + 0.006559324916452169 + ], + "joints": [ + -0.004097297787666321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10871434211730957, + 0.018780354410409927, + 0.09158361703157425 + ], + "orientation": [ + 0.37826818227767944, + 0.0860057920217514, + 0.9202882647514343, + -0.050849899649620056 + ], + "joints": [ + 0.014676102437078953 + ] + }, + "fine_grasp": { + "position": [ + -0.10572460293769836, + 0.01819404400885105, + 0.0889400765299797 + ], + "orientation": [ + 0.37790700793266296, + 0.0925041064620018, + 0.9198207855224609, + -0.05058632045984268 + ], + "joints": [ + 0.0058781448751688 + ] + }, + "final_grasp": { + "position": [ + -0.10572460293769836, + 0.01819404400885105, + 0.0889400765299797 + ], + "orientation": [ + 0.37790700793266296, + 0.0925041064620018, + 0.9198207855224609, + -0.05058632045984268 + ], + "joints": [ + -0.002919812686741352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09317847341299057, + 0.0044186715967953205, + -0.0849829614162445 + ], + "orientation": [ + 0.0024647207465022802, + 0.41211381554603577, + -0.02147676609456539, + 0.9108759164810181 + ], + "joints": [ + 0.014767415821552277 + ] + }, + "fine_grasp": { + "position": [ + -0.09358691424131393, + 0.004540178459137678, + -0.08495703339576721 + ], + "orientation": [ + 0.0018512792885303497, + 0.41414526104927063, + -0.02289874665439129, + 0.9099208116531372 + ], + "joints": [ + 0.005154445767402649 + ] + }, + "final_grasp": { + "position": [ + -0.09358691424131393, + 0.004540178459137678, + -0.08495703339576721 + ], + "orientation": [ + 0.0018512792885303497, + 0.41414526104927063, + -0.02289874665439129, + 0.9099208116531372 + ], + "joints": [ + -0.004458524286746979 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05761467665433884, + -0.006937619298696518, + 0.1299097090959549 + ], + "orientation": [ + 0.02861739508807659, + -0.980652928352356, + 0.011251390911638737, + 0.19332434237003326 + ], + "joints": [ + 0.01381637342274189 + ] + }, + "fine_grasp": { + "position": [ + 0.055992405861616135, + -0.006536295637488365, + 0.12628322839736938 + ], + "orientation": [ + 0.028482623398303986, + -0.9805546998977661, + 0.012375905178487301, + 0.19377341866493225 + ], + "joints": [ + 0.004621358588337898 + ] + }, + "final_grasp": { + "position": [ + 0.055992405861616135, + -0.006536295637488365, + 0.12628322839736938 + ], + "orientation": [ + 0.028482623398303986, + -0.9805546998977661, + 0.012375905178487301, + 0.19377341866493225 + ], + "joints": [ + -0.0045736562460660934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056995898485183716, + -0.004053068812936544, + 0.12982769310474396 + ], + "orientation": [ + 0.016921836882829666, + -0.9797095656394958, + 0.0071538216434419155, + 0.19957847893238068 + ], + "joints": [ + 0.013801578432321548 + ] + }, + "fine_grasp": { + "position": [ + 0.05540286749601364, + -0.0035190151538699865, + 0.12624697387218475 + ], + "orientation": [ + 0.017047863453626633, + -0.979709804058075, + 0.009592175483703613, + 0.1994645744562149 + ], + "joints": [ + 0.004188608378171921 + ] + }, + "final_grasp": { + "position": [ + 0.05540286749601364, + -0.0035190151538699865, + 0.12624697387218475 + ], + "orientation": [ + 0.017047863453626633, + -0.979709804058075, + 0.009592175483703613, + 0.1994645744562149 + ], + "joints": [ + -0.005424361675977707 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 94 + } +} \ No newline at end of file diff --git a/clutter_coin_00000/Object.usd b/clutter_coin_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..37a13f1166e81ba1076f761b739a6f798415568c --- /dev/null +++ b/clutter_coin_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cd4093619d6bfef9685004e9d3f1feb81ecebfe0bf9de3fc9002891dd2453e0 +size 341976 diff --git a/clutter_darts_board_00000/Annotation/dex1_1_grasp_pose.json b/clutter_darts_board_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..df633ca66bbef685ebd3009f554087919cb0c2b8 --- /dev/null +++ b/clutter_darts_board_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,2168 @@ +{ + "type": "clutter_darts_board_00000", + "bottom_center": [ + 0.0, + 0.0, + -0.005840414669364691 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.1916595697402954, + 0.0036724070087075233, + -0.004961744882166386 + ], + "orientation": [ + 0.4255341589450836, + 0.5828913450241089, + 0.5022010207176208, + -0.47639548778533936 + ], + "joints": [ + 0.00921631045639515 + ] + }, + "fine_grasp": { + "position": [ + -0.1921950876712799, + 0.0036246739327907562, + -0.00427641486749053 + ], + "orientation": [ + 0.417922705411911, + 0.5898805260658264, + 0.5066646933555603, + -0.4697578251361847 + ], + "joints": [ + 0.014556877315044403 + ] + }, + "final_grasp": { + "position": [ + -0.1921950876712799, + 0.0036246739327907562, + -0.00427641486749053 + ], + "orientation": [ + 0.417922705411911, + 0.5898805260658264, + 0.5066646933555603, + -0.4697578251361847 + ], + "joints": [ + 0.019897444173693657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06100348010659218, + -0.1806868314743042, + -0.005957666784524918 + ], + "orientation": [ + 0.7335203886032104, + 0.11720641702413559, + -0.6599494814872742, + 0.11259283125400543 + ], + "joints": [ + 0.009488437324762344 + ] + }, + "fine_grasp": { + "position": [ + 0.06019122153520584, + -0.1794433891773224, + -0.005771611351519823 + ], + "orientation": [ + 0.7472609877586365, + 0.11226391792297363, + -0.6453015208244324, + 0.11217759549617767 + ], + "joints": [ + 0.015891805291175842 + ] + }, + "final_grasp": { + "position": [ + 0.06019122153520584, + -0.1794433891773224, + -0.005771611351519823 + ], + "orientation": [ + 0.7472609877586365, + 0.11226391792297363, + -0.6453015208244324, + 0.11217759549617767 + ], + "joints": [ + 0.02229517325758934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015891488641500473, + -0.19074265658855438, + -0.007208405062556267 + ], + "orientation": [ + 0.7679789066314697, + -0.015318491496145725, + -0.6387999057769775, + -0.04368678107857704 + ], + "joints": [ + 0.009443150833249092 + ] + }, + "fine_grasp": { + "position": [ + -0.016905801370739937, + -0.19007426500320435, + -0.007051285356283188 + ], + "orientation": [ + 0.7778385281562805, + -0.012359106913208961, + -0.6268661022186279, + -0.043052513152360916 + ], + "joints": [ + 0.015315117314457893 + ] + }, + "final_grasp": { + "position": [ + -0.016905801370739937, + -0.19007426500320435, + -0.007051285356283188 + ], + "orientation": [ + 0.7778385281562805, + -0.012359106913208961, + -0.6268661022186279, + -0.043052513152360916 + ], + "joints": [ + 0.021187083795666695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015912069007754326, + -0.19082777202129364, + -0.00741989491507411 + ], + "orientation": [ + 0.7682904601097107, + -0.015438053756952286, + -0.6383251547813416, + -0.04508037492632866 + ], + "joints": [ + 0.0091171283274889 + ] + }, + "fine_grasp": { + "position": [ + -0.016676107421517372, + -0.1896720677614212, + -0.0072303656488657 + ], + "orientation": [ + 0.7789512276649475, + -0.01426057331264019, + -0.6251894235610962, + -0.0465809591114521 + ], + "joints": [ + 0.01498909667134285 + ] + }, + "final_grasp": { + "position": [ + -0.016676107421517372, + -0.1896720677614212, + -0.0072303656488657 + ], + "orientation": [ + 0.7789512276649475, + -0.01426057331264019, + -0.6251894235610962, + -0.0465809591114521 + ], + "joints": [ + 0.0208610650151968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08951326459646225, + -0.16772353649139404, + -0.006734841503202915 + ], + "orientation": [ + 0.6171095371246338, + -0.17105938494205475, + -0.7509040236473083, + -0.16142401099205017 + ], + "joints": [ + 0.00903749093413353 + ] + }, + "fine_grasp": { + "position": [ + -0.08892987668514252, + -0.16631273925304413, + -0.0056538754142820835 + ], + "orientation": [ + 0.6027069687843323, + -0.1714208424091339, + -0.7639332413673401, + -0.15415960550308228 + ], + "joints": [ + 0.014404628425836563 + ] + }, + "final_grasp": { + "position": [ + -0.08892987668514252, + -0.16631273925304413, + -0.0056538754142820835 + ], + "orientation": [ + 0.6027069687843323, + -0.1714208424091339, + -0.7639332413673401, + -0.15415960550308228 + ], + "joints": [ + 0.019771765917539597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08885480463504791, + -0.16798029839992523, + -0.006487596780061722 + ], + "orientation": [ + 0.612981915473938, + -0.17097125947475433, + -0.7549724578857422, + -0.15823586285114288 + ], + "joints": [ + 0.009475499391555786 + ] + }, + "fine_grasp": { + "position": [ + -0.08831553161144257, + -0.1665741205215454, + -0.0057145981118083 + ], + "orientation": [ + 0.5983508825302124, + -0.17075888812541962, + -0.767888069152832, + -0.1522020548582077 + ], + "joints": [ + 0.014311237260699272 + ] + }, + "final_grasp": { + "position": [ + -0.08831553161144257, + -0.1665741205215454, + -0.0057145981118083 + ], + "orientation": [ + 0.5983508825302124, + -0.17075888812541962, + -0.767888069152832, + -0.1522020548582077 + ], + "joints": [ + 0.019146975129842758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0641363114118576, + -0.17936620116233826, + 0.0007892580470070243 + ], + "orientation": [ + 0.7181439995765686, + 0.11117703467607498, + 0.6726893186569214, + -0.1392761617898941 + ], + "joints": [ + 0.009841667488217354 + ] + }, + "fine_grasp": { + "position": [ + -0.06555614620447159, + -0.17974314093589783, + 0.001175768324173987 + ], + "orientation": [ + 0.7292245030403137, + 0.1069239005446434, + 0.6610560417175293, + -0.1407257318496704 + ], + "joints": [ + 0.016245037317276 + ] + }, + "final_grasp": { + "position": [ + -0.06555614620447159, + -0.17974314093589783, + 0.001175768324173987 + ], + "orientation": [ + 0.7292245030403137, + 0.1069239005446434, + 0.6610560417175293, + -0.1407257318496704 + ], + "joints": [ + 0.022648407146334648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07242177426815033, + -0.17690445482730865, + 0.002952668583020568 + ], + "orientation": [ + 0.7299889922142029, + 0.10055402666330338, + 0.660785973072052, + -0.1427123099565506 + ], + "joints": [ + 0.009503234177827835 + ] + }, + "fine_grasp": { + "position": [ + -0.07243061810731888, + -0.176457017660141, + 0.002897765254601836 + ], + "orientation": [ + 0.7405506372451782, + 0.10007273405790329, + 0.6476981043815613, + -0.1485174000263214 + ], + "joints": [ + 0.015375200659036636 + ] + }, + "final_grasp": { + "position": [ + -0.07243061810731888, + -0.176457017660141, + 0.002897765254601836 + ], + "orientation": [ + 0.7405506372451782, + 0.10007273405790329, + 0.6476981043815613, + -0.1485174000263214 + ], + "joints": [ + 0.021247167140245438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02203659899532795, + -0.1891644299030304, + -0.0006339140818454325 + ], + "orientation": [ + 0.6706368923187256, + 0.03721776232123375, + -0.739540159702301, + 0.044059060513973236 + ], + "joints": [ + 0.009518330916762352 + ] + }, + "fine_grasp": { + "position": [ + 0.022725261747837067, + -0.18892055749893188, + 0.00018938336870633066 + ], + "orientation": [ + 0.6598673462867737, + 0.03218212351202965, + -0.7495051026344299, + 0.0422089621424675 + ], + "joints": [ + 0.015921700745821 + ] + }, + "final_grasp": { + "position": [ + 0.022725261747837067, + -0.18892055749893188, + 0.00018938336870633066 + ], + "orientation": [ + 0.6598673462867737, + 0.03218212351202965, + -0.7495051026344299, + 0.0422089621424675 + ], + "joints": [ + 0.022325070574879646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02209322154521942, + -0.18904003500938416, + -0.0006979744648560882 + ], + "orientation": [ + 0.6679530143737793, + 0.03768078610301018, + -0.7419536113739014, + 0.04386067017912865 + ], + "joints": [ + 0.009478280320763588 + ] + }, + "fine_grasp": { + "position": [ + 0.022881299257278442, + -0.18872804939746857, + 7.381400064332411e-05 + ], + "orientation": [ + 0.6571048498153687, + 0.03316616266965866, + -0.7518707513809204, + 0.04246768355369568 + ], + "joints": [ + 0.015881648287177086 + ] + }, + "final_grasp": { + "position": [ + 0.022881299257278442, + -0.18872804939746857, + 7.381400064332411e-05 + ], + "orientation": [ + 0.6571048498153687, + 0.03316616266965866, + -0.7518707513809204, + 0.04246768355369568 + ], + "joints": [ + 0.022285016253590584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16222694516181946, + -0.09881937503814697, + 0.0010416252771392465 + ], + "orientation": [ + 0.670802891254425, + -0.3310715854167938, + -0.5434630513191223, + -0.3808712959289551 + ], + "joints": [ + 0.009020235389471054 + ] + }, + "fine_grasp": { + "position": [ + -0.16183613240718842, + -0.09993109852075577, + 0.0014264871133491397 + ], + "orientation": [ + 0.6797295212745667, + -0.32752224802970886, + -0.531330406665802, + -0.3852076232433319 + ], + "joints": [ + 0.014918774366378784 + ] + }, + "final_grasp": { + "position": [ + -0.16183613240718842, + -0.09993109852075577, + 0.0014264871133491397 + ], + "orientation": [ + 0.6797295212745667, + -0.32752224802970886, + -0.531330406665802, + -0.3852076232433319 + ], + "joints": [ + 0.020817313343286514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0225369855761528, + -0.18151436746120453, + -0.015800761058926582 + ], + "orientation": [ + 0.7747408747673035, + -0.009922793135046959, + 0.6247103810310364, + 0.09703121334314346 + ], + "joints": [ + 0.008160803467035294 + ] + }, + "fine_grasp": { + "position": [ + 0.021582812070846558, + -0.17734947800636292, + -0.016344672068953514 + ], + "orientation": [ + 0.7840360403060913, + -0.007950453087687492, + 0.6121349334716797, + 0.10254337638616562 + ], + "joints": [ + 0.01299654133617878 + ] + }, + "final_grasp": { + "position": [ + 0.021582812070846558, + -0.17734947800636292, + -0.016344672068953514 + ], + "orientation": [ + 0.7840360403060913, + -0.007950453087687492, + 0.6121349334716797, + 0.10254337638616562 + ], + "joints": [ + 0.017832279205322266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022509610280394554, + -0.18146251142024994, + -0.015690932050347328 + ], + "orientation": [ + 0.7729706764221191, + -0.010899319313466549, + 0.6267909407615662, + 0.09762553870677948 + ], + "joints": [ + 0.00801805779337883 + ] + }, + "fine_grasp": { + "position": [ + 0.021371563896536827, + -0.17706233263015747, + -0.016067681834101677 + ], + "orientation": [ + 0.7817832231521606, + -0.010648694820702076, + 0.6147637367248535, + 0.10376417636871338 + ], + "joints": [ + 0.012853795662522316 + ] + }, + "final_grasp": { + "position": [ + 0.021371563896536827, + -0.17706233263015747, + -0.016067681834101677 + ], + "orientation": [ + 0.7817832231521606, + -0.010648694820702076, + 0.6147637367248535, + 0.10376417636871338 + ], + "joints": [ + 0.017689533531665802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03527339920401573, + -0.17776377499103546, + -0.01593117229640484 + ], + "orientation": [ + 0.8366122841835022, + 0.04898041859269142, + -0.5451698899269104, + -0.021692512556910515 + ], + "joints": [ + 0.00554634490981698 + ] + }, + "fine_grasp": { + "position": [ + 0.03538738936185837, + -0.176727756857872, + -0.015491019003093243 + ], + "orientation": [ + 0.8569164872169495, + 0.05571572855114937, + -0.5121502876281738, + -0.01708810403943062 + ], + "joints": [ + 0.009345854632556438 + ] + }, + "final_grasp": { + "position": [ + 0.03538738936185837, + -0.176727756857872, + -0.015491019003093243 + ], + "orientation": [ + 0.8569164872169495, + 0.05571572855114937, + -0.5121502876281738, + -0.01708810403943062 + ], + "joints": [ + 0.013145364820957184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14690014719963074, + -0.12385427206754684, + -0.040762756019830704 + ], + "orientation": [ + 0.6002005934715271, + -0.2237478792667389, + -0.6239621043205261, + -0.4476240277290344 + ], + "joints": [ + 0.007192731369286776 + ] + }, + "fine_grasp": { + "position": [ + -0.1440974622964859, + -0.12164216488599777, + -0.040035929530858994 + ], + "orientation": [ + 0.5988283157348633, + -0.22537855803966522, + -0.6224243640899658, + -0.4507736563682556 + ], + "joints": [ + 0.011497070081532001 + ] + }, + "final_grasp": { + "position": [ + -0.1440974622964859, + -0.12164216488599777, + -0.040035929530858994 + ], + "orientation": [ + 0.5988283157348633, + -0.22537855803966522, + -0.6224243640899658, + -0.4507736563682556 + ], + "joints": [ + 0.015801409259438515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1824227124452591, + 0.02354535274207592, + -0.02418346144258976 + ], + "orientation": [ + 0.4255678355693817, + 0.6544313430786133, + 0.4216711223125458, + -0.46130821108818054 + ], + "joints": [ + 0.007483761757612228 + ] + }, + "fine_grasp": { + "position": [ + -0.1806306540966034, + 0.023122061043977737, + -0.024112630635499954 + ], + "orientation": [ + 0.4234215319156647, + 0.6594142913818359, + 0.42530590295791626, + -0.45277139544487 + ], + "joints": [ + 0.012824328616261482 + ] + }, + "final_grasp": { + "position": [ + -0.1806306540966034, + 0.023122061043977737, + -0.024112630635499954 + ], + "orientation": [ + 0.4234215319156647, + 0.6594142913818359, + 0.42530590295791626, + -0.45277139544487 + ], + "joints": [ + 0.018164895474910736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0455172024667263, + -0.1786108762025833, + -0.026387134566903114 + ], + "orientation": [ + 0.7759984135627747, + -0.05324838310480118, + 0.5858011245727539, + 0.22765801846981049 + ], + "joints": [ + 0.00699937017634511 + ] + }, + "fine_grasp": { + "position": [ + 0.045933954417705536, + -0.17657724022865295, + -0.025669852271676064 + ], + "orientation": [ + 0.7892494201660156, + -0.040078017860651016, + 0.5709571242332458, + 0.22245647013187408 + ], + "joints": [ + 0.010772309266030788 + ] + }, + "final_grasp": { + "position": [ + 0.045933954417705536, + -0.17657724022865295, + -0.025669852271676064 + ], + "orientation": [ + 0.7892494201660156, + -0.040078017860651016, + 0.5709571242332458, + 0.22245647013187408 + ], + "joints": [ + 0.014545248821377754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18233133852481842, + 0.023950859904289246, + -0.02463511936366558 + ], + "orientation": [ + 0.425921767950058, + 0.6556991338729858, + 0.4232800602912903, + -0.4576933979988098 + ], + "joints": [ + 0.007722825277596712 + ] + }, + "fine_grasp": { + "position": [ + -0.1806199699640274, + 0.0235475841909647, + -0.024545809254050255 + ], + "orientation": [ + 0.4229501485824585, + 0.6609205007553101, + 0.425811767578125, + -0.45053479075431824 + ], + "joints": [ + 0.012558563612401485 + ] + }, + "final_grasp": { + "position": [ + -0.1806199699640274, + 0.0235475841909647, + -0.024545809254050255 + ], + "orientation": [ + 0.4229501485824585, + 0.6609205007553101, + 0.425811767578125, + -0.45053479075431824 + ], + "joints": [ + 0.017394302412867546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12459229677915573, + -0.1363537311553955, + -0.012191583402454853 + ], + "orientation": [ + 0.6654474139213562, + 0.2723240852355957, + 0.660576581954956, + -0.21600452065467834 + ], + "joints": [ + 0.009420673362910748 + ] + }, + "fine_grasp": { + "position": [ + -0.12490198016166687, + -0.13556286692619324, + -0.012848163023591042 + ], + "orientation": [ + 0.6635634899139404, + 0.2740020751953125, + 0.6622474789619446, + -0.2145569920539856 + ], + "joints": [ + 0.015292640775442123 + ] + }, + "final_grasp": { + "position": [ + -0.12490198016166687, + -0.13556286692619324, + -0.012848163023591042 + ], + "orientation": [ + 0.6635634899139404, + 0.2740020751953125, + 0.6622474789619446, + -0.2145569920539856 + ], + "joints": [ + 0.021164607256650925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12466233223676682, + -0.13612662255764008, + -0.011352548375725746 + ], + "orientation": [ + 0.6667417287826538, + 0.2688499391078949, + 0.6599750518798828, + -0.2181929647922516 + ], + "joints": [ + 0.009312143549323082 + ] + }, + "fine_grasp": { + "position": [ + -0.12485232949256897, + -0.13530875742435455, + -0.011965729296207428 + ], + "orientation": [ + 0.6638330221176147, + 0.26947325468063354, + 0.663521945476532, + -0.2155190110206604 + ], + "joints": [ + 0.015184110030531883 + ] + }, + "final_grasp": { + "position": [ + -0.12485232949256897, + -0.13530875742435455, + -0.011965729296207428 + ], + "orientation": [ + 0.6638330221176147, + 0.26947325468063354, + 0.663521945476532, + -0.2155190110206604 + ], + "joints": [ + 0.021056076511740685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12422601133584976, + -0.13662593066692352, + -0.011980712413787842 + ], + "orientation": [ + 0.6674038767814636, + 0.27034619450569153, + 0.6592257618904114, + -0.21657906472682953 + ], + "joints": [ + 0.009279904887080193 + ] + }, + "fine_grasp": { + "position": [ + -0.12367244064807892, + -0.13589471578598022, + -0.012686722911894321 + ], + "orientation": [ + 0.6629780530929565, + 0.27459684014320374, + 0.6618967652320862, + -0.21667806804180145 + ], + "joints": [ + 0.015151871368288994 + ] + }, + "final_grasp": { + "position": [ + -0.12367244064807892, + -0.13589471578598022, + -0.012686722911894321 + ], + "orientation": [ + 0.6629780530929565, + 0.27459684014320374, + 0.6618967652320862, + -0.21667806804180145 + ], + "joints": [ + 0.021023837849497795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11614962667226791, + -0.1423538327217102, + -0.02910780720412731 + ], + "orientation": [ + 0.6441085338592529, + -0.13927650451660156, + -0.6986010074615479, + -0.2787167429924011 + ], + "joints": [ + 0.007324643898755312 + ] + }, + "fine_grasp": { + "position": [ + -0.1159897968173027, + -0.1410038322210312, + -0.029592733830213547 + ], + "orientation": [ + 0.6522606015205383, + -0.13458994030952454, + -0.6903958320617676, + -0.282480388879776 + ], + "joints": [ + 0.012665211223065853 + ] + }, + "final_grasp": { + "position": [ + -0.1159897968173027, + -0.1410038322210312, + -0.029592733830213547 + ], + "orientation": [ + 0.6522606015205383, + -0.13458994030952454, + -0.6903958320617676, + -0.282480388879776 + ], + "joints": [ + 0.01800577901303768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12905892729759216, + -0.13114769756793976, + -0.011408497579395771 + ], + "orientation": [ + 0.6237891912460327, + 0.29921406507492065, + 0.6875852346420288, + -0.22041937708854675 + ], + "joints": [ + 0.008829429745674133 + ] + }, + "fine_grasp": { + "position": [ + -0.1284330040216446, + -0.12938177585601807, + -0.011915267445147038 + ], + "orientation": [ + 0.6182129383087158, + 0.29855889081954956, + 0.6951528787612915, + -0.21316160261631012 + ], + "joints": [ + 0.014701396226882935 + ] + }, + "final_grasp": { + "position": [ + -0.1284330040216446, + -0.12938177585601807, + -0.011915267445147038 + ], + "orientation": [ + 0.6182129383087158, + 0.29855889081954956, + 0.6951528787612915, + -0.21316160261631012 + ], + "joints": [ + 0.020573362708091736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11569854617118835, + -0.14209437370300293, + -0.027215993031859398 + ], + "orientation": [ + 0.6496549844741821, + -0.1480197310447693, + -0.6911745667457581, + -0.2798503041267395 + ], + "joints": [ + 0.0075289467349648476 + ] + }, + "fine_grasp": { + "position": [ + -0.115458644926548, + -0.1410619169473648, + -0.027784841135144234 + ], + "orientation": [ + 0.652631402015686, + -0.14700016379356384, + -0.6863911151885986, + -0.2851850390434265 + ], + "joints": [ + 0.012869513593614101 + ] + }, + "final_grasp": { + "position": [ + -0.115458644926548, + -0.1410619169473648, + -0.027784841135144234 + ], + "orientation": [ + 0.652631402015686, + -0.14700016379356384, + -0.6863911151885986, + -0.2851850390434265 + ], + "joints": [ + 0.01821007952094078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.17694787681102753, + -0.06062975898385048, + 0.0020816242322325706 + ], + "orientation": [ + 0.5810185670852661, + 0.3911615312099457, + 0.5652042031288147, + -0.43583765625953674 + ], + "joints": [ + 0.010162154212594032 + ] + }, + "fine_grasp": { + "position": [ + -0.17670077085494995, + -0.05967027321457863, + 0.0029207917395979166 + ], + "orientation": [ + 0.5859909057617188, + 0.3836537003517151, + 0.5637599229812622, + -0.437720388174057 + ], + "joints": [ + 0.016034124419093132 + ] + }, + "final_grasp": { + "position": [ + -0.17670077085494995, + -0.05967027321457863, + 0.0029207917395979166 + ], + "orientation": [ + 0.5859909057617188, + 0.3836537003517151, + 0.5637599229812622, + -0.437720388174057 + ], + "joints": [ + 0.021906094625592232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007066317833960056, + -0.18383854627609253, + -0.011722511611878872 + ], + "orientation": [ + 0.6765413284301758, + 0.004125314299017191, + 0.7350618839263916, + 0.04425999894738197 + ], + "joints": [ + 0.009837018325924873 + ] + }, + "fine_grasp": { + "position": [ + 0.0062391497194767, + -0.18308025598526, + -0.012054829858243465 + ], + "orientation": [ + 0.6689264178276062, + 6.81133969919756e-05, + 0.7416871786117554, + 0.04937441274523735 + ], + "joints": [ + 0.015177585184574127 + ] + }, + "final_grasp": { + "position": [ + 0.0062391497194767, + -0.18308025598526, + -0.012054829858243465 + ], + "orientation": [ + 0.6689264178276062, + 6.81133969919756e-05, + 0.7416871786117554, + 0.04937441274523735 + ], + "joints": [ + 0.02051815204322338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04313528537750244, + -0.17676007747650146, + -0.008489515632390976 + ], + "orientation": [ + 0.6760769486427307, + -0.06945398449897766, + -0.7271928787231445, + -0.0963660478591919 + ], + "joints": [ + 0.009638478979468346 + ] + }, + "fine_grasp": { + "position": [ + -0.041983745992183685, + -0.17569540441036224, + -0.008788689970970154 + ], + "orientation": [ + 0.6675248146057129, + -0.07910425961017609, + -0.7331412434577942, + -0.10323275625705719 + ], + "joints": [ + 0.015537019819021225 + ] + }, + "final_grasp": { + "position": [ + -0.041983745992183685, + -0.17569540441036224, + -0.008788689970970154 + ], + "orientation": [ + 0.6675248146057129, + -0.07910425961017609, + -0.7331412434577942, + -0.10323275625705719 + ], + "joints": [ + 0.021435560658574104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1722535341978073, + -0.06552283465862274, + -0.014350361190736294 + ], + "orientation": [ + 0.5258796811103821, + -0.3994767665863037, + -0.6324147582054138, + -0.40487080812454224 + ], + "joints": [ + 0.009272046387195587 + ] + }, + "fine_grasp": { + "position": [ + -0.16995106637477875, + -0.06577891856431961, + -0.014636820182204247 + ], + "orientation": [ + 0.5139868259429932, + -0.40864086151123047, + -0.637643575668335, + -0.4027913808822632 + ], + "joints": [ + 0.014612613245844841 + ] + }, + "final_grasp": { + "position": [ + -0.16995106637477875, + -0.06577891856431961, + -0.014636820182204247 + ], + "orientation": [ + 0.5139868259429932, + -0.40864086151123047, + -0.637643575668335, + -0.4027913808822632 + ], + "joints": [ + 0.019953180104494095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06348328292369843, + -0.17623700201511383, + 0.0026498674415051937 + ], + "orientation": [ + 0.6766006946563721, + -0.1501852124929428, + -0.7120687365531921, + -0.11231178790330887 + ], + "joints": [ + 0.010185236111283302 + ] + }, + "fine_grasp": { + "position": [ + -0.06445897370576859, + -0.1751032918691635, + 0.00442461809143424 + ], + "orientation": [ + 0.671316921710968, + -0.15232470631599426, + -0.7178719639778137, + -0.10387804359197617 + ], + "joints": [ + 0.015552377328276634 + ] + }, + "final_grasp": { + "position": [ + -0.06445897370576859, + -0.1751032918691635, + 0.00442461809143424 + ], + "orientation": [ + 0.671316921710968, + -0.15232470631599426, + -0.7178719639778137, + -0.10387804359197617 + ], + "joints": [ + 0.020919518545269966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06360127776861191, + -0.17569510638713837, + 0.0028593915048986673 + ], + "orientation": [ + 0.6804903745651245, + -0.1500849425792694, + -0.7083215117454529, + -0.11264079064130783 + ], + "joints": [ + 0.010022131726145744 + ] + }, + "fine_grasp": { + "position": [ + -0.06448594480752945, + -0.17503122985363007, + 0.004138498101383448 + ], + "orientation": [ + 0.6749968528747559, + -0.15153665840625763, + -0.7142269611358643, + -0.10628066956996918 + ], + "joints": [ + 0.015894100069999695 + ] + }, + "final_grasp": { + "position": [ + -0.06448594480752945, + -0.17503122985363007, + 0.004138498101383448 + ], + "orientation": [ + 0.6749968528747559, + -0.15153665840625763, + -0.7142269611358643, + -0.10628066956996918 + ], + "joints": [ + 0.021766068413853645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14889982342720032, + -0.1089463010430336, + -0.013673950918018818 + ], + "orientation": [ + 0.5758575201034546, + -0.3326908051967621, + -0.6538430452346802, + -0.3608241677284241 + ], + "joints": [ + 0.009029556065797806 + ] + }, + "fine_grasp": { + "position": [ + -0.14635610580444336, + -0.10800296068191528, + -0.013771331869065762 + ], + "orientation": [ + 0.5655204653739929, + -0.3426353335380554, + -0.6562936902046204, + -0.3634090721607208 + ], + "joints": [ + 0.01437012292444706 + ] + }, + "final_grasp": { + "position": [ + -0.14635610580444336, + -0.10800296068191528, + -0.013771331869065762 + ], + "orientation": [ + 0.5655204653739929, + -0.3426353335380554, + -0.6562936902046204, + -0.3634090721607208 + ], + "joints": [ + 0.019710689783096313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.17185647785663605, + -0.06549272686243057, + -0.01460702158510685 + ], + "orientation": [ + 0.5263317227363586, + -0.3978777527809143, + -0.6332722902297974, + -0.4045172929763794 + ], + "joints": [ + 0.009448660537600517 + ] + }, + "fine_grasp": { + "position": [ + -0.1694147288799286, + -0.0656731128692627, + -0.015033821575343609 + ], + "orientation": [ + 0.5118783712387085, + -0.4075005352497101, + -0.6403034925460815, + -0.40241169929504395 + ], + "joints": [ + 0.014284398406744003 + ] + }, + "final_grasp": { + "position": [ + -0.1694147288799286, + -0.0656731128692627, + -0.015033821575343609 + ], + "orientation": [ + 0.5118783712387085, + -0.4075005352497101, + -0.6403034925460815, + -0.40241169929504395 + ], + "joints": [ + 0.01912013627588749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1840720772743225, + 0.02808259427547455, + 0.004346704576164484 + ], + "orientation": [ + 0.49080890417099, + -0.5266103744506836, + -0.41345468163490295, + -0.5575332641601562 + ], + "joints": [ + 0.009495805948972702 + ] + }, + "fine_grasp": { + "position": [ + -0.183493509888649, + 0.028071312233805656, + 0.005473755300045013 + ], + "orientation": [ + 0.49569249153137207, + -0.5231539607048035, + -0.40407079458236694, + -0.5633167028427124 + ], + "joints": [ + 0.015367772430181503 + ] + }, + "final_grasp": { + "position": [ + -0.183493509888649, + 0.028071312233805656, + 0.005473755300045013 + ], + "orientation": [ + 0.49569249153137207, + -0.5231539607048035, + -0.40407079458236694, + -0.5633167028427124 + ], + "joints": [ + 0.021239738911390305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020246895030140877, + -0.18265913426876068, + -0.01956000365316868 + ], + "orientation": [ + 0.6602580547332764, + 0.09282270818948746, + 0.745240330696106, + 0.007761996705085039 + ], + "joints": [ + 0.00823078490793705 + ] + }, + "fine_grasp": { + "position": [ + -0.02155616134405136, + -0.1807987242937088, + -0.020166827365756035 + ], + "orientation": [ + 0.6531870365142822, + 0.08821642398834229, + 0.7518783211708069, + 0.015603727661073208 + ], + "joints": [ + 0.013597922399640083 + ] + }, + "final_grasp": { + "position": [ + -0.02155616134405136, + -0.1807987242937088, + -0.020166827365756035 + ], + "orientation": [ + 0.6531870365142822, + 0.08821642398834229, + 0.7518783211708069, + 0.015603727661073208 + ], + "joints": [ + 0.018965059891343117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18402327597141266, + 0.028096290305256844, + 0.0044279624707996845 + ], + "orientation": [ + 0.49120667576789856, + -0.5265536308288574, + -0.4138082265853882, + -0.5569738745689392 + ], + "joints": [ + 0.009455757215619087 + ] + }, + "fine_grasp": { + "position": [ + -0.1834121197462082, + 0.028077129274606705, + 0.005729491822421551 + ], + "orientation": [ + 0.4966173768043518, + -0.5230699777603149, + -0.402875155210495, + -0.5634363293647766 + ], + "joints": [ + 0.015327723696827888 + ] + }, + "final_grasp": { + "position": [ + -0.1834121197462082, + 0.028077129274606705, + 0.005729491822421551 + ], + "orientation": [ + 0.4966173768043518, + -0.5230699777603149, + -0.402875155210495, + -0.5634363293647766 + ], + "joints": [ + 0.02119969017803669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18367035686969757, + -0.006862441077828407, + -0.014853340573608875 + ], + "orientation": [ + 0.4621885120868683, + -0.4872448742389679, + -0.5515356659889221, + -0.4947551488876343 + ], + "joints": [ + 0.009083528071641922 + ] + }, + "fine_grasp": { + "position": [ + -0.18205854296684265, + -0.007915463298559189, + -0.015126467682421207 + ], + "orientation": [ + 0.45524993538856506, + -0.49402666091918945, + -0.5522751808166504, + -0.4936366379261017 + ], + "joints": [ + 0.014955496415495872 + ] + }, + "final_grasp": { + "position": [ + -0.18205854296684265, + -0.007915463298559189, + -0.015126467682421207 + ], + "orientation": [ + 0.45524993538856506, + -0.49402666091918945, + -0.5522751808166504, + -0.4936366379261017 + ], + "joints": [ + 0.020827464759349823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07176046818494797, + -0.16425029933452606, + -0.04064682498574257 + ], + "orientation": [ + 0.7294173240661621, + 0.23515532910823822, + 0.6416322588920593, + -0.030989015474915504 + ], + "joints": [ + 0.0051195817068219185 + ] + }, + "fine_grasp": { + "position": [ + -0.07072783261537552, + -0.16136786341667175, + -0.04068116471171379 + ], + "orientation": [ + 0.7335399389266968, + 0.24060143530368805, + 0.6346012949943542, + -0.036209821701049805 + ], + "joints": [ + 0.009955319575965405 + ] + }, + "final_grasp": { + "position": [ + -0.07072783261537552, + -0.16136786341667175, + -0.04068116471171379 + ], + "orientation": [ + 0.7335399389266968, + 0.24060143530368805, + 0.6346012949943542, + -0.036209821701049805 + ], + "joints": [ + 0.01479105744510889 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1709621548652649, + -0.0719894990324974, + 0.007304735016077757 + ], + "orientation": [ + 0.5455003380775452, + 0.37673285603523254, + 0.6468815207481384, + -0.37689006328582764 + ], + "joints": [ + 0.009337609633803368 + ] + }, + "fine_grasp": { + "position": [ + -0.17034876346588135, + -0.07227807492017746, + 0.008837854489684105 + ], + "orientation": [ + 0.5328184962272644, + 0.3801865577697754, + 0.6548998951911926, + -0.377715140581131 + ], + "joints": [ + 0.014704747125506401 + ] + }, + "final_grasp": { + "position": [ + -0.17034876346588135, + -0.07227807492017746, + 0.008837854489684105 + ], + "orientation": [ + 0.5328184962272644, + 0.3801865577697754, + 0.6548998951911926, + -0.377715140581131 + ], + "joints": [ + 0.020071884617209435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1715182363986969, + -0.07027269899845123, + 0.00735665624961257 + ], + "orientation": [ + 0.5443446636199951, + 0.37841594219207764, + 0.6460921764373779, + -0.3782263994216919 + ], + "joints": [ + 0.009383371099829674 + ] + }, + "fine_grasp": { + "position": [ + -0.1704639196395874, + -0.07039211690425873, + 0.009745421819388866 + ], + "orientation": [ + 0.5277876257896423, + 0.380842924118042, + 0.6575133204460144, + -0.3795723021030426 + ], + "joints": [ + 0.014723937958478928 + ] + }, + "final_grasp": { + "position": [ + -0.1704639196395874, + -0.07039211690425873, + 0.009745421819388866 + ], + "orientation": [ + 0.5277876257896423, + 0.380842924118042, + 0.6575133204460144, + -0.3795723021030426 + ], + "joints": [ + 0.02006450481712818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1843041479587555, + 0.024377834051847458, + 0.007207146380096674 + ], + "orientation": [ + 0.42411667108535767, + 0.5364973545074463, + 0.5011709928512573, + -0.530210554599762 + ], + "joints": [ + 0.009535375982522964 + ] + }, + "fine_grasp": { + "position": [ + -0.18322542309761047, + 0.023846037685871124, + 0.008154591545462608 + ], + "orientation": [ + 0.42116203904151917, + 0.5374807715415955, + 0.5064648389816284, + -0.5265265107154846 + ], + "joints": [ + 0.014902515336871147 + ] + }, + "final_grasp": { + "position": [ + -0.18322542309761047, + 0.023846037685871124, + 0.008154591545462608 + ], + "orientation": [ + 0.42116203904151917, + 0.5374807715415955, + 0.5064648389816284, + -0.5265265107154846 + ], + "joints": [ + 0.02026965469121933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06906895339488983, + -0.17369776964187622, + 0.005812799092382193 + ], + "orientation": [ + 0.7253386974334717, + 0.10135627537965775, + 0.6617384552955627, + -0.16035208106040955 + ], + "joints": [ + 0.009427038952708244 + ] + }, + "fine_grasp": { + "position": [ + -0.06953271478414536, + -0.17187274992465973, + 0.006458798889070749 + ], + "orientation": [ + 0.7334188222885132, + 0.08901090174913406, + 0.65581876039505, + -0.15516312420368195 + ], + "joints": [ + 0.014767605811357498 + ] + }, + "final_grasp": { + "position": [ + -0.06953271478414536, + -0.17187274992465973, + 0.006458798889070749 + ], + "orientation": [ + 0.7334188222885132, + 0.08901090174913406, + 0.65581876039505, + -0.15516312420368195 + ], + "joints": [ + 0.020108172670006752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0680617019534111, + -0.17415620386600494, + 0.006550088059157133 + ], + "orientation": [ + 0.7249094247817993, + 0.09793721139431, + 0.662596583366394, + -0.16087374091148376 + ], + "joints": [ + 0.009439622983336449 + ] + }, + "fine_grasp": { + "position": [ + -0.06867463141679764, + -0.1720723658800125, + 0.007240530103445053 + ], + "orientation": [ + 0.7324445247650146, + 0.08567334711551666, + 0.6574814319610596, + -0.15460729598999023 + ], + "joints": [ + 0.014780189841985703 + ] + }, + "final_grasp": { + "position": [ + -0.06867463141679764, + -0.1720723658800125, + 0.007240530103445053 + ], + "orientation": [ + 0.7324445247650146, + 0.08567334711551666, + 0.6574814319610596, + -0.15460729598999023 + ], + "joints": [ + 0.020120756700634956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16570810973644257, + -0.0846722275018692, + 0.008096208795905113 + ], + "orientation": [ + 0.6427760124206543, + -0.38327696919441223, + -0.549723207950592, + -0.37113651633262634 + ], + "joints": [ + 0.009186234325170517 + ] + }, + "fine_grasp": { + "position": [ + -0.16396161913871765, + -0.08376958221197128, + 0.00959798227995634 + ], + "orientation": [ + 0.6494175791740417, + -0.3833262622356415, + -0.5396134853363037, + -0.3743457794189453 + ], + "joints": [ + 0.0145533736795187 + ] + }, + "final_grasp": { + "position": [ + -0.16396161913871765, + -0.08376958221197128, + 0.00959798227995634 + ], + "orientation": [ + 0.6494175791740417, + -0.3833262622356415, + -0.5396134853363037, + -0.3743457794189453 + ], + "joints": [ + 0.019920513033866882 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2046, + "num_passed": 43 + } +} \ No newline at end of file diff --git a/clutter_darts_board_00000/Annotation/piper_grasp_pose.json b/clutter_darts_board_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..1f826f604db5e142245cfb9a56b33515d94f5d0b --- /dev/null +++ b/clutter_darts_board_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,2268 @@ +{ + "type": "clutter_darts_board_00000", + "bottom_center": [ + 0.0, + 0.0, + -0.005840414669364691 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.011100966483354568, + -0.17806369066238403, + -0.003012588247656822 + ], + "orientation": [ + 0.03218119964003563, + 0.023657919839024544, + 0.7038472294807434, + 0.7092275023460388 + ], + "joints": [ + 0.012745325453579426 + ] + }, + "fine_grasp": { + "position": [ + -0.008725617080926895, + -0.17614120244979858, + -0.0018639924237504601 + ], + "orientation": [ + 0.03724188730120659, + 0.008119253441691399, + 0.7068054676055908, + 0.7063801884651184 + ], + "joints": [ + 0.0035503110848367214 + ] + }, + "final_grasp": { + "position": [ + -0.008725617080926895, + -0.17614120244979858, + -0.0018639924237504601 + ], + "orientation": [ + 0.03724188730120659, + 0.008119253441691399, + 0.7068054676055908, + 0.7063801884651184 + ], + "joints": [ + -0.005644703283905983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011416781693696976, + -0.17814815044403076, + -0.003034123219549656 + ], + "orientation": [ + 0.024797525256872177, + 0.028455527499318123, + 0.7037670016288757, + 0.7094274759292603 + ], + "joints": [ + 0.01266785804182291 + ] + }, + "fine_grasp": { + "position": [ + -0.00910951942205429, + -0.1761300265789032, + -0.0018821082776412368 + ], + "orientation": [ + 0.022842418402433395, + 0.02034967765212059, + 0.7065295577049255, + 0.707021951675415 + ], + "joints": [ + 0.0034728439059108496 + ] + }, + "final_grasp": { + "position": [ + -0.00910951942205429, + -0.1761300265789032, + -0.0018821082776412368 + ], + "orientation": [ + 0.022842418402433395, + 0.02034967765212059, + 0.7065295577049255, + 0.707021951675415 + ], + "joints": [ + -0.005722170230001211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08309410512447357, + -0.17017295956611633, + -0.002126858802512288 + ], + "orientation": [ + 0.6811639070510864, + -0.6958315372467041, + -0.13812172412872314, + 0.1809881329536438 + ], + "joints": [ + 0.013909891247749329 + ] + }, + "fine_grasp": { + "position": [ + 0.08172594010829926, + -0.1672327071428299, + -0.0020964937284588814 + ], + "orientation": [ + 0.6794538497924805, + -0.6970100402832031, + -0.13036076724529266, + 0.18848258256912231 + ], + "joints": [ + 0.004296921193599701 + ] + }, + "final_grasp": { + "position": [ + 0.08172594010829926, + -0.1672327071428299, + -0.0020964937284588814 + ], + "orientation": [ + 0.6794538497924805, + -0.6970100402832031, + -0.13036076724529266, + 0.18848258256912231 + ], + "joints": [ + -0.005316048860549927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010322557762265205, + -0.17690682411193848, + -0.00146821653470397 + ], + "orientation": [ + 0.022252406924962997, + 0.03108014538884163, + 0.7057899236679077, + 0.7073891758918762 + ], + "joints": [ + 0.013675601221621037 + ] + }, + "fine_grasp": { + "position": [ + -0.008036582730710506, + -0.17537786066532135, + 0.0004060555074829608 + ], + "orientation": [ + 0.005618665367364883, + 0.03258104622364044, + 0.712377667427063, + 0.7010170221328735 + ], + "joints": [ + 0.00364467641338706 + ] + }, + "final_grasp": { + "position": [ + -0.008036582730710506, + -0.17537786066532135, + 0.0004060555074829608 + ], + "orientation": [ + 0.005618665367364883, + 0.03258104622364044, + 0.712377667427063, + 0.7010170221328735 + ], + "joints": [ + -0.006386248394846916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18524204194545746, + -0.0007979474030435085, + -0.0053095743060112 + ], + "orientation": [ + 0.4926799535751343, + 0.5293503999710083, + -0.4548095762729645, + -0.5198103189468384 + ], + "joints": [ + 0.012510884553194046 + ] + }, + "fine_grasp": { + "position": [ + 0.1832786500453949, + -0.00043637535418383777, + -0.0038331509567797184 + ], + "orientation": [ + 0.4846974015235901, + 0.5375312566757202, + -0.4498000741004944, + -0.5232670903205872 + ], + "joints": [ + 0.0033158704172819853 + ] + }, + "final_grasp": { + "position": [ + 0.1832786500453949, + -0.00043637535418383777, + -0.0038331509567797184 + ], + "orientation": [ + 0.4846974015235901, + 0.5375312566757202, + -0.4498000741004944, + -0.5232670903205872 + ], + "joints": [ + -0.0058791437186300755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16670651733875275, + 0.04800182580947876, + -0.003207545028999448 + ], + "orientation": [ + 0.44897985458374023, + -0.40818047523498535, + -0.5805667042732239, + 0.5429069995880127 + ], + "joints": [ + 0.013195042498409748 + ] + }, + "fine_grasp": { + "position": [ + 0.16587552428245544, + 0.05143340304493904, + -0.004112781956791878 + ], + "orientation": [ + 0.4581126868724823, + -0.3808019757270813, + -0.5924910306930542, + 0.5422887206077576 + ], + "joints": [ + 0.003979130182415247 + ] + }, + "final_grasp": { + "position": [ + 0.16587552428245544, + 0.05143340304493904, + -0.004112781956791878 + ], + "orientation": [ + 0.4581126868724823, + -0.3808019757270813, + -0.5924910306930542, + 0.5422887206077576 + ], + "joints": [ + -0.005236782133579254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18109004199504852, + -0.07712176442146301, + -0.008130275644361973 + ], + "orientation": [ + 0.43302324414253235, + 0.27462270855903625, + 0.638291597366333, + 0.5741575956344604 + ], + "joints": [ + 0.013039767742156982 + ] + }, + "fine_grasp": { + "position": [ + -0.1775452047586441, + -0.07529252767562866, + -0.008169434033334255 + ], + "orientation": [ + 0.43380212783813477, + 0.27056658267974854, + 0.6401183009147644, + 0.5734614133834839 + ], + "joints": [ + 0.0034267983864992857 + ] + }, + "final_grasp": { + "position": [ + -0.1775452047586441, + -0.07529252767562866, + -0.008169434033334255 + ], + "orientation": [ + 0.43380212783813477, + 0.27056658267974854, + 0.6401183009147644, + 0.5734614133834839 + ], + "joints": [ + -0.006186170969158411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18000122904777527, + 0.06428872048854828, + -0.002645364496856928 + ], + "orientation": [ + 0.597297191619873, + 0.5304991602897644, + 0.4666433334350586, + 0.3795401155948639 + ], + "joints": [ + 0.012496253475546837 + ] + }, + "fine_grasp": { + "position": [ + -0.17679882049560547, + 0.0625193864107132, + -0.0024468228220939636 + ], + "orientation": [ + 0.6017430424690247, + 0.5206765532493591, + 0.47676175832748413, + 0.37349653244018555 + ], + "joints": [ + 0.003301239339634776 + ] + }, + "final_grasp": { + "position": [ + -0.17679882049560547, + 0.0625193864107132, + -0.0024468228220939636 + ], + "orientation": [ + 0.6017430424690247, + 0.5206765532493591, + 0.47676175832748413, + 0.37349653244018555 + ], + "joints": [ + -0.005893774796277285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1796841323375702, + 0.06473408639431, + -0.003333818633109331 + ], + "orientation": [ + 0.5980303883552551, + 0.5294667482376099, + 0.4689629375934601, + 0.3769594430923462 + ], + "joints": [ + 0.013403447344899178 + ] + }, + "fine_grasp": { + "position": [ + -0.1758975386619568, + 0.06337016820907593, + -0.0032880885992199183 + ], + "orientation": [ + 0.6024984121322632, + 0.520409882068634, + 0.4774532914161682, + 0.37176260352134705 + ], + "joints": [ + 0.004626387730240822 + ] + }, + "final_grasp": { + "position": [ + -0.1758975386619568, + 0.06337016820907593, + -0.0032880885992199183 + ], + "orientation": [ + 0.6024984121322632, + 0.520409882068634, + 0.4774532914161682, + 0.37176260352134705 + ], + "joints": [ + -0.004150671884417534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1822253167629242, + 0.06395068019628525, + -0.0021665054373443127 + ], + "orientation": [ + 0.5982699990272522, + 0.5367909073829651, + 0.4609210193157196, + 0.376138836145401 + ], + "joints": [ + 0.012208097614347935 + ] + }, + "fine_grasp": { + "position": [ + -0.17859049141407013, + 0.06270721554756165, + -0.0015702699311077595 + ], + "orientation": [ + 0.601318359375, + 0.5336741209030151, + 0.4636642336845398, + 0.3723220229148865 + ], + "joints": [ + 0.0034101412165910006 + ] + }, + "final_grasp": { + "position": [ + -0.17859049141407013, + 0.06270721554756165, + -0.0015702699311077595 + ], + "orientation": [ + 0.601318359375, + 0.5336741209030151, + 0.4636642336845398, + 0.3723220229148865 + ], + "joints": [ + -0.005387815181165934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02671457640826702, + 0.18750505149364471, + -0.0322120264172554 + ], + "orientation": [ + 0.043005116283893585, + -0.014937027357518673, + -0.6120391488075256, + 0.7895159721374512 + ], + "joints": [ + 0.013950282707810402 + ] + }, + "fine_grasp": { + "position": [ + 0.02676878497004509, + 0.18448491394519806, + -0.030948493629693985 + ], + "orientation": [ + 0.040408797562122345, + -0.012411416508257389, + -0.6147511005401611, + 0.787587583065033 + ], + "joints": [ + 0.00475526787340641 + ] + }, + "final_grasp": { + "position": [ + 0.02676878497004509, + 0.18448491394519806, + -0.030948493629693985 + ], + "orientation": [ + 0.040408797562122345, + -0.012411416508257389, + -0.6147511005401611, + 0.787587583065033 + ], + "joints": [ + -0.0044397469609975815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023049313575029373, + 0.18903256952762604, + -0.009419587440788746 + ], + "orientation": [ + 0.727374255657196, + 0.6760271191596985, + -0.11770898103713989, + -0.007670311257243156 + ], + "joints": [ + 0.013812148943543434 + ] + }, + "fine_grasp": { + "position": [ + 0.022943658754229546, + 0.18552431464195251, + -0.009566230699419975 + ], + "orientation": [ + 0.7286058664321899, + 0.6731308698654175, + -0.1265590786933899, + 0.003327462123706937 + ], + "joints": [ + 0.0041991788893938065 + ] + }, + "final_grasp": { + "position": [ + 0.022943658754229546, + 0.18552431464195251, + -0.009566230699419975 + ], + "orientation": [ + 0.7286058664321899, + 0.6731308698654175, + -0.1265590786933899, + 0.003327462123706937 + ], + "joints": [ + -0.005413791164755821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1710665225982666, + -0.067904032766819, + -0.004186836536973715 + ], + "orientation": [ + 0.4015103876590729, + 0.4601052701473236, + -0.5323043465614319, + -0.5862974524497986 + ], + "joints": [ + 0.013530092313885689 + ] + }, + "fine_grasp": { + "position": [ + 0.16926217079162598, + -0.06743555516004562, + -0.004396854434162378 + ], + "orientation": [ + 0.3992168605327606, + 0.4696556031703949, + -0.5238840579986572, + -0.5878733396530151 + ], + "joints": [ + 0.003917122259736061 + ] + }, + "final_grasp": { + "position": [ + 0.16926217079162598, + -0.06743555516004562, + -0.004396854434162378 + ], + "orientation": [ + 0.3992168605327606, + 0.4696556031703949, + -0.5238840579986572, + -0.5878733396530151 + ], + "joints": [ + -0.005695847794413567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09320104122161865, + 0.16535663604736328, + -0.006665074732154608 + ], + "orientation": [ + 0.2007119506597519, + -0.17902404069900513, + -0.6758938431739807, + 0.6861725449562073 + ], + "joints": [ + 0.013993138447403908 + ] + }, + "fine_grasp": { + "position": [ + 0.0915556401014328, + 0.16220277547836304, + -0.00545099750161171 + ], + "orientation": [ + 0.20329760015010834, + -0.1752406507730484, + -0.6740436553955078, + 0.688204824924469 + ], + "joints": [ + 0.0035442584194242954 + ] + }, + "final_grasp": { + "position": [ + 0.0915556401014328, + 0.16220277547836304, + -0.00545099750161171 + ], + "orientation": [ + 0.20329760015010834, + -0.1752406507730484, + -0.6740436553955078, + 0.688204824924469 + ], + "joints": [ + -0.006904621608555317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02627751976251602, + 0.18360386788845062, + -0.0309361033141613 + ], + "orientation": [ + 0.04352418705821037, + -0.0026341588236391544, + -0.6135194301605225, + 0.7884749174118042 + ], + "joints": [ + 0.014668366871774197 + ] + }, + "fine_grasp": { + "position": [ + 0.025837238878011703, + 0.18102064728736877, + -0.03001616708934307 + ], + "orientation": [ + 0.04400106891989708, + -0.0025839621666818857, + -0.6154577732086182, + 0.7869365215301514 + ], + "joints": [ + 0.005473352037370205 + ] + }, + "final_grasp": { + "position": [ + 0.025837238878011703, + 0.18102064728736877, + -0.03001616708934307 + ], + "orientation": [ + 0.04400106891989708, + -0.0025839621666818857, + -0.6154577732086182, + 0.7869365215301514 + ], + "joints": [ + -0.0037216627970337868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1832328736782074, + -0.04608319327235222, + -0.03156756982207298 + ], + "orientation": [ + 0.6317510604858398, + -0.4820026457309723, + 0.3803548216819763, + -0.4731747508049011 + ], + "joints": [ + 0.01449624914675951 + ] + }, + "fine_grasp": { + "position": [ + -0.1803896576166153, + -0.04547257348895073, + -0.03062671609222889 + ], + "orientation": [ + 0.630974292755127, + -0.47985824942588806, + 0.38415729999542236, + -0.47331878542900085 + ], + "joints": [ + 0.004883279092609882 + ] + }, + "final_grasp": { + "position": [ + -0.1803896576166153, + -0.04547257348895073, + -0.03062671609222889 + ], + "orientation": [ + 0.630974292755127, + -0.47985824942588806, + 0.38415729999542236, + -0.47331878542900085 + ], + "joints": [ + -0.004729690961539745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.18734213709831238, + -0.04329122230410576, + -0.017253225669264793 + ], + "orientation": [ + 0.4686501622200012, + 0.4029223322868347, + 0.5250614285469055, + 0.5850907564163208 + ], + "joints": [ + 0.013082343153655529 + ] + }, + "fine_grasp": { + "position": [ + -0.18389849364757538, + -0.042487967759370804, + -0.0166464913636446 + ], + "orientation": [ + 0.46907445788383484, + 0.40248605608940125, + 0.5254243612289429, + 0.5847249627113342 + ], + "joints": [ + 0.0038664310704916716 + ] + }, + "final_grasp": { + "position": [ + -0.18389849364757538, + -0.042487967759370804, + -0.0166464913636446 + ], + "orientation": [ + 0.46907445788383484, + 0.40248605608940125, + 0.5254243612289429, + 0.5847249627113342 + ], + "joints": [ + -0.005349481012672186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1885475069284439, + -0.0446648895740509, + -0.015509093180298805 + ], + "orientation": [ + 0.4650645852088928, + 0.4118261933326721, + 0.5253705978393555, + 0.5814635157585144 + ], + "joints": [ + 0.012479107826948166 + ] + }, + "fine_grasp": { + "position": [ + -0.1852238029241562, + -0.04394344985485077, + -0.014824291691184044 + ], + "orientation": [ + 0.46610748767852783, + 0.41533905267715454, + 0.5235898494720459, + 0.5797334909439087 + ], + "joints": [ + 0.0036811509635299444 + ] + }, + "final_grasp": { + "position": [ + -0.1852238029241562, + -0.04394344985485077, + -0.014824291691184044 + ], + "orientation": [ + 0.46610748767852783, + 0.41533905267715454, + 0.5235898494720459, + 0.5797334909439087 + ], + "joints": [ + -0.005116805899888277 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1867963671684265, + -0.04431741684675217, + -0.017428550869226456 + ], + "orientation": [ + 0.4717993140220642, + 0.42048677802085876, + 0.5100351572036743, + 0.5834898948669434 + ], + "joints": [ + 0.013509809970855713 + ] + }, + "fine_grasp": { + "position": [ + -0.18386410176753998, + -0.04302164539694786, + -0.017531616613268852 + ], + "orientation": [ + 0.46938759088516235, + 0.4204558730125427, + 0.5076270699501038, + 0.5875430703163147 + ], + "joints": [ + 0.0038759426679462194 + ] + }, + "final_grasp": { + "position": [ + -0.18386410176753998, + -0.04302164539694786, + -0.017531616613268852 + ], + "orientation": [ + 0.46938759088516235, + 0.4204558730125427, + 0.5076270699501038, + 0.5875430703163147 + ], + "joints": [ + -0.005757924634963274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1835477352142334, + 0.001374467508867383, + -0.0077024344354867935 + ], + "orientation": [ + 0.5559516549110413, + -0.42799440026283264, + -0.5420322418212891, + 0.4625360369682312 + ], + "joints": [ + 0.014893122017383575 + ] + }, + "fine_grasp": { + "position": [ + 0.18235337734222412, + 0.002810436999425292, + -0.007078120484948158 + ], + "orientation": [ + 0.5602378249168396, + -0.42018359899520874, + -0.548912525177002, + 0.4563709497451782 + ], + "joints": [ + 0.005280151963233948 + ] + }, + "final_grasp": { + "position": [ + 0.18235337734222412, + 0.002810436999425292, + -0.007078120484948158 + ], + "orientation": [ + 0.5602378249168396, + -0.42018359899520874, + -0.548912525177002, + 0.4563709497451782 + ], + "joints": [ + -0.00433281809091568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014977454207837582, + 0.18792811036109924, + -0.0016401592874899507 + ], + "orientation": [ + 0.05344279110431671, + 0.012813367880880833, + -0.7115229964256287, + 0.7005103230476379 + ], + "joints": [ + 0.013262352906167507 + ] + }, + "fine_grasp": { + "position": [ + 0.01487882062792778, + 0.1857195943593979, + -0.002269940683618188 + ], + "orientation": [ + 0.06209753826260567, + 0.020393503829836845, + -0.7091689705848694, + 0.7020023465156555 + ], + "joints": [ + 0.0040673380717635155 + ] + }, + "final_grasp": { + "position": [ + 0.01487882062792778, + 0.1857195943593979, + -0.002269940683618188 + ], + "orientation": [ + 0.06209753826260567, + 0.020393503829836845, + -0.7091689705848694, + 0.7020023465156555 + ], + "joints": [ + -0.005127676762640476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13010965287685394, + -0.12866610288619995, + -0.014323883689939976 + ], + "orientation": [ + 0.26768746972084045, + 0.17265790700912476, + -0.6449897885322571, + -0.69463711977005 + ], + "joints": [ + 0.013967065140604973 + ] + }, + "fine_grasp": { + "position": [ + 0.12826098501682281, + -0.12676914036273956, + -0.013679517433047295 + ], + "orientation": [ + 0.27055811882019043, + 0.17217616736888885, + -0.6463562250137329, + -0.6923707723617554 + ], + "joints": [ + 0.004354095086455345 + ] + }, + "final_grasp": { + "position": [ + 0.12826098501682281, + -0.12676914036273956, + -0.013679517433047295 + ], + "orientation": [ + 0.27055811882019043, + 0.17217616736888885, + -0.6463562250137329, + -0.6923707723617554 + ], + "joints": [ + -0.0052588749676942825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09351973235607147, + 0.1660393327474594, + -0.006914791185408831 + ], + "orientation": [ + 0.2013305127620697, + -0.17878881096839905, + -0.6741472482681274, + 0.6877689361572266 + ], + "joints": [ + 0.013356976211071014 + ] + }, + "fine_grasp": { + "position": [ + 0.09182453900575638, + 0.16277819871902466, + -0.0059261629357934 + ], + "orientation": [ + 0.2041621208190918, + -0.17446504533290863, + -0.6731787919998169, + 0.6889920234680176 + ], + "joints": [ + 0.0033260516356676817 + ] + }, + "final_grasp": { + "position": [ + 0.09182453900575638, + 0.16277819871902466, + -0.0059261629357934 + ], + "orientation": [ + 0.2041621208190918, + -0.17446504533290863, + -0.6731787919998169, + 0.6889920234680176 + ], + "joints": [ + -0.006704872939735651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16335339844226837, + -0.09677581489086151, + -0.016398495063185692 + ], + "orientation": [ + 0.38196808099746704, + 0.3087698817253113, + -0.5869183540344238, + -0.6436524391174316 + ], + "joints": [ + 0.013486487790942192 + ] + }, + "fine_grasp": { + "position": [ + 0.1601390391588211, + -0.09500378370285034, + -0.01606348343193531 + ], + "orientation": [ + 0.3844441771507263, + 0.3056352436542511, + -0.5892781019210815, + -0.6415145993232727 + ], + "joints": [ + 0.0038735177367925644 + ] + }, + "final_grasp": { + "position": [ + 0.1601390391588211, + -0.09500378370285034, + -0.01606348343193531 + ], + "orientation": [ + 0.3844441771507263, + 0.3056352436542511, + -0.5892781019210815, + -0.6415145993232727 + ], + "joints": [ + -0.005739452317357063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1742790788412094, + 0.06920765340328217, + 0.0004413143906276673 + ], + "orientation": [ + 0.5962529182434082, + 0.5731574296951294, + 0.4335114657878876, + 0.3578279912471771 + ], + "joints": [ + 0.013583620078861713 + ] + }, + "fine_grasp": { + "position": [ + -0.17207355797290802, + 0.06785048544406891, + 1.4926734365872107e-05 + ], + "orientation": [ + 0.6028202176094055, + 0.5636783838272095, + 0.44334790110588074, + 0.34973886609077454 + ], + "joints": [ + 0.004388605244457722 + ] + }, + "final_grasp": { + "position": [ + -0.17207355797290802, + 0.06785048544406891, + 1.4926734365872107e-05 + ], + "orientation": [ + 0.6028202176094055, + 0.5636783838272095, + 0.44334790110588074, + 0.34973886609077454 + ], + "joints": [ + -0.00480640958994627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.17866681516170502, + -0.05211949348449707, + -0.021365653723478317 + ], + "orientation": [ + 0.4451110064983368, + 0.4105987250804901, + 0.4975064694881439, + 0.6211055517196655 + ], + "joints": [ + 0.014756174758076668 + ] + }, + "fine_grasp": { + "position": [ + -0.17713747918605804, + -0.05177903547883034, + -0.02138463407754898 + ], + "orientation": [ + 0.4438481032848358, + 0.4123687446117401, + 0.495522677898407, + 0.6224212646484375 + ], + "joints": [ + 0.004746147431433201 + ] + }, + "final_grasp": { + "position": [ + -0.17713747918605804, + -0.05177903547883034, + -0.02138463407754898 + ], + "orientation": [ + 0.4438481032848358, + 0.4123687446117401, + 0.495522677898407, + 0.6224212646484375 + ], + "joints": [ + -0.005263879895210266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13496574759483337, + -0.1388198882341385, + 0.004587617237120867 + ], + "orientation": [ + 0.2564795911312103, + 0.2905709743499756, + -0.6675118803977966, + -0.6357787251472473 + ], + "joints": [ + 0.012530675157904625 + ] + }, + "fine_grasp": { + "position": [ + 0.13227462768554688, + -0.1359846442937851, + 0.00461698230355978 + ], + "orientation": [ + 0.25567278265953064, + 0.2905096411705017, + -0.6673334836959839, + -0.6363189220428467 + ], + "joints": [ + 0.003314763540402055 + ] + }, + "final_grasp": { + "position": [ + 0.13227462768554688, + -0.1359846442937851, + 0.00461698230355978 + ], + "orientation": [ + 0.25567278265953064, + 0.2905096411705017, + -0.6673334836959839, + -0.6363189220428467 + ], + "joints": [ + -0.005901148077100515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01568089798092842, + 0.18796950578689575, + -0.00045521376887336373 + ], + "orientation": [ + 0.04834872856736183, + 0.011922629550099373, + -0.7152501940727234, + 0.6970920562744141 + ], + "joints": [ + 0.013132515363395214 + ] + }, + "fine_grasp": { + "position": [ + 0.015685848891735077, + 0.18484656512737274, + -0.0007284735329449177 + ], + "orientation": [ + 0.053153347223997116, + 0.015489078126847744, + -0.7145175337791443, + 0.6974233984947205 + ], + "joints": [ + 0.003937500528991222 + ] + }, + "final_grasp": { + "position": [ + 0.015685848891735077, + 0.18484656512737274, + -0.0007284735329449177 + ], + "orientation": [ + 0.053153347223997116, + 0.015489078126847744, + -0.7145175337791443, + 0.6974233984947205 + ], + "joints": [ + -0.005257514305412769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13354139029979706, + -0.1370709240436554, + 0.006005445960909128 + ], + "orientation": [ + 0.25352010130882263, + 0.2906894087791443, + -0.670720100402832, + -0.6335312724113464 + ], + "joints": [ + 0.013261906802654266 + ] + }, + "fine_grasp": { + "position": [ + 0.13111822307109833, + -0.13450127840042114, + 0.006312221754342318 + ], + "orientation": [ + 0.2519895136356354, + 0.29231780767440796, + -0.6721643209457397, + -0.6318597197532654 + ], + "joints": [ + 0.003648937214165926 + ] + }, + "final_grasp": { + "position": [ + 0.13111822307109833, + -0.13450127840042114, + 0.006312221754342318 + ], + "orientation": [ + 0.2519895136356354, + 0.29231780767440796, + -0.6721643209457397, + -0.6318597197532654 + ], + "joints": [ + -0.005964032374322414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13369706273078918, + -0.13733123242855072, + 0.005862727761268616 + ], + "orientation": [ + 0.25451987981796265, + 0.29136204719543457, + -0.6700733304023743, + -0.633505642414093 + ], + "joints": [ + 0.012970628216862679 + ] + }, + "fine_grasp": { + "position": [ + 0.1312272846698761, + -0.13472653925418854, + 0.006147297099232674 + ], + "orientation": [ + 0.25323760509490967, + 0.29264357686042786, + -0.6715706586837769, + -0.6318413019180298 + ], + "joints": [ + 0.0033785563427954912 + ] + }, + "final_grasp": { + "position": [ + 0.1312272846698761, + -0.13472653925418854, + 0.006147297099232674 + ], + "orientation": [ + 0.25323760509490967, + 0.29264357686042786, + -0.6715706586837769, + -0.6318413019180298 + ], + "joints": [ + -0.006213515531271696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17960484325885773, + 0.014535612426698208, + -3.5173423384549096e-05 + ], + "orientation": [ + 0.5362855195999146, + 0.5025557279586792, + -0.511216938495636, + -0.4455251693725586 + ], + "joints": [ + 0.014104912988841534 + ] + }, + "fine_grasp": { + "position": [ + 0.1788383424282074, + 0.012514254078269005, + 0.0001587008882779628 + ], + "orientation": [ + 0.5388627052307129, + 0.4941774606704712, + -0.518373966217041, + -0.44351324439048767 + ], + "joints": [ + 0.004491942934691906 + ] + }, + "final_grasp": { + "position": [ + 0.1788383424282074, + 0.012514254078269005, + 0.0001587008882779628 + ], + "orientation": [ + 0.5388627052307129, + 0.4941774606704712, + -0.518373966217041, + -0.44351324439048767 + ], + "joints": [ + -0.005121027119457722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16099727153778076, + -0.09229857474565506, + -0.011516471393406391 + ], + "orientation": [ + 0.6601030826568604, + -0.5423144102096558, + -0.40541785955429077, + 0.3252618610858917 + ], + "joints": [ + 0.013836219906806946 + ] + }, + "fine_grasp": { + "position": [ + 0.1581815779209137, + -0.09060895442962646, + -0.010901394300162792 + ], + "orientation": [ + 0.6608278751373291, + -0.5415195226669312, + -0.40957820415496826, + 0.31985753774642944 + ], + "joints": [ + 0.003826192580163479 + ] + }, + "final_grasp": { + "position": [ + 0.1581815779209137, + -0.09060895442962646, + -0.010901394300162792 + ], + "orientation": [ + 0.6608278751373291, + -0.5415195226669312, + -0.40957820415496826, + 0.31985753774642944 + ], + "joints": [ + -0.006183834746479988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1807011216878891, + 0.01780364289879799, + -0.029019182547926903 + ], + "orientation": [ + 0.49418070912361145, + -0.40422123670578003, + -0.46828630566596985, + 0.6108178496360779 + ], + "joints": [ + 0.015398439951241016 + ] + }, + "fine_grasp": { + "position": [ + 0.17864710092544556, + 0.01758718676865101, + -0.02905964106321335 + ], + "orientation": [ + 0.49278661608695984, + -0.4045688211917877, + -0.4649599492549896, + 0.6142456531524658 + ], + "joints": [ + 0.006203425116837025 + ] + }, + "final_grasp": { + "position": [ + 0.17864710092544556, + 0.01758718676865101, + -0.02905964106321335 + ], + "orientation": [ + 0.49278661608695984, + -0.4045688211917877, + -0.4649599492549896, + 0.6142456531524658 + ], + "joints": [ + -0.002991589717566967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07652557641267776, + -0.15999911725521088, + -0.02532314509153366 + ], + "orientation": [ + 0.2682405412197113, + 0.18715524673461914, + -0.6037071347236633, + -0.7270197868347168 + ], + "joints": [ + 0.014859544113278389 + ] + }, + "fine_grasp": { + "position": [ + 0.07711891829967499, + -0.15889552235603333, + -0.0249373409897089 + ], + "orientation": [ + 0.27298504114151, + 0.18133945763111115, + -0.6035734415054321, + -0.7268385291099548 + ], + "joints": [ + 0.006082484498620033 + ] + }, + "final_grasp": { + "position": [ + 0.07711891829967499, + -0.15889552235603333, + -0.0249373409897089 + ], + "orientation": [ + 0.27298504114151, + 0.18133945763111115, + -0.6035734415054321, + -0.7268385291099548 + ], + "joints": [ + -0.0026945751160383224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09017671644687653, + 0.1518317461013794, + -0.022661088034510612 + ], + "orientation": [ + 0.22269658744335175, + -0.1371346116065979, + -0.6257511973381042, + 0.7348713278770447 + ], + "joints": [ + 0.014831768348813057 + ] + }, + "fine_grasp": { + "position": [ + 0.08941936492919922, + 0.14980071783065796, + -0.02234984189271927 + ], + "orientation": [ + 0.22273719310760498, + -0.12751777470111847, + -0.6283099055290222, + 0.7344072461128235 + ], + "joints": [ + 0.004800843074917793 + ] + }, + "final_grasp": { + "position": [ + 0.08941936492919922, + 0.14980071783065796, + -0.02234984189271927 + ], + "orientation": [ + 0.22273719310760498, + -0.12751777470111847, + -0.6283099055290222, + 0.7344072461128235 + ], + "joints": [ + -0.00523008219897747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03489063307642937, + -0.1681634783744812, + -0.016118289902806282 + ], + "orientation": [ + 0.12004492431879044, + 0.01951596699655056, + 0.6610664129257202, + 0.7404049038887024 + ], + "joints": [ + 0.014689390547573566 + ] + }, + "fine_grasp": { + "position": [ + -0.03425179794430733, + -0.16821131110191345, + -0.015097240917384624 + ], + "orientation": [ + 0.12131470441818237, + 0.0008526290184818208, + 0.6653695702552795, + 0.7365902662277222 + ], + "joints": [ + 0.004240510053932667 + ] + }, + "final_grasp": { + "position": [ + -0.03425179794430733, + -0.16821131110191345, + -0.015097240917384624 + ], + "orientation": [ + 0.12131470441818237, + 0.0008526290184818208, + 0.6653695702552795, + 0.7365902662277222 + ], + "joints": [ + -0.006208370439708233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03459091857075691, + -0.16835270822048187, + -0.016117138788104057 + ], + "orientation": [ + 0.12514877319335938, + 0.016847264021635056, + 0.6613153219223022, + 0.7394024133682251 + ], + "joints": [ + 0.014655121602118015 + ] + }, + "fine_grasp": { + "position": [ + -0.03349829092621803, + -0.1684449464082718, + -0.014816965907812119 + ], + "orientation": [ + 0.1257285475730896, + -0.0043756989762187, + 0.6663001179695129, + 0.7349948287010193 + ], + "joints": [ + 0.004624196328222752 + ] + }, + "final_grasp": { + "position": [ + -0.03349829092621803, + -0.1684449464082718, + -0.014816965907812119 + ], + "orientation": [ + 0.1257285475730896, + -0.0043756989762187, + 0.6663001179695129, + 0.7349948287010193 + ], + "joints": [ + -0.005406728945672512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03318611904978752, + -0.16869977116584778, + -0.023015135899186134 + ], + "orientation": [ + 0.7684237360954285, + -0.6328073143959045, + 0.07670440524816513, + -0.05653408542275429 + ], + "joints": [ + 0.015355294570326805 + ] + }, + "fine_grasp": { + "position": [ + -0.03420877456665039, + -0.16794058680534363, + -0.02274872176349163 + ], + "orientation": [ + 0.7694064974784851, + -0.6315804719924927, + 0.07878711074590683, + -0.05396706983447075 + ], + "joints": [ + 0.006160279735922813 + ] + }, + "final_grasp": { + "position": [ + -0.03420877456665039, + -0.16794058680534363, + -0.02274872176349163 + ], + "orientation": [ + 0.7694064974784851, + -0.6315804719924927, + 0.07878711074590683, + -0.05396706983447075 + ], + "joints": [ + -0.0030347350984811783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1564253568649292, + 0.09327338635921478, + 0.006520369090139866 + ], + "orientation": [ + 0.591412365436554, + 0.6827600598335266, + 0.2783907353878021, + 0.32644858956336975 + ], + "joints": [ + 0.013932494446635246 + ] + }, + "fine_grasp": { + "position": [ + -0.15478231012821198, + 0.09211335331201553, + 0.0052283406257629395 + ], + "orientation": [ + 0.5924208760261536, + 0.6859301924705505, + 0.26244574785232544, + 0.33114877343177795 + ], + "joints": [ + 0.004319524392485619 + ] + }, + "final_grasp": { + "position": [ + -0.15478231012821198, + 0.09211335331201553, + 0.0052283406257629395 + ], + "orientation": [ + 0.5924208760261536, + 0.6859301924705505, + 0.26244574785232544, + 0.33114877343177795 + ], + "joints": [ + -0.005293445661664009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015409575775265694, + -0.17572952806949615, + 0.005590693559497595 + ], + "orientation": [ + 0.6777951717376709, + -0.7327461242675781, + -0.05948216840624809, + -0.01177779957652092 + ], + "joints": [ + 0.013997014611959457 + ] + }, + "fine_grasp": { + "position": [ + 0.011904608458280563, + -0.17645186185836792, + 0.0052124615758657455 + ], + "orientation": [ + 0.679085373878479, + -0.7314863801002502, + -0.055772844702005386, + -0.025693489238619804 + ], + "joints": [ + 0.00438404455780983 + ] + }, + "final_grasp": { + "position": [ + 0.011904608458280563, + -0.17645186185836792, + 0.0052124615758657455 + ], + "orientation": [ + 0.679085373878479, + -0.7314863801002502, + -0.055772844702005386, + -0.025693489238619804 + ], + "joints": [ + -0.005228925496339798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16233660280704498, + 0.06663566827774048, + 0.0013700767885893583 + ], + "orientation": [ + 0.56842440366745, + 0.5709710121154785, + -0.443102091550827, + -0.3931240737438202 + ], + "joints": [ + 0.013132254593074322 + ] + }, + "fine_grasp": { + "position": [ + 0.16132448613643646, + 0.06590265035629272, + -3.369942533026915e-06 + ], + "orientation": [ + 0.5788933038711548, + 0.553198516368866, + -0.456820011138916, + -0.3875170350074768 + ], + "joints": [ + 0.00393723975867033 + ] + }, + "final_grasp": { + "position": [ + 0.16132448613643646, + 0.06590265035629272, + -3.369942533026915e-06 + ], + "orientation": [ + 0.5788933038711548, + 0.553198516368866, + -0.456820011138916, + -0.3875170350074768 + ], + "joints": [ + -0.005257775075733662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013758978806436062, + -0.17591197788715363, + 0.0024207078386098146 + ], + "orientation": [ + 0.6893355846405029, + -0.7226201295852661, + 0.021106647327542305, + -0.04680795595049858 + ], + "joints": [ + 0.01232632901519537 + ] + }, + "fine_grasp": { + "position": [ + -0.011779628694057465, + -0.1735261231660843, + 0.0035636192187666893 + ], + "orientation": [ + 0.685715913772583, + -0.7260847091674805, + 0.0065346090123057365, + -0.050518862903118134 + ], + "joints": [ + 0.0035492698661983013 + ] + }, + "final_grasp": { + "position": [ + -0.011779628694057465, + -0.1735261231660843, + 0.0035636192187666893 + ], + "orientation": [ + 0.685715913772583, + -0.7260847091674805, + 0.0065346090123057365, + -0.050518862903118134 + ], + "joints": [ + -0.005227789282798767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013277263380587101, + -0.024632178246974945, + -0.14784009754657745 + ], + "orientation": [ + 0.9872696399688721, + -0.0964779183268547, + 0.05169009789824486, + -0.115407295525074 + ], + "joints": [ + 0.002270286437124014 + ] + }, + "fine_grasp": { + "position": [ + -0.013135567307472229, + -0.024326631799340248, + -0.1424647569656372 + ], + "orientation": [ + 0.9877247214317322, + -0.09287740290164948, + 0.04957009106874466, + -0.1153976172208786 + ], + "joints": [ + 0.0035032532177865505 + ] + }, + "final_grasp": { + "position": [ + -0.013135567307472229, + -0.024326631799340248, + -0.1424647569656372 + ], + "orientation": [ + 0.9877247214317322, + -0.09287740290164948, + 0.04957009106874466, + -0.1153976172208786 + ], + "joints": [ + 0.004736219998449087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02541479654610157, + 0.18574225902557373, + 0.005921596195548773 + ], + "orientation": [ + 0.6736960411071777, + 0.7326663732528687, + -0.06328330188989639, + -0.07299983501434326 + ], + "joints": [ + 0.014034959487617016 + ] + }, + "fine_grasp": { + "position": [ + 0.025729188695549965, + 0.18333590030670166, + 0.004887856543064117 + ], + "orientation": [ + 0.6749927997589111, + 0.7306663990020752, + -0.06577672809362411, + -0.07864253222942352 + ], + "joints": [ + 0.004004034213721752 + ] + }, + "final_grasp": { + "position": [ + 0.025729188695549965, + 0.18333590030670166, + 0.004887856543064117 + ], + "orientation": [ + 0.6749927997589111, + 0.7306663990020752, + -0.06577672809362411, + -0.07864253222942352 + ], + "joints": [ + -0.0060268910601735115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024760592728853226, + 0.18561050295829773, + 0.00698802201077342 + ], + "orientation": [ + 0.6697444319725037, + 0.7351632714271545, + -0.0771251767873764, + -0.07091598957777023 + ], + "joints": [ + 0.014029259793460369 + ] + }, + "fine_grasp": { + "position": [ + 0.024793708696961403, + 0.18274500966072083, + 0.006125169340521097 + ], + "orientation": [ + 0.6721270680427551, + 0.7329854369163513, + -0.07914455980062485, + -0.0686560720205307 + ], + "joints": [ + 0.0039983345195651054 + ] + }, + "final_grasp": { + "position": [ + 0.024793708696961403, + 0.18274500966072083, + 0.006125169340521097 + ], + "orientation": [ + 0.6721270680427551, + 0.7329854369163513, + -0.07914455980062485, + -0.0686560720205307 + ], + "joints": [ + -0.006032590754330158 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 45 + } +} \ No newline at end of file diff --git a/clutter_darts_board_00000/Object.usd b/clutter_darts_board_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..07aed8ac5bf2dc797f7c05e7ac3775c70c131388 --- /dev/null +++ b/clutter_darts_board_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d193dbbc9b47193a21bdd197c793f790f84f5e7f8ad213aa3c3c13a40f34a4cf +size 244459 diff --git a/clutter_game_machine_00000/Annotation/dex1_1_grasp_pose.json b/clutter_game_machine_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..56173bf8b025f6d50790c350812086668f4ffc63 --- /dev/null +++ b/clutter_game_machine_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,2368 @@ +{ + "type": "clutter_game_machine_00000", + "bottom_center": [ + 4.507601261138916e-06, + -0.0003274213522672653, + -0.007002026308327913 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.08343616127967834, + 0.14930209517478943, + -0.01278363261371851 + ], + "orientation": [ + 0.10205093771219254, + -0.700523853302002, + -0.20971156656742096, + -0.674442708492279 + ], + "joints": [ + 0.006250910926610231 + ] + }, + "fine_grasp": { + "position": [ + -0.08138295263051987, + 0.1459294855594635, + -0.01225554384291172 + ], + "orientation": [ + 0.11156930774450302, + -0.7040571570396423, + -0.2187674343585968, + -0.6663306355476379 + ], + "joints": [ + 0.011618048883974552 + ] + }, + "final_grasp": { + "position": [ + -0.08138295263051987, + 0.1459294855594635, + -0.01225554384291172 + ], + "orientation": [ + 0.11156930774450302, + -0.7040571570396423, + -0.2187674343585968, + -0.6663306355476379 + ], + "joints": [ + 0.01698518730700016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01895154081285, + 0.15005411207675934, + 0.006035301834344864 + ], + "orientation": [ + 0.043601907789707184, + -0.6755637526512146, + -0.040863893926143646, + -0.7348759770393372 + ], + "joints": [ + 0.006065447814762592 + ] + }, + "fine_grasp": { + "position": [ + -0.02041170559823513, + 0.14798949658870697, + 0.008456728421151638 + ], + "orientation": [ + 0.05059494450688362, + -0.6678445339202881, + -0.03507944196462631, + -0.7417501211166382 + ], + "joints": [ + 0.008935010991990566 + ] + }, + "final_grasp": { + "position": [ + -0.02041170559823513, + 0.14798949658870697, + 0.008456728421151638 + ], + "orientation": [ + 0.05059494450688362, + -0.6678445339202881, + -0.03507944196462631, + -0.7417501211166382 + ], + "joints": [ + 0.01180457416921854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00971221923828125, + 0.15283305943012238, + -0.015246187336742878 + ], + "orientation": [ + 0.038544293493032455, + 0.7463766932487488, + 0.08119642734527588, + 0.6594265103340149 + ], + "joints": [ + 0.005167895928025246 + ] + }, + "fine_grasp": { + "position": [ + 0.009439452551305294, + 0.1500822752714157, + -0.014564630575478077 + ], + "orientation": [ + 0.04634452611207962, + 0.7532572150230408, + 0.07611588388681412, + 0.6516609787940979 + ], + "joints": [ + 0.008940834552049637 + ] + }, + "final_grasp": { + "position": [ + 0.009439452551305294, + 0.1500822752714157, + -0.014564630575478077 + ], + "orientation": [ + 0.04634452611207962, + 0.7532572150230408, + 0.07611588388681412, + 0.6516609787940979 + ], + "joints": [ + 0.012713773176074028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010536886751651764, + 0.1525566279888153, + -0.016196204349398613 + ], + "orientation": [ + 0.039423320442438126, + 0.7467513084411621, + 0.08598731458187103, + 0.658342182636261 + ], + "joints": [ + 0.005167895928025246 + ] + }, + "fine_grasp": { + "position": [ + 0.010323082096874714, + 0.1498797982931137, + -0.015408164821565151 + ], + "orientation": [ + 0.04713149741292, + 0.7540407180786133, + 0.08063668757677078, + 0.6501530408859253 + ], + "joints": [ + 0.008914263918995857 + ] + }, + "final_grasp": { + "position": [ + 0.010323082096874714, + 0.1498797982931137, + -0.015408164821565151 + ], + "orientation": [ + 0.04713149741292, + 0.7540407180786133, + 0.08063668757677078, + 0.6501530408859253 + ], + "joints": [ + 0.012660631909966469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012150570750236511, + 0.15526142716407776, + -0.000870377931278199 + ], + "orientation": [ + 0.05528608337044716, + 0.7231028079986572, + -0.018625887110829353, + 0.6882724165916443 + ], + "joints": [ + 0.006143042352050543 + ] + }, + "fine_grasp": { + "position": [ + 0.012530548498034477, + 0.15098491311073303, + 0.0005601465818472207 + ], + "orientation": [ + 0.05110137164592743, + 0.7262880802154541, + -0.017747409641742706, + 0.6852585077285767 + ], + "joints": [ + 0.011005351319909096 + ] + }, + "final_grasp": { + "position": [ + 0.012530548498034477, + 0.15098491311073303, + 0.0005601465818472207 + ], + "orientation": [ + 0.05110137164592743, + 0.7262880802154541, + -0.017747409641742706, + 0.6852585077285767 + ], + "joints": [ + 0.01586765982210636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05652311444282532, + 0.14983823895454407, + -0.01686203107237816 + ], + "orientation": [ + 0.15178035199642181, + 0.7651691436767578, + -0.03995714336633682, + 0.6244056224822998 + ], + "joints": [ + 0.004143925849348307 + ] + }, + "fine_grasp": { + "position": [ + 0.0556367002427578, + 0.14515025913715363, + -0.016621224582195282 + ], + "orientation": [ + 0.14410479366779327, + 0.7827154397964478, + -0.032590389251708984, + 0.6045892834663391 + ], + "joints": [ + 0.008421693928539753 + ] + }, + "final_grasp": { + "position": [ + 0.0556367002427578, + 0.14515025913715363, + -0.016621224582195282 + ], + "orientation": [ + 0.14410479366779327, + 0.7827154397964478, + -0.032590389251708984, + 0.6045892834663391 + ], + "joints": [ + 0.012699462473392487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06489992886781693, + 0.15348295867443085, + -0.02605046145617962 + ], + "orientation": [ + 0.043344952166080475, + 0.6457353830337524, + 0.12563416361808777, + 0.7519062757492065 + ], + "joints": [ + 0.0041936044581234455 + ] + }, + "fine_grasp": { + "position": [ + -0.06438063830137253, + 0.14975754916667938, + -0.02485037036240101 + ], + "orientation": [ + 0.03385884687304497, + 0.6314302086830139, + 0.13101957738399506, + 0.7635334730148315 + ], + "joints": [ + 0.008497943170368671 + ] + }, + "final_grasp": { + "position": [ + -0.06438063830137253, + 0.14975754916667938, + -0.02485037036240101 + ], + "orientation": [ + 0.03385884687304497, + 0.6314302086830139, + 0.13101957738399506, + 0.7635334730148315 + ], + "joints": [ + 0.012802282348275185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06443195044994354, + 0.1533547043800354, + -0.02597719058394432 + ], + "orientation": [ + 0.04121604934334755, + 0.6435192227363586, + 0.1268949955701828, + 0.7537120580673218 + ], + "joints": [ + 0.004150374326854944 + ] + }, + "fine_grasp": { + "position": [ + -0.06390433758497238, + 0.14966024458408356, + -0.024777425453066826 + ], + "orientation": [ + 0.0316789373755455, + 0.6287834048271179, + 0.13240107893943787, + 0.7655702829360962 + ], + "joints": [ + 0.00845471303910017 + ] + }, + "final_grasp": { + "position": [ + -0.06390433758497238, + 0.14966024458408356, + -0.024777425453066826 + ], + "orientation": [ + 0.0316789373755455, + 0.6287834048271179, + 0.13240107893943787, + 0.7655702829360962 + ], + "joints": [ + 0.012759052217006683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06454261392354965, + 0.15290921926498413, + -0.02614479511976242 + ], + "orientation": [ + 0.04121483862400055, + 0.6437548398971558, + 0.1282016783952713, + 0.7532896399497986 + ], + "joints": [ + 0.0036720982752740383 + ] + }, + "fine_grasp": { + "position": [ + -0.06401268392801285, + 0.14943481981754303, + -0.024955205619335175 + ], + "orientation": [ + 0.03219299390912056, + 0.63010174036026, + 0.13436377048492432, + 0.7641216516494751 + ], + "joints": [ + 0.008507836610078812 + ] + }, + "final_grasp": { + "position": [ + -0.06401268392801285, + 0.14943481981754303, + -0.024955205619335175 + ], + "orientation": [ + 0.03219299390912056, + 0.63010174036026, + 0.13436377048492432, + 0.7641216516494751 + ], + "joints": [ + 0.013343574479222298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17716792225837708, + -0.1113378033041954, + -0.0015278325881808996 + ], + "orientation": [ + 0.6708657145500183, + -0.27545320987701416, + 0.5833423733711243, + 0.36575454473495483 + ], + "joints": [ + 0.006737278774380684 + ] + }, + "fine_grasp": { + "position": [ + 0.17195378243923187, + -0.10843057930469513, + -0.0016322858864441514 + ], + "orientation": [ + 0.6675646305084229, + -0.2813262939453125, + 0.5798594355583191, + 0.37279483675956726 + ], + "joints": [ + 0.012609245255589485 + ] + }, + "final_grasp": { + "position": [ + 0.17195378243923187, + -0.10843057930469513, + -0.0016322858864441514 + ], + "orientation": [ + 0.6675646305084229, + -0.2813262939453125, + 0.5798594355583191, + 0.37279483675956726 + ], + "joints": [ + 0.018481211736798286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08172040432691574, + 0.14955849945545197, + -0.02486133947968483 + ], + "orientation": [ + 0.032836198806762695, + -0.6036320328712463, + -0.18028365075588226, + -0.7759175300598145 + ], + "joints": [ + 0.0030422182753682137 + ] + }, + "fine_grasp": { + "position": [ + -0.08072587847709656, + 0.14872148633003235, + -0.025671809911727905 + ], + "orientation": [ + 0.036593563854694366, + -0.579556941986084, + -0.18857164680957794, + -0.7919692397117615 + ], + "joints": [ + 0.00585863646119833 + ] + }, + "final_grasp": { + "position": [ + -0.08072587847709656, + 0.14872148633003235, + -0.025671809911727905 + ], + "orientation": [ + 0.036593563854694366, + -0.579556941986084, + -0.18857164680957794, + -0.7919692397117615 + ], + "joints": [ + 0.008675054647028446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0827745571732521, + 0.14944389462471008, + -0.02498389407992363 + ], + "orientation": [ + 0.02944074012339115, + -0.6024532318115234, + -0.17807987332344055, + -0.7774772644042969 + ], + "joints": [ + 0.0030422182753682137 + ] + }, + "fine_grasp": { + "position": [ + -0.08179158717393875, + 0.14861175417900085, + -0.025736572220921516 + ], + "orientation": [ + 0.03329715132713318, + -0.5778906345367432, + -0.1864813268184662, + -0.7938252091407776 + ], + "joints": [ + 0.00585863646119833 + ] + }, + "final_grasp": { + "position": [ + -0.08179158717393875, + 0.14861175417900085, + -0.025736572220921516 + ], + "orientation": [ + 0.03329715132713318, + -0.5778906345367432, + -0.1864813268184662, + -0.7938252091407776 + ], + "joints": [ + 0.008675054647028446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015603303909301758, + -0.15295104682445526, + -0.01930077187716961 + ], + "orientation": [ + 0.6546778082847595, + 0.10997775197029114, + -0.7470652461051941, + -0.034574419260025024 + ], + "joints": [ + 0.004448800813406706 + ] + }, + "fine_grasp": { + "position": [ + -0.014994568191468716, + -0.15003752708435059, + -0.01906539872288704 + ], + "orientation": [ + 0.6437109708786011, + 0.1067282184958458, + -0.7564338445663452, + -0.04531007260084152 + ], + "joints": [ + 0.008221739903092384 + ] + }, + "final_grasp": { + "position": [ + -0.014994568191468716, + -0.15003752708435059, + -0.01906539872288704 + ], + "orientation": [ + 0.6437109708786011, + 0.1067282184958458, + -0.7564338445663452, + -0.04531007260084152 + ], + "joints": [ + 0.011994678527116776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037645865231752396, + -0.15301679074764252, + -0.02087305672466755 + ], + "orientation": [ + 0.7602007389068604, + 0.1143362820148468, + 0.6388012766838074, + 0.030904818326234818 + ], + "joints": [ + 0.0038727805949747562 + ] + }, + "fine_grasp": { + "position": [ + -0.03667896240949631, + -0.14892803132534027, + -0.020528722554445267 + ], + "orientation": [ + 0.7664362788200378, + 0.12166929244995117, + 0.6301898956298828, + 0.025152575224637985 + ], + "joints": [ + 0.007645719218999147 + ] + }, + "final_grasp": { + "position": [ + -0.03667896240949631, + -0.14892803132534027, + -0.020528722554445267 + ], + "orientation": [ + 0.7664362788200378, + 0.12166929244995117, + 0.6301898956298828, + 0.025152575224637985 + ], + "joints": [ + 0.011418657377362251 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030596740543842316, + -0.15483160316944122, + -0.023603620007634163 + ], + "orientation": [ + 0.6098930239677429, + 0.09361868351697922, + -0.7834548950195312, + -0.07392377406358719 + ], + "joints": [ + 0.003297793213278055 + ] + }, + "fine_grasp": { + "position": [ + -0.030089618638157845, + -0.15037870407104492, + -0.02270384132862091 + ], + "orientation": [ + 0.5957682728767395, + 0.08709540218114853, + -0.7938240170478821, + -0.08554437756538391 + ], + "joints": [ + 0.006539330817759037 + ] + }, + "final_grasp": { + "position": [ + -0.030089618638157845, + -0.15037870407104492, + -0.02270384132862091 + ], + "orientation": [ + 0.5957682728767395, + 0.08709540218114853, + -0.7938240170478821, + -0.08554437756538391 + ], + "joints": [ + 0.009780868887901306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030911054462194443, + -0.1547510027885437, + -0.023725075647234917 + ], + "orientation": [ + 0.6072112321853638, + 0.09509769827127457, + -0.7853726148605347, + -0.073760986328125 + ], + "joints": [ + 0.003308403305709362 + ] + }, + "fine_grasp": { + "position": [ + -0.03035745956003666, + -0.15048107504844666, + -0.022924154996871948 + ], + "orientation": [ + 0.5924543142318726, + 0.08871829509735107, + -0.7961252927780151, + -0.08550696820020676 + ], + "joints": [ + 0.006045110523700714 + ] + }, + "final_grasp": { + "position": [ + -0.03035745956003666, + -0.15048107504844666, + -0.022924154996871948 + ], + "orientation": [ + 0.5924543142318726, + 0.08871829509735107, + -0.7961252927780151, + -0.08550696820020676 + ], + "joints": [ + 0.008781817741692066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031130442395806313, + -0.15700939297676086, + -0.015535851009190083 + ], + "orientation": [ + 0.8376094698905945, + 0.03039838932454586, + 0.5339553952217102, + 0.11125601828098297 + ], + "joints": [ + 0.0020226561464369297 + ] + }, + "fine_grasp": { + "position": [ + -0.029651077464222908, + -0.15524999797344208, + -0.01604684628546238 + ], + "orientation": [ + 0.8513007760047913, + 0.042447127401828766, + 0.5110922455787659, + 0.1107691302895546 + ], + "joints": [ + 0.004307673312723637 + ] + }, + "final_grasp": { + "position": [ + -0.029651077464222908, + -0.15524999797344208, + -0.01604684628546238 + ], + "orientation": [ + 0.8513007760047913, + 0.042447127401828766, + 0.5110922455787659, + 0.1107691302895546 + ], + "joints": [ + 0.0065926904790103436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03140973672270775, + 0.008212796412408352, + -0.12778139114379883 + ], + "orientation": [ + 0.8101391196250916, + 0.5308288335800171, + 0.03631092980504036, + 0.24612396955490112 + ], + "joints": [ + -0.01536235585808754 + ] + }, + "fine_grasp": { + "position": [ + 0.028552047908306122, + 0.008175858296453953, + -0.12436902523040771 + ], + "orientation": [ + 0.8136953711509705, + 0.5406537652015686, + 0.014116073958575726, + 0.2130587249994278 + ], + "joints": [ + -0.016292301937937737 + ] + }, + "final_grasp": { + "position": [ + 0.028552047908306122, + 0.008175858296453953, + -0.12436902523040771 + ], + "orientation": [ + 0.8136953711509705, + 0.5406537652015686, + 0.014116073958575726, + 0.2130587249994278 + ], + "joints": [ + -0.017222248017787933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0241395216435194, + -0.14663884043693542, + -0.0008391857263632119 + ], + "orientation": [ + 0.7561185359954834, + -0.02076892741024494, + 0.6506470441818237, + 0.06717053800821304 + ], + "joints": [ + 0.006176725495606661 + ] + }, + "fine_grasp": { + "position": [ + 0.024304941296577454, + -0.14351387321949005, + -0.00040262367110699415 + ], + "orientation": [ + 0.7596983313560486, + -0.017601868137717247, + 0.6470268368721008, + 0.06248905882239342 + ], + "joints": [ + 0.011517292819917202 + ] + }, + "final_grasp": { + "position": [ + 0.024304941296577454, + -0.14351387321949005, + -0.00040262367110699415 + ], + "orientation": [ + 0.7596983313560486, + -0.017601868137717247, + 0.6470268368721008, + 0.06248905882239342 + ], + "joints": [ + 0.01685786060988903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02891680598258972, + -0.15062889456748962, + 0.014385403133928776 + ], + "orientation": [ + 0.7029052972793579, + 0.05350582301616669, + 0.7026896476745605, + -0.09637603163719177 + ], + "joints": [ + 0.006440388970077038 + ] + }, + "fine_grasp": { + "position": [ + -0.028281886130571365, + -0.1476832926273346, + 0.014317145571112633 + ], + "orientation": [ + 0.7016811370849609, + 0.055392589420080185, + 0.7039158940315247, + -0.09527753293514252 + ], + "joints": [ + 0.012817184440791607 + ] + }, + "final_grasp": { + "position": [ + -0.028281886130571365, + -0.1476832926273346, + 0.014317145571112633 + ], + "orientation": [ + 0.7016811370849609, + 0.055392589420080185, + 0.7039158940315247, + -0.09527753293514252 + ], + "joints": [ + 0.01919398084282875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03729982674121857, + -0.1482788473367691, + 0.00829624105244875 + ], + "orientation": [ + 0.7194284200668335, + -0.09288608282804489, + -0.6828024387359619, + -0.08703842014074326 + ], + "joints": [ + 0.0064294287003576756 + ] + }, + "fine_grasp": { + "position": [ + -0.03657364100217819, + -0.14558689296245575, + 0.008404703810811043 + ], + "orientation": [ + 0.7207201719284058, + -0.09267067909240723, + -0.6814026832580566, + -0.08754914999008179 + ], + "joints": [ + 0.012832795269787312 + ] + }, + "final_grasp": { + "position": [ + -0.03657364100217819, + -0.14558689296245575, + 0.008404703810811043 + ], + "orientation": [ + 0.7207201719284058, + -0.09267067909240723, + -0.6814026832580566, + -0.08754914999008179 + ], + "joints": [ + 0.019236162304878235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028889717534184456, + -0.15066905319690704, + 0.014261559583246708 + ], + "orientation": [ + 0.7037057280540466, + 0.053475894033908844, + 0.701964795589447, + -0.0958331748843193 + ], + "joints": [ + 0.006440388970077038 + ] + }, + "fine_grasp": { + "position": [ + -0.02824641391634941, + -0.14769624173641205, + 0.014172840863466263 + ], + "orientation": [ + 0.7026873230934143, + 0.05529008433222771, + 0.7030078172683716, + -0.09462353587150574 + ], + "joints": [ + 0.012817184440791607 + ] + }, + "final_grasp": { + "position": [ + -0.02824641391634941, + -0.14769624173641205, + 0.014172840863466263 + ], + "orientation": [ + 0.7026873230934143, + 0.05529008433222771, + 0.7030078172683716, + -0.09462353587150574 + ], + "joints": [ + 0.01919398084282875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027407502755522728, + -0.14953628182411194, + 0.003885918064042926 + ], + "orientation": [ + 0.714975893497467, + 0.07450148463249207, + 0.6923165917396545, + -0.06290247291326523 + ], + "joints": [ + 0.006476534530520439 + ] + }, + "fine_grasp": { + "position": [ + -0.026805613189935684, + -0.14666667580604553, + 0.003878610208630562 + ], + "orientation": [ + 0.7157426476478577, + 0.07423780113458633, + 0.6914926767349243, + -0.06355444341897964 + ], + "joints": [ + 0.012879900634288788 + ] + }, + "final_grasp": { + "position": [ + -0.026805613189935684, + -0.14666667580604553, + 0.003878610208630562 + ], + "orientation": [ + 0.7157426476478577, + 0.07423780113458633, + 0.6914926767349243, + -0.06355444341897964 + ], + "joints": [ + 0.019283266738057137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037434231489896774, + -0.14838925004005432, + 0.00816210824996233 + ], + "orientation": [ + 0.7170095443725586, + -0.09438994526863098, + -0.6849144101142883, + -0.08877081423997879 + ], + "joints": [ + 0.006429427769035101 + ] + }, + "fine_grasp": { + "position": [ + -0.036686088889837265, + -0.14567022025585175, + 0.008251356892287731 + ], + "orientation": [ + 0.7182222604751587, + -0.09432011097669601, + -0.6836013197898865, + -0.08916118741035461 + ], + "joints": [ + 0.012832794338464737 + ] + }, + "final_grasp": { + "position": [ + -0.036686088889837265, + -0.14567022025585175, + 0.008251356892287731 + ], + "orientation": [ + 0.7182222604751587, + -0.09432011097669601, + -0.6836013197898865, + -0.08916118741035461 + ], + "joints": [ + 0.019236160442233086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0371670238673687, + -0.14837008714675903, + 0.008182313293218613 + ], + "orientation": [ + 0.7173354029655457, + -0.09347265958786011, + -0.6848301887512207, + -0.08775123208761215 + ], + "joints": [ + 0.0064294287003576756 + ] + }, + "fine_grasp": { + "position": [ + -0.036427829414606094, + -0.14565181732177734, + 0.008271981030702591 + ], + "orientation": [ + 0.7185549139976501, + -0.09339724481105804, + -0.6835107803344727, + -0.08814018964767456 + ], + "joints": [ + 0.012832795269787312 + ] + }, + "final_grasp": { + "position": [ + -0.036427829414606094, + -0.14565181732177734, + 0.008271981030702591 + ], + "orientation": [ + 0.7185549139976501, + -0.09339724481105804, + -0.6835107803344727, + -0.08814018964767456 + ], + "joints": [ + 0.019236162304878235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023863524198532104, + -0.15143157541751862, + 0.02055159956216812 + ], + "orientation": [ + 0.7453131675720215, + 0.01986168697476387, + -0.6582804918289185, + 0.1038295328617096 + ], + "joints": [ + 0.005820315796881914 + ] + }, + "fine_grasp": { + "position": [ + 0.023543162271380424, + -0.149023175239563, + 0.02097110077738762 + ], + "orientation": [ + 0.7527605295181274, + 0.012649470008909702, + -0.650446891784668, + 0.10055053979158401 + ], + "joints": [ + 0.010656054131686687 + ] + }, + "final_grasp": { + "position": [ + 0.023543162271380424, + -0.149023175239563, + 0.02097110077738762 + ], + "orientation": [ + 0.7527605295181274, + 0.012649470008909702, + -0.650446891784668, + 0.10055053979158401 + ], + "joints": [ + 0.015491792932152748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024077527225017548, + -0.15153063833713531, + 0.02047116309404373 + ], + "orientation": [ + 0.74355548620224, + 0.02022515796124935, + -0.6603313088417053, + 0.10333871841430664 + ], + "joints": [ + 0.005820315796881914 + ] + }, + "fine_grasp": { + "position": [ + 0.02378901094198227, + -0.14913296699523926, + 0.0210287943482399 + ], + "orientation": [ + 0.7510098218917847, + 0.012833885848522186, + -0.65248042345047, + 0.10044305771589279 + ], + "joints": [ + 0.010656054131686687 + ] + }, + "final_grasp": { + "position": [ + 0.02378901094198227, + -0.14913296699523926, + 0.0210287943482399 + ], + "orientation": [ + 0.7510098218917847, + 0.012833885848522186, + -0.65248042345047, + 0.10044305771589279 + ], + "joints": [ + 0.015491792932152748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01881517842411995, + -0.14541126787662506, + 0.009585229679942131 + ], + "orientation": [ + 0.669603168964386, + -0.04918613284826279, + 0.7405349612236023, + 0.028640741482377052 + ], + "joints": [ + 0.006213711109012365 + ] + }, + "fine_grasp": { + "position": [ + 0.01848416030406952, + -0.1425032615661621, + 0.00953492522239685 + ], + "orientation": [ + 0.6682594418525696, + -0.04889366775751114, + 0.7417499423027039, + 0.02907930687069893 + ], + "joints": [ + 0.012112248688936234 + ] + }, + "final_grasp": { + "position": [ + 0.01848416030406952, + -0.1425032615661621, + 0.00953492522239685 + ], + "orientation": [ + 0.6682594418525696, + -0.04889366775751114, + 0.7417499423027039, + 0.02907930687069893 + ], + "joints": [ + 0.018010785803198814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018598459661006927, + -0.14545190334320068, + 0.009524472989141941 + ], + "orientation": [ + 0.6695796251296997, + -0.049732767045497894, + 0.7404882311820984, + 0.02944222465157509 + ], + "joints": [ + 0.006213711109012365 + ] + }, + "fine_grasp": { + "position": [ + 0.018253419548273087, + -0.14249277114868164, + 0.009443731047213078 + ], + "orientation": [ + 0.6682440638542175, + -0.049628812819719315, + 0.7416907548904419, + 0.029691267758607864 + ], + "joints": [ + 0.012112248688936234 + ] + }, + "final_grasp": { + "position": [ + 0.018253419548273087, + -0.14249277114868164, + 0.009443731047213078 + ], + "orientation": [ + 0.6682440638542175, + -0.049628812819719315, + 0.7416907548904419, + 0.029691267758607864 + ], + "joints": [ + 0.018010785803198814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007327229715883732, + -0.14482909440994263, + 0.014446329325437546 + ], + "orientation": [ + 0.6964929103851318, + -0.03931063041090965, + -0.7164736986160278, + 0.004206234123557806 + ], + "joints": [ + 0.006099466700106859 + ] + }, + "fine_grasp": { + "position": [ + -0.007217452395707369, + -0.14225737750530243, + 0.01438452210277319 + ], + "orientation": [ + 0.6971760988235474, + -0.037635888904333115, + -0.7159065008163452, + 0.0026309930253773928 + ], + "joints": [ + 0.012502833269536495 + ] + }, + "final_grasp": { + "position": [ + -0.007217452395707369, + -0.14225737750530243, + 0.01438452210277319 + ], + "orientation": [ + 0.6971760988235474, + -0.037635888904333115, + -0.7159065008163452, + 0.0026309930253773928 + ], + "joints": [ + 0.01890620030462742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011714332737028599, + -0.14992262423038483, + 0.01251838356256485 + ], + "orientation": [ + 0.7187928557395935, + 0.026517868041992188, + 0.6920444369316101, + -0.06089302524924278 + ], + "joints": [ + 0.006541205104440451 + ] + }, + "fine_grasp": { + "position": [ + -0.011384929530322552, + -0.14710436761379242, + 0.012378514744341373 + ], + "orientation": [ + 0.7188856601715088, + 0.02762387879192829, + 0.6920139193534851, + -0.05964110791683197 + ], + "joints": [ + 0.012918001040816307 + ] + }, + "final_grasp": { + "position": [ + -0.011384929530322552, + -0.14710436761379242, + 0.012378514744341373 + ], + "orientation": [ + 0.7188856601715088, + 0.02762387879192829, + 0.6920139193534851, + -0.05964110791683197 + ], + "joints": [ + 0.019294796511530876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008619365282356739, + -0.14431583881378174, + 0.0025684761349111795 + ], + "orientation": [ + 0.7143396139144897, + -0.0018860513810068369, + 0.6993910074234009, + 0.02382325753569603 + ], + "joints": [ + 0.006262520793825388 + ] + }, + "fine_grasp": { + "position": [ + 0.008626289665699005, + -0.14227420091629028, + 0.0031076185405254364 + ], + "orientation": [ + 0.7140236496925354, + -0.003525123232975602, + 0.6997336149215698, + 0.02303522266447544 + ], + "joints": [ + 0.012134487740695477 + ] + }, + "final_grasp": { + "position": [ + 0.008626289665699005, + -0.14227420091629028, + 0.0031076185405254364 + ], + "orientation": [ + 0.7140236496925354, + -0.003525123232975602, + 0.6997336149215698, + 0.02303522266447544 + ], + "joints": [ + 0.018006455153226852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011088226921856403, + -0.14691242575645447, + 0.019384125247597694 + ], + "orientation": [ + 0.6974793672561646, + -0.02683030441403389, + -0.7148232460021973, + 0.04278421029448509 + ], + "joints": [ + 0.0063373856246471405 + ] + }, + "fine_grasp": { + "position": [ + 0.009975658729672432, + -0.14530928432941437, + 0.021079059690237045 + ], + "orientation": [ + 0.6924784183502197, + -0.02677249349653721, + -0.7191595435142517, + 0.05066094547510147 + ], + "joints": [ + 0.011173123493790627 + ] + }, + "final_grasp": { + "position": [ + 0.009975658729672432, + -0.14530928432941437, + 0.021079059690237045 + ], + "orientation": [ + 0.6924784183502197, + -0.02677249349653721, + -0.7191595435142517, + 0.05066094547510147 + ], + "joints": [ + 0.016008861362934113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05198482424020767, + -0.1509515643119812, + 0.024706188589334488 + ], + "orientation": [ + 0.6920979022979736, + 0.051815178245306015, + 0.7046159505844116, + -0.1477564573287964 + ], + "joints": [ + 0.006221141200512648 + ] + }, + "fine_grasp": { + "position": [ + -0.05084872618317604, + -0.14899581670761108, + 0.025611678138375282 + ], + "orientation": [ + 0.6844969391822815, + 0.05687727406620979, + 0.7099337577819824, + -0.15563742816448212 + ], + "joints": [ + 0.011561708524823189 + ] + }, + "final_grasp": { + "position": [ + -0.05084872618317604, + -0.14899581670761108, + 0.025611678138375282 + ], + "orientation": [ + 0.6844969391822815, + 0.05687727406620979, + 0.7099337577819824, + -0.15563742816448212 + ], + "joints": [ + 0.016902275383472443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007208289112895727, + -0.14553968608379364, + 0.0056685577146708965 + ], + "orientation": [ + 0.6626642346382141, + 0.00075879180803895, + -0.7489069104194641, + -0.0037051464896649122 + ], + "joints": [ + 0.006173660978674889 + ] + }, + "fine_grasp": { + "position": [ + 0.007261473685503006, + -0.14309822022914886, + 0.006289179436862469 + ], + "orientation": [ + 0.6603518724441528, + -3.881220254697837e-05, + -0.7509536147117615, + -0.0020738046150654554 + ], + "joints": [ + 0.01207219809293747 + ] + }, + "final_grasp": { + "position": [ + 0.007261473685503006, + -0.14309822022914886, + 0.006289179436862469 + ], + "orientation": [ + 0.6603518724441528, + -3.881220254697837e-05, + -0.7509536147117615, + -0.0020738046150654554 + ], + "joints": [ + 0.01797073520720005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009120200760662556, + -0.14627233147621155, + 0.010820182040333748 + ], + "orientation": [ + 0.7037378549575806, + -0.009023291990160942, + -0.7102454900741577, + 0.014926793985068798 + ], + "joints": [ + 0.0064179920591413975 + ] + }, + "fine_grasp": { + "position": [ + 0.009053866378962994, + -0.14335483312606812, + 0.01095800381153822 + ], + "orientation": [ + 0.7034916877746582, + -0.008146789856255054, + -0.710500180721283, + 0.014923684298992157 + ], + "joints": [ + 0.012821358628571033 + ] + }, + "final_grasp": { + "position": [ + 0.009053866378962994, + -0.14335483312606812, + 0.01095800381153822 + ], + "orientation": [ + 0.7034916877746582, + -0.008146789856255054, + -0.710500180721283, + 0.014923684298992157 + ], + "joints": [ + 0.019224725663661957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009022478014230728, + -0.14626379311084747, + 0.010938095860183239 + ], + "orientation": [ + 0.7036831378936768, + -0.010550973005592823, + -0.7102967500686646, + 0.014040793292224407 + ], + "joints": [ + 0.0064179920591413975 + ] + }, + "fine_grasp": { + "position": [ + 0.008965381421148777, + -0.143342986702919, + 0.011072116903960705 + ], + "orientation": [ + 0.7034469842910767, + -0.009644237346947193, + -0.7105442881584167, + 0.01401191484183073 + ], + "joints": [ + 0.012821358628571033 + ] + }, + "final_grasp": { + "position": [ + 0.008965381421148777, + -0.143342986702919, + 0.011072116903960705 + ], + "orientation": [ + 0.7034469842910767, + -0.009644237346947193, + -0.7105442881584167, + 0.01401191484183073 + ], + "joints": [ + 0.019224725663661957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0597529336810112, + -0.15058937668800354, + -0.02305266074836254 + ], + "orientation": [ + 0.679495632648468, + 0.012491632252931595, + 0.7190878987312317, + 0.14505919814109802 + ], + "joints": [ + 0.0043619973585009575 + ] + }, + "fine_grasp": { + "position": [ + 0.05811752378940582, + -0.1479773223400116, + -0.024067062884569168 + ], + "orientation": [ + 0.6615856885910034, + 0.010397534817457199, + 0.7344940900802612, + 0.15071436762809753 + ], + "joints": [ + 0.009702564217150211 + ] + }, + "final_grasp": { + "position": [ + 0.05811752378940582, + -0.1479773223400116, + -0.024067062884569168 + ], + "orientation": [ + 0.6615856885910034, + 0.010397534817457199, + 0.7344940900802612, + 0.15071436762809753 + ], + "joints": [ + 0.015043131075799465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07826150208711624, + -0.14713774621486664, + -0.01554084476083517 + ], + "orientation": [ + 0.6868937611579895, + -0.07788041979074478, + 0.6956754922866821, + 0.19531279802322388 + ], + "joints": [ + 0.0060217175632715225 + ] + }, + "fine_grasp": { + "position": [ + 0.07699111849069595, + -0.1452612280845642, + -0.01666199043393135 + ], + "orientation": [ + 0.6732719540596008, + -0.08255892246961594, + 0.7068320512771606, + 0.20069201290607452 + ], + "joints": [ + 0.011362284421920776 + ] + }, + "final_grasp": { + "position": [ + 0.07699111849069595, + -0.1452612280845642, + -0.01666199043393135 + ], + "orientation": [ + 0.6732719540596008, + -0.08255892246961594, + 0.7068320512771606, + 0.20069201290607452 + ], + "joints": [ + 0.01670285128057003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08056458085775375, + -0.14717775583267212, + -0.016643023118376732 + ], + "orientation": [ + 0.6868860125541687, + -0.06980618089437485, + 0.6970736980438232, + 0.19339819252490997 + ], + "joints": [ + 0.005460719577968121 + ] + }, + "fine_grasp": { + "position": [ + 0.07925355434417725, + -0.14560401439666748, + -0.017767947167158127 + ], + "orientation": [ + 0.6736788153648376, + -0.07444486767053604, + 0.7079463601112366, + 0.19856183230876923 + ], + "joints": [ + 0.011332686059176922 + ] + }, + "final_grasp": { + "position": [ + 0.07925355434417725, + -0.14560401439666748, + -0.017767947167158127 + ], + "orientation": [ + 0.6736788153648376, + -0.07444486767053604, + 0.7079463601112366, + 0.19856183230876923 + ], + "joints": [ + 0.017204653471708298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0805836021900177, + -0.14687590301036835, + -0.016877811402082443 + ], + "orientation": [ + 0.6858524680137634, + -0.06673547625541687, + 0.6988502740859985, + 0.19173166155815125 + ], + "joints": [ + 0.005413238890469074 + ] + }, + "fine_grasp": { + "position": [ + 0.07927539944648743, + -0.14562749862670898, + -0.018105944618582726 + ], + "orientation": [ + 0.6709704995155334, + -0.07161697000265121, + 0.7113274335861206, + 0.19667983055114746 + ], + "joints": [ + 0.011258634738624096 + ] + }, + "final_grasp": { + "position": [ + 0.07927539944648743, + -0.14562749862670898, + -0.018105944618582726 + ], + "orientation": [ + 0.6709704995155334, + -0.07161697000265121, + 0.7113274335861206, + 0.19667983055114746 + ], + "joints": [ + 0.017104029655456543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0655568316578865, + -0.14988641440868378, + 0.014423170126974583 + ], + "orientation": [ + 0.7093701958656311, + -0.15027862787246704, + -0.6794332265853882, + -0.11216336488723755 + ], + "joints": [ + 0.006394912488758564 + ] + }, + "fine_grasp": { + "position": [ + -0.06473827362060547, + -0.14962007105350494, + 0.015360411256551743 + ], + "orientation": [ + 0.7124956250190735, + -0.15399383008480072, + -0.674967348575592, + -0.11425873637199402 + ], + "joints": [ + 0.012798278592526913 + ] + }, + "final_grasp": { + "position": [ + -0.06473827362060547, + -0.14962007105350494, + 0.015360411256551743 + ], + "orientation": [ + 0.7124956250190735, + -0.15399383008480072, + -0.674967348575592, + -0.11425873637199402 + ], + "joints": [ + 0.019201643764972687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04504771530628204, + 0.15026037395000458, + -0.00753357820212841 + ], + "orientation": [ + 0.0681588277220726, + -0.6869276165962219, + 0.13996197283267975, + 0.7098560333251953 + ], + "joints": [ + 0.005961467046290636 + ] + }, + "fine_grasp": { + "position": [ + 0.04421009495854378, + 0.147519052028656, + -0.00679469620808959 + ], + "orientation": [ + 0.07141660153865814, + -0.6918665170669556, + 0.1395064890384674, + 0.7048108577728271 + ], + "joints": [ + 0.011833433993160725 + ] + }, + "final_grasp": { + "position": [ + 0.04421009495854378, + 0.147519052028656, + -0.00679469620808959 + ], + "orientation": [ + 0.07141660153865814, + -0.6918665170669556, + 0.1395064890384674, + 0.7048108577728271 + ], + "joints": [ + 0.0177054014056921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04516144096851349, + 0.15040543675422668, + -0.007327566388994455 + ], + "orientation": [ + 0.0721030905842781, + -0.6870755553245544, + 0.14258193969726562, + 0.7088008522987366 + ], + "joints": [ + 0.005961467046290636 + ] + }, + "fine_grasp": { + "position": [ + 0.04428241774439812, + 0.1476093977689743, + -0.006673362106084824 + ], + "orientation": [ + 0.07468537986278534, + -0.6913875341415405, + 0.14259284734725952, + 0.7043243050575256 + ], + "joints": [ + 0.011833433993160725 + ] + }, + "final_grasp": { + "position": [ + 0.04428241774439812, + 0.1476093977689743, + -0.006673362106084824 + ], + "orientation": [ + 0.07468537986278534, + -0.6913875341415405, + 0.14259284734725952, + 0.7043243050575256 + ], + "joints": [ + 0.0177054014056921 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03065287135541439, + 0.14980670809745789, + -0.006373729091137648 + ], + "orientation": [ + 0.12304658442735672, + 0.7107730507850647, + -0.05669359117746353, + 0.6902514696121216 + ], + "joints": [ + 0.005968897603452206 + ] + }, + "fine_grasp": { + "position": [ + 0.029688172042369843, + 0.14625497162342072, + -0.005783818196505308 + ], + "orientation": [ + 0.12475475668907166, + 0.7061472535133362, + -0.06023697555065155, + 0.6943801641464233 + ], + "joints": [ + 0.011336035095155239 + ] + }, + "final_grasp": { + "position": [ + 0.029688172042369843, + 0.14625497162342072, + -0.005783818196505308 + ], + "orientation": [ + 0.12475475668907166, + 0.7061472535133362, + -0.06023697555065155, + 0.6943801641464233 + ], + "joints": [ + 0.016703173518180847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04539766162633896, + 0.15520361065864563, + -0.022901643067598343 + ], + "orientation": [ + 0.06318075209856033, + 0.628064751625061, + -0.09364955127239227, + -0.7699172496795654 + ], + "joints": [ + 0.004145643208175898 + ] + }, + "fine_grasp": { + "position": [ + 0.0445062592625618, + 0.15199631452560425, + -0.022742856293916702 + ], + "orientation": [ + 0.05982870236039162, + 0.6096887588500977, + -0.10298194736242294, + -0.783642053604126 + ], + "joints": [ + 0.007387181743979454 + ] + }, + "final_grasp": { + "position": [ + 0.0445062592625618, + 0.15199631452560425, + -0.022742856293916702 + ], + "orientation": [ + 0.05982870236039162, + 0.6096887588500977, + -0.10298194736242294, + -0.783642053604126 + ], + "joints": [ + 0.010628720745444298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.21175169944763184, + -0.019347025081515312, + -0.006462411489337683 + ], + "orientation": [ + 0.5930507779121399, + 0.4634174406528473, + -0.45787739753723145, + 0.4731631278991699 + ], + "joints": [ + 0.0028338537085801363 + ] + }, + "fine_grasp": { + "position": [ + 0.20959776639938354, + -0.019117657095193863, + -0.007082358468323946 + ], + "orientation": [ + 0.5917950868606567, + 0.4637380838394165, + -0.45782729983329773, + 0.4744679033756256 + ], + "joints": [ + 0.009768620133399963 + ] + }, + "final_grasp": { + "position": [ + 0.20959776639938354, + -0.019117657095193863, + -0.007082358468323946 + ], + "orientation": [ + 0.5917950868606567, + 0.4637380838394165, + -0.45782729983329773, + 0.4744679033756256 + ], + "joints": [ + 0.01670338585972786 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2043, + "num_passed": 47 + } +} \ No newline at end of file diff --git a/clutter_game_machine_00000/Annotation/piper_grasp_pose.json b/clutter_game_machine_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..2851af227ab5ebe65192a4bdd0a1d98429aa0792 --- /dev/null +++ b/clutter_game_machine_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,318 @@ +{ + "type": "clutter_game_machine_00000", + "bottom_center": [ + 4.507601261138916e-06, + -0.0003274213522672653, + -0.007002026308327913 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.025943325832486153, + -0.13842140138149261, + -0.00612269900739193 + ], + "orientation": [ + 0.7462863326072693, + -0.6635777950286865, + -0.043082959949970245, + 0.029411131516098976 + ], + "joints": [ + 0.017580002546310425 + ] + }, + "fine_grasp": { + "position": [ + 0.026128234341740608, + -0.13716855645179749, + -0.0059927115216851234 + ], + "orientation": [ + 0.7462689280509949, + -0.6635007858276367, + -0.04504285380244255, + 0.028643954545259476 + ], + "joints": [ + 0.007549077272415161 + ] + }, + "final_grasp": { + "position": [ + 0.026128234341740608, + -0.13716855645179749, + -0.0059927115216851234 + ], + "orientation": [ + 0.7462689280509949, + -0.6635007858276367, + -0.04504285380244255, + 0.028643954545259476 + ], + "joints": [ + -0.0024818480014801025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03410598635673523, + 0.14359362423419952, + -0.014529364183545113 + ], + "orientation": [ + 0.770054817199707, + 0.6362208724021912, + -0.04583360254764557, + -0.011741629801690578 + ], + "joints": [ + 0.017838217318058014 + ] + }, + "fine_grasp": { + "position": [ + 0.034150317311286926, + 0.14140215516090393, + -0.014733914285898209 + ], + "orientation": [ + 0.7722774744033813, + 0.6332895755767822, + -0.0497698076069355, + -0.007391150575131178 + ], + "joints": [ + 0.008643202483654022 + ] + }, + "final_grasp": { + "position": [ + 0.034150317311286926, + 0.14140215516090393, + -0.014733914285898209 + ], + "orientation": [ + 0.7722774744033813, + 0.6332895755767822, + -0.0497698076069355, + -0.007391150575131178 + ], + "joints": [ + -0.0005518123507499695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023609083145856857, + 0.15246108174324036, + 0.012072871439158916 + ], + "orientation": [ + 0.6879796385765076, + 0.7207478880882263, + -0.06546465307474136, + 0.05404606834053993 + ], + "joints": [ + 0.015987761318683624 + ] + }, + "fine_grasp": { + "position": [ + -0.023607144132256508, + 0.14837118983268738, + 0.011845099739730358 + ], + "orientation": [ + 0.6867266893386841, + 0.7197480797767639, + -0.07777418196201324, + 0.06573019176721573 + ], + "joints": [ + 0.0072107017040252686 + ] + }, + "final_grasp": { + "position": [ + -0.023607144132256508, + 0.14837118983268738, + 0.011845099739730358 + ], + "orientation": [ + 0.6867266893386841, + 0.7197480797767639, + -0.07777418196201324, + 0.06573019176721573 + ], + "joints": [ + -0.0015663579106330872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015428339131176472, + 0.15420697629451752, + 0.0005922429263591766 + ], + "orientation": [ + 0.05760357901453972, + 0.020083192735910416, + -0.6886687874794006, + 0.7225052118301392 + ], + "joints": [ + 0.016072597354650497 + ] + }, + "fine_grasp": { + "position": [ + 0.01535895373672247, + 0.15037648379802704, + 0.0007270853966474533 + ], + "orientation": [ + 0.06364955008029938, + 0.025924639776349068, + -0.6873109936714172, + 0.7231045961380005 + ], + "joints": [ + 0.00645962730050087 + ] + }, + "final_grasp": { + "position": [ + 0.01535895373672247, + 0.15037648379802704, + 0.0007270853966474533 + ], + "orientation": [ + 0.06364955008029938, + 0.025924639776349068, + -0.6873109936714172, + 0.7231045961380005 + ], + "joints": [ + -0.003153342753648758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027872392907738686, + -0.148931086063385, + 0.030123215168714523 + ], + "orientation": [ + 0.6298582553863525, + -0.7759811282157898, + 0.005590357817709446, + 0.03317490965127945 + ], + "joints": [ + 0.017221573740243912 + ] + }, + "fine_grasp": { + "position": [ + 0.027884958311915398, + -0.1461775302886963, + 0.02999076619744301 + ], + "orientation": [ + 0.6288235187530518, + -0.7766525745391846, + 0.009257589466869831, + 0.03613758459687233 + ], + "joints": [ + 0.007629502099007368 + ] + }, + "final_grasp": { + "position": [ + 0.027884958311915398, + -0.1461775302886963, + 0.02999076619744301 + ], + "orientation": [ + 0.6288235187530518, + -0.7766525745391846, + 0.009257589466869831, + 0.03613758459687233 + ], + "joints": [ + -0.0019625695422291756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02829870767891407, + -0.14777317643165588, + 0.030128231272101402 + ], + "orientation": [ + 0.6295369267463684, + -0.7761655449867249, + 0.007168418727815151, + 0.03462708368897438 + ], + "joints": [ + 0.017676357179880142 + ] + }, + "fine_grasp": { + "position": [ + 0.028335755690932274, + -0.14533719420433044, + 0.029708366841077805 + ], + "orientation": [ + 0.6295745372772217, + -0.7759302258491516, + 0.011059418320655823, + 0.038023050874471664 + ], + "joints": [ + 0.007666330318897963 + ] + }, + "final_grasp": { + "position": [ + 0.028335755690932274, + -0.14533719420433044, + 0.029708366841077805 + ], + "orientation": [ + 0.6295745372772217, + -0.7759302258491516, + 0.011059418320655823, + 0.038023050874471664 + ], + "joints": [ + -0.002343696542084217 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 6 + } +} \ No newline at end of file diff --git a/clutter_game_machine_00000/Object.usd b/clutter_game_machine_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..1b6275324cecba81638ae6fe23bb9cfc9aaa39fb --- /dev/null +++ b/clutter_game_machine_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1181e2adb1c49af7264082b4463687c5cbc9b4ce9df64229aeeb027de4044dba +size 29433555 diff --git a/clutter_garage_00006/Annotation/dex1_1_grasp_pose.json b/clutter_garage_00006/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..dfaa227b46541fb8930956f816372412cee9141b --- /dev/null +++ b/clutter_garage_00006/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_garage_00006", + "bottom_center": [ + -8.881092071533203e-05, + 2.5331974029541016e-05, + -0.08491387963294983 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2038, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_garage_00006/Annotation/piper_grasp_pose.json b/clutter_garage_00006/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..09797660cc1fbaa21ebbd1bb66893229df66f8c5 --- /dev/null +++ b/clutter_garage_00006/Annotation/piper_grasp_pose.json @@ -0,0 +1,618 @@ +{ + "type": "clutter_garage_00006", + "bottom_center": [ + -8.881092071533203e-05, + 2.5331974029541016e-05, + -0.08491387963294983 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0036506387405097485, + 0.14115284383296967, + 0.06585102528333664 + ], + "orientation": [ + 0.4121544063091278, + 0.5452665090560913, + -0.6005235314369202, + 0.41495150327682495 + ], + "joints": [ + 0.01490182988345623 + ] + }, + "fine_grasp": { + "position": [ + 0.003485467517748475, + 0.13725942373275757, + 0.06539759784936905 + ], + "orientation": [ + 0.411728173494339, + 0.5456836223602295, + -0.6002230048179626, + 0.41526085138320923 + ], + "joints": [ + 0.0052888598293066025 + ] + }, + "final_grasp": { + "position": [ + 0.003485467517748475, + 0.13725942373275757, + 0.06539759784936905 + ], + "orientation": [ + 0.411728173494339, + 0.5456836223602295, + -0.6002230048179626, + 0.41526085138320923 + ], + "joints": [ + -0.004324110224843025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11292117089033127, + 0.07609041035175323, + 0.0615294873714447 + ], + "orientation": [ + 0.17943385243415833, + 0.7808150053024292, + 0.11309816688299179, + -0.5876564383506775 + ], + "joints": [ + 0.024533754214644432 + ] + }, + "fine_grasp": { + "position": [ + 0.10922201722860336, + 0.07404481619596481, + 0.0628361850976944 + ], + "orientation": [ + 0.19029128551483154, + 0.7697043418884277, + 0.11106245964765549, + -0.5991740822792053 + ], + "joints": [ + 0.017846470698714256 + ] + }, + "final_grasp": { + "position": [ + 0.10922201722860336, + 0.07404481619596481, + 0.0628361850976944 + ], + "orientation": [ + 0.19029128551483154, + 0.7697043418884277, + 0.11106245964765549, + -0.5991740822792053 + ], + "joints": [ + 0.01115918718278408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10222851485013962, + -0.04799588769674301, + 0.11603580415248871 + ], + "orientation": [ + 0.47242119908332825, + -0.7153611779212952, + 0.4326687455177307, + -0.27905982732772827 + ], + "joints": [ + 0.027832800522446632 + ] + }, + "fine_grasp": { + "position": [ + -0.09940284490585327, + -0.045881688594818115, + 0.11440572142601013 + ], + "orientation": [ + 0.47417566180229187, + -0.7192384004592896, + 0.4295339286327362, + -0.2708395719528198 + ], + "joints": [ + 0.016610706225037575 + ] + }, + "final_grasp": { + "position": [ + -0.09940284490585327, + -0.045881688594818115, + 0.11440572142601013 + ], + "orientation": [ + 0.47417566180229187, + -0.7192384004592896, + 0.4295339286327362, + -0.2708395719528198 + ], + "joints": [ + 0.005388611927628517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13035641610622406, + 0.05902848392724991, + 0.07927641272544861 + ], + "orientation": [ + 0.5874097943305969, + 0.5652389526367188, + -0.48225197196006775, + -0.3207610249519348 + ], + "joints": [ + 0.022797098383307457 + ] + }, + "fine_grasp": { + "position": [ + 0.12655216455459595, + 0.05815216153860092, + 0.07877626270055771 + ], + "orientation": [ + 0.5833126306533813, + 0.5665396451950073, + -0.48527437448501587, + -0.32138463854789734 + ], + "joints": [ + 0.01318412832915783 + ] + }, + "final_grasp": { + "position": [ + 0.12655216455459595, + 0.05815216153860092, + 0.07877626270055771 + ], + "orientation": [ + 0.5833126306533813, + 0.5665396451950073, + -0.48527437448501587, + -0.32138463854789734 + ], + "joints": [ + 0.0035711582750082016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0186325516551733, + -0.11231537163257599, + 0.11169546097517014 + ], + "orientation": [ + 0.05810694396495819, + -0.021020833402872086, + 0.8287381529808044, + 0.5562146306037903 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + -0.01784217730164528, + -0.10859424620866776, + 0.11063413321971893 + ], + "orientation": [ + 0.06549172103404999, + -0.018021581694483757, + 0.8317654132843018, + 0.5509559512138367 + ], + "joints": [ + 0.018903527408838272 + ] + }, + "final_grasp": { + "position": [ + -0.01784217730164528, + -0.10859424620866776, + 0.11063413321971893 + ], + "orientation": [ + 0.06549172103404999, + -0.018021581694483757, + 0.8317654132843018, + 0.5509559512138367 + ], + "joints": [ + 0.009290557354688644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019137872382998466, + -0.11224940419197083, + 0.11156121641397476 + ], + "orientation": [ + 0.06011210009455681, + -0.0176321342587471, + 0.8282657861709595, + 0.556822657585144 + ], + "joints": [ + 0.028272753581404686 + ] + }, + "fine_grasp": { + "position": [ + -0.018353883177042007, + -0.1085265576839447, + 0.11049947142601013 + ], + "orientation": [ + 0.06706703454256058, + -0.014905874617397785, + 0.8313978314399719, + 0.5514140725135803 + ], + "joints": [ + 0.01865978352725506 + ] + }, + "final_grasp": { + "position": [ + -0.018353883177042007, + -0.1085265576839447, + 0.11049947142601013 + ], + "orientation": [ + 0.06706703454256058, + -0.014905874617397785, + 0.8313978314399719, + 0.5514140725135803 + ], + "joints": [ + 0.00904681347310543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1298745721578598, + 0.058648742735385895, + 0.07919871807098389 + ], + "orientation": [ + 0.5889479517936707, + 0.5632567405700684, + -0.4839495122432709, + -0.31886520981788635 + ], + "joints": [ + 0.02323705144226551 + ] + }, + "fine_grasp": { + "position": [ + 0.1260627955198288, + 0.05782068520784378, + 0.07864077389240265 + ], + "orientation": [ + 0.5846303105354309, + 0.5639429092407227, + -0.48731258511543274, + -0.3204720914363861 + ], + "joints": [ + 0.013624081388115883 + ] + }, + "final_grasp": { + "position": [ + 0.1260627955198288, + 0.05782068520784378, + 0.07864077389240265 + ], + "orientation": [ + 0.5846303105354309, + 0.5639429092407227, + -0.48731258511543274, + -0.3204720914363861 + ], + "joints": [ + 0.004011111333966255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12855011224746704, + 0.05737188458442688, + 0.07836773246526718 + ], + "orientation": [ + 0.5946146845817566, + 0.5602039098739624, + -0.4816700220108032, + -0.317173570394516 + ], + "joints": [ + 0.024140113964676857 + ] + }, + "fine_grasp": { + "position": [ + 0.12479641288518906, + 0.05669151991605759, + 0.07776591926813126 + ], + "orientation": [ + 0.5885477662086487, + 0.5609536170959473, + -0.48710107803344727, + -0.31886550784111023 + ], + "joints": [ + 0.014109188690781593 + ] + }, + "final_grasp": { + "position": [ + 0.12479641288518906, + 0.05669151991605759, + 0.07776591926813126 + ], + "orientation": [ + 0.5885477662086487, + 0.5609536170959473, + -0.48710107803344727, + -0.31886550784111023 + ], + "joints": [ + 0.00407826341688633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010585102252662182, + 0.15610536932945251, + 0.05535517632961273 + ], + "orientation": [ + 0.5117495059967041, + 0.509090006351471, + 0.5488600730895996, + -0.4215359091758728 + ], + "joints": [ + 0.02328336425125599 + ] + }, + "fine_grasp": { + "position": [ + -0.010040181688964367, + 0.15237347781658173, + 0.056716594845056534 + ], + "orientation": [ + 0.5207141637802124, + 0.5061044096946716, + 0.5387614965438843, + -0.42714303731918335 + ], + "joints": [ + 0.014882462099194527 + ] + }, + "final_grasp": { + "position": [ + -0.010040181688964367, + 0.15237347781658173, + 0.056716594845056534 + ], + "orientation": [ + 0.5207141637802124, + 0.5061044096946716, + 0.5387614965438843, + -0.42714303731918335 + ], + "joints": [ + 0.006481559947133064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004856428597122431, + -0.13044072687625885, + 0.08278347551822662 + ], + "orientation": [ + 0.03069140762090683, + -0.028062496334314346, + -0.75824373960495, + -0.6506435871124268 + ], + "joints": [ + 0.025202816352248192 + ] + }, + "fine_grasp": { + "position": [ + 0.004396134056150913, + -0.12702327966690063, + 0.08174379169940948 + ], + "orientation": [ + 0.033961955457925797, + -0.02403353340923786, + -0.7647976875305176, + -0.6429257988929749 + ], + "joints": [ + 0.018390139564871788 + ] + }, + "final_grasp": { + "position": [ + 0.004396134056150913, + -0.12702327966690063, + 0.08174379169940948 + ], + "orientation": [ + 0.033961955457925797, + -0.02403353340923786, + -0.7647976875305176, + -0.6429257988929749 + ], + "joints": [ + 0.011577462777495384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12803304195404053, + -0.00672882841899991, + 0.0922662690281868 + ], + "orientation": [ + 0.5102142691612244, + -0.6380812525749207, + -0.4673166871070862, + 0.33785903453826904 + ], + "joints": [ + 0.02199237048625946 + ] + }, + "fine_grasp": { + "position": [ + 0.12411144375801086, + -0.006449356209486723, + 0.09128288179636002 + ], + "orientation": [ + 0.5021167993545532, + -0.6330639719963074, + -0.4740721583366394, + 0.3498062193393707 + ], + "joints": [ + 0.013215310871601105 + ] + }, + "final_grasp": { + "position": [ + 0.12411144375801086, + -0.006449356209486723, + 0.09128288179636002 + ], + "orientation": [ + 0.5021167993545532, + -0.6330639719963074, + -0.4740721583366394, + 0.3498062193393707 + ], + "joints": [ + 0.004438251256942749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12935884296894073, + -0.006853752303868532, + 0.09139059484004974 + ], + "orientation": [ + 0.5086556673049927, + -0.6386711001396179, + -0.460927277803421, + 0.3477279543876648 + ], + "joints": [ + 0.02194172330200672 + ] + }, + "fine_grasp": { + "position": [ + 0.125450998544693, + -0.006510912906378508, + 0.09040283411741257 + ], + "orientation": [ + 0.5007749795913696, + -0.6343926191329956, + -0.4674365818500519, + 0.358152836561203 + ], + "joints": [ + 0.013164663687348366 + ] + }, + "final_grasp": { + "position": [ + 0.125450998544693, + -0.006510912906378508, + 0.09040283411741257 + ], + "orientation": [ + 0.5007749795913696, + -0.6343926191329956, + -0.4674365818500519, + 0.358152836561203 + ], + "joints": [ + 0.00438760407269001 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 12 + } +} \ No newline at end of file diff --git a/clutter_garage_00006/Object.usd b/clutter_garage_00006/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..bacd294b7382193021204b7e7b60168075172493 --- /dev/null +++ b/clutter_garage_00006/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df84554afde5a63a535e86c145c92ce7e2312ea2aef2ea79956a92af64750e43 +size 20780267 diff --git a/clutter_garage_00014/Annotation/dex1_1_grasp_pose.json b/clutter_garage_00014/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a4b9986d0d4c23fe34884232fc4ca44205eb19 --- /dev/null +++ b/clutter_garage_00014/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_garage_00014", + "bottom_center": [ + -8.971244096755981e-05, + 0.00010221078991889954, + -0.07782017439603806 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2023, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_garage_00014/Annotation/piper_grasp_pose.json b/clutter_garage_00014/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..48a3c594bd8bfbbf6b33b238518760fc8fdf0e9e --- /dev/null +++ b/clutter_garage_00014/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_garage_00014", + "bottom_center": [ + -8.971244096755981e-05, + 0.00010221078991889954, + -0.07782017439603806 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_garage_00014/Object.usd b/clutter_garage_00014/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..123982e54125713fc4a31e422221c1d00b3a72db --- /dev/null +++ b/clutter_garage_00014/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc30d818fe9898dac29bc8133cfe6759ff84421617d14cda84ebe3406e87bcc3 +size 24805003 diff --git a/clutter_hammer_00000/Annotation/dex1_1_grasp_pose.json b/clutter_hammer_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..cd5b673a41e7c12e073b79c64087167ca488de13 --- /dev/null +++ b/clutter_hammer_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,3118 @@ +{ + "type": "clutter_hammer_00000", + "bottom_center": [ + -0.0008765924721956253, + -0.003462664783000946, + 0.00027888742624782026 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.10957001149654388, + -0.09135489910840988, + -0.008748249150812626 + ], + "orientation": [ + 0.6583021879196167, + 0.39617919921875, + 0.5348661541938782, + -0.35156574845314026 + ], + "joints": [ + 0.008315177634358406 + ] + }, + "fine_grasp": { + "position": [ + -0.10658171772956848, + -0.08855968713760376, + -0.009535269811749458 + ], + "orientation": [ + 0.6649860739707947, + 0.39524927735328674, + 0.5290119647979736, + -0.34888073801994324 + ], + "joints": [ + 0.013204056769609451 + ] + }, + "final_grasp": { + "position": [ + -0.10658171772956848, + -0.08855968713760376, + -0.009535269811749458 + ], + "orientation": [ + 0.6649860739707947, + 0.39524927735328674, + 0.5290119647979736, + -0.34888073801994324 + ], + "joints": [ + 0.018092935904860497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1134667918086052, + -0.041587840765714645, + 0.006641242653131485 + ], + "orientation": [ + 0.5864647626876831, + -0.3972453773021698, + -0.5564699769020081, + -0.43427684903144836 + ], + "joints": [ + 0.009067520499229431 + ] + }, + "fine_grasp": { + "position": [ + -0.10931075364351273, + -0.041012704372406006, + 0.006882185582071543 + ], + "orientation": [ + 0.5898029804229736, + -0.3938254117965698, + -0.5541465878486633, + -0.43583881855010986 + ], + "joints": [ + 0.013876687735319138 + ] + }, + "final_grasp": { + "position": [ + -0.10931075364351273, + -0.041012704372406006, + 0.006882185582071543 + ], + "orientation": [ + 0.5898029804229736, + -0.3938254117965698, + -0.5541465878486633, + -0.43583881855010986 + ], + "joints": [ + 0.018685854971408844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12276119738817215, + -0.019805273041129112, + 0.010309052653610706 + ], + "orientation": [ + 0.4875493347644806, + 0.4995359182357788, + -0.5648251175880432, + 0.44015008211135864 + ], + "joints": [ + 0.009119829162955284 + ] + }, + "fine_grasp": { + "position": [ + 0.12248775362968445, + -0.020471373572945595, + 0.010850985534489155 + ], + "orientation": [ + 0.47150132060050964, + 0.5094218850135803, + -0.5799084305763245, + 0.426476389169693 + ], + "joints": [ + 0.013025624677538872 + ] + }, + "final_grasp": { + "position": [ + 0.12248775362968445, + -0.020471373572945595, + 0.010850985534489155 + ], + "orientation": [ + 0.47150132060050964, + 0.5094218850135803, + -0.5799084305763245, + 0.426476389169693 + ], + "joints": [ + 0.01693142019212246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11089716106653214, + -0.09198060631752014, + -0.008707272820174694 + ], + "orientation": [ + 0.6575511693954468, + 0.3957977592945099, + 0.5361311435699463, + -0.35147425532341003 + ], + "joints": [ + 0.008262175135314465 + ] + }, + "fine_grasp": { + "position": [ + -0.10712424665689468, + -0.08898994326591492, + -0.008929993957281113 + ], + "orientation": [ + 0.663055419921875, + 0.39466050267219543, + 0.5310518741607666, + -0.35012081265449524 + ], + "joints": [ + 0.01315105427056551 + ] + }, + "final_grasp": { + "position": [ + -0.10712424665689468, + -0.08898994326591492, + -0.008929993957281113 + ], + "orientation": [ + 0.663055419921875, + 0.39466050267219543, + 0.5310518741607666, + -0.35012081265449524 + ], + "joints": [ + 0.01803993433713913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15571101009845734, + 0.03719785064458847, + 0.013169467449188232 + ], + "orientation": [ + 0.4896667003631592, + -0.5182762742042542, + 0.5331952571868896, + 0.45532307028770447 + ], + "joints": [ + 0.008973831310868263 + ] + }, + "fine_grasp": { + "position": [ + 0.1550443470478058, + 0.037670958787202835, + 0.012945541180670261 + ], + "orientation": [ + 0.4847163259983063, + -0.5237973928451538, + 0.5457161664962769, + 0.43918126821517944 + ], + "joints": [ + 0.014420684427022934 + ] + }, + "final_grasp": { + "position": [ + 0.1550443470478058, + 0.037670958787202835, + 0.012945541180670261 + ], + "orientation": [ + 0.4847163259983063, + -0.5237973928451538, + 0.5457161664962769, + 0.43918126821517944 + ], + "joints": [ + 0.019867537543177605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13738659024238586, + 0.04191415384411812, + 0.022604454308748245 + ], + "orientation": [ + 0.5214787721633911, + -0.52923983335495, + 0.48059457540512085, + 0.4658259451389313 + ], + "joints": [ + 0.006369661074131727 + ] + }, + "fine_grasp": { + "position": [ + 0.13722677528858185, + 0.04346572607755661, + 0.02385537326335907 + ], + "orientation": [ + 0.5230317115783691, + -0.5338538885116577, + 0.47842174768447876, + 0.46103182435035706 + ], + "joints": [ + 0.0112053994089365 + ] + }, + "final_grasp": { + "position": [ + 0.13722677528858185, + 0.04346572607755661, + 0.02385537326335907 + ], + "orientation": [ + 0.5230317115783691, + -0.5338538885116577, + 0.47842174768447876, + 0.46103182435035706 + ], + "joints": [ + 0.016041137278079987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1257452368736267, + -0.029442591592669487, + 0.018255557864904404 + ], + "orientation": [ + 0.5361864566802979, + 0.4245869517326355, + -0.5096529126167297, + 0.5219998955726624 + ], + "joints": [ + 0.007891081273555756 + ] + }, + "fine_grasp": { + "position": [ + 0.1269119679927826, + -0.028383690863847733, + 0.019861459732055664 + ], + "orientation": [ + 0.5461887717247009, + 0.40686309337615967, + -0.4973283112049103, + 0.5374055504798889 + ], + "joints": [ + 0.012753389775753021 + ] + }, + "final_grasp": { + "position": [ + 0.1269119679927826, + -0.028383690863847733, + 0.019861459732055664 + ], + "orientation": [ + 0.5461887717247009, + 0.40686309337615967, + -0.4973283112049103, + 0.5374055504798889 + ], + "joints": [ + 0.017615698277950287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14691947400569916, + 0.07760710269212723, + 0.010305510833859444 + ], + "orientation": [ + 0.48178529739379883, + 0.5045595765113831, + 0.43244242668151855, + -0.5712233781814575 + ], + "joints": [ + 0.00613815663382411 + ] + }, + "fine_grasp": { + "position": [ + -0.14356891810894012, + 0.07911697030067444, + 0.010741287842392921 + ], + "orientation": [ + 0.49563664197921753, + 0.48839518427848816, + 0.431109219789505, + -0.5744208693504333 + ], + "joints": [ + 0.010973894968628883 + ] + }, + "final_grasp": { + "position": [ + -0.14356891810894012, + 0.07911697030067444, + 0.010741287842392921 + ], + "orientation": [ + 0.49563664197921753, + 0.48839518427848816, + 0.431109219789505, + -0.5744208693504333 + ], + "joints": [ + 0.01580963283777237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1465546041727066, + 0.07808586210012436, + 0.010340927168726921 + ], + "orientation": [ + 0.4824065566062927, + 0.5033187866210938, + 0.43057769536972046, + -0.5731990337371826 + ], + "joints": [ + 0.006031333468854427 + ] + }, + "fine_grasp": { + "position": [ + -0.14239589869976044, + 0.07949195057153702, + 0.010815952904522419 + ], + "orientation": [ + 0.49532127380371094, + 0.4873116910457611, + 0.42922642827033997, + -0.5770172476768494 + ], + "joints": [ + 0.010867071337997913 + ] + }, + "final_grasp": { + "position": [ + -0.14239589869976044, + 0.07949195057153702, + 0.010815952904522419 + ], + "orientation": [ + 0.49532127380371094, + 0.4873116910457611, + 0.42922642827033997, + -0.5770172476768494 + ], + "joints": [ + 0.015702810138463974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12567871809005737, + -0.031589481979608536, + 0.01861339621245861 + ], + "orientation": [ + 0.5337492227554321, + 0.4253139793872833, + -0.5021594762802124, + 0.5310891270637512 + ], + "joints": [ + 0.007939834147691727 + ] + }, + "fine_grasp": { + "position": [ + 0.12666013836860657, + -0.03068959340453148, + 0.020156722515821457 + ], + "orientation": [ + 0.5438127517700195, + 0.4067961573600769, + -0.48985525965690613, + 0.5466501116752625 + ], + "joints": [ + 0.012802142649888992 + ] + }, + "final_grasp": { + "position": [ + 0.12666013836860657, + -0.03068959340453148, + 0.020156722515821457 + ], + "orientation": [ + 0.5438127517700195, + 0.4067961573600769, + -0.48985525965690613, + 0.5466501116752625 + ], + "joints": [ + 0.017664451152086258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11901454627513885, + -0.012068286538124084, + 0.02276400849223137 + ], + "orientation": [ + 0.5707481503486633, + -0.48485812544822693, + -0.4945947527885437, + -0.4410615563392639 + ], + "joints": [ + 0.00916295312345028 + ] + }, + "fine_grasp": { + "position": [ + -0.11706685274839401, + -0.012205302715301514, + 0.026414215564727783 + ], + "orientation": [ + 0.5755022764205933, + -0.4941486120223999, + -0.4771750271320343, + -0.4437546133995056 + ], + "joints": [ + 0.012457633391022682 + ] + }, + "final_grasp": { + "position": [ + -0.11706685274839401, + -0.012205302715301514, + 0.026414215564727783 + ], + "orientation": [ + 0.5755022764205933, + -0.4941486120223999, + -0.4771750271320343, + -0.4437546133995056 + ], + "joints": [ + 0.015752313658595085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11329499632120132, + -0.028476819396018982, + -0.0006175334565341473 + ], + "orientation": [ + 0.6121525764465332, + 0.4129789173603058, + 0.5535070896148682, + -0.3851589262485504 + ], + "joints": [ + 0.009806457906961441 + ] + }, + "fine_grasp": { + "position": [ + -0.11373629420995712, + -0.0312579870223999, + -0.0033813980408012867 + ], + "orientation": [ + 0.6213862299919128, + 0.417113721370697, + 0.5422693490982056, + -0.3818890154361725 + ], + "joints": [ + 0.01365911029279232 + ] + }, + "final_grasp": { + "position": [ + -0.11373629420995712, + -0.0312579870223999, + -0.0033813980408012867 + ], + "orientation": [ + 0.6213862299919128, + 0.417113721370697, + 0.5422693490982056, + -0.3818890154361725 + ], + "joints": [ + 0.0175117626786232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11833558231592178, + -0.01387116964906454, + 0.0018575867870822549 + ], + "orientation": [ + 0.5852527618408203, + 0.43871086835861206, + 0.5316392183303833, + -0.42705008387565613 + ], + "joints": [ + 0.009947916492819786 + ] + }, + "fine_grasp": { + "position": [ + -0.11914502084255219, + -0.01718957908451557, + -0.0007423819624818861 + ], + "orientation": [ + 0.5940089225769043, + 0.44188761711120605, + 0.5223943591117859, + -0.4230753779411316 + ], + "joints": [ + 0.014305397868156433 + ] + }, + "final_grasp": { + "position": [ + -0.11914502084255219, + -0.01718957908451557, + -0.0007423819624818861 + ], + "orientation": [ + 0.5940089225769043, + 0.44188761711120605, + 0.5223943591117859, + -0.4230753779411316 + ], + "joints": [ + 0.01866287924349308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11318157613277435, + -0.028354207053780556, + -0.0006345627480186522 + ], + "orientation": [ + 0.6128444671630859, + 0.41279926896095276, + 0.5523018836975098, + -0.3859805166721344 + ], + "joints": [ + 0.00975780002772808 + ] + }, + "fine_grasp": { + "position": [ + -0.11306408047676086, + -0.03117002733051777, + -0.0032688507344573736 + ], + "orientation": [ + 0.6203628182411194, + 0.4179094433784485, + 0.5426243543624878, + -0.38217854499816895 + ], + "joints": [ + 0.01361045241355896 + ] + }, + "final_grasp": { + "position": [ + -0.11306408047676086, + -0.03117002733051777, + -0.0032688507344573736 + ], + "orientation": [ + 0.6203628182411194, + 0.4179094433784485, + 0.5426243543624878, + -0.38217854499816895 + ], + "joints": [ + 0.01746310479938984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11921629309654236, + -0.02812051773071289, + 6.443481834139675e-05 + ], + "orientation": [ + 0.5542541742324829, + -0.4053551256656647, + 0.5316151976585388, + 0.4958575665950775 + ], + "joints": [ + 0.009257577359676361 + ] + }, + "fine_grasp": { + "position": [ + 0.11650693416595459, + -0.0263565331697464, + -0.0022724794689565897 + ], + "orientation": [ + 0.55858314037323, + -0.3896140456199646, + 0.5266191959381104, + 0.5087808966636658 + ], + "joints": [ + 0.012578828260302544 + ] + }, + "final_grasp": { + "position": [ + 0.11650693416595459, + -0.0263565331697464, + -0.0022724794689565897 + ], + "orientation": [ + 0.55858314037323, + -0.3896140456199646, + 0.5266191959381104, + 0.5087808966636658 + ], + "joints": [ + 0.015900079160928726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11907395720481873, + -0.028291456401348114, + -8.119433914544061e-05 + ], + "orientation": [ + 0.552422285079956, + -0.4060826301574707, + 0.53351891040802, + 0.4952615797519684 + ], + "joints": [ + 0.009371917694807053 + ] + }, + "fine_grasp": { + "position": [ + 0.11637493222951889, + -0.026509467512369156, + -0.0021782880648970604 + ], + "orientation": [ + 0.5582360625267029, + -0.3903399705886841, + 0.5274052619934082, + 0.5077901482582092 + ], + "joints": [ + 0.012693168595433235 + ] + }, + "final_grasp": { + "position": [ + 0.11637493222951889, + -0.026509467512369156, + -0.0021782880648970604 + ], + "orientation": [ + 0.5582360625267029, + -0.3903399705886841, + 0.5274052619934082, + 0.5077901482582092 + ], + "joints": [ + 0.016014419496059418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11799973994493484, + -0.013841026462614536, + 0.0018597246380522847 + ], + "orientation": [ + 0.5880858302116394, + 0.43612220883369446, + 0.529880166053772, + -0.42799487709999084 + ], + "joints": [ + 0.009932588785886765 + ] + }, + "fine_grasp": { + "position": [ + -0.11798520386219025, + -0.01734425127506256, + -0.000878012040629983 + ], + "orientation": [ + 0.5960463881492615, + 0.44031020998954773, + 0.5220197439193726, + -0.42231640219688416 + ], + "joints": [ + 0.014290070161223412 + ] + }, + "final_grasp": { + "position": [ + -0.11798520386219025, + -0.01734425127506256, + -0.000878012040629983 + ], + "orientation": [ + 0.5960463881492615, + 0.44031020998954773, + 0.5220197439193726, + -0.42231640219688416 + ], + "joints": [ + 0.01864755153656006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13987086713314056, + 0.02235826849937439, + -0.015076559968292713 + ], + "orientation": [ + 0.44269102811813354, + -0.4448544383049011, + 0.6201050877571106, + 0.47074294090270996 + ], + "joints": [ + 0.004491171333938837 + ] + }, + "fine_grasp": { + "position": [ + 0.13627558946609497, + 0.022382967174053192, + -0.014773229137063026 + ], + "orientation": [ + 0.4334823787212372, + -0.45135682821273804, + 0.6215640902519226, + 0.47119855880737305 + ], + "joints": [ + 0.00930033903568983 + ] + }, + "final_grasp": { + "position": [ + 0.13627558946609497, + 0.022382967174053192, + -0.014773229137063026 + ], + "orientation": [ + 0.4334823787212372, + -0.45135682821273804, + 0.6215640902519226, + 0.47119855880737305 + ], + "joints": [ + 0.014109507203102112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11418508738279343, + -0.0328834243118763, + -0.0021137273870408535 + ], + "orientation": [ + 0.5902155041694641, + 0.44138985872268677, + 0.5567284226417542, + -0.38324159383773804 + ], + "joints": [ + 0.0091708954423666 + ] + }, + "fine_grasp": { + "position": [ + -0.11371883004903793, + -0.03242135047912598, + -0.006193249486386776 + ], + "orientation": [ + 0.594122588634491, + 0.44970548152923584, + 0.5589971542358398, + -0.3637383282184601 + ], + "joints": [ + 0.01299697533249855 + ] + }, + "final_grasp": { + "position": [ + -0.11371883004903793, + -0.03242135047912598, + -0.006193249486386776 + ], + "orientation": [ + 0.594122588634491, + 0.44970548152923584, + 0.5589971542358398, + -0.3637383282184601 + ], + "joints": [ + 0.0168230552226305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0004797401779796928, + 0.17349043488502502, + 0.0017329382244497538 + ], + "orientation": [ + 0.016283541917800903, + 0.7571820616722107, + -0.026043854653835297, + -0.6524813771247864 + ], + "joints": [ + 0.005928441416472197 + ] + }, + "fine_grasp": { + "position": [ + 0.000419214105932042, + 0.16793018579483032, + 0.0011079780524596572 + ], + "orientation": [ + 0.014020465314388275, + 0.7673907279968262, + -0.03572900965809822, + -0.6400299072265625 + ], + "joints": [ + 0.011826978996396065 + ] + }, + "final_grasp": { + "position": [ + 0.000419214105932042, + 0.16793018579483032, + 0.0011079780524596572 + ], + "orientation": [ + 0.014020465314388275, + 0.7673907279968262, + -0.03572900965809822, + -0.6400299072265625 + ], + "joints": [ + 0.017725516110658646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13913916051387787, + 0.02200940251350403, + -0.01594056375324726 + ], + "orientation": [ + 0.440477579832077, + -0.44334980845451355, + 0.6213693618774414, + 0.4725680947303772 + ], + "joints": [ + 0.004406867083162069 + ] + }, + "fine_grasp": { + "position": [ + 0.13541379570960999, + 0.022104838863015175, + -0.015623734332621098 + ], + "orientation": [ + 0.43218371272087097, + -0.4497336447238922, + 0.6219608783721924, + 0.4734148681163788 + ], + "joints": [ + 0.009720863774418831 + ] + }, + "final_grasp": { + "position": [ + 0.13541379570960999, + 0.022104838863015175, + -0.015623734332621098 + ], + "orientation": [ + 0.43218371272087097, + -0.4497336447238922, + 0.6219608783721924, + 0.4734148681163788 + ], + "joints": [ + 0.015034860000014305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10839777439832687, + -0.04145779460668564, + -0.009793472476303577 + ], + "orientation": [ + 0.6415237188339233, + 0.4192812144756317, + 0.5326842069625854, + -0.35902369022369385 + ], + "joints": [ + 0.009702427312731743 + ] + }, + "fine_grasp": { + "position": [ + -0.10842245817184448, + -0.043620433658361435, + -0.013474022038280964 + ], + "orientation": [ + 0.6502333879470825, + 0.42838993668556213, + 0.5162692070007324, + -0.35657355189323425 + ], + "joints": [ + 0.011509191244840622 + ] + }, + "final_grasp": { + "position": [ + -0.10842245817184448, + -0.043620433658361435, + -0.013474022038280964 + ], + "orientation": [ + 0.6502333879470825, + 0.42838993668556213, + 0.5162692070007324, + -0.35657355189323425 + ], + "joints": [ + 0.013315955176949501 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11436562985181808, + -0.021546412259340286, + -0.0034166069235652685 + ], + "orientation": [ + 0.5282160639762878, + -0.40258124470710754, + -0.6128663420677185, + -0.4281485080718994 + ], + "joints": [ + 0.009707910940051079 + ] + }, + "fine_grasp": { + "position": [ + -0.11378553509712219, + -0.02419879660010338, + -0.004354220815002918 + ], + "orientation": [ + 0.5218083262443542, + -0.4001140594482422, + -0.6181504130363464, + -0.4307142496109009 + ], + "joints": [ + 0.01305573433637619 + ] + }, + "final_grasp": { + "position": [ + -0.11378553509712219, + -0.02419879660010338, + -0.004354220815002918 + ], + "orientation": [ + 0.5218083262443542, + -0.4001140594482422, + -0.6181504130363464, + -0.4307142496109009 + ], + "joints": [ + 0.0164035577327013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11427611857652664, + -0.02165170945227146, + -0.0035391103010624647 + ], + "orientation": [ + 0.5263691544532776, + -0.4037175476551056, + -0.61353600025177, + -0.42839372158050537 + ], + "joints": [ + 0.009589465335011482 + ] + }, + "fine_grasp": { + "position": [ + -0.11358922719955444, + -0.02443963848054409, + -0.004870010074228048 + ], + "orientation": [ + 0.519797146320343, + -0.399710476398468, + -0.6193196773529053, + -0.43183964490890503 + ], + "joints": [ + 0.012937288731336594 + ] + }, + "final_grasp": { + "position": [ + -0.11358922719955444, + -0.02443963848054409, + -0.004870010074228048 + ], + "orientation": [ + 0.519797146320343, + -0.399710476398468, + -0.6193196773529053, + -0.43183964490890503 + ], + "joints": [ + 0.016285112127661705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11429048329591751, + -0.02110307477414608, + -0.0039067924953997135 + ], + "orientation": [ + 0.5271140336990356, + -0.4018567204475403, + -0.612866222858429, + -0.43018248677253723 + ], + "joints": [ + 0.00943717174232006 + ] + }, + "fine_grasp": { + "position": [ + -0.11365590244531631, + -0.023642022162675858, + -0.005150444805622101 + ], + "orientation": [ + 0.520163357257843, + -0.3985985815525055, + -0.618564784526825, + -0.43350526690483093 + ], + "joints": [ + 0.012784993276000023 + ] + }, + "final_grasp": { + "position": [ + -0.11365590244531631, + -0.023642022162675858, + -0.005150444805622101 + ], + "orientation": [ + 0.520163357257843, + -0.3985985815525055, + -0.618564784526825, + -0.43350526690483093 + ], + "joints": [ + 0.016132814809679985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12211276590824127, + -0.05305549129843712, + 0.0021836101077497005 + ], + "orientation": [ + 0.4920249879360199, + 0.5036645531654358, + -0.6143186092376709, + 0.3561546206474304 + ], + "joints": [ + 0.007643565069884062 + ] + }, + "fine_grasp": { + "position": [ + 0.12108904123306274, + -0.05195778235793114, + 0.0016436440637335181 + ], + "orientation": [ + 0.4647759795188904, + 0.5225618481636047, + -0.6334620118141174, + 0.3311167359352112 + ], + "joints": [ + 0.009503470733761787 + ] + }, + "final_grasp": { + "position": [ + 0.12108904123306274, + -0.05195778235793114, + 0.0016436440637335181 + ], + "orientation": [ + 0.4647759795188904, + 0.5225618481636047, + -0.6334620118141174, + 0.3311167359352112 + ], + "joints": [ + 0.011363375931978226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11338459700345993, + -0.03255654498934746, + 0.021536072716116905 + ], + "orientation": [ + 0.5346003770828247, + 0.38876450061798096, + -0.6245089769363403, + 0.41599658131599426 + ], + "joints": [ + 0.00936838984489441 + ] + }, + "fine_grasp": { + "position": [ + 0.11280437558889389, + -0.03474977985024452, + 0.026066210120916367 + ], + "orientation": [ + 0.5182281732559204, + 0.382720023393631, + -0.6357784271240234, + 0.4251479506492615 + ], + "joints": [ + 0.012211382389068604 + ] + }, + "final_grasp": { + "position": [ + 0.11280437558889389, + -0.03474977985024452, + 0.026066210120916367 + ], + "orientation": [ + 0.5182281732559204, + 0.382720023393631, + -0.6357784271240234, + 0.4251479506492615 + ], + "joints": [ + 0.015054374933242798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1423155814409256, + 0.06608527898788452, + -0.019948316738009453 + ], + "orientation": [ + 0.3513207733631134, + -0.5267980694770813, + 0.5242327451705933, + 0.5694185495376587 + ], + "joints": [ + 0.004478937480598688 + ] + }, + "fine_grasp": { + "position": [ + 0.13804633915424347, + 0.06471662223339081, + -0.019648477435112 + ], + "orientation": [ + 0.340070903301239, + -0.5374213457107544, + 0.5245773196220398, + 0.5659934282302856 + ], + "joints": [ + 0.009288105182349682 + ] + }, + "final_grasp": { + "position": [ + 0.13804633915424347, + 0.06471662223339081, + -0.019648477435112 + ], + "orientation": [ + 0.340070903301239, + -0.5374213457107544, + 0.5245773196220398, + 0.5659934282302856 + ], + "joints": [ + 0.014097273349761963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11454367637634277, + -0.05659472942352295, + -0.013233535923063755 + ], + "orientation": [ + 0.5250306129455566, + -0.3749150335788727, + -0.5455019474029541, + -0.5349853038787842 + ], + "joints": [ + 0.0077561549842357635 + ] + }, + "fine_grasp": { + "position": [ + -0.11002754420042038, + -0.05565202608704567, + -0.015609817579388618 + ], + "orientation": [ + 0.5315722227096558, + -0.3550707697868347, + -0.5404346585273743, + -0.5470705628395081 + ], + "joints": [ + 0.010997693985700607 + ] + }, + "final_grasp": { + "position": [ + -0.11002754420042038, + -0.05565202608704567, + -0.015609817579388618 + ], + "orientation": [ + 0.5315722227096558, + -0.3550707697868347, + -0.5404346585273743, + -0.5470705628395081 + ], + "joints": [ + 0.014239232987165451 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08139132708311081, + 0.15330404043197632, + -0.013844078406691551 + ], + "orientation": [ + 0.2199169248342514, + 0.7277365326881409, + -0.10032269358634949, + 0.6418501734733582 + ], + "joints": [ + 0.007553641218692064 + ] + }, + "fine_grasp": { + "position": [ + 0.0807848647236824, + 0.15164706110954285, + -0.01457551121711731 + ], + "orientation": [ + 0.21839794516563416, + 0.724004864692688, + -0.10038896650075912, + 0.6465612053871155 + ], + "joints": [ + 0.012973920442163944 + ] + }, + "final_grasp": { + "position": [ + 0.0807848647236824, + 0.15164706110954285, + -0.01457551121711731 + ], + "orientation": [ + 0.21839794516563416, + 0.724004864692688, + -0.10038896650075912, + 0.6465612053871155 + ], + "joints": [ + 0.01839420013129711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12664024531841278, + 0.10549815744161606, + 0.015680277720093727 + ], + "orientation": [ + 0.3990558087825775, + 0.5558167695999146, + 0.41085153818130493, + -0.6025140285491943 + ], + "joints": [ + 0.005599624942988157 + ] + }, + "fine_grasp": { + "position": [ + -0.1260356307029724, + 0.10622847825288773, + 0.017635151743888855 + ], + "orientation": [ + 0.39522477984428406, + 0.5523090362548828, + 0.41279157996177673, + -0.6069228053092957 + ], + "joints": [ + 0.011471591889858246 + ] + }, + "final_grasp": { + "position": [ + -0.1260356307029724, + 0.10622847825288773, + 0.017635151743888855 + ], + "orientation": [ + 0.39522477984428406, + 0.5523090362548828, + 0.41279157996177673, + -0.6069228053092957 + ], + "joints": [ + 0.017343558371067047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12625280022621155, + 0.10517651587724686, + 0.016096560284495354 + ], + "orientation": [ + 0.39143869280815125, + 0.5604730248451233, + 0.40800604224205017, + -0.605125367641449 + ], + "joints": [ + 0.005384022369980812 + ] + }, + "fine_grasp": { + "position": [ + -0.12559789419174194, + 0.1067088395357132, + 0.017687516286969185 + ], + "orientation": [ + 0.39455223083496094, + 0.5523703694343567, + 0.4125824570655823, + -0.6074464321136475 + ], + "joints": [ + 0.011255988851189613 + ] + }, + "final_grasp": { + "position": [ + -0.12559789419174194, + 0.1067088395357132, + 0.017687516286969185 + ], + "orientation": [ + 0.39455223083496094, + 0.5523703694343567, + 0.4125824570655823, + -0.6074464321136475 + ], + "joints": [ + 0.017127955332398415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016235504299402237, + 0.17809617519378662, + 0.0018754421034827828 + ], + "orientation": [ + 0.05869738385081291, + 0.6728852391242981, + 0.014706105925142765, + -0.737267792224884 + ], + "joints": [ + 0.0063458336517214775 + ] + }, + "fine_grasp": { + "position": [ + -0.01643136702477932, + 0.1769571751356125, + 0.0022742319852113724 + ], + "orientation": [ + 0.05605127289891243, + 0.6647661328315735, + 0.006825619842857122, + -0.7449144721031189 + ], + "joints": [ + 0.011155000887811184 + ] + }, + "final_grasp": { + "position": [ + -0.01643136702477932, + 0.1769571751356125, + 0.0022742319852113724 + ], + "orientation": [ + 0.05605127289891243, + 0.6647661328315735, + 0.006825619842857122, + -0.7449144721031189 + ], + "joints": [ + 0.015964169055223465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005243842024356127, + 0.1729198694229126, + 0.017749173566699028 + ], + "orientation": [ + 0.004573999438434839, + -0.7100163698196411, + -0.04767830669879913, + 0.7025544047355652 + ], + "joints": [ + 0.006306293420493603 + ] + }, + "fine_grasp": { + "position": [ + -0.006221171468496323, + 0.17310293018817902, + 0.018449746072292328 + ], + "orientation": [ + 0.003972867038100958, + -0.7104827165603638, + -0.05368352681398392, + 0.7016527652740479 + ], + "joints": [ + 0.011646860279142857 + ] + }, + "final_grasp": { + "position": [ + -0.006221171468496323, + 0.17310293018817902, + 0.018449746072292328 + ], + "orientation": [ + 0.003972867038100958, + -0.7104827165603638, + -0.05368352681398392, + 0.7016527652740479 + ], + "joints": [ + 0.016987428069114685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12936881184577942, + 0.10017777234315872, + -0.028606440871953964 + ], + "orientation": [ + 0.21184831857681274, + -0.6377248764038086, + -0.6095228791236877, + -0.4206055700778961 + ], + "joints": [ + 0.00421109888702631 + ] + }, + "fine_grasp": { + "position": [ + -0.13402387499809265, + 0.09744710475206375, + -0.02839645743370056 + ], + "orientation": [ + 0.19390828907489777, + -0.6492196321487427, + -0.5915879011154175, + -0.4369637370109558 + ], + "joints": [ + 0.007479207590222359 + ] + }, + "final_grasp": { + "position": [ + -0.13402387499809265, + 0.09744710475206375, + -0.02839645743370056 + ], + "orientation": [ + 0.19390828907489777, + -0.6492196321487427, + -0.5915879011154175, + -0.4369637370109558 + ], + "joints": [ + 0.010747316293418407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025632379576563835, + 0.17498397827148438, + -0.013979343697428703 + ], + "orientation": [ + 2.8756399842677638e-05, + 0.6844345927238464, + 0.12698915600776672, + 0.7179297804832458 + ], + "joints": [ + 0.004550629295408726 + ] + }, + "fine_grasp": { + "position": [ + -0.021864069625735283, + 0.17448849976062775, + -0.014787229709327221 + ], + "orientation": [ + 0.004453524015843868, + 0.6914114356040955, + 0.1317397952079773, + 0.7103344798088074 + ], + "joints": [ + 0.009386367164552212 + ] + }, + "final_grasp": { + "position": [ + -0.021864069625735283, + 0.17448849976062775, + -0.014787229709327221 + ], + "orientation": [ + 0.004453524015843868, + 0.6914114356040955, + 0.1317397952079773, + 0.7103344798088074 + ], + "joints": [ + 0.014222105033695698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0072080218233168125, + 0.17291896045207977, + 0.01887403056025505 + ], + "orientation": [ + 0.023353982716798782, + -0.6931347846984863, + -0.0344841293990612, + 0.7196038365364075 + ], + "joints": [ + 0.006268247030675411 + ] + }, + "fine_grasp": { + "position": [ + -0.006242819130420685, + 0.1722974330186844, + 0.019830087199807167 + ], + "orientation": [ + 0.022122852504253387, + -0.6888948082923889, + -0.040314801037311554, + 0.7234012484550476 + ], + "joints": [ + 0.011635384522378445 + ] + }, + "final_grasp": { + "position": [ + -0.006242819130420685, + 0.1722974330186844, + 0.019830087199807167 + ], + "orientation": [ + 0.022122852504253387, + -0.6888948082923889, + -0.040314801037311554, + 0.7234012484550476 + ], + "joints": [ + 0.017002522945404053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11570905148983002, + -0.08106477558612823, + -0.003546495456248522 + ], + "orientation": [ + 0.40704143047332764, + 0.4789588153362274, + 0.7560724020004272, + -0.18240150809288025 + ], + "joints": [ + -0.002782439347356558 + ] + }, + "fine_grasp": { + "position": [ + -0.11714473366737366, + -0.07838010042905807, + -0.006406816188246012 + ], + "orientation": [ + 0.3684423863887787, + 0.5013618469238281, + 0.7682338356971741, + -0.1506761759519577 + ], + "joints": [ + -0.004084369633346796 + ] + }, + "final_grasp": { + "position": [ + -0.11714473366737366, + -0.07838010042905807, + -0.006406816188246012 + ], + "orientation": [ + 0.3684423863887787, + 0.5013618469238281, + 0.7682338356971741, + -0.1506761759519577 + ], + "joints": [ + -0.005386299919337034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13547541201114655, + 0.05321667715907097, + -0.027254728600382805 + ], + "orientation": [ + 0.1383044570684433, + -0.6270419955253601, + -0.7033899426460266, + -0.30484887957572937 + ], + "joints": [ + -0.007525495253503323 + ] + }, + "fine_grasp": { + "position": [ + -0.13504740595817566, + 0.05033847689628601, + -0.027694348245859146 + ], + "orientation": [ + 0.12786997854709625, + -0.6273324489593506, + -0.7069564461708069, + -0.30052614212036133 + ], + "joints": [ + -0.002105219289660454 + ] + }, + "final_grasp": { + "position": [ + -0.13504740595817566, + 0.05033847689628601, + -0.027694348245859146 + ], + "orientation": [ + 0.12786997854709625, + -0.6273324489593506, + -0.7069564461708069, + -0.30052614212036133 + ], + "joints": [ + 0.003315056674182415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12327289581298828, + -0.012554790824651718, + -0.04845839738845825 + ], + "orientation": [ + 0.08085564523935318, + -0.4634394645690918, + 0.8352379202842712, + 0.28471729159355164 + ], + "joints": [ + -0.016261063516139984 + ] + }, + "fine_grasp": { + "position": [ + 0.1243232786655426, + -0.011605347506701946, + -0.046468429267406464 + ], + "orientation": [ + 0.07058386504650116, + -0.48043376207351685, + 0.8241735696792603, + 0.29144346714019775 + ], + "joints": [ + -0.010893924161791801 + ] + }, + "final_grasp": { + "position": [ + 0.1243232786655426, + -0.011605347506701946, + -0.046468429267406464 + ], + "orientation": [ + 0.07058386504650116, + -0.48043376207351685, + 0.8241735696792603, + 0.29144346714019775 + ], + "joints": [ + -0.005526784807443619 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06502247601747513, + 0.15183548629283905, + -0.04041541740298271 + ], + "orientation": [ + 0.3859802484512329, + 0.5144081115722656, + -0.015954982489347458, + 0.7656036019325256 + ], + "joints": [ + 0.001445187721401453 + ] + }, + "fine_grasp": { + "position": [ + 0.06219405680894852, + 0.14786307513713837, + -0.03866153582930565 + ], + "orientation": [ + 0.3764375150203705, + 0.4978969395160675, + -0.0023261497262865305, + 0.781273365020752 + ], + "joints": [ + 0.004819574765861034 + ] + }, + "final_grasp": { + "position": [ + 0.06219405680894852, + 0.14786307513713837, + -0.03866153582930565 + ], + "orientation": [ + 0.3764375150203705, + 0.4978969395160675, + -0.0023261497262865305, + 0.781273365020752 + ], + "joints": [ + 0.008193962275981903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14884714782238007, + 0.06776352226734161, + -0.003739844309166074 + ], + "orientation": [ + 0.25018325448036194, + -0.6542665958404541, + -0.6226850152015686, + -0.3487219512462616 + ], + "joints": [ + -3.760142135433853e-05 + ] + }, + "fine_grasp": { + "position": [ + -0.14292828738689423, + 0.06811976432800293, + -0.0029255321715027094 + ], + "orientation": [ + 0.24770097434520721, + -0.6620448231697083, + -0.6208489537239075, + -0.33895063400268555 + ], + "joints": [ + 0.0037619052454829216 + ] + }, + "final_grasp": { + "position": [ + -0.14292828738689423, + 0.06811976432800293, + -0.0029255321715027094 + ], + "orientation": [ + 0.24770097434520721, + -0.6620448231697083, + -0.6208489537239075, + -0.33895063400268555 + ], + "joints": [ + 0.0075614117085933685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14275173842906952, + 0.026564279571175575, + 0.007000340614467859 + ], + "orientation": [ + 0.32053667306900024, + -0.5732793211936951, + 0.6987234950065613, + 0.2835359573364258 + ], + "joints": [ + -0.0014849721919745207 + ] + }, + "fine_grasp": { + "position": [ + 0.14093288779258728, + 0.02865266427397728, + 0.006956230849027634 + ], + "orientation": [ + 0.3007311224937439, + -0.5905930399894714, + 0.7030590772628784, + 0.2578149139881134 + ], + "joints": [ + 0.0013580148806795478 + ] + }, + "final_grasp": { + "position": [ + 0.14093288779258728, + 0.02865266427397728, + 0.006956230849027634 + ], + "orientation": [ + 0.3007311224937439, + -0.5905930399894714, + 0.7030590772628784, + 0.2578149139881134 + ], + "joints": [ + 0.004201001953333616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1329803317785263, + -0.004665242042392492, + 0.02814144268631935 + ], + "orientation": [ + 0.5806151628494263, + 0.3450950086116791, + -0.5292338132858276, + 0.513524055480957 + ], + "joints": [ + 0.006658733356744051 + ] + }, + "fine_grasp": { + "position": [ + 0.1324814409017563, + -0.0038356450386345387, + 0.028678076341748238 + ], + "orientation": [ + 0.5910909175872803, + 0.3279497027397156, + -0.5227716565132141, + 0.5193942189216614 + ], + "joints": [ + 0.011016213335096836 + ] + }, + "final_grasp": { + "position": [ + 0.1324814409017563, + -0.0038356450386345387, + 0.028678076341748238 + ], + "orientation": [ + 0.5910909175872803, + 0.3279497027397156, + -0.5227716565132141, + 0.5193942189216614 + ], + "joints": [ + 0.015373693779110909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14109329879283905, + 0.03928811475634575, + 0.029799899086356163 + ], + "orientation": [ + 0.39405518770217896, + -0.6069559454917908, + -0.6377618908882141, + -0.2637890577316284 + ], + "joints": [ + 0.0010965545661747456 + ] + }, + "fine_grasp": { + "position": [ + -0.1354348212480545, + 0.04089844226837158, + 0.028610702604055405 + ], + "orientation": [ + 0.39287784695625305, + -0.6136995553970337, + -0.6354615092277527, + -0.2553595006465912 + ], + "joints": [ + 0.003381571266800165 + ] + }, + "final_grasp": { + "position": [ + -0.1354348212480545, + 0.04089844226837158, + 0.028610702604055405 + ], + "orientation": [ + 0.39287784695625305, + -0.6136995553970337, + -0.6354615092277527, + -0.2553595006465912 + ], + "joints": [ + 0.005666587967425585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12083027511835098, + 0.0022857964504510164, + 0.017997803166508675 + ], + "orientation": [ + 0.4818821847438812, + 0.4799812436103821, + 0.534212589263916, + -0.5020203590393066 + ], + "joints": [ + 0.009582135826349258 + ] + }, + "fine_grasp": { + "position": [ + -0.12077190726995468, + 0.0022634274791926146, + 0.021740753203630447 + ], + "orientation": [ + 0.4599585235118866, + 0.4845675230026245, + 0.5420737266540527, + -0.5096946954727173 + ], + "joints": [ + 0.012876816093921661 + ] + }, + "final_grasp": { + "position": [ + -0.12077190726995468, + 0.0022634274791926146, + 0.021740753203630447 + ], + "orientation": [ + 0.4599585235118866, + 0.4845675230026245, + 0.5420737266540527, + -0.5096946954727173 + ], + "joints": [ + 0.016171496361494064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12387287616729736, + -0.014973304234445095, + 0.0025948258116841316 + ], + "orientation": [ + 0.5505484938621521, + -0.423774778842926, + -0.5234107375144958, + -0.4933077394962311 + ], + "joints": [ + 0.008657833561301231 + ] + }, + "fine_grasp": { + "position": [ + -0.12676848471164703, + -0.014893405139446259, + 0.001842127530835569 + ], + "orientation": [ + 0.5594895482063293, + -0.41223254799842834, + -0.5165858268737793, + -0.5001747608184814 + ], + "joints": [ + 0.013493571430444717 + ] + }, + "final_grasp": { + "position": [ + -0.12676848471164703, + -0.014893405139446259, + 0.001842127530835569 + ], + "orientation": [ + 0.5594895482063293, + -0.41223254799842834, + -0.5165858268737793, + -0.5001747608184814 + ], + "joints": [ + 0.018329309299588203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11403460800647736, + -0.05072533339262009, + 0.01442251168191433 + ], + "orientation": [ + 0.555327832698822, + 0.39315441250801086, + 0.626674473285675, + -0.3798942267894745 + ], + "joints": [ + 0.008441995829343796 + ] + }, + "fine_grasp": { + "position": [ + -0.11476946622133255, + -0.05082599073648453, + 0.016565242782235146 + ], + "orientation": [ + 0.5406153202056885, + 0.3938160538673401, + 0.6404560804367065, + -0.37743866443634033 + ], + "joints": [ + 0.01380913332104683 + ] + }, + "final_grasp": { + "position": [ + -0.11476946622133255, + -0.05082599073648453, + 0.016565242782235146 + ], + "orientation": [ + 0.5406153202056885, + 0.3938160538673401, + 0.6404560804367065, + -0.37743866443634033 + ], + "joints": [ + 0.019176270812749863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11635284870862961, + -0.007305349223315716, + 0.009599944576621056 + ], + "orientation": [ + 0.5139182209968567, + -0.4825751781463623, + -0.5590547919273376, + -0.4364252984523773 + ], + "joints": [ + 0.009535829536616802 + ] + }, + "fine_grasp": { + "position": [ + -0.11270266771316528, + -0.008035204373300076, + 0.008890490978956223 + ], + "orientation": [ + 0.5042105913162231, + -0.48855480551719666, + -0.5692682862281799, + -0.4278077483177185 + ], + "joints": [ + 0.01386673841625452 + ] + }, + "final_grasp": { + "position": [ + -0.11270266771316528, + -0.008035204373300076, + 0.008890490978956223 + ], + "orientation": [ + 0.5042105913162231, + -0.48855480551719666, + -0.5692682862281799, + -0.4278077483177185 + ], + "joints": [ + 0.018197648227214813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1138855442404747, + -0.05087526515126228, + 0.013885398395359516 + ], + "orientation": [ + 0.5584248900413513, + 0.3930732011795044, + 0.6236150860786438, + -0.38047266006469727 + ], + "joints": [ + 0.008451055735349655 + ] + }, + "fine_grasp": { + "position": [ + -0.1147100180387497, + -0.051032621413469315, + 0.015927022323012352 + ], + "orientation": [ + 0.54473477602005, + 0.39474791288375854, + 0.6366001963615417, + -0.3770653009414673 + ], + "joints": [ + 0.013818193227052689 + ] + }, + "final_grasp": { + "position": [ + -0.1147100180387497, + -0.051032621413469315, + 0.015927022323012352 + ], + "orientation": [ + 0.54473477602005, + 0.39474791288375854, + 0.6366001963615417, + -0.3770653009414673 + ], + "joints": [ + 0.019185330718755722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1261778473854065, + -0.029815401881933212, + 0.018117176368832588 + ], + "orientation": [ + 0.5348942279815674, + 0.4264289438724518, + -0.5109143257141113, + 0.5205891728401184 + ], + "joints": [ + 0.007862551137804985 + ] + }, + "fine_grasp": { + "position": [ + 0.12736810743808746, + -0.029625238850712776, + 0.01875414326786995 + ], + "orientation": [ + 0.5448917150497437, + 0.41400155425071716, + -0.49839770793914795, + 0.5322549939155579 + ], + "joints": [ + 0.013229688629508018 + ] + }, + "final_grasp": { + "position": [ + 0.12736810743808746, + -0.029625238850712776, + 0.01875414326786995 + ], + "orientation": [ + 0.5448917150497437, + 0.41400155425071716, + -0.49839770793914795, + 0.5322549939155579 + ], + "joints": [ + 0.018596826121211052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07416167855262756, + -0.16483205556869507, + -0.039302702993154526 + ], + "orientation": [ + 0.7279758453369141, + -0.03256606683135033, + 0.5866543054580688, + 0.35330888628959656 + ], + "joints": [ + 0.0008483354467898607 + ] + }, + "fine_grasp": { + "position": [ + 0.07218408584594727, + -0.16103985905647278, + -0.03860301524400711 + ], + "orientation": [ + 0.7337306141853333, + -0.03033444844186306, + 0.5826799869537354, + 0.3481422960758209 + ], + "joints": [ + 0.006242041010409594 + ] + }, + "final_grasp": { + "position": [ + 0.07218408584594727, + -0.16103985905647278, + -0.03860301524400711 + ], + "orientation": [ + 0.7337306141853333, + -0.03033444844186306, + 0.5826799869537354, + 0.3481422960758209 + ], + "joints": [ + 0.01163574680685997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14072726666927338, + -0.01654425449669361, + 0.018236907199025154 + ], + "orientation": [ + 0.710662305355072, + 0.2625037431716919, + -0.47275015711784363, + 0.4500645101070404 + ], + "joints": [ + 0.005930009763687849 + ] + }, + "fine_grasp": { + "position": [ + 0.13632160425186157, + -0.012917415238916874, + 0.017667539417743683 + ], + "orientation": [ + 0.7125936150550842, + 0.25209343433380127, + -0.47180938720703125, + 0.45393306016921997 + ], + "joints": [ + 0.008294744417071342 + ] + }, + "final_grasp": { + "position": [ + 0.13632160425186157, + -0.012917415238916874, + 0.017667539417743683 + ], + "orientation": [ + 0.7125936150550842, + 0.25209343433380127, + -0.47180938720703125, + 0.45393306016921997 + ], + "joints": [ + 0.010659478604793549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11681029200553894, + -0.06183447688817978, + 0.01436985470354557 + ], + "orientation": [ + 0.6520308256149292, + -0.36568334698677063, + 0.4993945062160492, + 0.43787750601768494 + ], + "joints": [ + 0.00815594382584095 + ] + }, + "fine_grasp": { + "position": [ + 0.11638101935386658, + -0.05907769128680229, + 0.014202606864273548 + ], + "orientation": [ + 0.6622512936592102, + -0.35679498314857483, + 0.4753539562225342, + 0.4562445878982544 + ], + "joints": [ + 0.010998936370015144 + ] + }, + "final_grasp": { + "position": [ + 0.11638101935386658, + -0.05907769128680229, + 0.014202606864273548 + ], + "orientation": [ + 0.6622512936592102, + -0.35679498314857483, + 0.4753539562225342, + 0.4562445878982544 + ], + "joints": [ + 0.013841928914189339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12519748508930206, + 0.11624164879322052, + 0.01596902869641781 + ], + "orientation": [ + 0.4381958544254303, + 0.41708990931510925, + 0.2684299945831299, + -0.7496437430381775 + ], + "joints": [ + 0.0034105500672012568 + ] + }, + "fine_grasp": { + "position": [ + -0.11985845118761063, + 0.11586952954530716, + 0.01562509685754776 + ], + "orientation": [ + 0.44725751876831055, + 0.3862045407295227, + 0.2703632414340973, + -0.760072648525238 + ], + "joints": [ + 0.005217309575527906 + ] + }, + "final_grasp": { + "position": [ + -0.11985845118761063, + 0.11586952954530716, + 0.01562509685754776 + ], + "orientation": [ + 0.44725751876831055, + 0.3862045407295227, + 0.2703632414340973, + -0.760072648525238 + ], + "joints": [ + 0.0070240693166852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018803808838129044, + 0.18234840035438538, + 0.0002259240864077583 + ], + "orientation": [ + 0.04523102194070816, + 0.6681843400001526, + -0.009485509246587753, + -0.7425589561462402 + ], + "joints": [ + 0.0065572489984333515 + ] + }, + "fine_grasp": { + "position": [ + -0.01872478611767292, + 0.18135769665241241, + -0.0002632289833854884 + ], + "orientation": [ + 0.04547155648469925, + 0.6644843220710754, + -0.019202081486582756, + -0.7456703186035156 + ], + "joints": [ + 0.011897816322743893 + ] + }, + "final_grasp": { + "position": [ + -0.01872478611767292, + 0.18135769665241241, + -0.0002632289833854884 + ], + "orientation": [ + 0.04547155648469925, + 0.6644843220710754, + -0.019202081486582756, + -0.7456703186035156 + ], + "joints": [ + 0.01723838411271572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10596249997615814, + 0.12898042798042297, + 0.012690669856965542 + ], + "orientation": [ + 0.27895307540893555, + -0.720476508140564, + 0.3675295412540436, + 0.517707347869873 + ], + "joints": [ + 0.004510579165071249 + ] + }, + "fine_grasp": { + "position": [ + 0.10263887792825699, + 0.12712721526622772, + 0.014145062305033207 + ], + "orientation": [ + 0.2731567919254303, + -0.7356284260749817, + 0.3776382505893707, + 0.49155426025390625 + ], + "joints": [ + 0.008841488510370255 + ] + }, + "final_grasp": { + "position": [ + 0.10263887792825699, + 0.12712721526622772, + 0.014145062305033207 + ], + "orientation": [ + 0.2731567919254303, + -0.7356284260749817, + 0.3776382505893707, + 0.49155426025390625 + ], + "joints": [ + 0.013172397390007973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013464625924825668, + -0.18815408647060394, + -0.009418538771569729 + ], + "orientation": [ + 0.615967869758606, + 0.09293145686388016, + 0.7821044921875, + 0.016119742766022682 + ], + "joints": [ + 0.005137752741575241 + ] + }, + "fine_grasp": { + "position": [ + -0.013977720402181149, + -0.18716998398303986, + -0.010006698779761791 + ], + "orientation": [ + 0.6090887784957886, + 0.09253854304552078, + 0.7875124216079712, + 0.016484368592500687 + ], + "joints": [ + 0.01154111884534359 + ] + }, + "final_grasp": { + "position": [ + -0.013977720402181149, + -0.18716998398303986, + -0.010006698779761791 + ], + "orientation": [ + 0.6090887784957886, + 0.09253854304552078, + 0.7875124216079712, + 0.016484368592500687 + ], + "joints": [ + 0.01794448494911194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00029013652238063514, + -0.1834934651851654, + 0.0177694633603096 + ], + "orientation": [ + 0.7493050694465637, + -0.06796137243509293, + -0.6585973501205444, + -0.01314174197614193 + ], + "joints": [ + 0.0074668871238827705 + ] + }, + "fine_grasp": { + "position": [ + -0.0003923822077922523, + -0.18302014470100403, + 0.01890053227543831 + ], + "orientation": [ + 0.7494413256645203, + -0.06524591892957687, + -0.6588274240493774, + -0.005216375458985567 + ], + "joints": [ + 0.013338853605091572 + ] + }, + "final_grasp": { + "position": [ + -0.0003923822077922523, + -0.18302014470100403, + 0.01890053227543831 + ], + "orientation": [ + 0.7494413256645203, + -0.06524591892957687, + -0.6588274240493774, + -0.005216375458985567 + ], + "joints": [ + 0.0192108191549778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013263600412756205, + -0.1843806803226471, + 0.017148040235042572 + ], + "orientation": [ + 0.7489290237426758, + -0.0676952376961708, + -0.6589412093162537, + -0.01786402240395546 + ], + "joints": [ + 0.0074156830087304115 + ] + }, + "fine_grasp": { + "position": [ + -0.0013190875761210918, + -0.18398040533065796, + 0.01902712695300579 + ], + "orientation": [ + 0.7478432655334473, + -0.06479741632938385, + -0.6606733202934265, + -0.006511968094855547 + ], + "joints": [ + 0.013287649489939213 + ] + }, + "final_grasp": { + "position": [ + -0.0013190875761210918, + -0.18398040533065796, + 0.01902712695300579 + ], + "orientation": [ + 0.7478432655334473, + -0.06479741632938385, + -0.6606733202934265, + -0.006511968094855547 + ], + "joints": [ + 0.01915961503982544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03405655920505524, + -0.18777382373809814, + -0.02559414878487587 + ], + "orientation": [ + 0.6842350363731384, + -0.0009616233292035758, + 0.7048136591911316, + 0.18724098801612854 + ], + "joints": [ + 0.004314281977713108 + ] + }, + "fine_grasp": { + "position": [ + 0.03479292616248131, + -0.18701252341270447, + -0.026827452704310417 + ], + "orientation": [ + 0.689909815788269, + 0.0037136722821742296, + 0.6994372010231018, + 0.18654298782348633 + ], + "joints": [ + 0.010212819091975689 + ] + }, + "final_grasp": { + "position": [ + 0.03479292616248131, + -0.18701252341270447, + -0.026827452704310417 + ], + "orientation": [ + 0.689909815788269, + 0.0037136722821742296, + 0.6994372010231018, + 0.18654298782348633 + ], + "joints": [ + 0.016111355274915695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11784549057483673, + -0.09340058267116547, + 0.004485758487135172 + ], + "orientation": [ + 0.6018577218055725, + -0.37462860345840454, + 0.521032989025116, + 0.4753371775150299 + ], + "joints": [ + 0.008113671094179153 + ] + }, + "fine_grasp": { + "position": [ + 0.11791787296533585, + -0.09154941141605377, + 0.0044574677012860775 + ], + "orientation": [ + 0.6056850552558899, + -0.36856457591056824, + 0.5081362128257751, + 0.4889819324016571 + ], + "joints": [ + 0.012471150606870651 + ] + }, + "final_grasp": { + "position": [ + 0.11791787296533585, + -0.09154941141605377, + 0.0044574677012860775 + ], + "orientation": [ + 0.6056850552558899, + -0.36856457591056824, + 0.5081362128257751, + 0.4889819324016571 + ], + "joints": [ + 0.01682863011956215 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2029, + "num_passed": 62 + } +} \ No newline at end of file diff --git a/clutter_hammer_00000/Annotation/piper_grasp_pose.json b/clutter_hammer_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..95ff5a3cba56f6110171d52abbf514668f6d2782 --- /dev/null +++ b/clutter_hammer_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,8368 @@ +{ + "type": "clutter_hammer_00000", + "bottom_center": [ + -0.0008765924721956253, + -0.003462664783000946, + 0.00027888742624782026 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0055602495558559895, + -0.04975408688187599, + 0.11708599328994751 + ], + "orientation": [ + 0.10019242018461227, + -0.6987730264663696, + 0.6957494020462036, + 0.13270503282546997 + ], + "joints": [ + 0.016372378915548325 + ] + }, + "fine_grasp": { + "position": [ + 0.005194873549044132, + -0.049587182700634, + 0.11289778351783752 + ], + "orientation": [ + 0.10081035643815994, + -0.6992064118385315, + 0.6953449249267578, + 0.13207246363162994 + ], + "joints": [ + 0.00843122974038124 + ] + }, + "final_grasp": { + "position": [ + 0.005194873549044132, + -0.049587182700634, + 0.11289778351783752 + ], + "orientation": [ + 0.10081035643815994, + -0.6992064118385315, + 0.6953449249267578, + 0.13207246363162994 + ], + "joints": [ + 0.0004900805652141571 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015087242238223553, + -0.010174320079386234, + 0.1245793029665947 + ], + "orientation": [ + 0.11071833223104477, + -0.6555406451225281, + 0.7465652823448181, + 0.025461958721280098 + ], + "joints": [ + 0.017491130158305168 + ] + }, + "fine_grasp": { + "position": [ + -0.014505002647638321, + -0.00970288272947073, + 0.12055455148220062 + ], + "orientation": [ + 0.11012889444828033, + -0.6371507048606873, + 0.7623956799507141, + 0.025754623115062714 + ], + "joints": [ + 0.008714070543646812 + ] + }, + "final_grasp": { + "position": [ + -0.014505002647638321, + -0.00970288272947073, + 0.12055455148220062 + ], + "orientation": [ + 0.11012889444828033, + -0.6371507048606873, + 0.7623956799507141, + 0.025754623115062714 + ], + "joints": [ + -6.298907101154327e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03108855150640011, + 0.007730916608124971, + 0.11300420016050339 + ], + "orientation": [ + 0.09903442114591599, + 0.6984050273895264, + 0.7006257772445679, + 0.10745272040367126 + ], + "joints": [ + 0.01729469560086727 + ] + }, + "fine_grasp": { + "position": [ + -0.030645394697785378, + 0.007608997635543346, + 0.11066636443138123 + ], + "orientation": [ + 0.0993429571390152, + 0.699134886264801, + 0.6997956037521362, + 0.10783065110445023 + ], + "joints": [ + 0.00809968076646328 + ] + }, + "final_grasp": { + "position": [ + -0.030645394697785378, + 0.007608997635543346, + 0.11066636443138123 + ], + "orientation": [ + 0.0993429571390152, + 0.699134886264801, + 0.6997956037521362, + 0.10783065110445023 + ], + "joints": [ + -0.001095334067940712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03159497678279877, + 0.00747962761670351, + 0.1151922270655632 + ], + "orientation": [ + 0.10083775967359543, + 0.6997058391571045, + 0.6996700763702393, + 0.10346604883670807 + ], + "joints": [ + 0.0168538149446249 + ] + }, + "fine_grasp": { + "position": [ + -0.029823819175362587, + 0.007208250928670168, + 0.11195680499076843 + ], + "orientation": [ + 0.09811875969171524, + 0.7014735341072083, + 0.698501706123352, + 0.10199515521526337 + ], + "joints": [ + 0.008494710549712181 + ] + }, + "final_grasp": { + "position": [ + -0.029823819175362587, + 0.007208250928670168, + 0.11195680499076843 + ], + "orientation": [ + 0.09811875969171524, + 0.7014735341072083, + 0.698501706123352, + 0.10199515521526337 + ], + "joints": [ + 0.00013560615479946136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014769048430025578, + -0.03444758430123329, + 0.1179945096373558 + ], + "orientation": [ + 0.12187056988477707, + -0.6973773837089539, + 0.7057955265045166, + 0.025786615908145905 + ], + "joints": [ + 0.017205115407705307 + ] + }, + "fine_grasp": { + "position": [ + -0.013992154970765114, + -0.034710634499788284, + 0.11395788937807083 + ], + "orientation": [ + 0.12232235819101334, + -0.6878906488418579, + 0.714832603931427, + 0.029291275888681412 + ], + "joints": [ + 0.008846011012792587 + ] + }, + "final_grasp": { + "position": [ + -0.013992154970765114, + -0.034710634499788284, + 0.11395788937807083 + ], + "orientation": [ + 0.12232235819101334, + -0.6878906488418579, + 0.714832603931427, + 0.029291275888681412 + ], + "joints": [ + 0.00048690661787986755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009891172870993614, + 0.02635473571717739, + 0.1161591112613678 + ], + "orientation": [ + 0.010326649062335491, + 0.7060900330543518, + 0.704716682434082, + -0.06858968734741211 + ], + "joints": [ + 0.01809065416455269 + ] + }, + "fine_grasp": { + "position": [ + 0.011828102171421051, + 0.029645314440131187, + 0.11417483538389206 + ], + "orientation": [ + 0.018711911514401436, + 0.6876406073570251, + 0.7216765284538269, + -0.077350914478302 + ], + "joints": [ + 0.011821325868368149 + ] + }, + "final_grasp": { + "position": [ + 0.011828102171421051, + 0.029645314440131187, + 0.11417483538389206 + ], + "orientation": [ + 0.018711911514401436, + 0.6876406073570251, + 0.7216765284538269, + -0.077350914478302 + ], + "joints": [ + 0.005551997572183609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019033491611480713, + -0.03382003679871559, + -0.09405803680419922 + ], + "orientation": [ + 0.7132224440574646, + -0.12390602380037308, + 0.007861520163714886, + -0.6898544430732727 + ], + "joints": [ + 0.01820956915616989 + ] + }, + "fine_grasp": { + "position": [ + -0.018586697056889534, + -0.03450700640678406, + -0.09284896403551102 + ], + "orientation": [ + 0.7133709788322449, + -0.12514330446720123, + 0.005703382659703493, + -0.689498782157898 + ], + "joints": [ + 0.0090145543217659 + ] + }, + "final_grasp": { + "position": [ + -0.018586697056889534, + -0.03450700640678406, + -0.09284896403551102 + ], + "orientation": [ + 0.7133709788322449, + -0.12514330446720123, + 0.005703382659703493, + -0.689498782157898 + ], + "joints": [ + -0.00018046051263809204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00965147465467453, + 0.02599601075053215, + 0.11524002999067307 + ], + "orientation": [ + 0.009626427665352821, + 0.7020548582077026, + 0.708748459815979, + -0.06857150793075562 + ], + "joints": [ + 0.018557611852884293 + ] + }, + "fine_grasp": { + "position": [ + 0.011418753303587437, + 0.029697010293602943, + 0.1138458400964737 + ], + "orientation": [ + 0.020108183845877647, + 0.6840746998786926, + 0.7249387502670288, + -0.07811163365840912 + ], + "joints": [ + 0.012288283556699753 + ] + }, + "final_grasp": { + "position": [ + 0.011418753303587437, + 0.029697010293602943, + 0.1138458400964737 + ], + "orientation": [ + 0.020108183845877647, + 0.6840746998786926, + 0.7249387502670288, + -0.07811163365840912 + ], + "joints": [ + 0.006018955260515213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018536696210503578, + -0.03500723838806152, + -0.09400361776351929 + ], + "orientation": [ + 0.7114675045013428, + -0.10509342700242996, + 0.022856377065181732, + -0.6944401264190674 + ], + "joints": [ + 0.0186384879052639 + ] + }, + "fine_grasp": { + "position": [ + -0.018290868028998375, + -0.03562221676111221, + -0.09329093247652054 + ], + "orientation": [ + 0.7116379737854004, + -0.10584263503551483, + 0.02101752907037735, + -0.6942096948623657 + ], + "joints": [ + 0.009025517851114273 + ] + }, + "final_grasp": { + "position": [ + -0.018290868028998375, + -0.03562221676111221, + -0.09329093247652054 + ], + "orientation": [ + 0.7116379737854004, + -0.10584263503551483, + 0.02101752907037735, + -0.6942096948623657 + ], + "joints": [ + -0.0005874522030353546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018077535554766655, + -0.04679156467318535, + 0.1102650985121727 + ], + "orientation": [ + 0.20634157955646515, + -0.7083983421325684, + 0.670289158821106, + 0.07941897213459015 + ], + "joints": [ + 0.017084963619709015 + ] + }, + "fine_grasp": { + "position": [ + -0.017165208235383034, + -0.04768757149577141, + 0.10651374608278275 + ], + "orientation": [ + 0.2101750671863556, + -0.710719108581543, + 0.6662057042121887, + 0.08291419595479965 + ], + "joints": [ + 0.008725859224796295 + ] + }, + "final_grasp": { + "position": [ + -0.017165208235383034, + -0.04768757149577141, + 0.10651374608278275 + ], + "orientation": [ + 0.2101750671863556, + -0.710719108581543, + 0.6662057042121887, + 0.08291419595479965 + ], + "joints": [ + 0.00036675482988357544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006663731299340725, + -0.037842027842998505, + 0.119155652821064 + ], + "orientation": [ + 0.1346653550863266, + -0.7212907671928406, + -0.6739900708198547, + -0.08568785339593887 + ], + "joints": [ + 0.016339097172021866 + ] + }, + "fine_grasp": { + "position": [ + 0.006360507104545832, + -0.03739113733172417, + 0.11499882489442825 + ], + "orientation": [ + 0.13402116298675537, + -0.7354283928871155, + -0.6590119004249573, + -0.08298631757497787 + ], + "joints": [ + 0.008397947996854782 + ] + }, + "final_grasp": { + "position": [ + 0.006360507104545832, + -0.03739113733172417, + 0.11499882489442825 + ], + "orientation": [ + 0.13402116298675537, + -0.7354283928871155, + -0.6590119004249573, + -0.08298631757497787 + ], + "joints": [ + 0.00045679882168769836 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031169965863227844, + 0.007707525976002216, + 0.11259331554174423 + ], + "orientation": [ + 0.10046441853046417, + 0.6984296441078186, + 0.7003554701805115, + 0.1077272966504097 + ], + "joints": [ + 0.01743417978286743 + ] + }, + "fine_grasp": { + "position": [ + -0.030616484582424164, + 0.007555499207228422, + 0.11043418198823929 + ], + "orientation": [ + 0.10121025890111923, + 0.6990203261375427, + 0.6995106339454651, + 0.10868249088525772 + ], + "joints": [ + 0.00823916494846344 + ] + }, + "final_grasp": { + "position": [ + -0.030616484582424164, + 0.007555499207228422, + 0.11043418198823929 + ], + "orientation": [ + 0.10121025890111923, + 0.6990203261375427, + 0.6995106339454651, + 0.10868249088525772 + ], + "joints": [ + -0.0009558498859405518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008343120105564594, + 0.023888161405920982, + 0.11660737544298172 + ], + "orientation": [ + 0.02292151376605034, + 0.7287111878395081, + 0.6806804537773132, + -0.07161449640989304 + ], + "joints": [ + 0.017528772354125977 + ] + }, + "fine_grasp": { + "position": [ + 0.007776702754199505, + 0.024716811254620552, + 0.11373525112867355 + ], + "orientation": [ + 0.02893558330833912, + 0.7412490248680115, + 0.6665062308311462, + -0.07404035329818726 + ], + "joints": [ + 0.008333757519721985 + ] + }, + "final_grasp": { + "position": [ + 0.007776702754199505, + 0.024716811254620552, + 0.11373525112867355 + ], + "orientation": [ + 0.02893558330833912, + 0.7412490248680115, + 0.6665062308311462, + -0.07404035329818726 + ], + "joints": [ + -0.0008612573146820068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03118348866701126, + 0.007722526788711548, + 0.11180705577135086 + ], + "orientation": [ + 0.10159047693014145, + 0.6967668533325195, + 0.7017266154289246, + 0.1085134744644165 + ], + "joints": [ + 0.017753826454281807 + ] + }, + "fine_grasp": { + "position": [ + -0.0302665363997221, + 0.006877423729747534, + 0.11017438769340515 + ], + "orientation": [ + 0.0980706587433815, + 0.6971414089202881, + 0.7016592025756836, + 0.10977424681186676 + ], + "joints": [ + 0.008558811619877815 + ] + }, + "final_grasp": { + "position": [ + -0.0302665363997221, + 0.006877423729747534, + 0.11017438769340515 + ], + "orientation": [ + 0.0980706587433815, + 0.6971414089202881, + 0.7016592025756836, + 0.10977424681186676 + ], + "joints": [ + -0.0006362032145261765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015472931787371635, + -0.009928122162818909, + 0.12423216551542282 + ], + "orientation": [ + 0.11193801462650299, + -0.6553736925125122, + 0.746565580368042, + 0.024391530081629753 + ], + "joints": [ + 0.01764095574617386 + ] + }, + "fine_grasp": { + "position": [ + -0.014872168190777302, + -0.009469633921980858, + 0.1202092319726944 + ], + "orientation": [ + 0.11149261146783829, + -0.63709956407547, + 0.7622750997543335, + 0.024706007912755013 + ], + "joints": [ + 0.008863896131515503 + ] + }, + "final_grasp": { + "position": [ + -0.014872168190777302, + -0.009469633921980858, + 0.1202092319726944 + ], + "orientation": [ + 0.11149261146783829, + -0.63709956407547, + 0.7622750997543335, + 0.024706007912755013 + ], + "joints": [ + 8.683651685714722e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005043229553848505, + 0.015892628580331802, + -0.09523583948612213 + ], + "orientation": [ + 0.749294638633728, + 0.06022952124476433, + -0.0817958191037178, + 0.6543999314308167 + ], + "joints": [ + 0.01857825554907322 + ] + }, + "fine_grasp": { + "position": [ + 0.005125842522829771, + 0.01648523285984993, + -0.09393371641635895 + ], + "orientation": [ + 0.7513150572776794, + 0.06334333121776581, + -0.08405353873968124, + 0.6514970064163208 + ], + "joints": [ + 0.009383240714669228 + ] + }, + "final_grasp": { + "position": [ + 0.005125842522829771, + 0.01648523285984993, + -0.09393371641635895 + ], + "orientation": [ + 0.7513150572776794, + 0.06334333121776581, + -0.08405353873968124, + 0.6514970064163208 + ], + "joints": [ + 0.0001882258802652359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00404169037938118, + -0.032629914581775665, + 0.12376560270786285 + ], + "orientation": [ + 0.023433726280927658, + -0.6857931613922119, + 0.7274172306060791, + -0.0016632020706310868 + ], + "joints": [ + 0.016869310289621353 + ] + }, + "fine_grasp": { + "position": [ + -0.003748162416741252, + -0.032609786838293076, + 0.11958662420511246 + ], + "orientation": [ + 0.023456444963812828, + -0.6660090088844299, + 0.7455729246139526, + -0.0017350611742585897 + ], + "joints": [ + 0.00892816111445427 + ] + }, + "final_grasp": { + "position": [ + -0.003748162416741252, + -0.032609786838293076, + 0.11958662420511246 + ], + "orientation": [ + 0.023456444963812828, + -0.6660090088844299, + 0.7455729246139526, + -0.0017350611742585897 + ], + "joints": [ + 0.0009870119392871857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004048070404678583, + -0.03270001709461212, + 0.12385113537311554 + ], + "orientation": [ + 0.023230725899338722, + -0.6856660842895508, + 0.7275428175926208, + -0.0019310005009174347 + ], + "joints": [ + 0.016869310289621353 + ] + }, + "fine_grasp": { + "position": [ + -0.003758846316486597, + -0.032678041607141495, + 0.11967180669307709 + ], + "orientation": [ + 0.023248396813869476, + -0.6660269498825073, + 0.7455627918243408, + -0.0019392429385334253 + ], + "joints": [ + 0.00892816111445427 + ] + }, + "final_grasp": { + "position": [ + -0.003758846316486597, + -0.032678041607141495, + 0.11967180669307709 + ], + "orientation": [ + 0.023248396813869476, + -0.6660269498825073, + 0.7455627918243408, + -0.0019392429385334253 + ], + "joints": [ + 0.0009870119392871857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004068763926625252, + -0.03262211009860039, + 0.12399398535490036 + ], + "orientation": [ + 0.02360510267317295, + -0.6856493949890137, + 0.7275447249412537, + -0.0025740761775523424 + ], + "joints": [ + 0.017309263348579407 + ] + }, + "fine_grasp": { + "position": [ + -0.003732037264853716, + -0.03260062262415886, + 0.11982530355453491 + ], + "orientation": [ + 0.02338111214339733, + -0.665694534778595, + 0.7458541989326477, + -0.0023619551211595535 + ], + "joints": [ + 0.008950158953666687 + ] + }, + "final_grasp": { + "position": [ + -0.003732037264853716, + -0.03260062262415886, + 0.11982530355453491 + ], + "orientation": [ + 0.02338111214339733, + -0.665694534778595, + 0.7458541989326477, + -0.0023619551211595535 + ], + "joints": [ + 0.0005910545587539673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04240827262401581, + 0.017591729760169983, + -0.10228152573108673 + ], + "orientation": [ + 0.6932751536369324, + -0.0858832448720932, + -0.1557971090078354, + 0.6983702182769775 + ], + "joints": [ + 0.019608739763498306 + ] + }, + "fine_grasp": { + "position": [ + 0.041731707751750946, + 0.01841052435338497, + -0.09815209358930588 + ], + "orientation": [ + 0.6915927529335022, + -0.0863775983452797, + -0.1505851298570633, + 0.7011152505874634 + ], + "joints": [ + 0.011667590588331223 + ] + }, + "final_grasp": { + "position": [ + 0.041731707751750946, + 0.01841052435338497, + -0.09815209358930588 + ], + "orientation": [ + 0.6915927529335022, + -0.0863775983452797, + -0.1505851298570633, + 0.7011152505874634 + ], + "joints": [ + 0.003726441413164139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01007978618144989, + 0.09413602203130722, + 0.1253950595855713 + ], + "orientation": [ + 0.10753968358039856, + 0.6024482250213623, + 0.7798752784729004, + -0.13147570192813873 + ], + "joints": [ + 0.030808888375759125 + ] + }, + "fine_grasp": { + "position": [ + 0.009267088025808334, + 0.09371210634708405, + 0.12167420238256454 + ], + "orientation": [ + 0.09881051629781723, + 0.6160430312156677, + 0.7708479166030884, + -0.12853378057479858 + ], + "joints": [ + 0.023285694420337677 + ] + }, + "final_grasp": { + "position": [ + 0.009267088025808334, + 0.09371210634708405, + 0.12167420238256454 + ], + "orientation": [ + 0.09881051629781723, + 0.6160430312156677, + 0.7708479166030884, + -0.12853378057479858 + ], + "joints": [ + 0.01576250046491623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04255780950188637, + 0.017842620611190796, + -0.10240872949361801 + ], + "orientation": [ + 0.6938530206680298, + -0.08738169074058533, + -0.15517769753932953, + 0.697748064994812 + ], + "joints": [ + 0.019607719033956528 + ] + }, + "fine_grasp": { + "position": [ + 0.04185676574707031, + 0.018642572686076164, + -0.09831485897302628 + ], + "orientation": [ + 0.6922651529312134, + -0.0878213495016098, + -0.15012319386005402, + 0.7003709077835083 + ], + "joints": [ + 0.011666569858789444 + ] + }, + "final_grasp": { + "position": [ + 0.04185676574707031, + 0.018642572686076164, + -0.09831485897302628 + ], + "orientation": [ + 0.6922651529312134, + -0.0878213495016098, + -0.15012319386005402, + 0.7003709077835083 + ], + "joints": [ + 0.0037254206836223602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02535734884440899, + 0.02584264427423477, + -0.09594601392745972 + ], + "orientation": [ + 0.7420069575309753, + 0.12614195048809052, + -0.029186436906456947, + -0.6577704548835754 + ], + "joints": [ + 0.0202077217400074 + ] + }, + "fine_grasp": { + "position": [ + 0.0270159300416708, + 0.028663480654358864, + -0.09352226555347443 + ], + "orientation": [ + 0.754224419593811, + 0.13092714548110962, + -0.029693325981497765, + -0.6427456736564636 + ], + "joints": [ + 0.013081584125757217 + ] + }, + "final_grasp": { + "position": [ + 0.0270159300416708, + 0.028663480654358864, + -0.09352226555347443 + ], + "orientation": [ + 0.754224419593811, + 0.13092714548110962, + -0.029693325981497765, + -0.6427456736564636 + ], + "joints": [ + 0.005955446511507034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03480391204357147, + -0.01713228039443493, + -0.09039478003978729 + ], + "orientation": [ + 0.7368030548095703, + -0.18715357780456543, + 0.05516532063484192, + -0.6473419666290283 + ], + "joints": [ + 0.017892230302095413 + ] + }, + "fine_grasp": { + "position": [ + -0.033715859055519104, + -0.017901277169585228, + -0.08862421661615372 + ], + "orientation": [ + 0.7387232184410095, + -0.18850918114185333, + 0.05330529063940048, + -0.644911527633667 + ], + "joints": [ + 0.008697215467691422 + ] + }, + "final_grasp": { + "position": [ + -0.033715859055519104, + -0.017901277169585228, + -0.08862421661615372 + ], + "orientation": [ + 0.7387232184410095, + -0.18850918114185333, + 0.05330529063940048, + -0.644911527633667 + ], + "joints": [ + -0.0004977993667125702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03490842878818512, + -0.017358040437102318, + -0.09065141528844833 + ], + "orientation": [ + 0.7414731979370117, + -0.18615172803401947, + 0.05689704045653343, + -0.6421275734901428 + ], + "joints": [ + 0.017842452973127365 + ] + }, + "fine_grasp": { + "position": [ + -0.03373755142092705, + -0.018053170293569565, + -0.08870349824428558 + ], + "orientation": [ + 0.7440000772476196, + -0.1873294711112976, + 0.05548875406384468, + -0.6389776468276978 + ], + "joints": [ + 0.008647438138723373 + ] + }, + "final_grasp": { + "position": [ + -0.03373755142092705, + -0.018053170293569565, + -0.08870349824428558 + ], + "orientation": [ + 0.7440000772476196, + -0.1873294711112976, + 0.05548875406384468, + -0.6389776468276978 + ], + "joints": [ + -0.0005475766956806183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015730196610093117, + -0.028760982677340508, + -0.11427807807922363 + ], + "orientation": [ + 0.6334749460220337, + -0.1289011687040329, + -0.03974538668990135, + -0.761914849281311 + ], + "joints": [ + 0.020340176299214363 + ] + }, + "fine_grasp": { + "position": [ + -0.015763426199555397, + -0.02858377993106842, + -0.11033114045858383 + ], + "orientation": [ + 0.6330552697181702, + -0.12359652668237686, + -0.039842065423727036, + -0.7631365656852722 + ], + "joints": [ + 0.009536037221550941 + ] + }, + "final_grasp": { + "position": [ + -0.015763426199555397, + -0.02858377993106842, + -0.11033114045858383 + ], + "orientation": [ + 0.6330552697181702, + -0.12359652668237686, + -0.039842065423727036, + -0.7631365656852722 + ], + "joints": [ + -0.0012681018561124802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03533301129937172, + -0.01727321930229664, + -0.09100016206502914 + ], + "orientation": [ + 0.7395420074462891, + -0.1880965679883957, + 0.05687235668301582, + -0.6437878608703613 + ], + "joints": [ + 0.0175648033618927 + ] + }, + "fine_grasp": { + "position": [ + -0.03418390452861786, + -0.01792788878083229, + -0.0888124629855156 + ], + "orientation": [ + 0.742531418800354, + -0.18951982259750366, + 0.05643212050199509, + -0.6399568319320679 + ], + "joints": [ + 0.008787743747234344 + ] + }, + "final_grasp": { + "position": [ + -0.03418390452861786, + -0.01792788878083229, + -0.0888124629855156 + ], + "orientation": [ + 0.742531418800354, + -0.18951982259750366, + 0.05643212050199509, + -0.6399568319320679 + ], + "joints": [ + 1.068413257598877e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019314905628561974, + 0.017194529995322227, + -0.09935097396373749 + ], + "orientation": [ + 0.7514605522155762, + -0.05027312785387039, + -0.07315774261951447, + -0.6537793874740601 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.018442431464791298, + 0.017678383737802505, + -0.09612759947776794 + ], + "orientation": [ + 0.762148380279541, + -0.052811652421951294, + -0.07052931934595108, + -0.6413785219192505 + ], + "joints": [ + 0.022100139409303665 + ] + }, + "final_grasp": { + "position": [ + 0.018442431464791298, + 0.017678383737802505, + -0.09612759947776794 + ], + "orientation": [ + 0.762148380279541, + -0.052811652421951294, + -0.07052931934595108, + -0.6413785219192505 + ], + "joints": [ + 0.012905124574899673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056053515523672104, + -0.06729982793331146, + -0.08596589416265488 + ], + "orientation": [ + 0.6552698612213135, + 0.03685804456472397, + -0.3173244893550873, + -0.6845203638076782 + ], + "joints": [ + 0.017851144075393677 + ] + }, + "fine_grasp": { + "position": [ + 0.05412856489419937, + -0.06676358729600906, + -0.08247143030166626 + ], + "orientation": [ + 0.6570873260498047, + 0.03889528289437294, + -0.31421321630477905, + -0.6841005086898804 + ], + "joints": [ + 0.008656129240989685 + ] + }, + "final_grasp": { + "position": [ + 0.05412856489419937, + -0.06676358729600906, + -0.08247143030166626 + ], + "orientation": [ + 0.6570873260498047, + 0.03889528289437294, + -0.31421321630477905, + -0.6841005086898804 + ], + "joints": [ + -0.0005388855934143066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027318820357322693, + -0.03962819650769234, + 0.11098077893257141 + ], + "orientation": [ + 0.017919110134243965, + -0.7350900769233704, + -0.6509525775909424, + -0.18863223493099213 + ], + "joints": [ + 0.018202051520347595 + ] + }, + "fine_grasp": { + "position": [ + -0.026549482718110085, + -0.04081631451845169, + 0.10750145465135574 + ], + "orientation": [ + 0.027783039957284927, + -0.748269259929657, + -0.6342555284500122, + -0.19246071577072144 + ], + "joints": [ + 0.00942499190568924 + ] + }, + "final_grasp": { + "position": [ + -0.026549482718110085, + -0.04081631451845169, + 0.10750145465135574 + ], + "orientation": [ + 0.027783039957284927, + -0.748269259929657, + -0.6342555284500122, + -0.19246071577072144 + ], + "joints": [ + 0.0006479322910308838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05251883342862129, + -0.035444844514131546, + 0.11264357715845108 + ], + "orientation": [ + 0.06890272349119186, + 0.6913877725601196, + -0.6743848323822021, + -0.24988070130348206 + ], + "joints": [ + 0.01710233837366104 + ] + }, + "fine_grasp": { + "position": [ + 0.050711408257484436, + -0.034906867891550064, + 0.10912496596574783 + ], + "orientation": [ + 0.06759382039308548, + 0.6995607614517212, + -0.6669843196868896, + -0.2473415583372116 + ], + "joints": [ + 0.00790732353925705 + ] + }, + "final_grasp": { + "position": [ + 0.050711408257484436, + -0.034906867891550064, + 0.10912496596574783 + ], + "orientation": [ + 0.06759382039308548, + 0.6995607614517212, + -0.6669843196868896, + -0.2473415583372116 + ], + "joints": [ + -0.0012876912951469421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0009838081896305084, + -0.06707805395126343, + 0.12772643566131592 + ], + "orientation": [ + 0.0800945907831192, + -0.7034238576889038, + -0.7019013166427612, + -0.0781937912106514 + ], + "joints": [ + 0.01825863867998123 + ] + }, + "fine_grasp": { + "position": [ + 0.0009644218371249735, + -0.06654423475265503, + 0.12384867668151855 + ], + "orientation": [ + 0.07784093916416168, + -0.724269688129425, + -0.6811012625694275, + -0.07399420440196991 + ], + "joints": [ + 0.008645668625831604 + ] + }, + "final_grasp": { + "position": [ + 0.0009644218371249735, + -0.06654423475265503, + 0.12384867668151855 + ], + "orientation": [ + 0.07784093916416168, + -0.724269688129425, + -0.6811012625694275, + -0.07399420440196991 + ], + "joints": [ + -0.0009673014283180237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02812287211418152, + -0.04101557657122612, + 0.11220379918813705 + ], + "orientation": [ + 0.017344050109386444, + -0.7361434698104858, + -0.6494100093841553, + -0.18989123404026031 + ], + "joints": [ + 0.017880529165267944 + ] + }, + "fine_grasp": { + "position": [ + -0.02746111899614334, + -0.04206192493438721, + 0.1085764542222023 + ], + "orientation": [ + 0.0252218097448349, + -0.7489305138587952, + -0.6332306861877441, + -0.1936122477054596 + ], + "joints": [ + 0.009521424770355225 + ] + }, + "final_grasp": { + "position": [ + -0.02746111899614334, + -0.04206192493438721, + 0.1085764542222023 + ], + "orientation": [ + 0.0252218097448349, + -0.7489305138587952, + -0.6332306861877441, + -0.1936122477054596 + ], + "joints": [ + 0.0011623203754425049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04814676195383072, + -0.048329733312129974, + -0.09320436418056488 + ], + "orientation": [ + 0.6569240093231201, + 0.09593639522790909, + 0.21965371072292328, + 0.7148421406745911 + ], + "joints": [ + 0.0163656547665596 + ] + }, + "fine_grasp": { + "position": [ + -0.04647539556026459, + -0.04804295673966408, + -0.08940175175666809 + ], + "orientation": [ + 0.6569675803184509, + 0.09602966904640198, + 0.21769990026950836, + 0.7153870463371277 + ], + "joints": [ + 0.008006550371646881 + ] + }, + "final_grasp": { + "position": [ + -0.04647539556026459, + -0.04804295673966408, + -0.08940175175666809 + ], + "orientation": [ + 0.6569675803184509, + 0.09602966904640198, + 0.21769990026950836, + 0.7153870463371277 + ], + "joints": [ + -0.0003525540232658386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05066780000925064, + -0.010176153853535652, + 0.11028460413217545 + ], + "orientation": [ + 0.19968897104263306, + -0.7108427286148071, + -0.6635086536407471, + 0.12076058983802795 + ], + "joints": [ + 0.01663917303085327 + ] + }, + "fine_grasp": { + "position": [ + 0.04874875396490097, + -0.010045207105576992, + 0.1065925806760788 + ], + "orientation": [ + 0.1984928846359253, + -0.7171201705932617, + -0.6565714478492737, + 0.12350405752658844 + ], + "joints": [ + 0.008280068635940552 + ] + }, + "final_grasp": { + "position": [ + 0.04874875396490097, + -0.010045207105576992, + 0.1065925806760788 + ], + "orientation": [ + 0.1984928846359253, + -0.7171201705932617, + -0.6565714478492737, + 0.12350405752658844 + ], + "joints": [ + -7.903575897216797e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055479712784290314, + -0.06793186068534851, + -0.0853947177529335 + ], + "orientation": [ + 0.6627895832061768, + 0.0375610813498497, + -0.31403881311416626, + -0.6787331104278564 + ], + "joints": [ + 0.01742258295416832 + ] + }, + "fine_grasp": { + "position": [ + 0.05350832641124725, + -0.06738583743572235, + -0.08186054229736328 + ], + "orientation": [ + 0.664762556552887, + 0.03874791041016579, + -0.3113431930541992, + -0.6779784560203552 + ], + "joints": [ + 0.008645523339509964 + ] + }, + "final_grasp": { + "position": [ + 0.05350832641124725, + -0.06738583743572235, + -0.08186054229736328 + ], + "orientation": [ + 0.664762556552887, + 0.03874791041016579, + -0.3113431930541992, + -0.6779784560203552 + ], + "joints": [ + -0.00013153627514839172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05465969815850258, + -0.021878652274608612, + 0.10938429832458496 + ], + "orientation": [ + 0.11027619242668152, + 0.6605165004730225, + 0.7033259272575378, + 0.2385157346725464 + ], + "joints": [ + 0.016783233731985092 + ] + }, + "fine_grasp": { + "position": [ + -0.05264552682638168, + -0.021459432318806648, + 0.10593186318874359 + ], + "orientation": [ + 0.11074642837047577, + 0.6614837646484375, + 0.7027820348739624, + 0.23721688985824585 + ], + "joints": [ + 0.0075882188975811005 + ] + }, + "final_grasp": { + "position": [ + -0.05264552682638168, + -0.021459432318806648, + 0.10593186318874359 + ], + "orientation": [ + 0.11074642837047577, + 0.6614837646484375, + 0.7027820348739624, + 0.23721688985824585 + ], + "joints": [ + -0.0016067959368228912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06628596782684326, + -0.05478864535689354, + 0.11594714969396591 + ], + "orientation": [ + 0.270363450050354, + -0.6464298367500305, + 0.7052880525588989, + -0.10770734399557114 + ], + "joints": [ + 0.018111467361450195 + ] + }, + "fine_grasp": { + "position": [ + -0.06414815783500671, + -0.05425122007727623, + 0.11262617260217667 + ], + "orientation": [ + 0.26817649602890015, + -0.6403276920318604, + 0.7113564014434814, + -0.10969959944486618 + ], + "joints": [ + 0.008498497307300568 + ] + }, + "final_grasp": { + "position": [ + -0.06414815783500671, + -0.05425122007727623, + 0.11262617260217667 + ], + "orientation": [ + 0.26817649602890015, + -0.6403276920318604, + 0.7113564014434814, + -0.10969959944486618 + ], + "joints": [ + -0.00111447274684906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05000055953860283, + -0.009508771821856499, + 0.1096731424331665 + ], + "orientation": [ + 0.20056647062301636, + -0.7066442370414734, + -0.668207585811615, + 0.11800727993249893 + ], + "joints": [ + 0.016190186142921448 + ] + }, + "fine_grasp": { + "position": [ + 0.04800111800432205, + -0.009464362636208534, + 0.10598159581422806 + ], + "orientation": [ + 0.20044174790382385, + -0.7115263938903809, + -0.662553608417511, + 0.12073049694299698 + ], + "joints": [ + 0.007831081748008728 + ] + }, + "final_grasp": { + "position": [ + 0.04800111800432205, + -0.009464362636208534, + 0.10598159581422806 + ], + "orientation": [ + 0.20044174790382385, + -0.7115263938903809, + -0.662553608417511, + 0.12073049694299698 + ], + "joints": [ + -0.0005280226469039917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05033986270427704, + -0.010062651708722115, + 0.11087173968553543 + ], + "orientation": [ + 0.19833646714687347, + -0.7080335021018982, + -0.6668103933334351, + 0.12130571901798248 + ], + "joints": [ + 0.01577187329530716 + ] + }, + "fine_grasp": { + "position": [ + 0.048331424593925476, + -0.009934347122907639, + 0.10718930512666702 + ], + "orientation": [ + 0.19620004296302795, + -0.7131351232528687, + -0.6617542505264282, + 0.12257727235555649 + ], + "joints": [ + 0.007830724120140076 + ] + }, + "final_grasp": { + "position": [ + 0.048331424593925476, + -0.009934347122907639, + 0.10718930512666702 + ], + "orientation": [ + 0.19620004296302795, + -0.7131351232528687, + -0.6617542505264282, + 0.12257727235555649 + ], + "joints": [ + -0.00011042505502700806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005110933445394039, + 0.0013459263136610389, + 0.11559368669986725 + ], + "orientation": [ + 0.02256319485604763, + 0.6516446471214294, + -0.7581588625907898, + -0.006734740920364857 + ], + "joints": [ + 0.01857781410217285 + ] + }, + "fine_grasp": { + "position": [ + 0.004801269620656967, + 0.0013885459629818797, + 0.1142495647072792 + ], + "orientation": [ + 0.02269294671714306, + 0.6383004188537598, + -0.7694368362426758, + -0.004944101441651583 + ], + "joints": [ + 0.00856778770685196 + ] + }, + "final_grasp": { + "position": [ + 0.004801269620656967, + 0.0013885459629818797, + 0.1142495647072792 + ], + "orientation": [ + 0.02269294671714306, + 0.6383004188537598, + -0.7694368362426758, + -0.004944101441651583 + ], + "joints": [ + -0.001442238688468933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0044667888432741165, + 0.06981409341096878, + -0.11169774830341339 + ], + "orientation": [ + 0.46561309695243835, + 0.002988257445394993, + -0.025546744465827942, + 0.8846144080162048 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.0034897257573902607, + 0.06920644640922546, + -0.10754898935556412 + ], + "orientation": [ + 0.47102081775665283, + 0.0034334282390773296, + -0.029283899813890457, + 0.8816292881965637 + ], + "joints": [ + 0.021390359848737717 + ] + }, + "final_grasp": { + "position": [ + 0.0034897257573902607, + 0.06920644640922546, + -0.10754898935556412 + ], + "orientation": [ + 0.47102081775665283, + 0.0034334282390773296, + -0.029283899813890457, + 0.8816292881965637 + ], + "joints": [ + 0.014264222234487534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05457065626978874, + -0.02193090133368969, + 0.10951811075210571 + ], + "orientation": [ + 0.112014040350914, + 0.6590214371681213, + 0.7047218680381775, + 0.23771938681602478 + ], + "joints": [ + 0.017051124945282936 + ] + }, + "fine_grasp": { + "position": [ + -0.0525883249938488, + -0.02156938426196575, + 0.1060323491692543 + ], + "orientation": [ + 0.11259396374225616, + 0.6596914529800415, + 0.7046979069709778, + 0.23564939200878143 + ], + "joints": [ + 0.007856110110878944 + ] + }, + "final_grasp": { + "position": [ + -0.0525883249938488, + -0.02156938426196575, + 0.1060323491692543 + ], + "orientation": [ + 0.11259396374225616, + 0.6596914529800415, + 0.7046979069709778, + 0.23564939200878143 + ], + "joints": [ + -0.0013389047235250473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008588206022977829, + -0.0724477469921112, + -0.09700553864240646 + ], + "orientation": [ + 0.743333637714386, + -0.03568636626005173, + 0.09123126417398453, + 0.6617087125778198 + ], + "joints": [ + 0.01877528429031372 + ] + }, + "fine_grasp": { + "position": [ + -0.008258610032498837, + -0.07307592779397964, + -0.09467840194702148 + ], + "orientation": [ + 0.748349666595459, + -0.03745930269360542, + 0.09282767027616501, + 0.6557077765464783 + ], + "joints": [ + 0.009998224675655365 + ] + }, + "final_grasp": { + "position": [ + -0.008258610032498837, + -0.07307592779397964, + -0.09467840194702148 + ], + "orientation": [ + 0.748349666595459, + -0.03745930269360542, + 0.09282767027616501, + 0.6557077765464783 + ], + "joints": [ + 0.0012211650609970093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03150561824440956, + -0.09522783756256104, + -0.09464026987552643 + ], + "orientation": [ + 0.6608579158782959, + -0.21940913796424866, + 0.033182986080646515, + 0.7169556617736816 + ], + "joints": [ + 0.0180788803845644 + ] + }, + "fine_grasp": { + "position": [ + 0.030366133898496628, + -0.09481997042894363, + -0.09069281816482544 + ], + "orientation": [ + 0.657836377620697, + -0.21797022223472595, + 0.03346353396773338, + 0.7201529741287231 + ], + "joints": [ + 0.009301820769906044 + ] + }, + "final_grasp": { + "position": [ + 0.030366133898496628, + -0.09481997042894363, + -0.09069281816482544 + ], + "orientation": [ + 0.657836377620697, + -0.21797022223472595, + 0.03346353396773338, + 0.7201529741287231 + ], + "joints": [ + 0.0005247611552476883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07387800514698029, + -0.05884645879268646, + 0.09434963017702103 + ], + "orientation": [ + 0.16501714289188385, + 0.6498576998710632, + 0.6665294766426086, + 0.3258724808692932 + ], + "joints": [ + 0.016762301325798035 + ] + }, + "fine_grasp": { + "position": [ + -0.0712011307477951, + -0.05840492621064186, + 0.09137484431266785 + ], + "orientation": [ + 0.1608363687992096, + 0.6577690839767456, + 0.6599615216255188, + 0.3254568576812744 + ], + "joints": [ + 0.007567286491394043 + ] + }, + "final_grasp": { + "position": [ + -0.0712011307477951, + -0.05840492621064186, + 0.09137484431266785 + ], + "orientation": [ + 0.1608363687992096, + 0.6577690839767456, + 0.6599615216255188, + 0.3254568576812744 + ], + "joints": [ + -0.0016277283430099487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07383329421281815, + -0.06019160524010658, + 0.09462513774633408 + ], + "orientation": [ + 0.17411720752716064, + 0.6546513438224792, + 0.6636436581611633, + 0.3173198699951172 + ], + "joints": [ + 0.016376439481973648 + ] + }, + "fine_grasp": { + "position": [ + -0.07109841704368591, + -0.05981595069169998, + 0.09161274135112762 + ], + "orientation": [ + 0.1691536158323288, + 0.6632088422775269, + 0.6566137671470642, + 0.3168586194515228 + ], + "joints": [ + 0.007599379867315292 + ] + }, + "final_grasp": { + "position": [ + -0.07109841704368591, + -0.05981595069169998, + 0.09161274135112762 + ], + "orientation": [ + 0.1691536158323288, + 0.6632088422775269, + 0.6566137671470642, + 0.3168586194515228 + ], + "joints": [ + -0.0011776797473430634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030977435410022736, + -0.09616146236658096, + -0.09320373088121414 + ], + "orientation": [ + 0.6583520174026489, + -0.21239471435546875, + 0.028668593615293503, + 0.7215533256530762 + ], + "joints": [ + 0.017942367121577263 + ] + }, + "fine_grasp": { + "position": [ + 0.029879361391067505, + -0.09608177840709686, + -0.08919519931077957 + ], + "orientation": [ + 0.650793194770813, + -0.21210534870624542, + 0.03182173892855644, + 0.7283315062522888 + ], + "joints": [ + 0.009980319067835808 + ] + }, + "final_grasp": { + "position": [ + 0.029879361391067505, + -0.09608177840709686, + -0.08919519931077957 + ], + "orientation": [ + 0.650793194770813, + -0.21210534870624542, + 0.03182173892855644, + 0.7283315062522888 + ], + "joints": [ + 0.0020182710140943527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07556230574846268, + -0.06104020029306412, + 0.09651510417461395 + ], + "orientation": [ + 0.17598135769367218, + 0.653095543384552, + 0.6654210090637207, + 0.31577152013778687 + ], + "joints": [ + 0.01737399399280548 + ] + }, + "fine_grasp": { + "position": [ + -0.07303949445486069, + -0.06066477298736572, + 0.09357956051826477 + ], + "orientation": [ + 0.17393271625041962, + 0.6585565805435181, + 0.6617357730865479, + 0.31329911947250366 + ], + "joints": [ + 0.007343068718910217 + ] + }, + "final_grasp": { + "position": [ + -0.07303949445486069, + -0.06066477298736572, + 0.09357956051826477 + ], + "orientation": [ + 0.17393271625041962, + 0.6585565805435181, + 0.6617357730865479, + 0.31329911947250366 + ], + "joints": [ + -0.0026878565549850464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07610402256250381, + -0.050827521830797195, + 0.09551159292459488 + ], + "orientation": [ + 0.3078475892543793, + -0.6969050765037537, + 0.6163628101348877, + -0.1991235613822937 + ], + "joints": [ + 0.01669348031282425 + ] + }, + "fine_grasp": { + "position": [ + -0.07349399477243423, + -0.050466593354940414, + 0.09256047010421753 + ], + "orientation": [ + 0.3029363751411438, + -0.6991634368896484, + 0.6165311336517334, + -0.19821569323539734 + ], + "joints": [ + 0.007080510258674622 + ] + }, + "final_grasp": { + "position": [ + -0.07349399477243423, + -0.050466593354940414, + 0.09256047010421753 + ], + "orientation": [ + 0.3029363751411438, + -0.6991634368896484, + 0.6165311336517334, + -0.19821569323539734 + ], + "joints": [ + -0.002532459795475006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06716594845056534, + -0.04816664010286331, + 0.09760695695877075 + ], + "orientation": [ + 0.33476632833480835, + -0.710335910320282, + -0.6091062426567078, + 0.11110367625951767 + ], + "joints": [ + 0.017192445695400238 + ] + }, + "fine_grasp": { + "position": [ + 0.0647788941860199, + -0.04743371158838272, + 0.09453702718019485 + ], + "orientation": [ + 0.3315128982067108, + -0.710887610912323, + -0.6099283695220947, + 0.11280769854784012 + ], + "joints": [ + 0.00757947564125061 + ] + }, + "final_grasp": { + "position": [ + 0.0647788941860199, + -0.04743371158838272, + 0.09453702718019485 + ], + "orientation": [ + 0.3315128982067108, + -0.710887610912323, + -0.6099283695220947, + 0.11280769854784012 + ], + "joints": [ + -0.0020334944128990173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008061928092502058, + -0.17465095221996307, + 0.059230972081422806 + ], + "orientation": [ + 0.41552087664604187, + -0.6582573652267456, + 0.5351715087890625, + 0.3280718922615051 + ], + "joints": [ + 0.020043296739459038 + ] + }, + "fine_grasp": { + "position": [ + -5.286264786263928e-05, + -0.17352434992790222, + 0.05606245622038841 + ], + "orientation": [ + 0.42011359333992004, + -0.6540873050689697, + 0.5322704315185547, + 0.3352051079273224 + ], + "joints": [ + 0.010848281905055046 + ] + }, + "final_grasp": { + "position": [ + -5.286264786263928e-05, + -0.17352434992790222, + 0.05606245622038841 + ], + "orientation": [ + 0.42011359333992004, + -0.6540873050689697, + 0.5322704315185547, + 0.3352051079273224 + ], + "joints": [ + 0.0016532670706510544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07278461754322052, + -0.005414431914687157, + 0.09902612864971161 + ], + "orientation": [ + 0.17727138102054596, + 0.680949866771698, + -0.6495807766914368, + -0.28797078132629395 + ], + "joints": [ + 0.01646820828318596 + ] + }, + "fine_grasp": { + "position": [ + 0.07051655650138855, + -0.0037335471715778112, + 0.09562337398529053 + ], + "orientation": [ + 0.16255557537078857, + 0.707262396812439, + -0.6252099275588989, + -0.2871728539466858 + ], + "joints": [ + 0.010177981108427048 + ] + }, + "final_grasp": { + "position": [ + 0.07051655650138855, + -0.0037335471715778112, + 0.09562337398529053 + ], + "orientation": [ + 0.16255557537078857, + 0.707262396812439, + -0.6252099275588989, + -0.2871728539466858 + ], + "joints": [ + 0.0038877539336681366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0819544792175293, + -0.08605802804231644, + -0.0854041576385498 + ], + "orientation": [ + 0.6349552273750305, + 0.13097511231899261, + 0.3403787612915039, + 0.6810430884361267 + ], + "joints": [ + 0.018652278929948807 + ] + }, + "fine_grasp": { + "position": [ + -0.07914106547832489, + -0.08577200770378113, + -0.08292032033205032 + ], + "orientation": [ + 0.6353777050971985, + 0.13840395212173462, + 0.34223753213882446, + 0.6782424449920654 + ], + "joints": [ + 0.008600454777479172 + ] + }, + "final_grasp": { + "position": [ + -0.07914106547832489, + -0.08577200770378113, + -0.08292032033205032 + ], + "orientation": [ + 0.6353777050971985, + 0.13840395212173462, + 0.34223753213882446, + 0.6782424449920654 + ], + "joints": [ + -0.0014513693749904633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08817125111818314, + -0.12562158703804016, + 0.014956594444811344 + ], + "orientation": [ + 0.26538562774658203, + 0.29840758442878723, + -0.6587453484535217, + -0.6376346945762634 + ], + "joints": [ + 0.01571846380829811 + ] + }, + "fine_grasp": { + "position": [ + 0.08435510843992233, + -0.12596628069877625, + 0.014806429855525494 + ], + "orientation": [ + 0.26227378845214844, + 0.29778388142585754, + -0.6604114174842834, + -0.6374902725219727 + ], + "joints": [ + 0.006105493754148483 + ] + }, + "final_grasp": { + "position": [ + 0.08435510843992233, + -0.12596628069877625, + 0.014806429855525494 + ], + "orientation": [ + 0.26227378845214844, + 0.29778388142585754, + -0.6604114174842834, + -0.6374902725219727 + ], + "joints": [ + -0.0035074763000011444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0736919716000557, + -0.020282769575715065, + 0.09106822311878204 + ], + "orientation": [ + 0.18090097606182098, + 0.6109611988067627, + -0.7008825540542603, + -0.32056954503059387 + ], + "joints": [ + 0.016043365001678467 + ] + }, + "fine_grasp": { + "position": [ + 0.07079333066940308, + -0.02009911835193634, + 0.08815043419599533 + ], + "orientation": [ + 0.18238447606563568, + 0.6066640615463257, + -0.704721987247467, + -0.31947067379951477 + ], + "joints": [ + 0.007266305387020111 + ] + }, + "final_grasp": { + "position": [ + 0.07079333066940308, + -0.02009911835193634, + 0.08815043419599533 + ], + "orientation": [ + 0.18238447606563568, + 0.6066640615463257, + -0.704721987247467, + -0.31947067379951477 + ], + "joints": [ + -0.0015107542276382446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07432793825864792, + -0.020603934302926064, + 0.09265503287315369 + ], + "orientation": [ + 0.18008047342300415, + 0.5995619893074036, + -0.7104395627975464, + -0.32151541113853455 + ], + "joints": [ + 0.016443852335214615 + ] + }, + "fine_grasp": { + "position": [ + 0.07165299355983734, + -0.020203925669193268, + 0.08967532217502594 + ], + "orientation": [ + 0.1815444380044937, + 0.5957208275794983, + -0.7146512866020203, + -0.3184836804866791 + ], + "joints": [ + 0.007248837500810623 + ] + }, + "final_grasp": { + "position": [ + 0.07165299355983734, + -0.020203925669193268, + 0.08967532217502594 + ], + "orientation": [ + 0.1815444380044937, + 0.5957208275794983, + -0.7146512866020203, + -0.3184836804866791 + ], + "joints": [ + -0.0019461773335933685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09149378538131714, + -0.06310813128948212, + 0.06921127438545227 + ], + "orientation": [ + 0.20985041558742523, + 0.5586165189743042, + -0.6681654453277588, + -0.44437071681022644 + ], + "joints": [ + 0.017031922936439514 + ] + }, + "fine_grasp": { + "position": [ + 0.08832942694425583, + -0.06252779811620712, + 0.0670325979590416 + ], + "orientation": [ + 0.208689883351326, + 0.5631095767021179, + -0.6659490466117859, + -0.44256964325904846 + ], + "joints": [ + 0.0070009976625442505 + ] + }, + "final_grasp": { + "position": [ + 0.08832942694425583, + -0.06252779811620712, + 0.0670325979590416 + ], + "orientation": [ + 0.208689883351326, + 0.5631095767021179, + -0.6659490466117859, + -0.44256964325904846 + ], + "joints": [ + -0.003029927611351013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11444075405597687, + 0.14490094780921936, + 0.0456930547952652 + ], + "orientation": [ + 0.12280316650867462, + -0.33244386315345764, + -0.7240030169487, + 0.5917940735816956 + ], + "joints": [ + 0.015488548204302788 + ] + }, + "fine_grasp": { + "position": [ + 0.11125659197568893, + 0.1425582617521286, + 0.04439461976289749 + ], + "orientation": [ + 0.13464291393756866, + -0.34082505106925964, + -0.7213973999023438, + 0.5876182317733765 + ], + "joints": [ + 0.007129443809390068 + ] + }, + "final_grasp": { + "position": [ + 0.11125659197568893, + 0.1425582617521286, + 0.04439461976289749 + ], + "orientation": [ + 0.13464291393756866, + -0.34082505106925964, + -0.7213973999023438, + 0.5876182317733765 + ], + "joints": [ + -0.0012296605855226517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08646880090236664, + -0.12459728121757507, + 0.015109430067241192 + ], + "orientation": [ + 0.2618110179901123, + 0.3000859022140503, + -0.6588355898857117, + -0.6382312774658203 + ], + "joints": [ + 0.015649177134037018 + ] + }, + "fine_grasp": { + "position": [ + 0.08272343128919601, + -0.125332310795784, + 0.01509159430861473 + ], + "orientation": [ + 0.25590240955352783, + 0.29981717467308044, + -0.6601970195770264, + -0.639346182346344 + ], + "joints": [ + 0.006454162299633026 + ] + }, + "final_grasp": { + "position": [ + 0.08272343128919601, + -0.125332310795784, + 0.01509159430861473 + ], + "orientation": [ + 0.25590240955352783, + 0.29981717467308044, + -0.6601970195770264, + -0.639346182346344 + ], + "joints": [ + -0.0027408525347709656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12075438350439072, + 0.149848073720932, + -0.005115604028105736 + ], + "orientation": [ + 0.33916109800338745, + -0.22270898520946503, + 0.627978503704071, + -0.6640884280204773 + ], + "joints": [ + 0.016433019191026688 + ] + }, + "fine_grasp": { + "position": [ + -0.11772052198648453, + 0.14731870591640472, + -0.0046104369685053825 + ], + "orientation": [ + 0.34136471152305603, + -0.22346067428588867, + 0.6262025237083435, + -0.6643839478492737 + ], + "joints": [ + 0.00682004913687706 + ] + }, + "final_grasp": { + "position": [ + -0.11772052198648453, + 0.14731870591640472, + -0.0046104369685053825 + ], + "orientation": [ + 0.34136471152305603, + -0.22346067428588867, + 0.6262025237083435, + -0.6643839478492737 + ], + "joints": [ + -0.0027929209172725677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06965509802103043, + -0.14956121146678925, + 0.044928859919309616 + ], + "orientation": [ + 0.12051122635602951, + 0.3640254735946655, + 0.7197033166885376, + 0.5787827968597412 + ], + "joints": [ + 0.017255879938602448 + ] + }, + "fine_grasp": { + "position": [ + -0.06644713133573532, + -0.14946244657039642, + 0.0436665341258049 + ], + "orientation": [ + 0.11736896634101868, + 0.3653537929058075, + 0.7214037179946899, + 0.5764702558517456 + ], + "joints": [ + 0.007663808297365904 + ] + }, + "final_grasp": { + "position": [ + -0.06644713133573532, + -0.14946244657039642, + 0.0436665341258049 + ], + "orientation": [ + 0.11736896634101868, + 0.3653537929058075, + 0.7214037179946899, + 0.5764702558517456 + ], + "joints": [ + -0.0019282633438706398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06899354606866837, + -0.14893649518489838, + 0.04486820101737976 + ], + "orientation": [ + 0.12060777097940445, + 0.36556896567344666, + 0.7203064560890198, + 0.57703697681427 + ], + "joints": [ + 0.017626430839300156 + ] + }, + "fine_grasp": { + "position": [ + -0.06565822660923004, + -0.1492249071598053, + 0.0434381477534771 + ], + "orientation": [ + 0.11338845640420914, + 0.36675789952278137, + 0.7211446762084961, + 0.5766992568969727 + ], + "joints": [ + 0.007595505565404892 + ] + }, + "final_grasp": { + "position": [ + -0.06565822660923004, + -0.1492249071598053, + 0.0434381477534771 + ], + "orientation": [ + 0.11338845640420914, + 0.36675789952278137, + 0.7211446762084961, + 0.5766992568969727 + ], + "joints": [ + -0.0024354197084903717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09414707869291306, + -0.06292057037353516, + 0.07126268744468689 + ], + "orientation": [ + 0.21277499198913574, + 0.5509127378463745, + -0.672361433506012, + -0.4462644159793854 + ], + "joints": [ + 0.01630660705268383 + ] + }, + "fine_grasp": { + "position": [ + 0.09082741290330887, + -0.06208980455994606, + 0.06913827359676361 + ], + "orientation": [ + 0.2134123295545578, + 0.5548434853553772, + -0.6725912690162659, + -0.44070956110954285 + ], + "joints": [ + 0.005920420400798321 + ] + }, + "final_grasp": { + "position": [ + 0.09082741290330887, + -0.06208980455994606, + 0.06913827359676361 + ], + "orientation": [ + 0.2134123295545578, + 0.5548434853553772, + -0.6725912690162659, + -0.44070956110954285 + ], + "joints": [ + -0.004465766251087189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1016753762960434, + -0.08541646599769592, + 0.042275942862033844 + ], + "orientation": [ + 0.26358020305633545, + 0.460117906332016, + 0.6510329842567444, + 0.5431141257286072 + ], + "joints": [ + 0.015922002494335175 + ] + }, + "fine_grasp": { + "position": [ + -0.09802135825157166, + -0.08443818986415863, + 0.041112933307886124 + ], + "orientation": [ + 0.2653532922267914, + 0.464264839887619, + 0.6503916382789612, + 0.5394780039787292 + ], + "joints": [ + 0.006329930387437344 + ] + }, + "final_grasp": { + "position": [ + -0.09802135825157166, + -0.08443818986415863, + 0.041112933307886124 + ], + "orientation": [ + 0.2653532922267914, + 0.464264839887619, + 0.6503916382789612, + 0.5394780039787292 + ], + "joints": [ + -0.0032621417194604874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018343986943364143, + -0.1814570426940918, + 0.006058091297745705 + ], + "orientation": [ + 0.054169852286577225, + -0.13688760995864868, + 0.6811225414276123, + 0.7172166109085083 + ], + "joints": [ + 0.017637949436903 + ] + }, + "fine_grasp": { + "position": [ + 0.017047269269824028, + -0.17948982119560242, + 0.006256462540477514 + ], + "orientation": [ + 0.06215865537524223, + -0.14654214680194855, + 0.6798937320709229, + 0.715825617313385 + ], + "joints": [ + 0.008442934602499008 + ] + }, + "final_grasp": { + "position": [ + 0.017047269269824028, + -0.17948982119560242, + 0.006256462540477514 + ], + "orientation": [ + 0.06215865537524223, + -0.14654214680194855, + 0.6798937320709229, + 0.715825617313385 + ], + "joints": [ + -0.0007520802319049835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14361222088336945, + 0.024320896714925766, + -0.02941642329096794 + ], + "orientation": [ + 0.5620518326759338, + 0.3177674412727356, + -0.48693400621414185, + -0.5882318615913391 + ], + "joints": [ + 0.015971127897500992 + ] + }, + "fine_grasp": { + "position": [ + 0.14010846614837646, + 0.024923522025346756, + -0.027942271903157234 + ], + "orientation": [ + 0.5622648000717163, + 0.31777533888816833, + -0.48591291904449463, + -0.588868260383606 + ], + "joints": [ + 0.005940202623605728 + ] + }, + "final_grasp": { + "position": [ + 0.14010846614837646, + 0.024923522025346756, + -0.027942271903157234 + ], + "orientation": [ + 0.5622648000717163, + 0.31777533888816833, + -0.48591291904449463, + -0.588868260383606 + ], + "joints": [ + -0.0040907226502895355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1408786028623581, + 0.09794460237026215, + 0.013295875862240791 + ], + "orientation": [ + 0.5157774686813354, + 0.6092340350151062, + 0.38754400610923767, + 0.46110427379608154 + ], + "joints": [ + 0.016565755009651184 + ] + }, + "fine_grasp": { + "position": [ + -0.13739274442195892, + 0.09721091389656067, + 0.012992169708013535 + ], + "orientation": [ + 0.5143794417381287, + 0.6074427962303162, + 0.3889431357383728, + 0.4638429582118988 + ], + "joints": [ + 0.007370740175247192 + ] + }, + "final_grasp": { + "position": [ + -0.13739274442195892, + 0.09721091389656067, + 0.012992169708013535 + ], + "orientation": [ + 0.5143794417381287, + 0.6074427962303162, + 0.3889431357383728, + 0.4638429582118988 + ], + "joints": [ + -0.0018242746591567993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1435440480709076, + 0.023749463260173798, + -0.03004283644258976 + ], + "orientation": [ + 0.56387859582901, + 0.31573954224586487, + -0.48603081703186035, + -0.5883225202560425 + ], + "joints": [ + 0.016570046544075012 + ] + }, + "fine_grasp": { + "position": [ + 0.1397230178117752, + 0.024151111021637917, + -0.028623739257454872 + ], + "orientation": [ + 0.5648652911186218, + 0.31745830178260803, + -0.4845263957977295, + -0.5876919031143188 + ], + "joints": [ + 0.007792986463755369 + ] + }, + "final_grasp": { + "position": [ + 0.1397230178117752, + 0.024151111021637917, + -0.028623739257454872 + ], + "orientation": [ + 0.5648652911186218, + 0.31745830178260803, + -0.4845263957977295, + -0.5876919031143188 + ], + "joints": [ + -0.0009840736165642738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07333418726921082, + -0.005693372339010239, + 0.09952928870916367 + ], + "orientation": [ + 0.17791320383548737, + 0.6841121315956116, + -0.6460932493209839, + -0.28792545199394226 + ], + "joints": [ + 0.016300076618790627 + ] + }, + "fine_grasp": { + "position": [ + 0.07096170634031296, + -0.004210285376757383, + 0.09610303491353989 + ], + "orientation": [ + 0.16210725903511047, + 0.7107047438621521, + -0.6211269497871399, + -0.28778699040412903 + ], + "joints": [ + 0.010030748322606087 + ] + }, + "final_grasp": { + "position": [ + 0.07096170634031296, + -0.004210285376757383, + 0.09610303491353989 + ], + "orientation": [ + 0.16210725903511047, + 0.7107047438621521, + -0.6211269497871399, + -0.28778699040412903 + ], + "joints": [ + 0.003761420026421547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13181331753730774, + 0.12993960082530975, + 0.01078122854232788 + ], + "orientation": [ + 0.19474133849143982, + -0.4594900608062744, + 0.5350965261459351, + -0.681627631187439 + ], + "joints": [ + 0.015161897987127304 + ] + }, + "fine_grasp": { + "position": [ + -0.12817642092704773, + 0.1281503438949585, + 0.010322284884750843 + ], + "orientation": [ + 0.19752344489097595, + -0.4688759744167328, + 0.535594642162323, + -0.6740015149116516 + ], + "joints": [ + 0.006802793592214584 + ] + }, + "final_grasp": { + "position": [ + -0.12817642092704773, + 0.1281503438949585, + 0.010322284884750843 + ], + "orientation": [ + 0.19752344489097595, + -0.4688759744167328, + 0.535594642162323, + -0.6740015149116516 + ], + "joints": [ + -0.0015563108026981354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12647557258605957, + 0.13469772040843964, + -0.00808211974799633 + ], + "orientation": [ + 0.716677725315094, + 0.5983722805976868, + -0.2725261449813843, + -0.23249313235282898 + ], + "joints": [ + 0.0161469504237175 + ] + }, + "fine_grasp": { + "position": [ + 0.12279782444238663, + 0.13274960219860077, + -0.007536278571933508 + ], + "orientation": [ + 0.7139126062393188, + 0.5948035717010498, + -0.28089261054992676, + -0.24007642269134521 + ], + "joints": [ + 0.007787845563143492 + ] + }, + "final_grasp": { + "position": [ + 0.12279782444238663, + 0.13274960219860077, + -0.007536278571933508 + ], + "orientation": [ + 0.7139126062393188, + 0.5948035717010498, + -0.28089261054992676, + -0.24007642269134521 + ], + "joints": [ + -0.0005712592974305153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05260922759771347, + -0.01995205320417881, + 0.11118089407682419 + ], + "orientation": [ + 0.20638446509838104, + -0.7440252304077148, + 0.6208999752998352, + -0.13533338904380798 + ], + "joints": [ + 0.016828157007694244 + ] + }, + "fine_grasp": { + "position": [ + -0.05064566805958748, + -0.019685719162225723, + 0.10759016126394272 + ], + "orientation": [ + 0.20002155005931854, + -0.761165976524353, + 0.6007897257804871, + -0.14024773240089417 + ], + "joints": [ + 0.008448153734207153 + ] + }, + "final_grasp": { + "position": [ + -0.05064566805958748, + -0.019685719162225723, + 0.10759016126394272 + ], + "orientation": [ + 0.20002155005931854, + -0.761165976524353, + 0.6007897257804871, + -0.14024773240089417 + ], + "joints": [ + 6.815046072006226e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10880453139543533, + -0.043108418583869934, + 0.0433749221265316 + ], + "orientation": [ + 0.4943682551383972, + -0.6035942435264587, + -0.5308142900466919, + 0.33092325925827026 + ], + "joints": [ + 0.015775367617607117 + ] + }, + "fine_grasp": { + "position": [ + 0.1050570011138916, + -0.042706262320280075, + 0.042148057371377945 + ], + "orientation": [ + 0.49309274554252625, + -0.6020994186401367, + -0.5346155762672424, + 0.3294268250465393 + ], + "joints": [ + 0.006162397563457489 + ] + }, + "final_grasp": { + "position": [ + 0.1050570011138916, + -0.042706262320280075, + 0.042148057371377945 + ], + "orientation": [ + 0.49309274554252625, + -0.6020994186401367, + -0.5346155762672424, + 0.3294268250465393 + ], + "joints": [ + -0.0034505724906921387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12526676058769226, + 0.1362881362438202, + -0.008396153338253498 + ], + "orientation": [ + 0.717576265335083, + 0.5921199917793274, + -0.2814313471317291, + -0.235105499625206 + ], + "joints": [ + 0.016540246084332466 + ] + }, + "fine_grasp": { + "position": [ + 0.1217411682009697, + 0.13426826894283295, + -0.007884765975177288 + ], + "orientation": [ + 0.7156487107276917, + 0.588895857334137, + -0.28813138604164124, + -0.24089151620864868 + ], + "joints": [ + 0.007763186004012823 + ] + }, + "final_grasp": { + "position": [ + 0.1217411682009697, + 0.13426826894283295, + -0.007884765975177288 + ], + "orientation": [ + 0.7156487107276917, + 0.588895857334137, + -0.28813138604164124, + -0.24089151620864868 + ], + "joints": [ + -0.00101387407630682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10897162556648254, + -0.04298567399382591, + 0.04358784854412079 + ], + "orientation": [ + 0.49565550684928894, + -0.6066818237304688, + -0.5264559984207153, + 0.33031323552131653 + ], + "joints": [ + 0.015268154442310333 + ] + }, + "fine_grasp": { + "position": [ + 0.10519896447658539, + -0.04258059710264206, + 0.04235098138451576 + ], + "orientation": [ + 0.4935145378112793, + -0.6055586934089661, + -0.5305576920509338, + 0.3290143609046936 + ], + "joints": [ + 0.0060731396079063416 + ] + }, + "final_grasp": { + "position": [ + 0.10519896447658539, + -0.04258059710264206, + 0.04235098138451576 + ], + "orientation": [ + 0.4935145378112793, + -0.6055586934089661, + -0.5305576920509338, + 0.3290143609046936 + ], + "joints": [ + -0.00312187522649765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10951130837202072, + -0.04257023334503174, + 0.04354248195886612 + ], + "orientation": [ + 0.49836835265159607, + -0.6085796356201172, + -0.5225163698196411, + 0.32899320125579834 + ], + "joints": [ + 0.01532651111483574 + ] + }, + "fine_grasp": { + "position": [ + 0.10580858588218689, + -0.0421161912381649, + 0.04223043471574783 + ], + "orientation": [ + 0.49519261717796326, + -0.6082003712654114, + -0.526642918586731, + 0.32790836691856384 + ], + "joints": [ + 0.0057135410606861115 + ] + }, + "final_grasp": { + "position": [ + 0.10580858588218689, + -0.0421161912381649, + 0.04223043471574783 + ], + "orientation": [ + 0.49519261717796326, + -0.6082003712654114, + -0.526642918586731, + 0.32790836691856384 + ], + "joints": [ + -0.0038994289934635162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10934632271528244, + -0.04302619770169258, + 0.043500419706106186 + ], + "orientation": [ + 0.49642565846443176, + -0.6074813604354858, + -0.5249085426330566, + 0.33014994859695435 + ], + "joints": [ + 0.01527370885014534 + ] + }, + "fine_grasp": { + "position": [ + 0.10563050955533981, + -0.04261209815740585, + 0.04220685735344887 + ], + "orientation": [ + 0.4938964247703552, + -0.6066041588783264, + -0.5288827419281006, + 0.3292124569416046 + ], + "joints": [ + 0.005660738795995712 + ] + }, + "final_grasp": { + "position": [ + 0.10563050955533981, + -0.04261209815740585, + 0.04220685735344887 + ], + "orientation": [ + 0.4938964247703552, + -0.6066041588783264, + -0.5288827419281006, + 0.3292124569416046 + ], + "joints": [ + -0.003952231258153915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05257485806941986, + -0.02027566358447075, + 0.11102773994207382 + ], + "orientation": [ + 0.20671412348747253, + -0.7440900206565857, + 0.6207588911056519, + -0.13512133061885834 + ], + "joints": [ + 0.017096199095249176 + ] + }, + "fine_grasp": { + "position": [ + -0.05061022937297821, + -0.020017923787236214, + 0.10744412988424301 + ], + "orientation": [ + 0.20043829083442688, + -0.7612569332122803, + 0.6005634665489197, + -0.1401277780532837 + ], + "joints": [ + 0.00831913948059082 + ] + }, + "final_grasp": { + "position": [ + -0.05061022937297821, + -0.020017923787236214, + 0.10744412988424301 + ], + "orientation": [ + 0.20043829083442688, + -0.7612569332122803, + 0.6005634665489197, + -0.1401277780532837 + ], + "joints": [ + -0.0004579201340675354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13085341453552246, + 0.014657551422715187, + 0.036123309284448624 + ], + "orientation": [ + 0.4405369162559509, + 0.5019398331642151, + 0.5994272232055664, + 0.4412147104740143 + ], + "joints": [ + 0.014984343200922012 + ] + }, + "fine_grasp": { + "position": [ + -0.12716487050056458, + 0.015561611391603947, + 0.03566946089267731 + ], + "orientation": [ + 0.44049009680747986, + 0.5000232458114624, + 0.5977703928947449, + 0.44566330313682556 + ], + "joints": [ + 0.004953417927026749 + ] + }, + "final_grasp": { + "position": [ + -0.12716487050056458, + 0.015561611391603947, + 0.03566946089267731 + ], + "orientation": [ + 0.44049009680747986, + 0.5000232458114624, + 0.5977703928947449, + 0.44566330313682556 + ], + "joints": [ + -0.005077507346868515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10933125019073486, + -0.04262019321322441, + 0.04342212900519371 + ], + "orientation": [ + 0.4987100660800934, + -0.6107600331306458, + -0.5195114612579346, + 0.3291933536529541 + ], + "joints": [ + 0.015282051637768745 + ] + }, + "fine_grasp": { + "position": [ + 0.10563138872385025, + -0.04216304048895836, + 0.04210645705461502 + ], + "orientation": [ + 0.4953888952732086, + -0.6105535626411438, + -0.5236166715621948, + 0.3280850946903229 + ], + "joints": [ + 0.005669081583619118 + ] + }, + "final_grasp": { + "position": [ + 0.10563138872385025, + -0.04216304048895836, + 0.04210645705461502 + ], + "orientation": [ + 0.4953888952732086, + -0.6105535626411438, + -0.5236166715621948, + 0.3280850946903229 + ], + "joints": [ + -0.00394388847053051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05192949250340462, + -0.020169029012322426, + 0.10970473289489746 + ], + "orientation": [ + 0.2024562805891037, + -0.7516849637031555, + 0.6117779016494751, + -0.14038853347301483 + ], + "joints": [ + 0.01654558628797531 + ] + }, + "fine_grasp": { + "position": [ + -0.04988368600606918, + -0.0199737511575222, + 0.10607780516147614 + ], + "orientation": [ + 0.1963520050048828, + -0.7717269062995911, + 0.5867229700088501, + -0.14710456132888794 + ], + "joints": [ + 0.008583538234233856 + ] + }, + "final_grasp": { + "position": [ + -0.04988368600606918, + -0.0199737511575222, + 0.10607780516147614 + ], + "orientation": [ + 0.1963520050048828, + -0.7717269062995911, + 0.5867229700088501, + -0.14710456132888794 + ], + "joints": [ + 0.0006214901804924011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13150303065776825, + 0.01682642288506031, + 0.03641717508435249 + ], + "orientation": [ + 0.43239420652389526, + 0.49311742186546326, + 0.6060720086097717, + 0.4500523805618286 + ], + "joints": [ + 0.014374511316418648 + ] + }, + "fine_grasp": { + "position": [ + -0.12814627587795258, + 0.018544362857937813, + 0.03580822795629501 + ], + "orientation": [ + 0.4313966929912567, + 0.4884529113769531, + 0.6072189211845398, + 0.45452815294265747 + ], + "joints": [ + 0.004343586042523384 + ] + }, + "final_grasp": { + "position": [ + -0.12814627587795258, + 0.018544362857937813, + 0.03580822795629501 + ], + "orientation": [ + 0.4313966929912567, + 0.4884529113769531, + 0.6072189211845398, + 0.45452815294265747 + ], + "joints": [ + -0.00568733923137188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049377184361219406, + 0.17334361374378204, + 0.005244186148047447 + ], + "orientation": [ + 0.2720561921596527, + -0.155676007270813, + 0.6749963164329529, + -0.6679299473762512 + ], + "joints": [ + 0.017604980617761612 + ] + }, + "fine_grasp": { + "position": [ + -0.048419039696455, + 0.16948507726192474, + 0.00539096025750041 + ], + "orientation": [ + 0.26382508873939514, + -0.14681430160999298, + 0.6788683533668518, + -0.6693127155303955 + ], + "joints": [ + 0.00840996578335762 + ] + }, + "final_grasp": { + "position": [ + -0.048419039696455, + 0.16948507726192474, + 0.00539096025750041 + ], + "orientation": [ + 0.26382508873939514, + -0.14681430160999298, + 0.6788683533668518, + -0.6693127155303955 + ], + "joints": [ + -0.0007850490510463715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005872642155736685, + 0.0015723526012152433, + 0.11530355364084244 + ], + "orientation": [ + 0.025033313781023026, + 0.6530235409736633, + -0.7568678259849548, + -0.00921409111469984 + ], + "joints": [ + 0.018390240147709846 + ] + }, + "fine_grasp": { + "position": [ + 0.006978847552090883, + 0.0018117709551006556, + 0.11382028460502625 + ], + "orientation": [ + 0.030435919761657715, + 0.6329164505004883, + -0.773552656173706, + -0.010326342657208443 + ], + "joints": [ + 0.009195225313305855 + ] + }, + "final_grasp": { + "position": [ + 0.006978847552090883, + 0.0018117709551006556, + 0.11382028460502625 + ], + "orientation": [ + 0.030435919761657715, + 0.6329164505004883, + -0.773552656173706, + -0.010326342657208443 + ], + "joints": [ + 2.1047890186309814e-07 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10944594442844391, + -0.10435163229703903, + 0.015360858291387558 + ], + "orientation": [ + 0.596884548664093, + -0.6009531021118164, + -0.4041268229484558, + 0.3453485369682312 + ], + "joints": [ + 0.015503797680139542 + ] + }, + "fine_grasp": { + "position": [ + 0.10559792071580887, + -0.10368366539478302, + 0.015040704049170017 + ], + "orientation": [ + 0.5950953960418701, + -0.5995510220527649, + -0.4077518880367279, + 0.34660983085632324 + ], + "joints": [ + 0.005890827625989914 + ] + }, + "final_grasp": { + "position": [ + 0.10559792071580887, + -0.10368366539478302, + 0.015040704049170017 + ], + "orientation": [ + 0.5950953960418701, + -0.5995510220527649, + -0.4077518880367279, + 0.34660983085632324 + ], + "joints": [ + -0.0037221424281597137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1433897614479065, + 0.09414450824260712, + -0.03147182986140251 + ], + "orientation": [ + 0.405211865901947, + -0.4331025779247284, + 0.3884410858154297, + -0.7052226066589355 + ], + "joints": [ + 0.016774868592619896 + ] + }, + "fine_grasp": { + "position": [ + -0.13980428874492645, + 0.09327172487974167, + -0.03000054880976677 + ], + "orientation": [ + 0.40319737792015076, + -0.43229758739471436, + 0.3905227780342102, + -0.7057213187217712 + ], + "joints": [ + 0.007579853758215904 + ] + }, + "final_grasp": { + "position": [ + -0.13980428874492645, + 0.09327172487974167, + -0.03000054880976677 + ], + "orientation": [ + 0.40319737792015076, + -0.43229758739471436, + 0.3905227780342102, + -0.7057213187217712 + ], + "joints": [ + -0.0016151610761880875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01025482453405857, + 0.18125157058238983, + -0.00053024961380288 + ], + "orientation": [ + 0.737479567527771, + 0.6737054586410522, + -0.04040933772921562, + -0.024737251922488213 + ], + "joints": [ + 0.013712852261960506 + ] + }, + "fine_grasp": { + "position": [ + -0.009397770278155804, + 0.178336501121521, + -0.000408611842431128 + ], + "orientation": [ + 0.7378444075584412, + 0.674164891242981, + -0.02977055497467518, + -0.014177566394209862 + ], + "joints": [ + 0.005353747867047787 + ] + }, + "final_grasp": { + "position": [ + -0.009397770278155804, + 0.178336501121521, + -0.000408611842431128 + ], + "orientation": [ + 0.7378444075584412, + 0.674164891242981, + -0.02977055497467518, + -0.014177566394209862 + ], + "joints": [ + -0.003005356527864933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10967227816581726, + -0.10478433221578598, + 0.015600652433931828 + ], + "orientation": [ + 0.5953710675239563, + -0.6004433035850525, + -0.40604647994041443, + 0.3465940058231354 + ], + "joints": [ + 0.015476793050765991 + ] + }, + "fine_grasp": { + "position": [ + 0.10582585632801056, + -0.1041213870048523, + 0.015268745832145214 + ], + "orientation": [ + 0.5935567617416382, + -0.5990979075431824, + -0.40965884923934937, + 0.347781240940094 + ], + "joints": [ + 0.0058638229966163635 + ] + }, + "final_grasp": { + "position": [ + 0.10582585632801056, + -0.1041213870048523, + 0.015268745832145214 + ], + "orientation": [ + 0.5935567617416382, + -0.5990979075431824, + -0.40965884923934937, + 0.347781240940094 + ], + "joints": [ + -0.003749147057533264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06088700890541077, + -0.18331025540828705, + -0.0028429501689970493 + ], + "orientation": [ + 0.7198142409324646, + -0.6329807639122009, + 0.23328742384910583, + -0.16364489495754242 + ], + "joints": [ + 0.017362866550683975 + ] + }, + "fine_grasp": { + "position": [ + -0.05939866229891777, + -0.1798115223646164, + -0.0021124498452991247 + ], + "orientation": [ + 0.7233376502990723, + -0.631568968296051, + 0.22839288413524628, + -0.1604365110397339 + ], + "joints": [ + 0.0073319412767887115 + ] + }, + "final_grasp": { + "position": [ + -0.05939866229891777, + -0.1798115223646164, + -0.0021124498452991247 + ], + "orientation": [ + 0.7233376502990723, + -0.631568968296051, + 0.22839288413524628, + -0.1604365110397339 + ], + "joints": [ + -0.002698983997106552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12996409833431244, + 0.01737208664417267, + 0.03631671518087387 + ], + "orientation": [ + 0.4331400990486145, + 0.4915798604488373, + 0.604992687702179, + 0.45246294140815735 + ], + "joints": [ + 0.014004524797201157 + ] + }, + "fine_grasp": { + "position": [ + -0.12665621936321259, + 0.019113043323159218, + 0.03567320108413696 + ], + "orientation": [ + 0.43210679292678833, + 0.48820146918296814, + 0.6064631342887878, + 0.45513248443603516 + ], + "joints": [ + 0.004788612015545368 + ] + }, + "final_grasp": { + "position": [ + -0.12665621936321259, + 0.019113043323159218, + 0.03567320108413696 + ], + "orientation": [ + 0.43210679292678833, + 0.48820146918296814, + 0.6064631342887878, + 0.45513248443603516 + ], + "joints": [ + -0.00442730076611042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016622504219412804, + 0.17398960888385773, + 0.009464830160140991 + ], + "orientation": [ + 0.7062400579452515, + 0.7003147602081299, + 0.10384681075811386, + 0.0004218159010633826 + ], + "joints": [ + 0.01841885596513748 + ] + }, + "fine_grasp": { + "position": [ + -0.016228845342993736, + 0.1735963672399521, + 0.009652791544795036 + ], + "orientation": [ + 0.7053371071815491, + 0.7005917429924011, + 0.10799300670623779, + -0.0028883700724691153 + ], + "joints": [ + 0.008387930691242218 + ] + }, + "final_grasp": { + "position": [ + -0.016228845342993736, + 0.1735963672399521, + 0.009652791544795036 + ], + "orientation": [ + 0.7053371071815491, + 0.7005917429924011, + 0.10799300670623779, + -0.0028883700724691153 + ], + "joints": [ + -0.0016429945826530457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12266876548528671, + -0.07022511959075928, + -0.00139974569901824 + ], + "orientation": [ + 0.4772360026836395, + 0.3729402422904968, + 0.5684096217155457, + 0.5568410158157349 + ], + "joints": [ + 0.016512135043740273 + ] + }, + "fine_grasp": { + "position": [ + -0.11884722113609314, + -0.06985214352607727, + -0.0008149442146532238 + ], + "orientation": [ + 0.48131832480430603, + 0.3746286630630493, + 0.5653434991836548, + 0.555313229560852 + ], + "joints": [ + 0.00568709522485733 + ] + }, + "final_grasp": { + "position": [ + -0.11884722113609314, + -0.06985214352607727, + -0.0008149442146532238 + ], + "orientation": [ + 0.48131832480430603, + 0.3746286630630493, + 0.5653434991836548, + 0.555313229560852 + ], + "joints": [ + -0.005137944594025612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009917957708239555, + 0.18092769384384155, + -0.0009609690750949085 + ], + "orientation": [ + 0.7388174533843994, + 0.6721925139427185, + -0.04086810722947121, + -0.0252167209982872 + ], + "joints": [ + 0.013843959197402 + ] + }, + "fine_grasp": { + "position": [ + -0.00911861751228571, + 0.17788565158843994, + -0.000848191324621439 + ], + "orientation": [ + 0.7392247319221497, + 0.6725989580154419, + -0.03047935664653778, + -0.015121069736778736 + ], + "joints": [ + 0.005484854802489281 + ] + }, + "final_grasp": { + "position": [ + -0.00911861751228571, + 0.17788565158843994, + -0.000848191324621439 + ], + "orientation": [ + 0.7392247319221497, + 0.6725989580154419, + -0.03047935664653778, + -0.015121069736778736 + ], + "joints": [ + -0.002874249592423439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1269281506538391, + 0.007461051922291517, + 0.0335819274187088 + ], + "orientation": [ + 0.41663455963134766, + 0.49583134055137634, + -0.5928489565849304, + -0.4786408245563507 + ], + "joints": [ + 0.014164426364004612 + ] + }, + "fine_grasp": { + "position": [ + 0.12399963289499283, + 0.009477325715124607, + 0.03316952660679817 + ], + "orientation": [ + 0.4058324992656708, + 0.4968652129173279, + -0.5974034070968628, + -0.48118001222610474 + ], + "joints": [ + 0.006223277188837528 + ] + }, + "final_grasp": { + "position": [ + 0.12399963289499283, + 0.009477325715124607, + 0.03316952660679817 + ], + "orientation": [ + 0.4058324992656708, + 0.4968652129173279, + -0.5974034070968628, + -0.48118001222610474 + ], + "joints": [ + -0.0017178719863295555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12665946781635284, + 0.007536440622061491, + 0.034637171775102615 + ], + "orientation": [ + 0.41371071338653564, + 0.4977819621562958, + -0.594792366027832, + -0.4767374098300934 + ], + "joints": [ + 0.014222635887563229 + ] + }, + "fine_grasp": { + "position": [ + 0.12376317381858826, + 0.009553293697535992, + 0.03422896936535835 + ], + "orientation": [ + 0.40296506881713867, + 0.4992673397064209, + -0.5990408062934875, + -0.4790632426738739 + ], + "joints": [ + 0.006281486712396145 + ] + }, + "final_grasp": { + "position": [ + 0.12376317381858826, + 0.009553293697535992, + 0.03422896936535835 + ], + "orientation": [ + 0.40296506881713867, + 0.4992673397064209, + -0.5990408062934875, + -0.4790632426738739 + ], + "joints": [ + -0.0016596624627709389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11682705581188202, + -0.04397682845592499, + -0.044540274888277054 + ], + "orientation": [ + 0.6054232716560364, + 0.3185492753982544, + -0.43372082710266113, + -0.5864088535308838 + ], + "joints": [ + 0.016159135848283768 + ] + }, + "fine_grasp": { + "position": [ + 0.1132734939455986, + -0.043867286294698715, + -0.04299557954072952 + ], + "orientation": [ + 0.6057913899421692, + 0.3210727870464325, + -0.43424102663993835, + -0.5842635035514832 + ], + "joints": [ + 0.006525267846882343 + ] + }, + "final_grasp": { + "position": [ + 0.1132734939455986, + -0.043867286294698715, + -0.04299557954072952 + ], + "orientation": [ + 0.6057913899421692, + 0.3210727870464325, + -0.43424102663993835, + -0.5842635035514832 + ], + "joints": [ + -0.003108600154519081 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12686611711978912, + -0.07955428212881088, + -0.014931483194231987 + ], + "orientation": [ + 0.5289164781570435, + 0.37870171666145325, + -0.5162950754165649, + -0.5570205450057983 + ], + "joints": [ + 0.0164646003395319 + ] + }, + "fine_grasp": { + "position": [ + 0.12309593707323074, + -0.07949467748403549, + -0.013913903385400772 + ], + "orientation": [ + 0.5323289036750793, + 0.3795640766620636, + -0.5131089687347412, + -0.5561259984970093 + ], + "joints": [ + 0.006057515740394592 + ] + }, + "final_grasp": { + "position": [ + 0.12309593707323074, + -0.07949467748403549, + -0.013913903385400772 + ], + "orientation": [ + 0.5323289036750793, + 0.3795640766620636, + -0.5131089687347412, + -0.5561259984970093 + ], + "joints": [ + -0.004349568858742714 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09239305555820465, + 0.16261108219623566, + 0.021846449002623558 + ], + "orientation": [ + 0.6415124535560608, + 0.728696882724762, + 0.17027586698532104, + 0.16872666776180267 + ], + "joints": [ + 0.01521792821586132 + ] + }, + "fine_grasp": { + "position": [ + -0.08980883657932281, + 0.16013866662979126, + 0.021492252126336098 + ], + "orientation": [ + 0.6375088095664978, + 0.7283660769462585, + 0.1746678501367569, + 0.18043449521064758 + ], + "joints": [ + 0.007276779040694237 + ] + }, + "final_grasp": { + "position": [ + -0.08980883657932281, + 0.16013866662979126, + 0.021492252126336098 + ], + "orientation": [ + 0.6375088095664978, + 0.7283660769462585, + 0.1746678501367569, + 0.18043449521064758 + ], + "joints": [ + -0.000664370134472847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050065893679857254, + 0.17216961085796356, + 0.005006036721169949 + ], + "orientation": [ + 0.2796928584575653, + -0.1312783807516098, + 0.6804652214050293, + -0.6644585132598877 + ], + "joints": [ + 0.0181417316198349 + ] + }, + "fine_grasp": { + "position": [ + -0.04896457493305206, + 0.16848312318325043, + 0.005173362325876951 + ], + "orientation": [ + 0.275999516248703, + -0.12461701035499573, + 0.6829975247383118, + -0.6646873354911804 + ], + "joints": [ + 0.008131705224514008 + ] + }, + "final_grasp": { + "position": [ + -0.04896457493305206, + 0.16848312318325043, + 0.005173362325876951 + ], + "orientation": [ + 0.275999516248703, + -0.12461701035499573, + 0.6829975247383118, + -0.6646873354911804 + ], + "joints": [ + -0.0018783211708068848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13089928030967712, + -0.06452970206737518, + 0.02811509557068348 + ], + "orientation": [ + 0.4677269458770752, + -0.6372496485710144, + -0.43849271535873413, + 0.4276314377784729 + ], + "joints": [ + 0.020041607320308685 + ] + }, + "fine_grasp": { + "position": [ + 0.1271602064371109, + -0.06442996859550476, + 0.028684519231319427 + ], + "orientation": [ + 0.47101935744285583, + -0.6289842128753662, + -0.43572601675987244, + 0.43893349170684814 + ], + "joints": [ + 0.008004501461982727 + ] + }, + "final_grasp": { + "position": [ + 0.1271602064371109, + -0.06442996859550476, + 0.028684519231319427 + ], + "orientation": [ + 0.47101935744285583, + -0.6289842128753662, + -0.43572601675987244, + 0.43893349170684814 + ], + "joints": [ + -0.004032604396343231 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09037518501281738, + 0.16186031699180603, + 0.02268173359334469 + ], + "orientation": [ + 0.6388066411018372, + 0.7291649580001831, + 0.18117216229438782, + 0.16559332609176636 + ], + "joints": [ + 0.01641329564154148 + ] + }, + "fine_grasp": { + "position": [ + -0.08837399631738663, + 0.1601223647594452, + 0.022817283868789673 + ], + "orientation": [ + 0.6356982588768005, + 0.7294958829879761, + 0.18629764020442963, + 0.17034278810024261 + ], + "joints": [ + 0.007218280807137489 + ] + }, + "final_grasp": { + "position": [ + -0.08837399631738663, + 0.1601223647594452, + 0.022817283868789673 + ], + "orientation": [ + 0.6356982588768005, + 0.7294958829879761, + 0.18629764020442963, + 0.17034278810024261 + ], + "joints": [ + -0.0019767340272665024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13036097586154938, + -0.06478632986545563, + 0.02821505255997181 + ], + "orientation": [ + 0.4664817154407501, + -0.6356087923049927, + -0.440202921628952, + 0.42967161536216736 + ], + "joints": [ + 0.02048156037926674 + ] + }, + "fine_grasp": { + "position": [ + 0.12665005028247833, + -0.0646752193570137, + 0.028733965009450912 + ], + "orientation": [ + 0.4695819020271301, + -0.6277077198028564, + -0.4373736083507538, + 0.44065871834754944 + ], + "joints": [ + 0.008047398179769516 + ] + }, + "final_grasp": { + "position": [ + 0.12665005028247833, + -0.0646752193570137, + 0.028733965009450912 + ], + "orientation": [ + 0.4695819020271301, + -0.6277077198028564, + -0.4373736083507538, + 0.44065871834754944 + ], + "joints": [ + -0.004386764019727707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10051019489765167, + -0.12889277935028076, + 0.0027037172112613916 + ], + "orientation": [ + 0.6883720755577087, + -0.6434642672538757, + 0.25527212023735046, + -0.2166418582201004 + ], + "joints": [ + 0.012655021622776985 + ] + }, + "fine_grasp": { + "position": [ + -0.09643971920013428, + -0.12818869948387146, + 0.0030449365731328726 + ], + "orientation": [ + 0.6848801970481873, + -0.6352697610855103, + 0.2706753611564636, + -0.2326076328754425 + ], + "joints": [ + 0.0042959172278642654 + ] + }, + "final_grasp": { + "position": [ + -0.09643971920013428, + -0.12818869948387146, + 0.0030449365731328726 + ], + "orientation": [ + 0.6848801970481873, + -0.6352697610855103, + 0.2706753611564636, + -0.2326076328754425 + ], + "joints": [ + -0.004063187167048454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13021601736545563, + -0.06482207775115967, + 0.02825871855020523 + ], + "orientation": [ + 0.4659866392612457, + -0.6355485916137695, + -0.44041165709495544, + 0.43008363246917725 + ], + "joints": [ + 0.02048156037926674 + ] + }, + "fine_grasp": { + "position": [ + 0.12650611996650696, + -0.06471332162618637, + 0.028755854815244675 + ], + "orientation": [ + 0.46896809339523315, + -0.6277323961257935, + -0.43762364983558655, + 0.4410289227962494 + ], + "joints": [ + 0.008047398179769516 + ] + }, + "final_grasp": { + "position": [ + 0.12650611996650696, + -0.06471332162618637, + 0.028755854815244675 + ], + "orientation": [ + 0.46896809339523315, + -0.6277323961257935, + -0.43762364983558655, + 0.4410289227962494 + ], + "joints": [ + -0.004386764019727707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08982101082801819, + 0.16459769010543823, + 0.01840851455926895 + ], + "orientation": [ + 0.6473990678787231, + 0.7060725688934326, + 0.2105703502893448, + 0.1949262171983719 + ], + "joints": [ + 0.015229634940624237 + ] + }, + "fine_grasp": { + "position": [ + -0.08874506503343582, + 0.16058054566383362, + 0.018106235191226006 + ], + "orientation": [ + 0.6495116353034973, + 0.7045322060585022, + 0.2146756649017334, + 0.1889003962278366 + ], + "joints": [ + 0.007288485765457153 + ] + }, + "final_grasp": { + "position": [ + -0.08874506503343582, + 0.16058054566383362, + 0.018106235191226006 + ], + "orientation": [ + 0.6495116353034973, + 0.7045322060585022, + 0.2146756649017334, + 0.1889003962278366 + ], + "joints": [ + -0.0006526634097099304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005001949146389961, + 0.18248048424720764, + 0.01951042376458645 + ], + "orientation": [ + 0.6714057922363281, + 0.7389981746673584, + -0.0033144077751785517, + 0.055542707443237305 + ], + "joints": [ + 0.01808173581957817 + ] + }, + "fine_grasp": { + "position": [ + -0.004986925516277552, + 0.17858237028121948, + 0.019065862521529198 + ], + "orientation": [ + 0.6708509922027588, + 0.739169716835022, + -0.007979163900017738, + 0.059359531849622726 + ], + "joints": [ + 0.008050810545682907 + ] + }, + "final_grasp": { + "position": [ + -0.004986925516277552, + 0.17858237028121948, + 0.019065862521529198 + ], + "orientation": [ + 0.6708509922027588, + 0.739169716835022, + -0.007979163900017738, + 0.059359531849622726 + ], + "joints": [ + -0.0019801147282123566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10006679594516754, + -0.12997247278690338, + 0.0031403859611600637 + ], + "orientation": [ + 0.6892646551132202, + -0.6379701495170593, + 0.26114994287490845, + -0.22295543551445007 + ], + "joints": [ + 0.012655021622776985 + ] + }, + "fine_grasp": { + "position": [ + -0.09596630930900574, + -0.12918858230113983, + 0.003299259813502431 + ], + "orientation": [ + 0.6844128966331482, + -0.6309522986412048, + 0.27701860666275024, + -0.23819893598556519 + ], + "joints": [ + 0.004713872447609901 + ] + }, + "final_grasp": { + "position": [ + -0.09596630930900574, + -0.12918858230113983, + 0.003299259813502431 + ], + "orientation": [ + 0.6844128966331482, + -0.6309522986412048, + 0.27701860666275024, + -0.23819893598556519 + ], + "joints": [ + -0.0032272767275571823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0911955013871193, + 0.16172541677951813, + 0.01797143556177616 + ], + "orientation": [ + 0.6492430567741394, + 0.7028036117553711, + 0.22341479361057281, + 0.1861088126897812 + ], + "joints": [ + 0.015894725918769836 + ] + }, + "fine_grasp": { + "position": [ + -0.09031038731336594, + 0.15789972245693207, + 0.017836783081293106 + ], + "orientation": [ + 0.6494443416595459, + 0.6987451910972595, + 0.23479585349559784, + 0.18667638301849365 + ], + "joints": [ + 0.007117666304111481 + ] + }, + "final_grasp": { + "position": [ + -0.09031038731336594, + 0.15789972245693207, + 0.017836783081293106 + ], + "orientation": [ + 0.6494443416595459, + 0.6987451910972595, + 0.23479585349559784, + 0.18667638301849365 + ], + "joints": [ + -0.001659393310546875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1048131063580513, + 0.1345100849866867, + 0.021319769322872162 + ], + "orientation": [ + 0.2124163657426834, + -0.2468622475862503, + -0.7010520100593567, + 0.6344006657600403 + ], + "joints": [ + 0.017767973244190216 + ] + }, + "fine_grasp": { + "position": [ + 0.10175871849060059, + 0.13198162615299225, + 0.020622624084353447 + ], + "orientation": [ + 0.21725274622440338, + -0.24486467242240906, + -0.7015106081962585, + 0.6330286860466003 + ], + "joints": [ + 0.008572958409786224 + ] + }, + "final_grasp": { + "position": [ + 0.10175871849060059, + 0.13198162615299225, + 0.020622624084353447 + ], + "orientation": [ + 0.21725274622440338, + -0.24486467242240906, + -0.7015106081962585, + 0.6330286860466003 + ], + "joints": [ + -0.0006220564246177673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0420319102704525, + -0.05289893597364426, + -0.09253688156604767 + ], + "orientation": [ + 0.747264564037323, + 0.03560977801680565, + -0.21834710240364075, + -0.6266196370124817 + ], + "joints": [ + 0.017773613333702087 + ] + }, + "fine_grasp": { + "position": [ + 0.04045897349715233, + -0.05286727473139763, + -0.08864664286375046 + ], + "orientation": [ + 0.7557372450828552, + 0.03189874067902565, + -0.21872982382774353, + -0.616442084312439 + ], + "joints": [ + 0.009832464158535004 + ] + }, + "final_grasp": { + "position": [ + 0.04045897349715233, + -0.05286727473139763, + -0.08864664286375046 + ], + "orientation": [ + 0.7557372450828552, + 0.03189874067902565, + -0.21872982382774353, + -0.616442084312439 + ], + "joints": [ + 0.00189131498336792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005161997862160206, + 0.18135683238506317, + 0.018691204488277435 + ], + "orientation": [ + 0.673681378364563, + 0.737247884273529, + -0.004547761287540197, + 0.05097385495901108 + ], + "joints": [ + 0.01753126084804535 + ] + }, + "fine_grasp": { + "position": [ + -0.0051123034209012985, + 0.1784825623035431, + 0.018565364181995392 + ], + "orientation": [ + 0.6735767722129822, + 0.7371499538421631, + -0.008397188037633896, + 0.05323418229818344 + ], + "joints": [ + 0.007939189672470093 + ] + }, + "final_grasp": { + "position": [ + -0.0051123034209012985, + 0.1784825623035431, + 0.018565364181995392 + ], + "orientation": [ + 0.6735767722129822, + 0.7371499538421631, + -0.008397188037633896, + 0.05323418229818344 + ], + "joints": [ + -0.0016528815031051636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12447730451822281, + -0.0723140761256218, + 0.01085185632109642 + ], + "orientation": [ + 0.4407080411911011, + 0.5443040132522583, + -0.45660263299942017, + -0.548656165599823 + ], + "joints": [ + 0.01633388176560402 + ] + }, + "fine_grasp": { + "position": [ + 0.12055832147598267, + -0.07243407517671585, + 0.010693925432860851 + ], + "orientation": [ + 0.4398449957370758, + 0.5471085906028748, + -0.4541318416595459, + -0.5486100912094116 + ], + "joints": [ + 0.0067209117114543915 + ] + }, + "final_grasp": { + "position": [ + 0.12055832147598267, + -0.07243407517671585, + 0.010693925432860851 + ], + "orientation": [ + 0.4398449957370758, + 0.5471085906028748, + -0.4541318416595459, + -0.5486100912094116 + ], + "joints": [ + -0.002892058342695236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12392793595790863, + -0.07191108167171478, + 0.010795610956847668 + ], + "orientation": [ + 0.4412238895893097, + 0.5403352379798889, + -0.4609381854534149, + -0.5485392808914185 + ], + "joints": [ + 0.01627301424741745 + ] + }, + "fine_grasp": { + "position": [ + 0.12000589817762375, + -0.07202067226171494, + 0.010687322355806828 + ], + "orientation": [ + 0.4401043653488159, + 0.5431780815124512, + -0.458179235458374, + -0.5489423274993896 + ], + "joints": [ + 0.006660044193267822 + ] + }, + "final_grasp": { + "position": [ + 0.12000589817762375, + -0.07202067226171494, + 0.010687322355806828 + ], + "orientation": [ + 0.4401043653488159, + 0.5431780815124512, + -0.458179235458374, + -0.5489423274993896 + ], + "joints": [ + -0.0029529258608818054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022474167868494987, + -0.18822091817855835, + -0.017494171857833862 + ], + "orientation": [ + 0.7715057134628296, + -0.6157582998275757, + -0.02731953375041485, + 0.15771618485450745 + ], + "joints": [ + 0.017549771815538406 + ] + }, + "fine_grasp": { + "position": [ + 0.0223477054387331, + -0.18479467928409576, + -0.01645984873175621 + ], + "orientation": [ + 0.7706340551376343, + -0.6173299551010132, + -0.02142266370356083, + 0.15674170851707458 + ], + "joints": [ + 0.008354756981134415 + ] + }, + "final_grasp": { + "position": [ + 0.0223477054387331, + -0.18479467928409576, + -0.01645984873175621 + ], + "orientation": [ + 0.7706340551376343, + -0.6173299551010132, + -0.02142266370356083, + 0.15674170851707458 + ], + "joints": [ + -0.000840257853269577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10225072503089905, + -0.11606473475694656, + 0.02438238635659218 + ], + "orientation": [ + 0.5930567979812622, + -0.6033639311790466, + 0.4464655816555023, + -0.29138287901878357 + ], + "joints": [ + 0.015560738742351532 + ] + }, + "fine_grasp": { + "position": [ + -0.09827400743961334, + -0.11604273319244385, + 0.02372788079082966 + ], + "orientation": [ + 0.5976508855819702, + -0.597270667552948, + 0.45461365580558777, + -0.2817932963371277 + ], + "joints": [ + 0.006783679127693176 + ] + }, + "final_grasp": { + "position": [ + -0.09827400743961334, + -0.11604273319244385, + 0.02372788079082966 + ], + "orientation": [ + 0.5976508855819702, + -0.597270667552948, + 0.45461365580558777, + -0.2817932963371277 + ], + "joints": [ + -0.0019933804869651794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1358678936958313, + 0.065819650888443, + 0.009264210239052773 + ], + "orientation": [ + 0.47358065843582153, + 0.65350341796875, + -0.3002984821796417, + -0.5084047317504883 + ], + "joints": [ + 0.01415750291198492 + ] + }, + "fine_grasp": { + "position": [ + 0.1316239833831787, + 0.06589316576719284, + 0.010041454806923866 + ], + "orientation": [ + 0.4731563925743103, + 0.6468230485916138, + -0.3026478886604309, + -0.5158947706222534 + ], + "joints": [ + 0.006634308956563473 + ] + }, + "final_grasp": { + "position": [ + 0.1316239833831787, + 0.06589316576719284, + 0.010041454806923866 + ], + "orientation": [ + 0.4731563925743103, + 0.6468230485916138, + -0.3026478886604309, + -0.5158947706222534 + ], + "joints": [ + -0.000888884998857975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12215402722358704, + -0.08857160061597824, + -0.02065170183777809 + ], + "orientation": [ + 0.6597493886947632, + -0.4603579044342041, + -0.41094374656677246, + 0.4288666844367981 + ], + "joints": [ + 0.015834443271160126 + ] + }, + "fine_grasp": { + "position": [ + 0.11831706017255783, + -0.08826365321874619, + -0.019726557657122612 + ], + "orientation": [ + 0.6578079462051392, + -0.45849278569221497, + -0.4156893491744995, + 0.42927318811416626 + ], + "joints": [ + 0.006639428436756134 + ] + }, + "final_grasp": { + "position": [ + 0.11831706017255783, + -0.08826365321874619, + -0.019726557657122612 + ], + "orientation": [ + 0.6578079462051392, + -0.45849278569221497, + -0.4156893491744995, + 0.42927318811416626 + ], + "joints": [ + -0.0025555863976478577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13592694699764252, + 0.03145240247249603, + 0.06058378890156746 + ], + "orientation": [ + 0.42552679777145386, + 0.27841436862945557, + 0.7932642698287964, + 0.3348795175552368 + ], + "joints": [ + 0.016892042011022568 + ] + }, + "fine_grasp": { + "position": [ + -0.13262486457824707, + 0.032808344811201096, + 0.05883701145648956 + ], + "orientation": [ + 0.4220793545246124, + 0.27919527888298035, + 0.794407308101654, + 0.33588120341300964 + ], + "joints": [ + 0.00727907195687294 + ] + }, + "final_grasp": { + "position": [ + -0.13262486457824707, + 0.032808344811201096, + 0.05883701145648956 + ], + "orientation": [ + 0.4220793545246124, + 0.27919527888298035, + 0.794407308101654, + 0.33588120341300964 + ], + "joints": [ + -0.0023338980972766876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10189862549304962, + -0.1168958842754364, + 0.024554140865802765 + ], + "orientation": [ + 0.5915984511375427, + -0.5974999070167542, + 0.45508089661598206, + -0.29309818148612976 + ], + "joints": [ + 0.015947889536619186 + ] + }, + "fine_grasp": { + "position": [ + -0.09800134599208832, + -0.11706987768411636, + 0.02387881465256214 + ], + "orientation": [ + 0.5969424843788147, + -0.5906428694725037, + 0.46393540501594543, + -0.2820718288421631 + ], + "joints": [ + 0.007170829921960831 + ] + }, + "final_grasp": { + "position": [ + -0.09800134599208832, + -0.11706987768411636, + 0.02387881465256214 + ], + "orientation": [ + 0.5969424843788147, + -0.5906428694725037, + 0.46393540501594543, + -0.2820718288421631 + ], + "joints": [ + -0.001606229692697525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1371547430753708, + 0.08735708892345428, + 0.03212578594684601 + ], + "orientation": [ + 0.5029811859130859, + 0.6915530562400818, + -0.3530229926109314, + -0.37965628504753113 + ], + "joints": [ + 0.013142029754817486 + ] + }, + "fine_grasp": { + "position": [ + 0.13336928188800812, + 0.08642128854990005, + 0.031220251694321632 + ], + "orientation": [ + 0.49490025639533997, + 0.6905273795127869, + -0.35574111342430115, + -0.3894789218902588 + ], + "joints": [ + 0.006036791019141674 + ] + }, + "final_grasp": { + "position": [ + 0.13336928188800812, + 0.08642128854990005, + 0.031220251694321632 + ], + "orientation": [ + 0.49490025639533997, + 0.6905273795127869, + -0.35574111342430115, + -0.3894789218902588 + ], + "joints": [ + -0.0010684477165341377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13173481822013855, + 0.05503959208726883, + 0.013028960675001144 + ], + "orientation": [ + 0.4457988739013672, + 0.5352110266685486, + 0.4818613827228546, + 0.5316221714019775 + ], + "joints": [ + 0.016777627170085907 + ] + }, + "fine_grasp": { + "position": [ + -0.1292749047279358, + 0.056616079062223434, + 0.013532583601772785 + ], + "orientation": [ + 0.43862834572792053, + 0.5346782207489014, + 0.4846566617488861, + 0.5355672836303711 + ], + "joints": [ + 0.008000567555427551 + ] + }, + "final_grasp": { + "position": [ + -0.1292749047279358, + 0.056616079062223434, + 0.013532583601772785 + ], + "orientation": [ + 0.43862834572792053, + 0.5346782207489014, + 0.4846566617488861, + 0.5355672836303711 + ], + "joints": [ + -0.0007764920592308044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10643377155065536, + -0.007993119768798351, + -0.036249466240406036 + ], + "orientation": [ + 0.6101219654083252, + -0.40614572167396545, + 0.374188095331192, + -0.5681374073028564 + ], + "joints": [ + 0.015371344983577728 + ] + }, + "fine_grasp": { + "position": [ + -0.10290911793708801, + -0.007929891347885132, + -0.034450680017471313 + ], + "orientation": [ + 0.6110504865646362, + -0.40417832136154175, + 0.3736669719219208, + -0.568885087966919 + ], + "joints": [ + 0.005758374929428101 + ] + }, + "final_grasp": { + "position": [ + -0.10290911793708801, + -0.007929891347885132, + -0.034450680017471313 + ], + "orientation": [ + 0.6110504865646362, + -0.40417832136154175, + 0.3736669719219208, + -0.568885087966919 + ], + "joints": [ + -0.003854595124721527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0010409223614260554, + 0.17535419762134552, + -0.011177175678312778 + ], + "orientation": [ + 0.7685229778289795, + 0.6391228437423706, + -0.024260399863123894, + 0.017487168312072754 + ], + "joints": [ + 0.019046366214752197 + ] + }, + "fine_grasp": { + "position": [ + 0.0012191198766231537, + 0.17249953746795654, + -0.01102264504879713 + ], + "orientation": [ + 0.7695014476776123, + 0.6375622749328613, + -0.029462458565831184, + 0.022669462487101555 + ], + "joints": [ + 0.009036339819431305 + ] + }, + "final_grasp": { + "position": [ + 0.0012191198766231537, + 0.17249953746795654, + -0.01102264504879713 + ], + "orientation": [ + 0.7695014476776123, + 0.6375622749328613, + -0.029462458565831184, + 0.022669462487101555 + ], + "joints": [ + -0.0009736865758895874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12582634389400482, + 0.00396681809797883, + -0.005731774028390646 + ], + "orientation": [ + 0.5147096514701843, + -0.5268553495407104, + 0.40514448285102844, + -0.5416228771209717 + ], + "joints": [ + 0.01475120335817337 + ] + }, + "fine_grasp": { + "position": [ + -0.12193960696458817, + 0.004131922498345375, + -0.005291105713695288 + ], + "orientation": [ + 0.5125738978385925, + -0.5274325013160706, + 0.4063522219657898, + -0.5421816110610962 + ], + "joints": [ + 0.005138233304023743 + ] + }, + "final_grasp": { + "position": [ + -0.12193960696458817, + 0.004131922498345375, + -0.005291105713695288 + ], + "orientation": [ + 0.5125738978385925, + -0.5274325013160706, + 0.4063522219657898, + -0.5421816110610962 + ], + "joints": [ + -0.004474736750125885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10908987373113632, + -0.06216336786746979, + 0.00497781578451395 + ], + "orientation": [ + 0.6130262613296509, + -0.5442036986351013, + 0.43226152658462524, + -0.37575390934944153 + ], + "joints": [ + 0.01522066630423069 + ] + }, + "fine_grasp": { + "position": [ + -0.10508053749799728, + -0.061548180878162384, + 0.005250099580734968 + ], + "orientation": [ + 0.6152012944221497, + -0.5403431057929993, + 0.4350259602069855, + -0.3745783865451813 + ], + "joints": [ + 0.006422708742320538 + ] + }, + "final_grasp": { + "position": [ + -0.10508053749799728, + -0.061548180878162384, + 0.005250099580734968 + ], + "orientation": [ + 0.6152012944221497, + -0.5403431057929993, + 0.4350259602069855, + -0.3745783865451813 + ], + "joints": [ + -0.002375248819589615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026719607412815094, + -0.17938847839832306, + 0.001177328173071146 + ], + "orientation": [ + 0.5752581357955933, + -0.43315383791923523, + -0.5339584946632385, + -0.4431072771549225 + ], + "joints": [ + 0.02261984720826149 + ] + }, + "fine_grasp": { + "position": [ + 0.026366427540779114, + -0.1772259920835495, + 0.0016098485793918371 + ], + "orientation": [ + 0.5777793526649475, + -0.43103936314582825, + -0.5321652293205261, + -0.4440453350543976 + ], + "joints": [ + 0.013006877154111862 + ] + }, + "final_grasp": { + "position": [ + 0.026366427540779114, + -0.1772259920835495, + 0.0016098485793918371 + ], + "orientation": [ + 0.5777793526649475, + -0.43103936314582825, + -0.5321652293205261, + -0.4440453350543976 + ], + "joints": [ + 0.0033939070999622345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04581698775291443, + 0.1638745218515396, + -0.0031105391681194305 + ], + "orientation": [ + 0.7477953433990479, + 0.649395763874054, + 0.13508383929729462, + 0.02897653728723526 + ], + "joints": [ + 0.01593584194779396 + ] + }, + "fine_grasp": { + "position": [ + -0.04791075363755226, + 0.16168981790542603, + -0.003335821209475398 + ], + "orientation": [ + 0.7477366328239441, + 0.6421270370483398, + 0.16756480932235718, + 0.022015852853655815 + ], + "joints": [ + 0.007576737552881241 + ] + }, + "final_grasp": { + "position": [ + -0.04791075363755226, + 0.16168981790542603, + -0.003335821209475398 + ], + "orientation": [ + 0.7477366328239441, + 0.6421270370483398, + 0.16756480932235718, + 0.022015852853655815 + ], + "joints": [ + -0.0007823668420314789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10804309695959091, + -0.06482372432947159, + 0.04144300892949104 + ], + "orientation": [ + 0.3467152416706085, + 0.4741465151309967, + -0.6412575840950012, + -0.4937228262424469 + ], + "joints": [ + 0.015748508274555206 + ] + }, + "fine_grasp": { + "position": [ + 0.10434846580028534, + -0.06429031491279602, + 0.040244266390800476 + ], + "orientation": [ + 0.3473954498767853, + 0.47507333755493164, + -0.6431523561477661, + -0.48987412452697754 + ], + "joints": [ + 0.006135538220405579 + ] + }, + "final_grasp": { + "position": [ + 0.10434846580028534, + -0.06429031491279602, + 0.040244266390800476 + ], + "orientation": [ + 0.3473954498767853, + 0.47507333755493164, + -0.6431523561477661, + -0.48987412452697754 + ], + "joints": [ + -0.003477431833744049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10697037726640701, + -0.06395784020423889, + 0.04107991233468056 + ], + "orientation": [ + 0.34219855070114136, + 0.4661098122596741, + -0.6469612717628479, + -0.4970744550228119 + ], + "joints": [ + 0.015782494097948074 + ] + }, + "fine_grasp": { + "position": [ + 0.10324596613645554, + -0.0635422095656395, + 0.03993597999215126 + ], + "orientation": [ + 0.34348347783088684, + 0.46616581082344055, + -0.6494013667106628, + -0.4929364323616028 + ], + "joints": [ + 0.006169524043798447 + ] + }, + "final_grasp": { + "position": [ + 0.10324596613645554, + -0.0635422095656395, + 0.03993597999215126 + ], + "orientation": [ + 0.34348347783088684, + 0.46616581082344055, + -0.6494013667106628, + -0.4929364323616028 + ], + "joints": [ + -0.003443446010351181 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06279770284891129, + -0.020661119371652603, + 0.11669664829969406 + ], + "orientation": [ + 0.14201606810092926, + 0.61761873960495, + -0.7384604215621948, + -0.2303362935781479 + ], + "joints": [ + 0.017677374184131622 + ] + }, + "fine_grasp": { + "position": [ + 0.06071966513991356, + -0.020186813548207283, + 0.11338122934103012 + ], + "orientation": [ + 0.14597885310649872, + 0.6141007542610168, + -0.7414954304695129, + -0.22749701142311096 + ], + "joints": [ + 0.007667347323149443 + ] + }, + "final_grasp": { + "position": [ + 0.06071966513991356, + -0.020186813548207283, + 0.11338122934103012 + ], + "orientation": [ + 0.14597885310649872, + 0.6141007542610168, + -0.7414954304695129, + -0.22749701142311096 + ], + "joints": [ + -0.002342679537832737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10558515042066574, + -0.024518093094229698, + -0.04330223798751831 + ], + "orientation": [ + 0.469147264957428, + 0.30416879057884216, + -0.4445866346359253, + -0.6998035311698914 + ], + "joints": [ + 0.01577359065413475 + ] + }, + "fine_grasp": { + "position": [ + 0.10207624733448029, + -0.02400951273739338, + -0.041540008038282394 + ], + "orientation": [ + 0.4705311954021454, + 0.3080675005912781, + -0.44181299209594727, + -0.6989250183105469 + ], + "joints": [ + 0.006578575819730759 + ] + }, + "final_grasp": { + "position": [ + 0.10207624733448029, + -0.02400951273739338, + -0.041540008038282394 + ], + "orientation": [ + 0.4705311954021454, + 0.3080675005912781, + -0.44181299209594727, + -0.6989250183105469 + ], + "joints": [ + -0.002616439014673233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0777890756726265, + -0.021666312590241432, + 0.08581069111824036 + ], + "orientation": [ + 0.34677377343177795, + -0.7234960198402405, + -0.5622748136520386, + 0.20037078857421875 + ], + "joints": [ + 0.016229646280407906 + ] + }, + "fine_grasp": { + "position": [ + 0.07492689043283463, + -0.021964188665151596, + 0.08310799300670624 + ], + "orientation": [ + 0.3418383300304413, + -0.736437201499939, + -0.546238362789154, + 0.20598633587360382 + ], + "joints": [ + 0.007034631446003914 + ] + }, + "final_grasp": { + "position": [ + 0.07492689043283463, + -0.021964188665151596, + 0.08310799300670624 + ], + "orientation": [ + 0.3418383300304413, + -0.736437201499939, + -0.546238362789154, + 0.20598633587360382 + ], + "joints": [ + -0.002160383388400078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03468281030654907, + 0.0900001972913742, + -0.09643486142158508 + ], + "orientation": [ + 0.964970588684082, + 0.07535596936941147, + 0.10022834688425064, + -0.23045121133327484 + ], + "joints": [ + 0.02429380640387535 + ] + }, + "fine_grasp": { + "position": [ + -0.03525499254465103, + 0.09047477692365646, + -0.09352685511112213 + ], + "orientation": [ + 0.95938640832901, + 0.08195275813341141, + 0.11678645759820938, + -0.24335630238056183 + ], + "joints": [ + 0.017606522887945175 + ] + }, + "final_grasp": { + "position": [ + -0.03525499254465103, + 0.09047477692365646, + -0.09352685511112213 + ], + "orientation": [ + 0.95938640832901, + 0.08195275813341141, + 0.11678645759820938, + -0.24335630238056183 + ], + "joints": [ + 0.010919239372015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08152620494365692, + 0.024957679212093353, + -0.0862337201833725 + ], + "orientation": [ + 0.7067196369171143, + -0.20554408431053162, + 0.27996939420700073, + -0.6163734197616577 + ], + "joints": [ + 0.017005344852805138 + ] + }, + "fine_grasp": { + "position": [ + -0.07893460988998413, + 0.02482883259654045, + -0.08326639980077744 + ], + "orientation": [ + 0.707076907157898, + -0.20610009133815765, + 0.2806147038936615, + -0.6154839396476746 + ], + "joints": [ + 0.00739237479865551 + ] + }, + "final_grasp": { + "position": [ + -0.07893460988998413, + 0.02482883259654045, + -0.08326639980077744 + ], + "orientation": [ + 0.707076907157898, + -0.20610009133815765, + 0.2806147038936615, + -0.6154839396476746 + ], + "joints": [ + -0.0022205952554941177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07915980368852615, + 0.03105773590505123, + -0.08030625432729721 + ], + "orientation": [ + 0.6225929856300354, + 0.30969473719596863, + -0.179229736328125, + -0.6959481835365295 + ], + "joints": [ + 0.017562322318553925 + ] + }, + "fine_grasp": { + "position": [ + 0.07749643176794052, + 0.031769368797540665, + -0.07664744555950165 + ], + "orientation": [ + 0.6243095993995667, + 0.3028396964073181, + -0.17682164907455444, + -0.6980400085449219 + ], + "joints": [ + 0.008785262703895569 + ] + }, + "final_grasp": { + "position": [ + 0.07749643176794052, + 0.031769368797540665, + -0.07664744555950165 + ], + "orientation": [ + 0.6243095993995667, + 0.3028396964073181, + -0.17682164907455444, + -0.6980400085449219 + ], + "joints": [ + 8.203089237213135e-06 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09102720022201538, + -0.008009950630366802, + -0.08322960138320923 + ], + "orientation": [ + 0.7007079124450684, + 0.2365439236164093, + 0.29556310176849365, + 0.6047295928001404 + ], + "joints": [ + 0.01675085537135601 + ] + }, + "fine_grasp": { + "position": [ + -0.08820819109678268, + -0.008016903884708881, + -0.08050847798585892 + ], + "orientation": [ + 0.7008799910545349, + 0.2376398891210556, + 0.29647383093833923, + 0.6036536693572998 + ], + "joints": [ + 0.007514044642448425 + ] + }, + "final_grasp": { + "position": [ + -0.08820819109678268, + -0.008016903884708881, + -0.08050847798585892 + ], + "orientation": [ + 0.7008799910545349, + 0.2376398891210556, + 0.29647383093833923, + 0.6036536693572998 + ], + "joints": [ + -0.0017227660864591599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08724130690097809, + -0.02439320646226406, + 0.09880449622869492 + ], + "orientation": [ + 0.3571402430534363, + -0.6406406760215759, + -0.66187983751297, + 0.1547425538301468 + ], + "joints": [ + 0.01679912395775318 + ] + }, + "fine_grasp": { + "position": [ + 0.08457941561937332, + -0.02313004620373249, + 0.09589429944753647 + ], + "orientation": [ + 0.35607612133026123, + -0.6330680251121521, + -0.6706262826919556, + 0.15064851939678192 + ], + "joints": [ + 0.008440019562840462 + ] + }, + "final_grasp": { + "position": [ + 0.08457941561937332, + -0.02313004620373249, + 0.09589429944753647 + ], + "orientation": [ + 0.35607612133026123, + -0.6330680251121521, + -0.6706262826919556, + 0.15064851939678192 + ], + "joints": [ + 8.0915167927742e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09226538240909576, + -0.008374259807169437, + -0.0844300165772438 + ], + "orientation": [ + 0.7035268545150757, + 0.23552551865577698, + 0.29396262764930725, + 0.6026304960250854 + ], + "joints": [ + 0.016460830345749855 + ] + }, + "fine_grasp": { + "position": [ + -0.0895191952586174, + -0.008381342515349388, + -0.08179247379302979 + ], + "orientation": [ + 0.7037075757980347, + 0.23651838302612305, + 0.29482540488243103, + 0.6016084551811218 + ], + "joints": [ + 0.007203121669590473 + ] + }, + "final_grasp": { + "position": [ + -0.0895191952586174, + -0.008381342515349388, + -0.08179247379302979 + ], + "orientation": [ + 0.7037075757980347, + 0.23651838302612305, + 0.29482540488243103, + 0.6016084551811218 + ], + "joints": [ + -0.0020545870065689087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14075645804405212, + 0.05369436368346214, + -0.033421583473682404 + ], + "orientation": [ + 0.749033510684967, + -0.25375115871429443, + 0.5286318063735962, + -0.30839481949806213 + ], + "joints": [ + 0.018731484189629555 + ] + }, + "fine_grasp": { + "position": [ + -0.13707996904850006, + 0.05430266633629799, + -0.031550392508506775 + ], + "orientation": [ + 0.7512280344963074, + -0.25191062688827515, + 0.5268139243125916, + -0.3076760470867157 + ], + "joints": [ + 0.0107694361358881 + ] + }, + "final_grasp": { + "position": [ + -0.13707996904850006, + 0.05430266633629799, + -0.031550392508506775 + ], + "orientation": [ + 0.7512280344963074, + -0.25191062688827515, + 0.5268139243125916, + -0.3076760470867157 + ], + "joints": [ + 0.0028073880821466446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06301258504390717, + -0.02072543278336525, + 0.11620538681745529 + ], + "orientation": [ + 0.14290882647037506, + 0.6143222451210022, + -0.7405298352241516, + -0.23194998502731323 + ], + "joints": [ + 0.017532557249069214 + ] + }, + "fine_grasp": { + "position": [ + 0.06079142913222313, + -0.020277678966522217, + 0.11292988061904907 + ], + "orientation": [ + 0.1481511890888214, + 0.610666811466217, + -0.7436733245849609, + -0.22822614014148712 + ], + "joints": [ + 0.007543428801000118 + ] + }, + "final_grasp": { + "position": [ + 0.06079142913222313, + -0.020277678966522217, + 0.11292988061904907 + ], + "orientation": [ + 0.1481511890888214, + 0.610666811466217, + -0.7436733245849609, + -0.22822614014148712 + ], + "joints": [ + -0.0024456996470689774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14366677403450012, + 0.08035365492105484, + -0.021859856322407722 + ], + "orientation": [ + 0.14048998057842255, + -0.5878437757492065, + 0.18052536249160767, + -0.7759591937065125 + ], + "joints": [ + 0.01887069270014763 + ] + }, + "fine_grasp": { + "position": [ + -0.13982659578323364, + 0.07942195981740952, + -0.020519889891147614 + ], + "orientation": [ + 0.13696379959583282, + -0.5846876502037048, + 0.18377913534641266, + -0.7782073616981506 + ], + "joints": [ + 0.010511588305234909 + ] + }, + "final_grasp": { + "position": [ + -0.13982659578323364, + 0.07942195981740952, + -0.020519889891147614 + ], + "orientation": [ + 0.13696379959583282, + -0.5846876502037048, + 0.18377913534641266, + -0.7782073616981506 + ], + "joints": [ + 0.0021524839103221893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1157713234424591, + 0.0183128472417593, + -0.052193284034729004 + ], + "orientation": [ + 0.1502448320388794, + 0.37313294410705566, + 0.31462499499320984, + 0.8597728610038757 + ], + "joints": [ + 0.016398387029767036 + ] + }, + "fine_grasp": { + "position": [ + -0.11264972388744354, + 0.019958371296525, + -0.04978034645318985 + ], + "orientation": [ + 0.15055997669696808, + 0.3806760609149933, + 0.3093319237232208, + 0.8583305478096008 + ], + "joints": [ + 0.008875193074345589 + ] + }, + "final_grasp": { + "position": [ + -0.11264972388744354, + 0.019958371296525, + -0.04978034645318985 + ], + "orientation": [ + 0.15055997669696808, + 0.3806760609149933, + 0.3093319237232208, + 0.8583305478096008 + ], + "joints": [ + 0.001351999118924141 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05419021099805832, + 0.16400223970413208, + -0.056505173444747925 + ], + "orientation": [ + 0.8789634108543396, + 0.4695741534233093, + 0.022978952154517174, + 0.07997111231088638 + ], + "joints": [ + 0.015278100967407227 + ] + }, + "fine_grasp": { + "position": [ + -0.05302789807319641, + 0.1607658565044403, + -0.054121289402246475 + ], + "orientation": [ + 0.8787717819213867, + 0.46888595819473267, + 0.02901088260114193, + 0.08405163884162903 + ], + "joints": [ + 0.006918996572494507 + ] + }, + "final_grasp": { + "position": [ + -0.05302789807319641, + 0.1607658565044403, + -0.054121289402246475 + ], + "orientation": [ + 0.8787717819213867, + 0.46888595819473267, + 0.02901088260114193, + 0.08405163884162903 + ], + "joints": [ + -0.0014401078224182129 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15190231800079346, + 0.06678109616041183, + -0.0007276828400790691 + ], + "orientation": [ + 0.14731824398040771, + 0.654769778251648, + 0.15589343011379242, + 0.7247557640075684 + ], + "joints": [ + 0.016968511044979095 + ] + }, + "fine_grasp": { + "position": [ + -0.14795750379562378, + 0.06696274131536484, + -0.0006314908969216049 + ], + "orientation": [ + 0.14776164293289185, + 0.6568732857704163, + 0.1551460474729538, + 0.7229202389717102 + ], + "joints": [ + 0.007355540990829468 + ] + }, + "final_grasp": { + "position": [ + -0.14795750379562378, + 0.06696274131536484, + -0.0006314908969216049 + ], + "orientation": [ + 0.14776164293289185, + 0.6568732857704163, + 0.1551460474729538, + 0.7229202389717102 + ], + "joints": [ + -0.00225742906332016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05447819083929062, + 0.16494256258010864, + -0.057286012917757034 + ], + "orientation": [ + 0.8781776428222656, + 0.4714229106903076, + 0.02183663658797741, + 0.0780235305428505 + ], + "joints": [ + 0.01588253304362297 + ] + }, + "fine_grasp": { + "position": [ + -0.05328606069087982, + 0.16190728545188904, + -0.054877571761608124 + ], + "orientation": [ + 0.8786389827728271, + 0.4696364998817444, + 0.02771024964749813, + 0.08165397495031357 + ], + "joints": [ + 0.007105473428964615 + ] + }, + "final_grasp": { + "position": [ + -0.05328606069087982, + 0.16190728545188904, + -0.054877571761608124 + ], + "orientation": [ + 0.8786389827728271, + 0.4696364998817444, + 0.02771024964749813, + 0.08165397495031357 + ], + "joints": [ + -0.0016715861856937408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0681275874376297, + 0.04805012792348862, + 0.12685716152191162 + ], + "orientation": [ + 0.159196674823761, + -0.6245304942131042, + 0.7533090710639954, + -0.13093361258506775 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + -0.06610000878572464, + 0.0488295778632164, + 0.12357581406831741 + ], + "orientation": [ + 0.17567826807498932, + -0.6225112676620483, + 0.7543501853942871, + -0.11212744563817978 + ], + "joints": [ + 0.020533550530672073 + ] + }, + "final_grasp": { + "position": [ + -0.06610000878572464, + 0.0488295778632164, + 0.12357581406831741 + ], + "orientation": [ + 0.17567826807498932, + -0.6225112676620483, + 0.7543501853942871, + -0.11212744563817978 + ], + "joints": [ + 0.012550603598356247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043679337948560715, + 0.1060890257358551, + -0.08997988700866699 + ], + "orientation": [ + 0.6783638000488281, + 0.3185219466686249, + 0.12741942703723907, + -0.649715781211853 + ], + "joints": [ + 0.028215473517775536 + ] + }, + "fine_grasp": { + "position": [ + 0.04236726835370064, + 0.10578881204128265, + -0.08604952692985535 + ], + "orientation": [ + 0.6784073710441589, + 0.30969172716140747, + 0.1203278973698616, + -0.6552675366401672 + ], + "joints": [ + 0.019856369122862816 + ] + }, + "final_grasp": { + "position": [ + 0.04236726835370064, + 0.10578881204128265, + -0.08604952692985535 + ], + "orientation": [ + 0.6784073710441589, + 0.30969172716140747, + 0.1203278973698616, + -0.6552675366401672 + ], + "joints": [ + 0.011497264727950096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14126674830913544, + 0.04457234591245651, + 0.0595562569797039 + ], + "orientation": [ + 0.16709181666374207, + -0.8549079895019531, + 0.06756370514631271, + -0.4864644706249237 + ], + "joints": [ + 0.014912957325577736 + ] + }, + "fine_grasp": { + "position": [ + -0.13732440769672394, + 0.04522952809929848, + 0.05845032259821892 + ], + "orientation": [ + 0.16723202168941498, + -0.848082959651947, + 0.06962744891643524, + -0.49793654680252075 + ], + "joints": [ + 0.006553852930665016 + ] + }, + "final_grasp": { + "position": [ + -0.13732440769672394, + 0.04522952809929848, + 0.05845032259821892 + ], + "orientation": [ + 0.16723202168941498, + -0.848082959651947, + 0.06962744891643524, + -0.49793654680252075 + ], + "joints": [ + -0.0018052514642477036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10631294548511505, + 0.04106704890727997, + -0.07678047567605972 + ], + "orientation": [ + 0.9226898550987244, + -0.16772904992103577, + 0.3206635117530823, + -0.13298611342906952 + ], + "joints": [ + 0.01800362765789032 + ] + }, + "fine_grasp": { + "position": [ + -0.10334272682666779, + 0.04143725708127022, + -0.07382369786500931 + ], + "orientation": [ + 0.9208774566650391, + -0.1601724922657013, + 0.3297974467277527, + -0.13252584636211395 + ], + "joints": [ + 0.010062478482723236 + ] + }, + "final_grasp": { + "position": [ + -0.10334272682666779, + 0.04143725708127022, + -0.07382369786500931 + ], + "orientation": [ + 0.9208774566650391, + -0.1601724922657013, + 0.3297974467277527, + -0.13252584636211395 + ], + "joints": [ + 0.0021213293075561523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10659408569335938, + 0.04099253937602043, + -0.07731572538614273 + ], + "orientation": [ + 0.9228609800338745, + -0.16757623851299286, + 0.32036903500556946, + -0.132700115442276 + ], + "joints": [ + 0.01779072917997837 + ] + }, + "fine_grasp": { + "position": [ + -0.10361741483211517, + 0.0413174107670784, + -0.07435144484043121 + ], + "orientation": [ + 0.9211913347244263, + -0.16027194261550903, + 0.32884466648101807, + -0.13259142637252808 + ], + "joints": [ + 0.009849580004811287 + ] + }, + "final_grasp": { + "position": [ + -0.10361741483211517, + 0.0413174107670784, + -0.07435144484043121 + ], + "orientation": [ + 0.9211913347244263, + -0.16027194261550903, + 0.32884466648101807, + -0.13259142637252808 + ], + "joints": [ + 0.0019084308296442032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044716496020555496, + 0.08485478162765503, + -0.0946352630853653 + ], + "orientation": [ + 0.7186157703399658, + 0.07199415564537048, + -0.2563241422176361, + 0.642422080039978 + ], + "joints": [ + 0.028956450521945953 + ] + }, + "fine_grasp": { + "position": [ + 0.04361220821738243, + 0.08566445857286453, + -0.09073241800069809 + ], + "orientation": [ + 0.7249967455863953, + 0.06470612436532974, + -0.24279627203941345, + 0.6412822008132935 + ], + "joints": [ + 0.02101530134677887 + ] + }, + "final_grasp": { + "position": [ + 0.04361220821738243, + 0.08566445857286453, + -0.09073241800069809 + ], + "orientation": [ + 0.7249967455863953, + 0.06470612436532974, + -0.24279627203941345, + 0.6412822008132935 + ], + "joints": [ + 0.013074152171611786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04579903930425644, + 0.10458455234766006, + 0.12350039929151535 + ], + "orientation": [ + 0.04192502051591873, + -0.014838304370641708, + 0.9862232208251953, + -0.15932975709438324 + ], + "joints": [ + 0.018809586763381958 + ] + }, + "fine_grasp": { + "position": [ + -0.04557422176003456, + 0.10314677655696869, + 0.11957840621471405 + ], + "orientation": [ + 0.05107725039124489, + -0.032327692955732346, + 0.9835389256477356, + -0.17028503119945526 + ], + "joints": [ + 0.010868437588214874 + ] + }, + "final_grasp": { + "position": [ + -0.04557422176003456, + 0.10314677655696869, + 0.11957840621471405 + ], + "orientation": [ + 0.05107725039124489, + -0.032327692955732346, + 0.9835389256477356, + -0.17028503119945526 + ], + "joints": [ + 0.0029272884130477905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03026905283331871, + 0.07742311805486679, + -0.10373915731906891 + ], + "orientation": [ + 0.10032037645578384, + -0.021481119096279144, + -0.04130565747618675, + 0.9938652515411377 + ], + "joints": [ + 0.01576448790729046 + ] + }, + "fine_grasp": { + "position": [ + -0.03004245087504387, + 0.07702627032995224, + -0.09961086511611938 + ], + "orientation": [ + 0.11062552779912949, + -0.016390176489949226, + -0.04004727676510811, + 0.9929197430610657 + ], + "joints": [ + 0.007802440784871578 + ] + }, + "final_grasp": { + "position": [ + -0.03004245087504387, + 0.07702627032995224, + -0.09961086511611938 + ], + "orientation": [ + 0.11062552779912949, + -0.016390176489949226, + -0.04004727676510811, + 0.9929197430610657 + ], + "joints": [ + -0.00015960633754730225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03145691752433777, + 0.04169651120901108, + 0.14156129956245422 + ], + "orientation": [ + 0.053765058517456055, + 0.7260160446166992, + -0.6848887205123901, + -0.03061860054731369 + ], + "joints": [ + 0.02935009077191353 + ] + }, + "fine_grasp": { + "position": [ + 0.0307492446154356, + 0.04172242432832718, + 0.1376924216747284 + ], + "orientation": [ + 0.046804722398519516, + 0.7285985946655273, + -0.6823433041572571, + -0.036893267184495926 + ], + "joints": [ + 0.020113278180360794 + ] + }, + "final_grasp": { + "position": [ + 0.0307492446154356, + 0.04172242432832718, + 0.1376924216747284 + ], + "orientation": [ + 0.046804722398519516, + 0.7285985946655273, + -0.6823433041572571, + -0.036893267184495926 + ], + "joints": [ + 0.01087646558880806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005658960435539484, + 0.06896743178367615, + -0.11230383813381195 + ], + "orientation": [ + 0.4599299132823944, + 0.010166420601308346, + -0.027430037036538124, + 0.8874732255935669 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + 0.00524549838155508, + 0.06829922646284103, + -0.10828220099210739 + ], + "orientation": [ + 0.4615819752216339, + 0.012892335653305054, + -0.029635950922966003, + 0.8865086436271667 + ], + "joints": [ + 0.019739437848329544 + ] + }, + "final_grasp": { + "position": [ + 0.00524549838155508, + 0.06829922646284103, + -0.10828220099210739 + ], + "orientation": [ + 0.4615819752216339, + 0.012892335653305054, + -0.029635950922966003, + 0.8865086436271667 + ], + "joints": [ + 0.010962378233671188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017282068729400635, + 0.06187466159462929, + 0.13577358424663544 + ], + "orientation": [ + 0.06640677899122238, + 0.7650434374809265, + -0.6393371820449829, + 0.039327703416347504 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + 0.016901936382055283, + 0.06142545863986015, + 0.13174806535243988 + ], + "orientation": [ + 0.0667930319905281, + 0.7648417353630066, + -0.639519214630127, + 0.03963586315512657 + ], + "joints": [ + 0.022242484614253044 + ] + }, + "final_grasp": { + "position": [ + 0.016901936382055283, + 0.06142545863986015, + 0.13174806535243988 + ], + "orientation": [ + 0.0667930319905281, + 0.7648417353630066, + -0.639519214630127, + 0.03963586315512657 + ], + "joints": [ + 0.013444526121020317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01733405701816082, + 0.06185813993215561, + 0.13494889438152313 + ], + "orientation": [ + 0.06700515002012253, + 0.7626829147338867, + -0.6421164274215698, + 0.03887845203280449 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + 0.01698409952223301, + 0.06137967109680176, + 0.1309136003255844 + ], + "orientation": [ + 0.06705919653177261, + 0.7629208564758301, + -0.6417391300201416, + 0.0403224378824234 + ], + "joints": [ + 0.022308535873889923 + ] + }, + "final_grasp": { + "position": [ + 0.01698409952223301, + 0.06137967109680176, + 0.1309136003255844 + ], + "orientation": [ + 0.06705919653177261, + 0.7629208564758301, + -0.6417391300201416, + 0.0403224378824234 + ], + "joints": [ + 0.013113521039485931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09439266473054886, + 0.09411665797233582, + 0.09889908134937286 + ], + "orientation": [ + 0.27262604236602783, + -0.00817884597927332, + 0.9529260396957397, + -0.13243883848190308 + ], + "joints": [ + 0.018452681601047516 + ] + }, + "fine_grasp": { + "position": [ + -0.09208891540765762, + 0.09293710440397263, + 0.09566549956798553 + ], + "orientation": [ + 0.2846810519695282, + -0.021503757685422897, + 0.9473720192909241, + -0.1448461264371872 + ], + "joints": [ + 0.010929487645626068 + ] + }, + "final_grasp": { + "position": [ + -0.09208891540765762, + 0.09293710440397263, + 0.09566549956798553 + ], + "orientation": [ + 0.2846810519695282, + -0.021503757685422897, + 0.9473720192909241, + -0.1448461264371872 + ], + "joints": [ + 0.0034062936902046204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09429552406072617, + 0.09378192573785782, + 0.09904292970895767 + ], + "orientation": [ + 0.26912346482276917, + -0.017273301258683205, + 0.9538750648498535, + -0.13189619779586792 + ], + "joints": [ + 0.018088072538375854 + ] + }, + "fine_grasp": { + "position": [ + -0.09196875244379044, + 0.09259086102247238, + 0.09585151821374893 + ], + "orientation": [ + 0.2811717092990875, + -0.031593259423971176, + 0.9481778740882874, + -0.1445787250995636 + ], + "joints": [ + 0.010961934924125671 + ] + }, + "final_grasp": { + "position": [ + -0.09196875244379044, + 0.09259086102247238, + 0.09585151821374893 + ], + "orientation": [ + 0.2811717092990875, + -0.031593259423971176, + 0.9481778740882874, + -0.1445787250995636 + ], + "joints": [ + 0.0038357973098754883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1402655392885208, + 0.0719299241900444, + 0.05802294239401817 + ], + "orientation": [ + 0.015078081749379635, + 0.8581349849700928, + -0.0007701651193201542, + 0.5132021307945251 + ], + "joints": [ + 0.014083892107009888 + ] + }, + "fine_grasp": { + "position": [ + -0.13622988760471344, + 0.07166820764541626, + 0.05707786977291107 + ], + "orientation": [ + 0.016746435314416885, + 0.8511200547218323, + -0.00109981675632298, + 0.5247028470039368 + ], + "joints": [ + 0.006142742931842804 + ] + }, + "final_grasp": { + "position": [ + -0.13622988760471344, + 0.07166820764541626, + 0.05707786977291107 + ], + "orientation": [ + 0.016746435314416885, + 0.8511200547218323, + -0.00109981675632298, + 0.5247028470039368 + ], + "joints": [ + -0.0017984062433242798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07846372574567795, + 0.11635062098503113, + 0.10893891751766205 + ], + "orientation": [ + 0.16691221296787262, + -0.08949898928403854, + 0.9550686478614807, + -0.2279783934354782 + ], + "joints": [ + 0.01706443354487419 + ] + }, + "fine_grasp": { + "position": [ + -0.07691077142953873, + 0.1144293025135994, + 0.10552174597978592 + ], + "orientation": [ + 0.17643022537231445, + -0.09538175910711288, + 0.9505091309547424, + -0.23729074001312256 + ], + "joints": [ + 0.009123284369707108 + ] + }, + "final_grasp": { + "position": [ + -0.07691077142953873, + 0.1144293025135994, + 0.10552174597978592 + ], + "orientation": [ + 0.17643022537231445, + -0.09538175910711288, + 0.9505091309547424, + -0.23729074001312256 + ], + "joints": [ + 0.0011821351945400238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14508849382400513, + 0.05403108522295952, + -0.051511164754629135 + ], + "orientation": [ + 0.17006199061870575, + 0.5311994552612305, + 0.176107257604599, + 0.8111056089401245 + ], + "joints": [ + 0.016614599153399467 + ] + }, + "fine_grasp": { + "position": [ + -0.14209523797035217, + 0.05383545905351639, + -0.048588819801807404 + ], + "orientation": [ + 0.1727137267589569, + 0.5247053503990173, + 0.16989444196224213, + 0.8160821199417114 + ], + "joints": [ + 0.008673449978232384 + ] + }, + "final_grasp": { + "position": [ + -0.14209523797035217, + 0.05383545905351639, + -0.048588819801807404 + ], + "orientation": [ + 0.1727137267589569, + 0.5247053503990173, + 0.16989444196224213, + 0.8160821199417114 + ], + "joints": [ + 0.0007323008030653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14515133202075958, + 0.05409757420420647, + -0.05123339220881462 + ], + "orientation": [ + 0.17190176248550415, + 0.5323115587234497, + 0.17518769204616547, + 0.8101872205734253 + ], + "joints": [ + 0.016174646094441414 + ] + }, + "fine_grasp": { + "position": [ + -0.14206749200820923, + 0.053912203758955, + -0.048256322741508484 + ], + "orientation": [ + 0.1745654046535492, + 0.5257065296173096, + 0.16894954442977905, + 0.8152396082878113 + ], + "joints": [ + 0.008651452139019966 + ] + }, + "final_grasp": { + "position": [ + -0.14206749200820923, + 0.053912203758955, + -0.048256322741508484 + ], + "orientation": [ + 0.1745654046535492, + 0.5257065296173096, + 0.16894954442977905, + 0.8152396082878113 + ], + "joints": [ + 0.0011282581835985184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050353098660707474, + -0.009919513016939163, + 0.1108107939362526 + ], + "orientation": [ + 0.19812344014644623, + -0.7075133919715881, + -0.6675100326538086, + 0.12083972990512848 + ], + "joints": [ + 0.015736110508441925 + ] + }, + "fine_grasp": { + "position": [ + 0.04842055216431618, + -0.009811070747673512, + 0.1071256697177887 + ], + "orientation": [ + 0.19605045020580292, + -0.7131699323654175, + -0.6617914438247681, + 0.12241316586732864 + ], + "joints": [ + 0.007377006113529205 + ] + }, + "final_grasp": { + "position": [ + 0.04842055216431618, + -0.009811070747673512, + 0.1071256697177887 + ], + "orientation": [ + 0.19605045020580292, + -0.7131699323654175, + -0.6617914438247681, + 0.12241316586732864 + ], + "joints": [ + -0.0009820982813835144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09520908445119858, + 0.1462416797876358, + 0.031526170670986176 + ], + "orientation": [ + 0.5967425107955933, + 0.7208563089370728, + -0.28490135073661804, + -0.2075950652360916 + ], + "joints": [ + 0.01862969622015953 + ] + }, + "fine_grasp": { + "position": [ + 0.09255937486886978, + 0.14343325793743134, + 0.030657770112156868 + ], + "orientation": [ + 0.596519410610199, + 0.7194380164146423, + -0.2877655029296875, + -0.20919977128505707 + ], + "joints": [ + 0.009016726166009903 + ] + }, + "final_grasp": { + "position": [ + 0.09255937486886978, + 0.14343325793743134, + 0.030657770112156868 + ], + "orientation": [ + 0.596519410610199, + 0.7194380164146423, + -0.2877655029296875, + -0.20919977128505707 + ], + "joints": [ + -0.0005962438881397247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11951969563961029, + 0.10341253876686096, + 0.08935339748859406 + ], + "orientation": [ + 0.21420402824878693, + 0.8994383811950684, + 0.121376171708107, + 0.36110246181488037 + ], + "joints": [ + 0.01929573155939579 + ] + }, + "fine_grasp": { + "position": [ + -0.11652204394340515, + 0.10188791155815125, + 0.08684474974870682 + ], + "orientation": [ + 0.22103437781333923, + 0.8969977498054504, + 0.11928623914718628, + 0.3637441396713257 + ], + "joints": [ + 0.01093662716448307 + ] + }, + "final_grasp": { + "position": [ + -0.11652204394340515, + 0.10188791155815125, + 0.08684474974870682 + ], + "orientation": [ + 0.22103437781333923, + 0.8969977498054504, + 0.11928623914718628, + 0.3637441396713257 + ], + "joints": [ + 0.0025775227695703506 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 167 + } +} \ No newline at end of file diff --git a/clutter_hammer_00000/Object.usd b/clutter_hammer_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..5fe90c9899a732e48e046f3c10d5730a449438a4 Binary files /dev/null and b/clutter_hammer_00000/Object.usd differ diff --git a/clutter_iron_00000/Annotation/dex1_1_grasp_pose.json b/clutter_iron_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..208722d59838363d87c6566184f9eb22324d5bde --- /dev/null +++ b/clutter_iron_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,818 @@ +{ + "type": "clutter_iron_00000", + "bottom_center": [ + -8.775293827056885e-05, + 8.006207644939423e-05, + -0.05714999511837959 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.057937897741794586, + 0.13556015491485596, + 0.007688481360673904 + ], + "orientation": [ + 0.0004982023383490741, + 0.8123754858970642, + 0.056561727076768875, + -0.5803849697113037 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.058546435087919235, + 0.1326325386762619, + 0.009480204433202744 + ], + "orientation": [ + 0.007850303314626217, + 0.8057959079742432, + 0.061524081975221634, + -0.5889363288879395 + ], + "joints": [ + -0.019242756068706512 + ] + }, + "final_grasp": { + "position": [ + 0.058546435087919235, + 0.1326325386762619, + 0.009480204433202744 + ], + "orientation": [ + 0.007850303314626217, + 0.8057959079742432, + 0.061524081975221634, + -0.5889363288879395 + ], + "joints": [ + -0.01848551258444786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01762884296476841, + 0.06305529922246933, + -0.14400289952754974 + ], + "orientation": [ + 0.4033632278442383, + 0.6315091252326965, + -0.2890942394733429, + -0.5957507491111755 + ], + "joints": [ + -0.01649659126996994 + ] + }, + "fine_grasp": { + "position": [ + 0.017929723486304283, + 0.06255266815423965, + -0.14187301695346832 + ], + "orientation": [ + 0.40420782566070557, + 0.6169103384017944, + -0.29441678524017334, + -0.6077468991279602 + ], + "joints": [ + -0.010544910095632076 + ] + }, + "final_grasp": { + "position": [ + 0.017929723486304283, + 0.06255266815423965, + -0.14187301695346832 + ], + "orientation": [ + 0.40420782566070557, + 0.6169103384017944, + -0.29441678524017334, + -0.6077468991279602 + ], + "joints": [ + -0.004593228921294212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047110144048929214, + 0.1219685822725296, + -0.09353994578123093 + ], + "orientation": [ + 0.07898452877998352, + 0.9927927851676941, + -0.06370317190885544, + 0.06376433372497559 + ], + "joints": [ + 0.00385769410058856 + ] + }, + "fine_grasp": { + "position": [ + 0.04791916161775589, + 0.11955814808607101, + -0.09081996232271194 + ], + "orientation": [ + 0.09945295006036758, + 0.9897063374519348, + -0.05531078949570656, + 0.0867830440402031 + ], + "joints": [ + 0.00287460396066308 + ] + }, + "final_grasp": { + "position": [ + 0.04791916161775589, + 0.11955814808607101, + -0.09081996232271194 + ], + "orientation": [ + 0.09945295006036758, + 0.9897063374519348, + -0.05531078949570656, + 0.0867830440402031 + ], + "joints": [ + 0.0018915138207376003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04723105579614639, + 0.12251105904579163, + -0.09314174205064774 + ], + "orientation": [ + 0.0799352154135704, + 0.9919379949569702, + -0.06533416360616684, + 0.07348992675542831 + ], + "joints": [ + 0.0025925575755536556 + ] + }, + "fine_grasp": { + "position": [ + 0.04741910099983215, + 0.12054286152124405, + -0.09106709063053131 + ], + "orientation": [ + 0.09918999671936035, + 0.9899632930755615, + -0.06151670217514038, + 0.07968592643737793 + ], + "joints": [ + 0.0026456969790160656 + ] + }, + "final_grasp": { + "position": [ + 0.04741910099983215, + 0.12054286152124405, + -0.09106709063053131 + ], + "orientation": [ + 0.09918999671936035, + 0.9899632930755615, + -0.06151670217514038, + 0.07968592643737793 + ], + "joints": [ + 0.0026988363824784756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04795045405626297, + 0.12215346097946167, + -0.09294101595878601 + ], + "orientation": [ + 0.08240781724452972, + 0.9912558197975159, + -0.05844332277774811, + 0.08488357067108154 + ], + "joints": [ + 0.0016062487848103046 + ] + }, + "fine_grasp": { + "position": [ + 0.04808869957923889, + 0.12038013339042664, + -0.09073487669229507 + ], + "orientation": [ + 0.10078586637973785, + 0.9893215298652649, + -0.05409078299999237, + 0.0903291255235672 + ], + "joints": [ + 0.0016593884211033583 + ] + }, + "final_grasp": { + "position": [ + 0.04808869957923889, + 0.12038013339042664, + -0.09073487669229507 + ], + "orientation": [ + 0.10078586637973785, + 0.9893215298652649, + -0.05409078299999237, + 0.0903291255235672 + ], + "joints": [ + 0.001712528057396412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012936122715473175, + -0.11342906951904297, + -0.11958927661180496 + ], + "orientation": [ + 0.10849727690219879, + 0.18375475704669952, + 0.9620347619056702, + 0.17015184462070465 + ], + "joints": [ + -0.00569023285061121 + ] + }, + "fine_grasp": { + "position": [ + -0.013556425459682941, + -0.11101586371660233, + -0.11618697643280029 + ], + "orientation": [ + 0.11013689637184143, + 0.18677088618278503, + 0.958701491355896, + 0.18405988812446594 + ], + "joints": [ + -0.006141923367977142 + ] + }, + "final_grasp": { + "position": [ + -0.013556425459682941, + -0.11101586371660233, + -0.11618697643280029 + ], + "orientation": [ + 0.11013689637184143, + 0.18677088618278503, + 0.958701491355896, + 0.18405988812446594 + ], + "joints": [ + -0.006593613885343075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010559894144535065, + -0.11995420604944229, + -0.10385935753583908 + ], + "orientation": [ + 0.9728782176971436, + 0.11118128150701523, + -0.09692171216011047, + -0.1781933307647705 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.009529654867947102, + -0.11771652847528458, + -0.09900891035795212 + ], + "orientation": [ + 0.9716870784759521, + 0.12144023180007935, + -0.10963627696037292, + -0.17045965790748596 + ], + "joints": [ + -0.016552522778511047 + ] + }, + "final_grasp": { + "position": [ + -0.009529654867947102, + -0.11771652847528458, + -0.09900891035795212 + ], + "orientation": [ + 0.9716870784759521, + 0.12144023180007935, + -0.10963627696037292, + -0.17045965790748596 + ], + "joints": [ + -0.015489719808101654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010575440712273121, + -0.119964100420475, + -0.10388114303350449 + ], + "orientation": [ + 0.9728712439537048, + 0.11125258356332779, + -0.09690576046705246, + -0.178195521235466 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + -0.00953011866658926, + -0.11773615330457687, + -0.09898924827575684 + ], + "orientation": [ + 0.971723198890686, + 0.12137444317340851, + -0.10957379639148712, + -0.17034024000167847 + ], + "joints": [ + -0.016552522778511047 + ] + }, + "final_grasp": { + "position": [ + -0.00953011866658926, + -0.11773615330457687, + -0.09898924827575684 + ], + "orientation": [ + 0.971723198890686, + 0.12137444317340851, + -0.10957379639148712, + -0.17034024000167847 + ], + "joints": [ + -0.015489719808101654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0033694293815642595, + 0.11329077184200287, + -0.10924416035413742 + ], + "orientation": [ + 0.036355387419462204, + 0.047248706221580505, + -0.13397343456745148, + -0.9891900420188904 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.003947679419070482, + 0.1116207167506218, + -0.10678771883249283 + ], + "orientation": [ + 0.027059854939579964, + 0.03186165541410446, + -0.14787213504314423, + -0.9881225824356079 + ], + "joints": [ + -0.018432367593050003 + ] + }, + "final_grasp": { + "position": [ + -0.003947679419070482, + 0.1116207167506218, + -0.10678771883249283 + ], + "orientation": [ + 0.027059854939579964, + 0.03186165541410446, + -0.14787213504314423, + -0.9881225824356079 + ], + "joints": [ + -0.016864735633134842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035012807697057724, + -0.1549442559480667, + -0.03185797110199928 + ], + "orientation": [ + 0.20921379327774048, + -0.08081131428480148, + -0.9688064455986023, + -0.10541912168264389 + ], + "joints": [ + -0.00931181013584137 + ] + }, + "fine_grasp": { + "position": [ + 0.03483923152089119, + -0.15180031955242157, + -0.03190479800105095 + ], + "orientation": [ + 0.23180030286312103, + -0.06756331771612167, + -0.9641647338867188, + -0.10995519906282425 + ], + "joints": [ + -0.009125819429755211 + ] + }, + "final_grasp": { + "position": [ + 0.03483923152089119, + -0.15180031955242157, + -0.03190479800105095 + ], + "orientation": [ + 0.23180030286312103, + -0.06756331771612167, + -0.9641647338867188, + -0.10995519906282425 + ], + "joints": [ + -0.008939828723669052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03523065522313118, + -0.15571658313274384, + -0.0319373644888401 + ], + "orientation": [ + 0.20917293429374695, + -0.07940827310085297, + -0.9687914252281189, + -0.10669659078121185 + ], + "joints": [ + -0.00931181013584137 + ] + }, + "fine_grasp": { + "position": [ + 0.03516498580574989, + -0.1521163284778595, + -0.03201688826084137 + ], + "orientation": [ + 0.23060667514801025, + -0.06677604466676712, + -0.9645443558692932, + -0.10961643606424332 + ], + "joints": [ + -0.009125819429755211 + ] + }, + "final_grasp": { + "position": [ + 0.03516498580574989, + -0.1521163284778595, + -0.03201688826084137 + ], + "orientation": [ + 0.23060667514801025, + -0.06677604466676712, + -0.9645443558692932, + -0.10961643606424332 + ], + "joints": [ + -0.008939828723669052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019729703664779663, + 0.14936694502830505, + -0.05499834567308426 + ], + "orientation": [ + 0.14743879437446594, + 0.6611813902854919, + 0.0353989377617836, + -0.7347433567047119 + ], + "joints": [ + -0.009311579167842865 + ] + }, + "fine_grasp": { + "position": [ + -0.018487343564629555, + 0.14587536454200745, + -0.05320838838815689 + ], + "orientation": [ + 0.15929298102855682, + 0.6544270515441895, + 0.02939905971288681, + -0.7385707497596741 + ], + "joints": [ + -0.009178727865219116 + ] + }, + "final_grasp": { + "position": [ + -0.018487343564629555, + 0.14587536454200745, + -0.05320838838815689 + ], + "orientation": [ + 0.15929298102855682, + 0.6544270515441895, + 0.02939905971288681, + -0.7385707497596741 + ], + "joints": [ + -0.009045876562595367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019417040050029755, + 0.14961756765842438, + -0.05532609671354294 + ], + "orientation": [ + 0.14884300529956818, + 0.6614523530006409, + 0.03454793244600296, + -0.7342568039894104 + ], + "joints": [ + -0.00934256985783577 + ] + }, + "fine_grasp": { + "position": [ + -0.018155232071876526, + 0.14609257876873016, + -0.05350398272275925 + ], + "orientation": [ + 0.16117992997169495, + 0.6540782451629639, + 0.028189992532134056, + -0.7385175228118896 + ], + "joints": [ + -0.009209718555212021 + ] + }, + "final_grasp": { + "position": [ + -0.018155232071876526, + 0.14609257876873016, + -0.05350398272275925 + ], + "orientation": [ + 0.16117992997169495, + 0.6540782451629639, + 0.028189992532134056, + -0.7385175228118896 + ], + "joints": [ + -0.009076867252588272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011456731706857681, + -0.14082884788513184, + -0.10817254334688187 + ], + "orientation": [ + 0.17864541709423065, + 0.1648104190826416, + 0.958203136920929, + 0.15089835226535797 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.011598687618970871, + -0.13686133921146393, + -0.10479506105184555 + ], + "orientation": [ + 0.15298575162887573, + 0.1512175351381302, + 0.9634132385253906, + 0.159886434674263 + ], + "joints": [ + -0.016291823238134384 + ] + }, + "final_grasp": { + "position": [ + 0.011598687618970871, + -0.13686133921146393, + -0.10479506105184555 + ], + "orientation": [ + 0.15298575162887573, + 0.1512175351381302, + 0.9634132385253906, + 0.159886434674263 + ], + "joints": [ + -0.014644475653767586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012062865309417248, + -0.1404886096715927, + -0.10819799453020096 + ], + "orientation": [ + 0.17848259210586548, + 0.16425973176956177, + 0.9582421779632568, + 0.15144246816635132 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.012060294859111309, + -0.1367136687040329, + -0.10489749163389206 + ], + "orientation": [ + 0.15233378112316132, + 0.1491270214319229, + 0.9637346863746643, + 0.16053380072116852 + ], + "joints": [ + -0.016318393871188164 + ] + }, + "final_grasp": { + "position": [ + 0.012060294859111309, + -0.1367136687040329, + -0.10489749163389206 + ], + "orientation": [ + 0.15233378112316132, + 0.1491270214319229, + 0.9637346863746643, + 0.16053380072116852 + ], + "joints": [ + -0.014697616919875145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01612623780965805, + 0.1252187341451645, + -0.09461677074432373 + ], + "orientation": [ + 0.06924570351839066, + 0.995810329914093, + 0.05216256156563759, + 0.029087930917739868 + ], + "joints": [ + 0.0038656406104564667 + ] + }, + "fine_grasp": { + "position": [ + 0.017746858298778534, + 0.12323545664548874, + -0.09041520953178406 + ], + "orientation": [ + 0.08334840834140778, + 0.9918743968009949, + 0.061713092029094696, + 0.07368754595518112 + ], + "joints": [ + 0.00134149135556072 + ] + }, + "final_grasp": { + "position": [ + 0.017746858298778534, + 0.12323545664548874, + -0.09041520953178406 + ], + "orientation": [ + 0.08334840834140778, + 0.9918743968009949, + 0.061713092029094696, + 0.07368754595518112 + ], + "joints": [ + -0.0011826578993350267 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2031, + "num_passed": 16 + } +} \ No newline at end of file diff --git a/clutter_iron_00000/Annotation/piper_grasp_pose.json b/clutter_iron_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4c784debc603e4ffaa11298733aa609d486e1556 --- /dev/null +++ b/clutter_iron_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,368 @@ +{ + "type": "clutter_iron_00000", + "bottom_center": [ + -8.775293827056885e-05, + 8.006207644939423e-05, + -0.05714999511837959 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.05380694940686226, + -0.008097372017800808, + 0.11770007014274597 + ], + "orientation": [ + 0.023804500699043274, + -0.9679633975028992, + -0.06629441678524017, + -0.24100898206233978 + ], + "joints": [ + 0.017946835607290268 + ] + }, + "fine_grasp": { + "position": [ + -0.05241268128156662, + -0.00843737181276083, + 0.11388394236564636 + ], + "orientation": [ + 0.02087189443409443, + -0.9682624340057373, + -0.08200821280479431, + -0.23517385125160217 + ], + "joints": [ + 0.009566832333803177 + ] + }, + "final_grasp": { + "position": [ + -0.05241268128156662, + -0.00843737181276083, + 0.11388394236564636 + ], + "orientation": [ + 0.02087189443409443, + -0.9682624340057373, + -0.08200821280479431, + -0.23517385125160217 + ], + "joints": [ + 0.0011868290603160858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008185483515262604, + -0.006526861805468798, + -0.20003366470336914 + ], + "orientation": [ + 0.7798415422439575, + 0.023042496293783188, + 0.035092826932668686, + 0.6245678067207336 + ], + "joints": [ + 0.022184524685144424 + ] + }, + "fine_grasp": { + "position": [ + 0.008044881746172905, + -0.00654168426990509, + -0.19469323754310608 + ], + "orientation": [ + 0.780126690864563, + 0.020703820511698723, + 0.032049618661403656, + 0.6244570016860962 + ], + "joints": [ + 0.02260247990489006 + ] + }, + "final_grasp": { + "position": [ + 0.008044881746172905, + -0.00654168426990509, + -0.19469323754310608 + ], + "orientation": [ + 0.780126690864563, + 0.020703820511698723, + 0.032049618661403656, + 0.6244570016860962 + ], + "joints": [ + 0.023020435124635696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006782723939977586, + 0.1361626833677292, + -0.06779643893241882 + ], + "orientation": [ + 0.7880128622055054, + 0.6106579899787903, + 0.07089664787054062, + 0.0332605205476284 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + -0.00023216637782752514, + 0.13256648182868958, + -0.06644974648952484 + ], + "orientation": [ + 0.7873287200927734, + 0.6115037202835083, + 0.07172821462154388, + 0.03212137520313263 + ], + "joints": [ + 0.02101975679397583 + ] + }, + "final_grasp": { + "position": [ + -0.00023216637782752514, + 0.13256648182868958, + -0.06644974648952484 + ], + "orientation": [ + 0.7873287200927734, + 0.6115037202835083, + 0.07172821462154388, + 0.03212137520313263 + ], + "joints": [ + 0.01218000054359436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.000782341172453016, + 0.1360282450914383, + -0.06794773787260056 + ], + "orientation": [ + 0.7883822321891785, + 0.6103379726409912, + 0.06948967278003693, + 0.033347681164741516 + ], + "joints": [ + 0.0298595130443573 + ] + }, + "fine_grasp": { + "position": [ + -0.0003325651923660189, + 0.13243789970874786, + -0.0665956363081932 + ], + "orientation": [ + 0.7876980304718018, + 0.611176609992981, + 0.0704149380326271, + 0.03219837322831154 + ], + "joints": [ + 0.02101975679397583 + ] + }, + "final_grasp": { + "position": [ + -0.0003325651923660189, + 0.13243789970874786, + -0.0665956363081932 + ], + "orientation": [ + 0.7876980304718018, + 0.611176609992981, + 0.0704149380326271, + 0.03219837322831154 + ], + "joints": [ + 0.01218000054359436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02831149660050869, + -0.13702939450740814, + -0.054835546761751175 + ], + "orientation": [ + 0.16485939919948578, + 0.08758917450904846, + 0.6453018188476562, + 0.7407664656639099 + ], + "joints": [ + 0.03036893531680107 + ] + }, + "fine_grasp": { + "position": [ + -0.02798723801970482, + -0.13332326710224152, + -0.054321713745594025 + ], + "orientation": [ + 0.1610637903213501, + 0.08131479471921921, + 0.6469984650611877, + 0.7408369183540344 + ], + "joints": [ + 0.021132122725248337 + ] + }, + "final_grasp": { + "position": [ + -0.02798723801970482, + -0.13332326710224152, + -0.054321713745594025 + ], + "orientation": [ + 0.1610637903213501, + 0.08131479471921921, + 0.6469984650611877, + 0.7408369183540344 + ], + "joints": [ + 0.011895310133695602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0333939827978611, + -0.1346767246723175, + -0.06773911416530609 + ], + "orientation": [ + 0.7854183912277222, + -0.6132575869560242, + -0.02647329680621624, + 0.07957469671964645 + ], + "joints": [ + 0.030091067776083946 + ] + }, + "fine_grasp": { + "position": [ + 0.032649118453264236, + -0.1311524659395218, + -0.06649740040302277 + ], + "orientation": [ + 0.7842532396316528, + -0.6140311360359192, + -0.029127947986125946, + 0.0840473473072052 + ], + "joints": [ + 0.020875154063105583 + ] + }, + "final_grasp": { + "position": [ + 0.032649118453264236, + -0.1311524659395218, + -0.06649740040302277 + ], + "orientation": [ + 0.7842532396316528, + -0.6140311360359192, + -0.029127947986125946, + 0.0840473473072052 + ], + "joints": [ + 0.01165924035012722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020459944382309914, + 0.11407400667667389, + 0.08723224699497223 + ], + "orientation": [ + 0.49215590953826904, + 0.8541766405105591, + -0.008594466373324394, + 0.16760410368442535 + ], + "joints": [ + 0.017847910523414612 + ] + }, + "fine_grasp": { + "position": [ + -0.019811876118183136, + 0.11087580770254135, + 0.0853043720126152 + ], + "orientation": [ + 0.4870312511920929, + 0.8582468628883362, + -0.013352523557841778, + 0.16135230660438538 + ], + "joints": [ + 0.007399030029773712 + ] + }, + "final_grasp": { + "position": [ + -0.019811876118183136, + 0.11087580770254135, + 0.0853043720126152 + ], + "orientation": [ + 0.4870312511920929, + 0.8582468628883362, + -0.013352523557841778, + 0.16135230660438538 + ], + "joints": [ + -0.0030498504638671875 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 7 + } +} \ No newline at end of file diff --git a/clutter_iron_00000/Object.usd b/clutter_iron_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..b54f1fc97066375f9b211fc8d4e57c5343feba90 --- /dev/null +++ b/clutter_iron_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b3316bbd1258d49f73810f88da269f92d40881f41305e7081648e8255eff2ca +size 8648609 diff --git a/clutter_magic_potion_00000/Annotation/dex1_1_grasp_pose.json b/clutter_magic_potion_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..9e3717030e2bf92c9095daebad4fde1d9d625e43 --- /dev/null +++ b/clutter_magic_potion_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_magic_potion_00000", + "bottom_center": [ + -0.0001723170280456543, + 0.00022738799452781677, + -0.11509442329406738 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_magic_potion_00000/Annotation/piper_grasp_pose.json b/clutter_magic_potion_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..9e3717030e2bf92c9095daebad4fde1d9d625e43 --- /dev/null +++ b/clutter_magic_potion_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_magic_potion_00000", + "bottom_center": [ + -0.0001723170280456543, + 0.00022738799452781677, + -0.11509442329406738 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_magic_potion_00000/Object.usd b/clutter_magic_potion_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..baee16355b6af8efab7b43c51990c5f7f91d84d4 --- /dev/null +++ b/clutter_magic_potion_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d58f02ca9b1a6df043aad2719c647ec40a41b7ca68ede2f398e71f82ff9729a +size 16017337 diff --git a/clutter_minecraft_blocks_00004/Annotation/dex1_1_grasp_pose.json b/clutter_minecraft_blocks_00004/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..98705d6d3c75f56561e847d1051bb430491d9512 --- /dev/null +++ b/clutter_minecraft_blocks_00004/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,368 @@ +{ + "type": "clutter_minecraft_blocks_00004", + "bottom_center": [ + 0.0, + 0.0, + -0.03999999910593033 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.1518874317407608, + 0.02058331109583378, + -0.004943832289427519 + ], + "orientation": [ + 0.4551256597042084, + 0.5583502054214478, + -0.4377541244029999, + 0.5380306243896484 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.14961329102516174, + 0.020525453612208366, + -0.00565700139850378 + ], + "orientation": [ + 0.45838940143585205, + 0.5568627119064331, + -0.43693065643310547, + 0.5374706387519836 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + 0.14961329102516174, + 0.020525453612208366, + -0.00565700139850378 + ], + "orientation": [ + 0.45838940143585205, + 0.5568627119064331, + -0.43693065643310547, + 0.5374706387519836 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15184420347213745, + 0.02065308392047882, + -0.004944948013871908 + ], + "orientation": [ + 0.4551394283771515, + 0.5583460927009583, + -0.4377780556678772, + 0.5380038619041443 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.14957191050052643, + 0.020635517314076424, + -0.0056558833457529545 + ], + "orientation": [ + 0.4584318995475769, + 0.5568535327911377, + -0.4371422231197357, + 0.5372717976570129 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + 0.14957191050052643, + 0.020635517314076424, + -0.0056558833457529545 + ], + "orientation": [ + 0.4584318995475769, + 0.5568535327911377, + -0.4371422231197357, + 0.5372717976570129 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0637064203619957, + 0.12300713360309601, + -0.0644669160246849 + ], + "orientation": [ + 0.07198019325733185, + -0.37788912653923035, + -0.17861859500408173, + -0.905601441860199 + ], + "joints": [ + -0.012198956683278084 + ] + }, + "fine_grasp": { + "position": [ + -0.06165630742907524, + 0.12093552947044373, + -0.06299663335084915 + ], + "orientation": [ + 0.07241786271333694, + -0.3752255141735077, + -0.1864328533411026, + -0.905099093914032 + ], + "joints": [ + -0.0079211900010705 + ] + }, + "final_grasp": { + "position": [ + -0.06165630742907524, + 0.12093552947044373, + -0.06299663335084915 + ], + "orientation": [ + 0.07241786271333694, + -0.3752255141735077, + -0.1864328533411026, + -0.905099093914032 + ], + "joints": [ + -0.003643423318862915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1315082460641861, + 0.05172988399863243, + -0.054240450263023376 + ], + "orientation": [ + 0.17299816012382507, + -0.6839966773986816, + 0.6137434840202332, + 0.3543150722980499 + ], + "joints": [ + -0.0136253722012043 + ] + }, + "fine_grasp": { + "position": [ + 0.12943096458911896, + 0.04986846074461937, + -0.0536813922226429 + ], + "orientation": [ + 0.16943074762821198, + -0.6809711456298828, + 0.6115112900733948, + 0.36554816365242004 + ], + "joints": [ + -0.008869346231222153 + ] + }, + "final_grasp": { + "position": [ + 0.12943096458911896, + 0.04986846074461937, + -0.0536813922226429 + ], + "orientation": [ + 0.16943074762821198, + -0.6809711456298828, + 0.6115112900733948, + 0.36554816365242004 + ], + "joints": [ + -0.0041133202612400055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06518987566232681, + -0.12839378416538239, + -0.05450858920812607 + ], + "orientation": [ + 0.3720353841781616, + -0.09383434057235718, + -0.9114605188369751, + -0.14840683341026306 + ], + "joints": [ + -0.012675389647483826 + ] + }, + "fine_grasp": { + "position": [ + -0.06384170055389404, + -0.1321849822998047, + -0.05409431457519531 + ], + "orientation": [ + 0.3741203546524048, + -0.09608224034309387, + -0.9074182510375977, + -0.16551153361797333 + ], + "joints": [ + -0.009460421279072762 + ] + }, + "final_grasp": { + "position": [ + -0.06384170055389404, + -0.1321849822998047, + -0.05409431457519531 + ], + "orientation": [ + 0.3741203546524048, + -0.09608224034309387, + -0.9074182510375977, + -0.16551153361797333 + ], + "joints": [ + -0.006245452910661697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02221042476594448, + 0.1368352621793747, + -0.04950058460235596 + ], + "orientation": [ + 0.05618906393647194, + 0.37673333287239075, + 0.06066780537366867, + 0.9226235747337341 + ], + "joints": [ + -0.013346463441848755 + ] + }, + "fine_grasp": { + "position": [ + -0.020065894350409508, + 0.1367442011833191, + -0.051466263830661774 + ], + "orientation": [ + 0.07008308917284012, + 0.3766557276248932, + 0.07601925730705261, + 0.9205650687217712 + ], + "joints": [ + -0.01015806570649147 + ] + }, + "final_grasp": { + "position": [ + -0.020065894350409508, + 0.1367442011833191, + -0.051466263830661774 + ], + "orientation": [ + 0.07008308917284012, + 0.3766557276248932, + 0.07601925730705261, + 0.9205650687217712 + ], + "joints": [ + -0.006969667971134186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1267310380935669, + -0.04622619226574898, + -0.03624412789940834 + ], + "orientation": [ + 0.6252383589744568, + -0.27466458082199097, + 0.3964895009994507, + 0.6135409474372864 + ], + "joints": [ + -0.01829245686531067 + ] + }, + "fine_grasp": { + "position": [ + 0.1252840757369995, + -0.04471767321228981, + -0.034543294459581375 + ], + "orientation": [ + 0.6375124454498291, + -0.2568342089653015, + 0.39322522282600403, + 0.6107275485992432 + ], + "joints": [ + -0.016166850924491882 + ] + }, + "final_grasp": { + "position": [ + 0.1252840757369995, + -0.04471767321228981, + -0.034543294459581375 + ], + "orientation": [ + 0.6375124454498291, + -0.2568342089653015, + 0.39322522282600403, + 0.6107275485992432 + ], + "joints": [ + -0.014041244983673096 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2042, + "num_passed": 7 + } +} \ No newline at end of file diff --git a/clutter_minecraft_blocks_00004/Annotation/piper_grasp_pose.json b/clutter_minecraft_blocks_00004/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..18f49137d06b7dee98e7ca4e87a10016880798be --- /dev/null +++ b/clutter_minecraft_blocks_00004/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_minecraft_blocks_00004", + "bottom_center": [ + 0.0, + 0.0, + -0.03999999910593033 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_minecraft_blocks_00004/Object.usd b/clutter_minecraft_blocks_00004/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..20b6dac7b50123dc20c49e3ef8e9ba7b65b5db65 Binary files /dev/null and b/clutter_minecraft_blocks_00004/Object.usd differ diff --git a/clutter_minecraft_blocks_00012/Annotation/dex1_1_grasp_pose.json b/clutter_minecraft_blocks_00012/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..b0614c3a8e888bcc38e84c30871ba9f698db086a --- /dev/null +++ b/clutter_minecraft_blocks_00012/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,1318 @@ +{ + "type": "clutter_minecraft_blocks_00012", + "bottom_center": [ + 0.0, + 0.0, + -0.03999999910593033 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.013460635207593441, + -0.15038952231407166, + -0.00739374989643693 + ], + "orientation": [ + 0.728096067905426, + -0.05388302728533745, + 0.6760838031768799, + 0.09941457211971283 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.01336829923093319, + -0.14813606441020966, + -0.007905750535428524 + ], + "orientation": [ + 0.7293140888214111, + -0.05308914929628372, + 0.6748479604721069, + 0.09931128472089767 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + 0.01336829923093319, + -0.14813606441020966, + -0.007905750535428524 + ], + "orientation": [ + 0.7293140888214111, + -0.05308914929628372, + 0.6748479604721069, + 0.09931128472089767 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010714534670114517, + -0.1390751749277115, + -0.0030224118381738663 + ], + "orientation": [ + 0.6883302927017212, + -0.018939731642603874, + 0.7243137359619141, + 0.03481733798980713 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.010817560367286205, + -0.14069963991641998, + -0.0038606952875852585 + ], + "orientation": [ + 0.6818089485168457, + -0.016488656401634216, + 0.7304980754852295, + 0.03517454117536545 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + 0.010817560367286205, + -0.14069963991641998, + -0.0038606952875852585 + ], + "orientation": [ + 0.6818089485168457, + -0.016488656401634216, + 0.7304980754852295, + 0.03517454117536545 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00097756611648947, + -0.13113629817962646, + 0.0015129023231565952 + ], + "orientation": [ + 0.7291472554206848, + -0.06914252787828445, + 0.6777070164680481, + 0.06539631634950638 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.0006566186784766614, + -0.13273629546165466, + 0.0020748695824295282 + ], + "orientation": [ + 0.7314918637275696, + -0.06774425506591797, + 0.6757693886756897, + 0.06054840609431267 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.0006566186784766614, + -0.13273629546165466, + 0.0020748695824295282 + ], + "orientation": [ + 0.7314918637275696, + -0.06774425506591797, + 0.6757693886756897, + 0.06054840609431267 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04126138985157013, + 0.14086106419563293, + -0.004231761209666729 + ], + "orientation": [ + 0.09991545230150223, + 0.7172437906265259, + 0.07959157973527908, + -0.6850132942199707 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.041381917893886566, + 0.13899894058704376, + -0.005478597711771727 + ], + "orientation": [ + 0.09852039068937302, + 0.720089316368103, + 0.0742587223649025, + -0.6828254461288452 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.041381917893886566, + 0.13899894058704376, + -0.005478597711771727 + ], + "orientation": [ + 0.09852039068937302, + 0.720089316368103, + 0.0742587223649025, + -0.6828254461288452 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04126133397221565, + 0.14086094498634338, + -0.0042321220971643925 + ], + "orientation": [ + 0.09991712868213654, + 0.7172445058822632, + 0.07959142327308655, + -0.6850124597549438 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.041381869465112686, + 0.13899879157543182, + -0.00547891017049551 + ], + "orientation": [ + 0.0985218957066536, + 0.7200899124145508, + 0.07425877451896667, + -0.6828246116638184 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.041381869465112686, + 0.13899879157543182, + -0.00547891017049551 + ], + "orientation": [ + 0.0985218957066536, + 0.7200899124145508, + 0.07425877451896667, + -0.6828246116638184 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04126035422086716, + 0.14086118340492249, + -0.004232099279761314 + ], + "orientation": [ + 0.09991831332445145, + 0.7172471284866333, + 0.07959354668855667, + -0.6850091218948364 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.04138089716434479, + 0.13899901509284973, + -0.005478832870721817 + ], + "orientation": [ + 0.09852314740419388, + 0.7200922966003418, + 0.07426106929779053, + -0.6828216910362244 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.04138089716434479, + 0.13899901509284973, + -0.005478832870721817 + ], + "orientation": [ + 0.09852314740419388, + 0.7200922966003418, + 0.07426106929779053, + -0.6828216910362244 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003005677368491888, + 0.14060084521770477, + 0.0003504401829559356 + ], + "orientation": [ + 0.059192243963479996, + 0.6502572894096375, + 0.05325955152511597, + -0.7555296421051025 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.0023636873811483383, + 0.14307814836502075, + 0.00039453772478736937 + ], + "orientation": [ + 0.057957012206315994, + 0.6517109870910645, + 0.05208679288625717, + -0.7544539570808411 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + 0.0023636873811483383, + 0.14307814836502075, + 0.00039453772478736937 + ], + "orientation": [ + 0.057957012206315994, + 0.6517109870910645, + 0.05208679288625717, + -0.7544539570808411 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14219355583190918, + 0.009838038124144077, + 0.0018506099004298449 + ], + "orientation": [ + 0.41274401545524597, + 0.5775554776191711, + 0.46500304341316223, + -0.5290029048919678 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14379356801509857, + 0.010324475355446339, + 0.0025433842092752457 + ], + "orientation": [ + 0.41094663739204407, + 0.5776806473731995, + 0.46874162554740906, + -0.5269623398780823 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.14379356801509857, + 0.010324475355446339, + 0.0025433842092752457 + ], + "orientation": [ + 0.41094663739204407, + 0.5776806473731995, + 0.46874162554740906, + -0.5269623398780823 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1421934813261032, + 0.009841454215347767, + 0.0018507058266550303 + ], + "orientation": [ + 0.4127478003501892, + 0.577552080154419, + 0.46500927209854126, + -0.5289982557296753 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14379334449768066, + 0.010327858850359917, + 0.0025434521958231926 + ], + "orientation": [ + 0.41095057129859924, + 0.5776770710945129, + 0.4687475860118866, + -0.5269578695297241 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.14379334449768066, + 0.010327858850359917, + 0.0025434521958231926 + ], + "orientation": [ + 0.41095057129859924, + 0.5776770710945129, + 0.4687475860118866, + -0.5269578695297241 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14219354093074799, + 0.0098383454605937, + 0.0018505670595914125 + ], + "orientation": [ + 0.4127444922924042, + 0.5775553584098816, + 0.4650040566921234, + -0.5290018320083618 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14379337430000305, + 0.010324819013476372, + 0.0025433257687836885 + ], + "orientation": [ + 0.4109472334384918, + 0.5776803493499756, + 0.4687425494194031, + -0.5269612073898315 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.14379337430000305, + 0.010324819013476372, + 0.0025433257687836885 + ], + "orientation": [ + 0.4109472334384918, + 0.5776803493499756, + 0.4687425494194031, + -0.5269612073898315 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012967799790203571, + -0.15358658134937286, + 0.004665839020162821 + ], + "orientation": [ + 0.6600173115730286, + -6.422717706300318e-05, + -0.7508732080459595, + 0.023798663169145584 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.013104753568768501, + -0.15252532064914703, + 0.005310369189828634 + ], + "orientation": [ + 0.6526064276695251, + -0.001340541522949934, + -0.7573164105415344, + 0.02397831529378891 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.013104753568768501, + -0.15252532064914703, + 0.005310369189828634 + ], + "orientation": [ + 0.6526064276695251, + -0.001340541522949934, + -0.7573164105415344, + 0.02397831529378891 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0129710016772151, + -0.15358567237854004, + 0.004665773827582598 + ], + "orientation": [ + 0.6600154042243958, + -5.20174035045784e-05, + -0.7508745193481445, + 0.023809151723980904 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.013107946142554283, + -0.1525249183177948, + 0.005310642533004284 + ], + "orientation": [ + 0.6526045799255371, + -0.0013292038347572088, + -0.7573175430297852, + 0.02398933656513691 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.013107946142554283, + -0.1525249183177948, + 0.005310642533004284 + ], + "orientation": [ + 0.6526045799255371, + -0.0013292038347572088, + -0.7573175430297852, + 0.02398933656513691 + ], + "joints": [ + -0.019999999552965164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1540505737066269, + -0.010608609765768051, + -0.06408226490020752 + ], + "orientation": [ + 0.7516381740570068, + 0.37833717465400696, + 0.2514745593070984, + -0.4781858026981354 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14879566431045532, + -0.00983356311917305, + -0.062409184873104095 + ], + "orientation": [ + 0.7505819797515869, + 0.37670889496803284, + 0.23939208686351776, + -0.4872458577156067 + ], + "joints": [ + -0.01784782111644745 + ] + }, + "final_grasp": { + "position": [ + -0.14879566431045532, + -0.00983356311917305, + -0.062409184873104095 + ], + "orientation": [ + 0.7505819797515869, + 0.37670889496803284, + 0.23939208686351776, + -0.4872458577156067 + ], + "joints": [ + -0.015695642679929733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1540537327528, + -0.010623419657349586, + -0.06408613175153732 + ], + "orientation": [ + 0.7516705393791199, + 0.378274142742157, + 0.25140583515167236, + -0.47822093963623047 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.14879795908927917, + -0.009848001413047314, + -0.06241380423307419 + ], + "orientation": [ + 0.7506200671195984, + 0.3766411542892456, + 0.23931561410427094, + -0.4872770607471466 + ], + "joints": [ + -0.01784782111644745 + ] + }, + "final_grasp": { + "position": [ + -0.14879795908927917, + -0.009848001413047314, + -0.06241380423307419 + ], + "orientation": [ + 0.7506200671195984, + 0.3766411542892456, + 0.23931561410427094, + -0.4872770607471466 + ], + "joints": [ + -0.015695642679929733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01712733693420887, + 0.1464630514383316, + -0.06430871784687042 + ], + "orientation": [ + 0.12702658772468567, + 0.8913304805755615, + 0.10899578034877777, + 0.42132431268692017 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.01546754315495491, + 0.14243440330028534, + -0.06397337466478348 + ], + "orientation": [ + 0.14134138822555542, + 0.8979933857917786, + 0.09435983747243881, + 0.4058654010295868 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + 0.01546754315495491, + 0.14243440330028534, + -0.06397337466478348 + ], + "orientation": [ + 0.14134138822555542, + 0.8979933857917786, + 0.09435983747243881, + 0.4058654010295868 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017134258523583412, + 0.1464346945285797, + -0.06429916620254517 + ], + "orientation": [ + 0.12697550654411316, + 0.8913400769233704, + 0.10902975499629974, + 0.4213104844093323 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.015494830906391144, + 0.14241331815719604, + -0.06397266685962677 + ], + "orientation": [ + 0.14135907590389252, + 0.8980278968811035, + 0.09428577870130539, + 0.405799925327301 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + 0.015494830906391144, + 0.14241331815719604, + -0.06397266685962677 + ], + "orientation": [ + 0.14135907590389252, + 0.8980278968811035, + 0.09428577870130539, + 0.405799925327301 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023282993584871292, + -0.1272602677345276, + -0.0496937558054924 + ], + "orientation": [ + 0.9220171570777893, + 0.08873962610960007, + 0.3746463358402252, + 0.04061714559793472 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.022426944226026535, + -0.12824495136737823, + -0.047949448227882385 + ], + "orientation": [ + 0.9292508363723755, + 0.09912870079278946, + 0.3547273874282837, + 0.02889619953930378 + ], + "joints": [ + -0.016864735633134842 + ] + }, + "final_grasp": { + "position": [ + -0.022426944226026535, + -0.12824495136737823, + -0.047949448227882385 + ], + "orientation": [ + 0.9292508363723755, + 0.09912870079278946, + 0.3547273874282837, + 0.02889619953930378 + ], + "joints": [ + -0.01372947171330452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1335826814174652, + 0.034901950508356094, + -0.05911926180124283 + ], + "orientation": [ + 0.17877301573753357, + -0.6417015194892883, + 0.6648046970367432, + 0.3380739390850067 + ], + "joints": [ + -0.012108415365219116 + ] + }, + "fine_grasp": { + "position": [ + 0.13188156485557556, + 0.034291524440050125, + -0.0579831562936306 + ], + "orientation": [ + 0.17452280223369598, + -0.6396952271461487, + 0.6637529134750366, + 0.34606918692588806 + ], + "joints": [ + -0.008388618007302284 + ] + }, + "final_grasp": { + "position": [ + 0.13188156485557556, + 0.034291524440050125, + -0.0579831562936306 + ], + "orientation": [ + 0.17452280223369598, + -0.6396952271461487, + 0.6637529134750366, + 0.34606918692588806 + ], + "joints": [ + -0.004668820649385452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.133478581905365, + 0.03508736938238144, + -0.05929555371403694 + ], + "orientation": [ + 0.1781318187713623, + -0.6419094800949097, + 0.6643794178962708, + 0.33885276317596436 + ], + "joints": [ + -0.012132393196225166 + ] + }, + "fine_grasp": { + "position": [ + 0.1317809820175171, + 0.03445222228765488, + -0.05812891945242882 + ], + "orientation": [ + 0.17384125292301178, + -0.6399514675140381, + 0.6633632183074951, + 0.3466852009296417 + ], + "joints": [ + -0.008412595838308334 + ] + }, + "final_grasp": { + "position": [ + 0.1317809820175171, + 0.03445222228765488, + -0.05812891945242882 + ], + "orientation": [ + 0.17384125292301178, + -0.6399514675140381, + 0.6633632183074951, + 0.3466852009296417 + ], + "joints": [ + -0.004692798480391502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13355295360088348, + 0.03488006815314293, + -0.05915999040007591 + ], + "orientation": [ + 0.1782492697238922, + -0.6415608525276184, + 0.6645405292510986, + 0.3391352593898773 + ], + "joints": [ + -0.012388873845338821 + ] + }, + "fine_grasp": { + "position": [ + 0.13186457753181458, + 0.03423406183719635, + -0.05798448249697685 + ], + "orientation": [ + 0.17411786317825317, + -0.639463484287262, + 0.6635444164276123, + 0.34709957242012024 + ], + "joints": [ + -0.00866907648742199 + ] + }, + "final_grasp": { + "position": [ + 0.13186457753181458, + 0.03423406183719635, + -0.05798448249697685 + ], + "orientation": [ + 0.17411786317825317, + -0.639463484287262, + 0.6635444164276123, + 0.34709957242012024 + ], + "joints": [ + -0.0049492791295051575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13368451595306396, + 0.0351363904774189, + -0.059248149394989014 + ], + "orientation": [ + 0.17873485386371613, + -0.6419596076011658, + 0.6646454334259033, + 0.33791711926460266 + ], + "joints": [ + -0.011855028569698334 + ] + }, + "fine_grasp": { + "position": [ + 0.13197526335716248, + 0.03452713415026665, + -0.05811850354075432 + ], + "orientation": [ + 0.17437633872032166, + -0.6400973200798035, + 0.6635271906852722, + 0.34583255648612976 + ], + "joints": [ + -0.008135231211781502 + ] + }, + "final_grasp": { + "position": [ + 0.13197526335716248, + 0.03452713415026665, + -0.05811850354075432 + ], + "orientation": [ + 0.17437633872032166, + -0.6400973200798035, + 0.6635271906852722, + 0.34583255648612976 + ], + "joints": [ + -0.00441543385386467 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13348866999149323, + 0.03490809351205826, + -0.05930757522583008 + ], + "orientation": [ + 0.17738467454910278, + -0.6418681144714355, + 0.6644834280014038, + 0.3391191363334656 + ], + "joints": [ + -0.012418314814567566 + ] + }, + "fine_grasp": { + "position": [ + 0.13179641962051392, + 0.03418240323662758, + -0.05807598680257797 + ], + "orientation": [ + 0.1736994832754135, + -0.6394814252853394, + 0.6637173891067505, + 0.34694570302963257 + ], + "joints": [ + -0.008698517456650734 + ] + }, + "final_grasp": { + "position": [ + 0.13179641962051392, + 0.03418240323662758, + -0.05807598680257797 + ], + "orientation": [ + 0.1736994832754135, + -0.6394814252853394, + 0.6637173891067505, + 0.34694570302963257 + ], + "joints": [ + -0.004978720098733902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03460948169231415, + 0.14151380956172943, + -0.046402569860219955 + ], + "orientation": [ + 0.004330428782850504, + 0.38910311460494995, + 0.08073261380195618, + 0.9176396131515503 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.03449753299355507, + 0.13986648619174957, + -0.04578595981001854 + ], + "orientation": [ + 0.0010828832164406776, + 0.3890097439289093, + 0.09061918407678604, + 0.9167651534080505 + ], + "joints": [ + -0.011594833806157112 + ] + }, + "final_grasp": { + "position": [ + -0.03449753299355507, + 0.13986648619174957, + -0.04578595981001854 + ], + "orientation": [ + 0.0010828832164406776, + 0.3890097439289093, + 0.09061918407678604, + 0.9167651534080505 + ], + "joints": [ + -0.007370207458734512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13697554171085358, + 0.024146607145667076, + -0.04256113991141319 + ], + "orientation": [ + 0.6785182952880859, + 0.3788600564002991, + 0.2873818278312683, + -0.5599014163017273 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.13892506062984467, + 0.021258480846881866, + -0.04248484596610069 + ], + "orientation": [ + 0.6819085478782654, + 0.3692858815193176, + 0.26045021414756775, + -0.5751473307609558 + ], + "joints": [ + -0.016864735633134842 + ] + }, + "final_grasp": { + "position": [ + -0.13892506062984467, + 0.021258480846881866, + -0.04248484596610069 + ], + "orientation": [ + 0.6819085478782654, + 0.3692858815193176, + 0.26045021414756775, + -0.5751473307609558 + ], + "joints": [ + -0.01372947171330452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13697253167629242, + 0.024149980396032333, + -0.04255897179245949 + ], + "orientation": [ + 0.6785268783569336, + 0.3788556456565857, + 0.2873806357383728, + -0.5598945617675781 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.13892211019992828, + 0.021260064095258713, + -0.042482905089855194 + ], + "orientation": [ + 0.6819034218788147, + 0.3692798316478729, + 0.26044732332229614, + -0.5751584768295288 + ], + "joints": [ + -0.016864735633134842 + ] + }, + "final_grasp": { + "position": [ + -0.13892211019992828, + 0.021260064095258713, + -0.042482905089855194 + ], + "orientation": [ + 0.6819034218788147, + 0.3692798316478729, + 0.26044732332229614, + -0.5751584768295288 + ], + "joints": [ + -0.01372947171330452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13874706625938416, + 0.022668644785881042, + -0.06128489226102829 + ], + "orientation": [ + 0.1979188323020935, + -0.5882341265678406, + 0.6934013962745667, + 0.36606448888778687 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.13699562847614288, + 0.01970207877457142, + -0.06140995770692825 + ], + "orientation": [ + 0.1868930459022522, + -0.5876079201698303, + 0.696772038936615, + 0.36646509170532227 + ], + "joints": [ + -0.012541189789772034 + ] + }, + "final_grasp": { + "position": [ + 0.13699562847614288, + 0.01970207877457142, + -0.06140995770692825 + ], + "orientation": [ + 0.1868930459022522, + -0.5876079201698303, + 0.696772038936615, + 0.36646509170532227 + ], + "joints": [ + -0.00773201696574688 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2027, + "num_passed": 26 + } +} \ No newline at end of file diff --git a/clutter_minecraft_blocks_00012/Annotation/piper_grasp_pose.json b/clutter_minecraft_blocks_00012/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4d74d834159dd0079a458c10b498361f62e441bf --- /dev/null +++ b/clutter_minecraft_blocks_00012/Annotation/piper_grasp_pose.json @@ -0,0 +1,268 @@ +{ + "type": "clutter_minecraft_blocks_00012", + "bottom_center": [ + 0.0, + 0.0, + -0.03999999910593033 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.11671329289674759, + 0.0030650959815829992, + -0.09002723544836044 + ], + "orientation": [ + 0.029696587473154068, + 0.6231420040130615, + 0.048109591007232666, + 0.7800626754760742 + ], + "joints": [ + 0.025064345449209213 + ] + }, + "fine_grasp": { + "position": [ + -0.11577650904655457, + 0.003523467341437936, + -0.08508537709712982 + ], + "orientation": [ + 0.018578985705971718, + 0.6092214584350586, + 0.03528810665011406, + 0.7919967174530029 + ], + "joints": [ + 0.025524098426103592 + ] + }, + "final_grasp": { + "position": [ + -0.11577650904655457, + 0.003523467341437936, + -0.08508537709712982 + ], + "orientation": [ + 0.018578985705971718, + 0.6092214584350586, + 0.03528810665011406, + 0.7919967174530029 + ], + "joints": [ + 0.02598385140299797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11441787332296371, + 0.01023939996957779, + -0.08201543986797333 + ], + "orientation": [ + 0.033064067363739014, + 0.6456313729286194, + -0.017104465514421463, + -0.7627413868904114 + ], + "joints": [ + 0.029326826333999634 + ] + }, + "fine_grasp": { + "position": [ + 0.11357530206441879, + 0.010282430797815323, + -0.07692474871873856 + ], + "orientation": [ + 0.023101570084691048, + 0.6309121251106262, + -0.001984856789931655, + -0.7755076885223389 + ], + "joints": [ + 0.028093859553337097 + ] + }, + "final_grasp": { + "position": [ + 0.11357530206441879, + 0.010282430797815323, + -0.07692474871873856 + ], + "orientation": [ + 0.023101570084691048, + 0.6309121251106262, + -0.001984856789931655, + -0.7755076885223389 + ], + "joints": [ + 0.02686089277267456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11712440848350525, + -0.00409808149561286, + -0.09005793929100037 + ], + "orientation": [ + 0.514462411403656, + 0.4636150002479553, + 0.46287286281585693, + 0.5532975792884827 + ], + "joints": [ + 0.0007226926973089576 + ] + }, + "fine_grasp": { + "position": [ + -0.11670607328414917, + -0.004075872711837292, + -0.08706625550985336 + ], + "orientation": [ + 0.5197824239730835, + 0.45708155632019043, + 0.45557013154029846, + 0.5597842335700989 + ], + "joints": [ + 0.0019347616471350193 + ] + }, + "final_grasp": { + "position": [ + -0.11670607328414917, + -0.004075872711837292, + -0.08706625550985336 + ], + "orientation": [ + 0.5197824239730835, + 0.45708155632019043, + 0.45557013154029846, + 0.5597842335700989 + ], + "joints": [ + 0.003146830480545759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11722272634506226, + -0.0040756706148386, + -0.09000607579946518 + ], + "orientation": [ + 0.5142000913619995, + 0.46406564116477966, + 0.4626711905002594, + 0.5533323287963867 + ], + "joints": [ + 0.0007226926973089576 + ] + }, + "fine_grasp": { + "position": [ + -0.11681026965379715, + -0.004053582437336445, + -0.08701176941394806 + ], + "orientation": [ + 0.5195143222808838, + 0.4575318694114685, + 0.45536068081855774, + 0.5598357319831848 + ], + "joints": [ + 0.0019347616471350193 + ] + }, + "final_grasp": { + "position": [ + -0.11681026965379715, + -0.004053582437336445, + -0.08701176941394806 + ], + "orientation": [ + 0.5195143222808838, + 0.4575318694114685, + 0.45536068081855774, + 0.5598357319831848 + ], + "joints": [ + 0.003146830480545759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11732058227062225, + -0.004092864692211151, + -0.09007986634969711 + ], + "orientation": [ + 0.5142800211906433, + 0.46395498514175415, + 0.462421715259552, + 0.5535593628883362 + ], + "joints": [ + 0.0007226926973089576 + ] + }, + "fine_grasp": { + "position": [ + -0.11690212041139603, + -0.00407063215970993, + -0.08708928525447845 + ], + "orientation": [ + 0.519582211971283, + 0.4574286937713623, + 0.45511457324028015, + 0.5600571632385254 + ], + "joints": [ + 0.0019347616471350193 + ] + }, + "final_grasp": { + "position": [ + -0.11690212041139603, + -0.00407063215970993, + -0.08708928525447845 + ], + "orientation": [ + 0.519582211971283, + 0.4574286937713623, + 0.45511457324028015, + 0.5600571632385254 + ], + "joints": [ + 0.003146830480545759 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 5 + } +} \ No newline at end of file diff --git a/clutter_minecraft_blocks_00012/Object.usd b/clutter_minecraft_blocks_00012/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..c71b6bc74789a9a42ef04afb57cd63830f11d370 Binary files /dev/null and b/clutter_minecraft_blocks_00012/Object.usd differ diff --git a/clutter_monitor_00000/Annotation/dex1_1_grasp_pose.json b/clutter_monitor_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..5fb87e65a1d371b094df93a18b85c6e1ec3f11d0 --- /dev/null +++ b/clutter_monitor_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,168 @@ +{ + "type": "clutter_monitor_00000", + "bottom_center": [ + 0.0, + 0.0014949534088373184, + 0.0 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.006759599316865206, + 0.1431540995836258, + -0.017348870635032654 + ], + "orientation": [ + 0.11864075809717178, + 0.3533037304878235, + 0.07246273010969162, + 0.9251216053962708 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.0062241703271865845, + 0.14363601803779602, + -0.015046924352645874 + ], + "orientation": [ + 0.10890127718448639, + 0.3600287437438965, + 0.0845913290977478, + 0.9226939082145691 + ], + "joints": [ + -0.014724195003509521 + ] + }, + "final_grasp": { + "position": [ + -0.0062241703271865845, + 0.14363601803779602, + -0.015046924352645874 + ], + "orientation": [ + 0.10890127718448639, + 0.3600287437438965, + 0.0845913290977478, + 0.9226939082145691 + ], + "joints": [ + -0.01150921918451786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05786464363336563, + 0.11994511634111404, + -0.009128797799348831 + ], + "orientation": [ + 0.08517784625291824, + -0.3050893247127533, + 0.09474761039018631, + 0.9437627196311951 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.05663307383656502, + 0.1179661750793457, + -0.008459043689072132 + ], + "orientation": [ + 0.09108075499534607, + -0.2975604832172394, + 0.10418742150068283, + 0.9446200728416443 + ], + "joints": [ + -0.011597704142332077 + ] + }, + "final_grasp": { + "position": [ + 0.05663307383656502, + 0.1179661750793457, + -0.008459043689072132 + ], + "orientation": [ + 0.09108075499534607, + -0.2975604832172394, + 0.10418742150068283, + 0.9446200728416443 + ], + "joints": [ + -0.007346507161855698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053353555500507355, + 0.1281719207763672, + -0.011379215866327286 + ], + "orientation": [ + 0.11636529117822647, + 0.937725841999054, + 0.07101865857839584, + -0.3195085823535919 + ], + "joints": [ + -0.01941119134426117 + ] + }, + "fine_grasp": { + "position": [ + -0.051981158554553986, + 0.1263045221567154, + -0.010200843214988708 + ], + "orientation": [ + 0.12279194593429565, + 0.9393723607063293, + 0.07816416770219803, + -0.31047067046165466 + ], + "joints": [ + -0.01622278243303299 + ] + }, + "final_grasp": { + "position": [ + -0.051981158554553986, + 0.1263045221567154, + -0.010200843214988708 + ], + "orientation": [ + 0.12279194593429565, + 0.9393723607063293, + 0.07816416770219803, + -0.31047067046165466 + ], + "joints": [ + -0.01303437352180481 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2040, + "num_passed": 3 + } +} \ No newline at end of file diff --git a/clutter_monitor_00000/Annotation/piper_grasp_pose.json b/clutter_monitor_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..44d79c360ddaf5e1878c4bd8da4c4847b8df0eac --- /dev/null +++ b/clutter_monitor_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_monitor_00000", + "bottom_center": [ + 0.0, + 0.0014949534088373184, + 0.0 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2047, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_monitor_00000/Object.usd b/clutter_monitor_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..e515585ac3467f7ed89025850efdcae2da8c9b10 --- /dev/null +++ b/clutter_monitor_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:994173309610f611f2f3e1e51f5dfbc88e288a4304782bf764afac571ac8d497 +size 241275 diff --git a/clutter_pen_00002/Annotation/dex1_1_grasp_pose.json b/clutter_pen_00002/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..8e6d1c259a813af246b3a023da342f4fdf894618 --- /dev/null +++ b/clutter_pen_00002/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,24318 @@ +{ + "type": "clutter_pen_00002", + "bottom_center": [ + 0.0, + 0.012618848355486989, + -0.021084634587168694 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.10569386929273605, + 0.009952113032341003, + 0.1326001137495041 + ], + "orientation": [ + 0.7101215124130249, + -0.2553688585758209, + 0.12795819342136383, + -0.6435378193855286 + ], + "joints": [ + 0.00897330790758133 + ] + }, + "fine_grasp": { + "position": [ + -0.10401131957769394, + 0.010507612489163876, + 0.13269232213497162 + ], + "orientation": [ + 0.7124688625335693, + -0.2460278570652008, + 0.1158575639128685, + -0.6468658447265625 + ], + "joints": [ + 0.013835616409778595 + ] + }, + "final_grasp": { + "position": [ + -0.10401131957769394, + 0.010507612489163876, + 0.13269232213497162 + ], + "orientation": [ + 0.7124688625335693, + -0.2460278570652008, + 0.1158575639128685, + -0.6468658447265625 + ], + "joints": [ + 0.01869792491197586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09578826278448105, + 0.06682291626930237, + 0.1333184689283371 + ], + "orientation": [ + 0.5143946409225464, + -0.20590147376060486, + 0.17187434434890747, + -0.8145318031311035 + ], + "joints": [ + 0.008873198181390762 + ] + }, + "fine_grasp": { + "position": [ + -0.09522358328104019, + 0.06657078862190247, + 0.1323646605014801 + ], + "orientation": [ + 0.5155912041664124, + -0.20140057802200317, + 0.16553708910942078, + -0.8162112236022949 + ], + "joints": [ + 0.013708936050534248 + ] + }, + "final_grasp": { + "position": [ + -0.09522358328104019, + 0.06657078862190247, + 0.1323646605014801 + ], + "orientation": [ + 0.5155912041664124, + -0.20140057802200317, + 0.16553708910942078, + -0.8162112236022949 + ], + "joints": [ + 0.018544673919677734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07685911655426025, + 0.09353440254926682, + 0.1299990713596344 + ], + "orientation": [ + 0.38339555263519287, + -0.1429944783449173, + -0.19029775261878967, + 0.892382800579071 + ], + "joints": [ + 0.009216459468007088 + ] + }, + "fine_grasp": { + "position": [ + 0.07587389647960663, + 0.0929654911160469, + 0.13069196045398712 + ], + "orientation": [ + 0.38439467549324036, + -0.14359141886234283, + -0.17657342553138733, + 0.8946754932403564 + ], + "joints": [ + 0.014052197337150574 + ] + }, + "final_grasp": { + "position": [ + 0.07587389647960663, + 0.0929654911160469, + 0.13069196045398712 + ], + "orientation": [ + 0.38439467549324036, + -0.14359141886234283, + -0.17657342553138733, + 0.8946754932403564 + ], + "joints": [ + 0.01888793520629406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11819247156381607, + 0.04113062471151352, + 0.08146081119775772 + ], + "orientation": [ + 0.027749141678214073, + -0.774546205997467, + 0.6249166131019592, + -0.09374057501554489 + ], + "joints": [ + 0.009303072467446327 + ] + }, + "fine_grasp": { + "position": [ + 0.11814457923173904, + 0.04105205088853836, + 0.08212211728096008 + ], + "orientation": [ + 0.02203354798257351, + -0.7758544087409973, + 0.623932421207428, + -0.09095517545938492 + ], + "joints": [ + 0.015175038948655128 + ] + }, + "final_grasp": { + "position": [ + 0.11814457923173904, + 0.04105205088853836, + 0.08212211728096008 + ], + "orientation": [ + 0.02203354798257351, + -0.7758544087409973, + 0.623932421207428, + -0.09095517545938492 + ], + "joints": [ + 0.02104700542986393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049876872450113297, + 0.11552546918392181, + 0.12964719533920288 + ], + "orientation": [ + 0.23280452191829681, + -0.07867363840341568, + -0.2061438113451004, + 0.9471627473831177 + ], + "joints": [ + 0.009031973779201508 + ] + }, + "fine_grasp": { + "position": [ + 0.05088822916150093, + 0.11752960830926895, + 0.1305803656578064 + ], + "orientation": [ + 0.22785617411136627, + -0.0753362700343132, + -0.19736196100711823, + 0.9505021572113037 + ], + "joints": [ + 0.014372540637850761 + ] + }, + "final_grasp": { + "position": [ + 0.05088822916150093, + 0.11752960830926895, + 0.1305803656578064 + ], + "orientation": [ + 0.22785617411136627, + -0.0753362700343132, + -0.19736196100711823, + 0.9505021572113037 + ], + "joints": [ + 0.019713107496500015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08076298981904984, + 0.09498459100723267, + 0.1047179102897644 + ], + "orientation": [ + 0.38304269313812256, + -0.1251925677061081, + 0.15126697719097137, + -0.9026203751564026 + ], + "joints": [ + 0.009010164067149162 + ] + }, + "fine_grasp": { + "position": [ + -0.08076158165931702, + 0.09495975077152252, + 0.10529448091983795 + ], + "orientation": [ + 0.38706672191619873, + -0.1173158809542656, + 0.13430991768836975, + -0.9046420454978943 + ], + "joints": [ + 0.014377301558852196 + ] + }, + "final_grasp": { + "position": [ + -0.08076158165931702, + 0.09495975077152252, + 0.10529448091983795 + ], + "orientation": [ + 0.38706672191619873, + -0.1173158809542656, + 0.13430991768836975, + -0.9046420454978943 + ], + "joints": [ + 0.01974443905055523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07253381609916687, + 0.10306452214717865, + 0.1263621598482132 + ], + "orientation": [ + 0.18432937562465668, + -0.9154934287071228, + 0.3422623872756958, + -0.10368751734495163 + ], + "joints": [ + 0.00831618718802929 + ] + }, + "fine_grasp": { + "position": [ + 0.07073529064655304, + 0.10133740305900574, + 0.1272396296262741 + ], + "orientation": [ + 0.16251546144485474, + -0.9190966486930847, + 0.3439392149448395, + -0.10274150222539902 + ], + "joints": [ + 0.013683324679732323 + ] + }, + "final_grasp": { + "position": [ + 0.07073529064655304, + 0.10133740305900574, + 0.1272396296262741 + ], + "orientation": [ + 0.16251546144485474, + -0.9190966486930847, + 0.3439392149448395, + -0.10274150222539902 + ], + "joints": [ + 0.019050462171435356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08186106383800507, + -0.05842164158821106, + 0.11672018468379974 + ], + "orientation": [ + 0.058112695813179016, + -0.3913593292236328, + 0.8890120983123779, + -0.2304743230342865 + ], + "joints": [ + 0.008782658725976944 + ] + }, + "fine_grasp": { + "position": [ + 0.08039551228284836, + -0.05707269906997681, + 0.11593285202980042 + ], + "orientation": [ + 0.05423906072974205, + -0.3948099911212921, + 0.8883284330368042, + -0.22815737128257751 + ], + "joints": [ + 0.014149796217679977 + ] + }, + "final_grasp": { + "position": [ + 0.08039551228284836, + -0.05707269906997681, + 0.11593285202980042 + ], + "orientation": [ + 0.05423906072974205, + -0.3948099911212921, + 0.8883284330368042, + -0.22815737128257751 + ], + "joints": [ + 0.01951693370938301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11672911792993546, + -0.020160341635346413, + 0.04020855948328972 + ], + "orientation": [ + 0.10239702463150024, + 0.6007558703422546, + 0.7924169898033142, + 0.026123924180865288 + ], + "joints": [ + 0.009448563680052757 + ] + }, + "fine_grasp": { + "position": [ + -0.11749037355184555, + -0.020670926198363304, + 0.03978240117430687 + ], + "orientation": [ + 0.10333368927240372, + 0.6025242209434509, + 0.7908355593681335, + 0.029423758387565613 + ], + "joints": [ + 0.014789130538702011 + ] + }, + "final_grasp": { + "position": [ + -0.11749037355184555, + -0.020670926198363304, + 0.03978240117430687 + ], + "orientation": [ + 0.10333368927240372, + 0.6025242209434509, + 0.7908355593681335, + 0.029423758387565613 + ], + "joints": [ + 0.020129697397351265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11553715914487839, + -0.015764232724905014, + 0.08631204068660736 + ], + "orientation": [ + 0.783315896987915, + -0.14953796565532684, + -0.027558710426092148, + 0.6027397513389587 + ], + "joints": [ + 0.008542850613594055 + ] + }, + "fine_grasp": { + "position": [ + 0.11692055314779282, + -0.01586644910275936, + 0.08817214518785477 + ], + "orientation": [ + 0.7834221720695496, + -0.13588997721672058, + -0.0274943970143795, + 0.6058279871940613 + ], + "joints": [ + 0.014972789213061333 + ] + }, + "final_grasp": { + "position": [ + 0.11692055314779282, + -0.01586644910275936, + 0.08817214518785477 + ], + "orientation": [ + 0.7834221720695496, + -0.13588997721672058, + -0.0274943970143795, + 0.6058279871940613 + ], + "joints": [ + 0.02140272781252861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07229366898536682, + 0.10299979895353317, + 0.12592275440692902 + ], + "orientation": [ + 0.1747339814901352, + -0.9171507954597473, + 0.3431391417980194, + -0.10275180637836456 + ], + "joints": [ + 0.00886593759059906 + ] + }, + "fine_grasp": { + "position": [ + 0.07229577004909515, + 0.10315203666687012, + 0.12871165573596954 + ], + "orientation": [ + 0.14374911785125732, + -0.9221162796020508, + 0.34506726264953613, + -0.09983201324939728 + ], + "joints": [ + 0.013701675459742546 + ] + }, + "final_grasp": { + "position": [ + 0.07229577004909515, + 0.10315203666687012, + 0.12871165573596954 + ], + "orientation": [ + 0.14374911785125732, + -0.9221162796020508, + 0.34506726264953613, + -0.09983201324939728 + ], + "joints": [ + 0.018537413328886032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09528607130050659, + -0.03750234842300415, + 0.11453569680452347 + ], + "orientation": [ + 0.08311427384614944, + -0.4881068170070648, + 0.8367551565170288, + -0.2338472157716751 + ], + "joints": [ + 0.008810123428702354 + ] + }, + "fine_grasp": { + "position": [ + 0.0934252142906189, + -0.0362340472638607, + 0.11363722383975983 + ], + "orientation": [ + 0.07779933512210846, + -0.4913255274295807, + 0.8356087803840637, + -0.23303309082984924 + ], + "joints": [ + 0.014177260920405388 + ] + }, + "final_grasp": { + "position": [ + 0.0934252142906189, + -0.0362340472638607, + 0.11363722383975983 + ], + "orientation": [ + 0.07779933512210846, + -0.4913255274295807, + 0.8356087803840637, + -0.23303309082984924 + ], + "joints": [ + 0.01954439841210842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12487009167671204, + 0.0208072979003191, + 0.05851202830672264 + ], + "orientation": [ + 0.04210439324378967, + 0.7253715991973877, + 0.6836279630661011, + -0.06867429614067078 + ], + "joints": [ + 0.009389973245561123 + ] + }, + "fine_grasp": { + "position": [ + -0.12447047978639603, + 0.020868446677923203, + 0.05859632417559624 + ], + "orientation": [ + 0.04806540533900261, + 0.7252478003501892, + 0.683234691619873, + -0.06996988505125046 + ], + "joints": [ + 0.01478368416428566 + ] + }, + "final_grasp": { + "position": [ + -0.12447047978639603, + 0.020868446677923203, + 0.05859632417559624 + ], + "orientation": [ + 0.04806540533900261, + 0.7252478003501892, + 0.683234691619873, + -0.06996988505125046 + ], + "joints": [ + 0.020177394151687622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12019310891628265, + -0.01391002256423235, + 0.06811177730560303 + ], + "orientation": [ + 0.779919445514679, + -0.09501198679208755, + -0.028381651267409325, + -0.6179747581481934 + ], + "joints": [ + 0.009028783068060875 + ] + }, + "fine_grasp": { + "position": [ + -0.12133073806762695, + -0.014187106862664223, + 0.06819537281990051 + ], + "orientation": [ + 0.779940664768219, + -0.09896517544984818, + -0.029430212453007698, + -0.6172782778739929 + ], + "joints": [ + 0.014927322044968605 + ] + }, + "final_grasp": { + "position": [ + -0.12133073806762695, + -0.014187106862664223, + 0.06819537281990051 + ], + "orientation": [ + 0.779940664768219, + -0.09896517544984818, + -0.029430212453007698, + -0.6172782778739929 + ], + "joints": [ + 0.020825861021876335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10287453979253769, + 0.08043906092643738, + 0.06091373786330223 + ], + "orientation": [ + 0.0076949805952608585, + 0.8766770958900452, + 0.474865198135376, + -0.07668814063072205 + ], + "joints": [ + 0.009094590321183205 + ] + }, + "fine_grasp": { + "position": [ + -0.10156012326478958, + 0.07950706034898758, + 0.06107484921813011 + ], + "orientation": [ + 0.007558358833193779, + 0.8761554956436157, + 0.4757497310638428, + -0.07717964053153992 + ], + "joints": [ + 0.014435157179832458 + ] + }, + "final_grasp": { + "position": [ + -0.10156012326478958, + 0.07950706034898758, + 0.06107484921813011 + ], + "orientation": [ + 0.007558358833193779, + 0.8761554956436157, + 0.4757497310638428, + -0.07717964053153992 + ], + "joints": [ + 0.019775724038481712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0855802446603775, + 0.09448263794183731, + 0.08629690110683441 + ], + "orientation": [ + 0.09577319025993347, + -0.9065337777137756, + -0.39619413018226624, + 0.10979200899600983 + ], + "joints": [ + 0.00898839719593525 + ] + }, + "fine_grasp": { + "position": [ + -0.08357678353786469, + 0.09281625598669052, + 0.08569455146789551 + ], + "orientation": [ + 0.10121601074934006, + -0.9054123759269714, + -0.3968558609485626, + 0.11175475269556046 + ], + "joints": [ + 0.014328964054584503 + ] + }, + "final_grasp": { + "position": [ + -0.08357678353786469, + 0.09281625598669052, + 0.08569455146789551 + ], + "orientation": [ + 0.10121601074934006, + -0.9054123759269714, + -0.3968558609485626, + 0.11175475269556046 + ], + "joints": [ + 0.019669530913233757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12449322640895844, + 0.015151545405387878, + 0.059519048780202866 + ], + "orientation": [ + 0.04639815539121628, + 0.709261953830719, + 0.7005829811096191, + -0.06307172030210495 + ], + "joints": [ + 0.009303487837314606 + ] + }, + "fine_grasp": { + "position": [ + -0.12453865259885788, + 0.015150588937103748, + 0.05895473062992096 + ], + "orientation": [ + 0.04835612326860428, + 0.709263801574707, + 0.6998266577720642, + -0.06963641941547394 + ], + "joints": [ + 0.014697197824716568 + ] + }, + "final_grasp": { + "position": [ + -0.12453865259885788, + 0.015150588937103748, + 0.05895473062992096 + ], + "orientation": [ + 0.04835612326860428, + 0.709263801574707, + 0.6998266577720642, + -0.06963641941547394 + ], + "joints": [ + 0.02009090781211853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10331522673368454, + 0.07965833693742752, + 0.059415195137262344 + ], + "orientation": [ + 0.012638500891625881, + 0.8754897117614746, + 0.47767630219459534, + -0.0719953328371048 + ], + "joints": [ + 0.009007617831230164 + ] + }, + "fine_grasp": { + "position": [ + -0.10209488868713379, + 0.07876548171043396, + 0.05917545408010483 + ], + "orientation": [ + 0.011442095972597599, + 0.8748960494995117, + 0.4785304367542267, + -0.07372001558542252 + ], + "joints": [ + 0.014348184689879417 + ] + }, + "final_grasp": { + "position": [ + -0.10209488868713379, + 0.07876548171043396, + 0.05917545408010483 + ], + "orientation": [ + 0.011442095972597599, + 0.8748960494995117, + 0.4785304367542267, + -0.07372001558542252 + ], + "joints": [ + 0.01968875154852867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12486907094717026, + 0.016033586114645004, + 0.055020060390233994 + ], + "orientation": [ + 0.05262529104948044, + 0.7137076258659363, + 0.6963237524032593, + -0.05463913455605507 + ], + "joints": [ + 0.00930064171552658 + ] + }, + "fine_grasp": { + "position": [ + -0.12466525286436081, + 0.016071951016783714, + 0.05452362820506096 + ], + "orientation": [ + 0.05727098882198334, + 0.7131803631782532, + 0.6958440542221069, + -0.06241002306342125 + ], + "joints": [ + 0.014694351702928543 + ] + }, + "final_grasp": { + "position": [ + -0.12466525286436081, + 0.016071951016783714, + 0.05452362820506096 + ], + "orientation": [ + 0.05727098882198334, + 0.7131803631782532, + 0.6958440542221069, + -0.06241002306342125 + ], + "joints": [ + 0.020088061690330505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061813049018383026, + 0.11192579567432404, + 0.09238124638795853 + ], + "orientation": [ + 0.14141692221164703, + -0.9455229640007019, + -0.2772437632083893, + 0.09551607817411423 + ], + "joints": [ + 0.008805845864117146 + ] + }, + "fine_grasp": { + "position": [ + -0.0607280433177948, + 0.10919284075498581, + 0.09184131026268005 + ], + "orientation": [ + 0.143248051404953, + -0.945763111114502, + -0.2799031138420105, + 0.08164816349744797 + ], + "joints": [ + 0.014172983355820179 + ] + }, + "final_grasp": { + "position": [ + -0.0607280433177948, + 0.10919284075498581, + 0.09184131026268005 + ], + "orientation": [ + 0.143248051404953, + -0.945763111114502, + -0.2799031138420105, + 0.08164816349744797 + ], + "joints": [ + 0.019540119916200638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044614534825086594, + 0.128028005361557, + 0.05412212759256363 + ], + "orientation": [ + 0.18242083489894867, + -0.04091982915997505, + 0.019285934045910835, + -0.9821794033050537 + ], + "joints": [ + 0.008888036012649536 + ] + }, + "fine_grasp": { + "position": [ + -0.045254938304424286, + 0.12908123433589935, + 0.055074796080589294 + ], + "orientation": [ + 0.18638581037521362, + -0.027036499232053757, + 0.015494881197810173, + -0.9819823503494263 + ], + "joints": [ + 0.015317974612116814 + ] + }, + "final_grasp": { + "position": [ + -0.045254938304424286, + 0.12908123433589935, + 0.055074796080589294 + ], + "orientation": [ + 0.18638581037521362, + -0.027036499232053757, + 0.015494881197810173, + -0.9819823503494263 + ], + "joints": [ + 0.02174791321158409 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07062089443206787, + 0.11202794313430786, + 0.06028914079070091 + ], + "orientation": [ + 0.3060207664966583, + -0.0361068919301033, + -0.03849123418331146, + 0.9505608677864075 + ], + "joints": [ + 0.009145617485046387 + ] + }, + "fine_grasp": { + "position": [ + 0.07164590805768967, + 0.11247281730175018, + 0.061049968004226685 + ], + "orientation": [ + 0.30744895339012146, + -0.04501023888587952, + -0.027945853769779205, + 0.9500885605812073 + ], + "joints": [ + 0.015017583966255188 + ] + }, + "final_grasp": { + "position": [ + 0.07164590805768967, + 0.11247281730175018, + 0.061049968004226685 + ], + "orientation": [ + 0.30744895339012146, + -0.04501023888587952, + -0.027945853769779205, + 0.9500885605812073 + ], + "joints": [ + 0.02088955044746399 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10353907942771912, + 0.033164799213409424, + 0.15557701885700226 + ], + "orientation": [ + 0.16465350985527039, + -0.7088566422462463, + 0.6402085423469543, + -0.24605786800384521 + ], + "joints": [ + 0.008044150657951832 + ] + }, + "fine_grasp": { + "position": [ + 0.10210677236318588, + 0.033040110021829605, + 0.15559493005275726 + ], + "orientation": [ + 0.157683864235878, + -0.7127556204795837, + 0.6410684585571289, + -0.23695269227027893 + ], + "joints": [ + 0.013411288149654865 + ] + }, + "final_grasp": { + "position": [ + 0.10210677236318588, + 0.033040110021829605, + 0.15559493005275726 + ], + "orientation": [ + 0.157683864235878, + -0.7127556204795837, + 0.6410684585571289, + -0.23695269227027893 + ], + "joints": [ + 0.018778424710035324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07805879414081573, + 0.10356249660253525, + 0.07211239635944366 + ], + "orientation": [ + 0.3493984341621399, + -0.06227172538638115, + -0.07739072293043137, + 0.931693971157074 + ], + "joints": [ + 0.009490415453910828 + ] + }, + "fine_grasp": { + "position": [ + 0.07846895605325699, + 0.10363825410604477, + 0.07287989556789398 + ], + "orientation": [ + 0.34977516531944275, + -0.0677083358168602, + -0.07075374573469162, + 0.9317010641098022 + ], + "joints": [ + 0.014830982312560081 + ] + }, + "final_grasp": { + "position": [ + 0.07846895605325699, + 0.10363825410604477, + 0.07287989556789398 + ], + "orientation": [ + 0.34977516531944275, + -0.0677083358168602, + -0.07075374573469162, + 0.9317010641098022 + ], + "joints": [ + 0.020171549171209335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05660704895853996, + 0.11343442648649216, + 0.09225058555603027 + ], + "orientation": [ + 0.25617000460624695, + -0.06883374601602554, + -0.15606798231601715, + 0.9514628648757935 + ], + "joints": [ + 0.009230965748429298 + ] + }, + "fine_grasp": { + "position": [ + 0.05662332847714424, + 0.1127701923251152, + 0.09287572652101517 + ], + "orientation": [ + 0.25536632537841797, + -0.07076117396354675, + -0.14902947843074799, + 0.9526653289794922 + ], + "joints": [ + 0.015102934092283249 + ] + }, + "final_grasp": { + "position": [ + 0.05662332847714424, + 0.1127701923251152, + 0.09287572652101517 + ], + "orientation": [ + 0.25536632537841797, + -0.07076117396354675, + -0.14902947843074799, + 0.9526653289794922 + ], + "joints": [ + 0.0209749024361372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08520946651697159, + -0.07230844348669052, + 0.08263465017080307 + ], + "orientation": [ + 0.009440306574106216, + 0.37122294306755066, + 0.9171608686447144, + -0.14463907480239868 + ], + "joints": [ + 0.00907122902572155 + ] + }, + "fine_grasp": { + "position": [ + -0.08652098476886749, + -0.07326455414295197, + 0.08230385929346085 + ], + "orientation": [ + 0.001196824130602181, + 0.3732476532459259, + 0.9169217944145203, + -0.14120616018772125 + ], + "joints": [ + 0.014916624873876572 + ] + }, + "final_grasp": { + "position": [ + -0.08652098476886749, + -0.07326455414295197, + 0.08230385929346085 + ], + "orientation": [ + 0.001196824130602181, + 0.3732476532459259, + 0.9169217944145203, + -0.14120616018772125 + ], + "joints": [ + 0.020762020722031593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020057514309883118, + 0.12898166477680206, + 0.08407337963581085 + ], + "orientation": [ + 0.13703306019306183, + -0.9861622452735901, + -0.08517161756753922, + 0.03810231015086174 + ], + "joints": [ + 0.00847553089261055 + ] + }, + "fine_grasp": { + "position": [ + -0.01974470168352127, + 0.12741298973560333, + 0.08312521129846573 + ], + "orientation": [ + 0.14130793511867523, + -0.9857892394065857, + -0.08774254471063614, + 0.023512884974479675 + ], + "joints": [ + 0.014878897927701473 + ] + }, + "final_grasp": { + "position": [ + -0.01974470168352127, + 0.12741298973560333, + 0.08312521129846573 + ], + "orientation": [ + 0.14130793511867523, + -0.9857892394065857, + -0.08774254471063614, + 0.023512884974479675 + ], + "joints": [ + 0.021282264962792397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0758437067270279, + 0.10672804713249207, + 0.07242772728204727 + ], + "orientation": [ + 0.33458182215690613, + -0.08833722770214081, + 0.07018344104290009, + -0.935588538646698 + ], + "joints": [ + 0.008573297411203384 + ] + }, + "fine_grasp": { + "position": [ + -0.0749470666050911, + 0.10565458983182907, + 0.0732908546924591 + ], + "orientation": [ + 0.3364805281162262, + -0.08071763813495636, + 0.08080126345157623, + -0.9347387552261353 + ], + "joints": [ + 0.014471834525465965 + ] + }, + "final_grasp": { + "position": [ + -0.0749470666050911, + 0.10565458983182907, + 0.0732908546924591 + ], + "orientation": [ + 0.3364805281162262, + -0.08071763813495636, + 0.08080126345157623, + -0.9347387552261353 + ], + "joints": [ + 0.020370371639728546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08640436828136444, + 0.09511220455169678, + 0.02353067323565483 + ], + "orientation": [ + 0.3834240734577179, + -0.0183834470808506, + -0.12113530188798904, + -0.9154093861579895 + ], + "joints": [ + 0.008603731170296669 + ] + }, + "fine_grasp": { + "position": [ + -0.08557233214378357, + 0.09360045939683914, + 0.024968940764665604 + ], + "orientation": [ + 0.38465768098831177, + -0.011295435018837452, + -0.1158614233136177, + -0.9156893491744995 + ], + "joints": [ + 0.013944298028945923 + ] + }, + "final_grasp": { + "position": [ + -0.08557233214378357, + 0.09360045939683914, + 0.024968940764665604 + ], + "orientation": [ + 0.38465768098831177, + -0.011295435018837452, + -0.1158614233136177, + -0.9156893491744995 + ], + "joints": [ + 0.019284864887595177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08860139548778534, + -0.06687989085912704, + 0.041976187378168106 + ], + "orientation": [ + 0.9112563729286194, + -0.000783015217166394, + -0.07177034765481949, + -0.40553683042526245 + ], + "joints": [ + 0.009150967001914978 + ] + }, + "fine_grasp": { + "position": [ + -0.08884911239147186, + -0.06750086694955826, + 0.04165681079030037 + ], + "orientation": [ + 0.9108368158340454, + 0.007043782621622086, + -0.070269376039505, + -0.40668025612831116 + ], + "joints": [ + 0.013960134238004684 + ] + }, + "final_grasp": { + "position": [ + -0.08884911239147186, + -0.06750086694955826, + 0.04165681079030037 + ], + "orientation": [ + 0.9108368158340454, + 0.007043782621622086, + -0.070269376039505, + -0.40668025612831116 + ], + "joints": [ + 0.01876930147409439 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07833009213209152, + 0.10717770457267761, + 0.04965822398662567 + ], + "orientation": [ + 0.017599785700440407, + 0.9400424361228943, + 0.33661213517189026, + -0.05198722332715988 + ], + "joints": [ + 0.008864760398864746 + ] + }, + "fine_grasp": { + "position": [ + -0.07888300716876984, + 0.10620769113302231, + 0.05078253522515297 + ], + "orientation": [ + 0.0056811748072505, + 0.9383253455162048, + 0.34212347865104675, + -0.049647439271211624 + ], + "joints": [ + 0.014205327257514 + ] + }, + "final_grasp": { + "position": [ + -0.07888300716876984, + 0.10620769113302231, + 0.05078253522515297 + ], + "orientation": [ + 0.0056811748072505, + 0.9383253455162048, + 0.34212347865104675, + -0.049647439271211624 + ], + "joints": [ + 0.019545894116163254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08707833290100098, + 0.09393662959337234, + 0.02359558455646038 + ], + "orientation": [ + 0.38867875933647156, + -0.019717425107955933, + -0.11648505926132202, + -0.9137676954269409 + ], + "joints": [ + 0.008569393306970596 + ] + }, + "fine_grasp": { + "position": [ + -0.08638071268796921, + 0.09285571426153183, + 0.02516699768602848 + ], + "orientation": [ + 0.38902905583381653, + -0.01275415439158678, + -0.11364554613828659, + -0.9140998125076294 + ], + "joints": [ + 0.01390996016561985 + ] + }, + "final_grasp": { + "position": [ + -0.08638071268796921, + 0.09285571426153183, + 0.02516699768602848 + ], + "orientation": [ + 0.38902905583381653, + -0.01275415439158678, + -0.11364554613828659, + -0.9140998125076294 + ], + "joints": [ + 0.019250527024269104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07999327033758163, + 0.09718745946884155, + 0.014231862500309944 + ], + "orientation": [ + 0.356795072555542, + -0.003893808228895068, + -0.14955158531665802, + -0.9221259951591492 + ], + "joints": [ + 0.008815279230475426 + ] + }, + "fine_grasp": { + "position": [ + -0.07958240807056427, + 0.09585122019052505, + 0.01566671021282673 + ], + "orientation": [ + 0.35809797048568726, + 0.0010050253476947546, + -0.14686623215675354, + -0.9220603108406067 + ], + "joints": [ + 0.013651017099618912 + ] + }, + "final_grasp": { + "position": [ + -0.07958240807056427, + 0.09585122019052505, + 0.01566671021282673 + ], + "orientation": [ + 0.35809797048568726, + 0.0010050253476947546, + -0.14686623215675354, + -0.9220603108406067 + ], + "joints": [ + 0.018486754968762398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07936274260282516, + 0.09767033159732819, + 0.01430872268974781 + ], + "orientation": [ + 0.3536633551120758, + -0.003937603440135717, + -0.15218296647071838, + -0.9229013919830322 + ], + "joints": [ + 0.008455149829387665 + ] + }, + "fine_grasp": { + "position": [ + -0.07859262079000473, + 0.09606005996465683, + 0.01554038841277361 + ], + "orientation": [ + 0.3550455570220947, + 0.0016592303290963173, + -0.1447005569934845, + -0.9235808849334717 + ], + "joints": [ + 0.013795716688036919 + ] + }, + "final_grasp": { + "position": [ + -0.07859262079000473, + 0.09606005996465683, + 0.01554038841277361 + ], + "orientation": [ + 0.3550455570220947, + 0.0016592303290963173, + -0.1447005569934845, + -0.9235808849334717 + ], + "joints": [ + 0.019136283546686172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0804368406534195, + 0.09706392139196396, + 0.014737830497324467 + ], + "orientation": [ + 0.35853198170661926, + -0.005115148611366749, + -0.147695392370224, + -0.9217454791069031 + ], + "joints": [ + 0.008782658725976944 + ] + }, + "fine_grasp": { + "position": [ + -0.07996977865695953, + 0.09617744386196136, + 0.015688301995396614 + ], + "orientation": [ + 0.3585491180419922, + 9.709324513096362e-05, + -0.14279203116893768, + -0.9225252866744995 + ], + "joints": [ + 0.01361839659512043 + ] + }, + "final_grasp": { + "position": [ + -0.07996977865695953, + 0.09617744386196136, + 0.015688301995396614 + ], + "orientation": [ + 0.3585491180419922, + 9.709324513096362e-05, + -0.14279203116893768, + -0.9225252866744995 + ], + "joints": [ + 0.018454134464263916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09945013374090195, + -0.052150022238492966, + 0.023117035627365112 + ], + "orientation": [ + 0.8687444925308228, + 0.030318185687065125, + -0.1076778694987297, + -0.4824617803096771 + ], + "joints": [ + 0.007952947169542313 + ] + }, + "fine_grasp": { + "position": [ + -0.09805823117494583, + -0.05091220885515213, + 0.024358384311199188 + ], + "orientation": [ + 0.8681076169013977, + 0.04629400745034218, + -0.10992983728647232, + -0.481831431388855 + ], + "joints": [ + 0.013824913650751114 + ] + }, + "final_grasp": { + "position": [ + -0.09805823117494583, + -0.05091220885515213, + 0.024358384311199188 + ], + "orientation": [ + 0.8681076169013977, + 0.04629400745034218, + -0.10992983728647232, + -0.481831431388855 + ], + "joints": [ + 0.019696880131959915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017803432419896126, + 0.056069981306791306, + 0.2305251806974411 + ], + "orientation": [ + 0.26017969846725464, + -0.2536821663379669, + 0.558944046497345, + -0.7453411817550659 + ], + "joints": [ + 0.005962432827800512 + ] + }, + "fine_grasp": { + "position": [ + -0.016497524455189705, + 0.05455581471323967, + 0.22850942611694336 + ], + "orientation": [ + 0.26427048444747925, + -0.25029149651527405, + 0.5436826944351196, + -0.7562568783760071 + ], + "joints": [ + 0.011834399774670601 + ] + }, + "final_grasp": { + "position": [ + -0.016497524455189705, + 0.05455581471323967, + 0.22850942611694336 + ], + "orientation": [ + 0.26427048444747925, + -0.25029149651527405, + 0.5436826944351196, + -0.7562568783760071 + ], + "joints": [ + 0.017706366255879402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05593257024884224, + -0.05676458403468132, + 0.168303981423378 + ], + "orientation": [ + 0.889867901802063, + -0.35366714000701904, + -0.06473696231842041, + 0.28082704544067383 + ], + "joints": [ + 0.008177541196346283 + ] + }, + "fine_grasp": { + "position": [ + 0.0555860660970211, + -0.05620702728629112, + 0.16860756278038025 + ], + "orientation": [ + 0.8946012258529663, + -0.3406389653682709, + -0.06388677656650543, + 0.28208550810813904 + ], + "joints": [ + 0.013544678688049316 + ] + }, + "final_grasp": { + "position": [ + 0.0555860660970211, + -0.05620702728629112, + 0.16860756278038025 + ], + "orientation": [ + 0.8946012258529663, + -0.3406389653682709, + -0.06388677656650543, + 0.28208550810813904 + ], + "joints": [ + 0.01891181617975235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11272493749856949, + -0.03984079509973526, + 0.05987249314785004 + ], + "orientation": [ + 0.8377827405929565, + -0.10849106311798096, + -0.02580944448709488, + -0.5344937443733215 + ], + "joints": [ + 0.007852746173739433 + ] + }, + "fine_grasp": { + "position": [ + -0.11202818155288696, + -0.039689239114522934, + 0.05938904732465744 + ], + "orientation": [ + 0.8361455202102661, + -0.11155769228935242, + -0.021664302796125412, + -0.5366061925888062 + ], + "joints": [ + 0.013193313032388687 + ] + }, + "final_grasp": { + "position": [ + -0.11202818155288696, + -0.039689239114522934, + 0.05938904732465744 + ], + "orientation": [ + 0.8361455202102661, + -0.11155769228935242, + -0.021664302796125412, + -0.5366061925888062 + ], + "joints": [ + 0.01853387989103794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08078688383102417, + 0.03223000466823578, + 0.203963041305542 + ], + "orientation": [ + 0.23703041672706604, + -0.6429578065872192, + -0.6296337246894836, + 0.3660372793674469 + ], + "joints": [ + 0.006523313466459513 + ] + }, + "fine_grasp": { + "position": [ + -0.07805449515581131, + 0.031542353332042694, + 0.19968120753765106 + ], + "orientation": [ + 0.24399232864379883, + -0.6431585550308228, + -0.6258063912391663, + 0.36766982078552246 + ], + "joints": [ + 0.013458079658448696 + ] + }, + "final_grasp": { + "position": [ + -0.07805449515581131, + 0.031542353332042694, + 0.19968120753765106 + ], + "orientation": [ + 0.24399232864379883, + -0.6431585550308228, + -0.6258063912391663, + 0.36766982078552246 + ], + "joints": [ + 0.020392846316099167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022455519065260887, + 0.04548848047852516, + 0.23243026435375214 + ], + "orientation": [ + 0.4215969741344452, + -0.4187003970146179, + 0.47995930910110474, + -0.6454340219497681 + ], + "joints": [ + 0.005621539428830147 + ] + }, + "fine_grasp": { + "position": [ + -0.020498301833868027, + 0.044526007026433945, + 0.22996196150779724 + ], + "orientation": [ + 0.4292401373386383, + -0.41208454966545105, + 0.4664883613586426, + -0.6544675230979919 + ], + "joints": [ + 0.011998334899544716 + ] + }, + "final_grasp": { + "position": [ + -0.020498301833868027, + 0.044526007026433945, + 0.22996196150779724 + ], + "orientation": [ + 0.4292401373386383, + -0.41208454966545105, + 0.4664883613586426, + -0.6544675230979919 + ], + "joints": [ + 0.018375130370259285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09570786356925964, + -0.05794844031333923, + 0.004821917973458767 + ], + "orientation": [ + 0.8736708164215088, + 0.11896224319934845, + 0.11990483850240707, + 0.4562564492225647 + ], + "joints": [ + 0.007335330825299025 + ] + }, + "fine_grasp": { + "position": [ + 0.09649515897035599, + -0.05741144344210625, + 0.005587639287114143 + ], + "orientation": [ + 0.873782753944397, + 0.12210040539503098, + 0.1180950328707695, + 0.455685019493103 + ], + "joints": [ + 0.013207297772169113 + ] + }, + "final_grasp": { + "position": [ + 0.09649515897035599, + -0.05741144344210625, + 0.005587639287114143 + ], + "orientation": [ + 0.873782753944397, + 0.12210040539503098, + 0.1180950328707695, + 0.455685019493103 + ], + "joints": [ + 0.019079264253377914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009887988679111004, + 0.0017368586268275976, + 0.23400746285915375 + ], + "orientation": [ + 0.7545613646507263, + -0.6399677991867065, + 0.08061917871236801, + -0.12074334174394608 + ], + "joints": [ + 0.006110519636422396 + ] + }, + "fine_grasp": { + "position": [ + -0.008852656930685043, + 0.0035816289018839598, + 0.22904899716377258 + ], + "orientation": [ + 0.7591588497161865, + -0.6343595385551453, + 0.07831589132547379, + -0.12301424145698547 + ], + "joints": [ + 0.014028373174369335 + ] + }, + "final_grasp": { + "position": [ + -0.008852656930685043, + 0.0035816289018839598, + 0.22904899716377258 + ], + "orientation": [ + 0.7591588497161865, + -0.6343595385551453, + 0.07831589132547379, + -0.12301424145698547 + ], + "joints": [ + 0.021946227177977562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009887365624308586, + 0.0019409218803048134, + 0.23398630321025848 + ], + "orientation": [ + 0.7540245652198792, + -0.6408260464668274, + 0.07978133112192154, + -0.12009928375482559 + ], + "joints": [ + 0.006066564470529556 + ] + }, + "fine_grasp": { + "position": [ + -0.00894375704228878, + 0.0035955426283180714, + 0.22889693081378937 + ], + "orientation": [ + 0.757641613483429, + -0.6364086866378784, + 0.0780874565243721, + -0.12192454934120178 + ], + "joints": [ + 0.013984417542815208 + ] + }, + "final_grasp": { + "position": [ + -0.00894375704228878, + 0.0035955426283180714, + 0.22889693081378937 + ], + "orientation": [ + 0.757641613483429, + -0.6364086866378784, + 0.0780874565243721, + -0.12192454934120178 + ], + "joints": [ + 0.02190227061510086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08861730247735977, + -0.04763680696487427, + -0.042971063405275345 + ], + "orientation": [ + 0.8339071273803711, + 0.20427176356315613, + 0.17803196609020233, + 0.4808081388473511 + ], + "joints": [ + 0.006127513945102692 + ] + }, + "fine_grasp": { + "position": [ + 0.09083818644285202, + -0.04837664216756821, + -0.04310986027121544 + ], + "orientation": [ + 0.8359984159469604, + 0.2026137411594391, + 0.17760275304317474, + 0.4780288636684418 + ], + "joints": [ + 0.011999480426311493 + ] + }, + "final_grasp": { + "position": [ + 0.09083818644285202, + -0.04837664216756821, + -0.04310986027121544 + ], + "orientation": [ + 0.8359984159469604, + 0.2026137411594391, + 0.17760275304317474, + 0.4780288636684418 + ], + "joints": [ + 0.017871446907520294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09317126125097275, + 0.03468804061412811, + -0.05500346049666405 + ], + "orientation": [ + 0.28931349515914917, + 0.7725495100021362, + 0.5499067902565002, + 0.1306420862674713 + ], + "joints": [ + 0.006287089549005032 + ] + }, + "fine_grasp": { + "position": [ + -0.09196992963552475, + 0.03396216407418251, + -0.05461942404508591 + ], + "orientation": [ + 0.2808496654033661, + 0.7716295123100281, + 0.5550073981285095, + 0.132959246635437 + ], + "joints": [ + 0.012132485397160053 + ] + }, + "final_grasp": { + "position": [ + -0.09196992963552475, + 0.03396216407418251, + -0.05461942404508591 + ], + "orientation": [ + 0.2808496654033661, + 0.7716295123100281, + 0.5550073981285095, + 0.132959246635437 + ], + "joints": [ + 0.01797788217663765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08532392978668213, + 0.026854656636714935, + -0.0649157464504242 + ], + "orientation": [ + 0.5570724010467529, + 0.15920689702033997, + -0.3266565799713135, + -0.7467387914657593 + ], + "joints": [ + 0.006014359183609486 + ] + }, + "fine_grasp": { + "position": [ + -0.0837526023387909, + 0.027491481974720955, + -0.06457660347223282 + ], + "orientation": [ + 0.5585480332374573, + 0.16771894693374634, + -0.320515513420105, + -0.7464343309402466 + ], + "joints": [ + 0.012417725287377834 + ] + }, + "final_grasp": { + "position": [ + -0.0837526023387909, + 0.027491481974720955, + -0.06457660347223282 + ], + "orientation": [ + 0.5585480332374573, + 0.16771894693374634, + -0.320515513420105, + -0.7464343309402466 + ], + "joints": [ + 0.01882109045982361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015109678730368614, + 0.03540123254060745, + 0.2361719310283661 + ], + "orientation": [ + 0.5140334963798523, + -0.5668250918388367, + -0.4112737476825714, + 0.49531090259552 + ], + "joints": [ + 0.0072580440901219845 + ] + }, + "fine_grasp": { + "position": [ + 0.014181029051542282, + 0.034834183752536774, + 0.232169046998024 + ], + "orientation": [ + 0.5128055810928345, + -0.5671505928039551, + -0.4130594730377197, + 0.49472448229789734 + ], + "joints": [ + 0.013634840026497841 + ] + }, + "final_grasp": { + "position": [ + 0.014181029051542282, + 0.034834183752536774, + 0.232169046998024 + ], + "orientation": [ + 0.5128055810928345, + -0.5671505928039551, + -0.4130594730377197, + 0.49472448229789734 + ], + "joints": [ + 0.02001163549721241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015391441993415356, + 0.03521296754479408, + 0.23609013855457306 + ], + "orientation": [ + 0.5154107809066772, + -0.5650944709777832, + -0.410688191652298, + 0.49634185433387756 + ], + "joints": [ + 0.0072489851154387 + ] + }, + "fine_grasp": { + "position": [ + 0.014521236531436443, + 0.034594275057315826, + 0.23194466531276703 + ], + "orientation": [ + 0.513767659664154, + -0.5658252239227295, + -0.41298043727874756, + 0.4953097403049469 + ], + "joints": [ + 0.013625781051814556 + ] + }, + "final_grasp": { + "position": [ + 0.014521236531436443, + 0.034594275057315826, + 0.23194466531276703 + ], + "orientation": [ + 0.513767659664154, + -0.5658252239227295, + -0.41298043727874756, + 0.4953097403049469 + ], + "joints": [ + 0.0200025774538517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04755495488643646, + 0.06603660434484482, + 0.21873682737350464 + ], + "orientation": [ + 0.3963569700717926, + -0.7955448627471924, + -0.38441821932792664, + 0.24946394562721252 + ], + "joints": [ + 0.008610690012574196 + ] + }, + "fine_grasp": { + "position": [ + -0.04612325504422188, + 0.06443937867879868, + 0.21394571661949158 + ], + "orientation": [ + 0.40367352962493896, + -0.7920341491699219, + -0.38178905844688416, + 0.25291648507118225 + ], + "joints": [ + 0.014987485483288765 + ] + }, + "final_grasp": { + "position": [ + -0.04612325504422188, + 0.06443937867879868, + 0.21394571661949158 + ], + "orientation": [ + 0.40367352962493896, + -0.7920341491699219, + -0.38178905844688416, + 0.25291648507118225 + ], + "joints": [ + 0.021364280954003334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09512840956449509, + 0.08882057666778564, + 0.04291817918419838 + ], + "orientation": [ + 0.4311966001987457, + -0.007965879514813423, + -0.06963598728179932, + -0.8995316028594971 + ], + "joints": [ + 0.009029004722833633 + ] + }, + "fine_grasp": { + "position": [ + -0.09699048101902008, + 0.0886145532131195, + 0.04241819679737091 + ], + "orientation": [ + 0.4348280131816864, + 1.9294337107567117e-05, + -0.06624637544155121, + -0.8980734944343567 + ], + "joints": [ + 0.01383817195892334 + ] + }, + "final_grasp": { + "position": [ + -0.09699048101902008, + 0.0886145532131195, + 0.04241819679737091 + ], + "orientation": [ + 0.4348280131816864, + 1.9294337107567117e-05, + -0.06624637544155121, + -0.8980734944343567 + ], + "joints": [ + 0.018647339195013046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07960458844900131, + 0.10711471736431122, + 0.054174818098545074 + ], + "orientation": [ + 0.030743759125471115, + 0.9387171268463135, + 0.343008428812027, + -0.014498810283839703 + ], + "joints": [ + 0.00888405553996563 + ] + }, + "fine_grasp": { + "position": [ + -0.08236248791217804, + 0.10703408718109131, + 0.05452056601643562 + ], + "orientation": [ + 0.02201053500175476, + 0.9356231689453125, + 0.3523082435131073, + -0.0019263108260929585 + ], + "joints": [ + 0.014198051765561104 + ] + }, + "final_grasp": { + "position": [ + -0.08236248791217804, + 0.10703408718109131, + 0.05452056601643562 + ], + "orientation": [ + 0.02201053500175476, + 0.9356231689453125, + 0.3523082435131073, + -0.0019263108260929585 + ], + "joints": [ + 0.019512047991156578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06419440358877182, + 0.11845474690198898, + 0.05576426535844803 + ], + "orientation": [ + 0.27295973896980286, + -0.03731180354952812, + 0.01509805116802454, + 0.9611830711364746 + ], + "joints": [ + 0.009335769340395927 + ] + }, + "fine_grasp": { + "position": [ + 0.06460810452699661, + 0.11845433712005615, + 0.056468233466148376 + ], + "orientation": [ + 0.27317729592323303, + -0.03492108732461929, + 0.012288404628634453, + 0.9612511992454529 + ], + "joints": [ + 0.015181165188550949 + ] + }, + "final_grasp": { + "position": [ + 0.06460810452699661, + 0.11845433712005615, + 0.056468233466148376 + ], + "orientation": [ + 0.27317729592323303, + -0.03492108732461929, + 0.012288404628634453, + 0.9612511992454529 + ], + "joints": [ + 0.02102656103670597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10715221613645554, + 0.07561537623405457, + 0.04990313947200775 + ], + "orientation": [ + 0.49818331003189087, + -0.008129380643367767, + -0.048756085336208344, + -0.8656617403030396 + ], + "joints": [ + 0.00893750786781311 + ] + }, + "fine_grasp": { + "position": [ + -0.10800271481275558, + 0.07505335658788681, + 0.04963255301117897 + ], + "orientation": [ + 0.49984511733055115, + 0.009831449016928673, + -0.038923997431993484, + -0.86518394947052 + ], + "joints": [ + 0.014278074726462364 + ] + }, + "final_grasp": { + "position": [ + -0.10800271481275558, + 0.07505335658788681, + 0.04963255301117897 + ], + "orientation": [ + 0.49984511733055115, + 0.009831449016928673, + -0.038923997431993484, + -0.86518394947052 + ], + "joints": [ + 0.019618641585111618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050404272973537445, + 0.12011466920375824, + 0.09370005875825882 + ], + "orientation": [ + 0.1343654990196228, + -0.9645829796791077, + 0.22290970385074615, + -0.04286031797528267 + ], + "joints": [ + 0.009319020435214043 + ] + }, + "fine_grasp": { + "position": [ + 0.04998571053147316, + 0.11830903589725494, + 0.09216248244047165 + ], + "orientation": [ + 0.13154281675815582, + -0.9647765755653381, + 0.22082939743995667, + -0.05600942298769951 + ], + "joints": [ + 0.015190986916422844 + ] + }, + "final_grasp": { + "position": [ + 0.04998571053147316, + 0.11830903589725494, + 0.09216248244047165 + ], + "orientation": [ + 0.13154281675815582, + -0.9647765755653381, + 0.22082939743995667, + -0.05600942298769951 + ], + "joints": [ + 0.021062953397631645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02041449397802353, + 0.1351509392261505, + 0.044883742928504944 + ], + "orientation": [ + 0.05774758383631706, + 0.9950513243675232, + 0.07954517751932144, + 0.014509011059999466 + ], + "joints": [ + 0.009052824229001999 + ] + }, + "fine_grasp": { + "position": [ + -0.020303957164287567, + 0.13643880188465118, + 0.04469579458236694 + ], + "orientation": [ + 0.05546794831752777, + 0.9945913553237915, + 0.08073583245277405, + 0.034541428089141846 + ], + "joints": [ + 0.014419961720705032 + ] + }, + "final_grasp": { + "position": [ + -0.020303957164287567, + 0.13643880188465118, + 0.04469579458236694 + ], + "orientation": [ + 0.05546794831752777, + 0.9945913553237915, + 0.08073583245277405, + 0.034541428089141846 + ], + "joints": [ + 0.019787099212408066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03208822384476662, + -0.00047279056161642075, + -0.10473676025867462 + ], + "orientation": [ + 0.5080583095550537, + 0.3146986663341522, + 0.5108916759490967, + 0.6179248690605164 + ], + "joints": [ + 0.0054454016499221325 + ] + }, + "fine_grasp": { + "position": [ + 0.03161392733454704, + -3.0716964829480276e-06, + -0.09982702136039734 + ], + "orientation": [ + 0.5052851438522339, + 0.3163667619228363, + 0.5127691626548767, + 0.6177918910980225 + ], + "joints": [ + 0.012380167841911316 + ] + }, + "final_grasp": { + "position": [ + 0.03161392733454704, + -3.0716964829480276e-06, + -0.09982702136039734 + ], + "orientation": [ + 0.5052851438522339, + 0.3163667619228363, + 0.5127691626548767, + 0.6177918910980225 + ], + "joints": [ + 0.019314933568239212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08500318974256516, + 0.026002194732427597, + -0.06431271135807037 + ], + "orientation": [ + 0.5564351677894592, + 0.15940718352794647, + -0.3356923758983612, + -0.743155300617218 + ], + "joints": [ + 0.005917405243963003 + ] + }, + "fine_grasp": { + "position": [ + -0.08148356527090073, + 0.02611098438501358, + -0.06091758608818054 + ], + "orientation": [ + 0.556037187576294, + 0.1695474535226822, + -0.33856624364852905, + -0.739898145198822 + ], + "joints": [ + 0.01229420118033886 + ] + }, + "final_grasp": { + "position": [ + -0.08148356527090073, + 0.02611098438501358, + -0.06091758608818054 + ], + "orientation": [ + 0.556037187576294, + 0.1695474535226822, + -0.33856624364852905, + -0.739898145198822 + ], + "joints": [ + 0.01867099665105343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0639597699046135, + -0.09140565991401672, + 0.06926120072603226 + ], + "orientation": [ + 0.04036302492022514, + 0.267918199300766, + -0.9614734649658203, + 0.046470627188682556 + ], + "joints": [ + 0.008627399802207947 + ] + }, + "fine_grasp": { + "position": [ + 0.06460820883512497, + -0.0923272892832756, + 0.06921037286520004 + ], + "orientation": [ + 0.05443964898586273, + 0.26700612902641296, + -0.9607033729553223, + 0.052849605679512024 + ], + "joints": [ + 0.014499366283416748 + ] + }, + "final_grasp": { + "position": [ + 0.06460820883512497, + -0.0923272892832756, + 0.06921037286520004 + ], + "orientation": [ + 0.05443964898586273, + 0.26700612902641296, + -0.9607033729553223, + 0.052849605679512024 + ], + "joints": [ + 0.02037133276462555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019976327195763588, + 0.13573679327964783, + 0.05069448798894882 + ], + "orientation": [ + 0.038694772869348526, + 0.9961156845092773, + 0.07790122181177139, + 0.013698027469217777 + ], + "joints": [ + 0.008781136944890022 + ] + }, + "fine_grasp": { + "position": [ + -0.019795361906290054, + 0.136776402592659, + 0.050632137805223465 + ], + "orientation": [ + 0.03604121506214142, + 0.9955479502677917, + 0.07954570651054382, + 0.03546500578522682 + ], + "joints": [ + 0.014653103426098824 + ] + }, + "final_grasp": { + "position": [ + -0.019795361906290054, + 0.136776402592659, + 0.050632137805223465 + ], + "orientation": [ + 0.03604121506214142, + 0.9955479502677917, + 0.07954570651054382, + 0.03546500578522682 + ], + "joints": [ + 0.020525069907307625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020401127636432648, + 0.13539434969425201, + 0.0506155788898468 + ], + "orientation": [ + 0.04002627730369568, + 0.9959104061126709, + 0.07981106638908386, + 0.013807273469865322 + ], + "joints": [ + 0.00874643586575985 + ] + }, + "fine_grasp": { + "position": [ + -0.02030116878449917, + 0.13664788007736206, + 0.05056140944361687 + ], + "orientation": [ + 0.037325743585824966, + 0.9953560829162598, + 0.08149532973766327, + 0.03509459272027016 + ], + "joints": [ + 0.01461840234696865 + ] + }, + "final_grasp": { + "position": [ + -0.02030116878449917, + 0.13664788007736206, + 0.05056140944361687 + ], + "orientation": [ + 0.037325743585824966, + 0.9953560829162598, + 0.08149532973766327, + 0.03509459272027016 + ], + "joints": [ + 0.020490368828177452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09977303445339203, + 0.08178313076496124, + 0.041190315037965775 + ], + "orientation": [ + 0.07963161170482635, + 0.8832852244377136, + 0.46198222041130066, + 0.006188614293932915 + ], + "joints": [ + 0.008674701675772667 + ] + }, + "fine_grasp": { + "position": [ + -0.10075858235359192, + 0.08120544999837875, + 0.040526751428842545 + ], + "orientation": [ + 0.07018988579511642, + 0.8818463683128357, + 0.4654823839664459, + 0.027323022484779358 + ], + "joints": [ + 0.013483868911862373 + ] + }, + "final_grasp": { + "position": [ + -0.10075858235359192, + 0.08120544999837875, + 0.040526751428842545 + ], + "orientation": [ + 0.07018988579511642, + 0.8818463683128357, + 0.4654823839664459, + 0.027323022484779358 + ], + "joints": [ + 0.01829303614795208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11511600017547607, + 0.04946519434452057, + 0.036672331392765045 + ], + "orientation": [ + 0.5853689312934875, + 0.010925834067165852, + -0.09806838631629944, + -0.8047399520874023 + ], + "joints": [ + 0.008853325620293617 + ] + }, + "fine_grasp": { + "position": [ + -0.11586064100265503, + 0.04888429120182991, + 0.03576939180493355 + ], + "orientation": [ + 0.5866518020629883, + 0.026550447568297386, + -0.0886446163058281, + -0.8045351505279541 + ], + "joints": [ + 0.014167321845889091 + ] + }, + "final_grasp": { + "position": [ + -0.11586064100265503, + 0.04888429120182991, + 0.03576939180493355 + ], + "orientation": [ + 0.5866518020629883, + 0.026550447568297386, + -0.0886446163058281, + -0.8045351505279541 + ], + "joints": [ + 0.019481318071484566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09747228026390076, + 0.08284637331962585, + 0.03318529203534126 + ], + "orientation": [ + 0.11043025553226471, + 0.8853099346160889, + 0.4511846899986267, + 0.02154059335589409 + ], + "joints": [ + 0.008926506154239178 + ] + }, + "fine_grasp": { + "position": [ + -0.0981813296675682, + 0.08254028856754303, + 0.0323597677052021 + ], + "orientation": [ + 0.10180819779634476, + 0.8840910196304321, + 0.45411252975463867, + 0.04242565855383873 + ], + "joints": [ + 0.013230844400823116 + ] + }, + "final_grasp": { + "position": [ + -0.0981813296675682, + 0.08254028856754303, + 0.0323597677052021 + ], + "orientation": [ + 0.10180819779634476, + 0.8840910196304321, + 0.45411252975463867, + 0.04242565855383873 + ], + "joints": [ + 0.01753518357872963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11969108879566193, + 0.034698549658060074, + 0.044251978397369385 + ], + "orientation": [ + 0.6387547254562378, + 0.0036364139523357153, + -0.07756441086530685, + -0.7654820680618286 + ], + "joints": [ + 0.009253697469830513 + ] + }, + "fine_grasp": { + "position": [ + -0.12014046311378479, + 0.035052940249443054, + 0.043227020651102066 + ], + "orientation": [ + 0.6369331479072571, + 0.029252339154481888, + -0.05745173990726471, + -0.7682186365127563 + ], + "joints": [ + 0.013558035716414452 + ] + }, + "final_grasp": { + "position": [ + -0.12014046311378479, + 0.035052940249443054, + 0.043227020651102066 + ], + "orientation": [ + 0.6369331479072571, + 0.029252339154481888, + -0.05745173990726471, + -0.7682186365127563 + ], + "joints": [ + 0.01786237396299839 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038930121809244156, + -0.10164985060691833, + 0.07398047298192978 + ], + "orientation": [ + 0.9847621321678162, + -0.04940570518374443, + 0.0389866977930069, + 0.16211964190006256 + ], + "joints": [ + 0.008678032085299492 + ] + }, + "fine_grasp": { + "position": [ + 0.03970745578408241, + -0.10307043045759201, + 0.07410622388124466 + ], + "orientation": [ + 0.9837918877601624, + -0.05260203406214714, + 0.06063799187541008, + 0.1603420376777649 + ], + "joints": [ + 0.014045169577002525 + ] + }, + "final_grasp": { + "position": [ + 0.03970745578408241, + -0.10307043045759201, + 0.07410622388124466 + ], + "orientation": [ + 0.9837918877601624, + -0.05260203406214714, + 0.06063799187541008, + 0.1603420376777649 + ], + "joints": [ + 0.01941230706870556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03274768963456154, + 0.1322258710861206, + 0.04971449822187424 + ], + "orientation": [ + 0.13445183634757996, + -0.04365962743759155, + 0.04590636491775513, + 0.9888928532600403 + ], + "joints": [ + 0.008999902755022049 + ] + }, + "fine_grasp": { + "position": [ + 0.03268057480454445, + 0.1346524953842163, + 0.05003717914223671 + ], + "orientation": [ + 0.1284024864435196, + -0.08122526854276657, + 0.04932665824890137, + 0.9871587157249451 + ], + "joints": [ + 0.014340469613671303 + ] + }, + "final_grasp": { + "position": [ + 0.03268057480454445, + 0.1346524953842163, + 0.05003717914223671 + ], + "orientation": [ + 0.1284024864435196, + -0.08122526854276657, + 0.04932665824890137, + 0.9871587157249451 + ], + "joints": [ + 0.019681036472320557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11726227402687073, + 0.048047732561826706, + 0.07097085565328598 + ], + "orientation": [ + 0.5997194647789001, + -0.11946012824773788, + 0.03284037113189697, + 0.7905614972114563 + ], + "joints": [ + 0.008528893813490868 + ] + }, + "fine_grasp": { + "position": [ + 0.11870159953832626, + 0.049150362610816956, + 0.07143326103687286 + ], + "orientation": [ + 0.594986081123352, + -0.14943429827690125, + 0.05467432737350464, + 0.7878271341323853 + ], + "joints": [ + 0.012859802693128586 + ] + }, + "final_grasp": { + "position": [ + 0.11870159953832626, + 0.049150362610816956, + 0.07143326103687286 + ], + "orientation": [ + 0.594986081123352, + -0.14943429827690125, + 0.05467432737350464, + 0.7878271341323853 + ], + "joints": [ + 0.017190711572766304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040956124663352966, + 0.12973499298095703, + 0.04717323184013367 + ], + "orientation": [ + 0.05922819674015045, + 0.983007550239563, + -0.1705639362335205, + 0.033107444643974304 + ], + "joints": [ + 0.008889952674508095 + ] + }, + "fine_grasp": { + "position": [ + 0.04155847057700157, + 0.13032391667366028, + 0.04700171574950218 + ], + "orientation": [ + 0.06325969845056534, + 0.982158899307251, + -0.16859889030456543, + 0.054190076887607574 + ], + "joints": [ + 0.014257090166211128 + ] + }, + "final_grasp": { + "position": [ + 0.04155847057700157, + 0.13032391667366028, + 0.04700171574950218 + ], + "orientation": [ + 0.06325969845056534, + 0.982158899307251, + -0.16859889030456543, + 0.054190076887607574 + ], + "joints": [ + 0.01962422765791416 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07285585254430771, + 0.10806367546319962, + 0.03511380776762962 + ], + "orientation": [ + 0.31765833497047424, + 0.018086833879351616, + -0.10574622452259064, + -0.9421166181564331 + ], + "joints": [ + 0.008843708783388138 + ] + }, + "fine_grasp": { + "position": [ + -0.07383470982313156, + 0.10744518786668777, + 0.03449571505188942 + ], + "orientation": [ + 0.3214821517467499, + 0.032415714114904404, + -0.10034007579088211, + -0.9410262107849121 + ], + "joints": [ + 0.013121476396918297 + ] + }, + "final_grasp": { + "position": [ + -0.07383470982313156, + 0.10744518786668777, + 0.03449571505188942 + ], + "orientation": [ + 0.3214821517467499, + 0.032415714114904404, + -0.10034007579088211, + -0.9410262107849121 + ], + "joints": [ + 0.017399244010448456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0914575457572937, + 0.09444843977689743, + 0.04250049963593483 + ], + "orientation": [ + 0.4076097905635834, + 0.008936548605561256, + -0.07085046172142029, + -0.9103596210479736 + ], + "joints": [ + 0.008810123428702354 + ] + }, + "fine_grasp": { + "position": [ + -0.09131403267383575, + 0.09330101311206818, + 0.04249640181660652 + ], + "orientation": [ + 0.41052329540252686, + 0.028824200853705406, + -0.061068031936883926, + -0.9093462228775024 + ], + "joints": [ + 0.013087891042232513 + ] + }, + "final_grasp": { + "position": [ + -0.09131403267383575, + 0.09330101311206818, + 0.04249640181660652 + ], + "orientation": [ + 0.41052329540252686, + 0.028824200853705406, + -0.061068031936883926, + -0.9093462228775024 + ], + "joints": [ + 0.017365658655762672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10999784618616104, + 0.06940790265798569, + 0.051908817142248154 + ], + "orientation": [ + 0.5219135284423828, + -0.008691752329468727, + -0.03937133401632309, + -0.8520449995994568 + ], + "joints": [ + 0.008558783680200577 + ] + }, + "fine_grasp": { + "position": [ + -0.11046771705150604, + 0.06864427030086517, + 0.051519352942705154 + ], + "orientation": [ + 0.5242832899093628, + 0.01927529089152813, + -0.02336745709180832, + -0.851004958152771 + ], + "joints": [ + 0.013394521549344063 + ] + }, + "final_grasp": { + "position": [ + -0.11046771705150604, + 0.06864427030086517, + 0.051519352942705154 + ], + "orientation": [ + 0.5242832899093628, + 0.01927529089152813, + -0.02336745709180832, + -0.851004958152771 + ], + "joints": [ + 0.01823025941848755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04808817803859711, + 0.12806999683380127, + 0.057448867708444595 + ], + "orientation": [ + 0.01776260882616043, + 0.9785007238388062, + -0.20140035450458527, + 0.04072653502225876 + ], + "joints": [ + 0.009443599730730057 + ] + }, + "fine_grasp": { + "position": [ + 0.048392511904239655, + 0.12737250328063965, + 0.05722010135650635 + ], + "orientation": [ + 0.020536037161946297, + 0.9781280755996704, + -0.19914284348487854, + 0.05644359067082405 + ], + "joints": [ + 0.014279337599873543 + ] + }, + "final_grasp": { + "position": [ + 0.048392511904239655, + 0.12737250328063965, + 0.05722010135650635 + ], + "orientation": [ + 0.020536037161946297, + 0.9781280755996704, + -0.19914284348487854, + 0.05644359067082405 + ], + "joints": [ + 0.01911507546901703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06934351474046707, + 0.040048643946647644, + -0.07704581320285797 + ], + "orientation": [ + 0.3649539351463318, + 0.7729358077049255, + 0.4773135781288147, + 0.2038395255804062 + ], + "joints": [ + 0.006372318137437105 + ] + }, + "fine_grasp": { + "position": [ + -0.0677482932806015, + 0.03965145722031593, + -0.07600997388362885 + ], + "orientation": [ + 0.3671494424343109, + 0.7699306011199951, + 0.47744789719581604, + 0.21083565056324005 + ], + "joints": [ + 0.012244285084307194 + ] + }, + "final_grasp": { + "position": [ + -0.0677482932806015, + 0.03965145722031593, + -0.07600997388362885 + ], + "orientation": [ + 0.3671494424343109, + 0.7699306011199951, + 0.47744789719581604, + 0.21083565056324005 + ], + "joints": [ + 0.01811625249683857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06355481594800949, + 0.11946400254964828, + 0.057766739279031754 + ], + "orientation": [ + 0.26834118366241455, + -0.05190357193350792, + 0.019506018608808517, + 0.96172696352005 + ], + "joints": [ + 0.009304778650403023 + ] + }, + "fine_grasp": { + "position": [ + 0.06330951303243637, + 0.1177307590842247, + 0.05899207293987274 + ], + "orientation": [ + 0.2709435224533081, + -0.0542924739420414, + 0.016733473166823387, + 0.9609172940254211 + ], + "joints": [ + 0.014140516519546509 + ] + }, + "final_grasp": { + "position": [ + 0.06330951303243637, + 0.1177307590842247, + 0.05899207293987274 + ], + "orientation": [ + 0.2709435224533081, + -0.0542924739420414, + 0.016733473166823387, + 0.9609172940254211 + ], + "joints": [ + 0.018976254388689995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09953612089157104, + 0.08168327063322067, + 0.040753982961177826 + ], + "orientation": [ + 0.08010158687829971, + 0.883539617061615, + 0.461395800113678, + 0.0074483961798250675 + ], + "joints": [ + 0.008712749928236008 + ] + }, + "fine_grasp": { + "position": [ + -0.09999339282512665, + 0.08105546981096268, + 0.04014737531542778 + ], + "orientation": [ + 0.06940717250108719, + 0.882037341594696, + 0.46497005224227905, + 0.031554047018289566 + ], + "joints": [ + 0.013017088174819946 + ] + }, + "final_grasp": { + "position": [ + -0.09999339282512665, + 0.08105546981096268, + 0.04014737531542778 + ], + "orientation": [ + 0.06940717250108719, + 0.882037341594696, + 0.46497005224227905, + 0.031554047018289566 + ], + "joints": [ + 0.017321426421403885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11631226539611816, + 0.04432278126478195, + 0.03735923022031784 + ], + "orientation": [ + 0.6041456460952759, + 0.025221122428774834, + -0.09527119249105453, + -0.7907562255859375 + ], + "joints": [ + 0.009003909304738045 + ] + }, + "fine_grasp": { + "position": [ + -0.11652951687574387, + 0.044219013303518295, + 0.036672309041023254 + ], + "orientation": [ + 0.6043391227722168, + 0.05016090348362923, + -0.08191419392824173, + -0.7909161448478699 + ], + "joints": [ + 0.013308247551321983 + ] + }, + "final_grasp": { + "position": [ + -0.11652951687574387, + 0.044219013303518295, + 0.036672309041023254 + ], + "orientation": [ + 0.6043391227722168, + 0.05016090348362923, + -0.08191419392824173, + -0.7909161448478699 + ], + "joints": [ + 0.017612585797905922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06330940872430801, + 0.11932606995105743, + 0.05648401752114296 + ], + "orientation": [ + 0.2674112617969513, + -0.05087219551205635, + 0.021694611757993698, + 0.9619941115379333 + ], + "joints": [ + 0.0092996247112751 + ] + }, + "fine_grasp": { + "position": [ + 0.06296341866254807, + 0.11727908998727798, + 0.05788455903530121 + ], + "orientation": [ + 0.2703874409198761, + -0.054332539439201355, + 0.019710537046194077, + 0.9610151648521423 + ], + "joints": [ + 0.01360396295785904 + ] + }, + "final_grasp": { + "position": [ + 0.06296341866254807, + 0.11727908998727798, + 0.05788455903530121 + ], + "orientation": [ + 0.2703874409198761, + -0.054332539439201355, + 0.019710537046194077, + 0.9610151648521423 + ], + "joints": [ + 0.017908301204442978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014145438559353352, + 0.13716617226600647, + 0.0538032203912735 + ], + "orientation": [ + 0.027061764150857925, + 0.9974628686904907, + -0.06052666902542114, + 0.02592671848833561 + ], + "joints": [ + 0.009326683357357979 + ] + }, + "fine_grasp": { + "position": [ + 0.014638789929449558, + 0.1369219571352005, + 0.05354944244027138 + ], + "orientation": [ + 0.029472360387444496, + 0.9968466758728027, + -0.058431170880794525, + 0.04487673565745354 + ], + "joints": [ + 0.014162421226501465 + ] + }, + "final_grasp": { + "position": [ + 0.014638789929449558, + 0.1369219571352005, + 0.05354944244027138 + ], + "orientation": [ + 0.029472360387444496, + 0.9968466758728027, + -0.058431170880794525, + 0.04487673565745354 + ], + "joints": [ + 0.01899815909564495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05461918190121651, + -0.09385278820991516, + 0.08079744130373001 + ], + "orientation": [ + 0.02421485260128975, + -0.229986771941185, + -0.9674466848373413, + 0.10279427468776703 + ], + "joints": [ + 0.008597930893301964 + ] + }, + "fine_grasp": { + "position": [ + -0.0543014295399189, + -0.0932960957288742, + 0.0803789496421814 + ], + "orientation": [ + 0.03967387601733208, + -0.2290179431438446, + -0.9673483371734619, + 0.10106484591960907 + ], + "joints": [ + 0.01343366876244545 + ] + }, + "final_grasp": { + "position": [ + -0.0543014295399189, + -0.0932960957288742, + 0.0803789496421814 + ], + "orientation": [ + 0.03967387601733208, + -0.2290179431438446, + -0.9673483371734619, + 0.10106484591960907 + ], + "joints": [ + 0.018269406631588936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014372393488883972, + 0.13719497621059418, + 0.05369231104850769 + ], + "orientation": [ + 0.027830764651298523, + 0.9973621964454651, + -0.06109168380498886, + 0.027603665366768837 + ], + "joints": [ + 0.008801940828561783 + ] + }, + "fine_grasp": { + "position": [ + 0.014861156232655048, + 0.13689535856246948, + 0.053416550159454346 + ], + "orientation": [ + 0.03031112626194954, + 0.9966376423835754, + -0.059653136879205704, + 0.047288551926612854 + ], + "joints": [ + 0.014169078320264816 + ] + }, + "final_grasp": { + "position": [ + 0.014861156232655048, + 0.13689535856246948, + 0.053416550159454346 + ], + "orientation": [ + 0.03031112626194954, + 0.9966376423835754, + -0.059653136879205704, + 0.047288551926612854 + ], + "joints": [ + 0.01953621581196785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03384215012192726, + 0.13292182981967926, + 0.06340046226978302 + ], + "orientation": [ + 0.1366666853427887, + 0.006740156561136246, + 0.018893981352448463, + -0.9904139637947083 + ], + "joints": [ + 0.008948905393481255 + ] + }, + "fine_grasp": { + "position": [ + -0.03418951481580734, + 0.13315019011497498, + 0.06442837417125702 + ], + "orientation": [ + 0.13940691947937012, + 0.02712325192987919, + 0.027079401537775993, + -0.9894933104515076 + ], + "joints": [ + 0.014289472252130508 + ] + }, + "final_grasp": { + "position": [ + -0.03418951481580734, + 0.13315019011497498, + 0.06442837417125702 + ], + "orientation": [ + 0.13940691947937012, + 0.02712325192987919, + 0.027079401537775993, + -0.9894933104515076 + ], + "joints": [ + 0.019630039110779762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013898813165724277, + 0.1356508880853653, + 0.05618533864617348 + ], + "orientation": [ + 0.0012752112234011292, + -0.9980880618095398, + -0.05318886414170265, + -0.031457141041755676 + ], + "joints": [ + 0.008567314594984055 + ] + }, + "fine_grasp": { + "position": [ + -0.013713141903281212, + 0.13661135733127594, + 0.05668206140398979 + ], + "orientation": [ + 0.005782058462500572, + -0.9967987537384033, + -0.05550277605652809, + -0.057257745414972305 + ], + "joints": [ + 0.01340305246412754 + ] + }, + "final_grasp": { + "position": [ + -0.013713141903281212, + 0.13661135733127594, + 0.05668206140398979 + ], + "orientation": [ + 0.005782058462500572, + -0.9967987537384033, + -0.05550277605652809, + -0.057257745414972305 + ], + "joints": [ + 0.018238790333271027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09216513484716415, + -0.06258594989776611, + 0.07089180499315262 + ], + "orientation": [ + 0.8976507782936096, + -0.13269470632076263, + -0.023883329704403877, + -0.4195769727230072 + ], + "joints": [ + 0.008210808038711548 + ] + }, + "fine_grasp": { + "position": [ + -0.09510038793087006, + -0.06554802507162094, + 0.0702507346868515 + ], + "orientation": [ + 0.8968654274940491, + -0.13427476584911346, + -0.014487085863947868, + -0.42118018865585327 + ], + "joints": [ + 0.01402963325381279 + ] + }, + "final_grasp": { + "position": [ + -0.09510038793087006, + -0.06554802507162094, + 0.0702507346868515 + ], + "orientation": [ + 0.8968654274940491, + -0.13427476584911346, + -0.014487085863947868, + -0.42118018865585327 + ], + "joints": [ + 0.019848458468914032 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04962596669793129, + 0.01800340972840786, + -0.09627415984869003 + ], + "orientation": [ + 0.5004369616508484, + 0.2849138081073761, + 0.4446382522583008, + 0.6860640048980713 + ], + "joints": [ + 0.00598120829090476 + ] + }, + "fine_grasp": { + "position": [ + 0.04839020594954491, + 0.017832696437835693, + -0.09124442934989929 + ], + "orientation": [ + 0.49842122197151184, + 0.28827914595603943, + 0.45006540417671204, + 0.6825778484344482 + ], + "joints": [ + 0.012358004227280617 + ] + }, + "final_grasp": { + "position": [ + 0.04839020594954491, + 0.017832696437835693, + -0.09124442934989929 + ], + "orientation": [ + 0.49842122197151184, + 0.28827914595603943, + 0.45006540417671204, + 0.6825778484344482 + ], + "joints": [ + 0.018734799697995186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05449259653687477, + -0.09385529160499573, + 0.08090851455926895 + ], + "orientation": [ + 0.029222210869193077, + -0.23010402917861938, + -0.9670329689979553, + 0.10509788990020752 + ], + "joints": [ + 0.008529266342520714 + ] + }, + "fine_grasp": { + "position": [ + -0.0541645810008049, + -0.0930737778544426, + 0.08040900528430939 + ], + "orientation": [ + 0.04416980594396591, + -0.229249507188797, + -0.9668256640434265, + 0.10364322364330292 + ], + "joints": [ + 0.01333843357861042 + ] + }, + "final_grasp": { + "position": [ + -0.0541645810008049, + -0.0930737778544426, + 0.08040900528430939 + ], + "orientation": [ + 0.04416980594396591, + -0.229249507188797, + -0.9668256640434265, + 0.10364322364330292 + ], + "joints": [ + 0.018147600814700127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01601160690188408, + 0.13608776032924652, + 0.04734734073281288 + ], + "orientation": [ + 0.04292954504489899, + 0.9959985613822937, + -0.06737459450960159, + 0.04005805775523186 + ], + "joints": [ + 0.008985336869955063 + ] + }, + "fine_grasp": { + "position": [ + 0.016716960817575455, + 0.13632628321647644, + 0.04743172600865364 + ], + "orientation": [ + 0.04328833147883415, + 0.9947770833969116, + -0.06613285839557648, + 0.06458458304405212 + ], + "joints": [ + 0.013821074739098549 + ] + }, + "final_grasp": { + "position": [ + 0.016716960817575455, + 0.13632628321647644, + 0.04743172600865364 + ], + "orientation": [ + 0.04328833147883415, + 0.9947770833969116, + -0.06613285839557648, + 0.06458458304405212 + ], + "joints": [ + 0.018656812608242035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07702901214361191, + -0.07419825345277786, + 0.08933461457490921 + ], + "orientation": [ + 0.035939235240221024, + -0.34726637601852417, + 0.9227842688560486, + -0.16304509341716766 + ], + "joints": [ + 0.008746512234210968 + ] + }, + "fine_grasp": { + "position": [ + 0.07696808129549026, + -0.0732659250497818, + 0.08966480940580368 + ], + "orientation": [ + 0.028092391788959503, + -0.35074594616889954, + 0.9200635552406311, + -0.17225302755832672 + ], + "joints": [ + 0.014113649725914001 + ] + }, + "final_grasp": { + "position": [ + 0.07696808129549026, + -0.0732659250497818, + 0.08966480940580368 + ], + "orientation": [ + 0.028092391788959503, + -0.35074594616889954, + 0.9200635552406311, + -0.17225302755832672 + ], + "joints": [ + 0.019480787217617035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08089718222618103, + -0.05788188427686691, + 0.1156182661652565 + ], + "orientation": [ + 0.06298032402992249, + -0.3900015652179718, + 0.8864681720733643, + -0.24105267226696014 + ], + "joints": [ + 0.008790088817477226 + ] + }, + "fine_grasp": { + "position": [ + 0.07938816398382187, + -0.056363798677921295, + 0.11503979563713074 + ], + "orientation": [ + 0.05826177820563316, + -0.3933577537536621, + 0.8864494562149048, + -0.23681767284870148 + ], + "joints": [ + 0.01413065567612648 + ] + }, + "final_grasp": { + "position": [ + 0.07938816398382187, + -0.056363798677921295, + 0.11503979563713074 + ], + "orientation": [ + 0.05826177820563316, + -0.3933577537536621, + 0.8864494562149048, + -0.23681767284870148 + ], + "joints": [ + 0.019471222534775734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09170126169919968, + -0.07175444066524506, + 0.056162163615226746 + ], + "orientation": [ + 0.912865161895752, + -0.0599285289645195, + 0.056434474885463715, + 0.3998761475086212 + ], + "joints": [ + 0.00797986052930355 + ] + }, + "fine_grasp": { + "position": [ + 0.09173660725355148, + -0.0711895003914833, + 0.056454285979270935 + ], + "orientation": [ + 0.9115664958953857, + -0.07321922481060028, + 0.07623803615570068, + 0.39733272790908813 + ], + "joints": [ + 0.013346998021006584 + ] + }, + "final_grasp": { + "position": [ + 0.09173660725355148, + -0.0711895003914833, + 0.056454285979270935 + ], + "orientation": [ + 0.9115664958953857, + -0.07321922481060028, + 0.07623803615570068, + 0.39733272790908813 + ], + "joints": [ + 0.018714135512709618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01844417303800583, + 0.13618114590644836, + 0.06339938938617706 + ], + "orientation": [ + 0.013416514731943607, + -0.9963615536689758, + 0.07859160006046295, + -0.030116543173789978 + ], + "joints": [ + 0.009010965004563332 + ] + }, + "fine_grasp": { + "position": [ + 0.018806667998433113, + 0.13557301461696625, + 0.06323734670877457 + ], + "orientation": [ + 0.013851182535290718, + -0.9957714080810547, + 0.07671759277582169, + -0.04860011860728264 + ], + "joints": [ + 0.013846702873706818 + ] + }, + "final_grasp": { + "position": [ + 0.018806667998433113, + 0.13557301461696625, + 0.06323734670877457 + ], + "orientation": [ + 0.013851182535290718, + -0.9957714080810547, + 0.07671759277582169, + -0.04860011860728264 + ], + "joints": [ + 0.018682440742850304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04328082501888275, + -0.0988999679684639, + 0.07592526823282242 + ], + "orientation": [ + 0.9804668426513672, + -0.05960271134972572, + -0.024434011429548264, + 0.1858360320329666 + ], + "joints": [ + 0.0088643878698349 + ] + }, + "fine_grasp": { + "position": [ + 0.043487899005413055, + -0.09915462136268616, + 0.07584574073553085 + ], + "orientation": [ + 0.9793955087661743, + -0.05348123237490654, + -0.059732235968112946, + 0.18535494804382324 + ], + "joints": [ + 0.014258095994591713 + ] + }, + "final_grasp": { + "position": [ + 0.043487899005413055, + -0.09915462136268616, + 0.07584574073553085 + ], + "orientation": [ + 0.9793955087661743, + -0.05348123237490654, + -0.059732235968112946, + 0.18535494804382324 + ], + "joints": [ + 0.019651804119348526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04283355176448822, + -0.09914329648017883, + 0.07579204440116882 + ], + "orientation": [ + 0.9807161688804626, + -0.060674138367176056, + -0.02586786448955536, + 0.18397092819213867 + ], + "joints": [ + 0.008823087438941002 + ] + }, + "fine_grasp": { + "position": [ + 0.04300079122185707, + -0.09926068782806396, + 0.07569839805364609 + ], + "orientation": [ + 0.9796209335327148, + -0.05459208786487579, + -0.060982055962085724, + 0.18342237174510956 + ], + "joints": [ + 0.014216795563697815 + ] + }, + "final_grasp": { + "position": [ + 0.04300079122185707, + -0.09926068782806396, + 0.07569839805364609 + ], + "orientation": [ + 0.9796209335327148, + -0.05459208786487579, + -0.060982055962085724, + 0.18342237174510956 + ], + "joints": [ + 0.019610503688454628 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05239611864089966, + -0.007092642597854137, + -0.09496678411960602 + ], + "orientation": [ + 0.6161738038063049, + 0.3135564923286438, + 0.4147840738296509, + 0.5915795564651489 + ], + "joints": [ + 0.005600481294095516 + ] + }, + "fine_grasp": { + "position": [ + 0.05143990367650986, + -0.0066051478497684, + -0.09151656180620193 + ], + "orientation": [ + 0.6134149432182312, + 0.3143576979637146, + 0.4183971881866455, + 0.5914771556854248 + ], + "joints": [ + 0.012508676387369633 + ] + }, + "final_grasp": { + "position": [ + 0.05143990367650986, + -0.0066051478497684, + -0.09151656180620193 + ], + "orientation": [ + 0.6134149432182312, + 0.3143576979637146, + 0.4183971881866455, + 0.5914771556854248 + ], + "joints": [ + 0.019416872411966324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0514134056866169, + -0.007445307448506355, + -0.09550490975379944 + ], + "orientation": [ + 0.6168668270111084, + 0.3170434534549713, + 0.41571566462516785, + 0.588336169719696 + ], + "joints": [ + 0.00608421303331852 + ] + }, + "fine_grasp": { + "position": [ + 0.050541121512651443, + -0.007044377736747265, + -0.09182543307542801 + ], + "orientation": [ + 0.6128438711166382, + 0.3190537691116333, + 0.42196157574653625, + 0.5870055556297302 + ], + "joints": [ + 0.012461008504033089 + ] + }, + "final_grasp": { + "position": [ + 0.050541121512651443, + -0.007044377736747265, + -0.09182543307542801 + ], + "orientation": [ + 0.6128438711166382, + 0.3190537691116333, + 0.42196157574653625, + 0.5870055556297302 + ], + "joints": [ + 0.018837803974747658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06893112510442734, + 0.03998775780200958, + -0.075391486287117 + ], + "orientation": [ + 0.3695234954357147, + 0.7724458575248718, + 0.47513872385025024, + 0.20254147052764893 + ], + "joints": [ + 0.0064227827824652195 + ] + }, + "fine_grasp": { + "position": [ + -0.06690950691699982, + 0.03928510472178459, + -0.07321092486381531 + ], + "orientation": [ + 0.3749710023403168, + 0.7691007852554321, + 0.473747193813324, + 0.2084326148033142 + ], + "joints": [ + 0.012294749729335308 + ] + }, + "final_grasp": { + "position": [ + -0.06690950691699982, + 0.03928510472178459, + -0.07321092486381531 + ], + "orientation": [ + 0.3749710023403168, + 0.7691007852554321, + 0.473747193813324, + 0.2084326148033142 + ], + "joints": [ + 0.018166717141866684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029220178723335266, + -0.10255982726812363, + 0.08707143366336823 + ], + "orientation": [ + 0.9862014055252075, + -0.11631415784358978, + -0.03651837632060051, + -0.11200128495693207 + ], + "joints": [ + 0.00926317647099495 + ] + }, + "fine_grasp": { + "position": [ + -0.029252968728542328, + -0.10157164931297302, + 0.08673421293497086 + ], + "orientation": [ + 0.9836410284042358, + -0.12178432941436768, + -0.07114691287279129, + -0.1120576411485672 + ], + "joints": [ + 0.014656886458396912 + ] + }, + "final_grasp": { + "position": [ + -0.029252968728542328, + -0.10157164931297302, + 0.08673421293497086 + ], + "orientation": [ + 0.9836410284042358, + -0.12178432941436768, + -0.07114691287279129, + -0.1120576411485672 + ], + "joints": [ + 0.020050596445798874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05145538970828056, + -0.008762044832110405, + -0.09625636041164398 + ], + "orientation": [ + 0.6211587190628052, + 0.3171580135822296, + 0.41563600301742554, + 0.5837973952293396 + ], + "joints": [ + 0.0057486481964588165 + ] + }, + "fine_grasp": { + "position": [ + 0.05026150122284889, + -0.008356602862477303, + -0.09220976382493973 + ], + "orientation": [ + 0.6171756386756897, + 0.31834158301353455, + 0.42148545384407043, + 0.5831834673881531 + ], + "joints": [ + 0.012656843289732933 + ] + }, + "final_grasp": { + "position": [ + 0.05026150122284889, + -0.008356602862477303, + -0.09220976382493973 + ], + "orientation": [ + 0.6171756386756897, + 0.31834158301353455, + 0.42148545384407043, + 0.5831834673881531 + ], + "joints": [ + 0.01956503838300705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10327918827533722, + -0.027208006009459496, + -0.03351981192827225 + ], + "orientation": [ + 0.7768128514289856, + 0.11995502561330795, + -0.20390644669532776, + -0.5836049318313599 + ], + "joints": [ + 0.0057564955204725266 + ] + }, + "fine_grasp": { + "position": [ + -0.10331244021654129, + -0.02726036123931408, + -0.030793366953730583 + ], + "orientation": [ + 0.773457944393158, + 0.13778921961784363, + -0.20953278243541718, + -0.5821279287338257 + ], + "joints": [ + 0.011655032634735107 + ] + }, + "final_grasp": { + "position": [ + -0.10331244021654129, + -0.02726036123931408, + -0.030793366953730583 + ], + "orientation": [ + 0.773457944393158, + 0.13778921961784363, + -0.20953278243541718, + -0.5821279287338257 + ], + "joints": [ + 0.01755356974899769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041745658963918686, + 0.13001132011413574, + 0.049955300986766815 + ], + "orientation": [ + 0.16579265892505646, + -0.06688020378351212, + -0.05551379546523094, + -0.9823228716850281 + ], + "joints": [ + 0.008707363158464432 + ] + }, + "fine_grasp": { + "position": [ + -0.04107943922281265, + 0.12896044552326202, + 0.05020861700177193 + ], + "orientation": [ + 0.16563798487186432, + -0.09422674030065536, + -0.05877476930618286, + -0.9799138307571411 + ], + "joints": [ + 0.014127643778920174 + ] + }, + "final_grasp": { + "position": [ + -0.04107943922281265, + 0.12896044552326202, + 0.05020861700177193 + ], + "orientation": [ + 0.16563798487186432, + -0.09422674030065536, + -0.05877476930618286, + -0.9799138307571411 + ], + "joints": [ + 0.019547924399375916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06717337667942047, + 0.11275950819253922, + 0.06956806033849716 + ], + "orientation": [ + 0.062470246106386185, + -0.9515767693519592, + -0.2916330099105835, + 0.07449258863925934 + ], + "joints": [ + 0.008612355217337608 + ] + }, + "fine_grasp": { + "position": [ + -0.06575759500265121, + 0.10938042402267456, + 0.07036500424146652 + ], + "orientation": [ + 0.0745353028178215, + -0.9499220848083496, + -0.2949361503124237, + 0.07145120948553085 + ], + "joints": [ + 0.013979492709040642 + ] + }, + "final_grasp": { + "position": [ + -0.06575759500265121, + 0.10938042402267456, + 0.07036500424146652 + ], + "orientation": [ + 0.0745353028178215, + -0.9499220848083496, + -0.2949361503124237, + 0.07145120948553085 + ], + "joints": [ + 0.019346630200743675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09665316343307495, + -0.005991350393742323, + -0.05107228457927704 + ], + "orientation": [ + 0.270021915435791, + 0.6452559232711792, + -0.694864809513092, + -0.16702021658420563 + ], + "joints": [ + 0.005890742409974337 + ] + }, + "fine_grasp": { + "position": [ + 0.09471995383501053, + -0.005643824115395546, + -0.050694067031145096 + ], + "orientation": [ + 0.2766009271144867, + 0.6443905830383301, + -0.6931968331336975, + -0.1665261834859848 + ], + "joints": [ + 0.011762709356844425 + ] + }, + "final_grasp": { + "position": [ + 0.09471995383501053, + -0.005643824115395546, + -0.050694067031145096 + ], + "orientation": [ + 0.2766009271144867, + 0.6443905830383301, + -0.6931968331336975, + -0.1665261834859848 + ], + "joints": [ + 0.0176346767693758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09688685089349747, + -0.005826590117067099, + -0.050761252641677856 + ], + "orientation": [ + 0.2692573368549347, + 0.6455516219139099, + -0.6948612332344055, + -0.16712717711925507 + ], + "joints": [ + 0.00586853688582778 + ] + }, + "fine_grasp": { + "position": [ + 0.09463576227426529, + -0.005584733560681343, + -0.05030667409300804 + ], + "orientation": [ + 0.27670666575431824, + 0.644392728805542, + -0.6931670308113098, + -0.1664658486843109 + ], + "joints": [ + 0.011740503832697868 + ] + }, + "final_grasp": { + "position": [ + 0.09463576227426529, + -0.005584733560681343, + -0.05030667409300804 + ], + "orientation": [ + 0.27670666575431824, + 0.644392728805542, + -0.6931670308113098, + -0.1664658486843109 + ], + "joints": [ + 0.01761247031390667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04205247759819031, + -0.09965664148330688, + 0.031881194561719894 + ], + "orientation": [ + 0.0838220939040184, + 0.17953228950500488, + 0.9751169681549072, + 0.09944356977939606 + ], + "joints": [ + 0.008998196572065353 + ] + }, + "fine_grasp": { + "position": [ + -0.04095473885536194, + -0.09887409955263138, + 0.03275422379374504 + ], + "orientation": [ + 0.10300595313310623, + 0.17968100309371948, + 0.9739636778831482, + 0.09219054132699966 + ], + "joints": [ + 0.014923308044672012 + ] + }, + "final_grasp": { + "position": [ + -0.04095473885536194, + -0.09887409955263138, + 0.03275422379374504 + ], + "orientation": [ + 0.10300595313310623, + 0.17968100309371948, + 0.9739636778831482, + 0.09219054132699966 + ], + "joints": [ + 0.02084841951727867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11100833117961884, + -0.03430139645934105, + 0.03710838779807091 + ], + "orientation": [ + 0.07121973484754562, + 0.5481879115104675, + -0.8306524157524109, + -0.06658964604139328 + ], + "joints": [ + 0.008801769465208054 + ] + }, + "fine_grasp": { + "position": [ + 0.11001737415790558, + -0.03353814408183098, + 0.037134647369384766 + ], + "orientation": [ + 0.045983802527189255, + 0.5508983135223389, + -0.8295348882675171, + -0.07917338609695435 + ], + "joints": [ + 0.013185819610953331 + ] + }, + "final_grasp": { + "position": [ + 0.11001737415790558, + -0.03353814408183098, + 0.037134647369384766 + ], + "orientation": [ + 0.045983802527189255, + 0.5508983135223389, + -0.8295348882675171, + -0.07917338609695435 + ], + "joints": [ + 0.01756986975669861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03697937726974487, + -0.10141652077436447, + 0.08294042199850082 + ], + "orientation": [ + 0.9831984639167786, + -0.09784487634897232, + -0.058053046464920044, + -0.14274761080741882 + ], + "joints": [ + 0.008955085650086403 + ] + }, + "fine_grasp": { + "position": [ + -0.03674536198377609, + -0.10048689693212509, + 0.08262187242507935 + ], + "orientation": [ + 0.9803113341331482, + -0.10287310928106308, + -0.0887811928987503, + -0.1432647854089737 + ], + "joints": [ + 0.013870537281036377 + ] + }, + "final_grasp": { + "position": [ + -0.03674536198377609, + -0.10048689693212509, + 0.08262187242507935 + ], + "orientation": [ + 0.9803113341331482, + -0.10287310928106308, + -0.0887811928987503, + -0.1432647854089737 + ], + "joints": [ + 0.01878598891198635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04066205397248268, + -0.10152722150087357, + 0.05835411697626114 + ], + "orientation": [ + 0.023210622370243073, + -0.1703355610370636, + 0.9849901795387268, + 0.015536819584667683 + ], + "joints": [ + 0.008890815079212189 + ] + }, + "fine_grasp": { + "position": [ + 0.04088837280869484, + -0.10065560787916183, + 0.05816536769270897 + ], + "orientation": [ + 0.05147288367152214, + -0.17049331963062286, + 0.9837942123413086, + 0.020775683224201202 + ], + "joints": [ + 0.014284523203969002 + ] + }, + "final_grasp": { + "position": [ + 0.04088837280869484, + -0.10065560787916183, + 0.05816536769270897 + ], + "orientation": [ + 0.05147288367152214, + -0.17049331963062286, + 0.9837942123413086, + 0.020775683224201202 + ], + "joints": [ + 0.019678231328725815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10405704379081726, + -0.05190225690603256, + 0.0656091496348381 + ], + "orientation": [ + 0.0033982456661760807, + -0.4827578365802765, + 0.8754196166992188, + -0.02395414561033249 + ], + "joints": [ + 0.009137261658906937 + ] + }, + "fine_grasp": { + "position": [ + 0.10430783033370972, + -0.051915720105171204, + 0.06600403040647507 + ], + "orientation": [ + 0.03541355952620506, + -0.48639050126075745, + 0.8730000853538513, + -0.0064092413522303104 + ], + "joints": [ + 0.013043057173490524 + ] + }, + "final_grasp": { + "position": [ + 0.10430783033370972, + -0.051915720105171204, + 0.06600403040647507 + ], + "orientation": [ + 0.03541355952620506, + -0.48639050126075745, + 0.8730000853538513, + -0.0064092413522303104 + ], + "joints": [ + 0.016948852688074112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03560334071516991, + -0.09493199735879898, + 0.10517795383930206 + ], + "orientation": [ + 0.9693650603294373, + -0.17943443357944489, + -0.04592330381274223, + 0.16132484376430511 + ], + "joints": [ + 0.009122056886553764 + ] + }, + "fine_grasp": { + "position": [ + 0.034477852284908295, + -0.09346458315849304, + 0.10448449105024338 + ], + "orientation": [ + 0.9676820635795593, + -0.17458075284957886, + -0.0808449238538742, + 0.16302421689033508 + ], + "joints": [ + 0.014515766873955727 + ] + }, + "final_grasp": { + "position": [ + 0.034477852284908295, + -0.09346458315849304, + 0.10448449105024338 + ], + "orientation": [ + 0.9676820635795593, + -0.17458075284957886, + -0.0808449238538742, + 0.16302421689033508 + ], + "joints": [ + 0.01990947686135769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11235698312520981, + 0.05021040141582489, + 0.09185905009508133 + ], + "orientation": [ + 0.09565140306949615, + -0.7997571229934692, + 0.5863579511642456, + -0.08616144210100174 + ], + "joints": [ + 0.008916650898754597 + ] + }, + "fine_grasp": { + "position": [ + 0.11145871132612228, + 0.048680104315280914, + 0.09105385839939117 + ], + "orientation": [ + 0.11614783853292465, + -0.8020389676094055, + 0.5827972292900085, + -0.05992154777050018 + ], + "joints": [ + 0.01282244548201561 + ] + }, + "final_grasp": { + "position": [ + 0.11145871132612228, + 0.048680104315280914, + 0.09105385839939117 + ], + "orientation": [ + 0.11614783853292465, + -0.8020389676094055, + 0.5827972292900085, + -0.05992154777050018 + ], + "joints": [ + 0.016728240996599197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10297118127346039, + -0.04445405304431915, + 0.09198939055204391 + ], + "orientation": [ + 0.8557907938957214, + -0.12909848988056183, + -0.04934326931834221, + 0.4985189139842987 + ], + "joints": [ + 0.00929989479482174 + ] + }, + "fine_grasp": { + "position": [ + 0.10166636854410172, + -0.044204942882061005, + 0.0920088067650795 + ], + "orientation": [ + 0.8541436791419983, + -0.11382655799388885, + -0.07717584818601608, + 0.5015236139297485 + ], + "joints": [ + 0.013179117813706398 + ] + }, + "final_grasp": { + "position": [ + 0.10166636854410172, + -0.044204942882061005, + 0.0920088067650795 + ], + "orientation": [ + 0.8541436791419983, + -0.11382655799388885, + -0.07717584818601608, + 0.5015236139297485 + ], + "joints": [ + 0.017058340832591057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11915653944015503, + 0.04101778566837311, + 0.06499382108449936 + ], + "orientation": [ + 0.005324556026607752, + -0.7805928587913513, + 0.6245638132095337, + -0.02380269579589367 + ], + "joints": [ + 0.009301253594458103 + ] + }, + "fine_grasp": { + "position": [ + 0.11795342713594437, + 0.040562450885772705, + 0.06458958238363266 + ], + "orientation": [ + 0.027852928265929222, + -0.7838191986083984, + 0.6203604936599731, + -0.0021661261562258005 + ], + "joints": [ + 0.012675648555159569 + ] + }, + "final_grasp": { + "position": [ + 0.11795342713594437, + 0.040562450885772705, + 0.06458958238363266 + ], + "orientation": [ + 0.027852928265929222, + -0.7838191986083984, + 0.6203604936599731, + -0.0021661261562258005 + ], + "joints": [ + 0.01605004444718361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10718017816543579, + -0.045320816338062286, + 0.041640691459178925 + ], + "orientation": [ + 0.046578824520111084, + 0.5084730386734009, + -0.8578128814697266, + -0.058673541992902756 + ], + "joints": [ + 0.008872132748365402 + ] + }, + "fine_grasp": { + "position": [ + 0.1058819517493248, + -0.0443858727812767, + 0.04208686575293541 + ], + "orientation": [ + 0.02191067300736904, + 0.5117505192756653, + -0.8558424115180969, + -0.07186851650476456 + ], + "joints": [ + 0.01325618289411068 + ] + }, + "final_grasp": { + "position": [ + 0.1058819517493248, + -0.0443858727812767, + 0.04208686575293541 + ], + "orientation": [ + 0.02191067300736904, + 0.5117505192756653, + -0.8558424115180969, + -0.07186851650476456 + ], + "joints": [ + 0.017640233039855957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06467410922050476, + -0.0834595113992691, + 0.10091695189476013 + ], + "orientation": [ + 0.9462657570838928, + -0.17897756397724152, + -0.022887004539370537, + -0.2683735489845276 + ], + "joints": [ + 0.009254146367311478 + ] + }, + "fine_grasp": { + "position": [ + -0.0645328238606453, + -0.08249597251415253, + 0.10013572126626968 + ], + "orientation": [ + 0.9436264634132385, + -0.18780331313610077, + -0.051026493310928345, + -0.26775985956192017 + ], + "joints": [ + 0.014674428850412369 + ] + }, + "final_grasp": { + "position": [ + -0.0645328238606453, + -0.08249597251415253, + 0.10013572126626968 + ], + "orientation": [ + 0.9436264634132385, + -0.18780331313610077, + -0.051026493310928345, + -0.26775985956192017 + ], + "joints": [ + 0.02009471133351326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10217123478651047, + -0.038557011634111404, + 0.11067935824394226 + ], + "orientation": [ + 0.8405109643936157, + -0.16594767570495605, + -0.08179809153079987, + 0.5092266201972961 + ], + "joints": [ + 0.008821792900562286 + ] + }, + "fine_grasp": { + "position": [ + 0.10087008774280548, + -0.03851199522614479, + 0.11005362868309021 + ], + "orientation": [ + 0.8388843536376953, + -0.14765267074108124, + -0.10870234668254852, + 0.512499213218689 + ], + "joints": [ + 0.013232415542006493 + ] + }, + "final_grasp": { + "position": [ + 0.10087008774280548, + -0.03851199522614479, + 0.11005362868309021 + ], + "orientation": [ + 0.8388843536376953, + -0.14765267074108124, + -0.10870234668254852, + 0.512499213218689 + ], + "joints": [ + 0.0176430381834507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11693639308214188, + 0.04755270853638649, + 0.07538896799087524 + ], + "orientation": [ + 0.6007766723632812, + -0.04744519665837288, + -0.04233892261981964, + 0.7968838810920715 + ], + "joints": [ + 0.009192539379000664 + ] + }, + "fine_grasp": { + "position": [ + 0.1149461641907692, + 0.04693836718797684, + 0.07488378137350082 + ], + "orientation": [ + 0.595912516117096, + -0.02168915420770645, + -0.06496505439281464, + 0.8001233339309692 + ], + "joints": [ + 0.012566933408379555 + ] + }, + "final_grasp": { + "position": [ + 0.1149461641907692, + 0.04693836718797684, + 0.07488378137350082 + ], + "orientation": [ + 0.595912516117096, + -0.02168915420770645, + -0.06496505439281464, + 0.8001233339309692 + ], + "joints": [ + 0.015941327437758446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11685901135206223, + -0.01459664199501276, + 0.027433883398771286 + ], + "orientation": [ + 0.766192615032196, + 0.014372579753398895, + -0.1657167226076126, + -0.6207094788551331 + ], + "joints": [ + 0.008582249283790588 + ] + }, + "fine_grasp": { + "position": [ + -0.11576498299837112, + -0.01491438876837492, + 0.027306031435728073 + ], + "orientation": [ + 0.7619143724441528, + -0.01022877637296915, + -0.1841675490140915, + -0.6208577752113342 + ], + "joints": [ + 0.012434899806976318 + ] + }, + "final_grasp": { + "position": [ + -0.11576498299837112, + -0.01491438876837492, + 0.027306031435728073 + ], + "orientation": [ + 0.7619143724441528, + -0.01022877637296915, + -0.1841675490140915, + -0.6208577752113342 + ], + "joints": [ + 0.01628755033016205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048437200486660004, + -0.09901580214500427, + 0.0710919052362442 + ], + "orientation": [ + 0.9769432544708252, + -0.06333727389574051, + -0.06625039875507355, + -0.1928246021270752 + ], + "joints": [ + 0.009335692971944809 + ] + }, + "fine_grasp": { + "position": [ + -0.04790760576725006, + -0.09836910665035248, + 0.07096490263938904 + ], + "orientation": [ + 0.9735072255134583, + -0.07083607465028763, + -0.10141852498054504, + -0.1923026144504547 + ], + "joints": [ + 0.013719744980335236 + ] + }, + "final_grasp": { + "position": [ + -0.04790760576725006, + -0.09836910665035248, + 0.07096490263938904 + ], + "orientation": [ + 0.9735072255134583, + -0.07083607465028763, + -0.10141852498054504, + -0.1923026144504547 + ], + "joints": [ + 0.018103796988725662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1070026233792305, + -0.04499476030468941, + 0.041807498782873154 + ], + "orientation": [ + 0.04793248698115349, + 0.5083391070365906, + -0.8574851155281067, + -0.06335006654262543 + ], + "joints": [ + 0.00925154983997345 + ] + }, + "fine_grasp": { + "position": [ + 0.10579604655504227, + -0.04384319856762886, + 0.04213296249508858 + ], + "orientation": [ + 0.02296733483672142, + 0.5128669142723083, + -0.8547404408454895, + -0.07654368132352829 + ], + "joints": [ + 0.013130772858858109 + ] + }, + "final_grasp": { + "position": [ + 0.10579604655504227, + -0.04384319856762886, + 0.04213296249508858 + ], + "orientation": [ + 0.02296733483672142, + 0.5128669142723083, + -0.8547404408454895, + -0.07654368132352829 + ], + "joints": [ + 0.017009995877742767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048306599259376526, + -0.09909738600254059, + 0.07132568955421448 + ], + "orientation": [ + 0.9771072864532471, + -0.06344322115182877, + -0.0655314102768898, + -0.1922031044960022 + ], + "joints": [ + 0.009299546480178833 + ] + }, + "fine_grasp": { + "position": [ + -0.047805026173591614, + -0.09838388115167618, + 0.07122761011123657 + ], + "orientation": [ + 0.9735124707221985, + -0.07128150016069412, + -0.10200843214988708, + -0.1917988657951355 + ], + "joints": [ + 0.01368359848856926 + ] + }, + "final_grasp": { + "position": [ + -0.047805026173591614, + -0.09838388115167618, + 0.07122761011123657 + ], + "orientation": [ + 0.9735124707221985, + -0.07128150016069412, + -0.10200843214988708, + -0.1917988657951355 + ], + "joints": [ + 0.018067650496959686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04853161424398422, + 0.12814243137836456, + 0.07634744793176651 + ], + "orientation": [ + 0.20131205022335052, + -0.09094006568193436, + 0.027375133708119392, + -0.9749122262001038 + ], + "joints": [ + 0.009101826697587967 + ] + }, + "fine_grasp": { + "position": [ + -0.04757128283381462, + 0.1263262927532196, + 0.0759616270661354 + ], + "orientation": [ + 0.2035902440547943, + -0.11896537244319916, + 0.022207695990800858, + -0.9715477824211121 + ], + "joints": [ + 0.013990707695484161 + ] + }, + "final_grasp": { + "position": [ + -0.04757128283381462, + 0.1263262927532196, + 0.0759616270661354 + ], + "orientation": [ + 0.2035902440547943, + -0.11896537244319916, + 0.022207695990800858, + -0.9715477824211121 + ], + "joints": [ + 0.018879588693380356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1079082116484642, + 0.06380806118249893, + 0.0880766287446022 + ], + "orientation": [ + 0.08628980070352554, + -0.8348045945167542, + 0.5385942459106445, + -0.07464266568422318 + ], + "joints": [ + 0.009177494794130325 + ] + }, + "fine_grasp": { + "position": [ + 0.10720305144786835, + 0.061850741505622864, + 0.08739694952964783 + ], + "orientation": [ + 0.10639454424381256, + -0.8361029624938965, + 0.5361700654029846, + -0.046190667897462845 + ], + "joints": [ + 0.013056717813014984 + ] + }, + "final_grasp": { + "position": [ + 0.10720305144786835, + 0.061850741505622864, + 0.08739694952964783 + ], + "orientation": [ + 0.10639454424381256, + -0.8361029624938965, + 0.5361700654029846, + -0.046190667897462845 + ], + "joints": [ + 0.016935940831899643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11209188401699066, + 0.0519033707678318, + 0.09075775742530823 + ], + "orientation": [ + 0.09140399098396301, + -0.8041404485702515, + 0.5813723206520081, + -0.08372312039136887 + ], + "joints": [ + 0.009435968473553658 + ] + }, + "fine_grasp": { + "position": [ + 0.11091241240501404, + 0.05020919442176819, + 0.08985891938209534 + ], + "orientation": [ + 0.11265124380588531, + -0.8065947890281677, + 0.5775980353355408, + -0.055632852017879486 + ], + "joints": [ + 0.012810362502932549 + ] + }, + "final_grasp": { + "position": [ + 0.11091241240501404, + 0.05020919442176819, + 0.08985891938209534 + ], + "orientation": [ + 0.11265124380588531, + -0.8065947890281677, + 0.5775980353355408, + -0.055632852017879486 + ], + "joints": [ + 0.01618475653231144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0768192782998085, + -0.08626635372638702, + 0.0526244156062603 + ], + "orientation": [ + 0.9420801997184753, + -0.05050067976117134, + 0.07417051494121552, + 0.3231612741947174 + ], + "joints": [ + 0.00795657653361559 + ] + }, + "fine_grasp": { + "position": [ + 0.07683638483285904, + -0.08522487431764603, + 0.05273165926337242 + ], + "orientation": [ + 0.9402446150779724, + -0.06217077374458313, + 0.09767812490463257, + 0.3202092945575714 + ], + "joints": [ + 0.012792314402759075 + ] + }, + "final_grasp": { + "position": [ + 0.07683638483285904, + -0.08522487431764603, + 0.05273165926337242 + ], + "orientation": [ + 0.9402446150779724, + -0.06217077374458313, + 0.09767812490463257, + 0.3202092945575714 + ], + "joints": [ + 0.017628051340579987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09774010628461838, + -0.057471852749586105, + 0.027983464300632477 + ], + "orientation": [ + 0.8826466202735901, + 0.09880360215902328, + 0.06496576219797134, + 0.4549199044704437 + ], + "joints": [ + 0.008356023579835892 + ] + }, + "fine_grasp": { + "position": [ + 0.09849045425653458, + -0.05659082159399986, + 0.028395744040608406 + ], + "orientation": [ + 0.8816628456115723, + 0.11217120289802551, + 0.031920175999403, + 0.457241028547287 + ], + "joints": [ + 0.012740073725581169 + ] + }, + "final_grasp": { + "position": [ + 0.09849045425653458, + -0.05659082159399986, + 0.028395744040608406 + ], + "orientation": [ + 0.8816628456115723, + 0.11217120289802551, + 0.031920175999403, + 0.457241028547287 + ], + "joints": [ + 0.017124123871326447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06831392645835876, + 0.11619233340024948, + 0.07381457835435867 + ], + "orientation": [ + 0.011586084961891174, + -0.9526808261871338, + -0.2904685139656067, + 0.08884364366531372 + ], + "joints": [ + 0.009135391563177109 + ] + }, + "fine_grasp": { + "position": [ + -0.06683408468961716, + 0.11527324467897415, + 0.07370275259017944 + ], + "orientation": [ + 0.0014681055909022689, + -0.9485239386558533, + -0.29094943404197693, + 0.12509490549564362 + ], + "joints": [ + 0.014024272561073303 + ] + }, + "final_grasp": { + "position": [ + -0.06683408468961716, + 0.11527324467897415, + 0.07370275259017944 + ], + "orientation": [ + 0.0014681055909022689, + -0.9485239386558533, + -0.29094943404197693, + 0.12509490549564362 + ], + "joints": [ + 0.018913153558969498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09781555831432343, + -0.058244187384843826, + 0.027317054569721222 + ], + "orientation": [ + 0.8838025331497192, + 0.09348219633102417, + 0.06465531140565872, + 0.45384347438812256 + ], + "joints": [ + 0.008387260138988495 + ] + }, + "fine_grasp": { + "position": [ + 0.09859387576580048, + -0.057593945413827896, + 0.02768179401755333 + ], + "orientation": [ + 0.8831660151481628, + 0.10776697099208832, + 0.029401004314422607, + 0.4555651545524597 + ], + "joints": [ + 0.012744739651679993 + ] + }, + "final_grasp": { + "position": [ + 0.09859387576580048, + -0.057593945413827896, + 0.02768179401755333 + ], + "orientation": [ + 0.8831660151481628, + 0.10776697099208832, + 0.029401004314422607, + 0.4555651545524597 + ], + "joints": [ + 0.01710221916437149 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09781776368618011, + -0.05854719504714012, + 0.027146534994244576 + ], + "orientation": [ + 0.8842321634292603, + 0.0910518541932106, + 0.06536947190761566, + 0.453398197889328 + ], + "joints": [ + 0.008383836597204208 + ] + }, + "fine_grasp": { + "position": [ + 0.09864229708909988, + -0.057769451290369034, + 0.027606595307588577 + ], + "orientation": [ + 0.8834185004234314, + 0.10557359457015991, + 0.028591854497790337, + 0.4556407630443573 + ], + "joints": [ + 0.012741316109895706 + ] + }, + "final_grasp": { + "position": [ + 0.09864229708909988, + -0.057769451290369034, + 0.027606595307588577 + ], + "orientation": [ + 0.8834185004234314, + 0.10557359457015991, + 0.028591854497790337, + 0.4556407630443573 + ], + "joints": [ + 0.017098795622587204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11367101967334747, + -0.02905278652906418, + 0.0760277658700943 + ], + "orientation": [ + 0.028129588812589645, + -0.5672590732574463, + 0.8205587863922119, + -0.0641033723950386 + ], + "joints": [ + 0.008923910558223724 + ] + }, + "fine_grasp": { + "position": [ + 0.11196780949831009, + -0.028696728870272636, + 0.07568781077861786 + ], + "orientation": [ + 0.05639880150556564, + -0.5709785223007202, + 0.8177268505096436, + -0.0461026094853878 + ], + "joints": [ + 0.012803131714463234 + ] + }, + "final_grasp": { + "position": [ + 0.11196780949831009, + -0.028696728870272636, + 0.07568781077861786 + ], + "orientation": [ + 0.05639880150556564, + -0.5709785223007202, + 0.8177268505096436, + -0.0461026094853878 + ], + "joints": [ + 0.016682352870702744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006540396716445684, + 0.12995736300945282, + 0.01938020996749401 + ], + "orientation": [ + 0.03979460895061493, + 0.060242246836423874, + 0.1708836853504181, + 0.982642412185669 + ], + "joints": [ + 0.009067520499229431 + ] + }, + "fine_grasp": { + "position": [ + 0.006173705216497183, + 0.12868300080299377, + 0.020341742783784866 + ], + "orientation": [ + 0.04116382822394371, + 0.09306884557008743, + 0.16742375493049622, + 0.9806187748908997 + ], + "joints": [ + 0.013956401497125626 + ] + }, + "final_grasp": { + "position": [ + 0.006173705216497183, + 0.12868300080299377, + 0.020341742783784866 + ], + "orientation": [ + 0.04116382822394371, + 0.09306884557008743, + 0.16742375493049622, + 0.9806187748908997 + ], + "joints": [ + 0.01884528249502182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08920939266681671, + 0.019855855032801628, + -0.06358642131090164 + ], + "orientation": [ + 0.5962717533111572, + 0.20212124288082123, + -0.30977532267570496, + -0.7124930024147034 + ], + "joints": [ + 0.005529003217816353 + ] + }, + "fine_grasp": { + "position": [ + -0.08556027710437775, + 0.02013585902750492, + -0.06027711182832718 + ], + "orientation": [ + 0.594063401222229, + 0.20917750895023346, + -0.3084428310394287, + -0.7128790616989136 + ], + "joints": [ + 0.011400969699025154 + ] + }, + "final_grasp": { + "position": [ + -0.08556027710437775, + 0.02013585902750492, + -0.06027711182832718 + ], + "orientation": [ + 0.594063401222229, + 0.20917750895023346, + -0.3084428310394287, + -0.7128790616989136 + ], + "joints": [ + 0.017272936180233955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017776384949684143, + 0.06270179152488708, + 0.23046451807022095 + ], + "orientation": [ + 0.5320793986320496, + -0.7644546627998352, + -0.2564961016178131, + 0.25828346610069275 + ], + "joints": [ + 0.0059643336571753025 + ] + }, + "fine_grasp": { + "position": [ + -0.015909045934677124, + 0.060434985905885696, + 0.2256854623556137 + ], + "orientation": [ + 0.5109077095985413, + -0.7772204875946045, + -0.2629272937774658, + 0.2564581334590912 + ], + "joints": [ + 0.012819387950003147 + ] + }, + "final_grasp": { + "position": [ + -0.015909045934677124, + 0.060434985905885696, + 0.2256854623556137 + ], + "orientation": [ + 0.5109077095985413, + -0.7772204875946045, + -0.2629272937774658, + 0.2564581334590912 + ], + "joints": [ + 0.01967444270849228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08903460204601288, + 0.019718289375305176, + -0.06365706026554108 + ], + "orientation": [ + 0.5970193147659302, + 0.20369063317775726, + -0.30925241112709045, + -0.7116466164588928 + ], + "joints": [ + 0.005187265109270811 + ] + }, + "fine_grasp": { + "position": [ + -0.08565747737884521, + 0.019802214577794075, + -0.060452643781900406 + ], + "orientation": [ + 0.5943650603294373, + 0.2097329944372177, + -0.3100354075431824, + -0.7117725014686584 + ], + "joints": [ + 0.011564061045646667 + ] + }, + "final_grasp": { + "position": [ + -0.08565747737884521, + 0.019802214577794075, + -0.060452643781900406 + ], + "orientation": [ + 0.5943650603294373, + 0.2097329944372177, + -0.3100354075431824, + -0.7117725014686584 + ], + "joints": [ + 0.017940856516361237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12123939394950867, + 0.02840866521000862, + 0.07091035693883896 + ], + "orientation": [ + 0.6631214022636414, + -0.03909389674663544, + -0.023088393732905388, + 0.7471335530281067 + ], + "joints": [ + 0.009531987830996513 + ] + }, + "fine_grasp": { + "position": [ + 0.11889895051717758, + 0.02861357294023037, + 0.07083665579557419 + ], + "orientation": [ + 0.6576899886131287, + -0.018905384466052055, + -0.04631456360220909, + 0.7516258358955383 + ], + "joints": [ + 0.012879811227321625 + ] + }, + "final_grasp": { + "position": [ + 0.11889895051717758, + 0.02861357294023037, + 0.07083665579557419 + ], + "orientation": [ + 0.6576899886131287, + -0.018905384466052055, + -0.04631456360220909, + 0.7516258358955383 + ], + "joints": [ + 0.016227634623646736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11375325918197632, + -0.028947630897164345, + 0.07610972970724106 + ], + "orientation": [ + 0.03031313419342041, + -0.5678758025169373, + 0.8202571868896484, + -0.06145273149013519 + ], + "joints": [ + 0.009049763903021812 + ] + }, + "fine_grasp": { + "position": [ + 0.11214431375265121, + -0.028623735532164574, + 0.07572794705629349 + ], + "orientation": [ + 0.059328820556402206, + -0.5715348720550537, + 0.8172720074653625, + -0.04352343827486038 + ], + "joints": [ + 0.012424157932400703 + ] + }, + "final_grasp": { + "position": [ + 0.11214431375265121, + -0.028623735532164574, + 0.07572794705629349 + ], + "orientation": [ + 0.059328820556402206, + -0.5715348720550537, + 0.8172720074653625, + -0.04352343827486038 + ], + "joints": [ + 0.015798551961779594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0022774050012230873, + 0.029600048437714577, + 0.23871839046478271 + ], + "orientation": [ + 0.4214978814125061, + -0.49392008781433105, + -0.5381955504417419, + 0.5373342633247375 + ], + "joints": [ + 0.007006174419075251 + ] + }, + "fine_grasp": { + "position": [ + -0.00221565761603415, + 0.028982484713196754, + 0.23296517133712769 + ], + "orientation": [ + 0.42159947752952576, + -0.49397969245910645, + -0.5367273092269897, + 0.5386666059494019 + ], + "joints": [ + 0.013914369978010654 + ] + }, + "final_grasp": { + "position": [ + -0.00221565761603415, + 0.028982484713196754, + 0.23296517133712769 + ], + "orientation": [ + 0.42159947752952576, + -0.49397969245910645, + -0.5367273092269897, + 0.5386666059494019 + ], + "joints": [ + 0.020822566002607346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11084341257810593, + -0.03469233587384224, + 0.07730942964553833 + ], + "orientation": [ + 0.03318144753575325, + -0.5457671284675598, + 0.8346584439277649, + -0.06620088219642639 + ], + "joints": [ + 0.009214365854859352 + ] + }, + "fine_grasp": { + "position": [ + 0.1094418540596962, + -0.0342676118016243, + 0.0771934986114502 + ], + "orientation": [ + 0.06174841150641441, + -0.549862265586853, + 0.8315504193305969, + -0.048604171723127365 + ], + "joints": [ + 0.012588759884238243 + ] + }, + "final_grasp": { + "position": [ + 0.1094418540596962, + -0.0342676118016243, + 0.0771934986114502 + ], + "orientation": [ + 0.06174841150641441, + -0.549862265586853, + 0.8315504193305969, + -0.048604171723127365 + ], + "joints": [ + 0.015963153913617134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11717787384986877, + -0.026404010131955147, + 0.03973313793540001 + ], + "orientation": [ + 0.8054328560829163, + 0.003255399176850915, + -0.03393630310893059, + -0.5917057991027832 + ], + "joints": [ + 0.006913125514984131 + ] + }, + "fine_grasp": { + "position": [ + -0.11817421019077301, + -0.027042007073760033, + 0.0395304374396801 + ], + "orientation": [ + 0.8050684332847595, + 0.01724868267774582, + -0.011248444207012653, + -0.592824399471283 + ], + "joints": [ + 0.011722292751073837 + ] + }, + "final_grasp": { + "position": [ + -0.11817421019077301, + -0.027042007073760033, + 0.0395304374396801 + ], + "orientation": [ + 0.8050684332847595, + 0.01724868267774582, + -0.011248444207012653, + -0.592824399471283 + ], + "joints": [ + 0.016531459987163544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10730257630348206, + -0.04635575786232948, + 0.06469094753265381 + ], + "orientation": [ + 0.8619200587272644, + -0.02494310587644577, + 0.0016020794864743948, + 0.5064278841018677 + ], + "joints": [ + 0.009010965004563332 + ] + }, + "fine_grasp": { + "position": [ + 0.10583066940307617, + -0.04500766098499298, + 0.06500209867954254 + ], + "orientation": [ + 0.8591780662536621, + -0.009446804411709309, + -0.029127608984708786, + 0.5107595920562744 + ], + "joints": [ + 0.01289018802344799 + ] + }, + "final_grasp": { + "position": [ + 0.10583066940307617, + -0.04500766098499298, + 0.06500209867954254 + ], + "orientation": [ + 0.8591780662536621, + -0.009446804411709309, + -0.029127608984708786, + 0.5107595920562744 + ], + "joints": [ + 0.01676941104233265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10734017193317413, + -0.04636777192354202, + 0.06491562724113464 + ], + "orientation": [ + 0.8621306419372559, + -0.021666234359145164, + 0.002213339554145932, + 0.5062178373336792 + ], + "joints": [ + 0.008961856365203857 + ] + }, + "fine_grasp": { + "position": [ + 0.10577257722616196, + -0.044930730015039444, + 0.06528375297784805 + ], + "orientation": [ + 0.8594040870666504, + -0.0056931027211248875, + -0.02964073233306408, + 0.5104052424430847 + ], + "joints": [ + 0.012841077521443367 + ] + }, + "final_grasp": { + "position": [ + 0.10577257722616196, + -0.044930730015039444, + 0.06528375297784805 + ], + "orientation": [ + 0.8594040870666504, + -0.0056931027211248875, + -0.02964073233306408, + 0.5104052424430847 + ], + "joints": [ + 0.016720298677682877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11102588474750519, + -0.034109752625226974, + 0.07781223952770233 + ], + "orientation": [ + 0.03594403341412544, + -0.5479024052619934, + 0.8332436680793762, + -0.06493081152439117 + ], + "joints": [ + 0.009274344891309738 + ] + }, + "fine_grasp": { + "position": [ + 0.10949099808931351, + -0.033695805817842484, + 0.077613964676857 + ], + "orientation": [ + 0.06452623754739761, + -0.5517263412475586, + 0.8301793336868286, + -0.047295019030570984 + ], + "joints": [ + 0.01264873892068863 + ] + }, + "final_grasp": { + "position": [ + 0.10949099808931351, + -0.033695805817842484, + 0.077613964676857 + ], + "orientation": [ + 0.06452623754739761, + -0.5517263412475586, + 0.8301793336868286, + -0.047295019030570984 + ], + "joints": [ + 0.01602313295006752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11517419666051865, + 0.05258583277463913, + 0.05617040768265724 + ], + "orientation": [ + 0.5838826894760132, + 0.0029801586642861366, + 0.01891513168811798, + 0.8116122484207153 + ], + "joints": [ + 0.009116875007748604 + ] + }, + "fine_grasp": { + "position": [ + 0.11294145882129669, + 0.052202414721250534, + 0.0562877431511879 + ], + "orientation": [ + 0.5791042447090149, + 0.027820412069559097, + -0.003594352863729, + 0.8147707581520081 + ], + "joints": [ + 0.012491269037127495 + ] + }, + "final_grasp": { + "position": [ + 0.11294145882129669, + 0.052202414721250534, + 0.0562877431511879 + ], + "orientation": [ + 0.5791042447090149, + 0.027820412069559097, + -0.003594352863729, + 0.8147707581520081 + ], + "joints": [ + 0.015865663066506386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08222443610429764, + 0.09986699372529984, + 0.09908072650432587 + ], + "orientation": [ + 0.11055765300989151, + -0.9187958240509033, + 0.37647706270217896, + -0.043083321303129196 + ], + "joints": [ + 0.009027469903230667 + ] + }, + "fine_grasp": { + "position": [ + 0.08302238583564758, + 0.09970090538263321, + 0.09874393790960312 + ], + "orientation": [ + 0.11389446258544922, + -0.9201393723487854, + 0.3738730251789093, + -0.024300675839185715 + ], + "joints": [ + 0.013889780268073082 + ] + }, + "final_grasp": { + "position": [ + 0.08302238583564758, + 0.09970090538263321, + 0.09874393790960312 + ], + "orientation": [ + 0.11389446258544922, + -0.9201393723487854, + 0.3738730251789093, + -0.024300675839185715 + ], + "joints": [ + 0.018752090632915497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040788840502500534, + -0.0899035632610321, + 0.1204017624258995 + ], + "orientation": [ + 0.9579479098320007, + -0.19925251603126526, + -0.07819369435310364, + 0.19110187888145447 + ], + "joints": [ + 0.009105566889047623 + ] + }, + "fine_grasp": { + "position": [ + 0.040438391268253326, + -0.0890250876545906, + 0.11945544183254242 + ], + "orientation": [ + 0.9572625756263733, + -0.18941624462604523, + -0.10385502874851227, + 0.19231270253658295 + ], + "joints": [ + 0.013994447886943817 + ] + }, + "final_grasp": { + "position": [ + 0.040438391268253326, + -0.0890250876545906, + 0.11945544183254242 + ], + "orientation": [ + 0.9572625756263733, + -0.18941624462604523, + -0.10385502874851227, + 0.19231270253658295 + ], + "joints": [ + 0.01888332888484001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07659664750099182, + -0.08696365356445312, + 0.0513589084148407 + ], + "orientation": [ + 0.9421485066413879, + -0.058908551931381226, + 0.08015774190425873, + 0.32009485363960266 + ], + "joints": [ + 0.007407816592603922 + ] + }, + "fine_grasp": { + "position": [ + 0.07669831812381744, + -0.08620577305555344, + 0.051756080240011215 + ], + "orientation": [ + 0.9392760992050171, + -0.07360562682151794, + 0.10731630027294159, + 0.31753093004226685 + ], + "joints": [ + 0.012774954549968243 + ] + }, + "final_grasp": { + "position": [ + 0.07669831812381744, + -0.08620577305555344, + 0.051756080240011215 + ], + "orientation": [ + 0.9392760992050171, + -0.07360562682151794, + 0.10731630027294159, + 0.31753093004226685 + ], + "joints": [ + 0.01814209297299385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09941131621599197, + -0.052910249680280685, + 0.02806241065263748 + ], + "orientation": [ + 0.8656747341156006, + 0.043338559567928314, + -0.152163565158844, + -0.47494786977767944 + ], + "joints": [ + 0.008846448734402657 + ] + }, + "fine_grasp": { + "position": [ + -0.09941577911376953, + -0.05347922071814537, + 0.02772204950451851 + ], + "orientation": [ + 0.8608822822570801, + 0.023916548117995262, + -0.175339475274086, + -0.4770386517047882 + ], + "joints": [ + 0.012699099257588387 + ] + }, + "final_grasp": { + "position": [ + -0.09941577911376953, + -0.05347922071814537, + 0.02772204950451851 + ], + "orientation": [ + 0.8608822822570801, + 0.023916548117995262, + -0.175339475274086, + -0.4770386517047882 + ], + "joints": [ + 0.016551749780774117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11034752428531647, + -0.019551826640963554, + 0.11018387228250504 + ], + "orientation": [ + 0.09265227615833282, + -0.5818578600883484, + 0.7950531840324402, + -0.1440393626689911 + ], + "joints": [ + 0.009149327874183655 + ] + }, + "fine_grasp": { + "position": [ + 0.10964122414588928, + -0.020424094051122665, + 0.10952770709991455 + ], + "orientation": [ + 0.11434653401374817, + -0.5844565033912659, + 0.7937759757041931, + -0.12351157516241074 + ], + "joints": [ + 0.013028550893068314 + ] + }, + "final_grasp": { + "position": [ + 0.10964122414588928, + -0.020424094051122665, + 0.10952770709991455 + ], + "orientation": [ + 0.11434653401374817, + -0.5844565033912659, + 0.7937759757041931, + -0.12351157516241074 + ], + "joints": [ + 0.016907773911952972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005961116403341293, + 0.13450828194618225, + 0.0939638763666153 + ], + "orientation": [ + 0.10753967612981796, + -0.9927794933319092, + 0.023266354575753212, + 0.04777854308485985 + ], + "joints": [ + 0.008711367845535278 + ] + }, + "fine_grasp": { + "position": [ + 0.0068731228820979595, + 0.1342884600162506, + 0.09306520968675613 + ], + "orientation": [ + 0.10421669483184814, + -0.9912372827529907, + 0.021144311875104904, + 0.07836128026247025 + ], + "joints": [ + 0.01413164846599102 + ] + }, + "final_grasp": { + "position": [ + 0.0068731228820979595, + 0.1342884600162506, + 0.09306520968675613 + ], + "orientation": [ + 0.10421669483184814, + -0.9912372827529907, + 0.021144311875104904, + 0.07836128026247025 + ], + "joints": [ + 0.019551929086446762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09596581757068634, + 0.06705903261899948, + 0.13336656987667084 + ], + "orientation": [ + 0.5135088562965393, + -0.2093147188425064, + 0.17583546042442322, + -0.8133742809295654 + ], + "joints": [ + 0.008246485143899918 + ] + }, + "fine_grasp": { + "position": [ + -0.0952390506863594, + 0.06677104532718658, + 0.13300427794456482 + ], + "orientation": [ + 0.5149548649787903, + -0.20662325620651245, + 0.17127636075019836, + -0.8141207695007324 + ], + "joints": [ + 0.014145022258162498 + ] + }, + "final_grasp": { + "position": [ + -0.0952390506863594, + 0.06677104532718658, + 0.13300427794456482 + ], + "orientation": [ + 0.5149548649787903, + -0.20662325620651245, + 0.17127636075019836, + -0.8141207695007324 + ], + "joints": [ + 0.02004355937242508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12030306458473206, + 0.02812817320227623, + 0.046154510229825974 + ], + "orientation": [ + 0.6626332998275757, + 0.030940700322389603, + 0.0511745847761631, + 0.7465527057647705 + ], + "joints": [ + 0.009384877979755402 + ] + }, + "fine_grasp": { + "position": [ + 0.11829279363155365, + 0.02809770219027996, + 0.04613763093948364 + ], + "orientation": [ + 0.6587638258934021, + 0.04754307493567467, + 0.02909974753856659, + 0.7502819895744324 + ], + "joints": [ + 0.012732699513435364 + ] + }, + "final_grasp": { + "position": [ + 0.11829279363155365, + 0.02809770219027996, + 0.04613763093948364 + ], + "orientation": [ + 0.6587638258934021, + 0.04754307493567467, + 0.02909974753856659, + 0.7502819895744324 + ], + "joints": [ + 0.016080521047115326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060466401278972626, + -0.08568765968084335, + 0.0937805324792862 + ], + "orientation": [ + 0.05959593877196312, + -0.2718389630317688, + 0.9520297646522522, + -0.12724506855010986 + ], + "joints": [ + 0.008602738380432129 + ] + }, + "fine_grasp": { + "position": [ + 0.05811821296811104, + -0.08311047405004501, + 0.09226613491773605 + ], + "orientation": [ + 0.0872914269566536, + -0.27182748913764954, + 0.9513214826583862, + -0.11609161645174026 + ], + "joints": [ + 0.013996446505188942 + ] + }, + "final_grasp": { + "position": [ + 0.05811821296811104, + -0.08311047405004501, + 0.09226613491773605 + ], + "orientation": [ + 0.0872914269566536, + -0.27182748913764954, + 0.9513214826583862, + -0.11609161645174026 + ], + "joints": [ + 0.019390154629945755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12032552808523178, + 0.028647882863879204, + 0.045662831515073776 + ], + "orientation": [ + 0.6608331203460693, + 0.03133806213736534, + 0.05350897088646889, + 0.7479667663574219 + ], + "joints": [ + 0.00930878333747387 + ] + }, + "fine_grasp": { + "position": [ + 0.11823894083499908, + 0.028667505830526352, + 0.045639798045158386 + ], + "orientation": [ + 0.6573535203933716, + 0.047901056706905365, + 0.03218674287199974, + 0.7513693571090698 + ], + "joints": [ + 0.012656604871153831 + ] + }, + "final_grasp": { + "position": [ + 0.11823894083499908, + 0.028667505830526352, + 0.045639798045158386 + ], + "orientation": [ + 0.6573535203933716, + 0.047901056706905365, + 0.03218674287199974, + 0.7513693571090698 + ], + "joints": [ + 0.016004426404833794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12032264471054077, + 0.02789459004998207, + 0.04589523747563362 + ], + "orientation": [ + 0.6631290316581726, + 0.030034082010388374, + 0.05239912495017052, + 0.7460644841194153 + ], + "joints": [ + 0.00931774266064167 + ] + }, + "fine_grasp": { + "position": [ + 0.11824436485767365, + 0.027873801067471504, + 0.04592743515968323 + ], + "orientation": [ + 0.6594864726066589, + 0.0475064180791378, + 0.029905851930379868, + 0.7496173977851868 + ], + "joints": [ + 0.012665564194321632 + ] + }, + "final_grasp": { + "position": [ + 0.11824436485767365, + 0.027873801067471504, + 0.04592743515968323 + ], + "orientation": [ + 0.6594864726066589, + 0.0475064180791378, + 0.029905851930379868, + 0.7496173977851868 + ], + "joints": [ + 0.016013385728001595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06015390530228615, + -0.08226139843463898, + 0.10375004261732101 + ], + "orientation": [ + 0.03497151657938957, + 0.25213268399238586, + 0.9467477798461914, + -0.1971670240163803 + ], + "joints": [ + 0.008897801861166954 + ] + }, + "fine_grasp": { + "position": [ + -0.058990202844142914, + -0.07967713475227356, + 0.1026100367307663 + ], + "orientation": [ + 0.055724646896123886, + 0.2512876093387604, + 0.9447901844978333, + -0.20278260111808777 + ], + "joints": [ + 0.014291509985923767 + ] + }, + "final_grasp": { + "position": [ + -0.058990202844142914, + -0.07967713475227356, + 0.1026100367307663 + ], + "orientation": [ + 0.055724646896123886, + 0.2512876093387604, + 0.9447901844978333, + -0.20278260111808777 + ], + "joints": [ + 0.01968521811068058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04587464779615402, + 0.12691839039325714, + 0.09412831813097 + ], + "orientation": [ + 0.19243496656417847, + 0.009737640619277954, + -0.10551154613494873, + 0.9755722880363464 + ], + "joints": [ + 0.009531805291771889 + ] + }, + "fine_grasp": { + "position": [ + 0.046238552778959274, + 0.1263226419687271, + 0.09378483146429062 + ], + "orientation": [ + 0.1902473419904709, + 0.0394420400261879, + -0.10761205852031708, + 0.9750230312347412 + ], + "joints": [ + 0.014420688152313232 + ] + }, + "final_grasp": { + "position": [ + 0.046238552778959274, + 0.1263226419687271, + 0.09378483146429062 + ], + "orientation": [ + 0.1902473419904709, + 0.0394420400261879, + -0.10761205852031708, + 0.9750230312347412 + ], + "joints": [ + 0.019309571012854576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019728466868400574, + -0.10400659590959549, + 0.0819600373506546 + ], + "orientation": [ + 0.07523956149816513, + -0.09151116758584976, + 0.9891367554664612, + -0.08702480792999268 + ], + "joints": [ + 0.008616682142019272 + ] + }, + "fine_grasp": { + "position": [ + 0.019785821437835693, + -0.10225166380405426, + 0.08141723275184631 + ], + "orientation": [ + 0.09865585714578629, + -0.09224094450473785, + 0.9871940016746521, + -0.0848911926150322 + ], + "joints": [ + 0.013532133772969246 + ] + }, + "final_grasp": { + "position": [ + 0.019785821437835693, + -0.10225166380405426, + 0.08141723275184631 + ], + "orientation": [ + 0.09865585714578629, + -0.09224094450473785, + 0.9871940016746521, + -0.0848911926150322 + ], + "joints": [ + 0.01844758540391922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11081562936306, + -0.019510876387357712, + 0.11085586994886398 + ], + "orientation": [ + 0.08909883350133896, + -0.582146942615509, + 0.796043872833252, + -0.13957306742668152 + ], + "joints": [ + 0.009147334843873978 + ] + }, + "fine_grasp": { + "position": [ + 0.1100568175315857, + -0.019972169771790504, + 0.11032368987798691 + ], + "orientation": [ + 0.10714753717184067, + -0.5851960778236389, + 0.7943012118339539, + -0.12308803200721741 + ], + "joints": [ + 0.013026557862758636 + ] + }, + "final_grasp": { + "position": [ + 0.1100568175315857, + -0.019972169771790504, + 0.11032368987798691 + ], + "orientation": [ + 0.10714753717184067, + -0.5851960778236389, + 0.7943012118339539, + -0.12308803200721741 + ], + "joints": [ + 0.016905780881643295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022153465077280998, + 0.13289770483970642, + 0.03951878100633621 + ], + "orientation": [ + 0.09967183321714401, + 0.07502912729978561, + 0.07500958442687988, + 0.9893481135368347 + ], + "joints": [ + 0.00849873200058937 + ] + }, + "fine_grasp": { + "position": [ + 0.02182900346815586, + 0.13026969134807587, + 0.03958197310566902 + ], + "orientation": [ + 0.09936131536960602, + 0.09936024993658066, + 0.0728006362915039, + 0.987398087978363 + ], + "joints": [ + 0.013414183631539345 + ] + }, + "final_grasp": { + "position": [ + 0.02182900346815586, + 0.13026969134807587, + 0.03958197310566902 + ], + "orientation": [ + 0.09936131536960602, + 0.09936024993658066, + 0.0728006362915039, + 0.987398087978363 + ], + "joints": [ + 0.01832963526248932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1108412891626358, + -0.01962074637413025, + 0.11042824387550354 + ], + "orientation": [ + 0.08674229681491852, + -0.5816736221313477, + 0.7965052127838135, + -0.14039593935012817 + ], + "joints": [ + 0.009083636105060577 + ] + }, + "fine_grasp": { + "position": [ + 0.10993590950965881, + -0.020303750410676003, + 0.10998930037021637 + ], + "orientation": [ + 0.1083613783121109, + -0.5843914747238159, + 0.7949939966201782, + -0.12136281281709671 + ], + "joints": [ + 0.012962859123945236 + ] + }, + "final_grasp": { + "position": [ + 0.10993590950965881, + -0.020303750410676003, + 0.10998930037021637 + ], + "orientation": [ + 0.1083613783121109, + -0.5843914747238159, + 0.7949939966201782, + -0.12136281281709671 + ], + "joints": [ + 0.016842082142829895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11254274845123291, + -0.03397369757294655, + 0.04922138899564743 + ], + "orientation": [ + 0.8251259922981262, + -0.03551330789923668, + -0.1270018368959427, + -0.5493419170379639 + ], + "joints": [ + 0.009039876982569695 + ] + }, + "fine_grasp": { + "position": [ + -0.10953746736049652, + -0.03303178772330284, + 0.048870157450437546 + ], + "orientation": [ + 0.8209057450294495, + -0.055550467222929, + -0.14325588941574097, + -0.5500050783157349 + ], + "joints": [ + 0.012919100001454353 + ] + }, + "final_grasp": { + "position": [ + -0.10953746736049652, + -0.03303178772330284, + 0.048870157450437546 + ], + "orientation": [ + 0.8209057450294495, + -0.055550467222929, + -0.14325588941574097, + -0.5500050783157349 + ], + "joints": [ + 0.016798323020339012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01964777149260044, + -0.10458603501319885, + 0.08137767761945724 + ], + "orientation": [ + 0.07451381534337997, + -0.09079888463020325, + 0.9894152283668518, + -0.08520954102277756 + ], + "joints": [ + 0.00847896933555603 + ] + }, + "fine_grasp": { + "position": [ + 0.01954183727502823, + -0.10253246128559113, + 0.08098407089710236 + ], + "orientation": [ + 0.10063985735177994, + -0.0912250354886055, + 0.9871968030929565, + -0.08361808955669403 + ], + "joints": [ + 0.013394420966506004 + ] + }, + "final_grasp": { + "position": [ + 0.01954183727502823, + -0.10253246128559113, + 0.08098407089710236 + ], + "orientation": [ + 0.10063985735177994, + -0.0912250354886055, + 0.9871968030929565, + -0.08361808955669403 + ], + "joints": [ + 0.01830987259745598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046073347330093384, + -0.07509313523769379, + 0.13340319693088531 + ], + "orientation": [ + 0.0694078728556633, + -0.2246893048286438, + -0.9353774189949036, + 0.26413318514823914 + ], + "joints": [ + 0.008766168728470802 + ] + }, + "fine_grasp": { + "position": [ + -0.045350272208452225, + -0.07402271777391434, + 0.13433495163917542 + ], + "orientation": [ + 0.09361547976732254, + -0.2269822210073471, + -0.9317445755004883, + 0.26752084493637085 + ], + "joints": [ + 0.013601906597614288 + ] + }, + "final_grasp": { + "position": [ + -0.045350272208452225, + -0.07402271777391434, + 0.13433495163917542 + ], + "orientation": [ + 0.09361547976732254, + -0.2269822210073471, + -0.9317445755004883, + 0.26752084493637085 + ], + "joints": [ + 0.018437644466757774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07805687934160233, + -0.08377369493246078, + 0.04539497569203377 + ], + "orientation": [ + 0.00828210636973381, + -0.3352810740470886, + 0.9418554306030273, + 0.02065279893577099 + ], + "joints": [ + 0.008415158838033676 + ] + }, + "fine_grasp": { + "position": [ + 0.07861516624689102, + -0.08370149880647659, + 0.045253582298755646 + ], + "orientation": [ + 0.043165359646081924, + -0.3370259702205658, + 0.9399538636207581, + 0.03220602124929428 + ], + "joints": [ + 0.012825779616832733 + ] + }, + "final_grasp": { + "position": [ + 0.07861516624689102, + -0.08370149880647659, + 0.045253582298755646 + ], + "orientation": [ + 0.043165359646081924, + -0.3370259702205658, + 0.9399538636207581, + 0.03220602124929428 + ], + "joints": [ + 0.01723640039563179 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05334021523594856, + -0.07294627279043198, + -0.052881285548210144 + ], + "orientation": [ + 0.9104321002960205, + 0.2886989414691925, + 0.0999307930469513, + 0.27889108657836914 + ], + "joints": [ + 0.007276801858097315 + ] + }, + "fine_grasp": { + "position": [ + 0.05530728027224541, + -0.07413904368877411, + -0.05403902009129524 + ], + "orientation": [ + 0.9109926819801331, + 0.2912174165248871, + 0.09014677256345749, + 0.27777349948883057 + ], + "joints": [ + 0.013148768804967403 + ] + }, + "final_grasp": { + "position": [ + 0.05530728027224541, + -0.07413904368877411, + -0.05403902009129524 + ], + "orientation": [ + 0.9109926819801331, + 0.2912174165248871, + 0.09014677256345749, + 0.27777349948883057 + ], + "joints": [ + 0.01902073621749878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05212860926985741, + 0.1258859783411026, + 0.07080741971731186 + ], + "orientation": [ + 0.2165907323360443, + -0.11945725977420807, + 0.0016463412903249264, + -0.9689250588417053 + ], + "joints": [ + 0.008372971788048744 + ] + }, + "fine_grasp": { + "position": [ + -0.050206102430820465, + 0.12309972941875458, + 0.07010919600725174 + ], + "orientation": [ + 0.21615906059741974, + -0.1473584920167923, + -0.007368697784841061, + -0.9651458263397217 + ], + "joints": [ + 0.012783592566847801 + ] + }, + "final_grasp": { + "position": [ + -0.050206102430820465, + 0.12309972941875458, + 0.07010919600725174 + ], + "orientation": [ + 0.21615906059741974, + -0.1473584920167923, + -0.007368697784841061, + -0.9651458263397217 + ], + "joints": [ + 0.017194213345646858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046051982790231705, + 0.1270376443862915, + 0.09490279853343964 + ], + "orientation": [ + 0.19295020401477814, + 0.011570440605282784, + -0.10510290414094925, + 0.9754946231842041 + ], + "joints": [ + 0.00900505855679512 + ] + }, + "fine_grasp": { + "position": [ + 0.04674883931875229, + 0.12607555091381073, + 0.09448931366205215 + ], + "orientation": [ + 0.19202741980552673, + 0.04381527006626129, + -0.10788486897945404, + 0.9744570851325989 + ], + "joints": [ + 0.013920512050390244 + ] + }, + "final_grasp": { + "position": [ + 0.04674883931875229, + 0.12607555091381073, + 0.09448931366205215 + ], + "orientation": [ + 0.19202741980552673, + 0.04381527006626129, + -0.10788486897945404, + 0.9744570851325989 + ], + "joints": [ + 0.018835965543985367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08253449946641922, + -0.07305032014846802, + 0.008996733464300632 + ], + "orientation": [ + 0.9138361811637878, + 0.15309181809425354, + 0.05644078925251961, + 0.37186142802238464 + ], + "joints": [ + 0.0072397505864501 + ] + }, + "fine_grasp": { + "position": [ + 0.083750419318676, + -0.07334952056407928, + 0.009513504803180695 + ], + "orientation": [ + 0.914034366607666, + 0.1578543335199356, + 0.03806408494710922, + 0.3717179298400879 + ], + "joints": [ + 0.013643116690218449 + ] + }, + "final_grasp": { + "position": [ + 0.083750419318676, + -0.07334952056407928, + 0.009513504803180695 + ], + "orientation": [ + 0.914034366607666, + 0.1578543335199356, + 0.03806408494710922, + 0.3717179298400879 + ], + "joints": [ + 0.020046483725309372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006656880956143141, + 0.13189223408699036, + 0.11109258234500885 + ], + "orientation": [ + 0.024222571402788162, + 0.03874655440449715, + -0.16222579777240753, + 0.9856950640678406 + ], + "joints": [ + 0.009000681340694427 + ] + }, + "fine_grasp": { + "position": [ + 0.006766865029931068, + 0.13280031085014343, + 0.1103733628988266 + ], + "orientation": [ + 0.018600432202219963, + 0.06311193853616714, + -0.16000525653362274, + 0.9849210381507874 + ], + "joints": [ + 0.014872648753225803 + ] + }, + "final_grasp": { + "position": [ + 0.006766865029931068, + 0.13280031085014343, + 0.1103733628988266 + ], + "orientation": [ + 0.018600432202219963, + 0.06311193853616714, + -0.16000525653362274, + 0.9849210381507874 + ], + "joints": [ + 0.02074461616575718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018309950828552246, + -0.10381054878234863, + 0.09686394780874252 + ], + "orientation": [ + 0.9909107685089111, + -0.0975102037191391, + -0.04180173575878143, + 0.08270544558763504 + ], + "joints": [ + 0.009103380143642426 + ] + }, + "fine_grasp": { + "position": [ + 0.018329117447137833, + -0.10201726853847504, + 0.09638651460409164 + ], + "orientation": [ + 0.9893016219139099, + -0.0939832478761673, + -0.07342534512281418, + 0.08401378989219666 + ], + "joints": [ + 0.014497090131044388 + ] + }, + "final_grasp": { + "position": [ + 0.018329117447137833, + -0.10201726853847504, + 0.09638651460409164 + ], + "orientation": [ + 0.9893016219139099, + -0.0939832478761673, + -0.07342534512281418, + 0.08401378989219666 + ], + "joints": [ + 0.01989080011844635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0490482933819294, + 0.12849901616573334, + 0.07814528048038483 + ], + "orientation": [ + 0.20255307853221893, + -0.0942278802394867, + 0.016137855127453804, + -0.9745937585830688 + ], + "joints": [ + 0.008815815672278404 + ] + }, + "fine_grasp": { + "position": [ + -0.047769322991371155, + 0.12649719417095184, + 0.07814491540193558 + ], + "orientation": [ + 0.2032615840435028, + -0.12172959744930267, + 0.004642412066459656, + -0.9715169072151184 + ], + "joints": [ + 0.013731267303228378 + ] + }, + "final_grasp": { + "position": [ + -0.047769322991371155, + 0.12649719417095184, + 0.07814491540193558 + ], + "orientation": [ + 0.2032615840435028, + -0.12172959744930267, + 0.004642412066459656, + -0.9715169072151184 + ], + "joints": [ + 0.018646718934178352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03072424791753292, + -0.02605614624917507, + -0.09943680465221405 + ], + "orientation": [ + 0.7746156454086304, + 0.5240742564201355, + 0.19969208538532257, + 0.2923010289669037 + ], + "joints": [ + 0.005265665706247091 + ] + }, + "fine_grasp": { + "position": [ + 0.030045557767152786, + -0.02469911426305771, + -0.09661086648702621 + ], + "orientation": [ + 0.7747679352760315, + 0.5194509625434875, + 0.20394326746463776, + 0.29717424511909485 + ], + "joints": [ + 0.011642461642622948 + ] + }, + "final_grasp": { + "position": [ + 0.030045557767152786, + -0.02469911426305771, + -0.09661086648702621 + ], + "orientation": [ + 0.7747679352760315, + 0.5194509625434875, + 0.20394326746463776, + 0.29717424511909485 + ], + "joints": [ + 0.018019257113337517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11020185798406601, + -0.030104249715805054, + 0.009668237529695034 + ], + "orientation": [ + 0.7883224487304688, + 0.04775143414735794, + -0.22867275774478912, + -0.5691893100738525 + ], + "joints": [ + 0.007624592166393995 + ] + }, + "fine_grasp": { + "position": [ + -0.10851012170314789, + -0.03008909523487091, + 0.01087584812194109 + ], + "orientation": [ + 0.7831122875213623, + 0.02331577241420746, + -0.24691589176654816, + -0.5702842473983765 + ], + "joints": [ + 0.011477243155241013 + ] + }, + "final_grasp": { + "position": [ + -0.10851012170314789, + -0.03008909523487091, + 0.01087584812194109 + ], + "orientation": [ + 0.7831122875213623, + 0.02331577241420746, + -0.24691589176654816, + -0.5702842473983765 + ], + "joints": [ + 0.015329893678426743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04897550120949745, + 0.12854020297527313, + 0.07742790877819061 + ], + "orientation": [ + 0.20214484632015228, + -0.09328839182853699, + 0.013321378268301487, + -0.9748114943504333 + ], + "joints": [ + 0.009051656350493431 + ] + }, + "fine_grasp": { + "position": [ + -0.04786352440714836, + 0.12707701325416565, + 0.07740948349237442 + ], + "orientation": [ + 0.20231840014457703, + -0.12654602527618408, + 0.0014650245429947972, + -0.9711082577705383 + ], + "joints": [ + 0.013435708358883858 + ] + }, + "final_grasp": { + "position": [ + -0.04786352440714836, + 0.12707701325416565, + 0.07740948349237442 + ], + "orientation": [ + 0.20231840014457703, + -0.12654602527618408, + 0.0014650245429947972, + -0.9711082577705383 + ], + "joints": [ + 0.017819760367274284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037027157843112946, + 0.12773384153842926, + 0.03999139368534088 + ], + "orientation": [ + 0.028216322883963585, + 0.9850936532020569, + -0.15867063403129578, + -0.0601496621966362 + ], + "joints": [ + 0.008462870493531227 + ] + }, + "fine_grasp": { + "position": [ + 0.03665076941251755, + 0.1253722608089447, + 0.039636582136154175 + ], + "orientation": [ + 0.023914774879813194, + 0.9832009077072144, + -0.1591878980398178, + -0.08604279160499573 + ], + "joints": [ + 0.013378322124481201 + ] + }, + "final_grasp": { + "position": [ + 0.03665076941251755, + 0.1253722608089447, + 0.039636582136154175 + ], + "orientation": [ + 0.023914774879813194, + 0.9832009077072144, + -0.1591878980398178, + -0.08604279160499573 + ], + "joints": [ + 0.018293773755431175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09614333510398865, + 0.06826282292604446, + 0.1350972205400467 + ], + "orientation": [ + 0.15698255598545074, + -0.8136343359947205, + -0.514179527759552, + 0.22130274772644043 + ], + "joints": [ + 0.0083434097468853 + ] + }, + "fine_grasp": { + "position": [ + -0.09555583447217941, + 0.06856105476617813, + 0.13285313546657562 + ], + "orientation": [ + 0.14782382547855377, + -0.8103180527687073, + -0.5141708254814148, + 0.23908399045467377 + ], + "joints": [ + 0.013710547238588333 + ] + }, + "final_grasp": { + "position": [ + -0.09555583447217941, + 0.06856105476617813, + 0.13285313546657562 + ], + "orientation": [ + 0.14782382547855377, + -0.8103180527687073, + -0.5141708254814148, + 0.23908399045467377 + ], + "joints": [ + 0.019077684730291367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0400286503136158, + 0.12491772323846817, + 0.01851538196206093 + ], + "orientation": [ + 0.10572398453950882, + 0.9760735630989075, + -0.17643232643604279, + -0.07053070515394211 + ], + "joints": [ + 0.008301040157675743 + ] + }, + "fine_grasp": { + "position": [ + 0.039224959909915924, + 0.12281448394060135, + 0.019196312874555588 + ], + "orientation": [ + 0.09847276657819748, + 0.9746081233024597, + -0.17668992280960083, + -0.0960364043712616 + ], + "joints": [ + 0.013216489925980568 + ] + }, + "final_grasp": { + "position": [ + 0.039224959909915924, + 0.12281448394060135, + 0.019196312874555588 + ], + "orientation": [ + 0.09847276657819748, + 0.9746081233024597, + -0.17668992280960083, + -0.0960364043712616 + ], + "joints": [ + 0.018131939694285393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09217239916324615, + 0.09484141319990158, + 0.05808897316455841 + ], + "orientation": [ + 0.10505445301532745, + 0.9047144055366516, + 0.40473631024360657, + -0.08151035010814667 + ], + "joints": [ + 0.008659444749355316 + ] + }, + "fine_grasp": { + "position": [ + -0.09036481380462646, + 0.09268291294574738, + 0.05833602324128151 + ], + "orientation": [ + 0.12363149970769882, + 0.8986334800720215, + 0.4047392010688782, + -0.11558248847723007 + ], + "joints": [ + 0.012538665905594826 + ] + }, + "final_grasp": { + "position": [ + -0.09036481380462646, + 0.09268291294574738, + 0.05833602324128151 + ], + "orientation": [ + 0.12363149970769882, + 0.8986334800720215, + 0.4047392010688782, + -0.11558248847723007 + ], + "joints": [ + 0.016417887061834335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08312586694955826, + -0.07399062812328339, + 0.008299075998365879 + ], + "orientation": [ + 0.9150575995445251, + 0.14353539049625397, + 0.0559401698410511, + 0.37274372577667236 + ], + "joints": [ + 0.00765150086954236 + ] + }, + "fine_grasp": { + "position": [ + 0.08441828936338425, + -0.07395084947347641, + 0.008899417705833912 + ], + "orientation": [ + 0.9146199822425842, + 0.15053999423980713, + 0.03385567292571068, + 0.3737136721611023 + ], + "joints": [ + 0.013550038449466228 + ] + }, + "final_grasp": { + "position": [ + 0.08441828936338425, + -0.07395084947347641, + 0.008899417705833912 + ], + "orientation": [ + 0.9146199822425842, + 0.15053999423980713, + 0.03385567292571068, + 0.3737136721611023 + ], + "joints": [ + 0.019448576495051384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039291393011808395, + 0.04320137947797775, + -0.09479618072509766 + ], + "orientation": [ + 0.278812974691391, + 0.11265262961387634, + 0.5084381103515625, + 0.8068850040435791 + ], + "joints": [ + 0.0070587084628641605 + ] + }, + "fine_grasp": { + "position": [ + 0.03869877755641937, + 0.04320957511663437, + -0.09261655807495117 + ], + "orientation": [ + 0.27864620089530945, + 0.11924829334020615, + 0.5101571083068848, + 0.8049073219299316 + ], + "joints": [ + 0.013462075032293797 + ] + }, + "final_grasp": { + "position": [ + 0.03869877755641937, + 0.04320957511663437, + -0.09261655807495117 + ], + "orientation": [ + 0.27864620089530945, + 0.11924829334020615, + 0.5101571083068848, + 0.8049073219299316 + ], + "joints": [ + 0.01986544206738472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046386316418647766, + -0.08691354840993881, + 0.12366533279418945 + ], + "orientation": [ + 0.10177242755889893, + -0.21947269141674042, + 0.9520841240882874, + -0.1871093511581421 + ], + "joints": [ + 0.007992256432771683 + ] + }, + "fine_grasp": { + "position": [ + 0.04624062031507492, + -0.0861906111240387, + 0.12285685539245605 + ], + "orientation": [ + 0.12054852396249771, + -0.22118979692459106, + 0.9507848024368286, + -0.18042024970054626 + ], + "joints": [ + 0.012907708063721657 + ] + }, + "final_grasp": { + "position": [ + 0.04624062031507492, + -0.0861906111240387, + 0.12285685539245605 + ], + "orientation": [ + 0.12054852396249771, + -0.22118979692459106, + 0.9507848024368286, + -0.18042024970054626 + ], + "joints": [ + 0.01782315969467163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10165788978338242, + 0.06417174637317657, + 0.1179114505648613 + ], + "orientation": [ + 0.15700651705265045, + -0.8293197751045227, + 0.5269854664802551, + -0.09931742399930954 + ], + "joints": [ + 0.008888043463230133 + ] + }, + "fine_grasp": { + "position": [ + 0.10419911891222, + 0.06345932185649872, + 0.11821166425943375 + ], + "orientation": [ + 0.16482682526111603, + -0.8294270634651184, + 0.5272916555404663, + -0.08274393528699875 + ], + "joints": [ + 0.013218952342867851 + ] + }, + "final_grasp": { + "position": [ + 0.10419911891222, + 0.06345932185649872, + 0.11821166425943375 + ], + "orientation": [ + 0.16482682526111603, + -0.8294270634651184, + 0.5272916555404663, + -0.08274393528699875 + ], + "joints": [ + 0.01754986122250557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05356466770172119, + 0.12372114509344101, + 0.0992901474237442 + ], + "orientation": [ + 0.09931020438671112, + -0.9682454466819763, + 0.22924181818962097, + -0.009294643998146057 + ], + "joints": [ + 0.0092038344591856 + ] + }, + "fine_grasp": { + "position": [ + 0.054707352072000504, + 0.12290852516889572, + 0.0984339490532875 + ], + "orientation": [ + 0.10277199745178223, + -0.9674374461174011, + 0.23012223839759827, + 0.023379376158118248 + ], + "joints": [ + 0.014570973813533783 + ] + }, + "final_grasp": { + "position": [ + 0.054707352072000504, + 0.12290852516889572, + 0.0984339490532875 + ], + "orientation": [ + 0.10277199745178223, + -0.9674374461174011, + 0.23012223839759827, + 0.023379376158118248 + ], + "joints": [ + 0.019938113167881966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09827462583780289, + 0.06755314767360687, + 0.1268635243177414 + ], + "orientation": [ + 0.12224680185317993, + -0.8176642060279846, + -0.5212169885635376, + 0.2116926610469818 + ], + "joints": [ + 0.008796799927949905 + ] + }, + "fine_grasp": { + "position": [ + -0.09985324740409851, + 0.06847986578941345, + 0.12612609565258026 + ], + "orientation": [ + 0.10639160126447678, + -0.8122643828392029, + -0.5246078372001648, + 0.23172011971473694 + ], + "joints": [ + 0.01413736678659916 + ] + }, + "final_grasp": { + "position": [ + -0.09985324740409851, + 0.06847986578941345, + 0.12612609565258026 + ], + "orientation": [ + 0.10639160126447678, + -0.8122643828392029, + -0.5246078372001648, + 0.23172011971473694 + ], + "joints": [ + 0.019477933645248413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048734065145254135, + 0.12754949927330017, + 0.08620484173297882 + ], + "orientation": [ + 0.03136187791824341, + -0.9734987020492554, + 0.20784467458724976, + -0.09009644389152527 + ], + "joints": [ + 0.007891800254583359 + ] + }, + "fine_grasp": { + "position": [ + 0.04871638864278793, + 0.1272282600402832, + 0.08649984002113342 + ], + "orientation": [ + 0.027441052719950676, + -0.9722343683242798, + 0.2040487825870514, + -0.11122715473175049 + ], + "joints": [ + 0.012727538123726845 + ] + }, + "final_grasp": { + "position": [ + 0.04871638864278793, + 0.1272282600402832, + 0.08649984002113342 + ], + "orientation": [ + 0.027441052719950676, + -0.9722343683242798, + 0.2040487825870514, + -0.11122715473175049 + ], + "joints": [ + 0.01756327599287033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053940556943416595, + 0.11122135818004608, + 0.14515770971775055 + ], + "orientation": [ + 0.26382625102996826, + -0.13195163011550903, + 0.23202280700206757, + -0.9269033670425415 + ], + "joints": [ + 0.007898939773440361 + ] + }, + "fine_grasp": { + "position": [ + -0.05378912016749382, + 0.10963685065507889, + 0.1426859349012375 + ], + "orientation": [ + 0.26480698585510254, + -0.11513446271419525, + 0.24336640536785126, + -0.9259557723999023 + ], + "joints": [ + 0.01430230587720871 + ] + }, + "final_grasp": { + "position": [ + -0.05378912016749382, + 0.10963685065507889, + 0.1426859349012375 + ], + "orientation": [ + 0.26480698585510254, + -0.11513446271419525, + 0.24336640536785126, + -0.9259557723999023 + ], + "joints": [ + 0.02070567198097706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04246096312999725, + 0.12204591184854507, + 0.1162400022149086 + ], + "orientation": [ + 0.15770715475082397, + -0.9621500968933105, + -0.19460560381412506, + 0.10735225677490234 + ], + "joints": [ + 0.008738627657294273 + ] + }, + "fine_grasp": { + "position": [ + -0.042370159178972244, + 0.1243896558880806, + 0.11551807075738907 + ], + "orientation": [ + 0.15003687143325806, + -0.9590558409690857, + -0.19818878173828125, + 0.13572824001312256 + ], + "joints": [ + 0.014105765148997307 + ] + }, + "final_grasp": { + "position": [ + -0.042370159178972244, + 0.1243896558880806, + 0.11551807075738907 + ], + "orientation": [ + 0.15003687143325806, + -0.9590558409690857, + -0.19818878173828125, + 0.13572824001312256 + ], + "joints": [ + 0.01947290264070034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010892091318964958, + -0.10505504161119461, + 0.0041389623656868935 + ], + "orientation": [ + 0.034794121980667114, + -0.040424641221761703, + 0.9856581091880798, + 0.16010384261608124 + ], + "joints": [ + 0.008546559140086174 + ] + }, + "fine_grasp": { + "position": [ + 0.011352610774338245, + -0.10562759637832642, + 0.004976104013621807 + ], + "orientation": [ + 0.06068730354309082, + -0.03685837611556053, + 0.9847474098205566, + 0.15884312987327576 + ], + "joints": [ + 0.014418525621294975 + ] + }, + "final_grasp": { + "position": [ + 0.011352610774338245, + -0.10562759637832642, + 0.004976104013621807 + ], + "orientation": [ + 0.06068730354309082, + -0.03685837611556053, + 0.9847474098205566, + 0.15884312987327576 + ], + "joints": [ + 0.020290492102503777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07532462477684021, + -0.07699161767959595, + 0.11012717336416245 + ], + "orientation": [ + 0.9384990930557251, + -0.0957975685596466, + -0.028761856257915497, + 0.33047711849212646 + ], + "joints": [ + 0.009014517068862915 + ] + }, + "fine_grasp": { + "position": [ + 0.0753626674413681, + -0.07756524533033371, + 0.1103133112192154 + ], + "orientation": [ + 0.9378024935722351, + -0.08222631365060806, + -0.06396692991256714, + 0.33117008209228516 + ], + "joints": [ + 0.014408227056264877 + ] + }, + "final_grasp": { + "position": [ + 0.0753626674413681, + -0.07756524533033371, + 0.1103133112192154 + ], + "orientation": [ + 0.9378024935722351, + -0.08222631365060806, + -0.06396692991256714, + 0.33117008209228516 + ], + "joints": [ + 0.01980193704366684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032510511577129364, + 0.05739596486091614, + -0.0945948138833046 + ], + "orientation": [ + 0.19315969944000244, + 0.06096687167882919, + -0.5191946625709534, + -0.8303067684173584 + ], + "joints": [ + 0.006030140444636345 + ] + }, + "fine_grasp": { + "position": [ + -0.030448203906416893, + 0.05507237836718559, + -0.0910998210310936 + ], + "orientation": [ + 0.18996478617191315, + 0.05316927656531334, + -0.5082031488418579, + -0.8383411765098572 + ], + "joints": [ + 0.013921422883868217 + ] + }, + "final_grasp": { + "position": [ + -0.030448203906416893, + 0.05507237836718559, + -0.0910998210310936 + ], + "orientation": [ + 0.18996478617191315, + 0.05316927656531334, + -0.5082031488418579, + -0.8383411765098572 + ], + "joints": [ + 0.02181270532310009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11529374867677689, + 0.05722406879067421, + 0.08540850877761841 + ], + "orientation": [ + 0.04317888244986534, + 0.8051841855049133, + 0.5730598568916321, + -0.14634345471858978 + ], + "joints": [ + 0.008687721565365791 + ] + }, + "fine_grasp": { + "position": [ + -0.11221805959939957, + 0.056423746049404144, + 0.08520849794149399 + ], + "orientation": [ + 0.060226354748010635, + 0.801305890083313, + 0.5713423490524292, + -0.1668822467327118 + ], + "joints": [ + 0.01259351521730423 + ] + }, + "final_grasp": { + "position": [ + -0.11221805959939957, + 0.056423746049404144, + 0.08520849794149399 + ], + "orientation": [ + 0.060226354748010635, + 0.801305890083313, + 0.5713423490524292, + -0.1668822467327118 + ], + "joints": [ + 0.016499308869242668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09890057146549225, + 0.06839200854301453, + 0.12633122503757477 + ], + "orientation": [ + 0.11473351716995239, + -0.8195293545722961, + -0.5204784870147705, + 0.21049970388412476 + ], + "joints": [ + 0.008777668699622154 + ] + }, + "fine_grasp": { + "position": [ + -0.10036834329366684, + 0.06909754872322083, + 0.12572817504405975 + ], + "orientation": [ + 0.09781301766633987, + -0.8137053847312927, + -0.5238136649131775, + 0.23224012553691864 + ], + "joints": [ + 0.01361340656876564 + ] + }, + "final_grasp": { + "position": [ + -0.10036834329366684, + 0.06909754872322083, + 0.12572817504405975 + ], + "orientation": [ + 0.09781301766633987, + -0.8137053847312927, + -0.5238136649131775, + 0.23224012553691864 + ], + "joints": [ + 0.018449144437909126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06040291488170624, + -0.07529249787330627, + 0.13430072367191315 + ], + "orientation": [ + 0.11678563803434372, + -0.29115256667137146, + 0.925342857837677, + -0.2129126489162445 + ], + "joints": [ + 0.008067116141319275 + ] + }, + "fine_grasp": { + "position": [ + 0.05996544286608696, + -0.07526198029518127, + 0.13347657024860382 + ], + "orientation": [ + 0.13574695587158203, + -0.2928784191608429, + 0.9243305325508118, + -0.20348981022834778 + ], + "joints": [ + 0.0129825659096241 + ] + }, + "final_grasp": { + "position": [ + 0.05996544286608696, + -0.07526198029518127, + 0.13347657024860382 + ], + "orientation": [ + 0.13574695587158203, + -0.2928784191608429, + 0.9243305325508118, + -0.20348981022834778 + ], + "joints": [ + 0.017898015677928925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08526156842708588, + 0.09385911375284195, + 0.1209016889333725 + ], + "orientation": [ + 0.11040735989809036, + -0.8862736821174622, + -0.4121401906013489, + 0.1801927387714386 + ], + "joints": [ + 0.008409840986132622 + ] + }, + "fine_grasp": { + "position": [ + -0.0861794501543045, + 0.09491819143295288, + 0.12032845616340637 + ], + "orientation": [ + 0.09523758292198181, + -0.8800968527793884, + -0.4161093235015869, + 0.2078760415315628 + ], + "joints": [ + 0.013272149488329887 + ] + }, + "final_grasp": { + "position": [ + -0.0861794501543045, + 0.09491819143295288, + 0.12032845616340637 + ], + "orientation": [ + 0.09523758292198181, + -0.8800968527793884, + -0.4161093235015869, + 0.2078760415315628 + ], + "joints": [ + 0.018134457990527153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11615205556154251, + -0.026350099593400955, + 0.08674024790525436 + ], + "orientation": [ + 0.8127902746200562, + -0.09255288541316986, + 0.10548067837953568, + 0.5654023289680481 + ], + "joints": [ + 0.007884189486503601 + ] + }, + "fine_grasp": { + "position": [ + 0.11687914282083511, + -0.026575535535812378, + 0.0867454782128334 + ], + "orientation": [ + 0.8100343942642212, + -0.1077202633023262, + 0.13234515488147736, + 0.5610039830207825 + ], + "joints": [ + 0.01221509836614132 + ] + }, + "final_grasp": { + "position": [ + 0.11687914282083511, + -0.026575535535812378, + 0.0867454782128334 + ], + "orientation": [ + 0.8100343942642212, + -0.1077202633023262, + 0.13234515488147736, + 0.5610039830207825 + ], + "joints": [ + 0.016546007245779037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11357837170362473, + -0.02884517051279545, + 0.09046216309070587 + ], + "orientation": [ + 0.08887083828449249, + 0.5500635504722595, + -0.8215639591217041, + 0.12068495899438858 + ], + "joints": [ + 0.007720653899013996 + ] + }, + "fine_grasp": { + "position": [ + 0.11317647993564606, + -0.028898892924189568, + 0.09086547791957855 + ], + "orientation": [ + 0.11133291572332382, + 0.5466234683990479, + -0.8187656402587891, + 0.13575930893421173 + ], + "joints": [ + 0.012024992145597935 + ] + }, + "final_grasp": { + "position": [ + 0.11317647993564606, + -0.028898892924189568, + 0.09086547791957855 + ], + "orientation": [ + 0.11133291572332382, + 0.5466234683990479, + -0.8187656402587891, + 0.13575930893421173 + ], + "joints": [ + 0.0163293294608593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032315000891685486, + 0.05641200393438339, + -0.09300006181001663 + ], + "orientation": [ + 0.19307313859462738, + 0.05775025486946106, + -0.5164123773574829, + -0.8322896361351013 + ], + "joints": [ + 0.006060758605599403 + ] + }, + "fine_grasp": { + "position": [ + -0.03069562278687954, + 0.05481262505054474, + -0.09006044268608093 + ], + "orientation": [ + 0.19116878509521484, + 0.05172821134328842, + -0.5113115310668945, + -0.8362650275230408 + ], + "joints": [ + 0.013500353321433067 + ] + }, + "final_grasp": { + "position": [ + -0.03069562278687954, + 0.05481262505054474, + -0.09006044268608093 + ], + "orientation": [ + 0.19116878509521484, + 0.05172821134328842, + -0.5113115310668945, + -0.8362650275230408 + ], + "joints": [ + 0.02093994803726673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07929013669490814, + 0.001958351582288742, + 0.20341067016124725 + ], + "orientation": [ + 0.14980100095272064, + -0.5154498219490051, + 0.7482666969299316, + -0.38983088731765747 + ], + "joints": [ + 0.008434373885393143 + ] + }, + "fine_grasp": { + "position": [ + 0.07630376517772675, + 0.0031768111512064934, + 0.1996278464794159 + ], + "orientation": [ + 0.14920486509799957, + -0.514435350894928, + 0.7465891242027283, + -0.39458686113357544 + ], + "joints": [ + 0.01534256897866726 + ] + }, + "final_grasp": { + "position": [ + 0.07630376517772675, + 0.0031768111512064934, + 0.1996278464794159 + ], + "orientation": [ + 0.14920486509799957, + -0.514435350894928, + 0.7465891242027283, + -0.39458686113357544 + ], + "joints": [ + 0.022250764071941376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1128082275390625, + 0.05779705196619034, + 0.10915695130825043 + ], + "orientation": [ + 0.5755069851875305, + -0.19642621278762817, + 0.016598045825958252, + -0.7936831712722778 + ], + "joints": [ + 0.00877024419605732 + ] + }, + "fine_grasp": { + "position": [ + -0.11102631688117981, + 0.05770249664783478, + 0.10790500789880753 + ], + "orientation": [ + 0.5742813944816589, + -0.2200271040201187, + -0.004443742800503969, + -0.7885233759880066 + ], + "joints": [ + 0.012676037847995758 + ] + }, + "final_grasp": { + "position": [ + -0.11102631688117981, + 0.05770249664783478, + 0.10790500789880753 + ], + "orientation": [ + 0.5742813944816589, + -0.2200271040201187, + -0.004443742800503969, + -0.7885233759880066 + ], + "joints": [ + 0.016581831499934196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021354056894779205, + 0.1293708235025406, + 0.11415425688028336 + ], + "orientation": [ + 0.14324401319026947, + -0.9858095645904541, + -0.08593802154064178, + -0.016592994332313538 + ], + "joints": [ + 0.007962469011545181 + ] + }, + "fine_grasp": { + "position": [ + -0.021139033138751984, + 0.13050873577594757, + 0.11540960520505905 + ], + "orientation": [ + 0.15102186799049377, + -0.9839525818824768, + -0.0884648859500885, + -0.03469514101743698 + ], + "joints": [ + 0.012798206880688667 + ] + }, + "final_grasp": { + "position": [ + -0.021139033138751984, + 0.13050873577594757, + 0.11540960520505905 + ], + "orientation": [ + 0.15102186799049377, + -0.9839525818824768, + -0.0884648859500885, + -0.03469514101743698 + ], + "joints": [ + 0.017633944749832153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03542546555399895, + -0.09556049108505249, + 0.11648153513669968 + ], + "orientation": [ + 0.9743435382843018, + -0.16837801039218903, + -0.06503065675497055, + -0.1344418078660965 + ], + "joints": [ + 0.008764088153839111 + ] + }, + "fine_grasp": { + "position": [ + -0.03508690372109413, + -0.09343387186527252, + 0.11558903753757477 + ], + "orientation": [ + 0.9717360734939575, + -0.17008742690086365, + -0.09584351629018784, + -0.1327148675918579 + ], + "joints": [ + 0.013148138299584389 + ] + }, + "final_grasp": { + "position": [ + -0.03508690372109413, + -0.09343387186527252, + 0.11558903753757477 + ], + "orientation": [ + 0.9717360734939575, + -0.17008742690086365, + -0.09584351629018784, + -0.1327148675918579 + ], + "joints": [ + 0.017532188445329666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022040748968720436, + 0.055741045624017715, + 0.2291271984577179 + ], + "orientation": [ + 0.359870970249176, + -0.35066550970077515, + -0.4812312424182892, + 0.7182917594909668 + ], + "joints": [ + 0.006041278131306171 + ] + }, + "fine_grasp": { + "position": [ + 0.021053815260529518, + 0.0550762377679348, + 0.22427569329738617 + ], + "orientation": [ + 0.36193734407424927, + -0.35189634561538696, + -0.4795343577861786, + 0.7177861928939819 + ], + "joints": [ + 0.01241807360202074 + ] + }, + "final_grasp": { + "position": [ + 0.021053815260529518, + 0.0550762377679348, + 0.22427569329738617 + ], + "orientation": [ + 0.36193734407424927, + -0.35189634561538696, + -0.4795343577861786, + 0.7177861928939819 + ], + "joints": [ + 0.018794868141412735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03670390695333481, + -0.08665443956851959, + 0.1392243355512619 + ], + "orientation": [ + 0.08568048477172852, + -0.17576223611831665, + 0.957582414150238, + -0.2116660475730896 + ], + "joints": [ + 0.008331095799803734 + ] + }, + "fine_grasp": { + "position": [ + 0.03672531247138977, + -0.08694116771221161, + 0.13809390366077423 + ], + "orientation": [ + 0.10998653620481491, + -0.18003708124160767, + 0.955880343914032, + -0.20440776646137238 + ], + "joints": [ + 0.013724803924560547 + ] + }, + "final_grasp": { + "position": [ + 0.03672531247138977, + -0.08694116771221161, + 0.13809390366077423 + ], + "orientation": [ + 0.10998653620481491, + -0.18003708124160767, + 0.955880343914032, + -0.20440776646137238 + ], + "joints": [ + 0.01911851204931736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025443270802497864, + -0.04062967374920845, + 0.21811893582344055 + ], + "orientation": [ + 0.14190012216567993, + -0.20077398419380188, + -0.8498973250389099, + 0.466077983379364 + ], + "joints": [ + 0.0067019336856901646 + ] + }, + "fine_grasp": { + "position": [ + -0.023823464289307594, + -0.03794291988015175, + 0.2134026437997818 + ], + "orientation": [ + 0.1443070024251938, + -0.20241424441337585, + -0.8495060205459595, + 0.46534228324890137 + ], + "joints": [ + 0.013610129244625568 + ] + }, + "final_grasp": { + "position": [ + -0.023823464289307594, + -0.03794291988015175, + 0.2134026437997818 + ], + "orientation": [ + 0.1443070024251938, + -0.20241424441337585, + -0.8495060205459595, + 0.46534228324890137 + ], + "joints": [ + 0.02051832526922226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025193486362695694, + -0.04062778875231743, + 0.2180539071559906 + ], + "orientation": [ + 0.1435062140226364, + -0.20084993541240692, + -0.8499007225036621, + 0.46554693579673767 + ], + "joints": [ + 0.0067039355635643005 + ] + }, + "fine_grasp": { + "position": [ + -0.023587707430124283, + -0.037966661155223846, + 0.21333639323711395 + ], + "orientation": [ + 0.14607645571231842, + -0.20242799818515778, + -0.849412739276886, + 0.46495428681373596 + ], + "joints": [ + 0.013612130656838417 + ] + }, + "final_grasp": { + "position": [ + -0.023587707430124283, + -0.037966661155223846, + 0.21333639323711395 + ], + "orientation": [ + 0.14607645571231842, + -0.20242799818515778, + -0.849412739276886, + 0.46495428681373596 + ], + "joints": [ + 0.020520325750112534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025449227541685104, + -0.04064798727631569, + 0.21833650767803192 + ], + "orientation": [ + 0.14345091581344604, + -0.20170262455940247, + -0.8496413230895996, + 0.46566885709762573 + ], + "joints": [ + 0.006768892053514719 + ] + }, + "fine_grasp": { + "position": [ + -0.023916343227028847, + -0.038082074373960495, + 0.2136012315750122 + ], + "orientation": [ + 0.14645324647426605, + -0.20297011733055115, + -0.848963737487793, + 0.46541911363601685 + ], + "joints": [ + 0.013677087612450123 + ] + }, + "final_grasp": { + "position": [ + -0.023916343227028847, + -0.038082074373960495, + 0.2136012315750122 + ], + "orientation": [ + 0.14645324647426605, + -0.20297011733055115, + -0.848963737487793, + 0.46541911363601685 + ], + "joints": [ + 0.020585283637046814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0040840767323970795, + -0.10433205962181091, + 0.09692227095365524 + ], + "orientation": [ + 0.993415117263794, + -0.08030731230974197, + -0.08132142573595047, + -0.007994311861693859 + ], + "joints": [ + 0.008419187739491463 + ] + }, + "fine_grasp": { + "position": [ + -0.003710757242515683, + -0.10172219574451447, + 0.09664241969585419 + ], + "orientation": [ + 0.9905300140380859, + -0.07914279401302338, + -0.1120179146528244, + -0.006224350072443485 + ], + "joints": [ + 0.01282980851829052 + ] + }, + "final_grasp": { + "position": [ + -0.003710757242515683, + -0.10172219574451447, + 0.09664241969585419 + ], + "orientation": [ + 0.9905300140380859, + -0.07914279401302338, + -0.1120179146528244, + -0.006224350072443485 + ], + "joints": [ + 0.017240429297089577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0340680330991745, + 0.1280028074979782, + 0.11914300173521042 + ], + "orientation": [ + 0.13702283799648285, + 0.047767508774995804, + -0.17573335766792297, + 0.9736841320991516 + ], + "joints": [ + 0.008687525987625122 + ] + }, + "fine_grasp": { + "position": [ + 0.03453728184103966, + 0.12825310230255127, + 0.11764133721590042 + ], + "orientation": [ + 0.13186465203762054, + 0.08110865950584412, + -0.17339694499969482, + 0.9726081490516663 + ], + "joints": [ + 0.01301843486726284 + ] + }, + "final_grasp": { + "position": [ + 0.03453728184103966, + 0.12825310230255127, + 0.11764133721590042 + ], + "orientation": [ + 0.13186465203762054, + 0.08110865950584412, + -0.17339694499969482, + 0.9726081490516663 + ], + "joints": [ + 0.01734934374690056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055915605276823044, + -0.07216739654541016, + 0.1476331651210785 + ], + "orientation": [ + 0.00921072531491518, + 0.24215945601463318, + 0.9287362098693848, + -0.28057605028152466 + ], + "joints": [ + 0.008863558992743492 + ] + }, + "fine_grasp": { + "position": [ + -0.056258268654346466, + -0.07277670502662659, + 0.14708134531974792 + ], + "orientation": [ + 0.03643614426255226, + 0.23554345965385437, + 0.9292376637458801, + -0.2823280692100525 + ], + "joints": [ + 0.014204125851392746 + ] + }, + "final_grasp": { + "position": [ + -0.056258268654346466, + -0.07277670502662659, + 0.14708134531974792 + ], + "orientation": [ + 0.03643614426255226, + 0.23554345965385437, + 0.9292376637458801, + -0.2823280692100525 + ], + "joints": [ + 0.019544692710042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11015371233224869, + 0.031969863921403885, + -0.017560191452503204 + ], + "orientation": [ + 0.14868001639842987, + 0.7541888952255249, + -0.6203424334526062, + -0.15578362345695496 + ], + "joints": [ + 0.005935331340879202 + ] + }, + "fine_grasp": { + "position": [ + 0.10786959528923035, + 0.03281695395708084, + -0.016367213800549507 + ], + "orientation": [ + 0.1272280514240265, + 0.7533127069473267, + -0.6205429434776306, + -0.17680369317531586 + ], + "joints": [ + 0.010850781574845314 + ] + }, + "final_grasp": { + "position": [ + 0.10786959528923035, + 0.03281695395708084, + -0.016367213800549507 + ], + "orientation": [ + 0.1272280514240265, + 0.7533127069473267, + -0.6205429434776306, + -0.17680369317531586 + ], + "joints": [ + 0.01576623134315014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05177626013755798, + -0.0821603462100029, + -0.03628974035382271 + ], + "orientation": [ + 0.155019149184227, + 0.26639872789382935, + 0.9237455129623413, + 0.2273654192686081 + ], + "joints": [ + 0.007844548672437668 + ] + }, + "fine_grasp": { + "position": [ + -0.05324816331267357, + -0.08523381501436234, + -0.03698606789112091 + ], + "orientation": [ + 0.1691703498363495, + 0.2682766318321228, + 0.9210739731788635, + 0.22590230405330658 + ], + "joints": [ + 0.01368994452059269 + ] + }, + "final_grasp": { + "position": [ + -0.05324816331267357, + -0.08523381501436234, + -0.03698606789112091 + ], + "orientation": [ + 0.1691703498363495, + 0.2682766318321228, + 0.9210739731788635, + 0.22590230405330658 + ], + "joints": [ + 0.01953534036874771 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07427217811346054, + -0.08696908503770828, + 0.013560266233980656 + ], + "orientation": [ + 0.9427539706230164, + 0.007472691126167774, + -0.07986178994178772, + -0.32369932532310486 + ], + "joints": [ + 0.007984716445207596 + ] + }, + "fine_grasp": { + "position": [ + -0.07418709248304367, + -0.08760469406843185, + 0.012154748663306236 + ], + "orientation": [ + 0.9409330487251282, + 0.005060245748609304, + -0.09786078333854675, + -0.3241027295589447 + ], + "joints": [ + 0.014388082548975945 + ] + }, + "final_grasp": { + "position": [ + -0.07418709248304367, + -0.08760469406843185, + 0.012154748663306236 + ], + "orientation": [ + 0.9409330487251282, + 0.005060245748609304, + -0.09786078333854675, + -0.3241027295589447 + ], + "joints": [ + 0.020791448652744293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0459853820502758, + -0.08377552777528763, + -0.03177902102470398 + ], + "orientation": [ + 0.11592015624046326, + 0.23593191802501678, + -0.9390805959701538, + -0.22141920030117035 + ], + "joints": [ + 0.007987725548446178 + ] + }, + "fine_grasp": { + "position": [ + 0.04445324465632439, + -0.0820382684469223, + -0.029974164441227913 + ], + "orientation": [ + 0.12810873985290527, + 0.23446287214756012, + -0.9372933506965637, + -0.22382251918315887 + ], + "joints": [ + 0.013328292407095432 + ] + }, + "final_grasp": { + "position": [ + 0.04445324465632439, + -0.0820382684469223, + -0.029974164441227913 + ], + "orientation": [ + 0.12810873985290527, + 0.23446287214756012, + -0.9372933506965637, + -0.22382251918315887 + ], + "joints": [ + 0.01866886019706726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047663912177085876, + 0.09130466729402542, + -0.051431819796562195 + ], + "orientation": [ + 0.2240207940340042, + 0.02773146517574787, + -0.3407002389431, + -0.9126713275909424 + ], + "joints": [ + 0.0073991939425468445 + ] + }, + "fine_grasp": { + "position": [ + -0.044872261583805084, + 0.08908726274967194, + -0.04843632131814957 + ], + "orientation": [ + 0.22429437935352325, + 0.030773473903536797, + -0.3439868688583374, + -0.9112727642059326 + ], + "joints": [ + 0.013271160423755646 + ] + }, + "final_grasp": { + "position": [ + -0.044872261583805084, + 0.08908726274967194, + -0.04843632131814957 + ], + "orientation": [ + 0.22429437935352325, + 0.030773473903536797, + -0.3439868688583374, + -0.9112727642059326 + ], + "joints": [ + 0.019143126904964447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017027439549565315, + 0.04192637279629707, + 0.2343691885471344 + ], + "orientation": [ + 0.22731046378612518, + -0.18750353157520294, + 0.6280133128166199, + -0.7202580571174622 + ], + "joints": [ + 0.006625455804169178 + ] + }, + "fine_grasp": { + "position": [ + -0.016469238325953484, + 0.040855854749679565, + 0.23240913450717926 + ], + "orientation": [ + 0.22486700117588043, + -0.18670549988746643, + 0.623197615146637, + -0.7253968715667725 + ], + "joints": [ + 0.011966022662818432 + ] + }, + "final_grasp": { + "position": [ + -0.016469238325953484, + 0.040855854749679565, + 0.23240913450717926 + ], + "orientation": [ + 0.22486700117588043, + -0.18670549988746643, + 0.623197615146637, + -0.7253968715667725 + ], + "joints": [ + 0.01730658859014511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030917782336473465, + -0.09073502570390701, + -0.03756387159228325 + ], + "orientation": [ + 0.956553041934967, + 0.2550138533115387, + 0.016713371500372887, + 0.140338733792305 + ], + "joints": [ + 0.007827798835933208 + ] + }, + "fine_grasp": { + "position": [ + 0.0329962782561779, + -0.09372200071811676, + -0.036843784153461456 + ], + "orientation": [ + 0.9555637836456299, + 0.2606249153614044, + -0.005181128159165382, + 0.1376437246799469 + ], + "joints": [ + 0.013168365694582462 + ] + }, + "final_grasp": { + "position": [ + 0.0329962782561779, + -0.09372200071811676, + -0.036843784153461456 + ], + "orientation": [ + 0.9555637836456299, + 0.2606249153614044, + -0.005181128159165382, + 0.1376437246799469 + ], + "joints": [ + 0.01850893348455429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012317873537540436, + 0.036781057715415955, + 0.2375168353319168 + ], + "orientation": [ + 0.22608532011508942, + -0.17383399605751038, + 0.5958101153373718, + -0.7507845759391785 + ], + "joints": [ + 0.007713598664849997 + ] + }, + "fine_grasp": { + "position": [ + -0.012727291323244572, + 0.036683786660432816, + 0.23245644569396973 + ], + "orientation": [ + 0.22276179492473602, + -0.17670510709285736, + 0.599932849407196, + -0.7478188276290894 + ], + "joints": [ + 0.013612136244773865 + ] + }, + "final_grasp": { + "position": [ + -0.012727291323244572, + 0.036683786660432816, + 0.23245644569396973 + ], + "orientation": [ + 0.22276179492473602, + -0.17670510709285736, + 0.599932849407196, + -0.7478188276290894 + ], + "joints": [ + 0.019510673359036446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028995061293244362, + -0.09032426029443741, + -0.040520235896110535 + ], + "orientation": [ + 0.9579523205757141, + 0.2525400221347809, + -0.029922623187303543, + -0.13287365436553955 + ], + "joints": [ + 0.007585911545902491 + ] + }, + "fine_grasp": { + "position": [ + -0.029069293290376663, + -0.08991248160600662, + -0.038942851126194 + ], + "orientation": [ + 0.9563341736793518, + 0.25899264216423035, + -0.017117617651820183, + -0.13436782360076904 + ], + "joints": [ + 0.01345787849277258 + ] + }, + "final_grasp": { + "position": [ + -0.029069293290376663, + -0.08991248160600662, + -0.038942851126194 + ], + "orientation": [ + 0.9563341736793518, + 0.25899264216423035, + -0.017117617651820183, + -0.13436782360076904 + ], + "joints": [ + 0.019329845905303955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03611038997769356, + 0.027792735025286674, + -0.10129591822624207 + ], + "orientation": [ + 0.29423320293426514, + 0.13700614869594574, + -0.5863853096961975, + -0.742164671421051 + ], + "joints": [ + 0.005181558430194855 + ] + }, + "fine_grasp": { + "position": [ + -0.03409332409501076, + 0.026573261246085167, + -0.09801345318555832 + ], + "orientation": [ + 0.3000052869319916, + 0.13570360839366913, + -0.5672230124473572, + -0.7548770904541016 + ], + "joints": [ + 0.012063182890415192 + ] + }, + "final_grasp": { + "position": [ + -0.03409332409501076, + 0.026573261246085167, + -0.09801345318555832 + ], + "orientation": [ + 0.3000052869319916, + 0.13570360839366913, + -0.5672230124473572, + -0.7548770904541016 + ], + "joints": [ + 0.01894480735063553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036408256739377975, + 0.028021369129419327, + -0.10147146135568619 + ], + "orientation": [ + 0.2939099967479706, + 0.13534295558929443, + -0.5857664346694946, + -0.7430859804153442 + ], + "joints": [ + 0.004664244595915079 + ] + }, + "fine_grasp": { + "position": [ + -0.034244369715452194, + 0.026840725913643837, + -0.09782294929027557 + ], + "orientation": [ + 0.29964539408683777, + 0.1339808702468872, + -0.5670188069343567, + -0.7554810643196106 + ], + "joints": [ + 0.01207726914435625 + ] + }, + "final_grasp": { + "position": [ + -0.034244369715452194, + 0.026840725913643837, + -0.09782294929027557 + ], + "orientation": [ + 0.29964539408683777, + 0.1339808702468872, + -0.5670188069343567, + -0.7554810643196106 + ], + "joints": [ + 0.01949029415845871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02150942012667656, + -0.11609920114278793, + -0.00734436372295022 + ], + "orientation": [ + 0.9898735880851746, + 0.01805715821683407, + 0.11738535761833191, + -0.07774859666824341 + ], + "joints": [ + 0.007827390916645527 + ] + }, + "fine_grasp": { + "position": [ + -0.021164746955037117, + -0.11630377918481827, + -0.006029100622981787 + ], + "orientation": [ + 0.9877961277961731, + 0.02639773301780224, + 0.13216161727905273, + -0.07807323336601257 + ], + "joints": [ + 0.01316795777529478 + ] + }, + "final_grasp": { + "position": [ + -0.021164746955037117, + -0.11630377918481827, + -0.006029100622981787 + ], + "orientation": [ + 0.9877961277961731, + 0.02639773301780224, + 0.13216161727905273, + -0.07807323336601257 + ], + "joints": [ + 0.01850852370262146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11832371354103088, + 0.030810387805104256, + 0.015794606879353523 + ], + "orientation": [ + 0.10775046050548553, + 0.7627291679382324, + 0.6248192191123962, + -0.12741719186306 + ], + "joints": [ + 0.0053824265487492085 + ] + }, + "fine_grasp": { + "position": [ + -0.11640085279941559, + 0.0305470060557127, + 0.015441742725670338 + ], + "orientation": [ + 0.12132378667593002, + 0.760968804359436, + 0.6215057373046875, + -0.14120076596736908 + ], + "joints": [ + 0.010829276405274868 + ] + }, + "final_grasp": { + "position": [ + -0.11640085279941559, + 0.0305470060557127, + 0.015441742725670338 + ], + "orientation": [ + 0.12132378667593002, + 0.760968804359436, + 0.6215057373046875, + -0.14120076596736908 + ], + "joints": [ + 0.016276126727461815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02206142619252205, + -0.11609577387571335, + -0.00699329050257802 + ], + "orientation": [ + 0.9889265298843384, + 0.019116250798106194, + 0.12368854880332947, + -0.07974978536367416 + ], + "joints": [ + 0.007682157214730978 + ] + }, + "fine_grasp": { + "position": [ + -0.021714944392442703, + -0.11623463779687881, + -0.005709177814424038 + ], + "orientation": [ + 0.9867312908172607, + 0.026807650923728943, + 0.13847282528877258, + -0.08042432367801666 + ], + "joints": [ + 0.012517895549535751 + ] + }, + "final_grasp": { + "position": [ + -0.021714944392442703, + -0.11623463779687881, + -0.005709177814424038 + ], + "orientation": [ + 0.9867312908172607, + 0.026807650923728943, + 0.13847282528877258, + -0.08042432367801666 + ], + "joints": [ + 0.017353633418679237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11285515874624252, + -0.03879031166434288, + 0.01778346300125122 + ], + "orientation": [ + 0.8172168135643005, + -0.12514914572238922, + -0.12700004875659943, + -0.5480558276176453 + ], + "joints": [ + 0.005209635943174362 + ] + }, + "fine_grasp": { + "position": [ + -0.11132095009088516, + -0.03845071792602539, + 0.017202675342559814 + ], + "orientation": [ + 0.8130651712417603, + -0.13793610036373138, + -0.1442802995443344, + -0.5468838214874268 + ], + "joints": [ + 0.010656485334038734 + ] + }, + "final_grasp": { + "position": [ + -0.11132095009088516, + -0.03845071792602539, + 0.017202675342559814 + ], + "orientation": [ + 0.8130651712417603, + -0.13793610036373138, + -0.1442802995443344, + -0.5468838214874268 + ], + "joints": [ + 0.016103334724903107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029636038467288017, + 0.008560850284993649, + -0.10556729137897491 + ], + "orientation": [ + 0.57561194896698, + 0.45975956320762634, + 0.4097985327243805, + 0.5379193425178528 + ], + "joints": [ + 0.0035111759789288044 + ] + }, + "fine_grasp": { + "position": [ + 0.02817920595407486, + 0.010093364864587784, + -0.10042736679315567 + ], + "orientation": [ + 0.5766258239746094, + 0.45978885889053345, + 0.4049670100212097, + 0.5404613614082336 + ], + "joints": [ + 0.00988797191530466 + ] + }, + "final_grasp": { + "position": [ + 0.02817920595407486, + 0.010093364864587784, + -0.10042736679315567 + ], + "orientation": [ + 0.5766258239746094, + 0.45978885889053345, + 0.4049670100212097, + 0.5404613614082336 + ], + "joints": [ + 0.016264768317341805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006429842207580805, + 0.05751655250787735, + 0.23158465325832367 + ], + "orientation": [ + 0.10294551402330399, + -0.17237329483032227, + -0.582878053188324, + 0.7873644828796387 + ], + "joints": [ + 0.005947711877524853 + ] + }, + "fine_grasp": { + "position": [ + -0.007337422110140324, + 0.05737999454140663, + 0.2283068597316742 + ], + "orientation": [ + 0.10560481995344162, + -0.17617391049861908, + -0.5783902406692505, + 0.7894777655601501 + ], + "joints": [ + 0.012324507348239422 + ] + }, + "final_grasp": { + "position": [ + -0.007337422110140324, + 0.05737999454140663, + 0.2283068597316742 + ], + "orientation": [ + 0.10560481995344162, + -0.17617391049861908, + -0.5783902406692505, + 0.7894777655601501 + ], + "joints": [ + 0.018701303750276566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08488311618566513, + 0.0036738249473273754, + -0.06559700518846512 + ], + "orientation": [ + 0.3791152536869049, + 0.6717188358306885, + -0.6123262643814087, + -0.17355729639530182 + ], + "joints": [ + 0.005762104876339436 + ] + }, + "fine_grasp": { + "position": [ + 0.08121689409017563, + 0.0034143240191042423, + -0.06113818287849426 + ], + "orientation": [ + 0.39250829815864563, + 0.6695942282676697, + -0.6079403162002563, + -0.1673004925251007 + ], + "joints": [ + 0.011634071357548237 + ] + }, + "final_grasp": { + "position": [ + 0.08121689409017563, + 0.0034143240191042423, + -0.06113818287849426 + ], + "orientation": [ + 0.39250829815864563, + 0.6695942282676697, + -0.6079403162002563, + -0.1673004925251007 + ], + "joints": [ + 0.017506036907434464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09140731394290924, + 0.04381221532821655, + -0.059784095734357834 + ], + "orientation": [ + 0.5563145279884338, + 0.25125426054000854, + 0.19886930286884308, + 0.7667049765586853 + ], + "joints": [ + 0.004999705124646425 + ] + }, + "fine_grasp": { + "position": [ + 0.09139339625835419, + 0.04517108201980591, + -0.057979315519332886 + ], + "orientation": [ + 0.5560104250907898, + 0.2679596245288849, + 0.19106298685073853, + 0.7632462978363037 + ], + "joints": [ + 0.010366843082010746 + ] + }, + "final_grasp": { + "position": [ + 0.09139339625835419, + 0.04517108201980591, + -0.057979315519332886 + ], + "orientation": [ + 0.5560104250907898, + 0.2679596245288849, + 0.19106298685073853, + 0.7632462978363037 + ], + "joints": [ + 0.015733981505036354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04793235659599304, + 0.058491237461566925, + -0.0879916176199913 + ], + "orientation": [ + 0.23435617983341217, + 0.017983712255954742, + -0.5034812092781067, + -0.8314207792282104 + ], + "joints": [ + 0.005239333491772413 + ] + }, + "fine_grasp": { + "position": [ + -0.04540923982858658, + 0.05616018548607826, + -0.0837077647447586 + ], + "orientation": [ + 0.2378905564546585, + 0.010713489726185799, + -0.49297940731048584, + -0.8368181586265564 + ], + "joints": [ + 0.01158955879509449 + ] + }, + "final_grasp": { + "position": [ + -0.04540923982858658, + 0.05616018548607826, + -0.0837077647447586 + ], + "orientation": [ + 0.2378905564546585, + 0.010713489726185799, + -0.49297940731048584, + -0.8368181586265564 + ], + "joints": [ + 0.01793978363275528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04738611355423927, + 0.05668637901544571, + -0.08870800584554672 + ], + "orientation": [ + 0.23771943151950836, + 0.0029303645715117455, + -0.47672128677368164, + -0.846296489238739 + ], + "joints": [ + 0.005809026304632425 + ] + }, + "fine_grasp": { + "position": [ + -0.04636240005493164, + 0.055202774703502655, + -0.08404886722564697 + ], + "orientation": [ + 0.22934748232364655, + -0.017739690840244293, + -0.48649194836616516, + -0.8428585529327393 + ], + "joints": [ + 0.011654422618448734 + ] + }, + "final_grasp": { + "position": [ + -0.04636240005493164, + 0.055202774703502655, + -0.08404886722564697 + ], + "orientation": [ + 0.22934748232364655, + -0.017739690840244293, + -0.48649194836616516, + -0.8428585529327393 + ], + "joints": [ + 0.01749981939792633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028487106785178185, + 0.032496776431798935, + 0.23173199594020844 + ], + "orientation": [ + 0.6659498810768127, + -0.6661590933799744, + 0.13580170273780823, + -0.30708402395248413 + ], + "joints": [ + 0.005602035205811262 + ] + }, + "fine_grasp": { + "position": [ + -0.02784901112318039, + 0.032540563493967056, + 0.22702056169509888 + ], + "orientation": [ + 0.665438175201416, + -0.6677935123443604, + 0.13601075112819672, + -0.30454063415527344 + ], + "joints": [ + 0.011978831142187119 + ] + }, + "final_grasp": { + "position": [ + -0.02784901112318039, + 0.032540563493967056, + 0.22702056169509888 + ], + "orientation": [ + 0.665438175201416, + -0.6677935123443604, + 0.13601075112819672, + -0.30454063415527344 + ], + "joints": [ + 0.018355626612901688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09274690598249435, + 0.08904226869344711, + -0.002690291265025735 + ], + "orientation": [ + 0.2649247944355011, + -0.7023352384567261, + 0.4018353521823883, + 0.5244695544242859 + ], + "joints": [ + -0.012109965085983276 + ] + }, + "fine_grasp": { + "position": [ + 0.09526968002319336, + 0.089066281914711, + -0.0002592878299765289 + ], + "orientation": [ + 0.24441206455230713, + -0.7119669318199158, + 0.4008530378341675, + 0.522190272808075 + ], + "joints": [ + -0.007858768105506897 + ] + }, + "final_grasp": { + "position": [ + 0.09526968002319336, + 0.089066281914711, + -0.0002592878299765289 + ], + "orientation": [ + 0.24441206455230713, + -0.7119669318199158, + 0.4008530378341675, + 0.522190272808075 + ], + "joints": [ + -0.0036075711250305176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09271260350942612, + 0.08898419141769409, + -0.002778782043606043 + ], + "orientation": [ + 0.2639644742012024, + -0.7030618786811829, + 0.4020177125930786, + 0.523840069770813 + ], + "joints": [ + -0.012139406055212021 + ] + }, + "fine_grasp": { + "position": [ + 0.09523037075996399, + 0.08907276391983032, + -0.00027293519815430045 + ], + "orientation": [ + 0.24373258650302887, + -0.7122873663902283, + 0.40093129873275757, + 0.5220108032226562 + ], + "joints": [ + -0.007888209074735641 + ] + }, + "final_grasp": { + "position": [ + 0.09523037075996399, + 0.08907276391983032, + -0.00027293519815430045 + ], + "orientation": [ + 0.24373258650302887, + -0.7122873663902283, + 0.40093129873275757, + 0.5220108032226562 + ], + "joints": [ + -0.003637012094259262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08766166865825653, + 0.09131497889757156, + 0.020558243617415428 + ], + "orientation": [ + 0.15974362194538116, + 0.9022208452224731, + 0.3985133469104767, + 0.04082586616277695 + ], + "joints": [ + 0.008921805769205093 + ] + }, + "fine_grasp": { + "position": [ + -0.08735312521457672, + 0.08986418694257736, + 0.020274154841899872 + ], + "orientation": [ + 0.15443693101406097, + 0.9010365009307861, + 0.4016038179397583, + 0.05474475771188736 + ], + "joints": [ + 0.01375754363834858 + ] + }, + "final_grasp": { + "position": [ + -0.08735312521457672, + 0.08986418694257736, + 0.020274154841899872 + ], + "orientation": [ + 0.15443693101406097, + 0.9010365009307861, + 0.4016038179397583, + 0.05474475771188736 + ], + "joints": [ + 0.018593281507492065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07210610806941986, + 0.08295503258705139, + -0.023604050278663635 + ], + "orientation": [ + 0.28084641695022583, + 0.8819865584373474, + 0.3631735146045685, + 0.1064426377415657 + ], + "joints": [ + 0.00835319235920906 + ] + }, + "fine_grasp": { + "position": [ + -0.07157548516988754, + 0.08246682584285736, + -0.023144403472542763 + ], + "orientation": [ + 0.2734850347042084, + 0.8819559216499329, + 0.3644139766693115, + 0.12067387998104095 + ], + "joints": [ + 0.013693759217858315 + ] + }, + "final_grasp": { + "position": [ + -0.07157548516988754, + 0.08246682584285736, + -0.023144403472542763 + ], + "orientation": [ + 0.2734850347042084, + 0.8819559216499329, + 0.3644139766693115, + 0.12067387998104095 + ], + "joints": [ + 0.01903432607650757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07262798398733139, + 0.08318387717008591, + -0.02453712373971939 + ], + "orientation": [ + 0.27810126543045044, + 0.8830312490463257, + 0.36338886618614197, + 0.10423075407743454 + ], + "joints": [ + 0.008234849199652672 + ] + }, + "fine_grasp": { + "position": [ + -0.07224178314208984, + 0.08264771103858948, + -0.02407037653028965 + ], + "orientation": [ + 0.2695745527744293, + 0.8832573890686035, + 0.3649841547012329, + 0.1182054802775383 + ], + "joints": [ + 0.013575416058301926 + ] + }, + "final_grasp": { + "position": [ + -0.07224178314208984, + 0.08264771103858948, + -0.02407037653028965 + ], + "orientation": [ + 0.2695745527744293, + 0.8832573890686035, + 0.3649841547012329, + 0.1182054802775383 + ], + "joints": [ + 0.01891598291695118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07282695174217224, + 0.08321402966976166, + -0.02576454170048237 + ], + "orientation": [ + 0.2793286442756653, + 0.8835097551345825, + 0.3624105751514435, + 0.10022339224815369 + ], + "joints": [ + 0.008251339197158813 + ] + }, + "fine_grasp": { + "position": [ + -0.07223109155893326, + 0.08264540135860443, + -0.025429120287299156 + ], + "orientation": [ + 0.2693748474121094, + 0.8839090466499329, + 0.36462709307670593, + 0.11484353244304657 + ], + "joints": [ + 0.013591906055808067 + ] + }, + "final_grasp": { + "position": [ + -0.07223109155893326, + 0.08264540135860443, + -0.025429120287299156 + ], + "orientation": [ + 0.2693748474121094, + 0.8839090466499329, + 0.36462709307670593, + 0.11484353244304657 + ], + "joints": [ + 0.01893247291445732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07674819231033325, + -0.08683270961046219, + 0.051708485931158066 + ], + "orientation": [ + 0.9417024254798889, + -0.05860435217618942, + 0.08344190567731857, + 0.3206237554550171 + ], + "joints": [ + 0.007336777169257402 + ] + }, + "fine_grasp": { + "position": [ + 0.07681958377361298, + -0.08603992313146591, + 0.05209449306130409 + ], + "orientation": [ + 0.9387523531913757, + -0.07319237291812897, + 0.11093716323375702, + 0.31793051958084106 + ], + "joints": [ + 0.012703915126621723 + ] + }, + "final_grasp": { + "position": [ + 0.07681958377361298, + -0.08603992313146591, + 0.05209449306130409 + ], + "orientation": [ + 0.9387523531913757, + -0.07319237291812897, + 0.11093716323375702, + 0.31793051958084106 + ], + "joints": [ + 0.01807105354964733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08196999877691269, + 0.09430978447198868, + 0.01408388651907444 + ], + "orientation": [ + 0.18921948969364166, + 0.9092901945114136, + -0.37054577469825745, + 0.009111767634749413 + ], + "joints": [ + 0.009094350039958954 + ] + }, + "fine_grasp": { + "position": [ + 0.08276793360710144, + 0.0936930775642395, + 0.013367908075451851 + ], + "orientation": [ + 0.19771313667297363, + 0.9071507453918457, + -0.37051787972450256, + 0.026524510234594345 + ], + "joints": [ + 0.013398688286542892 + ] + }, + "final_grasp": { + "position": [ + 0.08276793360710144, + 0.0936930775642395, + 0.013367908075451851 + ], + "orientation": [ + 0.19771313667297363, + 0.9071507453918457, + -0.37051787972450256, + 0.026524510234594345 + ], + "joints": [ + 0.01770302653312683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08624104410409927, + 0.07860784977674484, + -0.004984681494534016 + ], + "orientation": [ + 0.424316942691803, + 0.08596855401992798, + -0.22497062385082245, + -0.8728991150856018 + ], + "joints": [ + 0.008519275113940239 + ] + }, + "fine_grasp": { + "position": [ + -0.08583298325538635, + 0.07771077752113342, + -0.0053846328519284725 + ], + "orientation": [ + 0.42449644207954407, + 0.09930593520402908, + -0.2186213880777359, + -0.8730095624923706 + ], + "joints": [ + 0.013859841972589493 + ] + }, + "final_grasp": { + "position": [ + -0.08583298325538635, + 0.07771077752113342, + -0.0053846328519284725 + ], + "orientation": [ + 0.42449644207954407, + 0.09930593520402908, + -0.2186213880777359, + -0.8730095624923706 + ], + "joints": [ + 0.019200408831238747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08633345365524292, + 0.07850534468889236, + -0.00575456116348505 + ], + "orientation": [ + 0.42449456453323364, + 0.0869033932685852, + -0.22614209353923798, + -0.8724173307418823 + ], + "joints": [ + 0.008474169299006462 + ] + }, + "fine_grasp": { + "position": [ + -0.08589524775743484, + 0.07771693170070648, + -0.006003266666084528 + ], + "orientation": [ + 0.4246061444282532, + 0.10024785995483398, + -0.21881595253944397, + -0.8727998733520508 + ], + "joints": [ + 0.013309907168149948 + ] + }, + "final_grasp": { + "position": [ + -0.08589524775743484, + 0.07771693170070648, + -0.006003266666084528 + ], + "orientation": [ + 0.4246061444282532, + 0.10024785995483398, + -0.21881595253944397, + -0.8727998733520508 + ], + "joints": [ + 0.018145645037293434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08688235282897949, + 0.07890456169843674, + -0.006228412967175245 + ], + "orientation": [ + 0.4246731996536255, + 0.08674275875091553, + -0.222170889377594, + -0.8733661770820618 + ], + "joints": [ + 0.008488012477755547 + ] + }, + "fine_grasp": { + "position": [ + -0.08632803708314896, + 0.07797646522521973, + -0.006440288387238979 + ], + "orientation": [ + 0.4243185818195343, + 0.09818409383296967, + -0.21503666043281555, + -0.8741127252578735 + ], + "joints": [ + 0.0138285793364048 + ] + }, + "final_grasp": { + "position": [ + -0.08632803708314896, + 0.07797646522521973, + -0.006440288387238979 + ], + "orientation": [ + 0.4243185818195343, + 0.09818409383296967, + -0.21503666043281555, + -0.8741127252578735 + ], + "joints": [ + 0.019169146195054054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07810333371162415, + 0.107663594186306, + 0.0758606344461441 + ], + "orientation": [ + 0.34007975459098816, + -0.03845074400305748, + 0.05571267381310463, + -0.9379570484161377 + ], + "joints": [ + 0.009064184501767159 + ] + }, + "fine_grasp": { + "position": [ + -0.07969136536121368, + 0.10774120688438416, + 0.07646021246910095 + ], + "orientation": [ + 0.34654709696769714, + -0.01912224106490612, + 0.06648863852024078, + -0.9354777336120605 + ], + "joints": [ + 0.013873351737856865 + ] + }, + "final_grasp": { + "position": [ + -0.07969136536121368, + 0.10774120688438416, + 0.07646021246910095 + ], + "orientation": [ + 0.34654709696769714, + -0.01912224106490612, + 0.06648863852024078, + -0.9354777336120605 + ], + "joints": [ + 0.01868251897394657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06892338395118713, + -0.08524484187364578, + 0.09360344707965851 + ], + "orientation": [ + 0.9476492404937744, + -0.10885503143072128, + 0.05917033553123474, + -0.294296532869339 + ], + "joints": [ + 0.008639983832836151 + ] + }, + "fine_grasp": { + "position": [ + -0.0698835477232933, + -0.08682140707969666, + 0.09373678267002106 + ], + "orientation": [ + 0.9458266496658325, + -0.09811705350875854, + 0.08489932119846344, + -0.29761892557144165 + ], + "joints": [ + 0.012997463345527649 + ] + }, + "final_grasp": { + "position": [ + -0.0698835477232933, + -0.08682140707969666, + 0.09373678267002106 + ], + "orientation": [ + 0.9458266496658325, + -0.09811705350875854, + 0.08489932119846344, + -0.29761892557144165 + ], + "joints": [ + 0.017354942858219147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06896866112947464, + -0.0852198451757431, + 0.09374333173036575 + ], + "orientation": [ + 0.9478443264961243, + -0.10912588238716125, + 0.05820801109075546, + -0.29375946521759033 + ], + "joints": [ + 0.008680032566189766 + ] + }, + "fine_grasp": { + "position": [ + -0.06994954496622086, + -0.08677665889263153, + 0.09384648501873016 + ], + "orientation": [ + 0.9458757638931274, + -0.09819027781486511, + 0.08377034962177277, + -0.2977587580680847 + ], + "joints": [ + 0.013037512078881264 + ] + }, + "final_grasp": { + "position": [ + -0.06994954496622086, + -0.08677665889263153, + 0.09384648501873016 + ], + "orientation": [ + 0.9458757638931274, + -0.09819027781486511, + 0.08377034962177277, + -0.2977587580680847 + ], + "joints": [ + 0.01739499159157276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07977894693613052, + -0.07509400695562363, + 0.09705162793397903 + ], + "orientation": [ + 0.03478757664561272, + 0.343904584646225, + -0.9287589192390442, + 0.1338886320590973 + ], + "joints": [ + 0.008641505613923073 + ] + }, + "fine_grasp": { + "position": [ + 0.07951674610376358, + -0.07510365545749664, + 0.09658288210630417 + ], + "orientation": [ + 0.05375908687710762, + 0.34402725100517273, + -0.9268491864204407, + 0.14037780463695526 + ], + "joints": [ + 0.013477243483066559 + ] + }, + "final_grasp": { + "position": [ + 0.07951674610376358, + -0.07510365545749664, + 0.09658288210630417 + ], + "orientation": [ + 0.05375908687710762, + 0.34402725100517273, + -0.9268491864204407, + 0.14037780463695526 + ], + "joints": [ + 0.018312981352210045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08118356764316559, + 0.1005435362458229, + 0.11724789440631866 + ], + "orientation": [ + 0.3767445683479309, + -0.13123267889022827, + 0.1402875930070877, + -0.9061792492866516 + ], + "joints": [ + 0.008801328018307686 + ] + }, + "fine_grasp": { + "position": [ + -0.08018051087856293, + 0.09990095347166061, + 0.11814635246992111 + ], + "orientation": [ + 0.3812199532985687, + -0.11892053484916687, + 0.12781280279159546, + -0.9078508615493774 + ], + "joints": [ + 0.014699865132570267 + ] + }, + "final_grasp": { + "position": [ + -0.08018051087856293, + 0.09990095347166061, + 0.11814635246992111 + ], + "orientation": [ + 0.3812199532985687, + -0.11892053484916687, + 0.12781280279159546, + -0.9078508615493774 + ], + "joints": [ + 0.020598402246832848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0845155119895935, + 0.08742209523916245, + 0.12984980642795563 + ], + "orientation": [ + 0.19452671706676483, + -0.8839954733848572, + 0.4157048463821411, + -0.08888690173625946 + ], + "joints": [ + 0.008434925228357315 + ] + }, + "fine_grasp": { + "position": [ + 0.08554515242576599, + 0.08669612556695938, + 0.12857940793037415 + ], + "orientation": [ + 0.19955812394618988, + -0.8831625580787659, + 0.4181632399559021, + -0.07307492196559906 + ], + "joints": [ + 0.013775492087006569 + ] + }, + "final_grasp": { + "position": [ + 0.08554515242576599, + 0.08669612556695938, + 0.12857940793037415 + ], + "orientation": [ + 0.19955812394618988, + -0.8831625580787659, + 0.4181632399559021, + -0.07307492196559906 + ], + "joints": [ + 0.019116058945655823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06991975754499435, + 0.10372854769229889, + 0.11935629695653915 + ], + "orientation": [ + 0.17519734799861908, + -0.9271141886711121, + 0.32720959186553955, + -0.05195370689034462 + ], + "joints": [ + 0.008685706183314323 + ] + }, + "fine_grasp": { + "position": [ + 0.07232670485973358, + 0.10405779629945755, + 0.11901778727769852 + ], + "orientation": [ + 0.18090637028217316, + -0.9258655905723572, + 0.3301278054714203, + -0.03257860988378525 + ], + "joints": [ + 0.014026273041963577 + ] + }, + "final_grasp": { + "position": [ + 0.07232670485973358, + 0.10405779629945755, + 0.11901778727769852 + ], + "orientation": [ + 0.18090637028217316, + -0.9258655905723572, + 0.3301278054714203, + -0.03257860988378525 + ], + "joints": [ + 0.01936683990061283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10510965436697006, + -0.05533222109079361, + 0.046109843999147415 + ], + "orientation": [ + 0.03243986517190933, + 0.48226305842399597, + 0.8754240274429321, + -0.0016541776712983847 + ], + "joints": [ + 0.007619537878781557 + ] + }, + "fine_grasp": { + "position": [ + -0.10670146346092224, + -0.056704048067331314, + 0.045690953731536865 + ], + "orientation": [ + 0.010915359482169151, + 0.4841257333755493, + 0.8749055862426758, + 0.006581651978194714 + ], + "joints": [ + 0.013491504825651646 + ] + }, + "final_grasp": { + "position": [ + -0.10670146346092224, + -0.056704048067331314, + 0.045690953731536865 + ], + "orientation": [ + 0.010915359482169151, + 0.4841257333755493, + 0.8749055862426758, + 0.006581651978194714 + ], + "joints": [ + 0.01936347223818302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09212019294500351, + 0.08791811019182205, + 0.10992183536291122 + ], + "orientation": [ + 0.4386991262435913, + -0.14044535160064697, + 0.12087104469537735, + -0.8793225884437561 + ], + "joints": [ + 0.00911126472055912 + ] + }, + "fine_grasp": { + "position": [ + -0.09142007678747177, + 0.0879068523645401, + 0.11092271655797958 + ], + "orientation": [ + 0.4428088665008545, + -0.1341681331396103, + 0.11172956973314285, + -0.8794519305229187 + ], + "joints": [ + 0.01498323306441307 + ] + }, + "final_grasp": { + "position": [ + -0.09142007678747177, + 0.0879068523645401, + 0.11092271655797958 + ], + "orientation": [ + 0.4428088665008545, + -0.1341681331396103, + 0.11172956973314285, + -0.8794519305229187 + ], + "joints": [ + 0.02085520140826702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09317019581794739, + 0.08860329538583755, + 0.11154084652662277 + ], + "orientation": [ + 0.44075989723205566, + -0.13433995842933655, + 0.11067719012498856, + -0.8805873990058899 + ], + "joints": [ + 0.009223775938153267 + ] + }, + "fine_grasp": { + "position": [ + -0.09226356446743011, + 0.08849258720874786, + 0.11171560734510422 + ], + "orientation": [ + 0.4444518983364105, + -0.13299590349197388, + 0.1085323914885521, + -0.8792015314102173 + ], + "joints": [ + 0.015122314915060997 + ] + }, + "final_grasp": { + "position": [ + -0.09226356446743011, + 0.08849258720874786, + 0.11171560734510422 + ], + "orientation": [ + 0.4444518983364105, + -0.13299590349197388, + 0.1085323914885521, + -0.8792015314102173 + ], + "joints": [ + 0.021020853891968727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09126594662666321, + 0.08656235784292221, + 0.10930280387401581 + ], + "orientation": [ + 0.4394032061100006, + -0.14769946038722992, + 0.12758061289787292, + -0.8768311738967896 + ], + "joints": [ + 0.008749663829803467 + ] + }, + "fine_grasp": { + "position": [ + -0.09097043424844742, + 0.08671600371599197, + 0.11072610318660736 + ], + "orientation": [ + 0.44379591941833496, + -0.13495323061943054, + 0.1130065768957138, + -0.8786707520484924 + ], + "joints": [ + 0.014621630311012268 + ] + }, + "final_grasp": { + "position": [ + -0.09097043424844742, + 0.08671600371599197, + 0.11072610318660736 + ], + "orientation": [ + 0.44379591941833496, + -0.13495323061943054, + 0.1130065768957138, + -0.8786707520484924 + ], + "joints": [ + 0.02049359679222107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09226865321397781, + 0.08763972669839859, + 0.11012808978557587 + ], + "orientation": [ + 0.4398079514503479, + -0.14080367982387543, + 0.12253427505493164, + -0.878480851650238 + ], + "joints": [ + 0.008666317909955978 + ] + }, + "fine_grasp": { + "position": [ + -0.09152603149414062, + 0.08770856261253357, + 0.11083522439002991 + ], + "orientation": [ + 0.4431040585041046, + -0.13726551830768585, + 0.11728470027446747, + -0.8781009912490845 + ], + "joints": [ + 0.015069685876369476 + ] + }, + "final_grasp": { + "position": [ + -0.09152603149414062, + 0.08770856261253357, + 0.11083522439002991 + ], + "orientation": [ + 0.4431040585041046, + -0.13726551830768585, + 0.11728470027446747, + -0.8781009912490845 + ], + "joints": [ + 0.021473053842782974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06398790329694748, + 0.08753238618373871, + -0.03810039535164833 + ], + "orientation": [ + 0.32376471161842346, + 0.10928640514612198, + -0.2830771803855896, + -0.8961585760116577 + ], + "joints": [ + 0.007052166853100061 + ] + }, + "fine_grasp": { + "position": [ + -0.06348418444395065, + 0.08678357303142548, + -0.03627680614590645 + ], + "orientation": [ + 0.323162317276001, + 0.11548659205436707, + -0.2790232002735138, + -0.8968694806098938 + ], + "joints": [ + 0.01295070443302393 + ] + }, + "final_grasp": { + "position": [ + -0.06348418444395065, + 0.08678357303142548, + -0.03627680614590645 + ], + "orientation": [ + 0.323162317276001, + 0.11548659205436707, + -0.2790232002735138, + -0.8968694806098938 + ], + "joints": [ + 0.018849242478609085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10169978439807892, + 0.08148856461048126, + 0.08063960820436478 + ], + "orientation": [ + 0.4729309380054474, + -0.06424355506896973, + 0.06674189865589142, + -0.8762161135673523 + ], + "joints": [ + 0.008960707113146782 + ] + }, + "fine_grasp": { + "position": [ + -0.10045289993286133, + 0.08054684102535248, + 0.08064591139554977 + ], + "orientation": [ + 0.47169527411460876, + -0.049646176397800446, + 0.07543530315160751, + -0.877125084400177 + ], + "joints": [ + 0.01326504535973072 + ] + }, + "final_grasp": { + "position": [ + -0.10045289993286133, + 0.08054684102535248, + 0.08064591139554977 + ], + "orientation": [ + 0.47169527411460876, + -0.049646176397800446, + 0.07543530315160751, + -0.877125084400177 + ], + "joints": [ + 0.01756938360631466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08521505445241928, + 0.09117437154054642, + 0.11930453777313232 + ], + "orientation": [ + 0.11677731573581696, + -0.8824453949928284, + -0.41814061999320984, + 0.18113963305950165 + ], + "joints": [ + 0.008651802316308022 + ] + }, + "fine_grasp": { + "position": [ + -0.08604463189840317, + 0.09149732440710068, + 0.11866762489080429 + ], + "orientation": [ + 0.10406047105789185, + -0.877727210521698, + -0.4217014014720917, + 0.20232239365577698 + ], + "joints": [ + 0.013487540185451508 + ] + }, + "final_grasp": { + "position": [ + -0.08604463189840317, + 0.09149732440710068, + 0.11866762489080429 + ], + "orientation": [ + 0.10406047105789185, + -0.877727210521698, + -0.4217014014720917, + 0.20232239365577698 + ], + "joints": [ + 0.018323278054594994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08893006294965744, + 0.0953984409570694, + 0.038034480065107346 + ], + "orientation": [ + 0.39785704016685486, + -0.01216846238821745, + 0.047084033489227295, + 0.9161577224731445 + ], + "joints": [ + 0.009033376350998878 + ] + }, + "fine_grasp": { + "position": [ + 0.08998464047908783, + 0.09563624113798141, + 0.03837114945054054 + ], + "orientation": [ + 0.4021492600440979, + -0.020058291032910347, + 0.0592380128800869, + 0.9134355187416077 + ], + "joints": [ + 0.014373943209648132 + ] + }, + "final_grasp": { + "position": [ + 0.08998464047908783, + 0.09563624113798141, + 0.03837114945054054 + ], + "orientation": [ + 0.4021492600440979, + -0.020058291032910347, + 0.0592380128800869, + 0.9134355187416077 + ], + "joints": [ + 0.019714510068297386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07774996012449265, + -0.08206501603126526, + 0.01997884176671505 + ], + "orientation": [ + 0.9363270401954651, + 0.08454828709363937, + 0.007308949716389179, + 0.3407198488712311 + ], + "joints": [ + 0.007852746173739433 + ] + }, + "fine_grasp": { + "position": [ + 0.0797356516122818, + -0.08254743367433548, + 0.020157549530267715 + ], + "orientation": [ + 0.9345836043357849, + 0.09247657656669617, + -0.018988370895385742, + 0.3429882228374481 + ], + "joints": [ + 0.012741625308990479 + ] + }, + "final_grasp": { + "position": [ + 0.0797356516122818, + -0.08254743367433548, + 0.020157549530267715 + ], + "orientation": [ + 0.9345836043357849, + 0.09247657656669617, + -0.018988370895385742, + 0.3429882228374481 + ], + "joints": [ + 0.017630504444241524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0808650329709053, + -0.04737493768334389, + 0.1528400480747223 + ], + "orientation": [ + 0.8643717169761658, + -0.24323521554470062, + -0.1353764683008194, + 0.4187735915184021 + ], + "joints": [ + 0.007914174348115921 + ] + }, + "fine_grasp": { + "position": [ + 0.0814768522977829, + -0.04889555275440216, + 0.15245167911052704 + ], + "orientation": [ + 0.8638792634010315, + -0.23348191380500793, + -0.1512972116470337, + 0.41989049315452576 + ], + "joints": [ + 0.013307882472872734 + ] + }, + "final_grasp": { + "position": [ + 0.0814768522977829, + -0.04889555275440216, + 0.15245167911052704 + ], + "orientation": [ + 0.8638792634010315, + -0.23348191380500793, + -0.1512972116470337, + 0.41989049315452576 + ], + "joints": [ + 0.018701590597629547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08537009358406067, + 0.09255217015743256, + 0.12168919295072556 + ], + "orientation": [ + 0.11081960797309875, + -0.8844285011291504, + -0.41608095169067383, + 0.1799498051404953 + ], + "joints": [ + 0.008751742541790009 + ] + }, + "fine_grasp": { + "position": [ + -0.08598733693361282, + 0.09283982962369919, + 0.12100978940725327 + ], + "orientation": [ + 0.09613402932882309, + -0.8786625862121582, + -0.42033424973487854, + 0.20501117408275604 + ], + "joints": [ + 0.013587480410933495 + ] + }, + "final_grasp": { + "position": [ + -0.08598733693361282, + 0.09283982962369919, + 0.12100978940725327 + ], + "orientation": [ + 0.09613402932882309, + -0.8786625862121582, + -0.42033424973487854, + 0.20501117408275604 + ], + "joints": [ + 0.01842321828007698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06599517911672592, + 0.10910303145647049, + 0.01925588585436344 + ], + "orientation": [ + 0.28505367040634155, + -0.030905747786164284, + 0.1636313796043396, + 0.9439353942871094 + ], + "joints": [ + 0.008599935099482536 + ] + }, + "fine_grasp": { + "position": [ + 0.067267507314682, + 0.1094360277056694, + 0.01888655312359333 + ], + "orientation": [ + 0.28626713156700134, + -0.0590461865067482, + 0.17580004036426544, + 0.9400314688682556 + ], + "joints": [ + 0.013409102335572243 + ] + }, + "final_grasp": { + "position": [ + 0.067267507314682, + 0.1094360277056694, + 0.01888655312359333 + ], + "orientation": [ + 0.28626713156700134, + -0.0590461865067482, + 0.17580004036426544, + 0.9400314688682556 + ], + "joints": [ + 0.01821826957166195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10953785479068756, + 0.06889744848012924, + 0.051860224455595016 + ], + "orientation": [ + 0.5225095152854919, + -0.013992245309054852, + -0.043555889278650284, + -0.851405143737793 + ], + "joints": [ + 0.009087356738746166 + ] + }, + "fine_grasp": { + "position": [ + -0.11041264981031418, + 0.06821850687265396, + 0.05149092897772789 + ], + "orientation": [ + 0.5254631638526917, + 0.016283802688121796, + -0.025765839964151382, + -0.8502703309059143 + ], + "joints": [ + 0.013365124352276325 + ] + }, + "final_grasp": { + "position": [ + -0.11041264981031418, + 0.06821850687265396, + 0.05149092897772789 + ], + "orientation": [ + 0.5254631638526917, + 0.016283802688121796, + -0.025765839964151382, + -0.8502703309059143 + ], + "joints": [ + 0.01764289289712906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06056135520339012, + 0.09960992634296417, + -0.017274267971515656 + ], + "orientation": [ + 0.25170329213142395, + 0.9211090803146362, + 0.285062313079834, + 0.08332429826259613 + ], + "joints": [ + 0.0080348439514637 + ] + }, + "fine_grasp": { + "position": [ + -0.06058178469538689, + 0.09896920621395111, + -0.0176966842263937 + ], + "orientation": [ + 0.24762554466724396, + 0.920534074306488, + 0.2853875458240509, + 0.09926066547632217 + ], + "joints": [ + 0.013401981443166733 + ] + }, + "final_grasp": { + "position": [ + -0.06058178469538689, + 0.09896920621395111, + -0.0176966842263937 + ], + "orientation": [ + 0.24762554466724396, + 0.920534074306488, + 0.2853875458240509, + 0.09926066547632217 + ], + "joints": [ + 0.018769118934869766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09571972489356995, + -0.03753308579325676, + 0.11653853952884674 + ], + "orientation": [ + 0.07604707777500153, + -0.4879365563392639, + 0.8390680551528931, + -0.22825321555137634 + ], + "joints": [ + 0.008742988109588623 + ] + }, + "fine_grasp": { + "position": [ + 0.09431067854166031, + -0.037047162652015686, + 0.11595567315816879 + ], + "orientation": [ + 0.07469315826892853, + -0.49107587337493896, + 0.8376938104629517, + -0.22701206803321838 + ], + "joints": [ + 0.014614954590797424 + ] + }, + "final_grasp": { + "position": [ + 0.09431067854166031, + -0.037047162652015686, + 0.11595567315816879 + ], + "orientation": [ + 0.07469315826892853, + -0.49107587337493896, + 0.8376938104629517, + -0.22701206803321838 + ], + "joints": [ + 0.020486921072006226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05368920415639877, + 0.09276915341615677, + -0.036634236574172974 + ], + "orientation": [ + 0.28793206810951233, + 0.90615314245224, + 0.28100940585136414, + 0.1304435133934021 + ], + "joints": [ + 0.007091317791491747 + ] + }, + "fine_grasp": { + "position": [ + -0.05315086245536804, + 0.09242919832468033, + -0.03698291629552841 + ], + "orientation": [ + 0.28218722343444824, + 0.9034579396247864, + 0.2832604944705963, + 0.1545884907245636 + ], + "joints": [ + 0.012458455748856068 + ] + }, + "final_grasp": { + "position": [ + -0.05315086245536804, + 0.09242919832468033, + -0.03698291629552841 + ], + "orientation": [ + 0.28218722343444824, + 0.9034579396247864, + 0.2832604944705963, + 0.1545884907245636 + ], + "joints": [ + 0.017825594171881676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05896206572651863, + -0.07455851882696152, + 0.12160879373550415 + ], + "orientation": [ + 0.029330285266041756, + 0.25822368264198303, + -0.9337154030799866, + 0.2462431788444519 + ], + "joints": [ + 0.00792330875992775 + ] + }, + "fine_grasp": { + "position": [ + 0.060070525854825974, + -0.07518427819013596, + 0.121985524892807 + ], + "orientation": [ + 0.054924484342336655, + 0.25893568992614746, + -0.9292277097702026, + 0.257820725440979 + ], + "joints": [ + 0.012227647006511688 + ] + }, + "final_grasp": { + "position": [ + 0.060070525854825974, + -0.07518427819013596, + 0.121985524892807 + ], + "orientation": [ + 0.054924484342336655, + 0.25893568992614746, + -0.9292277097702026, + 0.257820725440979 + ], + "joints": [ + 0.016531985253095627 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05950424075126648, + 0.1129860058426857, + 0.128581702709198 + ], + "orientation": [ + 0.13108699023723602, + -0.9388450384140015, + 0.2872715890407562, + -0.1373356282711029 + ], + "joints": [ + 0.008245036005973816 + ] + }, + "fine_grasp": { + "position": [ + 0.06015413999557495, + 0.11299610137939453, + 0.12915334105491638 + ], + "orientation": [ + 0.1292935013771057, + -0.9359104633331299, + 0.28609591722488403, + -0.15969997644424438 + ], + "joints": [ + 0.013054203242063522 + ] + }, + "final_grasp": { + "position": [ + 0.06015413999557495, + 0.11299610137939453, + 0.12915334105491638 + ], + "orientation": [ + 0.1292935013771057, + -0.9359104633331299, + 0.28609591722488403, + -0.15969997644424438 + ], + "joints": [ + 0.01786337047815323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06427537649869919, + -0.0841725617647171, + 0.10205839574337006 + ], + "orientation": [ + 0.9488332867622375, + -0.16833116114139557, + -0.024845140054821968, + -0.26601269841194153 + ], + "joints": [ + 0.009259574115276337 + ] + }, + "fine_grasp": { + "position": [ + -0.06434804201126099, + -0.08287367224693298, + 0.10132438689470291 + ], + "orientation": [ + 0.9461839199066162, + -0.17783387005329132, + -0.057334426790475845, + -0.2642420828342438 + ], + "joints": [ + 0.014148455113172531 + ] + }, + "final_grasp": { + "position": [ + -0.06434804201126099, + -0.08287367224693298, + 0.10132438689470291 + ], + "orientation": [ + 0.9461839199066162, + -0.17783387005329132, + -0.057334426790475845, + -0.2642420828342438 + ], + "joints": [ + 0.019037336111068726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0977410152554512, + 0.07140415161848068, + 0.12639540433883667 + ], + "orientation": [ + 0.18544769287109375, + -0.8462316989898682, + 0.4930313527584076, + -0.08013219386339188 + ], + "joints": [ + 0.008277297019958496 + ] + }, + "fine_grasp": { + "position": [ + 0.10022114217281342, + 0.0704684928059578, + 0.12619949877262115 + ], + "orientation": [ + 0.19366799294948578, + -0.8451667428016663, + 0.49440768361091614, + -0.06121204048395157 + ], + "joints": [ + 0.012608205899596214 + ] + }, + "final_grasp": { + "position": [ + 0.10022114217281342, + 0.0704684928059578, + 0.12619949877262115 + ], + "orientation": [ + 0.19366799294948578, + -0.8451667428016663, + 0.49440768361091614, + -0.06121204048395157 + ], + "joints": [ + 0.016939114779233932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06045117601752281, + 0.11517834663391113, + 0.09527795016765594 + ], + "orientation": [ + 0.2646714746952057, + -0.020822782069444656, + -0.13427390158176422, + 0.954717755317688 + ], + "joints": [ + 0.00929810106754303 + ] + }, + "fine_grasp": { + "position": [ + 0.05861591920256615, + 0.11077191680669785, + 0.09280165284872055 + ], + "orientation": [ + 0.2701779901981354, + -0.0022817335557192564, + -0.12792223691940308, + 0.9542717337608337 + ], + "joints": [ + 0.014160409569740295 + ] + }, + "final_grasp": { + "position": [ + 0.05861591920256615, + 0.11077191680669785, + 0.09280165284872055 + ], + "orientation": [ + 0.2701779901981354, + -0.0022817335557192564, + -0.12792223691940308, + 0.9542717337608337 + ], + "joints": [ + 0.01902271807193756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06431715935468674, + -0.08439087867736816, + 0.10277765989303589 + ], + "orientation": [ + 0.9497991800308228, + -0.16321434080600739, + -0.02719881758093834, + -0.26552361249923706 + ], + "joints": [ + 0.009791476652026176 + ] + }, + "fine_grasp": { + "position": [ + -0.06440532207489014, + -0.08298207819461823, + 0.10206664353609085 + ], + "orientation": [ + 0.9468780159950256, + -0.1726924628019333, + -0.06087912246584892, + -0.264373242855072 + ], + "joints": [ + 0.014148958027362823 + ] + }, + "final_grasp": { + "position": [ + -0.06440532207489014, + -0.08298207819461823, + 0.10206664353609085 + ], + "orientation": [ + 0.9468780159950256, + -0.1726924628019333, + -0.06087912246584892, + -0.264373242855072 + ], + "joints": [ + 0.01850643940269947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11147981137037277, + 0.06197112053632736, + 0.05730683356523514 + ], + "orientation": [ + 0.04066646471619606, + 0.8294598460197449, + -0.5479862689971924, + 0.10026741027832031 + ], + "joints": [ + 0.00847632810473442 + ] + }, + "fine_grasp": { + "position": [ + 0.11369091272354126, + 0.062398191541433334, + 0.05767117440700531 + ], + "orientation": [ + 0.05544817075133324, + 0.8263312578201294, + -0.5461263656616211, + 0.12588965892791748 + ], + "joints": [ + 0.01278066635131836 + ] + }, + "final_grasp": { + "position": [ + 0.11369091272354126, + 0.062398191541433334, + 0.05767117440700531 + ], + "orientation": [ + 0.05544817075133324, + 0.8263312578201294, + -0.5461263656616211, + 0.12588965892791748 + ], + "joints": [ + 0.017085004597902298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05973583087325096, + 0.11615870147943497, + 0.09624077379703522 + ], + "orientation": [ + 0.2614040970802307, + -0.01776822842657566, + -0.12757466733455658, + 0.9565964341163635 + ], + "joints": [ + 0.009263206273317337 + ] + }, + "fine_grasp": { + "position": [ + 0.05831613019108772, + 0.1126013919711113, + 0.09389965236186981 + ], + "orientation": [ + 0.2654866874217987, + 0.00394004350528121, + -0.12175668030977249, + 0.9563873410224915 + ], + "joints": [ + 0.014125514775514603 + ] + }, + "final_grasp": { + "position": [ + 0.05831613019108772, + 0.1126013919711113, + 0.09389965236186981 + ], + "orientation": [ + 0.2654866874217987, + 0.00394004350528121, + -0.12175668030977249, + 0.9563873410224915 + ], + "joints": [ + 0.01898782327771187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10094155371189117, + 0.059279389679431915, + 0.006300560664385557 + ], + "orientation": [ + 0.20364537835121155, + 0.8228939175605774, + 0.5212901830673218, + 0.09813590347766876 + ], + "joints": [ + 0.008723419159650803 + ] + }, + "fine_grasp": { + "position": [ + -0.09978224337100983, + 0.058236878365278244, + 0.006467193830758333 + ], + "orientation": [ + 0.19339488446712494, + 0.8216008543968201, + 0.5231313705444336, + 0.11791536211967468 + ], + "joints": [ + 0.013559157028794289 + ] + }, + "final_grasp": { + "position": [ + -0.09978224337100983, + 0.058236878365278244, + 0.006467193830758333 + ], + "orientation": [ + 0.19339488446712494, + 0.8216008543968201, + 0.5231313705444336, + 0.11791536211967468 + ], + "joints": [ + 0.018394894897937775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11059300601482391, + 0.061035312712192535, + 0.05713798105716705 + ], + "orientation": [ + 0.04033771529793739, + 0.8292340040206909, + -0.5495550036430359, + 0.09345044195652008 + ], + "joints": [ + 0.008320942521095276 + ] + }, + "fine_grasp": { + "position": [ + 0.11393939703702927, + 0.06194138526916504, + 0.05734727159142494 + ], + "orientation": [ + 0.05359187349677086, + 0.8262205123901367, + -0.5484627485275269, + 0.11694536358118057 + ], + "joints": [ + 0.013130109757184982 + ] + }, + "final_grasp": { + "position": [ + 0.11393939703702927, + 0.06194138526916504, + 0.05734727159142494 + ], + "orientation": [ + 0.05359187349677086, + 0.8262205123901367, + -0.5484627485275269, + 0.11694536358118057 + ], + "joints": [ + 0.01793927699327469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11554381251335144, + -0.03133130446076393, + 0.0404554158449173 + ], + "orientation": [ + 0.8148106932640076, + -0.037491943687200546, + 0.12078327685594559, + 0.565764307975769 + ], + "joints": [ + 0.007830902002751827 + ] + }, + "fine_grasp": { + "position": [ + 0.11447693407535553, + -0.030588902533054352, + 0.04069516435265541 + ], + "orientation": [ + 0.8127151727676392, + -0.050614215433597565, + 0.13967004418373108, + 0.563404381275177 + ], + "joints": [ + 0.012135240249335766 + ] + }, + "final_grasp": { + "position": [ + 0.11447693407535553, + -0.030588902533054352, + 0.04069516435265541 + ], + "orientation": [ + 0.8127151727676392, + -0.050614215433597565, + 0.13967004418373108, + 0.563404381275177 + ], + "joints": [ + 0.01643957942724228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05964713543653488, + 0.11423864215612411, + 0.1119031086564064 + ], + "orientation": [ + 0.2638256549835205, + -0.019602125510573387, + -0.16649937629699707, + 0.9498893022537231 + ], + "joints": [ + 0.009191883727908134 + ] + }, + "fine_grasp": { + "position": [ + 0.05772409960627556, + 0.10978793352842331, + 0.10933598130941391 + ], + "orientation": [ + 0.26949092745780945, + 0.006557596381753683, + -0.1594146341085434, + 0.9496939778327942 + ], + "joints": [ + 0.012991392984986305 + ] + }, + "final_grasp": { + "position": [ + 0.05772409960627556, + 0.10978793352842331, + 0.10933598130941391 + ], + "orientation": [ + 0.26949092745780945, + 0.006557596381753683, + -0.1594146341085434, + 0.9496939778327942 + ], + "joints": [ + 0.016790902242064476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10178299993276596, + 0.05917862430214882, + 0.00452246330678463 + ], + "orientation": [ + 0.20716656744480133, + 0.8242359757423401, + 0.5198842883110046, + 0.08624042570590973 + ], + "joints": [ + 0.009168542921543121 + ] + }, + "fine_grasp": { + "position": [ + -0.10149934887886047, + 0.05782026797533035, + 0.004395850468426943 + ], + "orientation": [ + 0.20509052276611328, + 0.8238992094993591, + 0.5209271311759949, + 0.08810772746801376 + ], + "joints": [ + 0.014004280790686607 + ] + }, + "final_grasp": { + "position": [ + -0.10149934887886047, + 0.05782026797533035, + 0.004395850468426943 + ], + "orientation": [ + 0.20509052276611328, + 0.8238992094993591, + 0.5209271311759949, + 0.08810772746801376 + ], + "joints": [ + 0.018840018659830093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1027664989233017, + -0.04668281599879265, + 0.09213193506002426 + ], + "orientation": [ + 0.860486626625061, + -0.1419788897037506, + -0.029034633189439774, + 0.4884277582168579 + ], + "joints": [ + 0.009334411472082138 + ] + }, + "fine_grasp": { + "position": [ + 0.10329300165176392, + -0.0472089983522892, + 0.09263437241315842 + ], + "orientation": [ + 0.8601886630058289, + -0.14065678417682648, + -0.02329285442829132, + 0.4896411895751953 + ], + "joints": [ + 0.015232950448989868 + ] + }, + "final_grasp": { + "position": [ + 0.10329300165176392, + -0.0472089983522892, + 0.09263437241315842 + ], + "orientation": [ + 0.8601886630058289, + -0.14065678417682648, + -0.02329285442829132, + 0.4896411895751953 + ], + "joints": [ + 0.0211314894258976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03690597414970398, + -0.10146144777536392, + 0.08288978785276413 + ], + "orientation": [ + 0.9831109046936035, + -0.09883260726928711, + -0.05833534896373749, + -0.1425553560256958 + ], + "joints": [ + 0.00909443013370037 + ] + }, + "fine_grasp": { + "position": [ + -0.03660200163722038, + -0.10018925368785858, + 0.0824449211359024 + ], + "orientation": [ + 0.9795279502868652, + -0.10463252663612366, + -0.0925796777009964, + -0.14493490755558014 + ], + "joints": [ + 0.013983311131596565 + ] + }, + "final_grasp": { + "position": [ + -0.03660200163722038, + -0.10018925368785858, + 0.0824449211359024 + ], + "orientation": [ + 0.9795279502868652, + -0.10463252663612366, + -0.0925796777009964, + -0.14493490755558014 + ], + "joints": [ + 0.01887219212949276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11559450626373291, + -0.030944840982556343, + 0.04063906893134117 + ], + "orientation": [ + 0.8138437867164612, + -0.037439197301864624, + 0.12053283303976059, + 0.5672110319137573 + ], + "joints": [ + 0.00782028865069151 + ] + }, + "fine_grasp": { + "position": [ + 0.11466525495052338, + -0.03004598617553711, + 0.0409848615527153 + ], + "orientation": [ + 0.8115748167037964, + -0.05036870017647743, + 0.1382959485054016, + 0.565405547618866 + ], + "joints": [ + 0.012124626897275448 + ] + }, + "final_grasp": { + "position": [ + 0.11466525495052338, + -0.03004598617553711, + 0.0409848615527153 + ], + "orientation": [ + 0.8115748167037964, + -0.05036870017647743, + 0.1382959485054016, + 0.565405547618866 + ], + "joints": [ + 0.01642896607518196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058731772005558014, + 0.11420923471450806, + 0.11199551075696945 + ], + "orientation": [ + 0.2620584964752197, + -0.02224988490343094, + -0.16267184913158417, + 0.9509827494621277 + ], + "joints": [ + 0.009286299347877502 + ] + }, + "fine_grasp": { + "position": [ + 0.05702773109078407, + 0.1096322312951088, + 0.10947442799806595 + ], + "orientation": [ + 0.2685452103614807, + 0.004798465874046087, + -0.15693412721157074, + 0.9503852725028992 + ], + "joints": [ + 0.013085808604955673 + ] + }, + "final_grasp": { + "position": [ + 0.05702773109078407, + 0.1096322312951088, + 0.10947442799806595 + ], + "orientation": [ + 0.2685452103614807, + 0.004798465874046087, + -0.15693412721157074, + 0.9503852725028992 + ], + "joints": [ + 0.016885317862033844 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06163947284221649, + 0.11525126546621323, + 0.10697571933269501 + ], + "orientation": [ + 0.13578838109970093, + -0.9526798725128174, + 0.2718105912208557, + -0.009035603143274784 + ], + "joints": [ + 0.008616682142019272 + ] + }, + "fine_grasp": { + "position": [ + 0.062217485159635544, + 0.11367883533239365, + 0.10540536046028137 + ], + "orientation": [ + 0.1350213587284088, + -0.951618492603302, + 0.27571529150009155, + 0.013132558204233646 + ], + "joints": [ + 0.013983819633722305 + ] + }, + "final_grasp": { + "position": [ + 0.062217485159635544, + 0.11367883533239365, + 0.10540536046028137 + ], + "orientation": [ + 0.1350213587284088, + -0.951618492603302, + 0.27571529150009155, + 0.013132558204233646 + ], + "joints": [ + 0.01935095712542534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09436282515525818, + -0.06354908645153046, + 0.020464425906538963 + ], + "orientation": [ + 0.09626269340515137, + 0.43333932757377625, + -0.8925018310546875, + -0.07994380593299866 + ], + "joints": [ + 0.00818023644387722 + ] + }, + "fine_grasp": { + "position": [ + 0.09525561332702637, + -0.06328058987855911, + 0.021920645609498024 + ], + "orientation": [ + 0.09452105313539505, + 0.4310172498226166, + -0.8927975296974182, + -0.09056711941957474 + ], + "joints": [ + 0.014583602547645569 + ] + }, + "final_grasp": { + "position": [ + 0.09525561332702637, + -0.06328058987855911, + 0.021920645609498024 + ], + "orientation": [ + 0.09452105313539505, + 0.4310172498226166, + -0.8927975296974182, + -0.09056711941957474 + ], + "joints": [ + 0.020986968651413918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.062467221170663834, + 0.11531050503253937, + 0.10646472871303558 + ], + "orientation": [ + 0.13202941417694092, + -0.9523919820785522, + 0.274715393781662, + -0.007015720009803772 + ], + "joints": [ + 0.009101662784814835 + ] + }, + "fine_grasp": { + "position": [ + 0.06322548538446426, + 0.11452587693929672, + 0.10517618805170059 + ], + "orientation": [ + 0.13233298063278198, + -0.9515364766120911, + 0.2772083878517151, + 0.014898544177412987 + ], + "joints": [ + 0.01393740065395832 + ] + }, + "final_grasp": { + "position": [ + 0.06322548538446426, + 0.11452587693929672, + 0.10517618805170059 + ], + "orientation": [ + 0.13233298063278198, + -0.9515364766120911, + 0.2772083878517151, + 0.014898544177412987 + ], + "joints": [ + 0.018773138523101807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10592770576477051, + -0.038360778242349625, + 0.09814947098493576 + ], + "orientation": [ + 0.8434320688247681, + -0.17868919670581818, + 0.01572319120168686, + -0.5064042210578918 + ], + "joints": [ + 0.009677700698375702 + ] + }, + "fine_grasp": { + "position": [ + -0.10546611249446869, + -0.03758471831679344, + 0.09876661002635956 + ], + "orientation": [ + 0.8449535965919495, + -0.16979177296161652, + 0.013646825216710567, + -0.506989061832428 + ], + "joints": [ + 0.015044840052723885 + ] + }, + "final_grasp": { + "position": [ + -0.10546611249446869, + -0.03758471831679344, + 0.09876661002635956 + ], + "orientation": [ + 0.8449535965919495, + -0.16979177296161652, + 0.013646825216710567, + -0.506989061832428 + ], + "joints": [ + 0.020411979407072067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032268963754177094, + 0.13005401194095612, + 0.024432692676782608 + ], + "orientation": [ + 0.1375928372144699, + 0.07584825903177261, + -0.1225992888212204, + -0.9799412488937378 + ], + "joints": [ + 0.007860178127884865 + ] + }, + "fine_grasp": { + "position": [ + -0.03256697580218315, + 0.12952618300914764, + 0.02490791492164135 + ], + "orientation": [ + 0.13973122835159302, + 0.1041119173169136, + -0.11719396710395813, + -0.9777020812034607 + ], + "joints": [ + 0.01269591599702835 + ] + }, + "final_grasp": { + "position": [ + -0.03256697580218315, + 0.12952618300914764, + 0.02490791492164135 + ], + "orientation": [ + 0.13973122835159302, + 0.1041119173169136, + -0.11719396710395813, + -0.9777020812034607 + ], + "joints": [ + 0.017531653866171837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.102265365421772, + -0.052611641585826874, + 0.07604960352182388 + ], + "orientation": [ + 0.87506103515625, + -0.11695126444101334, + -0.019195016473531723, + -0.4692784547805786 + ], + "joints": [ + 0.00896385870873928 + ] + }, + "fine_grasp": { + "position": [ + -0.10350852459669113, + -0.05358259752392769, + 0.07613905519247055 + ], + "orientation": [ + 0.8753311634063721, + -0.11230121552944183, + -0.019065484404563904, + -0.4699150323867798 + ], + "joints": [ + 0.014809254556894302 + ] + }, + "final_grasp": { + "position": [ + -0.10350852459669113, + -0.05358259752392769, + 0.07613905519247055 + ], + "orientation": [ + 0.8753311634063721, + -0.11230121552944183, + -0.019065484404563904, + -0.4699150323867798 + ], + "joints": [ + 0.020654650405049324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05266636982560158, + -0.08798683434724808, + 0.09693171083927155 + ], + "orientation": [ + 0.03565409779548645, + -0.23072798550128937, + -0.9612327218055725, + 0.14671441912651062 + ], + "joints": [ + 0.008786562830209732 + ] + }, + "fine_grasp": { + "position": [ + -0.05321468040347099, + -0.08941005170345306, + 0.09792135655879974 + ], + "orientation": [ + 0.061101969331502914, + -0.2290179580450058, + -0.9602559804916382, + 0.14739613234996796 + ], + "joints": [ + 0.013595730066299438 + ] + }, + "final_grasp": { + "position": [ + -0.05321468040347099, + -0.08941005170345306, + 0.09792135655879974 + ], + "orientation": [ + 0.061101969331502914, + -0.2290179580450058, + -0.9602559804916382, + 0.14739613234996796 + ], + "joints": [ + 0.018404897302389145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10610190778970718, + -0.04884093254804611, + 0.07755502313375473 + ], + "orientation": [ + 0.8659276962280273, + -0.11484353244304657, + -0.02141750231385231, + -0.486334890127182 + ], + "joints": [ + 0.009051388129591942 + ] + }, + "fine_grasp": { + "position": [ + -0.10643807798624039, + -0.04926005378365517, + 0.07704535871744156 + ], + "orientation": [ + 0.8651162981987, + -0.11783234775066376, + -0.01701626367866993, + -0.48723676800727844 + ], + "joints": [ + 0.014923354610800743 + ] + }, + "final_grasp": { + "position": [ + -0.10643807798624039, + -0.04926005378365517, + 0.07704535871744156 + ], + "orientation": [ + 0.8651162981987, + -0.11783234775066376, + -0.01701626367866993, + -0.48723676800727844 + ], + "joints": [ + 0.020795321092009544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10559286922216415, + -0.03824165090918541, + 0.09804563224315643 + ], + "orientation": [ + 0.8430556654930115, + -0.18175466358661652, + 0.01774679683148861, + -0.505872905254364 + ], + "joints": [ + 0.009668733924627304 + ] + }, + "fine_grasp": { + "position": [ + -0.10511544346809387, + -0.03749393671751022, + 0.09859421849250793 + ], + "orientation": [ + 0.8444461226463318, + -0.17360073328018188, + 0.015988005325198174, + -0.5064759254455566 + ], + "joints": [ + 0.015035873278975487 + ] + }, + "final_grasp": { + "position": [ + -0.10511544346809387, + -0.03749393671751022, + 0.09859421849250793 + ], + "orientation": [ + 0.8444461226463318, + -0.17360073328018188, + 0.015988005325198174, + -0.5064759254455566 + ], + "joints": [ + 0.02040301263332367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032778698951005936, + 0.12949232757091522, + 0.024069562554359436 + ], + "orientation": [ + 0.13943897187709808, + 0.07023337483406067, + -0.12489841878414154, + -0.9798083901405334 + ], + "joints": [ + 0.007898511365056038 + ] + }, + "fine_grasp": { + "position": [ + -0.03310617804527283, + 0.12908697128295898, + 0.024379875510931015 + ], + "orientation": [ + 0.14116328954696655, + 0.09601074457168579, + -0.12039756774902344, + -0.977936327457428 + ], + "joints": [ + 0.012734249234199524 + ] + }, + "final_grasp": { + "position": [ + -0.03310617804527283, + 0.12908697128295898, + 0.024379875510931015 + ], + "orientation": [ + 0.14116328954696655, + 0.09601074457168579, + -0.12039756774902344, + -0.977936327457428 + ], + "joints": [ + 0.01756998710334301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053834039717912674, + 0.11785295605659485, + 0.020381847396492958 + ], + "orientation": [ + 0.23017214238643646, + 0.036953967064619064, + -0.15953369438648224, + -0.9592727422714233 + ], + "joints": [ + 0.008890222758054733 + ] + }, + "fine_grasp": { + "position": [ + -0.05400470271706581, + 0.11788637936115265, + 0.02041473053395748 + ], + "orientation": [ + 0.22988846898078918, + 0.05628512054681778, + -0.15559308230876923, + -0.9590485692024231 + ], + "joints": [ + 0.01372596062719822 + ] + }, + "final_grasp": { + "position": [ + -0.05400470271706581, + 0.11788637936115265, + 0.02041473053395748 + ], + "orientation": [ + 0.22988846898078918, + 0.05628512054681778, + -0.15559308230876923, + -0.9590485692024231 + ], + "joints": [ + 0.018561698496341705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051347844302654266, + 0.1250845491886139, + 0.083567775785923 + ], + "orientation": [ + 0.21337929368019104, + -0.0168418250977993, + 0.08309497684240341, + -0.9732834696769714 + ], + "joints": [ + 0.008815474808216095 + ] + }, + "fine_grasp": { + "position": [ + -0.05145220458507538, + 0.12593229115009308, + 0.08384370058774948 + ], + "orientation": [ + 0.2169184684753418, + -0.0012988586677238345, + 0.08907441049814224, + -0.9721164703369141 + ], + "joints": [ + 0.014687441289424896 + ] + }, + "final_grasp": { + "position": [ + -0.05145220458507538, + 0.12593229115009308, + 0.08384370058774948 + ], + "orientation": [ + 0.2169184684753418, + -0.0012988586677238345, + 0.08907441049814224, + -0.9721164703369141 + ], + "joints": [ + 0.020559407770633698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040765181183815, + -0.08938045799732208, + 0.12021876871585846 + ], + "orientation": [ + 0.956862211227417, + -0.20617476105690002, + -0.07316778600215912, + 0.19118885695934296 + ], + "joints": [ + 0.009139904752373695 + ] + }, + "fine_grasp": { + "position": [ + 0.04017818346619606, + -0.08874834328889847, + 0.11925462633371353 + ], + "orientation": [ + 0.956185519695282, + -0.1962570995092392, + -0.09927164763212204, + 0.19322943687438965 + ], + "joints": [ + 0.01402878575026989 + ] + }, + "final_grasp": { + "position": [ + 0.04017818346619606, + -0.08874834328889847, + 0.11925462633371353 + ], + "orientation": [ + 0.956185519695282, + -0.1962570995092392, + -0.09927164763212204, + 0.19322943687438965 + ], + "joints": [ + 0.018917666748166084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05209016054868698, + 0.12490081042051315, + 0.08365371823310852 + ], + "orientation": [ + 0.2165100872516632, + -0.015361504629254341, + 0.08283855020999908, + -0.9726382493972778 + ], + "joints": [ + 0.00870140828192234 + ] + }, + "fine_grasp": { + "position": [ + -0.05212048813700676, + 0.12556281685829163, + 0.0839097648859024 + ], + "orientation": [ + 0.21953687071800232, + 0.0005641494644805789, + 0.08919106423854828, + -0.9715184569358826 + ], + "joints": [ + 0.014573374763131142 + ] + }, + "final_grasp": { + "position": [ + -0.05212048813700676, + 0.12556281685829163, + 0.0839097648859024 + ], + "orientation": [ + 0.21953687071800232, + 0.0005641494644805789, + 0.08919106423854828, + -0.9715184569358826 + ], + "joints": [ + 0.020445341244339943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05052947252988815, + 0.1269228756427765, + 0.09734959900379181 + ], + "orientation": [ + 0.21679049730300903, + -0.10439711809158325, + -0.05706730857491493, + 0.9689408540725708 + ], + "joints": [ + 0.008320977911353111 + ] + }, + "fine_grasp": { + "position": [ + 0.050844933837652206, + 0.12698043882846832, + 0.09802954643964767 + ], + "orientation": [ + 0.21372929215431213, + -0.1299377977848053, + -0.051239289343357086, + 0.9668560028076172 + ], + "joints": [ + 0.01265188679099083 + ] + }, + "final_grasp": { + "position": [ + 0.050844933837652206, + 0.12698043882846832, + 0.09802954643964767 + ], + "orientation": [ + 0.21372929215431213, + -0.1299377977848053, + -0.051239289343357086, + 0.9668560028076172 + ], + "joints": [ + 0.016982795670628548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11103294044733047, + -0.034764666110277176, + 0.035907696932554245 + ], + "orientation": [ + 0.07306504994630814, + 0.5479527711868286, + -0.8311169147491455, + -0.060446906834840775 + ], + "joints": [ + 0.008749961853027344 + ] + }, + "fine_grasp": { + "position": [ + 0.11031821370124817, + -0.0340154729783535, + 0.03579869121313095 + ], + "orientation": [ + 0.04958058148622513, + 0.5496649146080017, + -0.8309528231620789, + -0.07019723206758499 + ], + "joints": [ + 0.013638840988278389 + ] + }, + "final_grasp": { + "position": [ + 0.11031821370124817, + -0.0340154729783535, + 0.03579869121313095 + ], + "orientation": [ + 0.04958058148622513, + 0.5496649146080017, + -0.8309528231620789, + -0.07019723206758499 + ], + "joints": [ + 0.018527720123529434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05148421972990036, + 0.12550802528858185, + 0.08627095818519592 + ], + "orientation": [ + 0.21379494667053223, + -0.014164749532938004, + 0.08343524485826492, + -0.9732058048248291 + ], + "joints": [ + 0.008739454671740532 + ] + }, + "fine_grasp": { + "position": [ + -0.05163797363638878, + 0.12638252973556519, + 0.08679525554180145 + ], + "orientation": [ + 0.21766263246536255, + 0.0006016555707901716, + 0.08742094039916992, + -0.9721009135246277 + ], + "joints": [ + 0.014611421152949333 + ] + }, + "final_grasp": { + "position": [ + -0.05163797363638878, + 0.12638252973556519, + 0.08679525554180145 + ], + "orientation": [ + 0.21766263246536255, + 0.0006016555707901716, + 0.08742094039916992, + -0.9721009135246277 + ], + "joints": [ + 0.020483387634158134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050137631595134735, + 0.12688638269901276, + 0.09613781422376633 + ], + "orientation": [ + 0.21518659591674805, + -0.09252291917800903, + -0.06360162794589996, + 0.970097541809082 + ], + "joints": [ + 0.008411301299929619 + ] + }, + "fine_grasp": { + "position": [ + 0.050500430166721344, + 0.12665322422981262, + 0.09654668718576431 + ], + "orientation": [ + 0.21217268705368042, + -0.11012674123048782, + -0.05976990610361099, + 0.9691658616065979 + ], + "joints": [ + 0.013273609802126884 + ] + }, + "final_grasp": { + "position": [ + 0.050500430166721344, + 0.12665322422981262, + 0.09654668718576431 + ], + "orientation": [ + 0.21217268705368042, + -0.11012674123048782, + -0.05976990610361099, + 0.9691658616065979 + ], + "joints": [ + 0.01813591830432415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09453541785478592, + -0.05500667914748192, + 0.03036954626441002 + ], + "orientation": [ + 0.09808824211359024, + 0.45470407605171204, + 0.8834477066993713, + 0.05606383830308914 + ], + "joints": [ + 0.008845712058246136 + ] + }, + "fine_grasp": { + "position": [ + -0.09545452892780304, + -0.05646498128771782, + 0.030467774718999863 + ], + "orientation": [ + 0.10941263288259506, + 0.45600175857543945, + 0.8812903165817261, + 0.0584699772298336 + ], + "joints": [ + 0.014691107906401157 + ] + }, + "final_grasp": { + "position": [ + -0.09545452892780304, + -0.05646498128771782, + 0.030467774718999863 + ], + "orientation": [ + 0.10941263288259506, + 0.45600175857543945, + 0.8812903165817261, + 0.0584699772298336 + ], + "joints": [ + 0.020536504685878754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10587337613105774, + -0.03033624403178692, + 0.09937829524278641 + ], + "orientation": [ + 0.036165665835142136, + -0.5316954255104065, + -0.8214283585548401, + 0.2030942291021347 + ], + "joints": [ + 0.009008962661027908 + ] + }, + "fine_grasp": { + "position": [ + -0.10576444864273071, + -0.02993881329894066, + 0.09883417934179306 + ], + "orientation": [ + 0.03817020729184151, + -0.5306705236434937, + -0.821418821811676, + 0.20543372631072998 + ], + "joints": [ + 0.014376101084053516 + ] + }, + "final_grasp": { + "position": [ + -0.10576444864273071, + -0.02993881329894066, + 0.09883417934179306 + ], + "orientation": [ + 0.03817020729184151, + -0.5306705236434937, + -0.821418821811676, + 0.20543372631072998 + ], + "joints": [ + 0.019743239507079124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05172035098075867, + 0.1258293092250824, + 0.08521468192338943 + ], + "orientation": [ + 0.21451278030872345, + -0.014462677761912346, + 0.07629509270191193, + -0.9736294150352478 + ], + "joints": [ + 0.008748514577746391 + ] + }, + "fine_grasp": { + "position": [ + -0.051839184015989304, + 0.12659110128879547, + 0.08575587719678879 + ], + "orientation": [ + 0.21713027358055115, + 0.0008808222482912242, + 0.08020783960819244, + -0.9728414416313171 + ], + "joints": [ + 0.014620481058955193 + ] + }, + "final_grasp": { + "position": [ + -0.051839184015989304, + 0.12659110128879547, + 0.08575587719678879 + ], + "orientation": [ + 0.21713027358055115, + 0.0008808222482912242, + 0.08020783960819244, + -0.9728414416313171 + ], + "joints": [ + 0.020492447540163994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10709602385759354, + -0.04614811763167381, + 0.05949593335390091 + ], + "orientation": [ + 0.8606902360916138, + -0.04766019806265831, + -0.064085952937603, + -0.502825915813446 + ], + "joints": [ + 0.009127393364906311 + ] + }, + "fine_grasp": { + "position": [ + -0.10883784294128418, + -0.04750645533204079, + 0.05855618044734001 + ], + "orientation": [ + 0.8592821955680847, + -0.046207670122385025, + -0.060060013085603714, + -0.5058574080467224 + ], + "joints": [ + 0.014946218580007553 + ] + }, + "final_grasp": { + "position": [ + -0.10883784294128418, + -0.04750645533204079, + 0.05855618044734001 + ], + "orientation": [ + 0.8592821955680847, + -0.046207670122385025, + -0.060060013085603714, + -0.5058574080467224 + ], + "joints": [ + 0.020765043795108795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10313858836889267, + -0.02850135788321495, + 0.11740084737539291 + ], + "orientation": [ + 0.8150700926780701, + -0.2140895575284958, + -0.07714443653821945, + 0.5327994227409363 + ], + "joints": [ + 0.009005624800920486 + ] + }, + "fine_grasp": { + "position": [ + 0.10241769999265671, + -0.02853558026254177, + 0.11753296107053757 + ], + "orientation": [ + 0.8135901689529419, + -0.21259628236293793, + -0.07549865543842316, + 0.5358861684799194 + ], + "joints": [ + 0.015435565263032913 + ] + }, + "final_grasp": { + "position": [ + 0.10241769999265671, + -0.02853558026254177, + 0.11753296107053757 + ], + "orientation": [ + 0.8135901689529419, + -0.21259628236293793, + -0.07549865543842316, + 0.5358861684799194 + ], + "joints": [ + 0.02186550572514534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10579578578472137, + 0.06985599547624588, + 0.028022363781929016 + ], + "orientation": [ + 0.5018475651741028, + -0.013193433173000813, + -0.12628477811813354, + -0.8555858731269836 + ], + "joints": [ + 0.00888766348361969 + ] + }, + "fine_grasp": { + "position": [ + -0.10600566118955612, + 0.06953062862157822, + 0.02890976332128048 + ], + "orientation": [ + 0.5000191926956177, + -0.009303420782089233, + -0.13162699341773987, + -0.8559021949768066 + ], + "joints": [ + 0.014733059331774712 + ] + }, + "final_grasp": { + "position": [ + -0.10600566118955612, + 0.06953062862157822, + 0.02890976332128048 + ], + "orientation": [ + 0.5000191926956177, + -0.009303420782089233, + -0.13162699341773987, + -0.8559021949768066 + ], + "joints": [ + 0.020578455179929733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11717470735311508, + -0.014940575696527958, + 0.08940526098012924 + ], + "orientation": [ + 0.7840134501457214, + -0.14984248578548431, + 0.006567021366208792, + 0.6023512482643127 + ], + "joints": [ + 0.008529266342520714 + ] + }, + "fine_grasp": { + "position": [ + 0.11750802397727966, + -0.01499434094876051, + 0.0895448699593544 + ], + "orientation": [ + 0.7826535105705261, + -0.16532617807388306, + 0.025082025676965714, + 0.5995762348175049 + ], + "joints": [ + 0.013896403834223747 + ] + }, + "final_grasp": { + "position": [ + 0.11750802397727966, + -0.01499434094876051, + 0.0895448699593544 + ], + "orientation": [ + 0.7826535105705261, + -0.16532617807388306, + 0.025082025676965714, + 0.5995762348175049 + ], + "joints": [ + 0.01926354132592678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10153114795684814, + -0.0420275516808033, + 0.10077808797359467 + ], + "orientation": [ + 0.850951075553894, + -0.19653205573558807, + 0.02900112420320511, + -0.4862267076969147 + ], + "joints": [ + 0.009288416244089603 + ] + }, + "fine_grasp": { + "position": [ + -0.10162512958049774, + -0.04166717454791069, + 0.09959741681814194 + ], + "orientation": [ + 0.8493771553039551, + -0.2051803320646286, + 0.03273157402873039, + -0.4851682782173157 + ], + "joints": [ + 0.01516038365662098 + ] + }, + "final_grasp": { + "position": [ + -0.10162512958049774, + -0.04166717454791069, + 0.09959741681814194 + ], + "orientation": [ + 0.8493771553039551, + -0.2051803320646286, + 0.03273157402873039, + -0.4851682782173157 + ], + "joints": [ + 0.02103235200047493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10112524777650833, + 0.07922598719596863, + 0.048422861844301224 + ], + "orientation": [ + 0.01453938614577055, + 0.8802852630615234, + -0.472908079624176, + 0.03527684137225151 + ], + "joints": [ + 0.008441193029284477 + ] + }, + "fine_grasp": { + "position": [ + 0.10201234370470047, + 0.08014621585607529, + 0.04898105934262276 + ], + "orientation": [ + 0.02933858521282673, + 0.8786383271217346, + -0.47504687309265137, + 0.03826643154025078 + ], + "joints": [ + 0.014313159510493279 + ] + }, + "final_grasp": { + "position": [ + 0.10201234370470047, + 0.08014621585607529, + 0.04898105934262276 + ], + "orientation": [ + 0.02933858521282673, + 0.8786383271217346, + -0.47504687309265137, + 0.03826643154025078 + ], + "joints": [ + 0.02018512599170208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038485459983348846, + 0.12665078043937683, + 0.02604694664478302 + ], + "orientation": [ + 0.15885019302368164, + -0.02268458530306816, + 0.1454203724861145, + 0.9762709140777588 + ], + "joints": [ + 0.008958988822996616 + ] + }, + "fine_grasp": { + "position": [ + 0.038258593529462814, + 0.12720319628715515, + 0.02618916891515255 + ], + "orientation": [ + 0.157612144947052, + -0.04578038677573204, + 0.14871981739997864, + 0.9751640558242798 + ], + "joints": [ + 0.01429955568164587 + ] + }, + "final_grasp": { + "position": [ + 0.038258593529462814, + 0.12720319628715515, + 0.02618916891515255 + ], + "orientation": [ + 0.157612144947052, + -0.04578038677573204, + 0.14871981739997864, + 0.9751640558242798 + ], + "joints": [ + 0.01964012160897255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10623645037412643, + 0.06935261189937592, + 0.02803170308470726 + ], + "orientation": [ + 0.5041369199752808, + -0.012571515515446663, + -0.1276128590106964, + -0.854050874710083 + ], + "joints": [ + 0.008811568841338158 + ] + }, + "fine_grasp": { + "position": [ + -0.10622114688158035, + 0.06892585754394531, + 0.029036739841103554 + ], + "orientation": [ + 0.5022405982017517, + -0.0080207334831357, + -0.1335562765598297, + -0.8543143272399902 + ], + "joints": [ + 0.014683535322546959 + ] + }, + "final_grasp": { + "position": [ + -0.10622114688158035, + 0.06892585754394531, + 0.029036739841103554 + ], + "orientation": [ + 0.5022405982017517, + -0.0080207334831357, + -0.1335562765598297, + -0.8543143272399902 + ], + "joints": [ + 0.02055550180375576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10999597609043121, + -0.034103915095329285, + 0.08616285026073456 + ], + "orientation": [ + 0.00041987988515757024, + 0.5337554216384888, + 0.8314329385757446, + -0.15435074269771576 + ], + "joints": [ + 0.008980892598628998 + ] + }, + "fine_grasp": { + "position": [ + -0.11070854961872101, + -0.03389939293265343, + 0.08699867874383926 + ], + "orientation": [ + 0.0002986100153066218, + 0.533685564994812, + 0.8330841660499573, + -0.14543211460113525 + ], + "joints": [ + 0.014852859079837799 + ] + }, + "final_grasp": { + "position": [ + -0.11070854961872101, + -0.03389939293265343, + 0.08699867874383926 + ], + "orientation": [ + 0.0002986100153066218, + 0.533685564994812, + 0.8330841660499573, + -0.14543211460113525 + ], + "joints": [ + 0.0207248255610466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11920507997274399, + -0.01108446717262268, + 0.055972762405872345 + ], + "orientation": [ + 0.7759748101234436, + -0.0014779188204556704, + -0.0476725772023201, + -0.628957986831665 + ], + "joints": [ + 0.008843375369906425 + ] + }, + "fine_grasp": { + "position": [ + -0.12090174853801727, + -0.011931234039366245, + 0.05569210648536682 + ], + "orientation": [ + 0.7766327857971191, + 0.016980523243546486, + -0.0293598435819149, + -0.6290398836135864 + ], + "joints": [ + 0.013652542605996132 + ] + }, + "final_grasp": { + "position": [ + -0.12090174853801727, + -0.011931234039366245, + 0.05569210648536682 + ], + "orientation": [ + 0.7766327857971191, + 0.016980523243546486, + -0.0293598435819149, + -0.6290398836135864 + ], + "joints": [ + 0.01846170984208584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046079181134700775, + -0.08766231685876846, + 0.11436331272125244 + ], + "orientation": [ + 0.9570210576057434, + -0.20445141196250916, + 0.04466118663549423, + -0.20078767836093903 + ], + "joints": [ + 0.009353270754218102 + ] + }, + "fine_grasp": { + "position": [ + -0.04579774662852287, + -0.08697734773159027, + 0.1144280806183815 + ], + "orientation": [ + 0.9559661149978638, + -0.20332522690296173, + 0.06435384601354599, + -0.20160913467407227 + ], + "joints": [ + 0.01368417963385582 + ] + }, + "final_grasp": { + "position": [ + -0.04579774662852287, + -0.08697734773159027, + 0.1144280806183815 + ], + "orientation": [ + 0.9559661149978638, + -0.20332522690296173, + 0.06435384601354599, + -0.20160913467407227 + ], + "joints": [ + 0.018015088513493538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04614068940281868, + -0.0876036137342453, + 0.11402730643749237 + ], + "orientation": [ + 0.9568638801574707, + -0.2056126594543457, + 0.042699117213487625, + -0.2007778286933899 + ], + "joints": [ + 0.009427463635802269 + ] + }, + "fine_grasp": { + "position": [ + -0.045803215354681015, + -0.08692001551389694, + 0.11398355662822723 + ], + "orientation": [ + 0.9559758305549622, + -0.20381487905979156, + 0.06371397525072098, + -0.20127195119857788 + ], + "joints": [ + 0.013731801882386208 + ] + }, + "final_grasp": { + "position": [ + -0.045803215354681015, + -0.08692001551389694, + 0.11398355662822723 + ], + "orientation": [ + 0.9559758305549622, + -0.20381487905979156, + 0.06371397525072098, + -0.20127195119857788 + ], + "joints": [ + 0.018036140128970146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09615333378314972, + 0.06803818792104721, + 0.1343342512845993 + ], + "orientation": [ + 0.15448637306690216, + -0.8133137822151184, + -0.5150938630104065, + 0.22211025655269623 + ], + "joints": [ + 0.008008718490600586 + ] + }, + "fine_grasp": { + "position": [ + -0.09606239944696426, + 0.06843167543411255, + 0.13222971558570862 + ], + "orientation": [ + 0.1427842229604721, + -0.809970498085022, + -0.515437662601471, + 0.24059191346168518 + ], + "joints": [ + 0.013907255604863167 + ] + }, + "final_grasp": { + "position": [ + -0.09606239944696426, + 0.06843167543411255, + 0.13222971558570862 + ], + "orientation": [ + 0.1427842229604721, + -0.809970498085022, + -0.515437662601471, + 0.24059191346168518 + ], + "joints": [ + 0.019805792719125748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09255062788724899, + 0.07951303571462631, + 0.12884868681430817 + ], + "orientation": [ + 0.4775174558162689, + -0.20774725079536438, + -0.10426356643438339, + 0.8473176956176758 + ], + "joints": [ + 0.00791708193719387 + ] + }, + "fine_grasp": { + "position": [ + 0.09259090572595596, + 0.08019504696130753, + 0.1296301931142807 + ], + "orientation": [ + 0.47461581230163574, + -0.23496012389659882, + -0.09198781847953796, + 0.8432506918907166 + ], + "joints": [ + 0.012247990816831589 + ] + }, + "final_grasp": { + "position": [ + 0.09259090572595596, + 0.08019504696130753, + 0.1296301931142807 + ], + "orientation": [ + 0.47461581230163574, + -0.23496012389659882, + -0.09198781847953796, + 0.8432506918907166 + ], + "joints": [ + 0.016578899696469307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10181121528148651, + -0.025923145934939384, + 0.11420333385467529 + ], + "orientation": [ + 0.8102561831474304, + -0.23983675241470337, + 0.07220766693353653, + -0.5298580527305603 + ], + "joints": [ + 0.009657802060246468 + ] + }, + "fine_grasp": { + "position": [ + -0.1013055145740509, + -0.024372821673750877, + 0.11470939218997955 + ], + "orientation": [ + 0.8105528354644775, + -0.2339697778224945, + 0.06076749041676521, + -0.533450722694397 + ], + "joints": [ + 0.01499837078154087 + ] + }, + "final_grasp": { + "position": [ + -0.1013055145740509, + -0.024372821673750877, + 0.11470939218997955 + ], + "orientation": [ + 0.8105528354644775, + -0.2339697778224945, + 0.06076749041676521, + -0.533450722694397 + ], + "joints": [ + 0.020338939502835274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11670355498790741, + 0.047441933304071426, + 0.07650038599967957 + ], + "orientation": [ + 0.600744903087616, + -0.07666781544685364, + 0.03981589153409004, + -0.7947593927383423 + ], + "joints": [ + 0.008731313049793243 + ] + }, + "fine_grasp": { + "position": [ + -0.11760970950126648, + 0.04659367725253105, + 0.07693000137805939 + ], + "orientation": [ + 0.6032554507255554, + -0.05597022548317909, + 0.05786232650279999, + -0.7934747338294983 + ], + "joints": [ + 0.01354048028588295 + ] + }, + "final_grasp": { + "position": [ + -0.11760970950126648, + 0.04659367725253105, + 0.07693000137805939 + ], + "orientation": [ + 0.6032554507255554, + -0.05597022548317909, + 0.05786232650279999, + -0.7934747338294983 + ], + "joints": [ + 0.018349647521972656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11583518236875534, + 0.05091484263539314, + 0.10277898609638214 + ], + "orientation": [ + 0.5944975018501282, + -0.09438170492649078, + 0.08382836729288101, + -0.7941269874572754 + ], + "joints": [ + 0.008598292246460915 + ] + }, + "fine_grasp": { + "position": [ + -0.11570879071950912, + 0.05038594827055931, + 0.10292613506317139 + ], + "orientation": [ + 0.5955204963684082, + -0.0770198330283165, + 0.0954180434346199, + -0.7939261198043823 + ], + "joints": [ + 0.012929201126098633 + ] + }, + "final_grasp": { + "position": [ + -0.11570879071950912, + 0.05038594827055931, + 0.10292613506317139 + ], + "orientation": [ + 0.5955204963684082, + -0.0770198330283165, + 0.0954180434346199, + -0.7939261198043823 + ], + "joints": [ + 0.01726011000573635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008521382696926594, + -0.10678023099899292, + 0.08371753990650177 + ], + "orientation": [ + 0.9950955510139465, + -0.07490810006856918, + -0.05904247984290123, + -0.026223838329315186 + ], + "joints": [ + 0.009024238213896751 + ] + }, + "fine_grasp": { + "position": [ + -0.008195308037102222, + -0.10473359376192093, + 0.08340001851320267 + ], + "orientation": [ + 0.9924401640892029, + -0.07668084651231766, + -0.09228204190731049, + -0.02581748366355896 + ], + "joints": [ + 0.013434862717986107 + ] + }, + "final_grasp": { + "position": [ + -0.008195308037102222, + -0.10473359376192093, + 0.08340001851320267 + ], + "orientation": [ + 0.9924401640892029, + -0.07668084651231766, + -0.09228204190731049, + -0.02581748366355896 + ], + "joints": [ + 0.017845487222075462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10681187361478806, + -0.04601994529366493, + 0.059257034212350845 + ], + "orientation": [ + 0.8604495525360107, + -0.05053214728832245, + -0.06453845649957657, + -0.5028994679450989 + ], + "joints": [ + 0.009171348065137863 + ] + }, + "fine_grasp": { + "position": [ + -0.10893382877111435, + -0.047757260501384735, + 0.05785537511110306 + ], + "orientation": [ + 0.8588663935661316, + -0.051474183797836304, + -0.05697547644376755, + -0.5064117312431335 + ], + "joints": [ + 0.014485344290733337 + ] + }, + "final_grasp": { + "position": [ + -0.10893382877111435, + -0.047757260501384735, + 0.05785537511110306 + ], + "orientation": [ + 0.8588663935661316, + -0.051474183797836304, + -0.05697547644376755, + -0.5064117312431335 + ], + "joints": [ + 0.01979934051632881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03579920530319214, + -0.09483689069747925, + 0.10496170073747635 + ], + "orientation": [ + 0.9691880345344543, + -0.17990738153457642, + -0.04497312009334564, + 0.16212743520736694 + ], + "joints": [ + 0.009122055023908615 + ] + }, + "fine_grasp": { + "position": [ + 0.03468160703778267, + -0.09355589002370834, + 0.10434266179800034 + ], + "orientation": [ + 0.9675772190093994, + -0.1747540533542633, + -0.07947105169296265, + 0.16413332521915436 + ], + "joints": [ + 0.014515765011310577 + ] + }, + "final_grasp": { + "position": [ + 0.03468160703778267, + -0.09355589002370834, + 0.10434266179800034 + ], + "orientation": [ + 0.9675772190093994, + -0.1747540533542633, + -0.07947105169296265, + 0.16413332521915436 + ], + "joints": [ + 0.01990947499871254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10319822281599045, + 0.07596417516469955, + 0.048348646610975266 + ], + "orientation": [ + 0.4864143133163452, + -0.03757430613040924, + 0.015748711302876472, + 0.8727778792381287 + ], + "joints": [ + 0.008750131353735924 + ] + }, + "fine_grasp": { + "position": [ + 0.10410994291305542, + 0.07692673057317734, + 0.04955946281552315 + ], + "orientation": [ + 0.4889536201953888, + -0.03795899823307991, + 0.031279563903808594, + 0.8709219098091125 + ], + "joints": [ + 0.014595527201890945 + ] + }, + "final_grasp": { + "position": [ + 0.10410994291305542, + 0.07692673057317734, + 0.04955946281552315 + ], + "orientation": [ + 0.4889536201953888, + -0.03795899823307991, + 0.031279563903808594, + 0.8709219098091125 + ], + "joints": [ + 0.020440923050045967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11517487466335297, + 0.05096852034330368, + 0.1015424132347107 + ], + "orientation": [ + 0.5919932723045349, + -0.09862836450338364, + 0.08893799781799316, + -0.7949254512786865 + ], + "joints": [ + 0.008777610957622528 + ] + }, + "fine_grasp": { + "position": [ + -0.11475086212158203, + 0.05069819465279579, + 0.10163594037294388 + ], + "orientation": [ + 0.5929048657417297, + -0.0834963247179985, + 0.09858404844999313, + -0.7948418259620667 + ], + "joints": [ + 0.013108519837260246 + ] + }, + "final_grasp": { + "position": [ + -0.11475086212158203, + 0.05069819465279579, + 0.10163594037294388 + ], + "orientation": [ + 0.5929048657417297, + -0.0834963247179985, + 0.09858404844999313, + -0.7948418259620667 + ], + "joints": [ + 0.017439428716897964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04712115600705147, + 0.11045752465724945, + -0.00564685370773077 + ], + "orientation": [ + 0.2566128075122833, + 0.9441280961036682, + -0.2067936360836029, + 0.0028957261238247156 + ], + "joints": [ + 0.008886605501174927 + ] + }, + "fine_grasp": { + "position": [ + 0.04708979278802872, + 0.10997877269983292, + -0.00573448371142149 + ], + "orientation": [ + 0.2601037919521332, + 0.9428477883338928, + -0.20778849720954895, + 0.014417923986911774 + ], + "joints": [ + 0.01425374299287796 + ] + }, + "final_grasp": { + "position": [ + 0.04708979278802872, + 0.10997877269983292, + -0.00573448371142149 + ], + "orientation": [ + 0.2601037919521332, + 0.9428477883338928, + -0.20778849720954895, + 0.014417923986911774 + ], + "joints": [ + 0.019620880484580994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04393736645579338, + -0.09177681803703308, + 0.11879827082157135 + ], + "orientation": [ + 0.967258870601654, + -0.16282585263252258, + 0.05232647806406021, + -0.1875097155570984 + ], + "joints": [ + 0.009273545816540718 + ] + }, + "fine_grasp": { + "position": [ + -0.04341310262680054, + -0.09155717492103577, + 0.11871381849050522 + ], + "orientation": [ + 0.9661672115325928, + -0.15895965695381165, + 0.07740867137908936, + -0.18777862191200256 + ], + "joints": [ + 0.013577884063124657 + ] + }, + "final_grasp": { + "position": [ + -0.04341310262680054, + -0.09155717492103577, + 0.11871381849050522 + ], + "orientation": [ + 0.9661672115325928, + -0.15895965695381165, + 0.07740867137908936, + -0.18777862191200256 + ], + "joints": [ + 0.017882222309708595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02553701214492321, + -0.10197251290082932, + 0.09034392237663269 + ], + "orientation": [ + 0.9851959943771362, + -0.12240660190582275, + -0.03678702563047409, + 0.11424542218446732 + ], + "joints": [ + 0.00916309840977192 + ] + }, + "fine_grasp": { + "position": [ + 0.02508683130145073, + -0.10191341489553452, + 0.09003692120313644 + ], + "orientation": [ + 0.9837212562561035, + -0.11865955591201782, + -0.06958402693271637, + 0.11563149839639664 + ], + "joints": [ + 0.014051979407668114 + ] + }, + "final_grasp": { + "position": [ + 0.02508683130145073, + -0.10191341489553452, + 0.09003692120313644 + ], + "orientation": [ + 0.9837212562561035, + -0.11865955591201782, + -0.06958402693271637, + 0.11563149839639664 + ], + "joints": [ + 0.018940860405564308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03641752898693085, + 0.13171495497226715, + 0.06280725449323654 + ], + "orientation": [ + 0.15179377794265747, + -0.04547922685742378, + -0.005749688483774662, + 0.9873486161231995 + ], + "joints": [ + 0.009007060900330544 + ] + }, + "fine_grasp": { + "position": [ + 0.03630823269486427, + 0.13369888067245483, + 0.0632791817188263 + ], + "orientation": [ + 0.14540569484233856, + -0.07401810586452484, + -0.0034246521536260843, + 0.9865935444831848 + ], + "joints": [ + 0.014879029244184494 + ] + }, + "final_grasp": { + "position": [ + 0.03630823269486427, + 0.13369888067245483, + 0.0632791817188263 + ], + "orientation": [ + 0.14540569484233856, + -0.07401810586452484, + -0.0034246521536260843, + 0.9865935444831848 + ], + "joints": [ + 0.020750997588038445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03610038012266159, + 0.13178670406341553, + 0.06340832263231277 + ], + "orientation": [ + 0.1504915952682495, + -0.048166289925575256, + -0.00874184537678957, + 0.987398624420166 + ], + "joints": [ + 0.008917540311813354 + ] + }, + "fine_grasp": { + "position": [ + 0.035972241312265396, + 0.13364459574222565, + 0.06389618664979935 + ], + "orientation": [ + 0.14432492852210999, + -0.07526373118162155, + -0.0066670505329966545, + 0.9866414070129395 + ], + "joints": [ + 0.014789506793022156 + ] + }, + "final_grasp": { + "position": [ + 0.035972241312265396, + 0.13364459574222565, + 0.06389618664979935 + ], + "orientation": [ + 0.14432492852210999, + -0.07526373118162155, + -0.0066670505329966545, + 0.9866414070129395 + ], + "joints": [ + 0.020661473274230957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09717626869678497, + 0.060743022710084915, + -0.023106200620532036 + ], + "orientation": [ + 0.4974266290664673, + 0.11552269756793976, + -0.20975065231323242, + -0.8338020443916321 + ], + "joints": [ + 0.006092171650379896 + ] + }, + "fine_grasp": { + "position": [ + -0.09689407795667648, + 0.06036950275301933, + -0.022360701113939285 + ], + "orientation": [ + 0.49661821126937866, + 0.11981411278247833, + -0.19952380657196045, + -0.8361848592758179 + ], + "joints": [ + 0.011432738974690437 + ] + }, + "final_grasp": { + "position": [ + -0.09689407795667648, + 0.06036950275301933, + -0.022360701113939285 + ], + "orientation": [ + 0.49661821126937866, + 0.11981411278247833, + -0.19952380657196045, + -0.8361848592758179 + ], + "joints": [ + 0.01677330583333969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10293366760015488, + 0.0763348788022995, + 0.048835210502147675 + ], + "orientation": [ + 0.48513656854629517, + -0.036886878311634064, + 0.01621326059103012, + 0.8735095858573914 + ], + "joints": [ + 0.008822517469525337 + ] + }, + "fine_grasp": { + "position": [ + 0.10333506762981415, + 0.07703804969787598, + 0.04977721348404884 + ], + "orientation": [ + 0.4873313903808594, + -0.03951635956764221, + 0.028664007782936096, + 0.8718515038490295 + ], + "joints": [ + 0.014163084328174591 + ] + }, + "final_grasp": { + "position": [ + 0.10333506762981415, + 0.07703804969787598, + 0.04977721348404884 + ], + "orientation": [ + 0.4873313903808594, + -0.03951635956764221, + 0.028664007782936096, + 0.8718515038490295 + ], + "joints": [ + 0.019503651186823845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.097279854118824, + 0.06044066697359085, + -0.023512722924351692 + ], + "orientation": [ + 0.4983610510826111, + 0.11602678149938583, + -0.20828624069690704, + -0.8335412740707397 + ], + "joints": [ + 0.006190846208482981 + ] + }, + "fine_grasp": { + "position": [ + -0.09701771289110184, + 0.06014225631952286, + -0.022673195227980614 + ], + "orientation": [ + 0.4970661699771881, + 0.12107114493846893, + -0.19966016709804535, + -0.8357049226760864 + ], + "joints": [ + 0.011531413532793522 + ] + }, + "final_grasp": { + "position": [ + -0.09701771289110184, + 0.06014225631952286, + -0.022673195227980614 + ], + "orientation": [ + 0.4970661699771881, + 0.12107114493846893, + -0.19966016709804535, + -0.8357049226760864 + ], + "joints": [ + 0.01687198132276535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11076467484235764, + 0.05498391017317772, + 0.1011640876531601 + ], + "orientation": [ + 0.5734418630599976, + -0.13589416444301605, + -0.07715363055467606, + 0.8042043447494507 + ], + "joints": [ + 0.009213462471961975 + ] + }, + "fine_grasp": { + "position": [ + 0.1117096096277237, + 0.055647291243076324, + 0.10191434621810913 + ], + "orientation": [ + 0.5684797763824463, + -0.12521953880786896, + -0.08248469233512878, + 0.8089172840118408 + ], + "joints": [ + 0.015112001448869705 + ] + }, + "final_grasp": { + "position": [ + 0.1117096096277237, + 0.055647291243076324, + 0.10191434621810913 + ], + "orientation": [ + 0.5684797763824463, + -0.12521953880786896, + -0.08248469233512878, + 0.8089172840118408 + ], + "joints": [ + 0.021010540425777435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049261003732681274, + 0.12437918782234192, + 0.03484463691711426 + ], + "orientation": [ + 0.05468343570828438, + 0.9766543507575989, + -0.2077377289533615, + -0.0009634043672122061 + ], + "joints": [ + 0.009072870016098022 + ] + }, + "fine_grasp": { + "position": [ + 0.050307948142290115, + 0.12512321770191193, + 0.03427140414714813 + ], + "orientation": [ + 0.05329623445868492, + 0.9762167930603027, + -0.21004733443260193, + 0.0063555254600942135 + ], + "joints": [ + 0.01544966734945774 + ] + }, + "final_grasp": { + "position": [ + 0.050307948142290115, + 0.12512321770191193, + 0.03427140414714813 + ], + "orientation": [ + 0.05329623445868492, + 0.9762167930603027, + -0.21004733443260193, + 0.0063555254600942135 + ], + "joints": [ + 0.02182646468281746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03791828826069832, + 0.12584854662418365, + 0.02446339838206768 + ], + "orientation": [ + 0.15791945159435272, + -0.018037982285022736, + 0.14673034846782684, + 0.9763228893280029 + ], + "joints": [ + 0.008838295936584473 + ] + }, + "fine_grasp": { + "position": [ + 0.03828558325767517, + 0.12700341641902924, + 0.024365423247218132 + ], + "orientation": [ + 0.15843789279460907, + -0.03420133516192436, + 0.14828738570213318, + 0.9755709171295166 + ], + "joints": [ + 0.014205433428287506 + ] + }, + "final_grasp": { + "position": [ + 0.03828558325767517, + 0.12700341641902924, + 0.024365423247218132 + ], + "orientation": [ + 0.15843789279460907, + -0.03420133516192436, + 0.14828738570213318, + 0.9755709171295166 + ], + "joints": [ + 0.01957257091999054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1048717275261879, + 0.06996976584196091, + 0.06829275190830231 + ], + "orientation": [ + 0.049348197877407074, + -0.8552911281585693, + 0.5095179677009583, + -0.08020801097154617 + ], + "joints": [ + 0.008355576545000076 + ] + }, + "fine_grasp": { + "position": [ + 0.10543381422758102, + 0.07065488398075104, + 0.06955244392156601 + ], + "orientation": [ + 0.03458381071686745, + -0.8546462059020996, + 0.5118483304977417, + -0.07996920496225357 + ], + "joints": [ + 0.014227543026208878 + ] + }, + "final_grasp": { + "position": [ + 0.10543381422758102, + 0.07065488398075104, + 0.06955244392156601 + ], + "orientation": [ + 0.03458381071686745, + -0.8546462059020996, + 0.5118483304977417, + -0.07996920496225357 + ], + "joints": [ + 0.02009950950741768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11649289727210999, + 0.04814008250832558, + 0.07688459753990173 + ], + "orientation": [ + 0.5983101725578308, + -0.07714320719242096, + 0.042316291481256485, + -0.7964189648628235 + ], + "joints": [ + 0.008647792041301727 + ] + }, + "fine_grasp": { + "position": [ + -0.11697685718536377, + 0.04725660756230354, + 0.07722394168376923 + ], + "orientation": [ + 0.5996982455253601, + -0.055247336626052856, + 0.06092402711510658, + -0.7959886789321899 + ], + "joints": [ + 0.012952130287885666 + ] + }, + "final_grasp": { + "position": [ + -0.11697685718536377, + 0.04725660756230354, + 0.07722394168376923 + ], + "orientation": [ + 0.5996982455253601, + -0.055247336626052856, + 0.06092402711510658, + -0.7959886789321899 + ], + "joints": [ + 0.017256468534469604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02983064018189907, + 0.12849660217761993, + 0.023540295660495758 + ], + "orientation": [ + 0.15112343430519104, + 0.9803768992424011, + -0.12438898533582687, + 0.023459307849407196 + ], + "joints": [ + 0.008859412744641304 + ] + }, + "fine_grasp": { + "position": [ + 0.03168758749961853, + 0.13011200726032257, + 0.022590670734643936 + ], + "orientation": [ + 0.1537356674671173, + 0.9788326621055603, + -0.1264621764421463, + 0.04753292351961136 + ], + "joints": [ + 0.014757949858903885 + ] + }, + "final_grasp": { + "position": [ + 0.03168758749961853, + 0.13011200726032257, + 0.022590670734643936 + ], + "orientation": [ + 0.1537356674671173, + 0.9788326621055603, + -0.1264621764421463, + 0.04753292351961136 + ], + "joints": [ + 0.020656486973166466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.107728011906147, + 0.04999387264251709, + -0.009628372266888618 + ], + "orientation": [ + 0.1557050347328186, + 0.809381365776062, + 0.5555180907249451, + 0.10980582982301712 + ], + "joints": [ + 0.006141928490251303 + ] + }, + "fine_grasp": { + "position": [ + -0.11030998080968857, + 0.05147118493914604, + -0.01078751403838396 + ], + "orientation": [ + 0.13466177880764008, + 0.8088712692260742, + 0.5587023496627808, + 0.12427908182144165 + ], + "joints": [ + 0.011535637080669403 + ] + }, + "final_grasp": { + "position": [ + -0.11030998080968857, + 0.05147118493914604, + -0.01078751403838396 + ], + "orientation": [ + 0.13466177880764008, + 0.8088712692260742, + 0.5587023496627808, + 0.12427908182144165 + ], + "joints": [ + 0.016929345205426216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09851768612861633, + 0.06822989135980606, + 0.1267184466123581 + ], + "orientation": [ + 0.11561422049999237, + -0.8188819885253906, + -0.5203433632850647, + 0.21285787224769592 + ], + "joints": [ + 0.008786095306277275 + ] + }, + "fine_grasp": { + "position": [ + -0.10020202398300171, + 0.06911805272102356, + 0.12623725831508636 + ], + "orientation": [ + 0.09947064518928528, + -0.8134441375732422, + -0.5235112905502319, + 0.23313115537166595 + ], + "joints": [ + 0.013621833175420761 + ] + }, + "final_grasp": { + "position": [ + -0.10020202398300171, + 0.06911805272102356, + 0.12623725831508636 + ], + "orientation": [ + 0.09947064518928528, + -0.8134441375732422, + -0.5235112905502319, + 0.23313115537166595 + ], + "joints": [ + 0.018457571044564247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021748296916484833, + 0.135756716132164, + 0.05437595397233963 + ], + "orientation": [ + 0.08898765593767166, + -0.04084966331720352, + 0.02437352016568184, + 0.9948961734771729 + ], + "joints": [ + 0.009018393233418465 + ] + }, + "fine_grasp": { + "position": [ + 0.021721726283431053, + 0.13721251487731934, + 0.054902493953704834 + ], + "orientation": [ + 0.08452852815389633, + -0.07368525117635727, + 0.023479988798499107, + 0.9934154152870178 + ], + "joints": [ + 0.014385532587766647 + ] + }, + "final_grasp": { + "position": [ + 0.021721726283431053, + 0.13721251487731934, + 0.054902493953704834 + ], + "orientation": [ + 0.08452852815389633, + -0.07368525117635727, + 0.023479988798499107, + 0.9934154152870178 + ], + "joints": [ + 0.01975267194211483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10159623622894287, + -0.05512618646025658, + 0.039729174226522446 + ], + "orientation": [ + 0.8782209157943726, + 0.011857536621391773, + 0.055968787521123886, + 0.47482097148895264 + ], + "joints": [ + 0.008035412058234215 + ] + }, + "fine_grasp": { + "position": [ + 0.10230982303619385, + -0.054921746253967285, + 0.04070946201682091 + ], + "orientation": [ + 0.8796652555465698, + 0.012183122336864471, + 0.06136080622673035, + 0.4714610278606415 + ], + "joints": [ + 0.013933949172496796 + ] + }, + "final_grasp": { + "position": [ + 0.10230982303619385, + -0.054921746253967285, + 0.04070946201682091 + ], + "orientation": [ + 0.8796652555465698, + 0.012183122336864471, + 0.06136080622673035, + 0.4714610278606415 + ], + "joints": [ + 0.019832486286759377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04980429634451866, + -0.06844927370548248, + 0.16287654638290405 + ], + "orientation": [ + 0.12467897683382034, + -0.2591191232204437, + 0.9173392057418823, + -0.2753203809261322 + ], + "joints": [ + 0.007746733259409666 + ] + }, + "fine_grasp": { + "position": [ + 0.04983743652701378, + -0.06972463428974152, + 0.16180668771266937 + ], + "orientation": [ + 0.14428094029426575, + -0.2590264081954956, + 0.9168263077735901, + -0.26742827892303467 + ], + "joints": [ + 0.013113871216773987 + ] + }, + "final_grasp": { + "position": [ + 0.04983743652701378, + -0.06972463428974152, + 0.16180668771266937 + ], + "orientation": [ + 0.14428094029426575, + -0.2590264081954956, + 0.9168263077735901, + -0.26742827892303467 + ], + "joints": [ + 0.01848100870847702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1039593368768692, + -0.04911121353507042, + 0.04988615959882736 + ], + "orientation": [ + 0.8674637079238892, + -0.01596369594335556, + -0.07840829342603683, + -0.4910234212875366 + ], + "joints": [ + 0.009348733350634575 + ] + }, + "fine_grasp": { + "position": [ + -0.10500511527061462, + -0.050444118678569794, + 0.04800613597035408 + ], + "orientation": [ + 0.8651987910270691, + -0.021975403651595116, + -0.0717194527387619, + -0.49578648805618286 + ], + "joints": [ + 0.013599930331110954 + ] + }, + "final_grasp": { + "position": [ + -0.10500511527061462, + -0.050444118678569794, + 0.04800613597035408 + ], + "orientation": [ + 0.8651987910270691, + -0.021975403651595116, + -0.0717194527387619, + -0.49578648805618286 + ], + "joints": [ + 0.017851127311587334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1134958267211914, + 0.05666108801960945, + 0.08229324966669083 + ], + "orientation": [ + 0.023422103375196457, + -0.8127977848052979, + -0.5700365900993347, + 0.11776849627494812 + ], + "joints": [ + 0.009322652593255043 + ] + }, + "fine_grasp": { + "position": [ + -0.11274079978466034, + 0.056562699377536774, + 0.08211992681026459 + ], + "orientation": [ + 0.022783080115914345, + -0.8117572665214539, + -0.5715494155883789, + 0.11773832887411118 + ], + "joints": [ + 0.014689790084958076 + ] + }, + "final_grasp": { + "position": [ + -0.11274079978466034, + 0.056562699377536774, + 0.08211992681026459 + ], + "orientation": [ + 0.022783080115914345, + -0.8117572665214539, + -0.5715494155883789, + 0.11773832887411118 + ], + "joints": [ + 0.02005692757666111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10599052906036377, + -0.030528482049703598, + 0.09898223727941513 + ], + "orientation": [ + 0.03752650320529938, + -0.5310609340667725, + -0.8208111524581909, + 0.2069668024778366 + ], + "joints": [ + 0.009116148576140404 + ] + }, + "fine_grasp": { + "position": [ + -0.1058645024895668, + -0.030100170522928238, + 0.09894152730703354 + ], + "orientation": [ + 0.03731773793697357, + -0.5303475260734558, + -0.8220155835151672, + 0.20403259992599487 + ], + "joints": [ + 0.014456715434789658 + ] + }, + "final_grasp": { + "position": [ + -0.1058645024895668, + -0.030100170522928238, + 0.09894152730703354 + ], + "orientation": [ + 0.03731773793697357, + -0.5303475260734558, + -0.8220155835151672, + 0.20403259992599487 + ], + "joints": [ + 0.01979728229343891 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03390194848179817, + -0.10136039555072784, + 0.09338312596082687 + ], + "orientation": [ + 0.9851815700531006, + -0.10230086743831635, + 0.018675709143280983, + -0.1363927721977234 + ], + "joints": [ + 0.008902808651328087 + ] + }, + "fine_grasp": { + "position": [ + -0.034376148134469986, + -0.10296303033828735, + 0.0935506671667099 + ], + "orientation": [ + 0.9846727848052979, + -0.09841063618659973, + 0.03965083509683609, + -0.13842959702014923 + ], + "joints": [ + 0.014774775132536888 + ] + }, + "final_grasp": { + "position": [ + -0.034376148134469986, + -0.10296303033828735, + 0.0935506671667099 + ], + "orientation": [ + 0.9846727848052979, + -0.09841063618659973, + 0.03965083509683609, + -0.13842959702014923 + ], + "joints": [ + 0.02064674161374569 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03380383178591728, + -0.10141473263502121, + 0.09310688823461533 + ], + "orientation": [ + 0.9851816296577454, + -0.10309073328971863, + 0.01778298057615757, + -0.135916605591774 + ], + "joints": [ + 0.008902806788682938 + ] + }, + "fine_grasp": { + "position": [ + -0.034270305186510086, + -0.10299074649810791, + 0.09325943887233734 + ], + "orientation": [ + 0.9846852421760559, + -0.09919652342796326, + 0.038936544209718704, + -0.13798147439956665 + ], + "joints": [ + 0.014774773269891739 + ] + }, + "final_grasp": { + "position": [ + -0.034270305186510086, + -0.10299074649810791, + 0.09325943887233734 + ], + "orientation": [ + 0.9846852421760559, + -0.09919652342796326, + 0.038936544209718704, + -0.13798147439956665 + ], + "joints": [ + 0.02064673975110054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045985691249370575, + 0.12579470872879028, + 0.03169294446706772 + ], + "orientation": [ + 0.19278790056705475, + 0.00664491206407547, + 0.0665876641869545, + 0.9789559841156006 + ], + "joints": [ + 0.009013330563902855 + ] + }, + "fine_grasp": { + "position": [ + 0.04628176987171173, + 0.1272350549697876, + 0.03148498758673668 + ], + "orientation": [ + 0.1924399584531784, + -0.0052358293905854225, + 0.06565407663583755, + 0.9790960550308228 + ], + "joints": [ + 0.015416698530316353 + ] + }, + "final_grasp": { + "position": [ + 0.04628176987171173, + 0.1272350549697876, + 0.03148498758673668 + ], + "orientation": [ + 0.1924399584531784, + -0.0052358293905854225, + 0.06565407663583755, + 0.9790960550308228 + ], + "joints": [ + 0.02182006649672985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11487268656492233, + 0.04022467881441116, + 0.09358841925859451 + ], + "orientation": [ + 0.08964964002370834, + -0.7709161043167114, + -0.6195240616798401, + 0.11764916777610779 + ], + "joints": [ + 0.008874521590769291 + ] + }, + "fine_grasp": { + "position": [ + -0.1147715225815773, + 0.039815474301576614, + 0.09380041062831879 + ], + "orientation": [ + 0.10496679693460464, + -0.7707638144493103, + -0.6201908588409424, + 0.1013333722949028 + ], + "joints": [ + 0.01317885983735323 + ] + }, + "final_grasp": { + "position": [ + -0.1147715225815773, + 0.039815474301576614, + 0.09380041062831879 + ], + "orientation": [ + 0.10496679693460464, + -0.7707638144493103, + -0.6201908588409424, + 0.1013333722949028 + ], + "joints": [ + 0.017483197152614594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10955814272165298, + 0.06935762614011765, + 0.04967561364173889 + ], + "orientation": [ + 0.5182800889015198, + -0.05834337696433067, + -0.051204975694417953, + -0.8516806364059448 + ], + "joints": [ + 0.00912304874509573 + ] + }, + "fine_grasp": { + "position": [ + -0.10932881385087967, + 0.06898529827594757, + 0.049620773643255234 + ], + "orientation": [ + 0.5180113911628723, + -0.058369360864162445, + -0.050623346120119095, + -0.851876974105835 + ], + "joints": [ + 0.014463615603744984 + ] + }, + "final_grasp": { + "position": [ + -0.10932881385087967, + 0.06898529827594757, + 0.049620773643255234 + ], + "orientation": [ + 0.5180113911628723, + -0.058369360864162445, + -0.050623346120119095, + -0.851876974105835 + ], + "joints": [ + 0.019804183393716812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015611040405929089, + 0.1320311725139618, + 0.026812369003891945 + ], + "orientation": [ + 0.06337293982505798, + -0.030631760135293007, + 0.13544800877571106, + 0.9882810711860657 + ], + "joints": [ + 0.00864177756011486 + ] + }, + "fine_grasp": { + "position": [ + 0.016090231016278267, + 0.13235503435134888, + 0.02669118158519268 + ], + "orientation": [ + 0.06402406841516495, + -0.05422516167163849, + 0.1377793550491333, + 0.9869029521942139 + ], + "joints": [ + 0.013982344418764114 + ] + }, + "final_grasp": { + "position": [ + 0.016090231016278267, + 0.13235503435134888, + 0.02669118158519268 + ], + "orientation": [ + 0.06402406841516495, + -0.05422516167163849, + 0.1377793550491333, + 0.9869029521942139 + ], + "joints": [ + 0.019322911277413368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1076035350561142, + 0.05818260833621025, + 0.11531190574169159 + ], + "orientation": [ + 0.565999448299408, + -0.19232907891273499, + -0.06678592413663864, + 0.7988704442977905 + ], + "joints": [ + 0.008432043716311455 + ] + }, + "fine_grasp": { + "position": [ + 0.10760084539651871, + 0.058359693735837936, + 0.11585365980863571 + ], + "orientation": [ + 0.5629298686981201, + -0.21274565160274506, + -0.05305184796452522, + 0.7968906760215759 + ], + "joints": [ + 0.01326778158545494 + ] + }, + "final_grasp": { + "position": [ + 0.10760084539651871, + 0.058359693735837936, + 0.11585365980863571 + ], + "orientation": [ + 0.5629298686981201, + -0.21274565160274506, + -0.05305184796452522, + 0.7968906760215759 + ], + "joints": [ + 0.018103519454598427 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10514911264181137, + 0.06975729763507843, + 0.06820480525493622 + ], + "orientation": [ + 0.04278046265244484, + -0.8546638488769531, + 0.5116182565689087, + -0.07724188268184662 + ], + "joints": [ + 0.00840449146926403 + ] + }, + "fine_grasp": { + "position": [ + 0.10673598945140839, + 0.07035256922245026, + 0.06927351653575897 + ], + "orientation": [ + 0.03266499936580658, + -0.8532599210739136, + 0.5141656994819641, + -0.08071016520261765 + ], + "joints": [ + 0.01480785757303238 + ] + }, + "final_grasp": { + "position": [ + 0.10673598945140839, + 0.07035256922245026, + 0.06927351653575897 + ], + "orientation": [ + 0.03266499936580658, + -0.8532599210739136, + 0.5141656994819641, + -0.08071016520261765 + ], + "joints": [ + 0.021211223676800728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12166494131088257, + 0.0005579482531175017, + 0.07523205876350403 + ], + "orientation": [ + 0.007716335356235504, + -0.663677453994751, + -0.7439229488372803, + 0.07779116183519363 + ], + "joints": [ + 0.009110210463404655 + ] + }, + "fine_grasp": { + "position": [ + -0.12015929073095322, + 0.0008935524965636432, + 0.07506345957517624 + ], + "orientation": [ + 0.027975738048553467, + -0.6658654808998108, + -0.7427936792373657, + 0.06401621550321579 + ], + "joints": [ + 0.013414548709988594 + ] + }, + "final_grasp": { + "position": [ + -0.12015929073095322, + 0.0008935524965636432, + 0.07506345957517624 + ], + "orientation": [ + 0.027975738048553467, + -0.6658654808998108, + -0.7427936792373657, + 0.06401621550321579 + ], + "joints": [ + 0.017718886956572533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015727750957012177, + 0.13223040103912354, + 0.02709908038377762 + ], + "orientation": [ + 0.06412218511104584, + -0.029371604323387146, + 0.13655367493629456, + 0.9881188273429871 + ], + "joints": [ + 0.008671218529343605 + ] + }, + "fine_grasp": { + "position": [ + 0.01627591997385025, + 0.1324067860841751, + 0.027004605159163475 + ], + "orientation": [ + 0.0661454126238823, + -0.052170876413583755, + 0.1391574740409851, + 0.9866805076599121 + ], + "joints": [ + 0.014011785387992859 + ] + }, + "final_grasp": { + "position": [ + 0.01627591997385025, + 0.1324067860841751, + 0.027004605159163475 + ], + "orientation": [ + 0.0661454126238823, + -0.052170876413583755, + 0.1391574740409851, + 0.9866805076599121 + ], + "joints": [ + 0.019352352246642113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03217180073261261, + -0.07773501425981522, + 0.14840063452720642 + ], + "orientation": [ + 0.09143667668104172, + -0.16703012585639954, + -0.9405339956283569, + 0.2813112139701843 + ], + "joints": [ + 0.008517464622855186 + ] + }, + "fine_grasp": { + "position": [ + -0.03154430538415909, + -0.07682858407497406, + 0.14868547022342682 + ], + "orientation": [ + 0.11764885485172272, + -0.16828873753547668, + -0.9372526407241821, + 0.28177160024642944 + ], + "joints": [ + 0.012821802869439125 + ] + }, + "final_grasp": { + "position": [ + -0.03154430538415909, + -0.07682858407497406, + 0.14868547022342682 + ], + "orientation": [ + 0.11764885485172272, + -0.16828873753547668, + -0.9372526407241821, + 0.28177160024642944 + ], + "joints": [ + 0.017126141116023064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0842854380607605, + -0.026567142456769943, + 0.1747371256351471 + ], + "orientation": [ + 0.16653256118297577, + -0.48357218503952026, + -0.8127400875091553, + 0.2790672183036804 + ], + "joints": [ + 0.007597684394568205 + ] + }, + "fine_grasp": { + "position": [ + -0.0808768942952156, + -0.02493022195994854, + 0.1716877818107605 + ], + "orientation": [ + 0.18368391692638397, + -0.4855944514274597, + -0.8083903789520264, + 0.277422696352005 + ], + "joints": [ + 0.013469651341438293 + ] + }, + "final_grasp": { + "position": [ + -0.0808768942952156, + -0.02493022195994854, + 0.1716877818107605 + ], + "orientation": [ + 0.18368391692638397, + -0.4855944514274597, + -0.8083903789520264, + 0.277422696352005 + ], + "joints": [ + 0.019341617822647095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11130455881357193, + -0.007747019175440073, + -0.0004915317986160517 + ], + "orientation": [ + 0.7216159105300903, + 0.06487440317869186, + -0.2531251311302185, + -0.6410847306251526 + ], + "joints": [ + 0.007843558676540852 + ] + }, + "fine_grasp": { + "position": [ + -0.10993476957082748, + -0.00790192186832428, + 0.0007054122979752719 + ], + "orientation": [ + 0.717428982257843, + 0.03930253908038139, + -0.26970356702804565, + -0.6411013007164001 + ], + "joints": [ + 0.011643067933619022 + ] + }, + "final_grasp": { + "position": [ + -0.10993476957082748, + -0.00790192186832428, + 0.0007054122979752719 + ], + "orientation": [ + 0.717428982257843, + 0.03930253908038139, + -0.26970356702804565, + -0.6411013007164001 + ], + "joints": [ + 0.015442577190697193 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10588771849870682, + -0.030609050765633583, + 0.09913648664951324 + ], + "orientation": [ + 0.03484717011451721, + -0.5306752324104309, + -0.8220322728157043, + 0.2035495638847351 + ], + "joints": [ + 0.008994290605187416 + ] + }, + "fine_grasp": { + "position": [ + -0.10585131496191025, + -0.030354708433151245, + 0.098507821559906 + ], + "orientation": [ + 0.03796146810054779, + -0.5296745896339417, + -0.82215815782547, + 0.20508505403995514 + ], + "joints": [ + 0.014839686453342438 + ] + }, + "final_grasp": { + "position": [ + -0.10585131496191025, + -0.030354708433151245, + 0.098507821559906 + ], + "orientation": [ + 0.03796146810054779, + -0.5296745896339417, + -0.82215815782547, + 0.20508505403995514 + ], + "joints": [ + 0.02068508230149746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10594422370195389, + -0.030311718583106995, + 0.0992814302444458 + ], + "orientation": [ + 0.036977097392082214, + -0.5318780541419983, + -0.8208834528923035, + 0.20466752350330353 + ], + "joints": [ + 0.009110437706112862 + ] + }, + "fine_grasp": { + "position": [ + -0.10583283007144928, + -0.02990877255797386, + 0.0986977145075798 + ], + "orientation": [ + 0.03928275406360626, + -0.5310088396072388, + -0.8208726048469543, + 0.20652996003627777 + ], + "joints": [ + 0.014477575197815895 + ] + }, + "final_grasp": { + "position": [ + -0.10583283007144928, + -0.02990877255797386, + 0.0986977145075798 + ], + "orientation": [ + 0.03928275406360626, + -0.5310088396072388, + -0.8208726048469543, + 0.20652996003627777 + ], + "joints": [ + 0.01984471268951893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01647443138062954, + 0.1315794438123703, + 0.026177985593676567 + ], + "orientation": [ + 0.06753308326005936, + -0.022617945447564125, + 0.13985586166381836, + 0.9876072406768799 + ], + "joints": [ + 0.009132107719779015 + ] + }, + "fine_grasp": { + "position": [ + 0.01679474301636219, + 0.1317417472600937, + 0.026105597615242004 + ], + "orientation": [ + 0.06826245784759521, + -0.046066831797361374, + 0.14198388159275055, + 0.9864374399185181 + ], + "joints": [ + 0.0139678455889225 + ] + }, + "final_grasp": { + "position": [ + 0.01679474301636219, + 0.1317417472600937, + 0.026105597615242004 + ], + "orientation": [ + 0.06826245784759521, + -0.046066831797361374, + 0.14198388159275055, + 0.9864374399185181 + ], + "joints": [ + 0.018803583458065987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02122829109430313, + 0.1326458901166916, + 0.030741749331355095 + ], + "orientation": [ + 0.11507904529571533, + 0.989395797252655, + 0.08478798717260361, + 0.025766169652342796 + ], + "joints": [ + 0.00866689346730709 + ] + }, + "fine_grasp": { + "position": [ + -0.020562781020998955, + 0.1341945230960846, + 0.030124446377158165 + ], + "orientation": [ + 0.11334680765867233, + 0.9889788031578064, + 0.08192741870880127, + 0.04859422519803047 + ], + "joints": [ + 0.014538859948515892 + ] + }, + "final_grasp": { + "position": [ + -0.020562781020998955, + 0.1341945230960846, + 0.030124446377158165 + ], + "orientation": [ + 0.11334680765867233, + 0.9889788031578064, + 0.08192741870880127, + 0.04859422519803047 + ], + "joints": [ + 0.020410826429724693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11358506232500076, + 0.05679486691951752, + 0.08205758035182953 + ], + "orientation": [ + 0.02452239580452442, + -0.8131564855575562, + -0.5696247816085815, + 0.11705897003412247 + ], + "joints": [ + 0.009254476055502892 + ] + }, + "fine_grasp": { + "position": [ + -0.11334005743265152, + 0.05683145299553871, + 0.08154543489217758 + ], + "orientation": [ + 0.026192599907517433, + -0.8115800619125366, + -0.5712853074073792, + 0.11951958388090134 + ], + "joints": [ + 0.015126442536711693 + ] + }, + "final_grasp": { + "position": [ + -0.11334005743265152, + 0.05683145299553871, + 0.08154543489217758 + ], + "orientation": [ + 0.026192599907517433, + -0.8115800619125366, + -0.5712853074073792, + 0.11951958388090134 + ], + "joints": [ + 0.020998409017920494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014316149055957794, + -0.10426746308803558, + 0.09571004658937454 + ], + "orientation": [ + 0.026824645698070526, + 0.05775937810540199, + -0.988957405090332, + 0.13381913304328918 + ], + "joints": [ + 0.008750144392251968 + ] + }, + "fine_grasp": { + "position": [ + 0.013903112150728703, + -0.10408239811658859, + 0.09524360299110413 + ], + "orientation": [ + 0.04478869587182999, + 0.05752602219581604, + -0.9881059527397156, + 0.13539360463619232 + ], + "joints": [ + 0.013585882261395454 + ] + }, + "final_grasp": { + "position": [ + 0.013903112150728703, + -0.10408239811658859, + 0.09524360299110413 + ], + "orientation": [ + 0.04478869587182999, + 0.05752602219581604, + -0.9881059527397156, + 0.13539360463619232 + ], + "joints": [ + 0.01842162013053894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11514577269554138, + 0.054609548300504684, + 0.034531280398368835 + ], + "orientation": [ + 0.10377389937639236, + 0.8177962899208069, + 0.5658156275749207, + -0.017115648835897446 + ], + "joints": [ + 0.009275070391595364 + ] + }, + "fine_grasp": { + "position": [ + -0.11465439200401306, + 0.05355348438024521, + 0.035687074065208435 + ], + "orientation": [ + 0.11973530799150467, + 0.8158603310585022, + 0.5654965043067932, + -0.015778856351971626 + ], + "joints": [ + 0.014615638181567192 + ] + }, + "final_grasp": { + "position": [ + -0.11465439200401306, + 0.05355348438024521, + 0.035687074065208435 + ], + "orientation": [ + 0.11973530799150467, + 0.8158603310585022, + 0.5654965043067932, + -0.015778856351971626 + ], + "joints": [ + 0.019956205040216446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11911946535110474, + 0.03223082050681114, + 0.0823834016919136 + ], + "orientation": [ + 0.0314377024769783, + -0.7476180791854858, + -0.6494402885437012, + 0.13530009984970093 + ], + "joints": [ + 0.00913218967616558 + ] + }, + "fine_grasp": { + "position": [ + -0.1179862767457962, + 0.032471220940351486, + 0.08178931474685669 + ], + "orientation": [ + 0.029696157202124596, + -0.7462403178215027, + -0.6501982808113098, + 0.13959145545959473 + ], + "joints": [ + 0.014525899663567543 + ] + }, + "final_grasp": { + "position": [ + -0.1179862767457962, + 0.032471220940351486, + 0.08178931474685669 + ], + "orientation": [ + 0.029696157202124596, + -0.7462403178215027, + -0.6501982808113098, + 0.13959145545959473 + ], + "joints": [ + 0.019919609650969505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10095973312854767, + 0.06598413735628128, + 0.012416938319802284 + ], + "orientation": [ + 0.5020132660865784, + 0.03284341096878052, + 0.14165130257606506, + 0.8525484800338745 + ], + "joints": [ + 0.008167129009962082 + ] + }, + "fine_grasp": { + "position": [ + 0.10129408538341522, + 0.06656761467456818, + 0.012614769861102104 + ], + "orientation": [ + 0.5056042671203613, + 0.033924832940101624, + 0.15603721141815186, + 0.8478595614433289 + ], + "joints": [ + 0.014039095491170883 + ] + }, + "final_grasp": { + "position": [ + 0.10129408538341522, + 0.06656761467456818, + 0.012614769861102104 + ], + "orientation": [ + 0.5056042671203613, + 0.033924832940101624, + 0.15603721141815186, + 0.8478595614433289 + ], + "joints": [ + 0.019911061972379684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05891566723585129, + 0.11633249372243881, + 0.13938702642917633 + ], + "orientation": [ + 0.17984339594841003, + -0.9483010768890381, + 0.2608015537261963, + -0.01907539553940296 + ], + "joints": [ + 0.008241413161158562 + ] + }, + "fine_grasp": { + "position": [ + 0.05800414830446243, + 0.11329497396945953, + 0.13629883527755737 + ], + "orientation": [ + 0.17828665673732758, + -0.9471567273139954, + 0.2664686143398285, + -0.010124621912837029 + ], + "joints": [ + 0.013077151030302048 + ] + }, + "final_grasp": { + "position": [ + 0.05800414830446243, + 0.11329497396945953, + 0.13629883527755737 + ], + "orientation": [ + 0.17828665673732758, + -0.9471567273139954, + 0.2664686143398285, + -0.010124621912837029 + ], + "joints": [ + 0.017912888899445534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015216904692351818, + 0.1320236325263977, + 0.026288777589797974 + ], + "orientation": [ + 0.06237826868891716, + -0.02434198185801506, + 0.1387893259525299, + 0.9880556464195251 + ], + "joints": [ + 0.009159918874502182 + ] + }, + "fine_grasp": { + "position": [ + 0.015454220585525036, + 0.13212691247463226, + 0.02627754583954811 + ], + "orientation": [ + 0.06279802322387695, + -0.045005444437265396, + 0.1405753344297409, + 0.9870508909225464 + ], + "joints": [ + 0.013995656743645668 + ] + }, + "final_grasp": { + "position": [ + 0.015454220585525036, + 0.13212691247463226, + 0.02627754583954811 + ], + "orientation": [ + 0.06279802322387695, + -0.045005444437265396, + 0.1405753344297409, + 0.9870508909225464 + ], + "joints": [ + 0.018831394612789154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014078077860176563, + -0.10413942486047745, + 0.09527847915887833 + ], + "orientation": [ + 0.02222529426217079, + 0.05739901587367058, + -0.9885814785957336, + 0.13754339516162872 + ], + "joints": [ + 0.008704939857125282 + ] + }, + "fine_grasp": { + "position": [ + 0.013746385462582111, + -0.10391025245189667, + 0.0947728231549263 + ], + "orientation": [ + 0.04055112600326538, + 0.05689380690455437, + -0.9877789616584778, + 0.13932552933692932 + ], + "joints": [ + 0.014045506715774536 + ] + }, + "final_grasp": { + "position": [ + 0.013746385462582111, + -0.10391025245189667, + 0.0947728231549263 + ], + "orientation": [ + 0.04055112600326538, + 0.05689380690455437, + -0.9877789616584778, + 0.13932552933692932 + ], + "joints": [ + 0.01938607357442379 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11564110219478607, + 0.054239336401224136, + 0.03490867465734482 + ], + "orientation": [ + 0.09949832409620285, + 0.8169721364974976, + 0.5677819848060608, + -0.016747035086154938 + ], + "joints": [ + 0.008887950330972672 + ] + }, + "fine_grasp": { + "position": [ + -0.11534124612808228, + 0.05340086296200752, + 0.03589693829417229 + ], + "orientation": [ + 0.11543214321136475, + 0.8154152035713196, + 0.5670091509819031, + -0.016556140035390854 + ], + "joints": [ + 0.014759916812181473 + ] + }, + "final_grasp": { + "position": [ + -0.11534124612808228, + 0.05340086296200752, + 0.03589693829417229 + ], + "orientation": [ + 0.11543214321136475, + 0.8154152035713196, + 0.5670091509819031, + -0.016556140035390854 + ], + "joints": [ + 0.020631883293390274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1081504374742508, + 0.058304157108068466, + 0.11680840700864792 + ], + "orientation": [ + 0.5674744844436646, + -0.19351361691951752, + -0.05949625000357628, + 0.7981136441230774 + ], + "joints": [ + 0.008252467960119247 + ] + }, + "fine_grasp": { + "position": [ + 0.10802985727787018, + 0.058738481253385544, + 0.1172129437327385 + ], + "orientation": [ + 0.5657750368118286, + -0.21634338796138763, + -0.04273080825805664, + 0.7945238351821899 + ], + "joints": [ + 0.012583376839756966 + ] + }, + "final_grasp": { + "position": [ + 0.10802985727787018, + 0.058738481253385544, + 0.1172129437327385 + ], + "orientation": [ + 0.5657750368118286, + -0.21634338796138763, + -0.04273080825805664, + 0.7945238351821899 + ], + "joints": [ + 0.016914285719394684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11536266654729843, + 0.05419877916574478, + 0.0345744788646698 + ], + "orientation": [ + 0.10176436603069305, + 0.8169572353363037, + 0.5674369931221008, + -0.015496951527893543 + ], + "joints": [ + 0.009271642193198204 + ] + }, + "fine_grasp": { + "position": [ + -0.1149611622095108, + 0.05326269194483757, + 0.0355374701321125 + ], + "orientation": [ + 0.11670759320259094, + 0.8152872920036316, + 0.5669649243354797, + -0.015384326688945293 + ], + "joints": [ + 0.014612209051847458 + ] + }, + "final_grasp": { + "position": [ + -0.1149611622095108, + 0.05326269194483757, + 0.0355374701321125 + ], + "orientation": [ + 0.11670759320259094, + 0.8152872920036316, + 0.5669649243354797, + -0.015384326688945293 + ], + "joints": [ + 0.01995277591049671 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01948869414627552, + 0.13546475768089294, + 0.050672806799411774 + ], + "orientation": [ + 0.043603427708148956, + 0.9960411787033081, + 0.07614024728536606, + 0.014256981201469898 + ], + "joints": [ + 0.008676223456859589 + ] + }, + "fine_grasp": { + "position": [ + -0.019354240968823433, + 0.13690051436424255, + 0.05065733194351196 + ], + "orientation": [ + 0.0409749299287796, + 0.9954456686973572, + 0.07739517092704773, + 0.0376698337495327 + ], + "joints": [ + 0.01454818993806839 + ] + }, + "final_grasp": { + "position": [ + -0.019354240968823433, + 0.13690051436424255, + 0.05065733194351196 + ], + "orientation": [ + 0.0409749299287796, + 0.9954456686973572, + 0.07739517092704773, + 0.0376698337495327 + ], + "joints": [ + 0.02042015641927719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1133912205696106, + 0.05675598233938217, + 0.08120796084403992 + ], + "orientation": [ + 0.023947782814502716, + -0.8134218454360962, + -0.5691980123519897, + 0.11740995943546295 + ], + "joints": [ + 0.00933007150888443 + ] + }, + "fine_grasp": { + "position": [ + -0.11271294951438904, + 0.05664319172501564, + 0.08048815280199051 + ], + "orientation": [ + 0.02700265683233738, + -0.8122035264968872, + -0.5702733993530273, + 0.11993531137704849 + ], + "joints": [ + 0.014697209000587463 + ] + }, + "final_grasp": { + "position": [ + -0.11271294951438904, + 0.05664319172501564, + 0.08048815280199051 + ], + "orientation": [ + 0.02700265683233738, + -0.8122035264968872, + -0.5702733993530273, + 0.11993531137704849 + ], + "joints": [ + 0.020064346492290497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11313866823911667, + 0.05666486918926239, + 0.08165507763624191 + ], + "orientation": [ + 0.02851150929927826, + -0.8131260275840759, + -0.5690111517906189, + 0.11932992190122604 + ], + "joints": [ + 0.00925569236278534 + ] + }, + "fine_grasp": { + "position": [ + -0.1121896430850029, + 0.05654880777001381, + 0.08108565211296082 + ], + "orientation": [ + 0.028862781822681427, + -0.8120968341827393, + -0.5700639486312866, + 0.1212134137749672 + ], + "joints": [ + 0.014622829854488373 + ] + }, + "final_grasp": { + "position": [ + -0.1121896430850029, + 0.05654880777001381, + 0.08108565211296082 + ], + "orientation": [ + 0.028862781822681427, + -0.8120968341827393, + -0.5700639486312866, + 0.1212134137749672 + ], + "joints": [ + 0.019989967346191406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11138063669204712, + 0.030040627345442772, + 0.11746375262737274 + ], + "orientation": [ + 0.651721179485321, + -0.18920645117759705, + -0.10902146995067596, + 0.7263433933258057 + ], + "joints": [ + 0.008843202143907547 + ] + }, + "fine_grasp": { + "position": [ + 0.11286906152963638, + 0.03053267113864422, + 0.11895830929279327 + ], + "orientation": [ + 0.649848461151123, + -0.17545562982559204, + -0.10212792456150055, + 0.7324495315551758 + ], + "joints": [ + 0.015273140743374825 + ] + }, + "final_grasp": { + "position": [ + 0.11286906152963638, + 0.03053267113864422, + 0.11895830929279327 + ], + "orientation": [ + 0.649848461151123, + -0.17545562982559204, + -0.10212792456150055, + 0.7324495315551758 + ], + "joints": [ + 0.021703079342842102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020103462040424347, + 0.13412339985370636, + 0.03797634690999985 + ], + "orientation": [ + 0.08627060800790787, + 0.9929342865943909, + 0.07898208498954773, + 0.02001767046749592 + ], + "joints": [ + 0.008974818512797356 + ] + }, + "fine_grasp": { + "position": [ + -0.019917963072657585, + 0.13576367497444153, + 0.03754695877432823 + ], + "orientation": [ + 0.08404923975467682, + 0.9925389885902405, + 0.07913213968276978, + 0.03924594447016716 + ], + "joints": [ + 0.014846784994006157 + ] + }, + "final_grasp": { + "position": [ + -0.019917963072657585, + 0.13576367497444153, + 0.03754695877432823 + ], + "orientation": [ + 0.08404923975467682, + 0.9925389885902405, + 0.07913213968276978, + 0.03924594447016716 + ], + "joints": [ + 0.020718751475214958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11595714092254639, + 0.022982696071267128, + 0.10341765731573105 + ], + "orientation": [ + 0.6742549538612366, + -0.15145047008991241, + 0.10464775562286377, + -0.715186595916748 + ], + "joints": [ + 0.00926891714334488 + ] + }, + "fine_grasp": { + "position": [ + -0.11569768935441971, + 0.02254878170788288, + 0.1032552421092987 + ], + "orientation": [ + 0.6736880540847778, + -0.1385953724384308, + 0.11885198205709457, + -0.7161074280738831 + ], + "joints": [ + 0.013599826022982597 + ] + }, + "final_grasp": { + "position": [ + -0.11569768935441971, + 0.02254878170788288, + 0.1032552421092987 + ], + "orientation": [ + 0.6736880540847778, + -0.1385953724384308, + 0.11885198205709457, + -0.7161074280738831 + ], + "joints": [ + 0.017930734902620316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018560150638222694, + 0.1344565749168396, + 0.03843998163938522 + ], + "orientation": [ + 0.08524271100759506, + 0.9935611486434937, + 0.07249890267848969, + 0.017708545550704002 + ], + "joints": [ + 0.009056726470589638 + ] + }, + "fine_grasp": { + "position": [ + -0.018176618963479996, + 0.13607127964496613, + 0.03802141174674034 + ], + "orientation": [ + 0.0837632268667221, + 0.9930617809295654, + 0.07249568402767181, + 0.03945368155837059 + ], + "joints": [ + 0.014423863962292671 + ] + }, + "final_grasp": { + "position": [ + -0.018176618963479996, + 0.13607127964496613, + 0.03802141174674034 + ], + "orientation": [ + 0.0837632268667221, + 0.9930617809295654, + 0.07249568402767181, + 0.03945368155837059 + ], + "joints": [ + 0.019791001453995705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1207175999879837, + -0.010985208675265312, + 0.02435286156833172 + ], + "orientation": [ + 0.7583677172660828, + -0.020737478509545326, + 0.1293971985578537, + 0.6385175585746765 + ], + "joints": [ + 0.006915159523487091 + ] + }, + "fine_grasp": { + "position": [ + 0.11985262483358383, + -0.010194659233093262, + 0.024832678958773613 + ], + "orientation": [ + 0.7574348449707031, + -0.0366642102599144, + 0.1442653089761734, + 0.6357167363166809 + ], + "joints": [ + 0.011777468025684357 + ] + }, + "final_grasp": { + "position": [ + 0.11985262483358383, + -0.010194659233093262, + 0.024832678958773613 + ], + "orientation": [ + 0.7574348449707031, + -0.0366642102599144, + 0.1442653089761734, + 0.6357167363166809 + ], + "joints": [ + 0.016639776527881622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1108166053891182, + 0.02976425737142563, + 0.11651486903429031 + ], + "orientation": [ + 0.651193380355835, + -0.19104281067848206, + -0.1135677844285965, + 0.7256390452384949 + ], + "joints": [ + 0.008908893913030624 + ] + }, + "fine_grasp": { + "position": [ + 0.11253755539655685, + 0.03008493036031723, + 0.1181412935256958 + ], + "orientation": [ + 0.6500377655029297, + -0.17605355381965637, + -0.1077389046549797, + 0.731333315372467 + ], + "joints": [ + 0.015338832512497902 + ] + }, + "final_grasp": { + "position": [ + 0.11253755539655685, + 0.03008493036031723, + 0.1181412935256958 + ], + "orientation": [ + 0.6500377655029297, + -0.17605355381965637, + -0.1077389046549797, + 0.731333315372467 + ], + "joints": [ + 0.02176877111196518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10833587497472763, + -0.029425539076328278, + 0.09354495257139206 + ], + "orientation": [ + 0.028230346739292145, + -0.5414904356002808, + -0.8178251385688782, + 0.19275154173374176 + ], + "joints": [ + 0.008526543155312538 + ] + }, + "fine_grasp": { + "position": [ + -0.10872525721788406, + -0.02916375920176506, + 0.09380337595939636 + ], + "orientation": [ + 0.028469884768128395, + -0.5411604642868042, + -0.8191109299659729, + 0.1881282925605774 + ], + "joints": [ + 0.014903338626027107 + ] + }, + "final_grasp": { + "position": [ + -0.10872525721788406, + -0.02916375920176506, + 0.09380337595939636 + ], + "orientation": [ + 0.028469884768128395, + -0.5411604642868042, + -0.8191109299659729, + 0.1881282925605774 + ], + "joints": [ + 0.021280134096741676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11026735603809357, + 0.061581872403621674, + 0.06332160532474518 + ], + "orientation": [ + 0.001380598871037364, + -0.8337988257408142, + 0.547957718372345, + -0.0672314316034317 + ], + "joints": [ + 0.008738191798329353 + ] + }, + "fine_grasp": { + "position": [ + 0.11206775158643723, + 0.06207330897450447, + 0.06306192278862 + ], + "orientation": [ + 0.00422532157972455, + -0.8334553837776184, + 0.548565685749054, + -0.06640877574682236 + ], + "joints": [ + 0.014610158279538155 + ] + }, + "final_grasp": { + "position": [ + 0.11206775158643723, + 0.06207330897450447, + 0.06306192278862 + ], + "orientation": [ + 0.00422532157972455, + -0.8334553837776184, + 0.548565685749054, + -0.06640877574682236 + ], + "joints": [ + 0.020482124760746956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11049242317676544, + 0.06145750358700752, + 0.06330087780952454 + ], + "orientation": [ + 0.003734911559149623, + -0.8335811495780945, + 0.5483428239822388, + -0.06669873744249344 + ], + "joints": [ + 0.008741084486246109 + ] + }, + "fine_grasp": { + "position": [ + 0.11161509156227112, + 0.061769455671310425, + 0.06328638643026352 + ], + "orientation": [ + 0.0025397376157343388, + -0.8329068422317505, + 0.5494357347488403, + -0.06618199497461319 + ], + "joints": [ + 0.01461305096745491 + ] + }, + "final_grasp": { + "position": [ + 0.11161509156227112, + 0.061769455671310425, + 0.06328638643026352 + ], + "orientation": [ + 0.0025397376157343388, + -0.8329068422317505, + 0.5494357347488403, + -0.06618199497461319 + ], + "joints": [ + 0.02048501744866371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11060705780982971, + 0.06148272380232811, + 0.06401268392801285 + ], + "orientation": [ + 0.004138921853154898, + -0.8330135345458984, + 0.5488151907920837, + -0.06980706006288528 + ], + "joints": [ + 0.008667238056659698 + ] + }, + "fine_grasp": { + "position": [ + 0.11209872364997864, + 0.06184280663728714, + 0.06389644742012024 + ], + "orientation": [ + 0.006091599352657795, + -0.8325895667076111, + 0.5496945381164551, + -0.0677754357457161 + ], + "joints": [ + 0.0145392045378685 + ] + }, + "final_grasp": { + "position": [ + 0.11209872364997864, + 0.06184280663728714, + 0.06389644742012024 + ], + "orientation": [ + 0.006091599352657795, + -0.8325895667076111, + 0.5496945381164551, + -0.0677754357457161 + ], + "joints": [ + 0.0204111710190773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02894406020641327, + 0.02036706916987896, + -0.10232879221439362 + ], + "orientation": [ + 0.48727065324783325, + 0.6727967858314514, + -0.44752606749534607, + -0.33110740780830383 + ], + "joints": [ + 0.006410402245819569 + ] + }, + "fine_grasp": { + "position": [ + 0.028016678988933563, + 0.0205820444971323, + -0.09684915840625763 + ], + "orientation": [ + 0.4885464012622833, + 0.6704482436180115, + -0.446279376745224, + -0.3356429934501648 + ], + "joints": [ + 0.012866909615695477 + ] + }, + "final_grasp": { + "position": [ + 0.028016678988933563, + 0.0205820444971323, + -0.09684915840625763 + ], + "orientation": [ + 0.4885464012622833, + 0.6704482436180115, + -0.446279376745224, + -0.3356429934501648 + ], + "joints": [ + 0.01932341605424881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023842867463827133, + -0.09122361242771149, + 0.11604274809360504 + ], + "orientation": [ + 0.01619725674390793, + 0.10154425352811813, + -0.968704342842102, + 0.22591671347618103 + ], + "joints": [ + 0.008862581104040146 + ] + }, + "fine_grasp": { + "position": [ + 0.02411806769669056, + -0.09216746687889099, + 0.11637592315673828 + ], + "orientation": [ + 0.03313886374235153, + 0.1020996943116188, + -0.9668514132499695, + 0.2316807210445404 + ], + "joints": [ + 0.013671748340129852 + ] + }, + "final_grasp": { + "position": [ + 0.02411806769669056, + -0.09216746687889099, + 0.11637592315673828 + ], + "orientation": [ + 0.03313886374235153, + 0.1020996943116188, + -0.9668514132499695, + 0.2316807210445404 + ], + "joints": [ + 0.01848091557621956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05528009310364723, + -0.0807705670595169, + -0.03862179070711136 + ], + "orientation": [ + 0.07783034443855286, + 0.26484137773513794, + 0.9300093054771423, + 0.242660254240036 + ], + "joints": [ + 0.007734282407909632 + ] + }, + "fine_grasp": { + "position": [ + -0.05751393362879753, + -0.08133206516504288, + -0.03891182690858841 + ], + "orientation": [ + 0.06738373637199402, + 0.2759937047958374, + 0.9280111789703369, + 0.24100227653980255 + ], + "joints": [ + 0.01360624935477972 + ] + }, + "final_grasp": { + "position": [ + -0.05751393362879753, + -0.08133206516504288, + -0.03891182690858841 + ], + "orientation": [ + 0.06738373637199402, + 0.2759937047958374, + 0.9280111789703369, + 0.24100227653980255 + ], + "joints": [ + 0.019478216767311096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11194810271263123, + 0.0362943671643734, + 0.08634483069181442 + ], + "orientation": [ + 0.6125473976135254, + -0.10172080993652344, + 0.14231331646442413, + -0.77083420753479 + ], + "joints": [ + 0.006280364003032446 + ] + }, + "fine_grasp": { + "position": [ + -0.10957454890012741, + 0.03574560210108757, + 0.0851835086941719 + ], + "orientation": [ + 0.6110731959342957, + -0.08542530238628387, + 0.1596003621816635, + -0.7705969214439392 + ], + "joints": [ + 0.011142672970890999 + ] + }, + "final_grasp": { + "position": [ + -0.10957454890012741, + 0.03574560210108757, + 0.0851835086941719 + ], + "orientation": [ + 0.6110731959342957, + -0.08542530238628387, + 0.1596003621816635, + -0.7705969214439392 + ], + "joints": [ + 0.016004981473088264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0955125242471695, + -0.0574360266327858, + 0.00424904515966773 + ], + "orientation": [ + 0.8737199306488037, + 0.1200164332985878, + 0.11409647017717361, + 0.4573747217655182 + ], + "joints": [ + 0.007438806351274252 + ] + }, + "fine_grasp": { + "position": [ + 0.0962800532579422, + -0.05750559642910957, + 0.004771535750478506 + ], + "orientation": [ + 0.874071478843689, + 0.1240982785820961, + 0.11828459799289703, + 0.4545409679412842 + ], + "joints": [ + 0.013284202665090561 + ] + }, + "final_grasp": { + "position": [ + 0.0962800532579422, + -0.05750559642910957, + 0.004771535750478506 + ], + "orientation": [ + 0.874071478843689, + 0.1240982785820961, + 0.11828459799289703, + 0.4545409679412842 + ], + "joints": [ + 0.019129598513245583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10094641149044037, + 0.06600269675254822, + 0.012190145440399647 + ], + "orientation": [ + 0.5015251636505127, + 0.028997743502259254, + 0.1369631290435791, + 0.853740394115448 + ], + "joints": [ + 0.008060311898589134 + ] + }, + "fine_grasp": { + "position": [ + 0.10127285867929459, + 0.06661538779735565, + 0.012247483246028423 + ], + "orientation": [ + 0.5050828456878662, + 0.030544865876436234, + 0.15066827833652496, + 0.8492686152458191 + ], + "joints": [ + 0.013932278379797935 + ] + }, + "final_grasp": { + "position": [ + 0.10127285867929459, + 0.06661538779735565, + 0.012247483246028423 + ], + "orientation": [ + 0.5050828456878662, + 0.030544865876436234, + 0.15066827833652496, + 0.8492686152458191 + ], + "joints": [ + 0.019804244861006737 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11209104210138321, + -0.006974223535507917, + 0.005022500175982714 + ], + "orientation": [ + 0.7331042885780334, + 0.06090361997485161, + 0.20852135121822357, + 0.6444903016090393 + ], + "joints": [ + 0.007186101749539375 + ] + }, + "fine_grasp": { + "position": [ + 0.10991590470075607, + -0.006053829565644264, + 0.005827162880450487 + ], + "orientation": [ + 0.7293841242790222, + 0.04220561683177948, + 0.2252063900232315, + 0.6445926427841187 + ], + "joints": [ + 0.012021839618682861 + ] + }, + "final_grasp": { + "position": [ + 0.10991590470075607, + -0.006053829565644264, + 0.005827162880450487 + ], + "orientation": [ + 0.7293841242790222, + 0.04220561683177948, + 0.2252063900232315, + 0.6445926427841187 + ], + "joints": [ + 0.016857577487826347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11882379651069641, + 0.04522062465548515, + 0.03597578406333923 + ], + "orientation": [ + 0.600101888179779, + -0.014597281813621521, + -0.10512860864400864, + -0.7928508520126343 + ], + "joints": [ + 0.00896385870873928 + ] + }, + "fine_grasp": { + "position": [ + -0.11759866774082184, + 0.04495875909924507, + 0.03689705207943916 + ], + "orientation": [ + 0.5959432125091553, + -0.013859733007848263, + -0.118869848549366, + -0.7940589189529419 + ], + "joints": [ + 0.014835825189948082 + ] + }, + "final_grasp": { + "position": [ + -0.11759866774082184, + 0.04495875909924507, + 0.03689705207943916 + ], + "orientation": [ + 0.5959432125091553, + -0.013859733007848263, + -0.118869848549366, + -0.7940589189529419 + ], + "joints": [ + 0.020707791671156883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11659061908721924, + 0.050564996898174286, + 0.03682330995798111 + ], + "orientation": [ + 0.5818360447883606, + -0.01764555275440216, + -0.09896300733089447, + -0.8070698380470276 + ], + "joints": [ + 0.008780941367149353 + ] + }, + "fine_grasp": { + "position": [ + -0.11620423197746277, + 0.05053914710879326, + 0.037353720515966415 + ], + "orientation": [ + 0.5775858759880066, + -0.02016078308224678, + -0.11284363269805908, + -0.808241605758667 + ], + "joints": [ + 0.014652907848358154 + ] + }, + "final_grasp": { + "position": [ + -0.11620423197746277, + 0.05053914710879326, + 0.037353720515966415 + ], + "orientation": [ + 0.5775858759880066, + -0.02016078308224678, + -0.11284363269805908, + -0.808241605758667 + ], + "joints": [ + 0.020524874329566956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015424961224198341, + 0.12851092219352722, + 0.12229593843221664 + ], + "orientation": [ + 0.07925824075937271, + -0.096173956990242, + 0.18692409992218018, + -0.9744373559951782 + ], + "joints": [ + 0.008553335443139076 + ] + }, + "fine_grasp": { + "position": [ + -0.015539528802037239, + 0.12980696558952332, + 0.121580570936203 + ], + "orientation": [ + 0.08301350474357605, + -0.12406765669584274, + 0.18061381578445435, + -0.9721598029136658 + ], + "joints": [ + 0.013389073312282562 + ] + }, + "final_grasp": { + "position": [ + -0.015539528802037239, + 0.12980696558952332, + 0.121580570936203 + ], + "orientation": [ + 0.08301350474357605, + -0.12406765669584274, + 0.18061381578445435, + -0.9721598029136658 + ], + "joints": [ + 0.01822481118142605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014751131646335125, + 0.1283150017261505, + 0.12311720848083496 + ], + "orientation": [ + 0.07708829641342163, + -0.0983884409070015, + 0.1905193030834198, + -0.9736937880516052 + ], + "joints": [ + 0.008471518754959106 + ] + }, + "fine_grasp": { + "position": [ + -0.014895176514983177, + 0.1298234909772873, + 0.12240472435951233 + ], + "orientation": [ + 0.08108819276094437, + -0.12482745200395584, + 0.1845002919435501, + -0.9714950323104858 + ], + "joints": [ + 0.01381208561360836 + ] + }, + "final_grasp": { + "position": [ + -0.014895176514983177, + 0.1298234909772873, + 0.12240472435951233 + ], + "orientation": [ + 0.08108819276094437, + -0.12482745200395584, + 0.1845002919435501, + -0.9714950323104858 + ], + "joints": [ + 0.019152652472257614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11947201937437057, + 0.020528484135866165, + 0.014254430308938026 + ], + "orientation": [ + 0.17601732909679413, + 0.7283074259757996, + -0.6622470617294312, + 0.0038923562970012426 + ], + "joints": [ + 0.0074152108281850815 + ] + }, + "fine_grasp": { + "position": [ + 0.11930374056100845, + 0.02006506733596325, + 0.013877163641154766 + ], + "orientation": [ + 0.18931584060192108, + 0.7247883081436157, + -0.6620935797691345, + 0.021757476031780243 + ], + "joints": [ + 0.01177269034087658 + ] + }, + "final_grasp": { + "position": [ + 0.11930374056100845, + 0.02006506733596325, + 0.013877163641154766 + ], + "orientation": [ + 0.18931584060192108, + 0.7247883081436157, + -0.6620935797691345, + 0.021757476031780243 + ], + "joints": [ + 0.016130169853568077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10409267991781235, + 0.06593374907970428, + 0.028142934665083885 + ], + "orientation": [ + 0.5138248801231384, + -0.003784284694120288, + 0.08114820718765259, + 0.8540402054786682 + ], + "joints": [ + 0.008248195052146912 + ] + }, + "fine_grasp": { + "position": [ + 0.10484229028224945, + 0.06669365614652634, + 0.029013080522418022 + ], + "orientation": [ + 0.5176409482955933, + -0.002320081926882267, + 0.09396155178546906, + 0.8504197001457214 + ], + "joints": [ + 0.013588761910796165 + ] + }, + "final_grasp": { + "position": [ + 0.10484229028224945, + 0.06669365614652634, + 0.029013080522418022 + ], + "orientation": [ + 0.5176409482955933, + -0.002320081926882267, + 0.09396155178546906, + 0.8504197001457214 + ], + "joints": [ + 0.01892932876944542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10585334897041321, + 0.0192852932959795, + 0.14086519181728363 + ], + "orientation": [ + 0.11267628520727158, + -0.6614619493484497, + -0.6879403591156006, + 0.27660495042800903 + ], + "joints": [ + 0.008641880005598068 + ] + }, + "fine_grasp": { + "position": [ + -0.10398663580417633, + 0.01984717883169651, + 0.13794255256652832 + ], + "orientation": [ + 0.1004943773150444, + -0.6612639427185059, + -0.6852312684059143, + 0.2882518768310547 + ], + "joints": [ + 0.013982446864247322 + ] + }, + "final_grasp": { + "position": [ + -0.10398663580417633, + 0.01984717883169651, + 0.13794255256652832 + ], + "orientation": [ + 0.1004943773150444, + -0.6612639427185059, + -0.6852312684059143, + 0.2882518768310547 + ], + "joints": [ + 0.019323013722896576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1128557100892067, + 0.0560707226395607, + 0.08025767654180527 + ], + "orientation": [ + 0.03377237543463707, + -0.8117101788520813, + -0.5698482990264893, + 0.12352729588747025 + ], + "joints": [ + 0.008804317563772202 + ] + }, + "fine_grasp": { + "position": [ + -0.11165863275527954, + 0.055845957249403, + 0.07976506650447845 + ], + "orientation": [ + 0.033536531031131744, + -0.8108564019203186, + -0.5707148909568787, + 0.1251867413520813 + ], + "joints": [ + 0.014676284044981003 + ] + }, + "final_grasp": { + "position": [ + -0.11165863275527954, + 0.055845957249403, + 0.07976506650447845 + ], + "orientation": [ + 0.033536531031131744, + -0.8108564019203186, + -0.5707148909568787, + 0.1251867413520813 + ], + "joints": [ + 0.020548250526189804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05775139108300209, + -0.09140925109386444, + 0.07286138087511063 + ], + "orientation": [ + 0.9619666337966919, + -0.11030443012714386, + -0.0072883376851677895, + 0.2497996836900711 + ], + "joints": [ + 0.008553976193070412 + ] + }, + "fine_grasp": { + "position": [ + 0.058876074850559235, + -0.09396538138389587, + 0.07286440581083298 + ], + "orientation": [ + 0.9612025618553162, + -0.11827422678470612, + -0.0013250989140942693, + 0.24919669330120087 + ], + "joints": [ + 0.01493077166378498 + ] + }, + "final_grasp": { + "position": [ + 0.058876074850559235, + -0.09396538138389587, + 0.07286440581083298 + ], + "orientation": [ + 0.9612025618553162, + -0.11827422678470612, + -0.0013250989140942693, + 0.24919669330120087 + ], + "joints": [ + 0.02130756713449955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04337853565812111, + -0.08450384438037872, + 0.14619867503643036 + ], + "orientation": [ + 0.9544687271118164, + -0.20896151661872864, + -0.072066530585289, + 0.20032717287540436 + ], + "joints": [ + 0.008709898218512535 + ] + }, + "fine_grasp": { + "position": [ + 0.04270056262612343, + -0.0844830870628357, + 0.14487913250923157 + ], + "orientation": [ + 0.9530885815620422, + -0.19901452958583832, + -0.10044368356466293, + 0.20475992560386658 + ], + "joints": [ + 0.014103608205914497 + ] + }, + "final_grasp": { + "position": [ + 0.04270056262612343, + -0.0844830870628357, + 0.14487913250923157 + ], + "orientation": [ + 0.9530885815620422, + -0.19901452958583832, + -0.10044368356466293, + 0.20475992560386658 + ], + "joints": [ + 0.01949731819331646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035365261137485504, + -0.09559760987758636, + 0.1170867308974266 + ], + "orientation": [ + 0.9746787548065186, + -0.16595134139060974, + -0.06804873794317245, + -0.1335325986146927 + ], + "joints": [ + 0.008838476613163948 + ] + }, + "fine_grasp": { + "position": [ + -0.03488154336810112, + -0.09342769533395767, + 0.11616785824298859 + ], + "orientation": [ + 0.9719262719154358, + -0.1683390587568283, + -0.09763824194669724, + -0.132242813706398 + ], + "joints": [ + 0.013222526758909225 + ] + }, + "final_grasp": { + "position": [ + -0.03488154336810112, + -0.09342769533395767, + 0.11616785824298859 + ], + "orientation": [ + 0.9719262719154358, + -0.1683390587568283, + -0.09763824194669724, + -0.132242813706398 + ], + "joints": [ + 0.017606576904654503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11253541707992554, + 0.03198837488889694, + 0.11157621443271637 + ], + "orientation": [ + 0.6469089984893799, + -0.20767447352409363, + 0.10214625298976898, + -0.7265991568565369 + ], + "joints": [ + 0.009057248011231422 + ] + }, + "fine_grasp": { + "position": [ + -0.11233840882778168, + 0.0323762521147728, + 0.11260685324668884 + ], + "orientation": [ + 0.6495857238769531, + -0.19941836595535278, + 0.09391515702009201, + -0.7276337146759033 + ], + "joints": [ + 0.014955786988139153 + ] + }, + "final_grasp": { + "position": [ + -0.11233840882778168, + 0.0323762521147728, + 0.11260685324668884 + ], + "orientation": [ + 0.6495857238769531, + -0.19941836595535278, + 0.09391515702009201, + -0.7276337146759033 + ], + "joints": [ + 0.020854325965046883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014092456549406052, + 0.12092912197113037, + -0.0022143623791635036 + ], + "orientation": [ + 0.2544454336166382, + 0.9650137424468994, + -0.05901092290878296, + 0.022884834557771683 + ], + "joints": [ + 0.009028814733028412 + ] + }, + "fine_grasp": { + "position": [ + 0.014048846438527107, + 0.12060800194740295, + -0.002263506641611457 + ], + "orientation": [ + 0.25643759965896606, + 0.9640556573867798, + -0.060130830854177475, + 0.034937918186187744 + ], + "joints": [ + 0.013891123235225677 + ] + }, + "final_grasp": { + "position": [ + 0.014048846438527107, + 0.12060800194740295, + -0.002263506641611457 + ], + "orientation": [ + 0.25643759965896606, + 0.9640556573867798, + -0.060130830854177475, + 0.034937918186187744 + ], + "joints": [ + 0.018753431737422943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011282680789008737, + -0.0977170318365097, + 0.1207706406712532 + ], + "orientation": [ + 0.9780876636505127, + -0.2018454372882843, + 0.05011729151010513, + -0.009550738148391247 + ], + "joints": [ + 0.008599378168582916 + ] + }, + "fine_grasp": { + "position": [ + -0.000929732748772949, + -0.09742020070552826, + 0.12066013365983963 + ], + "orientation": [ + 0.9762109518051147, + -0.20297493040561676, + 0.0755525529384613, + -0.010253475978970528 + ], + "joints": [ + 0.012930287048220634 + ] + }, + "final_grasp": { + "position": [ + -0.000929732748772949, + -0.09742020070552826, + 0.12066013365983963 + ], + "orientation": [ + 0.9762109518051147, + -0.20297493040561676, + 0.0755525529384613, + -0.010253475978970528 + ], + "joints": [ + 0.017261195927858353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030578404664993286, + 0.01878293789923191, + -0.1020195409655571 + ], + "orientation": [ + 0.48987749218940735, + 0.6732655763626099, + -0.4511283040046692, + -0.32127347588539124 + ], + "joints": [ + 0.00647107046097517 + ] + }, + "fine_grasp": { + "position": [ + 0.029611360281705856, + 0.0191408172249794, + -0.09668784588575363 + ], + "orientation": [ + 0.4911254942417145, + 0.670774519443512, + -0.4498039186000824, + -0.3263949155807495 + ], + "joints": [ + 0.012927577830851078 + ] + }, + "final_grasp": { + "position": [ + 0.029611360281705856, + 0.0191408172249794, + -0.09668784588575363 + ], + "orientation": [ + 0.4911254942417145, + 0.670774519443512, + -0.4498039186000824, + -0.3263949155807495 + ], + "joints": [ + 0.01938408613204956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032614901661872864, + -0.08104182034730911, + -0.05154315382242203 + ], + "orientation": [ + 0.16302327811717987, + 0.20091257989406586, + -0.9247069358825684, + -0.279239684343338 + ], + "joints": [ + 0.00723247928544879 + ] + }, + "fine_grasp": { + "position": [ + 0.02942327968776226, + -0.07972656935453415, + -0.04825499653816223 + ], + "orientation": [ + 0.18150080740451813, + 0.1974487006664276, + -0.9214804768562317, + -0.2809719145298004 + ], + "joints": [ + 0.01257304660975933 + ] + }, + "final_grasp": { + "position": [ + 0.02942327968776226, + -0.07972656935453415, + -0.04825499653816223 + ], + "orientation": [ + 0.18150080740451813, + 0.1974487006664276, + -0.9214804768562317, + -0.2809719145298004 + ], + "joints": [ + 0.017913613468408585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030783751979470253, + 0.018545201048254967, + -0.1020667627453804 + ], + "orientation": [ + 0.4903411567211151, + 0.673468291759491, + -0.45145052671432495, + -0.319685161113739 + ], + "joints": [ + 0.006440834142267704 + ] + }, + "fine_grasp": { + "position": [ + 0.029788300395011902, + 0.018997862935066223, + -0.09658312052488327 + ], + "orientation": [ + 0.4918246269226074, + 0.670640766620636, + -0.4503561556339264, + -0.3248518407344818 + ], + "joints": [ + 0.01340217050164938 + ] + }, + "final_grasp": { + "position": [ + 0.029788300395011902, + 0.018997862935066223, + -0.09658312052488327 + ], + "orientation": [ + 0.4918246269226074, + 0.670640766620636, + -0.4503561556339264, + -0.3248518407344818 + ], + "joints": [ + 0.02036350592970848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030717311426997185, + 0.018842613324522972, + -0.10226227343082428 + ], + "orientation": [ + 0.4907631278038025, + 0.673730194568634, + -0.45020827651023865, + -0.32023686170578003 + ], + "joints": [ + 0.006487942300736904 + ] + }, + "fine_grasp": { + "position": [ + 0.029643982648849487, + 0.01916019432246685, + -0.09691968560218811 + ], + "orientation": [ + 0.4912753105163574, + 0.6717657446861267, + -0.4491991102695465, + -0.32496100664138794 + ], + "joints": [ + 0.012944449670612812 + ] + }, + "final_grasp": { + "position": [ + 0.029643982648849487, + 0.01916019432246685, + -0.09691968560218811 + ], + "orientation": [ + 0.4912753105163574, + 0.6717657446861267, + -0.4491991102695465, + -0.32496100664138794 + ], + "joints": [ + 0.019400957971811295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03482586890459061, + -0.07156527787446976, + 0.16656771302223206 + ], + "orientation": [ + 0.9289109110832214, + -0.3096977472305298, + -0.08706583827733994, + 0.18338865041732788 + ], + "joints": [ + 0.00803402066230774 + ] + }, + "fine_grasp": { + "position": [ + 0.03489592298865318, + -0.07254805415868759, + 0.16531872749328613 + ], + "orientation": [ + 0.9278895258903503, + -0.3012360632419586, + -0.11509009450674057, + 0.18716859817504883 + ], + "joints": [ + 0.013374587520956993 + ] + }, + "final_grasp": { + "position": [ + 0.03489592298865318, + -0.07254805415868759, + 0.16531872749328613 + ], + "orientation": [ + 0.9278895258903503, + -0.3012360632419586, + -0.11509009450674057, + 0.18716859817504883 + ], + "joints": [ + 0.018715154379606247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01649506390094757, + 0.1325014978647232, + 0.11327560991048813 + ], + "orientation": [ + 0.060478538274765015, + 0.07033522427082062, + -0.159079447388649, + 0.9828983545303345 + ], + "joints": [ + 0.008698847144842148 + ] + }, + "fine_grasp": { + "position": [ + 0.016257526353001595, + 0.1320764720439911, + 0.1123800128698349 + ], + "orientation": [ + 0.05627351254224777, + 0.10019264370203018, + -0.15692053735256195, + 0.9809030890464783 + ], + "joints": [ + 0.013056326657533646 + ] + }, + "final_grasp": { + "position": [ + 0.016257526353001595, + 0.1320764720439911, + 0.1123800128698349 + ], + "orientation": [ + 0.05627351254224777, + 0.10019264370203018, + -0.15692053735256195, + 0.9809030890464783 + ], + "joints": [ + 0.017413806170225143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04363778978586197, + -0.06830795854330063, + 0.16517943143844604 + ], + "orientation": [ + 0.03199130296707153, + 0.18326438963413239, + 0.9226964712142944, + -0.33767130970954895 + ], + "joints": [ + 0.007723189424723387 + ] + }, + "fine_grasp": { + "position": [ + -0.04386747628450394, + -0.06899934262037277, + 0.16388137638568878 + ], + "orientation": [ + 0.06147998943924904, + 0.17750006914138794, + 0.9204901456832886, + -0.34265393018722534 + ], + "joints": [ + 0.013063756749033928 + ] + }, + "final_grasp": { + "position": [ + -0.04386747628450394, + -0.06899934262037277, + 0.16388137638568878 + ], + "orientation": [ + 0.06147998943924904, + 0.17750006914138794, + 0.9204901456832886, + -0.34265393018722534 + ], + "joints": [ + 0.018404323607683182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11865531653165817, + 0.04548892006278038, + 0.03576488792896271 + ], + "orientation": [ + 0.5992519855499268, + -0.013800757937133312, + -0.10559350252151489, + -0.7934461236000061 + ], + "joints": [ + 0.00938660092651844 + ] + }, + "fine_grasp": { + "position": [ + -0.1176176369190216, + 0.04502667486667633, + 0.03583374619483948 + ], + "orientation": [ + 0.5957819819450378, + -0.01989823766052723, + -0.11269651353359222, + -0.7949512004852295 + ], + "joints": [ + 0.014753738418221474 + ] + }, + "final_grasp": { + "position": [ + -0.1176176369190216, + 0.04502667486667633, + 0.03583374619483948 + ], + "orientation": [ + 0.5957819819450378, + -0.01989823766052723, + -0.11269651353359222, + -0.7949512004852295 + ], + "joints": [ + 0.020120875909924507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10566191375255585, + 0.01993425004184246, + 0.14174965023994446 + ], + "orientation": [ + 0.10170914977788925, + -0.6644203662872314, + -0.6883291006088257, + 0.2727706730365753 + ], + "joints": [ + 0.008557328954339027 + ] + }, + "fine_grasp": { + "position": [ + -0.10574604570865631, + 0.020960640162229538, + 0.13988982141017914 + ], + "orientation": [ + 0.07731962949037552, + -0.6634416580200195, + -0.6861578822135925, + 0.2881912589073181 + ], + "joints": [ + 0.013393066823482513 + ] + }, + "final_grasp": { + "position": [ + -0.10574604570865631, + 0.020960640162229538, + 0.13988982141017914 + ], + "orientation": [ + 0.07731962949037552, + -0.6634416580200195, + -0.6861578822135925, + 0.2881912589073181 + ], + "joints": [ + 0.018228804692626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010632729157805443, + -0.10347575694322586, + 0.0011969328625127673 + ], + "orientation": [ + 0.06721759587526321, + 0.053474608808755875, + 0.9815562963485718, + 0.17079094052314758 + ], + "joints": [ + 0.008610803633928299 + ] + }, + "fine_grasp": { + "position": [ + -0.009577801451086998, + -0.10366533696651459, + 0.0025699962861835957 + ], + "orientation": [ + 0.09213300049304962, + 0.05214059725403786, + 0.9805389046669006, + 0.1653366982936859 + ], + "joints": [ + 0.013951370492577553 + ] + }, + "final_grasp": { + "position": [ + -0.009577801451086998, + -0.10366533696651459, + 0.0025699962861835957 + ], + "orientation": [ + 0.09213300049304962, + 0.05214059725403786, + 0.9805389046669006, + 0.1653366982936859 + ], + "joints": [ + 0.019291937351226807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06944828480482101, + 0.08143368363380432, + 0.1942245066165924 + ], + "orientation": [ + 0.30722081661224365, + -0.8493954539299011, + 0.39678141474723816, + -0.1634238064289093 + ], + "joints": [ + 0.008256085216999054 + ] + }, + "fine_grasp": { + "position": [ + 0.06733996421098709, + 0.0798187330365181, + 0.19091834127902985 + ], + "orientation": [ + 0.3145420253276825, + -0.8455985188484192, + 0.39598506689071655, + -0.17094536125659943 + ], + "joints": [ + 0.014632880687713623 + ] + }, + "final_grasp": { + "position": [ + 0.06733996421098709, + 0.0798187330365181, + 0.19091834127902985 + ], + "orientation": [ + 0.3145420253276825, + -0.8455985188484192, + 0.39598506689071655, + -0.17094536125659943 + ], + "joints": [ + 0.021009676158428192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10612300783395767, + 0.054963476955890656, + -0.0020704385824501514 + ], + "orientation": [ + 0.213358536362648, + 0.819672703742981, + 0.5297493934631348, + 0.04449988901615143 + ], + "joints": [ + 0.00824480876326561 + ] + }, + "fine_grasp": { + "position": [ + -0.10624378174543381, + 0.0551958791911602, + -0.0017561650602146983 + ], + "orientation": [ + 0.21564199030399323, + 0.8207991719245911, + 0.5270748734474182, + 0.04448922351002693 + ], + "joints": [ + 0.014674745500087738 + ] + }, + "final_grasp": { + "position": [ + -0.10624378174543381, + 0.0551958791911602, + -0.0017561650602146983 + ], + "orientation": [ + 0.21564199030399323, + 0.8207991719245911, + 0.5270748734474182, + 0.04448922351002693 + ], + "joints": [ + 0.021104682236909866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014821240678429604, + -0.09670348465442657, + 0.1003074198961258 + ], + "orientation": [ + 0.012642000801861286, + 0.05748925730586052, + 0.9744306802749634, + -0.21684114634990692 + ], + "joints": [ + 0.00911325216293335 + ] + }, + "fine_grasp": { + "position": [ + -0.01481650397181511, + -0.09545793384313583, + 0.10052160918712616 + ], + "orientation": [ + 0.0055130100809037685, + 0.055797677487134933, + 0.9732016921043396, + -0.2230125367641449 + ], + "joints": [ + 0.014453819021582603 + ] + }, + "final_grasp": { + "position": [ + -0.01481650397181511, + -0.09545793384313583, + 0.10052160918712616 + ], + "orientation": [ + 0.0055130100809037685, + 0.055797677487134933, + 0.9732016921043396, + -0.2230125367641449 + ], + "joints": [ + 0.019794385880231857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1020255908370018, + 0.02169155888259411, + 0.15324166417121887 + ], + "orientation": [ + 0.6691722273826599, + -0.23498176038265228, + -0.1817850023508072, + 0.6811359524726868 + ], + "joints": [ + 0.008255790919065475 + ] + }, + "fine_grasp": { + "position": [ + 0.1015268862247467, + 0.020366135984659195, + 0.15105323493480682 + ], + "orientation": [ + 0.6693716049194336, + -0.21488915383815765, + -0.20226866006851196, + 0.6818002462387085 + ], + "joints": [ + 0.01359635777771473 + ] + }, + "final_grasp": { + "position": [ + 0.1015268862247467, + 0.020366135984659195, + 0.15105323493480682 + ], + "orientation": [ + 0.6693716049194336, + -0.21488915383815765, + -0.20226866006851196, + 0.6818002462387085 + ], + "joints": [ + 0.018936924636363983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10150063037872314, + 0.021562054753303528, + 0.15332664549350739 + ], + "orientation": [ + 0.6695297956466675, + -0.23268727958202362, + -0.18356391787528992, + 0.6810951828956604 + ], + "joints": [ + 0.008211169391870499 + ] + }, + "fine_grasp": { + "position": [ + 0.10165455937385559, + 0.020130349323153496, + 0.1514454483985901 + ], + "orientation": [ + 0.6705320477485657, + -0.21249528229236603, + -0.2030099779367447, + 0.681189775466919 + ], + "joints": [ + 0.013046907261013985 + ] + }, + "final_grasp": { + "position": [ + 0.10165455937385559, + 0.020130349323153496, + 0.1514454483985901 + ], + "orientation": [ + 0.6705320477485657, + -0.21249528229236603, + -0.2030099779367447, + 0.681189775466919 + ], + "joints": [ + 0.01788264513015747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10196670144796371, + 0.021673765033483505, + 0.153416246175766 + ], + "orientation": [ + 0.6696035861968994, + -0.23292210698127747, + -0.18178196251392365, + 0.6814203262329102 + ], + "joints": [ + 0.008123015984892845 + ] + }, + "fine_grasp": { + "position": [ + 0.10196840763092041, + 0.020235860720276833, + 0.15146459639072418 + ], + "orientation": [ + 0.6705691814422607, + -0.21319197118282318, + -0.20218391716480255, + 0.6811811923980713 + ], + "joints": [ + 0.013463582843542099 + ] + }, + "final_grasp": { + "position": [ + 0.10196840763092041, + 0.020235860720276833, + 0.15146459639072418 + ], + "orientation": [ + 0.6705691814422607, + -0.21319197118282318, + -0.20218391716480255, + 0.6811811923980713 + ], + "joints": [ + 0.018804149702191353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03995043784379959, + -0.02001165598630905, + 0.22131039202213287 + ], + "orientation": [ + 0.8001453876495361, + -0.5100499391555786, + 0.13746638596057892, + -0.2841116487979889 + ], + "joints": [ + 0.006698481272906065 + ] + }, + "fine_grasp": { + "position": [ + -0.03774372488260269, + -0.017774946987628937, + 0.21724893152713776 + ], + "orientation": [ + 0.8023794293403625, + -0.5057386159896851, + 0.13409322500228882, + -0.28711479902267456 + ], + "joints": [ + 0.01565256342291832 + ] + }, + "final_grasp": { + "position": [ + -0.03774372488260269, + -0.017774946987628937, + 0.21724893152713776 + ], + "orientation": [ + 0.8023794293403625, + -0.5057386159896851, + 0.13409322500228882, + -0.28711479902267456 + ], + "joints": [ + 0.024606645107269287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010575870983302593, + 0.13511547446250916, + 0.035254284739494324 + ], + "orientation": [ + 0.0449618436396122, + 0.01597626693546772, + 0.045693378895521164, + 0.9978153705596924 + ], + "joints": [ + 0.009150214493274689 + ] + }, + "fine_grasp": { + "position": [ + 0.01024092361330986, + 0.13651025295257568, + 0.03558184579014778 + ], + "orientation": [ + 0.04312523454427719, + 0.005570679437369108, + 0.04350481927394867, + 0.9981064796447754 + ], + "joints": [ + 0.015553582459688187 + ] + }, + "final_grasp": { + "position": [ + 0.01024092361330986, + 0.13651025295257568, + 0.03558184579014778 + ], + "orientation": [ + 0.04312523454427719, + 0.005570679437369108, + 0.04350481927394867, + 0.9981064796447754 + ], + "joints": [ + 0.021956950426101685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11873269081115723, + -0.008123553358018398, + 0.08255944401025772 + ], + "orientation": [ + 0.006353337783366442, + -0.6263870000839233, + -0.7648561000823975, + 0.15031316876411438 + ], + "joints": [ + 0.009199611842632294 + ] + }, + "fine_grasp": { + "position": [ + -0.11843713372945786, + -0.00752678420394659, + 0.08285382390022278 + ], + "orientation": [ + 0.00799478031694889, + -0.626948356628418, + -0.7656346559524536, + 0.14378973841667175 + ], + "joints": [ + 0.014566751196980476 + ] + }, + "final_grasp": { + "position": [ + -0.11843713372945786, + -0.00752678420394659, + 0.08285382390022278 + ], + "orientation": [ + 0.00799478031694889, + -0.626948356628418, + -0.7656346559524536, + 0.14378973841667175 + ], + "joints": [ + 0.01993389055132866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10196200013160706, + 0.021506769582629204, + 0.1534518152475357 + ], + "orientation": [ + 0.6699009537696838, + -0.22860485315322876, + -0.1838531792163849, + 0.6820342540740967 + ], + "joints": [ + 0.008161166682839394 + ] + }, + "fine_grasp": { + "position": [ + 0.10215099900960922, + 0.020098859444260597, + 0.15155959129333496 + ], + "orientation": [ + 0.6708425879478455, + -0.2083251029253006, + -0.20295587182044983, + 0.6821874976158142 + ], + "joints": [ + 0.01299690455198288 + ] + }, + "final_grasp": { + "position": [ + 0.10215099900960922, + 0.020098859444260597, + 0.15155959129333496 + ], + "orientation": [ + 0.6708425879478455, + -0.2083251029253006, + -0.20295587182044983, + 0.6821874976158142 + ], + "joints": [ + 0.017832642421126366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045117855072021484, + -0.0318303108215332, + 0.21626470983028412 + ], + "orientation": [ + 0.21967895328998566, + -0.34751439094543457, + -0.8198127746582031, + 0.39859992265701294 + ], + "joints": [ + 0.007903063669800758 + ] + }, + "fine_grasp": { + "position": [ + -0.043136682361364365, + -0.030912790447473526, + 0.2118435651063919 + ], + "orientation": [ + 0.23246356844902039, + -0.3500152826309204, + -0.8138362169265747, + 0.4013982117176056 + ], + "joints": [ + 0.014359571039676666 + ] + }, + "final_grasp": { + "position": [ + -0.043136682361364365, + -0.030912790447473526, + 0.2118435651063919 + ], + "orientation": [ + 0.23246356844902039, + -0.3500152826309204, + -0.8138362169265747, + 0.4013982117176056 + ], + "joints": [ + 0.020816078409552574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11508150398731232, + 0.009456873871386051, + -0.009635405614972115 + ], + "orientation": [ + 0.16110539436340332, + 0.6934399604797363, + -0.6911889314651489, + -0.12427421659231186 + ], + "joints": [ + 0.00670956214889884 + ] + }, + "fine_grasp": { + "position": [ + 0.11291085183620453, + 0.010889912955462933, + -0.009049922227859497 + ], + "orientation": [ + 0.13760441541671753, + 0.6947367787361145, + -0.6920139789581299, + -0.13972285389900208 + ], + "joints": [ + 0.012608099728822708 + ] + }, + "final_grasp": { + "position": [ + 0.11291085183620453, + 0.010889912955462933, + -0.009049922227859497 + ], + "orientation": [ + 0.13760441541671753, + 0.6947367787361145, + -0.6920139789581299, + -0.13972285389900208 + ], + "joints": [ + 0.01850663684308529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12249520421028137, + 0.0016954794991761446, + 0.07412456721067429 + ], + "orientation": [ + 0.00927702710032463, + 0.6641038060188293, + 0.7389190196990967, + -0.11348392069339752 + ], + "joints": [ + 0.009099628776311874 + ] + }, + "fine_grasp": { + "position": [ + -0.12167170643806458, + 0.0021358171943575144, + 0.07330623269081116 + ], + "orientation": [ + 0.007721217814832926, + 0.6637045741081238, + 0.7383998036384583, + -0.11917339265346527 + ], + "joints": [ + 0.014998167753219604 + ] + }, + "final_grasp": { + "position": [ + -0.12167170643806458, + 0.0021358171943575144, + 0.07330623269081116 + ], + "orientation": [ + 0.007721217814832926, + 0.6637045741081238, + 0.7383998036384583, + -0.11917339265346527 + ], + "joints": [ + 0.020896706730127335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0917191430926323, + 0.02381841652095318, + -0.05180925130844116 + ], + "orientation": [ + 0.271841436624527, + 0.7232750654220581, + 0.600721001625061, + 0.205206036567688 + ], + "joints": [ + 0.005713656544685364 + ] + }, + "fine_grasp": { + "position": [ + -0.0918135866522789, + 0.025158975273370743, + -0.049642711877822876 + ], + "orientation": [ + 0.2651793956756592, + 0.7239788174629211, + 0.5959933400154114, + 0.22433535754680634 + ], + "joints": [ + 0.011054223403334618 + ] + }, + "final_grasp": { + "position": [ + -0.0918135866522789, + 0.025158975273370743, + -0.049642711877822876 + ], + "orientation": [ + 0.2651793956756592, + 0.7239788174629211, + 0.5959933400154114, + 0.22433535754680634 + ], + "joints": [ + 0.01639479026198387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09250302612781525, + 0.023468980565667152, + -0.05279570817947388 + ], + "orientation": [ + 0.27282702922821045, + 0.7227462530136108, + 0.6013549566268921, + 0.2039005160331726 + ], + "joints": [ + 0.005770539864897728 + ] + }, + "fine_grasp": { + "position": [ + -0.09158281236886978, + 0.0240907222032547, + -0.04977445304393768 + ], + "orientation": [ + 0.27017614245414734, + 0.7205337882041931, + 0.5981981158256531, + 0.22359567880630493 + ], + "joints": [ + 0.011111106723546982 + ] + }, + "final_grasp": { + "position": [ + -0.09158281236886978, + 0.0240907222032547, + -0.04977445304393768 + ], + "orientation": [ + 0.27017614245414734, + 0.7205337882041931, + 0.5981981158256531, + 0.22359567880630493 + ], + "joints": [ + 0.016451673582196236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03300710767507553, + 0.13100773096084595, + 0.059810567647218704 + ], + "orientation": [ + 0.13554958999156952, + -0.035652801394462585, + 0.046862296760082245, + -0.9890192747116089 + ], + "joints": [ + 0.009013241156935692 + ] + }, + "fine_grasp": { + "position": [ + -0.03327404335141182, + 0.13196177780628204, + 0.06097607687115669 + ], + "orientation": [ + 0.13866087794303894, + -0.022196810692548752, + 0.04211975634098053, + -0.9891948103904724 + ], + "joints": [ + 0.01541660912334919 + ] + }, + "final_grasp": { + "position": [ + -0.03327404335141182, + 0.13196177780628204, + 0.06097607687115669 + ], + "orientation": [ + 0.13866087794303894, + -0.022196810692548752, + 0.04211975634098053, + -0.9891948103904724 + ], + "joints": [ + 0.021819977089762688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05771712213754654, + 0.02977398969233036, + -0.08625715970993042 + ], + "orientation": [ + 0.4281860888004303, + 0.7444922924041748, + -0.4630991518497467, + -0.21892261505126953 + ], + "joints": [ + 0.006770704407244921 + ] + }, + "fine_grasp": { + "position": [ + 0.05633651465177536, + 0.028877727687358856, + -0.08489049226045609 + ], + "orientation": [ + 0.43270567059516907, + 0.7442154288291931, + -0.45970475673675537, + -0.21813009679317474 + ], + "joints": [ + 0.013678899966180325 + ] + }, + "final_grasp": { + "position": [ + 0.05633651465177536, + 0.028877727687358856, + -0.08489049226045609 + ], + "orientation": [ + 0.43270567059516907, + 0.7442154288291931, + -0.45970475673675537, + -0.21813009679317474 + ], + "joints": [ + 0.020587095990777016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12132912129163742, + 0.002229760866612196, + 0.04847292602062225 + ], + "orientation": [ + 0.7333576679229736, + -0.03595328703522682, + -0.08016988635063171, + -0.6741414666175842 + ], + "joints": [ + 0.008798617869615555 + ] + }, + "fine_grasp": { + "position": [ + -0.12138641625642776, + 0.0018085361225530505, + 0.048076242208480835 + ], + "orientation": [ + 0.731590986251831, + -0.04032329097390175, + -0.07863256335258484, + -0.6759923100471497 + ], + "joints": [ + 0.013607785105705261 + ] + }, + "final_grasp": { + "position": [ + -0.12138641625642776, + 0.0018085361225530505, + 0.048076242208480835 + ], + "orientation": [ + 0.731590986251831, + -0.04032329097390175, + -0.07863256335258484, + -0.6759923100471497 + ], + "joints": [ + 0.018416952341794968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09579717367887497, + 0.07875276356935501, + 0.006013262085616589 + ], + "orientation": [ + 0.4454607665538788, + -0.014854193665087223, + -0.1306098848581314, + -0.8855987787246704 + ], + "joints": [ + 0.00735073396936059 + ] + }, + "fine_grasp": { + "position": [ + -0.09683147072792053, + 0.07914987951517105, + 0.00714391004294157 + ], + "orientation": [ + 0.4469093978404999, + -0.0077103134244680405, + -0.13337770104408264, + -0.8845467567443848 + ], + "joints": [ + 0.014258929528295994 + ] + }, + "final_grasp": { + "position": [ + -0.09683147072792053, + 0.07914987951517105, + 0.00714391004294157 + ], + "orientation": [ + 0.4469093978404999, + -0.0077103134244680405, + -0.13337770104408264, + -0.8845467567443848 + ], + "joints": [ + 0.021167125552892685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017488738521933556, + 0.1301601380109787, + 0.1296597570180893 + ], + "orientation": [ + 0.18492479622364044, + -0.9792876243591309, + 0.06846298277378082, + 0.04594842717051506 + ], + "joints": [ + 0.008169833570718765 + ] + }, + "fine_grasp": { + "position": [ + 0.01958554796874523, + 0.13288956880569458, + 0.12969118356704712 + ], + "orientation": [ + 0.1872391551733017, + -0.9769563674926758, + 0.06718938797712326, + 0.07735231518745422 + ], + "joints": [ + 0.013536971062421799 + ] + }, + "final_grasp": { + "position": [ + 0.01958554796874523, + 0.13288956880569458, + 0.12969118356704712 + ], + "orientation": [ + 0.1872391551733017, + -0.9769563674926758, + 0.06718938797712326, + 0.07735231518745422 + ], + "joints": [ + 0.018904108554124832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03743571415543556, + -0.09819822758436203, + -0.016628028824925423 + ], + "orientation": [ + 0.9702542424201965, + 0.18347620964050293, + -0.04138777405023575, + 0.15241475403308868 + ], + "joints": [ + 0.007247071713209152 + ] + }, + "fine_grasp": { + "position": [ + 0.03819339722394943, + -0.0985984355211258, + -0.015109122730791569 + ], + "orientation": [ + 0.9685297608375549, + 0.18322435021400452, + -0.06910530477762222, + 0.15363386273384094 + ], + "joints": [ + 0.012614209204912186 + ] + }, + "final_grasp": { + "position": [ + 0.03819339722394943, + -0.0985984355211258, + -0.015109122730791569 + ], + "orientation": [ + 0.9685297608375549, + 0.18322435021400452, + -0.06910530477762222, + 0.15363386273384094 + ], + "joints": [ + 0.01798134669661522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0793677568435669, + 0.0071358149871230125, + -0.07459205389022827 + ], + "orientation": [ + 0.2739180326461792, + 0.634440541267395, + -0.6531018018722534, + -0.3096967339515686 + ], + "joints": [ + 0.0051991892978549 + ] + }, + "fine_grasp": { + "position": [ + 0.07704136520624161, + 0.007569231558591127, + -0.07023674994707108 + ], + "orientation": [ + 0.2761508822441101, + 0.6343691945075989, + -0.6452587842941284, + -0.32397153973579407 + ], + "joints": [ + 0.010566326789557934 + ] + }, + "final_grasp": { + "position": [ + 0.07704136520624161, + 0.007569231558591127, + -0.07023674994707108 + ], + "orientation": [ + 0.2761508822441101, + 0.6343691945075989, + -0.6452587842941284, + -0.32397153973579407 + ], + "joints": [ + 0.015933465212583542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10519260913133621, + 0.0002961894788313657, + -0.030060216784477234 + ], + "orientation": [ + 0.7137327790260315, + 0.18598686158657074, + -0.1530165672302246, + -0.6577082872390747 + ], + "joints": [ + 0.005360218696296215 + ] + }, + "fine_grasp": { + "position": [ + -0.10143686830997467, + 0.002300211228430271, + -0.029253782704472542 + ], + "orientation": [ + 0.7152484059333801, + 0.20627208054065704, + -0.13962967693805695, + -0.6529741287231445 + ], + "joints": [ + 0.01067421492189169 + ] + }, + "final_grasp": { + "position": [ + -0.10143686830997467, + 0.002300211228430271, + -0.029253782704472542 + ], + "orientation": [ + 0.7152484059333801, + 0.20627208054065704, + -0.13962967693805695, + -0.6529741287231445 + ], + "joints": [ + 0.015988212078809738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07938377559185028, + 0.007267436012625694, + -0.07442916929721832 + ], + "orientation": [ + 0.27354347705841064, + 0.6359872817993164, + -0.652580738067627, + -0.30794888734817505 + ], + "joints": [ + 0.005259620491415262 + ] + }, + "fine_grasp": { + "position": [ + 0.07719346135854721, + 0.007745351176708937, + -0.07014758139848709 + ], + "orientation": [ + 0.2762075662612915, + 0.6355594992637634, + -0.6445983052253723, + -0.32290345430374146 + ], + "joints": [ + 0.010626758448779583 + ] + }, + "final_grasp": { + "position": [ + 0.07719346135854721, + 0.007745351176708937, + -0.07014758139848709 + ], + "orientation": [ + 0.2762075662612915, + 0.6355594992637634, + -0.6445983052253723, + -0.32290345430374146 + ], + "joints": [ + 0.01599389687180519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12438544631004333, + 0.015012310817837715, + 0.05985371395945549 + ], + "orientation": [ + 0.04574361816048622, + 0.7088239789009094, + 0.7011178731918335, + -0.06252800673246384 + ], + "joints": [ + 0.009267734363675117 + ] + }, + "fine_grasp": { + "position": [ + -0.12455674260854721, + 0.014941963367164135, + 0.05816136673092842 + ], + "orientation": [ + 0.04068298637866974, + 0.7085395455360413, + 0.7002079486846924, + -0.07762371003627777 + ], + "joints": [ + 0.01466144435107708 + ] + }, + "final_grasp": { + "position": [ + -0.12455674260854721, + 0.014941963367164135, + 0.05816136673092842 + ], + "orientation": [ + 0.04068298637866974, + 0.7085395455360413, + 0.7002079486846924, + -0.07762371003627777 + ], + "joints": [ + 0.020055154338479042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051426615566015244, + -0.030685029923915863, + -0.09404530376195908 + ], + "orientation": [ + 0.7648189663887024, + 0.40263763070106506, + -0.27451956272125244, + -0.42139533162117004 + ], + "joints": [ + 0.005932357162237167 + ] + }, + "fine_grasp": { + "position": [ + -0.05002506822347641, + -0.029110802337527275, + -0.0900963693857193 + ], + "orientation": [ + 0.7630614042282104, + 0.4046906530857086, + -0.2781273126602173, + -0.4202477037906647 + ], + "joints": [ + 0.012867122888565063 + ] + }, + "final_grasp": { + "position": [ + -0.05002506822347641, + -0.029110802337527275, + -0.0900963693857193 + ], + "orientation": [ + 0.7630614042282104, + 0.4046906530857086, + -0.2781273126602173, + -0.4202477037906647 + ], + "joints": [ + 0.01980188861489296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07035525888204575, + 0.08259522914886475, + 0.1971004456281662 + ], + "orientation": [ + 0.2948639392852783, + -0.8514530658721924, + 0.401269793510437, + -0.16451579332351685 + ], + "joints": [ + 0.008595673367381096 + ] + }, + "fine_grasp": { + "position": [ + 0.06787098199129105, + 0.08076732605695724, + 0.1934657245874405 + ], + "orientation": [ + 0.30329352617263794, + -0.848156750202179, + 0.3992133140563965, + -0.1710897535085678 + ], + "joints": [ + 0.015503868460655212 + ] + }, + "final_grasp": { + "position": [ + 0.06787098199129105, + 0.08076732605695724, + 0.1934657245874405 + ], + "orientation": [ + 0.30329352617263794, + -0.848156750202179, + 0.3992133140563965, + -0.1710897535085678 + ], + "joints": [ + 0.02241206355392933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0682404637336731, + 0.0863768458366394, + 0.18967536091804504 + ], + "orientation": [ + 0.4135623872280121, + -0.24873456358909607, + -0.2422790825366974, + 0.8416639566421509 + ], + "joints": [ + 0.008894078433513641 + ] + }, + "fine_grasp": { + "position": [ + 0.06606195867061615, + 0.08461600542068481, + 0.18699415028095245 + ], + "orientation": [ + 0.40895071625709534, + -0.2520522177219391, + -0.2533758282661438, + 0.8396604657173157 + ], + "joints": [ + 0.014766044914722443 + ] + }, + "final_grasp": { + "position": [ + 0.06606195867061615, + 0.08461600542068481, + 0.18699415028095245 + ], + "orientation": [ + 0.40895071625709534, + -0.2520522177219391, + -0.2533758282661438, + 0.8396604657173157 + ], + "joints": [ + 0.020638011395931244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08645366877317429, + -0.0065855723805725574, + -0.06827633827924728 + ], + "orientation": [ + 0.7267526984214783, + 0.3000071048736572, + -0.1887379288673401, + -0.5883912444114685 + ], + "joints": [ + 0.005817996803671122 + ] + }, + "fine_grasp": { + "position": [ + -0.08616799116134644, + -0.004423428326845169, + -0.06540984660387039 + ], + "orientation": [ + 0.7243735194206238, + 0.3174858093261719, + -0.17768484354019165, + -0.5855886340141296 + ], + "joints": [ + 0.011238276027143002 + ] + }, + "final_grasp": { + "position": [ + -0.08616799116134644, + -0.004423428326845169, + -0.06540984660387039 + ], + "orientation": [ + 0.7243735194206238, + 0.3174858093261719, + -0.17768484354019165, + -0.5855886340141296 + ], + "joints": [ + 0.01665855571627617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07957800477743149, + 0.007106431759893894, + -0.07443242520093918 + ], + "orientation": [ + 0.2751784324645996, + 0.6379173398017883, + -0.6519883871078491, + -0.30372583866119385 + ], + "joints": [ + 0.0052215722389519215 + ] + }, + "fine_grasp": { + "position": [ + 0.07736192643642426, + 0.007522970903664827, + -0.07000484317541122 + ], + "orientation": [ + 0.2787170708179474, + 0.6368603110313416, + -0.6440585255622864, + -0.3192404508590698 + ], + "joints": [ + 0.01109353918582201 + ] + }, + "final_grasp": { + "position": [ + 0.07736192643642426, + 0.007522970903664827, + -0.07000484317541122 + ], + "orientation": [ + 0.2787170708179474, + 0.6368603110313416, + -0.6440585255622864, + -0.3192404508590698 + ], + "joints": [ + 0.016965506598353386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1246291771531105, + 0.022991271689534187, + 0.06175951659679413 + ], + "orientation": [ + 0.029395831748843193, + 0.7305051684379578, + 0.6776109337806702, + -0.0796327069401741 + ], + "joints": [ + 0.009365782141685486 + ] + }, + "fine_grasp": { + "position": [ + -0.12315090000629425, + 0.023040231317281723, + 0.06068749353289604 + ], + "orientation": [ + 0.028508460149168968, + 0.730171263217926, + 0.6768659353256226, + -0.08882331848144531 + ], + "joints": [ + 0.014759492129087448 + ] + }, + "final_grasp": { + "position": [ + -0.12315090000629425, + 0.023040231317281723, + 0.06068749353289604 + ], + "orientation": [ + 0.028508460149168968, + 0.730171263217926, + 0.6768659353256226, + -0.08882331848144531 + ], + "joints": [ + 0.02015320211648941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061117012053728104, + 0.028642773628234863, + -0.09131283313035965 + ], + "orientation": [ + 0.5171763300895691, + 0.290428102016449, + -0.38108158111572266, + -0.709194540977478 + ], + "joints": [ + 0.004868891555815935 + ] + }, + "fine_grasp": { + "position": [ + -0.058106135576963425, + 0.02842283621430397, + -0.08657040446996689 + ], + "orientation": [ + 0.5199320912361145, + 0.29358819127082825, + -0.38008883595466614, + -0.706405758857727 + ], + "joints": [ + 0.012813315726816654 + ] + }, + "final_grasp": { + "position": [ + -0.058106135576963425, + 0.02842283621430397, + -0.08657040446996689 + ], + "orientation": [ + 0.5199320912361145, + 0.29358819127082825, + -0.38008883595466614, + -0.706405758857727 + ], + "joints": [ + 0.02075774036347866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04716885834932327, + 0.06481742113828659, + 0.21844637393951416 + ], + "orientation": [ + 0.39929282665252686, + -0.796332597732544, + -0.38364502787590027, + 0.24338482320308685 + ], + "joints": [ + 0.00867246463894844 + ] + }, + "fine_grasp": { + "position": [ + -0.04608982056379318, + 0.06339973211288452, + 0.21445941925048828 + ], + "orientation": [ + 0.4044323265552521, + -0.7941321134567261, + -0.38138431310653687, + 0.24563133716583252 + ], + "joints": [ + 0.015580661594867706 + ] + }, + "final_grasp": { + "position": [ + -0.04608982056379318, + 0.06339973211288452, + 0.21445941925048828 + ], + "orientation": [ + 0.4044323265552521, + -0.7941321134567261, + -0.38138431310653687, + 0.24563133716583252 + ], + "joints": [ + 0.022488858550786972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08716673403978348, + -0.007683071307837963, + -0.06726807355880737 + ], + "orientation": [ + 0.7253854274749756, + 0.2927580773830414, + -0.20243382453918457, + -0.5891766548156738 + ], + "joints": [ + 0.005305579397827387 + ] + }, + "fine_grasp": { + "position": [ + -0.08559594303369522, + -0.0065163979306817055, + -0.06269869953393936 + ], + "orientation": [ + 0.7218859791755676, + 0.3044692277908325, + -0.21030877530574799, + -0.5847644805908203 + ], + "joints": [ + 0.011735516600310802 + ] + }, + "final_grasp": { + "position": [ + -0.08559594303369522, + -0.0065163979306817055, + -0.06269869953393936 + ], + "orientation": [ + 0.7218859791755676, + 0.3044692277908325, + -0.21030877530574799, + -0.5847644805908203 + ], + "joints": [ + 0.018165454268455505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036097537726163864, + 0.10819000750780106, + -0.026035727933049202 + ], + "orientation": [ + 0.2847435474395752, + 0.9442843198776245, + 0.16226494312286377, + 0.030304783955216408 + ], + "joints": [ + 0.00826592929661274 + ] + }, + "fine_grasp": { + "position": [ + -0.036488842219114304, + 0.10833475738763809, + -0.024655932560563087 + ], + "orientation": [ + 0.29965072870254517, + 0.9401824474334717, + 0.15839718282222748, + 0.034302644431591034 + ], + "joints": [ + 0.01413789577782154 + ] + }, + "final_grasp": { + "position": [ + -0.036488842219114304, + 0.10833475738763809, + -0.024655932560563087 + ], + "orientation": [ + 0.29965072870254517, + 0.9401824474334717, + 0.15839718282222748, + 0.034302644431591034 + ], + "joints": [ + 0.020009862259030342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11620546132326126, + -0.006304086651653051, + 0.014885572716593742 + ], + "orientation": [ + 0.7410973310470581, + 0.04236580803990364, + -0.15560461580753326, + -0.6517415046691895 + ], + "joints": [ + 0.007467962801456451 + ] + }, + "fine_grasp": { + "position": [ + -0.1169997826218605, + -0.007135144900530577, + 0.014815782196819782 + ], + "orientation": [ + 0.7386912107467651, + 0.04718613252043724, + -0.1568271666765213, + -0.6538455486297607 + ], + "joints": [ + 0.013313358649611473 + ] + }, + "final_grasp": { + "position": [ + -0.1169997826218605, + -0.007135144900530577, + 0.014815782196819782 + ], + "orientation": [ + 0.7386912107467651, + 0.04718613252043724, + -0.1568271666765213, + -0.6538455486297607 + ], + "joints": [ + 0.019158754497766495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03583257272839546, + 0.10899580270051956, + -0.02730977162718773 + ], + "orientation": [ + 0.28277942538261414, + 0.9455395936965942, + 0.1591566801071167, + 0.02568749524652958 + ], + "joints": [ + 0.008278168737888336 + ] + }, + "fine_grasp": { + "position": [ + -0.03640591353178024, + 0.10918039083480835, + -0.025032225996255875 + ], + "orientation": [ + 0.3000773787498474, + 0.9407613277435303, + 0.15465417504310608, + 0.03168049454689026 + ], + "joints": [ + 0.014654964208602905 + ] + }, + "final_grasp": { + "position": [ + -0.03640591353178024, + 0.10918039083480835, + -0.025032225996255875 + ], + "orientation": [ + 0.3000773787498474, + 0.9407613277435303, + 0.15465417504310608, + 0.03168049454689026 + ], + "joints": [ + 0.021031759679317474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03575199842453003, + 0.10881216824054718, + -0.027821283787488937 + ], + "orientation": [ + 0.28415006399154663, + 0.9452510476112366, + 0.15839682519435883, + 0.02587837353348732 + ], + "joints": [ + 0.008405735716223717 + ] + }, + "fine_grasp": { + "position": [ + -0.03622482717037201, + 0.10880286991596222, + -0.025352194905281067 + ], + "orientation": [ + 0.3017506003379822, + 0.9401923418045044, + 0.1548517942428589, + 0.03171423450112343 + ], + "joints": [ + 0.014782531186938286 + ] + }, + "final_grasp": { + "position": [ + -0.03622482717037201, + 0.10880286991596222, + -0.025352194905281067 + ], + "orientation": [ + 0.3017506003379822, + 0.9401923418045044, + 0.1548517942428589, + 0.03171423450112343 + ], + "joints": [ + 0.021159326657652855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08702671527862549, + -0.007493798155337572, + -0.067014679312706 + ], + "orientation": [ + 0.725355327129364, + 0.2986345887184143, + -0.20041634142398834, + -0.5869500041007996 + ], + "joints": [ + 0.005311292130500078 + ] + }, + "fine_grasp": { + "position": [ + -0.08535239845514297, + -0.006178283132612705, + -0.06282393634319305 + ], + "orientation": [ + 0.7226468920707703, + 0.3072561025619507, + -0.20661091804504395, + -0.5836840271949768 + ], + "joints": [ + 0.011714658699929714 + ] + }, + "final_grasp": { + "position": [ + -0.08535239845514297, + -0.006178283132612705, + -0.06282393634319305 + ], + "orientation": [ + 0.7226468920707703, + 0.3072561025619507, + -0.20661091804504395, + -0.5836840271949768 + ], + "joints": [ + 0.018118025735020638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03695547953248024, + 0.11882243305444717, + -0.005273007787764072 + ], + "orientation": [ + 0.1551140397787094, + 0.00040068893576972187, + -0.19730594754219055, + -0.9679926633834839 + ], + "joints": [ + 0.008674444630742073 + ] + }, + "fine_grasp": { + "position": [ + -0.03734993934631348, + 0.11920177191495895, + -0.004642844200134277 + ], + "orientation": [ + 0.1521795094013214, + 0.012169266119599342, + -0.20176894962787628, + -0.9674618244171143 + ], + "joints": [ + 0.014546411111950874 + ] + }, + "final_grasp": { + "position": [ + -0.03734993934631348, + 0.11920177191495895, + -0.004642844200134277 + ], + "orientation": [ + 0.1521795094013214, + 0.012169266119599342, + -0.20176894962787628, + -0.9674618244171143 + ], + "joints": [ + 0.020418377593159676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028656896203756332, + -0.03791344165802002, + 0.21438518166542053 + ], + "orientation": [ + 0.8497381210327148, + -0.4484194815158844, + -0.1585615575313568, + 0.22742784023284912 + ], + "joints": [ + 0.007967142388224602 + ] + }, + "fine_grasp": { + "position": [ + 0.028327709063887596, + -0.036015208810567856, + 0.2113751471042633 + ], + "orientation": [ + 0.8461474180221558, + -0.4555168151855469, + -0.16151104867458344, + 0.2246178835630417 + ], + "joints": [ + 0.013865679502487183 + ] + }, + "final_grasp": { + "position": [ + 0.028327709063887596, + -0.036015208810567856, + 0.2113751471042633 + ], + "orientation": [ + 0.8461474180221558, + -0.4555168151855469, + -0.16151104867458344, + 0.2246178835630417 + ], + "joints": [ + 0.019764216616749763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10273108631372452, + 0.021721474826335907, + -0.04471251368522644 + ], + "orientation": [ + 0.5944715738296509, + 0.06092674285173416, + -0.2969795763492584, + -0.7447781562805176 + ], + "joints": [ + 0.005461992230266333 + ] + }, + "fine_grasp": { + "position": [ + -0.10422482341527939, + 0.021541215479373932, + -0.043182373046875 + ], + "orientation": [ + 0.5935536623001099, + 0.04321775585412979, + -0.30936703085899353, + -0.7416996359825134 + ], + "joints": [ + 0.010829130187630653 + ] + }, + "final_grasp": { + "position": [ + -0.10422482341527939, + 0.021541215479373932, + -0.043182373046875 + ], + "orientation": [ + 0.5935536623001099, + 0.04321775585412979, + -0.30936703085899353, + -0.7416996359825134 + ], + "joints": [ + 0.016196267679333687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11960002779960632, + 0.0012818872928619385, + 0.07264218479394913 + ], + "orientation": [ + 0.7344747185707092, + -0.15085823833942413, + 0.016745995730161667, + -0.6614440083503723 + ], + "joints": [ + 0.007782814558595419 + ] + }, + "fine_grasp": { + "position": [ + -0.11966513842344284, + 0.0014180958969518542, + 0.07259271293878555 + ], + "orientation": [ + 0.7347646951675415, + -0.14847931265830994, + 0.018277566879987717, + -0.6616197824478149 + ], + "joints": [ + 0.014186181128025055 + ] + }, + "final_grasp": { + "position": [ + -0.11966513842344284, + 0.0014180958969518542, + 0.07259271293878555 + ], + "orientation": [ + 0.7347646951675415, + -0.14847931265830994, + 0.018277566879987717, + -0.6616197824478149 + ], + "joints": [ + 0.020589547231793404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028811512514948845, + -0.0676112025976181, + -0.07501037418842316 + ], + "orientation": [ + 0.9122271537780762, + 0.38938000798225403, + -0.04500306025147438, + 0.11916204541921616 + ], + "joints": [ + 0.00656275637447834 + ] + }, + "fine_grasp": { + "position": [ + 0.02984222024679184, + -0.06644882261753082, + -0.07181929796934128 + ], + "orientation": [ + 0.9062740802764893, + 0.4011481702327728, + -0.06185998395085335, + 0.11798714846372604 + ], + "joints": [ + 0.011956464499235153 + ] + }, + "final_grasp": { + "position": [ + 0.02984222024679184, + -0.06644882261753082, + -0.07181929796934128 + ], + "orientation": [ + 0.9062740802764893, + 0.4011481702327728, + -0.06185998395085335, + 0.11798714846372604 + ], + "joints": [ + 0.017350172623991966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057793859392404556, + -0.039218876510858536, + -0.08815493434667587 + ], + "orientation": [ + 0.3677193522453308, + 0.47468748688697815, + 0.7450226545333862, + 0.2905087471008301 + ], + "joints": [ + 0.005858862306922674 + ] + }, + "fine_grasp": { + "position": [ + -0.05726019665598869, + -0.037185195833444595, + -0.08336766064167023 + ], + "orientation": [ + 0.3767303228378296, + 0.46775904297828674, + 0.7396862506866455, + 0.30354559421539307 + ], + "joints": [ + 0.010694600641727448 + ] + }, + "final_grasp": { + "position": [ + -0.05726019665598869, + -0.037185195833444595, + -0.08336766064167023 + ], + "orientation": [ + 0.3767303228378296, + 0.46775904297828674, + 0.7396862506866455, + 0.30354559421539307 + ], + "joints": [ + 0.015530338510870934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045993007719516754, + 0.0652320459485054, + 0.21866199374198914 + ], + "orientation": [ + 0.39812228083610535, + -0.7958334684371948, + -0.38204225897789, + 0.2493821382522583 + ], + "joints": [ + 0.009027726948261261 + ] + }, + "fine_grasp": { + "position": [ + -0.045533109456300735, + 0.06425731629133224, + 0.2161410003900528 + ], + "orientation": [ + 0.40158483386039734, + -0.7942872643470764, + -0.38097742199897766, + 0.2503870725631714 + ], + "joints": [ + 0.015935923904180527 + ] + }, + "final_grasp": { + "position": [ + -0.045533109456300735, + 0.06425731629133224, + 0.2161410003900528 + ], + "orientation": [ + 0.40158483386039734, + -0.7942872643470764, + -0.38097742199897766, + 0.2503870725631714 + ], + "joints": [ + 0.022844120860099792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10332196205854416, + 0.021187778562307358, + -0.045452795922756195 + ], + "orientation": [ + 0.5975480675697327, + 0.0607132613658905, + -0.29342636466026306, + -0.7437413334846497 + ], + "joints": [ + 0.005360312759876251 + ] + }, + "fine_grasp": { + "position": [ + -0.10449333488941193, + 0.021092144772410393, + -0.04387442767620087 + ], + "orientation": [ + 0.5963818430900574, + 0.04531565308570862, + -0.30430346727371216, + -0.7414004802703857 + ], + "joints": [ + 0.010727450251579285 + ] + }, + "final_grasp": { + "position": [ + -0.10449333488941193, + 0.021092144772410393, + -0.04387442767620087 + ], + "orientation": [ + 0.5963818430900574, + 0.04531565308570862, + -0.30430346727371216, + -0.7414004802703857 + ], + "joints": [ + 0.016094587743282318 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027491385117173195, + -0.06785906106233597, + -0.07545256614685059 + ], + "orientation": [ + 0.9132429957389832, + 0.38867563009262085, + -0.03590960428118706, + 0.11674319207668304 + ], + "joints": [ + 0.007004357408732176 + ] + }, + "fine_grasp": { + "position": [ + 0.028548449277877808, + -0.06654860079288483, + -0.07224759459495544 + ], + "orientation": [ + 0.9076279997825623, + 0.39963436126708984, + -0.054031383246183395, + 0.11655238270759583 + ], + "joints": [ + 0.012371495366096497 + ] + }, + "final_grasp": { + "position": [ + 0.028548449277877808, + -0.06654860079288483, + -0.07224759459495544 + ], + "orientation": [ + 0.9076279997825623, + 0.39963436126708984, + -0.054031383246183395, + 0.11655238270759583 + ], + "joints": [ + 0.01773863285779953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014481267891824245, + -0.0576426200568676, + 0.19556058943271637 + ], + "orientation": [ + 0.9026466608047485, + -0.4254617989063263, + 0.04753934219479561, + 0.04417514055967331 + ], + "joints": [ + 0.008099923841655254 + ] + }, + "fine_grasp": { + "position": [ + 0.014957481063902378, + -0.05483481287956238, + 0.191596120595932 + ], + "orientation": [ + 0.8978363275527954, + -0.4331248700618744, + 0.06743832677602768, + 0.04177168384194374 + ], + "joints": [ + 0.013998460955917835 + ] + }, + "final_grasp": { + "position": [ + 0.014957481063902378, + -0.05483481287956238, + 0.191596120595932 + ], + "orientation": [ + 0.8978363275527954, + -0.4331248700618744, + 0.06743832677602768, + 0.04177168384194374 + ], + "joints": [ + 0.01989699900150299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016363030299544334, + -0.07699804753065109, + -0.06814883649349213 + ], + "orientation": [ + 0.927743136882782, + 0.3616126477718353, + 0.02831304259598255, + 0.08790506422519684 + ], + "joints": [ + 0.007556317839771509 + ] + }, + "fine_grasp": { + "position": [ + 0.015144062228500843, + -0.07372751832008362, + -0.06374791264533997 + ], + "orientation": [ + 0.9236862063407898, + 0.3714209198951721, + 0.03117271699011326, + 0.08876150846481323 + ], + "joints": [ + 0.014464513398706913 + ] + }, + "final_grasp": { + "position": [ + 0.015144062228500843, + -0.07372751832008362, + -0.06374791264533997 + ], + "orientation": [ + 0.9236862063407898, + 0.3714209198951721, + 0.03117271699011326, + 0.08876150846481323 + ], + "joints": [ + 0.021372709423303604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016619136556982994, + -0.07738833129405975, + -0.06795906275510788 + ], + "orientation": [ + 0.927802562713623, + 0.3612341284751892, + 0.02881981059908867, + 0.08866654336452484 + ], + "joints": [ + 0.007554239127784967 + ] + }, + "fine_grasp": { + "position": [ + 0.015358156524598598, + -0.07401435077190399, + -0.06362298876047134 + ], + "orientation": [ + 0.9241830110549927, + 0.3699365258216858, + 0.0313960425555706, + 0.08970626443624496 + ], + "joints": [ + 0.014462434686720371 + ] + }, + "final_grasp": { + "position": [ + 0.015358156524598598, + -0.07401435077190399, + -0.06362298876047134 + ], + "orientation": [ + 0.9241830110549927, + 0.3699365258216858, + 0.0313960425555706, + 0.08970626443624496 + ], + "joints": [ + 0.021370630711317062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021636778488755226, + -0.0828973725438118, + -0.07223358005285263 + ], + "orientation": [ + 0.9090805053710938, + 0.2768322229385376, + -0.24715065956115723, + -0.18934917449951172 + ], + "joints": [ + 0.006988896522670984 + ] + }, + "fine_grasp": { + "position": [ + -0.02199307084083557, + -0.08371692895889282, + -0.07207662612199783 + ], + "orientation": [ + 0.907183825969696, + 0.2804122269153595, + -0.25306186079978943, + -0.18532735109329224 + ], + "joints": [ + 0.012356034480035305 + ] + }, + "final_grasp": { + "position": [ + -0.02199307084083557, + -0.08371692895889282, + -0.07207662612199783 + ], + "orientation": [ + 0.907183825969696, + 0.2804122269153595, + -0.25306186079978943, + -0.18532735109329224 + ], + "joints": [ + 0.017723172903060913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013558589853346348, + -0.06920014321804047, + 0.1837015151977539 + ], + "orientation": [ + 0.09718941897153854, + -0.09668216854333878, + 0.9272519946098328, + -0.3484402298927307 + ], + "joints": [ + 0.00764974532648921 + ] + }, + "fine_grasp": { + "position": [ + 0.013530277647078037, + -0.07074339687824249, + 0.18284526467323303 + ], + "orientation": [ + 0.11401929706335068, + -0.09764951467514038, + 0.9251430034637451, + -0.34867531061172485 + ], + "joints": [ + 0.013016883283853531 + ] + }, + "final_grasp": { + "position": [ + 0.013530277647078037, + -0.07074339687824249, + 0.18284526467323303 + ], + "orientation": [ + 0.11401929706335068, + -0.09764951467514038, + 0.9251430034637451, + -0.34867531061172485 + ], + "joints": [ + 0.018384020775556564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021997280418872833, + -0.08287269622087479, + -0.07233037799596786 + ], + "orientation": [ + 0.9094467759132385, + 0.27715176343917847, + -0.24487964808940887, + -0.19007234275341034 + ], + "joints": [ + 0.0070612807758152485 + ] + }, + "fine_grasp": { + "position": [ + -0.022436223924160004, + -0.08372781425714493, + -0.07213335484266281 + ], + "orientation": [ + 0.9077582359313965, + 0.2800259590148926, + -0.25057652592658997, + -0.1864721179008484 + ], + "joints": [ + 0.01242841873317957 + ] + }, + "final_grasp": { + "position": [ + -0.022436223924160004, + -0.08372781425714493, + -0.07213335484266281 + ], + "orientation": [ + 0.9077582359313965, + 0.2800259590148926, + -0.25057652592658997, + -0.1864721179008484 + ], + "joints": [ + 0.017795557156205177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0509025864303112, + 0.04866953194141388, + 0.21913599967956543 + ], + "orientation": [ + 0.46805939078330994, + -0.29581424593925476, + 0.39694449305534363, + -0.7320173382759094 + ], + "joints": [ + 0.008858578279614449 + ] + }, + "fine_grasp": { + "position": [ + -0.04963304102420807, + 0.0484129935503006, + 0.21479423344135284 + ], + "orientation": [ + 0.4654600918292999, + -0.30449047684669495, + 0.39872226119041443, + -0.7291455268859863 + ], + "joints": [ + 0.015793345868587494 + ] + }, + "final_grasp": { + "position": [ + -0.04963304102420807, + 0.0484129935503006, + 0.21479423344135284 + ], + "orientation": [ + 0.4654600918292999, + -0.30449047684669495, + 0.39872226119041443, + -0.7291455268859863 + ], + "joints": [ + 0.02272811345756054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11478660255670547, + 0.014914828352630138, + -0.004843763541430235 + ], + "orientation": [ + 0.6652058959007263, + 0.05853157863020897, + -0.19911347329616547, + -0.7172369360923767 + ], + "joints": [ + 0.007150403689593077 + ] + }, + "fine_grasp": { + "position": [ + -0.11422707885503769, + 0.014646890573203564, + -0.002301982371136546 + ], + "orientation": [ + 0.6624273061752319, + 0.07243578881025314, + -0.2047470211982727, + -0.7169530987739563 + ], + "joints": [ + 0.012995800003409386 + ] + }, + "final_grasp": { + "position": [ + -0.11422707885503769, + 0.014646890573203564, + -0.002301982371136546 + ], + "orientation": [ + 0.6624273061752319, + 0.07243578881025314, + -0.2047470211982727, + -0.7169530987739563 + ], + "joints": [ + 0.018841195851564407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02649078704416752, + -0.1013651043176651, + -0.028074350208044052 + ], + "orientation": [ + 0.9740022420883179, + 0.19269314408302307, + -0.06494744122028351, + 0.09985360503196716 + ], + "joints": [ + 0.007075251545757055 + ] + }, + "fine_grasp": { + "position": [ + 0.027236636728048325, + -0.10239866375923157, + -0.02677963115274906 + ], + "orientation": [ + 0.972689688205719, + 0.19241684675216675, + -0.08325448632240295, + 0.09959543496370316 + ], + "joints": [ + 0.012973789125680923 + ] + }, + "final_grasp": { + "position": [ + 0.027236636728048325, + -0.10239866375923157, + -0.02677963115274906 + ], + "orientation": [ + 0.972689688205719, + 0.19241684675216675, + -0.08325448632240295, + 0.09959543496370316 + ], + "joints": [ + 0.018872326239943504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013999342918395996, + -0.046795785427093506, + 0.2124357521533966 + ], + "orientation": [ + 0.12338607758283615, + -0.13172045350074768, + 0.8762436509132385, + -0.44679155945777893 + ], + "joints": [ + 0.00782419741153717 + ] + }, + "fine_grasp": { + "position": [ + 0.013834659941494465, + -0.04474584758281708, + 0.20807696878910065 + ], + "orientation": [ + 0.12696602940559387, + -0.12918251752853394, + 0.8727211356163025, + -0.45337551832199097 + ], + "joints": [ + 0.013696163892745972 + ] + }, + "final_grasp": { + "position": [ + 0.013834659941494465, + -0.04474584758281708, + 0.20807696878910065 + ], + "orientation": [ + 0.12696602940559387, + -0.12918251752853394, + 0.8727211356163025, + -0.45337551832199097 + ], + "joints": [ + 0.019568130373954773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013402890413999557, + -0.04673238471150398, + 0.21260873973369598 + ], + "orientation": [ + 0.12588350474834442, + -0.13070544600486755, + 0.8751389980316162, + -0.4485544264316559 + ], + "joints": [ + 0.007800441700965166 + ] + }, + "fine_grasp": { + "position": [ + 0.013391180895268917, + -0.04480602964758873, + 0.20769838988780975 + ], + "orientation": [ + 0.12769058346748352, + -0.12817025184631348, + 0.8706488609313965, + -0.45742541551589966 + ], + "joints": [ + 0.013141009025275707 + ] + }, + "final_grasp": { + "position": [ + 0.013391180895268917, + -0.04480602964758873, + 0.20769838988780975 + ], + "orientation": [ + 0.12769058346748352, + -0.12817025184631348, + 0.8706488609313965, + -0.45742541551589966 + ], + "joints": [ + 0.018481576815247536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11948474496603012, + 0.0010260627605021, + 0.07257458567619324 + ], + "orientation": [ + 0.7347654700279236, + -0.15251699090003967, + 0.018971171230077744, + -0.6606802940368652 + ], + "joints": [ + 0.007677631918340921 + ] + }, + "fine_grasp": { + "position": [ + -0.11928340792655945, + 0.0012485641054809093, + 0.07205774635076523 + ], + "orientation": [ + 0.7342528700828552, + -0.15277491509914398, + 0.022922949865460396, + -0.6610651016235352 + ], + "joints": [ + 0.014080998487770557 + ] + }, + "final_grasp": { + "position": [ + -0.11928340792655945, + 0.0012485641054809093, + 0.07205774635076523 + ], + "orientation": [ + 0.7342528700828552, + -0.15277491509914398, + 0.022922949865460396, + -0.6610651016235352 + ], + "joints": [ + 0.02048436552286148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11478675156831741, + 0.008040882647037506, + -0.01319542620331049 + ], + "orientation": [ + 0.16159884631633759, + 0.6999813318252563, + -0.6909474730491638, + -0.08064495772123337 + ], + "joints": [ + 0.006393630988895893 + ] + }, + "fine_grasp": { + "position": [ + 0.1178993508219719, + 0.008122927509248257, + -0.017150355502963066 + ], + "orientation": [ + 0.13756626844406128, + 0.7008634209632874, + -0.6969671249389648, + -0.06405317783355713 + ], + "joints": [ + 0.012796997092664242 + ] + }, + "final_grasp": { + "position": [ + 0.1178993508219719, + 0.008122927509248257, + -0.017150355502963066 + ], + "orientation": [ + 0.13756626844406128, + 0.7008634209632874, + -0.6969671249389648, + -0.06405317783355713 + ], + "joints": [ + 0.019200362265110016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026323245838284492, + -0.10175351053476334, + -0.028912484645843506 + ], + "orientation": [ + 0.974533200263977, + 0.19001203775405884, + -0.06672368198633194, + 0.09863298386335373 + ], + "joints": [ + 0.007304601836949587 + ] + }, + "fine_grasp": { + "position": [ + 0.02682836912572384, + -0.1026255413889885, + -0.027529776096343994 + ], + "orientation": [ + 0.9730942249298096, + 0.19003216922283173, + -0.08612052351236343, + 0.09776779264211655 + ], + "joints": [ + 0.012671739794313908 + ] + }, + "final_grasp": { + "position": [ + 0.02682836912572384, + -0.1026255413889885, + -0.027529776096343994 + ], + "orientation": [ + 0.9730942249298096, + 0.19003216922283173, + -0.08612052351236343, + 0.09776779264211655 + ], + "joints": [ + 0.018038878217339516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026757553219795227, + -0.10217113792896271, + -0.029420632869005203 + ], + "orientation": [ + 0.9747273325920105, + 0.18690255284309387, + -0.07106486707925797, + 0.0996190682053566 + ], + "joints": [ + 0.00703892158344388 + ] + }, + "fine_grasp": { + "position": [ + 0.02723846398293972, + -0.10322853177785873, + -0.028087886050343513 + ], + "orientation": [ + 0.9733216762542725, + 0.18658040463924408, + -0.09043820947408676, + 0.09825333207845688 + ], + "joints": [ + 0.012937459163367748 + ] + }, + "final_grasp": { + "position": [ + 0.02723846398293972, + -0.10322853177785873, + -0.028087886050343513 + ], + "orientation": [ + 0.9733216762542725, + 0.18658040463924408, + -0.09043820947408676, + 0.09825333207845688 + ], + "joints": [ + 0.018835997208952904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12314479053020477, + 0.024058394134044647, + 0.00559595413506031 + ], + "orientation": [ + 0.6409388184547424, + -0.1452409327030182, + 0.08106490969657898, + 0.7493536472320557 + ], + "joints": [ + 0.005595396738499403 + ] + }, + "fine_grasp": { + "position": [ + 0.1240609660744667, + 0.02488924004137516, + 0.007775983307510614 + ], + "orientation": [ + 0.6391526460647583, + -0.1559235006570816, + 0.1028393879532814, + 0.7460535168647766 + ], + "joints": [ + 0.011493934318423271 + ] + }, + "final_grasp": { + "position": [ + 0.1240609660744667, + 0.02488924004137516, + 0.007775983307510614 + ], + "orientation": [ + 0.6391526460647583, + -0.1559235006570816, + 0.1028393879532814, + 0.7460535168647766 + ], + "joints": [ + 0.017392471432685852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0658179447054863, + 0.052287716418504715, + 0.2129310667514801 + ], + "orientation": [ + 0.3225995600223541, + -0.7345924377441406, + -0.5135971903800964, + 0.3041732907295227 + ], + "joints": [ + 0.008294675499200821 + ] + }, + "fine_grasp": { + "position": [ + -0.06345053017139435, + 0.05090644210577011, + 0.20885416865348816 + ], + "orientation": [ + 0.32363852858543396, + -0.7347054481506348, + -0.5121465921401978, + 0.30524078011512756 + ], + "joints": [ + 0.015707699581980705 + ] + }, + "final_grasp": { + "position": [ + -0.06345053017139435, + 0.05090644210577011, + 0.20885416865348816 + ], + "orientation": [ + 0.32363852858543396, + -0.7347054481506348, + -0.5121465921401978, + 0.30524078011512756 + ], + "joints": [ + 0.02312072366476059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054721005260944366, + 0.03414541110396385, + 0.22311994433403015 + ], + "orientation": [ + 0.30769747495651245, + -0.6173585057258606, + 0.5979568362236023, + -0.40821343660354614 + ], + "joints": [ + 0.008732518181204796 + ] + }, + "fine_grasp": { + "position": [ + 0.053256794810295105, + 0.03391977772116661, + 0.21987515687942505 + ], + "orientation": [ + 0.3099376857280731, + -0.6159725189208984, + 0.596794605255127, + -0.4103081524372101 + ], + "joints": [ + 0.015614142641425133 + ] + }, + "final_grasp": { + "position": [ + 0.053256794810295105, + 0.03391977772116661, + 0.21987515687942505 + ], + "orientation": [ + 0.3099376857280731, + -0.6159725189208984, + 0.596794605255127, + -0.4103081524372101 + ], + "joints": [ + 0.02249576710164547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008118025725707412, + 0.0662725418806076, + 0.22753503918647766 + ], + "orientation": [ + 0.03474967181682587, + -0.038903482258319855, + -0.537643551826477, + 0.8415570855140686 + ], + "joints": [ + 0.008366482332348824 + ] + }, + "fine_grasp": { + "position": [ + 0.0005178370047360659, + 0.06491509824991226, + 0.2220497578382492 + ], + "orientation": [ + 0.036732472479343414, + -0.03762955591082573, + -0.5415866374969482, + 0.8389986157417297 + ], + "joints": [ + 0.015832649543881416 + ] + }, + "final_grasp": { + "position": [ + 0.0005178370047360659, + 0.06491509824991226, + 0.2220497578382492 + ], + "orientation": [ + 0.036732472479343414, + -0.03762955591082573, + -0.5415866374969482, + 0.8389986157417297 + ], + "joints": [ + 0.02329881675541401 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2024, + "num_passed": 486 + } +} \ No newline at end of file diff --git a/clutter_pen_00002/Annotation/piper_grasp_pose.json b/clutter_pen_00002/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..56c351f71d1d376d2e19aaf52c8bce58193d6917 --- /dev/null +++ b/clutter_pen_00002/Annotation/piper_grasp_pose.json @@ -0,0 +1,18718 @@ +{ + "type": "clutter_pen_00002", + "bottom_center": [ + 0.0, + 0.012618848355486989, + -0.021084634587168694 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.10768865793943405, + -0.0046514663845300674, + 0.07698263972997665 + ], + "orientation": [ + 0.016060464084148407, + -0.6898322701454163, + -0.11826542764902115, + -0.7140635848045349 + ], + "joints": [ + 0.015004127286374569 + ] + }, + "fine_grasp": { + "position": [ + -0.10511667281389236, + -0.004280776716768742, + 0.07629992812871933 + ], + "orientation": [ + 0.014923632144927979, + -0.6862666010856628, + -0.12071502208709717, + -0.7171076536178589 + ], + "joints": [ + 0.005809112451970577 + ] + }, + "final_grasp": { + "position": [ + -0.10511667281389236, + -0.004280776716768742, + 0.07629992812871933 + ], + "orientation": [ + 0.014923632144927979, + -0.6862666010856628, + -0.12071502208709717, + -0.7171076536178589 + ], + "joints": [ + -0.0033859023824334145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10844870656728745, + -0.03456518054008484, + 0.08992614597082138 + ], + "orientation": [ + 0.6349549293518066, + -0.2104017585515976, + -0.737347424030304, + -0.09424623847007751 + ], + "joints": [ + 0.01583060622215271 + ] + }, + "fine_grasp": { + "position": [ + 0.10494912415742874, + -0.03293771296739578, + 0.08944778144359589 + ], + "orientation": [ + 0.635942280292511, + -0.21079248189926147, + -0.7363430261611938, + -0.09456724673509598 + ], + "joints": [ + 0.005799680948257446 + ] + }, + "final_grasp": { + "position": [ + 0.10494912415742874, + -0.03293771296739578, + 0.08944778144359589 + ], + "orientation": [ + 0.635942280292511, + -0.21079248189926147, + -0.7363430261611938, + -0.09456724673509598 + ], + "joints": [ + -0.004231244325637817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10840833932161331, + -0.03495229408144951, + 0.08938349783420563 + ], + "orientation": [ + 0.6326301693916321, + -0.2117314636707306, + -0.7389218807220459, + -0.09456900507211685 + ], + "joints": [ + 0.01593584567308426 + ] + }, + "fine_grasp": { + "position": [ + 0.10495494306087494, + -0.03332389518618584, + 0.08889827132225037 + ], + "orientation": [ + 0.6336554288864136, + -0.21221016347408295, + -0.7378490567207336, + -0.09500819444656372 + ], + "joints": [ + 0.005486965179443359 + ] + }, + "final_grasp": { + "position": [ + 0.10495494306087494, + -0.03332389518618584, + 0.08889827132225037 + ], + "orientation": [ + 0.6336554288864136, + -0.21221016347408295, + -0.7378490567207336, + -0.09500819444656372 + ], + "joints": [ + -0.00496191531419754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012361236847937107, + -0.08735159784555435, + 0.13879239559173584 + ], + "orientation": [ + 0.3281853497028351, + -0.6419973969459534, + 0.5787795186042786, + 0.3809828758239746 + ], + "joints": [ + 0.01565217599272728 + ] + }, + "fine_grasp": { + "position": [ + 0.01192127913236618, + -0.08363961428403854, + 0.13749361038208008 + ], + "orientation": [ + 0.3312184512615204, + -0.6407804489135742, + 0.5768581628799438, + 0.3833138644695282 + ], + "joints": [ + 0.006039205938577652 + ] + }, + "final_grasp": { + "position": [ + 0.01192127913236618, + -0.08363961428403854, + 0.13749361038208008 + ], + "orientation": [ + 0.3312184512615204, + -0.6407804489135742, + 0.5768581628799438, + 0.3833138644695282 + ], + "joints": [ + -0.0035737641155719757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012346874922513962, + -0.08701980113983154, + 0.13834279775619507 + ], + "orientation": [ + 0.329764723777771, + -0.6413343548774719, + 0.5777073502540588, + 0.3823605179786682 + ], + "joints": [ + 0.015566438436508179 + ] + }, + "fine_grasp": { + "position": [ + 0.011917898431420326, + -0.08326338976621628, + 0.13706323504447937 + ], + "orientation": [ + 0.3327879011631012, + -0.6403108835220337, + 0.5757601857185364, + 0.3843885064125061 + ], + "joints": [ + 0.006371423602104187 + ] + }, + "final_grasp": { + "position": [ + 0.011917898431420326, + -0.08326338976621628, + 0.13706323504447937 + ], + "orientation": [ + 0.3327879011631012, + -0.6403108835220337, + 0.5757601857185364, + 0.3843885064125061 + ], + "joints": [ + -0.0028235912322998047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03509034216403961, + 0.12364191561937332, + 0.060635630041360855 + ], + "orientation": [ + 0.5833532810211182, + 0.39417019486427307, + 0.5560750365257263, + -0.44171175360679626 + ], + "joints": [ + 0.014763358980417252 + ] + }, + "fine_grasp": { + "position": [ + -0.033844321966171265, + 0.11968756467103958, + 0.061029572039842606 + ], + "orientation": [ + 0.5833982825279236, + 0.39459869265556335, + 0.5559767484664917, + -0.4413932263851166 + ], + "joints": [ + 0.006404254585504532 + ] + }, + "final_grasp": { + "position": [ + -0.033844321966171265, + 0.11968756467103958, + 0.061029572039842606 + ], + "orientation": [ + 0.5833982825279236, + 0.39459869265556335, + 0.5559767484664917, + -0.4413932263851166 + ], + "joints": [ + -0.001954849809408188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035190481692552567, + 0.12385416030883789, + 0.06096222251653671 + ], + "orientation": [ + 0.5879095196723938, + 0.39127489924430847, + 0.5519890785217285, + -0.4433671236038208 + ], + "joints": [ + 0.01482008770108223 + ] + }, + "fine_grasp": { + "position": [ + -0.03395118564367294, + 0.1199355497956276, + 0.06137356162071228 + ], + "orientation": [ + 0.5878666043281555, + 0.39185744524002075, + 0.5517371296882629, + -0.44322314858436584 + ], + "joints": [ + 0.00646098330616951 + ] + }, + "final_grasp": { + "position": [ + -0.03395118564367294, + 0.1199355497956276, + 0.06137356162071228 + ], + "orientation": [ + 0.5878666043281555, + 0.39185744524002075, + 0.5517371296882629, + -0.44322314858436584 + ], + "joints": [ + -0.0018981210887432098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03431785851716995, + 0.12148939073085785, + 0.06123092770576477 + ], + "orientation": [ + 0.5858103036880493, + 0.39223214983940125, + 0.5537338256835938, + -0.4431244134902954 + ], + "joints": [ + 0.015284458175301552 + ] + }, + "fine_grasp": { + "position": [ + -0.03306099399924278, + 0.11761926859617233, + 0.06169511750340462 + ], + "orientation": [ + 0.5858073234558105, + 0.39309394359588623, + 0.5534892678260803, + -0.44266968965530396 + ], + "joints": [ + 0.006507398560643196 + ] + }, + "final_grasp": { + "position": [ + -0.03306099399924278, + 0.11761926859617233, + 0.06169511750340462 + ], + "orientation": [ + 0.5858073234558105, + 0.39309394359588623, + 0.5534892678260803, + -0.44266968965530396 + ], + "joints": [ + -0.0022696610540151596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012344162911176682, + -0.08743332326412201, + 0.1390865296125412 + ], + "orientation": [ + 0.33292242884635925, + -0.6396483778953552, + 0.5760807394981384, + 0.38489410281181335 + ], + "joints": [ + 0.015645332634449005 + ] + }, + "fine_grasp": { + "position": [ + 0.011891596019268036, + -0.08366565406322479, + 0.13783252239227295 + ], + "orientation": [ + 0.3365776836872101, + -0.6385415196418762, + 0.5734138488769531, + 0.38752666115760803 + ], + "joints": [ + 0.006053260527551174 + ] + }, + "final_grasp": { + "position": [ + 0.011891596019268036, + -0.08366565406322479, + 0.13783252239227295 + ], + "orientation": [ + 0.3365776836872101, + -0.6385415196418762, + 0.5734138488769531, + 0.38752666115760803 + ], + "joints": [ + -0.003538811579346657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10121393203735352, + -0.04182810336351395, + 0.11634832620620728 + ], + "orientation": [ + 0.5838554501533508, + -0.2616163194179535, + 0.7599043846130371, + 0.11495623737573624 + ], + "joints": [ + 0.015546325594186783 + ] + }, + "fine_grasp": { + "position": [ + -0.09793559461832047, + -0.0398094616830349, + 0.11558994650840759 + ], + "orientation": [ + 0.5866613984107971, + -0.2619454860687256, + 0.7574892640113831, + 0.11585812270641327 + ], + "joints": [ + 0.005515400320291519 + ] + }, + "final_grasp": { + "position": [ + -0.09793559461832047, + -0.0398094616830349, + 0.11558994650840759 + ], + "orientation": [ + 0.5866613984107971, + -0.2619454860687256, + 0.7574892640113831, + 0.11585812270641327 + ], + "joints": [ + -0.0045155249536037445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10114073008298874, + -0.04176589474081993, + 0.11628496646881104 + ], + "orientation": [ + 0.5859668254852295, + -0.26399368047714233, + 0.7577105164527893, + 0.11324790865182877 + ], + "joints": [ + 0.015635080635547638 + ] + }, + "fine_grasp": { + "position": [ + -0.09787771850824356, + -0.03978121653199196, + 0.1155431866645813 + ], + "orientation": [ + 0.5887309312820435, + -0.264265775680542, + 0.7553874850273132, + 0.11379482597112656 + ], + "joints": [ + 0.005604155361652374 + ] + }, + "final_grasp": { + "position": [ + -0.09787771850824356, + -0.03978121653199196, + 0.1155431866645813 + ], + "orientation": [ + 0.5887309312820435, + -0.264265775680542, + 0.7553874850273132, + 0.11379482597112656 + ], + "joints": [ + -0.004426769912242889 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10098440200090408, + -0.04177768528461456, + 0.11621739715337753 + ], + "orientation": [ + 0.5862460732460022, + -0.26403185725212097, + 0.7574142217636108, + 0.11369474977254868 + ], + "joints": [ + 0.015406087040901184 + ] + }, + "fine_grasp": { + "position": [ + -0.09769772738218307, + -0.03978385776281357, + 0.11548376083374023 + ], + "orientation": [ + 0.5891336798667908, + -0.26428088545799255, + 0.7550022006034851, + 0.11423195898532867 + ], + "joints": [ + 0.00537516176700592 + ] + }, + "final_grasp": { + "position": [ + -0.09769772738218307, + -0.03978385776281357, + 0.11548376083374023 + ], + "orientation": [ + 0.5891336798667908, + -0.26428088545799255, + 0.7550022006034851, + 0.11423195898532867 + ], + "joints": [ + -0.004655763506889343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05978650599718094, + -0.07533113658428192, + 0.09198854118585587 + ], + "orientation": [ + 0.5533636808395386, + -0.39376842975616455, + -0.6829360127449036, + -0.26894885301589966 + ], + "joints": [ + 0.014809541404247284 + ] + }, + "fine_grasp": { + "position": [ + 0.0575093999505043, + -0.07189249247312546, + 0.09171757847070694 + ], + "orientation": [ + 0.5530208945274353, + -0.39551037549972534, + -0.6829344630241394, + -0.26709550619125366 + ], + "joints": [ + 0.006450437009334564 + ] + }, + "final_grasp": { + "position": [ + 0.0575093999505043, + -0.07189249247312546, + 0.09171757847070694 + ], + "orientation": [ + 0.5530208945274353, + -0.39551037549972534, + -0.6829344630241394, + -0.26709550619125366 + ], + "joints": [ + -0.0019086673855781555 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10087314993143082, + -0.04175562411546707, + 0.11687523871660233 + ], + "orientation": [ + 0.5903533101081848, + -0.2658732235431671, + 0.753558337688446, + 0.11377303302288055 + ], + "joints": [ + 0.015567895025014877 + ] + }, + "fine_grasp": { + "position": [ + -0.09760601073503494, + -0.03973701596260071, + 0.11612020432949066 + ], + "orientation": [ + 0.5926976799964905, + -0.2663256525993347, + 0.7515077590942383, + 0.11408878862857819 + ], + "joints": [ + 0.005536969751119614 + ] + }, + "final_grasp": { + "position": [ + -0.09760601073503494, + -0.03973701596260071, + 0.11612020432949066 + ], + "orientation": [ + 0.5926976799964905, + -0.2663256525993347, + 0.7515077590942383, + 0.11408878862857819 + ], + "joints": [ + -0.00449395552277565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09706521779298782, + 0.08368326723575592, + 0.10362191498279572 + ], + "orientation": [ + 0.611547589302063, + 0.19132496416568756, + 0.7351084351539612, + -0.22140462696552277 + ], + "joints": [ + 0.015455134212970734 + ] + }, + "fine_grasp": { + "position": [ + -0.09372396767139435, + 0.08144108206033707, + 0.10346377640962601 + ], + "orientation": [ + 0.6138668060302734, + 0.1917002648115158, + 0.7331294417381287, + -0.22122357785701752 + ], + "joints": [ + 0.006260119378566742 + ] + }, + "final_grasp": { + "position": [ + -0.09372396767139435, + 0.08144108206033707, + 0.10346377640962601 + ], + "orientation": [ + 0.6138668060302734, + 0.1917002648115158, + 0.7331294417381287, + -0.22122357785701752 + ], + "joints": [ + -0.0029348954558372498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11438953876495361, + 0.017709290608763695, + 0.06171134114265442 + ], + "orientation": [ + 0.054665081202983856, + 0.7092699408531189, + 0.031395263969898224, + 0.7021125555038452 + ], + "joints": [ + 0.014005238190293312 + ] + }, + "fine_grasp": { + "position": [ + -0.1102261170744896, + 0.017604945227503777, + 0.06170123815536499 + ], + "orientation": [ + 0.05550188198685646, + 0.7093938589096069, + 0.03203008323907852, + 0.7018932104110718 + ], + "joints": [ + 0.005646133795380592 + ] + }, + "final_grasp": { + "position": [ + -0.1102261170744896, + 0.017604945227503777, + 0.06170123815536499 + ], + "orientation": [ + 0.05550188198685646, + 0.7093938589096069, + 0.03203008323907852, + 0.7018932104110718 + ], + "joints": [ + -0.0027129705995321274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09735239297151566, + 0.05970322713255882, + 0.06867703050374985 + ], + "orientation": [ + 0.6554898023605347, + 0.10587651282548904, + 0.7207018733024597, + -0.19927893579006195 + ], + "joints": [ + 0.0158969908952713 + ] + }, + "fine_grasp": { + "position": [ + -0.09592673927545547, + 0.05941338464617729, + 0.069313645362854 + ], + "orientation": [ + 0.6526455283164978, + 0.10616878420114517, + 0.7229104042053223, + -0.20045609772205353 + ], + "joints": [ + 0.00670197606086731 + ] + }, + "final_grasp": { + "position": [ + -0.09592673927545547, + 0.05941338464617729, + 0.069313645362854 + ], + "orientation": [ + 0.6526455283164978, + 0.10616878420114517, + 0.7229104042053223, + -0.20045609772205353 + ], + "joints": [ + -0.002493038773536682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11609277129173279, + -1.6911159036681056e-05, + 0.10640402883291245 + ], + "orientation": [ + 8.03696530056186e-05, + -0.7525067329406738, + 0.11304382234811783, + 0.6488102078437805 + ], + "joints": [ + 0.01544790156185627 + ] + }, + "fine_grasp": { + "position": [ + 0.11220700293779373, + 0.000712382432539016, + 0.1062140166759491 + ], + "orientation": [ + 0.000816810061223805, + -0.7505877017974854, + 0.11381720751523972, + 0.650894045829773 + ], + "joints": [ + 0.005834931507706642 + ] + }, + "final_grasp": { + "position": [ + 0.11220700293779373, + 0.000712382432539016, + 0.1062140166759491 + ], + "orientation": [ + 0.000816810061223805, + -0.7505877017974854, + 0.11381720751523972, + 0.650894045829773 + ], + "joints": [ + -0.0037780385464429855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08416788280010223, + -0.06356549263000488, + 0.07825034111738205 + ], + "orientation": [ + 0.6222554445266724, + -0.3025517463684082, + -0.6902403831481934, + -0.21172812581062317 + ], + "joints": [ + 0.014610783196985722 + ] + }, + "fine_grasp": { + "position": [ + 0.08112704753875732, + -0.060762669891119, + 0.0777631402015686 + ], + "orientation": [ + 0.6220302581787109, + -0.30307573080062866, + -0.6901412606239319, + -0.21196338534355164 + ], + "joints": [ + 0.006251678802073002 + ] + }, + "final_grasp": { + "position": [ + 0.08112704753875732, + -0.060762669891119, + 0.0777631402015686 + ], + "orientation": [ + 0.6220302581787109, + -0.30307573080062866, + -0.6901412606239319, + -0.21196338534355164 + ], + "joints": [ + -0.002107425592839718 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08035049587488174, + -0.06936734169721603, + 0.09044862538576126 + ], + "orientation": [ + 0.22280345857143402, + -0.7094529271125793, + -0.335761696100235, + -0.5781860947608948 + ], + "joints": [ + 0.014685400761663914 + ] + }, + "fine_grasp": { + "position": [ + -0.07764375954866409, + -0.06650955975055695, + 0.08977413922548294 + ], + "orientation": [ + 0.22356528043746948, + -0.7088484168052673, + -0.33577919006347656, + -0.5786231756210327 + ], + "joints": [ + 0.005490385927259922 + ] + }, + "final_grasp": { + "position": [ + -0.07764375954866409, + -0.06650955975055695, + 0.08977413922548294 + ], + "orientation": [ + 0.22356528043746948, + -0.7088484168052673, + -0.33577919006347656, + -0.5786231756210327 + ], + "joints": [ + -0.0037046289071440697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09390684962272644, + 0.05926072224974632, + 0.06439818441867828 + ], + "orientation": [ + 0.6649181842803955, + 0.11760508269071579, + 0.7109002470970154, + -0.19665642082691193 + ], + "joints": [ + 0.01622837409377098 + ] + }, + "fine_grasp": { + "position": [ + -0.09403122216463089, + 0.05944244563579559, + 0.06483012437820435 + ], + "orientation": [ + 0.6628589630126953, + 0.1175370067358017, + 0.7127768993377686, + -0.19685541093349457 + ], + "joints": [ + 0.006615404039621353 + ] + }, + "final_grasp": { + "position": [ + -0.09403122216463089, + 0.05944244563579559, + 0.06483012437820435 + ], + "orientation": [ + 0.6628589630126953, + 0.1175370067358017, + 0.7127768993377686, + -0.19685541093349457 + ], + "joints": [ + -0.0029975660145282745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10335478186607361, + 0.004174435511231422, + 0.06765896826982498 + ], + "orientation": [ + 0.6806782484054565, + -0.075566366314888, + -0.7286455035209656, + 0.006522696930915117 + ], + "joints": [ + 0.01582418382167816 + ] + }, + "fine_grasp": { + "position": [ + 0.10278607904911041, + 0.004096409305930138, + 0.06798714399337769 + ], + "orientation": [ + 0.6793569326400757, + -0.0757453516125679, + -0.7298592329025269, + 0.006499294191598892 + ], + "joints": [ + 0.00662916898727417 + ] + }, + "final_grasp": { + "position": [ + 0.10278607904911041, + 0.004096409305930138, + 0.06798714399337769 + ], + "orientation": [ + 0.6793569326400757, + -0.0757453516125679, + -0.7298592329025269, + 0.006499294191598892 + ], + "joints": [ + -0.0025658458471298218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10341861099004745, + 0.004255330190062523, + 0.06758810579776764 + ], + "orientation": [ + 0.6799193024635315, + -0.07549240440130234, + -0.7293569445610046, + 0.007011879701167345 + ], + "joints": [ + 0.01617278903722763 + ] + }, + "fine_grasp": { + "position": [ + 0.10287575423717499, + 0.004261706955730915, + 0.06791819632053375 + ], + "orientation": [ + 0.6785297393798828, + -0.07552161812782288, + -0.7306452393531799, + 0.0071730585768818855 + ], + "joints": [ + 0.006559818983078003 + ] + }, + "final_grasp": { + "position": [ + 0.10287575423717499, + 0.004261706955730915, + 0.06791819632053375 + ], + "orientation": [ + 0.6785297393798828, + -0.07552161812782288, + -0.7306452393531799, + 0.0071730585768818855 + ], + "joints": [ + -0.0030531510710716248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09801740944385529, + 0.048854950815439224, + 0.0658220425248146 + ], + "orientation": [ + 0.6635723114013672, + 0.07899286597967148, + -0.7271981835365295, + 0.156891331076622 + ], + "joints": [ + 0.015839867293834686 + ] + }, + "fine_grasp": { + "position": [ + 0.09752354770898819, + 0.04878430813550949, + 0.06634972989559174 + ], + "orientation": [ + 0.6613252758979797, + 0.07914643734693527, + -0.7291893362998962, + 0.1570596992969513 + ], + "joints": [ + 0.006226897239685059 + ] + }, + "final_grasp": { + "position": [ + 0.09752354770898819, + 0.04878430813550949, + 0.06634972989559174 + ], + "orientation": [ + 0.6613252758979797, + 0.07914643734693527, + -0.7291893362998962, + 0.1570596992969513 + ], + "joints": [ + -0.003386072814464569 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08326523751020432, + -0.03911702707409859, + 0.15483076870441437 + ], + "orientation": [ + 0.4845069348812103, + -0.31968191266059875, + -0.8065202832221985, + -0.11216727644205093 + ], + "joints": [ + 0.015800651162862778 + ] + }, + "fine_grasp": { + "position": [ + 0.08015336096286774, + -0.03693481907248497, + 0.15350478887557983 + ], + "orientation": [ + 0.48694729804992676, + -0.320524662733078, + -0.8047044277191162, + -0.11223624646663666 + ], + "joints": [ + 0.006605636328458786 + ] + }, + "final_grasp": { + "position": [ + 0.08015336096286774, + -0.03693481907248497, + 0.15350478887557983 + ], + "orientation": [ + 0.48694729804992676, + -0.320524662733078, + -0.8047044277191162, + -0.11223624646663666 + ], + "joints": [ + -0.0025893785059452057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05093815550208092, + -0.0755588486790657, + 0.1529652327299118 + ], + "orientation": [ + 0.4522675573825836, + -0.4676801860332489, + -0.7186062932014465, + -0.24563027918338776 + ], + "joints": [ + 0.016337350010871887 + ] + }, + "fine_grasp": { + "position": [ + 0.04923953488469124, + -0.0722663477063179, + 0.15167327225208282 + ], + "orientation": [ + 0.45555809140205383, + -0.4667145013809204, + -0.7163881063461304, + -0.24785591661930084 + ], + "joints": [ + 0.0067243799567222595 + ] + }, + "final_grasp": { + "position": [ + 0.04923953488469124, + -0.0722663477063179, + 0.15167327225208282 + ], + "orientation": [ + 0.45555809140205383, + -0.4667145013809204, + -0.7163881063461304, + -0.24785591661930084 + ], + "joints": [ + -0.002888590097427368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058977849781513214, + 0.10030941665172577, + 0.04393647983670235 + ], + "orientation": [ + 0.3806896507740021, + 0.584766149520874, + -0.28503718972206116, + 0.6571740508079529 + ], + "joints": [ + 0.016353901475667953 + ] + }, + "fine_grasp": { + "position": [ + -0.05841582268476486, + 0.09990015625953674, + 0.04347599297761917 + ], + "orientation": [ + 0.3823290169239044, + 0.583239734172821, + -0.2850269079208374, + 0.6575830578804016 + ], + "joints": [ + 0.006740931421518326 + ] + }, + "final_grasp": { + "position": [ + -0.05841582268476486, + 0.09990015625953674, + 0.04347599297761917 + ], + "orientation": [ + 0.3823290169239044, + 0.583239734172821, + -0.2850269079208374, + 0.6575830578804016 + ], + "joints": [ + -0.002872038632631302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08315403014421463, + -0.038911495357751846, + 0.15504206717014313 + ], + "orientation": [ + 0.4858997166156769, + -0.3211820721626282, + -0.8051899075508118, + -0.11141213774681091 + ], + "joints": [ + 0.01556389033794403 + ] + }, + "fine_grasp": { + "position": [ + 0.07999874651432037, + -0.03662210330367088, + 0.15392081439495087 + ], + "orientation": [ + 0.4885837435722351, + -0.3226165771484375, + -0.8030220866203308, + -0.11117558181285858 + ], + "joints": [ + 0.006786830723285675 + ] + }, + "final_grasp": { + "position": [ + 0.07999874651432037, + -0.03662210330367088, + 0.15392081439495087 + ], + "orientation": [ + 0.4885837435722351, + -0.3226165771484375, + -0.8030220866203308, + -0.11117558181285858 + ], + "joints": [ + -0.0019902288913726807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04043583944439888, + -0.059116512537002563, + 0.18204998970031738 + ], + "orientation": [ + 0.20622064173221588, + -0.7514166235923767, + 0.5055421590805054, + 0.3705040514469147 + ], + "joints": [ + 0.015488449484109879 + ] + }, + "fine_grasp": { + "position": [ + 0.03880589082837105, + -0.055726733058691025, + 0.1804705262184143 + ], + "orientation": [ + 0.20499491691589355, + -0.7500049471855164, + 0.5074388980865479, + 0.3714505732059479 + ], + "joints": [ + 0.006711389869451523 + ] + }, + "final_grasp": { + "position": [ + 0.03880589082837105, + -0.055726733058691025, + 0.1804705262184143 + ], + "orientation": [ + 0.20499491691589355, + -0.7500049471855164, + 0.5074388980865479, + 0.3714505732059479 + ], + "joints": [ + -0.002065669745206833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11921131610870361, + 0.010725847445428371, + 0.04148351401090622 + ], + "orientation": [ + 0.04204034060239792, + 0.7029553055763245, + 0.042944569140672684, + 0.7086904644966125 + ], + "joints": [ + 0.016765378415584564 + ] + }, + "fine_grasp": { + "position": [ + -0.11526332795619965, + 0.010694683529436588, + 0.04125319421291351 + ], + "orientation": [ + 0.04168260470032692, + 0.7062386274337769, + 0.042022496461868286, + 0.7054954171180725 + ], + "joints": [ + 0.0071524083614349365 + ] + }, + "final_grasp": { + "position": [ + -0.11526332795619965, + 0.010694683529436588, + 0.04125319421291351 + ], + "orientation": [ + 0.04168260470032692, + 0.7062386274337769, + 0.042022496461868286, + 0.7054954171180725 + ], + "joints": [ + -0.002460561692714691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11966482549905777, + 0.010846965946257114, + 0.041319020092487335 + ], + "orientation": [ + 0.04179665446281433, + 0.7035284042358398, + 0.04146318510174751, + 0.7082242369651794 + ], + "joints": [ + 0.016657229512929916 + ] + }, + "fine_grasp": { + "position": [ + -0.11575618386268616, + 0.010804537683725357, + 0.04109290614724159 + ], + "orientation": [ + 0.04151557385921478, + 0.7066360116004944, + 0.04051889851689339, + 0.7051952481269836 + ], + "joints": [ + 0.007044259458780289 + ] + }, + "final_grasp": { + "position": [ + -0.11575618386268616, + 0.010804537683725357, + 0.04109290614724159 + ], + "orientation": [ + 0.04151557385921478, + 0.7066360116004944, + 0.04051889851689339, + 0.7051952481269836 + ], + "joints": [ + -0.002568710595369339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016856353729963303, + -0.03918080776929855, + 0.2129237949848175 + ], + "orientation": [ + 0.22885364294052124, + -0.5834466218948364, + 0.7601661682128906, + 0.17135773599147797 + ], + "joints": [ + 0.01606103405356407 + ] + }, + "fine_grasp": { + "position": [ + -0.016022784635424614, + -0.03575875237584114, + 0.211310014128685 + ], + "orientation": [ + 0.22430716454982758, + -0.5808296203613281, + 0.7638428807258606, + 0.16990388929843903 + ], + "joints": [ + 0.006448063999414444 + ] + }, + "final_grasp": { + "position": [ + -0.016022784635424614, + -0.03575875237584114, + 0.211310014128685 + ], + "orientation": [ + 0.22430716454982758, + -0.5808296203613281, + 0.7638428807258606, + 0.16990388929843903 + ], + "joints": [ + -0.0031649060547351837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025164619088172913, + 0.07142431288957596, + 0.22955837845802307 + ], + "orientation": [ + 0.20513254404067993, + 0.4519041180610657, + 0.8563602566719055, + -0.142654687166214 + ], + "joints": [ + 0.015483833849430084 + ] + }, + "fine_grasp": { + "position": [ + -0.023655591532588005, + 0.06892239302396774, + 0.22740818560123444 + ], + "orientation": [ + 0.19968962669372559, + 0.4495058059692383, + 0.8592648506164551, + -0.14047230780124664 + ], + "joints": [ + 0.005034953355789185 + ] + }, + "final_grasp": { + "position": [ + -0.023655591532588005, + 0.06892239302396774, + 0.22740818560123444 + ], + "orientation": [ + 0.19968962669372559, + 0.4495058059692383, + 0.8592648506164551, + -0.14047230780124664 + ], + "joints": [ + -0.005413927137851715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018601160496473312, + -0.010089913383126259, + 0.24025055766105652 + ], + "orientation": [ + 0.14225070178508759, + -0.5475059747695923, + -0.8215636610984802, + -0.07095980644226074 + ], + "joints": [ + 0.015973342582583427 + ] + }, + "fine_grasp": { + "position": [ + 0.017586693167686462, + -0.00840742141008377, + 0.23713596165180206 + ], + "orientation": [ + 0.14300121366977692, + -0.5473577976226807, + -0.8214303851127625, + -0.0721268281340599 + ], + "joints": [ + 0.0051274048164486885 + ] + }, + "final_grasp": { + "position": [ + 0.017586693167686462, + -0.00840742141008377, + 0.23713596165180206 + ], + "orientation": [ + 0.14300121366977692, + -0.5473577976226807, + -0.8214303851127625, + -0.0721268281340599 + ], + "joints": [ + -0.00571853294968605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09647373110055923, + 0.09183644503355026, + 0.15818563103675842 + ], + "orientation": [ + 0.5486596822738647, + 0.2168029248714447, + 0.7807756066322327, + -0.20581182837486267 + ], + "joints": [ + 0.01596369594335556 + ] + }, + "fine_grasp": { + "position": [ + -0.09336289018392563, + 0.08961611241102219, + 0.1572587490081787 + ], + "orientation": [ + 0.5509049296379089, + 0.21626843512058258, + 0.7791764140129089, + -0.20643623173236847 + ], + "joints": [ + 0.005953668616712093 + ] + }, + "final_grasp": { + "position": [ + -0.09336289018392563, + 0.08961611241102219, + 0.1572587490081787 + ], + "orientation": [ + 0.5509049296379089, + 0.21626843512058258, + 0.7791764140129089, + -0.20643623173236847 + ], + "joints": [ + -0.004056358709931374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09058354049921036, + 0.06650468707084656, + 0.17989157140254974 + ], + "orientation": [ + 0.13058580458164215, + 0.8555710315704346, + -0.1674407571554184, + 0.47213250398635864 + ], + "joints": [ + 0.015812652185559273 + ] + }, + "fine_grasp": { + "position": [ + -0.08729568868875504, + 0.06495111435651779, + 0.17851047217845917 + ], + "orientation": [ + 0.12956099212169647, + 0.8547408580780029, + -0.16791799664497375, + 0.47374647855758667 + ], + "joints": [ + 0.005781726911664009 + ] + }, + "final_grasp": { + "position": [ + -0.08729568868875504, + 0.06495111435651779, + 0.17851047217845917 + ], + "orientation": [ + 0.12956099212169647, + 0.8547408580780029, + -0.16791799664497375, + 0.47374647855758667 + ], + "joints": [ + -0.004249198362231255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016666870564222336, + -0.039750564843416214, + 0.21447983384132385 + ], + "orientation": [ + 0.22967858612537384, + -0.5862368941307068, + 0.7575745582580566, + 0.17220564186573029 + ], + "joints": [ + 0.01609712280333042 + ] + }, + "fine_grasp": { + "position": [ + -0.01584075391292572, + -0.036417413502931595, + 0.2126881331205368 + ], + "orientation": [ + 0.2250225841999054, + -0.582131564617157, + 0.7621640563011169, + 0.17202767729759216 + ], + "joints": [ + 0.006484152749180794 + ] + }, + "final_grasp": { + "position": [ + -0.01584075391292572, + -0.036417413502931595, + 0.2126881331205368 + ], + "orientation": [ + 0.2250225841999054, + -0.582131564617157, + 0.7621640563011169, + 0.17202767729759216 + ], + "joints": [ + -0.003128817304968834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01158722024410963, + -0.009746264666318893, + -0.11082261800765991 + ], + "orientation": [ + 0.27772125601768494, + -0.06599155813455582, + -0.053100623190402985, + -0.9569202661514282 + ], + "joints": [ + 0.018619373440742493 + ] + }, + "fine_grasp": { + "position": [ + -0.011012440547347069, + -0.0085518853738904, + -0.10857685655355453 + ], + "orientation": [ + 0.27500730752944946, + -0.06222892925143242, + -0.052469272166490555, + -0.9579904079437256 + ], + "joints": [ + 0.008191391825675964 + ] + }, + "final_grasp": { + "position": [ + -0.011012440547347069, + -0.0085518853738904, + -0.10857685655355453 + ], + "orientation": [ + 0.27500730752944946, + -0.06222892925143242, + -0.052469272166490555, + -0.9579904079437256 + ], + "joints": [ + -0.002236589789390564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09142997115850449, + 0.06685691326856613, + 0.1798693835735321 + ], + "orientation": [ + 0.1328781545162201, + 0.8582503795623779, + -0.16266541182994843, + 0.4682837724685669 + ], + "joints": [ + 0.016253098845481873 + ] + }, + "fine_grasp": { + "position": [ + -0.08820958435535431, + 0.06530118733644485, + 0.17844754457473755 + ], + "orientation": [ + 0.13276825845241547, + 0.8571141958236694, + -0.1626397967338562, + 0.47040003538131714 + ], + "joints": [ + 0.005804218351840973 + ] + }, + "final_grasp": { + "position": [ + -0.08820958435535431, + 0.06530118733644485, + 0.17844754457473755 + ], + "orientation": [ + 0.13276825845241547, + 0.8571141958236694, + -0.1626397967338562, + 0.47040003538131714 + ], + "joints": [ + -0.004644662141799927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08176577091217041, + 0.09645923227071762, + 0.1568535417318344 + ], + "orientation": [ + 0.5193467736244202, + 0.2791300415992737, + -0.7769284248352051, + 0.22078868746757507 + ], + "joints": [ + 0.015935715287923813 + ] + }, + "fine_grasp": { + "position": [ + 0.07897094637155533, + 0.09394620358943939, + 0.1558283120393753 + ], + "orientation": [ + 0.5208312273025513, + 0.2791174650192261, + -0.7760685086250305, + 0.22033169865608215 + ], + "joints": [ + 0.0063018472865223885 + ] + }, + "final_grasp": { + "position": [ + 0.07897094637155533, + 0.09394620358943939, + 0.1558283120393753 + ], + "orientation": [ + 0.5208312273025513, + 0.2791174650192261, + -0.7760685086250305, + 0.22033169865608215 + ], + "joints": [ + -0.003332020714879036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05899108201265335, + 0.06457091122865677, + -0.08455532789230347 + ], + "orientation": [ + 0.8327623009681702, + 0.1369725465774536, + 0.3726620674133301, + -0.38583463430404663 + ], + "joints": [ + 0.016897140070796013 + ] + }, + "fine_grasp": { + "position": [ + -0.05668885260820389, + 0.06248879060149193, + -0.08216076344251633 + ], + "orientation": [ + 0.8335974812507629, + 0.13463811576366425, + 0.3721286654472351, + -0.3853674829006195 + ], + "joints": [ + 0.006866214796900749 + ] + }, + "final_grasp": { + "position": [ + -0.05668885260820389, + 0.06248879060149193, + -0.08216076344251633 + ], + "orientation": [ + 0.8335974812507629, + 0.13463811576366425, + 0.3721286654472351, + -0.3853674829006195 + ], + "joints": [ + -0.0031647104769945145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03165822476148605, + 0.015800055116415024, + 0.24723941087722778 + ], + "orientation": [ + 0.13996757566928864, + -0.2812333405017853, + 0.9493473768234253, + -0.007516007404774427 + ], + "joints": [ + 0.015136714093387127 + ] + }, + "fine_grasp": { + "position": [ + -0.030046138912439346, + 0.01629200391471386, + 0.24394813179969788 + ], + "orientation": [ + 0.14019012451171875, + -0.28127557039260864, + 0.9493095278739929, + -0.00649758568033576 + ], + "joints": [ + 0.004687833599746227 + ] + }, + "final_grasp": { + "position": [ + -0.030046138912439346, + 0.01629200391471386, + 0.24394813179969788 + ], + "orientation": [ + 0.14019012451171875, + -0.28127557039260864, + 0.9493095278739929, + -0.00649758568033576 + ], + "joints": [ + -0.005761046893894672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08139196783304214, + 0.09611276537179947, + 0.15619099140167236 + ], + "orientation": [ + 0.5149226784706116, + 0.2812997102737427, + -0.7796406745910645, + 0.21882756054401398 + ], + "joints": [ + 0.016397908329963684 + ] + }, + "fine_grasp": { + "position": [ + 0.07858628034591675, + 0.09361465275287628, + 0.15517696738243103 + ], + "orientation": [ + 0.5169057846069336, + 0.28126534819602966, + -0.7784857153892517, + 0.2183077484369278 + ], + "joints": [ + 0.00636698305606842 + ] + }, + "final_grasp": { + "position": [ + 0.07858628034591675, + 0.09361465275287628, + 0.15517696738243103 + ], + "orientation": [ + 0.5169057846069336, + 0.28126534819602966, + -0.7784857153892517, + 0.2183077484369278 + ], + "joints": [ + -0.0036639422178268433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00698199262842536, + -0.02417469583451748, + -0.12548930943012238 + ], + "orientation": [ + 0.4274330139160156, + -0.07210548967123032, + 0.09665056318044662, + 0.895969033241272 + ], + "joints": [ + 0.016042374074459076 + ] + }, + "fine_grasp": { + "position": [ + 0.006682544946670532, + -0.023146843537688255, + -0.12174824625253677 + ], + "orientation": [ + 0.42710283398628235, + -0.07205525785684586, + 0.09607793390750885, + 0.8961920738220215 + ], + "joints": [ + 0.0068264612928032875 + ] + }, + "final_grasp": { + "position": [ + 0.006682544946670532, + -0.023146843537688255, + -0.12174824625253677 + ], + "orientation": [ + 0.42710283398628235, + -0.07205525785684586, + 0.09607793390750885, + 0.8961920738220215 + ], + "joints": [ + -0.002389451488852501 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026362335309386253, + 0.08727490156888962, + 0.22543080151081085 + ], + "orientation": [ + 0.17856594920158386, + 0.7919309735298157, + 0.523028552532196, + -0.2596164047718048 + ], + "joints": [ + 0.014867495745420456 + ] + }, + "fine_grasp": { + "position": [ + 0.025310315191745758, + 0.08464360237121582, + 0.22294127941131592 + ], + "orientation": [ + 0.175416961312294, + 0.7898354530334473, + 0.5269429087638855, + -0.2602308392524719 + ], + "joints": [ + 0.004418615251779556 + ] + }, + "final_grasp": { + "position": [ + 0.025310315191745758, + 0.08464360237121582, + 0.22294127941131592 + ], + "orientation": [ + 0.175416961312294, + 0.7898354530334473, + 0.5269429087638855, + -0.2602308392524719 + ], + "joints": [ + -0.006030265241861343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026181284338235855, + 0.0868452861905098, + 0.22591301798820496 + ], + "orientation": [ + 0.17828330397605896, + 0.7928609848022461, + 0.5218216776847839, + -0.25940072536468506 + ], + "joints": [ + 0.014815278351306915 + ] + }, + "fine_grasp": { + "position": [ + 0.02510167472064495, + 0.08423271775245667, + 0.22341112792491913 + ], + "orientation": [ + 0.17512644827365875, + 0.7904921770095825, + 0.5263625383377075, + -0.2596060335636139 + ], + "joints": [ + 0.004366397857666016 + ] + }, + "final_grasp": { + "position": [ + 0.02510167472064495, + 0.08423271775245667, + 0.22341112792491913 + ], + "orientation": [ + 0.17512644827365875, + 0.7904921770095825, + 0.5263625383377075, + -0.2596060335636139 + ], + "joints": [ + -0.006082482635974884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03180324658751488, + 0.016154766082763672, + 0.24859140813350677 + ], + "orientation": [ + 0.13730068504810333, + -0.28388017416000366, + 0.9489284753799438, + -0.009756876155734062 + ], + "joints": [ + 0.014897996559739113 + ] + }, + "fine_grasp": { + "position": [ + -0.030111035332083702, + 0.016763780266046524, + 0.24538393318653107 + ], + "orientation": [ + 0.13864095509052277, + -0.2850320637226105, + 0.9483956098556519, + -0.009017175994813442 + ], + "joints": [ + 0.004867071285843849 + ] + }, + "final_grasp": { + "position": [ + -0.030111035332083702, + 0.016763780266046524, + 0.24538393318653107 + ], + "orientation": [ + 0.13864095509052277, + -0.2850320637226105, + 0.9483956098556519, + -0.009017175994813442 + ], + "joints": [ + -0.0051638539880514145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01818297803401947, + -0.004599487874656916, + 0.23456531763076782 + ], + "orientation": [ + 0.1361674964427948, + -0.49315205216407776, + -0.856715738773346, + -0.0655563622713089 + ], + "joints": [ + 0.01600225642323494 + ] + }, + "fine_grasp": { + "position": [ + 0.0168117955327034, + -0.0018249028362333775, + 0.23319801688194275 + ], + "orientation": [ + 0.12566065788269043, + -0.48735880851745605, + -0.8618971705436707, + -0.06184026226401329 + ], + "joints": [ + 0.00555337592959404 + ] + }, + "final_grasp": { + "position": [ + 0.0168117955327034, + -0.0018249028362333775, + 0.23319801688194275 + ], + "orientation": [ + 0.12566065788269043, + -0.48735880851745605, + -0.8618971705436707, + -0.06184026226401329 + ], + "joints": [ + -0.00489550456404686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0026972901541739702, + 0.0984482541680336, + 0.21196681261062622 + ], + "orientation": [ + 0.24149414896965027, + 0.6292731165885925, + 0.684325098991394, + -0.2781996428966522 + ], + "joints": [ + 0.01474715769290924 + ] + }, + "fine_grasp": { + "position": [ + 0.0026255049742758274, + 0.09484490752220154, + 0.2110936939716339 + ], + "orientation": [ + 0.2310037910938263, + 0.6242724061012268, + 0.693591833114624, + -0.2754114866256714 + ], + "joints": [ + 0.005134187638759613 + ] + }, + "final_grasp": { + "position": [ + 0.0026255049742758274, + 0.09484490752220154, + 0.2110936939716339 + ], + "orientation": [ + 0.2310037910938263, + 0.6242724061012268, + 0.693591833114624, + -0.2754114866256714 + ], + "joints": [ + -0.004478782415390015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12358798086643219, + 0.046219393610954285, + 0.020940124988555908 + ], + "orientation": [ + 0.14632755517959595, + 0.7285169959068298, + 0.06419697403907776, + -0.666130542755127 + ], + "joints": [ + 0.01877901889383793 + ] + }, + "fine_grasp": { + "position": [ + 0.11998777836561203, + 0.045017730444669724, + 0.020955350250005722 + ], + "orientation": [ + 0.14793817698955536, + 0.7267513275146484, + 0.06515157967805862, + -0.6676092743873596 + ], + "joints": [ + 0.009521307423710823 + ] + }, + "final_grasp": { + "position": [ + 0.11998777836561203, + 0.045017730444669724, + 0.020955350250005722 + ], + "orientation": [ + 0.14793817698955536, + 0.7267513275146484, + 0.06515157967805862, + -0.6676092743873596 + ], + "joints": [ + 0.00026359595358371735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002311669522896409, + 0.097206711769104, + 0.21225818991661072 + ], + "orientation": [ + 0.24003328382968903, + 0.6265110373497009, + 0.6869072914123535, + -0.2793319821357727 + ], + "joints": [ + 0.014953434467315674 + ] + }, + "fine_grasp": { + "position": [ + 0.0023699121084064245, + 0.09365779161453247, + 0.21228468418121338 + ], + "orientation": [ + 0.22880296409130096, + 0.624786913394928, + 0.6951999664306641, + -0.2720063030719757 + ], + "joints": [ + 0.005340464413166046 + ] + }, + "final_grasp": { + "position": [ + 0.0023699121084064245, + 0.09365779161453247, + 0.21228468418121338 + ], + "orientation": [ + 0.22880296409130096, + 0.624786913394928, + 0.6951999664306641, + -0.2720063030719757 + ], + "joints": [ + -0.0042725056409835815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03391532972455025, + 0.1316838413476944, + 0.17474603652954102 + ], + "orientation": [ + 0.44071564078330994, + 0.48448267579078674, + 0.6776216626167297, + -0.3344773054122925 + ], + "joints": [ + 0.015229327604174614 + ] + }, + "fine_grasp": { + "position": [ + -0.03278568387031555, + 0.12810885906219482, + 0.17365628480911255 + ], + "orientation": [ + 0.44314777851104736, + 0.4834098219871521, + 0.6760051846504211, + -0.3360835313796997 + ], + "joints": [ + 0.004404287785291672 + ] + }, + "final_grasp": { + "position": [ + -0.03278568387031555, + 0.12810885906219482, + 0.17365628480911255 + ], + "orientation": [ + 0.44314777851104736, + 0.4834098219871521, + 0.6760051846504211, + -0.3360835313796997 + ], + "joints": [ + -0.0064207520335912704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010406984016299248, + -0.03675582632422447, + 0.23458117246627808 + ], + "orientation": [ + 0.16278810799121857, + -0.7302700877189636, + -0.6326681971549988, + -0.1998409628868103 + ], + "joints": [ + 0.0150796789675951 + ] + }, + "fine_grasp": { + "position": [ + -0.010016209445893764, + -0.03449499234557152, + 0.23153652250766754 + ], + "orientation": [ + 0.16388893127441406, + -0.7290787100791931, + -0.6331119537353516, + -0.20187589526176453 + ], + "joints": [ + 0.004630798473954201 + ] + }, + "final_grasp": { + "position": [ + -0.010016209445893764, + -0.03449499234557152, + 0.23153652250766754 + ], + "orientation": [ + 0.16388893127441406, + -0.7290787100791931, + -0.6331119537353516, + -0.20187589526176453 + ], + "joints": [ + -0.005818082019686699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02989030070602894, + 0.09914524108171463, + 0.21857687830924988 + ], + "orientation": [ + 0.2433028519153595, + 0.8220120668411255, + 0.42781156301498413, + -0.28649118542671204 + ], + "joints": [ + 0.014241652563214302 + ] + }, + "fine_grasp": { + "position": [ + 0.02871304750442505, + 0.09635133296251297, + 0.2162637710571289 + ], + "orientation": [ + 0.24651221930980682, + 0.8229419589042664, + 0.4257100522518158, + -0.2841991186141968 + ], + "joints": [ + 0.0037927720695734024 + ] + }, + "final_grasp": { + "position": [ + 0.02871304750442505, + 0.09635133296251297, + 0.2162637710571289 + ], + "orientation": [ + 0.24651221930980682, + 0.8229419589042664, + 0.4257100522518158, + -0.2841991186141968 + ], + "joints": [ + -0.006656108424067497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017582792788743973, + 0.0728212222456932, + 0.24507643282413483 + ], + "orientation": [ + 0.15610992908477783, + 0.8765343427658081, + 0.42505374550819397, + -0.1632375866174698 + ], + "joints": [ + 0.013988399878144264 + ] + }, + "fine_grasp": { + "position": [ + 0.01664143241941929, + 0.07109109312295914, + 0.24174043536186218 + ], + "orientation": [ + 0.1568811535835266, + 0.8767751455307007, + 0.42380374670028687, + -0.16445086896419525 + ], + "joints": [ + 0.0039574746042490005 + ] + }, + "final_grasp": { + "position": [ + 0.01664143241941929, + 0.07109109312295914, + 0.24174043536186218 + ], + "orientation": [ + 0.1568811535835266, + 0.8767751455307007, + 0.42380374670028687, + -0.16445086896419525 + ], + "joints": [ + -0.006073450669646263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002079686848446727, + 0.09835878014564514, + 0.21276654303073883 + ], + "orientation": [ + 0.24494917690753937, + 0.623809814453125, + 0.6856322884559631, + -0.2841998338699341 + ], + "joints": [ + 0.014348428696393967 + ] + }, + "fine_grasp": { + "position": [ + 0.002076137578114867, + 0.09477265179157257, + 0.21234755218029022 + ], + "orientation": [ + 0.2347862273454666, + 0.6217373013496399, + 0.6939389705657959, + -0.27706828713417053 + ], + "joints": [ + 0.005153413861989975 + ] + }, + "final_grasp": { + "position": [ + 0.002076137578114867, + 0.09477265179157257, + 0.21234755218029022 + ], + "orientation": [ + 0.2347862273454666, + 0.6217373013496399, + 0.6939389705657959, + -0.27706828713417053 + ], + "joints": [ + -0.004041600972414017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053825296461582184, + 0.05295509099960327, + 0.23345878720283508 + ], + "orientation": [ + 0.08810175210237503, + 0.9434714317321777, + 0.17596490681171417, + -0.26671385765075684 + ], + "joints": [ + 0.014463894069194794 + ] + }, + "fine_grasp": { + "position": [ + 0.0515802837908268, + 0.0518764853477478, + 0.23057080805301666 + ], + "orientation": [ + 0.08627697825431824, + 0.94415682554245, + 0.17628110945224762, + -0.26466795802116394 + ], + "joints": [ + 0.004015013575553894 + ] + }, + "final_grasp": { + "position": [ + 0.0515802837908268, + 0.0518764853477478, + 0.23057080805301666 + ], + "orientation": [ + 0.08627697825431824, + 0.94415682554245, + 0.17628110945224762, + -0.26466795802116394 + ], + "joints": [ + -0.006433866918087006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002350048627704382, + 0.09728240966796875, + 0.21142257750034332 + ], + "orientation": [ + 0.24020808935165405, + 0.6276600956916809, + 0.6864843368530273, + -0.2776365876197815 + ], + "joints": [ + 0.014722448773682117 + ] + }, + "fine_grasp": { + "position": [ + 0.002488392638042569, + 0.09373599290847778, + 0.21147654950618744 + ], + "orientation": [ + 0.22843563556671143, + 0.624977171421051, + 0.6953613758087158, + -0.2714651823043823 + ], + "joints": [ + 0.005527433939278126 + ] + }, + "final_grasp": { + "position": [ + 0.002488392638042569, + 0.09373599290847778, + 0.21147654950618744 + ], + "orientation": [ + 0.22843563556671143, + 0.624977171421051, + 0.6953613758087158, + -0.2714651823043823 + ], + "joints": [ + -0.003667580895125866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01813475415110588, + 0.07377911359071732, + 0.2454051375389099 + ], + "orientation": [ + 0.15617477893829346, + 0.8756824731826782, + 0.4267309606075287, + -0.16337159276008606 + ], + "joints": [ + 0.014161857776343822 + ] + }, + "fine_grasp": { + "position": [ + 0.017335113137960434, + 0.0719921737909317, + 0.24196983873844147 + ], + "orientation": [ + 0.15744063258171082, + 0.8752945065498352, + 0.4258629381656647, + -0.16647157073020935 + ], + "joints": [ + 0.004130932502448559 + ] + }, + "final_grasp": { + "position": [ + 0.017335113137960434, + 0.0719921737909317, + 0.24196983873844147 + ], + "orientation": [ + 0.15744063258171082, + 0.8752945065498352, + 0.4258629381656647, + -0.16647157073020935 + ], + "joints": [ + -0.005899992771446705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003241347149014473, + 0.024886973202228546, + 0.24993276596069336 + ], + "orientation": [ + 0.011029728688299656, + 0.9996713995933533, + -0.009215926751494408, + 0.021226834505796432 + ], + "joints": [ + 0.01548910140991211 + ] + }, + "fine_grasp": { + "position": [ + -0.0030690249986946583, + 0.02433149330317974, + 0.24666519463062286 + ], + "orientation": [ + 0.010074793361127377, + 0.9997127652168274, + -0.012279058806598186, + 0.017947716638445854 + ], + "joints": [ + 0.005897029303014278 + ] + }, + "final_grasp": { + "position": [ + -0.0030690249986946583, + 0.02433149330317974, + 0.24666519463062286 + ], + "orientation": [ + 0.010074793361127377, + 0.9997127652168274, + -0.012279058806598186, + 0.017947716638445854 + ], + "joints": [ + -0.0036950428038835526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016152197495102882, + -0.12984006106853485, + 0.009534652344882488 + ], + "orientation": [ + 0.49478134512901306, + -0.5240731835365295, + -0.535978376865387, + -0.43962016701698303 + ], + "joints": [ + 0.01707770861685276 + ] + }, + "fine_grasp": { + "position": [ + 0.014930937439203262, + -0.12634216248989105, + 0.009623969905078411 + ], + "orientation": [ + 0.5029958486557007, + -0.5164514183998108, + -0.5388785600662231, + -0.43575581908226013 + ], + "joints": [ + 0.004643541760742664 + ] + }, + "final_grasp": { + "position": [ + 0.014930937439203262, + -0.12634216248989105, + 0.009623969905078411 + ], + "orientation": [ + 0.5029958486557007, + -0.5164514183998108, + -0.5388785600662231, + -0.43575581908226013 + ], + "joints": [ + -0.007790625095367432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04224727675318718, + 0.1315108686685562, + 0.14507758617401123 + ], + "orientation": [ + 0.5283516645431519, + 0.38149261474609375, + 0.6392319202423096, + -0.4082774519920349 + ], + "joints": [ + 0.012959337793290615 + ] + }, + "fine_grasp": { + "position": [ + -0.04080015420913696, + 0.12766912579536438, + 0.1446337103843689 + ], + "orientation": [ + 0.5255929231643677, + 0.38183891773223877, + 0.6413819193840027, + -0.4081425666809082 + ], + "joints": [ + 0.004600233398377895 + ] + }, + "final_grasp": { + "position": [ + -0.04080015420913696, + 0.12766912579536438, + 0.1446337103843689 + ], + "orientation": [ + 0.5255929231643677, + 0.38183891773223877, + 0.6413819193840027, + -0.4081425666809082 + ], + "joints": [ + -0.0037588709965348244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001151589909568429, + 0.017329057678580284, + 0.25671517848968506 + ], + "orientation": [ + 0.02581784501671791, + -0.8725627064704895, + -0.4875926673412323, + -0.014871802181005478 + ], + "joints": [ + 0.014364998787641525 + ] + }, + "fine_grasp": { + "position": [ + 0.0018547429936006665, + 0.01739359274506569, + 0.2531237304210663 + ], + "orientation": [ + 0.02595367655158043, + -0.8735116720199585, + -0.4859679937362671, + -0.011787551455199718 + ], + "joints": [ + 0.004752028733491898 + ] + }, + "final_grasp": { + "position": [ + 0.0018547429936006665, + 0.01739359274506569, + 0.2531237304210663 + ], + "orientation": [ + 0.02595367655158043, + -0.8735116720199585, + -0.4859679937362671, + -0.011787551455199718 + ], + "joints": [ + -0.00486094132065773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053985655307769775, + 0.05326610431075096, + 0.233915314078331 + ], + "orientation": [ + 0.08840323984622955, + 0.9408910274505615, + 0.18119297921657562, + -0.27217280864715576 + ], + "joints": [ + 0.013690665364265442 + ] + }, + "fine_grasp": { + "position": [ + 0.051724981516599655, + 0.05214211344718933, + 0.23096008598804474 + ], + "orientation": [ + 0.08536817878484726, + 0.9408877491950989, + 0.18615609407424927, + -0.2697931230068207 + ], + "joints": [ + 0.0036597405560314655 + ] + }, + "final_grasp": { + "position": [ + 0.051724981516599655, + 0.05214211344718933, + 0.23096008598804474 + ], + "orientation": [ + 0.08536817878484726, + 0.9408877491950989, + 0.18615609407424927, + -0.2697931230068207 + ], + "joints": [ + -0.006371184252202511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0024311367888003588, + 0.09657111763954163, + 0.21301735937595367 + ], + "orientation": [ + 0.24021248519420624, + 0.6164745688438416, + 0.6934999227523804, + -0.28515782952308655 + ], + "joints": [ + 0.014612914063036442 + ] + }, + "fine_grasp": { + "position": [ + 0.0023886910639703274, + 0.09326404333114624, + 0.21329757571220398 + ], + "orientation": [ + 0.2283610701560974, + 0.6181493997573853, + 0.7002420425415039, + -0.27459725737571716 + ], + "joints": [ + 0.004999944008886814 + ] + }, + "final_grasp": { + "position": [ + 0.0023886910639703274, + 0.09326404333114624, + 0.21329757571220398 + ], + "orientation": [ + 0.2283610701560974, + 0.6181493997573853, + 0.7002420425415039, + -0.27459725737571716 + ], + "joints": [ + -0.004613026045262814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0009351291228085756, + 0.024983245879411697, + 0.25604602694511414 + ], + "orientation": [ + 0.0011037969961762428, + 0.8791866898536682, + -0.4764741063117981, + -0.0013848408125340939 + ], + "joints": [ + 0.014289803802967072 + ] + }, + "fine_grasp": { + "position": [ + -0.0016161409439519048, + 0.02490350790321827, + 0.252564400434494 + ], + "orientation": [ + 0.0008198731811717153, + 0.8794494867324829, + -0.4759898781776428, + 0.0013066618703305721 + ], + "joints": [ + 0.004676833748817444 + ] + }, + "final_grasp": { + "position": [ + -0.0016161409439519048, + 0.02490350790321827, + 0.252564400434494 + ], + "orientation": [ + 0.0008198731811717153, + 0.8794494867324829, + -0.4759898781776428, + 0.0013066618703305721 + ], + "joints": [ + -0.004936136305332184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023003479465842247, + 0.04926500841975212, + -0.12581799924373627 + ], + "orientation": [ + 0.5104572176933289, + 0.14494137465953827, + -0.09403140097856522, + 0.8423677086830139 + ], + "joints": [ + 0.016412269324064255 + ] + }, + "fine_grasp": { + "position": [ + -0.02151029370725155, + 0.04761790484189987, + -0.12267006188631058 + ], + "orientation": [ + 0.5089533925056458, + 0.1519293487071991, + -0.09308555722236633, + 0.842151403427124 + ], + "joints": [ + 0.006381344050168991 + ] + }, + "final_grasp": { + "position": [ + -0.02151029370725155, + 0.04761790484189987, + -0.12267006188631058 + ], + "orientation": [ + 0.5089533925056458, + 0.1519293487071991, + -0.09308555722236633, + 0.842151403427124 + ], + "joints": [ + -0.0036495812237262726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07836432754993439, + -0.07313297688961029, + -0.007553031202405691 + ], + "orientation": [ + 0.6863153576850891, + -0.2685830295085907, + 0.618063747882843, + 0.2735537588596344 + ], + "joints": [ + 0.01657050848007202 + ] + }, + "fine_grasp": { + "position": [ + -0.07570916414260864, + -0.07035358250141144, + -0.007370253559201956 + ], + "orientation": [ + 0.687641978263855, + -0.2678627371788025, + 0.6158730983734131, + 0.27585914731025696 + ], + "joints": [ + 0.007793448865413666 + ] + }, + "final_grasp": { + "position": [ + -0.07570916414260864, + -0.07035358250141144, + -0.007370253559201956 + ], + "orientation": [ + 0.687641978263855, + -0.2678627371788025, + 0.6158730983734131, + 0.27585914731025696 + ], + "joints": [ + -0.00098361074924469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -8.563189476262778e-05, + 0.015937454998493195, + 0.2572886645793915 + ], + "orientation": [ + 0.02694426104426384, + -0.8696818947792053, + -0.49249267578125, + -0.019454872235655785 + ], + "joints": [ + 0.014366932213306427 + ] + }, + "fine_grasp": { + "position": [ + 0.0004466446116566658, + 0.016196804121136665, + 0.2536267638206482 + ], + "orientation": [ + 0.02734629064798355, + -0.8700180649757385, + -0.49187806248664856, + -0.019413240253925323 + ], + "joints": [ + 0.004733064211905003 + ] + }, + "final_grasp": { + "position": [ + 0.0004466446116566658, + 0.016196804121136665, + 0.2536267638206482 + ], + "orientation": [ + 0.02734629064798355, + -0.8700180649757385, + -0.49187806248664856, + -0.019413240253925323 + ], + "joints": [ + -0.004900803789496422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029336925595998764, + 0.09884041547775269, + 0.21949194371700287 + ], + "orientation": [ + 0.2496909201145172, + 0.8178319931030273, + 0.4272138476371765, + -0.29375770688056946 + ], + "joints": [ + 0.013321329839527607 + ] + }, + "fine_grasp": { + "position": [ + 0.02812483347952366, + 0.09601711481809616, + 0.21700088679790497 + ], + "orientation": [ + 0.249875009059906, + 0.8205574750900269, + 0.42575839161872864, + -0.2880585789680481 + ], + "joints": [ + 0.0037083597853779793 + ] + }, + "final_grasp": { + "position": [ + 0.02812483347952366, + 0.09601711481809616, + 0.21700088679790497 + ], + "orientation": [ + 0.249875009059906, + 0.8205574750900269, + 0.42575839161872864, + -0.2880585789680481 + ], + "joints": [ + -0.005904610268771648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08263486623764038, + 0.012184025719761848, + 0.22084058821201324 + ], + "orientation": [ + 0.36776676774024963, + -0.13070981204509735, + -0.9206783771514893, + 0.0036978954449295998 + ], + "joints": [ + 0.014624932780861855 + ] + }, + "fine_grasp": { + "position": [ + 0.07979413121938705, + 0.012629492208361626, + 0.21828144788742065 + ], + "orientation": [ + 0.3688761293888092, + -0.12981849908828735, + -0.920364499092102, + 0.002620091661810875 + ], + "joints": [ + 0.004176052287220955 + ] + }, + "final_grasp": { + "position": [ + 0.07979413121938705, + 0.012629492208361626, + 0.21828144788742065 + ], + "orientation": [ + 0.3688761293888092, + -0.12981849908828735, + -0.920364499092102, + 0.002620091661810875 + ], + "joints": [ + -0.006272828206419945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054514139890670776, + 0.11279036849737167, + 0.1580764800310135 + ], + "orientation": [ + 0.4736856520175934, + 0.3678520917892456, + -0.7400319576263428, + 0.304400235414505 + ], + "joints": [ + 0.014823924750089645 + ] + }, + "fine_grasp": { + "position": [ + 0.05237289145588875, + 0.10937195271253586, + 0.15722405910491943 + ], + "orientation": [ + 0.4710567593574524, + 0.36482784152030945, + -0.7423160076141357, + 0.3065502643585205 + ], + "joints": [ + 0.006464820355176926 + ] + }, + "final_grasp": { + "position": [ + 0.05237289145588875, + 0.10937195271253586, + 0.15722405910491943 + ], + "orientation": [ + 0.4710567593574524, + 0.36482784152030945, + -0.7423160076141357, + 0.3065502643585205 + ], + "joints": [ + -0.001894284039735794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040474873036146164, + 0.1223219633102417, + 0.07294631004333496 + ], + "orientation": [ + 0.5488700866699219, + 0.39972057938575745, + 0.6108976006507874, + -0.40714767575263977 + ], + "joints": [ + 0.0148033257573843 + ] + }, + "fine_grasp": { + "position": [ + -0.0390130989253521, + 0.1184239536523819, + 0.07305450737476349 + ], + "orientation": [ + 0.5483782887458801, + 0.39923977851867676, + 0.61122065782547, + -0.4077969193458557 + ], + "joints": [ + 0.0064442213624715805 + ] + }, + "final_grasp": { + "position": [ + -0.0390130989253521, + 0.1184239536523819, + 0.07305450737476349 + ], + "orientation": [ + 0.5483782887458801, + 0.39923977851867676, + 0.61122065782547, + -0.4077969193458557 + ], + "joints": [ + -0.0019148830324411392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0524868443608284, + 0.08284316956996918, + 0.22647176682949066 + ], + "orientation": [ + 0.15832659602165222, + 0.8643336892127991, + -0.353295236825943, + 0.3210020661354065 + ], + "joints": [ + 0.013835310935974121 + ] + }, + "fine_grasp": { + "position": [ + -0.050576407462358475, + 0.08075494319200516, + 0.22386279702186584 + ], + "orientation": [ + 0.15771473944187164, + 0.864342451095581, + -0.3529598116874695, + 0.3216482400894165 + ], + "joints": [ + 0.0033864311408251524 + ] + }, + "final_grasp": { + "position": [ + -0.050576407462358475, + 0.08075494319200516, + 0.22386279702186584 + ], + "orientation": [ + 0.15771473944187164, + 0.864342451095581, + -0.3529598116874695, + 0.3216482400894165 + ], + "joints": [ + -0.007062448654323816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -5.926722224103287e-05, + 0.02411254681646824, + 0.2544638216495514 + ], + "orientation": [ + 0.0023827296681702137, + 0.8795439004898071, + -0.47580304741859436, + -0.0028672758489847183 + ], + "joints": [ + 0.014809835702180862 + ] + }, + "fine_grasp": { + "position": [ + -0.0006977078737691045, + 0.02407398819923401, + 0.25091618299484253 + ], + "orientation": [ + 0.0011683492921292782, + 0.8795990347862244, + -0.47571325302124023, + -0.0010842724004760385 + ], + "joints": [ + 0.005175967700779438 + ] + }, + "final_grasp": { + "position": [ + -0.0006977078737691045, + 0.02407398819923401, + 0.25091618299484253 + ], + "orientation": [ + 0.0011683492921292782, + 0.8795990347862244, + -0.47571325302124023, + -0.0010842724004760385 + ], + "joints": [ + -0.004457900300621986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0666859969496727, + 0.018698565661907196, + 0.23333711922168732 + ], + "orientation": [ + 0.294699490070343, + -0.0682767927646637, + 0.9531438946723938, + -0.0027281378861516714 + ], + "joints": [ + 0.014238935895264149 + ] + }, + "fine_grasp": { + "position": [ + -0.06422068178653717, + 0.018919318914413452, + 0.23043514788150787 + ], + "orientation": [ + 0.2959555685520172, + -0.06458698213100433, + 0.953015148639679, + 0.0010107054840773344 + ], + "joints": [ + 0.003790055401623249 + ] + }, + "final_grasp": { + "position": [ + -0.06422068178653717, + 0.018919318914413452, + 0.23043514788150787 + ], + "orientation": [ + 0.2959555685520172, + -0.06458698213100433, + 0.953015148639679, + 0.0010107054840773344 + ], + "joints": [ + -0.006658825092017651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1157335713505745, + 0.02341039478778839, + 0.14230084419250488 + ], + "orientation": [ + 0.0336202047765255, + 0.7943055629730225, + -0.024253401905298233, + -0.606102466583252 + ], + "joints": [ + 0.015970345586538315 + ] + }, + "fine_grasp": { + "position": [ + 0.11189603805541992, + 0.023339735344052315, + 0.14151766896247864 + ], + "orientation": [ + 0.03299317881464958, + 0.7938626408576965, + -0.023975536227226257, + -0.6067279577255249 + ], + "joints": [ + 0.006357375532388687 + ] + }, + "final_grasp": { + "position": [ + 0.11189603805541992, + 0.023339735344052315, + 0.14151766896247864 + ], + "orientation": [ + 0.03299317881464958, + 0.7938626408576965, + -0.023975536227226257, + -0.6067279577255249 + ], + "joints": [ + -0.0032555945217609406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053543951362371445, + 0.11163773387670517, + 0.15779760479927063 + ], + "orientation": [ + 0.4718875288963318, + 0.3709843158721924, + -0.7408551573753357, + 0.3013738989830017 + ], + "joints": [ + 0.015245134010910988 + ] + }, + "fine_grasp": { + "position": [ + 0.051295191049575806, + 0.10829406976699829, + 0.15720060467720032 + ], + "orientation": [ + 0.4682854413986206, + 0.36904045939445496, + -0.7432166337966919, + 0.30355727672576904 + ], + "joints": [ + 0.006468074396252632 + ] + }, + "final_grasp": { + "position": [ + 0.051295191049575806, + 0.10829406976699829, + 0.15720060467720032 + ], + "orientation": [ + 0.4682854413986206, + 0.36904045939445496, + -0.7432166337966919, + 0.30355727672576904 + ], + "joints": [ + -0.0023089852184057236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06793569028377533, + 0.018496546894311905, + 0.23415249586105347 + ], + "orientation": [ + 0.29756420850753784, + -0.06350667029619217, + 0.9525871872901917, + 3.6785586416954175e-05 + ], + "joints": [ + 0.014378238469362259 + ] + }, + "fine_grasp": { + "position": [ + -0.06545864790678024, + 0.018667109310626984, + 0.23127306997776031 + ], + "orientation": [ + 0.29974493384361267, + -0.06000880151987076, + 0.9521258473396301, + 0.0028711522463709116 + ], + "joints": [ + 0.00353230070322752 + ] + }, + "final_grasp": { + "position": [ + -0.06545864790678024, + 0.018667109310626984, + 0.23127306997776031 + ], + "orientation": [ + 0.29974493384361267, + -0.06000880151987076, + 0.9521258473396301, + 0.0028711522463709116 + ], + "joints": [ + -0.007313637062907219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09213393181562424, + 0.0016949332784861326, + -0.10246960073709488 + ], + "orientation": [ + 0.04008397087454796, + 0.38285312056541443, + 0.019795497879385948, + 0.9227269291877747 + ], + "joints": [ + 0.017702903598546982 + ] + }, + "fine_grasp": { + "position": [ + -0.08937433362007141, + 0.0025199318770319223, + -0.09990337491035461 + ], + "orientation": [ + 0.03760145977139473, + 0.38298147916793823, + 0.02594795823097229, + 0.9226256012916565 + ], + "joints": [ + 0.006501704920083284 + ] + }, + "final_grasp": { + "position": [ + -0.08937433362007141, + 0.0025199318770319223, + -0.09990337491035461 + ], + "orientation": [ + 0.03760145977139473, + 0.38298147916793823, + 0.02594795823097229, + 0.9226256012916565 + ], + "joints": [ + -0.004699493758380413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10081500560045242, + 0.07793936133384705, + 0.14673393964767456 + ], + "orientation": [ + 0.16954515874385834, + 0.749631404876709, + 0.1820732057094574, + -0.6133159399032593 + ], + "joints": [ + 0.014467980712652206 + ] + }, + "fine_grasp": { + "position": [ + 0.09734143316745758, + 0.07596901059150696, + 0.14599591493606567 + ], + "orientation": [ + 0.1679718941450119, + 0.7508771419525146, + 0.18423670530319214, + -0.6115765571594238 + ], + "joints": [ + 0.005690921097993851 + ] + }, + "final_grasp": { + "position": [ + 0.09734143316745758, + 0.07596901059150696, + 0.14599591493606567 + ], + "orientation": [ + 0.1679718941450119, + 0.7508771419525146, + 0.18423670530319214, + -0.6115765571594238 + ], + "joints": [ + -0.003086138516664505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09228194504976273, + 0.0016578841023147106, + -0.10265398025512695 + ], + "orientation": [ + 0.04053230211138725, + 0.3831292688846588, + 0.01961154118180275, + 0.9225965738296509 + ], + "joints": [ + 0.017934458330273628 + ] + }, + "fine_grasp": { + "position": [ + -0.08954320847988129, + 0.002511264756321907, + -0.1000913605093956 + ], + "orientation": [ + 0.037950772792100906, + 0.38316810131073, + 0.02599652111530304, + 0.9225324392318726 + ], + "joints": [ + 0.006712361238896847 + ] + }, + "final_grasp": { + "position": [ + -0.08954320847988129, + 0.002511264756321907, + -0.1000913605093956 + ], + "orientation": [ + 0.037950772792100906, + 0.38316810131073, + 0.02599652111530304, + 0.9225324392318726 + ], + "joints": [ + -0.004509735852479935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08178328722715378, + 0.07444045692682266, + -0.04583131521940231 + ], + "orientation": [ + 0.8012669086456299, + 0.18198448419570923, + 0.49397581815719604, + -0.28432539105415344 + ], + "joints": [ + 0.017732305452227592 + ] + }, + "fine_grasp": { + "position": [ + -0.078862763941288, + 0.07227703183889389, + -0.04454265534877777 + ], + "orientation": [ + 0.8013110160827637, + 0.18148532509803772, + 0.49544447660446167, + -0.28195488452911377 + ], + "joints": [ + 0.007701380178332329 + ] + }, + "final_grasp": { + "position": [ + -0.078862763941288, + 0.07227703183889389, + -0.04454265534877777 + ], + "orientation": [ + 0.8013110160827637, + 0.18148532509803772, + 0.49544447660446167, + -0.28195488452911377 + ], + "joints": [ + -0.002329545095562935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03309338912367821, + -0.019997533410787582, + 0.2471737414598465 + ], + "orientation": [ + 0.07683741301298141, + -0.803090512752533, + 0.547954261302948, + 0.22110578417778015 + ], + "joints": [ + 0.013711580075323582 + ] + }, + "fine_grasp": { + "position": [ + 0.031947702169418335, + -0.018376430496573448, + 0.24378027021884918 + ], + "orientation": [ + 0.0763336718082428, + -0.8022323846817017, + 0.5481355786323547, + 0.22392822802066803 + ], + "joints": [ + 0.0036806552670896053 + ] + }, + "final_grasp": { + "position": [ + 0.031947702169418335, + -0.018376430496573448, + 0.24378027021884918 + ], + "orientation": [ + 0.0763336718082428, + -0.8022323846817017, + 0.5481355786323547, + 0.22392822802066803 + ], + "joints": [ + -0.006350269541144371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006223142612725496, + -0.0029037599451839924, + -0.1364341825246811 + ], + "orientation": [ + 0.28163301944732666, + -0.0412948802113533, + -0.026599781587719917, + -0.9582640528678894 + ], + "joints": [ + 0.015624882653355598 + ] + }, + "fine_grasp": { + "position": [ + -0.0064033763483166695, + -0.0025865642819553614, + -0.13252705335617065 + ], + "orientation": [ + 0.2816520929336548, + -0.03861096873879433, + -0.028352217748761177, + -0.9583200812339783 + ], + "joints": [ + 0.006011912599205971 + ] + }, + "final_grasp": { + "position": [ + -0.0064033763483166695, + -0.0025865642819553614, + -0.13252705335617065 + ], + "orientation": [ + 0.2816520929336548, + -0.03861096873879433, + -0.028352217748761177, + -0.9583200812339783 + ], + "joints": [ + -0.003601057454943657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09216245263814926, + -0.04411871358752251, + 0.12958496809005737 + ], + "orientation": [ + 0.6329938769340515, + -0.2462034821510315, + -0.7103385329246521, + -0.18472053110599518 + ], + "joints": [ + 0.014782970771193504 + ] + }, + "fine_grasp": { + "position": [ + 0.08881121873855591, + -0.04171588271856308, + 0.12900544703006744 + ], + "orientation": [ + 0.6306183934211731, + -0.24196821451187134, + -0.7132253646850586, + -0.18729987740516663 + ], + "joints": [ + 0.006423866376280785 + ] + }, + "final_grasp": { + "position": [ + 0.08881121873855591, + -0.04171588271856308, + 0.12900544703006744 + ], + "orientation": [ + 0.6306183934211731, + -0.24196821451187134, + -0.7132253646850586, + -0.18729987740516663 + ], + "joints": [ + -0.0019352380186319351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024503907188773155, + -0.030503423884510994, + 0.24256490170955658 + ], + "orientation": [ + 0.22671166062355042, + -0.5860495567321777, + 0.7679914832115173, + 0.1238417848944664 + ], + "joints": [ + 0.013903189450502396 + ] + }, + "fine_grasp": { + "position": [ + -0.02362881600856781, + -0.02853434719145298, + 0.2394075095653534 + ], + "orientation": [ + 0.22944135963916779, + -0.5874976515769958, + 0.7661260366439819, + 0.12350765615701675 + ], + "joints": [ + 0.003454309655353427 + ] + }, + "final_grasp": { + "position": [ + -0.02362881600856781, + -0.02853434719145298, + 0.2394075095653534 + ], + "orientation": [ + 0.22944135963916779, + -0.5874976515769958, + 0.7661260366439819, + 0.12350765615701675 + ], + "joints": [ + -0.006994570139795542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00027713787858374417, + 0.03469116613268852, + 0.2575837969779968 + ], + "orientation": [ + 0.00031969742849469185, + -0.012111920863389969, + -0.998874843120575, + 0.04584979638457298 + ], + "joints": [ + 0.014204326085746288 + ] + }, + "fine_grasp": { + "position": [ + 0.0002389579312875867, + 0.03400746360421181, + 0.2539154887199402 + ], + "orientation": [ + 0.00048293903819285333, + -0.013825593516230583, + -0.9988908171653748, + 0.04500875994563103 + ], + "joints": [ + 0.004591356031596661 + ] + }, + "final_grasp": { + "position": [ + 0.0002389579312875867, + 0.03400746360421181, + 0.2539154887199402 + ], + "orientation": [ + 0.00048293903819285333, + -0.013825593516230583, + -0.9988908171653748, + 0.04500875994563103 + ], + "joints": [ + -0.005021614022552967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005605756887234747, + 0.03452296555042267, + 0.2583281993865967 + ], + "orientation": [ + 0.0034166646655648947, + 0.004607382230460644, + 0.9989747405052185, + -0.04490739852190018 + ], + "joints": [ + 0.014193684794008732 + ] + }, + "fine_grasp": { + "position": [ + -0.0005195280537009239, + 0.033932436257600784, + 0.2545713186264038 + ], + "orientation": [ + 0.003046836471185088, + 0.005454434081912041, + 0.9990286827087402, + -0.043621648102998734 + ], + "joints": [ + 0.0045598167926073074 + ] + }, + "final_grasp": { + "position": [ + -0.0005195280537009239, + 0.033932436257600784, + 0.2545713186264038 + ], + "orientation": [ + 0.003046836471185088, + 0.005454434081912041, + 0.9990286827087402, + -0.043621648102998734 + ], + "joints": [ + -0.005074051208794117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033283717930316925, + -0.019995886832475662, + 0.2478257268667221 + ], + "orientation": [ + 0.07640837132930756, + -0.7944256663322449, + 0.558327853679657, + 0.22653840482234955 + ], + "joints": [ + 0.013132729567587376 + ] + }, + "fine_grasp": { + "position": [ + 0.03212626650929451, + -0.0183525662869215, + 0.24441571533679962 + ], + "orientation": [ + 0.07339146733283997, + -0.7936064004898071, + 0.5597187280654907, + 0.2269746959209442 + ], + "joints": [ + 0.0035197599790990353 + ] + }, + "final_grasp": { + "position": [ + 0.03212626650929451, + -0.0183525662869215, + 0.24441571533679962 + ], + "orientation": [ + 0.07339146733283997, + -0.7936064004898071, + 0.5597187280654907, + 0.2269746959209442 + ], + "joints": [ + -0.006093209609389305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12174353003501892, + -0.013115668669342995, + -0.00024896141258068383 + ], + "orientation": [ + 0.008205536752939224, + -0.6201111674308777, + -0.1101888120174408, + -0.7766938209533691 + ], + "joints": [ + 0.020041607320308685 + ] + }, + "fine_grasp": { + "position": [ + -0.11782701313495636, + -0.012866527773439884, + -4.669018744607456e-05 + ], + "orientation": [ + 0.004311217460781336, + -0.6246185898780823, + -0.10759929567575455, + -0.773469865322113 + ], + "joints": [ + 0.009237468242645264 + ] + }, + "final_grasp": { + "position": [ + -0.11782701313495636, + -0.012866527773439884, + -4.669018744607456e-05 + ], + "orientation": [ + 0.004311217460781336, + -0.6246185898780823, + -0.10759929567575455, + -0.773469865322113 + ], + "joints": [ + -0.001566670835018158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02480992302298546, + -0.030859917402267456, + 0.24353106319904327 + ], + "orientation": [ + 0.22827036678791046, + -0.5894373655319214, + 0.7651005983352661, + 0.12278897315263748 + ], + "joints": [ + 0.013577673584222794 + ] + }, + "fine_grasp": { + "position": [ + -0.023946315050125122, + -0.028897322714328766, + 0.24037626385688782 + ], + "orientation": [ + 0.23135294020175934, + -0.5905343890190125, + 0.763302743434906, + 0.12293925136327744 + ], + "joints": [ + 0.003525851294398308 + ] + }, + "final_grasp": { + "position": [ + -0.023946315050125122, + -0.028897322714328766, + 0.24037626385688782 + ], + "orientation": [ + 0.23135294020175934, + -0.5905343890190125, + 0.763302743434906, + 0.12293925136327744 + ], + "joints": [ + -0.006525970995426178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008737529278732836, + 0.034628573805093765, + 0.25909072160720825 + ], + "orientation": [ + 0.0018585993675515056, + 0.005525472108274698, + 0.998971700668335, + -0.044961098581552505 + ], + "joints": [ + 0.01399729959666729 + ] + }, + "fine_grasp": { + "position": [ + -0.0008831537561491132, + 0.034009017050266266, + 0.2553677558898926 + ], + "orientation": [ + 0.003136679297313094, + 0.0070313275791704655, + 0.998993456363678, + -0.04419180378317833 + ], + "joints": [ + 0.004384329542517662 + ] + }, + "final_grasp": { + "position": [ + -0.0008831537561491132, + 0.034009017050266266, + 0.2553677558898926 + ], + "orientation": [ + 0.003136679297313094, + 0.0070313275791704655, + 0.998993456363678, + -0.04419180378317833 + ], + "joints": [ + -0.005228640511631966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053011033684015274, + 0.11097539961338043, + 0.15719960629940033 + ], + "orientation": [ + 0.4679860770702362, + 0.3734525144100189, + -0.74276202917099, + 0.29971134662628174 + ], + "joints": [ + 0.015370694920420647 + ] + }, + "fine_grasp": { + "position": [ + 0.050755541771650314, + 0.10763075947761536, + 0.156863272190094 + ], + "orientation": [ + 0.46434181928634644, + 0.3716055154800415, + -0.7452291250228882, + 0.30154547095298767 + ], + "joints": [ + 0.006593635305762291 + ] + }, + "final_grasp": { + "position": [ + 0.050755541771650314, + 0.10763075947761536, + 0.156863272190094 + ], + "orientation": [ + 0.46434181928634644, + 0.3716055154800415, + -0.7452291250228882, + 0.30154547095298767 + ], + "joints": [ + -0.0021834243088960648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024316811934113503, + -0.030510326847434044, + 0.24287883937358856 + ], + "orientation": [ + 0.22650673985481262, + -0.5837430953979492, + 0.7695536613464355, + 0.12540298700332642 + ], + "joints": [ + 0.013766336254775524 + ] + }, + "fine_grasp": { + "position": [ + -0.02344282530248165, + -0.028531501069664955, + 0.2396949827671051 + ], + "orientation": [ + 0.22871288657188416, + -0.5846503973007202, + 0.7682346701622009, + 0.12525881826877594 + ], + "joints": [ + 0.0033174564596265554 + ] + }, + "final_grasp": { + "position": [ + -0.02344282530248165, + -0.028531501069664955, + 0.2396949827671051 + ], + "orientation": [ + 0.22871288657188416, + -0.5846503973007202, + 0.7682346701622009, + 0.12525881826877594 + ], + "joints": [ + -0.007131423335522413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00910295732319355, + 0.10974621027708054, + 0.21703219413757324 + ], + "orientation": [ + 0.30186906456947327, + 0.7359930276870728, + -0.5371017456054688, + 0.2805550992488861 + ], + "joints": [ + 0.012890184298157692 + ] + }, + "fine_grasp": { + "position": [ + -0.008695190772414207, + 0.10658716410398483, + 0.21451444923877716 + ], + "orientation": [ + 0.3011992871761322, + 0.7389768362045288, + -0.5361131429672241, + 0.2752726376056671 + ], + "joints": [ + 0.004113124683499336 + ] + }, + "final_grasp": { + "position": [ + -0.008695190772414207, + 0.10658716410398483, + 0.21451444923877716 + ], + "orientation": [ + 0.3011992871761322, + 0.7389768362045288, + -0.5361131429672241, + 0.2752726376056671 + ], + "joints": [ + -0.0046639349311590195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008986284956336021, + 0.10937153548002243, + 0.21676422655582428 + ], + "orientation": [ + 0.30085694789886475, + 0.7378815412521362, + -0.5362327098846436, + 0.27833518385887146 + ], + "joints": [ + 0.013003876432776451 + ] + }, + "fine_grasp": { + "position": [ + -0.008591699413955212, + 0.10622282326221466, + 0.21427609026432037 + ], + "orientation": [ + 0.30057182908058167, + 0.740997850894928, + -0.5346983671188354, + 0.27327001094818115 + ], + "joints": [ + 0.004205918870866299 + ] + }, + "final_grasp": { + "position": [ + -0.008591699413955212, + 0.10622282326221466, + 0.21427609026432037 + ], + "orientation": [ + 0.30057182908058167, + 0.740997850894928, + -0.5346983671188354, + 0.27327001094818115 + ], + "joints": [ + -0.004592038691043854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003653373336419463, + 0.08582863211631775, + 0.24743808805942535 + ], + "orientation": [ + 0.18073663115501404, + 0.7348384857177734, + -0.6300346255302429, + 0.1743643879890442 + ], + "joints": [ + 0.013559263199567795 + ] + }, + "fine_grasp": { + "position": [ + -0.003448248142376542, + 0.08359728008508682, + 0.24427430331707 + ], + "orientation": [ + 0.18601499497890472, + 0.7339193224906921, + -0.6279353499412537, + 0.18016086518764496 + ], + "joints": [ + 0.0035283383913338184 + ] + }, + "final_grasp": { + "position": [ + -0.003448248142376542, + 0.08359728008508682, + 0.24427430331707 + ], + "orientation": [ + 0.18601499497890472, + 0.7339193224906921, + -0.6279353499412537, + 0.18016086518764496 + ], + "joints": [ + -0.006502586416900158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0037182089872658253, + 0.0858779326081276, + 0.24775083363056183 + ], + "orientation": [ + 0.17871424555778503, + 0.7337260246276855, + -0.6322054266929626, + 0.17327344417572021 + ], + "joints": [ + 0.013214372098445892 + ] + }, + "fine_grasp": { + "position": [ + -0.0035103207919746637, + 0.08370780199766159, + 0.24456553161144257 + ], + "orientation": [ + 0.18423013389110565, + 0.7324181795120239, + -0.6303550004959106, + 0.17965394258499146 + ], + "joints": [ + 0.003601402509957552 + ] + }, + "final_grasp": { + "position": [ + -0.0035103207919746637, + 0.08370780199766159, + 0.24456553161144257 + ], + "orientation": [ + 0.18423013389110565, + 0.7324181795120239, + -0.6303550004959106, + 0.17965394258499146 + ], + "joints": [ + -0.006011567078530788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03752787038683891, + -0.03943254053592682, + 0.21996340155601501 + ], + "orientation": [ + 0.35613498091697693, + -0.5560300350189209, + 0.7360930442810059, + 0.1488807052373886 + ], + "joints": [ + 0.01256609708070755 + ] + }, + "fine_grasp": { + "position": [ + -0.03651345893740654, + -0.03653581812977791, + 0.21875159442424774 + ], + "orientation": [ + 0.3450671136379242, + -0.5640710592269897, + 0.7372536063194275, + 0.13859833776950836 + ], + "joints": [ + 0.0033710829447954893 + ] + }, + "final_grasp": { + "position": [ + -0.03651345893740654, + -0.03653581812977791, + 0.21875159442424774 + ], + "orientation": [ + 0.3450671136379242, + -0.5640710592269897, + 0.7372536063194275, + 0.13859833776950836 + ], + "joints": [ + -0.005823931191116571 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0373242124915123, + -0.038891781121492386, + 0.2199527621269226 + ], + "orientation": [ + 0.35527703166007996, + -0.5517330169677734, + 0.7393165826797485, + 0.15092961490154266 + ], + "joints": [ + 0.012655070051550865 + ] + }, + "fine_grasp": { + "position": [ + -0.03651727735996246, + -0.0360916405916214, + 0.21929357945919037 + ], + "orientation": [ + 0.34255102276802063, + -0.5570907592773438, + 0.7432200908660889, + 0.14118297398090363 + ], + "joints": [ + 0.0034600559156388044 + ] + }, + "final_grasp": { + "position": [ + -0.03651727735996246, + -0.0360916405916214, + 0.21929357945919037 + ], + "orientation": [ + 0.34255102276802063, + -0.5570907592773438, + 0.7432200908660889, + 0.14118297398090363 + ], + "joints": [ + -0.005734958220273256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08091246336698532, + 0.021382929757237434, + 0.23449133336544037 + ], + "orientation": [ + 0.34281793236732483, + -0.13556616008281708, + -0.9287872910499573, + 0.03810541331768036 + ], + "joints": [ + 0.013404883444309235 + ] + }, + "fine_grasp": { + "position": [ + 0.07821216434240341, + 0.02153131738305092, + 0.23168686032295227 + ], + "orientation": [ + 0.3466540575027466, + -0.13623440265655518, + -0.9272591471672058, + 0.038231685757637024 + ], + "joints": [ + 0.003373958868905902 + ] + }, + "final_grasp": { + "position": [ + 0.07821216434240341, + 0.02153131738305092, + 0.23168686032295227 + ], + "orientation": [ + 0.3466540575027466, + -0.13623440265655518, + -0.9272591471672058, + 0.038231685757637024 + ], + "joints": [ + -0.006656965706497431 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03781023621559143, + -0.03980741277337074, + 0.22167710959911346 + ], + "orientation": [ + 0.36750519275665283, + -0.5523269772529602, + 0.7327145338058472, + 0.1516716033220291 + ], + "joints": [ + 0.012291640043258667 + ] + }, + "fine_grasp": { + "position": [ + -0.03694272041320801, + -0.03739946335554123, + 0.21917489171028137 + ], + "orientation": [ + 0.35285696387290955, + -0.559043824672699, + 0.7362557053565979, + 0.14453230798244476 + ], + "joints": [ + 0.0035145808942615986 + ] + }, + "final_grasp": { + "position": [ + -0.03694272041320801, + -0.03739946335554123, + 0.21917489171028137 + ], + "orientation": [ + 0.35285696387290955, + -0.559043824672699, + 0.7362557053565979, + 0.14453230798244476 + ], + "joints": [ + -0.00526247825473547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03737896680831909, + -0.039328683167696, + 0.22018904983997345 + ], + "orientation": [ + 0.3584704101085663, + -0.554752767086029, + 0.7351714968681335, + 0.15254877507686615 + ], + "joints": [ + 0.012153444811701775 + ] + }, + "fine_grasp": { + "position": [ + -0.03641073778271675, + -0.036766283214092255, + 0.21937565505504608 + ], + "orientation": [ + 0.3458690941333771, + -0.5603150725364685, + 0.7389088869094849, + 0.14295220375061035 + ], + "joints": [ + 0.00337638589553535 + ] + }, + "final_grasp": { + "position": [ + -0.03641073778271675, + -0.036766283214092255, + 0.21937565505504608 + ], + "orientation": [ + 0.3458690941333771, + -0.5603150725364685, + 0.7389088869094849, + 0.14295220375061035 + ], + "joints": [ + -0.005400673020631075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05514783784747124, + 0.05166839063167572, + 0.2506227493286133 + ], + "orientation": [ + 0.08520356565713882, + 0.9609984755516052, + -0.11403433978557587, + 0.2371046394109726 + ], + "joints": [ + 0.012641988694667816 + ] + }, + "fine_grasp": { + "position": [ + -0.053269241005182266, + 0.050783004611730576, + 0.2472437471151352 + ], + "orientation": [ + 0.0852840319275856, + 0.9602683782577515, + -0.11386851966381073, + 0.24009421467781067 + ], + "joints": [ + 0.003426077077165246 + ] + }, + "final_grasp": { + "position": [ + -0.053269241005182266, + 0.050783004611730576, + 0.2472437471151352 + ], + "orientation": [ + 0.0852840319275856, + 0.9602683782577515, + -0.11386851966381073, + 0.24009421467781067 + ], + "joints": [ + -0.005789834540337324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0938519537448883, + -0.045737896114587784, + 0.1282777637243271 + ], + "orientation": [ + 0.6286348700523376, + -0.24494342505931854, + -0.7147272229194641, + -0.18435244262218475 + ], + "joints": [ + 0.015135742723941803 + ] + }, + "fine_grasp": { + "position": [ + 0.09050015360116959, + -0.04333901032805443, + 0.12768396735191345 + ], + "orientation": [ + 0.6273185014724731, + -0.24397991597652435, + -0.7159640789031982, + -0.18531274795532227 + ], + "joints": [ + 0.006776638329029083 + ] + }, + "final_grasp": { + "position": [ + 0.09050015360116959, + -0.04333901032805443, + 0.12768396735191345 + ], + "orientation": [ + 0.6273185014724731, + -0.24397991597652435, + -0.7159640789031982, + -0.18531274795532227 + ], + "joints": [ + -0.0015824660658836365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021636320278048515, + -0.00907500647008419, + -0.1247500404715538 + ], + "orientation": [ + 0.17887702584266663, + 0.07487809658050537, + -0.07268956303596497, + -0.9783212542533875 + ], + "joints": [ + 0.017702406272292137 + ] + }, + "fine_grasp": { + "position": [ + 0.020736072212457657, + -0.00873127393424511, + -0.12106209993362427 + ], + "orientation": [ + 0.17922866344451904, + 0.07613086700439453, + -0.07088802009820938, + -0.9782924652099609 + ], + "joints": [ + 0.008507391437888145 + ] + }, + "final_grasp": { + "position": [ + 0.020736072212457657, + -0.00873127393424511, + -0.12106209993362427 + ], + "orientation": [ + 0.17922866344451904, + 0.07613086700439453, + -0.07088802009820938, + -0.9782924652099609 + ], + "joints": [ + -0.0006876233965158463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021401813253760338, + -0.009062654338777065, + -0.12456989288330078 + ], + "orientation": [ + 0.17925499379634857, + 0.07444815337657928, + -0.07250379025936127, + -0.9782987236976624 + ], + "joints": [ + 0.017878452315926552 + ] + }, + "fine_grasp": { + "position": [ + 0.02044774778187275, + -0.008707529865205288, + -0.12092316895723343 + ], + "orientation": [ + 0.17966696619987488, + 0.07630251348018646, + -0.07038097828626633, + -0.9782352447509766 + ], + "joints": [ + 0.008662538602948189 + ] + }, + "final_grasp": { + "position": [ + 0.02044774778187275, + -0.008707529865205288, + -0.12092316895723343 + ], + "orientation": [ + 0.17966696619987488, + 0.07630251348018646, + -0.07038097828626633, + -0.9782352447509766 + ], + "joints": [ + -0.0005533751100301743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008660190738737583, + -0.0076689328998327255, + 0.24564838409423828 + ], + "orientation": [ + 0.08205241709947586, + -0.6862466335296631, + -0.7101567983627319, + -0.13420231640338898 + ], + "joints": [ + 0.013695732690393925 + ] + }, + "fine_grasp": { + "position": [ + -0.008351646363735199, + -0.0059804897755384445, + 0.24221555888652802 + ], + "orientation": [ + 0.0729617029428482, + -0.6798660755157471, + -0.7177196741104126, + -0.13167069852352142 + ], + "joints": [ + 0.0036648078821599483 + ] + }, + "final_grasp": { + "position": [ + -0.008351646363735199, + -0.0059804897755384445, + 0.24221555888652802 + ], + "orientation": [ + 0.0729617029428482, + -0.6798660755157471, + -0.7177196741104126, + -0.13167069852352142 + ], + "joints": [ + -0.006366116926074028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06243700906634331, + 0.10230760276317596, + 0.2041356861591339 + ], + "orientation": [ + 0.4125581681728363, + 0.2514752745628357, + 0.8314870595932007, + -0.27419909834861755 + ], + "joints": [ + 0.011680714786052704 + ] + }, + "fine_grasp": { + "position": [ + -0.06020934134721756, + 0.09949207305908203, + 0.20203331112861633 + ], + "orientation": [ + 0.406864196062088, + 0.2522522509098053, + 0.8337599635124207, + -0.2750905454158783 + ], + "joints": [ + 0.003321611089631915 + ] + }, + "final_grasp": { + "position": [ + -0.06020934134721756, + 0.09949207305908203, + 0.20203331112861633 + ], + "orientation": [ + 0.406864196062088, + 0.2522522509098053, + 0.8337599635124207, + -0.2750905454158783 + ], + "joints": [ + -0.005037492606788874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09363848716020584, + -0.04549924656748772, + 0.1280297040939331 + ], + "orientation": [ + 0.6267796754837036, + -0.2497093826532364, + -0.7157569527626038, + -0.18023435771465302 + ], + "joints": [ + 0.01533597707748413 + ] + }, + "fine_grasp": { + "position": [ + 0.09030802547931671, + -0.04307419806718826, + 0.12742143869400024 + ], + "orientation": [ + 0.6258013844490051, + -0.24868382513523102, + -0.7168300151824951, + -0.18078672885894775 + ], + "joints": [ + 0.006976872682571411 + ] + }, + "final_grasp": { + "position": [ + 0.09030802547931671, + -0.04307419806718826, + 0.12742143869400024 + ], + "orientation": [ + 0.6258013844490051, + -0.24868382513523102, + -0.7168300151824951, + -0.18078672885894775 + ], + "joints": [ + -0.0013822317123413086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03937814384698868, + 0.005955218803137541, + -0.10538602620363235 + ], + "orientation": [ + 0.23407818377017975, + 0.16163857281208038, + 0.03997107595205307, + 0.9578531980514526 + ], + "joints": [ + 0.01939629763364792 + ] + }, + "fine_grasp": { + "position": [ + -0.03742894157767296, + 0.005598949268460274, + -0.10246477276086807 + ], + "orientation": [ + 0.23171880841255188, + 0.16612207889556885, + 0.03950391709804535, + 0.957679033279419 + ], + "joints": [ + 0.008989214897155762 + ] + }, + "final_grasp": { + "position": [ + -0.03742894157767296, + 0.005598949268460274, + -0.10246477276086807 + ], + "orientation": [ + 0.23171880841255188, + 0.16612207889556885, + 0.03950391709804535, + 0.957679033279419 + ], + "joints": [ + -0.0014178678393363953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05372769385576248, + 0.11150237172842026, + 0.15652205049991608 + ], + "orientation": [ + 0.4619542956352234, + 0.3737582564353943, + -0.7468633055686951, + 0.29849323630332947 + ], + "joints": [ + 0.0153811015188694 + ] + }, + "fine_grasp": { + "position": [ + 0.05161859840154648, + 0.10808581858873367, + 0.15577779710292816 + ], + "orientation": [ + 0.4598707854747772, + 0.3703477382659912, + -0.7491171360015869, + 0.30030807852745056 + ], + "joints": [ + 0.006604041904211044 + ] + }, + "final_grasp": { + "position": [ + 0.05161859840154648, + 0.10808581858873367, + 0.15577779710292816 + ], + "orientation": [ + 0.4598707854747772, + 0.3703477382659912, + -0.7491171360015869, + 0.30030807852745056 + ], + "joints": [ + -0.0021730177104473114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021007781848311424, + 0.05521498620510101, + 0.25470006465911865 + ], + "orientation": [ + 0.09969482570886612, + 0.03710678964853287, + -0.9865336418151855, + 0.12423940002918243 + ], + "joints": [ + 0.013901865109801292 + ] + }, + "fine_grasp": { + "position": [ + 0.020035743713378906, + 0.0547884926199913, + 0.2510761618614197 + ], + "orientation": [ + 0.09757830202579498, + 0.036039117723703384, + -0.9865039587020874, + 0.1264498084783554 + ], + "joints": [ + 0.004288895055651665 + ] + }, + "final_grasp": { + "position": [ + 0.020035743713378906, + 0.0547884926199913, + 0.2510761618614197 + ], + "orientation": [ + 0.09757830202579498, + 0.036039117723703384, + -0.9865039587020874, + 0.1264498084783554 + ], + "joints": [ + -0.005324074998497963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039054907858371735, + 0.00617609266191721, + -0.1044730469584465 + ], + "orientation": [ + 0.2368711680173874, + 0.15693694353103638, + 0.040308400988578796, + 0.9579343199729919 + ], + "joints": [ + 0.019068198278546333 + ] + }, + "fine_grasp": { + "position": [ + -0.03692113608121872, + 0.005880716722458601, + -0.1018107607960701 + ], + "orientation": [ + 0.23464882373809814, + 0.1623699963092804, + 0.03884400427341461, + 0.9576362371444702 + ], + "joints": [ + 0.009476127102971077 + ] + }, + "final_grasp": { + "position": [ + -0.03692113608121872, + 0.005880716722458601, + -0.1018107607960701 + ], + "orientation": [ + 0.23464882373809814, + 0.1623699963092804, + 0.03884400427341461, + 0.9576362371444702 + ], + "joints": [ + -0.00011594407260417938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022400815039873123, + 0.03214653953909874, + -0.13652783632278442 + ], + "orientation": [ + 0.964165210723877, + 0.10279708355665207, + 0.12086343765258789, + -0.2126268595457077 + ], + "joints": [ + 0.018166013062000275 + ] + }, + "fine_grasp": { + "position": [ + -0.02150769531726837, + 0.03237907961010933, + -0.13283321261405945 + ], + "orientation": [ + 0.9651116132736206, + 0.0947841927409172, + 0.1209690272808075, + -0.2119954526424408 + ], + "joints": [ + 0.006546859163790941 + ] + }, + "final_grasp": { + "position": [ + -0.02150769531726837, + 0.03237907961010933, + -0.13283321261405945 + ], + "orientation": [ + 0.9651116132736206, + 0.0947841927409172, + 0.1209690272808075, + -0.2119954526424408 + ], + "joints": [ + -0.005072294734418392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03461170941591263, + -0.032649826258420944, + 0.2546136975288391 + ], + "orientation": [ + 0.2307945340871811, + -0.4299197793006897, + -0.8607292771339417, + -0.14507928490638733 + ], + "joints": [ + 0.01128629595041275 + ] + }, + "fine_grasp": { + "position": [ + 0.033439211547374725, + -0.03073609434068203, + 0.25109076499938965 + ], + "orientation": [ + 0.23147925734519958, + -0.42865797877311707, + -0.8610749840736389, + -0.1456698626279831 + ], + "joints": [ + 0.003324249992147088 + ] + }, + "final_grasp": { + "position": [ + 0.033439211547374725, + -0.03073609434068203, + 0.25109076499938965 + ], + "orientation": [ + 0.23147925734519958, + -0.42865797877311707, + -0.8610749840736389, + -0.1456698626279831 + ], + "joints": [ + -0.004637795966118574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03924662247300148, + 0.006182644050568342, + -0.10463893413543701 + ], + "orientation": [ + 0.23542839288711548, + 0.15869522094726562, + 0.04053300619125366, + 0.957990825176239 + ], + "joints": [ + 0.019275449216365814 + ] + }, + "fine_grasp": { + "position": [ + -0.0371847040951252, + 0.005813964642584324, + -0.10190346837043762 + ], + "orientation": [ + 0.2332601249217987, + 0.164016455411911, + 0.038975752890110016, + 0.9576894640922546 + ], + "joints": [ + 0.009265422821044922 + ] + }, + "final_grasp": { + "position": [ + -0.0371847040951252, + 0.005813964642584324, + -0.10190346837043762 + ], + "orientation": [ + 0.2332601249217987, + 0.164016455411911, + 0.038975752890110016, + 0.9576894640922546 + ], + "joints": [ + -0.0007446035742759705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010930990800261497, + 0.00048697684542275965, + -0.12017761170864105 + ], + "orientation": [ + 0.6153913736343384, + 0.022570230066776276, + -0.04530411586165428, + -0.786594808101654 + ], + "joints": [ + 0.016863923519849777 + ] + }, + "fine_grasp": { + "position": [ + 0.010570806451141834, + 0.0006687550921924412, + -0.11646811664104462 + ], + "orientation": [ + 0.6154029369354248, + 0.021123623475432396, + -0.045408591628074646, + -0.786620020866394 + ], + "joints": [ + 0.0072509534657001495 + ] + }, + "final_grasp": { + "position": [ + 0.010570806451141834, + 0.0006687550921924412, + -0.11646811664104462 + ], + "orientation": [ + 0.6154029369354248, + 0.021123623475432396, + -0.045408591628074646, + -0.786620020866394 + ], + "joints": [ + -0.002362016588449478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011656464077532291, + -0.004740541335195303, + -0.1225527971982956 + ], + "orientation": [ + 0.8321383595466614, + -0.016532180830836296, + 0.06788089871406555, + 0.55014967918396 + ], + "joints": [ + 0.016795136034488678 + ] + }, + "fine_grasp": { + "position": [ + -0.011284183710813522, + -0.004440179094672203, + -0.11877211928367615 + ], + "orientation": [ + 0.8322179913520813, + -0.017494093626737595, + 0.0665075033903122, + 0.5501672625541687 + ], + "joints": [ + 0.00718216598033905 + ] + }, + "final_grasp": { + "position": [ + -0.011284183710813522, + -0.004440179094672203, + -0.11877211928367615 + ], + "orientation": [ + 0.8322179913520813, + -0.017494093626737595, + 0.0665075033903122, + 0.5501672625541687 + ], + "joints": [ + -0.0024308040738105774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01164034940302372, + -0.004778583999723196, + -0.12238866090774536 + ], + "orientation": [ + 0.8322333693504333, + -0.016796693205833435, + 0.06799684464931488, + 0.549983561038971 + ], + "joints": [ + 0.016678741201758385 + ] + }, + "fine_grasp": { + "position": [ + -0.011245711706578732, + -0.004480855073779821, + -0.11859430372714996 + ], + "orientation": [ + 0.8323205709457397, + -0.01768513396382332, + 0.06670529395341873, + 0.5499818921089172 + ], + "joints": [ + 0.007483726367354393 + ] + }, + "final_grasp": { + "position": [ + -0.011245711706578732, + -0.004480855073779821, + -0.11859430372714996 + ], + "orientation": [ + 0.8323205709457397, + -0.01768513396382332, + 0.06670529395341873, + 0.5499818921089172 + ], + "joints": [ + -0.0017112884670495987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011583874933421612, + -0.004579182248562574, + -0.1223151758313179 + ], + "orientation": [ + 0.8316149711608887, + -0.017718594521284103, + 0.06973400712013245, + 0.5506720542907715 + ], + "joints": [ + 0.016678305342793465 + ] + }, + "fine_grasp": { + "position": [ + -0.011228099465370178, + -0.0043960511684417725, + -0.1185176819562912 + ], + "orientation": [ + 0.8316866159439087, + -0.01828673481941223, + 0.0679941326379776, + 0.5507628321647644 + ], + "joints": [ + 0.007483290508389473 + ] + }, + "final_grasp": { + "position": [ + -0.011228099465370178, + -0.0043960511684417725, + -0.1185176819562912 + ], + "orientation": [ + 0.8316866159439087, + -0.01828673481941223, + 0.0679941326379776, + 0.5507628321647644 + ], + "joints": [ + -0.0017117243260145187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01049613393843174, + -0.03416444733738899, + -0.10757129639387131 + ], + "orientation": [ + 0.4862065315246582, + -0.1419670283794403, + 0.14030390977859497, + 0.8507428765296936 + ], + "joints": [ + 0.01648690551519394 + ] + }, + "fine_grasp": { + "position": [ + 0.01062510721385479, + -0.03244391828775406, + -0.10563604533672333 + ], + "orientation": [ + 0.48665881156921387, + -0.13883140683174133, + 0.1364704966545105, + 0.8516247868537903 + ], + "joints": [ + 0.0064559802412986755 + ] + }, + "final_grasp": { + "position": [ + 0.01062510721385479, + -0.03244391828775406, + -0.10563604533672333 + ], + "orientation": [ + 0.48665881156921387, + -0.13883140683174133, + 0.1364704966545105, + 0.8516247868537903 + ], + "joints": [ + -0.003574945032596588 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04154765605926514, + 0.08084623515605927, + 0.22038264572620392 + ], + "orientation": [ + 0.14998675882816315, + 0.8356959223747253, + 0.4398277699947357, + -0.29269084334373474 + ], + "joints": [ + 0.01540203858166933 + ] + }, + "fine_grasp": { + "position": [ + 0.03971531242132187, + 0.07841892540454865, + 0.21805156767368317 + ], + "orientation": [ + 0.1442636251449585, + 0.8336079716682434, + 0.44555768370628357, + -0.2928553521633148 + ], + "joints": [ + 0.004953158088028431 + ] + }, + "final_grasp": { + "position": [ + 0.03971531242132187, + 0.07841892540454865, + 0.21805156767368317 + ], + "orientation": [ + 0.1442636251449585, + 0.8336079716682434, + 0.44555768370628357, + -0.2928553521633148 + ], + "joints": [ + -0.005495722405612469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05417207255959511, + 0.11200179904699326, + 0.15662512183189392 + ], + "orientation": [ + 0.4605045020580292, + 0.3742905557155609, + -0.7480900883674622, + 0.29699036478996277 + ], + "joints": [ + 0.015428707003593445 + ] + }, + "fine_grasp": { + "position": [ + 0.052079346030950546, + 0.1086023822426796, + 0.15576599538326263 + ], + "orientation": [ + 0.45958781242370605, + 0.3725552260875702, + -0.7490183115005493, + 0.2982500493526459 + ], + "joints": [ + 0.006651647388935089 + ] + }, + "final_grasp": { + "position": [ + 0.052079346030950546, + 0.1086023822426796, + 0.15576599538326263 + ], + "orientation": [ + 0.45958781242370605, + 0.3725552260875702, + -0.7490183115005493, + 0.2982500493526459 + ], + "joints": [ + -0.0021254122257232666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011582494713366032, + -0.004540835972875357, + -0.12338279187679291 + ], + "orientation": [ + 0.8320266008377075, + -0.017453789710998535, + 0.06975162774324417, + 0.5500562191009521 + ], + "joints": [ + 0.01662771962583065 + ] + }, + "fine_grasp": { + "position": [ + -0.011245758272707462, + -0.004361633211374283, + -0.11952343583106995 + ], + "orientation": [ + 0.8321008086204529, + -0.017894377931952477, + 0.06801608204841614, + 0.5501471757888794 + ], + "joints": [ + 0.007432704791426659 + ] + }, + "final_grasp": { + "position": [ + -0.011245758272707462, + -0.004361633211374283, + -0.11952343583106995 + ], + "orientation": [ + 0.8321008086204529, + -0.017894377931952477, + 0.06801608204841614, + 0.5501471757888794 + ], + "joints": [ + -0.001762310042977333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019657766446471214, + -0.054017845541238785, + 0.22530698776245117 + ], + "orientation": [ + 0.27084022760391235, + -0.668243408203125, + -0.6124414801597595, + -0.32405543327331543 + ], + "joints": [ + 0.014771906659007072 + ] + }, + "fine_grasp": { + "position": [ + -0.017980005592107773, + -0.05298270285129547, + 0.22237777709960938 + ], + "orientation": [ + 0.2389211654663086, + -0.6812897324562073, + -0.6127129793167114, + -0.32147109508514404 + ], + "joints": [ + 0.0035289116203784943 + ] + }, + "final_grasp": { + "position": [ + -0.017980005592107773, + -0.05298270285129547, + 0.22237777709960938 + ], + "orientation": [ + 0.2389211654663086, + -0.6812897324562073, + -0.6127129793167114, + -0.32147109508514404 + ], + "joints": [ + -0.007714083418250084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020718615502119064, + 0.05465041100978851, + 0.2539845407009125 + ], + "orientation": [ + 0.09547186642885208, + 0.042938388884067535, + -0.9870044589042664, + 0.12191601097583771 + ], + "joints": [ + 0.014038309454917908 + ] + }, + "fine_grasp": { + "position": [ + 0.019785836338996887, + 0.054216284304857254, + 0.25031778216362 + ], + "orientation": [ + 0.09551240503787994, + 0.04277421906590462, + -0.9868028163909912, + 0.12356383353471756 + ], + "joints": [ + 0.00442533940076828 + ] + }, + "final_grasp": { + "position": [ + 0.019785836338996887, + 0.054216284304857254, + 0.25031778216362 + ], + "orientation": [ + 0.09551240503787994, + 0.04277421906590462, + -0.9868028163909912, + 0.12356383353471756 + ], + "joints": [ + -0.005187630653381348 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011162678711116314, + 0.010687780566513538, + -0.12938886880874634 + ], + "orientation": [ + 0.9997885227203369, + 0.02003912813961506, + -0.003667716635391116, + 0.002816433785483241 + ], + "joints": [ + 0.017511889338493347 + ] + }, + "fine_grasp": { + "position": [ + -0.0010411131661385298, + 0.010638182051479816, + -0.12557660043239594 + ], + "orientation": [ + 0.9998102784156799, + 0.01893637143075466, + -0.003473506076261401, + 0.0029647883493453264 + ], + "joints": [ + 0.008295975625514984 + ] + }, + "final_grasp": { + "position": [ + -0.0010411131661385298, + 0.010638182051479816, + -0.12557660043239594 + ], + "orientation": [ + 0.9998102784156799, + 0.01893637143075466, + -0.003473506076261401, + 0.0029647883493453264 + ], + "joints": [ + -0.0009199380874633789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012003365904092789, + -0.004914385266602039, + -0.1260424107313156 + ], + "orientation": [ + 0.8327210545539856, + -0.015295768156647682, + 0.06851531565189362, + 0.5492243766784668 + ], + "joints": [ + 0.016563160344958305 + ] + }, + "fine_grasp": { + "position": [ + -0.011691533960402012, + -0.004501685034483671, + -0.12224290519952774 + ], + "orientation": [ + 0.832711935043335, + -0.016225285828113556, + 0.06800907105207443, + 0.5492744445800781 + ], + "joints": [ + 0.006950190290808678 + ] + }, + "final_grasp": { + "position": [ + -0.011691533960402012, + -0.004501685034483671, + -0.12224290519952774 + ], + "orientation": [ + 0.832711935043335, + -0.016225285828113556, + 0.06800907105207443, + 0.5492744445800781 + ], + "joints": [ + -0.00266277976334095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008672453695908189, + 0.010639216750860214, + -0.13012664020061493 + ], + "orientation": [ + 0.9997860193252563, + 0.020059265196323395, + -0.004010048694908619, + 0.003093675710260868 + ], + "joints": [ + 0.01741769351065159 + ] + }, + "fine_grasp": { + "position": [ + -0.0008173955138772726, + 0.010585389100015163, + -0.12631358206272125 + ], + "orientation": [ + 0.9998041987419128, + 0.019127659499645233, + -0.00389306852594018, + 0.0032271724194288254 + ], + "joints": [ + 0.008201779797673225 + ] + }, + "final_grasp": { + "position": [ + -0.0008173955138772726, + 0.010585389100015163, + -0.12631358206272125 + ], + "orientation": [ + 0.9998041987419128, + 0.019127659499645233, + -0.00389306852594018, + 0.0032271724194288254 + ], + "joints": [ + -0.0010141339153051376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09885979443788528, + -0.008182146586477757, + 0.1858372688293457 + ], + "orientation": [ + 0.4929715394973755, + -0.13017360866069794, + -0.8572657704353333, + -0.07161859422922134 + ], + "joints": [ + 0.015100222080945969 + ] + }, + "fine_grasp": { + "position": [ + 0.09551016986370087, + -0.007086168508976698, + 0.18419036269187927 + ], + "orientation": [ + 0.4924068748950958, + -0.12826818227767944, + -0.8576008081436157, + -0.07485797256231308 + ], + "joints": [ + 0.005069296807050705 + ] + }, + "final_grasp": { + "position": [ + 0.09551016986370087, + -0.007086168508976698, + 0.18419036269187927 + ], + "orientation": [ + 0.4924068748950958, + -0.12826818227767944, + -0.8576008081436157, + -0.07485797256231308 + ], + "joints": [ + -0.004961628466844559 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0426117368042469, + -0.11255097389221191, + 0.045784834772348404 + ], + "orientation": [ + 0.4826887845993042, + -0.45835497975349426, + 0.6608145236968994, + 0.34676557779312134 + ], + "joints": [ + 0.01573469303548336 + ] + }, + "fine_grasp": { + "position": [ + -0.04137229546904564, + -0.10902105271816254, + 0.045098576694726944 + ], + "orientation": [ + 0.48473411798477173, + -0.457400381565094, + 0.6583892703056335, + 0.34977319836616516 + ], + "joints": [ + 0.006497882306575775 + ] + }, + "final_grasp": { + "position": [ + -0.04137229546904564, + -0.10902105271816254, + 0.045098576694726944 + ], + "orientation": [ + 0.48473411798477173, + -0.457400381565094, + 0.6583892703056335, + 0.34977319836616516 + ], + "joints": [ + -0.00273892842233181 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025542115792632103, + -0.025942228734493256, + -0.1115083172917366 + ], + "orientation": [ + 0.9813830256462097, + -0.11839482933282852, + -0.11159102618694305, + -0.10206654667854309 + ], + "joints": [ + 0.018939048051834106 + ] + }, + "fine_grasp": { + "position": [ + 0.02396777831017971, + -0.024833476170897484, + -0.10824193805456161 + ], + "orientation": [ + 0.9806533455848694, + -0.12002607434988022, + -0.1171685978770256, + -0.10091687738895416 + ], + "joints": [ + 0.009744033217430115 + ] + }, + "final_grasp": { + "position": [ + 0.02396777831017971, + -0.024833476170897484, + -0.10824193805456161 + ], + "orientation": [ + 0.9806533455848694, + -0.12002607434988022, + -0.1171685978770256, + -0.10091687738895416 + ], + "joints": [ + 0.000549018383026123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051787007600069046, + 0.12374730408191681, + 0.07240511476993561 + ], + "orientation": [ + 0.3737969398498535, + 0.625740110874176, + 0.3763241469860077, + -0.5719312429428101 + ], + "joints": [ + 0.01546250656247139 + ] + }, + "fine_grasp": { + "position": [ + 0.05013575777411461, + 0.12025365233421326, + 0.07246097922325134 + ], + "orientation": [ + 0.3747090697288513, + 0.6243745684623718, + 0.3762490749359131, + -0.5728753209114075 + ], + "joints": [ + 0.005034524016082287 + ] + }, + "final_grasp": { + "position": [ + 0.05013575777411461, + 0.12025365233421326, + 0.07246097922325134 + ], + "orientation": [ + 0.3747090697288513, + 0.6243745684623718, + 0.3762490749359131, + -0.5728753209114075 + ], + "joints": [ + -0.005393458530306816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12376802414655685, + 0.010187559761106968, + -0.037805721163749695 + ], + "orientation": [ + 0.7626513242721558, + 0.0861697867512703, + -0.6346243619918823, + -0.09049574285745621 + ], + "joints": [ + 0.015519537031650543 + ] + }, + "fine_grasp": { + "position": [ + 0.12001615017652512, + 0.01004931889474392, + -0.0363515205681324 + ], + "orientation": [ + 0.7663361430168152, + 0.08669110387563705, + -0.6299566626548767, + -0.0914776399731636 + ], + "joints": [ + 0.0063245221972465515 + ] + }, + "final_grasp": { + "position": [ + 0.12001615017652512, + 0.01004931889474392, + -0.0363515205681324 + ], + "orientation": [ + 0.7663361430168152, + 0.08669110387563705, + -0.6299566626548767, + -0.0914776399731636 + ], + "joints": [ + -0.00287049263715744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05157708749175072, + 0.12337491661310196, + 0.07262663543224335 + ], + "orientation": [ + 0.3742568790912628, + 0.62540602684021, + 0.37577489018440247, + -0.5723568201065063 + ], + "joints": [ + 0.015614395961165428 + ] + }, + "fine_grasp": { + "position": [ + 0.04991186037659645, + 0.11984968930482864, + 0.07267993688583374 + ], + "orientation": [ + 0.37514084577560425, + 0.6240952014923096, + 0.37574487924575806, + -0.5732280611991882 + ], + "joints": [ + 0.005186413414776325 + ] + }, + "final_grasp": { + "position": [ + 0.04991186037659645, + 0.11984968930482864, + 0.07267993688583374 + ], + "orientation": [ + 0.37514084577560425, + 0.6240952014923096, + 0.37574487924575806, + -0.5732280611991882 + ], + "joints": [ + -0.005241569131612778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012468361295759678, + 0.06712497025728226, + 0.23481006920337677 + ], + "orientation": [ + 0.159903421998024, + 0.9156971573829651, + 0.34689366817474365, + -0.12487755715847015 + ], + "joints": [ + 0.0158340185880661 + ] + }, + "fine_grasp": { + "position": [ + 0.011592867784202099, + 0.06575341522693634, + 0.23264490067958832 + ], + "orientation": [ + 0.16219790279865265, + 0.9160711765289307, + 0.34504950046539307, + -0.1242828369140625 + ], + "joints": [ + 0.00624194648116827 + ] + }, + "final_grasp": { + "position": [ + 0.011592867784202099, + 0.06575341522693634, + 0.23264490067958832 + ], + "orientation": [ + 0.16219790279865265, + 0.9160711765289307, + 0.34504950046539307, + -0.1242828369140625 + ], + "joints": [ + -0.003350125625729561 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09928014874458313, + -0.00846146047115326, + 0.18589775264263153 + ], + "orientation": [ + 0.4905098080635071, + -0.1281920075416565, + -0.8588614463806152, + -0.07296639680862427 + ], + "joints": [ + 0.01562991738319397 + ] + }, + "fine_grasp": { + "position": [ + 0.0959775522351265, + -0.007379050366580486, + 0.18424271047115326 + ], + "orientation": [ + 0.4903459846973419, + -0.12635615468025208, + -0.8589438199996948, + -0.07622659206390381 + ], + "joints": [ + 0.00518103688955307 + ] + }, + "final_grasp": { + "position": [ + 0.0959775522351265, + -0.007379050366580486, + 0.18424271047115326 + ], + "orientation": [ + 0.4903459846973419, + -0.12635615468025208, + -0.8589438199996948, + -0.07622659206390381 + ], + "joints": [ + -0.00526784360408783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010591471567749977, + -0.03426472097635269, + -0.10538946092128754 + ], + "orientation": [ + 0.48360878229141235, + -0.13644827902317047, + 0.13828754425048828, + 0.8534523248672485 + ], + "joints": [ + 0.01692201942205429 + ] + }, + "fine_grasp": { + "position": [ + 0.009301293641328812, + -0.03280939906835556, + -0.10347452759742737 + ], + "orientation": [ + 0.4818993806838989, + -0.13078723847866058, + 0.13984714448451996, + 0.8550499677658081 + ], + "joints": [ + 0.007309049367904663 + ] + }, + "final_grasp": { + "position": [ + 0.009301293641328812, + -0.03280939906835556, + -0.10347452759742737 + ], + "orientation": [ + 0.4818993806838989, + -0.13078723847866058, + 0.13984714448451996, + 0.8550499677658081 + ], + "joints": [ + -0.0023039206862449646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011553925462067127, + 0.06637626141309738, + 0.23406066000461578 + ], + "orientation": [ + 0.1610715240240097, + 0.9184610247612, + 0.34030818939208984, + -0.1211434081196785 + ], + "joints": [ + 0.016381576657295227 + ] + }, + "fine_grasp": { + "position": [ + 0.010580610483884811, + 0.06506936252117157, + 0.2320328950881958 + ], + "orientation": [ + 0.16324758529663086, + 0.9192962050437927, + 0.33788588643074036, + -0.11865052580833435 + ], + "joints": [ + 0.006789504550397396 + ] + }, + "final_grasp": { + "position": [ + 0.010580610483884811, + 0.06506936252117157, + 0.2320328950881958 + ], + "orientation": [ + 0.16324758529663086, + 0.9192962050437927, + 0.33788588643074036, + -0.11865052580833435 + ], + "joints": [ + -0.002802567556500435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019927535206079483, + 0.011243963614106178, + -0.12557904422283173 + ], + "orientation": [ + 0.013267246074974537, + -0.08225146681070328, + 0.022547462955117226, + -0.9962682127952576 + ], + "joints": [ + 0.01806769147515297 + ] + }, + "fine_grasp": { + "position": [ + -0.01889004185795784, + 0.011140669696033001, + -0.12197694182395935 + ], + "orientation": [ + 0.013402343727648258, + -0.08585438132286072, + 0.0216914601624012, + -0.9959813952445984 + ], + "joints": [ + 0.00843382254242897 + ] + }, + "final_grasp": { + "position": [ + -0.01889004185795784, + 0.011140669696033001, + -0.12197694182395935 + ], + "orientation": [ + 0.013402343727648258, + -0.08585438132286072, + 0.0216914601624012, + -0.9959813952445984 + ], + "joints": [ + -0.0012000463902950287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09221920371055603, + -0.04468192532658577, + 0.12704028189182281 + ], + "orientation": [ + 0.6195445656776428, + -0.2511124610900879, + -0.7220900058746338, + -0.1780255287885666 + ], + "joints": [ + 0.01568600907921791 + ] + }, + "fine_grasp": { + "position": [ + 0.08890532702207565, + -0.04228118807077408, + 0.12648078799247742 + ], + "orientation": [ + 0.6182429790496826, + -0.2473316788673401, + -0.7238784432411194, + -0.1805621236562729 + ], + "joints": [ + 0.006908949464559555 + ] + }, + "final_grasp": { + "position": [ + 0.08890532702207565, + -0.04228118807077408, + 0.12648078799247742 + ], + "orientation": [ + 0.6182429790496826, + -0.2473316788673401, + -0.7238784432411194, + -0.1805621236562729 + ], + "joints": [ + -0.0018681101500988007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07006067037582397, + 0.07978992909193039, + 0.24389754235744476 + ], + "orientation": [ + 0.2680666446685791, + 0.29900017380714417, + 0.9096013307571411, + -0.10660512745380402 + ], + "joints": [ + 0.012655021622776985 + ] + }, + "fine_grasp": { + "position": [ + -0.06743072718381882, + 0.07778938114643097, + 0.24172769486904144 + ], + "orientation": [ + 0.29373636841773987, + 0.29567408561706543, + 0.9018672704696655, + -0.11371572315692902 + ], + "joints": [ + 0.003439110005274415 + ] + }, + "final_grasp": { + "position": [ + -0.06743072718381882, + 0.07778938114643097, + 0.24172769486904144 + ], + "orientation": [ + 0.29373636841773987, + 0.29567408561706543, + 0.9018672704696655, + -0.11371572315692902 + ], + "joints": [ + -0.005776801612228155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11832856386899948, + 0.0033249116968363523, + -0.010260500013828278 + ], + "orientation": [ + 0.7733195424079895, + -0.0643659234046936, + 0.6281970143318176, + -0.056590817868709564 + ], + "joints": [ + 0.019147057086229324 + ] + }, + "fine_grasp": { + "position": [ + -0.11441441625356674, + 0.0032995035871863365, + -0.009662962518632412 + ], + "orientation": [ + 0.7726782560348511, + -0.0647953599691391, + 0.6288461089134216, + -0.05764158442616463 + ], + "joints": [ + 0.009534087032079697 + ] + }, + "final_grasp": { + "position": [ + -0.11441441625356674, + 0.0032995035871863365, + -0.009662962518632412 + ], + "orientation": [ + 0.7726782560348511, + -0.0647953599691391, + 0.6288461089134216, + -0.05764158442616463 + ], + "joints": [ + -7.888302206993103e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024602698162198067, + -0.024689508602023125, + -0.10840719193220139 + ], + "orientation": [ + 0.9811635613441467, + -0.11828237771987915, + -0.11414961516857147, + -0.10147443413734436 + ], + "joints": [ + 0.019902274012565613 + ] + }, + "fine_grasp": { + "position": [ + 0.02311921864748001, + -0.02381260134279728, + -0.1050201803445816 + ], + "orientation": [ + 0.9805500507354736, + -0.1210535541176796, + -0.11836729198694229, + -0.0992816835641861 + ], + "joints": [ + 0.00989224761724472 + ] + }, + "final_grasp": { + "position": [ + 0.02311921864748001, + -0.02381260134279728, + -0.1050201803445816 + ], + "orientation": [ + 0.9805500507354736, + -0.1210535541176796, + -0.11836729198694229, + -0.0992816835641861 + ], + "joints": [ + -0.00011777877807617188 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10148671269416809, + 0.017574647441506386, + 0.15496081113815308 + ], + "orientation": [ + 0.5632586479187012, + -0.1027001291513443, + 0.8183003067970276, + -0.05076438561081886 + ], + "joints": [ + 0.01577841304242611 + ] + }, + "fine_grasp": { + "position": [ + -0.09873898327350616, + 0.018200617283582687, + 0.15575796365737915 + ], + "orientation": [ + 0.5563051700592041, + -0.1051924079656601, + 0.8225345015525818, + -0.05381663143634796 + ], + "joints": [ + 0.007001353427767754 + ] + }, + "final_grasp": { + "position": [ + -0.09873898327350616, + 0.018200617283582687, + 0.15575796365737915 + ], + "orientation": [ + 0.5563051700592041, + -0.1051924079656601, + 0.8225345015525818, + -0.05381663143634796 + ], + "joints": [ + -0.0017757061868906021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10365737229585648, + 0.0040864902548491955, + 0.06691623479127884 + ], + "orientation": [ + 0.6804844737052917, + -0.07466603070497513, + -0.7289215326309204, + 0.0062548499554395676 + ], + "joints": [ + 0.016238704323768616 + ] + }, + "fine_grasp": { + "position": [ + 0.10292365401983261, + 0.004047294147312641, + 0.0671502947807312 + ], + "orientation": [ + 0.6793326735496521, + -0.07505321502685547, + -0.7299580574035645, + 0.005944108124822378 + ], + "joints": [ + 0.006207779049873352 + ] + }, + "final_grasp": { + "position": [ + 0.10292365401983261, + 0.004047294147312641, + 0.0671502947807312 + ], + "orientation": [ + 0.6793326735496521, + -0.07505321502685547, + -0.7299580574035645, + 0.005944108124822378 + ], + "joints": [ + -0.0038231462240219116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011718584224581718, + 0.04703165963292122, + 0.2424815446138382 + ], + "orientation": [ + 0.10754509270191193, + 0.9764924645423889, + -0.18405671417713165, + -0.0319337472319603 + ], + "joints": [ + 0.015903200954198837 + ] + }, + "fine_grasp": { + "position": [ + 0.011406756937503815, + 0.04704710841178894, + 0.2399001568555832 + ], + "orientation": [ + 0.11175559461116791, + 0.9758002758026123, + -0.18551674485206604, + -0.030133966356515884 + ], + "joints": [ + 0.007126141339540482 + ] + }, + "final_grasp": { + "position": [ + 0.011406756937503815, + 0.04704710841178894, + 0.2399001568555832 + ], + "orientation": [ + 0.11175559461116791, + 0.9758002758026123, + -0.18551674485206604, + -0.030133966356515884 + ], + "joints": [ + -0.0016509182751178741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03980144485831261, + -0.05757250636816025, + 0.18216969072818756 + ], + "orientation": [ + 0.20698541402816772, + -0.7445339560508728, + 0.5092935562133789, + 0.3787432312965393 + ], + "joints": [ + 0.01552802324295044 + ] + }, + "fine_grasp": { + "position": [ + 0.038187939673662186, + -0.05406176298856735, + 0.18137678503990173 + ], + "orientation": [ + 0.20253382623195648, + -0.7432748079299927, + 0.5142667293548584, + 0.37689831852912903 + ], + "joints": [ + 0.006750963628292084 + ] + }, + "final_grasp": { + "position": [ + 0.038187939673662186, + -0.05406176298856735, + 0.18137678503990173 + ], + "orientation": [ + 0.20253382623195648, + -0.7432748079299927, + 0.5142667293548584, + 0.37689831852912903 + ], + "joints": [ + -0.002026095986366272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012196538038551807, + 0.047531355172395706, + 0.24299505352973938 + ], + "orientation": [ + 0.10989339649677277, + 0.9753161668777466, + -0.1883733868598938, + -0.034602824598550797 + ], + "joints": [ + 0.016166459769010544 + ] + }, + "fine_grasp": { + "position": [ + 0.011850633658468723, + 0.04755840450525284, + 0.2402905523777008 + ], + "orientation": [ + 0.11337819695472717, + 0.9744902849197388, + -0.19079552590847015, + -0.03333432227373123 + ], + "joints": [ + 0.006971444934606552 + ] + }, + "final_grasp": { + "position": [ + 0.011850633658468723, + 0.04755840450525284, + 0.2402905523777008 + ], + "orientation": [ + 0.11337819695472717, + 0.9744902849197388, + -0.19079552590847015, + -0.03333432227373123 + ], + "joints": [ + -0.0022235698997974396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10993795841932297, + -0.060089826583862305, + 0.043520744889974594 + ], + "orientation": [ + 0.6849846243858337, + -0.25578102469444275, + -0.6653897166252136, + -0.15042786300182343 + ], + "joints": [ + 0.01756029762327671 + ] + }, + "fine_grasp": { + "position": [ + 0.10656201094388962, + -0.05819642171263695, + 0.0429794080555439 + ], + "orientation": [ + 0.6818063855171204, + -0.2546043395996094, + -0.6699517369270325, + -0.14656518399715424 + ], + "joints": [ + 0.007153213024139404 + ] + }, + "final_grasp": { + "position": [ + 0.10656201094388962, + -0.05819642171263695, + 0.0429794080555439 + ], + "orientation": [ + 0.6818063855171204, + -0.2546043395996094, + -0.6699517369270325, + -0.14656518399715424 + ], + "joints": [ + -0.003253871574997902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10955525189638138, + -0.06001472845673561, + 0.04370137304067612 + ], + "orientation": [ + 0.6859798431396484, + -0.25544482469558716, + -0.664574384689331, + -0.15006789565086365 + ], + "joints": [ + 0.017292175441980362 + ] + }, + "fine_grasp": { + "position": [ + 0.10622438043355942, + -0.058035023510456085, + 0.04313616082072258 + ], + "orientation": [ + 0.6823540329933167, + -0.255215585231781, + -0.6690286993980408, + -0.14716821908950806 + ], + "joints": [ + 0.007282148115336895 + ] + }, + "final_grasp": { + "position": [ + 0.10622438043355942, + -0.058035023510456085, + 0.04313616082072258 + ], + "orientation": [ + 0.6823540329933167, + -0.255215585231781, + -0.6690286993980408, + -0.14716821908950806 + ], + "joints": [ + -0.002727879211306572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10155708342790604, + 0.01776876673102379, + 0.1548653095960617 + ], + "orientation": [ + 0.5605539679527283, + -0.10207430273294449, + 0.8202046751976013, + -0.05122948810458183 + ], + "joints": [ + 0.015992211177945137 + ] + }, + "fine_grasp": { + "position": [ + -0.09867224842309952, + 0.018403002992272377, + 0.1555563062429428 + ], + "orientation": [ + 0.554109513759613, + -0.1051439568400383, + 0.8239477872848511, + -0.054931703954935074 + ], + "joints": [ + 0.006797196343541145 + ] + }, + "final_grasp": { + "position": [ + -0.09867224842309952, + 0.018403002992272377, + 0.1555563062429428 + ], + "orientation": [ + 0.554109513759613, + -0.1051439568400383, + 0.8239477872848511, + -0.054931703954935074 + ], + "joints": [ + -0.0023978184908628464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0786825641989708, + -0.02564328908920288, + 0.1806248426437378 + ], + "orientation": [ + 0.09537768363952637, + -0.8700054287910461, + -0.2609504759311676, + -0.40730640292167664 + ], + "joints": [ + 0.016224559396505356 + ] + }, + "fine_grasp": { + "position": [ + -0.07569698989391327, + -0.023740049451589584, + 0.1789456307888031 + ], + "orientation": [ + 0.09928738325834274, + -0.8690231442451477, + -0.2582292854785919, + -0.41019317507743835 + ], + "joints": [ + 0.006611589342355728 + ] + }, + "final_grasp": { + "position": [ + -0.07569698989391327, + -0.023740049451589584, + 0.1789456307888031 + ], + "orientation": [ + 0.09928738325834274, + -0.8690231442451477, + -0.2582292854785919, + -0.41019317507743835 + ], + "joints": [ + -0.0030013807117938995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10128758102655411, + 0.017421100288629532, + 0.15459899604320526 + ], + "orientation": [ + 0.5614644289016724, + -0.10149025917053223, + 0.8197807669639587, + -0.04916205257177353 + ], + "joints": [ + 0.016205251216888428 + ] + }, + "fine_grasp": { + "position": [ + -0.09859555214643478, + 0.017955631017684937, + 0.15542064607143402 + ], + "orientation": [ + 0.5546118021011353, + -0.10371550172567368, + 0.8239728808403015, + -0.05213184282183647 + ], + "joints": [ + 0.007010236382484436 + ] + }, + "final_grasp": { + "position": [ + -0.09859555214643478, + 0.017955631017684937, + 0.15542064607143402 + ], + "orientation": [ + 0.5546118021011353, + -0.10371550172567368, + 0.8239728808403015, + -0.05213184282183647 + ], + "joints": [ + -0.0021847784519195557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019983267411589622, + 0.1397024244070053, + 0.03231681510806084 + ], + "orientation": [ + 0.5424619317054749, + 0.5159006118774414, + -0.38958871364593506, + 0.5364722013473511 + ], + "joints": [ + 0.018189169466495514 + ] + }, + "fine_grasp": { + "position": [ + -0.018934505060315132, + 0.13607558608055115, + 0.032698798924684525 + ], + "orientation": [ + 0.5391443371772766, + 0.5207042098045349, + -0.38577625155448914, + 0.5379285216331482 + ], + "joints": [ + 0.006549116689711809 + ] + }, + "final_grasp": { + "position": [ + -0.018934505060315132, + 0.13607558608055115, + 0.032698798924684525 + ], + "orientation": [ + 0.5391443371772766, + 0.5207042098045349, + -0.38577625155448914, + 0.5379285216331482 + ], + "joints": [ + -0.005090936087071896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06596515327692032, + 0.0027262631338089705, + -0.1039421409368515 + ], + "orientation": [ + 0.9664404392242432, + 0.008514970541000366, + 0.245036318898201, + 0.07666537910699844 + ], + "joints": [ + 0.017934458330273628 + ] + }, + "fine_grasp": { + "position": [ + -0.0630006343126297, + 0.0031013572588562965, + -0.10147970169782639 + ], + "orientation": [ + 0.9643504619598389, + 0.007223265245556831, + 0.25299420952796936, + 0.07726624608039856 + ], + "joints": [ + 0.00911560095846653 + ] + }, + "final_grasp": { + "position": [ + -0.0630006343126297, + 0.0031013572588562965, + -0.10147970169782639 + ], + "orientation": [ + 0.9643504619598389, + 0.007223265245556831, + 0.25299420952796936, + 0.07726624608039856 + ], + "joints": [ + 0.00029674358665943146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020035427063703537, + 0.1394319087266922, + 0.03232394903898239 + ], + "orientation": [ + 0.5421302914619446, + 0.5156898498535156, + -0.38995638489723206, + 0.5367429256439209 + ], + "joints": [ + 0.018189169466495514 + ] + }, + "fine_grasp": { + "position": [ + -0.018962234258651733, + 0.13577967882156372, + 0.03271660953760147 + ], + "orientation": [ + 0.5387487411499023, + 0.5205549597740173, + -0.38598036766052246, + 0.5383229851722717 + ], + "joints": [ + 0.00696707284078002 + ] + }, + "final_grasp": { + "position": [ + -0.018962234258651733, + 0.13577967882156372, + 0.03271660953760147 + ], + "orientation": [ + 0.5387487411499023, + 0.5205549597740173, + -0.38598036766052246, + 0.5383229851722717 + ], + "joints": [ + -0.004255023784935474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04423520341515541, + 0.033672720193862915, + -0.09699475765228271 + ], + "orientation": [ + 0.8785720467567444, + 0.02158699370920658, + 0.22231070697307587, + -0.42216479778289795 + ], + "joints": [ + 0.018065195530653 + ] + }, + "fine_grasp": { + "position": [ + -0.04245966672897339, + 0.03211519494652748, + -0.09486357122659683 + ], + "orientation": [ + 0.8783305883407593, + 0.022212745621800423, + 0.22630414366722107, + -0.42050957679748535 + ], + "joints": [ + 0.00889107957482338 + ] + }, + "final_grasp": { + "position": [ + -0.04245966672897339, + 0.03211519494652748, + -0.09486357122659683 + ], + "orientation": [ + 0.8783305883407593, + 0.022212745621800423, + 0.22630414366722107, + -0.42050957679748535 + ], + "joints": [ + -0.00028303638100624084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005025521386414766, + 0.024745209142565727, + 0.2512240409851074 + ], + "orientation": [ + 0.009957747533917427, + 0.9996349811553955, + -0.009882384911179543, + 0.023088542744517326 + ], + "joints": [ + 0.015201244503259659 + ] + }, + "fine_grasp": { + "position": [ + -0.004741670563817024, + 0.023967066779732704, + 0.24809497594833374 + ], + "orientation": [ + 0.008093209005892277, + 0.9996212720870972, + -0.013781767338514328, + 0.022405989468097687 + ], + "joints": [ + 0.006006229668855667 + ] + }, + "final_grasp": { + "position": [ + -0.004741670563817024, + 0.023967066779732704, + 0.24809497594833374 + ], + "orientation": [ + 0.008093209005892277, + 0.9996212720870972, + -0.013781767338514328, + 0.022405989468097687 + ], + "joints": [ + -0.0031887851655483246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04423327371478081, + 0.03353889286518097, + -0.09735730290412903 + ], + "orientation": [ + 0.8795527815818787, + 0.022128911688923836, + 0.22228634357452393, + -0.42010247707366943 + ], + "joints": [ + 0.018300391733646393 + ] + }, + "fine_grasp": { + "position": [ + -0.04246210306882858, + 0.03196760267019272, + -0.09517057240009308 + ], + "orientation": [ + 0.8793204426765442, + 0.023011434823274612, + 0.2261921465396881, + -0.4184533655643463 + ], + "joints": [ + 0.009105376899242401 + ] + }, + "final_grasp": { + "position": [ + -0.04246210306882858, + 0.03196760267019272, + -0.09517057240009308 + ], + "orientation": [ + 0.8793204426765442, + 0.023011434823274612, + 0.2261921465396881, + -0.4184533655643463 + ], + "joints": [ + -8.963793516159058e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07884851098060608, + -0.06803061068058014, + -0.02508433535695076 + ], + "orientation": [ + 0.3083973526954651, + -0.5451977849006653, + -0.21194370090961456, + -0.7501533627510071 + ], + "joints": [ + 0.017206545919179916 + ] + }, + "fine_grasp": { + "position": [ + -0.07603943347930908, + -0.0654432624578476, + -0.024504302069544792 + ], + "orientation": [ + 0.31136563420295715, + -0.545989990234375, + -0.2098943144083023, + -0.7489264011383057 + ], + "joints": [ + 0.00840858742594719 + ] + }, + "final_grasp": { + "position": [ + -0.07603943347930908, + -0.0654432624578476, + -0.024504302069544792 + ], + "orientation": [ + 0.31136563420295715, + -0.545989990234375, + -0.2098943144083023, + -0.7489264011383057 + ], + "joints": [ + -0.0003893710672855377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0222991481423378, + -0.10162900388240814, + 0.0929737389087677 + ], + "orientation": [ + 0.49565955996513367, + -0.5047672390937805, + 0.5841958522796631, + 0.39780235290527344 + ], + "joints": [ + 0.015482250601053238 + ] + }, + "fine_grasp": { + "position": [ + -0.021620076149702072, + -0.09784986823797226, + 0.09234586358070374 + ], + "orientation": [ + 0.4959411025047302, + -0.504883348941803, + 0.5835360884666443, + 0.3982722759246826 + ], + "joints": [ + 0.005451325327157974 + ] + }, + "final_grasp": { + "position": [ + -0.021620076149702072, + -0.09784986823797226, + 0.09234586358070374 + ], + "orientation": [ + 0.4959411025047302, + -0.504883348941803, + 0.5835360884666443, + 0.3982722759246826 + ], + "joints": [ + -0.004579599946737289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022336827591061592, + -0.10261738300323486, + 0.09328410774469376 + ], + "orientation": [ + 0.49729424715042114, + -0.5038902163505554, + 0.5822504162788391, + 0.3997218906879425 + ], + "joints": [ + 0.015625257045030594 + ] + }, + "fine_grasp": { + "position": [ + -0.02165970765054226, + -0.09883495420217514, + 0.09267370402812958 + ], + "orientation": [ + 0.49766233563423157, + -0.5038895606994629, + 0.5816460847854614, + 0.4001440107822418 + ], + "joints": [ + 0.00559433177113533 + ] + }, + "final_grasp": { + "position": [ + -0.02165970765054226, + -0.09883495420217514, + 0.09267370402812958 + ], + "orientation": [ + 0.49766233563423157, + -0.5038895606994629, + 0.5816460847854614, + 0.4001440107822418 + ], + "joints": [ + -0.0044365935027599335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013920693658292294, + 0.025854602456092834, + 0.2504175901412964 + ], + "orientation": [ + 0.05106049403548241, + 0.6584222912788391, + 0.7504676580429077, + 0.02590841054916382 + ], + "joints": [ + 0.015644317492842674 + ] + }, + "fine_grasp": { + "position": [ + -0.01410749088972807, + 0.025941964238882065, + 0.2472933679819107 + ], + "orientation": [ + 0.04938522353768349, + 0.6583724617958069, + 0.7505565881729126, + 0.027777334675192833 + ], + "joints": [ + 0.006031347438693047 + ] + }, + "final_grasp": { + "position": [ + -0.01410749088972807, + 0.025941964238882065, + 0.2472933679819107 + ], + "orientation": [ + 0.04938522353768349, + 0.6583724617958069, + 0.7505565881729126, + 0.027777334675192833 + ], + "joints": [ + -0.003581622615456581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00046792690409347415, + -0.10760264098644257, + 0.07543136924505234 + ], + "orientation": [ + 0.465382844209671, + -0.5186901688575745, + 0.5286219716072083, + 0.4847041368484497 + ], + "joints": [ + 0.016026802361011505 + ] + }, + "fine_grasp": { + "position": [ + 0.00037302891723811626, + -0.10373131185770035, + 0.07499329745769501 + ], + "orientation": [ + 0.4646117091178894, + -0.5189934968948364, + 0.5288978219032288, + 0.4848182201385498 + ], + "joints": [ + 0.005598819814622402 + ] + }, + "final_grasp": { + "position": [ + 0.00037302891723811626, + -0.10373131185770035, + 0.07499329745769501 + ], + "orientation": [ + 0.4646117091178894, + -0.5189934968948364, + 0.5288978219032288, + 0.4848182201385498 + ], + "joints": [ + -0.004829162731766701 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0004230691702105105, + -0.10688776522874832, + 0.07520470768213272 + ], + "orientation": [ + 0.4651561379432678, + -0.5205742120742798, + 0.5288500189781189, + 0.4826487898826599 + ], + "joints": [ + 0.015902243554592133 + ] + }, + "fine_grasp": { + "position": [ + 0.00030223489739000797, + -0.10302694141864777, + 0.07475811243057251 + ], + "orientation": [ + 0.46424296498298645, + -0.5210203528404236, + 0.528938353061676, + 0.482949823141098 + ], + "joints": [ + 0.00547426100820303 + ] + }, + "final_grasp": { + "position": [ + 0.00030223489739000797, + -0.10302694141864777, + 0.07475811243057251 + ], + "orientation": [ + 0.46424296498298645, + -0.5210203528404236, + 0.528938353061676, + 0.482949823141098 + ], + "joints": [ + -0.004953721538186073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03328711912035942, + -0.10121988505125046, + 0.07944051176309586 + ], + "orientation": [ + 0.3690907955169678, + -0.599422812461853, + -0.48310381174087524, + -0.5206486582756042 + ], + "joints": [ + 0.01566249132156372 + ] + }, + "fine_grasp": { + "position": [ + -0.032313816249370575, + -0.09750533103942871, + 0.07881452143192291 + ], + "orientation": [ + 0.36962786316871643, + -0.5987197160720825, + -0.4836214780807495, + -0.5205960869789124 + ], + "joints": [ + 0.005631566047668457 + ] + }, + "final_grasp": { + "position": [ + -0.032313816249370575, + -0.09750533103942871, + 0.07881452143192291 + ], + "orientation": [ + 0.36962786316871643, + -0.5987197160720825, + -0.4836214780807495, + -0.5205960869789124 + ], + "joints": [ + -0.004399359226226807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11568403244018555, + 0.00462490925565362, + -0.06477688252925873 + ], + "orientation": [ + 0.08434426784515381, + -0.5324046611785889, + -0.05502498522400856, + 0.8404781222343445 + ], + "joints": [ + 0.018142856657505035 + ] + }, + "fine_grasp": { + "position": [ + 0.11238513141870499, + 0.004974788054823875, + -0.06284476816654205 + ], + "orientation": [ + 0.0860997810959816, + -0.5301224589347839, + -0.052115317434072495, + 0.8419269919395447 + ], + "joints": [ + 0.0076939756982028484 + ] + }, + "final_grasp": { + "position": [ + 0.11238513141870499, + 0.004974788054823875, + -0.06284476816654205 + ], + "orientation": [ + 0.0860997810959816, + -0.5301224589347839, + -0.052115317434072495, + 0.8419269919395447 + ], + "joints": [ + -0.0027549052610993385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09987840801477432, + 0.04904807358980179, + 0.18547837436199188 + ], + "orientation": [ + 0.1300715059041977, + 0.8747531771659851, + 0.00768416840583086, + 0.46672171354293823 + ], + "joints": [ + 0.016266722232103348 + ] + }, + "fine_grasp": { + "position": [ + -0.09648401290178299, + 0.048176880925893784, + 0.18386481702327728 + ], + "orientation": [ + 0.13229352235794067, + 0.8735948801040649, + 0.008614432998001575, + 0.4682481288909912 + ], + "joints": [ + 0.005420784465968609 + ] + }, + "final_grasp": { + "position": [ + -0.09648401290178299, + 0.048176880925893784, + 0.18386481702327728 + ], + "orientation": [ + 0.13229352235794067, + 0.8735948801040649, + 0.008614432998001575, + 0.4682481288909912 + ], + "joints": [ + -0.00542515330016613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04510040581226349, + -0.10790254175662994, + 0.05824919417500496 + ], + "orientation": [ + 0.38512086868286133, + -0.6252380609512329, + 0.4143269658088684, + 0.5376731157302856 + ], + "joints": [ + 0.01601378805935383 + ] + }, + "fine_grasp": { + "position": [ + 0.043755434453487396, + -0.10426979511976242, + 0.05753760039806366 + ], + "orientation": [ + 0.38477417826652527, + -0.6268573999404907, + 0.4142685830593109, + 0.5360785126686096 + ], + "joints": [ + 0.00679787527769804 + ] + }, + "final_grasp": { + "position": [ + 0.043755434453487396, + -0.10426979511976242, + 0.05753760039806366 + ], + "orientation": [ + 0.38477417826652527, + -0.6268573999404907, + 0.4142685830593109, + 0.5360785126686096 + ], + "joints": [ + -0.0024180375039577484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11878907680511475, + 0.008025070652365685, + 0.05387531593441963 + ], + "orientation": [ + 0.7246807813644409, + -0.0008833419415168464, + 0.6880747675895691, + 0.03728463128209114 + ], + "joints": [ + 0.0149586983025074 + ] + }, + "fine_grasp": { + "position": [ + -0.11469618231058121, + 0.008150536566972733, + 0.05397837236523628 + ], + "orientation": [ + 0.7242860198020935, + 0.002340910490602255, + 0.6884050965309143, + 0.038765422999858856 + ], + "joints": [ + 0.006181638687849045 + ] + }, + "final_grasp": { + "position": [ + -0.11469618231058121, + 0.008150536566972733, + 0.05397837236523628 + ], + "orientation": [ + 0.7242860198020935, + 0.002340910490602255, + 0.6884050965309143, + 0.038765422999858856 + ], + "joints": [ + -0.002595420926809311 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11919990181922913, + 0.00793408788740635, + 0.0531633086502552 + ], + "orientation": [ + 0.7225548028945923, + 0.0001866335078375414, + 0.690298318862915, + 0.03745052218437195 + ], + "joints": [ + 0.015022676438093185 + ] + }, + "fine_grasp": { + "position": [ + -0.11516772955656052, + 0.008003746159374714, + 0.05324912816286087 + ], + "orientation": [ + 0.72214674949646, + 0.003526967251673341, + 0.6906484961509705, + 0.03868262842297554 + ], + "joints": [ + 0.006224718876183033 + ] + }, + "final_grasp": { + "position": [ + -0.11516772955656052, + 0.008003746159374714, + 0.05324912816286087 + ], + "orientation": [ + 0.72214674949646, + 0.003526967251673341, + 0.6906484961509705, + 0.03868262842297554 + ], + "joints": [ + -0.0025732386857271194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04502930864691734, + -0.10803145170211792, + 0.05870780348777771 + ], + "orientation": [ + 0.38640934228897095, + -0.6218812465667725, + 0.41387104988098145, + 0.5409826636314392 + ], + "joints": [ + 0.015880435705184937 + ] + }, + "fine_grasp": { + "position": [ + 0.04366572946310043, + -0.10437233000993729, + 0.05800248682498932 + ], + "orientation": [ + 0.3860865831375122, + -0.6235945224761963, + 0.4140703082084656, + 0.5390850901603699 + ], + "joints": [ + 0.006664522923529148 + ] + }, + "final_grasp": { + "position": [ + 0.04366572946310043, + -0.10437233000993729, + 0.05800248682498932 + ], + "orientation": [ + 0.3860865831375122, + -0.6235945224761963, + 0.4140703082084656, + 0.5390850901603699 + ], + "joints": [ + -0.0025513898581266403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008416120894253254, + -0.10793145000934601, + 0.02133546583354473 + ], + "orientation": [ + 0.5120643973350525, + -0.49583926796913147, + 0.5222986340522766, + 0.46812132000923157 + ], + "joints": [ + 0.016187652945518494 + ] + }, + "fine_grasp": { + "position": [ + -0.008236351422965527, + -0.10401636362075806, + 0.0211295448243618 + ], + "orientation": [ + 0.5119854807853699, + -0.49624988436698914, + 0.5224276185035706, + 0.4676283597946167 + ], + "joints": [ + 0.00615672767162323 + ] + }, + "final_grasp": { + "position": [ + -0.008236351422965527, + -0.10401636362075806, + 0.0211295448243618 + ], + "orientation": [ + 0.5119854807853699, + -0.49624988436698914, + 0.5224276185035706, + 0.4676283597946167 + ], + "joints": [ + -0.0038741976022720337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07652942091226578, + 0.11206677556037903, + 0.19101570546627045 + ], + "orientation": [ + 0.2177378237247467, + 0.741225004196167, + 0.3898504078388214, + -0.5011909008026123 + ], + "joints": [ + 0.01640620082616806 + ] + }, + "fine_grasp": { + "position": [ + 0.07380138337612152, + 0.10978075116872787, + 0.18952041864395142 + ], + "orientation": [ + 0.20652173459529877, + 0.7444847226142883, + 0.3852386176586151, + -0.5046607255935669 + ], + "joints": [ + 0.003992931917309761 + ] + }, + "final_grasp": { + "position": [ + 0.07380138337612152, + 0.10978075116872787, + 0.18952041864395142 + ], + "orientation": [ + 0.20652173459529877, + 0.7444847226142883, + 0.3852386176586151, + -0.5046607255935669 + ], + "joints": [ + -0.008420336991548538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09913671016693115, + 0.04872053116559982, + 0.18503665924072266 + ], + "orientation": [ + 0.1263333559036255, + 0.8781092166900635, + 0.0024892883375287056, + 0.46147358417510986 + ], + "joints": [ + 0.01642383262515068 + ] + }, + "fine_grasp": { + "position": [ + -0.0957125648856163, + 0.047911323606967926, + 0.1834501028060913 + ], + "orientation": [ + 0.1282690167427063, + 0.87641841173172, + 0.0036535754334181547, + 0.46413853764533997 + ], + "joints": [ + 0.005577894859015942 + ] + }, + "final_grasp": { + "position": [ + -0.0957125648856163, + 0.047911323606967926, + 0.1834501028060913 + ], + "orientation": [ + 0.1282690167427063, + 0.87641841173172, + 0.0036535754334181547, + 0.46413853764533997 + ], + "joints": [ + -0.005268042907118797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11352232098579407, + 0.023228414356708527, + 0.1410486102104187 + ], + "orientation": [ + 0.033115800470113754, + 0.8027395606040955, + -0.021907078102231026, + -0.5950062870979309 + ], + "joints": [ + 0.01586296223104 + ] + }, + "fine_grasp": { + "position": [ + 0.10963918268680573, + 0.02315012365579605, + 0.1402810513973236 + ], + "orientation": [ + 0.03227303549647331, + 0.8018576502799988, + -0.021398285403847694, + -0.5962591767311096 + ], + "joints": [ + 0.006249992176890373 + ] + }, + "final_grasp": { + "position": [ + 0.10963918268680573, + 0.02315012365579605, + 0.1402810513973236 + ], + "orientation": [ + 0.03227303549647331, + 0.8018576502799988, + -0.021398285403847694, + -0.5962591767311096 + ], + "joints": [ + -0.0033629778772592545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008195477537810802, + -0.1081094816327095, + 0.021579191088676453 + ], + "orientation": [ + 0.5121868252754211, + -0.4952844977378845, + 0.5216343402862549, + 0.46931400895118713 + ], + "joints": [ + 0.015982745215296745 + ] + }, + "fine_grasp": { + "position": [ + -0.007912411354482174, + -0.10413148254156113, + 0.021374700590968132 + ], + "orientation": [ + 0.5122209787368774, + -0.495561420917511, + 0.5218656659126282, + 0.4687267243862152 + ], + "joints": [ + 0.006787730380892754 + ] + }, + "final_grasp": { + "position": [ + -0.007912411354482174, + -0.10413148254156113, + 0.021374700590968132 + ], + "orientation": [ + 0.5122209787368774, + -0.495561420917511, + 0.5218656659126282, + 0.4687267243862152 + ], + "joints": [ + -0.002407284453511238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10678783804178238, + -0.026024552062153816, + 0.06657098978757858 + ], + "orientation": [ + 0.08720487356185913, + -0.7093844413757324, + -0.16669701039791107, + -0.6792502999305725 + ], + "joints": [ + 0.014184306375682354 + ] + }, + "fine_grasp": { + "position": [ + -0.10290361195802689, + -0.02453576773405075, + 0.06637059152126312 + ], + "orientation": [ + 0.08796027302742004, + -0.7097291350364685, + -0.16624894738197327, + -0.6789025664329529 + ], + "joints": [ + 0.005825201980769634 + ] + }, + "final_grasp": { + "position": [ + -0.10290361195802689, + -0.02453576773405075, + 0.06637059152126312 + ], + "orientation": [ + 0.08796027302742004, + -0.7097291350364685, + -0.16624894738197327, + -0.6789025664329529 + ], + "joints": [ + -0.0025339024141430855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013296824879944324, + 0.06667457520961761, + 0.25079086422920227 + ], + "orientation": [ + 0.1621820032596588, + 0.9652045965194702, + -0.1851668804883957, + 0.08826243132352829 + ], + "joints": [ + 0.014220494776964188 + ] + }, + "fine_grasp": { + "position": [ + -0.012493724934756756, + 0.06563714146614075, + 0.24720889329910278 + ], + "orientation": [ + 0.16203036904335022, + 0.9650556445121765, + -0.1843934953212738, + 0.09172175079584122 + ], + "joints": [ + 0.00460752472281456 + ] + }, + "final_grasp": { + "position": [ + -0.012493724934756756, + 0.06563714146614075, + 0.24720889329910278 + ], + "orientation": [ + 0.16203036904335022, + 0.9650556445121765, + -0.1843934953212738, + 0.09172175079584122 + ], + "joints": [ + -0.005005445331335068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06934483349323273, + -0.08419156074523926, + 0.0837714821100235 + ], + "orientation": [ + 0.5385952591896057, + -0.31562599539756775, + -0.7139710187911987, + -0.31708166003227234 + ], + "joints": [ + 0.016372550278902054 + ] + }, + "fine_grasp": { + "position": [ + 0.06709696352481842, + -0.08102467656135559, + 0.08284766227006912 + ], + "orientation": [ + 0.537074863910675, + -0.31302595138549805, + -0.7151359915733337, + -0.3196026682853699 + ], + "joints": [ + 0.007177535444498062 + ] + }, + "final_grasp": { + "position": [ + 0.06709696352481842, + -0.08102467656135559, + 0.08284766227006912 + ], + "orientation": [ + 0.537074863910675, + -0.31302595138549805, + -0.7151359915733337, + -0.3196026682853699 + ], + "joints": [ + -0.0020174793899059296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056286733597517014, + 0.11265067011117935, + 0.02773076854646206 + ], + "orientation": [ + 0.4328247606754303, + 0.5368825793266296, + 0.2732678949832916, + -0.6706299185752869 + ], + "joints": [ + 0.014993380755186081 + ] + }, + "fine_grasp": { + "position": [ + 0.054417259991168976, + 0.10914892703294754, + 0.028407340869307518 + ], + "orientation": [ + 0.4332209527492523, + 0.5378714203834534, + 0.27448561787605286, + -0.6690827012062073 + ], + "joints": [ + 0.005798365920782089 + ] + }, + "final_grasp": { + "position": [ + 0.054417259991168976, + 0.10914892703294754, + 0.028407340869307518 + ], + "orientation": [ + 0.4332209527492523, + 0.5378714203834534, + 0.27448561787605286, + -0.6690827012062073 + ], + "joints": [ + -0.0033966489136219025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10682204365730286, + -0.025800511240959167, + 0.06703445315361023 + ], + "orientation": [ + 0.08668842166662216, + -0.7087437510490417, + -0.16784019768238068, + -0.6797036528587341 + ], + "joints": [ + 0.014307660982012749 + ] + }, + "fine_grasp": { + "position": [ + -0.10295426100492477, + -0.024364348500967026, + 0.06683944165706635 + ], + "orientation": [ + 0.08680299669504166, + -0.7090204358100891, + -0.1672581136226654, + -0.6795439124107361 + ], + "joints": [ + 0.005948556587100029 + ] + }, + "final_grasp": { + "position": [ + -0.10295426100492477, + -0.024364348500967026, + 0.06683944165706635 + ], + "orientation": [ + 0.08680299669504166, + -0.7090204358100891, + -0.1672581136226654, + -0.6795439124107361 + ], + "joints": [ + -0.0024105478078126907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03570258244872093, + 0.12885485589504242, + 0.05167577043175697 + ], + "orientation": [ + 0.45940840244293213, + 0.5268350839614868, + -0.3799411356449127, + 0.6058328151702881 + ], + "joints": [ + 0.01560429111123085 + ] + }, + "fine_grasp": { + "position": [ + -0.034561801701784134, + 0.12509959936141968, + 0.05219906568527222 + ], + "orientation": [ + 0.45907294750213623, + 0.5271706581115723, + -0.3801746070384979, + 0.6056488156318665 + ], + "joints": [ + 0.0059913210570812225 + ] + }, + "final_grasp": { + "position": [ + -0.034561801701784134, + 0.12509959936141968, + 0.05219906568527222 + ], + "orientation": [ + 0.45907294750213623, + 0.5271706581115723, + -0.3801746070384979, + 0.6056488156318665 + ], + "joints": [ + -0.003621648997068405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05162891000509262, + 0.1158892810344696, + 0.03746253624558449 + ], + "orientation": [ + 0.6303130388259888, + 0.3101113438606262, + -0.5688081979751587, + 0.42777758836746216 + ], + "joints": [ + 0.01439204253256321 + ] + }, + "fine_grasp": { + "position": [ + 0.04981705918908119, + 0.11216927319765091, + 0.037932585924863815 + ], + "orientation": [ + 0.6291937232017517, + 0.3105542063713074, + -0.5692206621170044, + 0.4285547733306885 + ], + "joints": [ + 0.00603293813765049 + ] + }, + "final_grasp": { + "position": [ + 0.04981705918908119, + 0.11216927319765091, + 0.037932585924863815 + ], + "orientation": [ + 0.6291937232017517, + 0.3105542063713074, + -0.5692206621170044, + 0.4285547733306885 + ], + "joints": [ + -0.00232616625726223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12640340626239777, + 0.04364275559782982, + 0.01842343434691429 + ], + "orientation": [ + 0.24462345242500305, + 0.651526927947998, + 0.03777458146214485, + 0.7171088457107544 + ], + "joints": [ + 0.019370099529623985 + ] + }, + "fine_grasp": { + "position": [ + -0.12267947196960449, + 0.042877208441495895, + 0.018488246947526932 + ], + "orientation": [ + 0.24228325486183167, + 0.6555796265602112, + 0.042228955775499344, + 0.7139544486999512 + ], + "joints": [ + 0.008921219035983086 + ] + }, + "final_grasp": { + "position": [ + -0.12267947196960449, + 0.042877208441495895, + 0.018488246947526932 + ], + "orientation": [ + 0.24228325486183167, + 0.6555796265602112, + 0.042228955775499344, + 0.7139544486999512 + ], + "joints": [ + -0.001527661457657814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008369985036551952, + -0.10887260735034943, + 0.021968528628349304 + ], + "orientation": [ + 0.515221893787384, + -0.4927525222301483, + 0.5190793871879578, + 0.4714849293231964 + ], + "joints": [ + 0.01623774692416191 + ] + }, + "fine_grasp": { + "position": [ + -0.008100339211523533, + -0.10496193170547485, + 0.021763963624835014 + ], + "orientation": [ + 0.5149907469749451, + -0.4931204915046692, + 0.5194737911224365, + 0.47091805934906006 + ], + "joints": [ + 0.006624776870012283 + ] + }, + "final_grasp": { + "position": [ + -0.008100339211523533, + -0.10496193170547485, + 0.021763963624835014 + ], + "orientation": [ + 0.5149907469749451, + -0.4931204915046692, + 0.5194737911224365, + 0.47091805934906006 + ], + "joints": [ + -0.0029881931841373444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015747616067528725, + -0.01479458436369896, + -0.12394731491804123 + ], + "orientation": [ + 0.8732812404632568, + -0.10560227185487747, + -0.015816213563084602, + 0.47537121176719666 + ], + "joints": [ + 0.016679948195815086 + ] + }, + "fine_grasp": { + "position": [ + 0.015363435260951519, + -0.014139790087938309, + -0.12014748156070709 + ], + "orientation": [ + 0.873365581035614, + -0.10462022572755814, + -0.014572973363101482, + 0.4754731357097626 + ], + "joints": [ + 0.007066978141665459 + ] + }, + "final_grasp": { + "position": [ + 0.015363435260951519, + -0.014139790087938309, + -0.12014748156070709 + ], + "orientation": [ + 0.873365581035614, + -0.10462022572755814, + -0.014572973363101482, + 0.4754731357097626 + ], + "joints": [ + -0.002545991912484169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11279186606407166, + -0.0010075242025777698, + 0.14292234182357788 + ], + "orientation": [ + 0.03307080641388893, + -0.8075047731399536, + 0.10121169686317444, + 0.5801710486412048 + ], + "joints": [ + 0.01631513610482216 + ] + }, + "fine_grasp": { + "position": [ + 0.10906783491373062, + -0.00025241446564905345, + 0.14209124445915222 + ], + "orientation": [ + 0.03446263074874878, + -0.8057471513748169, + 0.10081426799297333, + 0.5825978517532349 + ], + "joints": [ + 0.006284210830926895 + ] + }, + "final_grasp": { + "position": [ + 0.10906783491373062, + -0.00025241446564905345, + 0.14209124445915222 + ], + "orientation": [ + 0.03446263074874878, + -0.8057471513748169, + 0.10081426799297333, + 0.5825978517532349 + ], + "joints": [ + -0.0037467144429683685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05151009187102318, + 0.11538775265216827, + 0.03755732253193855 + ], + "orientation": [ + 0.6305029392242432, + 0.31033191084861755, + -0.5684298276901245, + 0.42784079909324646 + ], + "joints": [ + 0.014719459228217602 + ] + }, + "fine_grasp": { + "position": [ + 0.04964147135615349, + 0.1116873249411583, + 0.038015879690647125 + ], + "orientation": [ + 0.6294898986816406, + 0.3102955222129822, + -0.5690659284591675, + 0.4285127818584442 + ], + "joints": [ + 0.005963297560811043 + ] + }, + "final_grasp": { + "position": [ + 0.04964147135615349, + 0.1116873249411583, + 0.038015879690647125 + ], + "orientation": [ + 0.6294898986816406, + 0.3102955222129822, + -0.5690659284591675, + 0.4285127818584442 + ], + "joints": [ + -0.002792864106595516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0814475417137146, + -0.06817244738340378, + 0.08571631461381912 + ], + "orientation": [ + 0.6132715344429016, + -0.31561270356178284, + 0.6838804483413696, + 0.23789502680301666 + ], + "joints": [ + 0.014490938745439053 + ] + }, + "fine_grasp": { + "position": [ + -0.07869725674390793, + -0.06522031128406525, + 0.08524788171052933 + ], + "orientation": [ + 0.6128990054130554, + -0.3158476948738098, + 0.6837170124053955, + 0.2390107959508896 + ], + "joints": [ + 0.005295923911035061 + ] + }, + "final_grasp": { + "position": [ + -0.07869725674390793, + -0.06522031128406525, + 0.08524788171052933 + ], + "orientation": [ + 0.6128990054130554, + -0.3158476948738098, + 0.6837170124053955, + 0.2390107959508896 + ], + "joints": [ + -0.003899090923368931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.061709582805633545, + -0.0702306404709816, + 0.13444989919662476 + ], + "orientation": [ + 0.6235383749008179, + -0.3991021513938904, + 0.6159222722053528, + 0.26936396956443787 + ], + "joints": [ + 0.015150999650359154 + ] + }, + "fine_grasp": { + "position": [ + -0.059447020292282104, + -0.06692419201135635, + 0.1336454153060913 + ], + "orientation": [ + 0.6224660277366638, + -0.4061885178089142, + 0.6151847839355469, + 0.26285845041275024 + ], + "joints": [ + 0.006373940035700798 + ] + }, + "final_grasp": { + "position": [ + -0.059447020292282104, + -0.06692419201135635, + 0.1336454153060913 + ], + "orientation": [ + 0.6224660277366638, + -0.4061885178089142, + 0.6151847839355469, + 0.26285845041275024 + ], + "joints": [ + -0.0024031195789575577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08045260608196259, + -0.0672798901796341, + 0.08516950160264969 + ], + "orientation": [ + 0.6125989556312561, + -0.3171384632587433, + 0.683918297290802, + 0.23749007284641266 + ], + "joints": [ + 0.014417897909879684 + ] + }, + "fine_grasp": { + "position": [ + -0.07761216908693314, + -0.06431619822978973, + 0.08471224457025528 + ], + "orientation": [ + 0.6123597621917725, + -0.31664276123046875, + 0.6841291785240173, + 0.2381601184606552 + ], + "joints": [ + 0.005640838295221329 + ] + }, + "final_grasp": { + "position": [ + -0.07761216908693314, + -0.06431619822978973, + 0.08471224457025528 + ], + "orientation": [ + 0.6123597621917725, + -0.31664276123046875, + 0.6841291785240173, + 0.2381601184606552 + ], + "joints": [ + -0.003136221319437027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02134905941784382, + -0.06422155350446701, + -0.07354337722063065 + ], + "orientation": [ + 0.7309862375259399, + -0.2186778336763382, + -0.3052055537700653, + -0.5698145627975464 + ], + "joints": [ + 0.017376702278852463 + ] + }, + "fine_grasp": { + "position": [ + 0.020519858226180077, + -0.061009690165519714, + -0.075029656291008 + ], + "orientation": [ + 0.7350978851318359, + -0.20976486802101135, + -0.29469606280326843, + -0.5733968615531921 + ], + "joints": [ + 0.007763731759041548 + ] + }, + "final_grasp": { + "position": [ + 0.020519858226180077, + -0.061009690165519714, + -0.075029656291008 + ], + "orientation": [ + 0.7350978851318359, + -0.20976486802101135, + -0.29469606280326843, + -0.5733968615531921 + ], + "joints": [ + -0.0018492387607693672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04105696082115173, + -0.042516134679317474, + -0.08581611514091492 + ], + "orientation": [ + 0.8433021903038025, + -0.11596009135246277, + -0.2743176221847534, + -0.44737502932548523 + ], + "joints": [ + 0.01807604357600212 + ] + }, + "fine_grasp": { + "position": [ + 0.03893705829977989, + -0.0398833341896534, + -0.08568697422742844 + ], + "orientation": [ + 0.846541702747345, + -0.11148467659950256, + -0.2680788040161133, + -0.44617488980293274 + ], + "joints": [ + 0.008045118302106857 + ] + }, + "final_grasp": { + "position": [ + 0.03893705829977989, + -0.0398833341896534, + -0.08568697422742844 + ], + "orientation": [ + 0.846541702747345, + -0.11148467659950256, + -0.2680788040161133, + -0.44617488980293274 + ], + "joints": [ + -0.0019858069717884064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.102747842669487, + -0.04291413724422455, + 0.11792084574699402 + ], + "orientation": [ + 0.597283661365509, + -0.26654744148254395, + 0.7477174997329712, + 0.11455661058425903 + ], + "joints": [ + 0.01578078418970108 + ] + }, + "fine_grasp": { + "position": [ + -0.09947537630796432, + -0.04088692367076874, + 0.11723825335502625 + ], + "orientation": [ + 0.6001057028770447, + -0.2666114270687103, + 0.7453213930130005, + 0.11527124047279358 + ], + "joints": [ + 0.005352801643311977 + ] + }, + "final_grasp": { + "position": [ + -0.09947537630796432, + -0.04088692367076874, + 0.11723825335502625 + ], + "orientation": [ + 0.6001057028770447, + -0.2666114270687103, + 0.7453213930130005, + 0.11527124047279358 + ], + "joints": [ + -0.0050751809030771255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06441822648048401, + -0.05066791549324989, + -0.0818556621670723 + ], + "orientation": [ + 0.9197283983230591, + -0.17295941710472107, + -0.2839345932006836, + -0.208724245429039 + ], + "joints": [ + 0.018493808805942535 + ] + }, + "fine_grasp": { + "position": [ + 0.06127563863992691, + -0.04896598309278488, + -0.08029427379369736 + ], + "orientation": [ + 0.9165292382240295, + -0.17285330593585968, + -0.29729974269866943, + -0.204227015376091 + ], + "joints": [ + 0.009298793971538544 + ] + }, + "final_grasp": { + "position": [ + 0.06127563863992691, + -0.04896598309278488, + -0.08029427379369736 + ], + "orientation": [ + 0.9165292382240295, + -0.17285330593585968, + -0.29729974269866943, + -0.204227015376091 + ], + "joints": [ + 0.000103779137134552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04510429874062538, + 0.1104317307472229, + 0.15587681531906128 + ], + "orientation": [ + 0.4279555082321167, + 0.45339909195899963, + -0.7345563769340515, + 0.2677878141403198 + ], + "joints": [ + 0.015654947608709335 + ] + }, + "fine_grasp": { + "position": [ + 0.04324331134557724, + 0.10688474774360657, + 0.1554325968027115 + ], + "orientation": [ + 0.43180274963378906, + 0.4576115012168884, + -0.7307474613189697, + 0.2648511826992035 + ], + "joints": [ + 0.00687788799405098 + ] + }, + "final_grasp": { + "position": [ + 0.04324331134557724, + 0.10688474774360657, + 0.1554325968027115 + ], + "orientation": [ + 0.43180274963378906, + 0.4576115012168884, + -0.7307474613189697, + 0.2648511826992035 + ], + "joints": [ + -0.001899171620607376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08952596783638, + -0.07860619574785233, + 0.09392597526311874 + ], + "orientation": [ + 0.6489695906639099, + -0.2771354615688324, + -0.6384181976318359, + -0.3073379099369049 + ], + "joints": [ + 0.018166013062000275 + ] + }, + "fine_grasp": { + "position": [ + 0.08670620620250702, + -0.07611624151468277, + 0.09388777613639832 + ], + "orientation": [ + 0.6497634649276733, + -0.27258846163749695, + -0.6414698362350464, + -0.3033467233181 + ], + "joints": [ + 0.007320075295865536 + ] + }, + "final_grasp": { + "position": [ + 0.08670620620250702, + -0.07611624151468277, + 0.09388777613639832 + ], + "orientation": [ + 0.6497634649276733, + -0.27258846163749695, + -0.6414698362350464, + -0.3033467233181 + ], + "joints": [ + -0.003525862470269203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008104747161269188, + -0.10935923457145691, + 0.02139042504131794 + ], + "orientation": [ + 0.5134842395782471, + -0.49501192569732666, + 0.5196526050567627, + 0.4703810214996338 + ], + "joints": [ + 0.016538109630346298 + ] + }, + "fine_grasp": { + "position": [ + -0.007963048294186592, + -0.1055489331483841, + 0.02121455781161785 + ], + "orientation": [ + 0.5134899616241455, + -0.49571776390075684, + 0.5193035006523132, + 0.47001704573631287 + ], + "joints": [ + 0.0060892291367053986 + ] + }, + "final_grasp": { + "position": [ + -0.007963048294186592, + -0.1055489331483841, + 0.02121455781161785 + ], + "orientation": [ + 0.5134899616241455, + -0.49571776390075684, + 0.5193035006523132, + 0.47001704573631287 + ], + "joints": [ + -0.004359651356935501 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10635386407375336, + 0.008106476627290249, + 0.04765332117676735 + ], + "orientation": [ + 0.7410658597946167, + -0.049568794667720795, + -0.6694393157958984, + 0.014676358550786972 + ], + "joints": [ + 0.015795765444636345 + ] + }, + "fine_grasp": { + "position": [ + 0.10452039539813995, + 0.008206598460674286, + 0.046766430139541626 + ], + "orientation": [ + 0.7432976961135864, + -0.04862743616104126, + -0.667039692401886, + 0.014216037467122078 + ], + "joints": [ + 0.006182795390486717 + ] + }, + "final_grasp": { + "position": [ + 0.10452039539813995, + 0.008206598460674286, + 0.046766430139541626 + ], + "orientation": [ + 0.7432976961135864, + -0.04862743616104126, + -0.667039692401886, + 0.014216037467122078 + ], + "joints": [ + -0.0034301746636629105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07961346209049225, + -0.06631792336702347, + 0.08489510416984558 + ], + "orientation": [ + 0.6104862689971924, + -0.31768473982810974, + 0.6860620379447937, + 0.23601199686527252 + ], + "joints": [ + 0.014432022348046303 + ] + }, + "fine_grasp": { + "position": [ + -0.07675041258335114, + -0.06337515264749527, + 0.08444498479366302 + ], + "orientation": [ + 0.6095563173294067, + -0.31587597727775574, + 0.687070906162262, + 0.237900972366333 + ], + "joints": [ + 0.005654962733387947 + ] + }, + "final_grasp": { + "position": [ + -0.07675041258335114, + -0.06337515264749527, + 0.08444498479366302 + ], + "orientation": [ + 0.6095563173294067, + -0.31587597727775574, + 0.687070906162262, + 0.237900972366333 + ], + "joints": [ + -0.0031220968812704086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08031686395406723, + -0.06706612557172775, + 0.08510098606348038 + ], + "orientation": [ + 0.6122595071792603, + -0.31545430421829224, + 0.6843532919883728, + 0.23934830725193024 + ], + "joints": [ + 0.014053757302463055 + ] + }, + "fine_grasp": { + "position": [ + -0.07748519629240036, + -0.06406087428331375, + 0.08464832603931427 + ], + "orientation": [ + 0.6118779182434082, + -0.31440719962120056, + 0.6848500370979309, + 0.24027906358242035 + ], + "joints": [ + 0.005694652907550335 + ] + }, + "final_grasp": { + "position": [ + -0.07748519629240036, + -0.06406087428331375, + 0.08464832603931427 + ], + "orientation": [ + 0.6118779182434082, + -0.31440719962120056, + 0.6848500370979309, + 0.24027906358242035 + ], + "joints": [ + -0.002664451487362385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09926921874284744, + 0.00037645801785402, + -0.05106279253959656 + ], + "orientation": [ + 0.8714047074317932, + -0.004595644306391478, + 0.4880519211292267, + 0.04937606677412987 + ], + "joints": [ + 0.01881212554872036 + ] + }, + "fine_grasp": { + "position": [ + -0.09554228186607361, + 0.0004105076368432492, + -0.04961635172367096 + ], + "orientation": [ + 0.8707925081253052, + -0.0014359652996063232, + 0.4890528619289398, + 0.050454553216695786 + ], + "joints": [ + 0.009596211835741997 + ] + }, + "final_grasp": { + "position": [ + -0.09554228186607361, + 0.0004105076368432492, + -0.04961635172367096 + ], + "orientation": [ + 0.8707925081253052, + -0.0014359652996063232, + 0.4890528619289398, + 0.050454553216695786 + ], + "joints": [ + 0.00038029812276363373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07917284220457077, + -0.02606140449643135, + 0.18086670339107513 + ], + "orientation": [ + 0.0982961356639862, + -0.8688726425170898, + -0.2586188316345215, + -0.4105052947998047 + ], + "joints": [ + 0.016369551420211792 + ] + }, + "fine_grasp": { + "position": [ + -0.07621622085571289, + -0.024164602160453796, + 0.17912733554840088 + ], + "orientation": [ + 0.10210099816322327, + -0.8678593039512634, + -0.2560891807079315, + -0.4132964313030243 + ], + "joints": [ + 0.006756581366062164 + ] + }, + "final_grasp": { + "position": [ + -0.07621622085571289, + -0.024164602160453796, + 0.17912733554840088 + ], + "orientation": [ + 0.10210099816322327, + -0.8678593039512634, + -0.2560891807079315, + -0.4132964313030243 + ], + "joints": [ + -0.0028563886880874634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03402389585971832, + -0.09256745129823685, + 0.14123454689979553 + ], + "orientation": [ + 0.37567052245140076, + -0.6532084345817566, + 0.45466160774230957, + 0.47484034299850464 + ], + "joints": [ + 0.016745196655392647 + ] + }, + "fine_grasp": { + "position": [ + 0.032954491674900055, + -0.08898083120584488, + 0.14033454656600952 + ], + "orientation": [ + 0.3767944574356079, + -0.6534281969070435, + 0.4536760747432709, + 0.4745899736881256 + ], + "joints": [ + 0.006296316161751747 + ] + }, + "final_grasp": { + "position": [ + 0.032954491674900055, + -0.08898083120584488, + 0.14033454656600952 + ], + "orientation": [ + 0.3767944574356079, + -0.6534281969070435, + 0.4536760747432709, + 0.4745899736881256 + ], + "joints": [ + -0.0041525643318891525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03425307944417, + -0.09314805269241333, + 0.1414765864610672 + ], + "orientation": [ + 0.37623974680900574, + -0.6530461311340332, + 0.4539000988006592, + 0.47534099221229553 + ], + "joints": [ + 0.016537439078092575 + ] + }, + "fine_grasp": { + "position": [ + 0.033137090504169464, + -0.08952455222606659, + 0.1405690312385559 + ], + "orientation": [ + 0.37716180086135864, + -0.6532743573188782, + 0.4528534710407257, + 0.47529494762420654 + ], + "joints": [ + 0.006506513804197311 + ] + }, + "final_grasp": { + "position": [ + 0.033137090504169464, + -0.08952455222606659, + 0.1405690312385559 + ], + "orientation": [ + 0.37716180086135864, + -0.6532743573188782, + 0.4528534710407257, + 0.47529494762420654 + ], + "joints": [ + -0.0035244114696979523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10887864977121353, + -0.017444223165512085, + 0.03269299864768982 + ], + "orientation": [ + 0.04417860135436058, + -0.6952461004257202, + -0.1239849254488945, + -0.7066178917884827 + ], + "joints": [ + 0.01699611358344555 + ] + }, + "fine_grasp": { + "position": [ + -0.10517891496419907, + -0.016424288973212242, + 0.03215089440345764 + ], + "orientation": [ + 0.04627932980656624, + -0.697651207447052, + -0.12008177489042282, + -0.7047846913337708 + ], + "joints": [ + 0.009054964408278465 + ] + }, + "final_grasp": { + "position": [ + -0.10517891496419907, + -0.016424288973212242, + 0.03215089440345764 + ], + "orientation": [ + 0.04627932980656624, + -0.697651207447052, + -0.12008177489042282, + -0.7047846913337708 + ], + "joints": [ + 0.0011138152331113815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014149678871035576, + -0.10138498246669769, + 0.03035547211766243 + ], + "orientation": [ + 0.5113770365715027, + -0.4808276295661926, + -0.4245876967906952, + -0.5718597769737244 + ], + "joints": [ + 0.014756139367818832 + ] + }, + "fine_grasp": { + "position": [ + -0.013758513145148754, + -0.09727990627288818, + 0.030190903693437576 + ], + "orientation": [ + 0.5118052959442139, + -0.483086496591568, + -0.4245017468929291, + -0.569632351398468 + ], + "joints": [ + 0.006397034972906113 + ] + }, + "final_grasp": { + "position": [ + -0.013758513145148754, + -0.09727990627288818, + 0.030190903693437576 + ], + "orientation": [ + 0.5118052959442139, + -0.483086496591568, + -0.4245017468929291, + -0.569632351398468 + ], + "joints": [ + -0.001962069422006607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01924695074558258, + 0.12705643475055695, + 0.06644511222839355 + ], + "orientation": [ + 0.505503237247467, + 0.446241557598114, + 0.5728834867477417, + -0.4659821391105652 + ], + "joints": [ + 0.01482621394097805 + ] + }, + "fine_grasp": { + "position": [ + -0.018573060631752014, + 0.12295212596654892, + 0.06663620471954346 + ], + "orientation": [ + 0.5018534660339355, + 0.44299131631851196, + 0.5757356882095337, + -0.4695001244544983 + ], + "joints": [ + 0.0064671095460653305 + ] + }, + "final_grasp": { + "position": [ + -0.018573060631752014, + 0.12295212596654892, + 0.06663620471954346 + ], + "orientation": [ + 0.5018534660339355, + 0.44299131631851196, + 0.5757356882095337, + -0.4695001244544983 + ], + "joints": [ + -0.0018919948488473892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11690160632133484, + -0.02370586059987545, + 0.08437419682741165 + ], + "orientation": [ + 0.11888951063156128, + -0.7104362845420837, + 0.11349460482597351, + 0.684298574924469 + ], + "joints": [ + 0.016390522941946983 + ] + }, + "fine_grasp": { + "position": [ + 0.11318249255418777, + -0.022425221279263496, + 0.08434829860925674 + ], + "orientation": [ + 0.12010228633880615, + -0.7098564505577087, + 0.1121688038110733, + 0.6849068403244019 + ], + "joints": [ + 0.00596254039555788 + ] + }, + "final_grasp": { + "position": [ + 0.11318249255418777, + -0.022425221279263496, + 0.08434829860925674 + ], + "orientation": [ + 0.12010228633880615, + -0.7098564505577087, + 0.1121688038110733, + 0.6849068403244019 + ], + "joints": [ + -0.0044654421508312225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0418691411614418, + -0.06372056901454926, + 0.15003184974193573 + ], + "orientation": [ + 0.3911515772342682, + -0.49555501341819763, + 0.7440252900123596, + 0.2187507301568985 + ], + "joints": [ + 0.015231108292937279 + ] + }, + "fine_grasp": { + "position": [ + -0.040072228759527206, + -0.060258541256189346, + 0.15043242275714874 + ], + "orientation": [ + 0.3886236846446991, + -0.5020215511322021, + 0.7422545552253723, + 0.2144859880208969 + ], + "joints": [ + 0.006454048678278923 + ] + }, + "final_grasp": { + "position": [ + -0.040072228759527206, + -0.060258541256189346, + 0.15043242275714874 + ], + "orientation": [ + 0.3886236846446991, + -0.5020215511322021, + 0.7422545552253723, + 0.2144859880208969 + ], + "joints": [ + -0.0023230109363794327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1049373596906662, + -0.03438475728034973, + -0.04284686595201492 + ], + "orientation": [ + 0.2201824188232422, + -0.5728479027748108, + -0.05950251966714859, + -0.7872892618179321 + ], + "joints": [ + 0.017554638907313347 + ] + }, + "fine_grasp": { + "position": [ + -0.10138724744319916, + -0.033289406448602676, + -0.04138631373643875 + ], + "orientation": [ + 0.21969178318977356, + -0.571209728717804, + -0.05626627430319786, + -0.7888529896736145 + ], + "joints": [ + 0.008359624072909355 + ] + }, + "final_grasp": { + "position": [ + -0.10138724744319916, + -0.033289406448602676, + -0.04138631373643875 + ], + "orientation": [ + 0.21969178318977356, + -0.571209728717804, + -0.05626627430319786, + -0.7888529896736145 + ], + "joints": [ + -0.0008353907614946365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06041780859231949, + 0.10374864190816879, + 0.05216711014509201 + ], + "orientation": [ + 0.6145885586738586, + 0.27218571305274963, + 0.6247454881668091, + -0.3973526060581207 + ], + "joints": [ + 0.0159226693212986 + ] + }, + "fine_grasp": { + "position": [ + -0.059390608221292496, + 0.10217708349227905, + 0.052403125911951065 + ], + "orientation": [ + 0.6122698187828064, + 0.2702306807041168, + 0.62635338306427, + -0.39972785115242004 + ], + "joints": [ + 0.007124711759388447 + ] + }, + "final_grasp": { + "position": [ + -0.059390608221292496, + 0.10217708349227905, + 0.052403125911951065 + ], + "orientation": [ + 0.6122698187828064, + 0.2702306807041168, + 0.62635338306427, + -0.39972785115242004 + ], + "joints": [ + -0.0016732458025217056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028572171926498413, + 0.09034305810928345, + -0.10293255001306534 + ], + "orientation": [ + 0.4709290862083435, + 0.2831084728240967, + 0.23054207861423492, + -0.8030726313591003 + ], + "joints": [ + 0.017655368894338608 + ] + }, + "fine_grasp": { + "position": [ + 0.02828921191394329, + 0.08747100085020065, + -0.10034207254648209 + ], + "orientation": [ + 0.47249704599380493, + 0.2804862856864929, + 0.23598386347293854, + -0.8014895915985107 + ], + "joints": [ + 0.006433271337300539 + ] + }, + "final_grasp": { + "position": [ + 0.02828921191394329, + 0.08747100085020065, + -0.10034207254648209 + ], + "orientation": [ + 0.47249704599380493, + 0.2804862856864929, + 0.23598386347293854, + -0.8014895915985107 + ], + "joints": [ + -0.00478882621973753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0859241634607315, + -0.07452291250228882, + 0.006053844932466745 + ], + "orientation": [ + 0.24014101922512054, + -0.56974196434021, + 0.284128338098526, + 0.7328011393547058 + ], + "joints": [ + 0.016910560429096222 + ] + }, + "fine_grasp": { + "position": [ + 0.08289168030023575, + -0.071931391954422, + 0.006134741008281708 + ], + "orientation": [ + 0.23609809577465057, + -0.5739842057228088, + 0.2834112048149109, + 0.7310799956321716 + ], + "joints": [ + 0.00771554559469223 + ] + }, + "final_grasp": { + "position": [ + 0.08289168030023575, + -0.071931391954422, + 0.006134741008281708 + ], + "orientation": [ + 0.23609809577465057, + -0.5739842057228088, + 0.2834112048149109, + 0.7310799956321716 + ], + "joints": [ + -0.0014794692397117615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014184394851326942, + -0.10064703971147537, + 0.030416475608944893 + ], + "orientation": [ + 0.5099340677261353, + -0.48092979192733765, + -0.4258292615413666, + -0.5721392631530762 + ], + "joints": [ + 0.014511175453662872 + ] + }, + "fine_grasp": { + "position": [ + -0.013867096975445747, + -0.09658170491456985, + 0.030095087364315987 + ], + "orientation": [ + 0.5123220682144165, + -0.4838408827781677, + -0.42379143834114075, + -0.5690562725067139 + ], + "joints": [ + 0.005734115839004517 + ] + }, + "final_grasp": { + "position": [ + -0.013867096975445747, + -0.09658170491456985, + 0.030095087364315987 + ], + "orientation": [ + 0.5123220682144165, + -0.4838408827781677, + -0.42379143834114075, + -0.5690562725067139 + ], + "joints": [ + -0.003042943775653839 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048839230090379715, + -0.08685361593961716, + 0.11261364072561264 + ], + "orientation": [ + 0.485363632440567, + -0.4222772717475891, + -0.6981764435768127, + -0.3140919804573059 + ], + "joints": [ + 0.015827100723981857 + ] + }, + "fine_grasp": { + "position": [ + 0.047190163284540176, + -0.08335588872432709, + 0.1117781549692154 + ], + "orientation": [ + 0.48610207438468933, + -0.41995638608932495, + -0.6973639130592346, + -0.31784436106681824 + ], + "joints": [ + 0.00621413066983223 + ] + }, + "final_grasp": { + "position": [ + 0.047190163284540176, + -0.08335588872432709, + 0.1117781549692154 + ], + "orientation": [ + 0.48610207438468933, + -0.41995638608932495, + -0.6973639130592346, + -0.31784436106681824 + ], + "joints": [ + -0.003398839384317398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0130784185603261, + 0.06635548919439316, + 0.2502868175506592 + ], + "orientation": [ + 0.1631014049053192, + 0.9662785530090332, + -0.17644934356212616, + 0.09257076680660248 + ], + "joints": [ + 0.014135743491351604 + ] + }, + "fine_grasp": { + "position": [ + -0.012289784848690033, + 0.06523062288761139, + 0.2467329204082489 + ], + "orientation": [ + 0.1637897491455078, + 0.9663261771202087, + -0.1758004128932953, + 0.09209206700325012 + ], + "joints": [ + 0.004940728656947613 + ] + }, + "final_grasp": { + "position": [ + -0.012289784848690033, + 0.06523062288761139, + 0.2467329204082489 + ], + "orientation": [ + 0.1637897491455078, + 0.9663261771202087, + -0.1758004128932953, + 0.09209206700325012 + ], + "joints": [ + -0.004254286177456379 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00458364887163043, + 0.041456107050180435, + -0.11284582316875458 + ], + "orientation": [ + 0.6492169499397278, + 0.08790428191423416, + 0.1260000318288803, + -0.7449256181716919 + ], + "joints": [ + 0.016834206879138947 + ] + }, + "fine_grasp": { + "position": [ + -0.004459738731384277, + 0.03971995413303375, + -0.1094701811671257 + ], + "orientation": [ + 0.6487076282501221, + 0.0858987346291542, + 0.1277722716331482, + -0.745301365852356 + ], + "joints": [ + 0.006803281605243683 + ] + }, + "final_grasp": { + "position": [ + -0.004459738731384277, + 0.03971995413303375, + -0.1094701811671257 + ], + "orientation": [ + 0.6487076282501221, + 0.0858987346291542, + 0.1277722716331482, + -0.745301365852356 + ], + "joints": [ + -0.003227643668651581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05878579616546631, + -0.07401812076568604, + 0.09213747084140778 + ], + "orientation": [ + 0.5534005165100098, + -0.39717283844947815, + -0.6812771558761597, + -0.26807305216789246 + ], + "joints": [ + 0.015292443335056305 + ] + }, + "fine_grasp": { + "position": [ + 0.05696540325880051, + -0.07144312560558319, + 0.0924348533153534 + ], + "orientation": [ + 0.5515722632408142, + -0.39970463514328003, + -0.682053804397583, + -0.2660956084728241 + ], + "joints": [ + 0.006515383720397949 + ] + }, + "final_grasp": { + "position": [ + 0.05696540325880051, + -0.07144312560558319, + 0.0924348533153534 + ], + "orientation": [ + 0.5515722632408142, + -0.39970463514328003, + -0.682053804397583, + -0.2660956084728241 + ], + "joints": [ + -0.0022616758942604065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1243693083524704, + -0.027898602187633514, + 0.04690176993608475 + ], + "orientation": [ + 0.6529788970947266, + -0.2309340089559555, + 0.7211257219314575, + -0.01630193367600441 + ], + "joints": [ + 0.01831468753516674 + ] + }, + "fine_grasp": { + "position": [ + -0.1205994114279747, + -0.026800325140357018, + 0.046325091272592545 + ], + "orientation": [ + 0.6527047753334045, + -0.23205210268497467, + 0.7209952473640442, + -0.017148489132523537 + ], + "joints": [ + 0.009098773822188377 + ] + }, + "final_grasp": { + "position": [ + -0.1205994114279747, + -0.026800325140357018, + 0.046325091272592545 + ], + "orientation": [ + 0.6527047753334045, + -0.23205210268497467, + 0.7209952473640442, + -0.017148489132523537 + ], + "joints": [ + -0.00011713989078998566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04478438198566437, + 0.11000631749629974, + 0.15467561781406403 + ], + "orientation": [ + 0.4231894612312317, + 0.4522572159767151, + -0.7383431792259216, + 0.2668772339820862 + ], + "joints": [ + 0.016076721251010895 + ] + }, + "fine_grasp": { + "position": [ + 0.04294315725564957, + 0.10650130361318588, + 0.15405286848545074 + ], + "orientation": [ + 0.42722025513648987, + 0.4567440450191498, + -0.7340095043182373, + 0.2647598683834076 + ], + "joints": [ + 0.006881706416606903 + ] + }, + "final_grasp": { + "position": [ + 0.04294315725564957, + 0.10650130361318588, + 0.15405286848545074 + ], + "orientation": [ + 0.42722025513648987, + 0.4567440450191498, + -0.7340095043182373, + 0.2647598683834076 + ], + "joints": [ + -0.0023133084177970886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09700026363134384, + 0.08361180871725082, + 0.10453848540782928 + ], + "orientation": [ + 0.622306764125824, + 0.1899225264787674, + 0.7265326976776123, + -0.22093883156776428 + ], + "joints": [ + 0.015548769384622574 + ] + }, + "fine_grasp": { + "position": [ + -0.09360259771347046, + 0.0813281238079071, + 0.104418084025383 + ], + "orientation": [ + 0.624157190322876, + 0.1907038539648056, + 0.7249208092689514, + -0.220339834690094 + ], + "joints": [ + 0.006771709769964218 + ] + }, + "final_grasp": { + "position": [ + -0.09360259771347046, + 0.0813281238079071, + 0.104418084025383 + ], + "orientation": [ + 0.624157190322876, + 0.1907038539648056, + 0.7249208092689514, + -0.220339834690094 + ], + "joints": [ + -0.0020053498446941376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029457446187734604, + -0.01672392152249813, + -0.11953843384981155 + ], + "orientation": [ + 0.9635963439941406, + -0.10885255038738251, + -0.11527826637029648, + 0.21527688205242157 + ], + "joints": [ + 0.018028641119599342 + ] + }, + "fine_grasp": { + "position": [ + 0.02862752042710781, + -0.016122138127684593, + -0.11599145829677582 + ], + "orientation": [ + 0.9639349579811096, + -0.10831048339605331, + -0.11378573626279831, + 0.2148280143737793 + ], + "joints": [ + 0.007997715845704079 + ] + }, + "final_grasp": { + "position": [ + 0.02862752042710781, + -0.016122138127684593, + -0.11599145829677582 + ], + "orientation": [ + 0.9639349579811096, + -0.10831048339605331, + -0.11378573626279831, + 0.2148280143737793 + ], + "joints": [ + -0.002033209428191185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11300907284021378, + -0.02167418971657753, + 0.07418139278888702 + ], + "orientation": [ + 0.09570325911045074, + -0.6852717399597168, + -0.13312244415283203, + -0.7095927596092224 + ], + "joints": [ + 0.014562011696398258 + ] + }, + "fine_grasp": { + "position": [ + -0.10917432606220245, + -0.020442070439457893, + 0.07418782263994217 + ], + "orientation": [ + 0.09633811563253403, + -0.6851485967636108, + -0.13173937797546387, + -0.709883987903595 + ], + "joints": [ + 0.0053669968619942665 + ] + }, + "final_grasp": { + "position": [ + -0.10917432606220245, + -0.020442070439457893, + 0.07418782263994217 + ], + "orientation": [ + 0.09633811563253403, + -0.6851485967636108, + -0.13173937797546387, + -0.709883987903595 + ], + "joints": [ + -0.003828017972409725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11645904183387756, + -0.023556053638458252, + 0.08450035750865936 + ], + "orientation": [ + 0.12136729806661606, + -0.7098567485809326, + 0.11135225743055344, + 0.6848167181015015 + ], + "joints": [ + 0.016113776713609695 + ] + }, + "fine_grasp": { + "position": [ + 0.1127454861998558, + -0.022283736616373062, + 0.08447320759296417 + ], + "orientation": [ + 0.1226942241191864, + -0.7093498706817627, + 0.11000519245862961, + 0.6853231191635132 + ], + "joints": [ + 0.0061037493869662285 + ] + }, + "final_grasp": { + "position": [ + 0.1127454861998558, + -0.022283736616373062, + 0.08447320759296417 + ], + "orientation": [ + 0.1226942241191864, + -0.7093498706817627, + 0.11000519245862961, + 0.6853231191635132 + ], + "joints": [ + -0.0039062779396772385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08569984883069992, + -0.07419662922620773, + 0.0057163904421031475 + ], + "orientation": [ + 0.23812487721443176, + -0.571249783039093, + 0.28538429737091064, + 0.7317964434623718 + ], + "joints": [ + 0.017160791903734207 + ] + }, + "fine_grasp": { + "position": [ + 0.0826672837138176, + -0.07159631699323654, + 0.005786888767033815 + ], + "orientation": [ + 0.23393581807613373, + -0.5753254294395447, + 0.28464680910110474, + 0.7302404046058655 + ], + "joints": [ + 0.007944879122078419 + ] + }, + "final_grasp": { + "position": [ + 0.0826672837138176, + -0.07159631699323654, + 0.005786888767033815 + ], + "orientation": [ + 0.23393581807613373, + -0.5753254294395447, + 0.28464680910110474, + 0.7302404046058655 + ], + "joints": [ + -0.0012710336595773697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1130995899438858, + -0.021476631984114647, + 0.07434838265180588 + ], + "orientation": [ + 0.09917595982551575, + -0.6852643489837646, + -0.12922435998916626, + -0.709843635559082 + ], + "joints": [ + 0.014503462240099907 + ] + }, + "fine_grasp": { + "position": [ + -0.10924521833658218, + -0.020220551639795303, + 0.07437281310558319 + ], + "orientation": [ + 0.09981086105108261, + -0.6851776838302612, + -0.12778931856155396, + -0.710098147392273 + ], + "joints": [ + 0.005726402625441551 + ] + }, + "final_grasp": { + "position": [ + -0.10924521833658218, + -0.020220551639795303, + 0.07437281310558319 + ], + "orientation": [ + 0.09981086105108261, + -0.6851776838302612, + -0.12778931856155396, + -0.710098147392273 + ], + "joints": [ + -0.0030506569892168045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017817936837673187, + 0.00810316763818264, + -0.1318880319595337 + ], + "orientation": [ + 0.8713396787643433, + 0.028380686417222023, + -0.07275476306676865, + -0.4844259023666382 + ], + "joints": [ + 0.01630309969186783 + ] + }, + "fine_grasp": { + "position": [ + 0.01739370822906494, + 0.0077829486690461636, + -0.12828846275806427 + ], + "orientation": [ + 0.8714531064033508, + 0.02947075106203556, + -0.07133062183856964, + -0.48436862230300903 + ], + "joints": [ + 0.005854219198226929 + ] + }, + "final_grasp": { + "position": [ + 0.01739370822906494, + 0.0077829486690461636, + -0.12828846275806427 + ], + "orientation": [ + 0.8714531064033508, + 0.02947075106203556, + -0.07133062183856964, + -0.48436862230300903 + ], + "joints": [ + -0.004594661295413971 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11789670586585999, + 0.005235790275037289, + 0.009724773466587067 + ], + "orientation": [ + 0.7731679081916809, + -0.03664860129356384, + 0.6328694820404053, + -0.01856350526213646 + ], + "joints": [ + 0.018196776509284973 + ] + }, + "fine_grasp": { + "position": [ + -0.11388182640075684, + 0.00509805278852582, + 0.00995428767055273 + ], + "orientation": [ + 0.7703379988670349, + -0.03470991179347038, + 0.6364156007766724, + -0.01870208978652954 + ], + "joints": [ + 0.009001761674880981 + ] + }, + "final_grasp": { + "position": [ + -0.11388182640075684, + 0.00509805278852582, + 0.00995428767055273 + ], + "orientation": [ + 0.7703379988670349, + -0.03470991179347038, + 0.6364156007766724, + -0.01870208978652954 + ], + "joints": [ + -0.00019325315952301025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013034073635935783, + 0.06639529019594193, + 0.25040358304977417 + ], + "orientation": [ + 0.1633443534374237, + 0.9662110805511475, + -0.176431342959404, + 0.09288076311349869 + ], + "joints": [ + 0.01424236036837101 + ] + }, + "fine_grasp": { + "position": [ + -0.012254801578819752, + 0.06526738405227661, + 0.24683226644992828 + ], + "orientation": [ + 0.16391350328922272, + 0.9662957787513733, + -0.1759042590856552, + 0.09199222177267075 + ], + "joints": [ + 0.004629390314221382 + ] + }, + "final_grasp": { + "position": [ + -0.012254801578819752, + 0.06526738405227661, + 0.24683226644992828 + ], + "orientation": [ + 0.16391350328922272, + 0.9662957787513733, + -0.1759042590856552, + 0.09199222177267075 + ], + "joints": [ + -0.0049835797399282455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028635382652282715, + 0.08980555832386017, + -0.10258771479129791 + ], + "orientation": [ + 0.4714334309101105, + 0.282993882894516, + 0.2316390573978424, + -0.8025012016296387 + ], + "joints": [ + 0.017143500968813896 + ] + }, + "fine_grasp": { + "position": [ + 0.028212038800120354, + 0.08699092268943787, + -0.09997595846652985 + ], + "orientation": [ + 0.47263088822364807, + 0.28099048137664795, + 0.23613567650318146, + -0.8011893033981323 + ], + "joints": [ + 0.0059423018246889114 + ] + }, + "final_grasp": { + "position": [ + 0.028212038800120354, + 0.08699092268943787, + -0.09997595846652985 + ], + "orientation": [ + 0.47263088822364807, + 0.28099048137664795, + 0.23613567650318146, + -0.8011893033981323 + ], + "joints": [ + -0.005258897319436073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05582962557673454, + -0.03322095051407814, + 0.18972134590148926 + ], + "orientation": [ + 0.34189268946647644, + -0.43217816948890686, + 0.8289108276367188, + 0.09611618518829346 + ], + "joints": [ + 0.016637656837701797 + ] + }, + "fine_grasp": { + "position": [ + -0.05342685058712959, + -0.03032139129936695, + 0.1886211484670639 + ], + "orientation": [ + 0.3418654799461365, + -0.4430291950702667, + 0.823797881603241, + 0.0906093642115593 + ], + "joints": [ + 0.007442642003297806 + ] + }, + "final_grasp": { + "position": [ + -0.05342685058712959, + -0.03032139129936695, + 0.1886211484670639 + ], + "orientation": [ + 0.3418654799461365, + -0.4430291950702667, + 0.823797881603241, + 0.0906093642115593 + ], + "joints": [ + -0.001752372831106186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05826559290289879, + -0.09075768291950226, + 0.10785945504903793 + ], + "orientation": [ + 0.2702549397945404, + -0.6187458038330078, + 0.4560514986515045, + 0.5797698497772217 + ], + "joints": [ + 0.01660980097949505 + ] + }, + "fine_grasp": { + "position": [ + 0.05643467605113983, + -0.08729331940412521, + 0.10743662714958191 + ], + "orientation": [ + 0.2709062993526459, + -0.6167374849319458, + 0.45603400468826294, + 0.5816164612770081 + ], + "joints": [ + 0.006181818433105946 + ] + }, + "final_grasp": { + "position": [ + 0.05643467605113983, + -0.08729331940412521, + 0.10743662714958191 + ], + "orientation": [ + 0.2709062993526459, + -0.6167374849319458, + 0.45603400468826294, + 0.5816164612770081 + ], + "joints": [ + -0.004246164113283157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014277319423854351, + -0.10018755495548248, + 0.03034781850874424 + ], + "orientation": [ + 0.509476363658905, + -0.48335570096969604, + -0.42631393671035767, + -0.570138156414032 + ], + "joints": [ + 0.01431916281580925 + ] + }, + "fine_grasp": { + "position": [ + -0.014024024829268456, + -0.09604605287313461, + 0.030029887333512306 + ], + "orientation": [ + 0.5124210715293884, + -0.4864318072795868, + -0.42310696840286255, + -0.5672645568847656 + ], + "joints": [ + 0.006357115693390369 + ] + }, + "final_grasp": { + "position": [ + -0.014024024829268456, + -0.09604605287313461, + 0.030029887333512306 + ], + "orientation": [ + 0.5124210715293884, + -0.4864318072795868, + -0.42310696840286255, + -0.5672645568847656 + ], + "joints": [ + -0.001604931429028511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057558268308639526, + -0.08984046429395676, + 0.10771562904119492 + ], + "orientation": [ + 0.27048319578170776, + -0.6194659471511841, + 0.4567486643791199, + 0.5783436894416809 + ], + "joints": [ + 0.01668957993388176 + ] + }, + "fine_grasp": { + "position": [ + 0.055723704397678375, + -0.08642101287841797, + 0.10729020088911057 + ], + "orientation": [ + 0.2708081007003784, + -0.6175428628921509, + 0.45655331015586853, + 0.5803988575935364 + ], + "joints": [ + 0.006261597387492657 + ] + }, + "final_grasp": { + "position": [ + 0.055723704397678375, + -0.08642101287841797, + 0.10729020088911057 + ], + "orientation": [ + 0.2708081007003784, + -0.6175428628921509, + 0.45655331015586853, + 0.5803988575935364 + ], + "joints": [ + -0.004166385158896446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055709388107061386, + -0.03329864889383316, + 0.18946979939937592 + ], + "orientation": [ + 0.3415353000164032, + -0.43579649925231934, + 0.8272750377655029, + 0.09513718634843826 + ], + "joints": [ + 0.01661214604973793 + ] + }, + "fine_grasp": { + "position": [ + -0.053265269845724106, + -0.030402109026908875, + 0.18852737545967102 + ], + "orientation": [ + 0.3415077030658722, + -0.44695088267326355, + 0.8219757080078125, + 0.08923697471618652 + ], + "joints": [ + 0.007417131215333939 + ] + }, + "final_grasp": { + "position": [ + -0.053265269845724106, + -0.030402109026908875, + 0.18852737545967102 + ], + "orientation": [ + 0.3415077030658722, + -0.44695088267326355, + 0.8219757080078125, + 0.08923697471618652 + ], + "joints": [ + -0.001777883619070053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10986009240150452, + 0.02694242261350155, + 0.07367769628763199 + ], + "orientation": [ + 0.6404395699501038, + -0.04111654311418533, + 0.7580845355987549, + -0.11599302291870117 + ], + "joints": [ + 0.014757521450519562 + ] + }, + "fine_grasp": { + "position": [ + -0.10611647367477417, + 0.02692851424217224, + 0.0740697979927063 + ], + "orientation": [ + 0.6368235945701599, + -0.05230366066098213, + 0.758998453617096, + -0.1250656396150589 + ], + "joints": [ + 0.006398417055606842 + ] + }, + "final_grasp": { + "position": [ + -0.10611647367477417, + 0.02692851424217224, + 0.0740697979927063 + ], + "orientation": [ + 0.6368235945701599, + -0.05230366066098213, + 0.758998453617096, + -0.1250656396150589 + ], + "joints": [ + -0.0019606873393058777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02858065441250801, + 0.08970803767442703, + -0.10229232907295227 + ], + "orientation": [ + 0.47200635075569153, + 0.2822812795639038, + 0.23023849725723267, + -0.8028184175491333 + ], + "joints": [ + 0.017351262271404266 + ] + }, + "fine_grasp": { + "position": [ + 0.028141194954514503, + 0.08684363216161728, + -0.09970729053020477 + ], + "orientation": [ + 0.4731307923793793, + 0.2805645167827606, + 0.23496969044208527, + -0.8013863563537598 + ], + "joints": [ + 0.006129165180027485 + ] + }, + "final_grasp": { + "position": [ + 0.028141194954514503, + 0.08684363216161728, + -0.09970729053020477 + ], + "orientation": [ + 0.4731307923793793, + 0.2805645167827606, + 0.23496969044208527, + -0.8013863563537598 + ], + "joints": [ + -0.005092931911349297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08312893658876419, + -0.03874694183468819, + 0.15508119761943817 + ], + "orientation": [ + 0.48997148871421814, + -0.32035472989082336, + -0.8029117584228516, + -0.1123986467719078 + ], + "joints": [ + 0.01528366282582283 + ] + }, + "fine_grasp": { + "position": [ + 0.07992256432771683, + -0.03641676902770996, + 0.15394681692123413 + ], + "orientation": [ + 0.4921070635318756, + -0.32347872853279114, + -0.8006020784378052, + -0.11058268696069717 + ], + "joints": [ + 0.0069245584309101105 + ] + }, + "final_grasp": { + "position": [ + 0.07992256432771683, + -0.03641676902770996, + 0.15394681692123413 + ], + "orientation": [ + 0.4921070635318756, + -0.32347872853279114, + -0.8006020784378052, + -0.11058268696069717 + ], + "joints": [ + -0.0014345459640026093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04710659012198448, + 0.07842932641506195, + -0.09721841663122177 + ], + "orientation": [ + 0.574394702911377, + 0.35346025228500366, + -0.1206967681646347, + 0.7284016013145447 + ], + "joints": [ + 0.01620827428996563 + ] + }, + "fine_grasp": { + "position": [ + -0.04567568004131317, + 0.07594523578882217, + -0.09468047320842743 + ], + "orientation": [ + 0.5746995806694031, + 0.3544212281703949, + -0.12222278863191605, + 0.7274390459060669 + ], + "joints": [ + 0.005780291743576527 + ] + }, + "final_grasp": { + "position": [ + -0.04567568004131317, + 0.07594523578882217, + -0.09468047320842743 + ], + "orientation": [ + 0.5746995806694031, + 0.3544212281703949, + -0.12222278863191605, + 0.7274390459060669 + ], + "joints": [ + -0.004647690802812576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046309709548950195, + 0.07716964930295944, + -0.0958934798836708 + ], + "orientation": [ + 0.5726516842842102, + 0.35348373651504517, + -0.12284070998430252, + 0.7294034361839294 + ], + "joints": [ + 0.016063034534454346 + ] + }, + "fine_grasp": { + "position": [ + -0.04472436383366585, + 0.07477028667926788, + -0.09329057484865189 + ], + "orientation": [ + 0.5726183652877808, + 0.35459592938423157, + -0.12276187539100647, + 0.7289028763771057 + ], + "joints": [ + 0.005635051988065243 + ] + }, + "final_grasp": { + "position": [ + -0.04472436383366585, + 0.07477028667926788, + -0.09329057484865189 + ], + "orientation": [ + 0.5726183652877808, + 0.35459592938423157, + -0.12276187539100647, + 0.7289028763771057 + ], + "joints": [ + -0.00479293055832386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017714455723762512, + 0.008030661381781101, + -0.13079693913459778 + ], + "orientation": [ + 0.8716094493865967, + 0.03023763932287693, + -0.07349788397550583, + -0.48371559381484985 + ], + "joints": [ + 0.015850137919187546 + ] + }, + "fine_grasp": { + "position": [ + 0.017475135624408722, + 0.007871048524975777, + -0.12709172070026398 + ], + "orientation": [ + 0.8717814683914185, + 0.029525572434067726, + -0.07152090221643448, + -0.4837457239627838 + ], + "joints": [ + 0.006216269917786121 + ] + }, + "final_grasp": { + "position": [ + 0.017475135624408722, + 0.007871048524975777, + -0.12709172070026398 + ], + "orientation": [ + 0.8717814683914185, + 0.029525572434067726, + -0.07152090221643448, + -0.4837457239627838 + ], + "joints": [ + -0.003417598083615303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05725432559847832, + -0.03457404300570488, + 0.1914161741733551 + ], + "orientation": [ + 0.3463840186595917, + -0.4350670576095581, + 0.8253006935119629, + 0.09804912656545639 + ], + "joints": [ + 0.016553789377212524 + ] + }, + "fine_grasp": { + "position": [ + -0.054814815521240234, + -0.03195277974009514, + 0.18973122537136078 + ], + "orientation": [ + 0.34935620427131653, + -0.44441476464271545, + 0.8196414709091187, + 0.09291789680719376 + ], + "joints": [ + 0.006940819323062897 + ] + }, + "final_grasp": { + "position": [ + -0.054814815521240234, + -0.03195277974009514, + 0.18973122537136078 + ], + "orientation": [ + 0.34935620427131653, + -0.44441476464271545, + 0.8196414709091187, + 0.09291789680719376 + ], + "joints": [ + -0.002672150731086731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007248883135616779, + -0.09725421667098999, + 0.17560309171676636 + ], + "orientation": [ + 0.3695564568042755, + -0.5366125702857971, + -0.6155591607093811, + -0.4433528780937195 + ], + "joints": [ + 0.01779552921652794 + ] + }, + "fine_grasp": { + "position": [ + -0.006480504292994738, + -0.09378722310066223, + 0.1741732656955719 + ], + "orientation": [ + 0.35839542746543884, + -0.541568398475647, + -0.6139804124832153, + -0.44864752888679504 + ], + "joints": [ + 0.005361362360417843 + ] + }, + "final_grasp": { + "position": [ + -0.006480504292994738, + -0.09378722310066223, + 0.1741732656955719 + ], + "orientation": [ + 0.35839542746543884, + -0.541568398475647, + -0.6139804124832153, + -0.44864752888679504 + ], + "joints": [ + -0.007072804495692253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1049567312002182, + 0.02595367096364498, + 0.07382097840309143 + ], + "orientation": [ + 0.042707186192274094, + 0.7687637805938721, + -0.043045613914728165, + 0.6366516947746277 + ], + "joints": [ + 0.016322061419487 + ] + }, + "fine_grasp": { + "position": [ + -0.10318834334611893, + 0.026121491566300392, + 0.07544416189193726 + ], + "orientation": [ + 0.0407392792403698, + 0.7743642330169678, + -0.05071978643536568, + 0.6293869614601135 + ], + "joints": [ + 0.007127046585083008 + ] + }, + "final_grasp": { + "position": [ + -0.10318834334611893, + 0.026121491566300392, + 0.07544416189193726 + ], + "orientation": [ + 0.0407392792403698, + 0.7743642330169678, + -0.05071978643536568, + 0.6293869614601135 + ], + "joints": [ + -0.002067968249320984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05686849355697632, + 0.11776996403932571, + 0.0756320059299469 + ], + "orientation": [ + 0.403280109167099, + 0.6381340622901917, + -0.3137703537940979, + 0.5759323835372925 + ], + "joints": [ + 0.014491425827145576 + ] + }, + "fine_grasp": { + "position": [ + -0.05480896681547165, + 0.11415649950504303, + 0.07584283500909805 + ], + "orientation": [ + 0.40544387698173523, + 0.6386887431144714, + -0.3118065595626831, + 0.5748639106750488 + ], + "joints": [ + 0.006132321432232857 + ] + }, + "final_grasp": { + "position": [ + -0.05480896681547165, + 0.11415649950504303, + 0.07584283500909805 + ], + "orientation": [ + 0.40544387698173523, + 0.6386887431144714, + -0.3118065595626831, + 0.5748639106750488 + ], + "joints": [ + -0.002226782962679863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049146924167871475, + 0.12184271961450577, + 0.09521045535802841 + ], + "orientation": [ + 0.37878960371017456, + 0.6624042987823486, + -0.37666136026382446, + 0.5252287983894348 + ], + "joints": [ + 0.015147864818572998 + ] + }, + "fine_grasp": { + "position": [ + -0.047366540879011154, + 0.11819347739219666, + 0.09524859488010406 + ], + "orientation": [ + 0.37972956895828247, + 0.6609524488449097, + -0.3756350874900818, + 0.5271106958389282 + ], + "joints": [ + 0.006370805203914642 + ] + }, + "final_grasp": { + "position": [ + -0.047366540879011154, + 0.11819347739219666, + 0.09524859488010406 + ], + "orientation": [ + 0.37972956895828247, + 0.6609524488449097, + -0.3756350874900818, + 0.5271106958389282 + ], + "joints": [ + -0.0024062544107437134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057476673275232315, + 0.11275901645421982, + 0.05949078127741814 + ], + "orientation": [ + 0.6317291855812073, + 0.30526527762413025, + 0.5887409448623657, + -0.4013918340206146 + ], + "joints": [ + 0.014442907646298409 + ] + }, + "fine_grasp": { + "position": [ + -0.055416639894247055, + 0.10912775993347168, + 0.05993778631091118 + ], + "orientation": [ + 0.6303547024726868, + 0.3027644455432892, + 0.5901049971580505, + -0.40343859791755676 + ], + "joints": [ + 0.006083803251385689 + ] + }, + "final_grasp": { + "position": [ + -0.055416639894247055, + 0.10912775993347168, + 0.05993778631091118 + ], + "orientation": [ + 0.6303547024726868, + 0.3027644455432892, + 0.5901049971580505, + -0.40343859791755676 + ], + "joints": [ + -0.002275301143527031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0918487012386322, + 0.08657032251358032, + 0.1311616450548172 + ], + "orientation": [ + 0.19247424602508545, + 0.7785524129867554, + -0.24363745748996735, + 0.5453904867172241 + ], + "joints": [ + 0.016350287944078445 + ] + }, + "fine_grasp": { + "position": [ + -0.08870042860507965, + 0.08436448127031326, + 0.13057903945446014 + ], + "orientation": [ + 0.19172333180904388, + 0.7759109139442444, + -0.24321146309375763, + 0.5495931506156921 + ], + "joints": [ + 0.006319362670183182 + ] + }, + "final_grasp": { + "position": [ + -0.08870042860507965, + 0.08436448127031326, + 0.13057903945446014 + ], + "orientation": [ + 0.19172333180904388, + 0.7759109139442444, + -0.24321146309375763, + 0.5495931506156921 + ], + "joints": [ + -0.003711562603712082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05627789348363876, + 0.11690568923950195, + 0.07572741061449051 + ], + "orientation": [ + 0.4038466513156891, + 0.6384693384170532, + -0.31430768966674805, + 0.5748700499534607 + ], + "joints": [ + 0.014908358454704285 + ] + }, + "fine_grasp": { + "position": [ + -0.05421782657504082, + 0.11329348385334015, + 0.07595451921224594 + ], + "orientation": [ + 0.4066717028617859, + 0.6397307515144348, + -0.3114458918571472, + 0.5730307102203369 + ], + "joints": [ + 0.006549254059791565 + ] + }, + "final_grasp": { + "position": [ + -0.05421782657504082, + 0.11329348385334015, + 0.07595451921224594 + ], + "orientation": [ + 0.4066717028617859, + 0.6397307515144348, + -0.3114458918571472, + 0.5730307102203369 + ], + "joints": [ + -0.0018098503351211548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09909336268901825, + 0.08133716136217117, + 0.08648280054330826 + ], + "orientation": [ + 0.7465245127677917, + 0.17498137056827545, + -0.6076112985610962, + 0.20710209012031555 + ], + "joints": [ + 0.015712087973952293 + ] + }, + "fine_grasp": { + "position": [ + 0.0956990122795105, + 0.07917695492506027, + 0.08697463572025299 + ], + "orientation": [ + 0.7454138994216919, + 0.17697720229625702, + -0.6087362170219421, + 0.20610101521015167 + ], + "joints": [ + 0.006935028359293938 + ] + }, + "final_grasp": { + "position": [ + 0.0956990122795105, + 0.07917695492506027, + 0.08697463572025299 + ], + "orientation": [ + 0.7454138994216919, + 0.17697720229625702, + -0.6087362170219421, + 0.20610101521015167 + ], + "joints": [ + -0.001842031255364418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055622398853302, + 0.11093199253082275, + 0.060016799718141556 + ], + "orientation": [ + 0.6282863020896912, + 0.3065519630908966, + 0.5903993248939514, + -0.40337440371513367 + ], + "joints": [ + 0.015274632722139359 + ] + }, + "fine_grasp": { + "position": [ + -0.05375903472304344, + 0.10804009437561035, + 0.06030978634953499 + ], + "orientation": [ + 0.62599778175354, + 0.30407172441482544, + 0.5916278958320618, + -0.4069932997226715 + ], + "joints": [ + 0.006497573107481003 + ] + }, + "final_grasp": { + "position": [ + -0.05375903472304344, + 0.10804009437561035, + 0.06030978634953499 + ], + "orientation": [ + 0.62599778175354, + 0.30407172441482544, + 0.5916278958320618, + -0.4069932997226715 + ], + "joints": [ + -0.002279486507177353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09843235462903976, + 0.10434630513191223, + 0.11107108741998672 + ], + "orientation": [ + 0.6273385286331177, + 0.16259220242500305, + 0.690433144569397, + -0.32142218947410583 + ], + "joints": [ + 0.01620803028345108 + ] + }, + "fine_grasp": { + "position": [ + -0.09543424844741821, + 0.10180750489234924, + 0.11109842360019684 + ], + "orientation": [ + 0.6271977424621582, + 0.16193008422851562, + 0.6904116868972778, + -0.3220767676830292 + ], + "joints": [ + 0.006992117501795292 + ] + }, + "final_grasp": { + "position": [ + -0.09543424844741821, + 0.10180750489234924, + 0.11109842360019684 + ], + "orientation": [ + 0.6271977424621582, + 0.16193008422851562, + 0.6904116868972778, + -0.3220767676830292 + ], + "joints": [ + -0.0022237952798604965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10831690579652786, + 0.03473713621497154, + 0.07035555690526962 + ], + "orientation": [ + 0.09500893205404282, + 0.7170188426971436, + 0.03019600361585617, + -0.689888060092926 + ], + "joints": [ + 0.014804305508732796 + ] + }, + "fine_grasp": { + "position": [ + 0.10469140857458115, + 0.034191057085990906, + 0.07050426304340363 + ], + "orientation": [ + 0.0937243327498436, + 0.7171578407287598, + 0.03327961266040802, + -0.6897774338722229 + ], + "joints": [ + 0.005609290674328804 + ] + }, + "final_grasp": { + "position": [ + 0.10469140857458115, + 0.034191057085990906, + 0.07050426304340363 + ], + "orientation": [ + 0.0937243327498436, + 0.7171578407287598, + 0.03327961266040802, + -0.6897774338722229 + ], + "joints": [ + -0.0035857241600751877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10613994300365448, + -0.032143428921699524, + 0.026888122782111168 + ], + "orientation": [ + 0.11524824053049088, + -0.6328256726264954, + 0.15284378826618195, + 0.7502588629722595 + ], + "joints": [ + 0.01661183312535286 + ] + }, + "fine_grasp": { + "position": [ + 0.10225256532430649, + -0.0307614728808403, + 0.02675682120025158 + ], + "orientation": [ + 0.11516544967889786, + -0.6356355547904968, + 0.15198485553264618, + 0.7480675578117371 + ], + "joints": [ + 0.007834773510694504 + ] + }, + "final_grasp": { + "position": [ + 0.10225256532430649, + -0.0307614728808403, + 0.02675682120025158 + ], + "orientation": [ + 0.11516544967889786, + -0.6356355547904968, + 0.15198485553264618, + 0.7480675578117371 + ], + "joints": [ + -0.0009422861039638519 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0182338897138834, + -0.11358396708965302, + 0.05838155373930931 + ], + "orientation": [ + 0.4182591736316681, + -0.45574772357940674, + 0.6492140889167786, + 0.4425770044326782 + ], + "joints": [ + 0.017234675586223602 + ] + }, + "fine_grasp": { + "position": [ + -0.017626449465751648, + -0.1097983792424202, + 0.05751597881317139 + ], + "orientation": [ + 0.41851499676704407, + -0.45337459444999695, + 0.6495270133018494, + 0.4443100392818451 + ], + "joints": [ + 0.007600807584822178 + ] + }, + "final_grasp": { + "position": [ + -0.017626449465751648, + -0.1097983792424202, + 0.05751597881317139 + ], + "orientation": [ + 0.41851499676704407, + -0.45337459444999695, + 0.6495270133018494, + 0.4443100392818451 + ], + "joints": [ + -0.0020330604165792465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048160385340452194, + 0.050434794276952744, + -0.10703727602958679 + ], + "orientation": [ + 0.7839170098304749, + 0.05720168352127075, + -0.3105500340461731, + 0.5345659852027893 + ], + "joints": [ + 0.015996694564819336 + ] + }, + "fine_grasp": { + "position": [ + 0.04697171226143837, + 0.04936973750591278, + -0.1035095825791359 + ], + "orientation": [ + 0.78529953956604, + 0.05464658513665199, + -0.30544719099998474, + 0.5357428789138794 + ], + "joints": [ + 0.005965769290924072 + ] + }, + "final_grasp": { + "position": [ + 0.04697171226143837, + 0.04936973750591278, + -0.1035095825791359 + ], + "orientation": [ + 0.78529953956604, + 0.05464658513665199, + -0.30544719099998474, + 0.5357428789138794 + ], + "joints": [ + -0.004065155982971191 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04099050164222717, + 0.04303741455078125, + -0.1177658885717392 + ], + "orientation": [ + 0.623462438583374, + 0.24055428802967072, + -0.019427696242928505, + 0.7436737418174744 + ], + "joints": [ + 0.01592068001627922 + ] + }, + "fine_grasp": { + "position": [ + -0.03980132192373276, + 0.0420321561396122, + -0.1142093613743782 + ], + "orientation": [ + 0.6238545775413513, + 0.23896372318267822, + -0.01786438375711441, + 0.743897020816803 + ], + "joints": [ + 0.005889754742383957 + ] + }, + "final_grasp": { + "position": [ + -0.03980132192373276, + 0.0420321561396122, + -0.1142093613743782 + ], + "orientation": [ + 0.6238545775413513, + 0.23896372318267822, + -0.01786438375711441, + 0.743897020816803 + ], + "joints": [ + -0.004141170531511307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03437257930636406, + 0.121160589158535, + 0.0143898231908679 + ], + "orientation": [ + 0.593178927898407, + 0.3073166012763977, + 0.5176184773445129, + -0.5345711708068848 + ], + "joints": [ + 0.01598522439599037 + ] + }, + "fine_grasp": { + "position": [ + -0.033125706017017365, + 0.11728367209434509, + 0.015073126181960106 + ], + "orientation": [ + 0.5905495285987854, + 0.3057245910167694, + 0.5209329128265381, + -0.5351753830909729 + ], + "joints": [ + 0.007626120001077652 + ] + }, + "final_grasp": { + "position": [ + -0.033125706017017365, + 0.11728367209434509, + 0.015073126181960106 + ], + "orientation": [ + 0.5905495285987854, + 0.3057245910167694, + 0.5209329128265381, + -0.5351753830909729 + ], + "joints": [ + -0.0007329843938350677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0615844689309597, + 0.10179057717323303, + 0.04606211930513382 + ], + "orientation": [ + 0.4199412763118744, + 0.5803496837615967, + -0.23853689432144165, + 0.6557008624076843 + ], + "joints": [ + 0.01614704355597496 + ] + }, + "fine_grasp": { + "position": [ + -0.06040506064891815, + 0.0999889075756073, + 0.045584116131067276 + ], + "orientation": [ + 0.425340861082077, + 0.5796414613723755, + -0.23466767370700836, + 0.6542415022850037 + ], + "joints": [ + 0.006952028721570969 + ] + }, + "final_grasp": { + "position": [ + -0.06040506064891815, + 0.0999889075756073, + 0.045584116131067276 + ], + "orientation": [ + 0.425340861082077, + 0.5796414613723755, + -0.23466767370700836, + 0.6542415022850037 + ], + "joints": [ + -0.002242986112833023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04364943876862526, + -0.08118242025375366, + 0.10954760760068893 + ], + "orientation": [ + 0.48871734738349915, + -0.5096166133880615, + 0.657827615737915, + 0.26212412118911743 + ], + "joints": [ + 0.015054075978696346 + ] + }, + "fine_grasp": { + "position": [ + -0.042058106511831284, + -0.07745978981256485, + 0.10878849029541016 + ], + "orientation": [ + 0.49250274896621704, + -0.5201607346534729, + 0.6497950553894043, + 0.2542444169521332 + ], + "joints": [ + 0.006277016364037991 + ] + }, + "final_grasp": { + "position": [ + -0.042058106511831284, + -0.07745978981256485, + 0.10878849029541016 + ], + "orientation": [ + 0.49250274896621704, + -0.5201607346534729, + 0.6497950553894043, + 0.2542444169521332 + ], + "joints": [ + -0.002500043250620365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016555720940232277, + -0.11290293186903, + 0.02724340744316578 + ], + "orientation": [ + 0.4137929379940033, + -0.4636323153972626, + 0.5075271725654602, + 0.596855640411377 + ], + "joints": [ + 0.017562422901391983 + ] + }, + "fine_grasp": { + "position": [ + 0.015966976061463356, + -0.10905355960130692, + 0.026908285915851593 + ], + "orientation": [ + 0.4109114110469818, + -0.46459218859672546, + 0.5108563303947449, + 0.5952577590942383 + ], + "joints": [ + 0.006737383082509041 + ] + }, + "final_grasp": { + "position": [ + 0.015966976061463356, + -0.10905355960130692, + 0.026908285915851593 + ], + "orientation": [ + 0.4109114110469818, + -0.46459218859672546, + 0.5108563303947449, + 0.5952577590942383 + ], + "joints": [ + -0.004087656736373901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0988323837518692, + 0.0812109187245369, + 0.08625750988721848 + ], + "orientation": [ + 0.7439935803413391, + 0.17566178739070892, + -0.6104257702827454, + 0.20735664665699005 + ], + "joints": [ + 0.015685079619288445 + ] + }, + "fine_grasp": { + "position": [ + 0.09543327987194061, + 0.0790426954627037, + 0.08674532175064087 + ], + "orientation": [ + 0.7430052161216736, + 0.17776240408420563, + -0.6113383769989014, + 0.20641997456550598 + ], + "joints": [ + 0.006908020004630089 + ] + }, + "final_grasp": { + "position": [ + 0.09543327987194061, + 0.0790426954627037, + 0.08674532175064087 + ], + "orientation": [ + 0.7430052161216736, + 0.17776240408420563, + -0.6113383769989014, + 0.20641997456550598 + ], + "joints": [ + -0.001869039610028267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05030861869454384, + 0.11953119188547134, + 0.10706272721290588 + ], + "orientation": [ + 0.3478555381298065, + 0.6919472217559814, + -0.3910681903362274, + 0.497263640165329 + ], + "joints": [ + 0.015399854630231857 + ] + }, + "fine_grasp": { + "position": [ + -0.04851663112640381, + 0.115973100066185, + 0.10682009905576706 + ], + "orientation": [ + 0.3490186035633087, + 0.6900158524513245, + -0.3899625837802887, + 0.49999335408210754 + ], + "joints": [ + 0.006204839795827866 + ] + }, + "final_grasp": { + "position": [ + -0.04851663112640381, + 0.115973100066185, + 0.10682009905576706 + ], + "orientation": [ + 0.3490186035633087, + 0.6900158524513245, + -0.3899625837802887, + 0.49999335408210754 + ], + "joints": [ + -0.002990175038576126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03406788036227226, + 0.12020717561244965, + 0.01422104425728321 + ], + "orientation": [ + 0.5953349471092224, + 0.3089157044887543, + 0.5159002542495728, + -0.5329111814498901 + ], + "joints": [ + 0.015582326799631119 + ] + }, + "fine_grasp": { + "position": [ + -0.03281443566083908, + 0.11629615724086761, + 0.01490198913961649 + ], + "orientation": [ + 0.5924720168113708, + 0.3068634569644928, + 0.5192295908927917, + -0.5340527892112732 + ], + "joints": [ + 0.007223222404718399 + ] + }, + "final_grasp": { + "position": [ + -0.03281443566083908, + 0.11629615724086761, + 0.01490198913961649 + ], + "orientation": [ + 0.5924720168113708, + 0.3068634569644928, + 0.5192295908927917, + -0.5340527892112732 + ], + "joints": [ + -0.0011358819901943207 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04085860401391983, + 0.04298785328865051, + -0.11744748800992966 + ], + "orientation": [ + 0.6233282089233398, + 0.23919948935508728, + -0.01959771104156971, + 0.744218647480011 + ], + "joints": [ + 0.016165101900696754 + ] + }, + "fine_grasp": { + "position": [ + -0.039580684155225754, + 0.041978538036346436, + -0.11389327794313431 + ], + "orientation": [ + 0.6235414743423462, + 0.23798151314258575, + -0.01757051795721054, + 0.744481086730957 + ], + "joints": [ + 0.006134176626801491 + ] + }, + "final_grasp": { + "position": [ + -0.039580684155225754, + 0.041978538036346436, + -0.11389327794313431 + ], + "orientation": [ + 0.6235414743423462, + 0.23798151314258575, + -0.01757051795721054, + 0.744481086730957 + ], + "joints": [ + -0.003896748647093773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07172681391239166, + -0.07686664909124374, + 0.08197770267724991 + ], + "orientation": [ + 0.32192760705947876, + -0.643677294254303, + 0.3012491464614868, + 0.6255327463150024 + ], + "joints": [ + 0.01541437953710556 + ] + }, + "fine_grasp": { + "position": [ + 0.0692514032125473, + -0.07364710420370102, + 0.08189225196838379 + ], + "orientation": [ + 0.3239922523498535, + -0.644302248954773, + 0.29910585284233093, + 0.6248515248298645 + ], + "joints": [ + 0.006637319922447205 + ] + }, + "final_grasp": { + "position": [ + 0.0692514032125473, + -0.07364710420370102, + 0.08189225196838379 + ], + "orientation": [ + 0.3239922523498535, + -0.644302248954773, + 0.29910585284233093, + 0.6248515248298645 + ], + "joints": [ + -0.002139739692211151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048708464950323105, + 0.12110984325408936, + 0.09589415788650513 + ], + "orientation": [ + 0.3838033974170685, + 0.6604105234146118, + -0.3710716664791107, + 0.5280705690383911 + ], + "joints": [ + 0.014936607331037521 + ] + }, + "fine_grasp": { + "position": [ + -0.04686785489320755, + 0.11737608909606934, + 0.09594151377677917 + ], + "orientation": [ + 0.3848191797733307, + 0.659609854221344, + -0.3699846863746643, + 0.5290939211845398 + ], + "joints": [ + 0.006577502936124802 + ] + }, + "final_grasp": { + "position": [ + -0.04686785489320755, + 0.11737608909606934, + 0.09594151377677917 + ], + "orientation": [ + 0.3848191797733307, + 0.659609854221344, + -0.3699846863746643, + 0.5290939211845398 + ], + "joints": [ + -0.001781601458787918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0389074869453907, + 0.13454300165176392, + 0.12998129427433014 + ], + "orientation": [ + 0.49312734603881836, + 0.3787958323955536, + -0.6555936932563782, + 0.4284110367298126 + ], + "joints": [ + 0.01641116477549076 + ] + }, + "fine_grasp": { + "position": [ + 0.037598274648189545, + 0.13083261251449585, + 0.1296185851097107 + ], + "orientation": [ + 0.4926988482475281, + 0.37741005420684814, + -0.65567547082901, + 0.4299990236759186 + ], + "joints": [ + 0.006798194721341133 + ] + }, + "final_grasp": { + "position": [ + 0.037598274648189545, + 0.13083261251449585, + 0.1296185851097107 + ], + "orientation": [ + 0.4926988482475281, + 0.37741005420684814, + -0.65567547082901, + 0.4299990236759186 + ], + "joints": [ + -0.0028147753328084946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.114190012216568, + -0.000615557306446135, + 0.043286364525556564 + ], + "orientation": [ + 0.03382968530058861, + -0.710670530796051, + 0.03106539323925972, + 0.7020241022109985 + ], + "joints": [ + 0.017207808792591095 + ] + }, + "fine_grasp": { + "position": [ + 0.11004751920700073, + -0.00032655676477588713, + 0.04292786121368408 + ], + "orientation": [ + 0.039978526532649994, + -0.713299036026001, + 0.024458250030875206, + 0.6992910504341125 + ], + "joints": [ + 0.00924576073884964 + ] + }, + "final_grasp": { + "position": [ + 0.11004751920700073, + -0.00032655676477588713, + 0.04292786121368408 + ], + "orientation": [ + 0.039978526532649994, + -0.713299036026001, + 0.024458250030875206, + 0.6992910504341125 + ], + "joints": [ + 0.0012837126851081848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04895178601145744, + 0.12134229391813278, + 0.09563490748405457 + ], + "orientation": [ + 0.3827955722808838, + 0.6603567004203796, + -0.3721996247768402, + 0.5280758142471313 + ], + "joints": [ + 0.014778297394514084 + ] + }, + "fine_grasp": { + "position": [ + -0.0471235029399395, + 0.1176401823759079, + 0.09568967670202255 + ], + "orientation": [ + 0.3837031424045563, + 0.6595324873924255, + -0.37107300758361816, + 0.5292388796806335 + ], + "joints": [ + 0.006419192999601364 + ] + }, + "final_grasp": { + "position": [ + -0.0471235029399395, + 0.1176401823759079, + 0.09568967670202255 + ], + "orientation": [ + 0.3837031424045563, + 0.6595324873924255, + -0.37107300758361816, + 0.5292388796806335 + ], + "joints": [ + -0.0019399113953113556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04834766685962677, + 0.12039098143577576, + 0.09526363760232925 + ], + "orientation": [ + 0.3798924684524536, + 0.66243976354599, + -0.37498295307159424, + 0.52558833360672 + ], + "joints": [ + 0.014912374317646027 + ] + }, + "fine_grasp": { + "position": [ + -0.046533238142728806, + 0.11664433032274246, + 0.09532728046178818 + ], + "orientation": [ + 0.38075724244117737, + 0.6613954305648804, + -0.3744977116584778, + 0.5266227126121521 + ], + "joints": [ + 0.006553269922733307 + ] + }, + "final_grasp": { + "position": [ + -0.046533238142728806, + 0.11664433032274246, + 0.09532728046178818 + ], + "orientation": [ + 0.38075724244117737, + 0.6613954305648804, + -0.3744977116584778, + 0.5266227126121521 + ], + "joints": [ + -0.0018058344721794128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05514726787805557, + 0.10984835028648376, + 0.060380250215530396 + ], + "orientation": [ + 0.6313258409500122, + 0.30348047614097595, + 0.5875142216682434, + -0.40515977144241333 + ], + "joints": [ + 0.015677811577916145 + ] + }, + "fine_grasp": { + "position": [ + -0.0536111481487751, + 0.10753714293241501, + 0.06055224686861038 + ], + "orientation": [ + 0.6304185390472412, + 0.30159372091293335, + 0.5882088541984558, + -0.406969279050827 + ], + "joints": [ + 0.006482796743512154 + ] + }, + "final_grasp": { + "position": [ + -0.0536111481487751, + 0.10753714293241501, + 0.06055224686861038 + ], + "orientation": [ + 0.6304185390472412, + 0.30159372091293335, + 0.5882088541984558, + -0.406969279050827 + ], + "joints": [ + -0.002712218090891838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10214225947856903, + -0.02673526294529438, + 0.10652632266283035 + ], + "orientation": [ + 0.09552887827157974, + -0.7698152661323547, + 0.18697544932365417, + 0.6027426719665527 + ], + "joints": [ + 0.014736630022525787 + ] + }, + "fine_grasp": { + "position": [ + 0.09834761917591095, + -0.025148622691631317, + 0.106160968542099 + ], + "orientation": [ + 0.09748344868421555, + -0.769812285900116, + 0.18545208871364594, + 0.602904200553894 + ], + "joints": [ + 0.006377525627613068 + ] + }, + "final_grasp": { + "position": [ + 0.09834761917591095, + -0.025148622691631317, + 0.106160968542099 + ], + "orientation": [ + 0.09748344868421555, + -0.769812285900116, + 0.18545208871364594, + 0.602904200553894 + ], + "joints": [ + -0.001981578767299652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04227535054087639, + -0.09171933680772781, + 0.08147411793470383 + ], + "orientation": [ + 0.42119550704956055, + -0.6106361150741577, + -0.3776014447212219, + -0.5541976094245911 + ], + "joints": [ + 0.0146434111520648 + ] + }, + "fine_grasp": { + "position": [ + -0.04081207141280174, + -0.087826669216156, + 0.08115468919277191 + ], + "orientation": [ + 0.4242369830608368, + -0.6126415729522705, + -0.37477850914001465, + -0.5515745282173157 + ], + "joints": [ + 0.0062843067571520805 + ] + }, + "final_grasp": { + "position": [ + -0.04081207141280174, + -0.087826669216156, + 0.08115468919277191 + ], + "orientation": [ + 0.4242369830608368, + -0.6126415729522705, + -0.37477850914001465, + -0.5515745282173157 + ], + "joints": [ + -0.002074797637760639 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031294964253902435, + -0.09369982779026031, + 0.0913357213139534 + ], + "orientation": [ + 0.3784307837486267, + -0.720088005065918, + 0.4169791042804718, + 0.40545251965522766 + ], + "joints": [ + 0.016919609159231186 + ] + }, + "fine_grasp": { + "position": [ + 0.03029402531683445, + -0.09001525491476059, + 0.08993435651063919 + ], + "orientation": [ + 0.3849693834781647, + -0.7244127988815308, + 0.40945109724998474, + 0.3992174565792084 + ], + "joints": [ + 0.008121650665998459 + ] + }, + "final_grasp": { + "position": [ + 0.03029402531683445, + -0.09001525491476059, + 0.08993435651063919 + ], + "orientation": [ + 0.3849693834781647, + -0.7244127988815308, + 0.40945109724998474, + 0.3992174565792084 + ], + "joints": [ + -0.0006763078272342682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016834236681461334, + -0.11164987832307816, + 0.02706608548760414 + ], + "orientation": [ + 0.4144100844860077, + -0.46624377369880676, + 0.5053013563156128, + 0.5962814092636108 + ], + "joints": [ + 0.017189452424645424 + ] + }, + "fine_grasp": { + "position": [ + 0.01626085489988327, + -0.10778862237930298, + 0.026734555140137672 + ], + "orientation": [ + 0.411565363407135, + -0.46682029962539673, + 0.5088356733322144, + 0.5947931408882141 + ], + "joints": [ + 0.006364412605762482 + ] + }, + "final_grasp": { + "position": [ + 0.01626085489988327, + -0.10778862237930298, + 0.026734555140137672 + ], + "orientation": [ + 0.411565363407135, + -0.46682029962539673, + 0.5088356733322144, + 0.5947931408882141 + ], + "joints": [ + -0.0044606272131204605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02991550602018833, + -0.019386708736419678, + -0.11433260887861252 + ], + "orientation": [ + 0.9824513792991638, + -0.1123242899775505, + 0.12139265239238739, + -0.08623512834310532 + ], + "joints": [ + 0.018546458333730698 + ] + }, + "fine_grasp": { + "position": [ + -0.028783950954675674, + -0.018762854859232903, + -0.1111765056848526 + ], + "orientation": [ + 0.9824467897415161, + -0.11263832449913025, + 0.12121231108903885, + -0.08613037317991257 + ], + "joints": [ + 0.009351443499326706 + ] + }, + "final_grasp": { + "position": [ + -0.028783950954675674, + -0.018762854859232903, + -0.1111765056848526 + ], + "orientation": [ + 0.9824467897415161, + -0.11263832449913025, + 0.12121231108903885, + -0.08613037317991257 + ], + "joints": [ + 0.00015642866492271423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10090794414281845, + 0.0862683653831482, + 0.10949300974607468 + ], + "orientation": [ + 0.1990245282649994, + 0.7124133110046387, + -0.21012121438980103, + 0.6393007636070251 + ], + "joints": [ + 0.01651701331138611 + ] + }, + "fine_grasp": { + "position": [ + -0.09765175729990005, + 0.08414021879434586, + 0.10941843688488007 + ], + "orientation": [ + 0.19830039143562317, + 0.7109477519989014, + -0.21042348444461823, + 0.6410556435585022 + ], + "joints": [ + 0.006486088037490845 + ] + }, + "final_grasp": { + "position": [ + -0.09765175729990005, + 0.08414021879434586, + 0.10941843688488007 + ], + "orientation": [ + 0.19830039143562317, + 0.7109477519989014, + -0.21042348444461823, + 0.6410556435585022 + ], + "joints": [ + -0.003544837236404419 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031316544860601425, + -0.09305360168218613, + 0.09100040793418884 + ], + "orientation": [ + 0.37229299545288086, + -0.7228276133537292, + 0.4203823506832123, + 0.4027369022369385 + ], + "joints": [ + 0.016555024310946465 + ] + }, + "fine_grasp": { + "position": [ + 0.030301332473754883, + -0.08938394486904144, + 0.08956921100616455 + ], + "orientation": [ + 0.37869778275489807, + -0.7273164391517639, + 0.4126690626144409, + 0.396614670753479 + ], + "joints": [ + 0.0077779642306268215 + ] + }, + "final_grasp": { + "position": [ + 0.030301332473754883, + -0.08938394486904144, + 0.08956921100616455 + ], + "orientation": [ + 0.37869778275489807, + -0.7273164391517639, + 0.4126690626144409, + 0.396614670753479 + ], + "joints": [ + -0.0009990958496928215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10194440186023712, + -0.02646961808204651, + 0.10656609386205673 + ], + "orientation": [ + 0.09571333229541779, + -0.7713000178337097, + 0.18544398248195648, + 0.6012868285179138 + ], + "joints": [ + 0.01467942539602518 + ] + }, + "fine_grasp": { + "position": [ + 0.09815644472837448, + -0.02486448362469673, + 0.10621675848960876 + ], + "orientation": [ + 0.09806817024946213, + -0.7716179490089417, + 0.18319761753082275, + 0.6011879444122314 + ], + "joints": [ + 0.006320321001112461 + ] + }, + "final_grasp": { + "position": [ + 0.09815644472837448, + -0.02486448362469673, + 0.10621675848960876 + ], + "orientation": [ + 0.09806817024946213, + -0.7716179490089417, + 0.18319761753082275, + 0.6011879444122314 + ], + "joints": [ + -0.0020387833938002586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11077339202165604, + -0.039492588490247726, + 0.005669785663485527 + ], + "orientation": [ + 0.7391447424888611, + -0.20024621486663818, + -0.6389446258544922, + -0.07291319221258163 + ], + "joints": [ + 0.018711265176534653 + ] + }, + "fine_grasp": { + "position": [ + 0.10716991871595383, + -0.03802415728569031, + 0.0058611491695046425 + ], + "orientation": [ + 0.7383936047554016, + -0.2010337859392166, + -0.6397597193717957, + -0.07119005918502808 + ], + "joints": [ + 0.009077396243810654 + ] + }, + "final_grasp": { + "position": [ + 0.10716991871595383, + -0.03802415728569031, + 0.0058611491695046425 + ], + "orientation": [ + 0.7383936047554016, + -0.2010337859392166, + -0.6397597193717957, + -0.07119005918502808 + ], + "joints": [ + -0.0005564726889133453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09174191951751709, + 0.07091454416513443, + 0.08076440542936325 + ], + "orientation": [ + 0.26246538758277893, + 0.7540815472602844, + 0.10092607885599136, + -0.5935375690460205 + ], + "joints": [ + 0.015426849015057087 + ] + }, + "fine_grasp": { + "position": [ + 0.0893605649471283, + 0.06976711750030518, + 0.08184198290109634 + ], + "orientation": [ + 0.2705839276313782, + 0.7585992813110352, + 0.09005530923604965, + -0.5858340859413147 + ], + "joints": [ + 0.006649789400398731 + ] + }, + "final_grasp": { + "position": [ + 0.0893605649471283, + 0.06976711750030518, + 0.08184198290109634 + ], + "orientation": [ + 0.2705839276313782, + 0.7585992813110352, + 0.09005530923604965, + -0.5858340859413147 + ], + "joints": [ + -0.0021272702142596245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11095722019672394, + 0.009506912901997566, + 0.10699111968278885 + ], + "orientation": [ + 0.003535875119268894, + -0.7973564267158508, + 0.04147719964385033, + 0.602071225643158 + ], + "joints": [ + 0.015096853487193584 + ] + }, + "fine_grasp": { + "position": [ + 0.10689716041088104, + 0.009891396388411522, + 0.10662449151277542 + ], + "orientation": [ + 0.006891223601996899, + -0.7966822981834412, + 0.03886618837714195, + 0.6031079888343811 + ], + "joints": [ + 0.006319793872535229 + ] + }, + "final_grasp": { + "position": [ + 0.10689716041088104, + 0.009891396388411522, + 0.10662449151277542 + ], + "orientation": [ + 0.006891223601996899, + -0.7966822981834412, + 0.03886618837714195, + 0.6031079888343811 + ], + "joints": [ + -0.002457265742123127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11659906804561615, + 0.0007522044470533729, + -0.03876446560025215 + ], + "orientation": [ + 0.12998151779174805, + 0.5881392955780029, + -0.11552151292562485, + -0.7898429036140442 + ], + "joints": [ + 0.01834631711244583 + ] + }, + "fine_grasp": { + "position": [ + 0.11273355782032013, + 0.0007953352760523558, + -0.03763316199183464 + ], + "orientation": [ + 0.13120122253894806, + 0.5875439643859863, + -0.11713042855262756, + -0.7898473143577576 + ], + "joints": [ + 0.00915130227804184 + ] + }, + "final_grasp": { + "position": [ + 0.11273355782032013, + 0.0007953352760523558, + -0.03763316199183464 + ], + "orientation": [ + 0.13120122253894806, + 0.5875439643859863, + -0.11713042855262756, + -0.7898473143577576 + ], + "joints": [ + -4.37125563621521e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10264785587787628, + 0.0768505409359932, + 0.17983943223953247 + ], + "orientation": [ + 0.2115394026041031, + 0.8438978791236877, + -0.06951598823070526, + 0.48811376094818115 + ], + "joints": [ + 0.015461672097444534 + ] + }, + "fine_grasp": { + "position": [ + -0.099297434091568, + 0.0752691701054573, + 0.17872953414916992 + ], + "orientation": [ + 0.21228842437267303, + 0.8407890796661377, + -0.06654000282287598, + 0.4935380518436432 + ], + "joints": [ + 0.005430746823549271 + ] + }, + "final_grasp": { + "position": [ + -0.099297434091568, + 0.0752691701054573, + 0.17872953414916992 + ], + "orientation": [ + 0.21228842437267303, + 0.8407890796661377, + -0.06654000282287598, + 0.4935380518436432 + ], + "joints": [ + -0.004600178450345993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09131689369678497, + 0.07114541530609131, + 0.08133336156606674 + ], + "orientation": [ + 0.26275891065597534, + 0.7519106864929199, + 0.10341505706310272, + -0.595729410648346 + ], + "joints": [ + 0.015381383709609509 + ] + }, + "fine_grasp": { + "position": [ + 0.08902835100889206, + 0.07016679644584656, + 0.0824146568775177 + ], + "orientation": [ + 0.27095943689346313, + 0.7561576962471008, + 0.09370984882116318, + -0.5882388353347778 + ], + "joints": [ + 0.006604324094951153 + ] + }, + "final_grasp": { + "position": [ + 0.08902835100889206, + 0.07016679644584656, + 0.0824146568775177 + ], + "orientation": [ + 0.27095943689346313, + 0.7561576962471008, + 0.09370984882116318, + -0.5882388353347778 + ], + "joints": [ + -0.002172735519707203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09147485345602036, + 0.07110896706581116, + 0.08135093748569489 + ], + "orientation": [ + 0.26172247529029846, + 0.7503048777580261, + 0.10417686402797699, + -0.5980729460716248 + ], + "joints": [ + 0.015379606746137142 + ] + }, + "fine_grasp": { + "position": [ + 0.08924195170402527, + 0.07012670487165451, + 0.0824240893125534 + ], + "orientation": [ + 0.2695663869380951, + 0.7545353174209595, + 0.09475342184305191, + -0.5907896161079407 + ], + "joints": [ + 0.0066025471314787865 + ] + }, + "final_grasp": { + "position": [ + 0.08924195170402527, + 0.07012670487165451, + 0.0824240893125534 + ], + "orientation": [ + 0.2695663869380951, + 0.7545353174209595, + 0.09475342184305191, + -0.5907896161079407 + ], + "joints": [ + -0.0021745124831795692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10180842876434326, + -0.026442579925060272, + 0.10676887631416321 + ], + "orientation": [ + 0.0986061841249466, + -0.7670770287513733, + 0.18452727794647217, + 0.60648113489151 + ], + "joints": [ + 0.01461424957960844 + ] + }, + "fine_grasp": { + "position": [ + 0.09799958020448685, + -0.024794748052954674, + 0.10644572228193283 + ], + "orientation": [ + 0.10079028457403183, + -0.7678362727165222, + 0.18159162998199463, + 0.6060473322868347 + ], + "joints": [ + 0.006255145184695721 + ] + }, + "final_grasp": { + "position": [ + 0.09799958020448685, + -0.024794748052954674, + 0.10644572228193283 + ], + "orientation": [ + 0.10079028457403183, + -0.7678362727165222, + 0.18159162998199463, + 0.6060473322868347 + ], + "joints": [ + -0.002103959210216999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09128434211015701, + 0.0704692080616951, + 0.08073466271162033 + ], + "orientation": [ + 0.26377156376838684, + 0.7529762983322144, + 0.09831473231315613, + -0.594798743724823 + ], + "joints": [ + 0.015408105216920376 + ] + }, + "fine_grasp": { + "position": [ + 0.08912301808595657, + 0.06955697387456894, + 0.08187023550271988 + ], + "orientation": [ + 0.2713651955127716, + 0.7573916912078857, + 0.08880259841680527, + -0.5872246623039246 + ], + "joints": [ + 0.00663104560226202 + ] + }, + "final_grasp": { + "position": [ + 0.08912301808595657, + 0.06955697387456894, + 0.08187023550271988 + ], + "orientation": [ + 0.2713651955127716, + 0.7573916912078857, + 0.08880259841680527, + -0.5872246623039246 + ], + "joints": [ + -0.0021460140123963356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02958305925130844, + 0.016557564958930016, + -0.11698108911514282 + ], + "orientation": [ + 0.7895736694335938, + -0.04103129729628563, + 0.12009070068597794, + -0.6003900170326233 + ], + "joints": [ + 0.017377272248268127 + ] + }, + "fine_grasp": { + "position": [ + -0.02854740619659424, + 0.015814675018191338, + -0.11350409686565399 + ], + "orientation": [ + 0.7890463471412659, + -0.03983386605978012, + 0.12267554551362991, + -0.6006412506103516 + ], + "joints": [ + 0.0077643017284572124 + ] + }, + "final_grasp": { + "position": [ + -0.02854740619659424, + 0.015814675018191338, + -0.11350409686565399 + ], + "orientation": [ + 0.7890463471412659, + -0.03983386605978012, + 0.12267554551362991, + -0.6006412506103516 + ], + "joints": [ + -0.0018486687913537025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04748017340898514, + 0.10413076728582382, + -0.01317677367478609 + ], + "orientation": [ + 0.5078921914100647, + 0.4629957675933838, + 0.2267122119665146, + -0.6901319026947021 + ], + "joints": [ + 0.015598084777593613 + ] + }, + "fine_grasp": { + "position": [ + 0.045708682388067245, + 0.10056284070014954, + -0.012235649861395359 + ], + "orientation": [ + 0.5083032250404358, + 0.46623003482818604, + 0.22656413912773132, + -0.6876962780952454 + ], + "joints": [ + 0.006821025162935257 + ] + }, + "final_grasp": { + "position": [ + 0.045708682388067245, + 0.10056284070014954, + -0.012235649861395359 + ], + "orientation": [ + 0.5083032250404358, + 0.46623003482818604, + 0.22656413912773132, + -0.6876962780952454 + ], + "joints": [ + -0.0019560344517230988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10103508085012436, + -0.025996942073106766, + 0.10627873986959457 + ], + "orientation": [ + 0.09591887146234512, + -0.7700269222259521, + 0.1854609102010727, + 0.6028783321380615 + ], + "joints": [ + 0.014918755739927292 + ] + }, + "fine_grasp": { + "position": [ + 0.09725331515073776, + -0.02436012029647827, + 0.1061151847243309 + ], + "orientation": [ + 0.09998735040426254, + -0.7713159322738647, + 0.18030387163162231, + 0.602133572101593 + ], + "joints": [ + 0.006141696125268936 + ] + }, + "final_grasp": { + "position": [ + 0.09725331515073776, + -0.02436012029647827, + 0.1061151847243309 + ], + "orientation": [ + 0.09998735040426254, + -0.7713159322738647, + 0.18030387163162231, + 0.602133572101593 + ], + "joints": [ + -0.0026353634893894196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022543715313076973, + -0.08624820411205292, + 0.15918312966823578 + ], + "orientation": [ + 0.36704179644584656, + -0.6726705431938171, + 0.49336621165275574, + 0.4115634560585022 + ], + "joints": [ + 0.01580846682190895 + ] + }, + "fine_grasp": { + "position": [ + 0.021787753328680992, + -0.08253764361143112, + 0.1578347384929657 + ], + "orientation": [ + 0.3688877522945404, + -0.6736845374107361, + 0.49184128642082214, + 0.41007715463638306 + ], + "joints": [ + 0.006613451987504959 + ] + }, + "final_grasp": { + "position": [ + 0.021787753328680992, + -0.08253764361143112, + 0.1578347384929657 + ], + "orientation": [ + 0.3688877522945404, + -0.6736845374107361, + 0.49184128642082214, + 0.41007715463638306 + ], + "joints": [ + -0.0025815628468990326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09917470812797546, + 0.08479639887809753, + 0.1096196249127388 + ], + "orientation": [ + 0.19816729426383972, + 0.7155641317367554, + -0.20986215770244598, + 0.636125385761261 + ], + "joints": [ + 0.015954356640577316 + ] + }, + "fine_grasp": { + "position": [ + -0.09583946317434311, + 0.08260253071784973, + 0.10951989889144897 + ], + "orientation": [ + 0.19733232259750366, + 0.7141400575637817, + -0.2107243686914444, + 0.6376982927322388 + ], + "joints": [ + 0.006759341806173325 + ] + }, + "final_grasp": { + "position": [ + -0.09583946317434311, + 0.08260253071784973, + 0.10951989889144897 + ], + "orientation": [ + 0.19733232259750366, + 0.7141400575637817, + -0.2107243686914444, + 0.6376982927322388 + ], + "joints": [ + -0.002435673028230667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04495052993297577, + -0.0797891765832901, + 0.12518049776554108 + ], + "orientation": [ + 0.44588860869407654, + -0.42642292380332947, + 0.7240883111953735, + 0.3082902133464813 + ], + "joints": [ + 0.014677315019071102 + ] + }, + "fine_grasp": { + "position": [ + -0.043201759457588196, + -0.07616738975048065, + 0.12411175668239594 + ], + "orientation": [ + 0.44247010350227356, + -0.42091983556747437, + 0.7269139885902405, + 0.31407445669174194 + ], + "joints": [ + 0.006318210624158382 + ] + }, + "final_grasp": { + "position": [ + -0.043201759457588196, + -0.07616738975048065, + 0.12411175668239594 + ], + "orientation": [ + 0.44247010350227356, + -0.42091983556747437, + 0.7269139885902405, + 0.31407445669174194 + ], + "joints": [ + -0.0020408937707543373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11513281613588333, + 0.0048660472966730595, + 0.10556729137897491 + ], + "orientation": [ + 0.04204700142145157, + 0.7707966566085815, + -0.12827415764331818, + -0.6226155757904053 + ], + "joints": [ + 0.015360619872808456 + ] + }, + "fine_grasp": { + "position": [ + 0.11115631461143494, + 0.005421515554189682, + 0.10527335852384567 + ], + "orientation": [ + 0.0424816831946373, + 0.768494188785553, + -0.13017570972442627, + -0.6250331401824951 + ], + "joints": [ + 0.006165605038404465 + ] + }, + "final_grasp": { + "position": [ + 0.11115631461143494, + 0.005421515554189682, + 0.10527335852384567 + ], + "orientation": [ + 0.0424816831946373, + 0.768494188785553, + -0.13017570972442627, + -0.6250331401824951 + ], + "joints": [ + -0.003029409795999527 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07927461713552475, + -0.025433693081140518, + -0.07552745938301086 + ], + "orientation": [ + 0.25604161620140076, + -0.4009413421154022, + 0.04334915801882744, + 0.8785268664360046 + ], + "joints": [ + 0.018850859254598618 + ] + }, + "fine_grasp": { + "position": [ + 0.07607302069664001, + -0.02442290633916855, + -0.07370567321777344 + ], + "orientation": [ + 0.2576541304588318, + -0.3987256586551666, + 0.03746383264660835, + 0.8793342113494873 + ], + "joints": [ + 0.008401978760957718 + ] + }, + "final_grasp": { + "position": [ + 0.07607302069664001, + -0.02442290633916855, + -0.07370567321777344 + ], + "orientation": [ + 0.2576541304588318, + -0.3987256586551666, + 0.03746383264660835, + 0.8793342113494873 + ], + "joints": [ + -0.0020469017326831818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01938743330538273, + -0.10241368412971497, + 0.11313823610544205 + ], + "orientation": [ + 0.45661261677742004, + -0.6107422113418579, + 0.4496523439884186, + 0.46509310603141785 + ], + "joints": [ + 0.01676335744559765 + ] + }, + "fine_grasp": { + "position": [ + 0.01872894912958145, + -0.09861794114112854, + 0.11260290443897247 + ], + "orientation": [ + 0.4578947126865387, + -0.6117452383041382, + 0.44781577587127686, + 0.4642857313156128 + ], + "joints": [ + 0.006732432171702385 + ] + }, + "final_grasp": { + "position": [ + 0.01872894912958145, + -0.09861794114112854, + 0.11260290443897247 + ], + "orientation": [ + 0.4578947126865387, + -0.6117452383041382, + 0.44781577587127686, + 0.4642857313156128 + ], + "joints": [ + -0.0032984931021928787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030784470960497856, + -0.09238499402999878, + 0.02750404365360737 + ], + "orientation": [ + 0.6288920640945435, + -0.40474817156791687, + -0.5029991865158081, + -0.43320372700691223 + ], + "joints": [ + 0.01581777073442936 + ] + }, + "fine_grasp": { + "position": [ + 0.030417414382100105, + -0.08951174467802048, + 0.025258617475628853 + ], + "orientation": [ + 0.6353967785835266, + -0.40412333607673645, + -0.4976519048213959, + -0.43046239018440247 + ], + "joints": [ + 0.007040711119771004 + ] + }, + "final_grasp": { + "position": [ + 0.030417414382100105, + -0.08951174467802048, + 0.025258617475628853 + ], + "orientation": [ + 0.6353967785835266, + -0.40412333607673645, + -0.4976519048213959, + -0.43046239018440247 + ], + "joints": [ + -0.001736348494887352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01920686848461628, + -0.10108980536460876, + 0.11273454129695892 + ], + "orientation": [ + 0.4537382423877716, + -0.6119813919067383, + 0.4519364535808563, + 0.46406224370002747 + ], + "joints": [ + 0.016785165295004845 + ] + }, + "fine_grasp": { + "position": [ + 0.018553737550973892, + -0.0972864106297493, + 0.11219892650842667 + ], + "orientation": [ + 0.4553694725036621, + -0.6129641532897949, + 0.44979172945022583, + 0.4632504880428314 + ], + "joints": [ + 0.00715129729360342 + ] + }, + "final_grasp": { + "position": [ + 0.018553737550973892, + -0.0972864106297493, + 0.11219892650842667 + ], + "orientation": [ + 0.4553694725036621, + -0.6129641532897949, + 0.44979172945022583, + 0.4632504880428314 + ], + "joints": [ + -0.002482570707798004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022206075489521027, + -0.08490031957626343, + 0.15889135003089905 + ], + "orientation": [ + 0.36555323004722595, + -0.6738709211349487, + 0.49428847432136536, + 0.40981417894363403 + ], + "joints": [ + 0.015907324850559235 + ] + }, + "fine_grasp": { + "position": [ + 0.02145388536155224, + -0.08114510029554367, + 0.1575387865304947 + ], + "orientation": [ + 0.3678703010082245, + -0.6753244996070862, + 0.4922853112220764, + 0.4077540338039398 + ], + "joints": [ + 0.006712310016155243 + ] + }, + "final_grasp": { + "position": [ + 0.02145388536155224, + -0.08114510029554367, + 0.1575387865304947 + ], + "orientation": [ + 0.3678703010082245, + -0.6753244996070862, + 0.4922853112220764, + 0.4077540338039398 + ], + "joints": [ + -0.0024827048182487488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1022164598107338, + -0.030739817768335342, + 0.10540201514959335 + ], + "orientation": [ + 0.14394782483577728, + -0.7582944631576538, + -0.16437113285064697, + -0.6142072081565857 + ], + "joints": [ + 0.01444162055850029 + ] + }, + "fine_grasp": { + "position": [ + -0.09848266839981079, + -0.028962377458810806, + 0.10492181777954102 + ], + "orientation": [ + 0.15075454115867615, + -0.7600145936012268, + -0.15390343964099884, + -0.6131596565246582 + ], + "joints": [ + 0.00608251616358757 + ] + }, + "final_grasp": { + "position": [ + -0.09848266839981079, + -0.028962377458810806, + 0.10492181777954102 + ], + "orientation": [ + 0.15075454115867615, + -0.7600145936012268, + -0.15390343964099884, + -0.6131596565246582 + ], + "joints": [ + -0.0022765882313251495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031053341925144196, + -0.09246625751256943, + 0.027068959549069405 + ], + "orientation": [ + 0.6290815472602844, + -0.40389901399612427, + -0.503693163394928, + -0.4329149127006531 + ], + "joints": [ + 0.015726856887340546 + ] + }, + "fine_grasp": { + "position": [ + 0.030602864921092987, + -0.08950882405042648, + 0.02497113309800625 + ], + "orientation": [ + 0.6346033215522766, + -0.40349453687667847, + -0.499173104763031, + -0.4304613173007965 + ], + "joints": [ + 0.00694979727268219 + ] + }, + "final_grasp": { + "position": [ + 0.030602864921092987, + -0.08950882405042648, + 0.02497113309800625 + ], + "orientation": [ + 0.6346033215522766, + -0.40349453687667847, + -0.499173104763031, + -0.4304613173007965 + ], + "joints": [ + -0.0018272623419761658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039014171808958054, + 0.134334996342659, + 0.12913256883621216 + ], + "orientation": [ + 0.48896944522857666, + 0.3839666247367859, + -0.6596673727035522, + 0.4222763478755951 + ], + "joints": [ + 0.016875915229320526 + ] + }, + "fine_grasp": { + "position": [ + 0.037749435752630234, + 0.1307149976491928, + 0.12879636883735657 + ], + "orientation": [ + 0.489180326461792, + 0.38239461183547974, + -0.659108579158783, + 0.4243263006210327 + ], + "joints": [ + 0.0064270347356796265 + ] + }, + "final_grasp": { + "position": [ + 0.037749435752630234, + 0.1307149976491928, + 0.12879636883735657 + ], + "orientation": [ + 0.489180326461792, + 0.38239461183547974, + -0.659108579158783, + 0.4243263006210327 + ], + "joints": [ + -0.004021845757961273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019232211634516716, + -0.10164912045001984, + 0.11260398477315903 + ], + "orientation": [ + 0.4517042636871338, + -0.6109470725059509, + 0.4544607698917389, + 0.4649433493614197 + ], + "joints": [ + 0.0169293824583292 + ] + }, + "fine_grasp": { + "position": [ + 0.018584875389933586, + -0.09784896671772003, + 0.11207226663827896 + ], + "orientation": [ + 0.4532831311225891, + -0.6116895079612732, + 0.45248332619667053, + 0.46435898542404175 + ], + "joints": [ + 0.006898457184433937 + ] + }, + "final_grasp": { + "position": [ + 0.018584875389933586, + -0.09784896671772003, + 0.11207226663827896 + ], + "orientation": [ + 0.4532831311225891, + -0.6116895079612732, + 0.45248332619667053, + 0.46435898542404175 + ], + "joints": [ + -0.0031324680894613266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1085054874420166, + -0.04558753967285156, + -0.0022562756203114986 + ], + "orientation": [ + 0.692040205001831, + -0.08344699442386627, + 0.6758927702903748, + 0.2393447458744049 + ], + "joints": [ + 0.018530432134866714 + ] + }, + "fine_grasp": { + "position": [ + -0.10480422526597977, + -0.0439438559114933, + -0.0018757423385977745 + ], + "orientation": [ + 0.6926442384719849, + -0.07919636368751526, + 0.6752501726150513, + 0.24085116386413574 + ], + "joints": [ + 0.009753372520208359 + ] + }, + "final_grasp": { + "position": [ + -0.10480422526597977, + -0.0439438559114933, + -0.0018757423385977745 + ], + "orientation": [ + 0.6926442384719849, + -0.07919636368751526, + 0.6752501726150513, + 0.24085116386413574 + ], + "joints": [ + 0.000976312905550003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11097216606140137, + 0.02490014024078846, + 0.0265311598777771 + ], + "orientation": [ + 0.12018021196126938, + 0.6793115735054016, + 0.02192019298672676, + 0.7236103415489197 + ], + "joints": [ + 0.016702059656381607 + ] + }, + "fine_grasp": { + "position": [ + -0.10688718408346176, + 0.02431761659681797, + 0.026561133563518524 + ], + "orientation": [ + 0.12544980645179749, + 0.6813662052154541, + 0.026813922449946404, + 0.7206131815910339 + ], + "joints": [ + 0.008342955261468887 + ] + }, + "final_grasp": { + "position": [ + -0.10688718408346176, + 0.02431761659681797, + 0.026561133563518524 + ], + "orientation": [ + 0.12544980645179749, + 0.6813662052154541, + 0.026813922449946404, + 0.7206131815910339 + ], + "joints": [ + -1.6149133443832397e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050719570368528366, + 0.12177635729312897, + 0.1322774887084961 + ], + "orientation": [ + 0.31225892901420593, + 0.6431919932365417, + 0.43192821741104126, + -0.5497602820396423 + ], + "joints": [ + 0.015526127070188522 + ] + }, + "fine_grasp": { + "position": [ + 0.0488993339240551, + 0.11808842420578003, + 0.13189886510372162 + ], + "orientation": [ + 0.30907851457595825, + 0.6410142183303833, + 0.4350203573703766, + -0.5516596436500549 + ], + "joints": [ + 0.007167022675275803 + ] + }, + "final_grasp": { + "position": [ + 0.0488993339240551, + 0.11808842420578003, + 0.13189886510372162 + ], + "orientation": [ + 0.30907851457595825, + 0.6410142183303833, + 0.4350203573703766, + -0.5516596436500549 + ], + "joints": [ + -0.0011920817196369171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011833715252578259, + 0.12637583911418915, + 0.10676651448011398 + ], + "orientation": [ + 0.4063200056552887, + 0.6082718968391418, + 0.5218431949615479, + -0.43884965777397156 + ], + "joints": [ + 0.01492462120950222 + ] + }, + "fine_grasp": { + "position": [ + 0.011357505805790424, + 0.12224435061216354, + 0.10677969455718994 + ], + "orientation": [ + 0.4088309109210968, + 0.6088187098503113, + 0.5202366709709167, + -0.4376651644706726 + ], + "joints": [ + 0.0065655168145895 + ] + }, + "final_grasp": { + "position": [ + 0.011357505805790424, + 0.12224435061216354, + 0.10677969455718994 + ], + "orientation": [ + 0.4088309109210968, + 0.6088187098503113, + 0.5202366709709167, + -0.4376651644706726 + ], + "joints": [ + -0.0017935875803232193 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04624900594353676, + 0.11683134734630585, + 0.11248290538787842 + ], + "orientation": [ + 0.5574573874473572, + 0.40704870223999023, + 0.6344065070152283, + -0.34796690940856934 + ], + "joints": [ + 0.016372665762901306 + ] + }, + "fine_grasp": { + "position": [ + -0.045223478227853775, + 0.11454636603593826, + 0.11389420926570892 + ], + "orientation": [ + 0.55577552318573, + 0.4122706651687622, + 0.6348779797554016, + -0.34362244606018066 + ], + "joints": [ + 0.0075956061482429504 + ] + }, + "final_grasp": { + "position": [ + -0.045223478227853775, + 0.11454636603593826, + 0.11389420926570892 + ], + "orientation": [ + 0.55577552318573, + 0.4122706651687622, + 0.6348779797554016, + -0.34362244606018066 + ], + "joints": [ + -0.0011814534664154053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10313553363084793, + 0.07666247338056564, + 0.17879939079284668 + ], + "orientation": [ + 0.2099674493074417, + 0.8481394052505493, + -0.07370554655790329, + 0.4807708263397217 + ], + "joints": [ + 0.015932563692331314 + ] + }, + "fine_grasp": { + "position": [ + -0.099773108959198, + 0.07519015669822693, + 0.17758306860923767 + ], + "orientation": [ + 0.2093149572610855, + 0.8453086018562317, + -0.06921327114105225, + 0.48667261004447937 + ], + "joints": [ + 0.00590163841843605 + ] + }, + "final_grasp": { + "position": [ + -0.099773108959198, + 0.07519015669822693, + 0.17758306860923767 + ], + "orientation": [ + 0.2093149572610855, + 0.8453086018562317, + -0.06921327114105225, + 0.48667261004447937 + ], + "joints": [ + -0.004129286855459213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11082044243812561, + 0.025050748139619827, + 0.026005104184150696 + ], + "orientation": [ + 0.12384145706892014, + 0.6813748478889465, + 0.023977525532245636, + 0.7209832668304443 + ], + "joints": [ + 0.01695605367422104 + ] + }, + "fine_grasp": { + "position": [ + -0.10669667273759842, + 0.024542445316910744, + 0.0259831715375185 + ], + "orientation": [ + 0.1299600899219513, + 0.683478832244873, + 0.02983062155544758, + 0.7176887392997742 + ], + "joints": [ + 0.008596949279308319 + ] + }, + "final_grasp": { + "position": [ + -0.10669667273759842, + 0.024542445316910744, + 0.0259831715375185 + ], + "orientation": [ + 0.1299600899219513, + 0.683478832244873, + 0.02983062155544758, + 0.7176887392997742 + ], + "joints": [ + 0.00023784488439559937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0788838118314743, + -0.025490403175354004, + -0.0753951445221901 + ], + "orientation": [ + 0.25521525740623474, + -0.3965299427509308, + 0.04459547996520996, + 0.8807045221328735 + ], + "joints": [ + 0.018729418516159058 + ] + }, + "fine_grasp": { + "position": [ + 0.07568780332803726, + -0.0243831779807806, + -0.0737348273396492 + ], + "orientation": [ + 0.25588324666023254, + -0.39530307054519653, + 0.039092980325222015, + 0.8813233375549316 + ], + "joints": [ + 0.00830143690109253 + ] + }, + "final_grasp": { + "position": [ + 0.07568780332803726, + -0.0243831779807806, + -0.0737348273396492 + ], + "orientation": [ + 0.25588324666023254, + -0.39530307054519653, + 0.039092980325222015, + 0.8813233375549316 + ], + "joints": [ + -0.002126544713973999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10809163749217987, + -0.045511018484830856, + -0.0020382164511829615 + ], + "orientation": [ + 0.6934501528739929, + -0.08503949642181396, + 0.6744182705879211, + 0.2388618141412735 + ], + "joints": [ + 0.018512893468141556 + ] + }, + "fine_grasp": { + "position": [ + -0.10439075529575348, + -0.043883174657821655, + -0.001653966261073947 + ], + "orientation": [ + 0.694084644317627, + -0.08056620508432388, + 0.6738352179527283, + 0.240212082862854 + ], + "joints": [ + 0.0097358338534832 + ] + }, + "final_grasp": { + "position": [ + -0.10439075529575348, + -0.043883174657821655, + -0.001653966261073947 + ], + "orientation": [ + 0.694084644317627, + -0.08056620508432388, + 0.6738352179527283, + 0.240212082862854 + ], + "joints": [ + 0.0009587742388248444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04068852588534355, + -0.04212694242596626, + -0.08620274066925049 + ], + "orientation": [ + 0.8373048305511475, + -0.11793840676546097, + -0.2829170823097229, + -0.4527350664138794 + ], + "joints": [ + 0.01747540757060051 + ] + }, + "fine_grasp": { + "position": [ + 0.038888391107320786, + -0.039957135915756226, + -0.08637090027332306 + ], + "orientation": [ + 0.8408381938934326, + -0.11172600835561752, + -0.2730712294578552, + -0.4538068473339081 + ], + "joints": [ + 0.007862437516450882 + ] + }, + "final_grasp": { + "position": [ + 0.038888391107320786, + -0.039957135915756226, + -0.08637090027332306 + ], + "orientation": [ + 0.8408381938934326, + -0.11172600835561752, + -0.2730712294578552, + -0.4538068473339081 + ], + "joints": [ + -0.0017505325376987457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012297338806092739, + -0.09102602303028107, + 0.12462668120861053 + ], + "orientation": [ + 0.3971691429615021, + -0.6776650547981262, + -0.49882492423057556, + -0.36633360385894775 + ], + "joints": [ + 0.015234626829624176 + ] + }, + "fine_grasp": { + "position": [ + -0.011904907412827015, + -0.08713176846504211, + 0.12345164269208908 + ], + "orientation": [ + 0.4017380475997925, + -0.678406298160553, + -0.4958380460739136, + -0.36402761936187744 + ], + "joints": [ + 0.00645756721496582 + ] + }, + "final_grasp": { + "position": [ + -0.011904907412827015, + -0.08713176846504211, + 0.12345164269208908 + ], + "orientation": [ + 0.4017380475997925, + -0.678406298160553, + -0.4958380460739136, + -0.36402761936187744 + ], + "joints": [ + -0.0023194923996925354 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1146068349480629, + -0.0011623292230069637, + 0.06791302561759949 + ], + "orientation": [ + 0.7418030500411987, + -0.15839798748493195, + -0.6482316255569458, + 0.06658738851547241 + ], + "joints": [ + 0.015428068116307259 + ] + }, + "fine_grasp": { + "position": [ + 0.1105039045214653, + -0.0005123132723383605, + 0.06820473819971085 + ], + "orientation": [ + 0.741084635257721, + -0.16389033198356628, + -0.6472630500793457, + 0.0705978199839592 + ], + "joints": [ + 0.007068963721394539 + ] + }, + "final_grasp": { + "position": [ + 0.1105039045214653, + -0.0005123132723383605, + 0.06820473819971085 + ], + "orientation": [ + 0.741084635257721, + -0.16389033198356628, + -0.6472630500793457, + 0.0705978199839592 + ], + "joints": [ + -0.0012901406735181808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06776697188615799, + -0.05149252340197563, + 0.12447154521942139 + ], + "orientation": [ + 0.19338251650333405, + -0.8088449835777283, + -0.32363584637641907, + -0.45125696063041687 + ], + "joints": [ + 0.015108036808669567 + ] + }, + "fine_grasp": { + "position": [ + -0.06520254164934158, + -0.04925704374909401, + 0.12595440447330475 + ], + "orientation": [ + 0.19675934314727783, + -0.8179112076759338, + -0.3133288323879242, + -0.4406041204929352 + ], + "joints": [ + 0.006330977194011211 + ] + }, + "final_grasp": { + "position": [ + -0.06520254164934158, + -0.04925704374909401, + 0.12595440447330475 + ], + "orientation": [ + 0.19675934314727783, + -0.8179112076759338, + -0.3133288323879242, + -0.4406041204929352 + ], + "joints": [ + -0.0024460824206471443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11163385957479477, + -0.01008176151663065, + -0.0033846984151750803 + ], + "orientation": [ + 0.7973191142082214, + -0.04220560938119888, + 0.596686601638794, + 0.08041127771139145 + ], + "joints": [ + 0.0176704041659832 + ] + }, + "fine_grasp": { + "position": [ + -0.10761144757270813, + -0.009490885771811008, + -0.0029434359166771173 + ], + "orientation": [ + 0.7944998145103455, + -0.037937190383672714, + 0.6006239652633667, + 0.0811275988817215 + ], + "joints": [ + 0.008893344551324844 + ] + }, + "final_grasp": { + "position": [ + -0.10761144757270813, + -0.009490885771811008, + -0.0029434359166771173 + ], + "orientation": [ + 0.7944998145103455, + -0.037937190383672714, + 0.6006239652633667, + 0.0811275988817215 + ], + "joints": [ + 0.00011628493666648865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11390205472707748, + -0.0009115766151808202, + 0.06797750294208527 + ], + "orientation": [ + 0.7403252124786377, + -0.16286757588386536, + -0.6482890248298645, + 0.07151268422603607 + ], + "joints": [ + 0.015392355620861053 + ] + }, + "fine_grasp": { + "position": [ + 0.1097620502114296, + -0.0002767984115052968, + 0.06827152520418167 + ], + "orientation": [ + 0.7395841479301453, + -0.16913896799087524, + -0.6469035148620605, + 0.0769624412059784 + ], + "joints": [ + 0.007033251225948334 + ] + }, + "final_grasp": { + "position": [ + 0.1097620502114296, + -0.0002767984115052968, + 0.06827152520418167 + ], + "orientation": [ + 0.7395841479301453, + -0.16913896799087524, + -0.6469035148620605, + 0.0769624412059784 + ], + "joints": [ + -0.001325853168964386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11415493488311768, + 0.013265682384371758, + -0.008557222783565521 + ], + "orientation": [ + 0.7543309330940247, + -0.05004219338297844, + 0.6459813714027405, + -0.10577616095542908 + ], + "joints": [ + 0.018399737775325775 + ] + }, + "fine_grasp": { + "position": [ + -0.11008763313293457, + 0.01283104158937931, + -0.007942019030451775 + ], + "orientation": [ + 0.7547106146812439, + -0.05211896821856499, + 0.6451079845428467, + -0.10738356411457062 + ], + "joints": [ + 0.010019734501838684 + ] + }, + "final_grasp": { + "position": [ + -0.11008763313293457, + 0.01283104158937931, + -0.007942019030451775 + ], + "orientation": [ + 0.7547106146812439, + -0.05211896821856499, + 0.6451079845428467, + -0.10738356411457062 + ], + "joints": [ + 0.001639731228351593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06777364015579224, + 0.1023649275302887, + 0.10954613238573074 + ], + "orientation": [ + 0.5089418888092041, + 0.264619380235672, + 0.7511672377586365, + -0.32665371894836426 + ], + "joints": [ + 0.015367923304438591 + ] + }, + "fine_grasp": { + "position": [ + -0.06505388766527176, + 0.09934729337692261, + 0.10995306074619293 + ], + "orientation": [ + 0.5043256878852844, + 0.25605982542037964, + 0.7544683814048767, + -0.33296629786491394 + ], + "joints": [ + 0.007008818909525871 + ] + }, + "final_grasp": { + "position": [ + -0.06505388766527176, + 0.09934729337692261, + 0.10995306074619293 + ], + "orientation": [ + 0.5043256878852844, + 0.25605982542037964, + 0.7544683814048767, + -0.33296629786491394 + ], + "joints": [ + -0.0013502854853868484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03900476545095444, + 0.11541441828012466, + 0.026828544214367867 + ], + "orientation": [ + 0.47622326016426086, + 0.5858164429664612, + -0.3310479521751404, + 0.5660722851753235 + ], + "joints": [ + 0.01580306515097618 + ] + }, + "fine_grasp": { + "position": [ + -0.037784840911626816, + 0.1119363009929657, + 0.027138864621520042 + ], + "orientation": [ + 0.4848766326904297, + 0.5916802883148193, + -0.3223128914833069, + 0.5576051473617554 + ], + "joints": [ + 0.007861915975809097 + ] + }, + "final_grasp": { + "position": [ + -0.037784840911626816, + 0.1119363009929657, + 0.027138864621520042 + ], + "orientation": [ + 0.4848766326904297, + 0.5916802883148193, + -0.3223128914833069, + 0.5576051473617554 + ], + "joints": [ + -7.923319935798645e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042425185441970825, + 0.1211487427353859, + 0.12070761620998383 + ], + "orientation": [ + 0.3554994761943817, + 0.6935960650444031, + 0.40956854820251465, + -0.47412875294685364 + ], + "joints": [ + 0.015523038804531097 + ] + }, + "fine_grasp": { + "position": [ + 0.040901876986026764, + 0.11739639192819595, + 0.12044820189476013 + ], + "orientation": [ + 0.35912859439849854, + 0.6923248767852783, + 0.4080333113670349, + -0.4745752811431885 + ], + "joints": [ + 0.006328023970127106 + ] + }, + "final_grasp": { + "position": [ + 0.040901876986026764, + 0.11739639192819595, + 0.12044820189476013 + ], + "orientation": [ + 0.35912859439849854, + 0.6923248767852783, + 0.4080333113670349, + -0.4745752811431885 + ], + "joints": [ + -0.002866990864276886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09515856951475143, + -0.04934791475534439, + -0.04250422120094299 + ], + "orientation": [ + 0.8233612775802612, + -0.25254932045936584, + 0.50628262758255, + 0.04441726952791214 + ], + "joints": [ + 0.017912428826093674 + ] + }, + "fine_grasp": { + "position": [ + -0.09172060340642929, + -0.04739260673522949, + -0.041201069951057434 + ], + "orientation": [ + 0.8236613869667053, + -0.25626662373542786, + 0.5042285323143005, + 0.04077838361263275 + ], + "joints": [ + 0.009553324431180954 + ] + }, + "final_grasp": { + "position": [ + -0.09172060340642929, + -0.04739260673522949, + -0.041201069951057434 + ], + "orientation": [ + 0.8236613869667053, + -0.25626662373542786, + 0.5042285323143005, + 0.04077838361263275 + ], + "joints": [ + 0.0011942200362682343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015732740983366966, + -0.08573117852210999, + 0.15248364210128784 + ], + "orientation": [ + 0.2974855303764343, + -0.6294648051261902, + 0.6030974388122559, + 0.3892941474914551 + ], + "joints": [ + 0.016506792977452278 + ] + }, + "fine_grasp": { + "position": [ + 0.015175208449363708, + -0.08212737739086151, + 0.15113647282123566 + ], + "orientation": [ + 0.2999245226383209, + -0.6267423629760742, + 0.6014063358306885, + 0.3943978548049927 + ], + "joints": [ + 0.0064758677035570145 + ] + }, + "final_grasp": { + "position": [ + 0.015175208449363708, + -0.08212737739086151, + 0.15113647282123566 + ], + "orientation": [ + 0.2999245226383209, + -0.6267423629760742, + 0.6014063358306885, + 0.3943978548049927 + ], + "joints": [ + -0.003555057570338249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11076425760984421, + -0.010206404142081738, + -0.003258161013945937 + ], + "orientation": [ + 0.7950865030288696, + -0.042223475873470306, + 0.5994923114776611, + 0.08163067698478699 + ], + "joints": [ + 0.01763805001974106 + ] + }, + "fine_grasp": { + "position": [ + -0.10665657371282578, + -0.009639589115977287, + -0.002775898901745677 + ], + "orientation": [ + 0.7930454611778259, + -0.03697587922215462, + 0.602379322052002, + 0.08276931196451187 + ], + "joints": [ + 0.009696900844573975 + ] + }, + "final_grasp": { + "position": [ + -0.10665657371282578, + -0.009639589115977287, + -0.002775898901745677 + ], + "orientation": [ + 0.7930454611778259, + -0.03697587922215462, + 0.602379322052002, + 0.08276931196451187 + ], + "joints": [ + 0.0017557516694068909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027636157348752022, + -0.03009665198624134, + 0.22088317573070526 + ], + "orientation": [ + 0.2718934118747711, + -0.6276358366012573, + 0.7212293148040771, + 0.10943305492401123 + ], + "joints": [ + 0.015091292560100555 + ] + }, + "fine_grasp": { + "position": [ + -0.026813501492142677, + -0.026777593418955803, + 0.22037585079669952 + ], + "orientation": [ + 0.2613643407821655, + -0.641512930393219, + 0.7148130536079407, + 0.09587626159191132 + ], + "joints": [ + 0.005896277725696564 + ] + }, + "final_grasp": { + "position": [ + -0.026813501492142677, + -0.026777593418955803, + 0.22037585079669952 + ], + "orientation": [ + 0.2613643407821655, + -0.641512930393219, + 0.7148130536079407, + 0.09587626159191132 + ], + "joints": [ + -0.003298737108707428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10548316687345505, + -0.010521438904106617, + 0.15114665031433105 + ], + "orientation": [ + 0.0063080559484660625, + -0.8204811215400696, + -0.21876801550388336, + -0.528120756149292 + ], + "joints": [ + 0.01639660820364952 + ] + }, + "fine_grasp": { + "position": [ + -0.10190068930387497, + -0.009447315707802773, + 0.15008798241615295 + ], + "orientation": [ + 0.005118421744555235, + -0.8171252012252808, + -0.21924667060375214, + -0.5331146121025085 + ], + "joints": [ + 0.006365682929754257 + ] + }, + "final_grasp": { + "position": [ + -0.10190068930387497, + -0.009447315707802773, + 0.15008798241615295 + ], + "orientation": [ + 0.005118421744555235, + -0.8171252012252808, + -0.21924667060375214, + -0.5331146121025085 + ], + "joints": [ + -0.0036652423441410065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06537538766860962, + 0.10557208210229874, + 0.09956562519073486 + ], + "orientation": [ + 0.2809489965438843, + 0.6467090845108032, + 0.35170701146125793, + -0.6157413125038147 + ], + "joints": [ + 0.016079645603895187 + ] + }, + "fine_grasp": { + "position": [ + 0.06382529437541962, + 0.10339590162038803, + 0.10086973011493683 + ], + "orientation": [ + 0.27242764830589294, + 0.64344722032547, + 0.36114564538002014, + -0.617521345615387 + ], + "joints": [ + 0.006884630769491196 + ] + }, + "final_grasp": { + "position": [ + 0.06382529437541962, + 0.10339590162038803, + 0.10086973011493683 + ], + "orientation": [ + 0.27242764830589294, + 0.64344722032547, + 0.36114564538002014, + -0.617521345615387 + ], + "joints": [ + -0.002310384064912796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036124397069215775, + 0.01192720327526331, + -0.1097155287861824 + ], + "orientation": [ + 0.9812049269676208, + 0.037984974682331085, + -0.15192438662052155, + -0.11275215446949005 + ], + "joints": [ + 0.0194757841527462 + ] + }, + "fine_grasp": { + "position": [ + 0.03463860973715782, + 0.01194062177091837, + -0.10656503587961197 + ], + "orientation": [ + 0.9807599186897278, + 0.03875506669282913, + -0.15370959043502808, + -0.11393670737743378 + ], + "joints": [ + 0.010280769318342209 + ] + }, + "final_grasp": { + "position": [ + 0.03463860973715782, + 0.01194062177091837, + -0.10656503587961197 + ], + "orientation": [ + 0.9807599186897278, + 0.03875506669282913, + -0.15370959043502808, + -0.11393670737743378 + ], + "joints": [ + 0.0010857544839382172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008832008577883244, + -0.09477102011442184, + 0.012947829440236092 + ], + "orientation": [ + 0.5464299917221069, + -0.35682472586631775, + 0.46169838309288025, + 0.6007702946662903 + ], + "joints": [ + 0.015844788402318954 + ] + }, + "fine_grasp": { + "position": [ + -0.009269123896956444, + -0.09103259444236755, + 0.011828326620161533 + ], + "orientation": [ + 0.5383695363998413, + -0.34681111574172974, + 0.4669746160507202, + 0.6097663640975952 + ], + "joints": [ + 0.007485684007406235 + ] + }, + "final_grasp": { + "position": [ + -0.009269123896956444, + -0.09103259444236755, + 0.011828326620161533 + ], + "orientation": [ + 0.5383695363998413, + -0.34681111574172974, + 0.4669746160507202, + 0.6097663640975952 + ], + "joints": [ + -0.000873420387506485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03633425012230873, + 0.011865023523569107, + -0.10887362062931061 + ], + "orientation": [ + 0.9811885952949524, + 0.03761846199631691, + -0.1518753319978714, + -0.11308234930038452 + ], + "joints": [ + 0.019507259130477905 + ] + }, + "fine_grasp": { + "position": [ + 0.0347977839410305, + 0.011939887888729572, + -0.105840303003788 + ], + "orientation": [ + 0.9807265400886536, + 0.038559578359127045, + -0.15382227301597595, + -0.11413746327161789 + ], + "joints": [ + 0.010312244296073914 + ] + }, + "final_grasp": { + "position": [ + 0.0347977839410305, + 0.011939887888729572, + -0.105840303003788 + ], + "orientation": [ + 0.9807265400886536, + 0.038559578359127045, + -0.15382227301597595, + -0.11413746327161789 + ], + "joints": [ + 0.0011172294616699219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0657011866569519, + 0.10584666579961777, + 0.10008236765861511 + ], + "orientation": [ + 0.2794681489467621, + 0.6431624889373779, + 0.3519379496574402, + -0.6199833750724792 + ], + "joints": [ + 0.015782494097948074 + ] + }, + "fine_grasp": { + "position": [ + 0.06397073715925217, + 0.10349339246749878, + 0.10118560492992401 + ], + "orientation": [ + 0.271822988986969, + 0.6395847797393799, + 0.3605310916900635, + -0.6221421957015991 + ], + "joints": [ + 0.007005434483289719 + ] + }, + "final_grasp": { + "position": [ + 0.06397073715925217, + 0.10349339246749878, + 0.10118560492992401 + ], + "orientation": [ + 0.271822988986969, + 0.6395847797393799, + 0.3605310916900635, + -0.6221421957015991 + ], + "joints": [ + -0.001771625131368637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10757174342870712, + -0.026518775150179863, + 0.037979453802108765 + ], + "orientation": [ + 0.6548705697059631, + -0.09874307364225388, + -0.740094006061554, + -0.11685513705015182 + ], + "joints": [ + 0.018360339105129242 + ] + }, + "fine_grasp": { + "position": [ + 0.10362757742404938, + -0.025344356894493103, + 0.037633828818798065 + ], + "orientation": [ + 0.6518381834030151, + -0.08520816266536713, + -0.7425165176391602, + -0.12851306796073914 + ], + "joints": [ + 0.010001234710216522 + ] + }, + "final_grasp": { + "position": [ + 0.10362757742404938, + -0.025344356894493103, + 0.037633828818798065 + ], + "orientation": [ + 0.6518381834030151, + -0.08520816266536713, + -0.7425165176391602, + -0.12851306796073914 + ], + "joints": [ + 0.0016421303153038025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09039891511201859, + -0.034359999001026154, + -0.038353100419044495 + ], + "orientation": [ + 0.8290621638298035, + -0.09203166514635086, + -0.5104905962944031, + -0.20877116918563843 + ], + "joints": [ + 0.018364349380135536 + ] + }, + "fine_grasp": { + "position": [ + 0.08724504709243774, + -0.032292526215314865, + -0.03881477192044258 + ], + "orientation": [ + 0.8299418687820435, + -0.08526862412691116, + -0.5072708129882812, + -0.21587508916854858 + ], + "joints": [ + 0.00958728976547718 + ] + }, + "final_grasp": { + "position": [ + 0.08724504709243774, + -0.032292526215314865, + -0.03881477192044258 + ], + "orientation": [ + 0.8299418687820435, + -0.08526862412691116, + -0.5072708129882812, + -0.21587508916854858 + ], + "joints": [ + 0.0008102301508188248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0905473604798317, + -0.0346011146903038, + -0.03908012434840202 + ], + "orientation": [ + 0.8284417390823364, + -0.09191158413887024, + -0.5113340616226196, + -0.20922258496284485 + ], + "joints": [ + 0.01835721731185913 + ] + }, + "fine_grasp": { + "position": [ + 0.08737234771251678, + -0.03253600001335144, + -0.0395476408302784 + ], + "orientation": [ + 0.8291696906089783, + -0.08513019979000092, + -0.5081011652946472, + -0.2169416844844818 + ], + "joints": [ + 0.009580157697200775 + ] + }, + "final_grasp": { + "position": [ + 0.08737234771251678, + -0.03253600001335144, + -0.0395476408302784 + ], + "orientation": [ + 0.8291696906089783, + -0.08513019979000092, + -0.5081011652946472, + -0.2169416844844818 + ], + "joints": [ + 0.0008030980825424194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05519842728972435, + 0.09584548324346542, + -0.045744944363832474 + ], + "orientation": [ + 0.5054770112037659, + 0.4430527687072754, + -0.18193085491657257, + 0.7177034616470337 + ], + "joints": [ + 0.017152661457657814 + ] + }, + "fine_grasp": { + "position": [ + -0.053326595574617386, + 0.09277836233377457, + -0.044418495148420334 + ], + "orientation": [ + 0.5052468776702881, + 0.4465823173522949, + -0.18242666125297546, + 0.7155489921569824 + ], + "joints": [ + 0.00712173618376255 + ] + }, + "final_grasp": { + "position": [ + -0.053326595574617386, + 0.09277836233377457, + -0.044418495148420334 + ], + "orientation": [ + 0.5052468776702881, + 0.4465823173522949, + -0.18242666125297546, + 0.7155489921569824 + ], + "joints": [ + -0.0029091890901327133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054070744663476944, + -0.07794031500816345, + 0.13047648966312408 + ], + "orientation": [ + 0.5246883630752563, + -0.36199262738227844, + 0.6951314210891724, + 0.3323489725589752 + ], + "joints": [ + 0.016846153885126114 + ] + }, + "fine_grasp": { + "position": [ + -0.05237425118684769, + -0.07438132166862488, + 0.12973737716674805 + ], + "orientation": [ + 0.5200859904289246, + -0.3615040183067322, + 0.6951483488082886, + 0.33999156951904297 + ], + "joints": [ + 0.007651138585060835 + ] + }, + "final_grasp": { + "position": [ + -0.05237425118684769, + -0.07438132166862488, + 0.12973737716674805 + ], + "orientation": [ + 0.5200859904289246, + -0.3615040183067322, + 0.6951483488082886, + 0.33999156951904297 + ], + "joints": [ + -0.0015438767150044441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10061127692461014, + -0.029206883162260056, + 0.14226028323173523 + ], + "orientation": [ + 0.5810256004333496, + -0.30080434679985046, + 0.7549591064453125, + 0.044303108006715775 + ], + "joints": [ + 0.016096612438559532 + ] + }, + "fine_grasp": { + "position": [ + -0.0970604419708252, + -0.027469730004668236, + 0.14132797718048096 + ], + "orientation": [ + 0.5829535126686096, + -0.30396923422813416, + 0.7524296641349792, + 0.04021866247057915 + ], + "joints": [ + 0.0073195528239011765 + ] + }, + "final_grasp": { + "position": [ + -0.0970604419708252, + -0.027469730004668236, + 0.14132797718048096 + ], + "orientation": [ + 0.5829535126686096, + -0.30396923422813416, + 0.7524296641349792, + 0.04021866247057915 + ], + "joints": [ + -0.0014575067907571793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054036542773246765, + -0.07782077044248581, + 0.13039453327655792 + ], + "orientation": [ + 0.5242168307304382, + -0.36257216334342957, + 0.6950918436050415, + 0.33254387974739075 + ], + "joints": [ + 0.016846153885126114 + ] + }, + "fine_grasp": { + "position": [ + -0.05228353664278984, + -0.0742783322930336, + 0.12966811656951904 + ], + "orientation": [ + 0.5197623372077942, + -0.36114606261253357, + 0.6954832077026367, + 0.34018218517303467 + ], + "joints": [ + 0.007651138585060835 + ] + }, + "final_grasp": { + "position": [ + -0.05228353664278984, + -0.0742783322930336, + 0.12966811656951904 + ], + "orientation": [ + 0.5197623372077942, + -0.36114606261253357, + 0.6954832077026367, + 0.34018218517303467 + ], + "joints": [ + -0.0015438767150044441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05404243618249893, + -0.07777445018291473, + 0.1304737627506256 + ], + "orientation": [ + 0.5243905186653137, + -0.36280080676078796, + 0.694798469543457, + 0.3326337933540344 + ], + "joints": [ + 0.016846153885126114 + ] + }, + "fine_grasp": { + "position": [ + -0.05229172855615616, + -0.07423247396945953, + 0.12974262237548828 + ], + "orientation": [ + 0.5197272896766663, + -0.36144086718559265, + 0.6952536702156067, + 0.34039148688316345 + ], + "joints": [ + 0.007651138585060835 + ] + }, + "final_grasp": { + "position": [ + -0.05229172855615616, + -0.07423247396945953, + 0.12974262237548828 + ], + "orientation": [ + 0.5197272896766663, + -0.36144086718559265, + 0.6952536702156067, + 0.34039148688316345 + ], + "joints": [ + -0.0015438767150044441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10805419087409973, + 0.012952078133821487, + 0.036097947508096695 + ], + "orientation": [ + 0.014182222075760365, + -0.7080063819885254, + -0.03883204609155655, + 0.7049949765205383 + ], + "joints": [ + 0.018818765878677368 + ] + }, + "fine_grasp": { + "position": [ + 0.1060079038143158, + 0.011975531466305256, + 0.03568889573216438 + ], + "orientation": [ + 0.02397460676729679, + -0.7092363834381104, + -0.04663291946053505, + 0.703018069267273 + ], + "joints": [ + 0.010041706264019012 + ] + }, + "final_grasp": { + "position": [ + 0.1060079038143158, + 0.011975531466305256, + 0.03568889573216438 + ], + "orientation": [ + 0.02397460676729679, + -0.7092363834381104, + -0.04663291946053505, + 0.703018069267273 + ], + "joints": [ + 0.0012646466493606567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054031334817409515, + -0.07772360742092133, + 0.13047587871551514 + ], + "orientation": [ + 0.5240100622177124, + -0.36370378732681274, + 0.6944487690925598, + 0.3329772651195526 + ], + "joints": [ + 0.01638304442167282 + ] + }, + "fine_grasp": { + "position": [ + -0.05221738666296005, + -0.07414204627275467, + 0.1297401636838913 + ], + "orientation": [ + 0.5196830034255981, + -0.36160510778427124, + 0.695188045501709, + 0.3404186964035034 + ], + "joints": [ + 0.007605984807014465 + ] + }, + "final_grasp": { + "position": [ + -0.05221738666296005, + -0.07414204627275467, + 0.1297401636838913 + ], + "orientation": [ + 0.5196830034255981, + -0.36160510778427124, + 0.695188045501709, + 0.3404186964035034 + ], + "joints": [ + -0.0011710748076438904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01481626182794571, + -0.10344909876585007, + 0.041175633668899536 + ], + "orientation": [ + 0.3771722912788391, + -0.554837167263031, + -0.5550947785377502, + -0.4916975796222687 + ], + "joints": [ + 0.01594463549554348 + ] + }, + "fine_grasp": { + "position": [ + -0.014214434660971165, + -0.09951673448085785, + 0.04050801321864128 + ], + "orientation": [ + 0.3725965619087219, + -0.5510291457176208, + -0.5587185025215149, + -0.4953506588935852 + ], + "joints": [ + 0.006749620661139488 + ] + }, + "final_grasp": { + "position": [ + -0.014214434660971165, + -0.09951673448085785, + 0.04050801321864128 + ], + "orientation": [ + 0.3725965619087219, + -0.5510291457176208, + -0.5587185025215149, + -0.4953506588935852 + ], + "joints": [ + -0.0024453941732645035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11491966247558594, + 0.020601479336619377, + 0.11449090391397476 + ], + "orientation": [ + 0.6279102563858032, + -0.12278183549642563, + -0.7598872780799866, + 0.11499827355146408 + ], + "joints": [ + 0.015851283445954323 + ] + }, + "fine_grasp": { + "position": [ + 0.11080243438482285, + 0.020588483661413193, + 0.11417686939239502 + ], + "orientation": [ + 0.6289616823196411, + -0.12789852917194366, + -0.7572932839393616, + 0.12064775824546814 + ], + "joints": [ + 0.007074223831295967 + ] + }, + "final_grasp": { + "position": [ + 0.11080243438482285, + 0.020588483661413193, + 0.11417686939239502 + ], + "orientation": [ + 0.6289616823196411, + -0.12789852917194366, + -0.7572932839393616, + 0.12064775824546814 + ], + "joints": [ + -0.0017028357833623886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09980858117341995, + -0.028807006776332855, + 0.1412922441959381 + ], + "orientation": [ + 0.5739541053771973, + -0.2988947629928589, + 0.761070191860199, + 0.04484297335147858 + ], + "joints": [ + 0.01584170013666153 + ] + }, + "fine_grasp": { + "position": [ + -0.09627479314804077, + -0.027026090770959854, + 0.14038020372390747 + ], + "orientation": [ + 0.5763795971870422, + -0.30221983790397644, + 0.7581680417060852, + 0.040385179221630096 + ], + "joints": [ + 0.007064640522003174 + ] + }, + "final_grasp": { + "position": [ + -0.09627479314804077, + -0.027026090770959854, + 0.14038020372390747 + ], + "orientation": [ + 0.5763795971870422, + -0.30221983790397644, + 0.7581680417060852, + 0.040385179221630096 + ], + "joints": [ + -0.0017124190926551819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07131364196538925, + 0.10326007008552551, + 0.1628674864768982 + ], + "orientation": [ + 0.5105087757110596, + 0.3979959785938263, + -0.7366399168968201, + 0.19581013917922974 + ], + "joints": [ + 0.016302766278386116 + ] + }, + "fine_grasp": { + "position": [ + 0.06880468875169754, + 0.10041075199842453, + 0.1617472916841507 + ], + "orientation": [ + 0.5134326815605164, + 0.40027591586112976, + -0.7346156239509583, + 0.19106543064117432 + ], + "joints": [ + 0.006689796224236488 + ] + }, + "final_grasp": { + "position": [ + 0.06880468875169754, + 0.10041075199842453, + 0.1617472916841507 + ], + "orientation": [ + 0.5134326815605164, + 0.40027591586112976, + -0.7346156239509583, + 0.19106543064117432 + ], + "joints": [ + -0.0029231738299131393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02273908257484436, + -0.016767794266343117, + -0.11315952986478806 + ], + "orientation": [ + 0.5152512788772583, + 0.025918541476130486, + 0.13778962194919586, + 0.8454930186271667 + ], + "joints": [ + 0.01847967505455017 + ] + }, + "fine_grasp": { + "position": [ + -0.022217148914933205, + -0.016241779550909996, + -0.11007709801197052 + ], + "orientation": [ + 0.5159458518028259, + 0.026025235652923584, + 0.1376589834690094, + 0.8450873494148254 + ], + "joints": [ + 0.00928466022014618 + ] + }, + "final_grasp": { + "position": [ + -0.022217148914933205, + -0.016241779550909996, + -0.11007709801197052 + ], + "orientation": [ + 0.5159458518028259, + 0.026025235652923584, + 0.1376589834690094, + 0.8450873494148254 + ], + "joints": [ + 8.96453857421875e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033213887363672256, + -0.10016262531280518, + 0.0787760466337204 + ], + "orientation": [ + 0.3661225140094757, + -0.602537214756012, + -0.4844250977039337, + -0.5179145336151123 + ], + "joints": [ + 0.015855714678764343 + ] + }, + "fine_grasp": { + "position": [ + -0.03223426267504692, + -0.09645400196313858, + 0.07812080532312393 + ], + "orientation": [ + 0.36663684248924255, + -0.6018567085266113, + -0.48500582575798035, + -0.517798662185669 + ], + "joints": [ + 0.00582478940486908 + ] + }, + "final_grasp": { + "position": [ + -0.03223426267504692, + -0.09645400196313858, + 0.07812080532312393 + ], + "orientation": [ + 0.36663684248924255, + -0.6018567085266113, + -0.48500582575798035, + -0.517798662185669 + ], + "joints": [ + -0.004206135869026184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023038215935230255, + -0.01647087000310421, + -0.11350368708372116 + ], + "orientation": [ + 0.5141452550888062, + 0.025325771421194077, + 0.13847880065441132, + 0.8460714221000671 + ], + "joints": [ + 0.018252110108733177 + ] + }, + "fine_grasp": { + "position": [ + -0.02251417562365532, + -0.01598808728158474, + -0.11042866110801697 + ], + "orientation": [ + 0.5149393081665039, + 0.02620323747396469, + 0.13741391897201538, + 0.8457353115081787 + ], + "joints": [ + 0.009057095274329185 + ] + }, + "final_grasp": { + "position": [ + -0.02251417562365532, + -0.01598808728158474, + -0.11042866110801697 + ], + "orientation": [ + 0.5149393081665039, + 0.02620323747396469, + 0.13741391897201538, + 0.8457353115081787 + ], + "joints": [ + -0.0001379195600748062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019548773765563965, + -0.08807029575109482, + 0.12239066511392593 + ], + "orientation": [ + 0.5151068568229675, + -0.5266058444976807, + -0.5602273941040039, + -0.3788091838359833 + ], + "joints": [ + 0.015707584097981453 + ] + }, + "fine_grasp": { + "position": [ + 0.018974870443344116, + -0.08441245555877686, + 0.12205866724252701 + ], + "orientation": [ + 0.5200513005256653, + -0.5337768793106079, + -0.5532994270324707, + -0.3721406161785126 + ], + "joints": [ + 0.006930524483323097 + ] + }, + "final_grasp": { + "position": [ + 0.018974870443344116, + -0.08441245555877686, + 0.12205866724252701 + ], + "orientation": [ + 0.5200513005256653, + -0.5337768793106079, + -0.5532994270324707, + -0.3721406161785126 + ], + "joints": [ + -0.0018465351313352585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042898114770650864, + -0.012757772579789162, + -0.09718215465545654 + ], + "orientation": [ + 0.15663093328475952, + 0.1775059849023819, + -0.11256749927997589, + -0.9650321006774902 + ], + "joints": [ + 0.020537417382001877 + ] + }, + "fine_grasp": { + "position": [ + 0.041107676923274994, + -0.012739061377942562, + -0.09555932134389877 + ], + "orientation": [ + 0.15739129483699799, + 0.17689833045005798, + -0.11370400339365005, + -0.9648866653442383 + ], + "joints": [ + 0.010527390986680984 + ] + }, + "final_grasp": { + "position": [ + 0.041107676923274994, + -0.012739061377942562, + -0.09555932134389877 + ], + "orientation": [ + 0.15739129483699799, + 0.17689833045005798, + -0.11370400339365005, + -0.9648866653442383 + ], + "joints": [ + 0.0005173645913600922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11400038003921509, + 0.007216108497232199, + 0.017873626202344894 + ], + "orientation": [ + 0.05293569341301918, + -0.7001142501831055, + -0.04287102073431015, + 0.7107741236686707 + ], + "joints": [ + 0.019972138106822968 + ] + }, + "fine_grasp": { + "position": [ + 0.1098892092704773, + 0.006868522614240646, + 0.017971355468034744 + ], + "orientation": [ + 0.059164077043533325, + -0.698735237121582, + -0.0533112958073616, + 0.7109335660934448 + ], + "joints": [ + 0.011613033711910248 + ] + }, + "final_grasp": { + "position": [ + 0.1098892092704773, + 0.006868522614240646, + 0.017971355468034744 + ], + "orientation": [ + 0.059164077043533325, + -0.698735237121582, + -0.0533112958073616, + 0.7109335660934448 + ], + "joints": [ + 0.003253929316997528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10004674643278122, + 0.05991893261671066, + 0.12000758945941925 + ], + "orientation": [ + 0.5640307664871216, + 0.030620383098721504, + 0.7963759303092957, + -0.21614103019237518 + ], + "joints": [ + 0.015479647554457188 + ] + }, + "fine_grasp": { + "position": [ + -0.09640434384346008, + 0.058847155421972275, + 0.12091530114412308 + ], + "orientation": [ + 0.5590634346008301, + 0.017612643539905548, + 0.798123300075531, + -0.2239135354757309 + ], + "joints": [ + 0.007120543159544468 + ] + }, + "final_grasp": { + "position": [ + -0.09640434384346008, + 0.058847155421972275, + 0.12091530114412308 + ], + "orientation": [ + 0.5590634346008301, + 0.017612643539905548, + 0.798123300075531, + -0.2239135354757309 + ], + "joints": [ + -0.0012385612353682518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024382684379816055, + -0.002286780159920454, + -0.11192923784255981 + ], + "orientation": [ + 0.7718185782432556, + 0.0243066493421793, + 0.11645780503749847, + 0.6246140599250793 + ], + "joints": [ + 0.01881539821624756 + ] + }, + "fine_grasp": { + "position": [ + -0.024179384112358093, + -0.0023014608304947615, + -0.10933369398117065 + ], + "orientation": [ + 0.7722823023796082, + 0.027102284133434296, + 0.11346720159053802, + 0.6244762539863586 + ], + "joints": [ + 0.009223327040672302 + ] + }, + "final_grasp": { + "position": [ + -0.024179384112358093, + -0.0023014608304947615, + -0.10933369398117065 + ], + "orientation": [ + 0.7722823023796082, + 0.027102284133434296, + 0.11346720159053802, + 0.6244762539863586 + ], + "joints": [ + -0.0003687441349029541 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010828536935150623, + -0.0737355649471283, + 0.1627798080444336 + ], + "orientation": [ + 0.31600600481033325, + -0.717932403087616, + 0.5410559773445129, + 0.3032684624195099 + ], + "joints": [ + 0.0165339894592762 + ] + }, + "fine_grasp": { + "position": [ + 0.010273000225424767, + -0.06997406482696533, + 0.16137942671775818 + ], + "orientation": [ + 0.32385772466659546, + -0.7251346707344055, + 0.5293291211128235, + 0.2985073924064636 + ], + "joints": [ + 0.007756929844617844 + ] + }, + "final_grasp": { + "position": [ + 0.010273000225424767, + -0.06997406482696533, + 0.16137942671775818 + ], + "orientation": [ + 0.32385772466659546, + -0.7251346707344055, + 0.5293291211128235, + 0.2985073924064636 + ], + "joints": [ + -0.001020129770040512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07850220054388046, + -0.027316177263855934, + -0.06111730635166168 + ], + "orientation": [ + 0.9018657207489014, + -0.16988995671272278, + 0.3972085416316986, + -0.0009874135721474886 + ], + "joints": [ + 0.019384700804948807 + ] + }, + "fine_grasp": { + "position": [ + -0.07527384907007217, + -0.027129575610160828, + -0.061772167682647705 + ], + "orientation": [ + 0.9056388139724731, + -0.17464818060398102, + 0.3863065540790558, + -0.009135808795690536 + ], + "joints": [ + 0.010607641190290451 + ] + }, + "final_grasp": { + "position": [ + -0.07527384907007217, + -0.027129575610160828, + -0.061772167682647705 + ], + "orientation": [ + 0.9056388139724731, + -0.17464818060398102, + 0.3863065540790558, + -0.009135808795690536 + ], + "joints": [ + 0.0018305815756320953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09799882769584656, + 0.005782065913081169, + -0.03366704657673836 + ], + "orientation": [ + 0.1150025799870491, + 0.47522687911987305, + 0.08068139106035233, + 0.8685760498046875 + ], + "joints": [ + 0.018426474183797836 + ] + }, + "fine_grasp": { + "position": [ + -0.09404905885457993, + 0.005289734341204166, + -0.03295271471142769 + ], + "orientation": [ + 0.12026665359735489, + 0.4776420593261719, + 0.084185890853405, + 0.8662025332450867 + ], + "joints": [ + 0.00964941456913948 + ] + }, + "final_grasp": { + "position": [ + -0.09404905885457993, + 0.005289734341204166, + -0.03295271471142769 + ], + "orientation": [ + 0.12026665359735489, + 0.4776420593261719, + 0.084185890853405, + 0.8662025332450867 + ], + "joints": [ + 0.0008723549544811249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023855948820710182, + 0.11731239408254623, + 0.1312592774629593 + ], + "orientation": [ + 0.44142600893974304, + 0.556954562664032, + -0.6330726742744446, + 0.30686116218566895 + ], + "joints": [ + 0.015849202871322632 + ] + }, + "fine_grasp": { + "position": [ + 0.023237332701683044, + 0.11358683556318283, + 0.1323341727256775 + ], + "orientation": [ + 0.4440779685974121, + 0.5670626163482666, + -0.6262610554695129, + 0.29838183522224426 + ], + "joints": [ + 0.007072143256664276 + ] + }, + "final_grasp": { + "position": [ + 0.023237332701683044, + 0.11358683556318283, + 0.1323341727256775 + ], + "orientation": [ + 0.4440779685974121, + 0.5670626163482666, + -0.6262610554695129, + 0.29838183522224426 + ], + "joints": [ + -0.0017049163579940796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017881961539387703, + 0.10161060839891434, + -0.04419325664639473 + ], + "orientation": [ + 0.5069741606712341, + 0.3507503569126129, + 0.3368210792541504, + -0.711690366268158 + ], + "joints": [ + 0.016782397404313087 + ] + }, + "fine_grasp": { + "position": [ + 0.016885973513126373, + 0.09826916456222534, + -0.04431746155023575 + ], + "orientation": [ + 0.5003646612167358, + 0.3427826464176178, + 0.33758866786956787, + -0.7198396325111389 + ], + "joints": [ + 0.008005337789654732 + ] + }, + "final_grasp": { + "position": [ + 0.016885973513126373, + 0.09826916456222534, + -0.04431746155023575 + ], + "orientation": [ + 0.5003646612167358, + 0.3427826464176178, + 0.33758866786956787, + -0.7198396325111389 + ], + "joints": [ + -0.000771721825003624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03881005570292473, + -0.024518433958292007, + -0.09863848984241486 + ], + "orientation": [ + 0.9742164015769958, + -0.13474713265895844, + -0.18095704913139343, + 0.00026003431412391365 + ], + "joints": [ + 0.020198944956064224 + ] + }, + "fine_grasp": { + "position": [ + 0.03754676133394241, + -0.024162812158465385, + -0.09669093042612076 + ], + "orientation": [ + 0.9735998511314392, + -0.14156880974769592, + -0.17898251116275787, + 0.005197469610720873 + ], + "joints": [ + 0.009770963340997696 + ] + }, + "final_grasp": { + "position": [ + 0.03754676133394241, + -0.024162812158465385, + -0.09669093042612076 + ], + "orientation": [ + 0.9735998511314392, + -0.14156880974769592, + -0.17898251116275787, + 0.005197469610720873 + ], + "joints": [ + -0.0006570182740688324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12116122245788574, + 0.03693728893995285, + -0.004974944517016411 + ], + "orientation": [ + 0.6132543087005615, + 0.428791880607605, + -0.5450435280799866, + -0.3781323730945587 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + 0.11762934178113937, + 0.034390341490507126, + -0.0037506157532334328 + ], + "orientation": [ + 0.6251768469810486, + 0.4366530179977417, + -0.5289703011512756, + -0.37239551544189453 + ], + "joints": [ + 0.02477111481130123 + ] + }, + "final_grasp": { + "position": [ + 0.11762934178113937, + 0.034390341490507126, + -0.0037506157532334328 + ], + "orientation": [ + 0.6251768469810486, + 0.4366530179977417, + -0.5289703011512756, + -0.37239551544189453 + ], + "joints": [ + 0.01850178651511669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12109905481338501, + 0.0369366817176342, + -0.005001877434551716 + ], + "orientation": [ + 0.6134291887283325, + 0.4287169575691223, + -0.5449056625366211, + -0.37813231348991394 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + 0.11757266521453857, + 0.03438452631235123, + -0.0037775770761072636 + ], + "orientation": [ + 0.6253535747528076, + 0.43662595748901367, + -0.5288112759590149, + -0.3723564147949219 + ], + "joints": [ + 0.02477111481130123 + ] + }, + "final_grasp": { + "position": [ + 0.11757266521453857, + 0.03438452631235123, + -0.0037775770761072636 + ], + "orientation": [ + 0.6253535747528076, + 0.43662595748901367, + -0.5288112759590149, + -0.3723564147949219 + ], + "joints": [ + 0.01850178651511669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012742079794406891, + 0.04490886256098747, + -0.1357945203781128 + ], + "orientation": [ + 0.5728246569633484, + 0.023567430675029755, + 0.15912754833698273, + -0.8037380576133728 + ], + "joints": [ + 0.018629122525453568 + ] + }, + "fine_grasp": { + "position": [ + -0.013368984684348106, + 0.043795742094516754, + -0.13223181664943695 + ], + "orientation": [ + 0.5721505284309387, + 0.029510200023651123, + 0.15448196232318878, + -0.804927408695221 + ], + "joints": [ + 0.007783185224980116 + ] + }, + "final_grasp": { + "position": [ + -0.013368984684348106, + 0.043795742094516754, + -0.13223181664943695 + ], + "orientation": [ + 0.5721505284309387, + 0.029510200023651123, + 0.15448196232318878, + -0.804927408695221 + ], + "joints": [ + -0.0030627520754933357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000538197229616344, + 0.00801926665008068, + 0.24098339676856995 + ], + "orientation": [ + 0.05692854896187782, + -0.9369407892227173, + -0.3440092206001282, + -0.02363840863108635 + ], + "joints": [ + 0.017267901450395584 + ] + }, + "fine_grasp": { + "position": [ + 0.001063317060470581, + 0.008408071473240852, + 0.23905009031295776 + ], + "orientation": [ + 0.06008710712194443, + -0.9368426203727722, + -0.3438170552253723, + -0.022479234263300896 + ], + "joints": [ + 0.008072886615991592 + ] + }, + "final_grasp": { + "position": [ + 0.001063317060470581, + 0.008408071473240852, + 0.23905009031295776 + ], + "orientation": [ + 0.06008710712194443, + -0.9368426203727722, + -0.3438170552253723, + -0.022479234263300896 + ], + "joints": [ + -0.0011221282184123993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01931210234761238, + -0.006149851251393557, + -0.14400392770767212 + ], + "orientation": [ + 0.8772397637367249, + -0.03163115307688713, + 0.05549398437142372, + -0.4757838845252991 + ], + "joints": [ + 0.01707770861685276 + ] + }, + "fine_grasp": { + "position": [ + -0.018297387287020683, + -0.005076676141470671, + -0.14092662930488586 + ], + "orientation": [ + 0.877004086971283, + -0.039354294538497925, + 0.056504569947719574, + -0.4755231738090515 + ], + "joints": [ + 0.005040599033236504 + ] + }, + "final_grasp": { + "position": [ + -0.018297387287020683, + -0.005076676141470671, + -0.14092662930488586 + ], + "orientation": [ + 0.877004086971283, + -0.039354294538497925, + 0.056504569947719574, + -0.4755231738090515 + ], + "joints": [ + -0.006996510550379753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09616094082593918, + 0.09417020529508591, + 0.16553880274295807 + ], + "orientation": [ + 0.27332380414009094, + 0.7171701192855835, + 0.19667357206344604, + -0.6101481318473816 + ], + "joints": [ + 0.016869310289621353 + ] + }, + "fine_grasp": { + "position": [ + 0.09340520203113556, + 0.09312809258699417, + 0.16412732005119324 + ], + "orientation": [ + 0.2556034028530121, + 0.7321081757545471, + 0.18984898924827576, + -0.6021974086761475 + ], + "joints": [ + 0.0036410288885235786 + ] + }, + "final_grasp": { + "position": [ + 0.09340520203113556, + 0.09312809258699417, + 0.16412732005119324 + ], + "orientation": [ + 0.2556034028530121, + 0.7321081757545471, + 0.18984898924827576, + -0.6021974086761475 + ], + "joints": [ + -0.009587252512574196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10910224169492722, + -0.0267246775329113, + 0.036269377917051315 + ], + "orientation": [ + 0.6468502283096313, + -0.09617061167955399, + -0.7472221851348877, + -0.11830044537782669 + ], + "joints": [ + 0.01790839061141014 + ] + }, + "fine_grasp": { + "position": [ + 0.1051187664270401, + -0.025454962626099586, + 0.03588799014687538 + ], + "orientation": [ + 0.6466801166534424, + -0.08926883339881897, + -0.7476580739021301, + -0.12183351069688797 + ], + "joints": [ + 0.009549286216497421 + ] + }, + "final_grasp": { + "position": [ + 0.1051187664270401, + -0.025454962626099586, + 0.03588799014687538 + ], + "orientation": [ + 0.6466801166534424, + -0.08926883339881897, + -0.7476580739021301, + -0.12183351069688797 + ], + "joints": [ + 0.0011901818215847015 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 374 + } +} \ No newline at end of file diff --git a/clutter_pen_00002/Object.usd b/clutter_pen_00002/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..4301e29e641626320193f8c2f9b8119f1ab7adf7 --- /dev/null +++ b/clutter_pen_00002/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a495bd30b0d9935e5f94c2748d8e294072b7a1e782faaea8ab426b1228f472d +size 578787 diff --git a/clutter_plate_00000/Annotation/dex1_1_grasp_pose.json b/clutter_plate_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..af47bf7bf09dc0bf340c6d5a58308a6ec3c5e4de --- /dev/null +++ b/clutter_plate_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_plate_00000", + "bottom_center": [ + -0.0001120641827583313, + 0.0, + -0.1104322150349617 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2044, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_plate_00000/Annotation/piper_grasp_pose.json b/clutter_plate_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..883ec8c99c1128e96f1d4379a237c7ccc982fe86 --- /dev/null +++ b/clutter_plate_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,468 @@ +{ + "type": "clutter_plate_00000", + "bottom_center": [ + -0.0001120641827583313, + 0.0, + -0.1104322150349617 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.054534267634153366, + 0.048798542469739914, + 0.20334258675575256 + ], + "orientation": [ + 0.1484214812517166, + 0.02127712033689022, + -0.970106303691864, + 0.19081957638263702 + ], + "joints": [ + 0.012392012402415276 + ] + }, + "fine_grasp": { + "position": [ + 0.05353398248553276, + 0.04728279262781143, + 0.1997102051973343 + ], + "orientation": [ + 0.14841021597385406, + 0.02310343272984028, + -0.9707297086715698, + 0.18741509318351746 + ], + "joints": [ + 0.0035940557718276978 + ] + }, + "final_grasp": { + "position": [ + 0.05353398248553276, + 0.04728279262781143, + 0.1997102051973343 + ], + "orientation": [ + 0.14841021597385406, + 0.02310343272984028, + -0.9707297086715698, + 0.18741509318351746 + ], + "joints": [ + -0.00520390085875988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05469788610935211, + 0.04872453585267067, + 0.2034197300672531 + ], + "orientation": [ + 0.1445435732603073, + 0.02002759836614132, + -0.9707887768745422, + 0.19046060740947723 + ], + "joints": [ + 0.012088567018508911 + ] + }, + "fine_grasp": { + "position": [ + 0.05371970683336258, + 0.04702628776431084, + 0.1998635083436966 + ], + "orientation": [ + 0.144198477268219, + 0.01956718973815441, + -0.9715348482131958, + 0.18693330883979797 + ], + "joints": [ + 0.0033115081023424864 + ] + }, + "final_grasp": { + "position": [ + 0.05371970683336258, + 0.04702628776431084, + 0.1998635083436966 + ], + "orientation": [ + 0.144198477268219, + 0.01956718973815441, + -0.9715348482131958, + 0.18693330883979797 + ], + "joints": [ + -0.005465550813823938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05479294806718826, + 0.04895472899079323, + 0.20371003448963165 + ], + "orientation": [ + 0.14409638941287994, + 0.02083013206720352, + -0.9708110690116882, + 0.19059957563877106 + ], + "joints": [ + 0.012392012402415276 + ] + }, + "fine_grasp": { + "position": [ + 0.0538153201341629, + 0.04735349491238594, + 0.20016101002693176 + ], + "orientation": [ + 0.14372962713241577, + 0.020678918808698654, + -0.9714905023574829, + 0.18740400671958923 + ], + "joints": [ + 0.0035940557718276978 + ] + }, + "final_grasp": { + "position": [ + 0.0538153201341629, + 0.04735349491238594, + 0.20016101002693176 + ], + "orientation": [ + 0.14372962713241577, + 0.020678918808698654, + -0.9714905023574829, + 0.18740400671958923 + ], + "joints": [ + -0.00520390085875988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06202379986643791, + 0.03253812715411186, + 0.1925346404314041 + ], + "orientation": [ + 0.13447627425193787, + 0.9756014943122864, + -0.029902728274464607, + 0.17094948887825012 + ], + "joints": [ + 0.013555050827562809 + ] + }, + "fine_grasp": { + "position": [ + -0.061347391456365585, + 0.03178953379392624, + 0.1905757337808609 + ], + "orientation": [ + 0.1336524784564972, + 0.9753562808036804, + -0.0363132618367672, + 0.17175132036209106 + ], + "joints": [ + 0.003942080773413181 + ] + }, + "final_grasp": { + "position": [ + -0.061347391456365585, + 0.03178953379392624, + 0.1905757337808609 + ], + "orientation": [ + 0.1336524784564972, + 0.9753562808036804, + -0.0363132618367672, + 0.17175132036209106 + ], + "joints": [ + -0.005670889280736446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06275248527526855, + 0.0326232872903347, + 0.1930285394191742 + ], + "orientation": [ + 0.13353407382965088, + 0.976210355758667, + -0.0328194797039032, + 0.16764508187770844 + ], + "joints": [ + 0.013757535256445408 + ] + }, + "fine_grasp": { + "position": [ + -0.06206117197871208, + 0.03201958164572716, + 0.19080187380313873 + ], + "orientation": [ + 0.13266584277153015, + 0.9758825302124023, + -0.039406146854162216, + 0.1688203513622284 + ], + "joints": [ + 0.003726609982550144 + ] + }, + "final_grasp": { + "position": [ + -0.06206117197871208, + 0.03201958164572716, + 0.19080187380313873 + ], + "orientation": [ + 0.13266584277153015, + 0.9758825302124023, + -0.039406146854162216, + 0.1688203513622284 + ], + "joints": [ + -0.0063043152913451195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06211574748158455, + 0.03214631602168083, + 0.1926957070827484 + ], + "orientation": [ + 0.13291485607624054, + 0.9755240082740784, + -0.02726602554321289, + 0.17304077744483948 + ], + "joints": [ + 0.013594045303761959 + ] + }, + "fine_grasp": { + "position": [ + -0.06144513934850693, + 0.0313614085316658, + 0.19068609178066254 + ], + "orientation": [ + 0.13209424912929535, + 0.9753077626228333, + -0.03302858769893646, + 0.1738826334476471 + ], + "joints": [ + 0.003981075249612331 + ] + }, + "final_grasp": { + "position": [ + -0.06144513934850693, + 0.0313614085316658, + 0.19068609178066254 + ], + "orientation": [ + 0.13209424912929535, + 0.9753077626228333, + -0.03302858769893646, + 0.1738826334476471 + ], + "joints": [ + -0.005631894804537296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.085411936044693, + 0.02771088108420372, + 0.1824791431427002 + ], + "orientation": [ + 0.1319534033536911, + 0.9599909782409668, + 0.0321212112903595, + 0.24489575624465942 + ], + "joints": [ + 0.01420982088893652 + ] + }, + "fine_grasp": { + "position": [ + -0.08437176048755646, + 0.026747092604637146, + 0.18049149215221405 + ], + "orientation": [ + 0.13124316930770874, + 0.9604657292366028, + 0.038471732288599014, + 0.24248886108398438 + ], + "joints": [ + 0.004596850834786892 + ] + }, + "final_grasp": { + "position": [ + -0.08437176048755646, + 0.026747092604637146, + 0.18049149215221405 + ], + "orientation": [ + 0.13124316930770874, + 0.9604657292366028, + 0.038471732288599014, + 0.24248886108398438 + ], + "joints": [ + -0.005016119219362736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022923175245523453, + 0.02967962995171547, + 0.1926373541355133 + ], + "orientation": [ + 0.13863348960876465, + 0.9894296526908875, + -0.030656807124614716, + 0.029493438079953194 + ], + "joints": [ + 0.014398084953427315 + ] + }, + "fine_grasp": { + "position": [ + -0.022364716976881027, + 0.02988157793879509, + 0.1920609027147293 + ], + "orientation": [ + 0.13912777602672577, + 0.9894442558288574, + -0.03022977150976658, + 0.027014026418328285 + ], + "joints": [ + 0.004785114899277687 + ] + }, + "final_grasp": { + "position": [ + -0.022364716976881027, + 0.02988157793879509, + 0.1920609027147293 + ], + "orientation": [ + 0.13912777602672577, + 0.9894442558288574, + -0.03022977150976658, + 0.027014026418328285 + ], + "joints": [ + -0.004827855154871941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05491986498236656, + 0.049136266112327576, + 0.20416736602783203 + ], + "orientation": [ + 0.14664696156978607, + 0.019618844613432884, + -0.9704120755195618, + 0.19081425666809082 + ], + "joints": [ + 0.012336640618741512 + ] + }, + "fine_grasp": { + "position": [ + 0.053938571363687515, + 0.04750967025756836, + 0.20067168772220612 + ], + "orientation": [ + 0.14612683653831482, + 0.019387412816286087, + -0.9711410403251648, + 0.18749921023845673 + ], + "joints": [ + 0.0035386839881539345 + ] + }, + "final_grasp": { + "position": [ + 0.053938571363687515, + 0.04750967025756836, + 0.20067168772220612 + ], + "orientation": [ + 0.14612683653831482, + 0.019387412816286087, + -0.9711410403251648, + 0.18749921023845673 + ], + "joints": [ + -0.005259272642433643 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 9 + } +} \ No newline at end of file diff --git a/clutter_plate_00000/Object.usd b/clutter_plate_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..bf2f82caec9e2fb7cf15998478f12648171e128d --- /dev/null +++ b/clutter_plate_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42fb98f2c8af49221bca94cf5f3b768f99ed8dac65b664687cb7bbb2cb46c1ba +size 4539331 diff --git a/clutter_pokeball_00006/Annotation/dex1_1_grasp_pose.json b/clutter_pokeball_00006/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..f8d79641c10bd9cf5bef155e54cab6761d721a2c --- /dev/null +++ b/clutter_pokeball_00006/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,3518 @@ +{ + "type": "clutter_pokeball_00006", + "bottom_center": [ + -8.568167686462402e-08, + 0.0018850304186344147, + -0.03989948332309723 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.03195318207144737, + 0.13059307634830475, + -0.029517432674765587 + ], + "orientation": [ + 0.07969965040683746, + 0.8299705982208252, + -0.014342441223561764, + -0.5518977046012878 + ], + "joints": [ + -0.01972031593322754 + ] + }, + "fine_grasp": { + "position": [ + -0.030595259740948677, + 0.1259334683418274, + -0.02846929430961609 + ], + "orientation": [ + 0.0884387269616127, + 0.8297991156578064, + -0.007458313833922148, + -0.5509594678878784 + ], + "joints": [ + -0.015495676547288895 + ] + }, + "final_grasp": { + "position": [ + -0.030595259740948677, + 0.1259334683418274, + -0.02846929430961609 + ], + "orientation": [ + 0.0884387269616127, + 0.8297991156578064, + -0.007458313833922148, + -0.5509594678878784 + ], + "joints": [ + -0.01127103716135025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061430301517248154, + 0.12529250979423523, + -0.07941046357154846 + ], + "orientation": [ + 0.30496111512184143, + 0.8263116478919983, + -0.027962753549218178, + 0.47267934679985046 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06015016511082649, + 0.12228616327047348, + -0.07739583402872086 + ], + "orientation": [ + 0.30969297885894775, + 0.8237829208374023, + -0.031877219676971436, + 0.47376784682273865 + ], + "joints": [ + -0.017316419631242752 + ] + }, + "final_grasp": { + "position": [ + 0.06015016511082649, + 0.12228616327047348, + -0.07739583402872086 + ], + "orientation": [ + 0.30969297885894775, + 0.8237829208374023, + -0.031877219676971436, + 0.47376784682273865 + ], + "joints": [ + -0.01463283970952034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10977382212877274, + -0.0833306685090065, + 0.016206827014684677 + ], + "orientation": [ + 0.7501030564308167, + 0.13453850150108337, + 0.5464520454406738, + -0.3473253548145294 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.10487787425518036, + -0.0803082212805748, + 0.01595127023756504 + ], + "orientation": [ + 0.7487358450889587, + 0.14434897899627686, + 0.5417801737785339, + -0.3535991609096527 + ], + "joints": [ + -0.016280189156532288 + ] + }, + "final_grasp": { + "position": [ + -0.10487787425518036, + -0.0803082212805748, + 0.01595127023756504 + ], + "orientation": [ + 0.7487358450889587, + 0.14434897899627686, + 0.5417801737785339, + -0.3535991609096527 + ], + "joints": [ + -0.012560378760099411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11439105868339539, + -0.08460186421871185, + -0.009493405930697918 + ], + "orientation": [ + 0.883665919303894, + -0.09751193225383759, + -0.038307689130306244, + -0.4562439024448395 + ], + "joints": [ + -0.017968611791729927 + ] + }, + "fine_grasp": { + "position": [ + -0.110257588326931, + -0.08119522780179977, + -0.008956640027463436 + ], + "orientation": [ + 0.8842002749443054, + -0.0914887860417366, + -0.04182272404432297, + -0.45614755153656006 + ], + "joints": [ + -0.012654608115553856 + ] + }, + "final_grasp": { + "position": [ + -0.110257588326931, + -0.08119522780179977, + -0.008956640027463436 + ], + "orientation": [ + 0.8842002749443054, + -0.0914887860417366, + -0.04182272404432297, + -0.45614755153656006 + ], + "joints": [ + -0.007340604439377785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0806303471326828, + -0.02728579193353653, + -0.10934819281101227 + ], + "orientation": [ + 0.8212193846702576, + 0.43390852212905884, + 0.04168280214071274, + -0.3682182729244232 + ], + "joints": [ + -0.019440632313489914 + ] + }, + "fine_grasp": { + "position": [ + -0.0783744603395462, + -0.026588836684823036, + -0.10579550266265869 + ], + "orientation": [ + 0.8160973191261292, + 0.44460856914520264, + 0.03883310779929161, + -0.3671516478061676 + ], + "joints": [ + -0.014126623049378395 + ] + }, + "final_grasp": { + "position": [ + -0.0783744603395462, + -0.026588836684823036, + -0.10579550266265869 + ], + "orientation": [ + 0.8160973191261292, + 0.44460856914520264, + 0.03883310779929161, + -0.3671516478061676 + ], + "joints": [ + -0.008812613785266876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08593329042196274, + -0.07923682034015656, + -0.09692827612161636 + ], + "orientation": [ + 0.8912642002105713, + 0.3345299959182739, + -0.07088186591863632, + 0.2978481352329254 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.08340521156787872, + -0.07725479453802109, + -0.09403909742832184 + ], + "orientation": [ + 0.8891687393188477, + 0.3387771546840668, + -0.06485296040773392, + 0.30067089200019836 + ], + "joints": [ + -0.017316419631242752 + ] + }, + "final_grasp": { + "position": [ + 0.08340521156787872, + -0.07725479453802109, + -0.09403909742832184 + ], + "orientation": [ + 0.8891687393188477, + 0.3387771546840668, + -0.06485296040773392, + 0.30067089200019836 + ], + "joints": [ + -0.01463283970952034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05435352399945259, + -0.11033482104539871, + -0.10386946052312851 + ], + "orientation": [ + 0.6331787109375, + 0.09470793604850769, + -0.6583932638168335, + -0.3957694470882416 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.05363520234823227, + -0.10844157636165619, + -0.10223432630300522 + ], + "orientation": [ + 0.6333074569702148, + 0.09428934007883072, + -0.6573894619941711, + -0.39732876420021057 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + -0.05363520234823227, + -0.10844157636165619, + -0.10223432630300522 + ], + "orientation": [ + 0.6333074569702148, + 0.09428934007883072, + -0.6573894619941711, + -0.39732876420021057 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09934555739164352, + 0.07524660974740982, + -0.05168525502085686 + ], + "orientation": [ + 0.08416545391082764, + 0.8938373327255249, + -0.4392409026622772, + -0.032223399728536606 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.09895011782646179, + 0.07513585686683655, + -0.05022184178233147 + ], + "orientation": [ + 0.09662376344203949, + 0.8945004343986511, + -0.4352011978626251, + -0.03365722671151161 + ], + "joints": [ + -0.013714537024497986 + ] + }, + "final_grasp": { + "position": [ + 0.09895011782646179, + 0.07513585686683655, + -0.05022184178233147 + ], + "orientation": [ + 0.09662376344203949, + 0.8945004343986511, + -0.4352011978626251, + -0.03365722671151161 + ], + "joints": [ + -0.009489903226494789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006030467338860035, + 0.13345102965831757, + -0.08283139020204544 + ], + "orientation": [ + 0.20170126855373383, + 0.9317412376403809, + 0.11632105708122253, + 0.27864721417427063 + ], + "joints": [ + -0.019087346270680428 + ] + }, + "fine_grasp": { + "position": [ + -0.006285941693931818, + 0.13183535635471344, + -0.08114848285913467 + ], + "orientation": [ + 0.21222727000713348, + 0.9296472072601318, + 0.11231492459774017, + 0.27946585416793823 + ], + "joints": [ + -0.016377195715904236 + ] + }, + "final_grasp": { + "position": [ + -0.006285941693931818, + 0.13183535635471344, + -0.08114848285913467 + ], + "orientation": [ + 0.21222727000713348, + 0.9296472072601318, + 0.11231492459774017, + 0.27946585416793823 + ], + "joints": [ + -0.013667045161128044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10654347389936447, + -0.08581606298685074, + -0.05925220251083374 + ], + "orientation": [ + 0.7124384641647339, + -0.11934594064950943, + -0.47466036677360535, + -0.502877414226532 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + -0.10273955017328262, + -0.0825100690126419, + -0.056928299367427826 + ], + "orientation": [ + 0.712965190410614, + -0.11712341755628586, + -0.4763343036174774, + -0.5010673403739929 + ], + "joints": [ + -0.013718802481889725 + ] + }, + "final_grasp": { + "position": [ + -0.10273955017328262, + -0.0825100690126419, + -0.056928299367427826 + ], + "orientation": [ + 0.712965190410614, + -0.11712341755628586, + -0.4763343036174774, + -0.5010673403739929 + ], + "joints": [ + -0.008909625932574272 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05441942438483238, + -0.11036623269319534, + -0.10392998158931732 + ], + "orientation": [ + 0.6320242285728455, + 0.09498770534992218, + -0.6598344445228577, + -0.3951469659805298 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.05409775674343109, + -0.10872502624988556, + -0.10240460932254791 + ], + "orientation": [ + 0.6349242329597473, + 0.09724100679159164, + -0.6570929884910583, + -0.3945176899433136 + ], + "joints": [ + -0.016785018146038055 + ] + }, + "final_grasp": { + "position": [ + -0.05409775674343109, + -0.10872502624988556, + -0.10240460932254791 + ], + "orientation": [ + 0.6349242329597473, + 0.09724100679159164, + -0.6570929884910583, + -0.3945176899433136 + ], + "joints": [ + -0.013570036739110947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10811562836170197, + -0.0428524948656559, + -0.07740117609500885 + ], + "orientation": [ + 0.8219276070594788, + 0.16383059322834015, + 0.06659704446792603, + 0.5414418578147888 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.10671574622392654, + -0.04173966497182846, + -0.07541117072105408 + ], + "orientation": [ + 0.8169737458229065, + 0.16953256726264954, + 0.07550109922885895, + 0.5459965467453003 + ], + "joints": [ + -0.011069174855947495 + ] + }, + "final_grasp": { + "position": [ + 0.10671574622392654, + -0.04173966497182846, + -0.07541117072105408 + ], + "orientation": [ + 0.8169737458229065, + 0.16953256726264954, + 0.07550109922885895, + 0.5459965467453003 + ], + "joints": [ + -0.006260007619857788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11388956755399704, + 0.08181705325841904, + -0.03360762447118759 + ], + "orientation": [ + 0.18038462102413177, + -0.7607424259185791, + -0.498558908700943, + -0.37439459562301636 + ], + "joints": [ + -0.016820436343550682 + ] + }, + "fine_grasp": { + "position": [ + -0.10913808643817902, + 0.07860034704208374, + -0.03248860314488411 + ], + "orientation": [ + 0.1751655489206314, + -0.7610343098640442, + -0.4979593753814697, + -0.3770679831504822 + ], + "joints": [ + -0.012064406648278236 + ] + }, + "final_grasp": { + "position": [ + -0.10913808643817902, + 0.07860034704208374, + -0.03248860314488411 + ], + "orientation": [ + 0.1751655489206314, + -0.7610343098640442, + -0.4979593753814697, + -0.3770679831504822 + ], + "joints": [ + -0.007308376953005791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015550181269645691, + 0.14529109001159668, + -0.05699460580945015 + ], + "orientation": [ + 0.12250638008117676, + 0.9765544533729553, + 0.0038196733221411705, + -0.17697209119796753 + ], + "joints": [ + -0.01817469298839569 + ] + }, + "fine_grasp": { + "position": [ + -0.014904635958373547, + 0.14244502782821655, + -0.055567674338817596 + ], + "orientation": [ + 0.13101305067539215, + 0.9751424193382263, + 0.003312820103019476, + -0.1786673218011856 + ], + "joints": [ + -0.014959716238081455 + ] + }, + "final_grasp": { + "position": [ + -0.014904635958373547, + 0.14244502782821655, + -0.055567674338817596 + ], + "orientation": [ + 0.13101305067539215, + 0.9751424193382263, + 0.003312820103019476, + -0.1786673218011856 + ], + "joints": [ + -0.01174473948776722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0594511404633522, + 0.1206432357430458, + -0.07138533890247345 + ], + "orientation": [ + 0.2849346101284027, + 0.2078637182712555, + -0.0946841910481453, + -0.9309349060058594 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.05740584805607796, + 0.11678031086921692, + -0.06926370412111282 + ], + "orientation": [ + 0.28216877579689026, + 0.2090238332748413, + -0.10323692858219147, + -0.9306083917617798 + ], + "joints": [ + -0.011627145111560822 + ] + }, + "final_grasp": { + "position": [ + -0.05740584805607796, + 0.11678031086921692, + -0.06926370412111282 + ], + "orientation": [ + 0.28216877579689026, + 0.2090238332748413, + -0.10323692858219147, + -0.9306083917617798 + ], + "joints": [ + -0.007375948131084442 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13983502984046936, + 0.043156370520591736, + -0.05641399696469307 + ], + "orientation": [ + 0.12116946280002594, + -0.6976420879364014, + 0.6297463178634644, + 0.31942611932754517 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.13501735031604767, + 0.04243386164307594, + -0.055231351405382156 + ], + "orientation": [ + 0.12111205607652664, + -0.6986642479896545, + 0.6292157769203186, + 0.31825748085975647 + ], + "joints": [ + -0.011067699640989304 + ] + }, + "final_grasp": { + "position": [ + 0.13501735031604767, + 0.04243386164307594, + -0.055231351405382156 + ], + "orientation": [ + 0.12111205607652664, + -0.6986642479896545, + 0.6292157769203186, + 0.31825748085975647 + ], + "joints": [ + -0.0057271309196949005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13971391320228577, + 0.04318602755665779, + -0.05631347745656967 + ], + "orientation": [ + 0.12024806439876556, + -0.698529839515686, + 0.6295786499977112, + 0.31816214323043823 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.13482140004634857, + 0.0425228551030159, + -0.05506647005677223 + ], + "orientation": [ + 0.12076664716005325, + -0.6995636224746704, + 0.6291587352752686, + 0.3165208399295807 + ], + "joints": [ + -0.011067699640989304 + ] + }, + "final_grasp": { + "position": [ + 0.13482140004634857, + 0.0425228551030159, + -0.05506647005677223 + ], + "orientation": [ + 0.12076664716005325, + -0.6995636224746704, + 0.6291587352752686, + 0.3165208399295807 + ], + "joints": [ + -0.0057271309196949005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1398291438817978, + 0.043375350534915924, + -0.05635230988264084 + ], + "orientation": [ + 0.12054415792226791, + -0.6985648274421692, + 0.629128634929657, + 0.31886282563209534 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.13502375781536102, + 0.04267425090074539, + -0.055101606994867325 + ], + "orientation": [ + 0.12057212740182877, + -0.69972825050354, + 0.6284632682800293, + 0.3176107704639435 + ], + "joints": [ + -0.011067699640989304 + ] + }, + "final_grasp": { + "position": [ + 0.13502375781536102, + 0.04267425090074539, + -0.055101606994867325 + ], + "orientation": [ + 0.12057212740182877, + -0.69972825050354, + 0.6284632682800293, + 0.3176107704639435 + ], + "joints": [ + -0.0057271309196949005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13986457884311676, + 0.04330248758196831, + -0.0564056932926178 + ], + "orientation": [ + 0.1204012855887413, + -0.6984001398086548, + 0.6293119192123413, + 0.3189157247543335 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.13511468470096588, + 0.042611945420503616, + -0.055163439363241196 + ], + "orientation": [ + 0.12023480981588364, + -0.6996443867683411, + 0.6286725997924805, + 0.31750917434692383 + ], + "joints": [ + -0.011067699640989304 + ] + }, + "final_grasp": { + "position": [ + 0.13511468470096588, + 0.042611945420503616, + -0.055163439363241196 + ], + "orientation": [ + 0.12023480981588364, + -0.6996443867683411, + 0.6286725997924805, + 0.31750917434692383 + ], + "joints": [ + -0.0057271309196949005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11371757835149765, + -0.0808478444814682, + -0.02954508364200592 + ], + "orientation": [ + 0.8922128677368164, + 0.07286970317363739, + 0.18155334889888763, + -0.4070436656475067 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.11107808351516724, + -0.07920591533184052, + -0.028503211215138435 + ], + "orientation": [ + 0.8915461897850037, + 0.08214389532804489, + 0.17795544862747192, + -0.4083254635334015 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + -0.11107808351516724, + -0.07920591533184052, + -0.028503211215138435 + ], + "orientation": [ + 0.8915461897850037, + 0.08214389532804489, + 0.17795544862747192, + -0.4083254635334015 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09074356406927109, + 0.11683385074138641, + -0.04888688027858734 + ], + "orientation": [ + 0.37562888860702515, + 0.29090484976768494, + 0.02170480228960514, + -0.8796625733375549 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.08814872801303864, + 0.11407656967639923, + -0.04749443382024765 + ], + "orientation": [ + 0.37114810943603516, + 0.2934427261352539, + 0.01798870414495468, + -0.8808046579360962 + ], + "joints": [ + -0.012775315903127193 + ] + }, + "final_grasp": { + "position": [ + -0.08814872801303864, + 0.11407656967639923, + -0.04749443382024765 + ], + "orientation": [ + 0.37114810943603516, + 0.2934427261352539, + 0.01798870414495468, + -0.8808046579360962 + ], + "joints": [ + -0.008524114266037941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0908011719584465, + 0.11685118824243546, + -0.048884317278862 + ], + "orientation": [ + 0.37535691261291504, + 0.28968897461891174, + 0.02085999585688114, + -0.880200207233429 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.08826422691345215, + 0.11420027911663055, + -0.04745262488722801 + ], + "orientation": [ + 0.37090131640434265, + 0.29281988739967346, + 0.017586350440979004, + -0.881123960018158 + ], + "joints": [ + -0.012775315903127193 + ] + }, + "final_grasp": { + "position": [ + -0.08826422691345215, + 0.11420027911663055, + -0.04745262488722801 + ], + "orientation": [ + 0.37090131640434265, + 0.29281988739967346, + 0.017586350440979004, + -0.881123960018158 + ], + "joints": [ + -0.008524114266037941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09079255908727646, + 0.1168038621544838, + -0.0489603616297245 + ], + "orientation": [ + 0.37588903307914734, + 0.2909669876098633, + 0.02167876437306404, + -0.8795315027236938 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.08832494914531708, + 0.11407773941755295, + -0.04766763374209404 + ], + "orientation": [ + 0.3717096447944641, + 0.29491642117500305, + 0.01839420758187771, + -0.8800670504570007 + ], + "joints": [ + -0.012748745270073414 + ] + }, + "final_grasp": { + "position": [ + -0.08832494914531708, + 0.11407773941755295, + -0.04766763374209404 + ], + "orientation": [ + 0.3717096447944641, + 0.29491642117500305, + 0.01839420758187771, + -0.8800670504570007 + ], + "joints": [ + -0.008470972999930382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11600605398416519, + -0.05738811567425728, + -0.07232263684272766 + ], + "orientation": [ + 0.82112717628479, + 0.07940521091222763, + -0.14615872502326965, + -0.5459693670272827 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.11160384863615036, + -0.055238936096429825, + -0.06968222558498383 + ], + "orientation": [ + 0.8201666474342346, + 0.08213252574205399, + -0.15195852518081665, + -0.5454258918762207 + ], + "joints": [ + -0.011042604222893715 + ] + }, + "final_grasp": { + "position": [ + -0.11160384863615036, + -0.055238936096429825, + -0.06968222558498383 + ], + "orientation": [ + 0.8201666474342346, + 0.08213252574205399, + -0.15195852518081665, + -0.5454258918762207 + ], + "joints": [ + -0.006206866353750229 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14807789027690887, + 0.037496235221624374, + -0.025748299434781075 + ], + "orientation": [ + 0.25413405895233154, + 0.7591688632965088, + -0.49187999963760376, + 0.34224629402160645 + ], + "joints": [ + -0.016143305227160454 + ] + }, + "fine_grasp": { + "position": [ + 0.14446760714054108, + 0.03681523725390434, + -0.023878173902630806 + ], + "orientation": [ + 0.2631916105747223, + 0.7532452344894409, + -0.4995940625667572, + 0.33727937936782837 + ], + "joints": [ + -0.013433164916932583 + ] + }, + "final_grasp": { + "position": [ + 0.14446760714054108, + 0.03681523725390434, + -0.023878173902630806 + ], + "orientation": [ + 0.2631916105747223, + 0.7532452344894409, + -0.4995940625667572, + 0.33727937936782837 + ], + "joints": [ + -0.010723024606704712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11449825763702393, + 0.07284379005432129, + -0.028118504211306572 + ], + "orientation": [ + 0.4005645215511322, + -0.268047958612442, + -0.11358018964529037, + -0.8687911033630371 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.11540699005126953, + 0.07381218671798706, + -0.026302075013518333 + ], + "orientation": [ + 0.4083416759967804, + -0.2590884864330292, + -0.125691220164299, + -0.8662170171737671 + ], + "joints": [ + -0.010338978841900826 + ] + }, + "final_grasp": { + "position": [ + -0.11540699005126953, + 0.07381218671798706, + -0.026302075013518333 + ], + "orientation": [ + 0.4083416759967804, + -0.2590884864330292, + -0.125691220164299, + -0.8662170171737671 + ], + "joints": [ + -0.006566040217876434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11468479782342911, + 0.07289772480726242, + -0.028698118403553963 + ], + "orientation": [ + 0.4011949598789215, + -0.2650129199028015, + -0.11326222121715546, + -0.8694724440574646 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.11537612229585648, + 0.07365861535072327, + -0.026859017089009285 + ], + "orientation": [ + 0.40905091166496277, + -0.2557291090488434, + -0.12617146968841553, + -0.86681067943573 + ], + "joints": [ + -0.00980331189930439 + ] + }, + "final_grasp": { + "position": [ + -0.11537612229585648, + 0.07365861535072327, + -0.026859017089009285 + ], + "orientation": [ + 0.40905091166496277, + -0.2557291090488434, + -0.12617146968841553, + -0.86681067943573 + ], + "joints": [ + -0.006083514541387558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14271880686283112, + 0.02846384048461914, + -0.050186824053525925 + ], + "orientation": [ + 0.5646587014198303, + -0.13785356283187866, + 0.1998649388551712, + 0.7888035178184509 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.13745690882205963, + 0.027256129309535027, + -0.04859853908419609 + ], + "orientation": [ + 0.5654834508895874, + -0.1376926451921463, + 0.2003026306629181, + 0.7881295084953308 + ], + "joints": [ + -0.011069174855947495 + ] + }, + "final_grasp": { + "position": [ + 0.13745690882205963, + 0.027256129309535027, + -0.04859853908419609 + ], + "orientation": [ + 0.5654834508895874, + -0.1376926451921463, + 0.2003026306629181, + 0.7881295084953308 + ], + "joints": [ + -0.006260007619857788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026917221024632454, + 0.14525358378887177, + -0.023660345003008842 + ], + "orientation": [ + 0.0016982051311060786, + 0.9725381135940552, + -0.048486195504665375, + 0.2276308387517929 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.026092171669006348, + 0.13975059986114502, + -0.022808857262134552 + ], + "orientation": [ + 0.007450968958437443, + 0.9733802080154419, + -0.04991352930665016, + 0.2235715687274933 + ], + "joints": [ + -0.01272077951580286 + ] + }, + "final_grasp": { + "position": [ + 0.026092171669006348, + 0.13975059986114502, + -0.022808857262134552 + ], + "orientation": [ + 0.007450968958437443, + 0.9733802080154419, + -0.04991352930665016, + 0.2235715687274933 + ], + "joints": [ + -0.008974408730864525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14269745349884033, + 0.028439801186323166, + -0.05031953752040863 + ], + "orientation": [ + 0.5645020008087158, + -0.13780878484249115, + 0.2004384547472, + 0.7887780070304871 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.13743552565574646, + 0.027234936133027077, + -0.04872691258788109 + ], + "orientation": [ + 0.5653712153434753, + -0.13752160966396332, + 0.20075498521327972, + 0.7881247401237488 + ], + "joints": [ + -0.011069174855947495 + ] + }, + "final_grasp": { + "position": [ + 0.13743552565574646, + 0.027234936133027077, + -0.04872691258788109 + ], + "orientation": [ + 0.5653712153434753, + -0.13752160966396332, + 0.20075498521327972, + 0.7881247401237488 + ], + "joints": [ + -0.006260007619857788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09361620992422104, + -0.10440347343683243, + -0.059743840247392654 + ], + "orientation": [ + 0.18437230587005615, + -0.2765379846096039, + -0.9276938438415527, + -0.1700524091720581 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.09023524075746536, + -0.10057362169027328, + -0.057530127465724945 + ], + "orientation": [ + 0.18227703869342804, + -0.2766175866127014, + -0.9271338582038879, + -0.1751594841480255 + ], + "joints": [ + -0.010366946458816528 + ] + }, + "final_grasp": { + "position": [ + -0.09023524075746536, + -0.10057362169027328, + -0.057530127465724945 + ], + "orientation": [ + 0.18227703869342804, + -0.2766175866127014, + -0.9271338582038879, + -0.1751594841480255 + ], + "joints": [ + -0.00606260821223259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09347838908433914, + -0.10398579388856888, + -0.0596560463309288 + ], + "orientation": [ + 0.1849941611289978, + -0.27668997645378113, + -0.9275251626968384, + -0.17004922032356262 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.0901123434305191, + -0.10015013068914413, + -0.05741192400455475 + ], + "orientation": [ + 0.18263369798660278, + -0.27682480216026306, + -0.9269862174987793, + -0.17524155974388123 + ], + "joints": [ + -0.010396387428045273 + ] + }, + "final_grasp": { + "position": [ + -0.0901123434305191, + -0.10015013068914413, + -0.05741192400455475 + ], + "orientation": [ + 0.18263369798660278, + -0.27682480216026306, + -0.9269862174987793, + -0.17524155974388123 + ], + "joints": [ + -0.006092049181461334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04222840815782547, + 0.11715920269489288, + -0.07105778157711029 + ], + "orientation": [ + 0.10940521955490112, + 0.9402908086776733, + 0.2407417744398117, + 0.21430599689483643 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.04081583768129349, + 0.1139734536409378, + -0.06879767775535583 + ], + "orientation": [ + 0.11290154606103897, + 0.9386059641838074, + 0.2412574142217636, + 0.21924132108688354 + ], + "joints": [ + -0.010564345866441727 + ] + }, + "final_grasp": { + "position": [ + -0.04081583768129349, + 0.1139734536409378, + -0.06879767775535583 + ], + "orientation": [ + 0.11290154606103897, + 0.9386059641838074, + 0.2412574142217636, + 0.21924132108688354 + ], + "joints": [ + -0.0052503496408462524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14814716577529907, + 0.037619706243276596, + -0.02569819986820221 + ], + "orientation": [ + 0.25376638770103455, + 0.7593514323234558, + -0.4920453131198883, + 0.34187620878219604 + ], + "joints": [ + -0.016143305227160454 + ] + }, + "fine_grasp": { + "position": [ + 0.14452560245990753, + 0.0369848757982254, + -0.023814650252461433 + ], + "orientation": [ + 0.26242363452911377, + 0.7536203861236572, + -0.4998027980327606, + 0.33673030138015747 + ], + "joints": [ + -0.013433164916932583 + ] + }, + "final_grasp": { + "position": [ + 0.14452560245990753, + 0.0369848757982254, + -0.023814650252461433 + ], + "orientation": [ + 0.26242363452911377, + 0.7536203861236572, + -0.4998027980327606, + 0.33673030138015747 + ], + "joints": [ + -0.010723024606704712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09993035346269608, + 0.06701010465621948, + -0.07899980247020721 + ], + "orientation": [ + 0.2700479030609131, + -0.27360305190086365, + -0.3172442615032196, + -0.8669322729110718 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.09611587226390839, + 0.06496221572160721, + -0.07605065405368805 + ], + "orientation": [ + 0.27024272084236145, + -0.27589619159698486, + -0.3293370008468628, + -0.8616189956665039 + ], + "joints": [ + -0.010396387428045273 + ] + }, + "final_grasp": { + "position": [ + -0.09611587226390839, + 0.06496221572160721, + -0.07605065405368805 + ], + "orientation": [ + 0.27024272084236145, + -0.27589619159698486, + -0.3293370008468628, + -0.8616189956665039 + ], + "joints": [ + -0.006092049181461334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09984688460826874, + 0.06688868999481201, + -0.07897866517305374 + ], + "orientation": [ + 0.2706920802593231, + -0.27275124192237854, + -0.3172648251056671, + -0.8669922351837158 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.09609369933605194, + 0.06477619707584381, + -0.07608315348625183 + ], + "orientation": [ + 0.27057138085365295, + -0.2756073772907257, + -0.3286294639110565, + -0.8618784546852112 + ], + "joints": [ + -0.00992099940776825 + ] + }, + "final_grasp": { + "position": [ + -0.09609369933605194, + 0.06477619707584381, + -0.07608315348625183 + ], + "orientation": [ + 0.27057138085365295, + -0.2756073772907257, + -0.3286294639110565, + -0.8618784546852112 + ], + "joints": [ + -0.005111832171678543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09984250366687775, + 0.06686238199472427, + -0.07897040247917175 + ], + "orientation": [ + 0.27058231830596924, + -0.2729600965976715, + -0.31721654534339905, + -0.8669785261154175 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.09609560668468475, + 0.064755879342556, + -0.07607976347208023 + ], + "orientation": [ + 0.2705402970314026, + -0.27576640248298645, + -0.3285878896713257, + -0.8618531227111816 + ], + "joints": [ + -0.009891558438539505 + ] + }, + "final_grasp": { + "position": [ + -0.09609560668468475, + 0.064755879342556, + -0.07607976347208023 + ], + "orientation": [ + 0.2705402970314026, + -0.27576640248298645, + -0.3285878896713257, + -0.8618531227111816 + ], + "joints": [ + -0.005082391202449799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11919210851192474, + -0.0689811035990715, + -0.05775778368115425 + ], + "orientation": [ + 0.8531041145324707, + 0.2629563808441162, + 0.272045761346817, + -0.3592469096183777 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.11490801721811295, + -0.0662200003862381, + -0.055692896246910095 + ], + "orientation": [ + 0.8504477739334106, + 0.2689861059188843, + 0.27269166707992554, + -0.36058899760246277 + ], + "joints": [ + -0.012751615606248379 + ] + }, + "final_grasp": { + "position": [ + -0.11490801721811295, + -0.0662200003862381, + -0.055692896246910095 + ], + "orientation": [ + 0.8504477739334106, + 0.2689861059188843, + 0.27269166707992554, + -0.36058899760246277 + ], + "joints": [ + -0.008447272703051567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06996162980794907, + 0.13037492334842682, + -0.05417663976550102 + ], + "orientation": [ + 0.028052881360054016, + 0.9279438257217407, + 0.2933497726917267, + 0.2282090038061142 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.06725741177797318, + 0.12630034983158112, + -0.05277726426720619 + ], + "orientation": [ + 0.03513902425765991, + 0.9292064309120178, + 0.2902437746524811, + 0.22605134546756744 + ], + "joints": [ + -0.011484283953905106 + ] + }, + "final_grasp": { + "position": [ + -0.06725741177797318, + 0.12630034983158112, + -0.05277726426720619 + ], + "orientation": [ + 0.03513902425765991, + 0.9292064309120178, + 0.2902437746524811, + 0.22605134546756744 + ], + "joints": [ + -0.007737915962934494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0041934410110116005, + 0.106595978140831, + -0.09522246569395065 + ], + "orientation": [ + 0.24958188831806183, + 0.9680588841438293, + -0.003464504610747099, + 0.0236411914229393 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.0035811669658869505, + 0.10331358760595322, + -0.09197956323623657 + ], + "orientation": [ + 0.25683408975601196, + 0.9662275910377502, + -0.0018258418422192335, + 0.02090536430478096 + ], + "joints": [ + -0.011122316122055054 + ] + }, + "final_grasp": { + "position": [ + 0.0035811669658869505, + 0.10331358760595322, + -0.09197956323623657 + ], + "orientation": [ + 0.25683408975601196, + 0.9662275910377502, + -0.0018258418422192335, + 0.02090536430478096 + ], + "joints": [ + -0.0063662901520729065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004195258487015963, + 0.10648834705352783, + -0.09522973746061325 + ], + "orientation": [ + 0.24976342916488647, + 0.9680144786834717, + -0.0035141599364578724, + 0.023533252999186516 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.003589827101677656, + 0.10326410830020905, + -0.09197390824556351 + ], + "orientation": [ + 0.2573363184928894, + 0.9660965800285339, + -0.0016455694567412138, + 0.020804965868592262 + ], + "joints": [ + -0.011122316122055054 + ] + }, + "final_grasp": { + "position": [ + 0.003589827101677656, + 0.10326410830020905, + -0.09197390824556351 + ], + "orientation": [ + 0.2573363184928894, + 0.9660965800285339, + -0.0016455694567412138, + 0.020804965868592262 + ], + "joints": [ + -0.0063662901520729065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1335557997226715, + -0.04624265804886818, + -0.06531640142202377 + ], + "orientation": [ + 0.07092306762933731, + 0.5779241323471069, + 0.8080030083656311, + 0.09002568572759628 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + -0.12925709784030914, + -0.04461714252829552, + -0.06327463686466217 + ], + "orientation": [ + 0.07519784569740295, + 0.578481137752533, + 0.8069709539413452, + 0.09221062064170837 + ], + "joints": [ + -0.009804708883166313 + ] + }, + "final_grasp": { + "position": [ + -0.12925709784030914, + -0.04461714252829552, + -0.06327463686466217 + ], + "orientation": [ + 0.07519784569740295, + 0.578481137752533, + 0.8069709539413452, + 0.09221062064170837 + ], + "joints": [ + -0.005526941269636154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14882606267929077, + -0.013999586924910545, + -0.04849667847156525 + ], + "orientation": [ + 0.5944167971611023, + -0.23942269384860992, + -0.3436998724937439, + -0.6864514946937561 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + -0.14441363513469696, + -0.013606543652713299, + -0.04691808298230171 + ], + "orientation": [ + 0.5964508652687073, + -0.23634685575962067, + -0.3462788760662079, + -0.6844542622566223 + ], + "joints": [ + -0.009779535233974457 + ] + }, + "final_grasp": { + "position": [ + -0.14441363513469696, + -0.013606543652713299, + -0.04691808298230171 + ], + "orientation": [ + 0.5964508652687073, + -0.23634685575962067, + -0.3462788760662079, + -0.6844542622566223 + ], + "joints": [ + -0.004917226731777191 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14862971007823944, + -0.013853335753083229, + -0.04851175844669342 + ], + "orientation": [ + 0.5929961800575256, + -0.24036021530628204, + -0.3462425768375397, + -0.6860747933387756 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.14416323602199554, + -0.013482879847288132, + -0.04699672758579254 + ], + "orientation": [ + 0.5947777628898621, + -0.23783287405967712, + -0.34801989793777466, + -0.6845123171806335 + ], + "joints": [ + -0.009808976203203201 + ] + }, + "final_grasp": { + "position": [ + -0.14416323602199554, + -0.013482879847288132, + -0.04699672758579254 + ], + "orientation": [ + 0.5947777628898621, + -0.23783287405967712, + -0.34801989793777466, + -0.6845123171806335 + ], + "joints": [ + -0.004946667701005936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07997816056013107, + -0.07404134422540665, + -0.08362618088722229 + ], + "orientation": [ + 0.24257011711597443, + 0.46596917510032654, + -0.8440028429031372, + -0.1081286370754242 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.08176036924123764, + -0.07539298385381699, + -0.08323705196380615 + ], + "orientation": [ + 0.23865847289562225, + 0.46067100763320923, + -0.8465850949287415, + -0.1188199445605278 + ], + "joints": [ + -0.009411826729774475 + ] + }, + "final_grasp": { + "position": [ + 0.08176036924123764, + -0.07539298385381699, + -0.08323705196380615 + ], + "orientation": [ + 0.23865847289562225, + 0.46067100763320923, + -0.8465850949287415, + -0.1188199445605278 + ], + "joints": [ + -0.003593001514673233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0266881063580513, + -0.12617789208889008, + -0.08288773894309998 + ], + "orientation": [ + 0.3472670018672943, + 0.23423658311367035, + 0.8990569710731506, + 0.1274186223745346 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.02592867985367775, + -0.12194632738828659, + -0.07955265045166016 + ], + "orientation": [ + 0.3499607741832733, + 0.23087139427661896, + 0.8980621099472046, + 0.13308005034923553 + ], + "joints": [ + -0.009666191413998604 + ] + }, + "final_grasp": { + "position": [ + -0.02592867985367775, + -0.12194632738828659, + -0.07955265045166016 + ], + "orientation": [ + 0.3499607741832733, + 0.23087139427661896, + 0.8980621099472046, + 0.13308005034923553 + ], + "joints": [ + -0.0063980817794799805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13510999083518982, + -0.061102449893951416, + -0.054256536066532135 + ], + "orientation": [ + 0.7716145515441895, + -0.07423898577690125, + -0.2529412508010864, + -0.5788958668708801 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + -0.13059203326702118, + -0.059477392584085464, + -0.05255124345421791 + ], + "orientation": [ + 0.771847128868103, + -0.07211954891681671, + -0.25351205468177795, + -0.5786039233207703 + ], + "joints": [ + -0.008628489449620247 + ] + }, + "final_grasp": { + "position": [ + -0.13059203326702118, + -0.059477392584085464, + -0.05255124345421791 + ], + "orientation": [ + 0.771847128868103, + -0.07211954891681671, + -0.25351205468177795, + -0.5786039233207703 + ], + "joints": [ + -0.003792751580476761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03720321133732796, + 0.12377490103244781, + -0.07522731274366379 + ], + "orientation": [ + 0.015777571126818657, + -0.2836308479309082, + -0.18229235708713531, + -0.9413151741027832 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.03604240342974663, + 0.11903119832277298, + -0.07266024500131607 + ], + "orientation": [ + 0.015261881053447723, + -0.28933247923851013, + -0.18943671882152557, + -0.9381725192070007 + ], + "joints": [ + -0.00930275022983551 + ] + }, + "final_grasp": { + "position": [ + -0.03604240342974663, + 0.11903119832277298, + -0.07266024500131607 + ], + "orientation": [ + 0.015261881053447723, + -0.28933247923851013, + -0.18943671882152557, + -0.9381725192070007 + ], + "joints": [ + -0.004493582993745804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03000025264918804, + -0.14208707213401794, + -0.006683850195258856 + ], + "orientation": [ + 0.8876699805259705, + -0.12668603658676147, + -0.4150599241256714, + -0.15400654077529907 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.031222261488437653, + -0.1418597251176834, + -0.0056378524750471115 + ], + "orientation": [ + 0.8886061906814575, + -0.11955896764993668, + -0.4171306788921356, + -0.1486157327890396 + ], + "joints": [ + -0.010983722284436226 + ] + }, + "final_grasp": { + "position": [ + -0.031222261488437653, + -0.1418597251176834, + -0.0056378524750471115 + ], + "orientation": [ + 0.8886061906814575, + -0.11955896764993668, + -0.4171306788921356, + -0.1486157327890396 + ], + "joints": [ + -0.00614798441529274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12770169973373413, + 0.0581870973110199, + -0.067564956843853 + ], + "orientation": [ + 0.33600184321403503, + 0.8186404705047607, + 0.35931363701820374, + -0.2963516414165497 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + -0.12504154443740845, + 0.05819219723343849, + -0.06555426120758057 + ], + "orientation": [ + 0.34186431765556335, + 0.8162099123001099, + 0.36335450410842896, + -0.2913822531700134 + ], + "joints": [ + -0.01354658231139183 + ] + }, + "final_grasp": { + "position": [ + -0.12504154443740845, + 0.05819219723343849, + -0.06555426120758057 + ], + "orientation": [ + 0.34186431765556335, + 0.8162099123001099, + 0.36335450410842896, + -0.2913822531700134 + ], + "joints": [ + -0.010331610217690468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12768302857875824, + 0.058019574731588364, + -0.06754786521196365 + ], + "orientation": [ + 0.33629310131073, + 0.8183233737945557, + 0.35847240686416626, + -0.29791176319122314 + ], + "joints": [ + -0.01673211343586445 + ] + }, + "fine_grasp": { + "position": [ + -0.12487810105085373, + 0.05788552016019821, + -0.0655401274561882 + ], + "orientation": [ + 0.34212788939476013, + 0.8159204721450806, + 0.36291101574897766, + -0.2924344837665558 + ], + "joints": [ + -0.013490570709109306 + ] + }, + "final_grasp": { + "position": [ + -0.12487810105085373, + 0.05788552016019821, + -0.0655401274561882 + ], + "orientation": [ + 0.34212788939476013, + 0.8159204721450806, + 0.36291101574897766, + -0.2924344837665558 + ], + "joints": [ + -0.010249027982354164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06876392662525177, + -0.12725600600242615, + -0.06115737929940224 + ], + "orientation": [ + 0.9014366865158081, + 0.19292514026165009, + 0.375105082988739, + -0.097405806183815 + ], + "joints": [ + -0.015171770006418228 + ] + }, + "fine_grasp": { + "position": [ + -0.06681397557258606, + -0.12331990897655487, + -0.05943424627184868 + ], + "orientation": [ + 0.9000875949859619, + 0.19530019164085388, + 0.37651699781417847, + -0.0996752381324768 + ], + "joints": [ + -0.010336032137274742 + ] + }, + "final_grasp": { + "position": [ + -0.06681397557258606, + -0.12331990897655487, + -0.05943424627184868 + ], + "orientation": [ + 0.9000875949859619, + 0.19530019164085388, + 0.37651699781417847, + -0.0996752381324768 + ], + "joints": [ + -0.005500294268131256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10577702522277832, + 0.0952213853597641, + 0.0066015515476465225 + ], + "orientation": [ + 0.204095721244812, + -0.7107399106025696, + 0.21870696544647217, + 0.6366795897483826 + ], + "joints": [ + -0.017085399478673935 + ] + }, + "fine_grasp": { + "position": [ + 0.10175411403179169, + 0.09136366099119186, + 0.006751503329724073 + ], + "orientation": [ + 0.21032947301864624, + -0.7069990634918213, + 0.22093670070171356, + 0.638044536113739 + ], + "joints": [ + -0.01123999897390604 + ] + }, + "final_grasp": { + "position": [ + 0.10175411403179169, + 0.09136366099119186, + 0.006751503329724073 + ], + "orientation": [ + 0.21032947301864624, + -0.7069990634918213, + 0.22093670070171356, + 0.638044536113739 + ], + "joints": [ + -0.0053945984691381454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04112795367836952, + 0.11539524048566818, + -0.08361077308654785 + ], + "orientation": [ + 0.09540994465351105, + -0.1309252679347992, + -0.2175273448228836, + -0.9625162482261658 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.039407458156347275, + 0.11070116609334946, + -0.08055198937654495 + ], + "orientation": [ + 0.09398792684078217, + -0.13379304111003876, + -0.22096598148345947, + -0.9614778161048889 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.039407458156347275, + 0.11070116609334946, + -0.08055198937654495 + ], + "orientation": [ + 0.09398792684078217, + -0.13379304111003876, + -0.22096598148345947, + -0.9614778161048889 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04113922640681267, + 0.1154186949133873, + -0.08360403776168823 + ], + "orientation": [ + 0.09627723693847656, + -0.12908080220222473, + -0.2173006683588028, + -0.9627301096916199 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.03938965126872063, + 0.11073123663663864, + -0.08055389672517776 + ], + "orientation": [ + 0.0947127491235733, + -0.13223706185817719, + -0.2216508835554123, + -0.9614644050598145 + ], + "joints": [ + -0.011715386994183064 + ] + }, + "final_grasp": { + "position": [ + -0.03938965126872063, + 0.11073123663663864, + -0.08055389672517776 + ], + "orientation": [ + 0.0947127491235733, + -0.13223706185817719, + -0.2216508835554123, + -0.9614644050598145 + ], + "joints": [ + -0.006374815478920937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041144803166389465, + 0.1154027059674263, + -0.08359599113464355 + ], + "orientation": [ + 0.09560135751962662, + -0.1306593269109726, + -0.2174711525440216, + -0.9625459909439087 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.03942085802555084, + 0.11071233451366425, + -0.08053431659936905 + ], + "orientation": [ + 0.09427689015865326, + -0.13331952691078186, + -0.2208559662103653, + -0.961540699005127 + ], + "joints": [ + -0.011210558004677296 + ] + }, + "final_grasp": { + "position": [ + -0.03942085802555084, + 0.11071233451366425, + -0.08053431659936905 + ], + "orientation": [ + 0.09427689015865326, + -0.13331952691078186, + -0.2208559662103653, + -0.961540699005127 + ], + "joints": [ + -0.005365157499909401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13587196171283722, + -0.010758339427411556, + -0.07284284383058548 + ], + "orientation": [ + 0.10651689767837524, + 0.6754807829856873, + -0.723713219165802, + -0.09283868223428726 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.13092079758644104, + -0.010591222904622555, + -0.07040081173181534 + ], + "orientation": [ + 0.10826990008354187, + 0.6740460395812988, + -0.7239393591880798, + -0.09925467520952225 + ], + "joints": [ + -0.010338978841900826 + ] + }, + "final_grasp": { + "position": [ + 0.13092079758644104, + -0.010591222904622555, + -0.07040081173181534 + ], + "orientation": [ + 0.10826990008354187, + 0.6740460395812988, + -0.7239393591880798, + -0.09925467520952225 + ], + "joints": [ + -0.006566040217876434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12295728921890259, + 0.02301747351884842, + -0.06196461245417595 + ], + "orientation": [ + 0.39094266295433044, + 0.7666254043579102, + -0.39749178290367126, + 0.3185114860534668 + ], + "joints": [ + -0.01684987172484398 + ] + }, + "fine_grasp": { + "position": [ + 0.12494026869535446, + 0.023903366178274155, + -0.061527885496616364 + ], + "orientation": [ + 0.3915245234966278, + 0.763744592666626, + -0.4028388559818268, + 0.3179994523525238 + ], + "joints": [ + -0.009463414549827576 + ] + }, + "final_grasp": { + "position": [ + 0.12494026869535446, + 0.023903366178274155, + -0.061527885496616364 + ], + "orientation": [ + 0.3915245234966278, + 0.763744592666626, + -0.4028388559818268, + 0.3179994523525238 + ], + "joints": [ + -0.0020769573748111725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02266218513250351, + -0.11850319802761078, + -0.09135212749242783 + ], + "orientation": [ + 0.10496678948402405, + 0.12985345721244812, + 0.962985634803772, + 0.2116098254919052 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.021785441786050797, + -0.11518414318561554, + -0.08856672048568726 + ], + "orientation": [ + 0.10125485062599182, + 0.12618844211101532, + 0.9634128212928772, + 0.2136814445257187 + ], + "joints": [ + -0.01103973388671875 + ] + }, + "final_grasp": { + "position": [ + -0.021785441786050797, + -0.11518414318561554, + -0.08856672048568726 + ], + "orientation": [ + 0.10125485062599182, + 0.12618844211101532, + 0.9634128212928772, + 0.2136814445257187 + ], + "joints": [ + -0.006230566650629044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04181627184152603, + 0.13102315366268158, + -0.065538190305233 + ], + "orientation": [ + 0.07545464485883713, + -0.20028845965862274, + -0.14576122164726257, + -0.9658907055854797 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.04052497819066048, + 0.12596847116947174, + -0.06350439786911011 + ], + "orientation": [ + 0.07509133964776993, + -0.20287467539310455, + -0.14918634295463562, + -0.9648557901382446 + ], + "joints": [ + -0.009891558438539505 + ] + }, + "final_grasp": { + "position": [ + -0.04052497819066048, + 0.12596847116947174, + -0.06350439786911011 + ], + "orientation": [ + 0.07509133964776993, + -0.20287467539310455, + -0.14918634295463562, + -0.9648557901382446 + ], + "joints": [ + -0.005082391202449799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09965301305055618, + 0.09423890709877014, + -0.06803875416517258 + ], + "orientation": [ + 0.43970945477485657, + 0.1884922981262207, + -0.043953053653240204, + -0.8770372271537781 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.09570644795894623, + 0.0909329205751419, + -0.06588637828826904 + ], + "orientation": [ + 0.43735578656196594, + 0.18871372938156128, + -0.04977569356560707, + -0.8778550028800964 + ], + "joints": [ + -0.008122263476252556 + ] + }, + "final_grasp": { + "position": [ + -0.09570644795894623, + 0.0909329205751419, + -0.06588637828826904 + ], + "orientation": [ + 0.43735578656196594, + 0.18871372938156128, + -0.04977569356560707, + -0.8778550028800964 + ], + "joints": [ + -0.003339666873216629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06695566326379776, + 0.09973026067018509, + -0.0930105447769165 + ], + "orientation": [ + 0.2302745282649994, + -0.04389982670545578, + 0.2485702484846115, + 0.9398186802864075 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.06472142040729523, + 0.0958758071064949, + -0.08978506922721863 + ], + "orientation": [ + 0.23056861758232117, + -0.04595527797937393, + 0.24795913696289062, + 0.9398098587989807 + ], + "joints": [ + -0.01003294624388218 + ] + }, + "final_grasp": { + "position": [ + 0.06472142040729523, + 0.0958758071064949, + -0.08978506922721863 + ], + "orientation": [ + 0.23056861758232117, + -0.04595527797937393, + 0.24795913696289062, + 0.9398098587989807 + ], + "joints": [ + -0.004187550395727158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09903302788734436, + 0.0937977060675621, + -0.06776148825883865 + ], + "orientation": [ + 0.4378812313079834, + 0.18318141996860504, + -0.04646189510822296, + -0.8789458274841309 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.09516593813896179, + 0.0905037522315979, + -0.06557627767324448 + ], + "orientation": [ + 0.4354132115840912, + 0.18259145319461823, + -0.05275373160839081, + -0.879939079284668 + ], + "joints": [ + -0.008740512654185295 + ] + }, + "final_grasp": { + "position": [ + -0.09516593813896179, + 0.0905037522315979, + -0.06557627767324448 + ], + "orientation": [ + 0.4354132115840912, + 0.18259145319461823, + -0.05275373160839081, + -0.879939079284668 + ], + "joints": [ + -0.003957916051149368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026557039469480515, + 0.13011354207992554, + -0.05614491552114487 + ], + "orientation": [ + 0.02515009045600891, + 0.3498483896255493, + 0.1056242361664772, + 0.9304929375648499 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + -0.02563549019396305, + 0.1311928629875183, + -0.054597146809101105 + ], + "orientation": [ + 0.02100970409810543, + 0.3540131151676178, + 0.1132790818810463, + 0.9281169176101685 + ], + "joints": [ + -0.00868302769958973 + ] + }, + "final_grasp": { + "position": [ + -0.02563549019396305, + 0.1311928629875183, + -0.054597146809101105 + ], + "orientation": [ + 0.02100970409810543, + 0.3540131151676178, + 0.1132790818810463, + 0.9281169176101685 + ], + "joints": [ + -0.0033424608409404755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07511860132217407, + 0.12763188779354095, + -0.04381043091416359 + ], + "orientation": [ + 0.1745806187391281, + -0.2812670171260834, + -0.10420997440814972, + -0.9378436803817749 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.07277128845453262, + 0.12280365079641342, + -0.04234325885772705 + ], + "orientation": [ + 0.17604181170463562, + -0.2812315821647644, + -0.11090130358934402, + -0.936813235282898 + ], + "joints": [ + -0.007505487650632858 + ] + }, + "final_grasp": { + "position": [ + -0.07277128845453262, + 0.12280365079641342, + -0.04234325885772705 + ], + "orientation": [ + 0.17604181170463562, + -0.2812315821647644, + -0.11090130358934402, + -0.936813235282898 + ], + "joints": [ + -0.003254290670156479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13560247421264648, + -0.00830275472253561, + 0.016332067549228668 + ], + "orientation": [ + 0.31823861598968506, + -0.6317772269248962, + -0.7047842144966125, + -0.05348940193653107 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.13492713868618011, + -0.008773498237133026, + 0.017451688647270203 + ], + "orientation": [ + 0.3139829635620117, + -0.6320713758468628, + -0.7055724859237671, + -0.0637803003191948 + ], + "joints": [ + -0.010982325300574303 + ] + }, + "final_grasp": { + "position": [ + -0.13492713868618011, + -0.008773498237133026, + 0.017451688647270203 + ], + "orientation": [ + 0.3139829635620117, + -0.6320713758468628, + -0.7055724859237671, + -0.0637803003191948 + ], + "joints": [ + -0.006704557687044144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13661491870880127, + -0.009038211777806282, + 0.01696777157485485 + ], + "orientation": [ + 0.471473753452301, + 0.47046270966529846, + 0.4359626770019531, + -0.6052387952804565 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.1381952166557312, + -0.008284755982458591, + 0.01668267510831356 + ], + "orientation": [ + 0.4714438319206238, + 0.4702235758304596, + 0.44008055329322815, + -0.6024612188339233 + ], + "joints": [ + -0.008964406326413155 + ] + }, + "final_grasp": { + "position": [ + -0.1381952166557312, + -0.008284755982458591, + 0.01668267510831356 + ], + "orientation": [ + 0.4714438319206238, + 0.4702235758304596, + 0.44008055329322815, + -0.6024612188339233 + ], + "joints": [ + -0.0021093524992465973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13665446639060974, + -0.009189927019178867, + 0.01687069982290268 + ], + "orientation": [ + 0.47126302123069763, + 0.4710153341293335, + 0.4361844062805176, + -0.6048130989074707 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.13837414979934692, + -0.008326753973960876, + 0.016656992956995964 + ], + "orientation": [ + 0.47168201208114624, + 0.4705946147441864, + 0.4410955607891083, + -0.6012415885925293 + ], + "joints": [ + -0.009469235315918922 + ] + }, + "final_grasp": { + "position": [ + -0.13837414979934692, + -0.008326753973960876, + 0.016656992956995964 + ], + "orientation": [ + 0.47168201208114624, + 0.4705946147441864, + 0.4410955607891083, + -0.6012415885925293 + ], + "joints": [ + -0.003119010478258133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13331522047519684, + 0.008218962699174881, + 0.029957206919789314 + ], + "orientation": [ + 0.45898711681365967, + -0.6332554221153259, + -0.37695086002349854, + -0.4962122142314911 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.13243824243545532, + 0.009558010846376419, + 0.02888115495443344 + ], + "orientation": [ + 0.4626621603965759, + -0.6297568678855896, + -0.38460808992385864, + -0.491351842880249 + ], + "joints": [ + -0.011657980270683765 + ] + }, + "final_grasp": { + "position": [ + -0.13243824243545532, + 0.009558010846376419, + 0.02888115495443344 + ], + "orientation": [ + 0.4626621603965759, + -0.6297568678855896, + -0.38460808992385864, + -0.491351842880249 + ], + "joints": [ + -0.006848810240626335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1037423312664032, + 0.024938160553574562, + 0.08734852820634842 + ], + "orientation": [ + 0.6092391610145569, + -0.15352872014045715, + -0.17689912021160126, + 0.757603645324707 + ], + "joints": [ + -0.018881265074014664 + ] + }, + "fine_grasp": { + "position": [ + 0.09970475733280182, + 0.0242308396846056, + 0.08354073762893677 + ], + "orientation": [ + 0.6069950461387634, + -0.15701031684875488, + -0.18827953934669495, + 0.7559468746185303 + ], + "joints": [ + -0.014098657295107841 + ] + }, + "final_grasp": { + "position": [ + 0.09970475733280182, + 0.0242308396846056, + 0.08354073762893677 + ], + "orientation": [ + 0.6069950461387634, + -0.15701031684875488, + -0.18827953934669495, + 0.7559468746185303 + ], + "joints": [ + -0.00931604951620102 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2036, + "num_passed": 70 + } +} \ No newline at end of file diff --git a/clutter_pokeball_00006/Annotation/piper_grasp_pose.json b/clutter_pokeball_00006/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..d7e6dbc21f98fe10cee498df13f47ac004d28e20 --- /dev/null +++ b/clutter_pokeball_00006/Annotation/piper_grasp_pose.json @@ -0,0 +1,68 @@ +{ + "type": "clutter_pokeball_00006", + "bottom_center": [ + -8.568167686462402e-08, + 0.0018850304186344147, + -0.03989948332309723 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.015919003635644913, + -0.019916240125894547, + -0.1548393964767456 + ], + "orientation": [ + 0.8524441719055176, + -0.08363314718008041, + 0.0053780050948262215, + -0.5160577297210693 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.015468391589820385, + -0.019574111327528954, + -0.15096211433410645 + ], + "orientation": [ + 0.8526570796966553, + -0.08271386474370956, + 0.006009920034557581, + -0.5158472061157227 + ], + "joints": [ + 0.028605278581380844 + ] + }, + "final_grasp": { + "position": [ + -0.015468391589820385, + -0.019574111327528954, + -0.15096211433410645 + ], + "orientation": [ + 0.8526570796966553, + -0.08271386474370956, + 0.006009920034557581, + -0.5158472061157227 + ], + "joints": [ + 0.022210557013750076 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 1 + } +} \ No newline at end of file diff --git a/clutter_pokeball_00006/Object.usd b/clutter_pokeball_00006/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..a4d1f5abe9ecbc46741cd35371c67bdc80a118d3 --- /dev/null +++ b/clutter_pokeball_00006/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d4937b34b1ce2d25272f033ab22bfa987a0fee6625fff20eb610f0903f824d4 +size 208235 diff --git a/clutter_sandwich_00000/Annotation/dex1_1_grasp_pose.json b/clutter_sandwich_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..af0f4f5bd341c1054b5ba273f92e611ad29e31fa --- /dev/null +++ b/clutter_sandwich_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,118 @@ +{ + "type": "clutter_sandwich_00000", + "bottom_center": [ + 0.0009812451899051666, + 0.0002444535493850708, + -0.0007406877120956779 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.020173417404294014, + 0.11138886958360672, + -0.0982879027724266 + ], + "orientation": [ + 0.02337261289358139, + 0.0020385354291647673, + -0.31221628189086914, + -0.9497213959693909 + ], + "joints": [ + -0.00921858474612236 + ] + }, + "fine_grasp": { + "position": [ + -0.01973693259060383, + 0.1074022650718689, + -0.09418673068284988 + ], + "orientation": [ + 0.023782312870025635, + 0.0010465894592925906, + -0.3186861276626587, + -0.9475613236427307 + ], + "joints": [ + -0.010733071714639664 + ] + }, + "final_grasp": { + "position": [ + -0.01973693259060383, + 0.1074022650718689, + -0.09418673068284988 + ], + "orientation": [ + 0.023782312870025635, + 0.0010465894592925906, + -0.3186861276626587, + -0.9475613236427307 + ], + "joints": [ + -0.012247558683156967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020390106365084648, + 0.11109671741724014, + -0.09809994697570801 + ], + "orientation": [ + 0.033109135925769806, + 0.009753470309078693, + -0.3114607334136963, + -0.9496318697929382 + ], + "joints": [ + -0.0056541552767157555 + ] + }, + "fine_grasp": { + "position": [ + -0.02007175423204899, + 0.1067245602607727, + -0.09384643286466599 + ], + "orientation": [ + 0.03430197015404701, + 0.002668555825948715, + -0.31741863489151, + -0.9476611614227295 + ], + "joints": [ + -0.007726613897830248 + ] + }, + "final_grasp": { + "position": [ + -0.02007175423204899, + 0.1067245602607727, + -0.09384643286466599 + ], + "orientation": [ + 0.03430197015404701, + 0.002668555825948715, + -0.31741863489151, + -0.9476611614227295 + ], + "joints": [ + -0.00979907251894474 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 2 + } +} \ No newline at end of file diff --git a/clutter_sandwich_00000/Annotation/piper_grasp_pose.json b/clutter_sandwich_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..210351f2243a5d3ccfcbbb2202b86f1d4d79f237 --- /dev/null +++ b/clutter_sandwich_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,68 @@ +{ + "type": "clutter_sandwich_00000", + "bottom_center": [ + 0.0009812451899051666, + 0.0002444535493850708, + -0.0007406877120956779 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.001524714520201087, + -0.029706202447414398, + -0.143034890294075 + ], + "orientation": [ + 0.8930857181549072, + -0.11903319507837296, + 0.026158366352319717, + 0.43306437134742737 + ], + "joints": [ + 0.002245202660560608 + ] + }, + "fine_grasp": { + "position": [ + 0.001479966682381928, + -0.029478969052433968, + -0.1376340091228485 + ], + "orientation": [ + 0.8936338424682617, + -0.11396472901105881, + 0.025166716426610947, + 0.4333559274673462 + ], + "joints": [ + 0.003457271959632635 + ] + }, + "final_grasp": { + "position": [ + 0.001479966682381928, + -0.029478969052433968, + -0.1376340091228485 + ], + "orientation": [ + 0.8936338424682617, + -0.11396472901105881, + 0.025166716426610947, + 0.4333559274673462 + ], + "joints": [ + 0.004669341258704662 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 1 + } +} \ No newline at end of file diff --git a/clutter_sandwich_00000/Object.usd b/clutter_sandwich_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..183ceb4beceb13b7e7f5de07b30b6261d1ed497c --- /dev/null +++ b/clutter_sandwich_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45bf38ca79a45569906340e9e1f49df3055c61a31749278a2f81e29226f7b296 +size 105763 diff --git a/clutter_sound_card_00000/Annotation/dex1_1_grasp_pose.json b/clutter_sound_card_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..2d28168a820905c100ba203696f7931920f52bf1 --- /dev/null +++ b/clutter_sound_card_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,3418 @@ +{ + "type": "clutter_sound_card_00000", + "bottom_center": [ + 0.0, + -0.004325412213802338, + 0.00020949431927874684 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.04097674787044525, + -0.14565663039684296, + 0.02883533202111721 + ], + "orientation": [ + 0.7292802929878235, + 0.05749617889523506, + 0.6724785566329956, + -0.11232535541057587 + ], + "joints": [ + -0.005297431722283363 + ] + }, + "fine_grasp": { + "position": [ + -0.041105132550001144, + -0.1440071165561676, + 0.029059961438179016 + ], + "orientation": [ + 0.7347087264060974, + 0.05490364506840706, + 0.6672461628913879, + -0.10941369831562042 + ], + "joints": [ + 0.0005745345260947943 + ] + }, + "final_grasp": { + "position": [ + -0.041105132550001144, + -0.1440071165561676, + 0.029059961438179016 + ], + "orientation": [ + 0.7347087264060974, + 0.05490364506840706, + 0.6672461628913879, + -0.10941369831562042 + ], + "joints": [ + 0.006446500774472952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026155944913625717, + -0.14212960004806519, + 0.027097493410110474 + ], + "orientation": [ + 0.7262932062149048, + 0.034365810453891754, + 0.6821373105049133, + -0.07749753445386887 + ], + "joints": [ + -0.005137979984283447 + ] + }, + "fine_grasp": { + "position": [ + -0.026451734825968742, + -0.1404479593038559, + 0.026913564652204514 + ], + "orientation": [ + 0.7316086292266846, + 0.03150474280118942, + 0.6770328283309937, + -0.07336758077144623 + ], + "joints": [ + 0.00022915651788935065 + ] + }, + "final_grasp": { + "position": [ + -0.026451734825968742, + -0.1404479593038559, + 0.026913564652204514 + ], + "orientation": [ + 0.7316086292266846, + 0.03150474280118942, + 0.6770328283309937, + -0.07336758077144623 + ], + "joints": [ + 0.00559629313647747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04255508631467819, + -0.14086958765983582, + 0.0347493551671505 + ], + "orientation": [ + 0.7042354345321655, + -0.1467570960521698, + -0.6913257241249084, + -0.06770314276218414 + ], + "joints": [ + -0.005603712052106857 + ] + }, + "fine_grasp": { + "position": [ + -0.041504763066768646, + -0.13904766738414764, + 0.03483418747782707 + ], + "orientation": [ + 0.7089081406593323, + -0.14766788482666016, + -0.685871958732605, + -0.07227042317390442 + ], + "joints": [ + 0.00026825405075214803 + ] + }, + "final_grasp": { + "position": [ + -0.041504763066768646, + -0.13904766738414764, + 0.03483418747782707 + ], + "orientation": [ + 0.7089081406593323, + -0.14766788482666016, + -0.685871958732605, + -0.07227042317390442 + ], + "joints": [ + 0.006140219978988171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046424295753240585, + 0.1417243927717209, + 0.027945484966039658 + ], + "orientation": [ + 0.07033035159111023, + -0.6757465600967407, + 0.02227882854640484, + 0.7334328889846802 + ], + "joints": [ + -0.00533222034573555 + ] + }, + "fine_grasp": { + "position": [ + 0.046970266848802567, + 0.14011700451374054, + 0.027442768216133118 + ], + "orientation": [ + 0.0649060606956482, + -0.6747480034828186, + 0.020347313955426216, + 0.7349071502685547 + ], + "joints": [ + 0.0005397459026426077 + ] + }, + "final_grasp": { + "position": [ + 0.046970266848802567, + 0.14011700451374054, + 0.027442768216133118 + ], + "orientation": [ + 0.0649060606956482, + -0.6747480034828186, + 0.020347313955426216, + 0.7349071502685547 + ], + "joints": [ + 0.006411712151020765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056686997413635254, + -0.14146354794502258, + 0.03316672146320343 + ], + "orientation": [ + 0.6607149839401245, + 0.10376516729593277, + 0.7252599596977234, + -0.16335991024971008 + ], + "joints": [ + -0.005350172519683838 + ] + }, + "fine_grasp": { + "position": [ + -0.05557142570614815, + -0.1402256041765213, + 0.033637844026088715 + ], + "orientation": [ + 0.6484926342964172, + 0.10811315476894379, + 0.7348203063011169, + -0.1667567938566208 + ], + "joints": [ + -9.60606848821044e-06 + ] + }, + "final_grasp": { + "position": [ + -0.05557142570614815, + -0.1402256041765213, + 0.033637844026088715 + ], + "orientation": [ + 0.6484926342964172, + 0.10811315476894379, + 0.7348203063011169, + -0.1667567938566208 + ], + "joints": [ + 0.005330960266292095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03447510674595833, + 0.14323045313358307, + 0.03244199976325035 + ], + "orientation": [ + 0.1119626834988594, + -0.7274726629257202, + -0.049116846174001694, + -0.6751558184623718 + ], + "joints": [ + -0.005603712052106857 + ] + }, + "fine_grasp": { + "position": [ + -0.03329485282301903, + 0.14088143408298492, + 0.0322972796857357 + ], + "orientation": [ + 0.11570591479539871, + -0.7276310324668884, + -0.05437786132097244, + -0.6739497780799866 + ], + "joints": [ + -0.0002631456300150603 + ] + }, + "final_grasp": { + "position": [ + -0.03329485282301903, + 0.14088143408298492, + 0.0322972796857357 + ], + "orientation": [ + 0.11570591479539871, + -0.7276310324668884, + -0.05437786132097244, + -0.6739497780799866 + ], + "joints": [ + 0.005077420733869076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03438649699091911, + 0.14293666183948517, + 0.03188280761241913 + ], + "orientation": [ + 0.10865707695484161, + -0.7287759780883789, + -0.048943739384412766, + -0.6743024587631226 + ], + "joints": [ + -0.005603712052106857 + ] + }, + "fine_grasp": { + "position": [ + -0.033208705484867096, + 0.14077430963516235, + 0.03173123672604561 + ], + "orientation": [ + 0.11246583610773087, + -0.7294840812683105, + -0.05449118837714195, + -0.6724844574928284 + ], + "joints": [ + -0.0002631456300150603 + ] + }, + "final_grasp": { + "position": [ + -0.033208705484867096, + 0.14077430963516235, + 0.03173123672604561 + ], + "orientation": [ + 0.11246583610773087, + -0.7294840812683105, + -0.05449118837714195, + -0.6724844574928284 + ], + "joints": [ + 0.005077420733869076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031030047684907913, + -0.14832668006420135, + 0.013413092121481895 + ], + "orientation": [ + 0.6943362951278687, + 0.05649491772055626, + 0.7171726822853088, + -0.01920490525662899 + ], + "joints": [ + -0.005270417779684067 + ] + }, + "fine_grasp": { + "position": [ + -0.03169923648238182, + -0.1475675255060196, + 0.012313957326114178 + ], + "orientation": [ + 0.6854124069213867, + 0.055295247584581375, + 0.725914716720581, + -0.01414337195456028 + ], + "joints": [ + 0.0006015484686940908 + ] + }, + "final_grasp": { + "position": [ + -0.03169923648238182, + -0.1475675255060196, + 0.012313957326114178 + ], + "orientation": [ + 0.6854124069213867, + 0.055295247584581375, + 0.725914716720581, + -0.01414337195456028 + ], + "joints": [ + 0.0064735147170722485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034344177693128586, + 0.14286135137081146, + 0.0317818708717823 + ], + "orientation": [ + 0.10788056254386902, + -0.7292425632476807, + -0.04876791685819626, + -0.6739352941513062 + ], + "joints": [ + -0.005603712052106857 + ] + }, + "fine_grasp": { + "position": [ + -0.03316912800073624, + 0.14076504111289978, + 0.03167477995157242 + ], + "orientation": [ + 0.11178958415985107, + -0.7303400635719299, + -0.054205503314733505, + -0.6716905832290649 + ], + "joints": [ + -0.0002631456300150603 + ] + }, + "final_grasp": { + "position": [ + -0.03316912800073624, + 0.14076504111289978, + 0.03167477995157242 + ], + "orientation": [ + 0.11178958415985107, + -0.7303400635719299, + -0.054205503314733505, + -0.6716905832290649 + ], + "joints": [ + 0.005077420733869076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053309835493564606, + -0.13860031962394714, + 0.026036540046334267 + ], + "orientation": [ + 0.708319902420044, + -0.13203205168247223, + -0.6860260963439941, + -0.10108769685029984 + ], + "joints": [ + -0.005332994274795055 + ] + }, + "fine_grasp": { + "position": [ + -0.05238848179578781, + -0.13742351531982422, + 0.02686915174126625 + ], + "orientation": [ + 0.7159754037857056, + -0.13466930389404297, + -0.676916778087616, + -0.1050093024969101 + ], + "joints": [ + 0.001043801661580801 + ] + }, + "final_grasp": { + "position": [ + -0.05238848179578781, + -0.13742351531982422, + 0.02686915174126625 + ], + "orientation": [ + 0.7159754037857056, + -0.13466930389404297, + -0.676916778087616, + -0.1050093024969101 + ], + "joints": [ + 0.007420597597956657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06157872825860977, + 0.14172247052192688, + 0.028332369402050972 + ], + "orientation": [ + 0.14558422565460205, + -0.7115945816040039, + 0.10545530915260315, + 0.6792036294937134 + ], + "joints": [ + -0.005097929388284683 + ] + }, + "fine_grasp": { + "position": [ + 0.05997719243168831, + 0.13966192305088043, + 0.028398627415299416 + ], + "orientation": [ + 0.1491163969039917, + -0.7090585827827454, + 0.11045315116643906, + 0.680294394493103 + ], + "joints": [ + 0.0007740368600934744 + ] + }, + "final_grasp": { + "position": [ + 0.05997719243168831, + 0.13966192305088043, + 0.028398627415299416 + ], + "orientation": [ + 0.1491163969039917, + -0.7090585827827454, + 0.11045315116643906, + 0.680294394493103 + ], + "joints": [ + 0.006646003108471632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.062081608921289444, + 0.14172746241092682, + 0.028352349996566772 + ], + "orientation": [ + 0.1454058438539505, + -0.7092294692993164, + 0.10452243685722351, + 0.6818546056747437 + ], + "joints": [ + -0.005174126476049423 + ] + }, + "fine_grasp": { + "position": [ + 0.060456667095422745, + 0.13946479558944702, + 0.028431499376893044 + ], + "orientation": [ + 0.14893126487731934, + -0.7068533897399902, + 0.10953976213932037, + 0.6827728748321533 + ], + "joints": [ + 0.0006978397723287344 + ] + }, + "final_grasp": { + "position": [ + 0.060456667095422745, + 0.13946479558944702, + 0.028431499376893044 + ], + "orientation": [ + 0.14893126487731934, + -0.7068533897399902, + 0.10953976213932037, + 0.6827728748321533 + ], + "joints": [ + 0.006569806020706892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05360026657581329, + -0.13851504027843475, + 0.02616524137556553 + ], + "orientation": [ + 0.7068751454353333, + -0.13015443086624146, + -0.6883367300033569, + -0.09787755459547043 + ], + "joints": [ + -0.005059882998466492 + ] + }, + "fine_grasp": { + "position": [ + -0.05255602300167084, + -0.13717620074748993, + 0.026918575167655945 + ], + "orientation": [ + 0.7118604183197021, + -0.1323501169681549, + -0.6822983026504517, + -0.10103011876344681 + ], + "joints": [ + 0.0008120832499116659 + ] + }, + "final_grasp": { + "position": [ + -0.05255602300167084, + -0.13717620074748993, + 0.026918575167655945 + ], + "orientation": [ + 0.7118604183197021, + -0.1323501169681549, + -0.6822983026504517, + -0.10103011876344681 + ], + "joints": [ + 0.0066840494982898235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.034824494272470474, + 0.1435772329568863, + 0.03802850469946861 + ], + "orientation": [ + 0.11745129525661469, + -0.720321774482727, + 0.0236350167542696, + 0.6832152009010315 + ], + "joints": [ + -0.0056126732379198074 + ] + }, + "fine_grasp": { + "position": [ + 0.03359090909361839, + 0.1394718885421753, + 0.03783540800213814 + ], + "orientation": [ + 0.12106414884328842, + -0.7233495712280273, + 0.028831329196691513, + 0.6791741847991943 + ], + "joints": [ + -0.00027210687403567135 + ] + }, + "final_grasp": { + "position": [ + 0.03359090909361839, + 0.1394718885421753, + 0.03783540800213814 + ], + "orientation": [ + 0.12106414884328842, + -0.7233495712280273, + 0.028831329196691513, + 0.6791741847991943 + ], + "joints": [ + 0.005068459548056126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01674485392868519, + 0.14455117285251617, + 0.02265855483710766 + ], + "orientation": [ + 0.06424945592880249, + 0.6401317715644836, + -0.0681198313832283, + 0.7625372409820557 + ], + "joints": [ + -0.0059896111488342285 + ] + }, + "fine_grasp": { + "position": [ + 0.01622237078845501, + 0.1439734399318695, + 0.022407185286283493 + ], + "orientation": [ + 0.06423396617174149, + 0.626091480255127, + -0.06544274836778641, + 0.7743388414382935 + ], + "joints": [ + -0.0006224748212844133 + ] + }, + "final_grasp": { + "position": [ + 0.01622237078845501, + 0.1439734399318695, + 0.022407185286283493 + ], + "orientation": [ + 0.06423396617174149, + 0.626091480255127, + -0.06544274836778641, + 0.7743388414382935 + ], + "joints": [ + 0.004744661506265402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01852385886013508, + 0.1445487141609192, + 0.022958967834711075 + ], + "orientation": [ + 0.06372951716184616, + 0.6367674469947815, + -0.0688730999827385, + 0.7653249502182007 + ], + "joints": [ + -0.006309655494987965 + ] + }, + "fine_grasp": { + "position": [ + 0.01796555332839489, + 0.14394497871398926, + 0.022426877170801163 + ], + "orientation": [ + 0.06407902389764786, + 0.6216704845428467, + -0.06555668264627457, + 0.7778958082199097 + ], + "joints": [ + -0.0004376895085442811 + ] + }, + "final_grasp": { + "position": [ + 0.01796555332839489, + 0.14394497871398926, + 0.022426877170801163 + ], + "orientation": [ + 0.06407902389764786, + 0.6216704845428467, + -0.06555668264627457, + 0.7778958082199097 + ], + "joints": [ + 0.005434276536107063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020008739084005356, + 0.1391390562057495, + 0.024303782731294632 + ], + "orientation": [ + 0.03415203467011452, + -0.7311781644821167, + 0.011856267228722572, + 0.6812280416488647 + ], + "joints": [ + -0.005473067052662373 + ] + }, + "fine_grasp": { + "position": [ + 0.01870320923626423, + 0.13620956242084503, + 0.02507881261408329 + ], + "orientation": [ + 0.03494419902563095, + -0.7345980405807495, + 0.009810291230678558, + 0.6775311827659607 + ], + "joints": [ + 0.0009302988182753325 + ] + }, + "final_grasp": { + "position": [ + 0.01870320923626423, + 0.13620956242084503, + 0.02507881261408329 + ], + "orientation": [ + 0.03494419902563095, + -0.7345980405807495, + 0.009810291230678558, + 0.6775311827659607 + ], + "joints": [ + 0.0073336646892130375 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009058382362127304, + 0.14542950689792633, + 0.016918696463108063 + ], + "orientation": [ + 0.03159291669726372, + 0.746157705783844, + 0.017805075272917747, + -0.6647806763648987 + ], + "joints": [ + -0.005820651538670063 + ] + }, + "fine_grasp": { + "position": [ + -0.008070969954133034, + 0.14514486491680145, + 0.015576950274407864 + ], + "orientation": [ + 0.032104525715112686, + 0.7611822485923767, + 0.011615628376603127, + -0.647638738155365 + ], + "joints": [ + 5.13145059812814e-05 + ] + }, + "final_grasp": { + "position": [ + -0.008070969954133034, + 0.14514486491680145, + 0.015576950274407864 + ], + "orientation": [ + 0.032104525715112686, + 0.7611822485923767, + 0.011615628376603127, + -0.647638738155365 + ], + "joints": [ + 0.005923280492424965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03842657059431076, + -0.14660687744617462, + 0.043019991368055344 + ], + "orientation": [ + 0.6862216591835022, + -0.1264423131942749, + -0.7163180708885193, + -0.0008363585802726448 + ], + "joints": [ + -0.005935074761509895 + ] + }, + "fine_grasp": { + "position": [ + -0.03891662135720253, + -0.14424090087413788, + 0.043395135551691055 + ], + "orientation": [ + 0.6750285625457764, + -0.12316510826349258, + -0.727429211139679, + 0.003683545859530568 + ], + "joints": [ + -6.310868775472045e-05 + ] + }, + "final_grasp": { + "position": [ + -0.03891662135720253, + -0.14424090087413788, + 0.043395135551691055 + ], + "orientation": [ + 0.6750285625457764, + -0.12316510826349258, + -0.727429211139679, + 0.003683545859530568 + ], + "joints": [ + 0.005808857269585133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0030750299338251352, + 0.1372445821762085, + 0.02560976706445217 + ], + "orientation": [ + 0.008789888583123684, + -0.7332951426506042, + 0.023989655077457428, + -0.6794301867485046 + ], + "joints": [ + -0.005059882998466492 + ] + }, + "fine_grasp": { + "position": [ + -0.0020679400768131018, + 0.13629429042339325, + 0.026186468079686165 + ], + "orientation": [ + 0.013109931722283363, + -0.7369747161865234, + 0.020795926451683044, + -0.6754732131958008 + ], + "joints": [ + 0.0003072535328101367 + ] + }, + "final_grasp": { + "position": [ + -0.0020679400768131018, + 0.13629429042339325, + 0.026186468079686165 + ], + "orientation": [ + 0.013109931722283363, + -0.7369747161865234, + 0.020795926451683044, + -0.6754732131958008 + ], + "joints": [ + 0.005674390122294426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16576789319515228, + -0.011911756359040737, + 0.021427834406495094 + ], + "orientation": [ + 0.4770500957965851, + 0.512877345085144, + 0.5496469140052795, + -0.4552673101425171 + ], + "joints": [ + -0.00602192897349596 + ] + }, + "fine_grasp": { + "position": [ + -0.16505542397499084, + -0.011669665575027466, + 0.02104061096906662 + ], + "orientation": [ + 0.4672471284866333, + 0.5206244587898254, + 0.5609682202339172, + -0.44265684485435486 + ], + "joints": [ + 0.0003814367519225925 + ] + }, + "final_grasp": { + "position": [ + -0.16505542397499084, + -0.011669665575027466, + 0.02104061096906662 + ], + "orientation": [ + 0.4672471284866333, + 0.5206244587898254, + 0.5609682202339172, + -0.44265684485435486 + ], + "joints": [ + 0.0067848023027181625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16576546430587769, + -0.011991803534328938, + 0.02138238027691841 + ], + "orientation": [ + 0.4765017330646515, + 0.5131827592849731, + 0.5500909090042114, + -0.4549610912799835 + ], + "joints": [ + -0.005739402957260609 + ] + }, + "fine_grasp": { + "position": [ + -0.16500958800315857, + -0.01190562080591917, + 0.02121056616306305 + ], + "orientation": [ + 0.46676427125930786, + 0.5210916996002197, + 0.5610660314559937, + -0.4424923360347748 + ], + "joints": [ + 0.00013256323290988803 + ] + }, + "final_grasp": { + "position": [ + -0.16500958800315857, + -0.01190562080591917, + 0.02121056616306305 + ], + "orientation": [ + 0.46676427125930786, + 0.5210916996002197, + 0.5610660314559937, + -0.4424923360347748 + ], + "joints": [ + 0.0060045295394957066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01969539001584053, + -0.14781776070594788, + -0.000981965335085988 + ], + "orientation": [ + 0.7235561013221741, + 0.017032254487276077, + -0.683199405670166, + -0.09703124314546585 + ], + "joints": [ + -0.006164426915347576 + ] + }, + "fine_grasp": { + "position": [ + -0.019995102658867836, + -0.1454668939113617, + -0.0010087498230859637 + ], + "orientation": [ + 0.7292370796203613, + 0.02254389598965645, + -0.6774981617927551, + -0.0932801216840744 + ], + "joints": [ + -0.0008238606387749314 + ] + }, + "final_grasp": { + "position": [ + -0.019995102658867836, + -0.1454668939113617, + -0.0010087498230859637 + ], + "orientation": [ + 0.7292370796203613, + 0.02254389598965645, + -0.6774981617927551, + -0.0932801216840744 + ], + "joints": [ + 0.004516705870628357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026318402960896492, + 0.13700377941131592, + 0.02405478060245514 + ], + "orientation": [ + 0.03790140524506569, + 0.6824655532836914, + 0.0584741085767746, + -0.7275884747505188 + ], + "joints": [ + -0.005248190835118294 + ] + }, + "fine_grasp": { + "position": [ + -0.0250796377658844, + 0.135278582572937, + 0.024925999343395233 + ], + "orientation": [ + 0.03747628256678581, + 0.6766464114189148, + 0.05975345894694328, + -0.7329220175743103 + ], + "joints": [ + 0.0006237754132598639 + ] + }, + "final_grasp": { + "position": [ + -0.0250796377658844, + 0.135278582572937, + 0.024925999343395233 + ], + "orientation": [ + 0.03747628256678581, + 0.6766464114189148, + 0.05975345894694328, + -0.7329220175743103 + ], + "joints": [ + 0.0064957416616380215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1618490368127823, + 0.013950456865131855, + 0.02672860398888588 + ], + "orientation": [ + 0.4992651045322418, + 0.4678254723548889, + 0.4601577818393707, + -0.5657989382743835 + ], + "joints": [ + -0.005722232162952423 + ] + }, + "fine_grasp": { + "position": [ + -0.15586283802986145, + 0.014392365701496601, + 0.0276066642254591 + ], + "orientation": [ + 0.49801138043403625, + 0.46314775943756104, + 0.45673319697380066, + -0.5734750032424927 + ], + "joints": [ + -0.0003816657408606261 + ] + }, + "final_grasp": { + "position": [ + -0.15586283802986145, + 0.014392365701496601, + 0.0276066642254591 + ], + "orientation": [ + 0.49801138043403625, + 0.46314775943756104, + 0.45673319697380066, + -0.5734750032424927 + ], + "joints": [ + 0.00495890062302351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16158176958560944, + 0.014012518338859081, + 0.026747042313218117 + ], + "orientation": [ + 0.5000166296958923, + 0.46693873405456543, + 0.45989036560058594, + -0.566085159778595 + ], + "joints": [ + -0.0057222358882427216 + ] + }, + "fine_grasp": { + "position": [ + -0.1556030958890915, + 0.014481575228273869, + 0.027626946568489075 + ], + "orientation": [ + 0.49919381737709045, + 0.4618529975414276, + 0.45608073472976685, + -0.5740103125572205 + ], + "joints": [ + -0.00038166946615092456 + ] + }, + "final_grasp": { + "position": [ + -0.1556030958890915, + 0.014481575228273869, + 0.027626946568489075 + ], + "orientation": [ + 0.49919381737709045, + 0.4618529975414276, + 0.45608073472976685, + -0.5740103125572205 + ], + "joints": [ + 0.0049588968977332115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002631140174344182, + 0.13518735766410828, + 0.029395615682005882 + ], + "orientation": [ + 0.005346854217350483, + -0.731102466583252, + -0.0482231080532074, + 0.6805403232574463 + ], + "joints": [ + -0.005543636158108711 + ] + }, + "fine_grasp": { + "position": [ + -0.0037279340904206038, + 0.1346176713705063, + 0.029963543638586998 + ], + "orientation": [ + 0.009324516169726849, + -0.7346660494804382, + -0.047090794891119, + 0.6767284870147705 + ], + "joints": [ + 0.0003283299447502941 + ] + }, + "final_grasp": { + "position": [ + -0.0037279340904206038, + 0.1346176713705063, + 0.029963543638586998 + ], + "orientation": [ + 0.009324516169726849, + -0.7346660494804382, + -0.047090794891119, + 0.6767284870147705 + ], + "joints": [ + 0.006200295872986317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16383586823940277, + 0.025302641093730927, + 0.028471028432250023 + ], + "orientation": [ + 0.4565158486366272, + 0.5020752549171448, + -0.45547160506248474, + 0.5762458443641663 + ], + "joints": [ + -0.005404382944107056 + ] + }, + "fine_grasp": { + "position": [ + 0.16202710568904877, + 0.025727426633238792, + 0.028533684089779854 + ], + "orientation": [ + 0.461454838514328, + 0.49749335646629333, + -0.45516353845596313, + 0.5765292644500732 + ], + "joints": [ + 0.0004675832751672715 + ] + }, + "final_grasp": { + "position": [ + 0.16202710568904877, + 0.025727426633238792, + 0.028533684089779854 + ], + "orientation": [ + 0.461454838514328, + 0.49749335646629333, + -0.45516353845596313, + 0.5765292644500732 + ], + "joints": [ + 0.00633954955264926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05200331285595894, + 0.13769857585430145, + 0.025578651577234268 + ], + "orientation": [ + 0.08795475959777832, + 0.6764752268791199, + 0.11321808397769928, + -0.7223758697509766 + ], + "joints": [ + -0.005180034786462784 + ] + }, + "fine_grasp": { + "position": [ + -0.05068375542759895, + 0.1361415535211563, + 0.02566700242459774 + ], + "orientation": [ + 0.09309938549995422, + 0.6727471351623535, + 0.11556103825569153, + -0.7248375415802002 + ], + "joints": [ + 0.0006919314619153738 + ] + }, + "final_grasp": { + "position": [ + -0.05068375542759895, + 0.1361415535211563, + 0.02566700242459774 + ], + "orientation": [ + 0.09309938549995422, + 0.6727471351623535, + 0.11556103825569153, + -0.7248375415802002 + ], + "joints": [ + 0.006563897710293531 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1617416888475418, + 0.04640903323888779, + 0.025944199413061142 + ], + "orientation": [ + 0.4297402501106262, + 0.5432002544403076, + 0.468014657497406, + -0.5488343834877014 + ], + "joints": [ + -0.005180032923817635 + ] + }, + "fine_grasp": { + "position": [ + -0.1607937514781952, + 0.0463222973048687, + 0.026765547692775726 + ], + "orientation": [ + 0.42853984236717224, + 0.5430958867073059, + 0.4703839123249054, + -0.5478498339653015 + ], + "joints": [ + 0.000691933324560523 + ] + }, + "final_grasp": { + "position": [ + -0.1607937514781952, + 0.0463222973048687, + 0.026765547692775726 + ], + "orientation": [ + 0.42853984236717224, + 0.5430958867073059, + 0.4703839123249054, + -0.5478498339653015 + ], + "joints": [ + 0.006563899572938681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12981641292572021, + -0.10270372033119202, + 0.027608800679445267 + ], + "orientation": [ + 0.61902916431427, + 0.27914494276046753, + -0.6681427359580994, + 0.30408260226249695 + ], + "joints": [ + -0.005473067052662373 + ] + }, + "fine_grasp": { + "position": [ + 0.12952737510204315, + -0.10318624973297119, + 0.02827254869043827 + ], + "orientation": [ + 0.6155713200569153, + 0.28170040249824524, + -0.6695544123649597, + 0.30563679337501526 + ], + "joints": [ + 0.00039889916661195457 + ] + }, + "final_grasp": { + "position": [ + 0.12952737510204315, + -0.10318624973297119, + 0.02827254869043827 + ], + "orientation": [ + 0.6155713200569153, + 0.28170040249824524, + -0.6695544123649597, + 0.30563679337501526 + ], + "joints": [ + 0.006270865444093943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1174393892288208, + -0.11534199863672256, + 0.030103366822004318 + ], + "orientation": [ + 0.6688146591186523, + -0.26669490337371826, + 0.6613188982009888, + 0.21028083562850952 + ], + "joints": [ + -0.005465539172291756 + ] + }, + "fine_grasp": { + "position": [ + 0.11670482903718948, + -0.11492975056171417, + 0.0310699213296175 + ], + "orientation": [ + 0.6734776496887207, + -0.27031299471855164, + 0.6534616947174072, + 0.2152823805809021 + ], + "joints": [ + 0.0004064270469825715 + ] + }, + "final_grasp": { + "position": [ + 0.11670482903718948, + -0.11492975056171417, + 0.0310699213296175 + ], + "orientation": [ + 0.6734776496887207, + -0.27031299471855164, + 0.6534616947174072, + 0.2152823805809021 + ], + "joints": [ + 0.0062783933244645596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12984062731266022, + -0.10303772985935211, + 0.027170425280928612 + ], + "orientation": [ + 0.6208550930023193, + 0.27880945801734924, + -0.6672495603561401, + 0.3026259243488312 + ], + "joints": [ + -0.005256127566099167 + ] + }, + "fine_grasp": { + "position": [ + 0.1293896734714508, + -0.1035517081618309, + 0.02812739461660385 + ], + "orientation": [ + 0.6164150238037109, + 0.28085094690322876, + -0.6696459650993347, + 0.30451521277427673 + ], + "joints": [ + 0.0006158386822789907 + ] + }, + "final_grasp": { + "position": [ + 0.1293896734714508, + -0.1035517081618309, + 0.02812739461660385 + ], + "orientation": [ + 0.6164150238037109, + 0.28085094690322876, + -0.6696459650993347, + 0.30451521277427673 + ], + "joints": [ + 0.006487804930657148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13016539812088013, + -0.10273558646440506, + 0.027459891512989998 + ], + "orientation": [ + 0.6244790554046631, + 0.2769368886947632, + -0.6633034348487854, + 0.30554959177970886 + ], + "joints": [ + -0.004944689571857452 + ] + }, + "fine_grasp": { + "position": [ + 0.12965185940265656, + -0.10285063832998276, + 0.027801545336842537 + ], + "orientation": [ + 0.6229353547096252, + 0.28040650486946106, + -0.6622925996780396, + 0.30772101879119873 + ], + "joints": [ + 0.0009007067419588566 + ] + }, + "final_grasp": { + "position": [ + 0.12965185940265656, + -0.10285063832998276, + 0.027801545336842537 + ], + "orientation": [ + 0.6229353547096252, + 0.28040650486946106, + -0.6622925996780396, + 0.30772101879119873 + ], + "joints": [ + 0.0067461030557751656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13018588721752167, + -0.10263548791408539, + 0.027763688936829567 + ], + "orientation": [ + 0.623731255531311, + 0.27661189436912537, + -0.6636751294136047, + 0.3065623641014099 + ], + "joints": [ + -0.005473067052662373 + ] + }, + "fine_grasp": { + "position": [ + 0.12980948388576508, + -0.102961465716362, + 0.028097542002797127 + ], + "orientation": [ + 0.6225711107254028, + 0.2802787721157074, + -0.6619369387626648, + 0.3093354105949402 + ], + "joints": [ + 0.0009037288837134838 + ] + }, + "final_grasp": { + "position": [ + 0.12980948388576508, + -0.102961465716362, + 0.028097542002797127 + ], + "orientation": [ + 0.6225711107254028, + 0.2802787721157074, + -0.6619369387626648, + 0.3093354105949402 + ], + "joints": [ + 0.00728052482008934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.17012038826942444, + 0.028610022738575935, + 0.016044003888964653 + ], + "orientation": [ + 0.5170491337776184, + 0.49196505546569824, + 0.43898144364356995, + -0.5458260774612427 + ], + "joints": [ + -0.005474867299199104 + ] + }, + "fine_grasp": { + "position": [ + -0.16931214928627014, + 0.02698514424264431, + 0.015190154314041138 + ], + "orientation": [ + 0.5359951853752136, + 0.4741171598434448, + 0.4243941009044647, + -0.5548077821731567 + ], + "joints": [ + -0.00010773097164928913 + ] + }, + "final_grasp": { + "position": [ + -0.16931214928627014, + 0.02698514424264431, + 0.015190154314041138 + ], + "orientation": [ + 0.5359951853752136, + 0.4741171598434448, + 0.4243941009044647, + -0.5548077821731567 + ], + "joints": [ + 0.005259405355900526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12985657155513763, + -0.1029014065861702, + 0.027145765721797943 + ], + "orientation": [ + 0.6208864450454712, + 0.27912282943725586, + -0.6671407222747803, + 0.3025122880935669 + ], + "joints": [ + -0.004944689571857452 + ] + }, + "fine_grasp": { + "position": [ + 0.12936532497406006, + -0.10342985391616821, + 0.028104593977332115 + ], + "orientation": [ + 0.6165730953216553, + 0.2812982201576233, + -0.6691315770149231, + 0.30491259694099426 + ], + "joints": [ + 0.00039587702485732734 + ] + }, + "final_grasp": { + "position": [ + 0.12936532497406006, + -0.10342985391616821, + 0.028104593977332115 + ], + "orientation": [ + 0.6165730953216553, + 0.2812982201576233, + -0.6691315770149231, + 0.30491259694099426 + ], + "joints": [ + 0.005736443679779768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15763288736343384, + -0.04017399996519089, + 0.025715835392475128 + ], + "orientation": [ + 0.5301459431648254, + -0.4894387722015381, + -0.5326729416847229, + -0.44232848286628723 + ], + "joints": [ + -0.005496896803379059 + ] + }, + "fine_grasp": { + "position": [ + -0.15778963267803192, + -0.040273454040288925, + 0.0266350656747818 + ], + "orientation": [ + 0.5301845073699951, + -0.4905630052089691, + -0.530042827129364, + -0.4441922605037689 + ], + "joints": [ + 0.0009064689511433244 + ] + }, + "final_grasp": { + "position": [ + -0.15778963267803192, + -0.040273454040288925, + 0.0266350656747818 + ], + "orientation": [ + 0.5301845073699951, + -0.4905630052089691, + -0.530042827129364, + -0.4441922605037689 + ], + "joints": [ + 0.007309834472835064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15992501378059387, + -0.004352995660156012, + 0.0256233848631382 + ], + "orientation": [ + 0.5280068516731262, + -0.4941447675228119, + 0.4819788932800293, + 0.4946978986263275 + ], + "joints": [ + -0.0049154991284012794 + ] + }, + "fine_grasp": { + "position": [ + 0.15973824262619019, + -0.004924123175442219, + 0.0262130219489336 + ], + "orientation": [ + 0.5319523215293884, + -0.49116051197052, + 0.4751259684562683, + 0.5000432729721069 + ], + "joints": [ + 0.0004516374028753489 + ] + }, + "final_grasp": { + "position": [ + 0.15973824262619019, + -0.004924123175442219, + 0.0262130219489336 + ], + "orientation": [ + 0.5319523215293884, + -0.49116051197052, + 0.4751259684562683, + 0.5000432729721069 + ], + "joints": [ + 0.005818773992359638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008934149518609047, + 0.14378543198108673, + 0.004773035179823637 + ], + "orientation": [ + 0.06783449649810791, + 0.7237716913223267, + -0.013248943723738194, + -0.6865693926811218 + ], + "joints": [ + -0.005885978229343891 + ] + }, + "fine_grasp": { + "position": [ + -0.007348754443228245, + 0.1430230438709259, + 0.0032323026098310947 + ], + "orientation": [ + 0.07349130511283875, + 0.7265770435333252, + -0.013776022009551525, + -0.6830044388771057 + ], + "joints": [ + -1.4012155588716269e-05 + ] + }, + "final_grasp": { + "position": [ + -0.007348754443228245, + 0.1430230438709259, + 0.0032323026098310947 + ], + "orientation": [ + 0.07349130511283875, + 0.7265770435333252, + -0.013776022009551525, + -0.6830044388771057 + ], + "joints": [ + 0.005857953801751137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008731687441468239, + 0.14353595674037933, + 0.0044950079172849655 + ], + "orientation": [ + 0.07028321921825409, + 0.7240827083587646, + -0.012206030078232288, + -0.6860142946243286 + ], + "joints": [ + -0.0058773718774318695 + ] + }, + "fine_grasp": { + "position": [ + -0.007196738850325346, + 0.1428341418504715, + 0.0032110975589603186 + ], + "orientation": [ + 0.07534550130367279, + 0.7268537282943726, + -0.011951079592108727, + -0.6825421452522278 + ], + "joints": [ + -3.1975796446204185e-05 + ] + }, + "final_grasp": { + "position": [ + -0.007196738850325346, + 0.1428341418504715, + 0.0032110975589603186 + ], + "orientation": [ + 0.07534550130367279, + 0.7268537282943726, + -0.011951079592108727, + -0.6825421452522278 + ], + "joints": [ + 0.005813420284539461 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09938307851552963, + -0.12258926033973694, + 0.027781212702393532 + ], + "orientation": [ + 0.6939501166343689, + -0.2048524022102356, + -0.670315146446228, + -0.16476134955883026 + ], + "joints": [ + -0.005598558112978935 + ] + }, + "fine_grasp": { + "position": [ + -0.09886983782052994, + -0.12213572859764099, + 0.02878793329000473 + ], + "orientation": [ + 0.6973573565483093, + -0.20834818482398987, + -0.665375828742981, + -0.16600799560546875 + ], + "joints": [ + 0.0002734079898800701 + ] + }, + "final_grasp": { + "position": [ + -0.09886983782052994, + -0.12213572859764099, + 0.02878793329000473 + ], + "orientation": [ + 0.6973573565483093, + -0.20834818482398987, + -0.665375828742981, + -0.16600799560546875 + ], + "joints": [ + 0.006145373918116093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15975750982761383, + 0.0009639807394705713, + 0.025981437414884567 + ], + "orientation": [ + 0.5162484049797058, + -0.5046565532684326, + -0.4494788348674774, + -0.5260972380638123 + ], + "joints": [ + -0.005496898666024208 + ] + }, + "fine_grasp": { + "position": [ + -0.15983571112155914, + -3.0107143174973316e-05, + 0.027463804930448532 + ], + "orientation": [ + 0.5217834115028381, + -0.5023103952407837, + -0.4376552999019623, + -0.5328078866004944 + ], + "joints": [ + 0.00037506743683479726 + ] + }, + "final_grasp": { + "position": [ + -0.15983571112155914, + -3.0107143174973316e-05, + 0.027463804930448532 + ], + "orientation": [ + 0.5217834115028381, + -0.5023103952407837, + -0.4376552999019623, + -0.5328078866004944 + ], + "joints": [ + 0.00624703336507082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039503760635852814, + -0.14546488225460052, + 0.0414125993847847 + ], + "orientation": [ + 0.702512264251709, + -0.11780977249145508, + -0.7018485069274902, + -0.0024378749076277018 + ], + "joints": [ + -0.005898930132389069 + ] + }, + "fine_grasp": { + "position": [ + -0.038742005825042725, + -0.14362458884716034, + 0.04217715933918953 + ], + "orientation": [ + 0.7070233225822449, + -0.12146072834730148, + -0.6966695785522461, + -0.004087440203875303 + ], + "joints": [ + -0.0005583638558164239 + ] + }, + "final_grasp": { + "position": [ + -0.038742005825042725, + -0.14362458884716034, + 0.04217715933918953 + ], + "orientation": [ + 0.7070233225822449, + -0.12146072834730148, + -0.6966695785522461, + -0.004087440203875303 + ], + "joints": [ + 0.0047822026535868645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008941839449107647, + 0.14310526847839355, + 0.004972400143742561 + ], + "orientation": [ + 0.06810593605041504, + 0.7248185873031616, + -0.011416000314056873, + -0.6854700446128845 + ], + "joints": [ + -0.005641758441925049 + ] + }, + "fine_grasp": { + "position": [ + -0.007295441348105669, + 0.14248307049274445, + 0.003549662884324789 + ], + "orientation": [ + 0.07337504625320435, + 0.7273651957511902, + -0.011935153976082802, + -0.682212233543396 + ], + "joints": [ + -0.0003011920489370823 + ] + }, + "final_grasp": { + "position": [ + -0.007295441348105669, + 0.14248307049274445, + 0.003549662884324789 + ], + "orientation": [ + 0.07337504625320435, + 0.7273651957511902, + -0.011935153976082802, + -0.682212233543396 + ], + "joints": [ + 0.005039374344050884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05469466745853424, + 0.14835156500339508, + 0.014599227346479893 + ], + "orientation": [ + 0.07165732979774475, + -0.6732036471366882, + 0.094823457300663, + 0.7298429608345032 + ], + "joints": [ + -0.005349417217075825 + ] + }, + "fine_grasp": { + "position": [ + 0.05370112508535385, + 0.1470288187265396, + 0.014148477464914322 + ], + "orientation": [ + 0.07427576184272766, + -0.6674807667732239, + 0.09662668406963348, + 0.7345854043960571 + ], + "joints": [ + 0.0005225490313023329 + ] + }, + "final_grasp": { + "position": [ + 0.05370112508535385, + 0.1470288187265396, + 0.014148477464914322 + ], + "orientation": [ + 0.07427576184272766, + -0.6674807667732239, + 0.09662668406963348, + 0.7345854043960571 + ], + "joints": [ + 0.0063945152796804905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14393727481365204, + -0.07716811448335648, + 0.03002908267080784 + ], + "orientation": [ + 0.5820391774177551, + -0.4225928783416748, + -0.6041765213012695, + -0.342952698469162 + ], + "joints": [ + -0.005404513329267502 + ] + }, + "fine_grasp": { + "position": [ + -0.1439359337091446, + -0.07664173096418381, + 0.03221660107374191 + ], + "orientation": [ + 0.5910323262214661, + -0.42360424995422363, + -0.5911967158317566, + -0.3488933742046356 + ], + "joints": [ + 0.0009988524252548814 + ] + }, + "final_grasp": { + "position": [ + -0.1439359337091446, + -0.07664173096418381, + 0.03221660107374191 + ], + "orientation": [ + 0.5910323262214661, + -0.42360424995422363, + -0.5911967158317566, + -0.3488933742046356 + ], + "joints": [ + 0.007402217946946621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03684832155704498, + 0.14327020943164825, + 0.0018298907671123743 + ], + "orientation": [ + 0.026620937511324883, + -0.6868950128555298, + -0.12119051814079285, + -0.7160860896110535 + ], + "joints": [ + -0.005922124721109867 + ] + }, + "fine_grasp": { + "position": [ + -0.03579533472657204, + 0.14240896701812744, + 0.0008823678363114595 + ], + "orientation": [ + 0.028256887570023537, + -0.6830668449401855, + -0.12575970590114594, + -0.718891978263855 + ], + "joints": [ + -0.0005815583863295615 + ] + }, + "final_grasp": { + "position": [ + -0.03579533472657204, + 0.14240896701812744, + 0.0008823678363114595 + ], + "orientation": [ + 0.028256887570023537, + -0.6830668449401855, + -0.12575970590114594, + -0.718891978263855 + ], + "joints": [ + 0.004759008064866066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005693648126907647, + 0.13945449888706207, + 0.011570727452635765 + ], + "orientation": [ + 0.014361225068569183, + 0.7304080724716187, + -0.03248593956232071, + -0.6820869445800781 + ], + "joints": [ + -0.005471167154610157 + ] + }, + "fine_grasp": { + "position": [ + 0.0011893757618963718, + 0.13988955318927765, + 0.009478478692471981 + ], + "orientation": [ + 0.02042226493358612, + 0.734902024269104, + -0.03578215464949608, + -0.6769207119941711 + ], + "joints": [ + 0.0004007989482488483 + ] + }, + "final_grasp": { + "position": [ + 0.0011893757618963718, + 0.13988955318927765, + 0.009478478692471981 + ], + "orientation": [ + 0.02042226493358612, + 0.734902024269104, + -0.03578215464949608, + -0.6769207119941711 + ], + "joints": [ + 0.006272764876484871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16362637281417847, + 0.019276658073067665, + 0.012204302474856377 + ], + "orientation": [ + 0.4554022550582886, + 0.5725694894790649, + -0.46093040704727173, + 0.5023108720779419 + ], + "joints": [ + -0.005306564271450043 + ] + }, + "fine_grasp": { + "position": [ + 0.16379041969776154, + 0.02051592618227005, + 0.01119802426546812 + ], + "orientation": [ + 0.45456162095069885, + 0.5776605606079102, + -0.4672718644142151, + 0.4912625551223755 + ], + "joints": [ + 3.4002179745584726e-05 + ] + }, + "final_grasp": { + "position": [ + 0.16379041969776154, + 0.02051592618227005, + 0.01119802426546812 + ], + "orientation": [ + 0.45456162095069885, + 0.5776605606079102, + -0.4672718644142151, + 0.4912625551223755 + ], + "joints": [ + 0.00537456851452589 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003597669070586562, + 0.13850067555904388, + 0.013706485740840435 + ], + "orientation": [ + 0.02846992388367653, + 0.73423171043396, + -0.004873447585850954, + -0.678284227848053 + ], + "joints": [ + -0.005400480702519417 + ] + }, + "fine_grasp": { + "position": [ + -0.0019154396140947938, + 0.1385767161846161, + 0.011569092981517315 + ], + "orientation": [ + 0.034951359033584595, + 0.7415496110916138, + -0.00798431783914566, + -0.6699395179748535 + ], + "joints": [ + 0.0004714854003395885 + ] + }, + "final_grasp": { + "position": [ + -0.0019154396140947938, + 0.1385767161846161, + 0.011569092981517315 + ], + "orientation": [ + 0.034951359033584595, + 0.7415496110916138, + -0.00798431783914566, + -0.6699395179748535 + ], + "joints": [ + 0.006343451328575611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003495028940960765, + 0.13838547468185425, + 0.013893467374145985 + ], + "orientation": [ + 0.027394846081733704, + 0.7335436344146729, + -0.005346969701349735, + -0.6790689826011658 + ], + "joints": [ + -0.005697348155081272 + ] + }, + "fine_grasp": { + "position": [ + -0.001762198400683701, + 0.1382826566696167, + 0.011632196605205536 + ], + "orientation": [ + 0.034316424280405045, + 0.7410526871681213, + -0.008920948021113873, + -0.6705101132392883 + ], + "joints": [ + 0.00017461791867390275 + ] + }, + "final_grasp": { + "position": [ + -0.001762198400683701, + 0.1382826566696167, + 0.011632196605205536 + ], + "orientation": [ + 0.034316424280405045, + 0.7410526871681213, + -0.008920948021113873, + -0.6705101132392883 + ], + "joints": [ + 0.006046583876013756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04326392710208893, + 0.14196589589118958, + 0.011471259407699108 + ], + "orientation": [ + 0.05149358883500099, + -0.6826249361038208, + -0.09354235231876373, + -0.7229257822036743 + ], + "joints": [ + -0.005583104677498341 + ] + }, + "fine_grasp": { + "position": [ + -0.04206136614084244, + 0.14192339777946472, + 0.009915989823639393 + ], + "orientation": [ + 0.051805198192596436, + -0.6770155429840088, + -0.09899213910102844, + -0.7274385094642639 + ], + "joints": [ + 0.00028886154177598655 + ] + }, + "final_grasp": { + "position": [ + -0.04206136614084244, + 0.14192339777946472, + 0.009915989823639393 + ], + "orientation": [ + 0.051805198192596436, + -0.6770155429840088, + -0.09899213910102844, + -0.7274385094642639 + ], + "joints": [ + 0.006160827819257975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018698887899518013, + 0.1402302235364914, + 0.014408756978809834 + ], + "orientation": [ + 0.0054282802157104015, + 0.686989426612854, + 0.02410927414894104, + 0.7262470722198486 + ], + "joints": [ + -0.005378857254981995 + ] + }, + "fine_grasp": { + "position": [ + -0.017575763165950775, + 0.13996148109436035, + 0.012225919403135777 + ], + "orientation": [ + 0.007162852678447962, + 0.6783017516136169, + 0.031910788267850876, + 0.7340552806854248 + ], + "joints": [ + 0.0004931089351885021 + ] + }, + "final_grasp": { + "position": [ + -0.017575763165950775, + 0.13996148109436035, + 0.012225919403135777 + ], + "orientation": [ + 0.007162852678447962, + 0.6783017516136169, + 0.031910788267850876, + 0.7340552806854248 + ], + "joints": [ + 0.006365075241774321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04436316713690758, + 0.14193612337112427, + 0.011316835880279541 + ], + "orientation": [ + 0.04706119745969772, + -0.6846190094947815, + -0.09050989151000977, + -0.7217270731925964 + ], + "joints": [ + -0.0056553976610302925 + ] + }, + "fine_grasp": { + "position": [ + -0.04300014674663544, + 0.1417267769575119, + 0.010288100689649582 + ], + "orientation": [ + 0.04781269282102585, + -0.682625412940979, + -0.09447488188743591, + -0.7230565547943115 + ], + "joints": [ + 0.0007479682099074125 + ] + }, + "final_grasp": { + "position": [ + -0.04300014674663544, + 0.1417267769575119, + 0.010288100689649582 + ], + "orientation": [ + 0.04781269282102585, + -0.682625412940979, + -0.09447488188743591, + -0.7230565547943115 + ], + "joints": [ + 0.007151334080845118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01885599084198475, + 0.14019398391246796, + 0.014433988370001316 + ], + "orientation": [ + 0.006147913634777069, + 0.6867042779922485, + 0.023284750059247017, + 0.7265380024909973 + ], + "joints": [ + -0.005378857254981995 + ] + }, + "fine_grasp": { + "position": [ + -0.01771898940205574, + 0.13987798988819122, + 0.01228287722915411 + ], + "orientation": [ + 0.007864548824727535, + 0.6779783964157104, + 0.030976705253124237, + 0.7343867421150208 + ], + "joints": [ + 0.0004931089351885021 + ] + }, + "final_grasp": { + "position": [ + -0.01771898940205574, + 0.13987798988819122, + 0.01228287722915411 + ], + "orientation": [ + 0.007864548824727535, + 0.6779783964157104, + 0.030976705253124237, + 0.7343867421150208 + ], + "joints": [ + 0.006365075241774321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04280766844749451, + 0.13918457925319672, + 0.010595923289656639 + ], + "orientation": [ + 0.10406471788883209, + 0.7310065627098083, + 0.05927661806344986, + -0.6717783808708191 + ], + "joints": [ + -0.0057774493470788 + ] + }, + "fine_grasp": { + "position": [ + -0.04128514975309372, + 0.13975760340690613, + 0.00860290415585041 + ], + "orientation": [ + 0.11040373891592026, + 0.737013041973114, + 0.05695173144340515, + -0.6643638014793396 + ], + "joints": [ + 9.451672667637467e-05 + ] + }, + "final_grasp": { + "position": [ + -0.04128514975309372, + 0.13975760340690613, + 0.00860290415585041 + ], + "orientation": [ + 0.11040373891592026, + 0.737013041973114, + 0.05695173144340515, + -0.6643638014793396 + ], + "joints": [ + 0.005966482684016228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15973107516765594, + 0.0067648268304765224, + 0.0070020901039242744 + ], + "orientation": [ + 0.495954304933548, + -0.4519619345664978, + -0.49755844473838806, + -0.5497230887413025 + ], + "joints": [ + -0.00567980483174324 + ] + }, + "fine_grasp": { + "position": [ + -0.15979786217212677, + 0.008071282878518105, + 0.006351902615278959 + ], + "orientation": [ + 0.5001949071884155, + -0.4449663758277893, + -0.4964616298675537, + -0.5525720119476318 + ], + "joints": [ + -0.0003392384387552738 + ] + }, + "final_grasp": { + "position": [ + -0.15979786217212677, + 0.008071282878518105, + 0.006351902615278959 + ], + "orientation": [ + 0.5001949071884155, + -0.4449663758277893, + -0.4964616298675537, + -0.5525720119476318 + ], + "joints": [ + 0.005001327954232693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.16343390941619873, + -0.03267578408122063, + 0.009520757012069225 + ], + "orientation": [ + 0.5426366925239563, + -0.4169377386569977, + -0.5059703588485718, + -0.5250736474990845 + ], + "joints": [ + -0.006173520348966122 + ] + }, + "fine_grasp": { + "position": [ + -0.16362477838993073, + -0.031716588884592056, + 0.008941024541854858 + ], + "orientation": [ + 0.5493996143341064, + -0.4062947928905487, + -0.5025543570518494, + -0.5296449661254883 + ], + "joints": [ + -0.0008063840214163065 + ] + }, + "final_grasp": { + "position": [ + -0.16362477838993073, + -0.031716588884592056, + 0.008941024541854858 + ], + "orientation": [ + 0.5493996143341064, + -0.4062947928905487, + -0.5025543570518494, + -0.5296449661254883 + ], + "joints": [ + 0.004560752306133509 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15365710854530334, + 0.05073052644729614, + 0.010662269778549671 + ], + "orientation": [ + 0.42425817251205444, + -0.5239037275314331, + -0.42850151658058167, + -0.601594865322113 + ], + "joints": [ + -0.005608640611171722 + ] + }, + "fine_grasp": { + "position": [ + -0.1534920334815979, + 0.05191973224282265, + 0.009153478778898716 + ], + "orientation": [ + 0.4276413917541504, + -0.5139008164405823, + -0.42963945865631104, + -0.6069914698600769 + ], + "joints": [ + 0.0002633254916872829 + ] + }, + "final_grasp": { + "position": [ + -0.1534920334815979, + 0.05191973224282265, + 0.009153478778898716 + ], + "orientation": [ + 0.4276413917541504, + -0.5139008164405823, + -0.42963945865631104, + -0.6069914698600769 + ], + "joints": [ + 0.0061352914199233055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1632547676563263, + -0.03261679783463478, + 0.009306288324296474 + ], + "orientation": [ + 0.5425828099250793, + -0.4161427617073059, + -0.5061354637145996, + -0.5256007313728333 + ], + "joints": [ + -0.005876749753952026 + ] + }, + "fine_grasp": { + "position": [ + -0.1635732650756836, + -0.031627919524908066, + 0.008814812637865543 + ], + "orientation": [ + 0.5492925643920898, + -0.40534597635269165, + -0.503101110458374, + -0.5299636721611023 + ], + "joints": [ + -0.0005361834773793817 + ] + }, + "final_grasp": { + "position": [ + -0.1635732650756836, + -0.031627919524908066, + 0.008814812637865543 + ], + "orientation": [ + 0.5492925643920898, + -0.40534597635269165, + -0.503101110458374, + -0.5299636721611023 + ], + "joints": [ + 0.004804383032023907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15359513461589813, + 0.051217082887887955, + 0.01067379117012024 + ], + "orientation": [ + 0.425370454788208, + -0.5228343605995178, + -0.4286555349826813, + -0.6016300916671753 + ], + "joints": [ + -0.005909032188355923 + ] + }, + "fine_grasp": { + "position": [ + -0.1534109264612198, + 0.052411288022994995, + 0.009136024862527847 + ], + "orientation": [ + 0.42910510301589966, + -0.5126740336418152, + -0.42963266372680664, + -0.6070007681846619 + ], + "joints": [ + -3.706617280840874e-05 + ] + }, + "final_grasp": { + "position": [ + -0.1534109264612198, + 0.052411288022994995, + 0.009136024862527847 + ], + "orientation": [ + 0.42910510301589966, + -0.5126740336418152, + -0.42963266372680664, + -0.6070007681846619 + ], + "joints": [ + 0.005834899842739105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15379586815834045, + 0.05051720514893532, + 0.01008959487080574 + ], + "orientation": [ + 0.4245672821998596, + -0.5216845273971558, + -0.4309634268283844, + -0.6015467047691345 + ], + "joints": [ + -0.00591274444013834 + ] + }, + "fine_grasp": { + "position": [ + -0.1535116583108902, + 0.05172201991081238, + 0.008699950762093067 + ], + "orientation": [ + 0.42829588055610657, + -0.5121971368789673, + -0.43173980712890625, + -0.6064795255661011 + ], + "joints": [ + -4.077839548699558e-05 + ] + }, + "final_grasp": { + "position": [ + -0.1535116583108902, + 0.05172201991081238, + 0.008699950762093067 + ], + "orientation": [ + 0.42829588055610657, + -0.5121971368789673, + -0.43173980712890625, + -0.6064795255661011 + ], + "joints": [ + 0.005831187590956688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16004660725593567, + -0.027291588485240936, + 0.009553184732794762 + ], + "orientation": [ + 0.5264505743980408, + 0.5057287812232971, + -0.5402451753616333, + 0.4185969829559326 + ], + "joints": [ + -0.005439009517431259 + ] + }, + "fine_grasp": { + "position": [ + 0.1610913872718811, + -0.02572551928460598, + 0.006942542269825935 + ], + "orientation": [ + 0.5240989327430725, + 0.5159589052200317, + -0.5448538064956665, + 0.4027915596961975 + ], + "joints": [ + -0.0011346725514158607 + ] + }, + "final_grasp": { + "position": [ + 0.1610913872718811, + -0.02572551928460598, + 0.006942542269825935 + ], + "orientation": [ + 0.5240989327430725, + 0.5159589052200317, + -0.5448538064956665, + 0.4027915596961975 + ], + "joints": [ + 0.003169664414599538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.15998363494873047, + -0.027942124754190445, + 0.010064155794680119 + ], + "orientation": [ + 0.5223621129989624, + 0.5083253383636475, + -0.5399470329284668, + 0.42095181345939636 + ], + "joints": [ + -0.005741109140217304 + ] + }, + "fine_grasp": { + "position": [ + 0.16100956499576569, + -0.026318946853280067, + 0.007604389451444149 + ], + "orientation": [ + 0.5196124315261841, + 0.518466055393219, + -0.5448805093765259, + 0.40534070134162903 + ], + "joints": [ + -0.0009053724352270365 + ] + }, + "final_grasp": { + "position": [ + 0.16100956499576569, + -0.026318946853280067, + 0.007604389451444149 + ], + "orientation": [ + 0.5196124315261841, + 0.518466055393219, + -0.5448805093765259, + 0.40534070134162903 + ], + "joints": [ + 0.003930364269763231 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16227439045906067, + 0.007189025636762381, + -0.0017350575653836131 + ], + "orientation": [ + 0.45377519726753235, + -0.45599111914634705, + 0.5812668800354004, + 0.49828606843948364 + ], + "joints": [ + -0.006421731784939766 + ] + }, + "fine_grasp": { + "position": [ + 0.16109567880630493, + 0.006005175411701202, + -0.0021373771596699953 + ], + "orientation": [ + 0.44899678230285645, + -0.4589329659938812, + 0.5815086364746094, + 0.49962982535362244 + ], + "joints": [ + -0.001081165624782443 + ] + }, + "final_grasp": { + "position": [ + 0.16109567880630493, + 0.006005175411701202, + -0.0021373771596699953 + ], + "orientation": [ + 0.44899678230285645, + -0.4589329659938812, + 0.5815086364746094, + 0.49962982535362244 + ], + "joints": [ + 0.00425940053537488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027158547192811966, + -0.036590758711099625, + -0.09480427950620651 + ], + "orientation": [ + 0.2684704661369324, + 0.1816660314798355, + -0.6518185138702393, + -0.6856045126914978 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.02490250952541828, + -0.03589937463402748, + -0.09605936706066132 + ], + "orientation": [ + 0.29270249605178833, + 0.18095572292804718, + -0.6577876806259155, + -0.6699967384338379 + ], + "joints": [ + -0.016838163137435913 + ] + }, + "final_grasp": { + "position": [ + 0.02490250952541828, + -0.03589937463402748, + -0.09605936706066132 + ], + "orientation": [ + 0.29270249605178833, + 0.18095572292804718, + -0.6577876806259155, + -0.6699967384338379 + ], + "joints": [ + -0.013676326721906662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01970810256898403, + -0.14774461090564728, + -0.011927464045584202 + ], + "orientation": [ + 0.600059986114502, + 0.05532801151275635, + -0.7905782461166382, + -0.10887101292610168 + ], + "joints": [ + -0.007965696044266224 + ] + }, + "fine_grasp": { + "position": [ + -0.017834484577178955, + -0.14567746222019196, + -0.013132759369909763 + ], + "orientation": [ + 0.5800466537475586, + 0.053632594645023346, + -0.8044806718826294, + -0.11610500514507294 + ], + "joints": [ + -0.003608220024034381 + ] + }, + "final_grasp": { + "position": [ + -0.017834484577178955, + -0.14567746222019196, + -0.013132759369909763 + ], + "orientation": [ + 0.5800466537475586, + 0.053632594645023346, + -0.8044806718826294, + -0.11610500514507294 + ], + "joints": [ + 0.0007492559961974621 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2034, + "num_passed": 68 + } +} \ No newline at end of file diff --git a/clutter_sound_card_00000/Annotation/piper_grasp_pose.json b/clutter_sound_card_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..97495fe86e1e862f8476a9fbfd2dffc1fb661b71 --- /dev/null +++ b/clutter_sound_card_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,418 @@ +{ + "type": "clutter_sound_card_00000", + "bottom_center": [ + 0.0, + -0.004325412213802338, + 0.00020949431927874684 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.027642233297228813, + 0.14250214397907257, + 0.030300455167889595 + ], + "orientation": [ + 0.6738663911819458, + 0.7360999584197998, + -0.05590994283556938, + 0.030579613521695137 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + -0.02762511558830738, + 0.1391858607530594, + 0.029656093567609787 + ], + "orientation": [ + 0.6742404699325562, + 0.7344599366188049, + -0.06614327430725098, + 0.03991824388504028 + ], + "joints": [ + 0.018880371004343033 + ] + }, + "final_grasp": { + "position": [ + -0.02762511558830738, + 0.1391858607530594, + 0.029656093567609787 + ], + "orientation": [ + 0.6742404699325562, + 0.7344599366188049, + -0.06614327430725098, + 0.03991824388504028 + ], + "joints": [ + 0.009267400950193405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03972603380680084, + 0.14426982402801514, + 0.021031610667705536 + ], + "orientation": [ + 0.03412507101893425, + -0.10687383264303207, + 0.7021205425262451, + -0.7031644582748413 + ], + "joints": [ + 0.02712716907262802 + ] + }, + "fine_grasp": { + "position": [ + -0.03951157256960869, + 0.1402384340763092, + 0.02106551080942154 + ], + "orientation": [ + 0.024619493633508682, + -0.11492646485567093, + 0.7017778158187866, + -0.7026334404945374 + ], + "joints": [ + 0.018350109457969666 + ] + }, + "final_grasp": { + "position": [ + -0.03951157256960869, + 0.1402384340763092, + 0.02106551080942154 + ], + "orientation": [ + 0.024619493633508682, + -0.11492646485567093, + 0.7017778158187866, + -0.7026334404945374 + ], + "joints": [ + 0.00957304984331131 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027369899675250053, + 0.14236825704574585, + 0.030407926067709923 + ], + "orientation": [ + 0.6737563610076904, + 0.7361413240432739, + -0.0560944527387619, + 0.03165015950798988 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + -0.027357308194041252, + 0.13904745876789093, + 0.029721729457378387 + ], + "orientation": [ + 0.6738949418067932, + 0.7345492839813232, + -0.06739947944879532, + 0.04195556044578552 + ], + "joints": [ + 0.018880371004343033 + ] + }, + "final_grasp": { + "position": [ + -0.027357308194041252, + 0.13904745876789093, + 0.029721729457378387 + ], + "orientation": [ + 0.6738949418067932, + 0.7345492839813232, + -0.06739947944879532, + 0.04195556044578552 + ], + "joints": [ + 0.009267400950193405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027480563148856163, + 0.14236925542354584, + 0.030399139970541 + ], + "orientation": [ + 0.6737999320030212, + 0.7361437082290649, + -0.055759746581315994, + 0.031257983297109604 + ], + "joints": [ + 0.02849334105849266 + ] + }, + "fine_grasp": { + "position": [ + -0.027463655918836594, + 0.13905200362205505, + 0.029729390516877174 + ], + "orientation": [ + 0.6740902662277222, + 0.7344098687171936, + -0.06715913861989975, + 0.04164193198084831 + ], + "joints": [ + 0.018880371004343033 + ] + }, + "final_grasp": { + "position": [ + -0.027463655918836594, + 0.13905200362205505, + 0.029729390516877174 + ], + "orientation": [ + 0.6740902662277222, + 0.7344098687171936, + -0.06715913861989975, + 0.04164193198084831 + ], + "joints": [ + 0.009267400950193405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03091372177004814, + 0.14489780366420746, + 0.016367558389902115 + ], + "orientation": [ + 0.7138888239860535, + 0.694200336933136, + -0.052945323288440704, + 0.07513716071844101 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + -0.030898524448275566, + 0.14088404178619385, + 0.016531776636838913 + ], + "orientation": [ + 0.7124272584915161, + 0.6928461790084839, + -0.06666884571313858, + 0.08925755321979523 + ], + "joints": [ + 0.018835216760635376 + ] + }, + "final_grasp": { + "position": [ + -0.030898524448275566, + 0.14088404178619385, + 0.016531776636838913 + ], + "orientation": [ + 0.7124272584915161, + 0.6928461790084839, + -0.06666884571313858, + 0.08925755321979523 + ], + "joints": [ + 0.009640201926231384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002491028979420662, + -0.02157176285982132, + -0.14272305369377136 + ], + "orientation": [ + 0.7293922901153564, + -0.11711318045854568, + -0.03056364879012108, + 0.6733031868934631 + ], + "joints": [ + 0.024533754214644432 + ] + }, + "fine_grasp": { + "position": [ + -0.0025588220451027155, + -0.021555090323090553, + -0.1384521871805191 + ], + "orientation": [ + 0.729684054851532, + -0.1108294203877449, + -0.027436932548880577, + 0.6741848587989807 + ], + "joints": [ + 0.026372766122221947 + ] + }, + "final_grasp": { + "position": [ + -0.0025588220451027155, + -0.021555090323090553, + -0.1384521871805191 + ], + "orientation": [ + 0.729684054851532, + -0.1108294203877449, + -0.027436932548880577, + 0.6741848587989807 + ], + "joints": [ + 0.02821177802979946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0031259639654308558, + -0.02119258977472782, + -0.14273564517498016 + ], + "orientation": [ + 0.7290925979614258, + -0.11567628383636475, + -0.029745498672127724, + 0.673912525177002 + ], + "joints": [ + 0.024533754214644432 + ] + }, + "fine_grasp": { + "position": [ + -0.003214635420590639, + -0.02119343727827072, + -0.1384294033050537 + ], + "orientation": [ + 0.7294009327888489, + -0.10907386988401413, + -0.026451580226421356, + 0.6748165488243103 + ], + "joints": [ + 0.02676982246339321 + ] + }, + "final_grasp": { + "position": [ + -0.003214635420590639, + -0.02119343727827072, + -0.1384294033050537 + ], + "orientation": [ + 0.7294009327888489, + -0.10907386988401413, + -0.026451580226421356, + 0.6748165488243103 + ], + "joints": [ + 0.02900589071214199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016302209347486496, + -0.03737664595246315, + -0.13609200716018677 + ], + "orientation": [ + 0.49330347776412964, + -0.13302648067474365, + 0.08646797388792038, + 0.8552654385566711 + ], + "joints": [ + 0.02941095270216465 + ] + }, + "fine_grasp": { + "position": [ + 0.016130128875374794, + -0.037056103348731995, + -0.13092654943466187 + ], + "orientation": [ + 0.49379485845565796, + -0.12818683683872223, + 0.08299244940280914, + 0.8560648560523987 + ], + "joints": [ + 0.03152162581682205 + ] + }, + "final_grasp": { + "position": [ + 0.016130128875374794, + -0.037056103348731995, + -0.13092654943466187 + ], + "orientation": [ + 0.49379485845565796, + -0.12818683683872223, + 0.08299244940280914, + 0.8560648560523987 + ], + "joints": [ + 0.0336323007941246 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 8 + } +} \ No newline at end of file diff --git a/clutter_sound_card_00000/Object.usd b/clutter_sound_card_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..8327f2157b7094bad6c682bdf03f7d5acd744773 --- /dev/null +++ b/clutter_sound_card_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70dac5b551c75bd827027f53b586a353d01ad56bc77b820364ea1eed09845ee4 +size 682509 diff --git a/clutter_tissue_00001/Annotation/dex1_1_grasp_pose.json b/clutter_tissue_00001/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..933c9a07dd08de99313a268bbc7a8b9fbbe0f761 --- /dev/null +++ b/clutter_tissue_00001/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,268 @@ +{ + "type": "clutter_tissue_00001", + "bottom_center": [ + -0.00016569346189498901, + 0.00015179533511400223, + -0.041073501110076904 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.020674223080277443, + 0.13148510456085205, + 0.008560999296605587 + ], + "orientation": [ + 0.0077842362225055695, + -0.6872567534446716, + 0.040045056492090225, + -0.7252681255340576 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.02083132416009903, + 0.12526513636112213, + 0.006877667736262083 + ], + "orientation": [ + 0.0005129882483743131, + -0.6768707633018494, + 0.03490690141916275, + -0.735273540019989 + ], + "joints": [ + -0.0189637690782547 + ] + }, + "final_grasp": { + "position": [ + -0.02083132416009903, + 0.12526513636112213, + 0.006877667736262083 + ], + "orientation": [ + 0.0005129882483743131, + -0.6768707633018494, + 0.03490690141916275, + -0.735273540019989 + ], + "joints": [ + -0.017927538603544235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036083903163671494, + 0.15338629484176636, + -0.0022977644111961126 + ], + "orientation": [ + 0.013921878300607204, + 0.7708757519721985, + 0.002887569833546877, + -0.6368268132209778 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.035732779651880264, + 0.14856937527656555, + -0.002194908680394292 + ], + "orientation": [ + 0.012466354295611382, + 0.7788724303245544, + 0.0037417742423713207, + -0.6270472407341003 + ], + "joints": [ + -0.019468598067760468 + ] + }, + "final_grasp": { + "position": [ + -0.035732779651880264, + 0.14856937527656555, + -0.002194908680394292 + ], + "orientation": [ + 0.012466354295611382, + 0.7788724303245544, + 0.0037417742423713207, + -0.6270472407341003 + ], + "joints": [ + -0.01893719658255577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06702957302331924, + 0.14692112803459167, + 0.016297131776809692 + ], + "orientation": [ + 0.04301830008625984, + -0.7454702854156494, + 0.040169745683670044, + -0.6639351844787598 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06712378561496735, + 0.14129741489887238, + 0.016352200880646706 + ], + "orientation": [ + 0.04093935713171959, + -0.7557713985443115, + 0.040063802152872086, + -0.652325451374054 + ], + "joints": [ + -0.019468598067760468 + ] + }, + "final_grasp": { + "position": [ + 0.06712378561496735, + 0.14129741489887238, + 0.016352200880646706 + ], + "orientation": [ + 0.04093935713171959, + -0.7557713985443115, + 0.040063802152872086, + -0.652325451374054 + ], + "joints": [ + -0.01893719658255577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06703468412160873, + 0.14689300954341888, + 0.016284383833408356 + ], + "orientation": [ + 0.042995329946279526, + -0.7454615831375122, + 0.04013674333691597, + -0.6639482378959656 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.06718028336763382, + 0.14120720326900482, + 0.016506033018231392 + ], + "orientation": [ + 0.041170768439769745, + -0.7561771273612976, + 0.040564898401498795, + -0.6518095135688782 + ], + "joints": [ + -0.019468598067760468 + ] + }, + "final_grasp": { + "position": [ + 0.06718028336763382, + 0.14120720326900482, + 0.016506033018231392 + ], + "orientation": [ + 0.041170768439769745, + -0.7561771273612976, + 0.040564898401498795, + -0.6518095135688782 + ], + "joints": [ + -0.01893719658255577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06258189678192139, + 0.15088209509849548, + -0.0162893645465374 + ], + "orientation": [ + 0.02137502282857895, + -0.7678048014640808, + 0.11305784434080124, + 0.6302672028541565 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.06326904147863388, + 0.14766153693199158, + -0.015124190598726273 + ], + "orientation": [ + 0.02254410833120346, + -0.7698475122451782, + 0.10934692621231079, + 0.6283867359161377 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "final_grasp": { + "position": [ + -0.06326904147863388, + 0.14766153693199158, + -0.015124190598726273 + ], + "orientation": [ + 0.02254410833120346, + -0.7698475122451782, + 0.10934692621231079, + 0.6283867359161377 + ], + "joints": [ + -0.019999999552965164 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2037, + "num_passed": 5 + } +} \ No newline at end of file diff --git a/clutter_tissue_00001/Annotation/piper_grasp_pose.json b/clutter_tissue_00001/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..21be12045a6ba9c4a410d546565bd218466d8fa6 --- /dev/null +++ b/clutter_tissue_00001/Annotation/piper_grasp_pose.json @@ -0,0 +1,17 @@ +{ + "type": "clutter_tissue_00001", + "bottom_center": [ + -0.00016569346189498901, + 0.00015179533511400223, + -0.041073501110076904 + ], + "functional_grasp": { + "body": [] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 0 + } +} \ No newline at end of file diff --git a/clutter_tissue_00001/Object.usd b/clutter_tissue_00001/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..4ccbb7e8895d285a779302ee1abfc544212573b5 --- /dev/null +++ b/clutter_tissue_00001/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38cfe50400a20863019fc8e69ced57257172780d6470b322a27c385be67bafe6 +size 3495956 diff --git a/clutter_toy_car_00000/Annotation/dex1_1_grasp_pose.json b/clutter_toy_car_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..3c6a78070b6b2caaa96aad9d18cf68e8f42d6239 --- /dev/null +++ b/clutter_toy_car_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,1818 @@ +{ + "type": "clutter_toy_car_00000", + "bottom_center": [ + -6.15529716014862e-05, + 4.452839493751526e-05, + -0.027432003989815712 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.05973672494292259, + -0.13880768418312073, + -0.006808097008615732 + ], + "orientation": [ + 0.6809121966362, + 0.08266132324934006, + -0.7264187335968018, + 0.04291248694062233 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.0595911405980587, + -0.1356968879699707, + -0.006612330675125122 + ], + "orientation": [ + 0.6834157705307007, + 0.07771074771881104, + -0.724700391292572, + 0.04139215871691704 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + 0.0595911405980587, + -0.1356968879699707, + -0.006612330675125122 + ], + "orientation": [ + 0.6834157705307007, + 0.07771074771881104, + -0.724700391292572, + 0.04139215871691704 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05967538431286812, + -0.13819952309131622, + -0.006894682999700308 + ], + "orientation": [ + 0.6764267086982727, + 0.08274230360984802, + -0.73066645860672, + 0.04155867174267769 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.05939905345439911, + -0.13492456078529358, + -0.006663927808403969 + ], + "orientation": [ + 0.6793146729469299, + 0.07834575325250626, + -0.7285509705543518, + 0.04008858650922775 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + 0.05939905345439911, + -0.13492456078529358, + -0.006663927808403969 + ], + "orientation": [ + 0.6793146729469299, + 0.07834575325250626, + -0.7285509705543518, + 0.04008858650922775 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03704805299639702, + 0.1491049975156784, + -0.012654752470552921 + ], + "orientation": [ + 0.03499205410480499, + 0.7540255784988403, + 0.023948470130562782, + 0.6554750800132751 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.03667784854769707, + 0.14544178545475006, + -0.012384784407913685 + ], + "orientation": [ + 0.03807181864976883, + 0.7530114650726318, + 0.018705924972891808, + 0.6566386818885803 + ], + "joints": [ + -0.0028875384014099836 + ] + }, + "final_grasp": { + "position": [ + 0.03667784854769707, + 0.14544178545475006, + -0.012384784407913685 + ], + "orientation": [ + 0.03807181864976883, + 0.7530114650726318, + 0.018705924972891808, + 0.6566386818885803 + ], + "joints": [ + 0.0030375667847692966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1632513850927353, + -0.008432191796600819, + 0.005150487180799246 + ], + "orientation": [ + 0.48666226863861084, + -0.5081613659858704, + 0.6123552918434143, + 0.3604898452758789 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.16067223250865936, + -0.008536575362086296, + 0.00425450736656785 + ], + "orientation": [ + 0.4812835454940796, + -0.5141589641571045, + 0.6152823567390442, + 0.35416704416275024 + ], + "joints": [ + -0.0034483792260289192 + ] + }, + "final_grasp": { + "position": [ + 0.16067223250865936, + -0.008536575362086296, + 0.00425450736656785 + ], + "orientation": [ + 0.4812835454940796, + -0.5141589641571045, + 0.6152823567390442, + 0.35416704416275024 + ], + "joints": [ + 0.00194532610476017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036879636347293854, + 0.14803381264209747, + -0.01453399658203125 + ], + "orientation": [ + 0.03545944020152092, + 0.7389810681343079, + 0.03398594632744789, + 0.6719335913658142 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.036257222294807434, + 0.14418534934520721, + -0.014135054312646389 + ], + "orientation": [ + 0.039939794689416885, + 0.7392992973327637, + 0.027946434915065765, + 0.6716103553771973 + ], + "joints": [ + -0.0028035598807036877 + ] + }, + "final_grasp": { + "position": [ + 0.036257222294807434, + 0.14418534934520721, + -0.014135054312646389 + ], + "orientation": [ + 0.039939794689416885, + 0.7392992973327637, + 0.027946434915065765, + 0.6716103553771973 + ], + "joints": [ + 0.002616715617477894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056481555104255676, + -0.13409413397312164, + -0.007573709357529879 + ], + "orientation": [ + 0.7451446652412415, + -0.030998600646853447, + 0.6614317297935486, + 0.07941402494907379 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.055992256850004196, + -0.1323365718126297, + -0.008318370208144188 + ], + "orientation": [ + 0.7484480738639832, + -0.027356082573533058, + 0.6579247713088989, + 0.0788176953792572 + ], + "joints": [ + -0.0040343161672353745 + ] + }, + "final_grasp": { + "position": [ + 0.055992256850004196, + -0.1323365718126297, + -0.008318370208144188 + ], + "orientation": [ + 0.7484480738639832, + -0.027356082573533058, + 0.6579247713088989, + 0.0788176953792572 + ], + "joints": [ + 0.0013328194618225098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002322928747162223, + -0.13915205001831055, + -0.03172623738646507 + ], + "orientation": [ + 0.732276439666748, + 0.012009518221020699, + -0.6606876254081726, + -0.1646774411201477 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.0018664768431335688, + -0.13540315628051758, + -0.031034154817461967 + ], + "orientation": [ + 0.7332160472869873, + 0.01308454293757677, + -0.6620835065841675, + -0.1544942855834961 + ], + "joints": [ + -0.004397759214043617 + ] + }, + "final_grasp": { + "position": [ + 0.0018664768431335688, + -0.13540315628051758, + -0.031034154817461967 + ], + "orientation": [ + 0.7332160472869873, + 0.01308454293757677, + -0.6620835065841675, + -0.1544942855834961 + ], + "joints": [ + -0.0005716830492019653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001721784588880837, + -0.13866396248340607, + -0.03142369166016579 + ], + "orientation": [ + 0.734841525554657, + 0.013315693475306034, + -0.6581876277923584, + -0.16315573453903198 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.0010448230896145105, + -0.13534457981586456, + -0.030982566997408867 + ], + "orientation": [ + 0.736331582069397, + 0.014900166541337967, + -0.6588255763053894, + -0.15343593060970306 + ], + "joints": [ + -0.004397759214043617 + ] + }, + "final_grasp": { + "position": [ + 0.0010448230896145105, + -0.13534457981586456, + -0.030982566997408867 + ], + "orientation": [ + 0.736331582069397, + 0.014900166541337967, + -0.6588255763053894, + -0.15343593060970306 + ], + "joints": [ + -0.0005716830492019653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015928716165944934, + -0.13845676183700562, + -0.03103986755013466 + ], + "orientation": [ + 0.737267255783081, + 0.013165703974664211, + -0.6558917164802551, + -0.16146093606948853 + ], + "joints": [ + -0.00847330316901207 + ] + }, + "fine_grasp": { + "position": [ + 0.000933932838961482, + -0.13527724146842957, + -0.030678285285830498 + ], + "orientation": [ + 0.7388888001441956, + 0.01492032129317522, + -0.6560930609703064, + -0.15284888446331024 + ], + "joints": [ + -0.004647227004170418 + ] + }, + "final_grasp": { + "position": [ + 0.000933932838961482, + -0.13527724146842957, + -0.030678285285830498 + ], + "orientation": [ + 0.7388888001441956, + 0.01492032129317522, + -0.6560930609703064, + -0.15284888446331024 + ], + "joints": [ + -0.0008211508393287659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041926056146621704, + 0.14089755713939667, + -0.015572422184050083 + ], + "orientation": [ + 0.08709260821342468, + 0.7891949415206909, + -0.009943746030330658, + 0.6078547835350037 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.040448568761348724, + 0.13926947116851807, + -0.016403652727603912 + ], + "orientation": [ + 0.09169656783342361, + 0.7975947260856628, + -0.016694391146302223, + 0.5959494113922119 + ], + "joints": [ + -0.005997625179588795 + ] + }, + "final_grasp": { + "position": [ + 0.040448568761348724, + 0.13926947116851807, + -0.016403652727603912 + ], + "orientation": [ + 0.09169656783342361, + 0.7975947260856628, + -0.016694391146302223, + 0.5959494113922119 + ], + "joints": [ + -0.0026232395321130753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02322002872824669, + -0.13820117712020874, + -0.024090275168418884 + ], + "orientation": [ + 0.7607454061508179, + 0.06818824261426926, + -0.6417785882949829, + -0.06882539391517639 + ], + "joints": [ + -0.009091552346944809 + ] + }, + "fine_grasp": { + "position": [ + 0.02259681560099125, + -0.13438579440116882, + -0.02381449192762375 + ], + "orientation": [ + 0.764522910118103, + 0.06793951988220215, + -0.6381663084030151, + -0.06027168408036232 + ], + "joints": [ + -0.005265476182103157 + ] + }, + "final_grasp": { + "position": [ + 0.02259681560099125, + -0.13438579440116882, + -0.02381449192762375 + ], + "orientation": [ + 0.764522910118103, + 0.06793951988220215, + -0.6381663084030151, + -0.06027168408036232 + ], + "joints": [ + -0.0014394000172615051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021491557359695435, + 0.13763882219791412, + -0.014425348490476608 + ], + "orientation": [ + 0.05984693393111229, + -0.7960915565490723, + -0.1786898970603943, + -0.5750881433486938 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.02063232846558094, + 0.13770730793476105, + -0.012903266586363316 + ], + "orientation": [ + 0.06119299679994583, + -0.8133808374404907, + -0.16547539830207825, + -0.554332971572876 + ], + "joints": [ + -0.0072273872792720795 + ] + }, + "final_grasp": { + "position": [ + -0.02063232846558094, + 0.13770730793476105, + -0.012903266586363316 + ], + "orientation": [ + 0.06119299679994583, + -0.8133808374404907, + -0.16547539830207825, + -0.554332971572876 + ], + "joints": [ + -0.005952030420303345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018475808203220367, + 0.14270129799842834, + -0.004006640985608101 + ], + "orientation": [ + 0.03517310693860054, + 0.5950366258621216, + 0.0068885996006429195, + -0.8028990030288696 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.019231146201491356, + 0.14103315770626068, + -0.0032170407939702272 + ], + "orientation": [ + 0.02420041710138321, + 0.574530303478241, + 0.008080825209617615, + -0.8180855512619019 + ], + "joints": [ + -0.007538684643805027 + ] + }, + "final_grasp": { + "position": [ + 0.019231146201491356, + 0.14103315770626068, + -0.0032170407939702272 + ], + "orientation": [ + 0.02420041710138321, + 0.574530303478241, + 0.008080825209617615, + -0.8180855512619019 + ], + "joints": [ + -0.00570535846054554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02265472710132599, + 0.11481159925460815, + -0.10203187167644501 + ], + "orientation": [ + 0.2860649526119232, + 0.937700629234314, + -0.1108613833785057, + -0.16307653486728668 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.022281788289546967, + 0.11138351261615753, + -0.09962435811758041 + ], + "orientation": [ + 0.29017868638038635, + 0.9381398558616638, + -0.09725935757160187, + -0.16195866465568542 + ], + "joints": [ + -0.013502202928066254 + ] + }, + "final_grasp": { + "position": [ + -0.022281788289546967, + 0.11138351261615753, + -0.09962435811758041 + ], + "orientation": [ + 0.29017868638038635, + 0.9381398558616638, + -0.09725935757160187, + -0.16195866465568542 + ], + "joints": [ + -0.01233312115073204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007860872894525528, + -0.1431903839111328, + -0.03229152038693428 + ], + "orientation": [ + 0.4840964376926422, + 0.11507605016231537, + -0.8661879301071167, + -0.04611606523394585 + ], + "joints": [ + -0.006948473863303661 + ] + }, + "fine_grasp": { + "position": [ + -0.006778032518923283, + -0.14294785261154175, + -0.03274194151163101 + ], + "orientation": [ + 0.47147825360298157, + 0.10692398250102997, + -0.87397700548172, + -0.04939355328679085 + ], + "joints": [ + -0.002590997377410531 + ] + }, + "final_grasp": { + "position": [ + -0.006778032518923283, + -0.14294785261154175, + -0.03274194151163101 + ], + "orientation": [ + 0.47147825360298157, + 0.10692398250102997, + -0.87397700548172, + -0.04939355328679085 + ], + "joints": [ + 0.0017664791084825993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008988787420094013, + -0.1405968964099884, + -0.01212533749639988 + ], + "orientation": [ + 0.5989962220191956, + -0.05253833904862404, + -0.7923862934112549, + -0.10279672592878342 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.007848366163671017, + -0.14478658139705658, + -0.011912419460713863 + ], + "orientation": [ + 0.588272213935852, + -0.0581551119685173, + -0.8001388311386108, + -0.1016455739736557 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + 0.007848366163671017, + -0.14478658139705658, + -0.011912419460713863 + ], + "orientation": [ + 0.588272213935852, + -0.0581551119685173, + -0.8001388311386108, + -0.1016455739736557 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03238193690776825, + -0.14329396188259125, + -0.03315451368689537 + ], + "orientation": [ + 0.5918580293655396, + 0.015458785928785801, + -0.7958422899246216, + -0.12688618898391724 + ], + "joints": [ + -0.0057875607162714005 + ] + }, + "fine_grasp": { + "position": [ + -0.03302892670035362, + -0.13943490386009216, + -0.03299631550908089 + ], + "orientation": [ + 0.5907313227653503, + 0.01918058469891548, + -0.7978336811065674, + -0.11886917054653168 + ], + "joints": [ + -0.0008986840257421136 + ] + }, + "final_grasp": { + "position": [ + -0.03302892670035362, + -0.13943490386009216, + -0.03299631550908089 + ], + "orientation": [ + 0.5907313227653503, + 0.01918058469891548, + -0.7978336811065674, + -0.11886917054653168 + ], + "joints": [ + 0.003990192897617817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050576210021972656, + 0.14073102176189423, + -0.02122884802520275 + ], + "orientation": [ + 0.08297745138406754, + 0.6325860023498535, + 0.03654220700263977, + 0.7691648006439209 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.05096675828099251, + 0.13850750029087067, + -0.021206067875027657 + ], + "orientation": [ + 0.07839507609605789, + 0.6254553198814392, + 0.040619928389787674, + 0.7752482891082764 + ], + "joints": [ + -0.004088853485882282 + ] + }, + "final_grasp": { + "position": [ + 0.05096675828099251, + 0.13850750029087067, + -0.021206067875027657 + ], + "orientation": [ + 0.07839507609605789, + 0.6254553198814392, + 0.040619928389787674, + 0.7752482891082764 + ], + "joints": [ + 0.0017831120640039444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08430121839046478, + 0.1222912073135376, + -0.0443379282951355 + ], + "orientation": [ + 0.12912949919700623, + -0.4931643307209015, + -0.263900488615036, + -0.8188228607177734 + ], + "joints": [ + -0.007190263830125332 + ] + }, + "fine_grasp": { + "position": [ + -0.0816359668970108, + 0.11940532177686691, + -0.04443926736712456 + ], + "orientation": [ + 0.13720625638961792, + -0.4866151809692383, + -0.26556190848350525, + -0.8208879232406616 + ], + "joints": [ + -0.00336418766528368 + ] + }, + "final_grasp": { + "position": [ + -0.0816359668970108, + 0.11940532177686691, + -0.04443926736712456 + ], + "orientation": [ + 0.13720625638961792, + -0.4866151809692383, + -0.26556190848350525, + -0.8208879232406616 + ], + "joints": [ + 0.00046188849955797195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0843590497970581, + 0.12282976508140564, + -0.043686725199222565 + ], + "orientation": [ + 0.13152387738227844, + -0.49545401334762573, + -0.26380738615989685, + -0.8170878291130066 + ], + "joints": [ + -0.006903999485075474 + ] + }, + "fine_grasp": { + "position": [ + -0.08182155340909958, + 0.12009970098733902, + -0.04376722499728203 + ], + "orientation": [ + 0.13983748853206635, + -0.48728471994400024, + -0.2669186592102051, + -0.8196057081222534 + ], + "joints": [ + -0.0025996628683060408 + ] + }, + "final_grasp": { + "position": [ + -0.08182155340909958, + 0.12009970098733902, + -0.04376722499728203 + ], + "orientation": [ + 0.13983748853206635, + -0.48728471994400024, + -0.2669186592102051, + -0.8196057081222534 + ], + "joints": [ + 0.0017046737484633923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019174814224243164, + -0.14236754179000854, + -0.01652298867702484 + ], + "orientation": [ + 0.565765917301178, + -0.00038056678022257984, + -0.8219344615936279, + -0.0658215880393982 + ], + "joints": [ + -0.006743505597114563 + ] + }, + "fine_grasp": { + "position": [ + -0.018685728311538696, + -0.1408691108226776, + -0.019312739372253418 + ], + "orientation": [ + 0.5599750280380249, + 0.005807062145322561, + -0.825904905796051, + -0.06538703292608261 + ], + "joints": [ + -0.0028908587992191315 + ] + }, + "final_grasp": { + "position": [ + -0.018685728311538696, + -0.1408691108226776, + -0.019312739372253418 + ], + "orientation": [ + 0.5599750280380249, + 0.005807062145322561, + -0.825904905796051, + -0.06538703292608261 + ], + "joints": [ + 0.0009617879986763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028237245976924896, + -0.14393147826194763, + -0.021286187693476677 + ], + "orientation": [ + 0.5606845021247864, + -0.020196715369820595, + -0.8218430280685425, + -0.09898953139781952 + ], + "joints": [ + -0.00596625916659832 + ] + }, + "fine_grasp": { + "position": [ + -0.027767740190029144, + -0.1419936567544937, + -0.02164737693965435 + ], + "orientation": [ + 0.5574131011962891, + -0.018018994480371475, + -0.8252679109573364, + -0.08887535333633423 + ], + "joints": [ + -0.002113611903041601 + ] + }, + "final_grasp": { + "position": [ + -0.027767740190029144, + -0.1419936567544937, + -0.02164737693965435 + ], + "orientation": [ + 0.5574131011962891, + -0.018018994480371475, + -0.8252679109573364, + -0.08887535333633423 + ], + "joints": [ + 0.0017390353605151176 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020241715013980865, + 0.13872846961021423, + -0.011498506180942059 + ], + "orientation": [ + 0.0073737106285989285, + -0.5835173726081848, + -0.049133460968732834, + -0.8105794191360474 + ], + "joints": [ + -0.00634702667593956 + ] + }, + "fine_grasp": { + "position": [ + -0.02043760009109974, + 0.13933998346328735, + -0.01175541803240776 + ], + "orientation": [ + 0.010568412952125072, + -0.5775079131126404, + -0.04025901108980179, + -0.8153233528137207 + ], + "joints": [ + -0.0024943798780441284 + ] + }, + "final_grasp": { + "position": [ + -0.02043760009109974, + 0.13933998346328735, + -0.01175541803240776 + ], + "orientation": [ + 0.010568412952125072, + -0.5775079131126404, + -0.04025901108980179, + -0.8153233528137207 + ], + "joints": [ + 0.001358266919851303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02820601686835289, + -0.13982881605625153, + -0.010403217747807503 + ], + "orientation": [ + 0.5194587111473083, + -0.0022616416681557894, + -0.8541330695152283, + -0.02478639781475067 + ], + "joints": [ + -0.0068108560517430305 + ] + }, + "fine_grasp": { + "position": [ + -0.028499117121100426, + -0.1386629045009613, + -0.01035115122795105 + ], + "orientation": [ + 0.5075471997261047, + -0.008884582668542862, + -0.8611814975738525, + -0.02613884210586548 + ], + "joints": [ + -0.0025065194349735975 + ] + }, + "final_grasp": { + "position": [ + -0.028499117121100426, + -0.1386629045009613, + -0.01035115122795105 + ], + "orientation": [ + 0.5075471997261047, + -0.008884582668542862, + -0.8611814975738525, + -0.02613884210586548 + ], + "joints": [ + 0.0017978171817958355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02837350219488144, + -0.13883496820926666, + -0.01060191635042429 + ], + "orientation": [ + 0.5186846256256104, + -0.0030158080626279116, + -0.8545840978622437, + -0.025358624756336212 + ], + "joints": [ + -0.007074100896716118 + ] + }, + "fine_grasp": { + "position": [ + -0.02861112914979458, + -0.137645423412323, + -0.010510272346436977 + ], + "orientation": [ + 0.5066956281661987, + -0.00829246174544096, + -0.8616526126861572, + -0.027304889634251595 + ], + "joints": [ + -0.002264934591948986 + ] + }, + "final_grasp": { + "position": [ + -0.02861112914979458, + -0.137645423412323, + -0.010510272346436977 + ], + "orientation": [ + 0.5066956281661987, + -0.00829246174544096, + -0.8616526126861572, + -0.027304889634251595 + ], + "joints": [ + 0.0025442317128181458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08152618259191513, + -0.12525922060012817, + -0.02775571681559086 + ], + "orientation": [ + 0.8155593872070312, + 0.21577274799346924, + 0.512463390827179, + -0.1602698415517807 + ], + "joints": [ + -0.00640506949275732 + ] + }, + "fine_grasp": { + "position": [ + -0.07957008481025696, + -0.12001854926347733, + -0.027468791231513023 + ], + "orientation": [ + 0.8170610666275024, + 0.20781606435775757, + 0.5132302641868591, + -0.16068105399608612 + ], + "joints": [ + -0.0015161930350586772 + ] + }, + "final_grasp": { + "position": [ + -0.07957008481025696, + -0.12001854926347733, + -0.027468791231513023 + ], + "orientation": [ + 0.8170610666275024, + 0.20781606435775757, + 0.5132302641868591, + -0.16068105399608612 + ], + "joints": [ + 0.003372683422639966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1322118639945984, + 0.08783464878797531, + -0.023635966703295708 + ], + "orientation": [ + 0.4342190623283386, + 0.5536565184593201, + -0.22052939236164093, + 0.6754888296127319 + ], + "joints": [ + -0.009931378066539764 + ] + }, + "fine_grasp": { + "position": [ + 0.12978726625442505, + 0.08606605976819992, + -0.02293642982840538 + ], + "orientation": [ + 0.42956915497779846, + 0.5614721179008484, + -0.2222488671541214, + 0.6714349389076233 + ], + "joints": [ + -0.005122211761772633 + ] + }, + "final_grasp": { + "position": [ + 0.12978726625442505, + 0.08606605976819992, + -0.02293642982840538 + ], + "orientation": [ + 0.42956915497779846, + 0.5614721179008484, + -0.2222488671541214, + 0.6714349389076233 + ], + "joints": [ + -0.0003130454570055008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13141131401062012, + 0.08730670064687729, + -0.02406521886587143 + ], + "orientation": [ + 0.4344748258590698, + 0.5567226409912109, + -0.22086428105831146, + 0.6726890802383423 + ], + "joints": [ + -0.010176807641983032 + ] + }, + "fine_grasp": { + "position": [ + 0.12805746495723724, + 0.08523347973823547, + -0.023171622306108475 + ], + "orientation": [ + 0.43171435594558716, + 0.5616370439529419, + -0.22456291317939758, + 0.669147253036499 + ], + "joints": [ + -0.0053410716354846954 + ] + }, + "final_grasp": { + "position": [ + 0.12805746495723724, + 0.08523347973823547, + -0.023171622306108475 + ], + "orientation": [ + 0.43171435594558716, + 0.5616370439529419, + -0.22456291317939758, + 0.669147253036499 + ], + "joints": [ + -0.0005053356289863586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09731142967939377, + 0.13553164899349213, + -0.015344399027526379 + ], + "orientation": [ + 0.21737535297870636, + 0.6037812232971191, + -0.0956055298447609, + 0.7609571814537048 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.0953221544623375, + 0.13152693212032318, + -0.014676769264042377 + ], + "orientation": [ + 0.20947955548763275, + 0.6038500666618347, + -0.09161455184221268, + 0.7636033892631531 + ], + "joints": [ + -0.004118294455111027 + ] + }, + "final_grasp": { + "position": [ + 0.0953221544623375, + 0.13152693212032318, + -0.014676769264042377 + ], + "orientation": [ + 0.20947955548763275, + 0.6038500666618347, + -0.09161455184221268, + 0.7636033892631531 + ], + "joints": [ + 0.0017536710947751999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16433164477348328, + 0.0190370362251997, + 0.007977470755577087 + ], + "orientation": [ + 0.5083223581314087, + 0.46310803294181824, + -0.4539935886859894, + 0.5665943622589111 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.16156336665153503, + 0.020121516659855843, + 0.007122857961803675 + ], + "orientation": [ + 0.5174520611763, + 0.45746707916259766, + -0.463349848985672, + 0.5552245378494263 + ], + "joints": [ + -0.004649694077670574 + ] + }, + "final_grasp": { + "position": [ + 0.16156336665153503, + 0.020121516659855843, + 0.007122857961803675 + ], + "orientation": [ + 0.5174520611763, + 0.45746707916259766, + -0.463349848985672, + 0.5552245378494263 + ], + "joints": [ + 0.000690871849656105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020975811406970024, + 0.13795873522758484, + -0.016482345759868622 + ], + "orientation": [ + 0.06103695556521416, + -0.787703812122345, + -0.18870975077152252, + -0.5832545161247253 + ], + "joints": [ + -0.008502744138240814 + ] + }, + "fine_grasp": { + "position": [ + -0.01914333738386631, + 0.1322699934244156, + -0.016598502174019814 + ], + "orientation": [ + 0.06869517266750336, + -0.7775738835334778, + -0.19405300915241241, + -0.594140887260437 + ], + "joints": [ + -0.0051017883233726025 + ] + }, + "final_grasp": { + "position": [ + -0.01914333738386631, + 0.1322699934244156, + -0.016598502174019814 + ], + "orientation": [ + 0.06869517266750336, + -0.7775738835334778, + -0.19405300915241241, + -0.594140887260437 + ], + "joints": [ + -0.0017008325085043907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05249409005045891, + -0.15026892721652985, + -0.01992904394865036 + ], + "orientation": [ + 0.7365214824676514, + 0.11531806737184525, + -0.6662741899490356, + 0.017792057245969772 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.050994258373975754, + -0.14616747200489044, + -0.01910996437072754 + ], + "orientation": [ + 0.7377682328224182, + 0.11900949478149414, + -0.6641141772270203, + 0.022070035338401794 + ], + "joints": [ + -0.0034189382568001747 + ] + }, + "final_grasp": { + "position": [ + 0.050994258373975754, + -0.14616747200489044, + -0.01910996437072754 + ], + "orientation": [ + 0.7377682328224182, + 0.11900949478149414, + -0.6641141772270203, + 0.022070035338401794 + ], + "joints": [ + 0.0019747670739889145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16632720828056335, + 0.014652146026492119, + 0.019304834306240082 + ], + "orientation": [ + 0.4193463921546936, + 0.5133724212646484, + -0.5228577852249146, + 0.5359262228012085 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.1633123904466629, + 0.01392083615064621, + 0.018233448266983032 + ], + "orientation": [ + 0.4238829016685486, + 0.5134785175323486, + -0.5192015171051025, + 0.5358105301856995 + ], + "joints": [ + -0.005207663401961327 + ] + }, + "final_grasp": { + "position": [ + 0.1633123904466629, + 0.01392083615064621, + 0.018233448266983032 + ], + "orientation": [ + 0.4238829016685486, + 0.5134785175323486, + -0.5192015171051025, + 0.5358105301856995 + ], + "joints": [ + -0.0004250667989253998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16634121537208557, + 0.014344431459903717, + 0.019180022180080414 + ], + "orientation": [ + 0.41870152950286865, + 0.5146939158439636, + -0.5229371190071106, + 0.5350849032402039 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.16328251361846924, + 0.013626237399876118, + 0.01818612776696682 + ], + "orientation": [ + 0.4227244555950165, + 0.5149579048156738, + -0.5198015570640564, + 0.5347229838371277 + ], + "joints": [ + -0.005181093700230122 + ] + }, + "final_grasp": { + "position": [ + 0.16328251361846924, + 0.013626237399876118, + 0.01818612776696682 + ], + "orientation": [ + 0.4227244555950165, + 0.5149579048156738, + -0.5198015570640564, + 0.5347229838371277 + ], + "joints": [ + -0.0003719273954629898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01578218676149845, + -0.1420908421278, + -0.0031285472214221954 + ], + "orientation": [ + 0.6399086713790894, + 0.12209007889032364, + 0.7544327974319458, + -0.08026251196861267 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.01584065891802311, + -0.14113718271255493, + -0.003118538996204734 + ], + "orientation": [ + 0.6263612508773804, + 0.11744973808526993, + 0.7667386531829834, + -0.0773877203464508 + ], + "joints": [ + -0.003948939964175224 + ] + }, + "final_grasp": { + "position": [ + -0.01584065891802311, + -0.14113718271255493, + -0.003118538996204734 + ], + "orientation": [ + 0.6263612508773804, + 0.11744973808526993, + 0.7667386531829834, + -0.0773877203464508 + ], + "joints": [ + 0.00035539641976356506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16755935549736023, + 0.02504071034491062, + 0.004920508246868849 + ], + "orientation": [ + 0.4743070602416992, + 0.5076299905776978, + -0.45266255736351013, + 0.5589643716812134 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.1642255336046219, + 0.025692669674754143, + 0.004220079630613327 + ], + "orientation": [ + 0.4822794497013092, + 0.5061875581741333, + -0.4601981043815613, + 0.5471731424331665 + ], + "joints": [ + -0.0034720776602625847 + ] + }, + "final_grasp": { + "position": [ + 0.1642255336046219, + 0.025692669674754143, + 0.004220079630613327 + ], + "orientation": [ + 0.4822794497013092, + 0.5061875581741333, + -0.4601981043815613, + 0.5471731424331665 + ], + "joints": [ + 0.0018684882670640945 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2038, + "num_passed": 36 + } +} \ No newline at end of file diff --git a/clutter_toy_car_00000/Annotation/piper_grasp_pose.json b/clutter_toy_car_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..908a3321fc6e9ee7c4fb9389ca27ba0d7bcc308a --- /dev/null +++ b/clutter_toy_car_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,718 @@ +{ + "type": "clutter_toy_car_00000", + "bottom_center": [ + -6.15529716014862e-05, + 4.452839493751526e-05, + -0.027432003989815712 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.005767459515482187, + 0.13649576902389526, + -0.008706865832209587 + ], + "orientation": [ + 0.019905656576156616, + -0.01843227818608284, + -0.6695855259895325, + 0.7422393560409546 + ], + "joints": [ + 0.03129515424370766 + ] + }, + "fine_grasp": { + "position": [ + 0.005975143983960152, + 0.13330863416194916, + -0.007760093547403812 + ], + "orientation": [ + 0.02736847475171089, + -0.01418495923280716, + -0.6744592785835266, + 0.7376683354377747 + ], + "joints": [ + 0.0225180946290493 + ] + }, + "final_grasp": { + "position": [ + 0.005975143983960152, + 0.13330863416194916, + -0.007760093547403812 + ], + "orientation": [ + 0.02736847475171089, + -0.01418495923280716, + -0.6744592785835266, + 0.7376683354377747 + ], + "joints": [ + 0.013741035014390945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1083301231265068, + -0.10477081686258316, + -0.05690770596265793 + ], + "orientation": [ + 0.3098040521144867, + 0.19979460537433624, + 0.5102021098136902, + 0.7770439386367798 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + -0.10598117858171463, + -0.10253647714853287, + -0.055349793285131454 + ], + "orientation": [ + 0.3159891664981842, + 0.19905728101730347, + 0.5130298733711243, + 0.7728695869445801 + ], + "joints": [ + 0.017933253198862076 + ] + }, + "final_grasp": { + "position": [ + -0.10598117858171463, + -0.10253647714853287, + -0.055349793285131454 + ], + "orientation": [ + 0.3159891664981842, + 0.19905728101730347, + 0.5130298733711243, + 0.7728695869445801 + ], + "joints": [ + 0.008299384266138077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006619528867304325, + -0.14091616868972778, + -0.04061899706721306 + ], + "orientation": [ + 0.004029021132737398, + -0.043469253927469254, + -0.5790021419525146, + -0.8141564726829529 + ], + "joints": [ + 0.028215473517775536 + ] + }, + "fine_grasp": { + "position": [ + -0.006733130197972059, + -0.13818033039569855, + -0.040338922291994095 + ], + "orientation": [ + 0.008901629596948624, + -0.04724390432238579, + -0.580919623374939, + -0.8125399947166443 + ], + "joints": [ + 0.017766593024134636 + ] + }, + "final_grasp": { + "position": [ + -0.006733130197972059, + -0.13818033039569855, + -0.040338922291994095 + ], + "orientation": [ + 0.008901629596948624, + -0.04724390432238579, + -0.580919623374939, + -0.8125399947166443 + ], + "joints": [ + 0.007317712530493736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006509547121822834, + -0.1400570124387741, + -0.04096677526831627 + ], + "orientation": [ + 0.0035572266206145287, + -0.04602182283997536, + -0.5767759084701538, + -0.8155972361564636 + ], + "joints": [ + 0.028422649949789047 + ] + }, + "fine_grasp": { + "position": [ + -0.006603497080504894, + -0.13772882521152496, + -0.04103866592049599 + ], + "orientation": [ + 0.009016485884785652, + -0.05063149705529213, + -0.5780933499336243, + -0.8143483400344849 + ], + "joints": [ + 0.017576713114976883 + ] + }, + "final_grasp": { + "position": [ + -0.006603497080504894, + -0.13772882521152496, + -0.04103866592049599 + ], + "orientation": [ + 0.009016485884785652, + -0.05063149705529213, + -0.5780933499336243, + -0.8143483400344849 + ], + "joints": [ + 0.006730776280164719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17626626789569855, + 0.0182676799595356, + -0.00972797628492117 + ], + "orientation": [ + 0.5489787459373474, + 0.5483288764953613, + -0.38959234952926636, + -0.49616074562072754 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.1723395735025406, + 0.018011797219514847, + -0.009357749484479427 + ], + "orientation": [ + 0.5456728935241699, + 0.5474529266357422, + -0.3929996192455292, + -0.4980839788913727 + ], + "joints": [ + 0.022145289927721024 + ] + }, + "final_grasp": { + "position": [ + 0.1723395735025406, + 0.018011797219514847, + -0.009357749484479427 + ], + "orientation": [ + 0.5456728935241699, + 0.5474529266357422, + -0.3929996192455292, + -0.4980839788913727 + ], + "joints": [ + 0.012532319873571396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17607463896274567, + 0.01873994618654251, + -0.009591538459062576 + ], + "orientation": [ + 0.548154890537262, + 0.549144446849823, + -0.3889070153236389, + -0.4967072010040283 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.1721627414226532, + 0.018487686291337013, + -0.009217220358550549 + ], + "orientation": [ + 0.5445523262023926, + 0.5487310290336609, + -0.3924778699874878, + -0.4983152449131012 + ], + "joints": [ + 0.022145289927721024 + ] + }, + "final_grasp": { + "position": [ + 0.1721627414226532, + 0.018487686291337013, + -0.009217220358550549 + ], + "orientation": [ + 0.5445523262023926, + 0.5487310290336609, + -0.3924778699874878, + -0.4983152449131012 + ], + "joints": [ + 0.012532319873571396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14664120972156525, + 0.02374723181128502, + -0.056286122649908066 + ], + "orientation": [ + 0.4788677394390106, + -0.39881035685539246, + 0.37211740016937256, + -0.687869668006897 + ], + "joints": [ + 0.026970459148287773 + ] + }, + "fine_grasp": { + "position": [ + -0.14370019733905792, + 0.023036377504467964, + -0.05519137158989906 + ], + "orientation": [ + 0.4662463366985321, + -0.4004319906234741, + 0.3683927059173584, + -0.6975352764129639 + ], + "joints": [ + 0.01693953387439251 + ] + }, + "final_grasp": { + "position": [ + -0.14370019733905792, + 0.023036377504467964, + -0.05519137158989906 + ], + "orientation": [ + 0.4662463366985321, + -0.4004319906234741, + 0.3683927059173584, + -0.6975352764129639 + ], + "joints": [ + 0.006908608600497246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.17169110476970673, + -0.010310874320566654, + -0.015186846256256104 + ], + "orientation": [ + 0.576987624168396, + -0.47796279191970825, + -0.45247918367385864, + 0.483631432056427 + ], + "joints": [ + 0.031318310648202896 + ] + }, + "fine_grasp": { + "position": [ + 0.16770033538341522, + -0.010195533744990826, + -0.014509635046124458 + ], + "orientation": [ + 0.576738178730011, + -0.4750482439994812, + -0.4528481960296631, + 0.48644715547561646 + ], + "joints": [ + 0.02254125103354454 + ] + }, + "final_grasp": { + "position": [ + 0.16770033538341522, + -0.010195533744990826, + -0.014509635046124458 + ], + "orientation": [ + 0.576738178730011, + -0.4750482439994812, + -0.4528481960296631, + 0.48644715547561646 + ], + "joints": [ + 0.013764191418886185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1715095341205597, + -0.010556976310908794, + -0.01466356124728918 + ], + "orientation": [ + 0.5763197541236877, + -0.4785712957382202, + -0.4531433582305908, + 0.4832039773464203 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.16760218143463135, + -0.010476082563400269, + -0.014024144038558006 + ], + "orientation": [ + 0.5758983492851257, + -0.4757341742515564, + -0.4534633755683899, + 0.4861986041069031 + ], + "joints": [ + 0.02258414402604103 + ] + }, + "final_grasp": { + "position": [ + 0.16760218143463135, + -0.010476082563400269, + -0.014024144038558006 + ], + "orientation": [ + 0.5758983492851257, + -0.4757341742515564, + -0.4534633755683899, + 0.4861986041069031 + ], + "joints": [ + 0.01341002807021141 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1611054241657257, + -0.02595856413245201, + -0.047968119382858276 + ], + "orientation": [ + 0.6099563241004944, + -0.46353596448898315, + -0.28752681612968445, + 0.5748182535171509 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.1576388031244278, + -0.025772757828235626, + -0.04606963321566582 + ], + "orientation": [ + 0.6054038405418396, + -0.46357354521751404, + -0.295168936252594, + 0.5757265686988831 + ], + "joints": [ + 0.023511450737714767 + ] + }, + "final_grasp": { + "position": [ + 0.1576388031244278, + -0.025772757828235626, + -0.04606963321566582 + ], + "orientation": [ + 0.6054038405418396, + -0.46357354521751404, + -0.295168936252594, + 0.5757265686988831 + ], + "joints": [ + 0.01389848068356514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002304485999047756, + 0.13012368977069855, + -0.06044034659862518 + ], + "orientation": [ + 0.04974183812737465, + 0.06581714749336243, + -0.5092843174934387, + 0.8566349148750305 + ], + "joints": [ + 0.029373247176408768 + ] + }, + "fine_grasp": { + "position": [ + 0.0029770389664918184, + 0.12761053442955017, + -0.05880555510520935 + ], + "orientation": [ + 0.05400695651769638, + 0.07391709089279175, + -0.5103104710578918, + 0.8551039695739746 + ], + "joints": [ + 0.019718479365110397 + ] + }, + "final_grasp": { + "position": [ + 0.0029770389664918184, + 0.12761053442955017, + -0.05880555510520935 + ], + "orientation": [ + 0.05400695651769638, + 0.07391709089279175, + -0.5103104710578918, + 0.8551039695739746 + ], + "joints": [ + 0.010063711553812027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1526549905538559, + -0.010168483480811119, + -0.07361525297164917 + ], + "orientation": [ + 0.6751002669334412, + -0.30451810359954834, + 0.3962348699569702, + -0.5426843166351318 + ], + "joints": [ + 0.025798004120588303 + ] + }, + "fine_grasp": { + "position": [ + -0.149457648396492, + -0.009967155754566193, + -0.07166202366352081 + ], + "orientation": [ + 0.6757631897926331, + -0.30627086758613586, + 0.39800259470939636, + -0.5395703911781311 + ], + "joints": [ + 0.016164135187864304 + ] + }, + "final_grasp": { + "position": [ + -0.149457648396492, + -0.009967155754566193, + -0.07166202366352081 + ], + "orientation": [ + 0.6757631897926331, + -0.30627086758613586, + 0.39800259470939636, + -0.5395703911781311 + ], + "joints": [ + 0.0065302662551403046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008434917544946074, + 0.12953059375286102, + -0.06060229614377022 + ], + "orientation": [ + 0.051117200404405594, + 0.06339289247989655, + -0.5080215334892273, + 0.8574861288070679 + ], + "joints": [ + 0.029788821935653687 + ] + }, + "fine_grasp": { + "position": [ + 0.0007431513513438404, + 0.12695665657520294, + -0.058965351432561874 + ], + "orientation": [ + 0.06006307527422905, + 0.06935752928256989, + -0.5084613561630249, + 0.8561829328536987 + ], + "joints": [ + 0.020134054124355316 + ] + }, + "final_grasp": { + "position": [ + 0.0007431513513438404, + 0.12695665657520294, + -0.058965351432561874 + ], + "orientation": [ + 0.06006307527422905, + 0.06935752928256989, + -0.5084613561630249, + 0.8561829328536987 + ], + "joints": [ + 0.010479286313056946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005091311875730753, + 0.01476103626191616, + -0.16019581258296967 + ], + "orientation": [ + 0.643391489982605, + 0.08321583271026611, + 0.01578669250011444, + 0.760837197303772 + ], + "joints": [ + 0.010377848520874977 + ] + }, + "fine_grasp": { + "position": [ + 0.005111630540341139, + 0.015111558139324188, + -0.15513284504413605 + ], + "orientation": [ + 0.6427873373031616, + 0.078675776720047, + 0.016555888578295708, + 0.7618139386177063 + ], + "joints": [ + 0.012467624619603157 + ] + }, + "final_grasp": { + "position": [ + 0.005111630540341139, + 0.015111558139324188, + -0.15513284504413605 + ], + "orientation": [ + 0.6427873373031616, + 0.078675776720047, + 0.016555888578295708, + 0.7618139386177063 + ], + "joints": [ + 0.014557400718331337 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 14 + } +} \ No newline at end of file diff --git a/clutter_toy_car_00000/Object.usd b/clutter_toy_car_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..2e228921b22621fe45795b9ee322f956e089c252 --- /dev/null +++ b/clutter_toy_car_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e95e0b3400f2a7cf56008174427217514f4781295de98a01148d975446f929b +size 16970569 diff --git a/clutter_walkie_talkie_00000/Annotation/dex1_1_grasp_pose.json b/clutter_walkie_talkie_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4616b98a1a1f84218b089a637fe19bad630a0ef8 --- /dev/null +++ b/clutter_walkie_talkie_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,2868 @@ +{ + "type": "clutter_walkie_talkie_00000", + "bottom_center": [ + 0.0, + 0.003979130648076534, + -0.00013004174979869276 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.05089909955859184, + -0.12317682802677155, + 0.07779913395643234 + ], + "orientation": [ + 0.9802687168121338, + -0.03353981673717499, + -0.0001082913440768607, + 0.194802924990654 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + 0.04851116985082626, + -0.11841760575771332, + 0.07596095651388168 + ], + "orientation": [ + 0.9804970622062683, + -0.0464523620903492, + -0.005857061129063368, + 0.19087529182434082 + ], + "joints": [ + -0.01307685486972332 + ] + }, + "final_grasp": { + "position": [ + 0.04851116985082626, + -0.11841760575771332, + 0.07596095651388168 + ], + "orientation": [ + 0.9804970622062683, + -0.0464523620903492, + -0.005857061129063368, + 0.19087529182434082 + ], + "joints": [ + -0.008214538916945457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07642988115549088, + -0.002122490433976054, + -0.06352110207080841 + ], + "orientation": [ + 0.339205801486969, + 0.596851110458374, + 0.6390871405601501, + 0.3468080163002014 + ], + "joints": [ + -0.005086969584226608 + ] + }, + "fine_grasp": { + "position": [ + -0.07467085123062134, + -0.001617414178326726, + -0.06040165573358536 + ], + "orientation": [ + 0.3406553864479065, + 0.5973436832427979, + 0.6378374099731445, + 0.34683993458747864 + ], + "joints": [ + 0.0007849966641515493 + ] + }, + "final_grasp": { + "position": [ + -0.07467085123062134, + -0.001617414178326726, + -0.06040165573358536 + ], + "orientation": [ + 0.3406553864479065, + 0.5973436832427979, + 0.6378374099731445, + 0.34683993458747864 + ], + "joints": [ + 0.006656962912529707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01343141496181488, + -0.0020048096776008606, + -0.08788131177425385 + ], + "orientation": [ + 0.5149436593055725, + 0.5298753976821899, + -0.5081167817115784, + -0.44258609414100647 + ], + "joints": [ + -0.005388888530433178 + ] + }, + "fine_grasp": { + "position": [ + 0.013122271746397018, + -0.0014270900283008814, + -0.08288989216089249 + ], + "orientation": [ + 0.5162304043769836, + 0.5291898250579834, + -0.506091296672821, + -0.4442250728607178 + ], + "joints": [ + 0.0004830776888411492 + ] + }, + "final_grasp": { + "position": [ + 0.013122271746397018, + -0.0014270900283008814, + -0.08288989216089249 + ], + "orientation": [ + 0.5162304043769836, + 0.5291898250579834, + -0.506091296672821, + -0.4442250728607178 + ], + "joints": [ + 0.006355043966323137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03714592009782791, + 0.12400083243846893, + 0.09353679418563843 + ], + "orientation": [ + 0.1479235291481018, + -0.02992975153028965, + 0.08950413018465042, + -0.9844855666160583 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.03513235226273537, + 0.11965853720903397, + 0.09156990051269531 + ], + "orientation": [ + 0.14210465550422668, + -0.030446922406554222, + 0.09811141341924667, + -0.9845066666603088 + ], + "joints": [ + -0.012545455247163773 + ] + }, + "final_grasp": { + "position": [ + -0.03513235226273537, + 0.11965853720903397, + 0.09156990051269531 + ], + "orientation": [ + 0.14210465550422668, + -0.030446922406554222, + 0.09811141341924667, + -0.9845066666603088 + ], + "joints": [ + -0.007151739671826363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011686978861689568, + -2.4103568648570217e-05, + -0.08780857920646667 + ], + "orientation": [ + 0.5671182870864868, + 0.49931034445762634, + -0.4410479962825775, + -0.48429593443870544 + ], + "joints": [ + -0.005758768878877163 + ] + }, + "fine_grasp": { + "position": [ + -0.010992043651640415, + 1.0632902558427304e-05, + -0.0818641260266304 + ], + "orientation": [ + 0.5670671463012695, + 0.49932199716567993, + -0.44233259558677673, + -0.4831710159778595 + ], + "joints": [ + 0.0006180270574986935 + ] + }, + "final_grasp": { + "position": [ + -0.010992043651640415, + 1.0632902558427304e-05, + -0.0818641260266304 + ], + "orientation": [ + 0.5670671463012695, + 0.49932199716567993, + -0.44233259558677673, + -0.4831710159778595 + ], + "joints": [ + 0.00699482299387455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04974871501326561, + -0.01773439534008503, + -0.07712031155824661 + ], + "orientation": [ + 0.3604028522968292, + 0.4800012409687042, + -0.6705372333526611, + -0.43599116802215576 + ], + "joints": [ + -0.005973988212645054 + ] + }, + "fine_grasp": { + "position": [ + 0.04756107181310654, + -0.01674943044781685, + -0.07343709468841553 + ], + "orientation": [ + 0.3548732399940491, + 0.4870052635669708, + -0.6710141897201538, + -0.4320080578327179 + ], + "joints": [ + -0.00010202210978604853 + ] + }, + "final_grasp": { + "position": [ + 0.04756107181310654, + -0.01674943044781685, + -0.07343709468841553 + ], + "orientation": [ + 0.3548732399940491, + 0.4870052635669708, + -0.6710141897201538, + -0.4320080578327179 + ], + "joints": [ + 0.005769943818449974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05374724417924881, + -0.023698899894952774, + -0.07665292173624039 + ], + "orientation": [ + 0.6804534196853638, + 0.39206358790397644, + -0.37145718932151794, + -0.49526649713516235 + ], + "joints": [ + -0.005958725698292255 + ] + }, + "fine_grasp": { + "position": [ + -0.05197768658399582, + -0.02262810990214348, + -0.07236307859420776 + ], + "orientation": [ + 0.6795071363449097, + 0.3927309811115265, + -0.37010690569877625, + -0.4970446825027466 + ], + "joints": [ + -8.675959543325007e-05 + ] + }, + "final_grasp": { + "position": [ + -0.05197768658399582, + -0.02262810990214348, + -0.07236307859420776 + ], + "orientation": [ + 0.6795071363449097, + 0.3927309811115265, + -0.37010690569877625, + -0.4970446825027466 + ], + "joints": [ + 0.0057852063328027725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011692464351654053, + 0.0006907357601448894, + -0.08774344623088837 + ], + "orientation": [ + 0.5681228041648865, + 0.49969539046287537, + -0.4366719722747803, + -0.4866810142993927 + ], + "joints": [ + -0.005460383370518684 + ] + }, + "fine_grasp": { + "position": [ + -0.011095722205936909, + 0.0010308559285476804, + -0.08186915516853333 + ], + "orientation": [ + 0.5675321221351624, + 0.5006515979766846, + -0.4374157190322876, + -0.48571884632110596 + ], + "joints": [ + 0.00041158284875564277 + ] + }, + "final_grasp": { + "position": [ + -0.011095722205936909, + 0.0010308559285476804, + -0.08186915516853333 + ], + "orientation": [ + 0.5675321221351624, + 0.5006515979766846, + -0.4374157190322876, + -0.48571884632110596 + ], + "joints": [ + 0.006283549126237631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05018642544746399, + -0.017330028116703033, + -0.07737448811531067 + ], + "orientation": [ + 0.35248130559921265, + 0.48305797576904297, + -0.6737862825393677, + -0.4340783953666687 + ], + "joints": [ + -0.00608470756560564 + ] + }, + "fine_grasp": { + "position": [ + 0.04822663217782974, + -0.01624997891485691, + -0.07345694303512573 + ], + "orientation": [ + 0.3483569324016571, + 0.48889073729515076, + -0.6728865504264832, + -0.4322695732116699 + ], + "joints": [ + -0.000212741520954296 + ] + }, + "final_grasp": { + "position": [ + 0.04822663217782974, + -0.01624997891485691, + -0.07345694303512573 + ], + "orientation": [ + 0.3483569324016571, + 0.48889073729515076, + -0.6728865504264832, + -0.4322695732116699 + ], + "joints": [ + 0.0056592244654893875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02693191170692444, + 0.00437259441241622, + -0.08622903376817703 + ], + "orientation": [ + 0.504886269569397, + 0.5815161466598511, + 0.4950408637523651, + 0.4023224711418152 + ], + "joints": [ + -0.005857252515852451 + ] + }, + "fine_grasp": { + "position": [ + -0.02529938891530037, + 0.00583266606554389, + -0.0826609656214714 + ], + "orientation": [ + 0.5043075084686279, + 0.586119532585144, + 0.4918782711029053, + 0.4002419412136078 + ], + "joints": [ + 0.0005461133550852537 + ] + }, + "final_grasp": { + "position": [ + -0.02529938891530037, + 0.00583266606554389, + -0.0826609656214714 + ], + "orientation": [ + 0.5043075084686279, + 0.586119532585144, + 0.4918782711029053, + 0.4002419412136078 + ], + "joints": [ + 0.006949479226022959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07315855473279953, + 0.1058642715215683, + 0.04789487645030022 + ], + "orientation": [ + 0.28376927971839905, + -0.055391307920217514, + -0.1255837082862854, + -0.949018120765686 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.06907465308904648, + 0.1021936759352684, + 0.0483916737139225 + ], + "orientation": [ + 0.27824845910072327, + -0.05862214416265488, + -0.12913276255130768, + -0.9499821066856384 + ], + "joints": [ + -0.012093767523765564 + ] + }, + "final_grasp": { + "position": [ + -0.06907465308904648, + 0.1021936759352684, + 0.0483916737139225 + ], + "orientation": [ + 0.27824845910072327, + -0.05862214416265488, + -0.12913276255130768, + -0.9499821066856384 + ], + "joints": [ + -0.006248364225029945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0731813833117485, + 0.10587552189826965, + 0.04787563160061836 + ], + "orientation": [ + 0.28389090299606323, + -0.055498916655778885, + -0.12519215047359467, + -0.9490271806716919 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.06908688694238663, + 0.10220985114574432, + 0.04835222661495209 + ], + "orientation": [ + 0.2783498167991638, + -0.05860346555709839, + -0.1286037713289261, + -0.9500253796577454 + ], + "joints": [ + -0.012067196890711784 + ] + }, + "final_grasp": { + "position": [ + -0.06908688694238663, + 0.10220985114574432, + 0.04835222661495209 + ], + "orientation": [ + 0.2783498167991638, + -0.05860346555709839, + -0.1286037713289261, + -0.9500253796577454 + ], + "joints": [ + -0.006195222958922386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07211849093437195, + -0.10059510916471481, + 0.03654324263334274 + ], + "orientation": [ + 0.9447755217552185, + 0.14511215686798096, + -0.035519618541002274, + 0.29168492555618286 + ], + "joints": [ + -0.016761554405093193 + ] + }, + "fine_grasp": { + "position": [ + 0.0685848817229271, + -0.09671704471111298, + 0.037042152136564255 + ], + "orientation": [ + 0.9466811418533325, + 0.14499907195568085, + -0.03513545170426369, + 0.28554412722587585 + ], + "joints": [ + -0.011367842555046082 + ] + }, + "final_grasp": { + "position": [ + 0.0685848817229271, + -0.09671704471111298, + 0.037042152136564255 + ], + "orientation": [ + 0.9466811418533325, + 0.14499907195568085, + -0.03513545170426369, + 0.28554412722587585 + ], + "joints": [ + -0.00597413070499897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045455727726221085, + -0.11219123750925064, + 0.057759448885917664 + ], + "orientation": [ + 0.9803017377853394, + 0.05084702745079994, + -0.04006912186741829, + 0.1865946650505066 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.044283539056777954, + -0.11328696459531784, + 0.0554095059633255 + ], + "orientation": [ + 0.9810923933982849, + 0.0551517978310585, + -0.045598555356264114, + 0.17982469499111176 + ], + "joints": [ + -0.012755881063640118 + ] + }, + "final_grasp": { + "position": [ + 0.044283539056777954, + -0.11328696459531784, + 0.0554095059633255 + ], + "orientation": [ + 0.9810923933982849, + 0.0551517978310585, + -0.045598555356264114, + 0.17982469499111176 + ], + "joints": [ + -0.00786699540913105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045496344566345215, + -0.11213622987270355, + 0.0576460137963295 + ], + "orientation": [ + 0.9802396297454834, + 0.051069486886262894, + -0.0401914082467556, + 0.18683363497257233 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.04442616179585457, + -0.1132461205124855, + 0.05523350089788437 + ], + "orientation": [ + 0.9809492230415344, + 0.05550374090671539, + -0.04597515985369682, + 0.18040001392364502 + ], + "joints": [ + -0.012755881063640118 + ] + }, + "final_grasp": { + "position": [ + 0.04442616179585457, + -0.1132461205124855, + 0.05523350089788437 + ], + "orientation": [ + 0.9809492230415344, + 0.05550374090671539, + -0.04597515985369682, + 0.18040001392364502 + ], + "joints": [ + -0.00786699540913105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029364416375756264, + 0.00954529270529747, + -0.08517362922430038 + ], + "orientation": [ + 0.4412349462509155, + 0.5640207529067993, + -0.5345480442047119, + -0.448832631111145 + ], + "joints": [ + -0.005498429760336876 + ] + }, + "fine_grasp": { + "position": [ + 0.02939235419034958, + 0.010249419137835503, + -0.08278341591358185 + ], + "orientation": [ + 0.44420310854911804, + 0.562479555606842, + -0.5319628715515137, + -0.4509056806564331 + ], + "joints": [ + 0.0008783661760389805 + ] + }, + "final_grasp": { + "position": [ + 0.02939235419034958, + 0.010249419137835503, + -0.08278341591358185 + ], + "orientation": [ + 0.44420310854911804, + 0.562479555606842, + -0.5319628715515137, + -0.4509056806564331 + ], + "joints": [ + 0.007255162112414837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021025557070970535, + -0.1163862943649292, + 0.05625342205166817 + ], + "orientation": [ + 0.9943981766700745, + 0.03159178048372269, + -0.04776924103498459, + 0.0888393372297287 + ], + "joints": [ + -0.018527979031205177 + ] + }, + "fine_grasp": { + "position": [ + 0.021587753668427467, + -0.11826732009649277, + 0.05559936910867691 + ], + "orientation": [ + 0.9932706952095032, + 0.03426197171211243, + -0.06931190192699432, + 0.08622849732637405 + ], + "joints": [ + -0.014170490205287933 + ] + }, + "final_grasp": { + "position": [ + 0.021587753668427467, + -0.11826732009649277, + 0.05559936910867691 + ], + "orientation": [ + 0.9932706952095032, + 0.03426197171211243, + -0.06931190192699432, + 0.08622849732637405 + ], + "joints": [ + -0.00981300137937069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007655025692656636, + 0.013166679069399834, + -0.09506760537624359 + ], + "orientation": [ + 0.504077136516571, + 0.5384184718132019, + -0.46013081073760986, + -0.4942583441734314 + ], + "joints": [ + -0.005756928585469723 + ] + }, + "fine_grasp": { + "position": [ + -0.0014415641780942678, + 0.013705593533813953, + -0.0914991945028305 + ], + "orientation": [ + 0.5030213594436646, + 0.542678713798523, + -0.4608425498008728, + -0.4899933636188507 + ], + "joints": [ + 0.00011503754649311304 + ] + }, + "final_grasp": { + "position": [ + -0.0014415641780942678, + 0.013705593533813953, + -0.0914991945028305 + ], + "orientation": [ + 0.5030213594436646, + 0.542678713798523, + -0.4608425498008728, + -0.4899933636188507 + ], + "joints": [ + 0.005987003445625305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007869855617173016, + 0.013201305642724037, + -0.0938737764954567 + ], + "orientation": [ + 0.5058037638664246, + 0.5381833910942078, + -0.45864740014076233, + -0.49412932991981506 + ], + "joints": [ + -0.005744158290326595 + ] + }, + "fine_grasp": { + "position": [ + -0.0013969062129035592, + 0.01377815380692482, + -0.09072998911142349 + ], + "orientation": [ + 0.5047788619995117, + 0.5431814789772034, + -0.4586102366447449, + -0.4897230863571167 + ], + "joints": [ + 0.00010123784886673093 + ] + }, + "final_grasp": { + "position": [ + -0.0013969062129035592, + 0.01377815380692482, + -0.09072998911142349 + ], + "orientation": [ + 0.5047788619995117, + 0.5431814789772034, + -0.4586102366447449, + -0.4897230863571167 + ], + "joints": [ + 0.005946633871644735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00047225653543137014, + 0.01316110324114561, + -0.09188156574964523 + ], + "orientation": [ + 0.5071555972099304, + 0.5374413132667542, + -0.4573661983013153, + -0.4947386085987091 + ], + "joints": [ + -0.005517955869436264 + ] + }, + "fine_grasp": { + "position": [ + -0.0009470382356084883, + 0.013714339584112167, + -0.08917894214391708 + ], + "orientation": [ + 0.5072254538536072, + 0.542727530002594, + -0.456290602684021, + -0.48986536264419556 + ], + "joints": [ + -0.00017738944734446704 + ] + }, + "final_grasp": { + "position": [ + -0.0009470382356084883, + 0.013714339584112167, + -0.08917894214391708 + ], + "orientation": [ + 0.5072254538536072, + 0.542727530002594, + -0.456290602684021, + -0.48986536264419556 + ], + "joints": [ + 0.005163176916539669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016901057213544846, + 0.030156157910823822, + -0.10273939371109009 + ], + "orientation": [ + 0.44259709119796753, + 0.465928316116333, + -0.45037543773651123, + -0.6198229789733887 + ], + "joints": [ + -0.0044005922973155975 + ] + }, + "fine_grasp": { + "position": [ + -0.015952838584780693, + 0.030393799766898155, + -0.10179007053375244 + ], + "orientation": [ + 0.4420650601387024, + 0.4570252001285553, + -0.4500077962875366, + -0.6270563006401062 + ], + "joints": [ + 0.0014713738346472383 + ] + }, + "final_grasp": { + "position": [ + -0.015952838584780693, + 0.030393799766898155, + -0.10179007053375244 + ], + "orientation": [ + 0.4420650601387024, + 0.4570252001285553, + -0.4500077962875366, + -0.6270563006401062 + ], + "joints": [ + 0.00734333973377943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026634065434336662, + 0.018296247348189354, + -0.08381687849760056 + ], + "orientation": [ + 0.4645076096057892, + 0.5894349813461304, + -0.4818844199180603, + -0.4523124098777771 + ], + "joints": [ + -0.006273324601352215 + ] + }, + "fine_grasp": { + "position": [ + 0.026171622797846794, + 0.019460352137684822, + -0.08114513754844666 + ], + "orientation": [ + 0.4634937345981598, + 0.5941752195358276, + -0.47914817929267883, + -0.4500513970851898 + ], + "joints": [ + -0.0004013585567008704 + ] + }, + "final_grasp": { + "position": [ + 0.026171622797846794, + 0.019460352137684822, + -0.08114513754844666 + ], + "orientation": [ + 0.4634937345981598, + 0.5941752195358276, + -0.47914817929267883, + -0.4500513970851898 + ], + "joints": [ + 0.005470607429742813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02669382281601429, + 0.018465200439095497, + -0.08393605798482895 + ], + "orientation": [ + 0.46312302350997925, + 0.5895889401435852, + -0.48260027170181274, + -0.4527682662010193 + ], + "joints": [ + -0.006343989633023739 + ] + }, + "fine_grasp": { + "position": [ + 0.02617541141808033, + 0.019645776599645615, + -0.08114763349294662 + ], + "orientation": [ + 0.4624156355857849, + 0.5950352549552917, + -0.4788130521774292, + -0.45038101077079773 + ], + "joints": [ + -0.00047202364658005536 + ] + }, + "final_grasp": { + "position": [ + 0.02617541141808033, + 0.019645776599645615, + -0.08114763349294662 + ], + "orientation": [ + 0.4624156355857849, + 0.5950352549552917, + -0.4788130521774292, + -0.45038101077079773 + ], + "joints": [ + 0.005399942398071289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026200149208307266, + 0.018785551190376282, + -0.0835619643330574 + ], + "orientation": [ + 0.4646357595920563, + 0.5903377532958984, + -0.480014443397522, + -0.4529913365840912 + ], + "joints": [ + -0.006541364826261997 + ] + }, + "fine_grasp": { + "position": [ + 0.02575342170894146, + 0.01986045390367508, + -0.08092698454856873 + ], + "orientation": [ + 0.4640249013900757, + 0.5949483513832092, + -0.47699469327926636, + -0.45076993107795715 + ], + "joints": [ + -0.0006693988107144833 + ] + }, + "final_grasp": { + "position": [ + 0.02575342170894146, + 0.01986045390367508, + -0.08092698454856873 + ], + "orientation": [ + 0.4640249013900757, + 0.5949483513832092, + -0.47699469327926636, + -0.45076993107795715 + ], + "joints": [ + 0.005202567204833031 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008681423962116241, + -0.030434153974056244, + -0.08610199391841888 + ], + "orientation": [ + 0.5392338037490845, + 0.4528583884239197, + -0.5795832276344299, + -0.41015785932540894 + ], + "joints": [ + -0.0058915866538882256 + ] + }, + "fine_grasp": { + "position": [ + 0.008472108282148838, + -0.03203709051012993, + -0.08299226313829422 + ], + "orientation": [ + 0.5425943732261658, + 0.45421352982521057, + -0.5815517902374268, + -0.40134650468826294 + ], + "joints": [ + -0.0005510203773155808 + ] + }, + "final_grasp": { + "position": [ + 0.008472108282148838, + -0.03203709051012993, + -0.08299226313829422 + ], + "orientation": [ + 0.5425943732261658, + 0.45421352982521057, + -0.5815517902374268, + -0.40134650468826294 + ], + "joints": [ + 0.0047895461320877075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10011548548936844, + 0.06884650141000748, + -0.03320327028632164 + ], + "orientation": [ + 0.34602218866348267, + -0.19510620832443237, + 0.276386022567749, + 0.8751074075698853 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.09824629873037338, + 0.06793335825204849, + -0.032030362635850906 + ], + "orientation": [ + 0.33674851059913635, + -0.2005750685930252, + 0.28554049134254456, + 0.8745494484901428 + ], + "joints": [ + -0.008122263476252556 + ] + }, + "final_grasp": { + "position": [ + 0.09824629873037338, + 0.06793335825204849, + -0.032030362635850906 + ], + "orientation": [ + 0.33674851059913635, + -0.2005750685930252, + 0.28554049134254456, + 0.8745494484901428 + ], + "joints": [ + -0.003339666873216629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1199088916182518, + -0.05334719270467758, + 0.001300634117797017 + ], + "orientation": [ + 0.4336870610713959, + 0.532604992389679, + -0.6893647909164429, + 0.23026873171329498 + ], + "joints": [ + -0.01107955351471901 + ] + }, + "fine_grasp": { + "position": [ + 0.12275461107492447, + -0.05144680663943291, + 0.001995782135054469 + ], + "orientation": [ + 0.4492134153842926, + 0.5262248516082764, + -0.686371922492981, + 0.22402723133563995 + ], + "joints": [ + -0.008342845365405083 + ] + }, + "final_grasp": { + "position": [ + 0.12275461107492447, + -0.05144680663943291, + 0.001995782135054469 + ], + "orientation": [ + 0.4492134153842926, + 0.5262248516082764, + -0.686371922492981, + 0.22402723133563995 + ], + "joints": [ + -0.005606137216091156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1358249932527542, + 0.013821236789226532, + 0.004749606363475323 + ], + "orientation": [ + 0.639255702495575, + 0.4104526937007904, + -0.3547004163265228, + 0.5450396537780762 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.1350879669189453, + 0.012071958743035793, + 0.005790538154542446 + ], + "orientation": [ + 0.6317155361175537, + 0.42816469073295593, + -0.35963356494903564, + 0.5369115471839905 + ], + "joints": [ + -0.010894078761339188 + ] + }, + "final_grasp": { + "position": [ + 0.1350879669189453, + 0.012071958743035793, + 0.005790538154542446 + ], + "orientation": [ + 0.6317155361175537, + 0.42816469073295593, + -0.35963356494903564, + 0.5369115471839905 + ], + "joints": [ + -0.007705681025981903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12173441052436829, + -0.0661812424659729, + 0.017929553985595703 + ], + "orientation": [ + 0.6952759623527527, + -0.2917653024196625, + -0.45279741287231445, + -0.47585582733154297 + ], + "joints": [ + -0.011609479784965515 + ] + }, + "fine_grasp": { + "position": [ + -0.1215633749961853, + -0.0635867789387703, + 0.018490584567189217 + ], + "orientation": [ + 0.6857599020004272, + -0.29257047176361084, + -0.4704507887363434, + -0.4720297157764435 + ], + "joints": [ + -0.007863112725317478 + ] + }, + "final_grasp": { + "position": [ + -0.1215633749961853, + -0.0635867789387703, + 0.018490584567189217 + ], + "orientation": [ + 0.6857599020004272, + -0.29257047176361084, + -0.4704507887363434, + -0.4720297157764435 + ], + "joints": [ + -0.004116745665669441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025559060275554657, + -0.1147584468126297, + -0.0030387176666408777 + ], + "orientation": [ + 0.8692626953125, + 0.09298673272132874, + -0.48228025436401367, + -0.056049149483442307 + ], + "joints": [ + -0.017644766718149185 + ] + }, + "fine_grasp": { + "position": [ + 0.025821620598435402, + -0.11346115171909332, + -0.0015111829852685332 + ], + "orientation": [ + 0.8675625920295715, + 0.09581198543310165, + -0.48532044887542725, + -0.05117812752723694 + ], + "joints": [ + -0.014987762086093426 + ] + }, + "final_grasp": { + "position": [ + 0.025821620598435402, + -0.11346115171909332, + -0.0015111829852685332 + ], + "orientation": [ + 0.8675625920295715, + 0.09581198543310165, + -0.48532044887542725, + -0.05117812752723694 + ], + "joints": [ + -0.012330757454037666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028733590617775917, + -0.11466395854949951, + -0.002229933859780431 + ], + "orientation": [ + 0.4040432870388031, + 0.007832114584743977, + 0.9096798896789551, + 0.09576109051704407 + ], + "joints": [ + -0.01761532574892044 + ] + }, + "fine_grasp": { + "position": [ + 0.02858046069741249, + -0.11212143301963806, + -0.002151288790628314 + ], + "orientation": [ + 0.40656840801239014, + 0.006144432350993156, + 0.909206748008728, + 0.08948498964309692 + ], + "joints": [ + -0.011796494014561176 + ] + }, + "final_grasp": { + "position": [ + 0.02858046069741249, + -0.11212143301963806, + -0.002151288790628314 + ], + "orientation": [ + 0.40656840801239014, + 0.006144432350993156, + 0.909206748008728, + 0.08948498964309692 + ], + "joints": [ + -0.005977662280201912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0872223898768425, + 0.06959858536720276, + -0.03905700147151947 + ], + "orientation": [ + 0.2795073986053467, + -0.22375765442848206, + -0.326947957277298, + -0.874593198299408 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.08782976120710373, + 0.06937258690595627, + -0.03894069418311119 + ], + "orientation": [ + 0.2794046401977539, + -0.22823253273963928, + -0.3281230032444, + -0.8730281591415405 + ], + "joints": [ + -0.00955608207732439 + ] + }, + "final_grasp": { + "position": [ + -0.08782976120710373, + 0.06937258690595627, + -0.03894069418311119 + ], + "orientation": [ + 0.2794046401977539, + -0.22823253273963928, + -0.3281230032444, + -0.8730281591415405 + ], + "joints": [ + -0.0026744548231363297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08759116381406784, + 0.06978552043437958, + -0.039208583533763885 + ], + "orientation": [ + 0.27999383211135864, + -0.2236081212759018, + -0.3253512978553772, + -0.8750710487365723 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.08778660744428635, + 0.06948187202215195, + -0.038840215653181076 + ], + "orientation": [ + 0.2795841097831726, + -0.22813409566879272, + -0.32715487480163574, + -0.873359739780426 + ], + "joints": [ + -0.009472105652093887 + ] + }, + "final_grasp": { + "position": [ + -0.08778660744428635, + 0.06948187202215195, + -0.038840215653181076 + ], + "orientation": [ + 0.2795841097831726, + -0.22813409566879272, + -0.32715487480163574, + -0.873359739780426 + ], + "joints": [ + -0.0030953101813793182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11772111058235168, + 0.020541170611977577, + -0.02123219147324562 + ], + "orientation": [ + 0.6671617031097412, + 0.4062703549861908, + 0.191960409283638, + -0.5941302180290222 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11606886982917786, + 0.01991438679397106, + -0.019489392638206482 + ], + "orientation": [ + 0.6596192121505737, + 0.4238448739051819, + 0.19151142239570618, + -0.5904078483581543 + ], + "joints": [ + -0.007478917948901653 + ] + }, + "final_grasp": { + "position": [ + -0.11606886982917786, + 0.01991438679397106, + -0.019489392638206482 + ], + "orientation": [ + 0.6596192121505737, + 0.4238448739051819, + 0.19151142239570618, + -0.5904078483581543 + ], + "joints": [ + -0.003201151266694069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.117522694170475, + 0.020506713539361954, + -0.020982341840863228 + ], + "orientation": [ + 0.6670129299163818, + 0.40653330087661743, + 0.19136576354503632, + -0.5943092703819275 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.1159939169883728, + 0.019846726208925247, + -0.019238702952861786 + ], + "orientation": [ + 0.6597223877906799, + 0.42393743991851807, + 0.19098785519599915, + -0.5903956890106201 + ], + "joints": [ + -0.007477444596588612 + ] + }, + "final_grasp": { + "position": [ + -0.1159939169883728, + 0.019846726208925247, + -0.019238702952861786 + ], + "orientation": [ + 0.6597223877906799, + 0.42393743991851807, + 0.19098785519599915, + -0.5903956890106201 + ], + "joints": [ + -0.00266827829182148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08183860033750534, + 0.080980584025383, + -0.028726726770401 + ], + "orientation": [ + 0.2665267586708069, + -0.21963651478290558, + -0.2709680497646332, + -0.8984985947608948 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + -0.08236148953437805, + 0.08143826574087143, + -0.029309989884495735 + ], + "orientation": [ + 0.26261094212532043, + -0.22679801285266876, + -0.27191758155822754, + -0.8975849747657776 + ], + "joints": [ + -0.009585523046553135 + ] + }, + "final_grasp": { + "position": [ + -0.08236148953437805, + 0.08143826574087143, + -0.029309989884495735 + ], + "orientation": [ + 0.26261094212532043, + -0.22679801285266876, + -0.27191758155822754, + -0.8975849747657776 + ], + "joints": [ + -0.002703895792365074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08244290202856064, + 0.08140657097101212, + -0.02906091883778572 + ], + "orientation": [ + 0.26650896668434143, + -0.22114749252796173, + -0.2693784534931183, + -0.8986111879348755 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + -0.08269854635000229, + 0.0818772092461586, + -0.029524100944399834 + ], + "orientation": [ + 0.26273438334465027, + -0.22860844433307648, + -0.27183055877685547, + -0.8971158862113953 + ], + "joints": [ + -0.00955608207732439 + ] + }, + "final_grasp": { + "position": [ + -0.08269854635000229, + 0.0818772092461586, + -0.029524100944399834 + ], + "orientation": [ + 0.26273438334465027, + -0.22860844433307648, + -0.27183055877685547, + -0.8971158862113953 + ], + "joints": [ + -0.0026744548231363297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06211970001459122, + 0.10240037739276886, + -0.015643546357750893 + ], + "orientation": [ + 0.18697291612625122, + 0.9353151321411133, + 0.17652329802513123, + -0.24303558468818665 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.06339779496192932, + 0.10202860087156296, + -0.015705827623605728 + ], + "orientation": [ + 0.18332362174987793, + 0.9351374506950378, + 0.18595442175865173, + -0.23943950235843658 + ], + "joints": [ + -0.01017432939261198 + ] + }, + "final_grasp": { + "position": [ + -0.06339779496192932, + 0.10202860087156296, + -0.015705827623605728 + ], + "orientation": [ + 0.18332362174987793, + 0.9351374506950378, + 0.18595442175865173, + -0.23943950235843658 + ], + "joints": [ + -0.0032927002757787704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026272181421518326, + 0.11795240640640259, + -0.00843471847474575 + ], + "orientation": [ + 0.060411643236875534, + -0.16529197990894318, + -0.09598208218812943, + -0.9797022342681885 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.02782266214489937, + 0.11908593773841858, + -0.008421575650572777 + ], + "orientation": [ + 0.06749291718006134, + -0.1666504591703415, + -0.09520519524812698, + -0.9790854454040527 + ], + "joints": [ + -0.01003294624388218 + ] + }, + "final_grasp": { + "position": [ + -0.02782266214489937, + 0.11908593773841858, + -0.008421575650572777 + ], + "orientation": [ + 0.06749291718006134, + -0.1666504591703415, + -0.09520519524812698, + -0.9790854454040527 + ], + "joints": [ + -0.004187550395727158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026293987408280373, + 0.11819788813591003, + -0.008372710086405277 + ], + "orientation": [ + 0.0597103126347065, + -0.16761338710784912, + -0.09570617973804474, + -0.979377806186676 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.02841799333691597, + 0.11971193552017212, + -0.008138556964695454 + ], + "orientation": [ + 0.06885699927806854, + -0.16860122978687286, + -0.09412878006696701, + -0.9787604808807373 + ], + "joints": [ + -0.009528117254376411 + ] + }, + "final_grasp": { + "position": [ + -0.02841799333691597, + 0.11971193552017212, + -0.008138556964695454 + ], + "orientation": [ + 0.06885699927806854, + -0.16860122978687286, + -0.09412878006696701, + -0.9787604808807373 + ], + "joints": [ + -0.003177892416715622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09079940617084503, + 0.09045208990573883, + 0.019018635153770447 + ], + "orientation": [ + 0.06587699055671692, + 0.9138013124465942, + -0.3558518588542938, + 0.18438281118869781 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.08799456059932709, + 0.08813229948282242, + 0.01873904839158058 + ], + "orientation": [ + 0.06682474166154861, + 0.9148889780044556, + -0.343306303024292, + 0.20162659883499146 + ], + "joints": [ + -0.007340841926634312 + ] + }, + "final_grasp": { + "position": [ + 0.08799456059932709, + 0.08813229948282242, + 0.01873904839158058 + ], + "orientation": [ + 0.06682474166154861, + 0.9148889780044556, + -0.343306303024292, + 0.20162659883499146 + ], + "joints": [ + 1.9041821360588074e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02781704254448414, + -0.11860935389995575, + -0.01110623124986887 + ], + "orientation": [ + 0.08692510426044464, + -0.08232387900352478, + -0.9882148504257202, + -0.09538522362709045 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.027730021625757217, + -0.12046801298856735, + -0.011226571165025234 + ], + "orientation": [ + 0.09274087101221085, + -0.07814272493124008, + -0.9876742959022522, + -0.09895606338977814 + ], + "joints": [ + -0.008852459490299225 + ] + }, + "final_grasp": { + "position": [ + -0.027730021625757217, + -0.12046801298856735, + -0.011226571165025234 + ], + "orientation": [ + 0.09274087101221085, + -0.07814272493124008, + -0.9876742959022522, + -0.09895606338977814 + ], + "joints": [ + -0.003033634275197983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027885695919394493, + -0.1186414286494255, + -0.010987469926476479 + ], + "orientation": [ + 0.08798948675394058, + -0.08227231353521347, + -0.9881662726402283, + -0.09495533257722855 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.027771830558776855, + -0.120517298579216, + -0.01110507920384407 + ], + "orientation": [ + 0.0933135449886322, + -0.07818516343832016, + -0.9876624941825867, + -0.09850169718265533 + ], + "joints": [ + -0.008852459490299225 + ] + }, + "final_grasp": { + "position": [ + -0.027771830558776855, + -0.120517298579216, + -0.01110507920384407 + ], + "orientation": [ + 0.0933135449886322, + -0.07818516343832016, + -0.9876624941825867, + -0.09850169718265533 + ], + "joints": [ + -0.003033634275197983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049080606549978256, + 0.1144937127828598, + 0.001793036935850978 + ], + "orientation": [ + 0.1999608427286148, + -0.012942603789269924, + -0.03649687394499779, + -0.9790383577346802 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.049213241785764694, + 0.11531031876802444, + 0.002249844139441848 + ], + "orientation": [ + 0.19965526461601257, + -0.016070421785116196, + -0.038822147995233536, + -0.9789649248123169 + ], + "joints": [ + -0.007146313786506653 + ] + }, + "final_grasp": { + "position": [ + -0.049213241785764694, + 0.11531031876802444, + 0.002249844139441848 + ], + "orientation": [ + 0.19965526461601257, + -0.016070421785116196, + -0.038822147995233536, + -0.9789649248123169 + ], + "joints": [ + -0.0007695183157920837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009752520360052586, + -0.12112998217344284, + -0.0032733583357185125 + ], + "orientation": [ + 0.0495452806353569, + -0.022786425426602364, + -0.9960620403289795, + -0.06990328431129456 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.010053805075585842, + -0.12147419154644012, + -0.004315885715186596 + ], + "orientation": [ + 0.05634411424398422, + -0.019244374707341194, + -0.9960897564888, + -0.06526830047369003 + ], + "joints": [ + -0.009472105652093887 + ] + }, + "final_grasp": { + "position": [ + -0.010053805075585842, + -0.12147419154644012, + -0.004315885715186596 + ], + "orientation": [ + 0.05634411424398422, + -0.019244374707341194, + -0.9960897564888, + -0.06526830047369003 + ], + "joints": [ + -0.0030953101813793182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006307188421487808, + 0.09223438799381256, + -0.061710383743047714 + ], + "orientation": [ + 0.3197714388370514, + 0.9467669129371643, + -0.004016950726509094, + 0.03691146522760391 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.006588737014681101, + 0.09343655407428741, + -0.06256220489740372 + ], + "orientation": [ + 0.31788673996925354, + 0.9474489688873291, + -0.0059462301433086395, + 0.035401035100221634 + ], + "joints": [ + -0.007763089146465063 + ] + }, + "final_grasp": { + "position": [ + 0.006588737014681101, + 0.09343655407428741, + -0.06256220489740372 + ], + "orientation": [ + 0.31788673996925354, + 0.9474489688873291, + -0.0059462301433086395, + 0.035401035100221634 + ], + "joints": [ + -0.0008548935875296593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006380213424563408, + 0.0924416035413742, + -0.062022607773542404 + ], + "orientation": [ + 0.3184593915939331, + 0.9471850395202637, + -0.004385676700621843, + 0.03747923672199249 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.006638120859861374, + 0.09344800561666489, + -0.06264899671077728 + ], + "orientation": [ + 0.31782153248786926, + 0.9474791288375854, + -0.006284303963184357, + 0.035119589418172836 + ], + "joints": [ + -0.007733648177236319 + ] + }, + "final_grasp": { + "position": [ + 0.006638120859861374, + 0.09344800561666489, + -0.06264899671077728 + ], + "orientation": [ + 0.31782153248786926, + 0.9474791288375854, + -0.006284303963184357, + 0.035119589418172836 + ], + "joints": [ + -0.0008254526183009148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030536314472556114, + -0.1240786761045456, + 0.01886589638888836 + ], + "orientation": [ + 0.95814448595047, + -0.02297133393585682, + 0.2415066361427307, + 0.1520068347454071 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.029020749032497406, + -0.12045641243457794, + 0.019848210737109184 + ], + "orientation": [ + 0.9608592987060547, + -0.018870556727051735, + 0.2332002818584442, + 0.1483609527349472 + ], + "joints": [ + -0.012208580039441586 + ] + }, + "final_grasp": { + "position": [ + 0.029020749032497406, + -0.12045641243457794, + 0.019848210737109184 + ], + "orientation": [ + 0.9608592987060547, + -0.018870556727051735, + 0.2332002818584442, + 0.1483609527349472 + ], + "joints": [ + -0.005300372838973999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03050074353814125, + -0.12401828169822693, + 0.01892746239900589 + ], + "orientation": [ + 0.9581654071807861, + -0.023284059017896652, + 0.2414502650499344, + 0.1519167423248291 + ], + "joints": [ + -0.019116787239909172 + ] + }, + "fine_grasp": { + "position": [ + 0.028919240459799767, + -0.12048634886741638, + 0.019898638129234314 + ], + "orientation": [ + 0.9610074162483215, + -0.019633639603853226, + 0.232943594455719, + 0.1477038860321045 + ], + "joints": [ + -0.012208580039441586 + ] + }, + "final_grasp": { + "position": [ + 0.028919240459799767, + -0.12048634886741638, + 0.019898638129234314 + ], + "orientation": [ + 0.9610074162483215, + -0.019633639603853226, + 0.232943594455719, + 0.1477038860321045 + ], + "joints": [ + -0.005300372838973999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044044021517038345, + -0.09612114727497101, + -0.05890985578298569 + ], + "orientation": [ + 0.9435694813728333, + 0.279134064912796, + -0.01844543032348156, + 0.17725813388824463 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.04215274378657341, + -0.09254031628370285, + -0.056260690093040466 + ], + "orientation": [ + 0.9434301257133484, + 0.28211739659309387, + -0.02336304262280464, + 0.1726369559764862 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.04215274378657341, + -0.09254031628370285, + -0.056260690093040466 + ], + "orientation": [ + 0.9434301257133484, + 0.28211739659309387, + -0.02336304262280464, + 0.1726369559764862 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03612298145890236, + 0.08859005570411682, + -0.05779636651277542 + ], + "orientation": [ + 0.2948649525642395, + 0.9427236318588257, + -0.15596678853034973, + 0.001089265220798552 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.03572852164506912, + 0.08977625519037247, + -0.057676032185554504 + ], + "orientation": [ + 0.2972773015499115, + 0.9433246850967407, + -0.1475270390510559, + -0.0007128794677555561 + ], + "joints": [ + -0.007677712943404913 + ] + }, + "final_grasp": { + "position": [ + 0.03572852164506912, + 0.08977625519037247, + -0.057676032185554504 + ], + "orientation": [ + 0.2972773015499115, + 0.9433246850967407, + -0.1475270390510559, + -0.0007128794677555561 + ], + "joints": [ + -0.001832316629588604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005460924585349858, + -0.1221202090382576, + 0.015757683664560318 + ], + "orientation": [ + 0.9956811666488647, + 0.029747596010565758, + 0.08658773452043533, + 0.015382613986730576 + ], + "joints": [ + -0.01823357492685318 + ] + }, + "fine_grasp": { + "position": [ + 0.00029577326495200396, + -0.12465200573205948, + 0.014512686990201473 + ], + "orientation": [ + 0.9954102635383606, + 0.023749113082885742, + 0.0899479016661644, + 0.02244568057358265 + ], + "joints": [ + -0.01185677107423544 + ] + }, + "final_grasp": { + "position": [ + 0.00029577326495200396, + -0.12465200573205948, + 0.014512686990201473 + ], + "orientation": [ + 0.9954102635383606, + 0.023749113082885742, + 0.0899479016661644, + 0.02244568057358265 + ], + "joints": [ + -0.005479967221617699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05656483396887779, + 0.10730976611375809, + 0.07535355538129807 + ], + "orientation": [ + 0.23756468296051025, + -0.004691198002547026, + -0.022537963464856148, + 0.971098780632019 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + 0.055291250348091125, + 0.10661903768777847, + 0.07436946779489517 + ], + "orientation": [ + 0.23275220394134521, + -0.009586317464709282, + -0.02924397774040699, + 0.9720490574836731 + ], + "joints": [ + -0.011183987371623516 + ] + }, + "final_grasp": { + "position": [ + 0.055291250348091125, + 0.10661903768777847, + 0.07436946779489517 + ], + "orientation": [ + 0.23275220394134521, + -0.009586317464709282, + -0.02924397774040699, + 0.9720490574836731 + ], + "joints": [ + -0.005312016233801842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05303146317601204, + -0.10807587206363678, + 0.05878845602273941 + ], + "orientation": [ + 0.004653217736631632, + -0.22223055362701416, + 0.9729370474815369, + 0.06313007324934006 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.05148562788963318, + -0.10627239942550659, + 0.057872094213962555 + ], + "orientation": [ + 0.002199667738750577, + -0.21920831501483917, + 0.9742823243141174, + 0.0521237775683403 + ], + "joints": [ + -0.01165937539190054 + ] + }, + "final_grasp": { + "position": [ + 0.05148562788963318, + -0.10627239942550659, + 0.057872094213962555 + ], + "orientation": [ + 0.002199667738750577, + -0.21920831501483917, + 0.9742823243141174, + 0.0521237775683403 + ], + "joints": [ + -0.006292233243584633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053138669580221176, + -0.10805443674325943, + 0.059091970324516296 + ], + "orientation": [ + 0.004711426794528961, + -0.2227085679769516, + 0.9729077219963074, + 0.06188074126839638 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.05162655562162399, + -0.10629911720752716, + 0.05823090299963951 + ], + "orientation": [ + 0.0018981669563800097, + -0.21944887936115265, + 0.9742375612258911, + 0.051960233598947525 + ], + "joints": [ + -0.01165937539190054 + ] + }, + "final_grasp": { + "position": [ + 0.05162655562162399, + -0.10629911720752716, + 0.05823090299963951 + ], + "orientation": [ + 0.0018981669563800097, + -0.21944887936115265, + 0.9742375612258911, + 0.051960233598947525 + ], + "joints": [ + -0.006292233243584633 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0353042297065258, + -0.11003242433071136, + 0.033930420875549316 + ], + "orientation": [ + 0.011619159951806068, + 0.15249879658222198, + -0.9785153865814209, + -0.13826371729373932 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.03550964966416359, + -0.1095663458108902, + 0.031882621347904205 + ], + "orientation": [ + 0.01363492663949728, + 0.14808867871761322, + -0.981282651424408, + -0.12234488129615784 + ], + "joints": [ + -0.011983219534158707 + ] + }, + "final_grasp": { + "position": [ + 0.03550964966416359, + -0.1095663458108902, + 0.031882621347904205 + ], + "orientation": [ + 0.01363492663949728, + 0.14808867871761322, + -0.981282651424408, + -0.12234488129615784 + ], + "joints": [ + -0.0066160764545202255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035399194806814194, + -0.10998961329460144, + 0.03407839685678482 + ], + "orientation": [ + 0.01166021078824997, + 0.15291480720043182, + -0.9783064723014832, + -0.13927482068538666 + ], + "joints": [ + -0.017350362613797188 + ] + }, + "fine_grasp": { + "position": [ + 0.0357806496322155, + -0.10974964499473572, + 0.0323786623775959 + ], + "orientation": [ + 0.013066630810499191, + 0.14849355816841125, + -0.9808973670005798, + -0.12497735768556595 + ], + "joints": [ + -0.011983219534158707 + ] + }, + "final_grasp": { + "position": [ + 0.0357806496322155, + -0.10974964499473572, + 0.0323786623775959 + ], + "orientation": [ + 0.013066630810499191, + 0.14849355816841125, + -0.9808973670005798, + -0.12497735768556595 + ], + "joints": [ + -0.0066160764545202255 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2033, + "num_passed": 57 + } +} \ No newline at end of file diff --git a/clutter_walkie_talkie_00000/Annotation/piper_grasp_pose.json b/clutter_walkie_talkie_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..ec578b31848f66dbc75e815ac21437e28618a405 --- /dev/null +++ b/clutter_walkie_talkie_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,1718 @@ +{ + "type": "clutter_walkie_talkie_00000", + "bottom_center": [ + 0.0, + 0.003979130648076534, + -0.00013004174979869276 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.1297094225883484, + -0.026871712878346443, + 0.14665454626083374 + ], + "orientation": [ + 0.49686798453330994, + -0.0696016252040863, + -0.8605188727378845, + -0.08823221921920776 + ], + "joints": [ + 0.023621151223778725 + ] + }, + "fine_grasp": { + "position": [ + 0.1261013150215149, + -0.02596410922706127, + 0.1453058272600174 + ], + "orientation": [ + 0.5018506050109863, + -0.06474177539348602, + -0.8577542304992676, + -0.09062125533819199 + ], + "joints": [ + 0.014844091609120369 + ] + }, + "final_grasp": { + "position": [ + 0.1261013150215149, + -0.02596410922706127, + 0.1453058272600174 + ], + "orientation": [ + 0.5018506050109863, + -0.06474177539348602, + -0.8577542304992676, + -0.09062125533819199 + ], + "joints": [ + 0.006067031994462013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01538868248462677, + -0.004286218900233507, + -0.10419707000255585 + ], + "orientation": [ + 0.02447119541466236, + -0.038111135363578796, + -0.023945651948451996, + -0.9986867904663086 + ], + "joints": [ + 0.025193670764565468 + ] + }, + "fine_grasp": { + "position": [ + -0.014951325953006744, + -0.004121552687138319, + -0.10033681243658066 + ], + "orientation": [ + 0.024120934307575226, + -0.038286518305540085, + -0.024016985669732094, + -0.9986868500709534 + ], + "joints": [ + 0.01558070071041584 + ] + }, + "final_grasp": { + "position": [ + -0.014951325953006744, + -0.004121552687138319, + -0.10033681243658066 + ], + "orientation": [ + 0.024120934307575226, + -0.038286518305540085, + -0.024016985669732094, + -0.9986868500709534 + ], + "joints": [ + 0.0059677306562662125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09861961007118225, + -0.010317837819457054, + -0.0711928978562355 + ], + "orientation": [ + 0.8969892263412476, + -0.033861592411994934, + -0.4385598599910736, + -0.043920114636421204 + ], + "joints": [ + 0.023665891960263252 + ] + }, + "fine_grasp": { + "position": [ + 0.09619508683681488, + -0.009978306479752064, + -0.06811369955539703 + ], + "orientation": [ + 0.8992742300033569, + -0.033423442393541336, + -0.4338706135749817, + -0.04410366714000702 + ], + "joints": [ + 0.01444997824728489 + ] + }, + "final_grasp": { + "position": [ + 0.09619508683681488, + -0.009978306479752064, + -0.06811369955539703 + ], + "orientation": [ + 0.8992742300033569, + -0.033423442393541336, + -0.4338706135749817, + -0.04410366714000702 + ], + "joints": [ + 0.005234064534306526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09897054731845856, + -0.010711636394262314, + -0.07238619774580002 + ], + "orientation": [ + 0.8954358696937561, + -0.03461145982146263, + -0.4416462481021881, + -0.044104594737291336 + ], + "joints": [ + 0.023199012503027916 + ] + }, + "fine_grasp": { + "position": [ + 0.09662829339504242, + -0.010369454510509968, + -0.0692981630563736 + ], + "orientation": [ + 0.8978148698806763, + -0.034579355269670486, + -0.436797559261322, + -0.044053297489881516 + ], + "joints": [ + 0.013983098790049553 + ] + }, + "final_grasp": { + "position": [ + 0.09662829339504242, + -0.010369454510509968, + -0.0692981630563736 + ], + "orientation": [ + 0.8978148698806763, + -0.034579355269670486, + -0.436797559261322, + -0.044053297489881516 + ], + "joints": [ + 0.00476718507707119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1347009390592575, + -0.024652332067489624, + 0.10018005967140198 + ], + "orientation": [ + 0.6279410123825073, + -0.045462578535079956, + -0.7702040672302246, + -0.10202386230230331 + ], + "joints": [ + 0.024987371638417244 + ] + }, + "fine_grasp": { + "position": [ + 0.13105151057243347, + -0.024128107354044914, + 0.10023955255746841 + ], + "orientation": [ + 0.6306432485580444, + -0.03996539115905762, + -0.7678781151771545, + -0.10514362156391144 + ], + "joints": [ + 0.015374401584267616 + ] + }, + "final_grasp": { + "position": [ + 0.13105151057243347, + -0.024128107354044914, + 0.10023955255746841 + ], + "orientation": [ + 0.6306432485580444, + -0.03996539115905762, + -0.7678781151771545, + -0.10514362156391144 + ], + "joints": [ + 0.005761431530117989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13540315628051758, + 0.002201341325417161, + 0.11897563934326172 + ], + "orientation": [ + 0.5885932445526123, + -0.051740407943725586, + 0.8061723709106445, + -0.031099148094654083 + ], + "joints": [ + 0.025959359481930733 + ] + }, + "fine_grasp": { + "position": [ + -0.13220947980880737, + 0.0024913426022976637, + 0.11812819540500641 + ], + "orientation": [ + 0.5888684391975403, + -0.04958699271082878, + 0.8059428334236145, + -0.035090602934360504 + ], + "joints": [ + 0.015510478988289833 + ] + }, + "final_grasp": { + "position": [ + -0.13220947980880737, + 0.0024913426022976637, + 0.11812819540500641 + ], + "orientation": [ + 0.5888684391975403, + -0.04958699271082878, + 0.8059428334236145, + -0.035090602934360504 + ], + "joints": [ + 0.005061598494648933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.14421266317367554, + -0.024247394874691963, + 0.07598218321800232 + ], + "orientation": [ + 0.09858869016170502, + -0.7530878782272339, + 0.039134182035923004, + 0.6493130326271057 + ], + "joints": [ + 0.02373397909104824 + ] + }, + "fine_grasp": { + "position": [ + 0.1404641568660736, + -0.02342996932566166, + 0.07538323849439621 + ], + "orientation": [ + 0.09831800311803818, + -0.7531973719596863, + 0.03786797821521759, + 0.649302065372467 + ], + "joints": [ + 0.014100110158324242 + ] + }, + "final_grasp": { + "position": [ + 0.1404641568660736, + -0.02342996932566166, + 0.07538323849439621 + ], + "orientation": [ + 0.09831800311803818, + -0.7531973719596863, + 0.03786797821521759, + 0.649302065372467 + ], + "joints": [ + 0.004466241225600243 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13473713397979736, + -0.02570338547229767, + 0.10028613358736038 + ], + "orientation": [ + 0.6299407482147217, + -0.04403877630829811, + -0.7678046226501465, + -0.10821951925754547 + ], + "joints": [ + 0.02479807659983635 + ] + }, + "fine_grasp": { + "position": [ + 0.13093355298042297, + -0.024697527289390564, + 0.10041019320487976 + ], + "orientation": [ + 0.6341941356658936, + -0.03907446563243866, + -0.7643059492111206, + -0.11003367602825165 + ], + "joints": [ + 0.015603061765432358 + ] + }, + "final_grasp": { + "position": [ + 0.13093355298042297, + -0.024697527289390564, + 0.10041019320487976 + ], + "orientation": [ + 0.6341941356658936, + -0.03907446563243866, + -0.7643059492111206, + -0.11003367602825165 + ], + "joints": [ + 0.006408046931028366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12752605974674225, + -0.023260487243533134, + 0.1604432910680771 + ], + "orientation": [ + 0.08169116824865341, + -0.8403844237327576, + 0.05838557705283165, + 0.5326084494590759 + ], + "joints": [ + 0.024239065125584602 + ] + }, + "fine_grasp": { + "position": [ + 0.12384376674890518, + -0.022352756932377815, + 0.15934869647026062 + ], + "orientation": [ + 0.08138784021139145, + -0.8371934294700623, + 0.05248323082923889, + 0.5382645130157471 + ], + "joints": [ + 0.014626095071434975 + ] + }, + "final_grasp": { + "position": [ + 0.12384376674890518, + -0.022352756932377815, + 0.15934869647026062 + ], + "orientation": [ + 0.08138784021139145, + -0.8371934294700623, + 0.05248323082923889, + 0.5382645130157471 + ], + "joints": [ + 0.005013125017285347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13083049654960632, + 0.001977394102141261, + 0.17902065813541412 + ], + "orientation": [ + 0.525641918182373, + -0.060465048998594284, + -0.8477947115898132, + 0.0358964167535305 + ], + "joints": [ + 0.024133993312716484 + ] + }, + "fine_grasp": { + "position": [ + 0.12744955718517303, + 0.0025479423347860575, + 0.17845124006271362 + ], + "orientation": [ + 0.5346646904945374, + -0.0632551833987236, + -0.8418862819671631, + 0.03687899932265282 + ], + "joints": [ + 0.012891000136733055 + ] + }, + "final_grasp": { + "position": [ + 0.12744955718517303, + 0.0025479423347860575, + 0.17845124006271362 + ], + "orientation": [ + 0.5346646904945374, + -0.0632551833987236, + -0.8418862819671631, + 0.03687899932265282 + ], + "joints": [ + 0.0016480069607496262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14245590567588806, + -0.0036887559108436108, + 0.10394873470067978 + ], + "orientation": [ + 0.03386453166604042, + -0.7352322936058044, + -0.002027618931606412, + -0.6769655346870422 + ], + "joints": [ + 0.02539949119091034 + ] + }, + "fine_grasp": { + "position": [ + -0.13860496878623962, + -0.003554597031325102, + 0.10379311442375183 + ], + "orientation": [ + 0.032833755016326904, + -0.734379768371582, + 0.0005680585163645446, + -0.6779439449310303 + ], + "joints": [ + 0.015368565917015076 + ] + }, + "final_grasp": { + "position": [ + -0.13860496878623962, + -0.003554597031325102, + 0.10379311442375183 + ], + "orientation": [ + 0.032833755016326904, + -0.734379768371582, + 0.0005680585163645446, + -0.6779439449310303 + ], + "joints": [ + 0.005337640643119812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14180691540241241, + -0.0023663081228733063, + 0.1040823683142662 + ], + "orientation": [ + 0.03327367827296257, + -0.7373534440994263, + 0.0012886379845440388, + -0.6746858358383179 + ], + "joints": [ + 0.025609111413359642 + ] + }, + "fine_grasp": { + "position": [ + -0.13821329176425934, + -0.00201490824110806, + 0.10397471487522125 + ], + "orientation": [ + 0.030824141576886177, + -0.7363905310630798, + 0.005746480543166399, + -0.6758297085762024 + ], + "joints": [ + 0.015181129798293114 + ] + }, + "final_grasp": { + "position": [ + -0.13821329176425934, + -0.00201490824110806, + 0.10397471487522125 + ], + "orientation": [ + 0.030824141576886177, + -0.7363905310630798, + 0.005746480543166399, + -0.6758297085762024 + ], + "joints": [ + 0.004753148183226585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1292649656534195, + -0.023316187784075737, + 0.16020916402339935 + ], + "orientation": [ + 0.08906751126050949, + -0.8392243385314941, + 0.04363560676574707, + 0.5346637964248657 + ], + "joints": [ + 0.0236338060349226 + ] + }, + "fine_grasp": { + "position": [ + 0.12562882900238037, + -0.022606605663895607, + 0.15880580246448517 + ], + "orientation": [ + 0.08964593708515167, + -0.8395788073539734, + 0.03795584291219711, + 0.5344440340995789 + ], + "joints": [ + 0.014020835980772972 + ] + }, + "final_grasp": { + "position": [ + 0.12562882900238037, + -0.022606605663895607, + 0.15880580246448517 + ], + "orientation": [ + 0.08964593708515167, + -0.8395788073539734, + 0.03795584291219711, + 0.5344440340995789 + ], + "joints": [ + 0.004407865926623344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12893235683441162, + -0.022345595061779022, + 0.16031436622142792 + ], + "orientation": [ + 0.08556436002254486, + -0.8428329229354858, + 0.04266363009810448, + 0.5296142101287842 + ], + "joints": [ + 0.02361436001956463 + ] + }, + "fine_grasp": { + "position": [ + 0.12530232965946198, + -0.02169613726437092, + 0.15900900959968567 + ], + "orientation": [ + 0.0861237570643425, + -0.8424028754234314, + 0.036736130714416504, + 0.5306510925292969 + ], + "joints": [ + 0.014419345185160637 + ] + }, + "final_grasp": { + "position": [ + 0.12530232965946198, + -0.02169613726437092, + 0.15900900959968567 + ], + "orientation": [ + 0.0861237570643425, + -0.8424028754234314, + 0.036736130714416504, + 0.5306510925292969 + ], + "joints": [ + 0.005224330350756645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13458290696144104, + -0.03144233301281929, + 0.1319723129272461 + ], + "orientation": [ + 0.6379598379135132, + -0.11989092826843262, + 0.7571415901184082, + 0.07327940315008163 + ], + "joints": [ + 0.024704692885279655 + ] + }, + "fine_grasp": { + "position": [ + -0.13088901340961456, + -0.030434928834438324, + 0.13099519908428192 + ], + "orientation": [ + 0.6373621821403503, + -0.1232922300696373, + 0.757480800151825, + 0.06921923905611038 + ], + "joints": [ + 0.0159276332706213 + ] + }, + "final_grasp": { + "position": [ + -0.13088901340961456, + -0.030434928834438324, + 0.13099519908428192 + ], + "orientation": [ + 0.6373621821403503, + -0.1232922300696373, + 0.757480800151825, + 0.06921923905611038 + ], + "joints": [ + 0.007150573655962944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13382752239704132, + -0.03163888305425644, + 0.13239328563213348 + ], + "orientation": [ + 0.6412001252174377, + -0.12986063957214355, + 0.7534439563751221, + 0.06573330610990524 + ], + "joints": [ + 0.02454523928463459 + ] + }, + "fine_grasp": { + "position": [ + -0.13018329441547394, + -0.03059367649257183, + 0.13134221732616425 + ], + "orientation": [ + 0.6397386789321899, + -0.13415375351905823, + 0.7542778253555298, + 0.06166138872504234 + ], + "joints": [ + 0.01618613488972187 + ] + }, + "final_grasp": { + "position": [ + -0.13018329441547394, + -0.03059367649257183, + 0.13134221732616425 + ], + "orientation": [ + 0.6397386789321899, + -0.13415375351905823, + 0.7542778253555298, + 0.06166138872504234 + ], + "joints": [ + 0.00782703049480915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12397538125514984, + -0.03635649010539055, + 0.06992749869823456 + ], + "orientation": [ + 0.10344740003347397, + -0.6813884377479553, + 0.12771818041801453, + 0.7132295966148376 + ], + "joints": [ + 0.027982696890830994 + ] + }, + "fine_grasp": { + "position": [ + 0.12074553221464157, + -0.0348944254219532, + 0.0704447403550148 + ], + "orientation": [ + 0.10195943713188171, + -0.681149959564209, + 0.12478720396757126, + 0.7141897678375244 + ], + "joints": [ + 0.01874588429927826 + ] + }, + "final_grasp": { + "position": [ + 0.12074553221464157, + -0.0348944254219532, + 0.0704447403550148 + ], + "orientation": [ + 0.10195943713188171, + -0.681149959564209, + 0.12478720396757126, + 0.7141897678375244 + ], + "joints": [ + 0.009509071707725525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12590865790843964, + 0.012902638874948025, + 0.14919261634349823 + ], + "orientation": [ + 0.02973697893321514, + -0.870891273021698, + 0.12710373103618622, + -0.4738236367702484 + ], + "joints": [ + 0.026895614340901375 + ] + }, + "fine_grasp": { + "position": [ + -0.1231771856546402, + 0.011912267655134201, + 0.1486998200416565 + ], + "orientation": [ + 0.030146606266498566, + -0.8674889206886292, + 0.128620445728302, + -0.47959449887275696 + ], + "joints": [ + 0.01604967750608921 + ] + }, + "final_grasp": { + "position": [ + -0.1231771856546402, + 0.011912267655134201, + 0.1486998200416565 + ], + "orientation": [ + 0.030146606266498566, + -0.8674889206886292, + 0.128620445728302, + -0.47959449887275696 + ], + "joints": [ + 0.005203740671277046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08057992905378342, + 0.10270992666482925, + -0.008645245805382729 + ], + "orientation": [ + 0.29895326495170593, + 0.47306156158447266, + -0.31037864089012146, + 0.7684429883956909 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.0783020481467247, + 0.09994363784790039, + -0.006848700810223818 + ], + "orientation": [ + 0.2985798120498657, + 0.4728401005268097, + -0.310214638710022, + 0.7687907814979553 + ], + "joints": [ + 0.025252673774957657 + ] + }, + "final_grasp": { + "position": [ + -0.0783020481467247, + 0.09994363784790039, + -0.006848700810223818 + ], + "orientation": [ + 0.2985798120498657, + 0.4728401005268097, + -0.310214638710022, + 0.7687907814979553 + ], + "joints": [ + 0.01645471528172493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12642933428287506, + -0.03871094435453415, + 0.07060816138982773 + ], + "orientation": [ + 0.10703815519809723, + -0.674700140953064, + 0.13165506720542908, + 0.7183241844177246 + ], + "joints": [ + 0.02683711238205433 + ] + }, + "fine_grasp": { + "position": [ + 0.12367719411849976, + -0.03750377520918846, + 0.071282759308815 + ], + "orientation": [ + 0.10736601799726486, + -0.6740212440490723, + 0.1298363208770752, + 0.7192429304122925 + ], + "joints": [ + 0.017621198669075966 + ] + }, + "final_grasp": { + "position": [ + 0.12367719411849976, + -0.03750377520918846, + 0.071282759308815 + ], + "orientation": [ + 0.10736601799726486, + -0.6740212440490723, + 0.1298363208770752, + 0.7192429304122925 + ], + "joints": [ + 0.008405284956097603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13867028057575226, + 0.008142263628542423, + 0.023589875549077988 + ], + "orientation": [ + 0.08116383105516434, + 0.652765154838562, + 0.03816349059343338, + 0.7522323727607727 + ], + "joints": [ + 0.025266986340284348 + ] + }, + "fine_grasp": { + "position": [ + -0.13484196364879608, + 0.00803297758102417, + 0.024349289014935493 + ], + "orientation": [ + 0.08222349733114243, + 0.6493687033653259, + 0.03848785534501076, + 0.7550352811813354 + ], + "joints": [ + 0.01565401628613472 + ] + }, + "final_grasp": { + "position": [ + -0.13484196364879608, + 0.00803297758102417, + 0.024349289014935493 + ], + "orientation": [ + 0.08222349733114243, + 0.6493687033653259, + 0.03848785534501076, + 0.7550352811813354 + ], + "joints": [ + 0.006041046231985092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1384785771369934, + 0.00814327783882618, + 0.023270413279533386 + ], + "orientation": [ + 0.0750584676861763, + 0.6537548899650574, + 0.03293928876519203, + 0.7522536516189575 + ], + "joints": [ + 0.02521505393087864 + ] + }, + "fine_grasp": { + "position": [ + -0.1346455067396164, + 0.008044930174946785, + 0.02390926145017147 + ], + "orientation": [ + 0.07542996853590012, + 0.6510927081108093, + 0.032755132764577866, + 0.7545300722122192 + ], + "joints": [ + 0.015602083876729012 + ] + }, + "final_grasp": { + "position": [ + -0.1346455067396164, + 0.008044930174946785, + 0.02390926145017147 + ], + "orientation": [ + 0.07542996853590012, + 0.6510927081108093, + 0.032755132764577866, + 0.7545300722122192 + ], + "joints": [ + 0.005989113822579384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06835414469242096, + -0.00024623062927275896, + -0.10157651454210281 + ], + "orientation": [ + 0.06687955558300018, + -0.25854694843292236, + 0.00842239148914814, + -0.9636440277099609 + ], + "joints": [ + 0.023859800770878792 + ] + }, + "fine_grasp": { + "position": [ + -0.06681040674448013, + -0.0002047216985374689, + -0.0980561152100563 + ], + "orientation": [ + 0.06710970401763916, + -0.2567046582698822, + 0.007687779609113932, + -0.964126467704773 + ], + "joints": [ + 0.014622988179326057 + ] + }, + "final_grasp": { + "position": [ + -0.06681040674448013, + -0.0002047216985374689, + -0.0980561152100563 + ], + "orientation": [ + 0.06710970401763916, + -0.2567046582698822, + 0.007687779609113932, + -0.964126467704773 + ], + "joints": [ + 0.005386175587773323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06885328888893127, + -0.0003707952273543924, + -0.102483831346035 + ], + "orientation": [ + 0.06709377467632294, + -0.25843530893325806, + 0.009335571900010109, + -0.9636505842208862 + ], + "joints": [ + 0.02388295717537403 + ] + }, + "fine_grasp": { + "position": [ + -0.06727762520313263, + -0.00024248579575214535, + -0.09889650344848633 + ], + "orientation": [ + 0.06749051064252853, + -0.256602942943573, + 0.00783591065555811, + -0.9641257524490356 + ], + "joints": [ + 0.014249088242650032 + ] + }, + "final_grasp": { + "position": [ + -0.06727762520313263, + -0.00024248579575214535, + -0.09889650344848633 + ], + "orientation": [ + 0.06749051064252853, + -0.256602942943573, + 0.00783591065555811, + -0.9641257524490356 + ], + "joints": [ + 0.004615219309926033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11896473169326782, + 0.005711680743843317, + 0.15717743337154388 + ], + "orientation": [ + 0.022025644779205322, + 0.8203684687614441, + 0.02439056895673275, + 0.5708903670310974 + ], + "joints": [ + 0.02712716907262802 + ] + }, + "fine_grasp": { + "position": [ + -0.11546021699905396, + 0.00575014716014266, + 0.15551866590976715 + ], + "orientation": [ + 0.020623784512281418, + 0.8220520615577698, + 0.021548233926296234, + 0.5686306953430176 + ], + "joints": [ + 0.01793215423822403 + ] + }, + "final_grasp": { + "position": [ + -0.11546021699905396, + 0.00575014716014266, + 0.15551866590976715 + ], + "orientation": [ + 0.020623784512281418, + 0.8220520615577698, + 0.021548233926296234, + 0.5686306953430176 + ], + "joints": [ + 0.008737139403820038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13647674024105072, + 0.0171723123639822, + 0.08340249955654144 + ], + "orientation": [ + 0.02183544635772705, + -0.7483227849006653, + -0.1033065989613533, + 0.6548770666122437 + ], + "joints": [ + 0.02732337825000286 + ] + }, + "fine_grasp": { + "position": [ + 0.13278654217720032, + 0.01682162843644619, + 0.0832204818725586 + ], + "orientation": [ + 0.028725197538733482, + -0.7460449934005737, + -0.10680855065584183, + 0.6566457748413086 + ], + "joints": [ + 0.01814926229417324 + ] + }, + "final_grasp": { + "position": [ + 0.13278654217720032, + 0.01682162843644619, + 0.0832204818725586 + ], + "orientation": [ + 0.028725197538733482, + -0.7460449934005737, + -0.10680855065584183, + 0.6566457748413086 + ], + "joints": [ + 0.00897514633834362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12971101701259613, + 0.02905937284231186, + 0.02861754223704338 + ], + "orientation": [ + 0.13739070296287537, + 0.7177181243896484, + -0.014228211715817451, + 0.6824970245361328 + ], + "joints": [ + 0.026883425191044807 + ] + }, + "fine_grasp": { + "position": [ + -0.12644627690315247, + 0.028399702161550522, + 0.029037559404969215 + ], + "orientation": [ + 0.1409829705953598, + 0.7158156037330627, + -0.010409078560769558, + 0.6838300824165344 + ], + "joints": [ + 0.017688410356640816 + ] + }, + "final_grasp": { + "position": [ + -0.12644627690315247, + 0.028399702161550522, + 0.029037559404969215 + ], + "orientation": [ + 0.1409829705953598, + 0.7158156037330627, + -0.010409078560769558, + 0.6838300824165344 + ], + "joints": [ + 0.008493395522236824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12933006882667542, + 0.028704043477773666, + 0.029483776539564133 + ], + "orientation": [ + 0.13592271506786346, + 0.7147284746170044, + -0.014657735824584961, + 0.685910701751709 + ], + "joints": [ + 0.027079634368419647 + ] + }, + "fine_grasp": { + "position": [ + -0.12618380784988403, + 0.028103768825531006, + 0.029917510226368904 + ], + "orientation": [ + 0.1399553120136261, + 0.7122188806533813, + -0.011439064517617226, + 0.6877688765525818 + ], + "joints": [ + 0.017884619534015656 + ] + }, + "final_grasp": { + "position": [ + -0.12618380784988403, + 0.028103768825531006, + 0.029917510226368904 + ], + "orientation": [ + 0.1399553120136261, + 0.7122188806533813, + -0.011439064517617226, + 0.6877688765525818 + ], + "joints": [ + 0.008689604699611664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033003758639097214, + 0.09834028035402298, + -0.05497130751609802 + ], + "orientation": [ + 0.5462513566017151, + 0.4150080680847168, + -0.273050993680954, + 0.6744041442871094 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.03211265802383423, + 0.09668601304292679, + -0.051742661744356155 + ], + "orientation": [ + 0.5488441586494446, + 0.4103376865386963, + -0.26719480752944946, + 0.6774954199790955 + ], + "joints": [ + 0.026256345212459564 + ] + }, + "final_grasp": { + "position": [ + -0.03211265802383423, + 0.09668601304292679, + -0.051742661744356155 + ], + "orientation": [ + 0.5488441586494446, + 0.4103376865386963, + -0.26719480752944946, + 0.6774954199790955 + ], + "joints": [ + 0.018670454621315002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008840993978083134, + -0.10037393867969513, + 0.19175580143928528 + ], + "orientation": [ + 0.3557003140449524, + -0.7177439332008362, + -0.4249269962310791, + -0.4216136336326599 + ], + "joints": [ + 0.01688779890537262 + ] + }, + "fine_grasp": { + "position": [ + -0.007505514658987522, + -0.0964624434709549, + 0.19063568115234375 + ], + "orientation": [ + 0.3564527630805969, + -0.7165129780769348, + -0.4336217939853668, + -0.41415300965309143 + ], + "joints": [ + 0.009364604949951172 + ] + }, + "final_grasp": { + "position": [ + -0.007505514658987522, + -0.0964624434709549, + 0.19063568115234375 + ], + "orientation": [ + 0.3564527630805969, + -0.7165129780769348, + -0.4336217939853668, + -0.41415300965309143 + ], + "joints": [ + 0.0018414109945297241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01402904000133276, + -0.042929090559482574, + 0.2654958963394165 + ], + "orientation": [ + 0.11409388482570648, + -0.7721290588378906, + -0.607758104801178, + -0.14638763666152954 + ], + "joints": [ + 0.01819499023258686 + ] + }, + "fine_grasp": { + "position": [ + 0.01431614812463522, + -0.04130055382847786, + 0.26157665252685547 + ], + "orientation": [ + 0.11656544357538223, + -0.7675336599349976, + -0.6143969893455505, + -0.14078637957572937 + ], + "joints": [ + 0.010671796277165413 + ] + }, + "final_grasp": { + "position": [ + 0.01431614812463522, + -0.04130055382847786, + 0.26157665252685547 + ], + "orientation": [ + 0.11656544357538223, + -0.7675336599349976, + -0.6143969893455505, + -0.14078637957572937 + ], + "joints": [ + 0.003148602321743965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0893510952591896, + 0.0946672260761261, + 0.18700745701789856 + ], + "orientation": [ + 0.5112364292144775, + 0.42783695459365845, + -0.7009620070457458, + 0.25346606969833374 + ], + "joints": [ + 0.0177723728120327 + ] + }, + "fine_grasp": { + "position": [ + 0.087276890873909, + 0.09179727733135223, + 0.186160609126091 + ], + "orientation": [ + 0.5152912139892578, + 0.4245931804180145, + -0.701187789440155, + 0.25006285309791565 + ], + "joints": [ + 0.006529377773404121 + ] + }, + "final_grasp": { + "position": [ + 0.087276890873909, + 0.09179727733135223, + 0.186160609126091 + ], + "orientation": [ + 0.5152912139892578, + 0.4245931804180145, + -0.701187789440155, + 0.25006285309791565 + ], + "joints": [ + -0.004713617265224457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018148226663470268, + -0.03381719812750816, + 0.2616041600704193 + ], + "orientation": [ + 0.11274227499961853, + -0.7526130676269531, + -0.6339960694313049, + -0.13752010464668274 + ], + "joints": [ + 0.0179879292845726 + ] + }, + "fine_grasp": { + "position": [ + 0.01822412945330143, + -0.032737817615270615, + 0.25744056701660156 + ], + "orientation": [ + 0.1091742068529129, + -0.74917072057724, + -0.6418235898017883, + -0.12201105803251266 + ], + "joints": [ + 0.01088269054889679 + ] + }, + "final_grasp": { + "position": [ + 0.01822412945330143, + -0.032737817615270615, + 0.25744056701660156 + ], + "orientation": [ + 0.1091742068529129, + -0.74917072057724, + -0.6418235898017883, + -0.12201105803251266 + ], + "joints": [ + 0.003777451813220978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10022852569818497, + 0.11530816555023193, + 0.1275571882724762 + ], + "orientation": [ + 0.662668764591217, + 0.38948845863342285, + -0.5615916848182678, + 0.3062411844730377 + ], + "joints": [ + 0.017215415835380554 + ] + }, + "fine_grasp": { + "position": [ + 0.09735358506441116, + 0.11240063607692719, + 0.12667185068130493 + ], + "orientation": [ + 0.6582964062690735, + 0.3868994414806366, + -0.5743579864501953, + 0.29507219791412354 + ], + "joints": [ + 0.008856311440467834 + ] + }, + "final_grasp": { + "position": [ + 0.09735358506441116, + 0.11240063607692719, + 0.12667185068130493 + ], + "orientation": [ + 0.6582964062690735, + 0.3868994414806366, + -0.5743579864501953, + 0.29507219791412354 + ], + "joints": [ + 0.0004972070455551147 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 34 + } +} \ No newline at end of file diff --git a/clutter_walkie_talkie_00000/Object.usd b/clutter_walkie_talkie_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..4ef4188518ea1c481b7f1a7883cbb2507d841087 Binary files /dev/null and b/clutter_walkie_talkie_00000/Object.usd differ diff --git a/geometry_cube_cushion_00001/Annotation/dex1_1_grasp_pose.json b/geometry_cube_cushion_00001/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..7e759cbcad2dc588f968b222dd181cea58c588df --- /dev/null +++ b/geometry_cube_cushion_00001/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,12718 @@ +{ + "type": "geometry_cube_cushion_00001", + "bottom_center": [ + 0.0, + 0.0, + -0.0024999999441206455 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.04499395191669464, + -0.030030595138669014, + 0.10184656828641891 + ], + "orientation": [ + 0.6257039308547974, + -0.41424882411956787, + -0.4849417209625244, + 0.44913703203201294 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + 0.04602401703596115, + -0.03066755272448063, + 0.10655459016561508 + ], + "orientation": [ + 0.6276204586029053, + -0.41482773423194885, + -0.48209506273269653, + 0.448993057012558 + ], + "joints": [ + -0.010570005513727665 + ] + }, + "final_grasp": { + "position": [ + 0.04602401703596115, + -0.03066755272448063, + 0.10655459016561508 + ], + "orientation": [ + 0.6276204586029053, + -0.41482773423194885, + -0.48209506273269653, + 0.448993057012558 + ], + "joints": [ + -0.004113493487238884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0934523269534111, + 0.10301483422517776, + -0.012465962208807468 + ], + "orientation": [ + 0.4430347979068756, + 0.4566742181777954, + 0.22497335076332092, + -0.7379401922225952 + ], + "joints": [ + 0.010464102029800415 + ] + }, + "fine_grasp": { + "position": [ + -0.0942903459072113, + 0.10130707174539566, + -0.013006666675209999 + ], + "orientation": [ + 0.4361802935600281, + 0.4683436155319214, + 0.2172178328037262, + -0.7370328307151794 + ], + "joints": [ + 0.015273269265890121 + ] + }, + "final_grasp": { + "position": [ + -0.0942903459072113, + 0.10130707174539566, + -0.013006666675209999 + ], + "orientation": [ + 0.4361802935600281, + 0.4683436155319214, + 0.2172178328037262, + -0.7370328307151794 + ], + "joints": [ + 0.020082436501979828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10407781600952148, + 0.09374003857374191, + -3.592346183722839e-05 + ], + "orientation": [ + 0.2822282612323761, + 0.6440336108207703, + 0.2769309878349304, + -0.6548871397972107 + ], + "joints": [ + 0.011028287932276726 + ] + }, + "fine_grasp": { + "position": [ + -0.10845524817705154, + 0.0977882444858551, + -3.9787511923350394e-05 + ], + "orientation": [ + 0.28091272711753845, + 0.645134687423706, + 0.27658894658088684, + -0.654513418674469 + ], + "joints": [ + 0.016900260001420975 + ] + }, + "final_grasp": { + "position": [ + -0.10845524817705154, + 0.0977882444858551, + -3.9787511923350394e-05 + ], + "orientation": [ + 0.28091272711753845, + 0.645134687423706, + 0.27658894658088684, + -0.654513418674469 + ], + "joints": [ + 0.022772232070565224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02587675116956234, + -0.14503510296344757, + -0.03806358948349953 + ], + "orientation": [ + 0.49452173709869385, + 0.11155635118484497, + 0.85850989818573, + 0.07722881436347961 + ], + "joints": [ + 0.012173328548669815 + ] + }, + "fine_grasp": { + "position": [ + 0.024121975526213646, + -0.14094749093055725, + -0.036356497555971146 + ], + "orientation": [ + 0.4955407381057739, + 0.10465870797634125, + 0.85775226354599, + 0.08801756054162979 + ], + "joints": [ + 0.015468016266822815 + ] + }, + "final_grasp": { + "position": [ + 0.024121975526213646, + -0.14094749093055725, + -0.036356497555971146 + ], + "orientation": [ + 0.4955407381057739, + 0.10465870797634125, + 0.85775226354599, + 0.08801756054162979 + ], + "joints": [ + 0.018762703984975815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03024105541408062, + -0.1364911049604416, + 3.763350105145946e-05 + ], + "orientation": [ + 0.709564745426178, + 0.07055271416902542, + -0.6973528265953064, + 0.07238217443227768 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + 0.03138401731848717, + -0.14222952723503113, + 8.82928870851174e-05 + ], + "orientation": [ + 0.7145296335220337, + 0.07004749774932861, + -0.6922937631607056, + 0.07259506732225418 + ], + "joints": [ + 0.016882900148630142 + ] + }, + "final_grasp": { + "position": [ + 0.03138401731848717, + -0.14222952723503113, + 8.82928870851174e-05 + ], + "orientation": [ + 0.7145296335220337, + 0.07004749774932861, + -0.6922937631607056, + 0.07259506732225418 + ], + "joints": [ + 0.02328627184033394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034208036959171295, + 0.13564805686473846, + 0.00032174057560041547 + ], + "orientation": [ + 0.08381114155054092, + -0.6889697909355164, + -0.07847294211387634, + -0.715638279914856 + ], + "joints": [ + 0.010428870096802711 + ] + }, + "fine_grasp": { + "position": [ + -0.03549807146191597, + 0.14131559431552887, + 0.00019292280194349587 + ], + "orientation": [ + 0.08293918520212173, + -0.6873276233673096, + -0.07890468835830688, + -0.717269778251648 + ], + "joints": [ + 0.016832241788506508 + ] + }, + "final_grasp": { + "position": [ + -0.03549807146191597, + 0.14131559431552887, + 0.00019292280194349587 + ], + "orientation": [ + 0.08293918520212173, + -0.6873276233673096, + -0.07890468835830688, + -0.717269778251648 + ], + "joints": [ + 0.023235613480210304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03443382680416107, + 0.1355499029159546, + -0.00011347261170158163 + ], + "orientation": [ + 0.08523882925510406, + -0.7172058820724487, + -0.08954454213380814, + -0.685807466506958 + ], + "joints": [ + 0.011028287932276726 + ] + }, + "fine_grasp": { + "position": [ + -0.03589552268385887, + 0.1413293033838272, + -6.038786159479059e-05 + ], + "orientation": [ + 0.08544783294200897, + -0.7155071496963501, + -0.0893290713429451, + -0.6875816583633423 + ], + "joints": [ + 0.016900260001420975 + ] + }, + "final_grasp": { + "position": [ + -0.03589552268385887, + 0.1413293033838272, + -6.038786159479059e-05 + ], + "orientation": [ + 0.08544783294200897, + -0.7155071496963501, + -0.0893290713429451, + -0.6875816583633423 + ], + "joints": [ + 0.022772232070565224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09832597523927689, + 0.09958615899085999, + -0.0001054623062373139 + ], + "orientation": [ + 0.270797461271286, + -0.6389440298080444, + 0.258319228887558, + 0.67207932472229 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + 0.1023545116186142, + 0.10382671654224396, + -0.00011365074897184968 + ], + "orientation": [ + 0.2769962251186371, + -0.622437059879303, + 0.25160136818885803, + 0.6874168515205383 + ], + "joints": [ + 0.016882900148630142 + ] + }, + "final_grasp": { + "position": [ + 0.1023545116186142, + 0.10382671654224396, + -0.00011365074897184968 + ], + "orientation": [ + 0.2769962251186371, + -0.622437059879303, + 0.25160136818885803, + 0.6874168515205383 + ], + "joints": [ + 0.02328627184033394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0783255398273468, + 0.11595489084720612, + -9.087782382266596e-05 + ], + "orientation": [ + 0.21852032840251923, + -0.6569706201553345, + 0.20864219963550568, + 0.6907292008399963 + ], + "joints": [ + 0.010468920692801476 + ] + }, + "fine_grasp": { + "position": [ + 0.08170359581708908, + 0.12077883630990982, + -4.7678731789346784e-05 + ], + "orientation": [ + 0.22154788672924042, + -0.6473132371902466, + 0.20578712224960327, + 0.6996812224388123 + ], + "joints": [ + 0.016872292384505272 + ] + }, + "final_grasp": { + "position": [ + 0.08170359581708908, + 0.12077883630990982, + -4.7678731789346784e-05 + ], + "orientation": [ + 0.22154788672924042, + -0.6473132371902466, + 0.20578712224960327, + 0.6996812224388123 + ], + "joints": [ + 0.02327566407620907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07960755378007889, + 0.1149556040763855, + 0.00012142633204348385 + ], + "orientation": [ + 0.2043951153755188, + -0.6993975043296814, + -0.21934860944747925, + -0.6488081216812134 + ], + "joints": [ + 0.010448886081576347 + ] + }, + "fine_grasp": { + "position": [ + -0.08294134587049484, + 0.11968515068292618, + 8.55336693348363e-05 + ], + "orientation": [ + 0.19894462823867798, + -0.714436411857605, + -0.22416655719280243, + -0.6322585940361023 + ], + "joints": [ + 0.016852257773280144 + ] + }, + "final_grasp": { + "position": [ + -0.08294134587049484, + 0.11968515068292618, + 8.55336693348363e-05 + ], + "orientation": [ + 0.19894462823867798, + -0.714436411857605, + -0.22416655719280243, + -0.6322585940361023 + ], + "joints": [ + 0.02325562946498394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018273375928401947, + 0.13881611824035645, + -7.395497050310951e-06 + ], + "orientation": [ + 0.050704605877399445, + -0.7300708889961243, + 0.05519205704331398, + 0.6792491674423218 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + 0.019145995378494263, + 0.14456725120544434, + 3.638579073594883e-07 + ], + "orientation": [ + 0.05002835392951965, + -0.7449465990066528, + 0.05596054717898369, + 0.6628878712654114 + ], + "joints": [ + 0.016856327652931213 + ] + }, + "final_grasp": { + "position": [ + 0.019145995378494263, + 0.14456725120544434, + 3.638579073594883e-07 + ], + "orientation": [ + 0.05002835392951965, + -0.7449465990066528, + 0.05596054717898369, + 0.6628878712654114 + ], + "joints": [ + 0.02323312684893608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09085987508296967, + 0.10646246373653412, + -1.3265433153719641e-05 + ], + "orientation": [ + 0.23656488955020905, + 0.6883462071418762, + -0.25615501403808594, + 0.636082649230957 + ], + "joints": [ + 0.010428870096802711 + ] + }, + "fine_grasp": { + "position": [ + 0.09449384361505508, + 0.11066977679729462, + -1.0793919500429183e-05 + ], + "orientation": [ + 0.230025053024292, + 0.704701840877533, + -0.2620489001274109, + 0.617911159992218 + ], + "joints": [ + 0.016832241788506508 + ] + }, + "final_grasp": { + "position": [ + 0.09449384361505508, + 0.11066977679729462, + -1.0793919500429183e-05 + ], + "orientation": [ + 0.230025053024292, + 0.704701840877533, + -0.2620489001274109, + 0.617911159992218 + ], + "joints": [ + 0.023235613480210304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09045175462961197, + 0.10678950697183609, + -8.029746823012829e-05 + ], + "orientation": [ + 0.23667721450328827, + 0.688604474067688, + -0.25603941082954407, + 0.6358079314231873 + ], + "joints": [ + 0.01039082184433937 + ] + }, + "fine_grasp": { + "position": [ + 0.09414544701576233, + 0.1110604926943779, + -9.329407475888729e-05 + ], + "orientation": [ + 0.2299824059009552, + 0.7049769163131714, + -0.2622761130332947, + 0.6175167560577393 + ], + "joints": [ + 0.016794193536043167 + ] + }, + "final_grasp": { + "position": [ + 0.09414544701576233, + 0.1110604926943779, + -9.329407475888729e-05 + ], + "orientation": [ + 0.2299824059009552, + 0.7049769163131714, + -0.2622761130332947, + 0.6175167560577393 + ], + "joints": [ + 0.023197565227746964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0784982219338417, + 0.11586716771125793, + 1.2519432857516222e-05 + ], + "orientation": [ + 0.20913174748420715, + -0.6568684577941895, + 0.1972126066684723, + 0.6970615983009338 + ], + "joints": [ + 0.010468920692801476 + ] + }, + "fine_grasp": { + "position": [ + 0.08166763186454773, + 0.12069272249937057, + 4.676245225709863e-05 + ], + "orientation": [ + 0.2146284580230713, + -0.6376361846923828, + 0.1910354048013687, + 0.7147448062896729 + ], + "joints": [ + 0.016872292384505272 + ] + }, + "final_grasp": { + "position": [ + 0.08166763186454773, + 0.12069272249937057, + 4.676245225709863e-05 + ], + "orientation": [ + 0.2146284580230713, + -0.6376361846923828, + 0.1910354048013687, + 0.7147448062896729 + ], + "joints": [ + 0.02327566407620907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05903911963105202, + 0.12697404623031616, + 1.3051190762780607e-05 + ], + "orientation": [ + 0.14345763623714447, + 0.7136585116386414, + 0.15253938734531403, + -0.6684632897377014 + ], + "joints": [ + 0.010430872440338135 + ] + }, + "fine_grasp": { + "position": [ + -0.06145640090107918, + 0.13231994211673737, + 3.858318450511433e-05 + ], + "orientation": [ + 0.13963870704174042, + 0.7270104885101318, + 0.1556740552186966, + -0.6540048122406006 + ], + "joints": [ + 0.01683424413204193 + ] + }, + "final_grasp": { + "position": [ + -0.06145640090107918, + 0.13231994211673737, + 3.858318450511433e-05 + ], + "orientation": [ + 0.13963870704174042, + 0.7270104885101318, + 0.1556740552186966, + -0.6540048122406006 + ], + "joints": [ + 0.023237615823745728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01724628172814846, + 0.1390082836151123, + 7.14721954864217e-06 + ], + "orientation": [ + 0.04975603520870209, + 0.6804955005645752, + 0.04623480886220932, + -0.7295975089073181 + ], + "joints": [ + 0.010468920692801476 + ] + }, + "fine_grasp": { + "position": [ + -0.01803351193666458, + 0.14466552436351776, + 3.992844722233713e-05 + ], + "orientation": [ + 0.051149412989616394, + 0.6579977869987488, + 0.04493879899382591, + -0.7499355673789978 + ], + "joints": [ + 0.016872292384505272 + ] + }, + "final_grasp": { + "position": [ + -0.01803351193666458, + 0.14466552436351776, + 3.992844722233713e-05 + ], + "orientation": [ + 0.051149412989616394, + 0.6579977869987488, + 0.04493879899382591, + -0.7499355673789978 + ], + "joints": [ + 0.02327566407620907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017013227567076683, + 0.1389480084180832, + 2.020830834226217e-05 + ], + "orientation": [ + 0.048208896070718765, + 0.6793987154960632, + 0.044723961502313614, + -0.730816662311554 + ], + "joints": [ + 0.010468920692801476 + ] + }, + "fine_grasp": { + "position": [ + -0.017755497246980667, + 0.1445593386888504, + 5.7532779464963824e-05 + ], + "orientation": [ + 0.04944212734699249, + 0.6570155024528503, + 0.04341063275933266, + -0.7510005235671997 + ], + "joints": [ + 0.016872292384505272 + ] + }, + "final_grasp": { + "position": [ + -0.017755497246980667, + 0.1445593386888504, + 5.7532779464963824e-05 + ], + "orientation": [ + 0.04944212734699249, + 0.6570155024528503, + 0.04341063275933266, + -0.7510005235671997 + ], + "joints": [ + 0.02327566407620907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06539279222488403, + 0.12387984991073608, + 1.2377931852824986e-05 + ], + "orientation": [ + 0.15961763262748718, + -0.7174754738807678, + -0.17452168464660645, + -0.6552048921585083 + ], + "joints": [ + 0.010430872440338135 + ] + }, + "fine_grasp": { + "position": [ + -0.06799790263175964, + 0.12895116209983826, + 6.14445234532468e-05 + ], + "orientation": [ + 0.1546691507101059, + -0.7348572611808777, + -0.1786564737558365, + -0.6357232928276062 + ], + "joints": [ + 0.016807671636343002 + ] + }, + "final_grasp": { + "position": [ + -0.06799790263175964, + 0.12895116209983826, + 6.14445234532468e-05 + ], + "orientation": [ + 0.1546691507101059, + -0.7348572611808777, + -0.1786564737558365, + -0.6357232928276062 + ], + "joints": [ + 0.02318447083234787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09076958894729614, + 0.10665710270404816, + 4.75720880785957e-05 + ], + "orientation": [ + 0.23669902980327606, + 0.687960684299469, + -0.25640869140625, + 0.6363475918769836 + ], + "joints": [ + 0.010428870096802711 + ] + }, + "fine_grasp": { + "position": [ + 0.09439632296562195, + 0.11092957109212875, + 1.6160147424670868e-05 + ], + "orientation": [ + 0.2297772616147995, + 0.7044979333877563, + -0.26214951276779175, + 0.6181931495666504 + ], + "joints": [ + 0.016832241788506508 + ] + }, + "final_grasp": { + "position": [ + 0.09439632296562195, + 0.11092957109212875, + 1.6160147424670868e-05 + ], + "orientation": [ + 0.2297772616147995, + 0.7044979333877563, + -0.26214951276779175, + 0.6181931495666504 + ], + "joints": [ + 0.023235613480210304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0091922702267766, + 0.13968518376350403, + -0.0002029996830970049 + ], + "orientation": [ + 0.015564256347715855, + -0.738207221031189, + -0.01824435219168663, + -0.6741476655006409 + ], + "joints": [ + 0.010801929980516434 + ] + }, + "fine_grasp": { + "position": [ + -0.009435243904590607, + 0.14537355303764343, + -0.0001261882425751537 + ], + "orientation": [ + 0.01564173586666584, + -0.7594783902168274, + -0.018842844292521477, + -0.6500714421272278 + ], + "joints": [ + 0.016673902049660683 + ] + }, + "final_grasp": { + "position": [ + -0.009435243904590607, + 0.14537355303764343, + -0.0001261882425751537 + ], + "orientation": [ + 0.01564173586666584, + -0.7594783902168274, + -0.018842844292521477, + -0.6500714421272278 + ], + "joints": [ + 0.02254587411880493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027477556839585304, + 0.13719280064105988, + -2.1073798052384518e-05 + ], + "orientation": [ + 0.07103190571069717, + 0.7354372143745422, + -0.0780746340751648, + 0.6693212985992432 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + 0.028688352555036545, + 0.14283420145511627, + -0.00010536314221099019 + ], + "orientation": [ + 0.06881343573331833, + 0.7576826810836792, + -0.08013735711574554, + 0.6440185308456421 + ], + "joints": [ + 0.016351498663425446 + ] + }, + "final_grasp": { + "position": [ + 0.028688352555036545, + 0.14283420145511627, + -0.00010536314221099019 + ], + "orientation": [ + 0.06881343573331833, + 0.7576826810836792, + -0.08013735711574554, + 0.6440185308456421 + ], + "joints": [ + 0.022223468869924545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0030180267058312893, + 0.1392248123884201, + -0.017151661217212677 + ], + "orientation": [ + 0.17439211905002594, + 0.4376266896724701, + 0.04203936830163002, + -0.8810805678367615 + ], + "joints": [ + 0.012225132435560226 + ] + }, + "fine_grasp": { + "position": [ + -0.0039555043913424015, + 0.13752895593643188, + -0.01736370474100113 + ], + "orientation": [ + 0.16979534924030304, + 0.44071605801582336, + 0.03078605607151985, + -0.8809035420417786 + ], + "joints": [ + 0.016476333141326904 + ] + }, + "final_grasp": { + "position": [ + -0.0039555043913424015, + 0.13752895593643188, + -0.01736370474100113 + ], + "orientation": [ + 0.16979534924030304, + 0.44071605801582336, + 0.03078605607151985, + -0.8809035420417786 + ], + "joints": [ + 0.020727533847093582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07257123291492462, + 0.12750022113323212, + -0.03620324656367302 + ], + "orientation": [ + 0.05895673483610153, + -0.5838009715080261, + 0.2146381437778473, + 0.7807887196540833 + ], + "joints": [ + 0.009655162692070007 + ] + }, + "fine_grasp": { + "position": [ + 0.07062861323356628, + 0.1263994574546814, + -0.03593944385647774 + ], + "orientation": [ + 0.05555453151464462, + -0.589378297328949, + 0.21072615683078766, + 0.7779083847999573 + ], + "joints": [ + 0.01499573141336441 + ] + }, + "final_grasp": { + "position": [ + 0.07062861323356628, + 0.1263994574546814, + -0.03593944385647774 + ], + "orientation": [ + 0.05555453151464462, + -0.589378297328949, + 0.21072615683078766, + 0.7779083847999573 + ], + "joints": [ + 0.020336300134658813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07826510071754456, + 0.11601072549819946, + -0.0002208410733146593 + ], + "orientation": [ + 0.21978498995304108, + -0.6563766002655029, + 0.2105981856584549, + 0.6902989149093628 + ], + "joints": [ + 0.010998846963047981 + ] + }, + "fine_grasp": { + "position": [ + 0.08181639760732651, + 0.12081197649240494, + -0.0002233355335192755 + ], + "orientation": [ + 0.22376932203769684, + -0.6462016105651855, + 0.20766575634479523, + 0.6994466781616211 + ], + "joints": [ + 0.01687081903219223 + ] + }, + "final_grasp": { + "position": [ + 0.08181639760732651, + 0.12081197649240494, + -0.0002233355335192755 + ], + "orientation": [ + 0.22376932203769684, + -0.6462016105651855, + 0.20766575634479523, + 0.6994466781616211 + ], + "joints": [ + 0.02274279110133648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012472614645957947, + -0.14265035092830658, + -0.0428127720952034 + ], + "orientation": [ + 0.5328798294067383, + 0.16178922355175018, + -0.8271233439445496, + -0.07569948583841324 + ], + "joints": [ + 0.009972715750336647 + ] + }, + "fine_grasp": { + "position": [ + -0.010853346437215805, + -0.13819079101085663, + -0.04130765050649643 + ], + "orientation": [ + 0.534557044506073, + 0.1513061821460724, + -0.8276261687278748, + -0.07993868738412857 + ], + "joints": [ + 0.014808453619480133 + ] + }, + "final_grasp": { + "position": [ + -0.010853346437215805, + -0.13819079101085663, + -0.04130765050649643 + ], + "orientation": [ + 0.534557044506073, + 0.1513061821460724, + -0.8276261687278748, + -0.07993868738412857 + ], + "joints": [ + 0.01964419148862362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07867518067359924, + 0.11558438837528229, + -9.128575038630515e-05 + ], + "orientation": [ + 0.21768441796302795, + 0.6562536954879761, + 0.20549991726875305, + -0.6926141381263733 + ], + "joints": [ + 0.010868089273571968 + ] + }, + "fine_grasp": { + "position": [ + -0.08201588690280914, + 0.12043775618076324, + -9.014422539621592e-05 + ], + "orientation": [ + 0.2228715866804123, + 0.6387298703193665, + 0.2001013159751892, + -0.708739697933197 + ], + "joints": [ + 0.016740061342716217 + ] + }, + "final_grasp": { + "position": [ + -0.08201588690280914, + 0.12043775618076324, + -9.014422539621592e-05 + ], + "orientation": [ + 0.2228715866804123, + 0.6387298703193665, + 0.2001013159751892, + -0.708739697933197 + ], + "joints": [ + 0.022612033411860466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07113292068243027, + 0.12051133811473846, + 0.00017797794134821743 + ], + "orientation": [ + 0.17783766984939575, + 0.711823046207428, + -0.19588680565357208, + 0.6506228446960449 + ], + "joints": [ + 0.010388821363449097 + ] + }, + "fine_grasp": { + "position": [ + 0.073809914290905, + 0.1255098134279251, + 0.0001687426120042801 + ], + "orientation": [ + 0.17280375957489014, + 0.7288991808891296, + -0.20024710893630981, + 0.6314634084701538 + ], + "joints": [ + 0.016792193055152893 + ] + }, + "final_grasp": { + "position": [ + 0.073809914290905, + 0.1255098134279251, + 0.0001687426120042801 + ], + "orientation": [ + 0.17280375957489014, + 0.7288991808891296, + -0.20024710893630981, + 0.6314634084701538 + ], + "joints": [ + 0.02319556474685669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07523506879806519, + 0.11781271547079086, + 0.0003849436470773071 + ], + "orientation": [ + 0.18722647428512573, + 0.6846886873245239, + -0.1918608844280243, + 0.6777441501617432 + ], + "joints": [ + 0.011000052094459534 + ] + }, + "fine_grasp": { + "position": [ + 0.07839242368936539, + 0.12283223122358322, + 0.0003752945631276816 + ], + "orientation": [ + 0.18932786583900452, + 0.681697428226471, + -0.19144253432750702, + 0.680289089679718 + ], + "joints": [ + 0.016872024163603783 + ] + }, + "final_grasp": { + "position": [ + 0.07839242368936539, + 0.12283223122358322, + 0.0003752945631276816 + ], + "orientation": [ + 0.18932786583900452, + 0.681697428226471, + -0.19144253432750702, + 0.680289089679718 + ], + "joints": [ + 0.02274399623274803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027676019817590714, + 0.13714322447776794, + 0.00010124193067895249 + ], + "orientation": [ + 0.06480862200260162, + 0.7210972309112549, + -0.06906601041555405, + 0.6863298416137695 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + 0.028776025399565697, + 0.14292621612548828, + 0.00014187479973770678 + ], + "orientation": [ + 0.06418836861848831, + 0.725651204586029, + -0.06951078027486801, + 0.6815266013145447 + ], + "joints": [ + 0.016882900148630142 + ] + }, + "final_grasp": { + "position": [ + 0.028776025399565697, + 0.14292621612548828, + 0.00014187479973770678 + ], + "orientation": [ + 0.06418836861848831, + 0.725651204586029, + -0.06951078027486801, + 0.6815266013145447 + ], + "joints": [ + 0.02328627184033394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007495861500501633, + -0.14626500010490417, + 0.011885943822562695 + ], + "orientation": [ + 0.6617816686630249, + -0.06375415623188019, + 0.7469743490219116, + -0.0031235595233738422 + ], + "joints": [ + 0.010182466357946396 + ] + }, + "fine_grasp": { + "position": [ + -0.008097011595964432, + -0.14483022689819336, + 0.011817136779427528 + ], + "orientation": [ + 0.6575422286987305, + -0.06250879913568497, + 0.7508118748664856, + -0.0035226321779191494 + ], + "joints": [ + 0.016054436564445496 + ] + }, + "final_grasp": { + "position": [ + -0.008097011595964432, + -0.14483022689819336, + 0.011817136779427528 + ], + "orientation": [ + 0.6575422286987305, + -0.06250879913568497, + 0.7508118748664856, + -0.0035226321779191494 + ], + "joints": [ + 0.021926406770944595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008354511111974716, + 0.1396622657775879, + -0.0002720254415180534 + ], + "orientation": [ + 0.03222067654132843, + -0.6809897422790527, + 0.03179103136062622, + 0.7308927178382874 + ], + "joints": [ + 0.010439479723572731 + ] + }, + "fine_grasp": { + "position": [ + 0.008986912667751312, + 0.1454460322856903, + -0.0001852466957643628 + ], + "orientation": [ + 0.032830871641635895, + -0.6659294366836548, + 0.030784757807850838, + 0.7446558475494385 + ], + "joints": [ + 0.016842851415276527 + ] + }, + "final_grasp": { + "position": [ + 0.008986912667751312, + 0.1454460322856903, + -0.0001852466957643628 + ], + "orientation": [ + 0.032830871641635895, + -0.6659294366836548, + 0.030784757807850838, + 0.7446558475494385 + ], + "joints": [ + 0.023246223106980324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09101435542106628, + 0.10649459064006805, + -0.00023638589482288808 + ], + "orientation": [ + 0.23920808732509613, + 0.6859859228134155, + -0.2560497224330902, + 0.6376843452453613 + ], + "joints": [ + 0.010428870096802711 + ] + }, + "fine_grasp": { + "position": [ + 0.095096156001091, + 0.11080034077167511, + -0.00020376336760818958 + ], + "orientation": [ + 0.23421895503997803, + 0.6996391415596008, + -0.26228246092796326, + 0.621976375579834 + ], + "joints": [ + 0.016832241788506508 + ] + }, + "final_grasp": { + "position": [ + 0.095096156001091, + 0.11080034077167511, + -0.00020376336760818958 + ], + "orientation": [ + 0.23421895503997803, + 0.6996391415596008, + -0.26228246092796326, + 0.621976375579834 + ], + "joints": [ + 0.023235613480210304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08241353183984756, + 0.11298234015703201, + 0.0002264497452415526 + ], + "orientation": [ + 0.22018194198608398, + -0.6892025470733643, + -0.23161853849887848, + -0.6502864956855774 + ], + "joints": [ + 0.010996241122484207 + ] + }, + "fine_grasp": { + "position": [ + -0.08614907413721085, + 0.11766602843999863, + 0.00020664282783400267 + ], + "orientation": [ + 0.21687370538711548, + -0.6988826394081116, + -0.2359139621257782, + -0.6394321918487549 + ], + "joints": [ + 0.016868213191628456 + ] + }, + "final_grasp": { + "position": [ + -0.08614907413721085, + 0.11766602843999863, + 0.00020664282783400267 + ], + "orientation": [ + 0.21687370538711548, + -0.6988826394081116, + -0.2359139621257782, + -0.6394321918487549 + ], + "joints": [ + 0.022740185260772705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008810174651443958, + 0.1396619826555252, + -0.00030205812072381377 + ], + "orientation": [ + 0.020174650475382805, + -0.7354181408882141, + -0.023435356095433235, + -0.6769075989723206 + ], + "joints": [ + 0.010468918830156326 + ] + }, + "fine_grasp": { + "position": [ + -0.009036283008754253, + 0.14552508294582367, + -0.0002215637214249 + ], + "orientation": [ + 0.01940014585852623, + -0.7484660148620605, + -0.02338228188455105, + -0.6624767780303955 + ], + "joints": [ + 0.016872290521860123 + ] + }, + "final_grasp": { + "position": [ + -0.009036283008754253, + 0.14552508294582367, + -0.0002215637214249 + ], + "orientation": [ + 0.01940014585852623, + -0.7484660148620605, + -0.02338228188455105, + -0.6624767780303955 + ], + "joints": [ + 0.02327566221356392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08236540108919144, + 0.11290106177330017, + 0.00026865029940381646 + ], + "orientation": [ + 0.21849209070205688, + -0.6594845652580261, + -0.2070835381746292, + -0.6888089776039124 + ], + "joints": [ + 0.01087399572134018 + ] + }, + "fine_grasp": { + "position": [ + -0.08556927740573883, + 0.1178918108344078, + 0.00020806159591302276 + ], + "orientation": [ + 0.2218485027551651, + -0.644452691078186, + -0.20188844203948975, + -0.7033526301383972 + ], + "joints": [ + 0.01674596779048443 + ] + }, + "final_grasp": { + "position": [ + -0.08556927740573883, + 0.1178918108344078, + 0.00020806159591302276 + ], + "orientation": [ + 0.2218485027551651, + -0.644452691078186, + -0.20188844203948975, + -0.7033526301383972 + ], + "joints": [ + 0.022617939859628677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07835519313812256, + 0.1156909242272377, + -0.0002056751836789772 + ], + "orientation": [ + 0.21955719590187073, + -0.6574471592903137, + 0.21095165610313416, + 0.6892439126968384 + ], + "joints": [ + 0.010998846963047981 + ] + }, + "fine_grasp": { + "position": [ + 0.08188030123710632, + 0.12046673893928528, + -0.00015931527013890445 + ], + "orientation": [ + 0.22241954505443573, + -0.6489548087120056, + 0.20840248465538025, + 0.6971052289009094 + ], + "joints": [ + 0.01687081903219223 + ] + }, + "final_grasp": { + "position": [ + 0.08188030123710632, + 0.12046673893928528, + -0.00015931527013890445 + ], + "orientation": [ + 0.22241954505443573, + -0.6489548087120056, + 0.20840248465538025, + 0.6971052289009094 + ], + "joints": [ + 0.02274279110133648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017269644886255264, + -0.15361808240413666, + 0.0005981838330626488 + ], + "orientation": [ + 0.5706502795219421, + 0.002796885557472706, + -0.8211841583251953, + 0.0026621867436915636 + ], + "joints": [ + 0.009553484618663788 + ] + }, + "fine_grasp": { + "position": [ + 0.01957816444337368, + -0.15066680312156677, + 0.00039752357406541705 + ], + "orientation": [ + 0.5548887848854065, + 0.0052641830407083035, + -0.831903338432312, + 0.0027420734986662865 + ], + "joints": [ + 0.01492062397301197 + ] + }, + "final_grasp": { + "position": [ + 0.01957816444337368, + -0.15066680312156677, + 0.00039752357406541705 + ], + "orientation": [ + 0.5548887848854065, + 0.0052641830407083035, + -0.831903338432312, + 0.0027420734986662865 + ], + "joints": [ + 0.020287763327360153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01326307188719511, + -0.13972727954387665, + -0.019998926669359207 + ], + "orientation": [ + 0.7617455720901489, + -0.04177467152476311, + 0.6241995692253113, + 0.16844438016414642 + ], + "joints": [ + 0.010107139125466347 + ] + }, + "fine_grasp": { + "position": [ + 0.01241680234670639, + -0.13692736625671387, + -0.020206913352012634 + ], + "orientation": [ + 0.7619563341140747, + -0.044230133295059204, + 0.6236978769302368, + 0.16872204840183258 + ], + "joints": [ + 0.016510510817170143 + ] + }, + "final_grasp": { + "position": [ + 0.01241680234670639, + -0.13692736625671387, + -0.020206913352012634 + ], + "orientation": [ + 0.7619563341140747, + -0.044230133295059204, + 0.6236978769302368, + 0.16872204840183258 + ], + "joints": [ + 0.02291388250887394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056807976216077805, + 0.1275959461927414, + 0.00045589543879032135 + ], + "orientation": [ + 0.1386130303144455, + -0.6748976111412048, + 0.12872648239135742, + 0.7132525444030762 + ], + "joints": [ + 0.010468920692801476 + ] + }, + "fine_grasp": { + "position": [ + 0.05891921743750572, + 0.1329398900270462, + 0.0005619934527203441 + ], + "orientation": [ + 0.14199307560920715, + -0.6561914682388306, + 0.1253010481595993, + 0.7304452657699585 + ], + "joints": [ + 0.016872292384505272 + ] + }, + "final_grasp": { + "position": [ + 0.05891921743750572, + 0.1329398900270462, + 0.0005619934527203441 + ], + "orientation": [ + 0.14199307560920715, + -0.6561914682388306, + 0.1253010481595993, + 0.7304452657699585 + ], + "joints": [ + 0.02327566407620907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0657447874546051, + 0.12358037382364273, + 0.00045836521894671023 + ], + "orientation": [ + 0.16853174567222595, + -0.6712673902511597, + -0.1574971079826355, + -0.7044088840484619 + ], + "joints": [ + 0.01039082184433937 + ] + }, + "fine_grasp": { + "position": [ + -0.06825682520866394, + 0.12876924872398376, + 0.000525057315826416 + ], + "orientation": [ + 0.17177093029022217, + -0.6554681658744812, + -0.154032364487648, + -0.7191177606582642 + ], + "joints": [ + 0.016794193536043167 + ] + }, + "final_grasp": { + "position": [ + -0.06825682520866394, + 0.12876924872398376, + 0.000525057315826416 + ], + "orientation": [ + 0.17177093029022217, + -0.6554681658744812, + -0.154032364487648, + -0.7191177606582642 + ], + "joints": [ + 0.023197565227746964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1022876724600792, + 0.08954448997974396, + -0.02449600026011467 + ], + "orientation": [ + 0.21033024787902832, + -0.39823830127716064, + -0.17383553087711334, + -0.875756025314331 + ], + "joints": [ + 0.010509917512536049 + ] + }, + "fine_grasp": { + "position": [ + -0.09912659227848053, + 0.08905105292797089, + -0.024154845625162125 + ], + "orientation": [ + 0.22099286317825317, + -0.3976770043373108, + -0.19694450497627258, + -0.8684629797935486 + ], + "joints": [ + 0.013220056891441345 + ] + }, + "final_grasp": { + "position": [ + -0.09912659227848053, + 0.08905105292797089, + -0.024154845625162125 + ], + "orientation": [ + 0.22099286317825317, + -0.3976770043373108, + -0.19694450497627258, + -0.8684629797935486 + ], + "joints": [ + 0.01593019627034664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09128369390964508, + 0.10517933964729309, + -0.02267768234014511 + ], + "orientation": [ + 0.14632819592952728, + -0.42664870619773865, + -0.13628233969211578, + -0.8820352554321289 + ], + "joints": [ + 0.01256532035768032 + ] + }, + "fine_grasp": { + "position": [ + -0.08986426144838333, + 0.10635977983474731, + -0.022945456206798553 + ], + "orientation": [ + 0.14971864223480225, + -0.42797455191612244, + -0.15314394235610962, + -0.8780484795570374 + ], + "joints": [ + 0.015806863084435463 + ] + }, + "final_grasp": { + "position": [ + -0.08986426144838333, + 0.10635977983474731, + -0.022945456206798553 + ], + "orientation": [ + 0.14971864223480225, + -0.42797455191612244, + -0.15314394235610962, + -0.8780484795570374 + ], + "joints": [ + 0.019048405811190605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07983706891536713, + 0.11504564434289932, + -8.868006989359856e-05 + ], + "orientation": [ + 0.19694413244724274, + -0.7032558917999268, + -0.21394342184066772, + -0.6487467288970947 + ], + "joints": [ + 0.010763775557279587 + ] + }, + "fine_grasp": { + "position": [ + -0.08293768018484116, + 0.11981997638940811, + -8.961210551206023e-05 + ], + "orientation": [ + 0.19040139019489288, + -0.7200864553451538, + -0.21876965463161469, + -0.6303671598434448 + ], + "joints": [ + 0.016635747626423836 + ] + }, + "final_grasp": { + "position": [ + -0.08293768018484116, + 0.11981997638940811, + -8.961210551206023e-05 + ], + "orientation": [ + 0.19040139019489288, + -0.7200864553451538, + -0.21876965463161469, + -0.6303671598434448 + ], + "joints": [ + 0.022507719695568085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03370915353298187, + 0.1364576667547226, + -0.03986593335866928 + ], + "orientation": [ + 0.10124418139457703, + 0.8547716736793518, + 0.09593496471643448, + 0.49991145730018616 + ], + "joints": [ + 0.010746711865067482 + ] + }, + "fine_grasp": { + "position": [ + 0.03236600011587143, + 0.13256637752056122, + -0.039079781621694565 + ], + "orientation": [ + 0.11295482516288757, + 0.8511900901794434, + 0.0813308134675026, + 0.5060651898384094 + ], + "joints": [ + 0.01502448134124279 + ] + }, + "final_grasp": { + "position": [ + 0.03236600011587143, + 0.13256637752056122, + -0.039079781621694565 + ], + "orientation": [ + 0.11295482516288757, + 0.8511900901794434, + 0.0813308134675026, + 0.5060651898384094 + ], + "joints": [ + 0.0193022508174181 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013088902458548546, + -0.1389561891555786, + -0.019355082884430885 + ], + "orientation": [ + 0.7621365785598755, + -0.04415305331349373, + 0.6237523555755615, + 0.1677238494157791 + ], + "joints": [ + 0.010147187858819962 + ] + }, + "fine_grasp": { + "position": [ + 0.012241647578775883, + -0.13629385828971863, + -0.019604938104748726 + ], + "orientation": [ + 0.7621296644210815, + -0.04687507078051567, + 0.6233484745025635, + 0.16851648688316345 + ], + "joints": [ + 0.016550559550523758 + ] + }, + "final_grasp": { + "position": [ + 0.012241647578775883, + -0.13629385828971863, + -0.019604938104748726 + ], + "orientation": [ + 0.7621296644210815, + -0.04687507078051567, + 0.6233484745025635, + 0.16851648688316345 + ], + "joints": [ + 0.022953931242227554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03419254720211029, + 0.13650502264499664, + -0.03991943225264549 + ], + "orientation": [ + 0.10039272159337997, + 0.8553082346916199, + 0.09574829041957855, + 0.4992009401321411 + ], + "joints": [ + 0.01065094769001007 + ] + }, + "fine_grasp": { + "position": [ + 0.03270622715353966, + 0.13263367116451263, + -0.039023030549287796 + ], + "orientation": [ + 0.11431735754013062, + 0.851702868938446, + 0.0800919309258461, + 0.5050930976867676 + ], + "joints": [ + 0.014928717166185379 + ] + }, + "final_grasp": { + "position": [ + 0.03270622715353966, + 0.13263367116451263, + -0.039023030549287796 + ], + "orientation": [ + 0.11431735754013062, + 0.851702868938446, + 0.0800919309258461, + 0.5050930976867676 + ], + "joints": [ + 0.019206486642360687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018541580066084862, + 0.13873639702796936, + 3.24793036270421e-05 + ], + "orientation": [ + 0.04019473120570183, + -0.7351317405700684, + 0.043921519070863724, + 0.6753047704696655 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + 0.01914951018989086, + 0.14438903331756592, + -0.00010062987712444738 + ], + "orientation": [ + 0.03787233307957649, + -0.7547590136528015, + 0.044955238699913025, + 0.6533633470535278 + ], + "joints": [ + 0.016351498663425446 + ] + }, + "final_grasp": { + "position": [ + 0.01914951018989086, + 0.14438903331756592, + -0.00010062987712444738 + ], + "orientation": [ + 0.03787233307957649, + -0.7547590136528015, + 0.044955238699913025, + 0.6533633470535278 + ], + "joints": [ + 0.022223468869924545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01801612786948681, + 0.05808326229453087, + -0.10063233226537704 + ], + "orientation": [ + 0.5821309685707092, + 0.8086661696434021, + 0.07981088757514954, + -0.02851025201380253 + ], + "joints": [ + -0.017939170822501183 + ] + }, + "fine_grasp": { + "position": [ + -0.019434424117207527, + 0.05995018780231476, + -0.1037951111793518 + ], + "orientation": [ + 0.5878028869628906, + 0.8047072291374207, + 0.07844941318035126, + -0.02792489156126976 + ], + "joints": [ + -0.011987484991550446 + ] + }, + "final_grasp": { + "position": [ + -0.019434424117207527, + 0.05995018780231476, + -0.1037951111793518 + ], + "orientation": [ + 0.5878028869628906, + 0.8047072291374207, + 0.07844941318035126, + -0.02792489156126976 + ], + "joints": [ + -0.0060357991605997086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056054405868053436, + 0.1280791014432907, + 0.0001870497944764793 + ], + "orientation": [ + 0.1400972306728363, + -0.7188830375671387, + 0.1512569934129715, + 0.6638533473014832 + ], + "joints": [ + 0.010439479723572731 + ] + }, + "fine_grasp": { + "position": [ + 0.05849587544798851, + 0.13337211310863495, + 0.0002702158526517451 + ], + "orientation": [ + 0.13819226622581482, + -0.7331973910331726, + 0.15519504249095917, + 0.6474867463111877 + ], + "joints": [ + 0.0168162789195776 + ] + }, + "final_grasp": { + "position": [ + 0.05849587544798851, + 0.13337211310863495, + 0.0002702158526517451 + ], + "orientation": [ + 0.13819226622581482, + -0.7331973910331726, + 0.15519504249095917, + 0.6474867463111877 + ], + "joints": [ + 0.023193078115582466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014224438928067684, + -0.1445227414369583, + 0.0024497138801962137 + ], + "orientation": [ + 0.7420533299446106, + 0.03118462674319744, + 0.6678193807601929, + -0.04900675266981125 + ], + "joints": [ + 0.01068378146737814 + ] + }, + "fine_grasp": { + "position": [ + -0.015418960712850094, + -0.14352288842201233, + 0.0022748210467398167 + ], + "orientation": [ + 0.7595944404602051, + 0.034432586282491684, + 0.6472105979919434, + -0.05430464446544647 + ], + "joints": [ + 0.016050923615694046 + ] + }, + "final_grasp": { + "position": [ + -0.015418960712850094, + -0.14352288842201233, + 0.0022748210467398167 + ], + "orientation": [ + 0.7595944404602051, + 0.034432586282491684, + 0.6472105979919434, + -0.05430464446544647 + ], + "joints": [ + 0.021418064832687378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10021153837442398, + 0.10363896936178207, + -0.004505983553826809 + ], + "orientation": [ + 0.29314717650413513, + 0.6935063004493713, + -0.32230642437934875, + 0.5737877488136292 + ], + "joints": [ + 0.010244244709610939 + ] + }, + "fine_grasp": { + "position": [ + 0.10040056705474854, + 0.10508701950311661, + -0.0038213275838643312 + ], + "orientation": [ + 0.28285232186317444, + 0.707844614982605, + -0.3299487233161926, + 0.5568523406982422 + ], + "joints": [ + 0.015584813430905342 + ] + }, + "final_grasp": { + "position": [ + 0.10040056705474854, + 0.10508701950311661, + -0.0038213275838643312 + ], + "orientation": [ + 0.28285232186317444, + 0.707844614982605, + -0.3299487233161926, + 0.5568523406982422 + ], + "joints": [ + 0.020925382152199745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013723085634410381, + -0.14675277471542358, + -0.023158526048064232 + ], + "orientation": [ + 0.745259165763855, + 0.043675947934389114, + 0.6604818105697632, + 0.08028048276901245 + ], + "joints": [ + 0.010101230815052986 + ] + }, + "fine_grasp": { + "position": [ + -0.013794305734336376, + -0.14350676536560059, + -0.022753192111849785 + ], + "orientation": [ + 0.7498918175697327, + 0.0414629727602005, + 0.6556965112686157, + 0.0774933397769928 + ], + "joints": [ + 0.015973201021552086 + ] + }, + "final_grasp": { + "position": [ + -0.013794305734336376, + -0.14350676536560059, + -0.022753192111849785 + ], + "orientation": [ + 0.7498918175697327, + 0.0414629727602005, + 0.6556965112686157, + 0.0774933397769928 + ], + "joints": [ + 0.021845171228051186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10027410835027695, + 0.10279256105422974, + -0.004623089917004108 + ], + "orientation": [ + 0.2932688295841217, + 0.6921449303627014, + -0.31930676102638245, + 0.5770371556282043 + ], + "joints": [ + 0.010256756097078323 + ] + }, + "fine_grasp": { + "position": [ + 0.09995272010564804, + 0.10381826013326645, + -0.004011720418930054 + ], + "orientation": [ + 0.2831704914569855, + 0.7060351371765137, + -0.32462066411972046, + 0.5620946288108826 + ], + "joints": [ + 0.015623897314071655 + ] + }, + "final_grasp": { + "position": [ + 0.09995272010564804, + 0.10381826013326645, + -0.004011720418930054 + ], + "orientation": [ + 0.2831704914569855, + 0.7060351371765137, + -0.32462066411972046, + 0.5620946288108826 + ], + "joints": [ + 0.020991038531064987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013338500633835793, + -0.14691205322742462, + -0.023418234661221504 + ], + "orientation": [ + 0.7464134097099304, + 0.04525333270430565, + 0.6591006517410278, + 0.08003440499305725 + ], + "joints": [ + 0.010095518082380295 + ] + }, + "fine_grasp": { + "position": [ + -0.01340581476688385, + -0.1436428278684616, + -0.023000851273536682 + ], + "orientation": [ + 0.7511839866638184, + 0.043151985853910446, + 0.6541653275489807, + 0.07699497044086456 + ], + "joints": [ + 0.015967488288879395 + ] + }, + "final_grasp": { + "position": [ + -0.01340581476688385, + -0.1436428278684616, + -0.023000851273536682 + ], + "orientation": [ + 0.7511839866638184, + 0.043151985853910446, + 0.6541653275489807, + 0.07699497044086456 + ], + "joints": [ + 0.021839458495378494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054394543170928955, + 0.1401149183511734, + -0.029192786663770676 + ], + "orientation": [ + 0.025543686002492905, + -0.6366934180259705, + 0.16469912230968475, + 0.7528899312019348 + ], + "joints": [ + 0.010135246440768242 + ] + }, + "fine_grasp": { + "position": [ + 0.05298522859811783, + 0.13747358322143555, + -0.02884077839553356 + ], + "orientation": [ + 0.029318274930119514, + -0.6258977651596069, + 0.1613467037677765, + 0.7624693512916565 + ], + "joints": [ + 0.015475815162062645 + ] + }, + "final_grasp": { + "position": [ + 0.05298522859811783, + 0.13747358322143555, + -0.02884077839553356 + ], + "orientation": [ + 0.029318274930119514, + -0.6258977651596069, + 0.1613467037677765, + 0.7624693512916565 + ], + "joints": [ + 0.020816383883357048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0063560898415744305, + 0.13933585584163666, + -0.0015495790867134929 + ], + "orientation": [ + 0.031829312443733215, + 0.7307792901992798, + 0.024528659880161285, + -0.6814300417900085 + ], + "joints": [ + 0.010388821363449097 + ] + }, + "fine_grasp": { + "position": [ + -0.00556899281218648, + 0.14073094725608826, + -0.002030489034950733 + ], + "orientation": [ + 0.028776289895176888, + 0.7417870759963989, + 0.020718468353152275, + -0.6696975231170654 + ], + "joints": [ + 0.016792193055152893 + ] + }, + "final_grasp": { + "position": [ + -0.00556899281218648, + 0.14073094725608826, + -0.002030489034950733 + ], + "orientation": [ + 0.028776289895176888, + 0.7417870759963989, + 0.020718468353152275, + -0.6696975231170654 + ], + "joints": [ + 0.02319556474685669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006540148984640837, + -0.14634227752685547, + 0.01119617372751236 + ], + "orientation": [ + 0.6642559766769409, + -0.05921770632266998, + 0.7451459765434265, + -0.0038346557412296534 + ], + "joints": [ + 0.010014176368713379 + ] + }, + "fine_grasp": { + "position": [ + -0.005908041261136532, + -0.14471478760242462, + 0.010970644652843475 + ], + "orientation": [ + 0.6629765033721924, + -0.054132670164108276, + 0.7466307282447815, + -0.008631204254925251 + ], + "joints": [ + 0.01588614471256733 + ] + }, + "final_grasp": { + "position": [ + -0.005908041261136532, + -0.14471478760242462, + 0.010970644652843475 + ], + "orientation": [ + 0.6629765033721924, + -0.054132670164108276, + 0.7466307282447815, + -0.008631204254925251 + ], + "joints": [ + 0.02175811305642128 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007500980980694294, + -0.139510378241539, + -0.0013904636725783348 + ], + "orientation": [ + 0.7225125432014465, + -0.019045652821660042, + 0.6905190944671631, + 0.028216004371643066 + ], + "joints": [ + 0.010908138006925583 + ] + }, + "fine_grasp": { + "position": [ + 0.008096687495708466, + -0.1395634263753891, + -0.0021237200126051903 + ], + "orientation": [ + 0.737553060054779, + -0.01926439069211483, + 0.6742384433746338, + 0.03235746920108795 + ], + "joints": [ + 0.016780110076069832 + ] + }, + "final_grasp": { + "position": [ + 0.008096687495708466, + -0.1395634263753891, + -0.0021237200126051903 + ], + "orientation": [ + 0.737553060054779, + -0.01926439069211483, + 0.6742384433746338, + 0.03235746920108795 + ], + "joints": [ + 0.02265208214521408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07234514504671097, + 0.12616613507270813, + -0.03706798702478409 + ], + "orientation": [ + 0.05553239956498146, + -0.5793538689613342, + 0.21488797664642334, + 0.7842757701873779 + ], + "joints": [ + 0.009584484621882439 + ] + }, + "fine_grasp": { + "position": [ + 0.07090327143669128, + 0.12435641884803772, + -0.03660831227898598 + ], + "orientation": [ + 0.04538457840681076, + -0.5870295166969299, + 0.20461523532867432, + 0.7819650173187256 + ], + "joints": [ + 0.014925053343176842 + ] + }, + "final_grasp": { + "position": [ + 0.07090327143669128, + 0.12435641884803772, + -0.03660831227898598 + ], + "orientation": [ + 0.04538457840681076, + -0.5870295166969299, + 0.20461523532867432, + 0.7819650173187256 + ], + "joints": [ + 0.020265622064471245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03266162425279617, + 0.1399848461151123, + 0.0018933023093268275 + ], + "orientation": [ + 0.11281689256429672, + 0.6053094863891602, + 0.09730459749698639, + -0.7819236516952515 + ], + "joints": [ + 0.009698379784822464 + ] + }, + "fine_grasp": { + "position": [ + -0.0319385826587677, + 0.13983219861984253, + 0.001419604173861444 + ], + "orientation": [ + 0.1114102229475975, + 0.5889090895652771, + 0.09242111444473267, + -0.7951302528381348 + ], + "joints": [ + 0.015065519139170647 + ] + }, + "final_grasp": { + "position": [ + -0.0319385826587677, + 0.13983219861984253, + 0.001419604173861444 + ], + "orientation": [ + 0.1114102229475975, + 0.5889090895652771, + 0.09242111444473267, + -0.7951302528381348 + ], + "joints": [ + 0.02043265849351883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024072876200079918, + -0.14431633055210114, + -0.02533538080751896 + ], + "orientation": [ + 0.6463382840156555, + 0.06415367126464844, + 0.7571654915809631, + 0.06950879096984863 + ], + "joints": [ + 0.009646918624639511 + ] + }, + "fine_grasp": { + "position": [ + 0.024018149822950363, + -0.14134730398654938, + -0.02459757775068283 + ], + "orientation": [ + 0.64114910364151, + 0.062341030687093735, + 0.7618713974952698, + 0.06777419149875641 + ], + "joints": [ + 0.015518886968493462 + ] + }, + "final_grasp": { + "position": [ + 0.024018149822950363, + -0.14134730398654938, + -0.02459757775068283 + ], + "orientation": [ + 0.64114910364151, + 0.062341030687093735, + 0.7618713974952698, + 0.06777419149875641 + ], + "joints": [ + 0.021390855312347412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08070379495620728, + 0.11334583908319473, + -0.00139750970993191 + ], + "orientation": [ + 0.22376210987567902, + -0.6561270356178284, + -0.2218034267425537, + -0.6857339143753052 + ], + "joints": [ + 0.01087399572134018 + ] + }, + "fine_grasp": { + "position": [ + -0.08082927018404007, + 0.1155671551823616, + -0.0024334711488336325 + ], + "orientation": [ + 0.22042050957679749, + -0.6469823718070984, + -0.21701808273792267, + -0.6969445943832397 + ], + "joints": [ + 0.01674596779048443 + ] + }, + "final_grasp": { + "position": [ + -0.08082927018404007, + 0.1155671551823616, + -0.0024334711488336325 + ], + "orientation": [ + 0.22042050957679749, + -0.6469823718070984, + -0.21701808273792267, + -0.6969445943832397 + ], + "joints": [ + 0.022617939859628677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005425456911325455, + -0.1397155523300171, + -0.002066726563498378 + ], + "orientation": [ + 0.6802893877029419, + 0.016117021441459656, + -0.7327547669410706, + 0.004118426237255335 + ], + "joints": [ + 0.01051957905292511 + ] + }, + "fine_grasp": { + "position": [ + 0.005847141612321138, + -0.13981658220291138, + -0.002398251323029399 + ], + "orientation": [ + 0.6680809259414673, + 0.018583491444587708, + -0.7438399195671082, + 0.004955705255270004 + ], + "joints": [ + 0.016896378248929977 + ] + }, + "final_grasp": { + "position": [ + 0.005847141612321138, + -0.13981658220291138, + -0.002398251323029399 + ], + "orientation": [ + 0.6680809259414673, + 0.018583491444587708, + -0.7438399195671082, + 0.004955705255270004 + ], + "joints": [ + 0.023273177444934845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06817778944969177, + 0.12192928045988083, + -0.0016307546757161617 + ], + "orientation": [ + 0.17768825590610504, + -0.6612748503684998, + 0.175520658493042, + 0.707343578338623 + ], + "joints": [ + 0.010948188602924347 + ] + }, + "fine_grasp": { + "position": [ + 0.06789185106754303, + 0.1230558231472969, + -0.0021965154446661472 + ], + "orientation": [ + 0.17686009407043457, + -0.6491022706031799, + 0.16999897360801697, + 0.7200603485107422 + ], + "joints": [ + 0.016820160672068596 + ] + }, + "final_grasp": { + "position": [ + 0.06789185106754303, + 0.1230558231472969, + -0.0021965154446661472 + ], + "orientation": [ + 0.17686009407043457, + -0.6491022706031799, + 0.16999897360801697, + 0.7200603485107422 + ], + "joints": [ + 0.022692132741212845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022499779239296913, + 0.1375623345375061, + 0.0014755885349586606 + ], + "orientation": [ + 0.05812729895114899, + -0.6837973594665527, + -0.04622045159339905, + -0.7258830070495605 + ], + "joints": [ + 0.01040063425898552 + ] + }, + "fine_grasp": { + "position": [ + -0.02324281446635723, + 0.13853460550308228, + 0.0021364556159824133 + ], + "orientation": [ + 0.06279529631137848, + -0.6693118810653687, + -0.046264491975307465, + -0.738876223564148 + ], + "joints": [ + 0.016804005950689316 + ] + }, + "final_grasp": { + "position": [ + -0.02324281446635723, + 0.13853460550308228, + 0.0021364556159824133 + ], + "orientation": [ + 0.06279529631137848, + -0.6693118810653687, + -0.046264491975307465, + -0.738876223564148 + ], + "joints": [ + 0.023207377642393112 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0007463526562787592, + 0.1391771137714386, + 0.0013705836609005928 + ], + "orientation": [ + 0.03531651198863983, + 0.7604287266731262, + 0.048820752650499344, + -0.6466198563575745 + ], + "joints": [ + 0.009926069527864456 + ] + }, + "fine_grasp": { + "position": [ + 0.0012886584736406803, + 0.13881193101406097, + 0.0010985195403918624 + ], + "orientation": [ + 0.033724717795848846, + 0.7729535102844238, + 0.04906829074025154, + -0.6316627264022827 + ], + "joints": [ + 0.015798037871718407 + ] + }, + "final_grasp": { + "position": [ + 0.0012886584736406803, + 0.13881193101406097, + 0.0010985195403918624 + ], + "orientation": [ + 0.033724717795848846, + 0.7729535102844238, + 0.04906829074025154, + -0.6316627264022827 + ], + "joints": [ + 0.021670006215572357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043589137494564056, + 0.14019179344177246, + -0.02045934647321701 + ], + "orientation": [ + 0.015340314246714115, + -0.6560279726982117, + 0.11539599299430847, + 0.7457049489021301 + ], + "joints": [ + 0.010193144902586937 + ] + }, + "fine_grasp": { + "position": [ + 0.0422477051615715, + 0.13914883136749268, + -0.020509853959083557 + ], + "orientation": [ + 0.015177713707089424, + -0.6536553502082825, + 0.11165178567171097, + 0.7483568787574768 + ], + "joints": [ + 0.016091687604784966 + ] + }, + "final_grasp": { + "position": [ + 0.0422477051615715, + 0.13914883136749268, + -0.020509853959083557 + ], + "orientation": [ + 0.015177713707089424, + -0.6536553502082825, + 0.11165178567171097, + 0.7483568787574768 + ], + "joints": [ + 0.021990230306982994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014472322538495064, + 0.13897785544395447, + 0.003464884590357542 + ], + "orientation": [ + 0.03196428343653679, + 0.6690340638160706, + -0.04708220809698105, + 0.7410498857498169 + ], + "joints": [ + 0.010361380875110626 + ] + }, + "fine_grasp": { + "position": [ + 0.013781030662357807, + 0.13886919617652893, + 0.0036056300159543753 + ], + "orientation": [ + 0.029438892379403114, + 0.6562324166297913, + -0.04428183287382126, + 0.7526828050613403 + ], + "joints": [ + 0.016233351081609726 + ] + }, + "final_grasp": { + "position": [ + 0.013781030662357807, + 0.13886919617652893, + 0.0036056300159543753 + ], + "orientation": [ + 0.029438892379403114, + 0.6562324166297913, + -0.04428183287382126, + 0.7526828050613403 + ], + "joints": [ + 0.022105321288108826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04394027963280678, + -0.14254190027713776, + 0.026932286098599434 + ], + "orientation": [ + 0.747782289981842, + -0.12948432564735413, + 0.6511831879615784, + -0.003985768184065819 + ], + "joints": [ + 0.01030072383582592 + ] + }, + "fine_grasp": { + "position": [ + 0.04272406920790672, + -0.13949397206306458, + 0.026368984952569008 + ], + "orientation": [ + 0.7495587468147278, + -0.1282188445329666, + 0.6494008302688599, + -0.00048210396198555827 + ], + "joints": [ + 0.015641292557120323 + ] + }, + "final_grasp": { + "position": [ + 0.04272406920790672, + -0.13949397206306458, + 0.026368984952569008 + ], + "orientation": [ + 0.7495587468147278, + -0.1282188445329666, + 0.6494008302688599, + -0.00048210396198555827 + ], + "joints": [ + 0.020981861278414726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03226261958479881, + 0.13832776248455048, + 0.0024289661087095737 + ], + "orientation": [ + 0.10887577384710312, + 0.6056464910507202, + 0.09658505767583847, + -0.782310426235199 + ], + "joints": [ + 0.00966404378414154 + ] + }, + "fine_grasp": { + "position": [ + -0.03171996772289276, + 0.1386585831642151, + 0.0024757273495197296 + ], + "orientation": [ + 0.10723847150802612, + 0.5904433727264404, + 0.0944981500506401, + -0.7943214774131775 + ], + "joints": [ + 0.015004612505435944 + ] + }, + "final_grasp": { + "position": [ + -0.03171996772289276, + 0.1386585831642151, + 0.0024757273495197296 + ], + "orientation": [ + 0.10723847150802612, + 0.5904433727264404, + 0.0944981500506401, + -0.7943214774131775 + ], + "joints": [ + 0.020345181226730347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04359269514679909, + 0.14037109911441803, + -0.020324010401964188 + ], + "orientation": [ + 0.017495382577180862, + -0.6563972234725952, + 0.11680322140455246, + 0.7451131939888 + ], + "joints": [ + 0.010233193635940552 + ] + }, + "fine_grasp": { + "position": [ + 0.04193146526813507, + 0.13928470015525818, + -0.020634233951568604 + ], + "orientation": [ + 0.017088143154978752, + -0.6513257622718811, + 0.11351295560598373, + 0.7500649094581604 + ], + "joints": [ + 0.01610516384243965 + ] + }, + "final_grasp": { + "position": [ + 0.04193146526813507, + 0.13928470015525818, + -0.020634233951568604 + ], + "orientation": [ + 0.017088143154978752, + -0.6513257622718811, + 0.11351295560598373, + 0.7500649094581604 + ], + "joints": [ + 0.02197713404893875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0001314665423706174, + -0.14089703559875488, + -0.015486442483961582 + ], + "orientation": [ + 0.662652850151062, + 0.10826940834522247, + -0.7408023476600647, + 0.01951562613248825 + ], + "joints": [ + 0.0107499398291111 + ] + }, + "fine_grasp": { + "position": [ + -0.00029114450444467366, + -0.1388629525899887, + -0.01582472398877144 + ], + "orientation": [ + 0.6604500412940979, + 0.10815145820379257, + -0.7427589297294617, + 0.02045021392405033 + ], + "joints": [ + 0.016621911898255348 + ] + }, + "final_grasp": { + "position": [ + -0.00029114450444467366, + -0.1388629525899887, + -0.01582472398877144 + ], + "orientation": [ + 0.6604500412940979, + 0.10815145820379257, + -0.7427589297294617, + 0.02045021392405033 + ], + "joints": [ + 0.022493883967399597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012887499295175076, + 0.13877445459365845, + 0.0031988024711608887 + ], + "orientation": [ + 0.03219249099493027, + 0.6686931252479553, + -0.04595881327986717, + 0.7414181232452393 + ], + "joints": [ + 0.010365284979343414 + ] + }, + "fine_grasp": { + "position": [ + 0.012202532030642033, + 0.1386532336473465, + 0.0033842395059764385 + ], + "orientation": [ + 0.029607996344566345, + 0.6557219624519348, + -0.043311379849910736, + 0.7531774044036865 + ], + "joints": [ + 0.016237255185842514 + ] + }, + "final_grasp": { + "position": [ + 0.012202532030642033, + 0.1386532336473465, + 0.0033842395059764385 + ], + "orientation": [ + 0.029607996344566345, + 0.6557219624519348, + -0.043311379849910736, + 0.7531774044036865 + ], + "joints": [ + 0.022109225392341614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005821847356855869, + -0.14939391613006592, + -0.029292093589901924 + ], + "orientation": [ + 0.6735004186630249, + 0.13344897329807281, + 0.726574182510376, + 0.02604716271162033 + ], + "joints": [ + 0.009469673037528992 + ] + }, + "fine_grasp": { + "position": [ + -0.00561611820012331, + -0.14848005771636963, + -0.029803654178977013 + ], + "orientation": [ + 0.6695176959037781, + 0.13011802732944489, + 0.7307918667793274, + 0.027543913573026657 + ], + "joints": [ + 0.01587304100394249 + ] + }, + "final_grasp": { + "position": [ + -0.00561611820012331, + -0.14848005771636963, + -0.029803654178977013 + ], + "orientation": [ + 0.6695176959037781, + 0.13011802732944489, + 0.7307918667793274, + 0.027543913573026657 + ], + "joints": [ + 0.022276408970355988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01714205928146839, + 0.1389143466949463, + 0.00286298431456089 + ], + "orientation": [ + 0.0535026490688324, + -0.6651473045349121, + 0.03287924826145172, + 0.7440669536590576 + ], + "joints": [ + 0.010348772630095482 + ] + }, + "fine_grasp": { + "position": [ + 0.01823132112622261, + 0.1379033327102661, + 0.00221706903539598 + ], + "orientation": [ + 0.057198744267225266, + -0.647883951663971, + 0.03771636635065079, + 0.758651614189148 + ], + "joints": [ + 0.01622074283659458 + ] + }, + "final_grasp": { + "position": [ + 0.01823132112622261, + 0.1379033327102661, + 0.00221706903539598 + ], + "orientation": [ + 0.057198744267225266, + -0.647883951663971, + 0.03771636635065079, + 0.758651614189148 + ], + "joints": [ + 0.02209271304309368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03996634855866432, + 0.13404957950115204, + -0.007019038777798414 + ], + "orientation": [ + 0.13611547648906708, + 0.7597418427467346, + 0.12225057929754257, + -0.6239547729492188 + ], + "joints": [ + 0.009619290009140968 + ] + }, + "fine_grasp": { + "position": [ + -0.03934271261096001, + 0.1344047337770462, + -0.007158603053539991 + ], + "orientation": [ + 0.133426234126091, + 0.7726258039474487, + 0.12109307944774628, + -0.6087555289268494 + ], + "joints": [ + 0.014986429363489151 + ] + }, + "final_grasp": { + "position": [ + -0.03934271261096001, + 0.1344047337770462, + -0.007158603053539991 + ], + "orientation": [ + 0.133426234126091, + 0.7726258039474487, + 0.12109307944774628, + -0.6087555289268494 + ], + "joints": [ + 0.020353568717837334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0336744450032711, + 0.13876384496688843, + 0.00870183203369379 + ], + "orientation": [ + 0.07278992235660553, + 0.6200819611549377, + -0.10136982053518295, + 0.7745476961135864 + ], + "joints": [ + 0.009240737184882164 + ] + }, + "fine_grasp": { + "position": [ + 0.03306756541132927, + 0.13782308995723724, + 0.008263703435659409 + ], + "orientation": [ + 0.07206922024488449, + 0.6069310903549194, + -0.09927287697792053, + 0.785229504108429 + ], + "joints": [ + 0.015112705528736115 + ] + }, + "final_grasp": { + "position": [ + 0.03306756541132927, + 0.13782308995723724, + 0.008263703435659409 + ], + "orientation": [ + 0.07206922024488449, + 0.6069310903549194, + -0.09927287697792053, + 0.785229504108429 + ], + "joints": [ + 0.020984673872590065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03095102310180664, + 0.1384393572807312, + -0.0126850800588727 + ], + "orientation": [ + 0.052703067660331726, + 0.7552779912948608, + 0.01113584078848362, + 0.6531871557235718 + ], + "joints": [ + 0.010948188602924347 + ] + }, + "fine_grasp": { + "position": [ + 0.030778689309954643, + 0.1365981251001358, + -0.013496636413037777 + ], + "orientation": [ + 0.05174575001001358, + 0.7595234513282776, + 0.013011871837079525, + 0.6482878923416138 + ], + "joints": [ + 0.016820160672068596 + ] + }, + "final_grasp": { + "position": [ + 0.030778689309954643, + 0.1365981251001358, + -0.013496636413037777 + ], + "orientation": [ + 0.05174575001001358, + 0.7595234513282776, + 0.013011871837079525, + 0.6482878923416138 + ], + "joints": [ + 0.022692132741212845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020379699766635895, + -0.13871273398399353, + -0.002944184932857752 + ], + "orientation": [ + 0.662550151348114, + 0.06048920005559921, + -0.7455801963806152, + 0.0384509302675724 + ], + "joints": [ + 0.010399429127573967 + ] + }, + "fine_grasp": { + "position": [ + 0.021083835512399673, + -0.1379130482673645, + -0.002268989570438862 + ], + "orientation": [ + 0.6463746428489685, + 0.06290758401155472, + -0.7592792510986328, + 0.04168131574988365 + ], + "joints": [ + 0.016271399334073067 + ] + }, + "final_grasp": { + "position": [ + 0.021083835512399673, + -0.1379130482673645, + -0.002268989570438862 + ], + "orientation": [ + 0.6463746428489685, + 0.06290758401155472, + -0.7592792510986328, + 0.04168131574988365 + ], + "joints": [ + 0.022143369540572166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006165604572743177, + 0.13967914879322052, + 0.002571426797658205 + ], + "orientation": [ + 0.01429543923586607, + -0.7740180492401123, + -0.001616228255443275, + -0.6329999566078186 + ], + "joints": [ + 0.009761964902281761 + ] + }, + "fine_grasp": { + "position": [ + -0.00543376337736845, + 0.13886448740959167, + 0.0026353972498327494 + ], + "orientation": [ + 0.013871950097382069, + -0.785900890827179, + 0.002138483338057995, + -0.6181932091712952 + ], + "joints": [ + 0.01563393324613571 + ] + }, + "final_grasp": { + "position": [ + -0.00543376337736845, + 0.13886448740959167, + 0.0026353972498327494 + ], + "orientation": [ + 0.013871950097382069, + -0.785900890827179, + 0.002138483338057995, + -0.6181932091712952 + ], + "joints": [ + 0.021505901589989662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006548906676471233, + 0.13942132890224457, + 0.002806668169796467 + ], + "orientation": [ + 0.013242141343653202, + -0.7743067145347595, + 0.0011418047361075878, + -0.6326708793640137 + ], + "joints": [ + 0.00968576967716217 + ] + }, + "fine_grasp": { + "position": [ + -0.005816852208226919, + 0.13851110637187958, + 0.0028783073648810387 + ], + "orientation": [ + 0.012727205641567707, + -0.7868759036064148, + 0.004894660785794258, + -0.6169606447219849 + ], + "joints": [ + 0.015557738021016121 + ] + }, + "final_grasp": { + "position": [ + -0.005816852208226919, + 0.13851110637187958, + 0.0028783073648810387 + ], + "orientation": [ + 0.012727205641567707, + -0.7868759036064148, + 0.004894660785794258, + -0.6169606447219849 + ], + "joints": [ + 0.02142970636487007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03255302459001541, + 0.13656912744045258, + 0.002308883937075734 + ], + "orientation": [ + 0.1051422730088234, + 0.6082392930984497, + 0.09352050721645355, + -0.7811811566352844 + ], + "joints": [ + 0.009633423760533333 + ] + }, + "fine_grasp": { + "position": [ + -0.03183310851454735, + 0.13651616871356964, + 0.0027292303275316954 + ], + "orientation": [ + 0.10234759002923965, + 0.5940961241722107, + 0.09266403317451477, + -0.7924569249153137 + ], + "joints": [ + 0.014973992481827736 + ] + }, + "final_grasp": { + "position": [ + -0.03183310851454735, + 0.13651616871356964, + 0.0027292303275316954 + ], + "orientation": [ + 0.10234759002923965, + 0.5940961241722107, + 0.09266403317451477, + -0.7924569249153137 + ], + "joints": [ + 0.02031456120312214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09464634954929352, + 0.10245554149150848, + -0.005425628274679184 + ], + "orientation": [ + 0.2619222402572632, + 0.7193801403045654, + 0.29187124967575073, + -0.5733238458633423 + ], + "joints": [ + 0.009579241275787354 + ] + }, + "fine_grasp": { + "position": [ + -0.09415160119533539, + 0.10282331705093384, + -0.0056526237167418 + ], + "orientation": [ + 0.2574639320373535, + 0.7299932837486267, + 0.29241782426834106, + -0.5615280866622925 + ], + "joints": [ + 0.015451209619641304 + ] + }, + "final_grasp": { + "position": [ + -0.09415160119533539, + 0.10282331705093384, + -0.0056526237167418 + ], + "orientation": [ + 0.2574639320373535, + 0.7299932837486267, + 0.29241782426834106, + -0.5615280866622925 + ], + "joints": [ + 0.021323177963495255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008631221717223525, + -0.13891252875328064, + -0.014060841873288155 + ], + "orientation": [ + 0.6691405177116394, + 0.10713871568441391, + -0.7348913550376892, + 0.026590589433908463 + ], + "joints": [ + 0.010759558528661728 + ] + }, + "fine_grasp": { + "position": [ + 0.0005202405154705048, + -0.13721074163913727, + -0.014533272944390774 + ], + "orientation": [ + 0.6660808324813843, + 0.10721483081579208, + -0.7376558184623718, + 0.026554705575108528 + ], + "joints": [ + 0.016631530597805977 + ] + }, + "final_grasp": { + "position": [ + 0.0005202405154705048, + -0.13721074163913727, + -0.014533272944390774 + ], + "orientation": [ + 0.6660808324813843, + 0.10721483081579208, + -0.7376558184623718, + 0.026554705575108528 + ], + "joints": [ + 0.022503502666950226 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03354714438319206, + 0.13650022447109222, + 0.002608036156743765 + ], + "orientation": [ + 0.10198108106851578, + 0.6083994507789612, + 0.09249074757099152, + -0.7815980315208435 + ], + "joints": [ + 0.009633423760533333 + ] + }, + "fine_grasp": { + "position": [ + -0.0328005813062191, + 0.136300727725029, + 0.0028757036197930574 + ], + "orientation": [ + 0.09940639138221741, + 0.5944510698318481, + 0.09131979942321777, + -0.792721152305603 + ], + "joints": [ + 0.014973992481827736 + ] + }, + "final_grasp": { + "position": [ + -0.0328005813062191, + 0.136300727725029, + 0.0028757036197930574 + ], + "orientation": [ + 0.09940639138221741, + 0.5944510698318481, + 0.09131979942321777, + -0.792721152305603 + ], + "joints": [ + 0.02031456120312214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040787726640701294, + -0.14929042756557465, + 0.0016560578951612115 + ], + "orientation": [ + 0.5048352479934692, + 0.1579902619123459, + -0.8422633409500122, + 0.10379315912723541 + ], + "joints": [ + 0.008118387311697006 + ] + }, + "fine_grasp": { + "position": [ + 0.03682859241962433, + -0.14630667865276337, + 0.0015516744460910559 + ], + "orientation": [ + 0.48944395780563354, + 0.15820176899433136, + -0.8510319590568542, + 0.10564781725406647 + ], + "joints": [ + 0.012502437457442284 + ] + }, + "final_grasp": { + "position": [ + 0.03682859241962433, + -0.14630667865276337, + 0.0015516744460910559 + ], + "orientation": [ + 0.48944395780563354, + 0.15820176899433136, + -0.8510319590568542, + 0.10564781725406647 + ], + "joints": [ + 0.01688648760318756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03417039290070534, + 0.1363256722688675, + 0.0030030198395252228 + ], + "orientation": [ + 0.09764547646045685, + 0.6086165904998779, + 0.09101668000221252, + -0.7821555137634277 + ], + "joints": [ + 0.009627711027860641 + ] + }, + "fine_grasp": { + "position": [ + -0.03343576192855835, + 0.13604925572872162, + 0.0031225711572915316 + ], + "orientation": [ + 0.09526088088750839, + 0.5948436856269836, + 0.0896608978509903, + -0.7931249737739563 + ], + "joints": [ + 0.014968279749155045 + ] + }, + "final_grasp": { + "position": [ + -0.03343576192855835, + 0.13604925572872162, + 0.0031225711572915316 + ], + "orientation": [ + 0.09526088088750839, + 0.5948436856269836, + 0.0896608978509903, + -0.7931249737739563 + ], + "joints": [ + 0.020308848470449448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033471569418907166, + -0.14926430583000183, + 0.01096396241337061 + ], + "orientation": [ + 0.5194239020347595, + 0.11943840235471725, + -0.8368285298347473, + 0.12510553002357483 + ], + "joints": [ + 0.007827524095773697 + ] + }, + "fine_grasp": { + "position": [ + 0.030084367841482162, + -0.14438217878341675, + 0.010373689234256744 + ], + "orientation": [ + 0.5119589567184448, + 0.11860913783311844, + -0.8409848809242249, + 0.12874169647693634 + ], + "joints": [ + 0.011627033352851868 + ] + }, + "final_grasp": { + "position": [ + 0.030084367841482162, + -0.14438217878341675, + 0.010373689234256744 + ], + "orientation": [ + 0.5119589567184448, + 0.11860913783311844, + -0.8409848809242249, + 0.12874169647693634 + ], + "joints": [ + 0.015426542609930038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08754745870828629, + 0.11089065670967102, + -0.0032038085628300905 + ], + "orientation": [ + 0.26364824175834656, + -0.5729552507400513, + -0.2189522534608841, + -0.7444943189620972 + ], + "joints": [ + 0.009120013564825058 + ] + }, + "fine_grasp": { + "position": [ + -0.08635307848453522, + 0.11031269282102585, + -0.00376624776981771 + ], + "orientation": [ + 0.26340970396995544, + -0.5594205260276794, + -0.21596193313598633, + -0.75566166639328 + ], + "joints": [ + 0.014487151987850666 + ] + }, + "final_grasp": { + "position": [ + -0.08635307848453522, + 0.11031269282102585, + -0.00376624776981771 + ], + "orientation": [ + 0.26340970396995544, + -0.5594205260276794, + -0.21596193313598633, + -0.75566166639328 + ], + "joints": [ + 0.019854290410876274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024694226682186127, + -0.14004184305667877, + -0.01344686932861805 + ], + "orientation": [ + 0.6785393953323364, + 0.01320568285882473, + -0.7322286367416382, + -0.057019539177417755 + ], + "joints": [ + 0.010487241670489311 + ] + }, + "fine_grasp": { + "position": [ + -0.02404376119375229, + -0.14110282063484192, + -0.014037707820534706 + ], + "orientation": [ + 0.6716461181640625, + 0.0077614132314920425, + -0.7383164763450623, + -0.06099169701337814 + ], + "joints": [ + 0.01635921187698841 + ] + }, + "final_grasp": { + "position": [ + -0.02404376119375229, + -0.14110282063484192, + -0.014037707820534706 + ], + "orientation": [ + 0.6716461181640625, + 0.0077614132314920425, + -0.7383164763450623, + -0.06099169701337814 + ], + "joints": [ + 0.02223118208348751 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001427303534001112, + -0.138798788189888, + -0.012739117257297039 + ], + "orientation": [ + 0.6747797131538391, + 0.1011015772819519, + -0.7305155992507935, + 0.0282459557056427 + ], + "joints": [ + 0.0107938963919878 + ] + }, + "fine_grasp": { + "position": [ + 0.0014054191997274756, + -0.13720199465751648, + -0.013351988978683949 + ], + "orientation": [ + 0.6696950793266296, + 0.09887070208787918, + -0.7355931401252747, + 0.025214869529008865 + ], + "joints": [ + 0.01666586846113205 + ] + }, + "final_grasp": { + "position": [ + 0.0014054191997274756, + -0.13720199465751648, + -0.013351988978683949 + ], + "orientation": [ + 0.6696950793266296, + 0.09887070208787918, + -0.7355931401252747, + 0.025214869529008865 + ], + "joints": [ + 0.0225378405302763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06806246936321259, + 0.12157455086708069, + -0.007788073271512985 + ], + "orientation": [ + 0.22004781663417816, + 0.60578852891922, + 0.1371990293264389, + -0.7521806955337524 + ], + "joints": [ + 0.009513819590210915 + ] + }, + "fine_grasp": { + "position": [ + -0.06762177497148514, + 0.11934677511453629, + -0.006232346408069134 + ], + "orientation": [ + 0.22623439133167267, + 0.5819162726402283, + 0.13539649546146393, + -0.7693239450454712 + ], + "joints": [ + 0.0143495574593544 + ] + }, + "final_grasp": { + "position": [ + -0.06762177497148514, + 0.11934677511453629, + -0.006232346408069134 + ], + "orientation": [ + 0.22623439133167267, + 0.5819162726402283, + 0.13539649546146393, + -0.7693239450454712 + ], + "joints": [ + 0.019185295328497887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04005773738026619, + 0.14596574008464813, + -0.025049518793821335 + ], + "orientation": [ + 0.03514938801527023, + -0.7144433259963989, + 0.1760905236005783, + 0.6762597560882568 + ], + "joints": [ + 0.009593727067112923 + ] + }, + "fine_grasp": { + "position": [ + 0.03952058032155037, + 0.14322111010551453, + -0.024940595030784607 + ], + "orientation": [ + 0.03206862509250641, + -0.7132508754730225, + 0.1740478277206421, + 0.6781978011131287 + ], + "joints": [ + 0.014429464936256409 + ] + }, + "final_grasp": { + "position": [ + 0.03952058032155037, + 0.14322111010551453, + -0.024940595030784607 + ], + "orientation": [ + 0.03206862509250641, + -0.7132508754730225, + 0.1740478277206421, + 0.6781978011131287 + ], + "joints": [ + 0.019265202805399895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027765002101659775, + -0.13894253969192505, + 0.020023420453071594 + ], + "orientation": [ + 0.6556766629219055, + -0.18434911966323853, + 0.7295639514923096, + 0.061966199427843094 + ], + "joints": [ + 0.0097615085542202 + ] + }, + "fine_grasp": { + "position": [ + 0.027576033025979996, + -0.1386461704969406, + 0.020356833934783936 + ], + "orientation": [ + 0.6554030179977417, + -0.18611003458499908, + 0.7292371988296509, + 0.06342820823192596 + ], + "joints": [ + 0.01560690626502037 + ] + }, + "final_grasp": { + "position": [ + 0.027576033025979996, + -0.1386461704969406, + 0.020356833934783936 + ], + "orientation": [ + 0.6554030179977417, + -0.18611003458499908, + 0.7292371988296509, + 0.06342820823192596 + ], + "joints": [ + 0.02145230397582054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.068356953561306, + 0.11293474584817886, + -0.036715973168611526 + ], + "orientation": [ + 0.407412052154541, + 0.3340432345867157, + 0.025981152430176735, + -0.8495620489120483 + ], + "joints": [ + 0.005434467922896147 + ] + }, + "fine_grasp": { + "position": [ + -0.06734822690486908, + 0.1104566901922226, + -0.03492983430624008 + ], + "orientation": [ + 0.3962651491165161, + 0.34854915738105774, + 0.02068953774869442, + -0.8491522073745728 + ], + "joints": [ + 0.011279864236712456 + ] + }, + "final_grasp": { + "position": [ + -0.06734822690486908, + 0.1104566901922226, + -0.03492983430624008 + ], + "orientation": [ + 0.3962651491165161, + 0.34854915738105774, + 0.02068953774869442, + -0.8491522073745728 + ], + "joints": [ + 0.017125260084867477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03084925189614296, + -0.01950458437204361, + 0.11006463319063187 + ], + "orientation": [ + 0.4848789870738983, + -0.4277885854244232, + 0.5802346467971802, + -0.4951940178871155 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.03164854273200035, + -0.02021273970603943, + 0.11230181902647018 + ], + "orientation": [ + 0.4804450571537018, + -0.42482879757881165, + 0.5791810750961304, + -0.5032318830490112 + ], + "joints": [ + -0.00992518849670887 + ] + }, + "final_grasp": { + "position": [ + 0.03164854273200035, + -0.02021273970603943, + 0.11230181902647018 + ], + "orientation": [ + 0.4804450571537018, + -0.42482879757881165, + 0.5791810750961304, + -0.5032318830490112 + ], + "joints": [ + -0.003442108631134033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031149044632911682, + -0.019256994128227234, + 0.10985701531171799 + ], + "orientation": [ + 0.48445481061935425, + -0.4267418682575226, + 0.5790226459503174, + -0.49792352318763733 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.03174572438001633, + -0.01995908096432686, + 0.11227051168680191 + ], + "orientation": [ + 0.47966721653938293, + -0.42509710788726807, + 0.57862788438797, + -0.5043824911117554 + ], + "joints": [ + -0.00992518849670887 + ] + }, + "final_grasp": { + "position": [ + 0.03174572438001633, + -0.01995908096432686, + 0.11227051168680191 + ], + "orientation": [ + 0.47966721653938293, + -0.42509710788726807, + 0.57862788438797, + -0.5043824911117554 + ], + "joints": [ + -0.003442108631134033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049258921295404434, + 0.13409079611301422, + -0.018152184784412384 + ], + "orientation": [ + 0.23518367111682892, + 0.6653615832328796, + -0.12660092115402222, + 0.6971046328544617 + ], + "joints": [ + 0.00985168106853962 + ] + }, + "fine_grasp": { + "position": [ + 0.049099963158369064, + 0.13300152122974396, + -0.01854514144361019 + ], + "orientation": [ + 0.23718050122261047, + 0.6628373265266418, + -0.12629909813404083, + 0.6988852620124817 + ], + "joints": [ + 0.01572364941239357 + ] + }, + "final_grasp": { + "position": [ + 0.049099963158369064, + 0.13300152122974396, + -0.01854514144361019 + ], + "orientation": [ + 0.23718050122261047, + 0.6628373265266418, + -0.12629909813404083, + 0.6988852620124817 + ], + "joints": [ + 0.02159561775624752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005669455975294113, + -0.13737919926643372, + -0.010890101082623005 + ], + "orientation": [ + 0.6809691190719604, + 0.06890366971492767, + 0.7290348410606384, + -0.006446741987019777 + ], + "joints": [ + 0.010485434904694557 + ] + }, + "fine_grasp": { + "position": [ + 0.005750629119575024, + -0.13663293421268463, + -0.011226191185414791 + ], + "orientation": [ + 0.6801111698150635, + 0.06680005043745041, + 0.7300452589988708, + -0.004523120820522308 + ], + "joints": [ + 0.016357405111193657 + ] + }, + "final_grasp": { + "position": [ + 0.005750629119575024, + -0.13663293421268463, + -0.011226191185414791 + ], + "orientation": [ + 0.6801111698150635, + 0.06680005043745041, + 0.7300452589988708, + -0.004523120820522308 + ], + "joints": [ + 0.022229375317692757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01913616620004177, + -0.14694277942180634, + 0.018971679732203484 + ], + "orientation": [ + 0.6868526339530945, + -0.03550538048148155, + 0.7229477167129517, + -0.0657220408320427 + ], + "joints": [ + 0.010042091831564903 + ] + }, + "fine_grasp": { + "position": [ + -0.019082659855484962, + -0.1451985388994217, + 0.018691029399633408 + ], + "orientation": [ + 0.6883478760719299, + -0.037663742899894714, + 0.7217442393302917, + -0.06199851259589195 + ], + "joints": [ + 0.015382658690214157 + ] + }, + "final_grasp": { + "position": [ + -0.019082659855484962, + -0.1451985388994217, + 0.018691029399633408 + ], + "orientation": [ + 0.6883478760719299, + -0.037663742899894714, + 0.7217442393302917, + -0.06199851259589195 + ], + "joints": [ + 0.02072322554886341 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001494845375418663, + 0.029779957607388496, + 0.11210856586694717 + ], + "orientation": [ + 0.16929824650287628, + -0.277058869600296, + 0.6579108238220215, + -0.6795071363449097 + ], + "joints": [ + -0.01705595850944519 + ] + }, + "fine_grasp": { + "position": [ + -0.0017886837013065815, + 0.030521197244524956, + 0.11342911422252655 + ], + "orientation": [ + 0.16331763565540314, + -0.2689126133918762, + 0.6673261523246765, + -0.6750476360321045 + ], + "joints": [ + -0.01057287584990263 + ] + }, + "final_grasp": { + "position": [ + -0.0017886837013065815, + 0.030521197244524956, + 0.11342911422252655 + ], + "orientation": [ + 0.16331763565540314, + -0.2689126133918762, + 0.6673261523246765, + -0.6750476360321045 + ], + "joints": [ + -0.004089793190360069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07118378579616547, + 0.12436439096927643, + 0.019960999488830566 + ], + "orientation": [ + 0.10698552429676056, + 0.6410928964614868, + -0.19757866859436035, + 0.7338368892669678 + ], + "joints": [ + 0.009574098512530327 + ] + }, + "fine_grasp": { + "position": [ + 0.07059177756309509, + 0.12310229241847992, + 0.02031177096068859 + ], + "orientation": [ + 0.10432419925928116, + 0.6448017954826355, + -0.19825001060962677, + 0.7307831645011902 + ], + "joints": [ + 0.01491466723382473 + ] + }, + "final_grasp": { + "position": [ + 0.07059177756309509, + 0.12310229241847992, + 0.02031177096068859 + ], + "orientation": [ + 0.10432419925928116, + 0.6448017954826355, + -0.19825001060962677, + 0.7307831645011902 + ], + "joints": [ + 0.020255235955119133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0001709254429442808, + -0.15051966905593872, + 0.014508074149489403 + ], + "orientation": [ + 0.8621510863304138, + -0.0907883569598198, + -0.49704110622406006, + -0.03745728358626366 + ], + "joints": [ + 0.0061063519679009914 + ] + }, + "fine_grasp": { + "position": [ + 0.0018593128770589828, + -0.1448097974061966, + 0.014205309562385082 + ], + "orientation": [ + 0.8639310598373413, + -0.09311830252408981, + -0.49360421299934387, + -0.03615129739046097 + ], + "joints": [ + 0.010915519669651985 + ] + }, + "final_grasp": { + "position": [ + 0.0018593128770589828, + -0.1448097974061966, + 0.014205309562385082 + ], + "orientation": [ + 0.8639310598373413, + -0.09311830252408981, + -0.49360421299934387, + -0.03615129739046097 + ], + "joints": [ + 0.01572468690574169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006442273035645485, + -0.14754076302051544, + 0.007074974477291107 + ], + "orientation": [ + 0.8107033967971802, + -0.06863687187433243, + 0.5796075463294983, + 0.04586911201477051 + ], + "joints": [ + 0.009545564651489258 + ] + }, + "fine_grasp": { + "position": [ + -0.008856137283146381, + -0.14300237596035004, + 0.006320256274193525 + ], + "orientation": [ + 0.8094239234924316, + -0.0727703645825386, + 0.5803819894790649, + 0.051903367042541504 + ], + "joints": [ + 0.014354731887578964 + ] + }, + "final_grasp": { + "position": [ + -0.008856137283146381, + -0.14300237596035004, + 0.006320256274193525 + ], + "orientation": [ + 0.8094239234924316, + -0.0727703645825386, + 0.5803819894790649, + 0.051903367042541504 + ], + "joints": [ + 0.01916389912366867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011507351882755756, + -0.144881471991539, + -0.01693454198539257 + ], + "orientation": [ + 0.7227993607521057, + 0.0313919335603714, + -0.6876707077026367, + -0.06070065125823021 + ], + "joints": [ + 0.010184084996581078 + ] + }, + "fine_grasp": { + "position": [ + 0.01146948616951704, + -0.14373540878295898, + -0.017051933333277702 + ], + "orientation": [ + 0.7188412547111511, + 0.02719169110059738, + -0.6916437745094299, + -0.06447269767522812 + ], + "joints": [ + 0.01552465371787548 + ] + }, + "final_grasp": { + "position": [ + 0.01146948616951704, + -0.14373540878295898, + -0.017051933333277702 + ], + "orientation": [ + 0.7188412547111511, + 0.02719169110059738, + -0.6916437745094299, + -0.06447269767522812 + ], + "joints": [ + 0.020865222439169884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004650162532925606, + -0.13855260610580444, + 0.007680045440793037 + ], + "orientation": [ + 0.6698059439659119, + -0.041517626494169235, + -0.7413691282272339, + 0.0028463879134505987 + ], + "joints": [ + 0.010621702298521996 + ] + }, + "fine_grasp": { + "position": [ + 0.00410173274576664, + -0.13923662900924683, + 0.007620527409017086 + ], + "orientation": [ + 0.6639630198478699, + -0.03598514571785927, + -0.7468582987785339, + 0.007804996334016323 + ], + "joints": [ + 0.015962272882461548 + ] + }, + "final_grasp": { + "position": [ + 0.00410173274576664, + -0.13923662900924683, + 0.007620527409017086 + ], + "orientation": [ + 0.6639630198478699, + -0.03598514571785927, + -0.7468582987785339, + 0.007804996334016323 + ], + "joints": [ + 0.0213028434664011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019508404657244682, + -0.14297379553318024, + -0.0073707555420696735 + ], + "orientation": [ + 0.6410672068595886, + -0.11852061003446579, + 0.7449631690979004, + 0.14147622883319855 + ], + "joints": [ + 0.010290898382663727 + ] + }, + "fine_grasp": { + "position": [ + 0.017433112487196922, + -0.14022491872310638, + -0.007618675474077463 + ], + "orientation": [ + 0.6402531862258911, + -0.12209974974393845, + 0.7444359660148621, + 0.1448540985584259 + ], + "joints": [ + 0.016162868589162827 + ] + }, + "final_grasp": { + "position": [ + 0.017433112487196922, + -0.14022491872310638, + -0.007618675474077463 + ], + "orientation": [ + 0.6402531862258911, + -0.12209974974393845, + 0.7444359660148621, + 0.1448540985584259 + ], + "joints": [ + 0.022034838795661926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004427166655659676, + -0.13845913112163544, + 0.007482940796762705 + ], + "orientation": [ + 0.6708067059516907, + -0.040354520082473755, + -0.7405286431312561, + 0.0026559224352240562 + ], + "joints": [ + 0.010333443060517311 + ] + }, + "fine_grasp": { + "position": [ + 0.0038860314525663853, + -0.13903650641441345, + 0.007539981510490179 + ], + "orientation": [ + 0.664591908454895, + -0.03553193435072899, + -0.7463223934173584, + 0.0076109725050628185 + ], + "joints": [ + 0.015700584277510643 + ] + }, + "final_grasp": { + "position": [ + 0.0038860314525663853, + -0.13903650641441345, + 0.007539981510490179 + ], + "orientation": [ + 0.664591908454895, + -0.03553193435072899, + -0.7463223934173584, + 0.0076109725050628185 + ], + "joints": [ + 0.021067725494503975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09507057070732117, + 0.10715281218290329, + 0.027680756524205208 + ], + "orientation": [ + 0.19945788383483887, + 0.6313494443893433, + -0.3466777503490448, + 0.664401113986969 + ], + "joints": [ + 0.009552234783768654 + ] + }, + "fine_grasp": { + "position": [ + 0.09513916075229645, + 0.10633483529090881, + 0.028237400576472282 + ], + "orientation": [ + 0.2020571082830429, + 0.6270009279251099, + -0.3479399085044861, + 0.6670686602592468 + ], + "joints": [ + 0.014892803505063057 + ] + }, + "final_grasp": { + "position": [ + 0.09513916075229645, + 0.10633483529090881, + 0.028237400576472282 + ], + "orientation": [ + 0.2020571082830429, + 0.6270009279251099, + -0.3479399085044861, + 0.6670686602592468 + ], + "joints": [ + 0.02023337222635746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004161166027188301, + -0.1383839249610901, + 0.00754614919424057 + ], + "orientation": [ + 0.6709422469139099, + -0.039568062871694565, + -0.7404440641403198, + 0.0036808112636208534 + ], + "joints": [ + 0.010275548323988914 + ] + }, + "fine_grasp": { + "position": [ + 0.0036881654523313046, + -0.13903871178627014, + 0.007602212019264698 + ], + "orientation": [ + 0.6641301512718201, + -0.03490614518523216, + -0.7467520236968994, + 0.008619634434580803 + ], + "joints": [ + 0.016147518530488014 + ] + }, + "final_grasp": { + "position": [ + 0.0036881654523313046, + -0.13903871178627014, + 0.007602212019264698 + ], + "orientation": [ + 0.6641301512718201, + -0.03490614518523216, + -0.7467520236968994, + 0.008619634434580803 + ], + "joints": [ + 0.022019488736987114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0040566157549619675, + -0.13849574327468872, + 0.007361955475062132 + ], + "orientation": [ + 0.6717743873596191, + -0.03796883672475815, + -0.7397704720497131, + 0.004158312920480967 + ], + "joints": [ + 0.010335344821214676 + ] + }, + "fine_grasp": { + "position": [ + 0.0035577970556914806, + -0.13922636210918427, + 0.007456571329385042 + ], + "orientation": [ + 0.6653612852096558, + -0.03343722224235535, + -0.7457178831100464, + 0.009007330052554607 + ], + "joints": [ + 0.016207315027713776 + ] + }, + "final_grasp": { + "position": [ + 0.0035577970556914806, + -0.13922636210918427, + 0.007456571329385042 + ], + "orientation": [ + 0.6653612852096558, + -0.03343722224235535, + -0.7457178831100464, + 0.009007330052554607 + ], + "joints": [ + 0.022079285234212875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09480968117713928, + 0.10684661567211151, + 0.02782471850514412 + ], + "orientation": [ + 0.198896124958992, + 0.631989061832428, + -0.3480108976364136, + 0.6632635593414307 + ], + "joints": [ + 0.009479565545916557 + ] + }, + "fine_grasp": { + "position": [ + 0.09502723813056946, + 0.10604248940944672, + 0.028595779091119766 + ], + "orientation": [ + 0.201321542263031, + 0.6266549229621887, + -0.34924444556236267, + 0.6669345498085022 + ], + "joints": [ + 0.014820132404565811 + ] + }, + "final_grasp": { + "position": [ + 0.09502723813056946, + 0.10604248940944672, + 0.028595779091119766 + ], + "orientation": [ + 0.201321542263031, + 0.6266549229621887, + -0.34924444556236267, + 0.6669345498085022 + ], + "joints": [ + 0.020160699263215065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004173537716269493, + -0.13829375803470612, + 0.007362719625234604 + ], + "orientation": [ + 0.6718956828117371, + -0.038102298974990845, + -0.7396540641784668, + 0.004030030686408281 + ], + "joints": [ + 0.010326739400625229 + ] + }, + "fine_grasp": { + "position": [ + 0.0036801013629883528, + -0.1390516459941864, + 0.007453406695276499 + ], + "orientation": [ + 0.6654396057128906, + -0.03358776494860649, + -0.745643138885498, + 0.008853270672261715 + ], + "joints": [ + 0.01619870960712433 + ] + }, + "final_grasp": { + "position": [ + 0.0036801013629883528, + -0.1390516459941864, + 0.007453406695276499 + ], + "orientation": [ + 0.6654396057128906, + -0.03358776494860649, + -0.745643138885498, + 0.008853270672261715 + ], + "joints": [ + 0.02207067981362343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0008682577754370868, + -0.15020795166492462, + 0.014150567352771759 + ], + "orientation": [ + 0.8613876700401306, + -0.0960436686873436, + -0.4963659644126892, + -0.049067553132772446 + ], + "joints": [ + 0.00602227495983243 + ] + }, + "fine_grasp": { + "position": [ + 0.0022631939500570297, + -0.14461368322372437, + 0.013858521357178688 + ], + "orientation": [ + 0.8623557090759277, + -0.09758242964744568, + -0.49465927481651306, + -0.04617893695831299 + ], + "joints": [ + 0.010858013294637203 + ] + }, + "final_grasp": { + "position": [ + 0.0022631939500570297, + -0.14461368322372437, + 0.013858521357178688 + ], + "orientation": [ + 0.8623557090759277, + -0.09758242964744568, + -0.49465927481651306, + -0.04617893695831299 + ], + "joints": [ + 0.015693752095103264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0345039889216423, + -0.13577900826931, + -0.011232877150177956 + ], + "orientation": [ + 0.6765860915184021, + -0.03987007960677147, + 0.7289491295814514, + 0.0963066890835762 + ], + "joints": [ + 0.010365286841988564 + ] + }, + "fine_grasp": { + "position": [ + 0.03375641256570816, + -0.13634300231933594, + -0.011658661998808384 + ], + "orientation": [ + 0.6725521087646484, + -0.04327893257141113, + 0.7320131659507751, + 0.09978601336479187 + ], + "joints": [ + 0.016237257048487663 + ] + }, + "final_grasp": { + "position": [ + 0.03375641256570816, + -0.13634300231933594, + -0.011658661998808384 + ], + "orientation": [ + 0.6725521087646484, + -0.04327893257141113, + 0.7320131659507751, + 0.09978601336479187 + ], + "joints": [ + 0.022109227254986763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0009456666884943843, + -0.1500052511692047, + 0.01464947871863842 + ], + "orientation": [ + 0.8669962882995605, + -0.09603282809257507, + -0.48676398396492004, + -0.046433694660663605 + ], + "joints": [ + 0.005820556078106165 + ] + }, + "fine_grasp": { + "position": [ + 0.0025576413609087467, + -0.1444614976644516, + 0.014327675104141235 + ], + "orientation": [ + 0.8673673272132874, + -0.09782811999320984, + -0.48588263988494873, + -0.044962119311094284 + ], + "joints": [ + 0.010656294412910938 + ] + }, + "final_grasp": { + "position": [ + 0.0025576413609087467, + -0.1444614976644516, + 0.014327675104141235 + ], + "orientation": [ + 0.8673673272132874, + -0.09782811999320984, + -0.48588263988494873, + -0.044962119311094284 + ], + "joints": [ + 0.015492033213376999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09884610027074814, + 0.09223765879869461, + -0.03823222219944 + ], + "orientation": [ + 0.18389935791492462, + 0.9178779721260071, + 0.21078962087631226, + -0.28151166439056396 + ], + "joints": [ + 0.00960579328238964 + ] + }, + "fine_grasp": { + "position": [ + -0.09612252563238144, + 0.09083825349807739, + -0.03663400188088417 + ], + "orientation": [ + 0.19893698394298553, + 0.9139218330383301, + 0.220040425658226, + -0.27704402804374695 + ], + "joints": [ + 0.011757963337004185 + ] + }, + "final_grasp": { + "position": [ + -0.09612252563238144, + 0.09083825349807739, + -0.03663400188088417 + ], + "orientation": [ + 0.19893698394298553, + 0.9139218330383301, + 0.220040425658226, + -0.27704402804374695 + ], + "joints": [ + 0.013910133391618729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027075795456767082, + -0.1378532201051712, + 0.01062098704278469 + ], + "orientation": [ + 0.6698157787322998, + 0.03293156996369362, + -0.7368582487106323, + 0.08545444160699844 + ], + "joints": [ + 0.01044853962957859 + ] + }, + "fine_grasp": { + "position": [ + 0.02671346254646778, + -0.13845574855804443, + 0.010545454919338226 + ], + "orientation": [ + 0.6623575687408447, + 0.03858077898621559, + -0.7427759170532227, + 0.08987665176391602 + ], + "joints": [ + 0.015789108350872993 + ] + }, + "final_grasp": { + "position": [ + 0.02671346254646778, + -0.13845574855804443, + 0.010545454919338226 + ], + "orientation": [ + 0.6623575687408447, + 0.03858077898621559, + -0.7427759170532227, + 0.08987665176391602 + ], + "joints": [ + 0.021129677072167397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09871110320091248, + 0.09217268228530884, + -0.038367364555597305 + ], + "orientation": [ + 0.1844860315322876, + 0.9182477593421936, + 0.21229013800621033, + -0.2787812650203705 + ], + "joints": [ + 0.009017106145620346 + ] + }, + "fine_grasp": { + "position": [ + -0.095489501953125, + 0.09048206359148026, + -0.036744844168424606 + ], + "orientation": [ + 0.20409443974494934, + 0.9124568700790405, + 0.22311200201511383, + -0.27566108107566833 + ], + "joints": [ + 0.010664446279406548 + ] + }, + "final_grasp": { + "position": [ + -0.095489501953125, + 0.09048206359148026, + -0.036744844168424606 + ], + "orientation": [ + 0.20409443974494934, + 0.9124568700790405, + 0.22311200201511383, + -0.27566108107566833 + ], + "joints": [ + 0.012311786413192749 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020669499412178993, + 0.13416622579097748, + 0.019389895722270012 + ], + "orientation": [ + 0.04808271303772926, + 0.7294940948486328, + 0.16579195857048035, + -0.6618455052375793 + ], + "joints": [ + 0.00944766215980053 + ] + }, + "fine_grasp": { + "position": [ + -0.02057519555091858, + 0.1333988904953003, + 0.019721882417798042 + ], + "orientation": [ + 0.051469337195158005, + 0.723095715045929, + 0.16919976472854614, + -0.6677238345146179 + ], + "joints": [ + 0.015293058007955551 + ] + }, + "final_grasp": { + "position": [ + -0.02057519555091858, + 0.1333988904953003, + 0.019721882417798042 + ], + "orientation": [ + 0.051469337195158005, + 0.723095715045929, + 0.16919976472854614, + -0.6677238345146179 + ], + "joints": [ + 0.021138453856110573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031730521470308304, + 0.13987988233566284, + -0.013338875025510788 + ], + "orientation": [ + 0.029668360948562622, + -0.6963021159172058, + 0.1012384220957756, + 0.7099534869194031 + ], + "joints": [ + 0.010359380394220352 + ] + }, + "fine_grasp": { + "position": [ + 0.03239671140909195, + 0.1393359750509262, + -0.013507449999451637 + ], + "orientation": [ + 0.028477171435952187, + -0.7043989300727844, + 0.10069096088409424, + 0.7020487785339355 + ], + "joints": [ + 0.016231350600719452 + ] + }, + "final_grasp": { + "position": [ + 0.03239671140909195, + 0.1393359750509262, + -0.013507449999451637 + ], + "orientation": [ + 0.028477171435952187, + -0.7043989300727844, + 0.10069096088409424, + 0.7020487785339355 + ], + "joints": [ + 0.02210332080721855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031168095767498016, + 0.13937151432037354, + -0.012765229679644108 + ], + "orientation": [ + 0.03436775133013725, + -0.6967673897743225, + 0.10298410058021545, + 0.7090333700180054 + ], + "joints": [ + 0.010359380394220352 + ] + }, + "fine_grasp": { + "position": [ + 0.032057829201221466, + 0.1391521543264389, + -0.013066314160823822 + ], + "orientation": [ + 0.03317788243293762, + -0.7032793164253235, + 0.10297229140996933, + 0.7026337385177612 + ], + "joints": [ + 0.016231350600719452 + ] + }, + "final_grasp": { + "position": [ + 0.032057829201221466, + 0.1391521543264389, + -0.013066314160823822 + ], + "orientation": [ + 0.03317788243293762, + -0.7032793164253235, + 0.10297229140996933, + 0.7026337385177612 + ], + "joints": [ + 0.02210332080721855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0708846002817154, + 0.11025159806013107, + -0.03958643600344658 + ], + "orientation": [ + 0.415481835603714, + 0.2745954692363739, + -0.00014793653099332005, + -0.8671633005142212 + ], + "joints": [ + 0.004230639431625605 + ] + }, + "fine_grasp": { + "position": [ + -0.07307885587215424, + 0.10830283164978027, + -0.037442438304424286 + ], + "orientation": [ + 0.40286946296691895, + 0.30146247148513794, + -0.009080924093723297, + -0.8641378283500671 + ], + "joints": [ + 0.007472177967429161 + ] + }, + "final_grasp": { + "position": [ + -0.07307885587215424, + 0.10830283164978027, + -0.037442438304424286 + ], + "orientation": [ + 0.40286946296691895, + 0.30146247148513794, + -0.009080924093723297, + -0.8641378283500671 + ], + "joints": [ + 0.010713716968894005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09586663544178009, + 0.09141579270362854, + -0.025106117129325867 + ], + "orientation": [ + 0.5054831504821777, + 0.2686043679714203, + 0.0923997089266777, + -0.8147396445274353 + ], + "joints": [ + 0.004445698577910662 + ] + }, + "fine_grasp": { + "position": [ + -0.09533414989709854, + 0.08931529521942139, + -0.02480444684624672 + ], + "orientation": [ + 0.4995565116405487, + 0.2871400713920593, + 0.08058834820985794, + -0.8133261799812317 + ], + "joints": [ + 0.009254866279661655 + ] + }, + "final_grasp": { + "position": [ + -0.09533414989709854, + 0.08931529521942139, + -0.02480444684624672 + ], + "orientation": [ + 0.4995565116405487, + 0.2871400713920593, + 0.08058834820985794, + -0.8133261799812317 + ], + "joints": [ + 0.014064034447073936 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005425750277936459, + -0.13735440373420715, + -0.00875913817435503 + ], + "orientation": [ + 0.687419593334198, + 0.037920884788036346, + 0.7251860499382019, + 0.011020626872777939 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + -0.002663391875103116, + -0.13747026026248932, + -0.00949222594499588 + ], + "orientation": [ + 0.6916640996932983, + 0.03998985141515732, + 0.7210404872894287, + 0.010111824609339237 + ], + "joints": [ + 0.016351498663425446 + ] + }, + "final_grasp": { + "position": [ + -0.002663391875103116, + -0.13747026026248932, + -0.00949222594499588 + ], + "orientation": [ + 0.6916640996932983, + 0.03998985141515732, + 0.7210404872894287, + 0.010111824609339237 + ], + "joints": [ + 0.022223468869924545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007001053309068084, + -0.13697685301303864, + -0.008626974187791348 + ], + "orientation": [ + 0.687289297580719, + 0.03590631112456322, + 0.7253904938697815, + 0.01236413698643446 + ], + "joints": [ + 0.010488590225577354 + ] + }, + "fine_grasp": { + "position": [ + -0.002759454073384404, + -0.1365581899881363, + -0.009582148864865303 + ], + "orientation": [ + 0.6903834342956543, + 0.03826048597693443, + 0.722334086894989, + 0.01184095535427332 + ], + "joints": [ + 0.016360560432076454 + ] + }, + "final_grasp": { + "position": [ + -0.002759454073384404, + -0.1365581899881363, + -0.009582148864865303 + ], + "orientation": [ + 0.6903834342956543, + 0.03826048597693443, + 0.722334086894989, + 0.01184095535427332 + ], + "joints": [ + 0.022232530638575554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008717172779142857, + -0.13737963140010834, + -0.011458330787718296 + ], + "orientation": [ + 0.7194705009460449, + 0.03751731291413307, + -0.6930797100067139, + -0.0243988074362278 + ], + "joints": [ + 0.010359380394220352 + ] + }, + "fine_grasp": { + "position": [ + 0.008720720186829567, + -0.13788603246212006, + -0.011909176595509052 + ], + "orientation": [ + 0.7206181883811951, + 0.037410371005535126, + -0.6918944120407104, + -0.024332499131560326 + ], + "joints": [ + 0.016231350600719452 + ] + }, + "final_grasp": { + "position": [ + 0.008720720186829567, + -0.13788603246212006, + -0.011909176595509052 + ], + "orientation": [ + 0.7206181883811951, + 0.037410371005535126, + -0.6918944120407104, + -0.024332499131560326 + ], + "joints": [ + 0.02210332080721855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0071603464893996716, + -0.13571326434612274, + -0.007252869196236134 + ], + "orientation": [ + 0.7335588932037354, + -0.011389176361262798, + 0.6773437857627869, + 0.05446960777044296 + ], + "joints": [ + 0.010312721133232117 + ] + }, + "fine_grasp": { + "position": [ + 0.008425288833677769, + -0.1355256289243698, + -0.007925543002784252 + ], + "orientation": [ + 0.7384098768234253, + -0.006302157882601023, + 0.6722756028175354, + 0.05250360816717148 + ], + "joints": [ + 0.016184691339731216 + ] + }, + "final_grasp": { + "position": [ + 0.008425288833677769, + -0.1355256289243698, + -0.007925543002784252 + ], + "orientation": [ + 0.7384098768234253, + -0.006302157882601023, + 0.6722756028175354, + 0.05250360816717148 + ], + "joints": [ + 0.022056661546230316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008567088283598423, + -0.13730281591415405, + -0.011327730491757393 + ], + "orientation": [ + 0.719666600227356, + 0.03809312358498573, + -0.6928891539573669, + -0.02310027927160263 + ], + "joints": [ + 0.010359380394220352 + ] + }, + "fine_grasp": { + "position": [ + 0.008566695265471935, + -0.1378111094236374, + -0.011751321144402027 + ], + "orientation": [ + 0.721001148223877, + 0.03830333054065704, + -0.6915019154548645, + -0.022702321410179138 + ], + "joints": [ + 0.016231350600719452 + ] + }, + "final_grasp": { + "position": [ + 0.008566695265471935, + -0.1378111094236374, + -0.011751321144402027 + ], + "orientation": [ + 0.721001148223877, + 0.03830333054065704, + -0.6915019154548645, + -0.022702321410179138 + ], + "joints": [ + 0.02210332080721855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007280687335878611, + -0.1358405500650406, + -0.007570256479084492 + ], + "orientation": [ + 0.7347812056541443, + -0.010559379123151302, + 0.6759528517723083, + 0.055433258414268494 + ], + "joints": [ + 0.010388817638158798 + ] + }, + "fine_grasp": { + "position": [ + 0.008558634668588638, + -0.1355268359184265, + -0.008071711286902428 + ], + "orientation": [ + 0.7396290898323059, + -0.005388605408370495, + 0.6708818674087524, + 0.05326572433114052 + ], + "joints": [ + 0.01575595885515213 + ] + }, + "final_grasp": { + "position": [ + 0.008558634668588638, + -0.1355268359184265, + -0.008071711286902428 + ], + "orientation": [ + 0.7396290898323059, + -0.005388605408370495, + 0.6708818674087524, + 0.05326572433114052 + ], + "joints": [ + 0.021123100072145462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00495992973446846, + -0.13600729405879974, + 0.010396343655884266 + ], + "orientation": [ + 0.7220655083656311, + 0.005509112495929003, + 0.6887872815132141, + -0.06452208757400513 + ], + "joints": [ + 0.010150521993637085 + ] + }, + "fine_grasp": { + "position": [ + -0.005150849465280771, + -0.13699430227279663, + 0.010793114081025124 + ], + "orientation": [ + 0.719616174697876, + 0.003977715969085693, + 0.6914931535720825, + -0.06303861737251282 + ], + "joints": [ + 0.016022492200136185 + ] + }, + "final_grasp": { + "position": [ + -0.005150849465280771, + -0.13699430227279663, + 0.010793114081025124 + ], + "orientation": [ + 0.719616174697876, + 0.003977715969085693, + 0.6914931535720825, + -0.06303861737251282 + ], + "joints": [ + 0.021894462406635284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05538884177803993, + 0.12565484642982483, + -0.011438521556556225 + ], + "orientation": [ + 0.1830117404460907, + 0.6852182745933533, + -0.11741738766431808, + 0.6951228976249695 + ], + "joints": [ + 0.010347437113523483 + ] + }, + "fine_grasp": { + "position": [ + 0.057122450321912766, + 0.12589433789253235, + -0.012181159108877182 + ], + "orientation": [ + 0.18380150198936462, + 0.6843346953392029, + -0.1160690113902092, + 0.6960108876228333 + ], + "joints": [ + 0.016219407320022583 + ] + }, + "final_grasp": { + "position": [ + 0.057122450321912766, + 0.12589433789253235, + -0.012181159108877182 + ], + "orientation": [ + 0.18380150198936462, + 0.6843346953392029, + -0.1160690113902092, + 0.6960108876228333 + ], + "joints": [ + 0.022091377526521683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0030337299685925245, + -0.13620218634605408, + 0.010117926634848118 + ], + "orientation": [ + 0.7221716046333313, + -0.024974284693598747, + 0.6905819177627563, + -0.03067694418132305 + ], + "joints": [ + 0.01023923046886921 + ] + }, + "fine_grasp": { + "position": [ + 0.002808669814839959, + -0.13662853837013245, + 0.010580704547464848 + ], + "orientation": [ + 0.7196892499923706, + -0.023865852504968643, + 0.693080723285675, + -0.03341997042298317 + ], + "joints": [ + 0.01611120067536831 + ] + }, + "final_grasp": { + "position": [ + 0.002808669814839959, + -0.13662853837013245, + 0.010580704547464848 + ], + "orientation": [ + 0.7196892499923706, + -0.023865852504968643, + 0.693080723285675, + -0.03341997042298317 + ], + "joints": [ + 0.02198317088186741 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07088392972946167, + 0.10962355136871338, + -0.03920966759324074 + ], + "orientation": [ + 0.41356760263442993, + 0.2758846879005432, + -0.0011044178390875459, + -0.8676682710647583 + ], + "joints": [ + 0.002937428653240204 + ] + }, + "fine_grasp": { + "position": [ + -0.07338771969079971, + 0.10789043456315994, + -0.03741433098912239 + ], + "orientation": [ + 0.39858490228652954, + 0.3046127259731293, + -0.01045513991266489, + -0.8650040030479431 + ], + "joints": [ + 0.007215195335447788 + ] + }, + "final_grasp": { + "position": [ + -0.07338771969079971, + 0.10789043456315994, + -0.03741433098912239 + ], + "orientation": [ + 0.39858490228652954, + 0.3046127259731293, + -0.01045513991266489, + -0.8650040030479431 + ], + "joints": [ + 0.011492962017655373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022887112572789192, + 0.1329677551984787, + 0.004389400128275156 + ], + "orientation": [ + 0.058098696172237396, + -0.7255517840385437, + -0.035630371421575546, + -0.6847845315933228 + ], + "joints": [ + 0.010371193289756775 + ] + }, + "fine_grasp": { + "position": [ + -0.021045131608843803, + 0.13242988288402557, + 0.0055375779047608376 + ], + "orientation": [ + 0.06263124942779541, + -0.7312253713607788, + -0.037178993225097656, + -0.6782363653182983 + ], + "joints": [ + 0.01677456498146057 + ] + }, + "final_grasp": { + "position": [ + -0.021045131608843803, + 0.13242988288402557, + 0.0055375779047608376 + ], + "orientation": [ + 0.06263124942779541, + -0.7312253713607788, + -0.037178993225097656, + -0.6782363653182983 + ], + "joints": [ + 0.023177936673164368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04553252086043358, + 0.12957614660263062, + -0.011446180753409863 + ], + "orientation": [ + 0.09180814027786255, + -0.6936976313591003, + 0.15547576546669006, + 0.6972676515579224 + ], + "joints": [ + 0.010078681632876396 + ] + }, + "fine_grasp": { + "position": [ + 0.046965837478637695, + 0.1288207620382309, + -0.012114963494241238 + ], + "orientation": [ + 0.0910818800330162, + -0.6972394585609436, + 0.15650026500225067, + 0.693591296672821 + ], + "joints": [ + 0.016455480828881264 + ] + }, + "final_grasp": { + "position": [ + 0.046965837478637695, + 0.1288207620382309, + -0.012114963494241238 + ], + "orientation": [ + 0.0910818800330162, + -0.6972394585609436, + 0.15650026500225067, + 0.693591296672821 + ], + "joints": [ + 0.02283228002488613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002923977328464389, + 0.1340784877538681, + -0.005896674003452063 + ], + "orientation": [ + 0.021755684167146683, + 0.6842917799949646, + 0.011019308120012283, + 0.7288002967834473 + ], + "joints": [ + 0.010365286841988564 + ] + }, + "fine_grasp": { + "position": [ + -0.001846939790993929, + 0.13342584669589996, + -0.006830563768744469 + ], + "orientation": [ + 0.021080441772937775, + 0.677219033241272, + 0.015531213022768497, + 0.7353155612945557 + ], + "joints": [ + 0.016237257048487663 + ] + }, + "final_grasp": { + "position": [ + -0.001846939790993929, + 0.13342584669589996, + -0.006830563768744469 + ], + "orientation": [ + 0.021080441772937775, + 0.677219033241272, + 0.015531213022768497, + 0.7353155612945557 + ], + "joints": [ + 0.022109227254986763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.000620490696746856, + -0.13455066084861755, + -0.008028591983020306 + ], + "orientation": [ + 0.7359596490859985, + 0.011660119518637657, + -0.6761072874069214, + -0.03326357156038284 + ], + "joints": [ + 0.010359380394220352 + ] + }, + "fine_grasp": { + "position": [ + -0.0002465579309500754, + -0.13319997489452362, + -0.00858022179454565 + ], + "orientation": [ + 0.7401250004768372, + 0.01530095748603344, + -0.671535313129425, + -0.03195730224251747 + ], + "joints": [ + 0.016231350600719452 + ] + }, + "final_grasp": { + "position": [ + -0.0002465579309500754, + -0.13319997489452362, + -0.00858022179454565 + ], + "orientation": [ + 0.7401250004768372, + 0.01530095748603344, + -0.671535313129425, + -0.03195730224251747 + ], + "joints": [ + 0.02210332080721855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009484471753239632, + 0.1348719298839569, + 0.005834141280502081 + ], + "orientation": [ + 0.03787343576550484, + -0.7208195924758911, + 0.006705773063004017, + 0.6920546293258667 + ], + "joints": [ + 0.010646229609847069 + ] + }, + "fine_grasp": { + "position": [ + 0.007100257556885481, + 0.13521520793437958, + 0.006989867892116308 + ], + "orientation": [ + 0.03791404515504837, + -0.7191888093948364, + 0.0030213529244065285, + 0.6937729120254517 + ], + "joints": [ + 0.016518201678991318 + ] + }, + "final_grasp": { + "position": [ + 0.007100257556885481, + 0.13521520793437958, + 0.006989867892116308 + ], + "orientation": [ + 0.03791404515504837, + -0.7191888093948364, + 0.0030213529244065285, + 0.6937729120254517 + ], + "joints": [ + 0.022390173748135567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -6.589959230041131e-05, + 0.13443461060523987, + 0.00796467810869217 + ], + "orientation": [ + 0.010070797987282276, + -0.7349992990493774, + -0.03455084189772606, + 0.6771121621131897 + ], + "joints": [ + 0.010285187512636185 + ] + }, + "fine_grasp": { + "position": [ + -0.0012743877014145255, + 0.13316674530506134, + 0.008777330629527569 + ], + "orientation": [ + 0.012800994329154491, + -0.7383467555046082, + -0.034089330583810806, + 0.6734375357627869 + ], + "joints": [ + 0.016157157719135284 + ] + }, + "final_grasp": { + "position": [ + -0.0012743877014145255, + 0.13316674530506134, + 0.008777330629527569 + ], + "orientation": [ + 0.012800994329154491, + -0.7383467555046082, + -0.034089330583810806, + 0.6734375357627869 + ], + "joints": [ + 0.022029127925634384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09479779750108719, + 0.09774655848741531, + -0.004803565796464682 + ], + "orientation": [ + 0.2555862069129944, + -0.6429393887519836, + 0.2755242884159088, + 0.6673762798309326 + ], + "joints": [ + 0.010914044454693794 + ] + }, + "fine_grasp": { + "position": [ + 0.09261579811573029, + 0.0989244282245636, + -0.005922070704400539 + ], + "orientation": [ + 0.25317418575286865, + -0.6438310146331787, + 0.2765662670135498, + 0.6670047640800476 + ], + "joints": [ + 0.016786016523838043 + ] + }, + "final_grasp": { + "position": [ + 0.09261579811573029, + 0.0989244282245636, + -0.005922070704400539 + ], + "orientation": [ + 0.25317418575286865, + -0.6438310146331787, + 0.2765662670135498, + 0.6670047640800476 + ], + "joints": [ + 0.022657988592982292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008243236690759659, + 0.13500934839248657, + -0.0046365768648684025 + ], + "orientation": [ + 0.008550158701837063, + -0.69637531042099, + -0.03373958542943001, + -0.7168333530426025 + ], + "joints": [ + 0.010801929980516434 + ] + }, + "fine_grasp": { + "position": [ + -0.005592945963144302, + 0.13544346392154694, + -0.005843369290232658 + ], + "orientation": [ + 0.0045264423824846745, + -0.6959705948829651, + -0.03344182297587395, + -0.7172767519950867 + ], + "joints": [ + 0.016673902049660683 + ] + }, + "final_grasp": { + "position": [ + -0.005592945963144302, + 0.13544346392154694, + -0.005843369290232658 + ], + "orientation": [ + 0.0045264423824846745, + -0.6959705948829651, + -0.03344182297587395, + -0.7172767519950867 + ], + "joints": [ + 0.02254587411880493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008437259122729301, + 0.13491955399513245, + 0.004613792058080435 + ], + "orientation": [ + 0.033966075628995895, + -0.7165279984474182, + 0.008565913885831833, + 0.6966782212257385 + ], + "joints": [ + 0.010439479723572731 + ] + }, + "fine_grasp": { + "position": [ + 0.005843836348503828, + 0.13551494479179382, + 0.0063524614088237286 + ], + "orientation": [ + 0.035869721323251724, + -0.716162919998169, + 0.0040281228721141815, + 0.696999192237854 + ], + "joints": [ + 0.016842851415276527 + ] + }, + "final_grasp": { + "position": [ + 0.005843836348503828, + 0.13551494479179382, + 0.0063524614088237286 + ], + "orientation": [ + 0.035869721323251724, + -0.716162919998169, + 0.0040281228721141815, + 0.696999192237854 + ], + "joints": [ + 0.023246223106980324 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005258921999484301, + 0.13634024560451508, + 0.0050216782838106155 + ], + "orientation": [ + 0.027814537286758423, + -0.7200558185577393, + 0.0007291865185834467, + -0.6933581233024597 + ], + "joints": [ + 0.01056034304201603 + ] + }, + "fine_grasp": { + "position": [ + -0.0026880046352744102, + 0.13570694625377655, + 0.00618051178753376 + ], + "orientation": [ + 0.028234342113137245, + -0.7172449827194214, + 0.002863107016310096, + -0.6962429881095886 + ], + "joints": [ + 0.016937142238020897 + ] + }, + "final_grasp": { + "position": [ + -0.0026880046352744102, + 0.13570694625377655, + 0.00618051178753376 + ], + "orientation": [ + 0.028234342113137245, + -0.7172449827194214, + 0.002863107016310096, + -0.6962429881095886 + ], + "joints": [ + 0.023313941434025764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017004694789648056, + -0.13576263189315796, + 0.009294526651501656 + ], + "orientation": [ + 0.709729790687561, + -0.06970269232988358, + -0.7007771134376526, + -0.018346499651670456 + ], + "joints": [ + 0.01023923046886921 + ] + }, + "fine_grasp": { + "position": [ + -0.015552053228020668, + -0.1354149878025055, + 0.0101478798314929 + ], + "orientation": [ + 0.7126253247261047, + -0.06958121061325073, + -0.6978552341461182, + -0.017935823649168015 + ], + "joints": [ + 0.016642602160573006 + ] + }, + "final_grasp": { + "position": [ + -0.015552053228020668, + -0.1354149878025055, + 0.0101478798314929 + ], + "orientation": [ + 0.7126253247261047, + -0.06958121061325073, + -0.6978552341461182, + -0.017935823649168015 + ], + "joints": [ + 0.023045973852276802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016865864396095276, + -0.135796457529068, + 0.009230144321918488 + ], + "orientation": [ + 0.7100117206573486, + -0.06781889498233795, + -0.7007148861885071, + -0.01681390404701233 + ], + "joints": [ + 0.01023923046886921 + ] + }, + "fine_grasp": { + "position": [ + -0.015370836481451988, + -0.1353192776441574, + 0.010128051973879337 + ], + "orientation": [ + 0.7124375104904175, + -0.06745967268943787, + -0.698305606842041, + -0.015850136056542397 + ], + "joints": [ + 0.016642602160573006 + ] + }, + "final_grasp": { + "position": [ + -0.015370836481451988, + -0.1353192776441574, + 0.010128051973879337 + ], + "orientation": [ + 0.7124375104904175, + -0.06745967268943787, + -0.698305606842041, + -0.015850136056542397 + ], + "joints": [ + 0.023045973852276802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06664399802684784, + 0.1182175800204277, + -0.004826875403523445 + ], + "orientation": [ + 0.1631775200366974, + -0.6717813014984131, + 0.18497231602668762, + 0.6984756588935852 + ], + "joints": [ + 0.010805513709783554 + ] + }, + "fine_grasp": { + "position": [ + 0.06435256451368332, + 0.11868613958358765, + -0.005957396700978279 + ], + "orientation": [ + 0.16204950213432312, + -0.6705372333526611, + 0.18637412786483765, + 0.6995601058006287 + ], + "joints": [ + 0.016677485778927803 + ] + }, + "final_grasp": { + "position": [ + 0.06435256451368332, + 0.11868613958358765, + -0.005957396700978279 + ], + "orientation": [ + 0.16204950213432312, + -0.6705372333526611, + 0.18637412786483765, + 0.6995601058006287 + ], + "joints": [ + 0.022549457848072052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06799264997243881, + 0.11699007451534271, + -0.009355357848107815 + ], + "orientation": [ + 0.15040211379528046, + -0.6696504950523376, + -0.19626295566558838, + -0.7003058195114136 + ], + "joints": [ + 0.010174145922064781 + ] + }, + "fine_grasp": { + "position": [ + -0.06608649343252182, + 0.11670514196157455, + -0.010172979906201363 + ], + "orientation": [ + 0.1501130610704422, + -0.6695411801338196, + -0.19707152247428894, + -0.7002453207969666 + ], + "joints": [ + 0.016577517613768578 + ] + }, + "final_grasp": { + "position": [ + -0.06608649343252182, + 0.11670514196157455, + -0.010172979906201363 + ], + "orientation": [ + 0.1501130610704422, + -0.6695411801338196, + -0.19707152247428894, + -0.7002453207969666 + ], + "joints": [ + 0.022980889305472374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01630559377372265, + -0.13399866223335266, + 0.006112075876444578 + ], + "orientation": [ + 0.7342504858970642, + -0.05231679975986481, + 0.6765376329421997, + 0.020882999524474144 + ], + "joints": [ + 0.010399429127573967 + ] + }, + "fine_grasp": { + "position": [ + 0.014661227352917194, + -0.13302797079086304, + 0.006697446573525667 + ], + "orientation": [ + 0.7381367683410645, + -0.05742241442203522, + 0.6717772483825684, + 0.023917099460959435 + ], + "joints": [ + 0.016271399334073067 + ] + }, + "final_grasp": { + "position": [ + 0.014661227352917194, + -0.13302797079086304, + 0.006697446573525667 + ], + "orientation": [ + 0.7381367683410645, + -0.05742241442203522, + 0.6717772483825684, + 0.023917099460959435 + ], + "joints": [ + 0.022143369540572166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10137084871530533, + 0.09023440629243851, + -0.004922594875097275 + ], + "orientation": [ + 0.2692719101905823, + -0.6487113237380981, + -0.30128127336502075, + -0.644899845123291 + ], + "joints": [ + 0.010823460295796394 + ] + }, + "fine_grasp": { + "position": [ + -0.10284998267889023, + 0.08818519115447998, + -0.006304348353296518 + ], + "orientation": [ + 0.2678610682487488, + -0.6474952101707458, + -0.30456164479255676, + -0.6451685428619385 + ], + "joints": [ + 0.016695432364940643 + ] + }, + "final_grasp": { + "position": [ + -0.10284998267889023, + 0.08818519115447998, + -0.006304348353296518 + ], + "orientation": [ + 0.2678610682487488, + -0.6474952101707458, + -0.30456164479255676, + -0.6451685428619385 + ], + "joints": [ + 0.022567404434084892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08552766591310501, + 0.10545920580625534, + -0.004244151525199413 + ], + "orientation": [ + 0.2485571950674057, + 0.6792910099029541, + 0.23382969200611115, + -0.649697482585907 + ], + "joints": [ + 0.010786838829517365 + ] + }, + "fine_grasp": { + "position": [ + -0.0836445614695549, + 0.10663684457540512, + -0.005173123441636562 + ], + "orientation": [ + 0.24769923090934753, + 0.6823546290397644, + 0.23264555633068085, + -0.6472352743148804 + ], + "joints": [ + 0.016658810898661613 + ] + }, + "final_grasp": { + "position": [ + -0.0836445614695549, + 0.10663684457540512, + -0.005173123441636562 + ], + "orientation": [ + 0.24769923090934753, + 0.6823546290397644, + 0.23264555633068085, + -0.6472352743148804 + ], + "joints": [ + 0.022530782967805862 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10143516957759857, + 0.09012775123119354, + -0.0050680493004620075 + ], + "orientation": [ + 0.26926279067993164, + -0.6484254002571106, + -0.30207595229148865, + -0.6448193788528442 + ], + "joints": [ + 0.010825463570654392 + ] + }, + "fine_grasp": { + "position": [ + -0.10284861922264099, + 0.08804560452699661, + -0.006362531334161758 + ], + "orientation": [ + 0.2681073546409607, + -0.6471678018569946, + -0.30505192279815674, + -0.6451632976531982 + ], + "joints": [ + 0.016697434708476067 + ] + }, + "final_grasp": { + "position": [ + -0.10284861922264099, + 0.08804560452699661, + -0.006362531334161758 + ], + "orientation": [ + 0.2681073546409607, + -0.6471678018569946, + -0.30505192279815674, + -0.6451632976531982 + ], + "joints": [ + 0.022569406777620316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09440487623214722, + 0.09789802879095078, + -0.004397409502416849 + ], + "orientation": [ + 0.27864789962768555, + 0.654895544052124, + 0.2505558431148529, + -0.6562689542770386 + ], + "joints": [ + 0.010559629648923874 + ] + }, + "fine_grasp": { + "position": [ + -0.09414909780025482, + 0.09658219665288925, + -0.005802272353321314 + ], + "orientation": [ + 0.2887246608734131, + 0.6537116169929504, + 0.2579050362110138, + -0.6502185463905334 + ], + "joints": [ + 0.01693642884492874 + ] + }, + "final_grasp": { + "position": [ + -0.09414909780025482, + 0.09658219665288925, + -0.005802272353321314 + ], + "orientation": [ + 0.2887246608734131, + 0.6537116169929504, + 0.2579050362110138, + -0.6502185463905334 + ], + "joints": [ + 0.02331322804093361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08174252510070801, + 0.10669666528701782, + 0.009881976060569286 + ], + "orientation": [ + 0.2354140430688858, + -0.7080630660057068, + 0.202403724193573, + 0.6342394948005676 + ], + "joints": [ + 0.010132702067494392 + ] + }, + "fine_grasp": { + "position": [ + 0.07991506159305573, + 0.10601361840963364, + 0.010581371374428272 + ], + "orientation": [ + 0.2377598136663437, + -0.7107592821121216, + 0.20491182804107666, + 0.6295257806777954 + ], + "joints": [ + 0.016004672273993492 + ] + }, + "final_grasp": { + "position": [ + 0.07991506159305573, + 0.10601361840963364, + 0.010581371374428272 + ], + "orientation": [ + 0.2377598136663437, + -0.7107592821121216, + 0.20491182804107666, + 0.6295257806777954 + ], + "joints": [ + 0.021876642480492592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03527607396245003, + 0.13031229376792908, + 0.004662567749619484 + ], + "orientation": [ + 0.07917805761098862, + 0.6833428144454956, + 0.10099747031927109, + -0.718730092048645 + ], + "joints": [ + 0.010629121214151382 + ] + }, + "fine_grasp": { + "position": [ + -0.03399237245321274, + 0.12968944013118744, + 0.005451669450849295 + ], + "orientation": [ + 0.08277656137943268, + 0.6767491698265076, + 0.10469837486743927, + -0.724014401435852 + ], + "joints": [ + 0.01650109328329563 + ] + }, + "final_grasp": { + "position": [ + -0.03399237245321274, + 0.12968944013118744, + 0.005451669450849295 + ], + "orientation": [ + 0.08277656137943268, + 0.6767491698265076, + 0.10469837486743927, + -0.724014401435852 + ], + "joints": [ + 0.02237306535243988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01665746234357357, + 0.1347426325082779, + 0.006500684656202793 + ], + "orientation": [ + 0.031101824715733528, + 0.6934632658958435, + 0.06599245965480804, + -0.7167890071868896 + ], + "joints": [ + 0.010280290618538857 + ] + }, + "fine_grasp": { + "position": [ + -0.01423607487231493, + 0.13462583720684052, + 0.007518935017287731 + ], + "orientation": [ + 0.029362192377448082, + 0.695650577545166, + 0.06688889116048813, + -0.71465665102005 + ], + "joints": [ + 0.016683662310242653 + ] + }, + "final_grasp": { + "position": [ + -0.01423607487231493, + 0.13462583720684052, + 0.007518935017287731 + ], + "orientation": [ + 0.029362192377448082, + 0.695650577545166, + 0.06688889116048813, + -0.71465665102005 + ], + "joints": [ + 0.02308703400194645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06716760247945786, + 0.11713395267724991, + -0.005930253304541111 + ], + "orientation": [ + 0.16351686418056488, + -0.6711781620979309, + -0.19079101085662842, + -0.6974101066589355 + ], + "joints": [ + 0.01028304174542427 + ] + }, + "fine_grasp": { + "position": [ + -0.0653947964310646, + 0.11791282147169113, + -0.007334334775805473 + ], + "orientation": [ + 0.16217751801013947, + -0.6699614524841309, + -0.19338615238666534, + -0.6981775164604187 + ], + "joints": [ + 0.016686413437128067 + ] + }, + "final_grasp": { + "position": [ + -0.0653947964310646, + 0.11791282147169113, + -0.007334334775805473 + ], + "orientation": [ + 0.16217751801013947, + -0.6699614524841309, + -0.19338615238666534, + -0.6981775164604187 + ], + "joints": [ + 0.023089785128831863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021658891811966896, + -0.13304442167282104, + 0.005674754735082388 + ], + "orientation": [ + 0.731913149356842, + -0.0664159283041954, + 0.6770601272583008, + 0.03849239647388458 + ], + "joints": [ + 0.01033094897866249 + ] + }, + "fine_grasp": { + "position": [ + 0.020196469500660896, + -0.1319771707057953, + 0.006338576320558786 + ], + "orientation": [ + 0.7363966107368469, + -0.07089937478303909, + 0.6715007424354553, + 0.0421917662024498 + ], + "joints": [ + 0.01620291918516159 + ] + }, + "final_grasp": { + "position": [ + 0.020196469500660896, + -0.1319771707057953, + 0.006338576320558786 + ], + "orientation": [ + 0.7363966107368469, + -0.07089937478303909, + 0.6715007424354553, + 0.0421917662024498 + ], + "joints": [ + 0.02207488939166069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02176547981798649, + -0.13304832577705383, + 0.005679678171873093 + ], + "orientation": [ + 0.7318901419639587, + -0.06698114424943924, + 0.6770017147064209, + 0.03897469490766525 + ], + "joints": [ + 0.01033094897866249 + ] + }, + "fine_grasp": { + "position": [ + 0.02029282972216606, + -0.13201332092285156, + 0.006355058401823044 + ], + "orientation": [ + 0.7362797856330872, + -0.0714123323559761, + 0.6715452671051025, + 0.04265283793210983 + ], + "joints": [ + 0.01620291918516159 + ] + }, + "final_grasp": { + "position": [ + 0.02029282972216606, + -0.13201332092285156, + 0.006355058401823044 + ], + "orientation": [ + 0.7362797856330872, + -0.0714123323559761, + 0.6715452671051025, + 0.04265283793210983 + ], + "joints": [ + 0.02207488939166069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02241464890539646, + 0.1334272176027298, + 0.005083187948912382 + ], + "orientation": [ + 0.04178664833307266, + 0.686863124370575, + -0.06835109740495682, + 0.7223579287528992 + ], + "joints": [ + 0.010318148881196976 + ] + }, + "fine_grasp": { + "position": [ + 0.021171648055315018, + 0.131944939494133, + 0.0063852122984826565 + ], + "orientation": [ + 0.04256512597203255, + 0.6808524131774902, + -0.07190936803817749, + 0.7276381254196167 + ], + "joints": [ + 0.016721520572900772 + ] + }, + "final_grasp": { + "position": [ + 0.021171648055315018, + 0.131944939494133, + 0.0063852122984826565 + ], + "orientation": [ + 0.04256512597203255, + 0.6808524131774902, + -0.07190936803817749, + 0.7276381254196167 + ], + "joints": [ + 0.02312489226460457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021091993898153305, + 0.1341061294078827, + 0.005984022282063961 + ], + "orientation": [ + 0.04544941708445549, + 0.6918979287147522, + -0.07723256200551987, + 0.7164124250411987 + ], + "joints": [ + 0.01080484502017498 + ] + }, + "fine_grasp": { + "position": [ + 0.018920158967375755, + 0.13372239470481873, + 0.007449535187333822 + ], + "orientation": [ + 0.04277396202087402, + 0.692180871963501, + -0.07837074249982834, + 0.716180145740509 + ], + "joints": [ + 0.01667681708931923 + ] + }, + "final_grasp": { + "position": [ + 0.018920158967375755, + 0.13372239470481873, + 0.007449535187333822 + ], + "orientation": [ + 0.04277396202087402, + 0.692180871963501, + -0.07837074249982834, + 0.716180145740509 + ], + "joints": [ + 0.022548789158463478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02456367015838623, + -0.13295310735702515, + -0.008105196990072727 + ], + "orientation": [ + 0.7137033939361572, + 0.08930467069149017, + -0.6931957006454468, + 0.0461716465651989 + ], + "joints": [ + 0.010138127952814102 + ] + }, + "fine_grasp": { + "position": [ + 0.02408396452665329, + -0.13182051479816437, + -0.009071712382137775 + ], + "orientation": [ + 0.7139183282852173, + 0.08223381638526917, + -0.6943625807762146, + 0.037669457495212555 + ], + "joints": [ + 0.0165414996445179 + ] + }, + "final_grasp": { + "position": [ + 0.02408396452665329, + -0.13182051479816437, + -0.009071712382137775 + ], + "orientation": [ + 0.7139183282852173, + 0.08223381638526917, + -0.6943625807762146, + 0.037669457495212555 + ], + "joints": [ + 0.022944871336221695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01663043722510338, + 0.1347046047449112, + 0.006538591347634792 + ], + "orientation": [ + 0.03135378658771515, + 0.693427562713623, + 0.06646041572093964, + -0.7167693376541138 + ], + "joints": [ + 0.010280290618538857 + ] + }, + "fine_grasp": { + "position": [ + -0.01422877050936222, + 0.13449209928512573, + 0.00755224609747529 + ], + "orientation": [ + 0.029769357293844223, + 0.6954087615013123, + 0.0674302950501442, + -0.7148243188858032 + ], + "joints": [ + 0.016683662310242653 + ] + }, + "final_grasp": { + "position": [ + -0.01422877050936222, + 0.13449209928512573, + 0.00755224609747529 + ], + "orientation": [ + 0.029769357293844223, + 0.6954087615013123, + 0.0674302950501442, + -0.7148243188858032 + ], + "joints": [ + 0.02308703400194645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01637144386768341, + 0.13481086492538452, + 0.006558185908943415 + ], + "orientation": [ + 0.03015204519033432, + 0.6915452480316162, + 0.06512843072414398, + -0.7187589406967163 + ], + "joints": [ + 0.010280290618538857 + ] + }, + "fine_grasp": { + "position": [ + -0.013954213820397854, + 0.13449712097644806, + 0.007592208683490753 + ], + "orientation": [ + 0.028926623985171318, + 0.6935364007949829, + 0.06703130900859833, + -0.7167128920555115 + ], + "joints": [ + 0.016683662310242653 + ] + }, + "final_grasp": { + "position": [ + -0.013954213820397854, + 0.13449712097644806, + 0.007592208683490753 + ], + "orientation": [ + 0.028926623985171318, + 0.6935364007949829, + 0.06703130900859833, + -0.7167128920555115 + ], + "joints": [ + 0.02308703400194645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004978567827492952, + -0.13536551594734192, + 0.004947192966938019 + ], + "orientation": [ + 0.729031503200531, + 0.0015087801730260253, + -0.683793842792511, + 0.030609192326664925 + ], + "joints": [ + 0.010258646681904793 + ] + }, + "fine_grasp": { + "position": [ + 0.005943774711340666, + -0.13397781550884247, + 0.006276265252381563 + ], + "orientation": [ + 0.7367656826972961, + -0.0031486700754612684, + -0.6754169464111328, + 0.03128007799386978 + ], + "joints": [ + 0.01666201837360859 + ] + }, + "final_grasp": { + "position": [ + 0.005943774711340666, + -0.13397781550884247, + 0.006276265252381563 + ], + "orientation": [ + 0.7367656826972961, + -0.0031486700754612684, + -0.6754169464111328, + 0.03128007799386978 + ], + "joints": [ + 0.023065390065312386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027806682512164116, + 0.13299518823623657, + -0.008870122022926807 + ], + "orientation": [ + 0.09671270102262497, + 0.7003023624420166, + -0.046567536890506744, + 0.7057298421859741 + ], + "joints": [ + 0.010360021144151688 + ] + }, + "fine_grasp": { + "position": [ + 0.02957635186612606, + 0.1322176456451416, + -0.009644792415201664 + ], + "orientation": [ + 0.09614138305187225, + 0.7004380822181702, + -0.045354995876550674, + 0.7057522535324097 + ], + "joints": [ + 0.016736820340156555 + ] + }, + "final_grasp": { + "position": [ + 0.02957635186612606, + 0.1322176456451416, + -0.009644792415201664 + ], + "orientation": [ + 0.09614138305187225, + 0.7004380822181702, + -0.045354995876550674, + 0.7057522535324097 + ], + "joints": [ + 0.023113619536161423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024376172572374344, + -0.13206547498703003, + 0.005450235214084387 + ], + "orientation": [ + 0.6770021319389343, + -0.09468135982751846, + 0.7274788618087769, + 0.05897544324398041 + ], + "joints": [ + 0.010399429127573967 + ] + }, + "fine_grasp": { + "position": [ + 0.02565564401447773, + -0.13143658638000488, + 0.006341737229377031 + ], + "orientation": [ + 0.6707594394683838, + -0.09485600143671036, + 0.733551025390625, + 0.05465428903698921 + ], + "joints": [ + 0.016271399334073067 + ] + }, + "final_grasp": { + "position": [ + 0.02565564401447773, + -0.13143658638000488, + 0.006341737229377031 + ], + "orientation": [ + 0.6707594394683838, + -0.09485600143671036, + 0.733551025390625, + 0.05465428903698921 + ], + "joints": [ + 0.022143369540572166 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06699885427951813, + 0.11750583350658417, + -0.00920172780752182 + ], + "orientation": [ + 0.15369251370429993, + -0.6677057147026062, + -0.19751453399658203, + -0.7010959386825562 + ], + "joints": [ + 0.010433122515678406 + ] + }, + "fine_grasp": { + "position": [ + -0.06488966196775436, + 0.11733879148960114, + -0.009876453317701817 + ], + "orientation": [ + 0.152999147772789, + -0.6677431464195251, + -0.1982368528842926, + -0.7010082006454468 + ], + "joints": [ + 0.016305092722177505 + ] + }, + "final_grasp": { + "position": [ + -0.06488966196775436, + 0.11733879148960114, + -0.009876453317701817 + ], + "orientation": [ + 0.152999147772789, + -0.6677431464195251, + -0.1982368528842926, + -0.7010082006454468 + ], + "joints": [ + 0.022177062928676605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023255473002791405, + 0.13357920944690704, + -0.004807155579328537 + ], + "orientation": [ + 0.08298265188932419, + 0.7134163975715637, + 0.05753524973988533, + -0.6934267282485962 + ], + "joints": [ + 0.010763775557279587 + ] + }, + "fine_grasp": { + "position": [ + -0.020569337531924248, + 0.1337854117155075, + -0.006304226815700531 + ], + "orientation": [ + 0.08343680948019028, + 0.7140963673591614, + 0.053625479340553284, + -0.6929856538772583 + ], + "joints": [ + 0.016635747626423836 + ] + }, + "final_grasp": { + "position": [ + -0.020569337531924248, + 0.1337854117155075, + -0.006304226815700531 + ], + "orientation": [ + 0.08343680948019028, + 0.7140963673591614, + 0.053625479340553284, + -0.6929856538772583 + ], + "joints": [ + 0.022507719695568085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024362169206142426, + -0.1320098340511322, + 0.005462944973260164 + ], + "orientation": [ + 0.6772883534431458, + -0.09469283372163773, + 0.7272084951400757, + 0.05900530144572258 + ], + "joints": [ + 0.010439479723572731 + ] + }, + "fine_grasp": { + "position": [ + 0.025695741176605225, + -0.13132917881011963, + 0.0067672631703317165 + ], + "orientation": [ + 0.6703101396560669, + -0.09629078209400177, + 0.7338485717773438, + 0.053653277456760406 + ], + "joints": [ + 0.01631144993007183 + ] + }, + "final_grasp": { + "position": [ + 0.025695741176605225, + -0.13132917881011963, + 0.0067672631703317165 + ], + "orientation": [ + 0.6703101396560669, + -0.09629078209400177, + 0.7338485717773438, + 0.053653277456760406 + ], + "joints": [ + 0.02218342013657093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07515958696603775, + 0.11209087818861008, + 0.007232578471302986 + ], + "orientation": [ + 0.2180134654045105, + -0.6930409073829651, + 0.18536633253097534, + 0.6616674065589905 + ], + "joints": [ + 0.010408055037260056 + ] + }, + "fine_grasp": { + "position": [ + 0.0734560638666153, + 0.11237075179815292, + 0.008158307522535324 + ], + "orientation": [ + 0.2184523642063141, + -0.691908597946167, + 0.18326817452907562, + 0.6632900834083557 + ], + "joints": [ + 0.016784854233264923 + ] + }, + "final_grasp": { + "position": [ + 0.0734560638666153, + 0.11237075179815292, + 0.008158307522535324 + ], + "orientation": [ + 0.2184523642063141, + -0.691908597946167, + 0.18326817452907562, + 0.6632900834083557 + ], + "joints": [ + 0.02316165342926979 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08450361341238022, + 0.1061704084277153, + 0.0047273230738937855 + ], + "orientation": [ + 0.2417183369398117, + -0.6763806939125061, + -0.2183288037776947, + -0.6606163382530212 + ], + "joints": [ + 0.010481530800461769 + ] + }, + "fine_grasp": { + "position": [ + -0.08324529230594635, + 0.10564073920249939, + 0.006078511942178011 + ], + "orientation": [ + 0.23994256556034088, + -0.6766138672828674, + -0.21178768575191498, + -0.6631494760513306 + ], + "joints": [ + 0.016884902492165565 + ] + }, + "final_grasp": { + "position": [ + -0.08324529230594635, + 0.10564073920249939, + 0.006078511942178011 + ], + "orientation": [ + 0.23994256556034088, + -0.6766138672828674, + -0.21178768575191498, + -0.6631494760513306 + ], + "joints": [ + 0.023288274183869362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005395081825554371, + -0.13531722128391266, + 0.005281252320855856 + ], + "orientation": [ + 0.7304078936576843, + 0.0008695402648299932, + -0.6822662353515625, + 0.03187859430909157 + ], + "joints": [ + 0.010292984545230865 + ] + }, + "fine_grasp": { + "position": [ + 0.006229528691619635, + -0.133884459733963, + 0.0065416996367275715 + ], + "orientation": [ + 0.7377765774726868, + -0.00378724024631083, + -0.6742671132087708, + 0.032176390290260315 + ], + "joints": [ + 0.016669783741235733 + ] + }, + "final_grasp": { + "position": [ + 0.006229528691619635, + -0.133884459733963, + 0.0065416996367275715 + ], + "orientation": [ + 0.7377765774726868, + -0.00378724024631083, + -0.6742671132087708, + 0.032176390290260315 + ], + "joints": [ + 0.0230465829372406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027916720137000084, + 0.13348743319511414, + -0.004781752824783325 + ], + "orientation": [ + 0.06280873715877533, + -0.6937737464904785, + 0.0886601060628891, + 0.7119497656822205 + ], + "joints": [ + 0.010601682588458061 + ] + }, + "fine_grasp": { + "position": [ + 0.025545567274093628, + 0.13309405744075775, + -0.006054888013750315 + ], + "orientation": [ + 0.058363642543554306, + -0.6971619725227356, + 0.08793926239013672, + 0.7091019153594971 + ], + "joints": [ + 0.016978483647108078 + ] + }, + "final_grasp": { + "position": [ + 0.025545567274093628, + 0.13309405744075775, + -0.006054888013750315 + ], + "orientation": [ + 0.058363642543554306, + -0.6971619725227356, + 0.08793926239013672, + 0.7091019153594971 + ], + "joints": [ + 0.023355284705758095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03895646333694458, + 0.13015544414520264, + 0.0046949200332164764 + ], + "orientation": [ + 0.09044665843248367, + 0.710374116897583, + -0.1211174800992012, + 0.6873999238014221 + ], + "joints": [ + 0.010698825120925903 + ] + }, + "fine_grasp": { + "position": [ + 0.04076790437102318, + 0.12882347404956818, + 0.005697331391274929 + ], + "orientation": [ + 0.08839190751314163, + 0.7107625603675842, + -0.12197616696357727, + 0.6871137619018555 + ], + "joints": [ + 0.016570797190070152 + ] + }, + "final_grasp": { + "position": [ + 0.04076790437102318, + 0.12882347404956818, + 0.005697331391274929 + ], + "orientation": [ + 0.08839190751314163, + 0.7107625603675842, + -0.12197616696357727, + 0.6871137619018555 + ], + "joints": [ + 0.0224427692592144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061234187334775925, + 0.12101447582244873, + 0.004198153503239155 + ], + "orientation": [ + 0.15407411754131317, + 0.6748499274253845, + -0.17266444861888885, + 0.7007323503494263 + ], + "joints": [ + 0.010364294052124023 + ] + }, + "fine_grasp": { + "position": [ + 0.05940225347876549, + 0.12085794657468796, + 0.005834539886564016 + ], + "orientation": [ + 0.15249978005886078, + 0.6697747111320496, + -0.17531390488147736, + 0.7052735686302185 + ], + "joints": [ + 0.01676766574382782 + ] + }, + "final_grasp": { + "position": [ + 0.05940225347876549, + 0.12085794657468796, + 0.005834539886564016 + ], + "orientation": [ + 0.15249978005886078, + 0.6697747111320496, + -0.17531390488147736, + 0.7052735686302185 + ], + "joints": [ + 0.023171037435531616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08509162813425064, + 0.10426567494869232, + 0.00829523429274559 + ], + "orientation": [ + 0.2122715264558792, + 0.6888886094093323, + 0.2815852165222168, + -0.6333112716674805 + ], + "joints": [ + 0.0098675936460495 + ] + }, + "fine_grasp": { + "position": [ + -0.08507351577281952, + 0.10301338881254196, + 0.00876733660697937 + ], + "orientation": [ + 0.2057175189256668, + 0.6954420208930969, + 0.28121161460876465, + -0.6284591555595398 + ], + "joints": [ + 0.01573956198990345 + ] + }, + "final_grasp": { + "position": [ + -0.08507351577281952, + 0.10301338881254196, + 0.00876733660697937 + ], + "orientation": [ + 0.2057175189256668, + 0.6954420208930969, + 0.28121161460876465, + -0.6284591555595398 + ], + "joints": [ + 0.0216115303337574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06304305791854858, + 0.12030979990959167, + 0.0061538852751255035 + ], + "orientation": [ + 0.15465736389160156, + 0.6715899109840393, + -0.18317998945713043, + 0.7010658383369446 + ], + "joints": [ + 0.01035420410335064 + ] + }, + "fine_grasp": { + "position": [ + 0.06119038537144661, + 0.11969158053398132, + 0.007447883952409029 + ], + "orientation": [ + 0.15355579555034637, + 0.6691647171974182, + -0.1846221536397934, + 0.7032452821731567 + ], + "joints": [ + 0.016757575795054436 + ] + }, + "final_grasp": { + "position": [ + 0.06119038537144661, + 0.11969158053398132, + 0.007447883952409029 + ], + "orientation": [ + 0.15355579555034637, + 0.6691647171974182, + -0.1846221536397934, + 0.7032452821731567 + ], + "joints": [ + 0.023160947486758232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0769994705915451, + 0.11112294346094131, + -0.007951417937874794 + ], + "orientation": [ + 0.19016961753368378, + -0.6622655391693115, + -0.22851985692977905, + -0.6877633929252625 + ], + "joints": [ + 0.010219263844192028 + ] + }, + "fine_grasp": { + "position": [ + -0.07528998702764511, + 0.11109577864408493, + -0.008873365819454193 + ], + "orientation": [ + 0.18837802112102509, + -0.6626812815666199, + -0.22777235507965088, + -0.6881039142608643 + ], + "joints": [ + 0.01662263460457325 + ] + }, + "final_grasp": { + "position": [ + -0.07528998702764511, + 0.11109577864408493, + -0.008873365819454193 + ], + "orientation": [ + 0.18837802112102509, + -0.6626812815666199, + -0.22777235507965088, + -0.6881039142608643 + ], + "joints": [ + 0.023026004433631897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0972156673669815, + 0.09449680149555206, + -0.005625162273645401 + ], + "orientation": [ + 0.29578202962875366, + 0.6611170768737793, + 0.2731121778488159, + -0.6331247091293335 + ], + "joints": [ + 0.010437685996294022 + ] + }, + "fine_grasp": { + "position": [ + -0.09533107280731201, + 0.09558114409446716, + -0.006809445098042488 + ], + "orientation": [ + 0.2964421510696411, + 0.6608486175537109, + 0.27015072107315063, + -0.6343656182289124 + ], + "joints": [ + 0.016841057687997818 + ] + }, + "final_grasp": { + "position": [ + -0.09533107280731201, + 0.09558114409446716, + -0.006809445098042488 + ], + "orientation": [ + 0.2964421510696411, + 0.6608486175537109, + 0.27015072107315063, + -0.6343656182289124 + ], + "joints": [ + 0.023244429379701614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08415068686008453, + 0.10564311593770981, + -0.006210795603692532 + ], + "orientation": [ + 0.2149183750152588, + -0.6608344316482544, + -0.24646970629692078, + -0.6755447387695312 + ], + "joints": [ + 0.010668976232409477 + ] + }, + "fine_grasp": { + "position": [ + -0.08321662247180939, + 0.10541403293609619, + -0.007187390699982643 + ], + "orientation": [ + 0.21482351422309875, + -0.6599541902542114, + -0.24794602394104004, + -0.675895094871521 + ], + "joints": [ + 0.016540948301553726 + ] + }, + "final_grasp": { + "position": [ + -0.08321662247180939, + 0.10541403293609619, + -0.007187390699982643 + ], + "orientation": [ + 0.21482351422309875, + -0.6599541902542114, + -0.24794602394104004, + -0.675895094871521 + ], + "joints": [ + 0.022412920370697975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08510883152484894, + 0.10534720867872238, + 0.004501754883676767 + ], + "orientation": [ + 0.24293392896652222, + -0.671825647354126, + -0.21784153580665588, + -0.6649650931358337 + ], + "joints": [ + 0.010481530800461769 + ] + }, + "fine_grasp": { + "position": [ + -0.08410752564668655, + 0.10462470352649689, + 0.0060986545868217945 + ], + "orientation": [ + 0.24633145332336426, + -0.6717517971992493, + -0.21633677184581757, + -0.6642805933952332 + ], + "joints": [ + 0.016884902492165565 + ] + }, + "final_grasp": { + "position": [ + -0.08410752564668655, + 0.10462470352649689, + 0.0060986545868217945 + ], + "orientation": [ + 0.24633145332336426, + -0.6717517971992493, + -0.21633677184581757, + -0.6642805933952332 + ], + "joints": [ + 0.023288274183869362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059852536767721176, + 0.12179093062877655, + 0.0050400421023368835 + ], + "orientation": [ + 0.14859451353549957, + 0.674512505531311, + -0.1715223491191864, + 0.7025188207626343 + ], + "joints": [ + 0.010366808623075485 + ] + }, + "fine_grasp": { + "position": [ + 0.058133434504270554, + 0.12130334973335266, + 0.0064306664280593395 + ], + "orientation": [ + 0.14842163026332855, + 0.6696184873580933, + -0.1738930195569992, + 0.7066423296928406 + ], + "joints": [ + 0.01677018031477928 + ] + }, + "final_grasp": { + "position": [ + 0.058133434504270554, + 0.12130334973335266, + 0.0064306664280593395 + ], + "orientation": [ + 0.14842163026332855, + 0.6696184873580933, + -0.1738930195569992, + 0.7066423296928406 + ], + "joints": [ + 0.023173552006483078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09409994632005692, + 0.09657180309295654, + 0.004969998728483915 + ], + "orientation": [ + 0.29192888736724854, + -0.6359299421310425, + 0.24738635122776031, + 0.6702019572257996 + ], + "joints": [ + 0.010216331109404564 + ] + }, + "fine_grasp": { + "position": [ + 0.09415662288665771, + 0.09461231529712677, + 0.0057593113742768764 + ], + "orientation": [ + 0.2916865944862366, + -0.633059024810791, + 0.24133045971393585, + 0.6752145886421204 + ], + "joints": [ + 0.01661970280110836 + ] + }, + "final_grasp": { + "position": [ + 0.09415662288665771, + 0.09461231529712677, + 0.0057593113742768764 + ], + "orientation": [ + 0.2916865944862366, + -0.633059024810791, + 0.24133045971393585, + 0.6752145886421204 + ], + "joints": [ + 0.023023074492812157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008241105824708939, + 0.13533951342105865, + -0.004435441456735134 + ], + "orientation": [ + 0.009650536812841892, + -0.7265939116477966, + 0.03638380020856857, + 0.6860353350639343 + ], + "joints": [ + 0.010225272737443447 + ] + }, + "fine_grasp": { + "position": [ + 0.009301843121647835, + 0.1339729279279709, + -0.005594600923359394 + ], + "orientation": [ + 0.005638817325234413, + -0.7325637936592102, + 0.03732898831367493, + 0.6796506643295288 + ], + "joints": [ + 0.01662864349782467 + ] + }, + "final_grasp": { + "position": [ + 0.009301843121647835, + 0.1339729279279709, + -0.005594600923359394 + ], + "orientation": [ + 0.005638817325234413, + -0.7325637936592102, + 0.03732898831367493, + 0.6796506643295288 + ], + "joints": [ + 0.023032013326883316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06247098371386528, + 0.11953391134738922, + 0.011101819574832916 + ], + "orientation": [ + 0.18767736852169037, + -0.7102415561676025, + 0.13531264662742615, + 0.6648492813110352 + ], + "joints": [ + 0.009788580238819122 + ] + }, + "fine_grasp": { + "position": [ + 0.06001303344964981, + 0.11902253329753876, + 0.012281968258321285 + ], + "orientation": [ + 0.1892087757587433, + -0.7103253602981567, + 0.13375163078308105, + 0.6646414995193481 + ], + "joints": [ + 0.01619195006787777 + ] + }, + "final_grasp": { + "position": [ + 0.06001303344964981, + 0.11902253329753876, + 0.012281968258321285 + ], + "orientation": [ + 0.1892087757587433, + -0.7103253602981567, + 0.13375163078308105, + 0.6646414995193481 + ], + "joints": [ + 0.022595319896936417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01409744843840599, + -0.1349567025899887, + -0.004524212330579758 + ], + "orientation": [ + 0.6864619255065918, + 0.05486103519797325, + 0.7245942950248718, + -0.026893075555562973 + ], + "joints": [ + 0.01077550370246172 + ] + }, + "fine_grasp": { + "position": [ + -0.014814037829637527, + -0.13359147310256958, + -0.005389724858105183 + ], + "orientation": [ + 0.6786438226699829, + 0.05394933000206947, + 0.7321375012397766, + -0.02250884659588337 + ], + "joints": [ + 0.016647474840283394 + ] + }, + "final_grasp": { + "position": [ + -0.014814037829637527, + -0.13359147310256958, + -0.005389724858105183 + ], + "orientation": [ + 0.6786438226699829, + 0.05394933000206947, + 0.7321375012397766, + -0.02250884659588337 + ], + "joints": [ + 0.022519446909427643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08607710897922516, + 0.10487058013677597, + -0.00431036576628685 + ], + "orientation": [ + 0.2525326609611511, + 0.6720900535583496, + 0.23147954046726227, + -0.6564596891403198 + ], + "joints": [ + 0.010786836966872215 + ] + }, + "fine_grasp": { + "position": [ + -0.08392108976840973, + 0.10560233145952225, + -0.006685967557132244 + ], + "orientation": [ + 0.2560085654258728, + 0.6721641421318054, + 0.2256934642791748, + -0.6570519804954529 + ], + "joints": [ + 0.016658809036016464 + ] + }, + "final_grasp": { + "position": [ + -0.08392108976840973, + 0.10560233145952225, + -0.006685967557132244 + ], + "orientation": [ + 0.2560085654258728, + 0.6721641421318054, + 0.2256934642791748, + -0.6570519804954529 + ], + "joints": [ + 0.022530781105160713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08404681086540222, + 0.10468407720327377, + -0.018056156113743782 + ], + "orientation": [ + 0.2540885806083679, + 0.7438996434211731, + 0.20102056860923767, + -0.5845023989677429 + ], + "joints": [ + 0.008690902963280678 + ] + }, + "fine_grasp": { + "position": [ + -0.08180830627679825, + 0.10283276438713074, + -0.018517421558499336 + ], + "orientation": [ + 0.2568066716194153, + 0.7493438124656677, + 0.20627319812774658, + -0.5744435787200928 + ], + "joints": [ + 0.014058040454983711 + ] + }, + "final_grasp": { + "position": [ + -0.08180830627679825, + 0.10283276438713074, + -0.018517421558499336 + ], + "orientation": [ + 0.2568066716194153, + 0.7493438124656677, + 0.20627319812774658, + -0.5744435787200928 + ], + "joints": [ + 0.019425177946686745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09565186500549316, + 0.0960821807384491, + -0.004823499824851751 + ], + "orientation": [ + 0.25093862414360046, + -0.6512881517410278, + 0.2771587371826172, + 0.660330593585968 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + 0.09554687142372131, + 0.09452034533023834, + -0.00655747763812542 + ], + "orientation": [ + 0.2501771152019501, + -0.6493472456932068, + 0.28157439827919006, + 0.6606627702713013 + ], + "joints": [ + 0.016882900148630142 + ] + }, + "final_grasp": { + "position": [ + 0.09554687142372131, + 0.09452034533023834, + -0.00655747763812542 + ], + "orientation": [ + 0.2501771152019501, + -0.6493472456932068, + 0.28157439827919006, + 0.6606627702713013 + ], + "joints": [ + 0.02328627184033394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08528519421815872, + 0.10404076427221298, + 0.0084224883466959 + ], + "orientation": [ + 0.21158099174499512, + 0.689450204372406, + 0.28182315826416016, + -0.6328251361846924 + ], + "joints": [ + 0.010206030681729317 + ] + }, + "fine_grasp": { + "position": [ + -0.08528348803520203, + 0.10268504172563553, + 0.008779307827353477 + ], + "orientation": [ + 0.20495076477527618, + 0.6959732174873352, + 0.2812660038471222, + -0.6280970573425293 + ], + "joints": [ + 0.016078000888228416 + ] + }, + "final_grasp": { + "position": [ + -0.08528348803520203, + 0.10268504172563553, + 0.008779307827353477 + ], + "orientation": [ + 0.20495076477527618, + 0.6959732174873352, + 0.2812660038471222, + -0.6280970573425293 + ], + "joints": [ + 0.021949971094727516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05539911612868309, + 0.12391028553247452, + -0.004046440124511719 + ], + "orientation": [ + 0.13411873579025269, + -0.6968825459480286, + 0.16034257411956787, + 0.6860446929931641 + ], + "joints": [ + 0.010399427264928818 + ] + }, + "fine_grasp": { + "position": [ + 0.05714336410164833, + 0.12233089655637741, + -0.005823694635182619 + ], + "orientation": [ + 0.13209252059459686, + -0.6978480219841003, + 0.1657126396894455, + 0.684177577495575 + ], + "joints": [ + 0.016802798956632614 + ] + }, + "final_grasp": { + "position": [ + 0.05714336410164833, + 0.12233089655637741, + -0.005823694635182619 + ], + "orientation": [ + 0.13209252059459686, + -0.6978480219841003, + 0.1657126396894455, + 0.684177577495575 + ], + "joints": [ + 0.02320617064833641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06659215688705444, + 0.11822095513343811, + 0.0041676717810332775 + ], + "orientation": [ + 0.19795286655426025, + -0.6677213907241821, + -0.16508975625038147, + -0.6983610391616821 + ], + "joints": [ + 0.010399429127573967 + ] + }, + "fine_grasp": { + "position": [ + -0.06711254268884659, + 0.1168350949883461, + 0.005841658916324377 + ], + "orientation": [ + 0.20133216679096222, + -0.659972608089447, + -0.15749132633209229, + -0.7064686417579651 + ], + "joints": [ + 0.016776228323578835 + ] + }, + "final_grasp": { + "position": [ + -0.06711254268884659, + 0.1168350949883461, + 0.005841658916324377 + ], + "orientation": [ + 0.20133216679096222, + -0.659972608089447, + -0.15749132633209229, + -0.7064686417579651 + ], + "joints": [ + 0.023153027519583702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06578357517719269, + 0.11870637536048889, + 0.007142261601984501 + ], + "orientation": [ + 0.1623723953962326, + 0.6664152145385742, + -0.1946924328804016, + 0.7011566758155823 + ], + "joints": [ + 0.010229820385575294 + ] + }, + "fine_grasp": { + "position": [ + 0.06369718909263611, + 0.11838629096746445, + 0.008592299185693264 + ], + "orientation": [ + 0.1608419120311737, + 0.665456235408783, + -0.19676518440246582, + 0.701841413974762 + ], + "joints": [ + 0.01663319207727909 + ] + }, + "final_grasp": { + "position": [ + 0.06369718909263611, + 0.11838629096746445, + 0.008592299185693264 + ], + "orientation": [ + 0.1608419120311737, + 0.665456235408783, + -0.19676518440246582, + 0.701841413974762 + ], + "joints": [ + 0.023036563768982887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06299205869436264, + 0.12008392065763474, + -0.0066995141096413136 + ], + "orientation": [ + 0.18332362174987793, + 0.7064505219459534, + 0.15413568913936615, + -0.6660047173500061 + ], + "joints": [ + 0.010358549654483795 + ] + }, + "fine_grasp": { + "position": [ + -0.06040588766336441, + 0.11958711594343185, + -0.008331705816090107 + ], + "orientation": [ + 0.18507444858551025, + 0.7092261910438538, + 0.15150900185108185, + -0.6631671190261841 + ], + "joints": [ + 0.016735348850488663 + ] + }, + "final_grasp": { + "position": [ + -0.06040588766336441, + 0.11958711594343185, + -0.008331705816090107 + ], + "orientation": [ + 0.18507444858551025, + 0.7092261910438538, + 0.15150900185108185, + -0.6631671190261841 + ], + "joints": [ + 0.02311214804649353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07248305529356003, + 0.11465990543365479, + 0.004392056260257959 + ], + "orientation": [ + 0.1907307356595993, + 0.6676775813102722, + -0.21097207069396973, + 0.6879820823669434 + ], + "joints": [ + 0.010411243885755539 + ] + }, + "fine_grasp": { + "position": [ + 0.07060019671916962, + 0.11508019268512726, + 0.006454042624682188 + ], + "orientation": [ + 0.18771517276763916, + 0.6644142270088196, + -0.21432936191558838, + 0.6909267902374268 + ], + "joints": [ + 0.016814615577459335 + ] + }, + "final_grasp": { + "position": [ + 0.07060019671916962, + 0.11508019268512726, + 0.006454042624682188 + ], + "orientation": [ + 0.18771517276763916, + 0.6644142270088196, + -0.21432936191558838, + 0.6909267902374268 + ], + "joints": [ + 0.02321798726916313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08421707898378372, + 0.10552266240119934, + 0.007171169389039278 + ], + "orientation": [ + 0.25170907378196716, + -0.6786914467811584, + 0.21778267621994019, + 0.6546687483787537 + ], + "joints": [ + 0.010309389792382717 + ] + }, + "fine_grasp": { + "position": [ + 0.08248338103294373, + 0.10560664534568787, + 0.008216223679482937 + ], + "orientation": [ + 0.25159788131713867, + -0.6779564023017883, + 0.21501010656356812, + 0.6563872694969177 + ], + "joints": [ + 0.01671276055276394 + ] + }, + "final_grasp": { + "position": [ + 0.08248338103294373, + 0.10560664534568787, + 0.008216223679482937 + ], + "orientation": [ + 0.25159788131713867, + -0.6779564023017883, + 0.21501010656356812, + 0.6563872694969177 + ], + "joints": [ + 0.023116130381822586 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046906109899282455, + 0.12702128291130066, + 0.0051229954697191715 + ], + "orientation": [ + 0.13950420916080475, + -0.687698483467102, + 0.10712278634309769, + 0.7043678760528564 + ], + "joints": [ + 0.010439477860927582 + ] + }, + "fine_grasp": { + "position": [ + 0.04923408851027489, + 0.12590885162353516, + 0.00627554627135396 + ], + "orientation": [ + 0.14054760336875916, + -0.690398097038269, + 0.10624651610851288, + 0.7016470432281494 + ], + "joints": [ + 0.016842849552631378 + ] + }, + "final_grasp": { + "position": [ + 0.04923408851027489, + 0.12590885162353516, + 0.00627554627135396 + ], + "orientation": [ + 0.14054760336875916, + -0.690398097038269, + 0.10624651610851288, + 0.7016470432281494 + ], + "joints": [ + 0.023246221244335175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03532303497195244, + 0.13081073760986328, + 0.0038976571522653103 + ], + "orientation": [ + 0.10219398885965347, + -0.6909123659133911, + -0.07689841091632843, + -0.7115357518196106 + ], + "joints": [ + 0.010372791439294815 + ] + }, + "fine_grasp": { + "position": [ + -0.03711722046136856, + 0.1297619789838791, + 0.0051415483467280865 + ], + "orientation": [ + 0.10536867380142212, + -0.6889524459838867, + -0.07514015585184097, + -0.7131590247154236 + ], + "joints": [ + 0.01677616313099861 + ] + }, + "final_grasp": { + "position": [ + -0.03711722046136856, + 0.1297619789838791, + 0.0051415483467280865 + ], + "orientation": [ + 0.10536867380142212, + -0.6889524459838867, + -0.07514015585184097, + -0.7131590247154236 + ], + "joints": [ + 0.023179534822702408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03331121429800987, + -0.019834313541650772, + 0.10718148201704025 + ], + "orientation": [ + 0.5996612906455994, + -0.5421753525733948, + -0.4361981749534607, + 0.39520034193992615 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.03297076374292374, + -0.021514367312192917, + 0.11139610409736633 + ], + "orientation": [ + 0.6038941740989685, + -0.5364172458648682, + -0.43561387062072754, + 0.3972517251968384 + ], + "joints": [ + -0.008716736920177937 + ] + }, + "final_grasp": { + "position": [ + 0.03297076374292374, + -0.021514367312192917, + 0.11139610409736633 + ], + "orientation": [ + 0.6038941740989685, + -0.5364172458648682, + -0.43561387062072754, + 0.3972517251968384 + ], + "joints": [ + -0.0027916301041841507 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03413278982043266, + -0.1319151073694229, + 0.008795585483312607 + ], + "orientation": [ + 0.6981911063194275, + 0.06331028044223785, + -0.7041918039321899, + 0.11240570992231369 + ], + "joints": [ + 0.010328390635550022 + ] + }, + "fine_grasp": { + "position": [ + 0.03488770127296448, + -0.13004782795906067, + 0.009727134369313717 + ], + "orientation": [ + 0.7006443738937378, + 0.06473799049854279, + -0.7011125087738037, + 0.11553265899419785 + ], + "joints": [ + 0.016705190762877464 + ] + }, + "final_grasp": { + "position": [ + 0.03488770127296448, + -0.13004782795906067, + 0.009727134369313717 + ], + "orientation": [ + 0.7006443738937378, + 0.06473799049854279, + -0.7011125087738037, + 0.11553265899419785 + ], + "joints": [ + 0.02308199182152748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06720410287380219, + 0.11781340092420578, + 0.00411943718791008 + ], + "orientation": [ + 0.19852279126644135, + -0.6681639552116394, + -0.1662265956401825, + -0.6975057721138 + ], + "joints": [ + 0.010399429127573967 + ] + }, + "fine_grasp": { + "position": [ + -0.06781426072120667, + 0.11633215844631195, + 0.005850930232554674 + ], + "orientation": [ + 0.20251186192035675, + -0.6599149107933044, + -0.15865640342235565, + -0.705924391746521 + ], + "joints": [ + 0.016776228323578835 + ] + }, + "final_grasp": { + "position": [ + -0.06781426072120667, + 0.11633215844631195, + 0.005850930232554674 + ], + "orientation": [ + 0.20251186192035675, + -0.6599149107933044, + -0.15865640342235565, + -0.705924391746521 + ], + "joints": [ + 0.023153027519583702 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04694751277565956, + 0.1266787350177765, + -0.0069787283428013325 + ], + "orientation": [ + 0.15312863886356354, + 0.6911951303482056, + -0.11240064352750778, + 0.6972568035125732 + ], + "joints": [ + 0.010319329798221588 + ] + }, + "fine_grasp": { + "position": [ + 0.04751141741871834, + 0.12536485493183136, + -0.008014081045985222 + ], + "orientation": [ + 0.15587085485458374, + 0.6924465894699097, + -0.11261798441410065, + 0.6953698992729187 + ], + "joints": [ + 0.016722701489925385 + ] + }, + "final_grasp": { + "position": [ + 0.04751141741871834, + 0.12536485493183136, + -0.008014081045985222 + ], + "orientation": [ + 0.15587085485458374, + 0.6924465894699097, + -0.11261798441410065, + 0.6953698992729187 + ], + "joints": [ + 0.02312607318162918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021372897550463676, + 0.13415512442588806, + 0.006091751623898745 + ], + "orientation": [ + 0.04733285307884216, + 0.6957636475563049, + -0.08070887625217438, + 0.7121506333351135 + ], + "joints": [ + 0.010580390691757202 + ] + }, + "fine_grasp": { + "position": [ + 0.020020529627799988, + 0.1331997960805893, + 0.007439819630235434 + ], + "orientation": [ + 0.0399809330701828, + 0.6967417001724243, + -0.07666176557540894, + 0.712092399597168 + ], + "joints": [ + 0.01695719175040722 + ] + }, + "final_grasp": { + "position": [ + 0.020020529627799988, + 0.1331997960805893, + 0.007439819630235434 + ], + "orientation": [ + 0.0399809330701828, + 0.6967417001724243, + -0.07666176557540894, + 0.712092399597168 + ], + "joints": [ + 0.023333992809057236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08203805238008499, + 0.10095658898353577, + -0.03602975234389305 + ], + "orientation": [ + 0.16948938369750977, + -0.2312992364168167, + -0.13889211416244507, + -0.9478833675384521 + ], + "joints": [ + 0.006969235837459564 + ] + }, + "fine_grasp": { + "position": [ + -0.07970595359802246, + 0.1002243235707283, + -0.0345286950469017 + ], + "orientation": [ + 0.1784999519586563, + -0.231109157204628, + -0.15763340890407562, + -0.9433335065841675 + ], + "joints": [ + 0.009174546226859093 + ] + }, + "final_grasp": { + "position": [ + -0.07970595359802246, + 0.1002243235707283, + -0.0345286950469017 + ], + "orientation": [ + 0.1784999519586563, + -0.231109157204628, + -0.15763340890407562, + -0.9433335065841675 + ], + "joints": [ + 0.011379856616258621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0248455498367548, + -0.13277064263820648, + -0.008214876987040043 + ], + "orientation": [ + 0.7135835289955139, + 0.0897325649857521, + -0.6932823657989502, + 0.04589227959513664 + ], + "joints": [ + 0.01014718972146511 + ] + }, + "fine_grasp": { + "position": [ + 0.024250613525509834, + -0.13147714734077454, + -0.009286853484809399 + ], + "orientation": [ + 0.7138465642929077, + 0.08434487134218216, + -0.6941470503807068, + 0.03832695260643959 + ], + "joints": [ + 0.016550561413168907 + ] + }, + "final_grasp": { + "position": [ + 0.024250613525509834, + -0.13147714734077454, + -0.009286853484809399 + ], + "orientation": [ + 0.7138465642929077, + 0.08434487134218216, + -0.6941470503807068, + 0.03832695260643959 + ], + "joints": [ + 0.022953933104872704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06662200391292572, + 0.11830116808414459, + 0.010805919766426086 + ], + "orientation": [ + 0.152329683303833, + 0.6643732190132141, + -0.20448318123817444, + 0.7025600671768188 + ], + "joints": [ + 0.009980125352740288 + ] + }, + "fine_grasp": { + "position": [ + 0.06388242542743683, + 0.11717935651540756, + 0.011691160500049591 + ], + "orientation": [ + 0.15185849368572235, + 0.6629636883735657, + -0.20540133118629456, + 0.70372474193573 + ], + "joints": [ + 0.016383495181798935 + ] + }, + "final_grasp": { + "position": [ + 0.06388242542743683, + 0.11717935651540756, + 0.011691160500049591 + ], + "orientation": [ + 0.15185849368572235, + 0.6629636883735657, + -0.20540133118629456, + 0.70372474193573 + ], + "joints": [ + 0.022786865010857582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07852591574192047, + 0.11067245155572891, + -0.0157819502055645 + ], + "orientation": [ + 0.1816125512123108, + -0.6484550833702087, + -0.258226603269577, + -0.6927062273025513 + ], + "joints": [ + 0.009965430945158005 + ] + }, + "fine_grasp": { + "position": [ + -0.07543783634901047, + 0.11043528467416763, + -0.01653973199427128 + ], + "orientation": [ + 0.18139134347438812, + -0.6441320180892944, + -0.2572048306465149, + -0.6971632242202759 + ], + "joints": [ + 0.015837399289011955 + ] + }, + "final_grasp": { + "position": [ + -0.07543783634901047, + 0.11043528467416763, + -0.01653973199427128 + ], + "orientation": [ + 0.18139134347438812, + -0.6441320180892944, + -0.2572048306465149, + -0.6971632242202759 + ], + "joints": [ + 0.021709367632865906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1039835661649704, + 0.08548960834741592, + -0.009968227706849575 + ], + "orientation": [ + 0.2754814028739929, + -0.6122011542320251, + -0.30819767713546753, + -0.6740430593490601 + ], + "joints": [ + 0.01002388633787632 + ] + }, + "fine_grasp": { + "position": [ + -0.10199979692697525, + 0.08499757945537567, + -0.010747300460934639 + ], + "orientation": [ + 0.27875426411628723, + -0.6072524785995483, + -0.30994713306427, + -0.6763677597045898 + ], + "joints": [ + 0.016427256166934967 + ] + }, + "final_grasp": { + "position": [ + -0.10199979692697525, + 0.08499757945537567, + -0.010747300460934639 + ], + "orientation": [ + 0.27875426411628723, + -0.6072524785995483, + -0.30994713306427, + -0.6763677597045898 + ], + "joints": [ + 0.022830625995993614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06794324517250061, + 0.11746808886528015, + -0.004069031681865454 + ], + "orientation": [ + 0.1681152880191803, + -0.6937037110328674, + 0.19821815192699432, + 0.6717305779457092 + ], + "joints": [ + 0.010399429127573967 + ] + }, + "fine_grasp": { + "position": [ + 0.0685456320643425, + 0.11593665182590485, + -0.0055355713702738285 + ], + "orientation": [ + 0.16220995783805847, + -0.6999221444129944, + 0.20076428353786469, + 0.6659509539604187 + ], + "joints": [ + 0.016802800819277763 + ] + }, + "final_grasp": { + "position": [ + 0.0685456320643425, + 0.11593665182590485, + -0.0055355713702738285 + ], + "orientation": [ + 0.16220995783805847, + -0.6999221444129944, + 0.20076428353786469, + 0.6659509539604187 + ], + "joints": [ + 0.02320617251098156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014209001325070858, + -0.1351633071899414, + -0.0050806147046387196 + ], + "orientation": [ + 0.7112424969673157, + 0.04742889851331711, + 0.701086163520813, + -0.0190508421510458 + ], + "joints": [ + 0.01085127517580986 + ] + }, + "fine_grasp": { + "position": [ + -0.012822328135371208, + -0.13383521139621735, + -0.006111746188253164 + ], + "orientation": [ + 0.7103605270385742, + 0.048098091036081314, + 0.7019863128662109, + -0.017026422545313835 + ], + "joints": [ + 0.01672324724495411 + ] + }, + "final_grasp": { + "position": [ + -0.012822328135371208, + -0.13383521139621735, + -0.006111746188253164 + ], + "orientation": [ + 0.7103605270385742, + 0.048098091036081314, + 0.7019863128662109, + -0.017026422545313835 + ], + "joints": [ + 0.022595219314098358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0853765606880188, + 0.10528203845024109, + 0.017866332083940506 + ], + "orientation": [ + 0.20017863810062408, + 0.6384174823760986, + -0.28806304931640625, + 0.6851068735122681 + ], + "joints": [ + 0.009659132920205593 + ] + }, + "fine_grasp": { + "position": [ + 0.0823339894413948, + 0.10462480783462524, + 0.018584415316581726 + ], + "orientation": [ + 0.19786939024925232, + 0.6356474757194519, + -0.2848973274230957, + 0.6896619200706482 + ], + "joints": [ + 0.015531100332736969 + ] + }, + "final_grasp": { + "position": [ + 0.0823339894413948, + 0.10462480783462524, + 0.018584415316581726 + ], + "orientation": [ + 0.19786939024925232, + 0.6356474757194519, + -0.2848973274230957, + 0.6896619200706482 + ], + "joints": [ + 0.02140306681394577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09598148614168167, + 0.09511714428663254, + 0.007325673475861549 + ], + "orientation": [ + 0.2556767761707306, + 0.6402044892311096, + 0.2898997366428375, + -0.6638716459274292 + ], + "joints": [ + 0.010247139260172844 + ] + }, + "fine_grasp": { + "position": [ + -0.0946795791387558, + 0.09450331330299377, + 0.008323346264660358 + ], + "orientation": [ + 0.2563229501247406, + 0.6395037174224854, + 0.293222576379776, + -0.6628378629684448 + ], + "joints": [ + 0.01665051095187664 + ] + }, + "final_grasp": { + "position": [ + -0.0946795791387558, + 0.09450331330299377, + 0.008323346264660358 + ], + "orientation": [ + 0.2563229501247406, + 0.6395037174224854, + 0.293222576379776, + -0.6628378629684448 + ], + "joints": [ + 0.023053882643580437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017184795811772346, + -0.13417041301727295, + -0.006955675780773163 + ], + "orientation": [ + 0.7092748284339905, + 0.06008908152580261, + -0.7020328640937805, + 0.021641448140144348 + ], + "joints": [ + 0.010229472070932388 + ] + }, + "fine_grasp": { + "position": [ + 0.016060274094343185, + -0.13338005542755127, + -0.007815932855010033 + ], + "orientation": [ + 0.70932936668396, + 0.061903659254312515, + -0.7018152475357056, + 0.021797407418489456 + ], + "joints": [ + 0.016632843762636185 + ] + }, + "final_grasp": { + "position": [ + 0.016060274094343185, + -0.13338005542755127, + -0.007815932855010033 + ], + "orientation": [ + 0.70932936668396, + 0.061903659254312515, + -0.7018152475357056, + 0.021797407418489456 + ], + "joints": [ + 0.02303621545433998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08817027509212494, + 0.10228460282087326, + 0.013819004409015179 + ], + "orientation": [ + 0.28376734256744385, + -0.6799319982528687, + 0.21750754117965698, + 0.6402024030685425 + ], + "joints": [ + 0.009606661275029182 + ] + }, + "fine_grasp": { + "position": [ + 0.08512573689222336, + 0.10216891765594482, + 0.015003723092377186 + ], + "orientation": [ + 0.2821723222732544, + -0.6821315288543701, + 0.21189729869365692, + 0.6404491066932678 + ], + "joints": [ + 0.01601003110408783 + ] + }, + "final_grasp": { + "position": [ + 0.08512573689222336, + 0.10216891765594482, + 0.015003723092377186 + ], + "orientation": [ + 0.2821723222732544, + -0.6821315288543701, + 0.21189729869365692, + 0.6404491066932678 + ], + "joints": [ + 0.022413400933146477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0899578407406807, + 0.10110823065042496, + -0.008538092486560345 + ], + "orientation": [ + 0.22475405037403107, + -0.6557051539421082, + -0.27071893215179443, + -0.6680176854133606 + ], + "joints": [ + 0.010191800072789192 + ] + }, + "fine_grasp": { + "position": [ + -0.08906855434179306, + 0.09975513070821762, + -0.009453480131924152 + ], + "orientation": [ + 0.22378545999526978, + -0.6539530754089355, + -0.26936060190200806, + -0.6706045269966125 + ], + "joints": [ + 0.01659517176449299 + ] + }, + "final_grasp": { + "position": [ + -0.08906855434179306, + 0.09975513070821762, + -0.009453480131924152 + ], + "orientation": [ + 0.22378545999526978, + -0.6539530754089355, + -0.26936060190200806, + -0.6706045269966125 + ], + "joints": [ + 0.022998543456196785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029661422595381737, + 0.13210925459861755, + 0.004298120271414518 + ], + "orientation": [ + 0.0920863151550293, + -0.6857983469963074, + -0.06408031284809113, + -0.7190929055213928 + ], + "joints": [ + 0.010253002867102623 + ] + }, + "fine_grasp": { + "position": [ + -0.030347326770424843, + 0.13058273494243622, + 0.005318766459822655 + ], + "orientation": [ + 0.09198053181171417, + -0.6797961592674255, + -0.0597761906683445, + -0.7251508235931396 + ], + "joints": [ + 0.01665637455880642 + ] + }, + "final_grasp": { + "position": [ + -0.030347326770424843, + 0.13058273494243622, + 0.005318766459822655 + ], + "orientation": [ + 0.09198053181171417, + -0.6797961592674255, + -0.0597761906683445, + -0.7251508235931396 + ], + "joints": [ + 0.023059746250510216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07504841685295105, + 0.1128329485654831, + -0.007617043796926737 + ], + "orientation": [ + 0.22427281737327576, + 0.6911103129386902, + -0.18948782980442047, + 0.6604260802268982 + ], + "joints": [ + 0.010627779178321362 + ] + }, + "fine_grasp": { + "position": [ + 0.07261739671230316, + 0.11279728263616562, + -0.00843669194728136 + ], + "orientation": [ + 0.22727826237678528, + 0.6886703372001648, + -0.18999850749969482, + 0.6617992520332336 + ], + "joints": [ + 0.016499750316143036 + ] + }, + "final_grasp": { + "position": [ + 0.07261739671230316, + 0.11279728263616562, + -0.00843669194728136 + ], + "orientation": [ + 0.22727826237678528, + 0.6886703372001648, + -0.18999850749969482, + 0.6617992520332336 + ], + "joints": [ + 0.022371720522642136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026122281327843666, + 0.13300703465938568, + -0.005191449075937271 + ], + "orientation": [ + 0.04735036566853523, + -0.6991135478019714, + 0.07622842490673065, + 0.709356963634491 + ], + "joints": [ + 0.01084165833890438 + ] + }, + "fine_grasp": { + "position": [ + 0.02538471668958664, + 0.1315702646970749, + -0.006363412365317345 + ], + "orientation": [ + 0.045658160001039505, + -0.6993423104286194, + 0.0780276283621788, + 0.7090467810630798 + ], + "joints": [ + 0.01671363040804863 + ] + }, + "final_grasp": { + "position": [ + 0.02538471668958664, + 0.1315702646970749, + -0.006363412365317345 + ], + "orientation": [ + 0.045658160001039505, + -0.6993423104286194, + 0.0780276283621788, + 0.7090467810630798 + ], + "joints": [ + 0.02258560247719288 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006622468587011099, + -0.13490229845046997, + -0.007792186923325062 + ], + "orientation": [ + 0.7171491980552673, + 0.03550025820732117, + -0.6959750056266785, + -0.007454723119735718 + ], + "joints": [ + 0.010141140781342983 + ] + }, + "fine_grasp": { + "position": [ + 0.005433307029306889, + -0.13380028307437897, + -0.008679268881678581 + ], + "orientation": [ + 0.7163485288619995, + 0.035179171711206436, + -0.6968014240264893, + -0.00865965150296688 + ], + "joints": [ + 0.016544511541724205 + ] + }, + "final_grasp": { + "position": [ + 0.005433307029306889, + -0.13380028307437897, + -0.008679268881678581 + ], + "orientation": [ + 0.7163485288619995, + 0.035179171711206436, + -0.6968014240264893, + -0.00865965150296688 + ], + "joints": [ + 0.022947881370782852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027139239013195038, + 0.13275058567523956, + -0.0047054411843419075 + ], + "orientation": [ + 0.04863348230719566, + -0.7155830264091492, + 0.07796970009803772, + 0.692456841468811 + ], + "joints": [ + 0.010320339351892471 + ] + }, + "fine_grasp": { + "position": [ + 0.028798475861549377, + 0.13179264962673187, + -0.005906303413212299 + ], + "orientation": [ + 0.04680745676159859, + -0.7172470688819885, + 0.07978589832782745, + 0.6906517744064331 + ], + "joints": [ + 0.016723711043596268 + ] + }, + "final_grasp": { + "position": [ + 0.028798475861549377, + 0.13179264962673187, + -0.005906303413212299 + ], + "orientation": [ + 0.04680745676159859, + -0.7172470688819885, + 0.07978589832782745, + 0.6906517744064331 + ], + "joints": [ + 0.023127082735300064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0074727195315063, + 0.13478624820709229, + 0.007013772148638964 + ], + "orientation": [ + 0.0018357746303081512, + -0.7007706761360168, + -0.03705371171236038, + 0.7124212384223938 + ], + "joints": [ + 0.010289719328284264 + ] + }, + "fine_grasp": { + "position": [ + -0.006060202140361071, + 0.1339235156774521, + 0.007759002037346363 + ], + "orientation": [ + 0.003302201861515641, + -0.7027673125267029, + -0.03769715502858162, + 0.7104126214981079 + ], + "joints": [ + 0.01669309101998806 + ] + }, + "final_grasp": { + "position": [ + -0.006060202140361071, + 0.1339235156774521, + 0.007759002037346363 + ], + "orientation": [ + 0.003302201861515641, + -0.7027673125267029, + -0.03769715502858162, + 0.7104126214981079 + ], + "joints": [ + 0.023096462711691856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037093549966812134, + 0.1301138997077942, + -0.008503852412104607 + ], + "orientation": [ + 0.12567918002605438, + 0.7009595036506653, + -0.07879336923360825, + 0.6976045370101929 + ], + "joints": [ + 0.010573472827672958 + ] + }, + "fine_grasp": { + "position": [ + 0.03828214481472969, + 0.12813515961170197, + -0.00965942069888115 + ], + "orientation": [ + 0.13046491146087646, + 0.6994419693946838, + -0.08038979768753052, + 0.6980668306350708 + ], + "joints": [ + 0.016445443034172058 + ] + }, + "final_grasp": { + "position": [ + 0.03828214481472969, + 0.12813515961170197, + -0.00965942069888115 + ], + "orientation": [ + 0.13046491146087646, + 0.6994419693946838, + -0.08038979768753052, + 0.6980668306350708 + ], + "joints": [ + 0.022317413240671158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03742338716983795, + 0.13001015782356262, + -0.009334910660982132 + ], + "orientation": [ + 0.12584765255451202, + 0.7006010413169861, + -0.07392198592424393, + 0.698466956615448 + ], + "joints": [ + 0.010015653446316719 + ] + }, + "fine_grasp": { + "position": [ + 0.03826799988746643, + 0.12822632491588593, + -0.010272501967847347 + ], + "orientation": [ + 0.1296747922897339, + 0.6987857222557068, + -0.07632507383823395, + 0.6993263959884644 + ], + "joints": [ + 0.016419023275375366 + ] + }, + "final_grasp": { + "position": [ + 0.03826799988746643, + 0.12822632491588593, + -0.010272501967847347 + ], + "orientation": [ + 0.1296747922897339, + 0.6987857222557068, + -0.07632507383823395, + 0.6993263959884644 + ], + "joints": [ + 0.022822393104434013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03722032159566879, + 0.12997616827487946, + -0.008407892659306526 + ], + "orientation": [ + 0.12467249482870102, + 0.6996254920959473, + -0.07812199741601944, + 0.6991980075836182 + ], + "joints": [ + 0.010528266429901123 + ] + }, + "fine_grasp": { + "position": [ + 0.03810993954539299, + 0.12822583317756653, + -0.009148767217993736 + ], + "orientation": [ + 0.12864504754543304, + 0.6990640163421631, + -0.07994887977838516, + 0.6988334655761719 + ], + "joints": [ + 0.016400236636400223 + ] + }, + "final_grasp": { + "position": [ + 0.03810993954539299, + 0.12822583317756653, + -0.009148767217993736 + ], + "orientation": [ + 0.12864504754543304, + 0.6990640163421631, + -0.07994887977838516, + 0.6988334655761719 + ], + "joints": [ + 0.022272206842899323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017872279509902, + -0.13423222303390503, + -0.006724502891302109 + ], + "orientation": [ + 0.7051482796669006, + 0.06045267730951309, + -0.7061113715171814, + 0.02276482991874218 + ], + "joints": [ + 0.010229472070932388 + ] + }, + "fine_grasp": { + "position": [ + 0.01776677928864956, + -0.13291922211647034, + -0.007682223804295063 + ], + "orientation": [ + 0.7065665125846863, + 0.06117274612188339, + -0.7046480178833008, + 0.02220292016863823 + ], + "joints": [ + 0.016632843762636185 + ] + }, + "final_grasp": { + "position": [ + 0.01776677928864956, + -0.13291922211647034, + -0.007682223804295063 + ], + "orientation": [ + 0.7065665125846863, + 0.06117274612188339, + -0.7046480178833008, + 0.02220292016863823 + ], + "joints": [ + 0.02303621545433998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037193235009908676, + 0.12992601096630096, + -0.008179921656847 + ], + "orientation": [ + 0.12295213341712952, + 0.6990096569061279, + -0.07740571349859238, + 0.7001975774765015 + ], + "joints": [ + 0.01057502068579197 + ] + }, + "fine_grasp": { + "position": [ + 0.038272660225629807, + 0.12816236913204193, + -0.009523188695311546 + ], + "orientation": [ + 0.12804265320301056, + 0.6990208625793457, + -0.07886715978384018, + 0.6991101503372192 + ], + "joints": [ + 0.01644699089229107 + ] + }, + "final_grasp": { + "position": [ + 0.038272660225629807, + 0.12816236913204193, + -0.009523188695311546 + ], + "orientation": [ + 0.12804265320301056, + 0.6990208625793457, + -0.07886715978384018, + 0.6991101503372192 + ], + "joints": [ + 0.02231896109879017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01720413938164711, + 0.13441936671733856, + 0.007673066109418869 + ], + "orientation": [ + 0.028786133974790573, + 0.698343813419342, + 0.07067351788282394, + -0.7116827964782715 + ], + "joints": [ + 0.010210176929831505 + ] + }, + "fine_grasp": { + "position": [ + -0.015941746532917023, + 0.1331154853105545, + 0.008705740794539452 + ], + "orientation": [ + 0.02548270672559738, + 0.7019575238227844, + 0.0714465007185936, + -0.7081678509712219 + ], + "joints": [ + 0.0166135486215353 + ] + }, + "final_grasp": { + "position": [ + -0.015941746532917023, + 0.1331154853105545, + 0.008705740794539452 + ], + "orientation": [ + 0.02548270672559738, + 0.7019575238227844, + 0.0714465007185936, + -0.7081678509712219 + ], + "joints": [ + 0.023016920313239098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017054231837391853, + 0.1344882696866989, + 0.007398730609565973 + ], + "orientation": [ + 0.028343338519334793, + 0.6975929737091064, + 0.06845354288816452, + -0.712653398513794 + ], + "joints": [ + 0.010175839066505432 + ] + }, + "fine_grasp": { + "position": [ + -0.015211885794997215, + 0.1331866830587387, + 0.008802467957139015 + ], + "orientation": [ + 0.025512946769595146, + 0.701227068901062, + 0.07194273173809052, + -0.7088398337364197 + ], + "joints": [ + 0.01657921075820923 + ] + }, + "final_grasp": { + "position": [ + -0.015211885794997215, + 0.1331866830587387, + 0.008802467957139015 + ], + "orientation": [ + 0.025512946769595146, + 0.701227068901062, + 0.07194273173809052, + -0.7088398337364197 + ], + "joints": [ + 0.022982582449913025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0033770452719181776, + -0.13570958375930786, + -0.007792515214532614 + ], + "orientation": [ + 0.6965833306312561, + 0.010499549098312855, + 0.716629147529602, + 0.033228520303964615 + ], + "joints": [ + 0.010240430012345314 + ] + }, + "fine_grasp": { + "position": [ + 0.002044708002358675, + -0.1340949386358261, + -0.008845585398375988 + ], + "orientation": [ + 0.6955377459526062, + 0.010127558372914791, + 0.7175743579864502, + 0.034810394048690796 + ], + "joints": [ + 0.01664380170404911 + ] + }, + "final_grasp": { + "position": [ + 0.002044708002358675, + -0.1340949386358261, + -0.008845585398375988 + ], + "orientation": [ + 0.6955377459526062, + 0.010127558372914791, + 0.7175743579864502, + 0.034810394048690796 + ], + "joints": [ + 0.023047173395752907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07029631733894348, + 0.11538739502429962, + -0.010474919341504574 + ], + "orientation": [ + 0.15843565762043, + -0.7085548639297485, + -0.2372850924730301, + -0.645402193069458 + ], + "joints": [ + 0.01015509758144617 + ] + }, + "fine_grasp": { + "position": [ + -0.07018225640058517, + 0.1128343865275383, + -0.010877777822315693 + ], + "orientation": [ + 0.15019528567790985, + -0.7167595624923706, + -0.23637698590755463, + -0.6386101841926575 + ], + "joints": [ + 0.014990836381912231 + ] + }, + "final_grasp": { + "position": [ + -0.07018225640058517, + 0.1128343865275383, + -0.010877777822315693 + ], + "orientation": [ + 0.15019528567790985, + -0.7167595624923706, + -0.23637698590755463, + -0.6386101841926575 + ], + "joints": [ + 0.019826576113700867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10313894599676132, + 0.08682618290185928, + 0.018161289393901825 + ], + "orientation": [ + 0.3265548646450043, + -0.6995852589607239, + 0.2742844223976135, + 0.5733327269554138 + ], + "joints": [ + 0.008874377235770226 + ] + }, + "fine_grasp": { + "position": [ + 0.10121177136898041, + 0.08644450455904007, + 0.018758269026875496 + ], + "orientation": [ + 0.3285941481590271, + -0.7034581899642944, + 0.2802870273590088, + 0.5644569396972656 + ], + "joints": [ + 0.014746343716979027 + ] + }, + "final_grasp": { + "position": [ + 0.10121177136898041, + 0.08644450455904007, + 0.018758269026875496 + ], + "orientation": [ + 0.3285941481590271, + -0.7034581899642944, + 0.2802870273590088, + 0.5644569396972656 + ], + "joints": [ + 0.020618310198187828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027958502992987633, + 0.13268260657787323, + 0.006996861193329096 + ], + "orientation": [ + 0.08278396725654602, + -0.698739767074585, + -0.04252346605062485, + -0.7092964053153992 + ], + "joints": [ + 0.010622518137097359 + ] + }, + "fine_grasp": { + "position": [ + -0.02987867407500744, + 0.13123410940170288, + 0.008101369254291058 + ], + "orientation": [ + 0.08612769097089767, + -0.7006435990333557, + -0.04389563575387001, + -0.7069327235221863 + ], + "joints": [ + 0.016494490206241608 + ] + }, + "final_grasp": { + "position": [ + -0.02987867407500744, + 0.13123410940170288, + 0.008101369254291058 + ], + "orientation": [ + 0.08612769097089767, + -0.7006435990333557, + -0.04389563575387001, + -0.7069327235221863 + ], + "joints": [ + 0.022366462275385857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017553219571709633, + 0.13445550203323364, + 0.007429429329931736 + ], + "orientation": [ + 0.028690339997410774, + 0.6972599625587463, + 0.06902126967906952, + -0.712910532951355 + ], + "joints": [ + 0.010695157572627068 + ] + }, + "fine_grasp": { + "position": [ + -0.015906022861599922, + 0.13299517333507538, + 0.008684982545673847 + ], + "orientation": [ + 0.027603620663285255, + 0.7006300687789917, + 0.07162224501371384, + -0.7093842029571533 + ], + "joints": [ + 0.016567129641771317 + ] + }, + "final_grasp": { + "position": [ + -0.015906022861599922, + 0.13299517333507538, + 0.008684982545673847 + ], + "orientation": [ + 0.027603620663285255, + 0.7006300687789917, + 0.07162224501371384, + -0.7093842029571533 + ], + "joints": [ + 0.022439101710915565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10322684049606323, + 0.0866541936993599, + 0.01790345460176468 + ], + "orientation": [ + 0.3260623812675476, + -0.6992965340614319, + 0.27519816160202026, + 0.5735272765159607 + ], + "joints": [ + 0.008874375373125076 + ] + }, + "fine_grasp": { + "position": [ + 0.10129468888044357, + 0.08628101646900177, + 0.018491655588150024 + ], + "orientation": [ + 0.32804954051971436, + -0.7032923102378845, + 0.28123947978019714, + 0.5645066499710083 + ], + "joints": [ + 0.014746341854333878 + ] + }, + "final_grasp": { + "position": [ + 0.10129468888044357, + 0.08628101646900177, + 0.018491655588150024 + ], + "orientation": [ + 0.32804954051971436, + -0.7032923102378845, + 0.28123947978019714, + 0.5645066499710083 + ], + "joints": [ + 0.02061830833554268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02785046212375164, + 0.1326337605714798, + 0.007067498750984669 + ], + "orientation": [ + 0.08179562538862228, + -0.6986366510391235, + -0.041151683777570724, + -0.7095933556556702 + ], + "joints": [ + 0.010582467541098595 + ] + }, + "fine_grasp": { + "position": [ + -0.02956724725663662, + 0.13126930594444275, + 0.008023669943213463 + ], + "orientation": [ + 0.08400743454694748, + -0.7005019187927246, + -0.04178962484002113, + -0.7074556350708008 + ], + "joints": [ + 0.016454439610242844 + ] + }, + "final_grasp": { + "position": [ + -0.02956724725663662, + 0.13126930594444275, + 0.008023669943213463 + ], + "orientation": [ + 0.08400743454694748, + -0.7005019187927246, + -0.04178962484002113, + -0.7074556350708008 + ], + "joints": [ + 0.022326411679387093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07024729996919632, + 0.1155252754688263, + -0.01122702844440937 + ], + "orientation": [ + 0.15492944419384003, + -0.7083796262741089, + -0.23756791651248932, + -0.6463410258293152 + ], + "joints": [ + 0.010193144902586937 + ] + }, + "fine_grasp": { + "position": [ + -0.07002922147512436, + 0.11280348151922226, + -0.011535103432834148 + ], + "orientation": [ + 0.14727497100830078, + -0.7157672643661499, + -0.2360815405845642, + -0.640509843826294 + ], + "joints": [ + 0.015028884634375572 + ] + }, + "final_grasp": { + "position": [ + -0.07002922147512436, + 0.11280348151922226, + -0.011535103432834148 + ], + "orientation": [ + 0.14727497100830078, + -0.7157672643661499, + -0.2360815405845642, + -0.640509843826294 + ], + "joints": [ + 0.019864624366164207 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01925114169716835, + 0.1345476359128952, + -0.010055444203317165 + ], + "orientation": [ + 0.016329577192664146, + -0.7065770030021667, + 0.07260969281196594, + 0.7037116885185242 + ], + "joints": [ + 0.010463826358318329 + ] + }, + "fine_grasp": { + "position": [ + 0.021442342549562454, + 0.1324392706155777, + -0.011081908829510212 + ], + "orientation": [ + 0.015237606130540371, + -0.7071738839149475, + 0.07321105152368546, + 0.7030739784240723 + ], + "joints": [ + 0.01633579656481743 + ] + }, + "final_grasp": { + "position": [ + 0.021442342549562454, + 0.1324392706155777, + -0.011081908829510212 + ], + "orientation": [ + 0.015237606130540371, + -0.7071738839149475, + 0.07321105152368546, + 0.7030739784240723 + ], + "joints": [ + 0.02220776677131653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0036125383339822292, + 0.13580365478992462, + 0.018277058377861977 + ], + "orientation": [ + 0.04041726887226105, + -0.6908564567565918, + 0.0600566491484642, + -0.7193587422370911 + ], + "joints": [ + 0.009602108970284462 + ] + }, + "fine_grasp": { + "position": [ + 0.002100449288263917, + 0.13295955955982208, + 0.01902068965137005 + ], + "orientation": [ + 0.04005395993590355, + -0.6864377856254578, + 0.06206827983260155, + -0.7234268188476562 + ], + "joints": [ + 0.015474077314138412 + ] + }, + "final_grasp": { + "position": [ + 0.002100449288263917, + 0.13295955955982208, + 0.01902068965137005 + ], + "orientation": [ + 0.04005395993590355, + -0.6864377856254578, + 0.06206827983260155, + -0.7234268188476562 + ], + "joints": [ + 0.021346045657992363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026957876980304718, + 0.1329624056816101, + 0.009437920525670052 + ], + "orientation": [ + 0.08717884123325348, + -0.7002102732658386, + -0.03379814699292183, + -0.7077873349189758 + ], + "joints": [ + 0.010546665638685226 + ] + }, + "fine_grasp": { + "position": [ + -0.029676197096705437, + 0.1307801455259323, + 0.010437297634780407 + ], + "orientation": [ + 0.09188234061002731, + -0.700760543346405, + -0.03712740167975426, + -0.7064799070358276 + ], + "joints": [ + 0.016418635845184326 + ] + }, + "final_grasp": { + "position": [ + -0.029676197096705437, + 0.1307801455259323, + 0.010437297634780407 + ], + "orientation": [ + 0.09188234061002731, + -0.700760543346405, + -0.03712740167975426, + -0.7064799070358276 + ], + "joints": [ + 0.022290606051683426 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06586459279060364, + 0.11817628145217896, + -0.009541633538901806 + ], + "orientation": [ + 0.1512208729982376, + -0.6903088092803955, + -0.20970550179481506, + -0.6757438778877258 + ], + "joints": [ + 0.01042606495320797 + ] + }, + "fine_grasp": { + "position": [ + -0.06671035289764404, + 0.11612875014543533, + -0.010057186707854271 + ], + "orientation": [ + 0.14636291563510895, + -0.6910828948020935, + -0.20572008192539215, + -0.677245557308197 + ], + "joints": [ + 0.01629803515970707 + ] + }, + "final_grasp": { + "position": [ + -0.06671035289764404, + 0.11612875014543533, + -0.010057186707854271 + ], + "orientation": [ + 0.14636291563510895, + -0.6910828948020935, + -0.20572008192539215, + -0.677245557308197 + ], + "joints": [ + 0.02217000536620617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02382007986307144, + 0.1333814412355423, + 0.008658410981297493 + ], + "orientation": [ + 0.08286391943693161, + -0.7028921246528625, + 0.03439031541347504, + 0.705615758895874 + ], + "joints": [ + 0.010205086320638657 + ] + }, + "fine_grasp": { + "position": [ + 0.023823635652661324, + 0.13169217109680176, + 0.009514633566141129 + ], + "orientation": [ + 0.0817204937338829, + -0.7054858207702637, + 0.03228316083550453, + 0.7032561898231506 + ], + "joints": [ + 0.016608458012342453 + ] + }, + "final_grasp": { + "position": [ + 0.023823635652661324, + 0.13169217109680176, + 0.009514633566141129 + ], + "orientation": [ + 0.0817204937338829, + -0.7054858207702637, + 0.03228316083550453, + 0.7032561898231506 + ], + "joints": [ + 0.02301182970404625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006260850466787815, + 0.1353721022605896, + 0.00902718584984541 + ], + "orientation": [ + 0.00625593913719058, + -0.6982807517051697, + -0.0437762551009655, + 0.7144567370414734 + ], + "joints": [ + 0.010312346741557121 + ] + }, + "fine_grasp": { + "position": [ + -0.004755379632115364, + 0.13371658325195312, + 0.009770612232387066 + ], + "orientation": [ + 0.004232080187648535, + -0.7002594470977783, + -0.046350348740816116, + 0.7123695611953735 + ], + "joints": [ + 0.01618431694805622 + ] + }, + "final_grasp": { + "position": [ + -0.004755379632115364, + 0.13371658325195312, + 0.009770612232387066 + ], + "orientation": [ + 0.004232080187648535, + -0.7002594470977783, + -0.046350348740816116, + 0.7123695611953735 + ], + "joints": [ + 0.02205628715455532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08034516125917435, + 0.11866629123687744, + 0.002031823853030801 + ], + "orientation": [ + 0.2321113497018814, + -0.33912691473960876, + 0.06950479745864868, + 0.909002959728241 + ], + "joints": [ + -0.0022425982169806957 + ] + }, + "fine_grasp": { + "position": [ + 0.08099205791950226, + 0.11421596258878708, + 0.0021921086590737104 + ], + "orientation": [ + 0.23695407807826996, + -0.33516502380371094, + 0.06304920464754105, + 0.9096933603286743 + ], + "joints": [ + 0.004187337122857571 + ] + }, + "final_grasp": { + "position": [ + 0.08099205791950226, + 0.11421596258878708, + 0.0021921086590737104 + ], + "orientation": [ + 0.23695407807826996, + -0.33516502380371094, + 0.06304920464754105, + 0.9096933603286743 + ], + "joints": [ + 0.010617272928357124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012622958049178123, + -0.031175684183835983, + -0.10566151887178421 + ], + "orientation": [ + 0.5618177652359009, + 0.31154683232307434, + -0.5190162062644958, + -0.5638453364372253 + ], + "joints": [ + -0.007546709384769201 + ] + }, + "fine_grasp": { + "position": [ + 0.009112553671002388, + -0.03047277219593525, + -0.10998382419347763 + ], + "orientation": [ + 0.5419824123382568, + 0.31479141116142273, + -0.5418548583984375, + -0.5599595904350281 + ], + "joints": [ + -0.007945260033011436 + ] + }, + "final_grasp": { + "position": [ + 0.009112553671002388, + -0.03047277219593525, + -0.10998382419347763 + ], + "orientation": [ + 0.5419824123382568, + 0.31479141116142273, + -0.5418548583984375, + -0.5599595904350281 + ], + "joints": [ + -0.008343810215592384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0029722002800554037, + 0.030775828287005424, + -0.10081504285335541 + ], + "orientation": [ + 0.7492138147354126, + 0.585695743560791, + -0.1340901404619217, + -0.27867385745048523 + ], + "joints": [ + -0.002482953481376171 + ] + }, + "fine_grasp": { + "position": [ + -0.0034635202027857304, + 0.02579055353999138, + -0.10300987958908081 + ], + "orientation": [ + 0.7340001463890076, + 0.6088877320289612, + -0.12091822922229767, + -0.2754599153995514 + ], + "joints": [ + -0.004528842866420746 + ] + }, + "final_grasp": { + "position": [ + -0.0034635202027857304, + 0.02579055353999138, + -0.10300987958908081 + ], + "orientation": [ + 0.7340001463890076, + 0.6088877320289612, + -0.12091822922229767, + -0.2754599153995514 + ], + "joints": [ + -0.006574732251465321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0034329851623624563, + 0.027505673468112946, + -0.0980481505393982 + ], + "orientation": [ + 0.6654528975486755, + 0.5488144159317017, + 0.2444787174463272, + 0.4429507553577423 + ], + "joints": [ + -0.008488798514008522 + ] + }, + "fine_grasp": { + "position": [ + -1.5948378859320655e-05, + 0.025534292683005333, + -0.10190313309431076 + ], + "orientation": [ + 0.6526338458061218, + 0.5671658515930176, + 0.25106585025787354, + 0.43515264987945557 + ], + "joints": [ + -0.00569895189255476 + ] + }, + "final_grasp": { + "position": [ + -1.5948378859320655e-05, + 0.025534292683005333, + -0.10190313309431076 + ], + "orientation": [ + 0.6526338458061218, + 0.5671658515930176, + 0.25106585025787354, + 0.43515264987945557 + ], + "joints": [ + -0.002909105271100998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03119368478655815, + 0.13478632271289825, + -0.027821015566587448 + ], + "orientation": [ + 0.027808982878923416, + 0.9948304295539856, + -0.09443743526935577, + 0.02491331659257412 + ], + "joints": [ + -0.013749982230365276 + ] + }, + "fine_grasp": { + "position": [ + 0.030280346050858498, + 0.13654038310050964, + -0.02532600238919258 + ], + "orientation": [ + 0.04812053218483925, + 0.993465781211853, + -0.10082218050956726, + 0.02334582805633545 + ], + "joints": [ + -0.011597813107073307 + ] + }, + "final_grasp": { + "position": [ + 0.030280346050858498, + 0.13654038310050964, + -0.02532600238919258 + ], + "orientation": [ + 0.04812053218483925, + 0.993465781211853, + -0.10082218050956726, + 0.02334582805633545 + ], + "joints": [ + -0.009445643983781338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060337163507938385, + 0.012329901568591595, + 0.11873509734869003 + ], + "orientation": [ + 0.49903005361557007, + -0.3961564004421234, + -0.47117936611175537, + 0.6099336743354797 + ], + "joints": [ + -0.016467150300741196 + ] + }, + "fine_grasp": { + "position": [ + 0.05999574065208435, + 0.012912946753203869, + 0.11822275817394257 + ], + "orientation": [ + 0.5000736713409424, + -0.3981862962245941, + -0.46759232878685, + 0.6105173826217651 + ], + "joints": [ + -0.010090352036058903 + ] + }, + "final_grasp": { + "position": [ + 0.05999574065208435, + 0.012912946753203869, + 0.11822275817394257 + ], + "orientation": [ + 0.5000736713409424, + -0.3981862962245941, + -0.46759232878685, + 0.6105173826217651 + ], + "joints": [ + -0.00371355377137661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006428512744605541, + 0.02504802867770195, + -0.10438995808362961 + ], + "orientation": [ + 0.6687659621238708, + 0.6739528775215149, + 0.19229163229465485, + 0.2481197565793991 + ], + "joints": [ + -0.01902846433222294 + ] + }, + "fine_grasp": { + "position": [ + -0.006601433735340834, + 0.025468721985816956, + -0.107023686170578 + ], + "orientation": [ + 0.6723392009735107, + 0.6691219210624695, + 0.19991368055343628, + 0.24550044536590576 + ], + "joints": [ + -0.012625087052583694 + ] + }, + "final_grasp": { + "position": [ + -0.006601433735340834, + 0.025468721985816956, + -0.107023686170578 + ], + "orientation": [ + 0.6723392009735107, + 0.6691219210624695, + 0.19991368055343628, + 0.24550044536590576 + ], + "joints": [ + -0.00622170977294445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05833921208977699, + 0.13273751735687256, + -0.008574281819164753 + ], + "orientation": [ + 0.1402335911989212, + -0.3498256504535675, + 0.08322161436080933, + 0.9225131869316101 + ], + "joints": [ + -0.0008659872692078352 + ] + }, + "fine_grasp": { + "position": [ + 0.05929253250360489, + 0.1276046633720398, + -0.008066529408097267 + ], + "orientation": [ + 0.14638660848140717, + -0.32960695028305054, + 0.07676970213651657, + 0.9295358061790466 + ], + "joints": [ + 0.005059118382632732 + ] + }, + "final_grasp": { + "position": [ + 0.05929253250360489, + 0.1276046633720398, + -0.008066529408097267 + ], + "orientation": [ + 0.14638660848140717, + -0.32960695028305054, + 0.07676970213651657, + 0.9295358061790466 + ], + "joints": [ + 0.010984224267303944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05862732231616974, + 0.13339167833328247, + -0.008599137887358665 + ], + "orientation": [ + 0.13657592236995697, + -0.3547987639904022, + 0.08221350610256195, + 0.9212523102760315 + ], + "joints": [ + -0.00010918083717115223 + ] + }, + "fine_grasp": { + "position": [ + 0.05976042523980141, + 0.12855879962444305, + -0.008203324861824512 + ], + "orientation": [ + 0.141407310962677, + -0.3342309594154358, + 0.07425666600465775, + 0.9288593530654907 + ], + "joints": [ + 0.005789354909211397 + ] + }, + "final_grasp": { + "position": [ + 0.05976042523980141, + 0.12855879962444305, + -0.008203324861824512 + ], + "orientation": [ + 0.141407310962677, + -0.3342309594154358, + 0.07425666600465775, + 0.9288593530654907 + ], + "joints": [ + 0.011687890626490116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018016096204519272, + -0.13750901818275452, + -0.013393684290349483 + ], + "orientation": [ + 0.6242305636405945, + -0.14486974477767944, + 0.7394435405731201, + 0.20633019506931305 + ], + "joints": [ + 0.013923142105340958 + ] + }, + "fine_grasp": { + "position": [ + 0.01886209100484848, + -0.1366131752729416, + -0.013366174884140491 + ], + "orientation": [ + 0.61832195520401, + -0.13934004306793213, + 0.74479740858078, + 0.20866043865680695 + ], + "joints": [ + 0.019263723865151405 + ] + }, + "final_grasp": { + "position": [ + 0.01886209100484848, + -0.1366131752729416, + -0.013366174884140491 + ], + "orientation": [ + 0.61832195520401, + -0.13934004306793213, + 0.74479740858078, + 0.20866043865680695 + ], + "joints": [ + 0.024604305624961853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0436023473739624, + -0.141694113612175, + 0.028528407216072083 + ], + "orientation": [ + 0.7594017386436462, + -0.16135823726654053, + 0.6297565698623657, + 0.02606140449643135 + ], + "joints": [ + 0.009936455637216568 + ] + }, + "fine_grasp": { + "position": [ + 0.04230909049510956, + -0.14016763865947723, + 0.028217045590281487 + ], + "orientation": [ + 0.7665877342224121, + -0.16167882084846497, + 0.6204684376716614, + 0.034959182143211365 + ], + "joints": [ + 0.01530359499156475 + ] + }, + "final_grasp": { + "position": [ + 0.04230909049510956, + -0.14016763865947723, + 0.028217045590281487 + ], + "orientation": [ + 0.7665877342224121, + -0.16167882084846497, + 0.6204684376716614, + 0.034959182143211365 + ], + "joints": [ + 0.020670734345912933 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2035, + "num_passed": 254 + } +} \ No newline at end of file diff --git a/geometry_cube_cushion_00001/Annotation/piper_grasp_pose.json b/geometry_cube_cushion_00001/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..eb2554d69937b8044114a954bb9eb0578c100f7c --- /dev/null +++ b/geometry_cube_cushion_00001/Annotation/piper_grasp_pose.json @@ -0,0 +1,3968 @@ +{ + "type": "geometry_cube_cushion_00001", + "bottom_center": [ + 0.0, + 0.0, + -0.0024999999441206455 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.11698820441961288, + 0.001745344023220241, + -0.04135584831237793 + ], + "orientation": [ + 0.7394258975982666, + 0.07326279580593109, + -0.661649227142334, + -0.10050973296165466 + ], + "joints": [ + 0.011658798903226852 + ] + }, + "fine_grasp": { + "position": [ + 0.11632347106933594, + 0.001441635307855904, + -0.036762017756700516 + ], + "orientation": [ + 0.7533165812492371, + 0.06209825724363327, + -0.6482585072517395, + -0.0917544737458229 + ], + "joints": [ + 0.010112371295690536 + ] + }, + "final_grasp": { + "position": [ + 0.11632347106933594, + 0.001441635307855904, + -0.036762017756700516 + ], + "orientation": [ + 0.7533165812492371, + 0.06209825724363327, + -0.6482585072517395, + -0.0917544737458229 + ], + "joints": [ + 0.00856594368815422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1166420429944992, + 0.0014296391746029258, + -0.04130520299077034 + ], + "orientation": [ + 0.739019513130188, + 0.07240603119134903, + -0.6615901589393616, + -0.10443173348903656 + ], + "joints": [ + 0.011445683427155018 + ] + }, + "fine_grasp": { + "position": [ + 0.11597027629613876, + 0.0010975473560392857, + -0.03674861416220665 + ], + "orientation": [ + 0.7526247501373291, + 0.060765981674194336, + -0.6487259864807129, + -0.09496290236711502 + ], + "joints": [ + 0.010317211039364338 + ] + }, + "final_grasp": { + "position": [ + 0.11597027629613876, + 0.0010975473560392857, + -0.03674861416220665 + ], + "orientation": [ + 0.7526247501373291, + 0.060765981674194336, + -0.6487259864807129, + -0.09496290236711502 + ], + "joints": [ + 0.009188738651573658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06540438532829285, + -0.09444090723991394, + -0.04482739418745041 + ], + "orientation": [ + 0.694370448589325, + -0.40100258588790894, + 0.5522624850273132, + 0.22815071046352386 + ], + "joints": [ + 0.010850608348846436 + ] + }, + "fine_grasp": { + "position": [ + -0.06530914455652237, + -0.0943511351943016, + -0.03945772349834442 + ], + "orientation": [ + 0.7165916562080383, + -0.3848002851009369, + 0.5315670967102051, + 0.23635034263134003 + ], + "joints": [ + 0.010850608348846436 + ] + }, + "final_grasp": { + "position": [ + -0.06530914455652237, + -0.0943511351943016, + -0.03945772349834442 + ], + "orientation": [ + 0.7165916562080383, + -0.3848002851009369, + 0.5315670967102051, + 0.23635034263134003 + ], + "joints": [ + 0.010850608348846436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11584500223398209, + 0.03794309124350548, + -0.04925776273012161 + ], + "orientation": [ + 0.13164789974689484, + 0.6353471875190735, + 0.008125907741487026, + 0.7608789205551147 + ], + "joints": [ + 0.015348950400948524 + ] + }, + "fine_grasp": { + "position": [ + -0.11445554345846176, + 0.03714963048696518, + -0.04461224749684334 + ], + "orientation": [ + 0.12490805238485336, + 0.6227160692214966, + -0.00839803647249937, + 0.7723677754402161 + ], + "joints": [ + 0.013781623914837837 + ] + }, + "final_grasp": { + "position": [ + -0.11445554345846176, + 0.03714963048696518, + -0.04461224749684334 + ], + "orientation": [ + 0.12490805238485336, + 0.6227160692214966, + -0.00839803647249937, + 0.7723677754402161 + ], + "joints": [ + 0.01221429742872715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1067647933959961, + 0.05787515640258789, + -0.021735718473792076 + ], + "orientation": [ + 0.66466224193573, + 0.5393585562705994, + 0.326122909784317, + 0.40119868516921997 + ], + "joints": [ + 0.01567571982741356 + ] + }, + "fine_grasp": { + "position": [ + -0.10666263848543167, + 0.05780760198831558, + -0.021580496802926064 + ], + "orientation": [ + 0.6639383435249329, + 0.540206253528595, + 0.3267052471637726, + 0.4007827937602997 + ], + "joints": [ + 0.005644794553518295 + ] + }, + "final_grasp": { + "position": [ + -0.10666263848543167, + 0.05780760198831558, + -0.021580496802926064 + ], + "orientation": [ + 0.6639383435249329, + 0.540206253528595, + 0.3267052471637726, + 0.4007827937602997 + ], + "joints": [ + -0.004386130720376968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12160766869783401, + -0.016698917374014854, + -0.015535500831902027 + ], + "orientation": [ + 0.5688067078590393, + -0.4912877380847931, + -0.43049052357673645, + 0.4997732639312744 + ], + "joints": [ + 0.01453899685293436 + ] + }, + "fine_grasp": { + "position": [ + 0.12150103598833084, + -0.016731522977352142, + -0.015169840306043625 + ], + "orientation": [ + 0.567847490310669, + -0.49259689450263977, + -0.4314113259315491, + 0.4987803101539612 + ], + "joints": [ + 0.004508071579039097 + ] + }, + "final_grasp": { + "position": [ + 0.12150103598833084, + -0.016731522977352142, + -0.015169840306043625 + ], + "orientation": [ + 0.567847490310669, + -0.49259689450263977, + -0.4314113259315491, + 0.4987803101539612 + ], + "joints": [ + -0.005522853694856167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07487071305513382, + 0.1035849004983902, + -0.04923194274306297 + ], + "orientation": [ + 0.44984641671180725, + 0.646206796169281, + -0.16726036369800568, + 0.5933623909950256 + ], + "joints": [ + 0.025653017684817314 + ] + }, + "fine_grasp": { + "position": [ + -0.07435208559036255, + 0.10260526090860367, + -0.044831953942775726 + ], + "orientation": [ + 0.45307236909866333, + 0.6249147057533264, + -0.1724359691143036, + 0.6119419932365417 + ], + "joints": [ + 0.02011512778699398 + ] + }, + "final_grasp": { + "position": [ + -0.07435208559036255, + 0.10260526090860367, + -0.044831953942775726 + ], + "orientation": [ + 0.45307236909866333, + 0.6249147057533264, + -0.1724359691143036, + 0.6119419932365417 + ], + "joints": [ + 0.014577237889170647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12090873718261719, + -0.0076710013672709465, + -0.021687274798750877 + ], + "orientation": [ + 0.5664107203483582, + -0.4602303206920624, + -0.4309254586696625, + 0.5307263135910034 + ], + "joints": [ + 0.015713348984718323 + ] + }, + "fine_grasp": { + "position": [ + 0.12092845141887665, + -0.0076407864689826965, + -0.021437259390950203 + ], + "orientation": [ + 0.5655277371406555, + -0.46112653613090515, + -0.4318309724330902, + 0.5301536917686462 + ], + "joints": [ + 0.005682423710823059 + ] + }, + "final_grasp": { + "position": [ + 0.12092845141887665, + -0.0076407864689826965, + -0.021437259390950203 + ], + "orientation": [ + 0.5655277371406555, + -0.46112653613090515, + -0.4318309724330902, + 0.5301536917686462 + ], + "joints": [ + -0.004348501563072205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10240814089775085, + 0.0781019851565361, + -0.04089415445923805 + ], + "orientation": [ + 0.2845664620399475, + 0.6681299209594727, + -0.09807106852531433, + 0.6804457306861877 + ], + "joints": [ + 0.025262271985411644 + ] + }, + "fine_grasp": { + "position": [ + -0.10158280283212662, + 0.07629889249801636, + -0.03660709783434868 + ], + "orientation": [ + 0.28526654839515686, + 0.6495110392570496, + -0.11220406740903854, + 0.6958223581314087 + ], + "joints": [ + 0.02085285447537899 + ] + }, + "final_grasp": { + "position": [ + -0.10158280283212662, + 0.07629889249801636, + -0.03660709783434868 + ], + "orientation": [ + 0.28526654839515686, + 0.6495110392570496, + -0.11220406740903854, + 0.6958223581314087 + ], + "joints": [ + 0.016443436965346336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03866176679730415, + 0.10334329307079315, + -0.06963104009628296 + ], + "orientation": [ + 0.7181293368339539, + 0.43498194217681885, + 0.42072516679763794, + -0.3436148464679718 + ], + "joints": [ + 0.02974374033510685 + ] + }, + "fine_grasp": { + "position": [ + -0.03835016116499901, + 0.10285615921020508, + -0.0647980198264122 + ], + "orientation": [ + 0.7306947112083435, + 0.415566623210907, + 0.41009315848350525, + -0.35385480523109436 + ], + "joints": [ + 0.02493726648390293 + ] + }, + "final_grasp": { + "position": [ + -0.03835016116499901, + 0.10285615921020508, + -0.0647980198264122 + ], + "orientation": [ + 0.7306947112083435, + 0.415566623210907, + 0.41009315848350525, + -0.35385480523109436 + ], + "joints": [ + 0.020130792632699013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11812559515237808, + 0.030721334740519524, + -0.021899176761507988 + ], + "orientation": [ + 0.4318227171897888, + -0.36054548621177673, + 0.5181237459182739, + -0.6442700624465942 + ], + "joints": [ + 0.015154953114688396 + ] + }, + "fine_grasp": { + "position": [ + -0.1178051009774208, + 0.030897319316864014, + -0.02150050736963749 + ], + "orientation": [ + 0.4299689531326294, + -0.36093541979789734, + 0.5188422203063965, + -0.6447132229804993 + ], + "joints": [ + 0.0051449257880449295 + ] + }, + "final_grasp": { + "position": [ + -0.1178051009774208, + 0.030897319316864014, + -0.02150050736963749 + ], + "orientation": [ + 0.4299689531326294, + -0.36093541979789734, + 0.5188422203063965, + -0.6447132229804993 + ], + "joints": [ + -0.0048651015385985374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11833585053682327, + 0.02976815029978752, + -0.02290177159011364 + ], + "orientation": [ + 0.43358805775642395, + -0.35730576515197754, + 0.5162883400917053, + -0.646359384059906 + ], + "joints": [ + 0.015233656391501427 + ] + }, + "fine_grasp": { + "position": [ + -0.1180575042963028, + 0.029972482472658157, + -0.022409843280911446 + ], + "orientation": [ + 0.4316921830177307, + -0.3576716184616089, + 0.5172156691551208, + -0.6466845273971558 + ], + "joints": [ + 0.005620686337351799 + ] + }, + "final_grasp": { + "position": [ + -0.1180575042963028, + 0.029972482472658157, + -0.022409843280911446 + ], + "orientation": [ + 0.4316921830177307, + -0.3576716184616089, + 0.5172156691551208, + -0.6466845273971558 + ], + "joints": [ + -0.003992283716797829 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1094040721654892, + 0.07533559203147888, + -0.03469260036945343 + ], + "orientation": [ + 0.21477678418159485, + 0.6905063390731812, + -0.1498108059167862, + 0.6742615699768066 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.10888553410768509, + 0.07428067177534103, + -0.029989760369062424 + ], + "orientation": [ + 0.22312813997268677, + 0.6679781675338745, + -0.14986132085323334, + 0.6939457654953003 + ], + "joints": [ + 0.027347154915332794 + ] + }, + "final_grasp": { + "position": [ + -0.10888553410768509, + 0.07428067177534103, + -0.029989760369062424 + ], + "orientation": [ + 0.22312813997268677, + 0.6679781675338745, + -0.14986132085323334, + 0.6939457654953003 + ], + "joints": [ + 0.023167602717876434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07403653860092163, + 0.10333096235990524, + -0.05231267213821411 + ], + "orientation": [ + 0.6999377608299255, + 0.3836412727832794, + 0.517734944820404, + -0.30798885226249695 + ], + "joints": [ + 0.02596939541399479 + ] + }, + "fine_grasp": { + "position": [ + -0.07271407544612885, + 0.10286062210798264, + -0.04772023484110832 + ], + "orientation": [ + 0.7159775495529175, + 0.3660571277141571, + 0.5056695342063904, + -0.312532514333725 + ], + "joints": [ + 0.021518180146813393 + ] + }, + "final_grasp": { + "position": [ + -0.07271407544612885, + 0.10286062210798264, + -0.04772023484110832 + ], + "orientation": [ + 0.7159775495529175, + 0.3660571277141571, + 0.5056695342063904, + -0.312532514333725 + ], + "joints": [ + 0.017066964879631996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07505200058221817, + 0.10384562611579895, + -0.052186883985996246 + ], + "orientation": [ + 0.6961861252784729, + 0.388136625289917, + 0.5160285830497742, + -0.3136707842350006 + ], + "joints": [ + 0.024519119411706924 + ] + }, + "fine_grasp": { + "position": [ + -0.0735832005739212, + 0.10338525474071503, + -0.04743197187781334 + ], + "orientation": [ + 0.7131410241127014, + 0.3695431351661682, + 0.5038498640060425, + -0.317809522151947 + ], + "joints": [ + 0.02123817428946495 + ] + }, + "final_grasp": { + "position": [ + -0.0735832005739212, + 0.10338525474071503, + -0.04743197187781334 + ], + "orientation": [ + 0.7131410241127014, + 0.3695431351661682, + 0.5038498640060425, + -0.317809522151947 + ], + "joints": [ + 0.017957229167222977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -7.290265057235956e-05, + 0.12516522407531738, + -0.028594788163900375 + ], + "orientation": [ + 0.5669451951980591, + 0.5810426473617554, + -0.43949323892593384, + 0.3844585716724396 + ], + "joints": [ + 0.03151451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.00010523952369112521, + 0.1247025728225708, + -0.023832302540540695 + ], + "orientation": [ + 0.5838412642478943, + 0.5613651275634766, + -0.42702120542526245, + 0.4020591676235199 + ], + "joints": [ + 0.028129078447818756 + ] + }, + "final_grasp": { + "position": [ + 0.00010523952369112521, + 0.1247025728225708, + -0.023832302540540695 + ], + "orientation": [ + 0.5838412642478943, + 0.5613651275634766, + -0.42702120542526245, + 0.4020591676235199 + ], + "joints": [ + 0.024743638932704926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0005661362665705383, + 0.12462828308343887, + -0.028538303449749947 + ], + "orientation": [ + 0.5704715847969055, + 0.5792257189750671, + -0.4419507086277008, + 0.37912967801094055 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.0002455518988426775, + 0.12426113337278366, + -0.023714708164334297 + ], + "orientation": [ + 0.58782559633255, + 0.5599073171615601, + -0.42809009552001953, + 0.3971193730831146 + ], + "joints": [ + 0.028250209987163544 + ] + }, + "final_grasp": { + "position": [ + -0.0002455518988426775, + 0.12426113337278366, + -0.023714708164334297 + ], + "orientation": [ + 0.58782559633255, + 0.5599073171615601, + -0.42809009552001953, + 0.3971193730831146 + ], + "joints": [ + 0.024070657789707184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04171294718980789, + 0.10576197504997253, + -0.05904125049710274 + ], + "orientation": [ + 0.625969648361206, + 0.2802280783653259, + 0.5438393950462341, + -0.4836041033267975 + ], + "joints": [ + 0.03154986351728439 + ] + }, + "fine_grasp": { + "position": [ + -0.04154441878199577, + 0.10416600108146667, + -0.0543556772172451 + ], + "orientation": [ + 0.6399276256561279, + 0.2875206768512726, + 0.5233888626098633, + -0.48362022638320923 + ], + "joints": [ + 0.027913659811019897 + ] + }, + "final_grasp": { + "position": [ + -0.04154441878199577, + 0.10416600108146667, + -0.0543556772172451 + ], + "orientation": [ + 0.6399276256561279, + 0.2875206768512726, + 0.5233888626098633, + -0.48362022638320923 + ], + "joints": [ + 0.0242774561047554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09968023747205734, + -0.07340089976787567, + -0.038613349199295044 + ], + "orientation": [ + 0.6745144128799438, + -0.25712132453918457, + -0.6335816979408264, + -0.27837592363357544 + ], + "joints": [ + 0.030832044780254364 + ] + }, + "fine_grasp": { + "position": [ + 0.0983557477593422, + -0.07367577403783798, + -0.03402984142303467 + ], + "orientation": [ + 0.6944192051887512, + -0.24294044077396393, + -0.6159601211547852, + -0.2817002236843109 + ], + "joints": [ + 0.026234537363052368 + ] + }, + "final_grasp": { + "position": [ + 0.0983557477593422, + -0.07367577403783798, + -0.03402984142303467 + ], + "orientation": [ + 0.6944192051887512, + -0.24294044077396393, + -0.6159601211547852, + -0.2817002236843109 + ], + "joints": [ + 0.021637029945850372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07088437676429749, + -0.10102660953998566, + -0.014594628475606441 + ], + "orientation": [ + 0.7477332353591919, + -0.6285264492034912, + 0.19338080286979675, + -0.09194249659776688 + ], + "joints": [ + 0.013707948848605156 + ] + }, + "fine_grasp": { + "position": [ + -0.06991486996412277, + -0.09988439828157425, + -0.014019785448908806 + ], + "orientation": [ + 0.7477844953536987, + -0.626342236995697, + 0.20373938977718353, + -0.08368946611881256 + ], + "joints": [ + 0.004512934014201164 + ] + }, + "final_grasp": { + "position": [ + -0.06991486996412277, + -0.09988439828157425, + -0.014019785448908806 + ], + "orientation": [ + 0.7477844953536987, + -0.626342236995697, + 0.20373938977718353, + -0.08368946611881256 + ], + "joints": [ + -0.0046820808202028275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06562701612710953, + 0.08989530056715012, + -0.06438606232404709 + ], + "orientation": [ + 0.4677082300186157, + 0.5802362561225891, + -0.18662315607070923, + 0.6401146054267883 + ], + "joints": [ + 0.032417573034763336 + ] + }, + "fine_grasp": { + "position": [ + -0.06583768129348755, + 0.08881667256355286, + -0.05951670557260513 + ], + "orientation": [ + 0.4739316403865814, + 0.5559206604957581, + -0.1934760957956314, + 0.654910683631897 + ], + "joints": [ + 0.03153986483812332 + ] + }, + "final_grasp": { + "position": [ + -0.06583768129348755, + 0.08881667256355286, + -0.05951670557260513 + ], + "orientation": [ + 0.4739316403865814, + 0.5559206604957581, + -0.1934760957956314, + 0.654910683631897 + ], + "joints": [ + 0.030662156641483307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04130124673247337, + 0.12221802026033401, + -0.05088406801223755 + ], + "orientation": [ + 0.4116306006908417, + 0.4843336343765259, + 0.39289018511772156, + -0.6645439267158508 + ], + "joints": [ + 0.03377276659011841 + ] + }, + "fine_grasp": { + "position": [ + 0.04068714380264282, + 0.120881587266922, + -0.0462181493639946 + ], + "orientation": [ + 0.4209056794643402, + 0.47185155749320984, + 0.37766286730766296, + -0.6764357089996338 + ], + "joints": [ + 0.031620293855667114 + ] + }, + "final_grasp": { + "position": [ + 0.04068714380264282, + 0.120881587266922, + -0.0462181493639946 + ], + "orientation": [ + 0.4209056794643402, + 0.47185155749320984, + 0.37766286730766296, + -0.6764357089996338 + ], + "joints": [ + 0.02946782112121582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041301414370536804, + 0.12199342995882034, + -0.05082518979907036 + ], + "orientation": [ + 0.41323456168174744, + 0.48449817299842834, + 0.39226973056793213, + -0.6637945771217346 + ], + "joints": [ + 0.03377276659011841 + ] + }, + "fine_grasp": { + "position": [ + 0.040691159665584564, + 0.12065061926841736, + -0.046157460659742355 + ], + "orientation": [ + 0.4225020706653595, + 0.47206926345825195, + 0.3769419491291046, + -0.6756903529167175 + ], + "joints": [ + 0.031620293855667114 + ] + }, + "final_grasp": { + "position": [ + 0.040691159665584564, + 0.12065061926841736, + -0.046157460659742355 + ], + "orientation": [ + 0.4225020706653595, + 0.47206926345825195, + 0.3769419491291046, + -0.6756903529167175 + ], + "joints": [ + 0.02946782112121582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04109195992350578, + 0.1226138025522232, + -0.05086043104529381 + ], + "orientation": [ + 0.4127694368362427, + 0.4834486246109009, + 0.39466479420661926, + -0.6634293794631958 + ], + "joints": [ + 0.03377276659011841 + ] + }, + "fine_grasp": { + "position": [ + 0.04047999903559685, + 0.12126690149307251, + -0.04621325805783272 + ], + "orientation": [ + 0.42202457785606384, + 0.4711134731769562, + 0.37934964895248413, + -0.6753082275390625 + ], + "joints": [ + 0.03159939497709274 + ] + }, + "final_grasp": { + "position": [ + 0.04047999903559685, + 0.12126690149307251, + -0.04621325805783272 + ], + "orientation": [ + 0.42202457785606384, + 0.4711134731769562, + 0.37934964895248413, + -0.6753082275390625 + ], + "joints": [ + 0.029426023364067078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04090142995119095, + 0.1218552365899086, + -0.05116122215986252 + ], + "orientation": [ + 0.41328251361846924, + 0.482368141412735, + 0.39821857213974, + -0.6617707014083862 + ], + "joints": [ + 0.03377276659011841 + ] + }, + "fine_grasp": { + "position": [ + 0.040124841034412384, + 0.1206381544470787, + -0.04650812968611717 + ], + "orientation": [ + 0.4220793545246124, + 0.4713589549064636, + 0.38121840357780457, + -0.6740491986274719 + ], + "joints": [ + 0.03159939497709274 + ] + }, + "final_grasp": { + "position": [ + 0.040124841034412384, + 0.1206381544470787, + -0.04650812968611717 + ], + "orientation": [ + 0.4220793545246124, + 0.4713589549064636, + 0.38121840357780457, + -0.6740491986274719 + ], + "joints": [ + 0.029426023364067078 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004177158698439598, + 0.12811845541000366, + -0.050227321684360504 + ], + "orientation": [ + 0.6165387630462646, + 0.5159721374511719, + 0.3979107439517975, + -0.44195008277893066 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.0035826440434902906, + 0.1273214966058731, + -0.04588262364268303 + ], + "orientation": [ + 0.628048837184906, + 0.4948512017726898, + 0.39403873682022095, + -0.453222393989563 + ], + "joints": [ + 0.031468458473682404 + ] + }, + "final_grasp": { + "position": [ + -0.0035826440434902906, + 0.1273214966058731, + -0.04588262364268303 + ], + "orientation": [ + 0.628048837184906, + 0.4948512017726898, + 0.39403873682022095, + -0.453222393989563 + ], + "joints": [ + 0.030507154762744904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003882568795233965, + 0.12896579504013062, + -0.050222259014844894 + ], + "orientation": [ + 0.6163912415504456, + 0.5162085890769958, + 0.39751842617988586, + -0.44223254919052124 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.0033760089427232742, + 0.12820762395858765, + -0.04589041694998741 + ], + "orientation": [ + 0.6279444098472595, + 0.4954453408718109, + 0.39306432008743286, + -0.453563928604126 + ], + "joints": [ + 0.0318446159362793 + ] + }, + "final_grasp": { + "position": [ + -0.0033760089427232742, + 0.12820762395858765, + -0.04589041694998741 + ], + "orientation": [ + 0.6279444098472595, + 0.4954453408718109, + 0.39306432008743286, + -0.453563928604126 + ], + "joints": [ + 0.03125946968793869 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06449800729751587, + 0.09126034379005432, + -0.06495331227779388 + ], + "orientation": [ + 0.4683386981487274, + 0.5807482004165649, + -0.1834874302148819, + 0.6400957703590393 + ], + "joints": [ + 0.027312420308589935 + ] + }, + "fine_grasp": { + "position": [ + -0.06374646723270416, + 0.09046005457639694, + -0.06071624904870987 + ], + "orientation": [ + 0.4680516719818115, + 0.561795175075531, + -0.18854089081287384, + 0.6555655002593994 + ], + "joints": [ + 0.024261362850666046 + ] + }, + "final_grasp": { + "position": [ + -0.06374646723270416, + 0.09046005457639694, + -0.06071624904870987 + ], + "orientation": [ + 0.4680516719818115, + 0.561795175075531, + -0.18854089081287384, + 0.6555655002593994 + ], + "joints": [ + 0.021210305392742157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07057228684425354, + 0.09357103705406189, + -0.03933749347925186 + ], + "orientation": [ + 0.6959303021430969, + 0.3219562768936157, + 0.5754624009132385, + -0.2843732535839081 + ], + "joints": [ + 0.03310004249215126 + ] + }, + "fine_grasp": { + "position": [ + -0.06997062265872955, + 0.09270601719617844, + -0.034328166395425797 + ], + "orientation": [ + 0.7124952077865601, + 0.3098733425140381, + 0.5568631291389465, + -0.2936539351940155 + ], + "joints": [ + 0.03144912049174309 + ] + }, + "final_grasp": { + "position": [ + -0.06997062265872955, + 0.09270601719617844, + -0.034328166395425797 + ], + "orientation": [ + 0.7124952077865601, + 0.3098733425140381, + 0.5568631291389465, + -0.2936539351940155 + ], + "joints": [ + 0.029798198491334915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03939461335539818, + 0.10454190522432327, + -0.040601857006549835 + ], + "orientation": [ + 0.46639299392700195, + 0.5501121282577515, + -0.34820646047592163, + 0.5988376140594482 + ], + "joints": [ + 0.03377276659011841 + ] + }, + "fine_grasp": { + "position": [ + -0.039055563509464264, + 0.10367124527692795, + -0.035725973546504974 + ], + "orientation": [ + 0.4750719666481018, + 0.5302094221115112, + -0.33957692980766296, + 0.6147128939628601 + ], + "joints": [ + 0.03168299049139023 + ] + }, + "final_grasp": { + "position": [ + -0.039055563509464264, + 0.10367124527692795, + -0.035725973546504974 + ], + "orientation": [ + 0.4750719666481018, + 0.5302094221115112, + -0.33957692980766296, + 0.6147128939628601 + ], + "joints": [ + 0.02959321439266205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039604783058166504, + 0.10567133873701096, + -0.04045115038752556 + ], + "orientation": [ + 0.4633849859237671, + 0.5506903529167175, + -0.3472670912742615, + 0.6011822819709778 + ], + "joints": [ + 0.034443046897649765 + ] + }, + "fine_grasp": { + "position": [ + -0.039478402584791183, + 0.1047748550772667, + -0.03569268807768822 + ], + "orientation": [ + 0.4717581570148468, + 0.5302994847297668, + -0.34092801809310913, + 0.6164371371269226 + ], + "joints": [ + 0.031538259238004684 + ] + }, + "final_grasp": { + "position": [ + -0.039478402584791183, + 0.1047748550772667, + -0.03569268807768822 + ], + "orientation": [ + 0.4717581570148468, + 0.5302994847297668, + -0.34092801809310913, + 0.6164371371269226 + ], + "joints": [ + 0.028633471578359604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10566188395023346, + 0.04118753969669342, + -0.03783787041902542 + ], + "orientation": [ + 0.19092169404029846, + 0.643599808216095, + -0.10463816672563553, + 0.7337431311607361 + ], + "joints": [ + 0.0338580496609211 + ] + }, + "fine_grasp": { + "position": [ + -0.10454072058200836, + 0.04086422175168991, + -0.033308204263448715 + ], + "orientation": [ + 0.18984512984752655, + 0.6246904134750366, + -0.10567839443683624, + 0.7500351667404175 + ], + "joints": [ + 0.03135031834244728 + ] + }, + "final_grasp": { + "position": [ + -0.10454072058200836, + 0.04086422175168991, + -0.033308204263448715 + ], + "orientation": [ + 0.18984512984752655, + 0.6246904134750366, + -0.10567839443683624, + 0.7500351667404175 + ], + "joints": [ + 0.028842587023973465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0911693274974823, + 0.08482713252305984, + -0.031068189069628716 + ], + "orientation": [ + 0.6908351182937622, + 0.3167070746421814, + 0.6254661679267883, + -0.1767360270023346 + ], + "joints": [ + 0.03323642909526825 + ] + }, + "fine_grasp": { + "position": [ + -0.09059064090251923, + 0.08438843488693237, + -0.02596844732761383 + ], + "orientation": [ + 0.7121874094009399, + 0.3030123710632324, + 0.605525553226471, + -0.18523353338241577 + ], + "joints": [ + 0.031564608216285706 + ] + }, + "final_grasp": { + "position": [ + -0.09059064090251923, + 0.08438843488693237, + -0.02596844732761383 + ], + "orientation": [ + 0.7121874094009399, + 0.3030123710632324, + 0.605525553226471, + -0.18523353338241577 + ], + "joints": [ + 0.02989278733730316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10331032425165176, + -0.06722317636013031, + -0.03843643516302109 + ], + "orientation": [ + 0.6760352253913879, + -0.20307354629039764, + -0.6781765818595886, + -0.20448508858680725 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.1029580682516098, + -0.067012719810009, + -0.03321334719657898 + ], + "orientation": [ + 0.6989474296569824, + -0.19578707218170166, + -0.6544298529624939, + -0.2118052989244461 + ], + "joints": [ + 0.03137630224227905 + ] + }, + "final_grasp": { + "position": [ + 0.1029580682516098, + -0.067012719810009, + -0.03321334719657898 + ], + "orientation": [ + 0.6989474296569824, + -0.19578707218170166, + -0.6544298529624939, + -0.2118052989244461 + ], + "joints": [ + 0.02891036868095398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.104456827044487, + -0.06819325685501099, + -0.03733593598008156 + ], + "orientation": [ + 0.6818506121635437, + -0.202964186668396, + -0.6715798377990723, + -0.2070402204990387 + ], + "joints": [ + 0.033026907593011856 + ] + }, + "fine_grasp": { + "position": [ + 0.10400375723838806, + -0.06795620173215866, + -0.03207055851817131 + ], + "orientation": [ + 0.7050045728683472, + -0.19531580805778503, + -0.6474280953407288, + -0.21367575228214264 + ], + "joints": [ + 0.03135508671402931 + ] + }, + "final_grasp": { + "position": [ + 0.10400375723838806, + -0.06795620173215866, + -0.03207055851817131 + ], + "orientation": [ + 0.7050045728683472, + -0.19531580805778503, + -0.6474280953407288, + -0.21367575228214264 + ], + "joints": [ + 0.029683265835046768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09847604483366013, + 0.0832885354757309, + -0.03908677399158478 + ], + "orientation": [ + 0.6965721249580383, + 0.23781009018421173, + 0.6540371179580688, + -0.17455412447452545 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.09825833886861801, + 0.08220047503709793, + -0.034402888268232346 + ], + "orientation": [ + 0.7157763838768005, + 0.23383395373821259, + 0.6317441463470459, + -0.18407918512821198 + ], + "joints": [ + 0.02757870778441429 + ] + }, + "final_grasp": { + "position": [ + -0.09825833886861801, + 0.08220047503709793, + -0.034402888268232346 + ], + "orientation": [ + 0.7157763838768005, + 0.23383395373821259, + 0.6317441463470459, + -0.18407918512821198 + ], + "joints": [ + 0.02339915558695793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11033745110034943, + -0.05212146043777466, + -0.03647749125957489 + ], + "orientation": [ + 0.1463143527507782, + -0.6578805446624756, + 0.18765275180339813, + 0.7145429849624634 + ], + "joints": [ + 0.03280632197856903 + ] + }, + "fine_grasp": { + "position": [ + 0.1096276342868805, + -0.05205133929848671, + -0.031372420489788055 + ], + "orientation": [ + 0.15189538896083832, + -0.6356011033058167, + 0.17754584550857544, + 0.7358100414276123 + ], + "joints": [ + 0.03155245631933212 + ] + }, + "final_grasp": { + "position": [ + 0.1096276342868805, + -0.05205133929848671, + -0.031372420489788055 + ], + "orientation": [ + 0.15189538896083832, + -0.6356011033058167, + 0.17754584550857544, + 0.7358100414276123 + ], + "joints": [ + 0.030298590660095215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06657809764146805, + 0.09261054545640945, + -0.06408590078353882 + ], + "orientation": [ + 0.7122284770011902, + 0.36393383145332336, + 0.5468957424163818, + -0.2473619133234024 + ], + "joints": [ + 0.033216170966625214 + ] + }, + "fine_grasp": { + "position": [ + -0.06639906764030457, + 0.09241168200969696, + -0.058828648179769516 + ], + "orientation": [ + 0.7315881848335266, + 0.34871935844421387, + 0.5270020365715027, + -0.2558169960975647 + ], + "joints": [ + 0.03154435008764267 + ] + }, + "final_grasp": { + "position": [ + -0.06639906764030457, + 0.09241168200969696, + -0.058828648179769516 + ], + "orientation": [ + 0.7315881848335266, + 0.34871935844421387, + 0.5270020365715027, + -0.2558169960975647 + ], + "joints": [ + 0.029872529208660126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04801250249147415, + 0.1030101627111435, + -0.06474428623914719 + ], + "orientation": [ + 0.6683002710342407, + 0.3873576819896698, + 0.5179409980773926, + -0.3675130307674408 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.047781843692064285, + 0.10270009189844131, + -0.05936590954661369 + ], + "orientation": [ + 0.6860333681106567, + 0.3708745241165161, + 0.49872153997421265, + -0.37826868891716003 + ], + "joints": [ + 0.03161700814962387 + ] + }, + "final_grasp": { + "position": [ + -0.047781843692064285, + 0.10270009189844131, + -0.05936590954661369 + ], + "orientation": [ + 0.6860333681106567, + 0.3708745241165161, + 0.49872153997421265, + -0.37826868891716003 + ], + "joints": [ + 0.0307810977101326 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1159348264336586, + 0.02632288821041584, + -0.05039036646485329 + ], + "orientation": [ + 0.41282668709754944, + -0.4583553075790405, + 0.47760602831840515, + -0.6256012320518494 + ], + "joints": [ + 0.0007511214353144169 + ] + }, + "fine_grasp": { + "position": [ + -0.1155686005949974, + 0.02620762586593628, + -0.047320298850536346 + ], + "orientation": [ + 0.4159560203552246, + -0.4528714716434479, + 0.46860113739967346, + -0.6342720985412598 + ], + "joints": [ + 0.0019631905015558004 + ] + }, + "final_grasp": { + "position": [ + -0.1155686005949974, + 0.02620762586593628, + -0.047320298850536346 + ], + "orientation": [ + 0.4159560203552246, + -0.4528714716434479, + 0.46860113739967346, + -0.6342720985412598 + ], + "joints": [ + 0.003175259567797184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11567796766757965, + 0.019248023629188538, + -0.0513007715344429 + ], + "orientation": [ + 0.6276018023490906, + 0.44831582903862, + 0.48201775550842285, + 0.41567757725715637 + ], + "joints": [ + 0.0007511214353144169 + ] + }, + "fine_grasp": { + "position": [ + -0.11525595933198929, + 0.019125143066048622, + -0.04818720370531082 + ], + "orientation": [ + 0.6366187334060669, + 0.4389342963695526, + 0.47712036967277527, + 0.41762346029281616 + ], + "joints": [ + 0.0019631905015558004 + ] + }, + "final_grasp": { + "position": [ + -0.11525595933198929, + 0.019125143066048622, + -0.04818720370531082 + ], + "orientation": [ + 0.6366187334060669, + 0.4389342963695526, + 0.47712036967277527, + 0.41762346029281616 + ], + "joints": [ + 0.003175259567797184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016667064279317856, + 0.12138470262289047, + -0.07865811139345169 + ], + "orientation": [ + 0.6367352604866028, + 0.4327283501625061, + 0.42682191729545593, + -0.47448650002479553 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.01665344648063183, + 0.12078272551298141, + -0.07337068021297455 + ], + "orientation": [ + 0.6501099467277527, + 0.41527628898620605, + 0.4107305407524109, + -0.48600736260414124 + ], + "joints": [ + 0.03166215866804123 + ] + }, + "final_grasp": { + "position": [ + -0.01665344648063183, + 0.12078272551298141, + -0.07337068021297455 + ], + "orientation": [ + 0.6501099467277527, + 0.41527628898620605, + 0.4107305407524109, + -0.48600736260414124 + ], + "joints": [ + 0.03040829300880432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03393596410751343, + 0.12377189844846725, + -0.06578432023525238 + ], + "orientation": [ + 0.4810776114463806, + 0.4925345778465271, + 0.3886835277080536, + -0.6122899651527405 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.03350110352039337, + 0.12300529330968857, + -0.060705311596393585 + ], + "orientation": [ + 0.4910849928855896, + 0.47553765773773193, + 0.3734090030193329, + -0.6271086931228638 + ], + "joints": [ + 0.029945187270641327 + ] + }, + "final_grasp": { + "position": [ + 0.03350110352039337, + 0.12300529330968857, + -0.060705311596393585 + ], + "orientation": [ + 0.4910849928855896, + 0.47553765773773193, + 0.3734090030193329, + -0.6271086931228638 + ], + "joints": [ + 0.02743745595216751 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01702694222331047, + 0.12076853960752487, + -0.07828718423843384 + ], + "orientation": [ + 0.6384972333908081, + 0.43109986186027527, + 0.4271327555179596, + -0.473319947719574 + ], + "joints": [ + 0.03290383517742157 + ] + }, + "fine_grasp": { + "position": [ + -0.01702052913606167, + 0.12017558515071869, + -0.07299875468015671 + ], + "orientation": [ + 0.6518367528915405, + 0.41369953751564026, + 0.41098904609680176, + -0.4848189651966095 + ], + "joints": [ + 0.03164996951818466 + ] + }, + "final_grasp": { + "position": [ + -0.01702052913606167, + 0.12017558515071869, + -0.07299875468015671 + ], + "orientation": [ + 0.6518367528915405, + 0.41369953751564026, + 0.41098904609680176, + -0.4848189651966095 + ], + "joints": [ + 0.030396103858947754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07833704352378845, + 0.10872132331132889, + -0.04578728601336479 + ], + "orientation": [ + 0.7124969959259033, + 0.623034656047821, + 0.26192358136177063, + 0.18860478699207306 + ], + "joints": [ + 0.0008917055674828589 + ] + }, + "fine_grasp": { + "position": [ + -0.07749603688716888, + 0.10739291459321976, + -0.04238761216402054 + ], + "orientation": [ + 0.7205695509910583, + 0.6149249076843262, + 0.2601619064807892, + 0.18698345124721527 + ], + "joints": [ + 0.001685819705016911 + ] + }, + "final_grasp": { + "position": [ + -0.07749603688716888, + 0.10739291459321976, + -0.04238761216402054 + ], + "orientation": [ + 0.7205695509910583, + 0.6149249076843262, + 0.2601619064807892, + 0.18698345124721527 + ], + "joints": [ + 0.002479933900758624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09794119745492935, + 0.08630798757076263, + -0.05814623460173607 + ], + "orientation": [ + 0.19380390644073486, + 0.6019700765609741, + -0.28466135263442993, + 0.7204443216323853 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.09738577157258987, + 0.08579181879758835, + -0.053046759217977524 + ], + "orientation": [ + 0.20004986226558685, + 0.5809103846549988, + -0.27369752526283264, + 0.7400087118148804 + ], + "joints": [ + 0.030363142490386963 + ] + }, + "final_grasp": { + "position": [ + -0.09738577157258987, + 0.08579181879758835, + -0.053046759217977524 + ], + "orientation": [ + 0.20004986226558685, + 0.5809103846549988, + -0.27369752526283264, + 0.7400087118148804 + ], + "joints": [ + 0.028273366391658783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016342658549547195, + 0.11998452246189117, + -0.07635795325040817 + ], + "orientation": [ + 0.6439821720123291, + 0.4251924753189087, + 0.42428043484687805, + -0.473798006772995 + ], + "joints": [ + 0.03332846239209175 + ] + }, + "fine_grasp": { + "position": [ + -0.016269976273179054, + 0.11929162591695786, + -0.07110801339149475 + ], + "orientation": [ + 0.657135546207428, + 0.4083259105682373, + 0.4084816873073578, + -0.48434025049209595 + ], + "joints": [ + 0.03165664151310921 + ] + }, + "final_grasp": { + "position": [ + -0.016269976273179054, + 0.11929162591695786, + -0.07110801339149475 + ], + "orientation": [ + 0.657135546207428, + 0.4083259105682373, + 0.4084816873073578, + -0.48434025049209595 + ], + "joints": [ + 0.029984820634126663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06454402208328247, + 0.11740097403526306, + -0.04695570468902588 + ], + "orientation": [ + 0.7197824120521545, + 0.6441928744316101, + 0.19201761484146118, + 0.17337259650230408 + ], + "joints": [ + 0.0006243850803002715 + ] + }, + "fine_grasp": { + "position": [ + -0.0638110414147377, + 0.11607753485441208, + -0.04343023896217346 + ], + "orientation": [ + 0.7272065281867981, + 0.636083722114563, + 0.190683975815773, + 0.17380385100841522 + ], + "joints": [ + 0.0018364540301263332 + ] + }, + "final_grasp": { + "position": [ + -0.0638110414147377, + 0.11607753485441208, + -0.04343023896217346 + ], + "orientation": [ + 0.7272065281867981, + 0.636083722114563, + 0.190683975815773, + 0.17380385100841522 + ], + "joints": [ + 0.003048522863537073 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10989895462989807, + 0.03362083062529564, + -0.05647147446870804 + ], + "orientation": [ + 0.6474617719650269, + 0.48702311515808105, + 0.4176822304725647, + 0.4112701714038849 + ], + "joints": [ + 0.0008133845985867083 + ] + }, + "fine_grasp": { + "position": [ + -0.1093699038028717, + 0.03341338038444519, + -0.05353430658578873 + ], + "orientation": [ + 0.6551379561424255, + 0.47846853733062744, + 0.41370856761932373, + 0.4131675958633423 + ], + "joints": [ + 0.0016074987361207604 + ] + }, + "final_grasp": { + "position": [ + -0.1093699038028717, + 0.03341338038444519, + -0.05353430658578873 + ], + "orientation": [ + 0.6551379561424255, + 0.47846853733062744, + 0.41370856761932373, + 0.4131675958633423 + ], + "joints": [ + 0.0024016129318624735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09775140881538391, + 0.09054101258516312, + -0.0424530990421772 + ], + "orientation": [ + 0.6943455338478088, + 0.6086283922195435, + 0.31746184825897217, + 0.2160407304763794 + ], + "joints": [ + 0.0009017380070872605 + ] + }, + "fine_grasp": { + "position": [ + -0.09668605029582977, + 0.08957740664482117, + -0.039085980504751205 + ], + "orientation": [ + 0.7031158804893494, + 0.5989243388175964, + 0.31648463010787964, + 0.21622927486896515 + ], + "joints": [ + 0.0017167498590424657 + ] + }, + "final_grasp": { + "position": [ + -0.09668605029582977, + 0.08957740664482117, + -0.039085980504751205 + ], + "orientation": [ + 0.7031158804893494, + 0.5989243388175964, + 0.31648463010787964, + 0.21622927486896515 + ], + "joints": [ + 0.002531761769205332 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09604821354150772, + 0.08637400716543198, + -0.05701877549290657 + ], + "orientation": [ + 0.1972332000732422, + 0.5979157090187073, + -0.2836786210536957, + 0.7232719659805298 + ], + "joints": [ + 0.03263571485877037 + ] + }, + "fine_grasp": { + "position": [ + -0.09552182257175446, + 0.08585188537836075, + -0.05194522812962532 + ], + "orientation": [ + 0.20358751714229584, + 0.5770269632339478, + -0.27287691831588745, + 0.7423813343048096 + ], + "joints": [ + 0.030127983540296555 + ] + }, + "final_grasp": { + "position": [ + -0.09552182257175446, + 0.08585188537836075, + -0.05194522812962532 + ], + "orientation": [ + 0.20358751714229584, + 0.5770269632339478, + -0.27287691831588745, + 0.7423813343048096 + ], + "joints": [ + 0.02762025222182274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06462673842906952, + 0.1178952232003212, + -0.04666966572403908 + ], + "orientation": [ + 0.7193179130554199, + 0.6451395153999329, + 0.19355222582817078, + 0.17004163563251495 + ], + "joints": [ + 0.0009911637753248215 + ] + }, + "fine_grasp": { + "position": [ + -0.06387919932603836, + 0.11655533313751221, + -0.04316294565796852 + ], + "orientation": [ + 0.7265501022338867, + 0.6372418999671936, + 0.19231289625167847, + 0.17047984898090363 + ], + "joints": [ + 0.0017852778546512127 + ] + }, + "final_grasp": { + "position": [ + -0.06387919932603836, + 0.11655533313751221, + -0.04316294565796852 + ], + "orientation": [ + 0.7265501022338867, + 0.6372418999671936, + 0.19231289625167847, + 0.17047984898090363 + ], + "joints": [ + 0.002579391933977604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09877622127532959, + -0.07697384059429169, + -0.052653755992650986 + ], + "orientation": [ + 0.36412501335144043, + 0.2586766183376312, + -0.6018140912055969, + -0.6620567440986633 + ], + "joints": [ + 0.0007785214693285525 + ] + }, + "fine_grasp": { + "position": [ + 0.09795041382312775, + -0.0763547271490097, + -0.04948623850941658 + ], + "orientation": [ + 0.3697167932987213, + 0.2532311975955963, + -0.5940102934837341, + -0.6680833101272583 + ], + "joints": [ + 0.0015935333212837577 + ] + }, + "final_grasp": { + "position": [ + 0.09795041382312775, + -0.0763547271490097, + -0.04948623850941658 + ], + "orientation": [ + 0.3697167932987213, + 0.2532311975955963, + -0.5940102934837341, + -0.6680833101272583 + ], + "joints": [ + 0.002408545231446624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10347600281238556, + -0.07323890179395676, + -0.05701756849884987 + ], + "orientation": [ + 0.6418225765228271, + -0.6109127402305603, + -0.28380918502807617, + 0.36647194623947144 + ], + "joints": [ + 0.0012097996659576893 + ] + }, + "fine_grasp": { + "position": [ + 0.10322021692991257, + -0.07304242998361588, + -0.05162004008889198 + ], + "orientation": [ + 0.6618664264678955, + -0.5871564149856567, + -0.272693932056427, + 0.3779131770133972 + ], + "joints": [ + 0.0035921428352594376 + ] + }, + "final_grasp": { + "position": [ + 0.10322021692991257, + -0.07304242998361588, + -0.05162004008889198 + ], + "orientation": [ + 0.6618664264678955, + -0.5871564149856567, + -0.272693932056427, + 0.3779131770133972 + ], + "joints": [ + 0.005974486004561186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10356127470731735, + -0.07335550338029861, + -0.05662169307470322 + ], + "orientation": [ + 0.6426638960838318, + -0.609824538230896, + -0.28162238001823425, + 0.368491530418396 + ], + "joints": [ + 0.0012680778745561838 + ] + }, + "fine_grasp": { + "position": [ + 0.10328496247529984, + -0.07314537465572357, + -0.05125727131962776 + ], + "orientation": [ + 0.6624237895011902, + -0.5862354040145874, + -0.2706504464149475, + 0.3798305094242096 + ], + "joints": [ + 0.003253363771364093 + ] + }, + "final_grasp": { + "position": [ + 0.10328496247529984, + -0.07314537465572357, + -0.05125727131962776 + ], + "orientation": [ + 0.6624237895011902, + -0.5862354040145874, + -0.2706504464149475, + 0.3798305094242096 + ], + "joints": [ + 0.005238649435341358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09096799790859222, + -0.08402328938245773, + -0.055039092898368835 + ], + "orientation": [ + 0.32164546847343445, + -0.5979488492012024, + 0.22362883388996124, + 0.6992793083190918 + ], + "joints": [ + 0.033050063997507095 + ] + }, + "fine_grasp": { + "position": [ + 0.09020715951919556, + -0.08359475433826447, + -0.049856383353471756 + ], + "orientation": [ + 0.3283107280731201, + -0.5763101577758789, + 0.21442358195781708, + 0.7170085310935974 + ], + "joints": [ + 0.03137824311852455 + ] + }, + "final_grasp": { + "position": [ + 0.09020715951919556, + -0.08359475433826447, + -0.049856383353471756 + ], + "orientation": [ + 0.3283107280731201, + -0.5763101577758789, + 0.21442358195781708, + 0.7170085310935974 + ], + "joints": [ + 0.029706422239542007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09699735790491104, + 0.08583337068557739, + -0.05751323699951172 + ], + "orientation": [ + 0.19831347465515137, + 0.5993981957435608, + -0.2868698239326477, + 0.7204853296279907 + ], + "joints": [ + 0.03141700476408005 + ] + }, + "fine_grasp": { + "position": [ + -0.09648679196834564, + 0.08536167442798615, + -0.05254269391298294 + ], + "orientation": [ + 0.20470477640628815, + 0.5789154767990112, + -0.2760087549686432, + 0.7394404411315918 + ], + "joints": [ + 0.028491318225860596 + ] + }, + "final_grasp": { + "position": [ + -0.09648679196834564, + 0.08536167442798615, + -0.05254269391298294 + ], + "orientation": [ + 0.20470477640628815, + 0.5789154767990112, + -0.2760087549686432, + 0.7394404411315918 + ], + "joints": [ + 0.025565631687641144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11458049714565277, + 0.06792130321264267, + -0.052409827709198 + ], + "orientation": [ + 0.3785840570926666, + -0.30109837651252747, + 0.5805355310440063, + -0.6549750566482544 + ], + "joints": [ + 0.0006541252369061112 + ] + }, + "fine_grasp": { + "position": [ + -0.11315157264471054, + 0.06709114462137222, + -0.04890326410531998 + ], + "orientation": [ + 0.38283151388168335, + -0.2973302900791168, + 0.5747913718223572, + -0.6592796444892883 + ], + "joints": [ + 0.001866194186732173 + ] + }, + "final_grasp": { + "position": [ + -0.11315157264471054, + 0.06709114462137222, + -0.04890326410531998 + ], + "orientation": [ + 0.38283151388168335, + -0.2973302900791168, + 0.5747913718223572, + -0.6592796444892883 + ], + "joints": [ + 0.0030782632529735565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11476510018110275, + 0.06813599914312363, + -0.05220247805118561 + ], + "orientation": [ + 0.3789289891719818, + -0.30245280265808105, + 0.5806261897087097, + -0.6540704965591431 + ], + "joints": [ + 0.0006567580858245492 + ] + }, + "fine_grasp": { + "position": [ + -0.11330480873584747, + 0.06730164587497711, + -0.04866941645741463 + ], + "orientation": [ + 0.38337236642837524, + -0.29866090416908264, + 0.5749487280845642, + -0.6582258939743042 + ], + "joints": [ + 0.001868827035650611 + ] + }, + "final_grasp": { + "position": [ + -0.11330480873584747, + 0.06730164587497711, + -0.04866941645741463 + ], + "orientation": [ + 0.38337236642837524, + -0.29866090416908264, + 0.5749487280845642, + -0.6582258939743042 + ], + "joints": [ + 0.0030808961018919945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11691485345363617, + 0.0020313060376793146, + -0.0626722127199173 + ], + "orientation": [ + 0.5271167159080505, + -0.453574001789093, + -0.42976123094558716, + 0.5759546756744385 + ], + "joints": [ + 0.0010405159555375576 + ] + }, + "fine_grasp": { + "position": [ + 0.11586388945579529, + 0.0020005402620881796, + -0.05915195122361183 + ], + "orientation": [ + 0.5321856141090393, + -0.4462888240814209, + -0.42105817794799805, + 0.5833649635314941 + ], + "joints": [ + 0.0018555277492851019 + ] + }, + "final_grasp": { + "position": [ + 0.11586388945579529, + 0.0020005402620881796, + -0.05915195122361183 + ], + "orientation": [ + 0.5321856141090393, + -0.4462888240814209, + -0.42105817794799805, + 0.5833649635314941 + ], + "joints": [ + 0.002670539543032646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09889230877161026, + -0.07384783029556274, + -0.06002386286854744 + ], + "orientation": [ + 0.2927354574203491, + 0.326272577047348, + -0.5392144918441772, + -0.7190966606140137 + ], + "joints": [ + 0.0009079694864340127 + ] + }, + "fine_grasp": { + "position": [ + 0.09800878912210464, + -0.07312978804111481, + -0.05687772482633591 + ], + "orientation": [ + 0.29343193769454956, + 0.3236006498336792, + -0.5308496952056885, + -0.7262085676193237 + ], + "joints": [ + 0.0017020836239680648 + ] + }, + "final_grasp": { + "position": [ + 0.09800878912210464, + -0.07312978804111481, + -0.05687772482633591 + ], + "orientation": [ + 0.29343193769454956, + 0.3236006498336792, + -0.5308496952056885, + -0.7262085676193237 + ], + "joints": [ + 0.002496197819709778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11778034269809723, + -0.016242291778326035, + -0.06412313878536224 + ], + "orientation": [ + 0.5131679177284241, + 0.41338104009628296, + -0.48768389225006104, + -0.5726596117019653 + ], + "joints": [ + 0.0014560944400727749 + ] + }, + "fine_grasp": { + "position": [ + 0.11739033460617065, + -0.01618867553770542, + -0.05920587480068207 + ], + "orientation": [ + 0.5257387757301331, + 0.39827847480773926, + -0.46994245052337646, + -0.5866234302520752 + ], + "joints": [ + 0.0022502087522298098 + ] + }, + "final_grasp": { + "position": [ + 0.11739033460617065, + -0.01618867553770542, + -0.05920587480068207 + ], + "orientation": [ + 0.5257387757301331, + 0.39827847480773926, + -0.46994245052337646, + -0.5866234302520752 + ], + "joints": [ + 0.0030443230643868446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09911084920167923, + -0.07389941811561584, + -0.06010079011321068 + ], + "orientation": [ + 0.2933622896671295, + 0.3255584239959717, + -0.5395194292068481, + -0.718936026096344 + ], + "joints": [ + 0.0010064411908388138 + ] + }, + "fine_grasp": { + "position": [ + 0.0982077419757843, + -0.07316318154335022, + -0.05685001239180565 + ], + "orientation": [ + 0.2936466932296753, + 0.3232363760471344, + -0.5309062600135803, + -0.7262425422668457 + ], + "joints": [ + 0.001800555270165205 + ] + }, + "final_grasp": { + "position": [ + 0.0982077419757843, + -0.07316318154335022, + -0.05685001239180565 + ], + "orientation": [ + 0.2936466932296753, + 0.3232363760471344, + -0.5309062600135803, + -0.7262425422668457 + ], + "joints": [ + 0.0025946693494915962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12155511975288391, + 0.047630902379751205, + -0.063747838139534 + ], + "orientation": [ + 0.5675168633460999, + 0.58548903465271, + 0.3228517174720764, + 0.48051440715789795 + ], + "joints": [ + 0.001372386235743761 + ] + }, + "fine_grasp": { + "position": [ + -0.12132471799850464, + 0.04753943160176277, + -0.05831186845898628 + ], + "orientation": [ + 0.5849705338478088, + 0.5624004602432251, + 0.31001996994018555, + 0.4953814744949341 + ], + "joints": [ + 0.0033576723653823137 + ] + }, + "final_grasp": { + "position": [ + -0.12132471799850464, + 0.04753943160176277, + -0.05831186845898628 + ], + "orientation": [ + 0.5849705338478088, + 0.5624004602432251, + 0.31001996994018555, + 0.4953814744949341 + ], + "joints": [ + 0.005342958495020866 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10997936129570007, + 0.02410193905234337, + -0.06817577034235 + ], + "orientation": [ + 0.5587731003761292, + -0.3294653594493866, + 0.5038376450538635, + -0.5704144835472107 + ], + "joints": [ + 0.000994400354102254 + ] + }, + "fine_grasp": { + "position": [ + -0.10894405096769333, + 0.023953642696142197, + -0.06494712829589844 + ], + "orientation": [ + 0.5651564002037048, + -0.3225223422050476, + 0.49804919958114624, + -0.5731707215309143 + ], + "joints": [ + 0.0017885144334286451 + ] + }, + "final_grasp": { + "position": [ + -0.10894405096769333, + 0.023953642696142197, + -0.06494712829589844 + ], + "orientation": [ + 0.5651564002037048, + -0.3225223422050476, + 0.49804919958114624, + -0.5731707215309143 + ], + "joints": [ + 0.0025826285127550364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11006253212690353, + 0.024131519719958305, + -0.06816622614860535 + ], + "orientation": [ + 0.5587448477745056, + -0.3294658362865448, + 0.503853976726532, + -0.5704274773597717 + ], + "joints": [ + 0.000994400354102254 + ] + }, + "fine_grasp": { + "position": [ + -0.10903628915548325, + 0.023984873667359352, + -0.06493791937828064 + ], + "orientation": [ + 0.5651122331619263, + -0.3225345015525818, + 0.4980795085430145, + -0.5731810331344604 + ], + "joints": [ + 0.0017885144334286451 + ] + }, + "final_grasp": { + "position": [ + -0.10903628915548325, + 0.023984873667359352, + -0.06493791937828064 + ], + "orientation": [ + 0.5651122331619263, + -0.3225345015525818, + 0.4980795085430145, + -0.5731810331344604 + ], + "joints": [ + 0.0025826285127550364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09892494231462479, + -0.07379700243473053, + -0.060157809406518936 + ], + "orientation": [ + 0.29339757561683655, + 0.3254680335521698, + -0.5394930243492126, + -0.7189822793006897 + ], + "joints": [ + 0.0010665131267160177 + ] + }, + "fine_grasp": { + "position": [ + 0.0980474054813385, + -0.07308823615312576, + -0.05687235668301582 + ], + "orientation": [ + 0.2943432331085205, + 0.3224020004272461, + -0.5304757952690125, + -0.7266459465026855 + ], + "joints": [ + 0.001860627206042409 + ] + }, + "final_grasp": { + "position": [ + 0.0980474054813385, + -0.07308823615312576, + -0.05687235668301582 + ], + "orientation": [ + 0.2943432331085205, + 0.3224020004272461, + -0.5304757952690125, + -0.7266459465026855 + ], + "joints": [ + 0.0026547412853688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09687910228967667, + 0.08967061340808868, + -0.053164292126894 + ], + "orientation": [ + 0.20432694256305695, + -0.3170021176338196, + 0.5675539970397949, + -0.731876015663147 + ], + "joints": [ + 0.0006544672651216388 + ] + }, + "fine_grasp": { + "position": [ + -0.09568699449300766, + 0.08853035420179367, + -0.04986103996634483 + ], + "orientation": [ + 0.2022319883108139, + -0.31799381971359253, + 0.5595547556877136, + -0.7381601929664612 + ], + "joints": [ + 0.0018665362149477005 + ] + }, + "final_grasp": { + "position": [ + -0.09568699449300766, + 0.08853035420179367, + -0.04986103996634483 + ], + "orientation": [ + 0.2022319883108139, + -0.31799381971359253, + 0.5595547556877136, + -0.7381601929664612 + ], + "joints": [ + 0.0030786050483584404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10786028951406479, + -0.059846654534339905, + -0.07906774431467056 + ], + "orientation": [ + 0.6283575296401978, + -0.5717732906341553, + -0.267913818359375, + 0.45438334345817566 + ], + "joints": [ + 0.0011859368532896042 + ] + }, + "fine_grasp": { + "position": [ + 0.1076025441288948, + -0.05970535799860954, + -0.07366916537284851 + ], + "orientation": [ + 0.6446211934089661, + -0.548667848110199, + -0.2570411264896393, + 0.4662155210971832 + ], + "joints": [ + 0.0035891777370125055 + ] + }, + "final_grasp": { + "position": [ + 0.1076025441288948, + -0.05970535799860954, + -0.07366916537284851 + ], + "orientation": [ + 0.6446211934089661, + -0.548667848110199, + -0.2570411264896393, + 0.4662155210971832 + ], + "joints": [ + 0.005992418620735407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10614144802093506, + -0.05931787192821503, + -0.0671192929148674 + ], + "orientation": [ + 0.44365569949150085, + 0.2741585671901703, + -0.5412819385528564, + -0.6595609784126282 + ], + "joints": [ + 0.0010176380164921284 + ] + }, + "fine_grasp": { + "position": [ + 0.104999840259552, + -0.05872466042637825, + -0.06369815021753311 + ], + "orientation": [ + 0.44900667667388916, + 0.26843520998954773, + -0.534679114818573, + -0.6636667847633362 + ], + "joints": [ + 0.0018117520958185196 + ] + }, + "final_grasp": { + "position": [ + 0.104999840259552, + -0.05872466042637825, + -0.06369815021753311 + ], + "orientation": [ + 0.44900667667388916, + 0.26843520998954773, + -0.534679114818573, + -0.6636667847633362 + ], + "joints": [ + 0.002605866175144911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10614889860153198, + -0.05927825719118118, + -0.06717752665281296 + ], + "orientation": [ + 0.4433535039424896, + 0.27467089891433716, + -0.5410866737365723, + -0.6597111225128174 + ], + "joints": [ + 0.0006717293290421367 + ] + }, + "fine_grasp": { + "position": [ + 0.10498055070638657, + -0.05866056680679321, + -0.0637432113289833 + ], + "orientation": [ + 0.4487170875072479, + 0.2688559591770172, + -0.5338202714920044, + -0.6643834710121155 + ], + "joints": [ + 0.0018837982788681984 + ] + }, + "final_grasp": { + "position": [ + 0.10498055070638657, + -0.05866056680679321, + -0.0637432113289833 + ], + "orientation": [ + 0.4487170875072479, + 0.2688559591770172, + -0.5338202714920044, + -0.6643834710121155 + ], + "joints": [ + 0.0030958671122789383 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10600440949201584, + -0.05917254462838173, + -0.06688082218170166 + ], + "orientation": [ + 0.4440731406211853, + 0.274059921503067, + -0.541896641254425, + -0.6588158011436462 + ], + "joints": [ + 0.0007284482708200812 + ] + }, + "fine_grasp": { + "position": [ + 0.10488218069076538, + -0.058592539280653, + -0.06347349286079407 + ], + "orientation": [ + 0.44923314452171326, + 0.26853862404823303, + -0.5351688861846924, + -0.6630768179893494 + ], + "joints": [ + 0.001940517220646143 + ] + }, + "final_grasp": { + "position": [ + 0.10488218069076538, + -0.058592539280653, + -0.06347349286079407 + ], + "orientation": [ + 0.44923314452171326, + 0.26853862404823303, + -0.5351688861846924, + -0.6630768179893494 + ], + "joints": [ + 0.003152586054056883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08777792006731033, + 0.09701346606016159, + -0.06468841433525085 + ], + "orientation": [ + 0.760895311832428, + 0.5469836592674255, + 0.2725135087966919, + 0.21813659369945526 + ], + "joints": [ + 0.0008903556154109538 + ] + }, + "fine_grasp": { + "position": [ + -0.08669257909059525, + 0.09565570205450058, + -0.0613367073237896 + ], + "orientation": [ + 0.7653871774673462, + 0.5414972305297852, + 0.27255141735076904, + 0.21605278551578522 + ], + "joints": [ + 0.001684469752945006 + ] + }, + "final_grasp": { + "position": [ + -0.08669257909059525, + 0.09565570205450058, + -0.0613367073237896 + ], + "orientation": [ + 0.7653871774673462, + 0.5414972305297852, + 0.27255141735076904, + 0.21605278551578522 + ], + "joints": [ + 0.002478583948686719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06654633581638336, + 0.09221429377794266, + -0.04529022052884102 + ], + "orientation": [ + 0.35528799891471863, + 0.5643543004989624, + -0.2756587266921997, + 0.6923055648803711 + ], + "joints": [ + 0.034780025482177734 + ] + }, + "fine_grasp": { + "position": [ + -0.06636418402194977, + 0.09084147959947586, + -0.04086870700120926 + ], + "orientation": [ + 0.3608698546886444, + 0.5449793934822083, + -0.27628251910209656, + 0.7045837640762329 + ], + "joints": [ + 0.03147818148136139 + ] + }, + "final_grasp": { + "position": [ + -0.06636418402194977, + 0.09084147959947586, + -0.04086870700120926 + ], + "orientation": [ + 0.3608698546886444, + 0.5449793934822083, + -0.27628251910209656, + 0.7045837640762329 + ], + "joints": [ + 0.028176337480545044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05829036608338356, + -0.09093824774026871, + -0.07291583716869354 + ], + "orientation": [ + 0.30458691716194153, + 0.10711976140737534, + 0.5747805833816528, + 0.7519171833992004 + ], + "joints": [ + 0.0008973235380835831 + ] + }, + "fine_grasp": { + "position": [ + -0.05769355222582817, + -0.09014753252267838, + -0.06987498700618744 + ], + "orientation": [ + 0.30840933322906494, + 0.10390004515647888, + 0.566493570804596, + 0.7570821642875671 + ], + "joints": [ + 0.0016914376756176353 + ] + }, + "final_grasp": { + "position": [ + -0.05769355222582817, + -0.09014753252267838, + -0.06987498700618744 + ], + "orientation": [ + 0.30840933322906494, + 0.10390004515647888, + 0.566493570804596, + 0.7570821642875671 + ], + "joints": [ + 0.0024855518713593483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0489279069006443, + -0.12777242064476013, + 0.027962666004896164 + ], + "orientation": [ + 0.6055729985237122, + -0.7106298208236694, + 0.2456878423690796, + -0.26062241196632385 + ], + "joints": [ + 0.014284417033195496 + ] + }, + "fine_grasp": { + "position": [ + -0.04920468106865883, + -0.12496095150709152, + 0.025693092495203018 + ], + "orientation": [ + 0.5945294499397278, + -0.731246829032898, + 0.23580817878246307, + -0.23708070814609528 + ], + "joints": [ + 0.0034384794998914003 + ] + }, + "final_grasp": { + "position": [ + -0.04920468106865883, + -0.12496095150709152, + 0.025693092495203018 + ], + "orientation": [ + 0.5945294499397278, + -0.731246829032898, + 0.23580817878246307, + -0.23708070814609528 + ], + "joints": [ + -0.007407458033412695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05606690049171448, + -0.09514051675796509, + -0.05010344088077545 + ], + "orientation": [ + 0.3864833414554596, + -0.5583705902099609, + -0.28405678272247314, + -0.6768786311149597 + ], + "joints": [ + 0.017028292641043663 + ] + }, + "fine_grasp": { + "position": [ + -0.05534801632165909, + -0.09422734379768372, + -0.045135412365198135 + ], + "orientation": [ + 0.386077344417572, + -0.5402790307998657, + -0.28439363837242126, + -0.6914934515953064 + ], + "joints": [ + 0.017049191519618034 + ] + }, + "final_grasp": { + "position": [ + -0.05534801632165909, + -0.09422734379768372, + -0.045135412365198135 + ], + "orientation": [ + 0.386077344417572, + -0.5402790307998657, + -0.28439363837242126, + -0.6914934515953064 + ], + "joints": [ + 0.017070090398192406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10901496559381485, + 0.026736754924058914, + -0.0502052940428257 + ], + "orientation": [ + 0.7651901245117188, + 0.03322942927479744, + 0.625938892364502, + -0.14690279960632324 + ], + "joints": [ + 0.0031387927010655403 + ] + }, + "fine_grasp": { + "position": [ + -0.10818980634212494, + 0.02678791992366314, + -0.0453178770840168 + ], + "orientation": [ + 0.7767860293388367, + 0.04041903093457222, + 0.6124971508979797, + -0.1407725214958191 + ], + "joints": [ + 0.003556747455149889 + ] + }, + "final_grasp": { + "position": [ + -0.10818980634212494, + 0.02678791992366314, + -0.0453178770840168 + ], + "orientation": [ + 0.7767860293388367, + 0.04041903093457222, + 0.6124971508979797, + -0.1407725214958191 + ], + "joints": [ + 0.003974702209234238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10825872421264648, + 0.026647016406059265, + -0.04948246106505394 + ], + "orientation": [ + 0.7651506066322327, + 0.03870882838964462, + 0.6271594166755676, + -0.1404183804988861 + ], + "joints": [ + 0.003097041044384241 + ] + }, + "fine_grasp": { + "position": [ + -0.10747367143630981, + 0.026692764833569527, + -0.044512636959552765 + ], + "orientation": [ + 0.7766578793525696, + 0.046297650784254074, + 0.6138609647750854, + -0.13354381918907166 + ], + "joints": [ + 0.0035149957984685898 + ] + }, + "final_grasp": { + "position": [ + -0.10747367143630981, + 0.026692764833569527, + -0.044512636959552765 + ], + "orientation": [ + 0.7766578793525696, + 0.046297650784254074, + 0.6138609647750854, + -0.13354381918907166 + ], + "joints": [ + 0.0039329505525529385 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 79 + } +} \ No newline at end of file diff --git a/geometry_cube_cushion_00001/Object.usd b/geometry_cube_cushion_00001/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..ac6c30b69183a33bd985557d607b57fb68221296 Binary files /dev/null and b/geometry_cube_cushion_00001/Object.usd differ diff --git a/geometry_factory_bolt_00003/Annotation/dex1_1_grasp_pose.json b/geometry_factory_bolt_00003/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..150eeabdf5cf29fc9bdee3791594667f69520c03 --- /dev/null +++ b/geometry_factory_bolt_00003/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,49618 @@ +{ + "type": "geometry_factory_bolt_00003", + "bottom_center": [ + 0.0, + 0.0, + -0.026250001043081284 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.023128049448132515, + 0.12597963213920593, + 0.017053551971912384 + ], + "orientation": [ + 0.10861767083406448, + -0.5087626576423645, + 0.04162679612636566, + -0.8530123233795166 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.022771097719669342, + 0.12508374452590942, + 0.017258496955037117 + ], + "orientation": [ + 0.10640694200992584, + -0.5247901678085327, + 0.038968563079833984, + -0.8436552882194519 + ], + "joints": [ + -0.0048735858872532845 + ] + }, + "final_grasp": { + "position": [ + -0.022771097719669342, + 0.12508374452590942, + 0.017258496955037117 + ], + "orientation": [ + 0.10640694200992584, + -0.5247901678085327, + 0.038968563079833984, + -0.8436552882194519 + ], + "joints": [ + 0.0025394391268491745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0433095246553421, + -0.10261000692844391, + 0.040189120918512344 + ], + "orientation": [ + 0.5566554665565491, + 0.03953856602311134, + 0.7907482981681824, + -0.2515718638896942 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.0441557951271534, + -0.10580045729875565, + 0.04189075529575348 + ], + "orientation": [ + 0.5529747009277344, + 0.04005161672830582, + 0.7919362783432007, + -0.25583550333976746 + ], + "joints": [ + -0.004796748049557209 + ] + }, + "final_grasp": { + "position": [ + -0.0441557951271534, + -0.10580045729875565, + 0.04189075529575348 + ], + "orientation": [ + 0.5529747009277344, + 0.04005161672830582, + 0.7919362783432007, + -0.25583550333976746 + ], + "joints": [ + 0.00272255577147007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04195019230246544, + -0.10729987174272537, + 0.0015963629120960832 + ], + "orientation": [ + 0.8438422679901123, + 0.09919919818639755, + 0.49493831396102905, + -0.1820046603679657 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.04329239949584007, + -0.1101604625582695, + 0.001608491875231266 + ], + "orientation": [ + 0.843052864074707, + 0.09791587293148041, + 0.4959593415260315, + -0.18357238173484802 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + -0.04329239949584007, + -0.1101604625582695, + 0.001608491875231266 + ], + "orientation": [ + 0.843052864074707, + 0.09791587293148041, + 0.4959593415260315, + -0.18357238173484802 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034136056900024414, + 0.11240853369235992, + 0.0064000883139669895 + ], + "orientation": [ + 0.05788356065750122, + 0.8547049760818481, + 0.15929903090000153, + -0.49066561460494995 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.03527706116437912, + 0.11445332318544388, + 0.006617964711040258 + ], + "orientation": [ + 0.05885326489806175, + 0.8570955395698547, + 0.16115005314350128, + -0.4857509732246399 + ], + "joints": [ + -0.004824791103601456 + ] + }, + "final_grasp": { + "position": [ + -0.03527706116437912, + 0.11445332318544388, + 0.006617964711040258 + ], + "orientation": [ + 0.05885326489806175, + 0.8570955395698547, + 0.16115005314350128, + -0.4857509732246399 + ], + "joints": [ + 0.002136543393135071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03408322110772133, + 0.11247091740369797, + 0.006356874015182257 + ], + "orientation": [ + 0.05786502733826637, + 0.8548917770385742, + 0.15896382927894592, + -0.4904510974884033 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.03524695336818695, + 0.11448444426059723, + 0.00662287138402462 + ], + "orientation": [ + 0.05868975818157196, + 0.8572707176208496, + 0.16095879673957825, + -0.4855251610279083 + ], + "joints": [ + -0.004824791103601456 + ] + }, + "final_grasp": { + "position": [ + -0.03524695336818695, + 0.11448444426059723, + 0.00662287138402462 + ], + "orientation": [ + 0.05868975818157196, + 0.8572707176208496, + 0.16095879673957825, + -0.4855251610279083 + ], + "joints": [ + 0.002136543393135071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041596680879592896, + -0.10744825005531311, + 0.001936566666699946 + ], + "orientation": [ + 0.8439218401908875, + 0.09716346114873886, + 0.49544835090637207, + -0.18134483695030212 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.04292327165603638, + -0.11029722541570663, + 0.0020206784829497337 + ], + "orientation": [ + 0.8431804180145264, + 0.0958346575498581, + 0.49630704522132874, + -0.18314409255981445 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + -0.04292327165603638, + -0.11029722541570663, + 0.0020206784829497337 + ], + "orientation": [ + 0.8431804180145264, + 0.0958346575498581, + 0.49630704522132874, + -0.18314409255981445 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048135533928871155, + -0.09896503388881683, + 0.0525963120162487 + ], + "orientation": [ + 0.7978264093399048, + -0.30820080637931824, + -0.5167135000228882, + -0.03863281384110451 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.04845650494098663, + -0.09836402535438538, + 0.05258023738861084 + ], + "orientation": [ + 0.7931885123252869, + -0.30770641565322876, + -0.5240572690963745, + -0.03915049880743027 + ], + "joints": [ + -0.004824791103601456 + ] + }, + "final_grasp": { + "position": [ + -0.04845650494098663, + -0.09836402535438538, + 0.05258023738861084 + ], + "orientation": [ + 0.7931885123252869, + -0.30770641565322876, + -0.5240572690963745, + -0.03915049880743027 + ], + "joints": [ + 0.002136543393135071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03128308057785034, + 0.10620757937431335, + 0.03874645009636879 + ], + "orientation": [ + 0.21302656829357147, + -0.7927853465080261, + -0.004787399433553219, + 0.5710412263870239 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.0322716049849987, + 0.10933588445186615, + 0.04096139222383499 + ], + "orientation": [ + 0.21497158706188202, + -0.801508903503418, + -0.0028712868224829435, + 0.5579987168312073 + ], + "joints": [ + -0.0048527587205171585 + ] + }, + "final_grasp": { + "position": [ + 0.0322716049849987, + 0.10933588445186615, + 0.04096139222383499 + ], + "orientation": [ + 0.21497158706188202, + -0.801508903503418, + -0.0028712868224829435, + 0.5579987168312073 + ], + "joints": [ + 0.0026399753987789154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03250043839216232, + -0.11699499189853668, + 0.0037599944043904543 + ], + "orientation": [ + 0.8376838564872742, + 0.0829961746931076, + 0.5183506011962891, + -0.1506981998682022 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.033294230699539185, + -0.11450732499361038, + 0.0036335301119834185 + ], + "orientation": [ + 0.8421584367752075, + 0.07725176215171814, + 0.5120523571968079, + -0.15034516155719757 + ], + "joints": [ + -0.004935339093208313 + ] + }, + "final_grasp": { + "position": [ + -0.033294230699539185, + -0.11450732499361038, + 0.0036335301119834185 + ], + "orientation": [ + 0.8421584367752075, + 0.07725176215171814, + 0.5120523571968079, + -0.15034516155719757 + ], + "joints": [ + 0.002504255622625351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11333867907524109, + -0.02837326191365719, + 0.032252322882413864 + ], + "orientation": [ + 0.6969358325004578, + -0.43471449613571167, + -0.3723195791244507, + -0.43206703662872314 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.1134028285741806, + -0.028469393029808998, + 0.03334728628396988 + ], + "orientation": [ + 0.6945439577102661, + -0.4405941963195801, + -0.3726781904697418, + -0.4296467900276184 + ], + "joints": [ + -0.0048527587205171585 + ] + }, + "final_grasp": { + "position": [ + -0.1134028285741806, + -0.028469393029808998, + 0.03334728628396988 + ], + "orientation": [ + 0.6945439577102661, + -0.4405941963195801, + -0.3726781904697418, + -0.4296467900276184 + ], + "joints": [ + 0.0026399753987789154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044987309724092484, + 0.10509107261896133, + 0.009977204725146294 + ], + "orientation": [ + 0.21288998425006866, + -0.5044998526573181, + 0.07703515887260437, + 0.8332006335258484 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.04612536355853081, + 0.10875003784894943, + 0.009493238292634487 + ], + "orientation": [ + 0.21073973178863525, + -0.5057294368743896, + 0.0800643041729927, + 0.8327161073684692 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.04612536355853081, + 0.10875003784894943, + 0.009493238292634487 + ], + "orientation": [ + 0.21073973178863525, + -0.5057294368743896, + 0.0800643041729927, + 0.8327161073684692 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009291614405810833, + -0.1263868361711502, + 0.027747735381126404 + ], + "orientation": [ + 0.8506925106048584, + -0.1320873498916626, + 0.5083528757095337, + -0.0212783794850111 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.009928331710398197, + -0.12282290309667587, + 0.027385137975215912 + ], + "orientation": [ + 0.8515002131462097, + -0.1260620802640915, + 0.5083701014518738, + -0.02481107972562313 + ], + "joints": [ + -0.005940654315054417 + ] + }, + "final_grasp": { + "position": [ + 0.009928331710398197, + -0.12282290309667587, + 0.027385137975215912 + ], + "orientation": [ + 0.8515002131462097, + -0.1260620802640915, + 0.5083701014518738, + -0.02481107972562313 + ], + "joints": [ + 0.0009941104799509048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04505368322134018, + 0.1050596609711647, + 0.009804277680814266 + ], + "orientation": [ + 0.2127712070941925, + -0.5043553709983826, + 0.07781664282083511, + 0.8332458138465881 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.04621947929263115, + 0.10872471332550049, + 0.009525234811007977 + ], + "orientation": [ + 0.21114224195480347, + -0.5053600668907166, + 0.07997163385152817, + 0.8328472971916199 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.04621947929263115, + 0.10872471332550049, + 0.009525234811007977 + ], + "orientation": [ + 0.21114224195480347, + -0.5053600668907166, + 0.07997163385152817, + 0.8328472971916199 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045011118054389954, + 0.10508797317743301, + 0.009952682070434093 + ], + "orientation": [ + 0.2129078209400177, + -0.504639208316803, + 0.07722239941358566, + 0.8330943584442139 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.046119559556245804, + 0.10867399722337723, + 0.009622409008443356 + ], + "orientation": [ + 0.21167129278182983, + -0.5057607889175415, + 0.0806630477309227, + 0.8324029445648193 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.046119559556245804, + 0.10867399722337723, + 0.009622409008443356 + ], + "orientation": [ + 0.21167129278182983, + -0.5057607889175415, + 0.0806630477309227, + 0.8324029445648193 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00920238345861435, + -0.12639197707176208, + 0.027625272050499916 + ], + "orientation": [ + 0.8506962656974792, + -0.1313675493001938, + 0.5085269212722778, + -0.02142064832150936 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.009827898815274239, + -0.12283945828676224, + 0.027265463024377823 + ], + "orientation": [ + 0.8515132665634155, + -0.1254473179578781, + 0.5084961652755737, + -0.024898381903767586 + ], + "joints": [ + -0.005940654315054417 + ] + }, + "final_grasp": { + "position": [ + 0.009827898815274239, + -0.12283945828676224, + 0.027265463024377823 + ], + "orientation": [ + 0.8515132665634155, + -0.1254473179578781, + 0.5084961652755737, + -0.024898381903767586 + ], + "joints": [ + 0.0009941104799509048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00932827964425087, + -0.12627427279949188, + 0.027634119614958763 + ], + "orientation": [ + 0.8509094715118408, + -0.1315995454788208, + 0.5081222057342529, + -0.021128537133336067 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.009963036514818668, + -0.12279398739337921, + 0.027293119579553604 + ], + "orientation": [ + 0.8515568971633911, + -0.1257491558790207, + 0.5083657503128052, + -0.024539973586797714 + ], + "joints": [ + -0.005940654315054417 + ] + }, + "final_grasp": { + "position": [ + 0.009963036514818668, + -0.12279398739337921, + 0.027293119579553604 + ], + "orientation": [ + 0.8515568971633911, + -0.1257491558790207, + 0.5083657503128052, + -0.024539973586797714 + ], + "joints": [ + 0.0009941104799509048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09267137944698334, + 0.07355201244354248, + 0.018998080864548683 + ], + "orientation": [ + 0.3056737780570984, + 0.470549076795578, + 0.29158952832221985, + -0.7746759057044983 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.09320495277643204, + 0.07432333379983902, + 0.01966986618936062 + ], + "orientation": [ + 0.30672818422317505, + 0.4666222929954529, + 0.29543372988700867, + -0.7751777172088623 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + -0.09320495277643204, + 0.07432333379983902, + 0.01966986618936062 + ], + "orientation": [ + 0.30672818422317505, + 0.4666222929954529, + 0.29543372988700867, + -0.7751777172088623 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09888273477554321, + 0.05142204090952873, + 0.03705785050988197 + ], + "orientation": [ + 0.4004516005516052, + -0.7494081258773804, + 0.3276918828487396, + 0.4130907654762268 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10217083990573883, + 0.05351010710000992, + 0.03878005966544151 + ], + "orientation": [ + 0.40013906359672546, + -0.7522193193435669, + 0.33193716406822205, + 0.4048117995262146 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + 0.10217083990573883, + 0.05351010710000992, + 0.03878005966544151 + ], + "orientation": [ + 0.40013906359672546, + -0.7522193193435669, + 0.33193716406822205, + 0.4048117995262146 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09307242184877396, + 0.07408484816551208, + 0.018810587003827095 + ], + "orientation": [ + 0.30751004815101624, + 0.4713524580001831, + 0.2947092354297638, + -0.7722764015197754 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.09339263290166855, + 0.07455633580684662, + 0.01945454627275467 + ], + "orientation": [ + 0.3081102967262268, + 0.4685753285884857, + 0.29759177565574646, + -0.772621750831604 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + -0.09339263290166855, + 0.07455633580684662, + 0.01945454627275467 + ], + "orientation": [ + 0.3081102967262268, + 0.4685753285884857, + 0.29759177565574646, + -0.772621750831604 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08907467126846313, + -0.07690265774726868, + 0.012524120509624481 + ], + "orientation": [ + 0.7955936789512634, + -0.2494194358587265, + -0.455237478017807, + -0.312377005815506 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.0900510773062706, + -0.07874148339033127, + 0.012128900736570358 + ], + "orientation": [ + 0.7996930480003357, + -0.24291479587554932, + -0.4497537314891815, + -0.3149682283401489 + ], + "joints": [ + -0.004882199689745903 + ] + }, + "final_grasp": { + "position": [ + -0.0900510773062706, + -0.07874148339033127, + 0.012128900736570358 + ], + "orientation": [ + 0.7996930480003357, + -0.24291479587554932, + -0.4497537314891815, + -0.3149682283401489 + ], + "joints": [ + 0.002610534429550171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08223722875118256, + 0.07007838785648346, + 0.02783285453915596 + ], + "orientation": [ + 0.2986603379249573, + -0.8154793381690979, + -0.28723305463790894, + -0.404094934463501 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + -0.08577198535203934, + 0.07241727411746979, + 0.029083775356411934 + ], + "orientation": [ + 0.29744401574134827, + -0.811644971370697, + -0.2818335294723511, + -0.4163282811641693 + ], + "joints": [ + -0.005270814523100853 + ] + }, + "final_grasp": { + "position": [ + -0.08577198535203934, + 0.07241727411746979, + 0.029083775356411934 + ], + "orientation": [ + 0.29744401574134827, + -0.811644971370697, + -0.2818335294723511, + -0.4163282811641693 + ], + "joints": [ + 9.632110595703125e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08217212557792664, + 0.07011550664901733, + 0.027873802930116653 + ], + "orientation": [ + 0.298597127199173, + -0.8156858086585999, + -0.2869175970554352, + -0.403949111700058 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + -0.08571051061153412, + 0.07245888561010361, + 0.02911415696144104 + ], + "orientation": [ + 0.2974262237548828, + -0.8117498755455017, + -0.2815638780593872, + -0.41631895303726196 + ], + "joints": [ + -0.005270814523100853 + ] + }, + "final_grasp": { + "position": [ + -0.08571051061153412, + 0.07245888561010361, + 0.02911415696144104 + ], + "orientation": [ + 0.2974262237548828, + -0.8117498755455017, + -0.2815638780593872, + -0.41631895303726196 + ], + "joints": [ + 9.632110595703125e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05013270676136017, + 0.1062222272157669, + 0.004698393400758505 + ], + "orientation": [ + 0.13422156870365143, + -0.8576245307922363, + 0.1743171662092209, + 0.46484214067459106 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.05210500210523605, + 0.10687022656202316, + 0.005534897558391094 + ], + "orientation": [ + 0.12483490258455276, + -0.8579790592193604, + 0.1717350035905838, + 0.46775567531585693 + ], + "joints": [ + -0.0047938767820596695 + ] + }, + "final_grasp": { + "position": [ + 0.05210500210523605, + 0.10687022656202316, + 0.005534897558391094 + ], + "orientation": [ + 0.12483490258455276, + -0.8579790592193604, + 0.1717350035905838, + 0.46775567531585693 + ], + "joints": [ + 0.0026988573372364044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12257823348045349, + 0.021700000390410423, + 0.006450318265706301 + ], + "orientation": [ + 0.5565118789672852, + -0.4288109838962555, + 0.31621626019477844, + 0.6375131011009216 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + 0.12207350879907608, + 0.02165909670293331, + 0.007078047841787338 + ], + "orientation": [ + 0.5585770010948181, + -0.42775431275367737, + 0.3160362243652344, + 0.6365053653717041 + ], + "joints": [ + -0.007060862146317959 + ] + }, + "final_grasp": { + "position": [ + 0.12207350879907608, + 0.02165909670293331, + 0.007078047841787338 + ], + "orientation": [ + 0.5585770010948181, + -0.42775431275367737, + 0.3160362243652344, + 0.6365053653717041 + ], + "joints": [ + -0.0006574969738721848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09533650428056717, + 0.044715046882629395, + 0.05267053097486496 + ], + "orientation": [ + 0.19128039479255676, + 0.530802309513092, + -0.5210796594619751, + 0.6404192447662354 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.0995238646864891, + 0.04680642858147621, + 0.05590265244245529 + ], + "orientation": [ + 0.19560952484607697, + 0.5247762203216553, + -0.5209690928459167, + 0.6441568732261658 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + 0.0995238646864891, + 0.04680642858147621, + 0.05590265244245529 + ], + "orientation": [ + 0.19560952484607697, + 0.5247762203216553, + -0.5209690928459167, + 0.6441568732261658 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09538677334785461, + 0.044906873255968094, + 0.052203718572854996 + ], + "orientation": [ + 0.19194826483726501, + 0.5331231355667114, + -0.5202833414077759, + 0.63893723487854 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09952687472105026, + 0.046942975372076035, + 0.05522715672850609 + ], + "orientation": [ + 0.19650204479694366, + 0.5268714427947998, + -0.5203185081481934, + 0.6426990628242493 + ], + "joints": [ + -0.006920948624610901 + ] + }, + "final_grasp": { + "position": [ + 0.09952687472105026, + 0.046942975372076035, + 0.05522715672850609 + ], + "orientation": [ + 0.19650204479694366, + 0.5268714427947998, + -0.5203185081481934, + 0.6426990628242493 + ], + "joints": [ + -0.002085212618112564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11604338139295578, + -0.004483870230615139, + -0.006087994668632746 + ], + "orientation": [ + 0.34070223569869995, + 0.619562029838562, + -0.6393605470657349, + 0.30213063955307007 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.11852996796369553, + -0.0038100234232842922, + -0.005263404455035925 + ], + "orientation": [ + 0.36005786061286926, + 0.6070473790168762, + -0.637611985206604, + 0.3087114989757538 + ], + "joints": [ + -0.0048204464837908745 + ] + }, + "final_grasp": { + "position": [ + 0.11852996796369553, + -0.0038100234232842922, + -0.005263404455035925 + ], + "orientation": [ + 0.36005786061286926, + 0.6070473790168762, + -0.637611985206604, + 0.3087114989757538 + ], + "joints": [ + 0.0026457179337739944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0852164551615715, + -0.07539500296115875, + 0.05251574516296387 + ], + "orientation": [ + 0.6945610642433167, + -0.4190209209918976, + 0.570732593536377, + 0.12755651772022247 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.08554939180612564, + -0.07582851499319077, + 0.05408641695976257 + ], + "orientation": [ + 0.6947560906410217, + -0.4215524196624756, + 0.5693329572677612, + 0.12436793744564056 + ], + "joints": [ + -0.0048527587205171585 + ] + }, + "final_grasp": { + "position": [ + 0.08554939180612564, + -0.07582851499319077, + 0.05408641695976257 + ], + "orientation": [ + 0.6947560906410217, + -0.4215524196624756, + 0.5693329572677612, + 0.12436793744564056 + ], + "joints": [ + 0.0026399753987789154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024336175993084908, + -0.11486950516700745, + 0.04656034708023071 + ], + "orientation": [ + 0.6816906332969666, + -0.20824836194515228, + -0.6976898312568665, + 0.07182944566011429 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.02375148981809616, + -0.11568068712949753, + 0.04918790981173515 + ], + "orientation": [ + 0.6781373620033264, + -0.21713438630104065, + -0.698158323764801, + 0.07454842329025269 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + -0.02375148981809616, + -0.11568068712949753, + 0.04918790981173515 + ], + "orientation": [ + 0.6781373620033264, + -0.21713438630104065, + -0.698158323764801, + 0.07454842329025269 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014046375639736652, + -0.10675947368144989, + 0.04724010452628136 + ], + "orientation": [ + 0.6803973317146301, + -0.20236243307590485, + -0.6975269913673401, + 0.09780067950487137 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.015376740135252476, + -0.1112731471657753, + 0.048570726066827774 + ], + "orientation": [ + 0.6813932657241821, + -0.2058638632297516, + -0.6949906349182129, + 0.10154494643211365 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.015376740135252476, + -0.1112731471657753, + 0.048570726066827774 + ], + "orientation": [ + 0.6813932657241821, + -0.2058638632297516, + -0.6949906349182129, + 0.10154494643211365 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014112627133727074, + -0.10660253465175629, + 0.047250788658857346 + ], + "orientation": [ + 0.6804347634315491, + -0.20256903767585754, + -0.6973872184753418, + 0.09810921549797058 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.015486461110413074, + -0.1111348420381546, + 0.0485437735915184 + ], + "orientation": [ + 0.6811859607696533, + -0.2058829516172409, + -0.6951653957366943, + 0.10169947147369385 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.015486461110413074, + -0.1111348420381546, + 0.0485437735915184 + ], + "orientation": [ + 0.6811859607696533, + -0.2058829516172409, + -0.6951653957366943, + 0.10169947147369385 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11516489833593369, + -0.007880385965108871, + 0.027997272089123726 + ], + "orientation": [ + 0.33415594696998596, + 0.5083442330360413, + -0.6573392748832703, + 0.4447818696498871 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.1192939430475235, + -0.008602747693657875, + 0.02941897138953209 + ], + "orientation": [ + 0.33654528856277466, + 0.5048723220825195, + -0.6565319299697876, + 0.4481150805950165 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.1192939430475235, + -0.008602747693657875, + 0.02941897138953209 + ], + "orientation": [ + 0.33654528856277466, + 0.5048723220825195, + -0.6565319299697876, + 0.4481150805950165 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12020415812730789, + 0.005923030897974968, + -0.00808039028197527 + ], + "orientation": [ + 0.31198081374168396, + -0.6298413276672363, + 0.5986396670341492, + 0.38418519496917725 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.11832067370414734, + 0.005118806846439838, + -0.007850788533687592 + ], + "orientation": [ + 0.31043052673339844, + -0.6306067109107971, + 0.5992802381515503, + 0.38318589329719543 + ], + "joints": [ + -0.004882199689745903 + ] + }, + "final_grasp": { + "position": [ + 0.11832067370414734, + 0.005118806846439838, + -0.007850788533687592 + ], + "orientation": [ + 0.31043052673339844, + -0.6306067109107971, + 0.5992802381515503, + 0.38318589329719543 + ], + "joints": [ + 0.002610534429550171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04046550393104553, + 0.10963472723960876, + 0.03615354746580124 + ], + "orientation": [ + 0.22310404479503632, + -0.8281539678573608, + 0.05431396886706352, + 0.5113076567649841 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.041109345853328705, + 0.11167201399803162, + 0.03708035871386528 + ], + "orientation": [ + 0.22743697464466095, + -0.8207761645317078, + 0.05468431115150452, + 0.5211606621742249 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.041109345853328705, + 0.11167201399803162, + 0.03708035871386528 + ], + "orientation": [ + 0.22743697464466095, + -0.8207761645317078, + 0.05468431115150452, + 0.5211606621742249 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04059705138206482, + 0.1096510961651802, + 0.036245930939912796 + ], + "orientation": [ + 0.22361965477466583, + -0.8280107975006104, + 0.05456066131591797, + 0.5112881064414978 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.04122914746403694, + 0.11162959784269333, + 0.037139445543289185 + ], + "orientation": [ + 0.22791770100593567, + -0.8206868767738342, + 0.05499150976538658, + 0.5210590958595276 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.04122914746403694, + 0.11162959784269333, + 0.037139445543289185 + ], + "orientation": [ + 0.22791770100593567, + -0.8206868767738342, + 0.05499150976538658, + 0.5210590958595276 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08517134189605713, + -0.07531465590000153, + 0.05232857167720795 + ], + "orientation": [ + 0.6943955421447754, + -0.4188236594200134, + 0.5709986090660095, + 0.12791402637958527 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.08559208363294601, + -0.07596230506896973, + 0.05394047498703003 + ], + "orientation": [ + 0.6945427656173706, + -0.4215834140777588, + 0.5693670511245728, + 0.12529543042182922 + ], + "joints": [ + -0.0048527587205171585 + ] + }, + "final_grasp": { + "position": [ + 0.08559208363294601, + -0.07596230506896973, + 0.05394047498703003 + ], + "orientation": [ + 0.6945427656173706, + -0.4215834140777588, + 0.5693670511245728, + 0.12529543042182922 + ], + "joints": [ + 0.0026399753987789154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06801443547010422, + -0.09888142347335815, + 0.040299732238054276 + ], + "orientation": [ + 0.6074594855308533, + -0.33224067091941833, + 0.7200368642807007, + 0.04643316566944122 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06653822958469391, + -0.09685685485601425, + 0.040934205055236816 + ], + "orientation": [ + 0.6052817702293396, + -0.33817702531814575, + 0.7191701531410217, + 0.04543795436620712 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + 0.06653822958469391, + -0.09685685485601425, + 0.040934205055236816 + ], + "orientation": [ + 0.6052817702293396, + -0.33817702531814575, + 0.7191701531410217, + 0.04543795436620712 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09911256283521652, + -0.07023430615663528, + 0.04768667742609978 + ], + "orientation": [ + 0.716349720954895, + -0.40690934658050537, + 0.5343148112297058, + 0.18914389610290527 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.09507417678833008, + -0.06973130255937576, + 0.048913534730672836 + ], + "orientation": [ + 0.6989626884460449, + -0.4277755618095398, + 0.5422846674919128, + 0.18543586134910583 + ], + "joints": [ + -0.005971568636596203 + ] + }, + "final_grasp": { + "position": [ + 0.09507417678833008, + -0.06973130255937576, + 0.048913534730672836 + ], + "orientation": [ + 0.6989626884460449, + -0.4277755618095398, + 0.5422846674919128, + 0.18543586134910583 + ], + "joints": [ + 0.00043179653584957123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09936757385730743, + -0.07003656029701233, + 0.04755348712205887 + ], + "orientation": [ + 0.7173646092414856, + -0.40494757890701294, + 0.5348030924797058, + 0.18812519311904907 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.09587268531322479, + -0.06997636705636978, + 0.0492393895983696 + ], + "orientation": [ + 0.6997597813606262, + -0.425197571516037, + 0.5435291528701782, + 0.18471431732177734 + ], + "joints": [ + -0.005971568636596203 + ] + }, + "final_grasp": { + "position": [ + 0.09587268531322479, + -0.06997636705636978, + 0.0492393895983696 + ], + "orientation": [ + 0.6997597813606262, + -0.425197571516037, + 0.5435291528701782, + 0.18471431732177734 + ], + "joints": [ + 0.00043179653584957123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06647727638483047, + -0.09836795926094055, + 0.038108862936496735 + ], + "orientation": [ + 0.5376935601234436, + 0.13253195583820343, + 0.7776710987091064, + -0.2975711226463318 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.06631874293088913, + -0.09853751957416534, + 0.0394725501537323 + ], + "orientation": [ + 0.5417304039001465, + 0.1266511082649231, + 0.774248480796814, + -0.30170679092407227 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + -0.06631874293088913, + -0.09853751957416534, + 0.0394725501537323 + ], + "orientation": [ + 0.5417304039001465, + 0.1266511082649231, + 0.774248480796814, + -0.30170679092407227 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08353351056575775, + 0.0917806401848793, + -0.02639506757259369 + ], + "orientation": [ + 0.24802178144454956, + 0.8250498175621033, + 0.27214479446411133, + -0.42862018942832947 + ], + "joints": [ + -0.01281653717160225 + ] + }, + "fine_grasp": { + "position": [ + -0.08125563710927963, + 0.09018953889608383, + -0.025143364444375038 + ], + "orientation": [ + 0.25013473629951477, + 0.8310592770576477, + 0.28120309114456177, + -0.4095091223716736 + ], + "joints": [ + -0.004340712912380695 + ] + }, + "final_grasp": { + "position": [ + -0.08125563710927963, + 0.09018953889608383, + -0.025143364444375038 + ], + "orientation": [ + 0.25013473629951477, + 0.8310592770576477, + 0.28120309114456177, + -0.4095091223716736 + ], + "joints": [ + 0.0041351113468408585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04618183895945549, + 0.10597677528858185, + 0.03634225204586983 + ], + "orientation": [ + 0.23919275403022766, + -0.8133611083030701, + 0.06978758424520493, + 0.5256997346878052 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.046811316162347794, + 0.10598701238632202, + 0.03827812522649765 + ], + "orientation": [ + 0.24362091720104218, + -0.808078408241272, + 0.06340430676937103, + 0.5325766801834106 + ], + "joints": [ + -0.004768780432641506 + ] + }, + "final_grasp": { + "position": [ + 0.046811316162347794, + 0.10598701238632202, + 0.03827812522649765 + ], + "orientation": [ + 0.24362091720104218, + -0.808078408241272, + 0.06340430676937103, + 0.5325766801834106 + ], + "joints": [ + 0.0022191237658262253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10361567884683609, + 0.023444846272468567, + 0.046391475945711136 + ], + "orientation": [ + 0.37121185660362244, + 0.37189650535583496, + 0.5029700398445129, + -0.6862331032752991 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.10577532649040222, + 0.023976560682058334, + 0.04735879227519035 + ], + "orientation": [ + 0.37172359228134155, + 0.3717004060745239, + 0.4994404911994934, + -0.6886359453201294 + ], + "joints": [ + -0.005858149379491806 + ] + }, + "final_grasp": { + "position": [ + -0.10577532649040222, + 0.023976560682058334, + 0.04735879227519035 + ], + "orientation": [ + 0.37172359228134155, + 0.3717004060745239, + 0.4994404911994934, + -0.6886359453201294 + ], + "joints": [ + 4.038587212562561e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04616454243659973, + 0.10643104463815689, + 0.035928212106227875 + ], + "orientation": [ + 0.23770581185817719, + -0.8152999877929688, + 0.07180571556091309, + 0.5230925679206848 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.04662054404616356, + 0.1078086793422699, + 0.03719828650355339 + ], + "orientation": [ + 0.24167385697364807, + -0.811335563659668, + 0.07197608798742294, + 0.5273973345756531 + ], + "joints": [ + -0.004768780432641506 + ] + }, + "final_grasp": { + "position": [ + 0.04662054404616356, + 0.1078086793422699, + 0.03719828650355339 + ], + "orientation": [ + 0.24167385697364807, + -0.811335563659668, + 0.07197608798742294, + 0.5273973345756531 + ], + "joints": [ + 0.0022191237658262253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040774133056402206, + 0.046619657427072525, + 0.09931185096502304 + ], + "orientation": [ + 0.23739348351955414, + -0.057499464601278305, + -0.4743631184101105, + 0.8457645773887634 + ], + "joints": [ + -0.00167476711794734 + ] + }, + "fine_grasp": { + "position": [ + 0.04043079540133476, + 0.04736034572124481, + 0.09754126518964767 + ], + "orientation": [ + 0.23691457509994507, + -0.06058379262685776, + -0.47809863090515137, + 0.8435773253440857 + ], + "joints": [ + 0.004702028818428516 + ] + }, + "final_grasp": { + "position": [ + 0.04043079540133476, + 0.04736034572124481, + 0.09754126518964767 + ], + "orientation": [ + 0.23691457509994507, + -0.06058379262685776, + -0.47809863090515137, + 0.8435773253440857 + ], + "joints": [ + 0.01107882522046566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05805697664618492, + -0.10133684426546097, + 0.03738091513514519 + ], + "orientation": [ + 0.6270438432693481, + -0.30092471837997437, + 0.7172253131866455, + 0.042991213500499725 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.05873286724090576, + -0.10161207616329193, + 0.039180953055620193 + ], + "orientation": [ + 0.6201494336128235, + -0.3053431212902069, + 0.7217996120452881, + 0.03443215414881706 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + 0.05873286724090576, + -0.10161207616329193, + 0.039180953055620193 + ], + "orientation": [ + 0.6201494336128235, + -0.3053431212902069, + 0.7217996120452881, + 0.03443215414881706 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06141260266304016, + 0.1006595566868782, + 0.03759215399622917 + ], + "orientation": [ + 0.2819547951221466, + -0.7790781259536743, + 0.11237248033285141, + 0.5485538244247437 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.061633333563804626, + 0.10084228962659836, + 0.03942042216658592 + ], + "orientation": [ + 0.2884158194065094, + -0.7780819535255432, + 0.10801788419485092, + 0.5474823713302612 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + 0.061633333563804626, + 0.10084228962659836, + 0.03942042216658592 + ], + "orientation": [ + 0.2884158194065094, + -0.7780819535255432, + 0.10801788419485092, + 0.5474823713302612 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06120461970567703, + 0.10053371638059616, + 0.038102295249700546 + ], + "orientation": [ + 0.28268253803253174, + -0.7817569971084595, + 0.11180493980646133, + 0.5444687604904175 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06149500608444214, + 0.1007673442363739, + 0.03980880230665207 + ], + "orientation": [ + 0.2891036868095398, + -0.7792338132858276, + 0.1073279157280922, + 0.545613706111908 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + 0.06149500608444214, + 0.1007673442363739, + 0.03980880230665207 + ], + "orientation": [ + 0.2891036868095398, + -0.7792338132858276, + 0.1073279157280922, + 0.545613706111908 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11010681092739105, + -0.028552599251270294, + 0.02978527545928955 + ], + "orientation": [ + 0.348283052444458, + 0.4513363242149353, + 0.7069185376167297, + -0.41864144802093506 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.11477871984243393, + -0.029906800016760826, + 0.031079446896910667 + ], + "orientation": [ + 0.34676748514175415, + 0.4537196159362793, + 0.704649806022644, + -0.4211406707763672 + ], + "joints": [ + -0.004765909165143967 + ] + }, + "final_grasp": { + "position": [ + -0.11477871984243393, + -0.029906800016760826, + 0.031079446896910667 + ], + "orientation": [ + 0.34676748514175415, + 0.4537196159362793, + 0.704649806022644, + -0.4211406707763672 + ], + "joints": [ + 0.00219542533159256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04409155249595642, + 0.10722055286169052, + 0.03817366808652878 + ], + "orientation": [ + 0.009002474136650562, + -0.7442873120307922, + -0.25441843271255493, + 0.6174355745315552 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.0446702316403389, + 0.10917852073907852, + 0.040185119956731796 + ], + "orientation": [ + 0.011858047917485237, + -0.7390890717506409, + -0.2561584711074829, + 0.6228881478309631 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + -0.0446702316403389, + 0.10917852073907852, + 0.040185119956731796 + ], + "orientation": [ + 0.011858047917485237, + -0.7390890717506409, + -0.2561584711074829, + 0.6228881478309631 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11098498106002808, + 0.029602454975247383, + 0.030924558639526367 + ], + "orientation": [ + 0.46165794134140015, + -0.667390763759613, + 0.39566749334335327, + 0.4300101399421692 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.11348815262317657, + 0.030328955501317978, + 0.0328805148601532 + ], + "orientation": [ + 0.45124104619026184, + -0.681117832660675, + 0.40413758158683777, + 0.4112577438354492 + ], + "joints": [ + -0.005437297746539116 + ] + }, + "final_grasp": { + "position": [ + 0.11348815262317657, + 0.030328955501317978, + 0.0328805148601532 + ], + "orientation": [ + 0.45124104619026184, + -0.681117832660675, + 0.40413758158683777, + 0.4112577438354492 + ], + "joints": [ + 0.0014708973467350006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061356350779533386, + 0.10059353709220886, + 0.03780596703290939 + ], + "orientation": [ + 0.2823711633682251, + -0.779922604560852, + 0.11199209839105606, + 0.5472157597541809 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06171324476599693, + 0.1007482036948204, + 0.03953561186790466 + ], + "orientation": [ + 0.288644939661026, + -0.778630256652832, + 0.10853471606969833, + 0.5464789867401123 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + 0.06171324476599693, + 0.1007482036948204, + 0.03953561186790466 + ], + "orientation": [ + 0.288644939661026, + -0.778630256652832, + 0.10853471606969833, + 0.5464789867401123 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01043859776109457, + -0.12634213268756866, + -0.016352767124772072 + ], + "orientation": [ + 0.8482131361961365, + -0.005008849315345287, + 0.5232851505279541, + 0.08174413442611694 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.011531516909599304, + -0.1248139962553978, + -0.014150637201964855 + ], + "orientation": [ + 0.8504385948181152, + 0.007208231836557388, + 0.5213512778282166, + 0.06996413320302963 + ], + "joints": [ + -0.007452348247170448 + ] + }, + "final_grasp": { + "position": [ + 0.011531516909599304, + -0.1248139962553978, + -0.014150637201964855 + ], + "orientation": [ + 0.8504385948181152, + 0.007208231836557388, + 0.5213512778282166, + 0.06996413320302963 + ], + "joints": [ + -0.003148011863231659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05875683203339577, + -0.10070782899856567, + 0.032751746475696564 + ], + "orientation": [ + 0.7366784811019897, + 0.05381287634372711, + 0.6064183115959167, + -0.29439082741737366 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.06032651290297508, + -0.10169778764247894, + 0.03374073654413223 + ], + "orientation": [ + 0.7405465841293335, + 0.048941273242235184, + 0.5997359156608582, + -0.299186110496521 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + -0.06032651290297508, + -0.10169778764247894, + 0.03374073654413223 + ], + "orientation": [ + 0.7405465841293335, + 0.048941273242235184, + 0.5997359156608582, + -0.299186110496521 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04653410241007805, + -0.10678340494632721, + 0.0344746857881546 + ], + "orientation": [ + 0.7758830189704895, + -0.22748775780200958, + 0.5858158469200134, + 0.05544963479042053 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.04613875970244408, + -0.10836067795753479, + 0.03503977879881859 + ], + "orientation": [ + 0.7851438522338867, + -0.22920633852481842, + 0.5727472305297852, + 0.05453793704509735 + ], + "joints": [ + -0.005382760427892208 + ] + }, + "final_grasp": { + "position": [ + 0.04613875970244408, + -0.10836067795753479, + 0.03503977879881859 + ], + "orientation": [ + 0.7851438522338867, + -0.22920633852481842, + 0.5727472305297852, + 0.05453793704509735 + ], + "joints": [ + 0.001020604744553566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11084059625864029, + 0.029768316075205803, + 0.030880162492394447 + ], + "orientation": [ + 0.46225011348724365, + -0.6669620275497437, + 0.3950904905796051, + 0.43056944012641907 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.11335648596286774, + 0.030404509976506233, + 0.03287981078028679 + ], + "orientation": [ + 0.4508057236671448, + -0.6813649535179138, + 0.40344110131263733, + 0.4120086133480072 + ], + "joints": [ + -0.005437297746539116 + ] + }, + "final_grasp": { + "position": [ + 0.11335648596286774, + 0.030404509976506233, + 0.03287981078028679 + ], + "orientation": [ + 0.4508057236671448, + -0.6813649535179138, + 0.40344110131263733, + 0.4120086133480072 + ], + "joints": [ + 0.0014708973467350006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034188952296972275, + -0.10237310826778412, + -0.051615312695503235 + ], + "orientation": [ + 0.6996751427650452, + 0.25922659039497375, + 0.6644694209098816, + 0.04167279228568077 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.03347703814506531, + -0.10102394968271255, + -0.05189242586493492 + ], + "orientation": [ + 0.6944944858551025, + 0.2544442117214203, + 0.6713936924934387, + 0.04654091224074364 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + -0.03347703814506531, + -0.10102394968271255, + -0.05189242586493492 + ], + "orientation": [ + 0.6944944858551025, + 0.2544442117214203, + 0.6713936924934387, + 0.04654091224074364 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05865451321005821, + -0.1006154865026474, + 0.03279612958431244 + ], + "orientation": [ + 0.7384621500968933, + 0.05241091549396515, + 0.6043329238891602, + -0.2944628596305847 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.06023062765598297, + -0.10174490511417389, + 0.033821385353803635 + ], + "orientation": [ + 0.7413148880004883, + 0.04802921041846275, + 0.5989149808883667, + -0.2990758717060089 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + -0.06023062765598297, + -0.10174490511417389, + 0.033821385353803635 + ], + "orientation": [ + 0.7413148880004883, + 0.04802921041846275, + 0.5989149808883667, + -0.2990758717060089 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06142973527312279, + 0.10056645423173904, + 0.037766993045806885 + ], + "orientation": [ + 0.28242918848991394, + -0.7799480557441711, + 0.11245301365852356, + 0.5470548272132874 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06178134307265282, + 0.10072013735771179, + 0.039506055414676666 + ], + "orientation": [ + 0.28872495889663696, + -0.7785904407501221, + 0.10886571556329727, + 0.5464276075363159 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + 0.06178134307265282, + 0.10072013735771179, + 0.039506055414676666 + ], + "orientation": [ + 0.28872495889663696, + -0.7785904407501221, + 0.10886571556329727, + 0.5464276075363159 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05861308425664902, + -0.10073952376842499, + 0.0327635183930397 + ], + "orientation": [ + 0.7374595403671265, + 0.05299345403909683, + 0.6057347059249878, + -0.2939908504486084 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.060176145285367966, + -0.10181913524866104, + 0.03373462334275246 + ], + "orientation": [ + 0.7408938407897949, + 0.048246923834085464, + 0.5996686816215515, + -0.2985732853412628 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + -0.060176145285367966, + -0.10181913524866104, + 0.03373462334275246 + ], + "orientation": [ + 0.7408938407897949, + 0.048246923834085464, + 0.5996686816215515, + -0.2985732853412628 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11140424013137817, + 0.040213532745838165, + 0.016932126134634018 + ], + "orientation": [ + 0.5249614715576172, + -0.44281747937202454, + 0.19235707819461823, + 0.7009470462799072 + ], + "joints": [ + -0.011739635840058327 + ] + }, + "fine_grasp": { + "position": [ + 0.11520442366600037, + 0.043015602976083755, + 0.018824154511094093 + ], + "orientation": [ + 0.5322111248970032, + -0.4411218464374542, + 0.2142525613307953, + 0.6901149153709412 + ], + "joints": [ + -0.0064256396144628525 + ] + }, + "final_grasp": { + "position": [ + 0.11520442366600037, + 0.043015602976083755, + 0.018824154511094093 + ], + "orientation": [ + 0.5322111248970032, + -0.4411218464374542, + 0.2142525613307953, + 0.6901149153709412 + ], + "joints": [ + -0.0011116433888673782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06371887028217316, + 0.09476964175701141, + 0.04012737795710564 + ], + "orientation": [ + 0.3363875150680542, + -0.607750654220581, + 0.04765082150697708, + 0.7177827954292297 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06592534482479095, + 0.0966809093952179, + 0.040569741278886795 + ], + "orientation": [ + 0.3406464755535126, + -0.600844144821167, + 0.04489300400018692, + 0.7217555046081543 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + 0.06592534482479095, + 0.0966809093952179, + 0.040569741278886795 + ], + "orientation": [ + 0.3406464755535126, + -0.600844144821167, + 0.04489300400018692, + 0.7217555046081543 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08868402987718582, + -0.07622909545898438, + 0.017808523029088974 + ], + "orientation": [ + 0.7256551384925842, + 0.18227623403072357, + 0.532715916633606, + -0.3954918384552002 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.09096712619066238, + -0.0770043358206749, + 0.019237292930483818 + ], + "orientation": [ + 0.7236859798431396, + 0.17767269909381866, + 0.5351266860961914, + -0.3979327976703644 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + -0.09096712619066238, + -0.0770043358206749, + 0.019237292930483818 + ], + "orientation": [ + 0.7236859798431396, + 0.17767269909381866, + 0.5351266860961914, + -0.3979327976703644 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08228026330471039, + 0.06797581166028976, + 0.044240552932024 + ], + "orientation": [ + 0.06932187080383301, + 0.685675859451294, + 0.44788622856140137, + -0.5695972442626953 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.08600743114948273, + 0.07135291397571564, + 0.04643990099430084 + ], + "orientation": [ + 0.07373711466789246, + 0.6867637038230896, + 0.449410617351532, + -0.5665232539176941 + ], + "joints": [ + -0.004823317751288414 + ] + }, + "final_grasp": { + "position": [ + -0.08600743114948273, + 0.07135291397571564, + 0.04643990099430084 + ], + "orientation": [ + 0.07373711466789246, + 0.6867637038230896, + 0.449410617351532, + -0.5665232539176941 + ], + "joints": [ + 0.00266941636800766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09217862784862518, + -0.07052301615476608, + 0.03932267799973488 + ], + "orientation": [ + 0.571959912776947, + -0.45404791831970215, + 0.6684917211532593, + 0.14078745245933533 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.09141544997692108, + -0.06958004087209702, + 0.04038860648870468 + ], + "orientation": [ + 0.5735840797424316, + -0.4562776982784271, + 0.6667056083679199, + 0.13533557951450348 + ], + "joints": [ + -0.004910167306661606 + ] + }, + "final_grasp": { + "position": [ + 0.09141544997692108, + -0.06958004087209702, + 0.04038860648870468 + ], + "orientation": [ + 0.5735840797424316, + -0.4562776982784271, + 0.6667056083679199, + 0.13533557951450348 + ], + "joints": [ + 0.0031139664351940155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06495357304811478, + -0.09296108037233353, + 0.04742252826690674 + ], + "orientation": [ + 0.6816165447235107, + 0.043650612235069275, + 0.6356056928634644, + -0.3598593473434448 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.0667944923043251, + -0.09481382369995117, + 0.04887903109192848 + ], + "orientation": [ + 0.6845843195915222, + 0.038582898676395416, + 0.6305022239685059, + -0.3637617230415344 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + -0.0667944923043251, + -0.09481382369995117, + 0.04887903109192848 + ], + "orientation": [ + 0.6845843195915222, + 0.038582898676395416, + 0.6305022239685059, + -0.3637617230415344 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06469330191612244, + -0.09267210215330124, + 0.04734905809164047 + ], + "orientation": [ + 0.6782580614089966, + 0.04521357640624046, + 0.6392296552658081, + -0.35959288477897644 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.06703729182481766, + -0.09474939107894897, + 0.04855770990252495 + ], + "orientation": [ + 0.6830273866653442, + 0.039655569940805435, + 0.6330074071884155, + -0.3622189164161682 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + -0.06703729182481766, + -0.09474939107894897, + 0.04855770990252495 + ], + "orientation": [ + 0.6830273866653442, + 0.039655569940805435, + 0.6330074071884155, + -0.3622189164161682 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07801321148872375, + 0.08043651282787323, + 0.042236607521772385 + ], + "orientation": [ + 0.12394788861274719, + 0.6432430148124695, + -0.40595510601997375, + 0.6372406482696533 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.07966576516628265, + 0.0812210887670517, + 0.042405638843774796 + ], + "orientation": [ + 0.11834516376256943, + 0.6481056809425354, + -0.40852317214012146, + 0.6317136287689209 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + 0.07966576516628265, + 0.0812210887670517, + 0.042405638843774796 + ], + "orientation": [ + 0.11834516376256943, + 0.6481056809425354, + -0.40852317214012146, + 0.6317136287689209 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09839548915624619, + -0.06531485170125961, + -0.005406600423157215 + ], + "orientation": [ + 0.7311031818389893, + -0.2451609969139099, + 0.5016654133796692, + 0.3920663595199585 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.09765807539224625, + -0.06363051384687424, + -0.004773478023707867 + ], + "orientation": [ + 0.7349535226821899, + -0.23935186862945557, + 0.4968659579753876, + 0.39456090331077576 + ], + "joints": [ + -0.004350800067186356 + ] + }, + "final_grasp": { + "position": [ + 0.09765807539224625, + -0.06363051384687424, + -0.004773478023707867 + ], + "orientation": [ + 0.7349535226821899, + -0.23935186862945557, + 0.4968659579753876, + 0.39456090331077576 + ], + "joints": [ + 0.0036733336746692657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11391668021678925, + 0.03561737388372421, + 0.004449931904673576 + ], + "orientation": [ + 0.5313830971717834, + -0.41792136430740356, + -0.30160021781921387, + -0.6723177433013916 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.11616259068250656, + 0.03558680787682533, + 0.004786632489413023 + ], + "orientation": [ + 0.5330320000648499, + -0.41572290658950806, + -0.2997400462627411, + -0.6732066869735718 + ], + "joints": [ + -0.004882199689745903 + ] + }, + "final_grasp": { + "position": [ + -0.11616259068250656, + 0.03558680787682533, + 0.004786632489413023 + ], + "orientation": [ + 0.5330320000648499, + -0.41572290658950806, + -0.2997400462627411, + -0.6732066869735718 + ], + "joints": [ + 0.002610534429550171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10923872888088226, + 0.056539539247751236, + 0.0026500392705202103 + ], + "orientation": [ + 0.45105674862861633, + -0.4735615849494934, + -0.2712104618549347, + -0.7062098383903503 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + -0.10863013565540314, + 0.05739142745733261, + 0.004074713680893183 + ], + "orientation": [ + 0.4621109366416931, + -0.4631088078022003, + -0.2765008211135864, + -0.7039396166801453 + ], + "joints": [ + -0.006526591256260872 + ] + }, + "final_grasp": { + "position": [ + -0.10863013565540314, + 0.05739142745733261, + 0.004074713680893183 + ], + "orientation": [ + 0.4621109366416931, + -0.4631088078022003, + -0.2765008211135864, + -0.7039396166801453 + ], + "joints": [ + 0.00038160383701324463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09824997186660767, + -0.0653371661901474, + -0.005393116269260645 + ], + "orientation": [ + 0.7308928370475769, + -0.24542279541492462, + 0.5021078586578369, + 0.39172816276550293 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.09820741415023804, + -0.06413999944925308, + -0.004717519041150808 + ], + "orientation": [ + 0.7356933951377869, + -0.23786671459674835, + 0.4973788559436798, + 0.39343225955963135 + ], + "joints": [ + -0.004350800067186356 + ] + }, + "final_grasp": { + "position": [ + 0.09820741415023804, + -0.06413999944925308, + -0.004717519041150808 + ], + "orientation": [ + 0.7356933951377869, + -0.23786671459674835, + 0.4973788559436798, + 0.39343225955963135 + ], + "joints": [ + 0.0036733336746692657 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07990884780883789, + 0.08193884789943695, + 0.04041282460093498 + ], + "orientation": [ + 0.1871768981218338, + 0.5207729339599609, + 0.35863208770751953, + -0.7517600655555725 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08178050071001053, + 0.08516190946102142, + 0.04224285110831261 + ], + "orientation": [ + 0.182704359292984, + 0.5232078433036804, + 0.36536094546318054, + -0.7479197978973389 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.08178050071001053, + 0.08516190946102142, + 0.04224285110831261 + ], + "orientation": [ + 0.182704359292984, + 0.5232078433036804, + 0.36536094546318054, + -0.7479197978973389 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05775430426001549, + -0.10513573884963989, + 0.007190157659351826 + ], + "orientation": [ + 0.05569834262132645, + 0.23743405938148499, + 0.9612299203872681, + -0.12868453562259674 + ], + "joints": [ + -0.0037630940787494183 + ] + }, + "fine_grasp": { + "position": [ + -0.05795875936746597, + -0.1051514595746994, + 0.007447153329849243 + ], + "orientation": [ + 0.07232360541820526, + 0.23520122468471527, + 0.9606534838676453, + -0.12881942093372345 + ], + "joints": [ + 0.003703070804476738 + ] + }, + "final_grasp": { + "position": [ + -0.05795875936746597, + -0.1051514595746994, + 0.007447153329849243 + ], + "orientation": [ + 0.07232360541820526, + 0.23520122468471527, + 0.9606534838676453, + -0.12881942093372345 + ], + "joints": [ + 0.011169236153364182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10911084711551666, + 0.038682546466588974, + 0.030823614448308945 + ], + "orientation": [ + 0.18163570761680603, + 0.6646966338157654, + -0.5626484155654907, + 0.4567422568798065 + ], + "joints": [ + -0.012844428420066833 + ] + }, + "fine_grasp": { + "position": [ + 0.11140860617160797, + 0.04007326066493988, + 0.030930038541555405 + ], + "orientation": [ + 0.19224435091018677, + 0.6603742241859436, + -0.5570359826087952, + 0.4654662311077118 + ], + "joints": [ + -0.005909663625061512 + ] + }, + "final_grasp": { + "position": [ + 0.11140860617160797, + 0.04007326066493988, + 0.030930038541555405 + ], + "orientation": [ + 0.19224435091018677, + 0.6603742241859436, + -0.5570359826087952, + 0.4654662311077118 + ], + "joints": [ + 0.0010251011699438095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11929107457399368, + 0.013879310339689255, + -0.04009868949651718 + ], + "orientation": [ + 0.32437291741371155, + -0.5175936818122864, + -0.6126242876052856, + -0.5015680193901062 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.11501958221197128, + 0.012077385559678078, + -0.038784854114055634 + ], + "orientation": [ + 0.3134903907775879, + -0.5207483172416687, + -0.6020416617393494, + -0.5177749395370483 + ], + "joints": [ + -0.007512628100812435 + ] + }, + "final_grasp": { + "position": [ + -0.11501958221197128, + 0.012077385559678078, + -0.038784854114055634 + ], + "orientation": [ + 0.3134903907775879, + -0.5207483172416687, + -0.6020416617393494, + -0.5177749395370483 + ], + "joints": [ + -0.0026503223925828934 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11326814442873001, + 0.035551685839891434, + 0.004532380495220423 + ], + "orientation": [ + 0.5321919322013855, + -0.41572409868240356, + -0.300809770822525, + -0.6733934283256531 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.11617733538150787, + 0.03565194457769394, + 0.004512493498623371 + ], + "orientation": [ + 0.5329453349113464, + -0.41358309984207153, + -0.29734522104263306, + -0.6756508946418762 + ], + "joints": [ + -0.004882199689745903 + ] + }, + "final_grasp": { + "position": [ + -0.11617733538150787, + 0.03565194457769394, + 0.004512493498623371 + ], + "orientation": [ + 0.5329453349113464, + -0.41358309984207153, + -0.29734522104263306, + -0.6756508946418762 + ], + "joints": [ + 0.002610534429550171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12584921717643738, + -0.029575319960713387, + 0.0017232371028512716 + ], + "orientation": [ + 0.3943762481212616, + -0.5473164916038513, + -0.6870550513267517, + -0.2699398398399353 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.1221269816160202, + -0.03096003085374832, + 0.002925590146332979 + ], + "orientation": [ + 0.37986505031585693, + -0.5592896342277527, + -0.6802875399589539, + -0.2830306589603424 + ], + "joints": [ + -0.006441215053200722 + ] + }, + "final_grasp": { + "position": [ + -0.1221269816160202, + -0.03096003085374832, + 0.002925590146332979 + ], + "orientation": [ + 0.37986505031585693, + -0.5592896342277527, + -0.6802875399589539, + -0.2830306589603424 + ], + "joints": [ + -0.0005958192050457001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05556551367044449, + -0.10864221304655075, + -0.021017886698246002 + ], + "orientation": [ + 0.11155594140291214, + -0.2321028858423233, + 0.964695394039154, + 0.055192556232213974 + ], + "joints": [ + -0.003889302257448435 + ] + }, + "fine_grasp": { + "position": [ + 0.056261900812387466, + -0.10903482139110565, + -0.022670403122901917 + ], + "orientation": [ + 0.1137298047542572, + -0.23294682800769806, + 0.964890718460083, + 0.04227731004357338 + ], + "joints": [ + 0.0035768626257777214 + ] + }, + "final_grasp": { + "position": [ + 0.056261900812387466, + -0.10903482139110565, + -0.022670403122901917 + ], + "orientation": [ + 0.1137298047542572, + -0.23294682800769806, + 0.964890718460083, + 0.04227731004357338 + ], + "joints": [ + 0.01104302704334259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11303609609603882, + -0.003357813460752368, + 0.039825085550546646 + ], + "orientation": [ + 0.6241859197616577, + -0.5307996869087219, + 0.3873339891433716, + 0.4226298928260803 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.11514014005661011, + -0.004175201989710331, + 0.0400153286755085 + ], + "orientation": [ + 0.6301187872886658, + -0.5266555547714233, + 0.3791235387325287, + 0.4264383316040039 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + 0.11514014005661011, + -0.004175201989710331, + 0.0400153286755085 + ], + "orientation": [ + 0.6301187872886658, + -0.5266555547714233, + 0.3791235387325287, + 0.4264383316040039 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12623532116413116, + -0.02971227467060089, + 0.0011310827685520053 + ], + "orientation": [ + 0.3950067162513733, + -0.544834554195404, + -0.6888246536254883, + -0.26952844858169556 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.12191928178071976, + -0.0307886004447937, + 0.002410024404525757 + ], + "orientation": [ + 0.37953105568885803, + -0.5582069158554077, + -0.6804825663566589, + -0.2851398289203644 + ], + "joints": [ + -0.006413247436285019 + ] + }, + "final_grasp": { + "position": [ + -0.12191928178071976, + -0.0307886004447937, + 0.002410024404525757 + ], + "orientation": [ + 0.37953105568885803, + -0.5582069158554077, + -0.6804825663566589, + -0.2851398289203644 + ], + "joints": [ + -0.0010992512106895447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11548908799886703, + 0.020667506381869316, + 0.0004854600701946765 + ], + "orientation": [ + 0.32636088132858276, + -0.6681585907936096, + 0.5355151295661926, + 0.40034520626068115 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.11703713983297348, + 0.02087279036641121, + 0.000627037778031081 + ], + "orientation": [ + 0.32609203457832336, + -0.6687232851982117, + 0.5350089073181152, + 0.4002982974052429 + ], + "joints": [ + -0.004824791103601456 + ] + }, + "final_grasp": { + "position": [ + 0.11703713983297348, + 0.02087279036641121, + 0.000627037778031081 + ], + "orientation": [ + 0.32609203457832336, + -0.6687232851982117, + 0.5350089073181152, + 0.4002982974052429 + ], + "joints": [ + 0.002136543393135071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027542904019355774, + 0.1119115948677063, + 0.05053240805864334 + ], + "orientation": [ + 0.09486749023199081, + -0.7423659563064575, + -0.22321172058582306, + 0.6245554685592651 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.02686188742518425, + 0.11158128082752228, + 0.051144469529390335 + ], + "orientation": [ + 0.09388617426156998, + -0.736717164516449, + -0.22671614587306976, + 0.6301056146621704 + ], + "joints": [ + -0.004798221401870251 + ] + }, + "final_grasp": { + "position": [ + -0.02686188742518425, + 0.11158128082752228, + 0.051144469529390335 + ], + "orientation": [ + 0.09388617426156998, + -0.736717164516449, + -0.22671614587306976, + 0.6301056146621704 + ], + "joints": [ + 0.0021896827965974808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1154642179608345, + 0.020886806771159172, + 0.0004357755824457854 + ], + "orientation": [ + 0.32654088735580444, + -0.6677541732788086, + 0.5347790122032166, + 0.4018543064594269 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.11699867993593216, + 0.020945614203810692, + 0.0004276815161574632 + ], + "orientation": [ + 0.3262019753456116, + -0.6680048108100891, + 0.5344319939613342, + 0.40217459201812744 + ], + "joints": [ + -0.004824791103601456 + ] + }, + "final_grasp": { + "position": [ + 0.11699867993593216, + 0.020945614203810692, + 0.0004276815161574632 + ], + "orientation": [ + 0.3262019753456116, + -0.6680048108100891, + 0.5344319939613342, + 0.40217459201812744 + ], + "joints": [ + 0.002136543393135071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03234272450208664, + -0.11076386272907257, + 0.03749086335301399 + ], + "orientation": [ + 0.7237545847892761, + -0.021939866244792938, + 0.6547483801841736, + -0.21680057048797607 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.033050812780857086, + -0.1119345873594284, + 0.038984935730695724 + ], + "orientation": [ + 0.7235038876533508, + -0.023072510957717896, + 0.6512424349784851, + -0.2278004139661789 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + -0.033050812780857086, + -0.1119345873594284, + 0.038984935730695724 + ], + "orientation": [ + 0.7235038876533508, + -0.023072510957717896, + 0.6512424349784851, + -0.2278004139661789 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10021653771400452, + 0.03759753704071045, + 0.03536480292677879 + ], + "orientation": [ + 0.42480090260505676, + 0.30107423663139343, + 0.391120970249176, + -0.7588958144187927 + ], + "joints": [ + -0.010857976973056793 + ] + }, + "fine_grasp": { + "position": [ + -0.10358332842588425, + 0.037313513457775116, + 0.03731481358408928 + ], + "orientation": [ + 0.41473522782325745, + 0.32165417075157166, + 0.3896220922470093, + -0.756787896156311 + ], + "joints": [ + -0.0059956712648272514 + ] + }, + "final_grasp": { + "position": [ + -0.10358332842588425, + 0.037313513457775116, + 0.03731481358408928 + ], + "orientation": [ + 0.41473522782325745, + 0.32165417075157166, + 0.3896220922470093, + -0.756787896156311 + ], + "joints": [ + -0.0011333655565977097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001216813805513084, + -0.10544313490390778, + 0.04110087454319 + ], + "orientation": [ + 0.8134962916374207, + -0.14164099097251892, + 0.5498800873756409, + -0.12567204236984253 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0010140900267288089, + -0.10740742832422256, + 0.04189728945493698 + ], + "orientation": [ + 0.8145269751548767, + -0.1394776552915573, + 0.5483090281486511, + -0.12825414538383484 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.0010140900267288089, + -0.10740742832422256, + 0.04189728945493698 + ], + "orientation": [ + 0.8145269751548767, + -0.1394776552915573, + 0.5483090281486511, + -0.12825414538383484 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027551695704460144, + 0.11189565807580948, + 0.05050699785351753 + ], + "orientation": [ + 0.09470782428979874, + -0.7422059774398804, + -0.22334569692611694, + 0.624721884727478 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.026875348761677742, + 0.11156737059354782, + 0.05114169418811798 + ], + "orientation": [ + 0.09380099177360535, + -0.7364880442619324, + -0.22680290043354034, + 0.6303549408912659 + ], + "joints": [ + -0.004798221401870251 + ] + }, + "final_grasp": { + "position": [ + -0.026875348761677742, + 0.11156737059354782, + 0.05114169418811798 + ], + "orientation": [ + 0.09380099177360535, + -0.7364880442619324, + -0.22680290043354034, + 0.6303549408912659 + ], + "joints": [ + 0.0021896827965974808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055544160306453705, + -0.1141790896654129, + 0.01922731101512909 + ], + "orientation": [ + 0.49081191420555115, + -0.2764354348182678, + -0.818676769733429, + -0.11160380393266678 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.056146182119846344, + -0.1109657734632492, + 0.016350744292140007 + ], + "orientation": [ + 0.49321720004081726, + -0.2667653262615204, + -0.8229313492774963, + -0.09141723066568375 + ], + "joints": [ + -0.006748722866177559 + ] + }, + "final_grasp": { + "position": [ + -0.056146182119846344, + -0.1109657734632492, + 0.016350744292140007 + ], + "orientation": [ + 0.49321720004081726, + -0.2667653262615204, + -0.8229313492774963, + -0.09141723066568375 + ], + "joints": [ + -0.0035071857273578644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08324038237333298, + 0.10135865211486816, + -0.05084196850657463 + ], + "orientation": [ + 0.11671944707632065, + -0.6361071467399597, + 0.3761690557003021, + 0.663506805896759 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + 0.08020958304405212, + 0.0981200560927391, + -0.04849802330136299 + ], + "orientation": [ + 0.11889123916625977, + -0.636340320110321, + 0.36970922350883484, + 0.6665214896202087 + ], + "joints": [ + -0.008655060082674026 + ] + }, + "final_grasp": { + "position": [ + 0.08020958304405212, + 0.0981200560927391, + -0.04849802330136299 + ], + "orientation": [ + 0.11889123916625977, + -0.636340320110321, + 0.36970922350883484, + 0.6665214896202087 + ], + "joints": [ + -0.00384589284658432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11991652846336365, + 0.014007886871695518, + -0.040242794901132584 + ], + "orientation": [ + 0.32707521319389343, + -0.5157191157341003, + -0.6118917465209961, + -0.5026370286941528 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.11533992737531662, + 0.013036797754466534, + -0.03895429149270058 + ], + "orientation": [ + 0.32132789492607117, + -0.5136163234710693, + -0.6069567203521729, + -0.5143443942070007 + ], + "joints": [ + -0.006981228478252888 + ] + }, + "final_grasp": { + "position": [ + -0.11533992737531662, + 0.013036797754466534, + -0.03895429149270058 + ], + "orientation": [ + 0.32132789492607117, + -0.5136163234710693, + -0.6069567203521729, + -0.5143443942070007 + ], + "joints": [ + -0.0015875231474637985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03234986588358879, + -0.11071629822254181, + 0.03758314251899719 + ], + "orientation": [ + 0.7236934304237366, + -0.022202523425221443, + 0.6547510027885437, + -0.2169705033302307 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.032923899590969086, + -0.11211097240447998, + 0.03879702463746071 + ], + "orientation": [ + 0.7231285572052002, + -0.023124126717448235, + 0.6515811681747437, + -0.22801826894283295 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + -0.032923899590969086, + -0.11211097240447998, + 0.03879702463746071 + ], + "orientation": [ + 0.7231285572052002, + -0.023124126717448235, + 0.6515811681747437, + -0.22801826894283295 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09012233465909958, + 0.07875050604343414, + 0.018540984019637108 + ], + "orientation": [ + 0.305703729391098, + -0.7387840747833252, + -0.27169352769851685, + -0.5356547832489014 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08995816856622696, + 0.07719898223876953, + 0.018988465890288353 + ], + "orientation": [ + 0.2969454228878021, + -0.7534852623939514, + -0.2743415832519531, + -0.5184787511825562 + ], + "joints": [ + -0.004290520213544369 + ] + }, + "final_grasp": { + "position": [ + -0.08995816856622696, + 0.07719898223876953, + 0.018988465890288353 + ], + "orientation": [ + 0.2969454228878021, + -0.7534852623939514, + -0.2743415832519531, + -0.5184787511825562 + ], + "joints": [ + 0.0031756442040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06666299700737, + 0.09970691055059433, + 0.01277167908847332 + ], + "orientation": [ + 0.0918455645442009, + 0.8236314654350281, + -0.2865299582481384, + 0.4807248115539551 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.0693369060754776, + 0.1035199835896492, + 0.014119706116616726 + ], + "orientation": [ + 0.09462393075227737, + 0.8123307824134827, + -0.28778234124183655, + 0.4983436167240143 + ], + "joints": [ + -0.005883245728909969 + ] + }, + "final_grasp": { + "position": [ + 0.0693369060754776, + 0.1035199835896492, + 0.014119706116616726 + ], + "orientation": [ + 0.09462393075227737, + 0.8123307824134827, + -0.28778234124183655, + 0.4983436167240143 + ], + "joints": [ + 0.0005201194435358047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0012126665096729994, + -0.10543195903301239, + 0.04120982438325882 + ], + "orientation": [ + 0.8130272030830383, + -0.1421644389629364, + 0.550385057926178, + -0.12590597569942474 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0008223089971579611, + -0.10764941573143005, + 0.04196641594171524 + ], + "orientation": [ + 0.8142814040184021, + -0.139753520488739, + 0.5488574504852295, + -0.12716208398342133 + ], + "joints": [ + -0.005269341170787811 + ] + }, + "final_grasp": { + "position": [ + -0.0008223089971579611, + -0.10764941573143005, + 0.04196641594171524 + ], + "orientation": [ + 0.8142814040184021, + -0.139753520488739, + 0.5488574504852295, + -0.12716208398342133 + ], + "joints": [ + 0.0006291940808296204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09014192968606949, + 0.07873012125492096, + 0.018574625253677368 + ], + "orientation": [ + 0.3059583008289337, + -0.7385584115982056, + -0.2715792655944824, + -0.5358784198760986 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08997000008821487, + 0.07717183977365494, + 0.01901526376605034 + ], + "orientation": [ + 0.2972659170627594, + -0.7532303929328918, + -0.27421554923057556, + -0.5187318921089172 + ], + "joints": [ + -0.004290520213544369 + ] + }, + "final_grasp": { + "position": [ + -0.08997000008821487, + 0.07717183977365494, + 0.01901526376605034 + ], + "orientation": [ + 0.2972659170627594, + -0.7532303929328918, + -0.27421554923057556, + -0.5187318921089172 + ], + "joints": [ + 0.0031756442040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10263676941394806, + -0.05325336009263992, + 0.019721977412700653 + ], + "orientation": [ + 0.6954423189163208, + -0.3837803900241852, + -0.491733193397522, + -0.35675057768821716 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.10296511650085449, + -0.052319422364234924, + 0.02120395563542843 + ], + "orientation": [ + 0.715289831161499, + -0.36723318696022034, + -0.475253701210022, + -0.3572591245174408 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.10296511650085449, + -0.052319422364234924, + 0.02120395563542843 + ], + "orientation": [ + 0.715289831161499, + -0.36723318696022034, + -0.475253701210022, + -0.3572591245174408 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09013213962316513, + 0.07874944806098938, + 0.01849990338087082 + ], + "orientation": [ + 0.3057180345058441, + -0.7384862899780273, + -0.2716735601425171, + -0.5360672473907471 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08996870368719101, + 0.07720170170068741, + 0.018945729359984398 + ], + "orientation": [ + 0.296936571598053, + -0.7532529234886169, + -0.2743564248085022, + -0.5188133716583252 + ], + "joints": [ + -0.004290520213544369 + ] + }, + "final_grasp": { + "position": [ + -0.08996870368719101, + 0.07720170170068741, + 0.018945729359984398 + ], + "orientation": [ + 0.296936571598053, + -0.7532529234886169, + -0.2743564248085022, + -0.5188133716583252 + ], + "joints": [ + 0.0031756442040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03523470461368561, + 0.11054585874080658, + 0.039446957409381866 + ], + "orientation": [ + 0.219053715467453, + -0.5354358553886414, + 0.07153311371803284, + -0.8125311136245728 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.03513215854763985, + 0.11054419726133347, + 0.039301153272390366 + ], + "orientation": [ + 0.21234172582626343, + -0.552491307258606, + 0.07330166548490524, + -0.8026776313781738 + ], + "joints": [ + -0.0043450575321912766 + ] + }, + "final_grasp": { + "position": [ + -0.03513215854763985, + 0.11054419726133347, + 0.039301153272390366 + ], + "orientation": [ + 0.21234172582626343, + -0.552491307258606, + 0.07330166548490524, + -0.8026776313781738 + ], + "joints": [ + 0.003625936806201935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08933158218860626, + -0.06460292637348175, + 0.04291519895195961 + ], + "orientation": [ + 0.35620054602622986, + 0.2885226905345917, + 0.8172182440757751, + -0.3493281602859497 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0901368260383606, + -0.06443623453378677, + 0.041645199060440063 + ], + "orientation": [ + 0.36777037382125854, + 0.29291072487831116, + 0.8089981079101562, + -0.35280364751815796 + ], + "joints": [ + -0.004684802144765854 + ] + }, + "final_grasp": { + "position": [ + -0.0901368260383606, + -0.06443623453378677, + 0.041645199060440063 + ], + "orientation": [ + 0.36777037382125854, + 0.29291072487831116, + 0.8089981079101562, + -0.35280364751815796 + ], + "joints": [ + 0.0017982721328735352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08932851999998093, + -0.0646069273352623, + 0.04291442409157753 + ], + "orientation": [ + 0.3562261760234833, + 0.2885001599788666, + 0.817215621471405, + -0.34932684898376465 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0901341438293457, + -0.06444120407104492, + 0.041645556688308716 + ], + "orientation": [ + 0.36778852343559265, + 0.29288506507873535, + 0.8090018630027771, + -0.35279735922813416 + ], + "joints": [ + -0.004684802144765854 + ] + }, + "final_grasp": { + "position": [ + -0.0901341438293457, + -0.06444120407104492, + 0.041645556688308716 + ], + "orientation": [ + 0.36778852343559265, + 0.29288506507873535, + 0.8090018630027771, + -0.35279735922813416 + ], + "joints": [ + 0.0017982721328735352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10292841494083405, + -0.0533619225025177, + 0.01947917230427265 + ], + "orientation": [ + 0.6939170956611633, + -0.384291410446167, + -0.49288445711135864, + -0.35758090019226074 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.10306288301944733, + -0.052079569548368454, + 0.020942583680152893 + ], + "orientation": [ + 0.7140170931816101, + -0.3673018515110016, + -0.4764016270637512, + -0.35820451378822327 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.10306288301944733, + -0.052079569548368454, + 0.020942583680152893 + ], + "orientation": [ + 0.7140170931816101, + -0.3673018515110016, + -0.4764016270637512, + -0.35820451378822327 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027133602648973465, + -0.04420001059770584, + -0.13896456360816956 + ], + "orientation": [ + 0.7957521080970764, + 0.5284646153450012, + -0.28140732645988464, + -0.09117882698774338 + ], + "joints": [ + -0.002897508442401886 + ] + }, + "fine_grasp": { + "position": [ + 0.025480519980192184, + -0.04327695444226265, + -0.13511766493320465 + ], + "orientation": [ + 0.788105309009552, + 0.5375514030456543, + -0.2853160500526428, + -0.09232158958911896 + ], + "joints": [ + 0.0034792874939739704 + ] + }, + "final_grasp": { + "position": [ + 0.025480519980192184, + -0.04327695444226265, + -0.13511766493320465 + ], + "orientation": [ + 0.788105309009552, + 0.5375514030456543, + -0.2853160500526428, + -0.09232158958911896 + ], + "joints": [ + 0.009856083430349827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07287237793207169, + 0.09852541983127594, + -0.07553806900978088 + ], + "orientation": [ + 0.2111295908689499, + 0.9341921210289001, + 0.2857418358325958, + -0.03257341682910919 + ], + "joints": [ + -0.00592748261988163 + ] + }, + "fine_grasp": { + "position": [ + -0.06980776786804199, + 0.0944758728146553, + -0.07286114990711212 + ], + "orientation": [ + 0.22431102395057678, + 0.9321687817573547, + 0.2816421389579773, + -0.03773067146539688 + ], + "joints": [ + 0.0025217721704393625 + ] + }, + "final_grasp": { + "position": [ + -0.06980776786804199, + 0.0944758728146553, + -0.07286114990711212 + ], + "orientation": [ + 0.22431102395057678, + 0.9321687817573547, + 0.2816421389579773, + -0.03773067146539688 + ], + "joints": [ + 0.010971026495099068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.081443652510643, + 0.0888257771730423, + -0.07271317392587662 + ], + "orientation": [ + 0.22496651113033295, + 0.9181810617446899, + -0.30005207657814026, + 0.1276809275150299 + ], + "joints": [ + -0.0026574337389320135 + ] + }, + "fine_grasp": { + "position": [ + 0.0784570574760437, + 0.08641309291124344, + -0.07100479304790497 + ], + "orientation": [ + 0.2279634326696396, + 0.9180530309677124, + -0.3046882748603821, + 0.1112491562962532 + ], + "joints": [ + 0.0037193624302744865 + ] + }, + "final_grasp": { + "position": [ + 0.0784570574760437, + 0.08641309291124344, + -0.07100479304790497 + ], + "orientation": [ + 0.2279634326696396, + 0.9180530309677124, + -0.3046882748603821, + 0.1112491562962532 + ], + "joints": [ + 0.01009615883231163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10324294120073318, + -0.05348263308405876, + 0.019136205315589905 + ], + "orientation": [ + 0.6921378970146179, + -0.3846311569213867, + -0.4943598210811615, + -0.35862573981285095 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.10316409170627594, + -0.0519120953977108, + 0.020777961239218712 + ], + "orientation": [ + 0.7131330370903015, + -0.36734068393707275, + -0.47721007466316223, + -0.3588492274284363 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.10316409170627594, + -0.0519120953977108, + 0.020777961239218712 + ], + "orientation": [ + 0.7131330370903015, + -0.36734068393707275, + -0.47721007466316223, + -0.3588492274284363 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040785424411296844, + -0.03239961341023445, + -0.13101406395435333 + ], + "orientation": [ + 0.7773136496543884, + 0.5567850470542908, + -0.09854625165462494, + -0.2757944166660309 + ], + "joints": [ + -0.004351081792265177 + ] + }, + "fine_grasp": { + "position": [ + -0.03981625288724899, + -0.029699796810746193, + -0.12793588638305664 + ], + "orientation": [ + 0.7866426110267639, + 0.5474661588668823, + -0.08572566509246826, + -0.2722597122192383 + ], + "joints": [ + 0.003646482713520527 + ] + }, + "final_grasp": { + "position": [ + -0.03981625288724899, + -0.029699796810746193, + -0.12793588638305664 + ], + "orientation": [ + 0.7866426110267639, + 0.5474661588668823, + -0.08572566509246826, + -0.2722597122192383 + ], + "joints": [ + 0.011644046753644943 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02838408201932907, + -0.002383702201768756, + -0.12460686266422272 + ], + "orientation": [ + 0.11906673014163971, + 0.2659132778644562, + -0.6602398753166199, + -0.692240297794342 + ], + "joints": [ + -0.0024445902090519667 + ] + }, + "fine_grasp": { + "position": [ + 0.027467194944620132, + 0.0005977179971523583, + -0.12912191450595856 + ], + "orientation": [ + 0.11264635622501373, + 0.26878151297569275, + -0.6896675825119019, + -0.6628919243812561 + ], + "joints": [ + 0.002284867223352194 + ] + }, + "final_grasp": { + "position": [ + 0.027467194944620132, + 0.0005977179971523583, + -0.12912191450595856 + ], + "orientation": [ + 0.11264635622501373, + 0.26878151297569275, + -0.6896675825119019, + -0.6628919243812561 + ], + "joints": [ + 0.007014324888586998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03540851175785065, + 0.11093734204769135, + 0.039350464940071106 + ], + "orientation": [ + 0.2172446846961975, + -0.5305411219596863, + 0.07387694716453552, + -0.8160103559494019 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.03571346774697304, + 0.1117018386721611, + 0.03925934061408043 + ], + "orientation": [ + 0.20912666618824005, + -0.5456675887107849, + 0.07722323387861252, + -0.8078053593635559 + ], + "joints": [ + -0.004317089915275574 + ] + }, + "final_grasp": { + "position": [ + -0.03571346774697304, + 0.1117018386721611, + 0.03925934061408043 + ], + "orientation": [ + 0.20912666618824005, + -0.5456675887107849, + 0.07722323387861252, + -0.8078053593635559 + ], + "joints": [ + 0.00312250480055809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020676985383033752, + -0.02368619665503502, + 0.10995393246412277 + ], + "orientation": [ + 0.2654367685317993, + -0.13981451094150543, + -0.7396403551101685, + 0.6024347543716431 + ], + "joints": [ + -0.0047204261645674706 + ] + }, + "fine_grasp": { + "position": [ + 0.021546566858887672, + -0.025734426453709602, + 0.10979840904474258 + ], + "orientation": [ + 0.2687727212905884, + -0.13456560671329498, + -0.7386497259140015, + 0.6033655405044556 + ], + "joints": [ + 0.001151540200226009 + ] + }, + "final_grasp": { + "position": [ + 0.021546566858887672, + -0.025734426453709602, + 0.10979840904474258 + ], + "orientation": [ + 0.2687727212905884, + -0.13456560671329498, + -0.7386497259140015, + 0.6033655405044556 + ], + "joints": [ + 0.007023506797850132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002670555142685771, + 0.02962154895067215, + -0.13566555082798004 + ], + "orientation": [ + 0.5931591987609863, + 0.7561325430870056, + 0.1593543291091919, + 0.2259024828672409 + ], + "joints": [ + -0.003836759366095066 + ] + }, + "fine_grasp": { + "position": [ + 0.0029784354846924543, + 0.029897529631853104, + -0.13507038354873657 + ], + "orientation": [ + 0.5901205539703369, + 0.7570871114730835, + 0.1620427370071411, + 0.2287333607673645 + ], + "joints": [ + 0.003655975218862295 + ] + }, + "final_grasp": { + "position": [ + 0.0029784354846924543, + 0.029897529631853104, + -0.13507038354873657 + ], + "orientation": [ + 0.5901205539703369, + 0.7570871114730835, + 0.1620427370071411, + 0.2287333607673645 + ], + "joints": [ + 0.011148709803819656 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058224357664585114, + -0.10920494794845581, + -0.0666353851556778 + ], + "orientation": [ + 0.9478303790092468, + 0.1509992778301239, + -0.12103647738695145, + -0.25331225991249084 + ], + "joints": [ + -0.005697248503565788 + ] + }, + "fine_grasp": { + "position": [ + -0.05564811825752258, + -0.1043395847082138, + -0.0645935982465744 + ], + "orientation": [ + 0.9477574825286865, + 0.15083372592926025, + -0.1234976202249527, + -0.25249412655830383 + ], + "joints": [ + 0.0022206068970263004 + ] + }, + "final_grasp": { + "position": [ + -0.05564811825752258, + -0.1043395847082138, + -0.0645935982465744 + ], + "orientation": [ + 0.9477574825286865, + 0.15083372592926025, + -0.1234976202249527, + -0.25249412655830383 + ], + "joints": [ + 0.010138462297618389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02889830805361271, + -0.002377714728936553, + -0.124667689204216 + ], + "orientation": [ + 0.1208612248301506, + 0.2690001130104065, + -0.6594156622886658, + -0.6915217638015747 + ], + "joints": [ + -0.002565694274380803 + ] + }, + "fine_grasp": { + "position": [ + 0.028137654066085815, + 0.0005710961413569748, + -0.12921428680419922 + ], + "orientation": [ + 0.11497889459133148, + 0.27383092045783997, + -0.687059223651886, + -0.663133442401886 + ], + "joints": [ + 0.0021637629251927137 + ] + }, + "final_grasp": { + "position": [ + 0.028137654066085815, + 0.0005710961413569748, + -0.12921428680419922 + ], + "orientation": [ + 0.11497889459133148, + 0.27383092045783997, + -0.687059223651886, + -0.663133442401886 + ], + "joints": [ + 0.006893220357596874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12196369469165802, + 0.003741720225661993, + -0.038424376398324966 + ], + "orientation": [ + 0.6961567997932434, + 0.10237094014883041, + 0.01438696589320898, + 0.7104074954986572 + ], + "joints": [ + -0.0036724689416587353 + ] + }, + "fine_grasp": { + "position": [ + 0.12140783667564392, + 0.003911942709237337, + -0.03932712972164154 + ], + "orientation": [ + 0.6966957449913025, + 0.10804758965969086, + -0.004093024414032698, + 0.7091714143753052 + ], + "joints": [ + 0.003767126239836216 + ] + }, + "final_grasp": { + "position": [ + 0.12140783667564392, + 0.003911942709237337, + -0.03932712972164154 + ], + "orientation": [ + 0.6966957449913025, + 0.10804758965969086, + -0.004093024414032698, + 0.7091714143753052 + ], + "joints": [ + 0.011206721886992455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052626173943281174, + 0.1115894690155983, + -0.006687135435640812 + ], + "orientation": [ + 0.22169455885887146, + -0.05081181600689888, + 0.02401603013277054, + -0.9734951853752136 + ], + "joints": [ + -0.003157171653583646 + ] + }, + "fine_grasp": { + "position": [ + -0.05244369059801102, + 0.11165079474449158, + -0.006805405952036381 + ], + "orientation": [ + 0.22112488746643066, + -0.07607471197843552, + 0.022452138364315033, + -0.9720146059989929 + ], + "joints": [ + 0.0038041635416448116 + ] + }, + "final_grasp": { + "position": [ + -0.05244369059801102, + 0.11165079474449158, + -0.006805405952036381 + ], + "orientation": [ + 0.22112488746643066, + -0.07607471197843552, + 0.022452138364315033, + -0.9720146059989929 + ], + "joints": [ + 0.010765498504042625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10793263465166092, + -0.04240114241838455, + 0.026606138795614243 + ], + "orientation": [ + 0.75364089012146, + -0.3597452640533447, + 0.318826287984848, + 0.44828394055366516 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.11226172745227814, + -0.04280915856361389, + 0.028723128139972687 + ], + "orientation": [ + 0.7537673711776733, + -0.3594224154949188, + 0.33803606033325195, + 0.43403002619743347 + ], + "joints": [ + -0.0058818478137254715 + ] + }, + "final_grasp": { + "position": [ + 0.11226172745227814, + -0.04280915856361389, + 0.028723128139972687 + ], + "orientation": [ + 0.7537673711776733, + -0.3594224154949188, + 0.33803606033325195, + 0.43403002619743347 + ], + "joints": [ + -3.645196557044983e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045547328889369965, + -0.11337161809206009, + -0.02309011109173298 + ], + "orientation": [ + 0.05238121375441551, + -0.1892327070236206, + -0.9802659749984741, + -0.0229339562356472 + ], + "joints": [ + -0.0034795007668435574 + ] + }, + "fine_grasp": { + "position": [ + -0.04514649882912636, + -0.11072390526533127, + -0.02236386388540268 + ], + "orientation": [ + 0.06694209575653076, + -0.18974533677101135, + -0.9791039228439331, + -0.029512137174606323 + ], + "joints": [ + 0.004039803519845009 + ] + }, + "final_grasp": { + "position": [ + -0.04514649882912636, + -0.11072390526533127, + -0.02236386388540268 + ], + "orientation": [ + 0.06694209575653076, + -0.18974533677101135, + -0.9791039228439331, + -0.029512137174606323 + ], + "joints": [ + 0.011559108272194862 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01113886944949627, + -0.0030505105387419462, + 0.12130676954984665 + ], + "orientation": [ + 0.1801229864358902, + -0.13291630148887634, + 0.7230216264724731, + -0.6535507440567017 + ], + "joints": [ + -0.0026447658892720938 + ] + }, + "fine_grasp": { + "position": [ + -0.010285492986440659, + -0.0030162206385284662, + 0.11608491837978363 + ], + "orientation": [ + 0.18360398709774017, + -0.13823451101779938, + 0.7165848016738892, + -0.6585491895675659 + ], + "joints": [ + 0.0026692308019846678 + ] + }, + "final_grasp": { + "position": [ + -0.010285492986440659, + -0.0030162206385284662, + 0.11608491837978363 + ], + "orientation": [ + 0.18360398709774017, + -0.13823451101779938, + 0.7165848016738892, + -0.6585491895675659 + ], + "joints": [ + 0.007983227260410786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09034377336502075, + -0.0776384100317955, + -0.07986757904291153 + ], + "orientation": [ + 0.5173935294151306, + -0.1116335541009903, + 0.7167584300041199, + 0.45398154854774475 + ], + "joints": [ + -0.013346463441848755 + ] + }, + "fine_grasp": { + "position": [ + 0.08739425241947174, + -0.0743986964225769, + -0.0770023912191391 + ], + "orientation": [ + 0.5175495743751526, + -0.10674915462732315, + 0.7183970808982849, + 0.45238545536994934 + ], + "joints": [ + -0.009573524817824364 + ] + }, + "final_grasp": { + "position": [ + 0.08739425241947174, + -0.0743986964225769, + -0.0770023912191391 + ], + "orientation": [ + 0.5175495743751526, + -0.10674915462732315, + 0.7183970808982849, + 0.45238545536994934 + ], + "joints": [ + -0.0058005861937999725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10880017280578613, + -0.042877864092588425, + 0.026323433965444565 + ], + "orientation": [ + 0.7533261775970459, + -0.35942456126213074, + 0.3164032995700836, + 0.4507799744606018 + ], + "joints": [ + -0.011696252971887589 + ] + }, + "fine_grasp": { + "position": [ + 0.11303654313087463, + -0.04293695464730263, + 0.02847381681203842 + ], + "orientation": [ + 0.7535347938537598, + -0.3585948348045349, + 0.33719637989997864, + 0.4357679784297943 + ], + "joints": [ + -0.005877426825463772 + ] + }, + "final_grasp": { + "position": [ + 0.11303654313087463, + -0.04293695464730263, + 0.02847381681203842 + ], + "orientation": [ + 0.7535347938537598, + -0.3585948348045349, + 0.33719637989997864, + 0.4357679784297943 + ], + "joints": [ + -5.860067903995514e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09378115832805634, + -0.0994865670800209, + -0.019304169341921806 + ], + "orientation": [ + 0.0061711338348686695, + 0.36855772137641907, + -0.9286175966262817, + -0.042385317385196686 + ], + "joints": [ + -0.005159989930689335 + ] + }, + "fine_grasp": { + "position": [ + 0.0899033173918724, + -0.09542470425367355, + -0.018009135499596596 + ], + "orientation": [ + 0.009919121861457825, + 0.36795613169670105, + -0.928535521030426, + -0.04828633368015289 + ], + "joints": [ + 0.002784435171633959 + ] + }, + "final_grasp": { + "position": [ + 0.0899033173918724, + -0.09542470425367355, + -0.018009135499596596 + ], + "orientation": [ + 0.009919121861457825, + 0.36795613169670105, + -0.928535521030426, + -0.04828633368015289 + ], + "joints": [ + 0.010728860273957253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05858217924833298, + -0.021067624911665916, + -0.1277531385421753 + ], + "orientation": [ + 0.42870745062828064, + 0.544711709022522, + -0.636921226978302, + -0.33738744258880615 + ], + "joints": [ + -0.004882866982370615 + ] + }, + "fine_grasp": { + "position": [ + 0.05498289316892624, + -0.02063336782157421, + -0.12558667361736298 + ], + "orientation": [ + 0.4187496602535248, + 0.5568035244941711, + -0.6413360238075256, + -0.3214137554168701 + ], + "joints": [ + 0.0041243573650717735 + ] + }, + "final_grasp": { + "position": [ + 0.05498289316892624, + -0.02063336782157421, + -0.12558667361736298 + ], + "orientation": [ + 0.4187496602535248, + 0.5568035244941711, + -0.6413360238075256, + -0.3214137554168701 + ], + "joints": [ + 0.013131581246852875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03318600356578827, + -0.11578287184238434, + 0.04201215133070946 + ], + "orientation": [ + 0.52132648229599, + -0.19881585240364075, + 0.8240733742713928, + -0.09794905036687851 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.03312505781650543, + -0.11573656648397446, + 0.041958585381507874 + ], + "orientation": [ + 0.5329340100288391, + -0.19694334268569946, + 0.8171139359474182, + -0.09756828844547272 + ], + "joints": [ + -0.004230240359902382 + ] + }, + "final_grasp": { + "position": [ + 0.03312505781650543, + -0.11573656648397446, + 0.041958585381507874 + ], + "orientation": [ + 0.5329340100288391, + -0.19694334268569946, + 0.8171139359474182, + -0.09756828844547272 + ], + "joints": [ + 0.0026779547333717346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011413941159844398, + -0.003229808993637562, + 0.12118817120790482 + ], + "orientation": [ + 0.18041956424713135, + -0.1316160261631012, + 0.7235450148582458, + -0.6531529426574707 + ], + "joints": [ + -0.0026174800004810095 + ] + }, + "fine_grasp": { + "position": [ + -0.010547923855483532, + -0.0031957163009792566, + 0.11595560610294342 + ], + "orientation": [ + 0.18391403555870056, + -0.13697513937950134, + 0.7171294689178467, + -0.6581329703330994 + ], + "joints": [ + 0.002696516690775752 + ] + }, + "final_grasp": { + "position": [ + -0.010547923855483532, + -0.0031957163009792566, + 0.11595560610294342 + ], + "orientation": [ + 0.18391403555870056, + -0.13697513937950134, + 0.7171294689178467, + -0.6581329703330994 + ], + "joints": [ + 0.00801051314920187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08236207813024521, + 0.09025939553976059, + 0.030215967446565628 + ], + "orientation": [ + 0.2680349051952362, + 0.36907199025154114, + -0.3017118275165558, + 0.8372055292129517 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.08259081840515137, + 0.08598916977643967, + 0.030162092298269272 + ], + "orientation": [ + 0.2601862847805023, + 0.38206663727760315, + -0.2706320583820343, + 0.8444445133209229 + ], + "joints": [ + -0.004312820732593536 + ] + }, + "final_grasp": { + "position": [ + 0.08259081840515137, + 0.08598916977643967, + 0.030162092298269272 + ], + "orientation": [ + 0.2601862847805023, + 0.38206663727760315, + -0.2706320583820343, + 0.8444445133209229 + ], + "joints": [ + 0.00254223495721817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031541306525468826, + 0.11437328904867172, + 0.01643967442214489 + ], + "orientation": [ + 0.15338070690631866, + -0.1452246606349945, + 0.11085684597492218, + -0.9711307883262634 + ], + "joints": [ + -0.0034078997559845448 + ] + }, + "fine_grasp": { + "position": [ + -0.03109518066048622, + 0.11071554571390152, + 0.016030894592404366 + ], + "orientation": [ + 0.1534361094236374, + -0.142508402466774, + 0.11990658938884735, + -0.9704490303993225 + ], + "joints": [ + 0.0040582651272416115 + ] + }, + "final_grasp": { + "position": [ + -0.03109518066048622, + 0.11071554571390152, + 0.016030894592404366 + ], + "orientation": [ + 0.1534361094236374, + -0.142508402466774, + 0.11990658938884735, + -0.9704490303993225 + ], + "joints": [ + 0.01152442954480648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0823492631316185, + 0.09047647565603256, + 0.030170517042279243 + ], + "orientation": [ + 0.2688515782356262, + 0.3655284643173218, + -0.3022775650024414, + 0.8382935523986816 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.08261316269636154, + 0.08601385354995728, + 0.03010006621479988 + ], + "orientation": [ + 0.26123708486557007, + 0.3799038827419281, + -0.27012383937835693, + 0.8452581167221069 + ], + "joints": [ + -0.004312820732593536 + ] + }, + "final_grasp": { + "position": [ + 0.08261316269636154, + 0.08601385354995728, + 0.03010006621479988 + ], + "orientation": [ + 0.26123708486557007, + 0.3799038827419281, + -0.27012383937835693, + 0.8452581167221069 + ], + "joints": [ + 0.00254223495721817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10472702980041504, + -0.05072212964296341, + 0.03717935085296631 + ], + "orientation": [ + 0.5770869255065918, + 0.2412911355495453, + 0.6113333702087402, + -0.48478955030441284 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.10719369351863861, + -0.050330374389886856, + 0.03894753009080887 + ], + "orientation": [ + 0.5755746364593506, + 0.23342378437519073, + 0.6148870587348938, + -0.48594340682029724 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.10719369351863861, + -0.050330374389886856, + 0.03894753009080887 + ], + "orientation": [ + 0.5755746364593506, + 0.23342378437519073, + 0.6148870587348938, + -0.48594340682029724 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07037277519702911, + -0.09191562235355377, + 0.038141123950481415 + ], + "orientation": [ + 0.6536703109741211, + 0.11394228786230087, + 0.6578288674354553, + -0.356361448764801 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.07176000624895096, + -0.0918240025639534, + 0.0382273830473423 + ], + "orientation": [ + 0.6554209589958191, + 0.10761450976133347, + 0.6564170122146606, + -0.3577139675617218 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + -0.07176000624895096, + -0.0918240025639534, + 0.0382273830473423 + ], + "orientation": [ + 0.6554209589958191, + 0.10761450976133347, + 0.6564170122146606, + -0.3577139675617218 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07036738097667694, + -0.09197739511728287, + 0.038109779357910156 + ], + "orientation": [ + 0.6538286805152893, + 0.11391270905733109, + 0.6578100919723511, + -0.35611477494239807 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.07171318680047989, + -0.09187835454940796, + 0.03818554803729057 + ], + "orientation": [ + 0.655690610408783, + 0.10766580700874329, + 0.6562214493751526, + -0.3575630486011505 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + -0.07171318680047989, + -0.09187835454940796, + 0.03818554803729057 + ], + "orientation": [ + 0.655690610408783, + 0.10766580700874329, + 0.6562214493751526, + -0.3575630486011505 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11008606851100922, + 0.003384227864444256, + 0.025898650288581848 + ], + "orientation": [ + 0.06410811096429825, + -0.6861449480056763, + 0.6953474283218384, + -0.20392921566963196 + ], + "joints": [ + -0.003412705846130848 + ] + }, + "fine_grasp": { + "position": [ + 0.1103951707482338, + 0.003465088317170739, + 0.02590164914727211 + ], + "orientation": [ + 0.05617738887667656, + -0.6854496598243713, + 0.6945585608482361, + -0.2111665904521942 + ], + "joints": [ + 0.003601768519729376 + ] + }, + "final_grasp": { + "position": [ + 0.1103951707482338, + 0.003465088317170739, + 0.02590164914727211 + ], + "orientation": [ + 0.05617738887667656, + -0.6854496598243713, + 0.6945585608482361, + -0.2111665904521942 + ], + "joints": [ + 0.0106162428855896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05382367596030235, + 0.11249341815710068, + -0.030139343813061714 + ], + "orientation": [ + 0.2218567430973053, + 0.06252095103263855, + -0.049944862723350525, + -0.9717902541160583 + ], + "joints": [ + -0.003868632949888706 + ] + }, + "fine_grasp": { + "position": [ + -0.051944006234407425, + 0.10847457498311996, + -0.0300599355250597 + ], + "orientation": [ + 0.2236572653055191, + 0.0734221339225769, + -0.037072598934173584, + -0.9711911678314209 + ], + "joints": [ + 0.0041555012576282024 + ] + }, + "final_grasp": { + "position": [ + -0.051944006234407425, + 0.10847457498311996, + -0.0300599355250597 + ], + "orientation": [ + 0.2236572653055191, + 0.0734221339225769, + -0.037072598934173584, + -0.9711911678314209 + ], + "joints": [ + 0.012179635465145111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07043124735355377, + -0.09203280508518219, + 0.03811628744006157 + ], + "orientation": [ + 0.6535440683364868, + 0.11393982917070389, + 0.6582303643226624, + -0.35585206747055054 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.07169695943593979, + -0.09186472743749619, + 0.038178469985723495 + ], + "orientation": [ + 0.655056893825531, + 0.10786701738834381, + 0.6569502353668213, + -0.3573255240917206 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + -0.07169695943593979, + -0.09186472743749619, + 0.038178469985723495 + ], + "orientation": [ + 0.655056893825531, + 0.10786701738834381, + 0.6569502353668213, + -0.3573255240917206 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08452675491571426, + -0.08436254411935806, + 0.029912203550338745 + ], + "orientation": [ + 0.5515283942222595, + 0.21491771936416626, + -0.7335614562034607, + 0.3339380621910095 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.08451192826032639, + -0.08680708706378937, + 0.032065585255622864 + ], + "orientation": [ + 0.5400382876396179, + 0.20925691723823547, + -0.7430710196495056, + 0.3352842926979065 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.08451192826032639, + -0.08680708706378937, + 0.032065585255622864 + ], + "orientation": [ + 0.5400382876396179, + 0.20925691723823547, + -0.7430710196495056, + 0.3352842926979065 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07056202739477158, + -0.09199481457471848, + 0.03823436424136162 + ], + "orientation": [ + 0.653520405292511, + 0.11332807689905167, + 0.6583903431892395, + -0.35579490661621094 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.07177148014307022, + -0.09172821789979935, + 0.03818674385547638 + ], + "orientation": [ + 0.6541222333908081, + 0.10810931026935577, + 0.6579344272613525, + -0.3571534752845764 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + -0.07177148014307022, + -0.09172821789979935, + 0.03818674385547638 + ], + "orientation": [ + 0.6541222333908081, + 0.10810931026935577, + 0.6579344272613525, + -0.3571534752845764 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08307593315839767, + 0.0849137008190155, + 0.022880449891090393 + ], + "orientation": [ + 0.34401649236679077, + -0.6187319159507751, + -0.15685227513313293, + -0.688636839389801 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08363870531320572, + 0.08698567748069763, + 0.025531677529215813 + ], + "orientation": [ + 0.3638922870159149, + -0.5917834639549255, + -0.15048101544380188, + -0.7033706307411194 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.08363870531320572, + 0.08698567748069763, + 0.025531677529215813 + ], + "orientation": [ + 0.3638922870159149, + -0.5917834639549255, + -0.15048101544380188, + -0.7033706307411194 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051954466849565506, + -0.11414708942174911, + -0.013018706813454628 + ], + "orientation": [ + 0.959388017654419, + -0.03188270702958107, + 0.19648770987987518, + -0.19987674057483673 + ], + "joints": [ + -0.0030260791536420584 + ] + }, + "fine_grasp": { + "position": [ + -0.05047261342406273, + -0.11104854196310043, + -0.011189837008714676 + ], + "orientation": [ + 0.9606056213378906, + -0.020807644352316856, + 0.18554985523223877, + -0.2058524638414383 + ], + "joints": [ + 0.0033772867172956467 + ] + }, + "final_grasp": { + "position": [ + -0.05047261342406273, + -0.11104854196310043, + -0.011189837008714676 + ], + "orientation": [ + 0.9606056213378906, + -0.020807644352316856, + 0.18554985523223877, + -0.2058524638414383 + ], + "joints": [ + 0.009780652821063995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05175404995679855, + -0.11352069675922394, + -0.012762903235852718 + ], + "orientation": [ + 0.9600242376327515, + -0.03128955513238907, + 0.19186162948608398, + -0.20140375196933746 + ], + "joints": [ + -0.003498923033475876 + ] + }, + "fine_grasp": { + "position": [ + -0.05065479502081871, + -0.1107461228966713, + -0.01101991068571806 + ], + "orientation": [ + 0.9616043567657471, + -0.02183414436876774, + 0.17864282429218292, + -0.20718826353549957 + ], + "joints": [ + 0.003462411928921938 + ] + }, + "final_grasp": { + "position": [ + -0.05065479502081871, + -0.1107461228966713, + -0.01101991068571806 + ], + "orientation": [ + 0.9616043567657471, + -0.02183414436876774, + 0.17864282429218292, + -0.20718826353549957 + ], + "joints": [ + 0.010423746891319752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04124107211828232, + 0.042185328900814056, + -0.12413915246725082 + ], + "orientation": [ + 0.4893626868724823, + 0.8191443085670471, + -0.2788577079772949, + -0.10846707969903946 + ], + "joints": [ + -0.0033074039965867996 + ] + }, + "fine_grasp": { + "position": [ + 0.041811052709817886, + 0.042206957936286926, + -0.12400650978088379 + ], + "orientation": [ + 0.4940106272697449, + 0.8193928599357605, + -0.27413901686668396, + -0.09693603962659836 + ], + "joints": [ + 0.004185330588370562 + ] + }, + "final_grasp": { + "position": [ + 0.041811052709817886, + 0.042206957936286926, + -0.12400650978088379 + ], + "orientation": [ + 0.4940106272697449, + 0.8193928599357605, + -0.27413901686668396, + -0.09693603962659836 + ], + "joints": [ + 0.011678065173327923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050640348345041275, + 0.021963903680443764, + -0.12998715043067932 + ], + "orientation": [ + 0.37722066044807434, + 0.6239953637123108, + -0.5228573679924011, + -0.441536545753479 + ], + "joints": [ + -0.003100591478869319 + ] + }, + "fine_grasp": { + "position": [ + 0.04663625732064247, + 0.021839722990989685, + -0.12794741988182068 + ], + "orientation": [ + 0.35256296396255493, + 0.636497974395752, + -0.5339844226837158, + -0.4306161403656006 + ], + "joints": [ + 0.0037810341455042362 + ] + }, + "final_grasp": { + "position": [ + 0.04663625732064247, + 0.021839722990989685, + -0.12794741988182068 + ], + "orientation": [ + 0.35256296396255493, + 0.636497974395752, + -0.5339844226837158, + -0.4306161403656006 + ], + "joints": [ + 0.010662660002708435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07041645050048828, + -0.1001526266336441, + 0.030288344249129295 + ], + "orientation": [ + 0.5505179166793823, + 0.16465125977993011, + 0.7654380202293396, + -0.28969717025756836 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.07011312246322632, + -0.09994976967573166, + 0.03218087926506996 + ], + "orientation": [ + 0.5351787209510803, + 0.1632975935935974, + 0.776882529258728, + -0.28874045610427856 + ], + "joints": [ + -0.004263950511813164 + ] + }, + "final_grasp": { + "position": [ + -0.07011312246322632, + -0.09994976967573166, + 0.03218087926506996 + ], + "orientation": [ + 0.5351787209510803, + 0.1632975935935974, + 0.776882529258728, + -0.28874045610427856 + ], + "joints": [ + 0.00322878360748291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04733172804117203, + 0.11111566424369812, + -0.07748615741729736 + ], + "orientation": [ + 0.12666453421115875, + 0.9271205067634583, + 0.25384005904197693, + 0.2448856234550476 + ], + "joints": [ + -0.001917138695716858 + ] + }, + "fine_grasp": { + "position": [ + -0.045751359313726425, + 0.10690127313137054, + -0.07404454797506332 + ], + "orientation": [ + 0.15427936613559723, + 0.9241490960121155, + 0.2433745563030243, + 0.25082868337631226 + ], + "joints": [ + 0.0018292289460077882 + ] + }, + "final_grasp": { + "position": [ + -0.045751359313726425, + 0.10690127313137054, + -0.07404454797506332 + ], + "orientation": [ + 0.15427936613559723, + 0.9241490960121155, + 0.2433745563030243, + 0.25082868337631226 + ], + "joints": [ + 0.005575596354901791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004413314163684845, + 0.03342508152127266, + -0.13753117620944977 + ], + "orientation": [ + 0.5571619868278503, + 0.7818538546562195, + 0.18835300207138062, + 0.20687682926654816 + ], + "joints": [ + -0.0032832049764692783 + ] + }, + "fine_grasp": { + "position": [ + -0.005088864825665951, + 0.03432484716176987, + -0.13842426240444183 + ], + "orientation": [ + 0.5607348084449768, + 0.7813655734062195, + 0.18414393067359924, + 0.2028186023235321 + ], + "joints": [ + 0.004182959906756878 + ] + }, + "final_grasp": { + "position": [ + -0.005088864825665951, + 0.03432484716176987, + -0.13842426240444183 + ], + "orientation": [ + 0.5607348084449768, + 0.7813655734062195, + 0.18414393067359924, + 0.2028186023235321 + ], + "joints": [ + 0.011649124324321747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10886583477258682, + -0.02665993571281433, + -0.06665538251399994 + ], + "orientation": [ + 0.16468384861946106, + 0.6040306687355042, + 0.759240448474884, + 0.17770792543888092 + ], + "joints": [ + -0.003111688420176506 + ] + }, + "fine_grasp": { + "position": [ + -0.10479370504617691, + -0.02504556253552437, + -0.06430534273386002 + ], + "orientation": [ + 0.16469329595565796, + 0.6057698130607605, + 0.756264328956604, + 0.18434573709964752 + ], + "joints": [ + 0.002786847297102213 + ] + }, + "final_grasp": { + "position": [ + -0.10479370504617691, + -0.02504556253552437, + -0.06430534273386002 + ], + "orientation": [ + 0.16469329595565796, + 0.6057698130607605, + 0.756264328956604, + 0.18434573709964752 + ], + "joints": [ + 0.008685383014380932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05795718729496002, + -0.09501280635595322, + -0.0425911508500576 + ], + "orientation": [ + 0.525000274181366, + 0.32512420415878296, + 0.7861751914024353, + -0.024447152391076088 + ], + "joints": [ + -0.011668361723423004 + ] + }, + "fine_grasp": { + "position": [ + -0.05861537158489227, + -0.09107068181037903, + -0.04032355174422264 + ], + "orientation": [ + 0.5325325131416321, + 0.31990551948547363, + 0.7835564017295837, + -0.01043581124395132 + ], + "joints": [ + -0.004202197305858135 + ] + }, + "final_grasp": { + "position": [ + -0.05861537158489227, + -0.09107068181037903, + -0.04032355174422264 + ], + "orientation": [ + 0.5325325131416321, + 0.31990551948547363, + 0.7835564017295837, + -0.01043581124395132 + ], + "joints": [ + 0.0032639671117067337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05811489000916481, + -0.09489312767982483, + -0.0424245148897171 + ], + "orientation": [ + 0.5245168209075928, + 0.32502883672714233, + 0.7865411043167114, + -0.024317676201462746 + ], + "joints": [ + -0.011668361723423004 + ] + }, + "fine_grasp": { + "position": [ + -0.05852249637246132, + -0.09101688116788864, + -0.04028379172086716 + ], + "orientation": [ + 0.532142698764801, + 0.3206612169742584, + 0.7834941744804382, + -0.011722419410943985 + ], + "joints": [ + -0.00417562760412693 + ] + }, + "final_grasp": { + "position": [ + -0.05852249637246132, + -0.09101688116788864, + -0.04028379172086716 + ], + "orientation": [ + 0.532142698764801, + 0.3206612169742584, + 0.7834941744804382, + -0.011722419410943985 + ], + "joints": [ + 0.0033171065151691437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057824984192848206, + -0.09520836174488068, + -0.04249095171689987 + ], + "orientation": [ + 0.5241631865501404, + 0.3249824643135071, + 0.786746621131897, + -0.025871871039271355 + ], + "joints": [ + -0.011668361723423004 + ] + }, + "fine_grasp": { + "position": [ + -0.05846288427710533, + -0.09126873314380646, + -0.0402948334813118 + ], + "orientation": [ + 0.5316557288169861, + 0.31999364495277405, + 0.7840955853462219, + -0.011840902268886566 + ], + "joints": [ + -0.004202197305858135 + ] + }, + "final_grasp": { + "position": [ + -0.05846288427710533, + -0.09126873314380646, + -0.0402948334813118 + ], + "orientation": [ + 0.5316557288169861, + 0.31999364495277405, + 0.7840955853462219, + -0.011840902268886566 + ], + "joints": [ + 0.0032639671117067337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0491957850754261, + 0.021595435217022896, + -0.1290849894285202 + ], + "orientation": [ + 0.37776675820350647, + 0.6250605583190918, + -0.5227616429328918, + -0.43967247009277344 + ], + "joints": [ + -0.0037465791683644056 + ] + }, + "fine_grasp": { + "position": [ + 0.04566897824406624, + 0.021870076656341553, + -0.1276737004518509 + ], + "orientation": [ + 0.3562241792678833, + 0.6381175518035889, + -0.5314353108406067, + -0.42835381627082825 + ], + "joints": [ + 0.0036930162459611893 + ] + }, + "final_grasp": { + "position": [ + 0.04566897824406624, + 0.021870076656341553, + -0.1276737004518509 + ], + "orientation": [ + 0.3562241792678833, + 0.6381175518035889, + -0.5314353108406067, + -0.42835381627082825 + ], + "joints": [ + 0.011132611893117428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01459132507443428, + -0.001213102019391954, + -0.13494974374771118 + ], + "orientation": [ + 0.2849494516849518, + 0.19614385068416595, + 0.6420731544494629, + 0.684158980846405 + ], + "joints": [ + -0.003042494645342231 + ] + }, + "fine_grasp": { + "position": [ + 0.01602068543434143, + -0.0021423923317342997, + -0.13713952898979187 + ], + "orientation": [ + 0.2773602604866028, + 0.18269282579421997, + 0.6521655321121216, + 0.681450605392456 + ], + "joints": [ + 0.004450240172445774 + ] + }, + "final_grasp": { + "position": [ + 0.01602068543434143, + -0.0021423923317342997, + -0.13713952898979187 + ], + "orientation": [ + 0.2773602604866028, + 0.18269282579421997, + 0.6521655321121216, + 0.681450605392456 + ], + "joints": [ + 0.011942975223064423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03698192536830902, + 0.11284098029136658, + 0.016493117436766624 + ], + "orientation": [ + 0.07317479699850082, + 0.5779094099998474, + 0.1423332542181015, + -0.8002546429634094 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.03619755432009697, + 0.11363019049167633, + 0.017522592097520828 + ], + "orientation": [ + 0.07215693593025208, + 0.5711922645568848, + 0.14614510536193848, + -0.804471492767334 + ], + "joints": [ + -0.004317089915275574 + ] + }, + "final_grasp": { + "position": [ + -0.03619755432009697, + 0.11363019049167633, + 0.017522592097520828 + ], + "orientation": [ + 0.07215693593025208, + 0.5711922645568848, + 0.14614510536193848, + -0.804471492767334 + ], + "joints": [ + 0.00312250480055809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033256739377975464, + -0.11360368132591248, + 0.007666370365768671 + ], + "orientation": [ + 0.9834086894989014, + -0.08386419713497162, + -0.06350059062242508, + 0.14779023826122284 + ], + "joints": [ + -0.002691389760002494 + ] + }, + "fine_grasp": { + "position": [ + 0.03368276730179787, + -0.11361181735992432, + 0.007446780800819397 + ], + "orientation": [ + 0.981839120388031, + -0.08511511981487274, + -0.07918091863393784, + 0.14992618560791016 + ], + "joints": [ + 0.004269945435225964 + ] + }, + "final_grasp": { + "position": [ + 0.03368276730179787, + -0.11361181735992432, + 0.007446780800819397 + ], + "orientation": [ + 0.981839120388031, + -0.08511511981487274, + -0.07918091863393784, + 0.14992618560791016 + ], + "joints": [ + 0.011231280863285065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04854396730661392, + -0.11095599830150604, + -0.01617894321680069 + ], + "orientation": [ + 0.9780008792877197, + -0.005520153325051069, + 0.03766009584069252, + -0.20509909093379974 + ], + "joints": [ + -0.0037281005643308163 + ] + }, + "fine_grasp": { + "position": [ + -0.048262834548950195, + -0.10941736400127411, + -0.01576814614236355 + ], + "orientation": [ + 0.9767020344734192, + -0.0009049954242073, + 0.057624973356723785, + -0.20671632885932922 + ], + "joints": [ + 0.003817773424088955 + ] + }, + "final_grasp": { + "position": [ + -0.048262834548950195, + -0.10941736400127411, + -0.01576814614236355 + ], + "orientation": [ + 0.9767020344734192, + -0.0009049954242073, + 0.057624973356723785, + -0.20671632885932922 + ], + "joints": [ + 0.011363647878170013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01519143395125866, + -0.0016681964043527842, + -0.1350812464952469 + ], + "orientation": [ + 0.28447145223617554, + 0.18829888105392456, + 0.6395638585090637, + 0.6888958811759949 + ], + "joints": [ + -0.0036001342814415693 + ] + }, + "fine_grasp": { + "position": [ + 0.016712764278054237, + -0.002032955177128315, + -0.13691212236881256 + ], + "orientation": [ + 0.27771782875061035, + 0.17885339260101318, + 0.6514492630958557, + 0.6830067038536072 + ], + "joints": [ + 0.004424000158905983 + ] + }, + "final_grasp": { + "position": [ + 0.016712764278054237, + -0.002032955177128315, + -0.13691212236881256 + ], + "orientation": [ + 0.27771782875061035, + 0.17885339260101318, + 0.6514492630958557, + 0.6830067038536072 + ], + "joints": [ + 0.012448134832084179 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019299738109111786, + 0.007426672149449587, + -0.13667036592960358 + ], + "orientation": [ + 0.14698082208633423, + 0.039447713643312454, + 0.6674795150756836, + 0.7289113998413086 + ], + "joints": [ + -0.0029818909242749214 + ] + }, + "fine_grasp": { + "position": [ + 0.020073503255844116, + 0.007212415803223848, + -0.1366794854402542 + ], + "orientation": [ + 0.16247405111789703, + 0.05029933527112007, + 0.663292646408081, + 0.7287763357162476 + ], + "joints": [ + 0.003979444038122892 + ] + }, + "final_grasp": { + "position": [ + 0.020073503255844116, + 0.007212415803223848, + -0.1366794854402542 + ], + "orientation": [ + 0.16247405111789703, + 0.05029933527112007, + 0.663292646408081, + 0.7287763357162476 + ], + "joints": [ + 0.010940779000520706 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08487391471862793, + 0.08406902104616165, + 0.017019866034388542 + ], + "orientation": [ + 0.3582412004470825, + -0.5835332870483398, + 0.19513101875782013, + 0.7021937370300293 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.08481206744909286, + 0.08294817805290222, + 0.019703717902302742 + ], + "orientation": [ + 0.37171655893325806, + -0.572197675704956, + 0.1810864806175232, + 0.708254337310791 + ], + "joints": [ + -0.004317089915275574 + ] + }, + "final_grasp": { + "position": [ + 0.08481206744909286, + 0.08294817805290222, + 0.019703717902302742 + ], + "orientation": [ + 0.37171655893325806, + -0.572197675704956, + 0.1810864806175232, + 0.708254337310791 + ], + "joints": [ + 0.00312250480055809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07278864085674286, + 0.11108627915382385, + -0.016898643225431442 + ], + "orientation": [ + 0.041319072246551514, + 0.9561781287193298, + -0.2887677252292633, + 0.025085920467972755 + ], + "joints": [ + -0.005246194079518318 + ] + }, + "fine_grasp": { + "position": [ + 0.0695272907614708, + 0.10634197294712067, + -0.016871429979801178 + ], + "orientation": [ + 0.039713140577077866, + 0.9557517170906067, + -0.29055213928222656, + 0.023262206465005875 + ], + "joints": [ + 0.002671660855412483 + ] + }, + "final_grasp": { + "position": [ + 0.0695272907614708, + 0.10634197294712067, + -0.016871429979801178 + ], + "orientation": [ + 0.039713140577077866, + 0.9557517170906067, + -0.29055213928222656, + 0.023262206465005875 + ], + "joints": [ + 0.010589515790343285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10340307652950287, + 0.012681630440056324, + 0.060429077595472336 + ], + "orientation": [ + 0.6401920318603516, + -0.5475592613220215, + 0.161292165517807, + 0.5141186714172363 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.10666237026453018, + 0.015183897688984871, + 0.06264544278383255 + ], + "orientation": [ + 0.6409357786178589, + -0.5473077893257141, + 0.1858833134174347, + 0.505077064037323 + ], + "joints": [ + -0.006445559673011303 + ] + }, + "final_grasp": { + "position": [ + 0.10666237026453018, + 0.015183897688984871, + 0.06264544278383255 + ], + "orientation": [ + 0.6409357786178589, + -0.5473077893257141, + 0.1858833134174347, + 0.505077064037323 + ], + "joints": [ + -0.0011049937456846237 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01759077049791813, + 0.007434668950736523, + -0.1369384527206421 + ], + "orientation": [ + 0.1401248425245285, + 0.042405448853969574, + 0.6693860292434692, + 0.7283469438552856 + ], + "joints": [ + -0.0028739916160702705 + ] + }, + "fine_grasp": { + "position": [ + 0.01847732625901699, + 0.007147082593291998, + -0.1369788646697998 + ], + "orientation": [ + 0.15730620920658112, + 0.05444125831127167, + 0.6652193665504456, + 0.727855920791626 + ], + "joints": [ + 0.004087343346327543 + ] + }, + "final_grasp": { + "position": [ + 0.01847732625901699, + 0.007147082593291998, + -0.1369788646697998 + ], + "orientation": [ + 0.15730620920658112, + 0.05444125831127167, + 0.6652193665504456, + 0.727855920791626 + ], + "joints": [ + 0.011048678308725357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11982367187738419, + 0.013456029817461967, + 0.005092921666800976 + ], + "orientation": [ + 0.6021500825881958, + 0.25812262296676636, + -0.2549603581428528, + 0.7111843228340149 + ], + "joints": [ + -0.010645691305398941 + ] + }, + "fine_grasp": { + "position": [ + 0.12103353440761566, + 0.013700091280043125, + 0.004144275560975075 + ], + "orientation": [ + 0.5960517525672913, + 0.2809813320636749, + -0.2785492241382599, + 0.6987003087997437 + ], + "joints": [ + -0.004215756431221962 + ] + }, + "final_grasp": { + "position": [ + 0.12103353440761566, + 0.013700091280043125, + 0.004144275560975075 + ], + "orientation": [ + 0.5960517525672913, + 0.2809813320636749, + -0.2785492241382599, + 0.6987003087997437 + ], + "joints": [ + 0.002214178442955017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011679056100547314, + 0.0282346922904253, + -0.1376645565032959 + ], + "orientation": [ + 0.43637558817863464, + 0.605228841304779, + -0.4238378405570984, + -0.513454794883728 + ], + "joints": [ + -0.0008342891233041883 + ] + }, + "fine_grasp": { + "position": [ + -0.008119947277009487, + 0.029284557327628136, + -0.13980959355831146 + ], + "orientation": [ + 0.4568881690502167, + 0.5847468376159668, + -0.41097643971443176, + -0.5295495390892029 + ], + "joints": [ + 0.002885508816689253 + ] + }, + "final_grasp": { + "position": [ + -0.008119947277009487, + 0.029284557327628136, + -0.13980959355831146 + ], + "orientation": [ + 0.4568881690502167, + 0.5847468376159668, + -0.41097643971443176, + -0.5295495390892029 + ], + "joints": [ + 0.006605306640267372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0763317346572876, + -0.09024820476770401, + 0.028120221570134163 + ], + "orientation": [ + 0.6813152432441711, + 0.12523451447486877, + -0.6418039798736572, + 0.328958123922348 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.07517266273498535, + -0.09126750379800797, + 0.030229944735765457 + ], + "orientation": [ + 0.6936628818511963, + 0.12378942221403122, + -0.6198883056640625, + 0.3453209102153778 + ], + "joints": [ + -0.005912686698138714 + ] + }, + "final_grasp": { + "position": [ + 0.07517266273498535, + -0.09126750379800797, + 0.030229944735765457 + ], + "orientation": [ + 0.6936628818511963, + 0.12378942221403122, + -0.6198883056640625, + 0.3453209102153778 + ], + "joints": [ + 0.0004906784743070602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05260366573929787, + 0.11078528314828873, + -0.030882755294442177 + ], + "orientation": [ + 0.05522840470075607, + 0.973261296749115, + 0.21907810866832733, + 0.04143652692437172 + ], + "joints": [ + -0.003425905015319586 + ] + }, + "fine_grasp": { + "position": [ + -0.05143992602825165, + 0.10824314504861832, + -0.03182046115398407 + ], + "orientation": [ + 0.042059678584337234, + 0.971857488155365, + 0.22197650372982025, + 0.06671120226383209 + ], + "joints": [ + 0.004066829569637775 + ] + }, + "final_grasp": { + "position": [ + -0.05143992602825165, + 0.10824314504861832, + -0.03182046115398407 + ], + "orientation": [ + 0.042059678584337234, + 0.971857488155365, + 0.22197650372982025, + 0.06671120226383209 + ], + "joints": [ + 0.011559564620256424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08772630989551544, + -0.08979940414428711, + 0.0002776932960841805 + ], + "orientation": [ + 0.8403124809265137, + 0.16164530813694, + -0.36974212527275085, + 0.3619897961616516 + ], + "joints": [ + -0.011226758360862732 + ] + }, + "fine_grasp": { + "position": [ + 0.08491929620504379, + -0.08589848130941391, + -0.0009497705032117665 + ], + "orientation": [ + 0.833877444267273, + 0.16253207623958588, + -0.38929006457328796, + 0.35592830181121826 + ], + "joints": [ + -0.00429199356585741 + ] + }, + "final_grasp": { + "position": [ + 0.08491929620504379, + -0.08589848130941391, + -0.0009497705032117665 + ], + "orientation": [ + 0.833877444267273, + 0.16253207623958588, + -0.38929006457328796, + 0.35592830181121826 + ], + "joints": [ + 0.002642771229147911 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04207857698202133, + -0.11042062193155289, + 0.019696395844221115 + ], + "orientation": [ + 0.7523607611656189, + -0.19018873572349548, + -0.6249014735221863, + -0.08532112091779709 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.043870776891708374, + -0.11188021302223206, + 0.022253451868891716 + ], + "orientation": [ + 0.7696999907493591, + -0.18686030805110931, + -0.6058454513549805, + -0.07481014728546143 + ], + "joints": [ + -0.0063629793003201485 + ] + }, + "final_grasp": { + "position": [ + -0.043870776891708374, + -0.11188021302223206, + 0.022253451868891716 + ], + "orientation": [ + 0.7696999907493591, + -0.18686030805110931, + -0.6058454513549805, + -0.07481014728546143 + ], + "joints": [ + -0.0009692739695310593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057893458753824234, + -0.012261053547263145, + -0.1195259764790535 + ], + "orientation": [ + 0.6408786773681641, + 0.33042287826538086, + 0.3735508620738983, + 0.5835708379745483 + ], + "joints": [ + -0.0029781097546219826 + ] + }, + "fine_grasp": { + "position": [ + 0.05962414667010307, + -0.013188674114644527, + -0.12279143929481506 + ], + "orientation": [ + 0.6388916373252869, + 0.32215434312820435, + 0.3826436400413513, + 0.584480881690979 + ], + "joints": [ + 0.003956655506044626 + ] + }, + "final_grasp": { + "position": [ + 0.05962414667010307, + -0.013188674114644527, + -0.12279143929481506 + ], + "orientation": [ + 0.6388916373252869, + 0.32215434312820435, + 0.3826436400413513, + 0.584480881690979 + ], + "joints": [ + 0.010891420766711235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06923171132802963, + 0.04153061285614967, + 0.09789605438709259 + ], + "orientation": [ + 0.4530516564846039, + -0.17707838118076324, + -0.33063557744026184, + 0.8087444305419922 + ], + "joints": [ + 0.0041665625758469105 + ] + }, + "fine_grasp": { + "position": [ + 0.06801985949277878, + 0.04140505567193031, + 0.09552167356014252 + ], + "orientation": [ + 0.45302459597587585, + -0.1810804158449173, + -0.33279746770858765, + 0.8069848418235779 + ], + "joints": [ + 0.009002300910651684 + ] + }, + "final_grasp": { + "position": [ + 0.06801985949277878, + 0.04140505567193031, + 0.09552167356014252 + ], + "orientation": [ + 0.45302459597587585, + -0.1810804158449173, + -0.33279746770858765, + 0.8069848418235779 + ], + "joints": [ + 0.013838039711117744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10004005581140518, + -0.06731213629245758, + 0.028320876881480217 + ], + "orientation": [ + 0.7341592907905579, + -0.3416130244731903, + 0.5247071385383606, + 0.26266539096832275 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09654615074396133, + -0.06330081075429916, + 0.027953576296567917 + ], + "orientation": [ + 0.7346832156181335, + -0.33973902463912964, + 0.5277710556983948, + 0.25744056701660156 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + 0.09654615074396133, + -0.06330081075429916, + 0.027953576296567917 + ], + "orientation": [ + 0.7346832156181335, + -0.33973902463912964, + 0.5277710556983948, + 0.25744056701660156 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042848140001297, + -0.11235307157039642, + 0.0054976665414869785 + ], + "orientation": [ + 0.015484889037907124, + 0.17884892225265503, + 0.9794114828109741, + -0.09233899414539337 + ], + "joints": [ + -0.0035385689698159695 + ] + }, + "fine_grasp": { + "position": [ + -0.044470127671957016, + -0.11296922713518143, + 0.004362952429801226 + ], + "orientation": [ + 0.03265004605054855, + 0.1822787970304489, + 0.9776018261909485, + -0.10001484304666519 + ], + "joints": [ + 0.0033961962908506393 + ] + }, + "final_grasp": { + "position": [ + -0.044470127671957016, + -0.11296922713518143, + 0.004362952429801226 + ], + "orientation": [ + 0.03265004605054855, + 0.1822787970304489, + 0.9776018261909485, + -0.10001484304666519 + ], + "joints": [ + 0.010330962017178535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12245139479637146, + 0.03338669613003731, + -0.024057012051343918 + ], + "orientation": [ + 0.6053428649902344, + 0.06071842089295387, + -0.019784143194556236, + 0.793398916721344 + ], + "joints": [ + -0.004498510621488094 + ] + }, + "fine_grasp": { + "position": [ + 0.11750350892543793, + 0.031442560255527496, + -0.024454649537801743 + ], + "orientation": [ + 0.6093224883079529, + 0.06930748373270035, + -0.03138313069939613, + 0.7892639636993408 + ], + "joints": [ + 0.002914514858275652 + ] + }, + "final_grasp": { + "position": [ + 0.11750350892543793, + 0.031442560255527496, + -0.024454649537801743 + ], + "orientation": [ + 0.6093224883079529, + 0.06930748373270035, + -0.03138313069939613, + 0.7892639636993408 + ], + "joints": [ + 0.010327540338039398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005146560724824667, + -0.010595873929560184, + -0.13504010438919067 + ], + "orientation": [ + 0.19810262322425842, + 0.15296919643878937, + 0.7134154438972473, + 0.654518187046051 + ], + "joints": [ + -0.0027029167395085096 + ] + }, + "fine_grasp": { + "position": [ + 0.005925748962908983, + -0.011661882512271404, + -0.1376236081123352 + ], + "orientation": [ + 0.20106026530265808, + 0.1494656801223755, + 0.7127033472061157, + 0.6552013754844666 + ], + "joints": [ + 0.0037535885348916054 + ] + }, + "final_grasp": { + "position": [ + 0.005925748962908983, + -0.011661882512271404, + -0.1376236081123352 + ], + "orientation": [ + 0.20106026530265808, + 0.1494656801223755, + 0.7127033472061157, + 0.6552013754844666 + ], + "joints": [ + 0.010210094042122364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12235657870769501, + 0.03355671465396881, + -0.023905236274003983 + ], + "orientation": [ + 0.6050069332122803, + 0.05841412395238876, + -0.013624986633658409, + 0.7939577102661133 + ], + "joints": [ + -0.004315544851124287 + ] + }, + "fine_grasp": { + "position": [ + 0.1174953356385231, + 0.03167285770177841, + -0.02323652058839798 + ], + "orientation": [ + 0.6087100505828857, + 0.07487870752811432, + -0.019295433536171913, + 0.7896156907081604 + ], + "joints": [ + 0.002566081006079912 + ] + }, + "final_grasp": { + "position": [ + 0.1174953356385231, + 0.03167285770177841, + -0.02323652058839798 + ], + "orientation": [ + 0.6087100505828857, + 0.07487870752811432, + -0.019295433536171913, + 0.7896156907081604 + ], + "joints": [ + 0.009447706863284111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032949693500995636, + -0.027303170412778854, + -0.12292300909757614 + ], + "orientation": [ + 0.2399737387895584, + 0.34568411111831665, + -0.7402629852294922, + -0.5243335366249084 + ], + "joints": [ + -0.0020555516239255667 + ] + }, + "fine_grasp": { + "position": [ + 0.03190487623214722, + -0.027798963710665703, + -0.12702451646327972 + ], + "orientation": [ + 0.22120150923728943, + 0.3363730013370514, + -0.7562751173973083, + -0.5157238245010376 + ], + "joints": [ + 0.004268104676157236 + ] + }, + "final_grasp": { + "position": [ + 0.03190487623214722, + -0.027798963710665703, + -0.12702451646327972 + ], + "orientation": [ + 0.22120150923728943, + 0.3363730013370514, + -0.7562751173973083, + -0.5157238245010376 + ], + "joints": [ + 0.010591761209070683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07415454089641571, + -0.11134228855371475, + -0.0060809580609202385 + ], + "orientation": [ + 0.027618538588285446, + 0.28738871216773987, + -0.9558621644973755, + 0.05452024191617966 + ], + "joints": [ + -0.006045523099601269 + ] + }, + "fine_grasp": { + "position": [ + 0.07108579576015472, + -0.10630383342504501, + -0.006633245851844549 + ], + "orientation": [ + 0.029613381251692772, + 0.2855130434036255, + -0.9563336372375488, + 0.05505647510290146 + ], + "joints": [ + 0.0018723317189142108 + ] + }, + "final_grasp": { + "position": [ + 0.07108579576015472, + -0.10630383342504501, + -0.006633245851844549 + ], + "orientation": [ + 0.029613381251692772, + 0.2855130434036255, + -0.9563336372375488, + 0.05505647510290146 + ], + "joints": [ + 0.009790186770260334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052125200629234314, + -0.11374925076961517, + 0.011488568037748337 + ], + "orientation": [ + 0.964141309261322, + -0.047751687467098236, + 0.12491919845342636, + -0.2292303740978241 + ], + "joints": [ + -0.002837683539837599 + ] + }, + "fine_grasp": { + "position": [ + -0.051477447152137756, + -0.11203549802303314, + 0.012233861722052097 + ], + "orientation": [ + 0.9641616344451904, + -0.037802860140800476, + 0.1256723403930664, + -0.23058557510375977 + ], + "joints": [ + 0.0035656820982694626 + ] + }, + "final_grasp": { + "position": [ + -0.051477447152137756, + -0.11203549802303314, + 0.012233861722052097 + ], + "orientation": [ + 0.9641616344451904, + -0.037802860140800476, + 0.1256723403930664, + -0.23058557510375977 + ], + "joints": [ + 0.009969048202037811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09966874867677689, + -0.07830041646957397, + 0.019747678190469742 + ], + "orientation": [ + 0.493149995803833, + -0.3938128352165222, + -0.7695184350013733, + -0.09775416553020477 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0988553911447525, + -0.08120852708816528, + 0.022609733045101166 + ], + "orientation": [ + 0.48238101601600647, + -0.40514233708381653, + -0.7672635912895203, + -0.1203119084239006 + ], + "joints": [ + -0.006159914657473564 + ] + }, + "final_grasp": { + "position": [ + -0.0988553911447525, + -0.08120852708816528, + 0.022609733045101166 + ], + "orientation": [ + 0.48238101601600647, + -0.40514233708381653, + -0.7672635912895203, + -0.1203119084239006 + ], + "joints": [ + -0.0029183775186538696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014937623403966427, + -0.07164811342954636, + -0.135441392660141 + ], + "orientation": [ + 0.4071861505508423, + 0.3074502646923065, + 0.7800174951553345, + 0.36227959394454956 + ], + "joints": [ + -0.004686505533754826 + ] + }, + "fine_grasp": { + "position": [ + -0.013993910513818264, + -0.06802259385585785, + -0.13088886439800262 + ], + "orientation": [ + 0.4081514775753021, + 0.30457568168640137, + 0.782020628452301, + 0.35929086804389954 + ], + "joints": [ + 0.0021951200906187296 + ] + }, + "final_grasp": { + "position": [ + -0.013993910513818264, + -0.06802259385585785, + -0.13088886439800262 + ], + "orientation": [ + 0.4081514775753021, + 0.30457568168640137, + 0.782020628452301, + 0.35929086804389954 + ], + "joints": [ + 0.009076746180653572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046276967972517014, + -0.11842504143714905, + -0.04283777251839638 + ], + "orientation": [ + 0.7029209733009338, + -0.005603945814073086, + -0.6710934042930603, + -0.23559355735778809 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.04414542391896248, + -0.11331122368574142, + -0.0416717454791069 + ], + "orientation": [ + 0.7026020884513855, + -0.009390817023813725, + -0.6716535091400146, + -0.23482699692249298 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.04414542391896248, + -0.11331122368574142, + -0.0416717454791069 + ], + "orientation": [ + 0.7026020884513855, + -0.009390817023813725, + -0.6716535091400146, + -0.23482699692249298 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0051275561563670635, + -0.009710406884551048, + -0.13490675389766693 + ], + "orientation": [ + 0.19717100262641907, + 0.15398746728897095, + 0.7107899785041809, + 0.6574108600616455 + ], + "joints": [ + -0.002737618051469326 + ] + }, + "fine_grasp": { + "position": [ + 0.006046738009899855, + -0.010865135118365288, + -0.13751821219921112 + ], + "orientation": [ + 0.20084448158740997, + 0.14941281080245972, + 0.7101225256919861, + 0.6580754518508911 + ], + "joints": [ + 0.004223716910928488 + ] + }, + "final_grasp": { + "position": [ + 0.006046738009899855, + -0.010865135118365288, + -0.13751821219921112 + ], + "orientation": [ + 0.20084448158740997, + 0.14941281080245972, + 0.7101225256919861, + 0.6580754518508911 + ], + "joints": [ + 0.011185051873326302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11911135911941528, + -0.008452488109469414, + -0.03384849429130554 + ], + "orientation": [ + 0.07362604141235352, + 0.6785097122192383, + -0.7296226620674133, + -0.043063435703516006 + ], + "joints": [ + -0.0036629713140428066 + ] + }, + "fine_grasp": { + "position": [ + 0.11921005696058273, + -0.00884170550853014, + -0.03543279320001602 + ], + "orientation": [ + 0.08777247369289398, + 0.6806125640869141, + -0.7272200584411621, + -0.01461066585034132 + ], + "joints": [ + 0.0038563329726457596 + ] + }, + "final_grasp": { + "position": [ + 0.11921005696058273, + -0.00884170550853014, + -0.03543279320001602 + ], + "orientation": [ + 0.08777247369289398, + 0.6806125640869141, + -0.7272200584411621, + -0.01461066585034132 + ], + "joints": [ + 0.011375637724995613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024672752246260643, + -0.022999301552772522, + -0.12846368551254272 + ], + "orientation": [ + 0.45284995436668396, + 0.4749402403831482, + -0.6271404027938843, + -0.41958722472190857 + ], + "joints": [ + -0.0034808283671736717 + ] + }, + "fine_grasp": { + "position": [ + 0.02522650547325611, + -0.02371065877377987, + -0.1322283297777176 + ], + "orientation": [ + 0.46427276730537415, + 0.4830687642097473, + -0.6199198961257935, + -0.4084051549434662 + ], + "joints": [ + 0.0039853365160524845 + ] + }, + "final_grasp": { + "position": [ + 0.02522650547325611, + -0.02371065877377987, + -0.1322283297777176 + ], + "orientation": [ + 0.46427276730537415, + 0.4830687642097473, + -0.6199198961257935, + -0.4084051549434662 + ], + "joints": [ + 0.01145150139927864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029645131900906563, + -0.08157531917095184, + 0.0850139930844307 + ], + "orientation": [ + 0.6148725152015686, + -0.1429556906223297, + -0.6577783823013306, + 0.4108809530735016 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.03100932575762272, + -0.08043358474969864, + 0.08153405040502548 + ], + "orientation": [ + 0.6169715523719788, + -0.14583028852939606, + -0.6655918955802917, + 0.39378562569618225 + ], + "joints": [ + -0.003589766100049019 + ] + }, + "final_grasp": { + "position": [ + 0.03100932575762272, + -0.08043358474969864, + 0.08153405040502548 + ], + "orientation": [ + 0.6169715523719788, + -0.14583028852939606, + -0.6655918955802917, + 0.39378562569618225 + ], + "joints": [ + 0.00284016877412796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10960502177476883, + 0.013959657400846481, + -0.0378580167889595 + ], + "orientation": [ + 0.642530620098114, + -0.0368926040828228, + -0.136465921998024, + -0.7531071901321411 + ], + "joints": [ + -0.0025791048537939787 + ] + }, + "fine_grasp": { + "position": [ + -0.11267776787281036, + 0.01356069091707468, + -0.03918254375457764 + ], + "orientation": [ + 0.6480967998504639, + -0.04720080643892288, + -0.13165783882141113, + -0.7486045956611633 + ], + "joints": [ + 0.0028146011754870415 + ] + }, + "final_grasp": { + "position": [ + -0.11267776787281036, + 0.01356069091707468, + -0.03918254375457764 + ], + "orientation": [ + 0.6480967998504639, + -0.04720080643892288, + -0.13165783882141113, + -0.7486045956611633 + ], + "joints": [ + 0.008208307437598705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018584735691547394, + -0.10845883935689926, + 0.03677476570010185 + ], + "orientation": [ + 0.9671419262886047, + -0.186447411775589, + -0.13156573474407196, + 0.11209123581647873 + ], + "joints": [ + -0.0024543681647628546 + ] + }, + "fine_grasp": { + "position": [ + 0.01927541196346283, + -0.1083458811044693, + 0.03561990708112717 + ], + "orientation": [ + 0.9643516540527344, + -0.19223767518997192, + -0.140767902135849, + 0.11513059586286545 + ], + "joints": [ + 0.004480397328734398 + ] + }, + "final_grasp": { + "position": [ + 0.01927541196346283, + -0.1083458811044693, + 0.03561990708112717 + ], + "orientation": [ + 0.9643516540527344, + -0.19223767518997192, + -0.140767902135849, + 0.11513059586286545 + ], + "joints": [ + 0.011415163055062294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057151228189468384, + -0.01159537211060524, + -0.11990676075220108 + ], + "orientation": [ + 0.6397315263748169, + 0.3368839919567108, + 0.371665894985199, + 0.5823378562927246 + ], + "joints": [ + -0.002910974435508251 + ] + }, + "fine_grasp": { + "position": [ + 0.0588180273771286, + -0.012589173391461372, + -0.1232299879193306 + ], + "orientation": [ + 0.6380082964897156, + 0.3276078701019287, + 0.38116785883903503, + 0.5833776593208313 + ], + "joints": [ + 0.004023790825158358 + ] + }, + "final_grasp": { + "position": [ + 0.0588180273771286, + -0.012589173391461372, + -0.1232299879193306 + ], + "orientation": [ + 0.6380082964897156, + 0.3276078701019287, + 0.38116785883903503, + 0.5833776593208313 + ], + "joints": [ + 0.010958556085824966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04642373323440552, + -0.11847223341464996, + -0.04249365255236626 + ], + "orientation": [ + 0.704230785369873, + -0.005834560375660658, + -0.6701641082763672, + -0.23431816697120667 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.04439227655529976, + -0.1134047731757164, + -0.04132379591464996 + ], + "orientation": [ + 0.70415198802948, + -0.009013593196868896, + -0.670728862285614, + -0.2328338623046875 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.04439227655529976, + -0.1134047731757164, + -0.04132379591464996 + ], + "orientation": [ + 0.70415198802948, + -0.009013593196868896, + -0.670728862285614, + -0.2328338623046875 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04622284695506096, + -0.11840002983808517, + -0.04242181032896042 + ], + "orientation": [ + 0.7046146988868713, + -0.005977692548185587, + -0.6697699427604675, + -0.23428750038146973 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.04416551813483238, + -0.11325859278440475, + -0.041289322078228 + ], + "orientation": [ + 0.7043883204460144, + -0.009374253451824188, + -0.6703428626060486, + -0.23321597278118134 + ], + "joints": [ + -0.00882875919342041 + ] + }, + "final_grasp": { + "position": [ + -0.04416551813483238, + -0.11325859278440475, + -0.041289322078228 + ], + "orientation": [ + 0.7043883204460144, + -0.009374253451824188, + -0.6703428626060486, + -0.23321597278118134 + ], + "joints": [ + -0.002956792712211609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029462771490216255, + -0.019825760275125504, + -0.1349768042564392 + ], + "orientation": [ + 0.6399614214897156, + 0.4624139368534088, + -0.4095860719680786, + -0.4570141136646271 + ], + "joints": [ + -0.0024369508028030396 + ] + }, + "fine_grasp": { + "position": [ + -0.026957714930176735, + -0.019268415868282318, + -0.1321088820695877 + ], + "orientation": [ + 0.6402331590652466, + 0.4453456699848175, + -0.41552212834358215, + -0.46809181571006775 + ], + "joints": [ + 0.004497814457863569 + ] + }, + "final_grasp": { + "position": [ + -0.026957714930176735, + -0.019268415868282318, + -0.1321088820695877 + ], + "orientation": [ + 0.6402331590652466, + 0.4453456699848175, + -0.41552212834358215, + -0.46809181571006775 + ], + "joints": [ + 0.011432579718530178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017485584830865264, + -0.011119072325527668, + -0.13480770587921143 + ], + "orientation": [ + 0.5302026271820068, + 0.49203816056251526, + 0.5160956382751465, + 0.4587254226207733 + ], + "joints": [ + -0.002646378008648753 + ] + }, + "fine_grasp": { + "position": [ + -0.0020934443455189466, + -0.012235021218657494, + -0.13782872259616852 + ], + "orientation": [ + 0.5322616696357727, + 0.48781874775886536, + 0.517354428768158, + 0.4594288170337677 + ], + "joints": [ + 0.003810127265751362 + ] + }, + "final_grasp": { + "position": [ + -0.0020934443455189466, + -0.012235021218657494, + -0.13782872259616852 + ], + "orientation": [ + 0.5322616696357727, + 0.48781874775886536, + 0.517354428768158, + 0.4594288170337677 + ], + "joints": [ + 0.01026663277298212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07440224289894104, + 0.10985963046550751, + 0.004172699060291052 + ], + "orientation": [ + 0.2964809536933899, + -0.045355767011642456, + -0.04658875986933708, + 0.9528228640556335 + ], + "joints": [ + -0.005762091837823391 + ] + }, + "fine_grasp": { + "position": [ + 0.07096686959266663, + 0.10546202957630157, + 0.0034974999725818634 + ], + "orientation": [ + 0.2959924638271332, + -0.054902706295251846, + -0.04144226759672165, + 0.9527102112770081 + ], + "joints": [ + 0.0032185628078877926 + ] + }, + "final_grasp": { + "position": [ + 0.07096686959266663, + 0.10546202957630157, + 0.0034974999725818634 + ], + "orientation": [ + 0.2959924638271332, + -0.054902706295251846, + -0.04144226759672165, + 0.9527102112770081 + ], + "joints": [ + 0.012199217453598976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0016136749181896448, + -0.011058778502047062, + -0.1348254531621933 + ], + "orientation": [ + 0.529791533946991, + 0.49160870909690857, + 0.5160151124000549, + 0.45975008606910706 + ], + "joints": [ + -0.0029731346294283867 + ] + }, + "fine_grasp": { + "position": [ + -0.002079973928630352, + -0.01216444093734026, + -0.1377379149198532 + ], + "orientation": [ + 0.5318072438240051, + 0.48750782012939453, + 0.5175347328186035, + 0.4600814878940582 + ], + "joints": [ + 0.004014770034700632 + ] + }, + "final_grasp": { + "position": [ + -0.002079973928630352, + -0.01216444093734026, + -0.1377379149198532 + ], + "orientation": [ + 0.5318072438240051, + 0.48750782012939453, + 0.5175347328186035, + 0.4600814878940582 + ], + "joints": [ + 0.011002674698829651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045856282114982605, + 0.11162231117486954, + 0.014203920029103756 + ], + "orientation": [ + 0.16071632504463196, + -0.7743046283721924, + -0.10336793214082718, + -0.603272557258606 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.045420318841934204, + 0.1142556369304657, + 0.015691695734858513 + ], + "orientation": [ + 0.16422142088413239, + -0.7835339903831482, + -0.10210879147052765, + -0.590490996837616 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.045420318841934204, + 0.1142556369304657, + 0.015691695734858513 + ], + "orientation": [ + 0.16422142088413239, + -0.7835339903831482, + -0.10210879147052765, + -0.590490996837616 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024254513904452324, + -0.022577133029699326, + -0.12678655982017517 + ], + "orientation": [ + 0.4544481933116913, + 0.47583305835723877, + -0.6251238584518433, + -0.41985705494880676 + ], + "joints": [ + -0.003149803727865219 + ] + }, + "fine_grasp": { + "position": [ + 0.024963805451989174, + -0.023352714255452156, + -0.13114774227142334 + ], + "orientation": [ + 0.46193039417266846, + 0.4802718460559845, + -0.6207564473152161, + -0.41306257247924805 + ], + "joints": [ + 0.0038115312345325947 + ] + }, + "final_grasp": { + "position": [ + 0.024963805451989174, + -0.023352714255452156, + -0.13114774227142334 + ], + "orientation": [ + 0.46193039417266846, + 0.4802718460559845, + -0.6207564473152161, + -0.41306257247924805 + ], + "joints": [ + 0.010772866196930408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07396957278251648, + -0.11109301447868347, + -0.006029547657817602 + ], + "orientation": [ + 0.025401048362255096, + 0.287604421377182, + -0.9559924006462097, + 0.05212518572807312 + ], + "joints": [ + -0.006289144046604633 + ] + }, + "fine_grasp": { + "position": [ + 0.0709298625588417, + -0.106015145778656, + -0.006474483758211136 + ], + "orientation": [ + 0.02746874839067459, + 0.28558430075645447, + -0.956544041633606, + 0.052062127739191055 + ], + "joints": [ + 0.0021601105108857155 + ] + }, + "final_grasp": { + "position": [ + 0.0709298625588417, + -0.106015145778656, + -0.006474483758211136 + ], + "orientation": [ + 0.02746874839067459, + 0.28558430075645447, + -0.956544041633606, + 0.052062127739191055 + ], + "joints": [ + 0.010609365068376064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06864910572767258, + 0.096858911216259, + 0.028579045087099075 + ], + "orientation": [ + 0.30161502957344055, + -0.7199088931083679, + 0.1522408127784729, + 0.606285572052002 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07087688893079758, + 0.09683360904455185, + 0.031671032309532166 + ], + "orientation": [ + 0.2922995686531067, + -0.7319417595863342, + 0.1380244344472885, + 0.5998096466064453 + ], + "joints": [ + -0.0063895490020513535 + ] + }, + "final_grasp": { + "position": [ + 0.07087688893079758, + 0.09683360904455185, + 0.031671032309532166 + ], + "orientation": [ + 0.2922995686531067, + -0.7319417595863342, + 0.1380244344472885, + 0.5998096466064453 + ], + "joints": [ + -0.0010224133729934692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06866024434566498, + 0.09686291217803955, + 0.028631022199988365 + ], + "orientation": [ + 0.301876425743103, + -0.7195565700531006, + 0.15201187133789062, + 0.6066312193870544 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.070858895778656, + 0.09680617600679398, + 0.031746670603752136 + ], + "orientation": [ + 0.2924179434776306, + -0.7316675782203674, + 0.1375546008348465, + 0.6001940965652466 + ], + "joints": [ + -0.0063895490020513535 + ] + }, + "final_grasp": { + "position": [ + 0.070858895778656, + 0.09680617600679398, + 0.031746670603752136 + ], + "orientation": [ + 0.2924179434776306, + -0.7316675782203674, + 0.1375546008348465, + 0.6001940965652466 + ], + "joints": [ + -0.0010224133729934692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06865208595991135, + 0.09689544886350632, + 0.028511790558695793 + ], + "orientation": [ + 0.30144232511520386, + -0.7196356654167175, + 0.15231071412563324, + 0.6066781282424927 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.07085908204317093, + 0.09682513028383255, + 0.03162236139178276 + ], + "orientation": [ + 0.2922167479991913, + -0.7316266894340515, + 0.13785935938358307, + 0.600271999835968 + ], + "joints": [ + -0.0063895490020513535 + ] + }, + "final_grasp": { + "position": [ + 0.07085908204317093, + 0.09682513028383255, + 0.03162236139178276 + ], + "orientation": [ + 0.2922167479991913, + -0.7316266894340515, + 0.13785935938358307, + 0.600271999835968 + ], + "joints": [ + -0.0010224133729934692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02003823034465313, + -0.027386948466300964, + -0.130025714635849 + ], + "orientation": [ + 0.08518757671117783, + 0.1750040501356125, + -0.782345175743103, + -0.591652512550354 + ], + "joints": [ + -0.0030356247443705797 + ] + }, + "fine_grasp": { + "position": [ + 0.022554006427526474, + -0.027467992156744003, + -0.1325242668390274 + ], + "orientation": [ + 0.08764665573835373, + 0.1884049028158188, + -0.7801256775856018, + -0.5901064276695251 + ], + "joints": [ + 0.003952280152589083 + ] + }, + "final_grasp": { + "position": [ + 0.022554006427526474, + -0.027467992156744003, + -0.1325242668390274 + ], + "orientation": [ + 0.08764665573835373, + 0.1884049028158188, + -0.7801256775856018, + -0.5901064276695251 + ], + "joints": [ + 0.010940184816718102 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07365868240594864, + -0.11110988259315491, + -0.006037143990397453 + ], + "orientation": [ + 0.024329394102096558, + 0.2866886258125305, + -0.9563201069831848, + 0.05166866257786751 + ], + "joints": [ + -0.005996461026370525 + ] + }, + "fine_grasp": { + "position": [ + 0.07063309103250504, + -0.106037437915802, + -0.006438028533011675 + ], + "orientation": [ + 0.026413487270474434, + 0.28482234477996826, + -0.9568423628807068, + 0.051297616213560104 + ], + "joints": [ + 0.0019213940249755979 + ] + }, + "final_grasp": { + "position": [ + 0.07063309103250504, + -0.106037437915802, + -0.006438028533011675 + ], + "orientation": [ + 0.026413487270474434, + 0.28482234477996826, + -0.9568423628807068, + 0.051297616213560104 + ], + "joints": [ + 0.009839248843491077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12683667242527008, + -0.01816427893936634, + 0.007048956584185362 + ], + "orientation": [ + 0.20413683354854584, + -0.6466950178146362, + -0.7349048852920532, + -0.005332190077751875 + ], + "joints": [ + -0.0036722610238939524 + ] + }, + "fine_grasp": { + "position": [ + -0.12165923416614532, + -0.01748218759894371, + 0.006475326605141163 + ], + "orientation": [ + 0.19871819019317627, + -0.6499716639518738, + -0.7334786653518677, + -0.007551406975835562 + ], + "joints": [ + 0.0037939040921628475 + ] + }, + "final_grasp": { + "position": [ + -0.12165923416614532, + -0.01748218759894371, + 0.006475326605141163 + ], + "orientation": [ + 0.19871819019317627, + -0.6499716639518738, + -0.7334786653518677, + -0.007551406975835562 + ], + "joints": [ + 0.011260068975389004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10486309230327606, + 0.01116605568677187, + -0.08208571374416351 + ], + "orientation": [ + 0.6385374665260315, + 0.13424251973628998, + -0.21437481045722961, + -0.726837158203125 + ], + "joints": [ + -0.0032641571015119553 + ] + }, + "fine_grasp": { + "position": [ + -0.10579295456409454, + 0.00934417825192213, + -0.08088736236095428 + ], + "orientation": [ + 0.6422361731529236, + 0.13340222835540771, + -0.22009123861789703, + -0.7220085859298706 + ], + "joints": [ + 0.0036706081591546535 + ] + }, + "final_grasp": { + "position": [ + -0.10579295456409454, + 0.00934417825192213, + -0.08088736236095428 + ], + "orientation": [ + 0.6422361731529236, + 0.13340222835540771, + -0.22009123861789703, + -0.7220085859298706 + ], + "joints": [ + 0.010605373419821262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11916105449199677, + 0.013012444600462914, + -0.0008126712637022138 + ], + "orientation": [ + 0.0998324304819107, + -0.746148943901062, + -0.6580701470375061, + -0.015456875786185265 + ], + "joints": [ + -0.0032110498286783695 + ] + }, + "fine_grasp": { + "position": [ + -0.1167561486363411, + 0.012634779326617718, + -0.0022807398345321417 + ], + "orientation": [ + 0.11099787056446075, + -0.7432539463043213, + -0.6594374179840088, + -0.019879799336194992 + ], + "joints": [ + 0.0038034245371818542 + ] + }, + "final_grasp": { + "position": [ + -0.1167561486363411, + 0.012634779326617718, + -0.0022807398345321417 + ], + "orientation": [ + 0.11099787056446075, + -0.7432539463043213, + -0.6594374179840088, + -0.019879799336194992 + ], + "joints": [ + 0.01081789843738079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017217280343174934, + 0.00953720137476921, + -0.13323399424552917 + ], + "orientation": [ + 0.4271881878376007, + 0.54500412940979, + 0.5260605216026306, + 0.49370133876800537 + ], + "joints": [ + -0.0029403939843177795 + ] + }, + "fine_grasp": { + "position": [ + -0.01740010641515255, + 0.010362466797232628, + -0.1350439488887787 + ], + "orientation": [ + 0.42517170310020447, + 0.5445482730865479, + 0.5250482559204102, + 0.49701160192489624 + ], + "joints": [ + 0.004047510679811239 + ] + }, + "final_grasp": { + "position": [ + -0.01740010641515255, + 0.010362466797232628, + -0.1350439488887787 + ], + "orientation": [ + 0.42517170310020447, + 0.5445482730865479, + 0.5250482559204102, + 0.49701160192489624 + ], + "joints": [ + 0.011035415343940258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.000847994873765856, + 0.12316697835922241, + 0.03281271457672119 + ], + "orientation": [ + 0.10229215025901794, + -0.9945929646492004, + -0.005839564837515354, + 0.016942886635661125 + ], + "joints": [ + 0.0028829413931816816 + ] + }, + "fine_grasp": { + "position": [ + -0.00048434280324727297, + 0.12531991302967072, + 0.03168315440416336 + ], + "orientation": [ + 0.1177055835723877, + -0.9928146004676819, + -0.006291710771620274, + 0.0206161979585886 + ], + "joints": [ + 0.007745249662548304 + ] + }, + "final_grasp": { + "position": [ + -0.00048434280324727297, + 0.12531991302967072, + 0.03168315440416336 + ], + "orientation": [ + 0.1177055835723877, + -0.9928146004676819, + -0.006291710771620274, + 0.0206161979585886 + ], + "joints": [ + 0.012607557699084282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07098416239023209, + 0.043661974370479584, + 0.10094588994979858 + ], + "orientation": [ + 0.4556533396244049, + -0.19617336988449097, + -0.3278576731681824, + 0.8039934039115906 + ], + "joints": [ + 0.004116898402571678 + ] + }, + "fine_grasp": { + "position": [ + 0.06834396719932556, + 0.042608100920915604, + 0.09698066860437393 + ], + "orientation": [ + 0.45419368147850037, + -0.20253637433052063, + -0.33402854204177856, + 0.8006947636604309 + ], + "joints": [ + 0.008500948548316956 + ] + }, + "final_grasp": { + "position": [ + 0.06834396719932556, + 0.042608100920915604, + 0.09698066860437393 + ], + "orientation": [ + 0.45419368147850037, + -0.20253637433052063, + -0.33402854204177856, + 0.8006947636604309 + ], + "joints": [ + 0.012884998694062233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06885255128145218, + 0.09355591982603073, + -0.006888191681355238 + ], + "orientation": [ + 0.21166221797466278, + 0.7510988712310791, + -0.2372089922428131, + 0.5786031484603882 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.06816334277391434, + 0.09380581974983215, + -0.0075160423293709755 + ], + "orientation": [ + 0.20907601714134216, + 0.7615146636962891, + -0.2370838075876236, + 0.5658392310142517 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.06816334277391434, + 0.09380581974983215, + -0.0075160423293709755 + ], + "orientation": [ + 0.20907601714134216, + 0.7615146636962891, + -0.2370838075876236, + 0.5658392310142517 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04857097938656807, + 0.01113884337246418, + -0.12661881744861603 + ], + "orientation": [ + 0.29867398738861084, + 0.5619871020317078, + -0.6044122576713562, + -0.47921815514564514 + ], + "joints": [ + -0.003243338782340288 + ] + }, + "fine_grasp": { + "position": [ + 0.04845932126045227, + 0.013425763696432114, + -0.12783904373645782 + ], + "orientation": [ + 0.29860514402389526, + 0.5767598152160645, + -0.5962423086166382, + -0.4718879759311676 + ], + "joints": [ + 0.0037445658817887306 + ] + }, + "final_grasp": { + "position": [ + 0.04845932126045227, + 0.013425763696432114, + -0.12783904373645782 + ], + "orientation": [ + 0.29860514402389526, + 0.5767598152160645, + -0.5962423086166382, + -0.4718879759311676 + ], + "joints": [ + 0.010732470080256462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04840995371341705, + 0.010853742249310017, + -0.12676504254341125 + ], + "orientation": [ + 0.2993830442428589, + 0.5606527328491211, + -0.6050459146499634, + -0.47953924536705017 + ], + "joints": [ + -0.0030504055321216583 + ] + }, + "fine_grasp": { + "position": [ + 0.04842238873243332, + 0.013465959578752518, + -0.12786026298999786 + ], + "orientation": [ + 0.29871663451194763, + 0.5765935182571411, + -0.5959362387657166, + -0.4724067151546478 + ], + "joints": [ + 0.0039109294302761555 + ] + }, + "final_grasp": { + "position": [ + 0.04842238873243332, + 0.013465959578752518, + -0.12786026298999786 + ], + "orientation": [ + 0.29871663451194763, + 0.5765935182571411, + -0.5959362387657166, + -0.4724067151546478 + ], + "joints": [ + 0.01087226439267397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04853513464331627, + 0.010750995017588139, + -0.12675824761390686 + ], + "orientation": [ + 0.2993393838405609, + 0.5605679154396057, + -0.60539311170578, + -0.4792270362377167 + ], + "joints": [ + -0.003315816167742014 + ] + }, + "fine_grasp": { + "position": [ + 0.04843305051326752, + 0.013303771615028381, + -0.1278662383556366 + ], + "orientation": [ + 0.298513263463974, + 0.5764153003692627, + -0.5967192053794861, + -0.4717642366886139 + ], + "joints": [ + 0.003672088496387005 + ] + }, + "final_grasp": { + "position": [ + 0.04843305051326752, + 0.013303771615028381, + -0.1278662383556366 + ], + "orientation": [ + 0.298513263463974, + 0.5764153003692627, + -0.5967192053794861, + -0.4717642366886139 + ], + "joints": [ + 0.010659992694854736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06419387459754944, + -0.10018724203109741, + 0.026949429884552956 + ], + "orientation": [ + 0.9428191781044006, + -0.15719132125377655, + -0.07759048044681549, + 0.28348323702812195 + ], + "joints": [ + -0.0033618202432990074 + ] + }, + "fine_grasp": { + "position": [ + 0.06170673295855522, + -0.09724684059619904, + 0.025414036586880684 + ], + "orientation": [ + 0.9428414702415466, + -0.1568783074617386, + -0.08598046749830246, + 0.2811521887779236 + ], + "joints": [ + 0.004104344639927149 + ] + }, + "final_grasp": { + "position": [ + 0.06170673295855522, + -0.09724684059619904, + 0.025414036586880684 + ], + "orientation": [ + 0.9428414702415466, + -0.1568783074617386, + -0.08598046749830246, + 0.2811521887779236 + ], + "joints": [ + 0.011570509523153305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03197741135954857, + -0.05080438405275345, + -0.12109802663326263 + ], + "orientation": [ + 0.09599246084690094, + 0.21699868142604828, + -0.8416426181793213, + -0.48511311411857605 + ], + "joints": [ + -0.003009422682225704 + ] + }, + "fine_grasp": { + "position": [ + 0.03439490869641304, + -0.0499899685382843, + -0.12121718376874924 + ], + "orientation": [ + 0.08409765362739563, + 0.22196175158023834, + -0.8391190767288208, + -0.4894281327724457 + ], + "joints": [ + 0.00395191228017211 + ] + }, + "final_grasp": { + "position": [ + 0.03439490869641304, + -0.0499899685382843, + -0.12121718376874924 + ], + "orientation": [ + 0.08409765362739563, + 0.22196175158023834, + -0.8391190767288208, + -0.4894281327724457 + ], + "joints": [ + 0.010913247242569923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05467373877763748, + 0.0098648676648736, + -0.12501442432403564 + ], + "orientation": [ + 0.2816080152988434, + 0.5664105415344238, + -0.6164773106575012, + -0.4688621163368225 + ], + "joints": [ + -0.0034967241808772087 + ] + }, + "fine_grasp": { + "position": [ + 0.053871992975473404, + 0.01205976027995348, + -0.12552611529827118 + ], + "orientation": [ + 0.2804257869720459, + 0.5812060236930847, + -0.6096971035003662, + -0.4602503776550293 + ], + "joints": [ + 0.0039960104040801525 + ] + }, + "final_grasp": { + "position": [ + 0.053871992975473404, + 0.01205976027995348, + -0.12552611529827118 + ], + "orientation": [ + 0.2804257869720459, + 0.5812060236930847, + -0.6096971035003662, + -0.4602503776550293 + ], + "joints": [ + 0.011488744989037514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008195605129003525, + 0.0033916786778718233, + 0.14436441659927368 + ], + "orientation": [ + 0.40019071102142334, + -0.3747997283935547, + 0.5729102492332458, + -0.6092178225517273 + ], + "joints": [ + 0.0014930544421076775 + ] + }, + "fine_grasp": { + "position": [ + -0.007787066046148539, + 0.0032341552432626486, + 0.13926762342453003 + ], + "orientation": [ + 0.4035806655883789, + -0.37751391530036926, + 0.5699055194854736, + -0.6081229448318481 + ], + "joints": [ + 0.007365019991993904 + ] + }, + "final_grasp": { + "position": [ + -0.007787066046148539, + 0.0032341552432626486, + 0.13926762342453003 + ], + "orientation": [ + 0.4035806655883789, + -0.37751391530036926, + 0.5699055194854736, + -0.6081229448318481 + ], + "joints": [ + 0.01323698554188013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11288338899612427, + 0.040912363678216934, + -0.03085634857416153 + ], + "orientation": [ + 0.3291282057762146, + -0.5049213767051697, + 0.39910051226615906, + 0.690976083278656 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.1077498123049736, + 0.0407341830432415, + -0.030138244852423668 + ], + "orientation": [ + 0.32194769382476807, + -0.5067864656448364, + 0.41887804865837097, + 0.6812183260917664 + ], + "joints": [ + -0.006357312202453613 + ] + }, + "final_grasp": { + "position": [ + 0.1077498123049736, + 0.0407341830432415, + -0.030138244852423668 + ], + "orientation": [ + 0.32194769382476807, + -0.5067864656448364, + 0.41887804865837097, + 0.6812183260917664 + ], + "joints": [ + -0.002106115221977234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00819050520658493, + 0.003088961122557521, + 0.14436392486095428 + ], + "orientation": [ + 0.4005943834781647, + -0.37574923038482666, + 0.5742542147636414, + -0.6070986986160278 + ], + "joints": [ + 0.0014930544421076775 + ] + }, + "fine_grasp": { + "position": [ + -0.007772110868245363, + 0.002938919933512807, + 0.13928227126598358 + ], + "orientation": [ + 0.40427809953689575, + -0.3787330687046051, + 0.5709081888198853, + -0.6059573888778687 + ], + "joints": [ + 0.007365019991993904 + ] + }, + "final_grasp": { + "position": [ + -0.007772110868245363, + 0.002938919933512807, + 0.13928227126598358 + ], + "orientation": [ + 0.40427809953689575, + -0.3787330687046051, + 0.5709081888198853, + -0.6059573888778687 + ], + "joints": [ + 0.01323698554188013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13423898816108704, + -0.0006150922272354364, + 0.020830901339650154 + ], + "orientation": [ + 0.6933360695838928, + -0.0824381411075592, + 0.15150532126426697, + -0.6996679902076721 + ], + "joints": [ + -0.0067208316177129745 + ] + }, + "fine_grasp": { + "position": [ + -0.12865634262561798, + -0.00038388624670915306, + 0.018681302666664124 + ], + "orientation": [ + 0.6935667991638184, + -0.08180877566337585, + 0.15602794289588928, + -0.6985180377960205 + ], + "joints": [ + 0.00013422378106042743 + ] + }, + "final_grasp": { + "position": [ + -0.12865634262561798, + -0.00038388624670915306, + 0.018681302666664124 + ], + "orientation": [ + 0.6935667991638184, + -0.08180877566337585, + 0.15602794289588928, + -0.6985180377960205 + ], + "joints": [ + 0.006989279296249151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008558799512684345, + 0.0031680678948760033, + 0.14488860964775085 + ], + "orientation": [ + 0.4025704860687256, + -0.37478673458099365, + 0.571719229221344, + -0.6087766289710999 + ], + "joints": [ + 0.0014326234813779593 + ] + }, + "fine_grasp": { + "position": [ + -0.008129623718559742, + 0.003037274582311511, + 0.13993997871875763 + ], + "orientation": [ + 0.4055529534816742, + -0.37760841846466064, + 0.5689553618431091, + -0.607641875743866 + ], + "joints": [ + 0.007304588798433542 + ] + }, + "final_grasp": { + "position": [ + -0.008129623718559742, + 0.003037274582311511, + 0.13993997871875763 + ], + "orientation": [ + 0.4055529534816742, + -0.37760841846466064, + 0.5689553618431091, + -0.607641875743866 + ], + "joints": [ + 0.013176553882658482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007292883237823844, + -0.01573430374264717, + -0.13374735414981842 + ], + "orientation": [ + 0.7294777631759644, + 0.6349920630455017, + -0.1901959776878357, + -0.16873854398727417 + ], + "joints": [ + -0.0026307113002985716 + ] + }, + "fine_grasp": { + "position": [ + -0.0002302074572071433, + -0.016741039231419563, + -0.13546572625637054 + ], + "orientation": [ + 0.7296498417854309, + 0.6352702975273132, + -0.19138580560684204, + -0.16557222604751587 + ], + "joints": [ + 0.004330623894929886 + ] + }, + "final_grasp": { + "position": [ + -0.0002302074572071433, + -0.016741039231419563, + -0.13546572625637054 + ], + "orientation": [ + 0.7296498417854309, + 0.6352702975273132, + -0.19138580560684204, + -0.16557222604751587 + ], + "joints": [ + 0.011291959322988987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035178374499082565, + -0.008148924447596073, + -0.13534070551395416 + ], + "orientation": [ + 0.30777642130851746, + 0.11551458388566971, + 0.6913516521453857, + 0.6433994770050049 + ], + "joints": [ + -0.004026823211461306 + ] + }, + "fine_grasp": { + "position": [ + 0.03570820763707161, + -0.009864446707069874, + -0.14043161273002625 + ], + "orientation": [ + 0.3093521296977997, + 0.11620089411735535, + 0.6851152777671814, + 0.6491653919219971 + ], + "joints": [ + 0.0034127719700336456 + ] + }, + "final_grasp": { + "position": [ + 0.03570820763707161, + -0.009864446707069874, + -0.14043161273002625 + ], + "orientation": [ + 0.3093521296977997, + 0.11620089411735535, + 0.6851152777671814, + 0.6491653919219971 + ], + "joints": [ + 0.01085236668586731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13260366022586823, + -0.0011711094994097948, + 0.021463025361299515 + ], + "orientation": [ + 0.6962954998016357, + -0.07948791235685349, + 0.14065970480442047, + -0.6993348002433777 + ], + "joints": [ + -0.006813329644501209 + ] + }, + "fine_grasp": { + "position": [ + -0.12691012024879456, + -0.001148656359873712, + 0.019683700054883957 + ], + "orientation": [ + 0.6959768533706665, + -0.0790238156914711, + 0.14028313755989075, + -0.6997801065444946 + ], + "joints": [ + -0.0004365339991636574 + ] + }, + "final_grasp": { + "position": [ + -0.12691012024879456, + -0.001148656359873712, + 0.019683700054883957 + ], + "orientation": [ + 0.6959768533706665, + -0.0790238156914711, + 0.14028313755989075, + -0.6997801065444946 + ], + "joints": [ + 0.005940261762589216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1290055215358734, + 0.0072410437278449535, + 0.02917136624455452 + ], + "orientation": [ + 0.38889676332473755, + 0.4911516308784485, + -0.5524870157241821, + 0.5498068928718567 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.12354269623756409, + 0.007205937523394823, + 0.028857840225100517 + ], + "orientation": [ + 0.37861648201942444, + 0.49053287506103516, + -0.5648818612098694, + 0.5449181199073792 + ], + "joints": [ + -0.005550717003643513 + ] + }, + "final_grasp": { + "position": [ + 0.12354269623756409, + 0.007205937523394823, + 0.028857840225100517 + ], + "orientation": [ + 0.37861648201942444, + 0.49053287506103516, + -0.5648818612098694, + 0.5449181199073792 + ], + "joints": [ + 0.0018623080104589462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07244132459163666, + 0.03922390937805176, + 0.09967678785324097 + ], + "orientation": [ + 0.4518797695636749, + -0.15064556896686554, + -0.348082572221756, + 0.8074337244033813 + ], + "joints": [ + 0.00406099995598197 + ] + }, + "fine_grasp": { + "position": [ + 0.070835180580616, + 0.038445983082056046, + 0.09692386537790298 + ], + "orientation": [ + 0.4491986036300659, + -0.15311039984226227, + -0.35299062728881836, + 0.8063344359397888 + ], + "joints": [ + 0.008896738290786743 + ] + }, + "final_grasp": { + "position": [ + 0.070835180580616, + 0.038445983082056046, + 0.09692386537790298 + ], + "orientation": [ + 0.4491986036300659, + -0.15311039984226227, + -0.35299062728881836, + 0.8063344359397888 + ], + "joints": [ + 0.01373247615993023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03034590184688568, + 0.007456029299646616, + 0.11562929302453995 + ], + "orientation": [ + 0.5974308252334595, + -0.5320897102355957, + -0.34264907240867615, + 0.4924922585487366 + ], + "joints": [ + -0.005569116212427616 + ] + }, + "fine_grasp": { + "position": [ + 0.029523750767111778, + 0.007548213005065918, + 0.11016162484884262 + ], + "orientation": [ + 0.5948991179466248, + -0.5328466296195984, + -0.3451855778694153, + 0.49296703934669495 + ], + "joints": [ + 0.0008076796075329185 + ] + }, + "final_grasp": { + "position": [ + 0.029523750767111778, + 0.007548213005065918, + 0.11016162484884262 + ], + "orientation": [ + 0.5948991179466248, + -0.5328466296195984, + -0.3451855778694153, + 0.49296703934669495 + ], + "joints": [ + 0.007184475660324097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03488604351878166, + -0.009496591985225677, + -0.13856875896453857 + ], + "orientation": [ + 0.30967622995376587, + 0.1163797453045845, + 0.6869387030601501, + 0.64704829454422 + ], + "joints": [ + -0.0038390825502574444 + ] + }, + "fine_grasp": { + "position": [ + 0.0348447747528553, + -0.009989858604967594, + -0.1424902379512787 + ], + "orientation": [ + 0.3123062252998352, + 0.12490913271903992, + 0.6834166646003723, + 0.6479230523109436 + ], + "joints": [ + 0.003600512631237507 + ] + }, + "final_grasp": { + "position": [ + 0.0348447747528553, + -0.009989858604967594, + -0.1424902379512787 + ], + "orientation": [ + 0.3123062252998352, + 0.12490913271903992, + 0.6834166646003723, + 0.6479230523109436 + ], + "joints": [ + 0.011040108278393745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08681157231330872, + 0.08909466862678528, + -0.053299229592084885 + ], + "orientation": [ + 0.13890329003334045, + -0.5697037577629089, + -0.37561777234077454, + -0.7176731824874878 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.08301754295825958, + 0.08500945568084717, + -0.05114388093352318 + ], + "orientation": [ + 0.13765667378902435, + -0.5765674710273743, + -0.3741886019706726, + -0.7131643295288086 + ], + "joints": [ + -0.008883297443389893 + ] + }, + "final_grasp": { + "position": [ + -0.08301754295825958, + 0.08500945568084717, + -0.05114388093352318 + ], + "orientation": [ + 0.13765667378902435, + -0.5765674710273743, + -0.3741886019706726, + -0.7131643295288086 + ], + "joints": [ + -0.0025065019726753235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10883331298828125, + -0.002323949011042714, + -0.057528555393218994 + ], + "orientation": [ + 0.21701093018054962, + 0.6987015008926392, + -0.6809142827987671, + -0.03283468261361122 + ], + "joints": [ + -0.003221144201233983 + ] + }, + "fine_grasp": { + "position": [ + 0.11029039323329926, + -0.0030074429232627153, + -0.05913832411170006 + ], + "orientation": [ + 0.21058931946754456, + 0.6989196538925171, + -0.682913064956665, + -0.028163719922304153 + ], + "joints": [ + 0.0038199000991880894 + ] + }, + "final_grasp": { + "position": [ + 0.11029039323329926, + -0.0030074429232627153, + -0.05913832411170006 + ], + "orientation": [ + 0.21058931946754456, + 0.6989196538925171, + -0.682913064956665, + -0.028163719922304153 + ], + "joints": [ + 0.010860944166779518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12975837290287018, + 0.007316768169403076, + 0.028979886323213577 + ], + "orientation": [ + 0.39034420251846313, + 0.4914562702178955, + -0.5514435768127441, + 0.5495561957359314 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.12434538453817368, + 0.007018455769866705, + 0.028608212247490883 + ], + "orientation": [ + 0.37841540575027466, + 0.4920763671398163, + -0.5613628029823303, + 0.5472975373268127 + ], + "joints": [ + -0.005550717003643513 + ] + }, + "final_grasp": { + "position": [ + 0.12434538453817368, + 0.007018455769866705, + 0.028608212247490883 + ], + "orientation": [ + 0.37841540575027466, + 0.4920763671398163, + -0.5613628029823303, + 0.5472975373268127 + ], + "joints": [ + 0.0018623080104589462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07781949639320374, + -0.09735055267810822, + 0.022950900718569756 + ], + "orientation": [ + 0.917489230632782, + -0.14536333084106445, + 0.15274076163768768, + -0.33727312088012695 + ], + "joints": [ + -0.004881551489233971 + ] + }, + "fine_grasp": { + "position": [ + -0.07361271977424622, + -0.09329845756292343, + 0.023042552173137665 + ], + "orientation": [ + 0.919692873954773, + -0.13101229071617126, + 0.14832770824432373, + -0.33911609649658203 + ], + "joints": [ + 0.0025314739905297756 + ] + }, + "final_grasp": { + "position": [ + -0.07361271977424622, + -0.09329845756292343, + 0.023042552173137665 + ], + "orientation": [ + 0.919692873954773, + -0.13101229071617126, + 0.14832770824432373, + -0.33911609649658203 + ], + "joints": [ + 0.009944499470293522 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10838712751865387, + -0.02653643488883972, + -0.06714947521686554 + ], + "orientation": [ + 0.16638250648975372, + 0.6044286489486694, + 0.7593085169792175, + 0.1744520515203476 + ], + "joints": [ + -0.0034177666530013084 + ] + }, + "fine_grasp": { + "position": [ + -0.10462985932826996, + -0.024872547015547752, + -0.06524588912725449 + ], + "orientation": [ + 0.16753718256950378, + 0.6068301200866699, + 0.7564696669578552, + 0.17731915414333344 + ], + "joints": [ + 0.003012168686836958 + ] + }, + "final_grasp": { + "position": [ + -0.10462985932826996, + -0.024872547015547752, + -0.06524588912725449 + ], + "orientation": [ + 0.16753718256950378, + 0.6068301200866699, + 0.7564696669578552, + 0.17731915414333344 + ], + "joints": [ + 0.009442104026675224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05965675413608551, + -0.10972104221582413, + 0.008331896737217903 + ], + "orientation": [ + 0.7565513849258423, + 0.10041359066963196, + -0.6150863766670227, + 0.1980298012495041 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.059819545596838, + -0.10928890854120255, + 0.010995687916874886 + ], + "orientation": [ + 0.754267692565918, + 0.09413079917430878, + -0.6136248707771301, + 0.21373823285102844 + ], + "joints": [ + -0.005856751464307308 + ] + }, + "final_grasp": { + "position": [ + 0.059819545596838, + -0.10928890854120255, + 0.010995687916874886 + ], + "orientation": [ + 0.754267692565918, + 0.09413079917430878, + -0.6136248707771301, + 0.21373823285102844 + ], + "joints": [ + -0.000516185536980629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03963835909962654, + 0.03966185450553894, + -0.13441362977027893 + ], + "orientation": [ + 0.05094195157289505, + 0.3070322871208191, + 0.5481674671173096, + 0.7763044238090515 + ], + "joints": [ + -0.002626110101118684 + ] + }, + "fine_grasp": { + "position": [ + -0.03757539018988609, + 0.038795456290245056, + -0.13189351558685303 + ], + "orientation": [ + 0.058169007301330566, + 0.31088870763778687, + 0.5551900267601013, + 0.769239068031311 + ], + "joints": [ + 0.003219286445528269 + ] + }, + "final_grasp": { + "position": [ + -0.03757539018988609, + 0.038795456290245056, + -0.13189351558685303 + ], + "orientation": [ + 0.058169007301330566, + 0.31088870763778687, + 0.5551900267601013, + 0.769239068031311 + ], + "joints": [ + 0.009064682759344578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030377967283129692, + 0.006993938237428665, + 0.11570988595485687 + ], + "orientation": [ + 0.599581241607666, + -0.531247615814209, + -0.3420035243034363, + 0.4912351071834564 + ], + "joints": [ + -0.005574272014200687 + ] + }, + "fine_grasp": { + "position": [ + 0.029607979580760002, + 0.007168772164732218, + 0.11030647903680801 + ], + "orientation": [ + 0.5966771841049194, + -0.5315998196601868, + -0.3449631333351135, + 0.4923194944858551 + ], + "joints": [ + 0.000802523922175169 + ] + }, + "final_grasp": { + "position": [ + 0.029607979580760002, + 0.007168772164732218, + 0.11030647903680801 + ], + "orientation": [ + 0.5966771841049194, + -0.5315998196601868, + -0.3449631333351135, + 0.4923194944858551 + ], + "joints": [ + 0.007179319858551025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04292389377951622, + 0.11527492851018906, + -0.00541949225589633 + ], + "orientation": [ + 0.17258137464523315, + -0.24960936605930328, + -0.04437299445271492, + 0.9518097639083862 + ], + "joints": [ + -0.003516648430377245 + ] + }, + "fine_grasp": { + "position": [ + 0.04248499125242233, + 0.11163783818483353, + -0.005413759965449572 + ], + "orientation": [ + 0.17651405930519104, + -0.22717244923114777, + -0.04620272293686867, + 0.9566090106964111 + ], + "joints": [ + 0.003444686532020569 + ] + }, + "final_grasp": { + "position": [ + 0.04248499125242233, + 0.11163783818483353, + -0.005413759965449572 + ], + "orientation": [ + 0.17651405930519104, + -0.22717244923114777, + -0.04620272293686867, + 0.9566090106964111 + ], + "joints": [ + 0.010406021028757095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09222420305013657, + -0.09633485972881317, + -0.027914023026823997 + ], + "orientation": [ + 0.044431596994400024, + 0.37468141317367554, + 0.9242637157440186, + 0.058104973286390305 + ], + "joints": [ + -0.004844111390411854 + ] + }, + "fine_grasp": { + "position": [ + -0.08836901932954788, + -0.09270583093166351, + -0.026790712028741837 + ], + "orientation": [ + 0.04706043750047684, + 0.3761324882507324, + 0.9233008027076721, + 0.061850786209106445 + ], + "joints": [ + 0.0025689140893518925 + ] + }, + "final_grasp": { + "position": [ + -0.08836901932954788, + -0.09270583093166351, + -0.026790712028741837 + ], + "orientation": [ + 0.04706043750047684, + 0.3761324882507324, + 0.9233008027076721, + 0.061850786209106445 + ], + "joints": [ + 0.009981939569115639 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012163794599473476, + -0.010359680280089378, + -0.13318637013435364 + ], + "orientation": [ + 0.7256388664245605, + 0.6444603204727173, + 0.13774675130844116, + 0.1978507786989212 + ], + "joints": [ + -0.0029273899272084236 + ] + }, + "fine_grasp": { + "position": [ + 0.01310697104781866, + -0.010560608468949795, + -0.1352819800376892 + ], + "orientation": [ + 0.7246143221855164, + 0.6457727551460266, + 0.1365976333618164, + 0.19812312722206116 + ], + "joints": [ + 0.004060514736920595 + ] + }, + "final_grasp": { + "position": [ + 0.01310697104781866, + -0.010560608468949795, + -0.1352819800376892 + ], + "orientation": [ + 0.7246143221855164, + 0.6457727551460266, + 0.1365976333618164, + 0.19812312722206116 + ], + "joints": [ + 0.011048419401049614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03950450196862221, + 0.04000195860862732, + -0.1350603997707367 + ], + "orientation": [ + 0.0503854937851429, + 0.3049226701259613, + 0.547589898109436, + 0.7775786519050598 + ], + "joints": [ + -0.0030500662978738546 + ] + }, + "fine_grasp": { + "position": [ + -0.03760084509849548, + 0.03910771757364273, + -0.1321510374546051 + ], + "orientation": [ + 0.05728243291378021, + 0.30990222096443176, + 0.5544406175613403, + 0.7702434062957764 + ], + "joints": [ + 0.0033267296385020018 + ] + }, + "final_grasp": { + "position": [ + -0.03760084509849548, + 0.03910771757364273, + -0.1321510374546051 + ], + "orientation": [ + 0.05728243291378021, + 0.30990222096443176, + 0.5544406175613403, + 0.7702434062957764 + ], + "joints": [ + 0.009703525342047215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011933492496609688, + -0.010286029428243637, + -0.13319449126720428 + ], + "orientation": [ + 0.7260395884513855, + 0.6453539729118347, + 0.13617683947086334, + 0.1945270299911499 + ], + "joints": [ + -0.0026476222556084394 + ] + }, + "fine_grasp": { + "position": [ + 0.012705608271062374, + -0.010554813779890537, + -0.1353956162929535 + ], + "orientation": [ + 0.7247957587242126, + 0.6467157006263733, + 0.13520555198192596, + 0.19531872868537903 + ], + "joints": [ + 0.004313712939620018 + ] + }, + "final_grasp": { + "position": [ + 0.012705608271062374, + -0.010554813779890537, + -0.1353956162929535 + ], + "orientation": [ + 0.7247957587242126, + 0.6467157006263733, + 0.13520555198192596, + 0.19531872868537903 + ], + "joints": [ + 0.011275048367679119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1074059009552002, + 0.029724938794970512, + 0.04042396321892738 + ], + "orientation": [ + 0.16813893616199493, + -0.768861711025238, + 0.5944845080375671, + -0.16483111679553986 + ], + "joints": [ + -0.00410495325922966 + ] + }, + "fine_grasp": { + "position": [ + 0.1041845828294754, + 0.02862410806119442, + 0.03773481026291847 + ], + "orientation": [ + 0.16640029847621918, + -0.7641104459762573, + 0.5947994589805603, + -0.18617162108421326 + ], + "joints": [ + 0.003334641922265291 + ] + }, + "final_grasp": { + "position": [ + 0.1041845828294754, + 0.02862410806119442, + 0.03773481026291847 + ], + "orientation": [ + 0.16640029847621918, + -0.7641104459762573, + 0.5947994589805603, + -0.18617162108421326 + ], + "joints": [ + 0.010774237103760242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04334612190723419, + 0.11493267118930817, + -0.00542819406837225 + ], + "orientation": [ + 0.17510436475276947, + -0.2478940188884735, + -0.04285518452525139, + 0.9518668055534363 + ], + "joints": [ + -0.003544896375387907 + ] + }, + "fine_grasp": { + "position": [ + 0.04286115616559982, + 0.1111723855137825, + -0.005609251093119383 + ], + "orientation": [ + 0.1785607933998108, + -0.2249470353126526, + -0.04501790553331375, + 0.9568115472793579 + ], + "joints": [ + 0.0034164385870099068 + ] + }, + "final_grasp": { + "position": [ + 0.04286115616559982, + 0.1111723855137825, + -0.005609251093119383 + ], + "orientation": [ + 0.1785607933998108, + -0.2249470353126526, + -0.04501790553331375, + 0.9568115472793579 + ], + "joints": [ + 0.010377774015069008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05972752720117569, + -0.10980875790119171, + 0.00827990286052227 + ], + "orientation": [ + 0.7564257383346558, + 0.10039795935153961, + -0.6153754591941833, + 0.19761969149112701 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.059888698160648346, + -0.10934943705797195, + 0.01095164380967617 + ], + "orientation": [ + 0.7541042566299438, + 0.09420812875032425, + -0.6139686107635498, + 0.21329373121261597 + ], + "joints": [ + -0.005856751464307308 + ] + }, + "final_grasp": { + "position": [ + 0.059888698160648346, + -0.10934943705797195, + 0.01095164380967617 + ], + "orientation": [ + 0.7541042566299438, + 0.09420812875032425, + -0.6139686107635498, + 0.21329373121261597 + ], + "joints": [ + -0.000516185536980629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10032502561807632, + 0.06493733823299408, + 0.03309294953942299 + ], + "orientation": [ + 0.22887644171714783, + 0.5931448936462402, + -0.42688384652137756, + 0.6430901288986206 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.10346658527851105, + 0.0660950094461441, + 0.03585122525691986 + ], + "orientation": [ + 0.2222457081079483, + 0.5896547436714172, + -0.4272865056991577, + 0.64833664894104 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.10346658527851105, + 0.0660950094461441, + 0.03585122525691986 + ], + "orientation": [ + 0.2222457081079483, + 0.5896547436714172, + -0.4272865056991577, + 0.64833664894104 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1340281069278717, + -0.0007250578491948545, + 0.020910270512104034 + ], + "orientation": [ + 0.6940054893493652, + -0.08117763698101044, + 0.1481158286333084, + -0.6998772621154785 + ], + "joints": [ + -0.006636026315391064 + ] + }, + "fine_grasp": { + "position": [ + -0.12844862043857574, + -0.0006076539284549654, + 0.01878664456307888 + ], + "orientation": [ + 0.6933178901672363, + -0.08121709525585175, + 0.15274710953235626, + -0.6995587944984436 + ], + "joints": [ + -0.0002858006046153605 + ] + }, + "final_grasp": { + "position": [ + -0.12844862043857574, + -0.0006076539284549654, + 0.01878664456307888 + ], + "orientation": [ + 0.6933178901672363, + -0.08121709525585175, + 0.15274710953235626, + -0.6995587944984436 + ], + "joints": [ + 0.0060644252225756645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06020727381110191, + 0.003500941675156355, + -0.12121792137622833 + ], + "orientation": [ + 0.3323283791542053, + 0.6173979043960571, + -0.6125947833061218, + -0.3648358881473541 + ], + "joints": [ + -0.002915184013545513 + ] + }, + "fine_grasp": { + "position": [ + 0.060718636959791183, + 0.005599607713520527, + -0.1211932823061943 + ], + "orientation": [ + 0.3252235949039459, + 0.6192454099655151, + -0.6090419888496399, + -0.3739418089389801 + ], + "joints": [ + 0.004046150948852301 + ] + }, + "final_grasp": { + "position": [ + 0.060718636959791183, + 0.005599607713520527, + -0.1211932823061943 + ], + "orientation": [ + 0.3252235949039459, + 0.6192454099655151, + -0.6090419888496399, + -0.3739418089389801 + ], + "joints": [ + 0.011007485911250114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06022431701421738, + 0.0032008171547204256, + -0.12098483741283417 + ], + "orientation": [ + 0.3316393196582794, + 0.6164700388908386, + -0.6138753294944763, + -0.36487963795661926 + ], + "joints": [ + -0.0029151877388358116 + ] + }, + "fine_grasp": { + "position": [ + 0.060777004808187485, + 0.005457215942442417, + -0.12124033272266388 + ], + "orientation": [ + 0.3243151903152466, + 0.6185204982757568, + -0.610174834728241, + -0.3740839660167694 + ], + "joints": [ + 0.004046147223562002 + ] + }, + "final_grasp": { + "position": [ + 0.060777004808187485, + 0.005457215942442417, + -0.12124033272266388 + ], + "orientation": [ + 0.3243151903152466, + 0.6185204982757568, + -0.610174834728241, + -0.3740839660167694 + ], + "joints": [ + 0.011007482185959816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015504633774980903, + 0.012109707109630108, + -0.13090556859970093 + ], + "orientation": [ + 0.5379946231842041, + 0.6159589886665344, + 0.390572726726532, + 0.4226219356060028 + ], + "joints": [ + -0.002512393519282341 + ] + }, + "fine_grasp": { + "position": [ + 0.0005306165548972785, + 0.013469182886183262, + -0.13565033674240112 + ], + "orientation": [ + 0.5371624827384949, + 0.6016708612442017, + 0.39387407898902893, + 0.4408082067966461 + ], + "joints": [ + 0.003359572496265173 + ] + }, + "final_grasp": { + "position": [ + 0.0005306165548972785, + 0.013469182886183262, + -0.13565033674240112 + ], + "orientation": [ + 0.5371624827384949, + 0.6016708612442017, + 0.39387407898902893, + 0.4408082067966461 + ], + "joints": [ + 0.009231538511812687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060114748775959015, + 0.0032483674585819244, + -0.12110956013202667 + ], + "orientation": [ + 0.3320830762386322, + 0.6163801550865173, + -0.6135076880455017, + -0.3652459681034088 + ], + "joints": [ + -0.002915184013545513 + ] + }, + "fine_grasp": { + "position": [ + 0.06065841019153595, + 0.005443147383630276, + -0.12129519879817963 + ], + "orientation": [ + 0.3248363137245178, + 0.6183599233627319, + -0.6099451184272766, + -0.3742716610431671 + ], + "joints": [ + 0.004046150948852301 + ] + }, + "final_grasp": { + "position": [ + 0.06065841019153595, + 0.005443147383630276, + -0.12129519879817963 + ], + "orientation": [ + 0.3248363137245178, + 0.6183599233627319, + -0.6099451184272766, + -0.3742716610431671 + ], + "joints": [ + 0.011007485911250114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059760864824056625, + -0.10983135551214218, + 0.008343316614627838 + ], + "orientation": [ + 0.7565805912017822, + 0.10010062158107758, + -0.6151641011238098, + 0.19783534109592438 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.05994218587875366, + -0.10900790244340897, + 0.010803564451634884 + ], + "orientation": [ + 0.7542210221290588, + 0.09346941113471985, + -0.6139122247695923, + 0.21336795389652252 + ], + "joints": [ + -0.005856751464307308 + ] + }, + "final_grasp": { + "position": [ + 0.05994218587875366, + -0.10900790244340897, + 0.010803564451634884 + ], + "orientation": [ + 0.7542210221290588, + 0.09346941113471985, + -0.6139122247695923, + 0.21336795389652252 + ], + "joints": [ + -0.000516185536980629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024889396503567696, + -0.01374797523021698, + 0.1491318792104721 + ], + "orientation": [ + 0.36912083625793457, + -0.4385702610015869, + -0.6442444920539856, + 0.5063151717185974 + ], + "joints": [ + 0.0015225654933601618 + ] + }, + "fine_grasp": { + "position": [ + -0.024068094789981842, + -0.013310928829014301, + 0.14521963894367218 + ], + "orientation": [ + 0.3695896565914154, + -0.43981829285621643, + -0.6439192295074463, + 0.5053033828735352 + ], + "joints": [ + 0.007899361662566662 + ] + }, + "final_grasp": { + "position": [ + -0.024068094789981842, + -0.013310928829014301, + 0.14521963894367218 + ], + "orientation": [ + 0.3695896565914154, + -0.43981829285621643, + -0.6439192295074463, + 0.5053033828735352 + ], + "joints": [ + 0.014276158064603806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024118848145008087, + -0.012717068195343018, + 0.14753010869026184 + ], + "orientation": [ + 0.36221760511398315, + -0.44204220175743103, + -0.6485048532485962, + 0.5028305053710938 + ], + "joints": [ + 0.0020506472792476416 + ] + }, + "fine_grasp": { + "position": [ + -0.02329874411225319, + -0.012423891574144363, + 0.14323356747627258 + ], + "orientation": [ + 0.3633884787559509, + -0.44236698746681213, + -0.6472525596618652, + 0.5033133029937744 + ], + "joints": [ + 0.008427442982792854 + ] + }, + "final_grasp": { + "position": [ + -0.02329874411225319, + -0.012423891574144363, + 0.14323356747627258 + ], + "orientation": [ + 0.3633884787559509, + -0.44236698746681213, + -0.6472525596618652, + 0.5033133029937744 + ], + "joints": [ + 0.014804238453507423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00716425571590662, + -0.008822531439363956, + -0.13724908232688904 + ], + "orientation": [ + 0.5899717807769775, + 0.5242795944213867, + -0.43506062030792236, + -0.4333433210849762 + ], + "joints": [ + -0.002777288667857647 + ] + }, + "fine_grasp": { + "position": [ + -0.0066379765048623085, + -0.01013151928782463, + -0.13687683641910553 + ], + "orientation": [ + 0.586215615272522, + 0.5145842432975769, + -0.4461164176464081, + -0.4387875199317932 + ], + "joints": [ + 0.004688876215368509 + ] + }, + "final_grasp": { + "position": [ + -0.0066379765048623085, + -0.01013151928782463, + -0.13687683641910553 + ], + "orientation": [ + 0.586215615272522, + 0.5145842432975769, + -0.4461164176464081, + -0.4387875199317932 + ], + "joints": [ + 0.012155041098594666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056476231664419174, + 0.10294251888990402, + -0.006444816943258047 + ], + "orientation": [ + 0.13470764458179474, + -0.7534348368644714, + -0.19970323145389557, + -0.6118074655532837 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.056881699711084366, + 0.10238779336214066, + -0.006312473211437464 + ], + "orientation": [ + 0.13212157785892487, + -0.7666756510734558, + -0.20420189201831818, + -0.5941835045814514 + ], + "joints": [ + -0.005410728044807911 + ] + }, + "final_grasp": { + "position": [ + -0.056881699711084366, + 0.10238779336214066, + -0.006312473211437464 + ], + "orientation": [ + 0.13212157785892487, + -0.7666756510734558, + -0.20420189201831818, + -0.5941835045814514 + ], + "joints": [ + 0.0015240367501974106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06029556319117546, + 0.0031512179411947727, + -0.12135333567857742 + ], + "orientation": [ + 0.33507296442985535, + 0.6183407306671143, + -0.6123331785202026, + -0.3611495792865753 + ], + "joints": [ + -0.0026829319540411234 + ] + }, + "fine_grasp": { + "position": [ + 0.060711536556482315, + 0.005308918189257383, + -0.12124544382095337 + ], + "orientation": [ + 0.3277268409729004, + 0.6200300455093384, + -0.608953058719635, + -0.37058618664741516 + ], + "joints": [ + 0.004278403241187334 + ] + }, + "final_grasp": { + "position": [ + 0.060711536556482315, + 0.005308918189257383, + -0.12124544382095337 + ], + "orientation": [ + 0.3277268409729004, + 0.6200300455093384, + -0.608953058719635, + -0.37058618664741516 + ], + "joints": [ + 0.011239738203585148 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10590615123510361, + 0.03396813943982124, + -0.05411900579929352 + ], + "orientation": [ + 0.5770922303199768, + 0.04703284800052643, + -0.12990492582321167, + -0.8049082159996033 + ], + "joints": [ + -0.002443763194605708 + ] + }, + "fine_grasp": { + "position": [ + -0.1088787391781807, + 0.034403685480356216, + -0.05359390005469322 + ], + "orientation": [ + 0.5804234743118286, + 0.035754673182964325, + -0.14413443207740784, + -0.8006594777107239 + ], + "joints": [ + 0.0034282030537724495 + ] + }, + "final_grasp": { + "position": [ + -0.1088787391781807, + 0.034403685480356216, + -0.05359390005469322 + ], + "orientation": [ + 0.5804234743118286, + 0.035754673182964325, + -0.14413443207740784, + -0.8006594777107239 + ], + "joints": [ + 0.00930016953498125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0073502217419445515, + -0.008572806604206562, + -0.13708481192588806 + ], + "orientation": [ + 0.5899671316146851, + 0.5247339010238647, + -0.4339085817337036, + -0.4339543282985687 + ], + "joints": [ + -0.002770054154098034 + ] + }, + "fine_grasp": { + "position": [ + -0.006806803867220879, + -0.009912071749567986, + -0.1368962675333023 + ], + "orientation": [ + 0.5862971544265747, + 0.514846682548523, + -0.44504284858703613, + -0.4394603967666626 + ], + "joints": [ + 0.004696110729128122 + ] + }, + "final_grasp": { + "position": [ + -0.006806803867220879, + -0.009912071749567986, + -0.1368962675333023 + ], + "orientation": [ + 0.5862971544265747, + 0.514846682548523, + -0.44504284858703613, + -0.4394603967666626 + ], + "joints": [ + 0.012162275612354279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0923868864774704, + -0.09579461812973022, + -0.028229841962456703 + ], + "orientation": [ + 0.04037436470389366, + 0.3766583800315857, + 0.923689067363739, + 0.057418033480644226 + ], + "joints": [ + -0.0048788124695420265 + ] + }, + "fine_grasp": { + "position": [ + -0.08839116245508194, + -0.09212872385978699, + -0.027130508795380592 + ], + "orientation": [ + 0.041346270591020584, + 0.3782501220703125, + 0.9227774143218994, + 0.0608208067715168 + ], + "joints": [ + 0.0025342130102217197 + ] + }, + "final_grasp": { + "position": [ + -0.08839116245508194, + -0.09212872385978699, + -0.027130508795380592 + ], + "orientation": [ + 0.041346270591020584, + 0.3782501220703125, + 0.9227774143218994, + 0.0608208067715168 + ], + "joints": [ + 0.009947238489985466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017691638320684433, + -0.0176499355584383, + 0.11959856003522873 + ], + "orientation": [ + 0.69468092918396, + -0.5700608491897583, + 0.2874518632888794, + -0.3313915431499481 + ], + "joints": [ + -0.004421304911375046 + ] + }, + "fine_grasp": { + "position": [ + -0.016860688105225563, + -0.016876228153705597, + 0.11383171379566193 + ], + "orientation": [ + 0.6951941847801208, + -0.5727397203445435, + 0.2835487127304077, + -0.3290507197380066 + ], + "joints": [ + 0.0009192617144435644 + ] + }, + "final_grasp": { + "position": [ + -0.016860688105225563, + -0.016876228153705597, + 0.11383171379566193 + ], + "orientation": [ + 0.6951941847801208, + -0.5727397203445435, + 0.2835487127304077, + -0.3290507197380066 + ], + "joints": [ + 0.006259828340262175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038215264678001404, + 0.11339730024337769, + 0.02353319711983204 + ], + "orientation": [ + 0.19460724294185638, + -0.6478508710861206, + 0.03727049380540848, + 0.7355461716651917 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.039587512612342834, + 0.11245501786470413, + 0.025819459930062294 + ], + "orientation": [ + 0.2010950744152069, + -0.6367985010147095, + 0.02458040975034237, + 0.7439383268356323 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.039587512612342834, + 0.11245501786470413, + 0.025819459930062294 + ], + "orientation": [ + 0.2010950744152069, + -0.6367985010147095, + 0.02458040975034237, + 0.7439383268356323 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06502055376768112, + -0.09888158738613129, + -0.08086157590150833 + ], + "orientation": [ + 0.16570867598056793, + 0.2906023859977722, + 0.9110336899757385, + 0.2410569041967392 + ], + "joints": [ + -0.005000613629817963 + ] + }, + "fine_grasp": { + "position": [ + -0.061930783092975616, + -0.09512928873300552, + -0.07825400680303574 + ], + "orientation": [ + 0.170236736536026, + 0.2932088077068329, + 0.9097952842712402, + 0.23941704630851746 + ], + "joints": [ + 0.0024124118499457836 + ] + }, + "final_grasp": { + "position": [ + -0.061930783092975616, + -0.09512928873300552, + -0.07825400680303574 + ], + "orientation": [ + 0.170236736536026, + 0.2932088077068329, + 0.9097952842712402, + 0.23941704630851746 + ], + "joints": [ + 0.00982543732970953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029684431850910187, + 0.002129952423274517, + -0.13121004402637482 + ], + "orientation": [ + 0.5800192356109619, + 0.4660225212574005, + -0.3947051763534546, + -0.5390812754631042 + ], + "joints": [ + -0.0026683590840548277 + ] + }, + "fine_grasp": { + "position": [ + -0.030206575989723206, + 0.003312361892312765, + -0.13451853394508362 + ], + "orientation": [ + 0.5740227699279785, + 0.4669611155986786, + -0.3962043523788452, + -0.543569028377533 + ], + "joints": [ + 0.00429297611117363 + ] + }, + "final_grasp": { + "position": [ + -0.030206575989723206, + 0.003312361892312765, + -0.13451853394508362 + ], + "orientation": [ + 0.5740227699279785, + 0.4669611155986786, + -0.3962043523788452, + -0.543569028377533 + ], + "joints": [ + 0.01125431153923273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017561588436365128, + -0.017242955043911934, + 0.11997241526842117 + ], + "orientation": [ + 0.694072425365448, + -0.5693838000297546, + 0.287897527217865, + -0.333437442779541 + ], + "joints": [ + -0.004680338315665722 + ] + }, + "fine_grasp": { + "position": [ + -0.016554519534111023, + -0.01639208011329174, + 0.11424042284488678 + ], + "orientation": [ + 0.6961414217948914, + -0.5690537691116333, + 0.2833455801010132, + -0.33358699083328247 + ], + "joints": [ + 0.0011916280491277575 + ] + }, + "final_grasp": { + "position": [ + -0.016554519534111023, + -0.01639208011329174, + 0.11424042284488678 + ], + "orientation": [ + 0.6961414217948914, + -0.5690537691116333, + 0.2833455801010132, + -0.33358699083328247 + ], + "joints": [ + 0.007063594646751881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10591204464435577, + 0.03467097505927086, + -0.05412421375513077 + ], + "orientation": [ + 0.5747937560081482, + 0.04601326957345009, + -0.130406454205513, + -0.8065290451049805 + ], + "joints": [ + -0.002440142212435603 + ] + }, + "fine_grasp": { + "position": [ + -0.10879167169332504, + 0.03500816971063614, + -0.05351322889328003 + ], + "orientation": [ + 0.57807856798172, + 0.034906692802906036, + -0.1447516530752182, + -0.8022803664207458 + ], + "joints": [ + 0.0034318240359425545 + ] + }, + "final_grasp": { + "position": [ + -0.10879167169332504, + 0.03500816971063614, + -0.05351322889328003 + ], + "orientation": [ + 0.57807856798172, + 0.034906692802906036, + -0.1447516530752182, + -0.8022803664207458 + ], + "joints": [ + 0.009303790517151356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0670541375875473, + -0.09576531499624252, + -0.03590817376971245 + ], + "orientation": [ + 0.684081494808197, + 0.3027256429195404, + -0.6554669141769409, + 0.10369633883237839 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.06440100818872452, + -0.09117161482572556, + -0.03516494110226631 + ], + "orientation": [ + 0.6841734051704407, + 0.3065940737724304, + -0.6541105508804321, + 0.10023034363985062 + ], + "joints": [ + -0.005019317381083965 + ] + }, + "final_grasp": { + "position": [ + 0.06440100818872452, + -0.09117161482572556, + -0.03516494110226631 + ], + "orientation": [ + 0.6841734051704407, + 0.3065940737724304, + -0.6541105508804321, + 0.10023034363985062 + ], + "joints": [ + 0.002925107255578041 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02922295406460762, + -0.10858422517776489, + -0.055540502071380615 + ], + "orientation": [ + 0.9765588045120239, + 0.16774845123291016, + -0.07428248971700668, + 0.11258552223443985 + ], + "joints": [ + -0.002932448871433735 + ] + }, + "fine_grasp": { + "position": [ + 0.031429655849933624, + -0.11059653759002686, + -0.05625380203127861 + ], + "orientation": [ + 0.9757784008979797, + 0.15686079859733582, + -0.09294596314430237, + 0.120881587266922 + ], + "joints": [ + 0.002939517144113779 + ] + }, + "final_grasp": { + "position": [ + 0.031429655849933624, + -0.11059653759002686, + -0.05625380203127861 + ], + "orientation": [ + 0.9757784008979797, + 0.15686079859733582, + -0.09294596314430237, + 0.120881587266922 + ], + "joints": [ + 0.008811483159661293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09071426838636398, + 0.0596553198993206, + 0.040679462254047394 + ], + "orientation": [ + 0.29696571826934814, + 0.43513867259025574, + 0.4736589789390564, + -0.7057711482048035 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.094512440264225, + 0.061325520277023315, + 0.04434571787714958 + ], + "orientation": [ + 0.2963623106479645, + 0.43586498498916626, + 0.4739496111869812, + -0.7053813934326172 + ], + "joints": [ + -0.006803260184824467 + ] + }, + "final_grasp": { + "position": [ + -0.094512440264225, + 0.061325520277023315, + 0.04434571787714958 + ], + "orientation": [ + 0.2963623106479645, + 0.43586498498916626, + 0.4739496111869812, + -0.7053813934326172 + ], + "joints": [ + -0.0030568931251764297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12182554602622986, + -0.03604261577129364, + 0.00658010458573699 + ], + "orientation": [ + 0.80116868019104, + -0.09555607289075851, + -0.02683555707335472, + 0.5901504755020142 + ], + "joints": [ + -0.004605892114341259 + ] + }, + "fine_grasp": { + "position": [ + 0.11683474481105804, + -0.03384679928421974, + 0.005773332901299 + ], + "orientation": [ + 0.7982564568519592, + -0.09558992832899094, + -0.022264055907726288, + 0.5942671298980713 + ], + "joints": [ + 0.003843362908810377 + ] + }, + "final_grasp": { + "position": [ + 0.11683474481105804, + -0.03384679928421974, + 0.005773332901299 + ], + "orientation": [ + 0.7982564568519592, + -0.09558992832899094, + -0.022264055907726288, + 0.5942671298980713 + ], + "joints": [ + 0.012292617931962013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025185275822877884, + -0.01362468022853136, + 0.14845123887062073 + ], + "orientation": [ + 0.3700958490371704, + -0.4363556504249573, + -0.6419561505317688, + 0.5104067325592041 + ], + "joints": [ + 0.0017741289921104908 + ] + }, + "fine_grasp": { + "position": [ + -0.024281615391373634, + -0.013225722126662731, + 0.14440478384494781 + ], + "orientation": [ + 0.3703506588935852, + -0.4381549656391144, + -0.6420734524726868, + 0.5085293650627136 + ], + "joints": [ + 0.007646095473319292 + ] + }, + "final_grasp": { + "position": [ + -0.024281615391373634, + -0.013225722126662731, + 0.14440478384494781 + ], + "orientation": [ + 0.3703506588935852, + -0.4381549656391144, + -0.6420734524726868, + 0.5085293650627136 + ], + "joints": [ + 0.013518061488866806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10714080184698105, + 0.03680401295423508, + 0.04237660393118858 + ], + "orientation": [ + 0.3466476500034332, + -0.7898430228233337, + 0.4426474869251251, + 0.24504399299621582 + ], + "joints": [ + -0.00965091958642006 + ] + }, + "fine_grasp": { + "position": [ + 0.10738249868154526, + 0.03738304227590561, + 0.04115556925535202 + ], + "orientation": [ + 0.356271892786026, + -0.7831843495368958, + 0.43928423523902893, + 0.2583062946796417 + ], + "joints": [ + -0.0037258146330714226 + ] + }, + "final_grasp": { + "position": [ + 0.10738249868154526, + 0.03738304227590561, + 0.04115556925535202 + ], + "orientation": [ + 0.356271892786026, + -0.7831843495368958, + 0.43928423523902893, + 0.2583062946796417 + ], + "joints": [ + 0.002199290320277214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10730651766061783, + 0.03655900061130524, + 0.04238097369670868 + ], + "orientation": [ + 0.34534168243408203, + -0.790016233921051, + 0.444509893655777, + 0.2429494559764862 + ], + "joints": [ + -0.00983840599656105 + ] + }, + "fine_grasp": { + "position": [ + 0.10701922327280045, + 0.03675666078925133, + 0.04116946458816528 + ], + "orientation": [ + 0.3518986105918884, + -0.7849968075752258, + 0.44134876132011414, + 0.25526195764541626 + ], + "joints": [ + -0.0033819014206528664 + ] + }, + "final_grasp": { + "position": [ + 0.10701922327280045, + 0.03675666078925133, + 0.04116946458816528 + ], + "orientation": [ + 0.3518986105918884, + -0.7849968075752258, + 0.44134876132011414, + 0.25526195764541626 + ], + "joints": [ + 0.0030746031552553177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09439954906702042, + 0.0708514153957367, + -0.056275494396686554 + ], + "orientation": [ + 0.19790026545524597, + 0.873308539390564, + -0.43653735518455505, + -0.08719425648450851 + ], + "joints": [ + -0.0016636895015835762 + ] + }, + "fine_grasp": { + "position": [ + 0.09219545871019363, + 0.07175219804048538, + -0.056502968072891235 + ], + "orientation": [ + 0.18856684863567352, + 0.8778292536735535, + -0.4327065348625183, + -0.08138393610715866 + ], + "joints": [ + 0.004208276513963938 + ] + }, + "final_grasp": { + "position": [ + 0.09219545871019363, + 0.07175219804048538, + -0.056502968072891235 + ], + "orientation": [ + 0.18856684863567352, + 0.8778292536735535, + -0.4327065348625183, + -0.08138393610715866 + ], + "joints": [ + 0.010080242529511452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0348079539835453, + -0.008012027479708195, + -0.1343303620815277 + ], + "orientation": [ + 0.3097863495349884, + 0.11867503821849823, + 0.6894536018371582, + 0.6438963413238525 + ], + "joints": [ + -0.004353675525635481 + ] + }, + "fine_grasp": { + "position": [ + 0.035552769899368286, + -0.009602363221347332, + -0.1398095339536667 + ], + "orientation": [ + 0.3119261860847473, + 0.1190088540315628, + 0.6822916269302368, + 0.6503977179527283 + ], + "joints": [ + 0.003564179874956608 + ] + }, + "final_grasp": { + "position": [ + 0.035552769899368286, + -0.009602363221347332, + -0.1398095339536667 + ], + "orientation": [ + 0.3119261860847473, + 0.1190088540315628, + 0.6822916269302368, + 0.6503977179527283 + ], + "joints": [ + 0.011482035741209984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028955399990081787, + 0.0013130814768373966, + -0.13119292259216309 + ], + "orientation": [ + 0.5806461572647095, + 0.46567583084106445, + -0.3980943262577057, + -0.5362060070037842 + ], + "joints": [ + -0.0026461395900696516 + ] + }, + "fine_grasp": { + "position": [ + -0.029451776295900345, + 0.0022108294069767, + -0.13462698459625244 + ], + "orientation": [ + 0.5749164819717407, + 0.46621236205101013, + -0.40055036544799805, + -0.5400708317756653 + ], + "joints": [ + 0.004341765306890011 + ] + }, + "final_grasp": { + "position": [ + -0.029451776295900345, + 0.0022108294069767, + -0.13462698459625244 + ], + "orientation": [ + 0.5749164819717407, + 0.46621236205101013, + -0.40055036544799805, + -0.5400708317756653 + ], + "joints": [ + 0.011329670436680317 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007031412795186043, + -0.12308722734451294, + -0.007638242561370134 + ], + "orientation": [ + 0.9859278202056885, + -0.08785318583250046, + -0.13989916443824768, + -0.025619305670261383 + ], + "joints": [ + -0.0027531739324331284 + ] + }, + "fine_grasp": { + "position": [ + -0.007949377410113811, + -0.1273222714662552, + -0.006972657982259989 + ], + "orientation": [ + 0.9853025674819946, + -0.08981131762266159, + -0.14270111918449402, + -0.027370354160666466 + ], + "joints": [ + 0.003650191705673933 + ] + }, + "final_grasp": { + "position": [ + -0.007949377410113811, + -0.1273222714662552, + -0.006972657982259989 + ], + "orientation": [ + 0.9853025674819946, + -0.08981131762266159, + -0.14270111918449402, + -0.027370354160666466 + ], + "joints": [ + 0.010053557343780994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030070826411247253, + 0.022557247430086136, + 0.11697187274694443 + ], + "orientation": [ + 0.5325571894645691, + -0.7263003587722778, + -0.3541816771030426, + 0.25184518098831177 + ], + "joints": [ + -0.00497653242200613 + ] + }, + "fine_grasp": { + "position": [ + -0.027876704931259155, + 0.02104545570909977, + 0.11193212866783142 + ], + "orientation": [ + 0.5215222835540771, + -0.7382940649986267, + -0.35349711775779724, + 0.24078278243541718 + ], + "joints": [ + 0.0024099231231957674 + ] + }, + "final_grasp": { + "position": [ + -0.027876704931259155, + 0.02104545570909977, + 0.11193212866783142 + ], + "orientation": [ + 0.5215222835540771, + -0.7382940649986267, + -0.35349711775779724, + 0.24078278243541718 + ], + "joints": [ + 0.009796379134058952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028482113033533096, + -0.11054462194442749, + -0.0546313039958477 + ], + "orientation": [ + 0.9764899015426636, + 0.17164470255374908, + -0.06889497488737106, + 0.11072078347206116 + ], + "joints": [ + -0.002571710152551532 + ] + }, + "fine_grasp": { + "position": [ + 0.031285129487514496, + -0.11048775166273117, + -0.05650973320007324 + ], + "orientation": [ + 0.9762193560600281, + 0.15461154282093048, + -0.09288008511066437, + 0.1202680915594101 + ], + "joints": [ + 0.0027954259421676397 + ] + }, + "final_grasp": { + "position": [ + 0.031285129487514496, + -0.11048775166273117, + -0.05650973320007324 + ], + "orientation": [ + 0.9762193560600281, + 0.15461154282093048, + -0.09288008511066437, + 0.1202680915594101 + ], + "joints": [ + 0.008162561804056168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024839557707309723, + -0.015210965648293495, + 0.1492687612771988 + ], + "orientation": [ + 0.3791593015193939, + -0.43859511613845825, + -0.6412119269371033, + 0.5027124285697937 + ], + "joints": [ + 0.0016350822988897562 + ] + }, + "fine_grasp": { + "position": [ + -0.023891601711511612, + -0.014731128700077534, + 0.1452806442975998 + ], + "orientation": [ + 0.37967076897621155, + -0.4404263198375702, + -0.6408865451812744, + 0.5011379718780518 + ], + "joints": [ + 0.007507048547267914 + ] + }, + "final_grasp": { + "position": [ + -0.023891601711511612, + -0.014731128700077534, + 0.1452806442975998 + ], + "orientation": [ + 0.37967076897621155, + -0.4404263198375702, + -0.6408865451812744, + 0.5011379718780518 + ], + "joints": [ + 0.013379015028476715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006881868001073599, + -0.12310607731342316, + -0.007412508130073547 + ], + "orientation": [ + 0.9861870408058167, + -0.08842121064662933, + -0.13781899213790894, + -0.024952784180641174 + ], + "joints": [ + -0.0030522013548761606 + ] + }, + "fine_grasp": { + "position": [ + -0.0077920397743582726, + -0.12725989520549774, + -0.006785452365875244 + ], + "orientation": [ + 0.9855266809463501, + -0.09049782902002335, + -0.14087723195552826, + -0.026472438126802444 + ], + "joints": [ + 0.0033511645160615444 + ] + }, + "final_grasp": { + "position": [ + -0.0077920397743582726, + -0.12725989520549774, + -0.006785452365875244 + ], + "orientation": [ + 0.9855266809463501, + -0.09049782902002335, + -0.14087723195552826, + -0.026472438126802444 + ], + "joints": [ + 0.009754530154168606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059592220932245255, + 0.10405430942773819, + 0.0058154272846877575 + ], + "orientation": [ + 0.21703509986400604, + -0.6291002631187439, + 0.14674434065818787, + 0.7318433523178101 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.06274078786373138, + 0.10738512873649597, + 0.007853024639189243 + ], + "orientation": [ + 0.2161310464143753, + -0.6223849058151245, + 0.13624966144561768, + 0.7398381233215332 + ], + "joints": [ + -0.006360108032822609 + ] + }, + "final_grasp": { + "position": [ + 0.06274078786373138, + 0.10738512873649597, + 0.007853024639189243 + ], + "orientation": [ + 0.2161310464143753, + -0.6223849058151245, + 0.13624966144561768, + 0.7398381233215332 + ], + "joints": [ + -0.0009929724037647247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06079411506652832, + -0.01630517840385437, + -0.12686027586460114 + ], + "orientation": [ + 0.0474969781935215, + -0.2887404263019562, + 0.7623868584632874, + 0.5771822929382324 + ], + "joints": [ + -0.004051156807690859 + ] + }, + "fine_grasp": { + "position": [ + 0.060578782111406326, + -0.017105866223573685, + -0.12735387682914734 + ], + "orientation": [ + 0.030807632952928543, + -0.29602429270744324, + 0.7643167972564697, + 0.5720493793487549 + ], + "joints": [ + 0.00288360845297575 + ] + }, + "final_grasp": { + "position": [ + 0.060578782111406326, + -0.017105866223573685, + -0.12735387682914734 + ], + "orientation": [ + 0.030807632952928543, + -0.29602429270744324, + 0.7643167972564697, + 0.5720493793487549 + ], + "joints": [ + 0.009818373247981071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08851220458745956, + -0.01121126115322113, + 0.10479208081960678 + ], + "orientation": [ + 0.7039726972579956, + -0.2774009108543396, + 0.22553986310958862, + -0.6136798858642578 + ], + "joints": [ + 0.004985683131963015 + ] + }, + "fine_grasp": { + "position": [ + -0.08884783089160919, + -0.01101420633494854, + 0.10506576299667358 + ], + "orientation": [ + 0.7056125998497009, + -0.27650442719459534, + 0.2187991887331009, + -0.6146405339241028 + ], + "joints": [ + 0.01144219096750021 + ] + }, + "final_grasp": { + "position": [ + -0.08884783089160919, + -0.01101420633494854, + 0.10506576299667358 + ], + "orientation": [ + 0.7056125998497009, + -0.27650442719459534, + 0.2187991887331009, + -0.6146405339241028 + ], + "joints": [ + 0.017898699268698692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041535425931215286, + -0.007591139525175095, + -0.1309913545846939 + ], + "orientation": [ + 0.6484180092811584, + 0.46282094717025757, + -0.33432886004447937, + -0.503562331199646 + ], + "joints": [ + -0.0029764114879071712 + ] + }, + "fine_grasp": { + "position": [ + -0.0413358099758625, + -0.005133030004799366, + -0.13125939667224884 + ], + "orientation": [ + 0.6378116607666016, + 0.45862820744514465, + -0.33878451585769653, + -0.5177659392356873 + ], + "joints": [ + 0.004489753395318985 + ] + }, + "final_grasp": { + "position": [ + -0.0413358099758625, + -0.005133030004799366, + -0.13125939667224884 + ], + "orientation": [ + 0.6378116607666016, + 0.45862820744514465, + -0.33878451585769653, + -0.5177659392356873 + ], + "joints": [ + 0.011955918744206429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03607819601893425, + -0.11773426085710526, + 0.013379393145442009 + ], + "orientation": [ + 0.6414232850074768, + 0.07847630977630615, + -0.7489458918571472, + 0.14662128686904907 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.036627087742090225, + -0.11696869879961014, + 0.016178466379642487 + ], + "orientation": [ + 0.6265084743499756, + 0.0677151307463646, + -0.7625986933708191, + 0.14609917998313904 + ], + "joints": [ + -0.004346530884504318 + ] + }, + "final_grasp": { + "position": [ + 0.036627087742090225, + -0.11696869879961014, + 0.016178466379642487 + ], + "orientation": [ + 0.6265084743499756, + 0.0677151307463646, + -0.7625986933708191, + 0.14609917998313904 + ], + "joints": [ + 0.0030930638313293457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10812721401453018, + -0.026839839294552803, + -0.06778932362794876 + ], + "orientation": [ + 0.1688176840543747, + 0.6039284467697144, + 0.7601562142372131, + 0.17009872198104858 + ], + "joints": [ + -0.0031219013035297394 + ] + }, + "fine_grasp": { + "position": [ + -0.10435573011636734, + -0.025128928944468498, + -0.06608496606349945 + ], + "orientation": [ + 0.1709245890378952, + 0.6066113710403442, + 0.7575153708457947, + 0.17022910714149475 + ], + "joints": [ + 0.0027766344137489796 + ] + }, + "final_grasp": { + "position": [ + -0.10435573011636734, + -0.025128928944468498, + -0.06608496606349945 + ], + "orientation": [ + 0.1709245890378952, + 0.6066113710403442, + 0.7575153708457947, + 0.17022910714149475 + ], + "joints": [ + 0.008675170131027699 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007352516055107117, + 0.013616170734167099, + -0.13598348200321198 + ], + "orientation": [ + 0.594643771648407, + 0.7448039650917053, + -0.23110540211200714, + -0.19559143483638763 + ], + "joints": [ + -0.0036474906373769045 + ] + }, + "fine_grasp": { + "position": [ + 0.009203072637319565, + 0.015186148695647717, + -0.14150568842887878 + ], + "orientation": [ + 0.6119053959846497, + 0.733498752117157, + -0.22399604320526123, + -0.1933319866657257 + ], + "joints": [ + 0.003313844557851553 + ] + }, + "final_grasp": { + "position": [ + 0.009203072637319565, + 0.015186148695647717, + -0.14150568842887878 + ], + "orientation": [ + 0.6119053959846497, + 0.733498752117157, + -0.22399604320526123, + -0.1933319866657257 + ], + "joints": [ + 0.010275179520249367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11635247617959976, + -0.020963476970791817, + 0.025812115520238876 + ], + "orientation": [ + 0.7671674489974976, + -0.06791505217552185, + 0.0060507869347929955, + -0.6378128528594971 + ], + "joints": [ + 0.004118253942579031 + ] + }, + "fine_grasp": { + "position": [ + -0.11806964129209518, + -0.01992606557905674, + 0.027224551886320114 + ], + "orientation": [ + 0.7659609317779541, + -0.07275375723838806, + -0.011446133255958557, + -0.6386544704437256 + ], + "joints": [ + 0.008980562910437584 + ] + }, + "final_grasp": { + "position": [ + -0.11806964129209518, + -0.01992606557905674, + 0.027224551886320114 + ], + "orientation": [ + 0.7659609317779541, + -0.07275375723838806, + -0.011446133255958557, + -0.6386544704437256 + ], + "joints": [ + 0.01384287141263485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06038138270378113, + -0.016459636390209198, + -0.12716977298259735 + ], + "orientation": [ + 0.04883652925491333, + -0.285157173871994, + 0.762844979763031, + 0.5782454609870911 + ], + "joints": [ + -0.003745074849575758 + ] + }, + "fine_grasp": { + "position": [ + 0.0603308267891407, + -0.01741715334355831, + -0.12765756249427795 + ], + "orientation": [ + 0.03232325240969658, + -0.2926654517650604, + 0.7644736766815186, + 0.5734825134277344 + ], + "joints": [ + 0.0026848604902625084 + ] + }, + "final_grasp": { + "position": [ + 0.0603308267891407, + -0.01741715334355831, + -0.12765756249427795 + ], + "orientation": [ + 0.03232325240969658, + -0.2926654517650604, + 0.7644736766815186, + 0.5734825134277344 + ], + "joints": [ + 0.009114796295762062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03643704950809479, + -0.1177847683429718, + 0.013352117501199245 + ], + "orientation": [ + 0.6417347192764282, + 0.08020564168691635, + -0.7482057213783264, + 0.14809389412403107 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.037007950246334076, + -0.11693350225687027, + 0.01610695570707321 + ], + "orientation": [ + 0.6270024180412292, + 0.0692504495382309, + -0.7618422508239746, + 0.14720351994037628 + ], + "joints": [ + -0.004346530884504318 + ] + }, + "final_grasp": { + "position": [ + 0.037007950246334076, + -0.11693350225687027, + 0.01610695570707321 + ], + "orientation": [ + 0.6270024180412292, + 0.0692504495382309, + -0.7618422508239746, + 0.14720351994037628 + ], + "joints": [ + 0.0030930638313293457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09010966122150421, + -0.09746038168668747, + -0.050572216510772705 + ], + "orientation": [ + 0.03865128755569458, + 0.35294345021247864, + -0.9154990315437317, + -0.18920505046844482 + ], + "joints": [ + -0.00044337945291772485 + ] + }, + "fine_grasp": { + "position": [ + 0.08645381778478622, + -0.09358881413936615, + -0.05036938190460205 + ], + "orientation": [ + 0.03287157788872719, + 0.3536088168621063, + -0.9173321723937988, + -0.17994973063468933 + ], + "joints": [ + 0.004950326401740313 + ] + }, + "final_grasp": { + "position": [ + 0.08645381778478622, + -0.09358881413936615, + -0.05036938190460205 + ], + "orientation": [ + 0.03287157788872719, + 0.3536088168621063, + -0.9173321723937988, + -0.17994973063468933 + ], + "joints": [ + 0.010344032198190689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008747721090912819, + 0.004801216535270214, + 0.12258307635784149 + ], + "orientation": [ + 0.0787217915058136, + -0.03529801219701767, + -0.7144370079040527, + 0.6943607330322266 + ], + "joints": [ + -0.004559721797704697 + ] + }, + "fine_grasp": { + "position": [ + 0.008929264731705189, + 0.005311030428856611, + 0.1167910248041153 + ], + "orientation": [ + 0.07923459261655807, + -0.03730291873216629, + -0.7186262011528015, + 0.6898599863052368 + ], + "joints": [ + 0.0018170742550864816 + ] + }, + "final_grasp": { + "position": [ + 0.008929264731705189, + 0.005311030428856611, + 0.1167910248041153 + ], + "orientation": [ + 0.07923459261655807, + -0.03730291873216629, + -0.7186262011528015, + 0.6898599863052368 + ], + "joints": [ + 0.008193870075047016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09682126343250275, + -0.06406766921281815, + 0.002647257409989834 + ], + "orientation": [ + 0.8802950978279114, + -0.041554518043994904, + -0.017189687117934227, + 0.47229036688804626 + ], + "joints": [ + -0.0018295547924935818 + ] + }, + "fine_grasp": { + "position": [ + 0.09716001152992249, + -0.06809840351343155, + 0.0014490233734250069 + ], + "orientation": [ + 0.8879125118255615, + -0.04819221794605255, + -0.019274218007922173, + 0.45707494020462036 + ], + "joints": [ + 0.0035110116004943848 + ] + }, + "final_grasp": { + "position": [ + 0.09716001152992249, + -0.06809840351343155, + 0.0014490233734250069 + ], + "orientation": [ + 0.8879125118255615, + -0.04819221794605255, + -0.019274218007922173, + 0.45707494020462036 + ], + "joints": [ + 0.008851578459143639 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0968828946352005, + -0.06386147439479828, + 0.0026788986288011074 + ], + "orientation": [ + 0.8799583315849304, + -0.041399188339710236, + -0.01661559008061886, + 0.47295188903808594 + ], + "joints": [ + -0.0013641479890793562 + ] + }, + "fine_grasp": { + "position": [ + 0.09721259772777557, + -0.06787147372961044, + 0.0016986237606033683 + ], + "orientation": [ + 0.887438178062439, + -0.04909472540020943, + -0.019849253818392754, + 0.45787474513053894 + ], + "joints": [ + 0.0034450190141797066 + ] + }, + "final_grasp": { + "position": [ + 0.09721259772777557, + -0.06787147372961044, + 0.0016986237606033683 + ], + "orientation": [ + 0.887438178062439, + -0.04909472540020943, + -0.019849253818392754, + 0.45787474513053894 + ], + "joints": [ + 0.008254186250269413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025241488590836525, + -0.012762000784277916, + -0.13502413034439087 + ], + "orientation": [ + 0.6812340021133423, + 0.5697319507598877, + 0.2785014808177948, + 0.36573588848114014 + ], + "joints": [ + -0.0019814244005829096 + ] + }, + "fine_grasp": { + "position": [ + 0.026653055101633072, + -0.011522751301527023, + -0.1356637328863144 + ], + "orientation": [ + 0.6898863911628723, + 0.5819944143295288, + 0.25069278478622437, + 0.349989116191864 + ], + "joints": [ + 0.0044219414703547955 + ] + }, + "final_grasp": { + "position": [ + 0.026653055101633072, + -0.011522751301527023, + -0.1356637328863144 + ], + "orientation": [ + 0.6898863911628723, + 0.5819944143295288, + 0.25069278478622437, + 0.349989116191864 + ], + "joints": [ + 0.010825307108461857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025141766294836998, + 0.1175958514213562, + 0.026410134509205818 + ], + "orientation": [ + 0.08957666158676147, + -0.9906875491142273, + 0.08997832983732224, + 0.04917563498020172 + ], + "joints": [ + 0.0012616300955414772 + ] + }, + "fine_grasp": { + "position": [ + 0.02510996349155903, + 0.11688963323831558, + 0.025264102965593338 + ], + "orientation": [ + 0.1052720695734024, + -0.9882993698120117, + 0.09070312231779099, + 0.06288975477218628 + ], + "joints": [ + 0.006150505971163511 + ] + }, + "final_grasp": { + "position": [ + 0.02510996349155903, + 0.11688963323831558, + 0.025264102965593338 + ], + "orientation": [ + 0.1052720695734024, + -0.9882993698120117, + 0.09070312231779099, + 0.06288975477218628 + ], + "joints": [ + 0.011039381846785545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02594454027712345, + -0.01588009111583233, + 0.11770381778478622 + ], + "orientation": [ + 0.7027074694633484, + -0.5462185144424438, + 0.2705109119415283, + -0.3669758439064026 + ], + "joints": [ + -0.00447295606136322 + ] + }, + "fine_grasp": { + "position": [ + -0.023868001997470856, + -0.014536507427692413, + 0.11249537020921707 + ], + "orientation": [ + 0.7095073461532593, + -0.5394870638847351, + 0.2635737359523773, + -0.36889293789863586 + ], + "joints": [ + 0.0013990103034302592 + ] + }, + "final_grasp": { + "position": [ + -0.023868001997470856, + -0.014536507427692413, + 0.11249537020921707 + ], + "orientation": [ + 0.7095073461532593, + -0.5394870638847351, + 0.2635737359523773, + -0.36889293789863586 + ], + "joints": [ + 0.007270976901054382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0777963399887085, + -0.07545090466737747, + 0.042336899787187576 + ], + "orientation": [ + 0.8906015157699585, + -0.2107301950454712, + 0.11675684154033661, + -0.385732501745224 + ], + "joints": [ + -0.0030552614480257034 + ] + }, + "fine_grasp": { + "position": [ + -0.07529984414577484, + -0.07412757724523544, + 0.039781466126441956 + ], + "orientation": [ + 0.8886918425559998, + -0.21964484453201294, + 0.12737439572811127, + -0.3817833364009857 + ], + "joints": [ + 0.004384333733469248 + ] + }, + "final_grasp": { + "position": [ + -0.07529984414577484, + -0.07412757724523544, + 0.039781466126441956 + ], + "orientation": [ + 0.8886918425559998, + -0.21964484453201294, + 0.12737439572811127, + -0.3817833364009857 + ], + "joints": [ + 0.011823928914964199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006217403337359428, + -0.00822183582931757, + -0.13216473162174225 + ], + "orientation": [ + 0.6955453753471375, + 0.5966288447380066, + 0.26739829778671265, + 0.2979072630405426 + ], + "joints": [ + -0.002576937200501561 + ] + }, + "fine_grasp": { + "position": [ + 0.007570681627839804, + -0.010700398124754429, + -0.13636575639247894 + ], + "orientation": [ + 0.6890491247177124, + 0.6077268123626709, + 0.2695995569229126, + 0.2884367108345032 + ], + "joints": [ + 0.004331258591264486 + ] + }, + "final_grasp": { + "position": [ + 0.007570681627839804, + -0.010700398124754429, + -0.13636575639247894 + ], + "orientation": [ + 0.6890491247177124, + 0.6077268123626709, + 0.2695995569229126, + 0.2884367108345032 + ], + "joints": [ + 0.01123945415019989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10124698281288147, + -0.03742469102144241, + 0.016403352841734886 + ], + "orientation": [ + 0.7946368455886841, + -0.05532996356487274, + 0.18848124146461487, + -0.574426531791687 + ], + "joints": [ + -0.0025092584546655416 + ] + }, + "fine_grasp": { + "position": [ + -0.10279963910579681, + -0.03783264756202698, + 0.015706069767475128 + ], + "orientation": [ + 0.7921102643013, + -0.05892209708690643, + 0.19419600069522858, + -0.5756538510322571 + ], + "joints": [ + 0.0029110172763466835 + ] + }, + "final_grasp": { + "position": [ + -0.10279963910579681, + -0.03783264756202698, + 0.015706069767475128 + ], + "orientation": [ + 0.7921102643013, + -0.05892209708690643, + 0.19419600069522858, + -0.5756538510322571 + ], + "joints": [ + 0.008331293240189552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10110624879598618, + -0.03694198653101921, + 0.016564173623919487 + ], + "orientation": [ + 0.7933130264282227, + -0.055690743029117584, + 0.18903033435344696, + -0.576038658618927 + ], + "joints": [ + -0.002497113309800625 + ] + }, + "fine_grasp": { + "position": [ + -0.10262029618024826, + -0.03738842532038689, + 0.015930239111185074 + ], + "orientation": [ + 0.7908835411071777, + -0.05932991951704025, + 0.19479802250862122, + -0.5770934820175171 + ], + "joints": [ + 0.0029231621883809566 + ] + }, + "final_grasp": { + "position": [ + -0.10262029618024826, + -0.03738842532038689, + 0.015930239111185074 + ], + "orientation": [ + 0.7908835411071777, + -0.05932991951704025, + 0.19479802250862122, + -0.5770934820175171 + ], + "joints": [ + 0.008343437686562538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018971342593431473, + 0.015435113571584225, + -0.13742966949939728 + ], + "orientation": [ + 0.07727258652448654, + -0.030639247968792915, + 0.6566416621208191, + 0.7496078610420227 + ], + "joints": [ + -0.0027374031487852335 + ] + }, + "fine_grasp": { + "position": [ + 0.020069727674126625, + 0.014683459885418415, + -0.13671983778476715 + ], + "orientation": [ + 0.11472555994987488, + 0.0010248968610540032, + 0.6517825126647949, + 0.7496776580810547 + ], + "joints": [ + 0.0036659627221524715 + ] + }, + "final_grasp": { + "position": [ + 0.020069727674126625, + 0.014683459885418415, + -0.13671983778476715 + ], + "orientation": [ + 0.11472555994987488, + 0.0010248968610540032, + 0.6517825126647949, + 0.7496776580810547 + ], + "joints": [ + 0.010069328360259533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03814566880464554, + -0.12028933316469193, + 0.00024035587557591498 + ], + "orientation": [ + 0.9790083169937134, + -0.015023536048829556, + 0.11597774922847748, + -0.16693180799484253 + ], + "joints": [ + -0.002808776218444109 + ] + }, + "fine_grasp": { + "position": [ + -0.0389937162399292, + -0.11752982437610626, + -0.002229787642136216 + ], + "orientation": [ + 0.977552592754364, + -0.03423833101987839, + 0.12682147324085236, + -0.1647268831729889 + ], + "joints": [ + 0.0025849295780062675 + ] + }, + "final_grasp": { + "position": [ + -0.0389937162399292, + -0.11752982437610626, + -0.002229787642136216 + ], + "orientation": [ + 0.977552592754364, + -0.03423833101987839, + 0.12682147324085236, + -0.1647268831729889 + ], + "joints": [ + 0.007978634908795357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01127590797841549, + 0.014257288537919521, + -0.12940740585327148 + ], + "orientation": [ + 0.6044043898582458, + 0.6237169504165649, + -0.28681114315986633, + -0.40424224734306335 + ], + "joints": [ + -0.003071761690080166 + ] + }, + "fine_grasp": { + "position": [ + -0.010491056367754936, + 0.01472877524793148, + -0.12347810715436935 + ], + "orientation": [ + 0.6092114448547363, + 0.6190913319587708, + -0.27585142850875854, + -0.4116956889629364 + ], + "joints": [ + 0.0033050342462956905 + ] + }, + "final_grasp": { + "position": [ + -0.010491056367754936, + 0.01472877524793148, + -0.12347810715436935 + ], + "orientation": [ + 0.6092114448547363, + 0.6190913319587708, + -0.27585142850875854, + -0.4116956889629364 + ], + "joints": [ + 0.009681830182671547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048585329204797745, + -0.047329049557447433, + -0.11507464945316315 + ], + "orientation": [ + 0.255648672580719, + 0.3793027400970459, + -0.7946741580963135, + -0.3990817964076996 + ], + "joints": [ + -0.0027093857061117887 + ] + }, + "fine_grasp": { + "position": [ + 0.046721719205379486, + -0.04867614805698395, + -0.11760403215885162 + ], + "orientation": [ + 0.2428809553384781, + 0.373639315366745, + -0.8049604892730713, + -0.3917157053947449 + ], + "joints": [ + 0.0036939801648259163 + ] + }, + "final_grasp": { + "position": [ + 0.046721719205379486, + -0.04867614805698395, + -0.11760403215885162 + ], + "orientation": [ + 0.2428809553384781, + 0.373639315366745, + -0.8049604892730713, + -0.3917157053947449 + ], + "joints": [ + 0.010097346268594265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0010818347800523043, + 0.015078487806022167, + -0.13830728828907013 + ], + "orientation": [ + 0.5682518482208252, + 0.6758736968040466, + 0.3197295367717743, + 0.343595027923584 + ], + "joints": [ + -0.0026031758170574903 + ] + }, + "fine_grasp": { + "position": [ + 0.00049942871555686, + 0.01587359793484211, + -0.13751566410064697 + ], + "orientation": [ + 0.573992133140564, + 0.6857501864433289, + 0.30400606989860535, + 0.32842040061950684 + ], + "joints": [ + 0.004305019974708557 + ] + }, + "final_grasp": { + "position": [ + 0.00049942871555686, + 0.01587359793484211, + -0.13751566410064697 + ], + "orientation": [ + 0.573992133140564, + 0.6857501864433289, + 0.30400606989860535, + 0.32842040061950684 + ], + "joints": [ + 0.011213215999305248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10108808428049088, + 0.06572749465703964, + 0.019987594336271286 + ], + "orientation": [ + 0.2766524851322174, + 0.5833982825279236, + 0.36837640404701233, + -0.668886125087738 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.09992577135562897, + 0.0667685717344284, + 0.023099923506379128 + ], + "orientation": [ + 0.2698546350002289, + 0.5761322975158691, + 0.3809720277786255, + -0.670902669429779 + ], + "joints": [ + -0.005298782140016556 + ] + }, + "final_grasp": { + "position": [ + -0.09992577135562897, + 0.0667685717344284, + 0.023099923506379128 + ], + "orientation": [ + 0.2698546350002289, + 0.5761322975158691, + 0.3809720277786255, + -0.670902669429779 + ], + "joints": [ + 0.0005997531116008759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10073981434106827, + 0.06626849621534348, + 0.020058004185557365 + ], + "orientation": [ + 0.2780506908893585, + 0.579698920249939, + 0.3657143712043762, + -0.6729709506034851 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.09951423108577728, + 0.06726830452680588, + 0.023293204605579376 + ], + "orientation": [ + 0.2668220102787018, + 0.5757011771202087, + 0.37764665484428406, + -0.6743567585945129 + ], + "joints": [ + -0.004793952219188213 + ] + }, + "final_grasp": { + "position": [ + -0.09951423108577728, + 0.06726830452680588, + 0.023293204605579376 + ], + "orientation": [ + 0.2668220102787018, + 0.5757011771202087, + 0.37764665484428406, + -0.6743567585945129 + ], + "joints": [ + 0.0016094129532575607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06092289090156555, + -0.10429346561431885, + -0.0638723373413086 + ], + "orientation": [ + 0.10396374017000198, + -0.22984661161899567, + -0.9377947449684143, + -0.23854319751262665 + ], + "joints": [ + -0.004157956689596176 + ] + }, + "fine_grasp": { + "position": [ + -0.05888606607913971, + -0.09933280199766159, + -0.06360340118408203 + ], + "orientation": [ + 0.10660655796527863, + -0.22825966775417328, + -0.9407035708427429, + -0.22717687487602234 + ], + "joints": [ + 0.00330820819362998 + ] + }, + "final_grasp": { + "position": [ + -0.05888606607913971, + -0.09933280199766159, + -0.06360340118408203 + ], + "orientation": [ + 0.10660655796527863, + -0.22825966775417328, + -0.9407035708427429, + -0.22717687487602234 + ], + "joints": [ + 0.010774373076856136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03449190407991409, + 0.03940910845994949, + -0.12727046012878418 + ], + "orientation": [ + 0.35748642683029175, + 0.2985515296459198, + 0.465695321559906, + 0.7524614930152893 + ], + "joints": [ + -0.00214886455796659 + ] + }, + "fine_grasp": { + "position": [ + 0.03225681185722351, + 0.04174914211034775, + -0.12603023648262024 + ], + "orientation": [ + 0.3457825779914856, + 0.2890734374523163, + 0.4652636647224426, + 0.7618403434753418 + ], + "joints": [ + 0.0037231016904115677 + ] + }, + "final_grasp": { + "position": [ + 0.03225681185722351, + 0.04174914211034775, + -0.12603023648262024 + ], + "orientation": [ + 0.3457825779914856, + 0.2890734374523163, + 0.4652636647224426, + 0.7618403434753418 + ], + "joints": [ + 0.009595068171620369 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09856121987104416, + 0.06701885163784027, + -0.04655468091368675 + ], + "orientation": [ + 0.15473195910453796, + 0.8704695105552673, + -0.46287801861763, + -0.0639132633805275 + ], + "joints": [ + -0.002252310048788786 + ] + }, + "fine_grasp": { + "position": [ + 0.0981203243136406, + 0.0691697746515274, + -0.04749703034758568 + ], + "orientation": [ + 0.15292353928089142, + 0.8743280172348022, + -0.4577295184135437, + -0.05146392807364464 + ], + "joints": [ + 0.0041244858875870705 + ] + }, + "final_grasp": { + "position": [ + 0.0981203243136406, + 0.0691697746515274, + -0.04749703034758568 + ], + "orientation": [ + 0.15292353928089142, + 0.8743280172348022, + -0.4577295184135437, + -0.05146392807364464 + ], + "joints": [ + 0.010501282289624214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015159103088080883, + 0.11867237836122513, + 0.02421482652425766 + ], + "orientation": [ + 0.13601194322109222, + -0.7005590796470642, + -0.010641833767294884, + 0.7004316449165344 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.016802174970507622, + 0.1186370775103569, + 0.026833677664399147 + ], + "orientation": [ + 0.14360609650611877, + -0.6986920237541199, + -0.025561582297086716, + 0.7003952860832214 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.016802174970507622, + 0.1186370775103569, + 0.026833677664399147 + ], + "orientation": [ + 0.14360609650611877, + -0.6986920237541199, + -0.025561582297086716, + 0.7003952860832214 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01773044653236866, + 0.02374918758869171, + -0.1326397955417633 + ], + "orientation": [ + 0.35501575469970703, + 0.3142695426940918, + 0.5099282264709473, + 0.717754602432251 + ], + "joints": [ + -0.0022583813406527042 + ] + }, + "fine_grasp": { + "position": [ + 0.017584776505827904, + 0.026067985221743584, + -0.13302285969257355 + ], + "orientation": [ + 0.3360408544540405, + 0.3070090413093567, + 0.5118937492370605, + 0.7285510897636414 + ], + "joints": [ + 0.0031087547540664673 + ] + }, + "final_grasp": { + "position": [ + 0.017584776505827904, + 0.026067985221743584, + -0.13302285969257355 + ], + "orientation": [ + 0.3360408544540405, + 0.3070090413093567, + 0.5118937492370605, + 0.7285510897636414 + ], + "joints": [ + 0.008475890383124352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015113310888409615, + 0.11868219077587128, + 0.02419297583401203 + ], + "orientation": [ + 0.1358523964881897, + -0.7004884481430054, + -0.010710356757044792, + 0.700532078742981 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.01675848662853241, + 0.1186429038643837, + 0.026821263134479523 + ], + "orientation": [ + 0.14343664050102234, + -0.6986678838729858, + -0.025647107511758804, + 0.7004508376121521 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.01675848662853241, + 0.1186429038643837, + 0.026821263134479523 + ], + "orientation": [ + 0.14343664050102234, + -0.6986678838729858, + -0.025647107511758804, + 0.7004508376121521 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0883895754814148, + -0.06689992547035217, + -0.05768214538693428 + ], + "orientation": [ + 0.8818788528442383, + 0.11546226590871811, + -0.10032341629266739, + -0.4459746778011322 + ], + "joints": [ + -0.002216001972556114 + ] + }, + "fine_grasp": { + "position": [ + -0.08986775577068329, + -0.06965231895446777, + -0.05638909712433815 + ], + "orientation": [ + 0.8827772736549377, + 0.11558933556079865, + -0.11632540822029114, + -0.4402404725551605 + ], + "joints": [ + 0.0036293943412601948 + ] + }, + "final_grasp": { + "position": [ + -0.08986775577068329, + -0.06965231895446777, + -0.05638909712433815 + ], + "orientation": [ + 0.8827772736549377, + 0.11558933556079865, + -0.11632540822029114, + -0.4402404725551605 + ], + "joints": [ + 0.009474790655076504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09718113392591476, + -0.0630057230591774, + 0.0004962104139849544 + ], + "orientation": [ + 0.8758249878883362, + -0.046355921775102615, + -0.04358496516942978, + 0.4784160852432251 + ], + "joints": [ + -0.0019478790927678347 + ] + }, + "fine_grasp": { + "position": [ + 0.098680779337883, + -0.06583695858716965, + 0.001212393632158637 + ], + "orientation": [ + 0.8789854645729065, + -0.03816235810518265, + -0.05441931635141373, + 0.4721934497356415 + ], + "joints": [ + 0.003392687300220132 + ] + }, + "final_grasp": { + "position": [ + 0.098680779337883, + -0.06583695858716965, + 0.001212393632158637 + ], + "orientation": [ + 0.8789854645729065, + -0.03816235810518265, + -0.05441931635141373, + 0.4721934497356415 + ], + "joints": [ + 0.008733253926038742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06199059262871742, + -0.02178666554391384, + 0.12091483175754547 + ], + "orientation": [ + 0.17641650140285492, + -0.44740211963653564, + 0.756690502166748, + -0.4428635239601135 + ], + "joints": [ + 0.0032585186418145895 + ] + }, + "fine_grasp": { + "position": [ + 0.06070515513420105, + -0.02036387100815773, + 0.11755115538835526 + ], + "orientation": [ + 0.17405153810977936, + -0.4471227824687958, + 0.755981981754303, + -0.4452848732471466 + ], + "joints": [ + 0.009183626621961594 + ] + }, + "final_grasp": { + "position": [ + 0.06070515513420105, + -0.02036387100815773, + 0.11755115538835526 + ], + "orientation": [ + 0.17405153810977936, + -0.4471227824687958, + 0.755981981754303, + -0.4452848732471466 + ], + "joints": [ + 0.015108734369277954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025403738021850586, + -0.012428737245500088, + -0.13529743254184723 + ], + "orientation": [ + 0.6816189885139465, + 0.5711814165115356, + 0.2754552662372589, + 0.36506396532058716 + ], + "joints": [ + -0.0019721894059330225 + ] + }, + "fine_grasp": { + "position": [ + 0.02572045661509037, + -0.011000803671777248, + -0.13560084998607635 + ], + "orientation": [ + 0.6928088665008545, + 0.5814047455787659, + 0.24543094635009766, + 0.3489239513874054 + ], + "joints": [ + 0.0044046067632734776 + ] + }, + "final_grasp": { + "position": [ + 0.02572045661509037, + -0.011000803671777248, + -0.13560084998607635 + ], + "orientation": [ + 0.6928088665008545, + 0.5814047455787659, + 0.24543094635009766, + 0.3489239513874054 + ], + "joints": [ + 0.010781402699649334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01500176265835762, + 0.06633070111274719, + -0.11203564703464508 + ], + "orientation": [ + 0.05858386307954788, + -0.02605140209197998, + 0.4768040180206299, + 0.8766683340072632 + ], + "joints": [ + -0.0017579174600541592 + ] + }, + "fine_grasp": { + "position": [ + 0.01872791163623333, + 0.0660838782787323, + -0.11314849555492401 + ], + "orientation": [ + 0.08903908729553223, + -0.0050994157791137695, + 0.4653068780899048, + 0.8806449770927429 + ], + "joints": [ + 0.0035826489329338074 + ] + }, + "final_grasp": { + "position": [ + 0.01872791163623333, + 0.0660838782787323, + -0.11314849555492401 + ], + "orientation": [ + 0.08903908729553223, + -0.0050994157791137695, + 0.4653068780899048, + 0.8806449770927429 + ], + "joints": [ + 0.008923215791583061 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004782367963343859, + 0.0026345462538301945, + 0.12299259752035141 + ], + "orientation": [ + 0.5865518450737, + -0.61015385389328, + -0.3830638825893402, + 0.3700423240661621 + ], + "joints": [ + -0.004294229671359062 + ] + }, + "fine_grasp": { + "position": [ + -0.004837126471102238, + 0.002713557332754135, + 0.11707795411348343 + ], + "orientation": [ + 0.5863832831382751, + -0.6064091324806213, + -0.3849794268608093, + 0.37445107102394104 + ], + "joints": [ + 0.001046336954459548 + ] + }, + "final_grasp": { + "position": [ + -0.004837126471102238, + 0.002713557332754135, + 0.11707795411348343 + ], + "orientation": [ + 0.5863832831382751, + -0.6064091324806213, + -0.3849794268608093, + 0.37445107102394104 + ], + "joints": [ + 0.006386903580278158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07488612830638885, + -0.07711493968963623, + -0.08217049390077591 + ], + "orientation": [ + 0.8631938099861145, + 0.10752866417169571, + -0.2586299777030945, + -0.4200531840324402 + ], + "joints": [ + -0.0018153907731175423 + ] + }, + "fine_grasp": { + "position": [ + -0.07393302023410797, + -0.07554023712873459, + -0.07899551093578339 + ], + "orientation": [ + 0.8675680756568909, + 0.1236753761768341, + -0.25350305438041687, + -0.40959277749061584 + ], + "joints": [ + 0.0024889460764825344 + ] + }, + "final_grasp": { + "position": [ + -0.07393302023410797, + -0.07554023712873459, + -0.07899551093578339 + ], + "orientation": [ + 0.8675680756568909, + 0.1236753761768341, + -0.25350305438041687, + -0.40959277749061584 + ], + "joints": [ + 0.006793282926082611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014019818045198917, + 0.11555583775043488, + 0.0200701542198658 + ], + "orientation": [ + 0.1342027634382248, + -0.9885475039482117, + 0.053243085741996765, + 0.04391534999012947 + ], + "joints": [ + -0.0030346368439495564 + ] + }, + "fine_grasp": { + "position": [ + 0.01688232086598873, + 0.11515805125236511, + 0.019832968711853027 + ], + "orientation": [ + 0.12573808431625366, + -0.9890540242195129, + 0.06947357952594757, + 0.03369775414466858 + ], + "joints": [ + 0.003368728794157505 + ] + }, + "final_grasp": { + "position": [ + 0.01688232086598873, + 0.11515805125236511, + 0.019832968711853027 + ], + "orientation": [ + 0.12573808431625366, + -0.9890540242195129, + 0.06947357952594757, + 0.03369775414466858 + ], + "joints": [ + 0.009772093966603279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02174215391278267, + 0.01698959805071354, + -0.13029882311820984 + ], + "orientation": [ + 0.5876022577285767, + 0.7037403583526611, + -0.3146306276321411, + -0.24592822790145874 + ], + "joints": [ + -0.0028450596146285534 + ] + }, + "fine_grasp": { + "position": [ + 0.022693324834108353, + 0.01712111011147499, + -0.12782473862171173 + ], + "orientation": [ + 0.5930658578872681, + 0.6908948421478271, + -0.321087121963501, + -0.26046133041381836 + ], + "joints": [ + 0.002495506778359413 + ] + }, + "final_grasp": { + "position": [ + 0.022693324834108353, + 0.01712111011147499, + -0.12782473862171173 + ], + "orientation": [ + 0.5930658578872681, + 0.6908948421478271, + -0.321087121963501, + -0.26046133041381836 + ], + "joints": [ + 0.007836073637008667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10309202969074249, + -0.07027733325958252, + -0.02821306884288788 + ], + "orientation": [ + 0.0413680300116539, + 0.46761515736579895, + -0.8827033638954163, + -0.021436026319861412 + ], + "joints": [ + -0.004059961996972561 + ] + }, + "fine_grasp": { + "position": [ + 0.09828056395053864, + -0.06830592453479767, + -0.02764972671866417 + ], + "orientation": [ + 0.05049949884414673, + 0.46106547117233276, + -0.8857664465904236, + -0.016914494335651398 + ], + "joints": [ + 0.00441586272791028 + ] + }, + "final_grasp": { + "position": [ + 0.09828056395053864, + -0.06830592453479767, + -0.02764972671866417 + ], + "orientation": [ + 0.05049949884414673, + 0.46106547117233276, + -0.8857664465904236, + -0.016914494335651398 + ], + "joints": [ + 0.012891687452793121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004718915559351444, + 0.0023169280029833317, + 0.12342984974384308 + ], + "orientation": [ + 0.5867629051208496, + -0.6128877997398376, + -0.382097065448761, + 0.3661690056324005 + ], + "joints": [ + -0.004566445015370846 + ] + }, + "fine_grasp": { + "position": [ + -0.004138370975852013, + 0.002121065044775605, + 0.11756180226802826 + ], + "orientation": [ + 0.582378625869751, + -0.6134594678878784, + -0.38612404465675354, + 0.3679821193218231 + ], + "joints": [ + 0.0013055213494226336 + ] + }, + "final_grasp": { + "position": [ + -0.004138370975852013, + 0.002121065044775605, + 0.11756180226802826 + ], + "orientation": [ + 0.582378625869751, + -0.6134594678878784, + -0.38612404465675354, + 0.3679821193218231 + ], + "joints": [ + 0.007177487947046757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08624661713838577, + 0.09113891422748566, + -0.06729879230260849 + ], + "orientation": [ + 0.3996674120426178, + 0.19913652539253235, + -0.06627458333969116, + -0.8923107385635376 + ], + "joints": [ + -0.0028968309052288532 + ] + }, + "fine_grasp": { + "position": [ + -0.08241608738899231, + 0.08796516060829163, + -0.06487072259187698 + ], + "orientation": [ + 0.3957020342350006, + 0.20027565956115723, + -0.06823542714118958, + -0.8936741948127747 + ], + "joints": [ + 0.0029485654085874557 + ] + }, + "final_grasp": { + "position": [ + -0.08241608738899231, + 0.08796516060829163, + -0.06487072259187698 + ], + "orientation": [ + 0.3957020342350006, + 0.20027565956115723, + -0.06823542714118958, + -0.8936741948127747 + ], + "joints": [ + 0.008793961256742477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09735581278800964, + -0.062206100672483444, + -6.338488310575485e-05 + ], + "orientation": [ + 0.8755944967269897, + -0.06211676448583603, + -0.018464354798197746, + 0.47868025302886963 + ], + "joints": [ + -0.0020244598854333162 + ] + }, + "fine_grasp": { + "position": [ + 0.09660956263542175, + -0.06317169964313507, + -0.0014601709553971887 + ], + "orientation": [ + 0.8778495788574219, + -0.08440966159105301, + 0.004990855697542429, + 0.4714130163192749 + ], + "joints": [ + 0.004378905985504389 + ] + }, + "final_grasp": { + "position": [ + 0.09660956263542175, + -0.06317169964313507, + -0.0014601709553971887 + ], + "orientation": [ + 0.8778495788574219, + -0.08440966159105301, + 0.004990855697542429, + 0.4714130163192749 + ], + "joints": [ + 0.01078227162361145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015468798577785492, + -0.00377761316485703, + 0.13892216980457306 + ], + "orientation": [ + 0.2537607252597809, + -0.33000147342681885, + 0.6835151314735413, + -0.599592924118042 + ], + "joints": [ + 0.002508872654289007 + ] + }, + "fine_grasp": { + "position": [ + 0.01548242848366499, + -0.0046840147115290165, + 0.13639461994171143 + ], + "orientation": [ + 0.25399330258369446, + -0.3250015377998352, + 0.6809598207473755, + -0.6051076054573059 + ], + "joints": [ + 0.007876010611653328 + ] + }, + "final_grasp": { + "position": [ + 0.01548242848366499, + -0.0046840147115290165, + 0.13639461994171143 + ], + "orientation": [ + 0.25399330258369446, + -0.3250015377998352, + 0.6809598207473755, + -0.6051076054573059 + ], + "joints": [ + 0.013243148103356361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014805052429437637, + -0.12127386778593063, + -0.0032615328673273325 + ], + "orientation": [ + 0.7690262794494629, + -0.014281576499342918, + 0.6381535530090332, + 0.03398113697767258 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.01378608401864767, + -0.12507395446300507, + -0.0015393828507512808 + ], + "orientation": [ + 0.7803026437759399, + -0.02191648632287979, + 0.6241340637207031, + 0.033224765211343765 + ], + "joints": [ + -0.007007798179984093 + ] + }, + "final_grasp": { + "position": [ + 0.01378608401864767, + -0.12507395446300507, + -0.0015393828507512808 + ], + "orientation": [ + 0.7803026437759399, + -0.02191648632287979, + 0.6241340637207031, + 0.033224765211343765 + ], + "joints": [ + -0.0016406625509262085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04366304352879524, + 0.02852964773774147, + -0.14270585775375366 + ], + "orientation": [ + 0.6089476346969604, + 0.7755767107009888, + -0.1099470928311348, + 0.12480130046606064 + ], + "joints": [ + -0.00481549184769392 + ] + }, + "fine_grasp": { + "position": [ + 0.04196297377347946, + 0.026356611400842667, + -0.13830532133579254 + ], + "orientation": [ + 0.5990679264068604, + 0.7830795049667358, + -0.1086801141500473, + 0.12685677409172058 + ], + "joints": [ + 0.0020927037112414837 + ] + }, + "final_grasp": { + "position": [ + 0.04196297377347946, + 0.026356611400842667, + -0.13830532133579254 + ], + "orientation": [ + 0.5990679264068604, + 0.7830795049667358, + -0.1086801141500473, + 0.12685677409172058 + ], + "joints": [ + 0.009000899270176888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09015204012393951, + 0.06206696480512619, + 0.02877919189631939 + ], + "orientation": [ + 0.46267175674438477, + -0.1192043200135231, + -0.15316623449325562, + 0.8650232553482056 + ], + "joints": [ + -0.0029145912267267704 + ] + }, + "fine_grasp": { + "position": [ + 0.08897984027862549, + 0.06324762850999832, + 0.027305051684379578 + ], + "orientation": [ + 0.45324692130088806, + -0.13769760727882385, + -0.15690001845359802, + 0.8665962219238281 + ], + "joints": [ + 0.004551573656499386 + ] + }, + "final_grasp": { + "position": [ + 0.08897984027862549, + 0.06324762850999832, + 0.027305051684379578 + ], + "orientation": [ + 0.45324692130088806, + -0.13769760727882385, + -0.15690001845359802, + 0.8665962219238281 + ], + "joints": [ + 0.012017738074064255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08590696007013321, + 0.09129554778337479, + -0.06753901392221451 + ], + "orientation": [ + 0.3978672921657562, + 0.19936421513557434, + -0.0693286582827568, + -0.8928320407867432 + ], + "joints": [ + -0.003456199076026678 + ] + }, + "fine_grasp": { + "position": [ + -0.08208812028169632, + 0.08809338510036469, + -0.06509020179510117 + ], + "orientation": [ + 0.39351004362106323, + 0.19908581674098969, + -0.07161272317171097, + -0.8946430683135986 + ], + "joints": [ + 0.0029205968603491783 + ] + }, + "final_grasp": { + "position": [ + -0.08208812028169632, + 0.08809338510036469, + -0.06509020179510117 + ], + "orientation": [ + 0.39351004362106323, + 0.19908581674098969, + -0.07161272317171097, + -0.8946430683135986 + ], + "joints": [ + 0.009297393262386322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0838756114244461, + 0.0953957810997963, + 0.0024708847049623728 + ], + "orientation": [ + 0.04363630339503288, + -0.9107523560523987, + -0.3513743579387665, + 0.2125137746334076 + ], + "joints": [ + -0.002769039012491703 + ] + }, + "fine_grasp": { + "position": [ + -0.08646529167890549, + 0.09587278962135315, + 0.0036677021998912096 + ], + "orientation": [ + 0.05115953087806702, + -0.9090778231620789, + -0.3559472858905792, + 0.21038496494293213 + ], + "joints": [ + 0.004697125870734453 + ] + }, + "final_grasp": { + "position": [ + -0.08646529167890549, + 0.09587278962135315, + 0.0036677021998912096 + ], + "orientation": [ + 0.05115953087806702, + -0.9090778231620789, + -0.3559472858905792, + 0.21038496494293213 + ], + "joints": [ + 0.01216329075396061 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0958770290017128, + -0.05704513192176819, + 0.024346208199858665 + ], + "orientation": [ + 0.06210707500576973, + -0.48067277669906616, + 0.8603845238685608, + -0.15759073197841644 + ], + "joints": [ + -0.0029530958272516727 + ] + }, + "fine_grasp": { + "position": [ + 0.095842145383358, + -0.05771421268582344, + 0.022502068430185318 + ], + "orientation": [ + 0.04087214544415474, + -0.4724820852279663, + 0.8617427349090576, + -0.1802484095096588 + ], + "joints": [ + 0.003955099731683731 + ] + }, + "final_grasp": { + "position": [ + 0.095842145383358, + -0.05771421268582344, + 0.022502068430185318 + ], + "orientation": [ + 0.04087214544415474, + -0.4724820852279663, + 0.8617427349090576, + -0.1802484095096588 + ], + "joints": [ + 0.010863294824957848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015574303455650806, + 0.11322197318077087, + 0.0183413065969944 + ], + "orientation": [ + 0.13881202042102814, + -0.9874994158744812, + 0.05955120176076889, + 0.04505285248160362 + ], + "joints": [ + -0.0026610458735376596 + ] + }, + "fine_grasp": { + "position": [ + 0.017619995400309563, + 0.11371951550245285, + 0.016600262373685837 + ], + "orientation": [ + 0.14386937022209167, + -0.9858246445655823, + 0.06834641098976135, + 0.05272691696882248 + ], + "joints": [ + 0.003210920374840498 + ] + }, + "final_grasp": { + "position": [ + 0.017619995400309563, + 0.11371951550245285, + 0.016600262373685837 + ], + "orientation": [ + 0.14386937022209167, + -0.9858246445655823, + 0.06834641098976135, + 0.05272691696882248 + ], + "joints": [ + 0.009082886390388012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.000790481804870069, + -0.01617833971977234, + -0.13720761239528656 + ], + "orientation": [ + 0.6685999035835266, + 0.5620791912078857, + -0.36058589816093445, + -0.3271373510360718 + ], + "joints": [ + -0.0022698715329170227 + ] + }, + "fine_grasp": { + "position": [ + -0.0012295361375436187, + -0.017326483502984047, + -0.13717976212501526 + ], + "orientation": [ + 0.6752750873565674, + 0.5629252195358276, + -0.35687750577926636, + -0.3158435821533203 + ], + "joints": [ + 0.003070694860070944 + ] + }, + "final_grasp": { + "position": [ + -0.0012295361375436187, + -0.017326483502984047, + -0.13717976212501526 + ], + "orientation": [ + 0.6752750873565674, + 0.5629252195358276, + -0.35687750577926636, + -0.3158435821533203 + ], + "joints": [ + 0.00841126125305891 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00019369761866983026, + 0.02667437680065632, + 0.13775232434272766 + ], + "orientation": [ + 0.6184560656547546, + -0.7695932984352112, + -0.10226848721504211, + 0.12156974524259567 + ], + "joints": [ + 0.0012777629308402538 + ] + }, + "fine_grasp": { + "position": [ + -8.676072320668027e-05, + 0.02683761902153492, + 0.13534623384475708 + ], + "orientation": [ + 0.6248367428779602, + -0.763783872127533, + -0.10372419655323029, + 0.12431671470403671 + ], + "joints": [ + 0.0071497284807264805 + ] + }, + "final_grasp": { + "position": [ + -8.676072320668027e-05, + 0.02683761902153492, + 0.13534623384475708 + ], + "orientation": [ + 0.6248367428779602, + -0.763783872127533, + -0.10372419655323029, + 0.12431671470403671 + ], + "joints": [ + 0.013021694496273994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032311148941516876, + 0.010076740756630898, + -0.1336909532546997 + ], + "orientation": [ + 0.5564355254173279, + 0.6748303771018982, + -0.4010303318500519, + -0.27231988310813904 + ], + "joints": [ + -0.0022835228592157364 + ] + }, + "fine_grasp": { + "position": [ + 0.031792230904102325, + 0.010241108015179634, + -0.13456991314888 + ], + "orientation": [ + 0.557737410068512, + 0.6784784197807312, + -0.3996761441230774, + -0.26240217685699463 + ], + "joints": [ + 0.0035884431563317776 + ] + }, + "final_grasp": { + "position": [ + 0.031792230904102325, + 0.010241108015179634, + -0.13456991314888 + ], + "orientation": [ + 0.557737410068512, + 0.6784784197807312, + -0.3996761441230774, + -0.26240217685699463 + ], + "joints": [ + 0.009460409171879292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005605822894722223, + 0.05077679082751274, + -0.1220363900065422 + ], + "orientation": [ + 0.5625212788581848, + 0.8264290690422058, + -0.018835563212633133, + 0.01516145933419466 + ], + "joints": [ + -0.0015090268570929766 + ] + }, + "fine_grasp": { + "position": [ + 0.006278637330979109, + 0.052561718970537186, + -0.12758411467075348 + ], + "orientation": [ + 0.5606842637062073, + 0.8274074196815491, + -0.026689335703849792, + 0.017829574644565582 + ], + "joints": [ + 0.004309799987822771 + ] + }, + "final_grasp": { + "position": [ + 0.006278637330979109, + 0.052561718970537186, + -0.12758411467075348 + ], + "orientation": [ + 0.5606842637062073, + 0.8274074196815491, + -0.026689335703849792, + 0.017829574644565582 + ], + "joints": [ + 0.010128626599907875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020506253466010094, + 0.015996571630239487, + -0.13908736407756805 + ], + "orientation": [ + 0.07142417877912521, + -0.04526827484369278, + 0.6596934199333191, + 0.7467623353004456 + ], + "joints": [ + -0.002768105361610651 + ] + }, + "fine_grasp": { + "position": [ + 0.020721647888422012, + 0.016246160492300987, + -0.1389523297548294 + ], + "orientation": [ + 0.09337121248245239, + -0.02434808760881424, + 0.6575596928596497, + 0.7471975684165955 + ], + "joints": [ + 0.0036352602764964104 + ] + }, + "final_grasp": { + "position": [ + 0.020721647888422012, + 0.016246160492300987, + -0.1389523297548294 + ], + "orientation": [ + 0.09337121248245239, + -0.02434808760881424, + 0.6575596928596497, + 0.7471975684165955 + ], + "joints": [ + 0.010038625448942184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012375252321362495, + 0.011945424601435661, + -0.13437524437904358 + ], + "orientation": [ + 0.5959550738334656, + 0.6359715461730957, + -0.297514945268631, + -0.3896954655647278 + ], + "joints": [ + -0.003071761690080166 + ] + }, + "fine_grasp": { + "position": [ + -0.012003151699900627, + 0.011985166929662228, + -0.13646993041038513 + ], + "orientation": [ + 0.5966377258300781, + 0.6396175622940063, + -0.29197806119918823, + -0.3868612051010132 + ], + "joints": [ + 0.002800204325467348 + ] + }, + "final_grasp": { + "position": [ + -0.012003151699900627, + 0.011985166929662228, + -0.13646993041038513 + ], + "orientation": [ + 0.5966377258300781, + 0.6396175622940063, + -0.29197806119918823, + -0.3868612051010132 + ], + "joints": [ + 0.008672170341014862 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11987291276454926, + -0.0040600174106657505, + 0.008103201165795326 + ], + "orientation": [ + 0.48064956068992615, + 0.47716447710990906, + -0.5645372271537781, + 0.47179219126701355 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.12104196846485138, + -0.0056640757247805595, + 0.011263873428106308 + ], + "orientation": [ + 0.4685939848423004, + 0.4750496745109558, + -0.5722259879112244, + 0.476764976978302 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + 0.12104196846485138, + -0.0056640757247805595, + 0.011263873428106308 + ], + "orientation": [ + 0.4685939848423004, + 0.4750496745109558, + -0.5722259879112244, + 0.476764976978302 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08184608817100525, + 0.08778971433639526, + 0.012147567234933376 + ], + "orientation": [ + 0.2134927660226822, + 0.6301709413528442, + 0.2706215977668762, + -0.6957510113716125 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.08110333234071732, + 0.08871949464082718, + 0.01538466289639473 + ], + "orientation": [ + 0.21094688773155212, + 0.6162540316581726, + 0.2795255184173584, + -0.7054060697555542 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.08110333234071732, + 0.08871949464082718, + 0.01538466289639473 + ], + "orientation": [ + 0.21094688773155212, + 0.6162540316581726, + 0.2795255184173584, + -0.7054060697555542 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08173758536577225, + 0.08788223564624786, + 0.01211404800415039 + ], + "orientation": [ + 0.21330367028713226, + 0.6299933195114136, + 0.269987016916275, + -0.6962162256240845 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.08101005852222443, + 0.08881406486034393, + 0.015354662202298641 + ], + "orientation": [ + 0.21065177023410797, + 0.6163566708564758, + 0.27900177240371704, + -0.7056119441986084 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.08101005852222443, + 0.08881406486034393, + 0.015354662202298641 + ], + "orientation": [ + 0.21065177023410797, + 0.6163566708564758, + 0.27900177240371704, + -0.7056119441986084 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006762591190636158, + 0.048322081565856934, + -0.12225625663995743 + ], + "orientation": [ + 0.5586766600608826, + 0.8287193179130554, + -0.03323638439178467, + -0.0001336628192802891 + ], + "joints": [ + -0.0018797649536281824 + ] + }, + "fine_grasp": { + "position": [ + 0.008651003241539001, + 0.04788532853126526, + -0.12720085680484772 + ], + "orientation": [ + 0.5450595021247864, + 0.8364481329917908, + -0.05460939183831215, + -0.01681012660264969 + ], + "joints": [ + 0.0034608016721904278 + ] + }, + "final_grasp": { + "position": [ + 0.008651003241539001, + 0.04788532853126526, + -0.12720085680484772 + ], + "orientation": [ + 0.5450595021247864, + 0.8364481329917908, + -0.05460939183831215, + -0.01681012660264969 + ], + "joints": [ + 0.008801368065178394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009813442826271057, + 0.01755748875439167, + -0.12851482629776 + ], + "orientation": [ + 0.28211289644241333, + 0.4033873677253723, + -0.5969955921173096, + -0.6334724426269531 + ], + "joints": [ + -0.002761862240731716 + ] + }, + "fine_grasp": { + "position": [ + 0.009621864184737206, + 0.018361616879701614, + -0.12272081524133682 + ], + "orientation": [ + 0.27527284622192383, + 0.408678263425827, + -0.6004570126533508, + -0.6298080682754517 + ], + "joints": [ + 0.003110103774815798 + ] + }, + "final_grasp": { + "position": [ + 0.009621864184737206, + 0.018361616879701614, + -0.12272081524133682 + ], + "orientation": [ + 0.27527284622192383, + 0.408678263425827, + -0.6004570126533508, + -0.6298080682754517 + ], + "joints": [ + 0.008982069790363312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0056275129318237305, + 0.002089553512632847, + -0.13153992593288422 + ], + "orientation": [ + 0.03622865676879883, + 0.0004941064980812371, + -0.6976905465126038, + -0.7154822945594788 + ], + "joints": [ + -0.002746383659541607 + ] + }, + "fine_grasp": { + "position": [ + -0.0069028460420668125, + 0.0016231790650635958, + -0.13616926968097687 + ], + "orientation": [ + 0.05970887839794159, + 0.011444458737969398, + -0.693200945854187, + -0.7181757092475891 + ], + "joints": [ + 0.003125582356005907 + ] + }, + "final_grasp": { + "position": [ + -0.0069028460420668125, + 0.0016231790650635958, + -0.13616926968097687 + ], + "orientation": [ + 0.05970887839794159, + 0.011444458737969398, + -0.693200945854187, + -0.7181757092475891 + ], + "joints": [ + 0.008997548371553421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0917794480919838, + -0.07658376544713974, + 0.036020297557115555 + ], + "orientation": [ + 0.8846340775489807, + -0.20621073246002197, + -0.0710558146238327, + 0.41212964057922363 + ], + "joints": [ + -0.005105841904878616 + ] + }, + "fine_grasp": { + "position": [ + 0.0877583771944046, + -0.07383345812559128, + 0.03294473886489868 + ], + "orientation": [ + 0.8835521936416626, + -0.21435150504112244, + -0.06955289840698242, + 0.410550057888031 + ], + "joints": [ + 0.00230718357488513 + ] + }, + "final_grasp": { + "position": [ + 0.0877583771944046, + -0.07383345812559128, + 0.03294473886489868 + ], + "orientation": [ + 0.8835521936416626, + -0.21435150504112244, + -0.06955289840698242, + 0.410550057888031 + ], + "joints": [ + 0.009720209054648876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01650487259030342, + -0.01804559864103794, + -0.1284695565700531 + ], + "orientation": [ + 0.7706842422485352, + 0.6327852010726929, + -0.03600545600056648, + 0.06581974774599075 + ], + "joints": [ + -0.0025364833418279886 + ] + }, + "fine_grasp": { + "position": [ + 0.017645739018917084, + -0.019560784101486206, + -0.1327277570962906 + ], + "orientation": [ + 0.7704957127571106, + 0.6314815282821655, + -0.027971377596259117, + 0.08237095922231674 + ], + "joints": [ + 0.003335482906550169 + ] + }, + "final_grasp": { + "position": [ + 0.017645739018917084, + -0.019560784101486206, + -0.1327277570962906 + ], + "orientation": [ + 0.7704957127571106, + 0.6314815282821655, + -0.027971377596259117, + 0.08237095922231674 + ], + "joints": [ + 0.009207448922097683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009755531325936317, + -0.11895526200532913, + 0.03397895395755768 + ], + "orientation": [ + 0.027969785034656525, + 0.03325502946972847, + 0.9934856295585632, + -0.10534710437059402 + ], + "joints": [ + 0.0029727965593338013 + ] + }, + "fine_grasp": { + "position": [ + -0.009601647965610027, + -0.12149082124233246, + 0.033698566257953644 + ], + "orientation": [ + 0.032604385167360306, + 0.03089728206396103, + 0.9920402765274048, + -0.1176363006234169 + ], + "joints": [ + 0.008366504684090614 + ] + }, + "final_grasp": { + "position": [ + -0.009601647965610027, + -0.12149082124233246, + 0.033698566257953644 + ], + "orientation": [ + 0.032604385167360306, + 0.03089728206396103, + 0.9920402765274048, + -0.1176363006234169 + ], + "joints": [ + 0.013760212808847427 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06505342572927475, + 0.10894843190908432, + 0.00722144078463316 + ], + "orientation": [ + 0.1841544657945633, + 0.6379387974739075, + 0.20620352029800415, + -0.7187498211860657 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.06458475440740585, + 0.11216292530298233, + 0.009869973175227642 + ], + "orientation": [ + 0.18948864936828613, + 0.6237993240356445, + 0.21801097691059113, + -0.726250410079956 + ], + "joints": [ + -0.005968697369098663 + ] + }, + "final_grasp": { + "position": [ + -0.06458475440740585, + 0.11216292530298233, + 0.009869973175227642 + ], + "orientation": [ + 0.18948864936828613, + 0.6237993240356445, + 0.21801097691059113, + -0.726250410079956 + ], + "joints": [ + 0.00040809810161590576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06513560563325882, + 0.10896830260753632, + 0.007210214622318745 + ], + "orientation": [ + 0.1844046711921692, + 0.6378812193870544, + 0.20631271600723267, + -0.718705415725708 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.06458095461130142, + 0.11218758672475815, + 0.00986870564520359 + ], + "orientation": [ + 0.18950612843036652, + 0.6237581968307495, + 0.2180006504058838, + -0.7262842059135437 + ], + "joints": [ + -0.005968697369098663 + ] + }, + "final_grasp": { + "position": [ + -0.06458095461130142, + 0.11218758672475815, + 0.00986870564520359 + ], + "orientation": [ + 0.18950612843036652, + 0.6237581968307495, + 0.2180006504058838, + -0.7262842059135437 + ], + "joints": [ + 0.00040809810161590576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015195982530713081, + -0.01789374090731144, + -0.12819616496562958 + ], + "orientation": [ + 0.7709206938743591, + 0.6331415772438049, + -0.035403814166784286, + 0.05966231971979141 + ], + "joints": [ + -0.0025783332530409098 + ] + }, + "fine_grasp": { + "position": [ + 0.01637132838368416, + -0.01948450691998005, + -0.1326507180929184 + ], + "orientation": [ + 0.7706075310707092, + 0.632206380367279, + -0.02746584825217724, + 0.0756610855460167 + ], + "joints": [ + 0.003293632995337248 + ] + }, + "final_grasp": { + "position": [ + 0.01637132838368416, + -0.01948450691998005, + -0.1326507180929184 + ], + "orientation": [ + 0.7706075310707092, + 0.632206380367279, + -0.02746584825217724, + 0.0756610855460167 + ], + "joints": [ + 0.009165599010884762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06924174726009369, + -0.05509177967905998, + -0.12581171095371246 + ], + "orientation": [ + 0.6508833169937134, + 0.18929144740104675, + -0.5337120890617371, + -0.5056394338607788 + ], + "joints": [ + -0.005829923786222935 + ] + }, + "fine_grasp": { + "position": [ + -0.0665782019495964, + -0.05307527258992195, + -0.1218762919306755 + ], + "orientation": [ + 0.6514264941215515, + 0.19270779192447662, + -0.5280900597572327, + -0.5095371007919312 + ], + "joints": [ + -0.0004627874295692891 + ] + }, + "final_grasp": { + "position": [ + -0.0665782019495964, + -0.05307527258992195, + -0.1218762919306755 + ], + "orientation": [ + 0.6514264941215515, + 0.19270779192447662, + -0.5280900597572327, + -0.5095371007919312 + ], + "joints": [ + 0.004904348868876696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008123088628053665, + -0.11664017289876938, + 0.03369789570569992 + ], + "orientation": [ + 0.005611604079604149, + 0.032220833003520966, + 0.9940632581710815, + -0.10377174615859985 + ], + "joints": [ + 0.003454809542745352 + ] + }, + "fine_grasp": { + "position": [ + -0.00885753147304058, + -0.1164763942360878, + 0.03184017166495323 + ], + "orientation": [ + 0.014763731509447098, + 0.03413458913564682, + 0.9921996593475342, + -0.11898140609264374 + ], + "joints": [ + 0.007307459134608507 + ] + }, + "final_grasp": { + "position": [ + -0.00885753147304058, + -0.1164763942360878, + 0.03184017166495323 + ], + "orientation": [ + 0.014763731509447098, + 0.03413458913564682, + 0.9921996593475342, + -0.11898140609264374 + ], + "joints": [ + 0.01116010919213295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011800134554505348, + 0.0007837400771677494, + 0.12108399718999863 + ], + "orientation": [ + 0.3389061391353607, + -0.3968087434768677, + 0.620973527431488, + -0.5848737359046936 + ], + "joints": [ + -0.004568574018776417 + ] + }, + "fine_grasp": { + "position": [ + 0.011069299653172493, + 0.0010153631446883082, + 0.11698601394891739 + ], + "orientation": [ + 0.3399747908115387, + -0.3996366262435913, + 0.6232635378837585, + -0.579870879650116 + ], + "joints": [ + 0.0013033923460170627 + ] + }, + "final_grasp": { + "position": [ + 0.011069299653172493, + 0.0010153631446883082, + 0.11698601394891739 + ], + "orientation": [ + 0.3399747908115387, + -0.3996366262435913, + 0.6232635378837585, + -0.579870879650116 + ], + "joints": [ + 0.007175358943641186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0093215461820364, + 0.12901173532009125, + 0.0019660391844809055 + ], + "orientation": [ + 0.0500749833881855, + -0.8195141553878784, + -0.03624661639332771, + -0.5697148442268372 + ], + "joints": [ + -0.011697802692651749 + ] + }, + "fine_grasp": { + "position": [ + -0.009565966203808784, + 0.13097557425498962, + 0.004606012720614672 + ], + "orientation": [ + 0.0654035285115242, + -0.8145917057991028, + -0.036855846643447876, + -0.575156033039093 + ], + "joints": [ + -0.004816177301108837 + ] + }, + "final_grasp": { + "position": [ + -0.009565966203808784, + 0.13097557425498962, + 0.004606012720614672 + ], + "orientation": [ + 0.0654035285115242, + -0.8145917057991028, + -0.036855846643447876, + -0.575156033039093 + ], + "joints": [ + 0.0020654480904340744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06659843772649765, + -0.03463310748338699, + -0.10833477973937988 + ], + "orientation": [ + 0.2499922811985016, + 0.466595321893692, + 0.7557908296585083, + 0.3854515850543976 + ], + "joints": [ + -0.0018151504918932915 + ] + }, + "fine_grasp": { + "position": [ + -0.06676807254552841, + -0.031091803684830666, + -0.10616094619035721 + ], + "orientation": [ + 0.25368720293045044, + 0.47836941480636597, + 0.7454277276992798, + 0.3887709677219391 + ], + "joints": [ + 0.0029940162785351276 + ] + }, + "final_grasp": { + "position": [ + -0.06676807254552841, + -0.031091803684830666, + -0.10616094619035721 + ], + "orientation": [ + 0.25368720293045044, + 0.47836941480636597, + 0.7454277276992798, + 0.3887709677219391 + ], + "joints": [ + 0.007803183048963547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06655438244342804, + -0.03466308116912842, + -0.1083606705069542 + ], + "orientation": [ + 0.24983370304107666, + 0.4663258194923401, + 0.7559480667114258, + 0.38557201623916626 + ], + "joints": [ + -0.0018151504918932915 + ] + }, + "fine_grasp": { + "position": [ + -0.06656818836927414, + -0.031146463006734848, + -0.10599780082702637 + ], + "orientation": [ + 0.2538449168205261, + 0.4777351915836334, + 0.7456614375114441, + 0.388999879360199 + ], + "joints": [ + 0.0029940162785351276 + ] + }, + "final_grasp": { + "position": [ + -0.06656818836927414, + -0.031146463006734848, + -0.10599780082702637 + ], + "orientation": [ + 0.2538449168205261, + 0.4777351915836334, + 0.7456614375114441, + 0.388999879360199 + ], + "joints": [ + 0.007803183048963547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13911789655685425, + -0.013281895779073238, + -0.004860641434788704 + ], + "orientation": [ + 0.09524229168891907, + 0.6595814228057861, + 0.7426354289054871, + -0.06613487750291824 + ], + "joints": [ + -0.0025279505643993616 + ] + }, + "fine_grasp": { + "position": [ + -0.13350524008274078, + -0.012741009704768658, + -0.004364117048680782 + ], + "orientation": [ + 0.09970607608556747, + 0.6627044081687927, + 0.7395821809768677, + -0.06244676932692528 + ], + "joints": [ + 0.004938214551657438 + ] + }, + "final_grasp": { + "position": [ + -0.13350524008274078, + -0.012741009704768658, + -0.004364117048680782 + ], + "orientation": [ + 0.09970607608556747, + 0.6627044081687927, + 0.7395821809768677, + -0.06244676932692528 + ], + "joints": [ + 0.012404379434883595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11280128359794617, + -0.03627874329686165, + -0.0024453464429825544 + ], + "orientation": [ + 0.5162339210510254, + 0.4553624391555786, + -0.6209712624549866, + 0.37488970160484314 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.11680025607347488, + -0.03771999105811119, + -0.0020437370985746384 + ], + "orientation": [ + 0.5085252523422241, + 0.45806121826171875, + -0.6276834607124329, + 0.3709384500980377 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + 0.11680025607347488, + -0.03771999105811119, + -0.0020437370985746384 + ], + "orientation": [ + 0.5085252523422241, + 0.45806121826171875, + -0.6276834607124329, + 0.3709384500980377 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009887665510177612, + 0.017141884192824364, + -0.12622575461864471 + ], + "orientation": [ + 0.2827434539794922, + 0.40325361490249634, + -0.5965436100959778, + -0.6337021589279175 + ], + "joints": [ + -0.003071761690080166 + ] + }, + "fine_grasp": { + "position": [ + 0.009579544886946678, + 0.018138054758310318, + -0.12044022977352142 + ], + "orientation": [ + 0.2762443423271179, + 0.4087386429309845, + -0.6012594103813171, + -0.6285768747329712 + ], + "joints": [ + 0.003836433868855238 + ] + }, + "final_grasp": { + "position": [ + 0.009579544886946678, + 0.018138054758310318, + -0.12044022977352142 + ], + "orientation": [ + 0.2762443423271179, + 0.4087386429309845, + -0.6012594103813171, + -0.6285768747329712 + ], + "joints": [ + 0.010744629427790642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11281479895114899, + -0.036267708986997604, + -0.0024366716388612986 + ], + "orientation": [ + 0.5162783861160278, + 0.45512500405311584, + -0.6215120553970337, + 0.37421995401382446 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.11680740863084793, + -0.03772030025720596, + -0.0020479385275393724 + ], + "orientation": [ + 0.5082494020462036, + 0.45813220739364624, + -0.6281854510307312, + 0.3703788220882416 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + 0.11680740863084793, + -0.03772030025720596, + -0.0020479385275393724 + ], + "orientation": [ + 0.5082494020462036, + 0.45813220739364624, + -0.6281854510307312, + 0.3703788220882416 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07064288854598999, + -0.09761740267276764, + 0.017001401633024216 + ], + "orientation": [ + 0.6596057415008545, + 0.18721982836723328, + 0.6646379828453064, + -0.29685908555984497 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.07275539636611938, + -0.09778299927711487, + 0.019662771373987198 + ], + "orientation": [ + 0.6612839102745056, + 0.17629782855510712, + 0.6627088189125061, + -0.30403900146484375 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.07275539636611938, + -0.09778299927711487, + 0.019662771373987198 + ], + "orientation": [ + 0.6612839102745056, + 0.17629782855510712, + 0.6627088189125061, + -0.30403900146484375 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05225222557783127, + -0.021817931905388832, + -0.12189877033233643 + ], + "orientation": [ + 0.23367217183113098, + 0.44450944662094116, + -0.733398973941803, + -0.4581863284111023 + ], + "joints": [ + -0.0027115761768072844 + ] + }, + "fine_grasp": { + "position": [ + 0.05087907984852791, + -0.017936013638973236, + -0.12250009924173355 + ], + "orientation": [ + 0.22007432579994202, + 0.45984402298927307, + -0.7349761724472046, + -0.4471249282360077 + ], + "joints": [ + 0.0031603900715708733 + ] + }, + "final_grasp": { + "position": [ + 0.05087907984852791, + -0.017936013638973236, + -0.12250009924173355 + ], + "orientation": [ + 0.22007432579994202, + 0.45984402298927307, + -0.7349761724472046, + -0.4471249282360077 + ], + "joints": [ + 0.009032356552779675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06494870781898499, + 0.1042340099811554, + 0.006299877073615789 + ], + "orientation": [ + 0.1673705279827118, + 0.6486960649490356, + 0.19095079600811005, + -0.7174388766288757 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.06297534704208374, + 0.10248634964227676, + 0.00867385882884264 + ], + "orientation": [ + 0.16079401969909668, + 0.6405806541442871, + 0.19715726375579834, + -0.7245211005210876 + ], + "joints": [ + -0.004877930507063866 + ] + }, + "final_grasp": { + "position": [ + -0.06297534704208374, + 0.10248634964227676, + 0.00867385882884264 + ], + "orientation": [ + 0.16079401969909668, + 0.6405806541442871, + 0.19715726375579834, + -0.7245211005210876 + ], + "joints": [ + 0.002030264586210251 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07657946646213531, + 0.09087802469730377, + 0.006022362504154444 + ], + "orientation": [ + 0.24650412797927856, + 0.613966166973114, + -0.2616268992424011, + 0.7027322053909302 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.07830290496349335, + 0.09366671741008759, + 0.008451380766928196 + ], + "orientation": [ + 0.2395099401473999, + 0.6069338321685791, + -0.26832669973373413, + 0.7087079286575317 + ], + "joints": [ + -0.005269341170787811 + ] + }, + "final_grasp": { + "position": [ + 0.07830290496349335, + 0.09366671741008759, + 0.008451380766928196 + ], + "orientation": [ + 0.2395099401473999, + 0.6069338321685791, + -0.26832669973373413, + 0.7087079286575317 + ], + "joints": [ + 0.0006291940808296204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06576370447874069, + -0.05652482435107231, + 0.09915157407522202 + ], + "orientation": [ + 0.1177302896976471, + -0.37003716826438904, + 0.8535251021385193, + -0.34742921590805054 + ], + "joints": [ + 0.004216853529214859 + ] + }, + "fine_grasp": { + "position": [ + 0.06430459767580032, + -0.055731501430273056, + 0.0974707081913948 + ], + "orientation": [ + 0.11980941891670227, + -0.36987027525901794, + 0.8525810241699219, + -0.3492095470428467 + ], + "joints": [ + 0.009052591398358345 + ] + }, + "final_grasp": { + "position": [ + 0.06430459767580032, + -0.055731501430273056, + 0.0974707081913948 + ], + "orientation": [ + 0.11980941891670227, + -0.36987027525901794, + 0.8525810241699219, + -0.3492095470428467 + ], + "joints": [ + 0.013888329267501831 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004126858897507191, + -0.02416088618338108, + -0.1308072954416275 + ], + "orientation": [ + 0.6487579941749573, + 0.5800553560256958, + 0.40258392691612244, + 0.2838573157787323 + ], + "joints": [ + -0.001826245803385973 + ] + }, + "fine_grasp": { + "position": [ + -0.00506596127524972, + -0.02360900305211544, + -0.1250680536031723 + ], + "orientation": [ + 0.6511302590370178, + 0.5811365842819214, + 0.40110108256340027, + 0.27825799584388733 + ], + "joints": [ + 0.002982920967042446 + ] + }, + "final_grasp": { + "position": [ + -0.00506596127524972, + -0.02360900305211544, + -0.1250680536031723 + ], + "orientation": [ + 0.6511302590370178, + 0.5811365842819214, + 0.40110108256340027, + 0.27825799584388733 + ], + "joints": [ + 0.007792087737470865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1180095225572586, + 0.027681833133101463, + 0.011411433108150959 + ], + "orientation": [ + 0.49825888872146606, + -0.5459979176521301, + 0.41950520873069763, + 0.5269153714179993 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.12020847201347351, + 0.02771771512925625, + 0.012466147541999817 + ], + "orientation": [ + 0.5041671395301819, + -0.5431910753250122, + 0.4165304899215698, + 0.5265560150146484 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.12020847201347351, + 0.02771771512925625, + 0.012466147541999817 + ], + "orientation": [ + 0.5041671395301819, + -0.5431910753250122, + 0.4165304899215698, + 0.5265560150146484 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035276856273412704, + -0.11799121648073196, + 0.04267207905650139 + ], + "orientation": [ + 0.5182241797447205, + -0.19572244584560394, + 0.8253755569458008, + -0.10904762893915176 + ], + "joints": [ + -0.01052018627524376 + ] + }, + "fine_grasp": { + "position": [ + 0.03530145436525345, + -0.11868894100189209, + 0.04288325086236 + ], + "orientation": [ + 0.5321047306060791, + -0.19389602541923523, + 0.8172839879989624, + -0.1063762903213501 + ], + "joints": [ + -0.0036119911819696426 + ] + }, + "final_grasp": { + "position": [ + 0.03530145436525345, + -0.11868894100189209, + 0.04288325086236 + ], + "orientation": [ + 0.5321047306060791, + -0.19389602541923523, + 0.8172839879989624, + -0.1063762903213501 + ], + "joints": [ + 0.003296203911304474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10824134200811386, + -0.046299275010824203, + 0.006148200482130051 + ], + "orientation": [ + 0.5886446833610535, + 0.36362555623054504, + 0.5929980874061584, + -0.4118584394454956 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.11016865819692612, + -0.04988009110093117, + 0.007994159124791622 + ], + "orientation": [ + 0.5802165269851685, + 0.36758914589881897, + 0.5901675820350647, + -0.4241807162761688 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + -0.11016865819692612, + -0.04988009110093117, + 0.007994159124791622 + ], + "orientation": [ + 0.5802165269851685, + 0.36758914589881897, + 0.5901675820350647, + -0.4241807162761688 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015881301369518042, + 0.02649010345339775, + 0.13795700669288635 + ], + "orientation": [ + 0.6177110075950623, + -0.7703391909599304, + -0.10620260238647461, + 0.1171831265091896 + ], + "joints": [ + 0.0015263056848198175 + ] + }, + "fine_grasp": { + "position": [ + -0.0015326994471251965, + 0.026121728122234344, + 0.13482818007469177 + ], + "orientation": [ + 0.6200506091117859, + -0.7680396437644958, + -0.10740872472524643, + 0.11880965530872345 + ], + "joints": [ + 0.007398271933197975 + ] + }, + "final_grasp": { + "position": [ + -0.0015326994471251965, + 0.026121728122234344, + 0.13482818007469177 + ], + "orientation": [ + 0.6200506091117859, + -0.7680396437644958, + -0.10740872472524643, + 0.11880965530872345 + ], + "joints": [ + 0.013270238414406776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004842143040150404, + -0.01378251239657402, + -0.12870194017887115 + ], + "orientation": [ + 0.7325636744499207, + 0.6802855730056763, + 0.0062658824026584625, + -0.022863727062940598 + ], + "joints": [ + -0.001730907242745161 + ] + }, + "fine_grasp": { + "position": [ + -0.006605212111026049, + -0.013511781580746174, + -0.13420557975769043 + ], + "orientation": [ + 0.7371441721916199, + 0.6746591329574585, + -0.001138329622335732, + -0.03810660541057587 + ], + "joints": [ + 0.003078259527683258 + ] + }, + "final_grasp": { + "position": [ + -0.006605212111026049, + -0.013511781580746174, + -0.13420557975769043 + ], + "orientation": [ + 0.7371441721916199, + 0.6746591329574585, + -0.001138329622335732, + -0.03810660541057587 + ], + "joints": [ + 0.007887426763772964 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005581490695476532, + 0.006907479837536812, + 0.1408512443304062 + ], + "orientation": [ + 0.6667390465736389, + -0.6833988428115845, + -0.1892637014389038, + 0.22935640811920166 + ], + "joints": [ + 0.0013652616180479527 + ] + }, + "fine_grasp": { + "position": [ + 0.005784118548035622, + 0.006508483085781336, + 0.13780859112739563 + ], + "orientation": [ + 0.6637415885925293, + -0.6863552331924438, + -0.19146700203418732, + 0.22738505899906158 + ], + "joints": [ + 0.006732397247105837 + ] + }, + "final_grasp": { + "position": [ + 0.005784118548035622, + 0.006508483085781336, + 0.13780859112739563 + ], + "orientation": [ + 0.6637415885925293, + -0.6863552331924438, + -0.19146700203418732, + 0.22738505899906158 + ], + "joints": [ + 0.012099532410502434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08209142833948135, + -0.08233139663934708, + 0.04499312862753868 + ], + "orientation": [ + 0.9162595272064209, + -0.13667230308055878, + -0.03118576481938362, + 0.37525513768196106 + ], + "joints": [ + 0.004204143304377794 + ] + }, + "fine_grasp": { + "position": [ + 0.08319564163684845, + -0.08329406380653381, + 0.04642980173230171 + ], + "orientation": [ + 0.9175694584846497, + -0.12167862802743912, + -0.03640855848789215, + 0.37674275040626526 + ], + "joints": [ + 0.009039881639182568 + ] + }, + "final_grasp": { + "position": [ + 0.08319564163684845, + -0.08329406380653381, + 0.04642980173230171 + ], + "orientation": [ + 0.9175694584846497, + -0.12167862802743912, + -0.03640855848789215, + 0.37674275040626526 + ], + "joints": [ + 0.013875620439648628 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023812737315893173, + -0.05435556918382645, + -0.13397714495658875 + ], + "orientation": [ + 0.49923527240753174, + 0.3822338581085205, + -0.674185574054718, + -0.3874727785587311 + ], + "joints": [ + -0.004403143189847469 + ] + }, + "fine_grasp": { + "position": [ + 0.022568650543689728, + -0.05231897160410881, + -0.13056787848472595 + ], + "orientation": [ + 0.49473798274993896, + 0.3879906237125397, + -0.6745609641075134, + -0.3868657946586609 + ], + "joints": [ + 0.0009374235523864627 + ] + }, + "final_grasp": { + "position": [ + 0.022568650543689728, + -0.05231897160410881, + -0.13056787848472595 + ], + "orientation": [ + 0.49473798274993896, + 0.3879906237125397, + -0.6745609641075134, + -0.3868657946586609 + ], + "joints": [ + 0.006277990527451038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006065067369490862, + 0.017554858699440956, + 0.14380799233913422 + ], + "orientation": [ + 0.4736544191837311, + -0.5268417000770569, + 0.4616858661174774, + -0.5337935090065002 + ], + "joints": [ + 0.0013563302345573902 + ] + }, + "fine_grasp": { + "position": [ + -0.0058156028389930725, + 0.017460767179727554, + 0.138739213347435 + ], + "orientation": [ + 0.47520190477371216, + -0.5251722931861877, + 0.46242547035217285, + -0.5334227681159973 + ], + "joints": [ + 0.006723465863615274 + ] + }, + "final_grasp": { + "position": [ + -0.0058156028389930725, + 0.017460767179727554, + 0.138739213347435 + ], + "orientation": [ + 0.47520190477371216, + -0.5251722931861877, + 0.46242547035217285, + -0.5334227681159973 + ], + "joints": [ + 0.012090601027011871 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010874242521822453, + -0.022305719554424286, + -0.13307397067546844 + ], + "orientation": [ + 0.4249398708343506, + 0.3196149170398712, + 0.6512354016304016, + 0.5414469242095947 + ], + "joints": [ + -0.0023432038724422455 + ] + }, + "fine_grasp": { + "position": [ + 0.010896668769419193, + -0.021885158494114876, + -0.1271580159664154 + ], + "orientation": [ + 0.42852187156677246, + 0.3241925835609436, + 0.6537355780601501, + 0.5328208208084106 + ], + "joints": [ + 0.0035021924413740635 + ] + }, + "final_grasp": { + "position": [ + 0.010896668769419193, + -0.021885158494114876, + -0.1271580159664154 + ], + "orientation": [ + 0.42852187156677246, + 0.3241925835609436, + 0.6537355780601501, + 0.5328208208084106 + ], + "joints": [ + 0.009347588755190372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023767678067088127, + -0.054255131632089615, + -0.13343875110149384 + ], + "orientation": [ + 0.5010374784469604, + 0.3808208703994751, + -0.6724103093147278, + -0.3896166980266571 + ], + "joints": [ + -0.0037926742807030678 + ] + }, + "fine_grasp": { + "position": [ + 0.02257673442363739, + -0.05248767510056496, + -0.13022290170192719 + ], + "orientation": [ + 0.49624449014663696, + 0.38630688190460205, + -0.6730261445045471, + -0.38928672671318054 + ], + "joints": [ + 0.0010430627735331655 + ] + }, + "final_grasp": { + "position": [ + 0.02257673442363739, + -0.05248767510056496, + -0.13022290170192719 + ], + "orientation": [ + 0.49624449014663696, + 0.38630688190460205, + -0.6730261445045471, + -0.38928672671318054 + ], + "joints": [ + 0.005878799594938755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07032471895217896, + -0.07396575063467026, + 0.0700395479798317 + ], + "orientation": [ + 0.13928177952766418, + -0.3767399787902832, + -0.8932310342788696, + 0.20200477540493011 + ], + "joints": [ + 0.004103415179997683 + ] + }, + "fine_grasp": { + "position": [ + -0.07003310322761536, + -0.07427500188350677, + 0.0708211287856102 + ], + "orientation": [ + 0.13511665165424347, + -0.37629663944244385, + -0.8942313194274902, + 0.20123285055160522 + ], + "joints": [ + 0.008912582881748676 + ] + }, + "final_grasp": { + "position": [ + -0.07003310322761536, + -0.07427500188350677, + 0.0708211287856102 + ], + "orientation": [ + 0.13511665165424347, + -0.37629663944244385, + -0.8942313194274902, + 0.20123285055160522 + ], + "joints": [ + 0.013721751049160957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011143280426040292, + -0.0009757939260452986, + -0.13672064244747162 + ], + "orientation": [ + 0.0147468326613307, + 0.006616286933422089, + -0.7075712084770203, + -0.7064571976661682 + ], + "joints": [ + -0.002872028388082981 + ] + }, + "fine_grasp": { + "position": [ + -0.00044291108497418463, + -0.001658713910728693, + -0.14260879158973694 + ], + "orientation": [ + 0.019686462357640266, + 0.01156526803970337, + -0.7014557719230652, + -0.7123472094535828 + ], + "joints": [ + 0.0035313372500240803 + ] + }, + "final_grasp": { + "position": [ + -0.00044291108497418463, + -0.001658713910728693, + -0.14260879158973694 + ], + "orientation": [ + 0.019686462357640266, + 0.01156526803970337, + -0.7014557719230652, + -0.7123472094535828 + ], + "joints": [ + 0.009934702888131142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0019194702617824078, + 0.00830231886357069, + 0.14452381432056427 + ], + "orientation": [ + 0.2021465003490448, + -0.19827263057231903, + -0.645561695098877, + 0.7092776894569397 + ], + "joints": [ + 0.001768546411767602 + ] + }, + "fine_grasp": { + "position": [ + 0.001959379529580474, + 0.008324791677296162, + 0.13946519792079926 + ], + "orientation": [ + 0.20098663866519928, + -0.19862349331378937, + -0.6484241485595703, + 0.7068939208984375 + ], + "joints": [ + 0.0071356832049787045 + ] + }, + "final_grasp": { + "position": [ + 0.001959379529580474, + 0.008324791677296162, + 0.13946519792079926 + ], + "orientation": [ + 0.20098663866519928, + -0.19862349331378937, + -0.6484241485595703, + 0.7068939208984375 + ], + "joints": [ + 0.01250282023102045 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07535792142152786, + -0.08514951914548874, + 0.051654037088155746 + ], + "orientation": [ + 0.003539205528795719, + 0.33936363458633423, + 0.9254041314125061, + -0.16866253316402435 + ], + "joints": [ + 0.00426761107519269 + ] + }, + "fine_grasp": { + "position": [ + -0.07696578651666641, + -0.08603284507989883, + 0.0530095100402832 + ], + "orientation": [ + 0.019488653168082237, + 0.33325648307800293, + 0.927832841873169, + -0.16639290750026703 + ], + "joints": [ + 0.009156490676105022 + ] + }, + "final_grasp": { + "position": [ + -0.07696578651666641, + -0.08603284507989883, + 0.0530095100402832 + ], + "orientation": [ + 0.019488653168082237, + 0.33325648307800293, + 0.927832841873169, + -0.16639290750026703 + ], + "joints": [ + 0.014045370742678642 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05445627123117447, + 0.11154623329639435, + -0.013791484758257866 + ], + "orientation": [ + 0.09430702030658722, + -0.6633577942848206, + -0.1466847062110901, + -0.7276992201805115 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.05229721590876579, + 0.1073756143450737, + -0.01461032684892416 + ], + "orientation": [ + 0.09201706200838089, + -0.6740303635597229, + -0.15709389746189117, + -0.71591717004776 + ], + "joints": [ + -0.005803612060844898 + ] + }, + "final_grasp": { + "position": [ + -0.05229721590876579, + 0.1073756143450737, + -0.01461032684892416 + ], + "orientation": [ + 0.09201706200838089, + -0.6740303635597229, + -0.15709389746189117, + -0.71591717004776 + ], + "joints": [ + -0.000409906730055809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054338786751031876, + 0.11104773730039597, + -0.013765116222202778 + ], + "orientation": [ + 0.09467309713363647, + -0.6644908785820007, + -0.14761406183242798, + -0.7264289259910583 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.05190574750304222, + 0.10645293444395065, + -0.014747858047485352 + ], + "orientation": [ + 0.09009186923503876, + -0.6763118505477905, + -0.16080725193023682, + -0.7131807208061218 + ], + "joints": [ + -0.005803612060844898 + ] + }, + "final_grasp": { + "position": [ + -0.05190574750304222, + 0.10645293444395065, + -0.014747858047485352 + ], + "orientation": [ + 0.09009186923503876, + -0.6763118505477905, + -0.16080725193023682, + -0.7131807208061218 + ], + "joints": [ + -0.000409906730055809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09085266292095184, + -0.0905153900384903, + 0.019302967935800552 + ], + "orientation": [ + 0.9195761680603027, + -0.13902004063129425, + 0.09128652513027191, + 0.35597747564315796 + ], + "joints": [ + -0.002921460196375847 + ] + }, + "fine_grasp": { + "position": [ + 0.08766989409923553, + -0.0875193402171135, + 0.016905182972550392 + ], + "orientation": [ + 0.918209433555603, + -0.1499653309583664, + 0.09044721722602844, + 0.3552763760089874 + ], + "joints": [ + 0.0035084751434624195 + ] + }, + "final_grasp": { + "position": [ + 0.08766989409923553, + -0.0875193402171135, + 0.016905182972550392 + ], + "orientation": [ + 0.918209433555603, + -0.1499653309583664, + 0.09044721722602844, + 0.3552763760089874 + ], + "joints": [ + 0.009938410483300686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036670148372650146, + -0.1174141988158226, + 0.037455964833498 + ], + "orientation": [ + 0.07923667877912521, + -0.1574019491672516, + 0.9804404973983765, + -0.087650366127491 + ], + "joints": [ + 0.003591689746826887 + ] + }, + "fine_grasp": { + "position": [ + 0.03530512750148773, + -0.11460515111684799, + 0.03717893734574318 + ], + "orientation": [ + 0.08274498581886292, + -0.16305983066558838, + 0.9799053072929382, + -0.07968813180923462 + ], + "joints": [ + 0.008507139980793 + ] + }, + "final_grasp": { + "position": [ + 0.03530512750148773, + -0.11460515111684799, + 0.03717893734574318 + ], + "orientation": [ + 0.08274498581886292, + -0.16305983066558838, + 0.9799053072929382, + -0.07968813180923462 + ], + "joints": [ + 0.013422589749097824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08287815004587173, + -0.07821200788021088, + 0.06205062195658684 + ], + "orientation": [ + 0.8942173719406128, + -0.16945217549800873, + -0.11642850190401077, + 0.3976249396800995 + ], + "joints": [ + 0.0041753919795155525 + ] + }, + "fine_grasp": { + "position": [ + 0.08049795031547546, + -0.07685442268848419, + 0.061046842485666275 + ], + "orientation": [ + 0.8935189843177795, + -0.16614441573619843, + -0.1212410107254982, + 0.39914971590042114 + ], + "joints": [ + 0.00855944212526083 + ] + }, + "final_grasp": { + "position": [ + 0.08049795031547546, + -0.07685442268848419, + 0.061046842485666275 + ], + "orientation": [ + 0.8935189843177795, + -0.16614441573619843, + -0.1212410107254982, + 0.39914971590042114 + ], + "joints": [ + 0.012943492271006107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005276847165077925, + 0.03858260065317154, + -0.14074622094631195 + ], + "orientation": [ + 0.3053954243659973, + 0.3892832100391388, + -0.5097177028656006, + -0.7038324475288391 + ], + "joints": [ + -0.0035964548587799072 + ] + }, + "fine_grasp": { + "position": [ + -0.004252342041581869, + 0.03765476867556572, + -0.13751065731048584 + ], + "orientation": [ + 0.30311185121536255, + 0.3808111846446991, + -0.5041380524635315, + -0.7134079933166504 + ], + "joints": [ + 0.003843140322715044 + ] + }, + "final_grasp": { + "position": [ + -0.004252342041581869, + 0.03765476867556572, + -0.13751065731048584 + ], + "orientation": [ + 0.30311185121536255, + 0.3808111846446991, + -0.5041380524635315, + -0.7134079933166504 + ], + "joints": [ + 0.011282735504209995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008619925938546658, + 0.12163226306438446, + 0.012830001302063465 + ], + "orientation": [ + 0.10525380820035934, + -0.9901486039161682, + -0.020273268222808838, + -0.09009096026420593 + ], + "joints": [ + -0.004388143774122 + ] + }, + "fine_grasp": { + "position": [ + -0.008205406367778778, + 0.12698674201965332, + 0.013165989890694618 + ], + "orientation": [ + 0.11698164790868759, + -0.9897700548171997, + -0.020765742287039757, + -0.07898920774459839 + ], + "joints": [ + 0.0009524228516966105 + ] + }, + "final_grasp": { + "position": [ + -0.008205406367778778, + 0.12698674201965332, + 0.013165989890694618 + ], + "orientation": [ + 0.11698164790868759, + -0.9897700548171997, + -0.020765742287039757, + -0.07898920774459839 + ], + "joints": [ + 0.006292989477515221 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0040802136063575745, + -0.03956712782382965, + -0.14387699961662292 + ], + "orientation": [ + 0.39242082834243774, + 0.2463340163230896, + 0.6896201372146606, + 0.5565515756607056 + ], + "joints": [ + -0.004107140935957432 + ] + }, + "fine_grasp": { + "position": [ + 0.004072327632457018, + -0.03857989236712456, + -0.13957613706588745 + ], + "orientation": [ + 0.39178264141082764, + 0.24759022891521454, + 0.6899517178535461, + 0.5560325980186462 + ], + "joints": [ + 0.0033058845438063145 + ] + }, + "final_grasp": { + "position": [ + 0.004072327632457018, + -0.03857989236712456, + -0.13957613706588745 + ], + "orientation": [ + 0.39178264141082764, + 0.24759022891521454, + 0.6899517178535461, + 0.5560325980186462 + ], + "joints": [ + 0.01071891002357006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10744819790124893, + -0.02668333426117897, + 0.09622962027788162 + ], + "orientation": [ + 0.3757912516593933, + 0.20357926189899445, + -0.6786813735961914, + 0.5972670912742615 + ], + "joints": [ + -0.012257169932126999 + ] + }, + "fine_grasp": { + "position": [ + 0.10406181216239929, + -0.026207908987998962, + 0.09222693741321564 + ], + "orientation": [ + 0.3719347417354584, + 0.19745856523513794, + -0.6775324940681458, + 0.6030128002166748 + ], + "joints": [ + -0.007421433925628662 + ] + }, + "final_grasp": { + "position": [ + 0.10406181216239929, + -0.026207908987998962, + 0.09222693741321564 + ], + "orientation": [ + 0.3719347417354584, + 0.19745856523513794, + -0.6775324940681458, + 0.6030128002166748 + ], + "joints": [ + -0.0025856979191303253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08494692295789719, + -0.07252932339906693, + 0.06213095411658287 + ], + "orientation": [ + 0.8962650895118713, + -0.2144782692193985, + -0.008420472033321857, + -0.3881200850009918 + ], + "joints": [ + 0.004064423032104969 + ] + }, + "fine_grasp": { + "position": [ + -0.08688372373580933, + -0.07305487990379333, + 0.06283605098724365 + ], + "orientation": [ + 0.8986390233039856, + -0.21547870337963104, + -0.02001006156206131, + -0.3815971612930298 + ], + "joints": [ + 0.009006443433463573 + ] + }, + "final_grasp": { + "position": [ + -0.08688372373580933, + -0.07305487990379333, + 0.06283605098724365 + ], + "orientation": [ + 0.8986390233039856, + -0.21547870337963104, + -0.02001006156206131, + -0.3815971612930298 + ], + "joints": [ + 0.013948463834822178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1283659189939499, + -0.010892461985349655, + -0.003730939468368888 + ], + "orientation": [ + 0.5703067183494568, + -0.4168154001235962, + -0.4835345149040222, + -0.5169230699539185 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.12552836537361145, + -0.012414950877428055, + -0.003058024914935231 + ], + "orientation": [ + 0.5777031183242798, + -0.41475486755371094, + -0.4635525345802307, + -0.5285418033599854 + ], + "joints": [ + -0.00664148386567831 + ] + }, + "final_grasp": { + "position": [ + -0.12552836537361145, + -0.012414950877428055, + -0.003058024914935231 + ], + "orientation": [ + 0.5777031183242798, + -0.41475486755371094, + -0.4635525345802307, + -0.5285418033599854 + ], + "joints": [ + 0.00024014152586460114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12106680870056152, + 0.0004385756328701973, + -0.01299948152154684 + ], + "orientation": [ + 0.45345595479011536, + 0.5837785601615906, + 0.5010535717010498, + -0.45002853870391846 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.1172473356127739, + 0.0010417146841064095, + -0.013743857853114605 + ], + "orientation": [ + 0.46005794405937195, + 0.5862427949905396, + 0.49382638931274414, + -0.44810906052589417 + ], + "joints": [ + -0.005800740793347359 + ] + }, + "final_grasp": { + "position": [ + -0.1172473356127739, + 0.0010417146841064095, + -0.013743857853114605 + ], + "orientation": [ + 0.46005794405937195, + 0.5862427949905396, + 0.49382638931274414, + -0.44810906052589417 + ], + "joints": [ + -0.0004336051642894745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12114427983760834, + 0.0005845674895681441, + -0.012987123802304268 + ], + "orientation": [ + 0.4536278545856476, + 0.5836067199707031, + 0.5014132261276245, + -0.4496774673461914 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.11734727770090103, + 0.0011730421101674438, + -0.01372186653316021 + ], + "orientation": [ + 0.45996227860450745, + 0.5860271453857422, + 0.4944588840007782, + -0.4477916657924652 + ], + "joints": [ + -0.005800740793347359 + ] + }, + "final_grasp": { + "position": [ + -0.11734727770090103, + 0.0011730421101674438, + -0.01372186653316021 + ], + "orientation": [ + 0.45996227860450745, + 0.5860271453857422, + 0.4944588840007782, + -0.4477916657924652 + ], + "joints": [ + -0.0004336051642894745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011500660330057144, + -0.055252041667699814, + -0.1373518407344818 + ], + "orientation": [ + 0.5785456895828247, + 0.4190296530723572, + -0.6125324964523315, + -0.3383828103542328 + ], + "joints": [ + -0.004978290759027004 + ] + }, + "fine_grasp": { + "position": [ + 0.011156580410897732, + -0.05347175523638725, + -0.13307300209999084 + ], + "orientation": [ + 0.578281819820404, + 0.42226624488830566, + -0.6081966757774353, + -0.3426049053668976 + ], + "joints": [ + 0.0019564745016396046 + ] + }, + "final_grasp": { + "position": [ + 0.011156580410897732, + -0.05347175523638725, + -0.13307300209999084 + ], + "orientation": [ + 0.578281819820404, + 0.42226624488830566, + -0.6081966757774353, + -0.3426049053668976 + ], + "joints": [ + 0.008891239762306213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06315116584300995, + 0.10284306108951569, + 0.027203673496842384 + ], + "orientation": [ + 0.06062435731291771, + -0.9594092965126038, + -0.2597973346710205, + -0.09145354479551315 + ], + "joints": [ + 0.0038742120377719402 + ] + }, + "fine_grasp": { + "position": [ + -0.06392905861139297, + 0.1021886020898819, + 0.027421653270721436 + ], + "orientation": [ + 0.0620848648250103, + -0.958915114402771, + -0.25449898838996887, + -0.10889236629009247 + ], + "joints": [ + 0.00926792062819004 + ] + }, + "final_grasp": { + "position": [ + -0.06392905861139297, + 0.1021886020898819, + 0.027421653270721436 + ], + "orientation": [ + 0.0620848648250103, + -0.958915114402771, + -0.25449898838996887, + -0.10889236629009247 + ], + "joints": [ + 0.014661628752946854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008026284165680408, + -0.00883227027952671, + 0.1398397535085678 + ], + "orientation": [ + 0.27030208706855774, + -0.21601749956607819, + -0.6740813255310059, + 0.6526006460189819 + ], + "joints": [ + 0.0012255412293598056 + ] + }, + "fine_grasp": { + "position": [ + 0.008011879399418831, + -0.008391298353672028, + 0.13777436316013336 + ], + "orientation": [ + 0.2663629949092865, + -0.2162649780511856, + -0.6767964363098145, + 0.6513268351554871 + ], + "joints": [ + 0.006592676509171724 + ] + }, + "final_grasp": { + "position": [ + 0.008011879399418831, + -0.008391298353672028, + 0.13777436316013336 + ], + "orientation": [ + 0.2663629949092865, + -0.2162649780511856, + -0.6767964363098145, + 0.6513268351554871 + ], + "joints": [ + 0.011959811672568321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12659457325935364, + 6.661333372903755e-06, + -0.02096538245677948 + ], + "orientation": [ + 0.6674981713294983, + -0.21276864409446716, + -0.22956308722496033, + -0.6756304502487183 + ], + "joints": [ + -0.005054698325693607 + ] + }, + "fine_grasp": { + "position": [ + -0.12259019911289215, + 0.0002874062629416585, + -0.019614852964878082 + ], + "orientation": [ + 0.6644397377967834, + -0.20068302750587463, + -0.23376931250095367, + -0.6808803081512451 + ], + "joints": [ + 0.00033900802372954786 + ] + }, + "final_grasp": { + "position": [ + -0.12259019911289215, + 0.0002874062629416585, + -0.019614852964878082 + ], + "orientation": [ + 0.6644397377967834, + -0.20068302750587463, + -0.23376931250095367, + -0.6808803081512451 + ], + "joints": [ + 0.00573271419852972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12927977740764618, + 0.010887193493545055, + -0.012285007163882256 + ], + "orientation": [ + 0.231065034866333, + -0.6988101601600647, + -0.643403172492981, + -0.21048900485038757 + ], + "joints": [ + -0.004125379025936127 + ] + }, + "fine_grasp": { + "position": [ + -0.12407118082046509, + 0.010357659310102463, + -0.011817595921456814 + ], + "orientation": [ + 0.22371916472911835, + -0.6953215003013611, + -0.6462655067443848, + -0.22094935178756714 + ], + "joints": [ + 0.00017895823111757636 + ] + }, + "final_grasp": { + "position": [ + -0.12407118082046509, + 0.010357659310102463, + -0.011817595921456814 + ], + "orientation": [ + 0.22371916472911835, + -0.6953215003013611, + -0.6462655067443848, + -0.22094935178756714 + ], + "joints": [ + 0.004483295604586601 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12982277572155, + 0.01065195444971323, + -0.012309080921113491 + ], + "orientation": [ + 0.22745457291603088, + -0.699999213218689, + -0.6437909007072449, + -0.20928160846233368 + ], + "joints": [ + -0.004028978757560253 + ] + }, + "fine_grasp": { + "position": [ + -0.12450121343135834, + 0.010085785761475563, + -0.011779026128351688 + ], + "orientation": [ + 0.2215898334980011, + -0.6958214044570923, + -0.6465024352073669, + -0.22082817554473877 + ], + "joints": [ + 0.00024878859403543174 + ] + }, + "final_grasp": { + "position": [ + -0.12450121343135834, + 0.010085785761475563, + -0.011779026128351688 + ], + "orientation": [ + 0.2215898334980011, + -0.6958214044570923, + -0.6465024352073669, + -0.22082817554473877 + ], + "joints": [ + 0.0045265560038387775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11133474856615067, + -0.046708591282367706, + -0.004627355374395847 + ], + "orientation": [ + 0.587151050567627, + -0.3800349235534668, + 0.588044285774231, + 0.4062401056289673 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10771989077329636, + -0.04611798748373985, + -0.005636383779346943 + ], + "orientation": [ + 0.5801083445549011, + -0.3825521469116211, + 0.5842499732971191, + 0.4192613959312439 + ], + "joints": [ + -0.005437297746539116 + ] + }, + "final_grasp": { + "position": [ + 0.10771989077329636, + -0.04611798748373985, + -0.005636383779346943 + ], + "orientation": [ + 0.5801083445549011, + -0.3825521469116211, + 0.5842499732971191, + 0.4192613959312439 + ], + "joints": [ + 0.0014708973467350006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11136644333600998, + -0.04701732471585274, + -0.004565247800201178 + ], + "orientation": [ + 0.5862901210784912, + -0.3813427686691284, + 0.5874227285385132, + 0.40715622901916504 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.1077369824051857, + -0.04638836905360222, + -0.005510588176548481 + ], + "orientation": [ + 0.5800233483314514, + -0.3830975890159607, + 0.5841577053070068, + 0.41900938749313354 + ], + "joints": [ + -0.005437297746539116 + ] + }, + "final_grasp": { + "position": [ + 0.1077369824051857, + -0.04638836905360222, + -0.005510588176548481 + ], + "orientation": [ + 0.5800233483314514, + -0.3830975890159607, + 0.5841577053070068, + 0.41900938749313354 + ], + "joints": [ + 0.0014708973467350006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12534840404987335, + -0.00025019736494868994, + -0.0205147173255682 + ], + "orientation": [ + 0.6661537885665894, + -0.21793608367443085, + -0.233109712600708, + -0.6740941405296326 + ], + "joints": [ + -0.005270417779684067 + ] + }, + "fine_grasp": { + "position": [ + -0.12239566445350647, + -0.00010127696441486478, + -0.019176485016942024 + ], + "orientation": [ + 0.6639167666435242, + -0.2048265039920807, + -0.23755232989788055, + -0.6788442730903625 + ], + "joints": [ + 0.00012328865705057979 + ] + }, + "final_grasp": { + "position": [ + -0.12239566445350647, + -0.00010127696441486478, + -0.019176485016942024 + ], + "orientation": [ + 0.6639167666435242, + -0.2048265039920807, + -0.23755232989788055, + -0.6788442730903625 + ], + "joints": [ + 0.005516995210200548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0570775531232357, + 0.0009932882385328412, + -0.12539151310920715 + ], + "orientation": [ + 0.5032394528388977, + 0.6769003868103027, + -0.49531620740890503, + -0.2078886330127716 + ], + "joints": [ + -0.0028810077346861362 + ] + }, + "fine_grasp": { + "position": [ + 0.05861871317028999, + -0.0011349779088050127, + -0.1251174807548523 + ], + "orientation": [ + 0.4992188513278961, + 0.6704787015914917, + -0.5071256756782532, + -0.20991036295890808 + ], + "joints": [ + 0.00349578820168972 + ] + }, + "final_grasp": { + "position": [ + 0.05861871317028999, + -0.0011349779088050127, + -0.1251174807548523 + ], + "orientation": [ + 0.4992188513278961, + 0.6704787015914917, + -0.5071256756782532, + -0.20991036295890808 + ], + "joints": [ + 0.00987258367240429 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005032285116612911, + 0.032009851187467575, + 0.140326127409935 + ], + "orientation": [ + 0.591582179069519, + -0.7569305300712585, + 0.16004778444766998, + -0.22687292098999023 + ], + "joints": [ + 0.001594017492607236 + ] + }, + "fine_grasp": { + "position": [ + -0.005871854722499847, + 0.031042778864502907, + 0.1364327371120453 + ], + "orientation": [ + 0.586056649684906, + -0.760185718536377, + 0.1645500212907791, + -0.2271093726158142 + ], + "joints": [ + 0.007970813661813736 + ] + }, + "final_grasp": { + "position": [ + -0.005871854722499847, + 0.031042778864502907, + 0.1364327371120453 + ], + "orientation": [ + 0.586056649684906, + -0.760185718536377, + 0.1645500212907791, + -0.2271093726158142 + ], + "joints": [ + 0.01434761006385088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06965527683496475, + -0.09163928031921387, + -0.013217585161328316 + ], + "orientation": [ + 0.5876491665840149, + -0.20567157864570618, + -0.7498308420181274, + -0.2238779217004776 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.07242448627948761, + -0.09468882530927658, + -0.013341565616428852 + ], + "orientation": [ + 0.5919444561004639, + -0.20235171914100647, + -0.7471606731414795, + -0.22451399266719818 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.07242448627948761, + -0.09468882530927658, + -0.013341565616428852 + ], + "orientation": [ + 0.5919444561004639, + -0.20235171914100647, + -0.7471606731414795, + -0.22451399266719818 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02363789826631546, + -0.022946160286664963, + -0.12943412363529205 + ], + "orientation": [ + 0.10125086456537247, + -0.047837626188993454, + -0.7380255460739136, + -0.6654157638549805 + ], + "joints": [ + -0.0023506241850554943 + ] + }, + "fine_grasp": { + "position": [ + -0.023639634251594543, + -0.022960223257541656, + -0.13164196908473969 + ], + "orientation": [ + 0.10952019691467285, + -0.04723350331187248, + -0.7334279417991638, + -0.669221818447113 + ], + "joints": [ + 0.0029633725062012672 + ] + }, + "final_grasp": { + "position": [ + -0.023639634251594543, + -0.022960223257541656, + -0.13164196908473969 + ], + "orientation": [ + 0.10952019691467285, + -0.04723350331187248, + -0.7334279417991638, + -0.669221818447113 + ], + "joints": [ + 0.008277369663119316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07922516763210297, + 0.10074670612812042, + -0.01937846839427948 + ], + "orientation": [ + 0.04970799759030342, + -0.917229175567627, + -0.31413155794143677, + -0.23987765610218048 + ], + "joints": [ + -0.004993344657123089 + ] + }, + "fine_grasp": { + "position": [ + -0.07600413262844086, + 0.09748320281505585, + -0.019471313804388046 + ], + "orientation": [ + 0.04599309340119362, + -0.9167547821998596, + -0.31816571950912476, + -0.23709866404533386 + ], + "joints": [ + 0.0014100214466452599 + ] + }, + "final_grasp": { + "position": [ + -0.07600413262844086, + 0.09748320281505585, + -0.019471313804388046 + ], + "orientation": [ + 0.04599309340119362, + -0.9167547821998596, + -0.31816571950912476, + -0.23709866404533386 + ], + "joints": [ + 0.007813387550413609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07065284252166748, + 0.07892664521932602, + -0.07172412425279617 + ], + "orientation": [ + 0.1309720128774643, + 0.8514537215232849, + -0.3908570110797882, + -0.32419711351394653 + ], + "joints": [ + -0.003291790373623371 + ] + }, + "fine_grasp": { + "position": [ + 0.06979506462812424, + 0.07949740439653397, + -0.07073903828859329 + ], + "orientation": [ + 0.13012881577014923, + 0.8506917357444763, + -0.39081820845603943, + -0.3265751600265503 + ], + "joints": [ + 0.002659884747117758 + ] + }, + "final_grasp": { + "position": [ + 0.06979506462812424, + 0.07949740439653397, + -0.07073903828859329 + ], + "orientation": [ + 0.13012881577014923, + 0.8506917357444763, + -0.39081820845603943, + -0.3265751600265503 + ], + "joints": [ + 0.008611559867858887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11501923948526382, + 0.0163133442401886, + 0.0008152411319315434 + ], + "orientation": [ + 0.6261856555938721, + 0.12233226001262665, + 0.1591169387102127, + -0.7533977627754211 + ], + "joints": [ + -0.005418429151177406 + ] + }, + "fine_grasp": { + "position": [ + -0.11963855475187302, + 0.017068346962332726, + 0.0013203213457018137 + ], + "orientation": [ + 0.6252470016479492, + 0.14506733417510986, + 0.18427464365959167, + -0.7443551421165466 + ], + "joints": [ + -0.00010443266364745796 + ] + }, + "final_grasp": { + "position": [ + -0.11963855475187302, + 0.017068346962332726, + 0.0013203213457018137 + ], + "orientation": [ + 0.6252470016479492, + 0.14506733417510986, + 0.18427464365959167, + -0.7443551421165466 + ], + "joints": [ + 0.0052095637656748295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056528009474277496, + 0.001778944511897862, + -0.12540434300899506 + ], + "orientation": [ + 0.5032269954681396, + 0.6776918768882751, + -0.4928409457206726, + -0.21119682490825653 + ], + "joints": [ + -0.0028121531940996647 + ] + }, + "fine_grasp": { + "position": [ + 0.05669029802083969, + 6.197517359396443e-05, + -0.12342015653848648 + ], + "orientation": [ + 0.496359258890152, + 0.6708539724349976, + -0.5068607926368713, + -0.2160431146621704 + ], + "joints": [ + 0.002528413198888302 + ] + }, + "final_grasp": { + "position": [ + 0.05669029802083969, + 6.197517359396443e-05, + -0.12342015653848648 + ], + "orientation": [ + 0.496359258890152, + 0.6708539724349976, + -0.5068607926368713, + -0.2160431146621704 + ], + "joints": [ + 0.007868979126214981 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029565665870904922, + 0.12256310880184174, + -0.018010830506682396 + ], + "orientation": [ + 0.15867875516414642, + 0.5648990869522095, + 0.049833040684461594, + -0.8082244992256165 + ], + "joints": [ + -0.011697802692651749 + ] + }, + "fine_grasp": { + "position": [ + -0.030032286420464516, + 0.12268620729446411, + -0.016389623284339905 + ], + "orientation": [ + 0.15632079541683197, + 0.5707627534866333, + 0.05493173003196716, + -0.8042240738868713 + ], + "joints": [ + -0.005852406844496727 + ] + }, + "final_grasp": { + "position": [ + -0.030032286420464516, + 0.12268620729446411, + -0.016389623284339905 + ], + "orientation": [ + 0.15632079541683197, + 0.5707627534866333, + 0.05493173003196716, + -0.8042240738868713 + ], + "joints": [ + -7.010996341705322e-06 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06288957595825195, + 0.1059083342552185, + -0.059404995292425156 + ], + "orientation": [ + 0.13354264199733734, + 0.9195045232772827, + -0.2803593873977661, + -0.24099008738994598 + ], + "joints": [ + -0.004470787942409515 + ] + }, + "fine_grasp": { + "position": [ + 0.060076721012592316, + 0.10193435102701187, + -0.056742068380117416 + ], + "orientation": [ + 0.12975773215293884, + 0.9107770919799805, + -0.2838210463523865, + -0.27035853266716003 + ], + "joints": [ + 0.0014808874111622572 + ] + }, + "final_grasp": { + "position": [ + 0.060076721012592316, + 0.10193435102701187, + -0.056742068380117416 + ], + "orientation": [ + 0.12975773215293884, + 0.9107770919799805, + -0.2838210463523865, + -0.27035853266716003 + ], + "joints": [ + 0.00743256276473403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07977241277694702, + 0.09596913307905197, + 0.004687745124101639 + ], + "orientation": [ + 0.2957385778427124, + 0.32876765727996826, + -0.22431530058383942, + 0.8684084415435791 + ], + "joints": [ + -0.00519610196352005 + ] + }, + "fine_grasp": { + "position": [ + 0.08033553510904312, + 0.09596928209066391, + 0.006117362529039383 + ], + "orientation": [ + 0.296884149312973, + 0.3231305181980133, + -0.21316967904567719, + 0.8729291558265686 + ], + "joints": [ + 0.0011806939728558064 + ] + }, + "final_grasp": { + "position": [ + 0.08033553510904312, + 0.09596928209066391, + 0.006117362529039383 + ], + "orientation": [ + 0.296884149312973, + 0.3231305181980133, + -0.21316967904567719, + 0.8729291558265686 + ], + "joints": [ + 0.007557489909231663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1060815081000328, + 0.007333508227020502, + -0.06764513999223709 + ], + "orientation": [ + 0.6783047914505005, + 0.3334699273109436, + 0.021769391372799873, + 0.6543902158737183 + ], + "joints": [ + -0.004123874939978123 + ] + }, + "fine_grasp": { + "position": [ + 0.10534387081861496, + 0.008866769261658192, + -0.06550677865743637 + ], + "orientation": [ + 0.6741591691970825, + 0.3555651307106018, + 0.002429713262245059, + 0.6473616361618042 + ], + "joints": [ + 0.0007915712194517255 + ] + }, + "final_grasp": { + "position": [ + 0.10534387081861496, + 0.008866769261658192, + -0.06550677865743637 + ], + "orientation": [ + 0.6741591691970825, + 0.3555651307106018, + 0.002429713262245059, + 0.6473616361618042 + ], + "joints": [ + 0.00570701714605093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11541754752397537, + 0.03952881321310997, + 0.022107232362031937 + ], + "orientation": [ + 0.011613938957452774, + 0.7795783877372742, + 0.5955965518951416, + -0.19335854053497314 + ], + "joints": [ + -0.002684159902855754 + ] + }, + "fine_grasp": { + "position": [ + -0.11289314925670624, + 0.03866662457585335, + 0.01985851489007473 + ], + "orientation": [ + 0.018145767971873283, + 0.7741446495056152, + 0.5921245813369751, + -0.22306808829307556 + ], + "joints": [ + 0.002204716205596924 + ] + }, + "final_grasp": { + "position": [ + -0.11289314925670624, + 0.03866662457585335, + 0.01985851489007473 + ], + "orientation": [ + 0.018145767971873283, + 0.7741446495056152, + 0.5921245813369751, + -0.22306808829307556 + ], + "joints": [ + 0.007093592546880245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059449054300785065, + -0.11886308342218399, + -0.007229733746498823 + ], + "orientation": [ + 0.9380609393119812, + 0.05251290276646614, + -0.2476547658443451, + 0.2365397810935974 + ], + "joints": [ + -0.005860217846930027 + ] + }, + "fine_grasp": { + "position": [ + 0.05761786922812462, + -0.11394122987985611, + -0.00775470957159996 + ], + "orientation": [ + 0.938919186592102, + 0.04914231225848198, + -0.24931009113788605, + 0.23207809031009674 + ], + "joints": [ + 0.0011276871664449573 + ] + }, + "final_grasp": { + "position": [ + 0.05761786922812462, + -0.11394122987985611, + -0.00775470957159996 + ], + "orientation": [ + 0.938919186592102, + 0.04914231225848198, + -0.24931009113788605, + 0.23207809031009674 + ], + "joints": [ + 0.008115592412650585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043935712426900864, + 0.12253677099943161, + -0.03786012902855873 + ], + "orientation": [ + 0.18040680885314941, + 0.26110997796058655, + 0.06845418363809586, + 0.9458271265029907 + ], + "joints": [ + -0.0056160325184464455 + ] + }, + "fine_grasp": { + "position": [ + 0.04199336841702461, + 0.11770229041576385, + -0.03677615895867348 + ], + "orientation": [ + 0.1830526739358902, + 0.2752383351325989, + 0.06152062118053436, + 0.9417806267738342 + ], + "joints": [ + 0.000840473105199635 + ] + }, + "final_grasp": { + "position": [ + 0.04199336841702461, + 0.11770229041576385, + -0.03677615895867348 + ], + "orientation": [ + 0.1830526739358902, + 0.2752383351325989, + 0.06152062118053436, + 0.9417806267738342 + ], + "joints": [ + 0.007296978496015072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050320886075496674, + 0.023209156468510628, + -0.11773033440113068 + ], + "orientation": [ + 0.5803207755088806, + 0.5015114545822144, + 0.2559814453125, + 0.588377058506012 + ], + "joints": [ + -0.003927117213606834 + ] + }, + "fine_grasp": { + "position": [ + 0.04867410659790039, + 0.02428937703371048, + -0.11281254887580872 + ], + "orientation": [ + 0.5758241415023804, + 0.5053825974464417, + 0.2483471781015396, + 0.5927382707595825 + ], + "joints": [ + 0.0014931585174053907 + ] + }, + "final_grasp": { + "position": [ + 0.04867410659790039, + 0.02428937703371048, + -0.11281254887580872 + ], + "orientation": [ + 0.5758241415023804, + 0.5053825974464417, + 0.2483471781015396, + 0.5927382707595825 + ], + "joints": [ + 0.006913434248417616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07603590935468674, + -0.09263180941343307, + -0.04489047825336456 + ], + "orientation": [ + 0.22340592741966248, + 0.3399491310119629, + 0.9095605611801147, + 0.0849943682551384 + ], + "joints": [ + -0.0030982301104813814 + ] + }, + "fine_grasp": { + "position": [ + -0.07316276431083679, + -0.09241493046283722, + -0.04389413818717003 + ], + "orientation": [ + 0.2521325945854187, + 0.3384442627429962, + 0.903971254825592, + 0.06870770454406738 + ], + "joints": [ + 0.0017906458815559745 + ] + }, + "final_grasp": { + "position": [ + -0.07316276431083679, + -0.09241493046283722, + -0.04389413818717003 + ], + "orientation": [ + 0.2521325945854187, + 0.3384442627429962, + 0.903971254825592, + 0.06870770454406738 + ], + "joints": [ + 0.00667952187359333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02841852232813835, + -0.11949960887432098, + -0.022606894373893738 + ], + "orientation": [ + 0.19875109195709229, + 0.110576331615448, + -0.9732058644294739, + -0.03378153592348099 + ], + "joints": [ + -0.004484269767999649 + ] + }, + "fine_grasp": { + "position": [ + 0.027735091745853424, + -0.11686775833368301, + -0.023095758631825447 + ], + "orientation": [ + 0.2273568958044052, + 0.11948810517787933, + -0.9661107659339905, + -0.02572229690849781 + ], + "joints": [ + 0.0008297269232571125 + ] + }, + "final_grasp": { + "position": [ + 0.027735091745853424, + -0.11686775833368301, + -0.023095758631825447 + ], + "orientation": [ + 0.2273568958044052, + 0.11948810517787933, + -0.9661107659339905, + -0.02572229690849781 + ], + "joints": [ + 0.006143723614513874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11834842711687088, + 0.02875744365155697, + 0.0065428391098976135 + ], + "orientation": [ + 0.1498434990644455, + -0.7865744829177856, + -0.58787602186203, + -0.11510543525218964 + ], + "joints": [ + -0.004392833448946476 + ] + }, + "fine_grasp": { + "position": [ + -0.11872287094593048, + 0.02702918089926243, + 0.005115828476846218 + ], + "orientation": [ + 0.16113092005252838, + -0.7783177495002747, + -0.5939543843269348, + -0.12440413236618042 + ], + "joints": [ + 0.00041633343789726496 + ] + }, + "final_grasp": { + "position": [ + -0.11872287094593048, + 0.02702918089926243, + 0.005115828476846218 + ], + "orientation": [ + 0.16113092005252838, + -0.7783177495002747, + -0.5939543843269348, + -0.12440413236618042 + ], + "joints": [ + 0.005225500091910362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07184668630361557, + -0.0933978259563446, + 0.036122024059295654 + ], + "orientation": [ + 0.931731641292572, + -0.21373607218265533, + -0.11258825659751892, + -0.2711400091648102 + ], + "joints": [ + -0.003253904404118657 + ] + }, + "fine_grasp": { + "position": [ + -0.07130855321884155, + -0.09261250495910645, + 0.03430349379777908 + ], + "orientation": [ + 0.9258110523223877, + -0.22930946946144104, + -0.1365315318107605, + -0.26767539978027344 + ], + "joints": [ + 0.0016349719371646643 + ] + }, + "final_grasp": { + "position": [ + -0.07130855321884155, + -0.09261250495910645, + 0.03430349379777908 + ], + "orientation": [ + 0.9258110523223877, + -0.22930946946144104, + -0.1365315318107605, + -0.26767539978027344 + ], + "joints": [ + 0.006523848511278629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08189201354980469, + 0.07199449092149734, + -0.06401766091585159 + ], + "orientation": [ + 0.4291388988494873, + 0.27997949719429016, + 0.10818564891815186, + 0.8519079685211182 + ], + "joints": [ + -0.002578767715021968 + ] + }, + "fine_grasp": { + "position": [ + 0.0796755701303482, + 0.07376650720834732, + -0.06169578805565834 + ], + "orientation": [ + 0.42410722374916077, + 0.3049153983592987, + 0.10322986543178558, + 0.8464651703834534 + ], + "joints": [ + 0.0028149383142590523 + ] + }, + "final_grasp": { + "position": [ + 0.0796755701303482, + 0.07376650720834732, + -0.06169578805565834 + ], + "orientation": [ + 0.42410722374916077, + 0.3049153983592987, + 0.10322986543178558, + 0.8464651703834534 + ], + "joints": [ + 0.008208644576370716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06588836014270782, + 0.08882202953100204, + -0.06767018884420395 + ], + "orientation": [ + 0.36257195472717285, + 0.3840053975582123, + 0.0980694591999054, + 0.8434831500053406 + ], + "joints": [ + -0.005728060379624367 + ] + }, + "fine_grasp": { + "position": [ + 0.06390832364559174, + 0.08750986307859421, + -0.06551989167928696 + ], + "orientation": [ + 0.3589368760585785, + 0.3719712495803833, + 0.1056835874915123, + 0.8494897484779358 + ], + "joints": [ + 0.0012332749320194125 + ] + }, + "final_grasp": { + "position": [ + 0.06390832364559174, + 0.08750986307859421, + -0.06551989167928696 + ], + "orientation": [ + 0.3589368760585785, + 0.3719712495803833, + 0.1056835874915123, + 0.8494897484779358 + ], + "joints": [ + 0.008194610476493835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06527653336524963, + 0.08920868486166, + -0.06749296188354492 + ], + "orientation": [ + 0.36029183864593506, + 0.3866581916809082, + 0.0958007276058197, + 0.8435089588165283 + ], + "joints": [ + -0.006328633986413479 + ] + }, + "fine_grasp": { + "position": [ + 0.06354767084121704, + 0.08788078278303146, + -0.0652628242969513 + ], + "orientation": [ + 0.3562397062778473, + 0.37337401509284973, + 0.10445434600114822, + 0.8501613736152649 + ], + "joints": [ + 0.0011641010642051697 + ] + }, + "final_grasp": { + "position": [ + 0.06354767084121704, + 0.08788078278303146, + -0.0652628242969513 + ], + "orientation": [ + 0.3562397062778473, + 0.37337401509284973, + 0.10445434600114822, + 0.8501613736152649 + ], + "joints": [ + 0.008656836114823818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07150372117757797, + 0.09809261560440063, + -0.03464778512716293 + ], + "orientation": [ + 0.17361490428447723, + 0.9144294857978821, + 0.27631258964538574, + -0.23943258821964264 + ], + "joints": [ + -0.004907155409455299 + ] + }, + "fine_grasp": { + "position": [ + -0.07057862728834152, + 0.09614033252000809, + -0.03395801782608032 + ], + "orientation": [ + 0.17866940796375275, + 0.9136102199554443, + 0.2727661728858948, + -0.24288329482078552 + ], + "joints": [ + 3.486074274405837e-05 + ] + }, + "final_grasp": { + "position": [ + -0.07057862728834152, + 0.09614033252000809, + -0.03395801782608032 + ], + "orientation": [ + 0.17866940796375275, + 0.9136102199554443, + 0.2727661728858948, + -0.24288329482078552 + ], + "joints": [ + 0.004976877011358738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052118293941020966, + 0.11327594518661499, + 0.00012691959273070097 + ], + "orientation": [ + 0.07539071142673492, + -0.955416202545166, + -0.18844984471797943, + -0.2144360989332199 + ], + "joints": [ + -0.00623060017824173 + ] + }, + "fine_grasp": { + "position": [ + -0.050468143075704575, + 0.10933155566453934, + -0.0012185040395706892 + ], + "orientation": [ + 0.0867423415184021, + -0.9501863718032837, + -0.1968764364719391, + -0.2255246639251709 + ], + "joints": [ + 0.00014619558351114392 + ] + }, + "final_grasp": { + "position": [ + -0.050468143075704575, + 0.10933155566453934, + -0.0012185040395706892 + ], + "orientation": [ + 0.0867423415184021, + -0.9501863718032837, + -0.1968764364719391, + -0.2255246639251709 + ], + "joints": [ + 0.006522991228848696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08955302089452744, + 0.05932282283902168, + 0.04041738063097 + ], + "orientation": [ + 0.2981383800506592, + 0.4268219769001007, + 0.4669562876224518, + -0.714764416217804 + ], + "joints": [ + -0.010738663375377655 + ] + }, + "fine_grasp": { + "position": [ + -0.09248316287994385, + 0.06197595223784447, + 0.043757062405347824 + ], + "orientation": [ + 0.29656851291656494, + 0.41654494404792786, + 0.47248542308807373, + -0.7178404331207275 + ], + "joints": [ + -0.005398097448050976 + ] + }, + "final_grasp": { + "position": [ + -0.09248316287994385, + 0.06197595223784447, + 0.043757062405347824 + ], + "orientation": [ + 0.29656851291656494, + 0.41654494404792786, + 0.47248542308807373, + -0.7178404331207275 + ], + "joints": [ + -5.753152072429657e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032166048884391785, + -0.09582516551017761, + -0.06485570967197418 + ], + "orientation": [ + 0.9264947772026062, + 0.18430465459823608, + -0.2594861090183258, + -0.20076395571231842 + ], + "joints": [ + -0.002792520448565483 + ] + }, + "fine_grasp": { + "position": [ + -0.03249073028564453, + -0.09959901124238968, + -0.06353247910737991 + ], + "orientation": [ + 0.917696475982666, + 0.19195173680782318, + -0.2845838665962219, + -0.19999918341636658 + ], + "joints": [ + 0.0005818663630634546 + ] + }, + "final_grasp": { + "position": [ + -0.03249073028564453, + -0.09959901124238968, + -0.06353247910737991 + ], + "orientation": [ + 0.917696475982666, + 0.19195173680782318, + -0.2845838665962219, + -0.19999918341636658 + ], + "joints": [ + 0.003956253174692392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03322168439626694, + -0.09600036591291428, + -0.06559643149375916 + ], + "orientation": [ + 0.9280418753623962, + 0.18719922006130219, + -0.25072506070137024, + -0.20206813514232635 + ], + "joints": [ + -0.0027014315128326416 + ] + }, + "fine_grasp": { + "position": [ + -0.03310267627239227, + -0.09918121993541718, + -0.06374797970056534 + ], + "orientation": [ + 0.9174345135688782, + 0.19446516036987305, + -0.2821785509586334, + -0.2021692395210266 + ], + "joints": [ + 0.0006729552987962961 + ] + }, + "final_grasp": { + "position": [ + -0.03310267627239227, + -0.09918121993541718, + -0.06374797970056534 + ], + "orientation": [ + 0.9174345135688782, + 0.19446516036987305, + -0.2821785509586334, + -0.2021692395210266 + ], + "joints": [ + 0.004047342110425234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13289746642112732, + 0.014242875389754772, + 0.035716451704502106 + ], + "orientation": [ + 0.6806555390357971, + -0.226815328001976, + 0.0060984003357589245, + -0.6965813040733337 + ], + "joints": [ + -0.004345606081187725 + ] + }, + "fine_grasp": { + "position": [ + -0.12768356502056122, + 0.013892941176891327, + 0.033243682235479355 + ], + "orientation": [ + 0.6766253113746643, + -0.23505020141601562, + 0.006930931471288204, + -0.697769045829773 + ], + "joints": [ + 0.00054327049292624 + ] + }, + "final_grasp": { + "position": [ + -0.12768356502056122, + 0.013892941176891327, + 0.033243682235479355 + ], + "orientation": [ + 0.6766253113746643, + -0.23505020141601562, + 0.006930931471288204, + -0.697769045829773 + ], + "joints": [ + 0.005432147067040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06790190190076828, + 0.09761084616184235, + -0.04225099831819534 + ], + "orientation": [ + 0.22722075879573822, + -0.3178596794605255, + 0.1994728147983551, + 0.8986359238624573 + ], + "joints": [ + -0.006245606578886509 + ] + }, + "fine_grasp": { + "position": [ + 0.06819022446870804, + 0.0986732468008995, + -0.041368287056684494 + ], + "orientation": [ + 0.23090510070323944, + -0.3052978217601776, + 0.2128872573375702, + 0.8989744186401367 + ], + "joints": [ + -0.00034707062877714634 + ] + }, + "final_grasp": { + "position": [ + 0.06819022446870804, + 0.0986732468008995, + -0.041368287056684494 + ], + "orientation": [ + 0.23090510070323944, + -0.3052978217601776, + 0.2128872573375702, + 0.8989744186401367 + ], + "joints": [ + 0.005551465321332216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04875679314136505, + 0.11488606035709381, + 0.01582389511168003 + ], + "orientation": [ + 0.22587093710899353, + -0.20830819010734558, + 0.0453164167702198, + -0.9505453705787659 + ], + "joints": [ + -0.0036276259925216436 + ] + }, + "fine_grasp": { + "position": [ + -0.04741514474153519, + 0.11166820675134659, + 0.014458978548645973 + ], + "orientation": [ + 0.22228972613811493, + -0.23233039677143097, + 0.04505753517150879, + -0.9458222985267639 + ], + "joints": [ + 0.0012612504651769996 + ] + }, + "final_grasp": { + "position": [ + -0.04741514474153519, + 0.11166820675134659, + 0.014458978548645973 + ], + "orientation": [ + 0.22228972613811493, + -0.23233039677143097, + 0.04505753517150879, + -0.9458222985267639 + ], + "joints": [ + 0.006150126922875643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056372903287410736, + -0.10622528940439224, + -0.035419661551713943 + ], + "orientation": [ + 0.14482742547988892, + -0.22810785472393036, + 0.9465076327323914, + 0.1763947457075119 + ], + "joints": [ + -0.003489705268293619 + ] + }, + "fine_grasp": { + "position": [ + 0.0567781925201416, + -0.1052946224808693, + -0.03611501306295395 + ], + "orientation": [ + 0.1696903109550476, + -0.22507549822330475, + 0.9437928199768066, + 0.1726311594247818 + ], + "joints": [ + 0.0014257406583055854 + ] + }, + "final_grasp": { + "position": [ + 0.0567781925201416, + -0.1052946224808693, + -0.03611501306295395 + ], + "orientation": [ + 0.1696903109550476, + -0.22507549822330475, + 0.9437928199768066, + 0.1726311594247818 + ], + "joints": [ + 0.006341186352074146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08205865323543549, + 0.07255242764949799, + -0.06378905475139618 + ], + "orientation": [ + 0.4280853271484375, + 0.28188803791999817, + 0.10776419192552567, + 0.8518620133399963 + ], + "joints": [ + -0.002429461106657982 + ] + }, + "fine_grasp": { + "position": [ + 0.0801563709974289, + 0.07388906180858612, + -0.06083705276250839 + ], + "orientation": [ + 0.42381536960601807, + 0.3096432387828827, + 0.1030915230512619, + 0.8449105024337769 + ], + "joints": [ + 0.002432845067232847 + ] + }, + "final_grasp": { + "position": [ + 0.0801563709974289, + 0.07388906180858612, + -0.06083705276250839 + ], + "orientation": [ + 0.42381536960601807, + 0.3096432387828827, + 0.1030915230512619, + 0.8449105024337769 + ], + "joints": [ + 0.007295151241123676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0034246682189404964, + -0.11575181782245636, + 0.02806948311626911 + ], + "orientation": [ + 0.16145013272762299, + -0.024162650108337402, + -0.9763063192367554, + 0.14204151928424835 + ], + "joints": [ + -0.0038201678544282913 + ] + }, + "fine_grasp": { + "position": [ + 0.0019672829657793045, + -0.11994302272796631, + 0.027862289920449257 + ], + "orientation": [ + 0.17561347782611847, + -0.02948918007314205, + -0.9714298248291016, + 0.15688996016979218 + ], + "joints": [ + 0.0014938288368284702 + ] + }, + "final_grasp": { + "position": [ + 0.0019672829657793045, + -0.11994302272796631, + 0.027862289920449257 + ], + "orientation": [ + 0.17561347782611847, + -0.02948918007314205, + -0.9714298248291016, + 0.15688996016979218 + ], + "joints": [ + 0.006807825528085232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05672873184084892, + 0.07543256878852844, + -0.08167149871587753 + ], + "orientation": [ + 0.20329244434833527, + 0.8416737914085388, + -0.36712920665740967, + -0.33981412649154663 + ], + "joints": [ + -0.0032117192167788744 + ] + }, + "fine_grasp": { + "position": [ + 0.05649224668741226, + 0.0782562866806984, + -0.0797424465417862 + ], + "orientation": [ + 0.2038632333278656, + 0.839768648147583, + -0.359759122133255, + -0.35185497999191284 + ], + "joints": [ + 0.0017302964115515351 + ] + }, + "final_grasp": { + "position": [ + 0.05649224668741226, + 0.0782562866806984, + -0.0797424465417862 + ], + "orientation": [ + 0.2038632333278656, + 0.839768648147583, + -0.359759122133255, + -0.35185497999191284 + ], + "joints": [ + 0.006672312039881945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06951544433832169, + -0.10289376974105835, + 0.01813761703670025 + ], + "orientation": [ + 0.9442105293273926, + -0.1391318291425705, + -0.15515784919261932, + -0.2550194561481476 + ], + "joints": [ + -0.0030063148587942123 + ] + }, + "fine_grasp": { + "position": [ + -0.06777742505073547, + -0.09997846931219101, + 0.016963714733719826 + ], + "orientation": [ + 0.9400061964988708, + -0.1464025378227234, + -0.169676274061203, + -0.25722452998161316 + ], + "joints": [ + 0.0013777314452454448 + ] + }, + "final_grasp": { + "position": [ + -0.06777742505073547, + -0.09997846931219101, + 0.016963714733719826 + ], + "orientation": [ + 0.9400061964988708, + -0.1464025378227234, + -0.169676274061203, + -0.25722452998161316 + ], + "joints": [ + 0.0057617779821157455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0956604853272438, + 0.08637748658657074, + 0.035379230976104736 + ], + "orientation": [ + 0.19481126964092255, + -0.907960057258606, + 0.3641635775566101, + 0.07100751250982285 + ], + "joints": [ + -0.003058735281229019 + ] + }, + "fine_grasp": { + "position": [ + 0.09164678305387497, + 0.08361504226922989, + 0.032620057463645935 + ], + "orientation": [ + 0.2067485898733139, + -0.9043389558792114, + 0.3656993508338928, + 0.07543198764324188 + ], + "joints": [ + 0.0023615402169525623 + ] + }, + "final_grasp": { + "position": [ + 0.09164678305387497, + 0.08361504226922989, + 0.032620057463645935 + ], + "orientation": [ + 0.2067485898733139, + -0.9043389558792114, + 0.3656993508338928, + 0.07543198764324188 + ], + "joints": [ + 0.007781815715134144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03887956589460373, + -0.017340021207928658, + 0.10796430706977844 + ], + "orientation": [ + 0.5474980473518372, + -0.5846981406211853, + 0.5185215473175049, + -0.2991810739040375 + ], + "joints": [ + -0.005667681805789471 + ] + }, + "fine_grasp": { + "position": [ + 0.03770028427243233, + -0.015353033319115639, + 0.10265198349952698 + ], + "orientation": [ + 0.5488684177398682, + -0.5776012539863586, + 0.5221568942070007, + -0.3040929138660431 + ], + "joints": [ + 0.00023085420252755284 + ] + }, + "final_grasp": { + "position": [ + 0.03770028427243233, + -0.015353033319115639, + 0.10265198349952698 + ], + "orientation": [ + 0.5488684177398682, + -0.5776012539863586, + 0.5221568942070007, + -0.3040929138660431 + ], + "joints": [ + 0.0061293900944292545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0669872984290123, + 0.08774417638778687, + 0.04265054315328598 + ], + "orientation": [ + 0.24288217723369598, + -0.9290820956230164, + -0.2560976445674896, + -0.1105838418006897 + ], + "joints": [ + -0.004007973708212376 + ] + }, + "fine_grasp": { + "position": [ + -0.06670096516609192, + 0.08837338536977768, + 0.042481958866119385 + ], + "orientation": [ + 0.252032071352005, + -0.9250485301017761, + -0.25617119669914246, + -0.12305010855197906 + ], + "joints": [ + 0.0008277632296085358 + ] + }, + "final_grasp": { + "position": [ + -0.06670096516609192, + 0.08837338536977768, + 0.042481958866119385 + ], + "orientation": [ + 0.252032071352005, + -0.9250485301017761, + -0.25617119669914246, + -0.12305010855197906 + ], + "joints": [ + 0.005663500167429447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03633185103535652, + -0.11861297488212585, + 0.011451349593698978 + ], + "orientation": [ + 0.9693083763122559, + -0.033443376421928406, + -0.1733682006597519, + 0.17107397317886353 + ], + "joints": [ + -0.0024245870299637318 + ] + }, + "fine_grasp": { + "position": [ + 0.03550714626908302, + -0.11551325768232346, + 0.010068236850202084 + ], + "orientation": [ + 0.9627603888511658, + -0.03259870782494545, + -0.2079550176858902, + 0.16966035962104797 + ], + "joints": [ + 0.001454629236832261 + ] + }, + "final_grasp": { + "position": [ + 0.03550714626908302, + -0.11551325768232346, + 0.010068236850202084 + ], + "orientation": [ + 0.9627603888511658, + -0.03259870782494545, + -0.2079550176858902, + 0.16966035962104797 + ], + "joints": [ + 0.005333845503628254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07286174595355988, + 0.1105889081954956, + 0.03392621874809265 + ], + "orientation": [ + 0.26230260729789734, + 0.037118129432201385, + -0.25439131259918213, + 0.930109977722168 + ], + "joints": [ + -0.003283268539234996 + ] + }, + "fine_grasp": { + "position": [ + 0.06982631236314774, + 0.10591048747301102, + 0.03172037750482559 + ], + "orientation": [ + 0.26505571603775024, + 0.042090583592653275, + -0.24929049611091614, + 0.9304988980293274 + ], + "joints": [ + 0.001552468165755272 + ] + }, + "final_grasp": { + "position": [ + 0.06982631236314774, + 0.10591048747301102, + 0.03172037750482559 + ], + "orientation": [ + 0.26505571603775024, + 0.042090583592653275, + -0.24929049611091614, + 0.9304988980293274 + ], + "joints": [ + 0.006388205103576183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044118981808423996, + -0.10732448846101761, + 0.02035103365778923 + ], + "orientation": [ + 0.14118148386478424, + 0.15691113471984863, + -0.9686254262924194, + 0.13119292259216309 + ], + "joints": [ + -0.0037684040144085884 + ] + }, + "fine_grasp": { + "position": [ + 0.045739542692899704, + -0.10815184563398361, + 0.01981876604259014 + ], + "orientation": [ + 0.17172342538833618, + 0.16145457327365875, + -0.9614956378936768, + 0.14131371676921844 + ], + "joints": [ + 4.533590981736779e-06 + ] + }, + "final_grasp": { + "position": [ + 0.045739542692899704, + -0.10815184563398361, + 0.01981876604259014 + ], + "orientation": [ + 0.17172342538833618, + 0.16145457327365875, + -0.9614956378936768, + 0.14131371676921844 + ], + "joints": [ + 0.003777471138164401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07294707745313644, + 0.1105225533246994, + 0.03344620019197464 + ], + "orientation": [ + 0.2623114287853241, + 0.04238901287317276, + -0.25508183240890503, + 0.9296930432319641 + ], + "joints": [ + -0.002950191032141447 + ] + }, + "fine_grasp": { + "position": [ + 0.06987586617469788, + 0.10587336122989655, + 0.031276363879442215 + ], + "orientation": [ + 0.264353483915329, + 0.04700138792395592, + -0.24976587295532227, + 0.9303359985351562 + ], + "joints": [ + 0.0018855456728488207 + ] + }, + "final_grasp": { + "position": [ + 0.06987586617469788, + 0.10587336122989655, + 0.031276363879442215 + ], + "orientation": [ + 0.264353483915329, + 0.04700138792395592, + -0.24976587295532227, + 0.9303359985351562 + ], + "joints": [ + 0.0067212823778390884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08220875263214111, + 0.11998146027326584, + -0.02958546206355095 + ], + "orientation": [ + 0.2784595787525177, + -0.04656846448779106, + -0.1835411787033081, + -0.9415965676307678 + ], + "joints": [ + 0.00551588786765933 + ] + }, + "fine_grasp": { + "position": [ + -0.08021128922700882, + 0.11681929230690002, + -0.028173627331852913 + ], + "orientation": [ + 0.2755384147167206, + -0.052575331181287766, + -0.19394104182720184, + -0.9400539398193359 + ], + "joints": [ + 0.009288826957345009 + ] + }, + "final_grasp": { + "position": [ + -0.08021128922700882, + 0.11681929230690002, + -0.028173627331852913 + ], + "orientation": [ + 0.2755384147167206, + -0.052575331181287766, + -0.19394104182720184, + -0.9400539398193359 + ], + "joints": [ + 0.0130617655813694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059314560145139694, + -0.07333005964756012, + -0.07880254834890366 + ], + "orientation": [ + 0.3789176344871521, + 0.3948870301246643, + 0.8227514624595642, + 0.1535114347934723 + ], + "joints": [ + -0.003796103410422802 + ] + }, + "fine_grasp": { + "position": [ + -0.05890617519617081, + -0.07276104390621185, + -0.07659940421581268 + ], + "orientation": [ + 0.38500890135765076, + 0.3962109684944153, + 0.8184328079223633, + 0.15796418488025665 + ], + "joints": [ + 0.0016241723205894232 + ] + }, + "final_grasp": { + "position": [ + -0.05890617519617081, + -0.07276104390621185, + -0.07659940421581268 + ], + "orientation": [ + 0.38500890135765076, + 0.3962109684944153, + 0.8184328079223633, + 0.15796418488025665 + ], + "joints": [ + 0.007044448051601648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10930505394935608, + -0.05496807396411896, + 0.04365886002779007 + ], + "orientation": [ + 0.8055893182754517, + -0.08137434720993042, + 0.2255871444940567, + -0.5417699217796326 + ], + "joints": [ + -0.003011584747582674 + ] + }, + "fine_grasp": { + "position": [ + -0.10523094981908798, + -0.05250160023570061, + 0.040246374905109406 + ], + "orientation": [ + 0.8013647794723511, + -0.08916199207305908, + 0.23490525782108307, + -0.5428482294082642 + ], + "joints": [ + 0.0023289816454052925 + ] + }, + "final_grasp": { + "position": [ + -0.10523094981908798, + -0.05250160023570061, + 0.040246374905109406 + ], + "orientation": [ + 0.8013647794723511, + -0.08916199207305908, + 0.23490525782108307, + -0.5428482294082642 + ], + "joints": [ + 0.007669548038393259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04566621407866478, + 0.10643406957387924, + -0.04685865715146065 + ], + "orientation": [ + 0.25579288601875305, + 0.43623921275138855, + 0.011328078806400299, + 0.8626337051391602 + ], + "joints": [ + -0.007037795148789883 + ] + }, + "fine_grasp": { + "position": [ + 0.04826418310403824, + 0.10776989907026291, + -0.04512860253453255 + ], + "orientation": [ + 0.2538442313671112, + 0.424085795879364, + 0.04361660033464432, + 0.8682233691215515 + ], + "joints": [ + -0.0017769386759027839 + ] + }, + "final_grasp": { + "position": [ + 0.04826418310403824, + 0.10776989907026291, + -0.04512860253453255 + ], + "orientation": [ + 0.2538442313671112, + 0.424085795879364, + 0.04361660033464432, + 0.8682233691215515 + ], + "joints": [ + 0.003483917796984315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05571192502975464, + -0.11483529210090637, + 0.01951145939528942 + ], + "orientation": [ + 0.4881075322628021, + -0.2770690619945526, + -0.8196424841880798, + -0.11476010084152222 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.05697530135512352, + -0.11425510048866272, + 0.01733064278960228 + ], + "orientation": [ + 0.4883806109428406, + -0.2651233375072479, + -0.8254320621490479, + -0.09927681088447571 + ], + "joints": [ + -0.006133344955742359 + ] + }, + "final_grasp": { + "position": [ + -0.05697530135512352, + -0.11425510048866272, + 0.01733064278960228 + ], + "orientation": [ + 0.4883806109428406, + -0.2651233375072479, + -0.8254320621490479, + -0.09927681088447571 + ], + "joints": [ + -0.0028652381151914597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03879117965698242, + -0.052315905690193176, + -0.13575191795825958 + ], + "orientation": [ + 0.5700778961181641, + 0.44478389620780945, + -0.6161107420921326, + -0.31238770484924316 + ], + "joints": [ + -0.0032311894465237856 + ] + }, + "fine_grasp": { + "position": [ + 0.037087298929691315, + -0.0506046786904335, + -0.13152989745140076 + ], + "orientation": [ + 0.5645345449447632, + 0.45026034116744995, + -0.6167393922805786, + -0.31336700916290283 + ], + "joints": [ + 0.001577977673150599 + ] + }, + "final_grasp": { + "position": [ + 0.037087298929691315, + -0.0506046786904335, + -0.13152989745140076 + ], + "orientation": [ + 0.5645345449447632, + 0.45026034116744995, + -0.6167393922805786, + -0.31336700916290283 + ], + "joints": [ + 0.006387144792824984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02998783253133297, + -0.11502759158611298, + 0.022522933781147003 + ], + "orientation": [ + 0.9719861745834351, + -0.12598446011543274, + -0.1765637993812561, + -0.09053075313568115 + ], + "joints": [ + -0.0034774793311953545 + ] + }, + "fine_grasp": { + "position": [ + -0.029836738482117653, + -0.11479714512825012, + 0.020604455843567848 + ], + "orientation": [ + 0.9685686230659485, + -0.13454674184322357, + -0.18807794153690338, + -0.09164426475763321 + ], + "joints": [ + 0.0019162265816703439 + ] + }, + "final_grasp": { + "position": [ + -0.029836738482117653, + -0.11479714512825012, + 0.020604455843567848 + ], + "orientation": [ + 0.9685686230659485, + -0.13454674184322357, + -0.18807794153690338, + -0.09164426475763321 + ], + "joints": [ + 0.0073099322617053986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03986256197094917, + 0.10541515797376633, + 0.037912219762802124 + ], + "orientation": [ + 0.1971675604581833, + -0.963819682598114, + -0.13130195438861847, + -0.12221427261829376 + ], + "joints": [ + -0.0032173830550163984 + ] + }, + "fine_grasp": { + "position": [ + -0.040770091116428375, + 0.10334709286689758, + 0.036073509603738785 + ], + "orientation": [ + 0.20572130382061005, + -0.9581276774406433, + -0.13592316210269928, + -0.14558444917201996 + ], + "joints": [ + 0.0016183536499738693 + ] + }, + "final_grasp": { + "position": [ + -0.040770091116428375, + 0.10334709286689758, + 0.036073509603738785 + ], + "orientation": [ + 0.20572130382061005, + -0.9581276774406433, + -0.13592316210269928, + -0.14558444917201996 + ], + "joints": [ + 0.006454090587794781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11786963045597076, + -0.04403368756175041, + 0.021706687286496162 + ], + "orientation": [ + 0.40642231702804565, + -0.55096435546875, + 0.7227583527565002, + 0.0942312628030777 + ], + "joints": [ + -0.005196270998567343 + ] + }, + "fine_grasp": { + "position": [ + 0.11529818922281265, + -0.04303591325879097, + 0.022126248106360435 + ], + "orientation": [ + 0.39806658029556274, + -0.5548911094665527, + 0.7240867614746094, + 0.09662899374961853 + ], + "joints": [ + 0.0011805249378085136 + ] + }, + "final_grasp": { + "position": [ + 0.11529818922281265, + -0.04303591325879097, + 0.022126248106360435 + ], + "orientation": [ + 0.39806658029556274, + -0.5548911094665527, + 0.7240867614746094, + 0.09662899374961853 + ], + "joints": [ + 0.00755732087418437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03907088190317154, + -0.051952630281448364, + -0.13544750213623047 + ], + "orientation": [ + 0.5702273845672607, + 0.44635075330734253, + -0.6153960227966309, + -0.3112865686416626 + ], + "joints": [ + -0.003227844135835767 + ] + }, + "fine_grasp": { + "position": [ + 0.03736003115773201, + -0.050297826528549194, + -0.1310926079750061 + ], + "orientation": [ + 0.5645281076431274, + 0.4518524408340454, + -0.6160271167755127, + -0.3124868869781494 + ], + "joints": [ + 0.0015813229838386178 + ] + }, + "final_grasp": { + "position": [ + 0.03736003115773201, + -0.050297826528549194, + -0.1310926079750061 + ], + "orientation": [ + 0.5645281076431274, + 0.4518524408340454, + -0.6160271167755127, + -0.3124868869781494 + ], + "joints": [ + 0.006390490103513002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05047162249684334, + -0.03380627930164337, + -0.14424102008342743 + ], + "orientation": [ + 0.399408757686615, + 0.12321119010448456, + -0.7137545943260193, + -0.5620018839836121 + ], + "joints": [ + -0.001175247598439455 + ] + }, + "fine_grasp": { + "position": [ + -0.04844198375940323, + -0.03268313780426979, + -0.13886652886867523 + ], + "orientation": [ + 0.399912029504776, + 0.12334232032299042, + -0.7092391848564148, + -0.5673066973686218 + ], + "joints": [ + 0.005174978636205196 + ] + }, + "final_grasp": { + "position": [ + -0.04844198375940323, + -0.03268313780426979, + -0.13886652886867523 + ], + "orientation": [ + 0.399912029504776, + 0.12334232032299042, + -0.7092391848564148, + -0.5673066973686218 + ], + "joints": [ + 0.01152520440518856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05047569423913956, + -0.033752210438251495, + -0.14481525123119354 + ], + "orientation": [ + 0.39706864953041077, + 0.12195806950330734, + -0.7148318886756897, + -0.5625638961791992 + ], + "joints": [ + -0.0014626693446189165 + ] + }, + "fine_grasp": { + "position": [ + -0.04837656021118164, + -0.032602619379758835, + -0.13945640623569489 + ], + "orientation": [ + 0.3978433609008789, + 0.12157832831144333, + -0.7102797031402588, + -0.5678399801254272 + ], + "joints": [ + 0.0049141268245875835 + ] + }, + "final_grasp": { + "position": [ + -0.04837656021118164, + -0.032602619379758835, + -0.13945640623569489 + ], + "orientation": [ + 0.3978433609008789, + 0.12157832831144333, + -0.7102797031402588, + -0.5678399801254272 + ], + "joints": [ + 0.01129092276096344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11704771965742111, + 0.027626220136880875, + 0.02729039266705513 + ], + "orientation": [ + 0.5889036655426025, + 0.04466426745057106, + -0.1658249944448471, + 0.7897465229034424 + ], + "joints": [ + -0.001238771714270115 + ] + }, + "fine_grasp": { + "position": [ + 0.11610203981399536, + 0.026477735489606857, + 0.024979272857308388 + ], + "orientation": [ + 0.5877962112426758, + 0.05621985346078873, + -0.18912018835544586, + 0.78458172082901 + ], + "joints": [ + 0.003676673863083124 + ] + }, + "final_grasp": { + "position": [ + 0.11610203981399536, + 0.026477735489606857, + 0.024979272857308388 + ], + "orientation": [ + 0.5877962112426758, + 0.05621985346078873, + -0.18912018835544586, + 0.78458172082901 + ], + "joints": [ + 0.008592119440436363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021844947710633278, + 0.12075173854827881, + 0.01939997263252735 + ], + "orientation": [ + 0.08097843825817108, + -0.976274847984314, + 0.11822108179330826, + -0.16233806312084198 + ], + "joints": [ + -0.0036599577870219946 + ] + }, + "fine_grasp": { + "position": [ + 0.023370865732431412, + 0.12210021167993546, + 0.01990518532693386 + ], + "orientation": [ + 0.0799609050154686, + -0.9709429740905762, + 0.1195765882730484, + -0.19125236570835114 + ], + "joints": [ + 0.0017071784241124988 + ] + }, + "final_grasp": { + "position": [ + 0.023370865732431412, + 0.12210021167993546, + 0.01990518532693386 + ], + "orientation": [ + 0.0799609050154686, + -0.9709429740905762, + 0.1195765882730484, + -0.19125236570835114 + ], + "joints": [ + 0.007074314635246992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0861041396856308, + -0.08262120187282562, + 0.03819546476006508 + ], + "orientation": [ + 0.19343966245651245, + -0.4196940064430237, + 0.8825168609619141, + -0.08718936145305634 + ], + "joints": [ + -0.0026117826346307993 + ] + }, + "fine_grasp": { + "position": [ + 0.08292005211114883, + -0.0801941454410553, + 0.035074613988399506 + ], + "orientation": [ + 0.21031615138053894, + -0.41575267910957336, + 0.8806225657463074, + -0.08614421635866165 + ], + "joints": [ + 0.002781923394650221 + ] + }, + "final_grasp": { + "position": [ + 0.08292005211114883, + -0.0801941454410553, + 0.035074613988399506 + ], + "orientation": [ + 0.21031615138053894, + -0.41575267910957336, + 0.8806225657463074, + -0.08614421635866165 + ], + "joints": [ + 0.008175629191100597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04026537761092186, + -0.09195338934659958, + -0.08210594952106476 + ], + "orientation": [ + 0.8569682240486145, + 0.2967180907726288, + 0.421347439289093, + 0.00548590486869216 + ], + "joints": [ + -0.002459517912939191 + ] + }, + "fine_grasp": { + "position": [ + -0.03853929042816162, + -0.09138409793376923, + -0.08084096759557724 + ], + "orientation": [ + 0.8508133292198181, + 0.3116426467895508, + 0.4230540692806244, + 0.004555176943540573 + ], + "joints": [ + 0.0012868501944467425 + ] + }, + "final_grasp": { + "position": [ + -0.03853929042816162, + -0.09138409793376923, + -0.08084096759557724 + ], + "orientation": [ + 0.8508133292198181, + 0.3116426467895508, + 0.4230540692806244, + 0.004555176943540573 + ], + "joints": [ + 0.005033218301832676 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08126042783260345, + -0.09041973203420639, + 0.03699937090277672 + ], + "orientation": [ + 0.10162245482206345, + 0.3091926574707031, + 0.9234728217124939, + -0.2031518816947937 + ], + "joints": [ + -0.0023607881739735603 + ] + }, + "fine_grasp": { + "position": [ + -0.0795101448893547, + -0.08791203796863556, + 0.034844137728214264 + ], + "orientation": [ + 0.11217810958623886, + 0.3108889162540436, + 0.9208928942680359, + -0.20668905973434448 + ], + "joints": [ + 0.003032917622476816 + ] + }, + "final_grasp": { + "position": [ + -0.0795101448893547, + -0.08791203796863556, + 0.034844137728214264 + ], + "orientation": [ + 0.11217810958623886, + 0.3108889162540436, + 0.9208928942680359, + -0.20668905973434448 + ], + "joints": [ + 0.008426623418927193 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09733310341835022, + -0.0705752745270729, + 0.02332191914319992 + ], + "orientation": [ + 0.07881373912096024, + 0.4233473837375641, + 0.8899825215339661, + -0.14998799562454224 + ], + "joints": [ + -0.0015342396218329668 + ] + }, + "fine_grasp": { + "position": [ + -0.09705112874507904, + -0.06998371332883835, + 0.021511254832148552 + ], + "orientation": [ + 0.10637902468442917, + 0.42080825567245483, + 0.8858687877655029, + -0.16383036971092224 + ], + "joints": [ + 0.003381206188350916 + ] + }, + "final_grasp": { + "position": [ + -0.09705112874507904, + -0.06998371332883835, + 0.021511254832148552 + ], + "orientation": [ + 0.10637902468442917, + 0.42080825567245483, + 0.8858687877655029, + -0.16383036971092224 + ], + "joints": [ + 0.008296651765704155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0876348689198494, + 0.07798890769481659, + 0.027761774137616158 + ], + "orientation": [ + 0.04490000382065773, + -0.8814547657966614, + -0.430865079164505, + 0.18808721005916595 + ], + "joints": [ + -0.0023675491102039814 + ] + }, + "fine_grasp": { + "position": [ + -0.08602669090032578, + 0.07909451425075531, + 0.025502527132630348 + ], + "orientation": [ + 0.03869280219078064, + -0.8807945847511292, + -0.42166778445243835, + 0.21189594268798828 + ], + "joints": [ + 0.00299958698451519 + ] + }, + "final_grasp": { + "position": [ + -0.08602669090032578, + 0.07909451425075531, + 0.025502527132630348 + ], + "orientation": [ + 0.03869280219078064, + -0.8807945847511292, + -0.42166778445243835, + 0.21189594268798828 + ], + "joints": [ + 0.008366722613573074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08771145343780518, + 0.07864890992641449, + 0.027369555085897446 + ], + "orientation": [ + 0.03647324815392494, + -0.8814889192581177, + -0.42969009280204773, + 0.19238877296447754 + ], + "joints": [ + -0.0024246019311249256 + ] + }, + "fine_grasp": { + "position": [ + -0.0867324098944664, + 0.07966635376214981, + 0.025179291144013405 + ], + "orientation": [ + 0.02484968490898609, + -0.8802549242973328, + -0.4214293658733368, + 0.21663570404052734 + ], + "joints": [ + 0.002942534163594246 + ] + }, + "final_grasp": { + "position": [ + -0.0867324098944664, + 0.07966635376214981, + 0.025179291144013405 + ], + "orientation": [ + 0.02484968490898609, + -0.8802549242973328, + -0.4214293658733368, + 0.21663570404052734 + ], + "joints": [ + 0.00830966979265213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12159751355648041, + 0.021361885592341423, + -0.03837832435965538 + ], + "orientation": [ + 0.3747301697731018, + 0.7138569355010986, + 0.48787277936935425, + -0.33461299538612366 + ], + "joints": [ + -0.009169802069664001 + ] + }, + "fine_grasp": { + "position": [ + -0.12457502633333206, + 0.023039696738123894, + -0.03693757206201553 + ], + "orientation": [ + 0.38396304845809937, + 0.7044358849525452, + 0.49936938285827637, + -0.32706668972969055 + ], + "joints": [ + -0.004892035387456417 + ] + }, + "final_grasp": { + "position": [ + -0.12457502633333206, + 0.023039696738123894, + -0.03693757206201553 + ], + "orientation": [ + 0.38396304845809937, + 0.7044358849525452, + 0.49936938285827637, + -0.32706668972969055 + ], + "joints": [ + -0.0006142687052488327 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09118374437093735, + -0.08159323781728745, + -0.05972114950418472 + ], + "orientation": [ + 0.8132566809654236, + 0.3250545859336853, + -0.4312051236629486, + 0.21683016419410706 + ], + "joints": [ + -0.005806621164083481 + ] + }, + "fine_grasp": { + "position": [ + 0.08700471371412277, + -0.07864638417959213, + -0.05703340843319893 + ], + "orientation": [ + 0.8084107637405396, + 0.33416739106178284, + -0.4329394996166229, + 0.21764078736305237 + ], + "joints": [ + -0.003574743401259184 + ] + }, + "final_grasp": { + "position": [ + 0.08700471371412277, + -0.07864638417959213, + -0.05703340843319893 + ], + "orientation": [ + 0.8084107637405396, + 0.33416739106178284, + -0.4329394996166229, + 0.21764078736305237 + ], + "joints": [ + -0.001342865638434887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0641692504286766, + 0.1068575531244278, + -0.06297305226325989 + ], + "orientation": [ + 0.00856841541826725, + 0.7861061096191406, + -0.3436865210533142, + -0.5136568546295166 + ], + "joints": [ + -0.007853505201637745 + ] + }, + "fine_grasp": { + "position": [ + 0.06229647248983383, + 0.10255741328001022, + -0.060512565076351166 + ], + "orientation": [ + 0.01689809001982212, + 0.7785872220993042, + -0.3379683196544647, + -0.5284823775291443 + ], + "joints": [ + -0.00564819760620594 + ] + }, + "final_grasp": { + "position": [ + 0.06229647248983383, + 0.10255741328001022, + -0.060512565076351166 + ], + "orientation": [ + 0.01689809001982212, + 0.7785872220993042, + -0.3379683196544647, + -0.5284823775291443 + ], + "joints": [ + -0.0034428900107741356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041413288563489914, + 0.10985468327999115, + -0.05255558341741562 + ], + "orientation": [ + 0.27256742119789124, + 0.5158815383911133, + -0.019861336797475815, + -0.8118981122970581 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + -0.04011372849345207, + 0.10494585335254669, + -0.05027083307504654 + ], + "orientation": [ + 0.27573832869529724, + 0.5340433120727539, + -0.02660568803548813, + -0.7987855672836304 + ], + "joints": [ + -0.0034412387758493423 + ] + }, + "final_grasp": { + "position": [ + -0.04011372849345207, + 0.10494585335254669, + -0.05027083307504654 + ], + "orientation": [ + 0.27573832869529724, + 0.5340433120727539, + -0.02660568803548813, + -0.7987855672836304 + ], + "joints": [ + 0.0013413578271865845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12483295798301697, + 0.011378617025911808, + -0.05161450803279877 + ], + "orientation": [ + 0.3885074853897095, + 0.7081431746482849, + 0.5148758888244629, + -0.28722479939460754 + ], + "joints": [ + -0.002482953481376171 + ] + }, + "fine_grasp": { + "position": [ + -0.12885169684886932, + 0.013943051919341087, + -0.05078526958823204 + ], + "orientation": [ + 0.39760980010032654, + 0.7031670212745667, + 0.526936948299408, + -0.2641969323158264 + ], + "joints": [ + -0.0013404443161562085 + ] + }, + "final_grasp": { + "position": [ + -0.12885169684886932, + 0.013943051919341087, + -0.05078526958823204 + ], + "orientation": [ + 0.39760980010032654, + 0.7031670212745667, + 0.526936948299408, + -0.2641969323158264 + ], + "joints": [ + -0.00019793515093624592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002674370538443327, + 0.11726297438144684, + 0.050351276993751526 + ], + "orientation": [ + 0.09248899668455124, + -0.9433313012123108, + 0.05772745981812477, + -0.3134317398071289 + ], + "joints": [ + 0.0028489381074905396 + ] + }, + "fine_grasp": { + "position": [ + -0.0019263502908870578, + 0.11839509755373001, + 0.04893457889556885 + ], + "orientation": [ + 0.11270938813686371, + -0.9440953135490417, + 0.05892954766750336, + -0.3041514456272125 + ], + "joints": [ + 0.006648445036262274 + ] + }, + "final_grasp": { + "position": [ + -0.0019263502908870578, + 0.11839509755373001, + 0.04893457889556885 + ], + "orientation": [ + 0.11270938813686371, + -0.9440953135490417, + 0.05892954766750336, + -0.3041514456272125 + ], + "joints": [ + 0.010447951965034008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00274408096447587, + 0.11639662086963654, + 0.050459638237953186 + ], + "orientation": [ + 0.08784657716751099, + -0.9462588429450989, + 0.056678690016269684, + -0.306046724319458 + ], + "joints": [ + 0.0028525274246931076 + ] + }, + "fine_grasp": { + "position": [ + -0.002139532472938299, + 0.11827892065048218, + 0.048675354570150375 + ], + "orientation": [ + 0.11194906383752823, + -0.9447616934776306, + 0.058493323624134064, + -0.3024422824382782 + ], + "joints": [ + 0.006652034353464842 + ] + }, + "final_grasp": { + "position": [ + -0.002139532472938299, + 0.11827892065048218, + 0.048675354570150375 + ], + "orientation": [ + 0.11194906383752823, + -0.9447616934776306, + 0.058493323624134064, + -0.3024422824382782 + ], + "joints": [ + 0.010451541282236576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0736103281378746, + 0.10358979552984238, + 0.003203944768756628 + ], + "orientation": [ + 0.2797635495662689, + 0.14544576406478882, + 0.08896252512931824, + -0.9448087215423584 + ], + "joints": [ + -0.0033872309140861034 + ] + }, + "fine_grasp": { + "position": [ + -0.07230443507432938, + 0.10242193192243576, + 0.0038154348731040955 + ], + "orientation": [ + 0.2778187692165375, + 0.17786547541618347, + 0.0947006419301033, + -0.9392616748809814 + ], + "joints": [ + 0.000943676452152431 + ] + }, + "final_grasp": { + "position": [ + -0.07230443507432938, + 0.10242193192243576, + 0.0038154348731040955 + ], + "orientation": [ + 0.2778187692165375, + 0.17786547541618347, + 0.0947006419301033, + -0.9392616748809814 + ], + "joints": [ + 0.005274583585560322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051320407539606094, + -0.10757635533809662, + 0.005836512427777052 + ], + "orientation": [ + 0.9580835103988647, + -0.0062430077232420444, + 0.15431714057922363, + -0.24129468202590942 + ], + "joints": [ + -0.004211195278912783 + ] + }, + "fine_grasp": { + "position": [ + -0.05337056145071983, + -0.10969176143407822, + 0.005933266133069992 + ], + "orientation": [ + 0.9540252685546875, + -0.0038321816828101873, + 0.1768995225429535, + -0.2419252097606659 + ], + "joints": [ + 0.0006245415424928069 + ] + }, + "final_grasp": { + "position": [ + -0.05337056145071983, + -0.10969176143407822, + 0.005933266133069992 + ], + "orientation": [ + 0.9540252685546875, + -0.0038321816828101873, + 0.1768995225429535, + -0.2419252097606659 + ], + "joints": [ + 0.005460278131067753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04612456262111664, + -0.1074104756116867, + -0.07751496881246567 + ], + "orientation": [ + 0.7513900399208069, + 0.07683621346950531, + -0.5674456357955933, + -0.3278941810131073 + ], + "joints": [ + -0.00990193709731102 + ] + }, + "fine_grasp": { + "position": [ + -0.04481356963515282, + -0.10280752927064896, + -0.07439538091421127 + ], + "orientation": [ + 0.7496887445449829, + 0.07884638756513596, + -0.5712266564369202, + -0.3247309923171997 + ], + "joints": [ + -0.005039631389081478 + ] + }, + "final_grasp": { + "position": [ + -0.04481356963515282, + -0.10280752927064896, + -0.07439538091421127 + ], + "orientation": [ + 0.7496887445449829, + 0.07884638756513596, + -0.5712266564369202, + -0.3247309923171997 + ], + "joints": [ + -0.00017732568085193634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.081023670732975, + 0.07003458589315414, + 0.050783488899469376 + ], + "orientation": [ + 0.1384083777666092, + -0.8603620529174805, + -0.44118088483810425, + 0.21442832052707672 + ], + "joints": [ + -0.0025036504957824945 + ] + }, + "fine_grasp": { + "position": [ + -0.07859279215335846, + 0.07055923342704773, + 0.04785550758242607 + ], + "orientation": [ + 0.13730667531490326, + -0.8606606721878052, + -0.4314252436161041, + 0.23298585414886475 + ], + "joints": [ + 0.0028634858317673206 + ] + }, + "final_grasp": { + "position": [ + -0.07859279215335846, + 0.07055923342704773, + 0.04785550758242607 + ], + "orientation": [ + 0.13730667531490326, + -0.8606606721878052, + -0.4314252436161041, + 0.23298585414886475 + ], + "joints": [ + 0.008230621926486492 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08151142299175262, + 0.07038438320159912, + 0.05101962015032768 + ], + "orientation": [ + 0.1378326117992401, + -0.8597081899642944, + -0.44184258580207825, + 0.21605347096920013 + ], + "joints": [ + -0.002378232777118683 + ] + }, + "fine_grasp": { + "position": [ + -0.07889488339424133, + 0.07032559812068939, + 0.04782642796635628 + ], + "orientation": [ + 0.13648417592048645, + -0.8596576452255249, + -0.43324628472328186, + 0.2337915450334549 + ], + "joints": [ + 0.0029889033176004887 + ] + }, + "final_grasp": { + "position": [ + -0.07889488339424133, + 0.07032559812068939, + 0.04782642796635628 + ], + "orientation": [ + 0.13648417592048645, + -0.8596576452255249, + -0.43324628472328186, + 0.2337915450334549 + ], + "joints": [ + 0.00835603941231966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0634320005774498, + 0.10570767521858215, + -0.06277807056903839 + ], + "orientation": [ + 0.004820828791707754, + 0.7847074866294861, + -0.34594184160232544, + -0.5143297910690308 + ], + "joints": [ + -0.007015228271484375 + ] + }, + "fine_grasp": { + "position": [ + 0.061191949993371964, + 0.10102566331624985, + -0.06021244451403618 + ], + "orientation": [ + 0.00910845585167408, + 0.7758957147598267, + -0.34278127551078796, + -0.529531717300415 + ], + "joints": [ + -0.004331660456955433 + ] + }, + "final_grasp": { + "position": [ + 0.061191949993371964, + 0.10102566331624985, + -0.06021244451403618 + ], + "orientation": [ + 0.00910845585167408, + 0.7758957147598267, + -0.34278127551078796, + -0.529531717300415 + ], + "joints": [ + -0.0016480926424264908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0885467529296875, + 0.0706401914358139, + 0.037362128496170044 + ], + "orientation": [ + 0.4566422402858734, + -0.20567548274993896, + 0.08027318120002747, + -0.8618188500404358 + ], + "joints": [ + -0.0025857172440737486 + ] + }, + "fine_grasp": { + "position": [ + -0.0872655138373375, + 0.07141496241092682, + 0.03473800793290138 + ], + "orientation": [ + 0.449339896440506, + -0.22821933031082153, + 0.07132626324892044, + -0.8607683777809143 + ], + "joints": [ + 0.0027814190834760666 + ] + }, + "final_grasp": { + "position": [ + -0.0872655138373375, + 0.07141496241092682, + 0.03473800793290138 + ], + "orientation": [ + 0.449339896440506, + -0.22821933031082153, + 0.07132626324892044, + -0.8607683777809143 + ], + "joints": [ + 0.008148555643856525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11400982737541199, + -0.022811327129602432, + 0.02713322825729847 + ], + "orientation": [ + 0.7113302946090698, + 0.2050137221813202, + 0.22867953777313232, + -0.6322057843208313 + ], + "joints": [ + 0.003025713376700878 + ] + }, + "fine_grasp": { + "position": [ + -0.11799268424510956, + -0.02315765805542469, + 0.024946851655840874 + ], + "orientation": [ + 0.7128880023956299, + 0.176810622215271, + 0.23489299416542053, + -0.636674165725708 + ], + "joints": [ + 0.006267250515520573 + ] + }, + "final_grasp": { + "position": [ + -0.11799268424510956, + -0.02315765805542469, + 0.024946851655840874 + ], + "orientation": [ + 0.7128880023956299, + 0.176810622215271, + 0.23489299416542053, + -0.636674165725708 + ], + "joints": [ + 0.009508787654340267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07260900735855103, + -0.09244122356176376, + 0.015770455822348595 + ], + "orientation": [ + 0.8055511713027954, + -0.3014124929904938, + -0.43477439880371094, + -0.26685047149658203 + ], + "joints": [ + -0.005586592480540276 + ] + }, + "fine_grasp": { + "position": [ + -0.076602503657341, + -0.09548588842153549, + 0.017920849844813347 + ], + "orientation": [ + 0.8058895468711853, + -0.2908938527107239, + -0.44524869322776794, + -0.2601472735404968 + ], + "joints": [ + -0.004470653831958771 + ] + }, + "final_grasp": { + "position": [ + -0.076602503657341, + -0.09548588842153549, + 0.017920849844813347 + ], + "orientation": [ + 0.8058895468711853, + -0.2908938527107239, + -0.44524869322776794, + -0.2601472735404968 + ], + "joints": [ + -0.003354715183377266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05996512249112129, + 0.09835099428892136, + 0.02650759182870388 + ], + "orientation": [ + 0.07810119539499283, + -0.9292706251144409, + 0.30191510915756226, + -0.1979987621307373 + ], + "joints": [ + -0.003883759956806898 + ] + }, + "fine_grasp": { + "position": [ + 0.06016310304403305, + 0.0998702123761177, + 0.027154449373483658 + ], + "orientation": [ + 0.0731293261051178, + -0.9246023893356323, + 0.29624876379966736, + -0.22803372144699097 + ], + "joints": [ + 0.00042057730024680495 + ] + }, + "final_grasp": { + "position": [ + 0.06016310304403305, + 0.0998702123761177, + 0.027154449373483658 + ], + "orientation": [ + 0.0731293261051178, + -0.9246023893356323, + 0.29624876379966736, + -0.22803372144699097 + ], + "joints": [ + 0.00472491467371583 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1124311313033104, + -0.049019988626241684, + -0.015433743596076965 + ], + "orientation": [ + 0.7005932331085205, + -0.2824940085411072, + 0.3982410728931427, + 0.5203558206558228 + ], + "joints": [ + -0.00695789884775877 + ] + }, + "fine_grasp": { + "position": [ + 0.11756440997123718, + -0.04984395205974579, + -0.014029237441718578 + ], + "orientation": [ + 0.7097935676574707, + -0.26610347628593445, + 0.40507587790489197, + 0.5111706852912903 + ], + "joints": [ + -0.0027598412707448006 + ] + }, + "final_grasp": { + "position": [ + 0.11756440997123718, + -0.04984395205974579, + -0.014029237441718578 + ], + "orientation": [ + 0.7097935676574707, + -0.26610347628593445, + 0.40507587790489197, + 0.5111706852912903 + ], + "joints": [ + 0.0014382163062691689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03271091356873512, + 0.11470002681016922, + 0.017750974744558334 + ], + "orientation": [ + 0.15869811177253723, + -0.30645352602005005, + 0.07839584350585938, + 0.9352835416793823 + ], + "joints": [ + 0.0010620688553899527 + ] + }, + "fine_grasp": { + "position": [ + 0.03361080214381218, + 0.11726374924182892, + 0.016357582062482834 + ], + "orientation": [ + 0.16387999057769775, + -0.2986685335636139, + 0.06094725430011749, + 0.9382036328315735 + ], + "joints": [ + 0.005392975173890591 + ] + }, + "final_grasp": { + "position": [ + 0.03361080214381218, + 0.11726374924182892, + 0.016357582062482834 + ], + "orientation": [ + 0.16387999057769775, + -0.2986685335636139, + 0.06094725430011749, + 0.9382036328315735 + ], + "joints": [ + 0.009723881259560585 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12007959932088852, + -0.008907947689294815, + 0.017480051144957542 + ], + "orientation": [ + 0.19339166581630707, + -0.6890174746513367, + 0.6949580311775208, + 0.06991546601057053 + ], + "joints": [ + -0.0039734011515975 + ] + }, + "fine_grasp": { + "position": [ + 0.12088931351900101, + -0.008948269300162792, + 0.015988487750291824 + ], + "orientation": [ + 0.21532785892486572, + -0.6839547157287598, + 0.6917978525161743, + 0.08518021553754807 + ], + "joints": [ + 0.0009154753061011434 + ] + }, + "final_grasp": { + "position": [ + 0.12088931351900101, + -0.008948269300162792, + 0.015988487750291824 + ], + "orientation": [ + 0.21532785892486572, + -0.6839547157287598, + 0.6917978525161743, + 0.08518021553754807 + ], + "joints": [ + 0.005804351530969143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12245763093233109, + -0.026794059202075005, + -0.02809995785355568 + ], + "orientation": [ + 0.7282947897911072, + 0.31295737624168396, + 0.3247934877872467, + -0.5159007906913757 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.12225141376256943, + -0.02833613008260727, + -0.025803999975323677 + ], + "orientation": [ + 0.7189367413520813, + 0.3308601379394531, + 0.3170006573200226, + -0.5226587653160095 + ], + "joints": [ + -0.006075936369597912 + ] + }, + "final_grasp": { + "position": [ + -0.12225141376256943, + -0.02833613008260727, + -0.025803999975323677 + ], + "orientation": [ + 0.7189367413520813, + 0.3308601379394531, + 0.3170006573200226, + -0.5226587653160095 + ], + "joints": [ + -0.0033392291516065598 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03500964492559433, + 0.11506973206996918, + 0.03190727159380913 + ], + "orientation": [ + 0.1607542634010315, + -0.9688863754272461, + 0.10167892277240753, + 0.15836267173290253 + ], + "joints": [ + -0.003449837677180767 + ] + }, + "fine_grasp": { + "position": [ + 0.03498714417219162, + 0.11099337041378021, + 0.028322359547019005 + ], + "orientation": [ + 0.16881781816482544, + -0.9631468057632446, + 0.10816650837659836, + 0.179300457239151 + ], + "joints": [ + 0.0019172985339537263 + ] + }, + "final_grasp": { + "position": [ + 0.03498714417219162, + 0.11099337041378021, + 0.028322359547019005 + ], + "orientation": [ + 0.16881781816482544, + -0.9631468057632446, + 0.10816650837659836, + 0.179300457239151 + ], + "joints": [ + 0.007284434512257576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11775047332048416, + -0.023320797830820084, + -0.07218054682016373 + ], + "orientation": [ + 0.4609515368938446, + -0.261096328496933, + -0.5791221857070923, + -0.6196529865264893 + ], + "joints": [ + -0.011668361723423004 + ] + }, + "fine_grasp": { + "position": [ + -0.11281782388687134, + -0.02238549292087555, + -0.06927978992462158 + ], + "orientation": [ + 0.45979565382003784, + -0.2637593746185303, + -0.5789816975593567, + -0.6195152401924133 + ], + "joints": [ + -0.006832625716924667 + ] + }, + "final_grasp": { + "position": [ + -0.11281782388687134, + -0.02238549292087555, + -0.06927978992462158 + ], + "orientation": [ + 0.45979565382003784, + -0.2637593746185303, + -0.5789816975593567, + -0.6195152401924133 + ], + "joints": [ + -0.0019968897104263306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11657647788524628, + -0.023425815626978874, + -0.07173822820186615 + ], + "orientation": [ + 0.4560391306877136, + -0.2654772996902466, + -0.5808606147766113, + -0.6197991967201233 + ], + "joints": [ + -0.011697802692651749 + ] + }, + "fine_grasp": { + "position": [ + -0.11160965263843536, + -0.022434214130043983, + -0.06879949569702148 + ], + "orientation": [ + 0.45461025834083557, + -0.26766127347946167, + -0.5813838243484497, + -0.6194189190864563 + ], + "joints": [ + -0.006357236765325069 + ] + }, + "final_grasp": { + "position": [ + -0.11160965263843536, + -0.022434214130043983, + -0.06879949569702148 + ], + "orientation": [ + 0.45461025834083557, + -0.26766127347946167, + -0.5813838243484497, + -0.6194189190864563 + ], + "joints": [ + -0.0010166708379983902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0561467707157135, + 0.1179562360048294, + -0.02509220689535141 + ], + "orientation": [ + 0.0986131876707077, + 0.8949868679046631, + -0.1628091186285019, + 0.4034440517425537 + ], + "joints": [ + -0.0030795882921665907 + ] + }, + "fine_grasp": { + "position": [ + 0.055891845375299454, + 0.11734378337860107, + -0.02328154817223549 + ], + "orientation": [ + 0.11038631945848465, + 0.8921950459480286, + -0.16953805088996887, + 0.4038064777851105 + ], + "joints": [ + 0.0011981794377788901 + ] + }, + "final_grasp": { + "position": [ + 0.055891845375299454, + 0.11734378337860107, + -0.02328154817223549 + ], + "orientation": [ + 0.11038631945848465, + 0.8921950459480286, + -0.16953805088996887, + 0.4038064777851105 + ], + "joints": [ + 0.005475947167724371 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12764258682727814, + 0.01751813106238842, + -0.036062322556972504 + ], + "orientation": [ + 0.5000415444374084, + -0.3644753694534302, + 0.33356186747550964, + 0.7112330794334412 + ], + "joints": [ + 0.0038305269554257393 + ] + }, + "fine_grasp": { + "position": [ + 0.1254279464483261, + 0.01759054884314537, + -0.03353921324014664 + ], + "orientation": [ + 0.4937935769557953, + -0.3700045049190521, + 0.34763452410697937, + 0.7059850096702576 + ], + "joints": [ + 0.006009264849126339 + ] + }, + "final_grasp": { + "position": [ + 0.1254279464483261, + 0.01759054884314537, + -0.03353921324014664 + ], + "orientation": [ + 0.4937935769557953, + -0.3700045049190521, + 0.34763452410697937, + 0.7059850096702576 + ], + "joints": [ + 0.008188002742826939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12797261774539948, + 0.017417117953300476, + -0.03563664108514786 + ], + "orientation": [ + 0.4981313645839691, + -0.36943671107292175, + 0.33353251218795776, + 0.7100264430046082 + ], + "joints": [ + 0.004381477367132902 + ] + }, + "fine_grasp": { + "position": [ + 0.12577103078365326, + 0.017562657594680786, + -0.03324027359485626 + ], + "orientation": [ + 0.4919353127479553, + -0.3744092881679535, + 0.3477472960948944, + 0.7049036622047424 + ], + "joints": [ + 0.006028816103935242 + ] + }, + "final_grasp": { + "position": [ + 0.12577103078365326, + 0.017562657594680786, + -0.03324027359485626 + ], + "orientation": [ + 0.4919353127479553, + -0.3744092881679535, + 0.3477472960948944, + 0.7049036622047424 + ], + "joints": [ + 0.007676154840737581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051795221865177155, + 0.10722553730010986, + -0.05795951560139656 + ], + "orientation": [ + 0.061482202261686325, + -0.4722709357738495, + -0.23674815893173218, + -0.8468356132507324 + ], + "joints": [ + -0.0078666340559721 + ] + }, + "fine_grasp": { + "position": [ + -0.049307484179735184, + 0.10301633179187775, + -0.055420663207769394 + ], + "orientation": [ + 0.05800996348261833, + -0.4835810363292694, + -0.25012293457984924, + -0.8367931246757507 + ], + "joints": [ + -0.004120266996324062 + ] + }, + "final_grasp": { + "position": [ + -0.049307484179735184, + 0.10301633179187775, + -0.055420663207769394 + ], + "orientation": [ + 0.05800996348261833, + -0.4835810363292694, + -0.25012293457984924, + -0.8367931246757507 + ], + "joints": [ + -0.0003738999366760254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1320793330669403, + 0.004318111576139927, + -0.0502355694770813 + ], + "orientation": [ + 0.43351954221725464, + 0.669612467288971, + 0.4778059720993042, + -0.367942214012146 + ], + "joints": [ + 0.0028287707827985287 + ] + }, + "fine_grasp": { + "position": [ + -0.13528670370578766, + 0.007166099734604359, + -0.048520926386117935 + ], + "orientation": [ + 0.443975031375885, + 0.6671854853630066, + 0.49023351073265076, + -0.34266719222068787 + ], + "joints": [ + 0.002935050055384636 + ] + }, + "final_grasp": { + "position": [ + -0.13528670370578766, + 0.007166099734604359, + -0.048520926386117935 + ], + "orientation": [ + 0.443975031375885, + 0.6671854853630066, + 0.49023351073265076, + -0.34266719222068787 + ], + "joints": [ + 0.003041329327970743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1235257089138031, + 0.011838954873383045, + -0.07580529153347015 + ], + "orientation": [ + 0.1811729073524475, + -0.5588216781616211, + -0.7081654071807861, + -0.3916584849357605 + ], + "joints": [ + 0.007196157705038786 + ] + }, + "fine_grasp": { + "position": [ + -0.11868070811033249, + 0.011159949004650116, + -0.07346604764461517 + ], + "orientation": [ + 0.17669565975666046, + -0.5644149780273438, + -0.7005776166915894, + -0.39925616979599 + ], + "joints": [ + 0.010464267805218697 + ] + }, + "final_grasp": { + "position": [ + -0.11868070811033249, + 0.011159949004650116, + -0.07346604764461517 + ], + "orientation": [ + 0.17669565975666046, + -0.5644149780273438, + -0.7005776166915894, + -0.39925616979599 + ], + "joints": [ + 0.01373237743973732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08219633251428604, + 0.09108929336071014, + -0.063775934278965 + ], + "orientation": [ + 0.33336859941482544, + 0.8014716506004333, + -0.14455538988113403, + 0.4749866724014282 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.07823964953422546, + 0.0877896100282669, + -0.061031684279441833 + ], + "orientation": [ + 0.34475815296173096, + 0.7952054738998413, + -0.14140574634075165, + 0.47832468152046204 + ], + "joints": [ + -0.005681654438376427 + ] + }, + "final_grasp": { + "position": [ + 0.07823964953422546, + 0.0877896100282669, + -0.061031684279441833 + ], + "orientation": [ + 0.34475815296173096, + 0.7952054738998413, + -0.14140574634075165, + 0.47832468152046204 + ], + "joints": [ + -0.0019618570804595947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044325411319732666, + -0.11261726915836334, + -0.06551110744476318 + ], + "orientation": [ + 0.4555200934410095, + 0.3096018135547638, + -0.8346242904663086, + -0.00710190087556839 + ], + "joints": [ + 0.006808464415371418 + ] + }, + "fine_grasp": { + "position": [ + 0.042692672461271286, + -0.10846451669931412, + -0.0628422275185585 + ], + "orientation": [ + 0.45710986852645874, + 0.3098151981830597, + -0.8335682153701782, + -0.015142001211643219 + ], + "joints": [ + 0.011165943928062916 + ] + }, + "final_grasp": { + "position": [ + 0.042692672461271286, + -0.10846451669931412, + -0.0628422275185585 + ], + "orientation": [ + 0.45710986852645874, + 0.3098151981830597, + -0.8335682153701782, + -0.015142001211643219 + ], + "joints": [ + 0.015523423440754414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1219487413764, + 0.02816060371696949, + -0.04939686134457588 + ], + "orientation": [ + 0.6090290546417236, + 0.48938432335853577, + 0.29600778222084045, + -0.5495144128799438 + ], + "joints": [ + -0.004161057993769646 + ] + }, + "fine_grasp": { + "position": [ + -0.11721880733966827, + 0.026465309783816338, + -0.04724384844303131 + ], + "orientation": [ + 0.6041372418403625, + 0.5018761157989502, + 0.28376519680023193, + -0.5501054525375366 + ], + "joints": [ + -0.001982319401577115 + ] + }, + "final_grasp": { + "position": [ + -0.11721880733966827, + 0.026465309783816338, + -0.04724384844303131 + ], + "orientation": [ + 0.6041372418403625, + 0.5018761157989502, + 0.28376519680023193, + -0.5501054525375366 + ], + "joints": [ + 0.00019641919061541557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07188991457223892, + -0.10168731212615967, + -0.06148636341094971 + ], + "orientation": [ + 0.8309152126312256, + -0.032783448696136475, + -0.39951032400131226, + -0.3858712911605835 + ], + "joints": [ + 0.004879054147750139 + ] + }, + "fine_grasp": { + "position": [ + -0.07416903227567673, + -0.10188132524490356, + -0.06073887646198273 + ], + "orientation": [ + 0.8272589445114136, + -0.021624205633997917, + -0.4110543429851532, + -0.38237321376800537 + ], + "joints": [ + 0.009156822226941586 + ] + }, + "final_grasp": { + "position": [ + -0.07416903227567673, + -0.10188132524490356, + -0.06073887646198273 + ], + "orientation": [ + 0.8272589445114136, + -0.021624205633997917, + -0.4110543429851532, + -0.38237321376800537 + ], + "joints": [ + 0.01343459077179432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07188157737255096, + -0.10170342028141022, + -0.06168338656425476 + ], + "orientation": [ + 0.8309144973754883, + -0.03255600109696388, + -0.39896202087402344, + -0.3864591717720032 + ], + "joints": [ + 0.00532027380540967 + ] + }, + "fine_grasp": { + "position": [ + -0.07420459389686584, + -0.10182099044322968, + -0.06084011495113373 + ], + "orientation": [ + 0.8273732662200928, + -0.021017419174313545, + -0.41056665778160095, + -0.38268378376960754 + ], + "joints": [ + 0.009093212895095348 + ] + }, + "final_grasp": { + "position": [ + -0.07420459389686584, + -0.10182099044322968, + -0.06084011495113373 + ], + "orientation": [ + 0.8273732662200928, + -0.021017419174313545, + -0.41056665778160095, + -0.38268378376960754 + ], + "joints": [ + 0.012866152450442314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12249407917261124, + 0.03675984591245651, + -0.09034637361764908 + ], + "orientation": [ + 0.24606148898601532, + -0.43503645062446594, + -0.5767340064048767, + -0.6462004780769348 + ], + "joints": [ + -0.0010258567053824663 + ] + }, + "fine_grasp": { + "position": [ + -0.11801619827747345, + 0.03541328012943268, + -0.08666092157363892 + ], + "orientation": [ + 0.24425792694091797, + -0.4325812757015228, + -0.5763734579086304, + -0.6488491892814636 + ], + "joints": [ + -0.00030846751178614795 + ] + }, + "final_grasp": { + "position": [ + -0.11801619827747345, + 0.03541328012943268, + -0.08666092157363892 + ], + "orientation": [ + 0.24425792694091797, + -0.4325812757015228, + -0.5763734579086304, + -0.6488491892814636 + ], + "joints": [ + 0.0004089216818101704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06023202836513519, + 0.11049811542034149, + -0.014798011630773544 + ], + "orientation": [ + 0.26638954877853394, + 0.49037498235702515, + 0.14646846055984497, + -0.8167717456817627 + ], + "joints": [ + -0.006820882670581341 + ] + }, + "fine_grasp": { + "position": [ + -0.061743464320898056, + 0.11013840138912201, + -0.013820569962263107 + ], + "orientation": [ + 0.2610975205898285, + 0.49628758430480957, + 0.13329154253005981, + -0.8171657919883728 + ], + "joints": [ + -0.0036324849352240562 + ] + }, + "final_grasp": { + "position": [ + -0.061743464320898056, + 0.11013840138912201, + -0.013820569962263107 + ], + "orientation": [ + 0.2610975205898285, + 0.49628758430480957, + 0.13329154253005981, + -0.8171657919883728 + ], + "joints": [ + -0.0004440871998667717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.060442980378866196, + 0.11039087921380997, + -0.014481142163276672 + ], + "orientation": [ + 0.2672586143016815, + 0.4913191795349121, + 0.14915359020233154, + -0.8154333233833313 + ], + "joints": [ + -0.0062990328297019005 + ] + }, + "fine_grasp": { + "position": [ + -0.06205984950065613, + 0.11008637398481369, + -0.013531014323234558 + ], + "orientation": [ + 0.26163381338119507, + 0.49723631143569946, + 0.1353757232427597, + -0.8160743117332458 + ], + "joints": [ + -0.0036420347169041634 + ] + }, + "final_grasp": { + "position": [ + -0.06205984950065613, + 0.11008637398481369, + -0.013531014323234558 + ], + "orientation": [ + 0.26163381338119507, + 0.49723631143569946, + 0.1353757232427597, + -0.8160743117332458 + ], + "joints": [ + -0.0009850366041064262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09718265384435654, + 0.08074869215488434, + -0.027562227100133896 + ], + "orientation": [ + 0.19945776462554932, + 0.810022234916687, + -0.2897059917449951, + 0.4692024886608124 + ], + "joints": [ + 0.00351540045812726 + ] + }, + "fine_grasp": { + "position": [ + 0.0962977409362793, + 0.07950294017791748, + -0.026424698531627655 + ], + "orientation": [ + 0.2180745005607605, + 0.798467755317688, + -0.2780517339706421, + 0.4874217212200165 + ], + "joints": [ + 0.00619896873831749 + ] + }, + "final_grasp": { + "position": [ + 0.0962977409362793, + 0.07950294017791748, + -0.026424698531627655 + ], + "orientation": [ + 0.2180745005607605, + 0.798467755317688, + -0.2780517339706421, + 0.4874217212200165 + ], + "joints": [ + 0.008882537484169006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0750015527009964, + -0.10897952318191528, + -0.05608270317316055 + ], + "orientation": [ + 0.39425939321517944, + 0.36851632595062256, + -0.8409713506698608, + 0.03901803120970726 + ], + "joints": [ + 0.004488777369260788 + ] + }, + "fine_grasp": { + "position": [ + 0.0788579061627388, + -0.10973970592021942, + -0.054960839450359344 + ], + "orientation": [ + 0.41751688718795776, + 0.3595164120197296, + -0.8339709639549255, + 0.03033384494483471 + ], + "joints": [ + 0.007172344718128443 + ] + }, + "final_grasp": { + "position": [ + 0.0788579061627388, + -0.10973970592021942, + -0.054960839450359344 + ], + "orientation": [ + 0.41751688718795776, + 0.3595164120197296, + -0.8339709639549255, + 0.03033384494483471 + ], + "joints": [ + 0.009855912066996098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10412506014108658, + 0.08132287859916687, + -0.0549776516854763 + ], + "orientation": [ + 0.15824660658836365, + -0.7195672988891602, + -0.49001601338386536, + -0.4659026265144348 + ], + "joints": [ + 0.00707402965053916 + ] + }, + "fine_grasp": { + "position": [ + -0.1085224598646164, + 0.08307168632745743, + -0.053570378571748734 + ], + "orientation": [ + 0.1524706482887268, + -0.7220813035964966, + -0.48058563470840454, + -0.47369685769081116 + ], + "joints": [ + 0.010288998484611511 + ] + }, + "final_grasp": { + "position": [ + -0.1085224598646164, + 0.08307168632745743, + -0.053570378571748734 + ], + "orientation": [ + 0.1524706482887268, + -0.7220813035964966, + -0.48058563470840454, + -0.47369685769081116 + ], + "joints": [ + 0.013503966853022575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12338187545537949, + 0.02886207401752472, + -0.04381585493683815 + ], + "orientation": [ + 0.591958224773407, + 0.515746533870697, + 0.3148418366909027, + -0.5333530902862549 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.11796111613512039, + 0.027737291529774666, + -0.04220503941178322 + ], + "orientation": [ + 0.5859693884849548, + 0.5233567357063293, + 0.31336158514022827, + -0.5334249138832092 + ], + "joints": [ + -0.004087455570697784 + ] + }, + "final_grasp": { + "position": [ + -0.11796111613512039, + 0.027737291529774666, + -0.04220503941178322 + ], + "orientation": [ + 0.5859693884849548, + 0.5233567357063293, + 0.31336158514022827, + -0.5334249138832092 + ], + "joints": [ + 0.0012265406548976898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12152232229709625, + 0.02685132436454296, + -0.023463811725378036 + ], + "orientation": [ + 0.607745885848999, + 0.34921249747276306, + -0.3492031395435333, + 0.6218944191932678 + ], + "joints": [ + 0.007288770284503698 + ] + }, + "fine_grasp": { + "position": [ + 0.12613089382648468, + 0.02519279532134533, + -0.0213593952357769 + ], + "orientation": [ + 0.5987357497215271, + 0.3666989803314209, + -0.3433654010295868, + 0.6238169074058533 + ], + "joints": [ + 0.006837081164121628 + ] + }, + "final_grasp": { + "position": [ + 0.12613089382648468, + 0.02519279532134533, + -0.0213593952357769 + ], + "orientation": [ + 0.5987357497215271, + 0.3666989803314209, + -0.3433654010295868, + 0.6238169074058533 + ], + "joints": [ + 0.006385392043739557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07214806228876114, + -0.10739129781723022, + -0.05596572160720825 + ], + "orientation": [ + 0.3965728282928467, + 0.3734648823738098, + -0.8370397090911865, + 0.05116981640458107 + ], + "joints": [ + 0.006836732849478722 + ] + }, + "fine_grasp": { + "position": [ + 0.07550393790006638, + -0.10789521783590317, + -0.05428929254412651 + ], + "orientation": [ + 0.4199233055114746, + 0.3636050820350647, + -0.8306123614311218, + 0.03922829031944275 + ], + "joints": [ + 0.007952673360705376 + ] + }, + "final_grasp": { + "position": [ + 0.07550393790006638, + -0.10789521783590317, + -0.05428929254412651 + ], + "orientation": [ + 0.4199233055114746, + 0.3636050820350647, + -0.8306123614311218, + 0.03922829031944275 + ], + "joints": [ + 0.00906861387193203 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11292599141597748, + 0.029025159776210785, + -0.06831321865320206 + ], + "orientation": [ + 0.2620638310909271, + 0.8008090853691101, + 0.523252010345459, + -0.12741521000862122 + ], + "joints": [ + 0.0007879054173827171 + ] + }, + "fine_grasp": { + "position": [ + -0.11407601088285446, + 0.03144484758377075, + -0.06819690763950348 + ], + "orientation": [ + 0.2771710753440857, + 0.7972089052200317, + 0.5225180387496948, + -0.12086852639913559 + ], + "joints": [ + 0.005597071722149849 + ] + }, + "final_grasp": { + "position": [ + -0.11407601088285446, + 0.03144484758377075, + -0.06819690763950348 + ], + "orientation": [ + 0.2771710753440857, + 0.7972089052200317, + 0.5225180387496948, + -0.12086852639913559 + ], + "joints": [ + 0.01040623802691698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11735083907842636, + -0.041547179222106934, + -0.014118557795882225 + ], + "orientation": [ + 0.3784077763557434, + 0.5416697859764099, + -0.6661103963851929, + 0.34597429633140564 + ], + "joints": [ + 0.0030127144418656826 + ] + }, + "fine_grasp": { + "position": [ + 0.122159443795681, + -0.04244827479124069, + -0.012469199486076832 + ], + "orientation": [ + 0.398257851600647, + 0.5313247442245483, + -0.6651396751403809, + 0.3415754735469818 + ], + "joints": [ + 0.0041020833887159824 + ] + }, + "final_grasp": { + "position": [ + 0.122159443795681, + -0.04244827479124069, + -0.012469199486076832 + ], + "orientation": [ + 0.398257851600647, + 0.5313247442245483, + -0.6651396751403809, + 0.3415754735469818 + ], + "joints": [ + 0.005191452335566282 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07666782289743423, + 0.10261856764554977, + -0.027441317215561867 + ], + "orientation": [ + 0.18489496409893036, + -0.5060037970542908, + 0.200633242726326, + 0.8182421922683716 + ], + "joints": [ + -0.008752211928367615 + ] + }, + "fine_grasp": { + "position": [ + 0.07506801933050156, + 0.10189204663038254, + -0.0248494204133749 + ], + "orientation": [ + 0.1958027482032776, + -0.5070123076438904, + 0.202643483877182, + 0.8145769238471985 + ], + "joints": [ + -0.003969615325331688 + ] + }, + "final_grasp": { + "position": [ + 0.07506801933050156, + 0.10189204663038254, + -0.0248494204133749 + ], + "orientation": [ + 0.1958027482032776, + -0.5070123076438904, + 0.202643483877182, + 0.8145769238471985 + ], + "joints": [ + 0.0008129812777042389 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11093984544277191, + 0.06493409723043442, + -0.05545888468623161 + ], + "orientation": [ + 0.3008539378643036, + -0.42462262511253357, + -0.3097013831138611, + -0.7957811951637268 + ], + "joints": [ + 0.006496874149888754 + ] + }, + "fine_grasp": { + "position": [ + -0.10775946080684662, + 0.06213080883026123, + -0.053737107664346695 + ], + "orientation": [ + 0.2926204800605774, + -0.4348316490650177, + -0.31144407391548157, + -0.7926520705223083 + ], + "joints": [ + 0.011332612484693527 + ] + }, + "final_grasp": { + "position": [ + -0.10775946080684662, + 0.06213080883026123, + -0.053737107664346695 + ], + "orientation": [ + 0.2926204800605774, + -0.4348316490650177, + -0.31144407391548157, + -0.7926520705223083 + ], + "joints": [ + 0.016168350353837013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08069142699241638, + 0.06601183861494064, + 0.1013466939330101 + ], + "orientation": [ + 0.07745969295501709, + 0.46360597014427185, + 0.5605722665786743, + -0.6817830801010132 + ], + "joints": [ + -0.006398530676960945 + ] + }, + "fine_grasp": { + "position": [ + -0.07787545770406723, + 0.06384741514921188, + 0.09670104831457138 + ], + "orientation": [ + 0.06920765340328217, + 0.4604525566101074, + 0.5583146810531616, + -0.6866428256034851 + ], + "joints": [ + -0.0031569935381412506 + ] + }, + "final_grasp": { + "position": [ + -0.07787545770406723, + 0.06384741514921188, + 0.09670104831457138 + ], + "orientation": [ + 0.06920765340328217, + 0.4604525566101074, + 0.5583146810531616, + -0.6866428256034851 + ], + "joints": [ + 8.454360067844391e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0669228658080101, + 0.10343391448259354, + -0.02356826141476631 + ], + "orientation": [ + 0.11738742142915726, + 0.8429449796676636, + 0.17387278378009796, + -0.49541106820106506 + ], + "joints": [ + 0.002771540079265833 + ] + }, + "fine_grasp": { + "position": [ + -0.06707076728343964, + 0.1025075912475586, + -0.022039268165826797 + ], + "orientation": [ + 0.13428981602191925, + 0.825107991695404, + 0.1627834439277649, + -0.5240845680236816 + ], + "joints": [ + 0.0038874787278473377 + ] + }, + "final_grasp": { + "position": [ + -0.06707076728343964, + 0.1025075912475586, + -0.022039268165826797 + ], + "orientation": [ + 0.13428981602191925, + 0.825107991695404, + 0.1627834439277649, + -0.5240845680236816 + ], + "joints": [ + 0.0050034173764288425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09162318706512451, + 0.09473986178636551, + -0.07213068753480911 + ], + "orientation": [ + 0.3229617774486542, + -0.1002589762210846, + -0.19328631460666656, + -0.9210235476493835 + ], + "joints": [ + -0.002023804234340787 + ] + }, + "fine_grasp": { + "position": [ + -0.08762139081954956, + 0.09138914197683334, + -0.06964204460382462 + ], + "orientation": [ + 0.3251498341560364, + -0.09733260422945023, + -0.20101134479045868, + -0.9189114570617676 + ], + "joints": [ + 0.0033167623914778233 + ] + }, + "final_grasp": { + "position": [ + -0.08762139081954956, + 0.09138914197683334, + -0.06964204460382462 + ], + "orientation": [ + 0.3251498341560364, + -0.09733260422945023, + -0.20101134479045868, + -0.9189114570617676 + ], + "joints": [ + 0.00865732878446579 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07805750519037247, + -0.10617773234844208, + -0.05720997974276543 + ], + "orientation": [ + 0.48688018321990967, + -0.13181813061237335, + -0.8291285634040833, + -0.2410755604505539 + ], + "joints": [ + 0.004147842992097139 + ] + }, + "fine_grasp": { + "position": [ + -0.07523978501558304, + -0.10224936902523041, + -0.054783329367637634 + ], + "orientation": [ + 0.4910564124584198, + -0.130684956908226, + -0.8254182934761047, + -0.24590587615966797 + ], + "joints": [ + 0.005848321132361889 + ] + }, + "final_grasp": { + "position": [ + -0.07523978501558304, + -0.10224936902523041, + -0.054783329367637634 + ], + "orientation": [ + 0.4910564124584198, + -0.130684956908226, + -0.8254182934761047, + -0.24590587615966797 + ], + "joints": [ + 0.007548799272626638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0776415765285492, + -0.1056700274348259, + -0.05731833726167679 + ], + "orientation": [ + 0.48595982789993286, + -0.13214054703712463, + -0.8294471502304077, + -0.24165938794612885 + ], + "joints": [ + 0.00370942335575819 + ] + }, + "fine_grasp": { + "position": [ + -0.07499264180660248, + -0.10176105797290802, + -0.05515085160732269 + ], + "orientation": [ + 0.49008965492248535, + -0.13093674182891846, + -0.8263076543807983, + -0.2447110116481781 + ], + "joints": [ + 0.006472701206803322 + ] + }, + "final_grasp": { + "position": [ + -0.07499264180660248, + -0.10176105797290802, + -0.05515085160732269 + ], + "orientation": [ + 0.49008965492248535, + -0.13093674182891846, + -0.8263076543807983, + -0.2447110116481781 + ], + "joints": [ + 0.009235979057848454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002964734798297286, + -0.13501834869384766, + -0.053160686045885086 + ], + "orientation": [ + 0.6885849833488464, + -0.0035198426339775324, + 0.6997842788696289, + 0.19010639190673828 + ], + "joints": [ + 0.012941664084792137 + ] + }, + "fine_grasp": { + "position": [ + 0.004896527621895075, + -0.13182680308818817, + -0.051725056022405624 + ], + "orientation": [ + 0.6867943406105042, + 0.006976167671382427, + 0.704309344291687, + 0.17948074638843536 + ], + "joints": [ + 0.01570495218038559 + ] + }, + "final_grasp": { + "position": [ + 0.004896527621895075, + -0.13182680308818817, + -0.051725056022405624 + ], + "orientation": [ + 0.6867943406105042, + 0.006976167671382427, + 0.704309344291687, + 0.17948074638843536 + ], + "joints": [ + 0.018468240275979042 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11986622214317322, + -2.9480921512003988e-05, + -0.012658079154789448 + ], + "orientation": [ + 0.5799423456192017, + -0.3928757905960083, + -0.2495328187942505, + -0.6686170697212219 + ], + "joints": [ + 0.006973233073949814 + ] + }, + "fine_grasp": { + "position": [ + -0.12341070920228958, + 0.0008792039006948471, + -0.011032093316316605 + ], + "orientation": [ + 0.5837582349777222, + -0.39318355917930603, + -0.27343663573265076, + -0.6556412577629089 + ], + "joints": [ + 0.008620573207736015 + ] + }, + "final_grasp": { + "position": [ + -0.12341070920228958, + 0.0008792039006948471, + -0.011032093316316605 + ], + "orientation": [ + 0.5837582349777222, + -0.39318355917930603, + -0.27343663573265076, + -0.6556412577629089 + ], + "joints": [ + 0.010267913341522217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044316366314888, + -0.08224327862262726, + -0.09568998962640762 + ], + "orientation": [ + 0.9207152128219604, + 0.2205198109149933, + 0.15086010098457336, + 0.28442198038101196 + ], + "joints": [ + -0.0005212394753471017 + ] + }, + "fine_grasp": { + "position": [ + 0.047291286289691925, + -0.08500850200653076, + -0.09613324701786041 + ], + "orientation": [ + 0.9184339046478271, + 0.23422187566757202, + 0.14653059840202332, + 0.28310415148735046 + ], + "joints": [ + 0.004287927411496639 + ] + }, + "final_grasp": { + "position": [ + 0.047291286289691925, + -0.08500850200653076, + -0.09613324701786041 + ], + "orientation": [ + 0.9184339046478271, + 0.23422187566757202, + 0.14653059840202332, + 0.28310415148735046 + ], + "joints": [ + 0.009097094647586346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11285316944122314, + 0.02907579392194748, + -0.06932633370161057 + ], + "orientation": [ + 0.26649948954582214, + 0.8002538084983826, + 0.522566020488739, + -0.1244853064417839 + ], + "joints": [ + 0.0007829018868505955 + ] + }, + "fine_grasp": { + "position": [ + -0.11354460567235947, + 0.03119482658803463, + -0.06916991621255875 + ], + "orientation": [ + 0.27725914120674133, + 0.7976490259170532, + 0.5223947763442993, + -0.11826692521572113 + ], + "joints": [ + 0.006070328876376152 + ] + }, + "final_grasp": { + "position": [ + -0.11354460567235947, + 0.03119482658803463, + -0.06916991621255875 + ], + "orientation": [ + 0.27725914120674133, + 0.7976490259170532, + 0.5223947763442993, + -0.11826692521572113 + ], + "joints": [ + 0.011357756331562996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13187722861766815, + -0.011017010547220707, + -0.04140644893050194 + ], + "orientation": [ + 0.35724571347236633, + 0.664452314376831, + 0.5886654853820801, + -0.29043322801589966 + ], + "joints": [ + 0.004447493702173233 + ] + }, + "fine_grasp": { + "position": [ + -0.13063818216323853, + -0.011014292947947979, + -0.04000088572502136 + ], + "orientation": [ + 0.3677722215652466, + 0.6559139490127563, + 0.5883661508560181, + -0.2972303032875061 + ], + "joints": [ + 0.009761489927768707 + ] + }, + "final_grasp": { + "position": [ + -0.13063818216323853, + -0.011014292947947979, + -0.04000088572502136 + ], + "orientation": [ + 0.3677722215652466, + 0.6559139490127563, + 0.5883661508560181, + -0.2972303032875061 + ], + "joints": [ + 0.015075486153364182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0977117046713829, + 0.08090230077505112, + -0.029139608144760132 + ], + "orientation": [ + 0.18997985124588013, + 0.8197320699691772, + -0.2967676818370819, + 0.4515259563922882 + ], + "joints": [ + 0.006034130696207285 + ] + }, + "fine_grasp": { + "position": [ + 0.09751860797405243, + 0.07919224351644516, + -0.02949134074151516 + ], + "orientation": [ + 0.203068345785141, + 0.8078962564468384, + -0.2797960340976715, + 0.47726428508758545 + ], + "joints": [ + 0.010816727764904499 + ] + }, + "final_grasp": { + "position": [ + 0.09751860797405243, + 0.07919224351644516, + -0.02949134074151516 + ], + "orientation": [ + 0.203068345785141, + 0.8078962564468384, + -0.2797960340976715, + 0.47726428508758545 + ], + "joints": [ + 0.015599325299263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12026951462030411, + -0.023674974218010902, + -0.018811611458659172 + ], + "orientation": [ + 0.6563706398010254, + -0.32522615790367126, + -0.31551802158355713, + -0.6032030582427979 + ], + "joints": [ + 0.00405537523329258 + ] + }, + "fine_grasp": { + "position": [ + -0.1246294230222702, + -0.025140661746263504, + -0.01792129874229431 + ], + "orientation": [ + 0.6546340584754944, + -0.33018240332603455, + -0.3253547251224518, + -0.597141683101654 + ], + "joints": [ + 0.007801742758601904 + ] + }, + "final_grasp": { + "position": [ + -0.1246294230222702, + -0.025140661746263504, + -0.01792129874229431 + ], + "orientation": [ + 0.6546340584754944, + -0.33018240332603455, + -0.3253547251224518, + -0.597141683101654 + ], + "joints": [ + 0.011548110283911228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06253760308027267, + 0.10286378860473633, + -0.029242495074868202 + ], + "orientation": [ + 0.15797215700149536, + -0.798635721206665, + 0.3131769597530365, + 0.4890255033969879 + ], + "joints": [ + 0.004937445744872093 + ] + }, + "fine_grasp": { + "position": [ + 0.06188809871673584, + 0.10249172896146774, + -0.027905693277716637 + ], + "orientation": [ + 0.15572696924209595, + -0.7884858250617981, + 0.3110007047653198, + 0.507265031337738 + ], + "joints": [ + 0.007089613471180201 + ] + }, + "final_grasp": { + "position": [ + 0.06188809871673584, + 0.10249172896146774, + -0.027905693277716637 + ], + "orientation": [ + 0.15572696924209595, + -0.7884858250617981, + 0.3110007047653198, + 0.507265031337738 + ], + "joints": [ + 0.009241781197488308 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04015122354030609, + 0.11659038066864014, + -0.04334137216210365 + ], + "orientation": [ + 0.25140276551246643, + 0.5069647431373596, + 0.05338609218597412, + -0.8227596282958984 + ], + "joints": [ + 0.004114880226552486 + ] + }, + "fine_grasp": { + "position": [ + -0.03846201300621033, + 0.11398100852966309, + -0.04132486879825592 + ], + "orientation": [ + 0.25399017333984375, + 0.5216208696365356, + 0.04615236073732376, + -0.8131855130195618 + ], + "joints": [ + 0.007329847663640976 + ] + }, + "final_grasp": { + "position": [ + -0.03846201300621033, + 0.11398100852966309, + -0.04132486879825592 + ], + "orientation": [ + 0.25399017333984375, + 0.5216208696365356, + 0.04615236073732376, + -0.8131855130195618 + ], + "joints": [ + 0.010544815100729465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036260247230529785, + -0.11548095941543579, + -0.05316321924328804 + ], + "orientation": [ + 0.47005608677864075, + 0.24411703646183014, + -0.8482024669647217, + -0.002595324767753482 + ], + "joints": [ + 0.003011424094438553 + ] + }, + "fine_grasp": { + "position": [ + 0.03504540026187897, + -0.11258737742900848, + -0.05110318213701248 + ], + "orientation": [ + 0.4720208942890167, + 0.24807403981685638, + -0.8459267020225525, + -0.007981413044035435 + ], + "joints": [ + 0.008378561586141586 + ] + }, + "final_grasp": { + "position": [ + 0.03504540026187897, + -0.11258737742900848, + -0.05110318213701248 + ], + "orientation": [ + 0.4720208942890167, + 0.24807403981685638, + -0.8459267020225525, + -0.007981413044035435 + ], + "joints": [ + 0.01374569907784462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04802769422531128, + 0.11313018947839737, + -0.017002176493406296 + ], + "orientation": [ + 0.1434614509344101, + -0.4249264895915985, + -0.032137442380189896, + -0.8932095766067505 + ], + "joints": [ + 0.0028726966120302677 + ] + }, + "fine_grasp": { + "position": [ + -0.0505637563765049, + 0.11761031299829483, + -0.015720488503575325 + ], + "orientation": [ + 0.14408397674560547, + -0.4489232897758484, + -0.040812235325574875, + -0.8809324502944946 + ], + "joints": [ + 0.006619063671678305 + ] + }, + "final_grasp": { + "position": [ + -0.0505637563765049, + 0.11761031299829483, + -0.015720488503575325 + ], + "orientation": [ + 0.14408397674560547, + -0.4489232897758484, + -0.040812235325574875, + -0.8809324502944946 + ], + "joints": [ + 0.010365430265665054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07275104522705078, + 0.0962047129869461, + -0.08893809467554092 + ], + "orientation": [ + 0.0914432555437088, + -0.4236502945423126, + 0.34473899006843567, + 0.8326545357704163 + ], + "joints": [ + 0.0008593657985329628 + ] + }, + "fine_grasp": { + "position": [ + 0.07004323601722717, + 0.09201660752296448, + -0.08610622584819794 + ], + "orientation": [ + 0.09380526095628738, + -0.43206122517585754, + 0.34151095151901245, + 0.829393744468689 + ], + "joints": [ + 0.005721671506762505 + ] + }, + "final_grasp": { + "position": [ + 0.07004323601722717, + 0.09201660752296448, + -0.08610622584819794 + ], + "orientation": [ + 0.09380526095628738, + -0.43206122517585754, + 0.34151095151901245, + 0.829393744468689 + ], + "joints": [ + 0.010583977214992046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06384313106536865, + 0.10853592306375504, + -0.04067957401275635 + ], + "orientation": [ + 0.3146347999572754, + 0.452927827835083, + 0.08266565948724747, + -0.8300769329071045 + ], + "joints": [ + 0.001383716706186533 + ] + }, + "fine_grasp": { + "position": [ + -0.06260909885168076, + 0.10764551162719727, + -0.0390530526638031 + ], + "orientation": [ + 0.31107431650161743, + 0.4654834568500519, + 0.0819280743598938, + -0.8245275020599365 + ], + "joints": [ + 0.006192883010953665 + ] + }, + "final_grasp": { + "position": [ + -0.06260909885168076, + 0.10764551162719727, + -0.0390530526638031 + ], + "orientation": [ + 0.31107431650161743, + 0.4654834568500519, + 0.0819280743598938, + -0.8245275020599365 + ], + "joints": [ + 0.01100204885005951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018846865743398666, + -0.12620188295841217, + -0.022509662434458733 + ], + "orientation": [ + 0.4573565423488617, + 0.11994518339633942, + 0.8784008622169495, + -0.0696435198187828 + ], + "joints": [ + 0.004514920990914106 + ] + }, + "fine_grasp": { + "position": [ + -0.019364453852176666, + -0.13009032607078552, + -0.021219555288553238 + ], + "orientation": [ + 0.4750141203403473, + 0.11734549701213837, + 0.8697011470794678, + -0.06489630043506622 + ], + "joints": [ + 0.006693659350275993 + ] + }, + "final_grasp": { + "position": [ + -0.019364453852176666, + -0.13009032607078552, + -0.021219555288553238 + ], + "orientation": [ + 0.4750141203403473, + 0.11734549701213837, + 0.8697011470794678, + -0.06489630043506622 + ], + "joints": [ + 0.008872397243976593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06385468691587448, + 0.10762312263250351, + -0.04344455525279045 + ], + "orientation": [ + 0.33084654808044434, + 0.5240732431411743, + -0.116014264523983, + 0.7761626243591309 + ], + "joints": [ + 0.004747763741761446 + ] + }, + "fine_grasp": { + "position": [ + 0.06444279104471207, + 0.10717318207025528, + -0.04163559153676033 + ], + "orientation": [ + 0.32446056604385376, + 0.5370128750801086, + -0.10487842559814453, + 0.7715848088264465 + ], + "joints": [ + 0.0063951024785637856 + ] + }, + "final_grasp": { + "position": [ + 0.06444279104471207, + 0.10717318207025528, + -0.04163559153676033 + ], + "orientation": [ + 0.32446056604385376, + 0.5370128750801086, + -0.10487842559814453, + 0.7715848088264465 + ], + "joints": [ + 0.008042441681027412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07382090389728546, + 0.09470845013856888, + -0.042715322226285934 + ], + "orientation": [ + 0.19387315213680267, + 0.8312713503837585, + -0.15453095734119415, + 0.49751511216163635 + ], + "joints": [ + 0.005367626901715994 + ] + }, + "fine_grasp": { + "position": [ + 0.07346772402524948, + 0.095758818089962, + -0.04138197749853134 + ], + "orientation": [ + 0.2098669558763504, + 0.8299400806427002, + -0.15898996591567993, + 0.4918104410171509 + ], + "joints": [ + 0.00706810737028718 + ] + }, + "final_grasp": { + "position": [ + 0.07346772402524948, + 0.095758818089962, + -0.04138197749853134 + ], + "orientation": [ + 0.2098669558763504, + 0.8299400806427002, + -0.15898996591567993, + 0.4918104410171509 + ], + "joints": [ + 0.008768588304519653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018931014463305473, + -0.12685900926589966, + -0.02200811356306076 + ], + "orientation": [ + 0.4498705267906189, + 0.11694573611021042, + 0.8826919794082642, + -0.06924732774496078 + ], + "joints": [ + 0.0038658827543258667 + ] + }, + "fine_grasp": { + "position": [ + -0.019398216158151627, + -0.13014209270477295, + -0.0208094734698534 + ], + "orientation": [ + 0.4650924801826477, + 0.11275381594896317, + 0.8757743239402771, + -0.06320454180240631 + ], + "joints": [ + 0.006549450568854809 + ] + }, + "final_grasp": { + "position": [ + -0.019398216158151627, + -0.13014209270477295, + -0.0208094734698534 + ], + "orientation": [ + 0.4650924801826477, + 0.11275381594896317, + 0.8757743239402771, + -0.06320454180240631 + ], + "joints": [ + 0.009233018383383751 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10522633045911789, + 0.0724114179611206, + -0.04289620742201805 + ], + "orientation": [ + 0.2704157829284668, + 0.7961932420730591, + 0.2979997396469116, + -0.45182719826698303 + ], + "joints": [ + 0.004520402755588293 + ] + }, + "fine_grasp": { + "position": [ + -0.10439224541187286, + 0.0723235160112381, + -0.04104135185480118 + ], + "orientation": [ + 0.2828943729400635, + 0.7923145294189453, + 0.2976885735988617, + -0.45120933651924133 + ], + "joints": [ + 0.006672571413218975 + ] + }, + "final_grasp": { + "position": [ + -0.10439224541187286, + 0.0723235160112381, + -0.04104135185480118 + ], + "orientation": [ + 0.2828943729400635, + 0.7923145294189453, + 0.2976885735988617, + -0.45120933651924133 + ], + "joints": [ + 0.00882473960518837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059020016342401505, + -0.11229433119297028, + -0.05185915157198906 + ], + "orientation": [ + 0.36340755224227905, + -0.12331162393093109, + -0.909636378288269, + -0.15903091430664062 + ], + "joints": [ + 0.002651671878993511 + ] + }, + "fine_grasp": { + "position": [ + -0.05622898042201996, + -0.10929081588983536, + -0.0491807647049427 + ], + "orientation": [ + 0.3660695254802704, + -0.13331536948680878, + -0.904952883720398, + -0.1711149513721466 + ], + "joints": [ + 0.006424608640372753 + ] + }, + "final_grasp": { + "position": [ + -0.05622898042201996, + -0.10929081588983536, + -0.0491807647049427 + ], + "orientation": [ + 0.3660695254802704, + -0.13331536948680878, + -0.904952883720398, + -0.1711149513721466 + ], + "joints": [ + 0.010197545401751995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012476199306547642, + 0.12424102425575256, + -0.027185427024960518 + ], + "orientation": [ + 0.045747559517621994, + -0.838901937007904, + -0.1296432763338089, + -0.5266339778900146 + ], + "joints": [ + 0.0026347311213612556 + ] + }, + "fine_grasp": { + "position": [ + -0.012813607230782509, + 0.12353844940662384, + -0.02625437267124653 + ], + "orientation": [ + 0.03603894263505936, + -0.8281522989273071, + -0.13125073909759521, + -0.5437263250350952 + ], + "joints": [ + 0.00582312885671854 + ] + }, + "final_grasp": { + "position": [ + -0.012813607230782509, + 0.12353844940662384, + -0.02625437267124653 + ], + "orientation": [ + 0.03603894263505936, + -0.8281522989273071, + -0.13125073909759521, + -0.5437263250350952 + ], + "joints": [ + 0.009011526592075825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059975434094667435, + -0.11277463287115097, + -0.051939867436885834 + ], + "orientation": [ + 0.3589465618133545, + -0.12611302733421326, + -0.9112899303436279, + -0.15749157965183258 + ], + "joints": [ + 0.003097336273640394 + ] + }, + "fine_grasp": { + "position": [ + -0.05795947462320328, + -0.11332175135612488, + -0.04940361902117729 + ], + "orientation": [ + 0.37701502442359924, + -0.13270224630832672, + -0.8998933434486389, + -0.17447562515735626 + ], + "joints": [ + 0.006338873878121376 + ] + }, + "final_grasp": { + "position": [ + -0.05795947462320328, + -0.11332175135612488, + -0.04940361902117729 + ], + "orientation": [ + 0.37701502442359924, + -0.13270224630832672, + -0.8998933434486389, + -0.17447562515735626 + ], + "joints": [ + 0.00958041101694107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0737217366695404, + 0.09479188919067383, + -0.04280688986182213 + ], + "orientation": [ + 0.19427523016929626, + 0.8320429921150208, + -0.15520110726356506, + 0.49585703015327454 + ], + "joints": [ + 0.004868104122579098 + ] + }, + "fine_grasp": { + "position": [ + 0.07307740300893784, + 0.09593192487955093, + -0.04135822504758835 + ], + "orientation": [ + 0.2117014080286026, + 0.83255535364151, + -0.1618240475654602, + 0.4856409728527069 + ], + "joints": [ + 0.006542012095451355 + ] + }, + "final_grasp": { + "position": [ + 0.07307740300893784, + 0.09593192487955093, + -0.04135822504758835 + ], + "orientation": [ + 0.2117014080286026, + 0.83255535364151, + -0.1618240475654602, + 0.4856409728527069 + ], + "joints": [ + 0.008215920068323612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07578231394290924, + -0.09853242337703705, + -0.041582994163036346 + ], + "orientation": [ + 0.860410213470459, + 0.18479686975479126, + -0.43096816539764404, + 0.19952617585659027 + ], + "joints": [ + 0.002402622252702713 + ] + }, + "fine_grasp": { + "position": [ + 0.0754435658454895, + -0.09725697338581085, + -0.04016289487481117 + ], + "orientation": [ + 0.852860152721405, + 0.19783274829387665, + -0.44237080216407776, + 0.19442233443260193 + ], + "joints": [ + 0.0056175896897912025 + ] + }, + "final_grasp": { + "position": [ + 0.0754435658454895, + -0.09725697338581085, + -0.04016289487481117 + ], + "orientation": [ + 0.852860152721405, + 0.19783274829387665, + -0.44237080216407776, + 0.19442233443260193 + ], + "joints": [ + 0.008832557126879692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11827201396226883, + 0.0030575592536479235, + -0.0773267075419426 + ], + "orientation": [ + 0.2200804352760315, + -0.5025443434715271, + -0.6969472169876099, + -0.46182072162628174 + ], + "joints": [ + -0.0008333777077496052 + ] + }, + "fine_grasp": { + "position": [ + -0.11330223083496094, + 0.002953340532258153, + -0.07424084842205048 + ], + "orientation": [ + 0.2189842313528061, + -0.4996856451034546, + -0.6938196420669556, + -0.470079243183136 + ], + "joints": [ + 0.0034709591418504715 + ] + }, + "final_grasp": { + "position": [ + -0.11330223083496094, + 0.002953340532258153, + -0.07424084842205048 + ], + "orientation": [ + 0.2189842313528061, + -0.4996856451034546, + -0.6938196420669556, + -0.470079243183136 + ], + "joints": [ + 0.007775295991450548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10414209216833115, + 0.06285019963979721, + -0.05562157928943634 + ], + "orientation": [ + 0.3255683481693268, + -0.3753340244293213, + -0.3056635558605194, + -0.8122187852859497 + ], + "joints": [ + 0.002032291376963258 + ] + }, + "fine_grasp": { + "position": [ + -0.09971186518669128, + 0.06072209030389786, + -0.053099125623703 + ], + "orientation": [ + 0.3182810842990875, + -0.37790030241012573, + -0.3179021179676056, + -0.8092136979103088 + ], + "joints": [ + 0.003732769750058651 + ] + }, + "final_grasp": { + "position": [ + -0.09971186518669128, + 0.06072209030389786, + -0.053099125623703 + ], + "orientation": [ + 0.3182810842990875, + -0.37790030241012573, + -0.3179021179676056, + -0.8092136979103088 + ], + "joints": [ + 0.005433248355984688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11602615565061569, + -0.040764715522527695, + -0.014422920532524586 + ], + "orientation": [ + 0.36453571915626526, + 0.5458244681358337, + -0.6754435896873474, + 0.3361031711101532 + ], + "joints": [ + 0.0019919914193451405 + ] + }, + "fine_grasp": { + "position": [ + 0.12045194208621979, + -0.040687356144189835, + -0.012376612052321434 + ], + "orientation": [ + 0.3823617696762085, + 0.5372151732444763, + -0.6803196668624878, + 0.31994450092315674 + ], + "joints": [ + 0.0014605920296162367 + ] + }, + "final_grasp": { + "position": [ + 0.12045194208621979, + -0.040687356144189835, + -0.012376612052321434 + ], + "orientation": [ + 0.3823617696762085, + 0.5372151732444763, + -0.6803196668624878, + 0.31994450092315674 + ], + "joints": [ + 0.0009291926398873329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08630044758319855, + -0.11547068506479263, + -0.036290138959884644 + ], + "orientation": [ + 0.872596263885498, + -0.06254152953624725, + 0.3624839186668396, + 0.321355938911438 + ], + "joints": [ + -0.003547880332916975 + ] + }, + "fine_grasp": { + "position": [ + 0.08363738656044006, + -0.11111688613891602, + -0.03501122072339058 + ], + "orientation": [ + 0.872215986251831, + -0.06061176210641861, + 0.3642808198928833, + 0.32072576880455017 + ], + "joints": [ + 0.0018192558782175183 + ] + }, + "final_grasp": { + "position": [ + 0.08363738656044006, + -0.11111688613891602, + -0.03501122072339058 + ], + "orientation": [ + 0.872215986251831, + -0.06061176210641861, + 0.3642808198928833, + 0.32072576880455017 + ], + "joints": [ + 0.007186392322182655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06330986320972443, + -0.09268809854984283, + 0.06654534488916397 + ], + "orientation": [ + 0.41101694107055664, + -0.3750457763671875, + 0.8308776617050171, + -0.006933798547834158 + ], + "joints": [ + 0.004679284058511257 + ] + }, + "fine_grasp": { + "position": [ + 0.06648638844490051, + -0.0940527692437172, + 0.06550721079111099 + ], + "orientation": [ + 0.41400256752967834, + -0.36778485774993896, + 0.8321272730827332, + -0.030004052445292473 + ], + "joints": [ + 0.007336282171308994 + ] + }, + "final_grasp": { + "position": [ + 0.06648638844490051, + -0.0940527692437172, + 0.06550721079111099 + ], + "orientation": [ + 0.41400256752967834, + -0.36778485774993896, + 0.8321272730827332, + -0.030004052445292473 + ], + "joints": [ + 0.009993280284106731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08348465710878372, + -0.09981554001569748, + -0.04105263575911522 + ], + "orientation": [ + 0.48621684312820435, + 0.37692657113075256, + -0.7785268425941467, + 0.1241588369011879 + ], + "joints": [ + -0.0002454809146001935 + ] + }, + "fine_grasp": { + "position": [ + 0.08512738347053528, + -0.09754480421543121, + -0.03922901675105095 + ], + "orientation": [ + 0.4772065579891205, + 0.3691844642162323, + -0.790821373462677, + 0.10285083204507828 + ], + "joints": [ + 0.0008970284834504128 + ] + }, + "final_grasp": { + "position": [ + 0.08512738347053528, + -0.09754480421543121, + -0.03922901675105095 + ], + "orientation": [ + 0.4772065579891205, + 0.3691844642162323, + -0.790821373462677, + 0.10285083204507828 + ], + "joints": [ + 0.002039537765085697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07363304495811462, + 0.09699967503547668, + -0.0432860441505909 + ], + "orientation": [ + 0.20233039557933807, + 0.8343935608863831, + -0.1574847549200058, + 0.487901896238327 + ], + "joints": [ + 0.001577981747686863 + ] + }, + "fine_grasp": { + "position": [ + 0.07244177162647247, + 0.0997166708111763, + -0.04152549058198929 + ], + "orientation": [ + 0.2233341932296753, + 0.8381270170211792, + -0.17564991116523743, + 0.46563082933425903 + ], + "joints": [ + 0.001684260554611683 + ] + }, + "final_grasp": { + "position": [ + 0.07244177162647247, + 0.0997166708111763, + -0.04152549058198929 + ], + "orientation": [ + 0.2233341932296753, + 0.8381270170211792, + -0.17564991116523743, + 0.46563082933425903 + ], + "joints": [ + 0.0017905393615365028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06992103159427643, + -0.10209549963474274, + -0.05455103889107704 + ], + "orientation": [ + 0.851426899433136, + 0.23401552438735962, + -0.4465668201446533, + 0.1445229947566986 + ], + "joints": [ + -0.0010620621033012867 + ] + }, + "fine_grasp": { + "position": [ + 0.06799318641424179, + -0.10188563913106918, + -0.05252572149038315 + ], + "orientation": [ + 0.8522994518280029, + 0.2463095784187317, + -0.4335677921772003, + 0.1579124927520752 + ], + "joints": [ + 0.0011432465398684144 + ] + }, + "final_grasp": { + "position": [ + 0.06799318641424179, + -0.10188563913106918, + -0.05252572149038315 + ], + "orientation": [ + 0.8522994518280029, + 0.2463095784187317, + -0.4335677921772003, + 0.1579124927520752 + ], + "joints": [ + 0.0033485551830381155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07157362997531891, + -0.09810355305671692, + -0.05961960181593895 + ], + "orientation": [ + 0.8579484224319458, + 0.2545923888683319, + -0.4172593951225281, + 0.1581193506717682 + ], + "joints": [ + -0.0018072121310979128 + ] + }, + "fine_grasp": { + "position": [ + 0.06832090020179749, + -0.09457910805940628, + -0.057030074298381805 + ], + "orientation": [ + 0.8547737002372742, + 0.26464080810546875, + -0.41727378964424133, + 0.15877588093280792 + ], + "joints": [ + 0.0009560658363625407 + ] + }, + "final_grasp": { + "position": [ + 0.06832090020179749, + -0.09457910805940628, + -0.057030074298381805 + ], + "orientation": [ + 0.8547737002372742, + 0.26464080810546875, + -0.41727378964424133, + 0.15877588093280792 + ], + "joints": [ + 0.0037193438038229942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09909797459840775, + 0.08710010349750519, + -0.03916686028242111 + ], + "orientation": [ + 0.38334202766418457, + -0.14015798270702362, + 0.08787650614976883, + 0.9086706638336182 + ], + "joints": [ + -0.001535206800326705 + ] + }, + "fine_grasp": { + "position": [ + 0.09622649103403091, + 0.08494281023740768, + -0.03854340314865112 + ], + "orientation": [ + 0.3847724497318268, + -0.1318875253200531, + 0.09502984583377838, + 0.9085841178894043 + ], + "joints": [ + 0.004841589368879795 + ] + }, + "final_grasp": { + "position": [ + 0.09622649103403091, + 0.08494281023740768, + -0.03854340314865112 + ], + "orientation": [ + 0.3847724497318268, + -0.1318875253200531, + 0.09502984583377838, + 0.9085841178894043 + ], + "joints": [ + 0.011218385770916939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09878282994031906, + 0.08723319321870804, + -0.03983958438038826 + ], + "orientation": [ + 0.3853197395801544, + -0.13071513175964355, + 0.08995416760444641, + 0.9090381860733032 + ], + "joints": [ + -0.0019649711903184652 + ] + }, + "fine_grasp": { + "position": [ + 0.09540848433971405, + 0.08468352258205414, + -0.03921123221516609 + ], + "orientation": [ + 0.38371559977531433, + -0.12521995604038239, + 0.09542548656463623, + 0.9099320769309998 + ], + "joints": [ + 0.003906995058059692 + ] + }, + "final_grasp": { + "position": [ + 0.09540848433971405, + 0.08468352258205414, + -0.03921123221516609 + ], + "orientation": [ + 0.38371559977531433, + -0.12521995604038239, + 0.09542548656463623, + 0.9099320769309998 + ], + "joints": [ + 0.009778961539268494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07312986999750137, + 0.09794685989618301, + -0.042543962597846985 + ], + "orientation": [ + 0.20884951949119568, + 0.8355061411857605, + -0.1588948518037796, + 0.4827667474746704 + ], + "joints": [ + -0.0013642171397805214 + ] + }, + "fine_grasp": { + "position": [ + 0.07167597115039825, + 0.10005997866392136, + -0.04081984609365463 + ], + "orientation": [ + 0.22453926503658295, + 0.8416347503662109, + -0.17836451530456543, + 0.45762357115745544 + ], + "joints": [ + -0.00022170768352225423 + ] + }, + "final_grasp": { + "position": [ + 0.07167597115039825, + 0.10005997866392136, + -0.04081984609365463 + ], + "orientation": [ + 0.22453926503658295, + 0.8416347503662109, + -0.17836451530456543, + 0.45762357115745544 + ], + "joints": [ + 0.0009208017727360129 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09476838260889053, + 0.04457993805408478, + 0.07959803193807602 + ], + "orientation": [ + 0.19756391644477844, + 0.3755132853984833, + -0.47712698578834534, + 0.769615650177002 + ], + "joints": [ + -0.01046130433678627 + ] + }, + "fine_grasp": { + "position": [ + 0.09157746285200119, + 0.043041303753852844, + 0.07625503838062286 + ], + "orientation": [ + 0.2050412893295288, + 0.38391709327697754, + -0.4738219678401947, + 0.765544593334198 + ], + "joints": [ + -0.005094168707728386 + ] + }, + "final_grasp": { + "position": [ + 0.09157746285200119, + 0.043041303753852844, + 0.07625503838062286 + ], + "orientation": [ + 0.2050412893295288, + 0.38391709327697754, + -0.4738219678401947, + 0.765544593334198 + ], + "joints": [ + 0.0002729669213294983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09478706121444702, + 0.044671665877103806, + 0.07975472509860992 + ], + "orientation": [ + 0.19730454683303833, + 0.3751198649406433, + -0.4771571457386017, + 0.7698551416397095 + ], + "joints": [ + -0.01046130433678627 + ] + }, + "fine_grasp": { + "position": [ + 0.09163357317447662, + 0.04304933547973633, + 0.07635261863470078 + ], + "orientation": [ + 0.2039589136838913, + 0.3833617866039276, + -0.47373247146606445, + 0.7661669850349426 + ], + "joints": [ + -0.005094168707728386 + ] + }, + "final_grasp": { + "position": [ + 0.09163357317447662, + 0.04304933547973633, + 0.07635261863470078 + ], + "orientation": [ + 0.2039589136838913, + 0.3833617866039276, + -0.47373247146606445, + 0.7661669850349426 + ], + "joints": [ + 0.0002729669213294983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1083863228559494, + 0.046907659620046616, + 0.04344832897186279 + ], + "orientation": [ + 0.4607612192630768, + 0.2441522777080536, + 0.2331278920173645, + -0.8208167552947998 + ], + "joints": [ + 0.0016923272050917149 + ] + }, + "fine_grasp": { + "position": [ + -0.10573678463697433, + 0.04633324220776558, + 0.0410492941737175 + ], + "orientation": [ + 0.4615722596645355, + 0.22972777485847473, + 0.24140341579914093, + -0.8221316337585449 + ], + "joints": [ + 0.0059966640546917915 + ] + }, + "final_grasp": { + "position": [ + -0.10573678463697433, + 0.04633324220776558, + 0.0410492941737175 + ], + "orientation": [ + 0.4615722596645355, + 0.22972777485847473, + 0.24140341579914093, + -0.8221316337585449 + ], + "joints": [ + 0.010301001369953156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10013087093830109, + 0.05828223377466202, + 0.04331809654831886 + ], + "orientation": [ + 0.12674297392368317, + 0.7769197225570679, + 0.519770085811615, + -0.33191993832588196 + ], + "joints": [ + 0.0027275290340185165 + ] + }, + "fine_grasp": { + "position": [ + -0.10372225195169449, + 0.058660831302404404, + 0.041884273290634155 + ], + "orientation": [ + 0.10022459179162979, + 0.779934287071228, + 0.5205692052841187, + -0.3326639235019684 + ], + "joints": [ + 0.005464236252009869 + ] + }, + "final_grasp": { + "position": [ + -0.10372225195169449, + 0.058660831302404404, + 0.041884273290634155 + ], + "orientation": [ + 0.10022459179162979, + 0.779934287071228, + 0.5205692052841187, + -0.3326639235019684 + ], + "joints": [ + 0.00820094347000122 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058484066277742386, + 0.11227677017450333, + 0.006879820488393307 + ], + "orientation": [ + 0.21535472571849823, + 0.473823606967926, + 0.22873970866203308, + -0.822673499584198 + ], + "joints": [ + -0.00477930624037981 + ] + }, + "fine_grasp": { + "position": [ + -0.061165545135736465, + 0.11522991955280304, + 0.010043625719845295 + ], + "orientation": [ + 0.20745493471622467, + 0.481452077627182, + 0.20818865299224854, + -0.8257262706756592 + ], + "joints": [ + -0.0026271380484104156 + ] + }, + "final_grasp": { + "position": [ + -0.061165545135736465, + 0.11522991955280304, + 0.010043625719845295 + ], + "orientation": [ + 0.20745493471622467, + 0.481452077627182, + 0.20818865299224854, + -0.8257262706756592 + ], + "joints": [ + -0.00047496985644102097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05926798656582832, + 0.11331737041473389, + 0.008398428559303284 + ], + "orientation": [ + 0.21205608546733856, + 0.4625822603702545, + 0.22083838284015656, + -0.8320339322090149 + ], + "joints": [ + -0.00617540068924427 + ] + }, + "fine_grasp": { + "position": [ + -0.06121165305376053, + 0.11566389352083206, + 0.011001578532159328 + ], + "orientation": [ + 0.2038850486278534, + 0.4715019762516022, + 0.20681801438331604, + -0.8326722979545593 + ], + "joints": [ + -0.0029072933830320835 + ] + }, + "final_grasp": { + "position": [ + -0.06121165305376053, + 0.11566389352083206, + 0.011001578532159328 + ], + "orientation": [ + 0.2038850486278534, + 0.4715019762516022, + 0.20681801438331604, + -0.8326722979545593 + ], + "joints": [ + 0.0003608139231801033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0770336166024208, + -0.10397922992706299, + -0.05621106177568436 + ], + "orientation": [ + 0.9334766864776611, + 0.16409499943256378, + -0.18514180183410645, + 0.2596472501754761 + ], + "joints": [ + -0.0033061932772397995 + ] + }, + "fine_grasp": { + "position": [ + 0.07359754294157028, + -0.10013826936483383, + -0.054263025522232056 + ], + "orientation": [ + 0.9321024417877197, + 0.16926194727420807, + -0.18318802118301392, + 0.2626359462738037 + ], + "joints": [ + 0.003070602659136057 + ] + }, + "final_grasp": { + "position": [ + 0.07359754294157028, + -0.10013826936483383, + -0.054263025522232056 + ], + "orientation": [ + 0.9321024417877197, + 0.16926194727420807, + -0.18318802118301392, + 0.2626359462738037 + ], + "joints": [ + 0.009447398595511913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11261137574911118, + 0.018103523179888725, + 0.02696533128619194 + ], + "orientation": [ + 0.6421043872833252, + -0.2542724609375, + 0.24343110620975494, + 0.6810203194618225 + ], + "joints": [ + 0.0037292931228876114 + ] + }, + "fine_grasp": { + "position": [ + 0.11761921644210815, + 0.018046783283352852, + 0.02522864192724228 + ], + "orientation": [ + 0.6437280178070068, + -0.2606970965862274, + 0.22964078187942505, + 0.6818478107452393 + ], + "joints": [ + 0.006891121156513691 + ] + }, + "final_grasp": { + "position": [ + 0.11761921644210815, + 0.018046783283352852, + 0.02522864192724228 + ], + "orientation": [ + 0.6437280178070068, + -0.2606970965862274, + 0.22964078187942505, + 0.6818478107452393 + ], + "joints": [ + 0.01005294919013977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04088735207915306, + -0.1107645109295845, + 0.04576718807220459 + ], + "orientation": [ + 0.2959655821323395, + -0.21353666484355927, + 0.9306328892707825, + -0.02699979767203331 + ], + "joints": [ + 0.0027322215028107166 + ] + }, + "fine_grasp": { + "position": [ + 0.041159190237522125, + -0.11115843802690506, + 0.04432010278105736 + ], + "orientation": [ + 0.2942345142364502, + -0.21657052636146545, + 0.9299383163452148, + -0.041689325124025345 + ], + "joints": [ + 0.007567959371954203 + ] + }, + "final_grasp": { + "position": [ + 0.041159190237522125, + -0.11115843802690506, + 0.04432010278105736 + ], + "orientation": [ + 0.2942345142364502, + -0.21657052636146545, + 0.9299383163452148, + -0.041689325124025345 + ], + "joints": [ + 0.012403696775436401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0720883160829544, + -0.0994478240609169, + -0.06078822538256645 + ], + "orientation": [ + 0.8597934246063232, + 0.257533997297287, + -0.4110562205314636, + 0.15957537293434143 + ], + "joints": [ + -0.0020521923433989286 + ] + }, + "fine_grasp": { + "position": [ + 0.06862033903598785, + -0.09599047899246216, + -0.05803079158067703 + ], + "orientation": [ + 0.8559391498565674, + 0.2681792378425598, + -0.4118274748325348, + 0.16076785326004028 + ], + "joints": [ + 0.00017968652537092566 + ] + }, + "final_grasp": { + "position": [ + 0.06862033903598785, + -0.09599047899246216, + -0.05803079158067703 + ], + "orientation": [ + 0.8559391498565674, + 0.2681792378425598, + -0.4118274748325348, + 0.16076785326004028 + ], + "joints": [ + 0.002411565277725458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020527804270386696, + -0.1255081593990326, + -0.021908888593316078 + ], + "orientation": [ + 0.43406620621681213, + 0.11385643482208252, + 0.8921524286270142, + -0.05183862894773483 + ], + "joints": [ + -0.0008151497459039092 + ] + }, + "fine_grasp": { + "position": [ + -0.023038284853100777, + -0.12937317788600922, + -0.01949460059404373 + ], + "orientation": [ + 0.4324558973312378, + 0.10251176357269287, + 0.8953454494476318, + -0.02880779840052128 + ], + "joints": [ + 0.0002742198121268302 + ] + }, + "final_grasp": { + "position": [ + -0.023038284853100777, + -0.12937317788600922, + -0.01949460059404373 + ], + "orientation": [ + 0.4324558973312378, + 0.10251176357269287, + 0.8953454494476318, + -0.02880779840052128 + ], + "joints": [ + 0.0013635894283652306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0071447137743234634, + 0.11272124946117401, + 0.053840816020965576 + ], + "orientation": [ + 0.0878230556845665, + -0.9294523596763611, + -0.1060687005519867, + 0.34227898716926575 + ], + "joints": [ + 0.002814649138599634 + ] + }, + "fine_grasp": { + "position": [ + -0.008889371529221535, + 0.1164829432964325, + 0.05250158905982971 + ], + "orientation": [ + 0.11246740818023682, + -0.9321011304855347, + -0.10411287099123001, + 0.32817551493644714 + ], + "joints": [ + 0.006056186277419329 + ] + }, + "final_grasp": { + "position": [ + -0.008889371529221535, + 0.1164829432964325, + 0.05250158905982971 + ], + "orientation": [ + 0.11246740818023682, + -0.9321011304855347, + -0.10411287099123001, + 0.32817551493644714 + ], + "joints": [ + 0.009297722950577736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10980578511953354, + -0.006318975239992142, + 0.08090092241764069 + ], + "orientation": [ + 0.5346907377243042, + -0.69834303855896, + -0.4259739816188812, + -0.2120589315891266 + ], + "joints": [ + -0.009519215673208237 + ] + }, + "fine_grasp": { + "position": [ + -0.1069977730512619, + -0.004412822425365448, + 0.07701312005519867 + ], + "orientation": [ + 0.5488383173942566, + -0.6935845017433167, + -0.42235028743743896, + -0.19833627343177795 + ], + "joints": [ + -0.005188309587538242 + ] + }, + "final_grasp": { + "position": [ + -0.1069977730512619, + -0.004412822425365448, + 0.07701312005519867 + ], + "orientation": [ + 0.5488383173942566, + -0.6935845017433167, + -0.42235028743743896, + -0.19833627343177795 + ], + "joints": [ + -0.000857403501868248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10864445567131042, + -0.006400642450898886, + 0.08996063470840454 + ], + "orientation": [ + 0.7383721470832825, + -0.3722507655620575, + -0.0382622554898262, + -0.5610455274581909 + ], + "joints": [ + 0.003221481340005994 + ] + }, + "fine_grasp": { + "position": [ + -0.10518679022789001, + -0.005819152574986219, + 0.08543207496404648 + ], + "orientation": [ + 0.7373296022415161, + -0.38591501116752625, + -0.026047660037875175, + -0.5538376569747925 + ], + "joints": [ + 0.007578961085528135 + ] + }, + "final_grasp": { + "position": [ + -0.10518679022789001, + -0.005819152574986219, + 0.08543207496404648 + ], + "orientation": [ + 0.7373296022415161, + -0.38591501116752625, + -0.026047660037875175, + -0.5538376569747925 + ], + "joints": [ + 0.01193644106388092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06302652508020401, + 0.10204404592514038, + 0.013939129188656807 + ], + "orientation": [ + 0.26106032729148865, + -0.4635773301124573, + 0.018965741619467735, + -0.8465128540992737 + ], + "joints": [ + -0.003327770624309778 + ] + }, + "fine_grasp": { + "position": [ + -0.06456083804368973, + 0.10632846504449844, + 0.016639867797493935 + ], + "orientation": [ + 0.2703990042209625, + -0.448798805475235, + -0.0005771815776824951, + -0.8517414927482605 + ], + "joints": [ + -0.0006973424460738897 + ] + }, + "final_grasp": { + "position": [ + -0.06456083804368973, + 0.10632846504449844, + 0.016639867797493935 + ], + "orientation": [ + 0.2703990042209625, + -0.448798805475235, + -0.0005771815776824951, + -0.8517414927482605 + ], + "joints": [ + 0.0019330857321619987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12156079709529877, + 0.05007331818342209, + -0.03923748806118965 + ], + "orientation": [ + 0.10435802489519119, + -0.7873209118843079, + 0.5636470317840576, + 0.22701798379421234 + ], + "joints": [ + -0.002272380515933037 + ] + }, + "fine_grasp": { + "position": [ + 0.1175655871629715, + 0.047278232872486115, + -0.03834698721766472 + ], + "orientation": [ + 0.09742271155118942, + -0.7880188226699829, + 0.5632032752037048, + 0.2287730574607849 + ], + "joints": [ + 0.003573015797883272 + ] + }, + "final_grasp": { + "position": [ + 0.1175655871629715, + 0.047278232872486115, + -0.03834698721766472 + ], + "orientation": [ + 0.09742271155118942, + -0.7880188226699829, + 0.5632032752037048, + 0.2287730574607849 + ], + "joints": [ + 0.009418412111699581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03424631059169769, + 0.10619635134935379, + 0.03575780242681503 + ], + "orientation": [ + 0.05199079588055611, + 0.36917462944984436, + -0.1677110493183136, + 0.9126226902008057 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.03488360345363617, + 0.1075536236166954, + 0.03484814614057541 + ], + "orientation": [ + 0.05549938976764679, + 0.37607690691947937, + -0.16706563532352448, + 0.9097115397453308 + ], + "joints": [ + -0.002944946987554431 + ] + }, + "final_grasp": { + "position": [ + 0.03488360345363617, + 0.1075536236166954, + 0.03484814614057541 + ], + "orientation": [ + 0.05549938976764679, + 0.37607690691947937, + -0.16706563532352448, + 0.9097115397453308 + ], + "joints": [ + 0.0035115578211843967 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01797383837401867, + -0.11847445368766785, + 0.042758647352457047 + ], + "orientation": [ + 0.33162710070610046, + 0.015687385573983192, + 0.9398637413978577, + -0.08020903170108795 + ], + "joints": [ + 0.0025123213417828083 + ] + }, + "fine_grasp": { + "position": [ + -0.016972986981272697, + -0.116605244576931, + 0.040304649621248245 + ], + "orientation": [ + 0.31747546792030334, + 0.017748085781931877, + 0.9427238702774048, + -0.100826695561409 + ], + "joints": [ + 0.0062852585688233376 + ] + }, + "final_grasp": { + "position": [ + -0.016972986981272697, + -0.116605244576931, + 0.040304649621248245 + ], + "orientation": [ + 0.31747546792030334, + 0.017748085781931877, + 0.9427238702774048, + -0.100826695561409 + ], + "joints": [ + 0.010058196261525154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018701503053307533, + -0.11854853481054306, + 0.042576853185892105 + ], + "orientation": [ + 0.3294832408428192, + 0.01914607733488083, + 0.9404889941215515, + -0.0809616968035698 + ], + "joints": [ + 0.002920623868703842 + ] + }, + "fine_grasp": { + "position": [ + -0.017763452604413033, + -0.11652160435914993, + 0.039977964013814926 + ], + "orientation": [ + 0.31498321890830994, + 0.02124776877462864, + 0.9435797929763794, + -0.0999566838145256 + ], + "joints": [ + 0.006666990928351879 + ] + }, + "final_grasp": { + "position": [ + -0.017763452604413033, + -0.11652160435914993, + 0.039977964013814926 + ], + "orientation": [ + 0.31498321890830994, + 0.02124776877462864, + 0.9435797929763794, + -0.0999566838145256 + ], + "joints": [ + 0.010413357987999916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05620983988046646, + -0.10910484194755554, + -0.053925398737192154 + ], + "orientation": [ + 0.9635341763496399, + 0.11201540380716324, + 0.14512646198272705, + -0.19491732120513916 + ], + "joints": [ + -0.0011951278429478407 + ] + }, + "fine_grasp": { + "position": [ + -0.05472371354699135, + -0.1075635552406311, + -0.05319172888994217 + ], + "orientation": [ + 0.9646143913269043, + 0.11596974730491638, + 0.12620943784713745, + -0.2003525197505951 + ], + "joints": [ + 0.003614039160311222 + ] + }, + "final_grasp": { + "position": [ + -0.05472371354699135, + -0.1075635552406311, + -0.05319172888994217 + ], + "orientation": [ + 0.9646143913269043, + 0.11596974730491638, + 0.12620943784713745, + -0.2003525197505951 + ], + "joints": [ + 0.008423206396400928 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010748432949185371, + -0.06474898010492325, + -0.1330896019935608 + ], + "orientation": [ + 0.6036466360092163, + 0.41668006777763367, + 0.6126669049263, + 0.29432618618011475 + ], + "joints": [ + -0.0030262959189713 + ] + }, + "fine_grasp": { + "position": [ + -0.010722585022449493, + -0.06252267956733704, + -0.12868918478488922 + ], + "orientation": [ + 0.6026908755302429, + 0.4186917841434479, + 0.6099676489830017, + 0.29899874329566956 + ], + "joints": [ + 0.0018094406696036458 + ] + }, + "final_grasp": { + "position": [ + -0.010722585022449493, + -0.06252267956733704, + -0.12868918478488922 + ], + "orientation": [ + 0.6026908755302429, + 0.4186917841434479, + 0.6099676489830017, + 0.29899874329566956 + ], + "joints": [ + 0.006645177491009235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12035337835550308, + -0.019880160689353943, + 0.007023193407803774 + ], + "orientation": [ + 0.6972081065177917, + -0.3584275543689728, + -0.2374987155199051, + -0.5736069083213806 + ], + "joints": [ + -0.0031422541942447424 + ] + }, + "fine_grasp": { + "position": [ + -0.12417440861463547, + -0.019870711490511894, + 0.010109960101544857 + ], + "orientation": [ + 0.7051371335983276, + -0.33978307247161865, + -0.24405354261398315, + -0.572509229183197 + ], + "joints": [ + 0.0005775435129180551 + ] + }, + "final_grasp": { + "position": [ + -0.12417440861463547, + -0.019870711490511894, + 0.010109960101544857 + ], + "orientation": [ + 0.7051371335983276, + -0.33978307247161865, + -0.24405354261398315, + -0.572509229183197 + ], + "joints": [ + 0.0042973412200808525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048689134418964386, + 0.0650864988565445, + 0.11991358548402786 + ], + "orientation": [ + 0.4241880178451538, + -0.8364733457565308, + -0.29776081442832947, + 0.1780877709388733 + ], + "joints": [ + 0.0014930544421076775 + ] + }, + "fine_grasp": { + "position": [ + -0.04655253514647484, + 0.06251532584428787, + 0.11584538966417313 + ], + "orientation": [ + 0.41727420687675476, + -0.83962482213974, + -0.2991737425327301, + 0.17722167074680328 + ], + "joints": [ + 0.007869849912822247 + ] + }, + "final_grasp": { + "position": [ + -0.04655253514647484, + 0.06251532584428787, + 0.11584538966417313 + ], + "orientation": [ + 0.41727420687675476, + -0.83962482213974, + -0.2991737425327301, + 0.17722167074680328 + ], + "joints": [ + 0.014246645383536816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.107829250395298, + -0.04286835715174675, + 0.009513407945632935 + ], + "orientation": [ + 0.7386758923530579, + -0.35568517446517944, + -0.295519083738327, + -0.4904228746891022 + ], + "joints": [ + -0.004410526715219021 + ] + }, + "fine_grasp": { + "position": [ + -0.11302831768989563, + -0.0431855283677578, + 0.011835337616503239 + ], + "orientation": [ + 0.7470499277114868, + -0.33757883310317993, + -0.305471271276474, + -0.48440098762512207 + ], + "joints": [ + -0.0038259876891970634 + ] + }, + "final_grasp": { + "position": [ + -0.11302831768989563, + -0.0431855283677578, + 0.011835337616503239 + ], + "orientation": [ + 0.7470499277114868, + -0.33757883310317993, + -0.305471271276474, + -0.48440098762512207 + ], + "joints": [ + -0.003241448663175106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06946271657943726, + -0.07439108937978745, + 0.07007306069135666 + ], + "orientation": [ + 0.1462574154138565, + -0.37528398633003235, + -0.893649160861969, + 0.1978936791419983 + ], + "joints": [ + 0.003707189578562975 + ] + }, + "fine_grasp": { + "position": [ + -0.06893498450517654, + -0.0745568722486496, + 0.0713077187538147 + ], + "orientation": [ + 0.14502651989459991, + -0.3767874240875244, + -0.8932578563690186, + 0.19770945608615875 + ], + "joints": [ + 0.008516357280313969 + ] + }, + "final_grasp": { + "position": [ + -0.06893498450517654, + -0.0745568722486496, + 0.0713077187538147 + ], + "orientation": [ + 0.14502651989459991, + -0.3767874240875244, + -0.8932578563690186, + 0.19770945608615875 + ], + "joints": [ + 0.01332552544772625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08156542479991913, + 0.08237858861684799, + 0.02323118783533573 + ], + "orientation": [ + 0.366189181804657, + -0.4746353328227997, + 0.0033694342710077763, + -0.8003845810890198 + ], + "joints": [ + -0.0035595279186964035 + ] + }, + "fine_grasp": { + "position": [ + -0.08366785943508148, + 0.0866001769900322, + 0.026348432525992393 + ], + "orientation": [ + 0.37472131848335266, + -0.4532849192619324, + -0.021455440670251846, + -0.8084901571273804 + ], + "joints": [ + -0.0025498680770397186 + ] + }, + "final_grasp": { + "position": [ + -0.08366785943508148, + 0.0866001769900322, + 0.026348432525992393 + ], + "orientation": [ + 0.37472131848335266, + -0.4532849192619324, + -0.021455440670251846, + -0.8084901571273804 + ], + "joints": [ + -0.0015402082353830338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008048519492149353, + 0.019143374636769295, + 0.1422760933637619 + ], + "orientation": [ + 0.10579019039869308, + -0.17240303754806519, + 0.6680052876472473, + -0.7161386609077454 + ], + "joints": [ + 0.0026574470102787018 + ] + }, + "fine_grasp": { + "position": [ + 0.00857908371835947, + 0.01836073398590088, + 0.13826559484004974 + ], + "orientation": [ + 0.1083216741681099, + -0.17299646139144897, + 0.6619417071342468, + -0.7212293148040771 + ], + "joints": [ + 0.007493183948099613 + ] + }, + "final_grasp": { + "position": [ + 0.00857908371835947, + 0.01836073398590088, + 0.13826559484004974 + ], + "orientation": [ + 0.1083216741681099, + -0.17299646139144897, + 0.6619417071342468, + -0.7212293148040771 + ], + "joints": [ + 0.012328920885920525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12039346992969513, + -0.018960915505886078, + 0.008058039471507072 + ], + "orientation": [ + 0.7040199637413025, + -0.3405161499977112, + -0.23507961630821228, + -0.5771845579147339 + ], + "joints": [ + -0.006005344446748495 + ] + }, + "fine_grasp": { + "position": [ + -0.1231895163655281, + -0.019458523020148277, + 0.009885831736028194 + ], + "orientation": [ + 0.7058867812156677, + -0.3352900445461273, + -0.2419467568397522, + -0.5751228332519531 + ], + "joints": [ + -0.0001068084966391325 + ] + }, + "final_grasp": { + "position": [ + -0.1231895163655281, + -0.019458523020148277, + 0.009885831736028194 + ], + "orientation": [ + 0.7058867812156677, + -0.3352900445461273, + -0.2419467568397522, + -0.5751228332519531 + ], + "joints": [ + 0.00579172745347023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08254852145910263, + -0.10598459094762802, + -0.03755815327167511 + ], + "orientation": [ + 0.8773817420005798, + -0.04981544613838196, + 0.3407873511314392, + 0.3340415060520172 + ], + "joints": [ + -0.005306133069097996 + ] + }, + "fine_grasp": { + "position": [ + 0.08026357740163803, + -0.10168693214654922, + -0.034929096698760986 + ], + "orientation": [ + 0.8764659762382507, + -0.039588410407304764, + 0.3469688594341278, + 0.331440269947052 + ], + "joints": [ + -0.0009752260521054268 + ] + }, + "final_grasp": { + "position": [ + 0.08026357740163803, + -0.10168693214654922, + -0.034929096698760986 + ], + "orientation": [ + 0.8764659762382507, + -0.039588410407304764, + 0.3469688594341278, + 0.331440269947052 + ], + "joints": [ + 0.003355680964887142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07222411781549454, + -0.0808110237121582, + -0.073278047144413 + ], + "orientation": [ + 0.41209086775779724, + -0.13849152624607086, + -0.8341759443283081, + -0.3393402099609375 + ], + "joints": [ + -0.00411265529692173 + ] + }, + "fine_grasp": { + "position": [ + -0.06926454603672028, + -0.07880081981420517, + -0.07036124914884567 + ], + "orientation": [ + 0.40714552998542786, + -0.13997337222099304, + -0.8308585286140442, + -0.3525822162628174 + ], + "joints": [ + -0.0003131474950350821 + ] + }, + "final_grasp": { + "position": [ + -0.06926454603672028, + -0.07880081981420517, + -0.07036124914884567 + ], + "orientation": [ + 0.40714552998542786, + -0.13997337222099304, + -0.8308585286140442, + -0.3525822162628174 + ], + "joints": [ + 0.0034863604232668877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12092691659927368, + 0.0008478231029585004, + 0.023102685809135437 + ], + "orientation": [ + 0.1509161740541458, + 0.6210831999778748, + -0.6709111928939819, + 0.37597623467445374 + ], + "joints": [ + -0.005632077343761921 + ] + }, + "fine_grasp": { + "position": [ + 0.12466827780008316, + 9.144845535047352e-05, + 0.02531815692782402 + ], + "orientation": [ + 0.14984433352947235, + 0.623478889465332, + -0.6750242710113525, + 0.36491498351097107 + ], + "joints": [ + -0.0003446509363129735 + ] + }, + "final_grasp": { + "position": [ + 0.12466827780008316, + 9.144845535047352e-05, + 0.02531815692782402 + ], + "orientation": [ + 0.14984433352947235, + 0.623478889465332, + -0.6750242710113525, + 0.36491498351097107 + ], + "joints": [ + 0.004942775703966618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06128564476966858, + 0.08596955984830856, + -0.08063960075378418 + ], + "orientation": [ + 0.09722472727298737, + -0.396363228559494, + -0.33073416352272034, + -0.8509162068367004 + ], + "joints": [ + -0.003327770624309778 + ] + }, + "fine_grasp": { + "position": [ + -0.05825798586010933, + 0.08329886198043823, + -0.07675135880708694 + ], + "orientation": [ + 0.09317739307880402, + -0.401093065738678, + -0.3449000418186188, + -0.843496561050415 + ], + "joints": [ + -0.0006442024605348706 + ] + }, + "final_grasp": { + "position": [ + -0.05825798586010933, + 0.08329886198043823, + -0.07675135880708694 + ], + "orientation": [ + 0.09317739307880402, + -0.401093065738678, + -0.3449000418186188, + -0.843496561050415 + ], + "joints": [ + 0.002039365703240037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008989804424345493, + 0.009004466235637665, + 0.14074525237083435 + ], + "orientation": [ + 0.06217232719063759, + -0.11785974353551865, + 0.7064551115036011, + -0.6951005458831787 + ], + "joints": [ + 0.0032222222071141005 + ] + }, + "fine_grasp": { + "position": [ + 0.009163602255284786, + 0.008204178884625435, + 0.1378977745771408 + ], + "orientation": [ + 0.06594039499759674, + -0.11817702651023865, + 0.7005417346954346, + -0.7006620764732361 + ], + "joints": [ + 0.00805796030908823 + ] + }, + "final_grasp": { + "position": [ + 0.009163602255284786, + 0.008204178884625435, + 0.1378977745771408 + ], + "orientation": [ + 0.06594039499759674, + -0.11817702651023865, + 0.7005417346954346, + -0.7006620764732361 + ], + "joints": [ + 0.012893698178231716 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08983726054430008, + -0.09924087673425674, + -0.05188083276152611 + ], + "orientation": [ + 0.0173972025513649, + 0.3474365472793579, + -0.9175013303756714, + -0.1928120106458664 + ], + "joints": [ + -0.0018032463267445564 + ] + }, + "fine_grasp": { + "position": [ + 0.08631668984889984, + -0.0954292044043541, + -0.05123693868517876 + ], + "orientation": [ + 0.011324968189001083, + 0.34802815318107605, + -0.9184321165084839, + -0.18769758939743042 + ], + "joints": [ + 0.00462668901309371 + ] + }, + "final_grasp": { + "position": [ + 0.08631668984889984, + -0.0954292044043541, + -0.05123693868517876 + ], + "orientation": [ + 0.011324968189001083, + 0.34802815318107605, + -0.9184321165084839, + -0.18769758939743042 + ], + "joints": [ + 0.011056624352931976 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07432632148265839, + -0.08922306448221207, + 0.04125021770596504 + ], + "orientation": [ + 0.39285868406295776, + -0.36988452076911926, + -0.8358154892921448, + 0.10129179805517197 + ], + "joints": [ + -0.00476795993745327 + ] + }, + "fine_grasp": { + "position": [ + -0.07607603818178177, + -0.09070197492837906, + 0.04326403886079788 + ], + "orientation": [ + 0.4010237753391266, + -0.3666872978210449, + -0.8343446254730225, + 0.09267937391996384 + ], + "joints": [ + 0.0005726066883653402 + ] + }, + "final_grasp": { + "position": [ + -0.07607603818178177, + -0.09070197492837906, + 0.04326403886079788 + ], + "orientation": [ + 0.4010237753391266, + -0.3666872978210449, + -0.8343446254730225, + 0.09267937391996384 + ], + "joints": [ + 0.00591317331418395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12060664594173431, + 0.0012515763519331813, + 0.022690031677484512 + ], + "orientation": [ + 0.14949551224708557, + 0.6233275532722473, + -0.6709489226341248, + 0.37274834513664246 + ], + "joints": [ + -0.005700751207768917 + ] + }, + "fine_grasp": { + "position": [ + 0.12412258237600327, + 0.0005514516378752887, + 0.024822155013680458 + ], + "orientation": [ + 0.14908857643604279, + 0.6258847713470459, + -0.6743410229682922, + 0.36236026883125305 + ], + "joints": [ + -0.00041332480031996965 + ] + }, + "final_grasp": { + "position": [ + 0.12412258237600327, + 0.0005514516378752887, + 0.024822155013680458 + ], + "orientation": [ + 0.14908857643604279, + 0.6258847713470459, + -0.6743410229682922, + 0.36236026883125305 + ], + "joints": [ + 0.004874101839959621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022006023675203323, + -0.013898540288209915, + 0.14588014781475067 + ], + "orientation": [ + 0.35844457149505615, + -0.4347565174102783, + -0.6564855575561523, + 0.5015285015106201 + ], + "joints": [ + 0.0026102198753505945 + ] + }, + "fine_grasp": { + "position": [ + -0.02154620736837387, + -0.013698636554181576, + 0.142150416970253 + ], + "orientation": [ + 0.36002954840660095, + -0.43397000432014465, + -0.6541805863380432, + 0.5040799379348755 + ], + "joints": [ + 0.009013586677610874 + ] + }, + "final_grasp": { + "position": [ + -0.02154620736837387, + -0.013698636554181576, + 0.142150416970253 + ], + "orientation": [ + 0.36002954840660095, + -0.43397000432014465, + -0.6541805863380432, + 0.5040799379348755 + ], + "joints": [ + 0.015416953712701797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022545592859387398, + -0.012679776176810265, + 0.14414314925670624 + ], + "orientation": [ + 0.35665470361709595, + -0.43764305114746094, + -0.6538273692131042, + 0.5037615299224854 + ], + "joints": [ + 0.002564969239756465 + ] + }, + "fine_grasp": { + "position": [ + -0.022128231823444366, + -0.01252046786248684, + 0.14050813019275665 + ], + "orientation": [ + 0.35800209641456604, + -0.4373142719268799, + -0.6520652174949646, + 0.5053726434707642 + ], + "joints": [ + 0.00843693595379591 + ] + }, + "final_grasp": { + "position": [ + -0.022128231823444366, + -0.01252046786248684, + 0.14050813019275665 + ], + "orientation": [ + 0.35800209641456604, + -0.4373142719268799, + -0.6520652174949646, + 0.5053726434707642 + ], + "joints": [ + 0.014308902435004711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08544805645942688, + -0.0720796287059784, + 0.06352798640727997 + ], + "orientation": [ + 0.8953940868377686, + -0.21718153357505798, + -0.017627829685807228, + -0.38831791281700134 + ], + "joints": [ + 0.004313225857913494 + ] + }, + "fine_grasp": { + "position": [ + -0.0883602499961853, + -0.07323748618364334, + 0.06509999930858612 + ], + "orientation": [ + 0.8977418541908264, + -0.2158912569284439, + -0.03506473824381828, + -0.38238874077796936 + ], + "joints": [ + 0.009760075248777866 + ] + }, + "final_grasp": { + "position": [ + -0.0883602499961853, + -0.07323748618364334, + 0.06509999930858612 + ], + "orientation": [ + 0.8977418541908264, + -0.2158912569284439, + -0.03506473824381828, + -0.38238874077796936 + ], + "joints": [ + 0.015206924639642239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03966100886464119, + 0.03935408219695091, + -0.13630038499832153 + ], + "orientation": [ + 0.05277009680867195, + 0.3041595220565796, + 0.5490668416023254, + 0.7766774296760559 + ], + "joints": [ + -0.002861029002815485 + ] + }, + "fine_grasp": { + "position": [ + -0.03748469054698944, + 0.03851070627570152, + -0.13303837180137634 + ], + "orientation": [ + 0.0579877570271492, + 0.30847305059432983, + 0.5569237470626831, + 0.7689718008041382 + ], + "joints": [ + 0.002984367311000824 + ] + }, + "final_grasp": { + "position": [ + -0.03748469054698944, + 0.03851070627570152, + -0.13303837180137634 + ], + "orientation": [ + 0.0579877570271492, + 0.30847305059432983, + 0.5569237470626831, + 0.7689718008041382 + ], + "joints": [ + 0.008829763159155846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010618817061185837, + -0.0647110566496849, + -0.13319635391235352 + ], + "orientation": [ + 0.6080442070960999, + 0.4180038571357727, + 0.6079293489456177, + 0.2932180166244507 + ], + "joints": [ + -0.0034464923664927483 + ] + }, + "fine_grasp": { + "position": [ + -0.010858193039894104, + -0.06277026236057281, + -0.1291971057653427 + ], + "orientation": [ + 0.6079434752464294, + 0.41967421770095825, + 0.6041978001594543, + 0.29870274662971497 + ], + "joints": [ + 0.001894074259325862 + ] + }, + "final_grasp": { + "position": [ + -0.010858193039894104, + -0.06277026236057281, + -0.1291971057653427 + ], + "orientation": [ + 0.6079434752464294, + 0.41967421770095825, + 0.6041978001594543, + 0.29870274662971497 + ], + "joints": [ + 0.007234640885144472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09224984049797058, + -0.09687549620866776, + -0.03264946490526199 + ], + "orientation": [ + 0.7117891311645508, + -0.08500681817531586, + 0.6281596422195435, + 0.3025647699832916 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + 0.08877063542604446, + -0.09481874853372574, + -0.03131723403930664 + ], + "orientation": [ + 0.712765097618103, + -0.09116672724485397, + 0.6233947277069092, + 0.3082752227783203 + ], + "joints": [ + -0.0035309595987200737 + ] + }, + "final_grasp": { + "position": [ + 0.08877063542604446, + -0.09481874853372574, + -0.03131723403930664 + ], + "orientation": [ + 0.712765097618103, + -0.09116672724485397, + 0.6233947277069092, + 0.3082752227783203 + ], + "joints": [ + 0.0018096063286066055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11454162001609802, + 0.023117542266845703, + 0.02369832620024681 + ], + "orientation": [ + 0.5345894694328308, + 0.19378215074539185, + -0.39095595479011536, + 0.7237513065338135 + ], + "joints": [ + -0.00436965748667717 + ] + }, + "fine_grasp": { + "position": [ + 0.11907040327787399, + 0.023462902754545212, + 0.02721574902534485 + ], + "orientation": [ + 0.5367279648780823, + 0.20572778582572937, + -0.37860220670700073, + 0.7254374623298645 + ], + "joints": [ + -0.0006232900777831674 + ] + }, + "final_grasp": { + "position": [ + 0.11907040327787399, + 0.023462902754545212, + 0.02721574902534485 + ], + "orientation": [ + 0.5367279648780823, + 0.20572778582572937, + -0.37860220670700073, + 0.7254374623298645 + ], + "joints": [ + 0.003123077331110835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07293301075696945, + -0.09801527112722397, + -0.07182121276855469 + ], + "orientation": [ + 0.755668580532074, + 0.4231148362159729, + -0.48276078701019287, + 0.12992651760578156 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + 0.07125579565763474, + -0.09410054981708527, + -0.06903732568025589 + ], + "orientation": [ + 0.7603023648262024, + 0.4208291471004486, + -0.48018282651901245, + 0.11944671720266342 + ], + "joints": [ + -0.004659705795347691 + ] + }, + "final_grasp": { + "position": [ + 0.07125579565763474, + -0.09410054981708527, + -0.06903732568025589 + ], + "orientation": [ + 0.7603023648262024, + 0.4208291471004486, + -0.48018282651901245, + 0.11944671720266342 + ], + "joints": [ + 0.001318538561463356 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09196814149618149, + -0.0538957417011261, + 0.08160879462957382 + ], + "orientation": [ + 0.8527120351791382, + -0.29391705989837646, + -0.019840415567159653, + -0.4313944876194 + ], + "joints": [ + 0.004101328551769257 + ] + }, + "fine_grasp": { + "position": [ + -0.09242047369480133, + -0.05414127930998802, + 0.08213061839342117 + ], + "orientation": [ + 0.8533861041069031, + -0.2901470363140106, + -0.011241799220442772, + -0.43292081356048584 + ], + "joints": [ + 0.011062664911150932 + ] + }, + "final_grasp": { + "position": [ + -0.09242047369480133, + -0.05414127930998802, + 0.08213061839342117 + ], + "orientation": [ + 0.8533861041069031, + -0.2901470363140106, + -0.011241799220442772, + -0.43292081356048584 + ], + "joints": [ + 0.018024001270532608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027594659477472305, + -0.12022658437490463, + -0.03433423116803169 + ], + "orientation": [ + 0.43700626492500305, + -0.03781542181968689, + 0.8939678072929382, + 0.09174460172653198 + ], + "joints": [ + -0.004417192190885544 + ] + }, + "fine_grasp": { + "position": [ + 0.02681063488125801, + -0.1243249699473381, + -0.03257714956998825 + ], + "orientation": [ + 0.436046838760376, + -0.04916181415319443, + 0.8914775848388672, + 0.1127568930387497 + ], + "joints": [ + -0.003327823244035244 + ] + }, + "final_grasp": { + "position": [ + 0.02681063488125801, + -0.1243249699473381, + -0.03257714956998825 + ], + "orientation": [ + 0.436046838760376, + -0.04916181415319443, + 0.8914775848388672, + 0.1127568930387497 + ], + "joints": [ + -0.002238454297184944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0506998635828495, + 0.08787641674280167, + 0.08719874173402786 + ], + "orientation": [ + 0.28353580832481384, + -0.18373063206672668, + 0.24196116626262665, + -0.9095631837844849 + ], + "joints": [ + 0.004858677741140127 + ] + }, + "fine_grasp": { + "position": [ + -0.04974427446722984, + 0.08948183804750443, + 0.08747829496860504 + ], + "orientation": [ + 0.28612688183784485, + -0.19387082755565643, + 0.23583020269870758, + -0.9082563519477844 + ], + "joints": [ + 0.00977412797510624 + ] + }, + "final_grasp": { + "position": [ + -0.04974427446722984, + 0.08948183804750443, + 0.08747829496860504 + ], + "orientation": [ + 0.28612688183784485, + -0.19387082755565643, + 0.23583020269870758, + -0.9082563519477844 + ], + "joints": [ + 0.014689577743411064 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01111745834350586, + -0.06558497250080109, + -0.13413281738758087 + ], + "orientation": [ + 0.6106405854225159, + 0.4147615432739258, + 0.6070145964622498, + 0.2943199574947357 + ], + "joints": [ + -0.003917009569704533 + ] + }, + "fine_grasp": { + "position": [ + -0.01105885487049818, + -0.06332145631313324, + -0.12950456142425537 + ], + "orientation": [ + 0.6109669804573059, + 0.41680556535720825, + 0.6024013161659241, + 0.3001750409603119 + ], + "joints": [ + 0.0014235570561140776 + ] + }, + "final_grasp": { + "position": [ + -0.01105885487049818, + -0.06332145631313324, + -0.12950456142425537 + ], + "orientation": [ + 0.6109669804573059, + 0.41680556535720825, + 0.6024013161659241, + 0.3001750409603119 + ], + "joints": [ + 0.006764123681932688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09268354624509811, + -0.09888269007205963, + -0.021306419745087624 + ], + "orientation": [ + 0.15791134536266327, + -0.36431142687797546, + 0.9096494317054749, + 0.12198016792535782 + ], + "joints": [ + -0.004501776769757271 + ] + }, + "fine_grasp": { + "position": [ + 0.08883615583181381, + -0.0949900895357132, + -0.020776962861418724 + ], + "orientation": [ + 0.1625354290008545, + -0.36473348736763, + 0.9083875417709351, + 0.12403097003698349 + ], + "joints": [ + 0.002432988490909338 + ] + }, + "final_grasp": { + "position": [ + 0.08883615583181381, + -0.0949900895357132, + -0.020776962861418724 + ], + "orientation": [ + 0.1625354290008545, + -0.36473348736763, + 0.9083875417709351, + 0.12403097003698349 + ], + "joints": [ + 0.009367753751575947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09190891683101654, + -0.09786462783813477, + -0.0210675448179245 + ], + "orientation": [ + 0.15613068640232086, + -0.3650498390197754, + 0.9095285534858704, + 0.1229623407125473 + ], + "joints": [ + -0.004412069916725159 + ] + }, + "fine_grasp": { + "position": [ + 0.0881347581744194, + -0.09392721951007843, + -0.020456261932849884 + ], + "orientation": [ + 0.1601473093032837, + -0.3649330735206604, + 0.9085640907287598, + 0.12525174021720886 + ], + "joints": [ + 0.002549265045672655 + ] + }, + "final_grasp": { + "position": [ + 0.0881347581744194, + -0.09392721951007843, + -0.020456261932849884 + ], + "orientation": [ + 0.1601473093032837, + -0.3649330735206604, + 0.9085640907287598, + 0.12525174021720886 + ], + "joints": [ + 0.009510600008070469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09224758297204971, + -0.0985986739397049, + -0.0201778132468462 + ], + "orientation": [ + 0.15300968289375305, + -0.3644070625305176, + 0.9104753732681274, + 0.12177860736846924 + ], + "joints": [ + -0.004578177817165852 + ] + }, + "fine_grasp": { + "position": [ + 0.0884162038564682, + -0.09471511095762253, + -0.019423214718699455 + ], + "orientation": [ + 0.1554340124130249, + -0.3648083806037903, + 0.9095149636268616, + 0.12465036660432816 + ], + "joints": [ + 0.003392816986888647 + ] + }, + "final_grasp": { + "position": [ + 0.0884162038564682, + -0.09471511095762253, + -0.019423214718699455 + ], + "orientation": [ + 0.1554340124130249, + -0.3648083806037903, + 0.9095149636268616, + 0.12465036660432816 + ], + "joints": [ + 0.011363811790943146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013314119540154934, + 0.031203413382172585, + 0.14315372705459595 + ], + "orientation": [ + 0.4139884412288666, + -0.45213598012924194, + -0.46316441893577576, + 0.6400510668754578 + ], + "joints": [ + 0.0011118724942207336 + ] + }, + "fine_grasp": { + "position": [ + 0.01278337650001049, + 0.030864467844367027, + 0.13937528431415558 + ], + "orientation": [ + 0.4169684052467346, + -0.45351463556289673, + -0.4626292586326599, + 0.6375232934951782 + ], + "joints": [ + 0.007488667964935303 + ] + }, + "final_grasp": { + "position": [ + 0.01278337650001049, + 0.030864467844367027, + 0.13937528431415558 + ], + "orientation": [ + 0.4169684052467346, + -0.45351463556289673, + -0.4626292586326599, + 0.6375232934951782 + ], + "joints": [ + 0.013865463435649872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07151106745004654, + 0.0569491907954216, + 0.10204339772462845 + ], + "orientation": [ + 0.4455367624759674, + -0.2510327100753784, + 0.2735796570777893, + -0.814637303352356 + ], + "joints": [ + 0.003664599731564522 + ] + }, + "fine_grasp": { + "position": [ + -0.06882242858409882, + 0.05621735006570816, + 0.09880515187978745 + ], + "orientation": [ + 0.44832175970077515, + -0.256533682346344, + 0.27462366223335266, + -0.8110362887382507 + ], + "joints": [ + 0.009111449122428894 + ] + }, + "final_grasp": { + "position": [ + -0.06882242858409882, + 0.05621735006570816, + 0.09880515187978745 + ], + "orientation": [ + 0.44832175970077515, + -0.256533682346344, + 0.27462366223335266, + -0.8110362887382507 + ], + "joints": [ + 0.014558298513293266 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04283842071890831, + 0.09102699905633926, + -0.08843012899160385 + ], + "orientation": [ + 0.345272958278656, + 0.8376786708831787, + 0.006318917963653803, + 0.4231323301792145 + ], + "joints": [ + -0.00704621896147728 + ] + }, + "fine_grasp": { + "position": [ + 0.04067818447947502, + 0.08771739900112152, + -0.08439362794160843 + ], + "orientation": [ + 0.3585510849952698, + 0.833528995513916, + 0.007029454689472914, + 0.42026329040527344 + ], + "joints": [ + -0.002237052656710148 + ] + }, + "final_grasp": { + "position": [ + 0.04067818447947502, + 0.08771739900112152, + -0.08439362794160843 + ], + "orientation": [ + 0.3585510849952698, + 0.833528995513916, + 0.007029454689472914, + 0.42026329040527344 + ], + "joints": [ + 0.002572113648056984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11436258256435394, + 0.019654039293527603, + 0.0185699462890625 + ], + "orientation": [ + 0.5558341145515442, + 0.2104048728942871, + -0.366237610578537, + 0.7159947156906128 + ], + "joints": [ + -0.006892654113471508 + ] + }, + "fine_grasp": { + "position": [ + 0.1192178949713707, + 0.020366551354527473, + 0.021118270233273506 + ], + "orientation": [ + 0.5566340684890747, + 0.2199566662311554, + -0.3611670136451721, + 0.7150775790214539 + ], + "joints": [ + -0.0015786580042913556 + ] + }, + "final_grasp": { + "position": [ + 0.1192178949713707, + 0.020366551354527473, + 0.021118270233273506 + ], + "orientation": [ + 0.5566340684890747, + 0.2199566662311554, + -0.3611670136451721, + 0.7150775790214539 + ], + "joints": [ + 0.003735338104888797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07291526347398758, + 0.09577541053295135, + -0.04633033275604248 + ], + "orientation": [ + 0.05316896736621857, + 0.9072343707084656, + 0.32814377546310425, + 0.2577216327190399 + ], + "joints": [ + -0.004062162712216377 + ] + }, + "fine_grasp": { + "position": [ + -0.0706631988286972, + 0.09536781907081604, + -0.04467269405722618 + ], + "orientation": [ + 0.054058246314525604, + 0.8972193002700806, + 0.32931411266326904, + 0.28918421268463135 + ], + "joints": [ + 0.0008798531489446759 + ] + }, + "final_grasp": { + "position": [ + -0.0706631988286972, + 0.09536781907081604, + -0.04467269405722618 + ], + "orientation": [ + 0.054058246314525604, + 0.8972193002700806, + 0.32931411266326904, + 0.28918421268463135 + ], + "joints": [ + 0.0058218687772750854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08662779629230499, + -0.10530468076467514, + -0.015009887516498566 + ], + "orientation": [ + 0.9112833142280579, + -0.0779733881354332, + 0.2497047632932663, + 0.3180103003978729 + ], + "joints": [ + -0.0067780278623104095 + ] + }, + "fine_grasp": { + "position": [ + 0.08302638679742813, + -0.10098185390233994, + -0.014206426218152046 + ], + "orientation": [ + 0.9109312295913696, + -0.07386215776205063, + 0.25026148557662964, + 0.31955862045288086 + ], + "joints": [ + 0.0006615673191845417 + ] + }, + "final_grasp": { + "position": [ + 0.08302638679742813, + -0.10098185390233994, + -0.014206426218152046 + ], + "orientation": [ + 0.9109312295913696, + -0.07386215776205063, + 0.25026148557662964, + 0.31955862045288086 + ], + "joints": [ + 0.008101162500679493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11643541604280472, + -0.021663319319486618, + 0.026323730126023293 + ], + "orientation": [ + 0.7691633105278015, + -0.07656751573085785, + -0.009845137596130371, + -0.634372353553772 + ], + "joints": [ + 0.004355905577540398 + ] + }, + "fine_grasp": { + "position": [ + -0.11795590817928314, + -0.02065080963075161, + 0.027334632351994514 + ], + "orientation": [ + 0.7685352563858032, + -0.08618627488613129, + -0.02908988855779171, + -0.6333082318305969 + ], + "joints": [ + 0.008713385090231895 + ] + }, + "final_grasp": { + "position": [ + -0.11795590817928314, + -0.02065080963075161, + 0.027334632351994514 + ], + "orientation": [ + 0.7685352563858032, + -0.08618627488613129, + -0.02908988855779171, + -0.6333082318305969 + ], + "joints": [ + 0.013070864602923393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08747868239879608, + -0.10548752546310425, + -0.014705625362694263 + ], + "orientation": [ + 0.9120085835456848, + -0.07652721554040909, + 0.24520228803157806, + 0.3197805881500244 + ], + "joints": [ + -0.0064248694106936455 + ] + }, + "fine_grasp": { + "position": [ + 0.08384372293949127, + -0.10113697499036789, + -0.01409069448709488 + ], + "orientation": [ + 0.9115418791770935, + -0.07419829815626144, + 0.24534405767917633, + 0.3215468227863312 + ], + "joints": [ + 0.0010147257708013058 + ] + }, + "final_grasp": { + "position": [ + 0.08384372293949127, + -0.10113697499036789, + -0.01409069448709488 + ], + "orientation": [ + 0.9115418791770935, + -0.07419829815626144, + 0.24534405767917633, + 0.3215468227863312 + ], + "joints": [ + 0.008454320952296257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08922098577022552, + -0.1064024418592453, + -0.014821640215814114 + ], + "orientation": [ + 0.9121343493461609, + -0.07301314175128937, + 0.2423669397830963, + 0.32239434123039246 + ], + "joints": [ + -0.00645586010068655 + ] + }, + "fine_grasp": { + "position": [ + 0.08549342304468155, + -0.10195019841194153, + -0.014342685230076313 + ], + "orientation": [ + 0.9119176268577576, + -0.07114741951227188, + 0.24226796627044678, + 0.32349738478660583 + ], + "joints": [ + 0.0009571650298312306 + ] + }, + "final_grasp": { + "position": [ + 0.08549342304468155, + -0.10195019841194153, + -0.014342685230076313 + ], + "orientation": [ + 0.9119176268577576, + -0.07114741951227188, + 0.24226796627044678, + 0.32349738478660583 + ], + "joints": [ + 0.008370189927518368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12764108180999756, + -0.020330607891082764, + 0.012854442931711674 + ], + "orientation": [ + 0.0934252068400383, + 0.6420319676399231, + -0.7578816413879395, + 0.0684252679347992 + ], + "joints": [ + 0.0019191941246390343 + ] + }, + "fine_grasp": { + "position": [ + 0.12328258901834488, + -0.01892787590622902, + 0.012902571819722652 + ], + "orientation": [ + 0.0984383374452591, + 0.6384686231613159, + -0.7599257826805115, + 0.0719754621386528 + ], + "joints": [ + 0.008375701494514942 + ] + }, + "final_grasp": { + "position": [ + 0.12328258901834488, + -0.01892787590622902, + 0.012902571819722652 + ], + "orientation": [ + 0.0984383374452591, + 0.6384686231613159, + -0.7599257826805115, + 0.0719754621386528 + ], + "joints": [ + 0.01483220886439085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12023341655731201, + 0.0016868369420990348, + -0.04291472211480141 + ], + "orientation": [ + 0.6849342584609985, + 0.34919145703315735, + 0.23767226934432983, + -0.5936685800552368 + ], + "joints": [ + -0.004917208105325699 + ] + }, + "fine_grasp": { + "position": [ + -0.12046125531196594, + 0.0002757387119345367, + -0.041586898267269135 + ], + "orientation": [ + 0.6831434369087219, + 0.3498830199241638, + 0.22001752257347107, + -0.6020708084106445 + ], + "joints": [ + -0.000639441073872149 + ] + }, + "final_grasp": { + "position": [ + -0.12046125531196594, + 0.0002757387119345367, + -0.041586898267269135 + ], + "orientation": [ + 0.6831434369087219, + 0.3498830199241638, + 0.22001752257347107, + -0.6020708084106445 + ], + "joints": [ + 0.003638325957581401 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07514599710702896, + 0.09470424801111221, + 0.03327322006225586 + ], + "orientation": [ + 0.3567701280117035, + -0.1868439018726349, + 0.07796257734298706, + -0.9119902849197388 + ], + "joints": [ + -0.002389217261224985 + ] + }, + "fine_grasp": { + "position": [ + -0.07274938374757767, + 0.09232281893491745, + 0.03124053403735161 + ], + "orientation": [ + 0.35121962428092957, + -0.19712847471237183, + 0.08375463634729385, + -0.9114660024642944 + ], + "joints": [ + 0.003589027561247349 + ] + }, + "final_grasp": { + "position": [ + -0.07274938374757767, + 0.09232281893491745, + 0.03124053403735161 + ], + "orientation": [ + 0.35121962428092957, + -0.19712847471237183, + 0.08375463634729385, + -0.9114660024642944 + ], + "joints": [ + 0.009567271918058395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017742538824677467, + -0.1244327574968338, + -0.024126572534441948 + ], + "orientation": [ + 0.19860626757144928, + 0.07998280972242355, + 0.9764055013656616, + -0.02811856009066105 + ], + "joints": [ + -0.002637379104271531 + ] + }, + "fine_grasp": { + "position": [ + -0.018214255571365356, + -0.12770168483257294, + -0.024062367156147957 + ], + "orientation": [ + 0.18634164333343506, + 0.07826424390077591, + 0.9790136218070984, + -0.02615111880004406 + ], + "joints": [ + 0.004270816687494516 + ] + }, + "final_grasp": { + "position": [ + -0.018214255571365356, + -0.12770168483257294, + -0.024062367156147957 + ], + "orientation": [ + 0.18634164333343506, + 0.07826424390077591, + 0.9790136218070984, + -0.02615111880004406 + ], + "joints": [ + 0.01117901224642992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006046129856258631, + 0.013504257425665855, + 0.15095022320747375 + ], + "orientation": [ + 0.4910569190979004, + -0.5284278988838196, + 0.4587056338787079, + -0.518860399723053 + ], + "joints": [ + 0.0014458468649536371 + ] + }, + "fine_grasp": { + "position": [ + -0.005893787369132042, + 0.0133619774132967, + 0.14627514779567719 + ], + "orientation": [ + 0.4915831387042999, + -0.5279757380485535, + 0.45909231901168823, + -0.5184803605079651 + ], + "joints": [ + 0.007822643034160137 + ] + }, + "final_grasp": { + "position": [ + -0.005893787369132042, + 0.0133619774132967, + 0.14627514779567719 + ], + "orientation": [ + 0.4915831387042999, + -0.5279757380485535, + 0.45909231901168823, + -0.5184803605079651 + ], + "joints": [ + 0.014199439436197281 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07053782790899277, + 0.08912299573421478, + 0.04792138561606407 + ], + "orientation": [ + 0.13817556202411652, + -0.8978081941604614, + -0.36239093542099, + 0.20861639082431793 + ], + "joints": [ + -0.0031573150772601366 + ] + }, + "fine_grasp": { + "position": [ + -0.06749595701694489, + 0.08655785769224167, + 0.04449343681335449 + ], + "orientation": [ + 0.13892249763011932, + -0.8974387645721436, + -0.3545646369457245, + 0.2226841151714325 + ], + "joints": [ + 0.002741220872849226 + ] + }, + "final_grasp": { + "position": [ + -0.06749595701694489, + 0.08655785769224167, + 0.04449343681335449 + ], + "orientation": [ + 0.13892249763011932, + -0.8974387645721436, + -0.3545646369457245, + 0.2226841151714325 + ], + "joints": [ + 0.008639756590127945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06589242070913315, + 0.08905911445617676, + -0.06813110411167145 + ], + "orientation": [ + 0.3617699444293976, + 0.3844744861125946, + 0.0923767238855362, + 0.8442561030387878 + ], + "joints": [ + -0.005774079822003841 + ] + }, + "fine_grasp": { + "position": [ + 0.06339345127344131, + 0.08643756806850433, + -0.06531765311956406 + ], + "orientation": [ + 0.3606838583946228, + 0.37539663910865784, + 0.10126259177923203, + 0.8477797508239746 + ], + "joints": [ + 0.0011872556060552597 + ] + }, + "final_grasp": { + "position": [ + 0.06339345127344131, + 0.08643756806850433, + -0.06531765311956406 + ], + "orientation": [ + 0.3606838583946228, + 0.37539663910865784, + 0.10126259177923203, + 0.8477797508239746 + ], + "joints": [ + 0.00814859103411436 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008269175887107849, + 0.00869177095592022, + 0.14003577828407288 + ], + "orientation": [ + 0.06686539947986603, + -0.11819998919963837, + 0.7070558667182922, + -0.693995475769043 + ], + "joints": [ + 0.0029539093375205994 + ] + }, + "fine_grasp": { + "position": [ + 0.008233247324824333, + 0.007230205461382866, + 0.13775289058685303 + ], + "orientation": [ + 0.07045654952526093, + -0.11836762726306915, + 0.6997332572937012, + -0.7009981274604797 + ], + "joints": [ + 0.007789646741002798 + ] + }, + "final_grasp": { + "position": [ + 0.008233247324824333, + 0.007230205461382866, + 0.13775289058685303 + ], + "orientation": [ + 0.07045654952526093, + -0.11836762726306915, + 0.6997332572937012, + -0.7009981274604797 + ], + "joints": [ + 0.012625384144484997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0795363262295723, + 0.1007157564163208, + -0.019534457474946976 + ], + "orientation": [ + 0.05186464264988899, + -0.9169923067092896, + -0.3151666522026062, + -0.23896697163581848 + ], + "joints": [ + -0.0048243580386042595 + ] + }, + "fine_grasp": { + "position": [ + -0.07622205466032028, + 0.09714375436306, + -0.019632728770375252 + ], + "orientation": [ + 0.04573433846235275, + -0.9179614782333374, + -0.3197244107723236, + -0.23028551042079926 + ], + "joints": [ + 0.0010741782607510686 + ] + }, + "final_grasp": { + "position": [ + -0.07622205466032028, + 0.09714375436306, + -0.019632728770375252 + ], + "orientation": [ + 0.04573433846235275, + -0.9179614782333374, + -0.3197244107723236, + -0.23028551042079926 + ], + "joints": [ + 0.006972714327275753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0833958312869072, + -0.10762076824903488, + 0.00893477164208889 + ], + "orientation": [ + 0.14140139520168304, + -0.34049612283706665, + 0.9295520782470703, + 0.001008706516586244 + ], + "joints": [ + -0.0030850947368890047 + ] + }, + "fine_grasp": { + "position": [ + 0.0797949954867363, + -0.10338283330202103, + 0.007977653294801712 + ], + "orientation": [ + 0.14162398874759674, + -0.3409237563610077, + 0.9293611645698547, + -0.001214251504279673 + ], + "joints": [ + 0.004327930975705385 + ] + }, + "final_grasp": { + "position": [ + 0.0797949954867363, + -0.10338283330202103, + 0.007977653294801712 + ], + "orientation": [ + 0.14162398874759674, + -0.3409237563610077, + 0.9293611645698547, + -0.001214251504279673 + ], + "joints": [ + 0.011740956455469131 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10744273662567139, + -0.05738026276230812, + -0.005876354407519102 + ], + "orientation": [ + 0.8279857635498047, + -0.15750207006931305, + -0.23617558181285858, + -0.4835841953754425 + ], + "joints": [ + -0.006164854392409325 + ] + }, + "fine_grasp": { + "position": [ + -0.10854960232973099, + -0.058714207261800766, + -0.005350238643586636 + ], + "orientation": [ + 0.8276341557502747, + -0.1587759554386139, + -0.23770366609096527, + -0.48302045464515686 + ], + "joints": [ + 0.0008230508537963033 + ] + }, + "final_grasp": { + "position": [ + -0.10854960232973099, + -0.058714207261800766, + -0.005350238643586636 + ], + "orientation": [ + 0.8276341557502747, + -0.1587759554386139, + -0.23770366609096527, + -0.48302045464515686 + ], + "joints": [ + 0.0078109558671712875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05583088845014572, + -0.012072606943547726, + -0.10767540335655212 + ], + "orientation": [ + 0.42438822984695435, + 0.10484547913074493, + 0.6442028284072876, + 0.6276183128356934 + ], + "joints": [ + -0.00589804258197546 + ] + }, + "fine_grasp": { + "position": [ + 0.05587015300989151, + -0.013609517365694046, + -0.10489613562822342 + ], + "orientation": [ + 0.42729994654655457, + 0.0914887934923172, + 0.647882342338562, + 0.6239334940910339 + ], + "joints": [ + 0.0004787532379850745 + ] + }, + "final_grasp": { + "position": [ + 0.05587015300989151, + -0.013609517365694046, + -0.10489613562822342 + ], + "orientation": [ + 0.42729994654655457, + 0.0914887934923172, + 0.647882342338562, + 0.6239334940910339 + ], + "joints": [ + 0.006855549290776253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07967192679643631, + 0.08235736936330795, + -0.08252592384815216 + ], + "orientation": [ + 0.3143644332885742, + 0.8801332116127014, + 0.3437771797180176, + 0.0914209634065628 + ], + "joints": [ + 6.3329352997243404e-06 + ] + }, + "fine_grasp": { + "position": [ + -0.07648332417011261, + 0.07977725565433502, + -0.08086443692445755 + ], + "orientation": [ + 0.2983677387237549, + 0.8877024054527283, + 0.3410738408565521, + 0.08142304420471191 + ], + "joints": [ + 0.004363809246569872 + ] + }, + "final_grasp": { + "position": [ + -0.07648332417011261, + 0.07977725565433502, + -0.08086443692445755 + ], + "orientation": [ + 0.2983677387237549, + 0.8877024054527283, + 0.3410738408565521, + 0.08142304420471191 + ], + "joints": [ + 0.008721285499632359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03499313443899155, + 0.012298083864152431, + 0.14059887826442719 + ], + "orientation": [ + 0.6039185523986816, + -0.5618273019790649, + 0.2987281084060669, + -0.4799937903881073 + ], + "joints": [ + 0.0009225269313901663 + ] + }, + "fine_grasp": { + "position": [ + -0.03355662524700165, + 0.012631965801119804, + 0.13630110025405884 + ], + "orientation": [ + 0.6076936721801758, + -0.5576860904693604, + 0.2981207072734833, + -0.4804357886314392 + ], + "joints": [ + 0.006794492714107037 + ] + }, + "final_grasp": { + "position": [ + -0.03355662524700165, + 0.012631965801119804, + 0.13630110025405884 + ], + "orientation": [ + 0.6076936721801758, + -0.5576860904693604, + 0.2981207072734833, + -0.4804357886314392 + ], + "joints": [ + 0.012666458263993263 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07491282373666763, + -0.10414519906044006, + 0.0022024153731763363 + ], + "orientation": [ + 0.9362087845802307, + 0.026365118101239204, + -0.14294695854187012, + 0.319975346326828 + ], + "joints": [ + -0.0020300701726228 + ] + }, + "fine_grasp": { + "position": [ + 0.07251662760972977, + -0.10080868005752563, + 0.0015817583771422505 + ], + "orientation": [ + 0.9341909289360046, + 0.023997889831662178, + -0.16331809759140015, + 0.3162885308265686 + ], + "joints": [ + 0.002858805935829878 + ] + }, + "final_grasp": { + "position": [ + 0.07251662760972977, + -0.10080868005752563, + 0.0015817583771422505 + ], + "orientation": [ + 0.9341909289360046, + 0.023997889831662178, + -0.16331809759140015, + 0.3162885308265686 + ], + "joints": [ + 0.007747681811451912 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09159126877784729, + -0.02275312878191471, + 0.10113120079040527 + ], + "orientation": [ + 0.18819890916347504, + -0.5773870348930359, + -0.7466024160385132, + 0.2716436982154846 + ], + "joints": [ + 0.0049112350679934025 + ] + }, + "fine_grasp": { + "position": [ + -0.08981724083423615, + -0.022290531545877457, + 0.09963222593069077 + ], + "orientation": [ + 0.18506799638271332, + -0.577138364315033, + -0.7474809288978577, + 0.2719070315361023 + ], + "joints": [ + 0.011314601637423038 + ] + }, + "final_grasp": { + "position": [ + -0.08981724083423615, + -0.022290531545877457, + 0.09963222593069077 + ], + "orientation": [ + 0.18506799638271332, + -0.577138364315033, + -0.7474809288978577, + 0.2719070315361023 + ], + "joints": [ + 0.017717968672513962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09195444732904434, + -0.09650937467813492, + -0.03308525308966637 + ], + "orientation": [ + 0.7095133066177368, + -0.08517509698867798, + 0.6301811933517456, + 0.303657203912735 + ], + "joints": [ + -0.008900966495275497 + ] + }, + "fine_grasp": { + "position": [ + 0.08841627836227417, + -0.09421063959598541, + -0.03183862566947937 + ], + "orientation": [ + 0.7097466588020325, + -0.09123439341783524, + 0.6259247660636902, + 0.3100873827934265 + ], + "joints": [ + -0.003560400567948818 + ] + }, + "final_grasp": { + "position": [ + 0.08841627836227417, + -0.09421063959598541, + -0.03183862566947937 + ], + "orientation": [ + 0.7097466588020325, + -0.09123439341783524, + 0.6259247660636902, + 0.3100873827934265 + ], + "joints": [ + 0.001780165359377861 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024600740522146225, + 0.012079620733857155, + 0.14149995148181915 + ], + "orientation": [ + 0.32991182804107666, + -0.4690558910369873, + -0.5886713266372681, + 0.569746196269989 + ], + "joints": [ + 0.001548292813822627 + ] + }, + "fine_grasp": { + "position": [ + -0.023430032655596733, + 0.012227922677993774, + 0.1368914693593979 + ], + "orientation": [ + 0.3303735852241516, + -0.47042855620384216, + -0.592178463935852, + 0.5646902322769165 + ], + "joints": [ + 0.00688885897397995 + ] + }, + "final_grasp": { + "position": [ + -0.023430032655596733, + 0.012227922677993774, + 0.1368914693593979 + ], + "orientation": [ + 0.3303735852241516, + -0.47042855620384216, + -0.592178463935852, + 0.5646902322769165 + ], + "joints": [ + 0.01222942490130663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07792379707098007, + -0.10710031539201736, + 0.0005558633711189032 + ], + "orientation": [ + 0.933088481426239, + 0.024578947573900223, + -0.1541222631931305, + 0.3240188658237457 + ], + "joints": [ + -0.003317006630823016 + ] + }, + "fine_grasp": { + "position": [ + 0.07478214055299759, + -0.10270757973194122, + -0.00039853446651250124 + ], + "orientation": [ + 0.9328461289405823, + 0.0227022934705019, + -0.1616288274526596, + 0.3211836516857147 + ], + "joints": [ + 0.003139498643577099 + ] + }, + "final_grasp": { + "position": [ + 0.07478214055299759, + -0.10270757973194122, + -0.00039853446651250124 + ], + "orientation": [ + 0.9328461289405823, + 0.0227022934705019, + -0.1616288274526596, + 0.3211836516857147 + ], + "joints": [ + 0.009596004150807858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07132487744092941, + 0.10371428728103638, + 0.03305940702557564 + ], + "orientation": [ + 0.09451761841773987, + -0.9218738675117493, + 0.32678312063217163, + -0.18554681539535522 + ], + "joints": [ + -0.00402999110519886 + ] + }, + "fine_grasp": { + "position": [ + 0.06856987625360489, + 0.10052309185266495, + 0.030694425106048584 + ], + "orientation": [ + 0.10355895012617111, + -0.9207703471183777, + 0.32352587580680847, + -0.19180315732955933 + ], + "joints": [ + 0.0018419751431792974 + ] + }, + "final_grasp": { + "position": [ + 0.06856987625360489, + 0.10052309185266495, + 0.030694425106048584 + ], + "orientation": [ + 0.10355895012617111, + -0.9207703471183777, + 0.32352587580680847, + -0.19180315732955933 + ], + "joints": [ + 0.007713941391557455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09102830290794373, + -0.09555194526910782, + -0.03243672102689743 + ], + "orientation": [ + 0.7099664807319641, + -0.08796253055334091, + 0.6284335255622864, + 0.3054201304912567 + ], + "joints": [ + -0.009489774703979492 + ] + }, + "fine_grasp": { + "position": [ + 0.08760976046323776, + -0.09301059693098068, + -0.03141043335199356 + ], + "orientation": [ + 0.7100645303726196, + -0.09345036745071411, + 0.624811053276062, + 0.3109445869922638 + ], + "joints": [ + -0.0036178091540932655 + ] + }, + "final_grasp": { + "position": [ + 0.08760976046323776, + -0.09301059693098068, + -0.03141043335199356 + ], + "orientation": [ + 0.7100645303726196, + -0.09345036745071411, + 0.624811053276062, + 0.3109445869922638 + ], + "joints": [ + 0.002254156395792961 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11871962994337082, + -0.04007713869214058, + 0.03095114603638649 + ], + "orientation": [ + 0.701836884021759, + 0.09782851487398148, + 0.4282558560371399, + -0.5607596635818481 + ], + "joints": [ + -0.007723349612206221 + ] + }, + "fine_grasp": { + "position": [ + -0.11538872122764587, + -0.04002320021390915, + 0.0308217816054821 + ], + "orientation": [ + 0.7073065042495728, + 0.11072944849729538, + 0.41842740774154663, + -0.5589051842689514 + ], + "joints": [ + -0.004481812473386526 + ] + }, + "final_grasp": { + "position": [ + -0.11538872122764587, + -0.04002320021390915, + 0.0308217816054821 + ], + "orientation": [ + 0.7073065042495728, + 0.11072944849729538, + 0.41842740774154663, + -0.5589051842689514 + ], + "joints": [ + -0.0012402753345668316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06429856270551682, + -0.10373692214488983, + 0.03190930187702179 + ], + "orientation": [ + 0.9201111197471619, + -0.1851596236228943, + 0.20040832459926605, + -0.2809770107269287 + ], + "joints": [ + -0.003376813605427742 + ] + }, + "fine_grasp": { + "position": [ + -0.06183459237217903, + -0.09972377866506577, + 0.030289094895124435 + ], + "orientation": [ + 0.9203037023544312, + -0.18245650827884674, + 0.20014867186546326, + -0.282296746969223 + ], + "joints": [ + 0.0030531217344105244 + ] + }, + "final_grasp": { + "position": [ + -0.06183459237217903, + -0.09972377866506577, + 0.030289094895124435 + ], + "orientation": [ + 0.9203037023544312, + -0.18245650827884674, + 0.20014867186546326, + -0.282296746969223 + ], + "joints": [ + 0.00948305707424879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0650242269039154, + 0.11774104833602905, + -0.03885438293218613 + ], + "orientation": [ + 0.05655958876013756, + 0.9340600371360779, + -0.25214534997940063, + -0.2464861124753952 + ], + "joints": [ + -0.006088631227612495 + ] + }, + "fine_grasp": { + "position": [ + 0.062359798699617386, + 0.1129298061132431, + -0.03732983022928238 + ], + "orientation": [ + 0.05252028629183769, + 0.9249188303947449, + -0.2558566629886627, + -0.27623215317726135 + ], + "joints": [ + 0.0003413045487832278 + ] + }, + "final_grasp": { + "position": [ + 0.062359798699617386, + 0.1129298061132431, + -0.03732983022928238 + ], + "orientation": [ + 0.05252028629183769, + 0.9249188303947449, + -0.2558566629886627, + -0.27623215317726135 + ], + "joints": [ + 0.006771240383386612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12876570224761963, + 0.0037570339627563953, + 0.007712940685451031 + ], + "orientation": [ + 0.16692563891410828, + 0.6549291610717773, + 0.6674028038978577, + -0.31269344687461853 + ], + "joints": [ + -0.004439966753125191 + ] + }, + "fine_grasp": { + "position": [ + -0.12408129870891571, + 0.0040118820033967495, + 0.00785201694816351 + ], + "orientation": [ + 0.17312367260456085, + 0.6556019186973572, + 0.6663064956665039, + -0.31024169921875 + ], + "joints": [ + 0.00039577027200721204 + ] + }, + "final_grasp": { + "position": [ + -0.12408129870891571, + 0.0040118820033967495, + 0.00785201694816351 + ], + "orientation": [ + 0.17312367260456085, + 0.6556019186973572, + 0.6663064956665039, + -0.31024169921875 + ], + "joints": [ + 0.005231507122516632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0416167676448822, + -0.11169780790805817, + -0.06246482953429222 + ], + "orientation": [ + 0.213877871632576, + 0.19785045087337494, + 0.9341292381286621, + 0.2061893790960312 + ], + "joints": [ + -0.003762518521398306 + ] + }, + "fine_grasp": { + "position": [ + -0.039877623319625854, + -0.10689027607440948, + -0.06015816330909729 + ], + "orientation": [ + 0.2196255773305893, + 0.19682958722114563, + 0.9339157342910767, + 0.2020496279001236 + ], + "joints": [ + 0.0026674168184399605 + ] + }, + "final_grasp": { + "position": [ + -0.039877623319625854, + -0.10689027607440948, + -0.06015816330909729 + ], + "orientation": [ + 0.2196255773305893, + 0.19682958722114563, + 0.9339157342910767, + 0.2020496279001236 + ], + "joints": [ + 0.009097352623939514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11784050613641739, + -0.016821537166833878, + 0.0010483122896403074 + ], + "orientation": [ + 0.33955952525138855, + -0.604212760925293, + -0.6893577575683594, + -0.21074172854423523 + ], + "joints": [ + -0.008016204461455345 + ] + }, + "fine_grasp": { + "position": [ + -0.11839095503091812, + -0.01699678599834442, + 0.002032033633440733 + ], + "orientation": [ + 0.32099291682243347, + -0.6092628836631775, + -0.6971908211708069, + -0.19921627640724182 + ], + "joints": [ + -0.0021708086133003235 + ] + }, + "final_grasp": { + "position": [ + -0.11839095503091812, + -0.01699678599834442, + 0.002032033633440733 + ], + "orientation": [ + 0.32099291682243347, + -0.6092628836631775, + -0.6971908211708069, + -0.19921627640724182 + ], + "joints": [ + 0.003674587234854698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07781331241130829, + 0.10629959404468536, + -0.033445071429014206 + ], + "orientation": [ + 0.016249043866991997, + -0.7590858340263367, + 0.26391616463661194, + 0.5948720574378967 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.07503130286931992, + 0.10356688499450684, + -0.03130144253373146 + ], + "orientation": [ + 0.028255224227905273, + -0.7574306726455688, + 0.2666665315628052, + 0.5953060984611511 + ], + "joints": [ + -0.00405801460146904 + ] + }, + "final_grasp": { + "position": [ + 0.07503130286931992, + 0.10356688499450684, + -0.03130144253373146 + ], + "orientation": [ + 0.028255224227905273, + -0.7574306726455688, + 0.2666665315628052, + 0.5953060984611511 + ], + "joints": [ + 0.0012559816241264343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06215142458677292, + 0.07872655242681503, + -0.07543347030878067 + ], + "orientation": [ + 0.17598856985569, + 0.8815387487411499, + -0.36002737283706665, + -0.2495952993631363 + ], + "joints": [ + -0.0023969807662069798 + ] + }, + "fine_grasp": { + "position": [ + 0.06325706094503403, + 0.0808340534567833, + -0.07795459777116776 + ], + "orientation": [ + 0.16341643035411835, + 0.8888020515441895, + -0.3555643856525421, + -0.2385370284318924 + ], + "joints": [ + 0.002943585626780987 + ] + }, + "final_grasp": { + "position": [ + 0.06325706094503403, + 0.0808340534567833, + -0.07795459777116776 + ], + "orientation": [ + 0.16341643035411835, + 0.8888020515441895, + -0.3555643856525421, + -0.2385370284318924 + ], + "joints": [ + 0.008284151554107666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11199954897165298, + -0.049182482063770294, + 0.023027053102850914 + ], + "orientation": [ + 0.8364965915679932, + -0.03808457404375076, + -0.056468285620212555, + -0.5437226891517639 + ], + "joints": [ + 0.005210700910538435 + ] + }, + "fine_grasp": { + "position": [ + -0.11096496134996414, + -0.04862536862492561, + 0.024353977292776108 + ], + "orientation": [ + 0.8351495265960693, + -0.043458014726638794, + -0.07780350744724274, + -0.5427552461624146 + ], + "joints": [ + 0.010604409500956535 + ] + }, + "final_grasp": { + "position": [ + -0.11096496134996414, + -0.04862536862492561, + 0.024353977292776108 + ], + "orientation": [ + 0.8351495265960693, + -0.043458014726638794, + -0.07780350744724274, + -0.5427552461624146 + ], + "joints": [ + 0.01599811762571335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061497535556554794, + 0.1150411069393158, + -0.0378689207136631 + ], + "orientation": [ + 0.0571880042552948, + 0.9398260712623596, + -0.24578483402729034, + -0.23031769692897797 + ], + "joints": [ + -0.00501142255961895 + ] + }, + "fine_grasp": { + "position": [ + 0.058726612478494644, + 0.11058957129716873, + -0.03644067794084549 + ], + "orientation": [ + 0.04869738221168518, + 0.9328347444534302, + -0.24926602840423584, + -0.25556680560112 + ], + "joints": [ + 0.0009402531431987882 + ] + }, + "final_grasp": { + "position": [ + 0.058726612478494644, + 0.11058957129716873, + -0.03644067794084549 + ], + "orientation": [ + 0.04869738221168518, + 0.9328347444534302, + -0.24926602840423584, + -0.25556680560112 + ], + "joints": [ + 0.006891928613185883 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028736179694533348, + 0.006257166620343924, + 0.13608795404434204 + ], + "orientation": [ + 0.45252642035484314, + -0.3345402181148529, + -0.5155420303344727, + 0.6461571455001831 + ], + "joints": [ + 0.0020721417386084795 + ] + }, + "fine_grasp": { + "position": [ + 0.028783688321709633, + 0.0065604764968156815, + 0.1335899978876114 + ], + "orientation": [ + 0.4535473883152008, + -0.34239715337753296, + -0.5166955590248108, + 0.6403785347938538 + ], + "joints": [ + 0.00741270836442709 + ] + }, + "final_grasp": { + "position": [ + 0.028783688321709633, + 0.0065604764968156815, + 0.1335899978876114 + ], + "orientation": [ + 0.4535473883152008, + -0.34239715337753296, + -0.5166955590248108, + 0.6403785347938538 + ], + "joints": [ + 0.012753275223076344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046640291810035706, + -0.0992526262998581, + 0.04354481026530266 + ], + "orientation": [ + 0.9313187003135681, + -0.1465233564376831, + -0.2115766406059265, + 0.2577047646045685 + ], + "joints": [ + -0.0037666158750653267 + ] + }, + "fine_grasp": { + "position": [ + 0.04657449573278427, + -0.10069731622934341, + 0.041435230523347855 + ], + "orientation": [ + 0.9275761246681213, + -0.14276427030563354, + -0.23321831226348877, + 0.2546178102493286 + ], + "joints": [ + 0.0010691210627555847 + ] + }, + "final_grasp": { + "position": [ + 0.04657449573278427, + -0.10069731622934341, + 0.041435230523347855 + ], + "orientation": [ + 0.9275761246681213, + -0.14276427030563354, + -0.23321831226348877, + 0.2546178102493286 + ], + "joints": [ + 0.005904858000576496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04677785933017731, + -0.10042677074670792, + 0.04374192655086517 + ], + "orientation": [ + 0.9328300952911377, + -0.15006659924983978, + -0.20597313344478607, + 0.25472161173820496 + ], + "joints": [ + -0.003625287674367428 + ] + }, + "fine_grasp": { + "position": [ + 0.04612354189157486, + -0.10118713229894638, + 0.04162660613656044 + ], + "orientation": [ + 0.92818683385849, + -0.1443534791469574, + -0.2325267791748047, + 0.252116322517395 + ], + "joints": [ + 0.00121044903062284 + ] + }, + "final_grasp": { + "position": [ + 0.04612354189157486, + -0.10118713229894638, + 0.04162660613656044 + ], + "orientation": [ + 0.92818683385849, + -0.1443534791469574, + -0.2325267791748047, + 0.252116322517395 + ], + "joints": [ + 0.006046185735613108 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04614758864045143, + -0.09938529878854752, + 0.043702930212020874 + ], + "orientation": [ + 0.9327670931816101, + -0.14769922196865082, + -0.20766538381576538, + 0.25496193766593933 + ], + "joints": [ + -0.003958621993660927 + ] + }, + "fine_grasp": { + "position": [ + 0.04623804986476898, + -0.10095801949501038, + 0.041588619351387024 + ], + "orientation": [ + 0.9287045001983643, + -0.14353777468204498, + -0.2309553325176239, + 0.25211992859840393 + ], + "joints": [ + 0.0009036847623065114 + ] + }, + "final_grasp": { + "position": [ + 0.04623804986476898, + -0.10095801949501038, + 0.041588619351387024 + ], + "orientation": [ + 0.9287045001983643, + -0.14353777468204498, + -0.2309553325176239, + 0.25211992859840393 + ], + "joints": [ + 0.005765991285443306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0457034558057785, + -0.09990513324737549, + 0.04327550530433655 + ], + "orientation": [ + 0.9345372319221497, + -0.14673808217048645, + -0.20462699234485626, + 0.25146761536598206 + ], + "joints": [ + -0.0036918604746460915 + ] + }, + "fine_grasp": { + "position": [ + 0.046227820217609406, + -0.10309233516454697, + 0.041664909571409225 + ], + "orientation": [ + 0.9305567145347595, + -0.1432986855506897, + -0.2275083363056183, + 0.24853487312793732 + ], + "joints": [ + 0.0016752757364884019 + ] + }, + "final_grasp": { + "position": [ + 0.046227820217609406, + -0.10309233516454697, + 0.041664909571409225 + ], + "orientation": [ + 0.9305567145347595, + -0.1432986855506897, + -0.2275083363056183, + 0.24853487312793732 + ], + "joints": [ + 0.007042411714792252 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02427467703819275, + -0.12236031889915466, + 0.057749632745981216 + ], + "orientation": [ + 0.6805049180984497, + -0.13230426609516144, + -0.6952300667762756, + 0.18990476429462433 + ], + "joints": [ + -0.012404374778270721 + ] + }, + "fine_grasp": { + "position": [ + 0.023559512570500374, + -0.11749391257762909, + 0.05511823296546936 + ], + "orientation": [ + 0.6813358068466187, + -0.1319894641637802, + -0.6944713592529297, + 0.18992091715335846 + ], + "joints": [ + -0.00552274938672781 + ] + }, + "final_grasp": { + "position": [ + 0.023559512570500374, + -0.11749391257762909, + 0.05511823296546936 + ], + "orientation": [ + 0.6813358068466187, + -0.1319894641637802, + -0.6944713592529297, + 0.18992091715335846 + ], + "joints": [ + 0.0013588760048151016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08915776014328003, + 0.10040781646966934, + 0.02349640615284443 + ], + "orientation": [ + 0.1500898152589798, + -0.9298337697982788, + 0.32025146484375, + 0.10159353911876678 + ], + "joints": [ + -0.0034158132039010525 + ] + }, + "fine_grasp": { + "position": [ + 0.0854765772819519, + 0.09656951576471329, + 0.02170867845416069 + ], + "orientation": [ + 0.15630166232585907, + -0.9288952350616455, + 0.32161474227905273, + 0.09637156873941422 + ], + "joints": [ + 0.002987552434206009 + ] + }, + "final_grasp": { + "position": [ + 0.0854765772819519, + 0.09656951576471329, + 0.02170867845416069 + ], + "orientation": [ + 0.15630166232585907, + -0.9288952350616455, + 0.32161474227905273, + 0.09637156873941422 + ], + "joints": [ + 0.009390918537974358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05948804318904877, + 0.1026916652917862, + -0.0734160840511322 + ], + "orientation": [ + 0.20813095569610596, + -0.12282872945070267, + -0.18843914568424225, + -0.9518851637840271 + ], + "joints": [ + -0.0012814735528081656 + ] + }, + "fine_grasp": { + "position": [ + -0.058194778859615326, + 0.1009586900472641, + -0.07173147052526474 + ], + "orientation": [ + 0.21855874359607697, + -0.09987793862819672, + -0.19620993733406067, + -0.9506618976593018 + ], + "joints": [ + 0.003527693450450897 + ] + }, + "final_grasp": { + "position": [ + -0.058194778859615326, + 0.1009586900472641, + -0.07173147052526474 + ], + "orientation": [ + 0.21855874359607697, + -0.09987793862819672, + -0.19620993733406067, + -0.9506618976593018 + ], + "joints": [ + 0.008336860686540604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05787942558526993, + 0.07265650480985641, + -0.08349360525608063 + ], + "orientation": [ + 0.22481302917003632, + 0.8427843451499939, + -0.37109360098838806, + -0.3185328245162964 + ], + "joints": [ + -0.0031306417658925056 + ] + }, + "fine_grasp": { + "position": [ + 0.05776773393154144, + 0.07574300467967987, + -0.0813819095492363 + ], + "orientation": [ + 0.22011297941207886, + 0.8352352976799011, + -0.3653590977191925, + -0.34705179929733276 + ], + "joints": [ + 0.0017582342261448503 + ] + }, + "final_grasp": { + "position": [ + 0.05776773393154144, + 0.07574300467967987, + -0.0813819095492363 + ], + "orientation": [ + 0.22011297941207886, + 0.8352352976799011, + -0.3653590977191925, + -0.34705179929733276 + ], + "joints": [ + 0.0066471099853515625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08330618590116501, + 0.07162853330373764, + -0.06463014334440231 + ], + "orientation": [ + 0.43170177936553955, + 0.26721349358558655, + 0.11492200940847397, + 0.8538287281990051 + ], + "joints": [ + -0.0021711711306124926 + ] + }, + "fine_grasp": { + "position": [ + 0.08055802434682846, + 0.07340165972709656, + -0.0621081180870533 + ], + "orientation": [ + 0.42573949694633484, + 0.29651761054992676, + 0.10355167090892792, + 0.848587155342102 + ], + "joints": [ + 0.00269113527610898 + ] + }, + "final_grasp": { + "position": [ + 0.08055802434682846, + 0.07340165972709656, + -0.0621081180870533 + ], + "orientation": [ + 0.42573949694633484, + 0.29651761054992676, + 0.10355167090892792, + 0.848587155342102 + ], + "joints": [ + 0.007553441449999809 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10162995755672455, + 0.045743685215711594, + 0.04944969341158867 + ], + "orientation": [ + 0.025822294875979424, + -0.7123467922210693, + -0.5585005283355713, + 0.4242315888404846 + ], + "joints": [ + -0.00639698002487421 + ] + }, + "fine_grasp": { + "position": [ + -0.10004567354917526, + 0.045038145035505295, + 0.04807066544890404 + ], + "orientation": [ + 0.021744713187217712, + -0.7207453846931458, + -0.5534083247184753, + 0.4168843626976013 + ], + "joints": [ + -0.0010298436973243952 + ] + }, + "final_grasp": { + "position": [ + -0.10004567354917526, + 0.045038145035505295, + 0.04807066544890404 + ], + "orientation": [ + 0.021744713187217712, + -0.7207453846931458, + -0.5534083247184753, + 0.4168843626976013 + ], + "joints": [ + 0.00433729263022542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10196365416049957, + 0.045485276728868484, + 0.04934283718466759 + ], + "orientation": [ + 0.023423893377184868, + -0.7111555933952332, + -0.5591511726379395, + 0.4255101680755615 + ], + "joints": [ + -0.006087080575525761 + ] + }, + "fine_grasp": { + "position": [ + -0.10028931498527527, + 0.04472396522760391, + 0.04786406457424164 + ], + "orientation": [ + 0.02086670696735382, + -0.7198437452316284, + -0.5548924207687378, + 0.416514128446579 + ], + "joints": [ + -0.0007465142989531159 + ] + }, + "final_grasp": { + "position": [ + -0.10028931498527527, + 0.04472396522760391, + 0.04786406457424164 + ], + "orientation": [ + 0.02086670696735382, + -0.7198437452316284, + -0.5548924207687378, + 0.416514128446579 + ], + "joints": [ + 0.004594052210450172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07088720053434372, + -0.10841561108827591, + -0.02918812446296215 + ], + "orientation": [ + 0.19795601069927216, + 0.27831870317459106, + -0.9394713640213013, + -0.027306606993079185 + ], + "joints": [ + -0.0039391471073031425 + ] + }, + "fine_grasp": { + "position": [ + 0.06800935417413712, + -0.10489409416913986, + -0.029061486944556236 + ], + "orientation": [ + 0.20840208232402802, + 0.2788172960281372, + -0.9372736811637878, + -0.01864236406981945 + ], + "joints": [ + 0.0019593886099755764 + ] + }, + "final_grasp": { + "position": [ + 0.06800935417413712, + -0.10489409416913986, + -0.029061486944556236 + ], + "orientation": [ + 0.20840208232402802, + 0.2788172960281372, + -0.9372736811637878, + -0.01864236406981945 + ], + "joints": [ + 0.007857924327254295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07036396861076355, + 0.003836018731817603, + -0.11882129311561584 + ], + "orientation": [ + 0.6936451196670532, + 0.5062574148178101, + 0.10167058557271957, + 0.5022180080413818 + ], + "joints": [ + -0.003083823947235942 + ] + }, + "fine_grasp": { + "position": [ + 0.06775399297475815, + 0.003772660158574581, + -0.11438010632991791 + ], + "orientation": [ + 0.6933547258377075, + 0.5116934180259705, + 0.09815754741430283, + 0.4977893531322479 + ], + "joints": [ + 0.002814711770042777 + ] + }, + "final_grasp": { + "position": [ + 0.06775399297475815, + 0.003772660158574581, + -0.11438010632991791 + ], + "orientation": [ + 0.6933547258377075, + 0.5116934180259705, + 0.09815754741430283, + 0.4977893531322479 + ], + "joints": [ + 0.008713247254490852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08119543641805649, + -0.09346563369035721, + -0.005557685159146786 + ], + "orientation": [ + 0.05482076108455658, + 0.3450809121131897, + 0.9368233680725098, + 0.01660538837313652 + ], + "joints": [ + -0.0008837779751047492 + ] + }, + "fine_grasp": { + "position": [ + -0.07995472848415375, + -0.09204672276973724, + -0.005511560942977667 + ], + "orientation": [ + 0.0555526539683342, + 0.3482285737991333, + 0.9356458783149719, + 0.01475044246762991 + ], + "joints": [ + 0.004961618687957525 + ] + }, + "final_grasp": { + "position": [ + -0.07995472848415375, + -0.09204672276973724, + -0.005511560942977667 + ], + "orientation": [ + 0.0555526539683342, + 0.3482285737991333, + 0.9356458783149719, + 0.01475044246762991 + ], + "joints": [ + 0.010807015001773834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08294609189033508, + -0.09594617038965225, + -0.06320720165967941 + ], + "orientation": [ + 0.08569860458374023, + -0.3154594302177429, + 0.9097579121589661, + 0.2558935880661011 + ], + "joints": [ + -0.0042555732652544975 + ] + }, + "fine_grasp": { + "position": [ + 0.07942350208759308, + -0.09163952618837357, + -0.062381893396377563 + ], + "orientation": [ + 0.09196595847606659, + -0.31534162163734436, + 0.9110345244407654, + 0.24923473596572876 + ], + "joints": [ + 0.0026526222936809063 + ] + }, + "final_grasp": { + "position": [ + 0.07942350208759308, + -0.09163952618837357, + -0.062381893396377563 + ], + "orientation": [ + 0.09196595847606659, + -0.31534162163734436, + 0.9110345244407654, + 0.24923473596572876 + ], + "joints": [ + 0.00956081785261631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01677759550511837, + 0.1168147474527359, + 0.04053771495819092 + ], + "orientation": [ + 0.10693171620368958, + -0.9917306900024414, + 0.06868348270654678, + 0.017840825021266937 + ], + "joints": [ + 0.004504604265093803 + ] + }, + "fine_grasp": { + "position": [ + 0.018331212922930717, + 0.11856075376272202, + 0.04163746535778046 + ], + "orientation": [ + 0.09496291726827621, + -0.9923202395439148, + 0.07351674139499664, + 0.029631389304995537 + ], + "joints": [ + 0.010376570746302605 + ] + }, + "final_grasp": { + "position": [ + 0.018331212922930717, + 0.11856075376272202, + 0.04163746535778046 + ], + "orientation": [ + 0.09496291726827621, + -0.9923202395439148, + 0.07351674139499664, + 0.029631389304995537 + ], + "joints": [ + 0.016248537227511406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08098994940519333, + -0.08300822228193283, + -0.007720972876995802 + ], + "orientation": [ + 0.09762874990701675, + 0.36901795864105225, + -0.9197363257408142, + 0.09153876453638077 + ], + "joints": [ + -0.0029096202924847603 + ] + }, + "fine_grasp": { + "position": [ + 0.08204483240842819, + -0.08608632534742355, + -0.008543956093490124 + ], + "orientation": [ + 0.09340682625770569, + 0.3683427572250366, + -0.9193580150604248, + 0.1018800437450409 + ], + "joints": [ + 0.003573454450815916 + ] + }, + "final_grasp": { + "position": [ + 0.08204483240842819, + -0.08608632534742355, + -0.008543956093490124 + ], + "orientation": [ + 0.09340682625770569, + 0.3683427572250366, + -0.9193580150604248, + 0.1018800437450409 + ], + "joints": [ + 0.010056529194116592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08306125551462173, + -0.07851769775152206, + 0.04170951247215271 + ], + "orientation": [ + 0.8359355330467224, + -0.3542434573173523, + 0.3125493824481964, + 0.27935001254081726 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.0821157768368721, + -0.07706712931394577, + 0.042039595544338226 + ], + "orientation": [ + 0.8362457752227783, + -0.3458947241306305, + 0.3163447678089142, + 0.28456243872642517 + ], + "joints": [ + -0.005151652731001377 + ] + }, + "final_grasp": { + "position": [ + 0.0821157768368721, + -0.07706712931394577, + 0.042039595544338226 + ], + "orientation": [ + 0.8362457752227783, + -0.3458947241306305, + 0.3163447678089142, + 0.28456243872642517 + ], + "joints": [ + -0.0003424864262342453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08391577750444412, + -0.019187334924936295, + 0.10860396921634674 + ], + "orientation": [ + 0.26877301931381226, + -0.5663517713546753, + -0.7055741548538208, + 0.33041197061538696 + ], + "joints": [ + 0.0008394225733354688 + ] + }, + "fine_grasp": { + "position": [ + -0.08272875100374222, + -0.019627409055829048, + 0.10511317849159241 + ], + "orientation": [ + 0.2784886658191681, + -0.5654999613761902, + -0.7024068236351013, + 0.33057308197021484 + ], + "joints": [ + 0.005728298332542181 + ] + }, + "final_grasp": { + "position": [ + -0.08272875100374222, + -0.019627409055829048, + 0.10511317849159241 + ], + "orientation": [ + 0.2784886658191681, + -0.5654999613761902, + -0.7024068236351013, + 0.33057308197021484 + ], + "joints": [ + 0.010617174208164215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02414111979305744, + -0.12209437787532806, + 0.05756968632340431 + ], + "orientation": [ + 0.6787110567092896, + -0.12989012897014618, + -0.6971587538719177, + 0.19091752171516418 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.023548543453216553, + -0.1172720268368721, + 0.054917413741350174 + ], + "orientation": [ + 0.6791794896125793, + -0.13000009953975677, + -0.6968395113945007, + 0.19034168124198914 + ], + "joints": [ + -0.005550717003643513 + ] + }, + "final_grasp": { + "position": [ + 0.023548543453216553, + -0.1172720268368721, + 0.054917413741350174 + ], + "orientation": [ + 0.6791794896125793, + -0.13000009953975677, + -0.6968395113945007, + 0.19034168124198914 + ], + "joints": [ + 0.0018623080104589462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025380102917551994, + 0.013488827273249626, + 0.1407848447561264 + ], + "orientation": [ + 0.1307004690170288, + -0.004235456697642803, + 0.652159571647644, + -0.746717631816864 + ], + "joints": [ + 0.0018481663428246975 + ] + }, + "fine_grasp": { + "position": [ + -0.024896372109651566, + 0.012736806645989418, + 0.13598421216011047 + ], + "orientation": [ + 0.128753200173378, + -0.008693411014974117, + 0.6498252749443054, + -0.7490488290786743 + ], + "joints": [ + 0.007693562190979719 + ] + }, + "final_grasp": { + "position": [ + -0.024896372109651566, + 0.012736806645989418, + 0.13598421216011047 + ], + "orientation": [ + 0.128753200173378, + -0.008693411014974117, + 0.6498252749443054, + -0.7490488290786743 + ], + "joints": [ + 0.013538958504796028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06534847617149353, + -0.10531055182218552, + -0.06546586751937866 + ], + "orientation": [ + 0.21470113098621368, + 0.28470590710639954, + -0.9195893406867981, + -0.1649281084537506 + ], + "joints": [ + -0.004163541831076145 + ] + }, + "fine_grasp": { + "position": [ + 0.06222684681415558, + -0.10090543329715729, + -0.06381889432668686 + ], + "orientation": [ + 0.21682953834533691, + 0.2863222360610962, + -0.919514536857605, + -0.15967939794063568 + ], + "joints": [ + 0.0027180840261280537 + ] + }, + "final_grasp": { + "position": [ + 0.06222684681415558, + -0.10090543329715729, + -0.06381889432668686 + ], + "orientation": [ + 0.21682953834533691, + 0.2863222360610962, + -0.919514536857605, + -0.15967939794063568 + ], + "joints": [ + 0.009599709883332253 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06594857573509216, + -0.10656819492578506, + -0.06582614034414291 + ], + "orientation": [ + 0.21236515045166016, + 0.28309088945388794, + -0.9206277132034302, + -0.16493965685367584 + ], + "joints": [ + -0.004788236692547798 + ] + }, + "fine_grasp": { + "position": [ + 0.06273887306451797, + -0.10204657912254333, + -0.06462911516427994 + ], + "orientation": [ + 0.2121051698923111, + 0.28510862588882446, + -0.921342134475708, + -0.15764860808849335 + ], + "joints": [ + 0.002624788787215948 + ] + }, + "final_grasp": { + "position": [ + 0.06273887306451797, + -0.10204657912254333, + -0.06462911516427994 + ], + "orientation": [ + 0.2121051698923111, + 0.28510862588882446, + -0.921342134475708, + -0.15764860808849335 + ], + "joints": [ + 0.010037814266979694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018897082656621933, + -0.03324471414089203, + -0.12218247354030609 + ], + "orientation": [ + 0.3369790315628052, + 0.13697616755962372, + -0.703470766544342, + -0.6105828881263733 + ], + "joints": [ + -0.004805844277143478 + ] + }, + "fine_grasp": { + "position": [ + -0.021165642887353897, + -0.03235812112689018, + -0.12718932330608368 + ], + "orientation": [ + 0.330159455537796, + 0.147134467959404, + -0.7176953554153442, + -0.5951971411705017 + ], + "joints": [ + 0.0010661218548193574 + ] + }, + "final_grasp": { + "position": [ + -0.021165642887353897, + -0.03235812112689018, + -0.12718932330608368 + ], + "orientation": [ + 0.330159455537796, + 0.147134467959404, + -0.7176953554153442, + -0.5951971411705017 + ], + "joints": [ + 0.0069380877539515495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016115766018629074, + 0.11663366854190826, + 0.03955477103590965 + ], + "orientation": [ + 0.11186665296554565, + -0.9907049536705017, + 0.06244663521647453, + 0.04571797698736191 + ], + "joints": [ + 0.004149050917476416 + ] + }, + "fine_grasp": { + "position": [ + 0.01764044351875782, + 0.11662181466817856, + 0.04065309092402458 + ], + "orientation": [ + 0.1046428456902504, + -0.9903143644332886, + 0.06343120336532593, + 0.06560415029525757 + ], + "joints": [ + 0.009542759507894516 + ] + }, + "final_grasp": { + "position": [ + 0.01764044351875782, + 0.11662181466817856, + 0.04065309092402458 + ], + "orientation": [ + 0.1046428456902504, + -0.9903143644332886, + 0.06343120336532593, + 0.06560415029525757 + ], + "joints": [ + 0.014936467632651329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08185621351003647, + -0.10383497178554535, + -0.04740956053137779 + ], + "orientation": [ + 0.07662057131528854, + 0.3212994635105133, + -0.9325303435325623, + -0.1458876132965088 + ], + "joints": [ + -0.0035918457433581352 + ] + }, + "fine_grasp": { + "position": [ + 0.07878565788269043, + -0.09939215332269669, + -0.04639101028442383 + ], + "orientation": [ + 0.07621661573648453, + 0.31916695833206177, + -0.9337871074676514, + -0.1427067369222641 + ], + "joints": [ + 0.0033163498155772686 + ] + }, + "final_grasp": { + "position": [ + 0.07878565788269043, + -0.09939215332269669, + -0.04639101028442383 + ], + "orientation": [ + 0.07621661573648453, + 0.31916695833206177, + -0.9337871074676514, + -0.1427067369222641 + ], + "joints": [ + 0.010224545374512672 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10759564489126205, + 0.04958455264568329, + 0.028874073177576065 + ], + "orientation": [ + 0.2100941389799118, + -0.8409672379493713, + 0.4915553331375122, + 0.08371268212795258 + ], + "joints": [ + -0.00346177164465189 + ] + }, + "fine_grasp": { + "position": [ + 0.10899025201797485, + 0.05047769844532013, + 0.027692286297678947 + ], + "orientation": [ + 0.22457411885261536, + -0.837700605392456, + 0.4874763488769531, + 0.10095056146383286 + ], + "joints": [ + 0.002463333774358034 + ] + }, + "final_grasp": { + "position": [ + 0.10899025201797485, + 0.05047769844532013, + 0.027692286297678947 + ], + "orientation": [ + 0.22457411885261536, + -0.837700605392456, + 0.4874763488769531, + 0.10095056146383286 + ], + "joints": [ + 0.008388439193367958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06657486408948898, + -0.10690416395664215, + -0.06642775237560272 + ], + "orientation": [ + 0.20816417038440704, + 0.28369495272636414, + -0.9210442900657654, + -0.16691994667053223 + ], + "joints": [ + -0.004750378429889679 + ] + }, + "fine_grasp": { + "position": [ + 0.06336139142513275, + -0.10230422019958496, + -0.06549529731273651 + ], + "orientation": [ + 0.2069016993045807, + 0.28489387035369873, + -0.9224980473518372, + -0.1581912338733673 + ], + "joints": [ + 0.002157817129045725 + ] + }, + "final_grasp": { + "position": [ + 0.06336139142513275, + -0.10230422019958496, + -0.06549529731273651 + ], + "orientation": [ + 0.2069016993045807, + 0.28489387035369873, + -0.9224980473518372, + -0.1581912338733673 + ], + "joints": [ + 0.009066012687981129 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04683415964245796, + -0.11151301115751266, + -0.05396226420998573 + ], + "orientation": [ + 0.9406349658966064, + 0.1315862238407135, + 0.22933204472064972, + 0.21283255517482758 + ], + "joints": [ + -0.004608313553035259 + ] + }, + "fine_grasp": { + "position": [ + 0.04445839300751686, + -0.10748074948787689, + -0.052195366472005844 + ], + "orientation": [ + 0.9363400340080261, + 0.12689128518104553, + 0.24858225882053375, + 0.21300919353961945 + ], + "joints": [ + 0.0007853928254917264 + ] + }, + "final_grasp": { + "position": [ + 0.04445839300751686, + -0.10748074948787689, + -0.052195366472005844 + ], + "orientation": [ + 0.9363400340080261, + 0.12689128518104553, + 0.24858225882053375, + 0.21300919353961945 + ], + "joints": [ + 0.006179098971188068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038679398596286774, + 0.11197519302368164, + 0.02572775073349476 + ], + "orientation": [ + 0.1349238008260727, + -0.9112553596496582, + 0.08315159380435944, + 0.3801249861717224 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.0384281761944294, + 0.11435209214687347, + 0.025357931852340698 + ], + "orientation": [ + 0.145112082362175, + -0.9060831665992737, + 0.08046878129243851, + 0.38920503854751587 + ], + "joints": [ + -0.0035603251308202744 + ] + }, + "final_grasp": { + "position": [ + 0.0384281761944294, + 0.11435209214687347, + 0.025357931852340698 + ], + "orientation": [ + 0.145112082362175, + -0.9060831665992737, + 0.08046878129243851, + 0.38920503854751587 + ], + "joints": [ + 0.0028696097433567047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047105271369218826, + -0.11142510175704956, + -0.054069966077804565 + ], + "orientation": [ + 0.9407650828361511, + 0.13266263902187347, + 0.22733645141124725, + 0.21372836828231812 + ], + "joints": [ + -0.0044023627415299416 + ] + }, + "fine_grasp": { + "position": [ + 0.04479889199137688, + -0.1074485257267952, + -0.052216432988643646 + ], + "orientation": [ + 0.9364184737205505, + 0.12844328582286835, + 0.24698230624198914, + 0.2135942578315735 + ], + "joints": [ + 0.0009913435205817223 + ] + }, + "final_grasp": { + "position": [ + 0.04479889199137688, + -0.1074485257267952, + -0.052216432988643646 + ], + "orientation": [ + 0.9364184737205505, + 0.12844328582286835, + 0.24698230624198914, + 0.2135942578315735 + ], + "joints": [ + 0.006385049782693386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0627361387014389, + -0.04874671250581741, + -0.11379366368055344 + ], + "orientation": [ + 0.1568024754524231, + 0.36739516258239746, + 0.8014761805534363, + 0.44505026936531067 + ], + "joints": [ + -0.002674724208191037 + ] + }, + "fine_grasp": { + "position": [ + -0.06299027055501938, + -0.04925549030303955, + -0.11460734903812408 + ], + "orientation": [ + 0.16207090020179749, + 0.3757345974445343, + 0.8010414242744446, + 0.43690863251686096 + ], + "joints": [ + 0.004260041285306215 + ] + }, + "final_grasp": { + "position": [ + -0.06299027055501938, + -0.04925549030303955, + -0.11460734903812408 + ], + "orientation": [ + 0.16207090020179749, + 0.3757345974445343, + 0.8010414242744446, + 0.43690863251686096 + ], + "joints": [ + 0.011194806545972824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07721088081598282, + -0.10610447824001312, + -0.04975762218236923 + ], + "orientation": [ + 0.9246615171432495, + 0.20453134179115295, + -0.15136803686618805, + 0.2832944989204407 + ], + "joints": [ + -0.004687884822487831 + ] + }, + "fine_grasp": { + "position": [ + 0.07425017654895782, + -0.10145429521799088, + -0.04975292459130287 + ], + "orientation": [ + 0.9268394112586975, + 0.19370321929454803, + -0.15345731377601624, + 0.28266334533691406 + ], + "joints": [ + 0.0022468804381787777 + ] + }, + "final_grasp": { + "position": [ + 0.07425017654895782, + -0.10145429521799088, + -0.04975292459130287 + ], + "orientation": [ + 0.9268394112586975, + 0.19370321929454803, + -0.15345731377601624, + 0.28266334533691406 + ], + "joints": [ + 0.009181645698845387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0400790311396122, + -0.0008477001101709902, + -0.13391651213169098 + ], + "orientation": [ + 0.3370693325996399, + 0.08659683167934418, + -0.596778929233551, + -0.7230076193809509 + ], + "joints": [ + -0.0037302968557924032 + ] + }, + "fine_grasp": { + "position": [ + -0.04060821980237961, + 0.000994126545265317, + -0.13375088572502136 + ], + "orientation": [ + 0.3396454453468323, + 0.0971386581659317, + -0.5998846292495728, + -0.7178741693496704 + ], + "joints": [ + 0.002673069015145302 + ] + }, + "final_grasp": { + "position": [ + -0.04060821980237961, + 0.000994126545265317, + -0.13375088572502136 + ], + "orientation": [ + 0.3396454453468323, + 0.0971386581659317, + -0.5998846292495728, + -0.7178741693496704 + ], + "joints": [ + 0.00907643511891365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09889644384384155, + 0.06924805790185928, + -0.039420537650585175 + ], + "orientation": [ + 0.34062859416007996, + 0.7574322819709778, + 0.25906968116760254, + -0.49310386180877686 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.0949973315000534, + 0.0661691352725029, + -0.038617171347141266 + ], + "orientation": [ + 0.34664133191108704, + 0.7527164816856384, + 0.24938154220581055, + -0.5010653138160706 + ], + "joints": [ + -0.004228842444717884 + ] + }, + "final_grasp": { + "position": [ + -0.0949973315000534, + 0.0661691352725029, + -0.038617171347141266 + ], + "orientation": [ + 0.34664133191108704, + 0.7527164816856384, + 0.24938154220581055, + -0.5010653138160706 + ], + "joints": [ + 0.00212138332426548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02458396926522255, + -0.05485515296459198, + -0.1330106109380722 + ], + "orientation": [ + 0.5019245147705078, + 0.3752819895744324, + -0.6720535755157471, + -0.39443519711494446 + ], + "joints": [ + -0.0034026773646473885 + ] + }, + "fine_grasp": { + "position": [ + 0.023454738780856133, + -0.05334942415356636, + -0.12980538606643677 + ], + "orientation": [ + 0.49944689869880676, + 0.38136982917785645, + -0.6707833409309387, + -0.3939029276371002 + ], + "joints": [ + 0.0019378892611712217 + ] + }, + "final_grasp": { + "position": [ + 0.023454738780856133, + -0.05334942415356636, + -0.12980538606643677 + ], + "orientation": [ + 0.49944689869880676, + 0.38136982917785645, + -0.6707833409309387, + -0.3939029276371002 + ], + "joints": [ + 0.007278455886989832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08377371728420258, + 0.09086256474256516, + -0.07068756222724915 + ], + "orientation": [ + 0.3390504717826843, + 0.04789550229907036, + -0.2686285376548767, + -0.9003274440765381 + ], + "joints": [ + 0.00039291000575758517 + ] + }, + "fine_grasp": { + "position": [ + -0.08012044429779053, + 0.08727974444627762, + -0.06917723268270493 + ], + "orientation": [ + 0.33943691849708557, + 0.04517555609345436, + -0.24714651703834534, + -0.9064547419548035 + ], + "joints": [ + 0.004697246942669153 + ] + }, + "final_grasp": { + "position": [ + -0.08012044429779053, + 0.08727974444627762, + -0.06917723268270493 + ], + "orientation": [ + 0.33943691849708557, + 0.04517555609345436, + -0.24714651703834534, + -0.9064547419548035 + ], + "joints": [ + 0.00900158379226923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09529988467693329, + -0.08785371482372284, + -0.03813369199633598 + ], + "orientation": [ + 0.9089770913124084, + 0.10230977833271027, + 0.06512217968702316, + 0.3988139033317566 + ], + "joints": [ + -0.0032187504693865776 + ] + }, + "fine_grasp": { + "position": [ + 0.09274759143590927, + -0.08547811955213547, + -0.0375002883374691 + ], + "orientation": [ + 0.9125960469245911, + 0.10226868093013763, + 0.061508484184741974, + 0.3910578787326813 + ], + "joints": [ + 0.004273984115570784 + ] + }, + "final_grasp": { + "position": [ + 0.09274759143590927, + -0.08547811955213547, + -0.0375002883374691 + ], + "orientation": [ + 0.9125960469245911, + 0.10226868093013763, + 0.061508484184741974, + 0.3910578787326813 + ], + "joints": [ + 0.011766718700528145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10118736326694489, + -0.052190497517585754, + 0.046657223254442215 + ], + "orientation": [ + 0.0747411772608757, + -0.5039145946502686, + 0.8458893299102783, + -0.1579720824956894 + ], + "joints": [ + 0.00043474853737279773 + ] + }, + "fine_grasp": { + "position": [ + 0.10329187661409378, + -0.05412954092025757, + 0.04632172733545303 + ], + "orientation": [ + 0.08087841421365738, + -0.49953049421310425, + 0.8463373780250549, + -0.16625601053237915 + ], + "joints": [ + 0.006253574974834919 + ] + }, + "final_grasp": { + "position": [ + 0.10329187661409378, + -0.05412954092025757, + 0.04632172733545303 + ], + "orientation": [ + 0.08087841421365738, + -0.49953049421310425, + 0.8463373780250549, + -0.16625601053237915 + ], + "joints": [ + 0.012072401121258736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04753870889544487, + -0.016772892326116562, + -0.13766102492809296 + ], + "orientation": [ + 0.15550318360328674, + -0.11191655695438385, + 0.7667780518531799, + 0.612653911113739 + ], + "joints": [ + -0.0027358243241906166 + ] + }, + "fine_grasp": { + "position": [ + 0.04596656560897827, + -0.015751047059893608, + -0.13260461390018463 + ], + "orientation": [ + 0.15574534237384796, + -0.11029042303562164, + 0.7660362124443054, + 0.6138143539428711 + ], + "joints": [ + 0.00473034055903554 + ] + }, + "final_grasp": { + "position": [ + 0.04596656560897827, + -0.015751047059893608, + -0.13260461390018463 + ], + "orientation": [ + 0.15574534237384796, + -0.11029042303562164, + 0.7660362124443054, + 0.6138143539428711 + ], + "joints": [ + 0.012196505442261696 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03764093294739723, + -0.112871453166008, + -0.04741552472114563 + ], + "orientation": [ + 0.4597441554069519, + -0.04019031673669815, + 0.8676893711090088, + 0.18475741147994995 + ], + "joints": [ + -0.009931378066539764 + ] + }, + "fine_grasp": { + "position": [ + 0.034163910895586014, + -0.11001694947481155, + -0.04430577903985977 + ], + "orientation": [ + 0.45750588178634644, + -0.043605949729681015, + 0.8639670610427856, + 0.20578569173812866 + ], + "joints": [ + -0.005122211761772633 + ] + }, + "final_grasp": { + "position": [ + 0.034163910895586014, + -0.11001694947481155, + -0.04430577903985977 + ], + "orientation": [ + 0.45750588178634644, + -0.043605949729681015, + 0.8639670610427856, + 0.20578569173812866 + ], + "joints": [ + -0.0003130454570055008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06962209194898605, + 0.0912572368979454, + 0.04295996576547623 + ], + "orientation": [ + 0.13310344517230988, + -0.9193513989448547, + -0.33986786007881165, + 0.14685466885566711 + ], + "joints": [ + -0.001013268018141389 + ] + }, + "fine_grasp": { + "position": [ + -0.06762444227933884, + 0.09142422676086426, + 0.04204966127872467 + ], + "orientation": [ + 0.13542917370796204, + -0.919100821018219, + -0.3349372148513794, + 0.15725724399089813 + ], + "joints": [ + 0.004832128528505564 + ] + }, + "final_grasp": { + "position": [ + -0.06762444227933884, + 0.09142422676086426, + 0.04204966127872467 + ], + "orientation": [ + 0.13542917370796204, + -0.919100821018219, + -0.3349372148513794, + 0.15725724399089813 + ], + "joints": [ + 0.010677524842321873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10746058076620102, + 0.05015009269118309, + 0.0300260242074728 + ], + "orientation": [ + 0.1730973869562149, + -0.8459030985832214, + 0.5024999976158142, + 0.04448659345507622 + ], + "joints": [ + -0.001567954896017909 + ] + }, + "fine_grasp": { + "position": [ + 0.10756614804267883, + 0.049438606947660446, + 0.02736951969563961 + ], + "orientation": [ + 0.19006572663784027, + -0.8417896628379822, + 0.5003645420074463, + 0.07000403106212616 + ], + "joints": [ + 0.003825751133263111 + ] + }, + "final_grasp": { + "position": [ + 0.10756614804267883, + 0.049438606947660446, + 0.02736951969563961 + ], + "orientation": [ + 0.19006572663784027, + -0.8417896628379822, + 0.5003645420074463, + 0.07000403106212616 + ], + "joints": [ + 0.009219457395374775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07444527745246887, + -0.08701688051223755, + 0.03852023929357529 + ], + "orientation": [ + 0.11539541929960251, + 0.28791189193725586, + -0.9232262969017029, + 0.2268126755952835 + ], + "joints": [ + -0.004628445953130722 + ] + }, + "fine_grasp": { + "position": [ + 0.07396668195724487, + -0.08685623109340668, + 0.03766806051135063 + ], + "orientation": [ + 0.12924550473690033, + 0.2882329523563385, + -0.918658971786499, + 0.23724059760570526 + ], + "joints": [ + 0.0007386907818727195 + ] + }, + "final_grasp": { + "position": [ + 0.07396668195724487, + -0.08685623109340668, + 0.03766806051135063 + ], + "orientation": [ + 0.12924550473690033, + 0.2882329523563385, + -0.918658971786499, + 0.23724059760570526 + ], + "joints": [ + 0.006105827633291483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05704399570822716, + 0.0983988344669342, + 0.03285600244998932 + ], + "orientation": [ + 0.2269081026315689, + -0.8751522302627563, + 0.14671310782432556, + 0.4013683795928955 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.05878903344273567, + 0.09926234185695648, + 0.03367391973733902 + ], + "orientation": [ + 0.22198182344436646, + -0.8814752697944641, + 0.15321411192417145, + 0.3876221179962158 + ], + "joints": [ + -0.004209413193166256 + ] + }, + "final_grasp": { + "position": [ + 0.05878903344273567, + 0.09926234185695648, + 0.03367391973733902 + ], + "orientation": [ + 0.22198182344436646, + -0.8814752697944641, + 0.15321411192417145, + 0.3876221179962158 + ], + "joints": [ + 0.0027784910053014755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10000016540288925, + -0.025005249306559563, + -0.0751848965883255 + ], + "orientation": [ + 0.007671019993722439, + -0.5384186506271362, + -0.7722185254096985, + -0.3372316062450409 + ], + "joints": [ + -0.0027526551857590675 + ] + }, + "fine_grasp": { + "position": [ + -0.10242611169815063, + -0.02257680520415306, + -0.07378961890935898 + ], + "orientation": [ + 0.028446797281503677, + -0.5364729166030884, + -0.765119194984436, + -0.35493701696395874 + ], + "joints": [ + 0.0021362206898629665 + ] + }, + "final_grasp": { + "position": [ + -0.10242611169815063, + -0.02257680520415306, + -0.07378961890935898 + ], + "orientation": [ + 0.028446797281503677, + -0.5364729166030884, + -0.765119194984436, + -0.35493701696395874 + ], + "joints": [ + 0.007025096565485001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08666582405567169, + -0.07739748805761337, + -0.014487819746136665 + ], + "orientation": [ + 0.9121889472007751, + -0.026354676112532616, + 0.0359928198158741, + -0.4073343276977539 + ], + "joints": [ + -0.0026736280415207148 + ] + }, + "fine_grasp": { + "position": [ + -0.08790086954832077, + -0.07981559634208679, + -0.012453045696020126 + ], + "orientation": [ + 0.9136674404144287, + -0.007065403740853071, + 0.051495760679244995, + -0.40312522649765015 + ], + "joints": [ + 0.004792537074536085 + ] + }, + "final_grasp": { + "position": [ + -0.08790086954832077, + -0.07981559634208679, + -0.012453045696020126 + ], + "orientation": [ + 0.9136674404144287, + -0.007065403740853071, + 0.051495760679244995, + -0.40312522649765015 + ], + "joints": [ + 0.012258701957762241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07392749935388565, + -0.0729590356349945, + 0.05748407542705536 + ], + "orientation": [ + 0.8542882800102234, + -0.16434136033058167, + -0.25612929463386536, + 0.4214039146900177 + ], + "joints": [ + -0.003348788246512413 + ] + }, + "fine_grasp": { + "position": [ + 0.07194400578737259, + -0.07163345813751221, + 0.05381649732589722 + ], + "orientation": [ + 0.8537362813949585, + -0.16694331169128418, + -0.268090158700943, + 0.4139951765537262 + ], + "joints": [ + 0.002523177769035101 + ] + }, + "final_grasp": { + "position": [ + 0.07194400578737259, + -0.07163345813751221, + 0.05381649732589722 + ], + "orientation": [ + 0.8537362813949585, + -0.16694331169128418, + -0.268090158700943, + 0.4139951765537262 + ], + "joints": [ + 0.008395143784582615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056780148297548294, + 0.09971342235803604, + 0.03239652141928673 + ], + "orientation": [ + 0.23236924409866333, + -0.8735262155532837, + 0.14949259161949158, + 0.40075984597206116 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.058628275990486145, + 0.10033943504095078, + 0.0320991650223732 + ], + "orientation": [ + 0.22233258187770844, + -0.8792079091072083, + 0.15218140184879303, + 0.39294084906578064 + ], + "joints": [ + -0.004261079244315624 + ] + }, + "final_grasp": { + "position": [ + 0.058628275990486145, + 0.10033943504095078, + 0.0320991650223732 + ], + "orientation": [ + 0.22233258187770844, + -0.8792079091072083, + 0.15218140184879303, + 0.39294084906578064 + ], + "joints": [ + 0.0032050851732492447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09804873168468475, + -0.06993532925844193, + -0.041700270026922226 + ], + "orientation": [ + 0.15684407949447632, + 0.46809157729148865, + -0.86961829662323, + 0.007375641260296106 + ], + "joints": [ + -0.003419015556573868 + ] + }, + "fine_grasp": { + "position": [ + 0.09800050407648087, + -0.07055185735225677, + -0.04074738547205925 + ], + "orientation": [ + 0.16726252436637878, + 0.47136858105659485, + -0.8658304810523987, + 0.013132071122527122 + ], + "joints": [ + 0.0040205796249210835 + ] + }, + "final_grasp": { + "position": [ + 0.09800050407648087, + -0.07055185735225677, + -0.04074738547205925 + ], + "orientation": [ + 0.16726252436637878, + 0.47136858105659485, + -0.8658304810523987, + 0.013132071122527122 + ], + "joints": [ + 0.011460174806416035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023584723472595215, + -0.026078682392835617, + -0.11920803040266037 + ], + "orientation": [ + 0.457731157541275, + 0.2157190889120102, + -0.6171969771385193, + -0.6025075316429138 + ], + "joints": [ + -0.003337366506457329 + ] + }, + "fine_grasp": { + "position": [ + -0.024228163063526154, + -0.025500990450382233, + -0.11375106126070023 + ], + "orientation": [ + 0.4542614221572876, + 0.21540792286396027, + -0.6234940886497498, + -0.5987496376037598 + ], + "joints": [ + 0.0030659991316497326 + ] + }, + "final_grasp": { + "position": [ + -0.024228163063526154, + -0.025500990450382233, + -0.11375106126070023 + ], + "orientation": [ + 0.4542614221572876, + 0.21540792286396027, + -0.6234940886497498, + -0.5987496376037598 + ], + "joints": [ + 0.009469364769756794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02390884794294834, + -0.12165023386478424, + 0.05746370181441307 + ], + "orientation": [ + 0.6777325868606567, + -0.12842382490634918, + -0.6980159878730774, + 0.1922486275434494 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.023315871134400368, + -0.11680426448583603, + 0.05489135906100273 + ], + "orientation": [ + 0.6782936453819275, + -0.12897881865501404, + -0.6976057291030884, + 0.19138595461845398 + ], + "joints": [ + -0.005550717003643513 + ] + }, + "final_grasp": { + "position": [ + 0.023315871134400368, + -0.11680426448583603, + 0.05489135906100273 + ], + "orientation": [ + 0.6782936453819275, + -0.12897881865501404, + -0.6976057291030884, + 0.19138595461845398 + ], + "joints": [ + 0.0018623080104589462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09793288260698318, + -0.06968095153570175, + -0.04150291532278061 + ], + "orientation": [ + 0.15633946657180786, + 0.46824800968170166, + -0.8696301579475403, + 0.006723014172166586 + ], + "joints": [ + -0.0033966307528316975 + ] + }, + "fine_grasp": { + "position": [ + 0.09791886806488037, + -0.07045775651931763, + -0.04091072455048561 + ], + "orientation": [ + 0.16745881736278534, + 0.47124648094177246, + -0.8658799529075623, + 0.011670958250761032 + ], + "joints": [ + 0.004042964428663254 + ] + }, + "final_grasp": { + "position": [ + 0.09791886806488037, + -0.07045775651931763, + -0.04091072455048561 + ], + "orientation": [ + 0.16745881736278534, + 0.47124648094177246, + -0.8658799529075623, + 0.011670958250761032 + ], + "joints": [ + 0.011482559144496918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03805835172533989, + -0.12119879573583603, + 0.0007411267724819481 + ], + "orientation": [ + 0.9766402244567871, + -0.0036545877810567617, + 0.13478834927082062, + -0.16730937361717224 + ], + "joints": [ + -0.002638207981362939 + ] + }, + "fine_grasp": { + "position": [ + -0.038655612617731094, + -0.12120799720287323, + 0.0009144215728156269 + ], + "orientation": [ + 0.9708641171455383, + 0.003998646978288889, + 0.16984426975250244, + -0.16899684071540833 + ], + "joints": [ + 0.002224098425358534 + ] + }, + "final_grasp": { + "position": [ + -0.038655612617731094, + -0.12120799720287323, + 0.0009144215728156269 + ], + "orientation": [ + 0.9708641171455383, + 0.003998646978288889, + 0.16984426975250244, + -0.16899684071540833 + ], + "joints": [ + 0.007086404599249363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07334087044000626, + -0.09357385337352753, + 0.03218676894903183 + ], + "orientation": [ + 0.931768000125885, + -0.20045311748981476, + 0.12184974551200867, + 0.27709129452705383 + ], + "joints": [ + -0.004311753436923027 + ] + }, + "fine_grasp": { + "position": [ + 0.07237382978200912, + -0.09211432188749313, + 0.03133104741573334 + ], + "orientation": [ + 0.9274213910102844, + -0.20750246942043304, + 0.1378994584083557, + 0.2789551019668579 + ], + "joints": [ + 0.0005239836173132062 + ] + }, + "final_grasp": { + "position": [ + 0.07237382978200912, + -0.09211432188749313, + 0.03133104741573334 + ], + "orientation": [ + 0.9274213910102844, + -0.20750246942043304, + 0.1378994584083557, + 0.2789551019668579 + ], + "joints": [ + 0.005359720438718796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10305590182542801, + -0.038526277989149094, + 0.050114165991544724 + ], + "orientation": [ + 0.09116411954164505, + -0.5572995543479919, + -0.8104085326194763, + 0.15602681040763855 + ], + "joints": [ + 0.002528500510379672 + ] + }, + "fine_grasp": { + "position": [ + -0.10427466779947281, + -0.037957023829221725, + 0.04861830547451973 + ], + "orientation": [ + 0.08698703348636627, + -0.5565289855003357, + -0.8073461055755615, + 0.17578651010990143 + ], + "joints": [ + 0.006328007206320763 + ] + }, + "final_grasp": { + "position": [ + -0.10427466779947281, + -0.037957023829221725, + 0.04861830547451973 + ], + "orientation": [ + 0.08698703348636627, + -0.5565289855003357, + -0.8073461055755615, + 0.17578651010990143 + ], + "joints": [ + 0.01012751366943121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09917011111974716, + -0.07039473950862885, + 0.011407558806240559 + ], + "orientation": [ + 0.1948157548904419, + -0.47281187772750854, + 0.8586387634277344, + 0.03514694795012474 + ], + "joints": [ + -0.0034399647265672684 + ] + }, + "fine_grasp": { + "position": [ + 0.09657828509807587, + -0.07071805000305176, + 0.009131116792559624 + ], + "orientation": [ + 0.20954938232898712, + -0.46565723419189453, + 0.8587899804115295, + 0.04162111505866051 + ], + "joints": [ + 0.001980310771614313 + ] + }, + "final_grasp": { + "position": [ + 0.09657828509807587, + -0.07071805000305176, + 0.009131116792559624 + ], + "orientation": [ + 0.20954938232898712, + -0.46565723419189453, + 0.8587899804115295, + 0.04162111505866051 + ], + "joints": [ + 0.007400586269795895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08708186447620392, + 0.057898521423339844, + 0.057408206164836884 + ], + "orientation": [ + 0.055269643664360046, + 0.6627198457717896, + 0.5293529629707336, + -0.5268141031265259 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.08832754194736481, + 0.05903768911957741, + 0.05643496289849281 + ], + "orientation": [ + 0.061673931777477264, + 0.6628795266151428, + 0.5232571363449097, + -0.5319671034812927 + ], + "joints": [ + -0.004714243113994598 + ] + }, + "final_grasp": { + "position": [ + -0.08832754194736481, + 0.05903768911957741, + 0.05643496289849281 + ], + "orientation": [ + 0.061673931777477264, + 0.6628795266151428, + 0.5232571363449097, + -0.5319671034812927 + ], + "joints": [ + 0.0017688311636447906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07251513004302979, + -0.0932171642780304, + 0.03173356503248215 + ], + "orientation": [ + 0.932641863822937, + -0.20231418311595917, + 0.11328646540641785, + 0.27643129229545593 + ], + "joints": [ + -0.0036916877143085003 + ] + }, + "fine_grasp": { + "position": [ + 0.07185836881399155, + -0.09237970411777496, + 0.03178255632519722 + ], + "orientation": [ + 0.9284817576408386, + -0.2074614316225052, + 0.13399341702461243, + 0.2773575782775879 + ], + "joints": [ + 0.001117479638196528 + ] + }, + "final_grasp": { + "position": [ + 0.07185836881399155, + -0.09237970411777496, + 0.03178255632519722 + ], + "orientation": [ + 0.9284817576408386, + -0.2074614316225052, + 0.13399341702461243, + 0.2773575782775879 + ], + "joints": [ + 0.0059266472235322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030267659574747086, + 0.038247641175985336, + 0.10903343558311462 + ], + "orientation": [ + 0.07037127017974854, + 0.09458353370428085, + -0.5497124195098877, + 0.8269934058189392 + ], + "joints": [ + -0.0035315798595547676 + ] + }, + "fine_grasp": { + "position": [ + 0.03131107985973358, + 0.038251444697380066, + 0.1050722599029541 + ], + "orientation": [ + 0.06911509484052658, + 0.11245120316743851, + -0.5440999269485474, + 0.8285729289054871 + ], + "joints": [ + 0.004465984646230936 + ] + }, + "final_grasp": { + "position": [ + 0.03131107985973358, + 0.038251444697380066, + 0.1050722599029541 + ], + "orientation": [ + 0.06911509484052658, + 0.11245120316743851, + -0.5440999269485474, + 0.8285729289054871 + ], + "joints": [ + 0.01246354915201664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010231724008917809, + 0.004495835863053799, + -0.13449566066265106 + ], + "orientation": [ + 0.3079216778278351, + 0.27605512738227844, + 0.6347902417182922, + 0.6527014970779419 + ], + "joints": [ + -0.002611275063827634 + ] + }, + "fine_grasp": { + "position": [ + 0.010520212352275848, + 0.004161815159022808, + -0.13804428279399872 + ], + "orientation": [ + 0.31503182649612427, + 0.2667657732963562, + 0.6342584490776062, + 0.6536873579025269 + ], + "joints": [ + 0.0032606907188892365 + ] + }, + "final_grasp": { + "position": [ + 0.010520212352275848, + 0.004161815159022808, + -0.13804428279399872 + ], + "orientation": [ + 0.31503182649612427, + 0.2667657732963562, + 0.6342584490776062, + 0.6536873579025269 + ], + "joints": [ + 0.009132656268775463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09985662996768951, + -0.025166288018226624, + -0.07506860047578812 + ], + "orientation": [ + 0.004382425919175148, + -0.5391774773597717, + -0.7726469039916992, + -0.3350899815559387 + ], + "joints": [ + -0.0029878602363169193 + ] + }, + "fine_grasp": { + "position": [ + -0.10205881297588348, + -0.02323782816529274, + -0.07339927554130554 + ], + "orientation": [ + 0.020942986011505127, + -0.5399040579795837, + -0.7642090916633606, + -0.35220664739608765 + ], + "joints": [ + 0.0018744460539892316 + ] + }, + "final_grasp": { + "position": [ + -0.10205881297588348, + -0.02323782816529274, + -0.07339927554130554 + ], + "orientation": [ + 0.020942986011505127, + -0.5399040579795837, + -0.7642090916633606, + -0.35220664739608765 + ], + "joints": [ + 0.006736752577126026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09888297319412231, + -0.0761924609541893, + 0.01991833746433258 + ], + "orientation": [ + 0.4810493290424347, + -0.4035986363887787, + -0.7736591696739197, + -0.08456509560346603 + ], + "joints": [ + -0.008381880819797516 + ] + }, + "fine_grasp": { + "position": [ + -0.09861981123685837, + -0.07896251231431961, + 0.02309558168053627 + ], + "orientation": [ + 0.46769431233406067, + -0.40959596633911133, + -0.7761446833610535, + -0.10532219707965851 + ], + "joints": [ + -0.005671743303537369 + ] + }, + "final_grasp": { + "position": [ + -0.09861981123685837, + -0.07896251231431961, + 0.02309558168053627 + ], + "orientation": [ + 0.46769431233406067, + -0.40959596633911133, + -0.7761446833610535, + -0.10532219707965851 + ], + "joints": [ + -0.0029616057872772217 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09851910173892975, + -0.07590752840042114, + 0.019665895029902458 + ], + "orientation": [ + 0.4844001233577728, + -0.4020408093929291, + -0.7724142074584961, + -0.08423853665590286 + ], + "joints": [ + -0.007635026704519987 + ] + }, + "fine_grasp": { + "position": [ + -0.09834897518157959, + -0.07875451445579529, + 0.02305046282708645 + ], + "orientation": [ + 0.46996453404426575, + -0.40771234035491943, + -0.7756937742233276, + -0.10584580153226852 + ], + "joints": [ + -0.005482858512550592 + ] + }, + "final_grasp": { + "position": [ + -0.09834897518157959, + -0.07875451445579529, + 0.02305046282708645 + ], + "orientation": [ + 0.46996453404426575, + -0.40771234035491943, + -0.7756937742233276, + -0.10584580153226852 + ], + "joints": [ + -0.0033306903205811977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07245172560214996, + -0.08809631317853928, + 0.03810487687587738 + ], + "orientation": [ + 0.09481188654899597, + 0.2836163341999054, + -0.9273613095283508, + 0.2248852550983429 + ], + "joints": [ + -0.004037576261907816 + ] + }, + "fine_grasp": { + "position": [ + 0.07215537130832672, + -0.08802096545696259, + 0.03786573186516762 + ], + "orientation": [ + 0.1194419339299202, + 0.28234055638313293, + -0.9225050806999207, + 0.23452483117580414 + ], + "joints": [ + 0.0013029901310801506 + ] + }, + "final_grasp": { + "position": [ + 0.07215537130832672, + -0.08802096545696259, + 0.03786573186516762 + ], + "orientation": [ + 0.1194419339299202, + 0.28234055638313293, + -0.9225050806999207, + 0.23452483117580414 + ], + "joints": [ + 0.006643556524068117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0011429531732574105, + 0.011871161870658398, + -0.13440795242786407 + ], + "orientation": [ + 0.5852351784706116, + 0.6835500001907349, + -0.30294984579086304, + -0.3138161599636078 + ], + "joints": [ + -0.002392333000898361 + ] + }, + "fine_grasp": { + "position": [ + 0.0011637697461992502, + 0.013647118583321571, + -0.1375604122877121 + ], + "orientation": [ + 0.5937061309814453, + 0.6881276965141296, + -0.2787972092628479, + -0.31026703119277954 + ], + "joints": [ + 0.0034796330146491528 + ] + }, + "final_grasp": { + "position": [ + 0.0011637697461992502, + 0.013647118583321571, + -0.1375604122877121 + ], + "orientation": [ + 0.5937061309814453, + 0.6881276965141296, + -0.2787972092628479, + -0.31026703119277954 + ], + "joints": [ + 0.009351599030196667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11005137115716934, + -0.01168494950979948, + -0.0410735160112381 + ], + "orientation": [ + 0.29614484310150146, + 0.6615593433380127, + 0.6816216111183167, + -0.10014748573303223 + ], + "joints": [ + -0.004793478175997734 + ] + }, + "fine_grasp": { + "position": [ + -0.11111002415418625, + -0.012860049493610859, + -0.039901405572891235 + ], + "orientation": [ + 0.29572567343711853, + 0.6580653190612793, + 0.6847321391105652, + -0.10314280539751053 + ], + "joints": [ + -0.000356291770003736 + ] + }, + "final_grasp": { + "position": [ + -0.11111002415418625, + -0.012860049493610859, + -0.039901405572891235 + ], + "orientation": [ + 0.29572567343711853, + 0.6580653190612793, + 0.6847321391105652, + -0.10314280539751053 + ], + "joints": [ + 0.004080894403159618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055146120488643646, + -0.09954215586185455, + 0.03868258371949196 + ], + "orientation": [ + 0.9482563138008118, + -0.2094375193119049, + -0.13198688626289368, + -0.19881018996238708 + ], + "joints": [ + -0.0035977335646748543 + ] + }, + "fine_grasp": { + "position": [ + -0.05680985376238823, + -0.10089854151010513, + 0.03673890233039856 + ], + "orientation": [ + 0.9433611631393433, + -0.21519425511360168, + -0.15482735633850098, + -0.19947335124015808 + ], + "joints": [ + 0.0012645729584619403 + ] + }, + "final_grasp": { + "position": [ + -0.05680985376238823, + -0.10089854151010513, + 0.03673890233039856 + ], + "orientation": [ + 0.9433611631393433, + -0.21519425511360168, + -0.15482735633850098, + -0.19947335124015808 + ], + "joints": [ + 0.0061268797144293785 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05530116707086563, + -0.10004472732543945, + 0.03886285051703453 + ], + "orientation": [ + 0.949066698551178, + -0.20801374316215515, + -0.12700863182544708, + -0.1996782273054123 + ], + "joints": [ + -0.0034350091591477394 + ] + }, + "fine_grasp": { + "position": [ + -0.05691574886441231, + -0.10081252455711365, + 0.0372035950422287 + ], + "orientation": [ + 0.9430941343307495, + -0.21785034239292145, + -0.15269871056079865, + -0.19949406385421753 + ], + "joints": [ + 0.0014272973639890552 + ] + }, + "final_grasp": { + "position": [ + -0.05691574886441231, + -0.10081252455711365, + 0.0372035950422287 + ], + "orientation": [ + 0.9430941343307495, + -0.21785034239292145, + -0.15269871056079865, + -0.19949406385421753 + ], + "joints": [ + 0.006289604119956493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12464556097984314, + 0.03689112886786461, + -0.009478557854890823 + ], + "orientation": [ + 0.17368878424167633, + -0.7827821969985962, + 0.5844200849533081, + 0.12464893609285355 + ], + "joints": [ + -0.003020326606929302 + ] + }, + "fine_grasp": { + "position": [ + 0.11981301754713058, + 0.03530930355191231, + -0.009100239723920822 + ], + "orientation": [ + 0.17690612375736237, + -0.7808727025985718, + 0.5814177989959717, + 0.1445523053407669 + ], + "joints": [ + 0.0029047788120806217 + ] + }, + "final_grasp": { + "position": [ + 0.11981301754713058, + 0.03530930355191231, + -0.009100239723920822 + ], + "orientation": [ + 0.17690612375736237, + -0.7808727025985718, + 0.5814177989959717, + 0.1445523053407669 + ], + "joints": [ + 0.008829884231090546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04862441495060921, + 0.104576475918293, + 0.008290338329970837 + ], + "orientation": [ + 0.21043331921100616, + -0.4347648024559021, + 0.031115135177969933, + 0.8750596046447754 + ], + "joints": [ + -0.010991230607032776 + ] + }, + "fine_grasp": { + "position": [ + 0.04869591072201729, + 0.10880527645349503, + 0.010006850585341454 + ], + "orientation": [ + 0.21513508260250092, + -0.4333418905735016, + 0.05745575577020645, + 0.8732872009277344 + ], + "joints": [ + -0.005650664679706097 + ] + }, + "final_grasp": { + "position": [ + 0.04869591072201729, + 0.10880527645349503, + 0.010006850585341454 + ], + "orientation": [ + 0.21513508260250092, + -0.4333418905735016, + 0.05745575577020645, + 0.8732872009277344 + ], + "joints": [ + -0.0003100987523794174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05988185852766037, + 0.10729081183671951, + -0.05601157993078232 + ], + "orientation": [ + 0.1542259007692337, + 0.9455336332321167, + 0.19767947494983673, + -0.20761346817016602 + ], + "joints": [ + -0.002119372831657529 + ] + }, + "fine_grasp": { + "position": [ + -0.05839940905570984, + 0.10477489233016968, + -0.05491465702652931 + ], + "orientation": [ + 0.15924490988254547, + 0.9475653767585754, + 0.21320496499538422, + -0.176931232213974 + ], + "joints": [ + 0.002716363873332739 + ] + }, + "final_grasp": { + "position": [ + -0.05839940905570984, + 0.10477489233016968, + -0.05491465702652931 + ], + "orientation": [ + 0.15924490988254547, + 0.9475653767585754, + 0.21320496499538422, + -0.176931232213974 + ], + "joints": [ + 0.007552100345492363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05362534895539284, + -0.10970333963632584, + -0.011695045977830887 + ], + "orientation": [ + 0.8738065958023071, + -0.1019415557384491, + 0.4182142913341522, + 0.22620046138763428 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.0558994822204113, + -0.10771339386701584, + -0.008256334811449051 + ], + "orientation": [ + 0.8735039234161377, + -0.0665292739868164, + 0.4318124055862427, + 0.21471549570560455 + ], + "joints": [ + -0.005796471610665321 + ] + }, + "final_grasp": { + "position": [ + 0.0558994822204113, + -0.10771339386701584, + -0.008256334811449051 + ], + "orientation": [ + 0.8735039234161377, + -0.0665292739868164, + 0.4318124055862427, + 0.21471549570560455 + ], + "joints": [ + -0.0010138750076293945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06035294756293297, + 0.1119319275021553, + -0.008331352844834328 + ], + "orientation": [ + 0.01166616752743721, + -0.948898196220398, + -0.24406710267066956, + 0.19971832633018494 + ], + "joints": [ + -0.0038151845801621675 + ] + }, + "fine_grasp": { + "position": [ + -0.06008593738079071, + 0.10860154777765274, + -0.009105673991143703 + ], + "orientation": [ + 0.023858124390244484, + -0.9504102468490601, + -0.24855507910251617, + 0.18539562821388245 + ], + "joints": [ + 0.00314615061506629 + ] + }, + "final_grasp": { + "position": [ + -0.06008593738079071, + 0.10860154777765274, + -0.009105673991143703 + ], + "orientation": [ + 0.023858124390244484, + -0.9504102468490601, + -0.24855507910251617, + 0.18539562821388245 + ], + "joints": [ + 0.010107485577464104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03937656432390213, + 0.0291721411049366, + -0.13142572343349457 + ], + "orientation": [ + 0.3058111369609833, + 0.16369374096393585, + -0.5572207570075989, + -0.7544462084770203 + ], + "joints": [ + -0.002725025173276663 + ] + }, + "fine_grasp": { + "position": [ + -0.039081793278455734, + 0.02844405360519886, + -0.1276904195547104 + ], + "orientation": [ + 0.30747148394584656, + 0.16747094690799713, + -0.5545424222946167, + -0.7549156546592712 + ], + "joints": [ + 0.0037049101665616035 + ] + }, + "final_grasp": { + "position": [ + -0.039081793278455734, + 0.02844405360519886, + -0.1276904195547104 + ], + "orientation": [ + 0.30747148394584656, + 0.16747094690799713, + -0.5545424222946167, + -0.7549156546592712 + ], + "joints": [ + 0.010134845972061157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09718065708875656, + -0.03538182005286217, + 0.05783176049590111 + ], + "orientation": [ + 0.30666810274124146, + 0.3374805748462677, + -0.754437267780304, + 0.47210776805877686 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.1006239801645279, + -0.03528634458780289, + 0.059972960501909256 + ], + "orientation": [ + 0.315829336643219, + 0.33245956897735596, + -0.7558158040046692, + 0.46740230917930603 + ], + "joints": [ + -0.005409330129623413 + ] + }, + "final_grasp": { + "position": [ + 0.1006239801645279, + -0.03528634458780289, + 0.059972960501909256 + ], + "orientation": [ + 0.315829336643219, + 0.33245956897735596, + -0.7558158040046692, + 0.46740230917930603 + ], + "joints": [ + 0.000967465341091156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01103185210376978, + -0.11447489261627197, + 0.02560489997267723 + ], + "orientation": [ + 0.19924186170101166, + 0.01172451488673687, + 0.9573798775672913, + -0.20878003537654877 + ], + "joints": [ + -0.0024558166041970253 + ] + }, + "fine_grasp": { + "position": [ + -0.012025321833789349, + -0.11816256493330002, + 0.026779966428875923 + ], + "orientation": [ + 0.20110979676246643, + 0.015266132541000843, + 0.9565656781196594, + -0.21048475801944733 + ], + "joints": [ + 0.003947549033910036 + ] + }, + "final_grasp": { + "position": [ + -0.012025321833789349, + -0.11816256493330002, + 0.026779966428875923 + ], + "orientation": [ + 0.20110979676246643, + 0.015266132541000843, + 0.9565656781196594, + -0.21048475801944733 + ], + "joints": [ + 0.010350914672017097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1170649379491806, + -0.016727138310670853, + 0.005094622727483511 + ], + "orientation": [ + 0.6730951070785522, + 0.2442481368780136, + 0.3726974129676819, + -0.5902392268180847 + ], + "joints": [ + -0.011239148676395416 + ] + }, + "fine_grasp": { + "position": [ + -0.11885785311460495, + -0.019981618970632553, + 0.008304586634039879 + ], + "orientation": [ + 0.6672799587249756, + 0.26509201526641846, + 0.35574132204055786, + -0.5982574224472046 + ], + "joints": [ + -0.0054468922317028046 + ] + }, + "final_grasp": { + "position": [ + -0.11885785311460495, + -0.019981618970632553, + 0.008304586634039879 + ], + "orientation": [ + 0.6672799587249756, + 0.26509201526641846, + 0.35574132204055786, + -0.5982574224472046 + ], + "joints": [ + 0.00034536421298980713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0600060410797596, + 0.11032190918922424, + 0.002297503175213933 + ], + "orientation": [ + 0.05476775020360947, + -0.9460167288780212, + -0.2521330714225769, + 0.1961679905653 + ], + "joints": [ + -0.0035245870240032673 + ] + }, + "fine_grasp": { + "position": [ + -0.05963600426912308, + 0.10720463842153549, + 0.001132472767494619 + ], + "orientation": [ + 0.0670698806643486, + -0.9465123414993286, + -0.2549550533294678, + 0.18604858219623566 + ], + "joints": [ + 0.002931918017566204 + ] + }, + "final_grasp": { + "position": [ + -0.05963600426912308, + 0.10720463842153549, + 0.001132472767494619 + ], + "orientation": [ + 0.0670698806643486, + -0.9465123414993286, + -0.2549550533294678, + 0.18604858219623566 + ], + "joints": [ + 0.009388422593474388 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06062949076294899, + 0.10978417843580246, + 0.002435902366414666 + ], + "orientation": [ + 0.05584390088915825, + -0.9456154108047485, + -0.2551385462284088, + 0.19390033185482025 + ], + "joints": [ + -0.003593422705307603 + ] + }, + "fine_grasp": { + "position": [ + -0.060293667018413544, + 0.1068422794342041, + 0.0012524836929515004 + ], + "orientation": [ + 0.06779798865318298, + -0.9461236596107483, + -0.2577975392341614, + 0.1838311105966568 + ], + "joints": [ + 0.0033679124899208546 + ] + }, + "final_grasp": { + "position": [ + -0.060293667018413544, + 0.1068422794342041, + 0.0012524836929515004 + ], + "orientation": [ + 0.06779798865318298, + -0.9461236596107483, + -0.2577975392341614, + 0.1838311105966568 + ], + "joints": [ + 0.010329247452318668 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03523378446698189, + -0.01979585736989975, + -0.13225756585597992 + ], + "orientation": [ + 0.7150187492370605, + 0.5363981127738953, + 0.24761837720870972, + 0.37377840280532837 + ], + "joints": [ + -0.0019413719419389963 + ] + }, + "fine_grasp": { + "position": [ + 0.03733018413186073, + -0.0191766656935215, + -0.1322328746318817 + ], + "orientation": [ + 0.7165507078170776, + 0.5530430674552917, + 0.22938209772109985, + 0.3578859567642212 + ], + "joints": [ + 0.004461993928998709 + ] + }, + "final_grasp": { + "position": [ + 0.03733018413186073, + -0.0191766656935215, + -0.1322328746318817 + ], + "orientation": [ + 0.7165507078170776, + 0.5530430674552917, + 0.22938209772109985, + 0.3578859567642212 + ], + "joints": [ + 0.01086535956710577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06704732030630112, + 0.08774854242801666, + 0.04262072965502739 + ], + "orientation": [ + 0.24380230903625488, + -0.9287619590759277, + -0.2560422420501709, + -0.11137329787015915 + ], + "joints": [ + -0.0040661646053195 + ] + }, + "fine_grasp": { + "position": [ + -0.06676342338323593, + 0.08842959254980087, + 0.04263874143362045 + ], + "orientation": [ + 0.2519628405570984, + -0.9247178435325623, + -0.2558883726596832, + -0.12622472643852234 + ], + "joints": [ + 0.0007695725653320551 + ] + }, + "final_grasp": { + "position": [ + -0.06676342338323593, + 0.08842959254980087, + 0.04263874143362045 + ], + "orientation": [ + 0.2519628405570984, + -0.9247178435325623, + -0.2558883726596832, + -0.12622472643852234 + ], + "joints": [ + 0.00560530973598361 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0948149710893631, + 0.07121980935335159, + -0.05663192272186279 + ], + "orientation": [ + 0.20096255838871002, + 0.873297393321991, + -0.43594497442245483, + -0.083173006772995 + ], + "joints": [ + -0.0013362038880586624 + ] + }, + "fine_grasp": { + "position": [ + 0.09220647066831589, + 0.07173620164394379, + -0.05653825029730797 + ], + "orientation": [ + 0.1909463107585907, + 0.8778394460678101, + -0.4323071837425232, + -0.07776860147714615 + ], + "joints": [ + 0.0045357621274888515 + ] + }, + "final_grasp": { + "position": [ + 0.09220647066831589, + 0.07173620164394379, + -0.05653825029730797 + ], + "orientation": [ + 0.1909463107585907, + 0.8778394460678101, + -0.4323071837425232, + -0.07776860147714615 + ], + "joints": [ + 0.010407728143036366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02695755660533905, + -0.04421762749552727, + -0.13925623893737793 + ], + "orientation": [ + 0.7959385514259338, + 0.5280241370201111, + -0.2812803387641907, + -0.09248749166727066 + ], + "joints": [ + -0.002271183766424656 + ] + }, + "fine_grasp": { + "position": [ + 0.025238966569304466, + -0.04328056052327156, + -0.13565978407859802 + ], + "orientation": [ + 0.7878087162971497, + 0.5377570390701294, + -0.2852461636066437, + -0.0938587561249733 + ], + "joints": [ + 0.0030428129248321056 + ] + }, + "final_grasp": { + "position": [ + 0.025238966569304466, + -0.04328056052327156, + -0.13565978407859802 + ], + "orientation": [ + 0.7878087162971497, + 0.5377570390701294, + -0.2852461636066437, + -0.0938587561249733 + ], + "joints": [ + 0.008356809616088867 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004844146780669689, + 0.11824679374694824, + -0.022930210456252098 + ], + "orientation": [ + 0.017286313697695732, + -0.2128564715385437, + -0.05379726365208626, + -0.9754481911659241 + ], + "joints": [ + -0.003601689822971821 + ] + }, + "fine_grasp": { + "position": [ + -0.004508495330810547, + 0.11846642941236496, + -0.023038731887936592 + ], + "orientation": [ + 0.00845659151673317, + -0.24364392459392548, + -0.0622558631002903, + -0.9678276181221008 + ], + "joints": [ + 0.0018185857916250825 + ] + }, + "final_grasp": { + "position": [ + -0.004508495330810547, + 0.11846642941236496, + -0.023038731887936592 + ], + "orientation": [ + 0.00845659151673317, + -0.24364392459392548, + -0.0622558631002903, + -0.9678276181221008 + ], + "joints": [ + 0.007238861173391342 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024231107905507088, + -0.004545772448182106, + -0.134316548705101 + ], + "orientation": [ + 0.6632720828056335, + 0.6097941994667053, + -0.2502276301383972, + -0.3544110059738159 + ], + "joints": [ + -0.002560249762609601 + ] + }, + "fine_grasp": { + "position": [ + -0.024350490421056747, + -0.006431482266634703, + -0.13749130070209503 + ], + "orientation": [ + 0.6573753356933594, + 0.6126430034637451, + -0.2568933963775635, + -0.355713427066803 + ], + "joints": [ + 0.0038165461737662554 + ] + }, + "final_grasp": { + "position": [ + -0.024350490421056747, + -0.006431482266634703, + -0.13749130070209503 + ], + "orientation": [ + 0.6573753356933594, + 0.6126430034637451, + -0.2568933963775635, + -0.355713427066803 + ], + "joints": [ + 0.010193342342972755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03861122205853462, + -0.11383956670761108, + -0.04660351201891899 + ], + "orientation": [ + 0.47073331475257874, + -0.0413750484585762, + 0.8614020347595215, + 0.18623846769332886 + ], + "joints": [ + -0.010694460943341255 + ] + }, + "fine_grasp": { + "position": [ + 0.03490971773862839, + -0.11081022769212723, + -0.044090140610933304 + ], + "orientation": [ + 0.468170702457428, + -0.044597312808036804, + 0.8583767414093018, + 0.2049795538187027 + ], + "joints": [ + -0.005353895016014576 + ] + }, + "final_grasp": { + "position": [ + 0.03490971773862839, + -0.11081022769212723, + -0.044090140610933304 + ], + "orientation": [ + 0.468170702457428, + -0.044597312808036804, + 0.8583767414093018, + 0.2049795538187027 + ], + "joints": [ + -1.3329088687896729e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06151473522186279, + -0.09892313182353973, + -0.0469738245010376 + ], + "orientation": [ + 0.1113905981183052, + -0.2519301772117615, + 0.9349204897880554, + 0.22371169924736023 + ], + "joints": [ + -0.0034518418833613396 + ] + }, + "fine_grasp": { + "position": [ + 0.06162607669830322, + -0.0973890945315361, + -0.04686005786061287 + ], + "orientation": [ + 0.14227573573589325, + -0.2504546344280243, + 0.9311138391494751, + 0.22373457252979279 + ], + "joints": [ + 0.00143703434150666 + ] + }, + "final_grasp": { + "position": [ + 0.06162607669830322, + -0.0973890945315361, + -0.04686005786061287 + ], + "orientation": [ + 0.14227573573589325, + -0.2504546344280243, + 0.9311138391494751, + 0.22373457252979279 + ], + "joints": [ + 0.006325910799205303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06954196095466614, + -0.10552101582288742, + 0.02550264075398445 + ], + "orientation": [ + 0.172787144780159, + -0.2904264032840729, + 0.9264802932739258, + -0.1656244397163391 + ], + "joints": [ + -0.003443659283220768 + ] + }, + "fine_grasp": { + "position": [ + 0.06666235625743866, + -0.10141737014055252, + 0.025041230022907257 + ], + "orientation": [ + 0.17479169368743896, + -0.29108381271362305, + 0.9274009466171265, + -0.15698948502540588 + ], + "joints": [ + 0.003517675679177046 + ] + }, + "final_grasp": { + "position": [ + 0.06666235625743866, + -0.10141737014055252, + 0.025041230022907257 + ], + "orientation": [ + 0.17479169368743896, + -0.29108381271362305, + 0.9274009466171265, + -0.15698948502540588 + ], + "joints": [ + 0.01047901064157486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09423821419477463, + 0.08708835393190384, + -0.04245554283261299 + ], + "orientation": [ + 0.1299034059047699, + 0.9061342477798462, + 0.3930476903915405, + 0.08694454282522202 + ], + "joints": [ + -0.002005239948630333 + ] + }, + "fine_grasp": { + "position": [ + -0.0907655879855156, + 0.08548828214406967, + -0.04181274026632309 + ], + "orientation": [ + 0.1196691244840622, + 0.9108374714851379, + 0.38579216599464417, + 0.08496281504631042 + ], + "joints": [ + 0.003919865470379591 + ] + }, + "final_grasp": { + "position": [ + -0.0907655879855156, + 0.08548828214406967, + -0.04181274026632309 + ], + "orientation": [ + 0.1196691244840622, + 0.9108374714851379, + 0.38579216599464417, + 0.08496281504631042 + ], + "joints": [ + 0.009844970889389515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08568470925092697, + 0.0739068016409874, + -0.07040238380432129 + ], + "orientation": [ + 0.4062160551548004, + 0.14518028497695923, + -0.20904573798179626, + -0.8776167631149292 + ], + "joints": [ + -0.0022919881157577038 + ] + }, + "fine_grasp": { + "position": [ + -0.08162251859903336, + 0.07227712869644165, + -0.07067061215639114 + ], + "orientation": [ + 0.4057002067565918, + 0.1553262174129486, + -0.18445998430252075, + -0.8816210031509399 + ], + "joints": [ + 0.004137947224080563 + ] + }, + "final_grasp": { + "position": [ + -0.08162251859903336, + 0.07227712869644165, + -0.07067061215639114 + ], + "orientation": [ + 0.4057002067565918, + 0.1553262174129486, + -0.18445998430252075, + -0.8816210031509399 + ], + "joints": [ + 0.010567883029580116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035801567137241364, + 0.11868705600500107, + -0.0014218045398592949 + ], + "orientation": [ + 0.16061192750930786, + -0.17361702024936676, + -0.017101390287280083, + -0.9714775085449219 + ], + "joints": [ + -0.0024836543016135693 + ] + }, + "fine_grasp": { + "position": [ + -0.03559638932347298, + 0.11555745452642441, + -0.003028720384463668 + ], + "orientation": [ + 0.15842409431934357, + -0.21170245110988617, + -0.006581592373549938, + -0.9643861055374146 + ], + "joints": [ + 0.0013689923798665404 + ] + }, + "final_grasp": { + "position": [ + -0.03559638932347298, + 0.11555745452642441, + -0.003028720384463668 + ], + "orientation": [ + 0.15842409431934357, + -0.21170245110988617, + -0.006581592373549938, + -0.9643861055374146 + ], + "joints": [ + 0.0052216388285160065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09803686290979385, + 0.06908318400382996, + -0.03993472084403038 + ], + "orientation": [ + 0.34088873863220215, + 0.7612950801849365, + 0.2615601718425751, + -0.4856036901473999 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.09390760958194733, + 0.06583129614591599, + -0.03901335224509239 + ], + "orientation": [ + 0.3460671901702881, + 0.7569029331207275, + 0.25092604756355286, + -0.49433955550193787 + ], + "joints": [ + -0.004256810061633587 + ] + }, + "final_grasp": { + "position": [ + -0.09390760958194733, + 0.06583129614591599, + -0.03901335224509239 + ], + "orientation": [ + 0.3460671901702881, + 0.7569029331207275, + 0.25092604756355286, + -0.49433955550193787 + ], + "joints": [ + 0.0026248153299093246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04993928223848343, + -0.044762443751096725, + -0.11865334957838058 + ], + "orientation": [ + 0.21920907497406006, + 0.3628467321395874, + -0.7909773588180542, + -0.4411852955818176 + ], + "joints": [ + -0.0025005557108670473 + ] + }, + "fine_grasp": { + "position": [ + 0.05054894834756851, + -0.0462590828537941, + -0.12085377424955368 + ], + "orientation": [ + 0.22895623743534088, + 0.35409942269325256, + -0.790043294429779, + -0.444999098777771 + ], + "joints": [ + 0.004407640080899 + ] + }, + "final_grasp": { + "position": [ + 0.05054894834756851, + -0.0462590828537941, + -0.12085377424955368 + ], + "orientation": [ + 0.22895623743534088, + 0.35409942269325256, + -0.790043294429779, + -0.444999098777771 + ], + "joints": [ + 0.011315835639834404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08541055023670197, + 0.07359370589256287, + -0.07063240557909012 + ], + "orientation": [ + 0.40722793340682983, + 0.1498318314552307, + -0.2070176899433136, + -0.8768463730812073 + ], + "joints": [ + -0.0023630294017493725 + ] + }, + "fine_grasp": { + "position": [ + -0.0812152698636055, + 0.07188481092453003, + -0.070877306163311 + ], + "orientation": [ + 0.4075397849082947, + 0.16035276651382446, + -0.18189409375190735, + -0.8804049491882324 + ], + "joints": [ + 0.004571735858917236 + ] + }, + "final_grasp": { + "position": [ + -0.0812152698636055, + 0.07188481092453003, + -0.070877306163311 + ], + "orientation": [ + 0.4075397849082947, + 0.16035276651382446, + -0.18189409375190735, + -0.8804049491882324 + ], + "joints": [ + 0.011506501585245132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0624227337539196, + 0.10727100819349289, + 0.027225861325860023 + ], + "orientation": [ + 0.30144011974334717, + -0.46792393922805786, + -0.051331598311662674, + -0.8291841149330139 + ], + "joints": [ + -0.012227728962898254 + ] + }, + "fine_grasp": { + "position": [ + -0.06114254146814346, + 0.10563141852617264, + 0.025802766904234886 + ], + "orientation": [ + 0.29546356201171875, + -0.46578192710876465, + -0.042122796177864075, + -0.8330510854721069 + ], + "joints": [ + -0.0047084251418709755 + ] + }, + "final_grasp": { + "position": [ + -0.06114254146814346, + 0.10563141852617264, + 0.025802766904234886 + ], + "orientation": [ + 0.29546356201171875, + -0.46578192710876465, + -0.042122796177864075, + -0.8330510854721069 + ], + "joints": [ + 0.0028108786791563034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11358223855495453, + 0.019260572269558907, + 0.0034653805196285248 + ], + "orientation": [ + 0.5596069693565369, + -0.4218219816684723, + 0.24319235980510712, + 0.6706443428993225 + ], + "joints": [ + -0.007546706590801477 + ] + }, + "fine_grasp": { + "position": [ + 0.11800284683704376, + 0.020575253292918205, + 0.006256917491555214 + ], + "orientation": [ + 0.5640199780464172, + -0.39878663420677185, + 0.2583023011684418, + 0.6753745079040527 + ], + "joints": [ + -0.005952507723122835 + ] + }, + "final_grasp": { + "position": [ + 0.11800284683704376, + 0.020575253292918205, + 0.006256917491555214 + ], + "orientation": [ + 0.5640199780464172, + -0.39878663420677185, + 0.2583023011684418, + 0.6753745079040527 + ], + "joints": [ + -0.004358308855444193 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.116395503282547, + -0.017588825896382332, + 0.005999717861413956 + ], + "orientation": [ + 0.6705902218818665, + 0.2534160315990448, + 0.3674689829349518, + -0.5924994945526123 + ], + "joints": [ + -0.01219828799366951 + ] + }, + "fine_grasp": { + "position": [ + -0.11884560436010361, + -0.020412378013134003, + 0.007702695205807686 + ], + "orientation": [ + 0.6630046367645264, + 0.27450868487358093, + 0.36203867197036743, + -0.5949772000312805 + ], + "joints": [ + -0.005263523198664188 + ] + }, + "final_grasp": { + "position": [ + -0.11884560436010361, + -0.020412378013134003, + 0.007702695205807686 + ], + "orientation": [ + 0.6630046367645264, + 0.27450868487358093, + 0.36203867197036743, + -0.5949772000312805 + ], + "joints": [ + 0.0016712415963411331 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.110752634704113, + -0.041607894003391266, + 0.01537709403783083 + ], + "orientation": [ + 0.3228799104690552, + 0.47833067178726196, + -0.7204390168190002, + 0.3845982253551483 + ], + "joints": [ + -0.00791393592953682 + ] + }, + "fine_grasp": { + "position": [ + 0.1146979033946991, + -0.04172436520457268, + 0.01942726969718933 + ], + "orientation": [ + 0.3361237049102783, + 0.48061317205429077, + -0.7266237139701843, + 0.3578406274318695 + ], + "joints": [ + -0.006266597658395767 + ] + }, + "final_grasp": { + "position": [ + 0.1146979033946991, + -0.04172436520457268, + 0.01942726969718933 + ], + "orientation": [ + 0.3361237049102783, + 0.48061317205429077, + -0.7266237139701843, + 0.3578406274318695 + ], + "joints": [ + -0.004619259387254715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08074112981557846, + -0.07583233714103699, + 0.03571891784667969 + ], + "orientation": [ + 0.8931478261947632, + -0.11874313652515411, + -0.14631475508213043, + 0.40838590264320374 + ], + "joints": [ + -0.0021291563753038645 + ] + }, + "fine_grasp": { + "position": [ + 0.08160702884197235, + -0.07649419456720352, + 0.034965239465236664 + ], + "orientation": [ + 0.8961698412895203, + -0.12963035702705383, + -0.1401103287935257, + 0.4005553424358368 + ], + "joints": [ + 0.0032114102505147457 + ] + }, + "final_grasp": { + "position": [ + 0.08160702884197235, + -0.07649419456720352, + 0.034965239465236664 + ], + "orientation": [ + 0.8961698412895203, + -0.12963035702705383, + -0.1401103287935257, + 0.4005553424358368 + ], + "joints": [ + 0.008551976643502712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0800914391875267, + -0.0657494068145752, + 0.054532263427972794 + ], + "orientation": [ + 0.8837845921516418, + -0.2665196657180786, + -0.03733270615339279, + 0.38275107741355896 + ], + "joints": [ + -0.0027206132654100657 + ] + }, + "fine_grasp": { + "position": [ + 0.07968976348638535, + -0.06826253980398178, + 0.05533358454704285 + ], + "orientation": [ + 0.8857600092887878, + -0.28168320655822754, + -0.024179670959711075, + 0.3681020736694336 + ], + "joints": [ + 0.004187582526355982 + ] + }, + "final_grasp": { + "position": [ + 0.07968976348638535, + -0.06826253980398178, + 0.05533358454704285 + ], + "orientation": [ + 0.8857600092887878, + -0.28168320655822754, + -0.024179670959711075, + 0.3681020736694336 + ], + "joints": [ + 0.011095778085291386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09501854330301285, + 0.07986537367105484, + 0.0077766720205545425 + ], + "orientation": [ + 0.3897976875305176, + -0.4313039779663086, + -0.12366139143705368, + -0.8042029142379761 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0945524051785469, + 0.07978713512420654, + 0.0083210663869977 + ], + "orientation": [ + 0.38560280203819275, + -0.4460919201374054, + -0.13400664925575256, + -0.7964638471603394 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + -0.0945524051785469, + 0.07978713512420654, + 0.0083210663869977 + ], + "orientation": [ + 0.38560280203819275, + -0.4460919201374054, + -0.13400664925575256, + -0.7964638471603394 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040443725883960724, + 0.0281062014400959, + -0.13137826323509216 + ], + "orientation": [ + 0.301290363073349, + 0.1411200612783432, + -0.5612807273864746, + -0.7578080892562866 + ], + "joints": [ + -0.0030313979368656874 + ] + }, + "fine_grasp": { + "position": [ + -0.041487470269203186, + 0.026570074260234833, + -0.12940655648708344 + ], + "orientation": [ + 0.30473068356513977, + 0.1377800852060318, + -0.5616902112960815, + -0.7567430734634399 + ], + "joints": [ + 0.003903367556631565 + ] + }, + "final_grasp": { + "position": [ + -0.041487470269203186, + 0.026570074260234833, + -0.12940655648708344 + ], + "orientation": [ + 0.30473068356513977, + 0.1377800852060318, + -0.5616902112960815, + -0.7567430734634399 + ], + "joints": [ + 0.010838133282959461 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08894761651754379, + 0.071425661444664, + -0.06748411059379578 + ], + "orientation": [ + 0.11609439551830292, + -0.5273228883743286, + 0.4153737723827362, + 0.7320637106895447 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.08493352681398392, + 0.06880934536457062, + -0.06471334397792816 + ], + "orientation": [ + 0.11444078385829926, + -0.526236355304718, + 0.4244835376739502, + 0.727868378162384 + ], + "joints": [ + -0.00551987811923027 + ] + }, + "final_grasp": { + "position": [ + 0.08493352681398392, + 0.06880934536457062, + -0.06471334397792816 + ], + "orientation": [ + 0.11444078385829926, + -0.526236355304718, + 0.4244835376739502, + 0.727868378162384 + ], + "joints": [ + 0.0013351775705814362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10022517293691635, + 0.03751010447740555, + 0.03544485196471214 + ], + "orientation": [ + 0.42489367723464966, + 0.30137330293655396, + 0.39151135087013245, + -0.7585237622261047 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.10364487767219543, + 0.03725080564618111, + 0.03746696934103966 + ], + "orientation": [ + 0.4144185483455658, + 0.3219956159591675, + 0.3900931775569916, + -0.756573498249054 + ], + "joints": [ + -0.005743332207202911 + ] + }, + "final_grasp": { + "position": [ + -0.10364487767219543, + 0.03725080564618111, + 0.03746696934103966 + ], + "orientation": [ + 0.4144185483455658, + 0.3219956159591675, + 0.3900931775569916, + -0.756573498249054 + ], + "joints": [ + -0.0009075962007045746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1244855597615242, + 0.01086556538939476, + 0.031740859150886536 + ], + "orientation": [ + 0.0566619373857975, + 0.6633760929107666, + 0.6852427124977112, + -0.29523569345474243 + ], + "joints": [ + -0.0067037781700491905 + ] + }, + "fine_grasp": { + "position": [ + -0.1196228638291359, + 0.01059003546833992, + 0.029265407472848892 + ], + "orientation": [ + 0.05284395068883896, + 0.6668268442153931, + 0.6815447211265564, + -0.2967260181903839 + ], + "joints": [ + 0.0007358171278610826 + ] + }, + "final_grasp": { + "position": [ + -0.1196228638291359, + 0.01059003546833992, + 0.029265407472848892 + ], + "orientation": [ + 0.05284395068883896, + 0.6668268442153931, + 0.6815447211265564, + -0.2967260181903839 + ], + "joints": [ + 0.008175412192940712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08048352599143982, + -0.07652170211076736, + 0.036106184124946594 + ], + "orientation": [ + 0.8933669924736023, + -0.1158943921327591, + -0.15053528547286987, + 0.4071890115737915 + ], + "joints": [ + -0.0023623821325600147 + ] + }, + "fine_grasp": { + "position": [ + 0.08139971643686295, + -0.07691366225481033, + 0.03542415052652359 + ], + "orientation": [ + 0.8959662318229675, + -0.12439986318349838, + -0.1461486667394638, + 0.400511771440506 + ], + "joints": [ + 0.0035095838829874992 + ] + }, + "final_grasp": { + "position": [ + 0.08139971643686295, + -0.07691366225481033, + 0.03542415052652359 + ], + "orientation": [ + 0.8959662318229675, + -0.12439986318349838, + -0.1461486667394638, + 0.400511771440506 + ], + "joints": [ + 0.009381549432873726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05474431440234184, + -0.10654480010271072, + -0.009328548796474934 + ], + "orientation": [ + 0.8695096969604492, + -0.07641454041004181, + 0.43553224205970764, + 0.2200573831796646 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.054971493780612946, + -0.10452874004840851, + -0.008271164260804653 + ], + "orientation": [ + 0.8622766733169556, + -0.07266141474246979, + 0.4529341757297516, + 0.21459227800369263 + ], + "joints": [ + -0.005351846106350422 + ] + }, + "final_grasp": { + "position": [ + 0.054971493780612946, + -0.10452874004840851, + -0.008271164260804653 + ], + "orientation": [ + 0.8622766733169556, + -0.07266141474246979, + 0.4529341757297516, + 0.21459227800369263 + ], + "joints": [ + 0.0015829186886548996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09297014027833939, + -0.06453373283147812, + 0.03287391737103462 + ], + "orientation": [ + 0.8727697730064392, + -0.15842248499393463, + 0.07531849294900894, + -0.455524206161499 + ], + "joints": [ + -0.0030171703547239304 + ] + }, + "fine_grasp": { + "position": [ + -0.09167253226041794, + -0.06671228259801865, + 0.03421612083911896 + ], + "orientation": [ + 0.8760273456573486, + -0.15114890038967133, + 0.07092093676328659, + -0.4524383544921875 + ], + "joints": [ + 0.004953824449330568 + ] + }, + "final_grasp": { + "position": [ + -0.09167253226041794, + -0.06671228259801865, + 0.03421612083911896 + ], + "orientation": [ + 0.8760273456573486, + -0.15114890038967133, + 0.07092093676328659, + -0.4524383544921875 + ], + "joints": [ + 0.012924819253385067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05958370119333267, + 0.10970582067966461, + 0.0023844821844249964 + ], + "orientation": [ + 0.058833446353673935, + -0.9488850235939026, + -0.2518487274646759, + 0.18090873956680298 + ], + "joints": [ + -0.003835707437247038 + ] + }, + "fine_grasp": { + "position": [ + -0.05949592962861061, + 0.10711702704429626, + 0.0007856230949983001 + ], + "orientation": [ + 0.07331263273954391, + -0.9492186307907104, + -0.2540438175201416, + 0.1705022156238556 + ], + "joints": [ + 0.003152197226881981 + ] + }, + "final_grasp": { + "position": [ + -0.05949592962861061, + 0.10711702704429626, + 0.0007856230949983001 + ], + "orientation": [ + 0.07331263273954391, + -0.9492186307907104, + -0.2540438175201416, + 0.1705022156238556 + ], + "joints": [ + 0.010140102356672287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08890335261821747, + 0.07129784673452377, + -0.06737164407968521 + ], + "orientation": [ + 0.11786488443613052, + -0.5252810120582581, + 0.4149550795555115, + 0.7334849238395691 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.08490722626447678, + 0.06873248517513275, + -0.06459705531597137 + ], + "orientation": [ + 0.116488516330719, + -0.5240203142166138, + 0.4244653880596161, + 0.7291517853736877 + ], + "joints": [ + -0.00551987811923027 + ] + }, + "final_grasp": { + "position": [ + 0.08490722626447678, + 0.06873248517513275, + -0.06459705531597137 + ], + "orientation": [ + 0.116488516330719, + -0.5240203142166138, + 0.4244653880596161, + 0.7291517853736877 + ], + "joints": [ + 0.0013351775705814362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05489964410662651, + -0.10488706827163696, + -0.008820643648505211 + ], + "orientation": [ + 0.8676865696907043, + -0.06956915557384491, + 0.44263508915901184, + 0.21530064940452576 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.05475897341966629, + -0.10436979681253433, + -0.008683314546942711 + ], + "orientation": [ + 0.859699010848999, + -0.0733179897069931, + 0.45764338970184326, + 0.21471993625164032 + ], + "joints": [ + -0.005384158343076706 + ] + }, + "final_grasp": { + "position": [ + 0.05475897341966629, + -0.10436979681253433, + -0.008683314546942711 + ], + "orientation": [ + 0.859699010848999, + -0.0733179897069931, + 0.45764338970184326, + 0.21471993625164032 + ], + "joints": [ + 0.0015771761536598206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016593271866440773, + 0.019062116742134094, + -0.13542984426021576 + ], + "orientation": [ + 0.3047919273376465, + 0.2779797613620758, + 0.586979866027832, + 0.6966232061386108 + ], + "joints": [ + -0.0026096452493220568 + ] + }, + "fine_grasp": { + "position": [ + 0.01677684485912323, + 0.021416986361145973, + -0.13583599030971527 + ], + "orientation": [ + 0.3086392879486084, + 0.2865356504917145, + 0.587590754032135, + 0.6909242272377014 + ], + "joints": [ + 0.0038202903233468533 + ] + }, + "final_grasp": { + "position": [ + 0.01677684485912323, + 0.021416986361145973, + -0.13583599030971527 + ], + "orientation": [ + 0.3086392879486084, + 0.2865356504917145, + 0.587590754032135, + 0.6909242272377014 + ], + "joints": [ + 0.01025022566318512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11067232489585876, + 0.018342575058341026, + -0.0332697257399559 + ], + "orientation": [ + 0.6424404382705688, + 0.22241024672985077, + 0.08609812706708908, + -0.7282794713973999 + ], + "joints": [ + -0.004317144863307476 + ] + }, + "fine_grasp": { + "position": [ + -0.11386006325483322, + 0.018824899569153786, + -0.031734514981508255 + ], + "orientation": [ + 0.6389184594154358, + 0.2546662986278534, + 0.09583959728479385, + -0.7195436954498291 + ], + "joints": [ + 4.033226286992431e-05 + ] + }, + "final_grasp": { + "position": [ + -0.11386006325483322, + 0.018824899569153786, + -0.031734514981508255 + ], + "orientation": [ + 0.6389184594154358, + 0.2546662986278534, + 0.09583959728479385, + -0.7195436954498291 + ], + "joints": [ + 0.0043978095054626465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04653411731123924, + -0.12284504622220993, + 0.012525029480457306 + ], + "orientation": [ + 0.8195227384567261, + -0.1776028573513031, + 0.5252551436424255, + 0.14473040401935577 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.04699905589222908, + -0.12350905686616898, + 0.013573736883699894 + ], + "orientation": [ + 0.8259974122047424, + -0.1720322221517563, + 0.5187732577323914, + 0.1378673017024994 + ], + "joints": [ + -0.004202272742986679 + ] + }, + "final_grasp": { + "position": [ + 0.04699905589222908, + -0.12350905686616898, + 0.013573736883699894 + ], + "orientation": [ + 0.8259974122047424, + -0.1720322221517563, + 0.5187732577323914, + 0.1378673017024994 + ], + "joints": [ + 0.00217452272772789 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057491157203912735, + -0.012462597340345383, + -0.13205966353416443 + ], + "orientation": [ + 0.6683573722839355, + 0.5832656621932983, + 0.21220183372497559, + 0.4099634289741516 + ], + "joints": [ + 0.0011282763443887234 + ] + }, + "fine_grasp": { + "position": [ + 0.05623425543308258, + -0.009969553910195827, + -0.13205461204051971 + ], + "orientation": [ + 0.6787725687026978, + 0.567333996295929, + 0.20921766757965088, + 0.4166869521141052 + ], + "joints": [ + 0.00487464340403676 + ] + }, + "final_grasp": { + "position": [ + 0.05623425543308258, + -0.009969553910195827, + -0.13205461204051971 + ], + "orientation": [ + 0.6787725687026978, + 0.567333996295929, + 0.20921766757965088, + 0.4166869521141052 + ], + "joints": [ + 0.008621010929346085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12360578775405884, + 0.013057222589850426, + -0.034666698426008224 + ], + "orientation": [ + 0.19824060797691345, + 0.728807806968689, + -0.6510792970657349, + 0.07507096230983734 + ], + "joints": [ + -0.004159195348620415 + ] + }, + "fine_grasp": { + "position": [ + 0.12070634961128235, + 0.011175517924129963, + -0.0342104434967041 + ], + "orientation": [ + 0.22540323436260223, + 0.7256631255149841, + -0.6419296860694885, + 0.10262908041477203 + ], + "joints": [ + 0.0012876500841230154 + ] + }, + "final_grasp": { + "position": [ + 0.12070634961128235, + 0.011175517924129963, + -0.0342104434967041 + ], + "orientation": [ + 0.22540323436260223, + 0.7256631255149841, + -0.6419296860694885, + 0.10262908041477203 + ], + "joints": [ + 0.0067344955168664455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0942988321185112, + 0.08680900186300278, + -0.04238882660865784 + ], + "orientation": [ + 0.1285703182220459, + 0.9058095216751099, + 0.394081175327301, + 0.08762776106595993 + ], + "joints": [ + -0.0020052436739206314 + ] + }, + "fine_grasp": { + "position": [ + -0.09075166285037994, + 0.08512117713689804, + -0.04173511639237404 + ], + "orientation": [ + 0.11732148379087448, + 0.9107114672660828, + 0.386228084564209, + 0.08756770193576813 + ], + "joints": [ + 0.0038932920433580875 + ] + }, + "final_grasp": { + "position": [ + -0.09075166285037994, + 0.08512117713689804, + -0.04173511639237404 + ], + "orientation": [ + 0.11732148379087448, + 0.9107114672660828, + 0.386228084564209, + 0.08756770193576813 + ], + "joints": [ + 0.009791827760636806 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12337444722652435, + 0.013346510007977486, + -0.03498256206512451 + ], + "orientation": [ + 0.19904732704162598, + 0.7297340035438538, + -0.6498501896858215, + 0.07458636164665222 + ], + "joints": [ + -0.004162615165114403 + ] + }, + "fine_grasp": { + "position": [ + 0.12049902975559235, + 0.011432812549173832, + -0.0345243364572525 + ], + "orientation": [ + 0.22551320493221283, + 0.7267114520072937, + -0.6408202052116394, + 0.10190071165561676 + ], + "joints": [ + 0.0012842303840443492 + ] + }, + "final_grasp": { + "position": [ + 0.12049902975559235, + 0.011432812549173832, + -0.0345243364572525 + ], + "orientation": [ + 0.22551320493221283, + 0.7267114520072937, + -0.6408202052116394, + 0.10190071165561676 + ], + "joints": [ + 0.006731076166033745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01942719705402851, + 0.0042481874115765095, + -0.13834676146507263 + ], + "orientation": [ + 0.6745612025260925, + 0.6650927066802979, + 0.25831499695777893, + 0.18945269286632538 + ], + "joints": [ + -0.002787158824503422 + ] + }, + "fine_grasp": { + "position": [ + -0.017735732719302177, + 0.0017107927706092596, + -0.13727745413780212 + ], + "orientation": [ + 0.6597787141799927, + 0.6785519123077393, + 0.2659939229488373, + 0.1830480843782425 + ], + "joints": [ + 0.0046524363569915295 + ] + }, + "final_grasp": { + "position": [ + -0.017735732719302177, + 0.0017107927706092596, + -0.13727745413780212 + ], + "orientation": [ + 0.6597787141799927, + 0.6785519123077393, + 0.2659939229488373, + 0.1830480843782425 + ], + "joints": [ + 0.01209203153848648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08376696705818176, + 0.09156989306211472, + -0.026161454617977142 + ], + "orientation": [ + 0.24779154360294342, + 0.8246377110481262, + 0.2735482156276703, + -0.42865294218063354 + ], + "joints": [ + -0.01275455579161644 + ] + }, + "fine_grasp": { + "position": [ + -0.08229753375053406, + 0.09045929461717606, + -0.024539174512028694 + ], + "orientation": [ + 0.24690859019756317, + 0.8302386403083801, + 0.2863445281982422, + -0.4095688462257385 + ], + "joints": [ + -0.0047835614532232285 + ] + }, + "final_grasp": { + "position": [ + -0.08229753375053406, + 0.09045929461717606, + -0.024539174512028694 + ], + "orientation": [ + 0.24690859019756317, + 0.8302386403083801, + 0.2863445281982422, + -0.4095688462257385 + ], + "joints": [ + 0.003187432885169983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03458169847726822, + 0.03887277841567993, + -0.1273968517780304 + ], + "orientation": [ + 0.356387734413147, + 0.29406583309173584, + 0.4683365523815155, + 0.7531095147132874 + ], + "joints": [ + -0.002354288473725319 + ] + }, + "fine_grasp": { + "position": [ + 0.03241323307156563, + 0.041030265390872955, + -0.125995934009552 + ], + "orientation": [ + 0.346579909324646, + 0.2860264480113983, + 0.46929407119750977, + 0.7601542472839355 + ], + "joints": [ + 0.0040225074626505375 + ] + }, + "final_grasp": { + "position": [ + 0.03241323307156563, + 0.041030265390872955, + -0.125995934009552 + ], + "orientation": [ + 0.346579909324646, + 0.2860264480113983, + 0.46929407119750977, + 0.7601542472839355 + ], + "joints": [ + 0.010399303399026394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025378873571753502, + -0.012809554114937782, + -0.134239062666893 + ], + "orientation": [ + 0.6779605150222778, + 0.5668008923530579, + 0.28552156686782837, + 0.37092286348342896 + ], + "joints": [ + -0.001938283210620284 + ] + }, + "fine_grasp": { + "position": [ + 0.027075007557868958, + -0.011731328442692757, + -0.13519319891929626 + ], + "orientation": [ + 0.6826320886611938, + 0.5772837996482849, + 0.26923421025276184, + 0.358147531747818 + ], + "joints": [ + 0.004996482282876968 + ] + }, + "final_grasp": { + "position": [ + 0.027075007557868958, + -0.011731328442692757, + -0.13519319891929626 + ], + "orientation": [ + 0.6826320886611938, + 0.5772837996482849, + 0.26923421025276184, + 0.358147531747818 + ], + "joints": [ + 0.011931248009204865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12348730117082596, + 0.02041657269001007, + 0.01538787130266428 + ], + "orientation": [ + 0.6568108797073364, + -0.18123969435691833, + 0.04398280382156372, + 0.7306278944015503 + ], + "joints": [ + -0.0034710904583334923 + ] + }, + "fine_grasp": { + "position": [ + 0.12245669960975647, + 0.01991698518395424, + 0.015096817165613174 + ], + "orientation": [ + 0.6521562337875366, + -0.2045382708311081, + 0.06709276139736176, + 0.7268801331520081 + ], + "joints": [ + 0.0008598166750743985 + ] + }, + "final_grasp": { + "position": [ + 0.12245669960975647, + 0.01991698518395424, + 0.015096817165613174 + ], + "orientation": [ + 0.6521562337875366, + -0.2045382708311081, + 0.06709276139736176, + 0.7268801331520081 + ], + "joints": [ + 0.005190723575651646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12369199842214584, + 0.02017148956656456, + 0.015527690760791302 + ], + "orientation": [ + 0.6575723886489868, + -0.18035058677196503, + 0.04363752529025078, + 0.7301836013793945 + ], + "joints": [ + -0.003543083555996418 + ] + }, + "fine_grasp": { + "position": [ + 0.12238195538520813, + 0.019771158695220947, + 0.015140868723392487 + ], + "orientation": [ + 0.6529537439346313, + -0.2037714272737503, + 0.06604619324207306, + 0.7264754772186279 + ], + "joints": [ + 0.0012926531489938498 + ] + }, + "final_grasp": { + "position": [ + 0.12238195538520813, + 0.019771158695220947, + 0.015140868723392487 + ], + "orientation": [ + 0.6529537439346313, + -0.2037714272737503, + 0.06604619324207306, + 0.7264754772186279 + ], + "joints": [ + 0.0061283898539841175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004755652043968439, + 0.11884775012731552, + -0.0232846699655056 + ], + "orientation": [ + 0.01615533046424389, + -0.22122900187969208, + -0.056428708136081696, + -0.973453938961029 + ], + "joints": [ + -0.0035412590950727463 + ] + }, + "fine_grasp": { + "position": [ + -0.004875118378549814, + 0.11998097598552704, + -0.022922858595848083 + ], + "orientation": [ + 0.009788506664335728, + -0.2511451542377472, + -0.06475874781608582, + -0.965731143951416 + ], + "joints": [ + 0.0013741868315264583 + ] + }, + "final_grasp": { + "position": [ + -0.004875118378549814, + 0.11998097598552704, + -0.022922858595848083 + ], + "orientation": [ + 0.009788506664335728, + -0.2511451542377472, + -0.06475874781608582, + -0.965731143951416 + ], + "joints": [ + 0.0062896329909563065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07308825105428696, + -0.10306818783283234, + 0.00126269506290555 + ], + "orientation": [ + 0.9416415095329285, + 0.005975903011858463, + -0.12574854493141174, + 0.3121905028820038 + ], + "joints": [ + -0.0033573401160538197 + ] + }, + "fine_grasp": { + "position": [ + 0.07197147607803345, + -0.10203507542610168, + 0.0020111368503421545 + ], + "orientation": [ + 0.942958414554596, + 0.011812543496489525, + -0.12243638932704926, + 0.3093528151512146 + ], + "joints": [ + 0.003577425144612789 + ] + }, + "final_grasp": { + "position": [ + 0.07197147607803345, + -0.10203507542610168, + 0.0020111368503421545 + ], + "orientation": [ + 0.942958414554596, + 0.011812543496489525, + -0.12243638932704926, + 0.3093528151512146 + ], + "joints": [ + 0.01051218993961811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014294526539742947, + -0.006195350084453821, + -0.1377621293067932 + ], + "orientation": [ + 0.6347253322601318, + 0.6123592257499695, + 0.36845865845680237, + 0.2939014434814453 + ], + "joints": [ + -0.002195209264755249 + ] + }, + "fine_grasp": { + "position": [ + -0.015292786061763763, + -0.007545181084424257, + -0.13781777024269104 + ], + "orientation": [ + 0.644038736820221, + 0.6146533489227295, + 0.35752949118614197, + 0.2821137309074402 + ], + "joints": [ + 0.00473955599591136 + ] + }, + "final_grasp": { + "position": [ + -0.015292786061763763, + -0.007545181084424257, + -0.13781777024269104 + ], + "orientation": [ + 0.644038736820221, + 0.6146533489227295, + 0.35752949118614197, + 0.2821137309074402 + ], + "joints": [ + 0.011674321256577969 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05357437953352928, + 0.09733515977859497, + -0.08139188587665558 + ], + "orientation": [ + 0.2754853665828705, + 0.9136364459991455, + -0.2535678446292877, + -0.1583661437034607 + ], + "joints": [ + -0.00274834968149662 + ] + }, + "fine_grasp": { + "position": [ + 0.050684887915849686, + 0.09347782284021378, + -0.08027470856904984 + ], + "orientation": [ + 0.24775154888629913, + 0.9164515733718872, + -0.2629024088382721, + -0.17209899425506592 + ], + "joints": [ + 0.003123616334050894 + ] + }, + "final_grasp": { + "position": [ + 0.050684887915849686, + 0.09347782284021378, + -0.08027470856904984 + ], + "orientation": [ + 0.24775154888629913, + 0.9164515733718872, + -0.2629024088382721, + -0.17209899425506592 + ], + "joints": [ + 0.008995582349598408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0018427014583721757, + 0.12334874272346497, + 0.03280298039317131 + ], + "orientation": [ + 0.1022239625453949, + -0.9945849180221558, + -0.009645320475101471, + 0.01606707274913788 + ], + "joints": [ + 0.0026085812132805586 + ] + }, + "fine_grasp": { + "position": [ + -0.0015975853893905878, + 0.1257707178592682, + 0.03177504613995552 + ], + "orientation": [ + 0.1190878301858902, + -0.992608904838562, + -0.011109193786978722, + 0.020545918494462967 + ], + "joints": [ + 0.007470889016985893 + ] + }, + "final_grasp": { + "position": [ + -0.0015975853893905878, + 0.1257707178592682, + 0.03177504613995552 + ], + "orientation": [ + 0.1190878301858902, + -0.992608904838562, + -0.011109193786978722, + 0.020545918494462967 + ], + "joints": [ + 0.012333196587860584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025518396869301796, + -0.013237189501523972, + -0.13383105397224426 + ], + "orientation": [ + 0.676990807056427, + 0.5649871826171875, + 0.28960391879081726, + 0.37229350209236145 + ], + "joints": [ + -0.002008495619520545 + ] + }, + "fine_grasp": { + "position": [ + 0.027086183428764343, + -0.012021314352750778, + -0.13518951833248138 + ], + "orientation": [ + 0.6818036437034607, + 0.5746179223060608, + 0.27388933300971985, + 0.3604755401611328 + ], + "joints": [ + 0.0049262698739767075 + ] + }, + "final_grasp": { + "position": [ + 0.027086183428764343, + -0.012021314352750778, + -0.13518951833248138 + ], + "orientation": [ + 0.6818036437034607, + 0.5746179223060608, + 0.27388933300971985, + 0.3604755401611328 + ], + "joints": [ + 0.011861035600304604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07752861082553864, + 0.10440314561128616, + -0.019230639562010765 + ], + "orientation": [ + 0.02324088290333748, + 0.947719156742096, + 0.3151763379573822, + -0.04418102651834488 + ], + "joints": [ + -0.004981480538845062 + ] + }, + "fine_grasp": { + "position": [ + -0.07443878054618835, + 0.10062561184167862, + -0.018684040755033493 + ], + "orientation": [ + 0.034568190574645996, + 0.9483771324157715, + 0.3113495707511902, + -0.049469463527202606 + ], + "joints": [ + 0.003494344186037779 + ] + }, + "final_grasp": { + "position": [ + -0.07443878054618835, + 0.10062561184167862, + -0.018684040755033493 + ], + "orientation": [ + 0.034568190574645996, + 0.9483771324157715, + 0.3113495707511902, + -0.049469463527202606 + ], + "joints": [ + 0.01197016891092062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03986293449997902, + 0.11270313709974289, + -0.00954248383641243 + ], + "orientation": [ + 0.14571192860603333, + -0.45425108075141907, + -0.12049189954996109, + -0.8705778121948242 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.03996013104915619, + 0.11301109194755554, + -0.008748913183808327 + ], + "orientation": [ + 0.14972515404224396, + -0.45889776945114136, + -0.1180085763335228, + -0.8677956461906433 + ], + "joints": [ + -0.004771651700139046 + ] + }, + "final_grasp": { + "position": [ + -0.03996013104915619, + 0.11301109194755554, + -0.008748913183808327 + ], + "orientation": [ + 0.14972515404224396, + -0.45889776945114136, + -0.1180085763335228, + -0.8677956461906433 + ], + "joints": [ + 0.0022428222000598907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03743108734488487, + -0.013906545005738735, + -0.13608673214912415 + ], + "orientation": [ + 0.5373067259788513, + 0.6505975723266602, + -0.4883546531200409, + -0.22256241738796234 + ], + "joints": [ + -0.0013387836515903473 + ] + }, + "fine_grasp": { + "position": [ + 0.03711714223027229, + -0.013885335065424442, + -0.1350882649421692 + ], + "orientation": [ + 0.5367817878723145, + 0.6495030522346497, + -0.4870914816856384, + -0.22967979311943054 + ], + "joints": [ + 0.005064581986516714 + ] + }, + "final_grasp": { + "position": [ + 0.03711714223027229, + -0.013885335065424442, + -0.1350882649421692 + ], + "orientation": [ + 0.5367817878723145, + 0.6495030522346497, + -0.4870914816856384, + -0.22967979311943054 + ], + "joints": [ + 0.011467947624623775 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11776958405971527, + -0.0032246424816548824, + 0.05794142559170723 + ], + "orientation": [ + 0.47758039832115173, + 0.2373911440372467, + -0.55830317735672, + 0.635499894618988 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.1155715063214302, + -0.003979566507041454, + 0.05547446757555008 + ], + "orientation": [ + 0.48219403624534607, + 0.24089545011520386, + -0.5521172881126404, + 0.636101245880127 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.1155715063214302, + -0.003979566507041454, + 0.05547446757555008 + ], + "orientation": [ + 0.48219403624534607, + 0.24089545011520386, + -0.5521172881126404, + 0.636101245880127 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1160799190402031, + 0.004443362355232239, + 0.03353137895464897 + ], + "orientation": [ + 0.013823652639985085, + 0.6728101372718811, + 0.7041432857513428, + -0.22653374075889587 + ], + "joints": [ + -0.003325555007904768 + ] + }, + "fine_grasp": { + "position": [ + -0.11661036312580109, + 0.005647517275065184, + 0.03153916820883751 + ], + "orientation": [ + 0.036590881645679474, + 0.6718337535858154, + 0.6982684135437012, + -0.2443801313638687 + ], + "joints": [ + 0.0015101816970854998 + ] + }, + "final_grasp": { + "position": [ + -0.11661036312580109, + 0.005647517275065184, + 0.03153916820883751 + ], + "orientation": [ + 0.036590881645679474, + 0.6718337535858154, + 0.6982684135437012, + -0.2443801313638687 + ], + "joints": [ + 0.0063459184020757675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08808384835720062, + 0.08384312689304352, + 0.008570379577577114 + ], + "orientation": [ + 0.08820009231567383, + 0.7988287210464478, + 0.34334832429885864, + -0.4860096275806427 + ], + "joints": [ + -0.00561758317053318 + ] + }, + "fine_grasp": { + "position": [ + -0.08988010138273239, + 0.08800856024026871, + 0.01150421891361475 + ], + "orientation": [ + 0.1185832992196083, + 0.7972858548164368, + 0.3554125726222992, + -0.47323888540267944 + ], + "joints": [ + -0.004554783925414085 + ] + }, + "final_grasp": { + "position": [ + -0.08988010138273239, + 0.08800856024026871, + 0.01150421891361475 + ], + "orientation": [ + 0.1185832992196083, + 0.7972858548164368, + 0.3554125726222992, + -0.47323888540267944 + ], + "joints": [ + -0.0034919846802949905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07808700203895569, + 0.10761640220880508, + -0.050329554826021194 + ], + "orientation": [ + 0.18865735828876495, + 0.934627890586853, + -0.2995810806751251, + 0.033620938658714294 + ], + "joints": [ + -0.0035220105201005936 + ] + }, + "fine_grasp": { + "position": [ + 0.07455193251371384, + 0.10319272428750992, + -0.04965459927916527 + ], + "orientation": [ + 0.18187344074249268, + 0.9353938698768616, + -0.29770639538764954, + 0.05771785229444504 + ], + "joints": [ + 0.0023499554954469204 + ] + }, + "final_grasp": { + "position": [ + 0.07455193251371384, + 0.10319272428750992, + -0.04965459927916527 + ], + "orientation": [ + 0.18187344074249268, + 0.9353938698768616, + -0.29770639538764954, + 0.05771785229444504 + ], + "joints": [ + 0.008221921510994434 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03483129292726517, + -0.12402476370334625, + -0.005224444437772036 + ], + "orientation": [ + 0.4746057093143463, + -0.11157116293907166, + 0.8716672658920288, + 0.04997457191348076 + ], + "joints": [ + -0.012158648110926151 + ] + }, + "fine_grasp": { + "position": [ + 0.03286759555339813, + -0.12428009510040283, + -0.003473859280347824 + ], + "orientation": [ + 0.47321802377700806, + -0.12458556890487671, + 0.8696329593658447, + 0.06543434411287308 + ], + "joints": [ + -0.005781852640211582 + ] + }, + "final_grasp": { + "position": [ + 0.03286759555339813, + -0.12428009510040283, + -0.003473859280347824 + ], + "orientation": [ + 0.47321802377700806, + -0.12458556890487671, + 0.8696329593658447, + 0.06543434411287308 + ], + "joints": [ + 0.0005949428305029869 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09443017840385437, + 0.0652003139257431, + 0.042081329971551895 + ], + "orientation": [ + 0.2855900228023529, + 0.39728131890296936, + 0.3622617721557617, + -0.7933298945426941 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.09686124324798584, + 0.06699146330356598, + 0.040758922696113586 + ], + "orientation": [ + 0.2915413975715637, + 0.39701735973358154, + 0.36282971501350403, + -0.7910343408584595 + ], + "joints": [ + -0.005465265363454819 + ] + }, + "final_grasp": { + "position": [ + -0.09686124324798584, + 0.06699146330356598, + 0.040758922696113586 + ], + "orientation": [ + 0.2915413975715637, + 0.39701735973358154, + 0.36282971501350403, + -0.7910343408584595 + ], + "joints": [ + 0.001974329352378845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006468184292316437, + -0.11309687793254852, + 0.019968828186392784 + ], + "orientation": [ + 0.8716287612915039, + -0.0654410645365715, + 0.4820053279399872, + -0.0604279600083828 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.0006892508827149868, + -0.11659660190343857, + 0.020030885934829712 + ], + "orientation": [ + 0.8678886890411377, + -0.06374159455299377, + 0.4887753129005432, + -0.06168395280838013 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + 0.0006892508827149868, + -0.11659660190343857, + 0.020030885934829712 + ], + "orientation": [ + 0.8678886890411377, + -0.06374159455299377, + 0.4887753129005432, + -0.06168395280838013 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09409143775701523, + 0.06962846964597702, + 0.04561624303460121 + ], + "orientation": [ + 0.10315172374248505, + 0.6806941628456116, + -0.47141146659851074, + 0.5511683225631714 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.09390179812908173, + 0.07074110209941864, + 0.04549149423837662 + ], + "orientation": [ + 0.10225874930620193, + 0.6843274831771851, + -0.4752093553543091, + 0.543520987033844 + ], + "joints": [ + -0.005410728044807911 + ] + }, + "final_grasp": { + "position": [ + 0.09390179812908173, + 0.07074110209941864, + 0.04549149423837662 + ], + "orientation": [ + 0.10225874930620193, + 0.6843274831771851, + -0.4752093553543091, + 0.543520987033844 + ], + "joints": [ + 0.0015240367501974106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03880695253610611, + -0.11886376887559891, + 0.008291785605251789 + ], + "orientation": [ + 0.8688580393791199, + -0.13196703791618347, + -0.461576372385025, + -0.12090332061052322 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.04113273695111275, + -0.11435318738222122, + 0.00955948792397976 + ], + "orientation": [ + 0.8693825006484985, + -0.10862496495246887, + -0.46899864077568054, + -0.11142316460609436 + ], + "joints": [ + -0.004929596558213234 + ] + }, + "final_grasp": { + "position": [ + -0.04113273695111275, + -0.11435318738222122, + 0.00955948792397976 + ], + "orientation": [ + 0.8693825006484985, + -0.10862496495246887, + -0.46899864077568054, + -0.11142316460609436 + ], + "joints": [ + 0.00245685875415802 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04773779585957527, + 0.09317503124475479, + -0.0616597905755043 + ], + "orientation": [ + 0.13963358104228973, + 0.9404779076576233, + -0.25778472423553467, + -0.17190320789813995 + ], + "joints": [ + -0.0027324222028255463 + ] + }, + "fine_grasp": { + "position": [ + 0.05026312917470932, + 0.09746382385492325, + -0.06334980577230453 + ], + "orientation": [ + 0.1449243426322937, + 0.9421299695968628, + -0.25251755118370056, + -0.16620174050331116 + ], + "joints": [ + 0.0026347138918936253 + ] + }, + "final_grasp": { + "position": [ + 0.05026312917470932, + 0.09746382385492325, + -0.06334980577230453 + ], + "orientation": [ + 0.1449243426322937, + 0.9421299695968628, + -0.25251755118370056, + -0.16620174050331116 + ], + "joints": [ + 0.008001849986612797 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.078791543841362, + 0.08995866775512695, + 0.04486051946878433 + ], + "orientation": [ + 0.030379489064216614, + 0.7447490692138672, + -0.38880231976509094, + 0.5415336489677429 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.07922113686800003, + 0.090963214635849, + 0.04463709890842438 + ], + "orientation": [ + 0.032147686928510666, + 0.7421500086784363, + -0.3793118894100189, + 0.5516361594200134 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + 0.07922113686800003, + 0.090963214635849, + 0.04463709890842438 + ], + "orientation": [ + 0.032147686928510666, + 0.7421500086784363, + -0.3793118894100189, + 0.5516361594200134 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08191607147455215, + 0.10738486796617508, + -0.031567081809043884 + ], + "orientation": [ + 0.31697314977645874, + 0.06322745978832245, + -0.08656337857246399, + -0.9423571825027466 + ], + "joints": [ + -0.002993181347846985 + ] + }, + "fine_grasp": { + "position": [ + -0.07848556339740753, + 0.10294139385223389, + -0.031076380982995033 + ], + "orientation": [ + 0.31451544165611267, + 0.06295222043991089, + -0.07900020480155945, + -0.94386225938797 + ], + "joints": [ + 0.004446413833647966 + ] + }, + "final_grasp": { + "position": [ + -0.07848556339740753, + 0.10294139385223389, + -0.031076380982995033 + ], + "orientation": [ + 0.31451544165611267, + 0.06295222043991089, + -0.07900020480155945, + -0.94386225938797 + ], + "joints": [ + 0.011886009015142918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005884872516617179, + -0.11320671439170837, + 0.019946904852986336 + ], + "orientation": [ + 0.8703016042709351, + -0.06518162041902542, + 0.48439887166023254, + -0.06069771572947502 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.0008693524869158864, + -0.11674381047487259, + 0.020081527531147003 + ], + "orientation": [ + 0.866346001625061, + -0.062058329582214355, + 0.4915854036808014, + -0.06274713575839996 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + 0.0008693524869158864, + -0.11674381047487259, + 0.020081527531147003 + ], + "orientation": [ + 0.866346001625061, + -0.062058329582214355, + 0.4915854036808014, + -0.06274713575839996 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06492685526609421, + -0.10179626941680908, + 0.042913418263196945 + ], + "orientation": [ + 0.7650119066238403, + 0.058242108672857285, + 0.527720034122467, + -0.3645218014717102 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.06599277257919312, + -0.09770176559686661, + 0.0398707240819931 + ], + "orientation": [ + 0.7651963829994202, + 0.03357696533203125, + 0.5357375741004944, + -0.35543254017829895 + ], + "joints": [ + -0.0068635400384664536 + ] + }, + "final_grasp": { + "position": [ + -0.06599277257919312, + -0.09770176559686661, + 0.0398707240819931 + ], + "orientation": [ + 0.7651963829994202, + 0.03357696533203125, + 0.5357375741004944, + -0.35543254017829895 + ], + "joints": [ + -0.002559203654527664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08488066494464874, + 0.05784491077065468, + 0.05578472092747688 + ], + "orientation": [ + 0.45471832156181335, + -0.7547869682312012, + -0.22368794679641724, + -0.4165230989456177 + ], + "joints": [ + -0.011226758360862732 + ] + }, + "fine_grasp": { + "position": [ + -0.08562729507684708, + 0.05652685835957527, + 0.05396531894803047 + ], + "orientation": [ + 0.4455685615539551, + -0.7544395327568054, + -0.22247259318828583, + -0.4275461733341217 + ], + "joints": [ + -0.004849962890148163 + ] + }, + "final_grasp": { + "position": [ + -0.08562729507684708, + 0.05652685835957527, + 0.05396531894803047 + ], + "orientation": [ + 0.4455685615539551, + -0.7544395327568054, + -0.22247259318828583, + -0.4275461733341217 + ], + "joints": [ + 0.0015268325805664062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02235320769250393, + -0.11447367817163467, + 0.004427716135978699 + ], + "orientation": [ + 0.4829963743686676, + -0.11666987091302872, + -0.8666771650314331, + -0.04442110285162926 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.023453829810023308, + -0.11810170859098434, + 0.004966822452843189 + ], + "orientation": [ + 0.4818710386753082, + -0.12200896441936493, + -0.8664637804031372, + -0.04641763120889664 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + -0.023453829810023308, + -0.11810170859098434, + 0.004966822452843189 + ], + "orientation": [ + 0.4818710386753082, + -0.12200896441936493, + -0.8664637804031372, + -0.04641763120889664 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12348633259534836, + 0.021953759714961052, + 0.01033836044371128 + ], + "orientation": [ + 0.6485750675201416, + -0.2003612071275711, + 0.06525673717260361, + 0.7314009070396423 + ], + "joints": [ + -0.004102095030248165 + ] + }, + "fine_grasp": { + "position": [ + 0.12327947467565536, + 0.02153947204351425, + 0.011402751319110394 + ], + "orientation": [ + 0.6459171772003174, + -0.20517487823963165, + 0.08416980504989624, + 0.7304859757423401 + ], + "joints": [ + 0.0007336421404033899 + ] + }, + "final_grasp": { + "position": [ + 0.12327947467565536, + 0.02153947204351425, + 0.011402751319110394 + ], + "orientation": [ + 0.6459171772003174, + -0.20517487823963165, + 0.08416980504989624, + 0.7304859757423401 + ], + "joints": [ + 0.005569379311054945 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11007547378540039, + -0.033438753336668015, + 0.004559079185128212 + ], + "orientation": [ + 0.06726040691137314, + 0.5723071098327637, + 0.7986756563186646, + -0.17337223887443542 + ], + "joints": [ + -0.002421414479613304 + ] + }, + "fine_grasp": { + "position": [ + -0.11302889138460159, + -0.033182885497808456, + 0.003879786003381014 + ], + "orientation": [ + 0.08278672397136688, + 0.5757841467857361, + 0.7926904559135437, + -0.1823754906654358 + ], + "joints": [ + 0.003477121237665415 + ] + }, + "final_grasp": { + "position": [ + -0.11302889138460159, + -0.033182885497808456, + 0.003879786003381014 + ], + "orientation": [ + 0.08278672397136688, + 0.5757841467857361, + 0.7926904559135437, + -0.1823754906654358 + ], + "joints": [ + 0.009375656954944134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0075089395977556705, + -0.11808549612760544, + 0.044065263122320175 + ], + "orientation": [ + 0.6604383587837219, + -0.17981693148612976, + 0.7247748374938965, + -0.07866714894771576 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.00586992222815752, + -0.11598443984985352, + 0.044363901019096375 + ], + "orientation": [ + 0.6680502891540527, + -0.18481354415416718, + 0.7173851132392883, + -0.0700802132487297 + ], + "joints": [ + -0.005351846106350422 + ] + }, + "final_grasp": { + "position": [ + 0.00586992222815752, + -0.11598443984985352, + 0.044363901019096375 + ], + "orientation": [ + 0.6680502891540527, + -0.18481354415416718, + 0.7173851132392883, + -0.0700802132487297 + ], + "joints": [ + 0.0015829186886548996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0849044919013977, + -0.07327859103679657, + -0.05858088657259941 + ], + "orientation": [ + 0.5821821093559265, + 0.46141916513442993, + 0.6646985411643982, + -0.0795762911438942 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.0820375606417656, + -0.06948185712099075, + -0.05611396208405495 + ], + "orientation": [ + 0.5795941352844238, + 0.45499324798583984, + 0.6717289686203003, + -0.07636818289756775 + ], + "joints": [ + -0.006560376845300198 + ] + }, + "final_grasp": { + "position": [ + -0.0820375606417656, + -0.06948185712099075, + -0.05611396208405495 + ], + "orientation": [ + 0.5795941352844238, + 0.45499324798583984, + 0.6717289686203003, + -0.07636818289756775 + ], + "joints": [ + -0.00015701167285442352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022764107212424278, + -0.11417625099420547, + 0.028481796383857727 + ], + "orientation": [ + 0.8399112224578857, + -0.22223711013793945, + 0.4933341145515442, + 0.042205870151519775 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + 0.026523910462856293, + -0.11560030281543732, + 0.032363954931497574 + ], + "orientation": [ + 0.8497403264045715, + -0.18277817964553833, + 0.49351632595062256, + 0.031227245926856995 + ], + "joints": [ + -0.005656558088958263 + ] + }, + "final_grasp": { + "position": [ + 0.026523910462856293, + -0.11560030281543732, + 0.032363954931497574 + ], + "orientation": [ + 0.8497403264045715, + -0.18277817964553833, + 0.49351632595062256, + 0.031227245926856995 + ], + "joints": [ + -0.002441590651869774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11344882100820541, + 0.049879878759384155, + -0.03179240971803665 + ], + "orientation": [ + 0.21404598653316498, + -0.6791669130325317, + 0.5203267335891724, + 0.47135624289512634 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.11145415157079697, + 0.04793713614344597, + -0.03020518831908703 + ], + "orientation": [ + 0.19685675203800201, + -0.689974844455719, + 0.5149447321891785, + 0.4690566658973694 + ], + "joints": [ + -0.005409254692494869 + ] + }, + "final_grasp": { + "position": [ + 0.11145415157079697, + 0.04793713614344597, + -0.03020518831908703 + ], + "orientation": [ + 0.19685675203800201, + -0.689974844455719, + 0.5149447321891785, + 0.4690566658973694 + ], + "joints": [ + 0.0020569097250699997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06992938369512558, + 0.11161644011735916, + -0.004017217084765434 + ], + "orientation": [ + 0.12388366460800171, + 0.8192981481552124, + -0.2116396129131317, + 0.5182779431343079 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.06935357302427292, + 0.1124032586812973, + -0.0017631275113672018 + ], + "orientation": [ + 0.12318441271781921, + 0.8176494836807251, + -0.22140218317508698, + 0.5169679522514343 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + 0.06935357302427292, + 0.1124032586812973, + -0.0017631275113672018 + ], + "orientation": [ + 0.12318441271781921, + 0.8176494836807251, + -0.22140218317508698, + 0.5169679522514343 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0803452581167221, + 0.06166424974799156, + 0.05712514370679855 + ], + "orientation": [ + 0.10247653722763062, + 0.5618877410888672, + -0.46530023217201233, + 0.6762222051620483 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0798308402299881, + 0.061319030821323395, + 0.05863022059202194 + ], + "orientation": [ + 0.10164539515972137, + 0.5511177182197571, + -0.4617997407913208, + 0.6875162124633789 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.0798308402299881, + 0.061319030821323395, + 0.05863022059202194 + ], + "orientation": [ + 0.10164539515972137, + 0.5511177182197571, + -0.4617997407913208, + 0.6875162124633789 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0698523297905922, + 0.11177238821983337, + -0.004034961108118296 + ], + "orientation": [ + 0.1238117665052414, + 0.8191625475883484, + -0.21103306114673615, + 0.5187565684318542 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.06911265850067139, + 0.11249274015426636, + -0.002021622844040394 + ], + "orientation": [ + 0.12350824475288391, + 0.8178687691688538, + -0.22003617882728577, + 0.5171270966529846 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + 0.06911265850067139, + 0.11249274015426636, + -0.002021622844040394 + ], + "orientation": [ + 0.12350824475288391, + 0.8178687691688538, + -0.22003617882728577, + 0.5171270966529846 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0846940204501152, + -0.0734044685959816, + -0.05854080989956856 + ], + "orientation": [ + 0.5812985897064209, + 0.46223184466362, + 0.6645771861076355, + -0.08228521794080734 + ], + "joints": [ + -0.012404374778270721 + ] + }, + "fine_grasp": { + "position": [ + -0.08190307766199112, + -0.0700221061706543, + -0.05638997629284859 + ], + "orientation": [ + 0.5804142951965332, + 0.4564230144023895, + 0.6693940758705139, + -0.08190731704235077 + ], + "joints": [ + -0.00650583952665329 + ] + }, + "final_grasp": { + "position": [ + -0.08190307766199112, + -0.0700221061706543, + -0.05638997629284859 + ], + "orientation": [ + 0.5804142951965332, + 0.4564230144023895, + 0.6693940758705139, + -0.08190731704235077 + ], + "joints": [ + -0.0006073042750358582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12198176234960556, + -0.025997938588261604, + 0.011463000439107418 + ], + "orientation": [ + 0.180430606007576, + -0.6387958526611328, + 0.7448747158050537, + 0.06742604821920395 + ], + "joints": [ + -0.0032164480071514845 + ] + }, + "fine_grasp": { + "position": [ + 0.1182294562458992, + -0.02474120445549488, + 0.00999405886977911 + ], + "orientation": [ + 0.19886314868927002, + -0.6364148259162903, + 0.7414554953575134, + 0.07532153278589249 + ], + "joints": [ + 0.001167598646134138 + ] + }, + "final_grasp": { + "position": [ + 0.1182294562458992, + -0.02474120445549488, + 0.00999405886977911 + ], + "orientation": [ + 0.19886314868927002, + -0.6364148259162903, + 0.7414554953575134, + 0.07532153278589249 + ], + "joints": [ + 0.005551645532250404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06921262294054031, + 0.11106163263320923, + -0.0035930851008743048 + ], + "orientation": [ + 0.12632867693901062, + 0.8177906274795532, + -0.21303650736808777, + 0.5194949507713318 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.06967736780643463, + 0.11197115480899811, + -0.001347711426205933 + ], + "orientation": [ + 0.12362798303365707, + 0.8168718814849854, + -0.22368554770946503, + 0.5171085000038147 + ], + "joints": [ + -0.004761639982461929 + ] + }, + "final_grasp": { + "position": [ + 0.06967736780643463, + 0.11197115480899811, + -0.001347711426205933 + ], + "orientation": [ + 0.12362798303365707, + 0.8168718814849854, + -0.22368554770946503, + 0.5171085000038147 + ], + "joints": [ + 0.0016151554882526398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06442580372095108, + -0.10115996748209, + 0.02681652083992958 + ], + "orientation": [ + 0.9428151845932007, + -0.15652984380722046, + -0.07942850887775421, + 0.28335317969322205 + ], + "joints": [ + -0.004017761908471584 + ] + }, + "fine_grasp": { + "position": [ + 0.06165792793035507, + -0.09753669798374176, + 0.025036221370100975 + ], + "orientation": [ + 0.94294673204422, + -0.15578404068946838, + -0.08715417981147766, + 0.28104597330093384 + ], + "joints": [ + 0.003953232895582914 + ] + }, + "final_grasp": { + "position": [ + 0.06165792793035507, + -0.09753669798374176, + 0.025036221370100975 + ], + "orientation": [ + 0.94294673204422, + -0.15578404068946838, + -0.08715417981147766, + 0.28104597330093384 + ], + "joints": [ + 0.011924227699637413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06441438943147659, + -0.10149790346622467, + 0.02693546935915947 + ], + "orientation": [ + 0.9424982666969299, + -0.1573290079832077, + -0.0821794718503952, + 0.28318002820014954 + ], + "joints": [ + -0.004050194285809994 + ] + }, + "fine_grasp": { + "position": [ + 0.061585575342178345, + -0.09767187386751175, + 0.025188583880662918 + ], + "orientation": [ + 0.9429053664207458, + -0.15592528879642487, + -0.0882660523056984, + 0.28075969219207764 + ], + "joints": [ + 0.003920800518244505 + ] + }, + "final_grasp": { + "position": [ + 0.061585575342178345, + -0.09767187386751175, + 0.025188583880662918 + ], + "orientation": [ + 0.9429053664207458, + -0.15592528879642487, + -0.0882660523056984, + 0.28075969219207764 + ], + "joints": [ + 0.011891795322299004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0545346736907959, + 0.1125730574131012, + -0.004903769586235285 + ], + "orientation": [ + 0.12416072934865952, + -0.8419731855392456, + 0.20398665964603424, + 0.4837919771671295 + ], + "joints": [ + -0.012108415365219116 + ] + }, + "fine_grasp": { + "position": [ + 0.0562233105301857, + 0.1125747486948967, + -0.003125902498140931 + ], + "orientation": [ + 0.1122988760471344, + -0.8488743901252747, + 0.191628098487854, + 0.47966641187667847 + ], + "joints": [ + -0.005678480491042137 + ] + }, + "final_grasp": { + "position": [ + 0.0562233105301857, + 0.1125747486948967, + -0.003125902498140931 + ], + "orientation": [ + 0.1122988760471344, + -0.8488743901252747, + 0.191628098487854, + 0.47966641187667847 + ], + "joints": [ + 0.0007514543831348419 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11196037381887436, + -0.01825818233191967, + 0.008582684211432934 + ], + "orientation": [ + 0.3946540951728821, + -0.5894636511802673, + -0.6340765357017517, + -0.3077787458896637 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11522171646356583, + -0.01906842365860939, + 0.008721963502466679 + ], + "orientation": [ + 0.3897700309753418, + -0.5933955907821655, + -0.6333717107772827, + -0.30789831280708313 + ], + "joints": [ + -0.005300180055201054 + ] + }, + "final_grasp": { + "position": [ + -0.11522171646356583, + -0.01906842365860939, + 0.008721963502466679 + ], + "orientation": [ + 0.3897700309753418, + -0.5933955907821655, + -0.6333717107772827, + -0.30789831280708313 + ], + "joints": [ + 0.0011563245207071304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11194711923599243, + -0.018307309597730637, + 0.008531337603926659 + ], + "orientation": [ + 0.3954324722290039, + -0.5888209939002991, + -0.6338275671005249, + -0.3085215091705322 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11520286649465561, + -0.019134540110826492, + 0.008684642612934113 + ], + "orientation": [ + 0.3901827931404114, + -0.5929868221282959, + -0.6332272887229919, + -0.30845943093299866 + ], + "joints": [ + -0.005300180055201054 + ] + }, + "final_grasp": { + "position": [ + -0.11520286649465561, + -0.019134540110826492, + 0.008684642612934113 + ], + "orientation": [ + 0.3901827931404114, + -0.5929868221282959, + -0.6332272887229919, + -0.30845943093299866 + ], + "joints": [ + 0.0011563245207071304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025020970031619072, + -0.12356147170066833, + 0.011143939569592476 + ], + "orientation": [ + 0.5061538815498352, + -0.11710526049137115, + 0.8544557094573975, + 0.00026212172815576196 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.022910447791218758, + -0.12038228660821915, + 0.011809410527348518 + ], + "orientation": [ + 0.5000476837158203, + -0.12576642632484436, + 0.8567357063293457, + 0.011788894422352314 + ], + "joints": [ + -0.004933865740895271 + ] + }, + "final_grasp": { + "position": [ + 0.022910447791218758, + -0.12038228660821915, + 0.011809410527348518 + ], + "orientation": [ + 0.5000476837158203, + -0.12576642632484436, + 0.8567357063293457, + 0.011788894422352314 + ], + "joints": [ + 0.00303712859749794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06481371819972992, + 0.10234692692756653, + 0.01718623749911785 + ], + "orientation": [ + 0.19095471501350403, + 0.4627455472946167, + -0.19710053503513336, + 0.8429438471794128 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06326951086521149, + 0.09919732809066772, + 0.015771862119436264 + ], + "orientation": [ + 0.1943192481994629, + 0.46554291248321533, + -0.19230526685714722, + 0.8417413234710693 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + 0.06326951086521149, + 0.09919732809066772, + 0.015771862119436264 + ], + "orientation": [ + 0.1943192481994629, + 0.46554291248321533, + -0.19230526685714722, + 0.8417413234710693 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014980477280914783, + -0.11276251077651978, + 0.04028696566820145 + ], + "orientation": [ + 0.5238065719604492, + -0.052749186754226685, + 0.8315826654434204, + -0.1769590824842453 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.015185421332716942, + -0.11319362372159958, + 0.04110387712717056 + ], + "orientation": [ + 0.533082902431488, + -0.05167778208851814, + 0.8256690502166748, + -0.17726410925388336 + ], + "joints": [ + -0.004798221401870251 + ] + }, + "final_grasp": { + "position": [ + -0.015185421332716942, + -0.11319362372159958, + 0.04110387712717056 + ], + "orientation": [ + 0.533082902431488, + -0.05167778208851814, + 0.8256690502166748, + -0.17726410925388336 + ], + "joints": [ + 0.0021896827965974808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015112582594156265, + -0.11272106319665909, + 0.04015239328145981 + ], + "orientation": [ + 0.5238739252090454, + -0.051998477429151535, + 0.8316130042076111, + -0.17683933675289154 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.015302620828151703, + -0.113212451338768, + 0.04098135977983475 + ], + "orientation": [ + 0.5330249667167664, + -0.05094337463378906, + 0.8257785439491272, + -0.1771409958600998 + ], + "joints": [ + -0.004798221401870251 + ] + }, + "final_grasp": { + "position": [ + -0.015302620828151703, + -0.113212451338768, + 0.04098135977983475 + ], + "orientation": [ + 0.5330249667167664, + -0.05094337463378906, + 0.8257785439491272, + -0.1771409958600998 + ], + "joints": [ + 0.0021896827965974808 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051257383078336716, + 0.047003235667943954, + -0.11268314719200134 + ], + "orientation": [ + 0.27445581555366516, + 0.6540107131004333, + -0.4828834533691406, + -0.5135831236839294 + ], + "joints": [ + -0.006920110434293747 + ] + }, + "fine_grasp": { + "position": [ + 0.050873029977083206, + 0.047546885907649994, + -0.11061882972717285 + ], + "orientation": [ + 0.27151238918304443, + 0.6421681642532349, + -0.4854969382286072, + -0.5274407863616943 + ], + "joints": [ + -0.0010215746005997062 + ] + }, + "final_grasp": { + "position": [ + 0.050873029977083206, + 0.047546885907649994, + -0.11061882972717285 + ], + "orientation": [ + 0.27151238918304443, + 0.6421681642532349, + -0.4854969382286072, + -0.5274407863616943 + ], + "joints": [ + 0.004876961000263691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10788675397634506, + -0.062026239931583405, + 0.02156377024948597 + ], + "orientation": [ + 0.7109082341194153, + 0.18388798832893372, + -0.48604169487953186, + 0.47387561202049255 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.10620523244142532, + -0.06205986067652702, + 0.02142413705587387 + ], + "orientation": [ + 0.7092987298965454, + 0.1854320615530014, + -0.4841606020927429, + 0.47759684920310974 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + 0.10620523244142532, + -0.06205986067652702, + 0.02142413705587387 + ], + "orientation": [ + 0.7092987298965454, + 0.1854320615530014, + -0.4841606020927429, + 0.47759684920310974 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10798594355583191, + -0.06208239495754242, + 0.021467162296175957 + ], + "orientation": [ + 0.7107979655265808, + 0.1844320148229599, + -0.4864002466201782, + 0.47346174716949463 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.1062568724155426, + -0.062115442007780075, + 0.02130771055817604 + ], + "orientation": [ + 0.7094590663909912, + 0.1858784407377243, + -0.48429667949676514, + 0.4770471453666687 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + 0.1062568724155426, + -0.062115442007780075, + 0.02130771055817604 + ], + "orientation": [ + 0.7094590663909912, + 0.1858784407377243, + -0.48429667949676514, + 0.4770471453666687 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042741965502500534, + -0.11715547740459442, + 0.03473405912518501 + ], + "orientation": [ + 0.8339690566062927, + -0.22510887682437897, + 0.49774712324142456, + 0.07790680974721909 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.04292074590921402, + -0.116082563996315, + 0.03442566096782684 + ], + "orientation": [ + 0.8330085873603821, + -0.22374166548252106, + 0.4996691346168518, + 0.07979370653629303 + ], + "joints": [ + -0.005381287075579166 + ] + }, + "final_grasp": { + "position": [ + 0.04292074590921402, + -0.116082563996315, + 0.03442566096782684 + ], + "orientation": [ + 0.8330085873603821, + -0.22374166548252106, + 0.4996691346168518, + 0.07979370653629303 + ], + "joints": [ + 0.001553477719426155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08063284307718277, + -0.07738485187292099, + -0.03694087266921997 + ], + "orientation": [ + 0.4318590462207794, + -0.2661079466342926, + -0.7899777293205261, + -0.3444116413593292 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.08248094469308853, + -0.07814764976501465, + -0.037138137966394424 + ], + "orientation": [ + 0.43288150429725647, + -0.26811736822128296, + -0.788381040096283, + -0.34522774815559387 + ], + "joints": [ + -0.0049058981239795685 + ] + }, + "final_grasp": { + "position": [ + -0.08248094469308853, + -0.07814764976501465, + -0.037138137966394424 + ], + "orientation": [ + 0.43288150429725647, + -0.26811736822128296, + -0.788381040096283, + -0.34522774815559387 + ], + "joints": [ + 0.0025336965918540955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029792411252856255, + -0.008441858924925327, + -0.12828828394412994 + ], + "orientation": [ + 0.7175434231758118, + 0.6374704837799072, + 0.10438099503517151, + 0.26051363348960876 + ], + "joints": [ + -0.0035153175704181194 + ] + }, + "fine_grasp": { + "position": [ + 0.028614254668354988, + -0.00809346791356802, + -0.1308043748140335 + ], + "orientation": [ + 0.7295215129852295, + 0.6239266395568848, + 0.10135190933942795, + 0.2612311840057373 + ], + "joints": [ + 0.0034460173919796944 + ] + }, + "final_grasp": { + "position": [ + 0.028614254668354988, + -0.00809346791356802, + -0.1308043748140335 + ], + "orientation": [ + 0.7295215129852295, + 0.6239266395568848, + 0.10135190933942795, + 0.2612311840057373 + ], + "joints": [ + 0.010407352820038795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.037635404616594315, + 0.03451262414455414, + -0.11536142230033875 + ], + "orientation": [ + 0.5545806288719177, + 0.5399042367935181, + 0.22989337146282196, + 0.5899938941001892 + ], + "joints": [ + -0.0031789347995072603 + ] + }, + "fine_grasp": { + "position": [ + 0.040186453610658646, + 0.03327354043722153, + -0.11684310436248779 + ], + "orientation": [ + 0.5501275658607483, + 0.5364319682121277, + 0.23288941383361816, + 0.596123456954956 + ], + "joints": [ + 0.0016568019054830074 + ] + }, + "final_grasp": { + "position": [ + 0.040186453610658646, + 0.03327354043722153, + -0.11684310436248779 + ], + "orientation": [ + 0.5501275658607483, + 0.5364319682121277, + 0.23288941383361816, + 0.596123456954956 + ], + "joints": [ + 0.0064925383776426315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025261562317609787, + -0.11424151808023453, + 0.030270438641309738 + ], + "orientation": [ + 0.8351725339889526, + -0.20315344631671906, + 0.5096322298049927, + 0.038608916103839874 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.029023174196481705, + -0.11682950705289841, + 0.03239709883928299 + ], + "orientation": [ + 0.8380302786827087, + -0.18085063993930817, + 0.5141407251358032, + 0.025646904483437538 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + 0.029023174196481705, + -0.11682950705289841, + 0.03239709883928299 + ], + "orientation": [ + 0.8380302786827087, + -0.18085063993930817, + 0.5141407251358032, + 0.025646904483437538 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025603922083973885, + -0.11370289325714111, + 0.03023449517786503 + ], + "orientation": [ + 0.8364280462265015, + -0.1983727216720581, + 0.5096107125282288, + 0.03651433438062668 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.02920478954911232, + -0.1166372299194336, + 0.032279934734106064 + ], + "orientation": [ + 0.8376983404159546, + -0.18038171529769897, + 0.514844536781311, + 0.025671368464827538 + ], + "joints": [ + -0.005351846106350422 + ] + }, + "final_grasp": { + "position": [ + 0.02920478954911232, + -0.1166372299194336, + 0.032279934734106064 + ], + "orientation": [ + 0.8376983404159546, + -0.18038171529769897, + 0.514844536781311, + 0.025671368464827538 + ], + "joints": [ + 0.0015829186886548996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10620656609535217, + -0.05187540128827095, + 0.03170393034815788 + ], + "orientation": [ + 0.005143045447766781, + 0.5056677460670471, + 0.850291907787323, + -0.1458670198917389 + ], + "joints": [ + -0.0006779325194656849 + ] + }, + "fine_grasp": { + "position": [ + -0.10903453081846237, + -0.05264351889491081, + 0.031618837267160416 + ], + "orientation": [ + 0.01111364085227251, + 0.5038164854049683, + 0.849524736404419, + -0.15605489909648895 + ], + "joints": [ + 0.006283402442932129 + ] + }, + "final_grasp": { + "position": [ + -0.10903453081846237, + -0.05264351889491081, + 0.031618837267160416 + ], + "orientation": [ + 0.01111364085227251, + 0.5038164854049683, + 0.849524736404419, + -0.15605489909648895 + ], + "joints": [ + 0.013244736939668655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04224932938814163, + -0.10798850655555725, + 0.01947052776813507 + ], + "orientation": [ + 0.5140942335128784, + -0.2212766706943512, + -0.8278988599777222, + -0.036432500928640366 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.042995329946279526, + -0.1097862720489502, + 0.019349822774529457 + ], + "orientation": [ + 0.5187742710113525, + -0.21870413422584534, + -0.8257133364677429, + -0.035203102976083755 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + -0.042995329946279526, + -0.1097862720489502, + 0.019349822774529457 + ], + "orientation": [ + 0.5187742710113525, + -0.21870413422584534, + -0.8257133364677429, + -0.035203102976083755 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.132725790143013, + 0.012109127826988697, + 0.0038556500803679228 + ], + "orientation": [ + 0.1635390967130661, + -0.7410510182380676, + -0.6411262154579163, + -0.11426138132810593 + ], + "joints": [ + -0.004846695810556412 + ] + }, + "fine_grasp": { + "position": [ + -0.12822504341602325, + 0.011982942000031471, + 0.002928060945123434 + ], + "orientation": [ + 0.16978855431079865, + -0.7400481104850769, + -0.6407930254936218, + -0.11351191997528076 + ], + "joints": [ + 0.0010784100741147995 + ] + }, + "final_grasp": { + "position": [ + -0.12822504341602325, + 0.011982942000031471, + 0.002928060945123434 + ], + "orientation": [ + 0.16978855431079865, + -0.7400481104850769, + -0.6407930254936218, + -0.11351191997528076 + ], + "joints": [ + 0.007003515958786011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04936779662966728, + -0.10314898937940598, + 0.021990612149238586 + ], + "orientation": [ + 0.11067438125610352, + 0.19029292464256287, + 0.9540279507637024, + -0.20339703559875488 + ], + "joints": [ + -0.003286614315584302 + ] + }, + "fine_grasp": { + "position": [ + -0.05054787918925285, + -0.10368243604898453, + 0.02148241363465786 + ], + "orientation": [ + 0.11362359672784805, + 0.1917608082294464, + 0.9524563550949097, + -0.20771215856075287 + ], + "joints": [ + 0.003169890958815813 + ] + }, + "final_grasp": { + "position": [ + -0.05054787918925285, + -0.10368243604898453, + 0.02148241363465786 + ], + "orientation": [ + 0.11362359672784805, + 0.1917608082294464, + 0.9524563550949097, + -0.20771215856075287 + ], + "joints": [ + 0.009626396000385284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10626675188541412, + -0.006374204996973276, + -0.05654864013195038 + ], + "orientation": [ + 0.6392295956611633, + 0.5632291436195374, + 0.3100242614746094, + -0.42195186018943787 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.10459256917238235, + -0.005841215141117573, + -0.055112216621637344 + ], + "orientation": [ + 0.641004204750061, + 0.5570875406265259, + 0.31150269508361816, + -0.42630165815353394 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + -0.10459256917238235, + -0.005841215141117573, + -0.055112216621637344 + ], + "orientation": [ + 0.641004204750061, + 0.5570875406265259, + 0.31150269508361816, + -0.42630165815353394 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10629211366176605, + -0.006536475382745266, + -0.05649859458208084 + ], + "orientation": [ + 0.6395831108093262, + 0.5627598166465759, + 0.31030958890914917, + -0.4218328595161438 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.10460951924324036, + -0.00601164298132062, + -0.05507912114262581 + ], + "orientation": [ + 0.64140784740448, + 0.5566234588623047, + 0.3117790222167969, + -0.42609888315200806 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + -0.10460951924324036, + -0.00601164298132062, + -0.05507912114262581 + ], + "orientation": [ + 0.64140784740448, + 0.5566234588623047, + 0.3117790222167969, + -0.42609888315200806 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10630977898836136, + -0.00631339754909277, + -0.05647147074341774 + ], + "orientation": [ + 0.6390328407287598, + 0.5631363987922668, + 0.3099394142627716, + -0.4224359095096588 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.10463088005781174, + -0.005824577063322067, + -0.055078450590372086 + ], + "orientation": [ + 0.6406975984573364, + 0.5572397708892822, + 0.3114124536514282, + -0.42662951350212097 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + -0.10463088005781174, + -0.005824577063322067, + -0.055078450590372086 + ], + "orientation": [ + 0.6406975984573364, + 0.5572397708892822, + 0.3114124536514282, + -0.42662951350212097 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049070972949266434, + -0.10325401276350021, + 0.021935435011982918 + ], + "orientation": [ + 0.11029022186994553, + 0.1890832930803299, + 0.9540765285491943, + -0.20450323820114136 + ], + "joints": [ + -0.0030733838211745024 + ] + }, + "fine_grasp": { + "position": [ + -0.05021638050675392, + -0.10382137447595596, + 0.021588129922747612 + ], + "orientation": [ + 0.11265058070421219, + 0.1902429312467575, + 0.9527037143707275, + -0.20850218832492828 + ], + "joints": [ + 0.0033565517514944077 + ] + }, + "final_grasp": { + "position": [ + -0.05021638050675392, + -0.10382137447595596, + 0.021588129922747612 + ], + "orientation": [ + 0.11265058070421219, + 0.1902429312467575, + 0.9527037143707275, + -0.20850218832492828 + ], + "joints": [ + 0.009786487556993961 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045057736337184906, + 0.10507213324308395, + 0.009847882203757763 + ], + "orientation": [ + 0.2128603607416153, + -0.5044313073158264, + 0.07767839729785919, + 0.8331900835037231 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.04636361449956894, + 0.10867089033126831, + 0.009591646492481232 + ], + "orientation": [ + 0.20927922427654266, + -0.5057045817375183, + 0.0809539332985878, + 0.8330135941505432 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.04636361449956894, + 0.10867089033126831, + 0.009591646492481232 + ], + "orientation": [ + 0.20927922427654266, + -0.5057045817375183, + 0.0809539332985878, + 0.8330135941505432 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0534178763628006, + 0.09769169241189957, + -0.04866636171936989 + ], + "orientation": [ + 0.10253729671239853, + -0.5110751390457153, + 0.31665802001953125, + 0.792474627494812 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.05156518518924713, + 0.09570862352848053, + -0.047822505235672 + ], + "orientation": [ + 0.10054880380630493, + -0.5117794275283813, + 0.3126007914543152, + 0.7938843965530396 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + 0.05156518518924713, + 0.09570862352848053, + -0.047822505235672 + ], + "orientation": [ + 0.10054880380630493, + -0.5117794275283813, + 0.3126007914543152, + 0.7938843965530396 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08496487885713577, + -0.06632746011018753, + 0.0545051284134388 + ], + "orientation": [ + 0.7123352885246277, + -0.44407492876052856, + -0.5196150541305542, + -0.159298837184906 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.08598747104406357, + -0.06837516278028488, + 0.05625414475798607 + ], + "orientation": [ + 0.7133724689483643, + -0.4469068646430969, + -0.515021026134491, + -0.16163933277130127 + ], + "joints": [ + -0.0048527587205171585 + ] + }, + "final_grasp": { + "position": [ + -0.08598747104406357, + -0.06837516278028488, + 0.05625414475798607 + ], + "orientation": [ + 0.7133724689483643, + -0.4469068646430969, + -0.515021026134491, + -0.16163933277130127 + ], + "joints": [ + 0.0026399753987789154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08490632474422455, + -0.06638618558645248, + 0.0545835867524147 + ], + "orientation": [ + 0.7127881050109863, + -0.4438805878162384, + -0.5190675854682922, + -0.15959903597831726 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.08587702363729477, + -0.0682743489742279, + 0.05630708113312721 + ], + "orientation": [ + 0.7134140729904175, + -0.44705402851104736, + -0.5149745345115662, + -0.16119642555713654 + ], + "joints": [ + -0.0048527587205171585 + ] + }, + "final_grasp": { + "position": [ + -0.08587702363729477, + -0.0682743489742279, + 0.05630708113312721 + ], + "orientation": [ + 0.7134140729904175, + -0.44705402851104736, + -0.5149745345115662, + -0.16119642555713654 + ], + "joints": [ + 0.0026399753987789154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019032785668969154, + 0.10449270159006119, + 0.04653755947947502 + ], + "orientation": [ + 0.04435337334871292, + 0.1287757307291031, + -0.21786831319332123, + 0.9664280414581299 + ], + "joints": [ + -0.0024524058680981398 + ] + }, + "fine_grasp": { + "position": [ + 0.021274561062455177, + 0.10599393397569656, + 0.04504707083106041 + ], + "orientation": [ + 0.050732482224702835, + 0.15967947244644165, + -0.22484341263771057, + 0.959882378578186 + ], + "joints": [ + 0.002383330836892128 + ] + }, + "final_grasp": { + "position": [ + 0.021274561062455177, + 0.10599393397569656, + 0.04504707083106041 + ], + "orientation": [ + 0.050732482224702835, + 0.15967947244644165, + -0.22484341263771057, + 0.959882378578186 + ], + "joints": [ + 0.007219067774713039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049218833446502686, + -0.103133924305439, + 0.02210281975567341 + ], + "orientation": [ + 0.10501400381326675, + 0.19089330732822418, + 0.9546118378639221, + -0.20309610664844513 + ], + "joints": [ + -0.003305641235783696 + ] + }, + "fine_grasp": { + "position": [ + -0.050222042948007584, + -0.10377639532089233, + 0.02155213989317417 + ], + "orientation": [ + 0.10818679630756378, + 0.19254180788993835, + 0.952690839767456, + -0.20881417393684387 + ], + "joints": [ + 0.0036556939594447613 + ] + }, + "final_grasp": { + "position": [ + -0.050222042948007584, + -0.10377639532089233, + 0.02155213989317417 + ], + "orientation": [ + 0.10818679630756378, + 0.19254180788993835, + 0.952690839767456, + -0.20881417393684387 + ], + "joints": [ + 0.010617028921842575 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07000935822725296, + 0.11129631847143173, + -0.02100428007543087 + ], + "orientation": [ + 0.03560531884431839, + 0.960101306438446, + 0.2760988473892212, + -0.026592733338475227 + ], + "joints": [ + -0.005095543339848518 + ] + }, + "fine_grasp": { + "position": [ + -0.06684304028749466, + 0.1065639778971672, + -0.02022494003176689 + ], + "orientation": [ + 0.05119553580880165, + 0.9604990482330322, + 0.2728266716003418, + -0.019652308896183968 + ], + "joints": [ + 0.0033537116833031178 + ] + }, + "final_grasp": { + "position": [ + -0.06684304028749466, + 0.1065639778971672, + -0.02022494003176689 + ], + "orientation": [ + 0.05119553580880165, + 0.9604990482330322, + 0.2728266716003418, + -0.019652308896183968 + ], + "joints": [ + 0.011802966706454754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00693558482453227, + -0.11559136211872101, + -0.04532163590192795 + ], + "orientation": [ + 0.9722117781639099, + 0.15203166007995605, + 0.17759652435779572, + -0.012249680235981941 + ], + "joints": [ + -0.0032605465967208147 + ] + }, + "fine_grasp": { + "position": [ + -0.007592326495796442, + -0.11779937893152237, + -0.045123498886823654 + ], + "orientation": [ + 0.9642244577407837, + 0.15067152678966522, + 0.21786822378635406, + -0.010139417834579945 + ], + "joints": [ + 0.001548620406538248 + ] + }, + "final_grasp": { + "position": [ + -0.007592326495796442, + -0.11779937893152237, + -0.045123498886823654 + ], + "orientation": [ + 0.9642244577407837, + 0.15067152678966522, + 0.21786822378635406, + -0.010139417834579945 + ], + "joints": [ + 0.006357787176966667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00474271597340703, + -0.004663745407015085, + -0.13765984773635864 + ], + "orientation": [ + 0.6174352169036865, + 0.5893774628639221, + 0.38074588775634766, + 0.3555848002433777 + ], + "joints": [ + -0.0022014975547790527 + ] + }, + "fine_grasp": { + "position": [ + -0.005223734304308891, + -0.006635397206991911, + -0.13876597583293915 + ], + "orientation": [ + 0.6122221946716309, + 0.581167995929718, + 0.3909173309803009, + 0.3668941557407379 + ], + "joints": [ + 0.004228437785059214 + ] + }, + "final_grasp": { + "position": [ + -0.005223734304308891, + -0.006635397206991911, + -0.13876597583293915 + ], + "orientation": [ + 0.6122221946716309, + 0.581167995929718, + 0.3909173309803009, + 0.3668941557407379 + ], + "joints": [ + 0.01065837312489748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008699154481291771, + 0.12198852747678757, + 0.017822615802288055 + ], + "orientation": [ + 0.07641761004924774, + -0.9874695539474487, + 0.009792071767151356, + 0.13772593438625336 + ], + "joints": [ + -0.0019120874349027872 + ] + }, + "fine_grasp": { + "position": [ + 0.008913600817322731, + 0.11985998600721359, + 0.015722960233688354 + ], + "orientation": [ + 0.08288963884115219, + -0.9817802309989929, + 0.009191104210913181, + 0.17074082791805267 + ], + "joints": [ + 0.00401301821693778 + ] + }, + "final_grasp": { + "position": [ + 0.008913600817322731, + 0.11985998600721359, + 0.015722960233688354 + ], + "orientation": [ + 0.08288963884115219, + -0.9817802309989929, + 0.009191104210913181, + 0.17074082791805267 + ], + "joints": [ + 0.009938123635947704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029025495052337646, + -0.03729084134101868, + -0.13018347322940826 + ], + "orientation": [ + 0.13318988680839539, + 0.22016729414463043, + -0.7647159695625305, + -0.5907590985298157 + ], + "joints": [ + -0.002093859249725938 + ] + }, + "fine_grasp": { + "position": [ + 0.02672615461051464, + -0.032636187970638275, + -0.12861770391464233 + ], + "orientation": [ + 0.12710005044937134, + 0.22338685393333435, + -0.7813277840614319, + -0.568744957447052 + ], + "joints": [ + 0.00372496759518981 + ] + }, + "final_grasp": { + "position": [ + 0.02672615461051464, + -0.032636187970638275, + -0.12861770391464233 + ], + "orientation": [ + 0.12710005044937134, + 0.22338685393333435, + -0.7813277840614319, + -0.568744957447052 + ], + "joints": [ + 0.009543794207274914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11486568301916122, + 0.02782783843576908, + 0.022308075800538063 + ], + "orientation": [ + 0.3953024744987488, + -0.6966286897659302, + 0.4696367383003235, + 0.3713296353816986 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.11741732060909271, + 0.028744488954544067, + 0.023336756974458694 + ], + "orientation": [ + 0.40507569909095764, + -0.6923362016677856, + 0.46621909737586975, + 0.3731273114681244 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.11741732060909271, + 0.028744488954544067, + 0.023336756974458694 + ], + "orientation": [ + 0.40507569909095764, + -0.6923362016677856, + 0.46621909737586975, + 0.3731273114681244 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06852081418037415, + 0.11032050848007202, + -0.004016531631350517 + ], + "orientation": [ + 0.049446020275354385, + -0.9609742164611816, + -0.2713424563407898, + -0.021372156217694283 + ], + "joints": [ + -0.005128528922796249 + ] + }, + "fine_grasp": { + "position": [ + -0.06578105688095093, + 0.1056598350405693, + -0.004007098730653524 + ], + "orientation": [ + 0.041181933134794235, + -0.9619578123092651, + -0.26859384775161743, + -0.028260860592126846 + ], + "joints": [ + 0.003852125722914934 + ] + }, + "final_grasp": { + "position": [ + -0.06578105688095093, + 0.1056598350405693, + -0.004007098730653524 + ], + "orientation": [ + 0.041181933134794235, + -0.9619578123092651, + -0.26859384775161743, + -0.028260860592126846 + ], + "joints": [ + 0.012832780368626118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11430934816598892, + 0.02777900919318199, + 0.022046277299523354 + ], + "orientation": [ + 0.39392948150634766, + -0.6971527934074402, + 0.46960893273353577, + 0.3718399107456207 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.1172359436750412, + 0.02885291911661625, + 0.022965608164668083 + ], + "orientation": [ + 0.40439707040786743, + -0.6926119923591614, + 0.4662984013557434, + 0.3732525110244751 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.1172359436750412, + 0.02885291911661625, + 0.022965608164668083 + ], + "orientation": [ + 0.40439707040786743, + -0.6926119923591614, + 0.4662984013557434, + 0.3732525110244751 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07997129112482071, + -0.08930092304944992, + 0.04336713254451752 + ], + "orientation": [ + 0.4907431900501251, + 0.1864856481552124, + -0.7750484347343445, + 0.3517019748687744 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.0801035463809967, + -0.09038514643907547, + 0.04450634494423866 + ], + "orientation": [ + 0.4986545145511627, + 0.18224139511585236, + -0.7693612575531006, + 0.35526737570762634 + ], + "joints": [ + -0.004824791103601456 + ] + }, + "final_grasp": { + "position": [ + 0.0801035463809967, + -0.09038514643907547, + 0.04450634494423866 + ], + "orientation": [ + 0.4986545145511627, + 0.18224139511585236, + -0.7693612575531006, + 0.35526737570762634 + ], + "joints": [ + 0.002136543393135071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11860501766204834, + 0.011431933380663395, + 0.020050067454576492 + ], + "orientation": [ + 0.5170651078224182, + 0.35549867153167725, + -0.42311331629753113, + 0.6536357402801514 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.11585906893014908, + 0.010358743369579315, + 0.01970759406685829 + ], + "orientation": [ + 0.5149678587913513, + 0.3553929924964905, + -0.42039161920547485, + 0.6570956707000732 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + 0.11585906893014908, + 0.010358743369579315, + 0.01970759406685829 + ], + "orientation": [ + 0.5149678587913513, + 0.3553929924964905, + -0.42039161920547485, + 0.6570956707000732 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10881232470273972, + 0.056442439556121826, + 0.0028953240253031254 + ], + "orientation": [ + 0.4521401822566986, + -0.4732728898525238, + -0.27132800221443176, + -0.7056650519371033 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + -0.10778398811817169, + 0.05718863755464554, + 0.004478578455746174 + ], + "orientation": [ + 0.46377915143966675, + -0.45427989959716797, + -0.2760547697544098, + -0.7087541222572327 + ], + "joints": [ + -0.004958962090313435 + ] + }, + "final_grasp": { + "position": [ + -0.10778398811817169, + 0.05718863755464554, + 0.004478578455746174 + ], + "orientation": [ + 0.46377915143966675, + -0.45427989959716797, + -0.2760547697544098, + -0.7087541222572327 + ], + "joints": [ + 0.003516862168908119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12357114255428314, + 0.0004824107454624027, + -0.0008576787076890469 + ], + "orientation": [ + 0.5873975157737732, + 0.3800506889820099, + -0.3838368058204651, + 0.6026566028594971 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.12289723753929138, + -0.0001050875143846497, + 0.0009166243253275752 + ], + "orientation": [ + 0.5858234763145447, + 0.3842885494232178, + -0.36638808250427246, + 0.6122848987579346 + ], + "joints": [ + -0.00493239238858223 + ] + }, + "final_grasp": { + "position": [ + 0.12289723753929138, + -0.0001050875143846497, + 0.0009166243253275752 + ], + "orientation": [ + 0.5858234763145447, + 0.3842885494232178, + -0.36638808250427246, + 0.6122848987579346 + ], + "joints": [ + 0.003570001572370529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05067567899823189, + -0.10071998834609985, + -0.07271933555603027 + ], + "orientation": [ + 0.09221509099006653, + 0.2310493290424347, + 0.9352400898933411, + 0.25186997652053833 + ], + "joints": [ + -0.003376559354364872 + ] + }, + "fine_grasp": { + "position": [ + -0.04868622124195099, + -0.09725294262170792, + -0.07129201292991638 + ], + "orientation": [ + 0.09309378266334534, + 0.23662181198596954, + 0.9344008564949036, + 0.24947668612003326 + ], + "joints": [ + 0.002521976362913847 + ] + }, + "final_grasp": { + "position": [ + -0.04868622124195099, + -0.09725294262170792, + -0.07129201292991638 + ], + "orientation": [ + 0.09309378266334534, + 0.23662181198596954, + 0.9344008564949036, + 0.24947668612003326 + ], + "joints": [ + 0.008420512080192566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07224327325820923, + -0.09686627984046936, + 0.02210293337702751 + ], + "orientation": [ + 0.7744085788726807, + 0.05679377540946007, + -0.5609212517738342, + 0.28711187839508057 + ], + "joints": [ + -0.01107955351471901 + ] + }, + "fine_grasp": { + "position": [ + 0.07176356017589569, + -0.10177461802959442, + 0.024085495620965958 + ], + "orientation": [ + 0.7723603248596191, + 0.07166244834661484, + -0.5560928583145142, + 0.2984704375267029 + ], + "joints": [ + -0.004782467149198055 + ] + }, + "final_grasp": { + "position": [ + 0.07176356017589569, + -0.10177461802959442, + 0.024085495620965958 + ], + "orientation": [ + 0.7723603248596191, + 0.07166244834661484, + -0.5560928583145142, + 0.2984704375267029 + ], + "joints": [ + 0.0015146192163228989 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08967342972755432, + -0.07470894604921341, + 0.01897266134619713 + ], + "orientation": [ + 0.47404584288597107, + 0.29773658514022827, + -0.7763552069664001, + 0.28966543078422546 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.0915839895606041, + -0.07590550184249878, + 0.019791720435023308 + ], + "orientation": [ + 0.47096672654151917, + 0.29739874601364136, + -0.778216540813446, + 0.2900403141975403 + ], + "joints": [ + -0.005354717373847961 + ] + }, + "final_grasp": { + "position": [ + 0.0915839895606041, + -0.07590550184249878, + 0.019791720435023308 + ], + "orientation": [ + 0.47096672654151917, + 0.29739874601364136, + -0.778216540813446, + 0.2900403141975403 + ], + "joints": [ + 0.001606617122888565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08966019749641418, + -0.07473976165056229, + 0.01912722736597061 + ], + "orientation": [ + 0.4761735796928406, + 0.2963807284832001, + -0.7747320532798767, + 0.29190322756767273 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09158528596162796, + -0.07582017034292221, + 0.01988234929740429 + ], + "orientation": [ + 0.47282472252845764, + 0.2960519790649414, + -0.7771943807601929, + 0.2911337614059448 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + 0.09158528596162796, + -0.07582017034292221, + 0.01988234929740429 + ], + "orientation": [ + 0.47282472252845764, + 0.2960519790649414, + -0.7771943807601929, + 0.2911337614059448 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09907755255699158, + 0.06760645657777786, + 0.009445015341043472 + ], + "orientation": [ + 0.4206523299217224, + -0.5033880472183228, + -0.22804860770702362, + -0.7194761037826538 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.09981228411197662, + 0.0691748857498169, + 0.010395089164376259 + ], + "orientation": [ + 0.43020740151405334, + -0.4938034415245056, + -0.22753237187862396, + -0.7206308245658875 + ], + "joints": [ + -0.005943525582551956 + ] + }, + "final_grasp": { + "position": [ + -0.09981228411197662, + 0.0691748857498169, + 0.010395089164376259 + ], + "orientation": [ + 0.43020740151405334, + -0.4938034415245056, + -0.22753237187862396, + -0.7206308245658875 + ], + "joints": [ + 0.0010178089141845703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0637073665857315, + -0.09912612289190292, + 0.014446188695728779 + ], + "orientation": [ + 0.5414260029792786, + -0.28098949790000916, + -0.7844757437705994, + -0.11180585622787476 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.06401445716619492, + -0.1005750298500061, + 0.014893732033669949 + ], + "orientation": [ + 0.536920428276062, + -0.2847602367401123, + -0.7864139676094055, + -0.11036884784698486 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.06401445716619492, + -0.1005750298500061, + 0.014893732033669949 + ], + "orientation": [ + 0.536920428276062, + -0.2847602367401123, + -0.7864139676094055, + -0.11036884784698486 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06528854370117188, + 0.08792664855718613, + -0.04526352882385254 + ], + "orientation": [ + 0.34932464361190796, + 0.7612897157669067, + -0.15076591074466705, + 0.5250520706176758 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.06566870957612991, + 0.08653664588928223, + -0.04539281502366066 + ], + "orientation": [ + 0.3482625186443329, + 0.7575531005859375, + -0.14401985704898834, + 0.5329961776733398 + ], + "joints": [ + -0.004908769391477108 + ] + }, + "final_grasp": { + "position": [ + 0.06566870957612991, + 0.08653664588928223, + -0.04539281502366066 + ], + "orientation": [ + 0.3482625186443329, + 0.7575531005859375, + -0.14401985704898834, + 0.5329961776733398 + ], + "joints": [ + 0.002557395026087761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0661747083067894, + 0.09762147068977356, + 0.019737092778086662 + ], + "orientation": [ + 0.1455858051776886, + -0.9499960541725159, + -0.27224496006965637, + -0.04684935882687569 + ], + "joints": [ + -0.0032741252798587084 + ] + }, + "fine_grasp": { + "position": [ + -0.06666016578674316, + 0.09910564869642258, + 0.021733110770583153 + ], + "orientation": [ + 0.13596583902835846, + -0.9519761800765991, + -0.2707635164260864, + -0.04406660050153732 + ], + "joints": [ + 0.003660640213638544 + ] + }, + "final_grasp": { + "position": [ + -0.06666016578674316, + 0.09910564869642258, + 0.021733110770583153 + ], + "orientation": [ + 0.13596583902835846, + -0.9519761800765991, + -0.2707635164260864, + -0.04406660050153732 + ], + "joints": [ + 0.010595405474305153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10048813372850418, + -0.04458415508270264, + 0.027710983529686928 + ], + "orientation": [ + 0.4361799359321594, + 0.3627338111400604, + 0.7248804569244385, + -0.3907935917377472 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + -0.10302363336086273, + -0.04620823636651039, + 0.028054233640432358 + ], + "orientation": [ + 0.431952565908432, + 0.36144784092903137, + 0.7286735773086548, + -0.3896244466304779 + ], + "joints": [ + -0.005298782140016556 + ] + }, + "final_grasp": { + "position": [ + -0.10302363336086273, + -0.04620823636651039, + 0.028054233640432358 + ], + "orientation": [ + 0.431952565908432, + 0.36144784092903137, + 0.7286735773086548, + -0.3896244466304779 + ], + "joints": [ + 0.0005997531116008759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03890550509095192, + -0.1206434890627861, + 0.00022861793695483357 + ], + "orientation": [ + 0.9781559109687805, + -0.012772250920534134, + 0.11954731494188309, + -0.16957740485668182 + ], + "joints": [ + -0.0026933408807963133 + ] + }, + "fine_grasp": { + "position": [ + -0.03953282907605171, + -0.11745637655258179, + -0.0022663308773189783 + ], + "orientation": [ + 0.9772810339927673, + -0.033076561987400055, + 0.1267816424369812, + -0.16659602522850037 + ], + "joints": [ + 0.002726934850215912 + ] + }, + "final_grasp": { + "position": [ + -0.03953282907605171, + -0.11745637655258179, + -0.0022663308773189783 + ], + "orientation": [ + 0.9772810339927673, + -0.033076561987400055, + 0.1267816424369812, + -0.16659602522850037 + ], + "joints": [ + 0.00814721081405878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0736287534236908, + -0.015571007505059242, + -0.10386138409376144 + ], + "orientation": [ + 0.43169644474983215, + 0.631585419178009, + -0.6182631850242615, + -0.1802457571029663 + ], + "joints": [ + -0.0033044973388314247 + ] + }, + "fine_grasp": { + "position": [ + 0.07182648777961731, + -0.01556040532886982, + -0.09893232583999634 + ], + "orientation": [ + 0.44360479712486267, + 0.6294079422950745, + -0.6128495335578918, + -0.17741473019123077 + ], + "joints": [ + 0.0025408989749848843 + ] + }, + "final_grasp": { + "position": [ + 0.07182648777961731, + -0.01556040532886982, + -0.09893232583999634 + ], + "orientation": [ + 0.44360479712486267, + 0.6294079422950745, + -0.6128495335578918, + -0.17741473019123077 + ], + "joints": [ + 0.008386295288801193 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058168575167655945, + -0.10151012986898422, + 0.037499766796827316 + ], + "orientation": [ + 0.6257553696632385, + -0.3013097047805786, + 0.7182056903839111, + 0.04269795119762421 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.05864598602056503, + -0.10161323100328445, + 0.039291203022003174 + ], + "orientation": [ + 0.6200589537620544, + -0.30504947900772095, + 0.7220194935798645, + 0.03405030816793442 + ], + "joints": [ + -0.0048261890187859535 + ] + }, + "final_grasp": { + "position": [ + 0.05864598602056503, + -0.10161323100328445, + 0.039291203022003174 + ], + "orientation": [ + 0.6200589537620544, + -0.30504947900772095, + 0.7220194935798645, + 0.03405030816793442 + ], + "joints": [ + 0.0026931148022413254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03244965896010399, + 0.12271229177713394, + 0.01567983068525791 + ], + "orientation": [ + 0.13839682936668396, + -0.8218217492103577, + -0.07456174492835999, + -0.5476275086402893 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.03276585787534714, + 0.12264057248830795, + 0.018185513094067574 + ], + "orientation": [ + 0.14267171919345856, + -0.8244630694389343, + -0.06735091656446457, + -0.5434788465499878 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + -0.03276585787534714, + 0.12264057248830795, + 0.018185513094067574 + ], + "orientation": [ + 0.14267171919345856, + -0.8244630694389343, + -0.06735091656446457, + -0.5434788465499878 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09865285456180573, + 0.06741569936275482, + 0.009837694466114044 + ], + "orientation": [ + 0.420590341091156, + -0.5058395266532898, + -0.2271387279033661, + -0.7180795073509216 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.1003749817609787, + 0.06897776573896408, + 0.010233443230390549 + ], + "orientation": [ + 0.42419537901878357, + -0.5054735541343689, + -0.22684501111507416, + -0.7163072228431702 + ], + "joints": [ + -0.005915557965636253 + ] + }, + "final_grasp": { + "position": [ + -0.1003749817609787, + 0.06897776573896408, + 0.010233443230390549 + ], + "orientation": [ + 0.42419537901878357, + -0.5054735541343689, + -0.22684501111507416, + -0.7163072228431702 + ], + "joints": [ + 0.0005143769085407257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13085554540157318, + 0.007024261634796858, + 0.02275327779352665 + ], + "orientation": [ + 0.4624505043029785, + -0.6172362565994263, + -0.5394752621650696, + -0.33782437443733215 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12964479625225067, + 0.006598518230021, + 0.023628829047083855 + ], + "orientation": [ + 0.46095988154411316, + -0.6201695799827576, + -0.533149778842926, + -0.34446650743484497 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.12964479625225067, + 0.006598518230021, + 0.023628829047083855 + ], + "orientation": [ + 0.46095988154411316, + -0.6201695799827576, + -0.533149778842926, + -0.34446650743484497 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008630478754639626, + -0.030325930565595627, + -0.13159295916557312 + ], + "orientation": [ + 0.14364761114120483, + 0.15714628994464874, + -0.7827443480491638, + -0.584791898727417 + ], + "joints": [ + -0.0029725455678999424 + ] + }, + "fine_grasp": { + "position": [ + 0.00809843372553587, + -0.030765218660235405, + -0.13228467106819153 + ], + "orientation": [ + 0.15973000228405, + 0.1637275516986847, + -0.7775248289108276, + -0.5857769846916199 + ], + "joints": [ + 0.003988789394497871 + ] + }, + "final_grasp": { + "position": [ + 0.00809843372553587, + -0.030765218660235405, + -0.13228467106819153 + ], + "orientation": [ + 0.15973000228405, + 0.1637275516986847, + -0.7775248289108276, + -0.5857769846916199 + ], + "joints": [ + 0.010950123891234398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0986451730132103, + 0.06749537587165833, + 0.00973560195416212 + ], + "orientation": [ + 0.41994622349739075, + -0.5061307549476624, + -0.22726386785507202, + -0.7182115912437439 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.10179805755615234, + 0.06879465281963348, + 0.010163971222937107 + ], + "orientation": [ + 0.4184281826019287, + -0.5112808346748352, + -0.22149936854839325, + -0.7172502279281616 + ], + "joints": [ + -0.005410728044807911 + ] + }, + "final_grasp": { + "position": [ + -0.10179805755615234, + 0.06879465281963348, + 0.010163971222937107 + ], + "orientation": [ + 0.4184281826019287, + -0.5112808346748352, + -0.22149936854839325, + -0.7172502279281616 + ], + "joints": [ + 0.0015240367501974106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10520650446414948, + 0.03858319669961929, + 0.024796398356556892 + ], + "orientation": [ + 0.2756761908531189, + 0.6114770770072937, + -0.5303110480308533, + 0.5185255408287048 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.10790296643972397, + 0.03883065655827522, + 0.02592323161661625 + ], + "orientation": [ + 0.2689005732536316, + 0.6149129271507263, + -0.5349988341331482, + 0.5131771564483643 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.10790296643972397, + 0.03883065655827522, + 0.02592323161661625 + ], + "orientation": [ + 0.2689005732536316, + 0.6149129271507263, + -0.5349988341331482, + 0.5131771564483643 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02220514789223671, + 0.034068506211042404, + -0.1278015822172165 + ], + "orientation": [ + 0.19883093237876892, + 0.11415965855121613, + 0.557114839553833, + 0.7981584668159485 + ], + "joints": [ + -0.00298385601490736 + ] + }, + "fine_grasp": { + "position": [ + 0.023463917896151543, + 0.03440985828638077, + -0.1305372267961502 + ], + "orientation": [ + 0.2007766216993332, + 0.10788067430257797, + 0.5611343383789062, + 0.7957252860069275 + ], + "joints": [ + 0.004004048649221659 + ] + }, + "final_grasp": { + "position": [ + 0.023463917896151543, + 0.03440985828638077, + -0.1305372267961502 + ], + "orientation": [ + 0.2007766216993332, + 0.10788067430257797, + 0.5611343383789062, + 0.7957252860069275 + ], + "joints": [ + 0.010991953313350677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04559275135397911, + -0.10867758840322495, + 0.032955825328826904 + ], + "orientation": [ + 0.5715983510017395, + 0.061607684940099716, + -0.787826657295227, + 0.2209276556968689 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.04511541873216629, + -0.10770480334758759, + 0.03363270312547684 + ], + "orientation": [ + 0.5661984086036682, + 0.05104052275419235, + -0.793857753276825, + 0.2158798724412918 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + 0.04511541873216629, + -0.10770480334758759, + 0.03363270312547684 + ], + "orientation": [ + 0.5661984086036682, + 0.05104052275419235, + -0.793857753276825, + 0.2158798724412918 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04543919488787651, + -0.1087496280670166, + 0.032953232526779175 + ], + "orientation": [ + 0.5723487734794617, + 0.060856789350509644, + -0.7874788641929626, + 0.22043225169181824 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.04487334191799164, + -0.10780509561300278, + 0.03363506868481636 + ], + "orientation": [ + 0.566559910774231, + 0.05012144520878792, + -0.7938229441642761, + 0.21527400612831116 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + 0.04487334191799164, + -0.10780509561300278, + 0.03363506868481636 + ], + "orientation": [ + 0.566559910774231, + 0.05012144520878792, + -0.7938229441642761, + 0.21527400612831116 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02347092144191265, + 0.01669580303132534, + -0.1334570050239563 + ], + "orientation": [ + 0.3922276794910431, + 0.3462064862251282, + -0.5374351143836975, + -0.6614090204238892 + ], + "joints": [ + -0.0015215401072055101 + ] + }, + "fine_grasp": { + "position": [ + -0.02446526475250721, + 0.017111441120505333, + -0.13613681495189667 + ], + "orientation": [ + 0.3920326828956604, + 0.3553107976913452, + -0.5307740569114685, + -0.6620751619338989 + ], + "joints": [ + 0.0043504261411726475 + ] + }, + "final_grasp": { + "position": [ + -0.02446526475250721, + 0.017111441120505333, + -0.13613681495189667 + ], + "orientation": [ + 0.3920326828956604, + 0.3553107976913452, + -0.5307740569114685, + -0.6620751619338989 + ], + "joints": [ + 0.010222392156720161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12781743705272675, + -0.014565344899892807, + -0.04818538948893547 + ], + "orientation": [ + 0.004117393866181374, + -0.644548773765564, + -0.7359688878059387, + -0.20709817111492157 + ], + "joints": [ + -0.0040229307487607 + ] + }, + "fine_grasp": { + "position": [ + -0.122442826628685, + -0.013352478854358196, + -0.04772148281335831 + ], + "orientation": [ + 0.015035884454846382, + -0.644807755947113, + -0.7369644641876221, + -0.20218896865844727 + ], + "joints": [ + 0.003416664432734251 + ] + }, + "final_grasp": { + "position": [ + -0.122442826628685, + -0.013352478854358196, + -0.04772148281335831 + ], + "orientation": [ + 0.015035884454846382, + -0.644807755947113, + -0.7369644641876221, + -0.20218896865844727 + ], + "joints": [ + 0.010856259614229202 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07099639624357224, + -0.08902087807655334, + 0.0347558818757534 + ], + "orientation": [ + 0.5401175022125244, + 0.16372838616371155, + 0.7601775527000427, + -0.32186374068260193 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.0738714188337326, + -0.09220504015684128, + 0.03746861219406128 + ], + "orientation": [ + 0.5371425747871399, + 0.1603052318096161, + 0.7641921639442444, + -0.3190459907054901 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + -0.0738714188337326, + -0.09220504015684128, + 0.03746861219406128 + ], + "orientation": [ + 0.5371425747871399, + 0.1603052318096161, + 0.7641921639442444, + -0.3190459907054901 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08093375712633133, + -0.08263631165027618, + -0.01236170344054699 + ], + "orientation": [ + 0.5120657682418823, + -0.2991081774234772, + -0.7581232190132141, + -0.27124181389808655 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.08094669878482819, + -0.08286546915769577, + -0.01341648492962122 + ], + "orientation": [ + 0.4933914244174957, + -0.3039807677268982, + -0.7689357995986938, + -0.2699967920780182 + ], + "joints": [ + -0.004824791103601456 + ] + }, + "final_grasp": { + "position": [ + -0.08094669878482819, + -0.08286546915769577, + -0.01341648492962122 + ], + "orientation": [ + 0.4933914244174957, + -0.3039807677268982, + -0.7689357995986938, + -0.2699967920780182 + ], + "joints": [ + 0.002136543393135071 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05094345286488533, + 0.11194715648889542, + -0.0033199102617800236 + ], + "orientation": [ + 0.046140700578689575, + -0.9746487140655518, + 0.215656578540802, + -0.03772404417395592 + ], + "joints": [ + -0.003586584236472845 + ] + }, + "fine_grasp": { + "position": [ + 0.05001689866185188, + 0.10902721434831619, + -0.004572717007249594 + ], + "orientation": [ + 0.047325875610113144, + -0.9730686545372009, + 0.21664729714393616, + -0.062943235039711 + ], + "joints": [ + 0.003906150348484516 + ] + }, + "final_grasp": { + "position": [ + 0.05001689866185188, + 0.10902721434831619, + -0.004572717007249594 + ], + "orientation": [ + 0.047325875610113144, + -0.9730686545372009, + 0.21664729714393616, + -0.062943235039711 + ], + "joints": [ + 0.011398885399103165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023250877857208252, + 0.027201179414987564, + -0.11803363263607025 + ], + "orientation": [ + 0.6041628122329712, + 0.7875375747680664, + -0.04599316790699959, + 0.11250138282775879 + ], + "joints": [ + -0.003837506752461195 + ] + }, + "fine_grasp": { + "position": [ + 0.024746306240558624, + 0.02783188596367836, + -0.11306411027908325 + ], + "orientation": [ + 0.6030749082565308, + 0.7864218354225159, + -0.04114150255918503, + 0.12707732617855072 + ], + "joints": [ + 0.002061028964817524 + ] + }, + "final_grasp": { + "position": [ + 0.024746306240558624, + 0.02783188596367836, + -0.11306411027908325 + ], + "orientation": [ + 0.6030749082565308, + 0.7864218354225159, + -0.04114150255918503, + 0.12707732617855072 + ], + "joints": [ + 0.00795956514775753 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1043366864323616, + -0.056296899914741516, + 0.0445408932864666 + ], + "orientation": [ + 0.4877963066101074, + 0.2777426540851593, + -0.6819514632225037, + 0.46888792514801025 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.10477094352245331, + -0.05637257546186447, + 0.045436982065439224 + ], + "orientation": [ + 0.4922401010990143, + 0.27250897884368896, + -0.6831919550895691, + 0.4654969573020935 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + 0.10477094352245331, + -0.05637257546186447, + 0.045436982065439224 + ], + "orientation": [ + 0.4922401010990143, + 0.27250897884368896, + -0.6831919550895691, + 0.4654969573020935 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06847314536571503, + -0.09522206336259842, + 0.01198803074657917 + ], + "orientation": [ + 0.7678992748260498, + 0.14095363020896912, + 0.5522292852401733, + -0.292413592338562 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.07092837989330292, + -0.09624969959259033, + 0.013676663860678673 + ], + "orientation": [ + 0.7690915465354919, + 0.1311769187450409, + 0.5509229898452759, + -0.29626816511154175 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + -0.07092837989330292, + -0.09624969959259033, + 0.013676663860678673 + ], + "orientation": [ + 0.7690915465354919, + 0.1311769187450409, + 0.5509229898452759, + -0.29626816511154175 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05014273151755333, + 0.1120496317744255, + -0.0033208064269274473 + ], + "orientation": [ + 0.04645823687314987, + -0.9752437472343445, + 0.21274349093437195, + -0.03849180042743683 + ], + "joints": [ + -0.0036882420536130667 + ] + }, + "fine_grasp": { + "position": [ + 0.049384746700525284, + 0.10917644947767258, + -0.004432684741914272 + ], + "orientation": [ + 0.04790200665593147, + -0.9736334085464478, + 0.21367986500263214, + -0.06390837579965591 + ], + "joints": [ + 0.003804492764174938 + ] + }, + "final_grasp": { + "position": [ + 0.049384746700525284, + 0.10917644947767258, + -0.004432684741914272 + ], + "orientation": [ + 0.04790200665593147, + -0.9736334085464478, + 0.21367986500263214, + -0.06390837579965591 + ], + "joints": [ + 0.011297227814793587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06306050717830658, + -0.09961192309856415, + 0.0007093799649737775 + ], + "orientation": [ + 0.5510867238044739, + 0.2096399962902069, + -0.7927640080451965, + 0.15453040599822998 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06476780027151108, + -0.10098250955343246, + 0.0009717073990032077 + ], + "orientation": [ + 0.5388852953910828, + 0.20763902366161346, + -0.8023884296417236, + 0.15053780376911163 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + 0.06476780027151108, + -0.10098250955343246, + 0.0009717073990032077 + ], + "orientation": [ + 0.5388852953910828, + 0.20763902366161346, + -0.8023884296417236, + 0.15053780376911163 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06347598880529404, + -0.09932474046945572, + 0.0005973643274046481 + ], + "orientation": [ + 0.551207423210144, + 0.2114516645669937, + -0.7920382022857666, + 0.15535108745098114 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.06518153101205826, + -0.10066043585538864, + 0.000865211128257215 + ], + "orientation": [ + 0.5389130711555481, + 0.2094838172197342, + -0.801736056804657, + 0.15135572850704193 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + 0.06518153101205826, + -0.10066043585538864, + 0.000865211128257215 + ], + "orientation": [ + 0.5389130711555481, + 0.2094838172197342, + -0.801736056804657, + 0.15135572850704193 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034271158277988434, + -0.11443561315536499, + 0.04258604347705841 + ], + "orientation": [ + 0.6575480699539185, + -0.0040756892412900925, + 0.7124633193016052, + -0.2449694573879242 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.03385554626584053, + -0.1148516908288002, + 0.04445129632949829 + ], + "orientation": [ + 0.6592423319816589, + -0.014858514070510864, + 0.7095492482185364, + -0.24843233823776245 + ], + "joints": [ + -0.005407856777310371 + ] + }, + "final_grasp": { + "position": [ + -0.03385554626584053, + -0.1148516908288002, + 0.04445129632949829 + ], + "orientation": [ + 0.6592423319816589, + -0.014858514070510864, + 0.7095492482185364, + -0.24843233823776245 + ], + "joints": [ + 0.0015003383159637451 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11455152183771133, + -0.023574866354465485, + 0.027436554431915283 + ], + "orientation": [ + 0.027761360630393028, + -0.5972859263420105, + 0.7613592743873596, + -0.25062084197998047 + ], + "joints": [ + -0.003037121379747987 + ] + }, + "fine_grasp": { + "position": [ + 0.11597970873117447, + -0.02362593077123165, + 0.027562154456973076 + ], + "orientation": [ + 0.03243633732199669, + -0.6000717282295227, + 0.7606033682823181, + -0.2456505000591278 + ], + "joints": [ + 0.003950783517211676 + ] + }, + "final_grasp": { + "position": [ + 0.11597970873117447, + -0.02362593077123165, + 0.027562154456973076 + ], + "orientation": [ + 0.03243633732199669, + -0.6000717282295227, + 0.7606033682823181, + -0.2456505000591278 + ], + "joints": [ + 0.010938688181340694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11218109726905823, + -0.029817938804626465, + 0.010630730539560318 + ], + "orientation": [ + 0.47777318954467773, + -0.5312253832817078, + 0.6057191491127014, + 0.3501952290534973 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.11250627040863037, + -0.027895471081137657, + 0.009729177691042423 + ], + "orientation": [ + 0.4624350666999817, + -0.5400550961494446, + 0.6233081221580505, + 0.3255479335784912 + ], + "joints": [ + -0.0049058981239795685 + ] + }, + "final_grasp": { + "position": [ + 0.11250627040863037, + -0.027895471081137657, + 0.009729177691042423 + ], + "orientation": [ + 0.4624350666999817, + -0.5400550961494446, + 0.6233081221580505, + 0.3255479335784912 + ], + "joints": [ + 0.0025336965918540955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09739802032709122, + -0.06975431740283966, + 0.007539319805800915 + ], + "orientation": [ + 0.5053939819335938, + 0.342260479927063, + -0.7401964664459229, + 0.28203561902046204 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.09932085871696472, + -0.07157236337661743, + 0.009800535626709461 + ], + "orientation": [ + 0.4912084639072418, + 0.3399541676044464, + -0.7493780255317688, + 0.2856188416481018 + ], + "joints": [ + -0.005384158343076706 + ] + }, + "final_grasp": { + "position": [ + 0.09932085871696472, + -0.07157236337661743, + 0.009800535626709461 + ], + "orientation": [ + 0.4912084639072418, + 0.3399541676044464, + -0.7493780255317688, + 0.2856188416481018 + ], + "joints": [ + 0.0015771761536598206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07855422049760818, + -0.09775103628635406, + -0.008562599308788776 + ], + "orientation": [ + 0.4930902421474457, + 0.315914124250412, + 0.7864643931388855, + -0.19630077481269836 + ], + "joints": [ + -0.010335670784115791 + ] + }, + "fine_grasp": { + "position": [ + -0.08255968987941742, + -0.10060834884643555, + -0.006911383476108313 + ], + "orientation": [ + 0.5018923878669739, + 0.3015865683555603, + 0.7888675928115845, + -0.1866474598646164 + ], + "joints": [ + -0.0055530741810798645 + ] + }, + "final_grasp": { + "position": [ + -0.08255968987941742, + -0.10060834884643555, + -0.006911383476108313 + ], + "orientation": [ + 0.5018923878669739, + 0.3015865683555603, + 0.7888675928115845, + -0.1866474598646164 + ], + "joints": [ + -0.0007704775780439377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08581040799617767, + 0.08498857915401459, + 0.03350250795483589 + ], + "orientation": [ + 0.3545033931732178, + -0.7311843037605286, + 0.21308375895023346, + 0.5424870252609253 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.08585412800312042, + 0.08408458530902863, + 0.036798883229494095 + ], + "orientation": [ + 0.3540748953819275, + -0.7436038851737976, + 0.20687919855117798, + 0.5280959010124207 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.08585412800312042, + 0.08408458530902863, + 0.036798883229494095 + ], + "orientation": [ + 0.3540748953819275, + -0.7436038851737976, + 0.20687919855117798, + 0.5280959010124207 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07625563442707062, + 0.09059767425060272, + 0.024448838084936142 + ], + "orientation": [ + 0.2787403464317322, + -0.771993100643158, + -0.20612938702106476, + -0.5327675342559814 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.0767095759510994, + 0.08973611146211624, + 0.024631090462207794 + ], + "orientation": [ + 0.2735078036785126, + -0.7793904542922974, + -0.20675045251846313, + -0.5244026780128479 + ], + "joints": [ + -0.004290520213544369 + ] + }, + "final_grasp": { + "position": [ + -0.0767095759510994, + 0.08973611146211624, + 0.024631090462207794 + ], + "orientation": [ + 0.2735078036785126, + -0.7793904542922974, + -0.20675045251846313, + -0.5244026780128479 + ], + "joints": [ + 0.0031756442040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1008709967136383, + -0.05395016819238663, + 0.0057663037441670895 + ], + "orientation": [ + 0.10219468921422958, + -0.5187675952911377, + -0.8472833037376404, + 0.05047309026122093 + ], + "joints": [ + -0.002742827171459794 + ] + }, + "fine_grasp": { + "position": [ + -0.10420165210962296, + -0.052964869886636734, + 0.005335184279829264 + ], + "orientation": [ + 0.1361948400735855, + -0.528163731098175, + -0.8370178937911987, + 0.04353190213441849 + ], + "joints": [ + 0.004696768242865801 + ] + }, + "final_grasp": { + "position": [ + -0.10420165210962296, + -0.052964869886636734, + 0.005335184279829264 + ], + "orientation": [ + 0.1361948400735855, + -0.528163731098175, + -0.8370178937911987, + 0.04353190213441849 + ], + "joints": [ + 0.012136363424360752 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05128859728574753, + -0.10669437795877457, + 0.02066757343709469 + ], + "orientation": [ + 0.7861936688423157, + 0.0431416817009449, + -0.5708739161491394, + 0.23268277943134308 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.05372239276766777, + -0.11083683371543884, + 0.022533301264047623 + ], + "orientation": [ + 0.7835076451301575, + 0.04002077877521515, + -0.5735012888908386, + 0.23581857979297638 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + 0.05372239276766777, + -0.11083683371543884, + 0.022533301264047623 + ], + "orientation": [ + 0.7835076451301575, + 0.04002077877521515, + -0.5735012888908386, + 0.23581857979297638 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11697942763566971, + 0.01154346577823162, + 0.030224954709410667 + ], + "orientation": [ + 0.45057857036590576, + 0.4007681608200073, + 0.4814852178096771, + -0.6360312700271606 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11738155037164688, + 0.012136652134358883, + 0.030894620344042778 + ], + "orientation": [ + 0.4493696093559265, + 0.39178895950317383, + 0.4738978147506714, + -0.6480658650398254 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.11738155037164688, + 0.012136652134358883, + 0.030894620344042778 + ], + "orientation": [ + 0.4493696093559265, + 0.39178895950317383, + 0.4738978147506714, + -0.6480658650398254 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05026125907897949, + 0.11720913648605347, + -0.023379789665341377 + ], + "orientation": [ + 0.0911625400185585, + -0.7641972899436951, + 0.23585648834705353, + 0.5933495163917542 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0493432953953743, + 0.11279350519180298, + -0.022615190595388412 + ], + "orientation": [ + 0.08650239557027817, + -0.7575796246528625, + 0.22551116347312927, + 0.6064116358757019 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.0493432953953743, + 0.11279350519180298, + -0.022615190595388412 + ], + "orientation": [ + 0.08650239557027817, + -0.7575796246528625, + 0.22551116347312927, + 0.6064116358757019 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05030440166592598, + 0.11727636307477951, + -0.023435134440660477 + ], + "orientation": [ + 0.09095706790685654, + -0.7635669708251953, + 0.2358030527830124, + 0.59421306848526 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.04964881017804146, + 0.11294890940189362, + -0.022774847224354744 + ], + "orientation": [ + 0.08580543100833893, + -0.7585716247558594, + 0.2243419587612152, + 0.6057037711143494 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.04964881017804146, + 0.11294890940189362, + -0.022774847224354744 + ], + "orientation": [ + 0.08580543100833893, + -0.7585716247558594, + 0.2243419587612152, + 0.6057037711143494 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11702373623847961, + 0.01153686922043562, + 0.030223408713936806 + ], + "orientation": [ + 0.44983553886413574, + 0.4017699360847473, + 0.48201000690460205, + -0.635527491569519 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.1172972321510315, + 0.012182456441223621, + 0.030894208699464798 + ], + "orientation": [ + 0.44905656576156616, + 0.39275047183036804, + 0.4741794168949127, + -0.6474945545196533 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.1172972321510315, + 0.012182456441223621, + 0.030894208699464798 + ], + "orientation": [ + 0.44905656576156616, + 0.39275047183036804, + 0.4741794168949127, + -0.6474945545196533 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04954364150762558, + -0.1160276010632515, + -0.033103346824645996 + ], + "orientation": [ + 0.9714754223823547, + 0.1120109036564827, + 0.05782061070203781, + -0.20086261630058289 + ], + "joints": [ + -0.0025981722865253687 + ] + }, + "fine_grasp": { + "position": [ + -0.049515437334775925, + -0.11145409196615219, + -0.03518705442547798 + ], + "orientation": [ + 0.9721283912658691, + 0.095779649913311, + 0.07587752491235733, + -0.20008805394172668 + ], + "joints": [ + 0.003300363663583994 + ] + }, + "final_grasp": { + "position": [ + -0.049515437334775925, + -0.11145409196615219, + -0.03518705442547798 + ], + "orientation": [ + 0.9721283912658691, + 0.095779649913311, + 0.07587752491235733, + -0.20008805394172668 + ], + "joints": [ + 0.009198899380862713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046749383211135864, + 0.11178410053253174, + -0.0017084700521081686 + ], + "orientation": [ + 0.20114310085773468, + -0.05794283747673035, + 0.05507972091436386, + -0.9762941598892212 + ], + "joints": [ + -0.0032833002042025328 + ] + }, + "fine_grasp": { + "position": [ + -0.04684199020266533, + 0.11231189966201782, + -0.000757915957365185 + ], + "orientation": [ + 0.20104120671749115, + -0.07575741410255432, + 0.04537571966648102, + -0.9755942821502686 + ], + "joints": [ + 0.0036780349910259247 + ] + }, + "final_grasp": { + "position": [ + -0.04684199020266533, + 0.11231189966201782, + -0.000757915957365185 + ], + "orientation": [ + 0.20104120671749115, + -0.07575741410255432, + 0.04537571966648102, + -0.9755942821502686 + ], + "joints": [ + 0.010639370419085026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0743367001414299, + -0.09483344107866287, + 0.023234914988279343 + ], + "orientation": [ + 0.72211754322052, + 0.12300968170166016, + -0.6017369031906128, + 0.3183199465274811 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.07456280291080475, + -0.09493483603000641, + 0.02512553706765175 + ], + "orientation": [ + 0.7284753918647766, + 0.11412659287452698, + -0.5907033681869507, + 0.3276710510253906 + ], + "joints": [ + -0.004377369768917561 + ] + }, + "final_grasp": { + "position": [ + 0.07456280291080475, + -0.09493483603000641, + 0.02512553706765175 + ], + "orientation": [ + 0.7284753918647766, + 0.11412659287452698, + -0.5907033681869507, + 0.3276710510253906 + ], + "joints": [ + 0.0036201942712068558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09876008331775665, + 0.07100585103034973, + 0.030292684212327003 + ], + "orientation": [ + 0.1868416965007782, + 0.6556882262229919, + -0.41857239603996277, + 0.5999668836593628 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09650859981775284, + 0.07014178484678268, + 0.030391262844204903 + ], + "orientation": [ + 0.19174152612686157, + 0.657617449760437, + -0.43596169352531433, + 0.5837053060531616 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.09650859981775284, + 0.07014178484678268, + 0.030391262844204903 + ], + "orientation": [ + 0.19174152612686157, + 0.657617449760437, + -0.43596169352531433, + 0.5837053060531616 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046872131526470184, + -0.10890786349773407, + 0.009705212898552418 + ], + "orientation": [ + 0.5933458805084229, + -0.19108407199382782, + 0.7776955366134644, + 0.08134625107049942 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.04674648866057396, + -0.11059635132551193, + 0.011087295599281788 + ], + "orientation": [ + 0.5705665946006775, + -0.2049785852432251, + 0.7914372682571411, + 0.07787446677684784 + ], + "joints": [ + -0.005381287075579166 + ] + }, + "final_grasp": { + "position": [ + 0.04674648866057396, + -0.11059635132551193, + 0.011087295599281788 + ], + "orientation": [ + 0.5705665946006775, + -0.2049785852432251, + 0.7914372682571411, + 0.07787446677684784 + ], + "joints": [ + 0.001553477719426155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07392595708370209, + -0.09491598606109619, + 0.023141061887145042 + ], + "orientation": [ + 0.7216810584068298, + 0.1233440637588501, + -0.6027140021324158, + 0.3173305094242096 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.0742395892739296, + -0.09502431750297546, + 0.02503851056098938 + ], + "orientation": [ + 0.7284139394760132, + 0.11467275023460388, + -0.5910528302192688, + 0.32698607444763184 + ], + "joints": [ + -0.004377369768917561 + ] + }, + "final_grasp": { + "position": [ + 0.0742395892739296, + -0.09502431750297546, + 0.02503851056098938 + ], + "orientation": [ + 0.7284139394760132, + 0.11467275023460388, + -0.5910528302192688, + 0.32698607444763184 + ], + "joints": [ + 0.0036201942712068558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04871613159775734, + -0.09327797591686249, + -0.0876605436205864 + ], + "orientation": [ + 0.9387408494949341, + 0.27323150634765625, + -0.010393804870545864, + -0.20976677536964417 + ], + "joints": [ + -0.0036766305565834045 + ] + }, + "fine_grasp": { + "position": [ + -0.047566968947649, + -0.0894639641046524, + -0.08438196033239365 + ], + "orientation": [ + 0.936914324760437, + 0.2782570719718933, + -0.009352910332381725, + -0.21136948466300964 + ], + "joints": [ + 0.0037629646249115467 + ] + }, + "final_grasp": { + "position": [ + -0.047566968947649, + -0.0894639641046524, + -0.08438196033239365 + ], + "orientation": [ + 0.936914324760437, + 0.2782570719718933, + -0.009352910332381725, + -0.21136948466300964 + ], + "joints": [ + 0.011202559806406498 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027061589062213898, + 0.11490011215209961, + 0.0334630087018013 + ], + "orientation": [ + 0.17021360993385315, + -0.766528844833374, + 0.015016568824648857, + -0.6190601587295532 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.027058275416493416, + 0.11476060748100281, + 0.03350156173110008 + ], + "orientation": [ + 0.16889908909797668, + -0.7762344479560852, + 0.01812414452433586, + -0.6071282625198364 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.027058275416493416, + 0.11476060748100281, + 0.03350156173110008 + ], + "orientation": [ + 0.16889908909797668, + -0.7762344479560852, + 0.01812414452433586, + -0.6071282625198364 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07120264321565628, + -0.08519746363162994, + -0.034429457038640976 + ], + "orientation": [ + 0.6731835603713989, + -0.11748896539211273, + -0.646086573600769, + -0.3399888575077057 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.07328969985246658, + -0.08454353362321854, + -0.03569178283214569 + ], + "orientation": [ + 0.6848093867301941, + -0.09290221333503723, + -0.6355586647987366, + -0.3441954255104065 + ], + "joints": [ + -0.005437297746539116 + ] + }, + "final_grasp": { + "position": [ + -0.07328969985246658, + -0.08454353362321854, + -0.03569178283214569 + ], + "orientation": [ + 0.6848093867301941, + -0.09290221333503723, + -0.6355586647987366, + -0.3441954255104065 + ], + "joints": [ + 0.0014708973467350006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10029961913824081, + 0.06664306670427322, + 0.02268238365650177 + ], + "orientation": [ + 0.21757522225379944, + 0.6697968244552612, + -0.432956337928772, + 0.5626564025878906 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09933819621801376, + 0.06687291711568832, + 0.02346312254667282 + ], + "orientation": [ + 0.21690857410430908, + 0.6704993844032288, + -0.4408699572086334, + 0.5558910965919495 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.09933819621801376, + 0.06687291711568832, + 0.02346312254667282 + ], + "orientation": [ + 0.21690857410430908, + 0.6704993844032288, + -0.4408699572086334, + 0.5558910965919495 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10009919852018356, + 0.0665530264377594, + 0.02291318029165268 + ], + "orientation": [ + 0.21917256712913513, + 0.668346107006073, + -0.43482232093811035, + 0.5623223185539246 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09985928982496262, + 0.06686275452375412, + 0.02351565659046173 + ], + "orientation": [ + 0.21639887988567352, + 0.6706002950668335, + -0.4404669404029846, + 0.5562873482704163 + ], + "joints": [ + -0.004795350134372711 + ] + }, + "final_grasp": { + "position": [ + 0.09985928982496262, + 0.06686275452375412, + 0.02351565659046173 + ], + "orientation": [ + 0.21639887988567352, + 0.6706002950668335, + -0.4404669404029846, + 0.5562873482704163 + ], + "joints": [ + 0.0021659843623638153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07353761047124863, + -0.09465768933296204, + 0.023714762181043625 + ], + "orientation": [ + 0.7156482934951782, + 0.12683652341365814, + -0.608033299446106, + 0.3194613456726074 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.07392647117376328, + -0.09459451586008072, + 0.024984927847981453 + ], + "orientation": [ + 0.7256320118904114, + 0.11796583235263824, + -0.5937670469284058, + 0.32708221673965454 + ], + "joints": [ + -0.004908769391477108 + ] + }, + "final_grasp": { + "position": [ + 0.07392647117376328, + -0.09459451586008072, + 0.024984927847981453 + ], + "orientation": [ + 0.7256320118904114, + 0.11796583235263824, + -0.5937670469284058, + 0.32708221673965454 + ], + "joints": [ + 0.002557395026087761 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051951006054878235, + -0.10707977414131165, + 0.02955256588757038 + ], + "orientation": [ + 0.6330073475837708, + -0.2566317021846771, + -0.7284723520278931, + -0.05262903869152069 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.052324723452329636, + -0.10672303289175034, + 0.03079354204237461 + ], + "orientation": [ + 0.6204779744148254, + -0.27247342467308044, + -0.7334819436073303, + -0.05262632295489311 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.052324723452329636, + -0.10672303289175034, + 0.03079354204237461 + ], + "orientation": [ + 0.6204779744148254, + -0.27247342467308044, + -0.7334819436073303, + -0.05262632295489311 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00941244326531887, + 0.1291685402393341, + 0.0020984550938010216 + ], + "orientation": [ + 0.051042474806308746, + -0.820780336856842, + -0.03640972077846527, + -0.5677925944328308 + ], + "joints": [ + -0.011697802692651749 + ] + }, + "fine_grasp": { + "position": [ + -0.010002117604017258, + 0.1302466094493866, + 0.004732104949653149 + ], + "orientation": [ + 0.06292863190174103, + -0.8173157572746277, + -0.03541526570916176, + -0.5716474652290344 + ], + "joints": [ + -0.004816177301108837 + ] + }, + "final_grasp": { + "position": [ + -0.010002117604017258, + 0.1302466094493866, + 0.004732104949653149 + ], + "orientation": [ + 0.06292863190174103, + -0.8173157572746277, + -0.03541526570916176, + -0.5716474652290344 + ], + "joints": [ + 0.0020654480904340744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024033427238464355, + -0.10987960547208786, + 0.02404666133224964 + ], + "orientation": [ + 0.6030615568161011, + -0.17703086137771606, + -0.7777552604675293, + -0.008572638966143131 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.026839572936296463, + -0.1127316802740097, + 0.024590838700532913 + ], + "orientation": [ + 0.6013067364692688, + -0.17072364687919617, + -0.7805635929107666, + 0.002010549418628216 + ], + "joints": [ + -0.004792478866875172 + ] + }, + "final_grasp": { + "position": [ + -0.026839572936296463, + -0.1127316802740097, + 0.024590838700532913 + ], + "orientation": [ + 0.6013067364692688, + -0.17072364687919617, + -0.7805635929107666, + 0.002010549418628216 + ], + "joints": [ + 0.00214228592813015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04704338312149048, + 0.10897046327590942, + -0.0030957325361669064 + ], + "orientation": [ + 0.05204590782523155, + -0.9780113697052002, + 0.20064519345760345, + 0.022947261109948158 + ], + "joints": [ + -0.003447141032665968 + ] + }, + "fine_grasp": { + "position": [ + 0.0492260716855526, + 0.11243101209402084, + -0.003885391168296337 + ], + "orientation": [ + 0.06684927642345428, + -0.975706934928894, + 0.20280320942401886, + 0.04897015914320946 + ], + "joints": [ + 0.003965884447097778 + ] + }, + "final_grasp": { + "position": [ + 0.0492260716855526, + 0.11243101209402084, + -0.003885391168296337 + ], + "orientation": [ + 0.06684927642345428, + -0.975706934928894, + 0.20280320942401886, + 0.04897015914320946 + ], + "joints": [ + 0.011378910392522812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0831364169716835, + 0.08482732623815536, + 0.02263041026890278 + ], + "orientation": [ + 0.34428542852401733, + -0.6178905367851257, + -0.15814150869846344, + -0.6889631748199463 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08374014496803284, + 0.0867098867893219, + 0.025503652170300484 + ], + "orientation": [ + 0.36489999294281006, + -0.5901755690574646, + -0.15008699893951416, + -0.7042830586433411 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + -0.08374014496803284, + 0.0867098867893219, + 0.025503652170300484 + ], + "orientation": [ + 0.36489999294281006, + -0.5901755690574646, + -0.15008699893951416, + -0.7042830586433411 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07921533286571503, + -0.09747316688299179, + -0.008645039051771164 + ], + "orientation": [ + 0.49537524580955505, + 0.31659597158432007, + 0.7849274277687073, + -0.1955997347831726 + ], + "joints": [ + -0.01065942645072937 + ] + }, + "fine_grasp": { + "position": [ + -0.08315009623765945, + -0.10035869479179382, + -0.006987669039517641 + ], + "orientation": [ + 0.5042474865913391, + 0.3023816645145416, + 0.7870410680770874, + -0.1867247074842453 + ], + "joints": [ + -0.005345430225133896 + ] + }, + "final_grasp": { + "position": [ + -0.08315009623765945, + -0.10035869479179382, + -0.006987669039517641 + ], + "orientation": [ + 0.5042474865913391, + 0.3023816645145416, + 0.7870410680770874, + -0.1867247074842453 + ], + "joints": [ + -3.143399953842163e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11343321204185486, + 0.038048069924116135, + 0.006314641796052456 + ], + "orientation": [ + 0.34040287137031555, + 0.6282957792282104, + -0.4887068569660187, + 0.500535786151886 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.11335597187280655, + 0.03819330409169197, + 0.008406705223023891 + ], + "orientation": [ + 0.31858569383621216, + 0.639417290687561, + -0.503866970539093, + 0.48555830121040344 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + 0.11335597187280655, + 0.03819330409169197, + 0.008406705223023891 + ], + "orientation": [ + 0.31858569383621216, + 0.639417290687561, + -0.503866970539093, + 0.48555830121040344 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1168973445892334, + 0.007212286349385977, + 0.03480906039476395 + ], + "orientation": [ + 0.3806944787502289, + 0.4607224762439728, + -0.5893617868423462, + 0.5435613989830017 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.11859238147735596, + 0.006752846762537956, + 0.03467043489217758 + ], + "orientation": [ + 0.3727560341358185, + 0.46446484327316284, + -0.5971459746360779, + 0.537347137928009 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + 0.11859238147735596, + 0.006752846762537956, + 0.03467043489217758 + ], + "orientation": [ + 0.3727560341358185, + 0.46446484327316284, + -0.5971459746360779, + 0.537347137928009 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04748537763953209, + -0.09745144844055176, + -0.07422890514135361 + ], + "orientation": [ + 0.020901178941130638, + -0.20007328689098358, + 0.949690043926239, + 0.2400471419095993 + ], + "joints": [ + -0.0034483089111745358 + ] + }, + "fine_grasp": { + "position": [ + 0.04929228872060776, + -0.09868253767490387, + -0.07442185282707214 + ], + "orientation": [ + 0.0356694795191288, + -0.19962963461875916, + 0.9493074417114258, + 0.2401898205280304 + ], + "joints": [ + 0.003486456349492073 + ] + }, + "final_grasp": { + "position": [ + 0.04929228872060776, + -0.09868253767490387, + -0.07442185282707214 + ], + "orientation": [ + 0.0356694795191288, + -0.19962963461875916, + 0.9493074417114258, + 0.2401898205280304 + ], + "joints": [ + 0.01042122207581997 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1135476678609848, + 0.03818405419588089, + 0.006480935495346785 + ], + "orientation": [ + 0.34052351117134094, + 0.6275184154510498, + -0.48835334181785583, + 0.5017722249031067 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.11330875009298325, + 0.03832300752401352, + 0.008482337929308414 + ], + "orientation": [ + 0.31915345788002014, + 0.6387013792991638, + -0.5029466152191162, + 0.4870794415473938 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + 0.11330875009298325, + 0.03832300752401352, + 0.008482337929308414 + ], + "orientation": [ + 0.31915345788002014, + 0.6387013792991638, + -0.5029466152191162, + 0.4870794415473938 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04538990184664726, + -0.11340074986219406, + -0.023348558694124222 + ], + "orientation": [ + 0.05343561992049217, + -0.1884986162185669, + -0.9803235530853271, + -0.02405378967523575 + ], + "joints": [ + -0.003466665279120207 + ] + }, + "fine_grasp": { + "position": [ + -0.045006439089775085, + -0.11074477434158325, + -0.02260291948914528 + ], + "orientation": [ + 0.06737996637821198, + -0.18847514688968658, + -0.9792846441268921, + -0.03063899651169777 + ], + "joints": [ + 0.004052639007568359 + ] + }, + "final_grasp": { + "position": [ + -0.045006439089775085, + -0.11074477434158325, + -0.02260291948914528 + ], + "orientation": [ + 0.06737996637821198, + -0.18847514688968658, + -0.9792846441268921, + -0.03063899651169777 + ], + "joints": [ + 0.011571943759918213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047870177775621414, + -0.11611320078372955, + 0.009714026004076004 + ], + "orientation": [ + 0.8311198353767395, + 0.05280451476573944, + -0.5198674201965332, + 0.19023497402668 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + 0.04898887127637863, + -0.11669857054948807, + 0.010261433199048042 + ], + "orientation": [ + 0.8261272311210632, + 0.047605156898498535, + -0.5295058488845825, + 0.1867375671863556 + ], + "joints": [ + -0.004904424771666527 + ] + }, + "final_grasp": { + "position": [ + 0.04898887127637863, + -0.11669857054948807, + 0.010261433199048042 + ], + "orientation": [ + 0.8261272311210632, + 0.047605156898498535, + -0.5295058488845825, + 0.1867375671863556 + ], + "joints": [ + 0.0030665695667266846 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09124019742012024, + -0.07590863853693008, + 0.015387040562927723 + ], + "orientation": [ + 0.7332423329353333, + -0.3002946674823761, + 0.5393644571304321, + 0.28506967425346375 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09156157076358795, + -0.07533061504364014, + 0.016651490703225136 + ], + "orientation": [ + 0.7484212517738342, + -0.2960343062877655, + 0.5195485353469849, + 0.2868775427341461 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.09156157076358795, + -0.07533061504364014, + 0.016651490703225136 + ], + "orientation": [ + 0.7484212517738342, + -0.2960343062877655, + 0.5195485353469849, + 0.2868775427341461 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04504292830824852, + 0.1027459129691124, + -0.07293776422739029 + ], + "orientation": [ + 0.21205809712409973, + 0.9592746496200562, + 0.18238811194896698, + -0.039471302181482315 + ], + "joints": [ + -0.0031456155702471733 + ] + }, + "fine_grasp": { + "position": [ + -0.04566194489598274, + 0.10215980559587479, + -0.07230468094348907 + ], + "orientation": [ + 0.21163882315158844, + 0.9583551287651062, + 0.18971259891986847, + -0.02781338058412075 + ], + "joints": [ + 0.0037891496904194355 + ] + }, + "final_grasp": { + "position": [ + -0.04566194489598274, + 0.10215980559587479, + -0.07230468094348907 + ], + "orientation": [ + 0.21163882315158844, + 0.9583551287651062, + 0.18971259891986847, + -0.02781338058412075 + ], + "joints": [ + 0.010723914951086044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0622154176235199, + 0.10102258622646332, + 0.032769471406936646 + ], + "orientation": [ + 0.11032948642969131, + 0.6259675621986389, + -0.29402029514312744, + 0.7138235569000244 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.061807483434677124, + 0.09912075847387314, + 0.03337753191590309 + ], + "orientation": [ + 0.10359334200620651, + 0.6231834292411804, + -0.2993021607398987, + 0.7150728106498718 + ], + "joints": [ + -0.005409330129623413 + ] + }, + "final_grasp": { + "position": [ + 0.061807483434677124, + 0.09912075847387314, + 0.03337753191590309 + ], + "orientation": [ + 0.10359334200620651, + 0.6231834292411804, + -0.2993021607398987, + 0.7150728106498718 + ], + "joints": [ + 0.000967465341091156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06117570772767067, + -0.10694458335638046, + 0.017997602000832558 + ], + "orientation": [ + 0.7446324229240417, + -0.24661900103092194, + -0.5969045758247375, + -0.16854219138622284 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.06191001459956169, + -0.109953872859478, + 0.018098967149853706 + ], + "orientation": [ + 0.7397433519363403, + -0.2576725482940674, + -0.5980010628700256, + -0.16964463889598846 + ], + "joints": [ + -0.005266469903290272 + ] + }, + "final_grasp": { + "position": [ + -0.06191001459956169, + -0.109953872859478, + 0.018098967149853706 + ], + "orientation": [ + 0.7397433519363403, + -0.2576725482940674, + -0.5980010628700256, + -0.16964463889598846 + ], + "joints": [ + 0.0006054956465959549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014878511428833008, + 0.01959787867963314, + -0.13790133595466614 + ], + "orientation": [ + 0.3237738013267517, + 0.47406744956970215, + 0.5673707127571106, + 0.5903567671775818 + ], + "joints": [ + -0.002634431002661586 + ] + }, + "fine_grasp": { + "position": [ + -0.01585325226187706, + 0.01945977285504341, + -0.13826106488704681 + ], + "orientation": [ + 0.3370059132575989, + 0.48671308159828186, + 0.5562618970870972, + 0.5831896066665649 + ], + "joints": [ + 0.004273764789104462 + ] + }, + "final_grasp": { + "position": [ + -0.01585325226187706, + 0.01945977285504341, + -0.13826106488704681 + ], + "orientation": [ + 0.3370059132575989, + 0.48671308159828186, + 0.5562618970870972, + 0.5831896066665649 + ], + "joints": [ + 0.011181960813701153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04790162667632103, + 0.11061781644821167, + -0.030809586867690086 + ], + "orientation": [ + 0.1851760894060135, + 0.7811231017112732, + 0.06397795677185059, + -0.5928434729576111 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.046151041984558105, + 0.10593663156032562, + -0.0305470060557127 + ], + "orientation": [ + 0.19006003439426422, + 0.7682651281356812, + 0.05693264305591583, + -0.6086087822914124 + ], + "joints": [ + -0.004346530884504318 + ] + }, + "final_grasp": { + "position": [ + -0.046151041984558105, + 0.10593663156032562, + -0.0305470060557127 + ], + "orientation": [ + 0.19006003439426422, + 0.7682651281356812, + 0.05693264305591583, + -0.6086087822914124 + ], + "joints": [ + 0.0030930638313293457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12468923628330231, + -0.021650029346346855, + 0.014748490415513515 + ], + "orientation": [ + 0.5957777500152588, + 0.3355570435523987, + 0.5012832283973694, + -0.5302504301071167 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.1246081218123436, + -0.020258987322449684, + 0.017664432525634766 + ], + "orientation": [ + 0.5946140885353088, + 0.3243478238582611, + 0.50926673412323, + -0.5309237837791443 + ], + "joints": [ + -0.0043450575321912766 + ] + }, + "final_grasp": { + "position": [ + -0.1246081218123436, + -0.020258987322449684, + 0.017664432525634766 + ], + "orientation": [ + 0.5946140885353088, + 0.3243478238582611, + 0.50926673412323, + -0.5309237837791443 + ], + "joints": [ + 0.003625936806201935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042038172483444214, + 0.1030295342206955, + -0.07364927977323532 + ], + "orientation": [ + 0.22018487751483917, + 0.9597991108894348, + 0.16677267849445343, + -0.049911923706531525 + ], + "joints": [ + -0.0032360900659114122 + ] + }, + "fine_grasp": { + "position": [ + -0.04321920871734619, + 0.10254781693220139, + -0.07216048985719681 + ], + "orientation": [ + 0.21795091032981873, + 0.958932101726532, + 0.1768086552619934, + -0.0410522036254406 + ], + "joints": [ + 0.003193845506757498 + ] + }, + "final_grasp": { + "position": [ + -0.04321920871734619, + 0.10254781693220139, + -0.07216048985719681 + ], + "orientation": [ + 0.21795091032981873, + 0.958932101726532, + 0.1768086552619934, + -0.0410522036254406 + ], + "joints": [ + 0.009623780846595764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007718352600932121, + 0.02336183749139309, + -0.13714633882045746 + ], + "orientation": [ + 0.5361039042472839, + 0.5969684720039368, + -0.35122740268707275, + -0.48255622386932373 + ], + "joints": [ + -0.0031142442021518946 + ] + }, + "fine_grasp": { + "position": [ + -0.007095428183674812, + 0.023956913501024246, + -0.1374416947364807 + ], + "orientation": [ + 0.5382855534553528, + 0.5879169702529907, + -0.3528331518173218, + -0.49001115560531616 + ], + "joints": [ + 0.0043253512121737 + ] + }, + "final_grasp": { + "position": [ + -0.007095428183674812, + 0.023956913501024246, + -0.1374416947364807 + ], + "orientation": [ + 0.5382855534553528, + 0.5879169702529907, + -0.3528331518173218, + -0.49001115560531616 + ], + "joints": [ + 0.011764946393668652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0917087122797966, + 0.07356379926204681, + 0.017032122239470482 + ], + "orientation": [ + 0.22292757034301758, + 0.662144124507904, + 0.36819976568222046, + -0.6134308576583862 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.09168477356433868, + 0.07418841123580933, + 0.01902877911925316 + ], + "orientation": [ + 0.20822760462760925, + 0.6724706292152405, + 0.39033862948417664, + -0.5933468341827393 + ], + "joints": [ + -0.005858149379491806 + ] + }, + "final_grasp": { + "position": [ + -0.09168477356433868, + 0.07418841123580933, + 0.01902877911925316 + ], + "orientation": [ + 0.20822760462760925, + 0.6724706292152405, + 0.39033862948417664, + -0.5933468341827393 + ], + "joints": [ + 4.038587212562561e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007426298223435879, + 0.02264593541622162, + -0.13721729815006256 + ], + "orientation": [ + 0.5375234484672546, + 0.5981025099754333, + -0.35262778401374817, + -0.4785347282886505 + ], + "joints": [ + -0.002714188303798437 + ] + }, + "fine_grasp": { + "position": [ + -0.006911367177963257, + 0.023005707189440727, + -0.1372789740562439 + ], + "orientation": [ + 0.5391499400138855, + 0.5894399285316467, + -0.3543859124183655, + -0.48609527945518494 + ], + "joints": [ + 0.004220576956868172 + ] + }, + "final_grasp": { + "position": [ + -0.006911367177963257, + 0.023005707189440727, + -0.1372789740562439 + ], + "orientation": [ + 0.5391499400138855, + 0.5894399285316467, + -0.3543859124183655, + -0.48609527945518494 + ], + "joints": [ + 0.011155342683196068 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12448538839817047, + -0.009898352436721325, + 0.03147268295288086 + ], + "orientation": [ + 0.44635793566703796, + 0.41754063963890076, + 0.6074126362800598, + -0.5074192881584167 + ], + "joints": [ + -0.012404374778270721 + ] + }, + "fine_grasp": { + "position": [ + -0.12025714665651321, + -0.010006078518927097, + 0.0315919890999794 + ], + "orientation": [ + 0.4354388415813446, + 0.42467156052589417, + 0.6099967956542969, + -0.5078888535499573 + ], + "joints": [ + -0.005496179684996605 + ] + }, + "final_grasp": { + "position": [ + -0.12025714665651321, + -0.010006078518927097, + 0.0315919890999794 + ], + "orientation": [ + 0.4354388415813446, + 0.42467156052589417, + 0.6099967956542969, + -0.5078888535499573 + ], + "joints": [ + 0.0014120154082775116 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03370484709739685, + 0.11897078901529312, + 0.003974908962845802 + ], + "orientation": [ + 0.05705135688185692, + 0.7651225328445435, + 0.10926003009080887, + -0.6319770216941833 + ], + "joints": [ + -0.011845007538795471 + ] + }, + "fine_grasp": { + "position": [ + -0.034238070249557495, + 0.11994818598031998, + 0.0043396917171776295 + ], + "orientation": [ + 0.04761212691664696, + 0.7784479260444641, + 0.11738419532775879, + -0.6147949695587158 + ], + "joints": [ + -0.005415072664618492 + ] + }, + "final_grasp": { + "position": [ + -0.034238070249557495, + 0.11994818598031998, + 0.0043396917171776295 + ], + "orientation": [ + 0.04761212691664696, + 0.7784479260444641, + 0.11738419532775879, + -0.6147949695587158 + ], + "joints": [ + 0.001014862209558487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03349187225103378, + 0.1188839003443718, + 0.004011076875030994 + ], + "orientation": [ + 0.05651850998401642, + 0.765565037727356, + 0.10902813076972961, + -0.6315287947654724 + ], + "joints": [ + -0.011845007538795471 + ] + }, + "fine_grasp": { + "position": [ + -0.03414613753557205, + 0.11994490027427673, + 0.004303039982914925 + ], + "orientation": [ + 0.047503117471933365, + 0.7793062925338745, + 0.11743748933076859, + -0.6137048602104187 + ], + "joints": [ + -0.005441642366349697 + ] + }, + "final_grasp": { + "position": [ + -0.03414613753557205, + 0.11994490027427673, + 0.004303039982914925 + ], + "orientation": [ + 0.047503117471933365, + 0.7793062925338745, + 0.11743748933076859, + -0.6137048602104187 + ], + "joints": [ + 0.000961722806096077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07054832577705383, + -0.09744153171777725, + 0.016813913360238075 + ], + "orientation": [ + 0.6633042097091675, + 0.18789932131767273, + 0.6598100066184998, + -0.2989518642425537 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.07265080511569977, + -0.09890928119421005, + 0.020090630277991295 + ], + "orientation": [ + 0.6680437922477722, + 0.17594726383686066, + 0.6523974537849426, + -0.31166890263557434 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.07265080511569977, + -0.09890928119421005, + 0.020090630277991295 + ], + "orientation": [ + 0.6680437922477722, + 0.17594726383686066, + 0.6523974537849426, + -0.31166890263557434 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013403793796896935, + 0.02860027365386486, + -0.13661746680736542 + ], + "orientation": [ + 0.4336417317390442, + 0.6059591770172119, + -0.43428242206573486, + -0.5061293244361877 + ], + "joints": [ + 0.0008438153890892863 + ] + }, + "fine_grasp": { + "position": [ + -0.008817683905363083, + 0.02926328219473362, + -0.13878348469734192 + ], + "orientation": [ + 0.4550867974758148, + 0.5831689238548279, + -0.4103713035583496, + -0.5332968831062317 + ], + "joints": [ + 0.002969413995742798 + ] + }, + "final_grasp": { + "position": [ + -0.008817683905363083, + 0.02926328219473362, + -0.13878348469734192 + ], + "orientation": [ + 0.4550867974758148, + 0.5831689238548279, + -0.4103713035583496, + -0.5332968831062317 + ], + "joints": [ + 0.0050950124859809875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023106161504983902, + 0.005424864124506712, + -0.12678435444831848 + ], + "orientation": [ + 0.663398802280426, + 0.7378156185150146, + 0.018153544515371323, + -0.12329044193029404 + ], + "joints": [ + -0.002482953481376171 + ] + }, + "fine_grasp": { + "position": [ + -0.024195749312639236, + 0.006945596542209387, + -0.12435822933912277 + ], + "orientation": [ + 0.666877269744873, + 0.7333564162254333, + 0.01600884459912777, + -0.13117489218711853 + ], + "joints": [ + 0.0028576129116117954 + ] + }, + "final_grasp": { + "position": [ + -0.024195749312639236, + 0.006945596542209387, + -0.12435822933912277 + ], + "orientation": [ + 0.666877269744873, + 0.7333564162254333, + 0.01600884459912777, + -0.13117489218711853 + ], + "joints": [ + 0.008198179304599762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008316176012158394, + -0.011417143978178501, + -0.1314840465784073 + ], + "orientation": [ + 0.6180039644241333, + 0.5541468858718872, + 0.40124914050102234, + 0.38728728890419006 + ], + "joints": [ + -0.0024194573052227497 + ] + }, + "fine_grasp": { + "position": [ + 0.0073211463168263435, + -0.011701061390340328, + -0.13608461618423462 + ], + "orientation": [ + 0.6186493635177612, + 0.5397529602050781, + 0.4128900170326233, + 0.394286185503006 + ], + "joints": [ + 0.0034259390085935593 + ] + }, + "final_grasp": { + "position": [ + 0.0073211463168263435, + -0.011701061390340328, + -0.13608461618423462 + ], + "orientation": [ + 0.6186493635177612, + 0.5397529602050781, + 0.4128900170326233, + 0.394286185503006 + ], + "joints": [ + 0.009271334856748581 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06591573357582092, + -0.035433221608400345, + -0.11706311255693436 + ], + "orientation": [ + 0.729098379611969, + 0.3455972373485565, + 0.3295924961566925, + 0.4902520179748535 + ], + "joints": [ + -0.0034931059926748276 + ] + }, + "fine_grasp": { + "position": [ + 0.06465623527765274, + -0.034948159009218216, + -0.1168464869260788 + ], + "orientation": [ + 0.7318932414054871, + 0.3318215608596802, + 0.33309513330459595, + 0.4932284951210022 + ], + "joints": [ + 0.0034682289697229862 + ] + }, + "final_grasp": { + "position": [ + 0.06465623527765274, + -0.034948159009218216, + -0.1168464869260788 + ], + "orientation": [ + 0.7318932414054871, + 0.3318215608596802, + 0.33309513330459595, + 0.4932284951210022 + ], + "joints": [ + 0.0104295639321208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06597373634576797, + -0.034583065658807755, + -0.11669225990772247 + ], + "orientation": [ + 0.7298614978790283, + 0.3489929139614105, + 0.3235357999801636, + 0.49074506759643555 + ], + "joints": [ + -0.0030385565478354692 + ] + }, + "fine_grasp": { + "position": [ + 0.06515052914619446, + -0.03435984626412392, + -0.11703895032405853 + ], + "orientation": [ + 0.7317504286766052, + 0.3367534279823303, + 0.3288113474845886, + 0.49297207593917847 + ], + "joints": [ + 0.0038962089456617832 + ] + }, + "final_grasp": { + "position": [ + 0.06515052914619446, + -0.03435984626412392, + -0.11703895032405853 + ], + "orientation": [ + 0.7317504286766052, + 0.3367534279823303, + 0.3288113474845886, + 0.49297207593917847 + ], + "joints": [ + 0.010830974206328392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06568347662687302, + -0.03462459519505501, + -0.1167159453034401 + ], + "orientation": [ + 0.7298015356063843, + 0.34870338439941406, + 0.32443830370903015, + 0.4904441237449646 + ], + "joints": [ + -0.003429494798183441 + ] + }, + "fine_grasp": { + "position": [ + 0.06493676453828812, + -0.03456050902605057, + -0.11707726866006851 + ], + "orientation": [ + 0.7317801713943481, + 0.3364081084728241, + 0.32953783869743347, + 0.4926786720752716 + ], + "joints": [ + 0.0035318401642143726 + ] + }, + "final_grasp": { + "position": [ + 0.06493676453828812, + -0.03456050902605057, + -0.11707726866006851 + ], + "orientation": [ + 0.7317801713943481, + 0.3364081084728241, + 0.32953783869743347, + 0.4926786720752716 + ], + "joints": [ + 0.010493175126612186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040323249995708466, + -0.09940572082996368, + 0.038549479097127914 + ], + "orientation": [ + 0.07406282424926758, + 0.15422163903713226, + 0.945240318775177, + -0.27794092893600464 + ], + "joints": [ + -0.0029801856726408005 + ] + }, + "fine_grasp": { + "position": [ + -0.04125659167766571, + -0.09904120862483978, + 0.03884032741189003 + ], + "orientation": [ + 0.0743045061826706, + 0.15474086999893188, + 0.9462353587150574, + -0.2741762101650238 + ], + "joints": [ + 0.003954579588025808 + ] + }, + "final_grasp": { + "position": [ + -0.04125659167766571, + -0.09904120862483978, + 0.03884032741189003 + ], + "orientation": [ + 0.0743045061826706, + 0.15474086999893188, + 0.9462353587150574, + -0.2741762101650238 + ], + "joints": [ + 0.010889344848692417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040025047957897186, + -0.09878622740507126, + 0.03893044963479042 + ], + "orientation": [ + 0.07193904370069504, + 0.15408369898796082, + 0.9453110694885254, + -0.27833428978919983 + ], + "joints": [ + -0.002713599940761924 + ] + }, + "fine_grasp": { + "position": [ + -0.041256532073020935, + -0.09887269884347916, + 0.039288438856601715 + ], + "orientation": [ + 0.07397829741239548, + 0.1549784243106842, + 0.9456859827041626, + -0.276019811630249 + ], + "joints": [ + 0.0037163356319069862 + ] + }, + "final_grasp": { + "position": [ + -0.041256532073020935, + -0.09887269884347916, + 0.039288438856601715 + ], + "orientation": [ + 0.07397829741239548, + 0.1549784243106842, + 0.9456859827041626, + -0.276019811630249 + ], + "joints": [ + 0.01014627143740654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11599025875329971, + -0.031285230070352554, + 0.010279797948896885 + ], + "orientation": [ + 0.7740653157234192, + -0.02773607335984707, + -0.15880531072616577, + 0.6122373342514038 + ], + "joints": [ + -0.00351596437394619 + ] + }, + "fine_grasp": { + "position": [ + 0.11179471015930176, + -0.029928943142294884, + 0.008736654184758663 + ], + "orientation": [ + 0.771287202835083, + -0.02836805023252964, + -0.17066079378128052, + 0.6125243306159973 + ], + "joints": [ + 0.003950200509279966 + ] + }, + "final_grasp": { + "position": [ + 0.11179471015930176, + -0.029928943142294884, + 0.008736654184758663 + ], + "orientation": [ + 0.771287202835083, + -0.02836805023252964, + -0.17066079378128052, + 0.6125243306159973 + ], + "joints": [ + 0.011416365392506123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08062013983726501, + -0.08138129860162735, + -0.02977568656206131 + ], + "orientation": [ + 0.6653568744659424, + 0.3802267909049988, + 0.6034863591194153, + -0.22030004858970642 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.08123945444822311, + -0.0774238184094429, + -0.031131284311413765 + ], + "orientation": [ + 0.6803474426269531, + 0.3665868937969208, + 0.600342869758606, + -0.20574240386486053 + ], + "joints": [ + -0.004737941548228264 + ] + }, + "final_grasp": { + "position": [ + -0.08123945444822311, + -0.0774238184094429, + -0.031131284311413765 + ], + "orientation": [ + 0.6803474426269531, + 0.3665868937969208, + 0.600342869758606, + -0.20574240386486053 + ], + "joints": [ + 0.0016919933259487152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10910625010728836, + -0.03672010824084282, + 0.03194545954465866 + ], + "orientation": [ + 0.2022412121295929, + -0.583097517490387, + 0.7784102559089661, + -0.11477462947368622 + ], + "joints": [ + -0.004488016478717327 + ] + }, + "fine_grasp": { + "position": [ + 0.10479886829853058, + -0.0346740297973156, + 0.030223241075873375 + ], + "orientation": [ + 0.20790481567382812, + -0.5853626132011414, + 0.7762764096260071, + -0.10733698308467865 + ], + "joints": [ + 0.0034564086236059666 + ] + }, + "final_grasp": { + "position": [ + 0.10479886829853058, + -0.0346740297973156, + 0.030223241075873375 + ], + "orientation": [ + 0.20790481567382812, + -0.5853626132011414, + 0.7762764096260071, + -0.10733698308467865 + ], + "joints": [ + 0.01140083372592926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033203210681676865, + -0.11364135146141052, + 0.007387442514300346 + ], + "orientation": [ + 0.9833535552024841, + -0.08363278210163116, + -0.06528111547231674, + 0.14751183986663818 + ], + "joints": [ + -0.0029056635685265064 + ] + }, + "fine_grasp": { + "position": [ + 0.03368360549211502, + -0.11359670013189316, + 0.00731646828353405 + ], + "orientation": [ + 0.981776237487793, + -0.08412150293588638, + -0.0809524804353714, + 0.14995238184928894 + ], + "joints": [ + 0.004055671393871307 + ] + }, + "final_grasp": { + "position": [ + 0.03368360549211502, + -0.11359670013189316, + 0.00731646828353405 + ], + "orientation": [ + 0.981776237487793, + -0.08412150293588638, + -0.0809524804353714, + 0.14995238184928894 + ], + "joints": [ + 0.011017005890607834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08046863228082657, + -0.0801958218216896, + -0.029437515884637833 + ], + "orientation": [ + 0.6659083962440491, + 0.37635087966918945, + 0.6065508127212524, + -0.21684566140174866 + ], + "joints": [ + -0.011226758360862732 + ] + }, + "fine_grasp": { + "position": [ + -0.08105520904064178, + -0.07767502218484879, + -0.031035425141453743 + ], + "orientation": [ + 0.679882287979126, + 0.364461749792099, + 0.6030833125114441, + -0.20302236080169678 + ], + "joints": [ + -0.004823393188416958 + ] + }, + "final_grasp": { + "position": [ + -0.08105520904064178, + -0.07767502218484879, + -0.031035425141453743 + ], + "orientation": [ + 0.679882287979126, + 0.364461749792099, + 0.6030833125114441, + -0.20302236080169678 + ], + "joints": [ + 0.0015799719840288162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036391619592905045, + -0.10878383368253708, + 0.022822178900241852 + ], + "orientation": [ + 0.974250078201294, + -0.15627600252628326, + -0.08497186750173569, + -0.1385442167520523 + ], + "joints": [ + -0.0029234676621854305 + ] + }, + "fine_grasp": { + "position": [ + -0.036862269043922424, + -0.10939449071884155, + 0.022430341690778732 + ], + "orientation": [ + 0.9731056094169617, + -0.15825457870960236, + -0.08323559910058975, + -0.1452333927154541 + ], + "joints": [ + 0.002443668432533741 + ] + }, + "final_grasp": { + "position": [ + -0.036862269043922424, + -0.10939449071884155, + 0.022430341690778732 + ], + "orientation": [ + 0.9731056094169617, + -0.15825457870960236, + -0.08323559910058975, + -0.1452333927154541 + ], + "joints": [ + 0.0078108045272529125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021874668076634407, + 0.011166244745254517, + -0.12858431041240692 + ], + "orientation": [ + 0.015848368406295776, + 0.15111848711967468, + 0.6553059220314026, + 0.7399230599403381 + ], + "joints": [ + -0.0031351044308394194 + ] + }, + "fine_grasp": { + "position": [ + -0.0216181892901659, + 0.01319033745676279, + -0.13340511918067932 + ], + "orientation": [ + 0.026818254962563515, + 0.16189880669116974, + 0.6694868206977844, + 0.7244701981544495 + ], + "joints": [ + 0.003268261207267642 + ] + }, + "final_grasp": { + "position": [ + -0.0216181892901659, + 0.01319033745676279, + -0.13340511918067932 + ], + "orientation": [ + 0.026818254962563515, + 0.16189880669116974, + 0.6694868206977844, + 0.7244701981544495 + ], + "joints": [ + 0.00967162661254406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0361737385392189, + -0.1084565669298172, + 0.022732004523277283 + ], + "orientation": [ + 0.9741349816322327, + -0.1582813560962677, + -0.08291152119636536, + -0.13832439482212067 + ], + "joints": [ + -0.0030266025569289923 + ] + }, + "fine_grasp": { + "position": [ + -0.036838095635175705, + -0.10953044146299362, + 0.022545011714100838 + ], + "orientation": [ + 0.97361820936203, + -0.15634143352508545, + -0.07998191565275192, + -0.14569814503192902 + ], + "joints": [ + 0.0028719333931803703 + ] + }, + "final_grasp": { + "position": [ + -0.036838095635175705, + -0.10953044146299362, + 0.022545011714100838 + ], + "orientation": [ + 0.97361820936203, + -0.15634143352508545, + -0.07998191565275192, + -0.14569814503192902 + ], + "joints": [ + 0.008770469576120377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11089392006397247, + -0.029921364039182663, + 0.03945088014006615 + ], + "orientation": [ + 0.7492386698722839, + -0.08019426465034485, + 0.22567258775234222, + -0.6174805760383606 + ], + "joints": [ + -0.0036264413502067327 + ] + }, + "fine_grasp": { + "position": [ + -0.10760116577148438, + -0.027750421315431595, + 0.035384319722652435 + ], + "orientation": [ + 0.7476882934570312, + -0.09907140582799911, + 0.23816324770450592, + -0.6119029521942139 + ], + "joints": [ + 0.003281754208728671 + ] + }, + "final_grasp": { + "position": [ + -0.10760116577148438, + -0.027750421315431595, + 0.035384319722652435 + ], + "orientation": [ + 0.7476882934570312, + -0.09907140582799911, + 0.23816324770450592, + -0.6119029521942139 + ], + "joints": [ + 0.010189949534833431 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10247999429702759, + 0.00927403662353754, + -0.0634860023856163 + ], + "orientation": [ + 0.19612181186676025, + 0.736112654209137, + 0.6440508365631104, + 0.06980528682470322 + ], + "joints": [ + -0.0025785828474909067 + ] + }, + "fine_grasp": { + "position": [ + -0.10424216091632843, + 0.009040392935276031, + -0.06383874267339706 + ], + "orientation": [ + 0.21428856253623962, + 0.7320051193237305, + 0.6445181965827942, + 0.05334031581878662 + ], + "joints": [ + 0.003293383400887251 + ] + }, + "final_grasp": { + "position": [ + -0.10424216091632843, + 0.009040392935276031, + -0.06383874267339706 + ], + "orientation": [ + 0.21428856253623962, + 0.7320051193237305, + 0.6445181965827942, + 0.05334031581878662 + ], + "joints": [ + 0.009165349416434765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06349986791610718, + 0.030048346146941185, + -0.116786889731884 + ], + "orientation": [ + 0.506025493144989, + 0.33143898844718933, + 0.3509160280227661, + 0.7148038148880005 + ], + "joints": [ + -0.002636239631101489 + ] + }, + "fine_grasp": { + "position": [ + 0.06126901134848595, + 0.03032909333705902, + -0.11528433114290237 + ], + "orientation": [ + 0.5111544728279114, + 0.3429824411869049, + 0.33936718106269836, + 0.7112764120101929 + ], + "joints": [ + 0.004803355783224106 + ] + }, + "final_grasp": { + "position": [ + 0.06126901134848595, + 0.03032909333705902, + -0.11528433114290237 + ], + "orientation": [ + 0.5111544728279114, + 0.3429824411869049, + 0.33936718106269836, + 0.7112764120101929 + ], + "joints": [ + 0.012242951430380344 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004636704921722412, + -0.06423111259937286, + -0.12503847479820251 + ], + "orientation": [ + 0.8715723752975464, + 0.47151169180870056, + -0.10761874169111252, + -0.08035245537757874 + ], + "joints": [ + -0.003882060758769512 + ] + }, + "fine_grasp": { + "position": [ + -0.0045309350825846195, + -0.06388981640338898, + -0.12294618040323257 + ], + "orientation": [ + 0.8643343448638916, + 0.4791299104690552, + -0.12640205025672913, + -0.08592666685581207 + ], + "joints": [ + 0.003584104124456644 + ] + }, + "final_grasp": { + "position": [ + -0.0045309350825846195, + -0.06388981640338898, + -0.12294618040323257 + ], + "orientation": [ + 0.8643343448638916, + 0.4791299104690552, + -0.12640205025672913, + -0.08592666685581207 + ], + "joints": [ + 0.0110502690076828 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029035499319434166, + -0.11021003127098083, + -0.05466902256011963 + ], + "orientation": [ + 0.9758793711662292, + 0.172035351395607, + -0.07389596849679947, + 0.11226183921098709 + ], + "joints": [ + -0.0025381932500749826 + ] + }, + "fine_grasp": { + "position": [ + 0.031434278935194016, + -0.10998813062906265, + -0.05615798011422157 + ], + "orientation": [ + 0.9757068157196045, + 0.15725983679294586, + -0.09256093204021454, + 0.12123546004295349 + ], + "joints": [ + 0.0033337727654725313 + ] + }, + "final_grasp": { + "position": [ + 0.031434278935194016, + -0.10998813062906265, + -0.05615798011422157 + ], + "orientation": [ + 0.9757068157196045, + 0.15725983679294586, + -0.09256093204021454, + 0.12123546004295349 + ], + "joints": [ + 0.009205739013850689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11413775384426117, + 0.027457257732748985, + -0.057104211300611496 + ], + "orientation": [ + 0.16159124672412872, + 0.7671695947647095, + 0.603763997554779, + 0.14424996078014374 + ], + "joints": [ + -0.0022674882784485817 + ] + }, + "fine_grasp": { + "position": [ + -0.11210187524557114, + 0.026011096313595772, + -0.056435007601976395 + ], + "orientation": [ + 0.15628664195537567, + 0.7682417035102844, + 0.6053566336631775, + 0.13755901157855988 + ], + "joints": [ + 0.00413587735965848 + ] + }, + "final_grasp": { + "position": [ + -0.11210187524557114, + 0.026011096313595772, + -0.056435007601976395 + ], + "orientation": [ + 0.15628664195537567, + 0.7682417035102844, + 0.6053566336631775, + 0.13755901157855988 + ], + "joints": [ + 0.010539242997765541 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10100868344306946, + -0.06575477868318558, + 0.01824934221804142 + ], + "orientation": [ + 0.6095254421234131, + 0.2648124694824219, + -0.6472519636154175, + 0.3733873665332794 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10012153536081314, + -0.06798099726438522, + 0.02042950876057148 + ], + "orientation": [ + 0.6011514067649841, + 0.26076188683509827, + -0.6519429683685303, + 0.381563663482666 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.10012153536081314, + -0.06798099726438522, + 0.02042950876057148 + ], + "orientation": [ + 0.6011514067649841, + 0.26076188683509827, + -0.6519429683685303, + 0.381563663482666 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014636796899139881, + -0.010802528820931911, + -0.13700923323631287 + ], + "orientation": [ + 0.5589715242385864, + 0.5718084573745728, + -0.47912517189979553, + -0.36197376251220703 + ], + "joints": [ + -0.0028111422434449196 + ] + }, + "fine_grasp": { + "position": [ + 0.01592203974723816, + -0.01085568405687809, + -0.13716593384742737 + ], + "orientation": [ + 0.5543621778488159, + 0.5618336200714111, + -0.48858508467674255, + -0.37190085649490356 + ], + "joints": [ + 0.004628452938050032 + ] + }, + "final_grasp": { + "position": [ + 0.01592203974723816, + -0.01085568405687809, + -0.13716593384742737 + ], + "orientation": [ + 0.5543621778488159, + 0.5618336200714111, + -0.48858508467674255, + -0.37190085649490356 + ], + "joints": [ + 0.012068048119544983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10101097077131271, + -0.06573331356048584, + 0.01825781911611557 + ], + "orientation": [ + 0.6097797155380249, + 0.2645502984523773, + -0.6470605134963989, + 0.3734895586967468 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10011269152164459, + -0.0679924413561821, + 0.020464878529310226 + ], + "orientation": [ + 0.6013317704200745, + 0.2605666220188141, + -0.651746392250061, + 0.38174837827682495 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.10011269152164459, + -0.0679924413561821, + 0.020464878529310226 + ], + "orientation": [ + 0.6013317704200745, + 0.2605666220188141, + -0.651746392250061, + 0.38174837827682495 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10103047639131546, + -0.06570402532815933, + 0.018123531714081764 + ], + "orientation": [ + 0.6098475456237793, + 0.2650257647037506, + -0.6469801664352417, + 0.3731808066368103 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10011488199234009, + -0.06795201450586319, + 0.020291978493332863 + ], + "orientation": [ + 0.6014636158943176, + 0.2609434425830841, + -0.6517178416252136, + 0.38133177161216736 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.10011488199234009, + -0.06795201450586319, + 0.020291978493332863 + ], + "orientation": [ + 0.6014636158943176, + 0.2609434425830841, + -0.6517178416252136, + 0.38133177161216736 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10102689266204834, + -0.06570809334516525, + 0.01812168024480343 + ], + "orientation": [ + 0.6098662614822388, + 0.26500120759010315, + -0.6469843983650208, + 0.37316030263900757 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.10011079907417297, + -0.06795790791511536, + 0.02029011957347393 + ], + "orientation": [ + 0.6014869213104248, + 0.2609235346317291, + -0.6517142057418823, + 0.38131505250930786 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.10011079907417297, + -0.06795790791511536, + 0.02029011957347393 + ], + "orientation": [ + 0.6014869213104248, + 0.2609235346317291, + -0.6517142057418823, + 0.38131505250930786 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0567435696721077, + 0.008703761734068394, + -0.12388263642787933 + ], + "orientation": [ + 0.6233565807342529, + 0.44876691699028015, + 0.2737094759941101, + 0.5788936614990234 + ], + "joints": [ + -0.0030891173519194126 + ] + }, + "fine_grasp": { + "position": [ + 0.05662230774760246, + 0.00943427998572588, + -0.12347560375928879 + ], + "orientation": [ + 0.6192478537559509, + 0.4416269063949585, + 0.2777549922466278, + 0.5868133902549744 + ], + "joints": [ + 0.003872217610478401 + ] + }, + "final_grasp": { + "position": [ + 0.05662230774760246, + 0.00943427998572588, + -0.12347560375928879 + ], + "orientation": [ + 0.6192478537559509, + 0.4416269063949585, + 0.2777549922466278, + 0.5868133902549744 + ], + "joints": [ + 0.010833552107214928 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021446550264954567, + -0.028035998344421387, + -0.13491368293762207 + ], + "orientation": [ + 0.4928944408893585, + 0.4530618488788605, + 0.6068545579910278, + 0.4283893406391144 + ], + "joints": [ + -0.003571711713448167 + ] + }, + "fine_grasp": { + "position": [ + -0.021341141313314438, + -0.028689809143543243, + -0.1360299438238144 + ], + "orientation": [ + 0.49179360270500183, + 0.4478928744792938, + 0.608351469039917, + 0.4329428970813751 + ], + "joints": [ + 0.003363053547218442 + ] + }, + "final_grasp": { + "position": [ + -0.021341141313314438, + -0.028689809143543243, + -0.1360299438238144 + ], + "orientation": [ + 0.49179360270500183, + 0.4478928744792938, + 0.608351469039917, + 0.4329428970813751 + ], + "joints": [ + 0.010297819040715694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011721924878656864, + -0.10969402641057968, + 0.03664996847510338 + ], + "orientation": [ + 0.11734995245933533, + -0.0775124803185463, + 0.972618579864502, + -0.18502402305603027 + ], + "joints": [ + -0.002884047571569681 + ] + }, + "fine_grasp": { + "position": [ + 0.012816501781344414, + -0.107391357421875, + 0.03439723700284958 + ], + "orientation": [ + 0.12301065027713776, + -0.08306339383125305, + 0.9699844121932983, + -0.1926114559173584 + ], + "joints": [ + 0.004050717689096928 + ] + }, + "final_grasp": { + "position": [ + 0.012816501781344414, + -0.107391357421875, + 0.03439723700284958 + ], + "orientation": [ + 0.12301065027713776, + -0.08306339383125305, + 0.9699844121932983, + -0.1926114559173584 + ], + "joints": [ + 0.01098548248410225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038674697279930115, + -0.1202419325709343, + 0.0003993947175331414 + ], + "orientation": [ + 0.978842556476593, + -0.014549650251865387, + 0.11465266346931458, + -0.16885042190551758 + ], + "joints": [ + -0.0031395379919558764 + ] + }, + "fine_grasp": { + "position": [ + -0.038791853934526443, + -0.1205039918422699, + 0.0009061874006874859 + ], + "orientation": [ + 0.9777783155441284, + -0.01180578675121069, + 0.12158157676458359, + -0.17037607729434967 + ], + "joints": [ + 0.003795227501541376 + ] + }, + "final_grasp": { + "position": [ + -0.038791853934526443, + -0.1205039918422699, + 0.0009061874006874859 + ], + "orientation": [ + 0.9777783155441284, + -0.01180578675121069, + 0.12158157676458359, + -0.17037607729434967 + ], + "joints": [ + 0.010729992762207985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11384201049804688, + 0.027269452810287476, + -0.057216402143239975 + ], + "orientation": [ + 0.1523210108280182, + 0.767964780330658, + 0.6046044826507568, + 0.14656665921211243 + ], + "joints": [ + -0.0027616112492978573 + ] + }, + "fine_grasp": { + "position": [ + -0.11189833283424377, + 0.02590319514274597, + -0.05577707663178444 + ], + "orientation": [ + 0.1473982036113739, + 0.7677879929542542, + 0.6066192388534546, + 0.14418230950832367 + ], + "joints": [ + 0.003641754388809204 + ] + }, + "final_grasp": { + "position": [ + -0.11189833283424377, + 0.02590319514274597, + -0.05577707663178444 + ], + "orientation": [ + 0.1473982036113739, + 0.7677879929542542, + 0.6066192388534546, + 0.14418230950832367 + ], + "joints": [ + 0.010045120492577553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029152536764740944, + -0.01991392858326435, + -0.13490067422389984 + ], + "orientation": [ + 0.640864372253418, + 0.46132415533065796, + -0.4095224440097809, + -0.45690736174583435 + ], + "joints": [ + -0.0027647954411804676 + ] + }, + "fine_grasp": { + "position": [ + -0.02671062760055065, + -0.019337765872478485, + -0.13220754265785217 + ], + "orientation": [ + 0.6403400301933289, + 0.44438472390174866, + -0.41635292768478394, + -0.46812087297439575 + ], + "joints": [ + 0.004169969819486141 + ] + }, + "final_grasp": { + "position": [ + -0.02671062760055065, + -0.019337765872478485, + -0.13220754265785217 + ], + "orientation": [ + 0.6403400301933289, + 0.44438472390174866, + -0.41635292768478394, + -0.46812087297439575 + ], + "joints": [ + 0.011104734614491463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02206830121576786, + -0.02832271158695221, + -0.1353093832731247 + ], + "orientation": [ + 0.49809375405311584, + 0.4526884853839874, + 0.6024585366249084, + 0.4289748966693878 + ], + "joints": [ + -0.003978979308158159 + ] + }, + "fine_grasp": { + "position": [ + -0.021370425820350647, + -0.028566237539052963, + -0.1360483169555664 + ], + "orientation": [ + 0.4952160120010376, + 0.45064133405685425, + 0.605456531047821, + 0.4302392899990082 + ], + "joints": [ + 0.003460615873336792 + ] + }, + "final_grasp": { + "position": [ + -0.021370425820350647, + -0.028566237539052963, + -0.1360483169555664 + ], + "orientation": [ + 0.4952160120010376, + 0.45064133405685425, + 0.605456531047821, + 0.4302392899990082 + ], + "joints": [ + 0.010900210589170456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11355792731046677, + 0.027255605906248093, + -0.05716046690940857 + ], + "orientation": [ + 0.1491820067167282, + 0.7680172324180603, + 0.6049416065216064, + 0.14812077581882477 + ], + "joints": [ + -0.0032573703210800886 + ] + }, + "fine_grasp": { + "position": [ + -0.11197162419557571, + 0.025830570608377457, + -0.055708035826683044 + ], + "orientation": [ + 0.14551113545894623, + 0.7674891352653503, + 0.6070116758346558, + 0.14602626860141754 + ], + "joints": [ + 0.003677395172417164 + ] + }, + "final_grasp": { + "position": [ + -0.11197162419557571, + 0.025830570608377457, + -0.055708035826683044 + ], + "orientation": [ + 0.14551113545894623, + 0.7674891352653503, + 0.6070116758346558, + 0.14602626860141754 + ], + "joints": [ + 0.01061216089874506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10425284504890442, + -0.013696743175387383, + -0.06345508247613907 + ], + "orientation": [ + 0.7427464127540588, + 0.19329139590263367, + -0.0939563736319542, + -0.6341437697410583 + ], + "joints": [ + -0.0030126296915113926 + ] + }, + "fine_grasp": { + "position": [ + -0.10803442448377609, + -0.0135952178388834, + -0.06541864573955536 + ], + "orientation": [ + 0.7428916096687317, + 0.201390340924263, + -0.07596312463283539, + -0.6338640451431274 + ], + "joints": [ + 0.004001844674348831 + ] + }, + "final_grasp": { + "position": [ + -0.10803442448377609, + -0.0135952178388834, + -0.06541864573955536 + ], + "orientation": [ + 0.7428916096687317, + 0.201390340924263, + -0.07596312463283539, + -0.6338640451431274 + ], + "joints": [ + 0.011016318574547768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053347524255514145, + -0.11870469152927399, + 0.004079236648976803 + ], + "orientation": [ + 0.6715782880783081, + -0.1345892697572708, + 0.7230884432792664, + 0.08950740098953247 + ], + "joints": [ + -0.010667391121387482 + ] + }, + "fine_grasp": { + "position": [ + 0.051372937858104706, + -0.11611466854810715, + 0.005606011487543583 + ], + "orientation": [ + 0.6629047393798828, + -0.14980602264404297, + 0.7284161448478699, + 0.08674883842468262 + ], + "joints": [ + -0.00373262632638216 + ] + }, + "final_grasp": { + "position": [ + 0.051372937858104706, + -0.11611466854810715, + 0.005606011487543583 + ], + "orientation": [ + 0.6629047393798828, + -0.14980602264404297, + 0.7284161448478699, + 0.08674883842468262 + ], + "joints": [ + 0.0032021384686231613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1222061887383461, + -0.011568042449653149, + -0.01494957972317934 + ], + "orientation": [ + 0.7370523810386658, + -0.0690111294388771, + -0.05555140972137451, + -0.6700040102005005 + ], + "joints": [ + -0.003488821443170309 + ] + }, + "fine_grasp": { + "position": [ + -0.12201167643070221, + -0.011199505999684334, + -0.01530983205884695 + ], + "orientation": [ + 0.7344502210617065, + -0.08435722440481186, + -0.06838516145944595, + -0.6699180603027344 + ], + "joints": [ + 0.0034459438174962997 + ] + }, + "final_grasp": { + "position": [ + -0.12201167643070221, + -0.011199505999684334, + -0.01530983205884695 + ], + "orientation": [ + 0.7344502210617065, + -0.08435722440481186, + -0.06838516145944595, + -0.6699180603027344 + ], + "joints": [ + 0.010380709543824196 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10417810082435608, + -0.025465505197644234, + -0.06572641432285309 + ], + "orientation": [ + 0.7656936645507812, + 0.13236196339130402, + -0.15524594485759735, + -0.6099936962127686 + ], + "joints": [ + -0.0031536996830254793 + ] + }, + "fine_grasp": { + "position": [ + -0.1067187488079071, + -0.02642017789185047, + -0.06731540709733963 + ], + "orientation": [ + 0.7650468349456787, + 0.11771231144666672, + -0.16481417417526245, + -0.6112964749336243 + ], + "joints": [ + 0.004312465433031321 + ] + }, + "final_grasp": { + "position": [ + -0.1067187488079071, + -0.02642017789185047, + -0.06731540709733963 + ], + "orientation": [ + 0.7650468349456787, + 0.11771231144666672, + -0.16481417417526245, + -0.6112964749336243 + ], + "joints": [ + 0.011778630316257477 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11351184546947479, + 0.027177980169653893, + -0.058142565190792084 + ], + "orientation": [ + 0.13308605551719666, + 0.7699904441833496, + 0.6077417731285095, + 0.14160779118537903 + ], + "joints": [ + -0.0036798128858208656 + ] + }, + "fine_grasp": { + "position": [ + -0.11203553527593613, + 0.025628801435232162, + -0.055540647357702255 + ], + "orientation": [ + 0.1401480734348297, + 0.7671216130256653, + 0.6086832880973816, + 0.14624528586864471 + ], + "joints": [ + 0.0037597822956740856 + ] + }, + "final_grasp": { + "position": [ + -0.11203553527593613, + 0.025628801435232162, + -0.055540647357702255 + ], + "orientation": [ + 0.1401480734348297, + 0.7671216130256653, + 0.6086832880973816, + 0.14624528586864471 + ], + "joints": [ + 0.011199377477169037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10697347670793533, + -0.017111698165535927, + 0.015431815758347511 + ], + "orientation": [ + 0.7616558074951172, + -0.13134124875068665, + 0.04738875851035118, + -0.6327592730522156 + ], + "joints": [ + -0.0022266157902777195 + ] + }, + "fine_grasp": { + "position": [ + -0.11044386029243469, + -0.018516220152378082, + 0.01584601402282715 + ], + "orientation": [ + 0.7588891983032227, + -0.14010290801525116, + 0.035594649612903595, + -0.634973406791687 + ], + "joints": [ + 0.003113950602710247 + ] + }, + "final_grasp": { + "position": [ + -0.11044386029243469, + -0.018516220152378082, + 0.01584601402282715 + ], + "orientation": [ + 0.7588891983032227, + -0.14010290801525116, + 0.035594649612903595, + -0.634973406791687 + ], + "joints": [ + 0.008454516530036926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12225835025310516, + -0.011854068376123905, + -0.014934517443180084 + ], + "orientation": [ + 0.7380225658416748, + -0.06530775129795074, + -0.051779959350824356, + -0.6696091294288635 + ], + "joints": [ + -0.0034507750533521175 + ] + }, + "fine_grasp": { + "position": [ + -0.12198519706726074, + -0.011685254983603954, + -0.015265255235135555 + ], + "orientation": [ + 0.7355566024780273, + -0.08067440986633301, + -0.06441875547170639, + -0.6695508360862732 + ], + "joints": [ + 0.0034839902073144913 + ] + }, + "final_grasp": { + "position": [ + -0.12198519706726074, + -0.011685254983603954, + -0.015265255235135555 + ], + "orientation": [ + 0.7355566024780273, + -0.08067440986633301, + -0.06441875547170639, + -0.6695508360862732 + ], + "joints": [ + 0.010418755933642387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04157333821058273, + -0.007456454914063215, + -0.13098028302192688 + ], + "orientation": [ + 0.6477766633033752, + 0.46430152654647827, + -0.33422553539276123, + -0.5030932426452637 + ], + "joints": [ + -0.0025892339181154966 + ] + }, + "fine_grasp": { + "position": [ + -0.04159722477197647, + -0.004940517712384462, + -0.13149821758270264 + ], + "orientation": [ + 0.6361684203147888, + 0.46099287271499634, + -0.3385246992111206, + -0.5178574323654175 + ], + "joints": [ + 0.004345531575381756 + ] + }, + "final_grasp": { + "position": [ + -0.04159722477197647, + -0.004940517712384462, + -0.13149821758270264 + ], + "orientation": [ + 0.6361684203147888, + 0.46099287271499634, + -0.3385246992111206, + -0.5178574323654175 + ], + "joints": [ + 0.011280297301709652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1104796975851059, + 0.020180635154247284, + -0.08835957199335098 + ], + "orientation": [ + 0.1670013964176178, + 0.707379162311554, + 0.6219777464866638, + 0.2913227379322052 + ], + "joints": [ + -0.004158330149948597 + ] + }, + "fine_grasp": { + "position": [ + -0.10531250387430191, + 0.019620491191744804, + -0.08620480448007584 + ], + "orientation": [ + 0.1516004353761673, + 0.7103948593139648, + 0.6236481666564941, + 0.2888243794441223 + ], + "joints": [ + 0.002749865408986807 + ] + }, + "final_grasp": { + "position": [ + -0.10531250387430191, + 0.019620491191744804, + -0.08620480448007584 + ], + "orientation": [ + 0.1516004353761673, + 0.7103948593139648, + 0.6236481666564941, + 0.2888243794441223 + ], + "joints": [ + 0.00965806096792221 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.122174471616745, + -0.02815091237425804, + -0.006343814544379711 + ], + "orientation": [ + 0.7829424738883972, + -0.03037407249212265, + -0.006033966317772865, + 0.6213228702545166 + ], + "joints": [ + -0.0035241562873125076 + ] + }, + "fine_grasp": { + "position": [ + 0.11944610625505447, + -0.02600792422890663, + -0.005365124903619289 + ], + "orientation": [ + 0.7819490432739258, + -0.024009138345718384, + -0.0015063924947753549, + 0.6228780746459961 + ], + "joints": [ + 0.004446838516741991 + ] + }, + "final_grasp": { + "position": [ + 0.11944610625505447, + -0.02600792422890663, + -0.005365124903619289 + ], + "orientation": [ + 0.7819490432739258, + -0.024009138345718384, + -0.0015063924947753549, + 0.6228780746459961 + ], + "joints": [ + 0.01241783332079649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10637294501066208, + -0.022177772596478462, + -0.04880412667989731 + ], + "orientation": [ + 0.12482617050409317, + 0.6239299774169922, + 0.7652662396430969, + 0.09745461493730545 + ], + "joints": [ + -0.0025979746133089066 + ] + }, + "fine_grasp": { + "position": [ + -0.1098613366484642, + -0.02410060353577137, + -0.050884902477264404 + ], + "orientation": [ + 0.12832601368427277, + 0.6266564130783081, + 0.7637079358100891, + 0.08708775788545609 + ], + "joints": [ + 0.00383196072652936 + ] + }, + "final_grasp": { + "position": [ + -0.1098613366484642, + -0.02410060353577137, + -0.050884902477264404 + ], + "orientation": [ + 0.12832601368427277, + 0.6266564130783081, + 0.7637079358100891, + 0.08708775788545609 + ], + "joints": [ + 0.010261896066367626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023517504334449768, + -0.010558617301285267, + -0.13577213883399963 + ], + "orientation": [ + 0.026991043239831924, + -0.10338335484266281, + 0.7215348482131958, + 0.6840839385986328 + ], + "joints": [ + -0.002732277847826481 + ] + }, + "fine_grasp": { + "position": [ + 0.02477271668612957, + -0.009578214026987553, + -0.13630661368370056 + ], + "orientation": [ + 0.009776446968317032, + -0.12106239795684814, + 0.7285525798797607, + 0.6741361021995544 + ], + "joints": [ + 0.003192827571183443 + ] + }, + "final_grasp": { + "position": [ + 0.02477271668612957, + -0.009578214026987553, + -0.13630661368370056 + ], + "orientation": [ + 0.009776446968317032, + -0.12106239795684814, + 0.7285525798797607, + 0.6741361021995544 + ], + "joints": [ + 0.009117932990193367 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12032952159643173, + -0.014600452966988087, + -0.043212734162807465 + ], + "orientation": [ + 0.7373256087303162, + 0.027157140895724297, + 0.11216208338737488, + 0.6656072735786438 + ], + "joints": [ + -0.003345102770254016 + ] + }, + "fine_grasp": { + "position": [ + 0.11710167676210403, + -0.013094673864543438, + -0.0421961285173893 + ], + "orientation": [ + 0.7328199148178101, + 0.016843697056174278, + 0.1298949420452118, + 0.6676963567733765 + ], + "joints": [ + 0.0036428021267056465 + ] + }, + "final_grasp": { + "position": [ + 0.11710167676210403, + -0.013094673864543438, + -0.0421961285173893 + ], + "orientation": [ + 0.7328199148178101, + 0.016843697056174278, + 0.1298949420452118, + 0.6676963567733765 + ], + "joints": [ + 0.010630707256495953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027915239334106445, + 0.008271897211670876, + -0.13049480319023132 + ], + "orientation": [ + 0.47912779450416565, + 0.6264163851737976, + -0.4833361506462097, + -0.38003307580947876 + ], + "joints": [ + -0.0028381040319800377 + ] + }, + "fine_grasp": { + "position": [ + 0.026523105800151825, + 0.006852475926280022, + -0.12618964910507202 + ], + "orientation": [ + 0.47159990668296814, + 0.6147527694702148, + -0.4938933253288269, + -0.39464160799980164 + ], + "joints": [ + 0.004123230930417776 + ] + }, + "final_grasp": { + "position": [ + 0.026523105800151825, + 0.006852475926280022, + -0.12618964910507202 + ], + "orientation": [ + 0.47159990668296814, + 0.6147527694702148, + -0.4938933253288269, + -0.39464160799980164 + ], + "joints": [ + 0.01108456589281559 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1220429539680481, + -0.0014454874908551574, + 0.006798353977501392 + ], + "orientation": [ + 0.7061900496482849, + -0.04494456946849823, + -0.07847874611616135, + 0.7022225856781006 + ], + "joints": [ + -0.003481765743345022 + ] + }, + "fine_grasp": { + "position": [ + 0.1210201233625412, + -0.001196533441543579, + 0.006582869682461023 + ], + "orientation": [ + 0.7039942145347595, + -0.03471524640917778, + -0.09701476991176605, + 0.7026913166046143 + ], + "joints": [ + 0.003984399139881134 + ] + }, + "final_grasp": { + "position": [ + 0.1210201233625412, + -0.001196533441543579, + 0.006582869682461023 + ], + "orientation": [ + 0.7039942145347595, + -0.03471524640917778, + -0.09701476991176605, + 0.7026913166046143 + ], + "joints": [ + 0.011450564488768578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010269572027027607, + 0.01707121916115284, + -0.13458110392093658 + ], + "orientation": [ + 0.18906930088996887, + 0.15538497269153595, + 0.6248583197593689, + 0.7413908839225769 + ], + "joints": [ + -0.0030849443282932043 + ] + }, + "fine_grasp": { + "position": [ + 0.010739756748080254, + 0.017518391832709312, + -0.13742919266223907 + ], + "orientation": [ + 0.1850380301475525, + 0.15239065885543823, + 0.6286567449569702, + 0.7398166656494141 + ], + "joints": [ + 0.003902960568666458 + ] + }, + "final_grasp": { + "position": [ + 0.010739756748080254, + 0.017518391832709312, + -0.13742919266223907 + ], + "orientation": [ + 0.1850380301475525, + 0.15239065885543823, + 0.6286567449569702, + 0.7398166656494141 + ], + "joints": [ + 0.010890865698456764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053762830793857574, + 0.1098368912935257, + -0.03238026797771454 + ], + "orientation": [ + 0.032305698841810226, + 0.9732875227928162, + 0.22722290456295013, + 0.0061156125739216805 + ], + "joints": [ + -0.003241772297769785 + ] + }, + "fine_grasp": { + "position": [ + -0.0544750951230526, + 0.11111108958721161, + -0.033530473709106445 + ], + "orientation": [ + 0.027265047654509544, + 0.9730008840560913, + 0.2291659712791443, + 0.0029783949721604586 + ], + "joints": [ + 0.003666423261165619 + ] + }, + "final_grasp": { + "position": [ + -0.0544750951230526, + 0.11111108958721161, + -0.033530473709106445 + ], + "orientation": [ + 0.027265047654509544, + 0.9730008840560913, + 0.2291659712791443, + 0.0029783949721604586 + ], + "joints": [ + 0.010574618354439735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05152580514550209, + -0.11003152281045914, + -0.04357782006263733 + ], + "orientation": [ + 0.9726575613021851, + 0.07559090107679367, + 0.017160378396511078, + 0.21892642974853516 + ], + "joints": [ + -0.0035419906489551067 + ] + }, + "fine_grasp": { + "position": [ + 0.05218692496418953, + -0.1108388751745224, + -0.04460467770695686 + ], + "orientation": [ + 0.972188413143158, + 0.07801496982574463, + 0.016196848824620247, + 0.22022981941699982 + ], + "joints": [ + 0.0039241742342710495 + ] + }, + "final_grasp": { + "position": [ + 0.05218692496418953, + -0.1108388751745224, + -0.04460467770695686 + ], + "orientation": [ + 0.972188413143158, + 0.07801496982574463, + 0.016196848824620247, + 0.22022981941699982 + ], + "joints": [ + 0.011390339583158493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12332748621702194, + -0.012533771805465221, + -0.005890535656362772 + ], + "orientation": [ + 0.7311198711395264, + 0.06645266711711884, + -0.09493767470121384, + 0.6723352074623108 + ], + "joints": [ + -0.003102134680375457 + ] + }, + "fine_grasp": { + "position": [ + 0.12122797966003418, + -0.012249145656824112, + -0.005085626617074013 + ], + "orientation": [ + 0.7332615852355957, + 0.07574482262134552, + -0.09227723628282547, + 0.6693841814994812 + ], + "joints": [ + 0.0033012311905622482 + ] + }, + "final_grasp": { + "position": [ + 0.12122797966003418, + -0.012249145656824112, + -0.005085626617074013 + ], + "orientation": [ + 0.7332615852355957, + 0.07574482262134552, + -0.09227723628282547, + 0.6693841814994812 + ], + "joints": [ + 0.009704597294330597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051020823419094086, + -0.10985983908176422, + -0.04299905523657799 + ], + "orientation": [ + 0.9729747176170349, + 0.0757785364985466, + 0.016943158581852913, + 0.21746399998664856 + ], + "joints": [ + -0.0035802973434329033 + ] + }, + "fine_grasp": { + "position": [ + 0.05171545222401619, + -0.1112682968378067, + -0.044246185570955276 + ], + "orientation": [ + 0.9728437066078186, + 0.07639500498771667, + 0.015681974589824677, + 0.21792900562286377 + ], + "joints": [ + 0.003885867539793253 + ] + }, + "final_grasp": { + "position": [ + 0.05171545222401619, + -0.1112682968378067, + -0.044246185570955276 + ], + "orientation": [ + 0.9728437066078186, + 0.07639500498771667, + 0.015681974589824677, + 0.21792900562286377 + ], + "joints": [ + 0.01135203242301941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04982525482773781, + 0.11045414954423904, + -0.0054856156930327415 + ], + "orientation": [ + 0.07769934833049774, + -0.9747655391693115, + 0.20887570083141327, + -0.012884574010968208 + ], + "joints": [ + -0.0035250517539680004 + ] + }, + "fine_grasp": { + "position": [ + 0.05025128275156021, + 0.11051993072032928, + -0.006558807101100683 + ], + "orientation": [ + 0.08549134433269501, + -0.9749229550361633, + 0.2049468606710434, + -0.014607377350330353 + ], + "joints": [ + 0.003914543427526951 + ] + }, + "final_grasp": { + "position": [ + 0.05025128275156021, + 0.11051993072032928, + -0.006558807101100683 + ], + "orientation": [ + 0.08549134433269501, + -0.9749229550361633, + 0.2049468606710434, + -0.014607377350330353 + ], + "joints": [ + 0.01135413907468319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04922778904438019, + 0.11050061136484146, + -0.004678071476519108 + ], + "orientation": [ + 0.07281940430402756, + -0.9754821062088013, + 0.20735175907611847, + -0.011710862629115582 + ], + "joints": [ + -0.0036284434609115124 + ] + }, + "fine_grasp": { + "position": [ + 0.04970280081033707, + 0.11056215316057205, + -0.005613412242382765 + ], + "orientation": [ + 0.07961572706699371, + -0.9758956432342529, + 0.20275726914405823, + -0.013366565108299255 + ], + "joints": [ + 0.003837721422314644 + ] + }, + "final_grasp": { + "position": [ + 0.04970280081033707, + 0.11056215316057205, + -0.005613412242382765 + ], + "orientation": [ + 0.07961572706699371, + -0.9758956432342529, + 0.20275726914405823, + -0.013366565108299255 + ], + "joints": [ + 0.011303886771202087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10532405227422714, + 0.046981316059827805, + 0.03376790136098862 + ], + "orientation": [ + 0.14896081387996674, + 0.6929377317428589, + 0.5555916428565979, + -0.434702068567276 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.106123186647892, + 0.04669981449842453, + 0.033155590295791626 + ], + "orientation": [ + 0.15724502503871918, + 0.688953697681427, + 0.5516407489776611, + -0.44306808710098267 + ], + "joints": [ + -0.004684802144765854 + ] + }, + "final_grasp": { + "position": [ + -0.106123186647892, + 0.04669981449842453, + 0.033155590295791626 + ], + "orientation": [ + 0.15724502503871918, + 0.688953697681427, + 0.5516407489776611, + -0.44306808710098267 + ], + "joints": [ + 0.0017982721328735352 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 992 + } +} \ No newline at end of file diff --git a/geometry_factory_bolt_00003/Annotation/piper_grasp_pose.json b/geometry_factory_bolt_00003/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..122e0930d6dfa4154d6d7252178837701271e2d8 --- /dev/null +++ b/geometry_factory_bolt_00003/Annotation/piper_grasp_pose.json @@ -0,0 +1,21218 @@ +{ + "type": "geometry_factory_bolt_00003", + "bottom_center": [ + 0.0, + 0.0, + -0.026250001043081284 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.05988776311278343, + 0.11487686634063721, + 0.00486311549320817 + ], + "orientation": [ + 0.04183558002114296, + 0.292199969291687, + -0.6395893096923828, + 0.7097848057746887 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.057440876960754395, + 0.1122225970029831, + 0.00431351363658905 + ], + "orientation": [ + 0.028357626870274544, + 0.3037119209766388, + -0.6435275077819824, + 0.7020165920257568 + ], + "joints": [ + 0.026331547647714615 + ] + }, + "final_grasp": { + "position": [ + -0.057440876960754395, + 0.1122225970029831, + 0.00431351363658905 + ], + "orientation": [ + 0.028357626870274544, + 0.3037119209766388, + -0.6435275077819824, + 0.7020165920257568 + ], + "joints": [ + 0.01997862383723259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12156534940004349, + -0.007794022094458342, + 0.04837476834654808 + ], + "orientation": [ + 0.44252148270606995, + -0.5233770608901978, + 0.6490323543548584, + -0.3301638662815094 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.11749877035617828, + -0.006978119257837534, + 0.04657420516014099 + ], + "orientation": [ + 0.4538387060165405, + -0.5252090692520142, + 0.6430672407150269, + -0.3234972059726715 + ], + "joints": [ + 0.02791566029191017 + ] + }, + "final_grasp": { + "position": [ + -0.11749877035617828, + -0.006978119257837534, + 0.04657420516014099 + ], + "orientation": [ + 0.4538387060165405, + -0.5252090692520142, + 0.6430672407150269, + -0.3234972059726715 + ], + "joints": [ + 0.02083132043480873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07256925851106644, + -0.09730614721775055, + -0.02300761453807354 + ], + "orientation": [ + 0.7168457508087158, + -0.297299861907959, + 0.5394853949546814, + 0.32665038108825684 + ], + "joints": [ + 0.01987706683576107 + ] + }, + "fine_grasp": { + "position": [ + -0.07020120322704315, + -0.09424105286598206, + -0.023990657180547714 + ], + "orientation": [ + 0.7015720009803772, + -0.3048318028450012, + 0.5580188035964966, + 0.321697473526001 + ], + "joints": [ + 0.00988793931901455 + ] + }, + "final_grasp": { + "position": [ + -0.07020120322704315, + -0.09424105286598206, + -0.023990657180547714 + ], + "orientation": [ + 0.7015720009803772, + -0.3048318028450012, + 0.5580188035964966, + 0.321697473526001 + ], + "joints": [ + -0.00010118819773197174 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07264183461666107, + -0.09729539602994919, + -0.02303330972790718 + ], + "orientation": [ + 0.7158406376838684, + -0.2965087294578552, + 0.540779709815979, + 0.3274324834346771 + ], + "joints": [ + 0.019972138106822968 + ] + }, + "fine_grasp": { + "position": [ + -0.07025043666362762, + -0.09422213584184647, + -0.023941533640027046 + ], + "orientation": [ + 0.7009971737861633, + -0.30376729369163513, + 0.5587959885597229, + 0.32260724902153015 + ], + "joints": [ + 0.009983010590076447 + ] + }, + "final_grasp": { + "position": [ + -0.07025043666362762, + -0.09422213584184647, + -0.023941533640027046 + ], + "orientation": [ + 0.7009971737861633, + -0.30376729369163513, + 0.5587959885597229, + 0.32260724902153015 + ], + "joints": [ + -6.116926670074463e-06 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006392799783498049, + 0.12018976360559464, + 0.025350913405418396 + ], + "orientation": [ + 0.6003338694572449, + 0.7786322236061096, + -0.150067999958992, + 0.10397462546825409 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.00516725005581975, + 0.11633823066949844, + 0.02488400600850582 + ], + "orientation": [ + 0.607877790927887, + 0.7773391008377075, + -0.12452206015586853, + 0.10355052351951599 + ], + "joints": [ + 0.024766478687524796 + ] + }, + "final_grasp": { + "position": [ + -0.00516725005581975, + 0.11633823066949844, + 0.02488400600850582 + ], + "orientation": [ + 0.607877790927887, + 0.7773391008377075, + -0.12452206015586853, + 0.10355052351951599 + ], + "joints": [ + 0.016825329512357712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006199225317686796, + 0.12014183402061462, + 0.025341445580124855 + ], + "orientation": [ + 0.6010315418243408, + 0.7785391211509705, + -0.14860975742340088, + 0.10272848606109619 + ], + "joints": [ + 0.032939180731773376 + ] + }, + "fine_grasp": { + "position": [ + -0.004979225806891918, + 0.11631236970424652, + 0.024887878447771072 + ], + "orientation": [ + 0.6085442900657654, + 0.777143120765686, + -0.1231289654970169, + 0.10276930034160614 + ], + "joints": [ + 0.02497713267803192 + ] + }, + "final_grasp": { + "position": [ + -0.004979225806891918, + 0.11631236970424652, + 0.024887878447771072 + ], + "orientation": [ + 0.6085442900657654, + 0.777143120765686, + -0.1231289654970169, + 0.10276930034160614 + ], + "joints": [ + 0.017015084624290466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006568518467247486, + 0.12035428732633591, + 0.02532329596579075 + ], + "orientation": [ + 0.6006608605384827, + 0.7786779999732971, + -0.14896617829799652, + 0.10332563519477844 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.005344883073121309, + 0.11649177223443985, + 0.024855779483914375 + ], + "orientation": [ + 0.6078225374221802, + 0.7775192260742188, + -0.12385781854391098, + 0.10331891477108002 + ], + "joints": [ + 0.024766478687524796 + ] + }, + "final_grasp": { + "position": [ + -0.005344883073121309, + 0.11649177223443985, + 0.024855779483914375 + ], + "orientation": [ + 0.6078225374221802, + 0.7775192260742188, + -0.12385781854391098, + 0.10331891477108002 + ], + "joints": [ + 0.016825329512357712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006356614176183939, + 0.1201857402920723, + 0.025382453575730324 + ], + "orientation": [ + 0.6003366112709045, + 0.7789119482040405, + -0.14941249787807465, + 0.10280055552721024 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.005120524670928717, + 0.116336390376091, + 0.024928925558924675 + ], + "orientation": [ + 0.607858419418335, + 0.7775642275810242, + -0.12397285550832748, + 0.10262930393218994 + ], + "joints": [ + 0.024766478687524796 + ] + }, + "final_grasp": { + "position": [ + -0.005120524670928717, + 0.116336390376091, + 0.024928925558924675 + ], + "orientation": [ + 0.607858419418335, + 0.7775642275810242, + -0.12397285550832748, + 0.10262930393218994 + ], + "joints": [ + 0.016825329512357712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11041619628667831, + -7.078688940964639e-05, + 0.050256650894880295 + ], + "orientation": [ + 0.40544483065605164, + -0.46008598804473877, + 0.7246854305267334, + -0.3142712414264679 + ], + "joints": [ + 0.031953245401382446 + ] + }, + "fine_grasp": { + "position": [ + -0.1069745197892189, + 0.0012068264186382294, + 0.048399947583675385 + ], + "orientation": [ + 0.41968846321105957, + -0.47037768363952637, + 0.7088764905929565, + -0.3163868486881256 + ], + "joints": [ + 0.024430051445961 + ] + }, + "final_grasp": { + "position": [ + -0.1069745197892189, + 0.0012068264186382294, + 0.048399947583675385 + ], + "orientation": [ + 0.41968846321105957, + -0.47037768363952637, + 0.7088764905929565, + -0.3163868486881256 + ], + "joints": [ + 0.01690685749053955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03587567061185837, + -0.12807878851890564, + 0.009833350777626038 + ], + "orientation": [ + 0.6413237452507019, + -0.7401494979858398, + 0.05138018727302551, + 0.19555725157260895 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + 0.03437118977308273, + -0.1244581937789917, + 0.010007140226662159 + ], + "orientation": [ + 0.6426942348480225, + -0.7381613850593567, + 0.043068405240774155, + 0.20051708817481995 + ], + "joints": [ + 0.02564973011612892 + ] + }, + "final_grasp": { + "position": [ + 0.03437118977308273, + -0.1244581937789917, + 0.010007140226662159 + ], + "orientation": [ + 0.6426942348480225, + -0.7381613850593567, + 0.043068405240774155, + 0.20051708817481995 + ], + "joints": [ + 0.01724882796406746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05602223053574562, + -0.08482777327299118, + 0.07242367416620255 + ], + "orientation": [ + 0.13464242219924927, + 0.34655851125717163, + 0.8297542333602905, + 0.4162648618221283 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.05467122793197632, + -0.0818052738904953, + 0.0699191614985466 + ], + "orientation": [ + 0.12479308247566223, + 0.33586615324020386, + 0.8310445547103882, + 0.42542406916618347 + ], + "joints": [ + 0.025579232722520828 + ] + }, + "final_grasp": { + "position": [ + -0.05467122793197632, + -0.0818052738904953, + 0.0699191614985466 + ], + "orientation": [ + 0.12479308247566223, + 0.33586615324020386, + 0.8310445547103882, + 0.42542406916618347 + ], + "joints": [ + 0.018473993986845016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010257728397846222, + -0.05370281636714935, + 0.11975105106830597 + ], + "orientation": [ + 0.14563192427158356, + -0.7097254395484924, + -0.6609190106391907, + -0.19561995565891266 + ], + "joints": [ + 0.019932983443140984 + ] + }, + "fine_grasp": { + "position": [ + -0.010049419477581978, + -0.05200866237282753, + 0.11687643080949783 + ], + "orientation": [ + 0.14109444618225098, + -0.7126750349998474, + -0.6602480411529541, + -0.19041861593723297 + ], + "joints": [ + 0.009922957047820091 + ] + }, + "final_grasp": { + "position": [ + -0.010049419477581978, + -0.05200866237282753, + 0.11687643080949783 + ], + "orientation": [ + 0.14109444618225098, + -0.7126750349998474, + -0.6602480411529541, + -0.19041861593723297 + ], + "joints": [ + -8.706934750080109e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1302243173122406, + 0.0071826814673841, + -0.0025585973635315895 + ], + "orientation": [ + 0.07084877043962479, + 0.6969147324562073, + 0.04594099149107933, + 0.7121656537055969 + ], + "joints": [ + 0.022412901744246483 + ] + }, + "fine_grasp": { + "position": [ + -0.1265859156847, + 0.006954486016184092, + -0.0034509431570768356 + ], + "orientation": [ + 0.06786378473043442, + 0.7083913087844849, + 0.042657215148210526, + 0.7012537121772766 + ], + "joints": [ + 0.013176089152693748 + ] + }, + "final_grasp": { + "position": [ + -0.1265859156847, + 0.006954486016184092, + -0.0034509431570768356 + ], + "orientation": [ + 0.06786378473043442, + 0.7083913087844849, + 0.042657215148210526, + 0.7012537121772766 + ], + "joints": [ + 0.003939276561141014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09969700127840042, + -0.06799779087305069, + 0.03872736915946007 + ], + "orientation": [ + 0.31006550788879395, + 0.27008765935897827, + -0.7695608735084534, + -0.4885573089122772 + ], + "joints": [ + 0.034780025482177734 + ] + }, + "fine_grasp": { + "position": [ + 0.09627053886651993, + -0.06626015156507492, + 0.03740059956908226 + ], + "orientation": [ + 0.31643638014793396, + 0.28413525223731995, + -0.7631677389144897, + -0.4865287244319916 + ], + "joints": [ + 0.02600296586751938 + ] + }, + "final_grasp": { + "position": [ + 0.09627053886651993, + -0.06626015156507492, + 0.03740059956908226 + ], + "orientation": [ + 0.31643638014793396, + 0.28413525223731995, + -0.7631677389144897, + -0.4865287244319916 + ], + "joints": [ + 0.017225906252861023 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12165410816669464, + 0.002931217197328806, + 0.025615863502025604 + ], + "orientation": [ + 0.573333203792572, + 0.45054006576538086, + 0.6144359707832336, + 0.3012821078300476 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.11823219805955887, + 0.003535571740940213, + 0.024003105238080025 + ], + "orientation": [ + 0.5542789101600647, + 0.4487162232398987, + 0.6267285346984863, + 0.3140700161457062 + ], + "joints": [ + 0.02760966494679451 + ] + }, + "final_grasp": { + "position": [ + -0.11823219805955887, + 0.003535571740940213, + 0.024003105238080025 + ], + "orientation": [ + 0.5542789101600647, + 0.4487162232398987, + 0.6267285346984863, + 0.3140700161457062 + ], + "joints": [ + 0.022071752697229385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13459442555904388, + -0.001653058803640306, + -0.02658381499350071 + ], + "orientation": [ + 0.3527481257915497, + 0.5180730819702148, + -0.3377825617790222, + -0.7021908164024353 + ], + "joints": [ + 0.03154986351728439 + ] + }, + "fine_grasp": { + "position": [ + 0.13097599148750305, + -0.002289798343554139, + -0.02599538303911686 + ], + "orientation": [ + 0.356764018535614, + 0.5244883298873901, + -0.3347865343093872, + -0.696813702583313 + ], + "joints": [ + 0.02312806248664856 + ] + }, + "final_grasp": { + "position": [ + 0.13097599148750305, + -0.002289798343554139, + -0.02599538303911686 + ], + "orientation": [ + 0.356764018535614, + 0.5244883298873901, + -0.3347865343093872, + -0.696813702583313 + ], + "joints": [ + 0.014706261456012726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11047904193401337, + -0.030280854552984238, + 0.034622810781002045 + ], + "orientation": [ + 0.4372735023498535, + -0.7192991971969604, + -0.3866809904575348, + 0.37666741013526917 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.10683753341436386, + -0.030901333317160606, + 0.03297191485762596 + ], + "orientation": [ + 0.441572368144989, + -0.7064281105995178, + -0.3979299068450928, + 0.3842200040817261 + ], + "joints": [ + 0.02643713727593422 + ] + }, + "final_grasp": { + "position": [ + 0.10683753341436386, + -0.030901333317160606, + 0.03297191485762596 + ], + "orientation": [ + 0.441572368144989, + -0.7064281105995178, + -0.3979299068450928, + 0.3842200040817261 + ], + "joints": [ + 0.019749853760004044 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003062998177483678, + 0.12275853008031845, + 0.010848172940313816 + ], + "orientation": [ + 0.6457422971725464, + 0.7266326546669006, + -0.20058965682983398, + 0.12159624695777893 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.0038642738945782185, + 0.11929972469806671, + 0.011687283404171467 + ], + "orientation": [ + 0.6512543559074402, + 0.7270920872688293, + -0.1794784516096115, + 0.12244314700365067 + ], + "joints": [ + 0.024951718747615814 + ] + }, + "final_grasp": { + "position": [ + 0.0038642738945782185, + 0.11929972469806671, + 0.011687283404171467 + ], + "orientation": [ + 0.6512543559074402, + 0.7270920872688293, + -0.1794784516096115, + 0.12244314700365067 + ], + "joints": [ + 0.01701056957244873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012373308651149273, + -0.053803957998752594, + 0.11981810629367828 + ], + "orientation": [ + 0.12830278277397156, + -0.6789193153381348, + -0.6932585835456848, + -0.20493818819522858 + ], + "joints": [ + 0.02018699422478676 + ] + }, + "fine_grasp": { + "position": [ + -0.012328050099313259, + -0.05203036591410637, + 0.11651314049959183 + ], + "orientation": [ + 0.12341167777776718, + -0.6804866194725037, + -0.6937143802642822, + -0.2011665403842926 + ], + "joints": [ + 0.010594923049211502 + ] + }, + "final_grasp": { + "position": [ + -0.012328050099313259, + -0.05203036591410637, + 0.11651314049959183 + ], + "orientation": [ + 0.12341167777776718, + -0.6804866194725037, + -0.6937143802642822, + -0.2011665403842926 + ], + "joints": [ + 0.0010028518736362457 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042399924248456955, + 0.035745128989219666, + -0.10747330635786057 + ], + "orientation": [ + 0.8302599787712097, + -0.0013551994925364852, + 0.18954472243785858, + -0.5241557955741882 + ], + "joints": [ + 0.023028653115034103 + ] + }, + "fine_grasp": { + "position": [ + -0.04118625074625015, + 0.03390246629714966, + -0.10680888593196869 + ], + "orientation": [ + 0.8294446468353271, + 0.005131278187036514, + 0.20525728166103363, + -0.5194849371910095 + ], + "joints": [ + 0.013833638280630112 + ] + }, + "final_grasp": { + "position": [ + -0.04118625074625015, + 0.03390246629714966, + -0.10680888593196869 + ], + "orientation": [ + 0.8294446468353271, + 0.005131278187036514, + 0.20525728166103363, + -0.5194849371910095 + ], + "joints": [ + 0.00463862344622612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00249940506182611, + -0.05074127018451691, + -0.10997765511274338 + ], + "orientation": [ + 0.5197122693061829, + -0.11662393808364868, + -0.1792937070131302, + -0.8271346688270569 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + -0.0018869683844968677, + -0.04962460324168205, + -0.10927265882492065 + ], + "orientation": [ + 0.513481616973877, + -0.1216638833284378, + -0.18757009506225586, + -0.828463613986969 + ], + "joints": [ + 0.01862681843340397 + ] + }, + "final_grasp": { + "position": [ + -0.0018869683844968677, + -0.04962460324168205, + -0.10927265882492065 + ], + "orientation": [ + 0.513481616973877, + -0.1216638833284378, + -0.18757009506225586, + -0.828463613986969 + ], + "joints": [ + 0.009431803598999977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003307652659714222, + -0.04949735105037689, + -0.10910645872354507 + ], + "orientation": [ + 0.5233917832374573, + -0.12361844629049301, + -0.17693938314914703, + -0.8243008255958557 + ], + "joints": [ + 0.028076544404029846 + ] + }, + "fine_grasp": { + "position": [ + -0.0033542762976139784, + -0.04767175763845444, + -0.11076930165290833 + ], + "orientation": [ + 0.5202198028564453, + -0.13010969758033752, + -0.1779959797859192, + -0.8250818848609924 + ], + "joints": [ + 0.018860630691051483 + ] + }, + "final_grasp": { + "position": [ + -0.0033542762976139784, + -0.04767175763845444, + -0.11076930165290833 + ], + "orientation": [ + 0.5202198028564453, + -0.13010969758033752, + -0.1779959797859192, + -0.8250818848609924 + ], + "joints": [ + 0.00964471697807312 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003130881814286113, + 0.12225081771612167, + 0.00931036751717329 + ], + "orientation": [ + 0.6494543552398682, + 0.7233076691627502, + -0.20071522891521454, + 0.12144364416599274 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.0037219885271042585, + 0.11827158182859421, + 0.009795589372515678 + ], + "orientation": [ + 0.6547811627388, + 0.7246254086494446, + -0.1787007749080658, + 0.11935597658157349 + ], + "joints": [ + 0.025579232722520828 + ] + }, + "final_grasp": { + "position": [ + 0.0037219885271042585, + 0.11827158182859421, + 0.009795589372515678 + ], + "orientation": [ + 0.6547811627388, + 0.7246254086494446, + -0.1787007749080658, + 0.11935597658157349 + ], + "joints": [ + 0.018473993986845016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11186257749795914, + 0.02382439188659191, + 0.030393926426768303 + ], + "orientation": [ + 0.05321298539638519, + 0.7755666971206665, + 0.08505469560623169, + -0.6232418417930603 + ], + "joints": [ + 0.02096407674252987 + ] + }, + "fine_grasp": { + "position": [ + 0.10809972137212753, + 0.022711342200636864, + 0.029261721298098564 + ], + "orientation": [ + 0.048411719501018524, + 0.7848774790763855, + 0.09311623126268387, + -0.6106988787651062 + ], + "joints": [ + 0.01260497234761715 + ] + }, + "final_grasp": { + "position": [ + 0.10809972137212753, + 0.022711342200636864, + 0.029261721298098564 + ], + "orientation": [ + 0.048411719501018524, + 0.7848774790763855, + 0.09311623126268387, + -0.6106988787651062 + ], + "joints": [ + 0.00424586795270443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008170019718818367, + 0.030906513333320618, + 0.12961873412132263 + ], + "orientation": [ + 0.08093561977148056, + 0.6949034929275513, + -0.7091553211212158, + 0.08750579506158829 + ], + "joints": [ + 0.020258355885744095 + ] + }, + "fine_grasp": { + "position": [ + -0.0008309916011057794, + 0.029867125675082207, + 0.12609462440013885 + ], + "orientation": [ + 0.08303756266832352, + 0.6951376795768738, + -0.7085259556770325, + 0.0887661799788475 + ], + "joints": [ + 0.010645385831594467 + ] + }, + "final_grasp": { + "position": [ + -0.0008309916011057794, + 0.029867125675082207, + 0.12609462440013885 + ], + "orientation": [ + 0.08303756266832352, + 0.6951376795768738, + -0.7085259556770325, + 0.0887661799788475 + ], + "joints": [ + 0.0010324157774448395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11761713027954102, + 0.0012858281843364239, + 0.06856802105903625 + ], + "orientation": [ + 0.34411558508872986, + -0.561191737651825, + -0.6646323204040527, + 0.35342904925346375 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.11435410380363464, + 0.0014430490555241704, + 0.06662340462207794 + ], + "orientation": [ + 0.3524715006351471, + -0.5630677342414856, + -0.661758542060852, + 0.34755468368530273 + ], + "joints": [ + 0.025099676102399826 + ] + }, + "final_grasp": { + "position": [ + 0.11435410380363464, + 0.0014430490555241704, + 0.06662340462207794 + ], + "orientation": [ + 0.3524715006351471, + -0.5630677342414856, + -0.661758542060852, + 0.34755468368530273 + ], + "joints": [ + 0.017074931412935257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027098510414361954, + 0.11980137974023819, + -0.013807968236505985 + ], + "orientation": [ + 0.7141541838645935, + 0.6656580567359924, + 0.0112505704164505, + -0.21623289585113525 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.026482265442609787, + 0.11567401140928268, + -0.012451373040676117 + ], + "orientation": [ + 0.7104346752166748, + 0.670653760433197, + 0.013956339098513126, + -0.2128649801015854 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + 0.026482265442609787, + 0.11567401140928268, + -0.012451373040676117 + ], + "orientation": [ + 0.7104346752166748, + 0.670653760433197, + 0.013956339098513126, + -0.2128649801015854 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038996372371912, + -0.07088679075241089, + -0.1094612404704094 + ], + "orientation": [ + 0.870851993560791, + -0.2042175829410553, + -0.23811499774456024, + -0.37843501567840576 + ], + "joints": [ + 0.025699421763420105 + ] + }, + "fine_grasp": { + "position": [ + 0.03797125071287155, + -0.06807427853345871, + -0.1073184534907341 + ], + "orientation": [ + 0.8690045475959778, + -0.21100753545761108, + -0.2428395301103592, + -0.3759464621543884 + ], + "joints": [ + 0.015689395368099213 + ] + }, + "final_grasp": { + "position": [ + 0.03797125071287155, + -0.06807427853345871, + -0.1073184534907341 + ], + "orientation": [ + 0.8690045475959778, + -0.21100753545761108, + -0.2428395301103592, + -0.3759464621543884 + ], + "joints": [ + 0.00567936897277832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05615884065628052, + -0.08071255683898926, + -0.06948693096637726 + ], + "orientation": [ + 0.4639285206794739, + -0.43722280859947205, + 0.18351517617702484, + 0.7482837438583374 + ], + "joints": [ + 0.024602102115750313 + ] + }, + "fine_grasp": { + "position": [ + 0.055438339710235596, + -0.07876988500356674, + -0.06851939111948013 + ], + "orientation": [ + 0.4678669273853302, + -0.4430723488330841, + 0.17834237217903137, + 0.7436273097991943 + ], + "joints": [ + 0.014989132061600685 + ] + }, + "final_grasp": { + "position": [ + 0.055438339710235596, + -0.07876988500356674, + -0.06851939111948013 + ], + "orientation": [ + 0.4678669273853302, + -0.4430723488330841, + 0.17834237217903137, + 0.7436273097991943 + ], + "joints": [ + 0.0053761620074510574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04846977815032005, + 0.1078563928604126, + -0.040059082210063934 + ], + "orientation": [ + 0.4466800093650818, + 0.5730102062225342, + 0.3283960223197937, + -0.6035664081573486 + ], + "joints": [ + 0.027405036613345146 + ] + }, + "fine_grasp": { + "position": [ + 0.04719392582774162, + 0.10447347164154053, + -0.03931296989321709 + ], + "orientation": [ + 0.4488936960697174, + 0.5714255571365356, + 0.32193440198898315, + -0.6068984270095825 + ], + "joints": [ + 0.015367930755019188 + ] + }, + "final_grasp": { + "position": [ + 0.04719392582774162, + 0.10447347164154053, + -0.03931296989321709 + ], + "orientation": [ + 0.4488936960697174, + 0.5714255571365356, + 0.32193440198898315, + -0.6068984270095825 + ], + "joints": [ + 0.0033308248966932297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05460445210337639, + 0.01949165016412735, + -0.10776045173406601 + ], + "orientation": [ + 0.9736692309379578, + 0.09570829570293427, + -0.20681132376194, + -0.006103816907852888 + ], + "joints": [ + 0.02455691061913967 + ] + }, + "fine_grasp": { + "position": [ + 0.05222788080573082, + 0.019456088542938232, + -0.10570507496595383 + ], + "orientation": [ + 0.9702836275100708, + 0.0978577584028244, + -0.22115342319011688, + -0.008043563924729824 + ], + "joints": [ + 0.01619780622422695 + ] + }, + "final_grasp": { + "position": [ + 0.05222788080573082, + 0.019456088542938232, + -0.10570507496595383 + ], + "orientation": [ + 0.9702836275100708, + 0.0978577584028244, + -0.22115342319011688, + -0.008043563924729824 + ], + "joints": [ + 0.007838701829314232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05487847700715065, + 0.019561555236577988, + -0.10749994963407516 + ], + "orientation": [ + 0.9746073484420776, + 0.09089012444019318, + -0.20456907153129578, + 0.005564660299569368 + ], + "joints": [ + 0.023879319429397583 + ] + }, + "fine_grasp": { + "position": [ + 0.05302325263619423, + 0.019809739664196968, + -0.10616237670183182 + ], + "orientation": [ + 0.971034049987793, + 0.09547530859708786, + -0.21903038024902344, + 0.0017171562649309635 + ], + "joints": [ + 0.01547841727733612 + ] + }, + "final_grasp": { + "position": [ + 0.05302325263619423, + 0.019809739664196968, + -0.10616237670183182 + ], + "orientation": [ + 0.971034049987793, + 0.09547530859708786, + -0.21903038024902344, + 0.0017171562649309635 + ], + "joints": [ + 0.007077515125274658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03713667765259743, + -0.03219352662563324, + -0.12969499826431274 + ], + "orientation": [ + 0.8459869623184204, + -0.03873298317193985, + 0.20119161903858185, + 0.49226808547973633 + ], + "joints": [ + 0.02990582585334778 + ] + }, + "fine_grasp": { + "position": [ + -0.03576995059847832, + -0.031144794076681137, + -0.1261303573846817 + ], + "orientation": [ + 0.8467746376991272, + -0.039223648607730865, + 0.20276358723640442, + 0.4902256429195404 + ], + "joints": [ + 0.02029285579919815 + ] + }, + "final_grasp": { + "position": [ + -0.03576995059847832, + -0.031144794076681137, + -0.1261303573846817 + ], + "orientation": [ + 0.8467746376991272, + -0.039223648607730865, + 0.20276358723640442, + 0.4902256429195404 + ], + "joints": [ + 0.010679885745048523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03760123625397682, + -0.03222077339887619, + -0.13110999763011932 + ], + "orientation": [ + 0.8455536961555481, + -0.03946666792035103, + 0.20652435719966888, + 0.4907432794570923 + ], + "joints": [ + 0.029465872794389725 + ] + }, + "fine_grasp": { + "position": [ + -0.03621743991971016, + -0.03129877895116806, + -0.12761075794696808 + ], + "orientation": [ + 0.8467036485671997, + -0.03999949246644974, + 0.20684446394443512, + 0.48857778310775757 + ], + "joints": [ + 0.01943494752049446 + ] + }, + "final_grasp": { + "position": [ + -0.03621743991971016, + -0.03129877895116806, + -0.12761075794696808 + ], + "orientation": [ + 0.8467036485671997, + -0.03999949246644974, + 0.20684446394443512, + 0.48857778310775757 + ], + "joints": [ + 0.009404022246599197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10469402372837067, + -0.062130846083164215, + -0.04504288733005524 + ], + "orientation": [ + 0.239236518740654, + -0.5657620429992676, + -0.13226580619812012, + -0.7779363989830017 + ], + "joints": [ + 0.024417981505393982 + ] + }, + "fine_grasp": { + "position": [ + -0.1013372540473938, + -0.06003314629197121, + -0.045088909566402435 + ], + "orientation": [ + 0.2373841106891632, + -0.5754293203353882, + -0.13563035428524017, + -0.7708010077476501 + ], + "joints": [ + 0.015620023012161255 + ] + }, + "final_grasp": { + "position": [ + -0.1013372540473938, + -0.06003314629197121, + -0.045088909566402435 + ], + "orientation": [ + 0.2373841106891632, + -0.5754293203353882, + -0.13563035428524017, + -0.7708010077476501 + ], + "joints": [ + 0.006822064518928528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09563145786523819, + -0.07964609563350677, + 0.026279432699084282 + ], + "orientation": [ + 0.308422714471817, + 0.20327243208885193, + -0.7604025602340698, + -0.5341755747795105 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.09214753657579422, + -0.07754022628068924, + 0.025601856410503387 + ], + "orientation": [ + 0.3118829131126404, + 0.22303740680217743, + -0.7537499666213989, + -0.5337080955505371 + ], + "joints": [ + 0.024788472801446915 + ] + }, + "final_grasp": { + "position": [ + 0.09214753657579422, + -0.07754022628068924, + 0.025601856410503387 + ], + "orientation": [ + 0.3118829131126404, + 0.22303740680217743, + -0.7537499666213989, + -0.5337080955505371 + ], + "joints": [ + 0.016429368406534195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04821150749921799, + 0.10776481032371521, + -0.04054051265120506 + ], + "orientation": [ + 0.44404980540275574, + 0.5770045518875122, + 0.33339419960975647, + -0.5989439487457275 + ], + "joints": [ + 0.0271734818816185 + ] + }, + "fine_grasp": { + "position": [ + 0.046757329255342484, + 0.10460177809000015, + -0.039400141686201096 + ], + "orientation": [ + 0.4450721740722656, + 0.5732429027557373, + 0.32731112837791443, + -0.6051205396652222 + ], + "joints": [ + 0.015136376023292542 + ] + }, + "final_grasp": { + "position": [ + 0.046757329255342484, + 0.10460177809000015, + -0.039400141686201096 + ], + "orientation": [ + 0.4450721740722656, + 0.5732429027557373, + 0.32731112837791443, + -0.6051205396652222 + ], + "joints": [ + 0.0030992701649665833 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012532313354313374, + -0.018571527674794197, + -0.1228715032339096 + ], + "orientation": [ + 0.05362306907773018, + 0.09527047723531723, + 0.08848737925291061, + 0.9900596141815186 + ], + "joints": [ + 0.027322156354784966 + ] + }, + "fine_grasp": { + "position": [ + -0.013368509709835052, + -0.017669880762696266, + -0.12167356163263321 + ], + "orientation": [ + 0.05201904475688934, + 0.08519747108221054, + 0.08447308093309402, + 0.9914130568504333 + ], + "joints": [ + 0.018127141520380974 + ] + }, + "final_grasp": { + "position": [ + -0.013368509709835052, + -0.017669880762696266, + -0.12167356163263321 + ], + "orientation": [ + 0.05201904475688934, + 0.08519747108221054, + 0.08447308093309402, + 0.9914130568504333 + ], + "joints": [ + 0.008932126685976982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10499394685029984, + -0.06259983777999878, + -0.04532240703701973 + ], + "orientation": [ + 0.23947325348854065, + -0.5651701092720032, + -0.13356925547122955, + -0.7780710458755493 + ], + "joints": [ + 0.024393603205680847 + ] + }, + "fine_grasp": { + "position": [ + -0.10161662846803665, + -0.06053166463971138, + -0.045356929302215576 + ], + "orientation": [ + 0.23739343881607056, + -0.5747068524360657, + -0.1365714967250824, + -0.7711709141731262 + ], + "joints": [ + 0.01559564471244812 + ] + }, + "final_grasp": { + "position": [ + -0.10161662846803665, + -0.06053166463971138, + -0.045356929302215576 + ], + "orientation": [ + 0.23739343881607056, + -0.5747068524360657, + -0.1365714967250824, + -0.7711709141731262 + ], + "joints": [ + 0.006797686219215393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054539501667022705, + 0.10363151878118515, + 0.022553056478500366 + ], + "orientation": [ + 0.28493446111679077, + 0.667397677898407, + -0.44800814986228943, + 0.5221889615058899 + ], + "joints": [ + 0.0285164974629879 + ] + }, + "fine_grasp": { + "position": [ + -0.053009144961833954, + 0.1002529114484787, + 0.021414557471871376 + ], + "orientation": [ + 0.2802956998348236, + 0.6706212759017944, + -0.4524356424808502, + 0.5167237520217896 + ], + "joints": [ + 0.017294403165578842 + ] + }, + "final_grasp": { + "position": [ + -0.053009144961833954, + 0.1002529114484787, + 0.021414557471871376 + ], + "orientation": [ + 0.2802956998348236, + 0.6706212759017944, + -0.4524356424808502, + 0.5167237520217896 + ], + "joints": [ + 0.0060723088681697845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11911053210496902, + 0.000686723564285785, + -0.0659838318824768 + ], + "orientation": [ + 0.020365972071886063, + -0.5154046416282654, + -0.020713049918413162, + 0.8564544320106506 + ], + "joints": [ + 0.02552715502679348 + ] + }, + "fine_grasp": { + "position": [ + 0.11583355069160461, + 0.000455697241704911, + -0.06511016935110092 + ], + "orientation": [ + 0.019064197316765785, + -0.520849883556366, + -0.023611603304743767, + 0.853108823299408 + ], + "joints": [ + 0.01507827453315258 + ] + }, + "final_grasp": { + "position": [ + 0.11583355069160461, + 0.000455697241704911, + -0.06511016935110092 + ], + "orientation": [ + 0.019064197316765785, + -0.520849883556366, + -0.023611603304743767, + 0.853108823299408 + ], + "joints": [ + 0.004629394039511681 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04954594001173973, + 0.04191942140460014, + -0.12724418938159943 + ], + "orientation": [ + 0.8478163480758667, + 0.0665569007396698, + -0.28107917308807373, + 0.444715678691864 + ], + "joints": [ + 0.029442716389894485 + ] + }, + "fine_grasp": { + "position": [ + 0.04844648763537407, + 0.041084274649620056, + -0.12353426218032837 + ], + "orientation": [ + 0.8498746752738953, + 0.06571675837039948, + -0.2761690616607666, + 0.44398775696754456 + ], + "joints": [ + 0.019829746335744858 + ] + }, + "final_grasp": { + "position": [ + 0.04844648763537407, + 0.041084274649620056, + -0.12353426218032837 + ], + "orientation": [ + 0.8498746752738953, + 0.06571675837039948, + -0.2761690616607666, + 0.44398775696754456 + ], + "joints": [ + 0.01021677628159523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04086494445800781, + -0.06843399256467819, + -0.10560653358697891 + ], + "orientation": [ + 0.8774508833885193, + -0.1856277585029602, + -0.2226891815662384, + -0.3821410536766052 + ], + "joints": [ + 0.021326029673218727 + ] + }, + "fine_grasp": { + "position": [ + 0.0386771634221077, + -0.06581845134496689, + -0.10436544567346573 + ], + "orientation": [ + 0.8736110925674438, + -0.19159650802612305, + -0.24151231348514557, + -0.3765186369419098 + ], + "joints": [ + 0.012507172301411629 + ] + }, + "final_grasp": { + "position": [ + 0.0386771634221077, + -0.06581845134496689, + -0.10436544567346573 + ], + "orientation": [ + 0.8736110925674438, + -0.19159650802612305, + -0.24151231348514557, + -0.3765186369419098 + ], + "joints": [ + 0.0036883149296045303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07830307632684708, + -0.012162319384515285, + 0.08626765757799149 + ], + "orientation": [ + 0.0792827308177948, + -0.9546334743499756, + -0.07050028443336487, + 0.27824240922927856 + ], + "joints": [ + 0.025361821055412292 + ] + }, + "fine_grasp": { + "position": [ + 0.07604160159826279, + -0.011863842606544495, + 0.08375236392021179 + ], + "orientation": [ + 0.07940707355737686, + -0.9524735808372498, + -0.08034661412239075, + 0.28290119767189026 + ], + "joints": [ + 0.01696091890335083 + ] + }, + "final_grasp": { + "position": [ + 0.07604160159826279, + -0.011863842606544495, + 0.08375236392021179 + ], + "orientation": [ + 0.07940707355737686, + -0.9524735808372498, + -0.08034661412239075, + 0.28290119767189026 + ], + "joints": [ + 0.008560016751289368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03662047162652016, + 0.10794270038604736, + -0.05754270404577255 + ], + "orientation": [ + 0.6813294887542725, + 0.3699871003627777, + -0.4578164517879486, + 0.43509045243263245 + ], + "joints": [ + 0.027613434940576553 + ] + }, + "fine_grasp": { + "position": [ + 0.03539300709962845, + 0.10443269461393356, + -0.056347113102674484 + ], + "orientation": [ + 0.6860932111740112, + 0.3665686845779419, + -0.4579833447933197, + 0.43029603362083435 + ], + "joints": [ + 0.01680929586291313 + ] + }, + "final_grasp": { + "position": [ + 0.03539300709962845, + 0.10443269461393356, + -0.056347113102674484 + ], + "orientation": [ + 0.6860932111740112, + 0.3665686845779419, + -0.4579833447933197, + 0.43029603362083435 + ], + "joints": [ + 0.00600515678524971 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047833144664764404, + 0.010785507969558239, + -0.11439939588308334 + ], + "orientation": [ + 0.1267217993736267, + -0.29883623123168945, + 0.06603695452213287, + -0.9435452222824097 + ], + "joints": [ + 0.02325507067143917 + ] + }, + "fine_grasp": { + "position": [ + -0.048124346882104874, + 0.010049793869256973, + -0.11178337037563324 + ], + "orientation": [ + 0.12892155349254608, + -0.283784955739975, + 0.06802695989608765, + -0.9477435350418091 + ], + "joints": [ + 0.015313921496272087 + ] + }, + "final_grasp": { + "position": [ + -0.048124346882104874, + 0.010049793869256973, + -0.11178337037563324 + ], + "orientation": [ + 0.12892155349254608, + -0.283784955739975, + 0.06802695989608765, + -0.9477435350418091 + ], + "joints": [ + 0.007372772321105003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010423452593386173, + 0.09362468868494034, + 0.07747766375541687 + ], + "orientation": [ + 0.40139657258987427, + 0.6154065728187561, + -0.599075436592102, + 0.3182202875614166 + ], + "joints": [ + 0.01936512440443039 + ] + }, + "fine_grasp": { + "position": [ + 0.009734388440847397, + 0.0921754464507103, + 0.07502938061952591 + ], + "orientation": [ + 0.3882509768009186, + 0.623383641242981, + -0.6063843965530396, + 0.3048803508281708 + ], + "joints": [ + 0.010170109570026398 + ] + }, + "final_grasp": { + "position": [ + 0.009734388440847397, + 0.0921754464507103, + 0.07502938061952591 + ], + "orientation": [ + 0.3882509768009186, + 0.623383641242981, + -0.6063843965530396, + 0.3048803508281708 + ], + "joints": [ + 0.000975094735622406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.048477016389369965, + 0.10794317722320557, + -0.039251528680324554 + ], + "orientation": [ + 0.4362228512763977, + 0.5625851154327393, + 0.33656051754951477, + -0.6163883805274963 + ], + "joints": [ + 0.028076544404029846 + ] + }, + "fine_grasp": { + "position": [ + 0.04722387716174126, + 0.1045202687382698, + -0.03876638412475586 + ], + "orientation": [ + 0.43320339918136597, + 0.5658473372459412, + 0.33327701687812805, + -0.6173151731491089 + ], + "joints": [ + 0.016039438545703888 + ] + }, + "final_grasp": { + "position": [ + 0.04722387716174126, + 0.1045202687382698, + -0.03876638412475586 + ], + "orientation": [ + 0.43320339918136597, + 0.5658473372459412, + 0.33327701687812805, + -0.6173151731491089 + ], + "joints": [ + 0.00400233268737793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008385242894291878, + 0.09171144664287567, + 0.07372342050075531 + ], + "orientation": [ + 0.35985222458839417, + 0.5955394506454468, + -0.6417702436447144, + 0.3224441111087799 + ], + "joints": [ + 0.01987263932824135 + ] + }, + "fine_grasp": { + "position": [ + 0.008072065189480782, + 0.08850240707397461, + 0.07330166548490524 + ], + "orientation": [ + 0.3542912006378174, + 0.6066877841949463, + -0.6401809453964233, + 0.31076693534851074 + ], + "joints": [ + 0.010677624493837357 + ] + }, + "final_grasp": { + "position": [ + 0.008072065189480782, + 0.08850240707397461, + 0.07330166548490524 + ], + "orientation": [ + 0.3542912006378174, + 0.6066877841949463, + -0.6401809453964233, + 0.31076693534851074 + ], + "joints": [ + 0.0014826096594333649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06368352472782135, + -0.054362617433071136, + -0.11306372284889221 + ], + "orientation": [ + 0.8695693016052246, + -0.09306687116622925, + 0.30004894733428955, + 0.3809966444969177 + ], + "joints": [ + 0.026852233335375786 + ] + }, + "fine_grasp": { + "position": [ + -0.06163201853632927, + -0.05248638615012169, + -0.11039414256811142 + ], + "orientation": [ + 0.8684695959091187, + -0.09445768594741821, + 0.3044736683368683, + 0.3796500265598297 + ], + "joints": [ + 0.017636319622397423 + ] + }, + "final_grasp": { + "position": [ + -0.06163201853632927, + -0.05248638615012169, + -0.11039414256811142 + ], + "orientation": [ + 0.8684695959091187, + -0.09445768594741821, + 0.3044736683368683, + 0.3796500265598297 + ], + "joints": [ + 0.00842040590941906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11769488453865051, + 0.010113365948200226, + -0.09336259961128235 + ], + "orientation": [ + 0.016575003042817116, + 0.5278047323226929, + -0.029211338609457016, + 0.8487014174461365 + ], + "joints": [ + 0.0211658738553524 + ] + }, + "fine_grasp": { + "position": [ + -0.11541600525379181, + 0.009801573120057583, + -0.08972547203302383 + ], + "orientation": [ + 0.016792353242635727, + 0.5169779658317566, + -0.02902637980878353, + 0.8553416728973389 + ], + "joints": [ + 0.013642679899930954 + ] + }, + "final_grasp": { + "position": [ + -0.11541600525379181, + 0.009801573120057583, + -0.08972547203302383 + ], + "orientation": [ + 0.016792353242635727, + 0.5169779658317566, + -0.02902637980878353, + 0.8553416728973389 + ], + "joints": [ + 0.006119485944509506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05437464639544487, + 0.10329525917768478, + 0.021965764462947845 + ], + "orientation": [ + 0.2875436246395111, + 0.6727839708328247, + -0.4427785575389862, + 0.5182928442955017 + ], + "joints": [ + 0.02853965386748314 + ] + }, + "fine_grasp": { + "position": [ + -0.05298050865530968, + 0.09984844923019409, + 0.020862970501184464 + ], + "orientation": [ + 0.28490233421325684, + 0.6767513751983643, + -0.4446099102497101, + 0.5129914879798889 + ], + "joints": [ + 0.01731755957007408 + ] + }, + "final_grasp": { + "position": [ + -0.05298050865530968, + 0.09984844923019409, + 0.020862970501184464 + ], + "orientation": [ + 0.28490233421325684, + 0.6767513751983643, + -0.4446099102497101, + 0.5129914879798889 + ], + "joints": [ + 0.006095465272665024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09890662133693695, + 0.05949551239609718, + 0.02466716431081295 + ], + "orientation": [ + 0.19793526828289032, + -0.38474130630493164, + 0.668321967124939, + -0.6050962209701538 + ], + "joints": [ + 0.030855201184749603 + ] + }, + "fine_grasp": { + "position": [ + -0.09525236487388611, + 0.05968060344457626, + 0.022976864129304886 + ], + "orientation": [ + 0.22032161056995392, + -0.39327237010002136, + 0.665753960609436, + -0.5946149230003357 + ], + "joints": [ + 0.024585872888565063 + ] + }, + "final_grasp": { + "position": [ + -0.09525236487388611, + 0.05968060344457626, + 0.022976864129304886 + ], + "orientation": [ + 0.22032161056995392, + -0.39327237010002136, + 0.665753960609436, + -0.5946149230003357 + ], + "joints": [ + 0.018316544592380524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0752151682972908, + -0.07927446812391281, + 0.010299552232027054 + ], + "orientation": [ + 0.2232178896665573, + -0.6786766052246094, + 0.35370033979415894, + 0.6037119030952454 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + 0.07466370612382889, + -0.07806626707315445, + 0.009035329334437847 + ], + "orientation": [ + 0.21427376568317413, + -0.6832006573677063, + 0.35926464200019836, + 0.5985419750213623 + ], + "joints": [ + 0.016656290739774704 + ] + }, + "final_grasp": { + "position": [ + 0.07466370612382889, + -0.07806626707315445, + 0.009035329334437847 + ], + "orientation": [ + 0.21427376568317413, + -0.6832006573677063, + 0.35926464200019836, + 0.5985419750213623 + ], + "joints": [ + 0.00662536546587944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07518508285284042, + -0.07880334556102753, + 0.010632134042680264 + ], + "orientation": [ + 0.22272083163261414, + -0.6775283813476562, + 0.3542086184024811, + 0.604885995388031 + ], + "joints": [ + 0.026247262954711914 + ] + }, + "fine_grasp": { + "position": [ + 0.0745980516076088, + -0.07763677835464478, + 0.009162344969809055 + ], + "orientation": [ + 0.21431727707386017, + -0.6829649209976196, + 0.3591196835041046, + 0.5988823771476746 + ], + "joints": [ + 0.016634292900562286 + ] + }, + "final_grasp": { + "position": [ + 0.0745980516076088, + -0.07763677835464478, + 0.009162344969809055 + ], + "orientation": [ + 0.21431727707386017, + -0.6829649209976196, + 0.3591196835041046, + 0.5988823771476746 + ], + "joints": [ + 0.007021322846412659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09643635898828506, + 0.05484038591384888, + 0.0407155342400074 + ], + "orientation": [ + 0.6601927876472473, + 0.20362265408039093, + -0.705078661441803, + 0.15983566641807556 + ], + "joints": [ + 0.01609998196363449 + ] + }, + "fine_grasp": { + "position": [ + 0.09406769275665283, + 0.05321798473596573, + 0.03943224996328354 + ], + "orientation": [ + 0.6467402577400208, + 0.20726610720157623, + -0.7176095247268677, + 0.15428660809993744 + ], + "joints": [ + 0.008576788008213043 + ] + }, + "final_grasp": { + "position": [ + 0.09406769275665283, + 0.05321798473596573, + 0.03943224996328354 + ], + "orientation": [ + 0.6467402577400208, + 0.20726610720157623, + -0.7176095247268677, + 0.15428660809993744 + ], + "joints": [ + 0.0010535940527915955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09739824384450912, + 0.05514172837138176, + 0.04028686508536339 + ], + "orientation": [ + 0.6666750311851501, + 0.19435642659664154, + -0.7007200717926025, + 0.16358914971351624 + ], + "joints": [ + 0.015573082491755486 + ] + }, + "fine_grasp": { + "position": [ + 0.0941649004817009, + 0.053299784660339355, + 0.038302842527627945 + ], + "orientation": [ + 0.6511654853820801, + 0.20162983238697052, + -0.7147313952445984, + 0.15648619830608368 + ], + "joints": [ + 0.00888579897582531 + ] + }, + "final_grasp": { + "position": [ + 0.0941649004817009, + 0.053299784660339355, + 0.038302842527627945 + ], + "orientation": [ + 0.6511654853820801, + 0.20162983238697052, + -0.7147313952445984, + 0.15648619830608368 + ], + "joints": [ + 0.002198515459895134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09324334561824799, + 0.08763208985328674, + -0.001958161126822233 + ], + "orientation": [ + 0.6702660918235779, + 0.24020391702651978, + 0.6431681513786316, + -0.28174465894699097 + ], + "joints": [ + 0.01959270052611828 + ] + }, + "fine_grasp": { + "position": [ + -0.0904056504368782, + 0.08509956300258636, + -0.0033585820347070694 + ], + "orientation": [ + 0.6566064357757568, + 0.24874448776245117, + 0.6574053764343262, + -0.2735186219215393 + ], + "joints": [ + 0.010815640911459923 + ] + }, + "final_grasp": { + "position": [ + -0.0904056504368782, + 0.08509956300258636, + -0.0033585820347070694 + ], + "orientation": [ + 0.6566064357757568, + 0.24874448776245117, + 0.6574053764343262, + -0.2735186219215393 + ], + "joints": [ + 0.002038581296801567 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0812133178114891, + -0.04947308450937271, + 0.08918220549821854 + ], + "orientation": [ + 0.4346916675567627, + -0.31294888257980347, + -0.8400648832321167, + -0.08600640296936035 + ], + "joints": [ + 0.019720114767551422 + ] + }, + "fine_grasp": { + "position": [ + 0.07855527848005295, + -0.04790407791733742, + 0.0867457315325737 + ], + "orientation": [ + 0.4231113791465759, + -0.3204960823059082, + -0.8435415029525757, + -0.08183405548334122 + ], + "joints": [ + 0.010128043591976166 + ] + }, + "final_grasp": { + "position": [ + 0.07855527848005295, + -0.04790407791733742, + 0.0867457315325737 + ], + "orientation": [ + 0.4231113791465759, + -0.3204960823059082, + -0.8435415029525757, + -0.08183405548334122 + ], + "joints": [ + 0.0005359724164009094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10311523824930191, + -0.06662477552890778, + 0.03217216208577156 + ], + "orientation": [ + 0.2188616693019867, + 0.3593830466270447, + -0.7091198563575745, + -0.5657670497894287 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + 0.09934572130441666, + -0.06554130464792252, + 0.030829042196273804 + ], + "orientation": [ + 0.23724491894245148, + 0.36830899119377136, + -0.7025624513626099, + -0.5607755780220032 + ], + "joints": [ + 0.024831365793943405 + ] + }, + "final_grasp": { + "position": [ + 0.09934572130441666, + -0.06554130464792252, + 0.030829042196273804 + ], + "orientation": [ + 0.23724491894245148, + 0.36830899119377136, + -0.7025624513626099, + -0.5607755780220032 + ], + "joints": [ + 0.01607520505785942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05061127245426178, + 0.11975659430027008, + -0.012267887592315674 + ], + "orientation": [ + 0.591706395149231, + 0.4155932664871216, + -0.5887806415557861, + 0.3612521290779114 + ], + "joints": [ + 0.027775520458817482 + ] + }, + "fine_grasp": { + "position": [ + 0.04903307557106018, + 0.11615658551454544, + -0.012310805730521679 + ], + "orientation": [ + 0.5918297171592712, + 0.417710542678833, + -0.5864118337631226, + 0.36245936155319214 + ], + "joints": [ + 0.018956663087010384 + ] + }, + "final_grasp": { + "position": [ + 0.04903307557106018, + 0.11615658551454544, + -0.012310805730521679 + ], + "orientation": [ + 0.5918297171592712, + 0.417710542678833, + -0.5864118337631226, + 0.36245936155319214 + ], + "joints": [ + 0.010137805715203285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09319771081209183, + 0.08792524039745331, + -0.002157743787392974 + ], + "orientation": [ + 0.665751039981842, + 0.24157382547855377, + 0.6473854780197144, + -0.2816196084022522 + ], + "joints": [ + 0.01972680166363716 + ] + }, + "fine_grasp": { + "position": [ + -0.09030458331108093, + 0.08550728112459183, + -0.0034764644224196672 + ], + "orientation": [ + 0.6509971618652344, + 0.24852246046066284, + 0.6631434559822083, + -0.2732763886451721 + ], + "joints": [ + 0.011367697268724442 + ] + }, + "final_grasp": { + "position": [ + -0.09030458331108093, + 0.08550728112459183, + -0.0034764644224196672 + ], + "orientation": [ + 0.6509971618652344, + 0.24852246046066284, + 0.6631434559822083, + -0.2732763886451721 + ], + "joints": [ + 0.003008592873811722 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1274227499961853, + -0.028333142399787903, + -0.0016594405751675367 + ], + "orientation": [ + 0.09848780184984207, + -0.7451920509338379, + -0.04551989212632179, + -0.657964289188385 + ], + "joints": [ + 0.0275195874273777 + ] + }, + "fine_grasp": { + "position": [ + -0.12357266992330551, + -0.027339665219187737, + -0.002030787291005254 + ], + "orientation": [ + 0.100527822971344, + -0.7459088563919067, + -0.04494326934218407, + -0.6568822860717773 + ], + "joints": [ + 0.018303673714399338 + ] + }, + "final_grasp": { + "position": [ + -0.12357266992330551, + -0.027339665219187737, + -0.002030787291005254 + ], + "orientation": [ + 0.100527822971344, + -0.7459088563919067, + -0.04494326934218407, + -0.6568822860717773 + ], + "joints": [ + 0.009087760001420975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12632374465465546, + -0.02501377835869789, + -0.04321344196796417 + ], + "orientation": [ + 0.7864159941673279, + -0.10425373166799545, + -0.6085756421089172, + -0.01780138723552227 + ], + "joints": [ + 0.027275843545794487 + ] + }, + "fine_grasp": { + "position": [ + 0.12246844172477722, + -0.024293974041938782, + -0.04302921146154404 + ], + "orientation": [ + 0.7818726301193237, + -0.10560694336891174, + -0.6142520904541016, + -0.014726158231496811 + ], + "joints": [ + 0.018874941393733025 + ] + }, + "final_grasp": { + "position": [ + 0.12246844172477722, + -0.024293974041938782, + -0.04302921146154404 + ], + "orientation": [ + 0.7818726301193237, + -0.10560694336891174, + -0.6142520904541016, + -0.014726158231496811 + ], + "joints": [ + 0.010474039241671562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0705178827047348, + 0.04926547408103943, + 0.08446014672517776 + ], + "orientation": [ + 0.10624884814023972, + 0.8553596138954163, + -0.31319501996040344, + 0.3987230062484741 + ], + "joints": [ + 0.020213395357131958 + ] + }, + "fine_grasp": { + "position": [ + -0.06769102811813354, + 0.04680001363158226, + 0.08270078897476196 + ], + "orientation": [ + 0.09652034938335419, + 0.8483905792236328, + -0.3339354991912842, + 0.3992549180984497 + ], + "joints": [ + 0.011854290962219238 + ] + }, + "final_grasp": { + "position": [ + -0.06769102811813354, + 0.04680001363158226, + 0.08270078897476196 + ], + "orientation": [ + 0.09652034938335419, + 0.8483905792236328, + -0.3339354991912842, + 0.3992549180984497 + ], + "joints": [ + 0.0034951865673065186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12558116018772125, + -0.023836052045226097, + -0.043751444667577744 + ], + "orientation": [ + 0.779804527759552, + -0.09897929430007935, + -0.6178911924362183, + -0.017849285155534744 + ], + "joints": [ + 0.027982696890830994 + ] + }, + "fine_grasp": { + "position": [ + 0.1217152550816536, + -0.022960498929023743, + -0.043268099427223206 + ], + "orientation": [ + 0.7774608731269836, + -0.1010146290063858, + -0.62053382396698, + -0.0169810988008976 + ], + "joints": [ + 0.018787682056427002 + ] + }, + "final_grasp": { + "position": [ + 0.1217152550816536, + -0.022960498929023743, + -0.043268099427223206 + ], + "orientation": [ + 0.7774608731269836, + -0.1010146290063858, + -0.62053382396698, + -0.0169810988008976 + ], + "joints": [ + 0.00959266722202301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04571628198027611, + 0.08080937713384628, + -0.09803349524736404 + ], + "orientation": [ + 0.8014721274375916, + 0.2764529585838318, + -0.4078068435192108, + 0.3389833867549896 + ], + "joints": [ + 0.020334839820861816 + ] + }, + "fine_grasp": { + "position": [ + 0.04581145942211151, + 0.07920711487531662, + -0.09376306086778641 + ], + "orientation": [ + 0.8080429434776306, + 0.27091488242149353, + -0.393353670835495, + 0.34488344192504883 + ], + "joints": [ + 0.014483466744422913 + ] + }, + "final_grasp": { + "position": [ + 0.04581145942211151, + 0.07920711487531662, + -0.09376306086778641 + ], + "orientation": [ + 0.8080429434776306, + 0.27091488242149353, + -0.393353670835495, + 0.34488344192504883 + ], + "joints": [ + 0.008632093667984009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11746998131275177, + 0.0016003005439415574, + -0.06528907269239426 + ], + "orientation": [ + 0.02771794982254505, + -0.5147752165794373, + -0.03174026310443878, + 0.8562889695167542 + ], + "joints": [ + 0.025934049859642982 + ] + }, + "fine_grasp": { + "position": [ + 0.1141543909907341, + 0.0013735783286392689, + -0.06460747122764587 + ], + "orientation": [ + 0.026031510904431343, + -0.5223563313484192, + -0.03495577350258827, + 0.8516128063201904 + ], + "joints": [ + 0.016279282048344612 + ] + }, + "final_grasp": { + "position": [ + 0.1141543909907341, + 0.0013735783286392689, + -0.06460747122764587 + ], + "orientation": [ + 0.026031510904431343, + -0.5223563313484192, + -0.03495577350258827, + 0.8516128063201904 + ], + "joints": [ + 0.006624514237046242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051092565059661865, + 0.10860230028629303, + 0.01603255793452263 + ], + "orientation": [ + 0.3750208020210266, + 0.618388831615448, + 0.38156774640083313, + -0.5756394863128662 + ], + "joints": [ + 0.019496487453579903 + ] + }, + "fine_grasp": { + "position": [ + 0.049628593027591705, + 0.10523349046707153, + 0.014699438586831093 + ], + "orientation": [ + 0.3707018494606018, + 0.6236374974250793, + 0.38559097051620483, + -0.5700666308403015 + ], + "joints": [ + 0.008274393156170845 + ] + }, + "final_grasp": { + "position": [ + 0.049628593027591705, + 0.10523349046707153, + 0.014699438586831093 + ], + "orientation": [ + 0.3707018494606018, + 0.6236374974250793, + 0.38559097051620483, + -0.5700666308403015 + ], + "joints": [ + -0.0029477011412382126 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051470477133989334, + 0.11015655845403671, + 0.016769109293818474 + ], + "orientation": [ + 0.38325753808021545, + 0.6173234581947327, + 0.37463581562042236, + -0.5759109854698181 + ], + "joints": [ + 0.01961965672671795 + ] + }, + "fine_grasp": { + "position": [ + 0.04999655857682228, + 0.10675390809774399, + 0.015365434810519218 + ], + "orientation": [ + 0.37819617986679077, + 0.6241581439971924, + 0.37916120886802673, + -0.5688856244087219 + ], + "joints": [ + 0.009212573990225792 + ] + }, + "final_grasp": { + "position": [ + 0.04999655857682228, + 0.10675390809774399, + 0.015365434810519218 + ], + "orientation": [ + 0.37819617986679077, + 0.6241581439971924, + 0.37916120886802673, + -0.5688856244087219 + ], + "joints": [ + -0.001194508746266365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02572634443640709, + 0.11387086659669876, + -0.027234354987740517 + ], + "orientation": [ + 0.6261672377586365, + 0.45600393414497375, + -0.47027331590652466, + 0.422868549823761 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + 0.02450728602707386, + 0.11027821898460388, + -0.027224473655223846 + ], + "orientation": [ + 0.6259348392486572, + 0.46001526713371277, + -0.4763046205043793, + 0.41197749972343445 + ], + "joints": [ + 0.01628013327717781 + ] + }, + "final_grasp": { + "position": [ + 0.02450728602707386, + 0.11027821898460388, + -0.027224473655223846 + ], + "orientation": [ + 0.6259348392486572, + 0.46001526713371277, + -0.4763046205043793, + 0.41197749972343445 + ], + "joints": [ + 0.005873050540685654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10465427488088608, + -0.06190899759531021, + -0.04599165916442871 + ], + "orientation": [ + 0.2433442622423172, + -0.5733197331428528, + -0.1288384199142456, + -0.7716791033744812 + ], + "joints": [ + 0.025957206264138222 + ] + }, + "fine_grasp": { + "position": [ + -0.1012963056564331, + -0.05977334454655647, + -0.045922208577394485 + ], + "orientation": [ + 0.24202175438404083, + -0.582091212272644, + -0.12945561110973358, + -0.7653995752334595 + ], + "joints": [ + 0.016344236209988594 + ] + }, + "final_grasp": { + "position": [ + -0.1012963056564331, + -0.05977334454655647, + -0.045922208577394485 + ], + "orientation": [ + 0.24202175438404083, + -0.582091212272644, + -0.12945561110973358, + -0.7653995752334595 + ], + "joints": [ + 0.006731266155838966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09442138671875, + 0.07401987165212631, + 0.016974901780486107 + ], + "orientation": [ + 0.7092120051383972, + 0.2132187932729721, + 0.6248682141304016, + -0.24717552959918976 + ], + "joints": [ + 0.016167251393198967 + ] + }, + "fine_grasp": { + "position": [ + -0.09123784303665161, + 0.07154472172260284, + 0.016281642019748688 + ], + "orientation": [ + 0.6964268088340759, + 0.2203950136899948, + 0.639531672000885, + -0.23961418867111206 + ], + "joints": [ + 0.007808146998286247 + ] + }, + "final_grasp": { + "position": [ + -0.09123784303665161, + 0.07154472172260284, + 0.016281642019748688 + ], + "orientation": [ + 0.6964268088340759, + 0.2203950136899948, + 0.639531672000885, + -0.23961418867111206 + ], + "joints": [ + -0.0005509573966264725 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006967238616198301, + -0.00894732866436243, + -0.14352810382843018 + ], + "orientation": [ + 0.9969415068626404, + -0.04026872292160988, + -0.056552693247795105, + -0.0358864851295948 + ], + "joints": [ + 0.027590278536081314 + ] + }, + "fine_grasp": { + "position": [ + 0.007658037822693586, + -0.00841559562832117, + -0.13954518735408783 + ], + "orientation": [ + 0.9973394274711609, + -0.039508797228336334, + -0.04999002441763878, + -0.035415615886449814 + ], + "joints": [ + 0.01881321892142296 + ] + }, + "final_grasp": { + "position": [ + 0.007658037822693586, + -0.00841559562832117, + -0.13954518735408783 + ], + "orientation": [ + 0.9973394274711609, + -0.039508797228336334, + -0.04999002441763878, + -0.035415615886449814 + ], + "joints": [ + 0.010036159306764603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006743862293660641, + -0.00909366924315691, + -0.14501391351222992 + ], + "orientation": [ + 0.9965436458587646, + -0.041405849158763885, + -0.05898527428507805, + -0.04131799936294556 + ], + "joints": [ + 0.02715032547712326 + ] + }, + "fine_grasp": { + "position": [ + 0.007556199096143246, + -0.008530362509191036, + -0.14097072184085846 + ], + "orientation": [ + 0.9969845414161682, + -0.041013967245817184, + -0.05163590982556343, + -0.04090755805373192 + ], + "joints": [ + 0.01879122108221054 + ] + }, + "final_grasp": { + "position": [ + 0.007556199096143246, + -0.008530362509191036, + -0.14097072184085846 + ], + "orientation": [ + 0.9969845414161682, + -0.041013967245817184, + -0.05163590982556343, + -0.04090755805373192 + ], + "joints": [ + 0.010432116687297821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09582941234111786, + 0.0748029574751854, + 0.01701956056058407 + ], + "orientation": [ + 0.7121405005455017, + 0.2153506726026535, + 0.618113100528717, + -0.2538032531738281 + ], + "joints": [ + 0.01638304442167282 + ] + }, + "fine_grasp": { + "position": [ + -0.09253925830125809, + 0.072608582675457, + 0.016120338812470436 + ], + "orientation": [ + 0.6989629864692688, + 0.21765825152397156, + 0.6360282301902771, + -0.24401575326919556 + ], + "joints": [ + 0.007605984807014465 + ] + }, + "final_grasp": { + "position": [ + -0.09253925830125809, + 0.072608582675457, + 0.016120338812470436 + ], + "orientation": [ + 0.6989629864692688, + 0.21765825152397156, + 0.6360282301902771, + -0.24401575326919556 + ], + "joints": [ + -0.0011710748076438904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0065321410074830055, + -0.009142776019871235, + -0.14576898515224457 + ], + "orientation": [ + 0.9964352250099182, + -0.041715335100889206, + -0.05866951495409012, + -0.04398280382156372 + ], + "joints": [ + 0.027322156354784966 + ] + }, + "fine_grasp": { + "position": [ + 0.007324411533772945, + -0.008599852211773396, + -0.14174778759479523 + ], + "orientation": [ + 0.9968652725219727, + -0.04124434292316437, + -0.05155900865793228, + -0.043593525886535645 + ], + "joints": [ + 0.018942153081297874 + ] + }, + "final_grasp": { + "position": [ + 0.007324411533772945, + -0.008599852211773396, + -0.14174778759479523 + ], + "orientation": [ + 0.9968652725219727, + -0.04124434292316437, + -0.05155900865793228, + -0.043593525886535645 + ], + "joints": [ + 0.010562149807810783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12735682725906372, + 0.026385266333818436, + -0.0484536811709404 + ], + "orientation": [ + 0.0214544590562582, + 0.5838882327079773, + 0.10654041916131973, + -0.8045268058776855 + ], + "joints": [ + 0.025810152292251587 + ] + }, + "fine_grasp": { + "position": [ + 0.12381988018751144, + 0.025634407997131348, + -0.04779278114438057 + ], + "orientation": [ + 0.019005440175533295, + 0.5861409902572632, + 0.10776074975728989, + -0.8027859330177307 + ], + "joints": [ + 0.01655244082212448 + ] + }, + "final_grasp": { + "position": [ + 0.12381988018751144, + 0.025634407997131348, + -0.04779278114438057 + ], + "orientation": [ + 0.019005440175533295, + 0.5861409902572632, + 0.10776074975728989, + -0.8027859330177307 + ], + "joints": [ + 0.0072947293519973755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00653380760923028, + -0.009099415503442287, + -0.14500612020492554 + ], + "orientation": [ + 0.9965225458145142, + -0.04141557589173317, + -0.05761134251952171, + -0.04368695244193077 + ], + "joints": [ + 0.02715032547712326 + ] + }, + "fine_grasp": { + "position": [ + 0.0073226639069616795, + -0.008534099906682968, + -0.14095859229564667 + ], + "orientation": [ + 0.9969438910484314, + -0.04104118049144745, + -0.050505250692367554, + -0.04321745038032532 + ], + "joints": [ + 0.01879122108221054 + ] + }, + "final_grasp": { + "position": [ + 0.0073226639069616795, + -0.008534099906682968, + -0.14095859229564667 + ], + "orientation": [ + 0.9969438910484314, + -0.04104118049144745, + -0.050505250692367554, + -0.04321745038032532 + ], + "joints": [ + 0.010432116687297821 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09503696113824844, + 0.07397576421499252, + 0.01677221618592739 + ], + "orientation": [ + 0.7116695642471313, + 0.21323701739311218, + 0.6190853118896484, + -0.254538357257843 + ], + "joints": [ + 0.01705455221235752 + ] + }, + "fine_grasp": { + "position": [ + -0.0917479619383812, + 0.071683868765831, + 0.015989962965250015 + ], + "orientation": [ + 0.6999197602272034, + 0.21590155363082886, + 0.6345669031143188, + -0.24662446975708008 + ], + "joints": [ + 0.00867454893887043 + ] + }, + "final_grasp": { + "position": [ + -0.0917479619383812, + 0.071683868765831, + 0.015989962965250015 + ], + "orientation": [ + 0.6999197602272034, + 0.21590155363082886, + 0.6345669031143188, + -0.24662446975708008 + ], + "joints": [ + 0.00029454566538333893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09562454372644424, + 0.07473254203796387, + 0.017120325937867165 + ], + "orientation": [ + 0.7108100652694702, + 0.2101115882396698, + 0.6230539083480835, + -0.2498120665550232 + ], + "joints": [ + 0.015980098396539688 + ] + }, + "fine_grasp": { + "position": [ + -0.0923536941409111, + 0.07220049947500229, + 0.01640792191028595 + ], + "orientation": [ + 0.6979779601097107, + 0.21547429263591766, + 0.6378927826881409, + -0.24390645325183868 + ], + "joints": [ + 0.008038949221372604 + ] + }, + "final_grasp": { + "position": [ + -0.0923536941409111, + 0.07220049947500229, + 0.01640792191028595 + ], + "orientation": [ + 0.6979779601097107, + 0.21547429263591766, + 0.6378927826881409, + -0.24390645325183868 + ], + "joints": [ + 9.780004620552063e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044851481914520264, + -0.00011431463644839823, + 0.13394472002983093 + ], + "orientation": [ + 0.21244420111179352, + -0.042285509407520294, + 0.9762359261512756, + -0.006552929524332285 + ], + "joints": [ + 0.019516319036483765 + ] + }, + "fine_grasp": { + "position": [ + -0.04355403780937195, + 2.4812243282212876e-06, + 0.13025404512882233 + ], + "orientation": [ + 0.19992345571517944, + -0.042036719620227814, + 0.9788862466812134, + -0.006724483333528042 + ], + "joints": [ + 0.009903348982334137 + ] + }, + "final_grasp": { + "position": [ + -0.04355403780937195, + 2.4812243282212876e-06, + 0.13025404512882233 + ], + "orientation": [ + 0.19992345571517944, + -0.042036719620227814, + 0.9788862466812134, + -0.006724483333528042 + ], + "joints": [ + 0.0002903789281845093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0909666195511818, + 0.08030696213245392, + 0.0439995676279068 + ], + "orientation": [ + 0.225370392203331, + 0.7626265287399292, + 0.26374462246894836, + -0.5459372997283936 + ], + "joints": [ + 0.019736818969249725 + ] + }, + "fine_grasp": { + "position": [ + 0.08813433349132538, + 0.07791262120008469, + 0.042547110468149185 + ], + "orientation": [ + 0.2223936915397644, + 0.7723281383514404, + 0.2635650932788849, + -0.5334639549255371 + ], + "joints": [ + 0.010938860476016998 + ] + }, + "final_grasp": { + "position": [ + 0.08813433349132538, + 0.07791262120008469, + 0.042547110468149185 + ], + "orientation": [ + 0.2223936915397644, + 0.7723281383514404, + 0.2635650932788849, + -0.5334639549255371 + ], + "joints": [ + 0.0021409019827842712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03232989087700844, + 0.01164578553289175, + 0.123414047062397 + ], + "orientation": [ + 0.18075649440288544, + 0.3640197217464447, + -0.9136785268783569, + 0.002858751453459263 + ], + "joints": [ + 0.019882427528500557 + ] + }, + "fine_grasp": { + "position": [ + 0.031248310580849648, + 0.011741193011403084, + 0.12018492072820663 + ], + "orientation": [ + 0.17081502079963684, + 0.3639738857746124, + -0.915611982345581, + -0.00018246711988467723 + ], + "joints": [ + 0.010687412694096565 + ] + }, + "final_grasp": { + "position": [ + 0.031248310580849648, + 0.011741193011403084, + 0.12018492072820663 + ], + "orientation": [ + 0.17081502079963684, + 0.3639738857746124, + -0.915611982345581, + -0.00018246711988467723 + ], + "joints": [ + 0.0014923978596925735 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011330503970384598, + 0.012602729722857475, + 0.13574223220348358 + ], + "orientation": [ + 0.02612222544848919, + 0.8206400871276855, + 0.5651687383651733, + -0.08032186329364777 + ], + "joints": [ + 0.019836824387311935 + ] + }, + "fine_grasp": { + "position": [ + 0.010846086777746677, + 0.01217096671462059, + 0.13199540972709656 + ], + "orientation": [ + 0.022018112242221832, + 0.8214160799980164, + 0.5652719140052795, + -0.07251524925231934 + ], + "joints": [ + 0.010641809552907944 + ] + }, + "final_grasp": { + "position": [ + 0.010846086777746677, + 0.01217096671462059, + 0.13199540972709656 + ], + "orientation": [ + 0.022018112242221832, + 0.8214160799980164, + 0.5652719140052795, + -0.07251524925231934 + ], + "joints": [ + 0.001446794718503952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12654002010822296, + -0.031391970813274384, + 8.857987995725125e-05 + ], + "orientation": [ + 0.10880590230226517, + -0.7335758209228516, + -0.05052637681365013, + -0.6689357161521912 + ], + "joints": [ + 0.026860268786549568 + ] + }, + "fine_grasp": { + "position": [ + -0.12284349650144577, + -0.03038330376148224, + -7.590845052618533e-05 + ], + "orientation": [ + 0.11186258494853973, + -0.7339496612548828, + -0.048513635993003845, + -0.6681699156761169 + ], + "joints": [ + 0.01724729873239994 + ] + }, + "final_grasp": { + "position": [ + -0.12284349650144577, + -0.03038330376148224, + -7.590845052618533e-05 + ], + "orientation": [ + 0.11186258494853973, + -0.7339496612548828, + -0.048513635993003845, + -0.6681699156761169 + ], + "joints": [ + 0.007634328678250313 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1107037141919136, + 0.026141298934817314, + -0.046201013028621674 + ], + "orientation": [ + 0.22637136280536652, + 0.6538877487182617, + -0.02005431056022644, + -0.7216540575027466 + ], + "joints": [ + 0.024699632078409195 + ] + }, + "fine_grasp": { + "position": [ + 0.10777629166841507, + 0.02628730610013008, + -0.04450375214219093 + ], + "orientation": [ + 0.21265339851379395, + 0.6467306017875671, + -0.017284153029322624, + -0.7322700619697571 + ], + "joints": [ + 0.014250751584768295 + ] + }, + "final_grasp": { + "position": [ + 0.10777629166841507, + 0.02628730610013008, + -0.04450375214219093 + ], + "orientation": [ + 0.21265339851379395, + 0.6467306017875671, + -0.017284153029322624, + -0.7322700619697571 + ], + "joints": [ + 0.0038018710911273956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11044219136238098, + 0.025121930986642838, + -0.0458066463470459 + ], + "orientation": [ + 0.22828689217567444, + 0.6534956097602844, + -0.02487175539135933, + -0.7212556600570679 + ], + "joints": [ + 0.024794038385152817 + ] + }, + "fine_grasp": { + "position": [ + 0.10699381679296494, + 0.025146326050162315, + -0.044282883405685425 + ], + "orientation": [ + 0.2121511548757553, + 0.6455429196357727, + -0.020487450063228607, + -0.7333800792694092 + ], + "joints": [ + 0.015181068331003189 + ] + }, + "final_grasp": { + "position": [ + 0.10699381679296494, + 0.025146326050162315, + -0.044282883405685425 + ], + "orientation": [ + 0.2121511548757553, + 0.6455429196357727, + -0.020487450063228607, + -0.7333800792694092 + ], + "joints": [ + 0.005568098276853561 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022443389520049095, + 0.009107690304517746, + 0.14038841426372528 + ], + "orientation": [ + 0.02993977814912796, + 0.990527331829071, + 0.08211072534322739, + -0.10591072589159012 + ], + "joints": [ + 0.02031683549284935 + ] + }, + "fine_grasp": { + "position": [ + 0.021733013913035393, + 0.008716229349374771, + 0.13664212822914124 + ], + "orientation": [ + 0.028554806485772133, + 0.9912655353546143, + 0.08161550015211105, + -0.09958039969205856 + ], + "joints": [ + 0.010306809097528458 + ] + }, + "final_grasp": { + "position": [ + 0.021733013913035393, + 0.008716229349374771, + 0.13664212822914124 + ], + "orientation": [ + 0.028554806485772133, + 0.9912655353546143, + 0.08161550015211105, + -0.09958039969205856 + ], + "joints": [ + 0.0002967827022075653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08761779218912125, + -0.061312299221754074, + 0.057018134742975235 + ], + "orientation": [ + 0.6144397854804993, + -0.2695655822753906, + 0.7225611209869385, + 0.16644391417503357 + ], + "joints": [ + 0.015566278249025345 + ] + }, + "fine_grasp": { + "position": [ + -0.08499659597873688, + -0.059665996581315994, + 0.05413752794265747 + ], + "orientation": [ + 0.5945633053779602, + -0.2687598764896393, + 0.7396711707115173, + 0.16477015614509583 + ], + "joints": [ + 0.008878994733095169 + ] + }, + "final_grasp": { + "position": [ + -0.08499659597873688, + -0.059665996581315994, + 0.05413752794265747 + ], + "orientation": [ + 0.5945633053779602, + -0.2687598764896393, + 0.7396711707115173, + 0.16477015614509583 + ], + "joints": [ + 0.0021917112171649933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07316122949123383, + -0.08004561066627502, + -0.004357693716883659 + ], + "orientation": [ + 0.5647701025009155, + -0.3301066756248474, + 0.7155717611312866, + 0.24499261379241943 + ], + "joints": [ + 0.026875989511609077 + ] + }, + "fine_grasp": { + "position": [ + -0.07249072194099426, + -0.07903610169887543, + -0.004435771144926548 + ], + "orientation": [ + 0.5706972479820251, + -0.3210865259170532, + 0.7123508453369141, + 0.2525160014629364 + ], + "joints": [ + 0.01726301945745945 + ] + }, + "final_grasp": { + "position": [ + -0.07249072194099426, + -0.07903610169887543, + -0.004435771144926548 + ], + "orientation": [ + 0.5706972479820251, + -0.3210865259170532, + 0.7123508453369141, + 0.2525160014629364 + ], + "joints": [ + 0.007650049403309822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01661956124007702, + 0.023611657321453094, + -0.12722322344779968 + ], + "orientation": [ + 0.5164085626602173, + 0.18710929155349731, + -0.0940258651971817, + 0.8303442001342773 + ], + "joints": [ + 0.021590566262602806 + ] + }, + "fine_grasp": { + "position": [ + -0.0172825176268816, + 0.02439355105161667, + -0.12413808703422546 + ], + "orientation": [ + 0.5146523714065552, + 0.17354440689086914, + -0.08357109129428864, + 0.8354825973510742 + ], + "joints": [ + 0.014464428648352623 + ] + }, + "final_grasp": { + "position": [ + -0.0172825176268816, + 0.02439355105161667, + -0.12413808703422546 + ], + "orientation": [ + 0.5146523714065552, + 0.17354440689086914, + -0.08357109129428864, + 0.8354825973510742 + ], + "joints": [ + 0.00733829103410244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0012435709359124303, + -0.011414849199354649, + -0.14544671773910522 + ], + "orientation": [ + 0.07782662659883499, + 0.01225106231868267, + 0.04124443978071213, + 0.9960380792617798 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.0008354767342098057, + -0.010768817737698555, + -0.14153648912906647 + ], + "orientation": [ + 0.07733289152383804, + 0.008578252978622913, + 0.04035874456167221, + 0.9961512088775635 + ], + "joints": [ + 0.01927632838487625 + ] + }, + "final_grasp": { + "position": [ + 0.0008354767342098057, + -0.010768817737698555, + -0.14153648912906647 + ], + "orientation": [ + 0.07733289152383804, + 0.008578252978622913, + 0.04035874456167221, + 0.9961512088775635 + ], + "joints": [ + 0.010499268770217896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04482010006904602, + -0.0005684288335032761, + 0.13495506346225739 + ], + "orientation": [ + 0.2133183628320694, + -0.047025155276060104, + 0.9758356809616089, + -0.005361182149499655 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + -0.0436360128223896, + -0.0004372301627881825, + 0.13122563064098358 + ], + "orientation": [ + 0.19932125508785248, + -0.04557385295629501, + 0.978858232498169, + -0.005533851217478514 + ], + "joints": [ + 0.010038403794169426 + ] + }, + "final_grasp": { + "position": [ + -0.0436360128223896, + -0.0004372301627881825, + 0.13122563064098358 + ], + "orientation": [ + 0.19932125508785248, + -0.04557385295629501, + 0.978858232498169, + -0.005533851217478514 + ], + "joints": [ + 0.0008224900811910629 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00594438286498189, + -0.04842948168516159, + -0.11469756066799164 + ], + "orientation": [ + 0.76568603515625, + -0.19475549459457397, + -0.19148506224155426, + -0.5823474526405334 + ], + "joints": [ + 0.027590278536081314 + ] + }, + "fine_grasp": { + "position": [ + 0.0060709198005497456, + -0.04893410578370094, + -0.11232014000415802 + ], + "orientation": [ + 0.7720217704772949, + -0.19140467047691345, + -0.18417032063007355, + -0.5774322748184204 + ], + "joints": [ + 0.018395263701677322 + ] + }, + "final_grasp": { + "position": [ + 0.0060709198005497456, + -0.04893410578370094, + -0.11232014000415802 + ], + "orientation": [ + 0.7720217704772949, + -0.19140467047691345, + -0.18417032063007355, + -0.5774322748184204 + ], + "joints": [ + 0.00920024886727333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007279081270098686, + -0.007100174203515053, + -0.12228857725858688 + ], + "orientation": [ + 0.7894120216369629, + -0.06485091894865036, + 0.006096953526139259, + 0.6103981137275696 + ], + "joints": [ + 0.027590278536081314 + ] + }, + "fine_grasp": { + "position": [ + 0.005446204915642738, + -0.007705391850322485, + -0.12232231348752975 + ], + "orientation": [ + 0.7962218523025513, + -0.05711722373962402, + 0.010126680135726929, + 0.6022174954414368 + ], + "joints": [ + 0.017977308481931686 + ] + }, + "final_grasp": { + "position": [ + 0.005446204915642738, + -0.007705391850322485, + -0.12232231348752975 + ], + "orientation": [ + 0.7962218523025513, + -0.05711722373962402, + 0.010126680135726929, + 0.6022174954414368 + ], + "joints": [ + 0.008364338427782059 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022573087364435196, + 0.009060792624950409, + 0.14047542214393616 + ], + "orientation": [ + 0.02961510792374611, + 0.9896253347396851, + 0.08891955763101578, + -0.10889479517936707 + ], + "joints": [ + 0.02001495286822319 + ] + }, + "fine_grasp": { + "position": [ + 0.02180204726755619, + 0.009027274325489998, + 0.13662226498126984 + ], + "orientation": [ + 0.02964382991194725, + 0.9903819561004639, + 0.08888976275920868, + -0.10180148482322693 + ], + "joints": [ + 0.010422881692647934 + ] + }, + "final_grasp": { + "position": [ + 0.02180204726755619, + 0.009027274325489998, + 0.13662226498126984 + ], + "orientation": [ + 0.02964382991194725, + 0.9903819561004639, + 0.08888976275920868, + -0.10180148482322693 + ], + "joints": [ + 0.0008308105170726776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10452910512685776, + -0.021461423486471176, + 0.04571440815925598 + ], + "orientation": [ + 0.6136733293533325, + -0.13452929258346558, + 0.7778283953666687, + 0.01702515035867691 + ], + "joints": [ + 0.01987924426794052 + ] + }, + "fine_grasp": { + "position": [ + -0.10204432159662247, + -0.020587606355547905, + 0.045811209827661514 + ], + "orientation": [ + 0.6088176965713501, + -0.1386871635913849, + 0.7809877395629883, + 0.012847180478274822 + ], + "joints": [ + 0.010266274213790894 + ] + }, + "final_grasp": { + "position": [ + -0.10204432159662247, + -0.020587606355547905, + 0.045811209827661514 + ], + "orientation": [ + 0.6088176965713501, + -0.1386871635913849, + 0.7809877395629883, + 0.012847180478274822 + ], + "joints": [ + 0.0006533041596412659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08989822119474411, + 0.010708143003284931, + 0.11881545931100845 + ], + "orientation": [ + 0.395029753446579, + 0.0962797999382019, + -0.913565456867218, + 0.008938406594097614 + ], + "joints": [ + 0.01696597971022129 + ] + }, + "fine_grasp": { + "position": [ + 0.08732588589191437, + 0.010383413173258305, + 0.11579854041337967 + ], + "orientation": [ + 0.3803900480270386, + 0.09503259509801865, + -0.919894814491272, + 0.00811480637639761 + ], + "joints": [ + 0.009380089119076729 + ] + }, + "final_grasp": { + "position": [ + 0.08732588589191437, + 0.010383413173258305, + 0.11579854041337967 + ], + "orientation": [ + 0.3803900480270386, + 0.09503259509801865, + -0.919894814491272, + 0.00811480637639761 + ], + "joints": [ + 0.001794198527932167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015043563209474087, + -0.023073898628354073, + 0.1440860629081726 + ], + "orientation": [ + 0.12092629075050354, + -0.5888901352882385, + 0.7974801659584045, + 0.051095444709062576 + ], + "joints": [ + 0.019908737391233444 + ] + }, + "fine_grasp": { + "position": [ + -0.014629845507442951, + -0.02238336205482483, + 0.14019718766212463 + ], + "orientation": [ + 0.11113612353801727, + -0.5870004892349243, + 0.80064857006073, + 0.04517871141433716 + ], + "joints": [ + 0.010295767337083817 + ] + }, + "final_grasp": { + "position": [ + -0.014629845507442951, + -0.02238336205482483, + 0.14019718766212463 + ], + "orientation": [ + 0.11113612353801727, + -0.5870004892349243, + 0.80064857006073, + 0.04517871141433716 + ], + "joints": [ + 0.0006827972829341888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005209051538258791, + -0.023389404639601707, + 0.14524884521961212 + ], + "orientation": [ + 0.0498446486890316, + -0.5927055478096008, + -0.7981030941009521, + -0.09616095572710037 + ], + "joints": [ + 0.020286818966269493 + ] + }, + "fine_grasp": { + "position": [ + -0.005240058060735464, + -0.02275298722088337, + 0.14133569598197937 + ], + "orientation": [ + 0.04364287108182907, + -0.5938295722007751, + -0.7980741262435913, + -0.09240903705358505 + ], + "joints": [ + 0.010694747790694237 + ] + }, + "final_grasp": { + "position": [ + -0.005240058060735464, + -0.02275298722088337, + 0.14133569598197937 + ], + "orientation": [ + 0.04364287108182907, + -0.5938295722007751, + -0.7980741262435913, + -0.09240903705358505 + ], + "joints": [ + 0.0011026766151189804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016610901802778244, + -0.022058524191379547, + 0.14270859956741333 + ], + "orientation": [ + 0.12160681188106537, + -0.6019821763038635, + 0.7881724238395691, + 0.04016819968819618 + ], + "joints": [ + 0.02015157788991928 + ] + }, + "fine_grasp": { + "position": [ + -0.01653081551194191, + -0.021195776760578156, + 0.13894449174404144 + ], + "orientation": [ + 0.11601889133453369, + -0.6018879413604736, + 0.7892817258834839, + 0.036123860627412796 + ], + "joints": [ + 0.010538607835769653 + ] + }, + "final_grasp": { + "position": [ + -0.01653081551194191, + -0.021195776760578156, + 0.13894449174404144 + ], + "orientation": [ + 0.11601889133453369, + -0.6018879413604736, + 0.7892817258834839, + 0.036123860627412796 + ], + "joints": [ + 0.0009256377816200256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010023045353591442, + -0.009573476389050484, + 0.1517218053340912 + ], + "orientation": [ + 0.05309434235095978, + -0.13320210576057434, + -0.9891160130500793, + -0.03297971189022064 + ], + "joints": [ + 0.01988435909152031 + ] + }, + "fine_grasp": { + "position": [ + 0.009769334457814693, + -0.009061424061655998, + 0.14787010848522186 + ], + "orientation": [ + 0.048297613859176636, + -0.1317574381828308, + -0.9896072149276733, + -0.031382497400045395 + ], + "joints": [ + 0.010668445378541946 + ] + }, + "final_grasp": { + "position": [ + 0.009769334457814693, + -0.009061424061655998, + 0.14787010848522186 + ], + "orientation": [ + 0.048297613859176636, + -0.1317574381828308, + -0.9896072149276733, + -0.031382497400045395 + ], + "joints": [ + 0.0014525316655635834 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09373878687620163, + 0.009952166117727757, + -0.09282219409942627 + ], + "orientation": [ + 0.10194136947393417, + -0.4965541958808899, + -0.06950318813323975, + 0.8591921329498291 + ], + "joints": [ + 0.023348607122898102 + ] + }, + "fine_grasp": { + "position": [ + 0.09239956736564636, + 0.008637768216431141, + -0.0892384871840477 + ], + "orientation": [ + 0.09806983917951584, + -0.4839736223220825, + -0.07477612793445587, + 0.8663488626480103 + ], + "joints": [ + 0.014989502727985382 + ] + }, + "final_grasp": { + "position": [ + 0.09239956736564636, + 0.008637768216431141, + -0.0892384871840477 + ], + "orientation": [ + 0.09806983917951584, + -0.4839736223220825, + -0.07477612793445587, + 0.8663488626480103 + ], + "joints": [ + 0.006630398333072662 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004899931140244007, + 0.007760103326290846, + 0.13072189688682556 + ], + "orientation": [ + 0.032837092876434326, + 0.9979383945465088, + 0.049442000687122345, + 0.024416344240307808 + ], + "joints": [ + 0.020557362586259842 + ] + }, + "fine_grasp": { + "position": [ + -0.004773241467773914, + 0.007594880647957325, + 0.12667816877365112 + ], + "orientation": [ + 0.0322553925216198, + 0.998063862323761, + 0.04823587089776993, + 0.022390572354197502 + ], + "joints": [ + 0.011780302971601486 + ] + }, + "final_grasp": { + "position": [ + -0.004773241467773914, + 0.007594880647957325, + 0.12667816877365112 + ], + "orientation": [ + 0.0322553925216198, + 0.998063862323761, + 0.04823587089776993, + 0.022390572354197502 + ], + "joints": [ + 0.0030032433569431305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010015304200351238, + -0.009035116992890835, + 0.15219105780124664 + ], + "orientation": [ + 0.05684052035212517, + -0.13585153222084045, + -0.9885809421539307, + -0.031955838203430176 + ], + "joints": [ + 0.0193676445633173 + ] + }, + "fine_grasp": { + "position": [ + 0.009668193757534027, + -0.00882518757134676, + 0.1482761800289154 + ], + "orientation": [ + 0.049192946404218674, + -0.13505662977695465, + -0.9891300797462463, + -0.031007204204797745 + ], + "joints": [ + 0.0105487871915102 + ] + }, + "final_grasp": { + "position": [ + 0.009668193757534027, + -0.00882518757134676, + 0.1482761800289154 + ], + "orientation": [ + 0.049192946404218674, + -0.13505662977695465, + -0.9891300797462463, + -0.031007204204797745 + ], + "joints": [ + 0.0017299298197031021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10994574427604675, + -0.01770325005054474, + 0.04397212341427803 + ], + "orientation": [ + 0.6830011606216431, + -0.14983588457107544, + 0.7145917415618896, + -0.020428691059350967 + ], + "joints": [ + 0.015005778521299362 + ] + }, + "fine_grasp": { + "position": [ + -0.10656693577766418, + -0.017349567264318466, + 0.04161635413765907 + ], + "orientation": [ + 0.6643439531326294, + -0.14187946915626526, + 0.733721911907196, + -0.013020418584346771 + ], + "joints": [ + 0.008318495005369186 + ] + }, + "final_grasp": { + "position": [ + -0.10656693577766418, + -0.017349567264318466, + 0.04161635413765907 + ], + "orientation": [ + 0.6643439531326294, + -0.14187946915626526, + 0.733721911907196, + -0.013020418584346771 + ], + "joints": [ + 0.0016312114894390106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1275038868188858, + -0.03223166987299919, + -0.0004264768213033676 + ], + "orientation": [ + 0.10984528809785843, + -0.7332701683044434, + -0.052703194320201874, + -0.6689329743385315 + ], + "joints": [ + 0.026590870693325996 + ] + }, + "fine_grasp": { + "position": [ + -0.12375565618276596, + -0.03114081360399723, + -0.0006881534936837852 + ], + "orientation": [ + 0.11280553787946701, + -0.7343534827232361, + -0.051155611872673035, + -0.6673702597618103 + ], + "joints": [ + 0.01779291220009327 + ] + }, + "final_grasp": { + "position": [ + -0.12375565618276596, + -0.03114081360399723, + -0.0006881534936837852 + ], + "orientation": [ + 0.11280553787946701, + -0.7343534827232361, + -0.051155611872673035, + -0.6673702597618103 + ], + "joints": [ + 0.008994953706860542 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11021146923303604, + -0.01813974604010582, + 0.04381881654262543 + ], + "orientation": [ + 0.6826466917991638, + -0.15051056444644928, + 0.7147830128669739, + -0.020622283220291138 + ], + "joints": [ + 0.015429481863975525 + ] + }, + "fine_grasp": { + "position": [ + -0.10684795677661896, + -0.01773863658308983, + 0.041583724319934845 + ], + "orientation": [ + 0.663405179977417, + -0.14346373081207275, + 0.7342391014099121, + -0.014308333396911621 + ], + "joints": [ + 0.008742198348045349 + ] + }, + "final_grasp": { + "position": [ + -0.10684795677661896, + -0.01773863658308983, + 0.041583724319934845 + ], + "orientation": [ + 0.663405179977417, + -0.14346373081207275, + 0.7342391014099121, + -0.014308333396911621 + ], + "joints": [ + 0.0020549148321151733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11844120174646378, + -0.031301405280828476, + 0.03633751720190048 + ], + "orientation": [ + 0.027786465361714363, + -0.7874342203140259, + -0.18540914356708527, + -0.5871955752372742 + ], + "joints": [ + 0.023224862292408943 + ] + }, + "fine_grasp": { + "position": [ + -0.11506523191928864, + -0.030274145305156708, + 0.03504177927970886 + ], + "orientation": [ + 0.02730134129524231, + -0.792512834072113, + -0.18647533655166626, + -0.5800042152404785 + ], + "joints": [ + 0.014385106042027473 + ] + }, + "final_grasp": { + "position": [ + -0.11506523191928864, + -0.030274145305156708, + 0.03504177927970886 + ], + "orientation": [ + 0.02730134129524231, + -0.792512834072113, + -0.18647533655166626, + -0.5800042152404785 + ], + "joints": [ + 0.005545349791646004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052796680480241776, + -0.01478369627147913, + 0.1261047124862671 + ], + "orientation": [ + 0.014098729938268661, + 0.9000805020332336, + -0.3539978861808777, + -0.25365692377090454 + ], + "joints": [ + 0.01977628469467163 + ] + }, + "fine_grasp": { + "position": [ + 0.05128341168165207, + -0.014339372515678406, + 0.12252027541399002 + ], + "orientation": [ + 0.01743762008845806, + 0.9030174016952515, + -0.3536883592605591, + -0.24322855472564697 + ], + "joints": [ + 0.010999225080013275 + ] + }, + "final_grasp": { + "position": [ + 0.05128341168165207, + -0.014339372515678406, + 0.12252027541399002 + ], + "orientation": [ + 0.01743762008845806, + 0.9030174016952515, + -0.3536883592605591, + -0.24322855472564697 + ], + "joints": [ + 0.0022221654653549194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0271476898342371, + -0.008540666662156582, + 0.14989671111106873 + ], + "orientation": [ + 0.061622604727745056, + -0.980917751789093, + -0.17452333867549896, + 0.05953820422291756 + ], + "joints": [ + 0.018189169466495514 + ] + }, + "fine_grasp": { + "position": [ + 0.02639712207019329, + -0.008358869701623917, + 0.1460743397474289 + ], + "orientation": [ + 0.055680807679891586, + -0.9797030091285706, + -0.17713403701782227, + 0.07553301006555557 + ], + "joints": [ + 0.009809166193008423 + ] + }, + "final_grasp": { + "position": [ + 0.02639712207019329, + -0.008358869701623917, + 0.1460743397474289 + ], + "orientation": [ + 0.055680807679891586, + -0.9797030091285706, + -0.17713403701782227, + 0.07553301006555557 + ], + "joints": [ + 0.0014291629195213318 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010091166011989117, + -0.009143374860286713, + 0.15282295644283295 + ], + "orientation": [ + 0.055438753217458725, + -0.1339414119720459, + -0.988926112651825, + -0.03180132806301117 + ], + "joints": [ + 0.019430305808782578 + ] + }, + "fine_grasp": { + "position": [ + 0.009731137193739414, + -0.008995486423373222, + 0.14895151555538177 + ], + "orientation": [ + 0.04855233430862427, + -0.13245940208435059, + -0.9895116090774536, + -0.03104873187839985 + ], + "joints": [ + 0.010590549558401108 + ] + }, + "final_grasp": { + "position": [ + 0.009731137193739414, + -0.008995486423373222, + 0.14895151555538177 + ], + "orientation": [ + 0.04855233430862427, + -0.13245940208435059, + -0.9895116090774536, + -0.03104873187839985 + ], + "joints": [ + 0.001750793308019638 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007081794552505016, + -0.008848869241774082, + 0.15645411610603333 + ], + "orientation": [ + 0.021853603422641754, + -0.4974666237831116, + 0.8671759366989136, + 0.00744647579267621 + ], + "joints": [ + 0.017494505271315575 + ] + }, + "fine_grasp": { + "position": [ + -0.006902182009071112, + -0.008599171414971352, + 0.15231099724769592 + ], + "orientation": [ + 0.028882475569844246, + -0.4833672046661377, + 0.874847948551178, + 0.012768137268722057 + ], + "joints": [ + 0.009135400876402855 + ] + }, + "final_grasp": { + "position": [ + -0.006902182009071112, + -0.008599171414971352, + 0.15231099724769592 + ], + "orientation": [ + 0.028882475569844246, + -0.4833672046661377, + 0.874847948551178, + 0.012768137268722057 + ], + "joints": [ + 0.0007762964814901352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0628029927611351, + -0.07151107490062714, + -0.07569156587123871 + ], + "orientation": [ + 0.27874526381492615, + -0.477803111076355, + 0.25393205881118774, + 0.7934253215789795 + ], + "joints": [ + 0.025423673912882805 + ] + }, + "fine_grasp": { + "position": [ + 0.06290118396282196, + -0.06871800124645233, + -0.07345022261142731 + ], + "orientation": [ + 0.2868514060974121, + -0.47355741262435913, + 0.2420063316822052, + 0.7968014478683472 + ], + "joints": [ + 0.017043670639395714 + ] + }, + "final_grasp": { + "position": [ + 0.06290118396282196, + -0.06871800124645233, + -0.07345022261142731 + ], + "orientation": [ + 0.2868514060974121, + -0.47355741262435913, + 0.2420063316822052, + 0.7968014478683472 + ], + "joints": [ + 0.008663667365908623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06254459172487259, + 0.08085839450359344, + -0.06894785165786743 + ], + "orientation": [ + 0.708148717880249, + 0.25578808784484863, + -0.5452205538749695, + 0.3685544729232788 + ], + "joints": [ + 0.02232678234577179 + ] + }, + "fine_grasp": { + "position": [ + 0.06164577230811119, + 0.08012678474187851, + -0.06478489190340042 + ], + "orientation": [ + 0.7206739783287048, + 0.24792039394378662, + -0.52930748462677, + 0.3728245794773102 + ], + "joints": [ + 0.014803588390350342 + ] + }, + "final_grasp": { + "position": [ + 0.06164577230811119, + 0.08012678474187851, + -0.06478489190340042 + ], + "orientation": [ + 0.7206739783287048, + 0.24792039394378662, + -0.52930748462677, + 0.3728245794773102 + ], + "joints": [ + 0.007280394434928894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10327696800231934, + -0.021896719932556152, + 0.04180847108364105 + ], + "orientation": [ + 0.5910030007362366, + -0.11477390676736832, + 0.7974888682365417, + 0.03942045569419861 + ], + "joints": [ + 0.01930677890777588 + ] + }, + "fine_grasp": { + "position": [ + -0.10115765035152435, + -0.021761592477560043, + 0.0430167056620121 + ], + "orientation": [ + 0.5984377861022949, + -0.1171056255698204, + 0.7915951013565063, + 0.03918933868408203 + ], + "joints": [ + 0.010111764073371887 + ] + }, + "final_grasp": { + "position": [ + -0.10115765035152435, + -0.021761592477560043, + 0.0430167056620121 + ], + "orientation": [ + 0.5984377861022949, + -0.1171056255698204, + 0.7915951013565063, + 0.03918933868408203 + ], + "joints": [ + 0.0009167492389678955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032708555459976196, + -0.003976208157837391, + 0.14766842126846313 + ], + "orientation": [ + 0.026699848473072052, + 0.9120899438858032, + -0.3842910826206207, + -0.14035454392433167 + ], + "joints": [ + 0.019388925284147263 + ] + }, + "fine_grasp": { + "position": [ + 0.03163759410381317, + -0.003787608351558447, + 0.14382150769233704 + ], + "orientation": [ + 0.03000609390437603, + 0.9138926863670349, + -0.38223543763160706, + -0.1334008127450943 + ], + "joints": [ + 0.010193910449743271 + ] + }, + "final_grasp": { + "position": [ + 0.03163759410381317, + -0.003787608351558447, + 0.14382150769233704 + ], + "orientation": [ + 0.03000609390437603, + 0.9138926863670349, + -0.38223543763160706, + -0.1334008127450943 + ], + "joints": [ + 0.0009988956153392792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030520480126142502, + -0.006149188615381718, + 0.14733701944351196 + ], + "orientation": [ + 0.05317622423171997, + -0.9307612776756287, + 0.33776548504829407, + -0.12950052320957184 + ], + "joints": [ + 0.01876070909202099 + ] + }, + "fine_grasp": { + "position": [ + -0.029551714658737183, + -0.006010701414197683, + 0.14351962506771088 + ], + "orientation": [ + 0.057546813040971756, + -0.9318069815635681, + 0.33822157979011536, + -0.11844939738512039 + ], + "joints": [ + 0.010380705818533897 + ] + }, + "final_grasp": { + "position": [ + -0.029551714658737183, + -0.006010701414197683, + 0.14351962506771088 + ], + "orientation": [ + 0.057546813040971756, + -0.9318069815635681, + 0.33822157979011536, + -0.11844939738512039 + ], + "joints": [ + 0.0020007025450468063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006156177259981632, + -0.024056533351540565, + 0.14653034508228302 + ], + "orientation": [ + 0.04759645834565163, + -0.5900554060935974, + -0.7997556924819946, + -0.09979943186044693 + ], + "joints": [ + 0.019937975332140923 + ] + }, + "fine_grasp": { + "position": [ + -0.006222530733793974, + -0.023360099643468857, + 0.1426343321800232 + ], + "orientation": [ + 0.0425298698246479, + -0.5913885235786438, + -0.7996380925178528, + -0.0950249508023262 + ], + "joints": [ + 0.01074296049773693 + ] + }, + "final_grasp": { + "position": [ + -0.006222530733793974, + -0.023360099643468857, + 0.1426343321800232 + ], + "orientation": [ + 0.0425298698246479, + -0.5913885235786438, + -0.7996380925178528, + -0.0950249508023262 + ], + "joints": [ + 0.0015479456633329391 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10401565581560135, + 0.03265364095568657, + 0.06389923393726349 + ], + "orientation": [ + 0.5768512487411499, + 0.03301041200757027, + -0.8035092949867249, + 0.14326761662960052 + ], + "joints": [ + 0.017133984714746475 + ] + }, + "fine_grasp": { + "position": [ + 0.1008092537522316, + 0.03153442218899727, + 0.06161412596702576 + ], + "orientation": [ + 0.5642809271812439, + 0.03852001950144768, + -0.8127981424331665, + 0.13950732350349426 + ], + "joints": [ + 0.00835692510008812 + ] + }, + "final_grasp": { + "position": [ + 0.1008092537522316, + 0.03153442218899727, + 0.06161412596702576 + ], + "orientation": [ + 0.5642809271812439, + 0.03852001950144768, + -0.8127981424331665, + 0.13950732350349426 + ], + "joints": [ + -0.0004201345145702362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0679938942193985, + -0.09069699048995972, + 0.022414876148104668 + ], + "orientation": [ + 0.2762638330459595, + -0.6396299004554749, + -0.3568977415561676, + -0.6222345232963562 + ], + "joints": [ + 0.018033841624855995 + ] + }, + "fine_grasp": { + "position": [ + -0.06648609042167664, + -0.08895724266767502, + 0.020904850214719772 + ], + "orientation": [ + 0.26131078600883484, + -0.6432709693908691, + -0.37326744198799133, + -0.6152971982955933 + ], + "joints": [ + 0.00879702903330326 + ] + }, + "final_grasp": { + "position": [ + -0.06648609042167664, + -0.08895724266767502, + 0.020904850214719772 + ], + "orientation": [ + 0.26131078600883484, + -0.6432709693908691, + -0.37326744198799133, + -0.6152971982955933 + ], + "joints": [ + -0.00043978355824947357 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11553064733743668, + 0.019578471779823303, + -0.0732278898358345 + ], + "orientation": [ + 0.14193738996982574, + 0.4725450575351715, + 0.01987905241549015, + 0.8695744276046753 + ], + "joints": [ + 0.021748296916484833 + ] + }, + "fine_grasp": { + "position": [ + -0.11179725080728531, + 0.018666308373212814, + -0.07245394587516785 + ], + "orientation": [ + 0.141666442155838, + 0.4843524098396301, + 0.018653307110071182, + 0.8631253242492676 + ], + "joints": [ + 0.013744451105594635 + ] + }, + "final_grasp": { + "position": [ + -0.11179725080728531, + 0.018666308373212814, + -0.07245394587516785 + ], + "orientation": [ + 0.141666442155838, + 0.4843524098396301, + 0.018653307110071182, + 0.8631253242492676 + ], + "joints": [ + 0.005740605294704437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08561782538890839, + -0.022406455129384995, + 0.09409184008836746 + ], + "orientation": [ + 0.47158995270729065, + -0.09910962730646133, + -0.8736600279808044, + -0.06707021594047546 + ], + "joints": [ + 0.014734637923538685 + ] + }, + "fine_grasp": { + "position": [ + 0.08370938897132874, + -0.021967416629195213, + 0.09018444269895554 + ], + "orientation": [ + 0.45371341705322266, + -0.09732665866613388, + -0.8833194375038147, + -0.06647058576345444 + ], + "joints": [ + 0.008465309627354145 + ] + }, + "final_grasp": { + "position": [ + 0.08370938897132874, + -0.021967416629195213, + 0.09018444269895554 + ], + "orientation": [ + 0.45371341705322266, + -0.09732665866613388, + -0.8833194375038147, + -0.06647058576345444 + ], + "joints": [ + 0.0021959813311696053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06766998022794724, + -0.09035351127386093, + 0.022094620391726494 + ], + "orientation": [ + 0.2726053297519684, + -0.6428695917129517, + -0.36018627882003784, + -0.6186040043830872 + ], + "joints": [ + 0.018323037773370743 + ] + }, + "fine_grasp": { + "position": [ + -0.06627985090017319, + -0.08835568279027939, + 0.021099332720041275 + ], + "orientation": [ + 0.2570843994617462, + -0.6439288258552551, + -0.376857191324234, + -0.6142002940177917 + ], + "joints": [ + 0.00910712406039238 + ] + }, + "final_grasp": { + "position": [ + -0.06627985090017319, + -0.08835568279027939, + 0.021099332720041275 + ], + "orientation": [ + 0.2570843994617462, + -0.6439288258552551, + -0.376857191324234, + -0.6142002940177917 + ], + "joints": [ + -0.00010878965258598328 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10453327000141144, + -0.0203438438475132, + 0.045198705047369 + ], + "orientation": [ + 0.6328825950622559, + -0.1439024955034256, + 0.7607273459434509, + 0.006750054657459259 + ], + "joints": [ + 0.019798018038272858 + ] + }, + "fine_grasp": { + "position": [ + -0.1028376892209053, + -0.020169181749224663, + 0.04352777078747749 + ], + "orientation": [ + 0.6202553510665894, + -0.14943090081214905, + 0.7700347900390625, + -0.00027995294658467174 + ], + "joints": [ + 0.010582104325294495 + ] + }, + "final_grasp": { + "position": [ + -0.1028376892209053, + -0.020169181749224663, + 0.04352777078747749 + ], + "orientation": [ + 0.6202553510665894, + -0.14943090081214905, + 0.7700347900390625, + -0.00027995294658467174 + ], + "joints": [ + 0.0013661906123161316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018534857779741287, + -0.0012848105980083346, + 0.13960525393486023 + ], + "orientation": [ + 0.042383454740047455, + -0.8024234175682068, + -0.5916120409965515, + 0.0656934529542923 + ], + "joints": [ + 0.02069368213415146 + ] + }, + "fine_grasp": { + "position": [ + 0.01817111298441887, + -0.0013264967128634453, + 0.13557478785514832 + ], + "orientation": [ + 0.0463491827249527, + -0.8024021983146667, + -0.5916303396224976, + 0.06305635720491409 + ], + "joints": [ + 0.011519566178321838 + ] + }, + "final_grasp": { + "position": [ + 0.01817111298441887, + -0.0013264967128634453, + 0.13557478785514832 + ], + "orientation": [ + 0.0463491827249527, + -0.8024021983146667, + -0.5916303396224976, + 0.06305635720491409 + ], + "joints": [ + 0.002345450222492218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009829544462263584, + 0.0040891896933317184, + -0.11866124719381332 + ], + "orientation": [ + 0.1490706354379654, + -0.10076633095741272, + 0.018316229805350304, + -0.9835083484649658 + ], + "joints": [ + 0.02702593244612217 + ] + }, + "fine_grasp": { + "position": [ + -0.011921786703169346, + 0.003872158471494913, + -0.12040923535823822 + ], + "orientation": [ + 0.15295185148715973, + -0.09682950377464294, + 0.018617823719978333, + -0.9833022356033325 + ], + "joints": [ + 0.017830917611718178 + ] + }, + "final_grasp": { + "position": [ + -0.011921786703169346, + 0.003872158471494913, + -0.12040923535823822 + ], + "orientation": [ + 0.15295185148715973, + -0.09682950377464294, + 0.018617823719978333, + -0.9833022356033325 + ], + "joints": [ + 0.008635902777314186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08449378609657288, + -0.0222812220454216, + 0.09454493969678879 + ], + "orientation": [ + 0.4610462486743927, + -0.10716208070516586, + -0.8784486651420593, + -0.0654250755906105 + ], + "joints": [ + 0.016046147793531418 + ] + }, + "fine_grasp": { + "position": [ + 0.08213908225297928, + -0.021674074232578278, + 0.09097816050052643 + ], + "orientation": [ + 0.4462442100048065, + -0.11031021922826767, + -0.88600754737854, + -0.06073198467493057 + ], + "joints": [ + 0.009358864277601242 + ] + }, + "final_grasp": { + "position": [ + 0.08213908225297928, + -0.021674074232578278, + 0.09097816050052643 + ], + "orientation": [ + 0.4462442100048065, + -0.11031021922826767, + -0.88600754737854, + -0.06073198467493057 + ], + "joints": [ + 0.0026715807616710663 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035342738032341, + 0.03150962293148041, + 0.12653303146362305 + ], + "orientation": [ + 0.18073074519634247, + 0.4879653751850128, + 0.8532297015190125, + -0.035003211349248886 + ], + "joints": [ + 0.020388934761285782 + ] + }, + "fine_grasp": { + "position": [ + -0.03436747565865517, + 0.030318062752485275, + 0.12294765561819077 + ], + "orientation": [ + 0.1820063292980194, + 0.4841420352458954, + 0.8550312519073486, + -0.037440866231918335 + ], + "joints": [ + 0.010775964707136154 + ] + }, + "final_grasp": { + "position": [ + -0.03436747565865517, + 0.030318062752485275, + 0.12294765561819077 + ], + "orientation": [ + 0.1820063292980194, + 0.4841420352458954, + 0.8550312519073486, + -0.037440866231918335 + ], + "joints": [ + 0.0011629946529865265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08434981852769852, + -0.021850710734725, + 0.0947098433971405 + ], + "orientation": [ + 0.4596627950668335, + -0.11306043714284897, + -0.8787543177604675, + -0.06097882241010666 + ], + "joints": [ + 0.016136642545461655 + ] + }, + "fine_grasp": { + "position": [ + 0.08200396597385406, + -0.02126610465347767, + 0.09112639725208282 + ], + "orientation": [ + 0.44517043232917786, + -0.1137976348400116, + -0.8863398432731628, + -0.05722762644290924 + ], + "joints": [ + 0.009449359029531479 + ] + }, + "final_grasp": { + "position": [ + 0.08200396597385406, + -0.02126610465347767, + 0.09112639725208282 + ], + "orientation": [ + 0.44517043232917786, + -0.1137976348400116, + -0.8863398432731628, + -0.05722762644290924 + ], + "joints": [ + 0.002762075513601303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030483167618513107, + -0.003398570232093334, + 0.13015587627887726 + ], + "orientation": [ + 0.007210278417915106, + -0.9903844594955444, + 0.054257817566394806, + 0.12705403566360474 + ], + "joints": [ + 0.02029469981789589 + ] + }, + "fine_grasp": { + "position": [ + 0.029363440349698067, + -0.003497448982670903, + 0.12666825950145721 + ], + "orientation": [ + 0.008675300516188145, + -0.990627646446228, + 0.04927884414792061, + 0.12709516286849976 + ], + "joints": [ + 0.010681729763746262 + ] + }, + "final_grasp": { + "position": [ + 0.029363440349698067, + -0.003497448982670903, + 0.12666825950145721 + ], + "orientation": [ + 0.008675300516188145, + -0.990627646446228, + 0.04927884414792061, + 0.12709516286849976 + ], + "joints": [ + 0.001068759709596634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035111185163259506, + 0.031435150653123856, + 0.1263597011566162 + ], + "orientation": [ + 0.1813931167125702, + 0.48734211921691895, + 0.8533949255943298, + -0.036210451275110245 + ], + "joints": [ + 0.020180536434054375 + ] + }, + "fine_grasp": { + "position": [ + -0.03416616842150688, + 0.03022993542253971, + 0.1228053867816925 + ], + "orientation": [ + 0.18153604865074158, + 0.48307809233665466, + 0.8556772470474243, + -0.03868647292256355 + ], + "joints": [ + 0.010985521599650383 + ] + }, + "final_grasp": { + "position": [ + -0.03416616842150688, + 0.03022993542253971, + 0.1228053867816925 + ], + "orientation": [ + 0.18153604865074158, + 0.48307809233665466, + 0.8556772470474243, + -0.03868647292256355 + ], + "joints": [ + 0.0017905067652463913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019797449931502342, + -0.09019128233194351, + 0.11837655305862427 + ], + "orientation": [ + 0.3443280756473541, + -0.6526347398757935, + 0.6358396410942078, + 0.22630538046360016 + ], + "joints": [ + 0.01538932230323553 + ] + }, + "fine_grasp": { + "position": [ + -0.01927451603114605, + -0.08766923099756241, + 0.11507979780435562 + ], + "orientation": [ + 0.3282184600830078, + -0.6568702459335327, + 0.6438250541687012, + 0.21513581275939941 + ], + "joints": [ + 0.008242286741733551 + ] + }, + "final_grasp": { + "position": [ + -0.01927451603114605, + -0.08766923099756241, + 0.11507979780435562 + ], + "orientation": [ + 0.3282184600830078, + -0.6568702459335327, + 0.6438250541687012, + 0.21513581275939941 + ], + "joints": [ + 0.0010952511802315712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07887045294046402, + -0.07806088030338287, + 0.07347654551267624 + ], + "orientation": [ + 0.21213768422603607, + -0.7662025094032288, + 0.3175097107887268, + 0.5168353915214539 + ], + "joints": [ + 0.019161701202392578 + ] + }, + "fine_grasp": { + "position": [ + 0.07637578248977661, + -0.07574951648712158, + 0.07147594541311264 + ], + "orientation": [ + 0.20876947045326233, + -0.7722656726837158, + 0.3186492621898651, + 0.5084128975868225 + ], + "joints": [ + 0.008754618465900421 + ] + }, + "final_grasp": { + "position": [ + 0.07637578248977661, + -0.07574951648712158, + 0.07147594541311264 + ], + "orientation": [ + 0.20876947045326233, + -0.7722656726837158, + 0.3186492621898651, + 0.5084128975868225 + ], + "joints": [ + -0.0016524642705917358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08430878072977066, + -0.02268851548433304, + 0.09528601914644241 + ], + "orientation": [ + 0.459604948759079, + -0.10923212766647339, + -0.8789843320846558, + -0.06494684517383575 + ], + "joints": [ + 0.0157429538667202 + ] + }, + "fine_grasp": { + "position": [ + 0.08198865503072739, + -0.022065483033657074, + 0.09169968217611313 + ], + "orientation": [ + 0.4438598155975342, + -0.11141412705183029, + -0.8869668245315552, + -0.06216926872730255 + ], + "joints": [ + 0.009055670350790024 + ] + }, + "final_grasp": { + "position": [ + 0.08198865503072739, + -0.022065483033657074, + 0.09169968217611313 + ], + "orientation": [ + 0.4438598155975342, + -0.11141412705183029, + -0.8869668245315552, + -0.06216926872730255 + ], + "joints": [ + 0.002368386834859848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020420895889401436, + -0.009560009464621544, + 0.14316166937351227 + ], + "orientation": [ + 0.08714958280324936, + -0.8319647312164307, + 0.5470017194747925, + -0.03207416087388992 + ], + "joints": [ + 0.019925881177186966 + ] + }, + "fine_grasp": { + "position": [ + -0.0200564693659544, + -0.009277516975998878, + 0.1393703818321228 + ], + "orientation": [ + 0.08096514642238617, + -0.8312958478927612, + 0.5486195683479309, + -0.037528328597545624 + ], + "joints": [ + 0.010730866342782974 + ] + }, + "final_grasp": { + "position": [ + -0.0200564693659544, + -0.009277516975998878, + 0.1393703818321228 + ], + "orientation": [ + 0.08096514642238617, + -0.8312958478927612, + 0.5486195683479309, + -0.037528328597545624 + ], + "joints": [ + 0.0015358515083789825 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029653558507561684, + -0.0057082949206233025, + 0.1320943683385849 + ], + "orientation": [ + 0.019385680556297302, + -0.9914659261703491, + 0.02923581935465336, + 0.125557541847229 + ], + "joints": [ + 0.020257215946912766 + ] + }, + "fine_grasp": { + "position": [ + 0.028579220175743103, + -0.005237642675638199, + 0.1283695548772812 + ], + "orientation": [ + 0.0180587787181139, + -0.9917192459106445, + 0.026778824627399445, + 0.1242968887090683 + ], + "joints": [ + 0.010644245892763138 + ] + }, + "final_grasp": { + "position": [ + 0.028579220175743103, + -0.005237642675638199, + 0.1283695548772812 + ], + "orientation": [ + 0.0180587787181139, + -0.9917192459106445, + 0.026778824627399445, + 0.1242968887090683 + ], + "joints": [ + 0.0010312758386135101 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05777284502983093, + -0.02685614489018917, + 0.10820074379444122 + ], + "orientation": [ + 0.06550800055265427, + -0.9390314817428589, + 0.19133973121643066, + 0.27806052565574646 + ], + "joints": [ + 0.02008766122162342 + ] + }, + "fine_grasp": { + "position": [ + 0.05552097037434578, + -0.02589990571141243, + 0.10502245277166367 + ], + "orientation": [ + 0.062100447714328766, + -0.9438045024871826, + 0.18483446538448334, + 0.26685744524002075 + ], + "joints": [ + 0.010892646387219429 + ] + }, + "final_grasp": { + "position": [ + 0.05552097037434578, + -0.02589990571141243, + 0.10502245277166367 + ], + "orientation": [ + 0.062100447714328766, + -0.9438045024871826, + 0.18483446538448334, + 0.26685744524002075 + ], + "joints": [ + 0.0016976315528154373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1075572520494461, + -0.080353744328022, + 0.008479754440486431 + ], + "orientation": [ + 0.660412609577179, + -0.6514385938644409, + -0.3202503025531769, + 0.19215306639671326 + ], + "joints": [ + 0.03043125569820404 + ] + }, + "fine_grasp": { + "position": [ + 0.10343719273805618, + -0.07875547558069229, + 0.007852032780647278 + ], + "orientation": [ + 0.6514492034912109, + -0.6495150327682495, + -0.3334965407848358, + 0.2062140703201294 + ], + "joints": [ + 0.024120129644870758 + ] + }, + "final_grasp": { + "position": [ + 0.10343719273805618, + -0.07875547558069229, + 0.007852032780647278 + ], + "orientation": [ + 0.6514492034912109, + -0.6495150327682495, + -0.3334965407848358, + 0.2062140703201294 + ], + "joints": [ + 0.017809003591537476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03223337605595589, + -0.004358387552201748, + 0.14724765717983246 + ], + "orientation": [ + 0.02604999579489231, + 0.9175859689712524, + -0.3736936151981354, + -0.13308103382587433 + ], + "joints": [ + 0.019432509317994118 + ] + }, + "fine_grasp": { + "position": [ + 0.031051741912961006, + -0.004347775597125292, + 0.143434077501297 + ], + "orientation": [ + 0.026675429195165634, + 0.9193953275680542, + -0.3705284893512726, + -0.12926466763019562 + ], + "joints": [ + 0.01063455082476139 + ] + }, + "final_grasp": { + "position": [ + 0.031051741912961006, + -0.004347775597125292, + 0.143434077501297 + ], + "orientation": [ + 0.026675429195165634, + 0.9193953275680542, + -0.3705284893512726, + -0.12926466763019562 + ], + "joints": [ + 0.0018365923315286636 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032665081322193146, + -0.0043985010124742985, + 0.14620772004127502 + ], + "orientation": [ + 0.028019145131111145, + 0.9150638580322266, + -0.3794337511062622, + -0.13380275666713715 + ], + "joints": [ + 0.020050782710313797 + ] + }, + "fine_grasp": { + "position": [ + 0.0314636193215847, + -0.004423822276294231, + 0.1423598974943161 + ], + "orientation": [ + 0.028255585581064224, + 0.9166293740272522, + -0.37668272852897644, + -0.13077546656131744 + ], + "joints": [ + 0.010855767875909805 + ] + }, + "final_grasp": { + "position": [ + 0.0314636193215847, + -0.004423822276294231, + 0.1423598974943161 + ], + "orientation": [ + 0.028255585581064224, + 0.9166293740272522, + -0.37668272852897644, + -0.13077546656131744 + ], + "joints": [ + 0.0016607530415058136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08505792915821075, + 0.08851969242095947, + -0.005895704030990601 + ], + "orientation": [ + 0.6500220894813538, + 0.6844743490219116, + -0.15697428584098816, + -0.2903882563114166 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.08182551711797714, + 0.08678898960351944, + -0.004640847910195589 + ], + "orientation": [ + 0.64805006980896, + 0.6798140406608582, + -0.17374026775360107, + -0.2961389720439911 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + 0.08182551711797714, + 0.08678898960351944, + -0.004640847910195589 + ], + "orientation": [ + 0.64805006980896, + 0.6798140406608582, + -0.17374026775360107, + -0.2961389720439911 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12237574905157089, + -0.0324617438018322, + 0.03766053542494774 + ], + "orientation": [ + 0.026281727477908134, + -0.7859153151512146, + -0.1852438896894455, + -0.5893479585647583 + ], + "joints": [ + 0.021747760474681854 + ] + }, + "fine_grasp": { + "position": [ + -0.11874951422214508, + -0.03152180090546608, + 0.03639974072575569 + ], + "orientation": [ + 0.021718785166740417, + -0.78876131772995, + -0.18708927929401398, + -0.5851336717605591 + ], + "joints": [ + 0.012134790420532227 + ] + }, + "final_grasp": { + "position": [ + -0.11874951422214508, + -0.03152180090546608, + 0.03639974072575569 + ], + "orientation": [ + 0.021718785166740417, + -0.78876131772995, + -0.18708927929401398, + -0.5851336717605591 + ], + "joints": [ + 0.002521820366382599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13103334605693817, + 0.027844011783599854, + 0.021234683692455292 + ], + "orientation": [ + 0.6554455757141113, + 0.045279040932655334, + 0.7473669648170471, + -0.09891112148761749 + ], + "joints": [ + 0.017934458330273628 + ] + }, + "fine_grasp": { + "position": [ + -0.1275131106376648, + 0.02710632234811783, + 0.01949445717036724 + ], + "orientation": [ + 0.6384259462356567, + 0.0465034656226635, + 0.7624708414077759, + -0.09427640587091446 + ], + "joints": [ + 0.01072472520172596 + ] + }, + "final_grasp": { + "position": [ + -0.1275131106376648, + 0.02710632234811783, + 0.01949445717036724 + ], + "orientation": [ + 0.6384259462356567, + 0.0465034656226635, + 0.7624708414077759, + -0.09427640587091446 + ], + "joints": [ + 0.0035149920731782913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10365433990955353, + -0.02053331397473812, + 0.04469721019268036 + ], + "orientation": [ + 0.6236468553543091, + -0.15075069665908813, + 0.7670322060585022, + 0.0005979034467600286 + ], + "joints": [ + 0.020265929400920868 + ] + }, + "fine_grasp": { + "position": [ + -0.10090849548578262, + -0.019741058349609375, + 0.04389110952615738 + ], + "orientation": [ + 0.608806312084198, + -0.16376890242099762, + 0.7761822938919067, + -0.00870700366795063 + ], + "joints": [ + 0.011070914566516876 + ] + }, + "final_grasp": { + "position": [ + -0.10090849548578262, + -0.019741058349609375, + 0.04389110952615738 + ], + "orientation": [ + 0.608806312084198, + -0.16376890242099762, + 0.7761822938919067, + -0.00870700366795063 + ], + "joints": [ + 0.0018758997321128845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08418310433626175, + -0.00976232998073101, + 0.11998317390680313 + ], + "orientation": [ + 0.018177492544054985, + -0.9157445430755615, + 0.05885669216513634, + 0.3970104455947876 + ], + "joints": [ + 0.015344223938882351 + ] + }, + "fine_grasp": { + "position": [ + 0.08178157359361649, + -0.009401201270520687, + 0.11673611402511597 + ], + "orientation": [ + 0.019646476954221725, + -0.9244325757026672, + 0.0594417043030262, + 0.37617161870002747 + ], + "joints": [ + 0.008615142665803432 + ] + }, + "final_grasp": { + "position": [ + 0.08178157359361649, + -0.009401201270520687, + 0.11673611402511597 + ], + "orientation": [ + 0.019646476954221725, + -0.9244325757026672, + 0.0594417043030262, + 0.37617161870002747 + ], + "joints": [ + 0.001886061392724514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08524973690509796, + 0.09011958539485931, + -0.0039445157162845135 + ], + "orientation": [ + 0.6508686542510986, + 0.6817286610603333, + -0.16667935252189636, + -0.28954121470451355 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.08225906640291214, + 0.08805681765079498, + -0.0028434526175260544 + ], + "orientation": [ + 0.6481788158416748, + 0.6799259781837463, + -0.17908550798892975, + -0.2923923134803772 + ], + "joints": [ + 0.02437051758170128 + ] + }, + "final_grasp": { + "position": [ + 0.08225906640291214, + 0.08805681765079498, + -0.0028434526175260544 + ], + "orientation": [ + 0.6481788158416748, + 0.6799259781837463, + -0.17908550798892975, + -0.2923923134803772 + ], + "joints": [ + 0.015593457967042923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10675012320280075, + -0.03688947483897209, + 0.05662872642278671 + ], + "orientation": [ + 0.13838045299053192, + -0.8055815696716309, + 0.07467374950647354, + 0.5712380409240723 + ], + "joints": [ + 0.019564272835850716 + ] + }, + "fine_grasp": { + "position": [ + 0.10333620011806488, + -0.03570451959967613, + 0.05531201884150505 + ], + "orientation": [ + 0.1394399255514145, + -0.8114479780197144, + 0.07223465293645859, + 0.5629305243492126 + ], + "joints": [ + 0.009136291220784187 + ] + }, + "final_grasp": { + "position": [ + 0.10333620011806488, + -0.03570451959967613, + 0.05531201884150505 + ], + "orientation": [ + 0.1394399255514145, + -0.8114479780197144, + 0.07223465293645859, + 0.5629305243492126 + ], + "joints": [ + -0.001291690394282341 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05724747106432915, + -0.07853404432535172, + 0.10980778187513351 + ], + "orientation": [ + 0.24923744797706604, + -0.838779091835022, + -0.2969479262828827, + -0.3822985589504242 + ], + "joints": [ + 0.014455481432378292 + ] + }, + "fine_grasp": { + "position": [ + -0.05566897615790367, + -0.07658195495605469, + 0.1065157800912857 + ], + "orientation": [ + 0.2338021695613861, + -0.8506688475608826, + -0.3016520142555237, + -0.3615316152572632 + ], + "joints": [ + 0.007705503609031439 + ] + }, + "final_grasp": { + "position": [ + -0.05566897615790367, + -0.07658195495605469, + 0.1065157800912857 + ], + "orientation": [ + 0.2338021695613861, + -0.8506688475608826, + -0.3016520142555237, + -0.3615316152572632 + ], + "joints": [ + 0.0009555257856845856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10435912758111954, + -0.02025453932583332, + 0.04485456272959709 + ], + "orientation": [ + 0.6320005655288696, + -0.1544860154390335, + 0.7594086527824402, + -0.0028134798631072044 + ], + "joints": [ + 0.01968872733414173 + ] + }, + "fine_grasp": { + "position": [ + -0.1017613410949707, + -0.019611099734902382, + 0.0429881326854229 + ], + "orientation": [ + 0.6139228940010071, + -0.16607679426670074, + 0.7716261744499207, + -0.010502736084163189 + ], + "joints": [ + 0.011329622939229012 + ] + }, + "final_grasp": { + "position": [ + -0.1017613410949707, + -0.019611099734902382, + 0.0429881326854229 + ], + "orientation": [ + 0.6139228940010071, + -0.16607679426670074, + 0.7716261744499207, + -0.010502736084163189 + ], + "joints": [ + 0.002970518544316292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11191646009683609, + 0.012882601469755173, + -0.023910053074359894 + ], + "orientation": [ + 0.8061020374298096, + 0.06504793465137482, + -0.5881794095039368, + 0.0036338299978524446 + ], + "joints": [ + 0.019227871671319008 + ] + }, + "fine_grasp": { + "position": [ + 0.1081201359629631, + 0.012254037894308567, + -0.023963218554854393 + ], + "orientation": [ + 0.8046608567237854, + 0.07135668396949768, + -0.5894270539283752, + 0.002219489775598049 + ], + "joints": [ + 0.008402833715081215 + ] + }, + "final_grasp": { + "position": [ + 0.1081201359629631, + 0.012254037894308567, + -0.023963218554854393 + ], + "orientation": [ + 0.8046608567237854, + 0.07135668396949768, + -0.5894270539283752, + 0.002219489775598049 + ], + "joints": [ + -0.002422204241156578 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10406763851642609, + -0.07639849185943604, + 0.015223309397697449 + ], + "orientation": [ + 0.21735788881778717, + -0.71087247133255, + 0.22195082902908325, + 0.6309942007064819 + ], + "joints": [ + 0.019524961709976196 + ] + }, + "fine_grasp": { + "position": [ + 0.10100959241390228, + -0.0743887722492218, + 0.013674166053533554 + ], + "orientation": [ + 0.21029311418533325, + -0.7242904305458069, + 0.22687487304210663, + 0.6162045001983643 + ], + "joints": [ + 0.011144958436489105 + ] + }, + "final_grasp": { + "position": [ + 0.10100959241390228, + -0.0743887722492218, + 0.013674166053533554 + ], + "orientation": [ + 0.21029311418533325, + -0.7242904305458069, + 0.22687487304210663, + 0.6162045001983643 + ], + "joints": [ + 0.002764955163002014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03214189037680626, + -0.13096415996551514, + -0.009350809268653393 + ], + "orientation": [ + 0.11572499573230743, + 0.008066363632678986, + -0.6858896017074585, + -0.7183996438980103 + ], + "joints": [ + 0.0326613150537014 + ] + }, + "fine_grasp": { + "position": [ + 0.030782625079154968, + -0.12748238444328308, + -0.00864223949611187 + ], + "orientation": [ + 0.1195739209651947, + 0.012359618209302425, + -0.6859058737754822, + -0.7176923751831055 + ], + "joints": [ + 0.02426041290163994 + ] + }, + "final_grasp": { + "position": [ + 0.030782625079154968, + -0.12748238444328308, + -0.00864223949611187 + ], + "orientation": [ + 0.1195739209651947, + 0.012359618209302425, + -0.6859058737754822, + -0.7176923751831055 + ], + "joints": [ + 0.015859510749578476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024314068257808685, + -0.0335247665643692, + 0.13073275983333588 + ], + "orientation": [ + 0.17341923713684082, + -0.551256000995636, + 0.813312828540802, + 0.06756214052438736 + ], + "joints": [ + 0.02005394548177719 + ] + }, + "fine_grasp": { + "position": [ + -0.023896474391222, + -0.032245371490716934, + 0.12710200250148773 + ], + "orientation": [ + 0.16760900616645813, + -0.5516691207885742, + 0.8145926594734192, + 0.06330199539661407 + ], + "joints": [ + 0.010440975427627563 + ] + }, + "final_grasp": { + "position": [ + -0.023896474391222, + -0.032245371490716934, + 0.12710200250148773 + ], + "orientation": [ + 0.16760900616645813, + -0.5516691207885742, + 0.8145926594734192, + 0.06330199539661407 + ], + "joints": [ + 0.0008280053734779358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11753249913454056, + -0.05508096143603325, + 0.0034390545915812254 + ], + "orientation": [ + 0.3274290859699249, + 0.4218844175338745, + -0.5806859731674194, + -0.614497721195221 + ], + "joints": [ + 0.03407378867268562 + ] + }, + "fine_grasp": { + "position": [ + 0.11383191496133804, + -0.05351686105132103, + 0.0037640389055013657 + ], + "orientation": [ + 0.3282139301300049, + 0.42010584473609924, + -0.5841606259346008, + -0.6119992136955261 + ], + "joints": [ + 0.02613263949751854 + ] + }, + "final_grasp": { + "position": [ + 0.11383191496133804, + -0.05351686105132103, + 0.0037640389055013657 + ], + "orientation": [ + 0.3282139301300049, + 0.42010584473609924, + -0.5841606259346008, + -0.6119992136955261 + ], + "joints": [ + 0.018191490322351456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09108471125364304, + -0.08294550329446793, + -0.06081956624984741 + ], + "orientation": [ + 0.3211025893688202, + -0.5247015357017517, + 0.1899317055940628, + 0.7651845812797546 + ], + "joints": [ + 0.02683711238205433 + ] + }, + "fine_grasp": { + "position": [ + 0.08806313574314117, + -0.0802307277917862, + -0.06018389016389847 + ], + "orientation": [ + 0.3190152645111084, + -0.5294991731643677, + 0.19176927208900452, + 0.7622890472412109 + ], + "joints": [ + 0.017642097547650337 + ] + }, + "final_grasp": { + "position": [ + 0.08806313574314117, + -0.0802307277917862, + -0.06018389016389847 + ], + "orientation": [ + 0.3190152645111084, + -0.5294991731643677, + 0.19176927208900452, + 0.7622890472412109 + ], + "joints": [ + 0.008447082713246346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016391966491937637, + -0.014856730587780476, + 0.13491742312908173 + ], + "orientation": [ + 0.0843888446688652, + -0.3772110342979431, + -0.9217635989189148, + -0.03069794364273548 + ], + "joints": [ + 0.02069636434316635 + ] + }, + "fine_grasp": { + "position": [ + 0.015991007909178734, + -0.014170023612678051, + 0.13117069005966187 + ], + "orientation": [ + 0.08496488630771637, + -0.37643948197364807, + -0.9220621585845947, + -0.029593979939818382 + ], + "joints": [ + 0.010665439069271088 + ] + }, + "final_grasp": { + "position": [ + 0.015991007909178734, + -0.014170023612678051, + 0.13117069005966187 + ], + "orientation": [ + 0.08496488630771637, + -0.37643948197364807, + -0.9220621585845947, + -0.029593979939818382 + ], + "joints": [ + 0.000634513795375824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10847559571266174, + 0.0504106804728508, + -0.025505732744932175 + ], + "orientation": [ + 0.3394404351711273, + 0.7252081632614136, + 0.009842773899435997, + 0.5989629030227661 + ], + "joints": [ + 0.022745518013834953 + ] + }, + "fine_grasp": { + "position": [ + -0.10542576760053635, + 0.049596574157476425, + -0.0232101958245039 + ], + "orientation": [ + 0.3342748284339905, + 0.7126728892326355, + 0.009321817196905613, + 0.6166608929634094 + ], + "joints": [ + 0.014762571081519127 + ] + }, + "final_grasp": { + "position": [ + -0.10542576760053635, + 0.049596574157476425, + -0.0232101958245039 + ], + "orientation": [ + 0.3342748284339905, + 0.7126728892326355, + 0.009321817196905613, + 0.6166608929634094 + ], + "joints": [ + 0.0067796241492033005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01952446438372135, + 0.008291983045637608, + 0.12864410877227783 + ], + "orientation": [ + 0.002500013681128621, + -0.916623592376709, + -0.3911523222923279, + 0.08243025839328766 + ], + "joints": [ + 0.02047462947666645 + ] + }, + "fine_grasp": { + "position": [ + 0.018526161089539528, + 0.008362854830920696, + 0.12502148747444153 + ], + "orientation": [ + 0.0020950043108314276, + -0.9124706983566284, + -0.4009776711463928, + 0.08130091428756714 + ], + "joints": [ + 0.011258715763688087 + ] + }, + "final_grasp": { + "position": [ + 0.018526161089539528, + 0.008362854830920696, + 0.12502148747444153 + ], + "orientation": [ + 0.0020950043108314276, + -0.9124706983566284, + -0.4009776711463928, + 0.08130091428756714 + ], + "joints": [ + 0.0020428020507097244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01758386380970478, + -0.08960780501365662, + 0.11264503002166748 + ], + "orientation": [ + 0.18720391392707825, + -0.7056235671043396, + -0.6335563063621521, + -0.2562355101108551 + ], + "joints": [ + 0.014551317319273949 + ] + }, + "fine_grasp": { + "position": [ + -0.017000757157802582, + -0.08652704954147339, + 0.11004070192575455 + ], + "orientation": [ + 0.19780224561691284, + -0.7008591890335083, + -0.6306244134902954, + -0.268297404050827 + ], + "joints": [ + 0.0074042826890945435 + ] + }, + "final_grasp": { + "position": [ + -0.017000757157802582, + -0.08652704954147339, + 0.11004070192575455 + ], + "orientation": [ + 0.19780224561691284, + -0.7008591890335083, + -0.6306244134902954, + -0.268297404050827 + ], + "joints": [ + 0.00025724805891513824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005100459326058626, + 0.025510180741548538, + 0.12330235540866852 + ], + "orientation": [ + 0.12193464487791061, + 0.8075889348983765, + 0.5727829933166504, + -0.06965448707342148 + ], + "joints": [ + 0.020807165652513504 + ] + }, + "fine_grasp": { + "position": [ + -0.004627236630767584, + 0.02459569275379181, + 0.11943443864583969 + ], + "orientation": [ + 0.10965695977210999, + 0.8063072562217712, + 0.578045129776001, + -0.06089115887880325 + ], + "joints": [ + 0.01205100491642952 + ] + }, + "final_grasp": { + "position": [ + -0.004627236630767584, + 0.02459569275379181, + 0.11943443864583969 + ], + "orientation": [ + 0.10965695977210999, + 0.8063072562217712, + 0.578045129776001, + -0.06089115887880325 + ], + "joints": [ + 0.0032948441803455353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09196004271507263, + -0.005858529359102249, + 0.10372989624738693 + ], + "orientation": [ + 0.02954048663377762, + 0.9210157990455627, + 0.12072741985321045, + 0.3691643178462982 + ], + "joints": [ + 0.01982698403298855 + ] + }, + "fine_grasp": { + "position": [ + -0.08882042020559311, + -0.005463512148708105, + 0.10138130187988281 + ], + "orientation": [ + 0.029048314318060875, + 0.9154267907142639, + 0.12496224045753479, + 0.3814898133277893 + ], + "joints": [ + 0.010611070320010185 + ] + }, + "final_grasp": { + "position": [ + -0.08882042020559311, + -0.005463512148708105, + 0.10138130187988281 + ], + "orientation": [ + 0.029048314318060875, + 0.9154267907142639, + 0.12496224045753479, + 0.3814898133277893 + ], + "joints": [ + 0.0013951566070318222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023870792239904404, + 0.10954061895608902, + 0.013992106541991234 + ], + "orientation": [ + 0.30058959126472473, + 0.34194469451904297, + 0.7513654232025146, + -0.47767096757888794 + ], + "joints": [ + 0.023194340988993645 + ] + }, + "fine_grasp": { + "position": [ + -0.022736666724085808, + 0.106510229408741, + 0.014990797266364098 + ], + "orientation": [ + 0.3161030411720276, + 0.33581995964050293, + 0.749034583568573, + -0.4756584167480469 + ], + "joints": [ + 0.013999326154589653 + ] + }, + "final_grasp": { + "position": [ + -0.022736666724085808, + 0.106510229408741, + 0.014990797266364098 + ], + "orientation": [ + 0.3161030411720276, + 0.33581995964050293, + 0.749034583568573, + -0.4756584167480469 + ], + "joints": [ + 0.004804311320185661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019574753940105438, + 0.02226867713034153, + 0.13518092036247253 + ], + "orientation": [ + 0.12155349552631378, + 0.11244548112154007, + -0.9824840426445007, + 0.08547386527061462 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + 0.019063301384449005, + 0.021916361525654793, + 0.13142894208431244 + ], + "orientation": [ + 0.10899462550878525, + 0.11492376774549484, + -0.9837090969085693, + 0.08502493053674698 + ], + "joints": [ + 0.010874314233660698 + ] + }, + "final_grasp": { + "position": [ + 0.019063301384449005, + 0.021916361525654793, + 0.13142894208431244 + ], + "orientation": [ + 0.10899462550878525, + 0.11492376774549484, + -0.9837090969085693, + 0.08502493053674698 + ], + "joints": [ + 0.002494310960173607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05400066822767258, + 0.021682174876332283, + -0.12191086262464523 + ], + "orientation": [ + 0.4045940041542053, + 0.20122450590133667, + 0.045157819986343384, + 0.8909395337104797 + ], + "joints": [ + 0.025598911568522453 + ] + }, + "fine_grasp": { + "position": [ + -0.051855240017175674, + 0.01975705660879612, + -0.11892572045326233 + ], + "orientation": [ + 0.4024994373321533, + 0.21432135999202728, + 0.03257842734456062, + 0.889381468296051 + ], + "joints": [ + 0.017239807173609734 + ] + }, + "final_grasp": { + "position": [ + -0.051855240017175674, + 0.01975705660879612, + -0.11892572045326233 + ], + "orientation": [ + 0.4024994373321533, + 0.21432135999202728, + 0.03257842734456062, + 0.889381468296051 + ], + "joints": [ + 0.008880702778697014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12476373463869095, + -0.012980639934539795, + 0.014379446394741535 + ], + "orientation": [ + 0.46727457642555237, + -0.5807425379753113, + 0.4699048399925232, + -0.47284454107284546 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.12081616371870041, + -0.012827964499592781, + 0.014496435411274433 + ], + "orientation": [ + 0.4632215201854706, + -0.5823585391044617, + 0.4688948690891266, + -0.475838303565979 + ], + "joints": [ + 0.026177790015935898 + ] + }, + "final_grasp": { + "position": [ + -0.12081616371870041, + -0.012827964499592781, + 0.014496435411274433 + ], + "orientation": [ + 0.4632215201854706, + -0.5823585391044617, + 0.4688948690891266, + -0.475838303565979 + ], + "joints": [ + 0.017818685621023178 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014271642081439495, + 0.014270271174609661, + 0.13400715589523315 + ], + "orientation": [ + 0.06330559402704239, + 0.7849924564361572, + -0.6153846383094788, + -0.03287943825125694 + ], + "joints": [ + 0.01930958405137062 + ] + }, + "fine_grasp": { + "position": [ + 0.01419210433959961, + 0.013918904587626457, + 0.1300712674856186 + ], + "orientation": [ + 0.07037952542304993, + 0.7848975658416748, + -0.6151135563850403, + -0.024858932942152023 + ], + "joints": [ + 0.010553423315286636 + ] + }, + "final_grasp": { + "position": [ + 0.01419210433959961, + 0.013918904587626457, + 0.1300712674856186 + ], + "orientation": [ + 0.07037952542304993, + 0.7848975658416748, + -0.6151135563850403, + -0.024858932942152023 + ], + "joints": [ + 0.001797262579202652 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023614998906850815, + -0.02483448013663292, + 0.13189677894115448 + ], + "orientation": [ + 0.08691045641899109, + -0.9711851477622986, + 0.17733561992645264, + 0.13340966403484344 + ], + "joints": [ + 0.020088469609618187 + ] + }, + "fine_grasp": { + "position": [ + 0.022813396528363228, + -0.024374432861804962, + 0.12819042801856995 + ], + "orientation": [ + 0.08655230700969696, + -0.9722121357917786, + 0.17841970920562744, + 0.12441347539424896 + ], + "joints": [ + 0.011311409994959831 + ] + }, + "final_grasp": { + "position": [ + 0.022813396528363228, + -0.024374432861804962, + 0.12819042801856995 + ], + "orientation": [ + 0.08655230700969696, + -0.9722121357917786, + 0.17841970920562744, + 0.12441347539424896 + ], + "joints": [ + 0.0025343503803014755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04595465958118439, + 0.009959209710359573, + 0.12880443036556244 + ], + "orientation": [ + 0.031917668879032135, + 0.977694571018219, + -0.04596072435379028, + 0.2024407982826233 + ], + "joints": [ + 0.020373612642288208 + ] + }, + "fine_grasp": { + "position": [ + -0.04449044167995453, + 0.009429271332919598, + 0.12517188489437103 + ], + "orientation": [ + 0.031170286238193512, + 0.9779565334320068, + -0.044771842658519745, + 0.2015560120344162 + ], + "joints": [ + 0.00994563102722168 + ] + }, + "final_grasp": { + "position": [ + -0.04449044167995453, + 0.009429271332919598, + 0.12517188489437103 + ], + "orientation": [ + 0.031170286238193512, + 0.9779565334320068, + -0.044771842658519745, + 0.2015560120344162 + ], + "joints": [ + -0.00048235058784484863 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06163502484560013, + 0.10854361206293106, + 0.019281189888715744 + ], + "orientation": [ + 0.6358252763748169, + 0.7296309471130371, + 0.21234077215194702, + 0.13518935441970825 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.05985374003648758, + 0.10529777407646179, + 0.019328033551573753 + ], + "orientation": [ + 0.6340029835700989, + 0.7306990027427673, + 0.21586330235004425, + 0.13237173855304718 + ], + "joints": [ + 0.026595745235681534 + ] + }, + "final_grasp": { + "position": [ + -0.05985374003648758, + 0.10529777407646179, + 0.019328033551573753 + ], + "orientation": [ + 0.6340029835700989, + 0.7306990027427673, + 0.21586330235004425, + 0.13237173855304718 + ], + "joints": [ + 0.01865459606051445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024683116003870964, + 0.09165208786725998, + -0.08050508797168732 + ], + "orientation": [ + 0.5768119096755981, + 0.27919551730155945, + -0.46480032801628113, + 0.6109816431999207 + ], + "joints": [ + 0.022149857133626938 + ] + }, + "fine_grasp": { + "position": [ + 0.023311033844947815, + 0.09097534418106079, + -0.07662224024534225 + ], + "orientation": [ + 0.5888407826423645, + 0.27046409249305725, + -0.45087960362434387, + 0.6138594150543213 + ], + "joints": [ + 0.015023719519376755 + ] + }, + "final_grasp": { + "position": [ + 0.023311033844947815, + 0.09097534418106079, + -0.07662224024534225 + ], + "orientation": [ + 0.5888407826423645, + 0.27046409249305725, + -0.45087960362434387, + 0.6138594150543213 + ], + "joints": [ + 0.007897581905126572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012584003619849682, + -0.028179902583360672, + 0.140251025557518 + ], + "orientation": [ + 0.04808885604143143, + -0.6287950873374939, + 0.7644805312156677, + 0.13369333744049072 + ], + "joints": [ + 0.02022317238152027 + ] + }, + "fine_grasp": { + "position": [ + 0.012503396719694138, + -0.027377072721719742, + 0.13640810549259186 + ], + "orientation": [ + 0.04155997931957245, + -0.6309991478919983, + 0.7640873789787292, + 0.1276056170463562 + ], + "joints": [ + 0.01102815754711628 + ] + }, + "final_grasp": { + "position": [ + 0.012503396719694138, + -0.027377072721719742, + 0.13640810549259186 + ], + "orientation": [ + 0.04155997931957245, + -0.6309991478919983, + 0.7640873789787292, + 0.1276056170463562 + ], + "joints": [ + 0.001833142712712288 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09428630024194717, + 0.07618393748998642, + 0.006259740795940161 + ], + "orientation": [ + 0.2644304633140564, + 0.75538569688797, + -0.18723922967910767, + 0.5695702433586121 + ], + "joints": [ + 0.027322156354784966 + ] + }, + "fine_grasp": { + "position": [ + -0.09127228707075119, + 0.07387560606002808, + 0.0055783092975616455 + ], + "orientation": [ + 0.2655523419380188, + 0.757409393787384, + -0.18290363252162933, + 0.5677668452262878 + ], + "joints": [ + 0.017709186300635338 + ] + }, + "final_grasp": { + "position": [ + -0.09127228707075119, + 0.07387560606002808, + 0.0055783092975616455 + ], + "orientation": [ + 0.2655523419380188, + 0.757409393787384, + -0.18290363252162933, + 0.5677668452262878 + ], + "joints": [ + 0.00809621624648571 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015430149622261524, + -0.0013197000371292233, + 0.13554322719573975 + ], + "orientation": [ + 0.070714071393013, + -0.2710098922252655, + 0.959922194480896, + -0.010120428167283535 + ], + "joints": [ + 0.020223166793584824 + ] + }, + "fine_grasp": { + "position": [ + -0.015061995945870876, + -0.0010542331729084253, + 0.1318535953760147 + ], + "orientation": [ + 0.06767792254686356, + -0.27082380652427673, + 0.9601880311965942, + -0.01063550915569067 + ], + "joints": [ + 0.010651994496583939 + ] + }, + "final_grasp": { + "position": [ + -0.015061995945870876, + -0.0010542331729084253, + 0.1318535953760147 + ], + "orientation": [ + 0.06767792254686356, + -0.27082380652427673, + 0.9601880311965942, + -0.01063550915569067 + ], + "joints": [ + 0.0010808221995830536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017397435382008553, + -0.08917932212352753, + 0.11278165876865387 + ], + "orientation": [ + 0.19088108837604523, + -0.7073668241500854, + -0.6302075982093811, + -0.25697290897369385 + ], + "joints": [ + 0.015015650540590286 + ] + }, + "fine_grasp": { + "position": [ + -0.016817539930343628, + -0.08618419617414474, + 0.11027677357196808 + ], + "orientation": [ + 0.20118284225463867, + -0.7030801773071289, + -0.6270280480384827, + -0.2684018909931183 + ], + "joints": [ + 0.008223876357078552 + ] + }, + "final_grasp": { + "position": [ + -0.016817539930343628, + -0.08618419617414474, + 0.11027677357196808 + ], + "orientation": [ + 0.20118284225463867, + -0.7030801773071289, + -0.6270280480384827, + -0.2684018909931183 + ], + "joints": [ + 0.0014321021735668182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008932213298976421, + 0.02393311820924282, + 0.1378425508737564 + ], + "orientation": [ + 0.10445957630872726, + 0.9230896830558777, + -0.3700607419013977, + 0.006981671787798405 + ], + "joints": [ + 0.02080681174993515 + ] + }, + "fine_grasp": { + "position": [ + 0.008966832421720028, + 0.023474546149373055, + 0.1340138167142868 + ], + "orientation": [ + 0.1039930135011673, + 0.9238799810409546, + -0.368246853351593, + 0.0050559276714921 + ], + "joints": [ + 0.011611796915531158 + ] + }, + "final_grasp": { + "position": [ + 0.008966832421720028, + 0.023474546149373055, + 0.1340138167142868 + ], + "orientation": [ + 0.1039930135011673, + 0.9238799810409546, + -0.368246853351593, + 0.0050559276714921 + ], + "joints": [ + 0.0024167820811271667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07012347131967545, + 0.09494580328464508, + -0.06339213252067566 + ], + "orientation": [ + 0.7956796288490295, + 0.38160064816474915, + 0.4503932297229767, + -0.1357240080833435 + ], + "joints": [ + 0.02410476841032505 + ] + }, + "fine_grasp": { + "position": [ + -0.06886055320501328, + 0.0923428162932396, + -0.060968078672885895 + ], + "orientation": [ + 0.8001540303230286, + 0.3770776093006134, + 0.4439210295677185, + -0.14317874610424042 + ], + "joints": [ + 0.015703866258263588 + ] + }, + "final_grasp": { + "position": [ + -0.06886055320501328, + 0.0923428162932396, + -0.060968078672885895 + ], + "orientation": [ + 0.8001540303230286, + 0.3770776093006134, + 0.4439210295677185, + -0.14317874610424042 + ], + "joints": [ + 0.0073029641062021255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0915437638759613, + -0.006040725391358137, + 0.10391590744256973 + ], + "orientation": [ + 0.025924937799572945, + 0.9181578755378723, + 0.11794185638427734, + 0.3773643970489502 + ], + "joints": [ + 0.020014137029647827 + ] + }, + "fine_grasp": { + "position": [ + -0.08853936195373535, + -0.005789215676486492, + 0.10141245275735855 + ], + "orientation": [ + 0.025456788018345833, + 0.9162059426307678, + 0.12049471586942673, + 0.3813132047653198 + ], + "joints": [ + 0.010819122195243835 + ] + }, + "final_grasp": { + "position": [ + -0.08853936195373535, + -0.005789215676486492, + 0.10141245275735855 + ], + "orientation": [ + 0.025456788018345833, + 0.9162059426307678, + 0.12049471586942673, + 0.3813132047653198 + ], + "joints": [ + 0.0016241073608398438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11677032709121704, + -0.02633216604590416, + 0.015711866319179535 + ], + "orientation": [ + 0.552706778049469, + -0.5793591141700745, + 0.4791179597377777, + -0.3595888316631317 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.1127576157450676, + -0.025566469877958298, + 0.014677653089165688 + ], + "orientation": [ + 0.5482944846153259, + -0.5785245895385742, + 0.48420003056526184, + -0.3608779013156891 + ], + "joints": [ + 0.025846783071756363 + ] + }, + "final_grasp": { + "position": [ + -0.1127576157450676, + -0.025566469877958298, + 0.014677653089165688 + ], + "orientation": [ + 0.5482944846153259, + -0.5785245895385742, + 0.48420003056526184, + -0.3608779013156891 + ], + "joints": [ + 0.016693565994501114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10906319320201874, + -0.037391673773527145, + 0.05646795034408569 + ], + "orientation": [ + 0.1497184932231903, + -0.8089745044708252, + 0.057620033621788025, + 0.5655303001403809 + ], + "joints": [ + 0.020561987534165382 + ] + }, + "fine_grasp": { + "position": [ + 0.1056036427617073, + -0.036232840269804, + 0.05505542457103729 + ], + "orientation": [ + 0.1504451185464859, + -0.815954864025116, + 0.053020820021629333, + 0.5556731820106506 + ], + "joints": [ + 0.010531062260270119 + ] + }, + "final_grasp": { + "position": [ + 0.1056036427617073, + -0.036232840269804, + 0.05505542457103729 + ], + "orientation": [ + 0.1504451185464859, + -0.815954864025116, + 0.053020820021629333, + 0.5556731820106506 + ], + "joints": [ + 0.000500136986374855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11835790425539017, + -0.02644798532128334, + 0.01673237793147564 + ], + "orientation": [ + 0.5522373914718628, + -0.5862700939178467, + 0.47329428791999817, + -0.356810599565506 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.11458239704370499, + -0.025859374552965164, + 0.016317935660481453 + ], + "orientation": [ + 0.5487348437309265, + -0.5829036235809326, + 0.47997385263442993, + -0.3588014245033264 + ], + "joints": [ + 0.025594331324100494 + ] + }, + "final_grasp": { + "position": [ + -0.11458239704370499, + -0.025859374552965164, + 0.016317935660481453 + ], + "orientation": [ + 0.5487348437309265, + -0.5829036235809326, + 0.47997385263442993, + -0.3588014245033264 + ], + "joints": [ + 0.016420215368270874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02273131161928177, + 0.1302495151758194, + -0.004280224442481995 + ], + "orientation": [ + 0.5094264149665833, + 0.6718661785125732, + 0.3739848732948303, + -0.386284738779068 + ], + "joints": [ + 0.023792970925569534 + ] + }, + "fine_grasp": { + "position": [ + 0.022273218259215355, + 0.12645967304706573, + -0.003792760195210576 + ], + "orientation": [ + 0.515275239944458, + 0.6663379073143005, + 0.37128958106040955, + -0.39067795872688293 + ], + "joints": [ + 0.014180000871419907 + ] + }, + "final_grasp": { + "position": [ + 0.022273218259215355, + 0.12645967304706573, + -0.003792760195210576 + ], + "orientation": [ + 0.515275239944458, + 0.6663379073143005, + 0.37128958106040955, + -0.39067795872688293 + ], + "joints": [ + 0.004567030817270279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05405036360025406, + -0.07032042741775513, + 0.10070531815290451 + ], + "orientation": [ + 0.1561071276664734, + -0.7626446485519409, + -0.47936317324638367, + -0.40523406863212585 + ], + "joints": [ + 0.018864097073674202 + ] + }, + "fine_grasp": { + "position": [ + -0.05240524932742119, + -0.06827588379383087, + 0.09781450033187866 + ], + "orientation": [ + 0.14902055263519287, + -0.7686891555786133, + -0.4810204803943634, + -0.3943718373775482 + ], + "joints": [ + 0.008833171799778938 + ] + }, + "final_grasp": { + "position": [ + -0.05240524932742119, + -0.06827588379383087, + 0.09781450033187866 + ], + "orientation": [ + 0.14902055263519287, + -0.7686891555786133, + -0.4810204803943634, + -0.3943718373775482 + ], + "joints": [ + -0.0011977534741163254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056025512516498566, + -0.07231099158525467, + 0.10283221304416656 + ], + "orientation": [ + 0.15721482038497925, + -0.7606045007705688, + -0.4784323573112488, + -0.40971529483795166 + ], + "joints": [ + 0.01886739768087864 + ] + }, + "fine_grasp": { + "position": [ + -0.05440598726272583, + -0.07017689943313599, + 0.09992324560880661 + ], + "orientation": [ + 0.1511380970478058, + -0.7664247155189514, + -0.48083171248435974, + -0.39818498492240906 + ], + "joints": [ + 0.008857371285557747 + ] + }, + "final_grasp": { + "position": [ + -0.05440598726272583, + -0.07017689943313599, + 0.09992324560880661 + ], + "orientation": [ + 0.1511380970478058, + -0.7664247155189514, + -0.48083171248435974, + -0.39818498492240906 + ], + "joints": [ + -0.0011526551097631454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05701042339205742, + -0.07289828360080719, + 0.1042010635137558 + ], + "orientation": [ + 0.16467346251010895, + -0.7555170059204102, + -0.4755054712295532, + -0.4194892346858978 + ], + "joints": [ + 0.01696580834686756 + ] + }, + "fine_grasp": { + "position": [ + -0.05525248497724533, + -0.0709577351808548, + 0.10107554495334625 + ], + "orientation": [ + 0.15372774004936218, + -0.7656182646751404, + -0.4767892062664032, + -0.4035695195198059 + ], + "joints": [ + 0.009003760293126106 + ] + }, + "final_grasp": { + "position": [ + -0.05525248497724533, + -0.0709577351808548, + 0.10107554495334625 + ], + "orientation": [ + 0.15372774004936218, + -0.7656182646751404, + -0.4767892062664032, + -0.4035695195198059 + ], + "joints": [ + 0.0010417122393846512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024359289556741714, + -0.03775586932897568, + 0.12634694576263428 + ], + "orientation": [ + 0.17986953258514404, + -0.4725092351436615, + -0.8573580384254456, + -0.09653589129447937 + ], + "joints": [ + 0.01972213014960289 + ] + }, + "fine_grasp": { + "position": [ + 0.02384703792631626, + -0.03650131821632385, + 0.12281615287065506 + ], + "orientation": [ + 0.1732674539089203, + -0.47323179244995117, + -0.8588234186172485, + -0.0919366106390953 + ], + "joints": [ + 0.010109160095453262 + ] + }, + "final_grasp": { + "position": [ + 0.02384703792631626, + -0.03650131821632385, + 0.12281615287065506 + ], + "orientation": [ + 0.1732674539089203, + -0.47323179244995117, + -0.8588234186172485, + -0.0919366106390953 + ], + "joints": [ + 0.0004961900413036346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09302592277526855, + 0.07394064217805862, + 0.004299755208194256 + ], + "orientation": [ + 0.24821056425571442, + 0.7685256004333496, + -0.20209702849388123, + 0.5540004968643188 + ], + "joints": [ + 0.026335574686527252 + ] + }, + "fine_grasp": { + "position": [ + -0.08992007374763489, + 0.07139638066291809, + 0.0037202932871878147 + ], + "orientation": [ + 0.24875809252262115, + 0.7652170062065125, + -0.20195485651493073, + 0.5583695769309998 + ], + "joints": [ + 0.017558515071868896 + ] + }, + "final_grasp": { + "position": [ + -0.08992007374763489, + 0.07139638066291809, + 0.0037202932871878147 + ], + "orientation": [ + 0.24875809252262115, + 0.7652170062065125, + -0.20195485651493073, + 0.5583695769309998 + ], + "joints": [ + 0.00878145545721054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004338262602686882, + 0.026068780571222305, + 0.12348830699920654 + ], + "orientation": [ + 0.11906881630420685, + 0.8090207576751709, + 0.5713531970977783, + -0.06973875313997269 + ], + "joints": [ + 0.02091391198337078 + ] + }, + "fine_grasp": { + "position": [ + -0.004031880293041468, + 0.025144387036561966, + 0.1195305809378624 + ], + "orientation": [ + 0.10787821561098099, + 0.8090918660163879, + 0.5743723511695862, + -0.06188023090362549 + ], + "joints": [ + 0.012554807588458061 + ] + }, + "final_grasp": { + "position": [ + -0.004031880293041468, + 0.025144387036561966, + 0.1195305809378624 + ], + "orientation": [ + 0.10787821561098099, + 0.8090918660163879, + 0.5743723511695862, + -0.06188023090362549 + ], + "joints": [ + 0.0041957031935453415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0272955484688282, + -0.004847063682973385, + 0.14219164848327637 + ], + "orientation": [ + 0.0638531893491745, + -0.9096890091896057, + 0.4006473124027252, + -0.08871476352214813 + ], + "joints": [ + 0.020652133971452713 + ] + }, + "fine_grasp": { + "position": [ + -0.02680213190615177, + -0.004939313046634197, + 0.13840846717357635 + ], + "orientation": [ + 0.06155593693256378, + -0.9100765585899353, + 0.4000961482524872, + -0.08885210007429123 + ], + "joints": [ + 0.011039163917303085 + ] + }, + "final_grasp": { + "position": [ + -0.02680213190615177, + -0.004939313046634197, + 0.13840846717357635 + ], + "orientation": [ + 0.06155593693256378, + -0.9100765585899353, + 0.4000961482524872, + -0.08885210007429123 + ], + "joints": [ + 0.0014261938631534576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014307280071079731, + 0.05362469702959061, + 0.1285458505153656 + ], + "orientation": [ + 0.08871690183877945, + 0.7258902788162231, + -0.6667799949645996, + 0.14358653128147125 + ], + "joints": [ + 0.017309263348579407 + ] + }, + "fine_grasp": { + "position": [ + -0.013772829435765743, + 0.051620155572891235, + 0.12530633807182312 + ], + "orientation": [ + 0.09699586033821106, + 0.7237325310707092, + -0.6640275120735168, + 0.1608428657054901 + ], + "joints": [ + 0.008929260075092316 + ] + }, + "final_grasp": { + "position": [ + -0.013772829435765743, + 0.051620155572891235, + 0.12530633807182312 + ], + "orientation": [ + 0.09699586033821106, + 0.7237325310707092, + -0.6640275120735168, + 0.1608428657054901 + ], + "joints": [ + 0.0005492568016052246 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028594572097063065, + -0.010694124735891819, + 0.13411007821559906 + ], + "orientation": [ + 0.07462844997644424, + 0.469531387090683, + -0.8744487762451172, + -0.0964890569448471 + ], + "joints": [ + 0.02087966538965702 + ] + }, + "fine_grasp": { + "position": [ + 0.02786668948829174, + -0.010449323803186417, + 0.13021732866764069 + ], + "orientation": [ + 0.07638603448867798, + 0.47174298763275146, + -0.8734009861946106, + -0.09377909451723099 + ], + "joints": [ + 0.011684650555253029 + ] + }, + "final_grasp": { + "position": [ + 0.02786668948829174, + -0.010449323803186417, + 0.13021732866764069 + ], + "orientation": [ + 0.07638603448867798, + 0.47174298763275146, + -0.8734009861946106, + -0.09377909451723099 + ], + "joints": [ + 0.002489635720849037 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025412408635020256, + -0.0053074778988957405, + 0.14011022448539734 + ], + "orientation": [ + 0.05627791956067085, + -0.9104762673377991, + 0.3983326554298401, + -0.09590087831020355 + ], + "joints": [ + 0.020612627267837524 + ] + }, + "fine_grasp": { + "position": [ + -0.02470673993229866, + -0.005279826931655407, + 0.1362495720386505 + ], + "orientation": [ + 0.05723356828093529, + -0.9107313752174377, + 0.39863961935043335, + -0.09153758734464645 + ], + "joints": [ + 0.011417612433433533 + ] + }, + "final_grasp": { + "position": [ + -0.02470673993229866, + -0.005279826931655407, + 0.1362495720386505 + ], + "orientation": [ + 0.05723356828093529, + -0.9107313752174377, + 0.39863961935043335, + -0.09153758734464645 + ], + "joints": [ + 0.002222597599029541 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09448758512735367, + 0.0035147990565747023, + 0.1008058711886406 + ], + "orientation": [ + 0.04463217407464981, + 0.8813976645469666, + -0.0726802721619606, + -0.46461132168769836 + ], + "joints": [ + 0.017120344564318657 + ] + }, + "fine_grasp": { + "position": [ + 0.09190277755260468, + 0.0031861590687185526, + 0.09762166440486908 + ], + "orientation": [ + 0.045811913907527924, + 0.8930802345275879, + -0.0687403753399849, + -0.44224855303764343 + ], + "joints": [ + 0.008761240169405937 + ] + }, + "final_grasp": { + "position": [ + 0.09190277755260468, + 0.0031861590687185526, + 0.09762166440486908 + ], + "orientation": [ + 0.045811913907527924, + 0.8930802345275879, + -0.0687403753399849, + -0.44224855303764343 + ], + "joints": [ + 0.00040213577449321747 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01283493172377348, + -0.04446970671415329, + -0.11386904120445251 + ], + "orientation": [ + 0.6277368068695068, + -0.21583060920238495, + -0.15239055454730988, + -0.7322162389755249 + ], + "joints": [ + 0.026432504877448082 + ] + }, + "fine_grasp": { + "position": [ + -0.011898074299097061, + -0.043740544468164444, + -0.11173500120639801 + ], + "orientation": [ + 0.6270609498023987, + -0.20509660243988037, + -0.14982736110687256, + -0.7363977432250977 + ], + "joints": [ + 0.01723749004304409 + ] + }, + "final_grasp": { + "position": [ + -0.011898074299097061, + -0.043740544468164444, + -0.11173500120639801 + ], + "orientation": [ + 0.6270609498023987, + -0.20509660243988037, + -0.14982736110687256, + -0.7363977432250977 + ], + "joints": [ + 0.008042475208640099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016377588734030724, + -0.016145780682563782, + 0.132693350315094 + ], + "orientation": [ + 0.07281218469142914, + -0.3708097040653229, + -0.9253295063972473, + -0.03104463219642639 + ], + "joints": [ + 0.019858524203300476 + ] + }, + "fine_grasp": { + "position": [ + 0.015598262660205364, + -0.015837933868169785, + 0.129047229886055 + ], + "orientation": [ + 0.07887095212936401, + -0.37017083168029785, + -0.9249441623687744, + -0.035090379416942596 + ], + "joints": [ + 0.010663509368896484 + ] + }, + "final_grasp": { + "position": [ + 0.015598262660205364, + -0.015837933868169785, + 0.129047229886055 + ], + "orientation": [ + 0.07887095212936401, + -0.37017083168029785, + -0.9249441623687744, + -0.035090379416942596 + ], + "joints": [ + 0.0014684945344924927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02854916639626026, + -0.010566342622041702, + 0.1358458548784256 + ], + "orientation": [ + 0.07351960241794586, + 0.46676182746887207, + -0.8760726451873779, + -0.09604747593402863 + ], + "joints": [ + 0.020708512514829636 + ] + }, + "fine_grasp": { + "position": [ + 0.028110969811677933, + -0.0105288652703166, + 0.1320219188928604 + ], + "orientation": [ + 0.0767330601811409, + 0.4665754437446594, + -0.8759719729423523, + -0.09535524994134903 + ], + "joints": [ + 0.01193145290017128 + ] + }, + "final_grasp": { + "position": [ + 0.028110969811677933, + -0.0105288652703166, + 0.1320219188928604 + ], + "orientation": [ + 0.0767330601811409, + 0.4665754437446594, + -0.8759719729423523, + -0.09535524994134903 + ], + "joints": [ + 0.003154393285512924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022146228700876236, + 0.11715222150087357, + -0.06724472343921661 + ], + "orientation": [ + 0.5439802408218384, + 0.3353840708732605, + -0.4973560869693756, + 0.5867196917533875 + ], + "joints": [ + 0.022949250414967537 + ] + }, + "fine_grasp": { + "position": [ + 0.021455077454447746, + 0.11436453461647034, + -0.06448202580213547 + ], + "orientation": [ + 0.5504898428916931, + 0.33075380325317383, + -0.48903289437294006, + 0.5902623534202576 + ], + "joints": [ + 0.014590146020054817 + ] + }, + "final_grasp": { + "position": [ + 0.021455077454447746, + 0.11436453461647034, + -0.06448202580213547 + ], + "orientation": [ + 0.5504898428916931, + 0.33075380325317383, + -0.48903289437294006, + 0.5902623534202576 + ], + "joints": [ + 0.0062310416251420975 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07621298730373383, + -0.030980072915554047, + 0.10382319241762161 + ], + "orientation": [ + 0.0841914564371109, + -0.9047390222549438, + -0.15584324300289154, + -0.38739126920700073 + ], + "joints": [ + 0.018725493922829628 + ] + }, + "fine_grasp": { + "position": [ + -0.07391220331192017, + -0.03004952147603035, + 0.1007855087518692 + ], + "orientation": [ + 0.08516010642051697, + -0.9101366996765137, + -0.15529464185237885, + -0.37454304099082947 + ], + "joints": [ + 0.00911252386868 + ] + }, + "final_grasp": { + "position": [ + -0.07391220331192017, + -0.03004952147603035, + 0.1007855087518692 + ], + "orientation": [ + 0.08516010642051697, + -0.9101366996765137, + -0.15529464185237885, + -0.37454304099082947 + ], + "joints": [ + -0.0005004461854696274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10422923415899277, + -0.05730719864368439, + 0.009786350652575493 + ], + "orientation": [ + 0.5791338086128235, + -0.5761958956718445, + 0.47843143343925476, + -0.32203349471092224 + ], + "joints": [ + 0.03217505291104317 + ] + }, + "fine_grasp": { + "position": [ + -0.10184075683355331, + -0.05488979071378708, + 0.010354348458349705 + ], + "orientation": [ + 0.5805606245994568, + -0.5897810459136963, + 0.4588719308376312, + -0.32333311438560486 + ], + "joints": [ + 0.024233903735876083 + ] + }, + "final_grasp": { + "position": [ + -0.10184075683355331, + -0.05488979071378708, + 0.010354348458349705 + ], + "orientation": [ + 0.5805606245994568, + -0.5897810459136963, + 0.4588719308376312, + -0.32333311438560486 + ], + "joints": [ + 0.016292754560709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02454640530049801, + -0.026903610676527023, + 0.1303609311580658 + ], + "orientation": [ + 0.09351465106010437, + -0.9743238091468811, + 0.16135279834270477, + 0.12614849209785461 + ], + "joints": [ + 0.020443521440029144 + ] + }, + "fine_grasp": { + "position": [ + 0.023615505546331406, + -0.026352545246481895, + 0.12669889628887177 + ], + "orientation": [ + 0.09369887411594391, + -0.9749927520751953, + 0.16109877824783325, + 0.12106504291296005 + ], + "joints": [ + 0.011248506605625153 + ] + }, + "final_grasp": { + "position": [ + 0.023615505546331406, + -0.026352545246481895, + 0.12669889628887177 + ], + "orientation": [ + 0.09369887411594391, + -0.9749927520751953, + 0.16109877824783325, + 0.12106504291296005 + ], + "joints": [ + 0.002053491771221161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09185896068811417, + 0.0013732613297179341, + 0.09718769043684006 + ], + "orientation": [ + 0.03176364675164223, + 0.8924302458763123, + -0.059100791811943054, + -0.4461686313152313 + ], + "joints": [ + 0.018986325711011887 + ] + }, + "fine_grasp": { + "position": [ + 0.08917498588562012, + 0.0012587070232257247, + 0.0943462997674942 + ], + "orientation": [ + 0.02863054908812046, + 0.8985700011253357, + -0.05614131689071655, + -0.4342815577983856 + ], + "joints": [ + 0.009373355656862259 + ] + }, + "final_grasp": { + "position": [ + 0.08917498588562012, + 0.0012587070232257247, + 0.0943462997674942 + ], + "orientation": [ + 0.02863054908812046, + 0.8985700011253357, + -0.05614131689071655, + -0.4342815577983856 + ], + "joints": [ + -0.00023961439728736877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11525562405586243, + 0.03985081613063812, + -0.04865454137325287 + ], + "orientation": [ + 0.17898033559322357, + 0.6531722545623779, + 0.0769180878996849, + -0.731721043586731 + ], + "joints": [ + 0.026057980954647064 + ] + }, + "fine_grasp": { + "position": [ + 0.11226322501897812, + 0.038974497467279434, + -0.04661305993795395 + ], + "orientation": [ + 0.17764583230018616, + 0.6459655165672302, + 0.07472633570432663, + -0.7386383414268494 + ], + "joints": [ + 0.016424112021923065 + ] + }, + "final_grasp": { + "position": [ + 0.11226322501897812, + 0.038974497467279434, + -0.04661305993795395 + ], + "orientation": [ + 0.17764583230018616, + 0.6459655165672302, + 0.07472633570432663, + -0.7386383414268494 + ], + "joints": [ + 0.006790243089199066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014414967969059944, + 0.05310912802815437, + 0.1271696388721466 + ], + "orientation": [ + 0.08697602152824402, + 0.7287652492523193, + -0.6631526947021484, + 0.14684952795505524 + ], + "joints": [ + 0.016846153885126114 + ] + }, + "fine_grasp": { + "position": [ + -0.013817187398672104, + 0.051178473979234695, + 0.12384672462940216 + ], + "orientation": [ + 0.09889748692512512, + 0.7260854840278625, + -0.6608790159225464, + 0.1620432436466217 + ], + "joints": [ + 0.009281162172555923 + ] + }, + "final_grasp": { + "position": [ + -0.013817187398672104, + 0.051178473979234695, + 0.12384672462940216 + ], + "orientation": [ + 0.09889748692512512, + 0.7260854840278625, + -0.6608790159225464, + 0.1620432436466217 + ], + "joints": [ + 0.001716170459985733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08778253942728043, + 0.0012925503542646766, + 0.09206517040729523 + ], + "orientation": [ + 0.42534491419792175, + -0.07824322581291199, + 0.900747537612915, + -0.04016971215605736 + ], + "joints": [ + 0.01903465762734413 + ] + }, + "fine_grasp": { + "position": [ + -0.08493132889270782, + 0.0009530718089081347, + 0.08953244239091873 + ], + "orientation": [ + 0.4092828631401062, + -0.0802336037158966, + 0.9079263806343079, + -0.041471246629953384 + ], + "joints": [ + 0.010257598012685776 + ] + }, + "final_grasp": { + "position": [ + -0.08493132889270782, + 0.0009530718089081347, + 0.08953244239091873 + ], + "orientation": [ + 0.4092828631401062, + -0.0802336037158966, + 0.9079263806343079, + -0.041471246629953384 + ], + "joints": [ + 0.00148053839802742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0826527327299118, + 0.10147085040807724, + 0.015841975808143616 + ], + "orientation": [ + 0.6055319309234619, + 0.47626614570617676, + 0.6177799105644226, + -0.1576373130083084 + ], + "joints": [ + 0.02469339407980442 + ] + }, + "fine_grasp": { + "position": [ + -0.08049929887056351, + 0.09882225096225739, + 0.014719418250024319 + ], + "orientation": [ + 0.5979126691818237, + 0.4801899492740631, + 0.6226354241371155, + -0.15570186078548431 + ], + "joints": [ + 0.015456581488251686 + ] + }, + "final_grasp": { + "position": [ + -0.08049929887056351, + 0.09882225096225739, + 0.014719418250024319 + ], + "orientation": [ + 0.5979126691818237, + 0.4801899492740631, + 0.6226354241371155, + -0.15570186078548431 + ], + "joints": [ + 0.006219768896698952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12191172689199448, + -0.02749900333583355, + -0.027779744938015938 + ], + "orientation": [ + 0.4641973078250885, + 0.413710355758667, + -0.46818089485168457, + -0.6278305649757385 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.11813382804393768, + -0.02641848474740982, + -0.026515211910009384 + ], + "orientation": [ + 0.4616759121417999, + 0.4129611551761627, + -0.4728325307369232, + -0.6266961097717285 + ], + "joints": [ + 0.02599138766527176 + ] + }, + "final_grasp": { + "position": [ + 0.11813382804393768, + -0.02641848474740982, + -0.026515211910009384 + ], + "orientation": [ + 0.4616759121417999, + 0.4129611551761627, + -0.4728325307369232, + -0.6266961097717285 + ], + "joints": [ + 0.017214328050613403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06261463463306427, + -0.03570666164159775, + -0.12778730690479279 + ], + "orientation": [ + 0.9397947192192078, + -0.1589793860912323, + 0.2780505418777466, + -0.11916115880012512 + ], + "joints": [ + 0.02371964044868946 + ] + }, + "fine_grasp": { + "position": [ + -0.06154206767678261, + -0.03397347778081894, + -0.12439948320388794 + ], + "orientation": [ + 0.9416792988777161, + -0.1606651097536087, + 0.2721030116081238, + -0.11570221185684204 + ], + "joints": [ + 0.015318738296627998 + ] + }, + "final_grasp": { + "position": [ + -0.06154206767678261, + -0.03397347778081894, + -0.12439948320388794 + ], + "orientation": [ + 0.9416792988777161, + -0.1606651097536087, + 0.2721030116081238, + -0.11570221185684204 + ], + "joints": [ + 0.006917836144566536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1285574585199356, + 0.0201712716370821, + -0.0398232564330101 + ], + "orientation": [ + 0.06260565668344498, + 0.5660253167152405, + -0.06397191435098648, + 0.8195142149925232 + ], + "joints": [ + 0.019682081416249275 + ] + }, + "fine_grasp": { + "position": [ + -0.12472681701183319, + 0.019848713651299477, + -0.039761982858181 + ], + "orientation": [ + 0.057066112756729126, + 0.5776206851005554, + -0.06221573427319527, + 0.8119279146194458 + ], + "joints": [ + 0.010863224044442177 + ] + }, + "final_grasp": { + "position": [ + -0.12472681701183319, + 0.019848713651299477, + -0.039761982858181 + ], + "orientation": [ + 0.057066112756729126, + 0.5776206851005554, + -0.06221573427319527, + 0.8119279146194458 + ], + "joints": [ + 0.0020443666726350784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049823496490716934, + -0.05716835707426071, + 0.1036575436592102 + ], + "orientation": [ + 0.12754158675670624, + -0.8237791657447815, + -0.44101032614707947, + -0.33261212706565857 + ], + "joints": [ + 0.01954050175845623 + ] + }, + "fine_grasp": { + "position": [ + -0.048220016062259674, + -0.05523110181093216, + 0.10063476115465164 + ], + "orientation": [ + 0.11800204962491989, + -0.8261405229568481, + -0.45080506801605225, + -0.31676849722862244 + ], + "joints": [ + 0.010345486924052238 + ] + }, + "final_grasp": { + "position": [ + -0.048220016062259674, + -0.05523110181093216, + 0.10063476115465164 + ], + "orientation": [ + 0.11800204962491989, + -0.8261405229568481, + -0.45080506801605225, + -0.31676849722862244 + ], + "joints": [ + 0.0011504720896482468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12948055565357208, + -0.02135634608566761, + 0.014109035953879356 + ], + "orientation": [ + 0.6113840937614441, + 0.09569627791643143, + -0.7686530351638794, + -0.1619383692741394 + ], + "joints": [ + 0.025043176487088203 + ] + }, + "fine_grasp": { + "position": [ + 0.12614873051643372, + -0.020820634439587593, + 0.013048049062490463 + ], + "orientation": [ + 0.6027052402496338, + 0.09813691675662994, + -0.7750111222267151, + -0.16270612180233002 + ], + "joints": [ + 0.015388408675789833 + ] + }, + "final_grasp": { + "position": [ + 0.12614873051643372, + -0.020820634439587593, + 0.013048049062490463 + ], + "orientation": [ + 0.6027052402496338, + 0.09813691675662994, + -0.7750111222267151, + -0.16270612180233002 + ], + "joints": [ + 0.005733640864491463 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03074333444237709, + 0.0701170340180397, + 0.11864246428012848 + ], + "orientation": [ + 0.3242504894733429, + 0.612210214138031, + -0.7019229531288147, + 0.165422260761261 + ], + "joints": [ + 0.01796594262123108 + ] + }, + "fine_grasp": { + "position": [ + 0.029838990420103073, + 0.06836295127868652, + 0.11539118736982346 + ], + "orientation": [ + 0.30861395597457886, + 0.6147066950798035, + -0.7094199657440186, + 0.15367598831653595 + ], + "joints": [ + 0.009565040469169617 + ] + }, + "final_grasp": { + "position": [ + 0.029838990420103073, + 0.06836295127868652, + 0.11539118736982346 + ], + "orientation": [ + 0.30861395597457886, + 0.6147066950798035, + -0.7094199657440186, + 0.15367598831653595 + ], + "joints": [ + 0.0011641383171081543 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1123625859618187, + 0.05961799621582031, + -0.017957163974642754 + ], + "orientation": [ + 0.3768247365951538, + -0.40528959035873413, + -0.5211885571479797, + 0.6496968269348145 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.10957986861467361, + 0.05730358138680458, + -0.016613930463790894 + ], + "orientation": [ + 0.3730723261833191, + -0.39977648854255676, + -0.528273344039917, + 0.6495561003684998 + ], + "joints": [ + 0.02432536706328392 + ] + }, + "final_grasp": { + "position": [ + 0.10957986861467361, + 0.05730358138680458, + -0.016613930463790894 + ], + "orientation": [ + 0.3730723261833191, + -0.39977648854255676, + -0.528273344039917, + 0.6495561003684998 + ], + "joints": [ + 0.0159662626683712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05299164727330208, + -0.062074724584817886, + 0.09814147651195526 + ], + "orientation": [ + 0.34600114822387695, + -0.26895350217819214, + 0.8732286691665649, + 0.21311743557453156 + ], + "joints": [ + 0.019038042053580284 + ] + }, + "fine_grasp": { + "position": [ + -0.05200812220573425, + -0.060492534190416336, + 0.09536759555339813 + ], + "orientation": [ + 0.33311527967453003, + -0.26504838466644287, + 0.879217267036438, + 0.21391700208187103 + ], + "joints": [ + 0.009843027219176292 + ] + }, + "final_grasp": { + "position": [ + -0.05200812220573425, + -0.060492534190416336, + 0.09536759555339813 + ], + "orientation": [ + 0.33311527967453003, + -0.26504838466644287, + 0.879217267036438, + 0.21391700208187103 + ], + "joints": [ + 0.0006480123847723007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1272020787000656, + 0.035713035613298416, + -0.005305821541696787 + ], + "orientation": [ + 0.04324106127023697, + 0.638247549533844, + -0.14209643006324768, + 0.755366861820221 + ], + "joints": [ + 0.018814723938703537 + ] + }, + "fine_grasp": { + "position": [ + -0.1234055832028389, + 0.034559089690446854, + -0.005893990397453308 + ], + "orientation": [ + 0.04016948863863945, + 0.6455816626548767, + -0.14422309398651123, + 0.748872697353363 + ], + "joints": [ + 0.010413821786642075 + ] + }, + "final_grasp": { + "position": [ + -0.1234055832028389, + 0.034559089690446854, + -0.005893990397453308 + ], + "orientation": [ + 0.04016948863863945, + 0.6455816626548767, + -0.14422309398651123, + 0.748872697353363 + ], + "joints": [ + 0.002012919634580612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09211193770170212, + 0.04483526200056076, + -0.0833205133676529 + ], + "orientation": [ + 0.3297731280326843, + 0.5202223658561707, + -0.04475235566496849, + 0.7865211963653564 + ], + "joints": [ + 0.027273202314972878 + ] + }, + "fine_grasp": { + "position": [ + -0.0896558165550232, + 0.04451831802725792, + -0.08034341037273407 + ], + "orientation": [ + 0.3253157436847687, + 0.5124460458755493, + -0.041577618569135666, + 0.7936245799064636 + ], + "joints": [ + 0.01766023226082325 + ] + }, + "final_grasp": { + "position": [ + -0.0896558165550232, + 0.04451831802725792, + -0.08034341037273407 + ], + "orientation": [ + 0.3253157436847687, + 0.5124460458755493, + -0.041577618569135666, + 0.7936245799064636 + ], + "joints": [ + 0.008047262206673622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03369665890932083, + 0.07319094985723495, + 0.10552366822957993 + ], + "orientation": [ + 0.3057953119277954, + 0.49739977717399597, + 0.7871866226196289, + -0.19854436814785004 + ], + "joints": [ + 0.020003806799650192 + ] + }, + "fine_grasp": { + "position": [ + -0.0324891172349453, + 0.07068564742803574, + 0.10276958346366882 + ], + "orientation": [ + 0.29802387952804565, + 0.4999464154243469, + 0.7898808717727661, + -0.19319263100624084 + ], + "joints": [ + 0.0099937804043293 + ] + }, + "final_grasp": { + "position": [ + -0.0324891172349453, + 0.07068564742803574, + 0.10276958346366882 + ], + "orientation": [ + 0.29802387952804565, + 0.4999464154243469, + 0.7898808717727661, + -0.19319263100624084 + ], + "joints": [ + -1.6245990991592407e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0003332649648655206, + 0.03290986269712448, + 0.13229164481163025 + ], + "orientation": [ + 0.07366472482681274, + 0.71454256772995, + -0.691960334777832, + 0.07206511497497559 + ], + "joints": [ + 0.0193676445633173 + ] + }, + "fine_grasp": { + "position": [ + -0.0004098229401279241, + 0.03193565830588341, + 0.12861663103103638 + ], + "orientation": [ + 0.08341094106435776, + 0.7174623012542725, + -0.686856210231781, + 0.08074034750461578 + ], + "joints": [ + 0.010569686070084572 + ] + }, + "final_grasp": { + "position": [ + -0.0004098229401279241, + 0.03193565830588341, + 0.12861663103103638 + ], + "orientation": [ + 0.08341094106435776, + 0.7174623012542725, + -0.686856210231781, + 0.08074034750461578 + ], + "joints": [ + 0.0017717275768518448 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0148561866953969, + -0.0827203318476677, + -0.10670636594295502 + ], + "orientation": [ + 0.6723839044570923, + -0.232862651348114, + -0.30910438299179077, + -0.6309748888015747 + ], + "joints": [ + 0.026639681309461594 + ] + }, + "fine_grasp": { + "position": [ + 0.014306919649243355, + -0.08067978918552399, + -0.10342256724834442 + ], + "orientation": [ + 0.6744250655174255, + -0.2335202395915985, + -0.30684539675712585, + -0.6296548247337341 + ], + "joints": [ + 0.017862621694803238 + ] + }, + "final_grasp": { + "position": [ + 0.014306919649243355, + -0.08067978918552399, + -0.10342256724834442 + ], + "orientation": [ + 0.6744250655174255, + -0.2335202395915985, + -0.30684539675712585, + -0.6296548247337341 + ], + "joints": [ + 0.009085562080144882 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018670300021767616, + 0.024288328364491463, + 0.13291151821613312 + ], + "orientation": [ + 0.11442141234874725, + 0.09125865995883942, + -0.984720766544342, + 0.09436427056789398 + ], + "joints": [ + 0.01940784975886345 + ] + }, + "fine_grasp": { + "position": [ + 0.018269550055265427, + 0.024074120447039604, + 0.12928986549377441 + ], + "orientation": [ + 0.1030021384358406, + 0.09263844788074493, + -0.9859595894813538, + 0.09323274344205856 + ], + "joints": [ + 0.010630790144205093 + ] + }, + "final_grasp": { + "position": [ + 0.018269550055265427, + 0.024074120447039604, + 0.12928986549377441 + ], + "orientation": [ + 0.1030021384358406, + 0.09263844788074493, + -0.9859595894813538, + 0.09323274344205856 + ], + "joints": [ + 0.0018537305295467377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09208250045776367, + 0.0443885400891304, + -0.08276619017124176 + ], + "orientation": [ + 0.32802826166152954, + 0.5215336680412292, + -0.043612848967313766, + 0.7864463925361633 + ], + "joints": [ + 0.027514994144439697 + ] + }, + "fine_grasp": { + "position": [ + -0.08964814245700836, + 0.04403098672628403, + -0.07975063472986221 + ], + "orientation": [ + 0.32378798723220825, + 0.5133758783340454, + -0.04113280400633812, + 0.7936716079711914 + ], + "joints": [ + 0.017484068870544434 + ] + }, + "final_grasp": { + "position": [ + -0.08964814245700836, + 0.04403098672628403, + -0.07975063472986221 + ], + "orientation": [ + 0.32378798723220825, + 0.5133758783340454, + -0.04113280400633812, + 0.7936716079711914 + ], + "joints": [ + 0.00745314359664917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12836024165153503, + -0.021054159849882126, + 0.012898819521069527 + ], + "orientation": [ + 0.6059820652008057, + 0.10973808169364929, + -0.7683725953102112, + -0.17420335114002228 + ], + "joints": [ + 0.025885291397571564 + ] + }, + "fine_grasp": { + "position": [ + 0.12505729496479034, + -0.020707229152321815, + 0.01199566200375557 + ], + "orientation": [ + 0.5989704728126526, + 0.11461812257766724, + -0.7730122208595276, + -0.17478296160697937 + ], + "joints": [ + 0.016230523586273193 + ] + }, + "final_grasp": { + "position": [ + 0.12505729496479034, + -0.020707229152321815, + 0.01199566200375557 + ], + "orientation": [ + 0.5989704728126526, + 0.11461812257766724, + -0.7730122208595276, + -0.17478296160697937 + ], + "joints": [ + 0.006575755774974823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005722991656512022, + 0.07282928377389908, + 0.11395391821861267 + ], + "orientation": [ + 0.20925888419151306, + 0.4866968095302582, + -0.8028053045272827, + 0.2735702693462372 + ], + "joints": [ + 0.019719965755939484 + ] + }, + "fine_grasp": { + "position": [ + 0.005631592124700546, + 0.0710834190249443, + 0.11068008840084076 + ], + "orientation": [ + 0.19778776168823242, + 0.49171966314315796, + -0.8059043288230896, + 0.2638370394706726 + ], + "joints": [ + 0.010524950921535492 + ] + }, + "final_grasp": { + "position": [ + 0.005631592124700546, + 0.0710834190249443, + 0.11068008840084076 + ], + "orientation": [ + 0.19778776168823242, + 0.49171966314315796, + -0.8059043288230896, + 0.2638370394706726 + ], + "joints": [ + 0.0013299360871315002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028192676603794098, + 0.08689993619918823, + 0.11851846426725388 + ], + "orientation": [ + 0.2122831791639328, + 0.7908491492271423, + 0.518893301486969, + -0.24544519186019897 + ], + "joints": [ + 0.01705455221235752 + ] + }, + "fine_grasp": { + "position": [ + 0.02712809480726719, + 0.08432722836732864, + 0.11593589931726456 + ], + "orientation": [ + 0.21674785017967224, + 0.7894883155822754, + 0.5116360187530518, + -0.26068609952926636 + ], + "joints": [ + 0.008235695771872997 + ] + }, + "final_grasp": { + "position": [ + 0.02712809480726719, + 0.08432722836732864, + 0.11593589931726456 + ], + "orientation": [ + 0.21674785017967224, + 0.7894883155822754, + 0.5116360187530518, + -0.26068609952926636 + ], + "joints": [ + -0.0005831606686115265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003389880293980241, + -0.0053214807994663715, + -0.14344125986099243 + ], + "orientation": [ + 0.89258873462677, + -0.0013306172331795096, + -0.05986296758055687, + 0.4468781054019928 + ], + "joints": [ + 0.027190741151571274 + ] + }, + "fine_grasp": { + "position": [ + 0.0038395035080611706, + -0.004099322948604822, + -0.13956110179424286 + ], + "orientation": [ + 0.893591046333313, + -0.006385038606822491, + -0.05139078572392464, + 0.44588467478752136 + ], + "joints": [ + 0.018413681536912918 + ] + }, + "final_grasp": { + "position": [ + 0.0038395035080611706, + -0.004099322948604822, + -0.13956110179424286 + ], + "orientation": [ + 0.893591046333313, + -0.006385038606822491, + -0.05139078572392464, + 0.44588467478752136 + ], + "joints": [ + 0.009636621922254562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09211333841085434, + 0.034279052168130875, + -0.08503524959087372 + ], + "orientation": [ + 0.7726839184761047, + -0.0069551412016153336, + -0.5144438147544861, + 0.3718314468860626 + ], + "joints": [ + 0.024864446371793747 + ] + }, + "fine_grasp": { + "position": [ + 0.08987255394458771, + 0.034804463386535645, + -0.08188550919294357 + ], + "orientation": [ + 0.7810764908790588, + -0.010899166576564312, + -0.5047582983970642, + 0.3674502670764923 + ], + "joints": [ + 0.015648532658815384 + ] + }, + "final_grasp": { + "position": [ + 0.08987255394458771, + 0.034804463386535645, + -0.08188550919294357 + ], + "orientation": [ + 0.7810764908790588, + -0.010899166576564312, + -0.5047582983970642, + 0.3674502670764923 + ], + "joints": [ + 0.006432618945837021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13265687227249146, + 0.02898084931075573, + 0.02153278887271881 + ], + "orientation": [ + 0.6606675386428833, + 0.0527428463101387, + 0.7424264550209045, + -0.0976702943444252 + ], + "joints": [ + 0.01722148433327675 + ] + }, + "fine_grasp": { + "position": [ + -0.12905485928058624, + 0.028141723945736885, + 0.020220918580889702 + ], + "orientation": [ + 0.6535251140594482, + 0.05359320342540741, + 0.7489576935768127, + -0.09536830335855484 + ], + "joints": [ + 0.00879968423396349 + ] + }, + "final_grasp": { + "position": [ + -0.12905485928058624, + 0.028141723945736885, + 0.020220918580889702 + ], + "orientation": [ + 0.6535251140594482, + 0.05359320342540741, + 0.7489576935768127, + -0.09536830335855484 + ], + "joints": [ + 0.0003778841346502304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1041591614484787, + -0.07628394663333893, + 0.016588592901825905 + ], + "orientation": [ + 0.22290918231010437, + -0.7029175758361816, + 0.2153862714767456, + 0.640177309513092 + ], + "joints": [ + 0.019717629998922348 + ] + }, + "fine_grasp": { + "position": [ + 0.10099082440137863, + -0.07411479204893112, + 0.015443897806107998 + ], + "orientation": [ + 0.22156374156475067, + -0.7086711525917053, + 0.21690556406974792, + 0.6337560415267944 + ], + "joints": [ + 0.010522615164518356 + ] + }, + "final_grasp": { + "position": [ + 0.10099082440137863, + -0.07411479204893112, + 0.015443897806107998 + ], + "orientation": [ + 0.22156374156475067, + -0.7086711525917053, + 0.21690556406974792, + 0.6337560415267944 + ], + "joints": [ + 0.0013276003301143646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12360917776823044, + 0.038362886756658554, + -0.009854026138782501 + ], + "orientation": [ + 0.6170962452888489, + 0.47902941703796387, + -0.4925188720226288, + -0.38359904289245605 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + 0.12003166973590851, + 0.036966897547245026, + -0.008986009284853935 + ], + "orientation": [ + 0.6180185675621033, + 0.48633861541748047, + -0.48519518971443176, + -0.38224783539772034 + ], + "joints": [ + 0.02430446818470955 + ] + }, + "final_grasp": { + "position": [ + 0.12003166973590851, + 0.036966897547245026, + -0.008986009284853935 + ], + "orientation": [ + 0.6180185675621033, + 0.48633861541748047, + -0.48519518971443176, + -0.38224783539772034 + ], + "joints": [ + 0.015924464911222458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08872033655643463, + -0.1005588173866272, + -0.001783352461643517 + ], + "orientation": [ + 0.031752701848745346, + -0.5358461737632751, + -0.5306017398834229, + -0.6559897661209106 + ], + "joints": [ + 0.023842401802539825 + ] + }, + "fine_grasp": { + "position": [ + -0.08615727722644806, + -0.09793097525835037, + -0.0019587893038988113 + ], + "orientation": [ + 0.03279179707169533, + -0.534007728099823, + -0.5308433771133423, + -0.6572409868240356 + ], + "joints": [ + 0.012599408626556396 + ] + }, + "final_grasp": { + "position": [ + -0.08615727722644806, + -0.09793097525835037, + -0.0019587893038988113 + ], + "orientation": [ + 0.03279179707169533, + -0.534007728099823, + -0.5308433771133423, + -0.6572409868240356 + ], + "joints": [ + 0.0013564154505729675 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03462367132306099, + 0.025761764496564865, + 0.1286546140909195 + ], + "orientation": [ + 0.10273295640945435, + 0.9753230810165405, + 0.05252484604716301, + -0.18823392689228058 + ], + "joints": [ + 0.01870998926460743 + ] + }, + "fine_grasp": { + "position": [ + 0.033898480236530304, + 0.02500949241220951, + 0.12503202259540558 + ], + "orientation": [ + 0.10285133868455887, + 0.977742612361908, + 0.05472186952829361, + -0.17448978126049042 + ], + "joints": [ + 0.01035088486969471 + ] + }, + "final_grasp": { + "position": [ + 0.033898480236530304, + 0.02500949241220951, + 0.12503202259540558 + ], + "orientation": [ + 0.10285133868455887, + 0.977742612361908, + 0.05472186952829361, + -0.17448978126049042 + ], + "joints": [ + 0.00199178047478199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029932860285043716, + -0.055622201412916183, + 0.12510453164577484 + ], + "orientation": [ + 0.12339022755622864, + -0.7432740926742554, + -0.5986436605453491, + -0.2719270884990692 + ], + "joints": [ + 0.018976055085659027 + ] + }, + "fine_grasp": { + "position": [ + -0.029022634029388428, + -0.05398287996649742, + 0.12160293757915497 + ], + "orientation": [ + 0.11732503026723862, + -0.7475553154945374, + -0.5992332100868225, + -0.26137226819992065 + ], + "joints": [ + 0.0093630850315094 + ] + }, + "final_grasp": { + "position": [ + -0.029022634029388428, + -0.05398287996649742, + 0.12160293757915497 + ], + "orientation": [ + 0.11732503026723862, + -0.7475553154945374, + -0.5992332100868225, + -0.26137226819992065 + ], + "joints": [ + -0.00024988502264022827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007805640809237957, + 0.08568283915519714, + 0.0924394503235817 + ], + "orientation": [ + 0.2996392250061035, + 0.7283737659454346, + -0.5511288642883301, + 0.27558112144470215 + ], + "joints": [ + 0.020398546010255814 + ] + }, + "fine_grasp": { + "position": [ + -0.007316042203456163, + 0.08227360248565674, + 0.09014046937227249 + ], + "orientation": [ + 0.2952440679073334, + 0.7396122813224792, + -0.5431331992149353, + 0.26610299944877625 + ], + "joints": [ + 0.012039441615343094 + ] + }, + "final_grasp": { + "position": [ + -0.007316042203456163, + 0.08227360248565674, + 0.09014046937227249 + ], + "orientation": [ + 0.2952440679073334, + 0.7396122813224792, + -0.5431331992149353, + 0.26610299944877625 + ], + "joints": [ + 0.003680337220430374 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06527579575777054, + -0.015147923491895199, + 0.11120021343231201 + ], + "orientation": [ + 0.054539646953344345, + -0.9352102279663086, + 0.05222642421722412, + 0.3459474742412567 + ], + "joints": [ + 0.01725374162197113 + ] + }, + "fine_grasp": { + "position": [ + 0.06364624202251434, + -0.014612402766942978, + 0.10740914195775986 + ], + "orientation": [ + 0.054445136338472366, + -0.941055417060852, + 0.05215103179216385, + 0.3297434449195862 + ], + "joints": [ + 0.009730547666549683 + ] + }, + "final_grasp": { + "position": [ + 0.06364624202251434, + -0.014612402766942978, + 0.10740914195775986 + ], + "orientation": [ + 0.054445136338472366, + -0.941055417060852, + 0.05215103179216385, + 0.3297434449195862 + ], + "joints": [ + 0.002207353711128235 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017797695472836494, + 0.029032208025455475, + -0.1291886568069458 + ], + "orientation": [ + 0.7601697444915771, + 0.13578316569328308, + -0.013384965248405933, + 0.635236918926239 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + -0.016878606751561165, + 0.028634048998355865, + -0.12548121809959412 + ], + "orientation": [ + 0.7671307921409607, + 0.13730694353580475, + -0.016725044697523117, + 0.626400351524353 + ], + "joints": [ + 0.017469044774770737 + ] + }, + "final_grasp": { + "position": [ + -0.016878606751561165, + 0.028634048998355865, + -0.12548121809959412 + ], + "orientation": [ + 0.7671307921409607, + 0.13730694353580475, + -0.016725044697523117, + 0.626400351524353 + ], + "joints": [ + 0.008274029940366745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020969226956367493, + -0.13121500611305237, + 0.008274098858237267 + ], + "orientation": [ + 0.5084981918334961, + -0.6705052256584167, + -0.3540751338005066, + -0.4080233871936798 + ], + "joints": [ + 0.025350268930196762 + ] + }, + "fine_grasp": { + "position": [ + -0.020563360303640366, + -0.12761728465557098, + 0.007079707458615303 + ], + "orientation": [ + 0.4997532367706299, + -0.678312361240387, + -0.35758519172668457, + -0.4028297960758209 + ], + "joints": [ + 0.0161343552172184 + ] + }, + "final_grasp": { + "position": [ + -0.020563360303640366, + -0.12761728465557098, + 0.007079707458615303 + ], + "orientation": [ + 0.4997532367706299, + -0.678312361240387, + -0.35758519172668457, + -0.4028297960758209 + ], + "joints": [ + 0.006918441504240036 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06058083847165108, + -0.10980355739593506, + -0.03380298987030983 + ], + "orientation": [ + 0.7201536893844604, + -0.43077048659324646, + -0.4704582691192627, + -0.27291834354400635 + ], + "joints": [ + 0.026270419359207153 + ] + }, + "fine_grasp": { + "position": [ + 0.05858553573489189, + -0.1063421294093132, + -0.03392120078206062 + ], + "orientation": [ + 0.7135655283927917, + -0.43938180804252625, + -0.4766913950443268, + -0.26558083295822144 + ], + "joints": [ + 0.016281291842460632 + ] + }, + "final_grasp": { + "position": [ + 0.05858553573489189, + -0.1063421294093132, + -0.03392120078206062 + ], + "orientation": [ + 0.7135655283927917, + -0.43938180804252625, + -0.4766913950443268, + -0.26558083295822144 + ], + "joints": [ + 0.006292164325714111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06255431473255157, + -0.015360152348876, + 0.11038294434547424 + ], + "orientation": [ + 0.058509714901447296, + -0.9460617899894714, + 0.05240877345204353, + 0.3143196702003479 + ], + "joints": [ + 0.01947122998535633 + ] + }, + "fine_grasp": { + "position": [ + 0.06071854010224342, + -0.015438624657690525, + 0.10773548483848572 + ], + "orientation": [ + 0.0596407949924469, + -0.9493337869644165, + 0.05402105674147606, + 0.3037928640842438 + ], + "joints": [ + 0.010673271492123604 + ] + }, + "final_grasp": { + "position": [ + 0.06071854010224342, + -0.015438624657690525, + 0.10773548483848572 + ], + "orientation": [ + 0.0596407949924469, + -0.9493337869644165, + 0.05402105674147606, + 0.3037928640842438 + ], + "joints": [ + 0.0018753129988908768 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02458246983587742, + -0.06354381889104843, + 0.11040247976779938 + ], + "orientation": [ + 0.2566564083099365, + -0.6089093685150146, + 0.7361183762550354, + 0.1465831696987152 + ], + "joints": [ + 0.020287252962589264 + ] + }, + "fine_grasp": { + "position": [ + -0.02353718876838684, + -0.0611896775662899, + 0.10730795562267303 + ], + "orientation": [ + 0.25354138016700745, + -0.6132821440696716, + 0.7340648174285889, + 0.14405013620853424 + ], + "joints": [ + 0.010695181787014008 + ] + }, + "final_grasp": { + "position": [ + -0.02353718876838684, + -0.0611896775662899, + 0.10730795562267303 + ], + "orientation": [ + 0.25354138016700745, + -0.6132821440696716, + 0.7340648174285889, + 0.14405013620853424 + ], + "joints": [ + 0.0011031106114387512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0162205770611763, + -0.05812755227088928, + 0.13022834062576294 + ], + "orientation": [ + 0.2126525640487671, + -0.8848094940185547, + -0.36712154746055603, + -0.19264692068099976 + ], + "joints": [ + 0.01796981506049633 + ] + }, + "fine_grasp": { + "position": [ + -0.015995053574442863, + -0.05648186057806015, + 0.12657582759857178 + ], + "orientation": [ + 0.20273824036121368, + -0.8879739046096802, + -0.37299972772598267, + -0.17683488130569458 + ], + "joints": [ + 0.00961071066558361 + ] + }, + "final_grasp": { + "position": [ + -0.015995053574442863, + -0.05648186057806015, + 0.12657582759857178 + ], + "orientation": [ + 0.20273824036121368, + -0.8879739046096802, + -0.37299972772598267, + -0.17683488130569458 + ], + "joints": [ + 0.0012516062706708908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08757903426885605, + 0.0598464161157608, + -0.07071275264024734 + ], + "orientation": [ + 0.816867470741272, + 0.25492826104164124, + 0.511019229888916, + -0.08123023062944412 + ], + "joints": [ + 0.025294382125139236 + ] + }, + "fine_grasp": { + "position": [ + -0.08598150312900543, + 0.05774768441915512, + -0.06765890121459961 + ], + "orientation": [ + 0.823936939239502, + 0.2493564784526825, + 0.5012487769126892, + -0.08774362504482269 + ], + "joints": [ + 0.01651732251048088 + ] + }, + "final_grasp": { + "position": [ + -0.08598150312900543, + 0.05774768441915512, + -0.06765890121459961 + ], + "orientation": [ + 0.823936939239502, + 0.2493564784526825, + 0.5012487769126892, + -0.08774362504482269 + ], + "joints": [ + 0.007740262895822525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018182916566729546, + 0.0541377067565918, + 0.1448402851819992 + ], + "orientation": [ + 0.09699343889951706, + 0.5794960856437683, + 0.7748846411705017, + -0.2330888956785202 + ], + "joints": [ + 0.016225798055529594 + ] + }, + "fine_grasp": { + "position": [ + 0.01759578101336956, + 0.05267807096242905, + 0.14106149971485138 + ], + "orientation": [ + 0.08368432521820068, + 0.5868914127349854, + 0.775497555732727, + -0.21716098487377167 + ], + "joints": [ + 0.00826375000178814 + ] + }, + "final_grasp": { + "position": [ + 0.01759578101336956, + 0.05267807096242905, + 0.14106149971485138 + ], + "orientation": [ + 0.08368432521820068, + 0.5868914127349854, + 0.775497555732727, + -0.21716098487377167 + ], + "joints": [ + 0.00030170194804668427 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07909722626209259, + -0.06409207731485367, + -0.05671928450465202 + ], + "orientation": [ + 0.4700312614440918, + -0.583584725856781, + 0.06549763679504395, + 0.6589457988739014 + ], + "joints": [ + 0.02681395597755909 + ] + }, + "fine_grasp": { + "position": [ + 0.07721211016178131, + -0.0632670670747757, + -0.055207714438438416 + ], + "orientation": [ + 0.4632036089897156, + -0.5752567052841187, + 0.06443557888269424, + 0.6710963249206543 + ], + "joints": [ + 0.01845485158264637 + ] + }, + "final_grasp": { + "position": [ + 0.07721211016178131, + -0.0632670670747757, + -0.055207714438438416 + ], + "orientation": [ + 0.4632036089897156, + -0.5752567052841187, + 0.06443557888269424, + 0.6710963249206543 + ], + "joints": [ + 0.01009574718773365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.062122028321027756, + -0.013315213844180107, + 0.10841502994298935 + ], + "orientation": [ + 0.044121790677309036, + -0.9440036416053772, + 0.07015035301446915, + 0.31935763359069824 + ], + "joints": [ + 0.01983613520860672 + ] + }, + "fine_grasp": { + "position": [ + 0.06020272523164749, + -0.013098032213747501, + 0.10677779465913773 + ], + "orientation": [ + 0.043703146278858185, + -0.9447431564331055, + 0.07234881073236465, + 0.3167271018028259 + ], + "joints": [ + 0.010641120374202728 + ] + }, + "final_grasp": { + "position": [ + 0.06020272523164749, + -0.013098032213747501, + 0.10677779465913773 + ], + "orientation": [ + 0.043703146278858185, + -0.9447431564331055, + 0.07234881073236465, + 0.3167271018028259 + ], + "joints": [ + 0.0014461055397987366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1335991472005844, + -0.01377811934798956, + -0.05519838631153107 + ], + "orientation": [ + 0.795300304889679, + 0.014251002110540867, + 0.5982456803321838, + 0.09693485498428345 + ], + "joints": [ + 0.024004509672522545 + ] + }, + "fine_grasp": { + "position": [ + -0.12996284663677216, + -0.013288662768900394, + -0.05445646494626999 + ], + "orientation": [ + 0.793688178062439, + 0.014230066910386086, + 0.600475013256073, + 0.09636522084474564 + ], + "joints": [ + 0.01474679820239544 + ] + }, + "final_grasp": { + "position": [ + -0.12996284663677216, + -0.013288662768900394, + -0.05445646494626999 + ], + "orientation": [ + 0.793688178062439, + 0.014230066910386086, + 0.600475013256073, + 0.09636522084474564 + ], + "joints": [ + 0.0054890867322683334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003948640543967485, + 0.08704725652933121, + -0.08972899615764618 + ], + "orientation": [ + 0.721364438533783, + 0.27468791604042053, + 0.2348388135433197, + -0.5907880663871765 + ], + "joints": [ + 0.024116957560181618 + ] + }, + "fine_grasp": { + "position": [ + -0.0034473135601729155, + 0.0842253714799881, + -0.09034199267625809 + ], + "orientation": [ + 0.713896632194519, + 0.28568321466445923, + 0.24986092746257782, + -0.5884779095649719 + ], + "joints": [ + 0.016175808385014534 + ] + }, + "final_grasp": { + "position": [ + -0.0034473135601729155, + 0.0842253714799881, + -0.09034199267625809 + ], + "orientation": [ + 0.713896632194519, + 0.28568321466445923, + 0.24986092746257782, + -0.5884779095649719 + ], + "joints": [ + 0.00823465920984745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06280901283025742, + 0.03952719643712044, + 0.11254340410232544 + ], + "orientation": [ + 0.021854784339666367, + 0.8920746445655823, + 0.39010027050971985, + -0.2270396649837494 + ], + "joints": [ + 0.014844391494989395 + ] + }, + "fine_grasp": { + "position": [ + 0.060258105397224426, + 0.03783275932073593, + 0.1102493554353714 + ], + "orientation": [ + 0.027402140200138092, + 0.8857017159461975, + 0.3892494738101959, + -0.25152838230133057 + ], + "joints": [ + 0.007300299592316151 + ] + }, + "final_grasp": { + "position": [ + 0.060258105397224426, + 0.03783275932073593, + 0.1102493554353714 + ], + "orientation": [ + 0.027402140200138092, + 0.8857017159461975, + 0.3892494738101959, + -0.25152838230133057 + ], + "joints": [ + -0.0002437923103570938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061710942536592484, + -0.10392168164253235, + -0.012928727082908154 + ], + "orientation": [ + 0.5514127612113953, + -0.21379601955413818, + -0.6678075790405273, + -0.4519605040550232 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + 0.06038491800427437, + -0.10090845823287964, + -0.013482993468642235 + ], + "orientation": [ + 0.5374050140380859, + -0.22015343606472015, + -0.677330732345581, + -0.4516097903251648 + ], + "joints": [ + 0.01621517911553383 + ] + }, + "final_grasp": { + "position": [ + 0.06038491800427437, + -0.10090845823287964, + -0.013482993468642235 + ], + "orientation": [ + 0.5374050140380859, + -0.22015343606472015, + -0.677330732345581, + -0.4516097903251648 + ], + "joints": [ + 0.005766298621892929 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08705424517393112, + 0.059790562838315964, + -0.07000289112329483 + ], + "orientation": [ + 0.8186187744140625, + 0.25853174924850464, + 0.5066821575164795, + -0.07935900241136551 + ], + "joints": [ + 0.025924725458025932 + ] + }, + "fine_grasp": { + "position": [ + -0.08533260226249695, + 0.05782526731491089, + -0.06708206981420517 + ], + "orientation": [ + 0.8257407546043396, + 0.2521544396877289, + 0.49720141291618347, + -0.08579655736684799 + ], + "joints": [ + 0.01672971062362194 + ] + }, + "final_grasp": { + "position": [ + -0.08533260226249695, + 0.05782526731491089, + -0.06708206981420517 + ], + "orientation": [ + 0.8257407546043396, + 0.2521544396877289, + 0.49720141291618347, + -0.08579655736684799 + ], + "joints": [ + 0.007534695789217949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.053600069135427475, + -0.018106240779161453, + 0.1219833493232727 + ], + "orientation": [ + 0.014664064161479473, + 0.8725574016571045, + -0.4051211178302765, + -0.2725902199745178 + ], + "joints": [ + 0.019918018952012062 + ] + }, + "fine_grasp": { + "position": [ + 0.052040278911590576, + -0.017489369958639145, + 0.11848742514848709 + ], + "orientation": [ + 0.019636008888483047, + 0.8756707906723022, + -0.40308788418769836, + -0.265207976102829 + ], + "joints": [ + 0.010743902996182442 + ] + }, + "final_grasp": { + "position": [ + 0.052040278911590576, + -0.017489369958639145, + 0.11848742514848709 + ], + "orientation": [ + 0.019636008888483047, + 0.8756707906723022, + -0.40308788418769836, + -0.265207976102829 + ], + "joints": [ + 0.0015697870403528214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11366239935159683, + 0.03168840706348419, + -0.04213281720876694 + ], + "orientation": [ + 0.1887049376964569, + 0.6053664088249207, + -0.012295789085328579, + 0.7731562852859497 + ], + "joints": [ + 0.02578415349125862 + ] + }, + "fine_grasp": { + "position": [ + -0.1101035550236702, + 0.030332941561937332, + -0.04231475666165352 + ], + "orientation": [ + 0.19147548079490662, + 0.6152430772781372, + -0.0069971876218914986, + 0.7646987438201904 + ], + "joints": [ + 0.015753228217363358 + ] + }, + "final_grasp": { + "position": [ + -0.1101035550236702, + 0.030332941561937332, + -0.04231475666165352 + ], + "orientation": [ + 0.19147548079490662, + 0.6152430772781372, + -0.0069971876218914986, + 0.7646987438201904 + ], + "joints": [ + 0.005722302943468094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08863741904497147, + 0.059690795838832855, + -0.06974098086357117 + ], + "orientation": [ + 0.8207432627677917, + 0.2541944980621338, + 0.5043464303016663, + -0.08602503687143326 + ], + "joints": [ + 0.02707349881529808 + ] + }, + "fine_grasp": { + "position": [ + -0.08654309809207916, + 0.05761495977640152, + -0.06726773828268051 + ], + "orientation": [ + 0.8251008987426758, + 0.248210608959198, + 0.4992518424987793, + -0.09136583656072617 + ], + "joints": [ + 0.01743962988257408 + ] + }, + "final_grasp": { + "position": [ + -0.08654309809207916, + 0.05761495977640152, + -0.06726773828268051 + ], + "orientation": [ + 0.8251008987426758, + 0.248210608959198, + 0.4992518424987793, + -0.09136583656072617 + ], + "joints": [ + 0.007805760949850082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11167736351490021, + -0.06910349428653717, + -0.0054450505413115025 + ], + "orientation": [ + 0.598162829875946, + -0.6386087536811829, + -0.26898518204689026, + 0.4025258421897888 + ], + "joints": [ + 0.03451373800635338 + ] + }, + "fine_grasp": { + "position": [ + 0.1079789400100708, + -0.06733372807502747, + -0.004773335997015238 + ], + "orientation": [ + 0.5950928926467896, + -0.6369030475616455, + -0.27689263224601746, + 0.4044123888015747 + ], + "joints": [ + 0.02615463361144066 + ] + }, + "final_grasp": { + "position": [ + 0.1079789400100708, + -0.06733372807502747, + -0.004773335997015238 + ], + "orientation": [ + 0.5950928926467896, + -0.6369030475616455, + -0.27689263224601746, + 0.4044123888015747 + ], + "joints": [ + 0.01779552921652794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05507369711995125, + 0.001067817211151123, + -0.11172057688236237 + ], + "orientation": [ + 0.2197166234254837, + -0.3061479926109314, + -0.05111498758196831, + 0.9248703122138977 + ], + "joints": [ + 0.02614022046327591 + ] + }, + "fine_grasp": { + "position": [ + 0.0535498671233654, + 0.0005767885595560074, + -0.1086762547492981 + ], + "orientation": [ + 0.22282588481903076, + -0.29731759428977966, + -0.05371376872062683, + 0.9268580079078674 + ], + "joints": [ + 0.017363160848617554 + ] + }, + "final_grasp": { + "position": [ + 0.0535498671233654, + 0.0005767885595560074, + -0.1086762547492981 + ], + "orientation": [ + 0.22282588481903076, + -0.29731759428977966, + -0.05371376872062683, + 0.9268580079078674 + ], + "joints": [ + 0.008586101233959198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05265650153160095, + 0.024926604703068733, + -0.11522149294614792 + ], + "orientation": [ + 0.8910089135169983, + -0.021885666996240616, + 0.21869656443595886, + -0.397235244512558 + ], + "joints": [ + 0.025030987337231636 + ] + }, + "fine_grasp": { + "position": [ + -0.050807252526283264, + 0.023495115339756012, + -0.11258065700531006 + ], + "orientation": [ + 0.890815019607544, + -0.015412269160151482, + 0.22597388923168182, + -0.3938869535923004 + ], + "joints": [ + 0.015835972502827644 + ] + }, + "final_grasp": { + "position": [ + -0.050807252526283264, + 0.023495115339756012, + -0.11258065700531006 + ], + "orientation": [ + 0.890815019607544, + -0.015412269160151482, + 0.22597388923168182, + -0.3938869535923004 + ], + "joints": [ + 0.006640957668423653 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1073608547449112, + 0.05579669773578644, + -0.0169866681098938 + ], + "orientation": [ + 0.12942473590373993, + 0.7361428737640381, + 0.1934967190027237, + -0.6355328559875488 + ], + "joints": [ + 0.02258232794702053 + ] + }, + "fine_grasp": { + "position": [ + 0.10393217206001282, + 0.05346988886594772, + -0.01566990092396736 + ], + "orientation": [ + 0.13313552737236023, + 0.72357177734375, + 0.19251149892807007, + -0.6493520736694336 + ], + "joints": [ + 0.015477089211344719 + ] + }, + "final_grasp": { + "position": [ + 0.10393217206001282, + 0.05346988886594772, + -0.01566990092396736 + ], + "orientation": [ + 0.13313552737236023, + 0.72357177734375, + 0.19251149892807007, + -0.6493520736694336 + ], + "joints": [ + 0.008371850475668907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03108544833958149, + 0.1171114444732666, + 0.02464209869503975 + ], + "orientation": [ + 0.4762150049209595, + 0.7749996781349182, + 0.2696610391139984, + -0.3160344362258911 + ], + "joints": [ + 0.027763331308960915 + ] + }, + "fine_grasp": { + "position": [ + 0.030214225873351097, + 0.11373915523290634, + 0.02378010004758835 + ], + "orientation": [ + 0.4809633493423462, + 0.7742865681648254, + 0.26463380455970764, + -0.31483888626098633 + ], + "joints": [ + 0.015726225450634956 + ] + }, + "final_grasp": { + "position": [ + 0.030214225873351097, + 0.11373915523290634, + 0.02378010004758835 + ], + "orientation": [ + 0.4809633493423462, + 0.7742865681648254, + 0.26463380455970764, + -0.31483888626098633 + ], + "joints": [ + 0.003689119592308998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019456123933196068, + -0.03600488603115082, + 0.1276354044675827 + ], + "orientation": [ + 0.12365156412124634, + -0.9248398542404175, + -0.3257928490638733, + -0.15244852006435394 + ], + "joints": [ + 0.019259359687566757 + ] + }, + "fine_grasp": { + "position": [ + -0.018654370680451393, + -0.03475803881883621, + 0.12391347438097 + ], + "orientation": [ + 0.12369386106729507, + -0.9253219366073608, + -0.32758334279060364, + -0.1454932540655136 + ], + "joints": [ + 0.010482300072908401 + ] + }, + "final_grasp": { + "position": [ + -0.018654370680451393, + -0.03475803881883621, + 0.12391347438097 + ], + "orientation": [ + 0.12369386106729507, + -0.9253219366073608, + -0.32758334279060364, + -0.1454932540655136 + ], + "joints": [ + 0.0017052404582500458 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03054424375295639, + 0.11810962110757828, + 0.02509297803044319 + ], + "orientation": [ + 0.4767330288887024, + 0.7749736905097961, + 0.26463574171066284, + -0.3195454776287079 + ], + "joints": [ + 0.027714572846889496 + ] + }, + "fine_grasp": { + "position": [ + 0.029886262491345406, + 0.11449486762285233, + 0.024111971259117126 + ], + "orientation": [ + 0.48139774799346924, + 0.7750300765037537, + 0.26174333691596985, + -0.3147619068622589 + ], + "joints": [ + 0.015677466988563538 + ] + }, + "final_grasp": { + "position": [ + 0.029886262491345406, + 0.11449486762285233, + 0.024111971259117126 + ], + "orientation": [ + 0.48139774799346924, + 0.7750300765037537, + 0.26174333691596985, + -0.3147619068622589 + ], + "joints": [ + 0.0036403611302375793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052391521632671356, + -0.09357499331235886, + 0.09174735844135284 + ], + "orientation": [ + 0.21440482139587402, + -0.8104084730148315, + 0.433528870344162, + 0.33063822984695435 + ], + "joints": [ + 0.013968760147690773 + ] + }, + "fine_grasp": { + "position": [ + 0.05052308365702629, + -0.09022538363933563, + 0.08992279320955276 + ], + "orientation": [ + 0.22188426554203033, + -0.8046419620513916, + 0.4311126470565796, + 0.3427254557609558 + ], + "joints": [ + 0.006863521412014961 + ] + }, + "final_grasp": { + "position": [ + 0.05052308365702629, + -0.09022538363933563, + 0.08992279320955276 + ], + "orientation": [ + 0.22188426554203033, + -0.8046419620513916, + 0.4311126470565796, + 0.3427254557609558 + ], + "joints": [ + -0.00024171732366085052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029343925416469574, + -0.012717155739665031, + 0.15060992538928986 + ], + "orientation": [ + 0.1176147609949112, + -0.7555010914802551, + 0.6431926488876343, + -0.04108639433979988 + ], + "joints": [ + 0.018189169466495514 + ] + }, + "fine_grasp": { + "position": [ + -0.028648095205426216, + -0.012331641279160976, + 0.1466728150844574 + ], + "orientation": [ + 0.11255230754613876, + -0.755694568157196, + 0.6434745788574219, + -0.046885598450899124 + ], + "joints": [ + 0.009830065071582794 + ] + }, + "final_grasp": { + "position": [ + -0.028648095205426216, + -0.012331641279160976, + 0.1466728150844574 + ], + "orientation": [ + 0.11255230754613876, + -0.755694568157196, + 0.6434745788574219, + -0.046885598450899124 + ], + "joints": [ + 0.0014709606766700745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.061686921864748, + 0.007238151505589485, + 0.10835100710391998 + ], + "orientation": [ + 0.31948909163475037, + 0.20976871252059937, + -0.9236292839050293, + -0.028855737298727036 + ], + "joints": [ + 0.02029089629650116 + ] + }, + "fine_grasp": { + "position": [ + 0.060085587203502655, + 0.007112326566129923, + 0.10491352528333664 + ], + "orientation": [ + 0.30287662148475647, + 0.21985609829425812, + -0.9267152547836304, + -0.03358637914061546 + ], + "joints": [ + 0.011513836681842804 + ] + }, + "final_grasp": { + "position": [ + 0.060085587203502655, + 0.007112326566129923, + 0.10491352528333664 + ], + "orientation": [ + 0.30287662148475647, + 0.21985609829425812, + -0.9267152547836304, + -0.03358637914061546 + ], + "joints": [ + 0.0027367770671844482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006035570986568928, + 0.11985704302787781, + -0.004069393500685692 + ], + "orientation": [ + 0.534373939037323, + 0.6187360882759094, + 0.41472047567367554, + -0.39952120184898376 + ], + "joints": [ + 0.028053387999534607 + ] + }, + "fine_grasp": { + "position": [ + 0.005964771844446659, + 0.11589113622903824, + -0.004774462431669235 + ], + "orientation": [ + 0.5360803604125977, + 0.6241220235824585, + 0.41204163432121277, + -0.3915497958660126 + ], + "joints": [ + 0.01846131682395935 + ] + }, + "final_grasp": { + "position": [ + 0.005964771844446659, + 0.11589113622903824, + -0.004774462431669235 + ], + "orientation": [ + 0.5360803604125977, + 0.6241220235824585, + 0.41204163432121277, + -0.3915497958660126 + ], + "joints": [ + 0.008869245648384094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12368900328874588, + 0.022707253694534302, + 0.007476564031094313 + ], + "orientation": [ + 0.6331169009208679, + -0.08708585798740387, + 0.7503923177719116, + -0.16879113018512726 + ], + "joints": [ + 0.02639593742787838 + ] + }, + "fine_grasp": { + "position": [ + -0.12001602351665497, + 0.0220587607473135, + 0.006574790459126234 + ], + "orientation": [ + 0.6242130398750305, + -0.08684191852807999, + 0.7576900124549866, + -0.1694766730070114 + ], + "joints": [ + 0.016385911032557487 + ] + }, + "final_grasp": { + "position": [ + -0.12001602351665497, + 0.0220587607473135, + 0.006574790459126234 + ], + "orientation": [ + 0.6242130398750305, + -0.08684191852807999, + 0.7576900124549866, + -0.1694766730070114 + ], + "joints": [ + 0.006375884637236595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029529577121138573, + -0.01255144365131855, + 0.15042483806610107 + ], + "orientation": [ + 0.12012890726327896, + -0.7560319304466248, + 0.6422190070152283, + -0.03923432528972626 + ], + "joints": [ + 0.01842072419822216 + ] + }, + "fine_grasp": { + "position": [ + -0.02878129854798317, + -0.01217882800847292, + 0.14645667374134064 + ], + "orientation": [ + 0.1139967069029808, + -0.756524920463562, + 0.6422141790390015, + -0.0472843162715435 + ], + "joints": [ + 0.01004072092473507 + ] + }, + "final_grasp": { + "position": [ + -0.02878129854798317, + -0.01217882800847292, + 0.14645667374134064 + ], + "orientation": [ + 0.1139967069029808, + -0.756524920463562, + 0.6422141790390015, + -0.0472843162715435 + ], + "joints": [ + 0.0016607176512479782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0068720062263309956, + -0.03850499168038368, + -0.11809426546096802 + ], + "orientation": [ + 0.47811225056648254, + -0.06919128447771072, + 0.18374022841453552, + 0.8560728430747986 + ], + "joints": [ + 0.02988266944885254 + ] + }, + "fine_grasp": { + "position": [ + -0.006138938944786787, + -0.03723706677556038, + -0.11648306250572205 + ], + "orientation": [ + 0.47504138946533203, + -0.06807491183280945, + 0.1777387112379074, + 0.8591335415840149 + ], + "joints": [ + 0.02026969939470291 + ] + }, + "final_grasp": { + "position": [ + -0.006138938944786787, + -0.03723706677556038, + -0.11648306250572205 + ], + "orientation": [ + 0.47504138946533203, + -0.06807491183280945, + 0.1777387112379074, + 0.8591335415840149 + ], + "joints": [ + 0.010656729340553284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0897945687174797, + 0.05724046379327774, + 0.08534638583660126 + ], + "orientation": [ + 0.21918727457523346, + 0.8464555740356445, + -0.08805729448795319, + 0.47719576954841614 + ], + "joints": [ + 0.017472898587584496 + ] + }, + "fine_grasp": { + "position": [ + -0.08726397156715393, + 0.05537858232855797, + 0.08291349560022354 + ], + "orientation": [ + 0.21651647984981537, + 0.8545753955841064, + -0.0948871597647667, + 0.4624044895172119 + ], + "joints": [ + 0.009113794192671776 + ] + }, + "final_grasp": { + "position": [ + -0.08726397156715393, + 0.05537858232855797, + 0.08291349560022354 + ], + "orientation": [ + 0.21651647984981537, + 0.8545753955841064, + -0.0948871597647667, + 0.4624044895172119 + ], + "joints": [ + 0.0007546897977590561 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029223736375570297, + -0.012354308739304543, + 0.150062695145607 + ], + "orientation": [ + 0.11942815780639648, + -0.7570095062255859, + 0.641230046749115, + -0.03869721293449402 + ], + "joints": [ + 0.018605966120958328 + ] + }, + "fine_grasp": { + "position": [ + -0.028517810627818108, + -0.011936635710299015, + 0.14614367485046387 + ], + "orientation": [ + 0.1132928654551506, + -0.7576154470443726, + 0.6411421298980713, + -0.046046797186136246 + ], + "joints": [ + 0.009828906506299973 + ] + }, + "final_grasp": { + "position": [ + -0.028517810627818108, + -0.011936635710299015, + 0.14614367485046387 + ], + "orientation": [ + 0.1132928654551506, + -0.7576154470443726, + 0.6411421298980713, + -0.046046797186136246 + ], + "joints": [ + 0.0010518468916416168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1224224790930748, + 0.022131606936454773, + 0.008062618784606457 + ], + "orientation": [ + 0.633819580078125, + -0.08485127240419388, + 0.7509524822235107, + -0.16475261747837067 + ], + "joints": [ + 0.026371557265520096 + ] + }, + "fine_grasp": { + "position": [ + -0.11884451657533646, + 0.02143777161836624, + 0.007111471612006426 + ], + "orientation": [ + 0.6239223480224609, + -0.08374425023794174, + 0.759078323841095, + -0.16585499048233032 + ], + "joints": [ + 0.015943575650453568 + ] + }, + "final_grasp": { + "position": [ + -0.11884451657533646, + 0.02143777161836624, + 0.007111471612006426 + ], + "orientation": [ + 0.6239223480224609, + -0.08374425023794174, + 0.759078323841095, + -0.16585499048233032 + ], + "joints": [ + 0.005515594035387039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02549562230706215, + 0.056811828166246414, + 0.13983751833438873 + ], + "orientation": [ + 0.25594738125801086, + 0.715453028678894, + -0.6415398120880127, + 0.10509362071752548 + ], + "joints": [ + 0.016000784933567047 + ] + }, + "fine_grasp": { + "position": [ + 0.024684807285666466, + 0.05524219945073128, + 0.13597001135349274 + ], + "orientation": [ + 0.23894824087619781, + 0.7168185114860535, + -0.6485167741775513, + 0.09220138937234879 + ], + "joints": [ + 0.0084775909781456 + ] + }, + "final_grasp": { + "position": [ + 0.024684807285666466, + 0.05524219945073128, + 0.13597001135349274 + ], + "orientation": [ + 0.23894824087619781, + 0.7168185114860535, + -0.6485167741775513, + 0.09220138937234879 + ], + "joints": [ + 0.0009543970227241516 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03419547900557518, + 0.12060312181711197, + -0.042589202523231506 + ], + "orientation": [ + 0.5770440697669983, + 0.5522606372833252, + 0.26107901334762573, + -0.5420942306518555 + ], + "joints": [ + 0.026104656979441643 + ] + }, + "fine_grasp": { + "position": [ + 0.033596221357584, + 0.11676309257745743, + -0.04237793758511543 + ], + "orientation": [ + 0.5754984021186829, + 0.5592377185821533, + 0.2664632499217987, + -0.5339027643203735 + ], + "joints": [ + 0.01607373170554638 + ] + }, + "final_grasp": { + "position": [ + 0.033596221357584, + 0.11676309257745743, + -0.04237793758511543 + ], + "orientation": [ + 0.5754984021186829, + 0.5592377185821533, + 0.2664632499217987, + -0.5339027643203735 + ], + "joints": [ + 0.006042806431651115 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018293561413884163, + -0.04695256054401398, + 0.12050586193799973 + ], + "orientation": [ + 0.204826220870018, + -0.5560907125473022, + 0.7934583425521851, + 0.1386832296848297 + ], + "joints": [ + 0.019198831170797348 + ] + }, + "fine_grasp": { + "position": [ + -0.017332926392555237, + -0.046011291444301605, + 0.11791027337312698 + ], + "orientation": [ + 0.19697946310043335, + -0.5564377307891846, + 0.7955843210220337, + 0.13646145164966583 + ], + "joints": [ + 0.010003816336393356 + ] + }, + "final_grasp": { + "position": [ + -0.017332926392555237, + -0.046011291444301605, + 0.11791027337312698 + ], + "orientation": [ + 0.19697946310043335, + -0.5564377307891846, + 0.7955843210220337, + 0.13646145164966583 + ], + "joints": [ + 0.0008088015019893646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07014916092157364, + 0.03250785544514656, + 0.12379831820726395 + ], + "orientation": [ + 0.3262239992618561, + -0.037846874445676804, + -0.9343991279602051, + 0.13799947500228882 + ], + "joints": [ + 0.017120344564318657 + ] + }, + "fine_grasp": { + "position": [ + 0.06818380951881409, + 0.031322140246629715, + 0.1203777939081192 + ], + "orientation": [ + 0.306173175573349, + -0.031725745648145676, + -0.9411133527755737, + 0.13984718918800354 + ], + "joints": [ + 0.009576251730322838 + ] + }, + "final_grasp": { + "position": [ + 0.06818380951881409, + 0.031322140246629715, + 0.1203777939081192 + ], + "orientation": [ + 0.306173175573349, + -0.031725745648145676, + -0.9411133527755737, + 0.13984718918800354 + ], + "joints": [ + 0.0020321588963270187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06948809325695038, + 0.03275478258728981, + 0.123419389128685 + ], + "orientation": [ + 0.32693642377853394, + -0.044993843883275986, + -0.9335218667984009, + 0.14008978009223938 + ], + "joints": [ + 0.016698503866791725 + ] + }, + "fine_grasp": { + "position": [ + 0.06757302582263947, + 0.03150564804673195, + 0.11993739008903503 + ], + "orientation": [ + 0.30520880222320557, + -0.03807041421532631, + -0.9407548904418945, + 0.1427527368068695 + ], + "joints": [ + 0.009572366252541542 + ] + }, + "final_grasp": { + "position": [ + 0.06757302582263947, + 0.03150564804673195, + 0.11993739008903503 + ], + "orientation": [ + 0.30520880222320557, + -0.03807041421532631, + -0.9407548904418945, + 0.1427527368068695 + ], + "joints": [ + 0.002446228638291359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017337186262011528, + -0.04650413990020752, + 0.11908243596553802 + ], + "orientation": [ + 0.1964954137802124, + -0.5482253432273865, + 0.8008284568786621, + 0.13968677818775177 + ], + "joints": [ + 0.019740406423807144 + ] + }, + "fine_grasp": { + "position": [ + -0.016168631613254547, + -0.045671187341213226, + 0.11646310985088348 + ], + "orientation": [ + 0.18964022397994995, + -0.549239456653595, + 0.8020154237747192, + 0.13836179673671722 + ], + "joints": [ + 0.010545391589403152 + ] + }, + "final_grasp": { + "position": [ + -0.016168631613254547, + -0.045671187341213226, + 0.11646310985088348 + ], + "orientation": [ + 0.18964022397994995, + -0.549239456653595, + 0.8020154237747192, + 0.13836179673671722 + ], + "joints": [ + 0.0013503767549991608 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07094622403383255, + -0.07475241273641586, + -0.07988536357879639 + ], + "orientation": [ + 0.4889189898967743, + 0.10615429282188416, + -0.43986719846725464, + -0.7457924485206604 + ], + "joints": [ + 0.03263815864920616 + ] + }, + "fine_grasp": { + "position": [ + 0.06877594441175461, + -0.07300668209791183, + -0.07751838862895966 + ], + "orientation": [ + 0.4945760667324066, + 0.10271718353033066, + -0.4353064000606537, + -0.7452194690704346 + ], + "joints": [ + 0.022210177034139633 + ] + }, + "final_grasp": { + "position": [ + 0.06877594441175461, + -0.07300668209791183, + -0.07751838862895966 + ], + "orientation": [ + 0.4945760667324066, + 0.10271718353033066, + -0.4353064000606537, + -0.7452194690704346 + ], + "joints": [ + 0.011782195419073105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026338156312704086, + -0.056544166058301926, + -0.10902809351682663 + ], + "orientation": [ + 0.2743781805038452, + -0.2152996063232422, + 0.2304874211549759, + 0.9084261655807495 + ], + "joints": [ + 0.027104012668132782 + ] + }, + "fine_grasp": { + "position": [ + 0.02641635201871395, + -0.05503927916288376, + -0.10654861479997635 + ], + "orientation": [ + 0.2816486358642578, + -0.21690058708190918, + 0.2262383997440338, + 0.9068872332572937 + ], + "joints": [ + 0.01790899783372879 + ] + }, + "final_grasp": { + "position": [ + 0.02641635201871395, + -0.05503927916288376, + -0.10654861479997635 + ], + "orientation": [ + 0.2816486358642578, + -0.21690058708190918, + 0.2262383997440338, + 0.9068872332572937 + ], + "joints": [ + 0.008713982999324799 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07826913893222809, + 0.03647502139210701, + 0.10379977524280548 + ], + "orientation": [ + 0.3970942199230194, + 0.002392032416537404, + 0.9027870297431946, + -0.1651846468448639 + ], + "joints": [ + 0.018362222239375114 + ] + }, + "fine_grasp": { + "position": [ + -0.07623451203107834, + 0.035079631954431534, + 0.10059844702482224 + ], + "orientation": [ + 0.3785473704338074, + 0.011155370622873306, + 0.9110861420631409, + -0.16278639435768127 + ], + "joints": [ + 0.009585162624716759 + ] + }, + "final_grasp": { + "position": [ + -0.07623451203107834, + 0.035079631954431534, + 0.10059844702482224 + ], + "orientation": [ + 0.3785473704338074, + 0.011155370622873306, + 0.9110861420631409, + -0.16278639435768127 + ], + "joints": [ + 0.000808103010058403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.115750752389431, + 0.06497518718242645, + -0.018339550122618675 + ], + "orientation": [ + 0.665684163570404, + 0.03814872354269028, + -0.6822174787521362, + 0.29998084902763367 + ], + "joints": [ + 0.02475224807858467 + ] + }, + "fine_grasp": { + "position": [ + 0.1124282032251358, + 0.0630381852388382, + -0.018923236057162285 + ], + "orientation": [ + 0.6573910713195801, + 0.03986663743853569, + -0.6905981302261353, + 0.29886752367019653 + ], + "joints": [ + 0.015118379145860672 + ] + }, + "final_grasp": { + "position": [ + 0.1124282032251358, + 0.0630381852388382, + -0.018923236057162285 + ], + "orientation": [ + 0.6573910713195801, + 0.03986663743853569, + -0.6905981302261353, + 0.29886752367019653 + ], + "joints": [ + 0.005484510213136673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10719694197177887, + 0.03731321543455124, + -0.0477670356631279 + ], + "orientation": [ + 0.025822749361395836, + -0.5470303893089294, + 0.23145590722560883, + -0.8040640950202942 + ], + "joints": [ + 0.02712716907262802 + ] + }, + "fine_grasp": { + "position": [ + -0.10371621698141098, + 0.03654849901795387, + -0.046953022480010986 + ], + "orientation": [ + 0.036584775894880295, + -0.5533351302146912, + 0.23467057943344116, + -0.7983806133270264 + ], + "joints": [ + 0.017096243798732758 + ] + }, + "final_grasp": { + "position": [ + -0.10371621698141098, + 0.03654849901795387, + -0.046953022480010986 + ], + "orientation": [ + 0.036584775894880295, + -0.5533351302146912, + 0.23467057943344116, + -0.7983806133270264 + ], + "joints": [ + 0.007065318524837494 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11877234280109406, + -0.021976642310619354, + 0.03893193230032921 + ], + "orientation": [ + 0.037950549274683, + 0.7115998268127441, + -0.19062034785747528, + -0.6751662492752075 + ], + "joints": [ + 0.018099818378686905 + ] + }, + "fine_grasp": { + "position": [ + 0.11505114287137985, + -0.02159333974123001, + 0.037633512169122696 + ], + "orientation": [ + 0.042397283017635345, + 0.7239784598350525, + -0.19015657901763916, + -0.6617386341094971 + ], + "joints": [ + 0.008925702422857285 + ] + }, + "final_grasp": { + "position": [ + 0.11505114287137985, + -0.02159333974123001, + 0.037633512169122696 + ], + "orientation": [ + 0.042397283017635345, + 0.7239784598350525, + -0.19015657901763916, + -0.6617386341094971 + ], + "joints": [ + -0.0002484135329723358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11210305988788605, + 0.031657639890909195, + -0.003805258311331272 + ], + "orientation": [ + 0.4815536141395569, + -0.30652251839637756, + -0.6423940062522888, + 0.5113511085510254 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + 0.10832507163286209, + 0.031615324318408966, + -0.0019031299743801355 + ], + "orientation": [ + 0.47227534651756287, + -0.32914647459983826, + -0.6300222277641296, + 0.5212394595146179 + ], + "joints": [ + 0.02465302124619484 + ] + }, + "final_grasp": { + "position": [ + 0.10832507163286209, + 0.031615324318408966, + -0.0019031299743801355 + ], + "orientation": [ + 0.47227534651756287, + -0.32914647459983826, + -0.6300222277641296, + 0.5212394595146179 + ], + "joints": [ + 0.017547782510519028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038844551891088486, + 0.05065428465604782, + 0.13708047568798065 + ], + "orientation": [ + 0.19856388866901398, + 0.17534714937210083, + -0.9495714902877808, + 0.16774886846542358 + ], + "joints": [ + 0.01897522807121277 + ] + }, + "fine_grasp": { + "position": [ + 0.03770589455962181, + 0.04916391149163246, + 0.13361644744873047 + ], + "orientation": [ + 0.1925400197505951, + 0.1799568235874176, + -0.9503211379051208, + 0.16563141345977783 + ], + "joints": [ + 0.009780213236808777 + ] + }, + "final_grasp": { + "position": [ + 0.03770589455962181, + 0.04916391149163246, + 0.13361644744873047 + ], + "orientation": [ + 0.1925400197505951, + 0.1799568235874176, + -0.9503211379051208, + 0.16563141345977783 + ], + "joints": [ + 0.0005851984024047852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03805641084909439, + 0.021177133545279503, + 0.12315580248832703 + ], + "orientation": [ + 0.15777507424354553, + -0.12561629712581635, + 0.9742281436920166, + -0.1010303795337677 + ], + "joints": [ + 0.02267451584339142 + ] + }, + "fine_grasp": { + "position": [ + -0.03689707815647125, + 0.02049786038696766, + 0.12018366158008575 + ], + "orientation": [ + 0.15359677374362946, + -0.12258333712816238, + 0.9749120473861694, + -0.10453683137893677 + ], + "joints": [ + 0.013019748032093048 + ] + }, + "final_grasp": { + "position": [ + -0.03689707815647125, + 0.02049786038696766, + 0.12018366158008575 + ], + "orientation": [ + 0.15359677374362946, + -0.12258333712816238, + 0.9749120473861694, + -0.10453683137893677 + ], + "joints": [ + 0.0033649802207946777 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10777845978736877, + 0.010088914074003696, + -0.0781245082616806 + ], + "orientation": [ + 0.8806065320968628, + 0.11100971698760986, + -0.4528164267539978, + -0.08465360850095749 + ], + "joints": [ + 0.024960296228528023 + ] + }, + "fine_grasp": { + "position": [ + 0.103993721306324, + 0.00998624972999096, + -0.07698959857225418 + ], + "orientation": [ + 0.8740761280059814, + 0.1119309738278389, + -0.46471452713012695, + -0.08661821484565735 + ], + "joints": [ + 0.016141438856720924 + ] + }, + "final_grasp": { + "position": [ + 0.103993721306324, + 0.00998624972999096, + -0.07698959857225418 + ], + "orientation": [ + 0.8740761280059814, + 0.1119309738278389, + -0.46471452713012695, + -0.08661821484565735 + ], + "joints": [ + 0.007322581484913826 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11635086685419083, + 0.02359580434858799, + -0.01319079753011465 + ], + "orientation": [ + 0.06458038091659546, + -0.6679818034172058, + -0.2296413630247116, + 0.7049074769020081 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + 0.11265681684017181, + 0.023119710385799408, + -0.01393276546150446 + ], + "orientation": [ + 0.0775364488363266, + -0.6759275197982788, + -0.232892706990242, + 0.69488924741745 + ], + "joints": [ + 0.016633134335279465 + ] + }, + "final_grasp": { + "position": [ + 0.11265681684017181, + 0.023119710385799408, + -0.01393276546150446 + ], + "orientation": [ + 0.0775364488363266, + -0.6759275197982788, + -0.232892706990242, + 0.69488924741745 + ], + "joints": [ + 0.006602209061384201 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10492926836013794, + 0.036797814071178436, + -0.07329393178224564 + ], + "orientation": [ + 0.4598776400089264, + 0.520622968673706, + -0.1129089742898941, + -0.7104335427284241 + ], + "joints": [ + 0.025762565433979034 + ] + }, + "fine_grasp": { + "position": [ + 0.10197946429252625, + 0.03633451834321022, + -0.07104431092739105 + ], + "orientation": [ + 0.45515337586402893, + 0.5181864500045776, + -0.11695343255996704, + -0.714590847492218 + ], + "joints": [ + 0.01650485396385193 + ] + }, + "final_grasp": { + "position": [ + 0.10197946429252625, + 0.03633451834321022, + -0.07104431092739105 + ], + "orientation": [ + 0.45515337586402893, + 0.5181864500045776, + -0.11695343255996704, + -0.714590847492218 + ], + "joints": [ + 0.007247142493724823 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09000799804925919, + 0.07030577212572098, + 0.047747887670993805 + ], + "orientation": [ + 0.3065388798713684, + 0.7563972473144531, + 0.10754970461130142, + -0.567741334438324 + ], + "joints": [ + 0.017231261357665062 + ] + }, + "fine_grasp": { + "position": [ + 0.08740990608930588, + 0.0677538588643074, + 0.04621199518442154 + ], + "orientation": [ + 0.3019111156463623, + 0.7677937150001526, + 0.11786195635795593, + -0.5526760816574097 + ], + "joints": [ + 0.00803624652326107 + ] + }, + "final_grasp": { + "position": [ + 0.08740990608930588, + 0.0677538588643074, + 0.04621199518442154 + ], + "orientation": [ + 0.3019111156463623, + 0.7677937150001526, + 0.11786195635795593, + -0.5526760816574097 + ], + "joints": [ + -0.0011587683111429214 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03651672229170799, + 0.025604816153645515, + 0.12644381821155548 + ], + "orientation": [ + 0.020529331639409065, + 0.7916936874389648, + 0.5669999122619629, + -0.2265188843011856 + ], + "joints": [ + 0.019084550440311432 + ] + }, + "fine_grasp": { + "position": [ + 0.035465314984321594, + 0.025319503620266914, + 0.12292614579200745 + ], + "orientation": [ + 0.012867937795817852, + 0.7955280542373657, + 0.5662329792976379, + -0.21528971195220947 + ], + "joints": [ + 0.010307490825653076 + ] + }, + "final_grasp": { + "position": [ + 0.035465314984321594, + 0.025319503620266914, + 0.12292614579200745 + ], + "orientation": [ + 0.012867937795817852, + 0.7955280542373657, + 0.5662329792976379, + -0.21528971195220947 + ], + "joints": [ + 0.0015304312109947205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11762536317110062, + 0.02372446097433567, + -0.012836734764277935 + ], + "orientation": [ + 0.06678304821252823, + -0.6695733666419983, + -0.23160190880298615, + 0.7025468349456787 + ], + "joints": [ + 0.02666405960917473 + ] + }, + "fine_grasp": { + "position": [ + 0.11385130137205124, + 0.023064056411385536, + -0.013507976196706295 + ], + "orientation": [ + 0.07480576634407043, + -0.6731420755386353, + -0.23652838170528412, + 0.6966622471809387 + ], + "joints": [ + 0.015839021652936935 + ] + }, + "final_grasp": { + "position": [ + 0.11385130137205124, + 0.023064056411385536, + -0.013507976196706295 + ], + "orientation": [ + 0.07480576634407043, + -0.6731420755386353, + -0.23652838170528412, + 0.6966622471809387 + ], + "joints": [ + 0.0050139836966991425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057902637869119644, + 0.01349895354360342, + -0.12173698097467422 + ], + "orientation": [ + 0.5393581390380859, + 0.19831128418445587, + -0.12556220591068268, + -0.8087024092674255 + ], + "joints": [ + 0.02412792481482029 + ] + }, + "fine_grasp": { + "position": [ + 0.055677033960819244, + 0.012352620251476765, + -0.11873064190149307 + ], + "orientation": [ + 0.539186954498291, + 0.20540045201778412, + -0.11644914001226425, + -0.8084107041358948 + ], + "joints": [ + 0.016144977882504463 + ] + }, + "final_grasp": { + "position": [ + 0.055677033960819244, + 0.012352620251476765, + -0.11873064190149307 + ], + "orientation": [ + 0.539186954498291, + 0.20540045201778412, + -0.11644914001226425, + -0.8084107041358948 + ], + "joints": [ + 0.008162030950188637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11615520715713501, + 0.06475183367729187, + -0.018150674179196358 + ], + "orientation": [ + 0.6660820841789246, + 0.03767037019133568, + -0.6823412179946899, + 0.2988743782043457 + ], + "joints": [ + 0.024858035147190094 + ] + }, + "fine_grasp": { + "position": [ + 0.11271415650844574, + 0.06276670843362808, + -0.01854514703154564 + ], + "orientation": [ + 0.6607884168624878, + 0.037592362612485886, + -0.6871994733810425, + 0.2995036244392395 + ], + "joints": [ + 0.015245065093040466 + ] + }, + "final_grasp": { + "position": [ + 0.11271415650844574, + 0.06276670843362808, + -0.01854514703154564 + ], + "orientation": [ + 0.6607884168624878, + 0.037592362612485886, + -0.6871994733810425, + 0.2995036244392395 + ], + "joints": [ + 0.005632095038890839 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03631943464279175, + -0.03596148639917374, + 0.12367416173219681 + ], + "orientation": [ + 0.25256943702697754, + -0.616808295249939, + 0.7438652515411377, + 0.04920124262571335 + ], + "joints": [ + 0.01804359257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.03529869765043259, + -0.035149939358234406, + 0.12001380324363708 + ], + "orientation": [ + 0.24160343408584595, + -0.6157649159431458, + 0.749057412147522, + 0.03707196190953255 + ], + "joints": [ + 0.0096844881772995 + ] + }, + "final_grasp": { + "position": [ + -0.03529869765043259, + -0.035149939358234406, + 0.12001380324363708 + ], + "orientation": [ + 0.24160343408584595, + -0.6157649159431458, + 0.749057412147522, + 0.03707196190953255 + ], + "joints": [ + 0.0013253837823867798 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013648632913827896, + -0.07941807806491852, + -0.11480660736560822 + ], + "orientation": [ + 0.9058201313018799, + -0.3399791121482849, + 0.03204325959086418, + 0.2507534921169281 + ], + "joints": [ + 0.025908447802066803 + ] + }, + "fine_grasp": { + "position": [ + 0.012846005149185658, + -0.07701702415943146, + -0.11215975135564804 + ], + "orientation": [ + 0.9054567217826843, + -0.3397026062011719, + 0.03271512687206268, + 0.2523488998413086 + ], + "joints": [ + 0.017444849014282227 + ] + }, + "final_grasp": { + "position": [ + 0.012846005149185658, + -0.07701702415943146, + -0.11215975135564804 + ], + "orientation": [ + 0.9054567217826843, + -0.3397026062011719, + 0.03271512687206268, + 0.2523488998413086 + ], + "joints": [ + 0.00898125022649765 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11840126663446426, + -0.02194676548242569, + 0.038124438375234604 + ], + "orientation": [ + 0.03973633050918579, + 0.7132934927940369, + -0.1907220184803009, + -0.6732447147369385 + ], + "joints": [ + 0.018743334338068962 + ] + }, + "fine_grasp": { + "position": [ + 0.11468905210494995, + -0.021509818732738495, + 0.036818187683820724 + ], + "orientation": [ + 0.044601935893297195, + 0.7243401408195496, + -0.19129694998264313, + -0.6608688235282898 + ], + "joints": [ + 0.00954831950366497 + ] + }, + "final_grasp": { + "position": [ + 0.11468905210494995, + -0.021509818732738495, + 0.036818187683820724 + ], + "orientation": [ + 0.044601935893297195, + 0.7243401408195496, + -0.19129694998264313, + -0.6608688235282898 + ], + "joints": [ + 0.0003533046692609787 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06273970752954483, + -0.11973853409290314, + -0.04094658046960831 + ], + "orientation": [ + 0.7344184517860413, + -0.4225277602672577, + -0.4520411491394043, + -0.2788521945476532 + ], + "joints": [ + 0.02244802936911583 + ] + }, + "fine_grasp": { + "position": [ + 0.061038512736558914, + -0.11635178327560425, + -0.04076242446899414 + ], + "orientation": [ + 0.7283688187599182, + -0.43062227964401245, + -0.4557676315307617, + -0.27625906467437744 + ], + "joints": [ + 0.013232115656137466 + ] + }, + "final_grasp": { + "position": [ + 0.061038512736558914, + -0.11635178327560425, + -0.04076242446899414 + ], + "orientation": [ + 0.7283688187599182, + -0.43062227964401245, + -0.4557676315307617, + -0.27625906467437744 + ], + "joints": [ + 0.004016201943159103 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1046772375702858, + 0.03764650970697403, + -0.07371900975704193 + ], + "orientation": [ + 0.4616153836250305, + 0.5176294445991516, + -0.1115017905831337, + -0.7117151021957397 + ], + "joints": [ + 0.02647259272634983 + ] + }, + "fine_grasp": { + "position": [ + 0.10172748565673828, + 0.03721630573272705, + -0.07153064012527466 + ], + "orientation": [ + 0.45666825771331787, + 0.5152780413627625, + -0.11485143005847931, + -0.7160667777061462 + ], + "joints": [ + 0.017214881256222725 + ] + }, + "final_grasp": { + "position": [ + 0.10172748565673828, + 0.03721630573272705, + -0.07153064012527466 + ], + "orientation": [ + 0.45666825771331787, + 0.5152780413627625, + -0.11485143005847931, + -0.7160667777061462 + ], + "joints": [ + 0.00795716978609562 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09634920209646225, + 0.07446637004613876, + -0.015177885070443153 + ], + "orientation": [ + 0.710652768611908, + 0.3606214225292206, + -0.5957081913948059, + 0.10028200596570969 + ], + "joints": [ + 0.026023929938673973 + ] + }, + "fine_grasp": { + "position": [ + 0.09303328394889832, + 0.07204420864582062, + -0.015833459794521332 + ], + "orientation": [ + 0.7057868838310242, + 0.36800283193588257, + -0.5983768701553345, + 0.09156408160924911 + ], + "joints": [ + 0.017664825543761253 + ] + }, + "final_grasp": { + "position": [ + 0.09303328394889832, + 0.07204420864582062, + -0.015833459794521332 + ], + "orientation": [ + 0.7057868838310242, + 0.36800283193588257, + -0.5983768701553345, + 0.09156408160924911 + ], + "joints": [ + 0.009305721148848534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10815082490444183, + 0.00930777844041586, + -0.07777433097362518 + ], + "orientation": [ + 0.8819801807403564, + 0.10678395628929138, + -0.45130106806755066, + -0.08387864381074905 + ], + "joints": [ + 0.025156503543257713 + ] + }, + "fine_grasp": { + "position": [ + 0.10450046509504318, + 0.009117304347455502, + -0.07665829360485077 + ], + "orientation": [ + 0.8756503462791443, + 0.10684985667467117, + -0.463396817445755, + -0.08416002243757248 + ], + "joints": [ + 0.01591969095170498 + ] + }, + "final_grasp": { + "position": [ + 0.10450046509504318, + 0.009117304347455502, + -0.07665829360485077 + ], + "orientation": [ + 0.8756503462791443, + 0.10684985667467117, + -0.463396817445755, + -0.08416002243757248 + ], + "joints": [ + 0.006682878360152245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11928822845220566, + -0.004744761157780886, + -0.016964871436357498 + ], + "orientation": [ + 0.7093253135681152, + -0.19369319081306458, + -0.6610974073410034, + 0.14930088818073273 + ], + "joints": [ + 0.027807198464870453 + ] + }, + "fine_grasp": { + "position": [ + 0.11574041843414307, + -0.004742178600281477, + -0.017497489228844643 + ], + "orientation": [ + 0.7012032270431519, + -0.2035123109817505, + -0.6647948622703552, + 0.15793877840042114 + ], + "joints": [ + 0.01616714894771576 + ] + }, + "final_grasp": { + "position": [ + 0.11574041843414307, + -0.004742178600281477, + -0.017497489228844643 + ], + "orientation": [ + 0.7012032270431519, + -0.2035123109817505, + -0.6647948622703552, + 0.15793877840042114 + ], + "joints": [ + 0.004527099430561066 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11943722516298294, + -0.004615712445229292, + -0.016924599185585976 + ], + "orientation": [ + 0.7081763744354248, + -0.19651922583580017, + -0.6606715321540833, + 0.15290360152721405 + ], + "joints": [ + 0.028295909985899925 + ] + }, + "fine_grasp": { + "position": [ + 0.11590808629989624, + -0.004614833276718855, + -0.017405793070793152 + ], + "orientation": [ + 0.7007215023040771, + -0.20413221418857574, + -0.6647347211837769, + 0.15952150523662567 + ], + "joints": [ + 0.016258804127573967 + ] + }, + "final_grasp": { + "position": [ + 0.11590808629989624, + -0.004614833276718855, + -0.017405793070793152 + ], + "orientation": [ + 0.7007215023040771, + -0.20413221418857574, + -0.6647347211837769, + 0.15952150523662567 + ], + "joints": [ + 0.004221698269248009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036163534969091415, + 0.02586846984922886, + 0.12721768021583557 + ], + "orientation": [ + 0.018714601173996925, + 0.7894293069839478, + 0.5731033086776733, + -0.21909737586975098 + ], + "joints": [ + 0.0195518396794796 + ] + }, + "fine_grasp": { + "position": [ + 0.03512301295995712, + 0.025422174483537674, + 0.12372144311666489 + ], + "orientation": [ + 0.012355441227555275, + 0.7928066253662109, + 0.5722185969352722, + -0.2094535082578659 + ], + "joints": [ + 0.010774780064821243 + ] + }, + "final_grasp": { + "position": [ + 0.03512301295995712, + 0.025422174483537674, + 0.12372144311666489 + ], + "orientation": [ + 0.012355441227555275, + 0.7928066253662109, + 0.5722185969352722, + -0.2094535082578659 + ], + "joints": [ + 0.0019977204501628876 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05777914449572563, + 0.013292122632265091, + -0.12117596715688705 + ], + "orientation": [ + 0.5381965041160583, + 0.20039275288581848, + -0.12406831979751587, + -0.8091936707496643 + ], + "joints": [ + 0.024811621755361557 + ] + }, + "fine_grasp": { + "position": [ + 0.05549143627285957, + 0.012069535441696644, + -0.11824959516525269 + ], + "orientation": [ + 0.5378511548042297, + 0.20789013803005219, + -0.11367614567279816, + -0.809058427810669 + ], + "joints": [ + 0.016410719603300095 + ] + }, + "final_grasp": { + "position": [ + 0.05549143627285957, + 0.012069535441696644, + -0.11824959516525269 + ], + "orientation": [ + 0.5378511548042297, + 0.20789013803005219, + -0.11367614567279816, + -0.809058427810669 + ], + "joints": [ + 0.008009817451238632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.057532183825969696, + 0.01338974479585886, + -0.1209295317530632 + ], + "orientation": [ + 0.5411615371704102, + 0.1988551914691925, + -0.12470638751983643, + -0.8074955344200134 + ], + "joints": [ + 0.024762863293290138 + ] + }, + "fine_grasp": { + "position": [ + 0.055265020579099655, + 0.012241523712873459, + -0.11802346259355545 + ], + "orientation": [ + 0.5407228469848633, + 0.20619863271713257, + -0.1143428310751915, + -0.8074816465377808 + ], + "joints": [ + 0.016361961141228676 + ] + }, + "final_grasp": { + "position": [ + 0.055265020579099655, + 0.012241523712873459, + -0.11802346259355545 + ], + "orientation": [ + 0.5407228469848633, + 0.20619863271713257, + -0.1143428310751915, + -0.8074816465377808 + ], + "joints": [ + 0.007961058989167213 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11294965445995331, + -0.00861167162656784, + -0.005915733985602856 + ], + "orientation": [ + 0.06540557742118835, + 0.6932441592216492, + 0.14523345232009888, + 0.7028810977935791 + ], + "joints": [ + 0.02393171563744545 + ] + }, + "fine_grasp": { + "position": [ + -0.1099073588848114, + -0.008334523066878319, + -0.007496410980820656 + ], + "orientation": [ + 0.06961281597614288, + 0.7051326036453247, + 0.14687782526016235, + 0.6901949048042297 + ], + "joints": [ + 0.015154656022787094 + ] + }, + "final_grasp": { + "position": [ + -0.1099073588848114, + -0.008334523066878319, + -0.007496410980820656 + ], + "orientation": [ + 0.06961281597614288, + 0.7051326036453247, + 0.14687782526016235, + 0.6901949048042297 + ], + "joints": [ + 0.006377596408128738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11029904335737228, + 0.04517006874084473, + -0.061060111969709396 + ], + "orientation": [ + 0.2868698239326477, + 0.5399969220161438, + -0.0026906977873295546, + -0.7912657856941223 + ], + "joints": [ + 0.025228427723050117 + ] + }, + "fine_grasp": { + "position": [ + 0.10667026787996292, + 0.04354342445731163, + -0.060521360486745834 + ], + "orientation": [ + 0.28748294711112976, + 0.5507693886756897, + -0.0006248940480872989, + -0.7835854887962341 + ], + "joints": [ + 0.016054311767220497 + ] + }, + "final_grasp": { + "position": [ + 0.10667026787996292, + 0.04354342445731163, + -0.060521360486745834 + ], + "orientation": [ + 0.28748294711112976, + 0.5507693886756897, + -0.0006248940480872989, + -0.7835854887962341 + ], + "joints": [ + 0.006880195811390877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11028889566659927, + 0.04519252851605415, + -0.06104343384504318 + ], + "orientation": [ + 0.28696146607398987, + 0.5399414300918579, + -0.002582959597930312, + -0.7912708520889282 + ], + "joints": [ + 0.025436826050281525 + ] + }, + "fine_grasp": { + "position": [ + 0.10661886632442474, + 0.043586354702711105, + -0.06050127372145653 + ], + "orientation": [ + 0.28727948665618896, + 0.5508636832237244, + -0.0010571101447567344, + -0.7835933566093445 + ], + "joints": [ + 0.016241811215877533 + ] + }, + "final_grasp": { + "position": [ + 0.10661886632442474, + 0.043586354702711105, + -0.06050127372145653 + ], + "orientation": [ + 0.28727948665618896, + 0.5508636832237244, + -0.0010571101447567344, + -0.7835933566093445 + ], + "joints": [ + 0.007046796381473541 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10726238787174225, + 0.037037141621112823, + -0.04728226363658905 + ], + "orientation": [ + 0.02507035806775093, + -0.5435425043106079, + 0.22832056879997253, + -0.8073429465293884 + ], + "joints": [ + 0.026883425191044807 + ] + }, + "fine_grasp": { + "position": [ + -0.10361725836992264, + 0.03601224347949028, + -0.04641575366258621 + ], + "orientation": [ + 0.03165498375892639, + -0.5458033084869385, + 0.2335539013147354, + -0.8040829300880432 + ], + "joints": [ + 0.016852499917149544 + ] + }, + "final_grasp": { + "position": [ + -0.10361725836992264, + 0.03601224347949028, + -0.04641575366258621 + ], + "orientation": [ + 0.03165498375892639, + -0.5458033084869385, + 0.2335539013147354, + -0.8040829300880432 + ], + "joints": [ + 0.00682157464325428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09654116630554199, + 0.07417739182710648, + -0.014743010513484478 + ], + "orientation": [ + 0.7135993838310242, + 0.35950201749801636, + -0.5930483341217041, + 0.09913556277751923 + ], + "joints": [ + 0.02619972825050354 + ] + }, + "fine_grasp": { + "position": [ + 0.09329614788293839, + 0.07174485176801682, + -0.015488403849303722 + ], + "orientation": [ + 0.7082446813583374, + 0.36930158734321594, + -0.5948301553726196, + 0.09045883268117905 + ], + "joints": [ + 0.017422668635845184 + ] + }, + "final_grasp": { + "position": [ + 0.09329614788293839, + 0.07174485176801682, + -0.015488403849303722 + ], + "orientation": [ + 0.7082446813583374, + 0.36930158734321594, + -0.5948301553726196, + 0.09045883268117905 + ], + "joints": [ + 0.008645609021186829 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11192471534013748, + -0.045188985764980316, + -0.00814894214272499 + ], + "orientation": [ + 0.6991209983825684, + -0.2791208326816559, + 0.6580926179885864, + 0.01534255500882864 + ], + "joints": [ + 0.026466628536581993 + ] + }, + "fine_grasp": { + "position": [ + -0.10839168727397919, + -0.04375704005360603, + -0.009035483933985233 + ], + "orientation": [ + 0.6884263157844543, + -0.2830338776111603, + 0.667752206325531, + 0.008247766643762589 + ], + "joints": [ + 0.016853658482432365 + ] + }, + "final_grasp": { + "position": [ + -0.10839168727397919, + -0.04375704005360603, + -0.009035483933985233 + ], + "orientation": [ + 0.6884263157844543, + -0.2830338776111603, + 0.667752206325531, + 0.008247766643762589 + ], + "joints": [ + 0.007240688428282738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1076962947845459, + 0.037133753299713135, + -0.04710591956973076 + ], + "orientation": [ + 0.020444471389055252, + -0.5431828498840332, + 0.22495903074741364, + -0.8086581230163574 + ], + "joints": [ + 0.0273465346544981 + ] + }, + "fine_grasp": { + "position": [ + -0.10397632420063019, + 0.03595922142267227, + -0.04632663354277611 + ], + "orientation": [ + 0.02591218799352646, + -0.5474525094032288, + 0.22956275939941406, + -0.8043166995048523 + ], + "joints": [ + 0.017733564600348473 + ] + }, + "final_grasp": { + "position": [ + -0.10397632420063019, + 0.03595922142267227, + -0.04632663354277611 + ], + "orientation": [ + 0.02591218799352646, + -0.5474525094032288, + 0.22956275939941406, + -0.8043166995048523 + ], + "joints": [ + 0.008120594546198845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11463078111410141, + 0.01856400817632675, + -0.034983448684215546 + ], + "orientation": [ + 0.029768481850624084, + -0.5945004820823669, + -0.14448902010917664, + 0.7904465794563293 + ], + "joints": [ + 0.02532104402780533 + ] + }, + "fine_grasp": { + "position": [ + 0.11105573922395706, + 0.017911357805132866, + -0.035336315631866455 + ], + "orientation": [ + 0.04104233533143997, + -0.6074722409248352, + -0.15267841517925262, + 0.7784487009048462 + ], + "joints": [ + 0.014872163534164429 + ] + }, + "final_grasp": { + "position": [ + 0.11105573922395706, + 0.017911357805132866, + -0.035336315631866455 + ], + "orientation": [ + 0.04104233533143997, + -0.6074722409248352, + -0.15267841517925262, + 0.7784487009048462 + ], + "joints": [ + 0.004423283040523529 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1021408960223198, + 0.009772432036697865, + 0.06212028115987778 + ], + "orientation": [ + 0.580430805683136, + -0.09456230700016022, + -0.801723301410675, + 0.10676029324531555 + ], + "joints": [ + 0.01761024259030819 + ] + }, + "fine_grasp": { + "position": [ + 0.0998990535736084, + 0.008656450547277927, + 0.06017456203699112 + ], + "orientation": [ + 0.5677151083946228, + -0.09090804308652878, + -0.8113521933555603, + 0.1055598109960556 + ], + "joints": [ + 0.009669093415141106 + ] + }, + "final_grasp": { + "position": [ + 0.0998990535736084, + 0.008656450547277927, + 0.06017456203699112 + ], + "orientation": [ + 0.5677151083946228, + -0.09090804308652878, + -0.8113521933555603, + 0.1055598109960556 + ], + "joints": [ + 0.001727944239974022 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03079243190586567, + 0.030267344787716866, + -0.11387204378843307 + ], + "orientation": [ + 0.38364434242248535, + -0.011330554261803627, + 0.22395764291286469, + -0.8958411812782288 + ], + "joints": [ + 0.02518853358924389 + ] + }, + "fine_grasp": { + "position": [ + -0.0291728712618351, + 0.03067542240023613, + -0.11201434582471848 + ], + "orientation": [ + 0.3761952221393585, + -0.02175150066614151, + 0.21604694426059723, + -0.9007373452186584 + ], + "joints": [ + 0.01682942919433117 + ] + }, + "final_grasp": { + "position": [ + -0.0291728712618351, + 0.03067542240023613, + -0.11201434582471848 + ], + "orientation": [ + 0.3761952221393585, + -0.02175150066614151, + 0.21604694426059723, + -0.9007373452186584 + ], + "joints": [ + 0.00847032479941845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050939783453941345, + 0.029762202873826027, + -0.11244256794452667 + ], + "orientation": [ + 0.7033331990242004, + -0.03990264609456062, + -0.2855339050292969, + 0.64976966381073 + ], + "joints": [ + 0.02588651515543461 + ] + }, + "fine_grasp": { + "position": [ + 0.04914068803191185, + 0.0294308103621006, + -0.11012830585241318 + ], + "orientation": [ + 0.7089837193489075, + -0.03777816519141197, + -0.28478312492370605, + 0.6440600156784058 + ], + "joints": [ + 0.017109455540776253 + ] + }, + "final_grasp": { + "position": [ + 0.04914068803191185, + 0.0294308103621006, + -0.11012830585241318 + ], + "orientation": [ + 0.7089837193489075, + -0.03777816519141197, + -0.28478312492370605, + 0.6440600156784058 + ], + "joints": [ + 0.008332395926117897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033600613474845886, + -0.08861131966114044, + 0.0976516604423523 + ], + "orientation": [ + 0.3283023536205292, + -0.3429538905620575, + 0.8185598254203796, + 0.3233575224876404 + ], + "joints": [ + 0.01844547875225544 + ] + }, + "fine_grasp": { + "position": [ + -0.03283357247710228, + -0.08594001829624176, + 0.09485775232315063 + ], + "orientation": [ + 0.3151477575302124, + -0.35116586089134216, + 0.8234857320785522, + 0.31501713395118713 + ], + "joints": [ + 0.009668419137597084 + ] + }, + "final_grasp": { + "position": [ + -0.03283357247710228, + -0.08594001829624176, + 0.09485775232315063 + ], + "orientation": [ + 0.3151477575302124, + -0.35116586089134216, + 0.8234857320785522, + 0.31501713395118713 + ], + "joints": [ + 0.0008913595229387283 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12208611518144608, + -0.04799254238605499, + -0.047934096306562424 + ], + "orientation": [ + 0.779206395149231, + -0.008826975710690022, + 0.5789483189582825, + 0.23995454609394073 + ], + "joints": [ + 0.02316759154200554 + ] + }, + "fine_grasp": { + "position": [ + -0.11859181523323059, + -0.04627867043018341, + -0.04817795008420944 + ], + "orientation": [ + 0.7681841850280762, + -0.012390775606036186, + 0.591696560382843, + 0.24420230090618134 + ], + "joints": [ + 0.013951677829027176 + ] + }, + "final_grasp": { + "position": [ + -0.11859181523323059, + -0.04627867043018341, + -0.04817795008420944 + ], + "orientation": [ + 0.7681841850280762, + -0.012390775606036186, + 0.591696560382843, + 0.24420230090618134 + ], + "joints": [ + 0.004735764116048813 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08720078319311142, + 0.07371645420789719, + -0.0564076229929924 + ], + "orientation": [ + 0.38953477144241333, + 0.5000797510147095, + -0.10719800740480423, + 0.7659578919410706 + ], + "joints": [ + 0.022398559376597404 + ] + }, + "fine_grasp": { + "position": [ + -0.0842403694987297, + 0.07111416012048721, + -0.05640127509832382 + ], + "orientation": [ + 0.3873719274997711, + 0.5151533484458923, + -0.110105499625206, + 0.7565955519676208 + ], + "joints": [ + 0.013203544542193413 + ] + }, + "final_grasp": { + "position": [ + -0.0842403694987297, + 0.07111416012048721, + -0.05640127509832382 + ], + "orientation": [ + 0.3873719274997711, + 0.5151533484458923, + -0.110105499625206, + 0.7565955519676208 + ], + "joints": [ + 0.004008529707789421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030702050775289536, + 0.030579840764403343, + -0.1151387095451355 + ], + "orientation": [ + 0.39996767044067383, + -0.005776225123554468, + 0.2240457385778427, + -0.888704776763916 + ], + "joints": [ + 0.025421734899282455 + ] + }, + "fine_grasp": { + "position": [ + -0.028728265315294266, + 0.030258003622293472, + -0.11176647245883942 + ], + "orientation": [ + 0.38806095719337463, + -0.021130062639713287, + 0.21439918875694275, + -0.8961000442504883 + ], + "joints": [ + 0.017041731625795364 + ] + }, + "final_grasp": { + "position": [ + -0.028728265315294266, + 0.030258003622293472, + -0.11176647245883942 + ], + "orientation": [ + 0.38806095719337463, + -0.021130062639713287, + 0.21439918875694275, + -0.8961000442504883 + ], + "joints": [ + 0.008661728352308273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03404027968645096, + 0.12067467719316483, + -0.04166994243860245 + ], + "orientation": [ + 0.5824388861656189, + 0.5415658354759216, + 0.25569236278533936, + -0.5496296286582947 + ], + "joints": [ + 0.025665925815701485 + ] + }, + "fine_grasp": { + "position": [ + 0.03347942605614662, + 0.11686061322689056, + -0.04152873903512955 + ], + "orientation": [ + 0.5821842551231384, + 0.5478331446647644, + 0.2587642967700958, + -0.54220050573349 + ], + "joints": [ + 0.01563500054180622 + ] + }, + "final_grasp": { + "position": [ + 0.03347942605614662, + 0.11686061322689056, + -0.04152873903512955 + ], + "orientation": [ + 0.5821842551231384, + 0.5478331446647644, + 0.2587642967700958, + -0.54220050573349 + ], + "joints": [ + 0.005604075267910957 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12189562618732452, + -0.04791353642940521, + -0.047822315245866776 + ], + "orientation": [ + 0.7798007130622864, + -0.011028580367565155, + 0.5785940885543823, + 0.23878467082977295 + ], + "joints": [ + 0.022936036810278893 + ] + }, + "fine_grasp": { + "position": [ + -0.11839436739683151, + -0.0461992546916008, + -0.04788782075047493 + ], + "orientation": [ + 0.7704221606254578, + -0.014258676208555698, + 0.5894004702568054, + 0.24259760975837708 + ], + "joints": [ + 0.0137410219758749 + ] + }, + "final_grasp": { + "position": [ + -0.11839436739683151, + -0.0461992546916008, + -0.04788782075047493 + ], + "orientation": [ + 0.7704221606254578, + -0.014258676208555698, + 0.5894004702568054, + 0.24259760975837708 + ], + "joints": [ + 0.004546007141470909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034256186336278915, + -0.07059775292873383, + 0.12044119089841843 + ], + "orientation": [ + 0.3358739912509918, + -0.7474018335342407, + 0.5664190649986267, + 0.08802664279937744 + ], + "joints": [ + 0.01877567172050476 + ] + }, + "fine_grasp": { + "position": [ + -0.03303927183151245, + -0.06859935820102692, + 0.11727321147918701 + ], + "orientation": [ + 0.3264498710632324, + -0.7459220886230469, + 0.5749489068984985, + 0.08040250837802887 + ], + "joints": [ + 0.010813623666763306 + ] + }, + "final_grasp": { + "position": [ + -0.03303927183151245, + -0.06859935820102692, + 0.11727321147918701 + ], + "orientation": [ + 0.3264498710632324, + -0.7459220886230469, + 0.5749489068984985, + 0.08040250837802887 + ], + "joints": [ + 0.0028515756130218506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04225324094295502, + 0.004623976070433855, + -0.11414157599210739 + ], + "orientation": [ + 0.2728996276855469, + -0.22098346054553986, + 0.072972871363163, + -0.9334704279899597 + ], + "joints": [ + 0.027763331308960915 + ] + }, + "fine_grasp": { + "position": [ + -0.04230217635631561, + 0.0035156954545527697, + -0.1133037880063057 + ], + "orientation": [ + 0.27218538522720337, + -0.22326532006263733, + 0.06846293061971664, + -0.9334775805473328 + ], + "joints": [ + 0.01773240603506565 + ] + }, + "final_grasp": { + "position": [ + -0.04230217635631561, + 0.0035156954545527697, + -0.1133037880063057 + ], + "orientation": [ + 0.27218538522720337, + -0.22326532006263733, + 0.06846293061971664, + -0.9334775805473328 + ], + "joints": [ + 0.007701480761170387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11334730684757233, + 0.018825573846697807, + -0.03475659340620041 + ], + "orientation": [ + 0.03236306458711624, + -0.5945817828178406, + -0.14818108081817627, + 0.789599597454071 + ], + "joints": [ + 0.025174720212817192 + ] + }, + "fine_grasp": { + "position": [ + 0.10962937772274017, + 0.018287284299731255, + -0.03537450730800629 + ], + "orientation": [ + 0.04851599782705307, + -0.598276674747467, + -0.1627071499824524, + 0.7830949425697327 + ], + "joints": [ + 0.015143794938921928 + ] + }, + "final_grasp": { + "position": [ + 0.10962937772274017, + 0.018287284299731255, + -0.03537450730800629 + ], + "orientation": [ + 0.04851599782705307, + -0.598276674747467, + -0.1627071499824524, + 0.7830949425697327 + ], + "joints": [ + 0.005112869665026665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034138284623622894, + -0.07134673744440079, + 0.12074248492717743 + ], + "orientation": [ + 0.32953423261642456, + -0.7501469254493713, + 0.5676133036613464, + 0.080635204911232 + ], + "joints": [ + 0.019679104909300804 + ] + }, + "fine_grasp": { + "position": [ + -0.03308721259236336, + -0.0691370889544487, + 0.1177487000823021 + ], + "orientation": [ + 0.3243454396724701, + -0.7485910654067993, + 0.5730935335159302, + 0.0772993192076683 + ], + "joints": [ + 0.010881146416068077 + ] + }, + "final_grasp": { + "position": [ + -0.03308721259236336, + -0.0691370889544487, + 0.1177487000823021 + ], + "orientation": [ + 0.3243454396724701, + -0.7485910654067993, + 0.5730935335159302, + 0.0772993192076683 + ], + "joints": [ + 0.00208318792283535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11263076961040497, + 0.038732822984457016, + -0.06239933893084526 + ], + "orientation": [ + 0.7859914898872375, + -0.04180121049284935, + 0.5367592573165894, + -0.30390700697898865 + ], + "joints": [ + 0.025744840502738953 + ] + }, + "fine_grasp": { + "position": [ + -0.10912307351827621, + 0.0369308739900589, + -0.0612957589328289 + ], + "orientation": [ + 0.782501220703125, + -0.040781907737255096, + 0.5409375429153442, + -0.3056391179561615 + ], + "joints": [ + 0.016967780888080597 + ] + }, + "final_grasp": { + "position": [ + -0.10912307351827621, + 0.0369308739900589, + -0.0612957589328289 + ], + "orientation": [ + 0.782501220703125, + -0.040781907737255096, + 0.5409375429153442, + -0.3056391179561615 + ], + "joints": [ + 0.008190721273422241 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03579277545213699, + 0.09885293990373611, + 0.08491860330104828 + ], + "orientation": [ + 0.3709261417388916, + 0.80281662940979, + 0.31535133719444275, + -0.3441695272922516 + ], + "joints": [ + 0.019758477807044983 + ] + }, + "fine_grasp": { + "position": [ + 0.03476666659116745, + 0.09582503885030746, + 0.08265991508960724 + ], + "orientation": [ + 0.36536362767219543, + 0.806697428226471, + 0.3210260272026062, + -0.335694819688797 + ], + "joints": [ + 0.010563462972640991 + ] + }, + "final_grasp": { + "position": [ + 0.03476666659116745, + 0.09582503885030746, + 0.08265991508960724 + ], + "orientation": [ + 0.36536362767219543, + 0.806697428226471, + 0.3210260272026062, + -0.335694819688797 + ], + "joints": [ + 0.0013684481382369995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12338951230049133, + 0.03603631630539894, + 0.016613304615020752 + ], + "orientation": [ + 0.6963024735450745, + -0.05955785512924194, + 0.670089840888977, + -0.2501903176307678 + ], + "joints": [ + 0.017786601558327675 + ] + }, + "fine_grasp": { + "position": [ + -0.11978157609701157, + 0.034639086574316025, + 0.015636326745152473 + ], + "orientation": [ + 0.6821150183677673, + -0.05817471444606781, + 0.6841915249824524, + -0.2514294981956482 + ], + "joints": [ + 0.010221609845757484 + ] + }, + "final_grasp": { + "position": [ + -0.11978157609701157, + 0.034639086574316025, + 0.015636326745152473 + ], + "orientation": [ + 0.6821150183677673, + -0.05817471444606781, + 0.6841915249824524, + -0.2514294981956482 + ], + "joints": [ + 0.002656618133187294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12638992071151733, + -0.04429957643151283, + -0.031537625938653946 + ], + "orientation": [ + 0.31590309739112854, + -0.6485491394996643, + -0.08537933230400085, + 0.6872404217720032 + ], + "joints": [ + 0.027057699859142303 + ] + }, + "fine_grasp": { + "position": [ + 0.12276666611433029, + -0.0427093543112278, + -0.03126632422208786 + ], + "orientation": [ + 0.31796029210090637, + -0.6495673656463623, + -0.08525462448596954, + 0.6853430867195129 + ], + "joints": [ + 0.018259741365909576 + ] + }, + "final_grasp": { + "position": [ + 0.12276666611433029, + -0.0427093543112278, + -0.03126632422208786 + ], + "orientation": [ + 0.31796029210090637, + -0.6495673656463623, + -0.08525462448596954, + 0.6853430867195129 + ], + "joints": [ + 0.00946178287267685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047308582812547684, + 0.009894369170069695, + -0.11984776705503464 + ], + "orientation": [ + 0.4231884181499481, + -0.16420990228652954, + -0.13402432203292847, + 0.8808995485305786 + ], + "joints": [ + 0.027543965727090836 + ] + }, + "fine_grasp": { + "position": [ + 0.045888666063547134, + 0.009501403197646141, + -0.11677408218383789 + ], + "orientation": [ + 0.4155753254890442, + -0.1632358431816101, + -0.1316494196653366, + 0.8850533962249756 + ], + "joints": [ + 0.017930995672941208 + ] + }, + "final_grasp": { + "position": [ + 0.045888666063547134, + 0.009501403197646141, + -0.11677408218383789 + ], + "orientation": [ + 0.4155753254890442, + -0.1632358431816101, + -0.1316494196653366, + 0.8850533962249756 + ], + "joints": [ + 0.00831802561879158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0465892069041729, + -0.005629916209727526, + -0.12118390947580338 + ], + "orientation": [ + 0.8215215802192688, + -0.13893388211727142, + -0.1661403477191925, + 0.5274437069892883 + ], + "joints": [ + 0.02902591973543167 + ] + }, + "fine_grasp": { + "position": [ + 0.04445889964699745, + -0.0050932737067341805, + -0.11790193617343903 + ], + "orientation": [ + 0.8270869255065918, + -0.13512101769447327, + -0.16339442133903503, + 0.5205496549606323 + ], + "joints": [ + 0.01983090490102768 + ] + }, + "final_grasp": { + "position": [ + 0.04445889964699745, + -0.0050932737067341805, + -0.11790193617343903 + ], + "orientation": [ + 0.8270869255065918, + -0.13512101769447327, + -0.16339442133903503, + 0.5205496549606323 + ], + "joints": [ + 0.010635890066623688 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09187063574790955, + -0.09798602759838104, + -0.020010903477668762 + ], + "orientation": [ + 0.6365364193916321, + -0.15802468359470367, + 0.6476241946220398, + 0.3878560960292816 + ], + "joints": [ + 0.02268531732261181 + ] + }, + "fine_grasp": { + "position": [ + -0.08924608677625656, + -0.09524146467447281, + -0.020416133105754852 + ], + "orientation": [ + 0.6285473108291626, + -0.16099144518375397, + 0.6561681032180786, + 0.3852967321872711 + ], + "joints": [ + 0.013845561072230339 + ] + }, + "final_grasp": { + "position": [ + -0.08924608677625656, + -0.09524146467447281, + -0.020416133105754852 + ], + "orientation": [ + 0.6285473108291626, + -0.16099144518375397, + 0.6561681032180786, + 0.3852967321872711 + ], + "joints": [ + 0.005005804821848869 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012315338477492332, + -0.056335434317588806, + 0.12702630460262299 + ], + "orientation": [ + 0.22573745250701904, + -0.8961908221244812, + -0.33385711908340454, + -0.1855372041463852 + ], + "joints": [ + 0.016669394448399544 + ] + }, + "fine_grasp": { + "position": [ + -0.012283243238925934, + -0.05455156788229942, + 0.12317090481519699 + ], + "orientation": [ + 0.21801631152629852, + -0.9008399844169617, + -0.3367269039154053, + -0.16604575514793396 + ], + "joints": [ + 0.00872824527323246 + ] + }, + "final_grasp": { + "position": [ + -0.012283243238925934, + -0.05455156788229942, + 0.12317090481519699 + ], + "orientation": [ + 0.21801631152629852, + -0.9008399844169617, + -0.3367269039154053, + -0.16604575514793396 + ], + "joints": [ + 0.0007870960980653763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01622314564883709, + 0.07087033987045288, + -0.11391422152519226 + ], + "orientation": [ + 0.5553236603736877, + 0.055008016526699066, + 0.2538541853427887, + -0.790030300617218 + ], + "joints": [ + 0.02189403586089611 + ] + }, + "fine_grasp": { + "position": [ + -0.016414489597082138, + 0.06730422377586365, + -0.11140475422143936 + ], + "orientation": [ + 0.5541648268699646, + 0.07345166802406311, + 0.26450544595718384, + -0.7858391404151917 + ], + "joints": [ + 0.015206752344965935 + ] + }, + "final_grasp": { + "position": [ + -0.016414489597082138, + 0.06730422377586365, + -0.11140475422143936 + ], + "orientation": [ + 0.5541648268699646, + 0.07345166802406311, + 0.26450544595718384, + -0.7858391404151917 + ], + "joints": [ + 0.008519468829035759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04391444846987724, + -0.07853855192661285, + 0.08618380129337311 + ], + "orientation": [ + 0.3545536398887634, + -0.22964969277381897, + -0.8445615172386169, + -0.3290419280529022 + ], + "joints": [ + 0.017340904101729393 + ] + }, + "fine_grasp": { + "position": [ + 0.04319148510694504, + -0.07677537947893143, + 0.0838957130908966 + ], + "orientation": [ + 0.3436369001865387, + -0.239309161901474, + -0.8481407761573792, + -0.3245028257369995 + ], + "joints": [ + 0.008981799706816673 + ] + }, + "final_grasp": { + "position": [ + 0.04319148510694504, + -0.07677537947893143, + 0.0838957130908966 + ], + "orientation": [ + 0.3436369001865387, + -0.239309161901474, + -0.8481407761573792, + -0.3245028257369995 + ], + "joints": [ + 0.0006226953119039536 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06945716589689255, + -0.05498351529240608, + 0.11212219297885895 + ], + "orientation": [ + 0.00919137243181467, + -0.7215274572372437, + 0.5758573412895203, + 0.3843199610710144 + ], + "joints": [ + 0.019682081416249275 + ] + }, + "fine_grasp": { + "position": [ + 0.06715182214975357, + -0.05343258008360863, + 0.10925818234682083 + ], + "orientation": [ + 0.005658692214637995, + -0.7278155088424683, + 0.5749577283859253, + 0.37373289465904236 + ], + "joints": [ + 0.012096190825104713 + ] + }, + "final_grasp": { + "position": [ + 0.06715182214975357, + -0.05343258008360863, + 0.10925818234682083 + ], + "orientation": [ + 0.005658692214637995, + -0.7278155088424683, + 0.5749577283859253, + 0.37373289465904236 + ], + "joints": [ + 0.004510300233960152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10820703953504562, + 0.02675732783973217, + 0.03540792688727379 + ], + "orientation": [ + 0.5619069337844849, + 0.2733539640903473, + -0.7800890207290649, + -0.031615227460861206 + ], + "joints": [ + 0.02529788762331009 + ] + }, + "fine_grasp": { + "position": [ + 0.10510163754224777, + 0.025813210755586624, + 0.03401228040456772 + ], + "orientation": [ + 0.5487808585166931, + 0.2784509062767029, + -0.7873148322105408, + -0.03794863820075989 + ], + "joints": [ + 0.01693878322839737 + ] + }, + "final_grasp": { + "position": [ + 0.10510163754224777, + 0.025813210755586624, + 0.03401228040456772 + ], + "orientation": [ + 0.5487808585166931, + 0.2784509062767029, + -0.7873148322105408, + -0.03794863820075989 + ], + "joints": [ + 0.00857967883348465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10861551016569138, + 0.02715829573571682, + 0.036051586270332336 + ], + "orientation": [ + 0.5660637617111206, + 0.26285871863365173, + -0.781007707118988, + -0.022450732067227364 + ], + "joints": [ + 0.025054143741726875 + ] + }, + "fine_grasp": { + "position": [ + 0.10552533715963364, + 0.02622365392744541, + 0.034448619931936264 + ], + "orientation": [ + 0.551651656627655, + 0.2677321135997772, + -0.7894731163978577, + -0.027057914063334465 + ], + "joints": [ + 0.01627708412706852 + ] + }, + "final_grasp": { + "position": [ + 0.10552533715963364, + 0.02622365392744541, + 0.034448619931936264 + ], + "orientation": [ + 0.551651656627655, + 0.2677321135997772, + -0.7894731163978577, + -0.027057914063334465 + ], + "joints": [ + 0.007500024512410164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04920953884720802, + -0.05570509657263756, + 0.12524870038032532 + ], + "orientation": [ + 0.2321741282939911, + -0.9460557103157043, + -0.047154974192380905, + 0.22102095186710358 + ], + "joints": [ + 0.01871340163052082 + ] + }, + "fine_grasp": { + "position": [ + 0.048049867153167725, + -0.05377643182873726, + 0.12170550972223282 + ], + "orientation": [ + 0.23135226964950562, + -0.9515655636787415, + -0.04255930706858635, + 0.19795945286750793 + ], + "joints": [ + 0.011566365137696266 + ] + }, + "final_grasp": { + "position": [ + 0.048049867153167725, + -0.05377643182873726, + 0.12170550972223282 + ], + "orientation": [ + 0.23135226964950562, + -0.9515655636787415, + -0.04255930706858635, + 0.19795945286750793 + ], + "joints": [ + 0.004419328644871712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10829658061265945, + 0.02652183175086975, + 0.03653784841299057 + ], + "orientation": [ + 0.5696212649345398, + 0.2625178098678589, + -0.7784808874130249, + -0.024158617481589317 + ], + "joints": [ + 0.0250066090375185 + ] + }, + "fine_grasp": { + "position": [ + 0.10534355044364929, + 0.025622479617595673, + 0.0347864143550396 + ], + "orientation": [ + 0.5526096820831299, + 0.26881518959999084, + -0.7883870601654053, + -0.02840254083275795 + ], + "joints": [ + 0.016229549422860146 + ] + }, + "final_grasp": { + "position": [ + 0.10534355044364929, + 0.025622479617595673, + 0.0347864143550396 + ], + "orientation": [ + 0.5526096820831299, + 0.26881518959999084, + -0.7883870601654053, + -0.02840254083275795 + ], + "joints": [ + 0.00745248980820179 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.047346826642751694, + -0.1005028486251831, + 0.020134635269641876 + ], + "orientation": [ + 0.36318203806877136, + -0.17847754061222076, + -0.7890406847000122, + -0.46223291754722595 + ], + "joints": [ + 0.028099700808525085 + ] + }, + "fine_grasp": { + "position": [ + 0.0458616204559803, + -0.09733783453702927, + 0.020327532663941383 + ], + "orientation": [ + 0.35414740443229675, + -0.16066545248031616, + -0.7901949286460876, + -0.4736647605895996 + ], + "joints": [ + 0.020158551633358 + ] + }, + "final_grasp": { + "position": [ + 0.0458616204559803, + -0.09733783453702927, + 0.020327532663941383 + ], + "orientation": [ + 0.35414740443229675, + -0.16066545248031616, + -0.7901949286460876, + -0.4736647605895996 + ], + "joints": [ + 0.012217402458190918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.052631694823503494, + -0.09587150067090988, + -0.08136214315891266 + ], + "orientation": [ + 0.2578427791595459, + -0.3052535653114319, + -0.34315672516822815, + -0.8500475883483887 + ], + "joints": [ + 0.025714684277772903 + ] + }, + "fine_grasp": { + "position": [ + -0.05052665248513222, + -0.09308193624019623, + -0.07985270768404007 + ], + "orientation": [ + 0.25543147325515747, + -0.3132361173629761, + -0.3450198173522949, + -0.847112238407135 + ], + "joints": [ + 0.016456972807645798 + ] + }, + "final_grasp": { + "position": [ + -0.05052665248513222, + -0.09308193624019623, + -0.07985270768404007 + ], + "orientation": [ + 0.25543147325515747, + -0.3132361173629761, + -0.3450198173522949, + -0.847112238407135 + ], + "joints": [ + 0.007199261337518692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07585827261209488, + -0.033153094351291656, + -0.0964040458202362 + ], + "orientation": [ + 0.034829527139663696, + -0.2749699652194977, + 0.13278569281101227, + 0.9516019225120544 + ], + "joints": [ + 0.022274265065789223 + ] + }, + "fine_grasp": { + "position": [ + 0.07231305539608002, + -0.03208611160516739, + -0.09512683004140854 + ], + "orientation": [ + 0.03364920988678932, + -0.29153522849082947, + 0.13544516265392303, + 0.9463241696357727 + ], + "joints": [ + 0.013915160670876503 + ] + }, + "final_grasp": { + "position": [ + 0.07231305539608002, + -0.03208611160516739, + -0.09512683004140854 + ], + "orientation": [ + 0.03364920988678932, + -0.29153522849082947, + 0.13544516265392303, + 0.9463241696357727 + ], + "joints": [ + 0.005556056275963783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023466194048523903, + -0.029707223176956177, + -0.11244943737983704 + ], + "orientation": [ + 0.9367259740829468, + -0.20560923218727112, + 0.012993535958230495, + 0.28302016854286194 + ], + "joints": [ + 0.025580154731869698 + ] + }, + "fine_grasp": { + "position": [ + 0.022025704383850098, + -0.029716607183218002, + -0.10979347676038742 + ], + "orientation": [ + 0.9404039978981018, + -0.19768832623958588, + -0.011524722911417484, + 0.27645403146743774 + ], + "joints": [ + 0.016803095117211342 + ] + }, + "final_grasp": { + "position": [ + 0.022025704383850098, + -0.029716607183218002, + -0.10979347676038742 + ], + "orientation": [ + 0.9404039978981018, + -0.19768832623958588, + -0.011524722911417484, + 0.27645403146743774 + ], + "joints": [ + 0.008026035502552986 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08233758062124252, + -0.003031566273421049, + 0.12614426016807556 + ], + "orientation": [ + 0.1414157897233963, + 0.8056544661521912, + -0.4906231760978699, + -0.30035191774368286 + ], + "joints": [ + 0.01626359485089779 + ] + }, + "fine_grasp": { + "position": [ + 0.07994379103183746, + -0.0031897369772195816, + 0.12287278473377228 + ], + "orientation": [ + 0.14421071112155914, + 0.811873733997345, + -0.4865562617778778, + -0.2886645495891571 + ], + "joints": [ + 0.008301546797156334 + ] + }, + "final_grasp": { + "position": [ + 0.07994379103183746, + -0.0031897369772195816, + 0.12287278473377228 + ], + "orientation": [ + 0.14421071112155914, + 0.811873733997345, + -0.4865562617778778, + -0.2886645495891571 + ], + "joints": [ + 0.00033949874341487885 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12283756583929062, + -0.04888566955924034, + -0.04745988920331001 + ], + "orientation": [ + 0.782508373260498, + -0.016519125550985336, + 0.5764086246490479, + 0.2348635196685791 + ], + "joints": [ + 0.02219383791089058 + ] + }, + "fine_grasp": { + "position": [ + -0.11905133724212646, + -0.04718328267335892, + -0.04743337631225586 + ], + "orientation": [ + 0.7734737396240234, + -0.019510390236973763, + 0.5875439047813416, + 0.2369595319032669 + ], + "joints": [ + 0.01383473351597786 + ] + }, + "final_grasp": { + "position": [ + -0.11905133724212646, + -0.04718328267335892, + -0.04743337631225586 + ], + "orientation": [ + 0.7734737396240234, + -0.019510390236973763, + 0.5875439047813416, + 0.2369595319032669 + ], + "joints": [ + 0.00547562912106514 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0760750025510788, + -0.0816764235496521, + 0.007076057605445385 + ], + "orientation": [ + 0.3690638542175293, + -0.7289819121360779, + -0.14034108817577362, + -0.5591795444488525 + ], + "joints": [ + 0.026687216013669968 + ] + }, + "fine_grasp": { + "position": [ + -0.07375558465719223, + -0.07906543463468552, + 0.006540431175380945 + ], + "orientation": [ + 0.3766191601753235, + -0.7445759773254395, + -0.12367311120033264, + -0.5370938181877136 + ], + "joints": [ + 0.01707424595952034 + ] + }, + "final_grasp": { + "position": [ + -0.07375558465719223, + -0.07906543463468552, + 0.006540431175380945 + ], + "orientation": [ + 0.3766191601753235, + -0.7445759773254395, + -0.12367311120033264, + -0.5370938181877136 + ], + "joints": [ + 0.007461275905370712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023720633238554, + -0.044495705515146255, + -0.11614512652158737 + ], + "orientation": [ + 0.6993567943572998, + -0.1771458387374878, + 0.013681057840585709, + 0.6923381686210632 + ], + "joints": [ + 0.02578415349125862 + ] + }, + "fine_grasp": { + "position": [ + 0.023132750764489174, + -0.04303627088665962, + -0.11554964631795883 + ], + "orientation": [ + 0.6978641748428345, + -0.18401429057121277, + 0.02555691823363304, + 0.691716194152832 + ], + "joints": [ + 0.016986194998025894 + ] + }, + "final_grasp": { + "position": [ + 0.023132750764489174, + -0.04303627088665962, + -0.11554964631795883 + ], + "orientation": [ + 0.6978641748428345, + -0.18401429057121277, + 0.02555691823363304, + 0.691716194152832 + ], + "joints": [ + 0.008188236504793167 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038580521941185, + -0.0951438620686531, + 0.023477958515286446 + ], + "orientation": [ + 0.5410357117652893, + -0.6000968813896179, + 0.549625039100647, + 0.2123122215270996 + ], + "joints": [ + 0.02715032547712326 + ] + }, + "fine_grasp": { + "position": [ + -0.03769352659583092, + -0.09397982060909271, + 0.02576448582112789 + ], + "orientation": [ + 0.5385650396347046, + -0.6148779988288879, + 0.5405269265174866, + 0.19925707578659058 + ], + "joints": [ + 0.018373265862464905 + ] + }, + "final_grasp": { + "position": [ + -0.03769352659583092, + -0.09397982060909271, + 0.02576448582112789 + ], + "orientation": [ + 0.5385650396347046, + -0.6148779988288879, + 0.5405269265174866, + 0.19925707578659058 + ], + "joints": [ + 0.009596206247806549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03710215538740158, + 0.0037599389906972647, + -0.11862276494503021 + ], + "orientation": [ + 0.8683455586433411, + 0.126041442155838, + 0.09960975497961044, + 0.4692200720310211 + ], + "joints": [ + 0.026507025584578514 + ] + }, + "fine_grasp": { + "position": [ + -0.0355893149971962, + 0.0045790597796440125, + -0.11581096798181534 + ], + "orientation": [ + 0.8721872568130493, + 0.11688833683729172, + 0.10958202928304672, + 0.4621886610984802 + ], + "joints": [ + 0.017312010750174522 + ] + }, + "final_grasp": { + "position": [ + -0.0355893149971962, + 0.0045790597796440125, + -0.11581096798181534 + ], + "orientation": [ + 0.8721872568130493, + 0.11688833683729172, + 0.10958202928304672, + 0.4621886610984802 + ], + "joints": [ + 0.00811699591577053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11828739941120148, + -0.01761711575090885, + 0.002635425655171275 + ], + "orientation": [ + 0.74117511510849, + -0.12535004317760468, + 0.6588065028190613, + -0.030342545360326767 + ], + "joints": [ + 0.020419185981154442 + ] + }, + "fine_grasp": { + "position": [ + -0.11442270129919052, + -0.016934651881456375, + 0.0026891976594924927 + ], + "orientation": [ + 0.7400926947593689, + -0.13258278369903564, + 0.658383309841156, + -0.03487170487642288 + ], + "joints": [ + 0.010806215927004814 + ] + }, + "final_grasp": { + "position": [ + -0.11442270129919052, + -0.016934651881456375, + 0.0026891976594924927 + ], + "orientation": [ + 0.7400926947593689, + -0.13258278369903564, + 0.658383309841156, + -0.03487170487642288 + ], + "joints": [ + 0.0011932458728551865 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06372571736574173, + -0.0862664058804512, + 0.08031140267848969 + ], + "orientation": [ + 0.09816539287567139, + -0.5987350940704346, + 0.6053847074508667, + 0.5151594281196594 + ], + "joints": [ + 0.019374124705791473 + ] + }, + "fine_grasp": { + "position": [ + 0.06168805807828903, + -0.08374226838350296, + 0.07823105901479721 + ], + "orientation": [ + 0.09214995056390762, + -0.6075384020805359, + 0.6052062511444092, + 0.5060937404632568 + ], + "joints": [ + 0.010597065091133118 + ] + }, + "final_grasp": { + "position": [ + 0.06168805807828903, + -0.08374226838350296, + 0.07823105901479721 + ], + "orientation": [ + 0.09214995056390762, + -0.6075384020805359, + 0.6052062511444092, + 0.5060937404632568 + ], + "joints": [ + 0.001820005476474762 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06659728288650513, + 0.005865884944796562, + -0.10461480915546417 + ], + "orientation": [ + 0.9284476041793823, + -0.06377799808979034, + -0.2874857485294342, + 0.22642728686332703 + ], + "joints": [ + 0.028030231595039368 + ] + }, + "fine_grasp": { + "position": [ + 0.06501466035842896, + 0.006268625147640705, + -0.10434684157371521 + ], + "orientation": [ + 0.9278566241264343, + -0.05682310089468956, + -0.29174932837486267, + 0.22524568438529968 + ], + "joints": [ + 0.017999306321144104 + ] + }, + "final_grasp": { + "position": [ + 0.06501466035842896, + 0.006268625147640705, + -0.10434684157371521 + ], + "orientation": [ + 0.9278566241264343, + -0.05682310089468956, + -0.29174932837486267, + 0.22524568438529968 + ], + "joints": [ + 0.00796838104724884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0672793984413147, + 0.0067728422582149506, + -0.10517276078462601 + ], + "orientation": [ + 0.9304183125495911, + -0.060449082404375076, + -0.28398099541664124, + 0.22365683317184448 + ], + "joints": [ + 0.027567122131586075 + ] + }, + "fine_grasp": { + "position": [ + 0.065405935049057, + 0.007062389049679041, + -0.10470162332057953 + ], + "orientation": [ + 0.9296877384185791, + -0.05432802066206932, + -0.28807833790779114, + 0.22302457690238953 + ], + "joints": [ + 0.017954152077436447 + ] + }, + "final_grasp": { + "position": [ + 0.065405935049057, + 0.007062389049679041, + -0.10470162332057953 + ], + "orientation": [ + 0.9296877384185791, + -0.05432802066206932, + -0.28807833790779114, + 0.22302457690238953 + ], + "joints": [ + 0.00834118202328682 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07555306702852249, + -0.022297419607639313, + 0.09542250633239746 + ], + "orientation": [ + 0.04412338137626648, + 0.8593733310699463, + -0.4105690121650696, + -0.3016020655632019 + ], + "joints": [ + 0.02621639147400856 + ] + }, + "fine_grasp": { + "position": [ + 0.07344016432762146, + -0.021053621545433998, + 0.09199245274066925 + ], + "orientation": [ + 0.04762308672070503, + 0.8560113906860352, + -0.4148843586444855, + -0.3047090768814087 + ], + "joints": [ + 0.017439331859350204 + ] + }, + "final_grasp": { + "position": [ + 0.07344016432762146, + -0.021053621545433998, + 0.09199245274066925 + ], + "orientation": [ + 0.04762308672070503, + 0.8560113906860352, + -0.4148843586444855, + -0.3047090768814087 + ], + "joints": [ + 0.008662272244691849 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12249437719583511, + 0.04075486212968826, + 0.03249663487076759 + ], + "orientation": [ + 0.0779758170247078, + -0.6411250233650208, + 0.33363077044487, + -0.6867086887359619 + ], + "joints": [ + 0.017860975116491318 + ] + }, + "fine_grasp": { + "position": [ + -0.11839139461517334, + 0.03976137191057205, + 0.03052056021988392 + ], + "orientation": [ + 0.0864562913775444, + -0.6579248309135437, + 0.3383932411670685, + -0.6671957969665527 + ], + "joints": [ + 0.013639625161886215 + ] + }, + "final_grasp": { + "position": [ + -0.11839139461517334, + 0.03976137191057205, + 0.03052056021988392 + ], + "orientation": [ + 0.0864562913775444, + -0.6579248309135437, + 0.3383932411670685, + -0.6671957969665527 + ], + "joints": [ + 0.009418275207281113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01800558529794216, + -0.04609976336359978, + -0.11909306794404984 + ], + "orientation": [ + 0.9775635004043579, + -0.20613379776477814, + -0.003470412455499172, + -0.0432007722556591 + ], + "joints": [ + 0.025469718500971794 + ] + }, + "fine_grasp": { + "position": [ + -0.01603265292942524, + -0.04420597478747368, + -0.1160803958773613 + ], + "orientation": [ + 0.9769726991653442, + -0.20865684747695923, + 0.01221298985183239, + -0.042867764830589294 + ], + "joints": [ + 0.01669265888631344 + ] + }, + "final_grasp": { + "position": [ + -0.01603265292942524, + -0.04420597478747368, + -0.1160803958773613 + ], + "orientation": [ + 0.9769726991653442, + -0.20865684747695923, + 0.01221298985183239, + -0.042867764830589294 + ], + "joints": [ + 0.007915599271655083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04369988664984703, + 0.10243154317140579, + 0.03133612126111984 + ], + "orientation": [ + 0.24208465218544006, + 0.13655027747154236, + 0.8339482545852661, + -0.476738303899765 + ], + "joints": [ + 0.027146153151988983 + ] + }, + "fine_grasp": { + "position": [ + -0.04157896712422371, + 0.10011210292577744, + 0.031068718060851097 + ], + "orientation": [ + 0.2433679848909378, + 0.11628817021846771, + 0.8323264718055725, + -0.48423317074775696 + ], + "joints": [ + 0.019163206219673157 + ] + }, + "final_grasp": { + "position": [ + -0.04157896712422371, + 0.10011210292577744, + 0.031068718060851097 + ], + "orientation": [ + 0.2433679848909378, + 0.11628817021846771, + 0.8323264718055725, + -0.48423317074775696 + ], + "joints": [ + 0.01118025928735733 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09637221693992615, + 0.016493860632181168, + 0.089048370718956 + ], + "orientation": [ + 0.10284961014986038, + -0.7855981588363647, + 0.3807198107242584, + -0.47677040100097656 + ], + "joints": [ + 0.01778118871152401 + ] + }, + "fine_grasp": { + "position": [ + -0.09379854798316956, + 0.01663464494049549, + 0.08624956011772156 + ], + "orientation": [ + 0.10669418424367905, + -0.7977529168128967, + 0.3773513734340668, + -0.4580530524253845 + ], + "joints": [ + 0.009798241779208183 + ] + }, + "final_grasp": { + "position": [ + -0.09379854798316956, + 0.01663464494049549, + 0.08624956011772156 + ], + "orientation": [ + 0.10669418424367905, + -0.7977529168128967, + 0.3773513734340668, + -0.4580530524253845 + ], + "joints": [ + 0.0018152948468923569 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06593947112560272, + 0.11172760277986526, + 0.03172518312931061 + ], + "orientation": [ + 0.47776541113853455, + 0.12903496623039246, + 0.7107016444206238, + -0.49999332427978516 + ], + "joints": [ + 0.017084166407585144 + ] + }, + "fine_grasp": { + "position": [ + -0.06434517353773117, + 0.10812458395957947, + 0.0304530318826437 + ], + "orientation": [ + 0.4638141095638275, + 0.1377718448638916, + 0.7200791835784912, + -0.4973745346069336 + ], + "joints": [ + 0.01075214147567749 + ] + }, + "final_grasp": { + "position": [ + -0.06434517353773117, + 0.10812458395957947, + 0.0304530318826437 + ], + "orientation": [ + 0.4638141095638275, + 0.1377718448638916, + 0.7200791835784912, + -0.4973745346069336 + ], + "joints": [ + 0.004420116543769836 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07791826874017715, + 0.039712678641080856, + 0.12305986881256104 + ], + "orientation": [ + 0.25771382451057434, + 0.8616737723350525, + -0.3774453401565552, + -0.22053737938404083 + ], + "joints": [ + 0.01606101728975773 + ] + }, + "fine_grasp": { + "position": [ + 0.07582951337099075, + 0.038445886224508286, + 0.12003901600837708 + ], + "orientation": [ + 0.2572920024394989, + 0.8647385239601135, + -0.37385061383247375, + -0.2150905728340149 + ], + "joints": [ + 0.007660117000341415 + ] + }, + "final_grasp": { + "position": [ + 0.07582951337099075, + 0.038445886224508286, + 0.12003901600837708 + ], + "orientation": [ + 0.2572920024394989, + 0.8647385239601135, + -0.37385061383247375, + -0.2150905728340149 + ], + "joints": [ + -0.0007407832890748978 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08962253481149673, + 0.0873924270272255, + 0.03159419447183609 + ], + "orientation": [ + 0.4357469081878662, + 0.7258622646331787, + 0.031177081167697906, + -0.5312970280647278 + ], + "joints": [ + 0.019532974809408188 + ] + }, + "fine_grasp": { + "position": [ + 0.0870814174413681, + 0.08438963443040848, + 0.030158542096614838 + ], + "orientation": [ + 0.4360625147819519, + 0.7362131476402283, + 0.03702005371451378, + -0.5162066221237183 + ], + "joints": [ + 0.011988881975412369 + ] + }, + "final_grasp": { + "position": [ + 0.0870814174413681, + 0.08438963443040848, + 0.030158542096614838 + ], + "orientation": [ + 0.4360625147819519, + 0.7362131476402283, + 0.03702005371451378, + -0.5162066221237183 + ], + "joints": [ + 0.00444478914141655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05877263844013214, + -0.06899920850992203, + 0.11528686434030533 + ], + "orientation": [ + 0.02935582958161831, + 0.5859408974647522, + -0.7299860119819641, + -0.3506162464618683 + ], + "joints": [ + 0.019694270566105843 + ] + }, + "fine_grasp": { + "position": [ + 0.056889116764068604, + -0.06727490574121475, + 0.1123657152056694 + ], + "orientation": [ + 0.03257422894239426, + 0.5887901782989502, + -0.7288916110992432, + -0.3478246331214905 + ], + "joints": [ + 0.010081300511956215 + ] + }, + "final_grasp": { + "position": [ + 0.056889116764068604, + -0.06727490574121475, + 0.1123657152056694 + ], + "orientation": [ + 0.03257422894239426, + 0.5887901782989502, + -0.7288916110992432, + -0.3478246331214905 + ], + "joints": [ + 0.0004683304578065872 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08186619728803635, + -0.002181005897000432, + 0.11975055187940598 + ], + "orientation": [ + 0.15731146931648254, + 0.8015820384025574, + -0.4927101135253906, + -0.2999266982078552 + ], + "joints": [ + 0.020396029576659203 + ] + }, + "fine_grasp": { + "position": [ + 0.07939153909683228, + -0.0023936873767524958, + 0.11671850085258484 + ], + "orientation": [ + 0.16140931844711304, + 0.8067794442176819, + -0.4892226755619049, + -0.2893357574939728 + ], + "joints": [ + 0.012392183765769005 + ] + }, + "final_grasp": { + "position": [ + 0.07939153909683228, + -0.0023936873767524958, + 0.11671850085258484 + ], + "orientation": [ + 0.16140931844711304, + 0.8067794442176819, + -0.4892226755619049, + -0.2893357574939728 + ], + "joints": [ + 0.004388337954878807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046401508152484894, + -0.07627158612012863, + 0.11690165102481842 + ], + "orientation": [ + 0.03689408674836159, + 0.360971063375473, + -0.8611192107200623, + -0.3561071455478668 + ], + "joints": [ + 0.01882239617407322 + ] + }, + "fine_grasp": { + "position": [ + 0.04486662894487381, + -0.07416509836912155, + 0.11409833282232285 + ], + "orientation": [ + 0.045590318739414215, + 0.3669998347759247, + -0.8601630926132202, + -0.35121533274650574 + ], + "joints": [ + 0.010400595143437386 + ] + }, + "final_grasp": { + "position": [ + 0.04486662894487381, + -0.07416509836912155, + 0.11409833282232285 + ], + "orientation": [ + 0.045590318739414215, + 0.3669998347759247, + -0.8601630926132202, + -0.35121533274650574 + ], + "joints": [ + 0.001978794112801552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004374372307211161, + 0.09706082195043564, + 0.1036369800567627 + ], + "orientation": [ + 0.18712632358074188, + 0.29825910925865173, + 0.8502281308174133, + -0.3913276493549347 + ], + "joints": [ + 0.018527254462242126 + ] + }, + "fine_grasp": { + "position": [ + -0.0045041274279356, + 0.09418521821498871, + 0.10133201628923416 + ], + "orientation": [ + 0.17913323640823364, + 0.3077273666858673, + 0.8513231873512268, + -0.38531020283699036 + ], + "joints": [ + 0.010523408651351929 + ] + }, + "final_grasp": { + "position": [ + -0.0045041274279356, + 0.09418521821498871, + 0.10133201628923416 + ], + "orientation": [ + 0.17913323640823364, + 0.3077273666858673, + 0.8513231873512268, + -0.38531020283699036 + ], + "joints": [ + 0.002519562840461731 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08135886490345001, + 0.03183310106396675, + 0.12048590183258057 + ], + "orientation": [ + 0.22141684591770172, + -0.5314045548439026, + -0.7734382152557373, + 0.2652870714664459 + ], + "joints": [ + 0.017508992925286293 + ] + }, + "fine_grasp": { + "position": [ + 0.07895263284444809, + 0.03084321692585945, + 0.11755357682704926 + ], + "orientation": [ + 0.21243952214717865, + -0.5299107432365417, + -0.7757543921470642, + 0.26882925629615784 + ], + "joints": [ + 0.008272181265056133 + ] + }, + "final_grasp": { + "position": [ + 0.07895263284444809, + 0.03084321692585945, + 0.11755357682704926 + ], + "orientation": [ + 0.21243952214717865, + -0.5299107432365417, + -0.7757543921470642, + 0.26882925629615784 + ], + "joints": [ + -0.0009646303951740265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.058127954602241516, + -0.06965991109609604, + 0.11463769525289536 + ], + "orientation": [ + 0.06348895281553268, + 0.5794695019721985, + -0.7427600622177124, + -0.32938095927238464 + ], + "joints": [ + 0.019682081416249275 + ] + }, + "fine_grasp": { + "position": [ + 0.05651131272315979, + -0.06698324531316757, + 0.11168146133422852 + ], + "orientation": [ + 0.04272083193063736, + 0.57094407081604, + -0.7458231449127197, + -0.3405079245567322 + ], + "joints": [ + 0.011322977021336555 + ] + }, + "final_grasp": { + "position": [ + 0.05651131272315979, + -0.06698324531316757, + 0.11168146133422852 + ], + "orientation": [ + 0.04272083193063736, + 0.57094407081604, + -0.7458231449127197, + -0.3405079245567322 + ], + "joints": [ + 0.0029638726264238358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003892370965331793, + 0.09500984847545624, + 0.10322345048189163 + ], + "orientation": [ + 0.18879373371601105, + 0.292719304561615, + 0.8522342443466187, + -0.3903449773788452 + ], + "joints": [ + 0.01841951347887516 + ] + }, + "fine_grasp": { + "position": [ + -0.004017089027911425, + 0.09218397736549377, + 0.10070284456014633 + ], + "orientation": [ + 0.17589525878429413, + 0.3017774224281311, + 0.8549042344093323, + -0.38357532024383545 + ], + "joints": [ + 0.010812724009156227 + ] + }, + "final_grasp": { + "position": [ + -0.004017089027911425, + 0.09218397736549377, + 0.10070284456014633 + ], + "orientation": [ + 0.17589525878429413, + 0.3017774224281311, + 0.8549042344093323, + -0.38357532024383545 + ], + "joints": [ + 0.003205934539437294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08086676150560379, + 0.032401420176029205, + 0.11962588131427765 + ], + "orientation": [ + 0.22599223256111145, + -0.5320097208023071, + -0.7722866535186768, + 0.26356491446495056 + ], + "joints": [ + 0.017316553741693497 + ] + }, + "fine_grasp": { + "position": [ + 0.07844630628824234, + 0.03140529245138168, + 0.11670275032520294 + ], + "orientation": [ + 0.21592594683170319, + -0.5296374559402466, + -0.774644672870636, + 0.26978832483291626 + ], + "joints": [ + 0.00851859524846077 + ] + }, + "final_grasp": { + "position": [ + 0.07844630628824234, + 0.03140529245138168, + 0.11670275032520294 + ], + "orientation": [ + 0.21592594683170319, + -0.5296374559402466, + -0.774644672870636, + 0.26978832483291626 + ], + "joints": [ + -0.0002793632447719574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08209588378667831, + 0.03146716579794884, + 0.12031161785125732 + ], + "orientation": [ + 0.21687725186347961, + -0.5321601033210754, + -0.7726699113845825, + 0.26972395181655884 + ], + "joints": [ + 0.017494505271315575 + ] + }, + "fine_grasp": { + "position": [ + 0.07954595983028412, + 0.030420351773500443, + 0.11710087954998016 + ], + "orientation": [ + 0.2065771073102951, + -0.5311884880065918, + -0.774929940700531, + 0.2732182741165161 + ], + "joints": [ + 0.009553356096148491 + ] + }, + "final_grasp": { + "position": [ + 0.07954595983028412, + 0.030420351773500443, + 0.11710087954998016 + ], + "orientation": [ + 0.2065771073102951, + -0.5311884880065918, + -0.774929940700531, + 0.2732182741165161 + ], + "joints": [ + 0.0016122069209814072 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05470113828778267, + 0.10790185630321503, + 0.03961797431111336 + ], + "orientation": [ + 0.17629574239253998, + 0.4811231791973114, + -0.5732282400131226, + 0.639413595199585 + ], + "joints": [ + 0.019352953881025314 + ] + }, + "fine_grasp": { + "position": [ + -0.052623629570007324, + 0.104823999106884, + 0.037552569061517715 + ], + "orientation": [ + 0.16099493205547333, + 0.49418291449546814, + -0.5818395018577576, + 0.6255610585212708 + ], + "joints": [ + 0.011829759925603867 + ] + }, + "final_grasp": { + "position": [ + -0.052623629570007324, + 0.104823999106884, + 0.037552569061517715 + ], + "orientation": [ + 0.16099493205547333, + 0.49418291449546814, + -0.5818395018577576, + 0.6255610585212708 + ], + "joints": [ + 0.004306565970182419 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004544262308627367, + 0.07819812744855881, + 0.12128371000289917 + ], + "orientation": [ + 0.024246307089924812, + 0.06864666938781738, + -0.9461203813552856, + 0.3155249357223511 + ], + "joints": [ + 0.021325554698705673 + ] + }, + "fine_grasp": { + "position": [ + -0.004202402662485838, + 0.07577691227197647, + 0.11824948340654373 + ], + "orientation": [ + 0.009480833075940609, + 0.07171101123094559, + -0.9466274380683899, + 0.314108669757843 + ], + "joints": [ + 0.01292465254664421 + ] + }, + "final_grasp": { + "position": [ + -0.004202402662485838, + 0.07577691227197647, + 0.11824948340654373 + ], + "orientation": [ + 0.009480833075940609, + 0.07171101123094559, + -0.9466274380683899, + 0.314108669757843 + ], + "joints": [ + 0.004523750394582748 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.041741032153367996, + 0.08986392617225647, + 0.09478835016489029 + ], + "orientation": [ + 0.10572421550750732, + 0.4971928894519806, + 0.7319177985191345, + -0.4537818729877472 + ], + "joints": [ + 0.018855735659599304 + ] + }, + "fine_grasp": { + "position": [ + 0.040250543504953384, + 0.08731574565172195, + 0.0922531932592392 + ], + "orientation": [ + 0.09333730489015579, + 0.5069860219955444, + 0.7346070408821106, + -0.4411415159702301 + ], + "joints": [ + 0.011687800288200378 + ] + }, + "final_grasp": { + "position": [ + 0.040250543504953384, + 0.08731574565172195, + 0.0922531932592392 + ], + "orientation": [ + 0.09333730489015579, + 0.5069860219955444, + 0.7346070408821106, + -0.4411415159702301 + ], + "joints": [ + 0.004519864916801453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046321671456098557, + -0.10268495231866837, + 0.058893680572509766 + ], + "orientation": [ + 0.38684573769569397, + -0.19141796231269836, + -0.7809147238731384, + -0.45153266191482544 + ], + "joints": [ + 0.020329046994447708 + ] + }, + "fine_grasp": { + "position": [ + 0.04516506567597389, + -0.09936454147100449, + 0.05657806247472763 + ], + "orientation": [ + 0.36433836817741394, + -0.1964266449213028, + -0.7951944470405579, + -0.4431025981903076 + ], + "joints": [ + 0.012387897819280624 + ] + }, + "final_grasp": { + "position": [ + 0.04516506567597389, + -0.09936454147100449, + 0.05657806247472763 + ], + "orientation": [ + 0.36433836817741394, + -0.1964266449213028, + -0.7951944470405579, + -0.4431025981903076 + ], + "joints": [ + 0.004446748644113541 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07980819046497345, + 0.12123673409223557, + -0.003950268961489201 + ], + "orientation": [ + 0.466812402009964, + 0.7360684275627136, + -0.15939143300056458, + 0.46355554461479187 + ], + "joints": [ + 0.0210286695510149 + ] + }, + "fine_grasp": { + "position": [ + -0.07758062332868576, + 0.11815773695707321, + -0.004028789699077606 + ], + "orientation": [ + 0.46780234575271606, + 0.7340729236602783, + -0.15703636407852173, + 0.4665163457393646 + ], + "joints": [ + 0.012585969641804695 + ] + }, + "final_grasp": { + "position": [ + -0.07758062332868576, + 0.11815773695707321, + -0.004028789699077606 + ], + "orientation": [ + 0.46780234575271606, + 0.7340729236602783, + -0.15703636407852173, + 0.4665163457393646 + ], + "joints": [ + 0.00414326973259449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04597805440425873, + -0.10203491151332855, + 0.059482768177986145 + ], + "orientation": [ + 0.3846883177757263, + -0.18878760933876038, + -0.782974123954773, + -0.45091649889945984 + ], + "joints": [ + 0.02002844773232937 + ] + }, + "fine_grasp": { + "position": [ + 0.044874344021081924, + -0.09872446209192276, + 0.057083990424871445 + ], + "orientation": [ + 0.3613259792327881, + -0.19416166841983795, + -0.7976097464561462, + -0.4422255754470825 + ], + "joints": [ + 0.01250525377690792 + ] + }, + "final_grasp": { + "position": [ + 0.044874344021081924, + -0.09872446209192276, + 0.057083990424871445 + ], + "orientation": [ + 0.3613259792327881, + -0.19416166841983795, + -0.7976097464561462, + -0.4422255754470825 + ], + "joints": [ + 0.004982059821486473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025187132880091667, + 0.08314226567745209, + 0.11585704982280731 + ], + "orientation": [ + 0.32800495624542236, + 0.9308684468269348, + 0.07631999999284744, + -0.14167529344558716 + ], + "joints": [ + 0.02044430561363697 + ] + }, + "fine_grasp": { + "position": [ + 0.02477608621120453, + 0.08064892143011093, + 0.11287161707878113 + ], + "orientation": [ + 0.3257621228694916, + 0.9329185485839844, + 0.08233090490102768, + -0.12947437167167664 + ], + "joints": [ + 0.012419560924172401 + ] + }, + "final_grasp": { + "position": [ + 0.02477608621120453, + 0.08064892143011093, + 0.11287161707878113 + ], + "orientation": [ + 0.3257621228694916, + 0.9329185485839844, + 0.08233090490102768, + -0.12947437167167664 + ], + "joints": [ + 0.004394816234707832 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07778067886829376, + -0.07162097841501236, + 0.056896135210990906 + ], + "orientation": [ + 0.4604088068008423, + 0.028582336381077766, + -0.797166645526886, + -0.3895283341407776 + ], + "joints": [ + 0.0201240424066782 + ] + }, + "fine_grasp": { + "position": [ + 0.0763934776186943, + -0.06907600164413452, + 0.05419797822833061 + ], + "orientation": [ + 0.44003990292549133, + 0.018551085144281387, + -0.8108954429626465, + -0.38531720638275146 + ], + "joints": [ + 0.012224690988659859 + ] + }, + "final_grasp": { + "position": [ + 0.0763934776186943, + -0.06907600164413452, + 0.05419797822833061 + ], + "orientation": [ + 0.44003990292549133, + 0.018551085144281387, + -0.8108954429626465, + -0.38531720638275146 + ], + "joints": [ + 0.004325339570641518 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07787812501192093, + -0.0718071237206459, + 0.0568518228828907 + ], + "orientation": [ + 0.4605468213558197, + 0.02768973633646965, + -0.7971723079681396, + -0.38941770792007446 + ], + "joints": [ + 0.020222630351781845 + ] + }, + "fine_grasp": { + "position": [ + 0.07643366605043411, + -0.06924980878829956, + 0.05422358587384224 + ], + "orientation": [ + 0.43968090415000916, + 0.0174360703676939, + -0.8111297488212585, + -0.3852861225605011 + ], + "joints": [ + 0.012323278933763504 + ] + }, + "final_grasp": { + "position": [ + 0.07643366605043411, + -0.06924980878829956, + 0.05422358587384224 + ], + "orientation": [ + 0.43968090415000916, + 0.0174360703676939, + -0.8111297488212585, + -0.3852861225605011 + ], + "joints": [ + 0.004423927515745163 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08741842210292816, + -0.0894913449883461, + 0.03938446566462517 + ], + "orientation": [ + 0.6554530262947083, + -0.4943440556526184, + -0.5662636756896973, + -0.07314913719892502 + ], + "joints": [ + 0.02056610770523548 + ] + }, + "fine_grasp": { + "position": [ + 0.08441460877656937, + -0.08717228472232819, + 0.03732025995850563 + ], + "orientation": [ + 0.6371821165084839, + -0.5045162439346313, + -0.5796886086463928, + -0.05850937217473984 + ], + "joints": [ + 0.014254981651902199 + ] + }, + "final_grasp": { + "position": [ + 0.08441460877656937, + -0.08717228472232819, + 0.03732025995850563 + ], + "orientation": [ + 0.6371821165084839, + -0.5045162439346313, + -0.5796886086463928, + -0.05850937217473984 + ], + "joints": [ + 0.007943855598568916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07794108986854553, + 0.05055263265967369, + 0.10743757337331772 + ], + "orientation": [ + 0.3826615810394287, + 0.7081477642059326, + -0.5871198177337646, + -0.08594932407140732 + ], + "joints": [ + 0.02213858813047409 + ] + }, + "fine_grasp": { + "position": [ + 0.07536628842353821, + 0.049498461186885834, + 0.1049521416425705 + ], + "orientation": [ + 0.3755604922771454, + 0.7041826844215393, + -0.5942065119743347, + -0.09999842941761017 + ], + "joints": [ + 0.013319730758666992 + ] + }, + "final_grasp": { + "position": [ + 0.07536628842353821, + 0.049498461186885834, + 0.1049521416425705 + ], + "orientation": [ + 0.3755604922771454, + 0.7041826844215393, + -0.5942065119743347, + -0.09999842941761017 + ], + "joints": [ + 0.004500873386859894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.003487169276922941, + 0.09491191059350967, + 0.10130514949560165 + ], + "orientation": [ + 0.18164588510990143, + 0.29420217871665955, + 0.8525352478027344, + -0.39196115732192993 + ], + "joints": [ + 0.02014782838523388 + ] + }, + "fine_grasp": { + "position": [ + -0.003811580128967762, + 0.09218905121088028, + 0.0983622670173645 + ], + "orientation": [ + 0.16374056041240692, + 0.30461764335632324, + 0.8575131893157959, + -0.3808780312538147 + ], + "joints": [ + 0.012958994135260582 + ] + }, + "final_grasp": { + "position": [ + -0.003811580128967762, + 0.09218905121088028, + 0.0983622670173645 + ], + "orientation": [ + 0.16374056041240692, + 0.30461764335632324, + 0.8575131893157959, + -0.3808780312538147 + ], + "joints": [ + 0.005770159885287285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06419829279184341, + -0.05922633782029152, + -0.1164037212729454 + ], + "orientation": [ + 0.5245986580848694, + 0.14147372543811798, + 0.3099749684333801, + 0.7801902294158936 + ], + "joints": [ + 0.02241344191133976 + ] + }, + "fine_grasp": { + "position": [ + -0.06290732324123383, + -0.05690779909491539, + -0.11364299058914185 + ], + "orientation": [ + 0.5234121084213257, + 0.1336483210325241, + 0.31690719723701477, + 0.7795817255973816 + ], + "joints": [ + 0.01436779834330082 + ] + }, + "final_grasp": { + "position": [ + -0.06290732324123383, + -0.05690779909491539, + -0.11364299058914185 + ], + "orientation": [ + 0.5234121084213257, + 0.1336483210325241, + 0.31690719723701477, + 0.7795817255973816 + ], + "joints": [ + 0.006322154775261879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07611203193664551, + 0.1173597052693367, + -0.020787449553608894 + ], + "orientation": [ + 0.35748347640037537, + 0.5343752503395081, + 0.30956512689590454, + -0.7005839347839355 + ], + "joints": [ + 0.012588470242917538 + ] + }, + "fine_grasp": { + "position": [ + 0.07355988025665283, + 0.11361830681562424, + -0.021220620721578598 + ], + "orientation": [ + 0.3526398837566376, + 0.5450596809387207, + 0.3148587942123413, + -0.6924008727073669 + ], + "joints": [ + 0.006319141946732998 + ] + }, + "final_grasp": { + "position": [ + 0.07355988025665283, + 0.11361830681562424, + -0.021220620721578598 + ], + "orientation": [ + 0.3526398837566376, + 0.5450596809387207, + 0.3148587942123413, + -0.6924008727073669 + ], + "joints": [ + 4.98136505484581e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04501180350780487, + -0.0879942998290062, + 0.09895668178796768 + ], + "orientation": [ + 0.04611459746956825, + -0.42822185158729553, + -0.7909808158874512, + -0.434567391872406 + ], + "joints": [ + 0.021037286147475243 + ] + }, + "fine_grasp": { + "position": [ + -0.04309585317969322, + -0.08594835549592972, + 0.09606844186782837 + ], + "orientation": [ + 0.030725475400686264, + -0.43961673974990845, + -0.7923566699028015, + -0.42185789346694946 + ], + "joints": [ + 0.01472616009414196 + ] + }, + "final_grasp": { + "position": [ + -0.04309585317969322, + -0.08594835549592972, + 0.09606844186782837 + ], + "orientation": [ + 0.030725475400686264, + -0.43961673974990845, + -0.7923566699028015, + -0.42185789346694946 + ], + "joints": [ + 0.008415034040808678 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0454806387424469, + -0.08854572474956512, + 0.09900617599487305 + ], + "orientation": [ + 0.04201681911945343, + -0.4332917034626007, + -0.79115891456604, + -0.42960506677627563 + ], + "joints": [ + 0.023005496710538864 + ] + }, + "fine_grasp": { + "position": [ + -0.0436701700091362, + -0.08639189600944519, + 0.09640494734048843 + ], + "orientation": [ + 0.027941353619098663, + -0.44343626499176025, + -0.7906518578529358, + -0.42125195264816284 + ], + "joints": [ + 0.015022549778223038 + ] + }, + "final_grasp": { + "position": [ + -0.0436701700091362, + -0.08639189600944519, + 0.09640494734048843 + ], + "orientation": [ + 0.027941353619098663, + -0.44343626499176025, + -0.7906518578529358, + -0.42125195264816284 + ], + "joints": [ + 0.007039602845907211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10687940567731857, + 0.016414741054177284, + 0.08810645341873169 + ], + "orientation": [ + 0.45895060896873474, + 0.47385573387145996, + -0.7334949374198914, + -0.16373790800571442 + ], + "joints": [ + 0.02023925445973873 + ] + }, + "fine_grasp": { + "position": [ + 0.10375496000051498, + 0.016580205410718918, + 0.08536984771490097 + ], + "orientation": [ + 0.44025248289108276, + 0.4714388847351074, + -0.7447477579116821, + -0.1710960417985916 + ], + "joints": [ + 0.015140196308493614 + ] + }, + "final_grasp": { + "position": [ + 0.10375496000051498, + 0.016580205410718918, + 0.08536984771490097 + ], + "orientation": [ + 0.44025248289108276, + 0.4714388847351074, + -0.7447477579116821, + -0.1710960417985916 + ], + "joints": [ + 0.010041138157248497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016991226002573967, + 0.0917518362402916, + 0.0767216607928276 + ], + "orientation": [ + 0.17613621056079865, + 0.33337652683258057, + 0.7961148023605347, + -0.47332581877708435 + ], + "joints": [ + 0.01826327107846737 + ] + }, + "fine_grasp": { + "position": [ + 0.01576564833521843, + 0.09000493586063385, + 0.07350879907608032 + ], + "orientation": [ + 0.15691018104553223, + 0.3435142934322357, + 0.8042824268341064, + -0.4588104784488678 + ], + "joints": [ + 0.01360306702554226 + ] + }, + "final_grasp": { + "position": [ + 0.01576564833521843, + 0.09000493586063385, + 0.07350879907608032 + ], + "orientation": [ + 0.15691018104553223, + 0.3435142934322357, + 0.8042824268341064, + -0.4588104784488678 + ], + "joints": [ + 0.00894286297261715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09815244376659393, + -0.013891876675188541, + 0.10939667373895645 + ], + "orientation": [ + 0.23560409247875214, + -0.7856048345565796, + 0.4718635082244873, + -0.32351312041282654 + ], + "joints": [ + 0.017494505271315575 + ] + }, + "fine_grasp": { + "position": [ + -0.09526138752698898, + -0.013226537965238094, + 0.10598929971456528 + ], + "orientation": [ + 0.2372729331254959, + -0.7936869859695435, + 0.47039613127708435, + -0.3041217029094696 + ], + "joints": [ + 0.01323135755956173 + ] + }, + "final_grasp": { + "position": [ + -0.09526138752698898, + -0.013226537965238094, + 0.10598929971456528 + ], + "orientation": [ + 0.2372729331254959, + -0.7936869859695435, + 0.47039613127708435, + -0.3041217029094696 + ], + "joints": [ + 0.008968209847807884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0981849655508995, + -0.014031249098479748, + 0.10924918204545975 + ], + "orientation": [ + 0.24010337889194489, + -0.7797267436981201, + 0.48194676637649536, + -0.3195372223854065 + ], + "joints": [ + 0.017494505271315575 + ] + }, + "fine_grasp": { + "position": [ + -0.09525508433580399, + -0.013347887434065342, + 0.10581410676240921 + ], + "orientation": [ + 0.24172310531139374, + -0.7881345152854919, + 0.47973087430000305, + -0.3004531264305115 + ], + "joints": [ + 0.013649312779307365 + ] + }, + "final_grasp": { + "position": [ + -0.09525508433580399, + -0.013347887434065342, + 0.10581410676240921 + ], + "orientation": [ + 0.24172310531139374, + -0.7881345152854919, + 0.47973087430000305, + -0.3004531264305115 + ], + "joints": [ + 0.009804120287299156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12329134345054626, + 0.06361033022403717, + 0.04169219359755516 + ], + "orientation": [ + 0.593724250793457, + 0.15475371479988098, + 0.7700017094612122, + -0.17504337430000305 + ], + "joints": [ + 0.013172855600714684 + ] + }, + "fine_grasp": { + "position": [ + -0.11937737464904785, + 0.06169140338897705, + 0.04086972028017044 + ], + "orientation": [ + 0.5926828384399414, + 0.1536194235086441, + 0.7713764905929565, + -0.173512265086174 + ], + "joints": [ + 0.006485572084784508 + ] + }, + "final_grasp": { + "position": [ + -0.11937737464904785, + 0.06169140338897705, + 0.04086972028017044 + ], + "orientation": [ + 0.5926828384399414, + 0.1536194235086441, + 0.7713764905929565, + -0.173512265086174 + ], + "joints": [ + -0.00020171143114566803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05097557604312897, + -0.1180536225438118, + 0.00580917252227664 + ], + "orientation": [ + 0.16532768309116364, + -0.33736202120780945, + 0.555887758731842, + 0.7415134906768799 + ], + "joints": [ + 0.016521744430065155 + ] + }, + "fine_grasp": { + "position": [ + 0.048599790781736374, + -0.11414482444524765, + 0.004660491365939379 + ], + "orientation": [ + 0.14910897612571716, + -0.35403865575790405, + 0.5682440996170044, + 0.7276824712753296 + ], + "joints": [ + 0.012760147452354431 + ] + }, + "final_grasp": { + "position": [ + 0.048599790781736374, + -0.11414482444524765, + 0.004660491365939379 + ], + "orientation": [ + 0.14910897612571716, + -0.35403865575790405, + 0.5682440996170044, + 0.7276824712753296 + ], + "joints": [ + 0.008998550474643707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011026185005903244, + 0.03110768273472786, + -0.13738316297531128 + ], + "orientation": [ + 0.001385156181640923, + -0.1749851405620575, + -0.1376570612192154, + 0.9748994708061218 + ], + "joints": [ + 0.017768220975995064 + ] + }, + "fine_grasp": { + "position": [ + 0.012633630074560642, + 0.03065732680261135, + -0.13327832520008087 + ], + "orientation": [ + 0.0004867905518040061, + 0.15772108733654022, + 0.13377341628074646, + -0.9783805012702942 + ], + "joints": [ + 0.011080937460064888 + ] + }, + "final_grasp": { + "position": [ + 0.012633630074560642, + 0.03065732680261135, + -0.13327832520008087 + ], + "orientation": [ + 0.0004867905518040061, + 0.15772108733654022, + 0.13377341628074646, + -0.9783805012702942 + ], + "joints": [ + 0.004393653944134712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03651699796319008, + -0.07904732972383499, + 0.08580592274665833 + ], + "orientation": [ + 0.3649364411830902, + -0.6414778232574463, + -0.656464159488678, + -0.1561487764120102 + ], + "joints": [ + 0.025469718500971794 + ] + }, + "fine_grasp": { + "position": [ + 0.03581463545560837, + -0.0766909122467041, + 0.08397440612316132 + ], + "orientation": [ + 0.3688170611858368, + -0.6479865908622742, + -0.6497756838798523, + -0.14791500568389893 + ], + "joints": [ + 0.01462378166615963 + ] + }, + "final_grasp": { + "position": [ + 0.03581463545560837, + -0.0766909122467041, + 0.08397440612316132 + ], + "orientation": [ + 0.3688170611858368, + -0.6479865908622742, + -0.6497756838798523, + -0.14791500568389893 + ], + "joints": [ + 0.0037778448313474655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06385645270347595, + -0.03548576310276985, + -0.11731427162885666 + ], + "orientation": [ + 0.807092547416687, + -0.31685858964920044, + 0.07675343006849289, + -0.49225109815597534 + ], + "joints": [ + 0.021295318379998207 + ] + }, + "fine_grasp": { + "position": [ + -0.06132985278964043, + -0.035353753715753555, + -0.11450071632862091 + ], + "orientation": [ + 0.806955873966217, + -0.31147465109825134, + 0.08474905788898468, + -0.49459412693977356 + ], + "joints": [ + 0.010449381545186043 + ] + }, + "final_grasp": { + "position": [ + -0.06132985278964043, + -0.035353753715753555, + -0.11450071632862091 + ], + "orientation": [ + 0.806955873966217, + -0.31147465109825134, + 0.08474905788898468, + -0.49459412693977356 + ], + "joints": [ + -0.0003965552896261215 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11018157005310059, + 0.038517940789461136, + 0.006291801575571299 + ], + "orientation": [ + 0.3684883117675781, + -0.27089178562164307, + -0.7304150462150574, + 0.5072750449180603 + ], + "joints": [ + 0.017068661749362946 + ] + }, + "fine_grasp": { + "position": [ + 0.10617769509553909, + 0.0392882339656353, + 0.005954447668045759 + ], + "orientation": [ + 0.3854883015155792, + -0.2946496903896332, + -0.7200212478637695, + 0.49613475799560547 + ], + "joints": [ + 0.010339580476284027 + ] + }, + "final_grasp": { + "position": [ + 0.10617769509553909, + 0.0392882339656353, + 0.005954447668045759 + ], + "orientation": [ + 0.3854883015155792, + -0.2946496903896332, + -0.7200212478637695, + 0.49613475799560547 + ], + "joints": [ + 0.0036104992032051086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057378362864255905, + 0.05548407509922981, + -0.12140021473169327 + ], + "orientation": [ + 0.45593196153640747, + -0.1927276849746704, + 0.24374784529209137, + -0.8340079188346863 + ], + "joints": [ + 0.018070941790938377 + ] + }, + "fine_grasp": { + "position": [ + -0.056465040892362595, + 0.052883002907037735, + -0.11852729320526123 + ], + "orientation": [ + 0.45398351550102234, + -0.18179582059383392, + 0.2509893476963043, + -0.8353763818740845 + ], + "joints": [ + 0.009670039638876915 + ] + }, + "final_grasp": { + "position": [ + -0.056465040892362595, + 0.052883002907037735, + -0.11852729320526123 + ], + "orientation": [ + 0.45398351550102234, + -0.18179582059383392, + 0.2509893476963043, + -0.8353763818740845 + ], + "joints": [ + 0.0012691374868154526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07213104516267776, + -0.015389114618301392, + 0.1000344529747963 + ], + "orientation": [ + 0.07791714370250702, + 0.8481245040893555, + -0.44129619002342224, + -0.2826153039932251 + ], + "joints": [ + 0.028281448408961296 + ] + }, + "fine_grasp": { + "position": [ + 0.07018176466226578, + -0.014117117039859295, + 0.09709004312753677 + ], + "orientation": [ + 0.07488301396369934, + 0.8477913737297058, + -0.43669411540031433, + -0.29144567251205444 + ], + "joints": [ + 0.018292320892214775 + ] + }, + "final_grasp": { + "position": [ + 0.07018176466226578, + -0.014117117039859295, + 0.09709004312753677 + ], + "orientation": [ + 0.07488301396369934, + 0.8477913737297058, + -0.43669411540031433, + -0.29144567251205444 + ], + "joints": [ + 0.008303193375468254 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036463167518377304, + 0.10915248841047287, + 0.0077540199272334576 + ], + "orientation": [ + 0.6045516133308411, + 0.7886865139007568, + -0.0457741878926754, + 0.10195978730916977 + ], + "joints": [ + 0.01608966663479805 + ] + }, + "fine_grasp": { + "position": [ + -0.03362405672669411, + 0.10676994174718857, + 0.00906395260244608 + ], + "orientation": [ + 0.6106751561164856, + 0.7831423282623291, + -0.02620978280901909, + 0.1143546774983406 + ], + "joints": [ + 0.01142946258187294 + ] + }, + "final_grasp": { + "position": [ + -0.03362405672669411, + 0.10676994174718857, + 0.00906395260244608 + ], + "orientation": [ + 0.6106751561164856, + 0.7831423282623291, + -0.02620978280901909, + 0.1143546774983406 + ], + "joints": [ + 0.00676925852894783 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05700066685676575, + 0.0769260972738266, + -0.10575644671916962 + ], + "orientation": [ + 0.8819519877433777, + 0.37441492080688477, + -0.11812396347522736, + -0.26080843806266785 + ], + "joints": [ + 0.022822408005595207 + ] + }, + "fine_grasp": { + "position": [ + 0.05587039887905121, + 0.07475654035806656, + -0.10346454381942749 + ], + "orientation": [ + 0.881438136100769, + 0.3764418363571167, + -0.11659958958625793, + -0.2603133022785187 + ], + "joints": [ + 0.013167640194296837 + ] + }, + "final_grasp": { + "position": [ + 0.05587039887905121, + 0.07475654035806656, + -0.10346454381942749 + ], + "orientation": [ + 0.881438136100769, + 0.3764418363571167, + -0.11659958958625793, + -0.2603133022785187 + ], + "joints": [ + 0.0035128723829984665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04557164013385773, + -0.12746486067771912, + -0.0063325692899525166 + ], + "orientation": [ + 0.1495513767004013, + 0.2312629073858261, + 0.6903029680252075, + 0.6690542697906494 + ], + "joints": [ + 0.018375450745224953 + ] + }, + "fine_grasp": { + "position": [ + -0.04561441391706467, + -0.12295237183570862, + -0.006269887089729309 + ], + "orientation": [ + 0.13597755134105682, + 0.21476750075817108, + 0.692979633808136, + 0.6746585965156555 + ], + "joints": [ + 0.012503178790211678 + ] + }, + "final_grasp": { + "position": [ + -0.04561441391706467, + -0.12295237183570862, + -0.006269887089729309 + ], + "orientation": [ + 0.13597755134105682, + 0.21476750075817108, + 0.692979633808136, + 0.6746585965156555 + ], + "joints": [ + 0.006630906835198402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09997344762086868, + 0.10770153999328613, + -0.05592251569032669 + ], + "orientation": [ + 0.7795640230178833, + 0.5460016131401062, + -0.22825784981250763, + -0.20508667826652527 + ], + "joints": [ + 0.013314196839928627 + ] + }, + "fine_grasp": { + "position": [ + 0.09713377058506012, + 0.10506515949964523, + -0.05459538474678993 + ], + "orientation": [ + 0.7788985967636108, + 0.5443304777145386, + -0.23186960816383362, + -0.20798513293266296 + ], + "joints": [ + 0.004537137225270271 + ] + }, + "final_grasp": { + "position": [ + 0.09713377058506012, + 0.10506515949964523, + -0.05459538474678993 + ], + "orientation": [ + 0.7788985967636108, + 0.5443304777145386, + -0.23186960816383362, + -0.20798513293266296 + ], + "joints": [ + -0.004239922389388084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12763506174087524, + 0.03257929906249046, + -0.010666165500879288 + ], + "orientation": [ + 0.39325374364852905, + -0.5772514343261719, + 0.455759733915329, + -0.5517383217811584 + ], + "joints": [ + 0.013625551015138626 + ] + }, + "fine_grasp": { + "position": [ + -0.12435036897659302, + 0.030314717441797256, + -0.010177426040172577 + ], + "orientation": [ + 0.3854103684425354, + -0.5660116672515869, + 0.46405667066574097, + -0.561908483505249 + ], + "joints": [ + 0.006478516384959221 + ] + }, + "final_grasp": { + "position": [ + -0.12435036897659302, + 0.030314717441797256, + -0.010177426040172577 + ], + "orientation": [ + 0.3854103684425354, + -0.5660116672515869, + 0.46405667066574097, + -0.561908483505249 + ], + "joints": [ + -0.0006685182452201843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07501979172229767, + -0.08774088323116302, + -0.01002692710608244 + ], + "orientation": [ + 0.33285924792289734, + 0.3270033895969391, + 0.6455291509628296, + 0.6046202778816223 + ], + "joints": [ + 0.015399442985653877 + ] + }, + "fine_grasp": { + "position": [ + -0.07464523613452911, + -0.08426207304000854, + -0.011094605550169945 + ], + "orientation": [ + 0.30937886238098145, + 0.31562742590904236, + 0.6554433107376099, + 0.6124200820922852 + ], + "joints": [ + 0.0074582938104867935 + ] + }, + "final_grasp": { + "position": [ + -0.07464523613452911, + -0.08426207304000854, + -0.011094605550169945 + ], + "orientation": [ + 0.30937886238098145, + 0.31562742590904236, + 0.6554433107376099, + 0.6124200820922852 + ], + "joints": [ + -0.0004828553646802902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07128685712814331, + -0.09002964198589325, + -0.0077505516819655895 + ], + "orientation": [ + 0.19392184913158417, + 0.11204005032777786, + -0.7214577794075012, + -0.6552403569221497 + ], + "joints": [ + 0.018424035981297493 + ] + }, + "fine_grasp": { + "position": [ + 0.06781195849180222, + -0.08948523551225662, + -0.007082763127982616 + ], + "orientation": [ + 0.2060319185256958, + 0.1336752474308014, + -0.7152031064033508, + -0.6543442010879517 + ], + "joints": [ + 0.012133808806538582 + ] + }, + "final_grasp": { + "position": [ + 0.06781195849180222, + -0.08948523551225662, + -0.007082763127982616 + ], + "orientation": [ + 0.2060319185256958, + 0.1336752474308014, + -0.7152031064033508, + -0.6543442010879517 + ], + "joints": [ + 0.005843581631779671 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03454709053039551, + -0.11976763606071472, + -0.03456190600991249 + ], + "orientation": [ + 0.7258738279342651, + -0.6334540247917175, + -0.15804772078990936, + 0.21648114919662476 + ], + "joints": [ + 0.011981738731265068 + ] + }, + "fine_grasp": { + "position": [ + 0.03539479896426201, + -0.11528731882572174, + -0.03378301486372948 + ], + "orientation": [ + 0.7331230044364929, + -0.6341051459312439, + -0.141671285033226, + 0.20092402398586273 + ], + "joints": [ + 0.008241040632128716 + ] + }, + "final_grasp": { + "position": [ + 0.03539479896426201, + -0.11528731882572174, + -0.03378301486372948 + ], + "orientation": [ + 0.7331230044364929, + -0.6341051459312439, + -0.141671285033226, + 0.20092402398586273 + ], + "joints": [ + 0.004500342532992363 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028965087607502937, + 0.06900450587272644, + -0.09900213032960892 + ], + "orientation": [ + 0.9364529848098755, + 0.344682902097702, + 0.0030382154509425163, + 0.06511671841144562 + ], + "joints": [ + 0.021567951887845993 + ] + }, + "fine_grasp": { + "position": [ + -0.027313750237226486, + 0.06718382239341736, + -0.09633360803127289 + ], + "orientation": [ + 0.9361944794654846, + 0.3443731665611267, + 0.020373445004224777, + 0.06731905043125153 + ], + "joints": [ + 0.014023859053850174 + ] + }, + "final_grasp": { + "position": [ + -0.027313750237226486, + 0.06718382239341736, + -0.09633360803127289 + ], + "orientation": [ + 0.9361944794654846, + 0.3443731665611267, + 0.020373445004224777, + 0.06731905043125153 + ], + "joints": [ + 0.006479766219854355 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09787246584892273, + 0.07382365316152573, + -0.008999220095574856 + ], + "orientation": [ + 0.658928394317627, + 0.6758373379707336, + -0.26238709688186646, + -0.20052455365657806 + ], + "joints": [ + 0.01583196595311165 + ] + }, + "fine_grasp": { + "position": [ + 0.09366943687200546, + 0.07341261208057404, + -0.009456253610551357 + ], + "orientation": [ + 0.6523727178573608, + 0.6682072877883911, + -0.2801986634731293, + -0.2222556471824646 + ], + "joints": [ + 0.009959693998098373 + ] + }, + "final_grasp": { + "position": [ + 0.09366943687200546, + 0.07341261208057404, + -0.009456253610551357 + ], + "orientation": [ + 0.6523727178573608, + 0.6682072877883911, + -0.2801986634731293, + -0.2222556471824646 + ], + "joints": [ + 0.004087422043085098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1165892705321312, + -0.07039899379014969, + -0.005627533420920372 + ], + "orientation": [ + 0.30526432394981384, + 0.257134348154068, + -0.6997289061546326, + -0.5925158858299255 + ], + "joints": [ + 0.013691982254385948 + ] + }, + "fine_grasp": { + "position": [ + 0.11250334233045578, + -0.06937653571367264, + -0.0058210003189742565 + ], + "orientation": [ + 0.31863442063331604, + 0.2680841088294983, + -0.6937256455421448, + -0.5876628756523132 + ], + "joints": [ + 0.006147890351712704 + ] + }, + "final_grasp": { + "position": [ + 0.11250334233045578, + -0.06937653571367264, + -0.0058210003189742565 + ], + "orientation": [ + 0.31863442063331604, + 0.2680841088294983, + -0.6937256455421448, + -0.5876628756523132 + ], + "joints": [ + -0.0013962015509605408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10866795480251312, + -0.06818602979183197, + 0.003147844457998872 + ], + "orientation": [ + 0.4016295373439789, + 0.4268306791782379, + 0.6147755980491638, + 0.527787983417511 + ], + "joints": [ + 0.016982894390821457 + ] + }, + "fine_grasp": { + "position": [ + -0.10601100325584412, + -0.06474009901285172, + 0.002415422350168228 + ], + "orientation": [ + 0.3815511167049408, + 0.41434165835380554, + 0.6287139654159546, + 0.5361515283584595 + ], + "joints": [ + 0.010713566094636917 + ] + }, + "final_grasp": { + "position": [ + -0.10601100325584412, + -0.06474009901285172, + 0.002415422350168228 + ], + "orientation": [ + 0.3815511167049408, + 0.41434165835380554, + 0.6287139654159546, + 0.5361515283584595 + ], + "joints": [ + 0.004444237798452377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054399050772190094, + -0.12625247240066528, + -0.014448200352489948 + ], + "orientation": [ + 0.06862817704677582, + 0.06986812502145767, + -0.6992813944816589, + -0.7081059217453003 + ], + "joints": [ + 0.015333963558077812 + ] + }, + "fine_grasp": { + "position": [ + 0.051508769392967224, + -0.12265738844871521, + -0.014503002166748047 + ], + "orientation": [ + 0.08404523879289627, + 0.0854831114411354, + -0.6981320977210999, + -0.7058615684509277 + ], + "joints": [ + 0.009879646822810173 + ] + }, + "final_grasp": { + "position": [ + 0.051508769392967224, + -0.12265738844871521, + -0.014503002166748047 + ], + "orientation": [ + 0.08404523879289627, + 0.0854831114411354, + -0.6981320977210999, + -0.7058615684509277 + ], + "joints": [ + 0.004425330087542534 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044680021703243256, + -0.13549792766571045, + 0.009103208780288696 + ], + "orientation": [ + 0.0881659984588623, + 0.007793032098561525, + 0.7759515643119812, + 0.6245518326759338 + ], + "joints": [ + 0.014582839794456959 + ] + }, + "fine_grasp": { + "position": [ + -0.04279239848256111, + -0.131707563996315, + 0.008291576988995075 + ], + "orientation": [ + 0.10032486170530319, + 0.017840009182691574, + 0.7754897475242615, + 0.6230829358100891 + ], + "joints": [ + 0.006641690619289875 + ] + }, + "final_grasp": { + "position": [ + -0.04279239848256111, + -0.131707563996315, + 0.008291576988995075 + ], + "orientation": [ + 0.10032486170530319, + 0.017840009182691574, + 0.7754897475242615, + 0.6230829358100891 + ], + "joints": [ + -0.0012994585558772087 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04458285868167877, + -0.1361207664012909, + 0.009247846901416779 + ], + "orientation": [ + 0.08943943679332733, + 0.007661753334105015, + 0.7747786641120911, + 0.625827431678772 + ], + "joints": [ + 0.014536323957145214 + ] + }, + "fine_grasp": { + "position": [ + -0.04239276051521301, + -0.1320265382528305, + 0.008717578835785389 + ], + "orientation": [ + 0.10241634398698807, + 0.018918389454483986, + 0.7725409865379333, + 0.6263653039932251 + ], + "joints": [ + 0.009102906100451946 + ] + }, + "final_grasp": { + "position": [ + -0.04239276051521301, + -0.1320265382528305, + 0.008717578835785389 + ], + "orientation": [ + 0.10241634398698807, + 0.018918389454483986, + 0.7725409865379333, + 0.6263653039932251 + ], + "joints": [ + 0.0036694882437586784 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04486945644021034, + -0.1360718160867691, + 0.00973372720181942 + ], + "orientation": [ + 0.08745656162500381, + 0.008239584974944592, + 0.7737811207771301, + 0.6273326873779297 + ], + "joints": [ + 0.014452586881816387 + ] + }, + "fine_grasp": { + "position": [ + -0.043057698756456375, + -0.13241241872310638, + 0.008906523697078228 + ], + "orientation": [ + 0.0990612804889679, + 0.018206987529993057, + 0.7741464376449585, + 0.6249420642852783 + ], + "joints": [ + 0.0060934824869036674 + ] + }, + "final_grasp": { + "position": [ + -0.043057698756456375, + -0.13241241872310638, + 0.008906523697078228 + ], + "orientation": [ + 0.0990612804889679, + 0.018206987529993057, + 0.7741464376449585, + 0.6249420642852783 + ], + "joints": [ + -0.0022656219080090523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019160427153110504, + -0.13790464401245117, + 0.006041308399289846 + ], + "orientation": [ + 0.6213565468788147, + -0.7615426778793335, + 0.1691282093524933, + -0.07324182987213135 + ], + "joints": [ + 0.014180430211126804 + ] + }, + "fine_grasp": { + "position": [ + -0.020011557266116142, + -0.13358211517333984, + 0.005854309070855379 + ], + "orientation": [ + 0.6283966898918152, + -0.7604064345359802, + 0.154074028134346, + -0.05622035637497902 + ], + "joints": [ + 0.007075191475450993 + ] + }, + "final_grasp": { + "position": [ + -0.020011557266116142, + -0.13358211517333984, + 0.005854309070855379 + ], + "orientation": [ + 0.6283966898918152, + -0.7604064345359802, + 0.154074028134346, + -0.05622035637497902 + ], + "joints": [ + -3.0047260224819183e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03830578178167343, + 0.11166998744010925, + 0.006448623724281788 + ], + "orientation": [ + 0.6097701191902161, + 0.7842134237289429, + -0.06180284172296524, + 0.09679969400167465 + ], + "joints": [ + 0.011946272104978561 + ] + }, + "fine_grasp": { + "position": [ + -0.03597676008939743, + 0.10878922790288925, + 0.006361134350299835 + ], + "orientation": [ + 0.6133120656013489, + 0.7810344099998474, + -0.045052990317344666, + 0.1086454838514328 + ], + "joints": [ + 0.00484103336930275 + ] + }, + "final_grasp": { + "position": [ + -0.03597676008939743, + 0.10878922790288925, + 0.006361134350299835 + ], + "orientation": [ + 0.6133120656013489, + 0.7810344099998474, + -0.045052990317344666, + 0.1086454838514328 + ], + "joints": [ + -0.002264205366373062 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03800356015563011, + 0.11141882091760635, + 0.006698056124150753 + ], + "orientation": [ + 0.6061502695083618, + 0.7853009700775146, + -0.07035613059997559, + 0.1045672744512558 + ], + "joints": [ + 0.01230907253921032 + ] + }, + "fine_grasp": { + "position": [ + -0.035832714289426804, + 0.10856842994689941, + 0.006699915509670973 + ], + "orientation": [ + 0.6103461980819702, + 0.7820937037467957, + -0.054128266870975494, + 0.11347822099924088 + ], + "joints": [ + 0.004785878583788872 + ] + }, + "final_grasp": { + "position": [ + -0.035832714289426804, + 0.10856842994689941, + 0.006699915509670973 + ], + "orientation": [ + 0.6103461980819702, + 0.7820937037467957, + -0.054128266870975494, + 0.11347822099924088 + ], + "joints": [ + -0.002737315371632576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030047891661524773, + 0.017765462398529053, + -0.1324482411146164 + ], + "orientation": [ + 0.3325272500514984, + 0.1109427809715271, + -0.021401813253760338, + 0.9363009333610535 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.029120581224560738, + 0.017160827293992043, + -0.1286831796169281 + ], + "orientation": [ + 0.3304111361503601, + 0.11280488222837448, + -0.022244757041335106, + 0.9368078112602234 + ], + "joints": [ + 0.01894868165254593 + ] + }, + "final_grasp": { + "position": [ + -0.029120581224560738, + 0.017160827293992043, + -0.1286831796169281 + ], + "orientation": [ + 0.3304111361503601, + 0.11280488222837448, + -0.022244757041335106, + 0.9368078112602234 + ], + "joints": [ + 0.008917756378650665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02210124395787716, + -0.006527726072818041, + -0.13985411822795868 + ], + "orientation": [ + 0.9438327550888062, + 0.009840266779065132, + 0.06637667864561081, + 0.32353827357292175 + ], + "joints": [ + 0.028979606926441193 + ] + }, + "fine_grasp": { + "position": [ + -0.0215255469083786, + -0.006467359606176615, + -0.13596495985984802 + ], + "orientation": [ + 0.9438881278038025, + 0.00970376655459404, + 0.06687148660421371, + 0.32327893376350403 + ], + "joints": [ + 0.0189695805311203 + ] + }, + "final_grasp": { + "position": [ + -0.0215255469083786, + -0.006467359606176615, + -0.13596495985984802 + ], + "orientation": [ + 0.9438881278038025, + 0.00970376655459404, + 0.06687148660421371, + 0.32327893376350403 + ], + "joints": [ + 0.008959554135799408 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1006060391664505, + -0.01952836662530899, + -0.09305105358362198 + ], + "orientation": [ + 0.12933002412319183, + -0.5555794835090637, + -0.028584953397512436, + -0.820845901966095 + ], + "joints": [ + 0.020551560446619987 + ] + }, + "fine_grasp": { + "position": [ + -0.09990644454956055, + -0.019276760518550873, + -0.08881641179323196 + ], + "orientation": [ + 0.13100366294384003, + -0.5384131073951721, + -0.027957428246736526, + -0.83196622133255 + ], + "joints": [ + 0.01302836649119854 + ] + }, + "final_grasp": { + "position": [ + -0.09990644454956055, + -0.019276760518550873, + -0.08881641179323196 + ], + "orientation": [ + 0.13100366294384003, + -0.5384131073951721, + -0.027957428246736526, + -0.83196622133255 + ], + "joints": [ + 0.005505172535777092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09533194452524185, + -0.030015844851732254, + -0.08834882080554962 + ], + "orientation": [ + 0.606432318687439, + -0.49837276339530945, + -0.36048710346221924, + 0.5038982629776001 + ], + "joints": [ + 0.0009051981032826006 + ] + }, + "fine_grasp": { + "position": [ + 0.09438250213861465, + -0.0296613909304142, + -0.08516529947519302 + ], + "orientation": [ + 0.6116694808006287, + -0.4918154180049896, + -0.3540036380290985, + 0.5085856914520264 + ], + "joints": [ + 0.0016993122408166528 + ] + }, + "final_grasp": { + "position": [ + 0.09438250213861465, + -0.0296613909304142, + -0.08516529947519302 + ], + "orientation": [ + 0.6116694808006287, + -0.4918154180049896, + -0.3540036380290985, + 0.5085856914520264 + ], + "joints": [ + 0.002493426436558366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09566862881183624, + -0.03012995421886444, + -0.0882180705666542 + ], + "orientation": [ + 0.6064661145210266, + -0.49944958090782166, + -0.3596886098384857, + 0.5033618211746216 + ], + "joints": [ + 0.0008768404950387776 + ] + }, + "fine_grasp": { + "position": [ + 0.09465290606021881, + -0.02977892756462097, + -0.08507337421178818 + ], + "orientation": [ + 0.6116718053817749, + -0.4927699863910675, + -0.3528133034706116, + 0.5084862112998962 + ], + "joints": [ + 0.0016709546325728297 + ] + }, + "final_grasp": { + "position": [ + 0.09465290606021881, + -0.02977892756462097, + -0.08507337421178818 + ], + "orientation": [ + 0.6116718053817749, + -0.4927699863910675, + -0.3528133034706116, + 0.5084862112998962 + ], + "joints": [ + 0.0024650688283145428 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03419077396392822, + 0.11634857207536697, + -0.08407142758369446 + ], + "orientation": [ + 0.052046697586774826, + -0.13491418957710266, + -0.6099786162376404, + 0.7791118621826172 + ], + "joints": [ + 0.0009773520287126303 + ] + }, + "fine_grasp": { + "position": [ + 0.03332525119185448, + 0.11431048065423965, + -0.08068694919347763 + ], + "orientation": [ + 0.05050700157880783, + -0.13942985236644745, + -0.6047269105911255, + 0.7825047969818115 + ], + "joints": [ + 0.0017714661080390215 + ] + }, + "final_grasp": { + "position": [ + 0.03332525119185448, + 0.11431048065423965, + -0.08068694919347763 + ], + "orientation": [ + 0.05050700157880783, + -0.13942985236644745, + -0.6047269105911255, + 0.7825047969818115 + ], + "joints": [ + 0.0025655801873654127 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 424 + } +} \ No newline at end of file diff --git a/geometry_factory_bolt_00003/Object.usd b/geometry_factory_bolt_00003/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..581db84fc187969fb093d830dfe76b95c7b64bee --- /dev/null +++ b/geometry_factory_bolt_00003/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cb6158620986cc9da5e2a2a7b26fda4998b66f47f3df7c663ddad533a17696c +size 1882067 diff --git a/geometry_mousemat_00000/Annotation/dex1_1_grasp_pose.json b/geometry_mousemat_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..5f3da994399a4da84f464b353c384aca3ef5a720 --- /dev/null +++ b/geometry_mousemat_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,2568 @@ +{ + "type": "geometry_mousemat_00000", + "bottom_center": [ + 0.0, + 0.0, + -0.003634480759501457 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + -0.0769055113196373, + 0.19742006063461304, + -0.004463809076696634 + ], + "orientation": [ + 0.1694546341896057, + -0.7079243063926697, + -0.19138778746128082, + -0.6584064960479736 + ], + "joints": [ + 0.012502707540988922 + ] + }, + "fine_grasp": { + "position": [ + -0.0744723230600357, + 0.1919855773448944, + -0.004622318781912327 + ], + "orientation": [ + 0.16675791144371033, + -0.7164770364761353, + -0.19477160274982452, + -0.648780882358551 + ], + "joints": [ + 0.01837468519806862 + ] + }, + "final_grasp": { + "position": [ + -0.0744723230600357, + 0.1919855773448944, + -0.004622318781912327 + ], + "orientation": [ + 0.16675791144371033, + -0.7164770364761353, + -0.19477160274982452, + -0.648780882358551 + ], + "joints": [ + 0.024246662855148315 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16911347210407257, + -0.1695217490196228, + -0.009788302704691887 + ], + "orientation": [ + 0.6985006928443909, + -0.21356192231178284, + 0.6151837706565857, + 0.2967105805873871 + ], + "joints": [ + 0.009993724524974823 + ] + }, + "fine_grasp": { + "position": [ + 0.16547028720378876, + -0.1647968739271164, + -0.00959500391036272 + ], + "orientation": [ + 0.6983480453491211, + -0.21520037949085236, + 0.6128244996070862, + 0.30074071884155273 + ], + "joints": [ + 0.015334291383624077 + ] + }, + "final_grasp": { + "position": [ + 0.16547028720378876, + -0.1647968739271164, + -0.00959500391036272 + ], + "orientation": [ + 0.6983480453491211, + -0.21520037949085236, + 0.6128244996070862, + 0.30074071884155273 + ], + "joints": [ + 0.02067485824227333 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16678203642368317, + -0.17620618641376495, + 0.0006246147095225751 + ], + "orientation": [ + 0.6413102149963379, + -0.22037212550640106, + 0.7086542844772339, + 0.1948499232530594 + ], + "joints": [ + 0.009604336693882942 + ] + }, + "fine_grasp": { + "position": [ + 0.1651574671268463, + -0.17388039827346802, + 0.0007505305693484843 + ], + "orientation": [ + 0.6323987245559692, + -0.2234775274991989, + 0.7163154482841492, + 0.19241076707839966 + ], + "joints": [ + 0.015476305037736893 + ] + }, + "final_grasp": { + "position": [ + 0.1651574671268463, + -0.17388039827346802, + 0.0007505305693484843 + ], + "orientation": [ + 0.6323987245559692, + -0.2234775274991989, + 0.7163154482841492, + 0.19241076707839966 + ], + "joints": [ + 0.021348273381590843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.22033406794071198, + -0.050295259803533554, + -0.0036027466412633657 + ], + "orientation": [ + 0.562314510345459, + 0.44016700983047485, + 0.477920800447464, + -0.5115146040916443 + ], + "joints": [ + 0.012043479830026627 + ] + }, + "fine_grasp": { + "position": [ + -0.22001318633556366, + -0.05023568868637085, + -0.0033330617006868124 + ], + "orientation": [ + 0.5705369114875793, + 0.43040621280670166, + 0.46801185607910156, + -0.5198104977607727 + ], + "joints": [ + 0.017915455624461174 + ] + }, + "final_grasp": { + "position": [ + -0.22001318633556366, + -0.05023568868637085, + -0.0033330617006868124 + ], + "orientation": [ + 0.5705369114875793, + 0.43040621280670166, + 0.46801185607910156, + -0.5198104977607727 + ], + "joints": [ + 0.02378743141889572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.22023126482963562, + -0.050557006150484085, + -0.0035405789967626333 + ], + "orientation": [ + 0.5614429116249084, + 0.44074806571006775, + 0.47734713554382324, + -0.512506365776062 + ], + "joints": [ + 0.012043479830026627 + ] + }, + "fine_grasp": { + "position": [ + -0.21990498900413513, + -0.050503477454185486, + -0.0032620257697999477 + ], + "orientation": [ + 0.5696528553962708, + 0.43091633915901184, + 0.46748265624046326, + -0.5208327770233154 + ], + "joints": [ + 0.017915455624461174 + ] + }, + "final_grasp": { + "position": [ + -0.21990498900413513, + -0.050503477454185486, + -0.0032620257697999477 + ], + "orientation": [ + 0.5696528553962708, + 0.43091633915901184, + 0.46748265624046326, + -0.5208327770233154 + ], + "joints": [ + 0.02378743141889572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.22018924355506897, + -0.05034599453210831, + -0.0035018157213926315 + ], + "orientation": [ + 0.5607969164848328, + 0.4412156939506531, + 0.47707217931747437, + -0.5130668878555298 + ], + "joints": [ + 0.012043479830026627 + ] + }, + "fine_grasp": { + "position": [ + -0.2198878973722458, + -0.05028685927391052, + -0.0032149930484592915 + ], + "orientation": [ + 0.5687759518623352, + 0.43184366822242737, + 0.4674481451511383, + -0.5210539698600769 + ], + "joints": [ + 0.017915455624461174 + ] + }, + "final_grasp": { + "position": [ + -0.2198878973722458, + -0.05028685927391052, + -0.0032149930484592915 + ], + "orientation": [ + 0.5687759518623352, + 0.43184366822242737, + 0.4674481451511383, + -0.5210539698600769 + ], + "joints": [ + 0.02378743141889572 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055058907717466354, + 0.1947818547487259, + 0.0029647876508533955 + ], + "orientation": [ + 0.11084598302841187, + 0.7269212603569031, + 0.15495289862155914, + -0.659763753414154 + ], + "joints": [ + 0.012083528563380241 + ] + }, + "fine_grasp": { + "position": [ + -0.05517135187983513, + 0.1939801573753357, + 0.0033484280575066805 + ], + "orientation": [ + 0.10293307155370712, + 0.7337765097618103, + 0.15121044218540192, + -0.6543029546737671 + ], + "joints": [ + 0.01795550435781479 + ] + }, + "final_grasp": { + "position": [ + -0.05517135187983513, + 0.1939801573753357, + 0.0033484280575066805 + ], + "orientation": [ + 0.10293307155370712, + 0.7337765097618103, + 0.15121044218540192, + -0.6543029546737671 + ], + "joints": [ + 0.023827480152249336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05511292815208435, + 0.19477151334285736, + 0.002953337272629142 + ], + "orientation": [ + 0.10955943912267685, + 0.727136492729187, + 0.15343625843524933, + -0.6600959300994873 + ], + "joints": [ + 0.012083528563380241 + ] + }, + "fine_grasp": { + "position": [ + -0.055248286575078964, + 0.19400861859321594, + 0.00333003350533545 + ], + "orientation": [ + 0.10163925588130951, + 0.73414546251297, + 0.14969860017299652, + -0.6544390320777893 + ], + "joints": [ + 0.01795550435781479 + ] + }, + "final_grasp": { + "position": [ + -0.055248286575078964, + 0.19400861859321594, + 0.00333003350533545 + ], + "orientation": [ + 0.10163925588130951, + 0.73414546251297, + 0.14969860017299652, + -0.6544390320777893 + ], + "joints": [ + 0.023827480152249336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.22565239667892456, + 0.014988332986831665, + -4.054603778058663e-05 + ], + "orientation": [ + 0.5130918025970459, + 0.4721079170703888, + 0.45961883664131165, + -0.5500921010971069 + ], + "joints": [ + 0.011969286948442459 + ] + }, + "fine_grasp": { + "position": [ + -0.22386865317821503, + 0.01597864180803299, + -0.0008449629531241953 + ], + "orientation": [ + 0.5207455158233643, + 0.46459197998046875, + 0.44527581334114075, + -0.5609882473945618 + ], + "joints": [ + 0.017841262742877007 + ] + }, + "final_grasp": { + "position": [ + -0.22386865317821503, + 0.01597864180803299, + -0.0008449629531241953 + ], + "orientation": [ + 0.5207455158233643, + 0.46459197998046875, + 0.44527581334114075, + -0.5609882473945618 + ], + "joints": [ + 0.023713238537311554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.2256777584552765, + 0.0148694459348917, + 0.00015359098324552178 + ], + "orientation": [ + 0.5115538835525513, + 0.47269678115844727, + 0.4591434895992279, + -0.5514143705368042 + ], + "joints": [ + 0.012009335681796074 + ] + }, + "fine_grasp": { + "position": [ + -0.22389143705368042, + 0.015758955851197243, + -0.0006858111009933054 + ], + "orientation": [ + 0.5192915797233582, + 0.46526432037353516, + 0.44499513506889343, + -0.5620006918907166 + ], + "joints": [ + 0.01788131147623062 + ] + }, + "final_grasp": { + "position": [ + -0.22389143705368042, + 0.015758955851197243, + -0.0006858111009933054 + ], + "orientation": [ + 0.5192915797233582, + 0.46526432037353516, + 0.44499513506889343, + -0.5620006918907166 + ], + "joints": [ + 0.02375328727066517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08068767935037613, + 0.19415591657161713, + 0.008242815732955933 + ], + "orientation": [ + 0.07454271614551544, + 0.7403579950332642, + 0.14898844063282013, + -0.6512417197227478 + ], + "joints": [ + 0.01179514266550541 + ] + }, + "fine_grasp": { + "position": [ + -0.08093090355396271, + 0.19355513155460358, + 0.008554577827453613 + ], + "orientation": [ + 0.06707904487848282, + 0.746412456035614, + 0.14583128690719604, + -0.6458343863487244 + ], + "joints": [ + 0.01713571697473526 + ] + }, + "final_grasp": { + "position": [ + -0.08093090355396271, + 0.19355513155460358, + 0.008554577827453613 + ], + "orientation": [ + 0.06707904487848282, + 0.746412456035614, + 0.14583128690719604, + -0.6458343863487244 + ], + "joints": [ + 0.02247629128396511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.2243366688489914, + 0.04720170795917511, + -0.01345293503254652 + ], + "orientation": [ + 0.3632315993309021, + -0.5487633347511292, + 0.6448115706443787, + 0.3887670338153839 + ], + "joints": [ + 0.0056508309207856655 + ] + }, + "fine_grasp": { + "position": [ + 0.22213289141654968, + 0.04692217335104942, + -0.013136105611920357 + ], + "orientation": [ + 0.327014684677124, + -0.5662152767181396, + 0.6650041937828064, + 0.36087536811828613 + ], + "joints": [ + 0.008414112031459808 + ] + }, + "final_grasp": { + "position": [ + 0.22213289141654968, + 0.04692217335104942, + -0.013136105611920357 + ], + "orientation": [ + 0.327014684677124, + -0.5662152767181396, + 0.6650041937828064, + 0.36087536811828613 + ], + "joints": [ + 0.011177392676472664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.22443829476833344, + 0.04783669114112854, + -0.01327940821647644 + ], + "orientation": [ + 0.361230731010437, + -0.5503729581832886, + 0.6462234854698181, + 0.38600146770477295 + ], + "joints": [ + 0.005158871412277222 + ] + }, + "fine_grasp": { + "position": [ + 0.22225916385650635, + 0.04746115580201149, + -0.013001125305891037 + ], + "orientation": [ + 0.3257136046886444, + -0.5669289827346802, + 0.666226863861084, + 0.35866954922676086 + ], + "joints": [ + 0.008453551679849625 + ] + }, + "final_grasp": { + "position": [ + 0.22225916385650635, + 0.04746115580201149, + -0.013001125305891037 + ], + "orientation": [ + 0.3257136046886444, + -0.5669289827346802, + 0.666226863861084, + 0.35866954922676086 + ], + "joints": [ + 0.011748231947422028 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.2243831604719162, + 0.04896949976682663, + -0.013644635677337646 + ], + "orientation": [ + 0.3620644211769104, + -0.547166645526886, + 0.6482374668121338, + 0.38640162348747253 + ], + "joints": [ + 0.005091462749987841 + ] + }, + "fine_grasp": { + "position": [ + 0.22220739722251892, + 0.04868452623486519, + -0.013317057862877846 + ], + "orientation": [ + 0.32577580213546753, + -0.5648482441902161, + 0.6682696342468262, + 0.3580953776836395 + ], + "joints": [ + 0.008386143483221531 + ] + }, + "final_grasp": { + "position": [ + 0.22220739722251892, + 0.04868452623486519, + -0.013317057862877846 + ], + "orientation": [ + 0.32577580213546753, + -0.5648482441902161, + 0.6682696342468262, + 0.3580953776836395 + ], + "joints": [ + 0.011680824682116508 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049583323299884796, + 0.19482402503490448, + 0.010540330782532692 + ], + "orientation": [ + 0.09682511538267136, + -0.6581869721412659, + -0.016393927857279778, + -0.7464220523834229 + ], + "joints": [ + 0.011485212482511997 + ] + }, + "fine_grasp": { + "position": [ + -0.05017535760998726, + 0.19483083486557007, + 0.011134195141494274 + ], + "orientation": [ + 0.0927794873714447, + -0.6528668999671936, + -0.008650630712509155, + -0.7517192363739014 + ], + "joints": [ + 0.016825785860419273 + ] + }, + "final_grasp": { + "position": [ + -0.05017535760998726, + 0.19483083486557007, + 0.011134195141494274 + ], + "orientation": [ + 0.0927794873714447, + -0.6528668999671936, + -0.008650630712509155, + -0.7517192363739014 + ], + "joints": [ + 0.022166360169649124 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07588933408260345, + 0.1963306963443756, + 0.0025552166625857353 + ], + "orientation": [ + 0.12721721827983856, + -0.7363243699073792, + -0.1112913265824318, + -0.6551767587661743 + ], + "joints": [ + 0.012047383934259415 + ] + }, + "fine_grasp": { + "position": [ + -0.07320182770490646, + 0.1911311149597168, + 0.0027449580375105143 + ], + "orientation": [ + 0.12305798381567001, + -0.7419606447219849, + -0.1075257807970047, + -0.6502224802970886 + ], + "joints": [ + 0.017919359728693962 + ] + }, + "final_grasp": { + "position": [ + -0.07320182770490646, + 0.1911311149597168, + 0.0027449580375105143 + ], + "orientation": [ + 0.12305798381567001, + -0.7419606447219849, + -0.1075257807970047, + -0.6502224802970886 + ], + "joints": [ + 0.02379133552312851 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02478547766804695, + 0.19413284957408905, + 0.009554511867463589 + ], + "orientation": [ + 0.02412126399576664, + -0.6868005394935608, + -0.04242011159658432, + 0.7252058982849121 + ], + "joints": [ + 0.011795144528150558 + ] + }, + "fine_grasp": { + "position": [ + 0.02587576024234295, + 0.1924944370985031, + 0.010510209947824478 + ], + "orientation": [ + 0.02182038500905037, + -0.6817498207092285, + -0.0492197722196579, + 0.7296014428138733 + ], + "joints": [ + 0.01713571883738041 + ] + }, + "final_grasp": { + "position": [ + 0.02587576024234295, + 0.1924944370985031, + 0.010510209947824478 + ], + "orientation": [ + 0.02182038500905037, + -0.6817498207092285, + -0.0492197722196579, + 0.7296014428138733 + ], + "joints": [ + 0.02247629314661026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07757152616977692, + -0.1944183111190796, + -0.00970662385225296 + ], + "orientation": [ + 0.6685968637466431, + 0.03980254754424095, + 0.7424386739730835, + 0.013369354419410229 + ], + "joints": [ + 0.009160991758108139 + ] + }, + "fine_grasp": { + "position": [ + 0.07697505503892899, + -0.19454269111156464, + -0.009950756095349789 + ], + "orientation": [ + 0.65876305103302, + 0.03828977420926094, + 0.7511597871780396, + 0.017998158931732178 + ], + "joints": [ + 0.014528131112456322 + ] + }, + "final_grasp": { + "position": [ + 0.07697505503892899, + -0.19454269111156464, + -0.009950756095349789 + ], + "orientation": [ + 0.65876305103302, + 0.03828977420926094, + 0.7511597871780396, + 0.017998158931732178 + ], + "joints": [ + 0.019895270466804504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.21644443273544312, + -0.037090856581926346, + 0.012745790183544159 + ], + "orientation": [ + 0.49584177136421204, + -0.5583338737487793, + 0.4803619384765625, + 0.460061639547348 + ], + "joints": [ + 0.010300328955054283 + ] + }, + "fine_grasp": { + "position": [ + 0.21494777500629425, + -0.03628070279955864, + 0.015444910153746605 + ], + "orientation": [ + 0.500842809677124, + -0.5642513036727905, + 0.48273664712905884, + 0.4446820914745331 + ], + "joints": [ + 0.01619887165725231 + ] + }, + "final_grasp": { + "position": [ + 0.21494777500629425, + -0.03628070279955864, + 0.015444910153746605 + ], + "orientation": [ + 0.500842809677124, + -0.5642513036727905, + 0.48273664712905884, + 0.4446820914745331 + ], + "joints": [ + 0.02209741435945034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21932554244995117, + 0.05307643488049507, + -0.014620034024119377 + ], + "orientation": [ + 0.5546446442604065, + 0.48183298110961914, + 0.40541988611221313, + -0.5439127087593079 + ], + "joints": [ + 0.010928921401500702 + ] + }, + "fine_grasp": { + "position": [ + -0.21348100900650024, + 0.0529932864010334, + -0.014376171864569187 + ], + "orientation": [ + 0.5642294883728027, + 0.4751545488834381, + 0.4065501093864441, + -0.5390642881393433 + ], + "joints": [ + 0.015764662995934486 + ] + }, + "final_grasp": { + "position": [ + -0.21348100900650024, + 0.0529932864010334, + -0.014376171864569187 + ], + "orientation": [ + 0.5642294883728027, + 0.4751545488834381, + 0.4065501093864441, + -0.5390642881393433 + ], + "joints": [ + 0.02060040459036827 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.16385118663311005, + -0.17464593052864075, + -0.023749975487589836 + ], + "orientation": [ + 0.5949423909187317, + -0.17423564195632935, + 0.7390101552009583, + 0.2637222707271576 + ], + "joints": [ + 0.007756982464343309 + ] + }, + "fine_grasp": { + "position": [ + 0.16325271129608154, + -0.1748979091644287, + -0.02404629997909069 + ], + "orientation": [ + 0.5993088483810425, + -0.1698594093322754, + 0.7362154722213745, + 0.26450613141059875 + ], + "joints": [ + 0.01309754978865385 + ] + }, + "final_grasp": { + "position": [ + 0.16325271129608154, + -0.1748979091644287, + -0.02404629997909069 + ], + "orientation": [ + 0.5993088483810425, + -0.1698594093322754, + 0.7362154722213745, + 0.26450613141059875 + ], + "joints": [ + 0.01843811757862568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.20468786358833313, + 0.04746866598725319, + -0.057202111929655075 + ], + "orientation": [ + 0.5907928943634033, + 0.5894157886505127, + -0.26072338223457336, + 0.48536166548728943 + ], + "joints": [ + 0.002156777074560523 + ] + }, + "fine_grasp": { + "position": [ + 0.20183901488780975, + 0.0456848219037056, + -0.05740155279636383 + ], + "orientation": [ + 0.5951809287071228, + 0.581705629825592, + -0.24227532744407654, + 0.49867919087409973 + ], + "joints": [ + 0.006514254026114941 + ] + }, + "final_grasp": { + "position": [ + 0.20183901488780975, + 0.0456848219037056, + -0.05740155279636383 + ], + "orientation": [ + 0.5951809287071228, + 0.581705629825592, + -0.24227532744407654, + 0.49867919087409973 + ], + "joints": [ + 0.010871730744838715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.20271745324134827, + -0.05148792266845703, + -0.05572308599948883 + ], + "orientation": [ + 0.6178104877471924, + 0.5628749132156372, + -0.47771698236465454, + 0.27068188786506653 + ], + "joints": [ + 0.0020121908746659756 + ] + }, + "fine_grasp": { + "position": [ + 0.19974671304225922, + -0.04979825019836426, + -0.05610053986310959 + ], + "orientation": [ + 0.6133593320846558, + 0.5662737488746643, + -0.4872913956642151, + 0.25626423954963684 + ], + "joints": [ + 0.006316527724266052 + ] + }, + "final_grasp": { + "position": [ + 0.19974671304225922, + -0.04979825019836426, + -0.05610053986310959 + ], + "orientation": [ + 0.6133593320846558, + 0.5662737488746643, + -0.4872913956642151, + 0.25626423954963684 + ], + "joints": [ + 0.010620864108204842 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1644289195537567, + -0.17327949404716492, + -0.022741233929991722 + ], + "orientation": [ + 0.5902632474899292, + -0.17828895151615143, + 0.7436658143997192, + 0.25838616490364075 + ], + "joints": [ + 0.007788427639752626 + ] + }, + "fine_grasp": { + "position": [ + 0.16377153992652893, + -0.17261497676372528, + -0.023249976336956024 + ], + "orientation": [ + 0.5936614274978638, + -0.17453351616859436, + 0.7409766912460327, + 0.26087886095046997 + ], + "joints": [ + 0.013128994964063168 + ] + }, + "final_grasp": { + "position": [ + 0.16377153992652893, + -0.17261497676372528, + -0.023249976336956024 + ], + "orientation": [ + 0.5936614274978638, + -0.17453351616859436, + 0.7409766912460327, + 0.26087886095046997 + ], + "joints": [ + 0.018469562754034996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21900790929794312, + -0.03804846853017807, + -0.011056068353354931 + ], + "orientation": [ + 0.4903580844402313, + -0.4692580997943878, + -0.577208399772644, + -0.4540662467479706 + ], + "joints": [ + 0.011870671063661575 + ] + }, + "fine_grasp": { + "position": [ + -0.21978436410427094, + -0.03898085281252861, + -0.010975229553878307 + ], + "orientation": [ + 0.4845678210258484, + -0.4746592938899994, + -0.5770204067230225, + -0.4549064338207245 + ], + "joints": [ + 0.017237817868590355 + ] + }, + "final_grasp": { + "position": [ + -0.21978436410427094, + -0.03898085281252861, + -0.010975229553878307 + ], + "orientation": [ + 0.4845678210258484, + -0.4746592938899994, + -0.5770204067230225, + -0.4549064338207245 + ], + "joints": [ + 0.022604964673519135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21877656877040863, + -0.03699623793363571, + -0.010889377444982529 + ], + "orientation": [ + 0.4877285659313202, + -0.4729578197002411, + -0.5753432512283325, + -0.4554249942302704 + ], + "joints": [ + 0.011870669201016426 + ] + }, + "fine_grasp": { + "position": [ + -0.21962957084178925, + -0.0379372276365757, + -0.01082568522542715 + ], + "orientation": [ + 0.4818025529384613, + -0.4783534109592438, + -0.5752133131027222, + -0.4562608599662781 + ], + "joints": [ + 0.017237816005945206 + ] + }, + "final_grasp": { + "position": [ + -0.21962957084178925, + -0.0379372276365757, + -0.01082568522542715 + ], + "orientation": [ + 0.4818025529384613, + -0.4783534109592438, + -0.5752133131027222, + -0.4562608599662781 + ], + "joints": [ + 0.022604962810873985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21358244121074677, + 0.03571236878633499, + -0.060920409858226776 + ], + "orientation": [ + 0.4837353825569153, + 0.7178556323051453, + 0.3593210279941559, + -0.3486712574958801 + ], + "joints": [ + 0.005452538840472698 + ] + }, + "fine_grasp": { + "position": [ + -0.2085307091474533, + 0.03503622114658356, + -0.05903143435716629 + ], + "orientation": [ + 0.48590344190597534, + 0.7145534753799438, + 0.3720930516719818, + -0.33890703320503235 + ], + "joints": [ + 0.009730306454002857 + ] + }, + "final_grasp": { + "position": [ + -0.2085307091474533, + 0.03503622114658356, + -0.05903143435716629 + ], + "orientation": [ + 0.48590344190597534, + 0.7145534753799438, + 0.3720930516719818, + -0.33890703320503235 + ], + "joints": [ + 0.014008074067533016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21666288375854492, + 0.0326930396258831, + -0.016954200342297554 + ], + "orientation": [ + 0.46347326040267944, + -0.4727953374385834, + -0.4666089117527008, + -0.5864582061767578 + ], + "joints": [ + 0.01156846433877945 + ] + }, + "fine_grasp": { + "position": [ + -0.21605513989925385, + 0.033241551369428635, + -0.0172133706510067 + ], + "orientation": [ + 0.4701631963253021, + -0.46523594856262207, + -0.4671599268913269, + -0.5867398381233215 + ], + "joints": [ + 0.01690903678536415 + ] + }, + "final_grasp": { + "position": [ + -0.21605513989925385, + 0.033241551369428635, + -0.0172133706510067 + ], + "orientation": [ + 0.4701631963253021, + -0.46523594856262207, + -0.4671599268913269, + -0.5867398381233215 + ], + "joints": [ + 0.022249609231948853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21661153435707092, + 0.03303327038884163, + -0.017385557293891907 + ], + "orientation": [ + 0.46235811710357666, + -0.47206181287765503, + -0.4673626124858856, + -0.5873284339904785 + ], + "joints": [ + 0.011528415605425835 + ] + }, + "fine_grasp": { + "position": [ + -0.21592146158218384, + 0.033586934208869934, + -0.017616333439946175 + ], + "orientation": [ + 0.4688430726528168, + -0.4640485644340515, + -0.4681546688079834, + -0.5879424214363098 + ], + "joints": [ + 0.016868988052010536 + ] + }, + "final_grasp": { + "position": [ + -0.21592146158218384, + 0.033586934208869934, + -0.017616333439946175 + ], + "orientation": [ + 0.4688430726528168, + -0.4640485644340515, + -0.4681546688079834, + -0.5879424214363098 + ], + "joints": [ + 0.022209560498595238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.2185087651014328, + -0.01160968653857708, + -0.01127229630947113 + ], + "orientation": [ + 0.46085038781166077, + -0.5039777755737305, + -0.5425777435302734, + -0.48911407589912415 + ], + "joints": [ + 0.012161627411842346 + ] + }, + "fine_grasp": { + "position": [ + -0.21768788993358612, + -0.012520486488938332, + -0.011322270147502422 + ], + "orientation": [ + 0.4543664753437042, + -0.5094552636146545, + -0.5423449277877808, + -0.48976370692253113 + ], + "joints": [ + 0.017502201721072197 + ] + }, + "final_grasp": { + "position": [ + -0.21768788993358612, + -0.012520486488938332, + -0.011322270147502422 + ], + "orientation": [ + 0.4543664753437042, + -0.5094552636146545, + -0.5423449277877808, + -0.48976370692253113 + ], + "joints": [ + 0.022842776030302048 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21734774112701416, + -0.028413590043783188, + 0.006537251174449921 + ], + "orientation": [ + 0.5341500639915466, + -0.5002250075340271, + -0.4519285559654236, + -0.5101169347763062 + ], + "joints": [ + 0.01178065687417984 + ] + }, + "fine_grasp": { + "position": [ + -0.21664847433567047, + -0.029186291620135307, + 0.007191546261310577 + ], + "orientation": [ + 0.5353361368179321, + -0.49965184926986694, + -0.44358333945274353, + -0.5167178511619568 + ], + "joints": [ + 0.017652632668614388 + ] + }, + "final_grasp": { + "position": [ + -0.21664847433567047, + -0.029186291620135307, + 0.007191546261310577 + ], + "orientation": [ + 0.5353361368179321, + -0.49965184926986694, + -0.44358333945274353, + -0.5167178511619568 + ], + "joints": [ + 0.023524608463048935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21719492971897125, + -0.02926143817603588, + 0.006993933115154505 + ], + "orientation": [ + 0.5352074503898621, + -0.5000354051589966, + -0.45045173168182373, + -0.5105006098747253 + ], + "joints": [ + 0.01178065687417984 + ] + }, + "fine_grasp": { + "position": [ + -0.21646618843078613, + -0.03003646992146969, + 0.007605762220919132 + ], + "orientation": [ + 0.5365613698959351, + -0.4998326599597931, + -0.4416961371898651, + -0.5168883800506592 + ], + "joints": [ + 0.017652632668614388 + ] + }, + "final_grasp": { + "position": [ + -0.21646618843078613, + -0.03003646992146969, + 0.007605762220919132 + ], + "orientation": [ + 0.5365613698959351, + -0.4998326599597931, + -0.4416961371898651, + -0.5168883800506592 + ], + "joints": [ + 0.023524608463048935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.2143678218126297, + -0.012280718423426151, + -0.0016018050955608487 + ], + "orientation": [ + 0.5113284587860107, + 0.48309794068336487, + 0.4823470711708069, + -0.5220162272453308 + ], + "joints": [ + 0.012121576815843582 + ] + }, + "fine_grasp": { + "position": [ + -0.20973114669322968, + -0.012002029456198215, + -0.000925542030017823 + ], + "orientation": [ + 0.5150377750396729, + 0.4780115783214569, + 0.4824446141719818, + -0.5229609608650208 + ], + "joints": [ + 0.017488723620772362 + ] + }, + "final_grasp": { + "position": [ + -0.20973114669322968, + -0.012002029456198215, + -0.000925542030017823 + ], + "orientation": [ + 0.5150377750396729, + 0.4780115783214569, + 0.4824446141719818, + -0.5229609608650208 + ], + "joints": [ + 0.02285587042570114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21440593898296356, + -0.012200765311717987, + -0.001589965308085084 + ], + "orientation": [ + 0.5109389424324036, + 0.48340076208114624, + 0.48187053203582764, + -0.5225571990013123 + ], + "joints": [ + 0.012121576815843582 + ] + }, + "fine_grasp": { + "position": [ + -0.20960400998592377, + -0.012014553882181644, + -0.0009007615153677762 + ], + "orientation": [ + 0.5143670439720154, + 0.4785800874233246, + 0.48158758878707886, + -0.5238904356956482 + ], + "joints": [ + 0.017488723620772362 + ] + }, + "final_grasp": { + "position": [ + -0.20960400998592377, + -0.012014553882181644, + -0.0009007615153677762 + ], + "orientation": [ + 0.5143670439720154, + 0.4785800874233246, + 0.48158758878707886, + -0.5238904356956482 + ], + "joints": [ + 0.02285587042570114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.2176642119884491, + 0.014388550072908401, + 0.006326193455606699 + ], + "orientation": [ + 0.5046093463897705, + 0.45867976546287537, + 0.49796098470687866, + -0.5357399582862854 + ], + "joints": [ + 0.011902328580617905 + ] + }, + "fine_grasp": { + "position": [ + -0.2164795845746994, + 0.015402399003505707, + 0.006708252243697643 + ], + "orientation": [ + 0.51073157787323, + 0.45139065384864807, + 0.49857625365257263, + -0.535557210445404 + ], + "joints": [ + 0.017269475385546684 + ] + }, + "final_grasp": { + "position": [ + -0.2164795845746994, + 0.015402399003505707, + 0.006708252243697643 + ], + "orientation": [ + 0.51073157787323, + 0.45139065384864807, + 0.49857625365257263, + -0.535557210445404 + ], + "joints": [ + 0.022636622190475464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21764321625232697, + 0.014359348453581333, + 0.0061158728785812855 + ], + "orientation": [ + 0.5057992339134216, + 0.4582364857196808, + 0.4974963963031769, + -0.5354284644126892 + ], + "joints": [ + 0.011934949085116386 + ] + }, + "fine_grasp": { + "position": [ + -0.2165079414844513, + 0.015362423844635487, + 0.006457039155066013 + ], + "orientation": [ + 0.5116562843322754, + 0.451321005821228, + 0.49808579683303833, + -0.5351895093917847 + ], + "joints": [ + 0.017302095890045166 + ] + }, + "final_grasp": { + "position": [ + -0.2165079414844513, + 0.015362423844635487, + 0.006457039155066013 + ], + "orientation": [ + 0.5116562843322754, + 0.451321005821228, + 0.49808579683303833, + -0.5351895093917847 + ], + "joints": [ + 0.022669242694973946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21446844935417175, + -0.012299285270273685, + -0.0015945619670674205 + ], + "orientation": [ + 0.5100023746490479, + 0.4843307435512543, + 0.4814193546772003, + -0.5230266451835632 + ], + "joints": [ + 0.012121576815843582 + ] + }, + "fine_grasp": { + "position": [ + -0.21053989231586456, + -0.013394298031926155, + -0.0006889561773277819 + ], + "orientation": [ + 0.5180201530456543, + 0.47330886125564575, + 0.4868856370449066, + -0.5201694369316101 + ], + "joints": [ + 0.01799355261027813 + ] + }, + "final_grasp": { + "position": [ + -0.21053989231586456, + -0.013394298031926155, + -0.0006889561773277819 + ], + "orientation": [ + 0.5180201530456543, + 0.47330886125564575, + 0.4868856370449066, + -0.5201694369316101 + ], + "joints": [ + 0.023865528404712677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21876314282417297, + 0.06394577026367188, + 0.0007749657379463315 + ], + "orientation": [ + 0.47201424837112427, + -0.530368447303772, + -0.4150006175041199, + -0.5689343810081482 + ], + "joints": [ + 0.012081526219844818 + ] + }, + "fine_grasp": { + "position": [ + -0.2183794230222702, + 0.06346500664949417, + 0.0014786308165639639 + ], + "orientation": [ + 0.47245365381240845, + -0.528576135635376, + -0.40538573265075684, + -0.5771111249923706 + ], + "joints": [ + 0.017953502014279366 + ] + }, + "final_grasp": { + "position": [ + -0.2183794230222702, + 0.06346500664949417, + 0.0014786308165639639 + ], + "orientation": [ + 0.47245365381240845, + -0.528576135635376, + -0.40538573265075684, + -0.5771111249923706 + ], + "joints": [ + 0.023825477808713913 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21782834827899933, + 0.018816722556948662, + -0.012674139812588692 + ], + "orientation": [ + 0.5393946170806885, + 0.49846944212913513, + 0.4714355766773224, + -0.488190621137619 + ], + "joints": [ + 0.011829286813735962 + ] + }, + "fine_grasp": { + "position": [ + -0.21623235940933228, + 0.017872828990221024, + -0.013111167587339878 + ], + "orientation": [ + 0.5390620231628418, + 0.4994754195213318, + 0.4647805392742157, + -0.4938780963420868 + ], + "joints": [ + 0.01770126260817051 + ] + }, + "final_grasp": { + "position": [ + -0.21623235940933228, + 0.017872828990221024, + -0.013111167587339878 + ], + "orientation": [ + 0.5390620231628418, + 0.4994754195213318, + 0.4647805392742157, + -0.4938780963420868 + ], + "joints": [ + 0.023573238402605057 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21674904227256775, + 0.0008496393566019833, + 0.011324928142130375 + ], + "orientation": [ + 0.459662526845932, + 0.47967126965522766, + 0.5722994804382324, + -0.4807277321815491 + ], + "joints": [ + 0.011049147695302963 + ] + }, + "fine_grasp": { + "position": [ + -0.2154047191143036, + 8.626632916275412e-05, + 0.011900214478373528 + ], + "orientation": [ + 0.45107245445251465, + 0.4860338568687439, + 0.5735543966293335, + -0.48097819089889526 + ], + "joints": [ + 0.016921119764447212 + ] + }, + "final_grasp": { + "position": [ + -0.2154047191143036, + 8.626632916275412e-05, + 0.011900214478373528 + ], + "orientation": [ + 0.45107245445251465, + 0.4860338568687439, + 0.5735543966293335, + -0.48097819089889526 + ], + "joints": [ + 0.02279309183359146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21729646623134613, + 0.033238813281059265, + -0.02183537557721138 + ], + "orientation": [ + 0.4262142479419708, + -0.49552270770072937, + -0.5475031137466431, + -0.5225313901901245 + ], + "joints": [ + 0.010501464828848839 + ] + }, + "fine_grasp": { + "position": [ + -0.21444211900234222, + 0.03225740045309067, + -0.02246435545384884 + ], + "orientation": [ + 0.41242465376853943, + -0.5053010582923889, + -0.5527409315109253, + -0.5187044143676758 + ], + "joints": [ + 0.015842033550143242 + ] + }, + "final_grasp": { + "position": [ + -0.21444211900234222, + 0.03225740045309067, + -0.02246435545384884 + ], + "orientation": [ + 0.41242465376853943, + -0.5053010582923889, + -0.5527409315109253, + -0.5187044143676758 + ], + "joints": [ + 0.021182602271437645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.2080388218164444, + -0.02719840779900551, + -0.08376850932836533 + ], + "orientation": [ + 0.3482739329338074, + -0.27533039450645447, + 0.6766096353530884, + 0.5874503254890442 + ], + "joints": [ + 0.005348662380129099 + ] + }, + "fine_grasp": { + "position": [ + 0.20324042439460754, + -0.025758877396583557, + -0.08147202432155609 + ], + "orientation": [ + 0.3567960858345032, + -0.2698817253112793, + 0.677895188331604, + 0.5833683609962463 + ], + "joints": [ + 0.00864334311336279 + ] + }, + "final_grasp": { + "position": [ + 0.20324042439460754, + -0.025758877396583557, + -0.08147202432155609 + ], + "orientation": [ + 0.3567960858345032, + -0.2698817253112793, + 0.677895188331604, + 0.5833683609962463 + ], + "joints": [ + 0.011938024312257767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.20562724769115448, + 0.04780149459838867, + -0.05673070251941681 + ], + "orientation": [ + 0.5865879058837891, + 0.5936414003372192, + -0.2698245942592621, + 0.48031166195869446 + ], + "joints": [ + 0.002924627624452114 + ] + }, + "fine_grasp": { + "position": [ + 0.20258526504039764, + 0.046306561678647995, + -0.056653182953596115 + ], + "orientation": [ + 0.5890499949455261, + 0.5867170095443726, + -0.2530499994754791, + 0.494720995426178 + ], + "joints": [ + 0.007760365027934313 + ] + }, + "final_grasp": { + "position": [ + 0.20258526504039764, + 0.046306561678647995, + -0.056653182953596115 + ], + "orientation": [ + 0.5890499949455261, + 0.5867170095443726, + -0.2530499994754791, + 0.494720995426178 + ], + "joints": [ + 0.012596102431416512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012456830590963364, + 0.19333761930465698, + -0.010309928096830845 + ], + "orientation": [ + 0.042203884571790695, + 0.6884806156158447, + -0.0010990005685016513, + -0.7240249514579773 + ], + "joints": [ + 0.011920630931854248 + ] + }, + "fine_grasp": { + "position": [ + 0.011562841013073921, + 0.19255433976650238, + -0.010512033477425575 + ], + "orientation": [ + 0.037178635597229004, + 0.6846635341644287, + -0.005189073272049427, + -0.7278919816017151 + ], + "joints": [ + 0.017792606726288795 + ] + }, + "final_grasp": { + "position": [ + 0.011562841013073921, + 0.19255433976650238, + -0.010512033477425575 + ], + "orientation": [ + 0.037178635597229004, + 0.6846635341644287, + -0.005189073272049427, + -0.7278919816017151 + ], + "joints": [ + 0.023664582520723343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027892552316188812, + 0.19277016818523407, + -0.01597272790968418 + ], + "orientation": [ + 0.06674724072217941, + 0.6471288204193115, + 0.010188502259552479, + 0.75938481092453 + ], + "joints": [ + 0.011309167370200157 + ] + }, + "fine_grasp": { + "position": [ + 0.028209492564201355, + 0.19208742678165436, + -0.015970787033438683 + ], + "orientation": [ + 0.0636807233095169, + 0.6381856203079224, + 0.0164270531386137, + 0.7670685648918152 + ], + "joints": [ + 0.01664973981678486 + ] + }, + "final_grasp": { + "position": [ + 0.028209492564201355, + 0.19208742678165436, + -0.015970787033438683 + ], + "orientation": [ + 0.0636807233095169, + 0.6381856203079224, + 0.0164270531386137, + 0.7670685648918152 + ], + "joints": [ + 0.02199031226336956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029775219038128853, + -0.19316799938678741, + 0.009847654961049557 + ], + "orientation": [ + 0.6658048629760742, + -0.06155169755220413, + 0.7435128688812256, + -0.010195870883762836 + ], + "joints": [ + 0.011266766116023064 + ] + }, + "fine_grasp": { + "position": [ + 0.030536264181137085, + -0.1922389566898346, + 0.01101734209805727 + ], + "orientation": [ + 0.6562681198120117, + -0.059749871492385864, + 0.7519156336784363, + -0.01910410076379776 + ], + "joints": [ + 0.017138740047812462 + ] + }, + "final_grasp": { + "position": [ + 0.030536264181137085, + -0.1922389566898346, + 0.01101734209805727 + ], + "orientation": [ + 0.6562681198120117, + -0.059749871492385864, + 0.7519156336784363, + -0.01910410076379776 + ], + "joints": [ + 0.02301071397960186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012446166947484016, + 0.19337983429431915, + -0.010000033304095268 + ], + "orientation": [ + 0.04082341119647026, + 0.6867356300354004, + -0.0008521154522895813, + -0.7257595062255859 + ], + "joints": [ + 0.011920630931854248 + ] + }, + "fine_grasp": { + "position": [ + 0.011600496247410774, + 0.19270426034927368, + -0.010100516490638256 + ], + "orientation": [ + 0.03539691120386124, + 0.6828915476799011, + -0.004871688783168793, + -0.7296454906463623 + ], + "joints": [ + 0.017792606726288795 + ] + }, + "final_grasp": { + "position": [ + 0.011600496247410774, + 0.19270426034927368, + -0.010100516490638256 + ], + "orientation": [ + 0.03539691120386124, + 0.6828915476799011, + -0.004871688783168793, + -0.7296454906463623 + ], + "joints": [ + 0.023664582520723343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0443173311650753, + 0.19650912284851074, + -0.014752823859453201 + ], + "orientation": [ + 0.03347671031951904, + -0.6663676500320435, + -0.09217574447393417, + -0.7391461133956909 + ], + "joints": [ + 0.011788085103034973 + ] + }, + "fine_grasp": { + "position": [ + -0.04396700859069824, + 0.19721238315105438, + -0.01482432335615158 + ], + "orientation": [ + 0.03933335840702057, + -0.6601857542991638, + -0.09711829572916031, + -0.7437579035758972 + ], + "joints": [ + 0.017633488401770592 + ] + }, + "final_grasp": { + "position": [ + -0.04396700859069824, + 0.19721238315105438, + -0.01482432335615158 + ], + "orientation": [ + 0.03933335840702057, + -0.6601857542991638, + -0.09711829572916031, + -0.7437579035758972 + ], + "joints": [ + 0.02347889170050621 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021266305819153786, + -0.1999759078025818, + 0.0036733809392899275 + ], + "orientation": [ + 0.7511069178581238, + -0.03807420656085014, + -0.6590519547462463, + -0.006262356881052256 + ], + "joints": [ + 0.011820705607533455 + ] + }, + "fine_grasp": { + "position": [ + 0.021819734945893288, + -0.19937022030353546, + 0.0040467060171067715 + ], + "orientation": [ + 0.7597072124481201, + -0.03761477768421173, + -0.649168848991394, + -0.0031349887140095234 + ], + "joints": [ + 0.017187852412462234 + ] + }, + "final_grasp": { + "position": [ + 0.021819734945893288, + -0.19937022030353546, + 0.0040467060171067715 + ], + "orientation": [ + 0.7597072124481201, + -0.03761477768421173, + -0.649168848991394, + -0.0031349887140095234 + ], + "joints": [ + 0.022554999217391014 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04528336599469185, + -0.20127665996551514, + -0.005545028485357761 + ], + "orientation": [ + 0.7510393261909485, + -0.029268598183989525, + 0.6576987504959106, + 0.05015765130519867 + ], + "joints": [ + 0.011929236352443695 + ] + }, + "fine_grasp": { + "position": [ + 0.04578965902328491, + -0.19970351457595825, + -0.004741522949188948 + ], + "orientation": [ + 0.7634502649307251, + -0.032510239630937576, + 0.6429137587547302, + 0.05242796987295151 + ], + "joints": [ + 0.017801212146878242 + ] + }, + "final_grasp": { + "position": [ + 0.04578965902328491, + -0.19970351457595825, + -0.004741522949188948 + ], + "orientation": [ + 0.7634502649307251, + -0.032510239630937576, + 0.6429137587547302, + 0.05242796987295151 + ], + "joints": [ + 0.02367318794131279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03917836397886276, + -0.20216761529445648, + 0.00043466404895298183 + ], + "orientation": [ + 0.6457840800285339, + 0.013924787752330303, + -0.7628852128982544, + 0.02784285694360733 + ], + "joints": [ + 0.011854849755764008 + ] + }, + "fine_grasp": { + "position": [ + 0.037907250225543976, + -0.20111224055290222, + 2.6486068236408755e-05 + ], + "orientation": [ + 0.6323444247245789, + 0.011275594122707844, + -0.774238646030426, + 0.02383008413016796 + ], + "joints": [ + 0.017221996560692787 + ] + }, + "final_grasp": { + "position": [ + 0.037907250225543976, + -0.20111224055290222, + 2.6486068236408755e-05 + ], + "orientation": [ + 0.6323444247245789, + 0.011275594122707844, + -0.774238646030426, + 0.02383008413016796 + ], + "joints": [ + 0.022589143365621567 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 51 + } +} \ No newline at end of file diff --git a/geometry_mousemat_00000/Annotation/piper_grasp_pose.json b/geometry_mousemat_00000/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..9de7664953a4ff9384e7014a7f29ddbb0ff25a83 --- /dev/null +++ b/geometry_mousemat_00000/Annotation/piper_grasp_pose.json @@ -0,0 +1,1018 @@ +{ + "type": "geometry_mousemat_00000", + "bottom_center": [ + 0.0, + 0.0, + -0.003634480759501457 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0047780489549040794, + 0.02150634303689003, + -0.14615967869758606 + ], + "orientation": [ + 0.13010290265083313, + 0.02487228624522686, + -0.029984401538968086, + 0.990734875202179 + ], + "joints": [ + 0.007660928647965193 + ] + }, + "fine_grasp": { + "position": [ + 0.004763076081871986, + 0.02137846127152443, + -0.1408229023218155 + ], + "orientation": [ + 0.13012780249118805, + 0.023650653660297394, + -0.028851455077528954, + 0.9907951951026917 + ], + "joints": [ + 0.008496838621795177 + ] + }, + "final_grasp": { + "position": [ + 0.004763076081871986, + 0.02137846127152443, + -0.1408229023218155 + ], + "orientation": [ + 0.13012780249118805, + 0.023650653660297394, + -0.028851455077528954, + 0.9907951951026917 + ], + "joints": [ + 0.009332748129963875 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015181928873062134, + 0.18374614417552948, + -0.0031077791936695576 + ], + "orientation": [ + 0.10003113001585007, + -0.027422957122325897, + 0.7055431008338928, + -0.7010354399681091 + ], + "joints": [ + 0.010212872177362442 + ] + }, + "fine_grasp": { + "position": [ + -0.015266991220414639, + 0.1813879758119583, + -0.00310348579660058 + ], + "orientation": [ + 0.11256143450737, + -0.015371094457805157, + 0.7059268951416016, + -0.6991143226623535 + ], + "joints": [ + 0.003504691645503044 + ] + }, + "final_grasp": { + "position": [ + -0.015266991220414639, + 0.1813879758119583, + -0.00310348579660058 + ], + "orientation": [ + 0.11256143450737, + -0.015371094457805157, + 0.7059268951416016, + -0.6991143226623535 + ], + "joints": [ + -0.0032034888863563538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.18777547776699066, + 0.1647832989692688, + -0.011337884701788425 + ], + "orientation": [ + 0.651253342628479, + 0.6483673453330994, + -0.1853523999452591, + -0.34804245829582214 + ], + "joints": [ + 0.01277503278106451 + ] + }, + "fine_grasp": { + "position": [ + 0.18482273817062378, + 0.16261425614356995, + -0.010940310545265675 + ], + "orientation": [ + 0.6465132236480713, + 0.6493588089942932, + -0.18182839453220367, + -0.3567803204059601 + ], + "joints": [ + 0.003580018412321806 + ] + }, + "final_grasp": { + "position": [ + 0.18482273817062378, + 0.16261425614356995, + -0.010940310545265675 + ], + "orientation": [ + 0.6465132236480713, + 0.6493588089942932, + -0.18182839453220367, + -0.3567803204059601 + ], + "joints": [ + -0.0056149959564208984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08204181492328644, + 0.20644274353981018, + -0.023575207218527794 + ], + "orientation": [ + 0.7534081339836121, + 0.6459506154060364, + -0.11967233568429947, + -0.028332000598311424 + ], + "joints": [ + 0.013410581275820732 + ] + }, + "fine_grasp": { + "position": [ + 0.08179491758346558, + 0.20305724442005157, + -0.02184879034757614 + ], + "orientation": [ + 0.7598514556884766, + 0.6389605402946472, + -0.11698531359434128, + -0.025876224040985107 + ], + "joints": [ + 0.00335875921882689 + ] + }, + "final_grasp": { + "position": [ + 0.08179491758346558, + 0.20305724442005157, + -0.02184879034757614 + ], + "orientation": [ + 0.7598514556884766, + 0.6389605402946472, + -0.11698531359434128, + -0.025876224040985107 + ], + "joints": [ + -0.006693062838166952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08210191875696182, + 0.20631973445415497, + -0.023652514442801476 + ], + "orientation": [ + 0.7530379891395569, + 0.6464581489562988, + -0.11941777169704437, + -0.027656681835651398 + ], + "joints": [ + 0.013654325157403946 + ] + }, + "fine_grasp": { + "position": [ + 0.08186165988445282, + 0.20298965275287628, + -0.021887512877583504 + ], + "orientation": [ + 0.7596864104270935, + 0.6392244696617126, + -0.11675193905830383, + -0.025251829996705055 + ], + "joints": [ + 0.00360250286757946 + ] + }, + "final_grasp": { + "position": [ + 0.08186165988445282, + 0.20298965275287628, + -0.021887512877583504 + ], + "orientation": [ + 0.7596864104270935, + 0.6392244696617126, + -0.11675193905830383, + -0.025251829996705055 + ], + "joints": [ + -0.006449319422245026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1317119002342224, + 0.18998095393180847, + -0.006763044744729996 + ], + "orientation": [ + 0.7146680951118469, + 0.6652082800865173, + 0.20081622898578644, + 0.08012659102678299 + ], + "joints": [ + 0.01063636876642704 + ] + }, + "fine_grasp": { + "position": [ + -0.1320764422416687, + 0.1862848848104477, + -0.006462843623012304 + ], + "orientation": [ + 0.7148923277854919, + 0.6628538370132446, + 0.21070942282676697, + 0.07180056720972061 + ], + "joints": [ + 0.0035102330148220062 + ] + }, + "final_grasp": { + "position": [ + -0.1320764422416687, + 0.1862848848104477, + -0.006462843623012304 + ], + "orientation": [ + 0.7148923277854919, + 0.6628538370132446, + 0.21070942282676697, + 0.07180056720972061 + ], + "joints": [ + -0.0036159027367830276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13190223276615143, + 0.18977901339530945, + -0.006821051239967346 + ], + "orientation": [ + 0.714733898639679, + 0.6649269461631775, + 0.20134186744689941, + 0.08055520057678223 + ], + "joints": [ + 0.01061321422457695 + ] + }, + "fine_grasp": { + "position": [ + -0.1322532296180725, + 0.1861041933298111, + -0.006513123866170645 + ], + "orientation": [ + 0.7150208353996277, + 0.6625922322273254, + 0.21094998717308044, + 0.0722278356552124 + ], + "joints": [ + 0.003487078472971916 + ] + }, + "final_grasp": { + "position": [ + -0.1322532296180725, + 0.1861041933298111, + -0.006513123866170645 + ], + "orientation": [ + 0.7150208353996277, + 0.6625922322273254, + 0.21094998717308044, + 0.0722278356552124 + ], + "joints": [ + -0.0036390572786331177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04605327546596527, + -0.1913834512233734, + -0.000712595647200942 + ], + "orientation": [ + 0.17054791748523712, + 0.0190495066344738, + 0.7137188911437988, + 0.6790845990180969 + ], + "joints": [ + 0.010893759317696095 + ] + }, + "fine_grasp": { + "position": [ + -0.046929165720939636, + -0.18881714344024658, + -0.0009871195070445538 + ], + "orientation": [ + 0.18571455776691437, + 0.009455565363168716, + 0.7131223082542419, + 0.6759269833564758 + ], + "joints": [ + 0.0033496685791760683 + ] + }, + "final_grasp": { + "position": [ + -0.046929165720939636, + -0.18881714344024658, + -0.0009871195070445538 + ], + "orientation": [ + 0.18571455776691437, + 0.009455565363168716, + 0.7131223082542419, + 0.6759269833564758 + ], + "joints": [ + -0.004194422159343958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045885827392339706, + -0.19120898842811584, + -0.0008623140165582299 + ], + "orientation": [ + 0.17114248871803284, + 0.01880091056227684, + 0.7132135033607483, + 0.6794727444648743 + ], + "joints": [ + 0.010770373977720737 + ] + }, + "fine_grasp": { + "position": [ + -0.046775318682193756, + -0.18862968683242798, + -0.0011347081745043397 + ], + "orientation": [ + 0.18637283146381378, + 0.009171679615974426, + 0.7126380801200867, + 0.676260232925415 + ], + "joints": [ + 0.0036442382261157036 + ] + }, + "final_grasp": { + "position": [ + -0.046775318682193756, + -0.18862968683242798, + -0.0011347081745043397 + ], + "orientation": [ + 0.18637283146381378, + 0.009171679615974426, + 0.7126380801200867, + 0.676260232925415 + ], + "joints": [ + -0.0034818975254893303 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.2185876965522766, + 0.004457753151655197, + -0.01221144013106823 + ], + "orientation": [ + 0.5120856165885925, + -0.4168889820575714, + -0.5281567573547363, + 0.5338749289512634 + ], + "joints": [ + 0.012336631305515766 + ] + }, + "fine_grasp": { + "position": [ + 0.2151189148426056, + 0.004599112085998058, + -0.01150368433445692 + ], + "orientation": [ + 0.51621413230896, + -0.41128844022750854, + -0.5318625569343567, + 0.53055340051651 + ], + "joints": [ + 0.0035386746749281883 + ] + }, + "final_grasp": { + "position": [ + 0.2151189148426056, + 0.004599112085998058, + -0.01150368433445692 + ], + "orientation": [ + 0.51621413230896, + -0.41128844022750854, + -0.5318625569343567, + 0.53055340051651 + ], + "joints": [ + -0.0052592819556593895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.21880431473255157, + 0.004587695002555847, + -0.012555692344903946 + ], + "orientation": [ + 0.5126656293869019, + -0.4162864089012146, + -0.5275418758392334, + 0.5343959927558899 + ], + "joints": [ + 0.012355741113424301 + ] + }, + "fine_grasp": { + "position": [ + 0.2148166447877884, + 0.00446756137534976, + -0.011829864233732224 + ], + "orientation": [ + 0.5174278020858765, + -0.4107724130153656, + -0.5306622982025146, + 0.5309726595878601 + ], + "joints": [ + 0.0035577844828367233 + ] + }, + "final_grasp": { + "position": [ + 0.2148166447877884, + 0.00446756137534976, + -0.011829864233732224 + ], + "orientation": [ + 0.5174278020858765, + -0.4107724130153656, + -0.5306622982025146, + 0.5309726595878601 + ], + "joints": [ + -0.0052401721477508545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040322672575712204, + -0.21096639335155487, + -0.01180807314813137 + ], + "orientation": [ + 0.0719214677810669, + -0.07918812334537506, + -0.6760713458061218, + -0.7290295362472534 + ], + "joints": [ + 0.010355896316468716 + ] + }, + "fine_grasp": { + "position": [ + 0.0403641052544117, + -0.2066405713558197, + -0.011322826147079468 + ], + "orientation": [ + 0.0737738236784935, + -0.08045510202646255, + -0.6746939420700073, + -0.7299811244010925 + ], + "joints": [ + 0.0036268183030188084 + ] + }, + "final_grasp": { + "position": [ + 0.0403641052544117, + -0.2066405713558197, + -0.011322826147079468 + ], + "orientation": [ + 0.0737738236784935, + -0.08045510202646255, + -0.6746939420700073, + -0.7299811244010925 + ], + "joints": [ + -0.003102259710431099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06405059248209, + 0.1856897622346878, + -0.0143978176638484 + ], + "orientation": [ + 0.013348730280995369, + -0.050662100315093994, + 0.6677110195159912, + -0.7425748109817505 + ], + "joints": [ + 0.010924241505563259 + ] + }, + "fine_grasp": { + "position": [ + -0.06405860930681229, + 0.18341632187366486, + -0.012685577385127544 + ], + "orientation": [ + 0.008796744048595428, + -0.055007848888635635, + 0.6704177260398865, + -0.7398898601531982 + ], + "joints": [ + 0.003380150767043233 + ] + }, + "final_grasp": { + "position": [ + -0.06405860930681229, + 0.18341632187366486, + -0.012685577385127544 + ], + "orientation": [ + 0.008796744048595428, + -0.055007848888635635, + 0.6704177260398865, + -0.7398898601531982 + ], + "joints": [ + -0.004163939971476793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.21311070024967194, + -0.03097335807979107, + -0.014787118881940842 + ], + "orientation": [ + 0.43280985951423645, + 0.4737670421600342, + 0.46934589743614197, + 0.6065764427185059 + ], + "joints": [ + 0.012030597776174545 + ] + }, + "fine_grasp": { + "position": [ + -0.21079552173614502, + -0.031008051708340645, + -0.013843459077179432 + ], + "orientation": [ + 0.42195677757263184, + 0.4824495017528534, + 0.4628170430660248, + 0.612368643283844 + ], + "joints": [ + 0.0036505963653326035 + ] + }, + "final_grasp": { + "position": [ + -0.21079552173614502, + -0.031008051708340645, + -0.013843459077179432 + ], + "orientation": [ + 0.42195677757263184, + 0.4824495017528534, + 0.4628170430660248, + 0.612368643283844 + ], + "joints": [ + -0.004729405045509338 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03167225047945976, + -0.026101304218173027, + -0.14430126547813416 + ], + "orientation": [ + 0.4851737320423126, + -0.07725097984075546, + 0.05583558231592178, + 0.8692071437835693 + ], + "joints": [ + 0.008492483757436275 + ] + }, + "fine_grasp": { + "position": [ + 0.031703196465969086, + -0.025965815410017967, + -0.1389760822057724 + ], + "orientation": [ + 0.4854012131690979, + -0.07360348850488663, + 0.053445037454366684, + 0.8695470094680786 + ], + "joints": [ + 0.008492483757436275 + ] + }, + "final_grasp": { + "position": [ + 0.031703196465969086, + -0.025965815410017967, + -0.1389760822057724 + ], + "orientation": [ + 0.4854012131690979, + -0.07360348850488663, + 0.053445037454366684, + 0.8695470094680786 + ], + "joints": [ + 0.008492483757436275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03225148841738701, + -0.026279671117663383, + -0.14432089030742645 + ], + "orientation": [ + 0.4852708578109741, + -0.07741040736436844, + 0.054454199969768524, + 0.8692263960838318 + ], + "joints": [ + 0.0099780960008502 + ] + }, + "fine_grasp": { + "position": [ + 0.03222895786166191, + -0.026212148368358612, + -0.13897724449634552 + ], + "orientation": [ + 0.4854789972305298, + -0.07381598651409149, + 0.051884349435567856, + 0.869580090045929 + ], + "joints": [ + 0.0099780960008502 + ] + }, + "final_grasp": { + "position": [ + 0.03222895786166191, + -0.026212148368358612, + -0.13897724449634552 + ], + "orientation": [ + 0.4854789972305298, + -0.07381598651409149, + 0.051884349435567856, + 0.869580090045929 + ], + "joints": [ + 0.0099780960008502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005250644404441118, + -0.20288942754268646, + -0.001063465140759945 + ], + "orientation": [ + 0.018909510225057602, + 0.01394889410585165, + 0.7117912769317627, + 0.7019978165626526 + ], + "joints": [ + 0.00993400625884533 + ] + }, + "fine_grasp": { + "position": [ + 0.005328057799488306, + -0.19847139716148376, + -0.0010594251798465848 + ], + "orientation": [ + 0.019758453592658043, + 0.012989220209419727, + 0.712108850479126, + 0.7016707062721252 + ], + "joints": [ + 0.003622883465141058 + ] + }, + "final_grasp": { + "position": [ + 0.005328057799488306, + -0.19847139716148376, + -0.0010594251798465848 + ], + "orientation": [ + 0.019758453592658043, + 0.012989220209419727, + 0.712108850479126, + 0.7016707062721252 + ], + "joints": [ + -0.0026882393285632133 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005266982596367598, + -0.20317888259887695, + -0.001270062057301402 + ], + "orientation": [ + 0.01940501481294632, + 0.014163505285978317, + 0.7114073038101196, + 0.7023692727088928 + ], + "joints": [ + 0.009891623631119728 + ] + }, + "fine_grasp": { + "position": [ + 0.0053176782093942165, + -0.19879446923732758, + -0.0013549396535381675 + ], + "orientation": [ + 0.020020464435219765, + 0.013234776444733143, + 0.7118642926216125, + 0.7019068002700806 + ], + "joints": [ + 0.0035805008374154568 + ] + }, + "final_grasp": { + "position": [ + 0.0053176782093942165, + -0.19879446923732758, + -0.0013549396535381675 + ], + "orientation": [ + 0.020020464435219765, + 0.013234776444733143, + 0.7118642926216125, + 0.7019068002700806 + ], + "joints": [ + -0.0027306219562888145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.2226138561964035, + -0.04024516046047211, + 0.0014702448388561606 + ], + "orientation": [ + 0.43778130412101746, + 0.4501684010028839, + 0.5619538426399231, + 0.5384272336959839 + ], + "joints": [ + 0.009957515634596348 + ] + }, + "fine_grasp": { + "position": [ + -0.21832707524299622, + -0.04000399634242058, + 0.0011915980139747262 + ], + "orientation": [ + 0.4395248293876648, + 0.4495658576488495, + 0.5629411935806274, + 0.5364751219749451 + ], + "joints": [ + 0.0036463928408920765 + ] + }, + "final_grasp": { + "position": [ + -0.21832707524299622, + -0.04000399634242058, + 0.0011915980139747262 + ], + "orientation": [ + 0.4395248293876648, + 0.4495658576488495, + 0.5629411935806274, + 0.5364751219749451 + ], + "joints": [ + -0.002664729952812195 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.19298182427883148, + 0.148167222738266, + -0.008793896995484829 + ], + "orientation": [ + 0.3137616515159607, + -0.2829143702983856, + 0.6271070241928101, + -0.6544080972671509 + ], + "joints": [ + 0.010690858587622643 + ] + }, + "fine_grasp": { + "position": [ + -0.19015006721019745, + 0.14840690791606903, + -0.007968622259795666 + ], + "orientation": [ + 0.31213170289993286, + -0.2795843482017517, + 0.6300714015960693, + -0.6537708640098572 + ], + "joints": [ + 0.0035438253544270992 + ] + }, + "final_grasp": { + "position": [ + -0.19015006721019745, + 0.14840690791606903, + -0.007968622259795666 + ], + "orientation": [ + 0.31213170289993286, + -0.2795843482017517, + 0.6300714015960693, + -0.6537708640098572 + ], + "joints": [ + -0.003603207878768444 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 20 + } +} \ No newline at end of file diff --git a/geometry_mousemat_00000/Object.usd b/geometry_mousemat_00000/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..20f5ab306c9d3a5232e1d122bf1130af2d369fed --- /dev/null +++ b/geometry_mousemat_00000/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68f89b32a6a39dfebbb809a6e3c3c7564c11f5ecda0b82d5ed069e1fcfbc00b1 +size 201835 diff --git a/geometry_number_card_00008/Annotation/dex1_1_grasp_pose.json b/geometry_number_card_00008/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..4983dff114482435508ef46412cdcf69d7f28632 --- /dev/null +++ b/geometry_number_card_00008/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,4668 @@ +{ + "type": "geometry_number_card_00008", + "bottom_center": [ + 0.0, + 0.0, + -0.001875000074505806 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.04610316827893257, + -0.15195868909358978, + 0.0043638949282467365 + ], + "orientation": [ + 0.6613728404045105, + -0.09125489741563797, + 0.7418645024299622, + 0.06241554021835327 + ], + "joints": [ + 0.010405335575342178 + ] + }, + "fine_grasp": { + "position": [ + 0.046460457146167755, + -0.15049439668655396, + 0.004115919582545757 + ], + "orientation": [ + 0.6470983028411865, + -0.09486614912748337, + 0.7538397908210754, + 0.06316332519054413 + ], + "joints": [ + 0.016277305781841278 + ] + }, + "final_grasp": { + "position": [ + 0.046460457146167755, + -0.15049439668655396, + 0.004115919582545757 + ], + "orientation": [ + 0.6470983028411865, + -0.09486614912748337, + 0.7538397908210754, + 0.06316332519054413 + ], + "joints": [ + 0.022149275988340378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01583889126777649, + -0.1560509353876114, + -0.0014735256554558873 + ], + "orientation": [ + 0.6565924286842346, + 0.03600595146417618, + -0.7530869245529175, + 0.02121618762612343 + ], + "joints": [ + 0.01040143147110939 + ] + }, + "fine_grasp": { + "position": [ + 0.016442470252513885, + -0.15393763780593872, + -0.0017988575855270028 + ], + "orientation": [ + 0.6359735727310181, + 0.04010677710175514, + -0.7703746557235718, + 0.021263431757688522 + ], + "joints": [ + 0.01629997417330742 + ] + }, + "final_grasp": { + "position": [ + 0.016442470252513885, + -0.15393763780593872, + -0.0017988575855270028 + ], + "orientation": [ + 0.6359735727310181, + 0.04010677710175514, + -0.7703746557235718, + 0.021263431757688522 + ], + "joints": [ + 0.022198516875505447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04546131193637848, + -0.15211620926856995, + 0.00436150748282671 + ], + "orientation": [ + 0.6602046489715576, + -0.09203606843948364, + 0.7427652478218079, + 0.0629185363650322 + ], + "joints": [ + 0.010405335575342178 + ] + }, + "fine_grasp": { + "position": [ + 0.045761771500110626, + -0.15066839754581451, + 0.003980004694312811 + ], + "orientation": [ + 0.6463505625724792, + -0.0951026976108551, + 0.7543885707855225, + 0.0639093816280365 + ], + "joints": [ + 0.016277305781841278 + ] + }, + "final_grasp": { + "position": [ + 0.045761771500110626, + -0.15066839754581451, + 0.003980004694312811 + ], + "orientation": [ + 0.6463505625724792, + -0.0951026976108551, + 0.7543885707855225, + 0.0639093816280365 + ], + "joints": [ + 0.022149275988340378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12976804375648499, + -0.09916231781244278, + -0.0026002684608101845 + ], + "orientation": [ + 0.5277338027954102, + -0.3357110619544983, + 0.7370259165763855, + 0.2561015188694 + ], + "joints": [ + 0.008901942521333694 + ] + }, + "fine_grasp": { + "position": [ + 0.13138960301876068, + -0.09723107516765594, + -0.0007945042452774942 + ], + "orientation": [ + 0.504697859287262, + -0.3551013171672821, + 0.7481556534767151, + 0.24381579458713531 + ], + "joints": [ + 0.01373768039047718 + ] + }, + "final_grasp": { + "position": [ + 0.13138960301876068, + -0.09723107516765594, + -0.0007945042452774942 + ], + "orientation": [ + 0.504697859287262, + -0.3551013171672821, + 0.7481556534767151, + 0.24381579458713531 + ], + "joints": [ + 0.018573418259620667 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009066957049071789, + 0.1533970981836319, + -0.0010886976961046457 + ], + "orientation": [ + 0.025574948638677597, + 0.6810263991355896, + 0.014544304460287094, + -0.7316675186157227 + ], + "joints": [ + 0.010468920692801476 + ] + }, + "fine_grasp": { + "position": [ + -0.009695294313132763, + 0.1522844433784485, + -0.0015192986465990543 + ], + "orientation": [ + 0.029202308505773544, + 0.6650575995445251, + 0.015669167041778564, + -0.746056318283081 + ], + "joints": [ + 0.016872292384505272 + ] + }, + "final_grasp": { + "position": [ + -0.009695294313132763, + 0.1522844433784485, + -0.0015192986465990543 + ], + "orientation": [ + 0.029202308505773544, + 0.6650575995445251, + 0.015669167041778564, + -0.746056318283081 + ], + "joints": [ + 0.02327566407620907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11163307726383209, + 0.12499804049730301, + 0.0010768610518425703 + ], + "orientation": [ + 0.23374134302139282, + -0.693631112575531, + 0.25446629524230957, + 0.6320505142211914 + ], + "joints": [ + 0.010294234380126 + ] + }, + "fine_grasp": { + "position": [ + 0.11098092049360275, + 0.12451726943254471, + 0.0012262167874723673 + ], + "orientation": [ + 0.22793136537075043, + -0.7081990242004395, + 0.258492112159729, + 0.616184413433075 + ], + "joints": [ + 0.016697606071829796 + ] + }, + "final_grasp": { + "position": [ + 0.11098092049360275, + 0.12451726943254471, + 0.0012262167874723673 + ], + "orientation": [ + 0.22793136537075043, + -0.7081990242004395, + 0.258492112159729, + 0.616184413433075 + ], + "joints": [ + 0.023100977763533592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10876713693141937, + -0.1258901059627533, + -0.010336028411984444 + ], + "orientation": [ + 0.5040983557701111, + -0.19195152819156647, + 0.826661229133606, + 0.160220667719841 + ], + "joints": [ + 0.008673243224620819 + ] + }, + "fine_grasp": { + "position": [ + 0.10763867199420929, + -0.12209466099739075, + -0.009484946727752686 + ], + "orientation": [ + 0.4977865219116211, + -0.1989133507013321, + 0.8289631009101868, + 0.15956901013851166 + ], + "joints": [ + 0.014040380716323853 + ] + }, + "final_grasp": { + "position": [ + 0.10763867199420929, + -0.12209466099739075, + -0.009484946727752686 + ], + "orientation": [ + 0.4977865219116211, + -0.1989133507013321, + 0.8289631009101868, + 0.15956901013851166 + ], + "joints": [ + 0.019407518208026886 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009989685378968716, + -0.15371352434158325, + -0.0014224005863070488 + ], + "orientation": [ + 0.6859667897224426, + -0.018889158964157104, + 0.7267967462539673, + 0.029312608763575554 + ], + "joints": [ + 0.010481530800461769 + ] + }, + "fine_grasp": { + "position": [ + 0.009351278655230999, + -0.1524854302406311, + -0.001917669316753745 + ], + "orientation": [ + 0.6716919541358948, + -0.016505487263202667, + 0.7401346564292908, + 0.027534279972314835 + ], + "joints": [ + 0.016858329996466637 + ] + }, + "final_grasp": { + "position": [ + 0.009351278655230999, + -0.1524854302406311, + -0.001917669316753745 + ], + "orientation": [ + 0.6716919541358948, + -0.016505487263202667, + 0.7401346564292908, + 0.027534279972314835 + ], + "joints": [ + 0.023235129192471504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1089855208992958, + -0.12610356509685516, + -0.009520030580461025 + ], + "orientation": [ + 0.5036069750785828, + -0.19378462433815002, + 0.8270880579948425, + 0.15733009576797485 + ], + "joints": [ + 0.008566519245505333 + ] + }, + "fine_grasp": { + "position": [ + 0.10794683545827866, + -0.12241271883249283, + -0.008718348108232021 + ], + "orientation": [ + 0.4973830580711365, + -0.2006099969148636, + 0.8294044137001038, + 0.15637774765491486 + ], + "joints": [ + 0.013933656737208366 + ] + }, + "final_grasp": { + "position": [ + 0.10794683545827866, + -0.12241271883249283, + -0.008718348108232021 + ], + "orientation": [ + 0.4973830580711365, + -0.2006099969148636, + 0.8294044137001038, + 0.15637774765491486 + ], + "joints": [ + 0.0193007942289114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009142866358160973, + 0.15350115299224854, + -0.0011391591979190707 + ], + "orientation": [ + 0.02411283738911152, + 0.7349013686180115, + 0.0153661435469985, + -0.6775708794593811 + ], + "joints": [ + 0.010439479723572731 + ] + }, + "fine_grasp": { + "position": [ + -0.008350912481546402, + 0.1524723917245865, + -0.0018237176118418574 + ], + "orientation": [ + 0.023062868043780327, + 0.7498968243598938, + 0.011523539200425148, + -0.6610523462295532 + ], + "joints": [ + 0.01631144993007183 + ] + }, + "final_grasp": { + "position": [ + -0.008350912481546402, + 0.1524723917245865, + -0.0018237176118418574 + ], + "orientation": [ + 0.023062868043780327, + 0.7498968243598938, + 0.011523539200425148, + -0.6610523462295532 + ], + "joints": [ + 0.02218342013657093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028220491483807564, + 0.15679219365119934, + 0.0036223786883056164 + ], + "orientation": [ + 0.06634297221899033, + 0.5024382472038269, + 0.07266170531511307, + -0.8589963912963867 + ], + "joints": [ + 0.0111378263682127 + ] + }, + "fine_grasp": { + "position": [ + 0.026471709832549095, + 0.1617971956729889, + 0.0032869467977434397 + ], + "orientation": [ + 0.05677850544452667, + 0.5015788078308105, + 0.05941903218626976, + -0.8611992597579956 + ], + "joints": [ + 0.014857624657452106 + ] + }, + "final_grasp": { + "position": [ + 0.026471709832549095, + 0.1617971956729889, + 0.0032869467977434397 + ], + "orientation": [ + 0.05677850544452667, + 0.5015788078308105, + 0.05941903218626976, + -0.8611992597579956 + ], + "joints": [ + 0.018577422946691513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05403851717710495, + 0.15018519759178162, + -0.008651375770568848 + ], + "orientation": [ + 0.004224480129778385, + 0.4798983931541443, + 0.01580151543021202, + 0.877171516418457 + ], + "joints": [ + 0.011258341372013092 + ] + }, + "fine_grasp": { + "position": [ + -0.05218873172998428, + 0.15054896473884583, + -0.00979224219918251 + ], + "orientation": [ + 0.0026586148887872696, + 0.4850260615348816, + 0.027227280661463737, + 0.8740717172622681 + ], + "joints": [ + 0.014978139661252499 + ] + }, + "final_grasp": { + "position": [ + -0.05218873172998428, + 0.15054896473884583, + -0.00979224219918251 + ], + "orientation": [ + 0.0026586148887872696, + 0.4850260615348816, + 0.027227280661463737, + 0.8740717172622681 + ], + "joints": [ + 0.018697937950491905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054555125534534454, + 0.15005677938461304, + -0.008761778473854065 + ], + "orientation": [ + 0.003933480475097895, + 0.4824219346046448, + 0.016020754352211952, + 0.8757836222648621 + ], + "joints": [ + 0.011527837254106998 + ] + }, + "fine_grasp": { + "position": [ + -0.052505798637866974, + 0.1504289209842682, + -0.009847556240856647 + ], + "orientation": [ + 0.0012690576259046793, + 0.48714712262153625, + 0.028617169708013535, + 0.8728500604629517 + ], + "joints": [ + 0.015247635543346405 + ] + }, + "final_grasp": { + "position": [ + -0.052505798637866974, + 0.1504289209842682, + -0.009847556240856647 + ], + "orientation": [ + 0.0012690576259046793, + 0.48714712262153625, + 0.028617169708013535, + 0.8728500604629517 + ], + "joints": [ + 0.018967434763908386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04695020616054535, + 0.15486595034599304, + -0.007367992773652077 + ], + "orientation": [ + 0.023539219051599503, + 0.46439898014068604, + -0.001277689472772181, + -0.8853122591972351 + ], + "joints": [ + 0.010706167668104172 + ] + }, + "fine_grasp": { + "position": [ + 0.04613973945379257, + 0.160685732960701, + -0.00804051011800766 + ], + "orientation": [ + 0.005996355786919594, + 0.47268375754356384, + -0.025545252487063408, + -0.8808413743972778 + ], + "joints": [ + 0.014452536590397358 + ] + }, + "final_grasp": { + "position": [ + 0.04613973945379257, + 0.160685732960701, + -0.00804051011800766 + ], + "orientation": [ + 0.005996355786919594, + 0.47268375754356384, + -0.025545252487063408, + -0.8808413743972778 + ], + "joints": [ + 0.018198905512690544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011901162564754486, + 0.1541101336479187, + -0.0023131011985242367 + ], + "orientation": [ + 0.015783902257680893, + 0.7533025145530701, + 0.0010823101038113236, + -0.6574837565422058 + ], + "joints": [ + 0.009845968335866928 + ] + }, + "fine_grasp": { + "position": [ + -0.011361848562955856, + 0.1528284251689911, + -0.0026096540968865156 + ], + "orientation": [ + 0.01581810973584652, + 0.7655020356178284, + -0.001624185941182077, + -0.6432368159294128 + ], + "joints": [ + 0.016249338164925575 + ] + }, + "final_grasp": { + "position": [ + -0.011361848562955856, + 0.1528284251689911, + -0.0026096540968865156 + ], + "orientation": [ + 0.01581810973584652, + 0.7655020356178284, + -0.001624185941182077, + -0.6432368159294128 + ], + "joints": [ + 0.022652707993984222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019327500835061073, + 0.14772316813468933, + -0.0052581243216991425 + ], + "orientation": [ + 0.02409863844513893, + -0.7370226383209229, + -0.060306064784526825, + -0.672740638256073 + ], + "joints": [ + 0.01043747365474701 + ] + }, + "fine_grasp": { + "position": [ + -0.018966466188430786, + 0.14268839359283447, + -0.005478078965097666 + ], + "orientation": [ + 0.035375241190195084, + -0.7389984130859375, + -0.07411545515060425, + -0.6686829924583435 + ], + "joints": [ + 0.01630944386124611 + ] + }, + "final_grasp": { + "position": [ + -0.018966466188430786, + 0.14268839359283447, + -0.005478078965097666 + ], + "orientation": [ + 0.035375241190195084, + -0.7389984130859375, + -0.07411545515060425, + -0.6686829924583435 + ], + "joints": [ + 0.02218141406774521 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01966099813580513, + -0.15564195811748505, + -0.005542558617889881 + ], + "orientation": [ + 0.5797849893569946, + 0.0933711901307106, + 0.8085358738899231, + -0.03742722421884537 + ], + "joints": [ + 0.008399110287427902 + ] + }, + "fine_grasp": { + "position": [ + -0.019477222114801407, + -0.154672771692276, + -0.005517743527889252 + ], + "orientation": [ + 0.5531324744224548, + 0.09586784988641739, + 0.8269128203392029, + -0.03269513323903084 + ], + "joints": [ + 0.01273001916706562 + ] + }, + "final_grasp": { + "position": [ + -0.019477222114801407, + -0.154672771692276, + -0.005517743527889252 + ], + "orientation": [ + 0.5531324744224548, + 0.09586784988641739, + 0.8269128203392029, + -0.03269513323903084 + ], + "joints": [ + 0.01706092804670334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009438049979507923, + 0.15381453931331635, + -0.00503501994535327 + ], + "orientation": [ + 0.02247360534965992, + 0.7844353318214417, + -0.006612769793719053, + -0.6197680234909058 + ], + "joints": [ + 0.009557228535413742 + ] + }, + "fine_grasp": { + "position": [ + -0.008626451715826988, + 0.1528131067752838, + -0.005222267936915159 + ], + "orientation": [ + 0.022981440648436546, + 0.7963618636131287, + -0.01112709753215313, + -0.6042811870574951 + ], + "joints": [ + 0.014897797256708145 + ] + }, + "final_grasp": { + "position": [ + -0.008626451715826988, + 0.1528131067752838, + -0.005222267936915159 + ], + "orientation": [ + 0.022981440648436546, + 0.7963618636131287, + -0.01112709753215313, + -0.6042811870574951 + ], + "joints": [ + 0.020238365978002548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018354002386331558, + 0.1471439003944397, + -0.00453440984711051 + ], + "orientation": [ + 0.029523169621825218, + -0.736665666103363, + -0.06224546208977699, + -0.6727389097213745 + ], + "joints": [ + 0.010725734755396843 + ] + }, + "fine_grasp": { + "position": [ + -0.018550263717770576, + 0.14174985885620117, + -0.004740656819194555 + ], + "orientation": [ + 0.03566623106598854, + -0.7397287487983704, + -0.0699441209435463, + -0.6683092713356018 + ], + "joints": [ + 0.016092877835035324 + ] + }, + "final_grasp": { + "position": [ + -0.018550263717770576, + 0.14174985885620117, + -0.004740656819194555 + ], + "orientation": [ + 0.03566623106598854, + -0.7397287487983704, + -0.0699441209435463, + -0.6683092713356018 + ], + "joints": [ + 0.021460020914673805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1036895215511322, + 0.13412529230117798, + -0.01086751651018858 + ], + "orientation": [ + 0.1683935970067978, + -0.7167292237281799, + 0.26332607865333557, + 0.6233797073364258 + ], + "joints": [ + 0.01010817475616932 + ] + }, + "fine_grasp": { + "position": [ + 0.10324518382549286, + 0.1324225217103958, + -0.010717906057834625 + ], + "orientation": [ + 0.15943048894405365, + -0.722352921962738, + 0.25831109285354614, + 0.6213400363922119 + ], + "joints": [ + 0.015448743477463722 + ] + }, + "final_grasp": { + "position": [ + 0.10324518382549286, + 0.1324225217103958, + -0.010717906057834625 + ], + "orientation": [ + 0.15943048894405365, + -0.722352921962738, + 0.25831109285354614, + 0.6213400363922119 + ], + "joints": [ + 0.020789312198758125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025068311020731926, + -0.15269428491592407, + -0.008008090779185295 + ], + "orientation": [ + 0.6340696215629578, + -0.031159069389104843, + 0.7695704698562622, + 0.06889145821332932 + ], + "joints": [ + 0.009586669504642487 + ] + }, + "fine_grasp": { + "position": [ + 0.024318186566233635, + -0.15195518732070923, + -0.007635200396180153 + ], + "orientation": [ + 0.6204366087913513, + -0.029870852828025818, + 0.7808110117912292, + 0.06708487123250961 + ], + "joints": [ + 0.01495380885899067 + ] + }, + "final_grasp": { + "position": [ + 0.024318186566233635, + -0.15195518732070923, + -0.007635200396180153 + ], + "orientation": [ + 0.6204366087913513, + -0.029870852828025818, + 0.7808110117912292, + 0.06708487123250961 + ], + "joints": [ + 0.020320948213338852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14715738594532013, + 0.03951789438724518, + -0.008077923208475113 + ], + "orientation": [ + 0.5242915153503418, + -0.4374617338180542, + -0.4679873585700989, + -0.5610111951828003 + ], + "joints": [ + 0.00954071432352066 + ] + }, + "fine_grasp": { + "position": [ + -0.14237238466739655, + 0.040471695363521576, + -0.008287678472697735 + ], + "orientation": [ + 0.5262532830238342, + -0.43139758706092834, + -0.46381017565727234, + -0.5673038959503174 + ], + "joints": [ + 0.015412682667374611 + ] + }, + "final_grasp": { + "position": [ + -0.14237238466739655, + 0.040471695363521576, + -0.008287678472697735 + ], + "orientation": [ + 0.5262532830238342, + -0.43139758706092834, + -0.46381017565727234, + -0.5673038959503174 + ], + "joints": [ + 0.02128465101122856 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14723296463489532, + 0.03939053416252136, + -0.008049802854657173 + ], + "orientation": [ + 0.5251091122627258, + -0.4366805851459503, + -0.46654850244522095, + -0.5620524287223816 + ], + "joints": [ + 0.009500663727521896 + ] + }, + "fine_grasp": { + "position": [ + -0.1424938589334488, + 0.040484778583049774, + -0.008241124451160431 + ], + "orientation": [ + 0.5278893113136292, + -0.4297972023487091, + -0.46349701285362244, + -0.5672547221183777 + ], + "joints": [ + 0.015372630208730698 + ] + }, + "final_grasp": { + "position": [ + -0.1424938589334488, + 0.040484778583049774, + -0.008241124451160431 + ], + "orientation": [ + 0.5278893113136292, + -0.4297972023487091, + -0.46349701285362244, + -0.5672547221183777 + ], + "joints": [ + 0.0212445966899395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04574829712510109, + 0.14575524628162384, + -0.011116589419543743 + ], + "orientation": [ + 0.06378123164176941, + 0.770193338394165, + -0.005495482590049505, + 0.634589672088623 + ], + "joints": [ + 0.010060328990221024 + ] + }, + "fine_grasp": { + "position": [ + 0.04559430480003357, + 0.14304882287979126, + -0.011637791059911251 + ], + "orientation": [ + 0.06370720267295837, + 0.7792714834213257, + -0.0030524630565196276, + 0.6234325766563416 + ], + "joints": [ + 0.014896068722009659 + ] + }, + "final_grasp": { + "position": [ + 0.04559430480003357, + 0.14304882287979126, + -0.011637791059911251 + ], + "orientation": [ + 0.06370720267295837, + 0.7792714834213257, + -0.0030524630565196276, + 0.6234325766563416 + ], + "joints": [ + 0.019731808453798294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01404284592717886, + -0.15136085450649261, + -0.0026397642213851213 + ], + "orientation": [ + 0.8090193271636963, + -0.043950337916612625, + -0.5802949666976929, + -0.08254644274711609 + ], + "joints": [ + 0.008503798395395279 + ] + }, + "fine_grasp": { + "position": [ + -0.014538613148033619, + -0.1492614448070526, + -0.004360690712928772 + ], + "orientation": [ + 0.8349754214286804, + -0.03444347530603409, + -0.5413954257965088, + -0.09230749309062958 + ], + "joints": [ + 0.01230330765247345 + ] + }, + "final_grasp": { + "position": [ + -0.014538613148033619, + -0.1492614448070526, + -0.004360690712928772 + ], + "orientation": [ + 0.8349754214286804, + -0.03444347530603409, + -0.5413954257965088, + -0.09230749309062958 + ], + "joints": [ + 0.01610281690955162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012848303653299809, + -0.15134748816490173, + -0.002670269925147295 + ], + "orientation": [ + 0.8095207214355469, + -0.04555709287524223, + -0.5791500806808472, + -0.08476988226175308 + ], + "joints": [ + 0.008248532190918922 + ] + }, + "fine_grasp": { + "position": [ + -0.013285198248922825, + -0.1492912769317627, + -0.0038807957898825407 + ], + "orientation": [ + 0.8350213170051575, + -0.03748287260532379, + -0.5409500002861023, + -0.09331455081701279 + ], + "joints": [ + 0.012552870437502861 + ] + }, + "final_grasp": { + "position": [ + -0.013285198248922825, + -0.1492912769317627, + -0.0038807957898825407 + ], + "orientation": [ + 0.8350213170051575, + -0.03748287260532379, + -0.5409500002861023, + -0.09331455081701279 + ], + "joints": [ + 0.0168572086840868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010403978638350964, + 0.15133048593997955, + -0.006406350061297417 + ], + "orientation": [ + 0.07564370334148407, + 0.6326718330383301, + -0.02800484374165535, + 0.7702078819274902 + ], + "joints": [ + 0.009519554674625397 + ] + }, + "fine_grasp": { + "position": [ + -0.010892318561673164, + 0.15057232975959778, + -0.005868599284440279 + ], + "orientation": [ + 0.07821868360042572, + 0.6218566298484802, + -0.027761803939938545, + 0.778720498085022 + ], + "joints": [ + 0.015391523018479347 + ] + }, + "final_grasp": { + "position": [ + -0.010892318561673164, + 0.15057232975959778, + -0.005868599284440279 + ], + "orientation": [ + 0.07821868360042572, + 0.6218566298484802, + -0.027761803939938545, + 0.778720498085022 + ], + "joints": [ + 0.021263491362333298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01273917593061924, + -0.15126459300518036, + -0.002759205875918269 + ], + "orientation": [ + 0.810642659664154, + -0.044757675379514694, + -0.5776704549789429, + -0.08457060158252716 + ], + "joints": [ + 0.008164722472429276 + ] + }, + "fine_grasp": { + "position": [ + -0.0131854098290205, + -0.1491902470588684, + -0.0040148585103452206 + ], + "orientation": [ + 0.8367058634757996, + -0.03642895817756653, + -0.5384138822555542, + -0.09330900013446808 + ], + "joints": [ + 0.011964231729507446 + ] + }, + "final_grasp": { + "position": [ + -0.0131854098290205, + -0.1491902470588684, + -0.0040148585103452206 + ], + "orientation": [ + 0.8367058634757996, + -0.03642895817756653, + -0.5384138822555542, + -0.09330900013446808 + ], + "joints": [ + 0.015763740986585617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018762150779366493, + 0.1511213779449463, + 0.011873372830450535 + ], + "orientation": [ + 0.07651638984680176, + 0.5360214710235596, + -0.12725915014743805, + 0.8310423493385315 + ], + "joints": [ + 0.01157710887491703 + ] + }, + "fine_grasp": { + "position": [ + -0.01667730137705803, + 0.15376238524913788, + 0.01326698437333107 + ], + "orientation": [ + 0.07147020846605301, + 0.5278418660163879, + -0.12631654739379883, + 0.8368507027626038 + ], + "joints": [ + 0.01585487835109234 + ] + }, + "final_grasp": { + "position": [ + -0.01667730137705803, + 0.15376238524913788, + 0.01326698437333107 + ], + "orientation": [ + 0.07147020846605301, + 0.5278418660163879, + -0.12631654739379883, + 0.8368507027626038 + ], + "joints": [ + 0.020132647827267647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021545380353927612, + -0.15428034961223602, + 0.0088127376511693 + ], + "orientation": [ + 0.6302815079689026, + -0.0007977270288392901, + -0.7753142714500427, + 0.04040457308292389 + ], + "joints": [ + 0.009555354714393616 + ] + }, + "fine_grasp": { + "position": [ + 0.020362429320812225, + -0.1531606912612915, + 0.007494776044040918 + ], + "orientation": [ + 0.6097795963287354, + -0.002281638327986002, + -0.7917736768722534, + 0.03546912968158722 + ], + "joints": [ + 0.014895923435688019 + ] + }, + "final_grasp": { + "position": [ + 0.020362429320812225, + -0.1531606912612915, + 0.007494776044040918 + ], + "orientation": [ + 0.6097795963287354, + -0.002281638327986002, + -0.7917736768722534, + 0.03546912968158722 + ], + "joints": [ + 0.020236492156982422 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021780474111437798, + 0.14963097870349884, + -0.0898304432630539 + ], + "orientation": [ + 0.1882629692554474, + 0.6764078140258789, + -0.29437339305877686, + -0.6483625173568726 + ], + "joints": [ + 0.008129322901368141 + ] + }, + "fine_grasp": { + "position": [ + 0.02052358165383339, + 0.14508193731307983, + -0.08619001507759094 + ], + "orientation": [ + 0.17660923302173615, + 0.6812369227409363, + -0.29362842440605164, + -0.6469217538833618 + ], + "joints": [ + 0.012486802414059639 + ] + }, + "final_grasp": { + "position": [ + 0.02052358165383339, + 0.14508193731307983, + -0.08619001507759094 + ], + "orientation": [ + 0.17660923302173615, + 0.6812369227409363, + -0.29362842440605164, + -0.6469217538833618 + ], + "joints": [ + 0.016844281926751137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030066924169659615, + -0.1507069617509842, + -0.019077077507972717 + ], + "orientation": [ + 0.7749608159065247, + -0.029668131843209267, + 0.6109403967857361, + 0.15908318758010864 + ], + "joints": [ + 0.00951918214559555 + ] + }, + "fine_grasp": { + "position": [ + 0.030111923813819885, + -0.14839038252830505, + -0.017650676891207695 + ], + "orientation": [ + 0.7842724323272705, + -0.02294001169502735, + 0.6012679934501648, + 0.1512194573879242 + ], + "joints": [ + 0.01379694975912571 + ] + }, + "final_grasp": { + "position": [ + 0.030111923813819885, + -0.14839038252830505, + -0.017650676891207695 + ], + "orientation": [ + 0.7842724323272705, + -0.02294001169502735, + 0.6012679934501648, + 0.1512194573879242 + ], + "joints": [ + 0.01807471737265587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02196037769317627, + 0.1489962786436081, + -0.08999001979827881 + ], + "orientation": [ + 0.18952162563800812, + 0.674708902835846, + -0.2937524616718292, + -0.6500452756881714 + ], + "joints": [ + 0.008237550035119057 + ] + }, + "fine_grasp": { + "position": [ + 0.02078862115740776, + 0.14443577826023102, + -0.08632326126098633 + ], + "orientation": [ + 0.178508460521698, + 0.678887128829956, + -0.29376500844955444, + -0.6488059163093567 + ], + "joints": [ + 0.012568458914756775 + ] + }, + "final_grasp": { + "position": [ + 0.02078862115740776, + 0.14443577826023102, + -0.08632326126098633 + ], + "orientation": [ + 0.178508460521698, + 0.678887128829956, + -0.29376500844955444, + -0.6488059163093567 + ], + "joints": [ + 0.016899367794394493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02840419113636017, + -0.1500062495470047, + -0.01830286718904972 + ], + "orientation": [ + 0.7731414437294006, + -0.032908178865909576, + 0.6133765578269958, + 0.15791954100131989 + ], + "joints": [ + 0.00951918214559555 + ] + }, + "fine_grasp": { + "position": [ + 0.028290163725614548, + -0.14778076112270355, + -0.016923069953918457 + ], + "orientation": [ + 0.7821173071861267, + -0.025958657264709473, + 0.6042977571487427, + 0.14980901777744293 + ], + "joints": [ + 0.01379694975912571 + ] + }, + "final_grasp": { + "position": [ + 0.028290163725614548, + -0.14778076112270355, + -0.016923069953918457 + ], + "orientation": [ + 0.7821173071861267, + -0.025958657264709473, + 0.6042977571487427, + 0.14980901777744293 + ], + "joints": [ + 0.01807471737265587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024327192455530167, + -0.15370653569698334, + 0.008869385346770287 + ], + "orientation": [ + 0.6295621991157532, + -0.0060007511638104916, + -0.776082456111908, + 0.03621502220630646 + ], + "joints": [ + 0.009739499539136887 + ] + }, + "fine_grasp": { + "position": [ + 0.023132111877202988, + -0.15252631902694702, + 0.007628280203789473 + ], + "orientation": [ + 0.60919588804245, + -0.007969802245497704, + -0.7923431992530823, + 0.03176722675561905 + ], + "joints": [ + 0.014575238339602947 + ] + }, + "final_grasp": { + "position": [ + 0.023132111877202988, + -0.15252631902694702, + 0.007628280203789473 + ], + "orientation": [ + 0.60919588804245, + -0.007969802245497704, + -0.7923431992530823, + 0.03176722675561905 + ], + "joints": [ + 0.019410977140069008 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022858615964651108, + 0.1500774472951889, + -0.020805826410651207 + ], + "orientation": [ + 0.1322360634803772, + 0.6533737182617188, + 0.007287441287189722, + -0.7453612685203552 + ], + "joints": [ + 0.009521342813968658 + ] + }, + "fine_grasp": { + "position": [ + -0.02320202626287937, + 0.148939847946167, + -0.020356442779302597 + ], + "orientation": [ + 0.12644237279891968, + 0.6437755227088928, + -0.0008741642814129591, + -0.7546949982643127 + ], + "joints": [ + 0.014330510050058365 + ] + }, + "final_grasp": { + "position": [ + -0.02320202626287937, + 0.148939847946167, + -0.020356442779302597 + ], + "orientation": [ + 0.12644237279891968, + 0.6437755227088928, + -0.0008741642814129591, + -0.7546949982643127 + ], + "joints": [ + 0.01913967728614807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021576330065727234, + 0.14981715381145477, + -0.020153148099780083 + ], + "orientation": [ + 0.13120527565479279, + 0.6559330821037292, + 0.010135926306247711, + -0.7432593703269958 + ], + "joints": [ + 0.009555680677294731 + ] + }, + "fine_grasp": { + "position": [ + -0.022028133273124695, + 0.1488885134458542, + -0.019992448389530182 + ], + "orientation": [ + 0.12679240107536316, + 0.6453782916069031, + 0.001644445932470262, + -0.7532647252082825 + ], + "joints": [ + 0.014364847913384438 + ] + }, + "final_grasp": { + "position": [ + -0.022028133273124695, + 0.1488885134458542, + -0.019992448389530182 + ], + "orientation": [ + 0.12679240107536316, + 0.6453782916069031, + 0.001644445932470262, + -0.7532647252082825 + ], + "joints": [ + 0.019174015149474144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14858701825141907, + 0.03473649546504021, + -0.009961224161088467 + ], + "orientation": [ + 0.49019017815589905, + 0.5488744378089905, + 0.5028595328330994, + -0.45341238379478455 + ], + "joints": [ + 0.010105988010764122 + ] + }, + "fine_grasp": { + "position": [ + -0.14842192828655243, + 0.03509681671857834, + -0.01042821817100048 + ], + "orientation": [ + 0.48918819427490234, + 0.5505703687667847, + 0.5101916193962097, + -0.44415292143821716 + ], + "joints": [ + 0.015977958217263222 + ] + }, + "final_grasp": { + "position": [ + -0.14842192828655243, + 0.03509681671857834, + -0.01042821817100048 + ], + "orientation": [ + 0.48918819427490234, + 0.5505703687667847, + 0.5101916193962097, + -0.44415292143821716 + ], + "joints": [ + 0.02184992842376232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07664931565523148, + -0.13556766510009766, + -0.011504030786454678 + ], + "orientation": [ + 0.6616628170013428, + 0.20303674042224884, + -0.7111973762512207, + 0.1231939047574997 + ], + "joints": [ + 0.0101860873401165 + ] + }, + "fine_grasp": { + "position": [ + 0.07725002616643906, + -0.13508278131484985, + -0.011355062946677208 + ], + "orientation": [ + 0.6581255197525024, + 0.1983223557472229, + -0.7168928980827332, + 0.116635262966156 + ], + "joints": [ + 0.015526656061410904 + ] + }, + "final_grasp": { + "position": [ + 0.07725002616643906, + -0.13508278131484985, + -0.011355062946677208 + ], + "orientation": [ + 0.6581255197525024, + 0.1983223557472229, + -0.7168928980827332, + 0.116635262966156 + ], + "joints": [ + 0.020867224782705307 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07613775879144669, + -0.1356063336133957, + -0.011446811258792877 + ], + "orientation": [ + 0.6641981601715088, + 0.2005690187215805, + -0.7097078561782837, + 0.12217926979064941 + ], + "joints": [ + 0.010151749476790428 + ] + }, + "fine_grasp": { + "position": [ + 0.07674150168895721, + -0.13503862917423248, + -0.0113766985014081 + ], + "orientation": [ + 0.6613343954086304, + 0.1961452066898346, + -0.714637815952301, + 0.116002656519413 + ], + "joints": [ + 0.015492318198084831 + ] + }, + "final_grasp": { + "position": [ + 0.07674150168895721, + -0.13503862917423248, + -0.0113766985014081 + ], + "orientation": [ + 0.6613343954086304, + 0.1961452066898346, + -0.714637815952301, + 0.116002656519413 + ], + "joints": [ + 0.020832886919379234 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14898012578487396, + 0.05275660380721092, + -0.013446318916976452 + ], + "orientation": [ + 0.5309330821037292, + 0.510872483253479, + 0.40005218982696533, + -0.5450483560562134 + ], + "joints": [ + 0.010254587978124619 + ] + }, + "fine_grasp": { + "position": [ + -0.14921939373016357, + 0.05403166264295578, + -0.013655014336109161 + ], + "orientation": [ + 0.5318390130996704, + 0.5075706839561462, + 0.39473503828048706, + -0.5510931015014648 + ], + "joints": [ + 0.016126558184623718 + ] + }, + "final_grasp": { + "position": [ + -0.14921939373016357, + 0.05403166264295578, + -0.013655014336109161 + ], + "orientation": [ + 0.5318390130996704, + 0.5075706839561462, + 0.39473503828048706, + -0.5510931015014648 + ], + "joints": [ + 0.021998528391122818 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14883241057395935, + 0.03857184574007988, + 0.006972115021198988 + ], + "orientation": [ + 0.4377593994140625, + 0.5257800221443176, + 0.4359053373336792, + -0.5847296118736267 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + -0.14890533685684204, + 0.03949078917503357, + 0.007083689793944359 + ], + "orientation": [ + 0.4427497088909149, + 0.5215995907783508, + 0.43619656562805176, + -0.5844991207122803 + ], + "joints": [ + 0.016351498663425446 + ] + }, + "final_grasp": { + "position": [ + -0.14890533685684204, + 0.03949078917503357, + 0.007083689793944359 + ], + "orientation": [ + 0.4427497088909149, + 0.5215995907783508, + 0.43619656562805176, + -0.5844991207122803 + ], + "joints": [ + 0.022223468869924545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14860175549983978, + 0.038651589304208755, + 0.00722062774002552 + ], + "orientation": [ + 0.43629270792007446, + 0.5256460905075073, + 0.4343842566013336, + -0.5870734453201294 + ], + "joints": [ + 0.010479528456926346 + ] + }, + "fine_grasp": { + "position": [ + -0.14870747923851013, + 0.039576634764671326, + 0.007307098247110844 + ], + "orientation": [ + 0.4410921633243561, + 0.521786630153656, + 0.4349423944950104, + -0.5865163207054138 + ], + "joints": [ + 0.016351498663425446 + ] + }, + "final_grasp": { + "position": [ + -0.14870747923851013, + 0.039576634764671326, + 0.007307098247110844 + ], + "orientation": [ + 0.4410921633243561, + 0.521786630153656, + 0.4349423944950104, + -0.5865163207054138 + ], + "joints": [ + 0.022223468869924545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14915110170841217, + 0.05168188735842705, + -0.013376872055232525 + ], + "orientation": [ + 0.5212856531143188, + 0.5214034914970398, + 0.4038141071796417, + -0.5416030287742615 + ], + "joints": [ + 0.010516470298171043 + ] + }, + "fine_grasp": { + "position": [ + -0.14919713139533997, + 0.05161894112825394, + -0.013429117389023304 + ], + "orientation": [ + 0.5186644792556763, + 0.5236263275146484, + 0.4020021855831146, + -0.5433201789855957 + ], + "joints": [ + 0.015857039019465446 + ] + }, + "final_grasp": { + "position": [ + -0.14919713139533997, + 0.05161894112825394, + -0.013429117389023304 + ], + "orientation": [ + 0.5186644792556763, + 0.5236263275146484, + 0.4020021855831146, + -0.5433201789855957 + ], + "joints": [ + 0.02119760774075985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009508400224149227, + 0.14645631611347198, + -0.006886880844831467 + ], + "orientation": [ + 0.0052277697250247, + 0.7387455701828003, + 0.037933848798274994, + 0.6728957891464233 + ], + "joints": [ + 0.010481530800461769 + ] + }, + "fine_grasp": { + "position": [ + -0.010462104342877865, + 0.14700590074062347, + -0.00729770865291357 + ], + "orientation": [ + 0.010495739988982677, + 0.7430586218833923, + 0.03427499532699585, + 0.6682655215263367 + ], + "joints": [ + 0.0158486720174551 + ] + }, + "final_grasp": { + "position": [ + -0.010462104342877865, + 0.14700590074062347, + -0.00729770865291357 + ], + "orientation": [ + 0.010495739988982677, + 0.7430586218833923, + 0.03427499532699585, + 0.6682655215263367 + ], + "joints": [ + 0.021215813234448433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00923655554652214, + 0.14646044373512268, + -0.0065224734134972095 + ], + "orientation": [ + 0.004677525255829096, + 0.7378255128860474, + 0.036418620496988297, + 0.6739920377731323 + ], + "joints": [ + 0.010481530800461769 + ] + }, + "fine_grasp": { + "position": [ + -0.010152549482882023, + 0.14700408279895782, + -0.006857314612716436 + ], + "orientation": [ + 0.009607043117284775, + 0.7423005700111389, + 0.03244895115494728, + 0.6692119240760803 + ], + "joints": [ + 0.0158486720174551 + ] + }, + "final_grasp": { + "position": [ + -0.010152549482882023, + 0.14700408279895782, + -0.006857314612716436 + ], + "orientation": [ + 0.009607043117284775, + 0.7423005700111389, + 0.03244895115494728, + 0.6692119240760803 + ], + "joints": [ + 0.021215813234448433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01365533284842968, + 0.1462264060974121, + -0.013245092704892159 + ], + "orientation": [ + 0.01175251416862011, + 0.7331637144088745, + -0.06642692536115646, + -0.6766980290412903 + ], + "joints": [ + 0.010160809382796288 + ] + }, + "fine_grasp": { + "position": [ + 0.014354783110320568, + 0.1455315500497818, + -0.013696476817131042 + ], + "orientation": [ + 0.01685793325304985, + 0.7390856742858887, + -0.06288522481918335, + -0.6704577803611755 + ], + "joints": [ + 0.01550137810409069 + ] + }, + "final_grasp": { + "position": [ + 0.014354783110320568, + 0.1455315500497818, + -0.013696476817131042 + ], + "orientation": [ + 0.01685793325304985, + 0.7390856742858887, + -0.06288522481918335, + -0.6704577803611755 + ], + "joints": [ + 0.020841946825385094 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027528127655386925, + -0.1466698944568634, + 0.009272227063775063 + ], + "orientation": [ + 0.6594454646110535, + -0.0999363511800766, + -0.7438492774963379, + -0.04280828312039375 + ], + "joints": [ + 0.010304233990609646 + ] + }, + "fine_grasp": { + "position": [ + -0.028173215687274933, + -0.1478712558746338, + 0.009279689751565456 + ], + "orientation": [ + 0.6515700817108154, + -0.09497883170843124, + -0.7517444491386414, + -0.03627464547753334 + ], + "joints": [ + 0.015644801780581474 + ] + }, + "final_grasp": { + "position": [ + -0.028173215687274933, + -0.1478712558746338, + 0.009279689751565456 + ], + "orientation": [ + 0.6515700817108154, + -0.09497883170843124, + -0.7517444491386414, + -0.03627464547753334 + ], + "joints": [ + 0.020985368639230728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00348489242605865, + 0.14556656777858734, + -0.00383767019957304 + ], + "orientation": [ + 0.034367885440588, + 0.6848528385162354, + 0.007731679826974869, + -0.7278292775154114 + ], + "joints": [ + 0.010388821363449097 + ] + }, + "fine_grasp": { + "position": [ + -0.004445252008736134, + 0.1450962871313095, + -0.00455216271802783 + ], + "orientation": [ + 0.03134825453162193, + 0.6787893772125244, + 0.0027881739661097527, + -0.7336584329605103 + ], + "joints": [ + 0.016792193055152893 + ] + }, + "final_grasp": { + "position": [ + -0.004445252008736134, + 0.1450962871313095, + -0.00455216271802783 + ], + "orientation": [ + 0.03134825453162193, + 0.6787893772125244, + 0.0027881739661097527, + -0.7336584329605103 + ], + "joints": [ + 0.02319556474685669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 4.7058798372745514e-05, + -0.14532135426998138, + -0.007562926504760981 + ], + "orientation": [ + 0.7267721891403198, + 0.006219672039151192, + -0.6857208013534546, + -0.039377838373184204 + ], + "joints": [ + 0.010247139260172844 + ] + }, + "fine_grasp": { + "position": [ + -0.0007838946185074747, + -0.14571106433868408, + -0.008114846423268318 + ], + "orientation": [ + 0.7320766448974609, + 0.011412558145821095, + -0.6801714897155762, + -0.03605915978550911 + ], + "joints": [ + 0.016119109466671944 + ] + }, + "final_grasp": { + "position": [ + -0.0007838946185074747, + -0.14571106433868408, + -0.008114846423268318 + ], + "orientation": [ + 0.7320766448974609, + 0.011412558145821095, + -0.6801714897155762, + -0.03605915978550911 + ], + "joints": [ + 0.021991079673171043 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0004719960270449519, + -0.14534629881381989, + -0.007667677942663431 + ], + "orientation": [ + 0.7264086008071899, + 0.006649458315223455, + -0.6860945820808411, + -0.039502691477537155 + ], + "joints": [ + 0.010236529633402824 + ] + }, + "fine_grasp": { + "position": [ + -0.0002909815520979464, + -0.14562372863292694, + -0.008214938454329967 + ], + "orientation": [ + 0.7316316962242126, + 0.01133627351373434, + -0.6806430220603943, + -0.036216527223587036 + ], + "joints": [ + 0.016613328829407692 + ] + }, + "final_grasp": { + "position": [ + -0.0002909815520979464, + -0.14562372863292694, + -0.008214938454329967 + ], + "orientation": [ + 0.7316316962242126, + 0.01133627351373434, + -0.6806430220603943, + -0.036216527223587036 + ], + "joints": [ + 0.02299012802541256 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043088074773550034, + 0.1469670832157135, + -0.018793869763612747 + ], + "orientation": [ + 0.042327459901571274, + -0.6778913736343384, + 0.1437242180109024, + 0.7197325825691223 + ], + "joints": [ + 0.009448671713471413 + ] + }, + "fine_grasp": { + "position": [ + 0.04214537888765335, + 0.1463918685913086, + -0.018784470856189728 + ], + "orientation": [ + 0.04756705090403557, + -0.6743978261947632, + 0.1488562673330307, + 0.7216417193412781 + ], + "joints": [ + 0.014789238572120667 + ] + }, + "final_grasp": { + "position": [ + 0.04214537888765335, + 0.1463918685913086, + -0.018784470856189728 + ], + "orientation": [ + 0.04756705090403557, + -0.6743978261947632, + 0.1488562673330307, + 0.7216417193412781 + ], + "joints": [ + 0.02012980543076992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039122145622968674, + 0.14620575308799744, + 0.010438641533255577 + ], + "orientation": [ + 0.07634098082780838, + -0.6716693639755249, + 0.017787154763936996, + 0.7366927266120911 + ], + "joints": [ + 0.0101860873401165 + ] + }, + "fine_grasp": { + "position": [ + 0.040120553225278854, + 0.1457751840353012, + 0.010614706203341484 + ], + "orientation": [ + 0.07261475175619125, + -0.666721522808075, + 0.012861582450568676, + 0.7416495680809021 + ], + "joints": [ + 0.015553228557109833 + ] + }, + "final_grasp": { + "position": [ + 0.040120553225278854, + 0.1457751840353012, + 0.010614706203341484 + ], + "orientation": [ + 0.07261475175619125, + -0.666721522808075, + 0.012861582450568676, + 0.7416495680809021 + ], + "joints": [ + 0.020920369774103165 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039000775665044785, + 0.14624731242656708, + 0.010823204182088375 + ], + "orientation": [ + 0.0783771201968193, + -0.6713833212852478, + 0.01765044406056404, + 0.7367427349090576 + ], + "joints": [ + 0.01017547957599163 + ] + }, + "fine_grasp": { + "position": [ + 0.03994525223970413, + 0.14593155682086945, + 0.010999813675880432 + ], + "orientation": [ + 0.07471515238285065, + -0.6654046177864075, + 0.01235885452479124, + 0.7426315546035767 + ], + "joints": [ + 0.015516048297286034 + ] + }, + "final_grasp": { + "position": [ + 0.03994525223970413, + 0.14593155682086945, + 0.010999813675880432 + ], + "orientation": [ + 0.07471515238285065, + -0.6654046177864075, + 0.01235885452479124, + 0.7426315546035767 + ], + "joints": [ + 0.020856617018580437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0373578816652298, + 0.14852328598499298, + -0.010506062768399715 + ], + "orientation": [ + 0.03061686083674431, + -0.6880181431770325, + -0.08849618583917618, + -0.7196263670921326 + ], + "joints": [ + 0.010373000055551529 + ] + }, + "fine_grasp": { + "position": [ + -0.036320630460977554, + 0.14827123284339905, + -0.010962902568280697 + ], + "orientation": [ + 0.034545786678791046, + -0.6840053796768188, + -0.09185609966516495, + -0.7228455543518066 + ], + "joints": [ + 0.01624497026205063 + ] + }, + "final_grasp": { + "position": [ + -0.036320630460977554, + 0.14827123284339905, + -0.010962902568280697 + ], + "orientation": [ + 0.034545786678791046, + -0.6840053796768188, + -0.09185609966516495, + -0.7228455543518066 + ], + "joints": [ + 0.02211694046854973 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04610266536474228, + 0.14573298394680023, + -0.01104577537626028 + ], + "orientation": [ + 0.06450606882572174, + 0.7684261202812195, + -0.006438875570893288, + 0.6366465091705322 + ], + "joints": [ + 0.010091317817568779 + ] + }, + "fine_grasp": { + "position": [ + 0.04567087069153786, + 0.14403896033763885, + -0.011511840857565403 + ], + "orientation": [ + 0.07053236663341522, + 0.7754760384559631, + -0.010605829767882824, + 0.6273353695869446 + ], + "joints": [ + 0.014927057549357414 + ] + }, + "final_grasp": { + "position": [ + 0.04567087069153786, + 0.14403896033763885, + -0.011511840857565403 + ], + "orientation": [ + 0.07053236663341522, + 0.7754760384559631, + -0.010605829767882824, + 0.6273353695869446 + ], + "joints": [ + 0.01976279728114605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13957861065864563, + -0.014333629049360752, + -0.10335290431976318 + ], + "orientation": [ + 0.7269806861877441, + 0.5851231217384338, + 0.24902862310409546, + -0.25906479358673096 + ], + "joints": [ + 0.008364928886294365 + ] + }, + "fine_grasp": { + "position": [ + -0.1346944272518158, + -0.013785464689135551, + -0.09973941743373871 + ], + "orientation": [ + 0.7220212817192078, + 0.5855209231376648, + 0.25239914655685425, + -0.268598735332489 + ], + "joints": [ + 0.012137867510318756 + ] + }, + "final_grasp": { + "position": [ + -0.1346944272518158, + -0.013785464689135551, + -0.09973941743373871 + ], + "orientation": [ + 0.7220212817192078, + 0.5855209231376648, + 0.25239914655685425, + -0.268598735332489 + ], + "joints": [ + 0.015910806134343147 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12171302735805511, + -0.10766729712486267, + -0.016238559037446976 + ], + "orientation": [ + 0.61442631483078, + -0.2502160370349884, + 0.6737678647041321, + 0.32543686032295227 + ], + "joints": [ + 0.009388240054249763 + ] + }, + "fine_grasp": { + "position": [ + 0.12106659263372421, + -0.10670053213834763, + -0.01705431193113327 + ], + "orientation": [ + 0.6192726492881775, + -0.23941650986671448, + 0.6766422986984253, + 0.3183334767818451 + ], + "joints": [ + 0.015260206535458565 + ] + }, + "final_grasp": { + "position": [ + 0.12106659263372421, + -0.10670053213834763, + -0.01705431193113327 + ], + "orientation": [ + 0.6192726492881775, + -0.23941650986671448, + 0.6766422986984253, + 0.3183334767818451 + ], + "joints": [ + 0.021132173016667366 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04505433142185211, + 0.14728735387325287, + -0.009371081367135048 + ], + "orientation": [ + 0.04557982087135315, + -0.6829084157943726, + -0.09608930349349976, + -0.7227208018302917 + ], + "joints": [ + 0.010365286841988564 + ] + }, + "fine_grasp": { + "position": [ + -0.04433761164546013, + 0.14714069664478302, + -0.009890997782349586 + ], + "orientation": [ + 0.04966127872467041, + -0.6784309148788452, + -0.10008180141448975, + -0.7261191010475159 + ], + "joints": [ + 0.016237257048487663 + ] + }, + "final_grasp": { + "position": [ + -0.04433761164546013, + 0.14714069664478302, + -0.009890997782349586 + ], + "orientation": [ + 0.04966127872467041, + -0.6784309148788452, + -0.10008180141448975, + -0.7261191010475159 + ], + "joints": [ + 0.022109227254986763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03444509208202362, + -0.14918015897274017, + -0.018011707812547684 + ], + "orientation": [ + 0.7953384518623352, + 0.1042657271027565, + -0.5968843698501587, + 0.017157139256596565 + ], + "joints": [ + 0.008455360308289528 + ] + }, + "fine_grasp": { + "position": [ + 0.03409506753087044, + -0.14843574166297913, + -0.01811428926885128 + ], + "orientation": [ + 0.8039788603782654, + 0.11124064028263092, + -0.5837080478668213, + 0.022986408323049545 + ], + "joints": [ + 0.013264527544379234 + ] + }, + "final_grasp": { + "position": [ + 0.03409506753087044, + -0.14843574166297913, + -0.01811428926885128 + ], + "orientation": [ + 0.8039788603782654, + 0.11124064028263092, + -0.5837080478668213, + 0.022986408323049545 + ], + "joints": [ + 0.01807369478046894 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01592668704688549, + 0.146591454744339, + 0.005808274727314711 + ], + "orientation": [ + 0.01991499774158001, + 0.7286418080329895, + 0.05051718279719353, + -0.6827389597892761 + ], + "joints": [ + 0.010381398722529411 + ] + }, + "fine_grasp": { + "position": [ + -0.016681937500834465, + 0.14597871899604797, + 0.006457590498030186 + ], + "orientation": [ + 0.014370475895702839, + 0.73505699634552, + 0.048149365931749344, + -0.6761408448219299 + ], + "joints": [ + 0.01675819791853428 + ] + }, + "final_grasp": { + "position": [ + -0.016681937500834465, + 0.14597871899604797, + 0.006457590498030186 + ], + "orientation": [ + 0.014370475895702839, + 0.73505699634552, + 0.048149365931749344, + -0.6761408448219299 + ], + "joints": [ + 0.023134997114539146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015485970303416252, + 0.14651334285736084, + 0.005666361190378666 + ], + "orientation": [ + 0.020082931965589523, + 0.7277469038963318, + 0.049853209406137466, + -0.6837365031242371 + ], + "joints": [ + 0.010372791439294815 + ] + }, + "fine_grasp": { + "position": [ + -0.01653989776968956, + 0.14573638141155243, + 0.006664513144642115 + ], + "orientation": [ + 0.014177861623466015, + 0.7354398965835571, + 0.049159202724695206, + -0.6756556630134583 + ], + "joints": [ + 0.016749590635299683 + ] + }, + "final_grasp": { + "position": [ + -0.01653989776968956, + 0.14573638141155243, + 0.006664513144642115 + ], + "orientation": [ + 0.014177861623466015, + 0.7354398965835571, + 0.049159202724695206, + -0.6756556630134583 + ], + "joints": [ + 0.02312638983130455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012089833617210388, + -0.1453372687101364, + -0.011185447685420513 + ], + "orientation": [ + 0.68320631980896, + 0.015509197488427162, + 0.7284262180328369, + 0.048824988305568695 + ], + "joints": [ + 0.010405657812952995 + ] + }, + "fine_grasp": { + "position": [ + 0.011292756535112858, + -0.14383500814437866, + -0.011778147891163826 + ], + "orientation": [ + 0.678276538848877, + 0.012071904726326466, + 0.7328290939331055, + 0.05250459909439087 + ], + "joints": [ + 0.0157462265342474 + ] + }, + "final_grasp": { + "position": [ + 0.011292756535112858, + -0.14383500814437866, + -0.011778147891163826 + ], + "orientation": [ + 0.678276538848877, + 0.012071904726326466, + 0.7328290939331055, + 0.05250459909439087 + ], + "joints": [ + 0.0210867952555418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10110737383365631, + -0.12334828823804855, + -0.014860469847917557 + ], + "orientation": [ + 0.7206190824508667, + 0.2351105660200119, + -0.6282646656036377, + 0.17525601387023926 + ], + "joints": [ + 0.009962378069758415 + ] + }, + "fine_grasp": { + "position": [ + 0.10009012371301651, + -0.12306079268455505, + -0.01570899598300457 + ], + "orientation": [ + 0.7192415595054626, + 0.23026826977729797, + -0.6341225504875183, + 0.16600266098976135 + ], + "joints": [ + 0.015834346413612366 + ] + }, + "final_grasp": { + "position": [ + 0.10009012371301651, + -0.12306079268455505, + -0.01570899598300457 + ], + "orientation": [ + 0.7192415595054626, + 0.23026826977729797, + -0.6341225504875183, + 0.16600266098976135 + ], + "joints": [ + 0.021706314757466316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0798848569393158, + 0.13917672634124756, + -0.01083286851644516 + ], + "orientation": [ + 0.12585429847240448, + -0.6755437254905701, + 0.18471407890319824, + 0.7026250958442688 + ], + "joints": [ + 0.010205728933215141 + ] + }, + "fine_grasp": { + "position": [ + 0.07858223468065262, + 0.13807451725006104, + -0.01127917505800724 + ], + "orientation": [ + 0.12957507371902466, + -0.6733261942863464, + 0.18853844702243805, + 0.7030614614486694 + ], + "joints": [ + 0.01607769913971424 + ] + }, + "final_grasp": { + "position": [ + 0.07858223468065262, + 0.13807451725006104, + -0.01127917505800724 + ], + "orientation": [ + 0.12957507371902466, + -0.6733261942863464, + 0.18853844702243805, + 0.7030614614486694 + ], + "joints": [ + 0.02194966934621334 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1098802462220192, + -0.11608793586492538, + -0.010709666647017002 + ], + "orientation": [ + 0.6664756536483765, + 0.2865472435951233, + -0.6499596238136292, + 0.22639209032058716 + ], + "joints": [ + 0.010161131620407104 + ] + }, + "fine_grasp": { + "position": [ + 0.11068086326122284, + -0.11600122600793839, + -0.011330870911478996 + ], + "orientation": [ + 0.6727646589279175, + 0.28240013122558594, + -0.6458207368850708, + 0.22484108805656433 + ], + "joints": [ + 0.016033101826906204 + ] + }, + "final_grasp": { + "position": [ + 0.11068086326122284, + -0.11600122600793839, + -0.011330870911478996 + ], + "orientation": [ + 0.6727646589279175, + 0.28240013122558594, + -0.6458207368850708, + 0.22484108805656433 + ], + "joints": [ + 0.021905072033405304 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052786462008953094, + 0.1466285139322281, + -0.007458624895662069 + ], + "orientation": [ + 0.0648675411939621, + -0.6794239282608032, + 0.10504291951656342, + 0.7232851386070251 + ], + "joints": [ + 0.010688889771699905 + ] + }, + "fine_grasp": { + "position": [ + 0.05184675753116608, + 0.14575475454330444, + -0.0077421339228749275 + ], + "orientation": [ + 0.06986302137374878, + -0.6751582026481628, + 0.10839208215475082, + 0.7263138294219971 + ], + "joints": [ + 0.016056032851338387 + ] + }, + "final_grasp": { + "position": [ + 0.05184675753116608, + 0.14575475454330444, + -0.0077421339228749275 + ], + "orientation": [ + 0.06986302137374878, + -0.6751582026481628, + 0.10839208215475082, + 0.7263138294219971 + ], + "joints": [ + 0.021423175930976868 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13426072895526886, + -0.01527360174804926, + -0.10760677605867386 + ], + "orientation": [ + 0.2704654335975647, + -0.22031989693641663, + -0.684569776058197, + -0.6400561332702637 + ], + "joints": [ + 0.006999580655246973 + ] + }, + "fine_grasp": { + "position": [ + -0.12969355285167694, + -0.014282511547207832, + -0.10400088131427765 + ], + "orientation": [ + 0.2777967154979706, + -0.2258993536233902, + -0.685420572757721, + -0.6340323686599731 + ], + "joints": [ + 0.011303919367492199 + ] + }, + "final_grasp": { + "position": [ + -0.12969355285167694, + -0.014282511547207832, + -0.10400088131427765 + ], + "orientation": [ + 0.2777967154979706, + -0.2258993536233902, + -0.685420572757721, + -0.6340323686599731 + ], + "joints": [ + 0.015608258545398712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0035095822531729937, + -0.1479015052318573, + 0.007418020162731409 + ], + "orientation": [ + 0.7408864498138428, + -0.023867016658186913, + 0.6710689067840576, + -0.013574780896306038 + ], + "joints": [ + 0.010316630825400352 + ] + }, + "fine_grasp": { + "position": [ + 0.002618116559460759, + -0.14673088490962982, + 0.007843054831027985 + ], + "orientation": [ + 0.7470428347587585, + -0.029661377891898155, + 0.664050281047821, + -0.009187648072838783 + ], + "joints": [ + 0.016188601031899452 + ] + }, + "final_grasp": { + "position": [ + 0.002618116559460759, + -0.14673088490962982, + 0.007843054831027985 + ], + "orientation": [ + 0.7470428347587585, + -0.029661377891898155, + 0.664050281047821, + -0.009187648072838783 + ], + "joints": [ + 0.022060571238398552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003552341368049383, + -0.14786550402641296, + 0.007421538233757019 + ], + "orientation": [ + 0.7406024932861328, + -0.024058271199464798, + 0.6713793277740479, + -0.013381559401750565 + ], + "joints": [ + 0.010316630825400352 + ] + }, + "fine_grasp": { + "position": [ + 0.0026631089858710766, + -0.14664018154144287, + 0.007862620055675507 + ], + "orientation": [ + 0.7468098402023315, + -0.02985384128987789, + 0.6643055081367493, + -0.009059356525540352 + ], + "joints": [ + 0.016188601031899452 + ] + }, + "final_grasp": { + "position": [ + 0.0026631089858710766, + -0.14664018154144287, + 0.007862620055675507 + ], + "orientation": [ + 0.7468098402023315, + -0.02985384128987789, + 0.6643055081367493, + -0.009059356525540352 + ], + "joints": [ + 0.022060571238398552 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003303796984255314, + -0.14794787764549255, + 0.007545303087681532 + ], + "orientation": [ + 0.7423891425132751, + -0.024188095703721046, + 0.6693863272666931, + -0.013967500999569893 + ], + "joints": [ + 0.010316630825400352 + ] + }, + "fine_grasp": { + "position": [ + 0.0024301563389599323, + -0.14662304520606995, + 0.007915597409009933 + ], + "orientation": [ + 0.7484575510025024, + -0.030174486339092255, + 0.6624201536178589, + -0.01001803483814001 + ], + "joints": [ + 0.015683772042393684 + ] + }, + "final_grasp": { + "position": [ + 0.0024301563389599323, + -0.14662304520606995, + 0.007915597409009933 + ], + "orientation": [ + 0.7484575510025024, + -0.030174486339092255, + 0.6624201536178589, + -0.01001803483814001 + ], + "joints": [ + 0.021050913259387016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006123070139437914, + -0.14822570979595184, + 0.008553155697882175 + ], + "orientation": [ + 0.6846573948860168, + -0.020733168348670006, + -0.7281959056854248, + 0.023346880450844765 + ], + "joints": [ + 0.01073799841105938 + ] + }, + "fine_grasp": { + "position": [ + 0.005053468979895115, + -0.14703240990638733, + 0.009152643382549286 + ], + "orientation": [ + 0.6797721982002258, + -0.017090903595089912, + -0.7326796054840088, + 0.028253883123397827 + ], + "joints": [ + 0.016078568994998932 + ] + }, + "final_grasp": { + "position": [ + 0.005053468979895115, + -0.14703240990638733, + 0.009152643382549286 + ], + "orientation": [ + 0.6797721982002258, + -0.017090903595089912, + -0.7326796054840088, + 0.028253883123397827 + ], + "joints": [ + 0.021419139578938484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00617957953363657, + -0.1481683999300003, + 0.00903908722102642 + ], + "orientation": [ + 0.6831955313682556, + -0.02212410978972912, + -0.7294773459434509, + 0.024841386824846268 + ], + "joints": [ + 0.010218681767582893 + ] + }, + "fine_grasp": { + "position": [ + 0.005179338622838259, + -0.14685510098934174, + 0.00966908410191536 + ], + "orientation": [ + 0.6773586273193359, + -0.018692705780267715, + -0.7347979545593262, + 0.030130473896861076 + ], + "joints": [ + 0.016090651974081993 + ] + }, + "final_grasp": { + "position": [ + 0.005179338622838259, + -0.14685510098934174, + 0.00966908410191536 + ], + "orientation": [ + 0.6773586273193359, + -0.018692705780267715, + -0.7347979545593262, + 0.030130473896861076 + ], + "joints": [ + 0.021962622180581093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02569517493247986, + 0.14813455939292908, + 0.00928220059722662 + ], + "orientation": [ + 0.016224628314375877, + 0.6917700171470642, + 0.06266367435455322, + -0.7192109227180481 + ], + "joints": [ + 0.010463107377290726 + ] + }, + "fine_grasp": { + "position": [ + -0.02441423572599888, + 0.147474005818367, + 0.009857429191470146 + ], + "orientation": [ + 0.01897309720516205, + 0.6901488900184631, + 0.06613045930862427, + -0.7203896641731262 + ], + "joints": [ + 0.016335077583789825 + ] + }, + "final_grasp": { + "position": [ + -0.02441423572599888, + 0.147474005818367, + 0.009857429191470146 + ], + "orientation": [ + 0.01897309720516205, + 0.6901488900184631, + 0.06613045930862427, + -0.7203896641731262 + ], + "joints": [ + 0.022207047790288925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0076359957456588745, + -0.14703033864498138, + 0.008485162630677223 + ], + "orientation": [ + 0.7287837266921997, + -0.03384476900100708, + -0.6838381290435791, + 0.00970564503222704 + ], + "joints": [ + 0.010269340127706528 + ] + }, + "fine_grasp": { + "position": [ + -0.006785429082810879, + -0.14600734412670135, + 0.009199898689985275 + ], + "orientation": [ + 0.7337151765823364, + -0.037495821714401245, + -0.6783916354179382, + 0.006399387959390879 + ], + "joints": [ + 0.016141310334205627 + ] + }, + "final_grasp": { + "position": [ + -0.006785429082810879, + -0.14600734412670135, + 0.009199898689985275 + ], + "orientation": [ + 0.7337151765823364, + -0.037495821714401245, + -0.6783916354179382, + 0.006399387959390879 + ], + "joints": [ + 0.022013280540704727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030227959156036377, + 0.1484086960554123, + 0.010622113943099976 + ], + "orientation": [ + 0.022743714973330498, + 0.687323808670044, + 0.0758119747042656, + -0.7220259308815002 + ], + "joints": [ + 0.010177666321396828 + ] + }, + "fine_grasp": { + "position": [ + -0.02907237783074379, + 0.14725391566753387, + 0.01101652905344963 + ], + "orientation": [ + 0.02594432607293129, + 0.684161901473999, + 0.0791037455201149, + -0.7245632410049438 + ], + "joints": [ + 0.016049636527895927 + ] + }, + "final_grasp": { + "position": [ + -0.02907237783074379, + 0.14725391566753387, + 0.01101652905344963 + ], + "orientation": [ + 0.02594432607293129, + 0.684161901473999, + 0.0791037455201149, + -0.7245632410049438 + ], + "joints": [ + 0.021921606734395027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023510565981268883, + 0.14687177538871765, + 0.010694668628275394 + ], + "orientation": [ + 0.015552426688373089, + 0.6836262941360474, + -0.06878022849559784, + 0.7264174818992615 + ], + "joints": [ + 0.01030738651752472 + ] + }, + "fine_grasp": { + "position": [ + 0.022568557411432266, + 0.14638331532478333, + 0.011313415132462978 + ], + "orientation": [ + 0.019249524921178818, + 0.6795113682746887, + -0.07235340774059296, + 0.729834794998169 + ], + "joints": [ + 0.01617935672402382 + ] + }, + "final_grasp": { + "position": [ + 0.022568557411432266, + 0.14638331532478333, + 0.011313415132462978 + ], + "orientation": [ + 0.019249524921178818, + 0.6795113682746887, + -0.07235340774059296, + 0.729834794998169 + ], + "joints": [ + 0.02205132693052292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023518286645412445, + 0.14686156809329987, + 0.0107408557087183 + ], + "orientation": [ + 0.01496737077832222, + 0.6830281019210815, + -0.0686013251543045, + 0.7270093560218811 + ], + "joints": [ + 0.01030738651752472 + ] + }, + "fine_grasp": { + "position": [ + 0.022604264318943024, + 0.14634732902050018, + 0.011442023329436779 + ], + "orientation": [ + 0.018419938161969185, + 0.6788292527198792, + -0.0722300261259079, + 0.7305027842521667 + ], + "joints": [ + 0.01617935672402382 + ] + }, + "final_grasp": { + "position": [ + 0.022604264318943024, + 0.14634732902050018, + 0.011442023329436779 + ], + "orientation": [ + 0.018419938161969185, + 0.6788292527198792, + -0.0722300261259079, + 0.7305027842521667 + ], + "joints": [ + 0.02205132693052292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02364184707403183, + 0.14684736728668213, + 0.01068509928882122 + ], + "orientation": [ + 0.016040358692407608, + 0.683548629283905, + -0.06919174641370773, + 0.7264409065246582 + ], + "joints": [ + 0.01030738651752472 + ] + }, + "fine_grasp": { + "position": [ + 0.0227010790258646, + 0.1463490128517151, + 0.011306168511509895 + ], + "orientation": [ + 0.0197333674877882, + 0.6794323325157166, + -0.07276356965303421, + 0.7298546433448792 + ], + "joints": [ + 0.01617935672402382 + ] + }, + "final_grasp": { + "position": [ + 0.0227010790258646, + 0.1463490128517151, + 0.011306168511509895 + ], + "orientation": [ + 0.0197333674877882, + 0.6794323325157166, + -0.07276356965303421, + 0.7298546433448792 + ], + "joints": [ + 0.02205132693052292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023558305576443672, + 0.1467868685722351, + 0.01069711521267891 + ], + "orientation": [ + 0.013710416853427887, + 0.6833286285400391, + -0.06721716374158859, + 0.7268808484077454 + ], + "joints": [ + 0.01030738651752472 + ] + }, + "fine_grasp": { + "position": [ + 0.022639568895101547, + 0.14625880122184753, + 0.01140575110912323 + ], + "orientation": [ + 0.017184026539325714, + 0.6791598200798035, + -0.07089598476886749, + 0.7303562760353088 + ], + "joints": [ + 0.01617935672402382 + ] + }, + "final_grasp": { + "position": [ + 0.022639568895101547, + 0.14625880122184753, + 0.01140575110912323 + ], + "orientation": [ + 0.017184026539325714, + 0.6791598200798035, + -0.07089598476886749, + 0.7303562760353088 + ], + "joints": [ + 0.02205132693052292 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14509090781211853, + 0.06305346637964249, + 0.006315762177109718 + ], + "orientation": [ + 0.44657620787620544, + -0.5553491711616516, + -0.38301074504852295, + -0.5877583026885986 + ], + "joints": [ + 0.010319329798221588 + ] + }, + "fine_grasp": { + "position": [ + -0.1419374942779541, + 0.062242358922958374, + 0.007105145137757063 + ], + "orientation": [ + 0.4547542929649353, + -0.5486533045768738, + -0.3826894164085388, + -0.5879853367805481 + ], + "joints": [ + 0.016191300004720688 + ] + }, + "final_grasp": { + "position": [ + -0.1419374942779541, + 0.062242358922958374, + 0.007105145137757063 + ], + "orientation": [ + 0.4547542929649353, + -0.5486533045768738, + -0.3826894164085388, + -0.5879853367805481 + ], + "joints": [ + 0.022063270211219788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11350314319133759, + -0.11549460142850876, + 0.009696593508124352 + ], + "orientation": [ + 0.649493932723999, + 0.23429419100284576, + -0.6661376357078552, + 0.282000869512558 + ], + "joints": [ + 0.01073935255408287 + ] + }, + "fine_grasp": { + "position": [ + 0.1133745089173317, + -0.11520201712846756, + 0.010352150537073612 + ], + "orientation": [ + 0.6530230641365051, + 0.23366737365722656, + -0.6622785329818726, + 0.2834566533565521 + ], + "joints": [ + 0.01661132462322712 + ] + }, + "final_grasp": { + "position": [ + 0.1133745089173317, + -0.11520201712846756, + 0.010352150537073612 + ], + "orientation": [ + 0.6530230641365051, + 0.23366737365722656, + -0.6622785329818726, + 0.2834566533565521 + ], + "joints": [ + 0.02248329669237137 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11378419399261475, + -0.11516027897596359, + 0.009646875783801079 + ], + "orientation": [ + 0.6501803398132324, + 0.2350151091814041, + -0.6646634340286255, + 0.2832948565483093 + ], + "joints": [ + 0.010775498114526272 + ] + }, + "fine_grasp": { + "position": [ + 0.11353511363267899, + -0.11474645882844925, + 0.010580587200820446 + ], + "orientation": [ + 0.6529318690299988, + 0.23422200977802277, + -0.6608095169067383, + 0.2866198420524597 + ], + "joints": [ + 0.016647469252347946 + ] + }, + "final_grasp": { + "position": [ + 0.11353511363267899, + -0.11474645882844925, + 0.010580587200820446 + ], + "orientation": [ + 0.6529318690299988, + 0.23422200977802277, + -0.6608095169067383, + 0.2866198420524597 + ], + "joints": [ + 0.022519439458847046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1140243411064148, + -0.11477266997098923, + 0.00945297721773386 + ], + "orientation": [ + 0.6507431864738464, + 0.2353198230266571, + -0.6639922857284546, + 0.2833229899406433 + ], + "joints": [ + 0.010487433522939682 + ] + }, + "fine_grasp": { + "position": [ + 0.11387398093938828, + -0.1142890527844429, + 0.01036135759204626 + ], + "orientation": [ + 0.6536676287651062, + 0.2337987869977951, + -0.6607802510261536, + 0.28535300493240356 + ], + "joints": [ + 0.016359403729438782 + ] + }, + "final_grasp": { + "position": [ + 0.11387398093938828, + -0.1142890527844429, + 0.01036135759204626 + ], + "orientation": [ + 0.6536676287651062, + 0.2337987869977951, + -0.6607802510261536, + 0.28535300493240356 + ], + "joints": [ + 0.02223137393593788 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05756901949644089, + 0.1447603553533554, + 0.008999540470540524 + ], + "orientation": [ + 0.08860664814710617, + 0.676508903503418, + -0.1290643960237503, + 0.7196018099784851 + ], + "joints": [ + 0.010134322568774223 + ] + }, + "fine_grasp": { + "position": [ + 0.05671049281954765, + 0.14471584558486938, + 0.010123156011104584 + ], + "orientation": [ + 0.0914834514260292, + 0.6715455651283264, + -0.13380774855613708, + 0.7230165004730225 + ], + "joints": [ + 0.01653769426047802 + ] + }, + "final_grasp": { + "position": [ + 0.05671049281954765, + 0.14471584558486938, + 0.010123156011104584 + ], + "orientation": [ + 0.0914834514260292, + 0.6715455651283264, + -0.13380774855613708, + 0.7230165004730225 + ], + "joints": [ + 0.022941065952181816 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12545090913772583, + -0.04193490743637085, + -0.10989662259817123 + ], + "orientation": [ + 0.27284252643585205, + -0.18793149292469025, + -0.7162513136863708, + -0.6141846179962158 + ], + "joints": [ + 0.00535034341737628 + ] + }, + "fine_grasp": { + "position": [ + -0.12097766995429993, + -0.04040021449327469, + -0.10625375807285309 + ], + "orientation": [ + 0.2802262306213379, + -0.19422964751720428, + -0.7168139815330505, + -0.6082151532173157 + ], + "joints": [ + 0.009681252762675285 + ] + }, + "final_grasp": { + "position": [ + -0.12097766995429993, + -0.04040021449327469, + -0.10625375807285309 + ], + "orientation": [ + 0.2802262306213379, + -0.19422964751720428, + -0.7168139815330505, + -0.6082151532173157 + ], + "joints": [ + 0.014012161642313004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.062464576214551926, + 0.14427722990512848, + 0.007390160579234362 + ], + "orientation": [ + 0.08230658620595932, + 0.6753508448600769, + 0.11452409625053406, + -0.7238861322402954 + ], + "joints": [ + 0.010286709293723106 + ] + }, + "fine_grasp": { + "position": [ + -0.06095528230071068, + 0.14357270300388336, + 0.007962080650031567 + ], + "orientation": [ + 0.08752818405628204, + 0.6704648733139038, + 0.1193174496293068, + -0.7270343899726868 + ], + "joints": [ + 0.016158679500222206 + ] + }, + "final_grasp": { + "position": [ + -0.06095528230071068, + 0.14357270300388336, + 0.007962080650031567 + ], + "orientation": [ + 0.08752818405628204, + 0.6704648733139038, + 0.1193174496293068, + -0.7270343899726868 + ], + "joints": [ + 0.022030649706721306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06288495659828186, + 0.143986776471138, + 0.007291385438293219 + ], + "orientation": [ + 0.08370176702737808, + 0.6763047575950623, + 0.11536001414060593, + -0.7227017879486084 + ], + "joints": [ + 0.010286709293723106 + ] + }, + "fine_grasp": { + "position": [ + -0.06135300546884537, + 0.14343951642513275, + 0.007899071089923382 + ], + "orientation": [ + 0.08892688155174255, + 0.671403706073761, + 0.12055797874927521, + -0.7257925868034363 + ], + "joints": [ + 0.016158679500222206 + ] + }, + "final_grasp": { + "position": [ + -0.06135300546884537, + 0.14343951642513275, + 0.007899071089923382 + ], + "orientation": [ + 0.08892688155174255, + 0.671403706073761, + 0.12055797874927521, + -0.7257925868034363 + ], + "joints": [ + 0.022030649706721306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11811922490596771, + -0.012623440474271774, + -0.11257786303758621 + ], + "orientation": [ + 0.7185961604118347, + 0.6237162351608276, + 0.22727210819721222, + -0.20723222196102142 + ], + "joints": [ + 0.0027135536074638367 + ] + }, + "fine_grasp": { + "position": [ + -0.11358175426721573, + -0.012464622966945171, + -0.1086825430393219 + ], + "orientation": [ + 0.7119319438934326, + 0.6254390478134155, + 0.23313578963279724, + -0.21823512017726898 + ], + "joints": [ + 0.006513060070574284 + ] + }, + "final_grasp": { + "position": [ + -0.11358175426721573, + -0.012464622966945171, + -0.1086825430393219 + ], + "orientation": [ + 0.7119319438934326, + 0.6254390478134155, + 0.23313578963279724, + -0.21823512017726898 + ], + "joints": [ + 0.01031256653368473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11639923602342606, + -0.012636877596378326, + -0.11150899529457092 + ], + "orientation": [ + 0.7166297435760498, + 0.6245636940002441, + 0.2279893010854721, + -0.2106725573539734 + ], + "joints": [ + 0.0016148334834724665 + ] + }, + "fine_grasp": { + "position": [ + -0.11203481256961823, + -0.012616366147994995, + -0.10793215036392212 + ], + "orientation": [ + 0.7097781300544739, + 0.6265528202056885, + 0.2339460402727127, + -0.221169114112854 + ], + "joints": [ + 0.006450570188462734 + ] + }, + "final_grasp": { + "position": [ + -0.11203481256961823, + -0.012616366147994995, + -0.10793215036392212 + ], + "orientation": [ + 0.7097781300544739, + 0.6265528202056885, + 0.2339460402727127, + -0.221169114112854 + ], + "joints": [ + 0.011286307126283646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005197909660637379, + 0.14796926081180573, + -0.021756185218691826 + ], + "orientation": [ + 0.12953592836856842, + 0.17614929378032684, + 0.02669336646795273, + 0.9754379987716675 + ], + "joints": [ + -0.012227728962898254 + ] + }, + "fine_grasp": { + "position": [ + 0.007593691814690828, + 0.14555473625659943, + -0.021521873772144318 + ], + "orientation": [ + 0.12989385426044464, + 0.17273250222206116, + 0.04094251990318298, + 0.9755074977874756 + ], + "joints": [ + -0.008428221568465233 + ] + }, + "final_grasp": { + "position": [ + 0.007593691814690828, + 0.14555473625659943, + -0.021521873772144318 + ], + "orientation": [ + 0.12989385426044464, + 0.17273250222206116, + 0.04094251990318298, + 0.9755074977874756 + ], + "joints": [ + -0.004628714174032211 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11921974271535873, + -0.06574246287345886, + -0.1087249293923378 + ], + "orientation": [ + 0.465049147605896, + -0.006907215341925621, + -0.6171781420707703, + -0.6346437335014343 + ], + "joints": [ + 0.0015129700768738985 + ] + }, + "fine_grasp": { + "position": [ + -0.11526037007570267, + -0.06329292058944702, + -0.10534598678350449 + ], + "orientation": [ + 0.47218090295791626, + -0.010979743674397469, + -0.6187901496887207, + -0.6277127265930176 + ], + "joints": [ + 0.006933247670531273 + ] + }, + "final_grasp": { + "position": [ + -0.11526037007570267, + -0.06329292058944702, + -0.10534598678350449 + ], + "orientation": [ + 0.47218090295791626, + -0.010979743674397469, + -0.6187901496887207, + -0.6277127265930176 + ], + "joints": [ + 0.012353525497019291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012891860678792, + 0.12011724710464478, + -0.1089806854724884 + ], + "orientation": [ + 0.29385465383529663, + 0.6522008776664734, + -0.3226516544818878, + -0.6198220252990723 + ], + "joints": [ + 0.0021263749804347754 + ] + }, + "fine_grasp": { + "position": [ + 0.013014699332416058, + 0.11601715534925461, + -0.10486908257007599 + ], + "orientation": [ + 0.2909373939037323, + 0.6539015173912048, + -0.30848073959350586, + -0.6265842318534851 + ], + "joints": [ + 0.006962111219763756 + ] + }, + "final_grasp": { + "position": [ + 0.013014699332416058, + 0.11601715534925461, + -0.10486908257007599 + ], + "orientation": [ + 0.2909373939037323, + 0.6539015173912048, + -0.30848073959350586, + -0.6265842318534851 + ], + "joints": [ + 0.011797847226262093 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2033, + "num_passed": 93 + } +} \ No newline at end of file diff --git a/geometry_number_card_00008/Annotation/piper_grasp_pose.json b/geometry_number_card_00008/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..7483c5afda49196f549eeb8cad87aae51292ac24 --- /dev/null +++ b/geometry_number_card_00008/Annotation/piper_grasp_pose.json @@ -0,0 +1,1318 @@ +{ + "type": "geometry_number_card_00008", + "bottom_center": [ + 0.0, + 0.0, + -0.001875000074505806 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.00032902503153309226, + -0.039934102445840836, + -0.14117784798145294 + ], + "orientation": [ + 0.5063291788101196, + -0.04733701050281525, + -0.1230977475643158, + -0.8521953225135803 + ], + "joints": [ + 0.004063726402819157 + ] + }, + "fine_grasp": { + "position": [ + 0.00029329254175536335, + -0.03984161838889122, + -0.13637316226959229 + ], + "orientation": [ + 0.5067563652992249, + -0.04541948437690735, + -0.11766435950994492, + -0.8528130650520325 + ], + "joints": [ + 0.007031208835542202 + ] + }, + "final_grasp": { + "position": [ + 0.00029329254175536335, + -0.03984161838889122, + -0.13637316226959229 + ], + "orientation": [ + 0.5067563652992249, + -0.04541948437690735, + -0.11766435950994492, + -0.8528130650520325 + ], + "joints": [ + 0.009998691268265247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14709123969078064, + -0.03988450765609741, + -0.01314991433173418 + ], + "orientation": [ + 0.526088535785675, + -0.43406942486763, + 0.5040026307106018, + -0.5299017429351807 + ], + "joints": [ + 0.01233625691384077 + ] + }, + "fine_grasp": { + "position": [ + -0.14451953768730164, + -0.039847008883953094, + -0.012436510995030403 + ], + "orientation": [ + 0.5302144289016724, + -0.43867331743240356, + 0.5005812048912048, + -0.5252206921577454 + ], + "joints": [ + 0.003538300283253193 + ] + }, + "final_grasp": { + "position": [ + -0.14451953768730164, + -0.039847008883953094, + -0.012436510995030403 + ], + "orientation": [ + 0.5302144289016724, + -0.43867331743240356, + 0.5005812048912048, + -0.5252206921577454 + ], + "joints": [ + -0.005259656347334385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1483708918094635, + -0.004677459131926298, + 0.02147500216960907 + ], + "orientation": [ + 0.4660290777683258, + -0.5606846213340759, + 0.5281566381454468, + -0.4353163242340088 + ], + "joints": [ + 0.014245321974158287 + ] + }, + "fine_grasp": { + "position": [ + -0.1455342024564743, + -0.0046445345506072044, + 0.021374979987740517 + ], + "orientation": [ + 0.46560218930244446, + -0.5612838864326477, + 0.5282554626464844, + -0.43488064408302307 + ], + "joints": [ + 0.004256192594766617 + ] + }, + "final_grasp": { + "position": [ + -0.1455342024564743, + -0.0046445345506072044, + 0.021374979987740517 + ], + "orientation": [ + 0.46560218930244446, + -0.5612838864326477, + 0.5282554626464844, + -0.43488064408302307 + ], + "joints": [ + -0.005732936784625053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1477176398038864, + -0.004569079726934433, + 0.02107401378452778 + ], + "orientation": [ + 0.4656490385532379, + -0.5599439144134521, + 0.5274315476417542, + -0.4375496804714203 + ], + "joints": [ + 0.014278246089816093 + ] + }, + "fine_grasp": { + "position": [ + -0.14529266953468323, + -0.004593340680003166, + 0.020793283358216286 + ], + "orientation": [ + 0.4665651023387909, + -0.5594764947891235, + 0.5263238549232483, + -0.4385046064853668 + ], + "joints": [ + 0.003892059437930584 + ] + }, + "final_grasp": { + "position": [ + -0.14529266953468323, + -0.004593340680003166, + 0.020793283358216286 + ], + "orientation": [ + 0.4665651023387909, + -0.5594764947891235, + 0.5263238549232483, + -0.4385046064853668 + ], + "joints": [ + -0.0064941272139549255 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09929283708333969, + 0.13176532089710236, + 0.015647707507014275 + ], + "orientation": [ + 0.20513136684894562, + -0.20047113299369812, + -0.7263945937156677, + 0.6245665550231934 + ], + "joints": [ + 0.01369676273316145 + ] + }, + "fine_grasp": { + "position": [ + 0.09848815202713013, + 0.12968870997428894, + 0.015154203400015831 + ], + "orientation": [ + 0.20723427832126617, + -0.1984550803899765, + -0.7256050705909729, + 0.6254332661628723 + ], + "joints": [ + 0.0036867354065179825 + ] + }, + "final_grasp": { + "position": [ + 0.09848815202713013, + 0.12968870997428894, + 0.015154203400015831 + ], + "orientation": [ + 0.20723427832126617, + -0.1984550803899765, + -0.7256050705909729, + 0.6254332661628723 + ], + "joints": [ + -0.0063232919201254845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12730461359024048, + -0.09921591728925705, + 0.017259109765291214 + ], + "orientation": [ + 0.2880268096923828, + 0.3138655424118042, + -0.666327178478241, + -0.6119945049285889 + ], + "joints": [ + 0.018675435334444046 + ] + }, + "fine_grasp": { + "position": [ + 0.12528902292251587, + -0.0985296368598938, + 0.01501785684376955 + ], + "orientation": [ + 0.28323453664779663, + 0.32289084792137146, + -0.6788052320480347, + -0.5956032872200012 + ], + "joints": [ + 0.00346186850219965 + ] + }, + "final_grasp": { + "position": [ + 0.12528902292251587, + -0.0985296368598938, + 0.01501785684376955 + ], + "orientation": [ + 0.28323453664779663, + 0.32289084792137146, + -0.6788052320480347, + -0.5956032872200012 + ], + "joints": [ + -0.011751698330044746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03666640445590019, + 0.15207460522651672, + -0.008727345615625381 + ], + "orientation": [ + 0.11439260840415955, + 0.006903491448611021, + 0.6785203814506531, + -0.7255872488021851 + ], + "joints": [ + 0.01301359012722969 + ] + }, + "fine_grasp": { + "position": [ + -0.03649824112653732, + 0.14810867607593536, + -0.00832447037100792 + ], + "orientation": [ + 0.12549327313899994, + 0.0165055263787508, + 0.6777072548866272, + -0.7243562340736389 + ], + "joints": [ + 0.0038185755256563425 + ] + }, + "final_grasp": { + "position": [ + -0.03649824112653732, + 0.14810867607593536, + -0.00832447037100792 + ], + "orientation": [ + 0.12549327313899994, + 0.0165055263787508, + 0.6777072548866272, + -0.7243562340736389 + ], + "joints": [ + -0.0053764390759170055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07288936525583267, + 0.14645713567733765, + 0.005472823046147823 + ], + "orientation": [ + 0.10281942784786224, + -0.2382730394601822, + 0.682794451713562, + -0.6829684376716614 + ], + "joints": [ + 0.012931528501212597 + ] + }, + "fine_grasp": { + "position": [ + -0.07183101028203964, + 0.14261506497859955, + 0.005226195324212313 + ], + "orientation": [ + 0.09868597984313965, + -0.2412203550338745, + 0.682279646396637, + -0.6830580830574036 + ], + "joints": [ + 0.003736513899639249 + ] + }, + "final_grasp": { + "position": [ + -0.07183101028203964, + 0.14261506497859955, + 0.005226195324212313 + ], + "orientation": [ + 0.09868597984313965, + -0.2412203550338745, + 0.682279646396637, + -0.6830580830574036 + ], + "joints": [ + -0.005458500701934099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07284992188215256, + 0.14632762968540192, + 0.005447471980005503 + ], + "orientation": [ + 0.10397092252969742, + -0.2379656434059143, + 0.6829392910003662, + -0.6827563047409058 + ], + "joints": [ + 0.012957180850207806 + ] + }, + "fine_grasp": { + "position": [ + -0.07179208099842072, + 0.14248481392860413, + 0.005210699513554573 + ], + "orientation": [ + 0.09983003884553909, + -0.24100759625434875, + 0.6823240518569946, + -0.6829226016998291 + ], + "joints": [ + 0.0037621662486344576 + ] + }, + "final_grasp": { + "position": [ + -0.07179208099842072, + 0.14248481392860413, + 0.005210699513554573 + ], + "orientation": [ + 0.09983003884553909, + -0.24100759625434875, + 0.6823240518569946, + -0.6829226016998291 + ], + "joints": [ + -0.0054328483529388905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07278931140899658, + 0.1462746411561966, + 0.005424365401268005 + ], + "orientation": [ + 0.1042652428150177, + -0.23798485100269318, + 0.6829503178596497, + -0.6826937794685364 + ], + "joints": [ + 0.013323956169188023 + ] + }, + "fine_grasp": { + "position": [ + -0.07174063473939896, + 0.1424642652273178, + 0.005195210687816143 + ], + "orientation": [ + 0.10022157430648804, + -0.2410145252943039, + 0.6822675466537476, + -0.6829192042350769 + ], + "joints": [ + 0.0037109863478690386 + ] + }, + "final_grasp": { + "position": [ + -0.07174063473939896, + 0.1424642652273178, + 0.005195210687816143 + ], + "orientation": [ + 0.10022157430648804, + -0.2410145252943039, + 0.6822675466537476, + -0.6829192042350769 + ], + "joints": [ + -0.0059019834734499454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07269617915153503, + 0.14624011516571045, + 0.005465169902890921 + ], + "orientation": [ + 0.10465354472398758, + -0.23825648427009583, + 0.6829413771629333, + -0.682548463344574 + ], + "joints": [ + 0.013140568509697914 + ] + }, + "fine_grasp": { + "position": [ + -0.07163804024457932, + 0.14239737391471863, + 0.005230303388088942 + ], + "orientation": [ + 0.10053731501102448, + -0.24136920273303986, + 0.6822689175605774, + -0.682746171951294 + ], + "joints": [ + 0.0035275989212095737 + ] + }, + "final_grasp": { + "position": [ + -0.07163804024457932, + 0.14239737391471863, + 0.005230303388088942 + ], + "orientation": [ + 0.10053731501102448, + -0.24136920273303986, + 0.6822689175605774, + -0.682746171951294 + ], + "joints": [ + -0.006085370667278767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1458853781223297, + -0.004431220702826977, + 0.02096175216138363 + ], + "orientation": [ + 0.46378448605537415, + -0.560070812702179, + 0.5272708535194397, + -0.4395568072795868 + ], + "joints": [ + 0.01441214419901371 + ] + }, + "fine_grasp": { + "position": [ + -0.14408794045448303, + -0.004507110454142094, + 0.020247073844075203 + ], + "orientation": [ + 0.4656275510787964, + -0.5590740442276001, + 0.5249913930892944, + -0.4416007101535797 + ], + "joints": [ + 0.004005059599876404 + ] + }, + "final_grasp": { + "position": [ + -0.14408794045448303, + -0.004507110454142094, + 0.020247073844075203 + ], + "orientation": [ + 0.4656275510787964, + -0.5590740442276001, + 0.5249913930892944, + -0.4416007101535797 + ], + "joints": [ + -0.006402024999260902 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12369697540998459, + -0.08802925050258636, + 0.01368112862110138 + ], + "orientation": [ + 0.5740841627120972, + -0.7036721706390381, + -0.2561492621898651, + 0.33114996552467346 + ], + "joints": [ + 0.013922382146120071 + ] + }, + "fine_grasp": { + "position": [ + 0.12183335423469543, + -0.08871416002511978, + 0.013032772578299046 + ], + "orientation": [ + 0.574359118938446, + -0.7053834795951843, + -0.24659380316734314, + 0.3342713713645935 + ], + "joints": [ + 0.0039123548194766045 + ] + }, + "final_grasp": { + "position": [ + 0.12183335423469543, + -0.08871416002511978, + 0.013032772578299046 + ], + "orientation": [ + 0.574359118938446, + -0.7053834795951843, + -0.24659380316734314, + 0.3342713713645935 + ], + "joints": [ + -0.0060976725071668625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016595494002103806, + -0.0018919390859082341, + -0.14480607211589813 + ], + "orientation": [ + 0.9971588850021362, + 0.04552323371171951, + 0.052790265530347824, + -0.028546292334794998 + ], + "joints": [ + 0.030901504680514336 + ] + }, + "fine_grasp": { + "position": [ + -0.01664801687002182, + -0.0020636604167521, + -0.13967232406139374 + ], + "orientation": [ + 0.9974344968795776, + 0.04240732640028, + 0.050007425248622894, + -0.028729621320962906 + ], + "joints": [ + 0.03094330057501793 + ] + }, + "final_grasp": { + "position": [ + -0.01664801687002182, + -0.0020636604167521, + -0.13967232406139374 + ], + "orientation": [ + 0.9974344968795776, + 0.04240732640028, + 0.050007425248622894, + -0.028729621320962906 + ], + "joints": [ + 0.030985096469521523 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016679102554917336, + -0.0019432860426604748, + -0.1448928862810135 + ], + "orientation": [ + 0.9972032904624939, + 0.04453251138329506, + 0.05261543393135071, + -0.028880828991532326 + ], + "joints": [ + 0.030901504680514336 + ] + }, + "fine_grasp": { + "position": [ + -0.01673383079469204, + -0.00211886502802372, + -0.13962490856647491 + ], + "orientation": [ + 0.997466504573822, + 0.041692670434713364, + 0.04978319630026817, + -0.02904985472559929 + ], + "joints": [ + 0.031340356916189194 + ] + }, + "final_grasp": { + "position": [ + -0.01673383079469204, + -0.00211886502802372, + -0.13962490856647491 + ], + "orientation": [ + 0.997466504573822, + 0.041692670434713364, + 0.04978319630026817, + -0.02904985472559929 + ], + "joints": [ + 0.0317792072892189 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0006956098368391395, + -0.008011513389647007, + -0.14393320679664612 + ], + "orientation": [ + 0.887730598449707, + -0.03205949068069458, + 0.048832058906555176, + 0.45664194226264954 + ], + "joints": [ + 0.031409185379743576 + ] + }, + "fine_grasp": { + "position": [ + -0.0007135922205634415, + -0.007953827269375324, + -0.13860619068145752 + ], + "orientation": [ + 0.8878684043884277, + -0.030461525544524193, + 0.046603959053754807, + 0.4567163586616516 + ], + "joints": [ + 0.031409185379743576 + ] + }, + "final_grasp": { + "position": [ + -0.0007135922205634415, + -0.007953827269375324, + -0.13860619068145752 + ], + "orientation": [ + 0.8878684043884277, + -0.030461525544524193, + 0.046603959053754807, + 0.4567163586616516 + ], + "joints": [ + 0.031409185379743576 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016388464719057083, + -0.017991846427321434, + -0.14406445622444153 + ], + "orientation": [ + 0.3225853741168976, + -0.10811354964971542, + -0.058864038437604904, + -0.9385015964508057 + ], + "joints": [ + 0.003861592849716544 + ] + }, + "fine_grasp": { + "position": [ + -0.016203133389353752, + -0.017788760364055634, + -0.13870000839233398 + ], + "orientation": [ + 0.3227827250957489, + -0.10382094979286194, + -0.056500181555747986, + -0.939063549041748 + ], + "joints": [ + 0.003861592849716544 + ] + }, + "final_grasp": { + "position": [ + -0.016203133389353752, + -0.017788760364055634, + -0.13870000839233398 + ], + "orientation": [ + 0.3227827250957489, + -0.10382094979286194, + -0.056500181555747986, + -0.939063549041748 + ], + "joints": [ + 0.003861592849716544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016622347757220268, + -0.018180590122938156, + -0.14449648559093475 + ], + "orientation": [ + 0.3226374387741089, + -0.10785134881734848, + -0.058582983911037445, + -0.9385314583778381 + ], + "joints": [ + 0.0034636622294783592 + ] + }, + "fine_grasp": { + "position": [ + -0.016440672799944878, + -0.017981385812163353, + -0.13913175463676453 + ], + "orientation": [ + 0.3228346109390259, + -0.10354415327310562, + -0.05622130632400513, + -0.9390929937362671 + ], + "joints": [ + 0.0034636622294783592 + ] + }, + "final_grasp": { + "position": [ + -0.016440672799944878, + -0.017981385812163353, + -0.13913175463676453 + ], + "orientation": [ + 0.3228346109390259, + -0.10354415327310562, + -0.05622130632400513, + -0.9390929937362671 + ], + "joints": [ + 0.0034636622294783592 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001994888996705413, + 0.08486652374267578, + -0.09553821384906769 + ], + "orientation": [ + 0.6248729825019836, + 0.3206666111946106, + -0.31377720832824707, + 0.6389448046684265 + ], + "joints": [ + 0.03179042041301727 + ] + }, + "fine_grasp": { + "position": [ + -0.00197927700355649, + 0.08409809321165085, + -0.09036402404308319 + ], + "orientation": [ + 0.6306557655334473, + 0.30870649218559265, + -0.30198928713798523, + 0.6448071002960205 + ], + "joints": [ + 0.03139336407184601 + ] + }, + "final_grasp": { + "position": [ + -0.00197927700355649, + 0.08409809321165085, + -0.09036402404308319 + ], + "orientation": [ + 0.6306557655334473, + 0.30870649218559265, + -0.30198928713798523, + 0.6448071002960205 + ], + "joints": [ + 0.030996307730674744 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04011775925755501, + 0.14083236455917358, + 0.02158426307141781 + ], + "orientation": [ + 0.06390553712844849, + -0.05674539506435394, + 0.7692719101905823, + -0.6331799030303955 + ], + "joints": [ + 0.01400470919907093 + ] + }, + "fine_grasp": { + "position": [ + -0.04003925621509552, + 0.1388079673051834, + 0.021481230854988098 + ], + "orientation": [ + 0.0641133114695549, + -0.05593432858586311, + 0.7713841795921326, + -0.6306561827659607 + ], + "joints": [ + 0.005227649584412575 + ] + }, + "final_grasp": { + "position": [ + -0.04003925621509552, + 0.1388079673051834, + 0.021481230854988098 + ], + "orientation": [ + 0.0641133114695549, + -0.05593432858586311, + 0.7713841795921326, + -0.6306561827659607 + ], + "joints": [ + -0.003549410030245781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15215957164764404, + -0.03304268792271614, + -0.014176352880895138 + ], + "orientation": [ + 0.5609298944473267, + -0.5534334778785706, + 0.4104182720184326, + -0.4589400291442871 + ], + "joints": [ + 0.01960165426135063 + ] + }, + "fine_grasp": { + "position": [ + -0.14998546242713928, + -0.03286854922771454, + -0.011446931399405003 + ], + "orientation": [ + 0.5697095990180969, + -0.5421231985092163, + 0.4029354751110077, + -0.4681626558303833 + ], + "joints": [ + 0.003593974746763706 + ] + }, + "final_grasp": { + "position": [ + -0.14998546242713928, + -0.03286854922771454, + -0.011446931399405003 + ], + "orientation": [ + 0.5697095990180969, + -0.5421231985092163, + 0.4029354751110077, + -0.4681626558303833 + ], + "joints": [ + -0.01241370476782322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0987015888094902, + -0.11733794212341309, + -0.00484997034072876 + ], + "orientation": [ + 0.2354668378829956, + 0.23440657556056976, + 0.6485102772712708, + 0.6848673224449158 + ], + "joints": [ + 0.013301718048751354 + ] + }, + "fine_grasp": { + "position": [ + -0.09959132969379425, + -0.11588529497385025, + -0.004159729462116957 + ], + "orientation": [ + 0.2388734370470047, + 0.2389203906059265, + 0.6489924192428589, + 0.6816636919975281 + ], + "joints": [ + 0.0036678509786725044 + ] + }, + "final_grasp": { + "position": [ + -0.09959132969379425, + -0.11588529497385025, + -0.004159729462116957 + ], + "orientation": [ + 0.2388734370470047, + 0.2389203906059265, + 0.6489924192428589, + 0.6816636919975281 + ], + "joints": [ + -0.005966016091406345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10429414361715317, + -0.12294254451990128, + 0.010997295379638672 + ], + "orientation": [ + 0.6263402104377747, + -0.7054002285003662, + -0.22519145905971527, + 0.24371594190597534 + ], + "joints": [ + 0.013210839591920376 + ] + }, + "fine_grasp": { + "position": [ + 0.10434219986200333, + -0.12166906148195267, + 0.009620259515941143 + ], + "orientation": [ + 0.6284528970718384, + -0.7022374868392944, + -0.22399263083934784, + 0.24846875667572021 + ], + "joints": [ + 0.0035978700034320354 + ] + }, + "final_grasp": { + "position": [ + 0.10434219986200333, + -0.12166906148195267, + 0.009620259515941143 + ], + "orientation": [ + 0.6284528970718384, + -0.7022374868392944, + -0.22399263083934784, + 0.24846875667572021 + ], + "joints": [ + -0.006015099585056305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10445023328065872, + -0.12312593311071396, + 0.011015172116458416 + ], + "orientation": [ + 0.6260904669761658, + -0.7056829333305359, + -0.22403576970100403, + 0.24460232257843018 + ], + "joints": [ + 0.013415457680821419 + ] + }, + "fine_grasp": { + "position": [ + 0.104514941573143, + -0.1218334510922432, + 0.009609505534172058 + ], + "orientation": [ + 0.6279036402702332, + -0.7027212977409363, + -0.22295330464839935, + 0.24942250549793243 + ], + "joints": [ + 0.003384533105418086 + ] + }, + "final_grasp": { + "position": [ + 0.104514941573143, + -0.1218334510922432, + 0.009609505534172058 + ], + "orientation": [ + 0.6279036402702332, + -0.7027212977409363, + -0.22295330464839935, + 0.24942250549793243 + ], + "joints": [ + -0.006646391469985247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09233959019184113, + -0.11866696178913116, + -0.010421176441013813 + ], + "orientation": [ + 0.7049020528793335, + -0.633415699005127, + 0.21830378472805023, + -0.23289722204208374 + ], + "joints": [ + 0.013147222809493542 + ] + }, + "fine_grasp": { + "position": [ + -0.09349573403596878, + -0.11720667779445648, + -0.009087594226002693 + ], + "orientation": [ + 0.6995195150375366, + -0.636143684387207, + 0.22355684638023376, + -0.23667700588703156 + ], + "joints": [ + 0.0035342532210052013 + ] + }, + "final_grasp": { + "position": [ + -0.09349573403596878, + -0.11720667779445648, + -0.009087594226002693 + ], + "orientation": [ + 0.6995195150375366, + -0.636143684387207, + 0.22355684638023376, + -0.23667700588703156 + ], + "joints": [ + -0.006078716367483139 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06954140216112137, + -0.14994782209396362, + -0.007462953217327595 + ], + "orientation": [ + 0.09940482676029205, + 0.24398654699325562, + -0.6668972969055176, + -0.6970202922821045 + ], + "joints": [ + 0.020064763724803925 + ] + }, + "fine_grasp": { + "position": [ + 0.0691852942109108, + -0.14715588092803955, + -0.005080197472125292 + ], + "orientation": [ + 0.09578393399715424, + 0.23772412538528442, + -0.6564362049102783, + -0.7095099091529846 + ], + "joints": [ + 0.0044541428796947 + ] + }, + "final_grasp": { + "position": [ + 0.0691852942109108, + -0.14715588092803955, + -0.005080197472125292 + ], + "orientation": [ + 0.09578393399715424, + 0.23772412538528442, + -0.6564362049102783, + -0.7095099091529846 + ], + "joints": [ + -0.011156477965414524 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 26 + } +} \ No newline at end of file diff --git a/geometry_number_card_00008/Object.usd b/geometry_number_card_00008/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..b395b36e19689271b7eef8682e2b85e36625c742 Binary files /dev/null and b/geometry_number_card_00008/Object.usd differ diff --git a/geometry_vase_00002/Annotation/dex1_1_grasp_pose.json b/geometry_vase_00002/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..97dd70f5b378f4102b7aea40ba5dd93b4921f128 --- /dev/null +++ b/geometry_vase_00002/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,168 @@ +{ + "type": "geometry_vase_00002", + "bottom_center": [ + -8.714944124221802e-05, + 9.012222290039062e-05, + -0.07410001754760742 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.01958654820919037, + -0.12600992619991302, + 0.10778021812438965 + ], + "orientation": [ + 0.02856648899614811, + 0.06627684831619263, + -0.9912844896316528, + 0.11021123081445694 + ], + "joints": [ + -0.01643770933151245 + ] + }, + "fine_grasp": { + "position": [ + 0.019153907895088196, + -0.12179408222436905, + 0.10648858547210693 + ], + "orientation": [ + 0.03034653328359127, + 0.06504733860492706, + -0.9915416240692139, + 0.10813508927822113 + ], + "joints": [ + -0.009077823720872402 + ] + }, + "final_grasp": { + "position": [ + 0.019153907895088196, + -0.12179408222436905, + 0.10648858547210693 + ], + "orientation": [ + 0.03034653328359127, + 0.06504733860492706, + -0.9915416240692139, + 0.10813508927822113 + ], + "joints": [ + -0.0017179381102323532 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0014686594950035214, + -0.12788797914981842, + 0.10705718398094177 + ], + "orientation": [ + 0.08285648375749588, + -0.01431481633335352, + 0.9908174872398376, + -0.10588093101978302 + ], + "joints": [ + -0.016319945454597473 + ] + }, + "fine_grasp": { + "position": [ + -0.0023768097162246704, + -0.13043756783008575, + 0.10659493505954742 + ], + "orientation": [ + 0.08355526626110077, + -0.015623517334461212, + 0.9904353618621826, + -0.10868429392576218 + ], + "joints": [ + -0.00888034887611866 + ] + }, + "final_grasp": { + "position": [ + -0.0023768097162246704, + -0.13043756783008575, + 0.10659493505954742 + ], + "orientation": [ + 0.08355526626110077, + -0.015623517334461212, + 0.9904353618621826, + -0.10868429392576218 + ], + "joints": [ + -0.0014407522976398468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08971616625785828, + 0.01782757230103016, + 0.1826135516166687 + ], + "orientation": [ + 0.4795905351638794, + -0.11748677492141724, + -0.43885594606399536, + 0.7507297992706299 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.09094436466693878, + 0.016363544389605522, + 0.18005920946598053 + ], + "orientation": [ + 0.4732133150100708, + -0.11757594347000122, + -0.451068639755249, + 0.7475171685218811 + ], + "joints": [ + -0.009474975988268852 + ] + }, + "final_grasp": { + "position": [ + 0.09094436466693878, + 0.016363544389605522, + 0.18005920946598053 + ], + "orientation": [ + 0.4732133150100708, + -0.11757594347000122, + -0.451068639755249, + 0.7475171685218811 + ], + "joints": [ + -0.0030716098845005035 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2044, + "num_passed": 3 + } +} \ No newline at end of file diff --git a/geometry_vase_00002/Annotation/piper_grasp_pose.json b/geometry_vase_00002/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..75553db1ec3126bc0918bbd2b212264b36935252 --- /dev/null +++ b/geometry_vase_00002/Annotation/piper_grasp_pose.json @@ -0,0 +1,118 @@ +{ + "type": "geometry_vase_00002", + "bottom_center": [ + -8.714944124221802e-05, + 9.012222290039062e-05, + -0.07410001754760742 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.007609500549733639, + 0.02966933138668537, + 0.17470471560955048 + ], + "orientation": [ + 0.009052169509232044, + -0.9922878742218018, + 0.12352299690246582, + 0.00500416150316596 + ], + "joints": [ + 0.011422413401305676 + ] + }, + "fine_grasp": { + "position": [ + 0.00700168963521719, + 0.028713367879390717, + 0.17167681455612183 + ], + "orientation": [ + 0.011384446173906326, + -0.9937881231307983, + 0.1107039600610733, + -0.0004271975776646286 + ], + "joints": [ + 0.0034603674430400133 + ] + }, + "final_grasp": { + "position": [ + 0.00700168963521719, + 0.028713367879390717, + 0.17167681455612183 + ], + "orientation": [ + 0.011384446173906326, + -0.9937881231307983, + 0.1107039600610733, + -0.0004271975776646286 + ], + "joints": [ + -0.004501678515225649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0062934658490121365, + 0.029109161347150803, + 0.17492857575416565 + ], + "orientation": [ + 0.011114758439362049, + -0.9931161999702454, + 0.11659862101078033, + -0.0011614658869802952 + ], + "joints": [ + 0.010898021049797535 + ] + }, + "fine_grasp": { + "position": [ + 0.0056577096693217754, + 0.02737552858889103, + 0.1718187928199768 + ], + "orientation": [ + 0.015285068191587925, + -0.9954257011413574, + 0.09410056471824646, + -0.006256007123738527 + ], + "joints": [ + 0.0033539303112775087 + ] + }, + "final_grasp": { + "position": [ + 0.0056577096693217754, + 0.02737552858889103, + 0.1718187928199768 + ], + "orientation": [ + 0.015285068191587925, + -0.9954257011413574, + 0.09410056471824646, + -0.006256007123738527 + ], + "joints": [ + -0.0041901604272425175 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 2 + } +} \ No newline at end of file diff --git a/geometry_vase_00002/Object.usd b/geometry_vase_00002/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..8b2ef17ca05248e611b8c1b0210b67f058064199 --- /dev/null +++ b/geometry_vase_00002/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c53b1ea4679b882f3d5c4055de780b797935e30967b45f5c818c103c467d901f +size 12768675 diff --git a/rigid_action_camera_00002/Annotation/dex1_1_grasp_pose.json b/rigid_action_camera_00002/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..87f42d51a1b841dcb6269c035616eb3a786577af --- /dev/null +++ b/rigid_action_camera_00002/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,45418 @@ +{ + "type": "rigid_action_camera_00002", + "bottom_center": [ + 2.2443942725658417e-05, + -9.241141378879547e-05, + -1.9059263649978675e-05 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.003974472172558308, + -0.11809355020523071, + 0.06348806619644165 + ], + "orientation": [ + 0.4228545129299164, + -0.06124706193804741, + -0.8951019048690796, + 0.1274178922176361 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + 0.003442274173721671, + -0.1160237193107605, + 0.06262568384408951 + ], + "orientation": [ + 0.4221912920475006, + -0.06104793772101402, + -0.8953410983085632, + 0.12803098559379578 + ], + "joints": [ + -0.009446930140256882 + ] + }, + "final_grasp": { + "position": [ + 0.003442274173721671, + -0.1160237193107605, + 0.06262568384408951 + ], + "orientation": [ + 0.4221912920475006, + -0.06104793772101402, + -0.8953410983085632, + 0.12803098559379578 + ], + "joints": [ + -0.0024855919182300568 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005796876270323992, + -0.11904819309711456, + -0.007888134568929672 + ], + "orientation": [ + 0.4357180595397949, + 0.05416514724493027, + 0.891093373298645, + 0.11475415527820587 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.005024603568017483, + -0.11898503452539444, + -0.005996411666274071 + ], + "orientation": [ + 0.4265579879283905, + 0.04664989188313484, + 0.8949457406997681, + 0.12224706262350082 + ], + "joints": [ + -0.009976934641599655 + ] + }, + "final_grasp": { + "position": [ + 0.005024603568017483, + -0.11898503452539444, + -0.005996411666274071 + ], + "orientation": [ + 0.4265579879283905, + 0.04664989188313484, + 0.8949457406997681, + 0.12224706262350082 + ], + "joints": [ + -0.004104968160390854 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02765178494155407, + -0.10929802805185318, + -0.028024600818753242 + ], + "orientation": [ + 0.4349697530269623, + 0.015971221029758453, + 0.8718248605728149, + 0.2246498316526413 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.026162544265389442, + -0.1069808229804039, + -0.026821568608283997 + ], + "orientation": [ + 0.43545612692832947, + 0.012101691216230392, + 0.8709959387779236, + 0.22715109586715698 + ], + "joints": [ + -0.010478893294930458 + ] + }, + "final_grasp": { + "position": [ + 0.026162544265389442, + -0.1069808229804039, + -0.026821568608283997 + ], + "orientation": [ + 0.43545612692832947, + 0.012101691216230392, + 0.8709959387779236, + 0.22715109586715698 + ], + "joints": [ + -0.005138326436281204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006050183437764645, + -0.11918342858552933, + -0.007908775471150875 + ], + "orientation": [ + 0.4395447075366974, + 0.05503617227077484, + 0.8894945979118347, + 0.11211927980184555 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.0056497822515666485, + -0.11925999075174332, + -0.006221323274075985 + ], + "orientation": [ + 0.42898404598236084, + 0.046550143510103226, + 0.8952251672744751, + 0.1112556904554367 + ], + "joints": [ + -0.010452322661876678 + ] + }, + "final_grasp": { + "position": [ + 0.0056497822515666485, + -0.11925999075174332, + -0.006221323274075985 + ], + "orientation": [ + 0.42898404598236084, + 0.046550143510103226, + 0.8952251672744751, + 0.1112556904554367 + ], + "joints": [ + -0.005085185170173645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01021673996001482, + -0.11558447778224945, + -0.007590697146952152 + ], + "orientation": [ + 0.7035322785377502, + 0.049751535058021545, + 0.6916298866271973, + 0.15561215579509735 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.009855549782514572, + -0.11776864528656006, + -0.008938714861869812 + ], + "orientation": [ + 0.7053698301315308, + 0.049277164041996, + 0.6888118386268616, + 0.159885436296463 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.009855549782514572, + -0.11776864528656006, + -0.008938714861869812 + ], + "orientation": [ + 0.7053698301315308, + 0.049277164041996, + 0.6888118386268616, + 0.159885436296463 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04599011316895485, + 0.0997423604130745, + 0.0640747919678688 + ], + "orientation": [ + 0.23769867420196533, + -0.8666095733642578, + -0.11215931922197342, + -0.42415496706962585 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.045208729803562164, + 0.09744565933942795, + 0.06403441727161407 + ], + "orientation": [ + 0.22977599501609802, + -0.8690440058708191, + -0.11279705911874771, + -0.4233701229095459 + ], + "joints": [ + -0.00934072770178318 + ] + }, + "final_grasp": { + "position": [ + -0.045208729803562164, + 0.09744565933942795, + 0.06403441727161407 + ], + "orientation": [ + 0.22977599501609802, + -0.8690440058708191, + -0.11279705911874771, + -0.4233701229095459 + ], + "joints": [ + -0.00336248055100441 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.047077734023332596, + 0.1123662069439888, + 0.031509000808000565 + ], + "orientation": [ + 0.08413632959127426, + -0.8893359899520874, + -0.162876158952713, + -0.41889598965644836 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.04840588942170143, + 0.11103054136037827, + 0.030590519309043884 + ], + "orientation": [ + 0.07765017449855804, + -0.8858925700187683, + -0.16075590252876282, + -0.42816171050071716 + ], + "joints": [ + -0.009445535019040108 + ] + }, + "final_grasp": { + "position": [ + -0.04840588942170143, + 0.11103054136037827, + 0.030590519309043884 + ], + "orientation": [ + 0.07765017449855804, + -0.8858925700187683, + -0.16075590252876282, + -0.42816171050071716 + ], + "joints": [ + -0.003042168915271759 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005603146273642778, + -0.11530117690563202, + 0.0015693075256422162 + ], + "orientation": [ + 0.4748688340187073, + 0.02957719936966896, + -0.8729162812232971, + -0.10789777338504791 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.005313134752213955, + -0.11557469516992569, + 0.0010276911780238152 + ], + "orientation": [ + 0.46537062525749207, + 0.028854195028543472, + -0.8775531053543091, + -0.11179496347904205 + ], + "joints": [ + -0.007796799298375845 + ] + }, + "final_grasp": { + "position": [ + -0.005313134752213955, + -0.11557469516992569, + 0.0010276911780238152 + ], + "orientation": [ + 0.46537062525749207, + 0.028854195028543472, + -0.8775531053543091, + -0.11179496347904205 + ], + "joints": [ + -0.00030406471341848373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019629087299108505, + -0.11066961288452148, + 0.0743769183754921 + ], + "orientation": [ + 0.8439863324165344, + -0.1907651126384735, + -0.49926403164863586, + 0.04506722465157509 + ], + "joints": [ + -0.015790019184350967 + ] + }, + "fine_grasp": { + "position": [ + -0.02090754359960556, + -0.1101590245962143, + 0.07449517399072647 + ], + "orientation": [ + 0.8457016944885254, + -0.18162287771701813, + -0.49997472763061523, + 0.042744848877191544 + ], + "joints": [ + -0.009918052703142166 + ] + }, + "final_grasp": { + "position": [ + -0.02090754359960556, + -0.1101590245962143, + 0.07449517399072647 + ], + "orientation": [ + 0.8457016944885254, + -0.18162287771701813, + -0.49997472763061523, + 0.042744848877191544 + ], + "joints": [ + -0.004046086221933365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005580496042966843, + -0.11535997688770294, + 0.0015595320146530867 + ], + "orientation": [ + 0.47491249442100525, + 0.029462352395057678, + -0.8728907704353333, + -0.10794366151094437 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.005328108090907335, + -0.11559216678142548, + 0.001023110467940569 + ], + "orientation": [ + 0.4654124081134796, + 0.02873789519071579, + -0.87752765417099, + -0.1118505671620369 + ], + "joints": [ + -0.007796799298375845 + ] + }, + "final_grasp": { + "position": [ + -0.005328108090907335, + -0.11559216678142548, + 0.001023110467940569 + ], + "orientation": [ + 0.4654124081134796, + 0.02873789519071579, + -0.87752765417099, + -0.1118505671620369 + ], + "joints": [ + -0.00030406471341848373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005553492810577154, + -0.11536266654729843, + 0.0015667120460420847 + ], + "orientation": [ + 0.4744265377521515, + 0.02943948283791542, + -0.8731614351272583, + -0.10789847373962402 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.005308432504534721, + -0.11558183282613754, + 0.0010774889960885048 + ], + "orientation": [ + 0.4652132987976074, + 0.028715183958411217, + -0.8776673674583435, + -0.11158785969018936 + ], + "joints": [ + -0.007796799298375845 + ] + }, + "final_grasp": { + "position": [ + -0.005308432504534721, + -0.11558183282613754, + 0.0010774889960885048 + ], + "orientation": [ + 0.4652132987976074, + 0.028715183958411217, + -0.8776673674583435, + -0.11158785969018936 + ], + "joints": [ + -0.00030406471341848373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0304564218968153, + 0.12426500022411346, + 0.03676803037524223 + ], + "orientation": [ + 0.13475513458251953, + -0.3452118933200836, + -0.03599844500422478, + -0.9281023740768433 + ], + "joints": [ + -0.015201210975646973 + ] + }, + "fine_grasp": { + "position": [ + -0.02931246906518936, + 0.1236967146396637, + 0.03603396564722061 + ], + "orientation": [ + 0.13054259121418, + -0.3417327105998993, + -0.03677423298358917, + -0.9299597144126892 + ], + "joints": [ + -0.007735046092420816 + ] + }, + "final_grasp": { + "position": [ + -0.02931246906518936, + 0.1236967146396637, + 0.03603396564722061 + ], + "orientation": [ + 0.13054259121418, + -0.3417327105998993, + -0.03677423298358917, + -0.9299597144126892 + ], + "joints": [ + -0.0002688812091946602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0054007419385015965, + -0.11537280678749084, + 0.0016874090069904923 + ], + "orientation": [ + 0.47462835907936096, + 0.029880275949835777, + -0.8731343150138855, + -0.1071057841181755 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.005127857904881239, + -0.1155926063656807, + 0.0011560613056644797 + ], + "orientation": [ + 0.4652705788612366, + 0.02932831458747387, + -0.8777036666870117, + -0.1109023168683052 + ], + "joints": [ + -0.007796799298375845 + ] + }, + "final_grasp": { + "position": [ + -0.005127857904881239, + -0.1155926063656807, + 0.0011560613056644797 + ], + "orientation": [ + 0.4652705788612366, + 0.02932831458747387, + -0.8777036666870117, + -0.1109023168683052 + ], + "joints": [ + -0.00030406471341848373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014835076406598091, + 0.11580292880535126, + 0.03281760960817337 + ], + "orientation": [ + 0.06982569396495819, + -0.3575597107410431, + 0.002563685644418001, + 0.9312728047370911 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.01616830937564373, + 0.11760559678077698, + 0.03367237001657486 + ], + "orientation": [ + 0.07646400481462479, + -0.3745352327823639, + 0.001566933118738234, + 0.9240531325340271 + ], + "joints": [ + -0.008859597146511078 + ] + }, + "final_grasp": { + "position": [ + 0.01616830937564373, + 0.11760559678077698, + 0.03367237001657486 + ], + "orientation": [ + 0.07646400481462479, + -0.3745352327823639, + 0.001566933118738234, + 0.9240531325340271 + ], + "joints": [ + -0.0024296604096889496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02687150239944458, + -0.0985066369175911, + 0.09948872029781342 + ], + "orientation": [ + 0.8688837289810181, + -0.3116553723812103, + -0.38344141840934753, + 0.02974061295390129 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.02692873775959015, + -0.09763238579034805, + 0.098253034055233 + ], + "orientation": [ + 0.8724244832992554, + -0.30716070532798767, + -0.3793465197086334, + 0.024979712441563606 + ], + "joints": [ + -0.009920923039317131 + ] + }, + "final_grasp": { + "position": [ + -0.02692873775959015, + -0.09763238579034805, + 0.098253034055233 + ], + "orientation": [ + 0.8724244832992554, + -0.30716070532798767, + -0.3793465197086334, + 0.024979712441563606 + ], + "joints": [ + -0.00402238592505455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0912756472826004, + -0.08027836680412292, + 0.03462734818458557 + ], + "orientation": [ + 0.6704238057136536, + 0.234830841422081, + 0.6366891860961914, + -0.3000219166278839 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.09254317730665207, + -0.08186507225036621, + 0.035828929394483566 + ], + "orientation": [ + 0.6695913672447205, + 0.23040452599525452, + 0.6393697261810303, + -0.2996123135089874 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.09254317730665207, + -0.08186507225036621, + 0.035828929394483566 + ], + "orientation": [ + 0.6695913672447205, + 0.23040452599525452, + 0.6393697261810303, + -0.2996123135089874 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02643311768770218, + -0.1076163500547409, + 0.04665447771549225 + ], + "orientation": [ + 0.39101696014404297, + -0.14389170706272125, + -0.9081236124038696, + 0.041383758187294006 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + -0.026936493813991547, + -0.11027342826128006, + 0.047857616096735 + ], + "orientation": [ + 0.39637094736099243, + -0.1440935879945755, + -0.90580815076828, + 0.04048110917210579 + ], + "joints": [ + -0.00821625255048275 + ] + }, + "final_grasp": { + "position": [ + -0.026936493813991547, + -0.11027342826128006, + 0.047857616096735 + ], + "orientation": [ + 0.39637094736099243, + -0.1440935879945755, + -0.90580815076828, + 0.04048110917210579 + ], + "joints": [ + -0.0022911466658115387 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014787442982196808, + 0.11579396575689316, + 0.03282754495739937 + ], + "orientation": [ + 0.06939345598220825, + -0.3584063947200775, + 0.0019986103288829327, + 0.930980920791626 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.016029879450798035, + 0.11761533468961716, + 0.033623117953538895 + ], + "orientation": [ + 0.07497838139533997, + -0.3761230409145355, + 0.0014462729450315237, + 0.9235299825668335 + ], + "joints": [ + -0.008859597146511078 + ] + }, + "final_grasp": { + "position": [ + 0.016029879450798035, + 0.11761533468961716, + 0.033623117953538895 + ], + "orientation": [ + 0.07497838139533997, + -0.3761230409145355, + 0.0014462729450315237, + 0.9235299825668335 + ], + "joints": [ + -0.0024296604096889496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005119412671774626, + 0.11657834053039551, + 0.011090908199548721 + ], + "orientation": [ + 0.045014604926109314, + 0.3476544916629791, + 0.054392412304878235, + 0.934960663318634 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.005533797200769186, + 0.11691930145025253, + 0.010928507894277573 + ], + "orientation": [ + 0.04554338753223419, + 0.365741491317749, + 0.057852692902088165, + 0.927799642086029 + ], + "joints": [ + -0.0077939280308783054 + ] + }, + "final_grasp": { + "position": [ + 0.005533797200769186, + 0.11691930145025253, + 0.010928507894277573 + ], + "orientation": [ + 0.04554338753223419, + 0.365741491317749, + 0.057852692902088165, + 0.927799642086029 + ], + "joints": [ + -0.0003277631476521492 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026152076199650764, + -0.10750476270914078, + 0.04688223823904991 + ], + "orientation": [ + 0.38842740654945374, + -0.1432453840970993, + -0.9092474579811096, + 0.0432889424264431 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.026671821251511574, + -0.11027947068214417, + 0.048042990267276764 + ], + "orientation": [ + 0.3945785164833069, + -0.14317870140075684, + -0.9066653251647949, + 0.042018406093120575 + ], + "joints": [ + -0.008186811581254005 + ] + }, + "final_grasp": { + "position": [ + -0.026671821251511574, + -0.11027947068214417, + 0.048042990267276764 + ], + "orientation": [ + 0.3945785164833069, + -0.14317870140075684, + -0.9066653251647949, + 0.042018406093120575 + ], + "joints": [ + -0.002261705696582794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10215651988983154, + -0.04518586024641991, + 0.09357498586177826 + ], + "orientation": [ + 0.44805026054382324, + 0.2356109619140625, + 0.6918309926986694, + -0.514886736869812 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + -0.09786145389080048, + -0.04383233189582825, + 0.0917878970503807 + ], + "orientation": [ + 0.4431457817554474, + 0.23447363078594208, + 0.690661609172821, + -0.5211818218231201 + ], + "joints": [ + -0.01036105491220951 + ] + }, + "final_grasp": { + "position": [ + -0.09786145389080048, + -0.04383233189582825, + 0.0917878970503807 + ], + "orientation": [ + 0.4431457817554474, + 0.23447363078594208, + 0.690661609172821, + -0.5211818218231201 + ], + "joints": [ + -0.003931114450097084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025060860440135002, + 0.10330290347337723, + -0.03771166130900383 + ], + "orientation": [ + 0.2778919041156769, + 0.8909090161323547, + 0.012977929785847664, + 0.3590106964111328 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.024488434195518494, + 0.10130367428064346, + -0.037752699106931686 + ], + "orientation": [ + 0.27430394291877747, + 0.8897387981414795, + 0.020310334861278534, + 0.3642934262752533 + ], + "joints": [ + -0.009389523416757584 + ] + }, + "final_grasp": { + "position": [ + 0.024488434195518494, + 0.10130367428064346, + -0.037752699106931686 + ], + "orientation": [ + 0.27430394291877747, + 0.8897387981414795, + 0.020310334861278534, + 0.3642934262752533 + ], + "joints": [ + -0.0029595866799354553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0414150096476078, + 0.10743341594934464, + 0.03373835235834122 + ], + "orientation": [ + 0.041942644864320755, + 0.9157492518424988, + 0.18428874015808105, + -0.35451623797416687 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.0421157144010067, + 0.11002001166343689, + 0.0336620956659317 + ], + "orientation": [ + 0.04337386414408684, + 0.9143791198730469, + 0.18140815198421478, + -0.35933342576026917 + ], + "joints": [ + -0.008217650465667248 + ] + }, + "final_grasp": { + "position": [ + -0.0421157144010067, + 0.11002001166343689, + 0.0336620956659317 + ], + "orientation": [ + 0.04337386414408684, + 0.9143791198730469, + 0.18140815198421478, + -0.35933342576026917 + ], + "joints": [ + -0.0017345752567052841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02509358339011669, + 0.10327989608049393, + -0.03775095194578171 + ], + "orientation": [ + 0.27812522649765015, + 0.8912000060081482, + 0.012591691687703133, + 0.35812070965766907 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.0245001632720232, + 0.10129494220018387, + -0.03784739226102829 + ], + "orientation": [ + 0.2746420204639435, + 0.8903433680534363, + 0.019870856776833534, + 0.36258187890052795 + ], + "joints": [ + -0.009389523416757584 + ] + }, + "final_grasp": { + "position": [ + 0.0245001632720232, + 0.10129494220018387, + -0.03784739226102829 + ], + "orientation": [ + 0.2746420204639435, + 0.8903433680534363, + 0.019870856776833534, + 0.36258187890052795 + ], + "joints": [ + -0.0029595866799354553 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10248415172100067, + -0.0453713983297348, + 0.0935819000005722 + ], + "orientation": [ + 0.4485132694244385, + 0.23611396551132202, + 0.691338300704956, + -0.5149149894714355 + ], + "joints": [ + -0.016790995374321938 + ] + }, + "fine_grasp": { + "position": [ + -0.09803131222724915, + -0.0439666211605072, + 0.09173741191625595 + ], + "orientation": [ + 0.44380953907966614, + 0.23548884689807892, + 0.6900203227996826, + -0.5210086703300476 + ], + "joints": [ + -0.01036105491220951 + ] + }, + "final_grasp": { + "position": [ + -0.09803131222724915, + -0.0439666211605072, + 0.09173741191625595 + ], + "orientation": [ + 0.44380953907966614, + 0.23548884689807892, + 0.6900203227996826, + -0.5210086703300476 + ], + "joints": [ + -0.003931114450097084 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011701849289238453, + -0.11143292486667633, + -0.020068855956196785 + ], + "orientation": [ + 0.8431769013404846, + 0.18058285117149353, + 0.5016006827354431, + 0.06956464052200317 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.012266737408936024, + -0.11126824468374252, + -0.019979652017354965 + ], + "orientation": [ + 0.8383327722549438, + 0.17805281281471252, + 0.5104498267173767, + 0.0702594593167305 + ], + "joints": [ + -0.008269316516816616 + ] + }, + "final_grasp": { + "position": [ + -0.012266737408936024, + -0.11126824468374252, + -0.019979652017354965 + ], + "orientation": [ + 0.8383327722549438, + 0.17805281281471252, + 0.5104498267173767, + 0.0702594593167305 + ], + "joints": [ + -0.001307981088757515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04084239527583122, + -0.11277857422828674, + 0.03478020802140236 + ], + "orientation": [ + 0.4769993722438812, + -0.16176341474056244, + -0.8628725409507751, + -0.041895173490047455 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.03931615129113197, + -0.111641064286232, + 0.03506487235426903 + ], + "orientation": [ + 0.4672996997833252, + -0.16187609732151031, + -0.8681343793869019, + -0.04206986725330353 + ], + "joints": [ + -0.0077688321471214294 + ] + }, + "final_grasp": { + "position": [ + -0.03931615129113197, + -0.111641064286232, + 0.03506487235426903 + ], + "orientation": [ + 0.4672996997833252, + -0.16187609732151031, + -0.8681343793869019, + -0.04206986725330353 + ], + "joints": [ + -0.000807497650384903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055496495217084885, + -0.1110803410410881, + 0.038160499185323715 + ], + "orientation": [ + 0.9278594851493835, + -0.1323271542787552, + -0.27817362546920776, + -0.21020415425300598 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.05372167378664017, + -0.10781262814998627, + 0.037850044667720795 + ], + "orientation": [ + 0.925750195980072, + -0.13193990290164948, + -0.2855831980705261, + -0.2098112851381302 + ], + "joints": [ + -0.0072345612570643425 + ] + }, + "final_grasp": { + "position": [ + -0.05372167378664017, + -0.10781262814998627, + 0.037850044667720795 + ], + "orientation": [ + 0.925750195980072, + -0.13193990290164948, + -0.2855831980705261, + -0.2098112851381302 + ], + "joints": [ + 0.00023160316050052643 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015022666193544865, + 0.11520484834909439, + 0.030490713194012642 + ], + "orientation": [ + 0.04063132405281067, + -0.9286490082740784, + -0.05503477901220322, + -0.3645974099636078 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.01737757958471775, + 0.11855942755937576, + 0.02954699657857418 + ], + "orientation": [ + 0.0381685309112072, + -0.9221572279930115, + -0.06242673844099045, + -0.37983179092407227 + ], + "joints": [ + -0.008384209126234055 + ] + }, + "final_grasp": { + "position": [ + -0.01737757958471775, + 0.11855942755937576, + 0.02954699657857418 + ], + "orientation": [ + 0.0381685309112072, + -0.9221572279930115, + -0.06242673844099045, + -0.37983179092407227 + ], + "joints": [ + -0.0014494433999061584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018094999715685844, + -0.09775441884994507, + 0.0862070694565773 + ], + "orientation": [ + 0.34220701456069946, + -0.02366066724061966, + 0.8995180726051331, + -0.2705582082271576 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.018189042806625366, + -0.0993044525384903, + 0.08565650135278702 + ], + "orientation": [ + 0.3511200547218323, + -0.019538426771759987, + 0.8945374488830566, + -0.27592724561691284 + ], + "joints": [ + -0.007742261979728937 + ] + }, + "final_grasp": { + "position": [ + -0.018189042806625366, + -0.0993044525384903, + 0.08565650135278702 + ], + "orientation": [ + 0.3511200547218323, + -0.019538426771759987, + 0.8945374488830566, + -0.27592724561691284 + ], + "joints": [ + -0.0007543573155999184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018215682357549667, + -0.09764586389064789, + 0.08649468421936035 + ], + "orientation": [ + 0.34043338894844055, + -0.02331468276679516, + 0.8999454379081726, + -0.2714031934738159 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.018271801993250847, + -0.09915803372859955, + 0.08586442470550537 + ], + "orientation": [ + 0.34978482127189636, + -0.019304951652884483, + 0.8948245644569397, + -0.276707261800766 + ], + "joints": [ + -0.007742261979728937 + ] + }, + "final_grasp": { + "position": [ + -0.018271801993250847, + -0.09915803372859955, + 0.08586442470550537 + ], + "orientation": [ + 0.34978482127189636, + -0.019304951652884483, + 0.8948245644569397, + -0.276707261800766 + ], + "joints": [ + -0.0007543573155999184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05082210153341293, + 0.1130855455994606, + 0.019626270979642868 + ], + "orientation": [ + 0.1976197063922882, + 0.40456998348236084, + -0.04085778445005417, + 0.8919642567634583 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.04961332678794861, + 0.11000461131334305, + 0.020004337653517723 + ], + "orientation": [ + 0.19636909663677216, + 0.40023505687713623, + -0.03777699917554855, + 0.8943288326263428 + ], + "joints": [ + -0.008858123794198036 + ] + }, + "final_grasp": { + "position": [ + 0.04961332678794861, + 0.11000461131334305, + 0.020004337653517723 + ], + "orientation": [ + 0.19636909663677216, + 0.40023505687713623, + -0.03777699917554855, + 0.8943288326263428 + ], + "joints": [ + -0.0018967874348163605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007711051497608423, + -0.11893869191408157, + 0.030866917222738266 + ], + "orientation": [ + 0.9317048192024231, + -0.016616640612483025, + 0.36159831285476685, + -0.02994346432387829 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.007000053767114878, + -0.11989554762840271, + 0.032053299248218536 + ], + "orientation": [ + 0.9285343885421753, + -0.011820214800536633, + 0.3696146011352539, + -0.032698050141334534 + ], + "joints": [ + -0.008917005732655525 + ] + }, + "final_grasp": { + "position": [ + -0.007000053767114878, + -0.11989554762840271, + 0.032053299248218536 + ], + "orientation": [ + 0.9285343885421753, + -0.011820214800536633, + 0.3696146011352539, + -0.032698050141334534 + ], + "joints": [ + -0.0019556693732738495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010204708203673363, + 0.10567142069339752, + -0.01884778030216694 + ], + "orientation": [ + 0.16375449299812317, + 0.901824414730072, + -0.12571029365062714, + -0.3795970380306244 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.00962914153933525, + 0.10786999762058258, + -0.019166193902492523 + ], + "orientation": [ + 0.1570434272289276, + 0.9061956405639648, + -0.11905739456415176, + -0.37412866950035095 + ], + "joints": [ + -0.007739390712231398 + ] + }, + "final_grasp": { + "position": [ + 0.00962914153933525, + 0.10786999762058258, + -0.019166193902492523 + ], + "orientation": [ + 0.1570434272289276, + 0.9061956405639648, + -0.11905739456415176, + -0.37412866950035095 + ], + "joints": [ + -0.0007780557498335838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04699054732918739, + 0.10585454106330872, + 0.03458509221673012 + ], + "orientation": [ + 0.048701945692300797, + 0.9167513847351074, + 0.21075859665870667, + -0.3358212113380432 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.04782095178961754, + 0.10810092836618423, + 0.034043487161397934 + ], + "orientation": [ + 0.05149277299642563, + 0.9127423763275146, + 0.2063402682542801, + -0.3488174378871918 + ], + "joints": [ + -0.0081602418795228 + ] + }, + "final_grasp": { + "position": [ + -0.04782095178961754, + 0.10810092836618423, + 0.034043487161397934 + ], + "orientation": [ + 0.05149277299642563, + 0.9127423763275146, + 0.2063402682542801, + -0.3488174378871918 + ], + "joints": [ + -0.002208566293120384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0009252110030502081, + 0.1157788634300232, + 0.01332282554358244 + ], + "orientation": [ + 0.05034782364964485, + 0.9108316898345947, + 0.02749793417751789, + 0.4087720513343811 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.0009034741087816656, + 0.11828071624040604, + 0.012948757037520409 + ], + "orientation": [ + 0.05017689988017082, + 0.9096791744232178, + 0.029483286663889885, + 0.4112136960029602 + ], + "joints": [ + -0.007796799298375845 + ] + }, + "final_grasp": { + "position": [ + -0.0009034741087816656, + 0.11828071624040604, + 0.012948757037520409 + ], + "orientation": [ + 0.05017689988017082, + 0.9096791744232178, + 0.029483286663889885, + 0.4112136960029602 + ], + "joints": [ + -0.00030406471341848373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007871375419199467, + -0.11931511014699936, + 0.030772333964705467 + ], + "orientation": [ + 0.931395411491394, + -0.01726854406297207, + 0.36238086223602295, + -0.02974238619208336 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.006943352986127138, + -0.1199125200510025, + 0.031975410878658295 + ], + "orientation": [ + 0.9285268783569336, + -0.011424791999161243, + 0.36966946721076965, + -0.0324300117790699 + ], + "joints": [ + -0.008412176743149757 + ] + }, + "final_grasp": { + "position": [ + -0.006943352986127138, + -0.1199125200510025, + 0.031975410878658295 + ], + "orientation": [ + 0.9285268783569336, + -0.011424791999161243, + 0.36966946721076965, + -0.0324300117790699 + ], + "joints": [ + -0.0009460113942623138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0737181231379509, + 0.04622357338666916, + -0.05736825242638588 + ], + "orientation": [ + 0.0815383717417717, + -0.4458675980567932, + 0.545665979385376, + 0.7048419713973999 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.07366050779819489, + 0.0468500480055809, + -0.056761547923088074 + ], + "orientation": [ + 0.09053187817335129, + -0.4379901885986328, + 0.5416596531867981, + 0.711739718914032 + ], + "joints": [ + -0.00771282147616148 + ] + }, + "final_grasp": { + "position": [ + 0.07366050779819489, + 0.0468500480055809, + -0.056761547923088074 + ], + "orientation": [ + 0.09053187817335129, + -0.4379901885986328, + 0.5416596531867981, + 0.711739718914032 + ], + "joints": [ + -0.0007249172776937485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04700789973139763, + 0.10593614727258682, + 0.03441211208701134 + ], + "orientation": [ + 0.04913759604096413, + 0.9169044494628906, + 0.21020932495594025, + -0.3356841206550598 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + -0.04786357656121254, + 0.10822843760251999, + 0.03380940854549408 + ], + "orientation": [ + 0.05132090300321579, + 0.9127442836761475, + 0.20561420917510986, + -0.34926626086235046 + ], + "joints": [ + -0.0081602418795228 + ] + }, + "final_grasp": { + "position": [ + -0.04786357656121254, + 0.10822843760251999, + 0.03380940854549408 + ], + "orientation": [ + 0.05132090300321579, + 0.9127442836761475, + 0.20561420917510986, + -0.34926626086235046 + ], + "joints": [ + -0.002208566293120384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005012189969420433, + 0.11110036075115204, + -0.013234462589025497 + ], + "orientation": [ + 0.1424620896577835, + 0.9411711692810059, + -0.0768933892250061, + -0.29662930965423584 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.005421771202236414, + 0.11251820623874664, + -0.012397597543895245 + ], + "orientation": [ + 0.1443910002708435, + 0.9367531538009644, + -0.07718091458082199, + -0.3093346059322357 + ], + "joints": [ + -0.007655412890017033 + ] + }, + "final_grasp": { + "position": [ + 0.005421771202236414, + 0.11251820623874664, + -0.012397597543895245 + ], + "orientation": [ + 0.1443910002708435, + 0.9367531538009644, + -0.07718091458082199, + -0.3093346059322357 + ], + "joints": [ + -0.0011989083141088486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0007152183097787201, + 0.11574137955904007, + 0.01307688094675541 + ], + "orientation": [ + 0.05168549716472626, + 0.9106524586677551, + 0.02711685374379158, + 0.40902960300445557 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.0007121488451957703, + 0.11823668330907822, + 0.012639611028134823 + ], + "orientation": [ + 0.05159369856119156, + 0.9095633029937744, + 0.028767965734004974, + 0.4113457500934601 + ], + "joints": [ + -0.007796799298375845 + ] + }, + "final_grasp": { + "position": [ + -0.0007121488451957703, + 0.11823668330907822, + 0.012639611028134823 + ], + "orientation": [ + 0.05159369856119156, + 0.9095633029937744, + 0.028767965734004974, + 0.4113457500934601 + ], + "joints": [ + -0.00030406471341848373 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016212837770581245, + -0.11134065687656403, + 0.0034265671856701374 + ], + "orientation": [ + 0.4206142723560333, + -0.021650681272149086, + -0.8987396955490112, + -0.12199106067419052 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.016065984964370728, + -0.11467157304286957, + 0.0024479562416672707 + ], + "orientation": [ + 0.42518311738967896, + -0.018020864576101303, + -0.8962947726249695, + -0.12470094114542007 + ], + "joints": [ + -0.007796799764037132 + ] + }, + "final_grasp": { + "position": [ + -0.016065984964370728, + -0.11467157304286957, + 0.0024479562416672707 + ], + "orientation": [ + 0.42518311738967896, + -0.018020864576101303, + -0.8962947726249695, + -0.12470094114542007 + ], + "joints": [ + -0.00030406564474105835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01812310330569744, + -0.11144259572029114, + -0.004910340066999197 + ], + "orientation": [ + 0.9167114496231079, + 0.15773387253284454, + -0.3664749562740326, + 0.021357974037528038 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.018275665119290352, + -0.11080599576234818, + -0.005697588436305523 + ], + "orientation": [ + 0.9153545498847961, + 0.1550600528717041, + -0.37116357684135437, + 0.017887745052576065 + ], + "joints": [ + -0.007770230062305927 + ] + }, + "final_grasp": { + "position": [ + 0.018275665119290352, + -0.11080599576234818, + -0.005697588436305523 + ], + "orientation": [ + 0.9153545498847961, + 0.1550600528717041, + -0.37116357684135437, + 0.017887745052576065 + ], + "joints": [ + -0.0002509262412786484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018141435459256172, + -0.11145313829183578, + -0.004865485243499279 + ], + "orientation": [ + 0.9167711734771729, + 0.157594233751297, + -0.36637651920318604, + 0.021516717970371246 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.018286535516381264, + -0.11082575470209122, + -0.0056531839072704315 + ], + "orientation": [ + 0.9153957366943359, + 0.1549176126718521, + -0.37111473083496094, + 0.0180278979241848 + ], + "joints": [ + -0.007770230062305927 + ] + }, + "final_grasp": { + "position": [ + 0.018286535516381264, + -0.11082575470209122, + -0.0056531839072704315 + ], + "orientation": [ + 0.9153957366943359, + 0.1549176126718521, + -0.37111473083496094, + 0.0180278979241848 + ], + "joints": [ + -0.0002509262412786484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0022511298302561045, + 0.10333342850208282, + -0.03546975925564766 + ], + "orientation": [ + 0.07434237748384476, + 0.345676988363266, + -0.2805185317993164, + -0.8923509120941162 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.002368916990235448, + 0.09891297668218613, + -0.03283592313528061 + ], + "orientation": [ + 0.07922454923391342, + 0.35852158069610596, + -0.27781546115875244, + -0.8876961469650269 + ], + "joints": [ + -0.007286227308213711 + ] + }, + "final_grasp": { + "position": [ + 0.002368916990235448, + 0.09891297668218613, + -0.03283592313528061 + ], + "orientation": [ + 0.07922454923391342, + 0.35852158069610596, + -0.27781546115875244, + -0.8876961469650269 + ], + "joints": [ + 0.0006581973284482956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007665637414902449, + -0.10253472626209259, + 0.09763997793197632 + ], + "orientation": [ + 0.886137068271637, + -0.25385838747024536, + 0.37405505776405334, + -0.10197913646697998 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.007658933289349079, + -0.10172203928232193, + 0.09501144289970398 + ], + "orientation": [ + 0.8880354762077332, + -0.2540650963783264, + 0.3708919882774353, + -0.09634872525930405 + ], + "joints": [ + -0.008769877254962921 + ] + }, + "final_grasp": { + "position": [ + 0.007658933289349079, + -0.10172203928232193, + 0.09501144289970398 + ], + "orientation": [ + 0.8880354762077332, + -0.2540650963783264, + 0.3708919882774353, + -0.09634872525930405 + ], + "joints": [ + -0.00289791077375412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025828249752521515, + -0.11686723679304123, + 0.04298430308699608 + ], + "orientation": [ + 0.9261022210121155, + -0.11342804878950119, + -0.3506543040275574, + -0.08068692684173584 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.026555128395557404, + -0.11514291912317276, + 0.04261438921093941 + ], + "orientation": [ + 0.9228718876838684, + -0.11262974143028259, + -0.3584401309490204, + -0.08451536297798157 + ], + "joints": [ + -0.007826240733265877 + ] + }, + "final_grasp": { + "position": [ + -0.026555128395557404, + -0.11514291912317276, + 0.04261438921093941 + ], + "orientation": [ + 0.9228718876838684, + -0.11262974143028259, + -0.3584401309490204, + -0.08451536297798157 + ], + "joints": [ + -0.00033350661396980286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004937203135341406, + 0.11115729808807373, + -0.01316889189183712 + ], + "orientation": [ + 0.1422475129365921, + 0.941336989402771, + -0.07636955380439758, + -0.29634106159210205 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.005346865393221378, + 0.11266019940376282, + -0.012225862592458725 + ], + "orientation": [ + 0.14445142447948456, + 0.9371381402015686, + -0.07644977420568466, + -0.308320015668869 + ], + "joints": [ + -0.007655412890017033 + ] + }, + "final_grasp": { + "position": [ + 0.005346865393221378, + 0.11266019940376282, + -0.012225862592458725 + ], + "orientation": [ + 0.14445142447948456, + 0.9371381402015686, + -0.07644977420568466, + -0.308320015668869 + ], + "joints": [ + -0.0011989083141088486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004816144704818726, + 0.1110881119966507, + -0.013322276063263416 + ], + "orientation": [ + 0.1430683732032776, + 0.9411720037460327, + -0.07615423202514648, + -0.29652565717697144 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.005222720559686422, + 0.11259333789348602, + -0.012386929243803024 + ], + "orientation": [ + 0.14524023234844208, + 0.936978280544281, + -0.076243557035923, + -0.30848661065101624 + ], + "joints": [ + -0.007655412890017033 + ] + }, + "final_grasp": { + "position": [ + 0.005222720559686422, + 0.11259333789348602, + -0.012386929243803024 + ], + "orientation": [ + 0.14524023234844208, + 0.936978280544281, + -0.076243557035923, + -0.30848661065101624 + ], + "joints": [ + -0.0011989083141088486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007664661388844252, + -0.10254263132810593, + 0.09766499698162079 + ], + "orientation": [ + 0.8862816095352173, + -0.2538866698741913, + 0.3737170100212097, + -0.10189202427864075 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.007611413951963186, + -0.10176941752433777, + 0.09519418329000473 + ], + "orientation": [ + 0.8887585401535034, + -0.25295937061309814, + 0.3697994351387024, + -0.09678947180509567 + ], + "joints": [ + -0.008769877254962921 + ] + }, + "final_grasp": { + "position": [ + 0.007611413951963186, + -0.10176941752433777, + 0.09519418329000473 + ], + "orientation": [ + 0.8887585401535034, + -0.25295937061309814, + 0.3697994351387024, + -0.09678947180509567 + ], + "joints": [ + -0.00289791077375412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09061074256896973, + 0.08747953921556473, + 0.017976727336645126 + ], + "orientation": [ + 0.19756236672401428, + -0.6946620941162109, + -0.2797374427318573, + -0.6325826048851013 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.09248444437980652, + 0.08944205939769745, + 0.01600140891969204 + ], + "orientation": [ + 0.19364894926548004, + -0.6937354207038879, + -0.28258728981018066, + -0.6335421800613403 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.09248444437980652, + 0.08944205939769745, + 0.01600140891969204 + ], + "orientation": [ + 0.19364894926548004, + -0.6937354207038879, + -0.28258728981018066, + -0.6335421800613403 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0035634860396385193, + -0.10228609293699265, + 0.09305727481842041 + ], + "orientation": [ + 0.3554593026638031, + -0.13302232325077057, + -0.8958917856216431, + 0.23093631863594055 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + -0.0022280565463006496, + -0.10163376480340958, + 0.09095009416341782 + ], + "orientation": [ + 0.34194231033325195, + -0.11997991800308228, + -0.9044938683509827, + 0.22488030791282654 + ], + "joints": [ + -0.008743306621909142 + ] + }, + "final_grasp": { + "position": [ + -0.0022280565463006496, + -0.10163376480340958, + 0.09095009416341782 + ], + "orientation": [ + 0.34194231033325195, + -0.11997991800308228, + -0.9044938683509827, + 0.22488030791282654 + ], + "joints": [ + -0.0028447695076465607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029394665732979774, + -0.11089914292097092, + 0.051120780408382416 + ], + "orientation": [ + 0.8956933617591858, + -0.1420900821685791, + -0.41599559783935547, + -0.06701809167861938 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.028129998594522476, + -0.10747577250003815, + 0.05029213801026344 + ], + "orientation": [ + 0.897382915019989, + -0.14403949677944183, + -0.41176220774650574, + -0.06639571487903595 + ], + "joints": [ + -0.008328198455274105 + ] + }, + "final_grasp": { + "position": [ + -0.028129998594522476, + -0.10747577250003815, + 0.05029213801026344 + ], + "orientation": [ + 0.897382915019989, + -0.14403949677944183, + -0.41176220774650574, + -0.06639571487903595 + ], + "joints": [ + -0.001366863027215004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09036577492952347, + 0.08742236346006393, + 0.018079018220305443 + ], + "orientation": [ + 0.19718003273010254, + -0.6959678530693054, + -0.279997318983078, + -0.6311500668525696 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.09259079396724701, + 0.08922126144170761, + 0.01586473174393177 + ], + "orientation": [ + 0.1938297003507614, + -0.6940972208976746, + -0.28428298234939575, + -0.6323307156562805 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + -0.09259079396724701, + 0.08922126144170761, + 0.01586473174393177 + ], + "orientation": [ + 0.1938297003507614, + -0.6940972208976746, + -0.28428298234939575, + -0.6323307156562805 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012489034794270992, + 0.11422959715127945, + 0.017913108691573143 + ], + "orientation": [ + 0.0364551767706871, + -0.34450751543045044, + 0.0545119047164917, + 0.9364902973175049 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.01391879003494978, + 0.11698362231254578, + 0.01880299113690853 + ], + "orientation": [ + 0.04036009684205055, + -0.36496758460998535, + 0.0515020526945591, + 0.9287179708480835 + ], + "joints": [ + -0.008859597146511078 + ] + }, + "final_grasp": { + "position": [ + 0.01391879003494978, + 0.11698362231254578, + 0.01880299113690853 + ], + "orientation": [ + 0.04036009684205055, + -0.36496758460998535, + 0.0515020526945591, + 0.9287179708480835 + ], + "joints": [ + -0.0024296604096889496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1023171916604042, + 0.07940223813056946, + 0.03880683332681656 + ], + "orientation": [ + 0.21245916187763214, + 0.6859817504882812, + -0.3242300748825073, + 0.6157637238502502 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10324718058109283, + 0.07990743219852448, + 0.04034173861145973 + ], + "orientation": [ + 0.2134651392698288, + 0.6835128664970398, + -0.3251721262931824, + 0.6176616549491882 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.10324718058109283, + 0.07990743219852448, + 0.04034173861145973 + ], + "orientation": [ + 0.2134651392698288, + 0.6835128664970398, + -0.3251721262931824, + 0.6176616549491882 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10225469619035721, + 0.07934718579053879, + 0.038803040981292725 + ], + "orientation": [ + 0.2125374674797058, + 0.6862151622772217, + -0.3247288465499878, + 0.6152136921882629 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10303495079278946, + 0.07976585626602173, + 0.04029441997408867 + ], + "orientation": [ + 0.21383769810199738, + 0.6837309002876282, + -0.3258127272129059, + 0.6169534921646118 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.10303495079278946, + 0.07976585626602173, + 0.04029441997408867 + ], + "orientation": [ + 0.21383769810199738, + 0.6837309002876282, + -0.3258127272129059, + 0.6169534921646118 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10245784372091293, + 0.07934989780187607, + 0.03881584107875824 + ], + "orientation": [ + 0.21253731846809387, + 0.6859205365180969, + -0.32440245151519775, + 0.6157140731811523 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10341347008943558, + 0.07986410707235336, + 0.04035615921020508 + ], + "orientation": [ + 0.21358777582645416, + 0.6833815574645996, + -0.32533273100852966, + 0.6176798939704895 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.10341347008943558, + 0.07986410707235336, + 0.04035615921020508 + ], + "orientation": [ + 0.21358777582645416, + 0.6833815574645996, + -0.32533273100852966, + 0.6176798939704895 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009936615824699402, + -0.11595882475376129, + -0.007817840203642845 + ], + "orientation": [ + 0.7018057107925415, + 0.05086550489068031, + 0.6933307647705078, + 0.15547993779182434 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.00932986754924059, + -0.11779271811246872, + -0.008923932909965515 + ], + "orientation": [ + 0.704669177532196, + 0.04973701015114784, + 0.6894394159317017, + 0.1601274460554123 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + 0.00932986754924059, + -0.11779271811246872, + -0.008923932909965515 + ], + "orientation": [ + 0.704669177532196, + 0.04973701015114784, + 0.6894394159317017, + 0.1601274460554123 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.114688940346241, + -0.007786656729876995, + -0.034044284373521805 + ], + "orientation": [ + 0.1665131151676178, + 0.6709413528442383, + -0.7083117365837097, + -0.14284799993038177 + ], + "joints": [ + 0.002952135633677244 + ] + }, + "fine_grasp": { + "position": [ + 0.11107403039932251, + -0.0077285366132855415, + -0.032503046095371246 + ], + "orientation": [ + 0.16404511034488678, + 0.6732332110404968, + -0.7078214883804321, + -0.1372399926185608 + ], + "joints": [ + 0.009302360936999321 + ] + }, + "final_grasp": { + "position": [ + 0.11107403039932251, + -0.0077285366132855415, + -0.032503046095371246 + ], + "orientation": [ + 0.16404511034488678, + 0.6732332110404968, + -0.7078214883804321, + -0.1372399926185608 + ], + "joints": [ + 0.01565258577466011 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11455726623535156, + -0.008105848915874958, + -0.033465322107076645 + ], + "orientation": [ + 0.16506974399089813, + 0.6695208549499512, + -0.709639847278595, + -0.14458589255809784 + ], + "joints": [ + 0.002671214984729886 + ] + }, + "fine_grasp": { + "position": [ + 0.11102153360843658, + -0.007889787666499615, + -0.03203430026769638 + ], + "orientation": [ + 0.16145016252994537, + 0.672530472278595, + -0.7088941931724548, + -0.13822314143180847 + ], + "joints": [ + 0.009552840143442154 + ] + }, + "final_grasp": { + "position": [ + 0.11102153360843658, + -0.007889787666499615, + -0.03203430026769638 + ], + "orientation": [ + 0.16145016252994537, + 0.672530472278595, + -0.7088941931724548, + -0.13822314143180847 + ], + "joints": [ + 0.01643446460366249 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023816756904125214, + 0.11859627068042755, + -0.007264615502208471 + ], + "orientation": [ + 0.12180595099925995, + 0.8882063627243042, + -0.12886832654476166, + -0.42384639382362366 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.023169739171862602, + 0.1161293014883995, + -0.006293958518654108 + ], + "orientation": [ + 0.12169457972049713, + 0.881058394908905, + -0.12550851702690125, + -0.4395158290863037 + ], + "joints": [ + -0.008295886218547821 + ] + }, + "final_grasp": { + "position": [ + 0.023169739171862602, + 0.1161293014883995, + -0.006293958518654108 + ], + "orientation": [ + 0.12169457972049713, + 0.881058394908905, + -0.12550851702690125, + -0.4395158290863037 + ], + "joints": [ + -0.001361120492219925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023627925664186478, + 0.11836306005716324, + -0.007269594352692366 + ], + "orientation": [ + 0.1207025796175003, + 0.8880656361579895, + -0.12937875092029572, + -0.424300879240036 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.023120766505599022, + 0.11605638265609741, + -0.006420785095542669 + ], + "orientation": [ + 0.12201593816280365, + 0.8807187080383301, + -0.125760018825531, + -0.44003549218177795 + ], + "joints": [ + -0.008295886218547821 + ] + }, + "final_grasp": { + "position": [ + 0.023120766505599022, + 0.11605638265609741, + -0.006420785095542669 + ], + "orientation": [ + 0.12201593816280365, + 0.8807187080383301, + -0.125760018825531, + -0.44003549218177795 + ], + "joints": [ + -0.001361120492219925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11436029523611069, + -0.008008451201021671, + -0.03334292024374008 + ], + "orientation": [ + 0.16857320070266724, + 0.6700055599212646, + -0.7085745930671692, + -0.14351919293403625 + ], + "joints": [ + 0.002636228920891881 + ] + }, + "fine_grasp": { + "position": [ + 0.11090890318155289, + -0.008157997392117977, + -0.03198813274502754 + ], + "orientation": [ + 0.16486132144927979, + 0.6714451313018799, + -0.709152340888977, + -0.13814876973628998 + ], + "joints": [ + 0.00949128344655037 + ] + }, + "final_grasp": { + "position": [ + 0.11090890318155289, + -0.008157997392117977, + -0.03198813274502754 + ], + "orientation": [ + 0.16486132144927979, + 0.6714451313018799, + -0.709152340888977, + -0.13814876973628998 + ], + "joints": [ + 0.016346337273716927 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03480048477649689, + -0.0847223550081253, + 0.13176728785037994 + ], + "orientation": [ + 0.9184834361076355, + -0.3430713713169098, + -0.06933193653821945, + 0.1840740293264389 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.03414703533053398, + -0.08365730941295624, + 0.13115160167217255 + ], + "orientation": [ + 0.9199066162109375, + -0.34220778942108154, + -0.06857099384069443, + 0.17878398299217224 + ], + "joints": [ + -0.0018764809938147664 + ] + }, + "final_grasp": { + "position": [ + 0.03414703533053398, + -0.08365730941295624, + 0.13115160167217255 + ], + "orientation": [ + 0.9199066162109375, + -0.34220778942108154, + -0.06857099384069443, + 0.17878398299217224 + ], + "joints": [ + 0.0045003145933151245 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09228502213954926, + -0.07295603305101395, + 0.042102422565221786 + ], + "orientation": [ + 0.7749337553977966, + -0.30506351590156555, + -0.4163428246974945, + -0.3647913336753845 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.09179136157035828, + -0.07001339644193649, + 0.04459970071911812 + ], + "orientation": [ + 0.7859763503074646, + -0.28884145617485046, + -0.41781142354011536, + -0.35248470306396484 + ], + "joints": [ + -0.007122615352272987 + ] + }, + "final_grasp": { + "position": [ + -0.09179136157035828, + -0.07001339644193649, + 0.04459970071911812 + ], + "orientation": [ + 0.7859763503074646, + -0.28884145617485046, + -0.41781142354011536, + -0.35248470306396484 + ], + "joints": [ + -0.0006926804780960083 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05323796719312668, + 0.10753906518220901, + 0.03974386677145958 + ], + "orientation": [ + 0.023023154586553574, + 0.9404147267341614, + 0.2365017831325531, + -0.2432219386100769 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.05370303615927696, + 0.10829228162765503, + 0.03818259760737419 + ], + "orientation": [ + 0.02382712811231613, + 0.9354793429374695, + 0.2338830679655075, + -0.2638356685638428 + ], + "joints": [ + -0.0070357657968997955 + ] + }, + "final_grasp": { + "position": [ + -0.05370303615927696, + 0.10829228162765503, + 0.03818259760737419 + ], + "orientation": [ + 0.02382712811231613, + 0.9354793429374695, + 0.2338830679655075, + -0.2638356685638428 + ], + "joints": [ + -0.001137230545282364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12445271760225296, + -0.0013946343678981066, + -0.001532466383650899 + ], + "orientation": [ + 0.038699157536029816, + 0.6986613869667053, + 0.7109752893447876, + 0.06991911679506302 + ], + "joints": [ + 0.0031575183384120464 + ] + }, + "fine_grasp": { + "position": [ + -0.1238456666469574, + -0.001471218653023243, + -0.003033344866707921 + ], + "orientation": [ + 0.031074779108166695, + 0.700557291507721, + 0.7104186415672302, + 0.059659745544195175 + ], + "joints": [ + 0.009534314274787903 + ] + }, + "final_grasp": { + "position": [ + -0.1238456666469574, + -0.001471218653023243, + -0.003033344866707921 + ], + "orientation": [ + 0.031074779108166695, + 0.700557291507721, + 0.7104186415672302, + 0.059659745544195175 + ], + "joints": [ + 0.015911109745502472 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060996804386377335, + 0.10755592584609985, + 0.005925383884459734 + ], + "orientation": [ + 0.07749944925308228, + -0.7139672636985779, + 0.21956466138362885, + 0.660330057144165 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.06191603094339371, + 0.10882722586393356, + 0.005956057924777269 + ], + "orientation": [ + 0.07562683522701263, + -0.7098555564880371, + 0.21379858255386353, + 0.666840136051178 + ], + "joints": [ + -0.004286251030862331 + ] + }, + "final_grasp": { + "position": [ + 0.06191603094339371, + 0.10882722586393356, + 0.005956057924777269 + ], + "orientation": [ + 0.07562683522701263, + -0.7098555564880371, + 0.21379858255386353, + 0.666840136051178 + ], + "joints": [ + 0.00259537436068058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06588456779718399, + -0.010267142206430435, + 0.14818888902664185 + ], + "orientation": [ + 0.6866539120674133, + -0.6546558737754822, + -0.3155585825443268, + -0.01884325034916401 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + -0.06356219947338104, + -0.011561301536858082, + 0.14389894902706146 + ], + "orientation": [ + 0.6730725169181824, + -0.671537458896637, + -0.30829134583473206, + -0.0311017744243145 + ], + "joints": [ + -0.009691288694739342 + ] + }, + "final_grasp": { + "position": [ + -0.06356219947338104, + -0.011561301536858082, + 0.14389894902706146 + ], + "orientation": [ + 0.6730725169181824, + -0.671537458896637, + -0.30829134583473206, + -0.0311017744243145 + ], + "joints": [ + -0.0059183500707149506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.053343795239925385, + 0.10752012580633163, + 0.03974123299121857 + ], + "orientation": [ + 0.022988565266132355, + 0.9404965043067932, + 0.2369076907634735, + -0.24251334369182587 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.053878191858530045, + 0.10822715610265732, + 0.038150008767843246 + ], + "orientation": [ + 0.02392054721713066, + 0.9356177449226379, + 0.23439283668994904, + -0.26288270950317383 + ], + "joints": [ + -0.0070357657968997955 + ] + }, + "final_grasp": { + "position": [ + -0.053878191858530045, + 0.10822715610265732, + 0.038150008767843246 + ], + "orientation": [ + 0.02392054721713066, + 0.9356177449226379, + 0.23439283668994904, + -0.26288270950317383 + ], + "joints": [ + -0.001137230545282364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1258295476436615, + 0.005347512662410736, + -0.02640107460319996 + ], + "orientation": [ + 0.6855444312095642, + 0.14310139417648315, + -0.10492625832557678, + -0.7060746550559998 + ], + "joints": [ + 0.0033422389533370733 + ] + }, + "fine_grasp": { + "position": [ + -0.12663570046424866, + 0.00505335396155715, + -0.027106208726763725 + ], + "orientation": [ + 0.6878058314323425, + 0.14164473116397858, + -0.09618518501520157, + -0.7054135203361511 + ], + "joints": [ + 0.009719034656882286 + ] + }, + "final_grasp": { + "position": [ + -0.12663570046424866, + 0.00505335396155715, + -0.027106208726763725 + ], + "orientation": [ + 0.6878058314323425, + 0.14164473116397858, + -0.09618518501520157, + -0.7054135203361511 + ], + "joints": [ + 0.016095830127596855 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02249518595635891, + 0.10926198959350586, + -0.04111013934016228 + ], + "orientation": [ + 0.20664307475090027, + 0.9736060500144958, + -0.09679348021745682, + -0.004578277003020048 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.023431072011590004, + 0.10723668336868286, + -0.04031350836157799 + ], + "orientation": [ + 0.21021190285682678, + 0.9723692536354065, + -0.10073863714933395, + -0.012680761516094208 + ], + "joints": [ + -0.0024652890861034393 + ] + }, + "final_grasp": { + "position": [ + 0.023431072011590004, + 0.10723668336868286, + -0.04031350836157799 + ], + "orientation": [ + 0.21021190285682678, + 0.9723692536354065, + -0.10073863714933395, + -0.012680761516094208 + ], + "joints": [ + 0.00391150638461113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002741198753938079, + -0.11867360770702362, + -0.019244756549596786 + ], + "orientation": [ + 0.8596594333648682, + 0.19446337223052979, + -0.46642497181892395, + -0.07494927942752838 + ], + "joints": [ + -0.014053035527467728 + ] + }, + "fine_grasp": { + "position": [ + -0.00220823148265481, + -0.11610166728496552, + -0.018029794096946716 + ], + "orientation": [ + 0.8579559922218323, + 0.1927480846643448, + -0.4700242578983307, + -0.07639878988265991 + ], + "joints": [ + -0.007623100653290749 + ] + }, + "final_grasp": { + "position": [ + -0.00220823148265481, + -0.11610166728496552, + -0.018029794096946716 + ], + "orientation": [ + 0.8579559922218323, + 0.1927480846643448, + -0.4700242578983307, + -0.07639878988265991 + ], + "joints": [ + -0.0011931657791137695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011687603779137135, + 0.10718830674886703, + 0.08397655934095383 + ], + "orientation": [ + 0.1903693675994873, + -0.4802975058555603, + -0.1455063670873642, + 0.8437426686286926 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + 0.010527952574193478, + 0.10790374130010605, + 0.08169057220220566 + ], + "orientation": [ + 0.17582538723945618, + -0.48756951093673706, + -0.14474959671497345, + 0.8428575396537781 + ], + "joints": [ + -0.008655060082674026 + ] + }, + "final_grasp": { + "position": [ + 0.010527952574193478, + 0.10790374130010605, + 0.08169057220220566 + ], + "orientation": [ + 0.17582538723945618, + -0.48756951093673706, + -0.14474959671497345, + 0.8428575396537781 + ], + "joints": [ + -0.00384589284658432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09904079884290695, + 0.07670235633850098, + -0.00162206357344985 + ], + "orientation": [ + 0.16645504534244537, + -0.6679455041885376, + -0.37333813309669495, + -0.6219003796577454 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.10103636980056763, + 0.07876289635896683, + -0.0023135619703680277 + ], + "orientation": [ + 0.16560907661914825, + -0.670278012752533, + -0.371265709400177, + -0.6208566427230835 + ], + "joints": [ + -0.0046805329620838165 + ] + }, + "final_grasp": { + "position": [ + -0.10103636980056763, + 0.07876289635896683, + -0.0023135619703680277 + ], + "orientation": [ + 0.16560907661914825, + -0.670278012752533, + -0.371265709400177, + -0.6208566427230835 + ], + "joints": [ + 0.0012180022895336151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06011784449219704, + 0.0018295152112841606, + -0.09752465039491653 + ], + "orientation": [ + 0.5631361603736877, + 0.36568692326545715, + -0.42660191655158997, + -0.6059385538101196 + ], + "joints": [ + 0.0020413624588400126 + ] + }, + "fine_grasp": { + "position": [ + -0.05867393687367439, + 0.002051046583801508, + -0.09448535740375519 + ], + "orientation": [ + 0.5628418326377869, + 0.36252614855766296, + -0.4265943169593811, + -0.6081127524375916 + ], + "joints": [ + 0.007913329638540745 + ] + }, + "final_grasp": { + "position": [ + -0.05867393687367439, + 0.002051046583801508, + -0.09448535740375519 + ], + "orientation": [ + 0.5628418326377869, + 0.36252614855766296, + -0.4265943169593811, + -0.6081127524375916 + ], + "joints": [ + 0.01378529705107212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10173626989126205, + -0.0054398165084421635, + -0.05865092575550079 + ], + "orientation": [ + 0.6578408479690552, + 0.2670464515686035, + -0.3080613613128662, + -0.6332691311836243 + ], + "joints": [ + 0.0013739853166043758 + ] + }, + "fine_grasp": { + "position": [ + -0.09802022576332092, + -0.0052558667957782745, + -0.0544675849378109 + ], + "orientation": [ + 0.656129002571106, + 0.26904162764549255, + -0.3074341416358948, + -0.6345041990280151 + ], + "joints": [ + 0.007750780787318945 + ] + }, + "final_grasp": { + "position": [ + -0.09802022576332092, + -0.0052558667957782745, + -0.0544675849378109 + ], + "orientation": [ + 0.656129002571106, + 0.26904162764549255, + -0.3074341416358948, + -0.6345041990280151 + ], + "joints": [ + 0.014127576723694801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13073134422302246, + 0.001111188088543713, + 0.031198827549815178 + ], + "orientation": [ + 0.4920889139175415, + -0.5247783064842224, + -0.5486706495285034, + -0.425930380821228 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.13237106800079346, + -0.0006384723237715662, + 0.0312918946146965 + ], + "orientation": [ + 0.4815278947353363, + -0.5334105491638184, + -0.5551027655601501, + -0.41888558864593506 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.13237106800079346, + -0.0006384723237715662, + 0.0312918946146965 + ], + "orientation": [ + 0.4815278947353363, + -0.5334105491638184, + -0.5551027655601501, + -0.41888558864593506 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04722451791167259, + -0.014975794591009617, + -0.10279396921396255 + ], + "orientation": [ + 0.6015132069587708, + 0.39915671944618225, + 0.4335862100124359, + 0.5393133163452148 + ], + "joints": [ + 0.0014294290449470282 + ] + }, + "fine_grasp": { + "position": [ + 0.0467449314892292, + -0.014708597213029861, + -0.10027730464935303 + ], + "orientation": [ + 0.600180447101593, + 0.4021589457988739, + 0.4319402277469635, + 0.5398880839347839 + ], + "joints": [ + 0.007301394362002611 + ] + }, + "final_grasp": { + "position": [ + 0.0467449314892292, + -0.014708597213029861, + -0.10027730464935303 + ], + "orientation": [ + 0.600180447101593, + 0.4021589457988739, + 0.4319402277469635, + 0.5398880839347839 + ], + "joints": [ + 0.01317335944622755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08601509034633636, + -0.09877897799015045, + 0.00692787254229188 + ], + "orientation": [ + 0.6045846939086914, + 0.28034791350364685, + -0.7371308207511902, + 0.11189554631710052 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + 0.08430784940719604, + -0.09734413772821426, + 0.00674265343695879 + ], + "orientation": [ + 0.6109765768051147, + 0.28196606040000916, + -0.7300007939338684, + 0.11959005147218704 + ], + "joints": [ + -0.0047659846022725105 + ] + }, + "final_grasp": { + "position": [ + 0.08430784940719604, + -0.09734413772821426, + 0.00674265343695879 + ], + "orientation": [ + 0.6109765768051147, + 0.28196606040000916, + -0.7300007939338684, + 0.11959005147218704 + ], + "joints": [ + 0.0011059809476137161 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07301446795463562, + -0.012136567384004593, + -0.08997800201177597 + ], + "orientation": [ + 0.6407555937767029, + 0.3485358655452728, + 0.35936152935028076, + 0.58207768201828 + ], + "joints": [ + 0.0020428623538464308 + ] + }, + "fine_grasp": { + "position": [ + 0.07169455289840698, + -0.012174557894468307, + -0.08692938834428787 + ], + "orientation": [ + 0.6391187906265259, + 0.35424089431762695, + 0.36057621240615845, + 0.5796769261360168 + ], + "joints": [ + 0.007383428514003754 + ] + }, + "final_grasp": { + "position": [ + 0.07169455289840698, + -0.012174557894468307, + -0.08692938834428787 + ], + "orientation": [ + 0.6391187906265259, + 0.35424089431762695, + 0.36057621240615845, + 0.5796769261360168 + ], + "joints": [ + 0.012723994441330433 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13347822427749634, + -0.017513860017061234, + 0.0009334839996881783 + ], + "orientation": [ + 0.7501091361045837, + 0.05386340618133545, + 0.04542176052927971, + 0.6575499773025513 + ], + "joints": [ + 0.0032472533639520407 + ] + }, + "fine_grasp": { + "position": [ + 0.1302553415298462, + -0.017001278698444366, + 0.00032504359842278063 + ], + "orientation": [ + 0.7489450573921204, + 0.0478077307343483, + 0.035880640149116516, + 0.6599304676055908 + ], + "joints": [ + 0.009119220077991486 + ] + }, + "final_grasp": { + "position": [ + 0.1302553415298462, + -0.017001278698444366, + 0.00032504359842278063 + ], + "orientation": [ + 0.7489450573921204, + 0.0478077307343483, + 0.035880640149116516, + 0.6599304676055908 + ], + "joints": [ + 0.014991186559200287 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05811411142349243, + 0.10726387053728104, + -0.006747260224074125 + ], + "orientation": [ + 0.033276911824941635, + -0.6805031299591064, + -0.23066580295562744, + -0.6946952939033508 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.058154862374067307, + 0.10633736848831177, + -0.007234429940581322 + ], + "orientation": [ + 0.03223930671811104, + -0.6817087531089783, + -0.22595179080963135, + -0.6951111555099487 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.058154862374067307, + 0.10633736848831177, + -0.007234429940581322 + ], + "orientation": [ + 0.03223930671811104, + -0.6817087531089783, + -0.22595179080963135, + -0.6951111555099487 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11740465462207794, + 0.003985137213021517, + 0.09428638964891434 + ], + "orientation": [ + 0.6621566414833069, + -0.10068998485803604, + 0.20949095487594604, + -0.7124068737030029 + ], + "joints": [ + 0.0012595218140631914 + ] + }, + "fine_grasp": { + "position": [ + -0.11236909031867981, + 0.0031223520636558533, + 0.09237275272607803 + ], + "orientation": [ + 0.664957582950592, + -0.09812456369400024, + 0.20133273303508759, + -0.7125083208084106 + ], + "joints": [ + 0.007662888150662184 + ] + }, + "final_grasp": { + "position": [ + -0.11236909031867981, + 0.0031223520636558533, + 0.09237275272607803 + ], + "orientation": [ + 0.664957582950592, + -0.09812456369400024, + 0.20133273303508759, + -0.7125083208084106 + ], + "joints": [ + 0.01406625472009182 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11708047240972519, + 0.015103079378604889, + -0.054605964571237564 + ], + "orientation": [ + 0.6293858885765076, + 0.16775131225585938, + -0.22051572799682617, + -0.7260203957557678 + ], + "joints": [ + 0.0036766137927770615 + ] + }, + "fine_grasp": { + "position": [ + -0.11497598886489868, + 0.01549066137522459, + -0.05328192189335823 + ], + "orientation": [ + 0.6290328502655029, + 0.16806265711784363, + -0.22283494472503662, + -0.7255460023880005 + ], + "joints": [ + 0.009548580273985863 + ] + }, + "final_grasp": { + "position": [ + -0.11497598886489868, + 0.01549066137522459, + -0.05328192189335823 + ], + "orientation": [ + 0.6290328502655029, + 0.16806265711784363, + -0.22283494472503662, + -0.7255460023880005 + ], + "joints": [ + 0.015420546755194664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017145525198429823, + -0.009022488258779049, + -0.10895149409770966 + ], + "orientation": [ + 0.07046592980623245, + 0.045510053634643555, + -0.6877897381782532, + -0.7210468649864197 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.0023697828873991966, + -0.0075279464945197105, + -0.10780639201402664 + ], + "orientation": [ + 0.08278419077396393, + 0.050475504249334335, + -0.69141685962677, + -0.7159201502799988 + ], + "joints": [ + -0.0029995599761605263 + ] + }, + "final_grasp": { + "position": [ + -0.0023697828873991966, + -0.0075279464945197105, + -0.10780639201402664 + ], + "orientation": [ + 0.08278419077396393, + 0.050475504249334335, + -0.69141685962677, + -0.7159201502799988 + ], + "joints": [ + 0.0028724055737257004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.130661740899086, + 0.0005409607547335327, + 0.030677909031510353 + ], + "orientation": [ + 0.5340819358825684, + -0.47867637872695923, + 0.4049294590950012, + 0.5671488046646118 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.1295415163040161, + 0.0015522342873737216, + 0.031396664679050446 + ], + "orientation": [ + 0.5419350862503052, + -0.47066590189933777, + 0.40401342511177063, + 0.5670565366744995 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + 0.1295415163040161, + 0.0015522342873737216, + 0.031396664679050446 + ], + "orientation": [ + 0.5419350862503052, + -0.47066590189933777, + 0.40401342511177063, + 0.5670565366744995 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019036144018173218, + -0.08387953788042068, + 0.12306888401508331 + ], + "orientation": [ + 0.03230709582567215, + -0.10231459140777588, + -0.9241855144500732, + 0.3665637671947479 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.019335860386490822, + -0.08184218406677246, + 0.1209074929356575 + ], + "orientation": [ + 0.038221392780542374, + -0.10894458740949631, + -0.921235978603363, + 0.37147611379623413 + ], + "joints": [ + -0.0019912980496883392 + ] + }, + "final_grasp": { + "position": [ + -0.019335860386490822, + -0.08184218406677246, + 0.1209074929356575 + ], + "orientation": [ + 0.038221392780542374, + -0.10894458740949631, + -0.921235978603363, + 0.37147611379623413 + ], + "joints": [ + 0.005448296666145325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0027349404990673065, + 0.03051922284066677, + -0.09992474317550659 + ], + "orientation": [ + 0.061972200870513916, + 0.0898909717798233, + 0.5821276307106018, + 0.8057335615158081 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.0017407943960279226, + 0.03188173100352287, + -0.10305219888687134 + ], + "orientation": [ + 0.07519811391830444, + 0.10011923313140869, + 0.5827522873878479, + 0.8029453158378601 + ], + "joints": [ + -0.004118294455111027 + ] + }, + "final_grasp": { + "position": [ + -0.0017407943960279226, + 0.03188173100352287, + -0.10305219888687134 + ], + "orientation": [ + 0.07519811391830444, + 0.10011923313140869, + 0.5827522873878479, + 0.8029453158378601 + ], + "joints": [ + 0.0017536710947751999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08080846071243286, + -0.09906714409589767, + 0.012663963250815868 + ], + "orientation": [ + 0.7355587482452393, + -0.13074401021003723, + -0.6099473237991333, + -0.2642415463924408 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0812172144651413, + -0.09865562617778778, + 0.01139801274985075 + ], + "orientation": [ + 0.7349468469619751, + -0.12240687757730484, + -0.611737072467804, + -0.265796035528183 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + -0.0812172144651413, + -0.09865562617778778, + 0.01139801274985075 + ], + "orientation": [ + 0.7349468469619751, + -0.12240687757730484, + -0.611737072467804, + -0.265796035528183 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0028342660516500473, + 0.030442550778388977, + -0.09990420192480087 + ], + "orientation": [ + 0.062001049518585205, + 0.09056279808282852, + 0.5826618075370789, + 0.8052698969841003 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.0018374040955677629, + 0.031747180968523026, + -0.10299264639616013 + ], + "orientation": [ + 0.07515719532966614, + 0.10083241015672684, + 0.5830712914466858, + 0.8026282787322998 + ], + "joints": [ + -0.004147735424339771 + ] + }, + "final_grasp": { + "position": [ + -0.0018374040955677629, + 0.031747180968523026, + -0.10299264639616013 + ], + "orientation": [ + 0.07515719532966614, + 0.10083241015672684, + 0.5830712914466858, + 0.8026282787322998 + ], + "joints": [ + 0.0017242301255464554 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1303672343492508, + 0.0014336657477542758, + 0.03163259103894234 + ], + "orientation": [ + 0.49237579107284546, + -0.5263415575027466, + -0.5475427508354187, + -0.42512083053588867 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.13133300840854645, + -0.0002131167711922899, + 0.03166889771819115 + ], + "orientation": [ + 0.48253944516181946, + -0.5342599153518677, + -0.5533268451690674, + -0.4189884066581726 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.13133300840854645, + -0.0002131167711922899, + 0.03166889771819115 + ], + "orientation": [ + 0.48253944516181946, + -0.5342599153518677, + -0.5533268451690674, + -0.4189884066581726 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1317986696958542, + 0.019410869106650352, + 0.019772829487919807 + ], + "orientation": [ + 0.41831982135772705, + -0.5581222772598267, + -0.5351322293281555, + -0.47659385204315186 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.13213127851486206, + 0.018183588981628418, + 0.01954171434044838 + ], + "orientation": [ + 0.41561755537986755, + -0.5611489415168762, + -0.5394205451011658, + -0.47053080797195435 + ], + "joints": [ + -0.006529537960886955 + ] + }, + "final_grasp": { + "position": [ + -0.13213127851486206, + 0.018183588981628418, + 0.01954171434044838 + ], + "orientation": [ + 0.41561755537986755, + -0.5611489415168762, + -0.5394205451011658, + -0.47053080797195435 + ], + "joints": [ + -0.0006841421127319336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08677247911691666, + 0.08807601034641266, + 0.028928454965353012 + ], + "orientation": [ + 0.2424088716506958, + 0.6278623342514038, + -0.2233201116323471, + 0.7050923109054565 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.08910024166107178, + 0.09179983288049698, + 0.029859095811843872 + ], + "orientation": [ + 0.24943973124027252, + 0.6208916902542114, + -0.22220556437969208, + 0.7091531157493591 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + 0.08910024166107178, + 0.09179983288049698, + 0.029859095811843872 + ], + "orientation": [ + 0.24943973124027252, + 0.6208916902542114, + -0.22220556437969208, + 0.7091531157493591 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008117704652249813, + 0.004480381961911917, + -0.09812720865011215 + ], + "orientation": [ + 0.5027408003807068, + 0.5342641472816467, + -0.4861808717250824, + -0.4748069643974304 + ], + "joints": [ + 0.0017716903239488602 + ] + }, + "fine_grasp": { + "position": [ + -0.008767101913690567, + 0.005352103151381016, + -0.09471102803945541 + ], + "orientation": [ + 0.5014326572418213, + 0.5371977090835571, + -0.4849745035171509, + -0.4741136133670807 + ], + "joints": [ + 0.007643656339496374 + ] + }, + "final_grasp": { + "position": [ + -0.008767101913690567, + 0.005352103151381016, + -0.09471102803945541 + ], + "orientation": [ + 0.5014326572418213, + 0.5371977090835571, + -0.4849745035171509, + -0.4741136133670807 + ], + "joints": [ + 0.013515622355043888 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08714049309492111, + 0.08783873915672302, + 0.029012730345129967 + ], + "orientation": [ + 0.24378205835819244, + 0.6265839338302612, + -0.22428956627845764, + 0.7054480314254761 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.08953771740198135, + 0.09153541922569275, + 0.02976142428815365 + ], + "orientation": [ + 0.25162577629089355, + 0.6194607615470886, + -0.22295333445072174, + 0.7093974351882935 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + 0.08953771740198135, + 0.09153541922569275, + 0.02976142428815365 + ], + "orientation": [ + 0.25162577629089355, + 0.6194607615470886, + -0.22295333445072174, + 0.7093974351882935 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030682506039738655, + -0.014591852203011513, + -0.1054595485329628 + ], + "orientation": [ + 0.5762726068496704, + 0.42351672053337097, + 0.46685367822647095, + 0.5201837420463562 + ], + "joints": [ + 0.0015095302369445562 + ] + }, + "fine_grasp": { + "position": [ + 0.03028474561870098, + -0.014226634055376053, + -0.10200656950473785 + ], + "orientation": [ + 0.5739699602127075, + 0.42753472924232483, + 0.4664396047592163, + 0.5198140740394592 + ], + "joints": [ + 0.006850096397101879 + ] + }, + "final_grasp": { + "position": [ + 0.03028474561870098, + -0.014226634055376053, + -0.10200656950473785 + ], + "orientation": [ + 0.5739699602127075, + 0.42753472924232483, + 0.4664396047592163, + 0.5198140740394592 + ], + "joints": [ + 0.012190662324428558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02136751264333725, + -0.11354990303516388, + -0.017329949885606766 + ], + "orientation": [ + 0.030178667977452278, + -0.08544127643108368, + -0.9878396987915039, + -0.12634027004241943 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.02257060445845127, + -0.1138898953795433, + -0.018284734338521957 + ], + "orientation": [ + 0.020190471783280373, + -0.08872123062610626, + -0.9879685640335083, + -0.12505601346492767 + ], + "joints": [ + -0.0029672477394342422 + ] + }, + "final_grasp": { + "position": [ + -0.02257060445845127, + -0.1138898953795433, + -0.018284734338521957 + ], + "orientation": [ + 0.020190471783280373, + -0.08872123062610626, + -0.9879685640335083, + -0.12505601346492767 + ], + "joints": [ + 0.0028781481087207794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08643840253353119, + 0.0882708877325058, + 0.029055830091238022 + ], + "orientation": [ + 0.2415609210729599, + 0.6272485852241516, + -0.22276242077350616, + 0.70610511302948 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.08855785429477692, + 0.09173685312271118, + 0.029710957780480385 + ], + "orientation": [ + 0.2493152916431427, + 0.6195967197418213, + -0.22132816910743713, + 0.7106022238731384 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + 0.08855785429477692, + 0.09173685312271118, + 0.029710957780480385 + ], + "orientation": [ + 0.2493152916431427, + 0.6195967197418213, + -0.22132816910743713, + 0.7106022238731384 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12953512370586395, + 0.0016261846758425236, + 0.03137604147195816 + ], + "orientation": [ + 0.49131983518600464, + -0.5267535448074341, + -0.5478962063789368, + -0.42537668347358704 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.13061131536960602, + -4.2763280362123623e-05, + 0.031566351652145386 + ], + "orientation": [ + 0.481751412153244, + -0.5347750782966614, + -0.5532610416412354, + -0.419325053691864 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.13061131536960602, + -4.2763280362123623e-05, + 0.031566351652145386 + ], + "orientation": [ + 0.481751412153244, + -0.5347750782966614, + -0.5532610416412354, + -0.419325053691864 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03170069307088852, + -0.11877003312110901, + -0.00012937998690176755 + ], + "orientation": [ + 0.9311907887458801, + 0.09166871011257172, + 0.3471803665161133, + -0.06281991302967072 + ], + "joints": [ + -0.014582961797714233 + ] + }, + "fine_grasp": { + "position": [ + -0.03105970285832882, + -0.12281861901283264, + 0.0007111546001397073 + ], + "orientation": [ + 0.9298801422119141, + 0.10240309685468674, + 0.34717410802841187, + -0.06562451273202896 + ], + "joints": [ + -0.009800365194678307 + ] + }, + "final_grasp": { + "position": [ + -0.03105970285832882, + -0.12281861901283264, + 0.0007111546001397073 + ], + "orientation": [ + 0.9298801422119141, + 0.10240309685468674, + 0.34717410802841187, + -0.06562451273202896 + ], + "joints": [ + -0.00501776859164238 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030489979311823845, + -0.014437285251915455, + -0.1054225042462349 + ], + "orientation": [ + 0.5773642659187317, + 0.4229107201099396, + 0.4653681814670563, + 0.5207970142364502 + ], + "joints": [ + 0.0015000978019088507 + ] + }, + "fine_grasp": { + "position": [ + 0.029897181317210197, + -0.014258353039622307, + -0.10157433152198792 + ], + "orientation": [ + 0.5767608880996704, + 0.42615747451782227, + 0.4645944833755493, + 0.5195081830024719 + ], + "joints": [ + 0.0068406639620661736 + ] + }, + "final_grasp": { + "position": [ + 0.029897181317210197, + -0.014258353039622307, + -0.10157433152198792 + ], + "orientation": [ + 0.5767608880996704, + 0.42615747451782227, + 0.4645944833755493, + 0.5195081830024719 + ], + "joints": [ + 0.012181229889392853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03034435585141182, + -0.013885178603231907, + -0.1055462583899498 + ], + "orientation": [ + 0.5766425728797913, + 0.4238932728767395, + 0.4643149673938751, + 0.5217370390892029 + ], + "joints": [ + 0.0010243549477308989 + ] + }, + "fine_grasp": { + "position": [ + 0.0298311747610569, + -0.013691838830709457, + -0.10172070562839508 + ], + "orientation": [ + 0.5757889151573181, + 0.42730048298835754, + 0.46370384097099304, + 0.5204422473907471 + ], + "joints": [ + 0.006896320730447769 + ] + }, + "final_grasp": { + "position": [ + 0.0298311747610569, + -0.013691838830709457, + -0.10172070562839508 + ], + "orientation": [ + 0.5757889151573181, + 0.42730048298835754, + 0.46370384097099304, + 0.5204422473907471 + ], + "joints": [ + 0.012768286280333996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00832398235797882, + 0.12351812422275543, + -0.02084423415362835 + ], + "orientation": [ + 0.04822179675102234, + 0.10400790721178055, + 0.10187649726867676, + 0.9881691932678223 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.008759938180446625, + 0.11854307353496552, + -0.01997723989188671 + ], + "orientation": [ + 0.04986661672592163, + 0.09884898364543915, + 0.10031875967979431, + 0.9887762069702148 + ], + "joints": [ + -0.0026626866310834885 + ] + }, + "final_grasp": { + "position": [ + 0.008759938180446625, + 0.11854307353496552, + -0.01997723989188671 + ], + "orientation": [ + 0.04986661672592163, + 0.09884898364543915, + 0.10031875967979431, + 0.9887762069702148 + ], + "joints": [ + 0.0047237686812877655 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09545282274484634, + 0.00852415431290865, + -0.08223282545804977 + ], + "orientation": [ + 0.643441915512085, + 0.3506585955619812, + -0.24203957617282867, + -0.6359543204307556 + ], + "joints": [ + 0.002053134376183152 + ] + }, + "fine_grasp": { + "position": [ + -0.09400638192892075, + 0.00823739543557167, + -0.0794764906167984 + ], + "orientation": [ + 0.6436176300048828, + 0.3550260066986084, + -0.24594485759735107, + -0.6318418383598328 + ], + "joints": [ + 0.007393701002001762 + ] + }, + "final_grasp": { + "position": [ + -0.09400638192892075, + 0.00823739543557167, + -0.0794764906167984 + ], + "orientation": [ + 0.6436176300048828, + 0.3550260066986084, + -0.24594485759735107, + -0.6318418383598328 + ], + "joints": [ + 0.012734267860651016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03006618097424507, + -0.014162445440888405, + -0.1055043563246727 + ], + "orientation": [ + 0.5785601139068604, + 0.421812504529953, + 0.4636533558368683, + 0.5218887329101562 + ], + "joints": [ + 0.0015837231185287237 + ] + }, + "fine_grasp": { + "position": [ + 0.029584072530269623, + -0.014014867134392262, + -0.10147999227046967 + ], + "orientation": [ + 0.5778318643569946, + 0.4259676933288574, + 0.4632074236869812, + 0.5197123289108276 + ], + "joints": [ + 0.006924289278686047 + ] + }, + "final_grasp": { + "position": [ + 0.029584072530269623, + -0.014014867134392262, + -0.10147999227046967 + ], + "orientation": [ + 0.5778318643569946, + 0.4259676933288574, + 0.4632074236869812, + 0.5197123289108276 + ], + "joints": [ + 0.012264855206012726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015951789915561676, + -0.11793327331542969, + 0.04061349853873253 + ], + "orientation": [ + 0.6900821328163147, + -0.020152544602751732, + 0.7209868431091309, + -0.05965304374694824 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.016059186309576035, + -0.11943379789590836, + 0.04176800325512886 + ], + "orientation": [ + 0.6900889873504639, + -0.02380722388625145, + 0.7209548950195312, + -0.058604344725608826 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + -0.016059186309576035, + -0.11943379789590836, + 0.04176800325512886 + ], + "orientation": [ + 0.6900889873504639, + -0.02380722388625145, + 0.7209548950195312, + -0.058604344725608826 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1300373673439026, + 0.0014662500470876694, + 0.03178844600915909 + ], + "orientation": [ + 0.49244430661201477, + -0.5269018411636353, + -0.5474966168403625, + -0.4244059920310974 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.13044756650924683, + -6.297762593021616e-05, + 0.031798601150512695 + ], + "orientation": [ + 0.48310422897338867, + -0.5342548489570618, + -0.5523629784584045, + -0.41961562633514404 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.13044756650924683, + -6.297762593021616e-05, + 0.031798601150512695 + ], + "orientation": [ + 0.48310422897338867, + -0.5342548489570618, + -0.5523629784584045, + -0.41961562633514404 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030590007081627846, + -0.014371073804795742, + -0.10482796281576157 + ], + "orientation": [ + 0.5755183100700378, + 0.42449039220809937, + 0.4669850468635559, + 0.5201073884963989 + ], + "joints": [ + 0.0009843043517321348 + ] + }, + "fine_grasp": { + "position": [ + 0.029767345637083054, + -0.014004746451973915, + -0.1011875569820404 + ], + "orientation": [ + 0.5765752196311951, + 0.4257142245769501, + 0.46434202790260315, + 0.5203027725219727 + ], + "joints": [ + 0.006856270134449005 + ] + }, + "final_grasp": { + "position": [ + 0.029767345637083054, + -0.014004746451973915, + -0.1011875569820404 + ], + "orientation": [ + 0.5765752196311951, + 0.4257142245769501, + 0.46434202790260315, + 0.5203027725219727 + ], + "joints": [ + 0.012728235684335232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009320209734141827, + -0.0012643036898225546, + -0.11112726479768753 + ], + "orientation": [ + 0.7585517764091492, + 0.6504044532775879, + -0.02645750343799591, + 0.029550261795520782 + ], + "joints": [ + -0.007723349612206221 + ] + }, + "fine_grasp": { + "position": [ + 0.009634471498429775, + -0.0013816393911838531, + -0.10725118964910507 + ], + "orientation": [ + 0.7527244091033936, + 0.6567575931549072, + -0.028113583102822304, + 0.03584948554635048 + ], + "joints": [ + -0.002887613605707884 + ] + }, + "final_grasp": { + "position": [ + 0.009634471498429775, + -0.0013816393911838531, + -0.10725118964910507 + ], + "orientation": [ + 0.7527244091033936, + 0.6567575931549072, + -0.028113583102822304, + 0.03584948554635048 + ], + "joints": [ + 0.001948122400790453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07243142277002335, + -0.011487863026559353, + -0.08814140409231186 + ], + "orientation": [ + 0.6416328549385071, + 0.35167697072029114, + 0.3552175760269165, + 0.5817655324935913 + ], + "joints": [ + 0.00148530094884336 + ] + }, + "fine_grasp": { + "position": [ + 0.07029877603054047, + -0.011441294103860855, + -0.08454003185033798 + ], + "orientation": [ + 0.643855094909668, + 0.3517972528934479, + 0.35431885719299316, + 0.579782247543335 + ], + "joints": [ + 0.006825867109000683 + ] + }, + "final_grasp": { + "position": [ + 0.07029877603054047, + -0.011441294103860855, + -0.08454003185033798 + ], + "orientation": [ + 0.643855094909668, + 0.3517972528934479, + 0.35431885719299316, + 0.579782247543335 + ], + "joints": [ + 0.012166433036327362 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.104892298579216, + -0.01760057359933853, + 0.1051909402012825 + ], + "orientation": [ + 0.27217477560043335, + -0.6395794749259949, + 0.7041379809379578, + -0.14508195221424103 + ], + "joints": [ + 0.0012959334999322891 + ] + }, + "fine_grasp": { + "position": [ + 0.10148829221725464, + -0.016097743064165115, + 0.10496479272842407 + ], + "orientation": [ + 0.2682638168334961, + -0.647641122341156, + 0.7005259394645691, + -0.13363711535930634 + ], + "joints": [ + 0.0076992991380393505 + ] + }, + "final_grasp": { + "position": [ + 0.10148829221725464, + -0.016097743064165115, + 0.10496479272842407 + ], + "orientation": [ + 0.2682638168334961, + -0.647641122341156, + 0.7005259394645691, + -0.13363711535930634 + ], + "joints": [ + 0.014102664776146412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11867472529411316, + -0.0012725552078336477, + -0.05992954224348068 + ], + "orientation": [ + 0.13300547003746033, + 0.6450488567352295, + -0.6978511810302734, + -0.2814698815345764 + ], + "joints": [ + 0.003310685744509101 + ] + }, + "fine_grasp": { + "position": [ + 0.11564934998750687, + -0.0011800129432231188, + -0.05781121924519539 + ], + "orientation": [ + 0.12834791839122772, + 0.6433916091918945, + -0.6985264420509338, + -0.2857183516025543 + ], + "joints": [ + 0.009182652458548546 + ] + }, + "final_grasp": { + "position": [ + 0.11564934998750687, + -0.0011800129432231188, + -0.05781121924519539 + ], + "orientation": [ + 0.12834791839122772, + 0.6433916091918945, + -0.6985264420509338, + -0.2857183516025543 + ], + "joints": [ + 0.015054618939757347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.003640376729890704, + 0.020077327266335487, + 0.15811944007873535 + ], + "orientation": [ + 0.04505123198032379, + -0.03161228075623512, + -0.6358628869056702, + 0.7698372602462769 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0033722773659974337, + 0.020121807232499123, + 0.16095392405986786 + ], + "orientation": [ + 0.059433288872241974, + -0.046135541051626205, + -0.625732421875, + 0.7764007449150085 + ], + "joints": [ + -0.004286251030862331 + ] + }, + "final_grasp": { + "position": [ + 0.0033722773659974337, + 0.020121807232499123, + 0.16095392405986786 + ], + "orientation": [ + 0.059433288872241974, + -0.046135541051626205, + -0.625732421875, + 0.7764007449150085 + ], + "joints": [ + 0.00259537436068058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009299272671341896, + -0.001221621292643249, + -0.11111074686050415 + ], + "orientation": [ + 0.7584532499313354, + 0.65052330493927, + -0.02631157450377941, + 0.029596857726573944 + ], + "joints": [ + -0.007723349612206221 + ] + }, + "fine_grasp": { + "position": [ + 0.009740259498357773, + -0.0012880387948825955, + -0.1071837916970253 + ], + "orientation": [ + 0.7524045705795288, + 0.6570925712585449, + -0.02883703075349331, + 0.03584723919630051 + ], + "joints": [ + -0.002887613605707884 + ] + }, + "final_grasp": { + "position": [ + 0.009740259498357773, + -0.0012880387948825955, + -0.1071837916970253 + ], + "orientation": [ + 0.7524045705795288, + 0.6570925712585449, + -0.02883703075349331, + 0.03584723919630051 + ], + "joints": [ + 0.001948122400790453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0009547561639919877, + -0.1155516654253006, + -0.027637720108032227 + ], + "orientation": [ + 0.6961032152175903, + 0.1728207916021347, + 0.6823022961616516, + 0.14155170321464539 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.002092304639518261, + -0.11109215766191483, + -0.025351911783218384 + ], + "orientation": [ + 0.6982325911521912, + 0.1725163459777832, + 0.6820418238639832, + 0.1323952078819275 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.002092304639518261, + -0.11109215766191483, + -0.025351911783218384 + ], + "orientation": [ + 0.6982325911521912, + 0.1725163459777832, + 0.6820418238639832, + 0.1323952078819275 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009574894793331623, + -0.0068906438536942005, + -0.10894017666578293 + ], + "orientation": [ + 0.7519184947013855, + 0.6455555558204651, + -0.06390730291604996, + -0.11744075268507004 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.010436722077429295, + -0.007318002637475729, + -0.10721143335103989 + ], + "orientation": [ + 0.7466392517089844, + 0.6494998931884766, + -0.06916039437055588, + -0.1260811984539032 + ], + "joints": [ + -0.003054097294807434 + ] + }, + "final_grasp": { + "position": [ + -0.010436722077429295, + -0.007318002637475729, + -0.10721143335103989 + ], + "orientation": [ + 0.7466392517089844, + 0.6494998931884766, + -0.06916039437055588, + -0.1260811984539032 + ], + "joints": [ + 0.003322698175907135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0009390536579303443, + -0.1155114471912384, + -0.027629399672150612 + ], + "orientation": [ + 0.6962848901748657, + 0.1727762669324875, + 0.6821174621582031, + 0.14160342514514923 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.0020557085517793894, + -0.11103733628988266, + -0.025359386578202248 + ], + "orientation": [ + 0.6984245181083679, + 0.1724502295255661, + 0.6818561553955078, + 0.13242381811141968 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.0020557085517793894, + -0.11103733628988266, + -0.025359386578202248 + ], + "orientation": [ + 0.6984245181083679, + 0.1724502295255661, + 0.6818561553955078, + 0.13242381811141968 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0009144993382506073, + -0.11554676294326782, + -0.02765342779457569 + ], + "orientation": [ + 0.6962494850158691, + 0.17273007333278656, + 0.6821389198303223, + 0.14173051714897156 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.002018161816522479, + -0.11112858355045319, + -0.025408145040273666 + ], + "orientation": [ + 0.6985176801681519, + 0.17243465781211853, + 0.6817350387573242, + 0.1325768679380417 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.002018161816522479, + -0.11112858355045319, + -0.025408145040273666 + ], + "orientation": [ + 0.6985176801681519, + 0.17243465781211853, + 0.6817350387573242, + 0.1325768679380417 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0009032486123032868, + -0.1155494824051857, + -0.02766285464167595 + ], + "orientation": [ + 0.6962446570396423, + 0.1727125197649002, + 0.682134747505188, + 0.14179539680480957 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.0019904146902263165, + -0.11112537980079651, + -0.025410547852516174 + ], + "orientation": [ + 0.6985618472099304, + 0.17232900857925415, + 0.6816967725753784, + 0.13267768919467926 + ], + "joints": [ + -0.005325351841747761 + ] + }, + "final_grasp": { + "position": [ + 0.0019904146902263165, + -0.11112537980079651, + -0.025410547852516174 + ], + "orientation": [ + 0.6985618472099304, + 0.17232900857925415, + 0.6816967725753784, + 0.13267768919467926 + ], + "joints": [ + 0.0005466137081384659 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051873285323381424, + -0.05837481468915939, + -0.08211585879325867 + ], + "orientation": [ + 0.0301264226436615, + 0.26420101523399353, + -0.864142119884491, + -0.4272572100162506 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.050650328397750854, + -0.056932564824819565, + -0.08026022464036942 + ], + "orientation": [ + 0.0207513440400362, + 0.2561131715774536, + -0.8652403950691223, + -0.4305049180984497 + ], + "joints": [ + -0.0013450812548398972 + ] + }, + "final_grasp": { + "position": [ + 0.050650328397750854, + -0.056932564824819565, + -0.08026022464036942 + ], + "orientation": [ + 0.0207513440400362, + 0.2561131715774536, + -0.8652403950691223, + -0.4305049180984497 + ], + "joints": [ + 0.005563113838434219 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007942095398902893, + -0.001258842647075653, + 0.16761967539787292 + ], + "orientation": [ + 0.6621325612068176, + -0.7342297434806824, + 0.13206228613853455, + -0.07103981822729111 + ], + "joints": [ + -0.008371040225028992 + ] + }, + "fine_grasp": { + "position": [ + 0.00863520335406065, + 0.00031627697171643376, + 0.16274917125701904 + ], + "orientation": [ + 0.6733027696609497, + -0.7223837971687317, + 0.1364663988351822, + -0.07875300943851471 + ], + "joints": [ + -0.00350873451679945 + ] + }, + "final_grasp": { + "position": [ + 0.00863520335406065, + 0.00031627697171643376, + 0.16274917125701904 + ], + "orientation": [ + 0.6733027696609497, + -0.7223837971687317, + 0.1364663988351822, + -0.07875300943851471 + ], + "joints": [ + 0.0013535711914300919 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11123806238174438, + 0.057839229702949524, + 0.0004013016587123275 + ], + "orientation": [ + 0.23877498507499695, + -0.6220687627792358, + -0.4249284863471985, + -0.6127420663833618 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.11276107281446457, + 0.058419033885002136, + -0.0008756801835261285 + ], + "orientation": [ + 0.23673810064792633, + -0.6235726475715637, + -0.42712780833244324, + -0.6104702949523926 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.11276107281446457, + 0.058419033885002136, + -0.0008756801835261285 + ], + "orientation": [ + 0.23673810064792633, + -0.6235726475715637, + -0.42712780833244324, + -0.6104702949523926 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11717431247234344, + -0.01662178337574005, + 0.07222124934196472 + ], + "orientation": [ + 0.16328255832195282, + -0.655872642993927, + 0.7357034087181091, + -0.043708451092243195 + ], + "joints": [ + 0.0010018767789006233 + ] + }, + "fine_grasp": { + "position": [ + 0.1153770312666893, + -0.014715714380145073, + 0.07275601476430893 + ], + "orientation": [ + 0.16309143602848053, + -0.6632326245307922, + 0.7293907999992371, + -0.03889508545398712 + ], + "joints": [ + 0.007405241951346397 + ] + }, + "final_grasp": { + "position": [ + 0.1153770312666893, + -0.014715714380145073, + 0.07275601476430893 + ], + "orientation": [ + 0.16309143602848053, + -0.6632326245307922, + 0.7293907999992371, + -0.03889508545398712 + ], + "joints": [ + 0.013808607123792171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021753374487161636, + 0.12253618240356445, + 0.05132991075515747 + ], + "orientation": [ + 0.02324465475976467, + -0.9197898507118225, + 0.13214632868766785, + -0.3687596023082733 + ], + "joints": [ + -0.015171770006418228 + ] + }, + "fine_grasp": { + "position": [ + 0.021315958350896835, + 0.12099284678697586, + 0.05136045441031456 + ], + "orientation": [ + 0.0149281220510602, + -0.9236536026000977, + 0.13188068568706512, + -0.35951170325279236 + ], + "joints": [ + -0.007732174824923277 + ] + }, + "final_grasp": { + "position": [ + 0.021315958350896835, + 0.12099284678697586, + 0.05136045441031456 + ], + "orientation": [ + 0.0149281220510602, + -0.9236536026000977, + 0.13188068568706512, + -0.35951170325279236 + ], + "joints": [ + -0.00029257964342832565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03525174409151077, + 0.0023670094087719917, + -0.09319879114627838 + ], + "orientation": [ + 0.5696046352386475, + 0.5058936476707458, + -0.41350439190864563, + -0.4986344277858734 + ], + "joints": [ + 0.0015027113258838654 + ] + }, + "fine_grasp": { + "position": [ + -0.03507329896092415, + 0.0025535528548061848, + -0.08881381899118423 + ], + "orientation": [ + 0.5686227083206177, + 0.5083900690078735, + -0.4122322201728821, + -0.49826937913894653 + ], + "joints": [ + 0.007879506796598434 + ] + }, + "final_grasp": { + "position": [ + -0.03507329896092415, + 0.0025535528548061848, + -0.08881381899118423 + ], + "orientation": [ + 0.5686227083206177, + 0.5083900690078735, + -0.4122322201728821, + -0.49826937913894653 + ], + "joints": [ + 0.014256302267313004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042795587331056595, + -0.07189472764730453, + 0.12904363870620728 + ], + "orientation": [ + 0.8264601826667786, + -0.4541625678539276, + -0.33260881900787354, + 0.008443625643849373 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.04206397756934166, + -0.06951786577701569, + 0.12582258880138397 + ], + "orientation": [ + 0.8289545178413391, + -0.4505206346511841, + -0.3314501643180847, + 0.002502454211935401 + ], + "joints": [ + -0.009890085086226463 + ] + }, + "final_grasp": { + "position": [ + -0.04206397756934166, + -0.06951786577701569, + 0.12582258880138397 + ], + "orientation": [ + 0.8289545178413391, + -0.4505206346511841, + -0.3314501643180847, + 0.002502454211935401 + ], + "joints": [ + -0.0045495182275772095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09007229655981064, + -0.09881696105003357, + 0.014465569518506527 + ], + "orientation": [ + 0.6258536577224731, + -0.20907466113567352, + 0.7084780931472778, + 0.25030720233917236 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.08736889064311981, + -0.0943351686000824, + 0.014379790052771568 + ], + "orientation": [ + 0.6278770565986633, + -0.20650525391101837, + 0.7080880403518677, + 0.24847003817558289 + ], + "joints": [ + -0.005550717003643513 + ] + }, + "final_grasp": { + "position": [ + 0.08736889064311981, + -0.0943351686000824, + 0.014379790052771568 + ], + "orientation": [ + 0.6278770565986633, + -0.20650525391101837, + 0.7080880403518677, + 0.24847003817558289 + ], + "joints": [ + 0.0018623080104589462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08998838067054749, + -0.09892770648002625, + 0.014487238600850105 + ], + "orientation": [ + 0.6257109045982361, + -0.209229975938797, + 0.7085819840431213, + 0.2502402067184448 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.08729865401983261, + -0.09442699700593948, + 0.014403925277292728 + ], + "orientation": [ + 0.6277468800544739, + -0.20628979802131653, + 0.7083572149276733, + 0.24821053445339203 + ], + "joints": [ + -0.005550717003643513 + ] + }, + "final_grasp": { + "position": [ + 0.08729865401983261, + -0.09442699700593948, + 0.014403925277292728 + ], + "orientation": [ + 0.6277468800544739, + -0.20628979802131653, + 0.7083572149276733, + 0.24821053445339203 + ], + "joints": [ + 0.0018623080104589462 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.132201686501503, + -0.020155033096671104, + 0.011538796126842499 + ], + "orientation": [ + 0.3445650637149811, + 0.6101027727127075, + -0.6737149953842163, + 0.2348565012216568 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.1304093450307846, + -0.020559364929795265, + 0.011858787387609482 + ], + "orientation": [ + 0.3517656624317169, + 0.608579695224762, + -0.6700230836868286, + 0.23866450786590576 + ], + "joints": [ + -0.0035323575139045715 + ] + }, + "final_grasp": { + "position": [ + 0.1304093450307846, + -0.020559364929795265, + 0.011858787387609482 + ], + "orientation": [ + 0.3517656624317169, + 0.608579695224762, + -0.6700230836868286, + 0.23866450786590576 + ], + "joints": [ + 0.00236617773771286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002484529046341777, + 0.011119455099105835, + -0.10733054578304291 + ], + "orientation": [ + 0.4818827211856842, + 0.510189950466156, + 0.4811387360095978, + 0.5253577828407288 + ], + "joints": [ + 0.0011492087505757809 + ] + }, + "fine_grasp": { + "position": [ + -0.002138785319402814, + 0.011136840097606182, + -0.10328583419322968 + ], + "orientation": [ + 0.4817146360874176, + 0.5139569044113159, + 0.4811093509197235, + 0.5218554139137268 + ], + "joints": [ + 0.006516344845294952 + ] + }, + "final_grasp": { + "position": [ + -0.002138785319402814, + 0.011136840097606182, + -0.10328583419322968 + ], + "orientation": [ + 0.4817146360874176, + 0.5139569044113159, + 0.4811093509197235, + 0.5218554139137268 + ], + "joints": [ + 0.011883480474352837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03896300494670868, + 0.11434219777584076, + 0.04475543648004532 + ], + "orientation": [ + 0.013622968457639217, + 0.7318642139434814, + 0.13243156671524048, + -0.6683195233345032 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.03920459374785423, + 0.11575406044721603, + 0.044298335909843445 + ], + "orientation": [ + 0.007521951105445623, + 0.7412603497505188, + 0.13397487998008728, + -0.6576679944992065 + ], + "joints": [ + -0.005266469903290272 + ] + }, + "final_grasp": { + "position": [ + -0.03920459374785423, + 0.11575406044721603, + 0.044298335909843445 + ], + "orientation": [ + 0.007521951105445623, + 0.7412603497505188, + 0.13397487998008728, + -0.6576679944992065 + ], + "joints": [ + 0.0006054956465959549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0298900343477726, + 0.0036425392609089613, + -0.09169065207242966 + ], + "orientation": [ + 0.5575875043869019, + 0.5152148604393005, + -0.423824280500412, + -0.4939865469932556 + ], + "joints": [ + 0.001504702726379037 + ] + }, + "fine_grasp": { + "position": [ + -0.0300305038690567, + 0.004333602264523506, + -0.08886682987213135 + ], + "orientation": [ + 0.5565185546875, + 0.5164722800254822, + -0.4207148551940918, + -0.49653056263923645 + ], + "joints": [ + 0.007881498895585537 + ] + }, + "final_grasp": { + "position": [ + -0.0300305038690567, + 0.004333602264523506, + -0.08886682987213135 + ], + "orientation": [ + 0.5565185546875, + 0.5164722800254822, + -0.4207148551940918, + -0.49653056263923645 + ], + "joints": [ + 0.01425829529762268 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12638472020626068, + 0.01107986643910408, + 0.06194048002362251 + ], + "orientation": [ + 0.12169523537158966, + -0.7386332154273987, + -0.6630314588546753, + 0.000716394919436425 + ], + "joints": [ + 0.0006710948655381799 + ] + }, + "fine_grasp": { + "position": [ + -0.12104540318250656, + 0.009843086823821068, + 0.06139420345425606 + ], + "orientation": [ + 0.10955162346363068, + -0.7371994853019714, + -0.6667198538780212, + -0.004496659617871046 + ], + "joints": [ + 0.007074459921568632 + ] + }, + "final_grasp": { + "position": [ + -0.12104540318250656, + 0.009843086823821068, + 0.06139420345425606 + ], + "orientation": [ + 0.10955162346363068, + -0.7371994853019714, + -0.6667198538780212, + -0.004496659617871046 + ], + "joints": [ + 0.013477824628353119 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006225897930562496, + 0.06512249261140823, + -0.08885768800973892 + ], + "orientation": [ + 0.4500780999660492, + 0.8922949433326721, + -0.0343824103474617, + -0.0075637768022716045 + ], + "joints": [ + -0.008312158286571503 + ] + }, + "fine_grasp": { + "position": [ + 0.00758474413305521, + 0.06435824185609818, + -0.08641840517520905 + ], + "orientation": [ + 0.46059203147888184, + 0.8867656588554382, + -0.037500470876693726, + -0.009772137738764286 + ], + "joints": [ + -0.002440192736685276 + ] + }, + "final_grasp": { + "position": [ + 0.00758474413305521, + 0.06435824185609818, + -0.08641840517520905 + ], + "orientation": [ + 0.46059203147888184, + 0.8867656588554382, + -0.037500470876693726, + -0.009772137738764286 + ], + "joints": [ + 0.0034317728132009506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021284054964780807, + -0.03458268195390701, + 0.1508277952671051 + ], + "orientation": [ + 0.08026950806379318, + -0.1723761409521103, + 0.8133667707443237, + -0.5497980117797852 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + 0.021894780918955803, + -0.035347916185855865, + 0.15125131607055664 + ], + "orientation": [ + 0.0763588696718216, + -0.16888999938964844, + 0.8109903335571289, + -0.5549234747886658 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + 0.021894780918955803, + -0.035347916185855865, + 0.15125131607055664 + ], + "orientation": [ + 0.0763588696718216, + -0.16888999938964844, + 0.8109903335571289, + -0.5549234747886658 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11292656511068344, + 0.05074143037199974, + 0.01594339683651924 + ], + "orientation": [ + 0.315725713968277, + -0.6088287830352783, + 0.39789870381355286, + 0.6093614101409912 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.11460993438959122, + 0.05256059020757675, + 0.01531397458165884 + ], + "orientation": [ + 0.30996036529541016, + -0.6126493811607361, + 0.40383246541023254, + 0.6045697331428528 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.11460993438959122, + 0.05256059020757675, + 0.01531397458165884 + ], + "orientation": [ + 0.30996036529541016, + -0.6126493811607361, + 0.40383246541023254, + 0.6045697331428528 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03474695235490799, + 0.002115014009177685, + -0.09314549714326859 + ], + "orientation": [ + 0.5710287094116211, + 0.509968101978302, + -0.41218212246894836, + -0.49392783641815186 + ], + "joints": [ + 0.0017126278253272176 + ] + }, + "fine_grasp": { + "position": [ + -0.03448677808046341, + 0.0023719652090221643, + -0.08904450386762619 + ], + "orientation": [ + 0.5711946487426758, + 0.5114535093307495, + -0.409313440322876, + -0.49458515644073486 + ], + "joints": [ + 0.007558024488389492 + ] + }, + "final_grasp": { + "position": [ + -0.03448677808046341, + 0.0023719652090221643, + -0.08904450386762619 + ], + "orientation": [ + 0.5711946487426758, + 0.5114535093307495, + -0.409313440322876, + -0.49458515644073486 + ], + "joints": [ + 0.013403421267867088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05065781623125076, + -0.10874202102422714, + -0.0015588251408189535 + ], + "orientation": [ + 0.669270932674408, + -0.03532939776778221, + 0.7154839634895325, + 0.1972585916519165 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.051423750817775726, + -0.11048077046871185, + -0.002805439755320549 + ], + "orientation": [ + 0.6712396144866943, + -0.035488955676555634, + 0.7130402326583862, + 0.1993781477212906 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.051423750817775726, + -0.11048077046871185, + -0.002805439755320549 + ], + "orientation": [ + 0.6712396144866943, + -0.035488955676555634, + 0.7130402326583862, + 0.1993781477212906 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05071810632944107, + -0.0016688737086951733, + -0.08797651529312134 + ], + "orientation": [ + 0.6027186512947083, + 0.4666197597980499, + -0.3836171627044678, + -0.5213772058486938 + ], + "joints": [ + 0.001305651618167758 + ] + }, + "fine_grasp": { + "position": [ + -0.04960045590996742, + -0.0009265077533200383, + -0.08393492549657822 + ], + "orientation": [ + 0.6023746728897095, + 0.4683791995048523, + -0.38024359941482544, + -0.5226666927337646 + ], + "joints": [ + 0.007709017489105463 + ] + }, + "final_grasp": { + "position": [ + -0.04960045590996742, + -0.0009265077533200383, + -0.08393492549657822 + ], + "orientation": [ + 0.6023746728897095, + 0.4683791995048523, + -0.38024359941482544, + -0.5226666927337646 + ], + "joints": [ + 0.014112383127212524 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1181158795952797, + 0.0033256225287914276, + 0.017219528555870056 + ], + "orientation": [ + 0.6981070637702942, + 0.024326249957084656, + -0.02519236132502556, + -0.7151364684104919 + ], + "joints": [ + 0.0026477316860109568 + ] + }, + "fine_grasp": { + "position": [ + -0.11942603439092636, + 0.0035639083944261074, + 0.01670926809310913 + ], + "orientation": [ + 0.6993133425712585, + 0.01991008222103119, + -0.020461568608880043, + -0.7142448425292969 + ], + "joints": [ + 0.009024527855217457 + ] + }, + "final_grasp": { + "position": [ + -0.11942603439092636, + 0.0035639083944261074, + 0.01670926809310913 + ], + "orientation": [ + 0.6993133425712585, + 0.01991008222103119, + -0.020461568608880043, + -0.7142448425292969 + ], + "joints": [ + 0.0154013242572546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05345228314399719, + -0.009924025274813175, + 0.15922139585018158 + ], + "orientation": [ + 0.6032613515853882, + -0.3803487718105316, + 0.42164766788482666, + -0.5600212812423706 + ], + "joints": [ + 0.0014356642495840788 + ] + }, + "fine_grasp": { + "position": [ + -0.05176719278097153, + -0.009688190184533596, + 0.15363912284374237 + ], + "orientation": [ + 0.599452018737793, + -0.38674911856651306, + 0.4252770245075226, + -0.5569755434989929 + ], + "joints": [ + 0.007839030586183071 + ] + }, + "final_grasp": { + "position": [ + -0.05176719278097153, + -0.009688190184533596, + 0.15363912284374237 + ], + "orientation": [ + 0.599452018737793, + -0.38674911856651306, + 0.4252770245075226, + -0.5569755434989929 + ], + "joints": [ + 0.01424239668995142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0241747684776783, + -0.015239300206303596, + 0.15691620111465454 + ], + "orientation": [ + 0.5054601430892944, + -0.5027522444725037, + -0.5534398555755615, + 0.43064436316490173 + ], + "joints": [ + 0.0019264821894466877 + ] + }, + "fine_grasp": { + "position": [ + -0.024458667263388634, + -0.014698605984449387, + 0.15129101276397705 + ], + "orientation": [ + 0.5140209197998047, + -0.49495238065719604, + -0.545451819896698, + 0.4396441578865051 + ], + "joints": [ + 0.006762218661606312 + ] + }, + "final_grasp": { + "position": [ + -0.024458667263388634, + -0.014698605984449387, + 0.15129101276397705 + ], + "orientation": [ + 0.5140209197998047, + -0.49495238065719604, + -0.545451819896698, + 0.4396441578865051 + ], + "joints": [ + 0.011597955599427223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04921698942780495, + -0.003985123243182898, + -0.10475025326013565 + ], + "orientation": [ + 0.4467378556728363, + 0.5787678956985474, + -0.5572233200073242, + -0.39364349842071533 + ], + "joints": [ + 0.0016129964496940374 + ] + }, + "fine_grasp": { + "position": [ + 0.049016714096069336, + -0.004087803885340691, + -0.10247916728258133 + ], + "orientation": [ + 0.4488163888454437, + 0.5793539881706238, + -0.553142249584198, + -0.39616480469703674 + ], + "joints": [ + 0.007484962232410908 + ] + }, + "final_grasp": { + "position": [ + 0.049016714096069336, + -0.004087803885340691, + -0.10247916728258133 + ], + "orientation": [ + 0.4488163888454437, + 0.5793539881706238, + -0.553142249584198, + -0.39616480469703674 + ], + "joints": [ + 0.013356927782297134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12380319833755493, + -0.002167572733014822, + 0.041237786412239075 + ], + "orientation": [ + 0.7127892971038818, + -0.05563307926058769, + 0.04366235435009003, + -0.6978036761283875 + ], + "joints": [ + 0.0028779986314475536 + ] + }, + "fine_grasp": { + "position": [ + -0.1264440268278122, + -0.0025466165971010923, + 0.04039221256971359 + ], + "orientation": [ + 0.7146584391593933, + -0.06475216150283813, + 0.046976327896118164, + -0.6948838829994202 + ], + "joints": [ + 0.008723394945263863 + ] + }, + "final_grasp": { + "position": [ + -0.1264440268278122, + -0.0025466165971010923, + 0.04039221256971359 + ], + "orientation": [ + 0.7146584391593933, + -0.06475216150283813, + 0.046976327896118164, + -0.6948838829994202 + ], + "joints": [ + 0.014568790793418884 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049797095358371735, + -0.0040100086480379105, + -0.10474324971437454 + ], + "orientation": [ + 0.4466424286365509, + 0.5795451402664185, + -0.5575698614120483, + -0.39211443066596985 + ], + "joints": [ + 0.0017634425312280655 + ] + }, + "fine_grasp": { + "position": [ + 0.049594465643167496, + -0.004057767800986767, + -0.10244377702474594 + ], + "orientation": [ + 0.44848430156707764, + 0.5803058743476868, + -0.5534146428108215, + -0.39476487040519714 + ], + "joints": [ + 0.0076354085467755795 + ] + }, + "final_grasp": { + "position": [ + 0.049594465643167496, + -0.004057767800986767, + -0.10244377702474594 + ], + "orientation": [ + 0.44848430156707764, + 0.5803058743476868, + -0.5534146428108215, + -0.39476487040519714 + ], + "joints": [ + 0.013507374562323093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1261337250471115, + -0.03128855302929878, + 0.021756714209914207 + ], + "orientation": [ + 0.6353016495704651, + 0.3708522319793701, + -0.5074304938316345, + 0.4487482011318207 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.1274435669183731, + -0.03259715065360069, + 0.021796727553009987 + ], + "orientation": [ + 0.6373112201690674, + 0.36728429794311523, + -0.5012171268463135, + 0.4557608664035797 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.1274435669183731, + -0.03259715065360069, + 0.021796727553009987 + ], + "orientation": [ + 0.6373112201690674, + 0.36728429794311523, + -0.5012171268463135, + 0.4557608664035797 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006151854060590267, + 0.06519774347543716, + -0.08886869251728058 + ], + "orientation": [ + 0.4519733786582947, + 0.8912072777748108, + -0.03658493608236313, + -0.011449871584773064 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + 0.007331216242164373, + 0.06432676315307617, + -0.08621558547019958 + ], + "orientation": [ + 0.46139228343963623, + 0.8862721920013428, + -0.03836265951395035, + -0.012929307296872139 + ], + "joints": [ + -0.002468160353600979 + ] + }, + "final_grasp": { + "position": [ + 0.007331216242164373, + 0.06432676315307617, + -0.08621558547019958 + ], + "orientation": [ + 0.46139228343963623, + 0.8862721920013428, + -0.03836265951395035, + -0.012929307296872139 + ], + "joints": [ + 0.003935204818844795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10948846489191055, + 0.0019786320626735687, + -0.0419752299785614 + ], + "orientation": [ + 0.18738672137260437, + 0.6876487731933594, + 0.673857569694519, + 0.19478558003902435 + ], + "joints": [ + 0.001974519807845354 + ] + }, + "fine_grasp": { + "position": [ + -0.10531113296747208, + 0.002442349912598729, + -0.03959789499640465 + ], + "orientation": [ + 0.18651343882083893, + 0.6904094815254211, + 0.6728447675704956, + 0.18928135931491852 + ], + "joints": [ + 0.007315086200833321 + ] + }, + "final_grasp": { + "position": [ + -0.10531113296747208, + 0.002442349912598729, + -0.03959789499640465 + ], + "orientation": [ + 0.18651343882083893, + 0.6904094815254211, + 0.6728447675704956, + 0.18928135931491852 + ], + "joints": [ + 0.012655653059482574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12387235462665558, + -0.0023689977824687958, + 0.04114118963479996 + ], + "orientation": [ + 0.7131693959236145, + -0.05462663248181343, + 0.043313782662153244, + -0.6975165009498596 + ], + "joints": [ + 0.002591564552858472 + ] + }, + "fine_grasp": { + "position": [ + -0.1263687163591385, + -0.0027441298589110374, + 0.04027333855628967 + ], + "orientation": [ + 0.7150226831436157, + -0.06388547271490097, + 0.04675506800413132, + -0.6946043372154236 + ], + "joints": [ + 0.008436961099505424 + ] + }, + "final_grasp": { + "position": [ + -0.1263687163591385, + -0.0027441298589110374, + 0.04027333855628967 + ], + "orientation": [ + 0.7150226831436157, + -0.06388547271490097, + 0.04675506800413132, + -0.6946043372154236 + ], + "joints": [ + 0.01428235787898302 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12345758825540543, + -0.021178370341658592, + 0.03797892481088638 + ], + "orientation": [ + 0.613883376121521, + 0.32816067337989807, + 0.4897264242172241, + -0.5250006318092346 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.12477195262908936, + -0.022232621908187866, + 0.03873652219772339 + ], + "orientation": [ + 0.6116312742233276, + 0.33059147000312805, + 0.48957890272140503, + -0.5262404680252075 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.12477195262908936, + -0.022232621908187866, + 0.03873652219772339 + ], + "orientation": [ + 0.6116312742233276, + 0.33059147000312805, + 0.48957890272140503, + -0.5262404680252075 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006160433869808912, + 0.06531605869531631, + -0.0887153297662735 + ], + "orientation": [ + 0.45152056217193604, + 0.8914617896080017, + -0.0362405963242054, + -0.010566537268459797 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + 0.007389308884739876, + 0.0643903985619545, + -0.08599545806646347 + ], + "orientation": [ + 0.46121492981910706, + 0.8863848447799683, + -0.03816559538245201, + -0.012084356509149075 + ], + "joints": [ + -0.002468160353600979 + ] + }, + "final_grasp": { + "position": [ + 0.007389308884739876, + 0.0643903985619545, + -0.08599545806646347 + ], + "orientation": [ + 0.46121492981910706, + 0.8863848447799683, + -0.03816559538245201, + -0.012084356509149075 + ], + "joints": [ + 0.003935204818844795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11818359047174454, + 0.003325513331219554, + 0.01727258414030075 + ], + "orientation": [ + 0.6982970237731934, + 0.02388651855289936, + -0.02477448433637619, + -0.7149803042411804 + ], + "joints": [ + 0.0029994393698871136 + ] + }, + "fine_grasp": { + "position": [ + -0.11942587047815323, + 0.003541444893926382, + 0.016942011192440987 + ], + "orientation": [ + 0.6994407773017883, + 0.01998349279165268, + -0.020327918231487274, + -0.7141218185424805 + ], + "joints": [ + 0.008844835683703423 + ] + }, + "final_grasp": { + "position": [ + -0.11942587047815323, + 0.003541444893926382, + 0.016942011192440987 + ], + "orientation": [ + 0.6994407773017883, + 0.01998349279165268, + -0.020327918231487274, + -0.7141218185424805 + ], + "joints": [ + 0.014690231531858444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02474849484860897, + -0.002435024594888091, + -0.09347166121006012 + ], + "orientation": [ + 0.5536285042762756, + 0.49692925810813904, + -0.4563853144645691, + -0.4881282150745392 + ], + "joints": [ + 0.0015907327178865671 + ] + }, + "fine_grasp": { + "position": [ + -0.02403576299548149, + -0.0015273456228896976, + -0.09009836614131927 + ], + "orientation": [ + 0.5555292963981628, + 0.49815046787261963, + -0.45034554600715637, + -0.4903285801410675 + ], + "joints": [ + 0.007462698966264725 + ] + }, + "final_grasp": { + "position": [ + -0.02403576299548149, + -0.0015273456228896976, + -0.09009836614131927 + ], + "orientation": [ + 0.5555292963981628, + 0.49815046787261963, + -0.45034554600715637, + -0.4903285801410675 + ], + "joints": [ + 0.013334665447473526 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02491939812898636, + -0.002812264021486044, + -0.09361225366592407 + ], + "orientation": [ + 0.5535863637924194, + 0.4949890077114105, + -0.45784103870391846, + -0.4887837767601013 + ], + "joints": [ + 0.0018391748890280724 + ] + }, + "fine_grasp": { + "position": [ + -0.02404659613966942, + -0.001983542228117585, + -0.0902816653251648 + ], + "orientation": [ + 0.5557891130447388, + 0.49613067507743835, + -0.4515937566757202, + -0.49093371629714966 + ], + "joints": [ + 0.007711140904575586 + ] + }, + "final_grasp": { + "position": [ + -0.02404659613966942, + -0.001983542228117585, + -0.0902816653251648 + ], + "orientation": [ + 0.5557891130447388, + 0.49613067507743835, + -0.4515937566757202, + -0.49093371629714966 + ], + "joints": [ + 0.0135831069201231 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11008825898170471, + 0.0021294127218425274, + -0.04214165732264519 + ], + "orientation": [ + 0.19013619422912598, + 0.688601016998291, + 0.6725902557373047, + 0.19312995672225952 + ], + "joints": [ + 0.0019418117590248585 + ] + }, + "fine_grasp": { + "position": [ + -0.10591449588537216, + 0.002498090034350753, + -0.03970584273338318 + ], + "orientation": [ + 0.1890844851732254, + 0.6909293532371521, + 0.6719159483909607, + 0.1881294697523117 + ], + "joints": [ + 0.007282378152012825 + ] + }, + "final_grasp": { + "position": [ + -0.10591449588537216, + 0.002498090034350753, + -0.03970584273338318 + ], + "orientation": [ + 0.1890844851732254, + 0.6909293532371521, + 0.6719159483909607, + 0.1881294697523117 + ], + "joints": [ + 0.012622945010662079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0022308577317744493, + 0.011478140950202942, + -0.10764522105455399 + ], + "orientation": [ + 0.4796980321407318, + 0.5105457901954651, + 0.4818284511566162, + 0.5263782739639282 + ], + "joints": [ + 0.0010562364477664232 + ] + }, + "fine_grasp": { + "position": [ + -0.0019000903703272343, + 0.011296951211988926, + -0.10345081239938736 + ], + "orientation": [ + 0.4786839485168457, + 0.5142844319343567, + 0.48251110315322876, + 0.5230261087417603 + ], + "joints": [ + 0.006423372775316238 + ] + }, + "final_grasp": { + "position": [ + -0.0019000903703272343, + 0.011296951211988926, + -0.10345081239938736 + ], + "orientation": [ + 0.4786839485168457, + 0.5142844319343567, + 0.48251110315322876, + 0.5230261087417603 + ], + "joints": [ + 0.011790509335696697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12150382995605469, + 0.013553392142057419, + 0.03291885927319527 + ], + "orientation": [ + 0.6623101830482483, + -0.03725540265440941, + -0.0640561431646347, + -0.7455561757087708 + ], + "joints": [ + 0.0008283524075523019 + ] + }, + "fine_grasp": { + "position": [ + -0.11795327812433243, + 0.012904699891805649, + 0.034109994769096375 + ], + "orientation": [ + 0.6656675338745117, + -0.03491955250501633, + -0.06798305362462997, + -0.7423245310783386 + ], + "joints": [ + 0.007736547384411097 + ] + }, + "final_grasp": { + "position": [ + -0.11795327812433243, + 0.012904699891805649, + 0.034109994769096375 + ], + "orientation": [ + 0.6656675338745117, + -0.03491955250501633, + -0.06798305362462997, + -0.7423245310783386 + ], + "joints": [ + 0.014644742012023926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05968370661139488, + 0.016695277765393257, + -0.07458517700433731 + ], + "orientation": [ + 0.33149003982543945, + 0.6172717213630676, + 0.5698894262313843, + 0.429320365190506 + ], + "joints": [ + 0.00032553813070990145 + ] + }, + "fine_grasp": { + "position": [ + -0.05784682556986809, + 0.014632564969360828, + -0.07147183269262314 + ], + "orientation": [ + 0.337609201669693, + 0.6137099862098694, + 0.5721172094345093, + 0.42668721079826355 + ], + "joints": [ + 0.007765133399516344 + ] + }, + "final_grasp": { + "position": [ + -0.05784682556986809, + 0.014632564969360828, + -0.07147183269262314 + ], + "orientation": [ + 0.337609201669693, + 0.6137099862098694, + 0.5721172094345093, + 0.42668721079826355 + ], + "joints": [ + 0.015204728581011295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11786951869726181, + 0.003538514720275998, + 0.017343223094940186 + ], + "orientation": [ + 0.6977782249450684, + 0.02760305441915989, + -0.023060420528054237, + -0.7154103517532349 + ], + "joints": [ + 0.0024979114532470703 + ] + }, + "fine_grasp": { + "position": [ + -0.1192675232887268, + 0.0036081490106880665, + 0.01706494577229023 + ], + "orientation": [ + 0.6993800401687622, + 0.023240841925144196, + -0.018317600712180138, + -0.7141372561454773 + ], + "joints": [ + 0.00887470692396164 + ] + }, + "final_grasp": { + "position": [ + -0.1192675232887268, + 0.0036081490106880665, + 0.01706494577229023 + ], + "orientation": [ + 0.6993800401687622, + 0.023240841925144196, + -0.018317600712180138, + -0.7141372561454773 + ], + "joints": [ + 0.015251502394676208 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05961382016539574, + 0.016961531713604927, + -0.07431948184967041 + ], + "orientation": [ + 0.33188217878341675, + 0.6190143823623657, + 0.5686184763908386, + 0.428192138671875 + ], + "joints": [ + 0.0003166247915942222 + ] + }, + "fine_grasp": { + "position": [ + -0.0577508844435215, + 0.01483883522450924, + -0.07134170085191727 + ], + "orientation": [ + 0.33868932723999023, + 0.6153525114059448, + 0.5708562135696411, + 0.42515167593955994 + ], + "joints": [ + 0.007756219711154699 + ] + }, + "final_grasp": { + "position": [ + -0.0577508844435215, + 0.01483883522450924, + -0.07134170085191727 + ], + "orientation": [ + 0.33868932723999023, + 0.6153525114059448, + 0.5708562135696411, + 0.42515167593955994 + ], + "joints": [ + 0.01519581489264965 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018883949145674706, + -0.01501610316336155, + -0.09110432118177414 + ], + "orientation": [ + 0.5075716376304626, + 0.4804471433162689, + 0.5511677861213684, + 0.4558022618293762 + ], + "joints": [ + 0.0011366108665242791 + ] + }, + "fine_grasp": { + "position": [ + -0.018403926864266396, + -0.013572381809353828, + -0.08583086729049683 + ], + "orientation": [ + 0.5022801756858826, + 0.48089855909347534, + 0.5517898201942444, + 0.46041199564933777 + ], + "joints": [ + 0.007539976388216019 + ] + }, + "final_grasp": { + "position": [ + -0.018403926864266396, + -0.013572381809353828, + -0.08583086729049683 + ], + "orientation": [ + 0.5022801756858826, + 0.48089855909347534, + 0.5517898201942444, + 0.46041199564933777 + ], + "joints": [ + 0.013943341560661793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027447788044810295, + -0.11633282899856567, + 0.0691128820180893 + ], + "orientation": [ + 0.051804546266794205, + -0.12309655547142029, + -0.9848101735115051, + 0.11096106469631195 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.02748972363770008, + -0.1158866211771965, + 0.06876540929079056 + ], + "orientation": [ + 0.06135295704007149, + -0.12542906403541565, + -0.9840294122695923, + 0.11040662229061127 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.02748972363770008, + -0.1158866211771965, + 0.06876540929079056 + ], + "orientation": [ + 0.06135295704007149, + -0.12542906403541565, + -0.9840294122695923, + 0.11040662229061127 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06939423829317093, + 0.10174522548913956, + 0.014872333966195583 + ], + "orientation": [ + 0.21323230862617493, + 0.6950830221176147, + 0.14605338871479034, + -0.6708651185035706 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.07069043070077896, + 0.10263136774301529, + 0.012949062511324883 + ], + "orientation": [ + 0.21733208000659943, + 0.6984082460403442, + 0.14728039503097534, + -0.6658085584640503 + ], + "joints": [ + -0.005238502286374569 + ] + }, + "final_grasp": { + "position": [ + -0.07069043070077896, + 0.10263136774301529, + 0.012949062511324883 + ], + "orientation": [ + 0.21733208000659943, + 0.6984082460403442, + 0.14728039503097534, + -0.6658085584640503 + ], + "joints": [ + 0.00010206364095211029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1069571003317833, + -0.05455661937594414, + 0.031916674226522446 + ], + "orientation": [ + 0.7369894981384277, + -0.27140185236930847, + 0.44544467329978943, + 0.42984482645988464 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.1050511822104454, + -0.05648617446422577, + 0.0339762307703495 + ], + "orientation": [ + 0.7415882349014282, + -0.2791863679885864, + 0.44098830223083496, + 0.4214630126953125 + ], + "joints": [ + -0.007034367881715298 + ] + }, + "final_grasp": { + "position": [ + 0.1050511822104454, + -0.05648617446422577, + 0.0339762307703495 + ], + "orientation": [ + 0.7415882349014282, + -0.2791863679885864, + 0.44098830223083496, + 0.4214630126953125 + ], + "joints": [ + -0.0016938019543886185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12029628455638885, + 0.019062424078583717, + 0.06431485712528229 + ], + "orientation": [ + 0.6500518918037415, + -0.1557730734348297, + -0.0009911726228892803, + -0.7437514662742615 + ], + "joints": [ + 0.0007354333065450191 + ] + }, + "fine_grasp": { + "position": [ + -0.11597239226102829, + 0.017892364412546158, + 0.06464426964521408 + ], + "orientation": [ + 0.6556318402290344, + -0.15503676235675812, + -0.006518243346363306, + -0.7389641404151917 + ], + "joints": [ + 0.007112228777259588 + ] + }, + "final_grasp": { + "position": [ + -0.11597239226102829, + 0.017892364412546158, + 0.06464426964521408 + ], + "orientation": [ + 0.6556318402290344, + -0.15503676235675812, + -0.006518243346363306, + -0.7389641404151917 + ], + "joints": [ + 0.013489024713635445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12353907525539398, + 0.01280852872878313, + 0.045953765511512756 + ], + "orientation": [ + 0.07022536545991898, + -0.74188631772995, + -0.6667701601982117, + -0.00951900240033865 + ], + "joints": [ + 0.0013934529852122068 + ] + }, + "fine_grasp": { + "position": [ + -0.12099584192037582, + 0.011504968628287315, + 0.04714513570070267 + ], + "orientation": [ + 0.06319311261177063, + -0.7397804856300354, + -0.6695789694786072, + -0.019883541390299797 + ], + "joints": [ + 0.00726541830226779 + ] + }, + "final_grasp": { + "position": [ + -0.12099584192037582, + 0.011504968628287315, + 0.04714513570070267 + ], + "orientation": [ + 0.06319311261177063, + -0.7397804856300354, + -0.6695789694786072, + -0.019883541390299797 + ], + "joints": [ + 0.01313738338649273 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12629319727420807, + -0.005652463994920254, + 0.0388910174369812 + ], + "orientation": [ + 0.7223109602928162, + -0.06143779307603836, + 0.025273971259593964, + -0.6883701086044312 + ], + "joints": [ + 0.00260387291200459 + ] + }, + "fine_grasp": { + "position": [ + -0.12662550806999207, + -0.00606040982529521, + 0.03844595327973366 + ], + "orientation": [ + 0.7248703837394714, + -0.0667266845703125, + 0.02311863750219345, + -0.6852561235427856 + ], + "joints": [ + 0.008422698825597763 + ] + }, + "final_grasp": { + "position": [ + -0.12662550806999207, + -0.00606040982529521, + 0.03844595327973366 + ], + "orientation": [ + 0.7248703837394714, + -0.0667266845703125, + 0.02311863750219345, + -0.6852561235427856 + ], + "joints": [ + 0.01424152497202158 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027054646983742714, + 0.09786225855350494, + 0.09164763987064362 + ], + "orientation": [ + 0.2346051037311554, + -0.6059769988059998, + 0.18573559820652008, + -0.737058162689209 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.02745928429067135, + 0.10104922950267792, + 0.08996345847845078 + ], + "orientation": [ + 0.2206026017665863, + -0.6154624819755554, + 0.18121753633022308, + -0.7346431016921997 + ], + "joints": [ + -0.004031444899737835 + ] + }, + "final_grasp": { + "position": [ + -0.02745928429067135, + 0.10104922950267792, + 0.08996345847845078 + ], + "orientation": [ + 0.2206026017665863, + -0.6154624819755554, + 0.18121753633022308, + -0.7346431016921997 + ], + "joints": [ + 0.0013091210275888443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021964382380247116, + -0.003979583736509085, + -0.10483460128307343 + ], + "orientation": [ + 0.5053671598434448, + 0.5327785611152649, + -0.5032029151916504, + -0.4555632174015045 + ], + "joints": [ + 0.0015301329549401999 + ] + }, + "fine_grasp": { + "position": [ + 0.022903192788362503, + -0.00374606647528708, + -0.10157773643732071 + ], + "orientation": [ + 0.5121955275535583, + 0.5296574234962463, + -0.4944567084312439, + -0.46111950278282166 + ], + "joints": [ + 0.007375529035925865 + ] + }, + "final_grasp": { + "position": [ + 0.022903192788362503, + -0.00374606647528708, + -0.10157773643732071 + ], + "orientation": [ + 0.5121955275535583, + 0.5296574234962463, + -0.4944567084312439, + -0.46111950278282166 + ], + "joints": [ + 0.013220924884080887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021772723644971848, + -0.004289958160370588, + -0.10496611893177032 + ], + "orientation": [ + 0.5043988823890686, + 0.5291087031364441, + -0.50534588098526, + -0.4585317075252533 + ], + "joints": [ + 0.0016077014151960611 + ] + }, + "fine_grasp": { + "position": [ + 0.02263679914176464, + -0.004118462558835745, + -0.10140284895896912 + ], + "orientation": [ + 0.5114200115203857, + 0.5265873670578003, + -0.4965052902698517, + -0.46329009532928467 + ], + "joints": [ + 0.0074530974961817265 + ] + }, + "final_grasp": { + "position": [ + 0.02263679914176464, + -0.004118462558835745, + -0.10140284895896912 + ], + "orientation": [ + 0.5114200115203857, + 0.5265873670578003, + -0.4965052902698517, + -0.46329009532928467 + ], + "joints": [ + 0.013298493809998035 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03165303170681, + 0.006770063657313585, + -0.09576115012168884 + ], + "orientation": [ + 0.4214181900024414, + 0.5801076889038086, + -0.5512368679046631, + -0.42663779854774475 + ], + "joints": [ + 0.0005841709207743406 + ] + }, + "fine_grasp": { + "position": [ + 0.029869550839066505, + 0.00719816517084837, + -0.09035909175872803 + ], + "orientation": [ + 0.42138761281967163, + 0.5814547538757324, + -0.5515093803405762, + -0.4244765043258667 + ], + "joints": [ + 0.007465796545147896 + ] + }, + "final_grasp": { + "position": [ + 0.029869550839066505, + 0.00719816517084837, + -0.09035909175872803 + ], + "orientation": [ + 0.42138761281967163, + 0.5814547538757324, + -0.5515093803405762, + -0.4244765043258667 + ], + "joints": [ + 0.014347421936690807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07659909129142761, + -0.0017132387729361653, + -0.08222070336341858 + ], + "orientation": [ + 0.32019323110580444, + 0.6294663548469543, + 0.6318079233169556, + 0.3194795548915863 + ], + "joints": [ + 0.0019168504513800144 + ] + }, + "fine_grasp": { + "position": [ + -0.07441582530736923, + -0.0014006042620167136, + -0.07851361483335495 + ], + "orientation": [ + 0.31877562403678894, + 0.6317256093025208, + 0.6284424066543579, + 0.3230557143688202 + ], + "joints": [ + 0.007257416378706694 + ] + }, + "final_grasp": { + "position": [ + -0.07441582530736923, + -0.0014006042620167136, + -0.07851361483335495 + ], + "orientation": [ + 0.31877562403678894, + 0.6317256093025208, + 0.6284424066543579, + 0.3230557143688202 + ], + "joints": [ + 0.012597981840372086 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1065397784113884, + -0.002769504440948367, + -0.039017204195261 + ], + "orientation": [ + 0.6712668538093567, + 0.16151514649391174, + -0.2313450127840042, + -0.685414731502533 + ], + "joints": [ + 0.000424831552663818 + ] + }, + "fine_grasp": { + "position": [ + -0.10167879611253738, + -0.0025862420443445444, + -0.03682338073849678 + ], + "orientation": [ + 0.6740719079971313, + 0.1520528644323349, + -0.2246607393026352, + -0.6870476603507996 + ], + "joints": [ + 0.007333027198910713 + ] + }, + "final_grasp": { + "position": [ + -0.10167879611253738, + -0.0025862420443445444, + -0.03682338073849678 + ], + "orientation": [ + 0.6740719079971313, + 0.1520528644323349, + -0.2246607393026352, + -0.6870476603507996 + ], + "joints": [ + 0.014241223223507404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033473968505859375, + -0.117059126496315, + 0.04073667526245117 + ], + "orientation": [ + 0.7476553916931152, + 0.008400761522352695, + -0.6553536057472229, + 0.10701680183410645 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.033661458641290665, + -0.11770035326480865, + 0.04028981924057007 + ], + "orientation": [ + 0.7552503347396851, + 0.002505619777366519, + -0.6466130018234253, + 0.10715558379888535 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.033661458641290665, + -0.11770035326480865, + 0.04028981924057007 + ], + "orientation": [ + 0.7552503347396851, + 0.002505619777366519, + -0.6466130018234253, + 0.10715558379888535 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11960303783416748, + -0.0469248928129673, + -0.010514533147215843 + ], + "orientation": [ + 0.6260887384414673, + 0.4834394156932831, + -0.5225869417190552, + 0.3181230127811432 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.11715050786733627, + -0.046384334564208984, + -0.010741661302745342 + ], + "orientation": [ + 0.6269976496696472, + 0.48635223507881165, + -0.5166836380958557, + 0.32151734828948975 + ], + "joints": [ + -0.009360158815979958 + ] + }, + "final_grasp": { + "position": [ + 0.11715050786733627, + -0.046384334564208984, + -0.010741661302745342 + ], + "orientation": [ + 0.6269976496696472, + 0.48635223507881165, + -0.5166836380958557, + 0.32151734828948975 + ], + "joints": [ + -0.004019591957330704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009477433748543262, + -0.11858721077442169, + 0.017105167731642723 + ], + "orientation": [ + 0.6149122714996338, + 0.01754920929670334, + 0.7867862582206726, + 0.050422005355358124 + ], + "joints": [ + -0.011697802692651749 + ] + }, + "fine_grasp": { + "position": [ + -0.010895275510847569, + -0.12224690616130829, + 0.01715509593486786 + ], + "orientation": [ + 0.6328033208847046, + 0.012355414219200611, + 0.7717583775520325, + 0.06161557883024216 + ], + "joints": [ + -0.0053210072219371796 + ] + }, + "final_grasp": { + "position": [ + -0.010895275510847569, + -0.12224690616130829, + 0.01715509593486786 + ], + "orientation": [ + 0.6328033208847046, + 0.012355414219200611, + 0.7717583775520325, + 0.06161557883024216 + ], + "joints": [ + 0.0010557882487773895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00948417466133833, + -0.11856818944215775, + 0.01706339605152607 + ], + "orientation": [ + 0.6148166060447693, + 0.01770871877670288, + 0.7868504524230957, + 0.05053023621439934 + ], + "joints": [ + -0.011697802692651749 + ] + }, + "fine_grasp": { + "position": [ + -0.010885431431233883, + -0.12223313003778458, + 0.017087195068597794 + ], + "orientation": [ + 0.6330373883247375, + 0.012559035792946815, + 0.771550714969635, + 0.06177029758691788 + ], + "joints": [ + -0.0053210072219371796 + ] + }, + "final_grasp": { + "position": [ + -0.010885431431233883, + -0.12223313003778458, + 0.017087195068597794 + ], + "orientation": [ + 0.6330373883247375, + 0.012559035792946815, + 0.771550714969635, + 0.06177029758691788 + ], + "joints": [ + 0.0010557882487773895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1267508715391159, + -0.006329152267426252, + 0.03867287188768387 + ], + "orientation": [ + 0.7242486476898193, + -0.06442753225564957, + 0.022664489224553108, + -0.6861482262611389 + ], + "joints": [ + 0.002648468827828765 + ] + }, + "fine_grasp": { + "position": [ + -0.12561088800430298, + -0.006293728481978178, + 0.03841255605220795 + ], + "orientation": [ + 0.7254323363304138, + -0.07003145664930344, + 0.018200412392616272, + -0.6844796538352966 + ], + "joints": [ + 0.00846729427576065 + ] + }, + "final_grasp": { + "position": [ + -0.12561088800430298, + -0.006293728481978178, + 0.03841255605220795 + ], + "orientation": [ + 0.7254323363304138, + -0.07003145664930344, + 0.018200412392616272, + -0.6844796538352966 + ], + "joints": [ + 0.014286119490861893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10659769922494888, + -0.06709311902523041, + 0.03741765022277832 + ], + "orientation": [ + 0.5391914248466492, + 0.32432615756988525, + -0.7223954796791077, + 0.28675732016563416 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.10787440836429596, + -0.06886623799800873, + 0.03608431667089462 + ], + "orientation": [ + 0.5423388481140137, + 0.3250790536403656, + -0.7183263897895813, + 0.2901711165904999 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.10787440836429596, + -0.06886623799800873, + 0.03608431667089462 + ], + "orientation": [ + 0.5423388481140137, + 0.3250790536403656, + -0.7183263897895813, + 0.2901711165904999 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0387086346745491, + -0.11101484298706055, + 0.011724649928510189 + ], + "orientation": [ + 0.7677107453346252, + 0.1124231368303299, + 0.6293715834617615, + -0.043274782598018646 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.04011460021138191, + -0.11607205867767334, + 0.011537370271980762 + ], + "orientation": [ + 0.7648362517356873, + 0.1132848933339119, + 0.6330005526542664, + -0.03876134380698204 + ], + "joints": [ + -0.005266469903290272 + ] + }, + "final_grasp": { + "position": [ + -0.04011460021138191, + -0.11607205867767334, + 0.011537370271980762 + ], + "orientation": [ + 0.7648362517356873, + 0.1132848933339119, + 0.6330005526542664, + -0.03876134380698204 + ], + "joints": [ + 0.0006054956465959549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1190517321228981, + 0.05163608118891716, + 0.04001385718584061 + ], + "orientation": [ + 0.38240736722946167, + 0.533805787563324, + 0.3902568221092224, + -0.6453801393508911 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.11472242325544357, + 0.04990789666771889, + 0.0410604402422905 + ], + "orientation": [ + 0.37788838148117065, + 0.5330785512924194, + 0.3875267803668976, + -0.6502696871757507 + ], + "joints": [ + -0.007651143707334995 + ] + }, + "final_grasp": { + "position": [ + -0.11472242325544357, + 0.04990789666771889, + 0.0410604402422905 + ], + "orientation": [ + 0.37788838148117065, + 0.5330785512924194, + 0.3875267803668976, + -0.6502696871757507 + ], + "joints": [ + -0.0017791781574487686 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10957715660333633, + -0.058945540338754654, + 0.007403063587844372 + ], + "orientation": [ + 0.6502596735954285, + -0.24537236988544464, + 0.5826077461242676, + 0.42133471369743347 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.11052721738815308, + -0.060755982995033264, + 0.006604575552046299 + ], + "orientation": [ + 0.6490058302879333, + -0.24855206906795502, + 0.5789902210235596, + 0.4263608455657959 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.11052721738815308, + -0.060755982995033264, + 0.006604575552046299 + ], + "orientation": [ + 0.6490058302879333, + -0.24855206906795502, + 0.5789902210235596, + 0.4263608455657959 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10225171595811844, + -0.01014422345906496, + 0.10887474566698074 + ], + "orientation": [ + 0.18990428745746613, + -0.6296380758285522, + 0.7077765464782715, + -0.25796273350715637 + ], + "joints": [ + 0.0025598418433219194 + ] + }, + "fine_grasp": { + "position": [ + 0.09969364106655121, + -0.008010699413716793, + 0.10806773602962494 + ], + "orientation": [ + 0.1884327530860901, + -0.637847363948822, + 0.7034543752670288, + -0.2505907714366913 + ], + "joints": [ + 0.00893663801252842 + ] + }, + "final_grasp": { + "position": [ + 0.09969364106655121, + -0.008010699413716793, + 0.10806773602962494 + ], + "orientation": [ + 0.1884327530860901, + -0.637847363948822, + 0.7034543752670288, + -0.2505907714366913 + ], + "joints": [ + 0.015313434414565563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016682308167219162, + 0.11565841734409332, + 0.007834850810468197 + ], + "orientation": [ + 0.1304045170545578, + 0.7214994430541992, + 0.018808389082551003, + -0.6797642111778259 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.01779530942440033, + 0.11987698823213577, + 0.007483480963855982 + ], + "orientation": [ + 0.13190434873104095, + 0.7133132815361023, + 0.016489937901496887, + -0.6881231069564819 + ], + "joints": [ + -0.005853880196809769 + ] + }, + "final_grasp": { + "position": [ + -0.01779530942440033, + 0.11987698823213577, + 0.007483480963855982 + ], + "orientation": [ + 0.13190434873104095, + 0.7133132815361023, + 0.016489937901496887, + -0.6881231069564819 + ], + "joints": [ + -0.0005398839712142944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10274094343185425, + -0.010155904106795788, + 0.10932796448469162 + ], + "orientation": [ + 0.1859472692012787, + -0.6275675892829895, + 0.7087526917457581, + -0.2631581425666809 + ], + "joints": [ + 0.0019946640823036432 + ] + }, + "fine_grasp": { + "position": [ + 0.10088887810707092, + -0.008286741562187672, + 0.10910429060459137 + ], + "orientation": [ + 0.1836552917957306, + -0.63340824842453, + 0.7060046792030334, + -0.2581126093864441 + ], + "joints": [ + 0.00890285987406969 + ] + }, + "final_grasp": { + "position": [ + 0.10088887810707092, + -0.008286741562187672, + 0.10910429060459137 + ], + "orientation": [ + 0.1836552917957306, + -0.63340824842453, + 0.7060046792030334, + -0.2581126093864441 + ], + "joints": [ + 0.015811055898666382 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10937462747097015, + -0.05907098948955536, + 0.007225419394671917 + ], + "orientation": [ + 0.6493409872055054, + -0.2457115203142166, + 0.5835069417953491, + 0.42130962014198303 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.11043418943881989, + -0.06098766252398491, + 0.0063999854028224945 + ], + "orientation": [ + 0.6491242051124573, + -0.2479506880044937, + 0.5790466666221619, + 0.4264540672302246 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.11043418943881989, + -0.06098766252398491, + 0.0063999854028224945 + ], + "orientation": [ + 0.6491242051124573, + -0.2479506880044937, + 0.5790466666221619, + 0.4264540672302246 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012150001712143421, + 0.1068679466843605, + 0.08721727877855301 + ], + "orientation": [ + 0.20268021523952484, + -0.9756720066070557, + -0.06473606824874878, + 0.05285925418138504 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.012584090232849121, + 0.1092476174235344, + 0.08858711272478104 + ], + "orientation": [ + 0.20472291111946106, + -0.9747844934463501, + -0.06643535941839218, + 0.05890830606222153 + ], + "joints": [ + -0.00240927841514349 + ] + }, + "final_grasp": { + "position": [ + -0.012584090232849121, + 0.1092476174235344, + 0.08858711272478104 + ], + "orientation": [ + 0.20472291111946106, + -0.9747844934463501, + -0.06643535941839218, + 0.05890830606222153 + ], + "joints": [ + 0.003994086757302284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04138245806097984, + 0.1128300204873085, + 0.028865957632660866 + ], + "orientation": [ + 0.08908827602863312, + -0.7411177158355713, + -0.09003491699695587, + -0.6593189239501953 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.042113788425922394, + 0.11357762664556503, + 0.028961626812815666 + ], + "orientation": [ + 0.08502761274576187, + -0.7440963387489319, + -0.08414577692747116, + -0.6572750210762024 + ], + "joints": [ + -0.005211932584643364 + ] + }, + "final_grasp": { + "position": [ + -0.042113788425922394, + 0.11357762664556503, + 0.028961626812815666 + ], + "orientation": [ + 0.08502761274576187, + -0.7440963387489319, + -0.08414577692747116, + -0.6572750210762024 + ], + "joints": [ + 0.00015520304441452026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01785314455628395, + 5.4829917644383386e-05, + -0.10106135904788971 + ], + "orientation": [ + 0.5282723307609558, + 0.4822322428226471, + -0.4748849868774414, + -0.5127032995223999 + ], + "joints": [ + 0.0006561586633324623 + ] + }, + "fine_grasp": { + "position": [ + -0.017242804169654846, + 0.0003283187688793987, + -0.0952625572681427 + ], + "orientation": [ + 0.528567373752594, + 0.4830811023712158, + -0.4729433059692383, + -0.5133944749832153 + ], + "joints": [ + 0.006023294758051634 + ] + }, + "final_grasp": { + "position": [ + -0.017242804169654846, + 0.0003283187688793987, + -0.0952625572681427 + ], + "orientation": [ + 0.528567373752594, + 0.4830811023712158, + -0.4729433059692383, + -0.5133944749832153 + ], + "joints": [ + 0.011390430852770805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01206145342439413, + 0.10692478716373444, + 0.08706339448690414 + ], + "orientation": [ + 0.20234359800815582, + -0.9757722616195679, + -0.06430274248123169, + 0.05282698571681976 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.012535542249679565, + 0.10928862541913986, + 0.08836905658245087 + ], + "orientation": [ + 0.2045711874961853, + -0.9748002886772156, + -0.06622060388326645, + 0.059411924332380295 + ], + "joints": [ + -0.00240927841514349 + ] + }, + "final_grasp": { + "position": [ + -0.012535542249679565, + 0.10928862541913986, + 0.08836905658245087 + ], + "orientation": [ + 0.2045711874961853, + -0.9748002886772156, + -0.06622060388326645, + 0.059411924332380295 + ], + "joints": [ + 0.003994086757302284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12239044159650803, + 0.0033086708281189203, + 0.031654227524995804 + ], + "orientation": [ + 0.041085418313741684, + -0.7170177102088928, + 0.6958408355712891, + 0.0017370062414556742 + ], + "joints": [ + 0.002834396669641137 + ] + }, + "fine_grasp": { + "position": [ + 0.12424908578395844, + 0.003460472449660301, + 0.0312008336186409 + ], + "orientation": [ + 0.048400167375802994, + -0.7182607054710388, + 0.6940872669219971, + 0.001356433960609138 + ], + "joints": [ + 0.008148393593728542 + ] + }, + "final_grasp": { + "position": [ + 0.12424908578395844, + 0.003460472449660301, + 0.0312008336186409 + ], + "orientation": [ + 0.048400167375802994, + -0.7182607054710388, + 0.6940872669219971, + 0.001356433960609138 + ], + "joints": [ + 0.013462390750646591 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025228887796401978, + -0.11563954502344131, + 0.05057368054986 + ], + "orientation": [ + 0.7360297441482544, + -0.03274140879511833, + 0.6664319038391113, + -0.11426582932472229 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.026328450068831444, + -0.11813798546791077, + 0.05120738223195076 + ], + "orientation": [ + 0.7482048869132996, + -0.03779559209942818, + 0.6528999209403992, + -0.11172661930322647 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.026328450068831444, + -0.11813798546791077, + 0.05120738223195076 + ], + "orientation": [ + 0.7482048869132996, + -0.03779559209942818, + 0.6528999209403992, + -0.11172661930322647 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12606003880500793, + 0.03134416416287422, + -0.0002613784745335579 + ], + "orientation": [ + 0.4067632853984833, + -0.4735483229160309, + 0.4659162759780884, + 0.6270706057548523 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.1212439313530922, + 0.029932258650660515, + -4.9359667173121125e-05 + ], + "orientation": [ + 0.40563857555389404, + -0.4713484048843384, + 0.45890530943870544, + 0.6345818042755127 + ], + "joints": [ + -0.00880218856036663 + ] + }, + "final_grasp": { + "position": [ + 0.1212439313530922, + 0.029932258650660515, + -4.9359667173121125e-05 + ], + "orientation": [ + 0.40563857555389404, + -0.4713484048843384, + 0.45890530943870544, + 0.6345818042755127 + ], + "joints": [ + -0.0029036514461040497 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06170666590332985, + -0.09283927828073502, + -0.019305797293782234 + ], + "orientation": [ + 0.010386515408754349, + -0.27798396348953247, + -0.9509478211402893, + -0.13533444702625275 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + -0.06008707731962204, + -0.09029536694288254, + -0.01785941608250141 + ], + "orientation": [ + 0.023851744830608368, + -0.27531805634498596, + -0.950439989566803, + -0.1424599140882492 + ], + "joints": [ + -0.0008136815158650279 + ] + }, + "final_grasp": { + "position": [ + -0.06008707731962204, + -0.09029536694288254, + -0.01785941608250141 + ], + "orientation": [ + 0.023851744830608368, + -0.27531805634498596, + -0.950439989566803, + -0.1424599140882492 + ], + "joints": [ + 0.006625913083553314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008189155720174313, + 0.11836709082126617, + 0.01849544234573841 + ], + "orientation": [ + 0.031867701560258865, + 0.6697041392326355, + 0.015429861843585968, + 0.7417835593223572 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.00785343162715435, + 0.1199251115322113, + 0.01633738912642002 + ], + "orientation": [ + 0.034819651395082474, + 0.6608977913856506, + 0.015192284248769283, + 0.7495137453079224 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + -0.00785343162715435, + 0.1199251115322113, + 0.01633738912642002 + ], + "orientation": [ + 0.034819651395082474, + 0.6608977913856506, + 0.015192284248769283, + 0.7495137453079224 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012001260183751583, + 0.10691879689693451, + 0.08703245222568512 + ], + "orientation": [ + 0.20244549214839935, + -0.9757317304611206, + -0.06416865438222885, + 0.05334680899977684 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.012439267709851265, + 0.10925760865211487, + 0.08829522132873535 + ], + "orientation": [ + 0.20482191443443298, + -0.9747188687324524, + -0.06601603329181671, + 0.0601077638566494 + ], + "joints": [ + -0.00240927841514349 + ] + }, + "final_grasp": { + "position": [ + -0.012439267709851265, + 0.10925760865211487, + 0.08829522132873535 + ], + "orientation": [ + 0.20482191443443298, + -0.9747188687324524, + -0.06601603329181671, + 0.0601077638566494 + ], + "joints": [ + 0.003994086757302284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11593581736087799, + 0.04577603563666344, + 0.02024291269481182 + ], + "orientation": [ + 0.47332966327667236, + -0.41584035754203796, + 0.2964654862880707, + 0.7177353501319885 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.11096145212650299, + 0.04524457827210426, + 0.01895696297287941 + ], + "orientation": [ + 0.46491512656211853, + -0.4182502329349518, + 0.30319032073020935, + 0.7190244793891907 + ], + "joints": [ + -0.007149185054004192 + ] + }, + "final_grasp": { + "position": [ + 0.11096145212650299, + 0.04524457827210426, + 0.01895696297287941 + ], + "orientation": [ + 0.46491512656211853, + -0.4182502329349518, + 0.30319032073020935, + 0.7190244793891907 + ], + "joints": [ + -0.0007458198815584183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12251701205968857, + 0.003421036060899496, + 0.032185666263103485 + ], + "orientation": [ + 0.04328569397330284, + -0.7171410322189331, + 0.69558185338974, + 0.0009629190899431705 + ], + "joints": [ + 0.0026294386480003595 + ] + }, + "fine_grasp": { + "position": [ + 0.12390480190515518, + 0.003455969737842679, + 0.03176659718155861 + ], + "orientation": [ + 0.04888639599084854, + -0.7184630036354065, + 0.6938446164131165, + 0.0008847022545523942 + ], + "joints": [ + 0.008474835194647312 + ] + }, + "final_grasp": { + "position": [ + 0.12390480190515518, + 0.003455969737842679, + 0.03176659718155861 + ], + "orientation": [ + 0.04888639599084854, + -0.7184630036354065, + 0.6938446164131165, + 0.0008847022545523942 + ], + "joints": [ + 0.014320231974124908 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04097447544336319, + 0.11302173137664795, + 0.028854960575699806 + ], + "orientation": [ + 0.08940935134887695, + -0.742447555065155, + -0.09058672189712524, + -0.6577019095420837 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.041704606264829636, + 0.11358094215393066, + 0.02897888608276844 + ], + "orientation": [ + 0.08418772369623184, + -0.7463753819465637, + -0.08414439857006073, + -0.6547947525978088 + ], + "joints": [ + -0.005239900201559067 + ] + }, + "final_grasp": { + "position": [ + -0.041704606264829636, + 0.11358094215393066, + 0.02897888608276844 + ], + "orientation": [ + 0.08418772369623184, + -0.7463753819465637, + -0.08414439857006073, + -0.6547947525978088 + ], + "joints": [ + 0.0006586350500583649 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02041170559823513, + -0.1132824495434761, + -0.014527665451169014 + ], + "orientation": [ + 0.9886311888694763, + 0.11893107742071152, + 0.04984573274850845, + -0.07732491195201874 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.022513192147016525, + -0.11423414200544357, + -0.014882183633744717 + ], + "orientation": [ + 0.9876988530158997, + 0.12085843086242676, + 0.060532741248607635, + -0.07861265540122986 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.022513192147016525, + -0.11423414200544357, + -0.014882183633744717 + ], + "orientation": [ + 0.9876988530158997, + 0.12085843086242676, + 0.060532741248607635, + -0.07861265540122986 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08141531050205231, + 0.0900145024061203, + -0.002871622797101736 + ], + "orientation": [ + 0.15125657618045807, + -0.6157652735710144, + -0.297707736492157, + -0.7136698961257935 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08294843882322311, + 0.09178934246301651, + -0.004919374827295542 + ], + "orientation": [ + 0.14535054564476013, + -0.6172301173210144, + -0.29893457889556885, + -0.7131187915802002 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.08294843882322311, + 0.09178934246301651, + -0.004919374827295542 + ], + "orientation": [ + 0.14535054564476013, + -0.6172301173210144, + -0.29893457889556885, + -0.7131187915802002 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016822414472699165, + -0.0027036634273827076, + -0.09536674618721008 + ], + "orientation": [ + 0.4621078073978424, + 0.5143598914146423, + 0.543364405632019, + 0.47607290744781494 + ], + "joints": [ + 0.00022288542822934687 + ] + }, + "fine_grasp": { + "position": [ + -0.016004031524062157, + -0.0025655338540673256, + -0.09015778452157974 + ], + "orientation": [ + 0.4595160186290741, + 0.5128964185714722, + 0.5457143783569336, + 0.47747042775154114 + ], + "joints": [ + 0.006094851531088352 + ] + }, + "final_grasp": { + "position": [ + -0.016004031524062157, + -0.0025655338540673256, + -0.09015778452157974 + ], + "orientation": [ + 0.4595160186290741, + 0.5128964185714722, + 0.5457143783569336, + 0.47747042775154114 + ], + "joints": [ + 0.011966818012297153 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006134370807558298, + 0.0010793415131047368, + -0.09613057971000671 + ], + "orientation": [ + 0.4909910261631012, + 0.5230458378791809, + -0.5074721574783325, + -0.4773079752922058 + ], + "joints": [ + 0.0002662086917553097 + ] + }, + "fine_grasp": { + "position": [ + 0.005853485316038132, + 0.0012966174399480224, + -0.09082188457250595 + ], + "orientation": [ + 0.4932796061038971, + 0.5269083976745605, + -0.5029547810554504, + -0.475477933883667 + ], + "joints": [ + 0.0066430047154426575 + ] + }, + "final_grasp": { + "position": [ + 0.005853485316038132, + 0.0012966174399480224, + -0.09082188457250595 + ], + "orientation": [ + 0.4932796061038971, + 0.5269083976745605, + -0.5029547810554504, + -0.475477933883667 + ], + "joints": [ + 0.013019801117479801 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1110074371099472, + -0.016132285818457603, + -0.04036632552742958 + ], + "orientation": [ + 0.2445090413093567, + 0.6356460452079773, + 0.7057794332504272, + 0.19505099952220917 + ], + "joints": [ + -0.00015145723591558635 + ] + }, + "fine_grasp": { + "position": [ + -0.10723130404949188, + -0.01598755642771721, + -0.03731692582368851 + ], + "orientation": [ + 0.24435003101825714, + 0.6358381509780884, + 0.7042418718338013, + 0.20011568069458008 + ], + "joints": [ + 0.005720508750528097 + ] + }, + "final_grasp": { + "position": [ + -0.10723130404949188, + -0.01598755642771721, + -0.03731692582368851 + ], + "orientation": [ + 0.24435003101825714, + 0.6358381509780884, + 0.7042418718338013, + 0.20011568069458008 + ], + "joints": [ + 0.011592474766075611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02042412757873535, + -0.11313827335834503, + -0.01454536709934473 + ], + "orientation": [ + 0.9884209632873535, + 0.11979890614748001, + 0.05253132805228233, + -0.07689393311738968 + ], + "joints": [ + -0.008842084556818008 + ] + }, + "fine_grasp": { + "position": [ + -0.02242008037865162, + -0.11412691324949265, + -0.014944108203053474 + ], + "orientation": [ + 0.9874630570411682, + 0.12155085057020187, + 0.0628989040851593, + -0.07864972203969955 + ], + "joints": [ + -0.0029701190069317818 + ] + }, + "final_grasp": { + "position": [ + -0.02242008037865162, + -0.11412691324949265, + -0.014944108203053474 + ], + "orientation": [ + 0.9874630570411682, + 0.12155085057020187, + 0.0628989040851593, + -0.07864972203969955 + ], + "joints": [ + 0.002901846542954445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08130872994661331, + 0.08994781970977783, + -0.0029334372375160456 + ], + "orientation": [ + 0.15124601125717163, + -0.6152104735374451, + -0.2981875538825989, + -0.7139502167701721 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.08270016312599182, + 0.09181466698646545, + -0.004904110915958881 + ], + "orientation": [ + 0.14567691087722778, + -0.616049587726593, + -0.29823797941207886, + -0.7143634557723999 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + -0.08270016312599182, + 0.09181466698646545, + -0.004904110915958881 + ], + "orientation": [ + 0.14567691087722778, + -0.616049587726593, + -0.29823797941207886, + -0.7143634557723999 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08049843460321426, + 0.008983954787254333, + 0.13460396230220795 + ], + "orientation": [ + 0.29733341932296753, + -0.6543305516242981, + 0.6116782426834106, + -0.33059659600257874 + ], + "joints": [ + 0.002045049099251628 + ] + }, + "fine_grasp": { + "position": [ + 0.07850434631109238, + 0.00989912636578083, + 0.13071955740451813 + ], + "orientation": [ + 0.3041754961013794, + -0.6529383063316345, + 0.6043700575828552, + -0.34041985869407654 + ], + "joints": [ + 0.00741218589246273 + ] + }, + "final_grasp": { + "position": [ + 0.07850434631109238, + 0.00989912636578083, + 0.13071955740451813 + ], + "orientation": [ + 0.3041754961013794, + -0.6529383063316345, + 0.6043700575828552, + -0.34041985869407654 + ], + "joints": [ + 0.01277932245284319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0808066874742508, + 0.009394844993948936, + 0.1346338838338852 + ], + "orientation": [ + 0.29762277007102966, + -0.6560829281806946, + 0.6103159189224243, + -0.32937878370285034 + ], + "joints": [ + 0.0023650298826396465 + ] + }, + "fine_grasp": { + "position": [ + 0.07873281836509705, + 0.010121739469468594, + 0.13065208494663239 + ], + "orientation": [ + 0.30440717935562134, + -0.6540395617485046, + 0.6034665703773499, + -0.3397009074687958 + ], + "joints": [ + 0.007200766820460558 + ] + }, + "final_grasp": { + "position": [ + 0.07873281836509705, + 0.010121739469468594, + 0.13065208494663239 + ], + "orientation": [ + 0.30440717935562134, + -0.6540395617485046, + 0.6034665703773499, + -0.3397009074687958 + ], + "joints": [ + 0.012036504223942757 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05312336981296539, + -0.11102936416864395, + 0.056602947413921356 + ], + "orientation": [ + 0.5748476982116699, + -0.2159346491098404, + 0.7892235517501831, + -0.006967672612518072 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.05255217105150223, + -0.10914218425750732, + 0.0561390295624733 + ], + "orientation": [ + 0.5836448669433594, + -0.21267004311084747, + 0.783624529838562, + -0.007911103777587414 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + 0.05255217105150223, + -0.10914218425750732, + 0.0561390295624733 + ], + "orientation": [ + 0.5836448669433594, + -0.21267004311084747, + 0.783624529838562, + -0.007911103777587414 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016910884529352188, + -0.002367359586060047, + -0.09522437304258347 + ], + "orientation": [ + 0.46406063437461853, + 0.5184038877487183, + 0.5404779314994812, + 0.4730631113052368 + ], + "joints": [ + 0.00017053558258339763 + ] + }, + "fine_grasp": { + "position": [ + -0.016256626695394516, + -0.002229994395747781, + -0.0897199958562851 + ], + "orientation": [ + 0.4627154469490051, + 0.5157650709152222, + 0.5421292185783386, + 0.47537022829055786 + ], + "joints": [ + 0.006573901046067476 + ] + }, + "final_grasp": { + "position": [ + -0.016256626695394516, + -0.002229994395747781, + -0.0897199958562851 + ], + "orientation": [ + 0.4627154469490051, + 0.5157650709152222, + 0.5421292185783386, + 0.47537022829055786 + ], + "joints": [ + 0.012977266684174538 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04456517472863197, + -0.07694265991449356, + 0.11536611616611481 + ], + "orientation": [ + 0.1099906861782074, + -0.25418391823768616, + 0.9074290990829468, + -0.3160144090652466 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.043997880071401596, + -0.08090615272521973, + 0.11583374440670013 + ], + "orientation": [ + 0.1177414059638977, + -0.2446611374616623, + 0.9067129492759705, + -0.3227221369743347 + ], + "joints": [ + -0.003444110043346882 + ] + }, + "final_grasp": { + "position": [ + 0.043997880071401596, + -0.08090615272521973, + 0.11583374440670013 + ], + "orientation": [ + 0.1177414059638977, + -0.2446611374616623, + 0.9067129492759705, + -0.3227221369743347 + ], + "joints": [ + 0.00136505626142025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08072911947965622, + 0.00941177736967802, + 0.13450877368450165 + ], + "orientation": [ + 0.3052620589733124, + -0.6592797040939331, + 0.6066161394119263, + -0.32277271151542664 + ], + "joints": [ + 0.0021515798289328814 + ] + }, + "fine_grasp": { + "position": [ + 0.07854455709457397, + 0.009851418435573578, + 0.13017866015434265 + ], + "orientation": [ + 0.3135644197463989, + -0.6570360064506531, + 0.5993223786354065, + -0.3328568637371063 + ], + "joints": [ + 0.007518717087805271 + ] + }, + "final_grasp": { + "position": [ + 0.07854455709457397, + 0.009851418435573578, + 0.13017866015434265 + ], + "orientation": [ + 0.3135644197463989, + -0.6570360064506531, + 0.5993223786354065, + -0.3328568637371063 + ], + "joints": [ + 0.012885854579508305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0445827953517437, + -0.07725518196821213, + 0.11519858986139297 + ], + "orientation": [ + 0.1104097068309784, + -0.25389814376831055, + 0.9076186418533325, + -0.31555333733558655 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.044222183525562286, + -0.08115798979997635, + 0.11561701446771622 + ], + "orientation": [ + 0.11711132526397705, + -0.2451486438512802, + 0.906858503818512, + -0.3221718370914459 + ], + "joints": [ + -0.003444110043346882 + ] + }, + "final_grasp": { + "position": [ + 0.044222183525562286, + -0.08115798979997635, + 0.11561701446771622 + ], + "orientation": [ + 0.11711132526397705, + -0.2451486438512802, + 0.906858503818512, + -0.3221718370914459 + ], + "joints": [ + 0.00136505626142025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11933470517396927, + 0.0017247084761038423, + 0.05616148188710213 + ], + "orientation": [ + 0.10376714915037155, + -0.7086696028709412, + -0.6961363554000854, + 0.04913286864757538 + ], + "joints": [ + 0.0024380716495215893 + ] + }, + "fine_grasp": { + "position": [ + -0.12077116221189499, + 0.0012896351981908083, + 0.05699000135064125 + ], + "orientation": [ + 0.10243833810091019, + -0.704750657081604, + -0.7002620100975037, + 0.049660392105579376 + ], + "joints": [ + 0.008310038596391678 + ] + }, + "final_grasp": { + "position": [ + -0.12077116221189499, + 0.0012896351981908083, + 0.05699000135064125 + ], + "orientation": [ + 0.10243833810091019, + -0.704750657081604, + -0.7002620100975037, + 0.049660392105579376 + ], + "joints": [ + 0.014182005077600479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11956509947776794, + 0.009095127694308758, + 0.05009409412741661 + ], + "orientation": [ + 0.6760705709457397, + -0.04458356648683548, + -0.08569593727588654, + 0.7304772734642029 + ], + "joints": [ + 0.0019262195564806461 + ] + }, + "fine_grasp": { + "position": [ + 0.12115934491157532, + 0.008176946081221104, + 0.04923773929476738 + ], + "orientation": [ + 0.6753018498420715, + -0.05165630951523781, + -0.09738146513700485, + 0.7292569279670715 + ], + "joints": [ + 0.007771615404635668 + ] + }, + "final_grasp": { + "position": [ + 0.12115934491157532, + 0.008176946081221104, + 0.04923773929476738 + ], + "orientation": [ + 0.6753018498420715, + -0.05165630951523781, + -0.09738146513700485, + 0.7292569279670715 + ], + "joints": [ + 0.013617010787129402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07216720283031464, + -0.007040339056402445, + 0.14353325963020325 + ], + "orientation": [ + 0.36080843210220337, + -0.6048006415367126, + 0.6277976036071777, + -0.3315172493457794 + ], + "joints": [ + 0.0024933083914220333 + ] + }, + "fine_grasp": { + "position": [ + 0.07112399488687515, + -0.005840642843395472, + 0.1424398273229599 + ], + "orientation": [ + 0.36241981387138367, + -0.6108916401863098, + 0.6239868998527527, + -0.3257357180118561 + ], + "joints": [ + 0.009428074583411217 + ] + }, + "final_grasp": { + "position": [ + 0.07112399488687515, + -0.005840642843395472, + 0.1424398273229599 + ], + "orientation": [ + 0.36241981387138367, + -0.6108916401863098, + 0.6239868998527527, + -0.3257357180118561 + ], + "joints": [ + 0.016362840309739113 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0001445080852136016, + 0.06883146613836288, + 0.14288493990898132 + ], + "orientation": [ + 0.4755460023880005, + -0.8778305053710938, + -0.02835894748568535, + 0.049652617424726486 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -3.1263371056411415e-05, + 0.06634166836738586, + 0.13875657320022583 + ], + "orientation": [ + 0.4748082160949707, + -0.8773358464241028, + -0.035463571548461914, + 0.05984431877732277 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + -3.1263371056411415e-05, + 0.06634166836738586, + 0.13875657320022583 + ], + "orientation": [ + 0.4748082160949707, + -0.8773358464241028, + -0.035463571548461914, + 0.05984431877732277 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04419781267642975, + -0.07657944411039352, + 0.11505647748708725 + ], + "orientation": [ + 0.1114206537604332, + -0.2539936900138855, + 0.9070538282394409, + -0.31674277782440186 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.04298818111419678, + -0.08054950833320618, + 0.11562910676002502 + ], + "orientation": [ + 0.12133502960205078, + -0.242293119430542, + 0.9070020914077759, + -0.3223649561405182 + ], + "joints": [ + -0.003444110043346882 + ] + }, + "final_grasp": { + "position": [ + 0.04298818111419678, + -0.08054950833320618, + 0.11562910676002502 + ], + "orientation": [ + 0.12133502960205078, + -0.242293119430542, + 0.9070020914077759, + -0.3223649561405182 + ], + "joints": [ + 0.00136505626142025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014006744138896465, + 0.02902952954173088, + -0.09492538869380951 + ], + "orientation": [ + 0.1433197557926178, + 0.08457483351230621, + 0.5772607326507568, + 0.7994226813316345 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.016000742092728615, + 0.028594540432095528, + -0.09590022265911102 + ], + "orientation": [ + 0.1475205421447754, + 0.07883058488368988, + 0.5818011164665222, + 0.795946478843689 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.016000742092728615, + 0.028594540432095528, + -0.09590022265911102 + ], + "orientation": [ + 0.1475205421447754, + 0.07883058488368988, + 0.5818011164665222, + 0.795946478843689 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03341737762093544, + -0.11655130237340927, + 0.012256328016519547 + ], + "orientation": [ + 0.7279056310653687, + 0.1378285437822342, + 0.6691973805427551, + -0.05772005766630173 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.03287818282842636, + -0.11695919185876846, + 0.01033850945532322 + ], + "orientation": [ + 0.7455010414123535, + 0.13836312294006348, + 0.6497842073440552, + -0.053518399596214294 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.03287818282842636, + -0.11695919185876846, + 0.01033850945532322 + ], + "orientation": [ + 0.7455010414123535, + 0.13836312294006348, + 0.6497842073440552, + -0.053518399596214294 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1237248107790947, + -0.011547815054655075, + 0.0552566796541214 + ], + "orientation": [ + 0.018648453056812286, + -0.6669113636016846, + 0.7377802729606628, + -0.10276976972818375 + ], + "joints": [ + 0.0014768752735108137 + ] + }, + "fine_grasp": { + "position": [ + 0.11912331730127335, + -0.010281422175467014, + 0.05575249344110489 + ], + "orientation": [ + 0.007157808635383844, + -0.6694241762161255, + 0.736365020275116, + -0.09791106730699539 + ], + "joints": [ + 0.007853670977056026 + ] + }, + "final_grasp": { + "position": [ + 0.11912331730127335, + -0.010281422175467014, + 0.05575249344110489 + ], + "orientation": [ + 0.007157808635383844, + -0.6694241762161255, + 0.736365020275116, + -0.09791106730699539 + ], + "joints": [ + 0.014230466447770596 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023484129458665848, + -0.009601963683962822, + -0.09226784855127335 + ], + "orientation": [ + 0.4819033741950989, + 0.5178216099739075, + 0.5520003437995911, + 0.4415037930011749 + ], + "joints": [ + 0.0006234567845240235 + ] + }, + "fine_grasp": { + "position": [ + -0.023313403129577637, + -0.009043224155902863, + -0.08649706840515137 + ], + "orientation": [ + 0.4840366840362549, + 0.5125214457511902, + 0.5510632395744324, + 0.4464969336986542 + ], + "joints": [ + 0.0075316522270441055 + ] + }, + "final_grasp": { + "position": [ + -0.023313403129577637, + -0.009043224155902863, + -0.08649706840515137 + ], + "orientation": [ + 0.4840366840362549, + 0.5125214457511902, + 0.5510632395744324, + 0.4464969336986542 + ], + "joints": [ + 0.014439847320318222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033161330968141556, + -0.11654896289110184, + 0.012314608320593834 + ], + "orientation": [ + 0.7274082899093628, + 0.13791511952877045, + 0.6696985363960266, + -0.05796896666288376 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.032721634954214096, + -0.11698998510837555, + 0.010334573686122894 + ], + "orientation": [ + 0.7451404929161072, + 0.1383567750453949, + 0.6502082347869873, + -0.053405795246362686 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.032721634954214096, + -0.11698998510837555, + 0.010334573686122894 + ], + "orientation": [ + 0.7451404929161072, + 0.1383567750453949, + 0.6502082347869873, + -0.053405795246362686 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05014019086956978, + 0.0999980941414833, + 0.08808954805135727 + ], + "orientation": [ + 0.21438740193843842, + -0.9540765285491943, + -0.207766592502594, + -0.024679837748408318 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.04962728172540665, + 0.0998796746134758, + 0.08814965188503265 + ], + "orientation": [ + 0.21717825531959534, + -0.9549711346626282, + -0.1964775025844574, + -0.04754386469721794 + ], + "joints": [ + -0.0030246563255786896 + ] + }, + "final_grasp": { + "position": [ + -0.04962728172540665, + 0.0998796746134758, + 0.08814965188503265 + ], + "orientation": [ + 0.21717825531959534, + -0.9549711346626282, + -0.1964775025844574, + -0.04754386469721794 + ], + "joints": [ + 0.0033521391451358795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002961554331704974, + 0.11766639351844788, + 0.06048974394798279 + ], + "orientation": [ + 0.008720879442989826, + 0.038003236055374146, + 0.08687593787908554, + -0.995455801486969 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.005602395161986351, + 0.11370222270488739, + 0.05902613326907158 + ], + "orientation": [ + 0.015481998212635517, + 0.043023642152547836, + 0.08501625806093216, + -0.9953298568725586 + ], + "joints": [ + -0.0035309595987200737 + ] + }, + "final_grasp": { + "position": [ + -0.005602395161986351, + 0.11370222270488739, + 0.05902613326907158 + ], + "orientation": [ + 0.015481998212635517, + 0.043023642152547836, + 0.08501625806093216, + -0.9953298568725586 + ], + "joints": [ + 0.0018096063286066055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0062805721536278725, + 0.1272212713956833, + -0.005979822017252445 + ], + "orientation": [ + 0.11372896283864975, + 0.6638995409011841, + -0.06859058886766434, + -0.7359336018562317 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.005487989168614149, + 0.12199874967336655, + -0.004826388321816921 + ], + "orientation": [ + 0.12075557559728622, + 0.6724081635475159, + -0.06380452960729599, + -0.7274712920188904 + ], + "joints": [ + -0.004487917758524418 + ] + }, + "final_grasp": { + "position": [ + -0.005487989168614149, + 0.12199874967336655, + -0.004826388321816921 + ], + "orientation": [ + 0.12075557559728622, + 0.6724081635475159, + -0.06380452960729599, + -0.7274712920188904 + ], + "joints": [ + 0.003987906500697136 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0031113370787352324, + 0.11746678501367569, + 0.06015683338046074 + ], + "orientation": [ + 0.00901902187615633, + 0.04256756603717804, + 0.08850284665822983, + -0.9951250553131104 + ], + "joints": [ + -0.008871525526046753 + ] + }, + "fine_grasp": { + "position": [ + -0.006480684038251638, + 0.11404917389154434, + 0.058443039655685425 + ], + "orientation": [ + 0.018854575231671333, + 0.045233309268951416, + 0.08476085960865021, + -0.9951955676078796 + ], + "joints": [ + -0.0035575293004512787 + ] + }, + "final_grasp": { + "position": [ + -0.006480684038251638, + 0.11404917389154434, + 0.058443039655685425 + ], + "orientation": [ + 0.018854575231671333, + 0.045233309268951416, + 0.08476085960865021, + -0.9951955676078796 + ], + "joints": [ + 0.0017564669251441956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030321046710014343, + 0.09942079335451126, + 0.09845267981290817 + ], + "orientation": [ + 0.12443050742149353, + 0.024748623371124268, + 0.2604907751083374, + -0.957104504108429 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.03195801377296448, + 0.10053209215402603, + 0.09904036670923233 + ], + "orientation": [ + 0.12555107474327087, + 0.03190718963742256, + 0.26300957798957825, + -0.9560570120811462 + ], + "joints": [ + -0.002995215356349945 + ] + }, + "final_grasp": { + "position": [ + -0.03195801377296448, + 0.10053209215402603, + 0.09904036670923233 + ], + "orientation": [ + 0.12555107474327087, + 0.03190718963742256, + 0.26300957798957825, + -0.9560570120811462 + ], + "joints": [ + 0.003381580114364624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022718774154782295, + -0.004266998264938593, + -0.10787317901849747 + ], + "orientation": [ + 0.5238263010978699, + 0.5363144874572754, + -0.4881570637226105, + -0.4468505084514618 + ], + "joints": [ + 0.0020251621026545763 + ] + }, + "fine_grasp": { + "position": [ + 0.022722026333212852, + -0.003967893775552511, + -0.10606002807617188 + ], + "orientation": [ + 0.5247448682785034, + 0.538300096988678, + -0.4838261306285858, + -0.44809386134147644 + ], + "joints": [ + 0.007392299361526966 + ] + }, + "final_grasp": { + "position": [ + 0.022722026333212852, + -0.003967893775552511, + -0.10606002807617188 + ], + "orientation": [ + 0.5247448682785034, + 0.538300096988678, + -0.4838261306285858, + -0.44809386134147644 + ], + "joints": [ + 0.01275943685323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030208924785256386, + 0.0994207113981247, + 0.09839776903390884 + ], + "orientation": [ + 0.12337782979011536, + 0.026553520932793617, + 0.2605992555618286, + -0.9571628570556641 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.03176213428378105, + 0.10049092024564743, + 0.09895825386047363 + ], + "orientation": [ + 0.12424548715353012, + 0.03453943133354187, + 0.2635766267776489, + -0.9559798836708069 + ], + "joints": [ + -0.002995215356349945 + ] + }, + "final_grasp": { + "position": [ + -0.03176213428378105, + 0.10049092024564743, + 0.09895825386047363 + ], + "orientation": [ + 0.12424548715353012, + 0.03453943133354187, + 0.2635766267776489, + -0.9559798836708069 + ], + "joints": [ + 0.003381580114364624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13116496801376343, + -0.02515852451324463, + 0.02418672665953636 + ], + "orientation": [ + 0.4328263998031616, + -0.5228011012077332, + 0.593076229095459, + 0.4331290125846863 + ], + "joints": [ + -0.010108023881912231 + ] + }, + "fine_grasp": { + "position": [ + 0.1263330727815628, + -0.02270183153450489, + 0.0229807049036026 + ], + "orientation": [ + 0.4298628270626068, + -0.5199375152587891, + 0.6060707569122314, + 0.42137986421585083 + ], + "joints": [ + -0.0063350871205329895 + ] + }, + "final_grasp": { + "position": [ + 0.1263330727815628, + -0.02270183153450489, + 0.0229807049036026 + ], + "orientation": [ + 0.4298628270626068, + -0.5199375152587891, + 0.6060707569122314, + 0.42137986421585083 + ], + "joints": [ + -0.0025621503591537476 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0580650195479393, + 0.09855996817350388, + -0.018965711817145348 + ], + "orientation": [ + 0.14587217569351196, + 0.9574828743934631, + -0.245509073138237, + 0.04090580344200134 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.058324139565229416, + 0.10047921538352966, + -0.019326254725456238 + ], + "orientation": [ + 0.15433405339717865, + 0.9580698013305664, + -0.23529723286628723, + 0.05402402952313423 + ], + "joints": [ + -0.0040608858689665794 + ] + }, + "final_grasp": { + "position": [ + 0.058324139565229416, + 0.10047921538352966, + -0.019326254725456238 + ], + "orientation": [ + 0.15433405339717865, + 0.9580698013305664, + -0.23529723286628723, + 0.05402402952313423 + ], + "joints": [ + 0.0012796800583600998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11973902583122253, + -0.003682209411635995, + -0.02815783955156803 + ], + "orientation": [ + 0.14294523000717163, + 0.6821096539497375, + 0.7005981802940369, + 0.15315105020999908 + ], + "joints": [ + 0.0019838090520352125 + ] + }, + "fine_grasp": { + "position": [ + -0.11673789471387863, + -0.003577555762603879, + -0.026495294645428658 + ], + "orientation": [ + 0.13953982293605804, + 0.6817240118980408, + 0.701417863368988, + 0.1542525738477707 + ], + "joints": [ + 0.006792975589632988 + ] + }, + "final_grasp": { + "position": [ + -0.11673789471387863, + -0.003577555762603879, + -0.026495294645428658 + ], + "orientation": [ + 0.13953982293605804, + 0.6817240118980408, + 0.701417863368988, + 0.1542525738477707 + ], + "joints": [ + 0.01160214189440012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11958763748407364, + -0.0031149182468652725, + -0.02852947823703289 + ], + "orientation": [ + 0.13677804172039032, + 0.6830549836158752, + 0.7009917497634888, + 0.15276885032653809 + ], + "joints": [ + 0.0024976986460387707 + ] + }, + "fine_grasp": { + "position": [ + -0.11711864173412323, + -0.003166446927934885, + -0.02686396613717079 + ], + "orientation": [ + 0.13891372084617615, + 0.6825405955314636, + 0.7004165649414062, + 0.15574969351291656 + ], + "joints": [ + 0.006775465793907642 + ] + }, + "final_grasp": { + "position": [ + -0.11711864173412323, + -0.003166446927934885, + -0.02686396613717079 + ], + "orientation": [ + 0.13891372084617615, + 0.6825405955314636, + 0.7004165649414062, + 0.15574969351291656 + ], + "joints": [ + 0.011053232476115227 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030146272853016853, + 0.09945058822631836, + 0.09822037816047668 + ], + "orientation": [ + 0.12375322729349136, + 0.024699963629245758, + 0.26067712903022766, + -0.9571429491043091 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.031849250197410583, + 0.10058718919754028, + 0.09876614063978195 + ], + "orientation": [ + 0.12422601133584976, + 0.034604962915182114, + 0.26312056183815, + -0.9561057090759277 + ], + "joints": [ + -0.002995215356349945 + ] + }, + "final_grasp": { + "position": [ + -0.031849250197410583, + 0.10058718919754028, + 0.09876614063978195 + ], + "orientation": [ + 0.12422601133584976, + 0.034604962915182114, + 0.26312056183815, + -0.9561057090759277 + ], + "joints": [ + 0.003381580114364624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11333168298006058, + -0.04540298506617546, + -0.018720509484410286 + ], + "orientation": [ + 0.6294063925743103, + -0.1578424870967865, + 0.5395557880401611, + 0.536482036113739 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.11391733586788177, + -0.04499334841966629, + -0.018955165520310402 + ], + "orientation": [ + 0.6139228343963623, + -0.17494818568229675, + 0.561249852180481, + 0.5267736911773682 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.11391733586788177, + -0.04499334841966629, + -0.018955165520310402 + ], + "orientation": [ + 0.6139228343963623, + -0.17494818568229675, + 0.561249852180481, + 0.5267736911773682 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1311052441596985, + -0.024918830022215843, + 0.02424507588148117 + ], + "orientation": [ + 0.43317562341690063, + -0.5231231451034546, + 0.5921031832695007, + 0.43372198939323425 + ], + "joints": [ + -0.010137464851140976 + ] + }, + "fine_grasp": { + "position": [ + 0.12617282569408417, + -0.022498972713947296, + 0.02299475483596325 + ], + "orientation": [ + 0.4305194914340973, + -0.5199774503707886, + 0.6049668788909912, + 0.4222458302974701 + ], + "joints": [ + -0.006364528089761734 + ] + }, + "final_grasp": { + "position": [ + 0.12617282569408417, + -0.022498972713947296, + 0.02299475483596325 + ], + "orientation": [ + 0.4305194914340973, + -0.5199774503707886, + 0.6049668788909912, + 0.4222458302974701 + ], + "joints": [ + -0.002591591328382492 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1325310468673706, + 0.002116226824000478, + 0.02402830496430397 + ], + "orientation": [ + 0.6023894548416138, + -0.3471028208732605, + 0.37139835953712463, + 0.6153939962387085 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.12692438066005707, + 0.002851726021617651, + 0.023226972669363022 + ], + "orientation": [ + 0.5962547063827515, + -0.3505761921405792, + 0.378480464220047, + 0.615084707736969 + ], + "joints": [ + -0.005971568636596203 + ] + }, + "final_grasp": { + "position": [ + 0.12692438066005707, + 0.002851726021617651, + 0.023226972669363022 + ], + "orientation": [ + 0.5962547063827515, + -0.3505761921405792, + 0.378480464220047, + 0.615084707736969 + ], + "joints": [ + 0.00043179653584957123 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05790227651596069, + 0.09824822098016739, + -0.019216496497392654 + ], + "orientation": [ + 0.1455281674861908, + 0.9575696587562561, + -0.2451951950788498, + 0.04196866974234581 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.05825740471482277, + 0.09952110797166824, + -0.019216151908040047 + ], + "orientation": [ + 0.1520027220249176, + 0.9583427906036377, + -0.23554080724716187, + 0.05472485348582268 + ], + "joints": [ + -0.0040608858689665794 + ] + }, + "final_grasp": { + "position": [ + 0.05825740471482277, + 0.09952110797166824, + -0.019216151908040047 + ], + "orientation": [ + 0.1520027220249176, + 0.9583427906036377, + -0.23554080724716187, + 0.05472485348582268 + ], + "joints": [ + 0.0012796800583600998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008757245959714055, + 0.06874014437198639, + 0.1442941129207611 + ], + "orientation": [ + 0.4696214497089386, + -0.8809224367141724, + -0.03161177784204483, + 0.049315907061100006 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0012997727608308196, + 0.06608662754297256, + 0.139815092086792 + ], + "orientation": [ + 0.4664651155471802, + -0.8813991546630859, + -0.042222294956445694, + 0.06134479492902756 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + -0.0012997727608308196, + 0.06608662754297256, + 0.139815092086792 + ], + "orientation": [ + 0.4664651155471802, + -0.8813991546630859, + -0.042222294956445694, + 0.06134479492902756 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012866286560893059, + 0.034523043781518936, + -0.09627118706703186 + ], + "orientation": [ + 0.04407723620533943, + -0.02624957449734211, + 0.5551761984825134, + 0.8301491737365723 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.014038627035915852, + 0.03627965226769447, + -0.097406767308712 + ], + "orientation": [ + 0.053107768297195435, + -0.023686645552515984, + 0.5596199631690979, + 0.8267066478729248 + ], + "joints": [ + -0.004087455570697784 + ] + }, + "final_grasp": { + "position": [ + 0.014038627035915852, + 0.03627965226769447, + -0.097406767308712 + ], + "orientation": [ + 0.053107768297195435, + -0.023686645552515984, + 0.5596199631690979, + 0.8267066478729248 + ], + "joints": [ + 0.0012265406548976898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024459050968289375, + 0.01688782125711441, + 0.1526876986026764 + ], + "orientation": [ + 0.4627564549446106, + -0.601570725440979, + 0.46764329075813293, + -0.4530772268772125 + ], + "joints": [ + 0.0008148928172886372 + ] + }, + "fine_grasp": { + "position": [ + 0.02453245408833027, + 0.01644321344792843, + 0.1510276347398758 + ], + "orientation": [ + 0.470490962266922, + -0.5976842641830444, + 0.4625467360019684, + -0.45548006892204285 + ], + "joints": [ + 0.007218257989734411 + ] + }, + "final_grasp": { + "position": [ + 0.02453245408833027, + 0.01644321344792843, + 0.1510276347398758 + ], + "orientation": [ + 0.470490962266922, + -0.5976842641830444, + 0.4625467360019684, + -0.45548006892204285 + ], + "joints": [ + 0.013621622696518898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13102377951145172, + -0.025023827329277992, + 0.024228844791650772 + ], + "orientation": [ + 0.4337269365787506, + -0.5227510929107666, + 0.5927823781967163, + 0.43269068002700806 + ], + "joints": [ + -0.010667391121387482 + ] + }, + "fine_grasp": { + "position": [ + 0.12618160247802734, + -0.022641265764832497, + 0.02306179143488407 + ], + "orientation": [ + 0.43029361963272095, + -0.5200613141059875, + 0.6057273149490356, + 0.4212813377380371 + ], + "joints": [ + -0.006363054737448692 + ] + }, + "final_grasp": { + "position": [ + 0.12618160247802734, + -0.022641265764832497, + 0.02306179143488407 + ], + "orientation": [ + 0.43029361963272095, + -0.5200613141059875, + 0.6057273149490356, + 0.4212813377380371 + ], + "joints": [ + -0.002058718353509903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12386459857225418, + -0.014942370355129242, + 0.04722351208329201 + ], + "orientation": [ + 0.48061203956604004, + -0.568073034286499, + -0.5981948971748352, + -0.2974357008934021 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.126678004860878, + -0.016454044729471207, + 0.04898899421095848 + ], + "orientation": [ + 0.48648491501808167, + -0.5685768723487854, + -0.5881397128105164, + -0.30682989954948425 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + -0.126678004860878, + -0.016454044729471207, + 0.04898899421095848 + ], + "orientation": [ + 0.48648491501808167, + -0.5685768723487854, + -0.5881397128105164, + -0.30682989954948425 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12001405656337738, + -0.025321360677480698, + 0.03662363812327385 + ], + "orientation": [ + 0.6575186848640442, + -0.36918094754219055, + 0.4348723292350769, + 0.4921998977661133 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.11711908876895905, + -0.026858411729335785, + 0.03880224749445915 + ], + "orientation": [ + 0.6619164347648621, + -0.37680506706237793, + 0.43119382858276367, + 0.48369041085243225 + ], + "joints": [ + -0.007034367881715298 + ] + }, + "final_grasp": { + "position": [ + 0.11711908876895905, + -0.026858411729335785, + 0.03880224749445915 + ], + "orientation": [ + 0.6619164347648621, + -0.37680506706237793, + 0.43119382858276367, + 0.48369041085243225 + ], + "joints": [ + -0.0016938019543886185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002277120016515255, + 0.0026181486900895834, + 0.1649734079837799 + ], + "orientation": [ + 0.4507324695587158, + -0.49553513526916504, + -0.5326865911483765, + 0.5172330737113953 + ], + "joints": [ + 0.001962105045095086 + ] + }, + "fine_grasp": { + "position": [ + 0.002483955817297101, + 0.002803947078064084, + 0.16339395940303802 + ], + "orientation": [ + 0.45090845227241516, + -0.4912581145763397, + -0.5326926112174988, + 0.5211386680603027 + ], + "joints": [ + 0.008365471847355366 + ] + }, + "final_grasp": { + "position": [ + 0.002483955817297101, + 0.002803947078064084, + 0.16339395940303802 + ], + "orientation": [ + 0.45090845227241516, + -0.4912581145763397, + -0.5326926112174988, + 0.5211386680603027 + ], + "joints": [ + 0.014768838882446289 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013247811235487461, + 0.034407030791044235, + -0.09621916711330414 + ], + "orientation": [ + 0.044518228620290756, + -0.028116943314671516, + 0.5554056167602539, + 0.8299109935760498 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.014487740583717823, + 0.03625629469752312, + -0.09737573564052582 + ], + "orientation": [ + 0.054322972893714905, + -0.024913474917411804, + 0.5600067973136902, + 0.8263297080993652 + ], + "joints": [ + -0.004087455570697784 + ] + }, + "final_grasp": { + "position": [ + 0.014487740583717823, + 0.03625629469752312, + -0.09737573564052582 + ], + "orientation": [ + 0.054322972893714905, + -0.024913474917411804, + 0.5600067973136902, + 0.8263297080993652 + ], + "joints": [ + 0.0012265406548976898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004249512683600187, + 0.0977126806974411, + -0.04113776236772537 + ], + "orientation": [ + 0.21855904161930084, + 0.7089775204658508, + -0.2087588906288147, + -0.6371833086013794 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.006122528109699488, + 0.09776537865400314, + -0.0409216433763504 + ], + "orientation": [ + 0.22122080624103546, + 0.7229701280593872, + -0.2056635618209839, + -0.6213518381118774 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.006122528109699488, + 0.09776537865400314, + -0.0409216433763504 + ], + "orientation": [ + 0.22122080624103546, + 0.7229701280593872, + -0.2056635618209839, + -0.6213518381118774 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024662571027874947, + -0.09958071261644363, + 0.09147057682275772 + ], + "orientation": [ + 0.7320767045021057, + -0.2537147104740143, + 0.6185888648033142, + -0.1305391490459442 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.027030909433960915, + -0.10120858252048492, + 0.0895431786775589 + ], + "orientation": [ + 0.7344574928283691, + -0.24169757962226868, + 0.621626079082489, + -0.12544111907482147 + ], + "joints": [ + -0.003641432151198387 + ] + }, + "final_grasp": { + "position": [ + 0.027030909433960915, + -0.10120858252048492, + 0.0895431786775589 + ], + "orientation": [ + 0.7344574928283691, + -0.24169757962226868, + 0.621626079082489, + -0.12544111907482147 + ], + "joints": [ + 0.0032667629420757294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004313702695071697, + 0.09769939631223679, + -0.04114821180701256 + ], + "orientation": [ + 0.2184227555990219, + 0.7090020775794983, + -0.2090076506137848, + -0.6371211409568787 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.006021206732839346, + 0.09775515645742416, + -0.04093729704618454 + ], + "orientation": [ + 0.22126665711402893, + 0.7227928638458252, + -0.20583175122737885, + -0.6214861273765564 + ], + "joints": [ + -0.004175703041255474 + ] + }, + "final_grasp": { + "position": [ + 0.006021206732839346, + 0.09775515645742416, + -0.04093729704618454 + ], + "orientation": [ + 0.22126665711402893, + 0.7227928638458252, + -0.20583175122737885, + -0.6214861273765564 + ], + "joints": [ + 0.0022276621311903 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023551184684038162, + 0.1169574037194252, + 0.011163567192852497 + ], + "orientation": [ + 0.00023274804698303342, + -0.6475855112075806, + -0.08084562420845032, + -0.7576919198036194 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.023726552724838257, + 0.11863967776298523, + 0.009384484961628914 + ], + "orientation": [ + 0.0013985668774694204, + -0.6408270597457886, + -0.08252520114183426, + -0.7632354497909546 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.023726552724838257, + 0.11863967776298523, + 0.009384484961628914 + ], + "orientation": [ + 0.0013985668774694204, + -0.6408270597457886, + -0.08252520114183426, + -0.7632354497909546 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12301340699195862, + 0.00959304440766573, + 0.019420212134718895 + ], + "orientation": [ + 0.6753023862838745, + 0.08305320143699646, + -0.054582998156547546, + -0.7308142185211182 + ], + "joints": [ + 0.0011330569395795465 + ] + }, + "fine_grasp": { + "position": [ + -0.11846718937158585, + 0.009080608375370502, + 0.019247043877840042 + ], + "orientation": [ + 0.6776394844055176, + 0.07590415328741074, + -0.04458443820476532, + -0.7301064729690552 + ], + "joints": [ + 0.007509852759540081 + ] + }, + "final_grasp": { + "position": [ + -0.11846718937158585, + 0.009080608375370502, + 0.019247043877840042 + ], + "orientation": [ + 0.6776394844055176, + 0.07590415328741074, + -0.04458443820476532, + -0.7301064729690552 + ], + "joints": [ + 0.01388664823025465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11655408143997192, + -0.01670246198773384, + 0.07234900444746017 + ], + "orientation": [ + 0.17432408034801483, + -0.6573407053947449, + 0.7328031659126282, + -0.022664537653326988 + ], + "joints": [ + 0.0005655409768223763 + ] + }, + "fine_grasp": { + "position": [ + 0.11603584885597229, + -0.015040695667266846, + 0.07297136634588242 + ], + "orientation": [ + 0.1798461377620697, + -0.6633269190788269, + 0.7261880040168762, + -0.017427971586585045 + ], + "joints": [ + 0.006968906614929438 + ] + }, + "final_grasp": { + "position": [ + 0.11603584885597229, + -0.015040695667266846, + 0.07297136634588242 + ], + "orientation": [ + 0.1798461377620697, + -0.6633269190788269, + 0.7261880040168762, + -0.017427971586585045 + ], + "joints": [ + 0.013372272253036499 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03527933731675148, + 0.11271945387125015, + -0.027147958055138588 + ], + "orientation": [ + 0.11996007710695267, + -0.1066051796078682, + 0.17453119158744812, + 0.9714853763580322 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.03486794978380203, + 0.10902132093906403, + -0.026020212098956108 + ], + "orientation": [ + 0.12029226124286652, + -0.09669221192598343, + 0.17466209828853607, + 0.9724575281143188 + ], + "joints": [ + -0.003700314089655876 + ] + }, + "final_grasp": { + "position": [ + 0.03486794978380203, + 0.10902132093906403, + -0.026020212098956108 + ], + "orientation": [ + 0.12029226124286652, + -0.09669221192598343, + 0.17466209828853607, + 0.9724575281143188 + ], + "joints": [ + 0.0032078810036182404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07575621455907822, + 0.0007766584167256951, + -0.07601036131381989 + ], + "orientation": [ + 0.3293496370315552, + 0.6259096264839172, + 0.6219502091407776, + 0.3360709846019745 + ], + "joints": [ + 0.00042232070700265467 + ] + }, + "fine_grasp": { + "position": [ + -0.07232224941253662, + 0.0004566585994325578, + -0.0724717304110527 + ], + "orientation": [ + 0.3215944766998291, + 0.6312751770019531, + 0.62300044298172, + 0.3315706253051758 + ], + "joints": [ + 0.006267717108130455 + ] + }, + "final_grasp": { + "position": [ + -0.07232224941253662, + 0.0004566585994325578, + -0.0724717304110527 + ], + "orientation": [ + 0.3215944766998291, + 0.6312751770019531, + 0.62300044298172, + 0.3315706253051758 + ], + "joints": [ + 0.012113113887608051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008232264779508114, + -0.016740769147872925, + 0.16468946635723114 + ], + "orientation": [ + 0.19763237237930298, + -0.1130850613117218, + 0.694577157497406, + -0.6824336647987366 + ], + "joints": [ + -0.007693908642977476 + ] + }, + "fine_grasp": { + "position": [ + -0.010163242928683758, + -0.014808940701186657, + 0.16005147993564606 + ], + "orientation": [ + 0.19604574143886566, + -0.1131378710269928, + 0.7056609988212585, + -0.6714228391647339 + ], + "joints": [ + -0.003920971881598234 + ] + }, + "final_grasp": { + "position": [ + -0.010163242928683758, + -0.014808940701186657, + 0.16005147993564606 + ], + "orientation": [ + 0.19604574143886566, + -0.1131378710269928, + 0.7056609988212585, + -0.6714228391647339 + ], + "joints": [ + -0.00014803512021899223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12813004851341248, + 0.007580687291920185, + 0.02987760491669178 + ], + "orientation": [ + 0.03923221677541733, + 0.7258694171905518, + -0.6865444183349609, + 0.01520092785358429 + ], + "joints": [ + 0.0006216481560841203 + ] + }, + "fine_grasp": { + "position": [ + 0.12269403785467148, + 0.00751268258318305, + 0.029362084344029427 + ], + "orientation": [ + 0.035266537219285965, + 0.7308051586151123, + -0.681170642375946, + 0.026204001158475876 + ], + "joints": [ + 0.00593564473092556 + ] + }, + "final_grasp": { + "position": [ + 0.12269403785467148, + 0.00751268258318305, + 0.029362084344029427 + ], + "orientation": [ + 0.035266537219285965, + 0.7308051586151123, + -0.681170642375946, + 0.026204001158475876 + ], + "joints": [ + 0.011249640956521034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01097211055457592, + -0.016140976920723915, + 0.16158470511436462 + ], + "orientation": [ + 0.14914268255233765, + -0.08397100865840912, + 0.7558278441429138, + -0.6320044994354248 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.010283907875418663, + -0.016695374622941017, + 0.15963709354400635 + ], + "orientation": [ + 0.14700952172279358, + -0.0859171524643898, + 0.7513482570648193, + -0.6375595331192017 + ], + "joints": [ + -0.0052679432556033134 + ] + }, + "final_grasp": { + "position": [ + -0.010283907875418663, + -0.016695374622941017, + 0.15963709354400635 + ], + "orientation": [ + 0.14700952172279358, + -0.0859171524643898, + 0.7513482570648193, + -0.6375595331192017 + ], + "joints": [ + 7.262267172336578e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038664232939481735, + -0.08814459294080734, + 0.11490476876497269 + ], + "orientation": [ + 0.9294323921203613, + -0.33292868733406067, + -0.04714067280292511, + -0.1519594043493271 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0388655886054039, + -0.08606347441673279, + 0.11315739154815674 + ], + "orientation": [ + 0.9278468489646912, + -0.3365773856639862, + -0.048073649406433105, + -0.15331315994262695 + ], + "joints": [ + -0.0019618570804595947 + ] + }, + "final_grasp": { + "position": [ + -0.0388655886054039, + -0.08606347441673279, + 0.11315739154815674 + ], + "orientation": [ + 0.9278468489646912, + -0.3365773856639862, + -0.048073649406433105, + -0.15331315994262695 + ], + "joints": [ + 0.005477737635374069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0056822896003723145, + 0.08926133811473846, + 0.11161547899246216 + ], + "orientation": [ + 0.0034156194888055325, + -0.07337082177400589, + 0.3243359625339508, + -0.9430859684944153 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + 0.006326488219201565, + 0.08901352435350418, + 0.11102059483528137 + ], + "orientation": [ + 0.005237932316958904, + -0.08996271342039108, + 0.3222283720970154, + -0.9423631429672241 + ], + "joints": [ + -0.0029141083359718323 + ] + }, + "final_grasp": { + "position": [ + 0.006326488219201565, + 0.08901352435350418, + 0.11102059483528137 + ], + "orientation": [ + 0.005237932316958904, + -0.08996271342039108, + 0.3222283720970154, + -0.9423631429672241 + ], + "joints": [ + 0.0029844269156455994 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13216528296470642, + -0.013867342844605446, + 0.01617186889052391 + ], + "orientation": [ + 0.6228198409080505, + 0.41897889971733093, + 0.35431966185569763, + -0.557682454586029 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + -0.12686358392238617, + -0.012263286858797073, + 0.014329534955322742 + ], + "orientation": [ + 0.6282246708869934, + 0.4133729338645935, + 0.3614690601825714, + -0.5511776208877563 + ], + "joints": [ + -0.005744805559515953 + ] + }, + "final_grasp": { + "position": [ + -0.12686358392238617, + -0.012263286858797073, + 0.014329534955322742 + ], + "orientation": [ + 0.6282246708869934, + 0.4133729338645935, + 0.3614690601825714, + -0.5511776208877563 + ], + "joints": [ + -0.0014404691755771637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03753454610705376, + -0.10559876263141632, + 0.08576983958482742 + ], + "orientation": [ + 0.9662203192710876, + -0.20457525551319122, + 0.054126184433698654, + 0.14709727466106415 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.038252055644989014, + -0.10500898212194443, + 0.08609969168901443 + ], + "orientation": [ + 0.9650731682777405, + -0.20896434783935547, + 0.06629439443349838, + 0.14343254268169403 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + 0.038252055644989014, + -0.10500898212194443, + 0.08609969168901443 + ], + "orientation": [ + 0.9650731682777405, + -0.20896434783935547, + 0.06629439443349838, + 0.14343254268169403 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0386483259499073, + -0.08840477466583252, + 0.11510487645864487 + ], + "orientation": [ + 0.9297307133674622, + -0.33221614360809326, + -0.04690619930624962, + -0.15176686644554138 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.03875148296356201, + -0.08620966970920563, + 0.11311895400285721 + ], + "orientation": [ + 0.9278172254562378, + -0.3369691073894501, + -0.048277586698532104, + -0.15256573259830475 + ], + "joints": [ + -0.0019912980496883392 + ] + }, + "final_grasp": { + "position": [ + -0.03875148296356201, + -0.08620966970920563, + 0.11311895400285721 + ], + "orientation": [ + 0.9278172254562378, + -0.3369691073894501, + -0.048277586698532104, + -0.15256573259830475 + ], + "joints": [ + 0.005448296666145325 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1293056756258011, + 0.02369736135005951, + 0.01000098418444395 + ], + "orientation": [ + 0.5188743472099304, + 0.5305989980697632, + -0.40140849351882935, + 0.536754310131073 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.12575696408748627, + 0.02311011403799057, + 0.008399905636906624 + ], + "orientation": [ + 0.5219181776046753, + 0.533136785030365, + -0.4018779397010803, + 0.5309056639671326 + ], + "joints": [ + -0.0076777134090662 + ] + }, + "final_grasp": { + "position": [ + 0.12575696408748627, + 0.02311011403799057, + 0.008399905636906624 + ], + "orientation": [ + 0.5219181776046753, + 0.533136785030365, + -0.4018779397010803, + 0.5309056639671326 + ], + "joints": [ + -0.0018323175609111786 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03736557811498642, + -0.10540644079446793, + 0.08589116483926773 + ], + "orientation": [ + 0.96602463722229, + -0.20599567890167236, + 0.05343453586101532, + 0.14665240049362183 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.03812001273036003, + -0.10492678731679916, + 0.08622719347476959 + ], + "orientation": [ + 0.9649075865745544, + -0.21014364063739777, + 0.06628873199224472, + 0.1428249478340149 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + 0.03812001273036003, + -0.10492678731679916, + 0.08622719347476959 + ], + "orientation": [ + 0.9649075865745544, + -0.21014364063739777, + 0.06628873199224472, + 0.1428249478340149 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034885190427303314, + -0.11499786376953125, + 0.033579420298337936 + ], + "orientation": [ + 0.6431338787078857, + 0.05977002531290054, + 0.7591416239738464, + -0.08068647980690002 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.03481627628207207, + -0.11559532582759857, + 0.036153361201286316 + ], + "orientation": [ + 0.6395543217658997, + 0.0553925484418869, + 0.7623049020767212, + -0.08242064714431763 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + -0.03481627628207207, + -0.11559532582759857, + 0.036153361201286316 + ], + "orientation": [ + 0.6395543217658997, + 0.0553925484418869, + 0.7623049020767212, + -0.08242064714431763 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03677583858370781, + 0.010903464630246162, + 0.15132084488868713 + ], + "orientation": [ + 0.5425448417663574, + -0.44775065779685974, + -0.40112900733947754, + 0.5867367386817932 + ], + "joints": [ + 0.0019962668884545565 + ] + }, + "fine_grasp": { + "position": [ + 0.038314566016197205, + 0.00998755544424057, + 0.15268248319625854 + ], + "orientation": [ + 0.5382334589958191, + -0.4456194043159485, + -0.41277340054512024, + 0.5842486023902893 + ], + "joints": [ + 0.008373063057661057 + ] + }, + "final_grasp": { + "position": [ + 0.038314566016197205, + 0.00998755544424057, + 0.15268248319625854 + ], + "orientation": [ + 0.5382334589958191, + -0.4456194043159485, + -0.41277340054512024, + 0.5842486023902893 + ], + "joints": [ + 0.0147498594596982 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.126889169216156, + 0.003344377502799034, + 0.05518684908747673 + ], + "orientation": [ + 0.48433804512023926, + -0.6100426912307739, + 0.4442536532878876, + 0.44260960817337036 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.12424660474061966, + 0.0042999302968382835, + 0.05581331625580788 + ], + "orientation": [ + 0.4915327727794647, + -0.6074919700622559, + 0.43894246220588684, + 0.4434845447540283 + ], + "joints": [ + -0.007509756833314896 + ] + }, + "final_grasp": { + "position": [ + 0.12424660474061966, + 0.0042999302968382835, + 0.05581331625580788 + ], + "orientation": [ + 0.4915327727794647, + -0.6074919700622559, + 0.43894246220588684, + 0.4434845447540283 + ], + "joints": [ + -0.002674020826816559 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11063196510076523, + 0.002799198031425476, + -0.04381384700536728 + ], + "orientation": [ + 0.6701640486717224, + 0.18457140028476715, + 0.20550663769245148, + 0.6888981461524963 + ], + "joints": [ + 0.00150856445543468 + ] + }, + "fine_grasp": { + "position": [ + 0.10694605112075806, + 0.002932874020189047, + -0.041687481105327606 + ], + "orientation": [ + 0.670608401298523, + 0.1840384602546692, + 0.20411734282970428, + 0.6890211701393127 + ], + "joints": [ + 0.006875700317323208 + ] + }, + "final_grasp": { + "position": [ + 0.10694605112075806, + 0.002932874020189047, + -0.041687481105327606 + ], + "orientation": [ + 0.670608401298523, + 0.1840384602546692, + 0.20411734282970428, + 0.6890211701393127 + ], + "joints": [ + 0.012242835946381092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10365863144397736, + -0.0201273113489151, + 0.10402392596006393 + ], + "orientation": [ + 0.2735806703567505, + -0.6338419914245605, + 0.7104659676551819, + -0.13651438057422638 + ], + "joints": [ + 0.0013303779996931553 + ] + }, + "fine_grasp": { + "position": [ + 0.09943483024835587, + -0.018855268135666847, + 0.10300227999687195 + ], + "orientation": [ + 0.2721099555492401, + -0.6420257687568665, + 0.7066093683242798, + -0.12025908380746841 + ], + "joints": [ + 0.007202343549579382 + ] + }, + "final_grasp": { + "position": [ + 0.09943483024835587, + -0.018855268135666847, + 0.10300227999687195 + ], + "orientation": [ + 0.2721099555492401, + -0.6420257687568665, + 0.7066093683242798, + -0.12025908380746841 + ], + "joints": [ + 0.013074308633804321 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01095968671143055, + -0.01621648669242859, + 0.16149036586284637 + ], + "orientation": [ + 0.1493399739265442, + -0.08413103967905045, + 0.755936324596405, + -0.6318068504333496 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.010274066589772701, + -0.016787325963377953, + 0.1594589799642563 + ], + "orientation": [ + 0.14714431762695312, + -0.08610950410366058, + 0.7510940432548523, + -0.6378020644187927 + ], + "joints": [ + -0.0052679432556033134 + ] + }, + "final_grasp": { + "position": [ + -0.010274066589772701, + -0.016787325963377953, + 0.1594589799642563 + ], + "orientation": [ + 0.14714431762695312, + -0.08610950410366058, + 0.7510940432548523, + -0.6378020644187927 + ], + "joints": [ + 7.262267172336578e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05345477908849716, + 0.1052170917391777, + 0.05542390048503876 + ], + "orientation": [ + 0.21852509677410126, + 0.08813804388046265, + 0.08131638169288635, + -0.9684348702430725 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.05339568108320236, + 0.10618852078914642, + 0.055937908589839935 + ], + "orientation": [ + 0.21019677817821503, + 0.08987775444984436, + 0.08295240253210068, + -0.9699784517288208 + ], + "joints": [ + -0.004649694077670574 + ] + }, + "final_grasp": { + "position": [ + -0.05339568108320236, + 0.10618852078914642, + 0.055937908589839935 + ], + "orientation": [ + 0.21019677817821503, + 0.08987775444984436, + 0.08295240253210068, + -0.9699784517288208 + ], + "joints": [ + 0.000690871849656105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05352780967950821, + 0.10508197546005249, + 0.0554514117538929 + ], + "orientation": [ + 0.21907280385494232, + 0.08756981790065765, + 0.08144122362136841, + -0.9683521389961243 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.05370289459824562, + 0.10594750940799713, + 0.05596301332116127 + ], + "orientation": [ + 0.21136920154094696, + 0.09106042981147766, + 0.08322928845882416, + -0.9695895910263062 + ], + "joints": [ + -0.004649694077670574 + ] + }, + "final_grasp": { + "position": [ + -0.05370289459824562, + 0.10594750940799713, + 0.05596301332116127 + ], + "orientation": [ + 0.21136920154094696, + 0.09106042981147766, + 0.08322928845882416, + -0.9695895910263062 + ], + "joints": [ + 0.000690871849656105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012924076989293098, + 0.11895129829645157, + 0.0032567493617534637 + ], + "orientation": [ + 0.04305059835314751, + 0.6302246451377869, + -0.08915545046329498, + -0.7700745463371277 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.015136033296585083, + 0.12000394612550735, + 0.0020034387707710266 + ], + "orientation": [ + 0.051911648362874985, + 0.6315915584564209, + -0.08752886205911636, + -0.7685934901237488 + ], + "joints": [ + -0.005410728044807911 + ] + }, + "final_grasp": { + "position": [ + 0.015136033296585083, + 0.12000394612550735, + 0.0020034387707710266 + ], + "orientation": [ + 0.051911648362874985, + 0.6315915584564209, + -0.08752886205911636, + -0.7685934901237488 + ], + "joints": [ + 0.0015240367501974106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0281008780002594, + -0.11567626893520355, + 0.03235457092523575 + ], + "orientation": [ + 0.08273722976446152, + 0.11637784540653229, + -0.98930424451828, + -0.029794828966259956 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.028685394674539566, + -0.11606569588184357, + 0.032421696931123734 + ], + "orientation": [ + 0.09598991274833679, + 0.11114265024662018, + -0.9888495206832886, + -0.024697428569197655 + ], + "joints": [ + -0.0040608858689665794 + ] + }, + "final_grasp": { + "position": [ + 0.028685394674539566, + -0.11606569588184357, + 0.032421696931123734 + ], + "orientation": [ + 0.09598991274833679, + 0.11114265024662018, + -0.9888495206832886, + -0.024697428569197655 + ], + "joints": [ + 0.0012796800583600998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002772506093606353, + 0.11808332800865173, + 0.060189079493284225 + ], + "orientation": [ + 0.0064138188026845455, + 0.04879056289792061, + 0.08976846933364868, + -0.994746208190918 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.005945834796875715, + 0.11494532227516174, + 0.05865169316530228 + ], + "orientation": [ + 0.014791577123105526, + 0.05481388419866562, + 0.08497696369886398, + -0.9947640895843506 + ], + "joints": [ + -0.0035854969173669815 + ] + }, + "final_grasp": { + "position": [ + -0.005945834796875715, + 0.11494532227516174, + 0.05865169316530228 + ], + "orientation": [ + 0.014791577123105526, + 0.05481388419866562, + 0.08497696369886398, + -0.9947640895843506 + ], + "joints": [ + 0.00225989893078804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023490065708756447, + -0.11705078184604645, + 0.023873304948210716 + ], + "orientation": [ + 0.6852887868881226, + 0.08910799026489258, + 0.7199290990829468, + -0.06435156613588333 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.022841617465019226, + -0.11576957255601883, + 0.022957181558012962 + ], + "orientation": [ + 0.6792410016059875, + 0.0944119244813919, + 0.7247798442840576, + -0.06642502546310425 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.022841617465019226, + -0.11576957255601883, + 0.022957181558012962 + ], + "orientation": [ + 0.6792410016059875, + 0.0944119244813919, + 0.7247798442840576, + -0.06642502546310425 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13003599643707275, + 0.011258716695010662, + 0.04294140264391899 + ], + "orientation": [ + 0.41322576999664307, + 0.5243344902992249, + -0.5184757113456726, + 0.5343227386474609 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.12755544483661652, + 0.010784490033984184, + 0.04386557638645172 + ], + "orientation": [ + 0.40745022892951965, + 0.5274094939231873, + -0.5183093547821045, + 0.5358908176422119 + ], + "joints": [ + -0.007146313786506653 + ] + }, + "final_grasp": { + "position": [ + 0.12755544483661652, + 0.010784490033984184, + 0.04386557638645172 + ], + "orientation": [ + 0.40745022892951965, + 0.5274094939231873, + -0.5183093547821045, + 0.5358908176422119 + ], + "joints": [ + -0.0007695183157920837 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09864196926355362, + 0.07306075841188431, + 0.011824199929833412 + ], + "orientation": [ + 0.2958180904388428, + -0.5239459276199341, + 0.2725966274738312, + 0.750775158405304 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10046690702438354, + 0.0749468207359314, + 0.01307004690170288 + ], + "orientation": [ + 0.2968263030052185, + -0.5313172340393066, + 0.27942562103271484, + 0.7426422238349915 + ], + "joints": [ + -0.006500096991658211 + ] + }, + "final_grasp": { + "position": [ + 0.10046690702438354, + 0.0749468207359314, + 0.01307004690170288 + ], + "orientation": [ + 0.2968263030052185, + -0.5313172340393066, + 0.27942562103271484, + 0.7426422238349915 + ], + "joints": [ + -0.0006547011435031891 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0191838089376688, + -0.018515178933739662, + 0.16242794692516327 + ], + "orientation": [ + 0.025159435346722603, + 0.07646197080612183, + -0.6998318433761597, + 0.7097577452659607 + ], + "joints": [ + -0.00778223155066371 + ] + }, + "fine_grasp": { + "position": [ + 0.01871633529663086, + -0.01659484952688217, + 0.1571180671453476 + ], + "orientation": [ + 0.03618396818637848, + 0.07728611677885056, + -0.7029435038566589, + 0.7061077356338501 + ], + "joints": [ + -0.0034778951667249203 + ] + }, + "final_grasp": { + "position": [ + 0.01871633529663086, + -0.01659484952688217, + 0.1571180671453476 + ], + "orientation": [ + 0.03618396818637848, + 0.07728611677885056, + -0.7029435038566589, + 0.7061077356338501 + ], + "joints": [ + 0.0008264412172138691 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11290448158979416, + -0.04567928984761238, + -0.01876358687877655 + ], + "orientation": [ + 0.6320293545722961, + -0.15679624676704407, + 0.5340700745582581, + 0.5391873717308044 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.11385172605514526, + -0.04595601558685303, + -0.01938745379447937 + ], + "orientation": [ + 0.6210055351257324, + -0.1675025373697281, + 0.5471771955490112, + 0.53562331199646 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + 0.11385172605514526, + -0.04595601558685303, + -0.01938745379447937 + ], + "orientation": [ + 0.6210055351257324, + -0.1675025373697281, + 0.5471771955490112, + 0.53562331199646 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.050177186727523804, + 0.10944660007953644, + 0.005992041900753975 + ], + "orientation": [ + 0.0746803730726242, + -0.6277158856391907, + -0.16979728639125824, + -0.7560188174247742 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.0508272722363472, + 0.1109350249171257, + 0.003945893608033657 + ], + "orientation": [ + 0.07336188852787018, + -0.627292275428772, + -0.17275357246398926, + -0.7558298110961914 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.0508272722363472, + 0.1109350249171257, + 0.003945893608033657 + ], + "orientation": [ + 0.07336188852787018, + -0.627292275428772, + -0.17275357246398926, + -0.7558298110961914 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01639753021299839, + 0.08514654636383057, + -0.06274709850549698 + ], + "orientation": [ + 0.3554290533065796, + 0.932117223739624, + -0.061747997999191284, + 0.031858135014772415 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.019988978281617165, + 0.08732549846172333, + -0.06370101869106293 + ], + "orientation": [ + 0.35612595081329346, + 0.9309046268463135, + -0.07260803878307343, + 0.03631708025932312 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + 0.019988978281617165, + 0.08732549846172333, + -0.06370101869106293 + ], + "orientation": [ + 0.35612595081329346, + 0.9309046268463135, + -0.07260803878307343, + 0.03631708025932312 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07244949787855148, + 0.10048537701368332, + 0.009415541775524616 + ], + "orientation": [ + 0.19375427067279816, + 0.7853606343269348, + 0.1650795340538025, + -0.5642842650413513 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.07298295944929123, + 0.1017790138721466, + 0.009384913370013237 + ], + "orientation": [ + 0.20041613280773163, + 0.7724156975746155, + 0.17009977996349335, + -0.5781638622283936 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.07298295944929123, + 0.1017790138721466, + 0.009384913370013237 + ], + "orientation": [ + 0.20041613280773163, + 0.7724156975746155, + 0.17009977996349335, + -0.5781638622283936 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016696684062480927, + 0.08502457290887833, + -0.06276623904705048 + ], + "orientation": [ + 0.3559500277042389, + 0.9318304061889648, + -0.0631491169333458, + 0.031685758382081985 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.020264459773898125, + 0.08721380680799484, + -0.06374125927686691 + ], + "orientation": [ + 0.356484591960907, + 0.9306692481040955, + -0.07382246106863022, + 0.03638174384832382 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + 0.020264459773898125, + 0.08721380680799484, + -0.06374125927686691 + ], + "orientation": [ + 0.356484591960907, + 0.9306692481040955, + -0.07382246106863022, + 0.03638174384832382 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1127270832657814, + -0.04578843340277672, + -0.01872822269797325 + ], + "orientation": [ + 0.6318842172622681, + -0.15674270689487457, + 0.5348039865493774, + 0.538645327091217 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.11376211047172546, + -0.04610181227326393, + -0.019333118572831154 + ], + "orientation": [ + 0.6210007667541504, + -0.1679696887731552, + 0.5477874875068665, + 0.5348581075668335 + ], + "joints": [ + -0.004819048568606377 + ] + }, + "final_grasp": { + "position": [ + 0.11376211047172546, + -0.04610181227326393, + -0.019333118572831154 + ], + "orientation": [ + 0.6210007667541504, + -0.1679696887731552, + 0.5477874875068665, + 0.5348581075668335 + ], + "joints": [ + 0.00208914652466774 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0963568240404129, + -0.083936907351017, + 0.004479512106627226 + ], + "orientation": [ + 0.5255341529846191, + 0.36952972412109375, + -0.7565527558326721, + 0.1220233142375946 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.09413324296474457, + -0.08351679146289825, + 0.005183539818972349 + ], + "orientation": [ + 0.531770646572113, + 0.3648845851421356, + -0.7528794407844543, + 0.13134624063968658 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.09413324296474457, + -0.08351679146289825, + 0.005183539818972349 + ], + "orientation": [ + 0.531770646572113, + 0.3648845851421356, + -0.7528794407844543, + 0.13134624063968658 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1274208426475525, + 0.024488331750035286, + 0.012508734129369259 + ], + "orientation": [ + 0.3787374496459961, + 0.6599843502044678, + 0.4814434051513672, + -0.43496084213256836 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.12613433599472046, + 0.025465281680226326, + 0.01189008355140686 + ], + "orientation": [ + 0.3834109902381897, + 0.6575693488121033, + 0.4776556193828583, + -0.4386841654777527 + ], + "joints": [ + -0.006444086320698261 + ] + }, + "final_grasp": { + "position": [ + -0.12613433599472046, + 0.025465281680226326, + 0.01189008355140686 + ], + "orientation": [ + 0.3834109902381897, + 0.6575693488121033, + 0.4776556193828583, + -0.4386841654777527 + ], + "joints": [ + -0.0005721207708120346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11918482184410095, + -0.011249333620071411, + 0.01296516228467226 + ], + "orientation": [ + 0.5356020331382751, + 0.5140987038612366, + 0.5498435497283936, + -0.3827597498893738 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.12084763497114182, + -0.013388185761868954, + 0.010870805941522121 + ], + "orientation": [ + 0.5230592489242554, + 0.5277901291847229, + 0.5483933091163635, + -0.3835512101650238 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.12084763497114182, + -0.013388185761868954, + 0.010870805941522121 + ], + "orientation": [ + 0.5230592489242554, + 0.5277901291847229, + 0.5483933091163635, + -0.3835512101650238 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019313648343086243, + -0.017974888905882835, + 0.1622774302959442 + ], + "orientation": [ + 0.022441089153289795, + 0.07741022109985352, + -0.7060428857803345, + 0.7035676836967468 + ], + "joints": [ + -0.008900966495275497 + ] + }, + "fine_grasp": { + "position": [ + 0.018880300223827362, + -0.016669515520334244, + 0.15678240358829498 + ], + "orientation": [ + 0.037273772060871124, + 0.0769963413476944, + -0.7034221887588501, + 0.7056058645248413 + ], + "joints": [ + -0.0030290009453892708 + ] + }, + "final_grasp": { + "position": [ + 0.018880300223827362, + -0.016669515520334244, + 0.15678240358829498 + ], + "orientation": [ + 0.037273772060871124, + 0.0769963413476944, + -0.7034221887588501, + 0.7056058645248413 + ], + "joints": [ + 0.002842964604496956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11578740179538727, + 0.04060859978199005, + 0.040297698229551315 + ], + "orientation": [ + 0.344752699136734, + 0.5736202597618103, + 0.4116646349430084, + -0.6185770034790039 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.11903726309537888, + 0.04294271767139435, + 0.04088961333036423 + ], + "orientation": [ + 0.3458435535430908, + 0.5735539197921753, + 0.4217067360877991, + -0.6112214922904968 + ], + "joints": [ + -0.006304172798991203 + ] + }, + "final_grasp": { + "position": [ + -0.11903726309537888, + 0.04294271767139435, + 0.04088961333036423 + ], + "orientation": [ + 0.3458435535430908, + 0.5735539197921753, + 0.4217067360877991, + -0.6112214922904968 + ], + "joints": [ + -0.001999836415052414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12754139304161072, + -0.03452782332897186, + 0.042969267815351486 + ], + "orientation": [ + 0.43534138798713684, + 0.4582405090332031, + -0.6828795671463013, + 0.3662908971309662 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.12292839586734772, + -0.034289710223674774, + 0.042938604950904846 + ], + "orientation": [ + 0.43320411443710327, + 0.46147412061691284, + -0.6781539916992188, + 0.37347421050071716 + ], + "joints": [ + -0.008211983367800713 + ] + }, + "final_grasp": { + "position": [ + 0.12292839586734772, + -0.034289710223674774, + 0.042938604950904846 + ], + "orientation": [ + 0.43320411443710327, + 0.46147412061691284, + -0.6781539916992188, + 0.37347421050071716 + ], + "joints": [ + -0.0028714165091514587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013799924403429031, + 0.11754712462425232, + 0.013374613597989082 + ], + "orientation": [ + 0.025431208312511444, + 0.6301255822181702, + 0.04374867305159569, + 0.7748425602912903 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.013778988271951675, + 0.11822427064180374, + 0.01183357648551464 + ], + "orientation": [ + 0.02635861560702324, + 0.6307147741317749, + 0.042626988142728806, + 0.7743946313858032 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.013778988271951675, + 0.11822427064180374, + 0.01183357648551464 + ], + "orientation": [ + 0.02635861560702324, + 0.6307147741317749, + 0.042626988142728806, + 0.7743946313858032 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.051370736211538315, + -0.10490875691175461, + 0.06814240664243698 + ], + "orientation": [ + 0.9581477642059326, + -0.08919720351696014, + 0.12774178385734558, + -0.24016420543193817 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.050350796431303024, + -0.10388250648975372, + 0.06723399460315704 + ], + "orientation": [ + 0.9589074850082397, + -0.0899437963962555, + 0.12567812204360962, + -0.23793230950832367 + ], + "joints": [ + -0.0018778785597532988 + ] + }, + "final_grasp": { + "position": [ + -0.050350796431303024, + -0.10388250648975372, + 0.06723399460315704 + ], + "orientation": [ + 0.9589074850082397, + -0.0899437963962555, + 0.12567812204360962, + -0.23793230950832367 + ], + "joints": [ + 0.005056886468082666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.033413127064704895, + -0.1165400967001915, + 0.012367093935608864 + ], + "orientation": [ + 0.7272112965583801, + 0.13745683431625366, + 0.6700278520584106, + -0.05772501230239868 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.032897934317588806, + -0.11700749397277832, + 0.010242207907140255 + ], + "orientation": [ + 0.7453023791313171, + 0.1384580135345459, + 0.6500129699707031, + -0.05326235294342041 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.032897934317588806, + -0.11700749397277832, + 0.010242207907140255 + ], + "orientation": [ + 0.7453023791313171, + 0.1384580135345459, + 0.6500129699707031, + -0.05326235294342041 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12747110426425934, + -0.034706149250268936, + 0.0429251603782177 + ], + "orientation": [ + 0.4355361759662628, + 0.4581448435783386, + -0.6826841831207275, + 0.36654308438301086 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.12299127131700516, + -0.034440867602825165, + 0.04281894490122795 + ], + "orientation": [ + 0.43284404277801514, + 0.46186134219169617, + -0.6784911751747131, + 0.3728000819683075 + ], + "joints": [ + -0.008211983367800713 + ] + }, + "final_grasp": { + "position": [ + 0.12299127131700516, + -0.034440867602825165, + 0.04281894490122795 + ], + "orientation": [ + 0.43284404277801514, + 0.46186134219169617, + -0.6784911751747131, + 0.3728000819683075 + ], + "joints": [ + -0.0028714165091514587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005463767796754837, + -0.10242484509944916, + -0.033794090151786804 + ], + "orientation": [ + 0.7573164701461792, + 0.17151279747486115, + 0.5968108773231506, + 0.20216816663742065 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0015735903289169073, + -0.10224413126707077, + -0.031181372702121735 + ], + "orientation": [ + 0.7563135623931885, + 0.15394951403141022, + 0.6041448712348938, + 0.19823801517486572 + ], + "joints": [ + -0.005322480574250221 + ] + }, + "final_grasp": { + "position": [ + 0.0015735903289169073, + -0.10224413126707077, + -0.031181372702121735 + ], + "orientation": [ + 0.7563135623931885, + 0.15394951403141022, + 0.6041448712348938, + 0.19823801517486572 + ], + "joints": [ + 0.0005229152739048004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02889607474207878, + 0.11799640208482742, + 0.05299181863665581 + ], + "orientation": [ + 0.1250031292438507, + -0.061531320214271545, + 0.0668838769197464, + -0.9879851341247559 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.029210757464170456, + 0.11802508682012558, + 0.05314746871590614 + ], + "orientation": [ + 0.1273297220468521, + -0.06283454596996307, + 0.06816185265779495, + -0.9875186085700989 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.029210757464170456, + 0.11802508682012558, + 0.05314746871590614 + ], + "orientation": [ + 0.1273297220468521, + -0.06283454596996307, + 0.06816185265779495, + -0.9875186085700989 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05610387772321701, + -0.01907562091946602, + -0.07367271929979324 + ], + "orientation": [ + 0.7040189504623413, + 0.4501175284385681, + -0.27739769220352173, + -0.47413307428359985 + ], + "joints": [ + -0.0027035365346819162 + ] + }, + "fine_grasp": { + "position": [ + -0.05411664769053459, + -0.01865587942302227, + -0.07009482383728027 + ], + "orientation": [ + 0.7061805725097656, + 0.45834869146347046, + -0.2711351215839386, + -0.46659526228904724 + ], + "joints": [ + 0.0031684297136962414 + ] + }, + "final_grasp": { + "position": [ + -0.05411664769053459, + -0.01865587942302227, + -0.07009482383728027 + ], + "orientation": [ + 0.7061805725097656, + 0.45834869146347046, + -0.2711351215839386, + -0.46659526228904724 + ], + "joints": [ + 0.009040395729243755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11586511135101318, + 0.04078439250588417, + 0.04034119471907616 + ], + "orientation": [ + 0.3444506824016571, + 0.5735617280006409, + 0.41111916303634644, + -0.6191619634628296 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.11888621747493744, + 0.04306831210851669, + 0.04092029854655266 + ], + "orientation": [ + 0.3474425673484802, + 0.5723574161529541, + 0.42119380831718445, + -0.6117896437644958 + ], + "joints": [ + -0.006304172798991203 + ] + }, + "final_grasp": { + "position": [ + -0.11888621747493744, + 0.04306831210851669, + 0.04092029854655266 + ], + "orientation": [ + 0.3474425673484802, + 0.5723574161529541, + 0.42119380831718445, + -0.6117896437644958 + ], + "joints": [ + -0.001999836415052414 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02554496005177498, + -0.09574650228023529, + -0.03935779258608818 + ], + "orientation": [ + 0.6957426071166992, + 0.2626023590564728, + -0.6515683531761169, + -0.14980289340019226 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.02322446182370186, + -0.09453832358121872, + -0.040958013385534286 + ], + "orientation": [ + 0.7054771184921265, + 0.2665465474128723, + -0.637893557548523, + -0.1560346633195877 + ], + "joints": [ + -0.003616335801780224 + ] + }, + "final_grasp": { + "position": [ + 0.02322446182370186, + -0.09453832358121872, + -0.040958013385534286 + ], + "orientation": [ + 0.7054771184921265, + 0.2665465474128723, + -0.637893557548523, + -0.1560346633195877 + ], + "joints": [ + 0.0027870293706655502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04351820796728134, + 0.09865247458219528, + 0.08595176041126251 + ], + "orientation": [ + 0.2172263115644455, + -0.10267060995101929, + -0.19074010848999023, + 0.9517823457717896 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.043116211891174316, + 0.0990292951464653, + 0.08512548357248306 + ], + "orientation": [ + 0.2160080373287201, + -0.10968443006277084, + -0.18607507646083832, + 0.9522005915641785 + ], + "joints": [ + -0.0013185113202780485 + ] + }, + "final_grasp": { + "position": [ + 0.043116211891174316, + 0.0990292951464653, + 0.08512548357248306 + ], + "orientation": [ + 0.2160080373287201, + -0.10968443006277084, + -0.18607507646083832, + 0.9522005915641785 + ], + "joints": [ + 0.005616253707557917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0981941893696785, + 0.0729537159204483, + 0.011822388507425785 + ], + "orientation": [ + 0.29609957337379456, + -0.5231937766075134, + 0.2723529040813446, + 0.7512770295143127 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.10017547011375427, + 0.07490172237157822, + 0.012756772339344025 + ], + "orientation": [ + 0.29807355999946594, + -0.5287688374519348, + 0.2803169786930084, + 0.7436249852180481 + ], + "joints": [ + -0.007004926912486553 + ] + }, + "final_grasp": { + "position": [ + 0.10017547011375427, + 0.07490172237157822, + 0.012756772339344025 + ], + "orientation": [ + 0.29807355999946594, + -0.5287688374519348, + 0.2803169786930084, + 0.7436249852180481 + ], + "joints": [ + -0.001664360985159874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014472818933427334, + -0.11829131841659546, + 0.0323202945291996 + ], + "orientation": [ + 0.9955487251281738, + 0.015389607287943363, + -0.07061827182769775, + -0.06048956140875816 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.017282260581851006, + -0.11995602399110794, + 0.03205595165491104 + ], + "orientation": [ + 0.9932712912559509, + 0.017288528382778168, + -0.09036518633365631, + -0.07033839821815491 + ], + "joints": [ + -0.0040343161672353745 + ] + }, + "final_grasp": { + "position": [ + -0.017282260581851006, + -0.11995602399110794, + 0.03205595165491104 + ], + "orientation": [ + 0.9932712912559509, + 0.017288528382778168, + -0.09036518633365631, + -0.07033839821815491 + ], + "joints": [ + 0.0013328194618225098 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10739273577928543, + 0.08398567885160446, + 0.017051829025149345 + ], + "orientation": [ + 0.23305991291999817, + 0.7675265669822693, + -0.31125491857528687, + 0.5096141695976257 + ], + "joints": [ + -0.011845007538795471 + ] + }, + "fine_grasp": { + "position": [ + 0.10326683521270752, + 0.0814451277256012, + 0.017912404611706734 + ], + "orientation": [ + 0.2418030947446823, + 0.7628004550933838, + -0.3212333917617798, + 0.5064345002174377 + ], + "joints": [ + -0.007540671154856682 + ] + }, + "final_grasp": { + "position": [ + 0.10326683521270752, + 0.0814451277256012, + 0.017912404611706734 + ], + "orientation": [ + 0.2418030947446823, + 0.7628004550933838, + -0.3212333917617798, + 0.5064345002174377 + ], + "joints": [ + -0.0032363347709178925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02883685939013958, + 0.11797664314508438, + 0.05300407111644745 + ], + "orientation": [ + 0.12483112514019012, + -0.061916567385196686, + 0.06730232387781143, + -0.9879543781280518 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.029051830992102623, + 0.11800553649663925, + 0.05312248319387436 + ], + "orientation": [ + 0.1268538534641266, + -0.06412417441606522, + 0.06835736334323883, + -0.9874833822250366 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.029051830992102623, + 0.11800553649663925, + 0.05312248319387436 + ], + "orientation": [ + 0.1268538534641266, + -0.06412417441606522, + 0.06835736334323883, + -0.9874833822250366 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03312462568283081, + 0.1172083392739296, + -0.005309107713401318 + ], + "orientation": [ + 0.05452101305127144, + 0.9753440618515015, + 0.1541339010000229, + 0.14823664724826813 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.0330733023583889, + 0.11673033982515335, + -0.005168750882148743 + ], + "orientation": [ + 0.05563537776470184, + 0.97450190782547, + 0.1555887907743454, + 0.15179869532585144 + ], + "joints": [ + -0.003028925508260727 + ] + }, + "final_grasp": { + "position": [ + -0.0330733023583889, + 0.11673033982515335, + -0.005168750882148743 + ], + "orientation": [ + 0.05563537776470184, + 0.97450190782547, + 0.1555887907743454, + 0.15179869532585144 + ], + "joints": [ + 0.0039324089884757996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026246007531881332, + 0.06260908395051956, + 0.14294952154159546 + ], + "orientation": [ + 0.09883404523134232, + 0.03212043270468712, + 0.4764466881752014, + -0.8730399012565613 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + -0.026343947276473045, + 0.06021776795387268, + 0.13803483545780182 + ], + "orientation": [ + 0.10744406282901764, + 0.029291590675711632, + 0.4741523861885071, + -0.8733713030815125 + ], + "joints": [ + -0.0031983554363250732 + ] + }, + "final_grasp": { + "position": [ + -0.026343947276473045, + 0.06021776795387268, + 0.13803483545780182 + ], + "orientation": [ + 0.10744406282901764, + 0.029291590675711632, + 0.4741523861885071, + -0.8733713030815125 + ], + "joints": [ + 0.004241239279508591 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03117823787033558, + 0.1102876365184784, + 0.015715863555669785 + ], + "orientation": [ + 0.04496322572231293, + -0.6527180075645447, + 0.10050397366285324, + 0.7495574951171875 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.031570207327604294, + 0.11403156816959381, + 0.01504096295684576 + ], + "orientation": [ + 0.04958057031035423, + -0.6425060033798218, + 0.10376560688018799, + 0.757601797580719 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + 0.031570207327604294, + 0.11403156816959381, + 0.01504096295684576 + ], + "orientation": [ + 0.04958057031035423, + -0.6425060033798218, + 0.10376560688018799, + 0.757601797580719 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011840238235890865, + 0.011911752633750439, + -0.09396438300609589 + ], + "orientation": [ + 0.423285573720932, + 0.4320121705532074, + 0.5203090906143188, + 0.6028873920440674 + ], + "joints": [ + 0.0013169371522963047 + ] + }, + "fine_grasp": { + "position": [ + -0.011708860285580158, + 0.012323801405727863, + -0.093252994120121 + ], + "orientation": [ + 0.41924747824668884, + 0.43546825647354126, + 0.5225528478622437, + 0.6012798547744751 + ], + "joints": [ + 0.007162333000451326 + ] + }, + "final_grasp": { + "position": [ + -0.011708860285580158, + 0.012323801405727863, + -0.093252994120121 + ], + "orientation": [ + 0.41924747824668884, + 0.43546825647354126, + 0.5225528478622437, + 0.6012798547744751 + ], + "joints": [ + 0.01300772838294506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11912071704864502, + 0.018454622477293015, + 0.04635277017951012 + ], + "orientation": [ + 0.5488018989562988, + -0.49760523438453674, + 0.30935847759246826, + 0.5962405800819397 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.12103011459112167, + 0.01818552240729332, + 0.0477767288684845 + ], + "orientation": [ + 0.5519787669181824, + -0.4996630847454071, + 0.31361034512519836, + 0.5893257260322571 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.12103011459112167, + 0.01818552240729332, + 0.0477767288684845 + ], + "orientation": [ + 0.5519787669181824, + -0.4996630847454071, + 0.31361034512519836, + 0.5893257260322571 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03315253555774689, + 0.11722607165575027, + -0.005227034445852041 + ], + "orientation": [ + 0.05422357842326164, + 0.9752119779586792, + 0.15465790033340454, + 0.14866842329502106 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.033272884786129, + 0.11661197990179062, + -0.005015575792640448 + ], + "orientation": [ + 0.054848987609148026, + 0.9742763638496399, + 0.15625092387199402, + 0.1528490036725998 + ], + "joints": [ + -0.003028925508260727 + ] + }, + "final_grasp": { + "position": [ + -0.033272884786129, + 0.11661197990179062, + -0.005015575792640448 + ], + "orientation": [ + 0.054848987609148026, + 0.9742763638496399, + 0.15625092387199402, + 0.1528490036725998 + ], + "joints": [ + 0.0039324089884757996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03314200043678284, + 0.11720100790262222, + -0.005240713246166706 + ], + "orientation": [ + 0.05420934036374092, + 0.975177526473999, + 0.15469375252723694, + 0.14886249601840973 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.03326715901494026, + 0.1166127398610115, + -0.0050334748812019825 + ], + "orientation": [ + 0.054848168045282364, + 0.974268913269043, + 0.1562429666519165, + 0.1529051810503006 + ], + "joints": [ + -0.003028925508260727 + ] + }, + "final_grasp": { + "position": [ + -0.03326715901494026, + 0.1166127398610115, + -0.0050334748812019825 + ], + "orientation": [ + 0.054848168045282364, + 0.974268913269043, + 0.1562429666519165, + 0.1529051810503006 + ], + "joints": [ + 0.0039324089884757996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024626411497592926, + -0.118815578520298, + 0.014190148562192917 + ], + "orientation": [ + 0.7316474318504333, + 0.10703975707292557, + 0.6722308993339539, + -0.03660627081990242 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.024021711200475693, + -0.11809000372886658, + 0.012578899972140789 + ], + "orientation": [ + 0.7474858164787292, + 0.10670113563537598, + 0.6549320220947266, + -0.030721375718712807 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.024021711200475693, + -0.11809000372886658, + 0.012578899972140789 + ], + "orientation": [ + 0.7474858164787292, + 0.10670113563537598, + 0.6549320220947266, + -0.030721375718712807 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07286108285188675, + 0.019591324031352997, + 0.14088965952396393 + ], + "orientation": [ + 0.5829034447669983, + -0.36531925201416016, + 0.2887347340583801, + -0.6658809781074524 + ], + "joints": [ + 0.0015452371444553137 + ] + }, + "fine_grasp": { + "position": [ + -0.07020691782236099, + 0.018990324810147285, + 0.13811279833316803 + ], + "orientation": [ + 0.5880953669548035, + -0.3645440936088562, + 0.2857440710067749, + -0.6630247235298157 + ], + "joints": [ + 0.007922032848000526 + ] + }, + "final_grasp": { + "position": [ + -0.07020691782236099, + 0.018990324810147285, + 0.13811279833316803 + ], + "orientation": [ + 0.5880953669548035, + -0.3645440936088562, + 0.2857440710067749, + -0.6630247235298157 + ], + "joints": [ + 0.014298828318715096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026904210448265076, + 0.09665033221244812, + 0.07874558866024017 + ], + "orientation": [ + 0.22628408670425415, + -0.7611088752746582, + -0.09369220584630966, + 0.6006085276603699 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.027475792914628983, + 0.09779168665409088, + 0.08008243143558502 + ], + "orientation": [ + 0.2248552292585373, + -0.7642771601676941, + -0.0933966189622879, + 0.5971580743789673 + ], + "joints": [ + -0.004068026319146156 + ] + }, + "final_grasp": { + "position": [ + 0.027475792914628983, + 0.09779168665409088, + 0.08008243143558502 + ], + "orientation": [ + 0.2248552292585373, + -0.7642771601676941, + -0.0933966189622879, + 0.5971580743789673 + ], + "joints": [ + 0.0018836483359336853 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05026857927441597, + 0.10893978923559189, + 0.03670777752995491 + ], + "orientation": [ + 0.20713244378566742, + 0.12396803498268127, + 0.010278435423970222, + -0.9703723788261414 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.04983766749501228, + 0.10793763399124146, + 0.03699210658669472 + ], + "orientation": [ + 0.2009662240743637, + 0.11960063874721527, + 0.009029640816152096, + -0.9722277522087097 + ], + "joints": [ + -0.004704231396317482 + ] + }, + "final_grasp": { + "position": [ + -0.04983766749501228, + 0.10793763399124146, + 0.03699210658669472 + ], + "orientation": [ + 0.2009662240743637, + 0.11960063874721527, + 0.009029640816152096, + -0.9722277522087097 + ], + "joints": [ + 0.0011411644518375397 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03104255720973015, + 0.11040078103542328, + 0.015655187889933586 + ], + "orientation": [ + 0.045401692390441895, + -0.6505243182182312, + 0.10061810910701752, + 0.7514204382896423 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.03145107999444008, + 0.11406207829713821, + 0.015140633098781109 + ], + "orientation": [ + 0.050040122121572495, + -0.6405968070030212, + 0.10297153145074844, + 0.759294867515564 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.03145107999444008, + 0.11406207829713821, + 0.015140633098781109 + ], + "orientation": [ + 0.050040122121572495, + -0.6405968070030212, + 0.10297153145074844, + 0.759294867515564 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1202784851193428, + 0.005638681817799807, + 0.0048098391853272915 + ], + "orientation": [ + 0.053415440022945404, + 0.7221051454544067, + -0.6885775327682495, + -0.03964884951710701 + ], + "joints": [ + 0.0026091088075190783 + ] + }, + "fine_grasp": { + "position": [ + 0.1187194436788559, + 0.006491449661552906, + 0.004321876913309097 + ], + "orientation": [ + 0.0500183030962944, + 0.7260281443595886, + -0.6850780844688416, + -0.032392293214797974 + ], + "joints": [ + 0.007949676364660263 + ] + }, + "final_grasp": { + "position": [ + 0.1187194436788559, + 0.006491449661552906, + 0.004321876913309097 + ], + "orientation": [ + 0.0500183030962944, + 0.7260281443595886, + -0.6850780844688416, + -0.032392293214797974 + ], + "joints": [ + 0.013290244154632092 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04347184672951698, + 0.0985732451081276, + 0.08555185049772263 + ], + "orientation": [ + 0.21661271154880524, + -0.10043936967849731, + -0.19159533083438873, + 0.9519885182380676 + ], + "joints": [ + -0.00822383537888527 + ] + }, + "fine_grasp": { + "position": [ + 0.04303109273314476, + 0.09896479547023773, + 0.08469833433628082 + ], + "orientation": [ + 0.21596050262451172, + -0.10905284434556961, + -0.18702971935272217, + 0.9520968794822693 + ], + "joints": [ + -0.0017939000390470028 + ] + }, + "final_grasp": { + "position": [ + 0.04303109273314476, + 0.09896479547023773, + 0.08469833433628082 + ], + "orientation": [ + 0.21596050262451172, + -0.10905284434556961, + -0.18702971935272217, + 0.9520968794822693 + ], + "joints": [ + 0.004636035300791264 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0195037592202425, + -0.11437389254570007, + 0.06759290397167206 + ], + "orientation": [ + 0.7403075098991394, + -0.20807775855064392, + -0.6388229131698608, + 0.02353266254067421 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.01945953443646431, + -0.11573606729507446, + 0.06913333386182785 + ], + "orientation": [ + 0.7509914040565491, + -0.21005547046661377, + -0.6254878640174866, + 0.025564871728420258 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.01945953443646431, + -0.11573606729507446, + 0.06913333386182785 + ], + "orientation": [ + 0.7509914040565491, + -0.21005547046661377, + -0.6254878640174866, + 0.025564871728420258 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019491437822580338, + -0.11438407748937607, + 0.06749910116195679 + ], + "orientation": [ + 0.7400494813919067, + -0.20816843211650848, + -0.6390973925590515, + 0.023392967879772186 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.019492466002702713, + -0.11576501280069351, + 0.0690370574593544 + ], + "orientation": [ + 0.7506362795829773, + -0.20962639153003693, + -0.626065194606781, + 0.025383444502949715 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.019492466002702713, + -0.11576501280069351, + 0.0690370574593544 + ], + "orientation": [ + 0.7506362795829773, + -0.20962639153003693, + -0.626065194606781, + 0.025383444502949715 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0002590771473478526, + -0.11696809530258179, + 0.0492902472615242 + ], + "orientation": [ + 0.9935210943222046, + -0.03592774271965027, + 0.10746501386165619, + -0.008737328462302685 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.0005301196360960603, + -0.11791291832923889, + 0.04900221899151802 + ], + "orientation": [ + 0.9926530122756958, + -0.03235285356640816, + 0.1157006099820137, + -0.014377924613654613 + ], + "joints": [ + -0.0040608858689665794 + ] + }, + "final_grasp": { + "position": [ + 0.0005301196360960603, + -0.11791291832923889, + 0.04900221899151802 + ], + "orientation": [ + 0.9926530122756958, + -0.03235285356640816, + 0.1157006099820137, + -0.014377924613654613 + ], + "joints": [ + 0.0012796800583600998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03154522553086281, + -0.019869403913617134, + -0.09504956007003784 + ], + "orientation": [ + 0.09668197482824326, + 0.25854599475860596, + 0.7758083939552307, + 0.5673869848251343 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.03292958810925484, + -0.020848657935857773, + -0.09519599378108978 + ], + "orientation": [ + 0.08473583310842514, + 0.24537581205368042, + 0.7705896496772766, + 0.5820671319961548 + ], + "joints": [ + -0.002942151390016079 + ] + }, + "final_grasp": { + "position": [ + -0.03292958810925484, + -0.020848657935857773, + -0.09519599378108978 + ], + "orientation": [ + 0.08473583310842514, + 0.24537581205368042, + 0.7705896496772766, + 0.5820671319961548 + ], + "joints": [ + 0.0023984145373106003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12745524942874908, + -0.03447284176945686, + 0.042958907783031464 + ], + "orientation": [ + 0.4354662299156189, + 0.45815590023994446, + -0.6829559803009033, + 0.36610567569732666 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.12298031151294708, + -0.034248508512973785, + 0.04284386336803436 + ], + "orientation": [ + 0.43359240889549255, + 0.4618450403213501, + -0.6781685948371887, + 0.37253716588020325 + ], + "joints": [ + -0.008211983367800713 + ] + }, + "final_grasp": { + "position": [ + 0.12298031151294708, + -0.034248508512973785, + 0.04284386336803436 + ], + "orientation": [ + 0.43359240889549255, + 0.4618450403213501, + -0.6781685948371887, + 0.37253716588020325 + ], + "joints": [ + -0.0028714165091514587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.127475768327713, + -0.03446245566010475, + 0.04297544062137604 + ], + "orientation": [ + 0.4353826344013214, + 0.45817095041275024, + -0.6830053925514221, + 0.36609429121017456 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.12299536913633347, + -0.03423946350812912, + 0.04284842684864998 + ], + "orientation": [ + 0.43355560302734375, + 0.46189332008361816, + -0.6781415939331055, + 0.3725694417953491 + ], + "joints": [ + -0.008211983367800713 + ] + }, + "final_grasp": { + "position": [ + 0.12299536913633347, + -0.03423946350812912, + 0.04284842684864998 + ], + "orientation": [ + 0.43355560302734375, + 0.46189332008361816, + -0.6781415939331055, + 0.3725694417953491 + ], + "joints": [ + -0.0028714165091514587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03645489364862442, + -0.10345323383808136, + -0.02500874735414982 + ], + "orientation": [ + 0.6037277579307556, + 0.052466005086898804, + 0.7597882747650146, + 0.23554596304893494 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.03754161298274994, + -0.10510513186454773, + -0.024825645610690117 + ], + "orientation": [ + 0.6084194183349609, + 0.04549098014831543, + 0.7576083540916443, + 0.2319183051586151 + ], + "joints": [ + -0.007004926912486553 + ] + }, + "final_grasp": { + "position": [ + 0.03754161298274994, + -0.10510513186454773, + -0.024825645610690117 + ], + "orientation": [ + 0.6084194183349609, + 0.04549098014831543, + 0.7576083540916443, + 0.2319183051586151 + ], + "joints": [ + -0.001664360985159874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12230659276247025, + 0.02865063026547432, + 0.031795669347047806 + ], + "orientation": [ + 0.4586465060710907, + 0.49599483609199524, + 0.37482061982154846, + -0.634934663772583 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.12477768957614899, + 0.03012499026954174, + 0.0309134591370821 + ], + "orientation": [ + 0.4657909870147705, + 0.4943546950817108, + 0.3758614659309387, + -0.6303811073303223 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.12477768957614899, + 0.03012499026954174, + 0.0309134591370821 + ], + "orientation": [ + 0.4657909870147705, + 0.4943546950817108, + 0.3758614659309387, + -0.6303811073303223 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03158139809966087, + -0.019997261464595795, + -0.09536194056272507 + ], + "orientation": [ + 0.09675775468349457, + 0.25856485962867737, + 0.7760544419288635, + 0.5670287013053894 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.03289778158068657, + -0.020917393267154694, + -0.09527256339788437 + ], + "orientation": [ + 0.0850747600197792, + 0.24538174271583557, + 0.7706618905067444, + 0.5819196701049805 + ], + "joints": [ + -0.002942151390016079 + ] + }, + "final_grasp": { + "position": [ + -0.03289778158068657, + -0.020917393267154694, + -0.09527256339788437 + ], + "orientation": [ + 0.0850747600197792, + 0.24538174271583557, + 0.7706618905067444, + 0.5819196701049805 + ], + "joints": [ + 0.0023984145373106003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004622824024409056, + 0.11426517367362976, + 0.05066758766770363 + ], + "orientation": [ + 0.04093695804476738, + -0.9951867461204529, + 0.02816900610923767, + -0.08446291089057922 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + 0.004854150116443634, + 0.11844660341739655, + 0.050566017627716064 + ], + "orientation": [ + 0.042475536465644836, + -0.9938786625862122, + 0.036368802189826965, + -0.09527935832738876 + ], + "joints": [ + -0.004031444899737835 + ] + }, + "final_grasp": { + "position": [ + 0.004854150116443634, + 0.11844660341739655, + 0.050566017627716064 + ], + "orientation": [ + 0.042475536465644836, + -0.9938786625862122, + 0.036368802189826965, + -0.09527935832738876 + ], + "joints": [ + 0.0013091210275888443 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012265574187040329, + 0.04870348423719406, + 0.15263591706752777 + ], + "orientation": [ + 0.07634009420871735, + -0.18253782391548157, + 0.5314375758171082, + -0.8236663341522217 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.010631888173520565, + 0.049103979021310806, + 0.15080712735652924 + ], + "orientation": [ + 0.07588537782430649, + -0.1719927191734314, + 0.5346763134002686, + -0.8238818049430847 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + 0.010631888173520565, + 0.049103979021310806, + 0.15080712735652924 + ], + "orientation": [ + 0.07588537782430649, + -0.1719927191734314, + 0.5346763134002686, + -0.8238818049430847 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12218818068504333, + 0.028676237910985947, + 0.031775664538145065 + ], + "orientation": [ + 0.4587876498699188, + 0.49583977460861206, + 0.3746247887611389, + -0.6350693702697754 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.12476341426372528, + 0.030161909759044647, + 0.030910488218069077 + ], + "orientation": [ + 0.4660945534706116, + 0.4939423203468323, + 0.37557142972946167, + -0.6306529641151428 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + -0.12476341426372528, + 0.030161909759044647, + 0.030910488218069077 + ], + "orientation": [ + 0.4660945534706116, + 0.4939423203468323, + 0.37557142972946167, + -0.6306529641151428 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11023019999265671, + 0.060151245445013046, + 0.05443200469017029 + ], + "orientation": [ + 0.27266567945480347, + 0.5536413788795471, + -0.3721040189266205, + 0.6933060884475708 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.10827264934778214, + 0.061102669686079025, + 0.05490314960479736 + ], + "orientation": [ + 0.26768115162849426, + 0.5651681423187256, + -0.386491060256958, + 0.6779059767723083 + ], + "joints": [ + -0.005266469903290272 + ] + }, + "final_grasp": { + "position": [ + 0.10827264934778214, + 0.061102669686079025, + 0.05490314960479736 + ], + "orientation": [ + 0.26768115162849426, + 0.5651681423187256, + -0.386491060256958, + 0.6779059767723083 + ], + "joints": [ + 0.0006054956465959549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03464452177286148, + 0.11721327900886536, + -0.025843098759651184 + ], + "orientation": [ + 0.2518337368965149, + 0.7353560328483582, + 0.020093409344553947, + 0.6288303136825562 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.032544925808906555, + 0.11233355104923248, + -0.02355424128472805 + ], + "orientation": [ + 0.2603527307510376, + 0.7324568629264832, + 0.008867781609296799, + 0.6290029883384705 + ], + "joints": [ + -0.0061395252123475075 + ] + }, + "final_grasp": { + "position": [ + 0.032544925808906555, + 0.11233355104923248, + -0.02355424128472805 + ], + "orientation": [ + 0.2603527307510376, + 0.7324568629264832, + 0.008867781609296799, + 0.6290029883384705 + ], + "joints": [ + 0.0012734998017549515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023248430341482162, + -0.013600300066173077, + 0.1612011045217514 + ], + "orientation": [ + 0.24415616691112518, + -0.32585832476615906, + -0.699966549873352, + 0.586729109287262 + ], + "joints": [ + -0.0052064163610339165 + ] + }, + "fine_grasp": { + "position": [ + -0.022124266251921654, + -0.013649007305502892, + 0.16139478981494904 + ], + "orientation": [ + 0.23364301025867462, + -0.31312084197998047, + -0.7032130360603333, + 0.594018280506134 + ], + "joints": [ + 0.0017549187177792192 + ] + }, + "final_grasp": { + "position": [ + -0.022124266251921654, + -0.013649007305502892, + 0.16139478981494904 + ], + "orientation": [ + 0.23364301025867462, + -0.31312084197998047, + -0.7032130360603333, + 0.594018280506134 + ], + "joints": [ + 0.008716253563761711 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1163310706615448, + 0.048746246844530106, + 0.010256147012114525 + ], + "orientation": [ + 0.3576429486274719, + 0.6838921308517456, + 0.3560659885406494, + -0.5268777012825012 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11574232578277588, + 0.04998687282204628, + 0.009433631785213947 + ], + "orientation": [ + 0.3628373146057129, + 0.6828453540802002, + 0.3524375855922699, + -0.5271232724189758 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + -0.11574232578277588, + 0.04998687282204628, + 0.009433631785213947 + ], + "orientation": [ + 0.3628373146057129, + 0.6828453540802002, + 0.3524375855922699, + -0.5271232724189758 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11703503131866455, + -0.028906643390655518, + 0.04498791694641113 + ], + "orientation": [ + 0.6046957969665527, + 0.31006285548210144, + 0.5299432277679443, + -0.5073108673095703 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.1177847757935524, + -0.029327301308512688, + 0.0468597337603569 + ], + "orientation": [ + 0.6023077964782715, + 0.30717793107032776, + 0.5305736660957336, + -0.5112324953079224 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.1177847757935524, + -0.029327301308512688, + 0.0468597337603569 + ], + "orientation": [ + 0.6023077964782715, + 0.30717793107032776, + 0.5305736660957336, + -0.5112324953079224 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010132594034075737, + 0.1157420352101326, + -0.0035499639343470335 + ], + "orientation": [ + 0.031407132744789124, + -0.10120973736047745, + -0.08196033537387848, + -0.9909856915473938 + ], + "joints": [ + -0.00965091958642006 + ] + }, + "fine_grasp": { + "position": [ + -0.011112282983958721, + 0.11650244146585464, + -0.0036361536476761103 + ], + "orientation": [ + 0.03404894843697548, + -0.10249447077512741, + -0.07775980234146118, + -0.9911049604415894 + ], + "joints": [ + -0.0037523843348026276 + ] + }, + "final_grasp": { + "position": [ + -0.011112282983958721, + 0.11650244146585464, + -0.0036361536476761103 + ], + "orientation": [ + 0.03404894843697548, + -0.10249447077512741, + -0.07775980234146118, + -0.9911049604415894 + ], + "joints": [ + 0.002146150916814804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03367513045668602, + -0.1193542405962944, + -0.027415718883275986 + ], + "orientation": [ + 0.7742196917533875, + 0.09578106552362442, + -0.5848681926727295, + -0.2221241146326065 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.033285025507211685, + -0.11438821256160736, + -0.02434704266488552 + ], + "orientation": [ + 0.7763301730155945, + 0.10122065991163254, + -0.5832988619804382, + -0.21639859676361084 + ], + "joints": [ + -0.00664435513317585 + ] + }, + "final_grasp": { + "position": [ + -0.033285025507211685, + -0.11438821256160736, + -0.02434704266488552 + ], + "orientation": [ + 0.7763301730155945, + 0.10122065991163254, + -0.5832988619804382, + -0.21639859676361084 + ], + "joints": [ + 0.0002638399600982666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008390150032937527, + 0.12062954902648926, + 0.039552491158246994 + ], + "orientation": [ + 0.03033326007425785, + -0.99842369556427, + 0.035232286900281906, + 0.03144347667694092 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.009989624843001366, + 0.11924266070127487, + 0.038210537284612656 + ], + "orientation": [ + 0.026235705241560936, + -0.9983897805213928, + 0.04166547209024429, + 0.02816888503730297 + ], + "joints": [ + -0.003502916544675827 + ] + }, + "final_grasp": { + "position": [ + 0.009989624843001366, + 0.11924266070127487, + 0.038210537284612656 + ], + "orientation": [ + 0.026235705241560936, + -0.9983897805213928, + 0.04166547209024429, + 0.02816888503730297 + ], + "joints": [ + 0.0023956187069416046 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11757136136293411, + 0.029000893235206604, + 0.030988071113824844 + ], + "orientation": [ + 0.29591307044029236, + 0.6692048907279968, + -0.5267102122306824, + 0.4326390326023102 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.11408809572458267, + 0.030470266938209534, + 0.029004206880927086 + ], + "orientation": [ + 0.3059099018573761, + 0.6734589338302612, + -0.5157345533370972, + 0.43230774998664856 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + 0.11408809572458267, + 0.030470266938209534, + 0.029004206880927086 + ], + "orientation": [ + 0.3059099018573761, + 0.6734589338302612, + -0.5157345533370972, + 0.43230774998664856 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1097583994269371, + 0.05972016602754593, + 0.054319750517606735 + ], + "orientation": [ + 0.27329787611961365, + 0.5539638996124268, + -0.373729407787323, + 0.6919237971305847 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.10820624232292175, + 0.06098034605383873, + 0.05478201061487198 + ], + "orientation": [ + 0.26780644059181213, + 0.5661666989326477, + -0.3873409032821655, + 0.6765367984771729 + ], + "joints": [ + -0.005266469903290272 + ] + }, + "final_grasp": { + "position": [ + 0.10820624232292175, + 0.06098034605383873, + 0.05478201061487198 + ], + "orientation": [ + 0.26780644059181213, + 0.5661666989326477, + -0.3873409032821655, + 0.6765367984771729 + ], + "joints": [ + 0.0006054956465959549 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1164342612028122, + 0.04858903959393501, + 0.01022799126803875 + ], + "orientation": [ + 0.35751500725746155, + 0.6842567920684814, + 0.35716038942337036, + -0.5257492065429688 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11585701256990433, + 0.049838267266750336, + 0.009456663392484188 + ], + "orientation": [ + 0.3625014126300812, + 0.6832257509231567, + 0.3536991477012634, + -0.5260153412818909 + ], + "joints": [ + -0.005911288782954216 + ] + }, + "final_grasp": { + "position": [ + -0.11585701256990433, + 0.049838267266750336, + 0.009456663392484188 + ], + "orientation": [ + 0.3625014126300812, + 0.6832257509231567, + 0.3536991477012634, + -0.5260153412818909 + ], + "joints": [ + -6.589293479919434e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07401160150766373, + 0.01945713348686695, + 0.13748520612716675 + ], + "orientation": [ + 0.3123053014278412, + -0.6776260733604431, + -0.5730644464492798, + 0.33894768357276917 + ], + "joints": [ + 0.0024636280722916126 + ] + }, + "fine_grasp": { + "position": [ + -0.07266009598970413, + 0.01961921714246273, + 0.13594479858875275 + ], + "orientation": [ + 0.3060359060764313, + -0.6745718121528625, + -0.5773001313209534, + 0.3435395359992981 + ], + "joints": [ + 0.008335595019161701 + ] + }, + "final_grasp": { + "position": [ + -0.07266009598970413, + 0.01961921714246273, + 0.13594479858875275 + ], + "orientation": [ + 0.3060359060764313, + -0.6745718121528625, + -0.5773001313209534, + 0.3435395359992981 + ], + "joints": [ + 0.014207562431693077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11887019127607346, + 0.012862776406109333, + 0.03568938747048378 + ], + "orientation": [ + 0.484646737575531, + -0.554146945476532, + -0.5080136656761169, + -0.4471698999404907 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.11406023055315018, + 0.010521728545427322, + 0.03643761947751045 + ], + "orientation": [ + 0.47882696986198425, + -0.5659613609313965, + -0.4977700710296631, + -0.450152724981308 + ], + "joints": [ + -0.006500096991658211 + ] + }, + "final_grasp": { + "position": [ + -0.11406023055315018, + 0.010521728545427322, + 0.03643761947751045 + ], + "orientation": [ + 0.47882696986198425, + -0.5659613609313965, + -0.4977700710296631, + -0.450152724981308 + ], + "joints": [ + -0.0006547011435031891 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04413941875100136, + -0.11416379362344742, + 0.05942975729703903 + ], + "orientation": [ + 0.5410266518592834, + 0.02609497867524624, + 0.8274843692779541, + -0.14791491627693176 + ], + "joints": [ + -0.011108994483947754 + ] + }, + "fine_grasp": { + "position": [ + -0.04393294081091881, + -0.11580067873001099, + 0.059739500284194946 + ], + "orientation": [ + 0.5390180945396423, + 0.031421348452568054, + 0.8277037143707275, + -0.1529003232717514 + ], + "joints": [ + -0.005821567960083485 + ] + }, + "final_grasp": { + "position": [ + -0.04393294081091881, + -0.11580067873001099, + 0.059739500284194946 + ], + "orientation": [ + 0.5390180945396423, + 0.031421348452568054, + 0.8277037143707275, + -0.1529003232717514 + ], + "joints": [ + -0.0005341414362192154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015934038907289505, + -0.11624854803085327, + 0.01491415686905384 + ], + "orientation": [ + 0.983043372631073, + 0.10550520569086075, + 0.13113448023796082, + 0.07278762012720108 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.017551517114043236, + -0.11560674756765366, + 0.013570855371654034 + ], + "orientation": [ + 0.9811611175537109, + 0.105567067861557, + 0.14369593560695648, + 0.07436387240886688 + ], + "joints": [ + -0.004676263779401779 + ] + }, + "final_grasp": { + "position": [ + 0.017551517114043236, + -0.11560674756765366, + 0.013570855371654034 + ], + "orientation": [ + 0.9811611175537109, + 0.105567067861557, + 0.14369593560695648, + 0.07436387240886688 + ], + "joints": [ + 0.0006377324461936951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016264328733086586, + -0.11888796836137772, + 0.03304310515522957 + ], + "orientation": [ + 0.996081531047821, + 0.0003322034317534417, + -0.056840576231479645, + -0.06775577366352081 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.018092099577188492, + -0.11815629154443741, + 0.033373720943927765 + ], + "orientation": [ + 0.9948223233222961, + 0.0023521152324974537, + -0.06936023384332657, + -0.07424376159906387 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + -0.018092099577188492, + -0.11815629154443741, + 0.033373720943927765 + ], + "orientation": [ + 0.9948223233222961, + 0.0023521152324974537, + -0.06936023384332657, + -0.07424376159906387 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018120400607585907, + -0.11648792773485184, + 0.034684572368860245 + ], + "orientation": [ + 0.08362425863742828, + -0.08100521564483643, + 0.9911994338035583, + -0.0629982128739357 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.02044586092233658, + -0.11526589095592499, + 0.03385121747851372 + ], + "orientation": [ + 0.09970513731241226, + -0.0889274999499321, + 0.988684892654419, + -0.06821387261152267 + ], + "joints": [ + -0.004088853485882282 + ] + }, + "final_grasp": { + "position": [ + 0.02044586092233658, + -0.11526589095592499, + 0.03385121747851372 + ], + "orientation": [ + 0.09970513731241226, + -0.0889274999499321, + 0.988684892654419, + -0.06821387261152267 + ], + "joints": [ + 0.0017831120640039444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015402703545987606, + 0.11438222229480743, + -0.0007657115929760039 + ], + "orientation": [ + 0.025476854294538498, + 0.5408622026443481, + 0.10863658040761948, + 0.833676815032959 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.015813488513231277, + 0.11623983830213547, + -0.002162626711651683 + ], + "orientation": [ + 0.02634911611676216, + 0.5498046875, + 0.10785254836082458, + 0.8278818726539612 + ], + "joints": [ + -0.008772747591137886 + ] + }, + "final_grasp": { + "position": [ + -0.015813488513231277, + 0.11623983830213547, + -0.002162626711651683 + ], + "orientation": [ + 0.02634911611676216, + 0.5498046875, + 0.10785254836082458, + 0.8278818726539612 + ], + "joints": [ + -0.002874210476875305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03346601128578186, + 0.11830613762140274, + 0.023045320063829422 + ], + "orientation": [ + 0.0920390710234642, + 0.6314979791641235, + 0.05153089389204979, + -0.7681689858436584 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.03359956294298172, + 0.12153579294681549, + 0.023935532197356224 + ], + "orientation": [ + 0.08887295424938202, + 0.6298450231552124, + 0.05432158708572388, + -0.7697051763534546 + ], + "joints": [ + -0.005297308787703514 + ] + }, + "final_grasp": { + "position": [ + -0.03359956294298172, + 0.12153579294681549, + 0.023935532197356224 + ], + "orientation": [ + 0.08887295424938202, + 0.6298450231552124, + 0.05432158708572388, + -0.7697051763534546 + ], + "joints": [ + 0.001132626086473465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017980076372623444, + -0.11645428836345673, + 0.03460763022303581 + ], + "orientation": [ + 0.0827907994389534, + -0.08029890060424805, + 0.991291880607605, + -0.06354768574237823 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.020163409411907196, + -0.11536867171525955, + 0.03399396315217018 + ], + "orientation": [ + 0.10081865638494492, + -0.0875333920121193, + 0.9886327385902405, + -0.06912918388843536 + ], + "joints": [ + -0.004088853485882282 + ] + }, + "final_grasp": { + "position": [ + 0.020163409411907196, + -0.11536867171525955, + 0.03399396315217018 + ], + "orientation": [ + 0.10081865638494492, + -0.0875333920121193, + 0.9886327385902405, + -0.06912918388843536 + ], + "joints": [ + 0.0017831120640039444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12108796089887619, + 0.03544988855719566, + -0.0020568855106830597 + ], + "orientation": [ + 0.4076269268989563, + 0.6883291006088257, + -0.4007294476032257, + 0.4466085731983185 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.11598037928342819, + 0.033325739204883575, + -0.0015158015303313732 + ], + "orientation": [ + 0.4088800251483917, + 0.6926082968711853, + -0.3858191668987274, + 0.45194515585899353 + ], + "joints": [ + -0.007732251193374395 + ] + }, + "final_grasp": { + "position": [ + 0.11598037928342819, + 0.033325739204883575, + -0.0015158015303313732 + ], + "orientation": [ + 0.4088800251483917, + 0.6926082968711853, + -0.3858191668987274, + 0.45194515585899353 + ], + "joints": [ + -0.0013820258900523186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010282017290592194, + 0.012224417179822922, + -0.09748856723308563 + ], + "orientation": [ + 0.4585263431072235, + 0.35450270771980286, + 0.4773850440979004, + 0.6604430079460144 + ], + "joints": [ + 0.0035803625360131264 + ] + }, + "fine_grasp": { + "position": [ + 0.011175193823873997, + 0.011653808876872063, + -0.09718946367502213 + ], + "orientation": [ + 0.45119422674179077, + 0.3488684296607971, + 0.4851350486278534, + 0.662841260433197 + ], + "joints": [ + 0.0088943587616086 + ] + }, + "final_grasp": { + "position": [ + 0.011175193823873997, + 0.011653808876872063, + -0.09718946367502213 + ], + "orientation": [ + 0.45119422674179077, + 0.3488684296607971, + 0.4851350486278534, + 0.662841260433197 + ], + "joints": [ + 0.014208354987204075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009985123760998249, + 0.012326332740485668, + -0.09739100188016891 + ], + "orientation": [ + 0.45835262537002563, + 0.35625869035720825, + 0.4776361286640167, + 0.6594364047050476 + ], + "joints": [ + 0.003213386982679367 + ] + }, + "fine_grasp": { + "position": [ + 0.011066896840929985, + 0.011751050129532814, + -0.09717343747615814 + ], + "orientation": [ + 0.45152774453163147, + 0.3507331907749176, + 0.48479652404785156, + 0.6618770360946655 + ], + "joints": [ + 0.009058782830834389 + ] + }, + "final_grasp": { + "position": [ + 0.011066896840929985, + 0.011751050129532814, + -0.09717343747615814 + ], + "orientation": [ + 0.45152774453163147, + 0.3507331907749176, + 0.48479652404785156, + 0.6618770360946655 + ], + "joints": [ + 0.01490417867898941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06696975976228714, + 0.08068400621414185, + 0.08981247991323471 + ], + "orientation": [ + 0.010354796424508095, + 0.6188806295394897, + 0.39725425839424133, + -0.6775460243225098 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.06734798848628998, + 0.07930703461170197, + 0.08946369588375092 + ], + "orientation": [ + 0.010854172520339489, + 0.6099574565887451, + 0.39058488607406616, + -0.689403772354126 + ], + "joints": [ + -0.004177100956439972 + ] + }, + "final_grasp": { + "position": [ + -0.06734798848628998, + 0.07930703461170197, + 0.08946369588375092 + ], + "orientation": [ + 0.010854172520339489, + 0.6099574565887451, + 0.39058488607406616, + -0.689403772354126 + ], + "joints": [ + 0.0027842335402965546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12455513328313828, + 0.005631711799651384, + 0.021330880001187325 + ], + "orientation": [ + 0.41814079880714417, + 0.5989564061164856, + 0.5770280361175537, + -0.3653055429458618 + ], + "joints": [ + -0.011815566569566727 + ] + }, + "fine_grasp": { + "position": [ + -0.12101271003484726, + 0.005908380262553692, + 0.018330862745642662 + ], + "orientation": [ + 0.4178272485733032, + 0.6087663769721985, + 0.566014289855957, + -0.36667656898498535 + ], + "joints": [ + -0.0059436010196805 + ] + }, + "final_grasp": { + "position": [ + -0.12101271003484726, + 0.005908380262553692, + 0.018330862745642662 + ], + "orientation": [ + 0.4178272485733032, + 0.6087663769721985, + 0.566014289855957, + -0.36667656898498535 + ], + "joints": [ + -7.163546979427338e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06686165928840637, + 0.08067537099123001, + 0.08984486013650894 + ], + "orientation": [ + 0.010813620872795582, + 0.6179121136665344, + 0.39758577942848206, + -0.6782280206680298 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.06720903515815735, + 0.07918893545866013, + 0.08935752511024475 + ], + "orientation": [ + 0.010856777429580688, + 0.6092384457588196, + 0.3904295265674591, + -0.6901272535324097 + ], + "joints": [ + -0.004177100956439972 + ] + }, + "final_grasp": { + "position": [ + -0.06720903515815735, + 0.07918893545866013, + 0.08935752511024475 + ], + "orientation": [ + 0.010856777429580688, + 0.6092384457588196, + 0.3904295265674591, + -0.6901272535324097 + ], + "joints": [ + 0.0027842335402965546 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12122710794210434, + 0.03544735535979271, + -0.0019588610157370567 + ], + "orientation": [ + 0.40741389989852905, + 0.6881132125854492, + -0.4010256230831146, + 0.4468696713447571 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.11615488678216934, + 0.03336567059159279, + -0.0014835555339232087 + ], + "orientation": [ + 0.40841540694236755, + 0.6918754577636719, + -0.38703206181526184, + 0.45245039463043213 + ], + "joints": [ + -0.007732251193374395 + ] + }, + "final_grasp": { + "position": [ + 0.11615488678216934, + 0.03336567059159279, + -0.0014835555339232087 + ], + "orientation": [ + 0.40841540694236755, + 0.6918754577636719, + -0.38703206181526184, + 0.45245039463043213 + ], + "joints": [ + -0.0013820258900523186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05377541482448578, + -0.1061481237411499, + 0.005906466860324144 + ], + "orientation": [ + 0.6628340482711792, + -0.09613586217164993, + 0.7111793756484985, + 0.21361865103244781 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.05486564338207245, + -0.10886385291814804, + 0.0021256518084555864 + ], + "orientation": [ + 0.6432127356529236, + -0.09013251215219498, + 0.7280985116958618, + 0.21914799511432648 + ], + "joints": [ + -0.006918077357113361 + ] + }, + "final_grasp": { + "position": [ + 0.05486564338207245, + -0.10886385291814804, + 0.0021256518084555864 + ], + "orientation": [ + 0.6432127356529236, + -0.09013251215219498, + 0.7280985116958618, + 0.21914799511432648 + ], + "joints": [ + -0.0021089110523462296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02733561582863331, + -0.008920874446630478, + -0.09412585198879242 + ], + "orientation": [ + 0.7319865822792053, + 0.6613978743553162, + -0.02348264493048191, + -0.1618550568819046 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.02863326482474804, + -0.008518664166331291, + -0.08891803026199341 + ], + "orientation": [ + 0.7225313782691956, + 0.6712592244148254, + -0.0141203748062253, + -0.16480329632759094 + ], + "joints": [ + -0.005998138338327408 + ] + }, + "final_grasp": { + "position": [ + -0.02863326482474804, + -0.008518664166331291, + -0.08891803026199341 + ], + "orientation": [ + 0.7225313782691956, + 0.6712592244148254, + -0.0141203748062253, + -0.16480329632759094 + ], + "joints": [ + 0.00037865713238716125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004847574047744274, + 0.10085077583789825, + -0.02750580944120884 + ], + "orientation": [ + 0.1689101904630661, + 0.5778184533119202, + 0.17255909740924835, + 0.77962726354599 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.004852257203310728, + 0.10117490589618683, + -0.028148341923952103 + ], + "orientation": [ + 0.1684548407793045, + 0.5754646062850952, + 0.16905002295970917, + 0.7822310924530029 + ], + "joints": [ + -0.004122563637793064 + ] + }, + "final_grasp": { + "position": [ + -0.004852257203310728, + 0.10117490589618683, + -0.028148341923952103 + ], + "orientation": [ + 0.1684548407793045, + 0.5754646062850952, + 0.16905002295970917, + 0.7822310924530029 + ], + "joints": [ + 0.00233394093811512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1337234079837799, + 0.020387807860970497, + 0.036835744976997375 + ], + "orientation": [ + 0.6487013101577759, + -0.023910513147711754, + -0.04213022068142891, + 0.7594997882843018 + ], + "joints": [ + 0.0015215713065117598 + ] + }, + "fine_grasp": { + "position": [ + 0.13027779757976532, + 0.019900653511285782, + 0.03704771026968956 + ], + "orientation": [ + 0.6470269560813904, + -0.0234417412430048, + -0.04177248850464821, + 0.7609609961509705 + ], + "joints": [ + 0.006835567764937878 + ] + }, + "final_grasp": { + "position": [ + 0.13027779757976532, + 0.019900653511285782, + 0.03704771026968956 + ], + "orientation": [ + 0.6470269560813904, + -0.0234417412430048, + -0.04177248850464821, + 0.7609609961509705 + ], + "joints": [ + 0.012149563990533352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027253953740000725, + 0.1132393330335617, + 0.06658249348402023 + ], + "orientation": [ + 0.008440237492322922, + -0.6504752039909363, + 0.21745945513248444, + -0.7276828289031982 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.02895706705749035, + 0.1144149973988533, + 0.06884634494781494 + ], + "orientation": [ + 0.0125181395560503, + -0.6399755477905273, + 0.21899893879890442, + -0.7364198565483093 + ], + "joints": [ + -0.006442688405513763 + ] + }, + "final_grasp": { + "position": [ + 0.02895706705749035, + 0.1144149973988533, + 0.06884634494781494 + ], + "orientation": [ + 0.0125181395560503, + -0.6399755477905273, + 0.21899893879890442, + -0.7364198565483093 + ], + "joints": [ + -0.0011286921799182892 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08773355185985565, + 0.027993110939860344, + 0.12979841232299805 + ], + "orientation": [ + 0.6080719828605652, + -0.4208810031414032, + 0.14364418387413025, + -0.6576274633407593 + ], + "joints": [ + -0.000648076762445271 + ] + }, + "fine_grasp": { + "position": [ + -0.08343376219272614, + 0.027337053790688515, + 0.12588714063167572 + ], + "orientation": [ + 0.6134138703346252, + -0.41890960931777954, + 0.13745442032814026, + -0.6552436947822571 + ], + "joints": [ + 0.005223889369517565 + ] + }, + "final_grasp": { + "position": [ + -0.08343376219272614, + 0.027337053790688515, + 0.12588714063167572 + ], + "orientation": [ + 0.6134138703346252, + -0.41890960931777954, + 0.13745442032814026, + -0.6552436947822571 + ], + "joints": [ + 0.011095855385065079 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0349772684276104, + -0.1200622171163559, + 0.005360839888453484 + ], + "orientation": [ + 0.9369121789932251, + 0.06453018635511398, + 0.3327210247516632, + -0.08560464531183243 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.03456137701869011, + -0.12374222278594971, + 0.006606006529182196 + ], + "orientation": [ + 0.9340060949325562, + 0.07598736137151718, + 0.33834412693977356, + -0.08591695874929428 + ], + "joints": [ + -0.009242471307516098 + ] + }, + "final_grasp": { + "position": [ + -0.03456137701869011, + -0.12374222278594971, + 0.006606006529182196 + ], + "orientation": [ + 0.9340060949325562, + 0.07598736137151718, + 0.33834412693977356, + -0.08591695874929428 + ], + "joints": [ + -0.004991274327039719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011823493987321854, + -0.12070442736148834, + 0.004757815506309271 + ], + "orientation": [ + 0.014648924581706524, + -0.04892537370324135, + -0.9955487251281738, + -0.07921227067708969 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.013908708468079567, + -0.11741253733634949, + 0.005178127903491259 + ], + "orientation": [ + 0.021485183387994766, + -0.05762169137597084, + -0.9949690103530884, + -0.07908780127763748 + ], + "joints": [ + -0.004652565345168114 + ] + }, + "final_grasp": { + "position": [ + -0.013908708468079567, + -0.11741253733634949, + 0.005178127903491259 + ], + "orientation": [ + 0.021485183387994766, + -0.05762169137597084, + -0.9949690103530884, + -0.07908780127763748 + ], + "joints": [ + 0.0007145702838897705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.040780242532491684, + -0.10538726300001144, + 0.08101429045200348 + ], + "orientation": [ + 0.9607436060905457, + -0.21446028351783752, + -0.007818346843123436, + 0.1758332997560501 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.04210488498210907, + -0.10662052780389786, + 0.08152464777231216 + ], + "orientation": [ + 0.9591472148895264, + -0.21886949241161346, + 0.0014814591268077493, + 0.17925015091896057 + ], + "joints": [ + -0.003556055948138237 + ] + }, + "final_grasp": { + "position": [ + 0.04210488498210907, + -0.10662052780389786, + 0.08152464777231216 + ], + "orientation": [ + 0.9591472148895264, + -0.21886949241161346, + 0.0014814591268077493, + 0.17925015091896057 + ], + "joints": [ + 0.0022893399000167847 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0807269960641861, + 0.011890889145433903, + 0.13556014001369476 + ], + "orientation": [ + 0.5690582990646362, + -0.27836403250694275, + 0.3672090470790863, + -0.6810607314109802 + ], + "joints": [ + 0.002009820891544223 + ] + }, + "fine_grasp": { + "position": [ + -0.07968570291996002, + 0.010673043318092823, + 0.1319189965724945 + ], + "orientation": [ + 0.5726122856140137, + -0.2827337384223938, + 0.36857715249061584, + -0.6755203008651733 + ], + "joints": [ + 0.007350387051701546 + ] + }, + "final_grasp": { + "position": [ + -0.07968570291996002, + 0.010673043318092823, + 0.1319189965724945 + ], + "orientation": [ + 0.5726122856140137, + -0.2827337384223938, + 0.36857715249061584, + -0.6755203008651733 + ], + "joints": [ + 0.012690952979028225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027670517563819885, + -0.10420651733875275, + -0.028701376169919968 + ], + "orientation": [ + 0.6558905243873596, + 0.08549758791923523, + -0.7089502215385437, + -0.2447192221879959 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.028336375951766968, + -0.10403650254011154, + -0.028304623439908028 + ], + "orientation": [ + 0.6427025198936462, + 0.08025605231523514, + -0.7218937873840332, + -0.24364271759986877 + ], + "joints": [ + -0.004149133339524269 + ] + }, + "final_grasp": { + "position": [ + -0.028336375951766968, + -0.10403650254011154, + -0.028304623439908028 + ], + "orientation": [ + 0.6427025198936462, + 0.08025605231523514, + -0.7218937873840332, + -0.24364271759986877 + ], + "joints": [ + 0.00228080153465271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03530846908688545, + -0.11055229604244232, + 0.07630664855241776 + ], + "orientation": [ + 0.9599055647850037, + -0.12122324109077454, + 0.17467674612998962, + -0.18268634378910065 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.0341576524078846, + -0.10897727310657501, + 0.07531995326280594 + ], + "orientation": [ + 0.9590742588043213, + -0.12022259831428528, + 0.18056482076644897, + -0.18198755383491516 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + -0.0341576524078846, + -0.10897727310657501, + 0.07531995326280594 + ], + "orientation": [ + 0.9590742588043213, + -0.12022259831428528, + 0.18056482076644897, + -0.18198755383491516 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11477348208427429, + 0.019128119572997093, + 0.003761777188628912 + ], + "orientation": [ + 0.27567607164382935, + -0.6075896620750427, + -0.5685292482376099, + -0.48126083612442017 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.11625932902097702, + 0.019270161166787148, + 0.0007650089100934565 + ], + "orientation": [ + 0.2824125289916992, + -0.5951109528541565, + -0.5718671679496765, + -0.4889317452907562 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + -0.11625932902097702, + 0.019270161166787148, + 0.0007650089100934565 + ], + "orientation": [ + 0.2824125289916992, + -0.5951109528541565, + -0.5718671679496765, + -0.4889317452907562 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13122086226940155, + 0.009978159330785275, + 0.06122608110308647 + ], + "orientation": [ + 0.30316266417503357, + 0.5612471699714661, + 0.6239660978317261, + -0.45139792561531067 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.12676921486854553, + 0.008223680779337883, + 0.05991951376199722 + ], + "orientation": [ + 0.2891071140766144, + 0.5643998980522156, + 0.6169286966323853, + -0.46612098813056946 + ], + "joints": [ + -0.0076231760904192924 + ] + }, + "final_grasp": { + "position": [ + -0.12676921486854553, + 0.008223680779337883, + 0.05991951376199722 + ], + "orientation": [ + 0.2891071140766144, + 0.5643998980522156, + 0.6169286966323853, + -0.46612098813056946 + ], + "joints": [ + -0.0022826101630926132 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05669302120804787, + 0.10862571001052856, + -0.03539719432592392 + ], + "orientation": [ + 0.22825434803962708, + 0.9367667436599731, + 0.24155189096927643, + 0.10963902622461319 + ], + "joints": [ + -0.01107955351471901 + ] + }, + "fine_grasp": { + "position": [ + -0.054278962314128876, + 0.10451532155275345, + -0.03225120157003403 + ], + "orientation": [ + 0.23667652904987335, + 0.9372656941413879, + 0.24022863805294037, + 0.08835991472005844 + ], + "joints": [ + -0.00470275804400444 + ] + }, + "final_grasp": { + "position": [ + -0.054278962314128876, + 0.10451532155275345, + -0.03225120157003403 + ], + "orientation": [ + 0.23667652904987335, + 0.9372656941413879, + 0.24022863805294037, + 0.08835991472005844 + ], + "joints": [ + 0.0016740374267101288 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08291120082139969, + 0.09987855702638626, + 0.053650304675102234 + ], + "orientation": [ + 0.27163320779800415, + -0.7388424277305603, + 0.17234431207180023, + 0.5921356081962585 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.08011574298143387, + 0.09626659005880356, + 0.053642332553863525 + ], + "orientation": [ + 0.2694634199142456, + -0.7394352555274963, + 0.1695278286933899, + 0.5931991934776306 + ], + "joints": [ + -0.0061129555106163025 + ] + }, + "final_grasp": { + "position": [ + 0.08011574298143387, + 0.09626659005880356, + 0.053642332553863525 + ], + "orientation": [ + 0.2694634199142456, + -0.7394352555274963, + 0.1695278286933899, + 0.5931991934776306 + ], + "joints": [ + 0.0013266392052173615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014799865894019604, + 0.11848954111337662, + 0.053998492658138275 + ], + "orientation": [ + 0.09490230679512024, + -0.993244469165802, + 0.06078047305345535, + 0.027654806151986122 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.017511948943138123, + 0.11900348216295242, + 0.05225863680243492 + ], + "orientation": [ + 0.09256433695554733, + -0.9926968216896057, + 0.07025055587291718, + 0.032398659735918045 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.017511948943138123, + 0.11900348216295242, + 0.05225863680243492 + ], + "orientation": [ + 0.09256433695554733, + -0.9926968216896057, + 0.07025055587291718, + 0.032398659735918045 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0349310077726841, + 0.11727717518806458, + -0.025484293699264526 + ], + "orientation": [ + 0.25092005729675293, + 0.7382692098617554, + 0.018043681979179382, + 0.6258372664451599 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.03287327662110329, + 0.11238086223602295, + -0.02319222129881382 + ], + "orientation": [ + 0.2589823603630066, + 0.736025333404541, + 0.006884114351123571, + 0.625417947769165 + ], + "joints": [ + -0.0061395252123475075 + ] + }, + "final_grasp": { + "position": [ + 0.03287327662110329, + 0.11238086223602295, + -0.02319222129881382 + ], + "orientation": [ + 0.2589823603630066, + 0.736025333404541, + 0.006884114351123571, + 0.625417947769165 + ], + "joints": [ + 0.0012734998017549515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11456438899040222, + 0.019051911309361458, + 0.0037505580112338066 + ], + "orientation": [ + 0.2758563756942749, + -0.6073397994041443, + -0.5688328742980957, + -0.48111408948898315 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.11610964685678482, + 0.019190670922398567, + 0.0007581263780593872 + ], + "orientation": [ + 0.2824695408344269, + -0.5949949026107788, + -0.5721795558929443, + -0.48867449164390564 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + -0.11610964685678482, + 0.019190670922398567, + 0.0007581263780593872 + ], + "orientation": [ + 0.2824695408344269, + -0.5949949026107788, + -0.5721795558929443, + -0.48867449164390564 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05697367712855339, + 0.10856913030147552, + -0.03539891541004181 + ], + "orientation": [ + 0.22858576476573944, + 0.9364071488380432, + 0.24244190752506256, + 0.11005500704050064 + ], + "joints": [ + -0.01107955351471901 + ] + }, + "fine_grasp": { + "position": [ + -0.05461554601788521, + 0.10440235584974289, + -0.03224042057991028 + ], + "orientation": [ + 0.2365499585866928, + 0.9368463754653931, + 0.24172991514205933, + 0.08904881775379181 + ], + "joints": [ + -0.00470275804400444 + ] + }, + "final_grasp": { + "position": [ + -0.05461554601788521, + 0.10440235584974289, + -0.03224042057991028 + ], + "orientation": [ + 0.2365499585866928, + 0.9368463754653931, + 0.24172991514205933, + 0.08904881775379181 + ], + "joints": [ + 0.0016740374267101288 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004769151099026203, + -0.11729682236909866, + 0.024997053667902946 + ], + "orientation": [ + 0.9961469173431396, + -0.040455639362335205, + 0.07511236518621445, + -0.020317254588007927 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0074518779292702675, + -0.11704792827367783, + 0.025951389223337173 + ], + "orientation": [ + 0.9935067892074585, + -0.04449564963579178, + 0.10147691518068314, + -0.025822022929787636 + ], + "joints": [ + -0.004087455570697784 + ] + }, + "final_grasp": { + "position": [ + -0.0074518779292702675, + -0.11704792827367783, + 0.025951389223337173 + ], + "orientation": [ + 0.9935067892074585, + -0.04449564963579178, + 0.10147691518068314, + -0.025822022929787636 + ], + "joints": [ + 0.0012265406548976898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04918802157044411, + 0.11691536754369736, + 0.04448682442307472 + ], + "orientation": [ + 0.09264814108610153, + 0.6100332140922546, + -0.16086484491825104, + 0.7703235745429993 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.04741832613945007, + 0.11179656535387039, + 0.04407855123281479 + ], + "orientation": [ + 0.0968405082821846, + 0.6022621393203735, + -0.15749593079090118, + 0.7765933275222778 + ], + "joints": [ + -0.007149185054004192 + ] + }, + "final_grasp": { + "position": [ + 0.04741832613945007, + 0.11179656535387039, + 0.04407855123281479 + ], + "orientation": [ + 0.0968405082821846, + 0.6022621393203735, + -0.15749593079090118, + 0.7765933275222778 + ], + "joints": [ + -0.0007458198815584183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11557235568761826, + -0.028630057349801064, + 0.04550344869494438 + ], + "orientation": [ + 0.6018187403678894, + 0.3107728362083435, + 0.5312266945838928, + -0.5089525580406189 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11678177118301392, + -0.028738591820001602, + 0.047534845769405365 + ], + "orientation": [ + 0.59904944896698, + 0.3075263798236847, + 0.5325989127159119, + -0.5127432942390442 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.11678177118301392, + -0.028738591820001602, + 0.047534845769405365 + ], + "orientation": [ + 0.59904944896698, + 0.3075263798236847, + 0.5325989127159119, + -0.5127432942390442 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04911612719297409, + 0.11685360223054886, + 0.04446893185377121 + ], + "orientation": [ + 0.09268290549516678, + 0.6099543571472168, + -0.16084444522857666, + 0.7703860998153687 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.04736458510160446, + 0.11173287034034729, + 0.044077031314373016 + ], + "orientation": [ + 0.09674054384231567, + 0.6020253300666809, + -0.15731045603752136, + 0.7768269777297974 + ], + "joints": [ + -0.007149185054004192 + ] + }, + "final_grasp": { + "position": [ + 0.04736458510160446, + 0.11173287034034729, + 0.044077031314373016 + ], + "orientation": [ + 0.09674054384231567, + 0.6020253300666809, + -0.15731045603752136, + 0.7768269777297974 + ], + "joints": [ + -0.0007458198815584183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12934166193008423, + 0.0022216858342289925, + 0.038927946239709854 + ], + "orientation": [ + 0.5363785028457642, + 0.40460190176963806, + -0.49486058950424194, + 0.5510976314544678 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.12964430451393127, + -0.00045651220716536045, + 0.03945840895175934 + ], + "orientation": [ + 0.5465208888053894, + 0.39455193281173706, + -0.4777338206768036, + 0.5633950233459473 + ], + "joints": [ + -0.007034367881715298 + ] + }, + "final_grasp": { + "position": [ + 0.12964430451393127, + -0.00045651220716536045, + 0.03945840895175934 + ], + "orientation": [ + 0.5465208888053894, + 0.39455193281173706, + -0.4777338206768036, + 0.5633950233459473 + ], + "joints": [ + -0.0016938019543886185 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05435097962617874, + 0.10604843497276306, + -0.0037495498545467854 + ], + "orientation": [ + 0.20625516772270203, + 0.7879598140716553, + 0.07773904502391815, + -0.5749214887619019 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.05365503579378128, + 0.10508719831705093, + -0.0047141737304627895 + ], + "orientation": [ + 0.20779208838939667, + 0.778810977935791, + 0.0720786452293396, + -0.5874357223510742 + ], + "joints": [ + -0.007032894529402256 + ] + }, + "final_grasp": { + "position": [ + -0.05365503579378128, + 0.10508719831705093, + -0.0047141737304627895 + ], + "orientation": [ + 0.20779208838939667, + 0.778810977935791, + 0.0720786452293396, + -0.5874357223510742 + ], + "joints": [ + -0.0011609289795160294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005105910822749138, + -0.11750146001577377, + 0.02565329521894455 + ], + "orientation": [ + 0.9960386157035828, + -0.040734197944402695, + 0.07596959918737411, + -0.021825769916176796 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.007933328859508038, + -0.11701933294534683, + 0.026320669800043106 + ], + "orientation": [ + 0.9930116534233093, + -0.0456123910844326, + 0.10529298335313797, + -0.027579909190535545 + ], + "joints": [ + -0.004087455570697784 + ] + }, + "final_grasp": { + "position": [ + -0.007933328859508038, + -0.11701933294534683, + 0.026320669800043106 + ], + "orientation": [ + 0.9930116534233093, + -0.0456123910844326, + 0.10529298335313797, + -0.027579909190535545 + ], + "joints": [ + 0.0012265406548976898 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12027804553508759, + 0.05362936854362488, + 0.031350571662187576 + ], + "orientation": [ + 0.46822524070739746, + -0.43602070212364197, + 0.2327621728181839, + 0.7324430346488953 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.1184912621974945, + 0.054244402796030045, + 0.031111104413866997 + ], + "orientation": [ + 0.4615654945373535, + -0.4501650929450989, + 0.2447529286146164, + 0.724157989025116 + ], + "joints": [ + -0.007567165419459343 + ] + }, + "final_grasp": { + "position": [ + 0.1184912621974945, + 0.054244402796030045, + 0.031111104413866997 + ], + "orientation": [ + 0.4615654945373535, + -0.4501650929450989, + 0.2447529286146164, + 0.724157989025116 + ], + "joints": [ + -0.0022000297904014587 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04842338338494301, + 0.0066391159780323505, + -0.08267451077699661 + ], + "orientation": [ + 0.550965428352356, + 0.32949572801589966, + -0.4043177664279938, + -0.6514573693275452 + ], + "joints": [ + 0.0008952030912041664 + ] + }, + "fine_grasp": { + "position": [ + -0.04714219644665718, + 0.005564454011619091, + -0.07790393382310867 + ], + "orientation": [ + 0.553814172744751, + 0.3297942876815796, + -0.40822598338127136, + -0.6464340686798096 + ], + "joints": [ + 0.0072985682636499405 + ] + }, + "final_grasp": { + "position": [ + -0.04714219644665718, + 0.005564454011619091, + -0.07790393382310867 + ], + "orientation": [ + 0.553814172744751, + 0.3297942876815796, + -0.40822598338127136, + -0.6464340686798096 + ], + "joints": [ + 0.013701933436095715 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056928783655166626, + -0.10658936947584152, + 0.07473953068256378 + ], + "orientation": [ + 0.17206622660160065, + 0.19535960257053375, + -0.9514153599739075, + 0.16442842781543732 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0557396225631237, + -0.1050163209438324, + 0.073743537068367 + ], + "orientation": [ + 0.16109633445739746, + 0.19534027576446533, + -0.952028751373291, + 0.17184722423553467 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.0557396225631237, + -0.1050163209438324, + 0.073743537068367 + ], + "orientation": [ + 0.16109633445739746, + 0.19534027576446533, + -0.952028751373291, + 0.17184722423553467 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03652261570096016, + 0.09196427464485168, + 0.10364090651273727 + ], + "orientation": [ + 0.2758375108242035, + -0.9321876168251038, + -0.20120206475257874, + 0.12024051696062088 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.035577621310949326, + 0.0929911732673645, + 0.10205873101949692 + ], + "orientation": [ + 0.2735241651535034, + -0.9319198131561279, + -0.1986190378665924, + 0.13137902319431305 + ], + "joints": [ + -0.003054097294807434 + ] + }, + "final_grasp": { + "position": [ + -0.035577621310949326, + 0.0929911732673645, + 0.10205873101949692 + ], + "orientation": [ + 0.2735241651535034, + -0.9319198131561279, + -0.1986190378665924, + 0.13137902319431305 + ], + "joints": [ + 0.003322698175907135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04752429947257042, + 0.006307712756097317, + -0.08238944411277771 + ], + "orientation": [ + 0.5513701438903809, + 0.3303292393684387, + -0.40527451038360596, + -0.6500970721244812 + ], + "joints": [ + 0.001007763436064124 + ] + }, + "fine_grasp": { + "position": [ + -0.04637642204761505, + 0.005354208406060934, + -0.07779861986637115 + ], + "orientation": [ + 0.5533735156059265, + 0.3305709958076477, + -0.40996092557907104, + -0.6453158259391785 + ], + "joints": [ + 0.007411128841340542 + ] + }, + "final_grasp": { + "position": [ + -0.04637642204761505, + 0.005354208406060934, + -0.07779861986637115 + ], + "orientation": [ + 0.5533735156059265, + 0.3305709958076477, + -0.40996092557907104, + -0.6453158259391785 + ], + "joints": [ + 0.013814494013786316 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026884254068136215, + -0.010466559790074825, + -0.09448026120662689 + ], + "orientation": [ + 0.7268309593200684, + 0.6684460639953613, + -0.02171197161078453, + -0.15628564357757568 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.027532991021871567, + -0.009599062614142895, + -0.09084990620613098 + ], + "orientation": [ + 0.7257546186447144, + 0.6697001457214355, + -0.015140936709940434, + -0.15669257938861847 + ], + "joints": [ + -0.005998138338327408 + ] + }, + "final_grasp": { + "position": [ + -0.027532991021871567, + -0.009599062614142895, + -0.09084990620613098 + ], + "orientation": [ + 0.7257546186447144, + 0.6697001457214355, + -0.015140936709940434, + -0.15669257938861847 + ], + "joints": [ + 0.00037865713238716125 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03099943697452545, + -0.1171996220946312, + 0.02252994291484356 + ], + "orientation": [ + 0.6597875356674194, + -0.06671751290559769, + -0.7439255118370056, + -0.0824873149394989 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.030169902369379997, + -0.11680246889591217, + 0.019462842494249344 + ], + "orientation": [ + 0.639484703540802, + -0.05566079542040825, + -0.7619681358337402, + -0.08582435548305511 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.030169902369379997, + -0.11680246889591217, + 0.019462842494249344 + ], + "orientation": [ + 0.639484703540802, + -0.05566079542040825, + -0.7619681358337402, + -0.08582435548305511 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1106669157743454, + -0.01789468713104725, + 0.07931521534919739 + ], + "orientation": [ + 0.1668032705783844, + -0.6433773040771484, + 0.7368354201316833, + -0.12375740706920624 + ], + "joints": [ + 0.001709731062874198 + ] + }, + "fine_grasp": { + "position": [ + 0.11055919528007507, + -0.018672926351428032, + 0.07752475142478943 + ], + "orientation": [ + 0.1777758002281189, + -0.642924427986145, + 0.7357911467552185, + -0.11685580015182495 + ], + "joints": [ + 0.007581697311252356 + ] + }, + "final_grasp": { + "position": [ + 0.11055919528007507, + -0.018672926351428032, + 0.07752475142478943 + ], + "orientation": [ + 0.1777758002281189, + -0.642924427986145, + 0.7357911467552185, + -0.11685580015182495 + ], + "joints": [ + 0.01345366332679987 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011486693285405636, + 0.027908017858862877, + -0.09487425535917282 + ], + "orientation": [ + 0.5877689719200134, + 0.7960637211799622, + -0.12386175990104675, + -0.07394912093877792 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + 0.01345463190227747, + 0.026764143258333206, + -0.0908510759472847 + ], + "orientation": [ + 0.5935518145561218, + 0.7923517823219299, + -0.12497498095035553, + -0.06524049490690231 + ], + "joints": [ + -0.003054097294807434 + ] + }, + "final_grasp": { + "position": [ + 0.01345463190227747, + 0.026764143258333206, + -0.0908510759472847 + ], + "orientation": [ + 0.5935518145561218, + 0.7923517823219299, + -0.12497498095035553, + -0.06524049490690231 + ], + "joints": [ + 0.003322698175907135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07548299431800842, + -0.09983723610639572, + 0.0026716990396380424 + ], + "orientation": [ + 0.8452654480934143, + 0.19120082259178162, + -0.4549750089645386, + 0.20485691726207733 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.07521028816699982, + -0.09854133427143097, + 0.0029237058479338884 + ], + "orientation": [ + 0.8454993963241577, + 0.19062873721122742, + -0.45418810844421387, + 0.20616666972637177 + ], + "joints": [ + -0.007704207673668861 + ] + }, + "final_grasp": { + "position": [ + 0.07521028816699982, + -0.09854133427143097, + 0.0029237058479338884 + ], + "orientation": [ + 0.8454993963241577, + 0.19062873721122742, + -0.45418810844421387, + 0.20616666972637177 + ], + "joints": [ + -0.0007960125803947449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12761670351028442, + -0.023140301927924156, + 0.0037185586988925934 + ], + "orientation": [ + 0.45674699544906616, + -0.43586426973342896, + 0.6487243175506592, + 0.4249250292778015 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.12460803985595703, + -0.022437458857893944, + 0.0030986806377768517 + ], + "orientation": [ + 0.46404576301574707, + -0.42647024989128113, + 0.6463764309883118, + 0.4300955533981323 + ], + "joints": [ + -0.006444086320698261 + ] + }, + "final_grasp": { + "position": [ + 0.12460803985595703, + -0.022437458857893944, + 0.0030986806377768517 + ], + "orientation": [ + 0.46404576301574707, + -0.42647024989128113, + 0.6463764309883118, + 0.4300955533981323 + ], + "joints": [ + -0.0005721207708120346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02157866768538952, + -0.022285452112555504, + 0.1593012809753418 + ], + "orientation": [ + 0.5350838899612427, + -0.5027426481246948, + -0.54827880859375, + 0.4004065692424774 + ], + "joints": [ + 0.0015589843969792128 + ] + }, + "fine_grasp": { + "position": [ + -0.02122468128800392, + -0.02183721587061882, + 0.15652289986610413 + ], + "orientation": [ + 0.5345842838287354, + -0.5034301280975342, + -0.5460024476051331, + 0.40331020951271057 + ], + "joints": [ + 0.007430950179696083 + ] + }, + "final_grasp": { + "position": [ + -0.02122468128800392, + -0.02183721587061882, + 0.15652289986610413 + ], + "orientation": [ + 0.5345842838287354, + -0.5034301280975342, + -0.5460024476051331, + 0.40331020951271057 + ], + "joints": [ + 0.01330291572958231 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12581618130207062, + -0.019604507833719254, + 0.013431623578071594 + ], + "orientation": [ + 0.7491351962089539, + 0.012333046644926071, + 0.12235167622566223, + 0.6509029269218445 + ], + "joints": [ + 0.0003546906227711588 + ] + }, + "fine_grasp": { + "position": [ + 0.12148435413837433, + -0.018381696194410324, + 0.013991881161928177 + ], + "orientation": [ + 0.7456215023994446, + 0.010325811803340912, + 0.13117201626300812, + 0.6532502770423889 + ], + "joints": [ + 0.006758056115359068 + ] + }, + "final_grasp": { + "position": [ + 0.12148435413837433, + -0.018381696194410324, + 0.013991881161928177 + ], + "orientation": [ + 0.7456215023994446, + 0.010325811803340912, + 0.13117201626300812, + 0.6532502770423889 + ], + "joints": [ + 0.01316142175346613 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09803517162799835, + 0.017237773165106773, + 0.12209362536668777 + ], + "orientation": [ + 0.3376297354698181, + -0.7225626707077026, + -0.5696404576301575, + 0.1985425502061844 + ], + "joints": [ + 0.0016460868064314127 + ] + }, + "fine_grasp": { + "position": [ + -0.0974569097161293, + 0.018549306318163872, + 0.1219075620174408 + ], + "orientation": [ + 0.34153446555137634, + -0.7261657118797302, + -0.5654297471046448, + 0.1905960738658905 + ], + "joints": [ + 0.00751805305480957 + ] + }, + "final_grasp": { + "position": [ + -0.0974569097161293, + 0.018549306318163872, + 0.1219075620174408 + ], + "orientation": [ + 0.34153446555137634, + -0.7261657118797302, + -0.5654297471046448, + 0.1905960738658905 + ], + "joints": [ + 0.013390019536018372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013663952704519033, + 0.11991073191165924, + -0.013277054764330387 + ], + "orientation": [ + 0.08433108776807785, + 0.8382726311683655, + 0.1309276670217514, + 0.5225372314453125 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.00015795111539773643, + 0.11754203587770462, + -0.012576626613736153 + ], + "orientation": [ + 0.08050822466611862, + 0.8398900628089905, + 0.1307905912399292, + 0.5205735564231873 + ], + "joints": [ + -0.005909815430641174 + ] + }, + "final_grasp": { + "position": [ + -0.00015795111539773643, + 0.11754203587770462, + -0.012576626613736153 + ], + "orientation": [ + 0.08050822466611862, + 0.8398900628089905, + 0.1307905912399292, + 0.5205735564231873 + ], + "joints": [ + 0.0004669800400733948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1258387416601181, + -0.019104957580566406, + 0.01340442057698965 + ], + "orientation": [ + 0.7480097413063049, + 0.013818743638694286, + 0.1216263622045517, + 0.6523017287254333 + ], + "joints": [ + 0.00045908233732916415 + ] + }, + "fine_grasp": { + "position": [ + 0.12156795710325241, + -0.01821609027683735, + 0.0140758091583848 + ], + "orientation": [ + 0.7454838752746582, + 0.011032926850020885, + 0.1289345771074295, + 0.6538407802581787 + ], + "joints": [ + 0.00686244759708643 + ] + }, + "final_grasp": { + "position": [ + 0.12156795710325241, + -0.01821609027683735, + 0.0140758091583848 + ], + "orientation": [ + 0.7454838752746582, + 0.011032926850020885, + 0.1289345771074295, + 0.6538407802581787 + ], + "joints": [ + 0.013265812769532204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12861515581607819, + 0.0014094534562900662, + 0.04126431792974472 + ], + "orientation": [ + 0.5358447432518005, + 0.3949074447154999, + -0.4980330467224121, + 0.5557712912559509 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.12788896262645721, + -0.0006905711488798261, + 0.04226110503077507 + ], + "orientation": [ + 0.5451208353042603, + 0.3830067217350006, + -0.4806939959526062, + 0.5701600313186646 + ], + "joints": [ + -0.006529537960886955 + ] + }, + "final_grasp": { + "position": [ + 0.12788896262645721, + -0.0006905711488798261, + 0.04226110503077507 + ], + "orientation": [ + 0.5451208353042603, + 0.3830067217350006, + -0.4806939959526062, + 0.5701600313186646 + ], + "joints": [ + -0.0006841421127319336 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0158239658921957, + -0.09471535682678223, + -0.043903689831495285 + ], + "orientation": [ + 0.9526870250701904, + 0.29596057534217834, + -0.0011127584148198366, + -0.06923379004001617 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0164441280066967, + -0.09598316252231598, + -0.04339118301868439 + ], + "orientation": [ + 0.9521787166595459, + 0.2959572672843933, + -0.007419422268867493, + -0.07556530088186264 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + -0.0164441280066967, + -0.09598316252231598, + -0.04339118301868439 + ], + "orientation": [ + 0.9521787166595459, + 0.2959572672843933, + -0.007419422268867493, + -0.07556530088186264 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006124748848378658, + 0.05091364309191704, + 0.1397620588541031 + ], + "orientation": [ + 0.0622587576508522, + -0.13122574985027313, + 0.5121009945869446, + -0.8465554714202881 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.0058347019366919994, + 0.05375685170292854, + 0.14268217980861664 + ], + "orientation": [ + 0.0690527856349945, + -0.13845250010490417, + 0.5148462653160095, + -0.8432056903839111 + ], + "joints": [ + -0.004679135046899319 + ] + }, + "final_grasp": { + "position": [ + 0.0058347019366919994, + 0.05375685170292854, + 0.14268217980861664 + ], + "orientation": [ + 0.0690527856349945, + -0.13845250010490417, + 0.5148462653160095, + -0.8432056903839111 + ], + "joints": [ + 0.0006614308804273605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034660544246435165, + -0.11537200957536697, + 0.03252245858311653 + ], + "orientation": [ + 0.6482511758804321, + 0.06344234943389893, + 0.7546172738075256, + -0.07936227321624756 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.034178636968135834, + -0.11616407334804535, + 0.034543007612228394 + ], + "orientation": [ + 0.6379553079605103, + 0.06002098321914673, + 0.7639108300209045, + -0.076490119099617 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + -0.034178636968135834, + -0.11616407334804535, + 0.034543007612228394 + ], + "orientation": [ + 0.6379553079605103, + 0.06002098321914673, + 0.7639108300209045, + -0.076490119099617 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07799556851387024, + 0.08545064926147461, + 0.06963440030813217 + ], + "orientation": [ + 0.13571196794509888, + 0.5182632803916931, + 0.29402029514312744, + -0.7915412783622742 + ], + "joints": [ + -0.012257169932126999 + ] + }, + "fine_grasp": { + "position": [ + -0.07856707274913788, + 0.08278174698352814, + 0.06742538511753082 + ], + "orientation": [ + 0.13710126280784607, + 0.5120970606803894, + 0.28411537408828735, + -0.7988981008529663 + ], + "joints": [ + -0.006411774083971977 + ] + }, + "final_grasp": { + "position": [ + -0.07856707274913788, + 0.08278174698352814, + 0.06742538511753082 + ], + "orientation": [ + 0.13710126280784607, + 0.5120970606803894, + 0.28411537408828735, + -0.7988981008529663 + ], + "joints": [ + -0.0005663782358169556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13371135294437408, + 0.01982133649289608, + 0.03336530551314354 + ], + "orientation": [ + 0.08544330298900604, + -0.7569120526313782, + 0.6478560566902161, + -0.008137688040733337 + ], + "joints": [ + 0.0032185388263314962 + ] + }, + "fine_grasp": { + "position": [ + 0.13446728885173798, + 0.019700227305293083, + 0.033936165273189545 + ], + "orientation": [ + 0.08317895978689194, + -0.7550720572471619, + 0.6503437161445618, + -0.0006194327143020928 + ], + "joints": [ + 0.009090505540370941 + ] + }, + "final_grasp": { + "position": [ + 0.13446728885173798, + 0.019700227305293083, + 0.033936165273189545 + ], + "orientation": [ + 0.08317895978689194, + -0.7550720572471619, + 0.6503437161445618, + -0.0006194327143020928 + ], + "joints": [ + 0.014962472021579742 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010320834815502167, + -0.08918476849794388, + -0.057389117777347565 + ], + "orientation": [ + 0.050662122666835785, + -0.02723798342049122, + 0.9401071667671204, + 0.3359910249710083 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.013378187082707882, + -0.09092221409082413, + -0.05685391277074814 + ], + "orientation": [ + 0.06517484784126282, + -0.03639170154929161, + 0.9383211731910706, + 0.33761098980903625 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.013378187082707882, + -0.09092221409082413, + -0.05685391277074814 + ], + "orientation": [ + 0.06517484784126282, + -0.03639170154929161, + 0.9383211731910706, + 0.33761098980903625 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010029736906290054, + -0.08915810286998749, + -0.05734265223145485 + ], + "orientation": [ + 0.050754986703395844, + -0.02589532546699047, + 0.9400649666786194, + 0.3362012207508087 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.013167408294975758, + -0.09074955433607101, + -0.05684559419751167 + ], + "orientation": [ + 0.06616053730249405, + -0.03500121086835861, + 0.9382144212722778, + 0.3378627896308899 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.013167408294975758, + -0.09074955433607101, + -0.05684559419751167 + ], + "orientation": [ + 0.06616053730249405, + -0.03500121086835861, + 0.9382144212722778, + 0.3378627896308899 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027415310963988304, + -0.12080004066228867, + 0.05670982226729393 + ], + "orientation": [ + 0.5406691431999207, + -0.02195737138390541, + 0.8349756598472595, + -0.10005149990320206 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.026747269555926323, + -0.12001530081033707, + 0.05657370388507843 + ], + "orientation": [ + 0.5445905327796936, + -0.015748079866170883, + 0.8318190574645996, + -0.10606762021780014 + ], + "joints": [ + -0.006469258107244968 + ] + }, + "final_grasp": { + "position": [ + -0.026747269555926323, + -0.12001530081033707, + 0.05657370388507843 + ], + "orientation": [ + 0.5445905327796936, + -0.015748079866170883, + 0.8318190574645996, + -0.10606762021780014 + ], + "joints": [ + -0.0011818315833806992 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021345719695091248, + -0.021496834233403206, + 0.15854980051517487 + ], + "orientation": [ + 0.5353191494941711, + -0.5059331059455872, + -0.5453026294708252, + 0.4001377820968628 + ], + "joints": [ + 0.001557550160214305 + ] + }, + "fine_grasp": { + "position": [ + -0.021128511056303978, + -0.021283183246850967, + 0.15603555738925934 + ], + "orientation": [ + 0.5379143953323364, + -0.5072107911109924, + -0.54095458984375, + 0.40094080567359924 + ], + "joints": [ + 0.007429515942931175 + ] + }, + "final_grasp": { + "position": [ + -0.021128511056303978, + -0.021283183246850967, + 0.15603555738925934 + ], + "orientation": [ + 0.5379143953323364, + -0.5072107911109924, + -0.54095458984375, + 0.40094080567359924 + ], + "joints": [ + 0.013301481492817402 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011241956613957882, + -0.1041315570473671, + 0.08277199417352676 + ], + "orientation": [ + 0.8025127649307251, + -0.1886742115020752, + -0.5504072308540344, + 0.13201147317886353 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.010458534583449364, + -0.10086490213871002, + 0.08109775185585022 + ], + "orientation": [ + 0.8014733791351318, + -0.19112242758274078, + -0.5517140030860901, + 0.12932264804840088 + ], + "joints": [ + -0.005490437150001526 + ] + }, + "final_grasp": { + "position": [ + -0.010458534583449364, + -0.10086490213871002, + 0.08109775185585022 + ], + "orientation": [ + 0.8014733791351318, + -0.19112242758274078, + -0.5517140030860901, + 0.12932264804840088 + ], + "joints": [ + 0.0013646185398101807 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11648107320070267, + 0.025585414841771126, + 0.08600998669862747 + ], + "orientation": [ + 0.6338998675346375, + -0.3066366910934448, + -0.025059537962079048, + -0.7095893025398254 + ], + "joints": [ + -0.0013748242054134607 + ] + }, + "fine_grasp": { + "position": [ + -0.1109931468963623, + 0.024856749922037125, + 0.08401040732860565 + ], + "orientation": [ + 0.6371393799781799, + -0.30459970235824585, + -0.032365832477808, + -0.7072657942771912 + ], + "joints": [ + 0.005028541665524244 + ] + }, + "final_grasp": { + "position": [ + -0.1109931468963623, + 0.024856749922037125, + 0.08401040732860565 + ], + "orientation": [ + 0.6371393799781799, + -0.30459970235824585, + -0.032365832477808, + -0.7072657942771912 + ], + "joints": [ + 0.011431907303631306 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0019962438382208347, + -0.12002740055322647, + 0.01752178743481636 + ], + "orientation": [ + 0.6702335476875305, + 0.03933294862508774, + -0.7409267425537109, + -0.016355372965335846 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.0019858486484736204, + -0.12163199484348297, + 0.016812218353152275 + ], + "orientation": [ + 0.6535787582397461, + 0.0413753017783165, + -0.7555152177810669, + -0.01787886768579483 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + 0.0019858486484736204, + -0.12163199484348297, + 0.016812218353152275 + ], + "orientation": [ + 0.6535787582397461, + 0.0413753017783165, + -0.7555152177810669, + -0.01787886768579483 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021930525079369545, + 0.11794652789831161, + 0.02461959980428219 + ], + "orientation": [ + 0.014226202853024006, + -0.9908715486526489, + -0.09207258373498917, + 0.09743669629096985 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.024175679311156273, + 0.11972053349018097, + 0.02453782595694065 + ], + "orientation": [ + 0.016802383586764336, + -0.9890055060386658, + -0.09836051613092422, + 0.10913724452257156 + ], + "joints": [ + -0.0036134645342826843 + ] + }, + "final_grasp": { + "position": [ + -0.024175679311156273, + 0.11972053349018097, + 0.02453782595694065 + ], + "orientation": [ + 0.016802383586764336, + -0.9890055060386658, + -0.09836051613092422, + 0.10913724452257156 + ], + "joints": [ + 0.0027633309364318848 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002037554746493697, + -0.11869559437036514, + 0.013405107893049717 + ], + "orientation": [ + 0.13617990911006927, + -0.0016335701802745461, + -0.9832814335823059, + -0.12087156623601913 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.002343913773074746, + -0.11815372854471207, + 0.013223112560808659 + ], + "orientation": [ + 0.12860672175884247, + -0.00871998816728592, + -0.9850597977638245, + -0.11419941484928131 + ], + "joints": [ + -0.004649694077670574 + ] + }, + "final_grasp": { + "position": [ + -0.002343913773074746, + -0.11815372854471207, + 0.013223112560808659 + ], + "orientation": [ + 0.12860672175884247, + -0.00871998816728592, + -0.9850597977638245, + -0.11419941484928131 + ], + "joints": [ + 0.000690871849656105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029729247093200684, + 0.01965126395225525, + 0.15821249783039093 + ], + "orientation": [ + 0.4817395508289337, + -0.6199783086776733, + -0.4434766173362732, + 0.4322989284992218 + ], + "joints": [ + 0.0019763116724789143 + ] + }, + "fine_grasp": { + "position": [ + -0.029640456661581993, + 0.021544963121414185, + 0.1577979326248169 + ], + "orientation": [ + 0.4835980534553528, + -0.628797173500061, + -0.4348771572113037, + 0.42617928981781006 + ], + "joints": [ + 0.00837967824190855 + ] + }, + "final_grasp": { + "position": [ + -0.029640456661581993, + 0.021544963121414185, + 0.1577979326248169 + ], + "orientation": [ + 0.4835980534553528, + -0.628797173500061, + -0.4348771572113037, + 0.42617928981781006 + ], + "joints": [ + 0.014783045276999474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05308383330702782, + -0.08701290935277939, + -0.048252616077661514 + ], + "orientation": [ + 0.11878311634063721, + -0.19010749459266663, + -0.9241560101509094, + -0.30933067202568054 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.05330421403050423, + -0.08751877397298813, + -0.049565162509679794 + ], + "orientation": [ + 0.10818569362163544, + -0.1932448148727417, + -0.9252780079841614, + -0.3079167604446411 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + -0.05330421403050423, + -0.08751877397298813, + -0.049565162509679794 + ], + "orientation": [ + 0.10818569362163544, + -0.1932448148727417, + -0.9252780079841614, + -0.3079167604446411 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002077447483316064, + -0.11826164275407791, + 0.01346348226070404 + ], + "orientation": [ + 0.13358323276042938, + -0.001790398615412414, + -0.9838131070137024, + -0.11943221092224121 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.002353307791054249, + -0.1181224063038826, + 0.013210524804890156 + ], + "orientation": [ + 0.12869739532470703, + -0.008795610629022121, + -0.9850777983665466, + -0.11393564194440842 + ], + "joints": [ + -0.004649694077670574 + ] + }, + "final_grasp": { + "position": [ + -0.002353307791054249, + -0.1181224063038826, + 0.013210524804890156 + ], + "orientation": [ + 0.12869739532470703, + -0.008795610629022121, + -0.9850777983665466, + -0.11393564194440842 + ], + "joints": [ + 0.000690871849656105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11974643915891647, + 0.005287808366119862, + 0.05897711589932442 + ], + "orientation": [ + 0.08491579443216324, + 0.6881709694862366, + -0.6886821389198303, + 0.21195971965789795 + ], + "joints": [ + -0.00018884983728639781 + ] + }, + "fine_grasp": { + "position": [ + 0.11982416361570358, + 0.007911036722362041, + 0.05932062864303589 + ], + "orientation": [ + 0.09206137806177139, + 0.694526731967926, + -0.6827428340911865, + 0.20741142332553864 + ], + "joints": [ + 0.006214515771716833 + ] + }, + "final_grasp": { + "position": [ + 0.11982416361570358, + 0.007911036722362041, + 0.05932062864303589 + ], + "orientation": [ + 0.09206137806177139, + 0.694526731967926, + -0.6827428340911865, + 0.20741142332553864 + ], + "joints": [ + 0.012617881409823895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07209917157888412, + -0.08329948782920837, + -0.04582999646663666 + ], + "orientation": [ + 0.5355618000030518, + -0.025138959288597107, + 0.7486610412597656, + 0.3899335563182831 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.07085230201482773, + -0.08228471875190735, + -0.044159356504678726 + ], + "orientation": [ + 0.5337007641792297, + -0.03485284373164177, + 0.7481009364128113, + 0.3928026258945465 + ], + "joints": [ + -0.007031496614217758 + ] + }, + "final_grasp": { + "position": [ + 0.07085230201482773, + -0.08228471875190735, + -0.044159356504678726 + ], + "orientation": [ + 0.5337007641792297, + -0.03485284373164177, + 0.7481009364128113, + 0.3928026258945465 + ], + "joints": [ + -0.001717500388622284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0720721110701561, + -0.08326410502195358, + -0.04582509398460388 + ], + "orientation": [ + 0.5355153679847717, + -0.025120345875620842, + 0.7486928701400757, + 0.3899376094341278 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.07084346562623978, + -0.08227366209030151, + -0.044162966310977936 + ], + "orientation": [ + 0.5336525440216064, + -0.03486558794975281, + 0.7481263279914856, + 0.39281854033470154 + ], + "joints": [ + -0.007031496614217758 + ] + }, + "final_grasp": { + "position": [ + 0.07084346562623978, + -0.08227366209030151, + -0.044162966310977936 + ], + "orientation": [ + 0.5336525440216064, + -0.03486558794975281, + 0.7481263279914856, + 0.39281854033470154 + ], + "joints": [ + -0.001717500388622284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12416692078113556, + 0.008264759555459023, + 0.03396384418010712 + ], + "orientation": [ + 0.024640711024403572, + 0.7256011366844177, + 0.6823056936264038, + -0.0857609361410141 + ], + "joints": [ + 0.0021008828189224005 + ] + }, + "fine_grasp": { + "position": [ + -0.11857692897319794, + 0.007654521614313126, + 0.03388064727187157 + ], + "orientation": [ + 0.03324420750141144, + 0.7238476276397705, + 0.6839068531990051, + -0.08491724729537964 + ], + "joints": [ + 0.007972849532961845 + ] + }, + "final_grasp": { + "position": [ + -0.11857692897319794, + 0.007654521614313126, + 0.03388064727187157 + ], + "orientation": [ + 0.03324420750141144, + 0.7238476276397705, + 0.6839068531990051, + -0.08491724729537964 + ], + "joints": [ + 0.013844816014170647 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.022358639165759087, + 0.1179625540971756, + 0.02504586987197399 + ], + "orientation": [ + 0.013933832757174969, + -0.9906615018844604, + -0.09385140985250473, + 0.0979161262512207 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.025001104921102524, + 0.11936644464731216, + 0.02478633262217045 + ], + "orientation": [ + 0.017301339656114578, + -0.9885444641113281, + -0.10214291512966156, + 0.10976038873195648 + ], + "joints": [ + -0.004118294455111027 + ] + }, + "final_grasp": { + "position": [ + -0.025001104921102524, + 0.11936644464731216, + 0.02478633262217045 + ], + "orientation": [ + 0.017301339656114578, + -0.9885444641113281, + -0.10214291512966156, + 0.10976038873195648 + ], + "joints": [ + 0.0017536710947751999 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03058686852455139, + 0.02004733309149742, + 0.15800032019615173 + ], + "orientation": [ + 0.48181697726249695, + -0.6251526474952698, + -0.44170692563056946, + 0.42653411626815796 + ], + "joints": [ + 0.001970962155610323 + ] + }, + "fine_grasp": { + "position": [ + -0.030466120690107346, + 0.022101053968071938, + 0.15801358222961426 + ], + "orientation": [ + 0.48336827754974365, + -0.6347805261611938, + -0.43230682611465454, + 0.4201423227787018 + ], + "joints": [ + 0.00834775809198618 + ] + }, + "final_grasp": { + "position": [ + -0.030466120690107346, + 0.022101053968071938, + 0.15801358222961426 + ], + "orientation": [ + 0.48336827754974365, + -0.6347805261611938, + -0.43230682611465454, + 0.4201423227787018 + ], + "joints": [ + 0.014724554494023323 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006031049881130457, + -0.05732070282101631, + -0.09199903905391693 + ], + "orientation": [ + 0.20752203464508057, + 0.1689930260181427, + -0.8354014158248901, + -0.4800836741924286 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.004923895467072725, + -0.05687028542160988, + -0.08795041590929031 + ], + "orientation": [ + 0.19386492669582367, + 0.1541929394006729, + -0.8410559296607971, + -0.4809010624885559 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.004923895467072725, + -0.05687028542160988, + -0.08795041590929031 + ], + "orientation": [ + 0.19386492669582367, + 0.1541929394006729, + -0.8410559296607971, + -0.4809010624885559 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12010160833597183, + 0.005079916212707758, + 0.059221357107162476 + ], + "orientation": [ + 0.08489102870225906, + 0.6871219277381897, + -0.6894271969795227, + 0.21294887363910675 + ], + "joints": [ + -0.00018819604883901775 + ] + }, + "fine_grasp": { + "position": [ + 0.12007702887058258, + 0.007837627083063126, + 0.05913718044757843 + ], + "orientation": [ + 0.09214132279157639, + 0.6943079829216003, + -0.6827437877655029, + 0.20810382068157196 + ], + "joints": [ + 0.006215169560164213 + ] + }, + "final_grasp": { + "position": [ + 0.12007702887058258, + 0.007837627083063126, + 0.05913718044757843 + ], + "orientation": [ + 0.09214132279157639, + 0.6943079829216003, + -0.6827437877655029, + 0.20810382068157196 + ], + "joints": [ + 0.012618535198271275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014320232905447483, + -0.11499946564435959, + -0.02096531167626381 + ], + "orientation": [ + 0.9812606573104858, + 0.16878069937229156, + 0.08350300043821335, + -0.04083894565701485 + ], + "joints": [ + -0.010637950152158737 + ] + }, + "fine_grasp": { + "position": [ + -0.016745639964938164, + -0.11339496821165085, + -0.019802803173661232 + ], + "orientation": [ + 0.9794179201126099, + 0.16759414970874786, + 0.10121047496795654, + -0.04908318072557449 + ], + "joints": [ + -0.005297384224832058 + ] + }, + "final_grasp": { + "position": [ + -0.016745639964938164, + -0.11339496821165085, + -0.019802803173661232 + ], + "orientation": [ + 0.9794179201126099, + 0.16759414970874786, + 0.10121047496795654, + -0.04908318072557449 + ], + "joints": [ + 4.318170249462128e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11512862890958786, + -0.0020544787403196096, + -0.008799342438578606 + ], + "orientation": [ + 0.7138217687606812, + 0.14989523589611053, + -0.0446694940328598, + -0.6826379299163818 + ], + "joints": [ + 0.0016177170909941196 + ] + }, + "fine_grasp": { + "position": [ + -0.11290339380502701, + -0.0009352724300697446, + -0.0071683116257190704 + ], + "orientation": [ + 0.7146150469779968, + 0.15914317965507507, + -0.04199980944395065, + -0.6798785328865051 + ], + "joints": [ + 0.0064268833957612514 + ] + }, + "final_grasp": { + "position": [ + -0.11290339380502701, + -0.0009352724300697446, + -0.0071683116257190704 + ], + "orientation": [ + 0.7146150469779968, + 0.15914317965507507, + -0.04199980944395065, + -0.6798785328865051 + ], + "joints": [ + 0.011236049234867096 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008011032827198505, + -0.00239471229724586, + -0.10097722709178925 + ], + "orientation": [ + 0.7103078961372375, + 0.6568081378936768, + -0.15210221707820892, + -0.20231331884860992 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.009380140341818333, + -0.0017128454055637121, + -0.09588124603033066 + ], + "orientation": [ + 0.7076163291931152, + 0.6619337201118469, + -0.14347626268863678, + -0.20133911073207855 + ], + "joints": [ + -0.004231713712215424 + ] + }, + "final_grasp": { + "position": [ + -0.009380140341818333, + -0.0017128454055637121, + -0.09588124603033066 + ], + "orientation": [ + 0.7076163291931152, + 0.6619337201118469, + -0.14347626268863678, + -0.20133911073207855 + ], + "joints": [ + 0.0021450817584991455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09100964665412903, + -0.08694743365049362, + -0.0056125083938241005 + ], + "orientation": [ + 0.48527243733406067, + -0.223253071308136, + 0.8023756146430969, + 0.26619938015937805 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.08784226328134537, + -0.08511915057897568, + -0.005435129627585411 + ], + "orientation": [ + 0.48549124598503113, + -0.2242583930492401, + 0.798916757106781, + 0.27520614862442017 + ], + "joints": [ + -0.006978357210755348 + ] + }, + "final_grasp": { + "position": [ + 0.08784226328134537, + -0.08511915057897568, + -0.005435129627585411 + ], + "orientation": [ + 0.48549124598503113, + -0.2242583930492401, + 0.798916757106781, + 0.27520614862442017 + ], + "joints": [ + -0.001611221581697464 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0033062940929085016, + 0.001267682877369225, + 0.15993022918701172 + ], + "orientation": [ + 0.5895335078239441, + -0.5491884350776672, + -0.3851449191570282, + 0.4500061869621277 + ], + "joints": [ + 0.00122078787535429 + ] + }, + "fine_grasp": { + "position": [ + 0.002817963482812047, + 0.00214419630356133, + 0.15952534973621368 + ], + "orientation": [ + 0.5947512984275818, + -0.5524234771728516, + -0.376544713973999, + 0.4464452564716339 + ], + "joints": [ + 0.007119323592633009 + ] + }, + "final_grasp": { + "position": [ + 0.002817963482812047, + 0.00214419630356133, + 0.15952534973621368 + ], + "orientation": [ + 0.5947512984275818, + -0.5524234771728516, + -0.376544713973999, + 0.4464452564716339 + ], + "joints": [ + 0.013017859309911728 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.015720510855317116, + -0.011583012528717518, + 0.1622205227613449 + ], + "orientation": [ + 0.6807734370231628, + -0.671227216720581, + 0.25668978691101074, + -0.1418159306049347 + ], + "joints": [ + -0.009460333734750748 + ] + }, + "fine_grasp": { + "position": [ + 0.016120577231049538, + -0.011287069879472256, + 0.15656226873397827 + ], + "orientation": [ + 0.6843019127845764, + -0.668118417263031, + 0.25658684968948364, + -0.13968491554260254 + ], + "joints": [ + -0.002525568939745426 + ] + }, + "final_grasp": { + "position": [ + 0.016120577231049538, + -0.011287069879472256, + 0.15656226873397827 + ], + "orientation": [ + 0.6843019127845764, + -0.668118417263031, + 0.25658684968948364, + -0.13968491554260254 + ], + "joints": [ + 0.004409195855259895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0921236127614975, + 0.08756124973297119, + 0.017207272350788116 + ], + "orientation": [ + 0.20659559965133667, + 0.7964155673980713, + 0.2960185706615448, + -0.48519447445869446 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.08838484436273575, + 0.08490636944770813, + 0.017126932740211487 + ], + "orientation": [ + 0.2091006338596344, + 0.7970672845840454, + 0.29632747173309326, + -0.4828569293022156 + ], + "joints": [ + -0.008153101429343224 + ] + }, + "final_grasp": { + "position": [ + -0.08838484436273575, + 0.08490636944770813, + 0.017126932740211487 + ], + "orientation": [ + 0.2091006338596344, + 0.7970672845840454, + 0.29632747173309326, + -0.4828569293022156 + ], + "joints": [ + -0.0028125345706939697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023683905601501465, + 0.11605696380138397, + 0.019193271175026894 + ], + "orientation": [ + 0.05027901753783226, + 0.8009781241416931, + 0.02886076830327511, + -0.5958801507949829 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.022639436647295952, + 0.11612031608819962, + 0.016297755762934685 + ], + "orientation": [ + 0.056978389620780945, + 0.7957379817962646, + 0.024716634303331375, + -0.6024479269981384 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + -0.022639436647295952, + 0.11612031608819962, + 0.016297755762934685 + ], + "orientation": [ + 0.056978389620780945, + 0.7957379817962646, + 0.024716634303331375, + -0.6024479269981384 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05723108351230621, + 0.09783641248941422, + 0.08199935406446457 + ], + "orientation": [ + 0.20536594092845917, + 0.14708994328975677, + 0.2247471809387207, + -0.9411048293113708 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.05605157092213631, + 0.09743649512529373, + 0.08399996906518936 + ], + "orientation": [ + 0.2030687928199768, + 0.13080044090747833, + 0.22496598958969116, + -0.9439516663551331 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.05605157092213631, + 0.09743649512529373, + 0.08399996906518936 + ], + "orientation": [ + 0.2030687928199768, + 0.13080044090747833, + 0.22496598958969116, + -0.9439516663551331 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06801833212375641, + -0.04642214998602867, + 0.1312541365623474 + ], + "orientation": [ + 0.3000775873661041, + 0.10377870500087738, + 0.807983934879303, + -0.4963320195674896 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.06665805727243423, + -0.045511648058891296, + 0.12773476541042328 + ], + "orientation": [ + 0.29914215207099915, + 0.11328931897878647, + 0.8036382794380188, + -0.5018413662910461 + ], + "joints": [ + -0.008039683103561401 + ] + }, + "final_grasp": { + "position": [ + -0.06665805727243423, + -0.045511648058891296, + 0.12773476541042328 + ], + "orientation": [ + 0.29914215207099915, + 0.11328931897878647, + 0.8036382794380188, + -0.5018413662910461 + ], + "joints": [ + -0.0032039470970630646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12925536930561066, + 0.01684335619211197, + 0.03375588729977608 + ], + "orientation": [ + 0.6541604995727539, + -0.02600116655230522, + -0.08511557430028915, + -0.7511014342308044 + ], + "joints": [ + 0.0017896025674417615 + ] + }, + "fine_grasp": { + "position": [ + -0.12806230783462524, + 0.017527615651488304, + 0.032008007168769836 + ], + "orientation": [ + 0.6494224071502686, + -0.05046680197119713, + -0.09251028299331665, + -0.7530906200408936 + ], + "joints": [ + 0.006625339388847351 + ] + }, + "final_grasp": { + "position": [ + -0.12806230783462524, + 0.017527615651488304, + 0.032008007168769836 + ], + "orientation": [ + 0.6494224071502686, + -0.05046680197119713, + -0.09251028299331665, + -0.7530906200408936 + ], + "joints": [ + 0.011461076326668262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05749144032597542, + 0.09780941158533096, + 0.08178981393575668 + ], + "orientation": [ + 0.2065310925245285, + 0.14736667275428772, + 0.2240425944328308, + -0.9409744143486023 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.0561690591275692, + 0.09741940349340439, + 0.08382423967123032 + ], + "orientation": [ + 0.20390547811985016, + 0.1301068216562271, + 0.22448016703128815, + -0.9439827799797058 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.0561690591275692, + 0.09741940349340439, + 0.08382423967123032 + ], + "orientation": [ + 0.20390547811985016, + 0.1301068216562271, + 0.22448016703128815, + -0.9439827799797058 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.126218780875206, + 0.011596321128308773, + 0.038579072803258896 + ], + "orientation": [ + 0.673109769821167, + 0.008525840006768703, + 0.077506422996521, + -0.7354205250740051 + ], + "joints": [ + 0.0017779008485376835 + ] + }, + "fine_grasp": { + "position": [ + -0.13003212213516235, + 0.01075846515595913, + 0.03897983953356743 + ], + "orientation": [ + 0.6774986386299133, + 0.01730615273118019, + 0.07279053330421448, + -0.731708824634552 + ], + "joints": [ + 0.007118466775864363 + ] + }, + "final_grasp": { + "position": [ + -0.13003212213516235, + 0.01075846515595913, + 0.03897983953356743 + ], + "orientation": [ + 0.6774986386299133, + 0.01730615273118019, + 0.07279053330421448, + -0.731708824634552 + ], + "joints": [ + 0.012459032237529755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023621845990419388, + 0.11597297340631485, + 0.019420325756072998 + ], + "orientation": [ + 0.04955007880926132, + 0.800828754901886, + 0.029367513954639435, + -0.5961171984672546 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.02257888950407505, + 0.11612216383218765, + 0.01626681163907051 + ], + "orientation": [ + 0.05754338204860687, + 0.7959153056144714, + 0.024947786703705788, + -0.6021504998207092 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + -0.02257888950407505, + 0.11612216383218765, + 0.01626681163907051 + ], + "orientation": [ + 0.05754338204860687, + 0.7959153056144714, + 0.024947786703705788, + -0.6021504998207092 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09803681075572968, + -0.009011633694171906, + 0.11989027261734009 + ], + "orientation": [ + 0.3612998425960541, + -0.6735714077949524, + -0.6335662007331848, + 0.11982434242963791 + ], + "joints": [ + 0.0013090074062347412 + ] + }, + "fine_grasp": { + "position": [ + -0.09378828853368759, + -0.009377564303576946, + 0.1172194853425026 + ], + "orientation": [ + 0.3558299243450165, + -0.6736421585083008, + -0.6379057168960571, + 0.11255107074975967 + ], + "joints": [ + 0.007712373044341803 + ] + }, + "final_grasp": { + "position": [ + -0.09378828853368759, + -0.009377564303576946, + 0.1172194853425026 + ], + "orientation": [ + 0.3558299243450165, + -0.6736421585083008, + -0.6379057168960571, + 0.11255107074975967 + ], + "joints": [ + 0.014115738682448864 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11546508222818375, + -0.0019244796130806208, + -0.00857624039053917 + ], + "orientation": [ + 0.7143451571464539, + 0.15667234361171722, + -0.03827091306447983, + -0.6809552311897278 + ], + "joints": [ + 0.0013926519313827157 + ] + }, + "fine_grasp": { + "position": [ + -0.11272472888231277, + -0.0005392658640630543, + -0.006467986851930618 + ], + "orientation": [ + 0.7139089107513428, + 0.16525810956954956, + -0.03958617523312569, + -0.6793062090873718 + ], + "joints": [ + 0.006706648506224155 + ] + }, + "final_grasp": { + "position": [ + -0.11272472888231277, + -0.0005392658640630543, + -0.006467986851930618 + ], + "orientation": [ + 0.7139089107513428, + 0.16525810956954956, + -0.03958617523312569, + -0.6793062090873718 + ], + "joints": [ + 0.01202064473181963 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0035986066795885563, + 0.0017110100015997887, + 0.15859590470790863 + ], + "orientation": [ + 0.5852490663528442, + -0.5463636517524719, + -0.389914333820343, + 0.45490339398384094 + ], + "joints": [ + 0.00177335599437356 + ] + }, + "fine_grasp": { + "position": [ + 0.0028352010995149612, + 0.002431499073281884, + 0.15769408643245697 + ], + "orientation": [ + 0.5919378995895386, + -0.5530334115028381, + -0.3784385621547699, + 0.44782575964927673 + ], + "joints": [ + 0.007140492554754019 + ] + }, + "final_grasp": { + "position": [ + 0.0028352010995149612, + 0.002431499073281884, + 0.15769408643245697 + ], + "orientation": [ + 0.5919378995895386, + -0.5530334115028381, + -0.3784385621547699, + 0.44782575964927673 + ], + "joints": [ + 0.01250762864947319 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011230427771806717, + 0.111270472407341, + 0.07175877690315247 + ], + "orientation": [ + 0.14344264566898346, + -0.9775922894477844, + -0.015240976586937904, + -0.15331438183784485 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.012338666245341301, + 0.11181500554084778, + 0.07122137397527695 + ], + "orientation": [ + 0.1396581530570984, + -0.9782181978225708, + -0.016656549647450447, + -0.15266726911067963 + ], + "joints": [ + -0.005238502286374569 + ] + }, + "final_grasp": { + "position": [ + -0.012338666245341301, + 0.11181500554084778, + 0.07122137397527695 + ], + "orientation": [ + 0.1396581530570984, + -0.9782181978225708, + -0.016656549647450447, + -0.15266726911067963 + ], + "joints": [ + 0.00010206364095211029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04444102570414543, + 0.03972700610756874, + 0.14717209339141846 + ], + "orientation": [ + 0.15310253202915192, + 0.0789029523730278, + 0.5459660291671753, + -0.8199114799499512 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.04334425926208496, + 0.038002338260412216, + 0.14206190407276154 + ], + "orientation": [ + 0.16188885271549225, + 0.076212078332901, + 0.5410901308059692, + -0.821708619594574 + ], + "joints": [ + -0.0044570788741111755 + ] + }, + "final_grasp": { + "position": [ + -0.04334425926208496, + 0.038002338260412216, + 0.14206190407276154 + ], + "orientation": [ + 0.16188885271549225, + 0.076212078332901, + 0.5410901308059692, + -0.821708619594574 + ], + "joints": [ + 0.003460776060819626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044568028301000595, + 0.03959210216999054, + 0.14713318645954132 + ], + "orientation": [ + 0.1534568816423416, + 0.07926928997039795, + 0.5465109944343567, + -0.8194467425346375 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.043455544859170914, + 0.0378836952149868, + 0.1420489102602005 + ], + "orientation": [ + 0.16230598092079163, + 0.07650211453437805, + 0.5413721799850464, + -0.8214136958122253 + ], + "joints": [ + -0.0044570788741111755 + ] + }, + "final_grasp": { + "position": [ + -0.043455544859170914, + 0.0378836952149868, + 0.1420489102602005 + ], + "orientation": [ + 0.16230598092079163, + 0.07650211453437805, + 0.5413721799850464, + -0.8214136958122253 + ], + "joints": [ + 0.003460776060819626 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04156592860817909, + 0.11406692117452621, + 0.005519895348697901 + ], + "orientation": [ + 0.07860404998064041, + 0.9788619875907898, + -0.17761550843715668, + -0.06405751407146454 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.04117605462670326, + 0.11366965621709824, + 0.006543577183037996 + ], + "orientation": [ + 0.07471731305122375, + 0.9782388806343079, + -0.17684076726436615, + -0.07869821786880493 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.04117605462670326, + 0.11366965621709824, + 0.006543577183037996 + ], + "orientation": [ + 0.07471731305122375, + 0.9782388806343079, + -0.17684076726436615, + -0.07869821786880493 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04161330685019493, + 0.11404595524072647, + 0.005495409015566111 + ], + "orientation": [ + 0.0786222293972969, + 0.97882080078125, + -0.17782288789749146, + -0.06408949196338654 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.041211459785699844, + 0.11365313082933426, + 0.006526598706841469 + ], + "orientation": [ + 0.07467955350875854, + 0.9782060980796814, + -0.17698565125465393, + -0.07881549745798111 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.041211459785699844, + 0.11365313082933426, + 0.006526598706841469 + ], + "orientation": [ + 0.07467955350875854, + 0.9782060980796814, + -0.17698565125465393, + -0.07881549745798111 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016500199213624, + -0.0270586758852005, + 0.15251033008098602 + ], + "orientation": [ + 0.7825857996940613, + -0.6144295334815979, + 0.02373148687183857, + -0.09732754528522491 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.01619148813188076, + -0.024890318512916565, + 0.1481320858001709 + ], + "orientation": [ + 0.7897822856903076, + -0.6026349067687988, + 0.02397523820400238, + -0.11180450767278671 + ], + "joints": [ + -0.003307430073618889 + ] + }, + "final_grasp": { + "position": [ + -0.01619148813188076, + -0.024890318512916565, + 0.1481320858001709 + ], + "orientation": [ + 0.7897822856903076, + -0.6026349067687988, + 0.02397523820400238, + -0.11180450767278671 + ], + "joints": [ + 0.00514182448387146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04329907149076462, + -0.08843883872032166, + 0.11772109568119049 + ], + "orientation": [ + 0.9136663675308228, + -0.3610202670097351, + 0.14302197098731995, + 0.12009519338607788 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + 0.04191716015338898, + -0.08440879732370377, + 0.11402896791696548 + ], + "orientation": [ + 0.9129159450531006, + -0.3620740473270416, + 0.14149746298789978, + 0.12435998022556305 + ], + "joints": [ + -0.00504588708281517 + ] + }, + "final_grasp": { + "position": [ + 0.04191716015338898, + -0.08440879732370377, + 0.11402896791696548 + ], + "orientation": [ + 0.9129159450531006, + -0.3620740473270416, + 0.14149746298789978, + 0.12435998022556305 + ], + "joints": [ + 0.002871967852115631 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04463665932416916, + 0.03954925760626793, + 0.1470654457807541 + ], + "orientation": [ + 0.1522860825061798, + 0.080173060297966, + 0.5473724603652954, + -0.8190022706985474 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + -0.04354774206876755, + 0.03781822323799133, + 0.14209479093551636 + ], + "orientation": [ + 0.16153880953788757, + 0.0777716413140297, + 0.5415188670158386, + -0.821349024772644 + ], + "joints": [ + -0.0044836485758423805 + ] + }, + "final_grasp": { + "position": [ + -0.04354774206876755, + 0.03781822323799133, + 0.14209479093551636 + ], + "orientation": [ + 0.16153880953788757, + 0.0777716413140297, + 0.5415188670158386, + -0.821349024772644 + ], + "joints": [ + 0.003407636657357216 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008844745461829007, + 0.016452118754386902, + -0.0978522077202797 + ], + "orientation": [ + 0.07326248288154602, + 0.09325595200061798, + 0.6806555986404419, + 0.7229412198066711 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.002836541272699833, + 0.013719961978495121, + -0.09414532780647278 + ], + "orientation": [ + 0.07495758682489395, + 0.09853804111480713, + 0.6567099094390869, + 0.7439112067222595 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + -0.002836541272699833, + 0.013719961978495121, + -0.09414532780647278 + ], + "orientation": [ + 0.07495758682489395, + 0.09853804111480713, + 0.6567099094390869, + 0.7439112067222595 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0008928838651627302, + 0.016625620424747467, + -0.09791507571935654 + ], + "orientation": [ + 0.07346755266189575, + 0.09368289262056351, + 0.6801707744598389, + 0.7233213186264038 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0028758561238646507, + 0.013842861168086529, + -0.09405770152807236 + ], + "orientation": [ + 0.07565327733755112, + 0.09921765327453613, + 0.6553921103477478, + 0.7449119687080383 + ], + "joints": [ + -0.005322480574250221 + ] + }, + "final_grasp": { + "position": [ + -0.0028758561238646507, + 0.013842861168086529, + -0.09405770152807236 + ], + "orientation": [ + 0.07565327733755112, + 0.09921765327453613, + 0.6553921103477478, + 0.7449119687080383 + ], + "joints": [ + 0.0005229152739048004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01888660527765751, + 0.11889991909265518, + 0.0307991411536932 + ], + "orientation": [ + 0.006671210750937462, + -0.9956957101821899, + -0.07901152223348618, + 0.04798680543899536 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.02035565674304962, + 0.11961300671100616, + 0.031417205929756165 + ], + "orientation": [ + 0.004884918686002493, + -0.9943451285362244, + -0.08529769629240036, + 0.06307287514209747 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + -0.02035565674304962, + 0.11961300671100616, + 0.031417205929756165 + ], + "orientation": [ + 0.004884918686002493, + -0.9943451285362244, + -0.08529769629240036, + 0.06307287514209747 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12811237573623657, + -0.037921495735645294, + 0.023445237427949905 + ], + "orientation": [ + 0.06847712397575378, + -0.5821592807769775, + 0.7972545623779297, + 0.1441754847764969 + ], + "joints": [ + 0.0004505043907556683 + ] + }, + "fine_grasp": { + "position": [ + 0.12490434944629669, + -0.03812677785754204, + 0.02322850376367569 + ], + "orientation": [ + 0.07644980400800705, + -0.5810827612876892, + 0.7957603335380554, + 0.15252448618412018 + ], + "joints": [ + 0.006322470027953386 + ] + }, + "final_grasp": { + "position": [ + 0.12490434944629669, + -0.03812677785754204, + 0.02322850376367569 + ], + "orientation": [ + 0.07644980400800705, + -0.5810827612876892, + 0.7957603335380554, + 0.15252448618412018 + ], + "joints": [ + 0.0121944360435009 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01989729329943657, + 0.01816513203084469, + -0.10054363310337067 + ], + "orientation": [ + 0.0940057709813118, + -0.004196192137897015, + -0.668874204158783, + -0.7373958230018616 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.020913016051054, + 0.017267003655433655, + -0.09903491288423538 + ], + "orientation": [ + 0.09154269099235535, + -0.009998707100749016, + -0.668671727180481, + -0.7378334403038025 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.020913016051054, + 0.017267003655433655, + -0.09903491288423538 + ], + "orientation": [ + 0.09154269099235535, + -0.009998707100749016, + -0.668671727180481, + -0.7378334403038025 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07730872929096222, + -0.036292847245931625, + 0.14801616966724396 + ], + "orientation": [ + 0.6260417103767395, + -0.18437881767749786, + 0.49297112226486206, + -0.57537442445755 + ], + "joints": [ + -0.00022324713063426316 + ] + }, + "fine_grasp": { + "position": [ + -0.07551666349172592, + -0.03512061759829521, + 0.14350582659244537 + ], + "orientation": [ + 0.6198386549949646, + -0.18938356637954712, + 0.4994656443595886, + -0.5748634934425354 + ], + "joints": [ + 0.005143888760358095 + ] + }, + "final_grasp": { + "position": [ + -0.07551666349172592, + -0.03512061759829521, + 0.14350582659244537 + ], + "orientation": [ + 0.6198386549949646, + -0.18938356637954712, + 0.4994656443595886, + -0.5748634934425354 + ], + "joints": [ + 0.010511024855077267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07568605244159698, + -0.022096306085586548, + 0.13841205835342407 + ], + "orientation": [ + 0.6143648624420166, + -0.17729493975639343, + 0.4522188901901245, + -0.6217881441116333 + ], + "joints": [ + 0.0008559611160308123 + ] + }, + "fine_grasp": { + "position": [ + -0.0750950425863266, + -0.022151777520775795, + 0.13606955111026764 + ], + "orientation": [ + 0.6104310750961304, + -0.16856729984283447, + 0.4600822329521179, + -0.6223208904266357 + ], + "joints": [ + 0.006249666679650545 + ] + }, + "final_grasp": { + "position": [ + -0.0750950425863266, + -0.022151777520775795, + 0.13606955111026764 + ], + "orientation": [ + 0.6104310750961304, + -0.16856729984283447, + 0.4600822329521179, + -0.6223208904266357 + ], + "joints": [ + 0.011643372476100922 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12545521557331085, + -0.001545410486869514, + 0.006253225263208151 + ], + "orientation": [ + 0.6527723670005798, + 0.38788267970085144, + 0.2595503032207489, + -0.5967151522636414 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.1198057234287262, + -0.0017902072286233306, + 0.004643441177904606 + ], + "orientation": [ + 0.6546776294708252, + 0.3914289176464081, + 0.2752399742603302, + -0.585169792175293 + ], + "joints": [ + -0.0052679432556033134 + ] + }, + "final_grasp": { + "position": [ + -0.1198057234287262, + -0.0017902072286233306, + 0.004643441177904606 + ], + "orientation": [ + 0.6546776294708252, + 0.3914289176464081, + 0.2752399742603302, + -0.585169792175293 + ], + "joints": [ + 7.262267172336578e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019075866788625717, + 0.11892464011907578, + 0.030656129121780396 + ], + "orientation": [ + 0.005891992244869471, + -0.9956151247024536, + -0.08000827580690384, + 0.048106953501701355 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.02048424258828163, + 0.11935035139322281, + 0.03127799928188324 + ], + "orientation": [ + 0.00445225415751338, + -0.9942970871925354, + -0.08585058897733688, + 0.063112773001194 + ], + "joints": [ + -0.003529486246407032 + ] + }, + "final_grasp": { + "position": [ + -0.02048424258828163, + 0.11935035139322281, + 0.03127799928188324 + ], + "orientation": [ + 0.00445225415751338, + -0.9942970871925354, + -0.08585058897733688, + 0.063112773001194 + ], + "joints": [ + 0.0023424793034791946 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1145874634385109, + 0.040336646139621735, + -0.034560102969408035 + ], + "orientation": [ + 0.16321086883544922, + 0.7951549291610718, + -0.5672518610954285, + -0.13898254930973053 + ], + "joints": [ + -9.031174704432487e-05 + ] + }, + "fine_grasp": { + "position": [ + 0.11140286177396774, + 0.0396139957010746, + -0.03309966251254082 + ], + "orientation": [ + 0.16188228130340576, + 0.796113133430481, + -0.5672162771224976, + -0.13514389097690582 + ], + "joints": [ + 0.005223684944212437 + ] + }, + "final_grasp": { + "position": [ + 0.11140286177396774, + 0.0396139957010746, + -0.03309966251254082 + ], + "orientation": [ + 0.16188228130340576, + 0.796113133430481, + -0.5672162771224976, + -0.13514389097690582 + ], + "joints": [ + 0.010537682101130486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11875204741954803, + -0.009307174012064934, + -0.056530293077230453 + ], + "orientation": [ + 0.6754333972930908, + 0.09849594533443451, + 0.27436724305152893, + 0.6773557066917419 + ], + "joints": [ + 0.002653776202350855 + ] + }, + "fine_grasp": { + "position": [ + 0.11358907073736191, + -0.009102797135710716, + -0.05356942489743233 + ], + "orientation": [ + 0.6766278743743896, + 0.09461358934640884, + 0.27381110191345215, + 0.676941990852356 + ], + "joints": [ + 0.008552313782274723 + ] + }, + "final_grasp": { + "position": [ + 0.11358907073736191, + -0.009102797135710716, + -0.05356942489743233 + ], + "orientation": [ + 0.6766278743743896, + 0.09461358934640884, + 0.27381110191345215, + 0.676941990852356 + ], + "joints": [ + 0.014450851827859879 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014778238721191883, + 0.03891730308532715, + -0.10000058263540268 + ], + "orientation": [ + 0.0570765845477581, + -0.014988983981311321, + 0.5909671187400818, + 0.8045342564582825 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.0154917286708951, + 0.0378551110625267, + -0.09862904250621796 + ], + "orientation": [ + 0.06213345751166344, + -0.009498302824795246, + 0.5855591893196106, + 0.8081889748573303 + ], + "joints": [ + -0.005350448191165924 + ] + }, + "final_grasp": { + "position": [ + 0.0154917286708951, + 0.0378551110625267, + -0.09862904250621796 + ], + "orientation": [ + 0.06213345751166344, + -0.009498302824795246, + 0.5855591893196106, + 0.8081889748573303 + ], + "joints": [ + 0.001026347279548645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03023054264485836, + 0.11579366028308868, + -0.0017940517282113433 + ], + "orientation": [ + 0.12049631029367447, + -0.046868015080690384, + -0.12046588212251663, + -0.984262228012085 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.030497465282678604, + 0.11511877924203873, + -0.0014153968077152967 + ], + "orientation": [ + 0.1179635152220726, + -0.07188142836093903, + -0.12106451392173767, + -0.98298579454422 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.030497465282678604, + 0.11511877924203873, + -0.0014153968077152967 + ], + "orientation": [ + 0.1179635152220726, + -0.07188142836093903, + -0.12106451392173767, + -0.98298579454422 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1333160698413849, + -0.006968938745558262, + -0.01890244148671627 + ], + "orientation": [ + 0.7051647901535034, + 0.013499480672180653, + 0.1645043045282364, + 0.6895642280578613 + ], + "joints": [ + 0.0028540112543851137 + ] + }, + "fine_grasp": { + "position": [ + 0.13615873456001282, + -0.007653485052287579, + -0.01821686513721943 + ], + "orientation": [ + 0.7061240077018738, + 0.010926627553999424, + 0.1718199998140335, + 0.686838686466217 + ], + "joints": [ + 0.008725978434085846 + ] + }, + "final_grasp": { + "position": [ + 0.13615873456001282, + -0.007653485052287579, + -0.01821686513721943 + ], + "orientation": [ + 0.7061240077018738, + 0.010926627553999424, + 0.1718199998140335, + 0.686838686466217 + ], + "joints": [ + 0.014597945846617222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12883402407169342, + 0.001017264905385673, + -0.0481574609875679 + ], + "orientation": [ + 0.7053147554397583, + 0.2692875564098358, + -0.04174278676509857, + -0.6544256210327148 + ], + "joints": [ + 0.0018689192365854979 + ] + }, + "fine_grasp": { + "position": [ + -0.12358139455318451, + 0.0009737959480844438, + -0.0454208068549633 + ], + "orientation": [ + 0.7051035761833191, + 0.2748311460018158, + -0.04070011153817177, + -0.652411162853241 + ], + "joints": [ + 0.007767456118017435 + ] + }, + "final_grasp": { + "position": [ + -0.12358139455318451, + 0.0009737959480844438, + -0.0454208068549633 + ], + "orientation": [ + 0.7051035761833191, + 0.2748311460018158, + -0.04070011153817177, + -0.652411162853241 + ], + "joints": [ + 0.013665992766618729 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019629424437880516, + 0.018003273755311966, + -0.1006353422999382 + ], + "orientation": [ + 0.09461459517478943, + -0.002037094673141837, + -0.6687889695167542, + -0.7374043464660645 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.020622577518224716, + 0.01711900159716606, + -0.09909036755561829 + ], + "orientation": [ + 0.09238635748624802, + -0.007376283872872591, + -0.6687142848968506, + -0.7377204895019531 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.020622577518224716, + 0.01711900159716606, + -0.09909036755561829 + ], + "orientation": [ + 0.09238635748624802, + -0.007376283872872591, + -0.6687142848968506, + -0.7377204895019531 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01018506195396185, + 0.11366725713014603, + -0.010392555966973305 + ], + "orientation": [ + 0.16337156295776367, + 0.9848677515983582, + 0.03755790740251541, + -0.043984584510326385 + ], + "joints": [ + -0.009680360555648804 + ] + }, + "fine_grasp": { + "position": [ + -0.011600462719798088, + 0.11485402286052704, + -0.008439777418971062 + ], + "orientation": [ + 0.16007733345031738, + 0.9845365285873413, + 0.0441531166434288, + -0.05579836666584015 + ], + "joints": [ + -0.003808395005762577 + ] + }, + "final_grasp": { + "position": [ + -0.011600462719798088, + 0.11485402286052704, + -0.008439777418971062 + ], + "orientation": [ + 0.16007733345031738, + 0.9845365285873413, + 0.0441531166434288, + -0.05579836666584015 + ], + "joints": [ + 0.0020635705441236496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05711020529270172, + -0.10726583749055862, + 0.06800657510757446 + ], + "orientation": [ + 0.38999632000923157, + 0.11810845136642456, + -0.894452691078186, + 0.1841406375169754 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.0569128654897213, + -0.10672170668840408, + 0.06639934331178665 + ], + "orientation": [ + 0.3811013102531433, + 0.12617415189743042, + -0.8965426683425903, + 0.18722493946552277 + ], + "joints": [ + -0.008147360756993294 + ] + }, + "final_grasp": { + "position": [ + 0.0569128654897213, + -0.10672170668840408, + 0.06639934331178665 + ], + "orientation": [ + 0.3811013102531433, + 0.12617415189743042, + -0.8965426683425903, + 0.18722493946552277 + ], + "joints": [ + -0.002859935164451599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05707164481282234, + -0.10728015750646591, + 0.06795241683721542 + ], + "orientation": [ + 0.38937172293663025, + 0.1183699518442154, + -0.8947697281837463, + 0.18375380337238312 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.05694393813610077, + -0.10684254765510559, + 0.06633902341127396 + ], + "orientation": [ + 0.3804781138896942, + 0.12667739391326904, + -0.8968313336372375, + 0.18676909804344177 + ], + "joints": [ + -0.008147360756993294 + ] + }, + "final_grasp": { + "position": [ + 0.05694393813610077, + -0.10684254765510559, + 0.06633902341127396 + ], + "orientation": [ + 0.3804781138896942, + 0.12667739391326904, + -0.8968313336372375, + 0.18676909804344177 + ], + "joints": [ + -0.002859935164451599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044982921332120895, + 0.1123310774564743, + 0.052590224891901016 + ], + "orientation": [ + 0.09081144630908966, + -0.9677322506904602, + -0.16466648876667023, + -0.16772718727588654 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.04497366026043892, + 0.11103380471467972, + 0.05343414470553398 + ], + "orientation": [ + 0.09095388650894165, + -0.9693220853805542, + -0.16187821328639984, + -0.16105115413665771 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.04497366026043892, + 0.11103380471467972, + 0.05343414470553398 + ], + "orientation": [ + 0.09095388650894165, + -0.9693220853805542, + -0.16187821328639984, + -0.16105115413665771 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.056934744119644165, + -0.10719158500432968, + 0.06795518845319748 + ], + "orientation": [ + 0.3880048990249634, + 0.11863721907138824, + -0.8952377438545227, + 0.18419238924980164 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.05712972581386566, + -0.10683552175760269, + 0.06613818556070328 + ], + "orientation": [ + 0.3794487714767456, + 0.12817448377609253, + -0.897200345993042, + 0.1860678493976593 + ], + "joints": [ + -0.008147360756993294 + ] + }, + "final_grasp": { + "position": [ + 0.05712972581386566, + -0.10683552175760269, + 0.06613818556070328 + ], + "orientation": [ + 0.3794487714767456, + 0.12817448377609253, + -0.897200345993042, + 0.1860678493976593 + ], + "joints": [ + -0.002859935164451599 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045052796602249146, + 0.11242706328630447, + 0.05265912786126137 + ], + "orientation": [ + 0.09146855771541595, + -0.9676659107208252, + -0.164832204580307, + -0.16759008169174194 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.04509508237242699, + 0.11095120757818222, + 0.05347978323698044 + ], + "orientation": [ + 0.09134677052497864, + -0.9691908359527588, + -0.1623205691576004, + -0.16117329895496368 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.04509508237242699, + 0.11095120757818222, + 0.05347978323698044 + ], + "orientation": [ + 0.09134677052497864, + -0.9691908359527588, + -0.1623205691576004, + -0.16117329895496368 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.132707417011261, + -0.006497552152723074, + -0.019146669656038284 + ], + "orientation": [ + 0.7036978602409363, + 0.016072450205683708, + 0.1654072403907776, + 0.6907903552055359 + ], + "joints": [ + 0.0026839517522603273 + ] + }, + "fine_grasp": { + "position": [ + 0.1357416957616806, + -0.007220165804028511, + -0.01849968358874321 + ], + "orientation": [ + 0.7049785852432251, + 0.013162724673748016, + 0.17227697372436523, + 0.687860906124115 + ], + "joints": [ + 0.00858248956501484 + ] + }, + "final_grasp": { + "position": [ + 0.1357416957616806, + -0.007220165804028511, + -0.01849968358874321 + ], + "orientation": [ + 0.7049785852432251, + 0.013162724673748016, + 0.17227697372436523, + 0.687860906124115 + ], + "joints": [ + 0.014481027610599995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015913724200800061, + 0.07035717368125916, + 0.14097031950950623 + ], + "orientation": [ + 0.44030818343162537, + -0.8454661965370178, + -0.159397155046463, + 0.25672560930252075 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.0010784091427922249, + 0.06863167881965637, + 0.13700644671916962 + ], + "orientation": [ + 0.43822115659713745, + -0.8521695733070374, + -0.14837275445461273, + 0.24444802105426788 + ], + "joints": [ + -0.006444086320698261 + ] + }, + "final_grasp": { + "position": [ + -0.0010784091427922249, + 0.06863167881965637, + 0.13700644671916962 + ], + "orientation": [ + 0.43822115659713745, + -0.8521695733070374, + -0.14837275445461273, + 0.24444802105426788 + ], + "joints": [ + -0.0005721207708120346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016189472749829292, + -0.027272796258330345, + 0.15243758261203766 + ], + "orientation": [ + 0.7794159650802612, + -0.6185786724090576, + 0.024917732924222946, + -0.09617786854505539 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.016260571777820587, + -0.02479141391813755, + 0.1482914686203003 + ], + "orientation": [ + 0.7885178327560425, + -0.6045902967453003, + 0.026492679491639137, + -0.10958269983530045 + ], + "joints": [ + -0.0038388296961784363 + ] + }, + "final_grasp": { + "position": [ + -0.016260571777820587, + -0.02479141391813755, + 0.1482914686203003 + ], + "orientation": [ + 0.7885178327560425, + -0.6045902967453003, + 0.026492679491639137, + -0.10958269983530045 + ], + "joints": [ + 0.004079025238752365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13245093822479248, + 0.01945863850414753, + 0.03143789991736412 + ], + "orientation": [ + 0.10664919018745422, + -0.756077229976654, + 0.645666778087616, + 0.009363728575408459 + ], + "joints": [ + 0.00320443301461637 + ] + }, + "fine_grasp": { + "position": [ + 0.13218212127685547, + 0.020062081515789032, + 0.030869556590914726 + ], + "orientation": [ + 0.11898735165596008, + -0.75536048412323, + 0.6442990899085999, + 0.01229937095195055 + ], + "joints": [ + 0.009076399728655815 + ] + }, + "final_grasp": { + "position": [ + 0.13218212127685547, + 0.020062081515789032, + 0.030869556590914726 + ], + "orientation": [ + 0.11898735165596008, + -0.75536048412323, + 0.6442990899085999, + 0.01229937095195055 + ], + "joints": [ + 0.014948366209864616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.127020001411438, + -0.02316649816930294, + 0.016675349324941635 + ], + "orientation": [ + 0.7673519849777222, + 0.11331187933683395, + 0.015306849963963032, + 0.6309493184089661 + ], + "joints": [ + 0.001026795944198966 + ] + }, + "fine_grasp": { + "position": [ + 0.12682077288627625, + -0.02425023913383484, + 0.015396908856928349 + ], + "orientation": [ + 0.7696284055709839, + 0.12374178320169449, + -0.003624304896220565, + 0.6263759732246399 + ], + "joints": [ + 0.006898761726915836 + ] + }, + "final_grasp": { + "position": [ + 0.12682077288627625, + -0.02425023913383484, + 0.015396908856928349 + ], + "orientation": [ + 0.7696284055709839, + 0.12374178320169449, + -0.003624304896220565, + 0.6263759732246399 + ], + "joints": [ + 0.012770727276802063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12502214312553406, + -0.0016526146791875362, + 0.006326527334749699 + ], + "orientation": [ + 0.6529918909072876, + 0.38756150007247925, + 0.2596810460090637, + -0.5966266393661499 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.1193949431180954, + -0.0018998805899173021, + 0.00464901328086853 + ], + "orientation": [ + 0.6550666093826294, + 0.3911341726779938, + 0.275331050157547, + -0.5848885178565979 + ], + "joints": [ + -0.0052679432556033134 + ] + }, + "final_grasp": { + "position": [ + -0.1193949431180954, + -0.0018998805899173021, + 0.00464901328086853 + ], + "orientation": [ + 0.6550666093826294, + 0.3911341726779938, + 0.275331050157547, + -0.5848885178565979 + ], + "joints": [ + 7.262267172336578e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.028798727318644524, + -0.004129933193325996, + -0.10179415345191956 + ], + "orientation": [ + 0.7304779887199402, + 0.6690233945846558, + 0.13649919629096985, + -0.013327496126294136 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.029133178293704987, + -0.004875584505498409, + -0.10035865008831024 + ], + "orientation": [ + 0.7288480401039124, + 0.6714392304420471, + 0.13302001357078552, + -0.015986785292625427 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + -0.029133178293704987, + -0.004875584505498409, + -0.10035865008831024 + ], + "orientation": [ + 0.7288480401039124, + 0.6714392304420471, + 0.13302001357078552, + -0.015986785292625427 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007183960173279047, + -0.09370038658380508, + 0.11163352429866791 + ], + "orientation": [ + 0.24244384467601776, + -0.1292361468076706, + 0.9136828780174255, + -0.2995035648345947 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.007410500664263964, + -0.09426084905862808, + 0.11091428250074387 + ], + "orientation": [ + 0.22955702245235443, + -0.12176088243722916, + 0.9176253080368042, + -0.30073535442352295 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.007410500664263964, + -0.09426084905862808, + 0.11091428250074387 + ], + "orientation": [ + 0.22955702245235443, + -0.12176088243722916, + 0.9176253080368042, + -0.30073535442352295 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01495794951915741, + 0.03917427361011505, + -0.09994363784790039 + ], + "orientation": [ + 0.0581740103662014, + -0.014637128449976444, + 0.5911155939102173, + 0.8043530583381653 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.015564600005745888, + 0.0385589674115181, + -0.09862641245126724 + ], + "orientation": [ + 0.060729626566171646, + -0.011520110070705414, + 0.5908249616622925, + 0.8044284582138062 + ], + "joints": [ + -0.0058552781119942665 + ] + }, + "final_grasp": { + "position": [ + 0.015564600005745888, + 0.0385589674115181, + -0.09862641245126724 + ], + "orientation": [ + 0.060729626566171646, + -0.011520110070705414, + 0.5908249616622925, + 0.8044284582138062 + ], + "joints": [ + 1.6687437891960144e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026325684040784836, + 0.11886338889598846, + 0.01604766957461834 + ], + "orientation": [ + 0.1065726950764656, + -0.05501527339220047, + -0.0582619309425354, + -0.9910707473754883 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.026432519778609276, + 0.11927661299705505, + 0.016144312918186188 + ], + "orientation": [ + 0.104753278195858, + -0.06918539851903915, + -0.06195191666483879, + -0.9901525974273682 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.026432519778609276, + 0.11927661299705505, + 0.016144312918186188 + ], + "orientation": [ + 0.104753278195858, + -0.06918539851903915, + -0.06195191666483879, + -0.9901525974273682 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010455626994371414, + 0.0798533633351326, + 0.12824051082134247 + ], + "orientation": [ + 0.3965519666671753, + -0.8767388463020325, + -0.08994564414024353, + 0.25687581300735474 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.009653385728597641, + 0.0796898826956749, + 0.1268342286348343 + ], + "orientation": [ + 0.39273062348365784, + -0.882588267326355, + -0.08301667869091034, + 0.2447628378868103 + ], + "joints": [ + -0.007032894529402256 + ] + }, + "final_grasp": { + "position": [ + 0.009653385728597641, + 0.0796898826956749, + 0.1268342286348343 + ], + "orientation": [ + 0.39273062348365784, + -0.882588267326355, + -0.08301667869091034, + 0.2447628378868103 + ], + "joints": [ + -0.0011609289795160294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0026280342135578394, + -0.09213116019964218, + 0.12646548449993134 + ], + "orientation": [ + 0.8922147154808044, + -0.34220996499061584, + -0.26239582896232605, + 0.13414040207862854 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.002824838738888502, + -0.0892881453037262, + 0.12272342294454575 + ], + "orientation": [ + 0.8936954736709595, + -0.34545454382896423, + -0.2556997537612915, + 0.1287912279367447 + ], + "joints": [ + -0.006360108032822609 + ] + }, + "final_grasp": { + "position": [ + 0.002824838738888502, + -0.0892881453037262, + 0.12272342294454575 + ], + "orientation": [ + 0.8936954736709595, + -0.34545454382896423, + -0.2556997537612915, + 0.1287912279367447 + ], + "joints": [ + -0.0009929724037647247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010452906601130962, + -0.11335292458534241, + -0.012606247328221798 + ], + "orientation": [ + 0.9673906564712524, + 0.12427158653736115, + -0.20564186573028564, + -0.08014528453350067 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.010510291904211044, + -0.1144140362739563, + -0.012451429851353168 + ], + "orientation": [ + 0.9649242162704468, + 0.12241639196872711, + -0.2167699635028839, + -0.08334523439407349 + ], + "joints": [ + -0.005326749756932259 + ] + }, + "final_grasp": { + "position": [ + -0.010510291904211044, + -0.1144140362739563, + -0.012451429851353168 + ], + "orientation": [ + 0.9649242162704468, + 0.12241639196872711, + -0.2167699635028839, + -0.08334523439407349 + ], + "joints": [ + 0.0011031851172447205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017759613692760468, + 0.014432204887270927, + -0.09952682256698608 + ], + "orientation": [ + 0.6465762853622437, + 0.7448737025260925, + 0.056036628782749176, + 0.15479741990566254 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.018627407029271126, + 0.0161005649715662, + -0.09909666329622269 + ], + "orientation": [ + 0.6484083533287048, + 0.7437644600868225, + 0.051634639501571655, + 0.1539965569972992 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + 0.018627407029271126, + 0.0161005649715662, + -0.09909666329622269 + ], + "orientation": [ + 0.6484083533287048, + 0.7437644600868225, + 0.051634639501571655, + 0.1539965569972992 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05361614376306534, + -0.017711179330945015, + 0.14816756546497345 + ], + "orientation": [ + 0.3588346838951111, + -0.5047256350517273, + 0.6612401604652405, + -0.42338061332702637 + ], + "joints": [ + 0.001536899944767356 + ] + }, + "fine_grasp": { + "position": [ + 0.0529644601047039, + -0.019173430278897285, + 0.14591914415359497 + ], + "orientation": [ + 0.3588184416294098, + -0.4934927523136139, + 0.6670011878013611, + -0.42757871747016907 + ], + "joints": [ + 0.007408865727484226 + ] + }, + "final_grasp": { + "position": [ + 0.0529644601047039, + -0.019173430278897285, + 0.14591914415359497 + ], + "orientation": [ + 0.3588184416294098, + -0.4934927523136139, + 0.6670011878013611, + -0.42757871747016907 + ], + "joints": [ + 0.013280831277370453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0028273756615817547, + -0.12143056839704514, + 0.04092530161142349 + ], + "orientation": [ + 0.9958443641662598, + -0.05221589282155037, + -0.07300678640604019, + 0.015406865626573563 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.003015821799635887, + -0.12327352166175842, + 0.040793277323246 + ], + "orientation": [ + 0.9938803911209106, + -0.04907876253128052, + -0.09731192141771317, + 0.017983922734856606 + ], + "joints": [ + -0.0035603251308202744 + ] + }, + "final_grasp": { + "position": [ + 0.003015821799635887, + -0.12327352166175842, + 0.040793277323246 + ], + "orientation": [ + 0.9938803911209106, + -0.04907876253128052, + -0.09731192141771317, + 0.017983922734856606 + ], + "joints": [ + 0.0028696097433567047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054613277316093445, + -0.01630571484565735, + 0.14793118834495544 + ], + "orientation": [ + 0.35259830951690674, + -0.5057655572891235, + 0.6601626873016357, + -0.4290230870246887 + ], + "joints": [ + 0.0015731414314359426 + ] + }, + "fine_grasp": { + "position": [ + 0.053880877792835236, + -0.01790095493197441, + 0.14549218118190765 + ], + "orientation": [ + 0.3486451506614685, + -0.4942138195037842, + 0.6676954030990601, + -0.4340299069881439 + ], + "joints": [ + 0.007445107214152813 + ] + }, + "final_grasp": { + "position": [ + 0.053880877792835236, + -0.01790095493197441, + 0.14549218118190765 + ], + "orientation": [ + 0.3486451506614685, + -0.4942138195037842, + 0.6676954030990601, + -0.4340299069881439 + ], + "joints": [ + 0.01331707276403904 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.017874423414468765, + 0.01430891640484333, + -0.09985018521547318 + ], + "orientation": [ + 0.6469260454177856, + 0.7444698810577393, + 0.05615411698818207, + 0.15523484349250793 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.018728094175457954, + 0.016006046906113625, + -0.09946998208761215 + ], + "orientation": [ + 0.6488807797431946, + 0.7432442307472229, + 0.05194985121488571, + 0.15441177785396576 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + 0.018728094175457954, + 0.016006046906113625, + -0.09946998208761215 + ], + "orientation": [ + 0.6488807797431946, + 0.7432442307472229, + 0.05194985121488571, + 0.15441177785396576 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1309683471918106, + 0.02000497467815876, + 0.03149494156241417 + ], + "orientation": [ + 0.08897003531455994, + -0.7574452757835388, + 0.6465558409690857, + -0.01806829497218132 + ], + "joints": [ + 0.003251159330829978 + ] + }, + "fine_grasp": { + "position": [ + 0.12838159501552582, + 0.020480560138821602, + 0.02940315008163452 + ], + "orientation": [ + 0.10017058998346329, + -0.7568225860595703, + 0.645516574382782, + -0.022219419479370117 + ], + "joints": [ + 0.009123126044869423 + ] + }, + "final_grasp": { + "position": [ + 0.12838159501552582, + 0.020480560138821602, + 0.02940315008163452 + ], + "orientation": [ + 0.10017058998346329, + -0.7568225860595703, + 0.645516574382782, + -0.022219419479370117 + ], + "joints": [ + 0.014995092526078224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015562521293759346, + -0.08487845212221146, + -0.0684986487030983 + ], + "orientation": [ + 0.255696177482605, + 0.059373896569013596, + -0.8926416039466858, + -0.36644962430000305 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.014501707628369331, + -0.08546970784664154, + -0.06763628870248795 + ], + "orientation": [ + 0.24970300495624542, + 0.06123500317335129, + -0.8925832509994507, + -0.37039682269096375 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + -0.014501707628369331, + -0.08546970784664154, + -0.06763628870248795 + ], + "orientation": [ + 0.24970300495624542, + 0.06123500317335129, + -0.8925832509994507, + -0.37039682269096375 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01955396682024002, + -0.08188784867525101, + 0.13330833613872528 + ], + "orientation": [ + 0.09834982454776764, + 0.031579915434122086, + -0.8958736062049866, + 0.43213480710983276 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.019441712647676468, + -0.07927734404802322, + 0.13121318817138672 + ], + "orientation": [ + 0.1052442267537117, + 0.026298852637410164, + -0.8961224555969238, + 0.43034470081329346 + ], + "joints": [ + -0.005939256399869919 + ] + }, + "final_grasp": { + "position": [ + 0.019441712647676468, + -0.07927734404802322, + 0.13121318817138672 + ], + "orientation": [ + 0.1052442267537117, + 0.026298852637410164, + -0.8961224555969238, + 0.43034470081329346 + ], + "joints": [ + 0.00043753907084465027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012120911851525307, + -0.001080480171367526, + 0.15171077847480774 + ], + "orientation": [ + 0.6757183074951172, + -0.7119877934455872, + -0.10590901225805283, + 0.1589382290840149 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + 0.01286387350410223, + 0.00121020816732198, + 0.14966578781604767 + ], + "orientation": [ + 0.6834532618522644, + -0.7068566679954529, + -0.09423896670341492, + 0.15609122812747955 + ], + "joints": [ + -0.005772773176431656 + ] + }, + "final_grasp": { + "position": [ + 0.01286387350410223, + 0.00121020816732198, + 0.14966578781604767 + ], + "orientation": [ + 0.6834532618522644, + -0.7068566679954529, + -0.09423896670341492, + 0.15609122812747955 + ], + "joints": [ + -0.0009370371699333191 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007517552003264427, + -0.011913510970771313, + -0.09179732948541641 + ], + "orientation": [ + 0.003577339230105281, + -0.03721670061349869, + -0.7346466779708862, + -0.6774188280105591 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.01060640998184681, + -0.01192308310419321, + -0.09011773765087128 + ], + "orientation": [ + 0.001601791474968195, + -0.053972575813531876, + -0.7270303964614868, + -0.6844788193702698 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.01060640998184681, + -0.01192308310419321, + -0.09011773765087128 + ], + "orientation": [ + 0.001601791474968195, + -0.053972575813531876, + -0.7270303964614868, + -0.6844788193702698 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004124768078327179, + 0.09139668941497803, + 0.11574513465166092 + ], + "orientation": [ + 0.13588972389698029, + -0.2676223814487457, + -0.30774033069610596, + 0.902888834476471 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.004154185298830271, + 0.09184679388999939, + 0.11318761110305786 + ], + "orientation": [ + 0.12534961104393005, + -0.2508906126022339, + -0.31104788184165955, + 0.9080696702003479 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + 0.004154185298830271, + 0.09184679388999939, + 0.11318761110305786 + ], + "orientation": [ + 0.12534961104393005, + -0.2508906126022339, + -0.31104788184165955, + 0.9080696702003479 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10648661106824875, + 0.018679283559322357, + -0.04439806565642357 + ], + "orientation": [ + 0.16274641454219818, + 0.7315529584884644, + -0.6351809501647949, + -0.18678545951843262 + ], + "joints": [ + 0.00292027136310935 + ] + }, + "fine_grasp": { + "position": [ + 0.10653091222047806, + 0.020761283114552498, + -0.04548736289143562 + ], + "orientation": [ + 0.15693223476409912, + 0.7364367246627808, + -0.6312746405601501, + -0.1858106553554535 + ], + "joints": [ + 0.008260838687419891 + ] + }, + "final_grasp": { + "position": [ + 0.10653091222047806, + 0.020761283114552498, + -0.04548736289143562 + ], + "orientation": [ + 0.15693223476409912, + 0.7364367246627808, + -0.6312746405601501, + -0.1858106553554535 + ], + "joints": [ + 0.013601405546069145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005540634039789438, + 0.11425115168094635, + -0.004805327393114567 + ], + "orientation": [ + 0.0030893818475306034, + 0.17296430468559265, + -0.08766371011734009, + -0.9810142517089844 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0058041722513735294, + 0.11345569789409637, + -0.004637826234102249 + ], + "orientation": [ + 0.007266403641551733, + 0.17751507461071014, + -0.08700498193502426, + -0.9802375435829163 + ], + "joints": [ + -0.005827310495078564 + ] + }, + "final_grasp": { + "position": [ + 0.0058041722513735294, + 0.11345569789409637, + -0.004637826234102249 + ], + "orientation": [ + 0.007266403641551733, + 0.17751507461071014, + -0.08700498193502426, + -0.9802375435829163 + ], + "joints": [ + -0.00048674456775188446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06923403590917587, + -0.10141153633594513, + 0.03604202717542648 + ], + "orientation": [ + 0.68109130859375, + -0.2118208110332489, + -0.6839372515678406, + -0.1532200127840042 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.07023785263299942, + -0.10322081297636032, + 0.03795645385980606 + ], + "orientation": [ + 0.6740528345108032, + -0.21739128232002258, + -0.6904723644256592, + -0.14711110293865204 + ], + "joints": [ + -0.0047336723655462265 + ] + }, + "final_grasp": { + "position": [ + -0.07023785263299942, + -0.10322081297636032, + 0.03795645385980606 + ], + "orientation": [ + 0.6740528345108032, + -0.21739128232002258, + -0.6904723644256592, + -0.14711110293865204 + ], + "joints": [ + 0.0011117234826087952 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05248529836535454, + -0.03867913782596588, + 0.1423642486333847 + ], + "orientation": [ + 0.8212663531303406, + -0.5204596519470215, + -0.04663742706179619, + -0.22905932366847992 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.051541924476623535, + -0.03773399442434311, + 0.13797108829021454 + ], + "orientation": [ + 0.8173754811286926, + -0.5267003774642944, + -0.04291623830795288, + -0.22943921387195587 + ], + "joints": [ + -0.004122563637793064 + ] + }, + "final_grasp": { + "position": [ + -0.051541924476623535, + -0.03773399442434311, + 0.13797108829021454 + ], + "orientation": [ + 0.8173754811286926, + -0.5267003774642944, + -0.04291623830795288, + -0.22943921387195587 + ], + "joints": [ + 0.00233394093811512 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01939181610941887, + -0.11933298408985138, + 0.08794443309307098 + ], + "orientation": [ + 0.8496751189231873, + -0.2232012301683426, + 0.457863450050354, + -0.1363612860441208 + ], + "joints": [ + -0.01208052970468998 + ] + }, + "fine_grasp": { + "position": [ + -0.01742052286863327, + -0.11537264287471771, + 0.08634546399116516 + ], + "orientation": [ + 0.8504031300544739, + -0.21315166354179382, + 0.46041277050971985, + -0.13928809762001038 + ], + "joints": [ + -0.006713394075632095 + ] + }, + "final_grasp": { + "position": [ + -0.01742052286863327, + -0.11537264287471771, + 0.08634546399116516 + ], + "orientation": [ + 0.8504031300544739, + -0.21315166354179382, + 0.46041277050971985, + -0.13928809762001038 + ], + "joints": [ + -0.0013462584465742111 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032857745885849, + 0.01559995673596859, + 0.15415869653224945 + ], + "orientation": [ + 0.6073570847511292, + -0.7836624979972839, + -0.07211998105049133, + -0.10857775062322617 + ], + "joints": [ + -0.010078582912683487 + ] + }, + "fine_grasp": { + "position": [ + -0.03277546167373657, + 0.01542339101433754, + 0.14883621037006378 + ], + "orientation": [ + 0.613313615322113, + -0.7778703570365906, + -0.07688866555690765, + -0.11336813122034073 + ], + "joints": [ + -0.005216277204453945 + ] + }, + "final_grasp": { + "position": [ + -0.03277546167373657, + 0.01542339101433754, + 0.14883621037006378 + ], + "orientation": [ + 0.613313615322113, + -0.7778703570365906, + -0.07688866555690765, + -0.11336813122034073 + ], + "joints": [ + -0.0003539714962244034 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00257365801371634, + -0.12161700427532196, + 0.041194234043359756 + ], + "orientation": [ + 0.9961124658584595, + -0.051783353090286255, + -0.06985736638307571, + 0.01407905574887991 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.002366729313507676, + -0.12306756526231766, + 0.04096556827425957 + ], + "orientation": [ + 0.9943539500236511, + -0.04951569437980652, + -0.09258118271827698, + 0.015404895879328251 + ], + "joints": [ + -0.0035603251308202744 + ] + }, + "final_grasp": { + "position": [ + 0.002366729313507676, + -0.12306756526231766, + 0.04096556827425957 + ], + "orientation": [ + 0.9943539500236511, + -0.04951569437980652, + -0.09258118271827698, + 0.015404895879328251 + ], + "joints": [ + 0.0028696097433567047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018898403272032738, + -0.11580286175012589, + 0.004919304978102446 + ], + "orientation": [ + 0.17873838543891907, + -0.060650307685136795, + 0.9798262119293213, + 0.06568634510040283 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.02052929811179638, + -0.11628406494855881, + 0.004941118881106377 + ], + "orientation": [ + 0.17519094049930573, + -0.06582751870155334, + 0.9804187417030334, + 0.06126978620886803 + ], + "joints": [ + -0.005297308787703514 + ] + }, + "final_grasp": { + "position": [ + 0.02052929811179638, + -0.11628406494855881, + 0.004941118881106377 + ], + "orientation": [ + 0.17519094049930573, + -0.06582751870155334, + 0.9804187417030334, + 0.06126978620886803 + ], + "joints": [ + 0.001132626086473465 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10929596424102783, + 0.017520660534501076, + 0.09079807251691818 + ], + "orientation": [ + 0.09169109165668488, + -0.7119441032409668, + 0.6484375596046448, + -0.25348973274230957 + ], + "joints": [ + 0.00045860782847739756 + ] + }, + "fine_grasp": { + "position": [ + 0.1066303476691246, + 0.01810535602271557, + 0.08925414085388184 + ], + "orientation": [ + 0.09149771183729172, + -0.7117297053337097, + 0.6454287171363831, + -0.2617076337337494 + ], + "joints": [ + 0.005799173843115568 + ] + }, + "final_grasp": { + "position": [ + 0.1066303476691246, + 0.01810535602271557, + 0.08925414085388184 + ], + "orientation": [ + 0.09149771183729172, + -0.7117297053337097, + 0.6454287171363831, + -0.2617076337337494 + ], + "joints": [ + 0.011139740236103535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015274287201464176, + -0.08504330366849899, + -0.0684678703546524 + ], + "orientation": [ + 0.25356608629226685, + 0.059243299067020416, + -0.8933982253074646, + -0.3661068081855774 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.014663190580904484, + -0.08553236722946167, + -0.06758730113506317 + ], + "orientation": [ + 0.24959401786327362, + 0.06042039766907692, + -0.8928895592689514, + -0.36986562609672546 + ], + "joints": [ + -0.006444086320698261 + ] + }, + "final_grasp": { + "position": [ + -0.014663190580904484, + -0.08553236722946167, + -0.06758730113506317 + ], + "orientation": [ + 0.24959401786327362, + 0.06042039766907692, + -0.8928895592689514, + -0.36986562609672546 + ], + "joints": [ + -0.0005721207708120346 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03160236030817032, + 0.11216136068105698, + -0.012198331765830517 + ], + "orientation": [ + 0.13620415329933167, + 0.9616172909736633, + -0.08784318715333939, + 0.22141441702842712 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.03274094685912132, + 0.11254721134901047, + -0.011496655642986298 + ], + "orientation": [ + 0.13583745062351227, + 0.9644320607185364, + -0.09497978538274765, + 0.2059071958065033 + ], + "joints": [ + -0.007002055644989014 + ] + }, + "final_grasp": { + "position": [ + 0.03274094685912132, + 0.11254721134901047, + -0.011496655642986298 + ], + "orientation": [ + 0.13583745062351227, + 0.9644320607185364, + -0.09497978538274765, + 0.2059071958065033 + ], + "joints": [ + -0.0016880594193935394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.031550418585538864, + 0.11220738291740417, + -0.012122368440032005 + ], + "orientation": [ + 0.1357720047235489, + 0.9616639614105225, + -0.08765994012355804, + 0.2215491533279419 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.03268057107925415, + 0.1125626489520073, + -0.011405883356928825 + ], + "orientation": [ + 0.13539443910121918, + 0.9645046591758728, + -0.09477753192186356, + 0.2059524953365326 + ], + "joints": [ + -0.007002055644989014 + ] + }, + "final_grasp": { + "position": [ + 0.03268057107925415, + 0.1125626489520073, + -0.011405883356928825 + ], + "orientation": [ + 0.13539443910121918, + 0.9645046591758728, + -0.09477753192186356, + 0.2059524953365326 + ], + "joints": [ + -0.0016880594193935394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12548217177391052, + 0.023141946643590927, + 0.012952229008078575 + ], + "orientation": [ + 0.6296910047531128, + 0.019883671775460243, + -0.10854698717594147, + -0.7689676284790039 + ], + "joints": [ + 0.0007913849549368024 + ] + }, + "fine_grasp": { + "position": [ + -0.12432147562503815, + 0.023437444120645523, + 0.012141948565840721 + ], + "orientation": [ + 0.6276974678039551, + 0.0036105799954384565, + -0.11798138916492462, + -0.7694563865661621 + ], + "joints": [ + 0.006158520933240652 + ] + }, + "final_grasp": { + "position": [ + -0.12432147562503815, + 0.023437444120645523, + 0.012141948565840721 + ], + "orientation": [ + 0.6276974678039551, + 0.0036105799954384565, + -0.11798138916492462, + -0.7694563865661621 + ], + "joints": [ + 0.011525657027959824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12521715462207794, + 0.020833395421504974, + 0.07652834802865982 + ], + "orientation": [ + 0.1581774801015854, + -0.7584089636802673, + -0.6290602684020996, + 0.06386564671993256 + ], + "joints": [ + 0.0013568917056545615 + ] + }, + "fine_grasp": { + "position": [ + -0.12194118648767471, + 0.02128969132900238, + 0.0765468180179596 + ], + "orientation": [ + 0.1610238403081894, + -0.7618319392204285, + -0.6252681612968445, + 0.05218319594860077 + ], + "joints": [ + 0.0067240274511277676 + ] + }, + "final_grasp": { + "position": [ + -0.12194118648767471, + 0.02128969132900238, + 0.0765468180179596 + ], + "orientation": [ + 0.1610238403081894, + -0.7618319392204285, + -0.6252681612968445, + 0.05218319594860077 + ], + "joints": [ + 0.012091163545846939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03548242524266243, + -0.12222698330879211, + 0.05333634465932846 + ], + "orientation": [ + 0.4414086937904358, + -0.1430496871471405, + 0.8823017477989197, + -0.07898648083209991 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.0342588908970356, + -0.11818321794271469, + 0.052398454397916794 + ], + "orientation": [ + 0.44443124532699585, + -0.14151965081691742, + 0.8810979127883911, + -0.07822701334953308 + ], + "joints": [ + -0.007057990878820419 + ] + }, + "final_grasp": { + "position": [ + 0.0342588908970356, + -0.11818321794271469, + 0.052398454397916794 + ], + "orientation": [ + 0.44443124532699585, + -0.14151965081691742, + 0.8810979127883911, + -0.07822701334953308 + ], + "joints": [ + -0.0006811954081058502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12357189506292343, + -0.012418675236403942, + 0.012910495512187481 + ], + "orientation": [ + 0.7127010822296143, + -0.050049301236867905, + 0.20699985325336456, + 0.6683587431907654 + ], + "joints": [ + -0.0008637531427666545 + ] + }, + "fine_grasp": { + "position": [ + 0.12427923828363419, + -0.011939956806600094, + 0.013010505586862564 + ], + "orientation": [ + 0.709781289100647, + -0.05528625100851059, + 0.21778759360313416, + 0.6676244139671326 + ], + "joints": [ + 0.005539612378925085 + ] + }, + "final_grasp": { + "position": [ + 0.12427923828363419, + -0.011939956806600094, + 0.013010505586862564 + ], + "orientation": [ + 0.709781289100647, + -0.05528625100851059, + 0.21778759360313416, + 0.6676244139671326 + ], + "joints": [ + 0.011942978017032146 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12480536103248596, + 0.022454380989074707, + 0.013736404478549957 + ], + "orientation": [ + 0.6327729225158691, + 0.020918499678373337, + -0.09875757992267609, + -0.7677290439605713 + ], + "joints": [ + 0.00037431801320053637 + ] + }, + "fine_grasp": { + "position": [ + -0.12432608753442764, + 0.022870836779475212, + 0.013052449561655521 + ], + "orientation": [ + 0.6298758387565613, + 0.002867123344913125, + -0.1123737245798111, + -0.7685182690620422 + ], + "joints": [ + 0.006246284116059542 + ] + }, + "final_grasp": { + "position": [ + -0.12432608753442764, + 0.022870836779475212, + 0.013052449561655521 + ], + "orientation": [ + 0.6298758387565613, + 0.002867123344913125, + -0.1123737245798111, + -0.7685182690620422 + ], + "joints": [ + 0.012118250131607056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05785534158349037, + -0.10277590900659561, + 0.06783241778612137 + ], + "orientation": [ + 0.22835063934326172, + 0.19128404557704926, + -0.9370622038841248, + 0.18215622007846832 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + 0.05776878073811531, + -0.10241158306598663, + 0.0700119137763977 + ], + "orientation": [ + 0.20952503383159637, + 0.19297917187213898, + -0.9412558674812317, + 0.18137127161026 + ], + "joints": [ + -0.007115399464964867 + ] + }, + "final_grasp": { + "position": [ + 0.05776878073811531, + -0.10241158306598663, + 0.0700119137763977 + ], + "orientation": [ + 0.20952503383159637, + 0.19297917187213898, + -0.9412558674812317, + 0.18137127161026 + ], + "joints": [ + -0.00020720437169075012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1228547990322113, + 0.004171598702669144, + 0.0445823036134243 + ], + "orientation": [ + 0.6826766729354858, + 0.12479077279567719, + -0.14032872021198273, + 0.7061782479286194 + ], + "joints": [ + -0.00036101319710724056 + ] + }, + "fine_grasp": { + "position": [ + 0.1189679503440857, + 0.0046075331047177315, + 0.045167937874794006 + ], + "orientation": [ + 0.6768516898155212, + 0.12439239770174026, + -0.14481058716773987, + 0.7109346985816956 + ], + "joints": [ + 0.005484383087605238 + ] + }, + "final_grasp": { + "position": [ + 0.1189679503440857, + 0.0046075331047177315, + 0.045167937874794006 + ], + "orientation": [ + 0.6768516898155212, + 0.12439239770174026, + -0.14481058716773987, + 0.7109346985816956 + ], + "joints": [ + 0.011329779401421547 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09962610900402069, + -0.02344082109630108, + -0.05973907187581062 + ], + "orientation": [ + 0.2776354253292084, + 0.6136913895606995, + -0.715435802936554, + -0.1856156289577484 + ], + "joints": [ + 0.002162941498681903 + ] + }, + "fine_grasp": { + "position": [ + 0.10173646360635757, + -0.025576138868927956, + -0.06066277623176575 + ], + "orientation": [ + 0.27547478675842285, + 0.6102028489112854, + -0.7204179167747498, + -0.1810084730386734 + ], + "joints": [ + 0.008008337579667568 + ] + }, + "final_grasp": { + "position": [ + 0.10173646360635757, + -0.025576138868927956, + -0.06066277623176575 + ], + "orientation": [ + 0.27547478675842285, + 0.6102028489112854, + -0.7204179167747498, + -0.1810084730386734 + ], + "joints": [ + 0.01385373342782259 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12417688220739365, + -0.012489013373851776, + 0.012537566013634205 + ], + "orientation": [ + 0.712888240814209, + -0.04887465387582779, + 0.20672228932380676, + 0.6683319807052612 + ], + "joints": [ + -0.0008969343034550548 + ] + }, + "fine_grasp": { + "position": [ + 0.12555567920207977, + -0.0122172636911273, + 0.01241651363670826 + ], + "orientation": [ + 0.710347056388855, + -0.056029874831438065, + 0.2183893769979477, + 0.6667636036872864 + ], + "joints": [ + 0.005506431683897972 + ] + }, + "final_grasp": { + "position": [ + 0.12555567920207977, + -0.0122172636911273, + 0.01241651363670826 + ], + "orientation": [ + 0.710347056388855, + -0.056029874831438065, + 0.2183893769979477, + 0.6667636036872864 + ], + "joints": [ + 0.01190979778766632 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02884317934513092, + 0.11921682208776474, + 0.016997188329696655 + ], + "orientation": [ + 0.019184065982699394, + -0.968272864818573, + 0.12674938142299652, + 0.2145095318555832 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.02850816771388054, + 0.11808323860168457, + 0.01655871421098709 + ], + "orientation": [ + 0.025867681950330734, + -0.9690710306167603, + 0.12689000368118286, + 0.21007390320301056 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + 0.02850816771388054, + 0.11808323860168457, + 0.01655871421098709 + ], + "orientation": [ + 0.025867681950330734, + -0.9690710306167603, + 0.12689000368118286, + 0.21007390320301056 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04398680105805397, + -0.010504105128347874, + 0.15551194548606873 + ], + "orientation": [ + 0.11447924375534058, + 0.12706492841243744, + 0.6683164238929749, + -0.7239490151405334 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.04309447482228279, + -0.009070825763046741, + 0.15020623803138733 + ], + "orientation": [ + 0.11747551709413528, + 0.12545889616012573, + 0.6746165752410889, + -0.7178801894187927 + ], + "joints": [ + -0.003925241529941559 + ] + }, + "final_grasp": { + "position": [ + -0.04309447482228279, + -0.009070825763046741, + 0.15020623803138733 + ], + "orientation": [ + 0.11747551709413528, + 0.12545889616012573, + 0.6746165752410889, + -0.7178801894187927 + ], + "joints": [ + 0.0004322342574596405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04406249523162842, + -0.010556141845881939, + 0.15558373928070068 + ], + "orientation": [ + 0.11381533741950989, + 0.12820354104042053, + 0.6672937870025635, + -0.7247957587242126 + ], + "joints": [ + -0.008282717317342758 + ] + }, + "fine_grasp": { + "position": [ + -0.04318644851446152, + -0.008968465961515903, + 0.15027481317520142 + ], + "orientation": [ + 0.11749235540628433, + 0.12591373920440674, + 0.6740747094154358, + -0.7183067798614502 + ], + "joints": [ + -0.003925241529941559 + ] + }, + "final_grasp": { + "position": [ + -0.04318644851446152, + -0.008968465961515903, + 0.15027481317520142 + ], + "orientation": [ + 0.11749235540628433, + 0.12591373920440674, + 0.6740747094154358, + -0.7183067798614502 + ], + "joints": [ + 0.0004322342574596405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028939420357346535, + 0.07531970739364624, + -0.06943627446889877 + ], + "orientation": [ + 0.01808857172727585, + -0.2103438675403595, + 0.3858574330806732, + 0.8980770111083984 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.028851866722106934, + 0.07606059312820435, + -0.06823121011257172 + ], + "orientation": [ + 0.02381230518221855, + -0.20874141156673431, + 0.39592745900154114, + 0.8939246535301208 + ], + "joints": [ + -0.006386677734553814 + ] + }, + "final_grasp": { + "position": [ + 0.028851866722106934, + 0.07606059312820435, + -0.06823121011257172 + ], + "orientation": [ + 0.02381230518221855, + -0.20874141156673431, + 0.39592745900154114, + 0.8939246535301208 + ], + "joints": [ + -0.0010461118072271347 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12352663278579712, + -0.0011433233739808202, + 0.03258519992232323 + ], + "orientation": [ + 0.6866840720176697, + -0.13438594341278076, + -0.1835891753435135, + -0.6904348731040955 + ], + "joints": [ + -0.001122456626035273 + ] + }, + "fine_grasp": { + "position": [ + -0.12233680486679077, + -0.0007097579655237496, + 0.032725878059864044 + ], + "orientation": [ + 0.6888535618782043, + -0.13894733786582947, + -0.17443999648094177, + -0.6897428035736084 + ], + "joints": [ + 0.004722939804196358 + ] + }, + "final_grasp": { + "position": [ + -0.12233680486679077, + -0.0007097579655237496, + 0.032725878059864044 + ], + "orientation": [ + 0.6888535618782043, + -0.13894733786582947, + -0.17443999648094177, + -0.6897428035736084 + ], + "joints": [ + 0.010568336583673954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11999260634183884, + -0.013660596683621407, + 0.026728766039013863 + ], + "orientation": [ + 0.7353194952011108, + -0.0646255761384964, + -0.09680946916341782, + -0.6676501035690308 + ], + "joints": [ + -0.00047197824460454285 + ] + }, + "fine_grasp": { + "position": [ + -0.11736301332712173, + -0.012967631220817566, + 0.028904784470796585 + ], + "orientation": [ + 0.7358659505844116, + -0.06289290636777878, + -0.09981431066989899, + -0.6667704582214355 + ], + "joints": [ + 0.006436217576265335 + ] + }, + "final_grasp": { + "position": [ + -0.11736301332712173, + -0.012967631220817566, + 0.028904784470796585 + ], + "orientation": [ + 0.7358659505844116, + -0.06289290636777878, + -0.09981431066989899, + -0.6667704582214355 + ], + "joints": [ + 0.013344413600862026 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07297057658433914, + -0.0763707384467125, + 0.09839216619729996 + ], + "orientation": [ + 0.8873416781425476, + -0.33949437737464905, + -0.18486538529396057, + -0.25138282775878906 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.07162901759147644, + -0.07476336508989334, + 0.09839478880167007 + ], + "orientation": [ + 0.8903204202651978, + -0.33373817801475525, + -0.18474924564361572, + -0.24862855672836304 + ], + "joints": [ + -0.005435824394226074 + ] + }, + "final_grasp": { + "position": [ + -0.07162901759147644, + -0.07476336508989334, + 0.09839478880167007 + ], + "orientation": [ + 0.8903204202651978, + -0.33373817801475525, + -0.18474924564361572, + -0.24862855672836304 + ], + "joints": [ + 0.0020037703216075897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028964081779122353, + -0.016920825466513634, + -0.10648766905069351 + ], + "orientation": [ + 0.5898203253746033, + 0.4052307605743408, + 0.4640505611896515, + 0.522070050239563 + ], + "joints": [ + 0.0020632639061659575 + ] + }, + "fine_grasp": { + "position": [ + 0.027430424466729164, + -0.015972541645169258, + -0.10085353255271912 + ], + "orientation": [ + 0.589710533618927, + 0.4027681350708008, + 0.4631235897541046, + 0.5249151587486267 + ], + "joints": [ + 0.007935230620205402 + ] + }, + "final_grasp": { + "position": [ + 0.027430424466729164, + -0.015972541645169258, + -0.10085353255271912 + ], + "orientation": [ + 0.589710533618927, + 0.4027681350708008, + 0.4631235897541046, + 0.5249151587486267 + ], + "joints": [ + 0.013807197101414204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012447057291865349, + -0.010829679667949677, + 0.15723152458667755 + ], + "orientation": [ + 0.4823775589466095, + -0.4029141962528229, + 0.5566873550415039, + -0.5432045459747314 + ], + "joints": [ + 0.0015137104783207178 + ] + }, + "fine_grasp": { + "position": [ + -0.013103537261486053, + -0.01100591104477644, + 0.15317249298095703 + ], + "orientation": [ + 0.4773138463497162, + -0.39623916149139404, + 0.5630417466163635, + -0.5460313558578491 + ], + "joints": [ + 0.007385676726698875 + ] + }, + "final_grasp": { + "position": [ + -0.013103537261486053, + -0.01100591104477644, + 0.15317249298095703 + ], + "orientation": [ + 0.4773138463497162, + -0.39623916149139404, + 0.5630417466163635, + -0.5460313558578491 + ], + "joints": [ + 0.013257643207907677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07183900475502014, + -0.07966446131467819, + -0.038854267448186874 + ], + "orientation": [ + 0.899024486541748, + 0.3110837936401367, + 0.17212256789207458, + -0.2556474804878235 + ], + "joints": [ + -0.013464227318763733 + ] + }, + "fine_grasp": { + "position": [ + -0.07115703821182251, + -0.0807226374745369, + -0.0408993624150753 + ], + "orientation": [ + 0.9011208415031433, + 0.3121548295021057, + 0.1652577519416809, + -0.25145676732063293 + ], + "joints": [ + -0.0054666632786393166 + ] + }, + "final_grasp": { + "position": [ + -0.07115703821182251, + -0.0807226374745369, + -0.0408993624150753 + ], + "orientation": [ + 0.9011208415031433, + 0.3121548295021057, + 0.1652577519416809, + -0.25145676732063293 + ], + "joints": [ + 0.0025309007614851 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13462543487548828, + -0.02785702981054783, + 0.020044894888997078 + ], + "orientation": [ + 0.020434359088540077, + -0.6287182569503784, + 0.7767676115036011, + 0.030459381639957428 + ], + "joints": [ + 0.0027484421152621508 + ] + }, + "fine_grasp": { + "position": [ + 0.132338285446167, + -0.02777296118438244, + 0.018730919808149338 + ], + "orientation": [ + 0.0292523056268692, + -0.6296036243438721, + 0.7755118608474731, + 0.03639885410666466 + ], + "joints": [ + 0.008089009672403336 + ] + }, + "final_grasp": { + "position": [ + 0.132338285446167, + -0.02777296118438244, + 0.018730919808149338 + ], + "orientation": [ + 0.0292523056268692, + -0.6296036243438721, + 0.7755118608474731, + 0.03639885410666466 + ], + "joints": [ + 0.013429577462375164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13475961983203888, + -0.027607981115579605, + 0.020039988681674004 + ], + "orientation": [ + 0.01808268204331398, + -0.6296643614768982, + 0.7761693000793457, + 0.027513373643159866 + ], + "joints": [ + 0.002386531326919794 + ] + }, + "fine_grasp": { + "position": [ + 0.13238772749900818, + -0.02741459757089615, + 0.018702521920204163 + ], + "orientation": [ + 0.026890290901064873, + -0.6304950714111328, + 0.7750503420829773, + 0.03240061551332474 + ], + "joints": [ + 0.0077536688186228275 + ] + }, + "final_grasp": { + "position": [ + 0.13238772749900818, + -0.02741459757089615, + 0.018702521920204163 + ], + "orientation": [ + 0.026890290901064873, + -0.6304950714111328, + 0.7750503420829773, + 0.03240061551332474 + ], + "joints": [ + 0.013120805844664574 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11292058974504471, + -0.02310766465961933, + 0.0034577781334519386 + ], + "orientation": [ + 0.7683566212654114, + 0.027013806626200676, + 0.06575137376785278, + 0.6360622644424438 + ], + "joints": [ + 0.0011099574621766806 + ] + }, + "fine_grasp": { + "position": [ + 0.10770899802446365, + -0.024531535804271698, + 0.005246346350759268 + ], + "orientation": [ + 0.7765573859214783, + 0.009272605180740356, + 0.07289334386587143, + 0.62574702501297 + ], + "joints": [ + 0.0064770933240652084 + ] + }, + "final_grasp": { + "position": [ + 0.10770899802446365, + -0.024531535804271698, + 0.005246346350759268 + ], + "orientation": [ + 0.7765573859214783, + 0.009272605180740356, + 0.07289334386587143, + 0.62574702501297 + ], + "joints": [ + 0.011844228953123093 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.059935182332992554, + -0.10617382079362869, + -0.01955113746225834 + ], + "orientation": [ + 0.9267112016677856, + 0.17878767848014832, + 0.28532910346984863, + -0.1668192744255066 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.05865315720438957, + -0.10408011823892593, + -0.018016204237937927 + ], + "orientation": [ + 0.9250786304473877, + 0.1901930570602417, + 0.2822650074958801, + -0.16847150027751923 + ], + "joints": [ + -0.006974088028073311 + ] + }, + "final_grasp": { + "position": [ + -0.05865315720438957, + -0.10408011823892593, + -0.018016204237937927 + ], + "orientation": [ + 0.9250786304473877, + 0.1901930570602417, + 0.2822650074958801, + -0.16847150027751923 + ], + "joints": [ + -0.002191491425037384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11996831744909286, + 0.044104382395744324, + 0.042540792375802994 + ], + "orientation": [ + 0.406889408826828, + -0.6761435270309448, + -0.47045543789863586, + -0.39489564299583435 + ], + "joints": [ + -0.01016690582036972 + ] + }, + "fine_grasp": { + "position": [ + -0.11703194677829742, + 0.04282502830028534, + 0.0444672629237175 + ], + "orientation": [ + 0.39374783635139465, + -0.6917093396186829, + -0.46215859055519104, + -0.39103734493255615 + ], + "joints": [ + -0.006925368681550026 + ] + }, + "final_grasp": { + "position": [ + -0.11703194677829742, + 0.04282502830028534, + 0.0444672629237175 + ], + "orientation": [ + 0.39374783635139465, + -0.6917093396186829, + -0.46215859055519104, + -0.39103734493255615 + ], + "joints": [ + -0.0036838315427303314 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012023219838738441, + -0.009983339346945286, + 0.15405112504959106 + ], + "orientation": [ + 0.47746625542640686, + -0.40280550718307495, + 0.5581178665161133, + -0.5461483597755432 + ], + "joints": [ + 0.0018914067186415195 + ] + }, + "fine_grasp": { + "position": [ + -0.012898309156298637, + -0.011261574923992157, + 0.15087947249412537 + ], + "orientation": [ + 0.47452986240386963, + -0.39351171255111694, + 0.566491961479187, + -0.5468608736991882 + ], + "joints": [ + 0.007231972645968199 + ] + }, + "final_grasp": { + "position": [ + -0.012898309156298637, + -0.011261574923992157, + 0.15087947249412537 + ], + "orientation": [ + 0.47452986240386963, + -0.39351171255111694, + 0.566491961479187, + -0.5468608736991882 + ], + "joints": [ + 0.01257253810763359 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09936395287513733, + -0.010669595561921597, + -0.0475965179502964 + ], + "orientation": [ + 0.511215329170227, + 0.6800975799560547, + -0.5082002282142639, + 0.133636936545372 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + 0.09730439633131027, + -0.009589429944753647, + -0.04569562152028084 + ], + "orientation": [ + 0.5146825313568115, + 0.6833041310310364, + -0.5000169277191162, + 0.1348349153995514 + ], + "joints": [ + -0.008182542398571968 + ] + }, + "final_grasp": { + "position": [ + 0.09730439633131027, + -0.009589429944753647, + -0.04569562152028084 + ], + "orientation": [ + 0.5146825313568115, + 0.6833041310310364, + -0.5000169277191162, + 0.1348349153995514 + ], + "joints": [ + -0.0028419755399227142 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011719909496605396, + -0.009959734976291656, + 0.15489085018634796 + ], + "orientation": [ + 0.4761947989463806, + -0.4036198854446411, + 0.559003472328186, + -0.5457513928413391 + ], + "joints": [ + 0.0014221449382603168 + ] + }, + "fine_grasp": { + "position": [ + -0.012470855377614498, + -0.010853635147213936, + 0.15122701227664948 + ], + "orientation": [ + 0.47260570526123047, + -0.3953949809074402, + 0.5675597786903381, + -0.5460609197616577 + ], + "joints": [ + 0.0072941104881465435 + ] + }, + "final_grasp": { + "position": [ + -0.012470855377614498, + -0.010853635147213936, + 0.15122701227664948 + ], + "orientation": [ + 0.47260570526123047, + -0.3953949809074402, + 0.5675597786903381, + -0.5460609197616577 + ], + "joints": [ + 0.013166075572371483 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13368478417396545, + 0.0037876907736063004, + -0.01941560208797455 + ], + "orientation": [ + 0.18316543102264404, + 0.7165228128433228, + 0.6697036027908325, + -0.06739863753318787 + ], + "joints": [ + 0.0025497786700725555 + ] + }, + "fine_grasp": { + "position": [ + -0.1297048032283783, + 0.003936759661883116, + -0.017727158963680267 + ], + "orientation": [ + 0.18836690485477448, + 0.7159820199012756, + 0.6695311665534973, + -0.06013207510113716 + ], + "joints": [ + 0.007916916161775589 + ] + }, + "final_grasp": { + "position": [ + -0.1297048032283783, + 0.003936759661883116, + -0.017727158963680267 + ], + "orientation": [ + 0.18836690485477448, + 0.7159820199012756, + 0.6695311665534973, + -0.06013207510113716 + ], + "joints": [ + 0.013284053653478622 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.045101601630449295, + 0.011754900217056274, + -0.08913213759660721 + ], + "orientation": [ + 0.287360817193985, + 0.034776728600263596, + -0.5892027616500854, + -0.7543570399284363 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.04720979183912277, + 0.01253796461969614, + -0.08809440582990646 + ], + "orientation": [ + 0.2801308035850525, + 0.020985044538974762, + -0.5996353030204773, + -0.749349057674408 + ], + "joints": [ + -0.004091724753379822 + ] + }, + "final_grasp": { + "position": [ + -0.04720979183912277, + 0.01253796461969614, + -0.08809440582990646 + ], + "orientation": [ + 0.2801308035850525, + 0.020985044538974762, + -0.5996353030204773, + -0.749349057674408 + ], + "joints": [ + 0.0018068104982376099 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11716393381357193, + -0.017744988203048706, + 0.044885896146297455 + ], + "orientation": [ + 0.7532459497451782, + -0.1238589733839035, + -0.04512800648808479, + -0.6443935632705688 + ], + "joints": [ + -0.00047245578025467694 + ] + }, + "fine_grasp": { + "position": [ + -0.11776061356067657, + -0.017955726012587547, + 0.04670974984765053 + ], + "orientation": [ + 0.755011260509491, + -0.11857853084802628, + -0.050703126937150955, + -0.6429045796394348 + ], + "joints": [ + 0.0053995102643966675 + ] + }, + "final_grasp": { + "position": [ + -0.11776061356067657, + -0.017955726012587547, + 0.04670974984765053 + ], + "orientation": [ + 0.755011260509491, + -0.11857853084802628, + -0.050703126937150955, + -0.6429045796394348 + ], + "joints": [ + 0.011271476745605469 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12233829498291016, + -0.01060672476887703, + 0.031495459377765656 + ], + "orientation": [ + 0.14418046176433563, + 0.6723489165306091, + 0.7201701402664185, + -0.09227120131254196 + ], + "joints": [ + -0.0010106305126100779 + ] + }, + "fine_grasp": { + "position": [ + -0.11966525763273239, + -0.010122192092239857, + 0.032283443957567215 + ], + "orientation": [ + 0.14738386869430542, + 0.6703732013702393, + 0.7210214734077454, + -0.09489893913269043 + ], + "joints": [ + 0.00486133573576808 + ] + }, + "final_grasp": { + "position": [ + -0.11966525763273239, + -0.010122192092239857, + 0.032283443957567215 + ], + "orientation": [ + 0.14738386869430542, + 0.6703732013702393, + 0.7210214734077454, + -0.09489893913269043 + ], + "joints": [ + 0.010733301751315594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0719163566827774, + 0.023191986605525017, + 0.13872432708740234 + ], + "orientation": [ + 0.5393709540367126, + -0.3275538384914398, + 0.3492737114429474, + -0.6926725506782532 + ], + "joints": [ + 0.0019324538297951221 + ] + }, + "fine_grasp": { + "position": [ + -0.07226935029029846, + 0.024393530562520027, + 0.13892444968223572 + ], + "orientation": [ + 0.5318211913108826, + -0.32727518677711487, + 0.35312891006469727, + -0.6966757774353027 + ], + "joints": [ + 0.007273020222783089 + ] + }, + "final_grasp": { + "position": [ + -0.07226935029029846, + 0.024393530562520027, + 0.13892444968223572 + ], + "orientation": [ + 0.5318211913108826, + -0.32727518677711487, + 0.35312891006469727, + -0.6966757774353027 + ], + "joints": [ + 0.012613587081432343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12121704965829849, + -0.02156732603907585, + 0.0030291832517832518 + ], + "orientation": [ + 0.7583038210868835, + 0.036261264234781265, + 0.08276595920324326, + 0.6456085443496704 + ], + "joints": [ + 0.0013080276548862457 + ] + }, + "fine_grasp": { + "position": [ + 0.12578105926513672, + -0.02264653518795967, + 0.0030432178173214197 + ], + "orientation": [ + 0.7599888443946838, + 0.03251531720161438, + 0.09371449798345566, + 0.6423218250274658 + ], + "joints": [ + 0.007711393292993307 + ] + }, + "final_grasp": { + "position": [ + 0.12578105926513672, + -0.02264653518795967, + 0.0030432178173214197 + ], + "orientation": [ + 0.7599888443946838, + 0.03251531720161438, + 0.09371449798345566, + 0.6423218250274658 + ], + "joints": [ + 0.014114758931100368 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11123179644346237, + 0.011683342047035694, + -0.04708053171634674 + ], + "orientation": [ + 0.2849887013435364, + -0.3694647252559662, + 0.5366144180297852, + 0.7030805349349976 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10792100429534912, + 0.012973538599908352, + -0.04579884931445122 + ], + "orientation": [ + 0.2925994098186493, + -0.36146068572998047, + 0.5468514561653137, + 0.6961933970451355 + ], + "joints": [ + -0.006248162128031254 + ] + }, + "final_grasp": { + "position": [ + 0.10792100429534912, + 0.012973538599908352, + -0.04579884931445122 + ], + "orientation": [ + 0.2925994098186493, + -0.36146068572998047, + 0.5468514561653137, + 0.6961933970451355 + ], + "joints": [ + -0.0019172560423612595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13752728700637817, + 0.009216396138072014, + 0.07669664174318314 + ], + "orientation": [ + 0.6224347352981567, + 0.11687930673360825, + 0.2721688449382782, + -0.7244572639465332 + ], + "joints": [ + -0.0011605487670749426 + ] + }, + "fine_grasp": { + "position": [ + -0.13554814457893372, + 0.009942824952304363, + 0.07720568776130676 + ], + "orientation": [ + 0.6202910542488098, + 0.10951656103134155, + 0.27609628438949585, + -0.7259587049484253 + ], + "joints": [ + 0.004711417481303215 + ] + }, + "final_grasp": { + "position": [ + -0.13554814457893372, + 0.009942824952304363, + 0.07720568776130676 + ], + "orientation": [ + 0.6202910542488098, + 0.10951656103134155, + 0.27609628438949585, + -0.7259587049484253 + ], + "joints": [ + 0.010583383962512016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13176843523979187, + 0.05023480951786041, + 0.009620767086744308 + ], + "orientation": [ + 0.08363181352615356, + 0.8266361355781555, + 0.5563302040100098, + -0.013234029524028301 + ], + "joints": [ + 0.0010218278039246798 + ] + }, + "fine_grasp": { + "position": [ + -0.1279573291540146, + 0.04924270138144493, + 0.009250727482140064 + ], + "orientation": [ + 0.08420316129922867, + 0.824806272983551, + 0.558449923992157, + -0.027168216183781624 + ], + "joints": [ + 0.00585756404325366 + ] + }, + "final_grasp": { + "position": [ + -0.1279573291540146, + 0.04924270138144493, + 0.009250727482140064 + ], + "orientation": [ + 0.08420316129922867, + 0.824806272983551, + 0.558449923992157, + -0.027168216183781624 + ], + "joints": [ + 0.010693300515413284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.059901926666498184, + 0.023797452449798584, + -0.10128758102655411 + ], + "orientation": [ + 0.5093138813972473, + 0.39971017837524414, + 0.39025723934173584, + 0.6546223759651184 + ], + "joints": [ + 0.002478725276887417 + ] + }, + "fine_grasp": { + "position": [ + 0.05875619500875473, + 0.0249323770403862, + -0.09949109703302383 + ], + "orientation": [ + 0.5099179148674011, + 0.39470139145851135, + 0.385532021522522, + 0.6599693894386292 + ], + "joints": [ + 0.008350691758096218 + ] + }, + "final_grasp": { + "position": [ + 0.05875619500875473, + 0.0249323770403862, + -0.09949109703302383 + ], + "orientation": [ + 0.5099179148674011, + 0.39470139145851135, + 0.385532021522522, + 0.6599693894386292 + ], + "joints": [ + 0.01422265823930502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1214364543557167, + 0.04277532175183296, + 0.001985027454793453 + ], + "orientation": [ + 0.5639193058013916, + 0.059681911021471024, + -0.14929278194904327, + -0.8100275993347168 + ], + "joints": [ + 0.0005122773582115769 + ] + }, + "fine_grasp": { + "position": [ + -0.11930884420871735, + 0.042774979025125504, + 0.0016198987141251564 + ], + "orientation": [ + 0.5648629665374756, + 0.05124654993414879, + -0.15119749307632446, + -0.8095942735671997 + ], + "joints": [ + 0.006384243257343769 + ] + }, + "final_grasp": { + "position": [ + -0.11930884420871735, + 0.042774979025125504, + 0.0016198987141251564 + ], + "orientation": [ + 0.5648629665374756, + 0.05124654993414879, + -0.15119749307632446, + -0.8095942735671997 + ], + "joints": [ + 0.012256208807229996 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0801532119512558, + 0.01661287248134613, + -0.08834116160869598 + ], + "orientation": [ + 0.5676490664482117, + 0.7598721385002136, + 0.2796178162097931, + -0.14893868565559387 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.07705099880695343, + 0.01631871424615383, + -0.0835011824965477 + ], + "orientation": [ + 0.5744842886924744, + 0.7560213208198547, + 0.2758839428424835, + -0.1492905169725418 + ], + "joints": [ + -0.007651143241673708 + ] + }, + "final_grasp": { + "position": [ + -0.07705099880695343, + 0.01631871424615383, + -0.0835011824965477 + ], + "orientation": [ + 0.5744842886924744, + 0.7560213208198547, + 0.2758839428424835, + -0.1492905169725418 + ], + "joints": [ + -0.001779177226126194 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08013298362493515, + 0.016757700592279434, + -0.08816562592983246 + ], + "orientation": [ + 0.5686105489730835, + 0.7593748569488525, + 0.2793438732624054, + -0.14832067489624023 + ], + "joints": [ + -0.013523109257221222 + ] + }, + "fine_grasp": { + "position": [ + -0.07703142613172531, + 0.016479874029755592, + -0.08331773430109024 + ], + "orientation": [ + 0.5753966569900513, + 0.7553589940071106, + 0.27634966373443604, + -0.1482645869255066 + ], + "joints": [ + -0.007677712943404913 + ] + }, + "final_grasp": { + "position": [ + -0.07703142613172531, + 0.016479874029755592, + -0.08331773430109024 + ], + "orientation": [ + 0.5753966569900513, + 0.7553589940071106, + 0.27634966373443604, + -0.1482645869255066 + ], + "joints": [ + -0.001832316629588604 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09194615483283997, + -0.027466386556625366, + 0.1208169236779213 + ], + "orientation": [ + 0.7228269577026367, + -0.24961550533771515, + -0.2872838079929352, + 0.5767852663993835 + ], + "joints": [ + 0.0018591252155601978 + ] + }, + "fine_grasp": { + "position": [ + 0.09223461896181107, + -0.029385067522525787, + 0.12009978294372559 + ], + "orientation": [ + 0.7259922623634338, + -0.24800536036491394, + -0.29013171792030334, + 0.572059690952301 + ], + "joints": [ + 0.007199691142886877 + ] + }, + "final_grasp": { + "position": [ + 0.09223461896181107, + -0.029385067522525787, + 0.12009978294372559 + ], + "orientation": [ + 0.7259922623634338, + -0.24800536036491394, + -0.29013171792030334, + 0.572059690952301 + ], + "joints": [ + 0.012540256604552269 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12105982005596161, + 0.043928518891334534, + 0.0019720580894500017 + ], + "orientation": [ + 0.5604981780052185, + 0.05845513567328453, + -0.14712326228618622, + -0.8128834366798401 + ], + "joints": [ + 0.0003727557195816189 + ] + }, + "fine_grasp": { + "position": [ + -0.11867251992225647, + 0.043726105242967606, + 0.0017606645124033093 + ], + "orientation": [ + 0.5620677471160889, + 0.04969697445631027, + -0.14943371713161469, + -0.8119603991508484 + ], + "joints": [ + 0.005739891901612282 + ] + }, + "final_grasp": { + "position": [ + -0.11867251992225647, + 0.043726105242967606, + 0.0017606645124033093 + ], + "orientation": [ + 0.5620677471160889, + 0.04969697445631027, + -0.14943371713161469, + -0.8119603991508484 + ], + "joints": [ + 0.01110702846199274 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09176679700613022, + -0.027888750657439232, + 0.1207532063126564 + ], + "orientation": [ + 0.7256603837013245, + -0.25006040930747986, + -0.28299540281295776, + 0.5751524567604065 + ], + "joints": [ + 0.0015654379967600107 + ] + }, + "fine_grasp": { + "position": [ + 0.09202694892883301, + -0.029546592384576797, + 0.11993960291147232 + ], + "orientation": [ + 0.7278780937194824, + -0.24733956158161163, + -0.2863434851169586, + 0.5718600749969482 + ], + "joints": [ + 0.006932574324309826 + ] + }, + "final_grasp": { + "position": [ + 0.09202694892883301, + -0.029546592384576797, + 0.11993960291147232 + ], + "orientation": [ + 0.7278780937194824, + -0.24733956158161163, + -0.2863434851169586, + 0.5718600749969482 + ], + "joints": [ + 0.012299710884690285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04558677598834038, + 0.10641860961914062, + 0.06342705339193344 + ], + "orientation": [ + 0.010207146406173706, + -0.8976551294326782, + 0.2586047649383545, + -0.3566999137401581 + ], + "joints": [ + -0.01275765523314476 + ] + }, + "fine_grasp": { + "position": [ + 0.045950934290885925, + 0.10867772996425629, + 0.06288672238588333 + ], + "orientation": [ + 0.008114226162433624, + -0.90495365858078, + 0.24756960570812225, + -0.34598034620285034 + ], + "joints": [ + -0.006407429464161396 + ] + }, + "final_grasp": { + "position": [ + 0.045950934290885925, + 0.10867772996425629, + 0.06288672238588333 + ], + "orientation": [ + 0.008114226162433624, + -0.90495365858078, + 0.24756960570812225, + -0.34598034620285034 + ], + "joints": [ + -5.720369517803192e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11395067721605301, + -0.023555170744657516, + 0.0027928620111197233 + ], + "orientation": [ + 0.06810994446277618, + 0.6342101097106934, + -0.7686582803726196, + -0.04799021780490875 + ], + "joints": [ + 0.001406193245202303 + ] + }, + "fine_grasp": { + "position": [ + 0.11442842334508896, + -0.025351809337735176, + 0.0038041919469833374 + ], + "orientation": [ + 0.07448771595954895, + 0.6309607028961182, + -0.7711707353591919, + -0.04044574126601219 + ], + "joints": [ + 0.007278159260749817 + ] + }, + "final_grasp": { + "position": [ + 0.11442842334508896, + -0.025351809337735176, + 0.0038041919469833374 + ], + "orientation": [ + 0.07448771595954895, + 0.6309607028961182, + -0.7711707353591919, + -0.04044574126601219 + ], + "joints": [ + 0.013150125741958618 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12234146893024445, + 0.02134048379957676, + 0.009286289103329182 + ], + "orientation": [ + 0.6378803849220276, + -0.0020147310569882393, + -0.0879151001572609, + -0.7650984525680542 + ], + "joints": [ + 0.0010182156693190336 + ] + }, + "fine_grasp": { + "position": [ + -0.11729208379983902, + 0.021939240396022797, + 0.009423512034118176 + ], + "orientation": [ + 0.6307496428489685, + -0.017476191744208336, + -0.11172644793987274, + -0.7677021622657776 + ], + "joints": [ + 0.005853951908648014 + ] + }, + "final_grasp": { + "position": [ + -0.11729208379983902, + 0.021939240396022797, + 0.009423512034118176 + ], + "orientation": [ + 0.6307496428489685, + -0.017476191744208336, + -0.11172644793987274, + -0.7677021622657776 + ], + "joints": [ + 0.01068968791514635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10133863240480423, + 0.019047658890485764, + -0.08329407125711441 + ], + "orientation": [ + 0.16329798102378845, + -0.3701966106891632, + -0.6584303379058838, + -0.6346319317817688 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + -0.09797625988721848, + 0.018358591943979263, + -0.07961682975292206 + ], + "orientation": [ + 0.1643093079328537, + -0.36976343393325806, + -0.6545237302780151, + -0.6386517882347107 + ], + "joints": [ + -0.01075548492372036 + ] + }, + "final_grasp": { + "position": [ + -0.09797625988721848, + 0.018358591943979263, + -0.07961682975292206 + ], + "orientation": [ + 0.1643093079328537, + -0.36976343393325806, + -0.6545237302780151, + -0.6386517882347107 + ], + "joints": [ + -0.0074873752892017365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11014141142368317, + -0.03266754746437073, + 0.07465183734893799 + ], + "orientation": [ + 0.08540511131286621, + -0.5920439958572388, + 0.788452684879303, + -0.14329122006893158 + ], + "joints": [ + 0.00019850395619869232 + ] + }, + "fine_grasp": { + "position": [ + 0.10761108249425888, + -0.033506106585264206, + 0.07431060820817947 + ], + "orientation": [ + 0.07834406197071075, + -0.5879542827606201, + 0.791329562664032, + -0.14822126924991608 + ], + "joints": [ + 0.006070469971746206 + ] + }, + "final_grasp": { + "position": [ + 0.10761108249425888, + -0.033506106585264206, + 0.07431060820817947 + ], + "orientation": [ + 0.07834406197071075, + -0.5879542827606201, + 0.791329562664032, + -0.14822126924991608 + ], + "joints": [ + 0.01194243598729372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010976147837936878, + 0.03415771946310997, + -0.10595995932817459 + ], + "orientation": [ + 0.366691529750824, + 0.4994048476219177, + 0.49063804745674133, + 0.6127041578292847 + ], + "joints": [ + 0.0012873723171651363 + ] + }, + "fine_grasp": { + "position": [ + 0.01042495109140873, + 0.03457662835717201, + -0.10305082052946091 + ], + "orientation": [ + 0.3673986792564392, + 0.49634236097335815, + 0.4888238310813904, + 0.6162092089653015 + ], + "joints": [ + 0.007690738420933485 + ] + }, + "final_grasp": { + "position": [ + 0.01042495109140873, + 0.03457662835717201, + -0.10305082052946091 + ], + "orientation": [ + 0.3673986792564392, + 0.49634236097335815, + 0.4888238310813904, + 0.6162092089653015 + ], + "joints": [ + 0.014094104990363121 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08232294023036957, + -0.043418604880571365, + 0.13010314106941223 + ], + "orientation": [ + 0.27757713198661804, + 0.18599388003349304, + 0.8034323453903198, + -0.4928019940853119 + ], + "joints": [ + -0.012404374778270721 + ] + }, + "fine_grasp": { + "position": [ + -0.0791287049651146, + -0.04198184236884117, + 0.12575086951255798 + ], + "orientation": [ + 0.28022637963294983, + 0.18765398859977722, + 0.7972121238708496, + -0.5007114410400391 + ], + "joints": [ + -0.007568638306111097 + ] + }, + "final_grasp": { + "position": [ + -0.0791287049651146, + -0.04198184236884117, + 0.12575086951255798 + ], + "orientation": [ + 0.28022637963294983, + 0.18765398859977722, + 0.7972121238708496, + -0.5007114410400391 + ], + "joints": [ + -0.0027329018339514732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12004056572914124, + 0.025819573551416397, + 0.04350918158888817 + ], + "orientation": [ + 0.6295422315597534, + -0.014556325040757656, + 0.01517604012042284, + -0.776681661605835 + ], + "joints": [ + 0.0004840090696234256 + ] + }, + "fine_grasp": { + "position": [ + -0.11737854033708572, + 0.02850273996591568, + 0.04484438896179199 + ], + "orientation": [ + 0.6229478716850281, + -0.008336390368640423, + 0.009423668496310711, + -0.7821621298789978 + ], + "joints": [ + 0.006860804744064808 + ] + }, + "final_grasp": { + "position": [ + -0.11737854033708572, + 0.02850273996591568, + 0.04484438896179199 + ], + "orientation": [ + 0.6229478716850281, + -0.008336390368640423, + 0.009423668496310711, + -0.7821621298789978 + ], + "joints": [ + 0.013237600214779377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1006821021437645, + 0.019356247037649155, + -0.08309772610664368 + ], + "orientation": [ + 0.16431818902492523, + -0.36900946497917175, + -0.6592400074005127, + -0.6342192888259888 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.09743036329746246, + 0.018731724470853806, + -0.07947583496570587 + ], + "orientation": [ + 0.164853036403656, + -0.36894649267196655, + -0.6548584699630737, + -0.6386409401893616 + ], + "joints": [ + -0.010252129286527634 + ] + }, + "final_grasp": { + "position": [ + -0.09743036329746246, + 0.018731724470853806, + -0.07947583496570587 + ], + "orientation": [ + 0.164853036403656, + -0.36894649267196655, + -0.6548584699630737, + -0.6386409401893616 + ], + "joints": [ + -0.00701059028506279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08241384476423264, + -0.043361764401197433, + 0.12991377711296082 + ], + "orientation": [ + 0.28021860122680664, + 0.1840079426765442, + 0.8018609881401062, + -0.49460846185684204 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.07927663624286652, + -0.04185840114951134, + 0.12566547095775604 + ], + "orientation": [ + 0.2830972373485565, + 0.18571126461029053, + 0.7960007190704346, + -0.5017470717430115 + ], + "joints": [ + -0.0075966059230268 + ] + }, + "final_grasp": { + "position": [ + -0.07927663624286652, + -0.04185840114951134, + 0.12566547095775604 + ], + "orientation": [ + 0.2830972373485565, + 0.18571126461029053, + 0.7960007190704346, + -0.5017470717430115 + ], + "joints": [ + -0.0022294698283076286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09680962562561035, + 0.032466523349285126, + -0.05453174561262131 + ], + "orientation": [ + 0.607957124710083, + 0.29726240038871765, + 0.10908665508031845, + 0.7280956506729126 + ], + "joints": [ + 0.0014740063343197107 + ] + }, + "fine_grasp": { + "position": [ + 0.09673330187797546, + 0.03243090957403183, + -0.053869836032390594 + ], + "orientation": [ + 0.6083467602729797, + 0.2972491383552551, + 0.11127208918333054, + 0.7274447083473206 + ], + "joints": [ + 0.00787737313657999 + ] + }, + "final_grasp": { + "position": [ + 0.09673330187797546, + 0.03243090957403183, + -0.053869836032390594 + ], + "orientation": [ + 0.6083467602729797, + 0.2972491383552551, + 0.11127208918333054, + 0.7274447083473206 + ], + "joints": [ + 0.014280740171670914 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.038491398096084595, + -0.029975559562444687, + 0.15056516230106354 + ], + "orientation": [ + 0.4318135976791382, + -0.4792101979255676, + 0.6542789340019226, + -0.3947322368621826 + ], + "joints": [ + 0.0014088464668020606 + ] + }, + "fine_grasp": { + "position": [ + 0.03724946081638336, + -0.031836703419685364, + 0.14959917962551117 + ], + "orientation": [ + 0.42730265855789185, + -0.47026970982551575, + 0.6636859178543091, + -0.3946896195411682 + ], + "joints": [ + 0.006218012887984514 + ] + }, + "final_grasp": { + "position": [ + 0.03724946081638336, + -0.031836703419685364, + 0.14959917962551117 + ], + "orientation": [ + 0.42730265855789185, + -0.47026970982551575, + 0.6636859178543091, + -0.3946896195411682 + ], + "joints": [ + 0.011027179658412933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05686524137854576, + -0.027254950255155563, + 0.14494340121746063 + ], + "orientation": [ + 0.6755096316337585, + -0.3581060767173767, + -0.38430869579315186, + 0.517449140548706 + ], + "joints": [ + 0.0016795657575130463 + ] + }, + "fine_grasp": { + "position": [ + 0.05571627989411354, + -0.02772422693669796, + 0.14321035146713257 + ], + "orientation": [ + 0.6818140149116516, + -0.3587453365325928, + -0.37643805146217346, + 0.5145152807235718 + ], + "joints": [ + 0.006515301764011383 + ] + }, + "final_grasp": { + "position": [ + 0.05571627989411354, + -0.02772422693669796, + 0.14321035146713257 + ], + "orientation": [ + 0.6818140149116516, + -0.3587453365325928, + -0.37643805146217346, + 0.5145152807235718 + ], + "joints": [ + 0.01135103777050972 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11364390701055527, + 0.031442977488040924, + 0.06532090157270432 + ], + "orientation": [ + 0.06744103878736496, + -0.7819843888282776, + -0.609234631061554, + 0.11307194828987122 + ], + "joints": [ + 0.00043388589983806014 + ] + }, + "fine_grasp": { + "position": [ + -0.10979806631803513, + 0.03289805352687836, + 0.0648311898112297 + ], + "orientation": [ + 0.06269761919975281, + -0.786624014377594, + -0.6033152937889099, + 0.11533614248037338 + ], + "joints": [ + 0.005774452351033688 + ] + }, + "final_grasp": { + "position": [ + -0.10979806631803513, + 0.03289805352687836, + 0.0648311898112297 + ], + "orientation": [ + 0.06269761919975281, + -0.786624014377594, + -0.6033152937889099, + 0.11533614248037338 + ], + "joints": [ + 0.011115019209682941 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10809816420078278, + -0.017776714637875557, + 0.09140323102474213 + ], + "orientation": [ + 0.7538765072822571, + -0.24664559960365295, + -0.046612855046987534, + 0.607176661491394 + ], + "joints": [ + -1.3035489246249199e-05 + ] + }, + "fine_grasp": { + "position": [ + 0.10260853916406631, + -0.017022043466567993, + 0.09043937176465988 + ], + "orientation": [ + 0.7566074728965759, + -0.2484196126461029, + -0.033157553523778915, + 0.603931725025177 + ], + "joints": [ + 0.005858930293470621 + ] + }, + "final_grasp": { + "position": [ + 0.10260853916406631, + -0.017022043466567993, + 0.09043937176465988 + ], + "orientation": [ + 0.7566074728965759, + -0.2484196126461029, + -0.033157553523778915, + 0.603931725025177 + ], + "joints": [ + 0.011730896309018135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09091246128082275, + 0.025924628600478172, + 0.1199699267745018 + ], + "orientation": [ + 0.5735582113265991, + -0.23345424234867096, + 0.26560521125793457, + -0.7389072179794312 + ], + "joints": [ + 0.0009661241201683879 + ] + }, + "fine_grasp": { + "position": [ + -0.08979804813861847, + 0.027166001498699188, + 0.12117541581392288 + ], + "orientation": [ + 0.572089433670044, + -0.2210647165775299, + 0.2601107954978943, + -0.7457792162895203 + ], + "joints": [ + 0.006333259865641594 + ] + }, + "final_grasp": { + "position": [ + -0.08979804813861847, + 0.027166001498699188, + 0.12117541581392288 + ], + "orientation": [ + 0.572089433670044, + -0.2210647165775299, + 0.2601107954978943, + -0.7457792162895203 + ], + "joints": [ + 0.011700395494699478 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11139039695262909, + 0.011604881845414639, + -0.04681898653507233 + ], + "orientation": [ + 0.28532731533050537, + -0.3704509437084198, + 0.5366271734237671, + 0.7024142146110535 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.10810092836618423, + 0.012899121269583702, + -0.045359596610069275 + ], + "orientation": [ + 0.292778342962265, + -0.36310121417045593, + 0.54677414894104, + 0.6953245997428894 + ], + "joints": [ + -0.006248162128031254 + ] + }, + "final_grasp": { + "position": [ + 0.10810092836618423, + 0.012899121269583702, + -0.045359596610069275 + ], + "orientation": [ + 0.292778342962265, + -0.36310121417045593, + 0.54677414894104, + 0.6953245997428894 + ], + "joints": [ + -0.0019172560423612595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029055925086140633, + 0.11121328175067902, + 0.0029780312906950712 + ], + "orientation": [ + 0.19829727709293365, + 0.4491123557090759, + -0.03530250862240791, + 0.8704769015312195 + ], + "joints": [ + -0.012639893218874931 + ] + }, + "fine_grasp": { + "position": [ + 0.029525933787226677, + 0.11092883348464966, + 0.002522240625694394 + ], + "orientation": [ + 0.1956665962934494, + 0.44380366802215576, + -0.041575562208890915, + 0.8735126852989197 + ], + "joints": [ + -0.006316237151622772 + ] + }, + "final_grasp": { + "position": [ + 0.029525933787226677, + 0.11092883348464966, + 0.002522240625694394 + ], + "orientation": [ + 0.1956665962934494, + 0.44380366802215576, + -0.041575562208890915, + 0.8735126852989197 + ], + "joints": [ + 7.418915629386902e-06 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10906331241130829, + 0.025887249037623405, + -0.03912698104977608 + ], + "orientation": [ + 0.5152474045753479, + 0.6993070244789124, + 0.263787180185318, + -0.4194115400314331 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.10556112229824066, + 0.024362580850720406, + -0.036916978657245636 + ], + "orientation": [ + 0.5068153738975525, + 0.7067809700965881, + 0.2737502157688141, + -0.4106818437576294 + ], + "joints": [ + -0.006414645351469517 + ] + }, + "final_grasp": { + "position": [ + -0.10556112229824066, + 0.024362580850720406, + -0.036916978657245636 + ], + "orientation": [ + 0.5068153738975525, + 0.7067809700965881, + 0.2737502157688141, + -0.4106818437576294 + ], + "joints": [ + -0.0005426798015832901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10904423892498016, + 0.025910044088959694, + -0.039143700152635574 + ], + "orientation": [ + 0.5151598453521729, + 0.6994416117668152, + 0.2638094425201416, + -0.4192807674407959 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.10551592707633972, + 0.024392642080783844, + -0.03690827637910843 + ], + "orientation": [ + 0.5068256258964539, + 0.7067641615867615, + 0.27367129921913147, + -0.41075074672698975 + ], + "joints": [ + -0.006414645351469517 + ] + }, + "final_grasp": { + "position": [ + -0.10551592707633972, + 0.024392642080783844, + -0.03690827637910843 + ], + "orientation": [ + 0.5068256258964539, + 0.7067641615867615, + 0.27367129921913147, + -0.41075074672698975 + ], + "joints": [ + -0.0005426798015832901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016053028404712677, + 0.07902146130800247, + -0.08622342348098755 + ], + "orientation": [ + 0.4868147373199463, + 0.8223575353622437, + -0.07319502532482147, + -0.2852751314640045 + ], + "joints": [ + -0.012433815747499466 + ] + }, + "fine_grasp": { + "position": [ + -0.016033297404646873, + 0.07662119716405869, + -0.08311594277620316 + ], + "orientation": [ + 0.4778616726398468, + 0.8260548710823059, + -0.08172798156738281, + -0.28740596771240234 + ], + "joints": [ + -0.007119819521903992 + ] + }, + "final_grasp": { + "position": [ + -0.016033297404646873, + 0.07662119716405869, + -0.08311594277620316 + ], + "orientation": [ + 0.4778616726398468, + 0.8260548710823059, + -0.08172798156738281, + -0.28740596771240234 + ], + "joints": [ + -0.0018058232963085175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11732801049947739, + -0.011633472517132759, + 0.08960690349340439 + ], + "orientation": [ + 0.5075895190238953, + 0.18597453832626343, + 0.5720321536064148, + -0.6168837547302246 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.11349677294492722, + -0.01212309580296278, + 0.08790898323059082 + ], + "orientation": [ + 0.5060212016105652, + 0.199647456407547, + 0.5608490109443665, + -0.6241249442100525 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + -0.11349677294492722, + -0.01212309580296278, + 0.08790898323059082 + ], + "orientation": [ + 0.5060212016105652, + 0.199647456407547, + 0.5608490109443665, + -0.6241249442100525 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11728823930025101, + -0.011666792444884777, + 0.08961187303066254 + ], + "orientation": [ + 0.5077953934669495, + 0.18575908243656158, + 0.5717782378196716, + -0.6170146465301514 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.11342387646436691, + -0.012143832631409168, + 0.08790919184684753 + ], + "orientation": [ + 0.5062200427055359, + 0.19942012429237366, + 0.5606222152709961, + -0.624239981174469 + ], + "joints": [ + -0.0059141600504517555 + ] + }, + "final_grasp": { + "position": [ + -0.11342387646436691, + -0.012143832631409168, + 0.08790919184684753 + ], + "orientation": [ + 0.5062200427055359, + 0.19942012429237366, + 0.5606222152709961, + -0.624239981174469 + ], + "joints": [ + -4.219450056552887e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12045513093471527, + 0.014092003926634789, + -0.018909798935055733 + ], + "orientation": [ + 0.32222965359687805, + -0.4606815278530121, + 0.513745129108429, + 0.6480792164802551 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.11706454306840897, + 0.013523458503186703, + -0.01745595782995224 + ], + "orientation": [ + 0.3369925022125244, + -0.4433791935443878, + 0.5084462761878967, + 0.6567596793174744 + ], + "joints": [ + -0.006860668770968914 + ] + }, + "final_grasp": { + "position": [ + 0.11706454306840897, + 0.013523458503186703, + -0.01745595782995224 + ], + "orientation": [ + 0.3369925022125244, + -0.4433791935443878, + 0.5084462761878967, + 0.6567596793174744 + ], + "joints": [ + -0.0025829020887613297 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.040741078555583954, + -0.10234937071800232, + -0.02273322269320488 + ], + "orientation": [ + 0.27560269832611084, + 0.23776452243328094, + 0.9234440326690674, + 0.1215001717209816 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0426761656999588, + -0.10603094846010208, + -0.02448812499642372 + ], + "orientation": [ + 0.2664642930030823, + 0.2303764671087265, + 0.9284235835075378, + 0.1181231215596199 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + -0.0426761656999588, + -0.10603094846010208, + -0.02448812499642372 + ], + "orientation": [ + 0.2664642930030823, + 0.2303764671087265, + 0.9284235835075378, + 0.1181231215596199 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13008514046669006, + -0.013267462141811848, + 0.03175712376832962 + ], + "orientation": [ + 0.1757347732782364, + -0.6367086172103882, + 0.7106960415840149, + 0.24213743209838867 + ], + "joints": [ + 0.0006736463401466608 + ] + }, + "fine_grasp": { + "position": [ + 0.13126732409000397, + -0.015287630259990692, + 0.029682796448469162 + ], + "orientation": [ + 0.1900908201932907, + -0.6272291541099548, + 0.714258074760437, + 0.2455293834209442 + ], + "joints": [ + 0.005456243176013231 + ] + }, + "final_grasp": { + "position": [ + 0.13126732409000397, + -0.015287630259990692, + 0.029682796448469162 + ], + "orientation": [ + 0.1900908201932907, + -0.6272291541099548, + 0.714258074760437, + 0.2455293834209442 + ], + "joints": [ + 0.010238840244710445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030731212347745895, + 0.12049905210733414, + -0.0061951810494065285 + ], + "orientation": [ + 0.1582704335451126, + 0.27195778489112854, + 0.034987930208444595, + 0.9485596418380737 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.030175089836120605, + 0.1180158331990242, + -0.005520238541066647 + ], + "orientation": [ + 0.15448014438152313, + 0.2539500594139099, + 0.04495088756084442, + 0.953742504119873 + ], + "joints": [ + -0.005883245728909969 + ] + }, + "final_grasp": { + "position": [ + 0.030175089836120605, + 0.1180158331990242, + -0.005520238541066647 + ], + "orientation": [ + 0.15448014438152313, + 0.2539500594139099, + 0.04495088756084442, + 0.953742504119873 + ], + "joints": [ + 0.0005201194435358047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03073037415742874, + 0.12047721445560455, + -0.006235367152839899 + ], + "orientation": [ + 0.15844984352588654, + 0.2723482847213745, + 0.035567205399274826, + 0.9483960270881653 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.03017791174352169, + 0.11800232529640198, + -0.005574626382440329 + ], + "orientation": [ + 0.15456530451774597, + 0.2540150582790375, + 0.045214612036943436, + 0.9536988139152527 + ], + "joints": [ + -0.005883245728909969 + ] + }, + "final_grasp": { + "position": [ + 0.03017791174352169, + 0.11800232529640198, + -0.005574626382440329 + ], + "orientation": [ + 0.15456530451774597, + 0.2540150582790375, + 0.045214612036943436, + 0.9536988139152527 + ], + "joints": [ + 0.0005201194435358047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030664365738630295, + 0.12050706893205643, + -0.006173061206936836 + ], + "orientation": [ + 0.1579539179801941, + 0.2716398239135742, + 0.03517060726881027, + 0.9486967325210571 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.030109673738479614, + 0.11802902817726135, + -0.0055143083445727825 + ], + "orientation": [ + 0.15422119200229645, + 0.2538025379180908, + 0.045116547495126724, + 0.953815758228302 + ], + "joints": [ + -0.005883245728909969 + ] + }, + "final_grasp": { + "position": [ + 0.030109673738479614, + 0.11802902817726135, + -0.0055143083445727825 + ], + "orientation": [ + 0.15422119200229645, + 0.2538025379180908, + 0.045116547495126724, + 0.953815758228302 + ], + "joints": [ + 0.0005201194435358047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.030729958787560463, + 0.12048640847206116, + -0.006208012346178293 + ], + "orientation": [ + 0.15818902850151062, + 0.2714058756828308, + 0.03528119623661041, + 0.9487203359603882 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.030164485797286034, + 0.11800073832273483, + -0.005563942715525627 + ], + "orientation": [ + 0.15440835058689117, + 0.25360509753227234, + 0.04494988173246384, + 0.9538459181785583 + ], + "joints": [ + -0.005883245728909969 + ] + }, + "final_grasp": { + "position": [ + 0.030164485797286034, + 0.11800073832273483, + -0.005563942715525627 + ], + "orientation": [ + 0.15440835058689117, + 0.25360509753227234, + 0.04494988173246384, + 0.9538459181785583 + ], + "joints": [ + 0.0005201194435358047 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032688818871974945, + 0.12327117472887039, + -0.008242500945925713 + ], + "orientation": [ + 0.11221247911453247, + 0.8624727725982666, + -0.14103221893310547, + -0.47292593121528625 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.03082449920475483, + 0.11864975839853287, + -0.0067892735823988914 + ], + "orientation": [ + 0.09929346293210983, + 0.8569265007972717, + -0.14742253720760345, + -0.4838228225708008 + ], + "joints": [ + -0.007031496614217758 + ] + }, + "final_grasp": { + "position": [ + 0.03082449920475483, + 0.11864975839853287, + -0.0067892735823988914 + ], + "orientation": [ + 0.09929346293210983, + 0.8569265007972717, + -0.14742253720760345, + -0.4838228225708008 + ], + "joints": [ + -0.001717500388622284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11310350149869919, + -0.020051851868629456, + -0.031132997944951057 + ], + "orientation": [ + 0.5047181248664856, + -0.22067201137542725, + 0.5980601906776428, + 0.5821405053138733 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.11275346577167511, + -0.020841341465711594, + -0.03045656345784664 + ], + "orientation": [ + 0.5042115449905396, + -0.22796599566936493, + 0.5913977026939392, + 0.5865586400032043 + ], + "joints": [ + -0.006501494906842709 + ] + }, + "final_grasp": { + "position": [ + 0.11275346577167511, + -0.020841341465711594, + -0.03045656345784664 + ], + "orientation": [ + 0.5042115449905396, + -0.22796599566936493, + 0.5913977026939392, + 0.5865586400032043 + ], + "joints": [ + -9.812973439693451e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03257787227630615, + 0.12328410893678665, + -0.008302215486764908 + ], + "orientation": [ + 0.11068348586559296, + 0.8626669645309448, + -0.14235450327396393, + -0.4725358486175537 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.030694404616951942, + 0.11858335882425308, + -0.006833255756646395 + ], + "orientation": [ + 0.09720088541507721, + 0.8555623292922974, + -0.1495351791381836, + -0.48600858449935913 + ], + "joints": [ + -0.0070889052003622055 + ] + }, + "final_grasp": { + "position": [ + 0.030694404616951942, + 0.11858335882425308, + -0.006833255756646395 + ], + "orientation": [ + 0.09720088541507721, + 0.8555623292922974, + -0.1495351791381836, + -0.48600858449935913 + ], + "joints": [ + -0.0012435093522071838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12450821697711945, + 0.017031846567988396, + 0.05337123945355415 + ], + "orientation": [ + 0.4346972703933716, + -0.6607838869094849, + -0.5256640911102295, + -0.31317761540412903 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.1215745210647583, + 0.016493482515215874, + 0.05440526083111763 + ], + "orientation": [ + 0.42948731780052185, + -0.6646210551261902, + -0.5220491886138916, + -0.3182516396045685 + ], + "joints": [ + -0.005323878489434719 + ] + }, + "final_grasp": { + "position": [ + -0.1215745210647583, + 0.016493482515215874, + 0.05440526083111763 + ], + "orientation": [ + 0.42948731780052185, + -0.6646210551261902, + -0.5220491886138916, + -0.3182516396045685 + ], + "joints": [ + 0.001079486683011055 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01079349871724844, + -0.12672767043113708, + 0.015651162713766098 + ], + "orientation": [ + 0.9121564626693726, + 0.0118858115747571, + 0.40964245796203613, + 0.004728466738015413 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.010100280866026878, + -0.13012541830539703, + 0.015955321490764618 + ], + "orientation": [ + 0.9126366972923279, + 0.010366572067141533, + 0.4086165130138397, + 0.004400700330734253 + ], + "joints": [ + -0.008378468453884125 + ] + }, + "final_grasp": { + "position": [ + -0.010100280866026878, + -0.13012541830539703, + 0.015955321490764618 + ], + "orientation": [ + 0.9126366972923279, + 0.010366572067141533, + 0.4086165130138397, + 0.004400700330734253 + ], + "joints": [ + -0.0014968439936637878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01210874691605568, + -0.12385451793670654, + 0.005785156507045031 + ], + "orientation": [ + 0.27476751804351807, + -0.01955520547926426, + 0.9603759050369263, + 0.04240728169679642 + ], + "joints": [ + -0.013434786349534988 + ] + }, + "fine_grasp": { + "position": [ + 0.01135840080678463, + -0.12352639436721802, + 0.0054579381830990314 + ], + "orientation": [ + 0.26577144861221313, + -0.020800935104489326, + 0.9628481864929199, + 0.043083567172288895 + ], + "joints": [ + -0.0060217613354325294 + ] + }, + "final_grasp": { + "position": [ + 0.01135840080678463, + -0.12352639436721802, + 0.0054579381830990314 + ], + "orientation": [ + 0.26577144861221313, + -0.020800935104489326, + 0.9628481864929199, + 0.043083567172288895 + ], + "joints": [ + 0.0013912636786699295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030016107484698296, + 0.1117958277463913, + -0.013309210538864136 + ], + "orientation": [ + 0.19993270933628082, + 0.39033734798431396, + -0.06674883514642715, + -0.8962188959121704 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + -0.028194641694426537, + 0.1105038970708847, + -0.011855458840727806 + ], + "orientation": [ + 0.1878403127193451, + 0.37463870644569397, + -0.06281793117523193, + -0.905768096446991 + ], + "joints": [ + -0.008769877254962921 + ] + }, + "final_grasp": { + "position": [ + -0.028194641694426537, + 0.1105038970708847, + -0.011855458840727806 + ], + "orientation": [ + 0.1878403127193451, + 0.37463870644569397, + -0.06281793117523193, + -0.905768096446991 + ], + "joints": [ + -0.00289791077375412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05662347003817558, + 0.10038293898105621, + 0.024117955937981606 + ], + "orientation": [ + 0.23946154117584229, + -0.247804656624794, + 0.03241569921374321, + 0.9381898641586304 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.05783264338970184, + 0.10119837522506714, + 0.024177104234695435 + ], + "orientation": [ + 0.23366005718708038, + -0.24776498973369598, + 0.031025350093841553, + 0.9397090077400208 + ], + "joints": [ + -0.0064161187037825584 + ] + }, + "final_grasp": { + "position": [ + 0.05783264338970184, + 0.10119837522506714, + 0.024177104234695435 + ], + "orientation": [ + 0.23366005718708038, + -0.24776498973369598, + 0.031025350093841553, + 0.9397090077400208 + ], + "joints": [ + -0.0010755527764558792 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05925459414720535, + -0.06603957712650299, + 0.12225636839866638 + ], + "orientation": [ + 0.8127230405807495, + -0.45838662981987, + -0.3559393584728241, + -0.051674194633960724 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + -0.058228932321071625, + -0.062244199216365814, + 0.11927420645952225 + ], + "orientation": [ + 0.8190200924873352, + -0.4445824921131134, + -0.35748934745788574, + -0.061269551515579224 + ], + "joints": [ + -0.00837559811770916 + ] + }, + "final_grasp": { + "position": [ + -0.058228932321071625, + -0.062244199216365814, + 0.11927420645952225 + ], + "orientation": [ + 0.8190200924873352, + -0.4445824921131134, + -0.35748934745788574, + -0.061269551515579224 + ], + "joints": [ + -0.0015205442905426025 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0609937347471714, + 0.10781385749578476, + -0.005034106783568859 + ], + "orientation": [ + 0.22118131816387177, + -0.19767102599143982, + -0.10904785245656967, + -0.9487431049346924 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.058301765471696854, + 0.10401761531829834, + -0.004436570219695568 + ], + "orientation": [ + 0.2226983606815338, + -0.18112684786319733, + -0.11286044865846634, + -0.9512418508529663 + ], + "joints": [ + -0.004312820732593536 + ] + }, + "final_grasp": { + "position": [ + -0.058301765471696854, + 0.10401761531829834, + -0.004436570219695568 + ], + "orientation": [ + 0.2226983606815338, + -0.18112684786319733, + -0.11286044865846634, + -0.9512418508529663 + ], + "joints": [ + 0.00254223495721817 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00490487040951848, + 0.11092512309551239, + 0.0764949843287468 + ], + "orientation": [ + 0.05445029214024544, + -0.3130340874195099, + 0.18365009129047394, + -0.9302243590354919 + ], + "joints": [ + -0.014612402766942978 + ] + }, + "fine_grasp": { + "position": [ + 0.005493143107742071, + 0.11312387138605118, + 0.07818225026130676 + ], + "orientation": [ + 0.050106193870306015, + -0.3038003444671631, + 0.1683177351951599, + -0.936410129070282 + ], + "joints": [ + -0.007651067804545164 + ] + }, + "final_grasp": { + "position": [ + 0.005493143107742071, + 0.11312387138605118, + 0.07818225026130676 + ], + "orientation": [ + 0.050106193870306015, + -0.3038003444671631, + 0.1683177351951599, + -0.936410129070282 + ], + "joints": [ + -0.0006897328421473503 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05290292203426361, + 0.11203666776418686, + 0.03010125458240509 + ], + "orientation": [ + 0.21630612015724182, + 0.1131664291024208, + 0.09561771154403687, + -0.9650193452835083 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.05235672742128372, + 0.111168771982193, + 0.030121253803372383 + ], + "orientation": [ + 0.21636322140693665, + 0.12917107343673706, + 0.09695716202259064, + -0.9628610014915466 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + -0.05235672742128372, + 0.111168771982193, + 0.030121253803372383 + ], + "orientation": [ + 0.21636322140693665, + 0.12917107343673706, + 0.09695716202259064, + -0.9628610014915466 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06979341059923172, + 0.08835233747959137, + -0.02491905353963375 + ], + "orientation": [ + 0.2996050715446472, + -0.05707962438464165, + -0.19784541428089142, + -0.9315771460533142 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + -0.06684610992670059, + 0.08960342407226562, + -0.027643781155347824 + ], + "orientation": [ + 0.2829968333244324, + -0.0698503851890564, + -0.19600722193717957, + -0.9362771511077881 + ], + "joints": [ + -0.0023532675113528967 + ] + }, + "final_grasp": { + "position": [ + -0.06684610992670059, + 0.08960342407226562, + -0.027643781155347824 + ], + "orientation": [ + 0.2829968333244324, + -0.0698503851890564, + -0.19600722193717957, + -0.9362771511077881 + ], + "joints": [ + 0.004076667595654726 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0530196838080883, + 0.11186927556991577, + 0.029865598306059837 + ], + "orientation": [ + 0.21724088490009308, + 0.1081768199801445, + 0.09382373094558716, + -0.9655573964118958 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.052507322281599045, + 0.11101627349853516, + 0.029807614162564278 + ], + "orientation": [ + 0.21731051802635193, + 0.12485470622777939, + 0.09568618983030319, + -0.9633439183235168 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.052507322281599045, + 0.11101627349853516, + 0.029807614162564278 + ], + "orientation": [ + 0.21731051802635193, + 0.12485470622777939, + 0.09568618983030319, + -0.9633439183235168 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03265842795372009, + -0.11462181061506271, + 0.08514758944511414 + ], + "orientation": [ + 0.9510130286216736, + -0.14008615911006927, + -0.20949646830558777, + 0.1790570467710495 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.03172459825873375, + -0.11134252697229385, + 0.0828111544251442 + ], + "orientation": [ + 0.9511758685112, + -0.14573481678962708, + -0.20858412981033325, + 0.17469611763954163 + ], + "joints": [ + -0.0036443034186959267 + ] + }, + "final_grasp": { + "position": [ + 0.03172459825873375, + -0.11134252697229385, + 0.0828111544251442 + ], + "orientation": [ + 0.9511758685112, + -0.14573481678962708, + -0.20858412981033325, + 0.17469611763954163 + ], + "joints": [ + 0.003290461376309395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032653048634529114, + -0.11465515196323395, + 0.08521711826324463 + ], + "orientation": [ + 0.9510642886161804, + -0.13998228311538696, + -0.2093612402677536, + 0.17902368307113647 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.03174532204866409, + -0.11138288676738739, + 0.08285559713840485 + ], + "orientation": [ + 0.9512319564819336, + -0.14599180221557617, + -0.20837368071079254, + 0.17442698776721954 + ], + "joints": [ + -0.0036443034186959267 + ] + }, + "final_grasp": { + "position": [ + 0.03174532204866409, + -0.11138288676738739, + 0.08285559713840485 + ], + "orientation": [ + 0.9512319564819336, + -0.14599180221557617, + -0.20837368071079254, + 0.17442698776721954 + ], + "joints": [ + 0.003290461376309395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03264046087861061, + -0.11463694274425507, + 0.08536775410175323 + ], + "orientation": [ + 0.9513028264045715, + -0.13896283507347107, + -0.20909589529037476, + 0.17886127531528473 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.03176238760352135, + -0.11140680313110352, + 0.08287488669157028 + ], + "orientation": [ + 0.951381266117096, + -0.1454102247953415, + -0.20798473060131073, + 0.1745619922876358 + ], + "joints": [ + -0.003616335801780224 + ] + }, + "final_grasp": { + "position": [ + 0.03176238760352135, + -0.11140680313110352, + 0.08287488669157028 + ], + "orientation": [ + 0.951381266117096, + -0.1454102247953415, + -0.20798473060131073, + 0.1745619922876358 + ], + "joints": [ + 0.0027870293706655502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0032728449441492558, + -0.1219380721449852, + -0.0036955224350094795 + ], + "orientation": [ + 0.9637612104415894, + 0.058220669627189636, + 0.2548740804195404, + 0.0530468188226223 + ], + "joints": [ + -0.012845978140830994 + ] + }, + "fine_grasp": { + "position": [ + 0.0039783017709851265, + -0.12160884588956833, + -0.004632411524653435 + ], + "orientation": [ + 0.9645775556564331, + 0.06576837599277496, + 0.2481606900691986, + 0.060669079422950745 + ], + "joints": [ + -0.005937783047556877 + ] + }, + "final_grasp": { + "position": [ + 0.0039783017709851265, + -0.12160884588956833, + -0.004632411524653435 + ], + "orientation": [ + 0.9645775556564331, + 0.06576837599277496, + 0.2481606900691986, + 0.060669079422950745 + ], + "joints": [ + 0.0009704120457172394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013723179697990417, + 0.12654751539230347, + 0.01743980310857296 + ], + "orientation": [ + 0.004746013320982456, + -0.9410443902015686, + 0.0204884372651577, + -0.3376289904117584 + ], + "joints": [ + -0.014053035527467728 + ] + }, + "fine_grasp": { + "position": [ + 0.013209735974669456, + 0.12819240987300873, + 0.018298747017979622 + ], + "orientation": [ + 0.0008028530282899737, + -0.9403312802314758, + 0.015710236504673958, + -0.339896559715271 + ], + "joints": [ + -0.008207639679312706 + ] + }, + "final_grasp": { + "position": [ + 0.013209735974669456, + 0.12819240987300873, + 0.018298747017979622 + ], + "orientation": [ + 0.0008028530282899737, + -0.9403312802314758, + 0.015710236504673958, + -0.339896559715271 + ], + "joints": [ + -0.0023622438311576843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12508422136306763, + 0.011894891038537025, + 0.07296521961688995 + ], + "orientation": [ + 0.5291612148284912, + -0.6316295862197876, + 0.4625862240791321, + 0.3271797299385071 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.12026791274547577, + 0.010869883000850677, + 0.0713973417878151 + ], + "orientation": [ + 0.5238292813301086, + -0.641274631023407, + 0.46216055750846863, + 0.31745445728302 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + 0.12026791274547577, + 0.010869883000850677, + 0.0713973417878151 + ], + "orientation": [ + 0.5238292813301086, + -0.641274631023407, + 0.46216055750846863, + 0.31745445728302 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12516918778419495, + 0.011882050894200802, + 0.07295000553131104 + ], + "orientation": [ + 0.5289636254310608, + -0.6316335201263428, + 0.46268054842948914, + 0.3273578882217407 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.1203601211309433, + 0.010892882943153381, + 0.07134879380464554 + ], + "orientation": [ + 0.5236213803291321, + -0.6412239074707031, + 0.4623572528362274, + 0.317613422870636 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + 0.1203601211309433, + 0.010892882943153381, + 0.07134879380464554 + ], + "orientation": [ + 0.5236213803291321, + -0.6412239074707031, + 0.4623572528362274, + 0.317613422870636 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12519471347332, + 0.011920134536921978, + 0.07297191768884659 + ], + "orientation": [ + 0.5289621949195862, + -0.6316811442375183, + 0.46255746483802795, + 0.3274424374103546 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.12037806957960129, + 0.01093754731118679, + 0.07135234028100967 + ], + "orientation": [ + 0.5235755443572998, + -0.6412876844406128, + 0.4622567296028137, + 0.31770649552345276 + ], + "joints": [ + -0.008239950984716415 + ] + }, + "final_grasp": { + "position": [ + 0.12037806957960129, + 0.01093754731118679, + 0.07135234028100967 + ], + "orientation": [ + 0.5235755443572998, + -0.6412876844406128, + 0.4622567296028137, + 0.31770649552345276 + ], + "joints": [ + -0.002367984503507614 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04071168228983879, + 0.0057032303884625435, + -0.10042496025562286 + ], + "orientation": [ + 0.6296603679656982, + 0.7556919455528259, + -0.17127138376235962, + 0.05588840693235397 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.04085570573806763, + 0.00634495634585619, + -0.09726659953594208 + ], + "orientation": [ + 0.6373428702354431, + 0.7489179968833923, + -0.17494836449623108, + 0.04805190861225128 + ], + "joints": [ + -0.005157395265996456 + ] + }, + "final_grasp": { + "position": [ + 0.04085570573806763, + 0.00634495634585619, + -0.09726659953594208 + ], + "orientation": [ + 0.6373428702354431, + 0.7489179968833923, + -0.17494836449623108, + 0.04805190861225128 + ], + "joints": [ + -0.00029508955776691437 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0490901805460453, + 0.11228401958942413, + 0.02254844456911087 + ], + "orientation": [ + 0.09966162592172623, + 0.9040471911430359, + 0.18516241014003754, + -0.37213054299354553 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.0472794733941555, + 0.11035636812448502, + 0.02330520935356617 + ], + "orientation": [ + 0.10963879525661469, + 0.9086518883705139, + 0.18340502679347992, + -0.3587387800216675 + ], + "joints": [ + -0.008860995061695576 + ] + }, + "final_grasp": { + "position": [ + -0.0472794733941555, + 0.11035636812448502, + 0.02330520935356617 + ], + "orientation": [ + 0.10963879525661469, + 0.9086518883705139, + 0.18340502679347992, + -0.3587387800216675 + ], + "joints": [ + -0.001873089000582695 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02367389388382435, + 0.11763002723455429, + 0.014160809107124805 + ], + "orientation": [ + 0.0068280925042927265, + 0.915649950504303, + -0.11507615447044373, + -0.3850919306278229 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.02466992288827896, + 0.11545290052890778, + 0.015109864994883537 + ], + "orientation": [ + 0.014735284261405468, + 0.9180547595024109, + -0.11559705436229706, + -0.37894025444984436 + ], + "joints": [ + -0.008412176743149757 + ] + }, + "final_grasp": { + "position": [ + 0.02466992288827896, + 0.11545290052890778, + 0.015109864994883537 + ], + "orientation": [ + 0.014735284261405468, + 0.9180547595024109, + -0.11559705436229706, + -0.37894025444984436 + ], + "joints": [ + -0.0009460113942623138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01190436352044344, + -0.1010781079530716, + 0.09001120924949646 + ], + "orientation": [ + 0.8825598359107971, + -0.2557346820831299, + -0.3663844168186188, + 0.14645957946777344 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.008602028712630272, + -0.10013706982135773, + 0.08849437534809113 + ], + "orientation": [ + 0.8890432119369507, + -0.23757648468017578, + -0.364896684885025, + 0.14145666360855103 + ], + "joints": [ + -0.007739390712231398 + ] + }, + "final_grasp": { + "position": [ + 0.008602028712630272, + -0.10013706982135773, + 0.08849437534809113 + ], + "orientation": [ + 0.8890432119369507, + -0.23757648468017578, + -0.364896684885025, + 0.14145666360855103 + ], + "joints": [ + -0.0007780557498335838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.012609503231942654, + -0.11811170727014542, + 0.062436334788799286 + ], + "orientation": [ + 0.37504416704177856, + -0.11450451612472534, + -0.9148703217506409, + 0.09613935649394989 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.01226426474750042, + -0.11501140147447586, + 0.06092630326747894 + ], + "orientation": [ + 0.3735886514186859, + -0.1142326071858406, + -0.9154121279716492, + 0.09696954488754272 + ], + "joints": [ + -0.008379865437746048 + ] + }, + "final_grasp": { + "position": [ + -0.01226426474750042, + -0.11501140147447586, + 0.06092630326747894 + ], + "orientation": [ + 0.3735886514186859, + -0.1142326071858406, + -0.9154121279716492, + 0.09696954488754272 + ], + "joints": [ + -0.000940270721912384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060886938124895096, + -0.11020656675100327, + 0.04864627495408058 + ], + "orientation": [ + 0.12294347584247589, + -0.2565102279186249, + 0.9586835503578186, + 0.0036366803105920553 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.05876629799604416, + -0.10662197321653366, + 0.04842475801706314 + ], + "orientation": [ + 0.11518366634845734, + -0.2502756416797638, + 0.961269736289978, + 0.00743748527020216 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.05876629799604416, + -0.10662197321653366, + 0.04842475801706314 + ], + "orientation": [ + 0.11518366634845734, + -0.2502756416797638, + 0.961269736289978, + 0.00743748527020216 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05058014392852783, + 0.10698608309030533, + -0.013070185668766499 + ], + "orientation": [ + 0.19184477627277374, + 0.9405288100242615, + 0.1647185981273651, + -0.22686760127544403 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.051126666367053986, + 0.10564209520816803, + -0.015142631717026234 + ], + "orientation": [ + 0.1756441593170166, + 0.9445004463195801, + 0.1669321060180664, + -0.22181470692157745 + ], + "joints": [ + -0.0060540735721588135 + ] + }, + "final_grasp": { + "position": [ + -0.051126666367053986, + 0.10564209520816803, + -0.015142631717026234 + ], + "orientation": [ + 0.1756441593170166, + 0.9445004463195801, + 0.1669321060180664, + -0.22181470692157745 + ], + "joints": [ + 0.0013855211436748505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05070068687200546, + 0.10710114240646362, + -0.013276650570333004 + ], + "orientation": [ + 0.19188609719276428, + 0.9404007196426392, + 0.16463276743888855, + -0.22742532193660736 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.05099368840456009, + 0.10573691874742508, + -0.015041196718811989 + ], + "orientation": [ + 0.17542144656181335, + 0.9445285797119141, + 0.16629236936569214, + -0.22235101461410522 + ], + "joints": [ + -0.0060540735721588135 + ] + }, + "final_grasp": { + "position": [ + -0.05099368840456009, + 0.10573691874742508, + -0.015041196718811989 + ], + "orientation": [ + 0.17542144656181335, + 0.9445285797119141, + 0.16629236936569214, + -0.22235101461410522 + ], + "joints": [ + 0.0013855211436748505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028775479644536972, + 0.11932312697172165, + 0.016952289268374443 + ], + "orientation": [ + 0.019636766985058784, + -0.9685412049293518, + 0.12636248767375946, + 0.2134830802679062 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.0285378098487854, + 0.11808504909276962, + 0.016478603705763817 + ], + "orientation": [ + 0.026072364300489426, + -0.9695441126823425, + 0.1259748339653015, + 0.20840980112552643 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + 0.0285378098487854, + 0.11808504909276962, + 0.016478603705763817 + ], + "orientation": [ + 0.026072364300489426, + -0.9695441126823425, + 0.1259748339653015, + 0.20840980112552643 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03701721131801605, + 0.1158631294965744, + 0.03929350897669792 + ], + "orientation": [ + 0.014064711518585682, + 0.9145144820213318, + 0.16459926962852478, + -0.3692864775657654 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.03530925139784813, + 0.11474817991256714, + 0.03974507004022598 + ], + "orientation": [ + 0.023823127150535583, + 0.92103111743927, + 0.16165544092655182, + -0.3535557687282562 + ], + "joints": [ + -0.008356166072189808 + ] + }, + "final_grasp": { + "position": [ + -0.03530925139784813, + 0.11474817991256714, + 0.03974507004022598 + ], + "orientation": [ + 0.023823127150535583, + 0.92103111743927, + 0.16165544092655182, + -0.3535557687282562 + ], + "joints": [ + -0.0008634310215711594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021288268268108368, + -0.09481390565633774, + 0.11292771250009537 + ], + "orientation": [ + 0.9094296097755432, + -0.32039615511894226, + 0.2638893723487854, + -0.025424862280488014 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + 0.020600195974111557, + -0.09483249485492706, + 0.11183929443359375 + ], + "orientation": [ + 0.9087824821472168, + -0.32670465111732483, + 0.25825366377830505, + -0.026145612820982933 + ], + "joints": [ + -0.006441215053200722 + ] + }, + "final_grasp": { + "position": [ + 0.020600195974111557, + -0.09483249485492706, + 0.11183929443359375 + ], + "orientation": [ + 0.9087824821472168, + -0.32670465111732483, + 0.25825366377830505, + -0.026145612820982933 + ], + "joints": [ + -0.0005958192050457001 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03696424141526222, + 0.11597835272550583, + 0.03936966881155968 + ], + "orientation": [ + 0.015079231932759285, + 0.9142064452171326, + 0.16472439467906952, + -0.3699529469013214 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.03544316440820694, + 0.1147228255867958, + 0.03967273607850075 + ], + "orientation": [ + 0.024453287944197655, + 0.9208446145057678, + 0.16204848885536194, + -0.3538186550140381 + ], + "joints": [ + -0.008356166072189808 + ] + }, + "final_grasp": { + "position": [ + -0.03544316440820694, + 0.1147228255867958, + 0.03967273607850075 + ], + "orientation": [ + 0.024453287944197655, + 0.9208446145057678, + 0.16204848885536194, + -0.3538186550140381 + ], + "joints": [ + -0.0008634310215711594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028779620304703712, + 0.1193557009100914, + 0.016974367201328278 + ], + "orientation": [ + 0.01980728469789028, + -0.9686047434806824, + 0.12631741166114807, + 0.21320554614067078 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.02864989824593067, + 0.11816002428531647, + 0.016413740813732147 + ], + "orientation": [ + 0.025982309132814407, + -0.9697771072387695, + 0.12638172507286072, + 0.2070867121219635 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + 0.02864989824593067, + 0.11816002428531647, + 0.016413740813732147 + ], + "orientation": [ + 0.025982309132814407, + -0.9697771072387695, + 0.12638172507286072, + 0.2070867121219635 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08723587542772293, + 0.09490204602479935, + -0.005018190015107393 + ], + "orientation": [ + 0.21338923275470734, + -0.4601781964302063, + -0.2266148179769516, + -0.8314725756645203 + ], + "joints": [ + -0.011845007538795471 + ] + }, + "fine_grasp": { + "position": [ + -0.08287464082241058, + 0.09139479696750641, + -0.003945171367377043 + ], + "orientation": [ + 0.21579958498477936, + -0.4675782322883606, + -0.2416083663702011, + -0.822451651096344 + ], + "joints": [ + -0.007035841234028339 + ] + }, + "final_grasp": { + "position": [ + -0.08287464082241058, + 0.09139479696750641, + -0.003945171367377043 + ], + "orientation": [ + 0.21579958498477936, + -0.4675782322883606, + -0.2416083663702011, + -0.822451651096344 + ], + "joints": [ + -0.0022266749292612076 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007487792056053877, + -0.1036139577627182, + -0.040838681161403656 + ], + "orientation": [ + 0.9278576374053955, + 0.23392562568187714, + -0.2661531865596771, + -0.11628150939941406 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.008072537370026112, + -0.1043802946805954, + -0.04104429483413696 + ], + "orientation": [ + 0.9321361780166626, + 0.23037376999855042, + -0.2558231055736542, + -0.11227015405893326 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + -0.008072537370026112, + -0.1043802946805954, + -0.04104429483413696 + ], + "orientation": [ + 0.9321361780166626, + 0.23037376999855042, + -0.2558231055736542, + -0.11227015405893326 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006658610887825489, + -0.11824384331703186, + 0.006259823217988014 + ], + "orientation": [ + 0.9158604145050049, + 0.07262210547924042, + -0.3903213143348694, + -0.05979099124670029 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + -0.007297714706510305, + -0.11740285903215408, + 0.006572749000042677 + ], + "orientation": [ + 0.9162899851799011, + 0.07717271149158478, + -0.3885529637336731, + -0.059023015201091766 + ], + "joints": [ + -0.008385607041418552 + ] + }, + "final_grasp": { + "position": [ + -0.007297714706510305, + -0.11740285903215408, + 0.006572749000042677 + ], + "orientation": [ + 0.9162899851799011, + 0.07717271149158478, + -0.3885529637336731, + -0.059023015201091766 + ], + "joints": [ + -0.0008928719907999039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007447961252182722, + -0.1036761999130249, + -0.040870301425457 + ], + "orientation": [ + 0.9278340339660645, + 0.2337377518415451, + -0.2664406895637512, + -0.11618907004594803 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.00798761285841465, + -0.10436459630727768, + -0.041006214916706085 + ], + "orientation": [ + 0.9319117665290833, + 0.23046626150608063, + -0.256583571434021, + -0.11220754683017731 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + -0.00798761285841465, + -0.10436459630727768, + -0.041006214916706085 + ], + "orientation": [ + 0.9319117665290833, + 0.23046626150608063, + -0.256583571434021, + -0.11220754683017731 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008972925134003162, + -0.08002530038356781, + -0.060365788638591766 + ], + "orientation": [ + 0.37013354897499084, + 0.13007600605487823, + 0.8337504863739014, + 0.38851186633110046 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + 0.010421624407172203, + -0.0792454332113266, + -0.05628839135169983 + ], + "orientation": [ + 0.36746490001678467, + 0.11442738771438599, + 0.8396174907684326, + 0.3832992613315582 + ], + "joints": [ + -0.007149185054004192 + ] + }, + "final_grasp": { + "position": [ + 0.010421624407172203, + -0.0792454332113266, + -0.05628839135169983 + ], + "orientation": [ + 0.36746490001678467, + 0.11442738771438599, + 0.8396174907684326, + 0.3832992613315582 + ], + "joints": [ + -0.0007458198815584183 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014854894950985909, + -0.11850377172231674, + -0.007181360386312008 + ], + "orientation": [ + 0.5534169673919678, + 0.10403355211019516, + 0.8183665871620178, + 0.11481697112321854 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.016110949218273163, + -0.12074168771505356, + -0.008143273182213306 + ], + "orientation": [ + 0.5564502477645874, + 0.10518748313188553, + 0.8159157037734985, + 0.11653333157300949 + ], + "joints": [ + -0.005465265363454819 + ] + }, + "final_grasp": { + "position": [ + -0.016110949218273163, + -0.12074168771505356, + -0.008143273182213306 + ], + "orientation": [ + 0.5564502477645874, + 0.10518748313188553, + 0.8159157037734985, + 0.11653333157300949 + ], + "joints": [ + 0.001974329352378845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016372980549931526, + -0.12051116675138474, + 9.247468551620841e-05 + ], + "orientation": [ + 0.9191367030143738, + 0.04300843924283981, + -0.37476783990859985, + -0.11352153867483139 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.016629911959171295, + -0.1187439039349556, + 0.0010045566596090794 + ], + "orientation": [ + 0.9243077635765076, + 0.045442499220371246, + -0.3628159761428833, + -0.10933741927146912 + ], + "joints": [ + -0.008884694427251816 + ] + }, + "final_grasp": { + "position": [ + -0.016629911959171295, + -0.1187439039349556, + 0.0010045566596090794 + ], + "orientation": [ + 0.9243077635765076, + 0.045442499220371246, + -0.3628159761428833, + -0.10933741927146912 + ], + "joints": [ + -0.0019499287009239197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01640651747584343, + -0.12058614939451218, + 2.2598458599532023e-05 + ], + "orientation": [ + 0.919090986251831, + 0.04293067008256912, + -0.37481892108917236, + -0.1137520968914032 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.016684474423527718, + -0.11874578893184662, + 0.0010047743562608957 + ], + "orientation": [ + 0.9242865443229675, + 0.04534640908241272, + -0.36281758546829224, + -0.10955127328634262 + ], + "joints": [ + -0.008884694427251816 + ] + }, + "final_grasp": { + "position": [ + -0.016684474423527718, + -0.11874578893184662, + 0.0010047743562608957 + ], + "orientation": [ + 0.9242865443229675, + 0.04534640908241272, + -0.36281758546829224, + -0.10955127328634262 + ], + "joints": [ + -0.0019499287009239197 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02956666611135006, + -0.12215068936347961, + 0.006839762907475233 + ], + "orientation": [ + 0.8390713334083557, + 0.04835837706923485, + -0.5306392312049866, + -0.10973961651325226 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.029729776084423065, + -0.12118124961853027, + 0.006654056254774332 + ], + "orientation": [ + 0.8356673121452332, + 0.047042373567819595, + -0.5343097448348999, + -0.11815362423658371 + ], + "joints": [ + -0.006472053937613964 + ] + }, + "final_grasp": { + "position": [ + -0.029729776084423065, + -0.12118124961853027, + 0.006654056254774332 + ], + "orientation": [ + 0.8356673121452332, + 0.047042373567819595, + -0.5343097448348999, + -0.11815362423658371 + ], + "joints": [ + -6.868876516819e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02961908094584942, + -0.12216577678918839, + 0.006871483288705349 + ], + "orientation": [ + 0.8391655683517456, + 0.04819021373987198, + -0.5304914116859436, + -0.10980844497680664 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.02978622540831566, + -0.12119058519601822, + 0.006678874604403973 + ], + "orientation": [ + 0.8357264399528503, + 0.046917565166950226, + -0.534223198890686, + -0.11817692965269089 + ], + "joints": [ + -0.006472053937613964 + ] + }, + "final_grasp": { + "position": [ + -0.02978622540831566, + -0.12119058519601822, + 0.006678874604403973 + ], + "orientation": [ + 0.8357264399528503, + 0.046917565166950226, + -0.534223198890686, + -0.11817692965269089 + ], + "joints": [ + -6.868876516819e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004027575720101595, + 0.09139292687177658, + 0.11568635702133179 + ], + "orientation": [ + 0.1359858363866806, + -0.26864925026893616, + -0.3074958622455597, + 0.9026526212692261 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.004072238691151142, + 0.09174306690692902, + 0.11304367333650589 + ], + "orientation": [ + 0.12469131499528885, + -0.25040262937545776, + -0.31152746081352234, + 0.9081305861473083 + ], + "joints": [ + -0.005293039605021477 + ] + }, + "final_grasp": { + "position": [ + 0.004072238691151142, + 0.09174306690692902, + 0.11304367333650589 + ], + "orientation": [ + 0.12469131499528885, + -0.25040262937545776, + -0.31152746081352234, + 0.9081305861473083 + ], + "joints": [ + 0.0005523562431335449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04111864045262337, + 0.11252457648515701, + 0.016135646030306816 + ], + "orientation": [ + 0.17915886640548706, + 0.17466241121292114, + -0.022120235487818718, + 0.9679389595985413 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.040111009031534195, + 0.11106681823730469, + 0.016433505341410637 + ], + "orientation": [ + 0.17564643919467926, + 0.17801257967948914, + -0.03243885561823845, + 0.9676815867424011 + ], + "joints": [ + -0.004737941548228264 + ] + }, + "final_grasp": { + "position": [ + 0.040111009031534195, + 0.11106681823730469, + 0.016433505341410637 + ], + "orientation": [ + 0.17564643919467926, + 0.17801257967948914, + -0.03243885561823845, + 0.9676815867424011 + ], + "joints": [ + 0.0016919933259487152 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012293089181184769, + 0.12194130569696426, + -0.025588104501366615 + ], + "orientation": [ + 0.1977173537015915, + 0.7718573808670044, + -0.10202199220657349, + -0.5955969095230103 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.012142498046159744, + 0.1168719232082367, + -0.023036442697048187 + ], + "orientation": [ + 0.19125306606292725, + 0.7628459334373474, + -0.10553453862667084, + -0.6085646152496338 + ], + "joints": [ + -0.004203746095299721 + ] + }, + "final_grasp": { + "position": [ + 0.012142498046159744, + 0.1168719232082367, + -0.023036442697048187 + ], + "orientation": [ + 0.19125306606292725, + 0.7628459334373474, + -0.10553453862667084, + -0.6085646152496338 + ], + "joints": [ + 0.001641649752855301 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0076494235545396805, + 0.10441768914461136, + -0.04532027617096901 + ], + "orientation": [ + 0.24036692082881927, + 0.935648500919342, + 0.10958544164896011, + 0.2340436726808548 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.008380590006709099, + 0.10293874144554138, + -0.044102780520915985 + ], + "orientation": [ + 0.23717066645622253, + 0.93772292137146, + 0.11161012202501297, + 0.22796699404716492 + ], + "joints": [ + -0.004792478866875172 + ] + }, + "final_grasp": { + "position": [ + -0.008380590006709099, + 0.10293874144554138, + -0.044102780520915985 + ], + "orientation": [ + 0.23717066645622253, + 0.93772292137146, + 0.11161012202501297, + 0.22796699404716492 + ], + "joints": [ + 0.00214228592813015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007716661784797907, + 0.10451048612594604, + -0.04517388343811035 + ], + "orientation": [ + 0.23969465494155884, + 0.9358105659484863, + 0.1096690222620964, + 0.2340463548898697 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.008450665511190891, + 0.1030089482665062, + -0.043929994106292725 + ], + "orientation": [ + 0.23647382855415344, + 0.937857985496521, + 0.11174045503139496, + 0.22807173430919647 + ], + "joints": [ + -0.004792478866875172 + ] + }, + "final_grasp": { + "position": [ + -0.008450665511190891, + 0.1030089482665062, + -0.043929994106292725 + ], + "orientation": [ + 0.23647382855415344, + 0.937857985496521, + 0.11174045503139496, + 0.22807173430919647 + ], + "joints": [ + 0.00214228592813015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05690145120024681, + -0.1059369146823883, + 0.04296676442027092 + ], + "orientation": [ + 0.1632813662290573, + 0.22812528908252716, + 0.957115888595581, + -0.07230052351951599 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.054809074848890305, + -0.1067243441939354, + 0.04649154841899872 + ], + "orientation": [ + 0.1502237319946289, + 0.21913228929042816, + 0.961723268032074, + -0.06709833443164825 + ], + "joints": [ + -0.0036988407373428345 + ] + }, + "final_grasp": { + "position": [ + -0.054809074848890305, + -0.1067243441939354, + 0.04649154841899872 + ], + "orientation": [ + 0.1502237319946289, + 0.21913228929042816, + 0.961723268032074, + -0.06709833443164825 + ], + "joints": [ + 0.0037407539784908295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007586386054754257, + 0.10420653223991394, + -0.04502834007143974 + ], + "orientation": [ + 0.24039015173912048, + 0.9355189800262451, + 0.1095479279756546, + 0.23455479741096497 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.008421868085861206, + 0.10291238129138947, + -0.04389800876379013 + ], + "orientation": [ + 0.2369222342967987, + 0.9377139210700989, + 0.11172911524772644, + 0.22820399701595306 + ], + "joints": [ + -0.004792478866875172 + ] + }, + "final_grasp": { + "position": [ + -0.008421868085861206, + 0.10291238129138947, + -0.04389800876379013 + ], + "orientation": [ + 0.2369222342967987, + 0.9377139210700989, + 0.11172911524772644, + 0.22820399701595306 + ], + "joints": [ + 0.00214228592813015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.016202375292778015, + -0.09894520789384842, + -0.030576830729842186 + ], + "orientation": [ + 0.7875686883926392, + 0.21813562512397766, + -0.5618430376052856, + -0.12839336693286896 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.015600092709064484, + -0.09826388955116272, + -0.03058532066643238 + ], + "orientation": [ + 0.7895267605781555, + 0.21774284541606903, + -0.5597829818725586, + -0.12601013481616974 + ], + "joints": [ + -0.005272212438285351 + ] + }, + "final_grasp": { + "position": [ + 0.015600092709064484, + -0.09826388955116272, + -0.03058532066643238 + ], + "orientation": [ + 0.7895267605781555, + 0.21774284541606903, + -0.5597829818725586, + -0.12601013481616974 + ], + "joints": [ + 0.0006528925150632858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.051653552800416946, + 0.10414019227027893, + -0.016556022688746452 + ], + "orientation": [ + 0.2610294222831726, + 0.5399991273880005, + 0.05962759628891945, + 0.7979406118392944 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.051155492663383484, + 0.10564979910850525, + -0.016178162768483162 + ], + "orientation": [ + 0.2556229531764984, + 0.5420405864715576, + 0.061876509338617325, + 0.7981353998184204 + ], + "joints": [ + -0.004261079244315624 + ] + }, + "final_grasp": { + "position": [ + 0.051155492663383484, + 0.10564979910850525, + -0.016178162768483162 + ], + "orientation": [ + 0.2556229531764984, + 0.5420405864715576, + 0.061876509338617325, + 0.7981353998184204 + ], + "joints": [ + 0.0032050851732492447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035234201699495316, + -0.09729065001010895, + -0.026462551206350327 + ], + "orientation": [ + 0.8657397627830505, + 0.28278031945228577, + -0.4110484719276428, + 0.039610594511032104 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.03563297167420387, + -0.09959713369607925, + -0.02822064980864525 + ], + "orientation": [ + 0.8687212467193604, + 0.2828827500343323, + -0.40456897020339966, + 0.0403062179684639 + ], + "joints": [ + -0.0083016287535429 + ] + }, + "final_grasp": { + "position": [ + 0.03563297167420387, + -0.09959713369607925, + -0.02822064980864525 + ], + "orientation": [ + 0.8687212467193604, + 0.2828827500343323, + -0.40456897020339966, + 0.0403062179684639 + ], + "joints": [ + -0.001313723623752594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03610529750585556, + -0.11105696856975555, + 0.05342238023877144 + ], + "orientation": [ + 0.41791754961013794, + -0.19211043417453766, + -0.8873639106750488, + 0.03199692443013191 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.03394268825650215, + -0.10965988039970398, + 0.0516834519803524 + ], + "orientation": [ + 0.4153711199760437, + -0.18429037928581238, + -0.8902415633201599, + 0.031207865104079247 + ], + "joints": [ + -0.008328198455274105 + ] + }, + "final_grasp": { + "position": [ + -0.03394268825650215, + -0.10965988039970398, + 0.0516834519803524 + ], + "orientation": [ + 0.4153711199760437, + -0.18429037928581238, + -0.8902415633201599, + 0.031207865104079247 + ], + "joints": [ + -0.001366863027215004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.060554344207048416, + -0.09247059375047684, + 0.0902806967496872 + ], + "orientation": [ + 0.5768218636512756, + -0.00820964202284813, + -0.745631992816925, + 0.3335297107696533 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.059238553047180176, + -0.09012170881032944, + 0.08801469951868057 + ], + "orientation": [ + 0.5802664756774902, + -0.003374179359525442, + -0.7420013546943665, + 0.3357280194759369 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.059238553047180176, + -0.09012170881032944, + 0.08801469951868057 + ], + "orientation": [ + 0.5802664756774902, + -0.003374179359525442, + -0.7420013546943665, + 0.3357280194759369 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012395912781357765, + 0.12195682525634766, + -0.025390662252902985 + ], + "orientation": [ + 0.197019562125206, + 0.7712067365646362, + -0.10179807245731354, + -0.5967081785202026 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.012340256944298744, + 0.11697451025247574, + -0.022915320470929146 + ], + "orientation": [ + 0.19045884907245636, + 0.7621960043907166, + -0.1056554764509201, + -0.6096059679985046 + ], + "joints": [ + -0.004174305126070976 + ] + }, + "final_grasp": { + "position": [ + 0.012340256944298744, + 0.11697451025247574, + -0.022915320470929146 + ], + "orientation": [ + 0.19045884907245636, + 0.7621960043907166, + -0.1056554764509201, + -0.6096059679985046 + ], + "joints": [ + 0.0016710907220840454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012405955232679844, + 0.12227325141429901, + -0.02547074668109417 + ], + "orientation": [ + 0.1971389502286911, + 0.7706018686294556, + -0.10161657631397247, + -0.5974804759025574 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.01242599543184042, + 0.11730460822582245, + -0.023028917610645294 + ], + "orientation": [ + 0.19048985838890076, + 0.7619590759277344, + -0.10567674785852432, + -0.6098887920379639 + ], + "joints": [ + -0.004174305126070976 + ] + }, + "final_grasp": { + "position": [ + 0.01242599543184042, + 0.11730460822582245, + -0.023028917610645294 + ], + "orientation": [ + 0.19048985838890076, + 0.7619590759277344, + -0.10567674785852432, + -0.6098887920379639 + ], + "joints": [ + 0.0016710907220840454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0069649191573262215, + -0.10942371934652328, + -0.0004316580016165972 + ], + "orientation": [ + 0.9046553373336792, + 0.10014566034078598, + 0.40664175152778625, + 0.07881685346364975 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + 0.0071365004405379295, + -0.11247055977582932, + -0.001894632587209344 + ], + "orientation": [ + 0.9005386233329773, + 0.0997694656252861, + 0.41508254408836365, + 0.08235711604356766 + ], + "joints": [ + -0.008273661136627197 + ] + }, + "final_grasp": { + "position": [ + 0.0071365004405379295, + -0.11247055977582932, + -0.001894632587209344 + ], + "orientation": [ + 0.9005386233329773, + 0.0997694656252861, + 0.41508254408836365, + 0.08235711604356766 + ], + "joints": [ + -0.0018171556293964386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05054439604282379, + 0.11316312104463577, + 0.019632745534181595 + ], + "orientation": [ + 0.19765961170196533, + 0.4051593840122223, + -0.042484596371650696, + 0.8916118144989014 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.04926220700144768, + 0.10996966063976288, + 0.02001052349805832 + ], + "orientation": [ + 0.1972278505563736, + 0.400439590215683, + -0.04016788303852081, + 0.8939440250396729 + ], + "joints": [ + -0.008858123794198036 + ] + }, + "final_grasp": { + "position": [ + 0.04926220700144768, + 0.10996966063976288, + 0.02001052349805832 + ], + "orientation": [ + 0.1972278505563736, + 0.400439590215683, + -0.04016788303852081, + 0.8939440250396729 + ], + "joints": [ + -0.0018967874348163605 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04762179031968117, + -0.10981518030166626, + 0.005724337883293629 + ], + "orientation": [ + 0.963022768497467, + 0.09025142341852188, + -0.17729339003562927, + 0.18168333172798157 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.04752684012055397, + -0.10966633260250092, + 0.003913601860404015 + ], + "orientation": [ + 0.9651715755462646, + 0.08319234102964401, + -0.1686328947544098, + 0.1818951815366745 + ], + "joints": [ + -0.0043184878304600716 + ] + }, + "final_grasp": { + "position": [ + 0.04752684012055397, + -0.10966633260250092, + 0.003913601860404015 + ], + "orientation": [ + 0.9651715755462646, + 0.08319234102964401, + -0.1686328947544098, + 0.1818951815366745 + ], + "joints": [ + 0.003679076209664345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.009192058816552162, + -0.11935055255889893, + -0.01889497973024845 + ], + "orientation": [ + 0.969549298286438, + 0.1214948296546936, + -0.21262778341770172, + -0.0016241229604929686 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.008051358163356781, + -0.1157480850815773, + -0.017078932374715805 + ], + "orientation": [ + 0.9685325622558594, + 0.13177929818630219, + -0.21110102534294128, + -0.003926651552319527 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.008051358163356781, + -0.1157480850815773, + -0.017078932374715805 + ], + "orientation": [ + 0.9685325622558594, + 0.13177929818630219, + -0.21110102534294128, + -0.003926651552319527 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007021341938525438, + -0.10995849221944809, + -0.0001447967952117324 + ], + "orientation": [ + 0.9045647978782654, + 0.09833420068025589, + 0.40742313861846924, + 0.0780969113111496 + ], + "joints": [ + -0.0147596076130867 + ] + }, + "fine_grasp": { + "position": [ + 0.007141606882214546, + -0.11336128413677216, + -0.0016295703826472163 + ], + "orientation": [ + 0.8996173739433289, + 0.09817235171794891, + 0.4174984097480774, + 0.08213360607624054 + ], + "joints": [ + -0.008329671807587147 + ] + }, + "final_grasp": { + "position": [ + 0.007141606882214546, + -0.11336128413677216, + -0.0016295703826472163 + ], + "orientation": [ + 0.8996173739433289, + 0.09817235171794891, + 0.4174984097480774, + 0.08213360607624054 + ], + "joints": [ + -0.001899736002087593 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023197757080197334, + -0.11213291436433792, + 0.0751359611749649 + ], + "orientation": [ + 0.19219806790351868, + -0.13519439101219177, + 0.9624334573745728, + -0.13603010773658752 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.022952264174818993, + -0.11317545175552368, + 0.07569315284490585 + ], + "orientation": [ + 0.1913183629512787, + -0.13269168138504028, + 0.9635619521141052, + -0.13167603313922882 + ], + "joints": [ + -0.0036988407373428345 + ] + }, + "final_grasp": { + "position": [ + 0.022952264174818993, + -0.11317545175552368, + 0.07569315284490585 + ], + "orientation": [ + 0.1913183629512787, + -0.13269168138504028, + 0.9635619521141052, + -0.13167603313922882 + ], + "joints": [ + 0.0037407539784908295 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02241133525967598, + 0.0010640248656272888, + -0.1063721552491188 + ], + "orientation": [ + 0.046505920588970184, + 0.18310458958148956, + -0.7274001836776733, + -0.659696102142334 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.022670453414320946, + 0.00031386673799715936, + -0.10118869692087173 + ], + "orientation": [ + 0.053736310452222824, + 0.1897309273481369, + -0.7210397720336914, + -0.6642411947250366 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + 0.022670453414320946, + 0.00031386673799715936, + -0.10118869692087173 + ], + "orientation": [ + 0.053736310452222824, + 0.1897309273481369, + -0.7210397720336914, + -0.6642411947250366 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.031878527253866196, + 0.10505422204732895, + -0.004131685476750135 + ], + "orientation": [ + 0.18168199062347412, + 0.8989443778991699, + 0.07244879752397537, + -0.39197149872779846 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.03236623853445053, + 0.10456053167581558, + -0.0030585159547626972 + ], + "orientation": [ + 0.18031880259513855, + 0.8974326252937317, + 0.07432127743959427, + -0.3956969678401947 + ], + "joints": [ + -0.008331069722771645 + ] + }, + "final_grasp": { + "position": [ + -0.03236623853445053, + 0.10456053167581558, + -0.0030585159547626972 + ], + "orientation": [ + 0.18031880259513855, + 0.8974326252937317, + 0.07432127743959427, + -0.3956969678401947 + ], + "joints": [ + -0.0013431645929813385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024541551247239113, + -0.11256673187017441, + 0.014772136695683002 + ], + "orientation": [ + 0.410047322511673, + -0.0742630735039711, + 0.9042490720748901, + 0.09316609054803848 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.02506377175450325, + -0.11490700393915176, + 0.015403089113533497 + ], + "orientation": [ + 0.3995058238506317, + -0.07845164090394974, + 0.9087446331977844, + 0.09178026020526886 + ], + "joints": [ + -0.007796799764037132 + ] + }, + "final_grasp": { + "position": [ + 0.02506377175450325, + -0.11490700393915176, + 0.015403089113533497 + ], + "orientation": [ + 0.3995058238506317, + -0.07845164090394974, + 0.9087446331977844, + 0.09178026020526886 + ], + "joints": [ + -0.00030406564474105835 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022351043298840523, + 0.0010259754490107298, + -0.1062566339969635 + ], + "orientation": [ + 0.04675360023975372, + 0.18287305533885956, + -0.7273267507553101, + -0.6598237156867981 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + 0.02261509746313095, + 0.0003111794067081064, + -0.10099004209041595 + ], + "orientation": [ + 0.05346722528338432, + 0.18947730958461761, + -0.7211151123046875, + -0.6642534136772156 + ], + "joints": [ + -0.0030849361792206764 + ] + }, + "final_grasp": { + "position": [ + 0.02261509746313095, + 0.0003111794067081064, + -0.10099004209041595 + ], + "orientation": [ + 0.05346722528338432, + 0.18947730958461761, + -0.7211151123046875, + -0.6642534136772156 + ], + "joints": [ + 0.003849828615784645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.042995814234018326, + 0.11271615326404572, + 0.02084227278828621 + ], + "orientation": [ + 0.09431350231170654, + 0.9641013741493225, + 0.17276397347450256, + -0.17823055386543274 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.04176051914691925, + 0.11004769057035446, + 0.022038567811250687 + ], + "orientation": [ + 0.10141168534755707, + 0.9660822153091431, + 0.17065246403217316, + -0.16516250371932983 + ], + "joints": [ + -0.004261079244315624 + ] + }, + "final_grasp": { + "position": [ + -0.04176051914691925, + 0.11004769057035446, + 0.022038567811250687 + ], + "orientation": [ + 0.10141168534755707, + 0.9660822153091431, + 0.17065246403217316, + -0.16516250371932983 + ], + "joints": [ + 0.0032050851732492447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014477553777396679, + 0.0974193587899208, + -0.043583255261182785 + ], + "orientation": [ + 0.01338406465947628, + 0.21699224412441254, + 0.2761918604373932, + 0.9361909031867981 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.013795726001262665, + 0.09796404838562012, + -0.04522056132555008 + ], + "orientation": [ + 0.014048662967979908, + 0.21801871061325073, + 0.2719205915927887, + 0.937192440032959 + ], + "joints": [ + -0.005381287075579166 + ] + }, + "final_grasp": { + "position": [ + -0.013795726001262665, + 0.09796404838562012, + -0.04522056132555008 + ], + "orientation": [ + 0.014048662967979908, + 0.21801871061325073, + 0.2719205915927887, + 0.937192440032959 + ], + "joints": [ + 0.001553477719426155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03835122659802437, + -0.10873907059431076, + 0.016925372183322906 + ], + "orientation": [ + 0.9035825729370117, + 0.10954853147268295, + 0.39040154218673706, + -0.13829047977924347 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.03955843299627304, + -0.11153731495141983, + 0.016824180260300636 + ], + "orientation": [ + 0.9016405940055847, + 0.1094169020652771, + 0.3944494426250458, + -0.1395782083272934 + ], + "joints": [ + -0.0083016287535429 + ] + }, + "final_grasp": { + "position": [ + -0.03955843299627304, + -0.11153731495141983, + 0.016824180260300636 + ], + "orientation": [ + 0.9016405940055847, + 0.1094169020652771, + 0.3944494426250458, + -0.1395782083272934 + ], + "joints": [ + -0.001313723623752594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005411216523498297, + 0.12430675327777863, + -0.00335624604485929 + ], + "orientation": [ + 0.04340150207281113, + 0.20190000534057617, + 0.04260209947824478, + 0.9775160551071167 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.006039852742105722, + 0.12013634294271469, + -0.0028581651858985424 + ], + "orientation": [ + 0.04519081860780716, + 0.197450652718544, + 0.049280814826488495, + 0.9780298471450806 + ], + "joints": [ + -0.003781421110033989 + ] + }, + "final_grasp": { + "position": [ + 0.006039852742105722, + 0.12013634294271469, + -0.0028581651858985424 + ], + "orientation": [ + 0.04519081860780716, + 0.197450652718544, + 0.049280814826488495, + 0.9780298471450806 + ], + "joints": [ + 0.003605034202337265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013035226613283157, + -0.11612333357334137, + -0.017245685681700706 + ], + "orientation": [ + 0.23179873824119568, + -0.003653517924249172, + -0.9637153744697571, + -0.13232028484344482 + ], + "joints": [ + -0.012286610901355743 + ] + }, + "fine_grasp": { + "position": [ + -0.011535558849573135, + -0.11534041166305542, + -0.017401067540049553 + ], + "orientation": [ + 0.2244379222393036, + 0.006929365918040276, + -0.9640355706214905, + -0.1421792060136795 + ], + "joints": [ + -0.006414645351469517 + ] + }, + "final_grasp": { + "position": [ + -0.011535558849573135, + -0.11534041166305542, + -0.017401067540049553 + ], + "orientation": [ + 0.2244379222393036, + 0.006929365918040276, + -0.9640355706214905, + -0.1421792060136795 + ], + "joints": [ + -0.0005426798015832901 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.002851233584806323, + 0.11755538731813431, + 0.003623334923759103 + ], + "orientation": [ + 0.07725484669208527, + 0.9259650111198425, + -0.051871247589588165, + -0.36596450209617615 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.0027432136703282595, + 0.11855669319629669, + 0.0019445773214101791 + ], + "orientation": [ + 0.06891852617263794, + 0.9317017793655396, + -0.05264289304614067, + -0.3527190089225769 + ], + "joints": [ + -0.0083016287535429 + ] + }, + "final_grasp": { + "position": [ + 0.0027432136703282595, + 0.11855669319629669, + 0.0019445773214101791 + ], + "orientation": [ + 0.06891852617263794, + 0.9317017793655396, + -0.05264289304614067, + -0.3527190089225769 + ], + "joints": [ + -0.001313723623752594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014694366604089737, + -0.12085573375225067, + -0.004256998188793659 + ], + "orientation": [ + 0.8320178389549255, + 0.09941793978214264, + 0.5428208112716675, + 0.056638456881046295 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + -0.015183771960437298, + -0.11842098832130432, + -0.004238548688590527 + ], + "orientation": [ + 0.8235546946525574, + 0.10192478448152542, + 0.5549701452255249, + 0.05811205506324768 + ], + "joints": [ + -0.007115399464964867 + ] + }, + "final_grasp": { + "position": [ + -0.015183771960437298, + -0.11842098832130432, + -0.004238548688590527 + ], + "orientation": [ + 0.8235546946525574, + 0.10192478448152542, + 0.5549701452255249, + 0.05811205506324768 + ], + "joints": [ + -0.00020720437169075012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03334306925535202, + -0.11127279698848724, + -0.0019131503067910671 + ], + "orientation": [ + 0.923096239566803, + 0.16745181381702423, + -0.3336164355278015, + 0.09248391538858414 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.03420807421207428, + -0.11136382818222046, + -0.0018197804456576705 + ], + "orientation": [ + 0.919411301612854, + 0.169037863612175, + -0.3422892987728119, + 0.09458822011947632 + ], + "joints": [ + -0.007770230062305927 + ] + }, + "final_grasp": { + "position": [ + 0.03420807421207428, + -0.11136382818222046, + -0.0018197804456576705 + ], + "orientation": [ + 0.919411301612854, + 0.169037863612175, + -0.3422892987728119, + 0.09458822011947632 + ], + "joints": [ + -0.0002509262412786484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12155116349458694, + 0.005310747306793928, + 0.055270493030548096 + ], + "orientation": [ + 0.5853672623634338, + -0.5072047114372253, + 0.3262198865413666, + 0.5419126152992249 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.1192583441734314, + 0.005572038237005472, + 0.05638761818408966 + ], + "orientation": [ + 0.5915126800537109, + -0.5030093789100647, + 0.314715713262558, + 0.5459380745887756 + ], + "joints": [ + -0.004963306710124016 + ] + }, + "final_grasp": { + "position": [ + 0.1192583441734314, + 0.005572038237005472, + 0.05638761818408966 + ], + "orientation": [ + 0.5915126800537109, + -0.5030093789100647, + 0.314715713262558, + 0.5459380745887756 + ], + "joints": [ + 0.0030076876282691956 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014645228162407875, + -0.12081553041934967, + -0.004240353591740131 + ], + "orientation": [ + 0.831953227519989, + 0.10018076747655869, + 0.5428268313407898, + 0.05618356540799141 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + -0.015231325291097164, + -0.1184033527970314, + -0.004294100683182478 + ], + "orientation": [ + 0.8234822750091553, + 0.10220915079116821, + 0.5550258755683899, + 0.058107513934373856 + ], + "joints": [ + -0.007115399464964867 + ] + }, + "final_grasp": { + "position": [ + -0.015231325291097164, + -0.1184033527970314, + -0.004294100683182478 + ], + "orientation": [ + 0.8234822750091553, + 0.10220915079116821, + 0.5550258755683899, + 0.058107513934373856 + ], + "joints": [ + -0.00020720437169075012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0011403026292100549, + -0.12291187047958374, + 0.03582125902175903 + ], + "orientation": [ + 0.837425708770752, + 0.0208580419421196, + -0.5427235960960388, + 0.06110849976539612 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.0018165038200095296, + -0.12402386963367462, + 0.03619185462594032 + ], + "orientation": [ + 0.8387859463691711, + 0.02324385568499565, + -0.5411700010299683, + 0.055070627480745316 + ], + "joints": [ + -0.007059464231133461 + ] + }, + "final_grasp": { + "position": [ + 0.0018165038200095296, + -0.12402386963367462, + 0.03619185462594032 + ], + "orientation": [ + 0.8387859463691711, + 0.02324385568499565, + -0.5411700010299683, + 0.055070627480745316 + ], + "joints": [ + -0.0012140683829784393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001347946235910058, + -0.12283007055521011, + 0.0358692929148674 + ], + "orientation": [ + 0.8374921083450317, + 0.021141432225704193, + -0.5425100922584534, + 0.061989136040210724 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.002049925969913602, + -0.12399817258119583, + 0.0362105593085289 + ], + "orientation": [ + 0.8385912775993347, + 0.02368110977113247, + -0.541366457939148, + 0.05591429024934769 + ], + "joints": [ + -0.007059464231133461 + ] + }, + "final_grasp": { + "position": [ + 0.002049925969913602, + -0.12399817258119583, + 0.0362105593085289 + ], + "orientation": [ + 0.8385912775993347, + 0.02368110977113247, + -0.541366457939148, + 0.05591429024934769 + ], + "joints": [ + -0.0012140683829784393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01470903493463993, + -0.12088114023208618, + -0.0042432392947375774 + ], + "orientation": [ + 0.8321884870529175, + 0.09929145872592926, + 0.542588472366333, + 0.05657937005162239 + ], + "joints": [ + -0.014023594558238983 + ] + }, + "fine_grasp": { + "position": [ + -0.015191742219030857, + -0.11845283955335617, + -0.00422492204234004 + ], + "orientation": [ + 0.8237628936767578, + 0.10178077220916748, + 0.5546883940696716, + 0.058103594928979874 + ], + "joints": [ + -0.007115399464964867 + ] + }, + "final_grasp": { + "position": [ + -0.015191742219030857, + -0.11845283955335617, + -0.00422492204234004 + ], + "orientation": [ + 0.8237628936767578, + 0.10178077220916748, + 0.5546883940696716, + 0.058103594928979874 + ], + "joints": [ + -0.00020720437169075012 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013196376152336597, + -0.11648338288068771, + 0.058047354221343994 + ], + "orientation": [ + 0.8952812552452087, + -0.13627566397190094, + 0.4240122139453888, + -0.010674670338630676 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.013142168521881104, + -0.11644836515188217, + 0.0587124228477478 + ], + "orientation": [ + 0.897337794303894, + -0.13486143946647644, + 0.4200129210948944, + -0.013649514876306057 + ], + "joints": [ + -0.008917005732655525 + ] + }, + "final_grasp": { + "position": [ + 0.013142168521881104, + -0.11644836515188217, + 0.0587124228477478 + ], + "orientation": [ + 0.897337794303894, + -0.13486143946647644, + 0.4200129210948944, + -0.013649514876306057 + ], + "joints": [ + -0.0019556693732738495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09734375029802322, + 0.008122860454022884, + 0.10187933593988419 + ], + "orientation": [ + 0.5581514835357666, + -0.6989391446113586, + 0.3730546534061432, + 0.2465386688709259 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + 0.09433896839618683, + 0.00877236109226942, + 0.10020140558481216 + ], + "orientation": [ + 0.5617703199386597, + -0.6986091732978821, + 0.37208813428878784, + 0.24064449965953827 + ], + "joints": [ + -0.00835763942450285 + ] + }, + "final_grasp": { + "position": [ + 0.09433896839618683, + 0.00877236109226942, + 0.10020140558481216 + ], + "orientation": [ + 0.5617703199386597, + -0.6986091732978821, + 0.37208813428878784, + 0.24064449965953827 + ], + "joints": [ + -0.0013963039964437485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12296778708696365, + 0.005061341915279627, + 0.05424947664141655 + ], + "orientation": [ + 0.5832842588424683, + -0.5057215690612793, + 0.3302789628505707, + 0.5430846214294434 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.12047716230154037, + 0.004766241647303104, + 0.05511772260069847 + ], + "orientation": [ + 0.591305136680603, + -0.4994925260543823, + 0.3198065459728241, + 0.5464330911636353 + ], + "joints": [ + -0.004933865740895271 + ] + }, + "final_grasp": { + "position": [ + 0.12047716230154037, + 0.004766241647303104, + 0.05511772260069847 + ], + "orientation": [ + 0.591305136680603, + -0.4994925260543823, + 0.3198065459728241, + 0.5464330911636353 + ], + "joints": [ + 0.00303712859749794 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008415552787482738, + 0.12034610658884048, + 0.05177302658557892 + ], + "orientation": [ + 0.05735650286078453, + -0.9654103517532349, + 0.06716129928827286, + -0.24532131850719452 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.00959717482328415, + 0.12221306562423706, + 0.052676379680633545 + ], + "orientation": [ + 0.05466806888580322, + -0.9643517136573792, + 0.0754866898059845, + -0.24766728281974792 + ], + "joints": [ + -0.006585473194718361 + ] + }, + "final_grasp": { + "position": [ + 0.00959717482328415, + 0.12221306562423706, + 0.052676379680633545 + ], + "orientation": [ + 0.05466806888580322, + -0.9643517136573792, + 0.0754866898059845, + -0.24766728281974792 + ], + "joints": [ + 0.0003227218985557556 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001326821860857308, + -0.12411633878946304, + -0.0039024401921778917 + ], + "orientation": [ + 0.9795044660568237, + 0.05433691293001175, + -0.1933467835187912, + -0.015342770144343376 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0005831927410326898, + -0.11995922029018402, + -0.00294200936332345 + ], + "orientation": [ + 0.978847324848175, + 0.061142075806856155, + -0.1944262832403183, + -0.017835749313235283 + ], + "joints": [ + -0.004286251030862331 + ] + }, + "final_grasp": { + "position": [ + 0.0005831927410326898, + -0.11995922029018402, + -0.00294200936332345 + ], + "orientation": [ + 0.978847324848175, + 0.061142075806856155, + -0.1944262832403183, + -0.017835749313235283 + ], + "joints": [ + 0.00259537436068058 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029411885887384415, + -0.11094691604375839, + 0.051123254001140594 + ], + "orientation": [ + 0.8963361978530884, + -0.14154987037181854, + -0.414776086807251, + -0.06712590157985687 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.028023194521665573, + -0.10738829523324966, + 0.05028330162167549 + ], + "orientation": [ + 0.8980421423912048, + -0.1437985897064209, + -0.41047510504722595, + -0.06597334146499634 + ], + "joints": [ + -0.008328198455274105 + ] + }, + "final_grasp": { + "position": [ + -0.028023194521665573, + -0.10738829523324966, + 0.05028330162167549 + ], + "orientation": [ + 0.8980421423912048, + -0.1437985897064209, + -0.41047510504722595, + -0.06597334146499634 + ], + "joints": [ + -0.001366863027215004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10433027148246765, + -0.029339125379920006, + -0.04021789878606796 + ], + "orientation": [ + 0.7537278532981873, + 0.46336495876312256, + -0.2733075022697449, + 0.37747877836227417 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + 0.10068415850400925, + -0.030358213931322098, + -0.03831595554947853 + ], + "orientation": [ + 0.7450857162475586, + 0.4796651303768158, + -0.26089510321617126, + 0.3830173909664154 + ], + "joints": [ + -0.008409306406974792 + ] + }, + "final_grasp": { + "position": [ + 0.10068415850400925, + -0.030358213931322098, + -0.03831595554947853 + ], + "orientation": [ + 0.7450857162475586, + 0.4796651303768158, + -0.26089510321617126, + 0.3830173909664154 + ], + "joints": [ + -0.0009697116911411285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02939647063612938, + -0.11070247739553452, + 0.05099265277385712 + ], + "orientation": [ + 0.8960108757019043, + -0.1422818899154663, + -0.4151473641395569, + -0.06762469559907913 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + -0.02804495021700859, + -0.1070423498749733, + 0.05013219267129898 + ], + "orientation": [ + 0.8977091312408447, + -0.14384014904499054, + -0.41121435165405273, + -0.06580987572669983 + ], + "joints": [ + -0.007823369465768337 + ] + }, + "final_grasp": { + "position": [ + -0.02804495021700859, + -0.1070423498749733, + 0.05013219267129898 + ], + "orientation": [ + 0.8977091312408447, + -0.14384014904499054, + -0.41121435165405273, + -0.06580987572669983 + ], + "joints": [ + -0.0003572050482034683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023636888712644577, + 0.11432608217000961, + -0.002178633352741599 + ], + "orientation": [ + 0.07198090851306915, + -0.18179401755332947, + 0.09538637846708298, + 0.9760486483573914 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.026078559458255768, + 0.11478003859519958, + -0.002421649871394038 + ], + "orientation": [ + 0.07535991072654724, + -0.1863873153924942, + 0.09164431691169739, + 0.9752855896949768 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.026078559458255768, + 0.11478003859519958, + -0.002421649871394038 + ], + "orientation": [ + 0.07535991072654724, + -0.1863873153924942, + 0.09164431691169739, + 0.9752855896949768 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00817908439785242, + 0.11995135247707367, + 0.051307983696460724 + ], + "orientation": [ + 0.05553317070007324, + -0.9657238721847534, + 0.06596141308546066, + -0.24483132362365723 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + 0.00933145172894001, + 0.1222040057182312, + 0.05204141512513161 + ], + "orientation": [ + 0.052815813571214676, + -0.9650383591651917, + 0.07426882535219193, + -0.24575550854206085 + ], + "joints": [ + -0.007090303115546703 + ] + }, + "final_grasp": { + "position": [ + 0.00933145172894001, + 0.1222040057182312, + 0.05204141512513161 + ], + "orientation": [ + 0.052815813571214676, + -0.9650383591651917, + 0.07426882535219193, + -0.24575550854206085 + ], + "joints": [ + -0.0006869379431009293 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023437639698386192, + 0.11445403099060059, + -0.0021108086220920086 + ], + "orientation": [ + 0.07124124467372894, + -0.1814960390329361, + 0.09471221268177032, + 0.9762240052223206 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.025817107409238815, + 0.11511575430631638, + -0.002511754631996155 + ], + "orientation": [ + 0.07480120658874512, + -0.18492932617664337, + 0.09056966751813889, + 0.9757065176963806 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.025817107409238815, + 0.11511575430631638, + -0.002511754631996155 + ], + "orientation": [ + 0.07480120658874512, + -0.18492932617664337, + 0.09056966751813889, + 0.9757065176963806 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02348778396844864, + 0.11443014442920685, + -0.0020026711281389 + ], + "orientation": [ + 0.0715455636382103, + -0.1813369244337082, + 0.09411538392305374, + 0.9762890934944153 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.025824643671512604, + 0.1148870438337326, + -0.0023971381597220898 + ], + "orientation": [ + 0.07478683441877365, + -0.18486475944519043, + 0.08996724337339401, + 0.9757754802703857 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.025824643671512604, + 0.1148870438337326, + -0.0023971381597220898 + ], + "orientation": [ + 0.07478683441877365, + -0.18486475944519043, + 0.08996724337339401, + 0.9757754802703857 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02345963940024376, + 0.11443325877189636, + -0.002020216081291437 + ], + "orientation": [ + 0.07141931354999542, + -0.1813182532787323, + 0.094248466193676, + 0.9762889742851257 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.02579841949045658, + 0.11491408199071884, + -0.002379991114139557 + ], + "orientation": [ + 0.07466326653957367, + -0.1848866492509842, + 0.09030631929636002, + 0.9757494926452637 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + 0.02579841949045658, + 0.11491408199071884, + -0.002379991114139557 + ], + "orientation": [ + 0.07466326653957367, + -0.1848866492509842, + 0.09030631929636002, + 0.9757494926452637 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0028512526769191027, + -0.11473861336708069, + 0.0077020470052957535 + ], + "orientation": [ + 0.8950336575508118, + 0.08211959153413773, + -0.4377124011516571, + -0.024060718715190887 + ], + "joints": [ + -0.015289533883333206 + ] + }, + "fine_grasp": { + "position": [ + 0.002455943962559104, + -0.117622509598732, + 0.0069770775735378265 + ], + "orientation": [ + 0.8996798992156982, + 0.08670999854803085, + -0.4269913136959076, + -0.0271285567432642 + ], + "joints": [ + -0.008328198455274105 + ] + }, + "final_grasp": { + "position": [ + 0.002455943962559104, + -0.117622509598732, + 0.0069770775735378265 + ], + "orientation": [ + 0.8996798992156982, + 0.08670999854803085, + -0.4269913136959076, + -0.0271285567432642 + ], + "joints": [ + -0.001366863027215004 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11752762645483017, + -0.036813121289014816, + 0.08740222454071045 + ], + "orientation": [ + 0.5549078583717346, + -0.5901094079017639, + 0.5344263911247253, + 0.24132266640663147 + ], + "joints": [ + -0.011874448508024216 + ] + }, + "fine_grasp": { + "position": [ + 0.11460224539041519, + -0.033548176288604736, + 0.085053950548172 + ], + "orientation": [ + 0.5665796995162964, + -0.5803669095039368, + 0.5361277461051941, + 0.2339419424533844 + ], + "joints": [ + -0.008606339804828167 + ] + }, + "final_grasp": { + "position": [ + 0.11460224539041519, + -0.033548176288604736, + 0.085053950548172 + ], + "orientation": [ + 0.5665796995162964, + -0.5803669095039368, + 0.5361277461051941, + 0.2339419424533844 + ], + "joints": [ + -0.005338231101632118 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0741926059126854, + 0.09459301084280014, + 0.04839911684393883 + ], + "orientation": [ + 0.1023806482553482, + 0.8298640251159668, + 0.349399596452713, + -0.42280468344688416 + ], + "joints": [ + -0.013552550226449966 + ] + }, + "fine_grasp": { + "position": [ + -0.07242036610841751, + 0.09131565690040588, + 0.045104630291461945 + ], + "orientation": [ + 0.0839761346578598, + 0.8362811803817749, + 0.33689719438552856, + -0.4243609309196472 + ], + "joints": [ + -0.007096045650541782 + ] + }, + "final_grasp": { + "position": [ + -0.07242036610841751, + 0.09131565690040588, + 0.045104630291461945 + ], + "orientation": [ + 0.0839761346578598, + 0.8362811803817749, + 0.33689719438552856, + -0.4243609309196472 + ], + "joints": [ + -0.0006395410746335983 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04603920131921768, + -0.10931404680013657, + -0.006578659638762474 + ], + "orientation": [ + 0.11343973129987717, + 0.2068057507276535, + 0.9687017798423767, + 0.07732844352722168 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.04585018754005432, + -0.1103086918592453, + -0.006624933332204819 + ], + "orientation": [ + 0.12681828439235687, + 0.20461297035217285, + 0.968059241771698, + 0.07008527219295502 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.04585018754005432, + -0.1103086918592453, + -0.006624933332204819 + ], + "orientation": [ + 0.12681828439235687, + 0.20461297035217285, + 0.968059241771698, + 0.07008527219295502 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0035722912289202213, + -0.11917883157730103, + 0.060247842222452164 + ], + "orientation": [ + 0.7851760983467102, + -0.13404646515846252, + -0.6010398268699646, + 0.06542928516864777 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.003639803035184741, + -0.12023697048425674, + 0.06094476580619812 + ], + "orientation": [ + 0.7872664928436279, + -0.13730700314044952, + -0.5975012183189392, + 0.06595709174871445 + ], + "joints": [ + -0.0048793284222483635 + ] + }, + "final_grasp": { + "position": [ + 0.003639803035184741, + -0.12023697048425674, + 0.06094476580619812 + ], + "orientation": [ + 0.7872664928436279, + -0.13730700314044952, + -0.5975012183189392, + 0.06595709174871445 + ], + "joints": [ + 0.0025868359953165054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04428592696785927, + 0.11379225552082062, + 0.0389552041888237 + ], + "orientation": [ + 0.1649535447359085, + -0.5114498138427734, + 0.026721220463514328, + 0.8429089188575745 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.0450814850628376, + 0.11546584963798523, + 0.03940309211611748 + ], + "orientation": [ + 0.1578657031059265, + -0.5236837863922119, + 0.02549174055457115, + 0.8367699384689331 + ], + "joints": [ + -0.007147711701691151 + ] + }, + "final_grasp": { + "position": [ + 0.0450814850628376, + 0.11546584963798523, + 0.03940309211611748 + ], + "orientation": [ + 0.1578657031059265, + -0.5236837863922119, + 0.02549174055457115, + 0.8367699384689331 + ], + "joints": [ + -0.00021294690668582916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04427994042634964, + 0.11380421370267868, + 0.03887627273797989 + ], + "orientation": [ + 0.16471527516841888, + -0.511561393737793, + 0.02698727697134018, + 0.8428792357444763 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.04507949575781822, + 0.11546994000673294, + 0.039324767887592316 + ], + "orientation": [ + 0.15764987468719482, + -0.5239259004592896, + 0.025803828611969948, + 0.836649477481842 + ], + "joints": [ + -0.007147711701691151 + ] + }, + "final_grasp": { + "position": [ + 0.04507949575781822, + 0.11546994000673294, + 0.039324767887592316 + ], + "orientation": [ + 0.15764987468719482, + -0.5239259004592896, + 0.025803828611969948, + 0.836649477481842 + ], + "joints": [ + -0.00021294690668582916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04440925270318985, + 0.1138397678732872, + 0.038927558809518814 + ], + "orientation": [ + 0.16514840722084045, + -0.511518120765686, + 0.026996472850441933, + 0.8428206443786621 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.04519510269165039, + 0.11542247235774994, + 0.03938261792063713 + ], + "orientation": [ + 0.15800797939300537, + -0.5240439772605896, + 0.025760997086763382, + 0.8365094065666199 + ], + "joints": [ + -0.007147711701691151 + ] + }, + "final_grasp": { + "position": [ + 0.04519510269165039, + 0.11542247235774994, + 0.03938261792063713 + ], + "orientation": [ + 0.15800797939300537, + -0.5240439772605896, + 0.025760997086763382, + 0.8365094065666199 + ], + "joints": [ + -0.00021294690668582916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04434255138039589, + 0.11382079124450684, + 0.03893212974071503 + ], + "orientation": [ + 0.16485406458377838, + -0.5116270780563354, + 0.026788000017404556, + 0.8428186178207397 + ], + "joints": [ + -0.014082476496696472 + ] + }, + "fine_grasp": { + "position": [ + 0.04511957988142967, + 0.11545690149068832, + 0.03937707096338272 + ], + "orientation": [ + 0.1577872633934021, + -0.5240193009376526, + 0.02565150149166584, + 0.8365697860717773 + ], + "joints": [ + -0.007147711701691151 + ] + }, + "final_grasp": { + "position": [ + 0.04511957988142967, + 0.11545690149068832, + 0.03937707096338272 + ], + "orientation": [ + 0.1577872633934021, + -0.5240193009376526, + 0.02565150149166584, + 0.8365697860717773 + ], + "joints": [ + -0.00021294690668582916 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03466155007481575, + 0.11387793719768524, + 0.015598547644913197 + ], + "orientation": [ + 0.11124615371227264, + -0.42089977860450745, + 0.10167326778173447, + 0.8944999575614929 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.03489193320274353, + 0.1111246645450592, + 0.015499617904424667 + ], + "orientation": [ + 0.10938058793544769, + -0.4177854657173157, + 0.1017860546708107, + 0.8961756825447083 + ], + "joints": [ + -0.00785420835018158 + ] + }, + "final_grasp": { + "position": [ + 0.03489193320274353, + 0.1111246645450592, + 0.015499617904424667 + ], + "orientation": [ + 0.10938058793544769, + -0.4177854657173157, + 0.1017860546708107, + 0.8961756825447083 + ], + "joints": [ + 0.00016992539167404175 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.046222344040870667, + -0.10930708050727844, + -0.006987063214182854 + ], + "orientation": [ + 0.10888994485139847, + 0.20774362981319427, + 0.9691059589385986, + 0.07628460228443146 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.04614022374153137, + -0.11025212705135345, + -0.007073285523802042 + ], + "orientation": [ + 0.12145862728357315, + 0.205010786652565, + 0.9686593413352966, + 0.07012410461902618 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.04614022374153137, + -0.11025212705135345, + -0.007073285523802042 + ], + "orientation": [ + 0.12145862728357315, + 0.205010786652565, + 0.9686593413352966, + 0.07012410461902618 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010811546817421913, + -0.11359388381242752, + -0.012583240866661072 + ], + "orientation": [ + 0.5723709464073181, + 0.03834553062915802, + -0.7984558343887329, + -0.18272750079631805 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.009975656867027283, + -0.11273907870054245, + -0.012359961867332458 + ], + "orientation": [ + 0.5756406784057617, + 0.031093338504433632, + -0.7951968312263489, + -0.18797099590301514 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + -0.009975656867027283, + -0.11273907870054245, + -0.012359961867332458 + ], + "orientation": [ + 0.5756406784057617, + 0.031093338504433632, + -0.7951968312263489, + -0.18797099590301514 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07525451481342316, + -0.08571089804172516, + 0.0486738346517086 + ], + "orientation": [ + 0.3812955915927887, + 0.27954956889152527, + 0.8480551838874817, + -0.23930777609348297 + ], + "joints": [ + -0.014730166643857956 + ] + }, + "fine_grasp": { + "position": [ + -0.0765078142285347, + -0.08762413263320923, + 0.048746056854724884 + ], + "orientation": [ + 0.3748060166835785, + 0.2797164022922516, + 0.8509702086448669, + -0.2390163689851761 + ], + "joints": [ + -0.008247091434895992 + ] + }, + "final_grasp": { + "position": [ + -0.0765078142285347, + -0.08762413263320923, + 0.048746056854724884 + ], + "orientation": [ + 0.3748060166835785, + 0.2797164022922516, + 0.8509702086448669, + -0.2390163689851761 + ], + "joints": [ + -0.0017640162259340286 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04631197825074196, + -0.10930994898080826, + -0.006955123506486416 + ], + "orientation": [ + 0.10758412629365921, + 0.2078840136528015, + 0.9691911339759827, + 0.07667115330696106 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.04618598893284798, + -0.1101955771446228, + -0.007035998161882162 + ], + "orientation": [ + 0.12049728631973267, + 0.20564112067222595, + 0.9686217308044434, + 0.0704575926065445 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + -0.04618598893284798, + -0.1101955771446228, + -0.007035998161882162 + ], + "orientation": [ + 0.12049728631973267, + 0.20564112067222595, + 0.9686217308044434, + 0.0704575926065445 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05312645062804222, + -0.11000368744134903, + 0.07012263685464859 + ], + "orientation": [ + 0.7955167293548584, + -0.22889791429042816, + 0.5601186156272888, + 0.03203275054693222 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.05150099843740463, + -0.10693041235208511, + 0.06896377354860306 + ], + "orientation": [ + 0.7880274653434753, + -0.23321294784545898, + 0.5687604546546936, + 0.03370445966720581 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + 0.05150099843740463, + -0.10693041235208511, + 0.06896377354860306 + ], + "orientation": [ + 0.7880274653434753, + -0.23321294784545898, + 0.5687604546546936, + 0.03370445966720581 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05312666669487953, + -0.10999054461717606, + 0.07009443640708923 + ], + "orientation": [ + 0.79543137550354, + -0.22895404696464539, + 0.5602080225944519, + 0.03218604996800423 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.051509108394384384, + -0.10688911378383636, + 0.0689566358923912 + ], + "orientation": [ + 0.787820041179657, + -0.23346400260925293, + 0.5689234137535095, + 0.03406301513314247 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + 0.051509108394384384, + -0.10688911378383636, + 0.0689566358923912 + ], + "orientation": [ + 0.787820041179657, + -0.23346400260925293, + 0.5689234137535095, + 0.03406301513314247 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027286363765597343, + -0.1185261532664299, + 0.04971303045749664 + ], + "orientation": [ + 0.9359469413757324, + -0.10721500962972641, + -0.3277111053466797, + -0.07151083648204803 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.027533598244190216, + -0.11933677643537521, + 0.050510797649621964 + ], + "orientation": [ + 0.9368987083435059, + -0.10153798013925552, + -0.32682982087135315, + -0.07136663049459457 + ], + "joints": [ + -0.008353294804692268 + ] + }, + "final_grasp": { + "position": [ + -0.027533598244190216, + -0.11933677643537521, + 0.050510797649621964 + ], + "orientation": [ + 0.9368987083435059, + -0.10153798013925552, + -0.32682982087135315, + -0.07136663049459457 + ], + "joints": [ + -0.0008871294558048248 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03466077521443367, + 0.11392561346292496, + 0.015543332323431969 + ], + "orientation": [ + 0.11065156757831573, + -0.4243520498275757, + 0.10206204652786255, + 0.8928968906402588 + ], + "joints": [ + -0.0158783420920372 + ] + }, + "fine_grasp": { + "position": [ + 0.03515290841460228, + 0.11109139025211334, + 0.015103779733181 + ], + "orientation": [ + 0.10613075643777847, + -0.42155754566192627, + 0.09905612468719482, + 0.8951051831245422 + ], + "joints": [ + -0.008359037339687347 + ] + }, + "final_grasp": { + "position": [ + 0.03515290841460228, + 0.11109139025211334, + 0.015103779733181 + ], + "orientation": [ + 0.10613075643777847, + -0.42155754566192627, + 0.09905612468719482, + 0.8951051831245422 + ], + "joints": [ + -0.0008397325873374939 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038913752883672714, + -0.12220543622970581, + 0.054407428950071335 + ], + "orientation": [ + 0.8675503134727478, + -0.11252930760383606, + -0.48247793316841125, + -0.04368756711483002 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.03674216568470001, + -0.11841030418872833, + 0.05399550870060921 + ], + "orientation": [ + 0.8657299876213074, + -0.11846962571144104, + -0.4836246073246002, + -0.050831254571676254 + ], + "joints": [ + -0.00764974532648921 + ] + }, + "final_grasp": { + "position": [ + -0.03674216568470001, + -0.11841030418872833, + 0.05399550870060921 + ], + "orientation": [ + 0.8657299876213074, + -0.11846962571144104, + -0.4836246073246002, + -0.050831254571676254 + ], + "joints": [ + -0.0023357486352324486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03889843448996544, + -0.1223314180970192, + 0.054378971457481384 + ], + "orientation": [ + 0.8675801753997803, + -0.11233837157487869, + -0.48247456550598145, + -0.04362389072775841 + ], + "joints": [ + -0.012963742017745972 + ] + }, + "fine_grasp": { + "position": [ + -0.03669838607311249, + -0.1185038760304451, + 0.05394752323627472 + ], + "orientation": [ + 0.8659363389015198, + -0.11809323728084564, + -0.4833485186100006, + -0.050818637013435364 + ], + "joints": [ + -0.00764974532648921 + ] + }, + "final_grasp": { + "position": [ + -0.03669838607311249, + -0.1185038760304451, + 0.05394752323627472 + ], + "orientation": [ + 0.8659363389015198, + -0.11809323728084564, + -0.4833485186100006, + -0.050818637013435364 + ], + "joints": [ + -0.0023357486352324486 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0162336602807045, + 0.1148662269115448, + 0.05809386447072029 + ], + "orientation": [ + 0.12594562768936157, + -0.46296820044517517, + 0.07822518050670624, + -0.873887300491333 + ], + "joints": [ + -0.015848901122808456 + ] + }, + "fine_grasp": { + "position": [ + -0.016556646674871445, + 0.11604493856430054, + 0.057274311780929565 + ], + "orientation": [ + 0.12082850933074951, + -0.4555526077747345, + 0.08707349002361298, + -0.877661943435669 + ], + "joints": [ + -0.00891413539648056 + ] + }, + "final_grasp": { + "position": [ + -0.016556646674871445, + 0.11604493856430054, + 0.057274311780929565 + ], + "orientation": [ + 0.12082850933074951, + -0.4555526077747345, + 0.08707349002361298, + -0.877661943435669 + ], + "joints": [ + -0.001979369670152664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014970431104302406, + -0.11748802661895752, + 0.05392136052250862 + ], + "orientation": [ + 0.9808000326156616, + -0.08431176096200943, + -0.17077073454856873, + -0.04195300117135048 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.015417410992085934, + -0.11794564872980118, + 0.054586686193943024 + ], + "orientation": [ + 0.9815753102302551, + -0.07886973023414612, + -0.16845956444740295, + -0.04371289163827896 + ], + "joints": [ + -0.004203670658171177 + ] + }, + "final_grasp": { + "position": [ + -0.015417410992085934, + -0.11794564872980118, + 0.054586686193943024 + ], + "orientation": [ + 0.9815753102302551, + -0.07886973023414612, + -0.16845956444740295, + -0.04371289163827896 + ], + "joints": [ + 0.0027310941368341446 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010837842710316181, + -0.11362501978874207, + -0.012521730735898018 + ], + "orientation": [ + 0.5728361010551453, + 0.03836533799767494, + -0.7982452511787415, + -0.1821848452091217 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.010013537481427193, + -0.11275920271873474, + -0.012067231349647045 + ], + "orientation": [ + 0.5756444931030273, + 0.030425162985920906, + -0.7954651713371277, + -0.18693073093891144 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + -0.010013537481427193, + -0.11275920271873474, + -0.012067231349647045 + ], + "orientation": [ + 0.5756444931030273, + 0.030425162985920906, + -0.7954651713371277, + -0.18693073093891144 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02628251165151596, + 0.11680092662572861, + 0.028139764443039894 + ], + "orientation": [ + 0.0337480865418911, + 0.947157084941864, + 0.1084226742386818, + -0.29999852180480957 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.027189936488866806, + 0.11926493048667908, + 0.02803790383040905 + ], + "orientation": [ + 0.036982011049985886, + 0.9431076049804688, + 0.11165722459554672, + -0.31098729372024536 + ], + "joints": [ + -0.007739391177892685 + ] + }, + "final_grasp": { + "position": [ + -0.027189936488866806, + 0.11926493048667908, + 0.02803790383040905 + ], + "orientation": [ + 0.036982011049985886, + 0.9431076049804688, + 0.11165722459554672, + -0.31098729372024536 + ], + "joints": [ + -0.0007780566811561584 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05373344570398331, + 0.110026516020298, + 0.03649447113275528 + ], + "orientation": [ + 0.20493356883525848, + -0.4833918511867523, + -0.05326799675822258, + -0.849409818649292 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.05412351340055466, + 0.1096152812242508, + 0.03663420304656029 + ], + "orientation": [ + 0.19878289103507996, + -0.4942457675933838, + -0.04712965339422226, + -0.844976544380188 + ], + "joints": [ + -0.00728909857571125 + ] + }, + "final_grasp": { + "position": [ + -0.05412351340055466, + 0.1096152812242508, + 0.03663420304656029 + ], + "orientation": [ + 0.19878289103507996, + -0.4942457675933838, + -0.04712965339422226, + -0.844976544380188 + ], + "joints": [ + 0.0006818957626819611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0966707244515419, + -0.07426869869232178, + 0.0641874223947525 + ], + "orientation": [ + 0.762910783290863, + -0.3284373879432678, + -0.509458065032959, + -0.22482970356941223 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.09646261483430862, + -0.07581406086683273, + 0.06528492271900177 + ], + "orientation": [ + 0.7576348781585693, + -0.33710265159606934, + -0.510274350643158, + -0.22797222435474396 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.09646261483430862, + -0.07581406086683273, + 0.06528492271900177 + ], + "orientation": [ + 0.7576348781585693, + -0.33710265159606934, + -0.510274350643158, + -0.22797222435474396 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03694688156247139, + -0.11454196274280548, + 0.04461725056171417 + ], + "orientation": [ + 0.1317170411348343, + 0.14474017918109894, + 0.9788053035736084, + -0.0603426918387413 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.03824487701058388, + -0.1146710216999054, + 0.04524442180991173 + ], + "orientation": [ + 0.14343497157096863, + 0.14750462770462036, + 0.9770631790161133, + -0.054921045899391174 + ], + "joints": [ + -0.0036708731204271317 + ] + }, + "final_grasp": { + "position": [ + -0.03824487701058388, + -0.1146710216999054, + 0.04524442180991173 + ], + "orientation": [ + 0.14343497157096863, + 0.14750462770462036, + 0.9770631790161133, + -0.054921045899391174 + ], + "joints": [ + 0.003237321972846985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028643306344747543, + 0.12000875174999237, + 0.040049441158771515 + ], + "orientation": [ + 0.012983357533812523, + 0.9855012893676758, + -0.12441558390855789, + 0.11462663114070892 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.030438493937253952, + 0.12178391218185425, + 0.03993697091937065 + ], + "orientation": [ + 0.013417975045740604, + 0.9825233221054077, + -0.13117395341396332, + 0.13138161599636078 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + 0.030438493937253952, + 0.12178391218185425, + 0.03993697091937065 + ], + "orientation": [ + 0.013417975045740604, + 0.9825233221054077, + -0.13117395341396332, + 0.13138161599636078 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05369569733738899, + 0.10998760908842087, + 0.03673240914940834 + ], + "orientation": [ + 0.20506662130355835, + -0.48371434211730957, + -0.052210886031389236, + -0.8492597341537476 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.054162584245204926, + 0.10959753394126892, + 0.037023648619651794 + ], + "orientation": [ + 0.1989525705575943, + -0.49607914686203003, + -0.045975785702466965, + -0.8439250588417053 + ], + "joints": [ + -0.00728909857571125 + ] + }, + "final_grasp": { + "position": [ + -0.054162584245204926, + 0.10959753394126892, + 0.037023648619651794 + ], + "orientation": [ + 0.1989525705575943, + -0.49607914686203003, + -0.045975785702466965, + -0.8439250588417053 + ], + "joints": [ + 0.0006818957626819611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011369574815034866, + 0.0909712016582489, + -0.050187673419713974 + ], + "orientation": [ + 0.26274052262306213, + 0.671286404132843, + 0.22937431931495667, + 0.6540102958679199 + ], + "joints": [ + -0.007723349612206221 + ] + }, + "fine_grasp": { + "position": [ + -0.012247228994965553, + 0.09220201522111893, + -0.0475519560277462 + ], + "orientation": [ + 0.26121965050697327, + 0.670735776424408, + 0.2162356823682785, + 0.6596362590789795 + ], + "joints": [ + -0.0007620144169777632 + ] + }, + "final_grasp": { + "position": [ + -0.012247228994965553, + 0.09220201522111893, + -0.0475519560277462 + ], + "orientation": [ + 0.26121965050697327, + 0.670735776424408, + 0.2162356823682785, + 0.6596362590789795 + ], + "joints": [ + 0.006199320778250694 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027277017012238503, + 0.11354117840528488, + 0.005307747982442379 + ], + "orientation": [ + 0.11093650013208389, + 0.93942791223526, + -0.07669273018836975, + 0.315097451210022 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.02954937145113945, + 0.11225622892379761, + 0.0053512584418058395 + ], + "orientation": [ + 0.1014837920665741, + 0.9392738342285156, + -0.07392075657844543, + 0.3193768262863159 + ], + "joints": [ + -0.00938812643289566 + ] + }, + "final_grasp": { + "position": [ + 0.02954937145113945, + 0.11225622892379761, + 0.0053512584418058395 + ], + "orientation": [ + 0.1014837920665741, + 0.9392738342285156, + -0.07392075657844543, + 0.3193768262863159 + ], + "joints": [ + -0.003516159951686859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.027350427582859993, + 0.11351718008518219, + 0.005329911131411791 + ], + "orientation": [ + 0.11094481498003006, + 0.9394780397415161, + -0.07704709470272064, + 0.3148588538169861 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.029610764235258102, + 0.11223580688238144, + 0.005368989892303944 + ], + "orientation": [ + 0.10149040818214417, + 0.9392598867416382, + -0.07419390231370926, + 0.31935223937034607 + ], + "joints": [ + -0.00938812643289566 + ] + }, + "final_grasp": { + "position": [ + 0.029610764235258102, + 0.11223580688238144, + 0.005368989892303944 + ], + "orientation": [ + 0.10149040818214417, + 0.9392598867416382, + -0.07419390231370926, + 0.31935223937034607 + ], + "joints": [ + -0.003516159951686859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09666749089956284, + -0.07430324703454971, + 0.06429248303174973 + ], + "orientation": [ + 0.7623800039291382, + -0.3290717601776123, + -0.5102440714836121, + -0.22391879558563232 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.09674295783042908, + -0.07583601772785187, + 0.06538935005664825 + ], + "orientation": [ + 0.7576864957809448, + -0.33698052167892456, + -0.5103068947792053, + -0.2279082089662552 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.09674295783042908, + -0.07583601772785187, + 0.06538935005664825 + ], + "orientation": [ + 0.7576864957809448, + -0.33698052167892456, + -0.5103068947792053, + -0.2279082089662552 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02731143869459629, + 0.11353418231010437, + 0.0052953558042645454 + ], + "orientation": [ + 0.11094581335783005, + 0.939494788646698, + -0.07681645452976227, + 0.31486448645591736 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + 0.02956078201532364, + 0.11226995289325714, + 0.005309781990945339 + ], + "orientation": [ + 0.10140209645032883, + 0.9393993020057678, + -0.07389819622039795, + 0.31903859972953796 + ], + "joints": [ + -0.00938812643289566 + ] + }, + "final_grasp": { + "position": [ + 0.02956078201532364, + 0.11226995289325714, + 0.005309781990945339 + ], + "orientation": [ + 0.10140209645032883, + 0.9393993020057678, + -0.07389819622039795, + 0.31903859972953796 + ], + "joints": [ + -0.003516159951686859 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09115680307149887, + 0.0918186828494072, + 0.02673911303281784 + ], + "orientation": [ + 0.16532103717327118, + -0.7912021279335022, + 0.2941211462020874, + 0.5100598335266113 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.09058922529220581, + 0.09127794951200485, + 0.026562871411442757 + ], + "orientation": [ + 0.16579557955265045, + -0.7893749475479126, + 0.2949577569961548, + 0.5122488737106323 + ], + "joints": [ + -0.005939256399869919 + ] + }, + "final_grasp": { + "position": [ + 0.09058922529220581, + 0.09127794951200485, + 0.026562871411442757 + ], + "orientation": [ + 0.16579557955265045, + -0.7893749475479126, + 0.2949577569961548, + 0.5122488737106323 + ], + "joints": [ + 0.00043753907084465027 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04532061517238617, + -0.12230423092842102, + 0.020556356757879257 + ], + "orientation": [ + 0.5623000264167786, + 0.11542455852031708, + 0.8184114694595337, + -0.02642933838069439 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.04379153996706009, + -0.11982392519712448, + 0.020340247079730034 + ], + "orientation": [ + 0.5633187890052795, + 0.12366663664579391, + 0.8163465261459351, + -0.030933525413274765 + ], + "joints": [ + -0.005382760427892208 + ] + }, + "final_grasp": { + "position": [ + -0.04379153996706009, + -0.11982392519712448, + 0.020340247079730034 + ], + "orientation": [ + 0.5633187890052795, + 0.12366663664579391, + 0.8163465261459351, + -0.030933525413274765 + ], + "joints": [ + 0.001020604744553566 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018187280744314194, + -0.06086915731430054, + 0.14765042066574097 + ], + "orientation": [ + 0.8516148924827576, + -0.485236257314682, + 0.19245727360248566, + -0.04751920700073242 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.01780443824827671, + -0.059506431221961975, + 0.14461463689804077 + ], + "orientation": [ + 0.84760981798172, + -0.4921216070652008, + 0.19172842800617218, + -0.051127977669239044 + ], + "joints": [ + -0.0046805329620838165 + ] + }, + "final_grasp": { + "position": [ + 0.01780443824827671, + -0.059506431221961975, + 0.14461463689804077 + ], + "orientation": [ + 0.84760981798172, + -0.4921216070652008, + 0.19172842800617218, + -0.051127977669239044 + ], + "joints": [ + 0.0012180022895336151 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04637671262025833, + 0.09995659440755844, + 0.06408224999904633 + ], + "orientation": [ + 0.23855805397033691, + -0.8663782477378845, + -0.11356362700462341, + -0.4237711727619171 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.04566849395632744, + 0.09777672588825226, + 0.06408087909221649 + ], + "orientation": [ + 0.23115986585617065, + -0.8679027557373047, + -0.11372289806604385, + -0.4247080087661743 + ], + "joints": [ + -0.008835898712277412 + ] + }, + "final_grasp": { + "position": [ + -0.04566849395632744, + 0.09777672588825226, + 0.06408087909221649 + ], + "orientation": [ + 0.23115986585617065, + -0.8679027557373047, + -0.11372289806604385, + -0.4247080087661743 + ], + "joints": [ + -0.002352822571992874 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035337164998054504, + 0.11479993164539337, + -0.012425131164491177 + ], + "orientation": [ + 0.09472519159317017, + 0.9752926826477051, + 0.16201044619083405, + 0.116550974547863 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.03478875383734703, + 0.11365582793951035, + -0.011425853706896305 + ], + "orientation": [ + 0.09023719280958176, + 0.9726127982139587, + 0.1636892557144165, + 0.13815729320049286 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + -0.03478875383734703, + 0.11365582793951035, + -0.011425853706896305 + ], + "orientation": [ + 0.09023719280958176, + 0.9726127982139587, + 0.1636892557144165, + 0.13815729320049286 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0967382937669754, + -0.07418742775917053, + 0.0642932802438736 + ], + "orientation": [ + 0.7622918486595154, + -0.3289768397808075, + -0.5100380778312683, + -0.2248256355524063 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.09684266149997711, + -0.07569129765033722, + 0.06543616950511932 + ], + "orientation": [ + 0.7575498819351196, + -0.3374757468700409, + -0.5100008249282837, + -0.22831475734710693 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + -0.09684266149997711, + -0.07569129765033722, + 0.06543616950511932 + ], + "orientation": [ + 0.7575498819351196, + -0.3374757468700409, + -0.5100008249282837, + -0.22831475734710693 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01816924847662449, + -0.060830648988485336, + 0.1478101760149002 + ], + "orientation": [ + 0.8518515825271606, + -0.4851333498954773, + 0.19172164797782898, + -0.04730141907930374 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.017753664404153824, + -0.05945558845996857, + 0.14459450542926788 + ], + "orientation": [ + 0.847173810005188, + -0.4933074116706848, + 0.19049273431301117, + -0.05154361203312874 + ], + "joints": [ + -0.00414626207202673 + ] + }, + "final_grasp": { + "position": [ + 0.017753664404153824, + -0.05945558845996857, + 0.14459450542926788 + ], + "orientation": [ + 0.847173810005188, + -0.4933074116706848, + 0.19049273431301117, + -0.05154361203312874 + ], + "joints": [ + 0.0022571031004190445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09351827949285507, + 0.08194786310195923, + -0.0056429472751915455 + ], + "orientation": [ + 0.07067421078681946, + -0.7627639770507812, + 0.3987996280193329, + 0.5041378736495972 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.09338174760341644, + 0.0836448147892952, + -0.00527352187782526 + ], + "orientation": [ + 0.07341808080673218, + -0.7593108415603638, + 0.39139944314956665, + 0.5146486759185791 + ], + "joints": [ + -0.004791080951690674 + ] + }, + "final_grasp": { + "position": [ + 0.09338174760341644, + 0.0836448147892952, + -0.00527352187782526 + ], + "orientation": [ + 0.07341808080673218, + -0.7593108415603638, + 0.39139944314956665, + 0.5146486759185791 + ], + "joints": [ + 0.0015857145190238953 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029677368700504303, + 0.11780659854412079, + 0.021830227226018906 + ], + "orientation": [ + 0.12349177151918411, + 0.14707228541374207, + -0.030220339074730873, + 0.9809210896492004 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.029593143612146378, + 0.11700282245874405, + 0.021174201741814613 + ], + "orientation": [ + 0.12474022060632706, + 0.15918827056884766, + -0.03792836144566536, + 0.9786012768745422 + ], + "joints": [ + -0.004149133339524269 + ] + }, + "final_grasp": { + "position": [ + 0.029593143612146378, + 0.11700282245874405, + 0.021174201741814613 + ], + "orientation": [ + 0.12474022060632706, + 0.15918827056884766, + -0.03792836144566536, + 0.9786012768745422 + ], + "joints": [ + 0.00228080153465271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02964426949620247, + 0.11781927198171616, + 0.021863341331481934 + ], + "orientation": [ + 0.12332158535718918, + 0.1468147188425064, + -0.030241692438721657, + 0.9809805154800415 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.029535433277487755, + 0.11705192178487778, + 0.021145660430192947 + ], + "orientation": [ + 0.12463008612394333, + 0.15889716148376465, + -0.03808147460222244, + 0.9786567687988281 + ], + "joints": [ + -0.004149133339524269 + ] + }, + "final_grasp": { + "position": [ + 0.029535433277487755, + 0.11705192178487778, + 0.021145660430192947 + ], + "orientation": [ + 0.12463008612394333, + 0.15889716148376465, + -0.03808147460222244, + 0.9786567687988281 + ], + "joints": [ + 0.00228080153465271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029568171128630638, + 0.11783742904663086, + 0.021929612383246422 + ], + "orientation": [ + 0.12297413498163223, + 0.1470804363489151, + -0.03038998693227768, + 0.9809796810150146 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.029491718858480453, + 0.11709084361791611, + 0.021258769556879997 + ], + "orientation": [ + 0.1244189590215683, + 0.1591378152370453, + -0.03817756101489067, + 0.9786407351493835 + ], + "joints": [ + -0.004149133339524269 + ] + }, + "final_grasp": { + "position": [ + 0.029491718858480453, + 0.11709084361791611, + 0.021258769556879997 + ], + "orientation": [ + 0.1244189590215683, + 0.1591378152370453, + -0.03817756101489067, + 0.9786407351493835 + ], + "joints": [ + 0.00228080153465271 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026573041453957558, + -0.10711386799812317, + 0.07454325258731842 + ], + "orientation": [ + 0.8232955932617188, + -0.12990403175354004, + 0.517824649810791, + -0.19278743863105774 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.024925315752625465, + -0.10791627317667007, + 0.07359147071838379 + ], + "orientation": [ + 0.8314983248710632, + -0.12883831560611725, + 0.5072644352912903, + -0.1862633228302002 + ], + "joints": [ + -0.0070357657968997955 + ] + }, + "final_grasp": { + "position": [ + -0.024925315752625465, + -0.10791627317667007, + 0.07359147071838379 + ], + "orientation": [ + 0.8314983248710632, + -0.12883831560611725, + 0.5072644352912903, + -0.1862633228302002 + ], + "joints": [ + -0.001137230545282364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025380531325936317, + 0.10908900946378708, + 0.022530607879161835 + ], + "orientation": [ + 0.05101310834288597, + -0.9778324365615845, + 0.11916507035493851, + 0.16444168984889984 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.027187852188944817, + 0.11433462798595428, + 0.021966148167848587 + ], + "orientation": [ + 0.05147552490234375, + -0.9788229465484619, + 0.11706984788179398, + 0.1598457545042038 + ], + "joints": [ + -0.004788209684193134 + ] + }, + "final_grasp": { + "position": [ + 0.027187852188944817, + 0.11433462798595428, + 0.021966148167848587 + ], + "orientation": [ + 0.05147552490234375, + -0.9788229465484619, + 0.11706984788179398, + 0.1598457545042038 + ], + "joints": [ + 0.0015620160847902298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.026604941114783287, + -0.1071263775229454, + 0.07450372725725174 + ], + "orientation": [ + 0.8232564926147461, + -0.12965385615825653, + 0.5179396271705627, + -0.19281384348869324 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.02496151067316532, + -0.10792741179466248, + 0.07355053722858429 + ], + "orientation": [ + 0.8314660787582397, + -0.12857376039028168, + 0.5073674917221069, + -0.1863096058368683 + ], + "joints": [ + -0.0070357657968997955 + ] + }, + "final_grasp": { + "position": [ + -0.02496151067316532, + -0.10792741179466248, + 0.07355053722858429 + ], + "orientation": [ + 0.8314660787582397, + -0.12857376039028168, + 0.5073674917221069, + -0.1863096058368683 + ], + "joints": [ + -0.001137230545282364 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05271397903561592, + 0.10647162050008774, + 0.00037890809471718967 + ], + "orientation": [ + 0.16417768597602844, + 0.8831691145896912, + -0.1372125744819641, + 0.41740962862968445 + ], + "joints": [ + -0.015171770006418228 + ] + }, + "fine_grasp": { + "position": [ + 0.05271439254283905, + 0.10432892292737961, + 0.0008654651464894414 + ], + "orientation": [ + 0.16285964846611023, + 0.881304919719696, + -0.12954594194889069, + 0.42425981163978577 + ], + "joints": [ + -0.009778061881661415 + ] + }, + "final_grasp": { + "position": [ + 0.05271439254283905, + 0.10432892292737961, + 0.0008654651464894414 + ], + "orientation": [ + 0.16285964846611023, + 0.881304919719696, + -0.12954594194889069, + 0.42425981163978577 + ], + "joints": [ + -0.004384353756904602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03968049958348274, + -0.10292740911245346, + -0.026147998869419098 + ], + "orientation": [ + 0.763312041759491, + 0.25981250405311584, + 0.590727686882019, + 0.0298811886459589 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.04170811176300049, + -0.10276853293180466, + -0.025518137961626053 + ], + "orientation": [ + 0.7596602439880371, + 0.25228551030158997, + 0.5982862710952759, + 0.03635898232460022 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + -0.04170811176300049, + -0.10276853293180466, + -0.025518137961626053 + ], + "orientation": [ + 0.7596602439880371, + 0.25228551030158997, + 0.5982862710952759, + 0.03635898232460022 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039686281234025955, + -0.10296709835529327, + -0.02609517239034176 + ], + "orientation": [ + 0.7638086080551147, + 0.25943470001220703, + 0.5902609825134277, + 0.02969810925424099 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.04163146764039993, + -0.10280369967222214, + -0.025514774024486542 + ], + "orientation": [ + 0.7601419687271118, + 0.25206729769706726, + 0.5977730751037598, + 0.03624219447374344 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + -0.04163146764039993, + -0.10280369967222214, + -0.025514774024486542 + ], + "orientation": [ + 0.7601419687271118, + 0.25206729769706726, + 0.5977730751037598, + 0.03624219447374344 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03972568362951279, + -0.10290783643722534, + -0.026151133701205254 + ], + "orientation": [ + 0.7630786895751953, + 0.26004645228385925, + 0.5909345746040344, + 0.02971530891954899 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + -0.04167346656322479, + -0.10274091362953186, + -0.02553654834628105 + ], + "orientation": [ + 0.759650468826294, + 0.2524808347225189, + 0.5982268452644348, + 0.03618323802947998 + ], + "joints": [ + -0.004849887453019619 + ] + }, + "final_grasp": { + "position": [ + -0.04167346656322479, + -0.10274091362953186, + -0.02553654834628105 + ], + "orientation": [ + 0.759650468826294, + 0.2524808347225189, + 0.5982268452644348, + 0.03618323802947998 + ], + "joints": [ + 0.00261627696454525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05268725007772446, + 0.10652214288711548, + 0.00040342193096876144 + ], + "orientation": [ + 0.16382953524589539, + 0.8833221197128296, + -0.13708539307117462, + 0.41726452112197876 + ], + "joints": [ + -0.015171770006418228 + ] + }, + "fine_grasp": { + "position": [ + 0.05268416926264763, + 0.10427862405776978, + 0.0007975020562298596 + ], + "orientation": [ + 0.1618233621120453, + 0.881634533405304, + -0.12920206785202026, + 0.4240761995315552 + ], + "joints": [ + -0.009778061881661415 + ] + }, + "final_grasp": { + "position": [ + 0.05268416926264763, + 0.10427862405776978, + 0.0007975020562298596 + ], + "orientation": [ + 0.1618233621120453, + 0.881634533405304, + -0.12920206785202026, + 0.4240761995315552 + ], + "joints": [ + -0.004384353756904602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02988961897790432, + 0.0005192662356421351, + -0.10881935060024261 + ], + "orientation": [ + 0.6794915795326233, + 0.7119672894477844, + 0.029831351712346077, + 0.1746537685394287 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.029727863147854805, + 0.0013976102927699685, + -0.10524365305900574 + ], + "orientation": [ + 0.6845235228538513, + 0.7070949673652649, + 0.0327431745827198, + 0.17427575588226318 + ], + "joints": [ + -0.0047071026638150215 + ] + }, + "final_grasp": { + "position": [ + 0.029727863147854805, + 0.0013976102927699685, + -0.10524365305900574 + ], + "orientation": [ + 0.6845235228538513, + 0.7070949673652649, + 0.0327431745827198, + 0.17427575588226318 + ], + "joints": [ + 0.0011648628860712051 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05257689580321312, + 0.10638769716024399, + 0.0003899022121913731 + ], + "orientation": [ + 0.1647908091545105, + 0.8825491070747375, + -0.13680493831634521, + 0.41861146688461304 + ], + "joints": [ + -0.015201210975646973 + ] + }, + "fine_grasp": { + "position": [ + 0.05283092334866524, + 0.10421501100063324, + 0.0009374952642247081 + ], + "orientation": [ + 0.16309276223182678, + 0.8803419470787048, + -0.12978853285312653, + 0.42609110474586487 + ], + "joints": [ + -0.00980750285089016 + ] + }, + "final_grasp": { + "position": [ + 0.05283092334866524, + 0.10421501100063324, + 0.0009374952642247081 + ], + "orientation": [ + 0.16309276223182678, + 0.8803419470787048, + -0.12978853285312653, + 0.42609110474586487 + ], + "joints": [ + -0.0044137947261333466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010210547596216202, + 0.10189551115036011, + -0.04168840870261192 + ], + "orientation": [ + 0.25199565291404724, + 0.9532797932624817, + -0.008824964053928852, + -0.16636691987514496 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.009565630927681923, + 0.10281027853488922, + -0.04274110123515129 + ], + "orientation": [ + 0.250600665807724, + 0.953214704990387, + -0.008667171001434326, + -0.16883748769760132 + ], + "joints": [ + -0.003614862449467182 + ] + }, + "final_grasp": { + "position": [ + -0.009565630927681923, + 0.10281027853488922, + -0.04274110123515129 + ], + "orientation": [ + 0.250600665807724, + 0.953214704990387, + -0.008667171001434326, + -0.16883748769760132 + ], + "joints": [ + 0.0033199023455381393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029829014092683792, + 0.11822617053985596, + 0.008981955237686634 + ], + "orientation": [ + 0.12296431511640549, + 0.5584807395935059, + -0.014959730207920074, + -0.8202165365219116 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.030736519023776054, + 0.1171855479478836, + 0.008901217021048069 + ], + "orientation": [ + 0.11610988527536392, + 0.5679973363876343, + -0.01848207414150238, + -0.8145893812179565 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + -0.030736519023776054, + 0.1171855479478836, + 0.008901217021048069 + ], + "orientation": [ + 0.11610988527536392, + 0.5679973363876343, + -0.01848207414150238, + -0.8145893812179565 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02978956513106823, + 0.11822515726089478, + 0.008955081924796104 + ], + "orientation": [ + 0.12292290478944778, + 0.5585775971412659, + -0.01508619636297226, + -0.8201544284820557 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.030658243224024773, + 0.11717996746301651, + 0.008906100876629353 + ], + "orientation": [ + 0.11590375006198883, + 0.5679115056991577, + -0.018833434209227562, + -0.8146706223487854 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + -0.030658243224024773, + 0.11717996746301651, + 0.008906100876629353 + ], + "orientation": [ + 0.11590375006198883, + 0.5679115056991577, + -0.018833434209227562, + -0.8146706223487854 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020849697291851044, + -0.11169449239969254, + -0.01611819677054882 + ], + "orientation": [ + 0.9758894443511963, + 0.12395735830068588, + -0.1401597559452057, + -0.11238221824169159 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.020764198154211044, + -0.1135914996266365, + -0.016676193103194237 + ], + "orientation": [ + 0.9754167199134827, + 0.1190989762544632, + -0.14796340465545654, + -0.11173439025878906 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.020764198154211044, + -0.1135914996266365, + -0.016676193103194237 + ], + "orientation": [ + 0.9754167199134827, + 0.1190989762544632, + -0.14796340465545654, + -0.11173439025878906 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020965658128261566, + -0.11166113615036011, + -0.01617651805281639 + ], + "orientation": [ + 0.9758198261260986, + 0.1239495649933815, + -0.1403086930513382, + -0.11280838400125504 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.020996175706386566, + -0.11353613436222076, + -0.016661502420902252 + ], + "orientation": [ + 0.9754969477653503, + 0.11846423894166946, + -0.14737962186336517, + -0.11247800290584564 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.020996175706386566, + -0.11353613436222076, + -0.016661502420902252 + ], + "orientation": [ + 0.9754969477653503, + 0.11846423894166946, + -0.14737962186336517, + -0.11247800290584564 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01791578345000744, + 0.10229815542697906, + 0.09939979761838913 + ], + "orientation": [ + 0.2366596758365631, + -0.9499186873435974, + 0.128699392080307, + -0.158376544713974 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.017943765968084335, + 0.10159674286842346, + 0.09857514500617981 + ], + "orientation": [ + 0.2341803014278412, + -0.9498588442802429, + 0.13087254762649536, + -0.1606242060661316 + ], + "joints": [ + -0.003055495209991932 + ] + }, + "final_grasp": { + "position": [ + 0.017943765968084335, + 0.10159674286842346, + 0.09857514500617981 + ], + "orientation": [ + 0.2341803014278412, + -0.9498588442802429, + 0.13087254762649536, + -0.1606242060661316 + ], + "joints": [ + 0.0038792695850133896 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03531483933329582, + 0.11382237076759338, + 0.052998702973127365 + ], + "orientation": [ + 0.17081373929977417, + -0.4948557913303375, + 0.04351041465997696, + -0.8509097099304199 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.03399721160531044, + 0.11245377361774445, + 0.05261266976594925 + ], + "orientation": [ + 0.17264918982982635, + -0.47574353218078613, + 0.04481418803334236, + -0.8613082766532898 + ], + "joints": [ + -0.00776596087962389 + ] + }, + "final_grasp": { + "position": [ + -0.03399721160531044, + 0.11245377361774445, + 0.05261266976594925 + ], + "orientation": [ + 0.17264918982982635, + -0.47574353218078613, + 0.04481418803334236, + -0.8613082766532898 + ], + "joints": [ + -0.0008311960846185684 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023384729400277138, + 0.01563742756843567, + 0.1565772294998169 + ], + "orientation": [ + 0.15449632704257965, + -0.028273971751332283, + 0.6144685745239258, + -0.773149311542511 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.02420070394873619, + 0.015968549996614456, + 0.15374232828617096 + ], + "orientation": [ + 0.15985342860221863, + -0.033418502658605576, + 0.6185608506202698, + -0.7685783505439758 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.02420070394873619, + 0.015968549996614456, + 0.15374232828617096 + ], + "orientation": [ + 0.15985342860221863, + -0.033418502658605576, + 0.6185608506202698, + -0.7685783505439758 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08562546968460083, + -0.03217793256044388, + 0.1227026954293251 + ], + "orientation": [ + 0.6864960789680481, + -0.16440799832344055, + -0.392081618309021, + 0.5898856520652771 + ], + "joints": [ + 0.00012393688666634262 + ] + }, + "fine_grasp": { + "position": [ + 0.08295328170061111, + -0.03158683329820633, + 0.1203075721859932 + ], + "orientation": [ + 0.6811118125915527, + -0.16062691807746887, + -0.39512521028518677, + 0.5951148271560669 + ], + "joints": [ + 0.005995902698487043 + ] + }, + "final_grasp": { + "position": [ + 0.08295328170061111, + -0.03158683329820633, + 0.1203075721859932 + ], + "orientation": [ + 0.6811118125915527, + -0.16062691807746887, + -0.39512521028518677, + 0.5951148271560669 + ], + "joints": [ + 0.011867868714034557 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0299167949706316, + 0.11810313165187836, + 0.009047625586390495 + ], + "orientation": [ + 0.12253472954034805, + 0.5604712963104248, + -0.015058244578540325, + -0.8189202547073364 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.030661161988973618, + 0.11738259345293045, + 0.00895425770431757 + ], + "orientation": [ + 0.11600029468536377, + 0.570223331451416, + -0.0176574494689703, + -0.8130667209625244 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + -0.030661161988973618, + 0.11738259345293045, + 0.00895425770431757 + ], + "orientation": [ + 0.11600029468536377, + 0.570223331451416, + -0.0176574494689703, + -0.8130667209625244 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.042516376823186874, + -0.10615371912717819, + 0.08646905422210693 + ], + "orientation": [ + 0.10882291197776794, + 0.14940324425697327, + -0.9615550637245178, + 0.2030961811542511 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + 0.04249823838472366, + -0.10326571017503738, + 0.08564231544733047 + ], + "orientation": [ + 0.1055939719080925, + 0.1482418328523636, + -0.9624572992324829, + 0.20137082040309906 + ], + "joints": [ + -0.0036708731204271317 + ] + }, + "final_grasp": { + "position": [ + 0.04249823838472366, + -0.10326571017503738, + 0.08564231544733047 + ], + "orientation": [ + 0.1055939719080925, + 0.1482418328523636, + -0.9624572992324829, + 0.20137082040309906 + ], + "joints": [ + 0.003237321972846985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023316236212849617, + 0.01592477224767208, + 0.15583187341690063 + ], + "orientation": [ + 0.1553795337677002, + -0.03086819127202034, + 0.6149119138717651, + -0.7725204229354858 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.024051671847701073, + 0.01611371710896492, + 0.1531069576740265 + ], + "orientation": [ + 0.16081735491752625, + -0.03515905141830444, + 0.6181460022926331, + -0.768633246421814 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.024051671847701073, + 0.01611371710896492, + 0.1531069576740265 + ], + "orientation": [ + 0.16081735491752625, + -0.03515905141830444, + 0.6181460022926331, + -0.768633246421814 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038215093314647675, + -0.11578942835330963, + -0.0033619480673223734 + ], + "orientation": [ + 0.4833507537841797, + 0.1834191530942917, + 0.8541350364685059, + 0.056415658444166183 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.03638094291090965, + -0.11185117065906525, + -0.0016723605804145336 + ], + "orientation": [ + 0.48599573969841003, + 0.1816551685333252, + 0.8531052470207214, + 0.05496447905898094 + ], + "joints": [ + -0.0072611309587955475 + ] + }, + "final_grasp": { + "position": [ + -0.03638094291090965, + -0.11185117065906525, + -0.0016723605804145336 + ], + "orientation": [ + 0.48599573969841003, + 0.1816551685333252, + 0.8531052470207214, + 0.05496447905898094 + ], + "joints": [ + 0.00017846375703811646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05891328677535057, + 0.10886648297309875, + 0.014108098112046719 + ], + "orientation": [ + 0.21086105704307556, + 0.5463576316833496, + 0.06616834551095963, + -0.8078691363334656 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.05955146998167038, + 0.11002467572689056, + 0.013820557855069637 + ], + "orientation": [ + 0.20338395237922668, + 0.5505837202072144, + 0.0639418438076973, + -0.807096004486084 + ], + "joints": [ + -0.005465265363454819 + ] + }, + "final_grasp": { + "position": [ + -0.05955146998167038, + 0.11002467572689056, + 0.013820557855069637 + ], + "orientation": [ + 0.20338395237922668, + 0.5505837202072144, + 0.0639418438076973, + -0.807096004486084 + ], + "joints": [ + 0.001974329352378845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0005994386156089604, + -0.11831744760274887, + 0.0660836398601532 + ], + "orientation": [ + 0.9821993708610535, + -0.09448010474443436, + 0.16028523445129395, + -0.025815708562731743 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.0007931822910904884, + -0.11797323077917099, + 0.06610434502363205 + ], + "orientation": [ + 0.981583297252655, + -0.09983953088521957, + 0.15831591188907623, + -0.03823775053024292 + ], + "joints": [ + -0.004677661694586277 + ] + }, + "final_grasp": { + "position": [ + -0.0007931822910904884, + -0.11797323077917099, + 0.06610434502363205 + ], + "orientation": [ + 0.981583297252655, + -0.09983953088521957, + 0.15831591188907623, + -0.03823775053024292 + ], + "joints": [ + 0.0011943038552999496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05888635665178299, + 0.10886258631944656, + 0.014099258929491043 + ], + "orientation": [ + 0.21076402068138123, + 0.5463097095489502, + 0.06600866466760635, + -0.8079400062561035 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + -0.059507742524147034, + 0.11004095524549484, + 0.01380226295441389 + ], + "orientation": [ + 0.20331016182899475, + 0.5505906939506531, + 0.06379815936088562, + -0.807121217250824 + ], + "joints": [ + -0.005465265363454819 + ] + }, + "final_grasp": { + "position": [ + -0.059507742524147034, + 0.11004095524549484, + 0.01380226295441389 + ], + "orientation": [ + 0.20331016182899475, + 0.5505906939506531, + 0.06379815936088562, + -0.807121217250824 + ], + "joints": [ + 0.001974329352378845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07772000879049301, + -0.039503853768110275, + -0.08341018110513687 + ], + "orientation": [ + 0.7473421692848206, + 0.6003856062889099, + -0.17578764259815216, + 0.22386537492275238 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.07550238817930222, + -0.036897674202919006, + -0.07950126379728317 + ], + "orientation": [ + 0.7533968687057495, + 0.5928630232810974, + -0.18121370673179626, + 0.2192450612783432 + ], + "joints": [ + -0.008800791576504707 + ] + }, + "final_grasp": { + "position": [ + 0.07550238817930222, + -0.036897674202919006, + -0.07950126379728317 + ], + "orientation": [ + 0.7533968687057495, + 0.5928630232810974, + -0.18121370673179626, + 0.2192450612783432 + ], + "joints": [ + -0.0034602247178554535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07783094048500061, + -0.03911546245217323, + -0.08349046856164932 + ], + "orientation": [ + 0.7479226589202881, + 0.5994774699211121, + -0.1755816489458084, + 0.22452081739902496 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.07558856159448624, + -0.03662729635834694, + -0.07950961589813232 + ], + "orientation": [ + 0.7534605860710144, + 0.5926769971847534, + -0.18064288794994354, + 0.2199985533952713 + ], + "joints": [ + -0.008800791576504707 + ] + }, + "final_grasp": { + "position": [ + 0.07558856159448624, + -0.03662729635834694, + -0.07950961589813232 + ], + "orientation": [ + 0.7534605860710144, + 0.5926769971847534, + -0.18064288794994354, + 0.2199985533952713 + ], + "joints": [ + -0.0034602247178554535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020310286432504654, + -0.11914330720901489, + 0.015093103982508183 + ], + "orientation": [ + 0.9541757106781006, + 0.0011770062847062945, + 0.28076863288879395, + 0.10351994633674622 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.021711628884077072, + -0.12308014929294586, + 0.013903048820793629 + ], + "orientation": [ + 0.9532714486122131, + -0.00010133974865311757, + 0.28219741582870483, + 0.10788000375032425 + ], + "joints": [ + -0.007791056763380766 + ] + }, + "final_grasp": { + "position": [ + 0.021711628884077072, + -0.12308014929294586, + 0.013903048820793629 + ], + "orientation": [ + 0.9532714486122131, + -0.00010133974865311757, + 0.28219741582870483, + 0.10788000375032425 + ], + "joints": [ + -0.00035146158188581467 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01886218972504139, + 0.12264721095561981, + 0.02520487830042839 + ], + "orientation": [ + 0.07043898105621338, + 0.9818289279937744, + 0.07127396017313004, + -0.16115333139896393 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.01928286999464035, + 0.11909034848213196, + 0.026383399963378906 + ], + "orientation": [ + 0.07015499472618103, + 0.9838395118713379, + 0.07525812834501266, + -0.14654169976711273 + ], + "joints": [ + -0.003167441114783287 + ] + }, + "final_grasp": { + "position": [ + -0.01928286999464035, + 0.11909034848213196, + 0.026383399963378906 + ], + "orientation": [ + 0.07015499472618103, + 0.9838395118713379, + 0.07525812834501266, + -0.14654169976711273 + ], + "joints": [ + 0.004803553223609924 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024854512885212898, + -0.1192329078912735, + 0.018295155838131905 + ], + "orientation": [ + 0.13323669135570526, + 0.10520351678133011, + 0.9851681590080261, + -0.024978088214993477 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.025050552561879158, + -0.11808138340711594, + 0.017523137852549553 + ], + "orientation": [ + 0.13760338723659515, + 0.10612459480762482, + 0.984307050704956, + -0.03070065751671791 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.025050552561879158, + -0.11808138340711594, + 0.017523137852549553 + ], + "orientation": [ + 0.13760338723659515, + 0.10612459480762482, + 0.984307050704956, + -0.03070065751671791 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02474631741642952, + -0.11923358589410782, + 0.018209444358944893 + ], + "orientation": [ + 0.13305075466632843, + 0.10481904447078705, + 0.9852479696273804, + -0.024431999772787094 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.02489781379699707, + -0.11787602305412292, + 0.01748650148510933 + ], + "orientation": [ + 0.13776634633541107, + 0.10557160526514053, + 0.9843576550483704, + -0.030250221490859985 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.02489781379699707, + -0.11787602305412292, + 0.01748650148510933 + ], + "orientation": [ + 0.13776634633541107, + 0.10557160526514053, + 0.9843576550483704, + -0.030250221490859985 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07246674597263336, + -0.11027301847934723, + 0.02616911195218563 + ], + "orientation": [ + 0.5448544025421143, + 0.21082451939582825, + 0.8025435209274292, + -0.12087411433458328 + ], + "joints": [ + -0.012433815747499466 + ] + }, + "fine_grasp": { + "position": [ + -0.06945547461509705, + -0.10729672759771347, + 0.02632329799234867 + ], + "orientation": [ + 0.5423102974891663, + 0.21757584810256958, + 0.8019076585769653, + -0.1245172768831253 + ], + "joints": [ + -0.006030450575053692 + ] + }, + "final_grasp": { + "position": [ + -0.06945547461509705, + -0.10729672759771347, + 0.02632329799234867 + ], + "orientation": [ + 0.5423102974891663, + 0.21757584810256958, + 0.8019076585769653, + -0.1245172768831253 + ], + "joints": [ + 0.0003729145973920822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018827537074685097, + 0.12267895042896271, + 0.025248095393180847 + ], + "orientation": [ + 0.06856130808591843, + 0.9820936918258667, + 0.07126506417989731, + -0.16035196185112 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.019585320726037025, + 0.11897914856672287, + 0.026511650532484055 + ], + "orientation": [ + 0.06778287142515182, + 0.9840782284736633, + 0.07644855231046677, + -0.14543427526950836 + ], + "joints": [ + -0.0026626111939549446 + ] + }, + "final_grasp": { + "position": [ + -0.019585320726037025, + 0.11897914856672287, + 0.026511650532484055 + ], + "orientation": [ + 0.06778287142515182, + 0.9840782284736633, + 0.07644855231046677, + -0.14543427526950836 + ], + "joints": [ + 0.005813213065266609 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02484939806163311, + -0.11923340708017349, + 0.018338987603783607 + ], + "orientation": [ + 0.13342227041721344, + 0.10516835004091263, + 0.9851474165916443, + -0.024953601881861687 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.024990588426589966, + -0.11788070201873779, + 0.01776297762989998 + ], + "orientation": [ + 0.13839495182037354, + 0.10459486395120621, + 0.9843711256980896, + -0.030333707109093666 + ], + "joints": [ + -0.0030260542407631874 + ] + }, + "final_grasp": { + "position": [ + -0.024990588426589966, + -0.11788070201873779, + 0.01776297762989998 + ], + "orientation": [ + 0.13839495182037354, + 0.10459486395120621, + 0.9843711256980896, + -0.030333707109093666 + ], + "joints": [ + 0.003908710554242134 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037658948451280594, + 0.11558994650840759, + 0.019935596734285355 + ], + "orientation": [ + 0.1534150242805481, + -0.1269892007112503, + -0.015612692572176456, + -0.9798437356948853 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.03810661658644676, + 0.11546992510557175, + 0.018437234684824944 + ], + "orientation": [ + 0.1535186618566513, + -0.13330994546413422, + -0.009234537370502949, + -0.9790685772895813 + ], + "joints": [ + -0.0036443034186959267 + ] + }, + "final_grasp": { + "position": [ + -0.03810661658644676, + 0.11546992510557175, + 0.018437234684824944 + ], + "orientation": [ + 0.1535186618566513, + -0.13330994546413422, + -0.009234537370502949, + -0.9790685772895813 + ], + "joints": [ + 0.003290461376309395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01737128011882305, + 0.11037320643663406, + 0.07865554094314575 + ], + "orientation": [ + 0.14891758561134338, + -0.9748809933662415, + 0.10407529771327972, + -0.1288369745016098 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.018256375566124916, + 0.11379300057888031, + 0.07975195348262787 + ], + "orientation": [ + 0.14913193881511688, + -0.9723028540611267, + 0.10982745885848999, + -0.14256447553634644 + ], + "joints": [ + -0.0025506652891635895 + ] + }, + "final_grasp": { + "position": [ + 0.018256375566124916, + 0.11379300057888031, + 0.07975195348262787 + ], + "orientation": [ + 0.14913193881511688, + -0.9723028540611267, + 0.10982745885848999, + -0.14256447553634644 + ], + "joints": [ + 0.0048889294266700745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03770001605153084, + 0.11558935046195984, + 0.019945861771702766 + ], + "orientation": [ + 0.15354134142398834, + -0.12722903490066528, + -0.015872575342655182, + -0.9797886610031128 + ], + "joints": [ + -0.010579068213701248 + ] + }, + "fine_grasp": { + "position": [ + -0.03819404914975166, + 0.11549648642539978, + 0.018444441258907318 + ], + "orientation": [ + 0.15357692539691925, + -0.1332034170627594, + -0.010173041373491287, + -0.9790645837783813 + ], + "joints": [ + -0.0036443034186959267 + ] + }, + "final_grasp": { + "position": [ + -0.03819404914975166, + 0.11549648642539978, + 0.018444441258907318 + ], + "orientation": [ + 0.15357692539691925, + -0.1332034170627594, + -0.010173041373491287, + -0.9790645837783813 + ], + "joints": [ + 0.003290461376309395 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04133450612425804, + 0.10548307746648788, + 0.06682833284139633 + ], + "orientation": [ + 0.191396564245224, + -0.9326399564743042, + 0.11444193124771118, + 0.2836425304412842 + ], + "joints": [ + -0.014641843736171722 + ] + }, + "fine_grasp": { + "position": [ + 0.042348142713308334, + 0.10818091779947281, + 0.06834868341684341 + ], + "orientation": [ + 0.1883702576160431, + -0.9349184036254883, + 0.11778124421834946, + 0.2767163813114166 + ], + "joints": [ + -0.007680508773773909 + ] + }, + "final_grasp": { + "position": [ + 0.042348142713308334, + 0.10818091779947281, + 0.06834868341684341 + ], + "orientation": [ + 0.1883702576160431, + -0.9349184036254883, + 0.11778124421834946, + 0.2767163813114166 + ], + "joints": [ + -0.0007191738113760948 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02022053301334381, + -0.11848543584346771, + 0.01525619626045227 + ], + "orientation": [ + 0.9537348747253418, + 0.001321087358519435, + 0.2823750674724579, + 0.10321015864610672 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.021444788202643394, + -0.12276027351617813, + 0.014293237589299679 + ], + "orientation": [ + 0.95246821641922, + 0.0009284963016398251, + 0.2845629155635834, + 0.1087542325258255 + ], + "joints": [ + -0.007817627862095833 + ] + }, + "final_grasp": { + "position": [ + 0.021444788202643394, + -0.12276027351617813, + 0.014293237589299679 + ], + "orientation": [ + 0.95246821641922, + 0.0009284963016398251, + 0.2845629155635834, + 0.1087542325258255 + ], + "joints": [ + -0.0004046037793159485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01739627867937088, + 0.11040131002664566, + 0.07871507853269577 + ], + "orientation": [ + 0.1491432636976242, + -0.9748284816741943, + 0.10419600456953049, + -0.12887625396251678 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.018289024010300636, + 0.11376388370990753, + 0.07975859940052032 + ], + "orientation": [ + 0.14944873750209808, + -0.9723710417747498, + 0.10980388522148132, + -0.14178457856178284 + ], + "joints": [ + -0.0025506652891635895 + ] + }, + "final_grasp": { + "position": [ + 0.018289024010300636, + 0.11376388370990753, + 0.07975859940052032 + ], + "orientation": [ + 0.14944873750209808, + -0.9723710417747498, + 0.10980388522148132, + -0.14178457856178284 + ], + "joints": [ + 0.0048889294266700745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02028222754597664, + -0.11881515383720398, + 0.01519022136926651 + ], + "orientation": [ + 0.9539324045181274, + 0.0014029985759407282, + 0.2816530466079712, + 0.10335681587457657 + ], + "joints": [ + -0.015230651944875717 + ] + }, + "fine_grasp": { + "position": [ + 0.021572431549429893, + -0.12294869124889374, + 0.014129468239843845 + ], + "orientation": [ + 0.9526751637458801, + 0.0008809980354271829, + 0.2839866280555725, + 0.10844800621271133 + ], + "joints": [ + -0.007817627862095833 + ] + }, + "final_grasp": { + "position": [ + 0.021572431549429893, + -0.12294869124889374, + 0.014129468239843845 + ], + "orientation": [ + 0.9526751637458801, + 0.0008809980354271829, + 0.2839866280555725, + 0.10844800621271133 + ], + "joints": [ + -0.0004046037793159485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013250686228275299, + -0.021310828626155853, + 0.15811409056186676 + ], + "orientation": [ + 0.7337114214897156, + -0.6263329386711121, + 0.22369889914989471, + -0.13904455304145813 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.013618472032248974, + -0.02212047390639782, + 0.15559424459934235 + ], + "orientation": [ + 0.7301406860351562, + -0.6303953528404236, + 0.22435110807418823, + -0.13842982053756714 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.013618472032248974, + -0.02212047390639782, + 0.15559424459934235 + ], + "orientation": [ + 0.7301406860351562, + -0.6303953528404236, + 0.22435110807418823, + -0.13842982053756714 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010244610719382763, + -0.09969114512205124, + 0.09676738828420639 + ], + "orientation": [ + 0.14677369594573975, + -0.002771653700619936, + 0.9535187482833862, + -0.2631573975086212 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.009987782686948776, + -0.10023394972085953, + 0.09698168933391571 + ], + "orientation": [ + 0.15017841756343842, + -0.0010787942446768284, + 0.955116868019104, + -0.25533705949783325 + ], + "joints": [ + -0.0031100325286388397 + ] + }, + "final_grasp": { + "position": [ + -0.009987782686948776, + -0.10023394972085953, + 0.09698168933391571 + ], + "orientation": [ + 0.15017841756343842, + -0.0010787942446768284, + 0.955116868019104, + -0.25533705949783325 + ], + "joints": [ + 0.004329562187194824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03762359917163849, + -0.11240466684103012, + 0.027876440435647964 + ], + "orientation": [ + 0.11866328120231628, + -0.15897366404533386, + -0.9789487719535828, + 0.04801587760448456 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.038055673241615295, + -0.11108853667974472, + 0.02788090519607067 + ], + "orientation": [ + 0.12614960968494415, + -0.1547388881444931, + -0.9787766933441162, + 0.04624200239777565 + ], + "joints": [ + -0.004676263779401779 + ] + }, + "final_grasp": { + "position": [ + -0.038055673241615295, + -0.11108853667974472, + 0.02788090519607067 + ], + "orientation": [ + 0.12614960968494415, + -0.1547388881444931, + -0.9787766933441162, + 0.04624200239777565 + ], + "joints": [ + 0.0006377324461936951 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010152834467589855, + -0.09964623302221298, + 0.09677639603614807 + ], + "orientation": [ + 0.14505775272846222, + -0.0026645842008292675, + 0.953781247138977, + -0.26315850019454956 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + -0.009921160526573658, + -0.10018350929021835, + 0.09687381982803345 + ], + "orientation": [ + 0.14952684938907623, + -0.0010602917755022645, + 0.9551770687103271, + -0.25549420714378357 + ], + "joints": [ + -0.0031100325286388397 + ] + }, + "final_grasp": { + "position": [ + -0.009921160526573658, + -0.10018350929021835, + 0.09687381982803345 + ], + "orientation": [ + 0.14952684938907623, + -0.0010602917755022645, + 0.9551770687103271, + -0.25549420714378357 + ], + "joints": [ + 0.004329562187194824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.037643466144800186, + -0.11247178167104721, + 0.027532067149877548 + ], + "orientation": [ + 0.11827743053436279, + -0.1587723344564438, + -0.9790745973587036, + 0.0470612570643425 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.03799338638782501, + -0.11032218486070633, + 0.027456192299723625 + ], + "orientation": [ + 0.12382549792528152, + -0.1554652899503708, + -0.9789583086967468, + 0.046241890639066696 + ], + "joints": [ + -0.004144864156842232 + ] + }, + "final_grasp": { + "position": [ + -0.03799338638782501, + -0.11032218486070633, + 0.027456192299723625 + ], + "orientation": [ + 0.12382549792528152, + -0.1554652899503708, + -0.9789583086967468, + 0.046241890639066696 + ], + "joints": [ + 0.00170053169131279 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.034225333482027054, + 0.11646125465631485, + 0.013829884119331837 + ], + "orientation": [ + 0.14816831052303314, + 0.4607400894165039, + 0.009304985404014587, + -0.8750304579734802 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.034983981400728226, + 0.11577427387237549, + 0.014140342362225056 + ], + "orientation": [ + 0.14021989703178406, + 0.4682394862174988, + 0.002801762893795967, + -0.8724002838134766 + ], + "joints": [ + -0.00829875748604536 + ] + }, + "final_grasp": { + "position": [ + -0.034983981400728226, + 0.11577427387237549, + 0.014140342362225056 + ], + "orientation": [ + 0.14021989703178406, + 0.4682394862174988, + 0.002801762893795967, + -0.8724002838134766 + ], + "joints": [ + -0.0013374220579862595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03195113688707352, + 0.11140578985214233, + 0.057745929807424545 + ], + "orientation": [ + 0.08804231882095337, + 0.2934330105781555, + -0.15977925062179565, + 0.9384115934371948 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + 0.03330047428607941, + 0.11256471276283264, + 0.05965137109160423 + ], + "orientation": [ + 0.0885491594672203, + 0.29011836647987366, + -0.14986412227153778, + 0.9410267472267151 + ], + "joints": [ + -0.00771282147616148 + ] + }, + "final_grasp": { + "position": [ + 0.03330047428607941, + 0.11256471276283264, + 0.05965137109160423 + ], + "orientation": [ + 0.0885491594672203, + 0.29011836647987366, + -0.14986412227153778, + 0.9410267472267151 + ], + "joints": [ + -0.0007249172776937485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03416150435805321, + 0.1163397878408432, + 0.013850918039679527 + ], + "orientation": [ + 0.14794933795928955, + 0.4613361656665802, + 0.009291679598391056, + -0.874753475189209 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.03497758507728577, + 0.11573710292577744, + 0.014172548428177834 + ], + "orientation": [ + 0.13993322849273682, + 0.4688568115234375, + 0.002766093472018838, + -0.872114896774292 + ], + "joints": [ + -0.00829875748604536 + ] + }, + "final_grasp": { + "position": [ + -0.03497758507728577, + 0.11573710292577744, + 0.014172548428177834 + ], + "orientation": [ + 0.13993322849273682, + 0.4688568115234375, + 0.002766093472018838, + -0.872114896774292 + ], + "joints": [ + -0.0013374220579862595 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038173794746398926, + -0.11577365547418594, + -0.0033155162818729877 + ], + "orientation": [ + 0.48330220580101013, + 0.1832250952720642, + 0.8542090058326721, + 0.05634242668747902 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.036331772804260254, + -0.11184114217758179, + -0.001629722653888166 + ], + "orientation": [ + 0.48591485619544983, + 0.18152880668640137, + 0.8531859517097473, + 0.05484284460544586 + ], + "joints": [ + -0.0072611309587955475 + ] + }, + "final_grasp": { + "position": [ + -0.036331772804260254, + -0.11184114217758179, + -0.001629722653888166 + ], + "orientation": [ + 0.48591485619544983, + 0.18152880668640137, + 0.8531859517097473, + 0.05484284460544586 + ], + "joints": [ + 0.00017846375703811646 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013425040990114212, + 0.11871069669723511, + -0.002263891277834773 + ], + "orientation": [ + 0.09027104824781418, + 0.5952471494674683, + -0.08917809277772903, + -0.7934603095054626 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.01422687154263258, + 0.1174442246556282, + -0.0020357605535537004 + ], + "orientation": [ + 0.08286724984645844, + 0.6008902192115784, + -0.0923224464058876, + -0.789645791053772 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.01422687154263258, + 0.1174442246556282, + -0.0020357605535537004 + ], + "orientation": [ + 0.08286724984645844, + 0.6008902192115784, + -0.0923224464058876, + -0.789645791053772 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013478929176926613, + 0.11869612336158752, + -0.0019783542957156897 + ], + "orientation": [ + 0.08986613899469376, + 0.5956010818481445, + -0.08804831653833389, + -0.7933669090270996 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.014483343809843063, + 0.11770977079868317, + -0.002010767348110676 + ], + "orientation": [ + 0.0829320177435875, + 0.6017609238624573, + -0.09130501747131348, + -0.789094090461731 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.014483343809843063, + 0.11770977079868317, + -0.002010767348110676 + ], + "orientation": [ + 0.0829320177435875, + 0.6017609238624573, + -0.09130501747131348, + -0.789094090461731 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05597571283578873, + -0.10562238097190857, + 0.017793357372283936 + ], + "orientation": [ + 0.8439753651618958, + 0.1305943876504898, + 0.49036890268325806, + -0.173750102519989 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.056964144110679626, + -0.10478473454713821, + 0.018297512084245682 + ], + "orientation": [ + 0.839175820350647, + 0.1253516525030136, + 0.5033029317855835, + -0.163575679063797 + ], + "joints": [ + -0.007736519910395145 + ] + }, + "final_grasp": { + "position": [ + -0.056964144110679626, + -0.10478473454713821, + 0.018297512084245682 + ], + "orientation": [ + 0.839175820350647, + 0.1253516525030136, + 0.5033029317855835, + -0.163575679063797 + ], + "joints": [ + -0.0008017551153898239 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04540816321969032, + -0.11930163949728012, + -0.003160555846989155 + ], + "orientation": [ + 0.4889071583747864, + -0.055270638316869736, + -0.8592250943183899, + -0.14016854763031006 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + -0.04340377449989319, + -0.11900888383388519, + -0.0017798179760575294 + ], + "orientation": [ + 0.4849291741847992, + -0.06428241729736328, + -0.8581222891807556, + -0.15600505471229553 + ], + "joints": [ + -0.008629962801933289 + ] + }, + "final_grasp": { + "position": [ + -0.04340377449989319, + -0.11900888383388519, + -0.0017798179760575294 + ], + "orientation": [ + 0.4849291741847992, + -0.06428241729736328, + -0.8581222891807556, + -0.15600505471229553 + ], + "joints": [ + -0.00432562455534935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05819092318415642, + 0.10371052473783493, + 0.059320997446775436 + ], + "orientation": [ + 0.07590579986572266, + 0.5894162058830261, + 0.22579622268676758, + -0.7719086408615112 + ], + "joints": [ + -0.012257169932126999 + ] + }, + "fine_grasp": { + "position": [ + -0.060748521238565445, + 0.10769690573215485, + 0.060490597039461136 + ], + "orientation": [ + 0.06179918348789215, + 0.604973316192627, + 0.22421492636203766, + -0.761522114276886 + ], + "joints": [ + -0.004817575216293335 + ] + }, + "final_grasp": { + "position": [ + -0.060748521238565445, + 0.10769690573215485, + 0.060490597039461136 + ], + "orientation": [ + 0.06179918348789215, + 0.604973316192627, + 0.22421492636203766, + -0.761522114276886 + ], + "joints": [ + 0.002622019499540329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03217855095863342, + -0.11667491495609283, + 0.009561631828546524 + ], + "orientation": [ + 0.9854883551597595, + 0.015646161511540413, + -0.09743516147136688, + -0.13810940086841583 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.032546382397413254, + -0.11736153066158295, + 0.009072989225387573 + ], + "orientation": [ + 0.9850605726242065, + 0.007810506038367748, + -0.10257183015346527, + -0.13810785114765167 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.032546382397413254, + -0.11736153066158295, + 0.009072989225387573 + ], + "orientation": [ + 0.9850605726242065, + 0.007810506038367748, + -0.10257183015346527, + -0.13810785114765167 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032215993851423264, + -0.11665582656860352, + 0.009556273929774761 + ], + "orientation": [ + 0.9854828715324402, + 0.015450992621481419, + -0.09741822630167007, + -0.13818229734897614 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.03257890045642853, + -0.11735820025205612, + 0.00904517900198698 + ], + "orientation": [ + 0.9850797653198242, + 0.007564804516732693, + -0.10230536758899689, + -0.1381818950176239 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.03257890045642853, + -0.11735820025205612, + 0.00904517900198698 + ], + "orientation": [ + 0.9850797653198242, + 0.007564804516732693, + -0.10230536758899689, + -0.1381818950176239 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07732315361499786, + 0.08678627014160156, + 0.07745547592639923 + ], + "orientation": [ + 0.37601783871650696, + -0.5711541175842285, + 0.004739956930279732, + -0.729637622833252 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + -0.07837529480457306, + 0.08878092467784882, + 0.07734086364507675 + ], + "orientation": [ + 0.3691958785057068, + -0.5841448307037354, + 0.0030294572934508324, + -0.7228140234947205 + ], + "joints": [ + -0.0035868948325514793 + ] + }, + "final_grasp": { + "position": [ + -0.07837529480457306, + 0.08878092467784882, + 0.07734086364507675 + ], + "orientation": [ + 0.3691958785057068, + -0.5841448307037354, + 0.0030294572934508324, + -0.7228140234947205 + ], + "joints": [ + 0.0028164703398942947 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0396394208073616, + 0.11120107024908066, + -0.0025282870046794415 + ], + "orientation": [ + 0.17946167290210724, + 0.7872017025947571, + -0.04007551446557045, + 0.5886431932449341 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.04127258434891701, + 0.11252465099096298, + -0.003638253780081868 + ], + "orientation": [ + 0.17623424530029297, + 0.7886294722557068, + -0.02942279353737831, + 0.5883360505104065 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + 0.04127258434891701, + 0.11252465099096298, + -0.003638253780081868 + ], + "orientation": [ + 0.17623424530029297, + 0.7886294722557068, + -0.02942279353737831, + 0.5883360505104065 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03929336741566658, + 0.11127521097660065, + -0.0027798896189779043 + ], + "orientation": [ + 0.18078495562076569, + 0.7882793545722961, + -0.04036583751440048, + 0.5867733359336853 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.04092606529593468, + 0.1125064417719841, + -0.0035144598223268986 + ], + "orientation": [ + 0.17501409351825714, + 0.788996160030365, + -0.02860417403280735, + 0.5882490873336792 + ], + "joints": [ + -0.005970095284283161 + ] + }, + "final_grasp": { + "position": [ + 0.04092606529593468, + 0.1125064417719841, + -0.0035144598223268986 + ], + "orientation": [ + 0.17501409351825714, + 0.788996160030365, + -0.02860417403280735, + 0.5882490873336792 + ], + "joints": [ + 0.0009646695107221603 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06038680672645569, + -0.10329096019268036, + 0.051502253860235214 + ], + "orientation": [ + 0.781212568283081, + 0.039520248770713806, + 0.5723075866699219, + -0.24618902802467346 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.06138863041996956, + -0.10567306727170944, + 0.05186614394187927 + ], + "orientation": [ + 0.7809517979621887, + 0.03826921433210373, + 0.5758190155029297, + -0.23891912400722504 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.06138863041996956, + -0.10567306727170944, + 0.05186614394187927 + ], + "orientation": [ + 0.7809517979621887, + 0.03826921433210373, + 0.5758190155029297, + -0.23891912400722504 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.058198269456624985, + 0.10371452569961548, + 0.059293970465660095 + ], + "orientation": [ + 0.07580351829528809, + 0.5896552205085754, + 0.22564318776130676, + -0.7717809677124023 + ], + "joints": [ + -0.012257169932126999 + ] + }, + "fine_grasp": { + "position": [ + -0.06076555699110031, + 0.10771004855632782, + 0.06047380343079567 + ], + "orientation": [ + 0.061566948890686035, + 0.6052424311637878, + 0.22406813502311707, + -0.7613701820373535 + ], + "joints": [ + -0.004817575216293335 + ] + }, + "final_grasp": { + "position": [ + -0.06076555699110031, + 0.10771004855632782, + 0.06047380343079567 + ], + "orientation": [ + 0.061566948890686035, + 0.6052424311637878, + 0.22406813502311707, + -0.7613701820373535 + ], + "joints": [ + 0.002622019499540329 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06910639256238937, + -0.09433034807443619, + -0.01950705237686634 + ], + "orientation": [ + 0.7192657589912415, + 0.3181747794151306, + 0.6141827702522278, + -0.0648169293999672 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.07071132212877274, + -0.09356134384870529, + -0.018566548824310303 + ], + "orientation": [ + 0.7150402069091797, + 0.31176233291625977, + 0.6231209635734558, + -0.05693855881690979 + ], + "joints": [ + -0.004261079244315624 + ] + }, + "final_grasp": { + "position": [ + -0.07071132212877274, + -0.09356134384870529, + -0.018566548824310303 + ], + "orientation": [ + 0.7150402069091797, + 0.31176233291625977, + 0.6231209635734558, + -0.05693855881690979 + ], + "joints": [ + 0.0032050851732492447 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0479583814740181, + 0.1111382320523262, + 0.04946371167898178 + ], + "orientation": [ + 0.2054559588432312, + -0.07124827057123184, + 0.06581888347864151, + -0.9738478064537048 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.047070447355508804, + 0.11064603924751282, + 0.048925112932920456 + ], + "orientation": [ + 0.20266598463058472, + -0.0906321257352829, + 0.05891287699341774, + -0.9732634425163269 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.047070447355508804, + 0.11064603924751282, + 0.048925112932920456 + ], + "orientation": [ + 0.20266598463058472, + -0.0906321257352829, + 0.05891287699341774, + -0.9732634425163269 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03305996581912041, + -0.11796779930591583, + 0.009317985735833645 + ], + "orientation": [ + 0.0907759815454483, + 0.14071811735630035, + 0.9855570197105408, + 0.025207912549376488 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.03271782398223877, + -0.11714579910039902, + 0.009327499195933342 + ], + "orientation": [ + 0.10678216814994812, + 0.14074359834194183, + 0.9840770959854126, + 0.019521348178386688 + ], + "joints": [ + -0.0029715169221162796 + ] + }, + "final_grasp": { + "position": [ + -0.03271782398223877, + -0.11714579910039902, + 0.009327499195933342 + ], + "orientation": [ + 0.10678216814994812, + 0.14074359834194183, + 0.9840770959854126, + 0.019521348178386688 + ], + "joints": [ + 0.0034584179520606995 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12457434087991714, + 0.03657550364732742, + 0.0473887138068676 + ], + "orientation": [ + 0.43254926800727844, + 0.44793230295181274, + -0.378534197807312, + 0.6848136782646179 + ], + "joints": [ + -0.012904860079288483 + ] + }, + "fine_grasp": { + "position": [ + 0.12460412830114365, + 0.03703766316175461, + 0.04763878881931305 + ], + "orientation": [ + 0.43358150124549866, + 0.45087358355522156, + -0.37732017040252686, + 0.6828979849815369 + ], + "joints": [ + -0.005996664986014366 + ] + }, + "final_grasp": { + "position": [ + 0.12460412830114365, + 0.03703766316175461, + 0.04763878881931305 + ], + "orientation": [ + 0.43358150124549866, + 0.45087358355522156, + -0.37732017040252686, + 0.6828979849815369 + ], + "joints": [ + 0.0009115301072597504 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04447389394044876, + 0.11071112751960754, + 0.004306562710553408 + ], + "orientation": [ + 0.07366020977497101, + -0.5818129181861877, + 0.1654738485813141, + 0.7928973436355591 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.046325523406267166, + 0.11361125856637955, + 0.003188143251463771 + ], + "orientation": [ + 0.060176145285367966, + -0.5910290479660034, + 0.1640690714120865, + 0.7874928116798401 + ], + "joints": [ + -0.005494706332683563 + ] + }, + "final_grasp": { + "position": [ + 0.046325523406267166, + 0.11361125856637955, + 0.003188143251463771 + ], + "orientation": [ + 0.060176145285367966, + -0.5910290479660034, + 0.1640690714120865, + 0.7874928116798401 + ], + "joints": [ + 0.0019448883831501007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04451465606689453, + 0.1104949489235878, + 0.004188940394669771 + ], + "orientation": [ + 0.07304220646619797, + -0.5826842784881592, + 0.16586069762706757, + 0.7922335267066956 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.046350665390491486, + 0.11302824318408966, + 0.003200903069227934 + ], + "orientation": [ + 0.058989912271499634, + -0.5911967754364014, + 0.1637214571237564, + 0.7875288724899292 + ], + "joints": [ + -0.005494706332683563 + ] + }, + "final_grasp": { + "position": [ + 0.046350665390491486, + 0.11302824318408966, + 0.003200903069227934 + ], + "orientation": [ + 0.058989912271499634, + -0.5911967754364014, + 0.1637214571237564, + 0.7875288724899292 + ], + "joints": [ + 0.0019448883831501007 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1070512905716896, + -0.023823151364922523, + -0.03199635446071625 + ], + "orientation": [ + 0.6646180748939514, + 0.5573650598526001, + -0.32900044322013855, + 0.37334391474723816 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.10643473267555237, + -0.02401127479970455, + -0.032213132828474045 + ], + "orientation": [ + 0.6605662107467651, + 0.5662050247192383, + -0.3375975489616394, + 0.35929396748542786 + ], + "joints": [ + -0.009330717846751213 + ] + }, + "final_grasp": { + "position": [ + 0.10643473267555237, + -0.02401127479970455, + -0.032213132828474045 + ], + "orientation": [ + 0.6605662107467651, + 0.5662050247192383, + -0.3375975489616394, + 0.35929396748542786 + ], + "joints": [ + -0.003990150988101959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0027970485389232635, + 0.11901168525218964, + 0.0010635475628077984 + ], + "orientation": [ + 0.02322704717516899, + 0.12429793924093246, + 0.0631033331155777, + 0.989963948726654 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + 0.00370405544526875, + 0.11835305392742157, + 0.0006854998646304011 + ], + "orientation": [ + 0.02753457799553871, + 0.13852852582931519, + 0.05942859128117561, + 0.988190233707428 + ], + "joints": [ + -0.0029994845390319824 + ] + }, + "final_grasp": { + "position": [ + 0.00370405544526875, + 0.11835305392742157, + 0.0006854998646304011 + ], + "orientation": [ + 0.02753457799553871, + 0.13852852582931519, + 0.05942859128117561, + 0.988190233707428 + ], + "joints": [ + 0.003961849957704544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035026103258132935, + -0.09655512869358063, + -0.04207690432667732 + ], + "orientation": [ + 0.9533509612083435, + 0.26165059208869934, + 0.08172546327114105, + -0.12641961872577667 + ], + "joints": [ + -0.009680360555648804 + ] + }, + "fine_grasp": { + "position": [ + -0.03688705712556839, + -0.09928067773580551, + -0.04172017052769661 + ], + "orientation": [ + 0.9524086713790894, + 0.26133787631988525, + 0.0947335958480835, + -0.12508361041545868 + ], + "joints": [ + -0.003834964707493782 + ] + }, + "final_grasp": { + "position": [ + -0.03688705712556839, + -0.09928067773580551, + -0.04172017052769661 + ], + "orientation": [ + 0.9524086713790894, + 0.26133787631988525, + 0.0947335958480835, + -0.12508361041545868 + ], + "joints": [ + 0.0020104311406612396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1070777103304863, + -0.023830469697713852, + -0.031970854848623276 + ], + "orientation": [ + 0.6646167635917664, + 0.5572765469551086, + -0.32899585366249084, + 0.3734823167324066 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.10647179186344147, + -0.02398107387125492, + -0.03219493106007576 + ], + "orientation": [ + 0.6608142852783203, + 0.5658713579177856, + -0.33733242750167847, + 0.35961219668388367 + ], + "joints": [ + -0.009330717846751213 + ] + }, + "final_grasp": { + "position": [ + 0.10647179186344147, + -0.02398107387125492, + -0.03219493106007576 + ], + "orientation": [ + 0.6608142852783203, + 0.5658713579177856, + -0.33733242750167847, + 0.35961219668388367 + ], + "joints": [ + -0.003990150988101959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04430629312992096, + -0.11567314714193344, + 0.04207826033234596 + ], + "orientation": [ + 0.9819466471672058, + -0.009786148555576801, + 0.04644725099205971, + -0.18310575187206268 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.044307682663202286, + -0.11518405377864838, + 0.041825056076049805 + ], + "orientation": [ + 0.9803138971328735, + -0.0009816449601203203, + 0.07321756333112717, + -0.18336538970470428 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.044307682663202286, + -0.11518405377864838, + 0.041825056076049805 + ], + "orientation": [ + 0.9803138971328735, + -0.0009816449601203203, + 0.07321756333112717, + -0.18336538970470428 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.029894376173615456, + -0.11450894176959991, + 0.035177428275346756 + ], + "orientation": [ + 0.5767638683319092, + 0.11691314727067947, + 0.7958517074584961, + -0.14245998859405518 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.030724046751856804, + -0.11419256031513214, + 0.034947071224451065 + ], + "orientation": [ + 0.5710374116897583, + 0.11273633688688278, + 0.8000635504722595, + -0.1452759951353073 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + -0.030724046751856804, + -0.11419256031513214, + 0.034947071224451065 + ], + "orientation": [ + 0.5710374116897583, + 0.11273633688688278, + 0.8000635504722595, + -0.1452759951353073 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11732720583677292, + 0.052119724452495575, + 0.009078877046704292 + ], + "orientation": [ + 0.4279722571372986, + -0.4100581407546997, + -0.29848867654800415, + -0.748062014579773 + ], + "joints": [ + -0.014053035527467728 + ] + }, + "fine_grasp": { + "position": [ + -0.11526358872652054, + 0.052778106182813644, + 0.008812946267426014 + ], + "orientation": [ + 0.41990402340888977, + -0.4247518479824066, + -0.3106558620929718, + -0.7394317984580994 + ], + "joints": [ + -0.007649669889360666 + ] + }, + "final_grasp": { + "position": [ + -0.11526358872652054, + 0.052778106182813644, + 0.008812946267426014 + ], + "orientation": [ + 0.41990402340888977, + -0.4247518479824066, + -0.3106558620929718, + -0.7394317984580994 + ], + "joints": [ + -0.0012463042512536049 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029615934938192368, + -0.11528387665748596, + 0.0035829455591738224 + ], + "orientation": [ + 0.6071104407310486, + 0.1298382729291916, + -0.7834100127220154, + -0.028770413249731064 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.03040887601673603, + -0.11687958985567093, + 0.0030077951960265636 + ], + "orientation": [ + 0.60883629322052, + 0.12317559123039246, + -0.7829514145851135, + -0.03366395831108093 + ], + "joints": [ + -0.004792478866875172 + ] + }, + "final_grasp": { + "position": [ + 0.03040887601673603, + -0.11687958985567093, + 0.0030077951960265636 + ], + "orientation": [ + 0.60883629322052, + 0.12317559123039246, + -0.7829514145851135, + -0.03366395831108093 + ], + "joints": [ + 0.00214228592813015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0027690387796610594, + 0.11673057079315186, + 0.009351328015327454 + ], + "orientation": [ + 0.0805584043264389, + 0.8653574585914612, + -0.02334759198129177, + -0.4940866231918335 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.001678121043369174, + 0.11932671815156937, + 0.009255008772015572 + ], + "orientation": [ + 0.09163124859333038, + 0.8694329261779785, + -0.027323221787810326, + -0.4847099184989929 + ], + "joints": [ + -0.00936155579984188 + ] + }, + "final_grasp": { + "position": [ + -0.001678121043369174, + 0.11932671815156937, + 0.009255008772015572 + ], + "orientation": [ + 0.09163124859333038, + 0.8694329261779785, + -0.027323221787810326, + -0.4847099184989929 + ], + "joints": [ + -0.0034630186855793 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04458387941122055, + 0.1141103208065033, + 0.03687693551182747 + ], + "orientation": [ + 0.18258121609687805, + 0.08812172710895538, + -0.01364695094525814, + 0.9791386723518372 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.04438532143831253, + 0.1136988028883934, + 0.038368646055459976 + ], + "orientation": [ + 0.18183553218841553, + 0.09482524544000626, + -0.005632353015244007, + 0.9787299633026123 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + 0.04438532143831253, + 0.1136988028883934, + 0.038368646055459976 + ], + "orientation": [ + 0.18183553218841553, + 0.09482524544000626, + -0.005632353015244007, + 0.9787299633026123 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04433175548911095, + 0.11438463628292084, + 0.03656970337033272 + ], + "orientation": [ + 0.1815858632326126, + 0.08386879414319992, + -0.013644173741340637, + 0.9796971678733826 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.04408321902155876, + 0.11385801434516907, + 0.03815598785877228 + ], + "orientation": [ + 0.1806270033121109, + 0.0943530946969986, + -0.005201800726354122, + 0.9790018200874329 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + 0.04408321902155876, + 0.11385801434516907, + 0.03815598785877228 + ], + "orientation": [ + 0.1806270033121109, + 0.0943530946969986, + -0.005201800726354122, + 0.9790018200874329 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05471150204539299, + 0.011609513312578201, + 0.1513025462627411 + ], + "orientation": [ + 0.6519486904144287, + -0.7051452994346619, + -0.002468354068696499, + -0.2787957787513733 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.05354400724172592, + 0.01293901540338993, + 0.14720098674297333 + ], + "orientation": [ + 0.66120845079422, + -0.6990517377853394, + -0.009183395653963089, + -0.2721130847930908 + ], + "joints": [ + -0.008153101429343224 + ] + }, + "final_grasp": { + "position": [ + -0.05354400724172592, + 0.01293901540338993, + 0.14720098674297333 + ], + "orientation": [ + 0.66120845079422, + -0.6990517377853394, + -0.009183395653963089, + -0.2721130847930908 + ], + "joints": [ + -0.0028125345706939697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04438422620296478, + 0.11431095004081726, + 0.03675656393170357 + ], + "orientation": [ + 0.18181583285331726, + 0.08439382165670395, + -0.013437780551612377, + 0.9796122908592224 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.0441441684961319, + 0.11384523659944534, + 0.03837643563747406 + ], + "orientation": [ + 0.18091733753681183, + 0.09395147860050201, + -0.004635576158761978, + 0.9789895415306091 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + 0.0441441684961319, + 0.11384523659944534, + 0.03837643563747406 + ], + "orientation": [ + 0.18091733753681183, + 0.09395147860050201, + -0.004635576158761978, + 0.9789895415306091 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1069929450750351, + -0.023684948682785034, + -0.03199411928653717 + ], + "orientation": [ + 0.6648560166358948, + 0.5570859909057617, + -0.3284125030040741, + 0.3738541901111603 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + 0.1063617467880249, + -0.023701686412096024, + -0.03210970386862755 + ], + "orientation": [ + 0.6621209979057312, + 0.564588725566864, + -0.3355635702610016, + 0.36087721586227417 + ], + "joints": [ + -0.009330717846751213 + ] + }, + "final_grasp": { + "position": [ + 0.1063617467880249, + -0.023701686412096024, + -0.03210970386862755 + ], + "orientation": [ + 0.6621209979057312, + 0.564588725566864, + -0.3355635702610016, + 0.36087721586227417 + ], + "joints": [ + -0.003990150988101959 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07249938696622849, + 0.10050248354673386, + 0.009412462823092937 + ], + "orientation": [ + 0.19381795823574066, + 0.7849856019020081, + 0.16483184695243835, + -0.5648564100265503 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + -0.07312219589948654, + 0.10197336971759796, + 0.009354713372886181 + ], + "orientation": [ + 0.19980557262897491, + 0.7721827626228333, + 0.16909582912921906, + -0.5789804458618164 + ], + "joints": [ + -0.005350448191165924 + ] + }, + "final_grasp": { + "position": [ + -0.07312219589948654, + 0.10197336971759796, + 0.009354713372886181 + ], + "orientation": [ + 0.19980557262897491, + 0.7721827626228333, + 0.16909582912921906, + -0.5789804458618164 + ], + "joints": [ + 0.001026347279548645 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02030615136027336, + -0.10279139876365662, + -0.035570211708545685 + ], + "orientation": [ + 0.9611290693283081, + 0.23837007582187653, + -0.12934905290603638, + 0.051762912422418594 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.02049245499074459, + -0.10471154004335403, + -0.03604402765631676 + ], + "orientation": [ + 0.9625192284584045, + 0.23336704075336456, + -0.12615926563739777, + 0.05639657378196716 + ], + "joints": [ + -0.003614862449467182 + ] + }, + "final_grasp": { + "position": [ + 0.02049245499074459, + -0.10471154004335403, + -0.03604402765631676 + ], + "orientation": [ + 0.9625192284584045, + 0.23336704075336456, + -0.12615926563739777, + 0.05639657378196716 + ], + "joints": [ + 0.0033199023455381393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02014733850955963, + -0.10287711769342422, + -0.035523682832717896 + ], + "orientation": [ + 0.9613890647888184, + 0.23792527616024017, + -0.12836521863937378, + 0.051428116858005524 + ], + "joints": [ + -0.010549627244472504 + ] + }, + "fine_grasp": { + "position": [ + 0.020356275141239166, + -0.1047876849770546, + -0.03585396334528923 + ], + "orientation": [ + 0.9628390073776245, + 0.23256397247314453, + -0.12525629997253418, + 0.056266821920871735 + ], + "joints": [ + -0.0031100325286388397 + ] + }, + "final_grasp": { + "position": [ + 0.020356275141239166, + -0.1047876849770546, + -0.03585396334528923 + ], + "orientation": [ + 0.9628390073776245, + 0.23256397247314453, + -0.12525629997253418, + 0.056266821920871735 + ], + "joints": [ + 0.004329562187194824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05077235773205757, + -0.07968834787607193, + -0.0649196058511734 + ], + "orientation": [ + 0.9111049771308899, + 0.32255691289901733, + 0.04896753281354904, + 0.25188663601875305 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.04933295026421547, + -0.0777711570262909, + -0.0641881674528122 + ], + "orientation": [ + 0.9142757058143616, + 0.32083335518836975, + 0.03522159159183502, + 0.2447965294122696 + ], + "joints": [ + -0.0013185112038627267 + ] + }, + "final_grasp": { + "position": [ + 0.04933295026421547, + -0.0777711570262909, + -0.0641881674528122 + ], + "orientation": [ + 0.9142757058143616, + 0.32083335518836975, + 0.03522159159183502, + 0.2447965294122696 + ], + "joints": [ + 0.005616254173219204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0054127732291817665, + -0.1229739859700203, + 0.027992505580186844 + ], + "orientation": [ + 0.5951079726219177, + -0.0003287862928118557, + -0.8035717606544495, + 0.010898775421082973 + ], + "joints": [ + -0.012875419110059738 + ] + }, + "fine_grasp": { + "position": [ + -0.005947174970060587, + -0.1260506510734558, + 0.02764582820236683 + ], + "orientation": [ + 0.593536376953125, + 0.007816134952008724, + -0.804692268371582, + 0.011133518069982529 + ], + "joints": [ + -0.006445484235882759 + ] + }, + "final_grasp": { + "position": [ + -0.005947174970060587, + -0.1260506510734558, + 0.02764582820236683 + ], + "orientation": [ + 0.593536376953125, + 0.007816134952008724, + -0.804692268371582, + 0.011133518069982529 + ], + "joints": [ + -1.554936170578003e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01785355992615223, + -0.11008211225271225, + 0.07675852626562119 + ], + "orientation": [ + 0.7250577807426453, + -0.12517428398132324, + 0.6543340682983398, + -0.17455503344535828 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.017939403653144836, + -0.10995788872241974, + 0.07651569694280624 + ], + "orientation": [ + 0.73857581615448, + -0.1295793056488037, + 0.6405730843544006, + -0.16547247767448425 + ], + "joints": [ + -0.004231713712215424 + ] + }, + "final_grasp": { + "position": [ + -0.017939403653144836, + -0.10995788872241974, + 0.07651569694280624 + ], + "orientation": [ + 0.73857581615448, + -0.1295793056488037, + 0.6405730843544006, + -0.16547247767448425 + ], + "joints": [ + 0.0021450817584991455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10654974728822708, + -0.05390017852187157, + 0.05604655668139458 + ], + "orientation": [ + 0.49661412835121155, + 0.3077668845653534, + -0.7260224223136902, + 0.3626917898654938 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.1030268445611, + -0.053572189062833786, + 0.05601521581411362 + ], + "orientation": [ + 0.4997267425060272, + 0.3020293414592743, + -0.7206091284751892, + 0.3738635778427124 + ], + "joints": [ + -0.00650296825915575 + ] + }, + "final_grasp": { + "position": [ + 0.1030268445611, + -0.053572189062833786, + 0.05601521581411362 + ], + "orientation": [ + 0.4997267425060272, + 0.3020293414592743, + -0.7206091284751892, + 0.3738635778427124 + ], + "joints": [ + -0.0006310027092695236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.050708625465631485, + -0.0795973688364029, + -0.06494724750518799 + ], + "orientation": [ + 0.91133713722229, + 0.3217327892780304, + 0.04953936114907265, + 0.2519890069961548 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.04929955676198006, + -0.07786880433559418, + -0.06438283622264862 + ], + "orientation": [ + 0.9146583080291748, + 0.3200867176055908, + 0.035017214715480804, + 0.24437357485294342 + ], + "joints": [ + -0.0013185112038627267 + ] + }, + "final_grasp": { + "position": [ + 0.04929955676198006, + -0.07786880433559418, + -0.06438283622264862 + ], + "orientation": [ + 0.9146583080291748, + 0.3200867176055908, + 0.035017214715480804, + 0.24437357485294342 + ], + "joints": [ + 0.005616254173219204 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02238585241138935, + 0.009823835454881191, + 0.14379338920116425 + ], + "orientation": [ + 0.6315329074859619, + -0.7570631504058838, + 0.16435137391090393, + -0.03178224712610245 + ], + "joints": [ + -0.010049141943454742 + ] + }, + "fine_grasp": { + "position": [ + 0.025687040761113167, + 0.009832935407757759, + 0.14061252772808075 + ], + "orientation": [ + 0.6318989992141724, + -0.7507995963096619, + 0.18862776458263397, + -0.03772437572479248 + ], + "joints": [ + -0.0036192070692777634 + ] + }, + "final_grasp": { + "position": [ + 0.025687040761113167, + 0.009832935407757759, + 0.14061252772808075 + ], + "orientation": [ + 0.6318989992141724, + -0.7507995963096619, + 0.18862776458263397, + -0.03772437572479248 + ], + "joints": [ + 0.0028107278048992157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09632138162851334, + -0.07322549819946289, + 0.050975944846868515 + ], + "orientation": [ + 0.4130997657775879, + 0.3361596167087555, + -0.7968314290046692, + 0.2853153944015503 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + 0.0931755006313324, + -0.07163560390472412, + 0.05079811438918114 + ], + "orientation": [ + 0.4092026948928833, + 0.33594781160354614, + -0.7974419593811035, + 0.2894451916217804 + ], + "joints": [ + -0.007879380136728287 + ] + }, + "final_grasp": { + "position": [ + 0.0931755006313324, + -0.07163560390472412, + 0.05079811438918114 + ], + "orientation": [ + 0.4092026948928833, + 0.33594781160354614, + -0.7974419593811035, + 0.2894451916217804 + ], + "joints": [ + -0.0004397854208946228 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013784562237560749, + -0.06716668605804443, + 0.12571126222610474 + ], + "orientation": [ + 0.23054207861423492, + -0.07026584446430206, + -0.8578248023986816, + 0.45392677187919617 + ], + "joints": [ + -0.012934301048517227 + ] + }, + "fine_grasp": { + "position": [ + 0.014102866873145103, + -0.06875017285346985, + 0.12666282057762146 + ], + "orientation": [ + 0.22970335185527802, + -0.06856279075145721, + -0.8615000247955322, + 0.44760826230049133 + ], + "joints": [ + -0.0070623354986310005 + ] + }, + "final_grasp": { + "position": [ + 0.014102866873145103, + -0.06875017285346985, + 0.12666282057762146 + ], + "orientation": [ + 0.22970335185527802, + -0.06856279075145721, + -0.8615000247955322, + 0.44760826230049133 + ], + "joints": [ + -0.0011903699487447739 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0461953729391098, + 0.11224804073572159, + 0.030823515728116035 + ], + "orientation": [ + 0.12857183814048767, + 0.5687536597251892, + 0.1015525534749031, + -0.8060245513916016 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.04746776446700096, + 0.11162876337766647, + 0.03015565499663353 + ], + "orientation": [ + 0.12546850740909576, + 0.567111074924469, + 0.0953509584069252, + -0.8084248900413513 + ], + "joints": [ + -0.005942127667367458 + ] + }, + "final_grasp": { + "position": [ + -0.04746776446700096, + 0.11162876337766647, + 0.03015565499663353 + ], + "orientation": [ + 0.12546850740909576, + 0.567111074924469, + 0.0953509584069252, + -0.8084248900413513 + ], + "joints": [ + 0.00046123750507831573 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017044417560100555, + -0.11020279675722122, + -0.02504902519285679 + ], + "orientation": [ + 0.9753361344337463, + 0.16139712929725647, + -0.11583925783634186, + -0.09618494659662247 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.017539283260703087, + -0.11187615990638733, + -0.025889452546834946 + ], + "orientation": [ + 0.9753313660621643, + 0.15723246335983276, + -0.12034858763217926, + -0.09758462011814117 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.017539283260703087, + -0.11187615990638733, + -0.025889452546834946 + ], + "orientation": [ + 0.9753313660621643, + 0.15723246335983276, + -0.12034858763217926, + -0.09758462011814117 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.039995770901441574, + -0.1193842887878418, + 0.054620299488306046 + ], + "orientation": [ + 0.6200482249259949, + 0.0042845201678574085, + -0.771239161491394, + 0.14391647279262543 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + 0.039152197539806366, + -0.11659136414527893, + 0.054204218089580536 + ], + "orientation": [ + 0.6246796250343323, + 0.003094291780143976, + -0.7671065330505371, + 0.14599157869815826 + ], + "joints": [ + -0.004851360805332661 + ] + }, + "final_grasp": { + "position": [ + 0.039152197539806366, + -0.11659136414527893, + 0.054204218089580536 + ], + "orientation": [ + 0.6246796250343323, + 0.003094291780143976, + -0.7671065330505371, + 0.14599157869815826 + ], + "joints": [ + 0.002083403989672661 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01705174334347248, + -0.11028385907411575, + -0.025166403502225876 + ], + "orientation": [ + 0.9753722548484802, + 0.1612345278263092, + -0.11579303443431854, + -0.09614744782447815 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.017545634880661964, + -0.1119234561920166, + -0.02590029127895832 + ], + "orientation": [ + 0.9754558801651001, + 0.15727707743644714, + -0.11991863697767258, + -0.09679453819990158 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.017545634880661964, + -0.1119234561920166, + -0.02590029127895832 + ], + "orientation": [ + 0.9754558801651001, + 0.15727707743644714, + -0.11991863697767258, + -0.09679453819990158 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.054690536111593246, + 0.011639438569545746, + 0.15127864480018616 + ], + "orientation": [ + 0.65201735496521, + -0.7051328420639038, + -0.0026519198436290026, + -0.27866482734680176 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.053511518985033035, + 0.012968918308615685, + 0.1470489501953125 + ], + "orientation": [ + 0.661458432674408, + -0.698882520198822, + -0.0094069205224514, + -0.2719326913356781 + ], + "joints": [ + -0.008153101429343224 + ] + }, + "final_grasp": { + "position": [ + -0.053511518985033035, + 0.012968918308615685, + 0.1470489501953125 + ], + "orientation": [ + 0.661458432674408, + -0.698882520198822, + -0.0094069205224514, + -0.2719326913356781 + ], + "joints": [ + -0.0028125345706939697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05450068414211273, + 0.011677582748234272, + 0.15125536918640137 + ], + "orientation": [ + 0.6516085267066956, + -0.7056411504745483, + -0.002062482526525855, + -0.2783389687538147 + ], + "joints": [ + -0.013493668287992477 + ] + }, + "fine_grasp": { + "position": [ + -0.05338122695684433, + 0.013056082651019096, + 0.14723318815231323 + ], + "orientation": [ + 0.6608259081840515, + -0.6996316909790039, + -0.009053320623934269, + -0.2715563476085663 + ], + "joints": [ + -0.008153101429343224 + ] + }, + "final_grasp": { + "position": [ + -0.05338122695684433, + 0.013056082651019096, + 0.14723318815231323 + ], + "orientation": [ + 0.6608259081840515, + -0.6996316909790039, + -0.009053320623934269, + -0.2715563476085663 + ], + "joints": [ + -0.0028125345706939697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041610438376665115, + -0.11719008535146713, + 0.033296577632427216 + ], + "orientation": [ + 0.9793061017990112, + -0.06248624995350838, + 0.08695481717586517, + -0.17173807322978973 + ], + "joints": [ + -0.010019700974225998 + ] + }, + "fine_grasp": { + "position": [ + -0.040596917271614075, + -0.11326377838850021, + 0.031091663986444473 + ], + "orientation": [ + 0.979526937007904, + -0.07026689499616623, + 0.09298393875360489, + -0.16414499282836914 + ], + "joints": [ + -0.003642905503511429 + ] + }, + "final_grasp": { + "position": [ + -0.040596917271614075, + -0.11326377838850021, + 0.031091663986444473 + ], + "orientation": [ + 0.979526937007904, + -0.07026689499616623, + 0.09298393875360489, + -0.16414499282836914 + ], + "joints": [ + 0.0027338899672031403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11526493728160858, + -0.003965463489294052, + 0.005424560513347387 + ], + "orientation": [ + 0.592231035232544, + -0.27761101722717285, + -0.41536569595336914, + -0.6321913003921509 + ], + "joints": [ + -0.011226758360862732 + ] + }, + "fine_grasp": { + "position": [ + -0.11728201061487198, + -0.0028821751475334167, + 0.003964023664593697 + ], + "orientation": [ + 0.5752745270729065, + -0.2920176386833191, + -0.4315182864665985, + -0.6305369734764099 + ], + "joints": [ + -0.004823393188416958 + ] + }, + "final_grasp": { + "position": [ + -0.11728201061487198, + -0.0028821751475334167, + 0.003964023664593697 + ], + "orientation": [ + 0.5752745270729065, + -0.2920176386833191, + -0.4315182864665985, + -0.6305369734764099 + ], + "joints": [ + 0.0015799719840288162 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03017592616379261, + -0.11086766421794891, + -0.010957136750221252 + ], + "orientation": [ + 0.8401544094085693, + 0.1966429203748703, + 0.5049211382865906, + -0.022949323058128357 + ], + "joints": [ + -0.014700725674629211 + ] + }, + "fine_grasp": { + "position": [ + -0.03244448080658913, + -0.11257331073284149, + -0.01178932748734951 + ], + "orientation": [ + 0.8386389017105103, + 0.19045349955558777, + 0.5100081562995911, + -0.01742943376302719 + ], + "joints": [ + -0.007739390712231398 + ] + }, + "final_grasp": { + "position": [ + -0.03244448080658913, + -0.11257331073284149, + -0.01178932748734951 + ], + "orientation": [ + 0.8386389017105103, + 0.19045349955558777, + 0.5100081562995911, + -0.01742943376302719 + ], + "joints": [ + -0.0007780557498335838 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02375755086541176, + 0.11737541109323502, + 0.0021714395843446255 + ], + "orientation": [ + 0.12169504910707474, + 0.7700213193893433, + 0.009698806330561638, + 0.626229465007782 + ], + "joints": [ + -0.012316051870584488 + ] + }, + "fine_grasp": { + "position": [ + 0.025379547849297523, + 0.11868691444396973, + 0.0013741960283368826 + ], + "orientation": [ + 0.11996760964393616, + 0.7735394239425659, + 0.014810843393206596, + 0.6221135258674622 + ], + "joints": [ + -0.004876457154750824 + ] + }, + "final_grasp": { + "position": [ + 0.025379547849297523, + 0.11868691444396973, + 0.0013741960283368826 + ], + "orientation": [ + 0.11996760964393616, + 0.7735394239425659, + 0.014810843393206596, + 0.6221135258674622 + ], + "joints": [ + 0.00256313756108284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024192042648792267, + 0.11886338889598846, + 0.0415944941341877 + ], + "orientation": [ + 0.08679573237895966, + -0.6040308475494385, + 0.024175938218832016, + -0.7918515205383301 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.02417941950261593, + 0.1183876246213913, + 0.04105369374155998 + ], + "orientation": [ + 0.08724521845579147, + -0.6052780747413635, + 0.028619511052966118, + -0.7907007932662964 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + -0.02417941950261593, + 0.1183876246213913, + 0.04105369374155998 + ], + "orientation": [ + 0.08724521845579147, + -0.6052780747413635, + 0.028619511052966118, + -0.7907007932662964 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02012188732624054, + -0.11739955842494965, + 0.005150024779140949 + ], + "orientation": [ + 0.6377652287483215, + 0.09641275554895401, + -0.7631037831306458, + -0.040408290922641754 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.02102471888065338, + -0.11910389363765717, + 0.004123042803257704 + ], + "orientation": [ + 0.6259468793869019, + 0.0953221246600151, + -0.7726658582687378, + -0.045734018087387085 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.02102471888065338, + -0.11910389363765717, + 0.004123042803257704 + ], + "orientation": [ + 0.6259468793869019, + 0.0953221246600151, + -0.7726658582687378, + -0.045734018087387085 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0014299906324595213, + -0.11962926387786865, + 0.0038856917526572943 + ], + "orientation": [ + 0.7686769962310791, + 0.09370173513889313, + 0.6314821243286133, + 0.039825521409511566 + ], + "joints": [ + -0.011727243661880493 + ] + }, + "fine_grasp": { + "position": [ + 0.0023932347539812326, + -0.11942816525697708, + 0.003366960911080241 + ], + "orientation": [ + 0.7745496034622192, + 0.09828647971153259, + 0.6238349080085754, + 0.03525204584002495 + ], + "joints": [ + -0.004792478866875172 + ] + }, + "final_grasp": { + "position": [ + 0.0023932347539812326, + -0.11942816525697708, + 0.003366960911080241 + ], + "orientation": [ + 0.7745496034622192, + 0.09828647971153259, + 0.6238349080085754, + 0.03525204584002495 + ], + "joints": [ + 0.00214228592813015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019238991662859917, + -0.0850260779261589, + 0.11928194016218185 + ], + "orientation": [ + 0.1206977367401123, + -0.1419847011566162, + -0.9214011430740356, + 0.34101662039756775 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.019155403599143028, + -0.08622235804796219, + 0.11941298097372055 + ], + "orientation": [ + 0.12329062819480896, + -0.1418076753616333, + -0.9229337573051453, + 0.3359811305999756 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.019155403599143028, + -0.08622235804796219, + 0.11941298097372055 + ], + "orientation": [ + 0.12329062819480896, + -0.1418076753616333, + -0.9229337573051453, + 0.3359811305999756 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016987094655632973, + -0.11026021093130112, + -0.025260353460907936 + ], + "orientation": [ + 0.9753230214118958, + 0.1617160588502884, + -0.11573968082666397, + -0.09590236097574234 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.017430776730179787, + -0.11188187450170517, + -0.026038704439997673 + ], + "orientation": [ + 0.9753552079200745, + 0.15770040452480316, + -0.11994714289903641, + -0.09708406031131744 + ], + "joints": [ + -0.002466687001287937 + ] + }, + "final_grasp": { + "position": [ + -0.017430776730179787, + -0.11188187450170517, + -0.026038704439997673 + ], + "orientation": [ + 0.9753552079200745, + 0.15770040452480316, + -0.11994714289903641, + -0.09708406031131744 + ], + "joints": [ + 0.004468077793717384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03898698091506958, + 0.11122515797615051, + -0.0059537580236792564 + ], + "orientation": [ + 0.04337969422340393, + 0.7525674104690552, + -0.17623169720172882, + -0.6330111026763916 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + 0.039916813373565674, + 0.1134205013513565, + -0.0070785945281386375 + ], + "orientation": [ + 0.04669841751456261, + 0.7487838864326477, + -0.17611652612686157, + -0.6372793316841125 + ], + "joints": [ + -0.0036722710356116295 + ] + }, + "final_grasp": { + "position": [ + 0.039916813373565674, + 0.1134205013513565, + -0.0070785945281386375 + ], + "orientation": [ + 0.04669841751456261, + 0.7487838864326477, + -0.17611652612686157, + -0.6372793316841125 + ], + "joints": [ + 0.0037938933819532394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11498657613992691, + -0.06039080396294594, + 0.019493449479341507 + ], + "orientation": [ + 0.7066168189048767, + 0.2983492314815521, + -0.5193425416946411, + 0.3767808675765991 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + 0.11674786359071732, + -0.06215808540582657, + 0.019206704571843147 + ], + "orientation": [ + 0.7090827822685242, + 0.2950438857078552, + -0.5138827562332153, + 0.38219791650772095 + ], + "joints": [ + -0.005437297746539116 + ] + }, + "final_grasp": { + "position": [ + 0.11674786359071732, + -0.06215808540582657, + 0.019206704571843147 + ], + "orientation": [ + 0.7090827822685242, + 0.2950438857078552, + -0.5138827562332153, + 0.38219791650772095 + ], + "joints": [ + 0.0014708973467350006 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0026062713004648685, + 0.11761290580034256, + 0.058493368327617645 + ], + "orientation": [ + 0.1314709484577179, + -0.7534233331680298, + 0.050738491117954254, + -0.6422571539878845 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0022007012739777565, + 0.11691924929618835, + 0.05862097814679146 + ], + "orientation": [ + 0.13296951353549957, + -0.7567610740661621, + 0.047374848276376724, + -0.6382691860198975 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.0022007012739777565, + 0.11691924929618835, + 0.05862097814679146 + ], + "orientation": [ + 0.13296951353549957, + -0.7567610740661621, + 0.047374848276376724, + -0.6382691860198975 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002636732766404748, + 0.1176118478178978, + 0.05855889990925789 + ], + "orientation": [ + 0.1315489411354065, + -0.7535596489906311, + 0.051002807915210724, + -0.642060399055481 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.0021787434816360474, + 0.1168564036488533, + 0.05869365483522415 + ], + "orientation": [ + 0.13299739360809326, + -0.7568469047546387, + 0.04762724041938782, + -0.6381428241729736 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + -0.0021787434816360474, + 0.1168564036488533, + 0.05869365483522415 + ], + "orientation": [ + 0.13299739360809326, + -0.7568469047546387, + 0.04762724041938782, + -0.6381428241729736 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.041433244943618774, + -0.11361505836248398, + 0.00293638720177114 + ], + "orientation": [ + 0.6250044703483582, + -0.04671475663781166, + -0.7615569233894348, + -0.16497981548309326 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.04260461777448654, + -0.11511577665805817, + 0.0021214280277490616 + ], + "orientation": [ + 0.6269940733909607, + -0.038835518062114716, + -0.7607568502426147, + -0.1631542444229126 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + -0.04260461777448654, + -0.11511577665805817, + 0.0021214280277490616 + ], + "orientation": [ + 0.6269940733909607, + -0.038835518062114716, + -0.7607568502426147, + -0.1631542444229126 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011620446108281612, + 0.10395526140928268, + 0.09259112179279327 + ], + "orientation": [ + 0.07500574737787247, + -0.09048905223608017, + 0.2248430997133255, + -0.9672804474830627 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.011881690472364426, + 0.1051013171672821, + 0.09326248615980148 + ], + "orientation": [ + 0.07858825474977493, + -0.10730066150426865, + 0.22383759915828705, + -0.965508759021759 + ], + "joints": [ + -0.00240927841514349 + ] + }, + "final_grasp": { + "position": [ + -0.011881690472364426, + 0.1051013171672821, + 0.09326248615980148 + ], + "orientation": [ + 0.07858825474977493, + -0.10730066150426865, + 0.22383759915828705, + -0.965508759021759 + ], + "joints": [ + 0.003994086757302284 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015854356810450554, + 0.11320745944976807, + -0.0021966146305203438 + ], + "orientation": [ + 0.05969645455479622, + 0.6245273351669312, + 0.1030559241771698, + 0.7718688249588013 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.01607397571206093, + 0.11381853371858597, + -0.0039933533407747746 + ], + "orientation": [ + 0.06298007816076279, + 0.6267521977424622, + 0.10013412684202194, + 0.770187258720398 + ], + "joints": [ + -0.005884719081223011 + ] + }, + "final_grasp": { + "position": [ + -0.01607397571206093, + 0.11381853371858597, + -0.0039933533407747746 + ], + "orientation": [ + 0.06298007816076279, + 0.6267521977424622, + 0.10013412684202194, + 0.770187258720398 + ], + "joints": [ + -1.2753531336784363e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10782121866941452, + 0.02445693127810955, + 0.0668318048119545 + ], + "orientation": [ + 0.4181782305240631, + 0.3680350184440613, + -0.46879464387893677, + 0.6854989528656006 + ], + "joints": [ + -0.014111917465925217 + ] + }, + "fine_grasp": { + "position": [ + 0.10599088668823242, + 0.024905426427721977, + 0.06829214841127396 + ], + "orientation": [ + 0.41110095381736755, + 0.354653924703598, + -0.46940183639526367, + 0.6963320374488831 + ], + "joints": [ + -0.007708552293479443 + ] + }, + "final_grasp": { + "position": [ + 0.10599088668823242, + 0.024905426427721977, + 0.06829214841127396 + ], + "orientation": [ + 0.41110095381736755, + 0.354653924703598, + -0.46940183639526367, + 0.6963320374488831 + ], + "joints": [ + -0.0013051871210336685 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04750837758183479, + 0.11129448562860489, + 0.049074992537498474 + ], + "orientation": [ + 0.20361733436584473, + -0.0701490044593811, + 0.0719415545463562, + -0.9738806486129761 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.046767737716436386, + 0.11102647334337234, + 0.04781682416796684 + ], + "orientation": [ + 0.2006138414144516, + -0.07435029745101929, + 0.06970828026533127, + -0.97435462474823 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.046767737716436386, + 0.11102647334337234, + 0.04781682416796684 + ], + "orientation": [ + 0.2006138414144516, + -0.07435029745101929, + 0.06970828026533127, + -0.97435462474823 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09240087121725082, + 0.0806240513920784, + 2.541894355090335e-05 + ], + "orientation": [ + 0.34240061044692993, + 0.6800099015235901, + -0.1969982385635376, + 0.6176891922950745 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.09508302062749863, + 0.08243264257907867, + -0.0024521357845515013 + ], + "orientation": [ + 0.3451670706272125, + 0.686167299747467, + -0.19027580320835114, + 0.6114158034324646 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + 0.09508302062749863, + 0.08243264257907867, + -0.0024521357845515013 + ], + "orientation": [ + 0.3451670706272125, + 0.686167299747467, + -0.19027580320835114, + 0.6114158034324646 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1059560775756836, + 0.07347173243761063, + 0.020190991461277008 + ], + "orientation": [ + 0.36754336953163147, + 0.5445172190666199, + -0.22512729465961456, + 0.7195349931716919 + ], + "joints": [ + -0.011197317391633987 + ] + }, + "fine_grasp": { + "position": [ + 0.10680706053972244, + 0.07475948333740234, + 0.01953469030559063 + ], + "orientation": [ + 0.3663637340068817, + 0.5461252927780151, + -0.216857448220253, + 0.7214553356170654 + ], + "joints": [ + -0.004793952219188213 + ] + }, + "final_grasp": { + "position": [ + 0.10680706053972244, + 0.07475948333740234, + 0.01953469030559063 + ], + "orientation": [ + 0.3663637340068817, + 0.5461252927780151, + -0.216857448220253, + 0.7214553356170654 + ], + "joints": [ + 0.0016094129532575607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13020341098308563, + 0.020146362483501434, + 0.006783784832805395 + ], + "orientation": [ + 0.38401931524276733, + 0.6688312292098999, + 0.4904714822769165, + -0.40574830770492554 + ], + "joints": [ + -0.012345492839813232 + ] + }, + "fine_grasp": { + "position": [ + -0.1269931197166443, + 0.020877568051218987, + 0.00667412718757987 + ], + "orientation": [ + 0.3910662531852722, + 0.6636397838592529, + 0.48879191279411316, + -0.40955081582069397 + ], + "joints": [ + -0.006473527289927006 + ] + }, + "final_grasp": { + "position": [ + -0.1269931197166443, + 0.020877568051218987, + 0.00667412718757987 + ], + "orientation": [ + 0.3910662531852722, + 0.6636397838592529, + 0.48879191279411316, + -0.40955081582069397 + ], + "joints": [ + -0.0006015617400407791 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12095320969820023, + 0.027168603613972664, + 0.04412414878606796 + ], + "orientation": [ + 0.3136063814163208, + 0.6025350093841553, + 0.5117287635803223, + -0.5260573625564575 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12108423560857773, + 0.028032643720507622, + 0.046765439212322235 + ], + "orientation": [ + 0.3075156509876251, + 0.5966544151306152, + 0.5180931687355042, + -0.5301105976104736 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + -0.12108423560857773, + 0.028032643720507622, + 0.046765439212322235 + ], + "orientation": [ + 0.3075156509876251, + 0.5966544151306152, + 0.5180931687355042, + -0.5301105976104736 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12079733610153198, + 0.026781486347317696, + 0.044034961611032486 + ], + "orientation": [ + 0.3143148422241211, + 0.6022234559059143, + 0.5129218697547913, + -0.524827778339386 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12123388797044754, + 0.027684014290571213, + 0.0466277077794075 + ], + "orientation": [ + 0.30793869495391846, + 0.5968272686004639, + 0.5191195607185364, + -0.5286642909049988 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + -0.12123388797044754, + 0.027684014290571213, + 0.0466277077794075 + ], + "orientation": [ + 0.30793869495391846, + 0.5968272686004639, + 0.5191195607185364, + -0.5286642909049988 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01153451669961214, + 0.11650179326534271, + -0.010560346767306328 + ], + "orientation": [ + 0.11984016746282578, + 0.7466663718223572, + 0.09665387123823166, + 0.647136390209198 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.012581881135702133, + 0.1163582056760788, + -0.010849857702851295 + ], + "orientation": [ + 0.1164732277393341, + 0.7492561936378479, + 0.10048820078372955, + 0.6441670656204224 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + 0.012581881135702133, + 0.1163582056760788, + -0.010849857702851295 + ], + "orientation": [ + 0.1164732277393341, + 0.7492561936378479, + 0.10048820078372955, + 0.6441670656204224 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12092039734125137, + 0.027017034590244293, + 0.04398549720644951 + ], + "orientation": [ + 0.31416788697242737, + 0.6025830507278442, + 0.5120205283164978, + -0.5253828167915344 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.12102323025465012, + 0.02790757268667221, + 0.046569786965847015 + ], + "orientation": [ + 0.30811643600463867, + 0.5969424843788147, + 0.5182620286941528, + -0.52927166223526 + ], + "joints": [ + -0.004233111627399921 + ] + }, + "final_grasp": { + "position": [ + -0.12102323025465012, + 0.02790757268667221, + 0.046569786965847015 + ], + "orientation": [ + 0.30811643600463867, + 0.5969424843788147, + 0.5182620286941528, + -0.52927166223526 + ], + "joints": [ + 0.0027016531676054 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 2.9631759389303625e-05, + 0.10173529386520386, + 0.10540862381458282 + ], + "orientation": [ + 0.2707920968532562, + -0.9578492641448975, + 0.033972613513469696, + -0.08967871218919754 + ], + "joints": [ + -0.009990260004997253 + ] + }, + "fine_grasp": { + "position": [ + 0.0003235749318264425, + 0.10248482972383499, + 0.10556038469076157 + ], + "orientation": [ + 0.27050530910491943, + -0.9566662907600403, + 0.04112632945179939, + -0.09962500631809235 + ], + "joints": [ + -0.0025506652891635895 + ] + }, + "final_grasp": { + "position": [ + 0.0003235749318264425, + 0.10248482972383499, + 0.10556038469076157 + ], + "orientation": [ + 0.27050530910491943, + -0.9566662907600403, + 0.04112632945179939, + -0.09962500631809235 + ], + "joints": [ + 0.0048889294266700745 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049985386431217194, + 0.1131882444024086, + 0.013232165016233921 + ], + "orientation": [ + 0.16471263766288757, + 0.6346666812896729, + -0.05748327448964119, + 0.7528369426727295 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.050246648490428925, + 0.11469795554876328, + 0.012627046555280685 + ], + "orientation": [ + 0.17075297236442566, + 0.6209653615951538, + -0.0525965690612793, + 0.7632031440734863 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.050246648490428925, + 0.11469795554876328, + 0.012627046555280685 + ], + "orientation": [ + 0.17075297236442566, + 0.6209653615951538, + -0.0525965690612793, + 0.7632031440734863 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.049961939454078674, + 0.11318965256214142, + 0.013289584778249264 + ], + "orientation": [ + 0.16452468931674957, + 0.6343539953231812, + -0.057510651648044586, + 0.7531394362449646 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.050212208181619644, + 0.11472128331661224, + 0.012700000777840614 + ], + "orientation": [ + 0.17054471373558044, + 0.6205399632453918, + -0.052624478936195374, + 0.7635937333106995 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.050212208181619644, + 0.11472128331661224, + 0.012700000777840614 + ], + "orientation": [ + 0.17054471373558044, + 0.6205399632453918, + -0.052624478936195374, + 0.7635937333106995 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09336205571889877, + -0.07778061926364899, + -0.003502091858536005 + ], + "orientation": [ + 0.6014890074729919, + -0.19911769032478333, + -0.6868143081665039, + -0.35615888237953186 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.09360790997743607, + -0.078997902572155, + -0.005498265381902456 + ], + "orientation": [ + 0.6012865900993347, + -0.192231684923172, + -0.6861486434936523, + -0.36152660846710205 + ], + "joints": [ + -0.004290520213544369 + ] + }, + "final_grasp": { + "position": [ + -0.09360790997743607, + -0.078997902572155, + -0.005498265381902456 + ], + "orientation": [ + 0.6012865900993347, + -0.192231684923172, + -0.6861486434936523, + -0.36152660846710205 + ], + "joints": [ + 0.0031756442040205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03760348632931709, + 0.0035602652933448553, + 0.15892629325389862 + ], + "orientation": [ + 0.38578879833221436, + -0.5288915634155273, + -0.5810264348983765, + 0.4835794270038605 + ], + "joints": [ + 0.0018459414131939411 + ] + }, + "fine_grasp": { + "position": [ + -0.03818676620721817, + 0.0035437087062746286, + 0.15905700623989105 + ], + "orientation": [ + 0.39002710580825806, + -0.5288088321685791, + -0.5785882472991943, + 0.48319318890571594 + ], + "joints": [ + 0.009285536594688892 + ] + }, + "final_grasp": { + "position": [ + -0.03818676620721817, + 0.0035437087062746286, + 0.15905700623989105 + ], + "orientation": [ + 0.39002710580825806, + -0.5288088321685791, + -0.5785882472991943, + 0.48319318890571594 + ], + "joints": [ + 0.01672513224184513 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0015012536896392703, + 0.11768671125173569, + 0.014723286963999271 + ], + "orientation": [ + 0.055128514766693115, + 0.8419765830039978, + 0.01687856763601303, + 0.5364245772361755 + ], + "joints": [ + -0.014671284705400467 + ] + }, + "fine_grasp": { + "position": [ + -0.0014502662234008312, + 0.11963636428117752, + 0.013316769152879715 + ], + "orientation": [ + 0.06675007939338684, + 0.842898428440094, + 0.017059767618775368, + 0.5336437225341797 + ], + "joints": [ + -0.006673720665276051 + ] + }, + "final_grasp": { + "position": [ + -0.0014502662234008312, + 0.11963636428117752, + 0.013316769152879715 + ], + "orientation": [ + 0.06675007939338684, + 0.842898428440094, + 0.017059767618775368, + 0.5336437225341797 + ], + "joints": [ + 0.0013238433748483658 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011241277679800987, + -0.12080848217010498, + 0.01956656388938427 + ], + "orientation": [ + 0.0664677694439888, + 0.04773780331015587, + 0.9966021180152893, + -0.009346868842840195 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.012593028135597706, + -0.12013114243745804, + 0.018170787021517754 + ], + "orientation": [ + 0.0930100753903389, + 0.05283908173441887, + 0.9941745400428772, + -0.013201341032981873 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.012593028135597706, + -0.12013114243745804, + 0.018170787021517754 + ], + "orientation": [ + 0.0930100753903389, + 0.05283908173441887, + 0.9941745400428772, + -0.013201341032981873 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13048622012138367, + 0.024344373494386673, + 0.029482753947377205 + ], + "orientation": [ + 0.325984388589859, + -0.660487949848175, + 0.5287643074989319, + 0.4217798113822937 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.12947358191013336, + 0.025854183360934258, + 0.030072279274463654 + ], + "orientation": [ + 0.3309696912765503, + -0.6576172113418579, + 0.528968334197998, + 0.42212703824043274 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.12947358191013336, + 0.025854183360934258, + 0.030072279274463654 + ], + "orientation": [ + 0.3309696912765503, + -0.6576172113418579, + 0.528968334197998, + 0.42212703824043274 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.027642903849482536, + -0.0994444489479065, + 0.09849776327610016 + ], + "orientation": [ + 0.9552873969078064, + -0.27224016189575195, + -0.03381142020225525, + -0.11030980199575424 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.02851257659494877, + -0.09974100440740585, + 0.09822674095630646 + ], + "orientation": [ + 0.9541200399398804, + -0.2748105823993683, + -0.05523527413606644, + -0.1052764281630516 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.02851257659494877, + -0.09974100440740585, + 0.09822674095630646 + ], + "orientation": [ + 0.9541200399398804, + -0.2748105823993683, + -0.05523527413606644, + -0.1052764281630516 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1304723024368286, + 0.024243447929620743, + 0.029479332268238068 + ], + "orientation": [ + 0.3263675570487976, + -0.6601285934448242, + 0.5288392901420593, + 0.42195209860801697 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.12946496903896332, + 0.025750109925866127, + 0.03006858378648758 + ], + "orientation": [ + 0.3314779996871948, + -0.6571421027183533, + 0.5287640690803528, + 0.4227236211299896 + ], + "joints": [ + -0.005379889160394669 + ] + }, + "final_grasp": { + "position": [ + 0.12946496903896332, + 0.025750109925866127, + 0.03006858378648758 + ], + "orientation": [ + 0.3314779996871948, + -0.6571421027183533, + 0.5287640690803528, + 0.4227236211299896 + ], + "joints": [ + 0.0009969063103199005 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01476138923317194, + 0.11849226802587509, + 0.05240929499268532 + ], + "orientation": [ + 0.04884941130876541, + -0.9937676787376404, + -0.052333179861307144, + -0.08544471114873886 + ], + "joints": [ + -0.009430892765522003 + ] + }, + "fine_grasp": { + "position": [ + -0.016611997038125992, + 0.11737775057554245, + 0.051895566284656525 + ], + "orientation": [ + 0.043863311409950256, + -0.994404673576355, + -0.05411188304424286, + -0.07941954582929611 + ], + "joints": [ + -0.003027527593076229 + ] + }, + "final_grasp": { + "position": [ + -0.016611997038125992, + 0.11737775057554245, + 0.051895566284656525 + ], + "orientation": [ + 0.043863311409950256, + -0.994404673576355, + -0.05411188304424286, + -0.07941954582929611 + ], + "joints": [ + 0.003375837579369545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10938034951686859, + -0.01222693920135498, + 0.07318996638059616 + ], + "orientation": [ + 0.4581739604473114, + 0.32847335934638977, + -0.5778458118438721, + 0.5901491641998291 + ], + "joints": [ + -0.014141358435153961 + ] + }, + "fine_grasp": { + "position": [ + 0.10636672377586365, + -0.01085073221474886, + 0.07500265538692474 + ], + "orientation": [ + 0.4494548738002777, + 0.313408762216568, + -0.5834096074104309, + 0.5994985699653625 + ], + "joints": [ + -0.0077379927970469 + ] + }, + "final_grasp": { + "position": [ + 0.10636672377586365, + -0.01085073221474886, + 0.07500265538692474 + ], + "orientation": [ + 0.4494548738002777, + 0.313408762216568, + -0.5834096074104309, + 0.5994985699653625 + ], + "joints": [ + -0.0013346271589398384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010604062117636204, + 0.11276232451200485, + -0.01856902986764908 + ], + "orientation": [ + 0.03449239954352379, + -0.06642183661460876, + -0.16861394047737122, + -0.9828364849090576 + ], + "joints": [ + -0.009960819035768509 + ] + }, + "fine_grasp": { + "position": [ + -0.012401625514030457, + 0.11365009844303131, + -0.01713295839726925 + ], + "orientation": [ + 0.04068262502551079, + -0.08661114424467087, + -0.16288414597511292, + -0.9819940328598022 + ], + "joints": [ + -0.0030526239424943924 + ] + }, + "final_grasp": { + "position": [ + -0.012401625514030457, + 0.11365009844303131, + -0.01713295839726925 + ], + "orientation": [ + 0.04068262502551079, + -0.08661114424467087, + -0.16288414597511292, + -0.9819940328598022 + ], + "joints": [ + 0.003855571150779724 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1124592199921608, + -0.024202125146985054, + 0.017761459574103355 + ], + "orientation": [ + 0.6708620190620422, + 0.355275958776474, + 0.4023812711238861, + -0.5116761326789856 + ], + "joints": [ + -0.011786125600337982 + ] + }, + "fine_grasp": { + "position": [ + -0.11210975795984268, + -0.0266563780605793, + 0.014312997460365295 + ], + "orientation": [ + 0.6757321953773499, + 0.36842063069343567, + 0.39322471618652344, + -0.5030177235603333 + ], + "joints": [ + -0.005409330129623413 + ] + }, + "final_grasp": { + "position": [ + -0.11210975795984268, + -0.0266563780605793, + 0.014312997460365295 + ], + "orientation": [ + 0.6757321953773499, + 0.36842063069343567, + 0.39322471618652344, + -0.5030177235603333 + ], + "joints": [ + 0.000967465341091156 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007836008444428444, + 0.12183205783367157, + 0.030134964734315872 + ], + "orientation": [ + 0.012785538099706173, + -0.7775363326072693, + 0.009866641834378242, + -0.6286305785179138 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.008970976807177067, + 0.12217812985181808, + 0.03034556284546852 + ], + "orientation": [ + 0.019718913361430168, + -0.7772777676582336, + 0.002258680295199156, + -0.6288444399833679 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.008970976807177067, + 0.12217812985181808, + 0.03034556284546852 + ], + "orientation": [ + 0.019718913361430168, + -0.7772777676582336, + 0.002258680295199156, + -0.6288444399833679 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00784627627581358, + 0.12182597815990448, + 0.030180007219314575 + ], + "orientation": [ + 0.012767791748046875, + -0.7777208685874939, + 0.010136116296052933, + -0.6283982992172241 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.008925382979214191, + 0.12214799225330353, + 0.03046245127916336 + ], + "orientation": [ + 0.019703727215528488, + -0.7767066955566406, + 0.0033832683693617582, + -0.6295451521873474 + ], + "joints": [ + -0.004821919836103916 + ] + }, + "final_grasp": { + "position": [ + 0.008925382979214191, + 0.12214799225330353, + 0.03046245127916336 + ], + "orientation": [ + 0.019703727215528488, + -0.7767066955566406, + 0.0033832683693617582, + -0.6295451521873474 + ], + "joints": [ + 0.0021128449589014053 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11570242792367935, + -0.026129145175218582, + 0.043415240943431854 + ], + "orientation": [ + 0.5114185214042664, + -0.5224254727363586, + 0.6075244545936584, + 0.31054285168647766 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.11831296235322952, + -0.02693980559706688, + 0.04632062464952469 + ], + "orientation": [ + 0.5206876397132874, + -0.5259962677955627, + 0.5966266393661499, + 0.3102400004863739 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.11831296235322952, + -0.02693980559706688, + 0.04632062464952469 + ], + "orientation": [ + 0.5206876397132874, + -0.5259962677955627, + 0.5966266393661499, + 0.3102400004863739 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.035980578511953354, + 0.11781701445579529, + 0.017457639798521996 + ], + "orientation": [ + 0.14838287234306335, + -0.05286641791462898, + 0.004184422083199024, + -0.9875071048736572 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.03627343848347664, + 0.11774326860904694, + 0.016642380505800247 + ], + "orientation": [ + 0.15064887702465057, + -0.05133405700325966, + 0.010180968791246414, + -0.9872012138366699 + ], + "joints": [ + -0.0019618570804595947 + ] + }, + "final_grasp": { + "position": [ + -0.03627343848347664, + 0.11774326860904694, + 0.016642380505800247 + ], + "orientation": [ + 0.15064887702465057, + -0.05133405700325966, + 0.010180968791246414, + -0.9872012138366699 + ], + "joints": [ + 0.005477737635374069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03318636119365692, + -0.11722926795482635, + 0.04085269570350647 + ], + "orientation": [ + 0.7481878399848938, + 0.007629146333783865, + -0.6547666788101196, + 0.10694548487663269 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.033364761620759964, + -0.1178014799952507, + 0.04035281389951706 + ], + "orientation": [ + 0.7568902373313904, + 0.0017815192695707083, + -0.6446794867515564, + 0.10724927484989166 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.033364761620759964, + -0.1178014799952507, + 0.04035281389951706 + ], + "orientation": [ + 0.7568902373313904, + 0.0017815192695707083, + -0.6446794867515564, + 0.10724927484989166 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03328162431716919, + -0.11700649559497833, + 0.04072442278265953 + ], + "orientation": [ + 0.7480132579803467, + 0.008130237460136414, + -0.6550018191337585, + 0.10668941587209702 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.03341425955295563, + -0.11779170483350754, + 0.040227022022008896 + ], + "orientation": [ + 0.7562982439994812, + 0.002354392083361745, + -0.6454325318336487, + 0.10688456892967224 + ], + "joints": [ + -0.005295910872519016 + ] + }, + "final_grasp": { + "position": [ + 0.03341425955295563, + -0.11779170483350754, + 0.040227022022008896 + ], + "orientation": [ + 0.7562982439994812, + 0.002354392083361745, + -0.6454325318336487, + 0.10688456892967224 + ], + "joints": [ + 0.0005760546773672104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.013359996490180492, + -0.023759793490171432, + 0.16054297983646393 + ], + "orientation": [ + 0.08246558159589767, + -0.14815650880336761, + -0.7866816520690918, + 0.5936169028282166 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.013217349536716938, + -0.024215148761868477, + 0.16017809510231018 + ], + "orientation": [ + 0.08126173168420792, + -0.14848388731479645, + -0.7851343154907227, + 0.5957459211349487 + ], + "joints": [ + -0.0019618570804595947 + ] + }, + "final_grasp": { + "position": [ + -0.013217349536716938, + -0.024215148761868477, + 0.16017809510231018 + ], + "orientation": [ + 0.08126173168420792, + -0.14848388731479645, + -0.7851343154907227, + 0.5957459211349487 + ], + "joints": [ + 0.005477737635374069 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0023555145598948, + -0.1220870316028595, + 0.0277822557836771 + ], + "orientation": [ + 0.6313758492469788, + -0.017297854647040367, + -0.775199830532074, + -0.011422797106206417 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + 0.005311436019837856, + -0.12279321253299713, + 0.02714669145643711 + ], + "orientation": [ + 0.633080005645752, + -0.022761505097150803, + -0.7735738158226013, + -0.016585687175393105 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + 0.005311436019837856, + -0.12279321253299713, + 0.02714669145643711 + ], + "orientation": [ + 0.633080005645752, + -0.022761505097150803, + -0.7735738158226013, + -0.016585687175393105 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036239009350538254, + -0.09521747380495071, + -0.05551151558756828 + ], + "orientation": [ + 0.012520385906100273, + 0.16233618557453156, + -0.945730984210968, + -0.2812172770500183 + ], + "joints": [ + -0.008253276348114014 + ] + }, + "fine_grasp": { + "position": [ + 0.03597071021795273, + -0.09345095604658127, + -0.0546717531979084 + ], + "orientation": [ + 0.01033666729927063, + 0.1632072627544403, + -0.9460796117782593, + -0.27962467074394226 + ], + "joints": [ + -0.0013185113202780485 + ] + }, + "final_grasp": { + "position": [ + 0.03597071021795273, + -0.09345095604658127, + -0.0546717531979084 + ], + "orientation": [ + 0.01033666729927063, + 0.1632072627544403, + -0.9460796117782593, + -0.27962467074394226 + ], + "joints": [ + 0.005616253707557917 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03629257157444954, + -0.09520838409662247, + -0.05540982261300087 + ], + "orientation": [ + 0.012324369512498379, + 0.1624312847852707, + -0.945629894733429, + -0.2815105617046356 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.03600539267063141, + -0.09357918053865433, + -0.054795388132333755 + ], + "orientation": [ + 0.010540681891143322, + 0.1633276641368866, + -0.9463579654693604, + -0.2786029577255249 + ], + "joints": [ + -0.0013170379679650068 + ] + }, + "final_grasp": { + "position": [ + 0.03600539267063141, + -0.09357918053865433, + -0.054795388132333755 + ], + "orientation": [ + 0.010540681891143322, + 0.1633276641368866, + -0.9463579654693604, + -0.2786029577255249 + ], + "joints": [ + 0.006149126682430506 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10154902935028076, + -0.07868403196334839, + 0.0142233120277524 + ], + "orientation": [ + 0.7188017964363098, + -0.1953343152999878, + -0.5637664794921875, + -0.3568413257598877 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.10067059844732285, + -0.07899174094200134, + 0.013645903207361698 + ], + "orientation": [ + 0.7162398099899292, + -0.1928757280111313, + -0.567207396030426, + -0.35787585377693176 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + -0.10067059844732285, + -0.07899174094200134, + 0.013645903207361698 + ], + "orientation": [ + 0.7162398099899292, + -0.1928757280111313, + -0.567207396030426, + -0.35787585377693176 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03217096999287605, + -0.11691096425056458, + 0.01163331139832735 + ], + "orientation": [ + 0.7401158213615417, + 0.10824093222618103, + 0.6632189750671387, + -0.025554494932293892 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.03285934776067734, + -0.1194266825914383, + 0.010166586376726627 + ], + "orientation": [ + 0.7490330934524536, + 0.10875561833381653, + 0.6533113121986389, + -0.01748911291360855 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + -0.03285934776067734, + -0.1194266825914383, + 0.010166586376726627 + ], + "orientation": [ + 0.7490330934524536, + 0.10875561833381653, + 0.6533113121986389, + -0.01748911291360855 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015653386944904923, + -0.10499425232410431, + -0.034332696348428726 + ], + "orientation": [ + 0.9712082147598267, + 0.22901038825511932, + -0.06201500445604324, + -0.021517736837267876 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0011516297236084938, + -0.1047283411026001, + -0.033747754991054535 + ], + "orientation": [ + 0.969965398311615, + 0.22639450430870056, + -0.08530781418085098, + -0.025205133482813835 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.0011516297236084938, + -0.1047283411026001, + -0.033747754991054535 + ], + "orientation": [ + 0.969965398311615, + 0.22639450430870056, + -0.08530781418085098, + -0.025205133482813835 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030721381306648254, + 0.07765966653823853, + -0.06929338723421097 + ], + "orientation": [ + 0.162044495344162, + 0.040744632482528687, + -0.37593841552734375, + -0.9114558100700378 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.030683984979987144, + 0.07784445583820343, + -0.06918353587388992 + ], + "orientation": [ + 0.1649484634399414, + 0.04353786259889603, + -0.37538647651672363, + -0.9110332131385803 + ], + "joints": [ + -0.0018778785597532988 + ] + }, + "final_grasp": { + "position": [ + -0.030683984979987144, + 0.07784445583820343, + -0.06918353587388992 + ], + "orientation": [ + 0.1649484634399414, + 0.04353786259889603, + -0.37538647651672363, + -0.9110332131385803 + ], + "joints": [ + 0.005056886468082666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032152969390153885, + -0.11690863221883774, + 0.011676091700792313 + ], + "orientation": [ + 0.7397849559783936, + 0.1078396588563919, + 0.663652241230011, + -0.025583818554878235 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.03281856328248978, + -0.11945005506277084, + 0.010121498256921768 + ], + "orientation": [ + 0.7485567331314087, + 0.10876091569662094, + 0.6538659334182739, + -0.017124461010098457 + ], + "joints": [ + -0.004259681329131126 + ] + }, + "final_grasp": { + "position": [ + -0.03281856328248978, + -0.11945005506277084, + 0.010121498256921768 + ], + "orientation": [ + 0.7485567331314087, + 0.10876091569662094, + 0.6538659334182739, + -0.017124461010098457 + ], + "joints": [ + 0.00264851376414299 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0014826817205175757, + -0.10488950461149216, + -0.03458493947982788 + ], + "orientation": [ + 0.9711518883705139, + 0.2292548418045044, + -0.061978086829185486, + -0.021563323214650154 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0011782083893194795, + -0.10469509661197662, + -0.03395331650972366 + ], + "orientation": [ + 0.9698675870895386, + 0.22711239755153656, + -0.08449514955282211, + -0.02524682506918907 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.0011782083893194795, + -0.10469509661197662, + -0.03395331650972366 + ], + "orientation": [ + 0.9698675870895386, + 0.22711239755153656, + -0.08449514955282211, + -0.02524682506918907 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0015379103133454919, + -0.10495869070291519, + -0.03445323184132576 + ], + "orientation": [ + 0.9713810682296753, + 0.22853295505046844, + -0.06106676533818245, + -0.021505191922187805 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.0011698217131197453, + -0.10479079186916351, + -0.03378082439303398 + ], + "orientation": [ + 0.9700871109962463, + 0.22644709050655365, + -0.08377227932214737, + -0.025197263807058334 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.0011698217131197453, + -0.10479079186916351, + -0.03378082439303398 + ], + "orientation": [ + 0.9700871109962463, + 0.22644709050655365, + -0.08377227932214737, + -0.025197263807058334 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030875183641910553, + 0.07779604941606522, + -0.06907576322555542 + ], + "orientation": [ + 0.16223327815532684, + 0.03905663639307022, + -0.3766281008720398, + -0.9112114906311035 + ], + "joints": [ + -0.008812643587589264 + ] + }, + "fine_grasp": { + "position": [ + -0.030403969809412956, + 0.07770204544067383, + -0.06854243576526642 + ], + "orientation": [ + 0.1637975573539734, + 0.04436912015080452, + -0.3745654225349426, + -0.9115385413169861 + ], + "joints": [ + -0.0018778785597532988 + ] + }, + "final_grasp": { + "position": [ + -0.030403969809412956, + 0.07770204544067383, + -0.06854243576526642 + ], + "orientation": [ + 0.1637975573539734, + 0.04436912015080452, + -0.3745654225349426, + -0.9115385413169861 + ], + "joints": [ + 0.005056886468082666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.001497837482020259, + -0.1049981415271759, + -0.03431463614106178 + ], + "orientation": [ + 0.9710559844970703, + 0.2296897917985916, + -0.06190014258027077, + -0.021474720910191536 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + -0.001470186049118638, + -0.1047738641500473, + -0.03384316340088844 + ], + "orientation": [ + 0.969781756401062, + 0.22801616787910461, + -0.08281630277633667, + -0.0259535051882267 + ], + "joints": [ + -0.002493256703019142 + ] + }, + "final_grasp": { + "position": [ + -0.001470186049118638, + -0.1047738641500473, + -0.03384316340088844 + ], + "orientation": [ + 0.969781756401062, + 0.22801616787910461, + -0.08281630277633667, + -0.0259535051882267 + ], + "joints": [ + 0.004414938390254974 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020888453349471092, + -0.10637573897838593, + -0.04853103309869766 + ], + "orientation": [ + 0.08106119185686111, + 0.11410357803106308, + -0.9642205238342285, + -0.22514095902442932 + ], + "joints": [ + -0.00878320261836052 + ] + }, + "fine_grasp": { + "position": [ + 0.021220797672867775, + -0.10502079129219055, + -0.047639597207307816 + ], + "orientation": [ + 0.07660941034555435, + 0.1167825236916542, + -0.9644383192062378, + -0.22439147531986237 + ], + "joints": [ + -0.0018484375905245543 + ] + }, + "final_grasp": { + "position": [ + 0.021220797672867775, + -0.10502079129219055, + -0.047639597207307816 + ], + "orientation": [ + 0.07660941034555435, + 0.1167825236916542, + -0.9644383192062378, + -0.22439147531986237 + ], + "joints": [ + 0.005086327437311411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11636564135551453, + 0.05512377619743347, + 0.03223077952861786 + ], + "orientation": [ + 0.42491447925567627, + -0.5241084694862366, + -0.2743057906627655, + -0.6852111220359802 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11837804317474365, + 0.056680403649806976, + 0.03285061940550804 + ], + "orientation": [ + 0.425439715385437, + -0.5279115438461304, + -0.2737619876861572, + -0.6821765303611755 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + -0.11837804317474365, + 0.056680403649806976, + 0.03285061940550804 + ], + "orientation": [ + 0.425439715385437, + -0.5279115438461304, + -0.2737619876861572, + -0.6821765303611755 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11661597341299057, + 0.05503540486097336, + 0.03231080248951912 + ], + "orientation": [ + 0.42541930079460144, + -0.523942768573761, + -0.2739847004413605, + -0.685153067111969 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.11855745315551758, + 0.05660019442439079, + 0.032539140433073044 + ], + "orientation": [ + 0.42471498250961304, + -0.5275601148605347, + -0.27434951066970825, + -0.6826637387275696 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + -0.11855745315551758, + 0.05660019442439079, + 0.032539140433073044 + ], + "orientation": [ + 0.42471498250961304, + -0.5275601148605347, + -0.27434951066970825, + -0.6826637387275696 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11626601964235306, + 0.05505918711423874, + 0.032510217279195786 + ], + "orientation": [ + 0.4258749783039093, + -0.5240787863731384, + -0.2731349766254425, + -0.6851052641868591 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.118190698325634, + 0.056643277406692505, + 0.033145204186439514 + ], + "orientation": [ + 0.42618733644485474, + -0.5277170538902283, + -0.2724924683570862, + -0.6823684573173523 + ], + "joints": [ + -0.004848489537835121 + ] + }, + "final_grasp": { + "position": [ + -0.118190698325634, + 0.056643277406692505, + 0.033145204186439514 + ], + "orientation": [ + 0.42618733644485474, + -0.5277170538902283, + -0.2724924683570862, + -0.6823684573173523 + ], + "joints": [ + 0.0020597055554389954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03576374799013138, + 0.11789422482252121, + 0.017066065222024918 + ], + "orientation": [ + 0.1478947103023529, + -0.04442441090941429, + 0.009408240206539631, + -0.9879601001739502 + ], + "joints": [ + -0.009372010827064514 + ] + }, + "fine_grasp": { + "position": [ + -0.036183733493089676, + 0.1177532821893692, + 0.016429521143436432 + ], + "orientation": [ + 0.1512872576713562, + -0.03897255286574364, + 0.014247092418372631, + -0.9876185655593872 + ], + "joints": [ + -0.001932416227646172 + ] + }, + "final_grasp": { + "position": [ + -0.036183733493089676, + 0.1177532821893692, + 0.016429521143436432 + ], + "orientation": [ + 0.1512872576713562, + -0.03897255286574364, + 0.014247092418372631, + -0.9876185655593872 + ], + "joints": [ + 0.005507178604602814 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01197834499180317, + 0.017638055607676506, + 0.16411392390727997 + ], + "orientation": [ + 0.4460183382034302, + -0.5836743712425232, + 0.485171377658844, + -0.47434234619140625 + ], + "joints": [ + 0.0016341267619282007 + ] + }, + "fine_grasp": { + "position": [ + 0.012531711719930172, + 0.01798056811094284, + 0.16428281366825104 + ], + "orientation": [ + 0.4466307759284973, + -0.5844138264656067, + 0.4850579500198364, + -0.47296959161758423 + ], + "joints": [ + 0.00803749356418848 + ] + }, + "final_grasp": { + "position": [ + 0.012531711719930172, + 0.01798056811094284, + 0.16428281366825104 + ], + "orientation": [ + 0.4466307759284973, + -0.5844138264656067, + 0.4850579500198364, + -0.47296959161758423 + ], + "joints": [ + 0.014440860599279404 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006954662501811981, + 0.11909402161836624, + 0.029331229627132416 + ], + "orientation": [ + 0.03847827762365341, + 0.641271710395813, + 0.04833115264773369, + -0.7648228406906128 + ], + "joints": [ + -0.011756684631109238 + ] + }, + "fine_grasp": { + "position": [ + -0.005634183995425701, + 0.12208734452724457, + 0.030781911686062813 + ], + "orientation": [ + 0.03912670910358429, + 0.6447553038597107, + 0.052071504294872284, + -0.7616090774536133 + ], + "joints": [ + -0.005353319458663464 + ] + }, + "final_grasp": { + "position": [ + -0.005634183995425701, + 0.12208734452724457, + 0.030781911686062813 + ], + "orientation": [ + 0.03912670910358429, + 0.6447553038597107, + 0.052071504294872284, + -0.7616090774536133 + ], + "joints": [ + 0.0010500457137823105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0011894553899765015, + 0.11923076957464218, + 0.016886519268155098 + ], + "orientation": [ + 0.062445297837257385, + 0.7517855763435364, + -0.005413132254034281, + 0.656421959400177 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + 0.0005383775569498539, + 0.12081582099199295, + 0.015794383361935616 + ], + "orientation": [ + 0.06702911108732224, + 0.7549386024475098, + -0.007482858840376139, + 0.6523180603981018 + ], + "joints": [ + -0.004764511249959469 + ] + }, + "final_grasp": { + "position": [ + 0.0005383775569498539, + 0.12081582099199295, + 0.015794383361935616 + ], + "orientation": [ + 0.06702911108732224, + 0.7549386024475098, + -0.007482858840376139, + 0.6523180603981018 + ], + "joints": [ + 0.0016388539224863052 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03889170289039612, + 0.1143593117594719, + 0.04491307586431503 + ], + "orientation": [ + 0.013336488045752048, + 0.7313594222068787, + 0.13286441564559937, + -0.6687918305397034 + ], + "joints": [ + -0.011138435453176498 + ] + }, + "fine_grasp": { + "position": [ + -0.039289698004722595, + 0.11650121957063675, + 0.04460619017481804 + ], + "orientation": [ + 0.008667362853884697, + 0.7381093502044678, + 0.13542795181274414, + -0.6608924269676208 + ], + "joints": [ + -0.004761639982461929 + ] + }, + "final_grasp": { + "position": [ + -0.039289698004722595, + 0.11650121957063675, + 0.04460619017481804 + ], + "orientation": [ + 0.008667362853884697, + 0.7381093502044678, + 0.13542795181274414, + -0.6608924269676208 + ], + "joints": [ + 0.0016151554882526398 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11382206529378891, + 0.005999394692480564, + 0.006852732039988041 + ], + "orientation": [ + 0.4595564901828766, + 0.6139113903045654, + -0.49768882989883423, + 0.405248761177063 + ], + "joints": [ + -0.012374933809041977 + ] + }, + "fine_grasp": { + "position": [ + 0.11519021540880203, + 0.00778065575286746, + 0.004667267203330994 + ], + "orientation": [ + 0.46116530895233154, + 0.6177651882171631, + -0.49587178230285645, + 0.3997547924518585 + ], + "joints": [ + -0.00650296825915575 + ] + }, + "final_grasp": { + "position": [ + 0.11519021540880203, + 0.00778065575286746, + 0.004667267203330994 + ], + "orientation": [ + 0.46116530895233154, + 0.6177651882171631, + -0.49587178230285645, + 0.3997547924518585 + ], + "joints": [ + -0.0006310027092695236 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.035032790154218674, + 0.10992083698511124, + 0.06905697286128998 + ], + "orientation": [ + 0.14097552001476288, + 0.03208400681614876, + -0.18759343028068542, + 0.9715479016304016 + ], + "joints": [ + -0.009401451796293259 + ] + }, + "fine_grasp": { + "position": [ + 0.035580866038799286, + 0.10962498188018799, + 0.06799759715795517 + ], + "orientation": [ + 0.13895630836486816, + 0.0398927703499794, + -0.1879250407218933, + 0.9714854955673218 + ], + "joints": [ + -0.0029980866238474846 + ] + }, + "final_grasp": { + "position": [ + 0.035580866038799286, + 0.10962498188018799, + 0.06799759715795517 + ], + "orientation": [ + 0.13895630836486816, + 0.0398927703499794, + -0.1879250407218933, + 0.9714854955673218 + ], + "joints": [ + 0.0034052785485982895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09370927512645721, + 0.08068820834159851, + 0.048439543694257736 + ], + "orientation": [ + 0.3552621304988861, + -0.5974850058555603, + -0.16442549228668213, + -0.6998319029808044 + ], + "joints": [ + -0.011167876422405243 + ] + }, + "fine_grasp": { + "position": [ + -0.09432443231344223, + 0.08177436888217926, + 0.04858774691820145 + ], + "orientation": [ + 0.35223984718322754, + -0.6066025495529175, + -0.16753482818603516, + -0.6927428245544434 + ], + "joints": [ + -0.003728281706571579 + ] + }, + "final_grasp": { + "position": [ + -0.09432443231344223, + 0.08177436888217926, + 0.04858774691820145 + ], + "orientation": [ + 0.35223984718322754, + -0.6066025495529175, + -0.16753482818603516, + -0.6927428245544434 + ], + "joints": [ + 0.003711313009262085 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.006634704302996397, + 0.017377959564328194, + 0.16438105702400208 + ], + "orientation": [ + 0.004957019817084074, + 0.02910398691892624, + 0.6059963703155518, + -0.7949193120002747 + ], + "joints": [ + -0.007105099502950907 + ] + }, + "fine_grasp": { + "position": [ + -0.007262466941028833, + 0.01866772025823593, + 0.1621657758951187 + ], + "orientation": [ + 0.009457049891352654, + 0.020842764526605606, + 0.6144564151763916, + -0.7886186838150024 + ], + "joints": [ + -0.0012597034219652414 + ] + }, + "final_grasp": { + "position": [ + -0.007262466941028833, + 0.01866772025823593, + 0.1621657758951187 + ], + "orientation": [ + 0.009457049891352654, + 0.020842764526605606, + 0.6144564151763916, + -0.7886186838150024 + ], + "joints": [ + 0.004585692659020424 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13432349264621735, + 0.011120427399873734, + 0.030766991898417473 + ], + "orientation": [ + 0.5675238966941833, + -0.4186898469924927, + -0.4283831715583801, + -0.5648922920227051 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.13361777365207672, + 0.008929537609219551, + 0.03092912770807743 + ], + "orientation": [ + 0.5655853748321533, + -0.4212977886199951, + -0.4197796583175659, + -0.5713199377059937 + ], + "joints": [ + -0.004231713712215424 + ] + }, + "final_grasp": { + "position": [ + -0.13361777365207672, + 0.008929537609219551, + 0.03092912770807743 + ], + "orientation": [ + 0.5655853748321533, + -0.4212977886199951, + -0.4197796583175659, + -0.5713199377059937 + ], + "joints": [ + 0.0021450817584991455 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10590346157550812, + -0.06572727859020233, + 0.045971568673849106 + ], + "orientation": [ + 0.6113254427909851, + -0.39691001176834106, + 0.6327136754989624, + 0.2615664005279541 + ], + "joints": [ + -0.012404374778270721 + ] + }, + "fine_grasp": { + "position": [ + 0.10197178274393082, + -0.06274108588695526, + 0.04621116444468498 + ], + "orientation": [ + 0.6153365969657898, + -0.40229907631874084, + 0.6265920400619507, + 0.2586478888988495 + ], + "joints": [ + -0.00443338043987751 + ] + }, + "final_grasp": { + "position": [ + 0.10197178274393082, + -0.06274108588695526, + 0.04621116444468498 + ], + "orientation": [ + 0.6153365969657898, + -0.40229907631874084, + 0.6265920400619507, + 0.2586478888988495 + ], + "joints": [ + 0.0035376138985157013 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010761413723230362, + 0.01464059017598629, + 0.16499027609825134 + ], + "orientation": [ + 0.49147191643714905, + -0.5267109274864197, + 0.4527072310447693, + -0.525439977645874 + ], + "joints": [ + 0.001994343241676688 + ] + }, + "fine_grasp": { + "position": [ + -0.011108863167464733, + 0.0144310612231493, + 0.1627909541130066 + ], + "orientation": [ + 0.4940730929374695, + -0.5323895215988159, + 0.45072343945503235, + -0.5189425945281982 + ], + "joints": [ + 0.008902538567781448 + ] + }, + "final_grasp": { + "position": [ + -0.011108863167464733, + 0.0144310612231493, + 0.1627909541130066 + ], + "orientation": [ + 0.4940730929374695, + -0.5323895215988159, + 0.45072343945503235, + -0.5189425945281982 + ], + "joints": [ + 0.015810733661055565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.011162909679114819, + 0.014431387186050415, + 0.1653200387954712 + ], + "orientation": [ + 0.4936766028404236, + -0.5283294320106506, + 0.4513859450817108, + -0.5228786468505859 + ], + "joints": [ + 0.002033924451097846 + ] + }, + "fine_grasp": { + "position": [ + -0.011455000378191471, + 0.014109795913100243, + 0.16282081604003906 + ], + "orientation": [ + 0.4956188201904297, + -0.531234860420227, + 0.45046383142471313, + -0.5188775658607483 + ], + "joints": [ + 0.008942119777202606 + ] + }, + "final_grasp": { + "position": [ + -0.011455000378191471, + 0.014109795913100243, + 0.16282081604003906 + ], + "orientation": [ + 0.4956188201904297, + -0.531234860420227, + 0.45046383142471313, + -0.5188775658607483 + ], + "joints": [ + 0.015850314870476723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11850587278604507, + 0.001976493513211608, + 0.020264139398932457 + ], + "orientation": [ + 0.6989263892173767, + 0.10753076523542404, + -0.08137798309326172, + 0.702364981174469 + ], + "joints": [ + 0.0007951318984851241 + ] + }, + "fine_grasp": { + "position": [ + 0.11490084230899811, + 0.0009583008359186351, + 0.021592171862721443 + ], + "orientation": [ + 0.6971684694290161, + 0.12467557191848755, + -0.08742807805538177, + 0.7005487084388733 + ], + "joints": [ + 0.00616226764395833 + ] + }, + "final_grasp": { + "position": [ + 0.11490084230899811, + 0.0009583008359186351, + 0.021592171862721443 + ], + "orientation": [ + 0.6971684694290161, + 0.12467557191848755, + -0.08742807805538177, + 0.7005487084388733 + ], + "joints": [ + 0.011529403738677502 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12180285900831223, + 0.008900520391762257, + 0.033944327384233475 + ], + "orientation": [ + 0.024594269692897797, + 0.7271798849105835, + 0.6804369688034058, + -0.08723616600036621 + ], + "joints": [ + 0.002347345929592848 + ] + }, + "fine_grasp": { + "position": [ + -0.11768602579832077, + 0.008377278223633766, + 0.03375117480754852 + ], + "orientation": [ + 0.033624276518821716, + 0.7262046337127686, + 0.6814146041870117, + -0.08467786759138107 + ], + "joints": [ + 0.008219312876462936 + ] + }, + "final_grasp": { + "position": [ + -0.11768602579832077, + 0.008377278223633766, + 0.03375117480754852 + ], + "orientation": [ + 0.033624276518821716, + 0.7262046337127686, + 0.6814146041870117, + -0.08467786759138107 + ], + "joints": [ + 0.014091279357671738 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12268495559692383, + 0.008914556354284286, + 0.03434309735894203 + ], + "orientation": [ + 0.026644917204976082, + 0.7275561690330505, + 0.6802458167076111, + -0.0849572941660881 + ], + "joints": [ + 0.0017243758775293827 + ] + }, + "fine_grasp": { + "position": [ + -0.11773669719696045, + 0.008354753255844116, + 0.03420833498239517 + ], + "orientation": [ + 0.03550774231553078, + 0.7261956334114075, + 0.6814084649085999, + -0.08403270691633224 + ], + "joints": [ + 0.008127742446959019 + ] + }, + "final_grasp": { + "position": [ + -0.11773669719696045, + 0.008354753255844116, + 0.03420833498239517 + ], + "orientation": [ + 0.03550774231553078, + 0.7261956334114075, + 0.6814084649085999, + -0.08403270691633224 + ], + "joints": [ + 0.014531109482049942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009949831292033195, + 0.009724047034978867, + 0.15798424184322357 + ], + "orientation": [ + 0.5089445114135742, + -0.4940689206123352, + 0.4498559832572937, + -0.5426793694496155 + ], + "joints": [ + 0.0018925531767308712 + ] + }, + "fine_grasp": { + "position": [ + -0.009403391741216183, + 0.00996315199881792, + 0.15794678032398224 + ], + "orientation": [ + 0.5224213004112244, + -0.4974871277809143, + 0.43567365407943726, + -0.538303792476654 + ], + "joints": [ + 0.008800748735666275 + ] + }, + "final_grasp": { + "position": [ + -0.009403391741216183, + 0.00996315199881792, + 0.15794678032398224 + ], + "orientation": [ + 0.5224213004112244, + -0.4974871277809143, + 0.43567365407943726, + -0.538303792476654 + ], + "joints": [ + 0.01570894382894039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017074931412935257, + -0.11652826517820358, + 0.0512889139354229 + ], + "orientation": [ + 0.31983184814453125, + -0.091190867125988, + -0.9377404451370239, + 0.10017401725053787 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + -0.015550857409834862, + -0.11760514229536057, + 0.05275975167751312 + ], + "orientation": [ + 0.3278500735759735, + -0.09706152230501175, + -0.9362213015556335, + 0.08113609999418259 + ], + "joints": [ + -0.00997406430542469 + ] + }, + "final_grasp": { + "position": [ + -0.015550857409834862, + -0.11760514229536057, + 0.05275975167751312 + ], + "orientation": [ + 0.3278500735759735, + -0.09706152230501175, + -0.9362213015556335, + 0.08113609999418259 + ], + "joints": [ + -0.004128668457269669 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.010842711664736271, + -0.12675029039382935, + 0.01544125471264124 + ], + "orientation": [ + 0.9117470979690552, + 0.013256363570690155, + 0.4105095863342285, + 0.004833525512367487 + ], + "joints": [ + -0.015260092914104462 + ] + }, + "fine_grasp": { + "position": [ + -0.010229540057480335, + -0.13008888065814972, + 0.015723485499620438 + ], + "orientation": [ + 0.9121644496917725, + 0.010910725221037865, + 0.40965157747268677, + 0.004745247308164835 + ], + "joints": [ + -0.008378468453884125 + ] + }, + "final_grasp": { + "position": [ + -0.010229540057480335, + -0.13008888065814972, + 0.015723485499620438 + ], + "orientation": [ + 0.9121644496917725, + 0.010910725221037865, + 0.40965157747268677, + 0.004745247308164835 + ], + "joints": [ + -0.0014968439936637878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07721786946058273, + -0.0658092126250267, + 0.09414955973625183 + ], + "orientation": [ + 0.27674758434295654, + 0.24321064352989197, + 0.8342110514640808, + -0.4103064239025116 + ], + "joints": [ + -0.01531897485256195 + ] + }, + "fine_grasp": { + "position": [ + -0.07855788618326187, + -0.06537672877311707, + 0.09459260106086731 + ], + "orientation": [ + 0.2736022174358368, + 0.24764984846115112, + 0.8406729102134705, + -0.39633363485336304 + ], + "joints": [ + -0.007799671031534672 + ] + }, + "final_grasp": { + "position": [ + -0.07855788618326187, + -0.06537672877311707, + 0.09459260106086731 + ], + "orientation": [ + 0.2736022174358368, + 0.24764984846115112, + 0.8406729102134705, + -0.39633363485336304 + ], + "joints": [ + -0.0002803672105073929 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 1995, + "num_passed": 908 + } +} \ No newline at end of file diff --git a/rigid_action_camera_00002/Annotation/piper_grasp_pose.json b/rigid_action_camera_00002/Annotation/piper_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..e1fab98714b37b18ab11bb0751421057a3ad2477 --- /dev/null +++ b/rigid_action_camera_00002/Annotation/piper_grasp_pose.json @@ -0,0 +1,16568 @@ +{ + "type": "rigid_action_camera_00002", + "bottom_center": [ + 2.2443942725658417e-05, + -9.241141378879547e-05, + -1.9059263649978675e-05 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.08672402799129486, + -0.049624744802713394, + -0.06348562240600586 + ], + "orientation": [ + 0.7434530854225159, + -0.36131662130355835, + -0.17988801002502441, + 0.5332617163658142 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.08403602987527847, + -0.04821421578526497, + -0.06080348417162895 + ], + "orientation": [ + 0.7435408234596252, + -0.36037972569465637, + -0.18218953907489777, + 0.5329920649528503 + ], + "joints": [ + 0.030339796096086502 + ] + }, + "final_grasp": { + "position": [ + 0.08403602987527847, + -0.04821421578526497, + -0.06080348417162895 + ], + "orientation": [ + 0.7435408234596252, + -0.36037972569465637, + -0.18218953907489777, + 0.5329920649528503 + ], + "joints": [ + 0.025679592043161392 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09692791849374771, + 0.07848182320594788, + 0.048700857907533646 + ], + "orientation": [ + 0.5548917055130005, + 0.7538060545921326, + 0.19599255919456482, + 0.29233279824256897 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.09340827167034149, + 0.07673817127943039, + 0.04791858419775963 + ], + "orientation": [ + 0.5606296062469482, + 0.7436864376068115, + 0.2126813530921936, + 0.29562073945999146 + ], + "joints": [ + 0.024093814194202423 + ] + }, + "final_grasp": { + "position": [ + -0.09340827167034149, + 0.07673817127943039, + 0.04791858419775963 + ], + "orientation": [ + 0.5606296062469482, + 0.7436864376068115, + 0.2126813530921936, + 0.29562073945999146 + ], + "joints": [ + 0.015734709799289703 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08343835175037384, + -0.042642977088689804, + 0.1238124743103981 + ], + "orientation": [ + 0.3416789770126343, + -0.5738071203231812, + 0.7385921478271484, + -0.09210096299648285 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.0811062753200531, + -0.04112764820456505, + 0.12166284024715424 + ], + "orientation": [ + 0.3527485430240631, + -0.5765288472175598, + 0.7321181297302246, + -0.08477044105529785 + ], + "joints": [ + 0.025982994586229324 + ] + }, + "final_grasp": { + "position": [ + -0.0811062753200531, + -0.04112764820456505, + 0.12166284024715424 + ], + "orientation": [ + 0.3527485430240631, + -0.5765288472175598, + 0.7321181297302246, + -0.08477044105529785 + ], + "joints": [ + 0.01835530623793602 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036590274423360825, + -0.13520009815692902, + 0.03965520113706589 + ], + "orientation": [ + 0.648669421672821, + -0.6288504004478455, + 0.3795677721500397, + 0.19925712049007416 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.03554640710353851, + -0.1312478929758072, + 0.039084598422050476 + ], + "orientation": [ + 0.6472573280334473, + -0.6302614212036133, + 0.3815021216869354, + 0.19566437602043152 + ], + "joints": [ + 0.02739321067929268 + ] + }, + "final_grasp": { + "position": [ + -0.03554640710353851, + -0.1312478929758072, + 0.039084598422050476 + ], + "orientation": [ + 0.6472573280334473, + -0.6302614212036133, + 0.3815021216869354, + 0.19566437602043152 + ], + "joints": [ + 0.019786421209573746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03666272386908531, + -0.1351471245288849, + 0.039716169238090515 + ], + "orientation": [ + 0.64915931224823, + -0.628405749797821, + 0.37918323278427124, + 0.19979619979858398 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.0355968102812767, + -0.13118956983089447, + 0.03913387283682823 + ], + "orientation": [ + 0.6475273370742798, + -0.629950761795044, + 0.3814208209514618, + 0.1959301382303238 + ], + "joints": [ + 0.02739321067929268 + ] + }, + "final_grasp": { + "position": [ + -0.0355968102812767, + -0.13118956983089447, + 0.03913387283682823 + ], + "orientation": [ + 0.6475273370742798, + -0.629950761795044, + 0.3814208209514618, + 0.1959301382303238 + ], + "joints": [ + 0.019786421209573746 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08324646204710007, + -0.04281911253929138, + 0.12231551855802536 + ], + "orientation": [ + 0.33955079317092896, + -0.5706354379653931, + 0.742155909538269, + -0.0910223200917244 + ], + "joints": [ + 0.033170733600854874 + ] + }, + "fine_grasp": { + "position": [ + -0.08091096580028534, + -0.041266996413469315, + 0.1204129159450531 + ], + "orientation": [ + 0.35103848576545715, + -0.5728798508644104, + 0.7360345721244812, + -0.08266724646091461 + ], + "joints": [ + 0.025961000472307205 + ] + }, + "final_grasp": { + "position": [ + -0.08091096580028534, + -0.041266996413469315, + 0.1204129159450531 + ], + "orientation": [ + 0.35103848576545715, + -0.5728798508644104, + 0.7360345721244812, + -0.08266724646091461 + ], + "joints": [ + 0.018751267343759537 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06876523047685623, + 0.09967304766178131, + 0.016319196671247482 + ], + "orientation": [ + 0.7303993701934814, + 0.6537039875984192, + 0.14587999880313873, + 0.13381661474704742 + ], + "joints": [ + 0.03201296925544739 + ] + }, + "fine_grasp": { + "position": [ + -0.06578721851110458, + 0.09778210520744324, + 0.017320914193987846 + ], + "orientation": [ + 0.7237837910652161, + 0.6572272777557373, + 0.15208178758621216, + 0.14512191712856293 + ], + "joints": [ + 0.024071820080280304 + ] + }, + "final_grasp": { + "position": [ + -0.06578721851110458, + 0.09778210520744324, + 0.017320914193987846 + ], + "orientation": [ + 0.7237837910652161, + 0.6572272777557373, + 0.15208178758621216, + 0.14512191712856293 + ], + "joints": [ + 0.01613067090511322 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11247875541448593, + -0.06824494153261185, + 0.0559886172413826 + ], + "orientation": [ + 0.3512538969516754, + 0.22361482679843903, + -0.7653038501739502, + -0.4908432066440582 + ], + "joints": [ + 0.03273078426718712 + ] + }, + "fine_grasp": { + "position": [ + 0.10887070745229721, + -0.06668400019407272, + 0.05526461452245712 + ], + "orientation": [ + 0.35812127590179443, + 0.23937048017978668, + -0.7565335631370544, + -0.492044597864151 + ], + "joints": [ + 0.023953724652528763 + ] + }, + "final_grasp": { + "position": [ + 0.10887070745229721, + -0.06668400019407272, + 0.05526461452245712 + ], + "orientation": [ + 0.35812127590179443, + 0.23937048017978668, + -0.7565335631370544, + -0.492044597864151 + ], + "joints": [ + 0.015176665037870407 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06634916365146637, + 0.10513395816087723, + -0.029096361249685287 + ], + "orientation": [ + 0.45645108819007874, + 0.03436395153403282, + -0.5548694133758545, + 0.6946880221366882 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.06414489448070526, + 0.10227133333683014, + -0.027215754613280296 + ], + "orientation": [ + 0.4587060511112213, + 0.030730484053492546, + -0.5531786680221558, + 0.6947214603424072 + ], + "joints": [ + 0.028647076338529587 + ] + }, + "final_grasp": { + "position": [ + 0.06414489448070526, + 0.10227133333683014, + -0.027215754613280296 + ], + "orientation": [ + 0.4587060511112213, + 0.030730484053492546, + -0.5531786680221558, + 0.6947214603424072 + ], + "joints": [ + 0.02229415252804756 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11044502258300781, + 0.059263646602630615, + 0.02979482151567936 + ], + "orientation": [ + 0.4203258752822876, + -0.3647229075431824, + 0.6112987399101257, + -0.5626873970031738 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.10837049782276154, + 0.056660380214452744, + 0.02925598993897438 + ], + "orientation": [ + 0.40498673915863037, + -0.3575579822063446, + 0.6175878643989563, + -0.571597158908844 + ], + "joints": [ + 0.025462232530117035 + ] + }, + "final_grasp": { + "position": [ + -0.10837049782276154, + 0.056660380214452744, + 0.02925598993897438 + ], + "orientation": [ + 0.40498673915863037, + -0.3575579822063446, + 0.6175878643989563, + -0.571597158908844 + ], + "joints": [ + 0.017082229256629944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04426451399922371, + 0.09382976591587067, + -0.05180678889155388 + ], + "orientation": [ + 0.7325984239578247, + 0.27661097049713135, + 0.4333004653453827, + -0.4461350440979004 + ], + "joints": [ + 0.03180457279086113 + ] + }, + "fine_grasp": { + "position": [ + -0.04273126646876335, + 0.0911162868142128, + -0.04942941293120384 + ], + "orientation": [ + 0.7313774228096008, + 0.27555403113365173, + 0.4275810718536377, + -0.4542371928691864 + ], + "joints": [ + 0.022212501615285873 + ] + }, + "final_grasp": { + "position": [ + -0.04273126646876335, + 0.0911162868142128, + -0.04942941293120384 + ], + "orientation": [ + 0.7313774228096008, + 0.27555403113365173, + 0.4275810718536377, + -0.4542371928691864 + ], + "joints": [ + 0.012620430439710617 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044047798961400986, + 0.09378629177808762, + -0.051990363746881485 + ], + "orientation": [ + 0.7326939702033997, + 0.277449369430542, + 0.4332343339920044, + -0.4455215334892273 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + -0.042569927871227264, + 0.09103205800056458, + -0.04954567179083824 + ], + "orientation": [ + 0.731359601020813, + 0.27674201130867004, + 0.42688268423080444, + -0.45420050621032715 + ], + "joints": [ + 0.022189345210790634 + ] + }, + "final_grasp": { + "position": [ + -0.042569927871227264, + 0.09103205800056458, + -0.04954567179083824 + ], + "orientation": [ + 0.731359601020813, + 0.27674201130867004, + 0.42688268423080444, + -0.45420050621032715 + ], + "joints": [ + 0.012597274035215378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03604833036661148, + -0.11856290698051453, + 0.07783783972263336 + ], + "orientation": [ + 0.11687065660953522, + -0.47120264172554016, + 0.7093581557273865, + 0.5109994411468506 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03565634414553642, + -0.11427677422761917, + 0.07718119770288467 + ], + "orientation": [ + 0.13032621145248413, + -0.4610239863395691, + 0.7081202864646912, + 0.518688440322876 + ], + "joints": [ + 0.029880043119192123 + ] + }, + "final_grasp": { + "position": [ + 0.03565634414553642, + -0.11427677422761917, + 0.07718119770288467 + ], + "orientation": [ + 0.13032621145248413, + -0.4610239863395691, + 0.7081202864646912, + 0.518688440322876 + ], + "joints": [ + 0.024760086089372635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036087874323129654, + -0.11894205212593079, + 0.07783906906843185 + ], + "orientation": [ + 0.11560513079166412, + -0.4695228636264801, + 0.7100165486335754, + 0.5119182467460632 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03569034859538078, + -0.11466507613658905, + 0.07717269659042358 + ], + "orientation": [ + 0.12896519899368286, + -0.45953965187072754, + 0.7088050246238708, + 0.5194101333618164 + ], + "joints": [ + 0.029880043119192123 + ] + }, + "final_grasp": { + "position": [ + 0.03569034859538078, + -0.11466507613658905, + 0.07717269659042358 + ], + "orientation": [ + 0.12896519899368286, + -0.45953965187072754, + 0.7088050246238708, + 0.5194101333618164 + ], + "joints": [ + 0.024760086089372635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03619757294654846, + -0.11871672421693802, + 0.07804390043020248 + ], + "orientation": [ + 0.11727257072925568, + -0.4716942310333252, + 0.7089206576347351, + 0.5110610127449036 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.03578446805477142, + -0.11444909125566483, + 0.07736877351999283 + ], + "orientation": [ + 0.13056516647338867, + -0.4616422951221466, + 0.7076671719551086, + 0.5186967253684998 + ], + "joints": [ + 0.029880043119192123 + ] + }, + "final_grasp": { + "position": [ + 0.03578446805477142, + -0.11444909125566483, + 0.07736877351999283 + ], + "orientation": [ + 0.13056516647338867, + -0.4616422951221466, + 0.7076671719551086, + 0.5186967253684998 + ], + "joints": [ + 0.024760086089372635 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11750523746013641, + 0.07711945474147797, + 0.024203218519687653 + ], + "orientation": [ + 0.2625403106212616, + -0.34201139211654663, + -0.6077427268028259, + 0.66689532995224 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.11389312893152237, + 0.07528620958328247, + 0.024256506934762 + ], + "orientation": [ + 0.26961109042167664, + -0.34722045063972473, + -0.6058887839317322, + 0.6630585789680481 + ], + "joints": [ + 0.02585703134536743 + ] + }, + "final_grasp": { + "position": [ + 0.11389312893152237, + 0.07528620958328247, + 0.024256506934762 + ], + "orientation": [ + 0.26961109042167664, + -0.34722045063972473, + -0.6058887839317322, + 0.6630585789680481 + ], + "joints": [ + 0.017894983291625977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13553568720817566, + -0.009143860079348087, + 0.025567179545760155 + ], + "orientation": [ + 0.5765630006790161, + 0.40342211723327637, + -0.566685140132904, + -0.42859500646591187 + ], + "joints": [ + 0.033865392208099365 + ] + }, + "fine_grasp": { + "position": [ + 0.13185358047485352, + -0.008454803377389908, + 0.025574468076229095 + ], + "orientation": [ + 0.5684374570846558, + 0.3987607955932617, + -0.5749562978744507, + -0.4327746629714966 + ], + "joints": [ + 0.02588244527578354 + ] + }, + "final_grasp": { + "position": [ + 0.13185358047485352, + -0.008454803377389908, + 0.025574468076229095 + ], + "orientation": [ + 0.5684374570846558, + 0.3987607955932617, + -0.5749562978744507, + -0.4327746629714966 + ], + "joints": [ + 0.017899498343467712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019097015261650085, + -0.0722435787320137, + -0.07731711119413376 + ], + "orientation": [ + 0.5198326110839844, + -0.30620521306991577, + 0.2525009214878082, + 0.7564757466316223 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + 0.01895741932094097, + -0.07109946757555008, + -0.07338719815015793 + ], + "orientation": [ + 0.5328431725502014, + -0.29733505845069885, + 0.24556882679462433, + 0.7532369494438171 + ], + "joints": [ + 0.021712223067879677 + ] + }, + "final_grasp": { + "position": [ + 0.01895741932094097, + -0.07109946757555008, + -0.07338719815015793 + ], + "orientation": [ + 0.5328431725502014, + -0.29733505845069885, + 0.24556882679462433, + 0.7532369494438171 + ], + "joints": [ + 0.013750175014138222 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010328889824450016, + 0.01575428619980812, + 0.15293914079666138 + ], + "orientation": [ + 0.010959175415337086, + 0.8296420574188232, + 0.5573805570602417, + -0.030012402683496475 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + 0.009829847142100334, + 0.014166107401251793, + 0.1503743976354599 + ], + "orientation": [ + 0.01914192922413349, + 0.824672281742096, + 0.5635974407196045, + -0.0436721071600914 + ], + "joints": [ + 0.022241385653614998 + ] + }, + "final_grasp": { + "position": [ + 0.009829847142100334, + 0.014166107401251793, + 0.1503743976354599 + ], + "orientation": [ + 0.01914192922413349, + 0.824672281742096, + 0.5635974407196045, + -0.0436721071600914 + ], + "joints": [ + 0.013882281258702278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13577456772327423, + -0.009131096303462982, + 0.02556954324245453 + ], + "orientation": [ + 0.5756138563156128, + 0.4029211699962616, + -0.5677027106285095, + -0.42899495363235474 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + 0.1321350336074829, + -0.008544809184968472, + 0.025630993768572807 + ], + "orientation": [ + 0.5682055950164795, + 0.398674875497818, + -0.5751908421516418, + -0.43284663558006287 + ], + "joints": [ + 0.02592533826828003 + ] + }, + "final_grasp": { + "position": [ + 0.1321350336074829, + -0.008544809184968472, + 0.025630993768572807 + ], + "orientation": [ + 0.5682055950164795, + 0.398674875497818, + -0.5751908421516418, + -0.43284663558006287 + ], + "joints": [ + 0.017545334994792938 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08578339964151382, + 0.09807661175727844, + 0.011711902916431427 + ], + "orientation": [ + 0.7324252128601074, + 0.6370607018470764, + -0.17319446802139282, + -0.16646459698677063 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + 0.08281127363443375, + 0.09597474336624146, + 0.012442778795957565 + ], + "orientation": [ + 0.7282666563987732, + 0.6349378824234009, + -0.18380855023860931, + -0.18082037568092346 + ], + "joints": [ + 0.023014599457383156 + ] + }, + "final_grasp": { + "position": [ + 0.08281127363443375, + 0.09597474336624146, + 0.012442778795957565 + ], + "orientation": [ + 0.7282666563987732, + 0.6349378824234009, + -0.18380855023860931, + -0.18082037568092346 + ], + "joints": [ + 0.015428708866238594 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11291356384754181, + -0.0922631248831749, + 0.028580892831087112 + ], + "orientation": [ + 0.6625632643699646, + -0.655107855796814, + 0.27180880308151245, + -0.24075625836849213 + ], + "joints": [ + 0.030970973894000053 + ] + }, + "fine_grasp": { + "position": [ + -0.10987894237041473, + -0.09006698429584503, + 0.028530705720186234 + ], + "orientation": [ + 0.6604128479957581, + -0.6531948447227478, + 0.2768557667732239, + -0.24605365097522736 + ], + "joints": [ + 0.02254917286336422 + ] + }, + "final_grasp": { + "position": [ + -0.10987894237041473, + -0.09006698429584503, + 0.028530705720186234 + ], + "orientation": [ + 0.6604128479957581, + -0.6531948447227478, + 0.2768557667732239, + -0.24605365097522736 + ], + "joints": [ + 0.014127371832728386 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010320049710571766, + 0.015908580273389816, + 0.1526019424200058 + ], + "orientation": [ + 0.011841753497719765, + 0.8311944007873535, + 0.5550908446311951, + -0.029151737689971924 + ], + "joints": [ + 0.030137380585074425 + ] + }, + "fine_grasp": { + "position": [ + 0.00980023667216301, + 0.014455664902925491, + 0.1497723013162613 + ], + "orientation": [ + 0.01928425207734108, + 0.82651686668396, + 0.5609921216964722, + -0.04225912317633629 + ], + "joints": [ + 0.021778276190161705 + ] + }, + "final_grasp": { + "position": [ + 0.00980023667216301, + 0.014455664902925491, + 0.1497723013162613 + ], + "orientation": [ + 0.01928425207734108, + 0.82651686668396, + 0.5609921216964722, + -0.04225912317633629 + ], + "joints": [ + 0.013419171795248985 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12030933052301407, + 0.07232852280139923, + -0.007087453734129667 + ], + "orientation": [ + 0.21502602100372314, + -0.34853991866111755, + -0.48310214281082153, + 0.7738838195800781 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.1169377937912941, + 0.07109330594539642, + -0.005937627516686916 + ], + "orientation": [ + 0.22149744629859924, + -0.35325518250465393, + -0.4802412986755371, + 0.7716980576515198 + ], + "joints": [ + 0.022640638053417206 + ] + }, + "final_grasp": { + "position": [ + 0.1169377937912941, + 0.07109330594539642, + -0.005937627516686916 + ], + "orientation": [ + 0.22149744629859924, + -0.35325518250465393, + -0.4802412986755371, + 0.7716980576515198 + ], + "joints": [ + 0.013800881803035736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12032149732112885, + 0.07232299447059631, + -0.007125324569642544 + ], + "orientation": [ + 0.21567726135253906, + -0.34777340292930603, + -0.4835783839225769, + 0.7737499475479126 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.11698418855667114, + 0.07109548896551132, + -0.005987691227346659 + ], + "orientation": [ + 0.22216761112213135, + -0.3524020314216614, + -0.4807805120944977, + 0.7715597748756409 + ], + "joints": [ + 0.022619739174842834 + ] + }, + "final_grasp": { + "position": [ + 0.11698418855667114, + 0.07109548896551132, + -0.005987691227346659 + ], + "orientation": [ + 0.22216761112213135, + -0.3524020314216614, + -0.4807805120944977, + 0.7715597748756409 + ], + "joints": [ + 0.013759084045886993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09198758006095886, + -0.0064489031210541725, + -0.08917466551065445 + ], + "orientation": [ + 0.039700258523225784, + -0.3229578137397766, + 0.008933981880545616, + 0.9455381035804749 + ], + "joints": [ + 0.01994898170232773 + ] + }, + "fine_grasp": { + "position": [ + 0.08954627811908722, + -0.005938613787293434, + -0.08618026971817017 + ], + "orientation": [ + 0.040617071092128754, + -0.323933482170105, + 0.011236281134188175, + 0.9451408982276917 + ], + "joints": [ + 0.009123943746089935 + ] + }, + "final_grasp": { + "position": [ + 0.08954627811908722, + -0.005938613787293434, + -0.08618026971817017 + ], + "orientation": [ + 0.040617071092128754, + -0.323933482170105, + 0.011236281134188175, + 0.9451408982276917 + ], + "joints": [ + -0.0017010942101478577 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04322101175785065, + 0.10228648781776428, + 0.11944743245840073 + ], + "orientation": [ + 0.2873155474662781, + 0.7276237607002258, + 0.4612792134284973, + -0.41861069202423096 + ], + "joints": [ + 0.02865542657673359 + ] + }, + "fine_grasp": { + "position": [ + 0.04198534041643143, + 0.09968657046556473, + 0.11721376329660416 + ], + "orientation": [ + 0.2794164717197418, + 0.7321393489837646, + 0.4678003191947937, + -0.40873122215270996 + ], + "joints": [ + 0.020588884130120277 + ] + }, + "final_grasp": { + "position": [ + 0.04198534041643143, + 0.09968657046556473, + 0.11721376329660416 + ], + "orientation": [ + 0.2794164717197418, + 0.7321393489837646, + 0.4678003191947937, + -0.40873122215270996 + ], + "joints": [ + 0.012522341683506966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04322919249534607, + 0.10227233916521072, + 0.11942796409130096 + ], + "orientation": [ + 0.28671568632125854, + 0.7277011275291443, + 0.4621017277240753, + -0.4179798364639282 + ], + "joints": [ + 0.02865542657673359 + ] + }, + "fine_grasp": { + "position": [ + 0.04197371006011963, + 0.09966272115707397, + 0.11717681586742401 + ], + "orientation": [ + 0.2789824604988098, + 0.7319906949996948, + 0.4685171842575073, + -0.4084727466106415 + ], + "joints": [ + 0.020985940471291542 + ] + }, + "final_grasp": { + "position": [ + 0.04197371006011963, + 0.09966272115707397, + 0.11717681586742401 + ], + "orientation": [ + 0.2789824604988098, + 0.7319906949996948, + 0.4685171842575073, + -0.4084727466106415 + ], + "joints": [ + 0.013316454365849495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04316983371973038, + 0.10214730352163315, + 0.11951281130313873 + ], + "orientation": [ + 0.287350594997406, + 0.7279266715049744, + 0.46084174513816833, + -0.41854169964790344 + ], + "joints": [ + 0.02865542657673359 + ] + }, + "fine_grasp": { + "position": [ + 0.04191896319389343, + 0.09954241663217545, + 0.11725471913814545 + ], + "orientation": [ + 0.27938222885131836, + 0.7325102686882019, + 0.4673440456390381, + -0.4086121618747711 + ], + "joints": [ + 0.020588884130120277 + ] + }, + "final_grasp": { + "position": [ + 0.04191896319389343, + 0.09954241663217545, + 0.11725471913814545 + ], + "orientation": [ + 0.27938222885131836, + 0.7325102686882019, + 0.4673440456390381, + -0.4086121618747711 + ], + "joints": [ + 0.012522341683506966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016553519293665886, + 0.052734047174453735, + 0.16451777517795563 + ], + "orientation": [ + 0.10700573027133942, + 0.7550913691520691, + -0.6240758895874023, + 0.17004702985286713 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + -0.01589786820113659, + 0.05139365792274475, + 0.16088223457336426 + ], + "orientation": [ + 0.10726109147071838, + 0.748845100402832, + -0.6306556463241577, + 0.1732034981250763 + ], + "joints": [ + 0.023587748408317566 + ] + }, + "final_grasp": { + "position": [ + -0.01589786820113659, + 0.05139365792274475, + 0.16088223457336426 + ], + "orientation": [ + 0.10726109147071838, + 0.748845100402832, + -0.6306556463241577, + 0.1732034981250763 + ], + "joints": [ + 0.014768891036510468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016595816239714622, + 0.05276675149798393, + 0.1644943505525589 + ], + "orientation": [ + 0.10659328103065491, + 0.7549359798431396, + -0.6243868470191956, + 0.1698552370071411 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + -0.01591743342578411, + 0.05142267420887947, + 0.1608741730451584 + ], + "orientation": [ + 0.10706021636724472, + 0.7486037015914917, + -0.6309529542922974, + 0.17328926920890808 + ], + "joints": [ + 0.023587748408317566 + ] + }, + "final_grasp": { + "position": [ + -0.01591743342578411, + 0.05142267420887947, + 0.1608741730451584 + ], + "orientation": [ + 0.10706021636724472, + 0.7486037015914917, + -0.6309529542922974, + 0.17328926920890808 + ], + "joints": [ + 0.014768891036510468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.036431897431612015, + 0.11018022149801254, + -0.029800644144415855 + ], + "orientation": [ + 0.6495647430419922, + 0.33994555473327637, + 0.48079007863998413, + -0.4809817969799042 + ], + "joints": [ + 0.033170733600854874 + ] + }, + "fine_grasp": { + "position": [ + -0.034770265221595764, + 0.10682221502065659, + -0.028468292206525803 + ], + "orientation": [ + 0.6492041349411011, + 0.33777254819869995, + 0.4797345995903015, + -0.48404383659362793 + ], + "joints": [ + 0.022763650864362717 + ] + }, + "final_grasp": { + "position": [ + -0.034770265221595764, + 0.10682221502065659, + -0.028468292206525803 + ], + "orientation": [ + 0.6492041349411011, + 0.33777254819869995, + 0.4797345995903015, + -0.48404383659362793 + ], + "joints": [ + 0.01235656812787056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03716452792286873, + 0.10272832959890366, + 0.08339258283376694 + ], + "orientation": [ + 0.058527830988168716, + -0.01280346792191267, + 0.8639872670173645, + -0.49993646144866943 + ], + "joints": [ + 0.032221365720033646 + ] + }, + "fine_grasp": { + "position": [ + -0.036026161164045334, + 0.09950000792741776, + 0.08122821897268295 + ], + "orientation": [ + 0.06573345512151718, + -0.025604156777262688, + 0.8578600883483887, + -0.5090182423591614 + ], + "joints": [ + 0.023862261325120926 + ] + }, + "final_grasp": { + "position": [ + -0.036026161164045334, + 0.09950000792741776, + 0.08122821897268295 + ], + "orientation": [ + 0.06573345512151718, + -0.025604156777262688, + 0.8578600883483887, + -0.5090182423591614 + ], + "joints": [ + 0.015503156930208206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11856407672166824, + -0.06987908482551575, + -0.001190990791656077 + ], + "orientation": [ + 0.7118600010871887, + -0.5305232405662537, + 0.3310927748680115, + -0.3196529746055603 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.11519026011228561, + -0.06780271232128143, + -6.687753921141848e-05 + ], + "orientation": [ + 0.7098848223686218, + -0.5319238901138306, + 0.3311450183391571, + -0.32165709137916565 + ], + "joints": [ + 0.026365287601947784 + ] + }, + "final_grasp": { + "position": [ + -0.11519026011228561, + -0.06780271232128143, + -6.687753921141848e-05 + ], + "orientation": [ + 0.7098848223686218, + -0.5319238901138306, + 0.3311450183391571, + -0.32165709137916565 + ], + "joints": [ + 0.017985284328460693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015978239476680756, + -0.07345723360776901, + 0.14188674092292786 + ], + "orientation": [ + 0.19500605762004852, + -0.7541106343269348, + -0.5823214054107666, + -0.232791006565094 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.015416157431900501, + -0.07097679376602173, + 0.1388385146856308 + ], + "orientation": [ + 0.19925297796726227, + -0.7445883750915527, + -0.5898086428642273, + -0.24085737764835358 + ], + "joints": [ + 0.024392511695623398 + ] + }, + "final_grasp": { + "position": [ + -0.015416157431900501, + -0.07097679376602173, + 0.1388385146856308 + ], + "orientation": [ + 0.19925297796726227, + -0.7445883750915527, + -0.5898086428642273, + -0.24085737764835358 + ], + "joints": [ + 0.015197496861219406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016003746539354324, + -0.07350517809391022, + 0.1420750916004181 + ], + "orientation": [ + 0.19466637074947357, + -0.7541060447692871, + -0.5825119018554688, + -0.23261290788650513 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.015430759638547897, + -0.0710027664899826, + 0.13898971676826477 + ], + "orientation": [ + 0.19882357120513916, + -0.7445068955421448, + -0.5901395082473755, + -0.24065327644348145 + ], + "joints": [ + 0.024392511695623398 + ] + }, + "final_grasp": { + "position": [ + -0.015430759638547897, + -0.0710027664899826, + 0.13898971676826477 + ], + "orientation": [ + 0.19882357120513916, + -0.7445068955421448, + -0.5901395082473755, + -0.24065327644348145 + ], + "joints": [ + 0.015197496861219406 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.036471929401159286, + -0.10549536347389221, + -0.0424976721405983 + ], + "orientation": [ + 0.609078049659729, + -0.2561372220516205, + -0.47705158591270447, + -0.5795164704322815 + ], + "joints": [ + 0.033170733600854874 + ] + }, + "fine_grasp": { + "position": [ + 0.03507806360721588, + -0.10230649262666702, + -0.040599897503852844 + ], + "orientation": [ + 0.6109229326248169, + -0.2548314332962036, + -0.4739680886268616, + -0.580679178237915 + ], + "joints": [ + 0.023975718766450882 + ] + }, + "final_grasp": { + "position": [ + 0.03507806360721588, + -0.10230649262666702, + -0.040599897503852844 + ], + "orientation": [ + 0.6109229326248169, + -0.2548314332962036, + -0.4739680886268616, + -0.580679178237915 + ], + "joints": [ + 0.01478070393204689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010550384409725666, + -0.09479785710573196, + 0.13088993728160858 + ], + "orientation": [ + 0.2801082730293274, + -0.6993433833122253, + 0.5870616436004639, + 0.29633891582489014 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.010158521123230457, + -0.09190133213996887, + 0.12816202640533447 + ], + "orientation": [ + 0.276278018951416, + -0.6965499520301819, + 0.5933603644371033, + 0.2939591705799103 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + 0.010158521123230457, + -0.09190133213996887, + 0.12816202640533447 + ], + "orientation": [ + 0.276278018951416, + -0.6965499520301819, + 0.5933603644371033, + 0.2939591705799103 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10648377239704132, + 0.07386352121829987, + 0.01880030892789364 + ], + "orientation": [ + 0.7012536525726318, + 0.5922558307647705, + 0.32459765672683716, + 0.22828198969364166 + ], + "joints": [ + 0.032939180731773376 + ] + }, + "fine_grasp": { + "position": [ + -0.10311810672283173, + 0.07273827493190765, + 0.019457239657640457 + ], + "orientation": [ + 0.6928515434265137, + 0.5919255018234253, + 0.33271679282188416, + 0.2426530420780182 + ], + "joints": [ + 0.023744165897369385 + ] + }, + "final_grasp": { + "position": [ + -0.10311810672283173, + 0.07273827493190765, + 0.019457239657640457 + ], + "orientation": [ + 0.6928515434265137, + 0.5919255018234253, + 0.33271679282188416, + 0.2426530420780182 + ], + "joints": [ + 0.014549151062965393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010595845989882946, + -0.09480752795934677, + 0.1308302879333496 + ], + "orientation": [ + 0.27966850996017456, + -0.7007347345352173, + 0.586236834526062, + 0.295097678899765 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.010197093710303307, + -0.09192052483558655, + 0.12812040746212006 + ], + "orientation": [ + 0.27631622552871704, + -0.6976614594459534, + 0.5924005508422852, + 0.2932221293449402 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + 0.010197093710303307, + -0.09192052483558655, + 0.12812040746212006 + ], + "orientation": [ + 0.27631622552871704, + -0.6976614594459534, + 0.5924005508422852, + 0.2932221293449402 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03998727723956108, + -0.06767494231462479, + 0.1579868346452713 + ], + "orientation": [ + 0.272390753030777, + -0.6531774997711182, + -0.7020241618156433, + -0.07952605187892914 + ], + "joints": [ + 0.029581645503640175 + ] + }, + "fine_grasp": { + "position": [ + 0.03873426094651222, + -0.0658491775393486, + 0.15471751987934113 + ], + "orientation": [ + 0.2708490788936615, + -0.6545822620391846, + -0.7011569142341614, + -0.0808807909488678 + ], + "joints": [ + 0.020365731790661812 + ] + }, + "final_grasp": { + "position": [ + 0.03873426094651222, + -0.0658491775393486, + 0.15471751987934113 + ], + "orientation": [ + 0.2708490788936615, + -0.6545822620391846, + -0.7011569142341614, + -0.0808807909488678 + ], + "joints": [ + 0.011149818077683449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04309996962547302, + -0.10141520947217941, + -0.04372870922088623 + ], + "orientation": [ + 0.4837634563446045, + -0.46580299735069275, + -0.28787723183631897, + -0.6827351450920105 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.04147396609187126, + -0.09863974153995514, + -0.041519612073898315 + ], + "orientation": [ + 0.48706933856010437, + -0.4619494080543518, + -0.2849034070968628, + -0.6842487454414368 + ], + "joints": [ + 0.022300545126199722 + ] + }, + "final_grasp": { + "position": [ + -0.04147396609187126, + -0.09863974153995514, + -0.041519612073898315 + ], + "orientation": [ + 0.48706933856010437, + -0.4619494080543518, + -0.2849034070968628, + -0.6842487454414368 + ], + "joints": [ + 0.011893462389707565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008282494731247425, + 0.012576916255056858, + -0.11419972777366638 + ], + "orientation": [ + 0.6852445006370544, + 0.06816855072975159, + 0.11089776456356049, + -0.7165853977203369 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + -0.007779836654663086, + 0.013407583348453045, + -0.10998237878084183 + ], + "orientation": [ + 0.6869194507598877, + 0.059427328407764435, + 0.10366427153348923, + -0.7168429493904114 + ], + "joints": [ + 0.020298639312386513 + ] + }, + "final_grasp": { + "position": [ + -0.007779836654663086, + 0.013407583348453045, + -0.10998237878084183 + ], + "orientation": [ + 0.6869194507598877, + 0.059427328407764435, + 0.10366427153348923, + -0.7168429493904114 + ], + "joints": [ + 0.012775445356965065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03996798396110535, + -0.06765440851449966, + 0.15790420770645142 + ], + "orientation": [ + 0.27317070960998535, + -0.654272735118866, + -0.7007336616516113, + -0.07922911643981934 + ], + "joints": [ + 0.029581645503640175 + ] + }, + "fine_grasp": { + "position": [ + 0.03874529153108597, + -0.06582851707935333, + 0.15463058650493622 + ], + "orientation": [ + 0.2711471915245056, + -0.6558295488357544, + -0.699936032295227, + -0.08035073429346085 + ], + "joints": [ + 0.020365731790661812 + ] + }, + "final_grasp": { + "position": [ + 0.03874529153108597, + -0.06582851707935333, + 0.15463058650493622 + ], + "orientation": [ + 0.2711471915245056, + -0.6558295488357544, + -0.699936032295227, + -0.08035073429346085 + ], + "joints": [ + 0.011149818077683449 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005349431652575731, + 0.10722243785858154, + -0.05299082398414612 + ], + "orientation": [ + 0.5805475115776062, + 0.3896983861923218, + -0.37271177768707275, + 0.6100701689720154 + ], + "joints": [ + 0.031017286702990532 + ] + }, + "fine_grasp": { + "position": [ + -0.005198836792260408, + 0.10455378890037537, + -0.05039224028587341 + ], + "orientation": [ + 0.5828700065612793, + 0.3873981535434723, + -0.36847731471061707, + 0.6118903160095215 + ], + "joints": [ + 0.021780474111437798 + ] + }, + "final_grasp": { + "position": [ + -0.005198836792260408, + 0.10455378890037537, + -0.05039224028587341 + ], + "orientation": [ + 0.5828700065612793, + 0.3873981535434723, + -0.36847731471061707, + 0.6118903160095215 + ], + "joints": [ + 0.012543661519885063 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007212195545434952, + 0.021532416343688965, + 0.1688476800918579 + ], + "orientation": [ + 0.05019405856728554, + 0.7019586563110352, + 0.710361897945404, + -0.010983635671436787 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.006946323439478874, + 0.020965280011296272, + 0.1649014949798584 + ], + "orientation": [ + 0.057816993445158005, + 0.7020540833473206, + 0.7095171213150024, + -0.019048402085900307 + ], + "joints": [ + 0.023631803691387177 + ] + }, + "final_grasp": { + "position": [ + -0.006946323439478874, + 0.020965280011296272, + 0.1649014949798584 + ], + "orientation": [ + 0.057816993445158005, + 0.7020540833473206, + 0.7095171213150024, + -0.019048402085900307 + ], + "joints": [ + 0.01483384519815445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09797099232673645, + 0.014200685545802116, + -0.07360311597585678 + ], + "orientation": [ + 0.9258943200111389, + 0.047431327402591705, + 0.3731120824813843, + -0.035458896309137344 + ], + "joints": [ + 0.01870179921388626 + ] + }, + "fine_grasp": { + "position": [ + -0.09516823291778564, + 0.013722761534154415, + -0.07087770104408264 + ], + "orientation": [ + 0.9258833527565002, + 0.04702364653348923, + 0.3731784522533417, + -0.03558977320790291 + ], + "joints": [ + 0.00950678437948227 + ] + }, + "final_grasp": { + "position": [ + -0.09516823291778564, + 0.013722761534154415, + -0.07087770104408264 + ], + "orientation": [ + 0.9258833527565002, + 0.04702364653348923, + 0.3731784522533417, + -0.03558977320790291 + ], + "joints": [ + 0.0003117695450782776 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08436638116836548, + -0.10518471151590347, + 0.037135474383831024 + ], + "orientation": [ + 0.1662493199110031, + 0.20058099925518036, + 0.705629825592041, + 0.6589497327804565 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.08155293017625809, + -0.10231292247772217, + 0.03671564534306526 + ], + "orientation": [ + 0.17692379653453827, + 0.20963619649410248, + 0.7033926844596863, + 0.6557357907295227 + ], + "joints": [ + 0.025417082011699677 + ] + }, + "final_grasp": { + "position": [ + -0.08155293017625809, + -0.10231292247772217, + 0.03671564534306526 + ], + "orientation": [ + 0.17692379653453827, + 0.20963619649410248, + 0.7033926844596863, + 0.6557357907295227 + ], + "joints": [ + 0.01745503395795822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04109868407249451, + -0.1263284981250763, + 0.03089764714241028 + ], + "orientation": [ + 0.0212478619068861, + -0.12424881011247635, + -0.6993659138679504, + -0.703561007976532 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.0399567186832428, + -0.12261534482240677, + 0.030767254531383514 + ], + "orientation": [ + 0.013548309914767742, + -0.12929335236549377, + -0.7000662684440613, + -0.7021445631980896 + ], + "joints": [ + 0.02411806583404541 + ] + }, + "final_grasp": { + "position": [ + -0.0399567186832428, + -0.12261534482240677, + 0.030767254531383514 + ], + "orientation": [ + 0.013548309914767742, + -0.12929335236549377, + -0.7000662684440613, + -0.7021445631980896 + ], + "joints": [ + 0.015320107340812683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.020986923947930336, + 0.08373648673295975, + -0.06458184123039246 + ], + "orientation": [ + 0.7463960647583008, + 0.2821578085422516, + 0.3242128789424896, + -0.5081004500389099 + ], + "joints": [ + 0.03175825998187065 + ] + }, + "fine_grasp": { + "position": [ + -0.019737042486667633, + 0.08143578469753265, + -0.061852894723415375 + ], + "orientation": [ + 0.7417981624603271, + 0.2770315706729889, + 0.3202408254146576, + -0.5200335383415222 + ], + "joints": [ + 0.022981200367212296 + ] + }, + "final_grasp": { + "position": [ + -0.019737042486667633, + 0.08143578469753265, + -0.061852894723415375 + ], + "orientation": [ + 0.7417981624603271, + 0.2770315706729889, + 0.3202408254146576, + -0.5200335383415222 + ], + "joints": [ + 0.01420414075255394 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007246901746839285, + 0.02149990014731884, + 0.1689194291830063 + ], + "orientation": [ + 0.050207335501909256, + 0.7020195126533508, + 0.7103034853935242, + -0.010811553336679935 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.00691084424033761, + 0.020935242995619774, + 0.1649719625711441 + ], + "orientation": [ + 0.05759654939174652, + 0.7021151185035706, + 0.7094736099243164, + -0.01908259466290474 + ], + "joints": [ + 0.023631803691387177 + ] + }, + "final_grasp": { + "position": [ + -0.00691084424033761, + 0.020935242995619774, + 0.1649719625711441 + ], + "orientation": [ + 0.05759654939174652, + 0.7021151185035706, + 0.7094736099243164, + -0.01908259466290474 + ], + "joints": [ + 0.01483384519815445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008290120400488377, + 0.012572307139635086, + -0.11420253664255142 + ], + "orientation": [ + 0.6854569315910339, + 0.0681154876947403, + 0.11105100065469742, + -0.7163634896278381 + ], + "joints": [ + 0.02782183326780796 + ] + }, + "fine_grasp": { + "position": [ + -0.007794540375471115, + 0.013407320715487003, + -0.10998509079217911 + ], + "orientation": [ + 0.6871272325515747, + 0.05939432978630066, + 0.10375797748565674, + -0.7166329026222229 + ], + "joints": [ + 0.020298639312386513 + ] + }, + "final_grasp": { + "position": [ + -0.007794540375471115, + 0.013407320715487003, + -0.10998509079217911 + ], + "orientation": [ + 0.6871272325515747, + 0.05939432978630066, + 0.10375797748565674, + -0.7166329026222229 + ], + "joints": [ + 0.012775445356965065 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004171245265752077, + 0.05020219087600708, + -0.09265323728322983 + ], + "orientation": [ + 0.6160563230514526, + 0.18376614153385162, + 0.18062688410282135, + -0.7443644404411316 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + 0.0042851995676755905, + 0.04984281212091446, + -0.08874388039112091 + ], + "orientation": [ + 0.6199509501457214, + 0.17749065160751343, + 0.17535115778446198, + -0.7439152002334595 + ], + "joints": [ + 0.0225864015519619 + ] + }, + "final_grasp": { + "position": [ + 0.0042851995676755905, + 0.04984281212091446, + -0.08874388039112091 + ], + "orientation": [ + 0.6199509501457214, + 0.17749065160751343, + 0.17535115778446198, + -0.7439152002334595 + ], + "joints": [ + 0.013391386717557907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09786412119865417, + 0.014396718703210354, + -0.07347578555345535 + ], + "orientation": [ + 0.9257745146751404, + 0.048452507704496384, + 0.3733765780925751, + -0.03440574184060097 + ], + "joints": [ + 0.018800701946020126 + ] + }, + "fine_grasp": { + "position": [ + -0.09501946717500687, + 0.01385408267378807, + -0.07074716687202454 + ], + "orientation": [ + 0.9255590438842773, + 0.048404332250356674, + 0.37389883399009705, + -0.034598808735609055 + ], + "joints": [ + 0.009605687111616135 + ] + }, + "final_grasp": { + "position": [ + -0.09501946717500687, + 0.01385408267378807, + -0.07074716687202454 + ], + "orientation": [ + 0.9255590438842773, + 0.048404332250356674, + 0.37389883399009705, + -0.034598808735609055 + ], + "joints": [ + 0.00041067227721214294 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -8.906623406801373e-06, + 0.06820975244045258, + -0.08405264467000961 + ], + "orientation": [ + 0.6975087523460388, + 0.2563706338405609, + 0.238762766122818, + -0.6250982880592346 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.0001172126576420851, + 0.06738422811031342, + -0.08031883835792542 + ], + "orientation": [ + 0.6980003118515015, + 0.24902719259262085, + 0.23142734169960022, + -0.6302558779716492 + ], + "joints": [ + 0.021913737058639526 + ] + }, + "final_grasp": { + "position": [ + -0.0001172126576420851, + 0.06738422811031342, + -0.08031883835792542 + ], + "orientation": [ + 0.6980003118515015, + 0.24902719259262085, + 0.23142734169960022, + -0.6302558779716492 + ], + "joints": [ + 0.012300767004489899 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09951755404472351, + 0.09264995902776718, + 0.026176679879426956 + ], + "orientation": [ + 0.6431582570075989, + 0.6744803786277771, + -0.20924247801303864, + -0.2960425913333893 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + 0.09686478227376938, + 0.0898464173078537, + 0.026341324672102928 + ], + "orientation": [ + 0.6436893343925476, + 0.6727344393730164, + -0.21365633606910706, + -0.29570814967155457 + ], + "joints": [ + 0.02594733238220215 + ] + }, + "final_grasp": { + "position": [ + 0.09686478227376938, + 0.0898464173078537, + 0.026341324672102928 + ], + "orientation": [ + 0.6436893343925476, + 0.6727344393730164, + -0.21365633606910706, + -0.29570814967155457 + ], + "joints": [ + 0.01714937388896942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04834640771150589, + 0.0070405388250947, + 0.14842741191387177 + ], + "orientation": [ + 0.014435657300055027, + 0.9820290207862854, + -0.06442805379629135, + 0.17680445313453674 + ], + "joints": [ + 0.0210859477519989 + ] + }, + "fine_grasp": { + "position": [ + -0.04852873086929321, + 0.006603894289582968, + 0.14484433829784393 + ], + "orientation": [ + 0.014318067580461502, + 0.9808714389801025, + -0.06063501164317131, + 0.1844169646501541 + ], + "joints": [ + 0.01189093291759491 + ] + }, + "final_grasp": { + "position": [ + -0.04852873086929321, + 0.006603894289582968, + 0.14484433829784393 + ], + "orientation": [ + 0.014318067580461502, + 0.9808714389801025, + -0.06063501164317131, + 0.1844169646501541 + ], + "joints": [ + 0.002695918083190918 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09926902502775192, + 0.10022491961717606, + 0.029456596821546555 + ], + "orientation": [ + 0.6227691769599915, + 0.6563210487365723, + -0.27706119418144226, + -0.32347846031188965 + ], + "joints": [ + 0.02969742752611637 + ] + }, + "fine_grasp": { + "position": [ + 0.09772304445505142, + 0.09640083461999893, + 0.029434118419885635 + ], + "orientation": [ + 0.6301659941673279, + 0.6604952216148376, + -0.26575881242752075, + -0.3098534941673279 + ], + "joints": [ + 0.02374156005680561 + ] + }, + "final_grasp": { + "position": [ + 0.09772304445505142, + 0.09640083461999893, + 0.029434118419885635 + ], + "orientation": [ + 0.6301659941673279, + 0.6604952216148376, + -0.26575881242752075, + -0.3098534941673279 + ], + "joints": [ + 0.01778569258749485 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09947552531957626, + 0.10003691911697388, + 0.029365580528974533 + ], + "orientation": [ + 0.6233418583869934, + 0.6563757061958313, + -0.2769828736782074, + -0.322329580783844 + ], + "joints": [ + 0.030160536989569664 + ] + }, + "fine_grasp": { + "position": [ + 0.09793081879615784, + 0.09625116735696793, + 0.029315359890460968 + ], + "orientation": [ + 0.630566418170929, + 0.6604810953140259, + -0.26598072052001953, + -0.30887675285339355 + ], + "joints": [ + 0.023786714300513268 + ] + }, + "final_grasp": { + "position": [ + 0.09793081879615784, + 0.09625116735696793, + 0.029315359890460968 + ], + "orientation": [ + 0.630566418170929, + 0.6604810953140259, + -0.26598072052001953, + -0.30887675285339355 + ], + "joints": [ + 0.01741289161145687 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1037498489022255, + 0.09559299051761627, + 0.014764932915568352 + ], + "orientation": [ + 0.6729517579078674, + 0.6443670988082886, + -0.20611350238323212, + -0.299072265625 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.10089271515607834, + 0.09296915680170059, + 0.015250698663294315 + ], + "orientation": [ + 0.6725965142250061, + 0.6421998739242554, + -0.2100512683391571, + -0.30178093910217285 + ], + "joints": [ + 0.025418177247047424 + ] + }, + "final_grasp": { + "position": [ + 0.10089271515607834, + 0.09296915680170059, + 0.015250698663294315 + ], + "orientation": [ + 0.6725965142250061, + 0.6421998739242554, + -0.2100512683391571, + -0.30178093910217285 + ], + "joints": [ + 0.017017275094985962 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10344275087118149, + 0.09572643041610718, + 0.01489623449742794 + ], + "orientation": [ + 0.6727317571640015, + 0.6441472768783569, + -0.20688480138778687, + -0.29950767755508423 + ], + "joints": [ + 0.03381907939910889 + ] + }, + "fine_grasp": { + "position": [ + 0.10047688335180283, + 0.09305005520582199, + 0.015429710038006306 + ], + "orientation": [ + 0.6723973751068115, + 0.6418242454528809, + -0.21101970970630646, + -0.30234771966934204 + ], + "joints": [ + 0.025439076125621796 + ] + }, + "final_grasp": { + "position": [ + 0.10047688335180283, + 0.09305005520582199, + 0.015429710038006306 + ], + "orientation": [ + 0.6723973751068115, + 0.6418242454528809, + -0.21101970970630646, + -0.30234771966934204 + ], + "joints": [ + 0.017059072852134705 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03899248316884041, + -0.12550830841064453, + 0.056402988731861115 + ], + "orientation": [ + 0.1348610818386078, + -0.07268660515546799, + -0.7893713712692261, + -0.5944931507110596 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + 0.03795876353979111, + -0.12185265868902206, + 0.055404745042324066 + ], + "orientation": [ + 0.13785719871520996, + -0.06328956037759781, + -0.7896862030029297, + -0.5944623947143555 + ], + "joints": [ + 0.023586653172969818 + ] + }, + "final_grasp": { + "position": [ + 0.03795876353979111, + -0.12185265868902206, + 0.055404745042324066 + ], + "orientation": [ + 0.13785719871520996, + -0.06328956037759781, + -0.7896862030029297, + -0.5944623947143555 + ], + "joints": [ + 0.015206649899482727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04860588535666466, + 0.00708491588011384, + 0.1484651118516922 + ], + "orientation": [ + 0.015511095523834229, + 0.9829335808753967, + -0.053410355001688004, + 0.1753518432378769 + ], + "joints": [ + 0.021300921216607094 + ] + }, + "fine_grasp": { + "position": [ + -0.04872320592403412, + 0.006939874961972237, + 0.1447964459657669 + ], + "orientation": [ + 0.017099909484386444, + 0.9815568327903748, + -0.049927569925785065, + 0.18374185264110565 + ], + "joints": [ + 0.012105906382203102 + ] + }, + "final_grasp": { + "position": [ + -0.04872320592403412, + 0.006939874961972237, + 0.1447964459657669 + ], + "orientation": [ + 0.017099909484386444, + 0.9815568327903748, + -0.049927569925785065, + 0.18374185264110565 + ], + "joints": [ + 0.0029108915477991104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007218400482088327, + 0.021592920646071434, + 0.16888463497161865 + ], + "orientation": [ + 0.04971931502223015, + 0.6998651027679443, + 0.7124578356742859, + -0.0109822116792202 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.006907527334988117, + 0.021035606041550636, + 0.16497090458869934 + ], + "orientation": [ + 0.05755138397216797, + 0.7002072930335999, + 0.711351752281189, + -0.019395560026168823 + ], + "joints": [ + 0.023631803691387177 + ] + }, + "final_grasp": { + "position": [ + -0.006907527334988117, + 0.021035606041550636, + 0.16497090458869934 + ], + "orientation": [ + 0.05755138397216797, + 0.7002072930335999, + 0.711351752281189, + -0.019395560026168823 + ], + "joints": [ + 0.01483384519815445 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021109825000166893, + 0.08447936922311783, + -0.06484343111515045 + ], + "orientation": [ + 0.7483009099960327, + 0.2801222503185272, + 0.32195398211479187, + -0.5078610777854919 + ], + "joints": [ + 0.03178141638636589 + ] + }, + "fine_grasp": { + "position": [ + -0.019803378731012344, + 0.08197977393865585, + -0.062045060098171234 + ], + "orientation": [ + 0.7427486777305603, + 0.2760358452796936, + 0.3175029158592224, + -0.5208842754364014 + ], + "joints": [ + 0.023004356771707535 + ] + }, + "final_grasp": { + "position": [ + -0.019803378731012344, + 0.08197977393865585, + -0.062045060098171234 + ], + "orientation": [ + 0.7427486777305603, + 0.2760358452796936, + 0.3175029158592224, + -0.5208842754364014 + ], + "joints": [ + 0.014227297157049179 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14082077145576477, + 0.03089071437716484, + 0.00425805663689971 + ], + "orientation": [ + 0.5753531455993652, + -0.268540620803833, + 0.6009711623191833, + -0.48547741770744324 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.1370139718055725, + 0.030357204377651215, + 0.005080140195786953 + ], + "orientation": [ + 0.5765201449394226, + -0.27424508333206177, + 0.5992721319198608, + -0.48299792408943176 + ], + "joints": [ + 0.02321384847164154 + ] + }, + "final_grasp": { + "position": [ + -0.1370139718055725, + 0.030357204377651215, + 0.005080140195786953 + ], + "orientation": [ + 0.5765201449394226, + -0.27424508333206177, + 0.5992721319198608, + -0.48299792408943176 + ], + "joints": [ + 0.013997934758663177 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014318913221359253, + 0.07026075571775436, + 0.14831146597862244 + ], + "orientation": [ + 0.27153682708740234, + 0.6525248885154724, + -0.6787886023521423, + 0.19931122660636902 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + 0.01376290712505579, + 0.06846671551465988, + 0.14488713443279266 + ], + "orientation": [ + 0.2582007050514221, + 0.6546244621276855, + -0.6854701638221741, + 0.1868949830532074 + ], + "joints": [ + 0.02352060377597809 + ] + }, + "final_grasp": { + "position": [ + 0.01376290712505579, + 0.06846671551465988, + 0.14488713443279266 + ], + "orientation": [ + 0.2582007050514221, + 0.6546244621276855, + -0.6854701638221741, + 0.1868949830532074 + ], + "joints": [ + 0.015537656843662262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011533031240105629, + 0.08388859778642654, + -0.06718612462282181 + ], + "orientation": [ + 0.6795362234115601, + 0.36797112226486206, + 0.2610941231250763, + -0.5784960389137268 + ], + "joints": [ + 0.02969742752611637 + ] + }, + "fine_grasp": { + "position": [ + 0.010304697789251804, + 0.08255375176668167, + -0.06353677064180374 + ], + "orientation": [ + 0.6752911806106567, + 0.357345312833786, + 0.2560175955295563, + -0.5922340750694275 + ], + "joints": [ + 0.02133832313120365 + ] + }, + "final_grasp": { + "position": [ + 0.010304697789251804, + 0.08255375176668167, + -0.06353677064180374 + ], + "orientation": [ + 0.6752911806106567, + 0.357345312833786, + 0.2560175955295563, + -0.5922340750694275 + ], + "joints": [ + 0.012979218736290932 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017877114936709404, + 0.10453598946332932, + -0.045246414840221405 + ], + "orientation": [ + 0.7309320569038391, + 0.3986380100250244, + 0.35232871770858765, + -0.4274229407310486 + ], + "joints": [ + 0.03247607499361038 + ] + }, + "fine_grasp": { + "position": [ + -0.01728321798145771, + 0.10178086161613464, + -0.04267153516411781 + ], + "orientation": [ + 0.7319225072860718, + 0.3921084403991699, + 0.34717872738838196, + -0.4358982741832733 + ], + "joints": [ + 0.022863104939460754 + ] + }, + "final_grasp": { + "position": [ + -0.01728321798145771, + 0.10178086161613464, + -0.04267153516411781 + ], + "orientation": [ + 0.7319225072860718, + 0.3921084403991699, + 0.34717872738838196, + -0.4358982741832733 + ], + "joints": [ + 0.013250134885311127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04246872663497925, + 0.10923216491937637, + -0.03822469338774681 + ], + "orientation": [ + 0.37005987763404846, + 0.44109228253364563, + 0.3755287528038025, + -0.7262722253799438 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + 0.0409744530916214, + 0.10621403157711029, + -0.03621251508593559 + ], + "orientation": [ + 0.37412333488464355, + 0.43935656547546387, + 0.37089091539382935, + -0.7276245355606079 + ], + "joints": [ + 0.022331692278385162 + ] + }, + "final_grasp": { + "position": [ + 0.0409744530916214, + 0.10621403157711029, + -0.03621251508593559 + ], + "orientation": [ + 0.37412333488464355, + 0.43935656547546387, + 0.37089091539382935, + -0.7276245355606079 + ], + "joints": [ + 0.01313667744398117 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.14075137674808502, + 0.030984139069914818, + 0.004295796155929565 + ], + "orientation": [ + 0.5771726965904236, + -0.2687221169471741, + 0.5998187065124512, + -0.48464155197143555 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.13697054982185364, + 0.030339689925312996, + 0.005036711227148771 + ], + "orientation": [ + 0.577357292175293, + -0.2735835611820221, + 0.5993494987487793, + -0.4822768568992615 + ], + "joints": [ + 0.023234747350215912 + ] + }, + "final_grasp": { + "position": [ + -0.13697054982185364, + 0.030339689925312996, + 0.005036711227148771 + ], + "orientation": [ + 0.577357292175293, + -0.2735835611820221, + 0.5993494987487793, + -0.4822768568992615 + ], + "joints": [ + 0.01403973251581192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13291795551776886, + -0.03079627826809883, + 0.034251462668180466 + ], + "orientation": [ + 0.3227452039718628, + 0.47838637232780457, + -0.5304580926895142, + -0.620963990688324 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.12904345989227295, + -0.030569229274988174, + 0.03383902460336685 + ], + "orientation": [ + 0.3320348560810089, + 0.48796960711479187, + -0.5276257395744324, + -0.6109417080879211 + ], + "joints": [ + 0.02363070845603943 + ] + }, + "final_grasp": { + "position": [ + 0.12904345989227295, + -0.030569229274988174, + 0.03383902460336685 + ], + "orientation": [ + 0.3320348560810089, + 0.48796960711479187, + -0.5276257395744324, + -0.6109417080879211 + ], + "joints": [ + 0.015271604061126709 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13284768164157867, + 0.015984270721673965, + 0.03235968202352524 + ], + "orientation": [ + 0.7334154844284058, + -0.013950804248452187, + 0.6727243065834045, + -0.09669091552495956 + ], + "joints": [ + 0.02126437798142433 + ] + }, + "fine_grasp": { + "position": [ + -0.1289617270231247, + 0.01536147203296423, + 0.032537367194890976 + ], + "orientation": [ + 0.732327401638031, + -0.014224335551261902, + 0.6732949614524841, + -0.10083728283643723 + ], + "joints": [ + 0.011672306805849075 + ] + }, + "final_grasp": { + "position": [ + -0.1289617270231247, + 0.01536147203296423, + 0.032537367194890976 + ], + "orientation": [ + 0.732327401638031, + -0.014224335551261902, + 0.6732949614524841, + -0.10083728283643723 + ], + "joints": [ + 0.002080235630273819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13656948506832123, + -0.011157963424921036, + 0.041873086243867874 + ], + "orientation": [ + 0.407025009393692, + -0.6072205901145935, + 0.42591485381126404, + -0.5331137180328369 + ], + "joints": [ + 0.033888548612594604 + ] + }, + "fine_grasp": { + "position": [ + -0.1328381896018982, + -0.010281150229275227, + 0.04117907956242561 + ], + "orientation": [ + 0.4132228195667267, + -0.6147981882095337, + 0.41942888498306274, + -0.5247376561164856 + ], + "joints": [ + 0.026323556900024414 + ] + }, + "final_grasp": { + "position": [ + -0.1328381896018982, + -0.010281150229275227, + 0.04117907956242561 + ], + "orientation": [ + 0.4132228195667267, + -0.6147981882095337, + 0.41942888498306274, + -0.5247376561164856 + ], + "joints": [ + 0.018758565187454224 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13631494343280792, + 0.015234735794365406, + -0.0227897297590971 + ], + "orientation": [ + 0.8132121562957764, + 0.031820617616176605, + -0.5779417157173157, + 0.06047265604138374 + ], + "joints": [ + 0.018565529957413673 + ] + }, + "fine_grasp": { + "position": [ + 0.13245953619480133, + 0.014802243560552597, + -0.022041482850909233 + ], + "orientation": [ + 0.8110697269439697, + 0.03089696727693081, + -0.5810820460319519, + 0.05962338298559189 + ], + "joints": [ + 0.008952559903264046 + ] + }, + "final_grasp": { + "position": [ + 0.13245953619480133, + 0.014802243560552597, + -0.022041482850909233 + ], + "orientation": [ + 0.8110697269439697, + 0.03089696727693081, + -0.5810820460319519, + 0.05962338298559189 + ], + "joints": [ + -0.000660410150885582 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1325376033782959, + 0.015458961948752403, + 0.03213651105761528 + ], + "orientation": [ + 0.7323102951049805, + -0.013658746145665646, + 0.674447774887085, + -0.0930338203907013 + ], + "joints": [ + 0.021382881328463554 + ] + }, + "fine_grasp": { + "position": [ + -0.12860949337482452, + 0.014910106547176838, + 0.032336387783288956 + ], + "orientation": [ + 0.731799304485321, + -0.014175942167639732, + 0.6744294762611389, + -0.0970236286520958 + ], + "joints": [ + 0.011790810152888298 + ] + }, + "final_grasp": { + "position": [ + -0.12860949337482452, + 0.014910106547176838, + 0.032336387783288956 + ], + "orientation": [ + 0.731799304485321, + -0.014175942167639732, + 0.6744294762611389, + -0.0970236286520958 + ], + "joints": [ + 0.0021987389773130417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13986849784851074, + -9.796098311198875e-06, + 0.04565794765949249 + ], + "orientation": [ + 0.42294180393218994, + -0.500825047492981, + 0.5660886168479919, + -0.4998379647731781 + ], + "joints": [ + 0.030600490048527718 + ] + }, + "fine_grasp": { + "position": [ + -0.1359473466873169, + 0.000765274278819561, + 0.04503227397799492 + ], + "orientation": [ + 0.4321307837963104, + -0.5087845325469971, + 0.5585343241691589, + -0.4923825263977051 + ], + "joints": [ + 0.022220486775040627 + ] + }, + "final_grasp": { + "position": [ + -0.1359473466873169, + 0.000765274278819561, + 0.04503227397799492 + ], + "orientation": [ + 0.4321307837963104, + -0.5087845325469971, + 0.5585343241691589, + -0.4923825263977051 + ], + "joints": [ + 0.013840483501553535 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025161052122712135, + -0.12600001692771912, + 0.05358177423477173 + ], + "orientation": [ + 0.0936092734336853, + -0.0007984747062437236, + 0.7765928506851196, + 0.6230089068412781 + ], + "joints": [ + 0.034722134470939636 + ] + }, + "fine_grasp": { + "position": [ + -0.024798769503831863, + -0.12203338742256165, + 0.05232802405953407 + ], + "orientation": [ + 0.09091350436210632, + -0.0044689541682600975, + 0.77552729845047, + 0.6247175931930542 + ], + "joints": [ + 0.026342131197452545 + ] + }, + "final_grasp": { + "position": [ + -0.024798769503831863, + -0.12203338742256165, + 0.05232802405953407 + ], + "orientation": [ + 0.09091350436210632, + -0.0044689541682600975, + 0.77552729845047, + 0.6247175931930542 + ], + "joints": [ + 0.017962127923965454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1407671570777893, + 0.03094625473022461, + 0.004325648304075003 + ], + "orientation": [ + 0.5757362842559814, + -0.26910457015037537, + 0.6001818180084229, + -0.48568713665008545 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.1369762420654297, + 0.03035423345863819, + 0.0051001813262701035 + ], + "orientation": [ + 0.5762673616409302, + -0.274409681558609, + 0.5991453528404236, + -0.4833633303642273 + ], + "joints": [ + 0.023234747350215912 + ] + }, + "final_grasp": { + "position": [ + -0.1369762420654297, + 0.03035423345863819, + 0.0051001813262701035 + ], + "orientation": [ + 0.5762673616409302, + -0.274409681558609, + 0.5991453528404236, + -0.4833633303642273 + ], + "joints": [ + 0.01403973251581192 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13704916834831238, + -0.011280105449259281, + 0.04186929017305374 + ], + "orientation": [ + 0.4073997735977173, + -0.6064494252204895, + 0.4266149401664734, + -0.5331456661224365 + ], + "joints": [ + 0.033865392208099365 + ] + }, + "fine_grasp": { + "position": [ + -0.13337016105651855, + -0.010458330623805523, + 0.0412585586309433 + ], + "orientation": [ + 0.41304686665534973, + -0.6133769750595093, + 0.4206022322177887, + -0.525599479675293 + ], + "joints": [ + 0.02588244527578354 + ] + }, + "final_grasp": { + "position": [ + -0.13337016105651855, + -0.010458330623805523, + 0.0412585586309433 + ], + "orientation": [ + 0.41304686665534973, + -0.6133769750595093, + 0.4206022322177887, + -0.525599479675293 + ], + "joints": [ + 0.017899498343467712 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12027720361948013, + -0.07723266631364822, + 0.01573193445801735 + ], + "orientation": [ + 0.6231905221939087, + -0.6381860375404358, + 0.23887336254119873, + -0.38378584384918213 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.116928830742836, + -0.07531362771987915, + 0.01625022292137146 + ], + "orientation": [ + 0.6233429908752441, + -0.6349899172782898, + 0.24327513575553894, + -0.3860679566860199 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + -0.116928830742836, + -0.07531362771987915, + 0.01625022292137146 + ], + "orientation": [ + 0.6233429908752441, + -0.6349899172782898, + 0.24327513575553894, + -0.3860679566860199 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.016843926161527634, + -0.10756338387727737, + -0.06664735078811646 + ], + "orientation": [ + 0.6717995405197144, + -0.393209308385849, + -0.25107541680336, + -0.5753546357154846 + ], + "joints": [ + 0.031503550708293915 + ] + }, + "fine_grasp": { + "position": [ + -0.016308574005961418, + -0.1044759601354599, + -0.06443099677562714 + ], + "orientation": [ + 0.6711968779563904, + -0.39270350337028503, + -0.2520034909248352, + -0.5759972929954529 + ], + "joints": [ + 0.022308535873889923 + ] + }, + "final_grasp": { + "position": [ + -0.016308574005961418, + -0.1044759601354599, + -0.06443099677562714 + ], + "orientation": [ + 0.6711968779563904, + -0.39270350337028503, + -0.2520034909248352, + -0.5759972929954529 + ], + "joints": [ + 0.013113521039485931 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12032423168420792, + -0.07729112356901169, + 0.01574036292731762 + ], + "orientation": [ + 0.6229546070098877, + -0.6381892561912537, + 0.23890885710716248, + -0.3841411769390106 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + -0.11697688698768616, + -0.07536489516496658, + 0.016254616901278496 + ], + "orientation": [ + 0.6231369972229004, + -0.6350055932998657, + 0.24329407513141632, + -0.3863627016544342 + ], + "joints": [ + 0.025328971445560455 + ] + }, + "final_grasp": { + "position": [ + -0.11697688698768616, + -0.07536489516496658, + 0.016254616901278496 + ], + "orientation": [ + 0.6231369972229004, + -0.6350055932998657, + 0.24329407513141632, + -0.3863627016544342 + ], + "joints": [ + 0.017325125634670258 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025306137278676033, + 0.05461454391479492, + -0.09987444430589676 + ], + "orientation": [ + 0.7809352278709412, + 0.11589907109737396, + -0.21248100697994232, + 0.5758119821548462 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + 0.02434120513498783, + 0.052720941603183746, + -0.09642849117517471 + ], + "orientation": [ + 0.7792053818702698, + 0.11778654903173447, + -0.21389636397361755, + 0.5772465467453003 + ], + "joints": [ + 0.024789568036794662 + ] + }, + "final_grasp": { + "position": [ + 0.02434120513498783, + 0.052720941603183746, + -0.09642849117517471 + ], + "orientation": [ + 0.7792053818702698, + 0.11778654903173447, + -0.21389636397361755, + 0.5772465467453003 + ], + "joints": [ + 0.015991609543561935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13726021349430084, + -0.029684433713555336, + -0.0026518432423472404 + ], + "orientation": [ + 0.5810808539390564, + 0.32605403661727905, + -0.526701033115387, + -0.5278445482254028 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.13381080329418182, + -0.02875293232500553, + -0.0015087485080584884 + ], + "orientation": [ + 0.5784799456596375, + 0.3248574733734131, + -0.5280143618583679, + -0.5301219820976257 + ], + "joints": [ + 0.02495507150888443 + ] + }, + "final_grasp": { + "position": [ + 0.13381080329418182, + -0.02875293232500553, + -0.0015087485080584884 + ], + "orientation": [ + 0.5784799456596375, + 0.3248574733734131, + -0.5280143618583679, + -0.5301219820976257 + ], + "joints": [ + 0.016554169356822968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07439974695444107, + 0.004669142886996269, + -0.07459389418363571 + ], + "orientation": [ + 0.9395383596420288, + 0.02503971941769123, + -0.341370165348053, + -0.010351156815886497 + ], + "joints": [ + 0.019973870366811752 + ] + }, + "fine_grasp": { + "position": [ + 0.0738917887210846, + 0.0048529598861932755, + -0.07168249040842056 + ], + "orientation": [ + 0.9391472935676575, + 0.027911337092518806, + -0.34201356768608093, + -0.015813125297427177 + ], + "joints": [ + 0.01077885553240776 + ] + }, + "final_grasp": { + "position": [ + 0.0738917887210846, + 0.0048529598861932755, + -0.07168249040842056 + ], + "orientation": [ + 0.9391472935676575, + 0.027911337092518806, + -0.34201356768608093, + -0.015813125297427177 + ], + "joints": [ + 0.001583840698003769 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03082255832850933, + 0.053906604647636414, + 0.16778016090393066 + ], + "orientation": [ + 0.20156843960285187, + 0.978446364402771, + 0.0016035552835091949, + 0.044836558401584625 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + -0.030383097007870674, + 0.05231029912829399, + 0.16419337689876556 + ], + "orientation": [ + 0.2012305110692978, + 0.9782122373580933, + 0.0005739938351325691, + 0.05105604976415634 + ], + "joints": [ + 0.010059302672743797 + ] + }, + "final_grasp": { + "position": [ + -0.030383097007870674, + 0.05231029912829399, + 0.16419337689876556 + ], + "orientation": [ + 0.2012305110692978, + 0.9782122373580933, + 0.0005739938351325691, + 0.05105604976415634 + ], + "joints": [ + 0.0008642878383398056 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04390254244208336, + 0.11359034478664398, + 0.030333824455738068 + ], + "orientation": [ + 0.12052689492702484, + -0.06789186596870422, + 0.7143720388412476, + -0.6859566569328308 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.04297468066215515, + 0.10987596958875656, + 0.029959576204419136 + ], + "orientation": [ + 0.1167939230799675, + -0.07268819212913513, + 0.7127025723457336, + -0.68784499168396 + ], + "joints": [ + 0.02494482323527336 + ] + }, + "final_grasp": { + "position": [ + -0.04297468066215515, + 0.10987596958875656, + 0.029959576204419136 + ], + "orientation": [ + 0.1167939230799675, + -0.07268819212913513, + 0.7127025723457336, + -0.68784499168396 + ], + "joints": [ + 0.015352752059698105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1330566108226776, + -0.04128234088420868, + 0.03415967524051666 + ], + "orientation": [ + 0.5925598740577698, + -0.5220136642456055, + 0.5123258233070374, + -0.337485671043396 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + -0.12941212952136993, + -0.039895471185445786, + 0.0339280404150486 + ], + "orientation": [ + 0.5955376625061035, + -0.5252383947372437, + 0.5057386755943298, + -0.33717647194862366 + ], + "joints": [ + 0.02590218186378479 + ] + }, + "final_grasp": { + "position": [ + -0.12941212952136993, + -0.039895471185445786, + 0.0339280404150486 + ], + "orientation": [ + 0.5955376625061035, + -0.5252383947372437, + 0.5057386755943298, + -0.33717647194862366 + ], + "joints": [ + 0.0175221785902977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1365995705127716, + -0.011048640124499798, + 0.04169970005750656 + ], + "orientation": [ + 0.4042869210243225, + -0.6106525659561157, + 0.42005616426467896, + -0.5359181761741638 + ], + "joints": [ + 0.03432849794626236 + ] + }, + "fine_grasp": { + "position": [ + -0.1328640580177307, + -0.010195676237344742, + 0.041017137467861176 + ], + "orientation": [ + 0.4101780354976654, + -0.6176544427871704, + 0.414355605840683, + -0.5277939438819885 + ], + "joints": [ + 0.026345551013946533 + ] + }, + "final_grasp": { + "position": [ + -0.1328640580177307, + -0.010195676237344742, + 0.041017137467861176 + ], + "orientation": [ + 0.4101780354976654, + -0.6176544427871704, + 0.414355605840683, + -0.5277939438819885 + ], + "joints": [ + 0.018362604081630707 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008766058832406998, + 0.010717062279582024, + -0.10136827826499939 + ], + "orientation": [ + 0.006645082961767912, + 0.019547997042536736, + -0.04298973083496094, + 0.998862087726593 + ], + "joints": [ + 0.02016090601682663 + ] + }, + "fine_grasp": { + "position": [ + -0.008637337945401669, + 0.01057430449873209, + -0.09811156988143921 + ], + "orientation": [ + 0.00657934183254838, + 0.018466714769601822, + -0.043263453990221024, + 0.9988713264465332 + ], + "joints": [ + 0.010547935962677002 + ] + }, + "final_grasp": { + "position": [ + -0.008637337945401669, + 0.01057430449873209, + -0.09811156988143921 + ], + "orientation": [ + 0.00657934183254838, + 0.018466714769601822, + -0.043263453990221024, + 0.9988713264465332 + ], + "joints": [ + 0.0009349659085273743 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02522694505751133, + 0.05455183610320091, + -0.09976416081190109 + ], + "orientation": [ + 0.7817913889884949, + 0.1157195195555687, + -0.21140354871749878, + 0.5750824809074402 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + 0.0242458488792181, + 0.052632082253694534, + -0.09633881598711014 + ], + "orientation": [ + 0.7800499200820923, + 0.11779803782701492, + -0.21302661299705505, + 0.5764247179031372 + ], + "joints": [ + 0.024789568036794662 + ] + }, + "final_grasp": { + "position": [ + 0.0242458488792181, + 0.052632082253694534, + -0.09633881598711014 + ], + "orientation": [ + 0.7800499200820923, + 0.11779803782701492, + -0.21302661299705505, + 0.5764247179031372 + ], + "joints": [ + 0.015991609543561935 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019508499652147293, + -0.013848211616277695, + -0.09443540126085281 + ], + "orientation": [ + 0.9940536618232727, + -0.05710603669285774, + -0.09087056666612625, + -0.018401719629764557 + ], + "joints": [ + 0.020969657227396965 + ] + }, + "fine_grasp": { + "position": [ + 0.019164953380823135, + -0.013042483478784561, + -0.09121201932430267 + ], + "orientation": [ + 0.9943081736564636, + -0.058108992874622345, + -0.08773255348205566, + -0.016660602763295174 + ], + "joints": [ + 0.010938731953501701 + ] + }, + "final_grasp": { + "position": [ + 0.019164953380823135, + -0.013042483478784561, + -0.09121201932430267 + ], + "orientation": [ + 0.9943081736564636, + -0.058108992874622345, + -0.08773255348205566, + -0.016660602763295174 + ], + "joints": [ + 0.0009078066796064377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01144400704652071, + 0.08393856137990952, + -0.06731368601322174 + ], + "orientation": [ + 0.6786844730377197, + 0.3681865334510803, + 0.26300087571144104, + -0.5784952044487 + ], + "joints": [ + 0.029674271121621132 + ] + }, + "fine_grasp": { + "position": [ + 0.010192705318331718, + 0.082670658826828, + -0.06361804157495499 + ], + "orientation": [ + 0.6747606992721558, + 0.3572760820388794, + 0.2572821378707886, + -0.5923324823379517 + ], + "joints": [ + 0.021315166726708412 + ] + }, + "final_grasp": { + "position": [ + 0.010192705318331718, + 0.082670658826828, + -0.06361804157495499 + ], + "orientation": [ + 0.6747606992721558, + 0.3572760820388794, + 0.2572821378707886, + -0.5923324823379517 + ], + "joints": [ + 0.012956062331795692 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1372004598379135, + -0.02941850572824478, + -0.002580726984888315 + ], + "orientation": [ + 0.5769408941268921, + 0.32725343108177185, + -0.5276097059249878, + -0.5307281017303467 + ], + "joints": [ + 0.03379592299461365 + ] + }, + "fine_grasp": { + "position": [ + 0.13369010388851166, + -0.028535407036542892, + -0.001458076061680913 + ], + "orientation": [ + 0.5746809244155884, + 0.32671448588371277, + -0.5287265777587891, + -0.5323981046676636 + ], + "joints": [ + 0.025395020842552185 + ] + }, + "final_grasp": { + "position": [ + 0.13369010388851166, + -0.028535407036542892, + -0.001458076061680913 + ], + "orientation": [ + 0.5746809244155884, + 0.32671448588371277, + -0.5287265777587891, + -0.5323981046676636 + ], + "joints": [ + 0.016994118690490723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13167913258075714, + 0.0021529337391257286, + 0.04244492948055267 + ], + "orientation": [ + 0.01012063305824995, + 0.7638277411460876, + -0.0010470835259184241, + 0.645339846611023 + ], + "joints": [ + 0.01851416379213333 + ] + }, + "fine_grasp": { + "position": [ + -0.12759961187839508, + 0.0020755480509251356, + 0.04216462001204491 + ], + "orientation": [ + 0.007947365753352642, + 0.7607927918434143, + -0.0021146538201719522, + 0.6489428877830505 + ], + "joints": [ + 0.009737104177474976 + ] + }, + "final_grasp": { + "position": [ + -0.12759961187839508, + 0.0020755480509251356, + 0.04216462001204491 + ], + "orientation": [ + 0.007947365753352642, + 0.7607927918434143, + -0.0021146538201719522, + 0.6489428877830505 + ], + "joints": [ + 0.0009600445628166199 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13094863295555115, + 0.0017651766538619995, + 0.0425233319401741 + ], + "orientation": [ + 0.01026025228202343, + 0.7642560601234436, + 0.001479706959798932, + 0.6448295712471008 + ], + "joints": [ + 0.018799878656864166 + ] + }, + "fine_grasp": { + "position": [ + -0.12686964869499207, + 0.0016929148696362972, + 0.04225308448076248 + ], + "orientation": [ + 0.007928294129669666, + 0.7611592411994934, + 0.00024138782464433461, + 0.6485163569450378 + ], + "joints": [ + 0.01002281904220581 + ] + }, + "final_grasp": { + "position": [ + -0.12686964869499207, + 0.0016929148696362972, + 0.04225308448076248 + ], + "orientation": [ + 0.007928294129669666, + 0.7611592411994934, + 0.00024138782464433461, + 0.6485163569450378 + ], + "joints": [ + 0.0012457594275474548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09296856820583344, + 0.09576535224914551, + 0.03744746744632721 + ], + "orientation": [ + 0.6075476408004761, + 0.7127974033355713, + 0.184111550450325, + 0.2981756031513214 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.09059171378612518, + 0.0924072116613388, + 0.03696206584572792 + ], + "orientation": [ + 0.6113054156303406, + 0.7121794819831848, + 0.18475109338760376, + 0.2915014326572418 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + -0.09059171378612518, + 0.0924072116613388, + 0.03696206584572792 + ], + "orientation": [ + 0.6113054156303406, + 0.7121794819831848, + 0.18475109338760376, + 0.2915014326572418 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.044306185096502304, + 0.1133730337023735, + 0.03084184229373932 + ], + "orientation": [ + 0.12079685181379318, + -0.06473788619041443, + 0.7161106467247009, + -0.6843996047973633 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.043484508991241455, + 0.10940304398536682, + 0.030482307076454163 + ], + "orientation": [ + 0.12224877625703812, + -0.06579381227493286, + 0.7152232527732849, + -0.6849687695503235 + ], + "joints": [ + 0.025341879576444626 + ] + }, + "final_grasp": { + "position": [ + -0.043484508991241455, + 0.10940304398536682, + 0.030482307076454163 + ], + "orientation": [ + 0.12224877625703812, + -0.06579381227493286, + 0.7152232527732849, + -0.6849687695503235 + ], + "joints": [ + 0.016146864742040634 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02899136021733284, + -0.11543378978967667, + -0.016613420099020004 + ], + "orientation": [ + 0.8141842484474182, + -0.5470221042633057, + 0.19308699667453766, + 0.024253113195300102 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.029029006138443947, + -0.11228955537080765, + -0.014372492209076881 + ], + "orientation": [ + 0.8157007694244385, + -0.5470200181007385, + 0.18496155738830566, + 0.034505173563957214 + ], + "joints": [ + 0.027058850973844528 + ] + }, + "final_grasp": { + "position": [ + -0.029029006138443947, + -0.11228955537080765, + -0.014372492209076881 + ], + "orientation": [ + 0.8157007694244385, + -0.5470200181007385, + 0.18496155738830566, + 0.034505173563957214 + ], + "joints": [ + 0.019117701798677444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04916350170969963, + -0.11546629667282104, + -0.00410284660756588 + ], + "orientation": [ + 0.7706041932106018, + -0.6171756386756897, + 0.03242700174450874, + -0.15560169517993927 + ], + "joints": [ + 0.03432849794626236 + ] + }, + "fine_grasp": { + "position": [ + -0.04769137129187584, + -0.11200741678476334, + -0.0028095548041164875 + ], + "orientation": [ + 0.769892156124115, + -0.6165049076080322, + 0.039038050919771194, + -0.16019891202449799 + ], + "joints": [ + 0.025551438331604004 + ] + }, + "final_grasp": { + "position": [ + -0.04769137129187584, + -0.11200741678476334, + -0.0028095548041164875 + ], + "orientation": [ + 0.769892156124115, + -0.6165049076080322, + 0.039038050919771194, + -0.16019891202449799 + ], + "joints": [ + 0.016774378716945648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09262719750404358, + 0.09563559293746948, + 0.03731290251016617 + ], + "orientation": [ + 0.6076751351356506, + 0.7117582559585571, + 0.1862345039844513, + 0.2990783452987671 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.09032940119504929, + 0.09230510145425797, + 0.036798812448978424 + ], + "orientation": [ + 0.611335277557373, + 0.7116615176200867, + 0.18647830188274384, + 0.291604220867157 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + -0.09032940119504929, + 0.09230510145425797, + 0.036798812448978424 + ], + "orientation": [ + 0.611335277557373, + 0.7116615176200867, + 0.18647830188274384, + 0.291604220867157 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0924927368760109, + 0.09557339549064636, + 0.03722357377409935 + ], + "orientation": [ + 0.6074267029762268, + 0.7116258144378662, + 0.1857113391160965, + 0.30022111535072327 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.0902017131447792, + 0.09222439676523209, + 0.03671823441982269 + ], + "orientation": [ + 0.6113354563713074, + 0.7113359570503235, + 0.18569707870483398, + 0.29289373755455017 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + -0.0902017131447792, + 0.09222439676523209, + 0.03671823441982269 + ], + "orientation": [ + 0.6113354563713074, + 0.7113359570503235, + 0.18569707870483398, + 0.29289373755455017 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.005585552658885717, + -0.052116528153419495, + 0.15646883845329285 + ], + "orientation": [ + 0.15826477110385895, + -0.7346034049987793, + 0.6506447792053223, + 0.1094139888882637 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + -0.005579209886491299, + -0.05054033175110817, + 0.15288181602954865 + ], + "orientation": [ + 0.15953132510185242, + -0.7241265177726746, + 0.6610140800476074, + 0.11511313915252686 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + -0.005579209886491299, + -0.05054033175110817, + 0.15288181602954865 + ], + "orientation": [ + 0.15953132510185242, + -0.7241265177726746, + 0.6610140800476074, + 0.11511313915252686 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05342898890376091, + 0.0901927798986435, + 0.10157305002212524 + ], + "orientation": [ + 0.20434485375881195, + 0.6849737763404846, + -0.5085381269454956, + 0.4800448715686798 + ], + "joints": [ + 0.032267678529024124 + ] + }, + "fine_grasp": { + "position": [ + -0.05107789486646652, + 0.08772141486406326, + 0.09953439980745316 + ], + "orientation": [ + 0.19999168813228607, + 0.6869099140167236, + -0.5163160562515259, + 0.4707183539867401 + ], + "joints": [ + 0.022278551012277603 + ] + }, + "final_grasp": { + "position": [ + -0.05107789486646652, + 0.08772141486406326, + 0.09953439980745316 + ], + "orientation": [ + 0.19999168813228607, + 0.6869099140167236, + -0.5163160562515259, + 0.4707183539867401 + ], + "joints": [ + 0.012289423495531082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02350766770541668, + 0.015540988184511662, + 0.17019732296466827 + ], + "orientation": [ + 0.06813914328813553, + 0.9966785907745361, + 0.009799114428460598, + -0.04350585862994194 + ], + "joints": [ + 0.020113809034228325 + ] + }, + "fine_grasp": { + "position": [ + 0.023280750960111618, + 0.014802662655711174, + 0.1663583517074585 + ], + "orientation": [ + 0.06771794706583023, + 0.996713399887085, + 0.005622456781566143, + -0.04410203546285629 + ], + "joints": [ + 0.010897895321249962 + ] + }, + "final_grasp": { + "position": [ + 0.023280750960111618, + 0.014802662655711174, + 0.1663583517074585 + ], + "orientation": [ + 0.06771794706583023, + 0.996713399887085, + 0.005622456781566143, + -0.04410203546285629 + ], + "joints": [ + 0.0016819816082715988 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01788780465722084, + 0.1041836142539978, + -0.045775722712278366 + ], + "orientation": [ + 0.7308075428009033, + 0.3967146575450897, + 0.3530503213405609, + -0.42882785201072693 + ], + "joints": [ + 0.032267678529024124 + ] + }, + "fine_grasp": { + "position": [ + -0.01729915663599968, + 0.10142309218645096, + -0.04317682236433029 + ], + "orientation": [ + 0.7317273020744324, + 0.39023956656455994, + 0.34764769673347473, + -0.43752622604370117 + ], + "joints": [ + 0.022654708474874496 + ] + }, + "final_grasp": { + "position": [ + -0.01729915663599968, + 0.10142309218645096, + -0.04317682236433029 + ], + "orientation": [ + 0.7317273020744324, + 0.39023956656455994, + 0.34764769673347473, + -0.43752622604370117 + ], + "joints": [ + 0.013041738420724869 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13624095916748047, + -0.010713452473282814, + 0.040120553225278854 + ], + "orientation": [ + 0.58334881067276, + -0.4406418204307556, + -0.5914642214775085, + 0.3401602506637573 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.1323549896478653, + -0.010489142499864101, + 0.03985583037137985 + ], + "orientation": [ + 0.5784339904785156, + -0.43801170587539673, + -0.5952242016792297, + 0.34535202383995056 + ], + "joints": [ + 0.025970488786697388 + ] + }, + "final_grasp": { + "position": [ + 0.1323549896478653, + -0.010489142499864101, + 0.03985583037137985 + ], + "orientation": [ + 0.5784339904785156, + -0.43801170587539673, + -0.5952242016792297, + 0.34535202383995056 + ], + "joints": [ + 0.01717253029346466 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12562929093837738, + 0.012149863876402378, + 0.042199719697237015 + ], + "orientation": [ + 0.013681050390005112, + -0.7033926844596863, + 0.08166728913784027, + -0.7059618234634399 + ], + "joints": [ + 0.021937983110547066 + ] + }, + "fine_grasp": { + "position": [ + -0.12181373685598373, + 0.01127463299781084, + 0.04203552007675171 + ], + "orientation": [ + 0.020591476932168007, + -0.7041125893592834, + 0.08791933953762054, + -0.7043235301971436 + ], + "joints": [ + 0.011907057836651802 + ] + }, + "final_grasp": { + "position": [ + -0.12181373685598373, + 0.01127463299781084, + 0.04203552007675171 + ], + "orientation": [ + 0.020591476932168007, + -0.7041125893592834, + 0.08791933953762054, + -0.7043235301971436 + ], + "joints": [ + 0.0018761325627565384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03120414726436138, + -0.10380866378545761, + -0.0498836487531662 + ], + "orientation": [ + 0.38507509231567383, + -0.37777891755104065, + 0.3689868152141571, + 0.7568678259849548 + ], + "joints": [ + 0.03198981285095215 + ] + }, + "fine_grasp": { + "position": [ + 0.030267782509326935, + -0.10094722360372543, + -0.047362882643938065 + ], + "orientation": [ + 0.3903360962867737, + -0.37430503964424133, + 0.3658570349216461, + 0.7574179172515869 + ], + "joints": [ + 0.02237684279680252 + ] + }, + "final_grasp": { + "position": [ + 0.030267782509326935, + -0.10094722360372543, + -0.047362882643938065 + ], + "orientation": [ + 0.3903360962867737, + -0.37430503964424133, + 0.3658570349216461, + 0.7574179172515869 + ], + "joints": [ + 0.012763872742652893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044554200023412704, + -0.12015841901302338, + 0.008326014503836632 + ], + "orientation": [ + 0.06321629136800766, + 0.14608298242092133, + -0.637100100517273, + -0.7541664242744446 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.043905116617679596, + -0.11604095995426178, + 0.009137588553130627 + ], + "orientation": [ + 0.059165991842746735, + 0.14255280792713165, + -0.6392321586608887, + -0.7533660531044006 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + 0.043905116617679596, + -0.11604095995426178, + 0.009137588553130627 + ], + "orientation": [ + 0.059165991842746735, + 0.14255280792713165, + -0.6392321586608887, + -0.7533660531044006 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.015259550884366035, + 0.024411730468273163, + -0.11331123113632202 + ], + "orientation": [ + 0.7741425633430481, + 0.1326626092195511, + -0.03739629685878754, + 0.6178231239318848 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.014752608723938465, + 0.02409820258617401, + -0.10956821590662003 + ], + "orientation": [ + 0.7750039100646973, + 0.12995965778827667, + -0.03560471162199974, + 0.6174235939979553 + ], + "joints": [ + 0.02319294959306717 + ] + }, + "final_grasp": { + "position": [ + -0.014752608723938465, + 0.02409820258617401, + -0.10956821590662003 + ], + "orientation": [ + 0.7750039100646973, + 0.12995965778827667, + -0.03560471162199974, + 0.6174235939979553 + ], + "joints": [ + 0.013956137001514435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.044171545654535294, + -0.12033415585756302, + 0.007980124093592167 + ], + "orientation": [ + 0.06417550891637802, + 0.14741875231266022, + -0.6357994079589844, + -0.7549227476119995 + ], + "joints": [ + 0.034780025482177734 + ] + }, + "fine_grasp": { + "position": [ + 0.043630316853523254, + -0.11632240563631058, + 0.008721483871340752 + ], + "orientation": [ + 0.05996571108698845, + 0.14343050122261047, + -0.6379379630088806, + -0.7542327642440796 + ], + "joints": [ + 0.02602386474609375 + ] + }, + "final_grasp": { + "position": [ + 0.043630316853523254, + -0.11632240563631058, + 0.008721483871340752 + ], + "orientation": [ + 0.05996571108698845, + 0.14343050122261047, + -0.6379379630088806, + -0.7542327642440796 + ], + "joints": [ + 0.017267704010009766 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005569745786488056, + -0.011471832171082497, + -0.09487351030111313 + ], + "orientation": [ + 0.9990684986114502, + -0.04284609854221344, + 0.004951589275151491, + -0.0013566527049988508 + ], + "joints": [ + 0.02161085233092308 + ] + }, + "fine_grasp": { + "position": [ + 0.005478912033140659, + -0.011563053354620934, + -0.09272514283657074 + ], + "orientation": [ + 0.9989373683929443, + -0.04569432511925697, + 0.005922058597207069, + -0.0010480541968718171 + ], + "joints": [ + 0.012415837496519089 + ] + }, + "final_grasp": { + "position": [ + 0.005478912033140659, + -0.011563053354620934, + -0.09272514283657074 + ], + "orientation": [ + 0.9989373683929443, + -0.04569432511925697, + 0.005922058597207069, + -0.0010480541968718171 + ], + "joints": [ + 0.003220822662115097 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06950070708990097, + -0.012356727384030819, + 0.15131890773773193 + ], + "orientation": [ + 0.16103164851665497, + 0.06166814640164375, + 0.9823764562606812, + 0.07212697714567184 + ], + "joints": [ + 0.018814364448189735 + ] + }, + "fine_grasp": { + "position": [ + -0.06730565428733826, + -0.012318532913923264, + 0.14817190170288086 + ], + "orientation": [ + 0.18368230760097504, + 0.0663856640458107, + 0.9783673286437988, + 0.06819988787174225 + ], + "joints": [ + 0.01003730483353138 + ] + }, + "final_grasp": { + "position": [ + -0.06730565428733826, + -0.012318532913923264, + 0.14817190170288086 + ], + "orientation": [ + 0.18368230760097504, + 0.0663856640458107, + 0.9783673286437988, + 0.06819988787174225 + ], + "joints": [ + 0.001260245218873024 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02315356209874153, + -0.0005861491081304848, + -0.09566815197467804 + ], + "orientation": [ + 0.04584219679236412, + 0.029903562739491463, + -6.380504055414349e-05, + -0.9985010623931885 + ], + "joints": [ + 0.01994449459016323 + ] + }, + "fine_grasp": { + "position": [ + 0.02292010746896267, + -0.0007646848680451512, + -0.09312942624092102 + ], + "orientation": [ + 0.04835941269993782, + 0.03205359727144241, + -0.0006191109423525631, + -0.9983153939247131 + ], + "joints": [ + 0.01074947975575924 + ] + }, + "final_grasp": { + "position": [ + 0.02292010746896267, + -0.0007646848680451512, + -0.09312942624092102 + ], + "orientation": [ + 0.04835941269993782, + 0.03205359727144241, + -0.0006191109423525631, + -0.9983153939247131 + ], + "joints": [ + 0.0015544649213552475 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.023253286257386208, + -0.0007444769144058228, + -0.0957365408539772 + ], + "orientation": [ + 0.04894423484802246, + 0.029879296198487282, + -0.0007426182273775339, + -0.9983542561531067 + ], + "joints": [ + 0.020150188356637955 + ] + }, + "fine_grasp": { + "position": [ + 0.02297136001288891, + -0.0007043126388452947, + -0.09307272732257843 + ], + "orientation": [ + 0.05232745036482811, + 0.03213119879364967, + -0.0017478850204497576, + -0.9981114268302917 + ], + "joints": [ + 0.010955173522233963 + ] + }, + "final_grasp": { + "position": [ + 0.02297136001288891, + -0.0007043126388452947, + -0.09307272732257843 + ], + "orientation": [ + 0.05232745036482811, + 0.03213119879364967, + -0.0017478850204497576, + -0.9981114268302917 + ], + "joints": [ + 0.0017601586878299713 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06947316974401474, + -0.012363772839307785, + 0.15126420557498932 + ], + "orientation": [ + 0.16022706031799316, + 0.06130233779549599, + 0.9824557304382324, + 0.07314460724592209 + ], + "joints": [ + 0.01925431750714779 + ] + }, + "fine_grasp": { + "position": [ + -0.06715158373117447, + -0.012322790920734406, + 0.14814366400241852 + ], + "orientation": [ + 0.18510638177394867, + 0.0666893869638443, + 0.9780499935150146, + 0.06860346347093582 + ], + "joints": [ + 0.010456359013915062 + ] + }, + "final_grasp": { + "position": [ + -0.06715158373117447, + -0.012322790920734406, + 0.14814366400241852 + ], + "orientation": [ + 0.18510638177394867, + 0.0666893869638443, + 0.9780499935150146, + 0.06860346347093582 + ], + "joints": [ + 0.001658400520682335 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.007447030860930681, + 0.03489267826080322, + -0.10479364544153214 + ], + "orientation": [ + 0.8588101267814636, + 0.11215878278017044, + 0.11537158489227295, + -0.48636916279792786 + ], + "joints": [ + 0.032244522124528885 + ] + }, + "fine_grasp": { + "position": [ + -0.007405864540487528, + 0.0340845063328743, + -0.10092338919639587 + ], + "orientation": [ + 0.8571763634681702, + 0.10954257845878601, + 0.11148177832365036, + -0.4907350540161133 + ], + "joints": [ + 0.02346746250987053 + ] + }, + "final_grasp": { + "position": [ + -0.007405864540487528, + 0.0340845063328743, + -0.10092338919639587 + ], + "orientation": [ + 0.8571763634681702, + 0.10954257845878601, + 0.11148177832365036, + -0.4907350540161133 + ], + "joints": [ + 0.014690402895212173 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07472530007362366, + -0.1070149838924408, + -0.007931292057037354 + ], + "orientation": [ + 0.7413417100906372, + -0.6090505123138428, + 0.07185649126768112, + -0.2725924253463745 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.07250533998012543, + -0.10418447107076645, + -0.006543753668665886 + ], + "orientation": [ + 0.7404066324234009, + -0.6078724265098572, + 0.07883854955434799, + -0.27581432461738586 + ], + "joints": [ + 0.025375284254550934 + ] + }, + "final_grasp": { + "position": [ + -0.07250533998012543, + -0.10418447107076645, + -0.006543753668665886 + ], + "orientation": [ + 0.7404066324234009, + -0.6078724265098572, + 0.07883854955434799, + -0.27581432461738586 + ], + "joints": [ + 0.017371438443660736 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05347084626555443, + 0.09017658233642578, + 0.10145630687475204 + ], + "orientation": [ + 0.20420798659324646, + 0.6847471594810486, + -0.5084879994392395, + 0.48047932982444763 + ], + "joints": [ + 0.032267678529024124 + ] + }, + "fine_grasp": { + "position": [ + -0.05115543678402901, + 0.08764508366584778, + 0.09937819093465805 + ], + "orientation": [ + 0.20046550035476685, + 0.6864678859710693, + -0.5168775916099548, + 0.4705455005168915 + ], + "joints": [ + 0.022675607353448868 + ] + }, + "final_grasp": { + "position": [ + -0.05115543678402901, + 0.08764508366584778, + 0.09937819093465805 + ], + "orientation": [ + 0.20046550035476685, + 0.6864678859710693, + -0.5168775916099548, + 0.4705455005168915 + ], + "joints": [ + 0.013083536177873611 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017298350110650063, + -0.05568411201238632, + 0.15613962709903717 + ], + "orientation": [ + 0.12695208191871643, + -0.6696494817733765, + -0.6950482726097107, + -0.22882403433322906 + ], + "joints": [ + 0.032429762184619904 + ] + }, + "fine_grasp": { + "position": [ + -0.01647847332060337, + -0.05432942137122154, + 0.15264680981636047 + ], + "orientation": [ + 0.11987391114234924, + -0.6750543117523193, + -0.6941500902175903, + -0.2192889004945755 + ], + "joints": [ + 0.02402886003255844 + ] + }, + "final_grasp": { + "position": [ + -0.01647847332060337, + -0.05432942137122154, + 0.15264680981636047 + ], + "orientation": [ + 0.11987391114234924, + -0.6750543117523193, + -0.6941500902175903, + -0.2192889004945755 + ], + "joints": [ + 0.01562795788049698 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06956478953361511, + -0.012357485480606556, + 0.15133491158485413 + ], + "orientation": [ + 0.15898831188678741, + 0.0616694875061512, + 0.9826061129570007, + 0.07351679354906082 + ], + "joints": [ + 0.018814364448189735 + ] + }, + "fine_grasp": { + "position": [ + -0.0672009289264679, + -0.012323237024247646, + 0.1482163965702057 + ], + "orientation": [ + 0.18426543474197388, + 0.06714785099029541, + 0.9781864881515503, + 0.06847336143255234 + ], + "joints": [ + 0.010413462296128273 + ] + }, + "final_grasp": { + "position": [ + -0.0672009289264679, + -0.012323237024247646, + 0.1482163965702057 + ], + "orientation": [ + 0.18426543474197388, + 0.06714785099029541, + 0.9781864881515503, + 0.06847336143255234 + ], + "joints": [ + 0.0020125601440668106 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12239999324083328, + 0.012437818571925163, + 0.06117492541670799 + ], + "orientation": [ + 0.6248999834060669, + 0.014398314990103245, + -0.7785306572914124, + 0.05641639232635498 + ], + "joints": [ + 0.02287505380809307 + ] + }, + "fine_grasp": { + "position": [ + 0.11923392862081528, + 0.012245750054717064, + 0.060898616909980774 + ], + "orientation": [ + 0.627802848815918, + 0.013059071265161037, + -0.7759760618209839, + 0.059617988765239716 + ], + "joints": [ + 0.01368003897368908 + ] + }, + "final_grasp": { + "position": [ + 0.11923392862081528, + 0.012245750054717064, + 0.060898616909980774 + ], + "orientation": [ + 0.627802848815918, + 0.013059071265161037, + -0.7759760618209839, + 0.059617988765239716 + ], + "joints": [ + 0.004485024139285088 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01740589365363121, + 0.027748409658670425, + -0.10903686285018921 + ], + "orientation": [ + 0.6887184977531433, + 0.10687509179115295, + 0.011321832425892353, + -0.7170190811157227 + ], + "joints": [ + 0.033124420791864395 + ] + }, + "fine_grasp": { + "position": [ + 0.01685275323688984, + 0.02686806209385395, + -0.10517771542072296 + ], + "orientation": [ + 0.6891505122184753, + 0.106789231300354, + 0.013590047135949135, + -0.7165772318840027 + ], + "joints": [ + 0.023929405957460403 + ] + }, + "final_grasp": { + "position": [ + 0.01685275323688984, + 0.02686806209385395, + -0.10517771542072296 + ], + "orientation": [ + 0.6891505122184753, + 0.106789231300354, + 0.013590047135949135, + -0.7165772318840027 + ], + "joints": [ + 0.014734391123056412 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06946747750043869, + -0.012357208877801895, + 0.1514115035533905 + ], + "orientation": [ + 0.16017331182956696, + 0.06114616245031357, + 0.982512354850769, + 0.07263043522834778 + ], + "joints": [ + 0.018814364448189735 + ] + }, + "fine_grasp": { + "position": [ + -0.06715173274278641, + -0.012300086207687855, + 0.14824002981185913 + ], + "orientation": [ + 0.18485914170742035, + 0.06640972197055817, + 0.9781285524368286, + 0.06842010468244553 + ], + "joints": [ + 0.010434361174702644 + ] + }, + "final_grasp": { + "position": [ + -0.06715173274278641, + -0.012300086207687855, + 0.14824002981185913 + ], + "orientation": [ + 0.18485914170742035, + 0.06640972197055817, + 0.9781285524368286, + 0.06842010468244553 + ], + "joints": [ + 0.0020543579012155533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13290303945541382, + -0.02028043009340763, + 0.05917078256607056 + ], + "orientation": [ + 0.6490194797515869, + 0.0036251270212233067, + 0.751773476600647, + 0.11660614609718323 + ], + "joints": [ + 0.021371202543377876 + ] + }, + "fine_grasp": { + "position": [ + -0.12923671305179596, + -0.019653035327792168, + 0.058583665639162064 + ], + "orientation": [ + 0.6481117606163025, + 0.0047521512024104595, + 0.7524943947792053, + 0.11696426570415497 + ], + "joints": [ + 0.011737333610653877 + ] + }, + "final_grasp": { + "position": [ + -0.12923671305179596, + -0.019653035327792168, + 0.058583665639162064 + ], + "orientation": [ + 0.6481117606163025, + 0.0047521512024104595, + 0.7524943947792053, + 0.11696426570415497 + ], + "joints": [ + 0.0021034646779298782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00564728444442153, + -0.05223388597369194, + 0.15675227344036102 + ], + "orientation": [ + 0.15912486612796783, + -0.7346400618553162, + 0.6503232717514038, + 0.10983122885227203 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.005578553304076195, + -0.05065564066171646, + 0.15312205255031586 + ], + "orientation": [ + 0.1601370871067047, + -0.7239340543746948, + 0.6610722541809082, + 0.11514845490455627 + ], + "joints": [ + 0.023721009492874146 + ] + }, + "final_grasp": { + "position": [ + -0.005578553304076195, + -0.05065564066171646, + 0.15312205255031586 + ], + "orientation": [ + 0.1601370871067047, + -0.7239340543746948, + 0.6610722541809082, + 0.11514845490455627 + ], + "joints": [ + 0.014525994658470154 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04770253971219063, + 0.008207458071410656, + 0.14114457368850708 + ], + "orientation": [ + 0.18329229950904846, + 0.051455508917570114, + -0.9810750484466553, + 0.03532886877655983 + ], + "joints": [ + 0.022445255890488625 + ] + }, + "fine_grasp": { + "position": [ + 0.04901202768087387, + 0.007700694724917412, + 0.1387743502855301 + ], + "orientation": [ + 0.20041735470294952, + 0.07469287514686584, + -0.9764784574508667, + 0.02726963348686695 + ], + "joints": [ + 0.013250241056084633 + ] + }, + "final_grasp": { + "position": [ + 0.04901202768087387, + 0.007700694724917412, + 0.1387743502855301 + ], + "orientation": [ + 0.20041735470294952, + 0.07469287514686584, + -0.9764784574508667, + 0.02726963348686695 + ], + "joints": [ + 0.004055226221680641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09226041287183762, + 0.0954243615269661, + 0.03726806491613388 + ], + "orientation": [ + 0.6070238947868347, + 0.7117704153060913, + 0.18560345470905304, + 0.3007594048976898 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.08998823910951614, + 0.09209189563989639, + 0.03673430532217026 + ], + "orientation": [ + 0.6108463406562805, + 0.7118348479270935, + 0.1854003518819809, + 0.29288992285728455 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + -0.08998823910951614, + 0.09209189563989639, + 0.03673430532217026 + ], + "orientation": [ + 0.6108463406562805, + 0.7118348479270935, + 0.1854003518819809, + 0.29288992285728455 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0006002660375088453, + -0.03259502723813057, + -0.10455664247274399 + ], + "orientation": [ + 0.5893749594688416, + -0.06153671070933342, + 0.08994010835886002, + 0.8004755973815918 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.00037555175367742777, + -0.03115496039390564, + -0.10126252472400665 + ], + "orientation": [ + 0.5900936126708984, + -0.06701911240816116, + 0.09277655184268951, + 0.7991811633110046 + ], + "joints": [ + 0.024349618703126907 + ] + }, + "final_grasp": { + "position": [ + 0.00037555175367742777, + -0.03115496039390564, + -0.10126252472400665 + ], + "orientation": [ + 0.5900936126708984, + -0.06701911240816116, + 0.09277655184268951, + 0.7991811633110046 + ], + "joints": [ + 0.01555166020989418 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.017928844317793846, + -0.13687320053577423, + 0.0392746776342392 + ], + "orientation": [ + 0.3668763339519501, + -0.5842939615249634, + -0.5526066422462463, + -0.46757689118385315 + ], + "joints": [ + 0.028308099135756493 + ] + }, + "fine_grasp": { + "position": [ + -0.01735997013747692, + -0.1326797902584076, + 0.03923289105296135 + ], + "orientation": [ + 0.373150110244751, + -0.5780161023139954, + -0.5498366951942444, + -0.4736413359642029 + ], + "joints": [ + 0.020784905180335045 + ] + }, + "final_grasp": { + "position": [ + -0.01735997013747692, + -0.1326797902584076, + 0.03923289105296135 + ], + "orientation": [ + 0.373150110244751, + -0.5780161023139954, + -0.5498366951942444, + -0.4736413359642029 + ], + "joints": [ + 0.013261711224913597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.123366579413414, + -0.00931393913924694, + 0.0623444989323616 + ], + "orientation": [ + 0.01545440498739481, + -0.7791800498962402, + -0.042089127004146576, + -0.6251944899559021 + ], + "joints": [ + 0.02226237766444683 + ] + }, + "fine_grasp": { + "position": [ + -0.12034127861261368, + -0.009206815622746944, + 0.06201121583580971 + ], + "orientation": [ + 0.015464871190488338, + -0.7768135666847229, + -0.04237539693713188, + -0.6281128525733948 + ], + "joints": [ + 0.013067362830042839 + ] + }, + "final_grasp": { + "position": [ + -0.12034127861261368, + -0.009206815622746944, + 0.06201121583580971 + ], + "orientation": [ + 0.015464871190488338, + -0.7768135666847229, + -0.04237539693713188, + -0.6281128525733948 + ], + "joints": [ + 0.0038723479956388474 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12785375118255615, + 0.04300648719072342, + 0.007531541399657726 + ], + "orientation": [ + 0.5608195066452026, + -0.28606709837913513, + 0.5744301080703735, + -0.5231415033340454 + ], + "joints": [ + 0.03430534154176712 + ] + }, + "fine_grasp": { + "position": [ + -0.12465523928403854, + 0.04133770614862442, + 0.008232722990214825 + ], + "orientation": [ + 0.5514466166496277, + -0.28381282091140747, + 0.5817254185676575, + -0.5262628197669983 + ], + "joints": [ + 0.026322394609451294 + ] + }, + "final_grasp": { + "position": [ + -0.12465523928403854, + 0.04133770614862442, + 0.008232722990214825 + ], + "orientation": [ + 0.5514466166496277, + -0.28381282091140747, + 0.5817254185676575, + -0.5262628197669983 + ], + "joints": [ + 0.018339447677135468 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12895511090755463, + -0.05228610709309578, + 0.06869320571422577 + ], + "orientation": [ + 0.5200988054275513, + -0.6295965313911438, + -0.5050338506698608, + 0.2793675661087036 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + 0.12564021348953247, + -0.05083584785461426, + 0.06732059270143509 + ], + "orientation": [ + 0.5180597305297852, + -0.6307347416877747, + -0.5039765238761902, + 0.28248080611228943 + ], + "joints": [ + 0.02484496682882309 + ] + }, + "final_grasp": { + "position": [ + 0.12564021348953247, + -0.05083584785461426, + 0.06732059270143509 + ], + "orientation": [ + 0.5180597305297852, + -0.6307347416877747, + -0.5039765238761902, + 0.28248080611228943 + ], + "joints": [ + 0.01682022213935852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01898004673421383, + 0.11653540283441544, + -0.04140307009220123 + ], + "orientation": [ + 0.5499593019485474, + 0.28678378462791443, + -0.460735946893692, + 0.6348402500152588 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.018330568447709084, + 0.1130485013127327, + -0.03984997794032097 + ], + "orientation": [ + 0.5507297515869141, + 0.28738006949424744, + -0.46063342690467834, + 0.6339765191078186 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.018330568447709084, + 0.1130485013127327, + -0.03984997794032097 + ], + "orientation": [ + 0.5507297515869141, + 0.28738006949424744, + -0.46063342690467834, + 0.6339765191078186 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005089116748422384, + -0.010944065637886524, + -0.09248870611190796 + ], + "orientation": [ + 0.9991797208786011, + -0.04034065082669258, + 0.002554000820964575, + -0.0024553474504500628 + ], + "joints": [ + 0.022324318066239357 + ] + }, + "fine_grasp": { + "position": [ + 0.005043195094913244, + -0.010609723627567291, + -0.0900215208530426 + ], + "orientation": [ + 0.9991324543952942, + -0.041632965207099915, + -9.190051787300035e-05, + 0.0010342622408643365 + ], + "joints": [ + 0.01271134801208973 + ] + }, + "final_grasp": { + "position": [ + 0.005043195094913244, + -0.010609723627567291, + -0.0900215208530426 + ], + "orientation": [ + 0.9991324543952942, + -0.041632965207099915, + -9.190051787300035e-05, + 0.0010342622408643365 + ], + "joints": [ + 0.0030983779579401016 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.043497975915670395, + -0.11970732361078262, + 0.05636744201183319 + ], + "orientation": [ + 0.3130418360233307, + -0.5309672355651855, + 0.505620002746582, + 0.6036777496337891 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.041881754994392395, + -0.11614776402711868, + 0.0558282732963562 + ], + "orientation": [ + 0.3095782697200775, + -0.5338751077651978, + 0.509270429611206, + 0.5998184680938721 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + 0.041881754994392395, + -0.11614776402711868, + 0.0558282732963562 + ], + "orientation": [ + 0.3095782697200775, + -0.5338751077651978, + 0.509270429611206, + 0.5998184680938721 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.006037859246134758, + 0.08427032083272934, + -0.07220761477947235 + ], + "orientation": [ + 0.7851638793945312, + 0.322653591632843, + -0.25025200843811035, + 0.46560320258140564 + ], + "joints": [ + 0.03154986351728439 + ] + }, + "fine_grasp": { + "position": [ + 0.006188014522194862, + 0.08223392069339752, + -0.06906256079673767 + ], + "orientation": [ + 0.7834866642951965, + 0.31701111793518066, + -0.24537025392055511, + 0.47481176257133484 + ], + "joints": [ + 0.0223548486828804 + ] + }, + "final_grasp": { + "position": [ + 0.006188014522194862, + 0.08223392069339752, + -0.06906256079673767 + ], + "orientation": [ + 0.7834866642951965, + 0.31701111793518066, + -0.24537025392055511, + 0.47481176257133484 + ], + "joints": [ + 0.01315983384847641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03193923458456993, + 0.10523408651351929, + -0.029660211876034737 + ], + "orientation": [ + 0.8527385592460632, + 0.5113478302955627, + 0.045577436685562134, + 0.09634852409362793 + ], + "joints": [ + 0.03409694507718086 + ] + }, + "fine_grasp": { + "position": [ + -0.03121955133974552, + 0.10226266086101532, + -0.027005653828382492 + ], + "orientation": [ + 0.8477897047996521, + 0.519071638584137, + 0.04804516211152077, + 0.09751477837562561 + ], + "joints": [ + 0.025737840682268143 + ] + }, + "final_grasp": { + "position": [ + -0.03121955133974552, + 0.10226266086101532, + -0.027005653828382492 + ], + "orientation": [ + 0.8477897047996521, + 0.519071638584137, + 0.04804516211152077, + 0.09751477837562561 + ], + "joints": [ + 0.017378736287355423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11865649372339249, + 0.010187814943492413, + 0.048318859189748764 + ], + "orientation": [ + 0.0009946387726813555, + 0.7484393119812012, + 0.06245901808142662, + -0.660254716873169 + ], + "joints": [ + 0.023421239107847214 + ] + }, + "fine_grasp": { + "position": [ + 0.11679607629776001, + 0.010078522376716137, + 0.04829864203929901 + ], + "orientation": [ + 1.927183802763466e-06, + 0.7455529570579529, + 0.06582575291395187, + -0.6631875038146973 + ], + "joints": [ + 0.013808269053697586 + ] + }, + "final_grasp": { + "position": [ + 0.11679607629776001, + 0.010078522376716137, + 0.04829864203929901 + ], + "orientation": [ + 1.927183802763466e-06, + 0.7455529570579529, + 0.06582575291395187, + -0.6631875038146973 + ], + "joints": [ + 0.004195298999547958 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05204828456044197, + 0.013236673548817635, + 0.161736398935318 + ], + "orientation": [ + 0.11332010477781296, + -0.7136613726615906, + -0.671552836894989, + 0.16389837861061096 + ], + "joints": [ + 0.03194350004196167 + ] + }, + "fine_grasp": { + "position": [ + 0.050220102071762085, + 0.013081138022243977, + 0.15856556594371796 + ], + "orientation": [ + 0.11091948300600052, + -0.7140847444534302, + -0.6714473962783813, + 0.16412918269634247 + ], + "joints": [ + 0.023521699011325836 + ] + }, + "final_grasp": { + "position": [ + 0.050220102071762085, + 0.013081138022243977, + 0.15856556594371796 + ], + "orientation": [ + 0.11091948300600052, + -0.7140847444534302, + -0.6714473962783813, + 0.16412918269634247 + ], + "joints": [ + 0.015099897980690002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03173965588212013, + 0.10498964041471481, + -0.029822569340467453 + ], + "orientation": [ + 0.8533594012260437, + 0.5102417469024658, + 0.04557878151535988, + 0.09671533107757568 + ], + "joints": [ + 0.033865392208099365 + ] + }, + "fine_grasp": { + "position": [ + -0.031058821827173233, + 0.10204967111349106, + -0.0271548330783844 + ], + "orientation": [ + 0.8483759760856628, + 0.5181016325950623, + 0.047789111733436584, + 0.09769963473081589 + ], + "joints": [ + 0.025506287813186646 + ] + }, + "final_grasp": { + "position": [ + -0.031058821827173233, + 0.10204967111349106, + -0.0271548330783844 + ], + "orientation": [ + 0.8483759760856628, + 0.5181016325950623, + 0.047789111733436584, + 0.09769963473081589 + ], + "joints": [ + 0.017147183418273926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13183777034282684, + 0.004109655506908894, + -0.03413837030529976 + ], + "orientation": [ + 0.6892402768135071, + 0.3269878625869751, + -0.4171629250049591, + -0.49396535754203796 + ], + "joints": [ + 0.03282339870929718 + ] + }, + "fine_grasp": { + "position": [ + 0.12871532142162323, + 0.0038537979125976562, + -0.032469894737005234 + ], + "orientation": [ + 0.6905261278152466, + 0.3280564546585083, + -0.41633206605911255, + -0.4921588599681854 + ], + "joints": [ + 0.024380698800086975 + ] + }, + "final_grasp": { + "position": [ + 0.12871532142162323, + 0.0038537979125976562, + -0.032469894737005234 + ], + "orientation": [ + 0.6905261278152466, + 0.3280564546585083, + -0.41633206605911255, + -0.4921588599681854 + ], + "joints": [ + 0.01593799889087677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.005982893519103527, + 0.08422458171844482, + -0.0720791220664978 + ], + "orientation": [ + 0.7854450345039368, + 0.3229016661643982, + -0.2500901520252228, + 0.4650437831878662 + ], + "joints": [ + 0.03154986351728439 + ] + }, + "fine_grasp": { + "position": [ + 0.006152019836008549, + 0.08214548230171204, + -0.06894313544034958 + ], + "orientation": [ + 0.7836233973503113, + 0.3175453245639801, + -0.24535499513149261, + 0.474236398935318 + ], + "joints": [ + 0.0223548486828804 + ] + }, + "final_grasp": { + "position": [ + 0.006152019836008549, + 0.08214548230171204, + -0.06894313544034958 + ], + "orientation": [ + 0.7836233973503113, + 0.3175453245639801, + -0.24535499513149261, + 0.474236398935318 + ], + "joints": [ + 0.01315983384847641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02729603461921215, + -0.07405930757522583, + -0.0886390432715416 + ], + "orientation": [ + 0.6766108870506287, + -0.31850558519363403, + 0.1547846496105194, + 0.6455955505371094 + ], + "joints": [ + 0.03196665644645691 + ] + }, + "fine_grasp": { + "position": [ + 0.026254329830408096, + -0.07249417155981064, + -0.08534528315067291 + ], + "orientation": [ + 0.6768848299980164, + -0.3150992691516876, + 0.15219776332378387, + 0.6475918889045715 + ], + "joints": [ + 0.023544855415821075 + ] + }, + "final_grasp": { + "position": [ + 0.026254329830408096, + -0.07249417155981064, + -0.08534528315067291 + ], + "orientation": [ + 0.6768848299980164, + -0.3150992691516876, + 0.15219776332378387, + 0.6475918889045715 + ], + "joints": [ + 0.015123054385185242 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.032565679401159286, + -0.013304453343153, + -0.09603371471166611 + ], + "orientation": [ + 0.015312706120312214, + -0.10705170035362244, + -0.05679935961961746, + -0.9925115704536438 + ], + "joints": [ + 0.02005089819431305 + ] + }, + "fine_grasp": { + "position": [ + -0.032751839607954025, + -0.012994463555514812, + -0.09255041927099228 + ], + "orientation": [ + 0.02127835713326931, + -0.11123933643102646, + -0.05721743404865265, + -0.9919170141220093 + ], + "joints": [ + 0.010834984481334686 + ] + }, + "final_grasp": { + "position": [ + -0.032751839607954025, + -0.012994463555514812, + -0.09255041927099228 + ], + "orientation": [ + 0.02127835713326931, + -0.11123933643102646, + -0.05721743404865265, + -0.9919170141220093 + ], + "joints": [ + 0.0016190707683563232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1308547705411911, + 0.00458446703851223, + -0.033967919647693634 + ], + "orientation": [ + 0.6866322159767151, + 0.3204908072948456, + -0.42469173669815063, + -0.49543800950050354 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + 0.12765762209892273, + 0.004395977593958378, + -0.032281260937452316 + ], + "orientation": [ + 0.6877841353416443, + 0.320300817489624, + -0.4255101978778839, + -0.4932560920715332 + ], + "joints": [ + 0.024824067950248718 + ] + }, + "final_grasp": { + "position": [ + 0.12765762209892273, + 0.004395977593958378, + -0.032281260937452316 + ], + "orientation": [ + 0.6877841353416443, + 0.320300817489624, + -0.4255101978778839, + -0.4932560920715332 + ], + "joints": [ + 0.016778424382209778 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018043475225567818, + 0.1043153926730156, + -0.04553839564323425 + ], + "orientation": [ + 0.7300835847854614, + 0.39657607674598694, + 0.3537152409553528, + -0.4296402633190155 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.017399083822965622, + 0.10154146701097488, + -0.04297902435064316 + ], + "orientation": [ + 0.7308377623558044, + 0.3899436593055725, + 0.34864747524261475, + -0.43848028779029846 + ], + "joints": [ + 0.022676702588796616 + ] + }, + "final_grasp": { + "position": [ + -0.017399083822965622, + 0.10154146701097488, + -0.04297902435064316 + ], + "orientation": [ + 0.7308377623558044, + 0.3899436593055725, + 0.34864747524261475, + -0.43848028779029846 + ], + "joints": [ + 0.012645777314901352 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.046327751129865646, + -0.11469007283449173, + 0.07184354960918427 + ], + "orientation": [ + 0.3185020685195923, + -0.6732670664787292, + 0.46594783663749695, + 0.47766152024269104 + ], + "joints": [ + 0.032406605780124664 + ] + }, + "fine_grasp": { + "position": [ + 0.045251600444316864, + -0.11137581616640091, + 0.07147180289030075 + ], + "orientation": [ + 0.31909194588661194, + -0.6726206541061401, + 0.4633263349533081, + 0.4807187020778656 + ], + "joints": [ + 0.024340063333511353 + ] + }, + "final_grasp": { + "position": [ + 0.045251600444316864, + -0.11137581616640091, + 0.07147180289030075 + ], + "orientation": [ + 0.31909194588661194, + -0.6726206541061401, + 0.4633263349533081, + 0.4807187020778656 + ], + "joints": [ + 0.01627352088689804 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025177329778671265, + -0.004281437024474144, + -0.0940403938293457 + ], + "orientation": [ + 0.037717096507549286, + 0.11988121271133423, + -0.024084538221359253, + -0.991779088973999 + ], + "joints": [ + 0.020283658057451248 + ] + }, + "fine_grasp": { + "position": [ + 0.025094004347920418, + -0.0037782322615385056, + -0.09075084328651428 + ], + "orientation": [ + 0.046697985380887985, + 0.11706838011741638, + -0.02337826043367386, + -0.9917498826980591 + ], + "joints": [ + 0.011088643223047256 + ] + }, + "final_grasp": { + "position": [ + 0.025094004347920418, + -0.0037782322615385056, + -0.09075084328651428 + ], + "orientation": [ + 0.046697985380887985, + 0.11706838011741638, + -0.02337826043367386, + -0.9917498826980591 + ], + "joints": [ + 0.0018936283886432648 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0336119644343853, + 0.09949445724487305, + 0.12604965269565582 + ], + "orientation": [ + 0.15897592902183533, + 0.5387147068977356, + -0.7169520258903503, + 0.41290783882141113 + ], + "joints": [ + 0.030091067776083946 + ] + }, + "fine_grasp": { + "position": [ + -0.03274911269545555, + 0.09664224088191986, + 0.12373077124357224 + ], + "orientation": [ + 0.15424466133117676, + 0.5467759370803833, + -0.7153105139732361, + 0.40690961480140686 + ], + "joints": [ + 0.02129310928285122 + ] + }, + "final_grasp": { + "position": [ + -0.03274911269545555, + 0.09664224088191986, + 0.12373077124357224 + ], + "orientation": [ + 0.15424466133117676, + 0.5467759370803833, + -0.7153105139732361, + 0.40690961480140686 + ], + "joints": [ + 0.012495150789618492 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.019049882888793945, + 0.11641925573348999, + -0.0415966771543026 + ], + "orientation": [ + 0.5491383671760559, + 0.2860710322856903, + -0.46116477251052856, + 0.6355608701705933 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.01840425468981266, + 0.11295682936906815, + -0.040010470896959305 + ], + "orientation": [ + 0.5500119924545288, + 0.28644829988479614, + -0.4607713520526886, + 0.6349205374717712 + ], + "joints": [ + 0.02411806583404541 + ] + }, + "final_grasp": { + "position": [ + 0.01840425468981266, + 0.11295682936906815, + -0.040010470896959305 + ], + "orientation": [ + 0.5500119924545288, + 0.28644829988479614, + -0.4607713520526886, + 0.6349205374717712 + ], + "joints": [ + 0.015320107340812683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10490868985652924, + 0.0034381868317723274, + -0.050953757017850876 + ], + "orientation": [ + 0.8954496383666992, + -0.01556673925369978, + 0.4408133327960968, + -0.06009361147880554 + ], + "joints": [ + 0.01928211748600006 + ] + }, + "fine_grasp": { + "position": [ + -0.10123191773891449, + 0.00313074910081923, + -0.05041668936610222 + ], + "orientation": [ + 0.8988345861434937, + -0.01596994511783123, + 0.433824747800827, + -0.06031164154410362 + ], + "joints": [ + 0.010505057871341705 + ] + }, + "final_grasp": { + "position": [ + -0.10123191773891449, + 0.00313074910081923, + -0.05041668936610222 + ], + "orientation": [ + 0.8988345861434937, + -0.01596994511783123, + 0.433824747800827, + -0.06031164154410362 + ], + "joints": [ + 0.0017279982566833496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020196760073304176, + -0.1223762258887291, + -0.02564983442425728 + ], + "orientation": [ + 0.4885326027870178, + -0.3034732937812805, + -0.5267809629440308, + -0.6258926391601562 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.019439538940787315, + -0.11894599348306656, + -0.024244461208581924 + ], + "orientation": [ + 0.4909174144268036, + -0.3019549250602722, + -0.5245449542999268, + -0.6266385912895203 + ], + "joints": [ + 0.022819049656391144 + ] + }, + "final_grasp": { + "position": [ + 0.019439538940787315, + -0.11894599348306656, + -0.024244461208581924 + ], + "orientation": [ + 0.4909174144268036, + -0.3019549250602722, + -0.5245449542999268, + -0.6266385912895203 + ], + "joints": [ + 0.013185180723667145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025145038962364197, + -0.1259882152080536, + 0.05362087860703468 + ], + "orientation": [ + 0.09377569705247879, + -0.0006729821907356381, + 0.7766674757003784, + 0.6228909492492676 + ], + "joints": [ + 0.034722134470939636 + ] + }, + "fine_grasp": { + "position": [ + -0.02478266879916191, + -0.12202190607786179, + 0.0523681603372097 + ], + "orientation": [ + 0.09105759114027023, + -0.0043742842972278595, + 0.7756280303001404, + 0.624572217464447 + ], + "joints": [ + 0.026342131197452545 + ] + }, + "final_grasp": { + "position": [ + -0.02478266879916191, + -0.12202190607786179, + 0.0523681603372097 + ], + "orientation": [ + 0.09105759114027023, + -0.0043742842972278595, + 0.7756280303001404, + 0.624572217464447 + ], + "joints": [ + 0.017962127923965454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12894602119922638, + -0.05226230248808861, + 0.06877683103084564 + ], + "orientation": [ + 0.52037113904953, + -0.6297882199287415, + -0.5049009323120117, + 0.27866795659065247 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + 0.1256706267595291, + -0.05084835737943649, + 0.06745432317256927 + ], + "orientation": [ + 0.5182271599769592, + -0.630881667137146, + -0.5039728283882141, + 0.28185129165649414 + ], + "joints": [ + 0.02484496682882309 + ] + }, + "final_grasp": { + "position": [ + 0.1256706267595291, + -0.05084835737943649, + 0.06745432317256927 + ], + "orientation": [ + 0.5182271599769592, + -0.630881667137146, + -0.5039728283882141, + 0.28185129165649414 + ], + "joints": [ + 0.01682022213935852 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11118696630001068, + -0.02590879052877426, + -0.03848479688167572 + ], + "orientation": [ + 0.0793897807598114, + -0.486515611410141, + -0.07854018360376358, + -0.8665052056312561 + ], + "joints": [ + 0.020865408703684807 + ] + }, + "fine_grasp": { + "position": [ + -0.1077999621629715, + -0.024770231917500496, + -0.03706176206469536 + ], + "orientation": [ + 0.07957379519939423, + -0.4859301745891571, + -0.07855981588363647, + -0.8668150305747986 + ], + "joints": [ + 0.01125243864953518 + ] + }, + "final_grasp": { + "position": [ + -0.1077999621629715, + -0.024770231917500496, + -0.03706176206469536 + ], + "orientation": [ + 0.07957379519939423, + -0.4859301745891571, + -0.07855981588363647, + -0.8668150305747986 + ], + "joints": [ + 0.0016394685953855515 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0014803454978391528, + -0.09368132054805756, + 0.11574520170688629 + ], + "orientation": [ + 0.327688068151474, + -0.6795850992202759, + 0.5945824980735779, + 0.2779500186443329 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + -0.0017806991236284375, + -0.09049928933382034, + 0.11354455351829529 + ], + "orientation": [ + 0.327644020318985, + -0.6771276593208313, + 0.597017228603363, + 0.2787793278694153 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + -0.0017806991236284375, + -0.09049928933382034, + 0.11354455351829529 + ], + "orientation": [ + 0.327644020318985, + -0.6771276593208313, + 0.597017228603363, + 0.2787793278694153 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11019203066825867, + -0.01712782494723797, + 0.07681015878915787 + ], + "orientation": [ + 0.5636579990386963, + -0.03915710002183914, + -0.8227076530456543, + -0.06251771748065948 + ], + "joints": [ + 0.02249746397137642 + ] + }, + "fine_grasp": { + "position": [ + 0.10876400768756866, + -0.01690395176410675, + 0.07683386653661728 + ], + "orientation": [ + 0.5643689036369324, + -0.03844953328371048, + -0.8221415877342224, + -0.06397413462400436 + ], + "joints": [ + 0.012884493917226791 + ] + }, + "final_grasp": { + "position": [ + 0.10876400768756866, + -0.01690395176410675, + 0.07683386653661728 + ], + "orientation": [ + 0.5643689036369324, + -0.03844953328371048, + -0.8221415877342224, + -0.06397413462400436 + ], + "joints": [ + 0.0032715238630771637 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03704970329999924, + -0.12217037379741669, + 0.03713805973529816 + ], + "orientation": [ + 0.11094465106725693, + 0.11382299661636353, + 0.7268511056900024, + 0.6681490540504456 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.03648370876908302, + -0.11813545972108841, + 0.03670082986354828 + ], + "orientation": [ + 0.10518532246351242, + 0.11028831452131271, + 0.7261921763420105, + 0.6703859567642212 + ], + "joints": [ + 0.02594733238220215 + ] + }, + "final_grasp": { + "position": [ + -0.03648370876908302, + -0.11813545972108841, + 0.03670082986354828 + ], + "orientation": [ + 0.10518532246351242, + 0.11028831452131271, + 0.7261921763420105, + 0.6703859567642212 + ], + "joints": [ + 0.01714937388896942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04844917729496956, + 0.006459129508584738, + 0.147159606218338 + ], + "orientation": [ + 0.015490063466131687, + 0.983620822429657, + -0.04365359619259834, + 0.17419682443141937 + ], + "joints": [ + 0.021253366023302078 + ] + }, + "fine_grasp": { + "position": [ + -0.04961004853248596, + 0.0065908473916351795, + 0.1440400630235672 + ], + "orientation": [ + 0.017482105642557144, + 0.9814628958702087, + -0.03877199441194534, + 0.1868731677532196 + ], + "joints": [ + 0.012058351188898087 + ] + }, + "final_grasp": { + "position": [ + -0.04961004853248596, + 0.0065908473916351795, + 0.1440400630235672 + ], + "orientation": [ + 0.017482105642557144, + 0.9814628958702087, + -0.03877199441194534, + 0.1868731677532196 + ], + "joints": [ + 0.002863336354494095 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12943968176841736, + 0.005135588813573122, + 0.03373606875538826 + ], + "orientation": [ + 0.06233891472220421, + -0.6673617959022522, + 0.08191604167222977, + -0.7375851273536682 + ], + "joints": [ + 0.021850762888789177 + ] + }, + "fine_grasp": { + "position": [ + -0.12557515501976013, + 0.0048443772830069065, + 0.03366972878575325 + ], + "orientation": [ + 0.06354527920484543, + -0.670021653175354, + 0.08510722219944, + -0.7347038388252258 + ], + "joints": [ + 0.011819837614893913 + ] + }, + "final_grasp": { + "position": [ + -0.12557515501976013, + 0.0048443772830069065, + 0.03366972878575325 + ], + "orientation": [ + 0.06354527920484543, + -0.670021653175354, + 0.08510722219944, + -0.7347038388252258 + ], + "joints": [ + 0.0017889123409986496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03237808495759964, + -0.013239904306828976, + -0.09679057449102402 + ], + "orientation": [ + 0.01473273616284132, + -0.10974208265542984, + -0.05666756257414818, + -0.9922340512275696 + ], + "joints": [ + 0.0199953131377697 + ] + }, + "fine_grasp": { + "position": [ + -0.03229151666164398, + -0.012800797820091248, + -0.09291739761829376 + ], + "orientation": [ + 0.020355163142085075, + -0.11385788768529892, + -0.056588221341371536, + -0.9916753172874451 + ], + "joints": [ + 0.010800298303365707 + ] + }, + "final_grasp": { + "position": [ + -0.03229151666164398, + -0.012800797820091248, + -0.09291739761829376 + ], + "orientation": [ + 0.020355163142085075, + -0.11385788768529892, + -0.056588221341371536, + -0.9916753172874451 + ], + "joints": [ + 0.0016052834689617157 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025112194940447807, + -0.12599031627178192, + 0.05361206829547882 + ], + "orientation": [ + 0.0938301831483841, + -0.0005530199850909412, + 0.7766433954238892, + 0.6229128837585449 + ], + "joints": [ + 0.034722134470939636 + ] + }, + "fine_grasp": { + "position": [ + -0.02474968694150448, + -0.12202382832765579, + 0.05236006900668144 + ], + "orientation": [ + 0.0910971537232399, + -0.004254376050084829, + 0.775607705116272, + 0.6245924830436707 + ], + "joints": [ + 0.026342131197452545 + ] + }, + "final_grasp": { + "position": [ + -0.02474968694150448, + -0.12202382832765579, + 0.05236006900668144 + ], + "orientation": [ + 0.0910971537232399, + -0.004254376050084829, + 0.775607705116272, + 0.6245924830436707 + ], + "joints": [ + 0.017962127923965454 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01299828477203846, + 0.11567538976669312, + 0.10880780220031738 + ], + "orientation": [ + 0.2261989563703537, + 0.4259113073348999, + 0.7481265068054199, + -0.4557853639125824 + ], + "joints": [ + 0.030091067776083946 + ] + }, + "fine_grasp": { + "position": [ + 0.012782568112015724, + 0.11247006803750992, + 0.1068427637219429 + ], + "orientation": [ + 0.2229047268629074, + 0.43621206283569336, + 0.747203528881073, + -0.44913172721862793 + ], + "joints": [ + 0.021690165624022484 + ] + }, + "final_grasp": { + "position": [ + 0.012782568112015724, + 0.11247006803750992, + 0.1068427637219429 + ], + "orientation": [ + 0.2229047268629074, + 0.43621206283569336, + 0.747203528881073, + -0.44913172721862793 + ], + "joints": [ + 0.013289263471961021 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02319272980093956, + -0.09996391832828522, + 0.12410944700241089 + ], + "orientation": [ + 0.20611725747585297, + -0.5943406224250793, + -0.6780732870101929, + -0.3801203668117523 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.022366998717188835, + -0.0969032421708107, + 0.12178023159503937 + ], + "orientation": [ + 0.20510709285736084, + -0.5994299650192261, + -0.6761859655380249, + -0.3760152757167816 + ], + "joints": [ + 0.02405201643705368 + ] + }, + "final_grasp": { + "position": [ + -0.022366998717188835, + -0.0969032421708107, + 0.12178023159503937 + ], + "orientation": [ + 0.20510709285736084, + -0.5994299650192261, + -0.6761859655380249, + -0.3760152757167816 + ], + "joints": [ + 0.015651114284992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08578664809465408, + 1.6434889403171837e-05, + -0.07385487109422684 + ], + "orientation": [ + 0.9484754800796509, + 0.02579055167734623, + -0.30860793590545654, + -0.06700943410396576 + ], + "joints": [ + 0.019896257668733597 + ] + }, + "fine_grasp": { + "position": [ + 0.08286188542842865, + -0.00014292668492998928, + -0.07156868278980255 + ], + "orientation": [ + 0.9488284587860107, + 0.025989726185798645, + -0.3068697452545166, + -0.06985664367675781 + ], + "joints": [ + 0.01030418649315834 + ] + }, + "final_grasp": { + "position": [ + 0.08286188542842865, + -0.00014292668492998928, + -0.07156868278980255 + ], + "orientation": [ + 0.9488284587860107, + 0.025989726185798645, + -0.3068697452545166, + -0.06985664367675781 + ], + "joints": [ + 0.0007121153175830841 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11480439454317093, + 0.0019749077036976814, + -0.004888367839157581 + ], + "orientation": [ + 0.04824486002326012, + 0.596625030040741, + 0.021029800176620483, + 0.8007925152778625 + ], + "joints": [ + 0.021406305953860283 + ] + }, + "fine_grasp": { + "position": [ + -0.1125728040933609, + 0.0019123090896755457, + -0.0049879103899002075 + ], + "orientation": [ + 0.04748097062110901, + 0.5899038314819336, + 0.021307790651917458, + 0.8057945966720581 + ], + "joints": [ + 0.011793335899710655 + ] + }, + "final_grasp": { + "position": [ + -0.1125728040933609, + 0.0019123090896755457, + -0.0049879103899002075 + ], + "orientation": [ + 0.04748097062110901, + 0.5899038314819336, + 0.021307790651917458, + 0.8057945966720581 + ], + "joints": [ + 0.0021803658455610275 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010964726097881794, + 0.12633003294467926, + 0.012657226994633675 + ], + "orientation": [ + 0.741526186466217, + 0.6662145853042603, + -0.014828206971287727, + -0.07795637100934982 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + 0.010508368723094463, + 0.12228602170944214, + 0.013117467984557152 + ], + "orientation": [ + 0.7406395673751831, + 0.667398989200592, + -0.015479030087590218, + -0.07610543817281723 + ], + "joints": [ + 0.026156891137361526 + ] + }, + "final_grasp": { + "position": [ + 0.010508368723094463, + 0.12228602170944214, + 0.013117467984557152 + ], + "orientation": [ + 0.7406395673751831, + 0.667398989200592, + -0.015479030087590218, + -0.07610543817281723 + ], + "joints": [ + 0.017776887863874435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11525058001279831, + 0.0020049158483743668, + -0.005089675076305866 + ], + "orientation": [ + 0.04678905010223389, + 0.5972049832344055, + 0.020626040175557137, + 0.8004571199417114 + ], + "joints": [ + 0.021390119567513466 + ] + }, + "fine_grasp": { + "position": [ + -0.11289633810520172, + 0.0018013762310147285, + -0.005373407155275345 + ], + "orientation": [ + 0.04575212299823761, + 0.5897364616394043, + 0.020897099748253822, + 0.8060278296470642 + ], + "joints": [ + 0.011777149513363838 + ] + }, + "final_grasp": { + "position": [ + -0.11289633810520172, + 0.0018013762310147285, + -0.005373407155275345 + ], + "orientation": [ + 0.04575212299823761, + 0.5897364616394043, + 0.020897099748253822, + 0.8060278296470642 + ], + "joints": [ + 0.0021641794592142105 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05445839837193489, + 0.12025470286607742, + 0.05736498534679413 + ], + "orientation": [ + 0.5684661865234375, + 0.46661850810050964, + -0.6039016246795654, + 0.307272344827652 + ], + "joints": [ + 0.03192034363746643 + ] + }, + "fine_grasp": { + "position": [ + 0.052873529493808746, + 0.1168660819530487, + 0.056825075298547745 + ], + "orientation": [ + 0.5687420964241028, + 0.4668440818786621, + -0.6035215854644775, + 0.30716556310653687 + ], + "joints": [ + 0.023456744849681854 + ] + }, + "final_grasp": { + "position": [ + 0.052873529493808746, + 0.1168660819530487, + 0.056825075298547745 + ], + "orientation": [ + 0.5687420964241028, + 0.4668440818786621, + -0.6035215854644775, + 0.30716556310653687 + ], + "joints": [ + 0.014993146061897278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.007601284421980381, + -0.10671880841255188, + 0.10954656451940536 + ], + "orientation": [ + 0.2694982886314392, + -0.5176786184310913, + 0.7004377245903015, + 0.4108119308948517 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.007278600707650185, + -0.10344932973384857, + 0.10740069299936295 + ], + "orientation": [ + 0.2643537223339081, + -0.5276430249214172, + 0.6997551918029785, + 0.40255770087242126 + ], + "joints": [ + 0.024536021053791046 + ] + }, + "final_grasp": { + "position": [ + 0.007278600707650185, + -0.10344932973384857, + 0.10740069299936295 + ], + "orientation": [ + 0.2643537223339081, + -0.5276430249214172, + 0.6997551918029785, + 0.40255770087242126 + ], + "joints": [ + 0.016156017780303955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054562635719776154, + 0.12047863006591797, + 0.05735274404287338 + ], + "orientation": [ + 0.5683125853538513, + 0.466468870639801, + -0.6041283011436462, + 0.3073378801345825 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.05297629535198212, + 0.11707616597414017, + 0.05680776759982109 + ], + "orientation": [ + 0.568656325340271, + 0.4665672183036804, + -0.6038472652435303, + 0.3071051836013794 + ], + "joints": [ + 0.023434750735759735 + ] + }, + "final_grasp": { + "position": [ + 0.05297629535198212, + 0.11707616597414017, + 0.05680776759982109 + ], + "orientation": [ + 0.568656325340271, + 0.4665672183036804, + -0.6038472652435303, + 0.3071051836013794 + ], + "joints": [ + 0.015389107167720795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05181986093521118, + 0.013192922808229923, + 0.1614670753479004 + ], + "orientation": [ + 0.1133759543299675, + -0.7135058045387268, + -0.671832263469696, + 0.16339178383350372 + ], + "joints": [ + 0.032383449375629425 + ] + }, + "fine_grasp": { + "position": [ + 0.050008032470941544, + 0.013029038906097412, + 0.1582278162240982 + ], + "orientation": [ + 0.11105544865131378, + -0.713873028755188, + -0.6717414259910583, + 0.163754403591156 + ], + "joints": [ + 0.02394074946641922 + ] + }, + "final_grasp": { + "position": [ + 0.050008032470941544, + 0.013029038906097412, + 0.1582278162240982 + ], + "orientation": [ + 0.11105544865131378, + -0.713873028755188, + -0.6717414259910583, + 0.163754403591156 + ], + "joints": [ + 0.015498049557209015 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023337896913290024, + -0.0999755859375, + 0.12422753870487213 + ], + "orientation": [ + 0.20611438155174255, + -0.5925924777984619, + -0.6788565516471863, + -0.3814510405063629 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.022518569603562355, + -0.09693080186843872, + 0.12188255786895752 + ], + "orientation": [ + 0.2045532912015915, + -0.5980590581893921, + -0.6770807504653931, + -0.3768887519836426 + ], + "joints": [ + 0.02405201643705368 + ] + }, + "final_grasp": { + "position": [ + -0.022518569603562355, + -0.09693080186843872, + 0.12188255786895752 + ], + "orientation": [ + 0.2045532912015915, + -0.5980590581893921, + -0.6770807504653931, + -0.3768887519836426 + ], + "joints": [ + 0.015651114284992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12037518620491028, + 0.06930796056985855, + 0.014613217674195766 + ], + "orientation": [ + 0.5923762321472168, + 0.6302416324615479, + -0.2385266125202179, + -0.4415777921676636 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + 0.11682193726301193, + 0.06739764660596848, + 0.015178295783698559 + ], + "orientation": [ + 0.5930559039115906, + 0.6284477114677429, + -0.2439696490764618, + -0.44024643301963806 + ], + "joints": [ + 0.02676234394311905 + ] + }, + "final_grasp": { + "position": [ + 0.11682193726301193, + 0.06739764660596848, + 0.015178295783698559 + ], + "orientation": [ + 0.5930559039115906, + 0.6284477114677429, + -0.2439696490764618, + -0.44024643301963806 + ], + "joints": [ + 0.018779397010803223 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06822972744703293, + -0.06499772518873215, + -0.08165533095598221 + ], + "orientation": [ + 0.7722972631454468, + -0.07544104009866714, + 0.3736560642719269, + 0.5081799030303955 + ], + "joints": [ + 0.031457237899303436 + ] + }, + "fine_grasp": { + "position": [ + -0.06626232713460922, + -0.06316298246383667, + -0.07895112037658691 + ], + "orientation": [ + 0.7721701264381409, + -0.07675037533044815, + 0.3729945421218872, + 0.5086629390716553 + ], + "joints": [ + 0.022220425307750702 + ] + }, + "final_grasp": { + "position": [ + -0.06626232713460922, + -0.06316298246383667, + -0.07895112037658691 + ], + "orientation": [ + 0.7721701264381409, + -0.07675037533044815, + 0.3729945421218872, + 0.5086629390716553 + ], + "joints": [ + 0.012983612716197968 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1285649687051773, + -0.019902747124433517, + 0.01052540447562933 + ], + "orientation": [ + 0.46837541460990906, + 0.4860112965106964, + -0.4533816874027252, + -0.5821189880371094 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.1253436803817749, + -0.01870691031217575, + 0.011338247917592525 + ], + "orientation": [ + 0.46581220626831055, + 0.48036035895347595, + -0.4600495398044586, + -0.5836328864097595 + ], + "joints": [ + 0.02506517618894577 + ] + }, + "final_grasp": { + "position": [ + 0.1253436803817749, + -0.01870691031217575, + 0.011338247917592525 + ], + "orientation": [ + 0.46581220626831055, + 0.48036035895347595, + -0.4600495398044586, + -0.5836328864097595 + ], + "joints": [ + 0.016288116574287415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.023184042423963547, + -0.09996436536312103, + 0.12413247674703598 + ], + "orientation": [ + 0.2059694081544876, + -0.5939654111862183, + -0.6784182786941528, + -0.3801715075969696 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.02236803062260151, + -0.09687471389770508, + 0.12180449813604355 + ], + "orientation": [ + 0.20517288148403168, + -0.5990051031112671, + -0.6764836311340332, + -0.37612098455429077 + ], + "joints": [ + 0.02405201643705368 + ] + }, + "final_grasp": { + "position": [ + -0.02236803062260151, + -0.09687471389770508, + 0.12180449813604355 + ], + "orientation": [ + 0.20517288148403168, + -0.5990051031112671, + -0.6764836311340332, + -0.37612098455429077 + ], + "joints": [ + 0.015651114284992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12844884395599365, + -0.01990644820034504, + 0.010373490862548351 + ], + "orientation": [ + 0.4694141447544098, + 0.485373854637146, + -0.4534408748149872, + -0.5817678570747375 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.12524862587451935, + -0.018760347738862038, + 0.011146213859319687 + ], + "orientation": [ + 0.46702465415000916, + 0.47973206639289856, + -0.46003252267837524, + -0.5831938982009888 + ], + "joints": [ + 0.02506517618894577 + ] + }, + "final_grasp": { + "position": [ + 0.12524862587451935, + -0.018760347738862038, + 0.011146213859319687 + ], + "orientation": [ + 0.46702465415000916, + 0.47973206639289856, + -0.46003252267837524, + -0.5831938982009888 + ], + "joints": [ + 0.016288116574287415 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.054668791592121124, + 0.12041252106428146, + 0.057295847684144974 + ], + "orientation": [ + 0.5671729445457458, + 0.4663863480091095, + -0.6055269837379456, + 0.30681541562080383 + ], + "joints": [ + 0.031480394303798676 + ] + }, + "fine_grasp": { + "position": [ + 0.05312814190983772, + 0.11707092821598053, + 0.056738629937171936 + ], + "orientation": [ + 0.5671403408050537, + 0.4667462110519409, + -0.6053306460380554, + 0.30671584606170654 + ], + "joints": [ + 0.02303769439458847 + ] + }, + "final_grasp": { + "position": [ + 0.05312814190983772, + 0.11707092821598053, + 0.056738629937171936 + ], + "orientation": [ + 0.5671403408050537, + 0.4667462110519409, + -0.6053306460380554, + 0.30671584606170654 + ], + "joints": [ + 0.014594994485378265 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010950498282909393, + 0.1261875331401825, + 0.012656688690185547 + ], + "orientation": [ + 0.7415170669555664, + 0.6662195324897766, + -0.014262483455240726, + -0.07810632884502411 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + 0.010491550900042057, + 0.1221427470445633, + 0.013099647127091885 + ], + "orientation": [ + 0.7405874729156494, + 0.6674423217773438, + -0.014888385310769081, + -0.07634969800710678 + ], + "joints": [ + 0.026156891137361526 + ] + }, + "final_grasp": { + "position": [ + 0.010491550900042057, + 0.1221427470445633, + 0.013099647127091885 + ], + "orientation": [ + 0.7405874729156494, + 0.6674423217773438, + -0.014888385310769081, + -0.07634969800710678 + ], + "joints": [ + 0.017776887863874435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0539625808596611, + -0.10921668261289597, + 0.08919280767440796 + ], + "orientation": [ + 0.4988846480846405, + -0.522893488407135, + 0.6506581902503967, + 0.23311050236225128 + ], + "joints": [ + 0.03284655511379242 + ] + }, + "fine_grasp": { + "position": [ + -0.05244065448641777, + -0.10625621676445007, + 0.08797072619199753 + ], + "orientation": [ + 0.4994327127933502, + -0.5227231979370117, + 0.6499406099319458, + 0.23431727290153503 + ], + "joints": [ + 0.024382956326007843 + ] + }, + "final_grasp": { + "position": [ + -0.05244065448641777, + -0.10625621676445007, + 0.08797072619199753 + ], + "orientation": [ + 0.4994327127933502, + -0.5227231979370117, + 0.6499406099319458, + 0.23431727290153503 + ], + "joints": [ + 0.015919357538223267 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02324952743947506, + -0.09980479627847672, + 0.12405124306678772 + ], + "orientation": [ + 0.20557093620300293, + -0.5917788743972778, + -0.6797460913658142, + -0.3814232647418976 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.02241717092692852, + -0.09674360603094101, + 0.12171881645917892 + ], + "orientation": [ + 0.20402878522872925, + -0.5972133278846741, + -0.6779594421386719, + -0.3769344091415405 + ], + "joints": [ + 0.02405201643705368 + ] + }, + "final_grasp": { + "position": [ + -0.02241717092692852, + -0.09674360603094101, + 0.12171881645917892 + ], + "orientation": [ + 0.20402878522872925, + -0.5972133278846741, + -0.6779594421386719, + -0.3769344091415405 + ], + "joints": [ + 0.015651114284992218 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12688535451889038, + -0.043538469821214676, + 0.007935432717204094 + ], + "orientation": [ + 0.5575046539306641, + -0.5595855712890625, + 0.32806384563446045, + -0.5180990099906921 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.12350328266620636, + -0.041633833199739456, + 0.008480751886963844 + ], + "orientation": [ + 0.5616204142570496, + -0.5651318430900574, + 0.3262077271938324, + -0.5087209939956665 + ], + "joints": [ + 0.026388444006443024 + ] + }, + "final_grasp": { + "position": [ + -0.12350328266620636, + -0.041633833199739456, + 0.008480751886963844 + ], + "orientation": [ + 0.5616204142570496, + -0.5651318430900574, + 0.3262077271938324, + -0.5087209939956665 + ], + "joints": [ + 0.018008440732955933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012778187170624733, + 0.11579658836126328, + 0.10872568935155869 + ], + "orientation": [ + 0.22522832453250885, + 0.42758461833000183, + 0.7479963898658752, + -0.4549119472503662 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + 0.012590081430971622, + 0.1126154363155365, + 0.10681241750717163 + ], + "orientation": [ + 0.2224852591753006, + 0.4375077784061432, + 0.7468376755714417, + -0.4486878216266632 + ], + "joints": [ + 0.0217121634632349 + ] + }, + "final_grasp": { + "position": [ + 0.012590081430971622, + 0.1126154363155365, + 0.10681241750717163 + ], + "orientation": [ + 0.2224852591753006, + 0.4375077784061432, + 0.7468376755714417, + -0.4486878216266632 + ], + "joints": [ + 0.012893306091427803 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09244943410158157, + 0.00922741275280714, + -0.06116542965173721 + ], + "orientation": [ + 0.04237257316708565, + -0.3715220093727112, + -0.062164511531591415, + 0.9253709316253662 + ], + "joints": [ + 0.020905470475554466 + ] + }, + "fine_grasp": { + "position": [ + 0.0891561359167099, + 0.009016812779009342, + -0.05933782458305359 + ], + "orientation": [ + 0.04226040840148926, + -0.3689017593860626, + -0.06340811401605606, + 0.9263395667076111 + ], + "joints": [ + 0.011292500421404839 + ] + }, + "final_grasp": { + "position": [ + 0.0891561359167099, + 0.009016812779009342, + -0.05933782458305359 + ], + "orientation": [ + 0.04226040840148926, + -0.3689017593860626, + -0.06340811401605606, + 0.9263395667076111 + ], + "joints": [ + 0.0016795303672552109 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1268860101699829, + -0.043423812836408615, + 0.007917903363704681 + ], + "orientation": [ + 0.55722576379776, + -0.5596292018890381, + 0.32800155878067017, + -0.5183913111686707 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + -0.12351134419441223, + -0.041523680090904236, + 0.008434649556875229 + ], + "orientation": [ + 0.5612707734107971, + -0.565333902835846, + 0.32619526982307434, + -0.5088902115821838 + ], + "joints": [ + 0.026388444006443024 + ] + }, + "final_grasp": { + "position": [ + -0.12351134419441223, + -0.041523680090904236, + 0.008434649556875229 + ], + "orientation": [ + 0.5612707734107971, + -0.565333902835846, + 0.32619526982307434, + -0.5088902115821838 + ], + "joints": [ + 0.018008440732955933 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01859779842197895, + -0.08088159561157227, + 0.1393091380596161 + ], + "orientation": [ + 0.15863126516342163, + -0.6396758556365967, + 0.6952181458473206, + 0.2869190573692322 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.018046369776129723, + -0.07831272482872009, + 0.13629892468452454 + ], + "orientation": [ + 0.16292600333690643, + -0.6442857384681702, + 0.6902385354042053, + 0.28621962666511536 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.018046369776129723, + -0.07831272482872009, + 0.13629892468452454 + ], + "orientation": [ + 0.16292600333690643, + -0.6442857384681702, + 0.6902385354042053, + 0.28621962666511536 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13020913302898407, + -0.034433454275131226, + 0.003349813399836421 + ], + "orientation": [ + 0.5143413543701172, + 0.33267492055892944, + -0.5457311868667603, + -0.5718022584915161 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.12613968551158905, + -0.0336279571056366, + 0.004283067304641008 + ], + "orientation": [ + 0.5141996145248413, + 0.33711323142051697, + -0.5450668931007385, + -0.5699609518051147 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + 0.12613968551158905, + -0.0336279571056366, + 0.004283067304641008 + ], + "orientation": [ + 0.5141996145248413, + 0.33711323142051697, + -0.5450668931007385, + -0.5699609518051147 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13114383816719055, + 0.01391140092164278, + 0.05474470555782318 + ], + "orientation": [ + 0.43261098861694336, + 0.6532679796218872, + -0.4391862154006958, + -0.43954998254776 + ], + "joints": [ + 0.03428218513727188 + ] + }, + "fine_grasp": { + "position": [ + 0.12725554406642914, + 0.014170649461448193, + 0.05378269404172897 + ], + "orientation": [ + 0.4265669882297516, + 0.6492435932159424, + -0.4407667815685272, + -0.4497201144695282 + ], + "joints": [ + 0.025505125522613525 + ] + }, + "final_grasp": { + "position": [ + 0.12725554406642914, + 0.014170649461448193, + 0.05378269404172897 + ], + "orientation": [ + 0.4265669882297516, + 0.6492435932159424, + -0.4407667815685272, + -0.4497201144695282 + ], + "joints": [ + 0.01672806590795517 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09049234539270401, + -0.008039922453463078, + 0.1324237436056137 + ], + "orientation": [ + 0.3395885229110718, + 0.07739096134901047, + 0.9345692992210388, + 0.0725989043712616 + ], + "joints": [ + 0.021633930504322052 + ] + }, + "fine_grasp": { + "position": [ + -0.0879763811826706, + -0.007778454106301069, + 0.1295258104801178 + ], + "orientation": [ + 0.3378617763519287, + 0.08291824907064438, + 0.9347444176673889, + 0.07229634374380112 + ], + "joints": [ + 0.011205948889255524 + ] + }, + "final_grasp": { + "position": [ + -0.0879763811826706, + -0.007778454106301069, + 0.1295258104801178 + ], + "orientation": [ + 0.3378617763519287, + 0.08291824907064438, + 0.9347444176673889, + 0.07229634374380112 + ], + "joints": [ + 0.0007779672741889954 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.009029559791088104, + -0.0649825930595398, + -0.08222291618585587 + ], + "orientation": [ + 0.7312199473381042, + -0.2771669626235962, + -0.19034165143966675, + -0.5935198068618774 + ], + "joints": [ + 0.03154986351728439 + ] + }, + "fine_grasp": { + "position": [ + -0.008342516608536243, + -0.06434201449155807, + -0.07885397225618362 + ], + "orientation": [ + 0.7290528416633606, + -0.27035120129585266, + -0.18523794412612915, + -0.6008984446525574 + ], + "joints": [ + 0.0223548486828804 + ] + }, + "final_grasp": { + "position": [ + -0.008342516608536243, + -0.06434201449155807, + -0.07885397225618362 + ], + "orientation": [ + 0.7290528416633606, + -0.27035120129585266, + -0.18523794412612915, + -0.6008984446525574 + ], + "joints": [ + 0.01315983384847641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03265973553061485, + 0.019508525729179382, + -0.10735642164945602 + ], + "orientation": [ + 0.7759617567062378, + 0.11792267113924026, + 0.08065521717071533, + 0.6143876314163208 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.03159286454319954, + 0.018504995852708817, + -0.10385488718748093 + ], + "orientation": [ + 0.7761344909667969, + 0.12016632407903671, + 0.07697261869907379, + 0.6142072081565857 + ], + "joints": [ + 0.023697853088378906 + ] + }, + "final_grasp": { + "position": [ + -0.03159286454319954, + 0.018504995852708817, + -0.10385488718748093 + ], + "orientation": [ + 0.7761344909667969, + 0.12016632407903671, + 0.07697261869907379, + 0.6142072081565857 + ], + "joints": [ + 0.014502838253974915 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11087702959775925, + -0.003922436852008104, + -0.06072317063808441 + ], + "orientation": [ + 0.08088023960590363, + -0.4593697488307953, + -0.02336018718779087, + 0.8842465877532959 + ], + "joints": [ + 0.01881958171725273 + ] + }, + "fine_grasp": { + "position": [ + 0.10775699466466904, + -0.0037658826913684607, + -0.05823539197444916 + ], + "orientation": [ + 0.08206991851329803, + -0.45879295468330383, + -0.02327226661145687, + 0.8844388723373413 + ], + "joints": [ + 0.00962456688284874 + ] + }, + "final_grasp": { + "position": [ + 0.10775699466466904, + -0.0037658826913684607, + -0.05823539197444916 + ], + "orientation": [ + 0.08206991851329803, + -0.45879295468330383, + -0.02327226661145687, + 0.8844388723373413 + ], + "joints": [ + 0.0004295520484447479 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13020075857639313, + -0.03438440337777138, + 0.0033292854204773903 + ], + "orientation": [ + 0.5142216086387634, + 0.3326132595539093, + -0.5457016229629517, + -0.5719740390777588 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.12612922489643097, + -0.033589694648981094, + 0.004302718676626682 + ], + "orientation": [ + 0.5141939520835876, + 0.3369985520839691, + -0.5448939800262451, + -0.5701991319656372 + ], + "joints": [ + 0.026640895754098892 + ] + }, + "final_grasp": { + "position": [ + 0.12612922489643097, + -0.033589694648981094, + 0.004302718676626682 + ], + "orientation": [ + 0.5141939520835876, + 0.3369985520839691, + -0.5448939800262451, + -0.5701991319656372 + ], + "joints": [ + 0.018281791359186172 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09527546912431717, + -0.02448652870953083, + 0.13876286149024963 + ], + "orientation": [ + 0.06510068476200104, + -0.9341413974761963, + 0.07924054563045502, + 0.3418521285057068 + ], + "joints": [ + 0.021691706031560898 + ] + }, + "fine_grasp": { + "position": [ + 0.09272456914186478, + -0.02375788427889347, + 0.13581286370754242 + ], + "orientation": [ + 0.06218535080552101, + -0.9337143301963806, + 0.07894594222307205, + 0.3436248302459717 + ], + "joints": [ + 0.01207873597741127 + ] + }, + "final_grasp": { + "position": [ + 0.09272456914186478, + -0.02375788427889347, + 0.13581286370754242 + ], + "orientation": [ + 0.06218535080552101, + -0.9337143301963806, + 0.07894594222307205, + 0.3436248302459717 + ], + "joints": [ + 0.0024657659232616425 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05495923385024071, + 0.10816153138875961, + 0.012068781070411205 + ], + "orientation": [ + 0.14066749811172485, + -0.2306383103132248, + 0.623753547668457, + -0.7334508895874023 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.05439918488264084, + 0.10419998317956924, + 0.013100547716021538 + ], + "orientation": [ + 0.13549816608428955, + -0.22261014580726624, + 0.6274420022964478, + -0.7337585091590881 + ], + "joints": [ + 0.026222940534353256 + ] + }, + "final_grasp": { + "position": [ + -0.05439918488264084, + 0.10419998317956924, + 0.013100547716021538 + ], + "orientation": [ + 0.13549816608428955, + -0.22261014580726624, + 0.6274420022964478, + -0.7337585091590881 + ], + "joints": [ + 0.0174458809196949 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03198830038309097, + -0.12625065445899963, + 0.05107090622186661 + ], + "orientation": [ + 0.47541186213493347, + -0.45858731865882874, + -0.6356105208396912, + -0.3996002972126007 + ], + "joints": [ + 0.032383449375629425 + ] + }, + "fine_grasp": { + "position": [ + 0.030743055045604706, + -0.12254607677459717, + 0.05062840133905411 + ], + "orientation": [ + 0.478159636259079, + -0.45690327882766724, + -0.633263349533081, + -0.4019705057144165 + ], + "joints": [ + 0.02396164834499359 + ] + }, + "final_grasp": { + "position": [ + 0.030743055045604706, + -0.12254607677459717, + 0.05062840133905411 + ], + "orientation": [ + 0.478159636259079, + -0.45690327882766724, + -0.633263349533081, + -0.4019705057144165 + ], + "joints": [ + 0.015539847314357758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06427557021379471, + -0.10966049879789352, + 0.08998183906078339 + ], + "orientation": [ + 0.47302618622779846, + -0.368584007024765, + 0.7332050800323486, + 0.32062822580337524 + ], + "joints": [ + 0.03002159856259823 + ] + }, + "fine_grasp": { + "position": [ + -0.06246871128678322, + -0.10662886500358582, + 0.0886475071310997 + ], + "orientation": [ + 0.4727649688720703, + -0.37086570262908936, + 0.7320019006729126, + 0.3211311399936676 + ], + "joints": [ + 0.020763887092471123 + ] + }, + "final_grasp": { + "position": [ + -0.06246871128678322, + -0.10662886500358582, + 0.0886475071310997 + ], + "orientation": [ + 0.4727649688720703, + -0.37086570262908936, + 0.7320019006729126, + 0.3211311399936676 + ], + "joints": [ + 0.011506175622344017 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008999704383313656, + -0.06491964310407639, + -0.08219048380851746 + ], + "orientation": [ + 0.730343222618103, + -0.27691760659217834, + -0.1907939463853836, + -0.5945695042610168 + ], + "joints": [ + 0.03154986351728439 + ] + }, + "fine_grasp": { + "position": [ + -0.008290981873869896, + -0.0642700269818306, + -0.0787995383143425 + ], + "orientation": [ + 0.7280617952346802, + -0.2703191936016083, + -0.18579304218292236, + -0.601942241191864 + ], + "joints": [ + 0.0223548486828804 + ] + }, + "final_grasp": { + "position": [ + -0.008290981873869896, + -0.0642700269818306, + -0.0787995383143425 + ], + "orientation": [ + 0.7280617952346802, + -0.2703191936016083, + -0.18579304218292236, + -0.601942241191864 + ], + "joints": [ + 0.01315983384847641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.026158588007092476, + -0.0808805525302887, + 0.14054621756076813 + ], + "orientation": [ + 0.3173176050186157, + -0.7070366740226746, + -0.6166917085647583, + -0.13820290565490723 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.025052722543478012, + -0.07838401198387146, + 0.13766197860240936 + ], + "orientation": [ + 0.310659259557724, + -0.7029100656509399, + -0.6251326203346252, + -0.13644656538963318 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + 0.025052722543478012, + -0.07838401198387146, + 0.13766197860240936 + ], + "orientation": [ + 0.310659259557724, + -0.7029100656509399, + -0.6251326203346252, + -0.13644656538963318 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020156022161245346, + -0.1223960742354393, + -0.025667918846011162 + ], + "orientation": [ + 0.4885326027870178, + -0.30343011021614075, + -0.5266405344009399, + -0.6260318160057068 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.019399702548980713, + -0.11896421760320663, + -0.02427031472325325 + ], + "orientation": [ + 0.4908507168292999, + -0.3019847273826599, + -0.5244259238243103, + -0.6267760396003723 + ], + "joints": [ + 0.022819049656391144 + ] + }, + "final_grasp": { + "position": [ + 0.019399702548980713, + -0.11896421760320663, + -0.02427031472325325 + ], + "orientation": [ + 0.4908507168292999, + -0.3019847273826599, + -0.5244259238243103, + -0.6267760396003723 + ], + "joints": [ + 0.013185180723667145 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008961892686784267, + -0.06494140625, + -0.08232497423887253 + ], + "orientation": [ + 0.731684148311615, + -0.2767331004142761, + -0.190172478556633, + -0.5932044982910156 + ], + "joints": [ + 0.03154986351728439 + ] + }, + "fine_grasp": { + "position": [ + -0.008336933329701424, + -0.06430116295814514, + -0.07898052036762238 + ], + "orientation": [ + 0.729634165763855, + -0.2696203291416168, + -0.1852402538061142, + -0.6005204916000366 + ], + "joints": [ + 0.0223548486828804 + ] + }, + "final_grasp": { + "position": [ + -0.008336933329701424, + -0.06430116295814514, + -0.07898052036762238 + ], + "orientation": [ + 0.729634165763855, + -0.2696203291416168, + -0.1852402538061142, + -0.6005204916000366 + ], + "joints": [ + 0.01315983384847641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01914309710264206, + 0.11757281422615051, + -0.016410980373620987 + ], + "orientation": [ + 0.1876024752855301, + 0.129444420337677, + 0.5765630006790161, + -0.78461754322052 + ], + "joints": [ + 0.033865392208099365 + ] + }, + "fine_grasp": { + "position": [ + -0.017560269683599472, + 0.11482199281454086, + -0.014305307529866695 + ], + "orientation": [ + 0.19653986394405365, + 0.1192508190870285, + 0.5732545852661133, + -0.7864670157432556 + ], + "joints": [ + 0.025861546397209167 + ] + }, + "final_grasp": { + "position": [ + -0.017560269683599472, + 0.11482199281454086, + -0.014305307529866695 + ], + "orientation": [ + 0.19653986394405365, + 0.1192508190870285, + 0.5732545852661133, + -0.7864670157432556 + ], + "joints": [ + 0.01785770058631897 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.00895407609641552, + -0.06477154791355133, + -0.08220931142568588 + ], + "orientation": [ + 0.7317098379135132, + -0.2770417332649231, + -0.19136980175971985, + -0.5926433801651001 + ], + "joints": [ + 0.03154986351728439 + ] + }, + "fine_grasp": { + "position": [ + -0.008208594284951687, + -0.06420817971229553, + -0.07877887785434723 + ], + "orientation": [ + 0.7294539213180542, + -0.26991239190101624, + -0.18590660393238068, + -0.6004023551940918 + ], + "joints": [ + 0.0223548486828804 + ] + }, + "final_grasp": { + "position": [ + -0.008208594284951687, + -0.06420817971229553, + -0.07877887785434723 + ], + "orientation": [ + 0.7294539213180542, + -0.26991239190101624, + -0.18590660393238068, + -0.6004023551940918 + ], + "joints": [ + 0.01315983384847641 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04275651276111603, + -0.11216761916875839, + 0.07658039033412933 + ], + "orientation": [ + 0.24565304815769196, + -0.5301156640052795, + 0.5830123424530029, + 0.5645604729652405 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.04116704314947128, + -0.10885178297758102, + 0.07535167038440704 + ], + "orientation": [ + 0.2388412058353424, + -0.5378926992416382, + 0.5863465666770935, + 0.5566183924674988 + ], + "joints": [ + 0.02411806583404541 + ] + }, + "final_grasp": { + "position": [ + 0.04116704314947128, + -0.10885178297758102, + 0.07535167038440704 + ], + "orientation": [ + 0.2388412058353424, + -0.5378926992416382, + 0.5863465666770935, + 0.5566183924674988 + ], + "joints": [ + 0.015320107340812683 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018492691218852997, + -0.08101078867912292, + 0.13924355804920197 + ], + "orientation": [ + 0.1571141928434372, + -0.6394339203834534, + 0.6964671015739441, + 0.2852592170238495 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.01797289401292801, + -0.07842787355184555, + 0.13625399768352509 + ], + "orientation": [ + 0.16261953115463257, + -0.6436918377876282, + 0.6910665035247803, + 0.28573182225227356 + ], + "joints": [ + 0.0241609588265419 + ] + }, + "final_grasp": { + "position": [ + 0.01797289401292801, + -0.07842787355184555, + 0.13625399768352509 + ], + "orientation": [ + 0.16261953115463257, + -0.6436918377876282, + 0.6910665035247803, + 0.28573182225227356 + ], + "joints": [ + 0.014965943992137909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1271580308675766, + 0.01140770222991705, + 0.0008773131412453949 + ], + "orientation": [ + 0.7620710730552673, + 0.008854003623127937, + 0.6442952752113342, + -0.06366267800331116 + ], + "joints": [ + 0.019157472997903824 + ] + }, + "fine_grasp": { + "position": [ + -0.12320948392152786, + 0.01077654492110014, + 0.0008153593516908586 + ], + "orientation": [ + 0.7657347321510315, + 0.009168673306703568, + 0.639957845211029, + -0.06340456753969193 + ], + "joints": [ + 0.009962458163499832 + ] + }, + "final_grasp": { + "position": [ + -0.12320948392152786, + 0.01077654492110014, + 0.0008153593516908586 + ], + "orientation": [ + 0.7657347321510315, + 0.009168673306703568, + 0.639957845211029, + -0.06340456753969193 + ], + "joints": [ + 0.0007674433290958405 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.018625641241669655, + -0.08090055733919144, + 0.1393495798110962 + ], + "orientation": [ + 0.15853895246982574, + -0.639522910118103, + 0.695324718952179, + 0.28705254197120667 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.018075739964842796, + -0.07833518832921982, + 0.13634535670280457 + ], + "orientation": [ + 0.16289062798023224, + -0.6441428065299988, + 0.6903648972511292, + 0.28625720739364624 + ], + "joints": [ + 0.0241609588265419 + ] + }, + "final_grasp": { + "position": [ + 0.018075739964842796, + -0.07833518832921982, + 0.13634535670280457 + ], + "orientation": [ + 0.16289062798023224, + -0.6441428065299988, + 0.6903648972511292, + 0.28625720739364624 + ], + "joints": [ + 0.014965943992137909 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057678792625665665, + 0.08529271930456161, + -0.05338341370224953 + ], + "orientation": [ + 0.5949926972389221, + 0.48320189118385315, + -0.132639080286026, + 0.6284157037734985 + ], + "joints": [ + 0.03247607499361038 + ] + }, + "fine_grasp": { + "position": [ + -0.055234771221876144, + 0.08403331786394119, + -0.050746284425258636 + ], + "orientation": [ + 0.5951359272003174, + 0.47786471247673035, + -0.12306345254182816, + 0.6342822909355164 + ], + "joints": [ + 0.022863104939460754 + ] + }, + "final_grasp": { + "position": [ + -0.055234771221876144, + 0.08403331786394119, + -0.050746284425258636 + ], + "orientation": [ + 0.5951359272003174, + 0.47786471247673035, + -0.12306345254182816, + 0.6342822909355164 + ], + "joints": [ + 0.013250134885311127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0865769237279892, + 0.00019646412692964077, + -0.0743190199136734 + ], + "orientation": [ + 0.9485202431678772, + 0.027682337909936905, + -0.30715617537498474, + -0.07209762930870056 + ], + "joints": [ + 0.019923897460103035 + ] + }, + "fine_grasp": { + "position": [ + 0.08363431692123413, + 0.00010446938540553674, + -0.0717739388346672 + ], + "orientation": [ + 0.9486036896705627, + 0.02782183140516281, + -0.30636340379714966, + -0.07428676635026932 + ], + "joints": [ + 0.010310927405953407 + ] + }, + "final_grasp": { + "position": [ + 0.08363431692123413, + 0.00010446938540553674, + -0.0717739388346672 + ], + "orientation": [ + 0.9486036896705627, + 0.02782183140516281, + -0.30636340379714966, + -0.07428676635026932 + ], + "joints": [ + 0.0006979573518037796 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0037560253404080868, + -0.11941070854663849, + -0.007401357404887676 + ], + "orientation": [ + 0.7945507764816284, + -0.5968459248542786, + -0.08274354785680771, + -0.0749511867761612 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.0037018139846622944, + -0.1153479591012001, + -0.005610811524093151 + ], + "orientation": [ + 0.7938241958618164, + -0.5974249243736267, + -0.0815168097615242, + -0.07925691455602646 + ], + "joints": [ + 0.025867681950330734 + ] + }, + "final_grasp": { + "position": [ + -0.0037018139846622944, + -0.1153479591012001, + -0.005610811524093151 + ], + "orientation": [ + 0.7938241958618164, + -0.5974249243736267, + -0.0815168097615242, + -0.07925691455602646 + ], + "joints": [ + 0.016735363751649857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02513447217643261, + 0.06217381730675697, + -0.09708689898252487 + ], + "orientation": [ + 0.5477086901664734, + 0.06999436765909195, + 0.26667675375938416, + -0.7899363040924072 + ], + "joints": [ + 0.03356437012553215 + ] + }, + "fine_grasp": { + "position": [ + -0.02406352385878563, + 0.060372449457645416, + -0.09383969753980637 + ], + "orientation": [ + 0.5500851273536682, + 0.07131694257259369, + 0.26631250977516174, + -0.7882879376411438 + ], + "joints": [ + 0.025163467973470688 + ] + }, + "final_grasp": { + "position": [ + -0.02406352385878563, + 0.060372449457645416, + -0.09383969753980637 + ], + "orientation": [ + 0.5500851273536682, + 0.07131694257259369, + 0.26631250977516174, + -0.7882879376411438 + ], + "joints": [ + 0.016762565821409225 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025170771405100822, + 0.09125925600528717, + 0.13242107629776 + ], + "orientation": [ + 0.1447637677192688, + 0.6574801206588745, + 0.6768461465835571, + -0.29772937297821045 + ], + "joints": [ + 0.030554186552762985 + ] + }, + "fine_grasp": { + "position": [ + 0.024366898462176323, + 0.08805952966213226, + 0.13048076629638672 + ], + "orientation": [ + 0.15720783174037933, + 0.6502097249031067, + 0.6757135987281799, + -0.3097160756587982 + ], + "joints": [ + 0.023323554545640945 + ] + }, + "final_grasp": { + "position": [ + 0.024366898462176323, + 0.08805952966213226, + 0.13048076629638672 + ], + "orientation": [ + 0.15720783174037933, + 0.6502097249031067, + 0.6757135987281799, + -0.3097160756587982 + ], + "joints": [ + 0.016092922538518906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.056665681302547455, + -0.059040576219558716, + 0.1330125629901886 + ], + "orientation": [ + 0.06826113909482956, + -0.737271785736084, + -0.5637986063957214, + -0.3659258782863617 + ], + "joints": [ + 0.033170733600854874 + ] + }, + "fine_grasp": { + "position": [ + -0.05443553254008293, + -0.057902731001377106, + 0.12998764216899872 + ], + "orientation": [ + 0.059916071593761444, + -0.741794764995575, + -0.5663759112358093, + -0.3540746569633484 + ], + "joints": [ + 0.023975718766450882 + ] + }, + "final_grasp": { + "position": [ + -0.05443553254008293, + -0.057902731001377106, + 0.12998764216899872 + ], + "orientation": [ + 0.059916071593761444, + -0.741794764995575, + -0.5663759112358093, + -0.3540746569633484 + ], + "joints": [ + 0.01478070393204689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020560912787914276, + -0.12842336297035217, + 0.03399307280778885 + ], + "orientation": [ + 0.46694496273994446, + -0.3217356204986572, + -0.5924922823905945, + -0.5721901059150696 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.019983015954494476, + -0.12448420375585556, + 0.033580802381038666 + ], + "orientation": [ + 0.4583434462547302, + -0.32857584953308105, + -0.5978922843933105, + -0.5696349740028381 + ], + "joints": [ + 0.024515122175216675 + ] + }, + "final_grasp": { + "position": [ + 0.019983015954494476, + -0.12448420375585556, + 0.033580802381038666 + ], + "orientation": [ + 0.4583434462547302, + -0.32857584953308105, + -0.5978922843933105, + -0.5696349740028381 + ], + "joints": [ + 0.016114220023155212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02059461548924446, + -0.12841901183128357, + 0.033975761383771896 + ], + "orientation": [ + 0.467043399810791, + -0.32167866826057434, + -0.5924983024597168, + -0.5721355676651001 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.020014643669128418, + -0.12448075413703918, + 0.03356587514281273 + ], + "orientation": [ + 0.4584575295448303, + -0.3284989297389984, + -0.5978863835334778, + -0.5695937871932983 + ], + "joints": [ + 0.024515122175216675 + ] + }, + "final_grasp": { + "position": [ + 0.020014643669128418, + -0.12448075413703918, + 0.03356587514281273 + ], + "orientation": [ + 0.4584575295448303, + -0.3284989297389984, + -0.5978863835334778, + -0.5695937871932983 + ], + "joints": [ + 0.016114220023155212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.030591363087296486, + -0.11876247078180313, + 0.09273668378591537 + ], + "orientation": [ + 0.49960073828697205, + -0.6434205174446106, + 0.5285342931747437, + 0.23887339234352112 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + -0.02967369183897972, + -0.11520913243293762, + 0.09140109270811081 + ], + "orientation": [ + 0.49629905819892883, + -0.6440670490264893, + 0.5319079756736755, + 0.23651373386383057 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + -0.02967369183897972, + -0.11520913243293762, + 0.09140109270811081 + ], + "orientation": [ + 0.49629905819892883, + -0.6440670490264893, + 0.5319079756736755, + 0.23651373386383057 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025614678859710693, + 0.033953942358493805, + 0.15085801482200623 + ], + "orientation": [ + 0.11766200512647629, + 0.6412384510040283, + -0.7582616806030273, + 0.0028604387771338224 + ], + "joints": [ + 0.03057733364403248 + ] + }, + "fine_grasp": { + "position": [ + 0.024877257645130157, + 0.03231130540370941, + 0.14831477403640747 + ], + "orientation": [ + 0.13224464654922485, + 0.6459577679634094, + -0.7517328858375549, + 0.012151493690907955 + ], + "joints": [ + 0.02221822924911976 + ] + }, + "final_grasp": { + "position": [ + 0.024877257645130157, + 0.03231130540370941, + 0.14831477403640747 + ], + "orientation": [ + 0.13224464654922485, + 0.6459577679634094, + -0.7517328858375549, + 0.012151493690907955 + ], + "joints": [ + 0.013859124854207039 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024275606498122215, + 0.10135518014431, + -0.04735138639807701 + ], + "orientation": [ + 0.580673336982727, + 0.3827572762966156, + -0.27167823910713196, + 0.6652113199234009 + ], + "joints": [ + 0.03358752653002739 + ] + }, + "fine_grasp": { + "position": [ + -0.023309973999857903, + 0.09771128743886948, + -0.04614616930484772 + ], + "orientation": [ + 0.5819044709205627, + 0.3868332505226135, + -0.27589690685272217, + 0.660021185874939 + ], + "joints": [ + 0.023995455354452133 + ] + }, + "final_grasp": { + "position": [ + -0.023309973999857903, + 0.09771128743886948, + -0.04614616930484772 + ], + "orientation": [ + 0.5819044709205627, + 0.3868332505226135, + -0.27589690685272217, + 0.660021185874939 + ], + "joints": [ + 0.014403384178876877 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.012628327123820782, + 0.09871795773506165, + 0.12561485171318054 + ], + "orientation": [ + 0.31946051120758057, + 0.6915332674980164, + -0.6135118007659912, + 0.20815855264663696 + ], + "joints": [ + 0.03286971151828766 + ] + }, + "fine_grasp": { + "position": [ + 0.012355619110167027, + 0.0953187420964241, + 0.12356503307819366 + ], + "orientation": [ + 0.3291756808757782, + 0.6862302422523499, + -0.610049307346344, + 0.22038857638835907 + ], + "joints": [ + 0.02407175302505493 + ] + }, + "final_grasp": { + "position": [ + 0.012355619110167027, + 0.0953187420964241, + 0.12356503307819366 + ], + "orientation": [ + 0.3291756808757782, + 0.6862302422523499, + -0.610049307346344, + 0.22038857638835907 + ], + "joints": [ + 0.015273794531822205 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025680460035800934, + -0.048106901347637177, + -0.1006738692522049 + ], + "orientation": [ + 0.7347897291183472, + -0.22412684559822083, + 0.05945035070180893, + 0.63742995262146 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.024626193568110466, + -0.04722927138209343, + -0.09684522449970245 + ], + "orientation": [ + 0.7344921231269836, + -0.21954497694969177, + 0.05777649208903313, + 0.6395178437232971 + ], + "joints": [ + 0.024558015167713165 + ] + }, + "final_grasp": { + "position": [ + 0.024626193568110466, + -0.04722927138209343, + -0.09684522449970245 + ], + "orientation": [ + 0.7344921231269836, + -0.21954497694969177, + 0.05777649208903313, + 0.6395178437232971 + ], + "joints": [ + 0.015760056674480438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09742173552513123, + 0.09198794513940811, + 0.010770424269139767 + ], + "orientation": [ + 0.12377844005823135, + -0.4127010703086853, + 0.537644624710083, + -0.7247722744941711 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + -0.09558245539665222, + 0.08877474814653397, + 0.011817303486168385 + ], + "orientation": [ + 0.12050719559192657, + -0.4043464660644531, + 0.5405997037887573, + -0.7278282642364502 + ], + "joints": [ + 0.024515122175216675 + ] + }, + "final_grasp": { + "position": [ + -0.09558245539665222, + 0.08877474814653397, + 0.011817303486168385 + ], + "orientation": [ + 0.12050719559192657, + -0.4043464660644531, + 0.5405997037887573, + -0.7278282642364502 + ], + "joints": [ + 0.016114220023155212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04974686726927757, + 0.10858333110809326, + 0.01663120463490486 + ], + "orientation": [ + 0.6374179124832153, + 0.4011886417865753, + 0.5545457601547241, + -0.35387152433395386 + ], + "joints": [ + 0.03273078426718712 + ] + }, + "fine_grasp": { + "position": [ + -0.047442689538002014, + 0.10523175448179245, + 0.016863828524947166 + ], + "orientation": [ + 0.635597825050354, + 0.4104439318180084, + 0.5487686395645142, + -0.355533629655838 + ], + "joints": [ + 0.023138713091611862 + ] + }, + "final_grasp": { + "position": [ + -0.047442689538002014, + 0.10523175448179245, + 0.016863828524947166 + ], + "orientation": [ + 0.635597825050354, + 0.4104439318180084, + 0.5487686395645142, + -0.355533629655838 + ], + "joints": [ + 0.013546641916036606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12189848721027374, + -0.02286604978144169, + -0.04296547919511795 + ], + "orientation": [ + 0.10306129604578018, + -0.5203970074653625, + 0.04573943838477135, + 0.8464474081993103 + ], + "joints": [ + 0.019263558089733124 + ] + }, + "fine_grasp": { + "position": [ + 0.11835820972919464, + -0.022111916914582253, + -0.04142718389630318 + ], + "orientation": [ + 0.10251059383153915, + -0.5218148231506348, + 0.04449507221579552, + 0.8457074165344238 + ], + "joints": [ + 0.009650588035583496 + ] + }, + "final_grasp": { + "position": [ + 0.11835820972919464, + -0.022111916914582253, + -0.04142718389630318 + ], + "orientation": [ + 0.10251059383153915, + -0.5218148231506348, + 0.04449507221579552, + 0.8457074165344238 + ], + "joints": [ + 3.761798143386841e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020585419610142708, + -0.12842217087745667, + 0.03394346311688423 + ], + "orientation": [ + 0.4669148921966553, + -0.32215702533721924, + -0.5925363302230835, + -0.571931779384613 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.01999954879283905, + -0.1245003268122673, + 0.03355757147073746 + ], + "orientation": [ + 0.45837098360061646, + -0.32897117733955383, + -0.5979082584381104, + -0.5693678855895996 + ], + "joints": [ + 0.024536021053791046 + ] + }, + "final_grasp": { + "position": [ + 0.01999954879283905, + -0.1245003268122673, + 0.03355757147073746 + ], + "orientation": [ + 0.45837098360061646, + -0.32897117733955383, + -0.5979082584381104, + -0.5693678855895996 + ], + "joints": [ + 0.016156017780303955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025755731388926506, + -0.04819374904036522, + -0.1006382554769516 + ], + "orientation": [ + 0.7349774837493896, + -0.22390751540660858, + 0.05875321477651596, + 0.6373550295829773 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.02471020258963108, + -0.047288209199905396, + -0.09681670367717743 + ], + "orientation": [ + 0.7346609830856323, + -0.2194727063179016, + 0.0571577325463295, + 0.6394043564796448 + ], + "joints": [ + 0.024558015167713165 + ] + }, + "final_grasp": { + "position": [ + 0.02471020258963108, + -0.047288209199905396, + -0.09681670367717743 + ], + "orientation": [ + 0.7346609830856323, + -0.2194727063179016, + 0.0571577325463295, + 0.6394043564796448 + ], + "joints": [ + 0.015760056674480438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10207083076238632, + 0.019507870078086853, + -0.04685177654027939 + ], + "orientation": [ + 0.869873583316803, + 0.049845196306705475, + -0.4829550087451935, + 0.08712021261453629 + ], + "joints": [ + 0.021036045625805855 + ] + }, + "fine_grasp": { + "position": [ + 0.10023036599159241, + 0.0192387867718935, + -0.04561750963330269 + ], + "orientation": [ + 0.8695467114448547, + 0.047172196209430695, + -0.48278185725212097, + 0.09265580028295517 + ], + "joints": [ + 0.011026019230484962 + ] + }, + "final_grasp": { + "position": [ + 0.10023036599159241, + 0.0192387867718935, + -0.04561750963330269 + ], + "orientation": [ + 0.8695467114448547, + 0.047172196209430695, + -0.48278185725212097, + 0.09265580028295517 + ], + "joints": [ + 0.0010159928351640701 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039103373885154724, + -0.11854390054941177, + 0.09144898504018784 + ], + "orientation": [ + 0.26937374472618103, + -0.6477168798446655, + -0.5556676983833313, + -0.4462445378303528 + ], + "joints": [ + 0.030531020835042 + ] + }, + "fine_grasp": { + "position": [ + -0.037952158600091934, + -0.11506172269582748, + 0.09031426906585693 + ], + "orientation": [ + 0.2723715007305145, + -0.6448190212249756, + -0.5542991161346436, + -0.4503052234649658 + ], + "joints": [ + 0.02169126458466053 + ] + }, + "final_grasp": { + "position": [ + -0.037952158600091934, + -0.11506172269582748, + 0.09031426906585693 + ], + "orientation": [ + 0.2723715007305145, + -0.6448190212249756, + -0.5542991161346436, + -0.4503052234649658 + ], + "joints": [ + 0.01285150833427906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038998689502477646, + -0.12007801234722137, + 0.04631204530596733 + ], + "orientation": [ + 0.27211880683898926, + -0.5672717690467834, + -0.5587127804756165, + -0.540364682674408 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.037988681346178055, + -0.1162014827132225, + 0.046598125249147415 + ], + "orientation": [ + 0.2755064070224762, + -0.5585337281227112, + -0.558311939239502, + -0.5481095314025879 + ], + "joints": [ + 0.02577008306980133 + ] + }, + "final_grasp": { + "position": [ + -0.037988681346178055, + -0.1162014827132225, + 0.046598125249147415 + ], + "orientation": [ + 0.2755064070224762, + -0.5585337281227112, + -0.558311939239502, + -0.5481095314025879 + ], + "joints": [ + 0.01818419247865677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11835209280252457, + -0.05413167178630829, + 0.0693584457039833 + ], + "orientation": [ + 0.2782481908798218, + 0.4565178453922272, + 0.6747123599052429, + 0.508854329586029 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.11497072875499725, + -0.05275226756930351, + 0.06767061352729797 + ], + "orientation": [ + 0.2884858548641205, + 0.45828089118003845, + 0.6724177002906799, + 0.5045880079269409 + ], + "joints": [ + 0.027180299162864685 + ] + }, + "final_grasp": { + "position": [ + -0.11497072875499725, + -0.05275226756930351, + 0.06767061352729797 + ], + "orientation": [ + 0.2884858548641205, + 0.45828089118003845, + 0.6724177002906799, + 0.5045880079269409 + ], + "joints": [ + 0.019615307450294495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12563081085681915, + -0.0462728776037693, + 0.05510071665048599 + ], + "orientation": [ + 0.2430102527141571, + 0.510058581829071, + 0.5813354849815369, + 0.5855213403701782 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.12218969315290451, + -0.04544631019234657, + 0.05392097309231758 + ], + "orientation": [ + 0.2533491551876068, + 0.5171700716018677, + 0.5783464312553406, + 0.5778102278709412 + ], + "joints": [ + 0.026256345212459564 + ] + }, + "final_grasp": { + "position": [ + -0.12218969315290451, + -0.04544631019234657, + 0.05392097309231758 + ], + "orientation": [ + 0.2533491551876068, + 0.5171700716018677, + 0.5783464312553406, + 0.5778102278709412 + ], + "joints": [ + 0.018670454621315002 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02059573121368885, + -0.12840759754180908, + 0.03396725654602051 + ], + "orientation": [ + 0.46705693006515503, + -0.321658194065094, + -0.5924866199493408, + -0.5721480846405029 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.020016515627503395, + -0.12447275221347809, + 0.03355963155627251 + ], + "orientation": [ + 0.45843660831451416, + -0.32849425077438354, + -0.5979000926017761, + -0.5695987939834595 + ], + "joints": [ + 0.024515122175216675 + ] + }, + "final_grasp": { + "position": [ + 0.020016515627503395, + -0.12447275221347809, + 0.03355963155627251 + ], + "orientation": [ + 0.45843660831451416, + -0.32849425077438354, + -0.5979000926017761, + -0.5695987939834595 + ], + "joints": [ + 0.016114220023155212 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02584248036146164, + -0.048154644668102264, + -0.10100630670785904 + ], + "orientation": [ + 0.7341749668121338, + -0.2253332883119583, + 0.060216765850782394, + 0.6376410126686096 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.024813417345285416, + -0.04732529819011688, + -0.09722036123275757 + ], + "orientation": [ + 0.7339283227920532, + -0.22073277831077576, + 0.058447614312171936, + 0.6396952271461487 + ], + "joints": [ + 0.024558015167713165 + ] + }, + "final_grasp": { + "position": [ + 0.024813417345285416, + -0.04732529819011688, + -0.09722036123275757 + ], + "orientation": [ + 0.7339283227920532, + -0.22073277831077576, + 0.058447614312171936, + 0.6396952271461487 + ], + "joints": [ + 0.015760056674480438 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10717087984085083, + 0.07952189445495605, + 0.04075535386800766 + ], + "orientation": [ + 0.2093476504087448, + -0.3736099898815155, + 0.6427878141403198, + -0.6351479887962341 + ], + "joints": [ + 0.034745290875434875 + ] + }, + "fine_grasp": { + "position": [ + -0.10394716262817383, + 0.07729807496070862, + 0.04015357419848442 + ], + "orientation": [ + 0.21943430602550507, + -0.3748685121536255, + 0.6419543623924255, + -0.6318361759185791 + ], + "joints": [ + 0.026365287601947784 + ] + }, + "final_grasp": { + "position": [ + -0.10394716262817383, + 0.07729807496070862, + 0.04015357419848442 + ], + "orientation": [ + 0.21943430602550507, + -0.3748685121536255, + 0.6419543623924255, + -0.6318361759185791 + ], + "joints": [ + 0.017985284328460693 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05642600357532501, + -0.059066519141197205, + 0.13325810432434082 + ], + "orientation": [ + 0.0690767765045166, + -0.7374311685562134, + -0.5640122890472412, + -0.3651215136051178 + ], + "joints": [ + 0.033170733600854874 + ] + }, + "fine_grasp": { + "position": [ + -0.05419635400176048, + -0.05793776735663414, + 0.13028974831104279 + ], + "orientation": [ + 0.060526978224515915, + -0.7416593432426453, + -0.5664205551147461, + -0.3541828691959381 + ], + "joints": [ + 0.023975718766450882 + ] + }, + "final_grasp": { + "position": [ + -0.05419635400176048, + -0.05793776735663414, + 0.13028974831104279 + ], + "orientation": [ + 0.060526978224515915, + -0.7416593432426453, + -0.5664205551147461, + -0.3541828691959381 + ], + "joints": [ + 0.01478070393204689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020595083013176918, + -0.12843433022499084, + 0.0339500829577446 + ], + "orientation": [ + 0.467047780752182, + -0.321807861328125, + -0.5924696922302246, + -0.5720889568328857 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.02001752145588398, + -0.12450214475393295, + 0.03354093059897423 + ], + "orientation": [ + 0.4583739638328552, + -0.3286448121070862, + -0.5979316234588623, + -0.5695292949676514 + ], + "joints": [ + 0.024536021053791046 + ] + }, + "final_grasp": { + "position": [ + 0.02001752145588398, + -0.12450214475393295, + 0.03354093059897423 + ], + "orientation": [ + 0.4583739638328552, + -0.3286448121070862, + -0.5979316234588623, + -0.5695292949676514 + ], + "joints": [ + 0.016156017780303955 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1100660040974617, + 0.024447834119200706, + 0.10481604188680649 + ], + "orientation": [ + 0.15926843881607056, + 0.8462111949920654, + -0.09202142059803009, + -0.5000921487808228 + ], + "joints": [ + 0.02126884087920189 + ] + }, + "fine_grasp": { + "position": [ + 0.1071448102593422, + 0.023722127079963684, + 0.1025560200214386 + ], + "orientation": [ + 0.1575581133365631, + 0.8516432046890259, + -0.09327156096696854, + -0.491100549697876 + ], + "joints": [ + 0.011655870825052261 + ] + }, + "final_grasp": { + "position": [ + 0.1071448102593422, + 0.023722127079963684, + 0.1025560200214386 + ], + "orientation": [ + 0.1575581133365631, + 0.8516432046890259, + -0.09327156096696854, + -0.491100549697876 + ], + "joints": [ + 0.0020429007709026337 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0574270524084568, + 0.08506021648645401, + -0.05307570844888687 + ], + "orientation": [ + 0.5947905778884888, + 0.48227745294570923, + -0.132200688123703, + 0.6294088959693909 + ], + "joints": [ + 0.03268447145819664 + ] + }, + "fine_grasp": { + "position": [ + -0.054987773299217224, + 0.08377102762460709, + -0.05036497861146927 + ], + "orientation": [ + 0.5954689383506775, + 0.47592392563819885, + -0.1231122612953186, + 0.6354185342788696 + ], + "joints": [ + 0.023071501404047012 + ] + }, + "final_grasp": { + "position": [ + -0.054987773299217224, + 0.08377102762460709, + -0.05036497861146927 + ], + "orientation": [ + 0.5954689383506775, + 0.47592392563819885, + -0.1231122612953186, + 0.6354185342788696 + ], + "joints": [ + 0.013458531349897385 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.004169878084212542, + -0.11980868130922318, + -0.007296374998986721 + ], + "orientation": [ + 0.7940802574157715, + -0.5974355340003967, + -0.08359377086162567, + -0.07429339736700058 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.004107926040887833, + -0.11576969176530838, + -0.005452387500554323 + ], + "orientation": [ + 0.7936497330665588, + -0.5976755023002625, + -0.08207972347736359, + -0.07853128015995026 + ], + "joints": [ + 0.025867681950330734 + ] + }, + "final_grasp": { + "position": [ + -0.004107926040887833, + -0.11576969176530838, + -0.005452387500554323 + ], + "orientation": [ + 0.7936497330665588, + -0.5976755023002625, + -0.08207972347736359, + -0.07853128015995026 + ], + "joints": [ + 0.016735363751649857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001983322435989976, + 0.12287409603595734, + 0.007826242595911026 + ], + "orientation": [ + 0.505254328250885, + 0.4178194999694824, + 0.472057044506073, + -0.5893275737762451 + ], + "joints": [ + 0.033147577196359634 + ] + }, + "fine_grasp": { + "position": [ + 0.0019259760156273842, + 0.11893033981323242, + 0.00833973754197359 + ], + "orientation": [ + 0.5019540190696716, + 0.41668200492858887, + 0.4753815233707428, + -0.5902801752090454 + ], + "joints": [ + 0.023952562361955643 + ] + }, + "final_grasp": { + "position": [ + 0.0019259760156273842, + 0.11893033981323242, + 0.00833973754197359 + ], + "orientation": [ + 0.5019540190696716, + 0.41668200492858887, + 0.4753815233707428, + -0.5902801752090454 + ], + "joints": [ + 0.014757547527551651 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024126647040247917, + -0.09560199081897736, + -0.046111688017845154 + ], + "orientation": [ + 0.6233693361282349, + -0.36743873357772827, + -0.22876697778701782, + -0.6512027978897095 + ], + "joints": [ + 0.03361068293452263 + ] + }, + "fine_grasp": { + "position": [ + -0.023316489532589912, + -0.09200864285230637, + -0.0451507568359375 + ], + "orientation": [ + 0.6261321902275085, + -0.37291595339775085, + -0.23053161799907684, + -0.644784688949585 + ], + "joints": [ + 0.02525157853960991 + ] + }, + "final_grasp": { + "position": [ + -0.023316489532589912, + -0.09200864285230637, + -0.0451507568359375 + ], + "orientation": [ + 0.6261321902275085, + -0.37291595339775085, + -0.23053161799907684, + -0.644784688949585 + ], + "joints": [ + 0.01689247414469719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0562816858291626, + -0.05899621546268463, + 0.13303439319133759 + ], + "orientation": [ + 0.06938186287879944, + -0.7369559407234192, + -0.564308226108551, + -0.36556553840637207 + ], + "joints": [ + 0.03340228646993637 + ] + }, + "fine_grasp": { + "position": [ + -0.05405915901064873, + -0.05792685225605965, + 0.13003455102443695 + ], + "orientation": [ + 0.060709573328495026, + -0.7412266135215759, + -0.5672589540481567, + -0.3537158668041229 + ], + "joints": [ + 0.023810215294361115 + ] + }, + "final_grasp": { + "position": [ + -0.05405915901064873, + -0.05792685225605965, + 0.13003455102443695 + ], + "orientation": [ + 0.060709573328495026, + -0.7412266135215759, + -0.5672589540481567, + -0.3537158668041229 + ], + "joints": [ + 0.014218144118785858 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.021673431620001793, + -0.11489187180995941, + 0.0739930123090744 + ], + "orientation": [ + 0.5502164363861084, + -0.6304877996444702, + 0.46259942650794983, + 0.2928290069103241 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + -0.02085311897099018, + -0.11162460595369339, + 0.0727238655090332 + ], + "orientation": [ + 0.5419932007789612, + -0.6337119936943054, + 0.47323694825172424, + 0.28407615423202515 + ], + "joints": [ + 0.024469971656799316 + ] + }, + "final_grasp": { + "position": [ + -0.02085311897099018, + -0.11162460595369339, + 0.0727238655090332 + ], + "orientation": [ + 0.5419932007789612, + -0.6337119936943054, + 0.47323694825172424, + 0.28407615423202515 + ], + "joints": [ + 0.01648702472448349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13583678007125854, + 0.01689351722598076, + 0.06141786649823189 + ], + "orientation": [ + 0.016962602734565735, + -0.742973804473877, + -0.1317896842956543, + 0.655998170375824 + ], + "joints": [ + 0.021616177633404732 + ] + }, + "fine_grasp": { + "position": [ + 0.13199380040168762, + 0.016359733417630196, + 0.06079620495438576 + ], + "orientation": [ + 0.016158007085323334, + -0.7435035109519958, + -0.13334177434444427, + 0.6551041603088379 + ], + "joints": [ + 0.012003207579255104 + ] + }, + "final_grasp": { + "position": [ + 0.13199380040168762, + 0.016359733417630196, + 0.06079620495438576 + ], + "orientation": [ + 0.016158007085323334, + -0.7435035109519958, + -0.13334177434444427, + 0.6551041603088379 + ], + "joints": [ + 0.0023902375251054764 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0313580222427845, + -0.03466087952256203, + 0.15662218630313873 + ], + "orientation": [ + 0.08001313358545303, + -0.0009010150679387152, + 0.9855966567993164, + 0.14898379147052765 + ], + "joints": [ + 0.02151002176105976 + ] + }, + "fine_grasp": { + "position": [ + -0.03083629161119461, + -0.034159090369939804, + 0.15304149687290192 + ], + "orientation": [ + 0.08003485202789307, + 0.0011902522528544068, + 0.9852471947669983, + 0.15126445889472961 + ], + "joints": [ + 0.012732962146401405 + ] + }, + "final_grasp": { + "position": [ + -0.03083629161119461, + -0.034159090369939804, + 0.15304149687290192 + ], + "orientation": [ + 0.08003485202789307, + 0.0011902522528544068, + 0.9852471947669983, + 0.15126445889472961 + ], + "joints": [ + 0.00395590253174305 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05660093203186989, + -0.059143777936697006, + 0.13318003714084625 + ], + "orientation": [ + 0.06902390718460083, + -0.7369031310081482, + -0.5640224814414978, + -0.36618030071258545 + ], + "joints": [ + 0.033170733600854874 + ] + }, + "fine_grasp": { + "position": [ + -0.05435697361826897, + -0.058025915175676346, + 0.1302221417427063 + ], + "orientation": [ + 0.060309771448373795, + -0.7411081790924072, + -0.5665786862373352, + -0.3551197946071625 + ], + "joints": [ + 0.023975718766450882 + ] + }, + "final_grasp": { + "position": [ + -0.05435697361826897, + -0.058025915175676346, + 0.1302221417427063 + ], + "orientation": [ + 0.060309771448373795, + -0.7411081790924072, + -0.5665786862373352, + -0.3551197946071625 + ], + "joints": [ + 0.01478070393204689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019535863772034645, + 0.11705461889505386, + -0.01615268923342228 + ], + "orientation": [ + 0.1852087676525116, + 0.12701107561588287, + 0.5772550702095032, + -0.7850748300552368 + ], + "joints": [ + 0.03363383933901787 + ] + }, + "fine_grasp": { + "position": [ + -0.017942937090992928, + 0.11438027024269104, + -0.01402889285236597 + ], + "orientation": [ + 0.1941002458333969, + 0.11657413095235825, + 0.5738409757614136, + -0.7870463728904724 + ], + "joints": [ + 0.02562999352812767 + ] + }, + "final_grasp": { + "position": [ + -0.017942937090992928, + 0.11438027024269104, + -0.01402889285236597 + ], + "orientation": [ + 0.1941002458333969, + 0.11657413095235825, + 0.5738409757614136, + -0.7870463728904724 + ], + "joints": [ + 0.017626147717237473 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.013364153914153576, + 0.07790973782539368, + -0.07934164255857468 + ], + "orientation": [ + 0.8094466924667358, + 0.22874225676059723, + -0.1825026571750641, + 0.5090832114219666 + ], + "joints": [ + 0.03104044310748577 + ] + }, + "fine_grasp": { + "position": [ + 0.012638740241527557, + 0.07529306411743164, + -0.07758822292089462 + ], + "orientation": [ + 0.8052470088005066, + 0.23417143523693085, + -0.19268560409545898, + 0.509522557258606 + ], + "joints": [ + 0.022618642076849937 + ] + }, + "final_grasp": { + "position": [ + 0.012638740241527557, + 0.07529306411743164, + -0.07758822292089462 + ], + "orientation": [ + 0.8052470088005066, + 0.23417143523693085, + -0.19268560409545898, + 0.509522557258606 + ], + "joints": [ + 0.014196841046214104 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03130815923213959, + -0.03468453511595726, + 0.1570526510477066 + ], + "orientation": [ + 0.08473539352416992, + -0.006115146446973085, + 0.9852768182754517, + 0.1483645886182785 + ], + "joints": [ + 0.02136324904859066 + ] + }, + "fine_grasp": { + "position": [ + -0.03083323873579502, + -0.03411632031202316, + 0.1534801870584488 + ], + "orientation": [ + 0.08971710503101349, + -0.01075833197683096, + 0.984861433506012, + 0.14792940020561218 + ], + "joints": [ + 0.012168234214186668 + ] + }, + "final_grasp": { + "position": [ + -0.03083323873579502, + -0.03411632031202316, + 0.1534801870584488 + ], + "orientation": [ + 0.08971710503101349, + -0.01075833197683096, + 0.984861433506012, + 0.14792940020561218 + ], + "joints": [ + 0.0029732193797826767 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.048482440412044525, + 0.007067189551889896, + 0.14845530688762665 + ], + "orientation": [ + 0.011777139268815517, + 0.9824694991111755, + -0.07142968475818634, + 0.17179280519485474 + ], + "joints": [ + 0.020878462120890617 + ] + }, + "fine_grasp": { + "position": [ + -0.04788503423333168, + 0.0066780890338122845, + 0.14527001976966858 + ], + "orientation": [ + 0.006052696146070957, + 0.9802621603012085, + -0.09687008708715439, + 0.17223702371120453 + ], + "joints": [ + 0.012101402506232262 + ] + }, + "final_grasp": { + "position": [ + -0.04788503423333168, + 0.0066780890338122845, + 0.14527001976966858 + ], + "orientation": [ + 0.006052696146070957, + 0.9802621603012085, + -0.09687008708715439, + 0.17223702371120453 + ], + "joints": [ + 0.003324342891573906 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0977228581905365, + 0.03818240389227867, + 0.12593211233615875 + ], + "orientation": [ + 0.12096051871776581, + 0.9483538866043091, + -0.05134982988238335, + 0.28871551156044006 + ], + "joints": [ + 0.018374411389231682 + ] + }, + "fine_grasp": { + "position": [ + -0.09440406411886215, + 0.036549754440784454, + 0.1242431253194809 + ], + "orientation": [ + 0.13320814073085785, + 0.9393168091773987, + -0.051685258746147156, + 0.3118784725666046 + ], + "joints": [ + 0.009597351774573326 + ] + }, + "final_grasp": { + "position": [ + -0.09440406411886215, + 0.036549754440784454, + 0.1242431253194809 + ], + "orientation": [ + 0.13320814073085785, + 0.9393168091773987, + -0.051685258746147156, + 0.3118784725666046 + ], + "joints": [ + 0.0008202921599149704 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02450178936123848, + 0.08974646031856537, + 0.12866681814193726 + ], + "orientation": [ + 0.15964475274085999, + 0.5525619387626648, + 0.7293301820755005, + -0.3704947829246521 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.023500196635723114, + 0.08703664690256119, + 0.12602980434894562 + ], + "orientation": [ + 0.15560826659202576, + 0.5654883980751038, + 0.7252240777015686, + -0.36063694953918457 + ], + "joints": [ + 0.02493307739496231 + ] + }, + "final_grasp": { + "position": [ + 0.023500196635723114, + 0.08703664690256119, + 0.12602980434894562 + ], + "orientation": [ + 0.15560826659202576, + 0.5654883980751038, + 0.7252240777015686, + -0.36063694953918457 + ], + "joints": [ + 0.016950130462646484 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03329160809516907, + -0.11545064300298691, + 0.062011271715164185 + ], + "orientation": [ + 0.11963046342134476, + -0.2519989013671875, + 0.7400808930397034, + 0.6119357943534851 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.03213238716125488, + -0.11237440258264542, + 0.06029871106147766 + ], + "orientation": [ + 0.10226570814847946, + -0.26381972432136536, + 0.7434360980987549, + 0.6060063242912292 + ], + "joints": [ + 0.026166044175624847 + ] + }, + "final_grasp": { + "position": [ + 0.03213238716125488, + -0.11237440258264542, + 0.06029871106147766 + ], + "orientation": [ + 0.10226570814847946, + -0.26381972432136536, + 0.7434360980987549, + 0.6060063242912292 + ], + "joints": [ + 0.019416064023971558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02408585138618946, + 0.08963406831026077, + 0.12827858328819275 + ], + "orientation": [ + 0.1596778929233551, + 0.5535624027252197, + 0.7293457984924316, + -0.3689531087875366 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + 0.023111097514629364, + 0.08692630380392075, + 0.12568171322345734 + ], + "orientation": [ + 0.1560784876346588, + 0.5667305588722229, + 0.7249446511268616, + -0.3590421676635742 + ], + "joints": [ + 0.0249759703874588 + ] + }, + "final_grasp": { + "position": [ + 0.023111097514629364, + 0.08692630380392075, + 0.12568171322345734 + ], + "orientation": [ + 0.1560784876346588, + 0.5667305588722229, + 0.7249446511268616, + -0.3590421676635742 + ], + "joints": [ + 0.01659596711397171 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02367166429758072, + -0.018368350341916084, + 0.15621063113212585 + ], + "orientation": [ + 0.08251579105854034, + -0.7153429388999939, + -0.6917065978050232, + 0.05493274703621864 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.02311861701309681, + -0.017670515924692154, + 0.15300330519676208 + ], + "orientation": [ + 0.09041178226470947, + -0.7161903977394104, + -0.6906571388244629, + 0.04347285255789757 + ], + "joints": [ + 0.023654960095882416 + ] + }, + "final_grasp": { + "position": [ + 0.02311861701309681, + -0.017670515924692154, + 0.15300330519676208 + ], + "orientation": [ + 0.09041178226470947, + -0.7161903977394104, + -0.6906571388244629, + 0.04347285255789757 + ], + "joints": [ + 0.014857001602649689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02368219755589962, + -0.018396394327282906, + 0.15612640976905823 + ], + "orientation": [ + 0.08245379477739334, + -0.7164446711540222, + -0.6905338764190674, + 0.05542032793164253 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.022965071722865105, + -0.017655042931437492, + 0.15287427604198456 + ], + "orientation": [ + 0.08966898918151855, + -0.7174782752990723, + -0.6894100308418274, + 0.043567996472120285 + ], + "joints": [ + 0.023654960095882416 + ] + }, + "final_grasp": { + "position": [ + 0.022965071722865105, + -0.017655042931437492, + 0.15287427604198456 + ], + "orientation": [ + 0.08966898918151855, + -0.7174782752990723, + -0.6894100308418274, + 0.043567996472120285 + ], + "joints": [ + 0.014857001602649689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0236376840621233, + -0.018244609236717224, + 0.15624026954174042 + ], + "orientation": [ + 0.08355487138032913, + -0.7210310697555542, + -0.6856335401535034, + 0.05513205751776695 + ], + "joints": [ + 0.03247607499361038 + ] + }, + "fine_grasp": { + "position": [ + 0.023122303187847137, + -0.017598673701286316, + 0.15301714837551117 + ], + "orientation": [ + 0.09067808091640472, + -0.7213109731674194, + -0.6852388978004456, + 0.04399675875902176 + ], + "joints": [ + 0.023678116500377655 + ] + }, + "final_grasp": { + "position": [ + 0.023122303187847137, + -0.017598673701286316, + 0.15301714837551117 + ], + "orientation": [ + 0.09067808091640472, + -0.7213109731674194, + -0.6852388978004456, + 0.04399675875902176 + ], + "joints": [ + 0.014880158007144928 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0237102247774601, + -0.018435800448060036, + 0.15622593462467194 + ], + "orientation": [ + 0.08263937383890152, + -0.7163587808609009, + -0.6906054019927979, + 0.05536295846104622 + ], + "joints": [ + 0.03245291858911514 + ] + }, + "fine_grasp": { + "position": [ + 0.022991115227341652, + -0.017695562914013863, + 0.1529621034860611 + ], + "orientation": [ + 0.08985023945569992, + -0.7174065113067627, + -0.6894637942314148, + 0.04352547228336334 + ], + "joints": [ + 0.023654960095882416 + ] + }, + "final_grasp": { + "position": [ + 0.022991115227341652, + -0.017695562914013863, + 0.1529621034860611 + ], + "orientation": [ + 0.08985023945569992, + -0.7174065113067627, + -0.6894637942314148, + 0.04352547228336334 + ], + "joints": [ + 0.014857001602649689 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03445260599255562, + -0.01432815007865429, + -0.10589175671339035 + ], + "orientation": [ + 0.04794728755950928, + 0.18482047319412231, + -0.06789088994264603, + -0.9792514443397522 + ], + "joints": [ + 0.01891990192234516 + ] + }, + "fine_grasp": { + "position": [ + 0.033945705741643906, + -0.013869178481400013, + -0.10201703757047653 + ], + "orientation": [ + 0.0485040508210659, + 0.1811710149049759, + -0.06680723279714584, + -0.9799801707267761 + ], + "joints": [ + 0.009306931868195534 + ] + }, + "final_grasp": { + "position": [ + 0.033945705741643906, + -0.013869178481400013, + -0.10201703757047653 + ], + "orientation": [ + 0.0485040508210659, + 0.1811710149049759, + -0.06680723279714584, + -0.9799801707267761 + ], + "joints": [ + -0.00030603818595409393 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10151940584182739, + -0.0759279727935791, + 0.050719667226076126 + ], + "orientation": [ + 0.14149996638298035, + 0.4092519283294678, + -0.6422750353813171, + -0.6324345469474792 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.098406121134758, + -0.07463472336530685, + 0.04985405132174492 + ], + "orientation": [ + 0.15960760414600372, + 0.4168955087661743, + -0.6404253244400024, + -0.6249632239341736 + ], + "joints": [ + 0.025462232530117035 + ] + }, + "final_grasp": { + "position": [ + 0.098406121134758, + -0.07463472336530685, + 0.04985405132174492 + ], + "orientation": [ + 0.15960760414600372, + 0.4168955087661743, + -0.6404253244400024, + -0.6249632239341736 + ], + "joints": [ + 0.017082229256629944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0025614206679165363, + -0.13059569895267487, + 0.055486906319856644 + ], + "orientation": [ + 0.5867534875869751, + -0.6641678214073181, + -0.3140731751918793, + -0.3405281901359558 + ], + "joints": [ + 0.031526707112789154 + ] + }, + "fine_grasp": { + "position": [ + -0.002709255088120699, + -0.12679356336593628, + 0.05446125566959381 + ], + "orientation": [ + 0.5814637541770935, + -0.6683164834976196, + -0.3236824572086334, + -0.332389235496521 + ], + "joints": [ + 0.02312580496072769 + ] + }, + "final_grasp": { + "position": [ + -0.002709255088120699, + -0.12679356336593628, + 0.05446125566959381 + ], + "orientation": [ + 0.5814637541770935, + -0.6683164834976196, + -0.3236824572086334, + -0.332389235496521 + ], + "joints": [ + 0.01472490280866623 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014934840612113476, + 0.0025687951128929853, + 0.17148075997829437 + ], + "orientation": [ + 0.11820277571678162, + 0.14710235595703125, + -0.981987714767456, + -0.009445425122976303 + ], + "joints": [ + 0.020341400057077408 + ] + }, + "fine_grasp": { + "position": [ + 0.01425228826701641, + 0.0030198311433196068, + 0.16769813001155853 + ], + "orientation": [ + 0.1060011237859726, + 0.1542641818523407, + -0.9822628498077393, + -0.011229094117879868 + ], + "joints": [ + 0.011146385222673416 + ] + }, + "final_grasp": { + "position": [ + 0.01425228826701641, + 0.0030198311433196068, + 0.16769813001155853 + ], + "orientation": [ + 0.1060011237859726, + 0.1542641818523407, + -0.9822628498077393, + -0.011229094117879868 + ], + "joints": [ + 0.0019513703882694244 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12399746477603912, + -0.04278140515089035, + 0.07002566009759903 + ], + "orientation": [ + 0.5675819516181946, + -0.5219564437866211, + 0.6100390553474426, + -0.18238550424575806 + ], + "joints": [ + 0.033865392208099365 + ] + }, + "fine_grasp": { + "position": [ + -0.12064296007156372, + -0.04178783297538757, + 0.06875624507665634 + ], + "orientation": [ + 0.5609883666038513, + -0.5221033096313477, + 0.6127180457115173, + -0.19307202100753784 + ], + "joints": [ + 0.025464490056037903 + ] + }, + "final_grasp": { + "position": [ + -0.12064296007156372, + -0.04178783297538757, + 0.06875624507665634 + ], + "orientation": [ + 0.5609883666038513, + -0.5221033096313477, + 0.6127180457115173, + -0.19307202100753784 + ], + "joints": [ + 0.01706358790397644 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.055916354060173035, + 0.04226696118712425, + -0.08426311612129211 + ], + "orientation": [ + 0.5884996056556702, + 0.3307085633277893, + -0.015977002680301666, + 0.737593948841095 + ], + "joints": [ + 0.03247607499361038 + ] + }, + "fine_grasp": { + "position": [ + -0.0540972501039505, + 0.04248899966478348, + -0.08087670803070068 + ], + "orientation": [ + 0.5881290435791016, + 0.32182732224464417, + -0.008671145886182785, + 0.7419272661209106 + ], + "joints": [ + 0.02248694747686386 + ] + }, + "final_grasp": { + "position": [ + -0.0540972501039505, + 0.04248899966478348, + -0.08087670803070068 + ], + "orientation": [ + 0.5881290435791016, + 0.32182732224464417, + -0.008671145886182785, + 0.7419272661209106 + ], + "joints": [ + 0.01249781996011734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10150478035211563, + -0.0760074332356453, + 0.050703175365924835 + ], + "orientation": [ + 0.14127883315086365, + 0.40920108556747437, + -0.6422845721244812, + -0.6325071454048157 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.0984000414609909, + -0.07469479739665985, + 0.04984331130981445 + ], + "orientation": [ + 0.15926921367645264, + 0.41680908203125, + -0.6405484676361084, + -0.6249809265136719 + ], + "joints": [ + 0.025462232530117035 + ] + }, + "final_grasp": { + "position": [ + 0.0984000414609909, + -0.07469479739665985, + 0.04984331130981445 + ], + "orientation": [ + 0.15926921367645264, + 0.41680908203125, + -0.6405484676361084, + -0.6249809265136719 + ], + "joints": [ + 0.017082229256629944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05554696545004845, + 0.04161063954234123, + -0.0837695449590683 + ], + "orientation": [ + 0.5872147083282471, + 0.3303120732307434, + -0.015177179127931595, + 0.7388114929199219 + ], + "joints": [ + 0.03247607499361038 + ] + }, + "fine_grasp": { + "position": [ + -0.053812216967344284, + 0.041887760162353516, + -0.0803365632891655 + ], + "orientation": [ + 0.5871074199676514, + 0.3202662467956543, + -0.008302256464958191, + 0.7434147000312805 + ], + "joints": [ + 0.02246604859828949 + ] + }, + "final_grasp": { + "position": [ + -0.053812216967344284, + 0.041887760162353516, + -0.0803365632891655 + ], + "orientation": [ + 0.5871074199676514, + 0.3202662467956543, + -0.008302256464958191, + 0.7434147000312805 + ], + "joints": [ + 0.012456022202968597 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039007868617773056, + -0.02908772975206375, + 0.15575042366981506 + ], + "orientation": [ + 0.0528193898499012, + 0.6593598127365112, + 0.7293797135353088, + 0.17452788352966309 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.037734489887952805, + -0.02824249491095543, + 0.15220025181770325 + ], + "orientation": [ + 0.04762202128767967, + 0.6640717387199402, + 0.7254553437232971, + 0.17451483011245728 + ], + "joints": [ + 0.025252673774957657 + ] + }, + "final_grasp": { + "position": [ + -0.037734489887952805, + -0.02824249491095543, + 0.15220025181770325 + ], + "orientation": [ + 0.04762202128767967, + 0.6640717387199402, + 0.7254553437232971, + 0.17451483011245728 + ], + "joints": [ + 0.01645471528172493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01055386196821928, + -0.09481649100780487, + 0.13091300427913666 + ], + "orientation": [ + 0.27953624725341797, + -0.7006415724754333, + 0.5865127444267273, + 0.2948960065841675 + ], + "joints": [ + 0.0328928679227829 + ] + }, + "fine_grasp": { + "position": [ + 0.010157688520848751, + -0.09192820638418198, + 0.12820446491241455 + ], + "orientation": [ + 0.27625906467437744, + -0.6975473761558533, + 0.5926553010940552, + 0.29303276538848877 + ], + "joints": [ + 0.02409490942955017 + ] + }, + "final_grasp": { + "position": [ + 0.010157688520848751, + -0.09192820638418198, + 0.12820446491241455 + ], + "orientation": [ + 0.27625906467437744, + -0.6975473761558533, + 0.5926553010940552, + 0.29303276538848877 + ], + "joints": [ + 0.015296950936317444 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07007359713315964, + 0.04440992698073387, + 0.14857810735702515 + ], + "orientation": [ + 0.3248612880706787, + 0.053165167570114136, + 0.9294354915618896, + -0.16669827699661255 + ], + "joints": [ + 0.018374411389231682 + ] + }, + "fine_grasp": { + "position": [ + -0.0684124305844307, + 0.04292821139097214, + 0.14507395029067993 + ], + "orientation": [ + 0.30670028924942017, + 0.061539676040410995, + 0.9354708790779114, + -0.16444464027881622 + ], + "joints": [ + 0.010412363335490227 + ] + }, + "final_grasp": { + "position": [ + -0.0684124305844307, + 0.04292821139097214, + 0.14507395029067993 + ], + "orientation": [ + 0.30670028924942017, + 0.061539676040410995, + 0.9354708790779114, + -0.16444464027881622 + ], + "joints": [ + 0.0024503152817487717 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.033226292580366135, + -0.1152355894446373, + 0.06188316270709038 + ], + "orientation": [ + 0.12019789218902588, + -0.2524964511394501, + 0.7396392822265625, + 0.6121533513069153 + ], + "joints": [ + 0.03291602432727814 + ] + }, + "fine_grasp": { + "position": [ + 0.0320512130856514, + -0.11217974871397018, + 0.0601419098675251 + ], + "orientation": [ + 0.10284890234470367, + -0.2644160985946655, + 0.7431041598320007, + 0.6060547232627869 + ], + "joints": [ + 0.026166044175624847 + ] + }, + "final_grasp": { + "position": [ + 0.0320512130856514, + -0.11217974871397018, + 0.0601419098675251 + ], + "orientation": [ + 0.10284890234470367, + -0.2644160985946655, + 0.7431041598320007, + 0.6060547232627869 + ], + "joints": [ + 0.019416064023971558 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11398133635520935, + -0.029197901487350464, + 0.01855574920773506 + ], + "orientation": [ + 0.08646190166473389, + -0.714496910572052, + -0.09675400704145432, + -0.6875006556510925 + ], + "joints": [ + 0.02197149582207203 + ] + }, + "fine_grasp": { + "position": [ + -0.11208157986402512, + -0.028714194893836975, + 0.018689313903450966 + ], + "orientation": [ + 0.0860482007265091, + -0.7141937613487244, + -0.09745824337005615, + -0.6877679824829102 + ], + "joints": [ + 0.012379424646496773 + ] + }, + "final_grasp": { + "position": [ + -0.11208157986402512, + -0.028714194893836975, + 0.018689313903450966 + ], + "orientation": [ + 0.0860482007265091, + -0.7141937613487244, + -0.09745824337005615, + -0.6877679824829102 + ], + "joints": [ + 0.0027873534709215164 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.002515829633921385, + -0.13069267570972443, + 0.05559998005628586 + ], + "orientation": [ + 0.5868834853172302, + -0.6639179587364197, + -0.3137472867965698, + -0.34109148383140564 + ], + "joints": [ + 0.03106359951198101 + ] + }, + "fine_grasp": { + "position": [ + -0.0027155657298862934, + -0.1268555074930191, + 0.054511379450559616 + ], + "orientation": [ + 0.5812963247299194, + -0.6682029962539673, + -0.3238466680049896, + -0.3327501118183136 + ], + "joints": [ + 0.023080652579665184 + ] + }, + "final_grasp": { + "position": [ + -0.0027155657298862934, + -0.1268555074930191, + 0.054511379450559616 + ], + "orientation": [ + 0.5812963247299194, + -0.6682029962539673, + -0.3238466680049896, + -0.3327501118183136 + ], + "joints": [ + 0.015097705647349358 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09116251766681671, + -0.008532466366887093, + 0.13248151540756226 + ], + "orientation": [ + 0.3395027220249176, + 0.07883655279874802, + 0.9342446327209473, + 0.07556233555078506 + ], + "joints": [ + 0.021377434954047203 + ] + }, + "fine_grasp": { + "position": [ + -0.08863484859466553, + -0.008228563703596592, + 0.12956202030181885 + ], + "orientation": [ + 0.33778122067451477, + 0.08464831858873367, + 0.9343699216842651, + 0.07544036954641342 + ], + "joints": [ + 0.01136740855872631 + ] + }, + "final_grasp": { + "position": [ + -0.08863484859466553, + -0.008228563703596592, + 0.12956202030181885 + ], + "orientation": [ + 0.33778122067451477, + 0.08464831858873367, + 0.9343699216842651, + 0.07544036954641342 + ], + "joints": [ + 0.0013573821634054184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12433379143476486, + -0.005885754246264696, + 0.03595714271068573 + ], + "orientation": [ + 0.06537264585494995, + 0.6869680285453796, + 0.09635360538959503, + 0.7172986268997192 + ], + "joints": [ + 0.022914811968803406 + ] + }, + "fine_grasp": { + "position": [ + -0.12151797115802765, + -0.005983120296150446, + 0.03605017811059952 + ], + "orientation": [ + 0.07048364728689194, + 0.6845918893814087, + 0.10300834476947784, + 0.7181609272956848 + ], + "joints": [ + 0.01332274079322815 + ] + }, + "final_grasp": { + "position": [ + -0.12151797115802765, + -0.005983120296150446, + 0.03605017811059952 + ], + "orientation": [ + 0.07048364728689194, + 0.6845918893814087, + 0.10300834476947784, + 0.7181609272956848 + ], + "joints": [ + 0.003730669617652893 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10118302702903748, + -0.07611314952373505, + 0.05099344253540039 + ], + "orientation": [ + 0.13867542147636414, + 0.41046521067619324, + -0.6420283913612366, + -0.6325242519378662 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + 0.0980844795703888, + -0.07480952888727188, + 0.05013634264469147 + ], + "orientation": [ + 0.15707045793533325, + 0.41773852705955505, + -0.640472412109375, + -0.6249948740005493 + ], + "joints": [ + 0.025462232530117035 + ] + }, + "final_grasp": { + "position": [ + 0.0980844795703888, + -0.07480952888727188, + 0.05013634264469147 + ], + "orientation": [ + 0.15707045793533325, + 0.41773852705955505, + -0.640472412109375, + -0.6249948740005493 + ], + "joints": [ + 0.017082229256629944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017818029737100005, + -0.11554671823978424, + -0.006851788144558668 + ], + "orientation": [ + 0.66587895154953, + -0.4337905943393707, + -0.31697943806648254, + -0.5176436901092529 + ], + "joints": [ + 0.03270762786269188 + ] + }, + "fine_grasp": { + "position": [ + -0.0021654211450368166, + -0.11155993491411209, + -0.0064627062529325485 + ], + "orientation": [ + 0.6618893146514893, + -0.442987859249115, + -0.32364049553871155, + -0.5108044743537903 + ], + "joints": [ + 0.023930568248033524 + ] + }, + "final_grasp": { + "position": [ + -0.0021654211450368166, + -0.11155993491411209, + -0.0064627062529325485 + ], + "orientation": [ + 0.6618893146514893, + -0.442987859249115, + -0.32364049553871155, + -0.5108044743537903 + ], + "joints": [ + 0.015153508633375168 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1251465529203415, + 0.017024625092744827, + 0.03004203736782074 + ], + "orientation": [ + 0.655373752117157, + 0.03923146426677704, + -0.7517098188400269, + 0.06227768585085869 + ], + "joints": [ + 0.020115088671445847 + ] + }, + "fine_grasp": { + "position": [ + 0.12160087376832962, + 0.016659434884786606, + 0.02990422025322914 + ], + "orientation": [ + 0.655272364616394, + 0.03635468706488609, + -0.7516794204711914, + 0.06537847965955734 + ], + "joints": [ + 0.01052301749587059 + ] + }, + "final_grasp": { + "position": [ + 0.12160087376832962, + 0.016659434884786606, + 0.02990422025322914 + ], + "orientation": [ + 0.655272364616394, + 0.03635468706488609, + -0.7516794204711914, + 0.06537847965955734 + ], + "joints": [ + 0.0009309463202953339 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12498670071363449, + 0.016886528581380844, + 0.030315784737467766 + ], + "orientation": [ + 0.6527214050292969, + 0.03481222689151764, + -0.7539443969726562, + 0.06565562635660172 + ], + "joints": [ + 0.02013818547129631 + ] + }, + "fine_grasp": { + "position": [ + 0.12147818505764008, + 0.01645955629646778, + 0.03034786507487297 + ], + "orientation": [ + 0.6542693972587585, + 0.03052365593612194, + -0.7524634003639221, + 0.06927391141653061 + ], + "joints": [ + 0.010546114295721054 + ] + }, + "final_grasp": { + "position": [ + 0.12147818505764008, + 0.01645955629646778, + 0.03034786507487297 + ], + "orientation": [ + 0.6542693972587585, + 0.03052365593612194, + -0.7524634003639221, + 0.06927391141653061 + ], + "joints": [ + 0.0009540431201457977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12448529154062271, + 0.017178669571876526, + 0.02963092364370823 + ], + "orientation": [ + 0.6540233492851257, + 0.03806162253022194, + -0.752748966217041, + 0.0646037831902504 + ], + "joints": [ + 0.02013818547129631 + ] + }, + "fine_grasp": { + "position": [ + 0.12106659263372421, + 0.016799332574009895, + 0.029483873397111893 + ], + "orientation": [ + 0.6540658473968506, + 0.03458523377776146, + -0.75267493724823, + 0.0669490247964859 + ], + "joints": [ + 0.010546114295721054 + ] + }, + "final_grasp": { + "position": [ + 0.12106659263372421, + 0.016799332574009895, + 0.029483873397111893 + ], + "orientation": [ + 0.6540658473968506, + 0.03458523377776146, + -0.75267493724823, + 0.0669490247964859 + ], + "joints": [ + 0.0009540431201457977 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09892246127128601, + 0.021726617589592934, + -0.04839783161878586 + ], + "orientation": [ + 0.8561660647392273, + 0.04897172003984451, + -0.5031417012214661, + 0.10691017657518387 + ], + "joints": [ + 0.021630439907312393 + ] + }, + "fine_grasp": { + "position": [ + 0.09765814989805222, + 0.021387672051787376, + -0.046525463461875916 + ], + "orientation": [ + 0.8550137281417847, + 0.04562310874462128, + -0.5037059783935547, + 0.11467470973730087 + ], + "joints": [ + 0.012038368731737137 + ] + }, + "final_grasp": { + "position": [ + 0.09765814989805222, + 0.021387672051787376, + -0.046525463461875916 + ], + "orientation": [ + 0.8550137281417847, + 0.04562310874462128, + -0.5037059783935547, + 0.11467470973730087 + ], + "joints": [ + 0.0024462975561618805 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.049735795706510544, + 0.10855656117200851, + 0.016686582937836647 + ], + "orientation": [ + 0.6376232504844666, + 0.4006394147872925, + 0.5543806552886963, + -0.35438206791877747 + ], + "joints": [ + 0.03273078426718712 + ] + }, + "fine_grasp": { + "position": [ + -0.04743269085884094, + 0.10520385950803757, + 0.016919419169425964 + ], + "orientation": [ + 0.6357375979423523, + 0.4099629819393158, + 0.548602819442749, + -0.3560939431190491 + ], + "joints": [ + 0.023138713091611862 + ] + }, + "final_grasp": { + "position": [ + -0.04743269085884094, + 0.10520385950803757, + 0.016919419169425964 + ], + "orientation": [ + 0.6357375979423523, + 0.4099629819393158, + 0.548602819442749, + -0.3560939431190491 + ], + "joints": [ + 0.013546641916036606 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04545057937502861, + 0.034291308373212814, + -0.09666404873132706 + ], + "orientation": [ + 0.5700893998146057, + -0.04280553758144379, + 0.23612137138843536, + -0.7857559323310852 + ], + "joints": [ + 0.033842235803604126 + ] + }, + "fine_grasp": { + "position": [ + -0.04375770688056946, + 0.03397408500313759, + -0.09343292564153671 + ], + "orientation": [ + 0.5714055895805359, + -0.044820334762334824, + 0.2309802621603012, + -0.7862154841423035 + ], + "joints": [ + 0.025441333651542664 + ] + }, + "final_grasp": { + "position": [ + -0.04375770688056946, + 0.03397408500313759, + -0.09343292564153671 + ], + "orientation": [ + 0.5714055895805359, + -0.044820334762334824, + 0.2309802621603012, + -0.7862154841423035 + ], + "joints": [ + 0.0170404314994812 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004585267044603825, + 0.11609882116317749, + -0.03274941444396973 + ], + "orientation": [ + 0.7063770890235901, + 0.4569791555404663, + -0.3145425617694855, + 0.4396185278892517 + ], + "joints": [ + 0.034768447279930115 + ] + }, + "fine_grasp": { + "position": [ + 0.0043360404670238495, + 0.11250356584787369, + -0.030928978696465492 + ], + "orientation": [ + 0.7063657641410828, + 0.45546236634254456, + -0.31195977330207825, + 0.44303783774375916 + ], + "joints": [ + 0.02599138766527176 + ] + }, + "final_grasp": { + "position": [ + 0.0043360404670238495, + 0.11250356584787369, + -0.030928978696465492 + ], + "orientation": [ + 0.7063657641410828, + 0.45546236634254456, + -0.31195977330207825, + 0.44303783774375916 + ], + "joints": [ + 0.017214328050613403 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09081656485795975, + -0.008319915272295475, + 0.1325211226940155 + ], + "orientation": [ + 0.3392287790775299, + 0.07987570017576218, + 0.9343163371086121, + 0.07481147348880768 + ], + "joints": [ + 0.02166087180376053 + ] + }, + "fine_grasp": { + "position": [ + -0.08829504251480103, + -0.007996737025678158, + 0.12963423132896423 + ], + "orientation": [ + 0.3375307321548462, + 0.0857866182923317, + 0.9344126582145691, + 0.07474269717931747 + ], + "joints": [ + 0.011232890188694 + ] + }, + "final_grasp": { + "position": [ + -0.08829504251480103, + -0.007996737025678158, + 0.12963423132896423 + ], + "orientation": [ + 0.3375307321548462, + 0.0857866182923317, + 0.9344126582145691, + 0.07474269717931747 + ], + "joints": [ + 0.0008049085736274719 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.014017312787473202, + -0.032013386487960815, + 0.15846514701843262 + ], + "orientation": [ + 0.08483318239450455, + 0.007346121594309807, + 0.98861163854599, + 0.12408268451690674 + ], + "joints": [ + 0.02197592332959175 + ] + }, + "fine_grasp": { + "position": [ + -0.013481290079653263, + -0.0312926210463047, + 0.1546894758939743 + ], + "orientation": [ + 0.08149538934230804, + -0.003056315938010812, + 0.9886370301246643, + 0.12627777457237244 + ], + "joints": [ + 0.01278090849518776 + ] + }, + "final_grasp": { + "position": [ + -0.013481290079653263, + -0.0312926210463047, + 0.1546894758939743 + ], + "orientation": [ + 0.08149538934230804, + -0.003056315938010812, + 0.9886370301246643, + 0.12627777457237244 + ], + "joints": [ + 0.0035858936607837677 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02542170323431492, + 0.029298270121216774, + -0.11306452006101608 + ], + "orientation": [ + 0.022210821509361267, + 0.0510910227894783, + -0.11712988466024399, + 0.9915528297424316 + ], + "joints": [ + 0.018905438482761383 + ] + }, + "fine_grasp": { + "position": [ + -0.02517404966056347, + 0.02857721783220768, + -0.10923347622156143 + ], + "orientation": [ + 0.02243156172335148, + 0.05047472566366196, + -0.11482502520084381, + 0.9918490052223206 + ], + "joints": [ + 0.009292468428611755 + ] + }, + "final_grasp": { + "position": [ + -0.02517404966056347, + 0.02857721783220768, + -0.10923347622156143 + ], + "orientation": [ + 0.02243156172335148, + 0.05047472566366196, + -0.11482502520084381, + 0.9918490052223206 + ], + "joints": [ + -0.0003205016255378723 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11975374072790146, + 0.0007961046067066491, + 0.07538174837827682 + ], + "orientation": [ + 0.5945166945457458, + -0.11156909912824631, + 0.7914894819259644, + -0.08744493871927261 + ], + "joints": [ + 0.022818883880972862 + ] + }, + "fine_grasp": { + "position": [ + -0.11677714437246323, + 0.00025484789512120187, + 0.07443724572658539 + ], + "orientation": [ + 0.5940893888473511, + -0.11757263541221619, + 0.7906122803688049, + -0.09036986529827118 + ], + "joints": [ + 0.013226812705397606 + ] + }, + "final_grasp": { + "position": [ + -0.11677714437246323, + 0.00025484789512120187, + 0.07443724572658539 + ], + "orientation": [ + 0.5940893888473511, + -0.11757263541221619, + 0.7906122803688049, + -0.09036986529827118 + ], + "joints": [ + 0.0036347415298223495 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12684820592403412, + -0.0002188231737818569, + -0.021954571828246117 + ], + "orientation": [ + 0.8234615921974182, + -0.11337241530418396, + 0.5284242630004883, + -0.1727004200220108 + ], + "joints": [ + 0.021088693290948868 + ] + }, + "fine_grasp": { + "position": [ + -0.12287849187850952, + -0.0002983490703627467, + -0.020827505737543106 + ], + "orientation": [ + 0.8204858899116516, + -0.1196177750825882, + 0.5302348136901855, + -0.17704690992832184 + ], + "joints": [ + 0.012311633676290512 + ] + }, + "final_grasp": { + "position": [ + -0.12287849187850952, + -0.0002983490703627467, + -0.020827505737543106 + ], + "orientation": [ + 0.8204858899116516, + -0.1196177750825882, + 0.5302348136901855, + -0.17704690992832184 + ], + "joints": [ + 0.0035345740616321564 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13431204855442047, + 0.016773926094174385, + 0.0015533559489995241 + ], + "orientation": [ + 0.7136112451553345, + -0.0007090100552886724, + -0.6936827301979065, + 0.09778916835784912 + ], + "joints": [ + 0.018816206604242325 + ] + }, + "fine_grasp": { + "position": [ + 0.13037803769111633, + 0.016193848103284836, + 0.001964285969734192 + ], + "orientation": [ + 0.7150053381919861, + -0.0012509016087278724, + -0.6921155452728271, + 0.09870126098394394 + ], + "joints": [ + 0.009621191769838333 + ] + }, + "final_grasp": { + "position": [ + 0.13037803769111633, + 0.016193848103284836, + 0.001964285969734192 + ], + "orientation": [ + 0.7150053381919861, + -0.0012509016087278724, + -0.6921155452728271, + 0.09870126098394394 + ], + "joints": [ + 0.00042617693543434143 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03650955483317375, + 0.10420816391706467, + 0.08525992929935455 + ], + "orientation": [ + 0.19766592979431152, + 0.6336034536361694, + -0.6182940602302551, + 0.42093604803085327 + ], + "joints": [ + 0.03335597366094589 + ] + }, + "fine_grasp": { + "position": [ + -0.03544317185878754, + 0.10037873685359955, + 0.08471067994832993 + ], + "orientation": [ + 0.20553450286388397, + 0.6232779026031494, + -0.6189497113227844, + 0.431487500667572 + ], + "joints": [ + 0.024996869266033173 + ] + }, + "final_grasp": { + "position": [ + -0.03544317185878754, + 0.10037873685359955, + 0.08471067994832993 + ], + "orientation": [ + 0.20553450286388397, + 0.6232779026031494, + -0.6189497113227844, + 0.431487500667572 + ], + "joints": [ + 0.016637764871120453 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025037942454218864, + 0.029253000393509865, + -0.11260747909545898 + ], + "orientation": [ + 0.021551057696342468, + 0.05289759859442711, + -0.11694316565990448, + 0.9914947152137756 + ], + "joints": [ + 0.019090106710791588 + ] + }, + "fine_grasp": { + "position": [ + -0.024816114455461502, + 0.02854333259165287, + -0.10877632349729538 + ], + "orientation": [ + 0.021778825670480728, + 0.05218493938446045, + -0.1145758181810379, + 0.9918038845062256 + ], + "joints": [ + 0.00947713665664196 + ] + }, + "final_grasp": { + "position": [ + -0.024816114455461502, + 0.02854333259165287, + -0.10877632349729538 + ], + "orientation": [ + 0.021778825670480728, + 0.05218493938446045, + -0.1145758181810379, + 0.9918038845062256 + ], + "joints": [ + -0.00013583339750766754 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1290963590145111, + -0.03207453712821007, + 0.05902078375220299 + ], + "orientation": [ + 0.5960195064544678, + -0.08165349811315536, + -0.7927237153053284, + -0.09839978814125061 + ], + "joints": [ + 0.019821813330054283 + ] + }, + "fine_grasp": { + "position": [ + 0.125368133187294, + -0.03088742308318615, + 0.05887904390692711 + ], + "orientation": [ + 0.603152334690094, + -0.08200982213020325, + -0.7871105074882507, + -0.09969335049390793 + ], + "joints": [ + 0.010208843275904655 + ] + }, + "final_grasp": { + "position": [ + 0.125368133187294, + -0.03088742308318615, + 0.05887904390692711 + ], + "orientation": [ + 0.603152334690094, + -0.08200982213020325, + -0.7871105074882507, + -0.09969335049390793 + ], + "joints": [ + 0.0005958732217550278 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11798170953989029, + -0.030555792152881622, + 0.09719937294721603 + ], + "orientation": [ + 0.036720916628837585, + -0.8393919467926025, + 0.16069826483726501, + 0.5179274678230286 + ], + "joints": [ + 0.02191409282386303 + ] + }, + "fine_grasp": { + "position": [ + 0.11453958600759506, + -0.029279572889208794, + 0.09548027813434601 + ], + "orientation": [ + 0.0390278659760952, + -0.8386651277542114, + 0.16357046365737915, + 0.5180370211601257 + ], + "joints": [ + 0.013157932087779045 + ] + }, + "final_grasp": { + "position": [ + 0.11453958600759506, + -0.029279572889208794, + 0.09548027813434601 + ], + "orientation": [ + 0.0390278659760952, + -0.8386651277542114, + 0.16357046365737915, + 0.5180370211601257 + ], + "joints": [ + 0.004401771351695061 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12453606724739075, + -0.023664165288209915, + 0.05052192136645317 + ], + "orientation": [ + 0.6700551509857178, + -0.004682817496359348, + -0.731671154499054, + -0.12514513731002808 + ], + "joints": [ + 0.02211269736289978 + ] + }, + "fine_grasp": { + "position": [ + 0.1206870973110199, + -0.022893104702234268, + 0.05013149976730347 + ], + "orientation": [ + 0.6691505312919617, + 0.0029346824157983065, + -0.730693519115448, + -0.13533665239810944 + ], + "joints": [ + 0.012499727308750153 + ] + }, + "final_grasp": { + "position": [ + 0.1206870973110199, + -0.022893104702234268, + 0.05013149976730347 + ], + "orientation": [ + 0.6691505312919617, + 0.0029346824157983065, + -0.730693519115448, + -0.13533665239810944 + ], + "joints": [ + 0.002886757254600525 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07903053611516953, + -0.02650437317788601, + 0.12540049850940704 + ], + "orientation": [ + 0.15472078323364258, + -0.9100733399391174, + 0.10975651443004608, + -0.36848530173301697 + ], + "joints": [ + 0.022479448467493057 + ] + }, + "fine_grasp": { + "position": [ + -0.07740325480699539, + -0.025225164368748665, + 0.12219976633787155 + ], + "orientation": [ + 0.15414322912693024, + -0.911954939365387, + 0.10544474422931671, + -0.36532098054885864 + ], + "joints": [ + 0.013284433633089066 + ] + }, + "final_grasp": { + "position": [ + -0.07740325480699539, + -0.025225164368748665, + 0.12219976633787155 + ], + "orientation": [ + 0.15414322912693024, + -0.911954939365387, + 0.10544474422931671, + -0.36532098054885864 + ], + "joints": [ + 0.004089418798685074 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03446651250123978, + -0.014904210343956947, + -0.1065175011754036 + ], + "orientation": [ + 0.05443411320447922, + 0.18510711193084717, + -0.07140364497900009, + -0.9786081314086914 + ], + "joints": [ + 0.018814630806446075 + ] + }, + "fine_grasp": { + "position": [ + 0.03396586328744888, + -0.014479558914899826, + -0.1026366576552391 + ], + "orientation": [ + 0.05503407493233681, + 0.18126462399959564, + -0.07000283896923065, + -0.9793946743011475 + ], + "joints": [ + 0.009201660752296448 + ] + }, + "final_grasp": { + "position": [ + 0.03396586328744888, + -0.014479558914899826, + -0.1026366576552391 + ], + "orientation": [ + 0.05503407493233681, + 0.18126462399959564, + -0.07000283896923065, + -0.9793946743011475 + ], + "joints": [ + -0.00041130930185317993 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11760343611240387, + -0.029672911390662193, + 0.09701705724000931 + ], + "orientation": [ + 0.037410661578178406, + -0.8417826890945435, + 0.15312093496322632, + 0.5162908434867859 + ], + "joints": [ + 0.02191018871963024 + ] + }, + "fine_grasp": { + "position": [ + 0.11416574567556381, + -0.028463168069720268, + 0.09531104564666748 + ], + "orientation": [ + 0.03896276652812958, + -0.8411121964454651, + 0.15546202659606934, + 0.5165693163871765 + ], + "joints": [ + 0.013133129104971886 + ] + }, + "final_grasp": { + "position": [ + 0.11416574567556381, + -0.028463168069720268, + 0.09531104564666748 + ], + "orientation": [ + 0.03896276652812958, + -0.8411121964454651, + 0.15546202659606934, + 0.5165693163871765 + ], + "joints": [ + 0.00435606949031353 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11789906024932861, + -0.030482178553938866, + 0.09737560898065567 + ], + "orientation": [ + 0.03611943498253822, + -0.8394035696983337, + 0.16153104603290558, + 0.5176917314529419 + ], + "joints": [ + 0.022264381870627403 + ] + }, + "fine_grasp": { + "position": [ + 0.11446276307106018, + -0.029276637360453606, + 0.09565716981887817 + ], + "orientation": [ + 0.03752713277935982, + -0.838869035243988, + 0.163701593875885, + 0.5177764296531677 + ], + "joints": [ + 0.013069367036223412 + ] + }, + "final_grasp": { + "position": [ + 0.11446276307106018, + -0.029276637360453606, + 0.09565716981887817 + ], + "orientation": [ + 0.03752713277935982, + -0.838869035243988, + 0.163701593875885, + 0.5177764296531677 + ], + "joints": [ + 0.00387435220181942 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10869063436985016, + -0.0019869538955390453, + 0.10467291623353958 + ], + "orientation": [ + 0.3838600814342499, + -0.1047423928976059, + 0.9167392253875732, + -0.03563349321484566 + ], + "joints": [ + 0.019248196855187416 + ] + }, + "fine_grasp": { + "position": [ + -0.10518800467252731, + -0.001793277682736516, + 0.10279612988233566 + ], + "orientation": [ + 0.39315134286880493, + -0.1062653586268425, + 0.9124602675437927, + -0.039445407688617706 + ], + "joints": [ + 0.009635226801037788 + ] + }, + "final_grasp": { + "position": [ + -0.10518800467252731, + -0.001793277682736516, + 0.10279612988233566 + ], + "orientation": [ + 0.39315134286880493, + -0.1062653586268425, + 0.9124602675437927, + -0.039445407688617706 + ], + "joints": [ + 2.2256746888160706e-05 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0967436283826828, + -0.03045991249382496, + 0.11707752197980881 + ], + "orientation": [ + 0.0967869684100151, + -0.9020198583602905, + 0.08289703726768494, + 0.4124567210674286 + ], + "joints": [ + 0.022289594635367393 + ] + }, + "fine_grasp": { + "position": [ + 0.09390006214380264, + -0.029696449637413025, + 0.11462816596031189 + ], + "orientation": [ + 0.0986982136964798, + -0.9021153450012207, + 0.08689501881599426, + 0.41096949577331543 + ], + "joints": [ + 0.012697523459792137 + ] + }, + "final_grasp": { + "position": [ + 0.09390006214380264, + -0.029696449637413025, + 0.11462816596031189 + ], + "orientation": [ + 0.0986982136964798, + -0.9021153450012207, + 0.08689501881599426, + 0.41096949577331543 + ], + "joints": [ + 0.003105452284216881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09636273980140686, + -0.03072545863687992, + 0.11717291176319122 + ], + "orientation": [ + 0.09549231082201004, + -0.902333676815033, + 0.08872430771589279, + 0.41085654497146606 + ], + "joints": [ + 0.02250305563211441 + ] + }, + "fine_grasp": { + "position": [ + 0.09349215775728226, + -0.029872434213757515, + 0.11468253284692764 + ], + "orientation": [ + 0.09754180163145065, + -0.9021645188331604, + 0.09322694689035416, + 0.4097480773925781 + ], + "joints": [ + 0.012493029236793518 + ] + }, + "final_grasp": { + "position": [ + 0.09349215775728226, + -0.029872434213757515, + 0.11468253284692764 + ], + "orientation": [ + 0.09754180163145065, + -0.9021645188331604, + 0.09322694689035416, + 0.4097480773925781 + ], + "joints": [ + 0.0024830028414726257 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038913045078516006, + -0.12014061957597733, + 0.04655912518501282 + ], + "orientation": [ + 0.2727660834789276, + -0.5667270421981812, + -0.5587326884269714, + -0.5405893921852112 + ], + "joints": [ + 0.03337913006544113 + ] + }, + "fine_grasp": { + "position": [ + -0.037898145616054535, + -0.11627596616744995, + 0.04683665558695793 + ], + "orientation": [ + 0.2760242223739624, + -0.5579155683517456, + -0.5584216713905334, + -0.5483667254447937 + ], + "joints": [ + 0.02581413835287094 + ] + }, + "final_grasp": { + "position": [ + -0.037898145616054535, + -0.11627596616744995, + 0.04683665558695793 + ], + "orientation": [ + 0.2760242223739624, + -0.5579155683517456, + -0.5584216713905334, + -0.5483667254447937 + ], + "joints": [ + 0.01824914664030075 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05999317392706871, + -0.11039257049560547, + -0.02475561946630478 + ], + "orientation": [ + 0.829413115978241, + -0.4957679510116577, + -0.2531659007072449, + -0.04685211181640625 + ], + "joints": [ + 0.03333281725645065 + ] + }, + "fine_grasp": { + "position": [ + 0.05842774361371994, + -0.1073017343878746, + -0.02287374623119831 + ], + "orientation": [ + 0.830939531326294, + -0.49408331513404846, + -0.25178366899490356, + -0.04501260817050934 + ], + "joints": [ + 0.02409600466489792 + ] + }, + "final_grasp": { + "position": [ + 0.05842774361371994, + -0.1073017343878746, + -0.02287374623119831 + ], + "orientation": [ + 0.830939531326294, + -0.49408331513404846, + -0.25178366899490356, + -0.04501260817050934 + ], + "joints": [ + 0.014859192073345184 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12110740691423416, + -0.022938357666134834, + -0.04402770474553108 + ], + "orientation": [ + 0.10657501220703125, + -0.5273037552833557, + 0.043575942516326904, + 0.8418394923210144 + ], + "joints": [ + 0.01914726197719574 + ] + }, + "fine_grasp": { + "position": [ + 0.1176624745130539, + -0.022184280678629875, + -0.042307715862989426 + ], + "orientation": [ + 0.10646062344312668, + -0.5273935198783875, + 0.042146265506744385, + 0.8418704271316528 + ], + "joints": [ + 0.009952247142791748 + ] + }, + "final_grasp": { + "position": [ + 0.1176624745130539, + -0.022184280678629875, + -0.042307715862989426 + ], + "orientation": [ + 0.10646062344312668, + -0.5273935198783875, + 0.042146265506744385, + 0.8418704271316528 + ], + "joints": [ + 0.0007572323083877563 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0622016079723835, + -0.11718311160802841, + 0.0007402204209938645 + ], + "orientation": [ + 0.7107496857643127, + -0.35725638270378113, + 0.48473432660102844, + 0.3636418879032135 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.06034448742866516, + -0.11401476711034775, + 0.0013570791343227029 + ], + "orientation": [ + 0.7086488604545593, + -0.3608573079109192, + 0.48601818084716797, + 0.3624708950519562 + ], + "joints": [ + 0.02032509259879589 + ] + }, + "final_grasp": { + "position": [ + -0.06034448742866516, + -0.11401476711034775, + 0.0013570791343227029 + ], + "orientation": [ + 0.7086488604545593, + -0.3608573079109192, + 0.48601818084716797, + 0.3624708950519562 + ], + "joints": [ + 0.011485336348414421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12583397328853607, + -0.012198200449347496, + 0.047584619373083115 + ], + "orientation": [ + 0.6772542595863342, + 0.0374116450548172, + 0.7273746132850647, + 0.10417810827493668 + ], + "joints": [ + 0.02300695702433586 + ] + }, + "fine_grasp": { + "position": [ + -0.1227111890912056, + -0.01214943453669548, + 0.047220900654792786 + ], + "orientation": [ + 0.6749026775360107, + 0.03961504250764847, + 0.7285938858985901, + 0.10994568467140198 + ], + "joints": [ + 0.01381194218993187 + ] + }, + "final_grasp": { + "position": [ + -0.1227111890912056, + -0.01214943453669548, + 0.047220900654792786 + ], + "orientation": [ + 0.6749026775360107, + 0.03961504250764847, + 0.7285938858985901, + 0.10994568467140198 + ], + "joints": [ + 0.004616927355527878 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06219669058918953, + -0.11718280613422394, + 0.000770882295910269 + ], + "orientation": [ + 0.7107744812965393, + -0.35719791054725647, + 0.48468711972236633, + 0.36371394991874695 + ], + "joints": [ + 0.02916484884917736 + ] + }, + "fine_grasp": { + "position": [ + -0.06033843010663986, + -0.11401670426130295, + 0.001386938034556806 + ], + "orientation": [ + 0.7086901068687439, + -0.36075687408447266, + 0.4859883487224579, + 0.36253029108047485 + ], + "joints": [ + 0.02032509259879589 + ] + }, + "final_grasp": { + "position": [ + -0.06033843010663986, + -0.11401670426130295, + 0.001386938034556806 + ], + "orientation": [ + 0.7086901068687439, + -0.36075687408447266, + 0.4859883487224579, + 0.36253029108047485 + ], + "joints": [ + 0.011485336348414421 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.032368071377277374, + 0.003670301754027605, + 0.15074414014816284 + ], + "orientation": [ + 0.14605651795864105, + -0.12723441421985626, + -0.9805747270584106, + 0.03085680492222309 + ], + "joints": [ + 0.02064257487654686 + ] + }, + "fine_grasp": { + "position": [ + 0.033658716827631, + 0.0022857452277094126, + 0.14780500531196594 + ], + "orientation": [ + 0.15015743672847748, + -0.15333057940006256, + -0.9761779308319092, + 0.0319218747317791 + ], + "joints": [ + 0.011447560042142868 + ] + }, + "final_grasp": { + "position": [ + 0.033658716827631, + 0.0022857452277094126, + 0.14780500531196594 + ], + "orientation": [ + 0.15015743672847748, + -0.15333057940006256, + -0.9761779308319092, + 0.0319218747317791 + ], + "joints": [ + 0.0022525452077388763 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0013135392218828201, + -0.026584133505821228, + -0.09225589036941528 + ], + "orientation": [ + 0.9924784898757935, + -0.11671927571296692, + -0.0321381539106369, + -0.018171023577451706 + ], + "joints": [ + 0.021866092458367348 + ] + }, + "fine_grasp": { + "position": [ + -0.0015818439424037933, + -0.026191359385848045, + -0.09015882015228271 + ], + "orientation": [ + 0.9926667213439941, + -0.11682680249214172, + -0.026400689035654068, + -0.016346920281648636 + ], + "joints": [ + 0.01225312240421772 + ] + }, + "final_grasp": { + "position": [ + -0.0015818439424037933, + -0.026191359385848045, + -0.09015882015228271 + ], + "orientation": [ + 0.9926667213439941, + -0.11682680249214172, + -0.026400689035654068, + -0.016346920281648636 + ], + "joints": [ + 0.0026401523500680923 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03575849533081055, + -0.10637039691209793, + 0.07121361792087555 + ], + "orientation": [ + 0.5368189811706543, + -0.8197755217552185, + 0.07132291793823242, + -0.1862967312335968 + ], + "joints": [ + 0.03453689441084862 + ] + }, + "fine_grasp": { + "position": [ + -0.03510407358407974, + -0.10289432853460312, + 0.0691581442952156 + ], + "orientation": [ + 0.5376163721084595, + -0.8216094970703125, + 0.06880561262369156, + -0.17661364376544952 + ], + "joints": [ + 0.025362778455018997 + ] + }, + "final_grasp": { + "position": [ + -0.03510407358407974, + -0.10289432853460312, + 0.0691581442952156 + ], + "orientation": [ + 0.5376163721084595, + -0.8216094970703125, + 0.06880561262369156, + -0.17661364376544952 + ], + "joints": [ + 0.016188662499189377 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09514559805393219, + 0.02835608460009098, + -0.059768110513687134 + ], + "orientation": [ + 0.46612030267715454, + 0.3277209401130676, + 0.08929266780614853, + 0.8169195652008057 + ], + "joints": [ + 0.023224862292408943 + ] + }, + "fine_grasp": { + "position": [ + -0.09253615140914917, + 0.026185162365436554, + -0.05797544866800308 + ], + "orientation": [ + 0.4673674702644348, + 0.33792930841445923, + 0.083200603723526, + 0.8126802444458008 + ], + "joints": [ + 0.01561807282269001 + ] + }, + "final_grasp": { + "position": [ + -0.09253615140914917, + 0.026185162365436554, + -0.05797544866800308 + ], + "orientation": [ + 0.4673674702644348, + 0.33792930841445923, + 0.083200603723526, + 0.8126802444458008 + ], + "joints": [ + 0.008011283352971077 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.13471652567386627, + -0.0028279137331992388, + -0.04019064083695412 + ], + "orientation": [ + 0.06838768720626831, + -0.5085870623588562, + -0.0363435372710228, + 0.857520580291748 + ], + "joints": [ + 0.019682081416249275 + ] + }, + "fine_grasp": { + "position": [ + 0.13099558651447296, + -0.0022982079535722733, + -0.03921806812286377 + ], + "orientation": [ + 0.07106287032365799, + -0.5147305727005005, + -0.033146683126688004, + 0.853758692741394 + ], + "joints": [ + 0.009274998679757118 + ] + }, + "final_grasp": { + "position": [ + 0.13099558651447296, + -0.0022982079535722733, + -0.03921806812286377 + ], + "orientation": [ + 0.07106287032365799, + -0.5147305727005005, + -0.033146683126688004, + 0.853758692741394 + ], + "joints": [ + -0.0011320840567350388 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0653262734413147, + 0.01740022748708725, + -0.08951788395643234 + ], + "orientation": [ + 0.09412042051553726, + 0.20944349467754364, + -0.04855826124548912, + 0.9720683097839355 + ], + "joints": [ + 0.020282357931137085 + ] + }, + "fine_grasp": { + "position": [ + -0.06346473097801208, + 0.016701024025678635, + -0.08711642026901245 + ], + "orientation": [ + 0.09453663975000381, + 0.21198007464408875, + -0.04867140203714371, + 0.9714722633361816 + ], + "joints": [ + 0.010669387876987457 + ] + }, + "final_grasp": { + "position": [ + -0.06346473097801208, + 0.016701024025678635, + -0.08711642026901245 + ], + "orientation": [ + 0.09453663975000381, + 0.21198007464408875, + -0.04867140203714371, + 0.9714722633361816 + ], + "joints": [ + 0.0010564178228378296 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.12530092895030975, + 0.029694145545363426, + 0.03595074638724327 + ], + "orientation": [ + 0.0944448933005333, + 0.7515182495117188, + -0.08110057562589645, + 0.6478604078292847 + ], + "joints": [ + 0.020303471013903618 + ] + }, + "fine_grasp": { + "position": [ + -0.12186237424612045, + 0.028777414932847023, + 0.03565618023276329 + ], + "orientation": [ + 0.09506909549236298, + 0.7525426745414734, + -0.07921821624040604, + 0.6468120217323303 + ], + "joints": [ + 0.011108456179499626 + ] + }, + "final_grasp": { + "position": [ + -0.12186237424612045, + 0.028777414932847023, + 0.03565618023276329 + ], + "orientation": [ + 0.09506909549236298, + 0.7525426745414734, + -0.07921821624040604, + 0.6468120217323303 + ], + "joints": [ + 0.0019134413450956345 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0017579749692231417, + -0.026204144582152367, + -0.09266754984855652 + ], + "orientation": [ + 0.9924665689468384, + -0.11499007791280746, + -0.03912489116191864, + -0.01602567359805107 + ], + "joints": [ + 0.02181321568787098 + ] + }, + "fine_grasp": { + "position": [ + -0.0017483585979789495, + -0.025756001472473145, + -0.09043445438146591 + ], + "orientation": [ + 0.9922227263450623, + -0.11649218201637268, + -0.03958640620112419, + -0.018885722383856773 + ], + "joints": [ + 0.012221144512295723 + ] + }, + "final_grasp": { + "position": [ + -0.0017483585979789495, + -0.025756001472473145, + -0.09043445438146591 + ], + "orientation": [ + 0.9922227263450623, + -0.11649218201637268, + -0.03958640620112419, + -0.018885722383856773 + ], + "joints": [ + 0.0026290733367204666 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06219903379678726, + 0.06154308095574379, + 0.1297314316034317 + ], + "orientation": [ + 0.048156894743442535, + 0.7005236148834229, + -0.5962023138999939, + 0.3892175555229187 + ], + "joints": [ + 0.03340228646993637 + ] + }, + "fine_grasp": { + "position": [ + -0.05985749140381813, + 0.0600447952747345, + 0.12716522812843323 + ], + "orientation": [ + 0.04301704093813896, + 0.7053647637367249, + -0.5957923531532288, + 0.38163021206855774 + ], + "joints": [ + 0.024625226855278015 + ] + }, + "final_grasp": { + "position": [ + -0.05985749140381813, + 0.0600447952747345, + 0.12716522812843323 + ], + "orientation": [ + 0.04301704093813896, + 0.7053647637367249, + -0.5957923531532288, + 0.38163021206855774 + ], + "joints": [ + 0.01584816724061966 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05174051597714424, + 0.03019430674612522, + -0.09510849416255951 + ], + "orientation": [ + 0.974165678024292, + 0.12229990214109421, + -0.1879211813211441, + 0.027011452242732048 + ], + "joints": [ + 0.01992112398147583 + ] + }, + "fine_grasp": { + "position": [ + 0.05085962265729904, + 0.029364807531237602, + -0.09180821478366852 + ], + "orientation": [ + 0.9743637442588806, + 0.12202787399291992, + -0.18691235780715942, + 0.028078237548470497 + ], + "joints": [ + 0.011144064366817474 + ] + }, + "final_grasp": { + "position": [ + 0.05085962265729904, + 0.029364807531237602, + -0.09180821478366852 + ], + "orientation": [ + 0.9743637442588806, + 0.12202787399291992, + -0.18691235780715942, + 0.028078237548470497 + ], + "joints": [ + 0.0023670047521591187 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06515268981456757, + 0.016577934846282005, + -0.08873984217643738 + ], + "orientation": [ + 0.08566533029079437, + 0.210160031914711, + -0.047434765845537186, + 0.9727508425712585 + ], + "joints": [ + 0.020604196935892105 + ] + }, + "fine_grasp": { + "position": [ + -0.06339698284864426, + 0.015917859971523285, + -0.08640982955694199 + ], + "orientation": [ + 0.08627781271934509, + 0.21202708780765533, + -0.04655397683382034, + 0.9723339676856995 + ], + "joints": [ + 0.010970328003168106 + ] + }, + "final_grasp": { + "position": [ + -0.06339698284864426, + 0.015917859971523285, + -0.08640982955694199 + ], + "orientation": [ + 0.08627781271934509, + 0.21202708780765533, + -0.04655397683382034, + 0.9723339676856995 + ], + "joints": [ + 0.001336459070444107 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11945847421884537, + -0.030873877927660942, + 0.04385931044816971 + ], + "orientation": [ + 0.681438684463501, + -0.09033253788948059, + -0.7196365594863892, + -0.09800292551517487 + ], + "joints": [ + 0.022289996966719627 + ] + }, + "fine_grasp": { + "position": [ + 0.11585067212581635, + -0.029384329915046692, + 0.04378792643547058 + ], + "orientation": [ + 0.683393657207489, + -0.08884064853191376, + -0.7183396220207214, + -0.09522919356822968 + ], + "joints": [ + 0.01267702691257 + ] + }, + "final_grasp": { + "position": [ + 0.11585067212581635, + -0.029384329915046692, + 0.04378792643547058 + ], + "orientation": [ + 0.683393657207489, + -0.08884064853191376, + -0.7183396220207214, + -0.09522919356822968 + ], + "joints": [ + 0.003064056858420372 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03932427987456322, + -0.028866661712527275, + 0.155521422624588 + ], + "orientation": [ + 0.053601473569869995, + 0.6599092483520508, + 0.7285942435264587, + 0.17549113929271698 + ], + "joints": [ + 0.034050632268190384 + ] + }, + "fine_grasp": { + "position": [ + -0.03801173344254494, + -0.028039053082466125, + 0.1519835740327835 + ], + "orientation": [ + 0.04875808209180832, + 0.6643937230110168, + 0.7249698042869568, + 0.17499257624149323 + ], + "joints": [ + 0.025252673774957657 + ] + }, + "final_grasp": { + "position": [ + -0.03801173344254494, + -0.028039053082466125, + 0.1519835740327835 + ], + "orientation": [ + 0.04875808209180832, + 0.6643937230110168, + 0.7249698042869568, + 0.17499257624149323 + ], + "joints": [ + 0.01645471528172493 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.11535555124282837, + 0.04693346843123436, + 0.03693607449531555 + ], + "orientation": [ + 0.15576410293579102, + 0.7115392684936523, + -0.1306372582912445, + 0.6725945472717285 + ], + "joints": [ + 0.02353004366159439 + ] + }, + "fine_grasp": { + "position": [ + -0.1123228445649147, + 0.04573226720094681, + 0.03720492869615555 + ], + "orientation": [ + 0.1535915732383728, + 0.7100954651832581, + -0.1324445903301239, + 0.6742643117904663 + ], + "joints": [ + 0.014314129948616028 + ] + }, + "final_grasp": { + "position": [ + -0.1123228445649147, + 0.04573226720094681, + 0.03720492869615555 + ], + "orientation": [ + 0.1535915732383728, + 0.7100954651832581, + -0.1324445903301239, + 0.6742643117904663 + ], + "joints": [ + 0.005098216235637665 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10164990276098251, + 0.01598942279815674, + -0.0648685172200203 + ], + "orientation": [ + 0.10087638348340988, + -0.33696624636650085, + -0.11269084364175797, + 0.9292892217636108 + ], + "joints": [ + 0.02129199728369713 + ] + }, + "fine_grasp": { + "position": [ + 0.09822078794240952, + 0.015635419636964798, + -0.06301836669445038 + ], + "orientation": [ + 0.10320806503295898, + -0.3445286750793457, + -0.11444741487503052, + 0.9260398745536804 + ], + "joints": [ + 0.0116790272295475 + ] + }, + "final_grasp": { + "position": [ + 0.09822078794240952, + 0.015635419636964798, + -0.06301836669445038 + ], + "orientation": [ + 0.10320806503295898, + -0.3445286750793457, + -0.11444741487503052, + 0.9260398745536804 + ], + "joints": [ + 0.002066057175397873 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.03565877676010132, + -0.014539450407028198, + 0.1487852931022644 + ], + "orientation": [ + 0.15862736105918884, + -0.11023125797510147, + -0.9799644351005554, + -0.04854102432727814 + ], + "joints": [ + 0.02109018713235855 + ] + }, + "fine_grasp": { + "position": [ + 0.03742736950516701, + -0.014729888178408146, + 0.14565345644950867 + ], + "orientation": [ + 0.16431233286857605, + -0.11059031635522842, + -0.9789364337921143, + -0.049544502049684525 + ], + "joints": [ + 0.012313127517700195 + ] + }, + "final_grasp": { + "position": [ + 0.03742736950516701, + -0.014729888178408146, + 0.14565345644950867 + ], + "orientation": [ + 0.16431233286857605, + -0.11059031635522842, + -0.9789364337921143, + -0.049544502049684525 + ], + "joints": [ + 0.0035360679030418396 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08936139196157455, + 0.027415631338953972, + -0.06209932267665863 + ], + "orientation": [ + 0.06488329917192459, + 0.4073663651943207, + 0.10175330936908722, + -0.9052563309669495 + ], + "joints": [ + 0.0220106802880764 + ] + }, + "fine_grasp": { + "position": [ + 0.08752968162298203, + 0.02678014151751995, + -0.05967317894101143 + ], + "orientation": [ + 0.06417547911405563, + 0.40349262952804565, + 0.10191625356674194, + -0.907021701335907 + ], + "joints": [ + 0.011979755014181137 + ] + }, + "final_grasp": { + "position": [ + 0.08752968162298203, + 0.02678014151751995, + -0.05967317894101143 + ], + "orientation": [ + 0.06417547911405563, + 0.40349262952804565, + 0.10191625356674194, + -0.907021701335907 + ], + "joints": [ + 0.0019488297402858734 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0030057094991207123, + -0.11973259598016739, + -0.007328985258936882 + ], + "orientation": [ + 0.7943599224090576, + -0.5973645448684692, + -0.08057548105716705, + -0.07520312070846558 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + -0.0030209599062800407, + -0.11571697145700455, + -0.005526484455913305 + ], + "orientation": [ + 0.7939001321792603, + -0.5975809097290039, + -0.08008582144975662, + -0.07877694815397263 + ], + "joints": [ + 0.025867681950330734 + ] + }, + "final_grasp": { + "position": [ + -0.0030209599062800407, + -0.11571697145700455, + -0.005526484455913305 + ], + "orientation": [ + 0.7939001321792603, + -0.5975809097290039, + -0.08008582144975662, + -0.07877694815397263 + ], + "joints": [ + 0.016735363751649857 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12212956696748734, + 0.04849619045853615, + 0.07044775038957596 + ], + "orientation": [ + 0.5200467705726624, + 0.5879472494125366, + -0.5690107941627502, + -0.24514518678188324 + ], + "joints": [ + 0.03500000014901161 + ] + }, + "fine_grasp": { + "position": [ + 0.11878610402345657, + 0.04695001244544983, + 0.0688425824046135 + ], + "orientation": [ + 0.5234994888305664, + 0.5920849442481995, + -0.561114490032196, + -0.246037095785141 + ], + "joints": [ + 0.027832064777612686 + ] + }, + "final_grasp": { + "position": [ + 0.11878610402345657, + 0.04695001244544983, + 0.0688425824046135 + ], + "orientation": [ + 0.5234994888305664, + 0.5920849442481995, + -0.561114490032196, + -0.246037095785141 + ], + "joints": [ + 0.02066412940621376 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04383083060383797, + 0.015103566460311413, + 0.13525256514549255 + ], + "orientation": [ + 0.08498253673315048, + 0.9823964834213257, + -0.036323368549346924, + -0.16234441101551056 + ], + "joints": [ + 0.023414690047502518 + ] + }, + "fine_grasp": { + "position": [ + 0.043224792927503586, + 0.015607933513820171, + 0.1352388560771942 + ], + "orientation": [ + 0.08954541385173798, + 0.9818354845046997, + -0.03339674323797226, + -0.1639065444469452 + ], + "joints": [ + 0.01380171999335289 + ] + }, + "final_grasp": { + "position": [ + 0.043224792927503586, + 0.015607933513820171, + 0.1352388560771942 + ], + "orientation": [ + 0.08954541385173798, + 0.9818354845046997, + -0.03339674323797226, + -0.1639065444469452 + ], + "joints": [ + 0.004188749939203262 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08364693075418472, + -0.04267632216215134, + 0.1237824484705925 + ], + "orientation": [ + 0.34303024411201477, + -0.5734642744064331, + 0.7382410168647766, + -0.09202724695205688 + ], + "joints": [ + 0.03340228646993637 + ] + }, + "fine_grasp": { + "position": [ + -0.08130165934562683, + -0.04131548851728439, + 0.12162451446056366 + ], + "orientation": [ + 0.3528696894645691, + -0.5759453177452087, + 0.7325205206871033, + -0.08475615829229355 + ], + "joints": [ + 0.026192553341388702 + ] + }, + "final_grasp": { + "position": [ + -0.08130165934562683, + -0.04131548851728439, + 0.12162451446056366 + ], + "orientation": [ + 0.3528696894645691, + -0.5759453177452087, + 0.7325205206871033, + -0.08475615829229355 + ], + "joints": [ + 0.018982820212841034 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2048, + "num_passed": 331 + } +} \ No newline at end of file diff --git a/rigid_action_camera_00002/Object.usd b/rigid_action_camera_00002/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..3895bb0ba17b5863e103b224f718b14d4ff73033 --- /dev/null +++ b/rigid_action_camera_00002/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:917a773649dd7c947c3086762d0ced5254d90198175a04a0da91b6b00dc11264 +size 18755723 diff --git a/rigid_block_00000/Annotation/dex1_1_grasp_pose.json b/rigid_block_00000/Annotation/dex1_1_grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..b0645e49b8bf379883e1c9fb9d7900b49f5583ea --- /dev/null +++ b/rigid_block_00000/Annotation/dex1_1_grasp_pose.json @@ -0,0 +1,5818 @@ +{ + "type": "rigid_block_00000", + "bottom_center": [ + 0.0, + 0.0, + -0.009975000284612179 + ], + "functional_grasp": { + "body": [ + { + "coarse_grasp": { + "position": [ + 0.0037246658466756344, + 0.03271874785423279, + -0.10641112923622131 + ], + "orientation": [ + 0.755829930305481, + 0.6202535033226013, + 0.1945876032114029, + 0.07837335765361786 + ], + "joints": [ + 0.02449999935925007 + ] + }, + "fine_grasp": { + "position": [ + 0.00328079960308969, + 0.02909821644425392, + -0.11099990457296371 + ], + "orientation": [ + 0.7463738918304443, + 0.633279025554657, + 0.18912801146507263, + 0.07819368690252304 + ], + "joints": [ + 0.02245411090552807 + ] + }, + "final_grasp": { + "position": [ + 0.00328079960308969, + 0.02909821644425392, + -0.11099990457296371 + ], + "orientation": [ + 0.7463738918304443, + 0.633279025554657, + 0.18912801146507263, + 0.07819368690252304 + ], + "joints": [ + 0.02040822245180607 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018720699474215508, + -0.14267180860042572, + -0.0018332886975258589 + ], + "orientation": [ + 0.6809617280960083, + 0.052687421441078186, + 0.7293686866760254, + -0.039197780191898346 + ], + "joints": [ + 0.002839380642399192 + ] + }, + "fine_grasp": { + "position": [ + -0.01905994676053524, + -0.14142803847789764, + -0.0023766334634274244 + ], + "orientation": [ + 0.6631229519844055, + 0.056611135601997375, + 0.7453674674034119, + -0.038607191294431686 + ], + "joints": [ + 0.009242746978998184 + ] + }, + "final_grasp": { + "position": [ + -0.01905994676053524, + -0.14142803847789764, + -0.0023766334634274244 + ], + "orientation": [ + 0.6631229519844055, + 0.056611135601997375, + 0.7453674674034119, + -0.038607191294431686 + ], + "joints": [ + 0.015646113082766533 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.04397796839475632, + 0.13288526237010956, + -0.0023833110462874174 + ], + "orientation": [ + 0.14062131941318512, + 0.6747264266014099, + -0.12014167010784149, + 0.7145179510116577 + ], + "joints": [ + 0.003076277207583189 + ] + }, + "fine_grasp": { + "position": [ + 0.0428171381354332, + 0.12741966545581818, + -0.0033744729589670897 + ], + "orientation": [ + 0.14771664142608643, + 0.6662612557411194, + -0.1195852980017662, + 0.7210929989814758 + ], + "joints": [ + 0.009453073143959045 + ] + }, + "final_grasp": { + "position": [ + 0.0428171381354332, + 0.12741966545581818, + -0.0033744729589670897 + ], + "orientation": [ + 0.14771664142608643, + 0.6662612557411194, + -0.1195852980017662, + 0.7210929989814758 + ], + "joints": [ + 0.015829868614673615 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06421744078397751, + 0.13671623170375824, + -0.012100165709853172 + ], + "orientation": [ + 0.12052826583385468, + -0.72002112865448, + 0.20189321041107178, + 0.6529024243354797 + ], + "joints": [ + 0.003083899151533842 + ] + }, + "fine_grasp": { + "position": [ + 0.06416542828083038, + 0.13492938876152039, + -0.01256615575402975 + ], + "orientation": [ + 0.11628104001283646, + -0.7266422510147095, + 0.20042367279529572, + 0.646761417388916 + ], + "joints": [ + 0.00895586609840393 + ] + }, + "final_grasp": { + "position": [ + 0.06416542828083038, + 0.13492938876152039, + -0.01256615575402975 + ], + "orientation": [ + 0.11628104001283646, + -0.7266422510147095, + 0.20042367279529572, + 0.646761417388916 + ], + "joints": [ + 0.014827832579612732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06447698175907135, + 0.13669805228710175, + -0.012218584306538105 + ], + "orientation": [ + 0.119972825050354, + -0.7198651432991028, + 0.20186570286750793, + 0.6531851887702942 + ], + "joints": [ + 0.003083899151533842 + ] + }, + "fine_grasp": { + "position": [ + 0.06442270427942276, + 0.1349511295557022, + -0.012673772871494293 + ], + "orientation": [ + 0.11581115424633026, + -0.7264033555984497, + 0.2003396898508072, + 0.6471397876739502 + ], + "joints": [ + 0.00895586609840393 + ] + }, + "final_grasp": { + "position": [ + 0.06442270427942276, + 0.1349511295557022, + -0.012673772871494293 + ], + "orientation": [ + 0.11581115424633026, + -0.7264033555984497, + 0.2003396898508072, + 0.6471397876739502 + ], + "joints": [ + 0.014827832579612732 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06456707417964935, + 0.13628602027893066, + 0.011023280210793018 + ], + "orientation": [ + 0.16752660274505615, + -0.6283455491065979, + 0.08576218038797379, + 0.7548255324363708 + ], + "joints": [ + 0.002984031569212675 + ] + }, + "fine_grasp": { + "position": [ + 0.0631268322467804, + 0.1304989904165268, + 0.011445035226643085 + ], + "orientation": [ + 0.17596331238746643, + -0.6126230359077454, + 0.087311290204525, + 0.7655759453773499 + ], + "joints": [ + 0.008351169526576996 + ] + }, + "final_grasp": { + "position": [ + 0.0631268322467804, + 0.1304989904165268, + 0.011445035226643085 + ], + "orientation": [ + 0.17596331238746643, + -0.6126230359077454, + 0.087311290204525, + 0.7655759453773499 + ], + "joints": [ + 0.01371830701828003 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.028754709288477898, + -0.14064347743988037, + 0.00023078511003404856 + ], + "orientation": [ + 0.7301077842712402, + -0.05468593165278435, + 0.6787165403366089, + 0.0574088953435421 + ], + "joints": [ + 0.003480365499854088 + ] + }, + "fine_grasp": { + "position": [ + 0.029869521036744118, + -0.14652566611766815, + 0.00038096759817563 + ], + "orientation": [ + 0.7388250827789307, + -0.05444221571087837, + 0.6691781282424927, + 0.05808860808610916 + ], + "joints": [ + 0.009352331981062889 + ] + }, + "final_grasp": { + "position": [ + 0.029869521036744118, + -0.14652566611766815, + 0.00038096759817563 + ], + "orientation": [ + 0.7388250827789307, + -0.05444221571087837, + 0.6691781282424927, + 0.05808860808610916 + ], + "joints": [ + 0.01522429846227169 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.029554767534136772, + 0.14472611248493195, + -0.0017195302061736584 + ], + "orientation": [ + 0.06528466194868088, + -0.6725441813468933, + 0.06961693614721298, + 0.7338771224021912 + ], + "joints": [ + 0.003158287610858679 + ] + }, + "fine_grasp": { + "position": [ + 0.02840138040482998, + 0.14321045577526093, + -0.0030148292426019907 + ], + "orientation": [ + 0.061267655342817307, + -0.65145343542099, + 0.06784194707870483, + 0.7531614899635315 + ], + "joints": [ + 0.009030254557728767 + ] + }, + "final_grasp": { + "position": [ + 0.02840138040482998, + 0.14321045577526093, + -0.0030148292426019907 + ], + "orientation": [ + 0.061267655342817307, + -0.65145343542099, + 0.06784194707870483, + 0.7531614899635315 + ], + "joints": [ + 0.014902221038937569 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0753253623843193, + 0.13627277314662933, + -0.007094578817486763 + ], + "orientation": [ + 0.10662206262350082, + -0.739071786403656, + -0.1625102460384369, + -0.6449766755104065 + ], + "joints": [ + 0.003123949747532606 + ] + }, + "fine_grasp": { + "position": [ + -0.07386176288127899, + 0.13056638836860657, + -0.007754621561616659 + ], + "orientation": [ + 0.10628802329301834, + -0.7460500597953796, + -0.1686311811208725, + -0.63535475730896 + ], + "joints": [ + 0.008995916694402695 + ] + }, + "final_grasp": { + "position": [ + -0.07386176288127899, + 0.13056638836860657, + -0.007754621561616659 + ], + "orientation": [ + 0.10628802329301834, + -0.7460500597953796, + -0.1686311811208725, + -0.63535475730896 + ], + "joints": [ + 0.014867883175611496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07536802440881729, + 0.1359892338514328, + -0.00708365673199296 + ], + "orientation": [ + 0.10531137138605118, + -0.73822420835495, + -0.16043142974376678, + -0.6466808915138245 + ], + "joints": [ + 0.003123949747532606 + ] + }, + "fine_grasp": { + "position": [ + -0.07393423467874527, + 0.13028541207313538, + -0.007821016944944859 + ], + "orientation": [ + 0.10505932569503784, + -0.7463335394859314, + -0.16751331090927124, + -0.6355218887329102 + ], + "joints": [ + 0.008995916694402695 + ] + }, + "final_grasp": { + "position": [ + -0.07393423467874527, + 0.13028541207313538, + -0.007821016944944859 + ], + "orientation": [ + 0.10505932569503784, + -0.7463335394859314, + -0.16751331090927124, + -0.6355218887329102 + ], + "joints": [ + 0.014867883175611496 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.052193883806467056, + -0.13691963255405426, + 0.009098023176193237 + ], + "orientation": [ + 0.7155966758728027, + 0.08703675866127014, + -0.6779268383979797, + 0.1440877914428711 + ], + "joints": [ + 0.0028685550205409527 + ] + }, + "fine_grasp": { + "position": [ + 0.0520482175052166, + -0.13519558310508728, + 0.009401637129485607 + ], + "orientation": [ + 0.7219846248626709, + 0.08268199115991592, + -0.6723587512969971, + 0.14083918929100037 + ], + "joints": [ + 0.008740521967411041 + ] + }, + "final_grasp": { + "position": [ + 0.0520482175052166, + -0.13519558310508728, + 0.009401637129485607 + ], + "orientation": [ + 0.7219846248626709, + 0.08268199115991592, + -0.6723587512969971, + 0.14083918929100037 + ], + "joints": [ + 0.014612488448619843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0523998960852623, + -0.13682693243026733, + 0.00925862044095993 + ], + "orientation": [ + 0.7161874175071716, + 0.0867849737405777, + -0.6771464347839355, + 0.14497175812721252 + ], + "joints": [ + 0.0028685550205409527 + ] + }, + "fine_grasp": { + "position": [ + 0.05228929966688156, + -0.1351650506258011, + 0.009529968723654747 + ], + "orientation": [ + 0.7226318717002869, + 0.08248688280582428, + -0.6715184450149536, + 0.14164084196090698 + ], + "joints": [ + 0.008740521967411041 + ] + }, + "final_grasp": { + "position": [ + 0.05228929966688156, + -0.1351650506258011, + 0.009529968723654747 + ], + "orientation": [ + 0.7226318717002869, + 0.08248688280582428, + -0.6715184450149536, + 0.14164084196090698 + ], + "joints": [ + 0.014612488448619843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05227046087384224, + -0.13687454164028168, + 0.009002329781651497 + ], + "orientation": [ + 0.7154232263565063, + 0.08744954317808151, + -0.6780908703804016, + 0.14392738044261932 + ], + "joints": [ + 0.0028685550205409527 + ] + }, + "fine_grasp": { + "position": [ + 0.05213513225317001, + -0.13517597317695618, + 0.009336831048130989 + ], + "orientation": [ + 0.7219969630241394, + 0.08298524469137192, + -0.6723135709762573, + 0.14081361889839172 + ], + "joints": [ + 0.008740521967411041 + ] + }, + "final_grasp": { + "position": [ + 0.05213513225317001, + -0.13517597317695618, + 0.009336831048130989 + ], + "orientation": [ + 0.7219969630241394, + 0.08298524469137192, + -0.6723135709762573, + 0.14081361889839172 + ], + "joints": [ + 0.014612488448619843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05224738270044327, + -0.13689284026622772, + 0.009145443327724934 + ], + "orientation": [ + 0.7157486081123352, + 0.08721064031124115, + -0.677630603313446, + 0.14462049305438995 + ], + "joints": [ + 0.0028685550205409527 + ] + }, + "fine_grasp": { + "position": [ + 0.05210065469145775, + -0.13516585528850555, + 0.009431342594325542 + ], + "orientation": [ + 0.7220912575721741, + 0.0829060822725296, + -0.6721166372299194, + 0.1413155496120453 + ], + "joints": [ + 0.008740521967411041 + ] + }, + "final_grasp": { + "position": [ + 0.05210065469145775, + -0.13516585528850555, + 0.009431342594325542 + ], + "orientation": [ + 0.7220912575721741, + 0.0829060822725296, + -0.6721166372299194, + 0.1413155496120453 + ], + "joints": [ + 0.014612488448619843 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03640222176909447, + -0.1388055831193924, + -0.0029619999695569277 + ], + "orientation": [ + 0.7549768090248108, + -0.029768168926239014, + -0.6530506014823914, + -0.05146531015634537 + ], + "joints": [ + 0.0025910756085067987 + ] + }, + "fine_grasp": { + "position": [ + -0.036897461861371994, + -0.138289675116539, + -0.003101408714428544 + ], + "orientation": [ + 0.7681000828742981, + -0.029241472482681274, + -0.6372711062431335, + -0.05525212734937668 + ], + "joints": [ + 0.008463042788207531 + ] + }, + "final_grasp": { + "position": [ + -0.036897461861371994, + -0.138289675116539, + -0.003101408714428544 + ], + "orientation": [ + 0.7681000828742981, + -0.029241472482681274, + -0.6372711062431335, + -0.05525212734937668 + ], + "joints": [ + 0.014335010200738907 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.038782816380262375, + 0.13608990609645844, + 0.007832339964807034 + ], + "orientation": [ + 0.08491726219654083, + 0.7287531495094299, + 0.1376638263463974, + -0.6653995513916016 + ], + "joints": [ + 0.0025968202389776707 + ] + }, + "fine_grasp": { + "position": [ + -0.03904088959097862, + 0.13496918976306915, + 0.008244704455137253 + ], + "orientation": [ + 0.07936815172433853, + 0.7350056767463684, + 0.13534684479236603, + -0.6596579551696777 + ], + "joints": [ + 0.00846878718584776 + ] + }, + "final_grasp": { + "position": [ + -0.03904088959097862, + 0.13496918976306915, + 0.008244704455137253 + ], + "orientation": [ + 0.07936815172433853, + 0.7350056767463684, + 0.13534684479236603, + -0.6596579551696777 + ], + "joints": [ + 0.014340754598379135 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020344186574220657, + -0.1391604244709015, + -0.005755702033638954 + ], + "orientation": [ + 0.6401439905166626, + -0.024931026622653008, + 0.7662242650985718, + 0.04994366317987442 + ], + "joints": [ + 0.002058940241113305 + ] + }, + "fine_grasp": { + "position": [ + 0.019681168720126152, + -0.1388751119375229, + -0.005816781427711248 + ], + "orientation": [ + 0.6242989897727966, + -0.022422268986701965, + 0.7793327569961548, + 0.04887240752577782 + ], + "joints": [ + 0.007930907420814037 + ] + }, + "final_grasp": { + "position": [ + 0.019681168720126152, + -0.1388751119375229, + -0.005816781427711248 + ], + "orientation": [ + 0.6242989897727966, + -0.022422268986701965, + 0.7793327569961548, + 0.04887240752577782 + ], + "joints": [ + 0.013802874833345413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.008469893597066402, + 0.14399193227291107, + -0.0028341307770460844 + ], + "orientation": [ + 0.06143815815448761, + 0.6097361445426941, + -0.03399604186415672, + 0.7894880771636963 + ], + "joints": [ + 0.0015534379053860903 + ] + }, + "fine_grasp": { + "position": [ + 0.00866698194295168, + 0.14236804842948914, + -0.003220845013856888 + ], + "orientation": [ + 0.06564491987228394, + 0.590762734413147, + -0.03090825490653515, + 0.8035763502120972 + ], + "joints": [ + 0.006389174610376358 + ] + }, + "final_grasp": { + "position": [ + 0.00866698194295168, + 0.14236804842948914, + -0.003220845013856888 + ], + "orientation": [ + 0.06564491987228394, + 0.590762734413147, + -0.03090825490653515, + 0.8035763502120972 + ], + "joints": [ + 0.01122491154819727 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020619427785277367, + -0.13916678726673126, + -0.005639407318085432 + ], + "orientation": [ + 0.6401668787002563, + -0.02411513775587082, + 0.7663124799728394, + 0.04868296533823013 + ], + "joints": [ + 0.002058940241113305 + ] + }, + "fine_grasp": { + "position": [ + 0.01996171474456787, + -0.13886065781116486, + -0.00571360532194376 + ], + "orientation": [ + 0.6245649456977844, + -0.021553102880716324, + 0.7792181372642517, + 0.04767850786447525 + ], + "joints": [ + 0.007930907420814037 + ] + }, + "final_grasp": { + "position": [ + 0.01996171474456787, + -0.13886065781116486, + -0.00571360532194376 + ], + "orientation": [ + 0.6245649456977844, + -0.021553102880716324, + 0.7792181372642517, + 0.04767850786447525 + ], + "joints": [ + 0.013802874833345413 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02072065882384777, + -0.13918550312519073, + -0.005884011276066303 + ], + "orientation": [ + 0.6377463340759277, + -0.02402644418179989, + 0.768266499042511, + 0.04968874901533127 + ], + "joints": [ + 0.0020981754641979933 + ] + }, + "fine_grasp": { + "position": [ + 0.020063336938619614, + -0.13883718848228455, + -0.005938021931797266 + ], + "orientation": [ + 0.6225005388259888, + -0.021605096757411957, + 0.7808085083961487, + 0.0486270934343338 + ], + "joints": [ + 0.007970142178237438 + ] + }, + "final_grasp": { + "position": [ + 0.020063336938619614, + -0.13883718848228455, + -0.005938021931797266 + ], + "orientation": [ + 0.6225005388259888, + -0.021605096757411957, + 0.7808085083961487, + 0.0486270934343338 + ], + "joints": [ + 0.01384210865944624 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.024546382948756218, + -0.14061106741428375, + -0.014955655671656132 + ], + "orientation": [ + 0.6893513798713684, + 0.09222764521837234, + 0.718477189540863, + -0.008908897638320923 + ], + "joints": [ + 0.0027975135017186403 + ] + }, + "fine_grasp": { + "position": [ + -0.024804474785923958, + -0.13859178125858307, + -0.015327498316764832 + ], + "orientation": [ + 0.6821150779724121, + 0.08862534165382385, + 0.725845456123352, + -0.0035991324111819267 + ], + "joints": [ + 0.008138081058859825 + ] + }, + "final_grasp": { + "position": [ + -0.024804474785923958, + -0.13859178125858307, + -0.015327498316764832 + ], + "orientation": [ + 0.6821150779724121, + 0.08862534165382385, + 0.725845456123352, + -0.0035991324111819267 + ], + "joints": [ + 0.013478648848831654 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07932422310113907, + -0.1358325481414795, + 0.007104785647243261 + ], + "orientation": [ + 0.7322168350219727, + 0.05193358287215233, + -0.6720094084739685, + 0.09779923409223557 + ], + "joints": [ + 0.002686896128579974 + ] + }, + "fine_grasp": { + "position": [ + 0.07985367625951767, + -0.13564825057983398, + 0.0077293491922318935 + ], + "orientation": [ + 0.7418673634529114, + 0.04603900760412216, + -0.6620502471923828, + 0.09593074023723602 + ], + "joints": [ + 0.008558862842619419 + ] + }, + "final_grasp": { + "position": [ + 0.07985367625951767, + -0.13564825057983398, + 0.0077293491922318935 + ], + "orientation": [ + 0.7418673634529114, + 0.04603900760412216, + -0.6620502471923828, + 0.09593074023723602 + ], + "joints": [ + 0.01443082932382822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02564166858792305, + -0.14098085463047028, + -0.01667870581150055 + ], + "orientation": [ + 0.6867656111717224, + 0.08641921728849411, + 0.7216988205909729, + 0.0059560490772128105 + ], + "joints": [ + 0.0027666997630149126 + ] + }, + "fine_grasp": { + "position": [ + -0.025878939777612686, + -0.13886840641498566, + -0.01700197346508503 + ], + "orientation": [ + 0.6791787147521973, + 0.08264591544866562, + 0.7292115688323975, + 0.011680502444505692 + ], + "joints": [ + 0.008107267320156097 + ] + }, + "final_grasp": { + "position": [ + -0.025878939777612686, + -0.13886840641498566, + -0.01700197346508503 + ], + "orientation": [ + 0.6791787147521973, + 0.08264591544866562, + 0.7292115688323975, + 0.011680502444505692 + ], + "joints": [ + 0.013447835110127926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0013667428866028786, + 0.1431383192539215, + -0.018923809751868248 + ], + "orientation": [ + 0.0510561503469944, + 0.6766037940979004, + -0.05043678730726242, + -0.7328415513038635 + ], + "joints": [ + 0.00238472456112504 + ] + }, + "fine_grasp": { + "position": [ + -0.00021760075469501317, + 0.1428428441286087, + -0.01981915347278118 + ], + "orientation": [ + 0.04765358939766884, + 0.6622891426086426, + -0.053444646298885345, + -0.7458188533782959 + ], + "joints": [ + 0.008788091130554676 + ] + }, + "final_grasp": { + "position": [ + -0.00021760075469501317, + 0.1428428441286087, + -0.01981915347278118 + ], + "orientation": [ + 0.04765358939766884, + 0.6622891426086426, + -0.053444646298885345, + -0.7458188533782959 + ], + "joints": [ + 0.0151914581656456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.001668767537921667, + 0.14327900111675262, + -0.019091149792075157 + ], + "orientation": [ + 0.05160132795572281, + 0.6763517260551453, + -0.04989030212163925, + -0.7330734729766846 + ], + "joints": [ + 0.00238472456112504 + ] + }, + "fine_grasp": { + "position": [ + 8.754211012274027e-05, + 0.1428680717945099, + -0.019851237535476685 + ], + "orientation": [ + 0.04822137951850891, + 0.6618537902832031, + -0.05313299223780632, + -0.7461910843849182 + ], + "joints": [ + 0.008788091130554676 + ] + }, + "final_grasp": { + "position": [ + 8.754211012274027e-05, + 0.1428680717945099, + -0.019851237535476685 + ], + "orientation": [ + 0.04822137951850891, + 0.6618537902832031, + -0.05313299223780632, + -0.7461910843849182 + ], + "joints": [ + 0.0151914581656456 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05577630177140236, + 0.14425966143608093, + 0.0038317383732646704 + ], + "orientation": [ + 0.08825672417879105, + -0.7441954612731934, + 0.07817965745925903, + 0.6574738025665283 + ], + "joints": [ + 0.0027471769135445356 + ] + }, + "fine_grasp": { + "position": [ + 0.05488238111138344, + 0.14325888454914093, + 0.003974083345383406 + ], + "orientation": [ + 0.08535587042570114, + -0.7588984966278076, + 0.07654980570077896, + 0.6410363912582397 + ], + "joints": [ + 0.00861914362758398 + ] + }, + "final_grasp": { + "position": [ + 0.05488238111138344, + 0.14325888454914093, + 0.003974083345383406 + ], + "orientation": [ + 0.08535587042570114, + -0.7588984966278076, + 0.07654980570077896, + 0.6410363912582397 + ], + "joints": [ + 0.014491110108792782 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06371791660785675, + -0.13234487175941467, + 0.013762946240603924 + ], + "orientation": [ + 0.6532650589942932, + -0.1018141582608223, + 0.7500187754631042, + 0.01872359588742256 + ], + "joints": [ + 0.0023844121024012566 + ] + }, + "fine_grasp": { + "position": [ + 0.06421675533056259, + -0.13176101446151733, + 0.014162970706820488 + ], + "orientation": [ + 0.6411520838737488, + -0.10064437240362167, + 0.760696530342102, + 0.011645064689218998 + ], + "joints": [ + 0.007220148574560881 + ] + }, + "final_grasp": { + "position": [ + 0.06421675533056259, + -0.13176101446151733, + 0.014162970706820488 + ], + "orientation": [ + 0.6411520838737488, + -0.10064437240362167, + 0.760696530342102, + 0.011645064689218998 + ], + "joints": [ + 0.012055885046720505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.010535393841564655, + -0.13458234071731567, + -0.009210706688463688 + ], + "orientation": [ + 0.7496293187141418, + 0.05305137857794762, + -0.6596908569335938, + 0.007035530637949705 + ], + "joints": [ + 0.002395190764218569 + ] + }, + "fine_grasp": { + "position": [ + 0.009710128419101238, + -0.13498492538928986, + -0.010159078054130077 + ], + "orientation": [ + 0.7607064247131348, + 0.059576112776994705, + -0.6463005542755127, + 0.008484509773552418 + ], + "joints": [ + 0.008267157711088657 + ] + }, + "final_grasp": { + "position": [ + 0.009710128419101238, + -0.13498492538928986, + -0.010159078054130077 + ], + "orientation": [ + 0.7607064247131348, + 0.059576112776994705, + -0.6463005542755127, + 0.008484509773552418 + ], + "joints": [ + 0.014139125123620033 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06608853489160538, + -0.13271737098693848, + 0.014187178574502468 + ], + "orientation": [ + 0.6504912972450256, + -0.09457529336214066, + 0.7535374164581299, + 0.009891276247799397 + ], + "joints": [ + 0.002353421412408352 + ] + }, + "fine_grasp": { + "position": [ + 0.06658931076526642, + -0.13207174837589264, + 0.014524081721901894 + ], + "orientation": [ + 0.6383655667304993, + -0.09284468740224838, + 0.7641078233718872, + 0.002885764231905341 + ], + "joints": [ + 0.007189157884567976 + ] + }, + "final_grasp": { + "position": [ + 0.06658931076526642, + -0.13207174837589264, + 0.014524081721901894 + ], + "orientation": [ + 0.6383655667304993, + -0.09284468740224838, + 0.7641078233718872, + 0.002885764231905341 + ], + "joints": [ + 0.0120248943567276 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025631634518504143, + -0.13484258949756622, + -0.011298357509076595 + ], + "orientation": [ + 0.7140903472900391, + 0.08798445016145706, + 0.6939685940742493, + -0.02722773142158985 + ], + "joints": [ + 0.002856933744624257 + ] + }, + "fine_grasp": { + "position": [ + -0.024584529921412468, + -0.1351603865623474, + -0.011848602443933487 + ], + "orientation": [ + 0.7167257070541382, + 0.09178881347179413, + 0.6906206011772156, + -0.030368831008672714 + ], + "joints": [ + 0.00872890092432499 + ] + }, + "final_grasp": { + "position": [ + -0.024584529921412468, + -0.1351603865623474, + -0.011848602443933487 + ], + "orientation": [ + 0.7167257070541382, + 0.09178881347179413, + 0.6906206011772156, + -0.030368831008672714 + ], + "joints": [ + 0.014600868336856365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05645004287362099, + 0.13429628312587738, + -0.016931364312767982 + ], + "orientation": [ + 0.08635902404785156, + -0.6903220415115356, + -0.1765890121459961, + -0.6962858438491821 + ], + "joints": [ + 0.002774133114144206 + ] + }, + "fine_grasp": { + "position": [ + -0.05527665838599205, + 0.13325275480747223, + -0.017327697947621346 + ], + "orientation": [ + 0.09332640469074249, + -0.6866209506988525, + -0.18382690846920013, + -0.6971724629402161 + ], + "joints": [ + 0.008646099828183651 + ] + }, + "final_grasp": { + "position": [ + -0.05527665838599205, + 0.13325275480747223, + -0.017327697947621346 + ], + "orientation": [ + 0.09332640469074249, + -0.6866209506988525, + -0.18382690846920013, + -0.6971724629402161 + ], + "joints": [ + 0.014518066309392452 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.05651352182030678, + 0.13439597189426422, + -0.0169677697122097 + ], + "orientation": [ + 0.08617433160543442, + -0.6909925937652588, + -0.17679168283939362, + -0.6955918073654175 + ], + "joints": [ + 0.0027431424241513014 + ] + }, + "fine_grasp": { + "position": [ + -0.055169012397527695, + 0.1331523060798645, + -0.01733548752963543 + ], + "orientation": [ + 0.09266523271799088, + -0.6873592734336853, + -0.1835208535194397, + -0.6966136693954468 + ], + "joints": [ + 0.008615109138190746 + ] + }, + "final_grasp": { + "position": [ + -0.055169012397527695, + 0.1331523060798645, + -0.01733548752963543 + ], + "orientation": [ + 0.09266523271799088, + -0.6873592734336853, + -0.1835208535194397, + -0.6966136693954468 + ], + "joints": [ + 0.014487075619399548 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0011969605693593621, + -0.13160263001918793, + -0.007721780799329281 + ], + "orientation": [ + 0.7237451076507568, + 0.0075456504710018635, + 0.6890819668769836, + 0.03608410805463791 + ], + "joints": [ + 0.0033661217894405127 + ] + }, + "fine_grasp": { + "position": [ + 0.0001505823602201417, + -0.13232971727848053, + -0.008376876823604107 + ], + "orientation": [ + 0.729128360748291, + 0.01136508397758007, + 0.6834374070167542, + 0.03400092199444771 + ], + "joints": [ + 0.00870668888092041 + ] + }, + "final_grasp": { + "position": [ + 0.0001505823602201417, + -0.13232971727848053, + -0.008376876823604107 + ], + "orientation": [ + 0.729128360748291, + 0.01136508397758007, + 0.6834374070167542, + 0.03400092199444771 + ], + "joints": [ + 0.014047255739569664 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.057021159678697586, + 0.13452787697315216, + -0.016802974045276642 + ], + "orientation": [ + 0.08577946573495865, + -0.6896843314170837, + -0.17496149241924286, + -0.697399377822876 + ], + "joints": [ + 0.0027827408630400896 + ] + }, + "fine_grasp": { + "position": [ + -0.055800650268793106, + 0.1334361582994461, + -0.017268944531679153 + ], + "orientation": [ + 0.09260338544845581, + -0.6852709054946899, + -0.18213702738285065, + -0.6990383863449097 + ], + "joints": [ + 0.008654708042740822 + ] + }, + "final_grasp": { + "position": [ + -0.055800650268793106, + 0.1334361582994461, + -0.017268944531679153 + ], + "orientation": [ + 0.09260338544845581, + -0.6852709054946899, + -0.18213702738285065, + -0.6990383863449097 + ], + "joints": [ + 0.014526675455272198 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.008660250343382359, + 0.13252978026866913, + -0.010450039990246296 + ], + "orientation": [ + 0.01655673049390316, + 0.6843162775039673, + 0.03972290828824043, + 0.7279142141342163 + ], + "joints": [ + 0.0025720116682350636 + ] + }, + "fine_grasp": { + "position": [ + -0.007575568277388811, + 0.13281382620334625, + -0.010942863300442696 + ], + "orientation": [ + 0.014563885517418385, + 0.6794742941856384, + 0.04353773221373558, + 0.7322615385055542 + ], + "joints": [ + 0.008443978615105152 + ] + }, + "final_grasp": { + "position": [ + -0.007575568277388811, + 0.13281382620334625, + -0.010942863300442696 + ], + "orientation": [ + 0.014563885517418385, + 0.6794742941856384, + 0.04353773221373558, + 0.7322615385055542 + ], + "joints": [ + 0.014315946027636528 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.011804013513028622, + 0.13003744184970856, + -0.010696249082684517 + ], + "orientation": [ + 0.06233156844973564, + 0.6837846636772156, + -0.0018940684385597706, + 0.727014422416687 + ], + "joints": [ + 0.002495816443115473 + ] + }, + "fine_grasp": { + "position": [ + 0.013049730099737644, + 0.13014496862888336, + -0.01123453862965107 + ], + "orientation": [ + 0.06079182028770447, + 0.679239809513092, + 0.0024644348304718733, + 0.731390118598938 + ], + "joints": [ + 0.008367783389985561 + ] + }, + "final_grasp": { + "position": [ + 0.013049730099737644, + 0.13014496862888336, + -0.01123453862965107 + ], + "orientation": [ + 0.06079182028770447, + 0.679239809513092, + 0.0024644348304718733, + 0.731390118598938 + ], + "joints": [ + 0.014239750802516937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06760519742965698, + 0.14244374632835388, + 0.0035071661695837975 + ], + "orientation": [ + 0.1074470579624176, + 0.6480987668037415, + 0.1122121587395668, + -0.7455410957336426 + ], + "joints": [ + 0.0028088490944355726 + ] + }, + "fine_grasp": { + "position": [ + -0.06651145219802856, + 0.14250648021697998, + 0.004589922726154327 + ], + "orientation": [ + 0.10493944585323334, + 0.6296514272689819, + 0.10863737761974335, + -0.7620529532432556 + ], + "joints": [ + 0.008707386441528797 + ] + }, + "final_grasp": { + "position": [ + -0.06651145219802856, + 0.14250648021697998, + 0.004589922726154327 + ], + "orientation": [ + 0.10493944585323334, + 0.6296514272689819, + 0.10863737761974335, + -0.7620529532432556 + ], + "joints": [ + 0.014605923555791378 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01633000373840332, + 0.13226065039634705, + -0.0051957289688289165 + ], + "orientation": [ + 0.04424533620476723, + 0.7313545346260071, + -0.017398804426193237, + 0.6803382635116577 + ], + "joints": [ + 0.002831312594935298 + ] + }, + "fine_grasp": { + "position": [ + 0.014727325178682804, + 0.13242250680923462, + -0.00653009582310915 + ], + "orientation": [ + 0.04940043389797211, + 0.7383294105529785, + -0.01730116456747055, + 0.672406017780304 + ], + "joints": [ + 0.008703279308974743 + ] + }, + "final_grasp": { + "position": [ + 0.014727325178682804, + 0.13242250680923462, + -0.00653009582310915 + ], + "orientation": [ + 0.04940043389797211, + 0.7383294105529785, + -0.01730116456747055, + 0.672406017780304 + ], + "joints": [ + 0.014575245790183544 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.025030428543686867, + 0.13432782888412476, + -0.009739065542817116 + ], + "orientation": [ + 0.021217064931988716, + -0.6836057305335999, + -0.0716453567147255, + -0.7260165214538574 + ], + "joints": [ + 0.0030878051184117794 + ] + }, + "fine_grasp": { + "position": [ + -0.02398569881916046, + 0.13448485732078552, + -0.010414081625640392 + ], + "orientation": [ + 0.024296848103404045, + -0.6788314580917358, + -0.07575298100709915, + -0.7299719452857971 + ], + "joints": [ + 0.008959772065281868 + ] + }, + "final_grasp": { + "position": [ + -0.02398569881916046, + 0.13448485732078552, + -0.010414081625640392 + ], + "orientation": [ + 0.024296848103404045, + -0.6788314580917358, + -0.07575298100709915, + -0.7299719452857971 + ], + "joints": [ + 0.01483173854649067 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.014885211363434792, + 0.13134756684303284, + 0.01101390179246664 + ], + "orientation": [ + 0.0025893445126712322, + 0.6860178112983704, + -0.06152874231338501, + 0.7249738574028015 + ], + "joints": [ + 0.0030512786470353603 + ] + }, + "fine_grasp": { + "position": [ + 0.013824652880430222, + 0.1318960338830948, + 0.011859131045639515 + ], + "orientation": [ + 0.0035370418336242437, + 0.6806177496910095, + -0.06514188647270203, + 0.7297283411026001 + ], + "joints": [ + 0.008391845971345901 + ] + }, + "final_grasp": { + "position": [ + 0.013824652880430222, + 0.1318960338830948, + 0.011859131045639515 + ], + "orientation": [ + 0.0035370418336242437, + 0.6806177496910095, + -0.06514188647270203, + 0.7297283411026001 + ], + "joints": [ + 0.013732412829995155 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02493269555270672, + 0.13402730226516724, + -0.010373963974416256 + ], + "orientation": [ + 0.01907745562493801, + -0.6818007230758667, + -0.07276501506567001, + -0.727660059928894 + ], + "joints": [ + 0.002604632405564189 + ] + }, + "fine_grasp": { + "position": [ + -0.023974977433681488, + 0.1343175172805786, + -0.010857976973056793 + ], + "orientation": [ + 0.021730264648795128, + -0.6767703890800476, + -0.07667578011751175, + -0.7318677306175232 + ], + "joints": [ + 0.008476599119603634 + ] + }, + "final_grasp": { + "position": [ + -0.023974977433681488, + 0.1343175172805786, + -0.010857976973056793 + ], + "orientation": [ + 0.021730264648795128, + -0.6767703890800476, + -0.07667578011751175, + -0.7318677306175232 + ], + "joints": [ + 0.014348565600812435 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.08283017575740814, + 0.1414836049079895, + 0.0016897977329790592 + ], + "orientation": [ + 0.12490946054458618, + -0.6573694348335266, + -0.10239934921264648, + -0.7360552549362183 + ], + "joints": [ + 0.0026426806580275297 + ] + }, + "fine_grasp": { + "position": [ + -0.08309958875179291, + 0.14150002598762512, + 0.0018493518000468612 + ], + "orientation": [ + 0.12864264845848083, + -0.6404483914375305, + -0.10113131999969482, + -0.7503662109375 + ], + "joints": [ + 0.009046046994626522 + ] + }, + "final_grasp": { + "position": [ + -0.08309958875179291, + 0.14150002598762512, + 0.0018493518000468612 + ], + "orientation": [ + 0.12864264845848083, + -0.6404483914375305, + -0.10113131999969482, + -0.7503662109375 + ], + "joints": [ + 0.01544941309839487 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.055558640509843826, + -0.13391025364398956, + -0.004185686353594065 + ], + "orientation": [ + 0.6855041980743408, + -0.11543311923742294, + 0.705929160118103, + 0.13573165237903595 + ], + "joints": [ + 0.0032363866921514273 + ] + }, + "fine_grasp": { + "position": [ + 0.05421935394406319, + -0.13376179337501526, + -0.005856376141309738 + ], + "orientation": [ + 0.6783421039581299, + -0.11591657251119614, + 0.7118746042251587, + 0.14017795026302338 + ], + "joints": [ + 0.009108353406190872 + ] + }, + "final_grasp": { + "position": [ + 0.05421935394406319, + -0.13376179337501526, + -0.005856376141309738 + ], + "orientation": [ + 0.6783421039581299, + -0.11591657251119614, + 0.7118746042251587, + 0.14017795026302338 + ], + "joints": [ + 0.014980319887399673 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.020730962976813316, + 0.13224142789840698, + 0.007592768408358097 + ], + "orientation": [ + 0.020909596234560013, + 0.6822099685668945, + -0.060408659279346466, + 0.7283565998077393 + ], + "joints": [ + 0.0029696556739509106 + ] + }, + "fine_grasp": { + "position": [ + 0.019797753542661667, + 0.13265925645828247, + 0.008901450783014297 + ], + "orientation": [ + 0.02227259986102581, + 0.6753863096237183, + -0.06540315598249435, + 0.7342204451560974 + ], + "joints": [ + 0.008841622620821 + ] + }, + "final_grasp": { + "position": [ + 0.019797753542661667, + 0.13265925645828247, + 0.008901450783014297 + ], + "orientation": [ + 0.02227259986102581, + 0.6753863096237183, + -0.06540315598249435, + 0.7342204451560974 + ], + "joints": [ + 0.0147135891020298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021562622860074043, + 0.13228566944599152, + 0.007570459041744471 + ], + "orientation": [ + 0.021630724892020226, + 0.6830435991287231, + -0.06065121293067932, + 0.7275334596633911 + ], + "joints": [ + 0.0029696556739509106 + ] + }, + "fine_grasp": { + "position": [ + 0.020632678642868996, + 0.1326850950717926, + 0.009052944369614124 + ], + "orientation": [ + 0.022365128621459007, + 0.6761718988418579, + -0.06632689386606216, + 0.7334113717079163 + ], + "joints": [ + 0.008841622620821 + ] + }, + "final_grasp": { + "position": [ + 0.020632678642868996, + 0.1326850950717926, + 0.009052944369614124 + ], + "orientation": [ + 0.022365128621459007, + 0.6761718988418579, + -0.06632689386606216, + 0.7334113717079163 + ], + "joints": [ + 0.0147135891020298 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01157839410007, + -0.1297498196363449, + -0.012794527225196362 + ], + "orientation": [ + 0.7302195429801941, + 0.00972036924213171, + -0.6802870631217957, + -0.06240427494049072 + ], + "joints": [ + 0.002432737033814192 + ] + }, + "fine_grasp": { + "position": [ + -0.012703080661594868, + -0.12946005165576935, + -0.013334568589925766 + ], + "orientation": [ + 0.7367558479309082, + 0.013891841284930706, + -0.6732912063598633, + -0.060636382550001144 + ], + "joints": [ + 0.00830470398068428 + ] + }, + "final_grasp": { + "position": [ + -0.012703080661594868, + -0.12946005165576935, + -0.013334568589925766 + ], + "orientation": [ + 0.7367558479309082, + 0.013891841284930706, + -0.6732912063598633, + -0.060636382550001144 + ], + "joints": [ + 0.014176670461893082 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.021448712795972824, + 0.13186579942703247, + -0.008289990946650505 + ], + "orientation": [ + 0.04850001260638237, + 0.7412651181221008, + -0.004933099262416363, + 0.6694396138191223 + ], + "joints": [ + 0.0030191163532435894 + ] + }, + "fine_grasp": { + "position": [ + 0.019864939153194427, + 0.13168764114379883, + -0.009096212685108185 + ], + "orientation": [ + 0.053281936794519424, + 0.7489014267921448, + -0.0057535190135240555, + 0.6605108976364136 + ], + "joints": [ + 0.00835968367755413 + ] + }, + "final_grasp": { + "position": [ + 0.019864939153194427, + 0.13168764114379883, + -0.009096212685108185 + ], + "orientation": [ + 0.053281936794519424, + 0.7489014267921448, + -0.0057535190135240555, + 0.6605108976364136 + ], + "joints": [ + 0.013700250536203384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02150658331811428, + 0.13187085092067719, + -0.008300045505166054 + ], + "orientation": [ + 0.048591047525405884, + 0.741219162940979, + -0.004976075608283281, + 0.6694836616516113 + ], + "joints": [ + 0.0030191163532435894 + ] + }, + "fine_grasp": { + "position": [ + 0.019926821812987328, + 0.13169141113758087, + -0.009095721878111362 + ], + "orientation": [ + 0.05335588380694389, + 0.7488351464271545, + -0.005835277494043112, + 0.6605793237686157 + ], + "joints": [ + 0.00835968367755413 + ] + }, + "final_grasp": { + "position": [ + 0.019926821812987328, + 0.13169141113758087, + -0.009095721878111362 + ], + "orientation": [ + 0.05335588380694389, + 0.7488351464271545, + -0.005835277494043112, + 0.6605793237686157 + ], + "joints": [ + 0.013700250536203384 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.02920139580965042, + -0.13212470710277557, + -0.010331803932785988 + ], + "orientation": [ + 0.6729227900505066, + -0.01800227165222168, + -0.736076831817627, + -0.07100465148687363 + ], + "joints": [ + 0.0029411292634904385 + ] + }, + "fine_grasp": { + "position": [ + -0.027930734679102898, + -0.1320212334394455, + -0.010651614516973495 + ], + "orientation": [ + 0.6665111184120178, + -0.020986374467611313, + -0.7414085268974304, + -0.07507237046957016 + ], + "joints": [ + 0.00828169658780098 + ] + }, + "final_grasp": { + "position": [ + -0.027930734679102898, + -0.1320212334394455, + -0.010651614516973495 + ], + "orientation": [ + 0.6665111184120178, + -0.020986374467611313, + -0.7414085268974304, + -0.07507237046957016 + ], + "joints": [ + 0.013622263446450233 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.019399698823690414, + 0.13071617484092712, + 0.017544345930218697 + ], + "orientation": [ + 0.03306714445352554, + -0.6483554244041443, + 0.06183840334415436, + -0.7581015229225159 + ], + "joints": [ + 0.001669022487476468 + ] + }, + "fine_grasp": { + "position": [ + -0.020315606147050858, + 0.13000795245170593, + 0.01812688261270523 + ], + "orientation": [ + 0.030270949006080627, + -0.6374572515487671, + 0.0676841288805008, + -0.7669099569320679 + ], + "joints": [ + 0.007009588647633791 + ] + }, + "final_grasp": { + "position": [ + -0.020315606147050858, + 0.13000795245170593, + 0.01812688261270523 + ], + "orientation": [ + 0.030270949006080627, + -0.6374572515487671, + 0.0676841288805008, + -0.7669099569320679 + ], + "joints": [ + 0.012350155040621758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.004279785789549351, + -0.13184329867362976, + 0.01763775199651718 + ], + "orientation": [ + 0.6513881683349609, + -0.015763727948069572, + -0.7545832395553589, + 0.07777517288923264 + ], + "joints": [ + 0.0018762820400297642 + ] + }, + "fine_grasp": { + "position": [ + 0.0030753558967262506, + -0.13243281841278076, + 0.018865253776311874 + ], + "orientation": [ + 0.6315845847129822, + -0.015154119580984116, + -0.7702404260635376, + 0.08718343079090118 + ], + "joints": [ + 0.005675788503140211 + ] + }, + "final_grasp": { + "position": [ + 0.0030753558967262506, + -0.13243281841278076, + 0.018865253776311874 + ], + "orientation": [ + 0.6315845847129822, + -0.015154119580984116, + -0.7702404260635376, + 0.08718343079090118 + ], + "joints": [ + 0.00947529450058937 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.01915375329554081, + 0.13060356676578522, + 0.017696311697363853 + ], + "orientation": [ + 0.03418281301856041, + -0.648017168045044, + 0.06175326183438301, + -0.7583481073379517 + ], + "joints": [ + 0.001381599809974432 + ] + }, + "fine_grasp": { + "position": [ + -0.02009945549070835, + 0.12997974455356598, + 0.018263040110468864 + ], + "orientation": [ + 0.03146400675177574, + -0.6370671987533569, + 0.06790875643491745, + -0.7671661376953125 + ], + "joints": [ + 0.006748735439032316 + ] + }, + "final_grasp": { + "position": [ + -0.02009945549070835, + 0.12997974455356598, + 0.018263040110468864 + ], + "orientation": [ + 0.03146400675177574, + -0.6370671987533569, + 0.06790875643491745, + -0.7671661376953125 + ], + "joints": [ + 0.012115871533751488 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.018990278244018555, + 0.13055458664894104, + 0.017893413081765175 + ], + "orientation": [ + 0.03559539094567299, + -0.6479265689849854, + 0.06155006214976311, + -0.7583770751953125 + ], + "joints": [ + 0.001669022487476468 + ] + }, + "fine_grasp": { + "position": [ + -0.019934097304940224, + 0.1299770623445511, + 0.018511734902858734 + ], + "orientation": [ + 0.03272233158349991, + -0.6365103125572205, + 0.06765750795602798, + -0.7675977349281311 + ], + "joints": [ + 0.007009588647633791 + ] + }, + "final_grasp": { + "position": [ + -0.019934097304940224, + 0.1299770623445511, + 0.018511734902858734 + ], + "orientation": [ + 0.03272233158349991, + -0.6365103125572205, + 0.06765750795602798, + -0.7675977349281311 + ], + "joints": [ + 0.012350155040621758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02707245759665966, + -0.13046617805957794, + -0.014365528710186481 + ], + "orientation": [ + 0.684023380279541, + 0.01248590275645256, + 0.7264388203620911, + 0.06513583660125732 + ], + "joints": [ + 0.002758984686806798 + ] + }, + "fine_grasp": { + "position": [ + 0.025843171402812004, + -0.13017284870147705, + -0.01526900939643383 + ], + "orientation": [ + 0.6768852472305298, + 0.010124307125806808, + 0.732742190361023, + 0.06937407702207565 + ], + "joints": [ + 0.008099552243947983 + ] + }, + "final_grasp": { + "position": [ + 0.025843171402812004, + -0.13017284870147705, + -0.01526900939643383 + ], + "orientation": [ + 0.6768852472305298, + 0.010124307125806808, + 0.732742190361023, + 0.06937407702207565 + ], + "joints": [ + 0.013440120033919811 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09175049513578415, + -0.14220905303955078, + -0.0031718590762466192 + ], + "orientation": [ + 0.7463242411613464, + 0.14078067243099213, + -0.633987307548523, + 0.14574268460273743 + ], + "joints": [ + 0.002708072541281581 + ] + }, + "fine_grasp": { + "position": [ + 0.09119219332933426, + -0.14261557161808014, + -0.003155352780595422 + ], + "orientation": [ + 0.7604321837425232, + 0.13852077722549438, + -0.6168618202209473, + 0.14844605326652527 + ], + "joints": [ + 0.008075210265815258 + ] + }, + "final_grasp": { + "position": [ + 0.09119219332933426, + -0.14261557161808014, + -0.003155352780595422 + ], + "orientation": [ + 0.7604321837425232, + 0.13852077722549438, + -0.6168618202209473, + 0.14844605326652527 + ], + "joints": [ + 0.013442347757518291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08059607446193695, + 0.13604263961315155, + 0.0049462951719760895 + ], + "orientation": [ + 0.1576315462589264, + -0.7123113870620728, + 0.13963253796100616, + 0.6695277690887451 + ], + "joints": [ + 0.003358060261234641 + ] + }, + "fine_grasp": { + "position": [ + 0.07957214117050171, + 0.1355220228433609, + 0.005828072316944599 + ], + "orientation": [ + 0.16092610359191895, + -0.7210145592689514, + 0.14344166219234467, + 0.6585327386856079 + ], + "joints": [ + 0.009230026975274086 + ] + }, + "final_grasp": { + "position": [ + 0.07957214117050171, + 0.1355220228433609, + 0.005828072316944599 + ], + "orientation": [ + 0.16092610359191895, + -0.7210145592689514, + 0.14344166219234467, + 0.6585327386856079 + ], + "joints": [ + 0.015101993456482887 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09178707003593445, + -0.14221498370170593, + -0.003236606949940324 + ], + "orientation": [ + 0.747862696647644, + 0.14068058133125305, + -0.6321457028388977, + 0.14595288038253784 + ], + "joints": [ + 0.002708072541281581 + ] + }, + "fine_grasp": { + "position": [ + 0.0911547839641571, + -0.1425320953130722, + -0.0031042862683534622 + ], + "orientation": [ + 0.7625752687454224, + 0.13736066222190857, + -0.6142552495002747, + 0.14933697879314423 + ], + "joints": [ + 0.008075210265815258 + ] + }, + "final_grasp": { + "position": [ + 0.0911547839641571, + -0.1425320953130722, + -0.0031042862683534622 + ], + "orientation": [ + 0.7625752687454224, + 0.13736066222190857, + -0.6142552495002747, + 0.14933697879314423 + ], + "joints": [ + 0.013442347757518291 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.0646904706954956, + 0.13370750844478607, + 0.006228445563465357 + ], + "orientation": [ + 0.10375407338142395, + 0.6637156009674072, + 0.1277349591255188, + -0.7296576499938965 + ], + "joints": [ + 0.0028088490944355726 + ] + }, + "fine_grasp": { + "position": [ + -0.06406671553850174, + 0.13470692932605743, + 0.006428306922316551 + ], + "orientation": [ + 0.1091364249587059, + 0.6562609076499939, + 0.13078881800174713, + -0.735054612159729 + ], + "joints": [ + 0.008680815808475018 + ] + }, + "final_grasp": { + "position": [ + -0.06406671553850174, + 0.13470692932605743, + 0.006428306922316551 + ], + "orientation": [ + 0.1091364249587059, + 0.6562609076499939, + 0.13078881800174713, + -0.735054612159729 + ], + "joints": [ + 0.014552782289683819 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.045737750828266144, + -0.13206693530082703, + -0.016839049756526947 + ], + "orientation": [ + 0.6647560596466064, + -0.03781682252883911, + 0.7359382510185242, + 0.12273604422807693 + ], + "joints": [ + 0.001938793808221817 + ] + }, + "fine_grasp": { + "position": [ + 0.04473559185862541, + -0.1315152645111084, + -0.017300231382250786 + ], + "orientation": [ + 0.6552262306213379, + -0.04180733487010002, + 0.7436097860336304, + 0.1263924539089203 + ], + "joints": [ + 0.007810759823769331 + ] + }, + "final_grasp": { + "position": [ + 0.04473559185862541, + -0.1315152645111084, + -0.017300231382250786 + ], + "orientation": [ + 0.6552262306213379, + -0.04180733487010002, + 0.7436097860336304, + 0.1263924539089203 + ], + "joints": [ + 0.013682725839316845 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05649515986442566, + 0.1336732804775238, + -0.0068213315680623055 + ], + "orientation": [ + 0.10280393809080124, + 0.7332987785339355, + -0.07285861670970917, + 0.6681286096572876 + ], + "joints": [ + 0.0032764372881501913 + ] + }, + "fine_grasp": { + "position": [ + 0.05526771768927574, + 0.1342267394065857, + -0.007624794263392687 + ], + "orientation": [ + 0.10673221200704575, + 0.7398868799209595, + -0.07521533221006393, + 0.6599380970001221 + ], + "joints": [ + 0.008617004379630089 + ] + }, + "final_grasp": { + "position": [ + 0.05526771768927574, + 0.1342267394065857, + -0.007624794263392687 + ], + "orientation": [ + 0.10673221200704575, + 0.7398868799209595, + -0.07521533221006393, + 0.6599380970001221 + ], + "joints": [ + 0.013957571238279343 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05655524134635925, + 0.13375799357891083, + -0.0068474519066512585 + ], + "orientation": [ + 0.10109388828277588, + 0.732374370098114, + -0.07057037204504013, + 0.6696474552154541 + ], + "joints": [ + 0.002753213746473193 + ] + }, + "fine_grasp": { + "position": [ + 0.0553535632789135, + 0.13428407907485962, + -0.007759421598166227 + ], + "orientation": [ + 0.1054166927933693, + 0.7390315532684326, + -0.07270676642656326, + 0.6613873243331909 + ], + "joints": [ + 0.008625180460512638 + ] + }, + "final_grasp": { + "position": [ + 0.0553535632789135, + 0.13428407907485962, + -0.007759421598166227 + ], + "orientation": [ + 0.1054166927933693, + 0.7390315532684326, + -0.07270676642656326, + 0.6613873243331909 + ], + "joints": [ + 0.01449714694172144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07077811658382416, + -0.14229074120521545, + -0.0017592732328921556 + ], + "orientation": [ + 0.6043012738227844, + -0.09783292561769485, + -0.7860139608383179, + -0.08620257675647736 + ], + "joints": [ + 0.0019833750557154417 + ] + }, + "fine_grasp": { + "position": [ + -0.06971180438995361, + -0.14463067054748535, + -0.0031072853598743677 + ], + "orientation": [ + 0.5843336582183838, + -0.09258513152599335, + -0.8019088506698608, + -0.08321284502744675 + ], + "joints": [ + 0.007881912402808666 + ] + }, + "final_grasp": { + "position": [ + -0.06971180438995361, + -0.14463067054748535, + -0.0031072853598743677 + ], + "orientation": [ + 0.5843336582183838, + -0.09258513152599335, + -0.8019088506698608, + -0.08321284502744675 + ], + "joints": [ + 0.013780449517071247 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.039002299308776855, + 0.12746970355510712, + 0.019639674574136734 + ], + "orientation": [ + 0.02046279050409794, + -0.7782482504844666, + -0.09907516837120056, + 0.6197540163993835 + ], + "joints": [ + 0.0003837563854176551 + ] + }, + "fine_grasp": { + "position": [ + -0.04013938829302788, + 0.1267268806695938, + 0.020350255072116852 + ], + "orientation": [ + 0.02957010455429554, + -0.7917178273200989, + -0.098201684653759, + 0.6022166013717651 + ], + "joints": [ + 0.0057243225164711475 + ] + }, + "final_grasp": { + "position": [ + -0.04013938829302788, + 0.1267268806695938, + 0.020350255072116852 + ], + "orientation": [ + 0.02957010455429554, + -0.7917178273200989, + -0.098201684653759, + 0.6022166013717651 + ], + "joints": [ + 0.011064888909459114 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05889391154050827, + 0.13518507778644562, + -0.006948770489543676 + ], + "orientation": [ + 0.08609863370656967, + 0.73541659116745, + -0.054020948708057404, + 0.6699488162994385 + ], + "joints": [ + 0.002753213746473193 + ] + }, + "fine_grasp": { + "position": [ + 0.057752616703510284, + 0.13576573133468628, + -0.007692043669521809 + ], + "orientation": [ + 0.09091559797525406, + 0.7418094873428345, + -0.05643467605113983, + 0.6620182394981384 + ], + "joints": [ + 0.008625180460512638 + ] + }, + "final_grasp": { + "position": [ + 0.057752616703510284, + 0.13576573133468628, + -0.007692043669521809 + ], + "orientation": [ + 0.09091559797525406, + 0.7418094873428345, + -0.05643467605113983, + 0.6620182394981384 + ], + "joints": [ + 0.01449714694172144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06516370922327042, + -0.13292767107486725, + -0.01755034737288952 + ], + "orientation": [ + 0.6820513010025024, + -0.05846928432583809, + 0.7133036255836487, + 0.15028443932533264 + ], + "joints": [ + 0.0024720532819628716 + ] + }, + "fine_grasp": { + "position": [ + 0.06388284265995026, + -0.13191823661327362, + -0.01857653819024563 + ], + "orientation": [ + 0.6733043789863586, + -0.060737498104572296, + 0.7206228971481323, + 0.15386633574962616 + ], + "joints": [ + 0.007812620140612125 + ] + }, + "final_grasp": { + "position": [ + 0.06388284265995026, + -0.13191823661327362, + -0.01857653819024563 + ], + "orientation": [ + 0.6733043789863586, + -0.060737498104572296, + 0.7206228971481323, + 0.15386633574962616 + ], + "joints": [ + 0.01315318699926138 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.09875084459781647, + 0.13873964548110962, + 0.0035450041759759188 + ], + "orientation": [ + 0.10698925703763962, + 0.7950792908668518, + 0.169984832406044, + -0.5722827911376953 + ], + "joints": [ + 0.0010722072329372168 + ] + }, + "fine_grasp": { + "position": [ + -0.09869648516178131, + 0.13823001086711884, + 0.004064663778990507 + ], + "orientation": [ + 0.10162624716758728, + 0.8138611912727356, + 0.1735212355852127, + -0.5451535582542419 + ], + "joints": [ + 0.005934513173997402 + ] + }, + "final_grasp": { + "position": [ + -0.09869648516178131, + 0.13823001086711884, + 0.004064663778990507 + ], + "orientation": [ + 0.10162624716758728, + 0.8138611912727356, + 0.1735212355852127, + -0.5451535582542419 + ], + "joints": [ + 0.010796818882226944 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.06983894109725952, + -0.13298025727272034, + -0.00794694758951664 + ], + "orientation": [ + 0.667285680770874, + -0.08625173568725586, + -0.7297681570053101, + -0.12136270105838776 + ], + "joints": [ + 0.003242093836888671 + ] + }, + "fine_grasp": { + "position": [ + -0.06869541853666306, + -0.133387491106987, + -0.008136007934808731 + ], + "orientation": [ + 0.6618480682373047, + -0.08996067941188812, + -0.7338751554489136, + -0.12365882843732834 + ], + "joints": [ + 0.008582660928368568 + ] + }, + "final_grasp": { + "position": [ + -0.06869541853666306, + -0.133387491106987, + -0.008136007934808731 + ], + "orientation": [ + 0.6618480682373047, + -0.08996067941188812, + -0.7338751554489136, + -0.12365882843732834 + ], + "joints": [ + 0.013923227787017822 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03773200511932373, + -0.0031646338757127523, + -0.1013774573802948 + ], + "orientation": [ + 0.38027358055114746, + 0.4116676151752472, + 0.6069412231445312, + 0.5635104775428772 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.03545546904206276, + -0.0054544429294764996, + -0.10239309072494507 + ], + "orientation": [ + 0.383643239736557, + 0.3926306962966919, + 0.6178845167160034, + 0.562919020652771 + ], + "joints": [ + -0.018379222601652145 + ] + }, + "final_grasp": { + "position": [ + -0.03545546904206276, + -0.0054544429294764996, + -0.10239309072494507 + ], + "orientation": [ + 0.383643239736557, + 0.3926306962966919, + 0.6178845167160034, + 0.562919020652771 + ], + "joints": [ + -0.016758445650339127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.07010364532470703, + -0.13304202258586884, + -0.007801879663020372 + ], + "orientation": [ + 0.6676937341690063, + -0.08450700342655182, + -0.7299782633781433, + -0.11906039714813232 + ], + "joints": [ + 0.0032764317002147436 + ] + }, + "fine_grasp": { + "position": [ + -0.06895408034324646, + -0.1334020495414734, + -0.008009656332433224 + ], + "orientation": [ + 0.6622870564460754, + -0.08816554397344589, + -0.7340903282165527, + -0.12130117416381836 + ], + "joints": [ + 0.008616998791694641 + ] + }, + "final_grasp": { + "position": [ + -0.06895408034324646, + -0.1334020495414734, + -0.008009656332433224 + ], + "orientation": [ + 0.6622870564460754, + -0.08816554397344589, + -0.7340903282165527, + -0.12130117416381836 + ], + "joints": [ + 0.013957565650343895 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.03802187368273735, + -0.0031528554391115904, + -0.10139273852109909 + ], + "orientation": [ + 0.38034868240356445, + 0.4118104875087738, + 0.6068580746650696, + 0.563444972038269 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + -0.035888951271772385, + -0.005181729327887297, + -0.10230915248394012 + ], + "orientation": [ + 0.38297897577285767, + 0.39369121193885803, + 0.6171982884407043, + 0.5633832216262817 + ], + "joints": [ + -0.018379222601652145 + ] + }, + "final_grasp": { + "position": [ + -0.035888951271772385, + -0.005181729327887297, + -0.10230915248394012 + ], + "orientation": [ + 0.38297897577285767, + 0.39369121193885803, + 0.6171982884407043, + 0.5633832216262817 + ], + "joints": [ + -0.016758445650339127 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.024229485541582108, + -0.13798336684703827, + -0.007525898050516844 + ], + "orientation": [ + 0.8315366506576538, + 0.009148073382675648, + -0.554082453250885, + -0.0381540022790432 + ], + "joints": [ + -0.0006563140777871013 + ] + }, + "fine_grasp": { + "position": [ + 0.022287119179964066, + -0.13639339804649353, + -0.010810771025717258 + ], + "orientation": [ + 0.8562570810317993, + 0.02150244638323784, + -0.5132665038108826, + -0.05402812361717224 + ], + "joints": [ + 0.0026117931120097637 + ] + }, + "final_grasp": { + "position": [ + 0.022287119179964066, + -0.13639339804649353, + -0.010810771025717258 + ], + "orientation": [ + 0.8562570810317993, + 0.02150244638323784, + -0.5132665038108826, + -0.05402812361717224 + ], + "joints": [ + 0.0058799004182219505 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.025468407198786736, + -0.1380697786808014, + -0.007460208609700203 + ], + "orientation": [ + 0.8323056697845459, + 0.010212473571300507, + -0.5529553294181824, + -0.03746122494339943 + ], + "joints": [ + -0.0009282584069296718 + ] + }, + "fine_grasp": { + "position": [ + 0.02358635887503624, + -0.13650576770305634, + -0.010588354431092739 + ], + "orientation": [ + 0.8569560647010803, + 0.021418482065200806, + -0.5122856497764587, + -0.05225890874862671 + ], + "joints": [ + 0.0023664189502596855 + ] + }, + "final_grasp": { + "position": [ + 0.02358635887503624, + -0.13650576770305634, + -0.010588354431092739 + ], + "orientation": [ + 0.8569560647010803, + 0.021418482065200806, + -0.5122856497764587, + -0.05225890874862671 + ], + "joints": [ + 0.005661096423864365 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09530486166477203, + 0.13269610702991486, + 0.008549115620553493 + ], + "orientation": [ + 0.13772642612457275, + 0.6733866333961487, + -0.17861434817314148, + 0.7040446400642395 + ], + "joints": [ + 0.0033787356223911047 + ] + }, + "fine_grasp": { + "position": [ + 0.09403189271688461, + 0.13219046592712402, + 0.009417848661541939 + ], + "orientation": [ + 0.14140371978282928, + 0.6687427759170532, + -0.1826012283563614, + 0.7067141532897949 + ], + "joints": [ + 0.00925070233643055 + ] + }, + "final_grasp": { + "position": [ + 0.09403189271688461, + 0.13219046592712402, + 0.009417848661541939 + ], + "orientation": [ + 0.14140371978282928, + 0.6687427759170532, + -0.1826012283563614, + 0.7067141532897949 + ], + "joints": [ + 0.015122668817639351 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07408731430768967, + -0.13660284876823425, + 0.00440924521535635 + ], + "orientation": [ + 0.6901431679725647, + 0.06302344799041748, + -0.7158220410346985, + 0.08561116456985474 + ], + "joints": [ + 0.003436796134337783 + ] + }, + "fine_grasp": { + "position": [ + 0.07280104607343674, + -0.13635529577732086, + 0.005414837971329689 + ], + "orientation": [ + 0.685581386089325, + 0.0642763152718544, + -0.719724714756012, + 0.08856026828289032 + ], + "joints": [ + 0.009308762848377228 + ] + }, + "final_grasp": { + "position": [ + 0.07280104607343674, + -0.13635529577732086, + 0.005414837971329689 + ], + "orientation": [ + 0.685581386089325, + 0.0642763152718544, + -0.719724714756012, + 0.08856026828289032 + ], + "joints": [ + 0.015180729329586029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0743340253829956, + -0.13668008148670197, + 0.004431398119777441 + ], + "orientation": [ + 0.6888441443443298, + 0.0623491071164608, + -0.7172315716743469, + 0.08476542681455612 + ], + "joints": [ + 0.003436796134337783 + ] + }, + "fine_grasp": { + "position": [ + 0.07307741791009903, + -0.13637444376945496, + 0.0055375415831804276 + ], + "orientation": [ + 0.6830058693885803, + 0.06362756341695786, + -0.7222797274589539, + 0.08812756836414337 + ], + "joints": [ + 0.009308762848377228 + ] + }, + "final_grasp": { + "position": [ + 0.07307741791009903, + -0.13637444376945496, + 0.0055375415831804276 + ], + "orientation": [ + 0.6830058693885803, + 0.06362756341695786, + -0.7222797274589539, + 0.08812756836414337 + ], + "joints": [ + 0.015180729329586029 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0588722750544548, + -0.14377416670322418, + -0.0038453745655715466 + ], + "orientation": [ + 0.7528733611106873, + 0.004766749683767557, + -0.6579485535621643, + -0.016204172745347023 + ], + "joints": [ + 0.002385650295764208 + ] + }, + "fine_grasp": { + "position": [ + 0.05829818919301033, + -0.14260341227054596, + -0.003864176804199815 + ], + "orientation": [ + 0.7666301727294922, + 0.004034755751490593, + -0.6417820453643799, + -0.019439034163951874 + ], + "joints": [ + 0.008284187875688076 + ] + }, + "final_grasp": { + "position": [ + 0.05829818919301033, + -0.14260341227054596, + -0.003864176804199815 + ], + "orientation": [ + 0.7666301727294922, + 0.004034755751490593, + -0.6417820453643799, + -0.019439034163951874 + ], + "joints": [ + 0.014182725921273232 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05185476318001747, + 0.14935679733753204, + 0.009970439597964287 + ], + "orientation": [ + 0.036144837737083435, + -0.5505412220954895, + -0.020735401660203934, + 0.8337672352790833 + ], + "joints": [ + 0.0005140237044543028 + ] + }, + "fine_grasp": { + "position": [ + 0.05215311050415039, + 0.1477031409740448, + 0.009021245874464512 + ], + "orientation": [ + 0.036804765462875366, + -0.5201972723007202, + -0.02142167277634144, + 0.852983832359314 + ], + "joints": [ + 0.004898069426417351 + ] + }, + "final_grasp": { + "position": [ + 0.05215311050415039, + 0.1477031409740448, + 0.009021245874464512 + ], + "orientation": [ + 0.036804765462875366, + -0.5201972723007202, + -0.02142167277634144, + 0.852983832359314 + ], + "joints": [ + 0.009282114915549755 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07076263427734375, + 0.13061991333961487, + -0.01790756545960903 + ], + "orientation": [ + 0.13508504629135132, + 0.7181878685951233, + -0.040876369923353195, + 0.681386411190033 + ], + "joints": [ + 0.0019447952508926392 + ] + }, + "fine_grasp": { + "position": [ + 0.06906169652938843, + 0.13044199347496033, + -0.018704157322645187 + ], + "orientation": [ + 0.1398337483406067, + 0.7188466191291809, + -0.0415414422750473, + 0.6796913743019104 + ], + "joints": [ + 0.007285360712558031 + ] + }, + "final_grasp": { + "position": [ + 0.06906169652938843, + 0.13044199347496033, + -0.018704157322645187 + ], + "orientation": [ + 0.1398337483406067, + 0.7188466191291809, + -0.0415414422750473, + 0.6796913743019104 + ], + "joints": [ + 0.012625926174223423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07080396264791489, + 0.13058210909366608, + -0.01786751113831997 + ], + "orientation": [ + 0.13517063856124878, + 0.7184250950813293, + -0.041285499930381775, + 0.6810945272445679 + ], + "joints": [ + 0.001980939880013466 + ] + }, + "fine_grasp": { + "position": [ + 0.06910870969295502, + 0.13046963512897491, + -0.018559062853455544 + ], + "orientation": [ + 0.13972987234592438, + 0.7188059687614441, + -0.042157672345638275, + 0.6797178983688354 + ], + "joints": [ + 0.007321505807340145 + ] + }, + "final_grasp": { + "position": [ + 0.06910870969295502, + 0.13046963512897491, + -0.018559062853455544 + ], + "orientation": [ + 0.13972987234592438, + 0.7188059687614441, + -0.042157672345638275, + 0.6797178983688354 + ], + "joints": [ + 0.012662071734666824 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07085847854614258, + 0.13052912056446075, + -0.018073583021759987 + ], + "orientation": [ + 0.13438865542411804, + 0.7173060774803162, + -0.039434198290109634, + 0.6825369596481323 + ], + "joints": [ + 0.0019447952508926392 + ] + }, + "fine_grasp": { + "position": [ + 0.06915413588285446, + 0.13036619126796722, + -0.018862895667552948 + ], + "orientation": [ + 0.13925237953662872, + 0.7174239158630371, + -0.039707787334918976, + 0.6814213991165161 + ], + "joints": [ + 0.007285360712558031 + ] + }, + "final_grasp": { + "position": [ + 0.06915413588285446, + 0.13036619126796722, + -0.018862895667552948 + ], + "orientation": [ + 0.13925237953662872, + 0.7174239158630371, + -0.039707787334918976, + 0.6814213991165161 + ], + "joints": [ + 0.012625926174223423 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10271763056516647, + -0.1387217789888382, + 0.001250466681085527 + ], + "orientation": [ + 0.6232233047485352, + -0.11296743154525757, + 0.7690981030464172, + 0.08555256575345993 + ], + "joints": [ + 0.002078888239338994 + ] + }, + "fine_grasp": { + "position": [ + 0.10295814275741577, + -0.13722583651542664, + 0.001439666491933167 + ], + "orientation": [ + 0.6011571288108826, + -0.11847449094057083, + 0.7859505414962769, + 0.08279857039451599 + ], + "joints": [ + 0.007446025498211384 + ] + }, + "final_grasp": { + "position": [ + 0.10295814275741577, + -0.13722583651542664, + 0.001439666491933167 + ], + "orientation": [ + 0.6011571288108826, + -0.11847449094057083, + 0.7859505414962769, + 0.08279857039451599 + ], + "joints": [ + 0.012813162989914417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10269012302160263, + -0.1387854665517807, + 0.0011854327749460936 + ], + "orientation": [ + 0.624287486076355, + -0.11156366020441055, + 0.7685108184814453, + 0.08491158485412598 + ], + "joints": [ + 0.002078888239338994 + ] + }, + "fine_grasp": { + "position": [ + 0.10291389375925064, + -0.13726940751075745, + 0.0015014219097793102 + ], + "orientation": [ + 0.6023463010787964, + -0.11729466170072556, + 0.7853187322616577, + 0.08182493597269058 + ], + "joints": [ + 0.007446025498211384 + ] + }, + "final_grasp": { + "position": [ + 0.10291389375925064, + -0.13726940751075745, + 0.0015014219097793102 + ], + "orientation": [ + 0.6023463010787964, + -0.11729466170072556, + 0.7853187322616577, + 0.08182493597269058 + ], + "joints": [ + 0.012813162989914417 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04310057312250137, + 0.13876360654830933, + -0.004542946349829435 + ], + "orientation": [ + 0.02807563543319702, + 0.5730172991752625, + 0.0014610500074923038, + 0.8190610408782959 + ], + "joints": [ + 0.0003691328747663647 + ] + }, + "fine_grasp": { + "position": [ + -0.04185602068901062, + 0.13728396594524384, + -0.006889405194669962 + ], + "orientation": [ + 0.03930545970797539, + 0.5480392575263977, + 0.009396078065037727, + 0.8354758024215698 + ], + "joints": [ + 0.00416863989084959 + ] + }, + "final_grasp": { + "position": [ + -0.04185602068901062, + 0.13728396594524384, + -0.006889405194669962 + ], + "orientation": [ + 0.03930545970797539, + 0.5480392575263977, + 0.009396078065037727, + 0.8354758024215698 + ], + "joints": [ + 0.007968147285282612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04286778345704079, + 0.1385861039161682, + -0.004563847556710243 + ], + "orientation": [ + 0.03044896014034748, + 0.5730088353157043, + -0.00010045715316664428, + 0.8189834356307983 + ], + "joints": [ + 0.0003691328747663647 + ] + }, + "fine_grasp": { + "position": [ + -0.04163135215640068, + 0.1370602548122406, + -0.006974788848310709 + ], + "orientation": [ + 0.04188103973865509, + 0.5480591058731079, + 0.008141672238707542, + 0.8353508710861206 + ], + "joints": [ + 0.00416863989084959 + ] + }, + "final_grasp": { + "position": [ + -0.04163135215640068, + 0.1370602548122406, + -0.006974788848310709 + ], + "orientation": [ + 0.04188103973865509, + 0.5480591058731079, + 0.008141672238707542, + 0.8353508710861206 + ], + "joints": [ + 0.007968147285282612 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1105726882815361, + -0.1348201334476471, + -0.01703944429755211 + ], + "orientation": [ + 0.7143005132675171, + 0.19174326956272125, + -0.6639930605888367, + 0.11010250449180603 + ], + "joints": [ + 0.002550604287534952 + ] + }, + "fine_grasp": { + "position": [ + 0.10954231023788452, + -0.13352490961551666, + -0.01732994057238102 + ], + "orientation": [ + 0.7198964357376099, + 0.19688554108142853, + -0.6553431153297424, + 0.11623470485210419 + ], + "joints": [ + 0.007917742244899273 + ] + }, + "final_grasp": { + "position": [ + 0.10954231023788452, + -0.13352490961551666, + -0.01732994057238102 + ], + "orientation": [ + 0.7198964357376099, + 0.19688554108142853, + -0.6553431153297424, + 0.11623470485210419 + ], + "joints": [ + 0.013284880667924881 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.00019500362395774573, + -0.14874590933322906, + -0.014405482448637486 + ], + "orientation": [ + 0.4976626932621002, + 0.12757372856140137, + 0.8578488230705261, + -0.012330264784395695 + ], + "joints": [ + -0.002224408555775881 + ] + }, + "fine_grasp": { + "position": [ + 0.0014492715708911419, + -0.14711984992027283, + -0.013248671777546406 + ], + "orientation": [ + 0.4595412015914917, + 0.12125320732593536, + 0.879791259765625, + -0.009318947792053223 + ], + "joints": [ + 0.001601668307557702 + ] + }, + "final_grasp": { + "position": [ + 0.0014492715708911419, + -0.14711984992027283, + -0.013248671777546406 + ], + "orientation": [ + 0.4595412015914917, + 0.12125320732593536, + 0.879791259765625, + -0.009318947792053223 + ], + "joints": [ + 0.005427745170891285 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10780525952577591, + -0.14049871265888214, + 0.0038695079274475574 + ], + "orientation": [ + 0.5826276540756226, + -0.11714670062065125, + -0.8012658357620239, + -0.06924328207969666 + ], + "joints": [ + 0.001813132781535387 + ] + }, + "fine_grasp": { + "position": [ + -0.10748372226953506, + -0.13757726550102234, + 0.006535210181027651 + ], + "orientation": [ + 0.5515206456184387, + -0.12493304163217545, + -0.8227705359458923, + -0.05714373290538788 + ], + "joints": [ + 0.006648868788033724 + ] + }, + "final_grasp": { + "position": [ + -0.10748372226953506, + -0.13757726550102234, + 0.006535210181027651 + ], + "orientation": [ + 0.5515206456184387, + -0.12493304163217545, + -0.8227705359458923, + -0.05714373290538788 + ], + "joints": [ + 0.011484604328870773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10795699805021286, + -0.1405986249446869, + 0.003701626555994153 + ], + "orientation": [ + 0.5830958485603333, + -0.11486267298460007, + -0.8013289570808411, + -0.06839318573474884 + ], + "joints": [ + 0.001813132781535387 + ] + }, + "fine_grasp": { + "position": [ + -0.10764873772859573, + -0.13748008012771606, + 0.006466439459472895 + ], + "orientation": [ + 0.5518866777420044, + -0.12285110354423523, + -0.822909414768219, + -0.05611485242843628 + ], + "joints": [ + 0.006648868788033724 + ] + }, + "final_grasp": { + "position": [ + -0.10764873772859573, + -0.13748008012771606, + 0.006466439459472895 + ], + "orientation": [ + 0.5518866777420044, + -0.12285110354423523, + -0.822909414768219, + -0.05611485242843628 + ], + "joints": [ + 0.011484604328870773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10789691656827927, + -0.14059153199195862, + 0.003727796021848917 + ], + "orientation": [ + 0.5830509066581726, + -0.11517752707004547, + -0.801306962966919, + -0.06850489974021912 + ], + "joints": [ + 0.001813132781535387 + ] + }, + "fine_grasp": { + "position": [ + -0.10758580267429352, + -0.1375071257352829, + 0.006490653846412897 + ], + "orientation": [ + 0.5518171787261963, + -0.12317101657390594, + -0.8229024410247803, + -0.056198347359895706 + ], + "joints": [ + 0.006648868788033724 + ] + }, + "final_grasp": { + "position": [ + -0.10758580267429352, + -0.1375071257352829, + 0.006490653846412897 + ], + "orientation": [ + 0.5518171787261963, + -0.12317101657390594, + -0.8229024410247803, + -0.056198347359895706 + ], + "joints": [ + 0.011484604328870773 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10473856329917908, + -0.1353851705789566, + 0.016138870269060135 + ], + "orientation": [ + 0.5252469778060913, + -0.17093779146671295, + -0.8328518867492676, + -0.03540350869297981 + ], + "joints": [ + -0.0007253047078847885 + ] + }, + "fine_grasp": { + "position": [ + -0.10407532006502151, + -0.1329372525215149, + 0.014869660139083862 + ], + "orientation": [ + 0.49118173122406006, + -0.17023706436157227, + -0.8537869453430176, + -0.028420472517609596 + ], + "joints": [ + 0.0026225117035210133 + ] + }, + "final_grasp": { + "position": [ + -0.10407532006502151, + -0.1329372525215149, + 0.014869660139083862 + ], + "orientation": [ + 0.49118173122406006, + -0.17023706436157227, + -0.8537869453430176, + -0.028420472517609596 + ], + "joints": [ + 0.005970328114926815 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08973435312509537, + -0.14146006107330322, + 0.002635713666677475 + ], + "orientation": [ + 0.6231203079223633, + -0.03176966309547424, + 0.7813783288002014, + 0.012635689228773117 + ], + "joints": [ + 0.0019474015571177006 + ] + }, + "fine_grasp": { + "position": [ + 0.09049127250909805, + -0.14001452922821045, + 0.0033651310950517654 + ], + "orientation": [ + 0.6010231971740723, + -0.037892118096351624, + 0.7982627749443054, + 0.010577823035418987 + ], + "joints": [ + 0.006809708662331104 + ] + }, + "final_grasp": { + "position": [ + 0.09049127250909805, + -0.14001452922821045, + 0.0033651310950517654 + ], + "orientation": [ + 0.6010231971740723, + -0.037892118096351624, + 0.7982627749443054, + 0.010577823035418987 + ], + "joints": [ + 0.011672016233205795 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08288615942001343, + -0.13639195263385773, + 0.007675804663449526 + ], + "orientation": [ + 0.5370334386825562, + -0.08054407685995102, + 0.8395485281944275, + 0.016306456178426743 + ], + "joints": [ + -0.0014553092187270522 + ] + }, + "fine_grasp": { + "position": [ + 0.0837753489613533, + -0.1343661993741989, + 0.009355776011943817 + ], + "orientation": [ + 0.5026371479034424, + -0.09067516028881073, + 0.8597033023834229, + 0.006638665217906237 + ], + "joints": [ + 0.001839368254877627 + ] + }, + "final_grasp": { + "position": [ + 0.0837753489613533, + -0.1343661993741989, + 0.009355776011943817 + ], + "orientation": [ + 0.5026371479034424, + -0.09067516028881073, + 0.8597033023834229, + 0.006638665217906237 + ], + "joints": [ + 0.005134045612066984 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.08321546763181686, + -0.13642054796218872, + 0.007563651539385319 + ], + "orientation": [ + 0.5361942052841187, + -0.08011367917060852, + 0.8401234745979309, + 0.016441000625491142 + ], + "joints": [ + -0.001487929723225534 + ] + }, + "fine_grasp": { + "position": [ + 0.08410253375768661, + -0.13433735072612762, + 0.009299378842115402 + ], + "orientation": [ + 0.5014782547950745, + -0.09033073484897614, + 0.8604163527488708, + 0.0065967850387096405 + ], + "joints": [ + 0.0017801780486479402 + ] + }, + "final_grasp": { + "position": [ + 0.08410253375768661, + -0.13433735072612762, + 0.009299378842115402 + ], + "orientation": [ + 0.5014782547950745, + -0.09033073484897614, + 0.8604163527488708, + 0.0065967850387096405 + ], + "joints": [ + 0.0050482857041060925 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09953933954238892, + -0.13719157874584198, + 0.008539166301488876 + ], + "orientation": [ + 0.5496793985366821, + -0.05272741988301277, + 0.8336968421936035, + -0.0046922857873141766 + ], + "joints": [ + -0.0010623532580211759 + ] + }, + "fine_grasp": { + "position": [ + 0.10070895403623581, + -0.13536854088306427, + 0.010407466441392899 + ], + "orientation": [ + 0.5165324807167053, + -0.06336420774459839, + 0.8538092374801636, + -0.013751817867159843 + ], + "joints": [ + 0.00273715378716588 + ] + }, + "final_grasp": { + "position": [ + 0.10070895403623581, + -0.13536854088306427, + 0.010407466441392899 + ], + "orientation": [ + 0.5165324807167053, + -0.06336420774459839, + 0.8538092374801636, + -0.013751817867159843 + ], + "joints": [ + 0.0065366607159376144 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.09958519041538239, + -0.13713811337947845, + 0.008431156165897846 + ], + "orientation": [ + 0.5494759678840637, + -0.05194949358701706, + 0.8338795900344849, + -0.0047280751168727875 + ], + "joints": [ + -0.0010677791433408856 + ] + }, + "fine_grasp": { + "position": [ + 0.10076772421598434, + -0.135348379611969, + 0.01033374946564436 + ], + "orientation": [ + 0.5163676142692566, + -0.062663234770298, + 0.8539594411849976, + -0.013820644468069077 + ], + "joints": [ + 0.0027317279018461704 + ] + }, + "final_grasp": { + "position": [ + 0.10076772421598434, + -0.135348379611969, + 0.01033374946564436 + ], + "orientation": [ + 0.5163676142692566, + -0.062663234770298, + 0.8539594411849976, + -0.013820644468069077 + ], + "joints": [ + 0.006531234830617905 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0995669737458229, + -0.13722380995750427, + 0.008422287181019783 + ], + "orientation": [ + 0.5496401190757751, + -0.0525057315826416, + 0.8337372541427612, + -0.004600153770297766 + ], + "joints": [ + -0.0007560717640444636 + ] + }, + "fine_grasp": { + "position": [ + 0.10077289491891861, + -0.13538891077041626, + 0.010440988466143608 + ], + "orientation": [ + 0.5167452692985535, + -0.06339956820011139, + 0.8536778688430786, + -0.013745639473199844 + ], + "joints": [ + 0.0025386051274836063 + ] + }, + "final_grasp": { + "position": [ + 0.10077289491891861, + -0.13538891077041626, + 0.010440988466143608 + ], + "orientation": [ + 0.5167452692985535, + -0.06339956820011139, + 0.8536778688430786, + -0.013745639473199844 + ], + "joints": [ + 0.005833282135426998 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.0772680938243866, + -0.1258365660905838, + -0.02490636147558689 + ], + "orientation": [ + 0.8155643939971924, + 0.044821612536907196, + -0.5658726096153259, + -0.1124008372426033 + ], + "joints": [ + -0.0024140116292983294 + ] + }, + "fine_grasp": { + "position": [ + 0.07620030641555786, + -0.12474162876605988, + -0.02570303902029991 + ], + "orientation": [ + 0.831243634223938, + 0.056616902351379395, + -0.5418571829795837, + -0.11054155230522156 + ], + "joints": [ + 0.0024217250756919384 + ] + }, + "final_grasp": { + "position": [ + 0.07620030641555786, + -0.12474162876605988, + -0.02570303902029991 + ], + "orientation": [ + 0.831243634223938, + 0.056616902351379395, + -0.5418571829795837, + -0.11054155230522156 + ], + "joints": [ + 0.0072574615478515625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.04367939010262489, + -0.14097662270069122, + -0.032340288162231445 + ], + "orientation": [ + 0.4140385389328003, + 0.053894028067588806, + -0.901206374168396, + -0.11616596579551697 + ], + "joints": [ + -0.010608509182929993 + ] + }, + "fine_grasp": { + "position": [ + -0.04168612137436867, + -0.13564476370811462, + -0.031553976237773895 + ], + "orientation": [ + 0.3608939051628113, + 0.05583399161696434, + -0.9224632978439331, + -0.1252979040145874 + ], + "joints": [ + -0.011405604891479015 + ] + }, + "final_grasp": { + "position": [ + -0.04168612137436867, + -0.13564476370811462, + -0.031553976237773895 + ], + "orientation": [ + 0.3608939051628113, + 0.05583399161696434, + -0.9224632978439331, + -0.1252979040145874 + ], + "joints": [ + -0.012202700600028038 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.01580476202070713, + 0.13603246212005615, + -0.024391742423176765 + ], + "orientation": [ + 0.046236664056777954, + 0.9158610105514526, + 0.14165832102298737, + 0.3728187680244446 + ], + "joints": [ + -0.013994153589010239 + ] + }, + "fine_grasp": { + "position": [ + 0.01764090359210968, + 0.13689912855625153, + -0.022260308265686035 + ], + "orientation": [ + 0.05220622941851616, + 0.933045506477356, + 0.13551180064678192, + 0.329146146774292 + ], + "joints": [ + -0.012134249322116375 + ] + }, + "final_grasp": { + "position": [ + 0.01764090359210968, + 0.13689912855625153, + -0.022260308265686035 + ], + "orientation": [ + 0.05220622941851616, + 0.933045506477356, + 0.13551180064678192, + 0.329146146774292 + ], + "joints": [ + -0.010274345055222511 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15079426765441895, + -0.14203813672065735, + -0.038159120827913284 + ], + "orientation": [ + 0.8478477001190186, + 0.2077411413192749, + 0.48406049609184265, + -0.06069083511829376 + ], + "joints": [ + -0.004424731247127056 + ] + }, + "fine_grasp": { + "position": [ + -0.14915020763874054, + -0.1389102339744568, + -0.03778821974992752 + ], + "orientation": [ + 0.8585506081581116, + 0.21376049518585205, + 0.46169328689575195, + -0.06353423744440079 + ], + "joints": [ + -0.002113142516463995 + ] + }, + "final_grasp": { + "position": [ + -0.14915020763874054, + -0.1389102339744568, + -0.03778821974992752 + ], + "orientation": [ + 0.8585506081581116, + 0.21376049518585205, + 0.46169328689575195, + -0.06353423744440079 + ], + "joints": [ + 0.00019844621419906616 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12652434408664703, + -0.13750547170639038, + -0.016152964904904366 + ], + "orientation": [ + 0.49105972051620483, + -0.028453994542360306, + 0.8657904267311096, + 0.09196552634239197 + ], + "joints": [ + -0.004736567847430706 + ] + }, + "fine_grasp": { + "position": [ + 0.12433034181594849, + -0.13657936453819275, + -0.017975283786654472 + ], + "orientation": [ + 0.4554358124732971, + -0.017416656017303467, + 0.8845615386962891, + 0.09912484139204025 + ], + "joints": [ + -0.0029298095032572746 + ] + }, + "final_grasp": { + "position": [ + 0.12433034181594849, + -0.13657936453819275, + -0.017975283786654472 + ], + "orientation": [ + 0.4554358124732971, + -0.017416656017303467, + 0.8845615386962891, + 0.09912484139204025 + ], + "joints": [ + -0.0011230511590838432 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.10145995765924454, + -0.14027531445026398, + 0.008239852264523506 + ], + "orientation": [ + 0.9359957575798035, + -0.0019476956222206354, + 0.3410552740097046, + -0.08711753785610199 + ], + "joints": [ + -0.017026517540216446 + ] + }, + "fine_grasp": { + "position": [ + -0.10307282209396362, + -0.1356879025697708, + 0.008669927716255188 + ], + "orientation": [ + 0.949705958366394, + -0.008554918691515923, + 0.29937663674354553, + -0.09142877906560898 + ], + "joints": [ + -0.015751149505376816 + ] + }, + "final_grasp": { + "position": [ + -0.10307282209396362, + -0.1356879025697708, + 0.008669927716255188 + ], + "orientation": [ + 0.949705958366394, + -0.008554918691515923, + 0.29937663674354553, + -0.09142877906560898 + ], + "joints": [ + -0.014475781470537186 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11197557300329208, + -0.14750708639621735, + -0.01951485686004162 + ], + "orientation": [ + 0.9188419580459595, + 0.1006530299782753, + -0.38017961382865906, + 0.032586805522441864 + ], + "joints": [ + -0.013405345380306244 + ] + }, + "fine_grasp": { + "position": [ + 0.1107928529381752, + -0.14868424832820892, + -0.01985696703195572 + ], + "orientation": [ + 0.9375275373458862, + 0.10305466502904892, + -0.3308353126049042, + 0.031143242493271828 + ], + "joints": [ + -0.012129981070756912 + ] + }, + "final_grasp": { + "position": [ + 0.1107928529381752, + -0.14868424832820892, + -0.01985696703195572 + ], + "orientation": [ + 0.9375275373458862, + 0.10305466502904892, + -0.3308353126049042, + 0.031143242493271828 + ], + "joints": [ + -0.01085461676120758 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.06313078850507736, + 0.1447705328464508, + -0.01956535503268242 + ], + "orientation": [ + 0.13611826300621033, + 0.3448987305164337, + -0.02788945659995079, + -0.9282989501953125 + ], + "joints": [ + -0.015760578215122223 + ] + }, + "fine_grasp": { + "position": [ + 0.06579402834177017, + 0.14449666440486908, + -0.01773359812796116 + ], + "orientation": [ + 0.12412942200899124, + 0.30250293016433716, + -0.03292117267847061, + -0.9444575905799866 + ], + "joints": [ + -0.013395844027400017 + ] + }, + "final_grasp": { + "position": [ + 0.06579402834177017, + 0.14449666440486908, + -0.01773359812796116 + ], + "orientation": [ + 0.12412942200899124, + 0.30250293016433716, + -0.03292117267847061, + -0.9444575905799866 + ], + "joints": [ + -0.01103110983967781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.063078872859478, + 0.14477257430553436, + -0.019555674865841866 + ], + "orientation": [ + 0.13592678308486938, + 0.34494873881340027, + -0.027941744774580002, + -0.9283068180084229 + ], + "joints": [ + -0.015760578215122223 + ] + }, + "fine_grasp": { + "position": [ + 0.06573968380689621, + 0.1445043534040451, + -0.017725614830851555 + ], + "orientation": [ + 0.12394369393587112, + 0.30254894495010376, + -0.03295883163809776, + -0.9444658756256104 + ], + "joints": [ + -0.013395844027400017 + ] + }, + "final_grasp": { + "position": [ + 0.06573968380689621, + 0.1445043534040451, + -0.017725614830851555 + ], + "orientation": [ + 0.12394369393587112, + 0.30254894495010376, + -0.03295883163809776, + -0.9444658756256104 + ], + "joints": [ + -0.01103110983967781 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.05240800231695175, + -0.13417948782444, + -0.0028116258326917887 + ], + "orientation": [ + 0.9531442523002625, + -0.01446549128741026, + -0.29109957814216614, + -0.08104173094034195 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.04840231314301491, + -0.13387441635131836, + -0.005193243734538555 + ], + "orientation": [ + 0.9508735537528992, + -0.007528631016612053, + -0.29290756583213806, + -0.09993889927864075 + ], + "joints": [ + -0.017900966107845306 + ] + }, + "final_grasp": { + "position": [ + 0.04840231314301491, + -0.13387441635131836, + -0.005193243734538555 + ], + "orientation": [ + 0.9508735537528992, + -0.007528631016612053, + -0.29290756583213806, + -0.09993889927864075 + ], + "joints": [ + -0.01580193266272545 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.13395757973194122, + 0.1433744579553604, + -0.0235280804336071 + ], + "orientation": [ + 0.09752583503723145, + -0.3415573835372925, + -0.14128126204013824, + -0.9240491986274719 + ], + "joints": [ + -0.016408268362283707 + ] + }, + "fine_grasp": { + "position": [ + -0.13059678673744202, + 0.1443110853433609, + -0.024244915693998337 + ], + "orientation": [ + 0.08920089900493622, + -0.29700785875320435, + -0.14316734671592712, + -0.9398578405380249 + ], + "joints": [ + -0.014601502567529678 + ] + }, + "final_grasp": { + "position": [ + -0.13059678673744202, + 0.1443110853433609, + -0.024244915693998337 + ], + "orientation": [ + 0.08920089900493622, + -0.29700785875320435, + -0.14316734671592712, + -0.9398578405380249 + ], + "joints": [ + -0.01279473677277565 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.12000070512294769, + 0.13504651188850403, + -0.014186721295118332 + ], + "orientation": [ + 0.0777035728096962, + 0.9266639947891235, + -0.025724396109580994, + 0.3668709099292755 + ], + "joints": [ + -0.015819460153579712 + ] + }, + "fine_grasp": { + "position": [ + 0.11640086770057678, + 0.13355690240859985, + -0.015932925045490265 + ], + "orientation": [ + 0.08323558419942856, + 0.9426347017288208, + -0.015376605093479156, + 0.32291677594184875 + ], + "joints": [ + -0.0145175252109766 + ] + }, + "final_grasp": { + "position": [ + 0.11640086770057678, + 0.13355690240859985, + -0.015932925045490265 + ], + "orientation": [ + 0.08323558419942856, + 0.9426347017288208, + -0.015376605093479156, + 0.32291677594184875 + ], + "joints": [ + -0.01321559026837349 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.15671557188034058, + -0.1481003761291504, + 0.0036211619153618813 + ], + "orientation": [ + 0.3592069149017334, + -0.060513127595186234, + -0.9312431216239929, + -0.009733951650559902 + ], + "joints": [ + -0.013994153589010239 + ] + }, + "fine_grasp": { + "position": [ + -0.15593457221984863, + -0.14609751105308533, + 0.003689010627567768 + ], + "orientation": [ + 0.31169837713241577, + -0.059954676777124405, + -0.9482685923576355, + -0.0060219126753509045 + ], + "joints": [ + -0.013755017891526222 + ] + }, + "final_grasp": { + "position": [ + -0.15593457221984863, + -0.14609751105308533, + 0.003689010627567768 + ], + "orientation": [ + 0.31169837713241577, + -0.059954676777124405, + -0.9482685923576355, + -0.0060219126753509045 + ], + "joints": [ + -0.013515882194042206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + -0.1566777378320694, + -0.14790324866771698, + 0.003708932548761368 + ], + "orientation": [ + 0.359054297208786, + -0.06099313870072365, + -0.9312732219696045, + -0.00948414858430624 + ], + "joints": [ + -0.013994153589010239 + ] + }, + "fine_grasp": { + "position": [ + -0.15588559210300446, + -0.1460667848587036, + 0.003735132282599807 + ], + "orientation": [ + 0.31193336844444275, + -0.06025936082005501, + -0.9481727480888367, + -0.005901365075260401 + ], + "joints": [ + -0.013755017891526222 + ] + }, + "final_grasp": { + "position": [ + -0.15588559210300446, + -0.1460667848587036, + 0.003735132282599807 + ], + "orientation": [ + 0.31193336844444275, + -0.06025936082005501, + -0.9481727480888367, + -0.005901365075260401 + ], + "joints": [ + -0.013515882194042206 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.1365339607000351, + -0.1360209435224533, + -0.02250301092863083 + ], + "orientation": [ + 0.9280326962471008, + 0.09062077850103378, + -0.36059924960136414, + -0.022614164277911186 + ], + "joints": [ + -0.016967635601758957 + ] + }, + "fine_grasp": { + "position": [ + 0.1326255351305008, + -0.13439151644706726, + -0.024463366717100143 + ], + "orientation": [ + 0.9434430003166199, + 0.09800884127616882, + -0.31443047523498535, + -0.037988319993019104 + ], + "joints": [ + -0.015692267566919327 + ] + }, + "final_grasp": { + "position": [ + 0.1326255351305008, + -0.13439151644706726, + -0.024463366717100143 + ], + "orientation": [ + 0.9434430003166199, + 0.09800884127616882, + -0.31443047523498535, + -0.037988319993019104 + ], + "joints": [ + -0.014416899532079697 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.10139292478561401, + 0.14888934791088104, + -0.0037514730356633663 + ], + "orientation": [ + 0.036100905388593674, + 0.9550145268440247, + -0.06025029718875885, + 0.2881212830543518 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.09921230375766754, + 0.1528233289718628, + -0.005215296987444162 + ], + "orientation": [ + 0.03701785206794739, + 0.964472234249115, + -0.051463525742292404, + 0.2564651370048523 + ], + "joints": [ + -0.017289847135543823 + ] + }, + "final_grasp": { + "position": [ + 0.09921230375766754, + 0.1528233289718628, + -0.005215296987444162 + ], + "orientation": [ + 0.03701785206794739, + 0.964472234249115, + -0.051463525742292404, + 0.2564651370048523 + ], + "joints": [ + -0.014579694718122482 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.022015869617462158, + -0.043566443026065826, + -0.10690369457006454 + ], + "orientation": [ + 0.2033679336309433, + 0.15317358076572418, + -0.6332158446311951, + -0.7309014201164246 + ], + "joints": [ + 0.02449999935925007 + ] + }, + "fine_grasp": { + "position": [ + 0.021876174956560135, + -0.04172433167695999, + -0.10909349471330643 + ], + "orientation": [ + 0.20130285620689392, + 0.14589689671993256, + -0.6478581428527832, + -0.7200493216514587 + ], + "joints": [ + 0.022480683401226997 + ] + }, + "final_grasp": { + "position": [ + 0.021876174956560135, + -0.04172433167695999, + -0.10909349471330643 + ], + "orientation": [ + 0.20130285620689392, + 0.14589689671993256, + -0.6478581428527832, + -0.7200493216514587 + ], + "joints": [ + 0.020461367443203926 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.11547791957855225, + -0.12811176478862762, + -0.025868171826004982 + ], + "orientation": [ + 0.931555986404419, + 0.13069701194763184, + -0.3377522826194763, + 0.03233138471841812 + ], + "joints": [ + -0.019999999552965164 + ] + }, + "fine_grasp": { + "position": [ + 0.11332002282142639, + -0.1294899433851242, + -0.027904117479920387 + ], + "orientation": [ + 0.9451950192451477, + 0.13335976004600525, + -0.2970898747444153, + 0.02364177629351616 + ], + "joints": [ + -0.016678733751177788 + ] + }, + "final_grasp": { + "position": [ + 0.11332002282142639, + -0.1294899433851242, + -0.027904117479920387 + ], + "orientation": [ + 0.9451950192451477, + 0.13335976004600525, + -0.2970898747444153, + 0.02364177629351616 + ], + "joints": [ + -0.013357467949390411 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.07733336836099625, + -0.12567847967147827, + -0.02510889060795307 + ], + "orientation": [ + 0.8165313005447388, + 0.046118661761283875, + -0.564259946346283, + -0.1129615381360054 + ], + "joints": [ + -0.0024140116292983294 + ] + }, + "fine_grasp": { + "position": [ + 0.07624289393424988, + -0.12453892827033997, + -0.02599569410085678 + ], + "orientation": [ + 0.8324053287506104, + 0.05653001740574837, + -0.5400388240814209, + -0.11074196547269821 + ], + "joints": [ + 0.0024217250756919384 + ] + }, + "final_grasp": { + "position": [ + 0.07624289393424988, + -0.12453892827033997, + -0.02599569410085678 + ], + "orientation": [ + 0.8324053287506104, + 0.05653001740574837, + -0.5400388240814209, + -0.11074196547269821 + ], + "joints": [ + 0.0072574615478515625 + ] + } + }, + { + "coarse_grasp": { + "position": [ + 0.02536618895828724, + -0.04041897505521774, + -0.10417983680963516 + ], + "orientation": [ + 0.5821391344070435, + 0.32208824157714844, + -0.5801320672035217, + -0.46991488337516785 + ], + "joints": [ + -0.017909729853272438 + ] + }, + "fine_grasp": { + "position": [ + 0.025461645796895027, + -0.041515130549669266, + -0.10972614586353302 + ], + "orientation": [ + 0.5767626166343689, + 0.31909477710723877, + -0.5819944143295288, + -0.4762413799762726 + ], + "joints": [ + -0.012595726177096367 + ] + }, + "final_grasp": { + "position": [ + 0.025461645796895027, + -0.041515130549669266, + -0.10972614586353302 + ], + "orientation": [ + 0.5767626166343689, + 0.31909477710723877, + -0.5819944143295288, + -0.4762413799762726 + ], + "joints": [ + -0.007281722500920296 + ] + } + } + ] + }, + "grasp": {}, + "evaluation": { + "collider": "coacd", + "num_candidates": 2011, + "num_passed": 116 + } +} \ No newline at end of file